From a99afe1dbde6e30424521a0d0efd2e2a4db12c91 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Wed, 26 Jul 2023 22:28:23 +0200
Subject: [PATCH 01/23] DOC: Add sphinx doc, initial commit

---
 doc/Makefile                                  |    20 +
 doc/_build/doctrees/environment.pickle        |   Bin 0 -> 209447 bytes
 doc/_build/doctrees/index.doctree             |   Bin 0 -> 7755 bytes
 doc/_build/doctrees/intro.doctree             |   Bin 0 -> 11408 bytes
 .../nbsphinx/source/dev/inspect_slycot.ipynb  |   262 +
 .../source_dev_inspect_slycot_13_0.png        |   Bin 0 -> 19616 bytes
 doc/_build/doctrees/source/dev/basic.doctree  |   Bin 0 -> 38318 bytes
 doc/_build/doctrees/source/dev/index.doctree  |   Bin 0 -> 2791 bytes
 .../source/dev/inspect_slycot.doctree         |   Bin 0 -> 46041 bytes
 .../generated/slycot._wrapper.ab01nd.doctree  |   Bin 0 -> 18668 bytes
 .../generated/slycot._wrapper.ab04md.doctree  |   Bin 0 -> 27682 bytes
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 .../generated/slycot._wrapper.ab05nd.doctree  |   Bin 0 -> 31506 bytes
 .../generated/slycot._wrapper.ab07nd.doctree  |   Bin 0 -> 25088 bytes
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 .../generated/slycot._wrapper.ab08nz.doctree  |   Bin 0 -> 26662 bytes
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 .../generated/slycot._wrapper.ab09ax.doctree  |   Bin 0 -> 28157 bytes
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 .../generated/slycot._wrapper.ab13bd.doctree  |   Bin 0 -> 20506 bytes
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 .../generated/slycot._wrapper.ab13fd.doctree  |   Bin 0 -> 11049 bytes
 .../generated/slycot._wrapper.ab13md.doctree  |   Bin 0 -> 16766 bytes
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 .../generated/slycot._wrapper.mb03wd.doctree  |   Bin 0 -> 22369 bytes
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 .../generated/slycot._wrapper.mb05nd.doctree  |   Bin 0 -> 14158 bytes
 .../generated/slycot._wrapper.mc01td.doctree  |   Bin 0 -> 11077 bytes
 .../generated/slycot._wrapper.sb01bd.doctree  |   Bin 0 -> 28506 bytes
 .../generated/slycot._wrapper.sb02md.doctree  |   Bin 0 -> 25154 bytes
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 .../generated/slycot._wrapper.sb03od.doctree  |   Bin 0 -> 21795 bytes
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 .../generated/slycot._wrapper.sb04qd.doctree  |   Bin 0 -> 21281 bytes
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 .../generated/slycot._wrapper.sb10hd.doctree  |   Bin 0 -> 23331 bytes
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 .../generated/slycot._wrapper.sg03bd.doctree  |   Bin 0 -> 27565 bytes
 .../generated/slycot._wrapper.tb01id.doctree  |   Bin 0 -> 23141 bytes
 .../generated/slycot._wrapper.tb01pd.doctree  |   Bin 0 -> 27023 bytes
 .../generated/slycot._wrapper.tf01md.doctree  |   Bin 0 -> 24185 bytes
 .../generated/slycot._wrapper.tf01rd.doctree  |   Bin 0 -> 17438 bytes
 .../reference/generated/slycot.ab01nd.doctree |   Bin 0 -> 33443 bytes
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 .../reference/generated/slycot.ab13bd.doctree |   Bin 0 -> 30051 bytes
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 .../reference/generated/slycot.ab13fd.doctree |   Bin 0 -> 18700 bytes
 .../reference/generated/slycot.ab13md.doctree |   Bin 0 -> 23150 bytes
 .../reference/generated/slycot.mb03rd.doctree |   Bin 0 -> 57157 bytes
 .../reference/generated/slycot.mb03vd.doctree |   Bin 0 -> 32240 bytes
 .../reference/generated/slycot.mb03vy.doctree |   Bin 0 -> 13922 bytes
 .../reference/generated/slycot.mb03wd.doctree |   Bin 0 -> 31043 bytes
 .../reference/generated/slycot.mb05md.doctree |   Bin 0 -> 29475 bytes
 .../reference/generated/slycot.mb05nd.doctree |   Bin 0 -> 14201 bytes
 .../reference/generated/slycot.mc01td.doctree |   Bin 0 -> 19387 bytes
 .../reference/generated/slycot.sb01bd.doctree |   Bin 0 -> 40482 bytes
 .../reference/generated/slycot.sb02md.doctree |   Bin 0 -> 50297 bytes
 .../reference/generated/slycot.sb02mt.doctree |   Bin 0 -> 44579 bytes
 .../reference/generated/slycot.sb02od.doctree |   Bin 0 -> 56371 bytes
 .../reference/generated/slycot.sb03md.doctree |   Bin 0 -> 6538 bytes
 .../generated/slycot.sb03md57.doctree         |   Bin 0 -> 43650 bytes
 .../reference/generated/slycot.sb03od.doctree |   Bin 0 -> 62624 bytes
 .../reference/generated/slycot.sb04md.doctree |   Bin 0 -> 15270 bytes
 .../reference/generated/slycot.sb04qd.doctree |   Bin 0 -> 15600 bytes
 .../reference/generated/slycot.sb10ad.doctree |   Bin 0 -> 50150 bytes
 .../reference/generated/slycot.sb10dd.doctree |   Bin 0 -> 42300 bytes
 .../reference/generated/slycot.sb10fd.doctree |   Bin 0 -> 51886 bytes
 .../reference/generated/slycot.sb10hd.doctree |   Bin 0 -> 31262 bytes
 .../reference/generated/slycot.sg02ad.doctree |   Bin 0 -> 112556 bytes
 .../reference/generated/slycot.sg03ad.doctree |   Bin 0 -> 59527 bytes
 .../reference/generated/slycot.sg03bd.doctree |   Bin 0 -> 46905 bytes
 .../reference/generated/slycot.tb01id.doctree |   Bin 0 -> 23348 bytes
 .../reference/generated/slycot.tb01pd.doctree |   Bin 0 -> 24163 bytes
 .../reference/generated/slycot.tb03ad.doctree |   Bin 0 -> 36132 bytes
 .../reference/generated/slycot.tb04ad.doctree |   Bin 0 -> 12415 bytes
 .../reference/generated/slycot.tb05ad.doctree |   Bin 0 -> 46272 bytes
 .../reference/generated/slycot.tc01od.doctree |   Bin 0 -> 16177 bytes
 .../reference/generated/slycot.tc04ad.doctree |   Bin 0 -> 27106 bytes
 .../reference/generated/slycot.td04ad.doctree |   Bin 0 -> 29336 bytes
 .../reference/generated/slycot.tf01md.doctree |   Bin 0 -> 14624 bytes
 .../reference/generated/slycot.tf01rd.doctree |   Bin 0 -> 12776 bytes
 .../doctrees/source/reference/index.doctree   |   Bin 0 -> 3475 bytes
 .../source/reference/slycot_inner.doctree     |   Bin 0 -> 61442 bytes
 .../source/reference/slycot_outer.doctree     |   Bin 0 -> 82497 bytes
 doc/_build/html/.buildinfo                    |     4 +
 ...a8f1b6c9ddbe9f1821a9da07839c9decbe4136.png |   Bin 0 -> 557 bytes
 ...6e570fe40eb33ee23358ea87ca766ee9edbbb6.png |   Bin 0 -> 276 bytes
 ...298e4eb211e0edc5f0821df1ffd07b8362963f.png |   Bin 0 -> 301 bytes
 ...d0fb13b3e293721bca2d361611091ddff991db.png |   Bin 0 -> 483 bytes
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 ...82306352d61d00dba7b0849edbe8d5a0fd2e0d.png |   Bin 0 -> 477 bytes
 .../source_dev_inspect_slycot_13_0.png        |   Bin 0 -> 19616 bytes
 doc/_build/html/_sources/index.rst.txt        |    40 +
 doc/_build/html/_sources/intro.rst.txt        |    59 +
 .../html/_sources/source/dev/basic.rst.txt    |   140 +
 .../html/_sources/source/dev/index.rst.txt    |    10 +
 .../source/dev/inspect_slycot.ipynb.txt       |   263 +
 .../generated/slycot._wrapper.ab01nd.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab04md.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab05md.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab05nd.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab07nd.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab08nd.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab08nz.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab09ad.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab09ax.rst.txt  |     6 +
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 .../generated/slycot._wrapper.ab09nd.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab13bd.rst.txt  |     6 +
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 .../generated/slycot._wrapper.ab13ed.rst.txt  |     6 +
 .../generated/slycot._wrapper.ab13fd.rst.txt  |     6 +
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 .../generated/slycot._wrapper.mb03rd.rst.txt  |     6 +
 .../generated/slycot._wrapper.mb03vd.rst.txt  |     6 +
 .../generated/slycot._wrapper.mb03vy.rst.txt  |     6 +
 .../generated/slycot._wrapper.mb03wd.rst.txt  |     6 +
 .../generated/slycot._wrapper.mb05md.rst.txt  |     6 +
 .../generated/slycot._wrapper.mb05nd.rst.txt  |     6 +
 .../generated/slycot._wrapper.mc01td.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb01bd.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb02md.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb03md.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb03od.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb04md.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb04qd.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb10ad.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb10dd.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb10fd.rst.txt  |     6 +
 .../generated/slycot._wrapper.sb10hd.rst.txt  |     6 +
 .../generated/slycot._wrapper.sg03ad.rst.txt  |     6 +
 .../generated/slycot._wrapper.sg03bd.rst.txt  |     6 +
 .../generated/slycot._wrapper.tb01id.rst.txt  |     6 +
 .../generated/slycot._wrapper.tb01pd.rst.txt  |     6 +
 .../generated/slycot._wrapper.tf01md.rst.txt  |     6 +
 .../generated/slycot._wrapper.tf01rd.rst.txt  |     6 +
 .../reference/generated/slycot.ab01nd.rst.txt |     6 +
 .../reference/generated/slycot.ab04md.rst.txt |     6 +
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 .../reference/generated/slycot.ab05nd.rst.txt |     6 +
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 .../reference/generated/slycot.ab08nd.rst.txt |     6 +
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 .../reference/generated/slycot.ab09nd.rst.txt |     6 +
 .../reference/generated/slycot.ab13bd.rst.txt |     6 +
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 .../reference/generated/slycot.ab13fd.rst.txt |     6 +
 .../reference/generated/slycot.ab13md.rst.txt |     6 +
 .../reference/generated/slycot.mb03rd.rst.txt |     6 +
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 .../reference/generated/slycot.mb03wd.rst.txt |     6 +
 .../reference/generated/slycot.mb05md.rst.txt |     6 +
 .../reference/generated/slycot.mb05nd.rst.txt |     6 +
 .../reference/generated/slycot.mc01td.rst.txt |     6 +
 .../reference/generated/slycot.sb01bd.rst.txt |     6 +
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 .../reference/generated/slycot.sb02mt.rst.txt |     6 +
 .../reference/generated/slycot.sb02od.rst.txt |     6 +
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 .../generated/slycot.sb03md57.rst.txt         |     6 +
 .../reference/generated/slycot.sb03od.rst.txt |     6 +
 .../reference/generated/slycot.sb04md.rst.txt |     6 +
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 .../reference/generated/slycot.sb10dd.rst.txt |     6 +
 .../reference/generated/slycot.sb10fd.rst.txt |     6 +
 .../reference/generated/slycot.sb10hd.rst.txt |     6 +
 .../reference/generated/slycot.sg02ad.rst.txt |     6 +
 .../reference/generated/slycot.sg03ad.rst.txt |     6 +
 .../reference/generated/slycot.sg03bd.rst.txt |     6 +
 .../reference/generated/slycot.tb01id.rst.txt |     6 +
 .../reference/generated/slycot.tb01pd.rst.txt |     6 +
 .../reference/generated/slycot.tb03ad.rst.txt |     6 +
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 .../reference/generated/slycot.tb05ad.rst.txt |     6 +
 .../reference/generated/slycot.tc01od.rst.txt |     6 +
 .../reference/generated/slycot.tc04ad.rst.txt |     6 +
 .../reference/generated/slycot.td04ad.rst.txt |     6 +
 .../reference/generated/slycot.tf01md.rst.txt |     6 +
 .../reference/generated/slycot.tf01rd.rst.txt |     6 +
 .../_sources/source/reference/index.rst.txt   |    11 +
 .../source/reference/slycot_inner.rst.txt     |    88 +
 .../source/reference/slycot_outer.rst.txt     |    90 +
 .../_sphinx_javascript_frameworks_compat.js   |   134 +
 doc/_build/html/_static/basic.css             |   899 ++
 doc/_build/html/_static/css/badge_only.css    |     1 +
 .../_static/css/fonts/Roboto-Slab-Bold.woff   |   Bin 0 -> 87624 bytes
 .../_static/css/fonts/Roboto-Slab-Bold.woff2  |   Bin 0 -> 67312 bytes
 .../css/fonts/Roboto-Slab-Regular.woff        |   Bin 0 -> 86288 bytes
 .../css/fonts/Roboto-Slab-Regular.woff2       |   Bin 0 -> 66444 bytes
 .../_static/css/fonts/fontawesome-webfont.eot |   Bin 0 -> 165742 bytes
 .../_static/css/fonts/fontawesome-webfont.svg |  2671 ++++
 .../_static/css/fonts/fontawesome-webfont.ttf |   Bin 0 -> 165548 bytes
 .../css/fonts/fontawesome-webfont.woff        |   Bin 0 -> 98024 bytes
 .../css/fonts/fontawesome-webfont.woff2       |   Bin 0 -> 77160 bytes
 .../_static/css/fonts/lato-bold-italic.woff   |   Bin 0 -> 323344 bytes
 .../_static/css/fonts/lato-bold-italic.woff2  |   Bin 0 -> 193308 bytes
 .../html/_static/css/fonts/lato-bold.woff     |   Bin 0 -> 309728 bytes
 .../html/_static/css/fonts/lato-bold.woff2    |   Bin 0 -> 184912 bytes
 .../_static/css/fonts/lato-normal-italic.woff |   Bin 0 -> 328412 bytes
 .../css/fonts/lato-normal-italic.woff2        |   Bin 0 -> 195704 bytes
 .../html/_static/css/fonts/lato-normal.woff   |   Bin 0 -> 309192 bytes
 .../html/_static/css/fonts/lato-normal.woff2  |   Bin 0 -> 182708 bytes
 doc/_build/html/_static/css/theme.css         |     4 +
 doc/_build/html/_static/doc/AB01MD.html       |   295 +
 doc/_build/html/_static/doc/AB01ND.html       |   368 +
 doc/_build/html/_static/doc/AB01OD.html       |   404 +
 doc/_build/html/_static/doc/AB04MD.html       |   318 +
 doc/_build/html/_static/doc/AB05MD.html       |   455 +
 doc/_build/html/_static/doc/AB05ND.html       |   445 +
 doc/_build/html/_static/doc/AB05OD.html       |   419 +
 doc/_build/html/_static/doc/AB05PD.html       |   382 +
 doc/_build/html/_static/doc/AB05QD.html       |   416 +
 doc/_build/html/_static/doc/AB05RD.html       |   446 +
 doc/_build/html/_static/doc/AB05SD.html       |   206 +
 doc/_build/html/_static/doc/AB07MD.html       |   259 +
 doc/_build/html/_static/doc/AB07ND.html       |   264 +
 doc/_build/html/_static/doc/AB08MD.html       |   188 +
 doc/_build/html/_static/doc/AB08MZ.html       |   190 +
 doc/_build/html/_static/doc/AB08ND.html       |   532 +
 doc/_build/html/_static/doc/AB08NW.html       |   545 +
 doc/_build/html/_static/doc/AB08NX.html       |   205 +
 doc/_build/html/_static/doc/AB08NY.html       |   244 +
 doc/_build/html/_static/doc/AB08NZ.html       |   534 +
 doc/_build/html/_static/doc/AB09AD.html       |   395 +
 doc/_build/html/_static/doc/AB09AX.html       |   282 +
 doc/_build/html/_static/doc/AB09BD.html       |   426 +
 doc/_build/html/_static/doc/AB09BX.html       |   299 +
 doc/_build/html/_static/doc/AB09CD.html       |   427 +
 doc/_build/html/_static/doc/AB09CX.html       |   275 +
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 doc/_build/html/_static/doc/AB09ED.html       |   488 +
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 doc/_build/html/_static/doc/AB09GD.html       |   523 +
 doc/_build/html/_static/doc/AB09HD.html       |   581 +
 doc/_build/html/_static/doc/AB09HX.html       |   348 +
 doc/_build/html/_static/doc/AB09HY.html       |   192 +
 doc/_build/html/_static/doc/AB09ID.html       |   888 ++
 doc/_build/html/_static/doc/AB09IX.html       |   363 +
 doc/_build/html/_static/doc/AB09IY.html       |   416 +
 doc/_build/html/_static/doc/AB09JD.html       |   812 ++
 doc/_build/html/_static/doc/AB09JV.html       |   365 +
 doc/_build/html/_static/doc/AB09JW.html       |   366 +
 doc/_build/html/_static/doc/AB09JX.html       |   143 +
 doc/_build/html/_static/doc/AB09KD.html       |   760 ++
 doc/_build/html/_static/doc/AB09KX.html       |   395 +
 doc/_build/html/_static/doc/AB09MD.html       |   449 +
 doc/_build/html/_static/doc/AB09ND.html       |   481 +
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 doc/_build/html/_static/doc/AB13AX.html       |   170 +
 doc/_build/html/_static/doc/AB13BD.html       |   358 +
 doc/_build/html/_static/doc/AB13CD.html       |   294 +
 doc/_build/html/_static/doc/AB13DD.html       |   452 +
 doc/_build/html/_static/doc/AB13DX.html       |   250 +
 doc/_build/html/_static/doc/AB13ED.html       |   256 +
 doc/_build/html/_static/doc/AB13FD.html       |   257 +
 doc/_build/html/_static/doc/AB13ID.html       |   602 +
 doc/_build/html/_static/doc/AB13MD.html       |   272 +
 doc/_build/html/_static/doc/AB8NXZ.html       |   207 +
 doc/_build/html/_static/doc/AG07BD.html       |   194 +
 doc/_build/html/_static/doc/AG08BD.html       |   754 ++
 doc/_build/html/_static/doc/AG08BY.html       |   261 +
 doc/_build/html/_static/doc/AG08BZ.html       |   739 ++
 doc/_build/html/_static/doc/AG8BYZ.html       |   265 +
 doc/_build/html/_static/doc/BB01AD.html       |   629 +
 doc/_build/html/_static/doc/BB02AD.html       |   588 +
 doc/_build/html/_static/doc/BB03AD.html       |   386 +
 doc/_build/html/_static/doc/BB04AD.html       |   386 +
 doc/_build/html/_static/doc/BD01AD.html       |   352 +
 doc/_build/html/_static/doc/BD02AD.html       |   334 +
 doc/_build/html/_static/doc/DAESolver.html    |  1408 ++
 doc/_build/html/_static/doc/DE01OD.html       |   186 +
 doc/_build/html/_static/doc/DE01PD.html       |   203 +
 doc/_build/html/_static/doc/DF01MD.html       |   282 +
 doc/_build/html/_static/doc/DG01MD.html       |   205 +
 doc/_build/html/_static/doc/DG01ND.html       |   296 +
 doc/_build/html/_static/doc/DG01OD.html       |   211 +
 doc/_build/html/_static/doc/DK01MD.html       |   188 +
 doc/_build/html/_static/doc/FB01QD.html       |   459 +
 doc/_build/html/_static/doc/FB01RD.html       |   481 +
 doc/_build/html/_static/doc/FB01SD.html       |   528 +
 doc/_build/html/_static/doc/FB01TD.html       |   542 +
 doc/_build/html/_static/doc/FB01VD.html       |   380 +
 doc/_build/html/_static/doc/FD01AD.html       |   398 +
 doc/_build/html/_static/doc/FSQP.html         |   438 +
 doc/_build/html/_static/doc/IB01AD.html       |  2615 ++++
 doc/_build/html/_static/doc/IB01BD.html       |  2726 ++++
 doc/_build/html/_static/doc/IB01CD.html       |  2784 ++++
 doc/_build/html/_static/doc/IB01MD.html       |   370 +
 doc/_build/html/_static/doc/IB01MY.html       |   293 +
 doc/_build/html/_static/doc/IB01ND.html       |   249 +
 doc/_build/html/_static/doc/IB01OD.html       |   133 +
 doc/_build/html/_static/doc/IB01OY.html       |    90 +
 doc/_build/html/_static/doc/IB01PD.html       |   406 +
 doc/_build/html/_static/doc/IB01PX.html       |   305 +
 doc/_build/html/_static/doc/IB01PY.html       |   389 +
 doc/_build/html/_static/doc/IB01QD.html       |   367 +
 doc/_build/html/_static/doc/IB01RD.html       |   261 +
 doc/_build/html/_static/doc/IB03AD.html       |  2727 ++++
 doc/_build/html/_static/doc/IB03BD.html       |  2747 ++++
 doc/_build/html/_static/doc/KINSOL.html       |   780 ++
 doc/_build/html/_static/doc/MA01AD.html       |    83 +
 doc/_build/html/_static/doc/MA01BD.html       |    97 +
 doc/_build/html/_static/doc/MA01BZ.html       |    96 +
 doc/_build/html/_static/doc/MA01CD.html       |    89 +
 doc/_build/html/_static/doc/MA02AD.html       |    93 +
 doc/_build/html/_static/doc/MA02AZ.html       |   101 +
 doc/_build/html/_static/doc/MA02BD.html       |    95 +
 doc/_build/html/_static/doc/MA02BZ.html       |    95 +
 doc/_build/html/_static/doc/MA02CD.html       |    90 +
 doc/_build/html/_static/doc/MA02CZ.html       |    90 +
 doc/_build/html/_static/doc/MA02DD.html       |   116 +
 doc/_build/html/_static/doc/MA02ED.html       |    86 +
 doc/_build/html/_static/doc/MA02ES.html       |    87 +
 doc/_build/html/_static/doc/MA02EZ.html       |   105 +
 doc/_build/html/_static/doc/MA02FD.html       |    90 +
 doc/_build/html/_static/doc/MA02GD.html       |   115 +
 doc/_build/html/_static/doc/MA02GZ.html       |   115 +
 doc/_build/html/_static/doc/MA02HD.html       |   106 +
 doc/_build/html/_static/doc/MA02HZ.html       |   107 +
 doc/_build/html/_static/doc/MA02ID.html       |   129 +
 doc/_build/html/_static/doc/MA02IZ.html       |   134 +
 doc/_build/html/_static/doc/MA02JD.html       |   119 +
 doc/_build/html/_static/doc/MA02JZ.html       |   120 +
 doc/_build/html/_static/doc/MA02MD.html       |   114 +
 doc/_build/html/_static/doc/MA02MZ.html       |   115 +
 doc/_build/html/_static/doc/MA02NZ.html       |   112 +
 doc/_build/html/_static/doc/MA02OD.html       |   105 +
 doc/_build/html/_static/doc/MA02OZ.html       |   108 +
 doc/_build/html/_static/doc/MA02PD.html       |    82 +
 doc/_build/html/_static/doc/MA02PZ.html       |    82 +
 doc/_build/html/_static/doc/MB01KD.html       |   169 +
 doc/_build/html/_static/doc/MB01LD.html       |   209 +
 doc/_build/html/_static/doc/MB01MD.html       |   136 +
 doc/_build/html/_static/doc/MB01ND.html       |   135 +
 doc/_build/html/_static/doc/MB01OC.html       |   155 +
 doc/_build/html/_static/doc/MB01OD.html       |   206 +
 doc/_build/html/_static/doc/MB01OE.html       |   144 +
 doc/_build/html/_static/doc/MB01OH.html       |   144 +
 doc/_build/html/_static/doc/MB01OO.html       |   145 +
 doc/_build/html/_static/doc/MB01OS.html       |   135 +
 doc/_build/html/_static/doc/MB01OT.html       |   144 +
 doc/_build/html/_static/doc/MB01PD.html       |   155 +
 doc/_build/html/_static/doc/MB01QD.html       |   143 +
 doc/_build/html/_static/doc/MB01RB.html       |   194 +
 doc/_build/html/_static/doc/MB01RD.html       |   219 +
 doc/_build/html/_static/doc/MB01RH.html       |   192 +
 doc/_build/html/_static/doc/MB01RT.html       |   190 +
 doc/_build/html/_static/doc/MB01RU.html       |   198 +
 doc/_build/html/_static/doc/MB01RW.html       |   130 +
 doc/_build/html/_static/doc/MB01RX.html       |   192 +
 doc/_build/html/_static/doc/MB01RY.html       |   174 +
 doc/_build/html/_static/doc/MB01SD.html       |    97 +
 doc/_build/html/_static/doc/MB01SS.html       |   103 +
 doc/_build/html/_static/doc/MB01TD.html       |   176 +
 doc/_build/html/_static/doc/MB01UD.html       |   144 +
 doc/_build/html/_static/doc/MB01UW.html       |   154 +
 doc/_build/html/_static/doc/MB01UX.html       |   184 +
 doc/_build/html/_static/doc/MB01UY.html       |   170 +
 doc/_build/html/_static/doc/MB01UZ.html       |   171 +
 doc/_build/html/_static/doc/MB01VD.html       |   166 +
 doc/_build/html/_static/doc/MB01WD.html       |   190 +
 doc/_build/html/_static/doc/MB01XD.html       |   116 +
 doc/_build/html/_static/doc/MB01XY.html       |   115 +
 doc/_build/html/_static/doc/MB01YD.html       |   185 +
 doc/_build/html/_static/doc/MB01ZD.html       |   192 +
 doc/_build/html/_static/doc/MB02CD.html       |   337 +
 doc/_build/html/_static/doc/MB02CU.html       |   253 +
 doc/_build/html/_static/doc/MB02CV.html       |   272 +
 doc/_build/html/_static/doc/MB02CX.html       |   173 +
 doc/_build/html/_static/doc/MB02CY.html       |   173 +
 doc/_build/html/_static/doc/MB02DD.html       |   477 +
 doc/_build/html/_static/doc/MB02ED.html       |   287 +
 doc/_build/html/_static/doc/MB02FD.html       |   362 +
 doc/_build/html/_static/doc/MB02GD.html       |   302 +
 doc/_build/html/_static/doc/MB02HD.html       |   332 +
 doc/_build/html/_static/doc/MB02ID.html       |   367 +
 doc/_build/html/_static/doc/MB02JD.html       |   338 +
 doc/_build/html/_static/doc/MB02JX.html       |   361 +
 doc/_build/html/_static/doc/MB02KD.html       |   346 +
 doc/_build/html/_static/doc/MB02MD.html       |   462 +
 doc/_build/html/_static/doc/MB02ND.html       |   583 +
 doc/_build/html/_static/doc/MB02NY.html       |   200 +
 doc/_build/html/_static/doc/MB02OD.html       |   210 +
 doc/_build/html/_static/doc/MB02PD.html       |   335 +
 doc/_build/html/_static/doc/MB02QD.html       |   345 +
 doc/_build/html/_static/doc/MB02QY.html       |   190 +
 doc/_build/html/_static/doc/MB02RD.html       |   129 +
 doc/_build/html/_static/doc/MB02RZ.html       |   125 +
 doc/_build/html/_static/doc/MB02SD.html       |   208 +
 doc/_build/html/_static/doc/MB02SZ.html       |   116 +
 doc/_build/html/_static/doc/MB02TD.html       |   131 +
 doc/_build/html/_static/doc/MB02TZ.html       |   132 +
 doc/_build/html/_static/doc/MB02UD.html       |   251 +
 doc/_build/html/_static/doc/MB02UU.html       |    98 +
 doc/_build/html/_static/doc/MB02UV.html       |   100 +
 doc/_build/html/_static/doc/MB02UW.html       |   143 +
 doc/_build/html/_static/doc/MB02VD.html       |   198 +
 doc/_build/html/_static/doc/MB02WD.html       |   308 +
 doc/_build/html/_static/doc/MB02XD.html       |   304 +
 doc/_build/html/_static/doc/MB02YD.html       |   200 +
 doc/_build/html/_static/doc/MB03AB.html       |   148 +
 doc/_build/html/_static/doc/MB03AD.html       |   133 +
 doc/_build/html/_static/doc/MB03AE.html       |   137 +
 doc/_build/html/_static/doc/MB03AF.html       |   134 +
 doc/_build/html/_static/doc/MB03AG.html       |   146 +
 doc/_build/html/_static/doc/MB03AH.html       |   143 +
 doc/_build/html/_static/doc/MB03AI.html       |   141 +
 doc/_build/html/_static/doc/MB03BA.html       |    87 +
 doc/_build/html/_static/doc/MB03BB.html       |   140 +
 doc/_build/html/_static/doc/MB03BC.html       |   151 +
 doc/_build/html/_static/doc/MB03BD.html       |   507 +
 doc/_build/html/_static/doc/MB03BE.html       |   100 +
 doc/_build/html/_static/doc/MB03BF.html       |   106 +
 doc/_build/html/_static/doc/MB03BZ.html       |   396 +
 doc/_build/html/_static/doc/MB03CD.html       |   226 +
 doc/_build/html/_static/doc/MB03CZ.html       |   137 +
 doc/_build/html/_static/doc/MB03DD.html       |   208 +
 doc/_build/html/_static/doc/MB03DZ.html       |   121 +
 doc/_build/html/_static/doc/MB03ED.html       |   183 +
 doc/_build/html/_static/doc/MB03FD.html       |   169 +
 doc/_build/html/_static/doc/MB03FZ.html       |   584 +
 doc/_build/html/_static/doc/MB03GD.html       |   152 +
 doc/_build/html/_static/doc/MB03GZ.html       |   127 +
 doc/_build/html/_static/doc/MB03HD.html       |   149 +
 doc/_build/html/_static/doc/MB03HZ.html       |   113 +
 doc/_build/html/_static/doc/MB03ID.html       |   321 +
 doc/_build/html/_static/doc/MB03IZ.html       |   305 +
 doc/_build/html/_static/doc/MB03JD.html       |   250 +
 doc/_build/html/_static/doc/MB03JP.html       |   253 +
 doc/_build/html/_static/doc/MB03JZ.html       |   228 +
 doc/_build/html/_static/doc/MB03KA.html       |   270 +
 doc/_build/html/_static/doc/MB03KB.html       |   272 +
 doc/_build/html/_static/doc/MB03KC.html       |   143 +
 doc/_build/html/_static/doc/MB03KD.html       |   521 +
 doc/_build/html/_static/doc/MB03KE.html       |   191 +
 doc/_build/html/_static/doc/MB03LD.html       |   491 +
 doc/_build/html/_static/doc/MB03LF.html       |   509 +
 doc/_build/html/_static/doc/MB03LP.html       |   339 +
 doc/_build/html/_static/doc/MB03LZ.html       |   504 +
 doc/_build/html/_static/doc/MB03MD.html       |   319 +
 doc/_build/html/_static/doc/MB03ND.html       |   261 +
 doc/_build/html/_static/doc/MB03NY.html       |   132 +
 doc/_build/html/_static/doc/MB03OD.html       |   288 +
 doc/_build/html/_static/doc/MB03OY.html       |   210 +
 doc/_build/html/_static/doc/MB03PD.html       |   318 +
 doc/_build/html/_static/doc/MB03PY.html       |   211 +
 doc/_build/html/_static/doc/MB03QD.html       |   301 +
 doc/_build/html/_static/doc/MB03QG.html       |   394 +
 doc/_build/html/_static/doc/MB03QV.html       |   100 +
 doc/_build/html/_static/doc/MB03QW.html       |   153 +
 doc/_build/html/_static/doc/MB03QX.html       |    86 +
 doc/_build/html/_static/doc/MB03QY.html       |   127 +
 doc/_build/html/_static/doc/MB03RD.html       |   387 +
 doc/_build/html/_static/doc/MB03RW.html       |   176 +
 doc/_build/html/_static/doc/MB03RX.html       |   167 +
 doc/_build/html/_static/doc/MB03RY.html       |   173 +
 doc/_build/html/_static/doc/MB03RZ.html       |   279 +
 doc/_build/html/_static/doc/MB03SD.html       |   274 +
 doc/_build/html/_static/doc/MB03TD.html       |   393 +
 doc/_build/html/_static/doc/MB03TS.html       |   190 +
 doc/_build/html/_static/doc/MB03UD.html       |   249 +
 doc/_build/html/_static/doc/MB03VD.html       |   372 +
 doc/_build/html/_static/doc/MB03VW.html       |   233 +
 doc/_build/html/_static/doc/MB03VY.html       |   157 +
 doc/_build/html/_static/doc/MB03WA.html       |   180 +
 doc/_build/html/_static/doc/MB03WD.html       |   432 +
 doc/_build/html/_static/doc/MB03WX.html       |   103 +
 doc/_build/html/_static/doc/MB03XD.html       |   524 +
 doc/_build/html/_static/doc/MB03XP.html       |   420 +
 doc/_build/html/_static/doc/MB03XS.html       |   225 +
 doc/_build/html/_static/doc/MB03XU.html       |   304 +
 doc/_build/html/_static/doc/MB03XZ.html       |   609 +
 doc/_build/html/_static/doc/MB03YA.html       |   213 +
 doc/_build/html/_static/doc/MB03YD.html       |   230 +
 doc/_build/html/_static/doc/MB03YT.html       |   132 +
 doc/_build/html/_static/doc/MB03ZA.html       |   310 +
 doc/_build/html/_static/doc/MB03ZD.html       |   576 +
 doc/_build/html/_static/doc/MB04AD.html       |   688 +
 doc/_build/html/_static/doc/MB04AZ.html       |   588 +
 doc/_build/html/_static/doc/MB04BD.html       |   602 +
 doc/_build/html/_static/doc/MB04BP.html       |   400 +
 doc/_build/html/_static/doc/MB04BZ.html       |   522 +
 doc/_build/html/_static/doc/MB04CD.html       |   362 +
 doc/_build/html/_static/doc/MB04DB.html       |   147 +
 doc/_build/html/_static/doc/MB04DD.html       |   235 +
 doc/_build/html/_static/doc/MB04DI.html       |   137 +
 doc/_build/html/_static/doc/MB04DL.html       |   374 +
 doc/_build/html/_static/doc/MB04DP.html       |   439 +
 doc/_build/html/_static/doc/MB04DS.html       |   238 +
 doc/_build/html/_static/doc/MB04DY.html       |   301 +
 doc/_build/html/_static/doc/MB04DZ.html       |   242 +
 doc/_build/html/_static/doc/MB04ED.html       |   543 +
 doc/_build/html/_static/doc/MB04FD.html       |   472 +
 doc/_build/html/_static/doc/MB04FP.html       |   314 +
 doc/_build/html/_static/doc/MB04GD.html       |   232 +
 doc/_build/html/_static/doc/MB04HD.html       |   305 +
 doc/_build/html/_static/doc/MB04ID.html       |   170 +
 doc/_build/html/_static/doc/MB04IY.html       |   169 +
 doc/_build/html/_static/doc/MB04IZ.html       |   170 +
 doc/_build/html/_static/doc/MB04JD.html       |   162 +
 doc/_build/html/_static/doc/MB04KD.html       |   166 +
 doc/_build/html/_static/doc/MB04LD.html       |   166 +
 doc/_build/html/_static/doc/MB04MD.html       |   197 +
 doc/_build/html/_static/doc/MB04ND.html       |   175 +
 doc/_build/html/_static/doc/MB04NY.html       |   124 +
 doc/_build/html/_static/doc/MB04OD.html       |   271 +
 doc/_build/html/_static/doc/MB04OW.html       |   168 +
 doc/_build/html/_static/doc/MB04OX.html       |   100 +
 doc/_build/html/_static/doc/MB04OY.html       |   121 +
 doc/_build/html/_static/doc/MB04PA.html       |   218 +
 doc/_build/html/_static/doc/MB04PB.html       |   384 +
 doc/_build/html/_static/doc/MB04PU.html       |   371 +
 doc/_build/html/_static/doc/MB04PY.html       |   123 +
 doc/_build/html/_static/doc/MB04QB.html       |   238 +
 doc/_build/html/_static/doc/MB04QC.html       |   230 +
 doc/_build/html/_static/doc/MB04QF.html       |   182 +
 doc/_build/html/_static/doc/MB04QS.html       |   208 +
 doc/_build/html/_static/doc/MB04QU.html       |   225 +
 doc/_build/html/_static/doc/MB04RB.html       |   203 +
 doc/_build/html/_static/doc/MB04RU.html       |   189 +
 doc/_build/html/_static/doc/MB04SU.html       |   185 +
 doc/_build/html/_static/doc/MB04TB.html       |   559 +
 doc/_build/html/_static/doc/MB04TS.html       |   544 +
 doc/_build/html/_static/doc/MB04TU.html       |    69 +
 doc/_build/html/_static/doc/MB04UD.html       |   310 +
 doc/_build/html/_static/doc/MB04VD.html       |   504 +
 doc/_build/html/_static/doc/MB04WD.html       |   188 +
 doc/_build/html/_static/doc/MB04WP.html       |   163 +
 doc/_build/html/_static/doc/MB04WR.html       |   207 +
 doc/_build/html/_static/doc/MB04WU.html       |   179 +
 doc/_build/html/_static/doc/MB04XD.html       |   567 +
 doc/_build/html/_static/doc/MB04XY.html       |   162 +
 doc/_build/html/_static/doc/MB04YD.html       |   444 +
 doc/_build/html/_static/doc/MB04YW.html       |   214 +
 doc/_build/html/_static/doc/MB04ZD.html       |   355 +
 doc/_build/html/_static/doc/MB05MD.html       |   298 +
 doc/_build/html/_static/doc/MB05MY.html       |   178 +
 doc/_build/html/_static/doc/MB05ND.html       |   246 +
 doc/_build/html/_static/doc/MB05OD.html       |   249 +
 doc/_build/html/_static/doc/MB05OY.html       |   128 +
 doc/_build/html/_static/doc/MB3JZP.html       |   239 +
 doc/_build/html/_static/doc/MB3LZP.html       |   347 +
 doc/_build/html/_static/doc/MB3OYZ.html       |   211 +
 doc/_build/html/_static/doc/MB3PYZ.html       |   213 +
 doc/_build/html/_static/doc/MB4DBZ.html       |   149 +
 doc/_build/html/_static/doc/MB4DLZ.html       |   375 +
 doc/_build/html/_static/doc/MB4DPZ.html       |   437 +
 doc/_build/html/_static/doc/MC01MD.html       |   199 +
 doc/_build/html/_static/doc/MC01ND.html       |   163 +
 doc/_build/html/_static/doc/MC01OD.html       |   169 +
 doc/_build/html/_static/doc/MC01PD.html       |   172 +
 doc/_build/html/_static/doc/MC01PY.html       |   115 +
 doc/_build/html/_static/doc/MC01QD.html       |   249 +
 doc/_build/html/_static/doc/MC01RD.html       |   251 +
 doc/_build/html/_static/doc/MC01SD.html       |   229 +
 doc/_build/html/_static/doc/MC01TD.html       |   253 +
 doc/_build/html/_static/doc/MC01VD.html       |   168 +
 doc/_build/html/_static/doc/MC01WD.html       |   205 +
 doc/_build/html/_static/doc/MC01XD.html       |   200 +
 doc/_build/html/_static/doc/MC03MD.html       |   358 +
 doc/_build/html/_static/doc/MC03ND.html       |   424 +
 doc/_build/html/_static/doc/MC03NX.html       |   121 +
 doc/_build/html/_static/doc/MD03AD.html       |   788 ++
 doc/_build/html/_static/doc/MD03BD.html       |  1017 ++
 doc/_build/html/_static/doc/MD03BX.html       |   144 +
 doc/_build/html/_static/doc/MD03BY.html       |   217 +
 doc/_build/html/_static/doc/NF01AD.html       |   155 +
 doc/_build/html/_static/doc/NF01AY.html       |   148 +
 doc/_build/html/_static/doc/NF01BD.html       |   210 +
 doc/_build/html/_static/doc/NF01BP.html       |   299 +
 doc/_build/html/_static/doc/NF01BQ.html       |   279 +
 doc/_build/html/_static/doc/NF01BR.html       |   267 +
 doc/_build/html/_static/doc/NF01BS.html       |   232 +
 doc/_build/html/_static/doc/NF01BU.html       |   169 +
 doc/_build/html/_static/doc/NF01BV.html       |   150 +
 doc/_build/html/_static/doc/NF01BW.html       |   147 +
 doc/_build/html/_static/doc/NF01BX.html       |   129 +
 doc/_build/html/_static/doc/NF01BY.html       |   185 +
 doc/_build/html/_static/doc/ODESolver.html    |   991 ++
 doc/_build/html/_static/doc/SB01BD.html       |   413 +
 doc/_build/html/_static/doc/SB01BX.html       |   107 +
 doc/_build/html/_static/doc/SB01BY.html       |   124 +
 doc/_build/html/_static/doc/SB01DD.html       |   322 +
 doc/_build/html/_static/doc/SB01FY.html       |   130 +
 doc/_build/html/_static/doc/SB01MD.html       |   239 +
 doc/_build/html/_static/doc/SB02MD.html       |   420 +
 doc/_build/html/_static/doc/SB02MT.html       |   316 +
 doc/_build/html/_static/doc/SB02MU.html       |   210 +
 doc/_build/html/_static/doc/SB02MX.html       |   353 +
 doc/_build/html/_static/doc/SB02ND.html       |   486 +
 doc/_build/html/_static/doc/SB02OD.html       |   574 +
 doc/_build/html/_static/doc/SB02OY.html       |   357 +
 doc/_build/html/_static/doc/SB02PD.html       |   360 +
 doc/_build/html/_static/doc/SB02QD.html       |   477 +
 doc/_build/html/_static/doc/SB02RD.html       |   692 +
 doc/_build/html/_static/doc/SB02RU.html       |   219 +
 doc/_build/html/_static/doc/SB02SD.html       |   509 +
 doc/_build/html/_static/doc/SB03MD.html       |   444 +
 doc/_build/html/_static/doc/SB03MU.html       |   162 +
 doc/_build/html/_static/doc/SB03MV.html       |   157 +
 doc/_build/html/_static/doc/SB03MW.html       |   157 +
 doc/_build/html/_static/doc/SB03MX.html       |   152 +
 doc/_build/html/_static/doc/SB03MY.html       |   142 +
 doc/_build/html/_static/doc/SB03OD.html       |   485 +
 doc/_build/html/_static/doc/SB03OR.html       |   159 +
 doc/_build/html/_static/doc/SB03OS.html       |   186 +
 doc/_build/html/_static/doc/SB03OT.html       |   204 +
 doc/_build/html/_static/doc/SB03OU.html       |   286 +
 doc/_build/html/_static/doc/SB03OV.html       |    98 +
 doc/_build/html/_static/doc/SB03OY.html       |   196 +
 doc/_build/html/_static/doc/SB03OZ.html       |   348 +
 doc/_build/html/_static/doc/SB03PD.html       |   249 +
 doc/_build/html/_static/doc/SB03QD.html       |   418 +
 doc/_build/html/_static/doc/SB03QX.html       |   197 +
 doc/_build/html/_static/doc/SB03QY.html       |   207 +
 doc/_build/html/_static/doc/SB03RD.html       |   242 +
 doc/_build/html/_static/doc/SB03SD.html       |   417 +
 doc/_build/html/_static/doc/SB03SX.html       |   198 +
 doc/_build/html/_static/doc/SB03SY.html       |   210 +
 doc/_build/html/_static/doc/SB03TD.html       |   469 +
 doc/_build/html/_static/doc/SB03UD.html       |   474 +
 doc/_build/html/_static/doc/SB04MD.html       |   264 +
 doc/_build/html/_static/doc/SB04MR.html       |   113 +
 doc/_build/html/_static/doc/SB04MU.html       |   133 +
 doc/_build/html/_static/doc/SB04MW.html       |   110 +
 doc/_build/html/_static/doc/SB04MY.html       |   132 +
 doc/_build/html/_static/doc/SB04ND.html       |   286 +
 doc/_build/html/_static/doc/SB04NV.html       |   116 +
 doc/_build/html/_static/doc/SB04NW.html       |   116 +
 doc/_build/html/_static/doc/SB04NX.html       |   140 +
 doc/_build/html/_static/doc/SB04NY.html       |   138 +
 doc/_build/html/_static/doc/SB04OD.html       |   582 +
 doc/_build/html/_static/doc/SB04OW.html       |   188 +
 doc/_build/html/_static/doc/SB04PD.html       |   440 +
 doc/_build/html/_static/doc/SB04PX.html       |   163 +
 doc/_build/html/_static/doc/SB04PY.html       |   182 +
 doc/_build/html/_static/doc/SB04QD.html       |   272 +
 doc/_build/html/_static/doc/SB04QR.html       |   118 +
 doc/_build/html/_static/doc/SB04QU.html       |   139 +
 doc/_build/html/_static/doc/SB04QY.html       |   136 +
 doc/_build/html/_static/doc/SB04RD.html       |   290 +
 doc/_build/html/_static/doc/SB04RV.html       |   135 +
 doc/_build/html/_static/doc/SB04RW.html       |   134 +
 doc/_build/html/_static/doc/SB04RX.html       |   142 +
 doc/_build/html/_static/doc/SB04RY.html       |   138 +
 doc/_build/html/_static/doc/SB06ND.html       |   293 +
 doc/_build/html/_static/doc/SB08CD.html       |   445 +
 doc/_build/html/_static/doc/SB08DD.html       |   433 +
 doc/_build/html/_static/doc/SB08ED.html       |   447 +
 doc/_build/html/_static/doc/SB08FD.html       |   433 +
 doc/_build/html/_static/doc/SB08GD.html       |   181 +
 doc/_build/html/_static/doc/SB08HD.html       |   181 +
 doc/_build/html/_static/doc/SB08MD.html       |   293 +
 doc/_build/html/_static/doc/SB08ND.html       |   299 +
 doc/_build/html/_static/doc/SB09MD.html       |   257 +
 doc/_build/html/_static/doc/SB10AD.html       |   404 +
 doc/_build/html/_static/doc/SB10DD.html       |   484 +
 doc/_build/html/_static/doc/SB10ED.html       |   466 +
 doc/_build/html/_static/doc/SB10FD.html       |   516 +
 doc/_build/html/_static/doc/SB10HD.html       |   417 +
 doc/_build/html/_static/doc/SB10ID.html       |   362 +
 doc/_build/html/_static/doc/SB10JD.html       |   163 +
 doc/_build/html/_static/doc/SB10KD.html       |   359 +
 doc/_build/html/_static/doc/SB10LD.html       |   239 +
 doc/_build/html/_static/doc/SB10MD.html       |   302 +
 doc/_build/html/_static/doc/SB10PD.html       |   235 +
 doc/_build/html/_static/doc/SB10QD.html       |   261 +
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 doc/_build/html/_static/doc/TG01FZ.html       |   487 +
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 doc/_build/html/_static/doc/TG01HD.html       |   603 +
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 doc/_build/html/_static/doc/TG01ID.html       |   618 +
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 doc/_build/html/_static/doc/TG01PD.html       |   498 +
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 doc/_build/html/_static/doc/TG01WD.html       |   188 +
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 doc/_build/html/_static/doc/UE01MD.html       |   104 +
 doc/_build/html/_static/doc/readme            |    17 +
 doc/_build/html/_static/doc/support.html      |   911 ++
 doc/_build/html/_static/doctools.js           |   156 +
 .../html/_static/documentation_options.js     |    14 +
 doc/_build/html/_static/file.png              |   Bin 0 -> 286 bytes
 doc/_build/html/_static/jquery-3.6.0.js       | 10881 ++++++++++++++++
 doc/_build/html/_static/jquery.js             |     2 +
 doc/_build/html/_static/js/badge_only.js      |     1 +
 .../_static/js/html5shiv-printshiv.min.js     |     4 +
 doc/_build/html/_static/js/html5shiv.min.js   |     4 +
 doc/_build/html/_static/js/theme.js           |     1 +
 doc/_build/html/_static/language_data.js      |   199 +
 doc/_build/html/_static/libindex.html         |   878 ++
 doc/_build/html/_static/minus.png             |   Bin 0 -> 90 bytes
 .../_static/nbsphinx-broken-thumbnail.svg     |     9 +
 .../html/_static/nbsphinx-code-cells.css      |   259 +
 doc/_build/html/_static/nbsphinx-gallery.css  |    31 +
 .../html/_static/nbsphinx-no-thumbnail.svg    |     9 +
 doc/_build/html/_static/plus.png              |   Bin 0 -> 90 bytes
 doc/_build/html/_static/pygments.css          |    74 +
 doc/_build/html/_static/searchtools.js        |   566 +
 doc/_build/html/_static/sphinx_highlight.js   |   144 +
 doc/_build/html/_static/underscore-1.13.1.js  |  2042 +++
 doc/_build/html/_static/underscore.js         |     6 +
 doc/_build/html/genindex.html                 |   338 +
 doc/_build/html/index.html                    |   141 +
 doc/_build/html/intro.html                    |   167 +
 doc/_build/html/objects.inv                   |   Bin 0 -> 5018 bytes
 doc/_build/html/py-modindex.html              |   126 +
 doc/_build/html/search.html                   |   123 +
 doc/_build/html/searchindex.js                |     1 +
 doc/_build/html/source/dev/basic.html         |   256 +
 doc/_build/html/source/dev/index.html         |   121 +
 .../html/source/dev/inspect_slycot.html       |   313 +
 .../html/source/dev/inspect_slycot.ipynb      |   262 +
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 doc/_build/html/source/reference/index.html   |   122 +
 .../html/source/reference/slycot_inner.html   |   334 +
 .../html/source/reference/slycot_outer.html   |   377 +
 doc/_static/doc/AB01MD.html                   |   295 +
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 doc/_static/doc/AB09HX.html                   |   348 +
 doc/_static/doc/AB09HY.html                   |   192 +
 doc/_static/doc/AB09ID.html                   |   888 ++
 doc/_static/doc/AB09IX.html                   |   363 +
 doc/_static/doc/AB09IY.html                   |   416 +
 doc/_static/doc/AB09JD.html                   |   812 ++
 doc/_static/doc/AB09JV.html                   |   365 +
 doc/_static/doc/AB09JW.html                   |   366 +
 doc/_static/doc/AB09JX.html                   |   143 +
 doc/_static/doc/AB09KD.html                   |   760 ++
 doc/_static/doc/AB09KX.html                   |   395 +
 doc/_static/doc/AB09MD.html                   |   449 +
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 doc/_static/doc/AB13AD.html                   |   322 +
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 doc/_static/doc/AB8NXZ.html                   |   207 +
 doc/_static/doc/AG07BD.html                   |   194 +
 doc/_static/doc/AG08BD.html                   |   754 ++
 doc/_static/doc/AG08BY.html                   |   261 +
 doc/_static/doc/AG08BZ.html                   |   739 ++
 doc/_static/doc/AG8BYZ.html                   |   265 +
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 doc/_static/doc/BD01AD.html                   |   352 +
 doc/_static/doc/BD02AD.html                   |   334 +
 doc/_static/doc/DAESolver.html                |  1408 ++
 doc/_static/doc/DE01OD.html                   |   186 +
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 doc/_static/doc/DF01MD.html                   |   282 +
 doc/_static/doc/DG01MD.html                   |   205 +
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 doc/_static/doc/FD01AD.html                   |   398 +
 doc/_static/doc/FSQP.html                     |   438 +
 doc/_static/doc/IB01AD.html                   |  2615 ++++
 doc/_static/doc/IB01BD.html                   |  2726 ++++
 doc/_static/doc/IB01CD.html                   |  2784 ++++
 doc/_static/doc/IB01MD.html                   |   370 +
 doc/_static/doc/IB01MY.html                   |   293 +
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 doc/_static/doc/IB01QD.html                   |   367 +
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 doc/_static/doc/IB03AD.html                   |  2727 ++++
 doc/_static/doc/IB03BD.html                   |  2747 ++++
 doc/_static/doc/KINSOL.html                   |   780 ++
 doc/_static/doc/MA01AD.html                   |    83 +
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 doc/_static/doc/MB02JX.html                   |   361 +
 doc/_static/doc/MB02KD.html                   |   346 +
 doc/_static/doc/MB02MD.html                   |   462 +
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 doc/_static/doc/MB03JD.html                   |   250 +
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 doc/_static/doc/MB03KA.html                   |   270 +
 doc/_static/doc/MB03KB.html                   |   272 +
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 doc/_static/doc/MB03KD.html                   |   521 +
 doc/_static/doc/MB03KE.html                   |   191 +
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 doc/_static/doc/MB03PD.html                   |   318 +
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 doc/_static/doc/MB03QD.html                   |   301 +
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 doc/_static/doc/MB03RD.html                   |   387 +
 doc/_static/doc/MB03RW.html                   |   176 +
 doc/_static/doc/MB03RX.html                   |   167 +
 doc/_static/doc/MB03RY.html                   |   173 +
 doc/_static/doc/MB03RZ.html                   |   279 +
 doc/_static/doc/MB03SD.html                   |   274 +
 doc/_static/doc/MB03TD.html                   |   393 +
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 doc/_static/doc/MB03UD.html                   |   249 +
 doc/_static/doc/MB03VD.html                   |   372 +
 doc/_static/doc/MB03VW.html                   |   233 +
 doc/_static/doc/MB03VY.html                   |   157 +
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 doc/_static/doc/MB03ZD.html                   |   576 +
 doc/_static/doc/MB04AD.html                   |   688 +
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 doc/_static/doc/MB04DS.html                   |   238 +
 doc/_static/doc/MB04DY.html                   |   301 +
 doc/_static/doc/MB04DZ.html                   |   242 +
 doc/_static/doc/MB04ED.html                   |   543 +
 doc/_static/doc/MB04FD.html                   |   472 +
 doc/_static/doc/MB04FP.html                   |   314 +
 doc/_static/doc/MB04GD.html                   |   232 +
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 doc/_static/doc/MB04JD.html                   |   162 +
 doc/_static/doc/MB04KD.html                   |   166 +
 doc/_static/doc/MB04LD.html                   |   166 +
 doc/_static/doc/MB04MD.html                   |   197 +
 doc/_static/doc/MB04ND.html                   |   175 +
 doc/_static/doc/MB04NY.html                   |   124 +
 doc/_static/doc/MB04OD.html                   |   271 +
 doc/_static/doc/MB04OW.html                   |   168 +
 doc/_static/doc/MB04OX.html                   |   100 +
 doc/_static/doc/MB04OY.html                   |   121 +
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 doc/_static/doc/MB04PB.html                   |   384 +
 doc/_static/doc/MB04PU.html                   |   371 +
 doc/_static/doc/MB04PY.html                   |   123 +
 doc/_static/doc/MB04QB.html                   |   238 +
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 doc/_static/doc/MB04RU.html                   |   189 +
 doc/_static/doc/MB04SU.html                   |   185 +
 doc/_static/doc/MB04TB.html                   |   559 +
 doc/_static/doc/MB04TS.html                   |   544 +
 doc/_static/doc/MB04TU.html                   |    69 +
 doc/_static/doc/MB04UD.html                   |   310 +
 doc/_static/doc/MB04VD.html                   |   504 +
 doc/_static/doc/MB04WD.html                   |   188 +
 doc/_static/doc/MB04WP.html                   |   163 +
 doc/_static/doc/MB04WR.html                   |   207 +
 doc/_static/doc/MB04WU.html                   |   179 +
 doc/_static/doc/MB04XD.html                   |   567 +
 doc/_static/doc/MB04XY.html                   |   162 +
 doc/_static/doc/MB04YD.html                   |   444 +
 doc/_static/doc/MB04YW.html                   |   214 +
 doc/_static/doc/MB04ZD.html                   |   355 +
 doc/_static/doc/MB05MD.html                   |   298 +
 doc/_static/doc/MB05MY.html                   |   178 +
 doc/_static/doc/MB05ND.html                   |   246 +
 doc/_static/doc/MB05OD.html                   |   249 +
 doc/_static/doc/MB05OY.html                   |   128 +
 doc/_static/doc/MB3JZP.html                   |   239 +
 doc/_static/doc/MB3LZP.html                   |   347 +
 doc/_static/doc/MB3OYZ.html                   |   211 +
 doc/_static/doc/MB3PYZ.html                   |   213 +
 doc/_static/doc/MB4DBZ.html                   |   149 +
 doc/_static/doc/MB4DLZ.html                   |   375 +
 doc/_static/doc/MB4DPZ.html                   |   437 +
 doc/_static/doc/MC01MD.html                   |   199 +
 doc/_static/doc/MC01ND.html                   |   163 +
 doc/_static/doc/MC01OD.html                   |   169 +
 doc/_static/doc/MC01PD.html                   |   172 +
 doc/_static/doc/MC01PY.html                   |   115 +
 doc/_static/doc/MC01QD.html                   |   249 +
 doc/_static/doc/MC01RD.html                   |   251 +
 doc/_static/doc/MC01SD.html                   |   229 +
 doc/_static/doc/MC01TD.html                   |   253 +
 doc/_static/doc/MC01VD.html                   |   168 +
 doc/_static/doc/MC01WD.html                   |   205 +
 doc/_static/doc/MC01XD.html                   |   200 +
 doc/_static/doc/MC03MD.html                   |   358 +
 doc/_static/doc/MC03ND.html                   |   424 +
 doc/_static/doc/MC03NX.html                   |   121 +
 doc/_static/doc/MD03AD.html                   |   788 ++
 doc/_static/doc/MD03BD.html                   |  1017 ++
 doc/_static/doc/MD03BX.html                   |   144 +
 doc/_static/doc/MD03BY.html                   |   217 +
 doc/_static/doc/NF01AD.html                   |   155 +
 doc/_static/doc/NF01AY.html                   |   148 +
 doc/_static/doc/NF01BD.html                   |   210 +
 doc/_static/doc/NF01BP.html                   |   299 +
 doc/_static/doc/NF01BQ.html                   |   279 +
 doc/_static/doc/NF01BR.html                   |   267 +
 doc/_static/doc/NF01BS.html                   |   232 +
 doc/_static/doc/NF01BU.html                   |   169 +
 doc/_static/doc/NF01BV.html                   |   150 +
 doc/_static/doc/NF01BW.html                   |   147 +
 doc/_static/doc/NF01BX.html                   |   129 +
 doc/_static/doc/NF01BY.html                   |   185 +
 doc/_static/doc/ODESolver.html                |   991 ++
 doc/_static/doc/SB01BD.html                   |   413 +
 doc/_static/doc/SB01BX.html                   |   107 +
 doc/_static/doc/SB01BY.html                   |   124 +
 doc/_static/doc/SB01DD.html                   |   322 +
 doc/_static/doc/SB01FY.html                   |   130 +
 doc/_static/doc/SB01MD.html                   |   239 +
 doc/_static/doc/SB02MD.html                   |   420 +
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 doc/_static/doc/SB02MU.html                   |   210 +
 doc/_static/doc/SB02MX.html                   |   353 +
 doc/_static/doc/SB02ND.html                   |   486 +
 doc/_static/doc/SB02OD.html                   |   574 +
 doc/_static/doc/SB02OY.html                   |   357 +
 doc/_static/doc/SB02PD.html                   |   360 +
 doc/_static/doc/SB02QD.html                   |   477 +
 doc/_static/doc/SB02RD.html                   |   692 +
 doc/_static/doc/SB02RU.html                   |   219 +
 doc/_static/doc/SB02SD.html                   |   509 +
 doc/_static/doc/SB03MD.html                   |   444 +
 doc/_static/doc/SB03MU.html                   |   162 +
 doc/_static/doc/SB03MV.html                   |   157 +
 doc/_static/doc/SB03MW.html                   |   157 +
 doc/_static/doc/SB03MX.html                   |   152 +
 doc/_static/doc/SB03MY.html                   |   142 +
 doc/_static/doc/SB03OD.html                   |   485 +
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 doc/_static/doc/SB03OT.html                   |   204 +
 doc/_static/doc/SB03OU.html                   |   286 +
 doc/_static/doc/SB03OV.html                   |    98 +
 doc/_static/doc/SB03OY.html                   |   196 +
 doc/_static/doc/SB03OZ.html                   |   348 +
 doc/_static/doc/SB03PD.html                   |   249 +
 doc/_static/doc/SB03QD.html                   |   418 +
 doc/_static/doc/SB03QX.html                   |   197 +
 doc/_static/doc/SB03QY.html                   |   207 +
 doc/_static/doc/SB03RD.html                   |   242 +
 doc/_static/doc/SB03SD.html                   |   417 +
 doc/_static/doc/SB03SX.html                   |   198 +
 doc/_static/doc/SB03SY.html                   |   210 +
 doc/_static/doc/SB03TD.html                   |   469 +
 doc/_static/doc/SB03UD.html                   |   474 +
 doc/_static/doc/SB04MD.html                   |   264 +
 doc/_static/doc/SB04MR.html                   |   113 +
 doc/_static/doc/SB04MU.html                   |   133 +
 doc/_static/doc/SB04MW.html                   |   110 +
 doc/_static/doc/SB04MY.html                   |   132 +
 doc/_static/doc/SB04ND.html                   |   286 +
 doc/_static/doc/SB04NV.html                   |   116 +
 doc/_static/doc/SB04NW.html                   |   116 +
 doc/_static/doc/SB04NX.html                   |   140 +
 doc/_static/doc/SB04NY.html                   |   138 +
 doc/_static/doc/SB04OD.html                   |   582 +
 doc/_static/doc/SB04OW.html                   |   188 +
 doc/_static/doc/SB04PD.html                   |   440 +
 doc/_static/doc/SB04PX.html                   |   163 +
 doc/_static/doc/SB04PY.html                   |   182 +
 doc/_static/doc/SB04QD.html                   |   272 +
 doc/_static/doc/SB04QR.html                   |   118 +
 doc/_static/doc/SB04QU.html                   |   139 +
 doc/_static/doc/SB04QY.html                   |   136 +
 doc/_static/doc/SB04RD.html                   |   290 +
 doc/_static/doc/SB04RV.html                   |   135 +
 doc/_static/doc/SB04RW.html                   |   134 +
 doc/_static/doc/SB04RX.html                   |   142 +
 doc/_static/doc/SB04RY.html                   |   138 +
 doc/_static/doc/SB06ND.html                   |   293 +
 doc/_static/doc/SB08CD.html                   |   445 +
 doc/_static/doc/SB08DD.html                   |   433 +
 doc/_static/doc/SB08ED.html                   |   447 +
 doc/_static/doc/SB08FD.html                   |   433 +
 doc/_static/doc/SB08GD.html                   |   181 +
 doc/_static/doc/SB08HD.html                   |   181 +
 doc/_static/doc/SB08MD.html                   |   293 +
 doc/_static/doc/SB08ND.html                   |   299 +
 doc/_static/doc/SB09MD.html                   |   257 +
 doc/_static/doc/SB10AD.html                   |   404 +
 doc/_static/doc/SB10DD.html                   |   484 +
 doc/_static/doc/SB10ED.html                   |   466 +
 doc/_static/doc/SB10FD.html                   |   516 +
 doc/_static/doc/SB10HD.html                   |   417 +
 doc/_static/doc/SB10ID.html                   |   362 +
 doc/_static/doc/SB10JD.html                   |   163 +
 doc/_static/doc/SB10KD.html                   |   359 +
 doc/_static/doc/SB10LD.html                   |   239 +
 doc/_static/doc/SB10MD.html                   |   302 +
 doc/_static/doc/SB10PD.html                   |   235 +
 doc/_static/doc/SB10QD.html                   |   261 +
 doc/_static/doc/SB10RD.html                   |   267 +
 doc/_static/doc/SB10SD.html                   |   286 +
 doc/_static/doc/SB10TD.html                   |   223 +
 doc/_static/doc/SB10UD.html                   |   220 +
 doc/_static/doc/SB10VD.html                   |   223 +
 doc/_static/doc/SB10WD.html                   |   216 +
 doc/_static/doc/SB10YD.html                   |   231 +
 doc/_static/doc/SB10ZD.html                   |   391 +
 doc/_static/doc/SB10ZP.html                   |   156 +
 doc/_static/doc/SB16AD.html                   |   650 +
 doc/_static/doc/SB16AY.html                   |   343 +
 doc/_static/doc/SB16BD.html                   |   551 +
 doc/_static/doc/SB16CD.html                   |   528 +
 doc/_static/doc/SB16CY.html                   |   233 +
 doc/_static/doc/SG02AD.html                   |   639 +
 doc/_static/doc/SG02CV.html                   |   256 +
 doc/_static/doc/SG02CW.html                   |   495 +
 doc/_static/doc/SG02CX.html                   |   295 +
 doc/_static/doc/SG02ND.html                   |   619 +
 doc/_static/doc/SG03AD.html                   |   499 +
 doc/_static/doc/SG03AX.html                   |   160 +
 doc/_static/doc/SG03AY.html                   |   160 +
 doc/_static/doc/SG03BD.html                   |   581 +
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 doc/_static/doc/SG03BS.html                   |   269 +
 doc/_static/doc/SG03BT.html                   |   255 +
 doc/_static/doc/SG03BU.html                   |   288 +
 doc/_static/doc/SG03BV.html                   |   274 +
 doc/_static/doc/SG03BW.html                   |   185 +
 doc/_static/doc/SG03BX.html                   |   199 +
 doc/_static/doc/SG03BY.html                   |    83 +
 doc/_static/doc/SG03BZ.html                   |   484 +
 doc/_static/doc/TB01ID.html                   |   308 +
 doc/_static/doc/TB01IZ.html                   |   322 +
 doc/_static/doc/TB01KD.html                   |   366 +
 doc/_static/doc/TB01KX.html                   |   169 +
 doc/_static/doc/TB01LD.html                   |   355 +
 doc/_static/doc/TB01MD.html                   |   299 +
 doc/_static/doc/TB01ND.html                   |   298 +
 doc/_static/doc/TB01PD.html                   |   324 +
 doc/_static/doc/TB01PX.html                   |   370 +
 doc/_static/doc/TB01TD.html                   |   316 +
 doc/_static/doc/TB01UD.html                   |   407 +
 doc/_static/doc/TB01UX.html                   |   252 +
 doc/_static/doc/TB01UY.html                   |   421 +
 doc/_static/doc/TB01VD.html                   |   205 +
 doc/_static/doc/TB01VY.html                   |   164 +
 doc/_static/doc/TB01WD.html                   |   297 +
 doc/_static/doc/TB01WX.html                   |   290 +
 doc/_static/doc/TB01XD.html                   |   168 +
 doc/_static/doc/TB01XZ.html                   |   166 +
 doc/_static/doc/TB01YD.html                   |   129 +
 doc/_static/doc/TB01ZD.html                   |   335 +
 doc/_static/doc/TB03AD.html                   |   499 +
 doc/_static/doc/TB04AD.html                   |   462 +
 doc/_static/doc/TB04BD.html                   |   414 +
 doc/_static/doc/TB04BV.html                   |   170 +
 doc/_static/doc/TB04BW.html                   |   159 +
 doc/_static/doc/TB04BX.html                   |   159 +
 doc/_static/doc/TB04CD.html                   |   455 +
 doc/_static/doc/TB05AD.html                   |   374 +
 doc/_static/doc/TC01OD.html                   |   269 +
 doc/_static/doc/TC04AD.html                   |   399 +
 doc/_static/doc/TC05AD.html                   |   328 +
 doc/_static/doc/TD03AD.html                   |   567 +
 doc/_static/doc/TD04AD.html                   |   418 +
 doc/_static/doc/TD05AD.html                   |   207 +
 doc/_static/doc/TF01MD.html                   |   294 +
 doc/_static/doc/TF01MX.html                   |   165 +
 doc/_static/doc/TF01MY.html                   |   187 +
 doc/_static/doc/TF01ND.html                   |   313 +
 doc/_static/doc/TF01OD.html                   |   207 +
 doc/_static/doc/TF01PD.html                   |   207 +
 doc/_static/doc/TF01QD.html                   |   302 +
 doc/_static/doc/TF01RD.html                   |   263 +
 doc/_static/doc/TG01AD.html                   |   376 +
 doc/_static/doc/TG01AZ.html                   |   379 +
 doc/_static/doc/TG01BD.html                   |   260 +
 doc/_static/doc/TG01CD.html                   |   307 +
 doc/_static/doc/TG01DD.html                   |   302 +
 doc/_static/doc/TG01ED.html                   |   429 +
 doc/_static/doc/TG01FD.html                   |   484 +
 doc/_static/doc/TG01FZ.html                   |   487 +
 doc/_static/doc/TG01GD.html                   |   409 +
 doc/_static/doc/TG01HD.html                   |   603 +
 doc/_static/doc/TG01HU.html                   |   376 +
 doc/_static/doc/TG01HX.html                   |   343 +
 doc/_static/doc/TG01HY.html                   |   360 +
 doc/_static/doc/TG01ID.html                   |   618 +
 doc/_static/doc/TG01JD.html                   |   465 +
 doc/_static/doc/TG01JY.html                   |   525 +
 doc/_static/doc/TG01KD.html                   |   202 +
 doc/_static/doc/TG01KZ.html                   |   202 +
 doc/_static/doc/TG01LD.html                   |   490 +
 doc/_static/doc/TG01LY.html                   |   297 +
 doc/_static/doc/TG01MD.html                   |   494 +
 doc/_static/doc/TG01ND.html                   |   540 +
 doc/_static/doc/TG01NX.html                   |   217 +
 doc/_static/doc/TG01OA.html                   |   138 +
 doc/_static/doc/TG01OB.html                   |   137 +
 doc/_static/doc/TG01OD.html                   |   181 +
 doc/_static/doc/TG01OZ.html                   |   181 +
 doc/_static/doc/TG01PD.html                   |   498 +
 doc/_static/doc/TG01QD.html                   |   529 +
 doc/_static/doc/TG01WD.html                   |   188 +
 doc/_static/doc/UD01BD.html                   |   212 +
 doc/_static/doc/UD01CD.html                   |   224 +
 doc/_static/doc/UD01DD.html                   |   176 +
 doc/_static/doc/UD01MD.html                   |   178 +
 doc/_static/doc/UD01MZ.html                   |   126 +
 doc/_static/doc/UD01ND.html                   |   231 +
 doc/_static/doc/UE01MD.html                   |   104 +
 doc/_static/doc/readme                        |    17 +
 doc/_static/doc/support.html                  |   911 ++
 doc/_static/libindex.html                     |   878 ++
 doc/conf.py                                   |    39 +
 doc/index.rst                                 |    40 +
 doc/intro.rst                                 |    59 +
 doc/make.bat                                  |    35 +
 doc/requirements.txt                          |    10 +
 doc/source/dev/basic.rst                      |   140 +
 doc/source/dev/index.rst                      |    10 +
 doc/source/dev/inspect_slycot.ipynb           |   263 +
 .../generated/slycot._wrapper.ab01nd.rst      |     6 +
 .../generated/slycot._wrapper.ab04md.rst      |     6 +
 .../generated/slycot._wrapper.ab05md.rst      |     6 +
 .../generated/slycot._wrapper.ab05nd.rst      |     6 +
 .../generated/slycot._wrapper.ab07nd.rst      |     6 +
 .../generated/slycot._wrapper.ab08nd.rst      |     6 +
 .../generated/slycot._wrapper.ab08nz.rst      |     6 +
 .../generated/slycot._wrapper.ab09ad.rst      |     6 +
 .../generated/slycot._wrapper.ab09ax.rst      |     6 +
 .../generated/slycot._wrapper.ab09bd.rst      |     6 +
 .../generated/slycot._wrapper.ab09md.rst      |     6 +
 .../generated/slycot._wrapper.ab09nd.rst      |     6 +
 .../generated/slycot._wrapper.ab13bd.rst      |     6 +
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diff --git a/doc/Makefile b/doc/Makefile
new file mode 100644
index 00000000..d4bb2cbb
--- /dev/null
+++ b/doc/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
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diff --git a/doc/_build/doctrees/nbsphinx/source/dev/inspect_slycot.ipynb b/doc/_build/doctrees/nbsphinx/source/dev/inspect_slycot.ipynb
new file mode 100644
index 00000000..fbde5af2
--- /dev/null
+++ b/doc/_build/doctrees/nbsphinx/source/dev/inspect_slycot.ipynb
@@ -0,0 +1,262 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inspect Slycot"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook shows how to inspect the slycot module.\n",
+    "The result gives us a first insight which slicot procedures are implemented.\n",
+    "In addition we get some insight about the orginisation of the module."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "0.5.5.dev0+g294eae0.d20230726\n"
+     ]
+    }
+   ],
+   "source": [
+    "import slycot\n",
+    "print(slycot.__version__)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect Wrapper function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_method(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Outer wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 50 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_wrapper = get_slycot_method(slycot)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_wrapper)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Inner wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 72 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_f2py_wrapper)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Generate Sets for the Venn-Diagramm"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 27,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "from matplotlib_venn import venn2"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 32,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 10 methods implemented.\n",
+      "------\n",
+      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
+      "\n",
+      "\n",
+      "Currently there are 32 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 42 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 40 methods implemented.\n",
+      "------\n",
+      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n",
+      "Currently there are 82 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
+    "difference1\n",
+    "\n",
+    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference1)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
+    "difference2\n",
+    "\n",
+    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference2)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
+    "difference3\n",
+    "\n",
+    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference3)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(intersection)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
+    "\n",
+    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(union)\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "venn2(subsets = (len(set(slycot_wrapper)), \n",
+    "                 len(set(slycot_f2py_wrapper)), \n",
+    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
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+  "language_info": {
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+   "pygments_lexer": "ipython3",
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+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/_build/doctrees/nbsphinx/source_dev_inspect_slycot_13_0.png b/doc/_build/doctrees/nbsphinx/source_dev_inspect_slycot_13_0.png
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diff --git a/doc/_build/doctrees/source/reference/generated/slycot._wrapper.ab01nd.doctree b/doc/_build/doctrees/source/reference/generated/slycot._wrapper.ab01nd.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..da0fa801b48ed91837e378edb1134f5e029894e8
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new file mode 100644
index 0000000000000000000000000000000000000000..18a1f8a6e3d5e8c4ab19ad88de2f3e59f5774dd8
GIT binary patch
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diff --git a/doc/_build/html/_sources/index.rst.txt b/doc/_build/html/_sources/index.rst.txt
new file mode 100644
index 00000000..717595b6
--- /dev/null
+++ b/doc/_build/html/_sources/index.rst.txt
@@ -0,0 +1,40 @@
+.. slycot documentation master file, created by
+   sphinx-quickstart on Wed Jul 26 15:18:00 2023.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Slycot
+======
+
+Python wrapper for selected SLICOT routines, 
+notably including solvers for Riccati, Lyapunov, and Sylvester equations.
+
+.. rubric:: Features
+
+- Analysis Routines
+- Benchmark
+- Adaptive Control
+- Data Analysis
+- Filtering
+- Identification
+- Mathematical Routines
+- Nonlinear Systems
+- Synthesis Routines
+- Transformation Routines
+- Utility Routines
+
+.. rubric:: Documentation
+
+.. toctree::
+   :maxdepth: 1
+
+   intro
+   source/reference/index
+   source/dev/index
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/doc/_build/html/_sources/intro.rst.txt b/doc/_build/html/_sources/intro.rst.txt
new file mode 100644
index 00000000..33b7c311
--- /dev/null
+++ b/doc/_build/html/_sources/intro.rst.txt
@@ -0,0 +1,59 @@
+************
+Introduction
+************
+
+Welcome to the Slycot (`slycot`) User's Manual. 
+This manual contains information on using the `slycot` package, 
+including documentation for all functions in the package and examples illustrating their use.
+
+Installation
+============
+
+The `slycot` package can be installed using conda or pip.  The
+package requires `NumPy <http://www.numpy.org>`_.
+
+For users with the Anaconda distribution of Python, the following
+command can be used::
+
+  conda install -c conda-forge slycot
+
+This installs `slycot` from conda-forge, including the
+`openblas` package.  NumPy will also be installed if
+they are not already present.
+
+.. note::
+   Mixing packages from conda-forge and the default conda channel
+   can sometimes cause problems with dependencies, so it is usually best to
+   instally NumPy, SciPy, and Matplotlib from conda-forge as well.
+
+To install using pip::
+
+  pip install slycot
+
+.. note::
+   If you install Slycot using pip you'll need a development
+   environment (e.g., Python development files, C and Fortran compilers).
+   Pip installation can be particularly complicated for Windows.
+
+Users can check to insure that slycot is installed 
+correctly by running the command::
+
+  python -c "import slycot"
+
+and verifying that no error message appears. More information on the 
+Slycot package can be obtained from the `Slycot project page
+<https://github.com/python-control/Slycot>`_.
+
+Alternatively, to install from source, first `download the source
+<https://github.com/python-control/Slycot>`_ and unpack it.
+To install in your home directory, use::
+    
+    pip install .
+
+Getting started
+===============
+
+There are two different ways to use the package.  For the default interface
+described in :ref:`function-ref`, simply import the control package as follows::
+
+    >>> import slycot
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/dev/basic.rst.txt b/doc/_build/html/_sources/source/dev/basic.rst.txt
new file mode 100644
index 00000000..4443fdb3
--- /dev/null
+++ b/doc/_build/html/_sources/source/dev/basic.rst.txt
@@ -0,0 +1,140 @@
+**********************
+Contributing to Slycot
+**********************
+
+F2PY
+====
+Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
+`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
+
+Development process - summary
+=============================
+
+Here's the short summary, complete TOC links are below:
+
+1. If you are a first-time contributor:
+
+   * Go to `https://github.com/numpy/numpy
+     <https://github.com/numpy/numpy>`_ and click the
+     "fork" button to create your own copy of the project.
+
+   * Clone the project to your local computer::
+
+      git clone --recurse-submodules https://github.com/your-username/numpy.git
+
+   * Change the directory::
+
+      cd numpy
+
+   * Add the upstream repository::
+
+      git remote add upstream https://github.com/numpy/numpy.git
+
+   * Now, ``git remote -v`` will show two remote repositories named:
+
+     - ``upstream``, which refers to the ``numpy`` repository
+     - ``origin``, which refers to your personal fork
+
+   * Pull the latest changes from upstream, including tags::
+
+      git checkout main
+      git pull upstream main --tags
+
+   * Initialize numpy's submodules::
+
+      git submodule update --init
+
+2. Develop your contribution:
+
+   * Create a branch for the feature you want to work on. Since the
+     branch name will appear in the merge message, use a sensible name
+     such as 'linspace-speedups'::
+
+      git checkout -b linspace-speedups
+
+   * Commit locally as you progress (``git add`` and ``git commit``)
+     Use a :ref:`properly formatted<writing-the-commit-message>` commit message,
+     write tests that fail before your change and pass afterward, run all the
+     :ref:`tests locally<development-environment>`. Be sure to document any
+     changed behavior in docstrings, keeping to the NumPy docstring
+     :ref:`standard<howto-document>`.
+
+3. To submit your contribution:
+
+   * Push your changes back to your fork on GitHub::
+
+      git push origin linspace-speedups
+
+   * Enter your GitHub username and password (repeat contributors or advanced
+     users can remove this step by connecting to GitHub with
+     :ref:`SSH<set-up-and-configure-a-github-account>`).
+
+   * Go to GitHub. The new branch will show up with a green Pull Request
+     button. Make sure the title and message are clear, concise, and self-
+     explanatory. Then click the button to submit it.
+
+   * If your commit introduces a new feature or changes functionality, post on
+     the `mailing list`_ to explain your changes. For bug fixes, documentation
+     updates, etc., this is generally not necessary, though if you do not get
+     any reaction, do feel free to ask for review.
+
+4. Review process:
+
+   * Reviewers (the other developers and interested community members) will
+     write inline and/or general comments on your Pull Request (PR) to help
+     you improve its implementation, documentation and style.  Every single
+     developer working on the project has their code reviewed, and we've come
+     to see it as friendly conversation from which we all learn and the
+     overall code quality benefits.  Therefore, please don't let the review
+     discourage you from contributing: its only aim is to improve the quality
+     of project, not to criticize (we are, after all, very grateful for the
+     time you're donating!). See our :ref:`Reviewer Guidelines
+     <reviewer-guidelines>` for more information.
+
+   * To update your PR, make your changes on your local repository, commit,
+     **run tests, and only if they succeed** push to your fork. As soon as
+     those changes are pushed up (to the same branch as before) the PR will
+     update automatically. If you have no idea how to fix the test failures,
+     you may push your changes anyway and ask for help in a PR comment.
+
+   * Various continuous integration (CI) services are triggered after each PR
+     update to build the code, run unit tests, measure code coverage and check
+     coding style of your branch. The CI tests must pass before your PR can be
+     merged. If CI fails, you can find out why by clicking on the "failed"
+     icon (red cross) and inspecting the build and test log. To avoid overuse
+     and waste of this resource,
+     :ref:`test your work<recommended-development-setup>` locally before
+     committing.
+
+   * A PR must be **approved** by at least one core team member before merging.
+     Approval means the core team member has carefully reviewed the changes,
+     and the PR is ready for merging.
+
+5. Document changes
+
+   Beyond changes to a functions docstring and possible description in the
+   general documentation, if your change introduces any user-facing
+   modifications they may need to be mentioned in the release notes.
+   To add your change to the release notes, you need to create a short file
+   with a summary and place it in ``doc/release/upcoming_changes``.
+   The file ``doc/release/upcoming_changes/README.rst`` details the format and
+   filename conventions.
+
+   If your change introduces a deprecation, make sure to discuss this first on
+   GitHub or the mailing list first. If agreement on the deprecation is
+   reached, follow :ref:`NEP 23 deprecation policy <NEP23>`  to add the deprecation.
+
+6. Cross referencing issues
+
+   If the PR relates to any issues, you can add the text ``xref gh-xxxx`` where
+   ``xxxx`` is the number of the issue to github comments. Likewise, if the PR
+   solves an issue, replace the ``xref`` with ``closes``, ``fixes`` or any of
+   the other flavors `github accepts <https://help.github.com/en/articles/
+   closing-issues-using-keywords>`_.
+
+   In the source code, be sure to preface any issue or PR reference with
+   ``gh-xxxx``.
+
+For a more detailed discussion, read on and follow the links at the bottom of
+this page.
+
diff --git a/doc/_build/html/_sources/source/dev/index.rst.txt b/doc/_build/html/_sources/source/dev/index.rst.txt
new file mode 100644
index 00000000..94c73c5f
--- /dev/null
+++ b/doc/_build/html/_sources/source/dev/index.rst.txt
@@ -0,0 +1,10 @@
+******************
+Development
+******************
+
+.. toctree::
+   :maxdepth: 1
+
+   basic
+   inspect_slycot
+
diff --git a/doc/_build/html/_sources/source/dev/inspect_slycot.ipynb.txt b/doc/_build/html/_sources/source/dev/inspect_slycot.ipynb.txt
new file mode 100644
index 00000000..8eee9351
--- /dev/null
+++ b/doc/_build/html/_sources/source/dev/inspect_slycot.ipynb.txt
@@ -0,0 +1,263 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inspect Slycot"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook shows how to inspect the slycot module.\n",
+    "The result gives us a first insight which slicot procedures are implemented.\n",
+    "In addition we get some insight about the orginisation of the module."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "0.5.5.dev0+g294eae0.d20230726\n"
+     ]
+    }
+   ],
+   "source": [
+    "import slycot\n",
+    "print(slycot.__version__)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect Wrapper function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_method(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Outer wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 50 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_wrapper = get_slycot_method(slycot)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_wrapper)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Inner wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 72 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_f2py_wrapper)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Generate Sets for the Venn-Diagramm"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 27,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "from matplotlib_venn import venn2"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 32,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 10 methods implemented.\n",
+      "------\n",
+      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
+      "\n",
+      "\n",
+      "Currently there are 32 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 42 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 40 methods implemented.\n",
+      "------\n",
+      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n",
+      "Currently there are 82 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
+    "difference1\n",
+    "\n",
+    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference1)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
+    "difference2\n",
+    "\n",
+    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference2)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
+    "difference3\n",
+    "\n",
+    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference3)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(intersection)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
+    "\n",
+    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(union)\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "venn2(subsets = (len(set(slycot_wrapper)), \n",
+    "                 len(set(slycot_f2py_wrapper)), \n",
+    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.6"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt
new file mode 100644
index 00000000..a55a56f1
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab01nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab01nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt
new file mode 100644
index 00000000..314998aa
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab04md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05md.rst.txt
new file mode 100644
index 00000000..30e0f6b6
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab05md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05nd.rst.txt
new file mode 100644
index 00000000..5a438973
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab05nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab07nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab07nd.rst.txt
new file mode 100644
index 00000000..e9fe5ee2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab07nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab07nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab07nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nd.rst.txt
new file mode 100644
index 00000000..a1bd288c
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab08nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab08nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nz.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nz.rst.txt
new file mode 100644
index 00000000..f1ccf66f
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nz.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab08nz
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab08nz
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ad.rst.txt
new file mode 100644
index 00000000..42441c76
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09ad
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ax.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ax.rst.txt
new file mode 100644
index 00000000..a57ee1e6
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ax.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09ax
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09ax
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09bd.rst.txt
new file mode 100644
index 00000000..1fed82d6
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09md.rst.txt
new file mode 100644
index 00000000..796cc3e4
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09nd.rst.txt
new file mode 100644
index 00000000..d8470bed
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt
new file mode 100644
index 00000000..3b5c0d74
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13dd.rst.txt
new file mode 100644
index 00000000..4cf1e41a
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13dd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13dd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13ed.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13ed.rst.txt
new file mode 100644
index 00000000..2b2bc3a5
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13ed.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13ed
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13ed
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13fd.rst.txt
new file mode 100644
index 00000000..fd5c7480
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13fd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13fd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt
new file mode 100644
index 00000000..b787f7e4
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03rd.rst.txt
new file mode 100644
index 00000000..ff60bcaf
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03rd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03rd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vd.rst.txt
new file mode 100644
index 00000000..62d1e8bd
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03vd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03vd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vy.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vy.rst.txt
new file mode 100644
index 00000000..755d3431
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vy.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03vy
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03vy
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03wd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03wd.rst.txt
new file mode 100644
index 00000000..0fe89582
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03wd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03wd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03wd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05md.rst.txt
new file mode 100644
index 00000000..0e4e132f
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb05md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05nd.rst.txt
new file mode 100644
index 00000000..540ca4b8
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb05nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mc01td.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mc01td.rst.txt
new file mode 100644
index 00000000..1a3226ff
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mc01td.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mc01td
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mc01td
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt
new file mode 100644
index 00000000..efbca2d7
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb01bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb01bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb02md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb02md.rst.txt
new file mode 100644
index 00000000..09b215f8
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb02md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb02md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb02md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03md.rst.txt
new file mode 100644
index 00000000..4dc8c353
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb03md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb03md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03od.rst.txt
new file mode 100644
index 00000000..deb21be2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03od.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb03od
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb03od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt
new file mode 100644
index 00000000..322184f5
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb04md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04qd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04qd.rst.txt
new file mode 100644
index 00000000..c5eda28b
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04qd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb04qd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb04qd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10ad.rst.txt
new file mode 100644
index 00000000..5cab10ca
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10ad
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10dd.rst.txt
new file mode 100644
index 00000000..fd684585
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10dd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10dd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10fd.rst.txt
new file mode 100644
index 00000000..4387b3b6
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10fd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10fd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10hd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10hd.rst.txt
new file mode 100644
index 00000000..3a6b490c
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10hd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10hd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10hd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03ad.rst.txt
new file mode 100644
index 00000000..ce2e4fed
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sg03ad
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sg03ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03bd.rst.txt
new file mode 100644
index 00000000..bbcd23e9
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sg03bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sg03bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01id.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01id.rst.txt
new file mode 100644
index 00000000..35d8afcb
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01id.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tb01id
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tb01id
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01pd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01pd.rst.txt
new file mode 100644
index 00000000..c2650aca
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01pd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tb01pd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01md.rst.txt
new file mode 100644
index 00000000..810b6efc
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01md.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tf01md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tf01md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01rd.rst.txt
new file mode 100644
index 00000000..456db05e
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01rd.rst.txt
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tf01rd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tf01rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab01nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab01nd.rst.txt
new file mode 100644
index 00000000..8cc04a87
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab01nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab01nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab01nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab04md.rst.txt
new file mode 100644
index 00000000..dcf23eed
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab04md.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab04md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab05md.rst.txt
new file mode 100644
index 00000000..ca5e95ce
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab05md.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab05md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab05nd.rst.txt
new file mode 100644
index 00000000..fd887720
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab05nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab05nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab07nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab07nd.rst.txt
new file mode 100644
index 00000000..700f3ca5
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab07nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab07nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab07nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab08nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab08nd.rst.txt
new file mode 100644
index 00000000..3028f945
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab08nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab08nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab08nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab08nz.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab08nz.rst.txt
new file mode 100644
index 00000000..a6d9021f
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab08nz.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab08nz
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab08nz
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09ad.rst.txt
new file mode 100644
index 00000000..f767ba66
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab09ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab09ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09ax.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09ax.rst.txt
new file mode 100644
index 00000000..c48d929d
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab09ax.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab09ax
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09ax
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09bd.rst.txt
new file mode 100644
index 00000000..3368b8dc
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab09bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab09bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09md.rst.txt
new file mode 100644
index 00000000..245e2cdc
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab09md.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab09md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09nd.rst.txt
new file mode 100644
index 00000000..db830a48
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab09nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab09nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13bd.rst.txt
new file mode 100644
index 00000000..b0f3a67d
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab13bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab13bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13dd.rst.txt
new file mode 100644
index 00000000..fe31df49
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab13dd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab13dd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13ed.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13ed.rst.txt
new file mode 100644
index 00000000..7b0b3b89
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab13ed.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab13ed
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13ed
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13fd.rst.txt
new file mode 100644
index 00000000..da4caac6
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab13fd.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab13fd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13md.rst.txt
new file mode 100644
index 00000000..308bda9f
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.ab13md.rst.txt
@@ -0,0 +1,6 @@
+slycot.ab13md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03rd.rst.txt
new file mode 100644
index 00000000..63905d81
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mb03rd.rst.txt
@@ -0,0 +1,6 @@
+slycot.mb03rd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03vd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03vd.rst.txt
new file mode 100644
index 00000000..c12057bc
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mb03vd.rst.txt
@@ -0,0 +1,6 @@
+slycot.mb03vd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03vd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03vy.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03vy.rst.txt
new file mode 100644
index 00000000..1668d20c
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mb03vy.rst.txt
@@ -0,0 +1,6 @@
+slycot.mb03vy
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03vy
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03wd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03wd.rst.txt
new file mode 100644
index 00000000..9bac3c02
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mb03wd.rst.txt
@@ -0,0 +1,6 @@
+slycot.mb03wd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03wd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb05md.rst.txt
new file mode 100644
index 00000000..cf0b2dea
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mb05md.rst.txt
@@ -0,0 +1,6 @@
+slycot.mb05md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb05nd.rst.txt
new file mode 100644
index 00000000..fb426fe3
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mb05nd.rst.txt
@@ -0,0 +1,6 @@
+slycot.mb05nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mc01td.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mc01td.rst.txt
new file mode 100644
index 00000000..3c8f4166
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.mc01td.rst.txt
@@ -0,0 +1,6 @@
+slycot.mc01td
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mc01td
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb01bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb01bd.rst.txt
new file mode 100644
index 00000000..67305692
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb01bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb01bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb01bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb02md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb02md.rst.txt
new file mode 100644
index 00000000..fe01793a
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb02md.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb02md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb02md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb02mt.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb02mt.rst.txt
new file mode 100644
index 00000000..ffd9125a
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb02mt.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb02mt
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb02mt
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb02od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb02od.rst.txt
new file mode 100644
index 00000000..339038a1
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb02od.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb02od
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb02od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb03md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb03md.rst.txt
new file mode 100644
index 00000000..b0bb067f
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb03md.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb03md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb03md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb03md57.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb03md57.rst.txt
new file mode 100644
index 00000000..90b465e0
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb03md57.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb03md57
+===============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb03md57
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb03od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb03od.rst.txt
new file mode 100644
index 00000000..5f226e18
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb03od.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb03od
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb03od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb04md.rst.txt
new file mode 100644
index 00000000..52f051b2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb04md.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb04md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb04qd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb04qd.rst.txt
new file mode 100644
index 00000000..81ea9ce2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb04qd.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb04qd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb04qd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10ad.rst.txt
new file mode 100644
index 00000000..9b2c9db0
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb10ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb10ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10dd.rst.txt
new file mode 100644
index 00000000..0ae6c505
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb10dd.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb10dd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10fd.rst.txt
new file mode 100644
index 00000000..add3f262
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb10fd.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb10fd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10hd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10hd.rst.txt
new file mode 100644
index 00000000..058a3e55
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sb10hd.rst.txt
@@ -0,0 +1,6 @@
+slycot.sb10hd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10hd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sg02ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sg02ad.rst.txt
new file mode 100644
index 00000000..ea5d3a75
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sg02ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.sg02ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sg02ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sg03ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sg03ad.rst.txt
new file mode 100644
index 00000000..60858134
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sg03ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.sg03ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sg03ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sg03bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sg03bd.rst.txt
new file mode 100644
index 00000000..453efaf2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.sg03bd.rst.txt
@@ -0,0 +1,6 @@
+slycot.sg03bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sg03bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb01id.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb01id.rst.txt
new file mode 100644
index 00000000..ef722024
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tb01id.rst.txt
@@ -0,0 +1,6 @@
+slycot.tb01id
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb01id
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb01pd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb01pd.rst.txt
new file mode 100644
index 00000000..5ce6e253
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tb01pd.rst.txt
@@ -0,0 +1,6 @@
+slycot.tb01pd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb03ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb03ad.rst.txt
new file mode 100644
index 00000000..23befaf2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tb03ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.tb03ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb03ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb04ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb04ad.rst.txt
new file mode 100644
index 00000000..461e7fab
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tb04ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.tb04ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb04ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb05ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb05ad.rst.txt
new file mode 100644
index 00000000..fabf59d2
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tb05ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.tb05ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb05ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tc01od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tc01od.rst.txt
new file mode 100644
index 00000000..3018d0fe
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tc01od.rst.txt
@@ -0,0 +1,6 @@
+slycot.tc01od
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tc01od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tc04ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tc04ad.rst.txt
new file mode 100644
index 00000000..7f6630e1
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tc04ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.tc04ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tc04ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.td04ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.td04ad.rst.txt
new file mode 100644
index 00000000..03234571
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.td04ad.rst.txt
@@ -0,0 +1,6 @@
+slycot.td04ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: td04ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tf01md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tf01md.rst.txt
new file mode 100644
index 00000000..41b88949
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tf01md.rst.txt
@@ -0,0 +1,6 @@
+slycot.tf01md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tf01md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tf01rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tf01rd.rst.txt
new file mode 100644
index 00000000..f85bc71f
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/generated/slycot.tf01rd.rst.txt
@@ -0,0 +1,6 @@
+slycot.tf01rd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tf01rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/index.rst.txt b/doc/_build/html/_sources/source/reference/index.rst.txt
new file mode 100644
index 00000000..61163b3d
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/index.rst.txt
@@ -0,0 +1,11 @@
+******************
+Slycot reference
+******************
+
+.. toctree::
+   :maxdepth: 1
+
+   slycot_outer
+   slycot_inner
+
+`SLICOT-Reference <../../_static/libindex.html>`_ (non-generated HTML file)
diff --git a/doc/_build/html/_sources/source/reference/slycot_inner.rst.txt b/doc/_build/html/_sources/source/reference/slycot_inner.rst.txt
new file mode 100644
index 00000000..4d2329ca
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/slycot_inner.rst.txt
@@ -0,0 +1,88 @@
+.. _inner_function-ref:
+
+******************
+Inner function reference
+******************
+
+.. automodule:: slycot
+   :no-members:
+   :no-inherited-members:
+   :no-special-members:
+
+Analysis
+========
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.ab01nd
+    _wrapper.ab04md
+    _wrapper.ab05md
+    _wrapper.ab05nd
+    _wrapper.ab07nd
+    _wrapper.ab08nd
+    _wrapper.ab08nz
+    _wrapper.ab09ad
+    _wrapper.ab09ax
+    _wrapper.ab09bd
+    _wrapper.ab09md
+    _wrapper.ab09nd
+    _wrapper.ab13bd
+    _wrapper.ab13dd
+    _wrapper.ab13ed
+    _wrapper.ab13fd
+    _wrapper.ab13md
+
+Mathematical routines
+=====================
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.mc01td
+    _wrapper.mb03rd
+    _wrapper.mb03vd
+    _wrapper.mb03vy
+    _wrapper.mb03wd
+    _wrapper.mb05md
+    _wrapper.mb05nd
+
+Synthesis
+=========
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.sb01bd
+    _wrapper.sb02md
+    _wrapper.sb02mt
+    _wrapper.sb02od
+    _wrapper.sb03md
+    _wrapper.sb03md57
+    _wrapper.sb03od
+    _wrapper.sb04md
+    _wrapper.sb04qd
+    _wrapper.sb10ad
+    _wrapper.sb10dd
+    _wrapper.sb10fd
+    _wrapper.sb10hd
+    _wrapper.sg02ad
+    _wrapper.sg03ad
+    _wrapper.sg03bd
+
+Transformation Routines
+=======================
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.tb01id
+    _wrapper.tb03ad
+    _wrapper.tb04ad
+    _wrapper.tb05ad
+    _wrapper.tc04ad
+    _wrapper.tc01od
+    _wrapper.tf01md
+    _wrapper.tf01rd
+    _wrapper.td04ad
+    _wrapper.tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/slycot_outer.rst.txt b/doc/_build/html/_sources/source/reference/slycot_outer.rst.txt
new file mode 100644
index 00000000..e87f210e
--- /dev/null
+++ b/doc/_build/html/_sources/source/reference/slycot_outer.rst.txt
@@ -0,0 +1,90 @@
+.. _function-ref:
+
+******************
+Outer function reference
+******************
+
+.. automodule:: slycot
+   :no-members:
+   :no-inherited-members:
+   :no-special-members:
+
+Analysis
+========
+
+.. autosummary::
+   :toctree: generated/
+
+    ab01nd
+    ab04md
+    ab05md
+    ab05nd
+    ab07nd
+    ab08nd
+    ab08nz
+    ab09ad
+    ab09ax
+    ab09bd
+    ab09md
+    ab09nd
+    ab13bd
+    ab13dd
+    ab13ed
+    ab13fd
+    ab13md
+
+    
+
+Mathematical routines
+=====================
+
+.. autosummary::
+   :toctree: generated/
+
+    mc01td
+    mb03rd
+    mb03vd
+    mb03vy
+    mb03wd
+    mb05md
+    mb05nd
+
+Synthesis
+=========
+
+.. autosummary::
+   :toctree: generated/
+
+    sb01bd
+    sb02md
+    sb02mt
+    sb02od
+    sb03md
+    sb03md57
+    sb03od
+    sb04md
+    sb04qd
+    sb10ad
+    sb10dd
+    sb10fd
+    sb10hd
+    sg02ad
+    sg03ad
+    sg03bd
+
+Transformation Routines
+=======================
+
+.. autosummary::
+   :toctree: generated/
+
+    tb01id
+    tb03ad
+    tb04ad
+    tb05ad
+    tc04ad
+    tc01od
+    tf01md
+    tf01rd
+    td04ad
+    tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_static/_sphinx_javascript_frameworks_compat.js b/doc/_build/html/_static/_sphinx_javascript_frameworks_compat.js
new file mode 100644
index 00000000..8549469d
--- /dev/null
+++ b/doc/_build/html/_static/_sphinx_javascript_frameworks_compat.js
@@ -0,0 +1,134 @@
+/*
+ * _sphinx_javascript_frameworks_compat.js
+ * ~~~~~~~~~~
+ *
+ * Compatability shim for jQuery and underscores.js.
+ *
+ * WILL BE REMOVED IN Sphinx 6.0
+ * xref RemovedInSphinx60Warning
+ *
+ */
+
+/**
+ * select a different prefix for underscore
+ */
+$u = _.noConflict();
+
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+    if (!x) {
+        return x
+    }
+    return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+    if (typeof s === 'undefined')
+        s = document.location.search;
+    var parts = s.substr(s.indexOf('?') + 1).split('&');
+    var result = {};
+    for (var i = 0; i < parts.length; i++) {
+        var tmp = parts[i].split('=', 2);
+        var key = jQuery.urldecode(tmp[0]);
+        var value = jQuery.urldecode(tmp[1]);
+        if (key in result)
+            result[key].push(value);
+        else
+            result[key] = [value];
+    }
+    return result;
+};
+
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+    function highlight(node, addItems) {
+        if (node.nodeType === 3) {
+            var val = node.nodeValue;
+            var pos = val.toLowerCase().indexOf(text);
+            if (pos >= 0 &&
+                !jQuery(node.parentNode).hasClass(className) &&
+                !jQuery(node.parentNode).hasClass("nohighlight")) {
+                var span;
+                var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+                if (isInSVG) {
+                    span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+                } else {
+                    span = document.createElement("span");
+                    span.className = className;
+                }
+                span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+                node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+                    document.createTextNode(val.substr(pos + text.length)),
+                    node.nextSibling));
+                node.nodeValue = val.substr(0, pos);
+                if (isInSVG) {
+                    var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+                    var bbox = node.parentElement.getBBox();
+                    rect.x.baseVal.value = bbox.x;
+                    rect.y.baseVal.value = bbox.y;
+                    rect.width.baseVal.value = bbox.width;
+                    rect.height.baseVal.value = bbox.height;
+                    rect.setAttribute('class', className);
+                    addItems.push({
+                        "parent": node.parentNode,
+                        "target": rect});
+                }
+            }
+        }
+        else if (!jQuery(node).is("button, select, textarea")) {
+            jQuery.each(node.childNodes, function() {
+                highlight(this, addItems);
+            });
+        }
+    }
+    var addItems = [];
+    var result = this.each(function() {
+        highlight(this, addItems);
+    });
+    for (var i = 0; i < addItems.length; ++i) {
+        jQuery(addItems[i].parent).before(addItems[i].target);
+    }
+    return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+    jQuery.uaMatch = function(ua) {
+        ua = ua.toLowerCase();
+
+        var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+            /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+            /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+            /(msie) ([\w.]+)/.exec(ua) ||
+            ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+            [];
+
+        return {
+            browser: match[ 1 ] || "",
+            version: match[ 2 ] || "0"
+        };
+    };
+    jQuery.browser = {};
+    jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}
diff --git a/doc/_build/html/_static/basic.css b/doc/_build/html/_static/basic.css
new file mode 100644
index 00000000..eeb0519a
--- /dev/null
+++ b/doc/_build/html/_static/basic.css
@@ -0,0 +1,899 @@
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+    clear: both;
+}
+
+div.section::after {
+    display: block;
+    content: '';
+    clear: left;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+    width: 100%;
+    font-size: 90%;
+}
+
+div.related h3 {
+    display: none;
+}
+
+div.related ul {
+    margin: 0;
+    padding: 0 0 0 10px;
+    list-style: none;
+}
+
+div.related li {
+    display: inline;
+}
+
+div.related li.right {
+    float: right;
+    margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+    padding: 10px 5px 0 10px;
+}
+
+div.sphinxsidebar {
+    float: left;
+    width: 230px;
+    margin-left: -100%;
+    font-size: 90%;
+    word-wrap: break-word;
+    overflow-wrap : break-word;
+}
+
+div.sphinxsidebar ul {
+    list-style: none;
+}
+
+div.sphinxsidebar ul ul,
+div.sphinxsidebar ul.want-points {
+    margin-left: 20px;
+    list-style: square;
+}
+
+div.sphinxsidebar ul ul {
+    margin-top: 0;
+    margin-bottom: 0;
+}
+
+div.sphinxsidebar form {
+    margin-top: 10px;
+}
+
+div.sphinxsidebar input {
+    border: 1px solid #98dbcc;
+    font-family: sans-serif;
+    font-size: 1em;
+}
+
+div.sphinxsidebar #searchbox form.search {
+    overflow: hidden;
+}
+
+div.sphinxsidebar #searchbox input[type="text"] {
+    float: left;
+    width: 80%;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+div.sphinxsidebar #searchbox input[type="submit"] {
+    float: left;
+    width: 20%;
+    border-left: none;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+
+img {
+    border: 0;
+    max-width: 100%;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+    margin: 10px 0 0 20px;
+    padding: 0;
+}
+
+ul.search li {
+    padding: 5px 0 5px 20px;
+    background-image: url(file.png);
+    background-repeat: no-repeat;
+    background-position: 0 7px;
+}
+
+ul.search li a {
+    font-weight: bold;
+}
+
+ul.search li p.context {
+    color: #888;
+    margin: 2px 0 0 30px;
+    text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+    font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+    width: 90%;
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.contentstable p.biglink {
+    line-height: 150%;
+}
+
+a.biglink {
+    font-size: 1.3em;
+}
+
+span.linkdescr {
+    font-style: italic;
+    padding-top: 5px;
+    font-size: 90%;
+}
+
+/* -- general index --------------------------------------------------------- */
+
+table.indextable {
+    width: 100%;
+}
+
+table.indextable td {
+    text-align: left;
+    vertical-align: top;
+}
+
+table.indextable ul {
+    margin-top: 0;
+    margin-bottom: 0;
+    list-style-type: none;
+}
+
+table.indextable > tbody > tr > td > ul {
+    padding-left: 0em;
+}
+
+table.indextable tr.pcap {
+    height: 10px;
+}
+
+table.indextable tr.cap {
+    margin-top: 10px;
+    background-color: #f2f2f2;
+}
+
+img.toggler {
+    margin-right: 3px;
+    margin-top: 3px;
+    cursor: pointer;
+}
+
+div.modindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+/* -- domain module index --------------------------------------------------- */
+
+table.modindextable td {
+    padding: 2px;
+    border-collapse: collapse;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+div.body {
+    min-width: 360px;
+    max-width: 800px;
+}
+
+div.body p, div.body dd, div.body li, div.body blockquote {
+    -moz-hyphens: auto;
+    -ms-hyphens: auto;
+    -webkit-hyphens: auto;
+    hyphens: auto;
+}
+
+a.headerlink {
+    visibility: hidden;
+}
+a.brackets:before,
+span.brackets > a:before{
+    content: "[";
+}
+
+a.brackets:after,
+span.brackets > a:after {
+    content: "]";
+}
+
+
+h1:hover > a.headerlink,
+h2:hover > a.headerlink,
+h3:hover > a.headerlink,
+h4:hover > a.headerlink,
+h5:hover > a.headerlink,
+h6:hover > a.headerlink,
+dt:hover > a.headerlink,
+caption:hover > a.headerlink,
+p.caption:hover > a.headerlink,
+div.code-block-caption:hover > a.headerlink {
+    visibility: visible;
+}
+
+div.body p.caption {
+    text-align: inherit;
+}
+
+div.body td {
+    text-align: left;
+}
+
+.first {
+    margin-top: 0 !important;
+}
+
+p.rubric {
+    margin-top: 30px;
+    font-weight: bold;
+}
+
+img.align-left, figure.align-left, .figure.align-left, object.align-left {
+    clear: left;
+    float: left;
+    margin-right: 1em;
+}
+
+img.align-right, figure.align-right, .figure.align-right, object.align-right {
+    clear: right;
+    float: right;
+    margin-left: 1em;
+}
+
+img.align-center, figure.align-center, .figure.align-center, object.align-center {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+img.align-default, figure.align-default, .figure.align-default {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+.align-left {
+    text-align: left;
+}
+
+.align-center {
+    text-align: center;
+}
+
+.align-default {
+    text-align: center;
+}
+
+.align-right {
+    text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+    margin: 0 0 0.5em 1em;
+    border: 1px solid #ddb;
+    padding: 7px;
+    background-color: #ffe;
+    width: 40%;
+    float: right;
+    clear: right;
+    overflow-x: auto;
+}
+
+p.sidebar-title {
+    font-weight: bold;
+}
+div.admonition, div.topic, blockquote {
+    clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+div.topic {
+    border: 1px solid #ccc;
+    padding: 7px;
+    margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+    font-size: 1.1em;
+    font-weight: bold;
+    margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    padding: 7px;
+}
+
+div.admonition dt {
+    font-weight: bold;
+}
+
+p.admonition-title {
+    margin: 0px 10px 5px 0px;
+    font-weight: bold;
+}
+
+div.body p.centered {
+    text-align: center;
+    margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+    margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+    display: block;
+    content: '';
+    clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    border: 0;
+    border-collapse: collapse;
+}
+
+table.align-center {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.align-default {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table caption span.caption-number {
+    font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+    padding: 1px 8px 1px 5px;
+    border-top: 0;
+    border-left: 0;
+    border-right: 0;
+    border-bottom: 1px solid #aaa;
+}
+
+th {
+    text-align: left;
+    padding-right: 5px;
+}
+
+table.citation {
+    border-left: solid 1px gray;
+    margin-left: 1px;
+}
+
+table.citation td {
+    border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+    margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+    margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+    margin: 0.5em;
+    padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+    padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+    font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+    border: 0 !important;
+}
+
+.field-list ul {
+    margin: 0;
+    padding-left: 1em;
+}
+
+.field-list p {
+    margin: 0;
+}
+
+.field-name {
+    -moz-hyphens: manual;
+    -ms-hyphens: manual;
+    -webkit-hyphens: manual;
+    hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+    margin: 1em 0;
+}
+
+table.hlist td {
+    vertical-align: top;
+}
+
+/* -- object description styles --------------------------------------------- */
+
+.sig {
+	font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
+}
+
+.sig-name, code.descname {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+.sig-name {
+	font-size: 1.1em;
+}
+
+code.descname {
+    font-size: 1.2em;
+}
+
+.sig-prename, code.descclassname {
+    background-color: transparent;
+}
+
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
+.sig-param.n {
+	font-style: italic;
+}
+
+/* C++ specific styling */
+
+.sig-inline.c-texpr,
+.sig-inline.cpp-texpr {
+	font-family: unset;
+}
+
+.sig.c   .k, .sig.c   .kt,
+.sig.cpp .k, .sig.cpp .kt {
+	color: #0033B3;
+}
+
+.sig.c   .m,
+.sig.cpp .m {
+	color: #1750EB;
+}
+
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+}
+
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+/* -- other body styles ----------------------------------------------------- */
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+}
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+}
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+}
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+}
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+}
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+}
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+ol.simple ul p,
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+    margin-top: 0;
+}
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+    margin-top: 0;
+}
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+ol.simple p,
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+    margin-bottom: 0;
+}
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+dl.citation > dt {
+    float: left;
+    margin-right: 0.5em;
+}
+
+dl.footnote > dd,
+dl.citation > dd {
+    margin-bottom: 0em;
+}
+
+dl.footnote > dd:after,
+dl.citation > dd:after {
+    content: "";
+    clear: both;
+}
+
+dl.field-list {
+    display: grid;
+    grid-template-columns: fit-content(30%) auto;
+}
+
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+    font-weight: bold;
+    word-break: break-word;
+    padding-left: 0.5em;
+    padding-right: 5px;
+}
+dl.field-list > dt:after {
+    content: ":";
+}
+
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+    padding-left: 0.5em;
+    margin-top: 0em;
+    margin-left: 0em;
+    margin-bottom: 0em;
+}
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+dl {
+    margin-bottom: 15px;
+}
+
+dd > :first-child {
+    margin-top: 0px;
+}
+
+dd ul, dd table {
+    margin-bottom: 10px;
+}
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+dd {
+    margin-top: 3px;
+    margin-bottom: 10px;
+    margin-left: 30px;
+}
+
+dl > dd:last-child,
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+    margin-bottom: 0;
+}
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+    background-color: #fbe54e;
+}
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+    fill: #fbe54e;
+}
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+    font-weight: bold;
+    font-size: 1.1em;
+}
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+    font-style: italic;
+}
+
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+    background-color: #fda;
+    padding: 5px;
+    border: 3px solid red;
+}
+
+.footnote:target  {
+    background-color: #ffa;
+}
+
+.line-block {
+    display: block;
+    margin-top: 1em;
+    margin-bottom: 1em;
+}
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+    margin-top: 0;
+    margin-bottom: 0;
+    margin-left: 1.5em;
+}
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+    font-family: sans-serif;
+}
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+    text-decoration: underline;
+}
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+}
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+    font-style: normal;
+    margin: 0 0.5em;
+    content: ":";
+    display: inline-block;
+}
+
+abbr, acronym {
+    border-bottom: dotted 1px;
+    cursor: help;
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+    overflow: auto;
+    overflow-y: hidden;  /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+    clear: both;
+}
+
+span.pre {
+    -moz-hyphens: none;
+    -ms-hyphens: none;
+    -webkit-hyphens: none;
+    hyphens: none;
+    white-space: nowrap;
+}
+
+div[class*="highlight-"] {
+    margin: 1em 0;
+}
+
+td.linenos pre {
+    border: 0;
+    background-color: transparent;
+    color: #aaa;
+}
+
+table.highlighttable {
+    display: block;
+}
+
+table.highlighttable tbody {
+    display: block;
+}
+
+table.highlighttable tr {
+    display: flex;
+}
+
+table.highlighttable td {
+    margin: 0;
+    padding: 0;
+}
+
+table.highlighttable td.linenos {
+    padding-right: 0.5em;
+}
+
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+    flex: 1;
+    overflow: hidden;
+}
+
+.highlight .hll {
+    display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+    margin: 0;
+}
+
+div.code-block-caption + div {
+    margin-top: 0;
+}
+
+div.code-block-caption {
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+    padding: 2px 5px;
+    font-size: small;
+}
+
+div.code-block-caption code {
+    background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.highlight span.gp {  /* gp: Generic.Prompt */
+  user-select: none;
+  -webkit-user-select: text; /* Safari fallback only */
+  -webkit-user-select: none; /* Chrome/Safari */
+  -moz-user-select: none; /* Firefox */
+  -ms-user-select: none; /* IE10+ */
+}
+
+div.code-block-caption span.caption-number {
+    padding: 0.1em 0.3em;
+    font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+    margin: 1em 0;
+}
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+code.xref, a code {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+    background-color: transparent;
+}
+
+.viewcode-link {
+    float: right;
+}
+
+.viewcode-back {
+    float: right;
+    font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+    margin: -1px -10px;
+    padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+    vertical-align: middle;
+}
+
+div.body div.math p {
+    text-align: center;
+}
+
+span.eqno {
+    float: right;
+}
+
+span.eqno a.headerlink {
+    position: absolute;
+    z-index: 1;
+}
+
+div.math:hover a.headerlink {
+    visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+    div.document,
+    div.documentwrapper,
+    div.bodywrapper {
+        margin: 0 !important;
+        width: 100%;
+    }
+
+    div.sphinxsidebar,
+    div.related,
+    div.footer,
+    #top-link {
+        display: none;
+    }
+}
\ No newline at end of file
diff --git a/doc/_build/html/_static/css/badge_only.css b/doc/_build/html/_static/css/badge_only.css
new file mode 100644
index 00000000..c718cee4
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index 00000000..855c845e
--- /dev/null
+++ b/doc/_build/html/_static/css/fonts/fontawesome-webfont.svg
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+<HTML>
+<HEAD><TITLE>AB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB01MD">AB01MD</A></H2>
+<H3>
+Controllable realization for single-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  single-input system
+
+          dX/dt = A * X + B * U,
+
+  where A is an N-by-N matrix and B is an N element vector which
+  are reduced by this routine to orthogonal canonical form using
+  (and optionally accumulating) orthogonal similarity
+  transformations.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INFO, LDA, LDZ, LDWORK, N, NCONT
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), TAU(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT upper Hessenberg
+          part of this array contains the canonical form of the
+          state dynamics matrix, given by Z' * A * Z, of a
+          controllable realization for the original system. The
+          elements below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, the original input/state vector B.
+          On exit, the leading NCONT elements of this array contain
+          canonical form of the input/state vector, given by Z' * B,
+          with all elements but B(1) set to zero.
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this array
+          contains the matrix of accumulated orthogonal similarity
+          transformations which reduces the given system to
+          orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of (A,B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as an absolute tolerance;
+          elements with absolute value less than TOL are considered
+          neglijible. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by
+          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder matrix which reduces all but the first element
+  of vector B to zero is found and this orthogonal similarity
+  transformation is applied to the matrix A. The resulting A is then
+  reduced to upper Hessenberg form by a sequence of Householder
+  transformations. Finally, the order of the controllable state-
+  space representation (NCONT) is determined by finding the position
+  of the first sub-diagonal element of A which is below an
+  appropriate zero threshold, either TOL or TOLDEF (see parameter
+  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
+  zero, and no computations for reducing the system to orthogonal
+  canonical form are performed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Hammarling, S.J.
+      Notes on the use of orthogonal similarity transformations in
+      control.
+      NPL Report DITC 8/82, August 1982.
+
+  [3] Paige, C.C
+      Properties of numerical algorithms related to computing
+      controllability.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDZ
+      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), TAU(NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB01MD, DORGQR
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
+*        Find a controllable realization for the given system.
+         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
+     $                DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) NCONT
+            DO 20 I = 1, NCONT
+               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
+            IF ( LSAME( JOBZ, 'F' ) )
+     $         CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK, INFO )
+            IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01MD = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
+     $       'ble realization is ')
+99996 FORMAT (/' The input/state vector B of a controllable realizatio',
+     $       'n is ',/(1X,F8.4))
+99995 FORMAT (/' The similarity transformation matrix Z is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB01MD EXAMPLE PROGRAM DATA
+   3     0.0     I
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB01MD EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  3
+
+ The state dynamics matrix A of a controllable realization is 
+   1.0000   1.4142   0.0000
+   2.8284  -1.0000   2.8284
+   0.0000   1.4142   1.0000
+
+ The input/state vector B of a controllable realization is 
+  -1.4142
+   0.0000
+   0.0000
+
+ The similarity transformation matrix Z is 
+  -0.7071   0.0000  -0.7071
+   0.0000  -1.0000   0.0000
+  -0.7071   0.0000   0.7071
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB01ND.html b/doc/_build/html/_static/doc/AB01ND.html
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+<HTML>
+<HEAD><TITLE>AB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB01ND">AB01ND</A></H2>
+<H3>
+Controllable realization for multi-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  multi-input system
+
+          dX/dt = A * X + B * U,
+
+  where A and B are N-by-N and N-by-M matrices, respectively,
+  which are reduced by this routine to orthogonal canonical form
+  using (and optionally accumulating) orthogonal similarity
+  transformations.  Specifically, the pair (A, B) is reduced to
+  the pair (Ac, Bc),  Ac = Z' * A * Z,  Bc = Z' * B,  given by
+
+          [ Acont     *    ]         [ Bcont ]
+     Ac = [                ],   Bc = [       ],
+          [   0    Auncont ]         [   0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
+             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
+             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
+     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
+             [  .   .     . .    .     .  ]         [ .  ]
+             [  .   .       .    .     .  ]         [ .  ]
+             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
+
+  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
+  p is the controllability index of the pair.  The size of the
+  block  Auncont is equal to the dimension of the uncontrollable
+  subspace of the pair (A, B).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
+     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INDCON, INFO, LDA, LDB, LDWORK, LDZ, M, N, NCONT
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), Z(LDZ,*)
+      INTEGER           IWORK(*), NBLK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT part contains the
+          upper block Hessenberg state dynamics matrix Acont in Ac,
+          given by Z' * A * Z, of a controllable realization for
+          the original system. The elements below the first block-
+          subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading NCONT-by-M part of this array
+          contains the transformed input matrix Bcont in Bc, given
+          by Z' * B, with all elements but the first block set to
+          zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  INDCON  (output) INTEGER
+          The controllability index of the controllable part of the
+          system representation.
+
+  NBLK    (output) INTEGER array, dimension (N)
+          The leading INDCON elements of this array contain the
+          the orders of the diagonal blocks of Acont.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this
+          array contains the matrix of accumulated orthogonal
+          similarity transformations which reduces the given system
+          to orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N, 3*M).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix B is first QR-decomposed and the appropriate orthogonal
+  similarity transformation applied to the matrix A. Leaving the
+  first rank(B) states unchanged, the remaining lower left block
+  of A is then QR-decomposed and the new orthogonal matrix, Q1,
+  is also applied to the right of A to complete the similarity
+  transformation. By continuing in this manner, a completely
+  controllable state-space pair (Acont, Bcont) is found for the
+  given (A, B), where Acont is upper block Hessenberg with each
+  subdiagonal block of full row rank, and Bcont is zero apart from
+  its (independent) first rank(B) rows.
+  NOTE that the system controllability indices are easily
+  calculated from the dimensions of the blocks of Acont.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Paige, C.C.
+      Properties of numerical algorithms related to computing
+      controllablity.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
+      Postlethwaite, I.
+      Optimal Pole Assignment Design of Linear Multi-Input Systems.
+      Leicester University, Report 99-11, May 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, INDCON, J, M, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
+     $                 TAU(NMAX), Z(LDZ,NMAX)
+      INTEGER          IWORK(LIWORK), NBLK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB01ND, DORGQR
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+*           Find a controllable ssr for the given system.
+            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
+     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NCONT
+               WRITE ( NOUT, FMT = 99996 )
+               DO 20 I = 1, NCONT
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
+               WRITE ( NOUT, FMT = 99993 )
+               DO 40 I = 1, NCONT
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99992 ) INDCON
+               IF ( LSAME( JOBZ, 'F' ) )
+     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                         INFO )
+               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01ND = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
+     $       'le realization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
+     $       /20(1X,I2))
+99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
+     $       'e realization is ')
+99992 FORMAT (/' The controllability index of the transformed system r',
+     $       'epresentation = ',I2)
+99991 FORMAT (/' The similarity transformation matrix Z is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB01ND EXAMPLE PROGRAM DATA
+   3     2     0.0     I
+  -1.0   0.0   0.0
+  -2.0  -2.0  -2.0
+  -1.0   0.0  -3.0
+   1.0   0.0   0.0
+   0.0   2.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB01ND EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  2
+
+ The transformed state dynamics matrix of a controllable realization is 
+  -3.0000   2.2361
+   0.0000  -1.0000
+
+ and the dimensions of its diagonal blocks are 
+  2
+
+ The transformed input/state matrix B of a controllable realization is 
+   0.0000  -2.2361
+   1.0000   0.0000
+
+ The controllability index of the transformed system representation =  1
+
+ The similarity transformation matrix Z is 
+   0.0000   1.0000   0.0000
+  -0.8944   0.0000  -0.4472
+  -0.4472   0.0000   0.8944
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB01OD">AB01OD</A></H2>
+<H3>
+Staircase form for multi-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices A and B using (and optionally accumulating)
+  state-space and input-space transformations U and V respectively,
+  such that the pair of matrices
+
+     Ac = U' * A * U,    Bc = U' * B * V
+
+  are in upper "staircase" form. Specifically,
+
+          [ Acont     *    ]         [ Bcont ]
+     Ac = [                ],   Bc = [       ],
+          [   0    Auncont ]         [   0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
+             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
+             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
+     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
+             [  .   .     . .    .     .  ]         [ .  ]
+             [  .   .       .    .     .  ]         [ .  ]
+             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
+
+  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
+  p is the controllability index of the pair.  The size of the
+  block Auncont is equal to the dimension of the uncontrollable
+  subspace of the pair (A, B).  The first stage of the reduction,
+  the "forward" stage, accomplishes the reduction to the orthogonal
+  canonical form (see SLICOT library routine AB01ND). The blocks
+  B1, A21, ..., Ap,p-1 are further reduced in a second, "backward"
+  stage to upper triangular form using RQ factorization. Each of
+  these stages is optional.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
+     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV, STAGES
+      INTEGER           INDCON, INFO, LDA, LDB, LDU, LDV, LDWORK, M, N,
+     $                  NCONT
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*), KSTAIR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STAGES  CHARACTER*1
+          Specifies the reduction stages to be performed as follows:
+          = 'F':  Perform the forward stage only;
+          = 'B':  Perform the backward stage only;
+          = 'A':  Perform both (all) stages.
+
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the state-space transformations as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is internally initialized to the unit matrix (if
+                  STAGES &lt;&gt; 'B'), or updated (if STAGES = 'B'), and
+                  the orthogonal transformation matrix U is
+                  returned.
+
+  JOBV    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix V the input-space transformations as follows:
+          = 'N':  Do not form V;
+          = 'I':  V is initialized to the unit matrix and the
+                  orthogonal transformation matrix V is returned.
+          JOBV is not referenced if STAGES = 'F'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The actual input dimension.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A to be transformed.
+          If STAGES = 'B', A should be in the orthogonal canonical
+          form, as returned by SLICOT library routine AB01ND.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state transition matrix U' * A * U.
+          The leading NCONT-by-NCONT part contains the upper block
+          Hessenberg state matrix Acont in Ac, given by U' * A * U,
+          of a controllable realization for the original system.
+          The elements below the first block-subdiagonal are set to
+          zero.  If STAGES &lt;&gt; 'F', the subdiagonal blocks of A are
+          triangularized by RQ factorization, and the annihilated
+          elements are explicitly zeroed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B to be transformed.
+          If STAGES = 'B', B should be in the orthogonal canonical
+          form, as returned by SLICOT library routine AB01ND.
+          On exit with STAGES = 'F', the leading N-by-M part of
+          this array contains the transformed input matrix U' * B,
+          with all elements but the first block set to zero.
+          On exit with STAGES &lt;&gt; 'F', the leading N-by-M part of
+          this array contains the transformed input matrix
+          U' * B * V, with all elements but the first block set to
+          zero and the first block in upper triangular form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          If STAGES &lt;&gt; 'B' or JOBU = 'N', then U need not be set
+          on entry.
+          If STAGES = 'B' and JOBU = 'I', then, on entry, the
+          leading N-by-N part of this array must contain the
+          transformation matrix U that reduced the pair to the
+          orthogonal canonical form.
+          On exit, if JOBU = 'I', the leading N-by-N part of this
+          array contains the transformation matrix U that performed
+          the specified reduction.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          If JOBU = 'I', LDU &gt;= MAX(1,N);  if JOBU = 'N', LDU &gt;= 1.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
+          If JOBV = 'I', then the leading M-by-M part of this array
+          contains the transformation matrix V.
+          If STAGES = 'F', or JOBV = 'N', the array V is not
+          referenced and can be supplied as a dummy array (i.e. set
+          parameter  LDV = 1 and declare this array to be V(1,1) in
+          the calling program).
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          If STAGES &lt;&gt; 'F' and JOBV = 'I', LDV &gt;= MAX(1,M);
+          if STAGES = 'F' or JOBV = 'N', LDV &gt;= 1.
+
+  NCONT   (input/output) INTEGER
+          The order of the controllable state-space representation.
+          NCONT is input only if STAGES = 'B'.
+
+  INDCON  (input/output) INTEGER
+          The number of stairs in the staircase form (also, the
+          controllability index of the controllable part of the
+          system representation).
+          INDCON is input only if STAGES = 'B'.
+
+  KSTAIR  (input/output) INTEGER array, dimension (N)
+          The leading INDCON elements of this array contain the
+          dimensions of the stairs, or, also, the orders of the
+          diagonal blocks of Acont.
+          KSTAIR is input if STAGES = 'B', and output otherwise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+          TOL is not referenced if STAGES = 'B'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          IWORK is not referenced if STAGES = 'B'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If STAGES &lt;&gt; 'B', LDWORK &gt;= MAX(1, N + MAX(N,3*M));
+          If STAGES =  'B', LDWORK &gt;= MAX(1, M + MAX(N,M)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Staircase reduction of the pencil [B|sI - A] is used. Orthogonal
+  transformations U and V are constructed such that
+
+                     |B |sI-A      *  . . .  *      *       |
+                     | 1|    11       .      .      .       |
+                     |  |  A    sI-A    .    .      .       |
+                     |  |   21      22    .  .      .       |
+                     |  |        .     .     *      *       |
+  [U'BV|sI - U'AU] = |0 |     0    .     .                  |
+                     |  |            A     sI-A     *       |
+                     |  |             p,p-1    pp           |
+                     |  |                                   |
+                     |0 |         0          0   sI-A       |
+                     |  |                            p+1,p+1|
+
+  where the i-th diagonal block of U'AU has dimension KSTAIR(i),
+  for i = 1,...,p. The value of p is returned in INDCON. The last
+  block contains the uncontrollable modes of the (A,B)-pair which
+  are also the generalized eigenvalues of the above pencil.
+
+  The complete reduction is performed in two stages. The first,
+  forward stage accomplishes the reduction to the orthogonal
+  canonical form. The second, backward stage consists in further
+  reduction to triangular form by applying left and right orthogonal
+  transformations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      The generalized eigenvalue problem in linear system theory.
+      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
+
+  [2] Miminis, G. and Paige, C.
+      An algorithm for pole assignment of time-invariant multi-input
+      linear systems.
+      Proc. 21st IEEE CDC, Orlando, Florida, 1, pp. 62-67, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + M) x N**2) operations and is
+  backward stable (see [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDU, LDV
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
+     $                   LDV = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INDCON, INFO, J, M, N, NCONT
+      CHARACTER*1      JOBU, JOBV, STAGES
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
+     $                 U(LDU,NMAX), V(LDV,MMAX)
+      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB01OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, STAGES, JOBU, JOBV
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+*           Reduce the matrices A and B to upper "staircase" form.
+            CALL AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
+     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99994 ) INDCON
+               WRITE ( NOUT, FMT = 99993 ) ( KSTAIR(I), I = 1,INDCON )
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01OD = ',I2)
+99997 FORMAT (' The transformed state transition matrix is ')
+99996 FORMAT (/' The transformed input matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The number of stairs in the staircase form = ',I3,/)
+99993 FORMAT (' The dimensions of the stairs are ',/(20(I3,2X)))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB01OD EXAMPLE PROGRAM DATA
+   5     2     0.0     F     N     N
+   17.0   24.0    1.0    8.0   15.0
+   23.0    5.0    7.0   14.0   16.0
+    4.0    6.0   13.0   20.0   22.0
+   10.0   12.0   19.0   21.0    3.0
+   11.0   18.0   25.0    2.0    9.0
+   -1.0   -4.0
+    4.0    9.0
+   -9.0  -16.0
+   16.0   25.0
+  -25.0  -36.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB01OD EXAMPLE PROGRAM RESULTS
+
+ The transformed state transition matrix is 
+  12.8848   3.2345  11.8211   3.3758  -0.8982
+   4.4741 -12.5544   5.3509   5.9403   1.4360
+  14.4576   7.6855  23.1452  26.3872 -29.9557
+   0.0000   1.4805  27.4668  22.6564  -0.0072
+   0.0000   0.0000 -30.4822   0.6745  18.8680
+
+ The transformed input matrix is 
+  31.1199  47.6865
+   3.2480   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The number of stairs in the staircase form =   3
+
+ The dimensions of the stairs are 
+  2    2    1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB04MD.html b/doc/_build/html/_static/doc/AB04MD.html
new file mode 100644
index 00000000..7ab9526f
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB04MD.html
@@ -0,0 +1,318 @@
+<HTML>
+<HEAD><TITLE>AB04MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB04MD">AB04MD</A></H2>
+<H3>
+Discrete-time <--> continuous-time systems conversion by a bilinear transformation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a transformation on the parameters (A,B,C,D) of a
+  system, which is equivalent to a bilinear transformation of the
+  corresponding transfer function matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPE
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          Indicates the type of the original system and the
+          transformation to be performed as follows:
+          = 'D':  discrete-time   -&gt; continuous-time;
+          = 'C':  continuous-time -&gt; discrete-time.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  ALPHA,  (input) DOUBLE PRECISION
+  BETA    Parameters specifying the bilinear transformation.
+          Recommended values for stable systems: ALPHA = 1,
+          BETA = 1.  ALPHA &lt;&gt; 0, BETA &lt;&gt; 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A of the original system.
+          On exit, the leading N-by-N part of this array contains
+                           _
+          the state matrix A of the transformed system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the original system.
+          On exit, the leading N-by-M part of this array contains
+                           _
+          the input matrix B of the transformed system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C of the original system.
+          On exit, the leading P-by-N part of this array contains
+                            _
+          the output matrix C of the transformed system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix D for the original system.
+          On exit, the leading P-by-M part of this array contains
+                                  _
+          the input/output matrix D of the transformed system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK &gt;= MAX(1,N*NB), where NB
+          is the optimal blocksize.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix (ALPHA*I + A) is exactly singular;
+          = 2:  if the matrix  (BETA*I - A) is exactly singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The parameters of the discrete-time system are transformed into
+  the parameters of the continuous-time system (TYPE = 'D'), or
+  vice-versa (TYPE = 'C') by the transformation:
+
+  1.  Discrete -&gt; continuous
+      _                     -1
+      A = beta*(alpha*I + A)  * (A - alpha*I)
+      _                                     -1
+      B = sqrt(2*alpha*beta) * (alpha*I + A)  * B
+      _                                         -1
+      C = sqrt(2*alpha*beta) * C * (alpha*I + A)
+      _                        -1
+      D = D - C * (alpha*I + A)  * B
+
+  which is equivalent to the bilinear transformation
+
+                    z - alpha
+      z -&gt; s = beta ---------  .
+                    z + alpha
+
+  of one transfer matrix onto the other.
+
+  2.  Continuous -&gt; discrete
+      _                     -1
+      A = alpha*(beta*I - A)  * (beta*I + A)
+      _                                    -1
+      B = sqrt(2*alpha*beta) * (beta*I - A)  * B
+      _                                        -1
+      C = sqrt(2*alpha*beta) * C * (beta*I - A)
+      _                       -1
+      D = D + C * (beta*I - A)  * B
+
+  which is equivalent to the bilinear transformation
+
+                   beta + s
+    s -&gt; z = alpha -------- .
+                   beta - s
+
+  of one transfer matrix onto the other.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Al-Saggaf, U.M. and Franklin, G.F.
+      Model reduction via balanced realizations: a extension and
+      frequency weighting techniques.
+      IEEE Trans. Autom. Contr., AC-33, pp. 687-692, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                   3
+  The time taken is approximately proportional to N .
+  The accuracy depends mainly on the condition number of the matrix
+  to be inverted.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB04MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, BETA
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER*1      TYPE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB04MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TYPE, ALPHA, BETA
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
+               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
+*              Transform the parameters (A,B,C,D).
+               CALL AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB,
+     $                      C, LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB04MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB04MD = ',I2)
+99997 FORMAT (' The transformed state matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed input matrix is ')
+99994 FORMAT (/' The transformed output matrix is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+99990 FORMAT (/' The transformed input/output matrix is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB04MD EXAMPLE PROGRAM DATA
+   2     2     2     C     1.0D0     1.0D0
+   1.0  0.5
+   0.5  1.0
+   0.0 -1.0
+   1.0  0.0
+  -1.0  0.0
+   0.0  1.0
+   1.0  0.0
+   0.0 -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB04MD EXAMPLE PROGRAM RESULTS
+
+ The transformed state matrix is 
+  -1.0000  -4.0000
+  -4.0000  -1.0000
+
+ The transformed input matrix is 
+   2.8284   0.0000
+   0.0000  -2.8284
+
+ The transformed output matrix is 
+   0.0000   2.8284
+  -2.8284   0.0000
+
+ The transformed input/output matrix is 
+  -1.0000   0.0000
+   0.0000  -3.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB05MD.html b/doc/_build/html/_static/doc/AB05MD.html
new file mode 100644
index 00000000..e1db4e19
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB05MD.html
@@ -0,0 +1,455 @@
+<HTML>
+<HEAD><TITLE>AB05MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05MD">AB05MD</A></H2>
+<H3>
+Cascade inter-connection of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To obtain the state-space model (A,B,C,D) for the cascaded
+  inter-connection of two systems, each given in state-space form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER, UPLO
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
+     $                  N2, P1, P2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
+     $                  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes to obtain the matrix A
+          in the upper or lower block diagonal form, as follows:
+          = 'U':  Obtain A in the upper block diagonal form;
+          = 'L':  Obtain A in the lower block diagonal form.
+
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D (for UPLO = 'L'), or A2
+                  and A, B2 and B, C2 and C, and D2 and D (for
+                  UPLO = 'U'), i.e. the same name is effectively
+                  used for each pair (for all pairs) in the routine
+                  call.  In this case, setting LDA1 = LDA,
+                  LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD, or
+                  LDA2 = LDA, LDB2 = LDB, LDC2 = LDC, and LDD2 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables for the first system.
+          M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables from the first system and
+          the number of input variables for the second system.
+          P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2.  N2 &gt;= 0.
+
+  P2      (input) INTEGER
+          The number of output variables from the second system.
+          P2 &gt;= 0.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
+          The leading N2-by-P1 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P2-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
+          The leading P2-by-P1 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the resulting
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the cascaded system.
+          If OVER = 'O', the array A can overlap A1, if UPLO = 'L',
+          or A2, if UPLO = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
+          The leading N-by-M1 part of this array contains the
+          input/state matrix B for the cascaded system.
+          If OVER = 'O', the array B can overlap B1, if UPLO = 'L',
+          or B2, if UPLO = 'U'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P2-by-N part of this array contains the
+          state/output matrix C for the cascaded system.
+          If OVER = 'O', the array C can overlap C1, if UPLO = 'L',
+          or C2, if UPLO = 'U'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P2) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
+          The leading P2-by-M1 part of this array contains the
+          input/output matrix D for the cascaded system.
+          If OVER = 'O', the array D can overlap D1, if UPLO = 'L',
+          or D2, if UPLO = 'U'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P2).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          The array DWORK is not referenced if OVER = 'N'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, P1*MAX(N1, M1, N2, P2) ) if OVER = 'O'.
+          LDWORK &gt;= 1 if OVER = 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After cascaded inter-connection of the two systems
+
+  X1'     = A1*X1 + B1*U
+  V       = C1*X1 + D1*U
+
+  X2'     = A2*X2 + B2*V
+  Y       = C2*X2 + D2*V
+
+  (where  '  denotes differentiation with respect to time)
+
+  the following state-space model will be obtained:
+
+  X'      = A*X + B*U
+  Y       = C*X + D*U
+
+  where matrix  A  has the form   ( A1     0 ),
+                                  ( B2*C1  A2)
+
+        matrix  B  has the form  (  B1   ),
+                                 ( B2*D1 )
+
+        matrix  C  has the form  ( D2*C1  C2 ) and
+
+        matrix  D  has the form  ( D2*D1 ).
+
+  This form is returned by the routine when UPLO = 'L'.  Note that
+  when A1 and A2 are block lower triangular, the resulting state
+  matrix is also block lower triangular.
+
+  By applying a similarity transformation to the system above,
+  using the matrix  ( 0  I ),  where  I  is the identity matrix of
+                    ( J  0 )
+  order  N2,  and  J  is the identity matrix of order  N1,  the
+  system matrices become
+
+        A = ( A2  B2*C1 ),
+            ( 0     A1  )
+
+        B = ( B2*D1 ),
+            (  B1   )
+
+        C = ( C2  D2*C1 ) and
+
+        D = ( D2*D1 ).
+
+  This form is returned by the routine when UPLO = 'U'.  Note that
+  when A1 and A2 are block upper triangular (for instance, in the
+  real Schur form), the resulting state matrix is also block upper
+  triangular.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires P1*(N1+M1)*(N2+P2) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX, P2MAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, P1MAX = 20, P2MAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2, LDWORK
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX,LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = P2MAX, LDC1 = P1MAX, LDC2 = P2MAX,
+     $                   LDD = P2MAX, LDD1 = P1MAX, LDD2 = P2MAX,
+     $                   LDWORK = P1MAX*N1MAX )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER, UPLO
+      INTEGER          I, INFO, J, M1, N, N1, N2, P1, P2
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB05MD
+*     .. Executable Statements ..
+*
+      UPLO = 'Lower'
+      OVER = 'N'
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2, P2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
+                  IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
+                     WRITE ( NOUT, FMT = 99988 ) P2
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
+                     READ ( NIN, FMT = * )
+     $                    ( ( D2(I,J), J = 1,P1 ), I = 1,P2 )
+*                    Find the state-space model (A,B,C,D).
+                     CALL AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1,
+     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
+     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
+     $                            LDD2, N, A, LDA, B, LDB, C, LDC, D,
+     $                            LDD, DWORK, LDWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99997 )
+                        DO 20 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( A(I,J), J = 1,N )
+   20                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( B(I,J), J = 1,M1 )
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99994 )
+                        DO 60 I = 1, P2
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( C(I,J), J = 1,N )
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99993 )
+                        DO 80 I = 1, P2
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( D(I,J), J = 1,M1 )
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05MD = ',I2)
+99997 FORMAT (' The state transition matrix of the cascaded system is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the cascaded system is ')
+99994 FORMAT (/' The state/output matrix of the cascaded system is ')
+99993 FORMAT (/' The input/output matrix of the cascaded system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+99988 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05MD EXAMPLE PROGRAM DATA
+   3     2     2     3     2
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05MD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the cascaded system is 
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000  -3.0000   0.0000   0.0000
+  -3.0000   2.0000  -1.0000   1.0000   0.0000   1.0000
+   0.0000   2.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the cascaded system is 
+   1.0000   2.0000
+   1.0000   0.0000
+   0.0000   1.0000
+   0.0000   1.0000
+  -1.0000   0.0000
+   0.0000   2.0000
+
+ The state/output matrix of the cascaded system is 
+   3.0000  -1.0000   1.0000   1.0000   1.0000   0.0000
+   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the cascaded system is 
+   1.0000   1.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB05ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05ND">AB05ND</A></H2>
+<H3>
+Feedback inter-connection of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To obtain the state-space model (A,B,C,D) for the feedback
+  inter-connection of two systems, each given in state-space form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
+     $                  N2, P1
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
+     $                  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables for the first system and the
+          number of output variables from the second system.
+          M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables from the first system and
+          the number of input variables for the second system.
+          P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2.  N2 &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          A coefficient multiplying the transfer-function matrix
+          (or the output equation) of the second system.
+          ALPHA = +1 corresponds to positive feedback, and
+          ALPHA = -1 corresponds to negative feedback.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
+          The leading N2-by-P1 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading M1-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,M1) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
+          The leading M1-by-P1 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,M1).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the connected
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the connected system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
+          The leading N-by-M1 part of this array contains the
+          input/state matrix B for the connected system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P1-by-N part of this array contains the
+          state/output matrix C for the connected system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
+          The leading P1-by-M1 part of this array contains the
+          input/output matrix D for the connected system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.             If OVER = 'N',
+          LDWORK &gt;= MAX(1, P1*P1, M1*M1, N1*P1), and if OVER = 'O',
+          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*M1, N1*P1) ),
+                                                     if M1 &lt;= N*N2;
+          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*(M1+1), N1*P1) ),
+                                                     if M1 &gt;  N*N2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= P1, the system is not
+                completely controllable. That is, the matrix
+                (I + ALPHA*D1*D2) is exactly singular (the element
+                U(i,i) of the upper triangular factor of LU
+                factorization is exactly zero), possibly due to
+                rounding errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After feedback inter-connection of the two systems,
+
+  X1'     = A1*X1 + B1*U1
+  Y1      = C1*X1 + D1*U1
+
+  X2'     = A2*X2 + B2*U2
+  Y2      = C2*X2 + D2*U2
+
+  (where  '  denotes differentiation with respect to time)
+
+  the following state-space model will be obtained:
+
+  X'      = A*X  +  B*U
+  Y       = C*X  +  D*U
+
+  where       U = U1 + alpha*Y2,    X  =  ( X1 ),
+              Y = Y1 = U2,                ( X2 )
+
+  matrix  A  has the form
+
+  ( A1  -  alpha*B1*E12*D2*C1       -  alpha*B1*E12*C2    ),
+  (        B2*E21*C1            A2  -  alpha*B2*E21*D1*C2 )
+
+  matrix  B  has the form
+
+  (  B1*E12    ),
+  (  B2*E21*D1 )
+
+  matrix  C  has the form
+
+  (  E21*C1     -  alpha*E21*D1*C2 ),
+
+  matrix D  has the form
+
+  (  E21*D1 ),
+
+  E21  =  ( I + alpha*D1*D2 )-INVERSE and
+  E12  =  ( I + alpha*D2*D1 )-INVERSE = I - alpha*D2*E21*D1.
+
+  Taking N1 = 0 and/or N2 = 0 on the routine call will solve the
+  constant plant and/or constant feedback cases.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, P1MAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = M1MAX,
+     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = M1MAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = P1MAX*P1MAX )
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE=1.0D0 )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M1, N, N1, N2, P1
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      INTEGER          IWORK(P1MAX)
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB05ND
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      ALPHA = ONE
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,M1 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( D2(I,J), J = 1,P1 ), I = 1,M1 )
+*                 Find the state-space model (A,B,C,D).
+                  CALL AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1,
+     $                         B1, LDB1, C1, LDC1, D1, LDD1, A2, LDA2,
+     $                         B2, LDB2, C2, LDC2, D2, LDD2, N, A, LDA,
+     $                         B, LDB, C, LDC, D, LDD, IWORK, DWORK,
+     $                         LDWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 20 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M1 )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 60 I = 1, P1
+                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 80 I = 1, P1
+                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M1 )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05ND = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05ND EXAMPLE PROGRAM DATA
+   3     2     2     3
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05ND EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+  -0.5000  -0.2500  -1.5000  -1.2500  -1.2500   0.7500
+  -1.5000  -0.2500   0.5000  -0.2500  -0.2500  -0.2500
+   1.0000   0.5000   2.0000  -0.5000  -0.5000   0.5000
+   0.0000   0.5000   0.0000  -3.5000  -0.5000   0.5000
+  -1.5000   1.2500  -0.5000   1.2500   0.2500   1.2500
+   0.0000   1.0000   0.0000  -1.0000  -2.0000   3.0000
+
+ The input/state matrix of the connected system is 
+   0.5000   0.7500
+   0.5000  -0.2500
+   0.0000   0.5000
+   0.0000   0.5000
+  -0.5000   0.2500
+   0.0000   1.0000
+
+ The state/output matrix of the connected system is 
+   1.5000  -1.2500   0.5000  -0.2500  -0.2500  -0.2500
+   0.0000   0.5000   0.0000  -0.5000  -0.5000   0.5000
+
+ The input/output matrix of the connected system is 
+   0.5000  -0.2500
+   0.0000   0.5000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB05OD.html b/doc/_build/html/_static/doc/AB05OD.html
new file mode 100644
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@@ -0,0 +1,419 @@
+<HTML>
+<HEAD><TITLE>AB05OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05OD">AB05OD</A></H2>
+<H3>
+Rowwise concatenation of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To obtain the state-space model (A,B,C,D) for rowwise
+  concatenation (parallel inter-connection on outputs, with separate
+  inputs) of two systems, each given in state-space form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, M, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
+     $                  N2, P1
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables for the first system.
+          M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables from each system.  P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2.  N2 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of input variables for the second system.
+          M2 &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          A coefficient multiplying the transfer-function matrix
+          (or the output equation) of the second system.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
+          The leading N2-by-M2 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P1-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P1) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
+          The leading P1-by-M2 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P1).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the connected
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  M       (output) INTEGER
+          The number of input variables (M1 + M2) for the connected
+          system, i.e. the number of columns of B and D.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the connected system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
+          The leading N-by-M part of this array contains the
+          input/state matrix B for the connected system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P1-by-N part of this array contains the
+          state/output matrix C for the connected system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
+          The leading P1-by-M part of this array contains the
+          input/output matrix D for the connected system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After rowwise concatenation (parallel inter-connection with
+  separate inputs) of the two systems,
+
+  X1'     = A1*X1 + B1*U
+  Y1      = C1*X1 + D1*U
+
+  X2'     = A2*X2 + B2*V
+  Y2      = C2*X2 + D2*V
+
+  (where  '  denotes differentiation with respect to time),
+
+  with the output equation for the second system multiplied by a
+  scalar alpha, the following state-space model will be obtained:
+
+  X'      = A*X + B*(U)
+                    (V)
+
+  Y       = C*X + D*(U)
+                    (V)
+
+  where matrix  A  has the form    ( A1   0  ),
+                                   ( 0    A2 )
+
+        matrix  B  has the form    ( B1   0  ),
+                                   ( 0    B2 )
+
+        matrix  C  has the form    ( C1   alpha*C2 ) and
+
+        matrix  D  has the form    ( D1   alpha*D2 ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
+     $                   P1MAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = P1MAX,
+     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = P1MAX )
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE=1.0D0 )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P1
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB05OD
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      ALPHA = ONE
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
+                     WRITE ( NOUT, FMT = 99989 ) M2
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
+                     READ ( NIN, FMT = * )
+     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P1 )
+                     READ ( NIN, FMT = * )
+     $                    ( ( D2(I,J), J = 1,M2 ), I = 1,P1 )
+*                       Find the state-space model (A,B,C,D).
+                     CALL AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1,
+     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
+     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
+     $                            LDD2, N, M, A, LDA, B, LDB, C, LDC,
+     $                            D, LDD, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99997 )
+                        DO 20 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( A(I,J), J = 1,N )
+   20                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( B(I,J), J = 1,M )
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99994 )
+                        DO 60 I = 1, P1
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( C(I,J), J = 1,N )
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99993 )
+                        DO 80 I = 1, P1
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( D(I,J), J = 1,M )
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05OD = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05OD EXAMPLE PROGRAM DATA
+   3     2     2     3     2
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05OD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the connected system is 
+   1.0000   2.0000   0.0000   0.0000
+   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000
+   0.0000   0.0000  -1.0000   0.0000
+   0.0000   0.0000   0.0000   2.0000
+
+ The state/output matrix of the connected system is 
+   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
+   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the connected system is 
+   1.0000   0.0000   1.0000   1.0000
+   0.0000   1.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB05PD.html b/doc/_build/html/_static/doc/AB05PD.html
new file mode 100644
index 00000000..2faccc5e
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB05PD.html
@@ -0,0 +1,382 @@
+<HTML>
+<HEAD><TITLE>AB05PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05PD">AB05PD</A></H2>
+<H3>
+Parallel inter-connection of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the state-space model G = (A,B,C,D) corresponding to
+  the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and
+  G2 = (A2,B2,C2,D2).  G, G1, and G2 are the transfer-function
+  matrices of the corresponding state-space models.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1,
+     $                   C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2,
+     $                   LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1, the number of rows of B1 and
+          the number of columns of C1.  N1 &gt;= 0.
+
+  M       (input) INTEGER
+          The number of input variables of the two systems, i.e. the
+          number of columns of matrices B1, D1, B2 and D2.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of output variables of the two systems, i.e.
+          the number of rows of matrices C1, D1, C2 and D2.  P &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2, the number of rows of B2 and
+          the number of columns of C2.  N2 &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The coefficient multiplying G2.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M)
+          The leading N1-by-M part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M)
+          The leading N2-by-M part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the resulting
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the resulting system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the
+          input/state matrix B for the resulting system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P-by-N part of this array contains the
+          state/output matrix C for the resulting system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          input/output matrix D for the resulting system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the resulting systems are determined as:
+
+        ( A1   0  )             ( B1 )
+    A = (         ) ,       B = (    ) ,
+        ( 0    A2 )             ( B2 )
+
+    C = ( C1  alpha*C2 ) ,  D = D1 + alpha*D2 .
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, MMAX, PMAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = PMAX, LDC1 = PMAX,  LDC2 = PMAX,
+     $                   LDD = PMAX, LDD1 = PMAX,  LDD2 = PMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M, N, N1, N2, P
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,MMAX), B1(LDB1,MMAX), B2(LDB2,MMAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,MMAX), D1(LDD1,MMAX), D2(LDD2,MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB05PD
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M, P, N2, ALPHA
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M ), I = 1,P )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,M )
+                  READ ( NIN, FMT = * )
+     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,P )
+                  READ ( NIN, FMT = * )
+     $                 ( ( D2(I,J), J = 1,M ), I = 1,P )
+*                    Find the state-space model (A,B,C,D).
+                  CALL AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1,
+     $                         LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2,
+     $                         LDB2, C2, LDC2, D2, LDD2, N, A, LDA, B,
+     $                         LDB, C, LDC, D, LDD, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 20 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( A(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( B(I,J), J = 1,M )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 60 I = 1, P
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( C(I,J), J = 1,N )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 80 I = 1, P
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( D(I,J), J = 1,M )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05PD = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05PD EXAMPLE PROGRAM DATA
+   3     2     2     3     1.0D0
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05PD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the connected system is 
+   1.0000   2.0000
+   1.0000   0.0000
+   0.0000   1.0000
+   0.0000   1.0000
+  -1.0000   0.0000
+   0.0000   2.0000
+
+ The state/output matrix of the connected system is 
+   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
+   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the connected system is 
+   2.0000   1.0000
+   0.0000   2.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB05QD.html b/doc/_build/html/_static/doc/AB05QD.html
new file mode 100644
index 00000000..0cf6926f
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB05QD.html
@@ -0,0 +1,416 @@
+<HTML>
+<HEAD><TITLE>AB05QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05QD">AB05QD</A></H2>
+<H3>
+Appending two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To append two systems G1 and G2 in state-space form together.
+  If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the state-space
+  models of the given two systems having the transfer-function
+  matrices G1 and G2, respectively, this subroutine constructs the
+  state-space model G = (A,B,C,D) which corresponds to the
+  transfer-function matrix
+
+                        ( G1 0  )
+                    G = (       )
+                        ( 0  G2 )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
+     $                  N2, P, P1, P2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1, the number of rows of B1 and
+          the number of columns of C1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables in the first system, i.e.
+          the number of columns of matrices B1 and D1.  M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables in the first system, i.e.
+          the number of rows of matrices C1 and D1.  P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2, the number of rows of B2 and
+          the number of columns of C2.  N2 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of input variables in the second system, i.e.
+          the number of columns of matrices B2 and D2.  M2 &gt;= 0.
+
+  P2      (input) INTEGER
+          The number of output variables in the second system, i.e.
+          the number of rows of matrices C2 and D2.  P2 &gt;= 0.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
+          The leading N2-by-M2 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P2-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
+          The leading P2-by-M2 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the resulting
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  M       (output) INTEGER
+          The number of input variables (M1 + M2) in the resulting
+          system, i.e. the number of columns of B and D.
+
+  P       (output) INTEGER
+          The number of output variables (P1 + P2) of the resulting
+          system, i.e. the number of rows of C and D.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the resulting system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
+          The leading N-by-M part of this array contains the
+          input/state matrix B for the resulting system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P-by-N part of this array contains the
+          state/output matrix C for the resulting system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P1+P2) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
+          The leading P-by-M part of this array contains the
+          input/output matrix D for the resulting system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P1+P2).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the resulting systems are determined as:
+
+        ( A1   0  )         ( B1  0  )
+    A = (         ) ,   B = (        ) ,
+        ( 0    A2 )         ( 0   B2 )
+
+        ( C1   0  )         ( D1  0  )
+    C = (         ) ,   D = (        ) .
+        ( 0    C2 )         ( 0   D2 )
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX,
+     $                 P2MAX, PMAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
+     $                   P1MAX = 20, P2MAX = 20, PMAX = P1MAX+P2MAX )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = PMAX, LDC1 = P1MAX, LDC2 = P1MAX,
+     $                   LDD = PMAX, LDD1 = P1MAX, LDD2 = P1MAX )
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE=1.0D0 )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P, P1, P2
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB05QD
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2, P2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
+                     WRITE ( NOUT, FMT = 99988 ) M2
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
+                     IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
+                        WRITE ( NOUT, FMT = 99987 ) P2
+                     ELSE
+                        READ ( NIN, FMT = * )
+     $                       ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
+                        READ ( NIN, FMT = * )
+     $                       ( ( D2(I,J), J = 1,M2 ), I = 1,P2 )
+*                          Find the state-space model (A,B,C,D).
+                        CALL AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1,
+     $                               LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
+     $                               A2, LDA2, B2, LDB2, C2, LDC2, D2,
+     $                               LDD2, N, M, P, A, LDA, B, LDB, C,
+     $                               LDC, D, LDD, INFO )
+*
+                        IF ( INFO.NE.0 ) THEN
+                           WRITE ( NOUT, FMT = 99998 ) INFO
+                        ELSE
+                           WRITE ( NOUT, FMT = 99997 )
+                           DO 20 I = 1, N
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( A(I,J), J = 1,N )
+   20                      CONTINUE
+                           WRITE ( NOUT, FMT = 99995 )
+                           DO 40 I = 1, N
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( B(I,J), J = 1,M )
+   40                      CONTINUE
+                           WRITE ( NOUT, FMT = 99994 )
+                           DO 60 I = 1, P
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( C(I,J), J = 1,N )
+   60                      CONTINUE
+                           WRITE ( NOUT, FMT = 99993 )
+                           DO 80 I = 1, P
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( D(I,J), J = 1,M )
+   80                      CONTINUE
+                        END IF
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05QD = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+99988 FORMAT (/' M2 is out of range.',/' M2 = ',I5)
+99987 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05QD EXAMPLE PROGRAM DATA
+   3     2     2     3     2     2
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05QD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the connected system is 
+   1.0000   2.0000   0.0000   0.0000
+   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000
+   0.0000   0.0000  -1.0000   0.0000
+   0.0000   0.0000   0.0000   2.0000
+
+ The state/output matrix of the connected system is 
+   3.0000  -2.0000   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the connected system is 
+   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   1.0000   1.0000
+   0.0000   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB05RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05RD">AB05RD</A></H2>
+<H3>
+Closed-loop system for a mixed output and state feedback control law
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a given state space system (A,B,C,D) the closed-
+  loop system (Ac,Bc,Cc,Dc) corresponding to the mixed output and
+  state feedback control law
+
+       u = alpha*F*y + beta*K*x + G*v
+       z = H*y.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA, BETA, A,
+     $                   LDA, B, LDB, C, LDC, D, LDD, F, LDF, K, LDK,
+     $                   G, LDG, H, LDH, RCOND, BC, LDBC, CC, LDCC,
+     $                   DC, LDDC, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FBTYPE, JOBD
+      INTEGER           INFO, LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC,
+     $                  LDF, LDG, LDH, LDK, LDWORK, M, MV, N, P, PZ
+      DOUBLE PRECISION  ALPHA, BETA, RCOND
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BC(LDBC,*), C(LDC,*),
+     $                  CC(LDCC,*), D(LDD,*), DC(LDDC,*), DWORK(*),
+     $                  F(LDF,*), G(LDG,*), H(LDH,*), K(LDK,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FBTYPE  CHARACTER*1
+          Specifies the type of the feedback law as follows:
+          = 'I':  Unitary output feedback (F = I);
+          = 'O':  General output feedback.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears
+          in the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of state vector x, i.e. the order of the
+          matrix A, the number of rows of B and the number of
+          columns of C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector u, i.e. the number of
+          columns of matrices B and D, and the number of rows of F.
+          M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector y, i.e. the number of rows
+          of matrices C and D, and the number of columns of F.
+          P &gt;= 0 and P = M if FBTYPE = 'I'.
+
+  MV      (input) INTEGER
+          The dimension of the new input vector v, i.e. the number
+          of columns of matrix G.  MV &gt;= 0.
+
+  PZ      (input) INTEGER.
+          The dimension of the new output vector z, i.e. the number
+          of rows of matrix H.  PZ &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The coefficient alpha in the output feedback law.
+
+  BETA    (input) DOUBLE PRECISION.
+          The coefficient beta in the state feedback law.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state transition matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the state matrix Ac of the closed-loop system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the intermediary input matrix B1 (see METHOD).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the intermediary output matrix C1+BETA*D1*K (see METHOD).
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P) if N &gt; 0.
+          LDC &gt;= 1 if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the system direct input/output
+          transmission matrix D.
+          On exit, the leading P-by-M part of this array contains
+          the intermediary direct input/output transmission matrix
+          D1 (see METHOD).
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P) if JOBD = 'D'.
+          LDD &gt;= 1 if JOBD = 'Z'.
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
+          If FBTYPE = 'O', the leading M-by-P part of this array
+          must contain the output feedback matrix F.
+          If FBTYPE = 'I', then the feedback matrix is assumed to be
+          an M x M order identity matrix.
+          The array F is not referenced if FBTYPE = 'I'  or
+          ALPHA = 0.
+
+  LDF     INTEGER
+          The leading dimension of array F.
+          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
+          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
+
+  K       (input) DOUBLE PRECISION array, dimension (LDK,N)
+          The leading M-by-N part of this array must contain the
+          state feedback matrix K.
+          The array K is not referenced if BETA = 0.
+
+  LDK     INTEGER
+          The leading dimension of the array K.
+          LDK &gt;= MAX(1,M) if BETA &lt;&gt; 0.
+          LDK &gt;= 1 if BETA = 0.
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,MV)
+          The leading M-by-MV part of this array must contain the
+          system input scaling matrix G.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,M).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,P)
+          The leading PZ-by-P part of this array must contain the
+          system output scaling matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,PZ).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal condition number of the matrix
+          I - alpha*D*F.
+
+  BC      (output) DOUBLE PRECISION array, dimension (LDBC,MV)
+          The leading N-by-MV part of this array contains the input
+          matrix Bc of the closed-loop system.
+
+  LDBC    INTEGER
+          The leading dimension of array BC.  LDBC &gt;= MAX(1,N).
+
+  CC      (output) DOUBLE PRECISION array, dimension (LDCC,N)
+          The leading PZ-by-N part of this array contains the
+          system output matrix Cc of the closed-loop system.
+
+  LDCC    INTEGER
+          The leading dimension of array CC.
+          LDCC &gt;= MAX(1,PZ) if N &gt; 0.
+          LDCC &gt;= 1 if N = 0.
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,MV)
+          If JOBD = 'D', the leading PZ-by-MV part of this array
+          contains the direct input/output transmission matrix Dc
+          of the closed-loop system.
+          The array DC is not referenced if JOBD = 'Z'.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.
+          LDDC &gt;= MAX(1,PZ) if JOBD = 'D'.
+          LDDC &gt;= 1 if JOBD = 'Z'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
+          LIWORK &gt;= 1 if JOBD = 'Z'.
+          IWORK is not referenced if JOBD = 'Z'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= wspace, where
+                wspace = MAX( 1, M, P*MV, P*P + 4*P ) if JOBD = 'D',
+                wspace = MAX( 1, M ) if JOBD = 'Z'.
+          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix I - alpha*D*F is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the closed-loop system have the expressions:
+
+  Ac = A1 + beta*B1*K,      Bc = B1*G,
+  Cc = H*(C1 + beta*D1*K),  Dc = H*D1*G,
+
+  where
+
+  A1 = A + alpha*B*F*E*C,   B1 = B + alpha*B*F*E*D,
+  C1 = E*C,                 D1 = E*D,
+
+  with E = (I - alpha*D*F)**-1.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of computations basically depends on the conditioning
+  of the matrix I - alpha*D*F. If RCOND is very small, it is likely
+  that the computed results are inaccurate.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, MVMAX, PMAX, PZMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, MVMAX = 20,
+     $                   PMAX = 20, PZMAX = 20 )
+      INTEGER          LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC, LDF, LDG,
+     $                 LDH, LDK, LDWORK, LIWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBC = NMAX,
+     $                   LDC = PMAX, LDCC = PZMAX,
+     $                   LDD = PMAX, LDDC = PZMAX, LDF = MMAX,
+     $                   LDG = MMAX, LDH  = PZMAX, LDK = MMAX,
+     $                   LDWORK = MAX( MMAX, PMAX*MVMAX,
+     $                   PMAX*PMAX + 4*PMAX ), LIWORK = 2*PMAX )
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+*     .. Local Scalars ..
+      LOGICAL          LJOBD, OUTPF
+      CHARACTER*1      FBTYPE, JOBD
+      INTEGER          I, INFO, J, M, MV, N, P, PZ
+      DOUBLE PRECISION ALPHA, BETA, RCOND
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), BC(LDBC,MVMAX),
+     $                 C(LDC,NMAX), CC(LDCC,NMAX),
+     $                 D(LDD,MMAX), DC(LDDC,MVMAX),  DWORK(LDWORK),
+     $                 F(LDF,PMAX), G(LDG,MVMAX), H(LDH,PMAX),
+     $                 K(LDK,NMAX)
+*     .. External functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB05RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, MV, PZ, ALPHA, BETA, FBTYPE, JOBD
+      OUTPF = LSAME( FBTYPE, 'O' )
+      LJOBD = LSAME( JOBD, 'D' )
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( BETA.NE.ZERO )
+     $         READ ( NIN, FMT = * ) ( ( K(I,J), J = 1,N ), I = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LJOBD )
+     $            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF ( OUTPF.AND.ALPHA.NE.ZERO )
+     $            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,P ), I = 1,M )
+               IF ( MV.LE.0 .OR. MV.GT.MVMAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) MV
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( G(I,J), J = 1,MV ), I = 1,M )
+                  IF ( PZ.LE.0 .OR. PZ.GT.PZMAX ) THEN
+                     WRITE ( NOUT, FMT = 99988 ) PZ
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( H(I,J), J = 1,P ), I = 1,PZ )
+*                       Find the state-space model (A,B,C,D).
+                     CALL AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA,
+     $                            BETA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                            F, LDF, K, LDK, G, LDG, H, LDH, RCOND,
+     $                            BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
+     $                            DWORK, LDWORK, INFO )
+*
+                     WRITE ( NOUT, FMT = 99987 ) RCOND
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99997 )
+                        DO 20 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( A(I,J), J = 1,N )
+   20                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( BC(I,J), J = 1,MV )
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99994 )
+                        DO 60 I = 1, PZ
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( CC(I,J), J = 1,N )
+   60                   CONTINUE
+                        IF ( LJOBD ) THEN
+                           WRITE ( NOUT, FMT = 99993 )
+                           DO 80 I = 1, PZ
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( DC(I,J), J = 1,MV )
+   80                      CONTINUE
+                        END IF
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05RD = ',I2)
+99997 FORMAT (' The state transition matrix of the closed-loop system is
+     $')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the closed-loop system is ')
+99994 FORMAT (/' The state/output matrix of the closed-loop system is ')
+99993 FORMAT (/' The input/output matrix of the closed-loop system is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+99989 FORMAT (/' MV is out of range.',/' MV = ',I5)
+99988 FORMAT (/' PZ is out of range.',/' PZ = ',I5)
+99987 FORMAT ( ' The reciprocal condition number of the matrix ',
+     $         ' I - alpha*D*F is',F8.4,/1X)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05RD EXAMPLE PROGRAM DATA
+   3     2     2     2     2   1.0   1.0    O     D
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   2.0   1.0   0.0
+   1.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+   1.0   2.0
+   3.0   4.0
+   1.0   1.0
+   0.0   1.0
+   4.0   3.0
+   2.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05RD EXAMPLE PROGRAM RESULTS
+
+ The reciprocal condition number of the matrix  I - alpha*D*F is  0.2000
+
+ The state transition matrix of the closed-loop system is
+  -4.8333   0.1667  -2.8333
+  -0.8333   0.1667   0.1667
+  -1.5000   0.5000   1.5000
+
+ The input/state matrix of the closed-loop system is 
+  -0.5000  -0.8333
+   0.5000   0.1667
+  -0.5000  -0.5000
+
+ The state/output matrix of the closed-loop system is 
+   1.1667  -1.8333  -0.8333
+   1.8333  -1.1667  -0.1667
+
+ The input/output matrix of the closed-loop system is 
+   0.5000  -0.8333
+   0.5000  -0.1667
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB05SD.html b/doc/_build/html/_static/doc/AB05SD.html
new file mode 100644
index 00000000..0bf13817
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB05SD.html
@@ -0,0 +1,206 @@
+<HTML>
+<HEAD><TITLE>AB05SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05SD">AB05SD</A></H2>
+<H3>
+Closed-loop system for an output feedback control law
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a given state space system (A,B,C,D) the closed-
+  loop system (Ac,Bc,Cc,Dc) corresponding to the output feedback
+  control law
+
+       u = alpha*F*y + v.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05SD( FBTYPE, JOBD, N, M, P, ALPHA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, F, LDF, RCOND, IWORK, DWORK,
+     $                   LDWORK, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         FBTYPE, JOBD
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDF, LDWORK, M, N, P
+      DOUBLE PRECISION  ALPHA, RCOND
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), F(LDF,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FBTYPE  CHARACTER*1
+          Specifies the type of the feedback law as follows:
+          = 'I':  Unitary output feedback (F = I);
+          = 'O':  General output feedback.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e. the order of the
+          matrix A, the number of rows of B and the number of
+          columns of C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of input variables, i.e. the number of columns
+          of matrices B and D, and the number of rows of F.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of output variables, i.e. the number of rows of
+          matrices C and D, and the number of columns of F.  P &gt;= 0
+          and P = M if FBTYPE = 'I'.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The coefficient alpha in the output feedback law.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state transition matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the state matrix Ac of the closed-loop system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the input matrix Bc of the closed-loop system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the output matrix Cc of the closed-loop system.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P) if N &gt; 0.
+          LDC &gt;= 1 if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the system direct input/output transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading P-by-M part of this
+          array contains the direct input/output transmission
+          matrix Dc of the closed-loop system.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P) if JOBD = 'D'.
+          LDD &gt;= 1 if JOBD = 'Z'.
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
+          If FBTYPE = 'O', the leading M-by-P part of this array
+          must contain the output feedback matrix F.
+          If FBTYPE = 'I', then the feedback matrix is assumed to be
+          an M x M order identity matrix.
+          The array F is not referenced if FBTYPE = 'I' or
+          ALPHA = 0.
+
+  LDF     INTEGER
+          The leading dimension of array F.
+          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
+          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal condition number of the matrix
+          I - alpha*D*F.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
+          LIWORK &gt;= 1 if JOBD = 'Z'.
+          IWORK is not referenced if JOBD = 'Z'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= wspace, where
+                    wspace = MAX( 1, M, P*P + 4*P ) if JOBD = 'D',
+                    wspace = MAX( 1, M ) if JOBD = 'Z'.
+          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix I - alpha*D*F is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the closed-loop system have the expressions:
+
+  Ac = A + alpha*B*F*E*C,  Bc = B + alpha*B*F*E*D,
+  Cc = E*C,                Dc = E*D,
+
+  where E = (I - alpha*D*F)**-1.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of computations basically depends on the conditioning
+  of the matrix I - alpha*D*F.  If RCOND is very small, it is likely
+  that the computed results are inaccurate.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB07MD.html b/doc/_build/html/_static/doc/AB07MD.html
new file mode 100644
index 00000000..523e6b4a
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB07MD.html
@@ -0,0 +1,259 @@
+<HTML>
+<HEAD><TITLE>AB07MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB07MD">AB07MD</A></H2>
+<H3>
+Dual of a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the dual of a given state-space representation.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBD
+      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the dual state dynamics matrix A'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-P part of this array contains
+          the dual input/state matrix C'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the dual state/output matrix B'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1 if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (LDD,MAX(M,P))
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the original direct transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading M-by-P part of this
+          array contains the dual direct transmission matrix D'.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
+          LDD &gt;= 1 if JOBD = 'Z'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the given state-space representation is the M-input/P-output
+  (A,B,C,D), its dual is simply the P-input/M-output (A',C',B',D').
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB07MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBD
+      INTEGER          I, INFO, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP)
+*     .. External functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB07MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBD
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the dual of the ssr (A,B,C,D).
+               CALL AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,P )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  IF ( LSAME( JOBD, 'D' ) ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 80 I = 1, M
+                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,P )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB07MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB07MD = ',I2)
+99997 FORMAT (' The dual state dynamics matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The dual input/state matrix is ')
+99994 FORMAT (/' The dual state/output matrix is ')
+99993 FORMAT (/' The dual direct transmission matrix is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB07MD EXAMPLE PROGRAM DATA
+   3     1     2     D
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB07MD EXAMPLE PROGRAM RESULTS
+
+ The dual state dynamics matrix is 
+   1.0000   4.0000   0.0000
+   2.0000  -1.0000   0.0000
+   0.0000   0.0000   1.0000
+
+ The dual input/state matrix is 
+   0.0000   0.0000
+   1.0000   0.0000
+  -1.0000   1.0000
+
+ The dual state/output matrix is 
+   1.0000   0.0000   1.0000
+
+ The dual direct transmission matrix is 
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB07ND.html b/doc/_build/html/_static/doc/AB07ND.html
new file mode 100644
index 00000000..cb00ceac
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB07ND.html
@@ -0,0 +1,264 @@
+<HTML>
+<HEAD><TITLE>AB07ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB07ND">AB07ND</A></H2>
+<H3>
+Inverse of a given linear system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   RCOND
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                   DWORK(*)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs and outputs.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A of the original system.
+          On exit, the leading N-by-N part of this array contains
+          the state matrix Ai of the inverse system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the original system.
+          On exit, the leading N-by-M part of this array contains
+          the input matrix Bi of the inverse system.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the output matrix C of the original system.
+          On exit, the leading M-by-N part of this array contains
+          the output matrix Ci of the inverse system.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading M-by-M part of this array must
+          contain the feedthrough matrix D of the original system.
+          On exit, the leading M-by-M part of this array contains
+          the feedthrough matrix Di of the inverse system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimated reciprocal condition number of the
+          feedthrough matrix D of the original system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,4*M).
+          For good performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  the matrix D is exactly singular; the (i,i) diagonal
+                element is zero, i &lt;= M; RCOND was set to zero;
+          = M+1:  the matrix D is numerically singular, i.e., RCOND
+                is less than the relative machine precision, EPS
+                (see LAPACK Library routine DLAMCH). The
+                calculations have been completed, but the results
+                could be very inaccurate.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the inverse system are computed with the formulas:
+                -1              -1         -1           -1
+    Ai = A - B*D  *C,  Bi = -B*D  ,  Ci = D  *C,  Di = D  .
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy depends mainly on the condition number of the matrix
+  D to be inverted. The estimated reciprocal condition number is
+  returned in RCOND.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB07ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MMAX,
+     $                   LDD = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      DOUBLE PRECISION RCOND
+*     .. Local Arrays ..
+      INTEGER          IWORK(2*MMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB07ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
+*           Find the inverse of the ssr (A,B,C,D).
+            CALL AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
+     $                   IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 60 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 80 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+   80          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB07ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB07ND = ',I2)
+99997 FORMAT (' The state dynamics matrix of the inverse system is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the inverse system is ')
+99994 FORMAT (/' The state/output matrix of the inverse system is ')
+99993 FORMAT (/' The feedthrough matrix of the inverse system is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB07ND EXAMPLE PROGRAM DATA
+   3     2
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0
+   0.0   1.0
+   1.0   0.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+   4.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB07ND EXAMPLE PROGRAM RESULTS
+
+ The state dynamics matrix of the inverse system is 
+   1.0000   1.7500   0.2500
+   4.0000  -1.0000  -1.0000
+   0.0000  -0.2500   1.2500
+
+ The input/state matrix of the inverse system is 
+  -0.2500   0.0000
+   0.0000  -1.0000
+  -0.2500   0.0000
+
+ The state/output matrix of the inverse system is 
+   0.0000   0.2500  -0.2500
+   0.0000   0.0000   1.0000
+
+ The feedthrough matrix of the inverse system is 
+   0.2500   0.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB08MD.html b/doc/_build/html/_static/doc/AB08MD.html
new file mode 100644
index 00000000..806edf12
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB08MD.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>AB08MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08MD">AB08MD</A></H2>
+<H3>
+Normal rank of the transfer-function matrix of a state space model
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the normal rank of the transfer-function matrix of a
+  state-space model (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08MD( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   RANK, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer-function matrix.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (N+P)*(N+M) +
+                    MAX( MIN(P,M) + MAX(3*M-1,N), 1,
+                         MIN(P,N) + MAX(3*P-1,N+P,N+M) )
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
+                                                         (D  C)
+
+  to one with the same invariant zeros and with D of full row rank.
+  The normal rank of the transfer-function matrix is the rank of D.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB08MZ.html b/doc/_build/html/_static/doc/AB08MZ.html
new file mode 100644
index 00000000..e7ea0407
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB08MZ.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>AB08MZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08MZ">AB08MZ</A></H2>
+<H3>
+Normal rank of the transfer-function matrix of a state space model (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the normal rank of the transfer-function matrix of a
+  state-space model (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08MZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   RANK, TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LZWORK, M, N, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) COMPLEX*16 array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) COMPLEX*16 array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) COMPLEX*16 array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer-function matrix.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= (N+P)*(N+M) + MAX(MIN(P,M) + MAX(3*M-1,N), 1,
+                                      MIN(P,N) + MAX(3*P-1,N+P,N+M))
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
+                                                         (D  C)
+
+  to one with the same invariant zeros and with D of full row rank.
+  The normal rank of the transfer-function matrix is the rank of D.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB08ND.html b/doc/_build/html/_static/doc/AB08ND.html
new file mode 100644
index 00000000..64e80e4b
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB08ND.html
@@ -0,0 +1,532 @@
+<HTML>
+<HEAD><TITLE>AB08ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08ND">AB08ND</A></H2>
+<H3>
+Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a linear multivariable system described by a
+  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
+                                                 f          f
+  has the invariant zeros of the system as generalized eigenvalues.
+  The routine also computes the orders of the infinite zeros and the
+  right and left Kronecker indices of the system (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
+     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
+     $                  LDWORK, M, N, NKROL, NKROR, NU, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
+     $                  C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NU      (output) INTEGER
+          The number of (finite) invariant zeros.
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer function matrix.
+
+  DINFZ   (output) INTEGER
+          The maximum degree of infinite elementary divisors.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors
+          of degree i, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+  AF      (output) DOUBLE PRECISION array, dimension
+          (LDAF,N+MIN(P,M))
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix A  of the reduced pencil. The remainder
+                              f
+          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
+          internal workspace.
+
+  LDAF    INTEGER
+          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
+
+  BF      (output) DOUBLE PRECISION array, dimension (LDBF,N+M)
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix B  of the reduced pencil. The
+                              f
+          remainder of the leading (N+P)-by-(N+M) part is used as
+          internal workspace.
+
+  LDBF    INTEGER
+          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
+                            MIN(M,N) + MAX(3*M-1,N+M) ).
+          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
+          s = MAX(M,P).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a state-space
+  system (A,B,C,D) a regular pencil A - lambda*B  which has the
+                                     f          f
+  invariant zeros of the system as generalized eigenvalues as
+  follows:
+
+     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
+                                                      (D  C)
+
+     (b) reduce the above system to one with the same invariant
+         zeros and with D of full row rank;
+
+     (c) pertranspose the system;
+
+     (d) reduce the system to one with the same invariant zeros and
+         with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+         (A - lambda*I  B) in order to reduce it to
+         (      C       D)
+
+         (A  - lambda*B   X)
+         ( f           f   ), with Y and B  square invertible;
+         (      0         Y)              f
+
+     (f) compute the right and left Kronecker indices of the system
+         (A,B,C,D), which together with the orders of the infinite
+         zeros (determined by steps (a) - (e)) constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the invariant zeros of the system explicitly,
+  a call to this routine may be followed by a call to the LAPACK
+  Library routine DGGEV with A = A , B = B  and N = NU.
+                                  f       f
+  If RANK = 0, the routine DGEEV can be used (since B = I).
+                                                     f
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB08ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
+     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( MAX( MPMAX+1, NMAX ) +
+     $                                 MAX( 3*(MPMAX+1), NMAX+MPMAX ),
+     $                                 8*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
+     $                 NU, P, RANK
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALFI(NMAX),
+     $                 ALFR(NMAX), B(LDB,MMAX), BETA(NMAX),
+     $                 BF(LDBF,MMAX+NMAX), C(LDC,NMAX), D(LDD,MMAX),
+     $                 DWORK(LDWORK), Q(LDQ,1), Z(LDZ,1)
+      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
+     $                 KRONR(NMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AB08ND, DGEGV
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AB08ND( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) N - NU
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   20                CONTINUE
+                  END IF
+               END IF
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AB08ND( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99987 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99986 ) N - NU
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 40 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   40                CONTINUE
+                  END IF
+               END IF
+*              Compute the structural invariants of the given system.
+               CALL AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99984 ) NU
+                  IF ( NU.GT.0 ) THEN
+*                    Compute the invariant zeros of the given system.
+*                    Workspace: need 8*NU.
+                     WRITE ( NOUT, FMT = 99983 )
+                     CALL DGEGV( 'No vectors', 'No vectors', NU, AF,
+     $                           LDAF, BF, LDBF, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 60 I = 1, NU
+                           IF ( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99982 )
+                     END IF
+                  END IF
+                  NINFZ = 0
+                  DO 80 I = 1, DINFZ
+                     IF ( INFZ(I).GT.0 ) THEN
+                        NINFZ = NINFZ + INFZ(I)*I
+                     END IF
+   80             CONTINUE
+                  WRITE ( NOUT, FMT = 99978 ) NINFZ
+                  IF ( NINFZ.GT.0 ) THEN
+                     DO 100 I = 1, DINFZ
+                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  100                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                      ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                      ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AB08ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB08ND = ',I2)
+99997 FORMAT (' INFO on exit from DGEGV = ',I2)
+99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
+99993 FORMAT (/' The system (A,C) is completely observable ')
+99992 FORMAT (/' The dimension of the observable subspace = ',I3)
+99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
+     $       'e matrix AF. ')
+99990 FORMAT (/' The matrix AF is ')
+99989 FORMAT (20(1X,F8.4))
+99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
+     $       ))
+99987 FORMAT (/' The system (A,B) is completely controllable ')
+99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' matrix AF. ')
+99984 FORMAT (//' The number of finite invariant zeros = ',I3)
+99983 FORMAT (/' The finite invariant zeros are ')
+99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
+     $       'ambda*BF - AF).')
+99981 FORMAT (/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4)
+99979 FORMAT (1X,F9.4,6X,F9.4)
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08ND EXAMPLE PROGRAM DATA
+   6     2     3     0.0     N
+   1.0   0.0   0.0   0.0   0.0   0.0
+   0.0   1.0   0.0   0.0   0.0   0.0
+   0.0   0.0   3.0   0.0   0.0   0.0
+   0.0   0.0   0.0  -4.0   0.0   0.0
+   0.0   0.0   0.0   0.0  -1.0   0.0
+   0.0   0.0   0.0   0.0   0.0   3.0
+   0.0  -1.0
+  -1.0   0.0
+   1.0  -1.0
+   0.0   0.0
+   0.0   1.0
+  -1.0  -1.0
+   1.0   0.0   0.0   1.0   0.0   0.0
+   0.0   1.0   0.0   1.0   0.0   1.0
+   0.0   0.0   1.0   0.0   0.0   1.0
+   0.0   0.0
+   0.0   0.0
+   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB08ND EXAMPLE PROGRAM RESULTS
+
+ The left Kronecker indices of (A,C) are 
+  1    2    2
+
+ The dimension of the observable subspace =   5
+
+ The output decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -1.0000
+
+
+ The right Kronecker indices of (A,B) are 
+  2    3
+
+ The dimension of the controllable subspace =   5
+
+ The input decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -4.0000
+
+
+ The number of finite invariant zeros =   2
+
+ The finite invariant zeros are 
+
+ real  part     imag  part 
+    2.0000
+   -1.0000
+
+ which correspond to the generalized eigenvalues of (lambda*BF - AF).
+
+
+ The number of infinite zeros =   2
+
+ The orders of the infinite zeros are 
+  1    1
+
+ The number of right Kronecker indices =   0
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker (row) indices of (A,B,C,D) are 
+  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB08NW.html b/doc/_build/html/_static/doc/AB08NW.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>AB08NW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NW">AB08NW</A></H2>
+<H3>
+Construction of a regular pencil such that its generalized eigenvalues are finite Smith zeros of a system (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the system pencil
+
+                    ( A-lambda*I B )
+        S(lambda) = (              )
+                    (      C     D )
+
+  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
+  S(lambda) as generalized eigenvalues. The routine also computes
+  the orders of the infinite Smith zeros and determines the singular
+  and infinite Kronecker structure of the system pencil, i.e., the
+  right and left Kronecker indices, and the multiplicities of the
+  infinite eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE, NKROL,
+     $                   INFZ, KRONR, INFE, KRONL, E, LDE, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFE(*),  INFZ(*),  IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the system
+          matrix as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER.
+          The order of the square matrix A, the number of rows of
+          the matrix B, and number of columns of the matrix C.
+          N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Af of the reduced pencil.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 1, and
+          LDB &gt;= MAX(1,N), if M &gt; 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  NFZ     (output) INTEGER
+          The number of finite zeros.
+
+  NRANK   (output) INTEGER
+          The normal rank of the system pencil.
+
+  NIZ     (output) INTEGER
+          The number of infinite zeros.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite Smith zeros.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NINFE   (output) INTEGER
+          The number of elementary infinite blocks.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N+1)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors in
+          the Smith form of degree i, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (N+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  INFE    (output) INTEGER array, dimension (N+1)
+          The leading NINFE elements of INFE contain the
+          multiplicities of infinite eigenvalues.
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading NFZ-by-NFZ part of this array contains the
+          matrix Ef of the reduced pencil.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance  TOLDEF = MAX(N+P,N+M)**2*EPS,  is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MAX(N,M,P) = 0; otherwise,
+          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
+                         MIN(P,N) + MAX(N + MAX(P,M), 3*P - 1 ) ) +
+                         MAX(P+N,M+N)*MAX(P+N,M+N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a state space
+  system, (A-lambda*I,B,C,D), a regular pencil Af-lambda*Ef, which
+  has the finite zeros of the system as generalized eigenvalues.
+  The procedure has the following main computational steps:
+
+     (a) construct the (N+P)-by-(M+N) system pencil
+
+          S(lambda) = (B  A)-lambda*( 0  I );
+                      (D  C)        ( 0  0 )
+
+     (b) reduce S(lambda) to S1(lambda) with the same finite zeros
+         and right Kronecker structure, but with D of full row rank;
+
+     (c) reduce the pencil S1(lambda) to S2(lambda) with the same
+         finite zeros and with D square invertible;
+
+     (d) perform a unitary transformation on the columns of
+         S2(lambda) = (A-lambda*I   B), in order to reduce it to
+                      (     C       D)
+
+         (Af-lambda*Ef   X), with Y and Ef square invertible;
+         (     0         Y)
+
+     (e) compute the right and left Kronecker indices of the system
+         matrix, which, together with the multiplicities of the
+         finite and infinite eigenvalues, constitute the complete
+         set of structural invariants under strict equivalence
+         transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of the
+      Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the finite Smith zeros of the system
+  explicitly, a call to this routine may be followed by a call to
+  the LAPACK Library routine DGGEV.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB08NW EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = NMAX, LDQ = 1, LDZ = 1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( MAX( MIN( PMAX, MMAX ) + MMAX +
+     $                                      MAX( 2*MMAX, NMAX ) - 1,
+     $                                      MIN( PMAX, NMAX ) +
+     $                                      MAX( NMAX + MPMAX,
+     $                                           3*PMAX - 1 ) ) +
+     $                                 ( NMAX + MPMAX )**2, 8*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, M, N, NFZ, NINFE, NIZ, NKROL,
+     $                 NKROR, NRANK, P
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
+     $                 AS(LDA,NMAX), B(LDB,MMAX), BS(LDB,MMAX),
+     $                 BETA(NMAX), C(LDC,NMAX), CS(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 Q(LDQ,1), Z(LDZ,1)
+      INTEGER          INFE(NMAX+1), INFZ(NMAX+1), IWORK(MPMAX),
+     $                 KRONL(NMAX+1), KRONR(NMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AB08NW, DLACPY, DGEGV
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Save the matrices A, B, and C.
+               CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
+               CALL DLACPY( 'Full', N, M, B, LDB, BS, LDB )
+               CALL DLACPY( 'Full', P, N, C, LDC, CS, LDC )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AB08NW( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
+     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
+                  IF ( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) N - NFZ
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   20                CONTINUE
+                  END IF
+               END IF
+*              Restore the matrices A and C.
+               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
+               CALL DLACPY( 'Full', P, N, CS, LDC, C, LDC )
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AB08NW( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
+     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
+                  IF ( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99987 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99986 ) N - NFZ
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 40 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   40                CONTINUE
+                  END IF
+               END IF
+*              Restore the matrices A and B.
+               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
+               CALL DLACPY( 'Full', N, M, BS, LDB, B, LDB )
+*              Compute the structural invariants of the given system.
+               CALL AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
+     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99984 ) NFZ
+                  IF ( NFZ.GT.0 ) THEN
+*                    Compute the invariant zeros of the given system.
+*                    Workspace: need 8*NFZ.
+                     WRITE ( NOUT, FMT = 99983 )
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 60 I = 1, NFZ
+                           IF ( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99982 )
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99978 ) NIZ
+                  IF ( NIZ.GT.0 ) THEN
+                     DO 100 I = 1, DINFZ
+                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  100                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                      ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                      ( KRONL(I), I = 1,NKROL )
+                  IF ( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99969 )
+     $                                      ( INFE(I), I = 1,NINFE )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AB08NW EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB08NW = ',I2)
+99997 FORMAT (' INFO on exit from DGEGV = ',I2)
+99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
+99993 FORMAT (/' The system (A,C) is completely observable ')
+99992 FORMAT (/' The dimension of the observable subspace = ',I3)
+99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
+     $       'e matrix AF. ')
+99990 FORMAT (/' The matrix AF is ')
+99989 FORMAT (20(1X,F8.4))
+99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
+     $       ))
+99987 FORMAT (/' The system (A,B) is completely controllable ')
+99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' matrix AF. ')
+99984 FORMAT (//' The number of finite invariant zeros = ',I3)
+99983 FORMAT (/' The finite invariant zeros are ')
+99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
+     $       'ambda*EF - AF).')
+99981 FORMAT (/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4)
+99979 FORMAT (1X,F9.4,6X,F9.4)
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+99969 FORMAT (/' Multiplicities of infinite eigenvalues',/(20(I3,2X))) 
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08NW EXAMPLE PROGRAM DATA
+   6     2     3     0.0     N
+   1.0   0.0   0.0   0.0   0.0   0.0
+   0.0   1.0   0.0   0.0   0.0   0.0
+   0.0   0.0   3.0   0.0   0.0   0.0
+   0.0   0.0   0.0  -4.0   0.0   0.0
+   0.0   0.0   0.0   0.0  -1.0   0.0
+   0.0   0.0   0.0   0.0   0.0   3.0
+   0.0  -1.0
+  -1.0   0.0
+   1.0  -1.0
+   0.0   0.0
+   0.0   1.0
+  -1.0  -1.0
+   1.0   0.0   0.0   1.0   0.0   0.0
+   0.0   1.0   0.0   1.0   0.0   1.0
+   0.0   0.0   1.0   0.0   0.0   1.0
+   0.0   0.0
+   0.0   0.0
+   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB08NW EXAMPLE PROGRAM RESULTS
+
+ The left Kronecker indices of (A,C) are 
+  1    2    2
+
+ The dimension of the observable subspace =   5
+
+ The output decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -1.0000
+
+
+ The right Kronecker indices of (A,B) are 
+  2    3
+
+ The dimension of the controllable subspace =   5
+
+ The input decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -4.0000
+
+
+ The number of finite invariant zeros =   2
+
+ The finite invariant zeros are 
+
+ real  part     imag  part 
+    2.0000
+   -1.0000
+
+ which correspond to the generalized eigenvalues of (lambda*EF - AF).
+
+
+ The number of infinite zeros =   2
+   2 infinite zero(s) of order   1
+
+ The number of right Kronecker indices =   0
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker (row) indices of (A,B,C,D) are 
+  2
+
+ Multiplicities of infinite eigenvalues
+  2    2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB08NX.html b/doc/_build/html/_static/doc/AB08NX.html
new file mode 100644
index 00000000..9b840294
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB08NX.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>AB08NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NX">AB08NX</A></H2>
+<H3>
+Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) system
+               ( B  A )
+               ( D  C )
+  an (NU+MU)-by-(M+NU) "reduced" system
+               ( B' A')
+               ( D' C')
+  having the same transmission zeros but with D' of full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NX( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
+     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDABCD, LDWORK, M, MU, N, NINFZ, NKROL,
+     $                  NU, P, RO, SIGMA
+      DOUBLE PRECISION  SVLMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*)
+      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  RO      (input/output) INTEGER
+          On entry,
+          = P     for the original system;
+          = MAX(P-M, 0) for the pertransposed system.
+          On exit, RO contains the last computed rank.
+
+  SIGMA   (input/output) INTEGER
+          On entry,
+          = 0  for the original system;
+          = M  for the pertransposed system.
+          On exit, SIGMA contains the last computed value sigma in
+          the algorithm.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) DOUBLE PRECISION array, dimension
+          (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound input matrix of the system.
+          On exit, the leading (NU+MU)-by-(M+NU) part of this array
+          contains the reduced compound input matrix of the system.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  NINFZ   (input/output) INTEGER
+          On entry, the currently computed number of infinite zeros.
+          It should be initialized to zero on the first call.
+          NINFZ &gt;= 0.
+          On exit, the number of infinite zeros.
+
+  INFZ    (input/output) INTEGER array, dimension (N)
+          On entry, INFZ(i) must contain the current number of
+          infinite zeros of degree i, where i = 1,2,...,N, found in
+          the previous call(s) of the routine. It should be
+          initialized to zero on the first call.
+          On exit, INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,N.
+
+  KRONL   (input/output) INTEGER array, dimension (N+1)
+          On entry, this array must contain the currently computed
+          left Kronecker (row) indices found in the previous call(s)
+          of the routine. It should be initialized to zero on the
+          first call.
+          On exit, the leading NKROL elements of this array contain
+          the left Kronecker (row) indices.
+
+  MU      (output) INTEGER
+          The normal rank of the transfer function matrix of the
+          original system.
+
+  NU      (output) INTEGER
+          The dimension of the reduced system matrix and the number
+          of (finite) invariant zeros if D' is invertible.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB08NY.html b/doc/_build/html/_static/doc/AB08NY.html
new file mode 100644
index 00000000..e7672a0d
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB08NY.html
@@ -0,0 +1,244 @@
+<HTML>
+<HEAD><TITLE>AB08NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NY">AB08NY</A></H2>
+<H3>
+Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) system pencil
+               ( B  A-lambda*I )
+               ( D      C      )
+  an (NR+PR)-by-(M+NR) "reduced" system pencil,
+               ( Br Ar-lambda*I ),
+               ( Dr     Cr      )
+  having the same transmission zeros, but with Dr of full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, NINFZ,
+     $                   NR, PR, DINFZ, NKRONL, INFZ, KRONL, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           FIRST
+      INTEGER           DINFZ, INFO, LDABCD, LDWORK, M, N, NINFZ,
+     $                  NKRONL, NR, P, PR
+      DOUBLE PRECISION  SVLMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*)
+      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FIRST   LOGICAL
+          Specifies if AB08NY is called first time, or it is called
+          for an already reduced system, with D of full column rank,
+          with the last M rows in upper triangular form:
+          FIRST = .TRUE.  :  first time called;
+          FIRST = .FALSE. :  not first time called.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C, and the order of the square matrix A.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and D.  M &gt;= 0.
+          M &lt;= P, if FIRST = .FALSE.
+
+  P       (input) INTEGER
+          The number of rows of the matrices C and D.  P &gt;= 0.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          An estimate of the largest singular value of the original
+          matrix ABCD (for instance, the Frobenius norm of ABCD).
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) DOUBLE PRECISION array, dimension
+          (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound matrix
+                   (  B   A  ),
+                   (  D   C  )
+          where A is an N-by-N matrix, B is an N-by-M matrix,
+          C is a P-by-N matrix, and D is a P-by-M matrix.
+          If FIRST = .FALSE., then D must be a full column rank
+          matrix, with the last M rows in an upper triangular form.
+          On exit, the leading (NR+PR)-by-(M+NR) part of this array
+          contains the reduced compound matrix
+                    (  Br  Ar ),
+                    (  Dr  Cr )
+          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
+          Cr is a PR-by-NR matrix, and Dr is a PR-by-M full row rank
+          left upper-trapezoidal matrix, with the first PR columns
+          in an upper triangular form.
+
+  LDABCD  INTEGER
+          The leading dimension of the array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  NINFZ   (input/output) INTEGER
+          On entry, the currently computed number of infinite zeros.
+          It should be initialized to zero on the first call.
+          NINFZ &gt;= 0.
+          If FIRST = .FALSE., then NINFZ is not modified.
+          On exit, the number of infinite zeros.
+
+  NR      (output) INTEGER
+          The order of the reduced matrix Ar; also, the number of
+          rows of the reduced matrix Br and the number of columns of
+          the reduced matrix Cr.
+          If Dr is invertible, NR is also the number of finite Smith
+          zeros.
+
+  PR      (output) INTEGER
+          The normal rank of the transfer-function matrix of the
+          original system; also, the number of rows of the reduced
+          matrices Cr and Dr.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite zeros.
+          DINFZ = 0 if FIRST = .FALSE. .
+
+  NKRONL  (output) INTEGER
+          The maximal dimension of left elementary Kronecker blocks.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          INFZ(i) contains the number of infinite zeros of degree i,
+          where i = 1,2,...,DINFZ.
+          INFZ is not referenced if FIRST = .FALSE. .
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          KRONL(i) contains the number of left elementary Kronecker
+          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).
+          If the user sets TOL to be less than or equal to zero,
+          then the tolerance is taken as (N+P)*(N+M)*EPS, where EPS
+          is the machine precision (see LAPACK Library Routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MIN(P, MAX(N,M)) = 0; otherwise,
+          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
+                         MIN(P,N) + MAX(N + MAX( P, M), 3*P - 1 ) ).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of the
+      Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( (P+N)*(M+N)*N )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite zeros is computed (if FIRST = .TRUE.) as
+
+                DINFZ
+     NINFZ =     Sum  (INFZ(i)*i .
+                 i=1
+
+  Note that each infinite zero of multiplicity k corresponds to an
+  infinite eigenvalue of multiplicity k+1.
+  The multiplicities of the infinite eigenvalues can be determined
+  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
+
+                  DINFZ
+  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
+                   i=1
+
+  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
+    for i = 1, ..., DINFZ.
+
+  The left Kronecker indices are:
+
+  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
+  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
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+<HTML>
+<HEAD><TITLE>AB08NZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NZ">AB08NZ</A></H2>
+<H3>
+Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a linear multivariable system described by a
+  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
+                                                 f          f
+  has the invariant zeros of the system as generalized eigenvalues.
+  The routine also computes the orders of the infinite zeros and the
+  right and left Kronecker indices of the system (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
+     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
+     $                  LZWORK, M, N, NKROL, NKROR, NU, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      COMPLEX*16        A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
+     $                  C(LDC,*), D(LDD,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) COMPLEX*16 array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) COMPLEX*16 array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) COMPLEX*16 array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NU      (output) INTEGER
+          The number of (finite) invariant zeros.
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer function matrix.
+
+  DINFZ   (output) INTEGER
+          The maximum degree of infinite elementary divisors.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors
+          of degree i, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+  AF      (output) COMPLEX*16 array, dimension (LDAF,N+MIN(P,M))
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix A  of the reduced pencil. The remainder
+                              f
+          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
+          internal workspace.
+
+  LDAF    INTEGER
+          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
+
+  BF      (output) COMPLEX*16 array, dimension (LDBF,N+M)
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix B  of the reduced pencil. The
+                              f
+          remainder of the leading (N+P)-by-(N+M) part is used as
+          internal workspace.
+
+  LDBF    INTEGER
+          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*MAX(P,M)))
+
+  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
+                            MIN(M,N) + MAX(3*M-1,N+M) ).
+          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
+          s = MAX(M,P).
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a state-space
+  system (A,B,C,D) a regular pencil A - lambda*B  which has the
+                                     f          f
+  invariant zeros of the system as generalized eigenvalues as
+  follows:
+
+     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
+                                                      (D  C)
+
+     (b) reduce the above system to one with the same invariant
+         zeros and with D of full row rank;
+
+     (c) pertranspose the system;
+
+     (d) reduce the system to one with the same invariant zeros and
+         with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+         (A - lambda*I  B) in order to reduce it to
+         (      C       D)
+
+         (A  - lambda*B   X)
+         ( f           f   ), with Y and B  square invertible;
+         (     0          Y)              f
+
+     (f) compute the right and left Kronecker indices of the system
+         (A,B,C,D), which together with the orders of the infinite
+         zeros (determined by steps (a) - (e)) constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the invariant zeros of the system explicitly,
+  a call to this routine may be followed by a call to the LAPACK
+  Library routine ZGGEV with A = A , B = B  and N = NU.
+                                  f       f
+  If RANK = 0, the routine ZGEEV can be used (since B = I).
+                                                     f
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB08NZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
+     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK =
+     $                   MAX( MIN( PMAX, MMAX ) +
+     $                        MAX( 3*MMAX - 1, NMAX ),
+     $                        MIN( PMAX, NMAX ) +
+     $                        MAX( 3*PMAX, NMAX+PMAX, NMAX+MMAX ),
+     $                        MIN( MMAX, NMAX ) +
+     $                        MAX( 3*MMAX, NMAX+MMAX ), 1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
+     $                 NU, P, RANK
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALPHA(NMAX),
+     $                 B(LDB,MMAX), BETA(NMAX), BF(LDBF,MMAX+NMAX),
+     $                 C(LDC,NMAX), D(LDD,MMAX), Q(LDQ,1), Z(LDZ,1),
+     $                 ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK)
+      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
+     $                 KRONR(NMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AB08NZ, ZGEGV
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AB08NZ( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) N - NU
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   20                CONTINUE
+                  END IF
+               END IF
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AB08NZ( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99987 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99986 ) N - NU
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 40 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   40                CONTINUE
+                  END IF
+               END IF
+*              Compute the structural invariants of the given system.
+               CALL AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99984 ) NU
+                  IF ( NU.GT.0 ) THEN
+*                    Compute the invariant zeros of the given system.
+*                    Complex Workspace: need 2*NU.
+*                    Real Workspace:    need 8*NU.
+                     WRITE ( NOUT, FMT = 99983 )
+                     CALL ZGEGV( 'No vectors', 'No vectors', NU, AF,
+     $                           LDAF, BF, LDBF, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 60 I = 1, NU
+                           WRITE ( NOUT, FMT = 99980 ) ALPHA(I)/BETA(I)
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99982 )
+                     END IF
+                  END IF
+                  NINFZ = 0
+                  DO 80 I = 1, DINFZ
+                     IF ( INFZ(I).GT.0 ) THEN
+                        NINFZ = NINFZ + INFZ(I)*I
+                     END IF
+   80             CONTINUE
+                  WRITE ( NOUT, FMT = 99978 ) NINFZ
+                  IF ( NINFZ.GT.0 ) THEN
+                     DO 100 I = 1, DINFZ
+                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  100                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                      ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                      ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AB08NZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB08NZ = ',I2)
+99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
+99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
+99993 FORMAT (/' The system (A,C) is completely observable ')
+99992 FORMAT (/' The dimension of the observable subspace = ',I3)
+99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
+     $       'e matrix AF. ')
+99990 FORMAT (/' The matrix AF is ')
+99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
+     $       ))
+99987 FORMAT (/' The system (A,B) is completely controllable ')
+99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' matrix AF. ')
+99984 FORMAT (//' The number of finite invariant zeros = ',I3)
+99983 FORMAT (/' The finite invariant zeros are ')
+99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
+     $       'ambda*BF - AF).')
+99981 FORMAT (/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08NZ EXAMPLE PROGRAM DATA
+   6     2     3    0.0    N
+  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-4.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-1.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)
+  (0.0,0.0) (-1.0,0.0)
+ (-1.0,0.0)  (0.0,0.0)
+  (1.0,0.0) (-1.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (1.0,0.0)
+ (-1.0,0.0) (-1.0,0.0)
+  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB08NZ EXAMPLE PROGRAM RESULTS
+
+ The left Kronecker indices of (A,C) are 
+  1    2    2
+
+ The dimension of the observable subspace =   5
+
+ The output decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+   -1.0000  +0.0000i 
+
+
+ The right Kronecker indices of (A,B) are 
+  2    3
+
+ The dimension of the controllable subspace =   5
+
+ The input decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+   -4.0000  +0.0000i 
+
+
+ The number of finite invariant zeros =   2
+
+ The finite invariant zeros are 
+
+ real  part     imag  part 
+    2.0000  +0.0000i 
+   -1.0000  +0.0000i 
+
+ which correspond to the generalized eigenvalues of (lambda*BF - AF).
+
+
+ The number of infinite zeros =   2
+
+ The orders of the infinite zeros are 
+  1    1
+
+ The number of right Kronecker indices =   0
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker (row) indices of (A,B,C,D) are 
+  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09AD.html b/doc/_build/html/_static/doc/AB09AD.html
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+<HTML>
+<HEAD><TITLE>AB09AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09AD">AB09AD</A></H2>
+<H3>
+Balance & Truncate model reduction for stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for a stable original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate (B & T)
+  model reduction method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
+     $                   B, LDB, C, LDC, HSV, TOL, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0, if JOB = 'B';
+          LIWORK = N, if JOB = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to the real Schur form failed;
+          = 2:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09AD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the square-root Balance & Truncate method of [1]
+  is used and, for DICO = 'C', the resulting model is balanced.
+  By setting TOL &lt;= 0, the routine can be used to compute balanced
+  minimal state-space realizations of stable systems.
+
+  If JOB = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used.
+  By setting TOL &lt;= 0, the routine can be used to compute minimal
+  state-space realizations of stable systems.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
+     $                            MAX( NMAX, MMAX, PMAX ) ) +
+     $                          ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NR, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, TOL, DICO, JOB, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      A, LDA, B, LDB, C, LDC, HSV, TOL, IWORK,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09AD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values HSV are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09AD EXAMPLE PROGRAM DATA (Continuous system)
+  7     2     3     0   1.E-1      C     N     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09AD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values HSV are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+
+ The reduced state dynamics matrix Ar is 
+   1.3451   5.0399   0.0000   0.0000   4.5315
+  -4.0214  -3.6604   0.0000   0.0000  -0.9056
+   0.0000   0.0000   0.5124   1.7910   0.0000
+   0.0000   0.0000  -4.2167  -2.9900   0.0000
+   1.2402   1.6416   0.0000   0.0000  -0.0586
+
+ The reduced input/state matrix Br is 
+  -0.3857   0.3857
+  -3.1753   3.1753
+  -0.7447  -0.7447
+  -3.6872  -3.6872
+   1.8197  -1.8197
+
+ The reduced state/output matrix Cr is 
+  -0.6704   0.1828  -0.6582   0.2222  -0.0104
+   0.1089   0.4867   0.0000   0.0000   0.8651
+   0.6704  -0.1828  -0.6582   0.2222   0.0104
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09AX.html b/doc/_build/html/_static/doc/AB09AX.html
new file mode 100644
index 00000000..e87a3d7f
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB09AX.html
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+<HTML>
+<HEAD><TITLE>AB09AX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09AX">AB09AX</A></H2>
+<H3>
+Balance & Truncate model reduction for stable systems with state matrix in real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for a stable original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate model
+  reduction method. The state dynamics matrix A of the original
+  system is an upper quasi-triangular matrix in real Schur canonical
+  form. The matrices of the reduced order system are computed using
+  the truncation formulas:
+
+       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09AX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, HSV, T, LDT, TI, LDTI, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDT, LDTI, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*),
+     $                  T(LDT,*), TI(LDTI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
+          array contains the right truncation matrix T.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
+          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
+          array contains the left truncation matrix TI.
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0, if JOB = 'B', or
+          LIWORK = N, if JOB = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09AX determines for
+  the given system (1), the matrices of a reduced NR order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the square-root Balance & Truncate method of [1]
+  is used and, for DICO = 'C', the resulting model is balanced.
+  By setting TOL &lt;= 0, the routine can be used to compute balanced
+  minimal state-space realizations of stable systems.
+
+  If JOB = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used.
+  By setting TOL &lt;= 0, the routine can be used to compute minimal
+  state-space realizations of stable systems.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09BD">AB09BD</A></H2>
+<H3>
+Singular Perturbation Approximation based model reduction for stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root Singular
+  Perturbation Approximation (SPA) model reduction method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
+     $                   B, LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root SPA method;
+          = 'N':  use the balancing-free square-root SPA method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to the real Schur form failed;
+          = 2:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09BD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the balancing-based square-root SPA method of [1]
+  is used and the resulting model is balanced.
+
+  If JOB = 'N', the balancing-free square-root SPA method of [2]
+  is used.
+  By setting TOL1 = TOL2, the routine can be used to compute
+  Balance & Truncate approximations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems,
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
+     $                            MAX( NMAX, MMAX, PMAX ) ) +
+     $                          ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, JOB, EQUIL,
+     $                      ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
+     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09BD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09BD EXAMPLE PROGRAM DATA (Continuous system)
+  7     2     3     0   1.E-1  1.E-14      C     N     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09BD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+
+ The reduced state dynamics matrix Ar is 
+   1.3960   5.1248   0.0000   0.0000   4.4331
+  -4.1411  -3.8605   0.0000   0.0000  -0.6738
+   0.0000   0.0000   0.5847   1.9230   0.0000
+   0.0000   0.0000  -4.3823  -3.2922   0.0000
+   1.3261   1.7851   0.0000   0.0000  -0.2249
+
+ The reduced input/state matrix Br is 
+  -0.2901   0.2901
+  -3.4004   3.4004
+  -0.6379  -0.6379
+  -3.9315  -3.9315
+   1.9813  -1.9813
+
+ The reduced state/output matrix Cr is 
+  -0.6570   0.2053  -0.6416   0.2526  -0.0364
+   0.1094   0.4875   0.0000   0.0000   0.8641
+   0.6570  -0.2053  -0.6416   0.2526   0.0364
+
+ The reduced input/output matrix Dr is 
+   0.0498  -0.0007
+   0.0010  -0.0010
+  -0.0007   0.0498
+</PRE>
+
+<HR>
+<p>
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+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09BX.html b/doc/_build/html/_static/doc/AB09BX.html
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+<HTML>
+<HEAD><TITLE>AB09BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09BX">AB09BX</A></H2>
+<H3>
+Singular Perturbation Approximation based model reduction for stable systems with state matrix in real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root
+  Singular Perturbation Approximation (SPA) model reduction method.
+  The state dynamics matrix A of the original system is an upper
+  quasi-triangular matrix in real Schur canonical form. The matrices
+  of a minimal realization are computed using the truncation
+  formulas:
+
+       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .      (1)
+
+  Am, Bm, Cm and D serve further for computing the SPA of the given
+  system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09BX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
+     $                  LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root SPA method;
+          = 'N':  use the balancing-free square-root SPA method.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
+          array contains the right truncation matrix T in (1).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
+          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
+          array contains the left truncation matrix TI in (1).
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                              (2)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09BX determines for
+  the given system (1), the matrices of a reduced NR order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                          (3)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the balancing-based square-root SPA method of [1]
+  is used and the resulting model is balanced.
+
+  If JOB = 'N', the balancing-free square-root SPA method of [2]
+  is used.
+  By setting TOL1 = TOL2, the routine can be also used to compute
+  Balance & Truncate approximations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems,
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09CD.html b/doc/_build/html/_static/doc/AB09CD.html
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+<HTML>
+<HEAD><TITLE>AB09CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09CD">AB09CD</A></H2>
+<H3>
+Optimal Hankel-norm approximation based model reduction for stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using the
+  optimal Hankel-norm approximation method in conjunction with
+  square-root balancing.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
+          where KR is the multiplicity of the Hankel singular value
+          HSV(NR+1), NR is the desired order on entry, and NMIN is
+          the order of a minimal realization of the given system;
+          NMIN is determined as the number of Hankel singular values
+          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M),   if DICO = 'C';
+          LIWORK = MAX(1,N,M), if DICO = 'D'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2 ), where
+          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
+          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is set
+                automatically to a value corresponding to the order
+                of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to the real Schur form failed;
+          = 2:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed;
+          = 4:  the computation of stable projection failed;
+          = 5:  the order of computed stable projection differs
+                from the order of Hankel-norm approximation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09CD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The optimal Hankel-norm approximation method of [1], based on the
+  square-root balancing projection formulas of [2], is employed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [2] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
+     $                                 MAX( NMAX, MMAX, PMAX ) + 5 ) +
+     $                               ( NMAX*( NMAX + 1 ) )/2,
+     $                            NMAX*( MMAX + PMAX + 2 ) +
+     $                            2*MMAX*PMAX +
+     $                            MIN( NMAX, MMAX ) + MAX( 3*MMAX + 1,
+     $                            MIN( NMAX, MMAX ) + PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, P
+      CHARACTER*1      DICO, EQUIL, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR,
+     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
+     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09CD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09CD EXAMPLE PROGRAM DATA (Continuous system)
+  7     2     3     0   1.E-1  1.E-14      C     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09CD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5038  -5.3070  -3.2250   0.0000   0.0000
+   1.8355  -0.5038  -2.6289   0.0000   0.0000
+   0.0000   0.0000  -1.5171   0.0000   0.0000
+   0.0000   0.0000   0.0000  -1.2925  -9.0718
+   0.0000   0.0000   0.0000   0.5047  -1.2925
+
+ The reduced input/state matrix Br is 
+  -1.5343   1.5343
+  -0.3614   0.3614
+  -1.1096   1.1096
+  -4.5325  -4.5325
+  -0.7396  -0.7396
+
+ The reduced state/output matrix Cr is 
+   1.8971  -0.3055  -2.1124   0.4421  -2.1023
+  -0.0394   1.1112  -0.3119   0.0000   0.0000
+  -1.8971   0.3055   2.1124   0.4421  -2.1023
+
+ The reduced input/output matrix Dr is 
+   0.0126  -0.0126
+   0.0005  -0.0005
+  -0.0126   0.0126
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09CX.html b/doc/_build/html/_static/doc/AB09CX.html
new file mode 100644
index 00000000..23cac5da
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB09CX.html
@@ -0,0 +1,275 @@
+<HTML>
+<HEAD><TITLE>AB09CX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09CX">AB09CX</A></H2>
+<H3>
+Optimal Hankel-norm approximation based model reduction for stable systems with state matrix in real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using the optimal
+  Hankel-norm approximation method in conjunction with square-root
+  balancing. The state dynamics matrix A of the original system is
+  an upper quasi-triangular matrix in real Schur canonical form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09CX( DICO, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
+          where KR is the multiplicity of the Hankel singular value
+          HSV(NR+1), NR is the desired order on entry, and NMIN is
+          the order of a minimal realization of the given system;
+          NMIN is determined as the number of Hankel singular values
+          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M),   if DICO = 'C';
+          LIWORK = MAX(1,N,M), if DICO = 'D'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1,LDW2 ), where
+          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
+          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is set
+                automatically to a value corresponding to the order
+                of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed;
+          = 3:  the computation of stable projection failed;
+          = 4:  the order of computed stable projection differs
+                from the order of Hankel-norm approximation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09CX determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The optimal Hankel-norm approximation method of [1], based on the
+  square-root balancing projection formulas of [2], is employed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [2] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09DD.html b/doc/_build/html/_static/doc/AB09DD.html
new file mode 100644
index 00000000..7f7afe05
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB09DD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>AB09DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09DD">AB09DD</A></H2>
+<H3>
+Computation of a reduced order model using singular perturbation approximation formulas
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model by using singular perturbation
+  approximation formulas.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, RCOND, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, NR, P
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A; also the number of rows of matrix B and the
+          number of columns of the matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows of
+          matrices C and D.  P &gt;= 0.
+
+  NR      (input) INTEGER
+          The order of the reduced order system.  N &gt;= NR &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix of the original system.
+          On exit, the leading NR-by-NR part of this array contains
+          the state dynamics matrix Ar of the reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix of the original system.
+          On exit, the leading NR-by-M part of this array contains
+          the input/state matrix Br of the reduced order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix of the original system.
+          On exit, the leading P-by-NR part of this array contains
+          the state/output matrix Cr of the reduced order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix of the original system.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix Dr of the reduced order system.
+          If NR = 0 and the given system is stable, then D contains
+          the steady state gain of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal condition number of the matrix A22-g*I
+          (see METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*(N-NR))
+
+  DWORK   DOUBLE PRECISION array, dimension (4*(N-NR))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1: if the matrix A22-g*I (see METHOD) is numerically
+               singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the system (A,B,C,D), partition the system matrices as
+
+         ( A11 A12 )        ( B1 )
+     A = (         ) ,  B = (    ) ,  C = ( C1  C2 ),
+         ( A21 A22 )        ( B2 )
+
+  where A11 is NR-by-NR, B1 is NR-by-M, C1 is P-by-NR, and the other
+  submatrices have appropriate dimensions.
+
+  The matrices of the reduced order system (Ar,Br,Cr,Dr) are
+  computed according to the following residualization formulas:
+                             -1                               -1
+     Ar = A11 + A12*(g*I-A22)  *A21 ,  Br = B1 + A12*(g*I-A22)  *B2
+                           -1                               -1
+     Cr = C1 + C2*(g*I-A22)  *A21   ,  Dr = D + C2*(g*I-A22)  *B2
+
+  where g = 0 if DICO = 'C' and g = 1 if DICO = 'D'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, M, N, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09DD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, RCOND, IWORK, DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) RCOND
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09DD = ',I2)
+99997 FORMAT (' The computed reciprocal condition number = ',1PD12.5)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09DD EXAMPLE PROGRAM DATA  (Continuous system)
+  7     2     3     5      C
+  -0.04165    4.9200   -4.9200         0         0         0         0
+         0   -3.3300         0         0         0    3.3300         0
+    0.5450         0         0   -0.5450         0         0         0
+         0         0    4.9200  -0.04165    4.9200         0         0
+         0         0         0         0   -3.3300         0    3.3300
+   -5.2100         0         0         0         0  -12.5000         0
+         0         0         0   -5.2100         0         0  -12.5000
+         0         0   
+         0         0   
+         0         0   
+         0         0   
+         0         0   
+   12.5000         0   
+         0   12.5000   
+     1     0     0     0     0     0     0
+     0     0     1     0     0     0     0
+     0     0     0     1     0     0     0
+     0     0     
+     0     0     
+     0     0     
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09DD EXAMPLE PROGRAM RESULTS
+
+ The computed reciprocal condition number =  1.00000D+00
+
+ The reduced state dynamics matrix Ar is 
+  -0.0416   4.9200  -4.9200   0.0000   0.0000
+  -1.3879  -3.3300   0.0000   0.0000   0.0000
+   0.5450   0.0000   0.0000  -0.5450   0.0000
+   0.0000   0.0000   4.9200  -0.0416   4.9200
+   0.0000   0.0000   0.0000  -1.3879  -3.3300
+
+ The reduced input/state matrix Br is 
+   0.0000   0.0000
+   3.3300   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   3.3300
+
+ The reduced state/output matrix Cr is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000
+
+ The reduced input/output matrix Dr is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09ED">AB09ED</A></H2>
+<H3>
+Optimal Hankel-norm approximation based model reduction for unstable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the optimal
+  Hankel-norm approximation method in conjunction with square-root
+  balancing for the ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, NS, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
+          multiplicity of the Hankel singular value HSV(NR-NU+1),
+          NR is the desired order on entry, and NMIN is the order
+          of a minimal realization of the ALPHA-stable part of the
+          given system; NMIN is determined as the number of Hankel
+          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
+          ALPHA-stable part of the given system (computed in
+          HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the given system
+          (computed in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          This value is appropriate to compute a minimal realization
+          of the ALPHA-stable part.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M),   if DICO = 'C';
+          LIWORK = MAX(1,N,M), if DICO = 'D'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2 ), where
+          LDW1 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
+          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computed ALPHA-stable part is just stable,
+                having stable eigenvalues very near to the imaginary
+                axis (if DICO = 'C') or to the unit circle
+                (if DICO = 'D');
+          = 4:  the computation of Hankel singular values failed;
+          = 5:  the computation of stable projection in the
+                Hankel-norm approximation algorithm failed;
+          = 6:  the order of computed stable projection in the
+                Hankel-norm approximation algorithm differs
+                from the order of Hankel-norm approximation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09ED determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1.
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the ALPHA-stable part G1, the optimal Hankel-norm
+  approximation method of [1], based on the square-root
+  balancing projection formulas of [2], is employed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [2] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
+     $                                        MAX( NMAX, MMAX, PMAX ) +
+     $                                 5 ) + ( NMAX*( NMAX + 1 ) )/2,
+     $                                 NMAX*( MMAX + PMAX + 2 ) +
+     $                                 2*MMAX*PMAX + MIN( NMAX, MMAX ) +
+     $                                 MAX( 3*MMAX + 1,
+     $                                      MIN( NMAX, MMAX ) +
+     $                                      PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
+     $                      DICO, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                      A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
+     $                      TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09ED = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09ED EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   -0.6D0 1.E-1  1.E-14 C  N  A  
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000  0.0000
+  0.0000  0.0000
+  0.0000  0.0000
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09ED EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of ALPHA-stable part are
+   1.9178   0.8621   0.7666   0.0336   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5181  -1.1084   0.0000   0.0000   0.0000
+   8.8157  -0.5181   0.0000   0.0000   0.0000
+   0.0000   0.0000  -1.2769   7.3264   0.0000
+   0.0000   0.0000  -0.6203  -1.2769   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.5496
+
+ The reduced input/state matrix Br is 
+  -1.2837   1.2837
+  -0.7522   0.7522
+   3.2016   3.2016
+  -0.7640  -0.7640
+   1.3415  -1.3415
+
+ The reduced state/output matrix Cr is 
+  -0.1380  -0.6445  -0.6247  -2.0857  -0.8964
+   0.6246   0.0196   0.0000   0.0000   0.6131
+   0.1380   0.6445  -0.6247  -2.0857   0.8964
+
+ The reduced input/output matrix Dr is 
+   0.0168  -0.0168
+   0.0008  -0.0008
+  -0.0168   0.0168
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09FD">AB09FD</A></H2>
+<H3>
+Balance & Truncate model reduction for unstable systems in conjunction with coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for an original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate (B & T)
+  model reduction method in conjunction with stable coprime
+  factorization techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
+     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, NQ, HSV,
+     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NQ,
+     $                  NR, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization is
+          to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  FACT    CHARACTER*1
+          Specifies the type of coprime factorization to be computed
+          as follows:
+          = 'S':  compute a coprime factorization with prescribed
+                  stability degree ALPHA;
+          = 'I':  compute a coprime factorization with inner
+                  denominator.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
+          is the desired order on entry, NQ is the order of the
+          computed coprime factorization of the given system, and
+          NMIN is the order of a minimal realization of the extended
+          system (see METHOD); NMIN is determined as the number of
+          Hankel singular values greater than NQ*EPS*HNORM(Ge),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
+          extended system (computed in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          If FACT = 'S', the desired stability degree for the
+          factors of the coprime factorization (see SLICOT Library
+          routines SB08ED/SB08FD).
+          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
+          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
+          If FACT = 'I', ALPHA is not used.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the computed extended system Ge (see METHOD).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the NQ Hankel singular values of
+          the extended system Ge ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced extended system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(Ge), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(Ge) is the
+          Hankel-norm of the extended system (computed in HSV(1)).
+          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
+          TOL1 &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B or C are considered zero (used for controllability or
+          observability tests).
+          If the user sets TOL2 &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF is used:
+          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
+          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
+          where EPS is the machine precision, and NORM(.) denotes
+          the 1-norm of a matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = PM,        if JOBMR = 'B',
+          LIWORK = MAX(N,PM), if JOBMR = 'N', where
+          PM = P, if JOBCF = 'L',
+          PM = M, if JOBCF = 'R'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
+          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
+          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
+          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
+          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
+          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
+          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 10*K+I:
+            I = 1:  with ORDSEL = 'F', the selected order NR is
+                    greater than the order of the computed coprime
+                    factorization of the given system. In this case,
+                    the resulting NR is set automatically to a value
+                    corresponding to the order of a minimal
+                    realization of the system;
+            K &gt; 0:  K violations of the numerical stability
+                    condition occured when computing the coprime
+                    factorization using pole assignment (see SLICOT
+                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
+                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
+          = 3:  the matrix A has an observable or controllable
+                eigenvalue on the imaginary axis if DICO = 'C' or
+                on the unit circle if DICO = 'D';
+          = 4:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The subroutine AB09FD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  with the transfer-function matrix Gr, by using the
+  balanced-truncation model reduction method in conjunction with
+  a left coprime factorization (LCF) or a right coprime
+  factorization (RCF) technique:
+
+  1. Compute the appropriate stable coprime factorization of G:
+                  -1                   -1
+             G = R  *Q (LCF) or G = Q*R   (RCF).
+
+  2. Perform the model reduction algorithm on the extended system
+                                        ( Q )
+             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
+
+     to obtain a reduced extended system with reduced factors
+                                            ( Qr )
+             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
+
+  3. Recover the reduced system from the reduced factors as
+                    -1                       -1
+             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
+
+  The approximation error for the extended system satisfies
+
+     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
+
+  where INFNORM(G) is the infinity-norm of G.
+
+  If JOBMR = 'B', the square-root Balance & Truncate method of [1]
+  is used for model reduction.
+  If JOBMR = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used for model reduction.
+
+  If FACT = 'S', the stable coprime factorization with prescribed
+  stability degree ALPHA is computed by using the algorithm of [3].
+  If FACT = 'I', the stable coprime factorization with inner
+  denominator is computed by using the algorithm of [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
+      pp. 42-46, 1991.
+
+  [3] Varga A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+  [4] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX, MMAX, PMAX ) )
+*     The formula below uses that NMAX = MMAX = PMAX.
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09FD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
+     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
+     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                      NQ, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09FD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of coprime factors are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08FD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3  0 -1.e-1  .1 1.E-10 C L I B S A
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09FD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of coprime factors are
+  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
+
+ The reduced state dynamics matrix Ar is 
+   0.0520  -0.1491   0.0037  -0.0232   0.0168
+   0.2340   0.2618   0.0010  -0.0153  -0.0318
+   0.1197   0.0075  -0.5752   2.0119  -0.7779
+   0.1571  -0.2019  -2.1282  -2.1192  -0.3618
+   0.0368  -0.4810   0.8395  -0.2790  -2.8796
+
+ The reduced input/state matrix Br is 
+   1.0454   0.5860
+  -0.0489  -1.9194
+  -1.4282   0.0541
+  -1.6144  -0.7533
+   0.5916  -1.9242
+
+ The reduced state/output matrix Cr is 
+   0.4368   0.1122  -1.2917   1.5888  -0.6354
+   1.1170   0.3963   0.6115   0.1249  -0.0859
+   0.0756  -1.8904   0.0144   0.7964   1.9085
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09GD">AB09GD</A></H2>
+<H3>
+Singular Perturbation Approximation based model reduction for unstable systems in conjunction with coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root Singular
+  Perturbation Approximation (SPA) model reduction method in
+  conjunction with stable coprime factorization techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
+     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NQ, HSV, TOL1, TOL2, TOL3, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M, N,
+     $                  NQ, NR, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2, TOL3
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization is
+          to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  FACT    CHARACTER*1
+          Specifies the type of coprime factorization to be computed
+          as follows:
+          = 'S':  compute a coprime factorization with prescribed
+                  stability degree ALPHA;
+          = 'I':  compute a coprime factorization with inner
+                  denominator.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
+          is the desired order on entry, NQ is the order of the
+          computed coprime factorization of the given system, and
+          NMIN is the order of a minimal realization of the extended
+          system (see METHOD); NMIN is determined as the number of
+          Hankel singular values greater than NQ*EPS*HNORM(Ge),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
+          extended system (computed in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          If FACT = 'S', the desired stability degree for the
+          factors of the coprime factorization (see SLICOT Library
+          routines SB08ED/SB08FD).
+          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
+          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
+          If FACT = 'I', ALPHA is not used.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the computed extended system Ge (see METHOD).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the NQ Hankel singular values of
+          the extended system Ge ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced extended system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(Ge), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(Ge) is the
+          Hankel-norm of the extended system (computed in HSV(1)).
+          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
+          TOL1 &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the extended system Ge (see METHOD).
+          The recommended value is TOL2 = NQ*EPS*HNORM(Ge).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+  TOL3    DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B or C are considered zero (used for controllability or
+          observability tests by the coprime factorization method).
+          If the user sets TOL3 &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF is used:
+          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
+          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
+          where EPS is the machine precision, and NORM(.) denotes
+          the 1-norm of a matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N,PM))
+          where  PM = P, if JOBCF = 'L',
+                 PM = M, if JOBCF = 'R'.
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
+          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
+          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
+          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
+          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
+          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
+          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 10*K+I:
+            I = 1:  with ORDSEL = 'F', the selected order NR is
+                    greater than the order of the computed coprime
+                    factorization of the given system. In this case,
+                    the resulting NR is set automatically to a value
+                    corresponding to the order of a minimal
+                    realization of the system;
+            K &gt; 0:  K violations of the numerical stability
+                    condition occured when computing the coprime
+                    factorization using pole assignment (see SLICOT
+                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
+                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
+          = 3:  the matrix A has an observable or controllable
+                eigenvalue on the imaginary axis if DICO = 'C' or
+                on the unit circle if DICO = 'D';
+          = 4:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                       (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The subroutine AB09GD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                   (2)
+
+  with the transfer-function matrix Gr, by using the
+  singular perturbation approximation (SPA) method in conjunction
+  with a left coprime factorization (LCF) or a right coprime
+  factorization (RCF) technique:
+
+  1. Compute the appropriate stable coprime factorization of G:
+                  -1                   -1
+             G = R  *Q (LCF) or G = Q*R   (RCF).
+
+  2. Perform the model reduction algorithm on the extended system
+                                        ( Q )
+             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
+
+     to obtain a reduced extended system with reduced factors
+                                            ( Qr )
+             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
+
+  3. Recover the reduced system from the reduced factors as
+                    -1                       -1
+             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
+
+  The approximation error for the extended system satisfies
+
+     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
+
+  where INFNORM(G) is the infinity-norm of G.
+
+  If JOBMR = 'B', the balancing-based square-root SPA method of [1]
+  is used for model reduction.
+  If JOBMR = 'N', the balancing-free square-root SPA method of [2]
+  is used for model reduction.
+  By setting TOL1 = TOL2, the routine can be used to compute
+  Balance & Truncate approximations.
+
+  If FACT = 'S', the stable coprime factorization with prescribed
+  stability degree ALPHA is computed by using the algorithm of [3].
+  If FACT = 'I', the stable coprime factorization with inner
+  denominator is computed by using the algorithm of [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems.
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991, Vol. 2,
+      pp. 1062-1065.
+
+  [3] Varga A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+  [4] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, MMAX, PMAX ) )
+*     The formula below uses that NMAX = MMAX = PMAX.
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2, TOL3
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09GD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2, TOL3,
+     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
+     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, NQ, HSV, TOL1, TOL2, TOL3, IWORK,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09GD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of coprime factors are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08GD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3  0 -1.e-1  .1 1.E-10 1.E-10 C L I B S A
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09GD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of coprime factors are
+  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
+
+ The reduced state dynamics matrix Ar is 
+   0.0521  -0.1491   0.0032  -0.0242   0.0181
+   0.2341   0.2615   0.0009  -0.0171  -0.0362
+   0.1170   0.0076  -0.5471   2.0904  -0.8098
+   0.1675  -0.2122  -2.2113  -2.4097  -0.4139
+   0.0390  -0.5061   0.8787  -0.3166  -3.2955
+
+ The reduced input/state matrix Br is 
+   1.0449   0.5863
+  -0.0490  -1.9210
+  -1.3930   0.0540
+  -1.7206  -0.8039
+   0.6358  -2.0542
+
+ The reduced state/output matrix Cr is 
+   0.4331   0.1125  -1.2534   1.6965  -0.6773
+   1.1171   0.3963   0.6102   0.1213  -0.0841
+   0.0736  -1.8815   0.0134   0.8457   2.0413
+
+ The reduced input/output matrix Dr is 
+   0.0480   0.0003
+  -0.0017   0.0001
+   0.0005   0.0460
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09HD">AB09HD</A></H2>
+<H3>
+Stochastic balancing based model reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the stochastic
+  balancing approach in conjunction with the square-root or
+  the balancing-free square-root Balance & Truncate (B&T)
+  or Singular Perturbation Approximation (SPA) model reduction
+  methods for the ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   BETA, A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
+     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, NS, P
+      DOUBLE PRECISION  ALPHA, BETA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+      LOGICAL           BWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'F':  use the balancing-free square-root
+                  Balance & Truncate method;
+          = 'S':  use the square-root Singular Perturbation
+                  Approximation method;
+          = 'P':  use the balancing-free square-root
+                  Singular Perturbation Approximation method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+          P &lt;= M if BETA = 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, and NMIN is the order of a minimal realization
+          of the ALPHA-stable part of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than NS*EPS, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH);
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than MAX(TOL1,NS*EPS);
+          NR can be further reduced to ensure that
+          HSV(NR-NU) &gt; HSV(NR+1-NU).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  BETA    (input) DOUBLE PRECISION
+          BETA &gt; 0 specifies the absolute/relative error weighting
+          parameter. A large positive value of BETA favours the
+          minimization of the absolute approximation error, while a
+          small value of BETA is appropriate for the minimization
+          of the relative error.
+          BETA = 0 means a pure relative error method and can be
+          used only if rank(D) = P.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues in an
+          upper real Schur form.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the phase system corresponding
+          to the ALPHA-stable part of the original system.
+          The Hankel singular values are ordered decreasingly.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value of TOL1 lies
+          in the interval [0.00001,0.001].
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS, where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+          TOL1 &lt; 1.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the phase system (see METHOD) corresponding
+          to the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+          TOL2 &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains RCOND, the reciprocal
+          condition number of the U11 matrix from the expression
+          used to compute the solution X = U21*inv(U11) of the
+          Riccati equation for spectral factorization.
+          A small value RCOND indicates possible ill-conditioning
+          of the respective Riccati equation.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N*N + MB*(N+P) + MAX( 2, N*(MAX(N,MB,P)+5),
+                                 2*N*P+MAX(P*(MB+2),10*N*(N+1) ) ),
+          where MB = M if BETA = 0 and MB = M+P if BETA &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension 2*N
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system; in this case, the resulting NR is set equal
+                to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NR corresponds
+                to repeated singular values for the ALPHA-stable
+                part, which are neither all included nor all
+                excluded from the reduced model; in this case, the
+                resulting NR is automatically decreased to exclude
+                all repeated singular values;
+          = 3:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system; in this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the reduction of the Hamiltonian matrix to real
+                Schur form failed;
+          = 3:  the reordering of the real Schur form of the
+                Hamiltonian matrix failed;
+          = 4:  the Hamiltonian matrix has less than N stable
+                eigenvalues;
+          = 5:  the coefficient matrix U11 in the linear system
+                X*U11 = U21 to determine X is singular to working
+                precision;
+          = 6:  BETA = 0 and D has not a maximal row rank;
+          = 7:  the computation of Hankel singular values failed;
+          = 8:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 9:  the resulting order of reduced stable part is less
+                than the number of unstable zeros of the stable
+                part.
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                      (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09HD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                  (2)
+
+  such that
+
+       INFNORM[inv(conj(W))*(G-Gr)] &lt;=
+                    (1+HSV(NR+NS-N+1)) / (1-HSV(NR+NS-N+1)) + ...
+                    + (1+HSV(NS)) / (1-HSV(NS)) - 1,
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, W is the right, minimum
+  phase spectral factor satisfying
+
+      G1*conj(G1) = conj(W)* W,                      (3)
+
+  G1 is the NS-order ALPHA-stable part of G, and INFNORM(G) is the
+  infinity-norm of G. HSV(1), ... , HSV(NS) are the Hankel-singular
+  values of the stable part of the phase system (Ap,Bp,Cp)
+  with the transfer-function matrix
+
+       P = inv(conj(W))*G1.
+
+  If BETA &gt; 0, then the model reduction is performed on [G BETA*I]
+  instead of G. This is the recommended approach to be used when D
+  has not a maximal row rank or when a certain balance between
+  relative and absolute approximation errors is desired. For
+  increasingly large values of BETA, the obtained reduced system
+  assymptotically approaches that computed by using the
+  Balance & Truncate or Singular Perturbation Approximation methods.
+
+  Note: conj(G)  denotes either G'(-s) for a continuous-time system
+        or G'(1/z) for a discrete-time system.
+        inv(G) is the inverse of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2,
+
+     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1 using the balancing stochastic method
+     in conjunction with either the B&T [1,2] or SPA methods [3].
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  Note: The employed stochastic truncation algorithm [2,3] has the
+  property that right half plane zeros of G1 remain as right half
+  plane zeros of G1r. Thus, the order can not be chosen smaller than
+  the sum of the number of unstable poles of G and the number of
+  unstable zeros of G1.
+
+  The reduction of the ALPHA-stable part G1 is done as follows.
+
+  If JOB = 'B', the square-root stochastic Balance & Truncate
+  method of [1] is used.
+  For an ALPHA-stable continuous-time system (DICO = 'C'),
+  the resulting reduced model is stochastically balanced.
+
+  If JOB = 'F', the balancing-free square-root version of the
+  stochastic Balance & Truncate method [1] is used to reduce
+  the ALPHA-stable part G1.
+
+  If JOB = 'S', the stochastic balancing method is used to reduce
+  the ALPHA-stable part G1, in conjunction with the square-root
+  version of the Singular Perturbation Approximation method [3,4].
+
+  If JOB = 'P', the stochastic balancing method is used to reduce
+  the ALPHA-stable part G1, in conjunction with the balancing-free
+  square-root version of the Singular Perturbation Approximation
+  method [3,4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A. and Fasol K.H.
+      A new square-root balancing-free stochastic truncation model
+      reduction algorithm.
+      Proc. 12th IFAC World Congress, Sydney, 1993.
+
+  [2] Safonov M. G. and Chiang R. Y.
+      Model reduction for robust control: a Schur relative error
+      method.
+      Int. J. Adapt. Contr. Sign. Proc., vol. 2, pp. 259-272, 1988.
+
+  [3] Green M. and Anderson B. D. O.
+      Generalized balanced stochastic truncation.
+      Proc. 29-th CDC, Honolulu, Hawaii, pp. 476-481, 1990.
+
+  [4] Varga A.
+      Balancing-free square-root algorithm for computing
+      singular perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques. The effectiveness of the
+  accuracy enhancing technique depends on the accuracy of the
+  solution of a Riccati equation. An ill-conditioned Riccati
+  solution typically results when [D BETA*I] is nearly
+  rank deficient.
+                                   3
+  The algorithm requires about 100N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                 LDD = PMAX )
+      INTEGER          LBWORK, LIWORK
+      PARAMETER        ( LBWORK = 2*NMAX, LIWORK = 2*NMAX )
+      INTEGER          LDWORK, MBMAX
+      PARAMETER        ( MBMAX = MMAX + PMAX )
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + MBMAX*(NMAX+PMAX) +
+     $                      MAX( NMAX*(MAX( NMAX, MMAX, PMAX) + 5),
+     $                     2*NMAX*PMAX + MAX( PMAX*(MBMAX+2),
+     $                                        10*NMAX*(NMAX+1) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, BETA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      LOGICAL          BWORK(LBWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, BETA, TOL1, TOL2,
+     $                      DICO, JOB, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      ALPHA, BETA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      BWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09HD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The stochastic Hankel singular values of ALPHA-stable'
+     $        ,' part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09HD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   0.0   1.0  0.1E0  0.0    C     F     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09HD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The stochastic Hankel singular values of ALPHA-stable part are
+   0.8803   0.8506   0.8038   0.4494   0.3973   0.0214   0.0209
+
+ The reduced state dynamics matrix Ar is 
+   1.2729   0.0000   6.5947   0.0000  -3.4229
+   0.0000   0.8169   0.0000   2.4821   0.0000
+  -2.9889   0.0000  -2.9028   0.0000  -0.3692
+   0.0000  -3.3921   0.0000  -3.1126   0.0000
+  -1.4767   0.0000  -2.0339   0.0000  -0.6107
+
+ The reduced input/state matrix Br is 
+   0.1331  -0.1331
+  -0.0862  -0.0862
+  -2.6777   2.6777
+  -3.5767  -3.5767
+  -2.3033   2.3033
+
+ The reduced state/output matrix Cr is 
+  -0.6907  -0.6882   0.0779   0.0958  -0.0038
+   0.0676   0.0000   0.6532   0.0000  -0.7522
+   0.6907  -0.6882  -0.0779   0.0958   0.0038
+
+ The reduced input/output matrix Dr is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09HX.html b/doc/_build/html/_static/doc/AB09HX.html
new file mode 100644
index 00000000..b6132d89
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB09HX.html
@@ -0,0 +1,348 @@
+<HTML>
+<HEAD><TITLE>AB09HX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09HX">AB09HX</A></H2>
+<H3>
+Stochastic balancing model reduction of stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  stable state-space representation (A,B,C,D) by using the
+  stochastic balancing approach in conjunction with the square-root
+  or the balancing-free square-root Balance & Truncate (B&T) or
+  Singular Perturbation Approximation (SPA) model reduction methods.
+  The state dynamics matrix A of the original system is an upper
+  quasi-triangular matrix in real Schur canonical form and D must be
+  full row rank.
+
+  For the B&T approach, the matrices of the reduced order system
+  are computed using the truncation formulas:
+
+       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
+
+  For the SPA approach, the matrices of a minimal realization
+  (Am,Bm,Cm) are computed using the truncation formulas:
+
+       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
+
+  Am, Bm, Cm and D serve further for computing the SPA of the given
+  system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09HX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
+     $                  LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
+      LOGICAL           BWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'F':  use the balancing-free square-root
+                  Balance & Truncate method;
+          = 'S':  use the square-root Singular Perturbation
+                  Approximation method;
+          = 'P':  use the balancing-free square-root
+                  Singular Perturbation Approximation method.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  M &gt;= P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH);
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values,
+          ordered decreasingly, of the phase system. All singular
+          values are less than or equal to 1.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
+          array contains the right truncation matrix T in (1), for
+          the B&T approach, or in (2), for the SPA approach.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
+          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
+          array contains the left truncation matrix TI in (1), for
+          the B&T approach, or in (2), for the SPA approach.
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value lies in the
+          interval [0.00001,0.001].
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = N*EPS, where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the phase system (see METHOD) corresponding
+          to the given system.
+          The recommended value is TOL2 = N*EPS.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains RCOND, the reciprocal
+          condition number of the U11 matrix from the expression
+          used to compute the solution X = U21*inv(U11) of the
+          Riccati equation for spectral factorization.
+          A small value RCOND indicates possible ill-conditioning
+          of the respective Riccati equation.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
+                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension 2*N
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D'), or it is not in
+                a real Schur form;
+          = 2:  the reduction of Hamiltonian matrix to real
+                Schur form failed;
+          = 3:  the reordering of the real Schur form of the
+                Hamiltonian matrix failed;
+          = 4:  the Hamiltonian matrix has less than N stable
+                eigenvalues;
+          = 5:  the coefficient matrix U11 in the linear system
+                X*U11 = U21, used to determine X, is singular to
+                working precision;
+          = 6:  the feedthrough matrix D has not a full row rank P;
+          = 7:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (3)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09HX determines for
+  the given system (3), the matrices of a reduced NR-rder system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the square-root stochastic Balance & Truncate
+  method of [1] is used and the resulting model is balanced.
+
+  If JOB = 'F', the balancing-free square-root version of the
+  stochastic Balance & Truncate method [1] is used.
+
+  If JOB = 'S', the stochastic balancing method, in conjunction
+  with the square-root version of the Singular Perturbation
+  Approximation method [2,3] is used.
+
+  If JOB = 'P', the stochastic balancing method, in conjunction
+  with the balancing-free square-root version of the Singular
+  Perturbation Approximation method [2,3] is used.
+
+  By setting TOL1 = TOL2, the routine can be also used to compute
+  Balance & Truncate approximations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A. and Fasol K.H.
+      A new square-root balancing-free stochastic truncation
+      model reduction algorithm.
+      Proc. of 12th IFAC World Congress, Sydney, 1993.
+
+  [2] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of balanced systems.
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [3] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on accuracy enhancing square-root
+  or balancing-free square-root methods. The effectiveness of the
+  accuracy enhancing technique depends on the accuracy of the
+  solution of a Riccati equation. Ill-conditioned Riccati solution
+  typically results when D is nearly rank deficient.
+                                   3
+  The algorithm requires about 100N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09HY.html b/doc/_build/html/_static/doc/AB09HY.html
new file mode 100644
index 00000000..4b6ba31f
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB09HY.html
@@ -0,0 +1,192 @@
+<HTML>
+<HEAD><TITLE>AB09HY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09HY">AB09HY</A></H2>
+<H3>
+Cholesky factors of the controllability and observability Grammians
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factors Su and Ru of the controllability
+  Grammian P = Su*Su' and observability Grammian Q = Ru'*Ru,
+  respectively, satisfying
+
+         A*P  + P*A' +  scalec^2*B*B'   = 0,       (1)
+
+         A'*Q + Q*A  +  scaleo^2*Cw'*Cw = 0,       (2)
+
+  where
+         Cw = Hw - Bw'*X,
+         Hw = inv(Dw)*C,
+         Bw = (B*D' + P*C')*inv(Dw'),
+         D*D' = Dw*Dw' (Dw upper triangular),
+
+  and, with Aw = A - Bw*Hw, X is the stabilizing solution of the
+  Riccati equation
+
+         Aw'*X + X*Aw + Hw'*Hw + X*Bw*Bw'*X = 0.   (3)
+
+  The P-by-M matrix D must have full row rank. Matrix A must be
+  stable and in a real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09HY( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   SCALEC, SCALEO, S, LDS, R, LDR, IWORK,
+     $                   DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDD, LDR, LDS, LDWORK, M, N,
+     $                 P
+      DOUBLE PRECISION SCALEC, SCALEO
+C     .. Array Arguments ..
+      INTEGER          IWORK(*)
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                 DWORK(*), R(LDR,*), S(LDS,*)
+      LOGICAL          BWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of state-space representation, i.e.,
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  M &gt;= P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          stable state dynamics matrix A in a real Schur canonical
+          form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B, corresponding to the Schur matrix A.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C, corresponding to the Schur
+          matrix A.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must
+          contain the full row rank input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian in (1).
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian in (2).
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Su of the cotrollability
+          Grammian P = Su*Su' satisfying (1).
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Ru of the observability
+          Grammian Q = Ru'*Ru satisfying (2).
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains RCOND, the reciprocal
+          condition number of the U11 matrix from the expression
+          used to compute X = U21*inv(U11). A small value RCOND
+          indicates possible ill-conditioning of the Riccati
+          equation (3).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
+                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension 2*N
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable or is not in a
+                real Schur form;
+          = 2:  the reduction of Hamiltonian matrix to real Schur
+                form failed;
+          = 3:  the reordering of the real Schur form of the
+                Hamiltonian matrix failed;
+          = 4:  the Hamiltonian matrix has less than N stable
+                eigenvalues;
+          = 5:  the coefficient matrix U11 in the linear system
+                X*U11 = U21, used to determine X, is singular to
+                working precision;
+          = 6:  the feedthrough matrix D has not a full row rank P.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09ID">AB09ID</A></H2>
+<H3>
+Frequency-weighted model reduction based on balancing techniques
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the frequency
+  weighted square-root or balancing-free square-root
+  Balance & Truncate (B&T) or Singular Perturbation Approximation
+  (SPA) model reduction methods. The algorithm tries to minimize
+  the norm of the frequency-weighted error
+
+        ||V*(G-Gr)*W||
+
+  where G and Gr are the transfer-function matrices of the original
+  and reduced order models, respectively, and V and W are
+  frequency-weighting transfer-function matrices. V and W must not
+  have poles on the imaginary axis for a continuous-time
+  system or on the unit circle for a discrete-time system.
+  If G is unstable, only the ALPHA-stable part of G is reduced.
+  In case of possible pole-zero cancellations in V*G and/or G*W,
+  the absolute values of parameters ALPHAO and/or ALPHAC must be
+  different from 1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL, ORDSEL,
+     $                   N, M, P, NV, PV, NW, MW, NR, ALPHA, ALPHAC,
+     $                   ALPHAO, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
+      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, MW,
+     $                  N, NR, NS, NV, NW, P, PV
+      DOUBLE PRECISION  ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
+     $                  HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'F':  use the balancing-free square-root
+                  Balance & Truncate method;
+          = 'S':  use the square-root Singular Perturbation
+                  Approximation method;
+          = 'P':  use the balancing-free square-root
+                  Singular Perturbation Approximation method.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the matrix AV. Also the number of rows of
+          the matrix BV and the number of columns of the matrix CV.
+          NV represents the dimension of the state vector of the
+          system with the transfer-function matrix V.  NV &gt;= 0.
+
+  PV      (input) INTEGER
+          The number of rows of the matrices CV and DV.  PV &gt;= 0.
+          PV represents the dimension of the output vector of the
+          system with the transfer-function matrix V.
+
+  NW      (input) INTEGER
+          The order of the matrix AW. Also the number of rows of
+          the matrix BW and the number of columns of the matrix CW.
+          NW represents the dimension of the state vector of the
+          system with the transfer-function matrix W.  NW &gt;= 0.
+
+  MW      (input) INTEGER
+          The number of columns of the matrices BW and DW.  MW &gt;= 0.
+          MW represents the dimension of the input vector of the
+          system with the transfer-function matrix W.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, NMIN is the number of frequency-weighted Hankel
+          singular values greater than NS*EPS*S1, EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH)
+          and S1 is the largest Hankel singular value (computed
+          in HSV(1)); NR can be further reduced to ensure
+          HSV(NR-NU) &gt; HSV(NR+1-NU);
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than MAX(TOL1,NS*EPS*S1).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  ALPHAC  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted controllability Grammian (see METHOD);
+          ABS(ALPHAC) &lt;= 1.
+
+  ALPHAO  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted observability Grammian (see METHOD);
+          ABS(ALPHAO) &lt;= 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
+          part of this array must contain the state matrix AV of
+          the system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NVR-by-NVR part of this array
+          contains the state matrix of a minimal realization of V
+          in a real Schur form. NVR is returned in IWORK(2).
+          AV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDAV    INTEGER
+          The leading dimension of array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
+          of this array must contain the input matrix BV of the
+          system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NVR-by-P part of this array contains
+          the input matrix of a minimal realization of V.
+          BV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDBV    INTEGER
+          The leading dimension of array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading PV-by-NV
+          part of this array must contain the output matrix CV of
+          the system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading PV-by-NVR part of this array
+          contains the output matrix of a minimal realization of V.
+          CV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDCV    INTEGER
+          The leading dimension of array CV.
+          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
+          array must contain the feedthrough matrix DV of the system
+          with the transfer-function matrix V.
+          DV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDDV    INTEGER
+          The leading dimension of array DV.
+          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
+          part of this array must contain the state matrix AW of
+          the system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NWR-by-NWR part of this array
+          contains the state matrix of a minimal realization of W
+          in a real Schur form. NWR is returned in IWORK(3).
+          AW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDAW    INTEGER
+          The leading dimension of array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,MW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-MW
+          part of this array must contain the input matrix BW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NWR-by-MW part of this array
+          contains the input matrix of a minimal realization of W.
+          BW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDBW    INTEGER
+          The leading dimension of array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
+          of this array must contain the output matrix CW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading M-by-NWR part of this array contains
+          the output matrix of a minimal realization of W.
+          CW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDCW    INTEGER
+          The leading dimension of array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
+          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
+          array must contain the feedthrough matrix DW of the system
+          with the transfer-function matrix W.
+          DW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDDW    INTEGER
+          The leading dimension of array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of this array contain
+          the frequency-weighted Hankel singular values, ordered
+          decreasingly, of the ALPHA-stable part of the original
+          system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*S1, where c is a constant in the
+          interval [0.00001,0.001], and S1 is the largest
+          frequency-weighted Hankel singular value of the
+          ALPHA-stable part of the original system (computed
+          in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*S1, where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*S1.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension
+          ( MAX( 3, LIWRK1, LIWRK2, LIWRK3 ) ), where
+          LIWRK1 = 0,             if JOB = 'B';
+          LIWRK1 = N,             if JOB = 'F';
+          LIWRK1 = 2*N,           if JOB = 'S' or 'P';
+          LIWRK2 = 0,             if WEIGHT = 'R' or 'N' or  NV = 0;
+          LIWRK2 = NV+MAX(P,PV),  if WEIGHT = 'L' or 'B' and NV &gt; 0;
+          LIWRK3 = 0,             if WEIGHT = 'L' or 'N' or  NW = 0;
+          LIWRK3 = NW+MAX(M,MW),  if WEIGHT = 'R' or 'B' and NW &gt; 0.
+          On exit, if INFO = 0, IWORK(1) contains the order of a
+          minimal realization of the stable part of the system,
+          IWORK(2) and IWORK(3) contain the actual orders
+          of the state space realizations of V and W, respectively.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LMINL, LMINR, LRCF,
+                         2*N*N + MAX( 1, LLEFT, LRIGHT, 2*N*N+5*N,
+                                      N*MAX(M,P) ) ),
+          where
+          LMINL  = 0, if WEIGHT = 'R' or 'N' or NV = 0; otherwise,
+          LMINL  = MAX(LLCF,NV+MAX(NV,3*P))           if P =  PV;
+          LMINL  = MAX(P,PV)*(2*NV+MAX(P,PV))+
+                   MAX(LLCF,NV+MAX(NV,3*P,3*PV))      if P &lt;&gt; PV;
+          LRCF   = 0, and
+          LMINR  = 0, if WEIGHT = 'L' or 'N' or NW = 0; otherwise,
+          LMINR  = NW+MAX(NW,3*M)                     if M =  MW;
+          LMINR  = 2*NW*MAX(M,MW)+NW+MAX(NW,3*M,3*MW) if M &lt;&gt; MW;
+          LLCF   = PV*(NV+PV)+PV*NV+MAX(NV*(NV+5), PV*(PV+2),
+                                        4*PV, 4*P);
+          LRCF   = MW*(NW+MW)+MAX(NW*(NW+5),MW*(MW+2),4*MW,4*M)
+          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
+                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
+          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
+          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
+                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
+          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system; in this case, the resulting NR is set equal
+                to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NR corresponds
+                to repeated singular values for the ALPHA-stable
+                part, which are neither all included nor all
+                excluded from the reduced model; in this case, the
+                resulting NR is automatically decreased to exclude
+                all repeated singular values;
+          = 3:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system; in this case NR is set equal to the
+                order of the ALPHA-unstable part.
+          = 10+K:  K violations of the numerical stability condition
+                occured during the assignment of eigenvalues in the
+                SLICOT Library routines SB08CD and/or SB08DD.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable
+                diagonal blocks failed because of very close
+                eigenvalues;
+          = 3:  the reduction to a real Schur form of the state
+                matrix of a minimal realization of V failed;
+          = 4:  a failure was detected during the ordering of the
+                real Schur form of the state matrix of a minimal
+                realization of V or in the iterative process to
+                compute a left coprime factorization with inner
+                denominator;
+          = 5:  if DICO = 'C' and the matrix AV has an observable
+                eigenvalue on the imaginary axis, or DICO = 'D' and
+                AV has an observable eigenvalue on the unit circle;
+          = 6:  the reduction to a real Schur form of the state
+                matrix of a minimal realization of W failed;
+          = 7:  a failure was detected during the ordering of the
+                real Schur form of the state matrix of a minimal
+                realization of W or in the iterative process to
+                compute a right coprime factorization with inner
+                denominator;
+          = 8:  if DICO = 'C' and the matrix AW has a controllable
+                eigenvalue on the imaginary axis, or DICO = 'D' and
+                AW has a controllable eigenvalue on the unit circle;
+          = 9:  the computation of eigenvalues failed;
+          = 10: the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let G be the transfer-function matrix of the original
+  linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                          (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09ID determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
+
+  such that the corresponding transfer-function matrix Gr minimizes
+  the norm of the frequency-weighted error
+
+          V*(G-Gr)*W,                                    (3)
+
+  where V and W are transfer-function matrices without poles on the
+  imaginary axis in continuous-time case or on the unit circle in
+  discrete-time case.
+
+  The following procedure is used to reduce G:
+
+  1) Decompose additively G, of order N, as
+
+       G = G1 + G2,
+
+     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
+     G2 = (A2,B2,C2,0), of order NU, has only ALPHA-unstable poles.
+
+  2) Compute for G1 a B&T or SPA frequency-weighted approximation
+     G1r of order NR-NU using the combination method or the
+     modified combination method of [4].
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  For the frequency-weighted reduction of the ALPHA-stable part,
+  several methods described in [4] can be employed in conjunction
+  with the combination method and modified combination method
+  proposed in [4].
+
+  If JOB = 'B', the square-root B&T method is used.
+  If JOB = 'F', the balancing-free square-root version of the
+  B&T method is used.
+  If JOB = 'S', the square-root version of the SPA method is used.
+  If JOB = 'P', the balancing-free square-root version of the
+  SPA method is used.
+
+  For each of these methods, left and right truncation matrices
+  are determined using the Cholesky factors of an input
+  frequency-weighted controllability Grammian P and an output
+  frequency-weighted observability Grammian Q.
+  P and Q are computed from the controllability Grammian Pi of G*W
+  and the observability Grammian Qo of V*G. Using special
+  realizations of G*W and V*G, Pi and Qo are computed in the
+  partitioned forms
+
+        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
+             ( P12' P22 )               ( Q12' Q22 )
+
+  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
+  respectively. Let P0 and Q0 be non-negative definite matrices
+  defined below
+                                     -1
+         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
+                                     -1
+         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
+
+  The frequency-weighted controllability and observability
+  Grammians, P and Q, respectively, are defined as follows:
+  P = P0 if JOBC = 'S' (standard combination method [4]);
+  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
+  Grammian defined to enforce stability for a modified combination
+  method of [4];
+  Q = Q0 if JOBO = 'S' (standard combination method [4]);
+  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
+  Grammian defined to enforce stability for a modified combination
+  method of [4].
+
+  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
+  Grammians corresponds to the method of Enns [1], while if
+  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds
+  to the method of Lin and Chiu [2,3].
+
+  If JOBC = 'S' and ALPHAC = 1, no pole-zero cancellations must
+  occur in G*W. If JOBO = 'S' and ALPHAO = 1, no pole-zero
+  cancellations must occur in V*G. The presence of pole-zero
+  cancellations leads to meaningless results and must be avoided.
+
+  The frequency-weighted Hankel singular values HSV(1), ....,
+  HSV(N) are computed as the square roots of the eigenvalues
+  of the product P*Q.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Lin, C.-A. and Chiu, T.-Y.
+      Model reduction via frequency-weighted balanced realization.
+      Control Theory and Advanced Technology, vol. 8,
+      pp. 341-351, 1992.
+
+  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
+      New results on frequency weighted balanced reduction
+      technique.
+      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
+
+  [4] Varga, A. and Anderson, B.D.O.
+      Square-root balancing-free methods for the frequency-weighted
+      balancing related model reduction.
+      (report in preparation)
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root
+  techniques.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, MWMAX, NMAX, NVMAX, NWMAX, PMAX, PVMAX
+      PARAMETER        ( MMAX = 20, MWMAX = 20,
+     $                   NMAX = 20, NVMAX = 20, NWMAX = 20,
+     $                   PMAX = 20, PVMAX = 20 )
+      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
+      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
+     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
+     $                   LDC = PMAX, LDCV = PVMAX, LDCW = MMAX,
+     $                   LDD = PMAX, LDDV = PVMAX, LDDW = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX,
+     $                                 NVMAX + MAX( PMAX, PVMAX ),
+     $                                 NWMAX + MAX( MMAX, MWMAX ) ) )
+      INTEGER          LDW1, LDW2, LDW3, LDW4, LDW5, LDW6, LDW7, LDW8,
+     $                 LDWORK
+      PARAMETER        ( LDW1 = NMAX + NVMAX, LDW2 = NMAX + NWMAX,
+     $                   LDW3 = MAX( LDW1*( LDW1 + MAX( LDW1, PVMAX ) +
+     $                               5 ), NMAX*( PMAX + 5 ) ),
+     $                   LDW4 = MAX( LDW2*( LDW2 + MAX( LDW2, MWMAX ) +
+     $                               5 ), NMAX*( MMAX + 5 ) ),
+     $                   LDW5 = PVMAX*( NVMAX + PVMAX ) + PVMAX*NVMAX +
+     $                          MAX( NVMAX*( NVMAX + 5 ), 4*PVMAX,
+     $                               PVMAX*( PVMAX + 2 ), 4*PMAX ),
+     $                   LDW6 = MAX( PMAX, PVMAX )*( 2*NVMAX +
+     $                               MAX( PMAX, PVMAX ) ) +
+     $                               MAX( LDW5, NVMAX +
+     $                                    MAX( NVMAX, 3*PMAX, 3*PVMAX )
+     $                                       ),
+     $                   LDW7 = MAX( NWMAX + MAX( NWMAX, 3*MMAX ),
+     $                               2*NWMAX*MAX( MMAX, MWMAX ) +
+     $                               NWMAX + MAX( NWMAX, 3*MMAX,
+     $                                                   3*MWMAX ) ),
+     $                   LDW8 = MWMAX*( NWMAX + MWMAX ) +
+     $                          MAX( NWMAX*( NWMAX + 5 ), 4*MWMAX,
+     $                               MWMAX*( MWMAX + 2 ), 4*MMAX ) )
+      PARAMETER        ( LDWORK = MAX( LDW6, LDW7, LDW8,
+     $                                 2*NMAX*NMAX +
+     $                                   MAX( 1, LDW3, LDW4,
+     $                                        2*NMAX*NMAX + 5*NMAX,
+     $                                        NMAX*MAX( MMAX, PMAX ) ) )
+     $                  )
+*     .. Local Scalars ..
+      LOGICAL          LEFTW, RIGHTW
+      DOUBLE PRECISION ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, MW, N, NR, NS, NV, NW, P,
+     $                 PV
+      CHARACTER*1      DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
+     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MWMAX),
+     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
+     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MWMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB09ID
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NV, PV, NW, MW, NR,
+     $                      ALPHA, ALPHAC, ALPHAO, TOL1, TOL2,
+     $                      DICO, JOBC, JOBO, JOB, WEIGHT,
+     $                      EQUIL, ORDSEL
+      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
+      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( LEFTW ) THEN
+                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
+                     WRITE ( NOUT, FMT = 99986 ) NV
+                  ELSE
+                     IF( NV.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                    ( ( BV(I,J), J = 1,P ),  I = 1,NV )
+                        IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
+                           WRITE ( NOUT, FMT = 99985 ) PV
+                        ELSE
+                           READ ( NIN, FMT = * )
+     $                       ( ( CV(I,J), J = 1,NV ), I = 1,PV )
+                        END IF
+                     END IF
+                     IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
+                        WRITE ( NOUT, FMT = 99985 ) PV
+                     ELSE
+                        READ ( NIN, FMT = * )
+     $                    ( ( DV(I,J), J = 1,P ), I = 1,PV )
+                     END IF
+                  END IF
+               END IF
+               IF( RIGHTW ) THEN
+                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
+                     WRITE ( NOUT, FMT = 99984 ) NW
+                  ELSE
+                     IF( NW.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
+                        IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
+                           WRITE ( NOUT, FMT = 99983 ) MW
+                        ELSE
+                           READ ( NIN, FMT = * )
+     $                       ( ( BW(I,J), J = 1,MW ), I = 1,NW )
+                        END IF
+                        READ ( NIN, FMT = * )
+     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
+                     END IF
+                     IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
+                        WRITE ( NOUT, FMT = 99983 ) MW
+                     ELSE
+                        READ ( NIN, FMT = * )
+     $                     ( ( DW(I,J), J = 1,MW ), I = 1,M )
+                     END IF
+                  END IF
+               END IF
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL,
+     $                      ORDSEL, N, M, P, NV, PV, NW, MW, NR, ALPHA,
+     $                      ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                      AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99982 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09ID = ',I2)
+99997 FORMAT (/' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
+99985 FORMAT (/' PV is out of range.',/' PV = ',I5)
+99984 FORMAT (/' NW is out of range.',/' NW = ',I5)
+99983 FORMAT (/' MW is out of range.',/' MW = ',I5)
+99982 FORMAT (' IWARN on exit from AB09ID = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09ID EXAMPLE PROGRAM DATA (Continuous system)
+  3  1  1   6  1  0  0   2   0.0  0.0  0.0 0.1E0  0.0    C   S  S   F   L  S  F 
+  -26.4000    6.4023    4.3868
+   32.0000         0         0
+         0    8.0000         0
+    16
+     0
+     0
+    9.2994    1.1624    0.1090
+     0
+   -1.0000         0    4.0000   -9.2994   -1.1624   -0.1090
+         0    2.0000         0   -9.2994   -1.1624   -0.1090
+         0         0   -3.0000   -9.2994   -1.1624   -0.1090
+   16.0000   16.0000   16.0000  -26.4000    6.4023    4.3868
+         0         0         0   32.0000         0         0
+         0         0         0         0    8.0000         0
+     1
+     1
+     1
+     0
+     0
+     0
+     1     1     1     0     0     0
+     0
+
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09ID EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  2
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   3.8253   0.2005
+
+ The reduced state dynamics matrix Ar is 
+   9.1900   0.0000
+   0.0000 -34.5297
+
+ The reduced input/state matrix Br is 
+  11.9593
+  16.9329
+
+ The reduced state/output matrix Cr is 
+   2.8955   6.9152
+
+ The reduced input/output matrix Dr is 
+   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09IX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09IX">AB09IX</A></H2>
+<H3>
+Accuracy enhanced balancing related model reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the square-root or
+  balancing-free square-root Balance & Truncate (B&T) or
+  Singular Perturbation Approximation (SPA) model reduction methods.
+  The computation of truncation matrices TI and T is based on
+  the Cholesky factor S of a controllability Grammian P = S*S'
+  and the Cholesky factor R of an observability Grammian Q = R'*R,
+  where S and R are given upper triangular matrices.
+
+  For the B&T approach, the matrices of the reduced order system
+  are computed using the truncation formulas:
+
+       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
+
+  For the SPA approach, the matrices of a minimal realization
+  (Am,Bm,Cm) are computed using the truncation formulas:
+
+       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
+
+  Am, Bm, Cm and D serve further for computing the SPA of the given
+  system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09IX( DICO, JOB, FACT, ORDSEL, N, M, P, NR,
+     $                   SCALEC, SCALEO, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   TI, LDTI, T, LDT, NMINR, HSV, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
+     $                  LDWORK, M, N, NMINR, NR, P
+      DOUBLE PRECISION  SCALEC, SCALEO, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method;
+          = 'S':  use the square-root SPA method;
+          = 'P':  use the balancing-free square-root SPA method.
+
+  FACT    CHARACTER*1
+          Specifies whether or not, on entry, the matrix A is in a
+          real Schur form, as follows:
+          = 'S':  A is in a real Schur form;
+          = 'N':  A is a general dense square matrix.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMINR), where NR
+          is the desired order on entry and NMINR is the number of
+          the Hankel singular values greater than N*EPS*S1, where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and S1 is the largest Hankel singular value
+          (computed in HSV(1));
+          NR can be further reduced to ensure HSV(NR) &gt; HSV(NR+1);
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*S1).
+
+  SCALEC  (input) DOUBLE PRECISION
+          Scaling factor for the Cholesky factor S of the
+          controllability Grammian, i.e., S/SCALEC is used to
+          compute the Hankel singular values.  SCALEC &gt; 0.
+
+  SCALEO  (input) DOUBLE PRECISION
+          Scaling factor for the Cholesky factor R of the
+          observability Grammian, i.e., R/SCALEO is used to
+          compute the Hankel singular values.  SCALEO &gt; 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A. If FACT = 'S',
+          A is in a real Schur form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOB = 'S' or JOB = 'P', the leading P-by-M
+          part of this array must contain the original input/output
+          matrix D.
+          On exit, if INFO = 0 and JOB = 'S' or JOB = 'P', the
+          leading P-by-M part of this array contains the
+          input/output matrix Dr of the reduced order system.
+          If JOB = 'B' or JOB = 'F', this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= 1,        if JOB = 'B' or JOB = 'F';
+          LDD &gt;= MAX(1,P), if JOB = 'S' or JOB = 'P'.
+
+  TI      (input/output) DOUBLE PRECISION array, dimension (LDTI,N)
+          On entry, the leading N-by-N upper triangular part of
+          this array must contain the Cholesky factor S of a
+          controllability Grammian P = S*S'.
+          On exit, if INFO = 0, and NR &gt; 0, the leading NMINR-by-N
+          part of this array contains the left truncation matrix
+          TI in (1), for the B&T approach, or in (2), for the
+          SPA approach.
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
+          On entry, the leading N-by-N upper triangular part of
+          this array must contain the Cholesky factor R of an
+          observability Grammian Q = R'*R.
+          On exit, if INFO = 0, and NR &gt; 0, the leading N-by-NMINR
+          part of this array contains the right truncation matrix
+          T in (1), for the B&T approach, or in (2), for the
+          SPA approach.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  NMINR   (output) INTEGER
+          The number of Hankel singular values greater than
+          MAX(TOL2,N*EPS*S1).
+          Note: If S and R are the Cholesky factors of the
+          controllability and observability Grammians of the
+          original system (A,B,C,D), respectively, then NMINR is
+          the order of a minimal realization of the original system.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values,
+          ordered decreasingly. The Hankel singular values are
+          singular values of the product R*S.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of the reduced system.
+          For model reduction, the recommended value lies in the
+          interval [0.00001,0.001].
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = N*EPS*S1, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH) and S1 is the largest
+          Hankel singular value (computed in HSV(1)).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the system.
+          The recommended value is TOL2 = N*EPS*S1.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = 0,   if JOB = 'B';
+          LIWORK = N,   if JOB = 'F';
+          LIWORK = 2*N, if JOB = 'S' or 'P'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 2*N*N + 5*N, N*MAX(M,P) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NMINR, the order of a minimal realization of
+                the given system; in this case, the resulting NR is
+                set automatically to NMINR;
+          = 2:  with ORDSEL = 'F', the selected order NR corresponds
+                to repeated singular values, which are neither all
+                included nor all excluded from the reduced model;
+                in this case, the resulting NR is set automatically
+                to the largest value such that HSV(NR) &gt; HSV(NR+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (3)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09IX determines for
+  the given system (3), the matrices of a reduced NR order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
+
+  by using the square-root or balancing-free square-root
+  Balance & Truncate (B&T) or Singular Perturbation Approximation
+  (SPA) model reduction methods.
+
+  The projection matrices TI and T are determined using the
+  Cholesky factors S and R of a controllability Grammian P and an
+  observability Grammian Q.
+  The Hankel singular values HSV(1), ...., HSV(N) are computed as
+  singular values of the product R*S.
+
+  If JOB = 'B', the square-root Balance & Truncate technique
+  of [1] is used.
+
+  If JOB = 'F', the balancing-free square-root version of the
+  Balance & Truncate technique [2] is used.
+
+  If JOB = 'S', the square-root version of the Singular Perturbation
+  Approximation method [3,4] is used.
+
+  If JOB = 'P', the balancing-free square-root version of the
+  Singular Perturbation Approximation method [3,4] is used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudni, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+  [3] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of balanced systems.
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [4] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th CDC, Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on accuracy enhancing square-root
+  or balancing-free square-root methods.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09IY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09IY">AB09IY</A></H2>
+<H3>
+Cholesky factors of the frequency-weighted controllability and observability Grammians
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for given state-space representations
+  (A,B,C,0), (AV,BV,CV,DV), and (AW,BW,CW,DW) of the
+  transfer-function matrices G, V and W, respectively,
+  the Cholesky factors of the frequency-weighted
+  controllability and observability Grammians corresponding
+  to a frequency-weighted model reduction problem.
+  G, V and W must be stable transfer-function matrices with
+  the state matrices A, AV, and AW in real Schur form.
+  It is assumed that the state space realizations (AV,BV,CV,DV)
+  and (AW,BW,CW,DW) are minimal. In case of possible pole-zero
+  cancellations in forming V*G and/or G*W, the parameters for the
+  choice of frequency-weighted Grammians ALPHAO and/or ALPHAC,
+  respectively, must be different from 1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09IY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NV, PV,
+     $                   NW, MW, ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   SCALEC, SCALEO, S, LDS, R, LDR,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBC, JOBO, WEIGHT
+      INTEGER          INFO, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDDV, LDDW, LDR, LDS, LDWORK,
+     $                 M, MW, N, NV, NW, P, PV
+      DOUBLE PRECISION ALPHAC, ALPHAO, SCALEC, SCALEO
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                 B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                 C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                           DV(LDDV,*), DW(LDDW,*),
+     $                 DWORK(*), R(LDR,*),   S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G, V and W are continuous-time systems;
+          = 'D':  G, V and W are discrete-time systems.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation of G, i.e.,
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B and
+          the number of rows of the matrices CW and DW.  M &gt;= 0.
+          M represents the dimension of the input vector of the
+          system with the transfer-function matrix G and
+          also the dimension of the output vector of the system
+          with the transfer-function matrix W.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C and the
+          number of columns of the matrices BV and DV.  P &gt;= 0.
+          P represents the dimension of the output vector of the
+          system with the transfer-function matrix G and
+          also the dimension of the input vector of the system
+          with the transfer-function matrix V.
+
+  NV      (input) INTEGER
+          The order of the matrix AV. Also the number of rows of
+          the matrix BV and the number of columns of the matrix CV.
+          NV represents the dimension of the state vector of the
+          system with the transfer-function matrix V.  NV &gt;= 0.
+
+  PV      (input) INTEGER
+          The number of rows of the matrices CV and DV.  PV &gt;= 0.
+          PV represents the dimension of the output vector of the
+          system with the transfer-function matrix V.
+
+  NW      (input) INTEGER
+          The order of the matrix AW. Also the number of rows of
+          the matrix BW and the number of columns of the matrix CW.
+          NW represents the dimension of the state vector of the
+          system with the transfer-function matrix W.  NW &gt;= 0.
+
+  MW      (input) INTEGER
+          The number of columns of the matrices BW and DW.  MW &gt;= 0.
+          MW represents the dimension of the input vector of the
+          system with the transfer-function matrix W.
+
+  ALPHAC  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted controllability Grammian (see METHOD);
+          ABS(ALPHAC) &lt;= 1.
+
+  ALPHAO  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted observability Grammian (see METHOD);
+          ABS(ALPHAO) &lt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must
+          contain the state matrix A (of the system with the
+          transfer-function matrix G) in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  AV      (input) DOUBLE PRECISION array, dimension (LDAV,NV)
+          If WEIGHT = 'L' or 'B', the leading NV-by-NV part of this
+          array must contain the state matrix AV (of the system with
+          the transfer-function matrix V) in a real Schur form.
+          AV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input) DOUBLE PRECISION array, dimension (LDBV,P)
+          If WEIGHT = 'L' or 'B', the leading NV-by-P part of this
+          array must contain the input matrix BV of the system with
+          the transfer-function matrix V.
+          BV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input) DOUBLE PRECISION array, dimension (LDCV,NV)
+          If WEIGHT = 'L' or 'B', the leading PV-by-NV part of this
+          array must contain the output matrix CV of the system with
+          the transfer-function matrix V.
+          CV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of array CV.
+          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
+          array must contain the feedthrough matrix DV of the system
+          with the transfer-function matrix V.
+          DV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of array DV.
+          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  AW      (input) DOUBLE PRECISION array, dimension (LDAW,NW)
+          If WEIGHT = 'R' or 'B', the leading NW-by-NW part of this
+          array must contain the state matrix AW (of the system with
+          the transfer-function matrix W) in a real Schur form.
+          AW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input) DOUBLE PRECISION array, dimension (LDBW,MW)
+          If WEIGHT = 'R' or 'B', the leading NW-by-MW part of this
+          array must contain the input matrix BW of the system with
+          the transfer-function matrix W.
+          BW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input) DOUBLE PRECISION array, dimension (LDCW,NW)
+          If WEIGHT = 'R' or 'B', the leading M-by-NW part of this
+          array must contain the output matrix CW of the system with
+          the transfer-function matrix W.
+          CW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
+          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
+          array must contain the feedthrough matrix DW of the system
+          with the transfer-function matrix W.
+          DW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian in (1)
+          or (3). See METHOD.
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian in (2)
+          or (4). See METHOD.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor S of the frequency-weighted
+          cotrollability Grammian P = S*S'. See METHOD.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor R of the frequency-weighted
+          observability Grammian Q = R'*R. See METHOD.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, LLEFT, LRIGHT ),
+          where
+          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
+                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
+          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
+          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
+                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
+          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the state matrices A and/or AV are not stable or
+                not in a real Schur form;
+          = 2:  if the state matrices A and/or AW are not stable or
+                not in a real Schur form;
+          = 3:  eigenvalues computation failure.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let Pi = Si*Si' and Qo = Ro'*Ro be the Cholesky factored
+  controllability and observability Grammians satisfying
+  in the continuous-time case
+
+         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0,       (1)
+
+         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0,       (2)
+
+  and in the discrete-time case
+
+         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,       (3)
+
+         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,       (4)
+
+  where
+
+        Ai = ( A  B*Cw ) ,   Bi = ( B*Dw ) ,
+             ( 0   Aw  )          (  Bw  )
+
+        Ao = (  A   0  ) ,   Co = ( Dv*C  Cv ) .
+             ( Bv*C Av )
+
+  Consider the partitioned Grammians
+
+        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
+             ( P12' P22 )               ( Q12' Q22 )
+
+  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
+  respectively, and let P0 and Q0 be non-negative definite matrices
+  defined in the combination method [4]
+                                     -1
+         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
+                                     -1
+         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
+
+  The frequency-weighted controllability and observability
+  Grammians, P and Q, respectively, are defined as follows:
+  P = P0 if JOBC = 'S' (standard combination method [4]);
+  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
+  Grammian defined to enforce stability for a modified combination
+  method of [4];
+  Q = Q0 if JOBO = 'S' (standard combination method [4]);
+  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
+  Grammian defined to enforce stability for a modified combination
+  method of [4].
+
+  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
+  Grammians corresponds to the method of Enns [1], while if
+  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds to the
+  method of Lin and Chiu [2,3].
+
+  The routine computes directly the Cholesky factors S and R
+  such that P = S*S' and Q = R'*R according to formulas
+  developed in [4]. No matrix inversions are involved.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Lin, C.-A. and Chiu, T.-Y.
+      Model reduction via frequency-weighted balanced realization.
+      Control Theory and Advanced Technology, vol. 8,
+      pp. 341-351, 1992.
+
+  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
+      New results on frequency weighted balanced reduction
+      technique.
+      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
+
+  [4] Varga, A. and Anderson, B.D.O.
+      Square-root balancing-free methods for the frequency-weighted
+      balancing related model reduction.
+      (report in preparation)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JD">AB09JD</A></H2>
+<H3>
+Frequency-weighted Hankel norm approximation with invertible weights
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the frequency
+  weighted optimal Hankel-norm approximation method.
+  The Hankel norm of the weighted error
+
+        op(V)*(G-Gr)*op(W)
+
+  is minimized, where G and Gr are the transfer-function matrices
+  of the original and reduced systems, respectively, V and W are
+  invertible transfer-function matrices representing the left and
+  right frequency weights, and op(X) denotes X, inv(X), conj(X) or
+  conj(inv(X)). V and W are specified by their state space
+  realizations (AV,BV,CV,DV) and (AW,BW,CW,DW), respectively.
+  When minimizing ||V*(G-Gr)*W||, V and W must be antistable.
+  When minimizing inv(V)*(G-Gr)*inv(W), V and W must have only
+  antistable zeros.
+  When minimizing conj(V)*(G-Gr)*conj(W), V and W must be stable.
+  When minimizing conj(inv(V))*(G-Gr)*conj(inv(W)), V and W must
+  be minimum-phase.
+  If the original system is unstable, then the frequency weighted
+  Hankel-norm approximation is computed only for the
+  ALPHA-stable part of the system.
+
+  For a transfer-function matrix G, conj(G) denotes the conjugate
+  of G given by G'(-s) for a continuous-time system or G'(1/z)
+  for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL,
+     $                   N, NV, NW, M, P, NR, ALPHA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AV, LDAV, BV, LDBV,
+     $                   CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
+     $                   CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
+     $                  NR, NS, NV, NW, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
+     $                  HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBV    CHARACTER*1
+          Specifies the left frequency-weighting as follows:
+          = 'N':  V = I;
+          = 'V':  op(V) = V;
+          = 'I':  op(V) = inv(V);
+          = 'C':  op(V) = conj(V);
+          = 'R':  op(V) = conj(inv(V)).
+
+  JOBW    CHARACTER*1
+          Specifies the right frequency-weighting as follows:
+          = 'N':  W = I;
+          = 'W':  op(W) = W;
+          = 'I':  op(W) = inv(W);
+          = 'C':  op(W) = conj(W);
+          = 'R':  op(W) = conj(inv(W)).
+
+  JOBINV  CHARACTER*1
+          Specifies the computational approach to be used as
+          follows:
+          = 'N':  use the inverse free descriptor system approach;
+          = 'I':  use the inversion based standard approach;
+          = 'A':  switch automatically to the inverse free
+                  descriptor approach in case of badly conditioned
+                  feedthrough matrices in V or W (see METHOD).
+
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the realization of the left frequency
+          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
+
+  NW      (input) INTEGER
+          The order of the realization of the right frequency
+          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
+          multiplicity of the Hankel singular value HSV(NR-NU+1),
+          NR is the desired order on entry, and NMIN is the order
+          of a minimal realization of the ALPHA-stable part of the
+          given system; NMIN is determined as the number of Hankel
+          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
+          ALPHA-stable part of the weighted system (computed in
+          HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-NV part of
+          this array must contain the state matrix AV of a state
+          space realization of the left frequency weighting V.
+          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
+          NV-by-NV part of this array contains the real Schur form
+          of AV.
+          AV is not referenced if JOBV = 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.
+          LDAV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
+          LDAV &gt;= 1,         if JOBV =  'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-P part of
+          this array must contain the input matrix BV of a state
+          space realization of the left frequency weighting V.
+          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
+          NV-by-P part of this array contains the transformed
+          input matrix BV corresponding to the transformed AV.
+          BV is not referenced if JOBV = 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.
+          LDBV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
+          LDBV &gt;= 1,         if JOBV =  'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if JOBV &lt;&gt; 'N', the leading P-by-NV part of
+          this array must contain the output matrix CV of a state
+          space realization of the left frequency weighting V.
+          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
+          P-by-NV part of this array contains the transformed output
+          matrix CV corresponding to the transformed AV.
+          CV is not referenced if JOBV = 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
+          LDCV &gt;= 1,        if JOBV =  'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If JOBV &lt;&gt; 'N', the leading P-by-P part of this array
+          must contain the feedthrough matrix DV of a state space
+          realization of the left frequency weighting V.
+          DV is not referenced if JOBV = 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
+          LDDV &gt;= 1,        if JOBV =  'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-NW part of
+          this array must contain the state matrix AW of a state
+          space realization of the right frequency weighting W.
+          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
+          NW-by-NW part of this array contains the real Schur form
+          of AW.
+          AW is not referenced if JOBW = 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.
+          LDAW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
+          LDAW &gt;= 1,         if JOBW =  'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
+          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-M part of
+          this array must contain the input matrix BW of a state
+          space realization of the right frequency weighting W.
+          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
+          NW-by-M part of this array contains the transformed
+          input matrix BW corresponding to the transformed AW.
+          BW is not referenced if JOBW = 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.
+          LDBW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
+          LDBW &gt;= 1,         if JOBW =  'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if JOBW &lt;&gt; 'N', the leading M-by-NW part of
+          this array must contain the output matrix CW of a state
+          space realization of the right frequency weighting W.
+          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
+          M-by-NW part of this array contains the transformed output
+          matrix CW corresponding to the transformed AW.
+          CW is not referenced if JOBW = 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
+          LDCW &gt;= 1,        if JOBW =  'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
+          If JOBW &lt;&gt; 'N', the leading M-by-M part of this array
+          must contain the feedthrough matrix DW of a state space
+          realization of the right frequency weighting W.
+          DW is not referenced if JOBW = 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of the array DW.
+          LDDW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
+          LDDW &gt;= 1,        if JOBW =  'N'.
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of this array contain
+          the Hankel singular values, ordered decreasingly, of the
+          projection G1s of op(V)*G1*op(W) (see METHOD), where G1
+          is the ALPHA-stable part of the original system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(G1s), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(G1s) is the
+          Hankel-norm of the projection G1s of op(V)*G1*op(W)
+          (see METHOD), computed in HSV(1).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(G1s), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+          TOL1 &lt; 1.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(G1s).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+          TOL2 &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M,c,d),    if DICO = 'C',
+          LIWORK = MAX(1,N,M,c,d),  if DICO = 'D', where
+             c = 0,                          if JOBV =  'N',
+             c = MAX(2*P,NV+P+N+6,2*NV+P+2), if JOBV &lt;&gt; 'N',
+             d = 0,                          if JOBW =  'N',
+             d = MAX(2*M,NW+M+N+6,2*NW+M+2), if JOBW &lt;&gt; 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
+          for NVP = NV+P and NWM = NW+M we have
+          LDW1 = 0 if JOBV =  'N' and
+          LDW1 = 2*NVP*(NVP+P) + P*P +
+                 MAX( 2*NVP*NVP + MAX( 11*NVP+16, P*NVP ),
+                       NVP*N + MAX( NVP*N+N*N, P*N, P*M ) )
+                   if JOBV &lt;&gt; 'N',
+          LDW2 = 0 if JOBW =  'N' and
+          LDW2 = 2*NWM*(NWM+M) + M*M +
+                 MAX( 2*NWM*NWM + MAX( 11*NWM+16, M*NWM ),
+                       NWM*N + MAX( NWM*N+N*N, M*N, P*M ) )
+                   if JOBW &lt;&gt; 'N',
+          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
+          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the computation of the ordered real Schur form of A
+                 failed;
+          =  2:  the separation of the ALPHA-stable/unstable
+                 diagonal blocks failed because of very close
+                 eigenvalues;
+          =  3:  the reduction of AV to a real Schur form failed;
+          =  4:  the reduction of AW to a real Schur form failed;
+          =  5:  the reduction to generalized Schur form of the
+                 descriptor pair corresponding to the inverse of V
+                 failed;
+          =  6:  the reduction to generalized Schur form of the
+                 descriptor pair corresponding to the inverse of W
+                 failed;
+          =  7:  the computation of Hankel singular values failed;
+          =  8:  the computation of stable projection in the
+                 Hankel-norm approximation algorithm failed;
+          =  9:  the order of computed stable projection in the
+                 Hankel-norm approximation algorithm differs
+                 from the order of Hankel-norm approximation;
+          = 10:  the reduction of AV-BV*inv(DV)*CV to a
+                 real Schur form failed;
+          = 11:  the reduction of AW-BW*inv(DW)*CW to a
+                 real Schur form failed;
+          = 12:  the solution of the Sylvester equation failed
+                 because the poles of V (if JOBV = 'V') or of
+                 conj(V) (if JOBV = 'C') are not distinct from
+                 the poles of G1 (see METHOD);
+          = 13:  the solution of the Sylvester equation failed
+                 because the poles of W (if JOBW = 'W') or of
+                 conj(W) (if JOBW = 'C') are not distinct from
+                 the poles of G1 (see METHOD);
+          = 14:  the solution of the Sylvester equation failed
+                 because the zeros of V (if JOBV = 'I') or of
+                 conj(V) (if JOBV = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 15:  the solution of the Sylvester equation failed
+                 because the zeros of W (if JOBW = 'I') or of
+                 conj(W) (if JOBW = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 16:  the solution of the generalized Sylvester system
+                 failed because the zeros of V (if JOBV = 'I') or
+                 of conj(V) (if JOBV = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 17:  the solution of the generalized Sylvester system
+                 failed because the zeros of W (if JOBW = 'I') or
+                 of conj(W) (if JOBW = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 18:  op(V) is not antistable;
+          = 19:  op(W) is not antistable;
+          = 20:  V is not invertible;
+          = 21:  W is not invertible.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let G be the transfer-function matrix of the original
+  linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                          (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09JD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
+
+  such that the corresponding transfer-function matrix Gr minimizes
+  the Hankel-norm of the frequency-weighted error
+
+          op(V)*(G-Gr)*op(W).                            (3)
+
+  For minimizing (3) with op(V) = V and op(W) = W, V and W are
+  assumed to have poles distinct from those of G, while with
+  op(V) = conj(V) and op(W) = conj(W), conj(V) and conj(W) are
+  assumed to have poles distinct from those of G. For minimizing (3)
+  with op(V) = inv(V) and op(W) = inv(W), V and W are assumed to
+  have zeros distinct from the poles of G, while with
+  op(V) = conj(inv(V)) and op(W) = conj(inv(W)), conj(V) and conj(W)
+  are assumed to have zeros distinct from the poles of G.
+
+  Note: conj(G) = G'(-s) for a continuous-time system and
+        conj(G) = G'(1/z) for a discrete-time system.
+
+  The following procedure is used to reduce G (see [1]):
+
+  1) Decompose additively G as
+
+       G = G1 + G2,
+
+     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
+     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
+
+  2) Compute G1s, the projection of op(V)*G1*op(W) containing the
+     poles of G1, using explicit formulas [4] or the inverse-free
+     descriptor system formulas of [5].
+
+  3) Determine G1sr, the optimal Hankel-norm approximation of G1s,
+     of order r.
+
+  4) Compute G1r, the projection of inv(op(V))*G1sr*inv(op(W))
+     containing the poles of G1sr, using explicit formulas [4]
+     or the inverse-free descriptor system formulas of [5].
+
+  5) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the weighted ALPHA-stable part G1s at step 3, the
+  optimal Hankel-norm approximation method of [2], based on the
+  square-root balancing projection formulas of [3], is employed.
+
+  The optimal weighted approximation error satisfies
+
+       HNORM[op(V)*(G-Gr)*op(W)] &gt;= S(r+1),
+
+  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
+  transfer-function matrix computed at step 2 of the above
+  procedure, and HNORM(.) denotes the Hankel-norm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Latham, G.A. and Anderson, B.D.O.
+      Frequency-weighted optimal Hankel-norm approximation of stable
+      transfer functions.
+      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
+
+  [2] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [3] Tombs, M.S. and Postlethwaite, I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [4] Varga, A.
+      Explicit formulas for an efficient implementation
+      of the frequency-weighting model reduction approach.
+      Proc. 1993 European Control Conference, Groningen, NL,
+      pp. 693-696, 1993.
+
+  [5] Varga, A.
+      Efficient and numerically reliable implementation of the
+      frequency-weighted Hankel-norm approximation model reduction
+      approach.
+      Proc. 2001 ECC, Porto, Portugal, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09JD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, NVMAX, NVPMAX, NWMAX, NWMMAX, PMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
+     $                   PMAX = 20, NVPMAX = NVMAX + PMAX,
+     $                   NWMMAX = NWMAX + MMAX )
+      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
+      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
+     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
+     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
+     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
+      INTEGER          LIW1, LIW2, LIW3, LIWORK
+      PARAMETER        ( LIW1 = 2*MAX( MMAX, PMAX ),
+     $                   LIW2 = MAX( NVPMAX, NWMMAX ) + NMAX + 6,
+     $                   LIW3 = MAX( 2*NVMAX + PMAX + 2,
+     $                               2*NWMAX + MMAX + 2 ) )
+      PARAMETER        ( LIWORK = MAX( LIW1, LIW2, LIW3 ) )
+      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
+      PARAMETER        ( LDW1 = 2*NVPMAX*( NVPMAX + PMAX ) + PMAX*PMAX +
+     $                          MAX( 2*NVPMAX*NVPMAX +
+     $                               MAX( 11*NVPMAX + 16, PMAX*NVPMAX ),
+     $                               NVPMAX*NMAX +
+     $                               MAX( NVPMAX*NMAX + NMAX*NMAX,
+     $                                    PMAX*NMAX, PMAX*MMAX ) ) )
+      PARAMETER        ( LDW2 = 2*NWMMAX*( NWMMAX + MMAX ) + MMAX*MMAX +
+     $                          MAX( 2*NWMMAX*NWMMAX +
+     $                               MAX( 11*NWMMAX + 16, MMAX*NWMMAX ),
+     $                               NWMMAX*NMAX +
+     $                               MAX( NWMMAX*NMAX + NMAX*NMAX,
+     $                                    MMAX*NMAX, PMAX*MMAX ) ) )
+      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
+     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
+      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
+     $                          MIN( NMAX, MMAX ) +
+     $                          MAX( 3*MMAX + 1,
+     $                               MIN( NMAX, MMAX ) + PMAX ) )
+      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
+*     .. Local Scalars ..
+      LOGICAL          LEFTW, RIGHTW
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
+      CHARACTER*1      DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
+     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
+     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
+     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB09JD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
+     $                      JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL
+      LEFTW  = .NOT.LSAME( JOBV, 'N' )
+      RIGHTW = .NOT.LSAME( JOBW, 'N' )
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( LEFTW ) THEN
+                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
+                     WRITE ( NOUT, FMT = 99986 ) NV
+                  ELSE
+                     IF( NV.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                     ( ( AV(I,J), J = 1,NV ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                     ( ( BV(I,J), J = 1,P  ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                     ( ( CV(I,J), J = 1,NV ), I = 1,P )
+                     END IF
+                     IF( LEFTW )
+     $                  READ ( NIN, FMT = * )
+     $                     ( ( DV(I,J), J = 1,P ), I = 1,P )
+                  END IF
+               END IF
+               IF( RIGHTW ) THEN
+                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
+                     WRITE ( NOUT, FMT = 99985 ) NW
+                  ELSE
+                     IF( NW.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                     ( ( AW(I,J), J = 1,NW ), I = 1,NW )
+                        READ ( NIN, FMT = * )
+     $                     ( ( BW(I,J), J = 1,M  ), I = 1,NW )
+                        READ ( NIN, FMT = * )
+     $                     ( ( CW(I,J), J = 1,NW ), I = 1,M )
+                     END IF
+                     READ ( NIN, FMT = * )
+     $                     ( ( DW(I,J), J = 1,M  ), I = 1,M )
+                  END IF
+               END IF
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL, N,
+     $                      NV, NW, M, P, NR, ALPHA,  A, LDA, B, LDB,
+     $                      C, LDC, D, LDD, AV, LDAV, BV, LDBV,
+     $                      CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
+     $                      CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
+     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, NR
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 40 I = 1, NR
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 60 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09JD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09JD = ',I2)
+99997 FORMAT (/' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' IWARN on exit from AB09JD = ',I2)
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
+99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09JD EXAMPLE PROGRAM DATA (Continuous system)
+  6     1     1     2   0     0   0.0  1.E-1  1.E-14    V   N   I   C    S   A
+   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
+    1.0000         0         0         0         0         0
+         0    1.0000         0         0         0         0
+         0         0    1.0000         0         0         0
+         0         0         0    1.0000         0         0
+         0         0         0         0    1.0000         0
+         1
+         0
+         0
+         0
+         0
+         0
+         0         0         0         0         0         1
+         0
+    0.2000   -1.0000
+    1.0000         0
+     1
+     0
+   -1.8000         0
+     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09JD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  4
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
+
+ The reduced state dynamics matrix Ar is 
+  -0.2391   0.3072   1.1630   1.1967
+  -2.9709  -0.2391   2.6270   3.1027
+   0.0000   0.0000  -0.5137  -1.2842
+   0.0000   0.0000   0.1519  -0.5137
+
+ The reduced input/state matrix Br is 
+  -1.0497
+  -3.7052
+   0.8223
+   0.7435
+
+ The reduced state/output matrix Cr is 
+  -0.4466   0.0143  -0.4780  -0.2013
+
+ The reduced input/output matrix Dr is 
+   0.0219
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09JV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JV">AB09JV</A></H2>
+<H3>
+State-space representation of a projection of a left weighted transfer-function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a state-space representation (A,BS,CS,DS) of the
+  projection of V*G or conj(V)*G containing the poles of G, from the
+  state-space representations (A,B,C,D) and (AV-lambda*EV,BV,CV,DV),
+  of the transfer-function matrices G and V, respectively.
+  G is assumed to be a stable transfer-function matrix and
+  the state matrix A must be in a real Schur form.
+  When computing the stable projection of V*G, it is assumed
+  that G and V have completely distinct poles.
+  When computing the stable projection of conj(V)*G, it is assumed
+  that G and conj(V) have completely distinct poles.
+
+  Note: For a transfer-function matrix G, conj(G) denotes the
+  conjugate of G given by G'(-s) for a continuous-time system or
+  G'(1/z) for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JV( JOB, DICO, JOBEV, STBCHK, N, M, P, NV, PV,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, AV, LDAV,
+     $                   EV, LDEV, BV, LDBV, CV, LDCV, DV, LDDV, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, JOBEV, STBCHK
+      INTEGER           INFO, LDA, LDAV, LDB, LDBV, LDC, LDCV,
+     $                  LDD, LDDV, LDEV, LDWORK, M, N, NV, P, PV
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), B(LDB,*), BV(LDBV,*),
+     $                  C(LDC,*), CV(LDCV,*), D(LDD,*), DV(LDDV,*),
+     $                  DWORK(*), EV(LDEV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the projection to be computed as follows:
+          = 'V':  compute the projection of V*G containing
+                  the poles of G;
+          = 'C':  compute the projection of conj(V)*G containing
+                  the poles of G.
+
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G and V are continuous-time systems;
+          = 'D':  G and V are discrete-time systems.
+
+  JOBEV   CHARACTER*1
+          Specifies whether EV is a general square or an identity
+          matrix as follows:
+          = 'G':  EV is a general square matrix;
+          = 'I':  EV is the identity matrix.
+
+  STBCHK  CHARACTER*1
+          Specifies whether stability/antistability of V is to be
+          checked as follows:
+          = 'C':  check stability if JOB = 'C' or antistability if
+                  JOB = 'V';
+          = 'N':  do not check stability or antistability.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector of the system with
+          the transfer-function matrix G.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of the input vector of the system with
+          the transfer-function matrix G.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of the output vector of the system with the
+          transfer-function matrix G, and also the dimension of
+          the input vector if JOB = 'V', or of the output vector
+          if JOB = 'C', of the system with the transfer-function
+          matrix V.  P &gt;= 0.
+
+  NV      (input) INTEGER
+          The dimension of the state vector of the system with
+          the transfer-function matrix V.  NV &gt;= 0.
+
+  PV      (input) INTEGER
+          The dimension of the output vector, if JOB = 'V', or
+          of the input vector, if JOB = 'C', of the system with
+          the transfer-function matrix V.  PV &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system with the transfer-function
+          matrix G in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain
+          the input/state matrix B of the system with the
+          transfer-function matrix G. The matrix BS is equal to B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading PV-by-N part of this
+          array contains the output matrix CS of the projection of
+          V*G, if JOB = 'V', or of conj(V)*G, if JOB = 'C'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P,PV).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the feedthrough matrix D of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading PV-by-M part of
+          this array contains the feedthrough matrix DS of the
+          projection of V*G, if JOB = 'V', or of conj(V)*G,
+          if JOB = 'C'.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P,PV).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, the leading NV-by-NV part of this array must
+          contain the state matrix AV of the system with the
+          transfer-function matrix V.
+          On exit, if INFO = 0, the leading NV-by-NV part of this
+          array contains a condensed matrix as follows:
+          if JOBEV = 'I', it contains the real Schur form of AV;
+          if JOBEV = 'G' and JOB = 'V', it contains a quasi-upper
+          triangular matrix representing the real Schur matrix
+          in the real generalized Schur form of the pair (AV,EV);
+          if JOBEV = 'G', JOB = 'C' and DICO = 'C', it contains a
+          quasi-upper triangular matrix corresponding to the
+          generalized real Schur form of the pair (AV',EV');
+          if JOBEV = 'G', JOB = 'C' and DICO = 'D', it contains an
+          upper triangular matrix corresponding to the generalized
+          real Schur form of the pair (EV',AV').
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.  LDAV &gt;= MAX(1,NV).
+
+  EV      (input/output) DOUBLE PRECISION array, dimension (LDEV,NV)
+          On entry, if JOBEV = 'G', the leading NV-by-NV part of
+          this array must contain the descriptor matrix EV of the
+          system with the transfer-function matrix V.
+          If JOBEV = 'I', EV is assumed to be an identity matrix
+          and is not referenced.
+          On exit, if INFO = 0 and JOBEV = 'G', the leading NV-by-NV
+          part of this array contains a condensed matrix as follows:
+          if JOB = 'V', it contains an upper triangular matrix
+          corresponding to the real generalized Schur form of the
+          pair (AV,EV);
+          if JOB = 'C' and DICO = 'C', it contains an upper
+          triangular matrix corresponding to the generalized real
+          Schur form of the pair (AV',EV');
+          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
+          triangular matrix corresponding to the generalized
+          real Schur form of the pair (EV',AV').
+
+  LDEV    INTEGER
+          The leading dimension of the array EV.
+          LDEV &gt;= MAX(1,NV), if JOBEV = 'G';
+          LDEV &gt;= 1,         if JOBEV = 'I'.
+
+  BV      (input/output) DOUBLE PRECISION array,
+          dimension (LDBV,MBV), where MBV = P, if JOB = 'V', and
+          MBV = PV, if JOB = 'C'.
+          On entry, the leading NV-by-MBV part of this array must
+          contain the input matrix BV of the system with the
+          transfer-function matrix V.
+          On exit, if INFO = 0, the leading NV-by-MBV part of this
+          array contains Q'*BV, where Q is the orthogonal matrix
+          that reduces AV to the real Schur form or the left
+          orthogonal matrix used to reduce the pair (AV,EV),
+          (AV',EV') or (EV',AV') to the generalized real Schur form.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.  LDBV &gt;= MAX(1,NV).
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, the leading PCV-by-NV part of this array must
+          contain the output matrix CV of the system with the
+          transfer-function matrix V, where PCV = PV, if JOB = 'V',
+          or PCV = P, if JOB = 'C'.
+          On exit, if INFO = 0, the leading PCV-by-NV part of this
+          array contains CV*Q, where Q is the orthogonal matrix that
+          reduces AV to the real Schur form, or CV*Z, where Z is the
+          right orthogonal matrix used to reduce the pair (AV,EV),
+          (AV',EV') or (EV',AV') to the generalized real Schur form.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,PV) if JOB = 'V';
+          LDCV &gt;= MAX(1,P)  if JOB = 'C'.
+
+  DV      (input) DOUBLE PRECISION array,
+          dimension (LDDV,MBV), where MBV = P, if JOB = 'V', and
+          MBV = PV, if JOB = 'C'.
+          The leading PCV-by-MBV part of this array must contain
+          the feedthrough matrix DV of the system with the
+          transfer-function matrix V, where PCV = PV, if JOB = 'V',
+          or PCV = P, if JOB = 'C'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,PV) if JOB = 'V';
+          LDDV &gt;= MAX(1,P)  if JOB = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK =   0,    if JOBEV = 'I';
+          LIWORK = NV+N+6, if JOBEV = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= LW1, if JOBEV = 'I',
+          LDWORK &gt;= LW2, if JOBEV = 'G', where
+            LW1 = MAX( 1, NV*(NV+5), NV*N + MAX( a, PV*N, PV*M ) )
+                  a = 0,    if DICO = 'C' or  JOB = 'V',
+                  a = 2*NV, if DICO = 'D' and JOB = 'C';
+            LW2 = MAX( 2*NV*NV + MAX( 11*NV+16, P*NV, PV*NV ),
+                       NV*N + MAX( NV*N+N*N, PV*N, PV*M ) ).
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the reduction of the pair (AV,EV) to the real
+                 generalized Schur form failed (JOBEV = 'G'),
+                 or the reduction of the matrix AV to the real
+                 Schur form failed (JOBEV = 'I);
+          =  2:  the solution of the Sylvester equation failed
+                 because the matrix A and the pencil AV-lambda*EV
+                 have common eigenvalues (if JOB = 'V'), or the
+                 pencil -AV-lambda*EV and A have common eigenvalues
+                 (if JOB = 'C' and DICO = 'C'), or the pencil
+                 AV-lambda*EV has an eigenvalue which is the
+                 reciprocal of one of eigenvalues of A
+                 (if JOB = 'C' and DICO = 'D');
+          =  3:  the solution of the Sylvester equation failed
+                 because the matrices A and AV have common
+                 eigenvalues (if JOB = 'V'), or the matrices A
+                 and -AV have common eigenvalues (if JOB = 'C' and
+                 DICO = 'C'), or the matrix A has an eigenvalue
+                 which is the reciprocal of one of eigenvalues of AV
+                 (if JOB = 'C' and DICO = 'D');
+          =  4:  JOB = 'V' and the pair (AV,EV) has not completely
+                 unstable generalized eigenvalues, or JOB = 'C' and
+                 the pair (AV,EV) has not completely stable
+                 generalized eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOB = 'V', the matrices of the stable projection of V*G are
+  computed as
+
+    BS = B,  CS = CV*X + DV*C,  DS = DV*D,
+
+  where X satisfies the generalized Sylvester equation
+
+    AV*X - EV*X*A + BV*C = 0.
+
+  If JOB = 'C', the matrices of the stable projection of conj(V)*G
+  are computed using the following formulas:
+
+  - for a continuous-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B,  CS = BV'*X + DV'*C,  DS = DV'*D,
+
+    where X satisfies the generalized Sylvester equation
+
+      AV'*X + EV'*X*A + CV'*C = 0.
+
+  - for a discrete-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B,  CS = BV'*X*A + DV'*C,  DS = DV'*D + BV'*X*B,
+
+    where X satisfies the generalized Sylvester equation
+
+      EV'*X - AV'*X*A = CV'*C.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Efficient and numerically reliable implementation of the
+      frequency-weighted Hankel-norm approximation model reduction
+      approach.
+      Proc. 2001 ECC, Porto, Portugal, 2001.
+
+  [2] Zhou, K.
+      Frequency-weighted H-infinity norm and optimal Hankel norm
+      model reduction.
+      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on numerically stable algorithms.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09JW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JW">AB09JW</A></H2>
+<H3>
+State-space representation of a projection of a right weighted transfer-function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a state-space representation (A,BS,CS,DS) of the
+  projection of G*W or G*conj(W) containing the poles of G, from the
+  state-space representations (A,B,C,D) and (AW-lambda*EW,BW,CW,DW),
+  of the transfer-function matrices G and W, respectively.
+  G is assumed to be a stable transfer-function matrix and
+  the state matrix A must be in a real Schur form.
+  When computing the stable projection of G*W, it is assumed
+  that G and W have completely distinct poles.
+  When computing the stable projection of G*conj(W), it is assumed
+  that G and conj(W) have completely distinct poles.
+
+  Note: For a transfer-function matrix G, conj(G) denotes the
+  conjugate of G given by G'(-s) for a continuous-time system or
+  G'(1/z) for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JW( JOB, DICO, JOBEW, STBCHK, N, M, P, NW, MW,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, AW, LDAW,
+     $                   EW, LDEW, BW, LDBW, CW, LDCW, DW, LDDW, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, JOBEW, STBCHK
+      INTEGER           INFO, LDA, LDAW, LDB, LDBW, LDC, LDCW,
+     $                  LDD, LDDW, LDEW, LDWORK, M, MW, N, NW, P
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AW(LDAW,*), B(LDB,*), BW(LDBW,*),
+     $                  C(LDC,*), CW(LDCW,*), D(LDD,*), DW(LDDW,*),
+     $                  DWORK(*), EW(LDEW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the projection to be computed as follows:
+          = 'W':  compute the projection of G*W containing
+                  the poles of G;
+          = 'C':  compute the projection of G*conj(W) containing
+                  the poles of G.
+
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G and W are continuous-time systems;
+          = 'D':  G and W are discrete-time systems.
+
+  JOBEW   CHARACTER*1
+          Specifies whether EW is a general square or an identity
+          matrix as follows:
+          = 'G':  EW is a general square matrix;
+          = 'I':  EW is the identity matrix.
+
+  STBCHK  CHARACTER*1
+          Specifies whether stability/antistability of W is to be
+          checked as follows:
+          = 'C':  check stability if JOB = 'C' or antistability if
+                  JOB = 'W';
+          = 'N':  do not check stability or antistability.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector of the system with
+          the transfer-function matrix G.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of the input vector of the system with
+          the transfer-function matrix G, and also the dimension
+          of the output vector if JOB = 'W', or of the input vector
+          if JOB = 'C', of the system with the transfer-function
+          matrix W.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of the output vector of the system with the
+          transfer-function matrix G.  P &gt;= 0.
+
+  NW      (input) INTEGER
+          The dimension of the state vector of the system with the
+          transfer-function matrix W.  NW &gt;= 0.
+
+  MW      (input) INTEGER
+          The dimension of the input vector, if JOB = 'W', or of
+          the output vector, if JOB = 'C', of the system with the
+          transfer-function matrix W.  MW &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system with the transfer-function
+          matrix G in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array,
+          dimension (LDB,MAX(M,MW))
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading N-by-MW part of this
+          array contains the input matrix BS of the projection of
+          G*W, if JOB = 'W', or of G*conj(W), if JOB = 'C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain
+          the output/state matrix C of the system with the
+          transfer-function matrix G. The matrix CS is equal to C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array,
+          dimension (LDB,MAX(M,MW))
+          On entry, the leading P-by-M part of this array must
+          contain the feedthrough matrix D of the system with
+          the transfer-function matrix G.
+          On exit, if INFO = 0, the leading P-by-MW part of
+          this array contains the feedthrough matrix DS of the
+          projection of G*W, if JOB = 'W', or of G*conj(W),
+          if JOB = 'C'.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, the leading NW-by-NW part of this array must
+          contain the state matrix AW of the system with the
+          transfer-function matrix W.
+          On exit, if INFO = 0, the leading NW-by-NW part of this
+          array contains a condensed matrix as follows:
+          if JOBEW = 'I', it contains the real Schur form of AW;
+          if JOBEW = 'G' and JOB = 'W', it contains a quasi-upper
+          triangular matrix representing the real Schur matrix
+          in the real generalized Schur form of the pair (AW,EW);
+          if JOBEW = 'G', JOB = 'C' and DICO = 'C', it contains a
+          quasi-upper triangular matrix corresponding to the
+          generalized real Schur form of the pair (AW',EW');
+          if JOBEW = 'G', JOB = 'C' and DICO = 'D', it contains an
+          upper triangular matrix corresponding to the generalized
+          real Schur form of the pair (EW',AW').
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.  LDAW &gt;= MAX(1,NW).
+
+  EW      (input/output) DOUBLE PRECISION array, dimension (LDEW,NW)
+          On entry, if JOBEW = 'G', the leading NW-by-NW part of
+          this array must contain the descriptor matrix EW of the
+          system with the transfer-function matrix W.
+          If JOBEW = 'I', EW is assumed to be an identity matrix
+          and is not referenced.
+          On exit, if INFO = 0 and JOBEW = 'G', the leading NW-by-NW
+          part of this array contains a condensed matrix as follows:
+          if JOB = 'W', it contains an upper triangular matrix
+          corresponding to the real generalized Schur form of the
+          pair (AW,EW);
+          if JOB = 'C' and DICO = 'C', it contains an upper
+          triangular matrix corresponding to the generalized real
+          Schur form of the pair (AW',EW');
+          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
+          triangular matrix corresponding to the generalized
+          real Schur form of the pair (EW',AW').
+
+  LDEW    INTEGER
+          The leading dimension of the array EW.
+          LDEW &gt;= MAX(1,NW), if JOBEW = 'G';
+          LDEW &gt;= 1,         if JOBEW = 'I'.
+
+  BW      (input/output) DOUBLE PRECISION array,
+          dimension (LDBW,MBW), where MBW = MW, if JOB = 'W', and
+          MBW = M, if JOB = 'C'.
+          On entry, the leading NW-by-MBW part of this array must
+          contain the input matrix BW of the system with the
+          transfer-function matrix W.
+          On exit, if INFO = 0, the leading NW-by-MBW part of this
+          array contains Q'*BW, where Q is the orthogonal matrix
+          that reduces AW to the real Schur form or the left
+          orthogonal matrix used to reduce the pair (AW,EW),
+          (AW',EW') or (EW',AW') to the generalized real Schur form.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.  LDBW &gt;= MAX(1,NW).
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, the leading PCW-by-NW part of this array must
+          contain the output matrix CW of the system with the
+          transfer-function matrix W, where PCW = M if JOB = 'W' or
+          PCW = MW if JOB = 'C'.
+          On exit, if INFO = 0, the leading PCW-by-NW part of this
+          array contains CW*Q, where Q is the orthogonal matrix that
+          reduces AW to the real Schur form, or CW*Z, where Z is the
+          right orthogonal matrix used to reduce the pair (AW,EW),
+          (AW',EW') or (EW',AW') to the generalized real Schur form.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
+          PCW = MW if JOB = 'C'.
+
+  DW      (input) DOUBLE PRECISION array,
+          dimension (LDDW,MBW), where MBW = MW if JOB = 'W', and
+          MBW = M if JOB = 'C'.
+          The leading PCW-by-MBW part of this array must contain
+          the feedthrough matrix DW of the system with the
+          transfer-function matrix W, where PCW = M if JOB = 'W',
+          or PCW = MW if JOB = 'C'.
+
+  LDDW    INTEGER
+          LDDW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
+          PCW = MW if JOB = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK =   0,    if JOBEW = 'I';
+          LIWORK = NW+N+6, if JOBEW = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= LW1, if JOBEW = 'I',
+          LDWORK &gt;= LW2, if JOBEW = 'G', where
+            LW1 = MAX( 1, NW*(NW+5), NW*N + MAX( a, N*MW, P*MW ) )
+                  a = 0,    if DICO = 'C' or  JOB = 'W',
+                  a = 2*NW, if DICO = 'D' and JOB = 'C';
+            LW2 = MAX( 2*NW*NW + MAX( 11*NW+16, NW*M, MW*NW ),
+                       NW*N + MAX( NW*N+N*N, MW*N, P*MW ) ).
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the reduction of the pair (AW,EW) to the real
+                 generalized Schur form failed (JOBEW = 'G'),
+                 or the reduction of the matrix AW to the real
+                 Schur form failed (JOBEW = 'I);
+          =  2:  the solution of the Sylvester equation failed
+                 because the matrix A and the pencil AW-lambda*EW
+                 have common eigenvalues (if JOB = 'W'), or the
+                 pencil -AW-lambda*EW and A have common eigenvalues
+                 (if JOB = 'C' and DICO = 'C'), or the pencil
+                 AW-lambda*EW has an eigenvalue which is the
+                 reciprocal of one of eigenvalues of A
+                 (if JOB = 'C' and DICO = 'D');
+          =  3:  the solution of the Sylvester equation failed
+                 because the matrices A and AW have common
+                 eigenvalues (if JOB = 'W'), or the matrices A
+                 and -AW have common eigenvalues (if JOB = 'C' and
+                 DICO = 'C'), or the matrix A has an eigenvalue
+                 which is the reciprocal of one of eigenvalues of AW
+                 (if JOB = 'C' and DICO = 'D');
+          =  4:  JOB = 'W' and the pair (AW,EW) has not completely
+                 unstable generalized eigenvalues, or JOB = 'C' and
+                 the pair (AW,EW) has not completely stable
+                 generalized eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOB = 'W', the matrices of the stable projection of G*W are
+  computed as
+
+    BS = B*DW + Y*BW,  CS = C,  DS = D*DW,
+
+  where Y satisfies the generalized Sylvester equation
+
+    -A*Y*EW + Y*AW + B*CW = 0.
+
+  If JOB = 'C', the matrices of the stable projection of G*conj(W)
+  are computed using the following formulas:
+
+  - for a continuous-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B*DW' + Y*CW',  CS = C,  DS = D*DW',
+
+    where Y satisfies the generalized Sylvester equation
+
+      A*Y*EW' + Y*AW' + B*BW' = 0.
+
+  - for a discrete-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B*DW' + A*Y*CW',  CS = C,  DS = D*DW' + C*Y*CW',
+
+    where Y satisfies the generalized Sylvester equation
+
+      Y*EW' - A*Y*AW' = B*BW'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Efficient and numerically reliable implementation of the
+      frequency-weighted Hankel-norm approximation model reduction
+      approach.
+      Proc. 2001 ECC, Porto, Portugal, 2001.
+
+  [2] Zhou, K.
+      Frequency-weighted H-infinity norm and optimal Hankel norm
+      model reduction.
+      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on numerically stable algorithms.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09JX.html b/doc/_build/html/_static/doc/AB09JX.html
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+<HTML>
+<HEAD><TITLE>AB09JX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JX">AB09JX</A></H2>
+<H3>
+Check stability/antistability of finite eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check stability/antistability of finite eigenvalues with
+  respect to a given stability domain.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JX( DICO, STDOM, EVTYPE, N, ALPHA, ER, EI, ED,
+     $                   TOLINF, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, EVTYPE, STDOM
+      INTEGER          INFO, N
+      DOUBLE PRECISION ALPHA, TOLINF
+C     .. Array Arguments ..
+      DOUBLE PRECISION ED(*), EI(*), ER(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the stability domain as follows:
+          = 'C':  for a continuous-time system;
+          = 'D':  for a discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  EVTYPE  CHARACTER*1
+          Specifies whether the eigenvalues arise from a standard
+          or a generalized eigenvalue problem as follows:
+          = 'S':  standard eigenvalue problem;
+          = 'G':  generalized eigenvalue problem;
+          = 'R':  reciprocal generalized eigenvalue problem.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of vectors ER, EI and ED.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the boundary of the domain of interest for the
+          eigenvalues. For a continuous-time system
+          (DICO = 'C'), ALPHA is the boundary value for the real
+          parts of eigenvalues, while for a discrete-time system
+          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
+          the moduli of eigenvalues.
+
+  ER, EI, (input) DOUBLE PRECISION arrays, dimension (N)
+  ED      If EVTYPE = 'S', ER(j) + EI(j)*i, j = 1,...,N, are
+          the eigenvalues of a real matrix.
+          ED is not referenced and is implicitly considered as
+          a vector having all elements equal to one.
+          If EVTYPE = 'G' or EVTYPE = 'R', (ER(j) + EI(j)*i)/ED(j),
+          j = 1,...,N, are the generalized eigenvalues of a pair of
+          real matrices. If ED(j) is zero, then the j-th generalized
+          eigenvalue is infinite.
+          Complex conjugate pairs of eigenvalues must appear
+          consecutively.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOLINF  DOUBLE PRECISION
+          If EVTYPE = 'G' or 'R', TOLINF contains the tolerance for
+          detecting infinite generalized eigenvalues.
+          0 &lt;= TOLINF &lt; 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit, i.e., all eigenvalues lie within
+                 the domain of interest defined by DICO, STDOM
+                 and ALPHA;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  some eigenvalues lie outside the domain of interest
+                 defined by DICO, STDOM and ALPHA.
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The domain of interest for an eigenvalue lambda is defined by the
+  parameters ALPHA, DICO and STDOM as follows:
+     - for a continuous-time system (DICO = 'C'):
+            Real(lambda) &lt; ALPHA if STDOM = 'S';
+            Real(lambda) &gt; ALPHA if STDOM = 'U';
+     - for a discrete-time system (DICO = 'D'):
+            Abs(lambda) &lt; ALPHA if STDOM = 'S';
+            Abs(lambda) &gt; ALPHA if STDOM = 'U'.
+  If EVTYPE = 'R', the same conditions apply for 1/lambda.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB09KD.html b/doc/_build/html/_static/doc/AB09KD.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>AB09KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09KD">AB09KD</A></H2>
+<H3>
+Frequency-weighted Hankel-norm approximation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the frequency
+  weighted optimal Hankel-norm approximation method.
+  The Hankel norm of the weighted error
+
+        V*(G-Gr)*W    or    conj(V)*(G-Gr)*conj(W)
+
+  is minimized, where G and Gr are the transfer-function matrices
+  of the original and reduced systems, respectively, and V and W
+  are the transfer-function matrices of the left and right frequency
+  weights, specified by their state space realizations (AV,BV,CV,DV)
+  and (AW,BW,CW,DW), respectively. When minimizing the weighted
+  error V*(G-Gr)*W, V and W must be antistable transfer-function
+  matrices. When minimizing conj(V)*(G-Gr)*conj(W), V and W must be
+  stable transfer-function matrices.
+  Additionally, V and W must be invertible transfer-function
+  matrices, with the feedthrough matrices DV and DW invertible.
+  If the original system is unstable, then the frequency weighted
+  Hankel-norm approximation is computed only for the
+  ALPHA-stable part of the system.
+
+  For a transfer-function matrix G, conj(G) denotes the conjugate
+  of G given by G'(-s) for a continuous-time system or G'(1/z)
+  for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW, M,
+     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL, WEIGHT
+      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
+     $                  NR, NS, NV, NW, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
+     $                  HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the frequency-weighting problem as follows:
+          = 'N':  solve min||V*(G-Gr)*W||_H;
+          = 'C':  solve min||conj(V)*(G-Gr)*conj(W)||_H.
+
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the realization of the left frequency
+          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
+
+  NW      (input) INTEGER
+          The order of the realization of the right frequency
+          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
+          multiplicity of the Hankel singular value HSV(NR-NU+1),
+          NR is the desired order on entry, and NMIN is the order
+          of a minimal realization of the ALPHA-stable part of the
+          given system; NMIN is determined as the number of Hankel
+          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
+          ALPHA-stable part of the weighted system (computed in
+          HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
+          part of this array must contain the state matrix AV of a
+          state space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-NV part of this array contains a real Schur form
+          of the state matrix of a state space realization of the
+          inverse of V.
+          AV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
+          of this array must contain the input matrix BV of a state
+          space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-P part of this array contains the input matrix of a
+          state space realization of the inverse of V.
+          BV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
+          of this array must contain the output matrix CV of a state
+          space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          P-by-NV part of this array contains the output matrix of a
+          state space realization of the inverse of V.
+          CV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  DV      (input/output) DOUBLE PRECISION array, dimension (LDDV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading P-by-P part
+          of this array must contain the feedthrough matrix DV of a
+          state space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          P-by-P part of this array contains the feedthrough matrix
+          of a state space realization of the inverse of V.
+          DV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
+          part of this array must contain the state matrix AW of
+          a state space realization of the right frequency
+          weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-NW part of this array contains a real Schur form of
+          the state matrix of a state space realization of the
+          inverse of W.
+          AW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
+          of this array must contain the input matrix BW of a state
+          space realization of the right frequency weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-M part of this array contains the input matrix of a
+          state space realization of the inverse of W.
+          BW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
+          of this array must contain the output matrix CW of a state
+          space realization of the right frequency weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          M-by-NW part of this array contains the output matrix of a
+          state space realization of the inverse of W.
+          CW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input/output) DOUBLE PRECISION array, dimension (LDDW,M)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-M part
+          of this array must contain the feedthrough matrix DW of
+          a state space realization of the right frequency
+          weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          M-by-M part of this array contains the feedthrough matrix
+          of a state space realization of the inverse of W.
+          DW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of the array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of this array contain
+          the Hankel singular values, ordered decreasingly, of the
+          ALPHA-stable part of the weighted original system.
+          HSV(1) is the Hankel norm of the ALPHA-stable weighted
+          subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the weighted
+          original system (computed in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M,c),      if DICO = 'C',
+          LIWORK = MAX(1,N,M,c),    if DICO = 'D',
+          where  c = 0,             if WEIGHT = 'N',
+                 c = 2*P,           if WEIGHT = 'L',
+                 c = 2*M,           if WEIGHT = 'R',
+                 c = MAX(2*M,2*P),  if WEIGHT = 'B'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
+          LDW1 = 0 if WEIGHT = 'R' or 'N' and
+          LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
+                 if WEIGHT = 'L' or WEIGHT = 'B',
+          LDW2 = 0 if WEIGHT = 'L' or 'N' and
+          LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
+                 if WEIGHT = 'R' or WEIGHT = 'B', with
+             a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
+             a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C';
+          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
+          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system; in this case, the resulting NR is set equal
+                to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system; in this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the computation of the ordered real Schur form of A
+                 failed;
+          =  2:  the separation of the ALPHA-stable/unstable
+                 diagonal blocks failed because of very close
+                 eigenvalues;
+          =  3:  the reduction of AV or AV-BV*inv(DV)*CV to a
+                 real Schur form failed;
+          =  4:  the reduction of AW or AW-BW*inv(DW)*CW to a
+                 real Schur form failed;
+          =  5:  JOB = 'N' and AV is not antistable, or
+                 JOB = 'C' and AV is not stable;
+          =  6:  JOB = 'N' and AW is not antistable, or
+                 JOB = 'C' and AW is not stable;
+          =  7:  the computation of Hankel singular values failed;
+          =  8:  the computation of stable projection in the
+                 Hankel-norm approximation algorithm failed;
+          =  9:  the order of computed stable projection in the
+                 Hankel-norm approximation algorithm differs
+                 from the order of Hankel-norm approximation;
+          = 10:  DV is singular;
+          = 11:  DW is singular;
+          = 12:  the solution of the Sylvester equation failed
+                 because the zeros of V (if JOB = 'N') or of conj(V)
+                 (if JOB = 'C') are not distinct from the poles
+                 of G1sr (see METHOD);
+          = 13:  the solution of the Sylvester equation failed
+                 because the zeros of W (if JOB = 'N') or of conj(W)
+                 (if JOB = 'C') are not distinct from the poles
+                 of G1sr (see METHOD).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let G be the transfer-function matrix of the original
+  linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                          (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09KD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
+
+  such that the corresponding transfer-function matrix Gr minimizes
+  the Hankel-norm of the frequency-weighted error
+
+          V*(G-Gr)*W,                                    (3)
+  or
+          conj(V)*(G-Gr)*conj(W).                        (4)
+
+  For minimizing (3), V and W are assumed to be antistable, while
+  for minimizing (4), V and W are assumed to be stable transfer-
+  function matrices.
+
+  Note: conj(G) = G'(-s) for a continuous-time system and
+        conj(G) = G'(1/z) for a discrete-time system.
+
+  The following procedure is used to reduce G (see [1]):
+
+  1) Decompose additively G as
+
+       G = G1 + G2,
+
+     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
+     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
+
+  2) Compute G1s, the stable projection of V*G1*W or
+     conj(V)*G1*conj(W), using explicit formulas [4].
+
+  3) Determine G1sr, the optimal Hankel-norm approximation of G1s
+     of order r.
+
+  4) Compute G1r, the stable projection of either inv(V)*G1sr*inv(W)
+     or conj(inv(V))*G1sr*conj(inv(W)), using explicit formulas [4].
+
+  5) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the weighted ALPHA-stable part G1s at step 3, the
+  optimal Hankel-norm approximation method of [2], based on the
+  square-root balancing projection formulas of [3], is employed.
+
+  The optimal weighted approximation error satisfies
+
+       HNORM[V*(G-Gr)*W] = S(r+1),
+  or
+       HNORM[conj(V)*(G-Gr)*conj(W)] = S(r+1),
+
+  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
+  transfer-function matrix computed at step 2 of the above
+  procedure, and HNORM(.) denotes the Hankel-norm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Latham, G.A. and Anderson, B.D.O.
+      Frequency-weighted optimal Hankel-norm approximation of stable
+      transfer functions.
+      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
+
+  [2] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [3] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [4] Varga A.
+      Explicit formulas for an efficient implementation
+      of the frequency-weighting model reduction approach.
+      Proc. 1993 European Control Conference, Groningen, NL,
+      pp. 693-696, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, NVMAX, NWMAX, PMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
+     $                   PMAX = 20 )
+      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
+      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
+     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
+     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
+     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( MMAX, PMAX ) )
+      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
+      PARAMETER        ( LDW1 = MAX( NVMAX*( NVMAX + 5 ), NVMAX*NMAX +
+     $                          MAX( 2*NVMAX, PMAX*NMAX, PMAX*MMAX ) ))
+      PARAMETER        ( LDW2 = MAX( NWMAX*( NWMAX + 5 ), NWMAX*NMAX +
+     $                          MAX( 2*NWMAX, MMAX*NMAX, PMAX*MMAX ) ))
+      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
+     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
+      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
+     $                          MIN( NMAX, MMAX ) +
+     $                          MAX( 3*MMAX + 1,
+     $                               MIN( NMAX, MMAX ) + PMAX ) )
+      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
+*     .. Local Scalars ..
+      LOGICAL          LEFTW, RIGHTW
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL, WEIGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
+     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
+     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
+     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB09KD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
+     $                      JOB, DICO, WEIGHT, EQUIL, ORDSEL
+      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
+      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF( P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( LEFTW .OR. NV.GT.0 ) THEN
+                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
+                     WRITE ( NOUT, FMT = 99986 ) NV
+                  ELSE
+                     IF( NV.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                    ( ( BV(I,J), J = 1,P ), I = 1, NV )
+                        READ ( NIN, FMT = * )
+     $                    ( ( CV(I,J), J = 1,NV ), I = 1,P )
+                     END IF
+                     IF( LEFTW )  READ ( NIN, FMT = * )
+     $                    ( ( DV(I,J), J = 1,P ), I = 1,P )
+                  END IF
+               END IF
+               IF( RIGHTW ) THEN
+                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
+                     WRITE ( NOUT, FMT = 99985 ) NW
+                  ELSE
+                     IF( NW.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
+                        READ ( NIN, FMT = * )
+     $                    ( ( BW(I,J), J = 1,M ), I = 1, NW )
+                        READ ( NIN, FMT = * )
+     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
+                     END IF
+                     READ ( NIN, FMT = * )
+     $                    ( ( DW(I,J), J = 1,M ), I = 1,M )
+                  END IF
+               END IF
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW,
+     $                      M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, AV, LDAV, BV, LDBV, CV, LDCV,
+     $                      DV, LDDV, AW, LDAW, BW, LDBW, CW, LDCW,
+     $                      DW, LDDW, NS, HSV, TOL1, TOL2, IWORK,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09KD = ',I2)
+99997 FORMAT (/' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
+99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
+99984 FORMAT (' IWARN on exit from AB09KD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09KD EXAMPLE PROGRAM DATA (Continuous system)
+  6     1     1     2   0   0   0.0  1.E-1  1.E-14    N   C    L    S     A
+   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
+    1.0000         0         0         0         0         0
+         0    1.0000         0         0         0         0
+         0         0    1.0000         0         0         0
+         0         0         0    1.0000         0         0
+         0         0         0         0    1.0000         0
+         1
+         0
+         0
+         0
+         0
+         0
+         0         0         0         0         0         1
+         0
+    0.2000   -1.0000
+    1.0000         0
+     1
+     0
+   -1.8000         0
+     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09KD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  4
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
+
+ The reduced state dynamics matrix Ar is 
+  -0.2391   0.3072   1.1630   1.1967
+  -2.9709  -0.2391   2.6270   3.1027
+   0.0000   0.0000  -0.5137  -1.2842
+   0.0000   0.0000   0.1519  -0.5137
+
+ The reduced input/state matrix Br is 
+  -1.0497
+  -3.7052
+   0.8223
+   0.7435
+
+ The reduced state/output matrix Cr is 
+  -0.4466   0.0143  -0.4780  -0.2013
+
+ The reduced input/output matrix Dr is 
+   0.0219
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09KX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09KX">AB09KX</A></H2>
+<H3>
+Stable projection of V G W or conj(V) G conj(W)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a state-space representation (A,BS,CS,DS) of the
+  stable projection of V*G*W or conj(V)*G*conj(W) from the
+  state-space representations (A,B,C,D), (AV,BV,CV,DV), and
+  (AW,BW,CW,DW) of the transfer-function matrices G, V and W,
+  respectively. G is assumed to be a stable transfer-function
+  matrix and the state matrix A must be in a real Schur form.
+  When computing the stable projection of V*G*W, V and W are assumed
+  to be completely unstable transfer-function matrices.
+  When computing the stable projection of conj(V)*G*conj(W),
+  V and W are assumed to be stable transfer-function matrices.
+
+  For a transfer-function matrix G, conj(G) denotes the conjugate
+  of G given by G'(-s) for a continuous-time system or G'(1/z)
+  for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09KX( JOB, DICO, WEIGHT, N, NV, NW, M, P,
+     $                   A,  LDA,  B,  LDB,  C,  LDC,  D,  LDD,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOB, WEIGHT
+      INTEGER          INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
+     $                 NV, NW, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*),   B(LDB,*),   C(LDC,*),   D(LDD,*),
+     $                 AV(LDAV,*), BV(LDBV,*), CV(LDCV,*), DV(LDDV,*),
+     $                 AW(LDAW,*), BW(LDBW,*), CW(LDCW,*), DW(LDDW,*),
+     $                 DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies which projection to be computed as follows:
+          = 'N':  compute the stable projection of V*G*W;
+          = 'C':  compute the stable projection of
+                  conj(V)*G*conj(W).
+
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G, V and W are continuous-time systems;
+          = 'D':  G, V and W are discrete-time systems.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. Also the number of rows of
+          the matrix B and the number of columns of the matrix C.
+          N represents the dimension of the state vector of the
+          system with the transfer-function matrix G.  N &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the matrix AV. Also the number of rows of
+          the matrix BV and the number of columns of the matrix CV.
+          NV represents the dimension of the state vector of the
+          system with the transfer-function matrix V.  NV &gt;= 0.
+
+  NW      (input) INTEGER
+          The order of the matrix AW. Also the number of rows of
+          the matrix BW and the number of columns of the matrix CW.
+          NW represents the dimension of the state vector of the
+          system with the transfer-function matrix W.  NW &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B, D, BW and DW
+          and number of rows of the matrices CW and DW.  M &gt;= 0.
+          M represents the dimension of input vectors of the
+          systems with the transfer-function matrices G and W and
+          also the dimension of the output vector of the system
+          with the transfer-function matrix W.
+
+  P       (input) INTEGER
+          The number of rows of the matrices C, D, CV and DV and the
+          number of columns of the matrices BV and DV.  P &gt;= 0.
+          P represents the dimension of output vectors of the
+          systems with the transfer-function matrices G and V and
+          also the dimension of the input vector of the system
+          with the transfer-function matrix V.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must
+          contain the state matrix A of the system with the
+          transfer-function matrix G in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the input matrix BS of the stable
+          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
+          if JOB = 'C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading P-by-N part of this
+          array contains the output matrix CS of the stable
+          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
+          if JOB = 'C'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the feedthrough matrix D of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the feedthrough matrix DS of the stable
+          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
+          if JOB = 'C'.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
+          part of this array must contain the state matrix AV of
+          the system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-NV part of this array contains a real Schur form
+          of AV.
+          AV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
+          of this array must contain the input matrix BV of the
+          system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-P part of this array contains the transformed input
+          matrix BV.
+          BV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
+          of this array must contain the output matrix CV of the
+          system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          P-by-NV part of this array contains the transformed output
+          matrix CV.
+          CV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If WEIGHT = 'L' or 'B', the leading P-by-P part of this
+          array must contain the feedthrough matrix DV of the system
+          with the transfer-function matrix V.
+          DV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
+          part of this array must contain the state matrix AW of
+          the system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-NW part of this array contains a real Schur form
+          of AW.
+          AW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
+          of this array must contain the input matrix BW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-M part of this array contains the transformed input
+          matrix BW.
+          BW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
+          of this array must contain the output matrix CW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          M-by-NW part of this array contains the transformed output
+          matrix CW.
+          CW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
+          If WEIGHT = 'R' or 'B', the leading M-by-M part of this
+          array must contain the feedthrough matrix DW of the system
+          with the transfer-function matrix W.
+          DW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of the array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, LDW1, LDW2 ), where
+            LDW1 = 0 if WEIGHT = 'R' or 'N' and
+            LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
+                   if WEIGHT = 'L' or WEIGHT = 'B',
+            LDW2 = 0 if WEIGHT = 'L' or 'N' and
+            LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
+                   if WEIGHT = 'R' or WEIGHT = 'B',
+            a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
+            a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C'.
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          =  0:  no warning;
+          =  1:  JOB = 'N' and AV is not completely unstable, or
+                 JOB = 'C' and AV is not stable;
+          =  2:  JOB = 'N' and AW is not completely unstable, or
+                 JOB = 'C' and AW is not stable;
+          =  3:  both above conditions appear.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the reduction of AV to a real Schur form failed;
+          =  2:  the reduction of AW to a real Schur form failed;
+          =  3:  the solution of the Sylvester equation failed
+                 because the matrices A and AV have common
+                 eigenvalues (if JOB = 'N'), or -AV and A have
+                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
+                 or AV has an eigenvalue which is the reciprocal of
+                 one of the eigenvalues of A (if JOB = 'C' and
+                 DICO = 'D');
+          =  4:  the solution of the Sylvester equation failed
+                 because the matrices A and AW have common
+                 eigenvalues (if JOB = 'N'), or -AW and A have
+                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
+                 or AW has an eigenvalue which is the reciprocal of
+                 one of the eigenvalues of A (if JOB = 'C' and
+                 DICO = 'D').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the stable projection of V*G*W are computed as
+
+    BS = B*DW + Y*BW,  CS = CV*X + DV*C,  DS = DV*D*DW,
+
+  where X and Y satisfy the continuous-time Sylvester equations
+
+    AV*X - X*A  + BV*C = 0,
+    -A*Y + Y*AW + B*CW = 0.
+
+  The matrices of the stable projection of conj(V)*G*conj(W) are
+  computed using the explicit formulas established in [1].
+
+  For a continuous-time system, the matrices BS, CS and DS of
+  the stable projection are computed as
+
+    BS = B*DW' + Y*CW',  CS = BV'*X + DV'*C,  DS = DV'*D*DW',
+
+  where X and Y satisfy the continuous-time Sylvester equations
+
+    AV'*X + X*A   + CV'*C = 0,
+      A*Y + Y*AW' + B*BW' = 0.
+
+  For a discrete-time system, the matrices BS, CS and DS of
+  the stable projection are computed as
+
+    BS = B*DW' + A*Y*CW',  CS = BV'*X*A + DV'*C,
+    DS = DV'*D*DW' + BV'*X*B*DW' + DV'*C*Y*CW' + BV'*X*A*Y*CW',
+
+  where X and Y satisfy the discrete-time Sylvester equations
+
+    AV'*X*A + CV'*C = X,
+    A*Y*AW' + B*BW' = Y.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Explicit formulas for an efficient implementation
+      of the frequency-weighting model reduction approach.
+      Proc. 1993 European Control Conference, Groningen, NL,
+      pp. 693-696, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on numerically stable algorithms.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The matrix A must be stable, but its stability is not checked by
+  this routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09MD">AB09MD</A></H2>
+<H3>
+Balance & Truncate model reduction for the stable part of a system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for an original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate (B & T)
+  model reduction method for the ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   A, LDA, B, LDB, C, LDC, NS, HSV, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR,
+     $                  NS, P
+      DOUBLE PRECISION  ALPHA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, and NMIN is the order of a minimal realization
+          of the ALPHA-stable part of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
+          part of the given system (computed in HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues in an
+          upper real Schur form.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the given system
+          (computed in HSV(1)).
+          If TOL &lt;= 0 on entry, the used default value is
+          TOL = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          This value is appropriate to compute a minimal realization
+          of the ALPHA-stable part.
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0, if JOB = 'B';
+          LIWORK = N, if JOB = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09MD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  such that
+
+  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1.
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
+  Balance & Truncate method of [1] is used, and for an ALPHA-stable
+  continuous-time system (DICO = 'C'), the resulting reduced model
+  is balanced. For ALPHA-stable systems, setting TOL &lt; 0, the
+  routine can be used to compute balanced minimal state-space
+  realizations.
+
+  If JOB = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used to reduce the ALPHA-stable
+  part G1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
+     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
+     $                            ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL, DICO, JOB, EQUIL,
+     $                      ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      ALPHA, A, LDA, B, LDB, C, LDC, NS, HSV,
+     $                      TOL, IWORK, DWORK, LDWORK, IWARN, INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09MD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09MD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   -.6D0 1.D-1  C  N  N  A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09MD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of ALPHA-stable part are
+   1.9178   0.8621   0.7666   0.0336   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5181  -1.1084   0.0000   0.0000   0.0000
+   8.8157  -0.5181   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.5124   0.0000   1.7910
+   0.0000   0.0000   0.0000  -1.4460   0.0000
+   0.0000   0.0000  -4.2167   0.0000  -2.9900
+
+ The reduced input/state matrix Br is 
+  -1.2837   1.2837
+  -0.7522   0.7522
+  -0.7447  -0.7447
+   1.9275  -1.9275
+  -3.6872  -3.6872
+
+ The reduced state/output matrix Cr is 
+  -0.1380  -0.6445  -0.6582  -0.5771   0.2222
+   0.6246   0.0196   0.0000   0.4131   0.0000
+   0.1380   0.6445  -0.6582   0.5771   0.2222
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09ND">AB09ND</A></H2>
+<H3>
+Singular perturbation approximation based model reduction for the stable part of a system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root Singular
+  Perturbation Approximation (SPA) model reduction method for the
+  ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, NS, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root SPA method;
+          = 'N':  use the balancing-free square-root SPA method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, and NMIN is the order of a minimal realization
+          of the ALPHA-stable part of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
+          part of the given system (computed in HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues in an
+          upper real Schur form.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the given system
+          (computed in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          This value is appropriate to compute a minimal realization
+          of the ALPHA-stable part.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit, if INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the ALPHA-stable part of the
+          system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09ND determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1.
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
+  balancing-based SPA method of [1] is used, and for an ALPHA-stable
+  system, the resulting reduced model is balanced.
+
+  If JOB = 'N', the balancing-free square-root SPA method of [2]
+  is used to reduce the ALPHA-stable part G1.
+  By setting TOL1 = TOL2, the routine can be used to compute
+  Balance & Truncate approximations as well.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems,
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing
+      singular perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                 LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
+     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
+     $                            ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
+     $                      DICO, JOB, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09ND = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09ND EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   -.6D0 1.D-1  1.E-14  C  N  N  A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09ND EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of ALPHA-stable part are
+   1.9178   0.8621   0.7666   0.0336   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5181  -1.1084   0.0000   0.0000   0.0000
+   8.8157  -0.5181   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.5847   0.0000   1.9230
+   0.0000   0.0000   0.0000  -1.6606   0.0000
+   0.0000   0.0000  -4.3823   0.0000  -3.2922
+
+ The reduced input/state matrix Br is 
+  -1.2837   1.2837
+  -0.7522   0.7522
+  -0.6379  -0.6379
+   2.0656  -2.0656
+  -3.9315  -3.9315
+
+ The reduced state/output matrix Cr is 
+  -0.1380  -0.6445  -0.6416  -0.6293   0.2526
+   0.6246   0.0196   0.0000   0.4107   0.0000
+   0.1380   0.6445  -0.6416   0.6293   0.2526
+
+ The reduced input/output matrix Dr is 
+   0.0582  -0.0090
+   0.0015  -0.0015
+  -0.0090   0.0582
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13AD.html b/doc/_build/html/_static/doc/AB13AD.html
new file mode 100644
index 00000000..4e3645d5
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB13AD.html
@@ -0,0 +1,322 @@
+<HTML>
+<HEAD><TITLE>AB13AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13AD">AB13AD</A></H2>
+<H3>
+Hankel-norm of a stable projection
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Hankel-norm of the ALPHA-stable projection of the
+  transfer-function matrix G of the state-space system (A,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13AD( DICO, EQUIL, N, M, P, ALPHA, A,
+     $                                  LDA, B, LDB, C, LDC, NS, HSV,
+     $                                  DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NS, P
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13AD  DOUBLE PRECISION
+          The Hankel-norm of the ALPHA-stable projection of G
+          (if INFO = 0).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary
+          (see the Note below).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the state dynamics matrix A in a block
+          diagonal real Schur form with its eigenvalues reordered
+          and separated. The resulting A has two diagonal blocks.
+          The leading NS-by-NS part of A has eigenvalues in the
+          ALPHA-stability domain and the trailing (N-NS) x (N-NS)
+          part has eigenvalues outside the ALPHA-stability domain.
+          Note: The ALPHA-stability domain is defined either
+                as the open half complex plane left to ALPHA,
+                for a continous-time system (DICO = 'C'), or the
+                interior of the ALPHA-radius circle centered in the
+                origin, for a discrete-time system (DICO = 'D').
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the input/state matrix B of the transformed
+          system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-N part of this
+          array contains the state/output matrix C of the
+          transformed system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computed ALPHA-stable part is just stable,
+                having stable eigenvalues very near to the imaginary
+                axis (if DICO = 'C') or to the unit circle
+                (if DICO = 'D');
+          = 4:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The following procedure is used to
+  compute the Hankel-norm of the ALPHA-stable projection of G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
+     For the computation of the additive decomposition, the
+     algorithm presented in [1] is used.
+
+  2) Compute the Hankel-norm of ALPHA-stable projection G1 as the
+     the maximum Hankel singular value of the system (As,Bs,Cs).
+     The computation of the Hankel singular values is performed
+     by using the square-root method of [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Safonov, M.G., Jonckheere, E.A., Verma, M. and Limebeer, D.J.
+      Synthesis of positive real multivariable feedback systems,
+      Int. J. Control, Vol. 45, pp. 817-842, 1987.
+
+  [2] Tombs, M.S. and Postlethwaite, I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on a square-root technique.
+                                  3
+  The algorithms require about 17N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( MAX( NMAX, MMAX, PMAX ) + 5 )
+     $                        + ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, SHNORM
+      INTEGER          I, INFO, J, M, N, NS, P
+      CHARACTER*1      DICO, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION AB13AD
+      EXTERNAL         AB13AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Compute the Hankel-norm of the ALPHA-stable projection of
+*              (A,B,C).
+               SHNORM = AB13AD( DICO, EQUIL, N, M, P, ALPHA, A, LDA, B,
+     $                          LDB, C, LDC, NS, HSV, DWORK, LDWORK,
+     $                          INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) SHNORM
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13AD = ',I2)
+99997 FORMAT (' The Hankel-norm of the ALPHA-projection = ',1PD14.5)
+99995 FORMAT (20(1X,F8.4))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-projection are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13AD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   0.0  C  N
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13AD EXAMPLE PROGRAM RESULTS
+
+ The Hankel-norm of the ALPHA-projection =    2.51388D+00
+
+ The Hankel singular values of ALPHA-projection are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13AX.html b/doc/_build/html/_static/doc/AB13AX.html
new file mode 100644
index 00000000..7b6d1891
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB13AX.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>AB13AX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13AX">AB13AX</A></H2>
+<H3>
+Hankel-norm of a stable system with the state dynamics matrix in real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Hankel-norm of the transfer-function matrix G of
+  a stable state-space system (A,B,C). The state dynamics matrix A
+  of the given system is an upper quasi-triangular matrix in
+  real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13AX( DICO, N, M, P, A, LDA, B, LDB,
+     $                                  C, LDC, HSV, DWORK, LDWORK,
+     $                                  INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13AX  DOUBLE PRECISION
+          The Hankel-norm of G (if INFO = 0).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A in a real Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, this array contains the Hankel singular
+          values of the given system ordered decreasingly.
+          HSV(1) is the Hankel norm of the given system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The Hankel-norm of G is computed as the
+  the maximum Hankel singular value of the system (A,B,C).
+  The computation of the Hankel singular values is performed
+  by using the square-root method of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on a square-root technique.
+                                  3
+  The algorithms require about 17N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13BD.html b/doc/_build/html/_static/doc/AB13BD.html
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+<HTML>
+<HEAD><TITLE>AB13BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13BD">AB13BD</A></H2>
+<H3>
+H2 or L2 norm of a system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the H2 or L2 norm of the transfer-function matrix G
+  of the system (A,B,C,D). G must not have poles on the imaginary
+  axis, for a continuous-time system, or on the unit circle, for
+  a discrete-time system. If the H2-norm is computed, the system
+  must be stable.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13BD( DICO, JOBN, N, M, P, A, LDA,
+     $                                  B, LDB, C, LDC, D, LDD, NQ, TOL,
+     $                                  DWORK, LDWORK, IWARN, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOBN
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M,
+     $                  N, NQ, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13BD   DOUBLE PRECISION
+           The H2-norm of G, if JOBN = 'H', or the L2-norm of G,
+           if JOBN = 'L' (if INFO = 0).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBN    CHARACTER*1
+          Specifies the norm to be computed as follows:
+          = 'H':  the H2-norm;
+          = 'L':  the L2-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of the
+          matrix B, and the number of columns of the matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and D.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices C and D.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix of the system.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the state dynamics matrix (in a real Schur form) of the
+          numerator factor Q of the right coprime factorization with
+          inner denominator of G (see METHOD).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix of the system.
+          On exit, the leading NQ-by-M part of this array contains
+          the input/state matrix of the numerator factor Q of the
+          right coprime factorization with inner denominator of G
+          (see METHOD).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix of the system.
+          On exit, the leading P-by-NQ part of this array contains
+          the state/output matrix of the numerator factor Q of the
+          right coprime factorization with inner denominator of G
+          (see METHOD).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix of the system.
+          If DICO = 'C', D must be a null matrix.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix of the numerator factor Q of
+          the right coprime factorization with inner denominator
+          of G (see METHOD).
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting numerator Q of the right
+          coprime factorization with inner denominator of G (see
+          METHOD).
+          Generally, NQ = N - NS, where NS is the number of
+          uncontrollable unstable eigenvalues.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
+          the 1-norm of B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, M*(N+M) + MAX( N*(N+5), M*(M+2), 4*P ),
+                            N*( MAX( N, P ) + 4 ) + MIN( N, P ) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                occured during the assignment of eigenvalues in
+                computing the right coprime factorization with inner
+                denominator of G (see the SLICOT subroutine SB08DD).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the reordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal (see SLICOT routine SB08DD);
+          = 3:  if DICO = 'C' and the matrix A has a controllable
+                eigenvalue on the imaginary axis, or DICO = 'D'
+                and A has a controllable eigenvalue on the unit
+                circle;
+          = 4:  the solution of Lyapunov equation failed because
+                the equation is singular;
+          = 5:  if DICO = 'C' and D is a nonzero matrix;
+          = 6:  if JOBN = 'H' and the system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the algorithms proposed in [1] and [2].
+
+  If the given transfer-function matrix G is unstable, then a right
+  coprime factorization with inner denominator of G is first
+  computed
+            -1
+     G = Q*R  ,
+
+  where Q and R are stable transfer-function matrices and R is
+  inner. If G is stable, then Q = G and R = I.
+  Let (AQ,BQ,CQ,DQ) be the state-space representation of Q.
+
+  If DICO = 'C', then the L2-norm of G is computed as
+
+     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ)),
+
+  where X satisfies the continuous-time Lyapunov equation
+
+     AQ'*X + X*AQ + CQ'*CQ = 0.
+
+  If DICO = 'D', then the l2-norm of G is computed as
+
+     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ+DQ'*DQ)),
+
+  where X satisfies the discrete-time Lyapunov equation
+
+     AQ'*X*AQ - X + CQ'*CQ = 0.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      On computing 2-norms of transfer-function matrices.
+      Proc. 1992 ACC, Chicago, June 1992.
+
+  [2] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( MMAX*( NMAX + MMAX ) +
+     $                                 MAX( NMAX*( NMAX + 5 ),
+     $                                      MMAX*( MMAX + 2 ), 4*PMAX ),
+     $                                 NMAX*( MAX( NMAX, PMAX ) + 4 ) +
+     $                                 MIN( NMAX, PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION S2NORM, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, P
+      CHARACTER*1      DICO, JOBN
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION AB13BD
+      EXTERNAL         AB13BD, LSAME
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Compute the H2 or L2 norm of (A,B,C,D).
+               S2NORM = AB13BD( DICO, JOBN, N, M, P, A, LDA, B, LDB,
+     *                          C, LDC, D, LDD, NQ, TOL, DWORK, LDWORK,
+     *                          IWARN, INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( LSAME( JOBN, 'H' ) ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) S2NORM
+                  ELSE
+                     WRITE ( NOUT, FMT = 99996 ) S2NORM
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13BD = ',I2)
+99997 FORMAT (' The H2-norm of the system = ',1PD14.5)
+99996 FORMAT (' The L2-norm of the system = ',1PD14.5)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13BD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   1.E-10 C L
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13BD EXAMPLE PROGRAM RESULTS
+
+ The L2-norm of the system =    7.93948D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13CD.html b/doc/_build/html/_static/doc/AB13CD.html
new file mode 100644
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+++ b/doc/_build/html/_static/doc/AB13CD.html
@@ -0,0 +1,294 @@
+<HTML>
+<HEAD><TITLE>AB13CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13CD">AB13CD</A></H2>
+<H3>
+H-infinity norm of a continuous-time stable system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the H-infinity norm of the continuous-time stable
+  system
+
+                       | A | B |
+                G(s) = |---|---| .
+                       | C | D |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13CD( N, M, NP, A, LDA, B, LDB, C,
+     $                                  LDC, D, LDD, TOL, IWORK, DWORK,
+     $                                  LDWORK, CWORK, LCWORK, BWORK,
+     $                                  INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LCWORK, LDD, LDWORK, M, N,
+     $                   NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      COMPLEX*16         CWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13CD  DOUBLE PRECISION
+          If INFO = 0, the H-infinity norm of the system, HNORM,
+          i.e., the peak gain of the frequency response (as measured
+          by the largest singular value in the MIMO case).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used to set the accuracy in determining the
+          norm.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK, and DWORK(2) contains the frequency where the
+          gain of the frequency response achieves its peak value
+          HNORM.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(2,4*N*N+2*M*M+3*M*N+M*NP+2*(N+NP)*NP+10*N+
+                          6*max(M,NP)).
+          For good performance, LDWORK must generally be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) contains the optimal value
+          of LCWORK.
+
+  LCWORK  INTEGER
+          The dimension of the array CWORK.
+          LCWORK &gt;= max(1,(N+M)*(N+NP)+3*max(M,NP)).
+          For good performance, LCWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the system is unstable;
+          = 2:  the tolerance is too small (the algorithm for
+                computing the H-infinity norm did not converge);
+          = 3:  errors in computing the eigenvalues of A or of the
+                Hamiltonian matrix (the QR algorithm did not
+                converge);
+          = 4:  errors in computing singular values.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bruinsma, N.A. and Steinbuch, M.
+      A fast algorithm to compute the Hinfinity-norm of a transfer
+      function matrix.
+      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If the algorithm does not converge (INFO = 2), the tolerance must
+  be increased.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LCWORK
+      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
+     $                              3*MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX*NMAX + 2*MMAX*MMAX +
+     $                            2*PMAX*PMAX + 3*NMAX*MMAX +
+     $                            2*NMAX*PMAX + MMAX*PMAX + 10*NMAX +
+     $                            6*MAX( MMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FPEAK, HNORM, TOL
+      INTEGER          I, INFO, J, M, N, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+      COMPLEX*16       CWORK( LCWORK )
+*     .. External Functions ..
+      DOUBLE PRECISION AB13CD
+      EXTERNAL         AB13CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) TOL
+*        Computing the Hinf norm
+         HNORM = AB13CD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, TOL,
+     $                   IWORK, DWORK, LDWORK, CWORK, LCWORK, BWORK,
+     $                   INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99991 ) HNORM
+            FPEAK = DWORK(2)
+            WRITE ( NOUT, FMT = 99996 )
+            WRITE ( NOUT, FMT = 99991 ) FPEAK
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from AB13CD =',I2)
+99997 FORMAT (/' The H_infty norm of the system is'/)
+99996 FORMAT (/' The peak frequency is'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT (D17.10)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13CD EXAMPLE PROGRAM DATA
+   6     1     1   
+   0.0  1.0     0.0   0.0      0.0  0.0
+  -0.5 -0.0002  0.0   0.0      0.0  0.0
+   0.0  0.0     0.0   1.0      0.0  0.0
+   0.0  0.0    -1.0  -0.00002  0.0  0.0
+   0.0  0.0     0.0   0.0      0.0  1.0
+   0.0  0.0     0.0   0.0     -2.0 -0.000002
+   1.0 
+   0.0  
+   1.0 
+   0.0 
+   1.0 
+   0.0
+   1.0  0.0  1.0  0.0  1.0  0.0
+   0.0
+ 0.000000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13CD EXAMPLE PROGRAM RESULTS
+
+
+ The H_infty norm of the system is
+
+ 0.5000000006D+06
+
+ The peak frequency is
+
+ 0.1414213562D+01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13DD.html b/doc/_build/html/_static/doc/AB13DD.html
new file mode 100644
index 00000000..28c690af
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB13DD.html
@@ -0,0 +1,452 @@
+<HTML>
+<HEAD><TITLE>AB13DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13DD">AB13DD</A></H2>
+<H3>
+L-infinity norm of a state space system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the L-infinity norm of a continuous-time or
+  discrete-time system, either standard or in the descriptor form,
+
+                                  -1
+     G(lambda) = C*( lambda*E - A ) *B + D .
+
+  The norm is finite if and only if the matrix pair (A,E) has no
+  eigenvalue on the boundary of the stability domain, i.e., the
+  imaginary axis, or the unit circle, respectively. It is assumed
+  that the matrix E is nonsingular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK,
+     $                   A, LDA, E, LDE, B, LDB, C, LDC, D, LDD, GPEAK,
+     $                   TOL, IWORK, DWORK, LDWORK, CWORK, LCWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DICO, EQUIL, JOBD, JOBE
+      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                   M, N, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         CWORK(  * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK(  * ), E( LDE, * ),
+     $                   FPEAK(  2 ), GPEAK(  2 )
+      INTEGER            IWORK(  * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system, as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general square or an identity
+          matrix, as follows:
+          = 'G':  E is a general square matrix;
+          = 'I':  E is the identity matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the system (A,E,B,C) or (A,B,C), as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The row size of the matrix C.  P &gt;= 0.
+
+  FPEAK   (input/output) DOUBLE PRECISION array, dimension (2)
+          On entry, this parameter must contain an estimate of the
+          frequency where the gain of the frequency response would
+          achieve its peak value. Setting FPEAK(2) = 0 indicates an
+          infinite frequency. An accurate estimate could reduce the
+          number of iterations of the iterative algorithm. If no
+          estimate is available, set FPEAK(1) = 0, and FPEAK(2) = 1.
+          FPEAK(1) &gt;= 0, FPEAK(2) &gt;= 0.
+          On exit, if INFO = 0, this array contains the frequency
+          OMEGA, where the gain of the frequency response achieves
+          its peak value GPEAK, i.e.,
+
+              || G ( j*OMEGA ) || = GPEAK ,  if DICO = 'C', or
+
+                      j*OMEGA
+              || G ( e       ) || = GPEAK ,  if DICO = 'D',
+
+          where OMEGA = FPEAK(1), if FPEAK(2) &gt; 0, and OMEGA is
+          infinite, if FPEAK(2) = 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'G', the leading N-by-N part of this array must
+          contain the descriptor matrix E of the system.
+          If JOBE = 'I', then E is assumed to be the identity
+          matrix and is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this array must
+          contain the direct transmission matrix D.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  GPEAK   (output) DOUBLE PRECISION array, dimension (2)
+          The L-infinity norm of the system, i.e., the peak gain
+          of the frequency response (as measured by the largest
+          singular value in the MIMO case), coded in the same way
+          as FPEAK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used to set the accuracy in determining the
+          norm.  0 &lt;= TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= K, where K can be computed using the following
+          pseudo-code (or the Fortran code included in the routine)
+
+             d = 6*MIN(P,M);
+             c = MAX( 4*MIN(P,M) + MAX(P,M), d );
+             if ( MIN(P,M) = 0 ) then
+                K = 1;
+             else if( N = 0 or B = 0 or C = 0 ) then
+                if( JOBD = 'D' ) then
+                   K = P*M + c;
+                else
+                   K = 1;
+                end
+             else
+                if ( DICO = 'D' ) then
+                   b = 0;  e = d;
+                else
+                   b = N*(N+M);  e = c;
+                   if ( JOBD = Z' ) then  b = b + P*M;  end
+                end
+                if ( JOBD = 'D' ) then
+                   r = P*M;
+                   if ( JOBE = 'I', DICO = 'C',
+                        N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0 ) then
+                      K = P*P + M*M;
+                      r = r + N*(P+M);
+                   else
+                      K = 0;
+                   end
+                   K = K + r + c;  r = r + MIN(P,M);
+                else
+                   r = 0;  K = 0;
+                end
+                r = r + N*(N+P+M);
+                if ( JOBE = 'G' ) then
+                   r = r + N*N;
+                   if ( EQUIL = 'S' ) then
+                      K = MAX( K, r + 9*N );
+                   end
+                   K = MAX( K, r + 4*N + MAX( M, 2*N*N, N+b+e ) );
+                else
+                   K = MAX( K, r + N +
+                               MAX( M, P, N*N+2*N, 3*N+b+e ) );
+                end
+                w = 0;
+                if ( JOBE = 'I', DICO = 'C' ) then
+                   w = r + 4*N*N + 11*N;
+                   if ( JOBD = 'D' ) then
+                      w = w + MAX(M,P) + N*(P+M);
+                   end
+                end
+                if ( JOBE = 'E' or DICO = 'D' or JOBD = 'D' ) then
+                   w = MAX( w, r + 6*N + (2*N+P+M)*(2*N+P+M) +
+                            MAX( 2*(N+P+M), 8*N*N + 16*N ) );
+                end
+                K = MAX( 1, K, w, r + 2*N + e );
+             end
+
+          For good performance, LDWORK must generally be larger.
+
+          An easily computable upper bound is
+
+          K = MAX( 1, 15*N*N + P*P + M*M + (6*N+3)*(P+M) + 4*P*M +
+                      N*M + 22*N + 7*MIN(P,M) ).
+
+          The smallest workspace is obtained for DICO = 'C',
+          JOBE = 'I', and JOBD = 'Z', namely
+
+          K = MAX( 1, N*N + N*P + N*M + N +
+                      MAX( N*N + N*M + P*M + 3*N + c,
+                           4*N*N + 10*N ) ).
+
+          for which an upper bound is
+
+          K = MAX( 1, 6*N*N + N*P + 2*N*M + P*M + 11*N + MAX(P,M) +
+                      6*MIN(P,M) ).
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) contains the optimal
+          LCWORK.
+
+  LCWORK  INTEGER
+          The dimension of the array CWORK.
+          LCWORK &gt;= 1,  if N = 0, or B = 0, or C = 0;
+          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
+                        otherwise.
+          For good performance, LCWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix E is (numerically) singular;
+          = 2:  the (periodic) QR (or QZ) algorithm for computing
+                eigenvalues did not converge;
+          = 3:  the SVD algorithm for computing singular values did
+                not converge;
+          = 4:  the tolerance is too small and the algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1], with
+  extensions and refinements for improving numerical robustness and
+  efficiency. Structure-exploiting eigenvalue computations for
+  Hamiltonian matrices are used if JOBE = 'I', DICO = 'C', and the
+  symmetric matrices to be implicitly inverted are not too ill-
+  conditioned. Otherwise, generalized eigenvalue computations are
+  used in the iterative algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bruinsma, N.A. and Steinbuch, M.
+      A fast algorithm to compute the Hinfinity-norm of a transfer
+      function matrix.
+      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If the algorithm does not converge in MAXIT = 30 iterations
+  (INFO = 4), the tolerance must be increased.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the matrix E is singular, other SLICOT Library routines
+  could be used before calling AB13DD, for removing the singular
+  part of the system.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LCWORK
+      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
+     $                             2*MIN( PMAX, MMAX ) +
+     $                             MAX( PMAX, MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 15*NMAX*NMAX + PMAX*PMAX + MMAX*MMAX +
+     $                            ( 6*NMAX + 3 )*( PMAX + MMAX ) +
+     $                            4*PMAX*MMAX + NMAX*MMAX + 22*NMAX +
+     $                            7*MIN( PMAX, MMAX ) )
+      DOUBLE PRECISION   ZERO
+      PARAMETER          ( ZERO = 0.0D+0 )
+
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER        DICO, EQUIL, JOBD, JOBE
+*     .. Local Arrays ..
+      INTEGER          IWORK( LIWORK )
+      DOUBLE PRECISION A( LDA, NMAX ), B( LDB, MMAX ),  C( LDC, NMAX ),
+     $                 D( LDD, MMAX ), DWORK( LDWORK ), E( LDE, NMAX ),
+     $                 FPEAK( 2 ), GPEAK( 2 )
+      COMPLEX*16       CWORK( LCWORK )
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB13DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, FPEAK, TOL, DICO, JOBE, EQUIL, JOBD
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) P
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOBE, 'G' ) )
+     $      READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+         IF ( LSAME( JOBD, 'D' ) )
+     $      READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*        Computing the Linf norm.
+         CALL AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK, A, LDA,
+     $                E, LDE, B, LDB, C, LDC, D, LDD, GPEAK, TOL, IWORK,
+     $                DWORK, LDWORK, CWORK, LCWORK, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            IF ( GPEAK( 2 ).EQ.ZERO ) THEN
+               WRITE ( NOUT, FMT = 99991 )
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               WRITE ( NOUT, FMT = 99995 ) GPEAK( 1 )
+            END IF
+            IF ( FPEAK( 2 ).EQ.ZERO ) THEN
+               WRITE ( NOUT, FMT = 99990 )
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               WRITE ( NOUT, FMT = 99995 ) FPEAK( 1 )
+            END IF
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from AB13DD =',I2)
+99997 FORMAT (/' The L_infty norm of the system is'/)
+99996 FORMAT (/' The peak frequency is'/)
+99995 FORMAT (D17.10)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' The L_infty norm of the system is infinite')
+99990 FORMAT (/' The peak frequency is infinite'/)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13CD EXAMPLE PROGRAM DATA
+   6     1     1     0.0     1.0   0.000000001     C     I     N     D   
+   0.0  1.0     0.0   0.0      0.0  0.0
+  -0.5 -0.0002  0.0   0.0      0.0  0.0
+   0.0  0.0     0.0   1.0      0.0  0.0
+   0.0  0.0    -1.0  -0.00002  0.0  0.0
+   0.0  0.0     0.0   0.0      0.0  1.0
+   0.0  0.0     0.0   0.0     -2.0 -0.000002
+   1.0 
+   0.0  
+   1.0 
+   0.0 
+   1.0 
+   0.0
+   1.0  0.0  1.0  0.0  1.0  0.0
+   0.0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13DD EXAMPLE PROGRAM RESULTS
+
+
+ The L_infty norm of the system is
+
+ 0.5000000001D+06
+
+ The peak frequency is
+
+ 0.1414213562D+01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13DX.html b/doc/_build/html/_static/doc/AB13DX.html
new file mode 100644
index 00000000..26f861c7
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB13DX.html
@@ -0,0 +1,250 @@
+<HTML>
+<HEAD><TITLE>AB13DX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13DX">AB13DX</A></H2>
+<H3>
+Maximum singular value of a transfer-function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the maximum singular value of a given continuous-time
+  or discrete-time transfer-function matrix, either standard or in
+  the descriptor form,
+
+                                  -1
+     G(lambda) = C*( lambda*E - A ) *B + D ,
+
+  for a given complex value lambda, where lambda = j*omega, in the
+  continuous-time case, and lambda = exp(j*omega), in the
+  discrete-time case. The matrices A, E, B, C, and D are real
+  matrices of appropriate dimensions. Matrix A must be in an upper
+  Hessenberg form, and if JOBE ='G', the matrix E must be upper
+  triangular. The matrices B and C must correspond to the system
+  in (generalized) Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13DX( DICO, JOBE, JOBD, N, M, P,
+     $                                  OMEGA, A, LDA, E, LDE, B, LDB,
+     $                                  C, LDC, D, LDD, IWORK, DWORK,
+     $                                  LDWORK, CWORK, LCWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DICO, JOBD, JOBE
+      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                   M, N, P
+      DOUBLE PRECISION   OMEGA
+C     .. Array Arguments ..
+      COMPLEX*16         CWORK(  * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK(  * ), E( LDE, * )
+      INTEGER            IWORK(  * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13DX   DOUBLE PRECISION
+           The maximum singular value of G(lambda).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system, as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'G':  E is a general upper triangular matrix;
+          = 'I':  E is the identity matrix.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The row size of the matrix C.  P &gt;= 0.
+
+  OMEGA   (input) DOUBLE PRECISION
+          The frequency value for which the calculations should be
+          done.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the state dynamics matrix A in upper
+          Hessenberg form. The elements below the subdiagonal are
+          not referenced.
+          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
+          and C &lt;&gt; 0, the leading N-by-N upper Hessenberg part of
+          this array contains the factors L and U from the LU
+          factorization of A (A = P*L*U); the unit diagonal elements
+          of L are not stored, L is lower bidiagonal, and P is
+          stored in IWORK (see SLICOT Library routine MB02SD).
+          Otherwise, this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'G', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular descriptor
+          matrix E of the system. The elements of the strict lower
+          triangular part of this array are not referenced.
+          If JOBE = 'I', then E is assumed to be the identity
+          matrix and is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
+          C &lt;&gt; 0, and INFO = 0 or N+1, the leading N-by-M part of
+          this array contains the solution of the system A*X = B.
+          Otherwise, this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the direct transmission matrix D.
+          On exit, if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
+          or (OMEGA = 0, DICO = 'C', JOBD = 'D', and INFO = 0 or
+          N+1), the contents of this array is destroyed.
+          Otherwise, this array is unchanged on exit.
+          This array is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = N, if N &gt; 0, M &gt; 0, P &gt; 0, B &lt;&gt; 0, and C &lt;&gt; 0;
+          LIWORK = 0, otherwise.
+          This array contains the pivot indices in the LU
+          factorization of the matrix lambda*E - A; for 1 &lt;= i &lt;= N,
+          row i of the matrix was interchanged with row IWORK(i).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK, and DWORK(2), ..., DWORK(MIN(P,M)) contain the
+          singular values of G(lambda), except for the first one,
+          which is returned in the function value AB13DX.
+          If (N = 0, or B = 0, or C = 0) and JOBD = 'Z', the last
+          MIN(P,M)-1 zero singular values of G(lambda) are not
+          stored in DWORK(2), ..., DWORK(MIN(P,M)).
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1, LDW1 + LDW2 ),
+          LDW1 = P*M, if N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0,
+                         DICO = 'C', and JOBD = 'Z';
+          LDW1 = 0,   otherwise;
+          LDW2 = MIN(P,M) + MAX(3*MIN(P,M) + MAX(P,M), 5*MIN(P,M)),
+                      if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
+                      or (N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0, and
+                          DICO = 'C');
+          LDW2 = 0,   if (N = 0, or B = 0, or C = 0) and JOBD = 'Z',
+                      or MIN(P,M) = 0;
+          LDW2 = 6*MIN(P,M), otherwise.
+          For good performance, LDWORK must generally be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) contains the optimal
+          LCWORK.
+
+  LCWORK  INTEGER
+          The dimension of the array CWORK.
+          LCWORK &gt;= 1, if N = 0, or B = 0, or C = 0, or (OMEGA = 0
+                          and DICO = 'C') or MIN(P,M) = 0;
+          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
+                       otherwise.
+          For good performance, LCWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero; the LU
+                factorization of the matrix lambda*E - A has been
+                completed, but the factor U is exactly singular,
+                i.e., the matrix lambda*E - A is exactly singular;
+          = N+1:  the SVD algorithm for computing singular values
+                did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements standard linear algebra calculations,
+  taking problem structure into account. LAPACK Library routines
+  DGESVD and ZGESVD are used for finding the singular values.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13ED.html b/doc/_build/html/_static/doc/AB13ED.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>AB13ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13ED">AB13ED</A></H2>
+<H3>
+Estimating the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using bisection
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate beta(A), the 2-norm distance from a real matrix A to
+  the nearest complex matrix with an eigenvalue on the imaginary
+  axis. The estimate is given as
+
+         LOW &lt;= beta(A) &lt;= HIGH,
+
+  where either
+
+         (1 + TOL) * LOW &gt;= HIGH,
+
+  or
+
+         LOW = 0   and   HIGH = delta,
+
+  and delta is a small number approximately equal to the square root
+  of machine precision times the Frobenius norm (Euclidean norm)
+  of A. If A is stable in the sense that all eigenvalues of A lie
+  in the open left half complex plane, then beta(A) is the distance
+  to the nearest unstable complex matrix, i.e., the complex
+  stability radius.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  HIGH, LOW, TOL
+      INTEGER           INFO, LDA, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  LOW     (output) DOUBLE PRECISION
+          A lower bound for beta(A).
+
+  HIGH    (output) DOUBLE PRECISION
+          An upper bound for beta(A).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Specifies the accuracy with which LOW and HIGH approximate
+          beta(A). If the user sets TOL to be less than SQRT(EPS),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH), then the tolerance is taken to be
+          SQRT(EPS).
+          The recommended value is TOL = 9, which gives an estimate
+          of beta(A) correct to within an order of magnitude.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 3*N*(N+1) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QR algorithm (LAPACK Library routine DHSEQR)
+                fails to converge; this error is very rare.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let beta(A) be the 2-norm distance from a real matrix A to the
+  nearest complex matrix with an eigenvalue on the imaginary axis.
+  It is known that beta(A) = minimum of the smallest singular
+  value of (A - jwI), where I is the identity matrix and j**2 = -1,
+  and the minimum is taken over all real w.
+  The algorithm computes a lower bound LOW and an upper bound HIGH
+  for beta(A) by a bisection method in the following way. Given a
+  non-negative real number sigma, the Hamiltonian matrix H(sigma)
+  is constructed:
+
+                    |   A      -sigma*I |     | A   G  |
+        H(sigma) =  |                   | :=  |        | .
+                    | sigma*I    -A'    |     | F  -A' |
+
+  It can be shown [1] that H(sigma) has an eigenvalue whose real
+  part is zero if and only if sigma &gt;= beta. Any lower and upper
+  bounds on beta(A) can be improved by choosing a number between
+  them and checking to see if H(sigma) has an eigenvalue with zero
+  real part.  This decision is made by computing the eigenvalues of
+  H(sigma) using the square reduced algorithm of Van Loan [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Byers, R.
+      A bisection method for measuring the distance of a stable
+      matrix to the unstable matrices.
+      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
+
+  [2] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of a
+      Hamiltonian matrix.
+      Linear Algebra and its Applications, Vol 61, 233-251, 1984.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Due to rounding errors the computed values of LOW and HIGH can be
+  proven to satisfy
+
+         LOW - p(n) * sqrt(e) * norm(A) &lt;= beta(A)
+  and
+         beta(A) &lt;= HIGH + p(n) * sqrt(e) * norm(A),
+
+  where p(n) is a modest polynomial of degree 3, e is the machine
+  precision and norm(A) is the Frobenius norm of A, see [1].
+  The recommended value for TOL is 9 which gives an estimate of
+  beta(A) correct to within an order of magnitude.
+  AB13ED requires approximately 38*N**3 flops for TOL = 9.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 1 ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION HIGH, LOW, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB13ED, UD01MD
+*     ..
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+*     Read N, TOL and next A (row wise).
+      READ ( NIN, FMT = * ) N, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         DO 10 I = 1, N
+            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
+   10    CONTINUE
+*
+         WRITE ( NOUT, FMT = 99998 ) N, TOL
+         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'Matrix A', INFO )
+*
+         CALL AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) LOW, HIGH
+         ELSE
+            WRITE ( NOUT, FMT = 99996 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13ED EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' N =', I4, 2X, 'TOL =', D10.3)
+99997 FORMAT (' LOW  =', D18.11, /' HIGH =', D18.11)
+99996 FORMAT (' INFO on exit from AB13ED = ', I2)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+AB13ED EXAMPLE PROGRAM DATA
+5, 9.0D0
+1.0D-01  1.0D-00  0.0D-00  0.0D-00  0.0D-00
+0.0D-00  1.0D-01  1.0D-00  0.0D-00  0.0D-00
+0.0D-00  0.0D-00  1.0D-01  1.0D-00  0.0D-00
+0.0D-00  0.0D-00  0.0D-00  1.0D-01  1.0D-00
+0.0D-00  0.0D-00  0.0D-00  0.0D-00  1.0D-01
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13ED EXAMPLE PROGRAM RESULTS
+
+ N =   5  TOL = 0.900D+01
+ Matrix A ( 5X 5)
+
+            1              2              3              4              5
+  1    0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01
+  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00
+ 
+ LOW  = 0.20929379255D-05
+ HIGH = 0.20793050504D-04
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13FD.html b/doc/_build/html/_static/doc/AB13FD.html
new file mode 100644
index 00000000..b6a32d41
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB13FD.html
@@ -0,0 +1,257 @@
+<HTML>
+<HEAD><TITLE>AB13FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13FD">AB13FD</A></H2>
+<H3>
+Computing the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using SVD
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute beta(A), the 2-norm distance from a real matrix A to
+  the nearest complex matrix with an eigenvalue on the imaginary
+  axis. If A is stable in the sense that all eigenvalues of A lie
+  in the open left half complex plane, then beta(A) is the complex
+  stability radius, i.e., the distance to the nearest unstable
+  complex matrix. The value of beta(A) is the minimum of the
+  smallest singular value of (A - jwI), taken over all real w.
+  The value of w corresponding to the minimum is also computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK,
+     $                   CWORK, LCWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LCWORK, LDA, LDWORK, N
+      DOUBLE PRECISION  BETA, OMEGA, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*)
+      COMPLEX*16        CWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  BETA    (output) DOUBLE PRECISION
+          The computed value of beta(A), which actually is an upper
+          bound.
+
+  OMEGA   (output) DOUBLE PRECISION
+          The value of w such that the smallest singular value of
+          (A - jwI) equals beta(A).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Specifies the accuracy with which beta(A) is to be
+          calculated. (See the Numerical Aspects section below.)
+          If the user sets TOL to be less than EPS, where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH),
+          then the tolerance is taken to be EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          If DWORK(1) is not needed, the first 2*N*N entries of
+          DWORK may overlay CWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 3*N*(N+2) ).
+          For optimum performance LDWORK should be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) returns the optimal value
+          of LCWORK.
+          If CWORK(1) is not needed, the first N*N entries of
+          CWORK may overlay DWORK.
+
+  LCWORK  INTEGER
+          The length of the array CWORK.
+          LCWORK &gt;= MAX( 1, N*(N+3) ).
+          For optimum performance LCWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the routine fails to compute beta(A) within the
+                specified tolerance. Nevertheless, the returned
+                value is an upper bound on beta(A);
+          = 2:  either the QR or SVD algorithm (LAPACK Library
+                routines DHSEQR, DGESVD or ZGESVD) fails to
+                converge; this error is very rare.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  AB13FD combines the methods of [1] and [2] into a provably
+  reliable, quadratically convergent algorithm. It uses the simple
+  bisection strategy of [1] to find an interval which contains
+  beta(A), and then switches to the modified bisection strategy of
+  [2] which converges quadratically to a minimizer. Note that the
+  efficiency of the strategy degrades if there are several local
+  minima that are near or equal the global minimum.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Byers, R.
+      A bisection method for measuring the distance of a stable
+      matrix to the unstable matrices.
+      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
+
+  [2] Boyd, S. and Balakrishnan, K.
+      A regularity result for the singular values of a transfer
+      matrix and a quadratically convergent algorithm for computing
+      its L-infinity norm.
+      Systems and Control Letters, Vol. 15, pp. 1-7, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  In the presence of rounding errors, the computed function value
+  BETA  satisfies
+
+        beta(A) &lt;= BETA + epsilon,
+
+        BETA/(1+TOL) - delta &lt;= MAX(beta(A), SQRT(2*N*EPS)*norm(A)),
+
+  where norm(A) is the Frobenius norm of A,
+
+        epsilon = p(N) * EPS * norm(A),
+  and
+        delta   = p(N) * SQRT(EPS) * norm(A),
+
+  and p(N) is a low degree polynomial. It is recommended to choose
+  TOL greater than SQRT(EPS). Although rounding errors can cause
+  AB13FD to fail for smaller values of TOL, nevertheless, it usually
+  succeeds. Regardless of success or failure, the first inequality
+  holds.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 2 ) )
+      INTEGER          LCWORK
+      PARAMETER        ( LCWORK = NMAX*( NMAX + 3 ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION BETA, OMEGA, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
+      COMPLEX*16       CWORK(LCWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB13FD, UD01MD
+*     ..
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+*     Read N, TOL and next A (row wise).
+      READ ( NIN, FMT = * ) N, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         DO 10 I = 1, N
+            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
+   10    CONTINUE
+*
+         WRITE ( NOUT, FMT = 99998 ) N, TOL
+         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'A', INFO )
+*
+         CALL AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK, CWORK,
+     $                LCWORK, INFO )
+*
+         IF ( INFO.NE.0 )
+     $      WRITE ( NOUT, FMT = 99996 ) INFO
+         WRITE ( NOUT, FMT = 99997 ) BETA, OMEGA
+      END IF
+*
+99999 FORMAT (' AB13FD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' N =', I2, 3X, 'TOL =', D10.3)
+99997 FORMAT (' Stability radius :', D18.11, /
+     *        ' Minimizing omega :', D18.11)
+99996 FORMAT (' INFO on exit from AB13FD = ', I2)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+AB13FD EXAMPLE PROGRAM DATA
+4   0.0D-00   0.0D-00
+     246.500        242.500        202.500       -197.500
+    -252.500       -248.500       -207.500        202.500
+    -302.500       -297.500       -248.500        242.500
+    -307.500       -302.500       -252.500        246.500
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13FD EXAMPLE PROGRAM RESULTS
+
+ N = 4   TOL = 0.000D+00
+ A ( 4X 4)
+
+            1              2              3              4
+  1    0.2465000D+03  0.2425000D+03  0.2025000D+03 -0.1975000D+03
+  2   -0.2525000D+03 -0.2485000D+03 -0.2075000D+03  0.2025000D+03
+  3   -0.3025000D+03 -0.2975000D+03 -0.2485000D+03  0.2425000D+03
+  4   -0.3075000D+03 -0.3025000D+03 -0.2525000D+03  0.2465000D+03
+ 
+ Stability radius : 0.39196472317D-02
+ Minimizing omega : 0.98966520430D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB13ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13ID">AB13ID</A></H2>
+<H3>
+Testing properness of the transfer function matrix of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check whether the transfer function
+
+                                  -1
+    G(lambda) := C*( lambda*E - A ) *B
+
+  of a given linear time-invariant descriptor system with
+  generalized state space realization (lambda*E-A,B,C) is proper.
+  Optionally, if JOBEIG = 'A', the system (lambda*E-A,B,C) is
+  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) with only
+  controllable and observable eigenvalues in order to use it for a
+  subsequent L_inf-norm computation; if JOBEIG = 'I', the system is
+  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) without
+  uncontrollable and unobservable infinite eigenvalues. In this
+  case, intended mainly for checking the properness, the returned
+  system is not fully reduced, unless UPDATE = 'U'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      LOGICAL FUNCTION AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
+     $                         UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                         C, LDC, NR, RANKE, TOL, IWORK, DWORK,
+     $                         LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
+      INTEGER            INFO, IWARN, LDA, LDB, LDC, LDE, LDWORK, M, N,
+     $                   NR, P, RANKE
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), TOL( * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13ID  LOGICAL
+          Indicates whether the transfer function is proper.
+          If AB13ID = .TRUE., the transfer function is proper;
+          otherwise, it is improper.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBSYS  CHARACTER*1
+          Indicates whether the system (lambda*E-A,B,C) is already
+          in the reduced form which is obtained as stated in
+          JOBEIG, as follows.
+          = 'R': The system is not in a reduced form, the reduction
+                 step is performed;
+          = 'N': The system is in a reduced form; the reduction step
+                 is omitted.
+
+  JOBEIG  CHARACTER*1
+          Indicates which kind of eigenvalues of the matrix pencil
+          lambda*E-A should be removed if JOBSYS = 'R', as follows:
+          = 'A': All uncontrollable and unobservable eigenvalues
+                 are removed; the reduced system is returned in
+                 the arrays A, E, B, C;
+          = 'I': Only all uncontrollable and unobservable infinite
+                 eigenvalues are removed; the returned system is not
+                 fully reduced if UPDATE = 'N'.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily scale
+          the system (lambda*E-A,B,C) as follows:
+          = 'S': Perform scaling;
+          = 'N': Do not perform scaling.
+
+  CKSING  CHARACTER*1
+          Specifies whether the user wishes to check if the pencil
+          (lambda*E-A) is singular as follows:
+          = 'C':  Check singularity;
+          = 'N':  Do not check singularity.
+          If the pencil is singular, the reduced system computed for
+          CKSING = 'N' may have completely different eigenvalues
+          than the given system.
+          The test is performed only if JOBSYS = 'R'.
+
+  RESTOR  CHARACTER*1
+          Specifies whether the user wishes to save the system
+          matrices before each reduction phase (if JOBSYS = 'R') and
+          restore them if no order reduction took place as follows:
+          = 'R':  Save and restore;
+          = 'N':  Do not save the matrices.
+          This option is ineffective if JOBSYS = 'N'.
+
+  UPDATE  CHARACTER*1
+          Specifies whether the user wishes to update the matrices
+          A, B, and C if JOBEIG = 'I' as follows:
+          = 'U':  Update the matrices A, B and C;
+          = 'N':  Do not update the matrices A, B and C when
+                  performing URV decomposition of the matrix E
+                  (see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of the descriptor system input vector; also
+          the number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of the descriptor system output vector; also
+          the number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          NR-by-NR part of this array contains the reduced order
+          state matrix Ar of a fully controllable and observable
+          realization for the original system. If JOBSYS = 'R' and
+          JOBEIG = 'I', the leading NR-by-NR part of this array
+          contains the reduced order state matrix Ar of a
+          transformed system without uncontrollable and unobservable
+          infinite poles. In this case, the matrix Ar does not
+          correspond to the returned matrix Er (obtained after a
+          URV decomposition), unless UPDATE = 'U' or RANKE &lt; NR.
+          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or UPDATE = 'U'
+          or RANKE &lt; N), the leading N-by-N part of this array
+          contains the transformed matrix A corresponding to the
+          URV decomposition of E (see (2) in METHOD), and if
+          JOBEIG = 'I' and UPDATE = 'N', the submatrix A22 in (2) is
+          further transformed to estimate its rank.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          NR-by-NR part of this array contains the reduced order
+          descriptor matrix Er of a completely controllable and
+          observable realization for the original system. The
+          reduced matrix Er is in upper triangular form.
+          If JOBSYS = 'R' and JOBEIG = 'I', the leading NR-by-NR
+          part of this array contains the reduced order descriptor
+          matrix Er of a transformed system without uncontrollable
+          and unobservable infinite poles. The reduced matrix Er is
+          upper triangular. In both cases, or if JOBSYS = 'N', the
+          matrix Er results from a URV decomposition of the matrix E
+          (see METHOD).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B; the remainder of the leading
+          N-by-MAX(M,P) part is used as internal workspace.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          NR-by-M part of this array contains the reduced input
+          matrix Br of a completely controllable and observable
+          realization for the original system. If JOBSYS = 'R' and
+          JOBEIG = 'I', the leading NR-by-M part of this array
+          contains the transformed input matrix Br obtained after
+          removing the uncontrollable and unobservable infinite
+          poles; the transformations for the URV decomposition of
+          the matrix E are not applied if UPDATE = 'N'.
+          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
+          UPDATE = 'U'), the leading N-by-M part of this array
+          contains the transformed matrix B corresponding to the
+          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
+          and UPDATE = 'N', the array B is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C; the remainder of the leading
+          MAX(M,P)-by-N part is used as internal workspace.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          P-by-NR part of this array contains the transformed output
+          matrix Cr of a completely controllable and observable
+          realization for the original system. If JOBSYS = 'R' and
+          JOBEIG = 'I', the leading P-by-NR part of this array
+          contains the transformed output matrix Cr obtained after
+          removing the uncontrollable and unobservable infinite
+          poles; the transformations for the URV decomposition of
+          the matrix E are not applied if UPDATE = 'N'.
+          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
+          UPDATE = 'U'), the leading P-by-N part of this array
+          contains the transformed matrix C corresponding to the
+          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
+          and UPDATE = 'N', the array C is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0;
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced generalized state space
+          representation (lambda*Er-Ar,Br,Cr) as stated in JOBEIG.
+          If JOBEIG = 'A', NR denotes the order of a reduced system
+          without any uncontrollable or unobservable eigenvalues; if
+          JOBEIG = 'I', NR denotes the order of the reduced system
+          without any uncontrollable or unobservable infinite
+          eigenvalues. If JOBSYS = 'N', then NR = N.
+
+  RANKE   (output) INTEGER
+          The effective (estimated) rank of the reduced matrix Er.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension 3
+          TOL(1) is the tolerance to be used in rank determinations
+          when transforming (lambda*E-A,B,C). If the user sets
+          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
+          lower bound for reciprocal condition numbers in rank
+          determinations; a (sub)matrix whose estimated condition
+          number is less than 1/TOL(1) is considered to be of full
+          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
+          is used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
+          TOL(2) is the tolerance to be used for checking pencil
+          singularity when CKSING = 'C', or singularity of the
+          matrices A and E when CKSING = 'N'. If the user sets
+          TOL(2) &gt; 0, then the given value of TOL(2) is used.
+          If the user sets TOL(2) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
+          is used instead.  TOL(2) &lt; 1.
+          TOL(3) is the threshold value for magnitude of the matrix
+          elements, if EQUIL = 'S': elements with magnitude less
+          than or equal to TOL(3) are ignored for scaling. If the
+          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
+          used. If the user sets TOL(3) &lt; 0, then an implicitly
+          computed, default threshold, defined by  THRESH = c*EPS,
+          where c = MAX(norm_1(A,E,B,C)) is used instead.
+          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
+          TOL(3) is not used if EQUIL = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          If JOBSYS = 'R',  LIWORK &gt;= 2*N+MAX(M,P)+7;
+          If JOBSYS = 'N',  LIWORK &gt;= N.
+          If JOBSYS = 'R', the first 7 elements of IWORK contain
+          information on performed reduction and on structure of
+          resulting system matrices after removing the specified
+          eigenvalues (see the description of the parameter INFRED
+          of the SLICOT Library routine TG01JY).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If JOBSYS = 'R', and EQUIL = 'S',
+             LDWORK &gt;= MAX(w+4*N+4,8*N,x,y),
+          where w = N*N,                  if JOBEIG = 'A',
+                w = 0,                    if JOBEIG = 'I',
+                x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
+                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
+                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
+                y = 0,                    if CKSING = 'N',
+                z = 2*N*N+N*M+N*P;
+          if JOBSYS = 'R', and EQUIL = 'N',
+             LDWORK &gt;= MAX(w+4*N+4,x,y);
+          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
+                           and EQUIL  = 'S',
+             LDWORK &gt;= MAX(N*N+4*N+4,8*N,N+M,N+P);
+          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
+                           and EQUIL  = 'N',
+             LDWORK &gt;= MAX(N*N+4*N+4,N+M,N+P);
+          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
+                           and EQUIL  = 'S',
+             LDWORK &gt;= MAX(4*N+4,8*N);
+          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
+                           and EQUIL  = 'N',
+             LDWORK &gt;= 4*N+4.
+          If JOBSYS = 'R' and ( RESTOR = 'R' or
+          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1) ),
+          then more accurate results are to be expected by
+          considering only those reduction phases in the SLICOT
+          Library routine TG01JY, where effective order reduction
+          occurs. This is achieved by saving the system matrices
+          before each phase (after orthogonally triangularizing the
+          matrix A or the matrix E, if RESTOR = 'N') and restoring
+          them if no order reduction took place. However, higher
+          global accuracy is not guaranteed.
+          For good performance, LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA. The optimal workspace includes the
+          extra space for improving the accuracy.
+
+  Error/Warning Indicator
+
+  IWARN   INTEGER
+          = 0: When determining the rank of a matrix, the distance
+               between the tolerance TOL(1) and the estimated
+               singular values is sufficiently large. The rank can
+               be safely determined;
+          = 1: When determining the rank of a matrix, there exist
+               estimated singular values which are very close to the
+               tolerance TOL(1). The computed rank is possibly
+               incorrect.
+
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the given pencil A - lambda*E is numerically
+               singular and the reduced system is not computed.
+               However, the system is considered improper, and
+               AB13ID is set to .FALSE.
+               This error can be returned only if CKSING = 'C'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOBSYS = 'R', the routine first removes uncontrollable and
+  unobservable infinite eigenvalues of the pencil lambda*E-A. If, in
+  addition, JOBEIG = 'A', uncontrollable and unobservable zero
+  eigenvalues are also removed. Then, or if JOBSYS = 'N', a
+  URV decomposition of the matrix E is performed, i.e., orthogonal
+  matrices U and V are computed, such that
+
+            ( T  0 )
+    U*E*V = (      ) with a full-rank matrix T.                  (1)
+            ( 0  0 )
+
+  Then the matrix A (or a copy of A if JOBEIG = 'A' or UPDATE = 'U')
+  is updated and partioned as in (1), i.e.,
+
+            ( A11  A12 )
+    U*A*V = (          ) ,                                       (2)
+            ( A21  A22 )
+
+  and the rank of A22 is computed. If A22 is invertible, the
+  transfer function is proper, otherwise it is improper. If
+  required (i.e., JOBEIG = 'A' or UPDATE = 'U'), the matrices B and
+  C are updated as well in order to obtain an equivalent reduced
+  system with the same transfer function. See also Chapter 3 in [1],
+  [2] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Voigt, M.
+      L_inf-Norm Computation for Descriptor Systems.
+      Diploma Thesis, Chemnitz University of Technology, Department
+      of Mathematics, Germany, July 2010.
+
+  [2] Benner, P., Sima, V., Voigt, M.
+      L_infinity-norm computation for continuous-time descriptor
+      systems using structured matrix pencils.
+      IEEE Trans. Automat. Contr., vol. 57, pp. 233-238, 2012.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations. During
+  the algorithm it is necessary to determine the rank of certain
+  matrices. Therefore it is crucial to use an appropriate tolerance
+  TOL(1) to make correct rank decisions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX,
+     $                   LDC = MAX( MMAX, PMAX ), LDE = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
+     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
+     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
+     $                                 10*NMAX + MAX( NMAX, 23 ) ),
+     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) + 7 )
+*     .. Local Scalars ..
+      LOGICAL          LISPRP
+      CHARACTER        CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
+      INTEGER          I, INFO, IWARN, J, M, N, NO, NR, P, RANKE
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAX(MMAX,PMAX)), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
+
+*     .. External Functions ..
+      LOGICAL          AB13ID, LSAME
+      EXTERNAL         AB13ID, LSAME
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOBSYS,
+     $                      JOBEIG, EQUIL, CKSING, RESTOR, UPDATE
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Check whether the transfer function of the descriptor
+*              system is proper.
+               LISPRP = AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
+     $                          UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                          C, LDC, NR, RANKE, TOL, IWORK, DWORK,
+     $                          LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( LISPRP ) THEN
+                     WRITE ( NOUT, FMT = 99991 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99990 )
+                  END IF
+                  WRITE ( NOUT, FMT = 99994 ) NR
+                  WRITE ( NOUT, FMT = 99989 ) RANKE
+                  IF ( LSAME( JOBSYS, 'N' ).AND.( LSAME( JOBEIG, 'A' )
+     $             .OR.LSAME( UPDATE, 'U' ) ) ) THEN
+                     NO = N
+                  ELSE
+                     NO = NR
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, NO
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NO )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF ( LSAME( JOBSYS, 'N' ).AND.LSAME( JOBEIG, 'I' )
+     $                                     .AND.LSAME( EQUIL,  'S' )
+     $                                     .AND.LSAME( UPDATE, 'N' ) )
+     $               NO = N
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   40             CONTINUE
+                  IF ( IWARN.NE.0 )
+     $               WRITE ( NOUT, FMT = 99998 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13ID = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99996 FORMAT (/' The reduced descriptor matrix Er is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Order of reduced system =', I5 )
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT ( ' The system is proper')
+99990 FORMAT ( ' The system is improper')
+99989 FORMAT (' Rank of matrix E =', I5 )
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+AB13ID EXAMPLE PROGRAM DATA
+  9    2    2     0.0    0.0    0.0    R  I  N  N  N  U
+    -2    -3     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     0    -2    -3     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     1     0
+     0     0
+     0     1
+     0     0
+    -1     0
+     0     0
+     0    -1
+     0     0
+     0     0
+     1     0     1    -3     0     1     0     2     0
+     0     1     1     3     0     1     0     0     1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13ID EXAMPLE PROGRAM RESULTS
+
+ The system is improper
+
+ Order of reduced system =    7
+ Rank of matrix E =    5
+
+ The reduced state dynamics matrix Ar is 
+   0.2202   0.4554  -0.6171  -0.3695  -1.3751   0.8121   0.1953
+   0.6175   0.1352  -0.8444  -0.0262  -1.3999  -0.4013   0.3339
+  -0.6362  -1.1518   0.6708  -0.2221   0.8680  -0.0430   0.1827
+   0.1430  -0.0480  -0.3290  -0.1625  -0.6986   0.0008  -0.9031
+   0.0986  -0.8665   0.4541   0.6647   1.4067   0.4214  -0.0381
+  -0.6979  -0.0079  -0.1915   0.6588  -0.2054   0.0000   0.0000
+  -0.1861  -0.0021  -0.8313  -0.3063   0.4248   0.0000   0.0000
+
+ The reduced descriptor matrix Er is 
+  -1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+
+ The reduced input/state matrix Br is 
+  -0.2140  -0.3805
+  -0.2558  -0.2539
+   0.1844   0.4001
+  -0.1115  -0.1176
+   0.1879   0.5325
+  -0.9954  -0.0961
+   0.0961  -0.9954
+
+ The reduced state/output matrix Cr is 
+   0.0439  -3.8727   0.0000   0.0000   0.0000   0.6508   0.7593
+   0.1184   2.0671  -0.8971  -0.8236  -2.2869   1.4100   0.1085
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB13MD.html b/doc/_build/html/_static/doc/AB13MD.html
new file mode 100644
index 00000000..b8c1d379
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB13MD.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>AB13MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13MD">AB13MD</A></H2>
+<H3>
+Upper bound on the structured singular value for a square complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an upper bound on the structured singular value for a
+  given square complex matrix and a given block structure of the
+  uncertainty.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13MD( FACT, N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D,
+     $                   G, IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT
+      INTEGER            INFO, LDWORK, LDZ, LZWORK, M, N
+      DOUBLE PRECISION   BOUND
+C     .. Array Arguments ..
+      INTEGER            ITYPE( * ), IWORK( * ), NBLOCK( * )
+      COMPLEX*16         Z( LDZ, * ), ZWORK( * )
+      DOUBLE PRECISION   D( * ), DWORK( * ), G( * ), X( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FACT    CHARACTER*1
+          Specifies whether or not an information from the
+          previous call is supplied in the vector X.
+          = 'F':  On entry, X contains information from the
+                  previous call.
+          = 'N':  On entry, X does not contain an information from
+                  the previous call.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix Z.  N &gt;= 0.
+
+  Z       (input) COMPLEX*16 array, dimension (LDZ,N)
+          The leading N-by-N part of this array must contain the
+          complex matrix Z for which the upper bound on the
+          structured singular value is to be computed.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
+
+  M       (input) INTEGER
+          The number of diagonal blocks in the block structure of
+          the uncertainty.  M &gt;= 1.
+
+  NBLOCK  (input) INTEGER array, dimension (M)
+          The vector of length M containing the block structure
+          of the uncertainty. NBLOCK(I), I = 1:M, is the size of
+          each block.
+
+  ITYPE   (input) INTEGER array, dimension (M)
+          The vector of length M indicating the type of each block.
+          For I = 1:M,
+          ITYPE(I) = 1 indicates that the corresponding block is a
+                       real block, and
+          ITYPE(I) = 2 indicates that the corresponding block is a
+                       complex block.
+          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          ( M + MR - 1 ), where MR is the number of the real blocks.
+          On entry, if FACT = 'F' and NBLOCK(1) &lt; N, this array
+          must contain information from the previous call to AB13MD.
+          If NBLOCK(1) = N, this array is not used.
+          On exit, if NBLOCK(1) &lt; N, this array contains information
+          that can be used in the next call to AB13MD for a matrix
+          close to Z.
+
+  BOUND   (output) DOUBLE PRECISION
+          The upper bound on the structured singular value.
+
+  D, G    (output) DOUBLE PRECISION arrays, dimension (N)
+          The vectors of length N containing the diagonal entries
+          of the diagonal N-by-N matrices D and G, respectively,
+          such that the matrix
+          Z'*D^2*Z + sqrt(-1)*(G*Z-Z'*G) - BOUND^2*D^2
+          is negative semidefinite.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(4*M-2,N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 11*N + 33*M - 11.
+          For best performance
+          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 6*N + 33*M - 11 +
+                    MAX( 5*N,2*N*NB )
+          where NB is the optimal blocksize returned by ILAENV.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) contains the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 6*N - 3.
+          For best performance
+          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 3*N - 3 +
+                    MAX( 3*N,N*NB )
+          where NB is the optimal blocksize returned by ILAENV.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the block sizes must be positive integers;
+          = 2:  the sum of block sizes must be equal to N;
+          = 3:  the size of a real block must be equal to 1;
+          = 4:  the block type must be either 1 or 2;
+          = 5:  errors in solving linear equations or in matrix
+                inversion;
+          = 6:  errors in computing eigenvalues or singular values.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the upper bound proposed in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Fan, M.K.H., Tits, A.L., and Doyle, J.C.
+      Robustness in the presence of mixed parametric uncertainty
+      and unmodeled dynamics.
+      IEEE Trans. Automatic Control, vol. AC-36, 1991, pp. 25-38.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy and speed of computation depend on the value of
+  the internal threshold TOL.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDZ
+      PARAMETER        ( LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 4*MMAX-2, NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX*MMAX - NMAX*NMAX +
+     $                            9*MMAX*MMAX + NMAX*MMAX + 11*NMAX +
+     $                            33*MMAX - 11 )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = 6*NMAX*NMAX*MMAX + 12*NMAX*NMAX +
+     $                            6*MMAX + 6*NMAX - 3 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      DOUBLE PRECISION BOUND
+*     .. Local Arrays ..
+      INTEGER          ITYPE(MMAX), IWORK(LIWORK), NBLOCK(MMAX)
+      DOUBLE PRECISION D(NMAX), DWORK(LDWORK), G(NMAX), X(2*MMAX-1)
+      COMPLEX*16       Z(LDZ,NMAX), ZWORK(LZWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB13MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( NBLOCK(I), I = 1, M )
+         READ ( NIN, FMT = * ) ( ITYPE(I), I = 1, M )
+         READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+*        Computing mu.
+         CALL AB13MD( 'N', N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D, G,
+     $               IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99991 ) BOUND
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13MD =',I2)
+99997 FORMAT (' The value of the structured singular value is'/)
+99991 FORMAT (D17.10)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13MD EXAMPLE PROGRAM DATA
+   6     5
+   1     1     2     1     1
+   1     1     2     2     2
+   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
+   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
+   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
+   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
+   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
+   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
+   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
+   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
+   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
+   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
+   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
+   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13MD EXAMPLE PROGRAM RESULTS
+
+ The value of the structured singular value is
+
+ 0.4174753408D+02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AB8NXZ.html b/doc/_build/html/_static/doc/AB8NXZ.html
new file mode 100644
index 00000000..3fb41924
--- /dev/null
+++ b/doc/_build/html/_static/doc/AB8NXZ.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>AB8NXZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB8NXZ">AB8NXZ</A></H2>
+<H3>
+Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) system
+               ( B  A )
+               ( D  C )
+  an (NU+MU)-by-(M+NU) "reduced" system
+               ( B' A')
+               ( D' C')
+  having the same transmission zeros but with D' of full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB8NXZ( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
+     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
+     $                   DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDABCD, LZWORK, M, MU, N, NINFZ, NKROL,
+     $                  NU, P, RO, SIGMA
+      DOUBLE PRECISION  SVLMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*)
+      COMPLEX*16        ABCD(LDABCD,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  RO      (input/output) INTEGER
+          On entry,
+          = P     for the original system;
+          = MAX(P-M, 0) for the pertransposed system.
+          On exit, RO contains the last computed rank.
+
+  SIGMA   (input/output) INTEGER
+          On entry,
+          = 0  for the original system;
+          = M  for the pertransposed system.
+          On exit, SIGMA contains the last computed value sigma in
+          the algorithm.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound input matrix of the system.
+          On exit, the leading (NU+MU)-by-(M+NU) part of this array
+          contains the reduced compound input matrix of the system.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  NINFZ   (input/output) INTEGER
+          On entry, the currently computed number of infinite zeros.
+          It should be initialized to zero on the first call.
+          NINFZ &gt;= 0.
+          On exit, the number of infinite zeros.
+
+  INFZ    (input/output) INTEGER array, dimension (N)
+          On entry, INFZ(i) must contain the current number of
+          infinite zeros of degree i, where i = 1,2,...,N, found in
+          the previous call(s) of the routine. It should be
+          initialized to zero on the first call.
+          On exit, INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,N.
+
+  KRONL   (input/output) INTEGER array, dimension (N+1)
+          On entry, this array must contain the currently computed
+          left Kronecker (row) indices found in the previous call(s)
+          of the routine. It should be initialized to zero on the
+          first call.
+          On exit, the leading NKROL elements of this array contain
+          the left Kronecker (row) indices.
+
+  MU      (output) INTEGER
+          The normal rank of the transfer function matrix of the
+          original system.
+
+  NU      (output) INTEGER
+          The dimension of the reduced system matrix and the number
+          of (finite) invariant zeros if D' is invertible.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AG07BD.html b/doc/_build/html/_static/doc/AG07BD.html
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+<HTML>
+<HEAD><TITLE>AG07BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG07BD">AG07BD</A></H2>
+<H3>
+Descriptor inverse of a state-space or descriptor representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the inverse (Ai-lambda*Ei,Bi,Ci,Di) of a given
+  descriptor system (A-lambda*E,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG07BD( JOBE, N, M, A, LDA, E, LDE, B, LDB, C, LDC,
+     $                   D, LDD, AI, LDAI, EI, LDEI, BI, LDBI, CI, LDCI,
+     $                   DI, LDDI, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBE
+      INTEGER            INFO, LDA, LDAI, LDB, LDBI, LDC, LDCI,
+     $                   LDD, LDDI, LDE, LDEI, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), AI(LDAI,*), B(LDB,*), BI(LDBI,*),
+     $                   C(LDC,*), CI(LDCI,*), D(LDD,*), DI(LDDI,*),
+     $                   E(LDE,*), EI(LDEI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general square or an identity
+          matrix as follows:
+          = 'G':  E is a general square matrix;
+          = 'I':  E is the identity matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrices A and E;
+          also the number of rows of matrix B and the number of
+          columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs and outputs, i.e., the number
+          of columns of matrices B and D and the number of rows of
+          matrices C and D.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the original system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'G', the leading N-by-N part of this array must
+          contain the descriptor matrix E of the original system.
+          If JOBE = 'I', then E is assumed to be the identity
+          matrix and is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the original system.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading M-by-N part of this array must contain the
+          output matrix C of the original system.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading M-by-M part of this array must contain the
+          feedthrough matrix D of the original system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
+
+  AI      (output) DOUBLE PRECISION array, dimension (LDAI,N+M)
+          The leading (N+M)-by-(N+M) part of this array contains
+          the state matrix Ai of the inverse system.
+          If LDAI = LDA &gt;= N+M, then AI and A can share the same
+          storage locations.
+
+  LDAI    INTEGER
+          The leading dimension of the array AI.
+          LDAI &gt;= MAX(1,N+M).
+
+  EI      (output) DOUBLE PRECISION array, dimension (LDEI,N+M)
+          The leading (N+M)-by-(N+M) part of this array contains
+          the descriptor matrix Ei of the inverse system.
+          If LDEI = LDE &gt;= N+M, then EI and E can share the same
+          storage locations.
+
+  LDEI    INTEGER
+          The leading dimension of the array EI.
+          LDEI &gt;= MAX(1,N+M).
+
+  BI      (output) DOUBLE PRECISION array, dimension (LDBI,M)
+          The leading (N+M)-by-M part of this array contains
+          the input matrix Bi of the inverse system.
+          If LDBI = LDB &gt;= N+M, then BI and B can share the same
+          storage locations.
+
+  LDBI    INTEGER
+          The leading dimension of the array BI.
+          LDBI &gt;= MAX(1,N+M).
+
+  CI      (output) DOUBLE PRECISION array, dimension (LDCI,N+M)
+          The leading M-by-(N+M) part of this array contains
+          the output matrix Ci of the inverse system.
+          If LDCI = LDC, CI and C can share the same storage
+          locations.
+
+  LDCI    INTEGER
+          The leading dimension of the array CI.  LDCI &gt;= MAX(1,M).
+
+  DI      (output) DOUBLE PRECISION array, dimension (LDDI,M)
+          The leading M-by-M part of this array contains
+          the feedthrough matrix Di = 0 of the inverse system.
+          DI and D can share the same storage locations.
+
+  LDDI    INTEGER
+          The leading dimension of the array DI.  LDDI &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the inverse system are computed with the formulas
+
+             ( E  0 )        ( A  B )         (  0 )
+        Ei = (      ) , Ai = (      ) ,  Bi = (    ),
+             ( 0  0 )        ( C  D )         ( -I )
+
+        Ci = ( 0  I ),  Di = 0.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The routine does not perform an invertibility test. This check can
+  be performed by using the SLICOT routines AB08NX or AG08BY.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AG08BD.html b/doc/_build/html/_static/doc/AG08BD.html
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+<HTML>
+<HEAD><TITLE>AG08BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG08BD">AG08BD</A></H2>
+<H3>
+Zeros and Kronecker structure of a descriptor system pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the system pencil
+
+                    ( A-lambda*E B )
+        S(lambda) = (              )
+                    (      C     D )
+
+  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
+  S(lambda) as generalized eigenvalues. The routine also computes
+  the orders of the infinite Smith zeros and determines the singular
+  and infinite Kronecker structure of system pencil, i.e., the right
+  and left Kronecker indices, and the multiplicities of infinite
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
+     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the system
+          matrix as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Af of the reduced pencil.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Ef of the reduced pencil.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0;
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NFZ     (output) INTEGER
+          The number of finite zeros.
+
+  NRANK   (output) INTEGER
+          The normal rank of the system pencil.
+
+  NIZ     (output) INTEGER
+          The number of infinite zeros.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite Smith zeros.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NINFE   (output) INTEGER
+          The number of elementary infinite blocks.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N+1)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors of
+          degree i in the Smith form, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (N+M+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
+          The leading NINFE elements of INFE contain the
+          multiplicities of infinite eigenvalues.
+
+  KRONL   (output) INTEGER array, dimension (L+P+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then default tolerances are
+          used instead, as follows: TOLDEF = L*N*EPS in TG01FD
+          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
+          in the rest, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+max(1,M))
+          On output, IWORK(1) contains the normal rank of the
+          transfer function matrix.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 4*(L+N), LDW ), if EQUIL = 'S',
+          LDWORK &gt;= LDW,                 if EQUIL = 'N', where
+          LDW = max(L+P,M+N)*(M+N) + max(1,5*max(L+P,M+N)).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a descriptor
+  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
+  has the finite zeros of the system as generalized eigenvalues.
+  The procedure has the following main computational steps:
+
+     (a) construct the (L+P)-by-(N+M) system pencil
+
+          S(lambda) = ( B  A )-lambda*( 0  E );
+                      ( D  C )        ( 0  0 )
+
+     (b) reduce S(lambda) to S1(lambda) with the same finite
+         zeros and right Kronecker structure but with E
+         upper triangular and nonsingular;
+
+     (c) reduce S1(lambda) to S2(lambda) with the same finite
+         zeros and right Kronecker structure but with D of
+         full row rank;
+
+     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
+         and with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+
+         S3(lambda) = (A-lambda*E   B) in order to reduce it to
+                      (     C       D)
+
+         (Af-lambda*Ef   X), with Y and Ef square invertible;
+         (     0         Y)
+
+     (f) compute the right and left Kronecker indices of the system
+         matrix, which together with the multiplicities of the
+         finite and infinite eigenvalues constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the finite Smith zeros of the system
+  explicitly, a call to this routine may be followed by a
+  call to the LAPACK Library routines DGEGV or DGGEV.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AG08BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, MMAX, NMAX, PMAX
+      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
+     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ),  8*NMAX,
+     $                                 LDAEMX*LDAEMX +
+     $                                 MAX( 1, 5*LDAEMX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
+     $                 NKROL, NKROR, NRANK, P
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
+     $                 ASAVE(LDA,NMAX), B(LDB,MMAX), BETA(NMAX),
+     $                 BSAVE(LDB,MMAX), C(LDC,NMAX), CSAVE(LDC,NMAX),
+     $                 D(LDD,MMAX), DSAVE(LDD,MMAX), DWORK(LDWORK),
+     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1)
+      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
+     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
+     $                 KRONR(NMAX+MMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AG08BD, DGEGV, DLACPY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
+      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
+     $   THEN
+         WRITE ( NOUT, FMT = 99972 ) L, N
+      ELSE
+         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               CALL DLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
+               CALL DLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
+               CALL DLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
+               CALL DLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
+               CALL DLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
+*              Compute poles (call the routine with M = 0, P = 0).
+               CALL AG08BD( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99968 ) NIZ
+                  DO 10 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
+     $                                      ( INFE(I), I = 1,NINFE )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99965 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99966 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 30 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   30                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 40 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   40                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AG08BD( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99964 ) NIZ
+                  DO 50 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99957 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 70 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   70                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 80 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AG08BD( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99963 ) NIZ
+                  DO 90  I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   90             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99956 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 100 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  100                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 110 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  110                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99982 )
+                        DO 120 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+  120                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL DLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
+               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+               CALL DLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
+*              Compute the structural invariants of the given system.
+               CALL AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( L.EQ.N ) THEN
+                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
+                  ELSE
+                     WRITE ( NOUT, FMT = 99955 ) NRANK
+                  END IF
+                  WRITE ( NOUT, FMT = 99984 ) NFZ
+                  IF( NFZ.GT.0 ) THEN
+*                    Compute the finite zeros of the given system.
+*                    Workspace: need 8*NFZ.
+                     WRITE ( NOUT, FMT = 99983 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 130 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  130                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 140 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  140                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 150 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+  150                   CONTINUE
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99978 ) NIZ
+                  DO 160 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  160             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                     ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                     ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AG08BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AG08BD = ',I2)
+99997 FORMAT (' INFO on exit from DGEGV = ',I2)
+99996 FORMAT (/'Unobservable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99995 FORMAT (/' The matrix Ef is ')
+99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
+     $          /(20(I3,2X)))
+99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
+99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
+     $       ,' of the pair (Af,Ef). ')
+99990 FORMAT (/' The matrix Af is ')
+99989 FORMAT (20(1X,F8.4))
+99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
+     $        /( 20(I3,2X) ) )
+99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' pair (Af,Ef). ')
+99984 FORMAT (/' The number of finite zeros = ',I3)
+99983 FORMAT (/' The finite zeros are the eigenvalues ',
+     $         'of the pair (Af,Ef)')
+99982 FORMAT (/'Uncontrollable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99981 FORMAT (/'Finite zeros'/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4)
+99979 FORMAT (1X,F9.4,6X,F9.4)
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ', /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ',  /(20(I3,2X)))
+99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
+99968 FORMAT (//' The number of infinite poles = ',I3)
+99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
+99966 FORMAT (/' The finite poles are the eigenvalues',
+     $       ' of the pair (Af,Ef). ')
+99965 FORMAT (/' The system has no finite poles ')
+99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
+99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
+99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
+99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
+99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
+99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
+99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
+     $         ,' are ', /(20(I3,2X)))
+99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
+     $         ' decoupling zeros ')
+99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
+     $         ' decoupling zeros ')
+99955 FORMAT (/' Normal rank  of system pencil = ',I3)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AG08BD EXAMPLE PROGRAM DATA
+   9    9    3     3     1.e-7     N
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     0     0     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+    -1     0     0
+     0     0     0
+     0     0     0
+     0    -1     0
+     0     0     0
+     0     0     0
+     0     0    -1
+     0     0     0
+     0     0     0
+     0     1     1     0     3     4     0     0     2
+     0     1     0     0     4     0     0     2     0
+     0     0     1     0    -1     4     0    -2     2
+     1     2    -2
+     0    -1    -2
+     0     0     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AG08BD EXAMPLE PROGRAM RESULTS
+
+
+
+ The number of infinite poles =   6
+   0 infinite pole(s) of order   1
+   3 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of A-lambda*E are 
+  3    3    3
+
+ The system has no finite poles 
+
+
+ The number of unobservable infinite poles =   4
+   0 infinite pole(s) of order   1
+   2 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
+  1    3    3
+
+ The left Kronecker indices of [A-lambda*E;C] are 
+  0    1    1
+
+ The system (A-lambda*E,C) has no finite output decoupling zeros 
+
+
+ The number of uncontrollable infinite poles =   0
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
+  1    1    1
+
+ The right Kronecker indices of [A-lambda*E,B] are 
+  2    2    2
+
+ The system (A-lambda*E,B) has no finite input decoupling zeros 
+
+ Normal rank  of transfer function matrix =   2
+
+ The number of finite zeros =   1
+
+ The finite zeros are the eigenvalues of the pair (Af,Ef)
+
+ The matrix Af is 
+   0.7705
+
+ The matrix Ef is 
+   0.7705
+
+Finite zeros
+ real  part     imag  part 
+    1.0000
+
+
+ The number of infinite zeros =   2
+   0 infinite zero(s) of order   1
+   1 infinite zero(s) of order   2
+
+ The number of infinite Kronecker blocks =   5
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
+  1    1    1    1    3
+
+ The number of right Kronecker indices =   1
+
+ Right Kronecker indices of [A-lambda*E,B;C,D] are 
+  2
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker indices of [A-lambda*E,B;C,D] are 
+  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AG08BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG08BY">AG08BY</A></H2>
+<H3>
+Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) descriptor system pencil
+
+     S(lambda) = ( B   A - lambda*E  )
+                 ( D        C        )
+
+  with E nonsingular and upper triangular a
+  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
+
+                        ( Br  Ar-lambda*Er )
+           Sr(lambda) = (                  )
+                        ( Dr     Cr        )
+
+  having the same finite Smith zeros as the pencil
+  S(lambda) but with Dr, a PR-by-M full row rank
+  left upper trapezoidal matrix, and Er, an NR-by-NR
+  upper triangular nonsingular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG08BY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
+     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DINFZ, INFO, LDABCD, LDE, LDWORK, M, N, NINFZ,
+     $                   NKRONL, NR, P, PR
+      DOUBLE PRECISION   SVLMAX, TOL
+      LOGICAL            FIRST
+C     .. Array Arguments ..
+      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
+      DOUBLE PRECISION   ABCD( LDABCD, * ), DWORK( * ), E( LDE, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FIRST   LOGICAL
+          Specifies if AG08BY is called first time or it is called
+          for an already reduced system, with D full column rank
+          with the last M rows in upper triangular form:
+          FIRST = .TRUE.,  first time called;
+          FIRST = .FALSE., not first time called.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of matrix B, the number of columns of
+          matrix C and the order of square matrices A and E.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrices B and D.  M &gt;= 0.
+          M &lt;= P if FIRST = .FALSE. .
+
+  P       (input) INTEGER
+          The number of rows of matrices C and D.  P &gt;= 0.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) DOUBLE PRECISION array, dimension
+          (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound matrix
+                   (  B   A  ) ,
+                   (  D   C  )
+          where A is an N-by-N matrix, B is an N-by-M matrix,
+          C is a P-by-N matrix and D is a P-by-M matrix.
+          If FIRST = .FALSE., then D must be a full column
+          rank matrix with the last M rows in upper triangular form.
+          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
+          contains the reduced compound matrix
+                    (  Br  Ar ) ,
+                    (  Dr  Cr )
+          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
+          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
+          left upper trapezoidal matrix with the first PR columns
+          in upper triangular form.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular nonsingular matrix E.
+          On exit, the leading NR-by-NR part contains the reduced
+          upper triangular nonsingular matrix Er.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ar and Er; also the
+          number of rows of the reduced matrix Br and the number
+          of columns of the reduced matrix Cr.
+          If Dr is invertible, NR is also the number of finite
+          Smith zeros.
+
+  PR      (output) INTEGER
+          The rank of the resulting matrix Dr; also the number of
+          rows of reduced matrices Cr and Dr.
+
+  NINFZ   (output) INTEGER
+          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite zeros.
+          DINFZ = 0 if FIRST = .FALSE. .
+
+  NKRONL  (output) INTEGER
+          The maximal dimension of left elementary Kronecker blocks.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,DINFZ.
+          INFZ is not referenced if FIRST = .FALSE. .
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          KRONL(i) contains the number of left elementary Kronecker
+          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
+          instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FIRST = .FALSE., IWORK is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if P = 0; otherwise
+          LDWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 5*P ),
+                                          if FIRST = .TRUE.;
+          LDWORK &gt;= MAX( 1, N+M-1, 5*P ), if FIRST = .FALSE. .
+          The second term is not needed if M = 0.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( (P+N)*(M+N)*N )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite zeros is computed as
+
+                DINFZ
+     NINFZ =     Sum  (INFZ(i)*i) .
+                 i=1
+  Note that each infinite zero of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+  The multiplicities of the infinite eigenvalues can be determined
+  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
+
+                  DINFZ
+  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
+                   i=1
+
+  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
+    for i = 1, ..., DINFZ.
+
+  The left Kronecker indices are:
+
+  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
+  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AG08BZ.html b/doc/_build/html/_static/doc/AG08BZ.html
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+<HTML>
+<HEAD><TITLE>AG08BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG08BZ">AG08BZ</A></H2>
+<H3>
+Zeros and Kronecker structure of a descriptor system pencil (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the system pencil
+
+                    ( A-lambda*E B )
+        S(lambda) = (              )
+                    (      C     D )
+
+  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
+  S(lambda) as generalized eigenvalues. The routine also computes
+  the orders of the infinite Smith zeros and determines the singular
+  and infinite Kronecker structure of system pencil, i.e., the right
+  and left Kronecker indices, and the multiplicities of infinite
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
+     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
+     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LZWORK,
+     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the system
+          matrix as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Af of the reduced pencil.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Ef of the reduced pencil.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0;
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) COMPLEX*16 array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NFZ     (output) INTEGER
+          The number of finite zeros.
+
+  NRANK   (output) INTEGER
+          The normal rank of the system pencil.
+
+  NIZ     (output) INTEGER
+          The number of infinite zeros.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite Smith zeros.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NINFE   (output) INTEGER
+          The number of elementary infinite blocks.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N+1)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors of
+          degree i in the Smith form, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (N+M+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
+          The leading NINFE elements of INFE contain the
+          multiplicities of infinite eigenvalues.
+
+  KRONL   (output) INTEGER array, dimension (L+P+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then default tolerances are
+          used instead, as follows: TOLDEF = L*N*EPS in TG01FZ
+          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
+          in the rest, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+max(1,M))
+          On output, IWORK(1) contains the normal rank of the
+          transfer function matrix.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          LDWORK &gt;= max(4*(L+N), 2*max(L+P,M+N))), if EQUIL = 'S',
+          LDWORK &gt;= 2*max(L+P,M+N)),               if EQUIL = 'N'.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= max( max(L+P,M+N)*(M+N) +
+                         max(min(L+P,M+N) + max(min(L,N),3*(M+N)-1),
+                             3*(L+P), 1))
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a descriptor
+  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
+  has the finite zeros of the system as generalized eigenvalues.
+  The procedure has the following main computational steps:
+
+     (a) construct the (L+P)-by-(N+M) system pencil
+
+          S(lambda) = ( B  A )-lambda*( 0  E );
+                      ( D  C )        ( 0  0 )
+
+     (b) reduce S(lambda) to S1(lambda) with the same finite
+         zeros and right Kronecker structure but with E
+         upper triangular and nonsingular;
+
+     (c) reduce S1(lambda) to S2(lambda) with the same finite
+         zeros and right Kronecker structure but with D of
+         full row rank;
+
+     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
+         and with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+
+         S3(lambda) = (A-lambda*E   B) in order to reduce it to
+                      (     C       D)
+
+         (Af-lambda*Ef   X), with Y and Ef square invertible;
+         (     0         Y)
+
+     (f) compute the right and left Kronecker indices of the system
+         matrix, which together with the multiplicities of the
+         finite and infinite eigenvalues constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the finite Smith zeros of the system
+  explicitly, a call to this routine may be followed by a
+  call to the LAPACK Library routines ZGEGV or ZGGEV.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AG08BZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, MMAX, NMAX, PMAX
+      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
+     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ), 2*LDAEMX,
+     $                                 8*NMAX ) )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = MAX( 1, LDAEMX*LDAEMX +
+     $                                 MAX( MIN( LMAX+PMAX, MMAX+NMAX )+
+     $                                      MAX( MIN( LMAX, NMAX ),
+     $                                           3*( MMAX+NMAX )-1 ),
+     $                                      3*( LMAX+PMAX ) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
+     $                 NKROL, NKROR, NRANK, P
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), ALPHA(NMAX), ASAVE(LDA,NMAX),
+     $                 B(LDB,MMAX),  BETA(NMAX), BSAVE(LDB,MMAX),
+     $                 C(LDC,NMAX), CSAVE(LDC,NMAX),
+     $                 D(LDD,MMAX), DSAVE(LDD,MMAX),
+     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1),
+     $                 ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK)
+      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
+     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
+     $                 KRONR(NMAX+MMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AG08BZ, ZGEGV, ZLACPY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
+      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
+     $   THEN
+         WRITE ( NOUT, FMT = 99972 ) L, N
+      ELSE
+         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               CALL ZLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
+               CALL ZLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
+               CALL ZLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
+               CALL ZLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
+               CALL ZLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
+*              Compute poles (call the routine with M = 0, P = 0).
+               CALL AG08BZ( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99968 ) NIZ
+                  DO 10 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
+     $                                      ( INFE(I), I = 1,NINFE )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99965 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99966 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 30 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   30                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 40 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+   40                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AG08BZ( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99964 ) NIZ
+                  DO 50 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99957 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 70 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   70                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 80 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AG08BZ( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99963 ) NIZ
+                  DO 90  I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   90             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99956 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 100 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  100                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 110 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  110                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99982 )
+                        DO 120 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+  120                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL ZLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
+               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+               CALL ZLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
+*              Compute the structural invariants of the given system.
+               CALL AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( L.EQ.N ) THEN
+                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
+                  ELSE
+                     WRITE ( NOUT, FMT = 99955 ) NRANK
+                  END IF
+                  WRITE ( NOUT, FMT = 99984 ) NFZ
+                  IF( NFZ.GT.0 ) THEN
+*                    Compute the finite zeros of the given system.
+*                    Workspace: need 8*NFZ.
+                     WRITE ( NOUT, FMT = 99983 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 130 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  130                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 140 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  140                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 150 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+  150                   CONTINUE
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99978 ) NIZ
+                  DO 160 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  160             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                     ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                     ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AG08BZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AG08BZ = ',I2)
+99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
+99996 FORMAT (/' Unobservable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99995 FORMAT (/' The matrix Ef is ')
+99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
+     $          /(20(I3,2X)))
+99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
+99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
+     $       , ' of the pair (Af,Ef). ')
+99990 FORMAT (/' The matrix Af is ')
+99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
+     $        /( 20(I3,2X) ) )
+99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $         ' pair (Af,Ef). ')
+99984 FORMAT (/' The number of finite zeros = ',I3)
+99983 FORMAT (/' The finite zeros are the eigenvalues ',
+     $         'of the pair (Af,Ef)')
+99982 FORMAT (/' Uncontrollable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99981 FORMAT (/' Finite zeros'/' real  part     imag  part ')
+99979 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ', /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ',  /(20(I3,2X)))
+99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
+99968 FORMAT (//' The number of infinite poles = ',I3)
+99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
+99966 FORMAT (/' The finite poles are the eigenvalues',
+     $         ' of the pair (Af,Ef). ')
+99965 FORMAT (/' The system has no finite poles ')
+99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
+99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
+99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
+99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
+99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
+99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
+99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
+     $         ,' are ', /(20(I3,2X)))
+99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
+     $         ' decoupling zeros ')
+99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
+     $         ' decoupling zeros ')
+99955 FORMAT (/' Normal rank  of system pencil = ',I3)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AG08BZ EXAMPLE PROGRAM DATA
+   9    9    3     3     1.e-7     N
+    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
+   (-1,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)  (-1,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)  (-1,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (1,0)   (1,0)   (0,0)   (3,0)    (4,0)    (0,0)   (0,0)    (2,0)
+    (0,0)   (1,0)   (0,0)   (0,0)   (4,0)    (0,0)    (0,0)   (2,0)    (0,0)
+    (0,0)   (0,0)   (1,0)   (0,0)  (-1,0)    (4,0)    (0,0)  (-2,0)    (2,0)
+    (1,0)   (2,0)  (-2,0)
+    (0,0)  (-1,0)  (-2,0)
+    (0,0)   (0,0)   (0,0)
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AG08BZ EXAMPLE PROGRAM RESULTS
+
+
+
+ The number of infinite poles =   6
+   0 infinite pole(s) of order   1
+   3 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of A-lambda*E are 
+  3    3    3
+
+ The system has no finite poles 
+
+
+ The number of unobservable infinite poles =   4
+   0 infinite pole(s) of order   1
+   2 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
+  1    3    3
+
+ The left Kronecker indices of [A-lambda*E;C] are 
+  0    1    1
+
+ The system (A-lambda*E,C) has no finite output decoupling zeros 
+
+
+ The number of uncontrollable infinite poles =   0
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
+  1    1    1
+
+ The right Kronecker indices of [A-lambda*E,B] are 
+  2    2    2
+
+ The system (A-lambda*E,B) has no finite input decoupling zeros 
+
+ Normal rank  of transfer function matrix =   2
+
+ The number of finite zeros =   1
+
+ The finite zeros are the eigenvalues of the pair (Af,Ef)
+
+ The matrix Af is 
+   -0.7705  +0.0000i 
+
+ The matrix Ef is 
+   -0.7705  +0.0000i 
+
+Finite zeros
+ real  part     imag  part 
+    1.0000  +0.0000i 
+
+
+ The number of infinite zeros =   2
+   0 infinite zero(s) of order   1
+   1 infinite zero(s) of order   2
+
+ The number of infinite Kronecker blocks =   5
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
+  1    1    1    1    3
+
+ The number of right Kronecker indices =   1
+
+ Right Kronecker indices of [A-lambda*E,B;C,D] are 
+  2
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker indices of [A-lambda*E,B;C,D] are 
+  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/AG8BYZ.html b/doc/_build/html/_static/doc/AG8BYZ.html
new file mode 100644
index 00000000..24e889c4
--- /dev/null
+++ b/doc/_build/html/_static/doc/AG8BYZ.html
@@ -0,0 +1,265 @@
+<HTML>
+<HEAD><TITLE>AG8BYZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG8BYZ">AG8BYZ</A></H2>
+<H3>
+Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) descriptor system pencil
+
+     S(lambda) = ( B   A - lambda*E  )
+                 ( D        C        )
+
+  with E nonsingular and upper triangular a
+  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
+
+                        ( Br  Ar-lambda*Er )
+           Sr(lambda) = (                  )
+                        ( Dr     Cr        )
+
+  having the same finite Smith zeros as the pencil
+  S(lambda) but with Dr, a PR-by-M full row rank
+  left upper trapezoidal matrix, and Er, an NR-by-NR
+  upper triangular nonsingular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG8BYZ( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
+     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
+     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DINFZ, INFO, LDABCD, LDE, LZWORK, M, N, NINFZ,
+     $                   NKRONL, NR, P, PR
+      DOUBLE PRECISION   SVLMAX, TOL
+      LOGICAL            FIRST
+C     .. Array Arguments ..
+      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
+      DOUBLE PRECISION   DWORK( * )
+      COMPLEX*16         ABCD( LDABCD, * ), E( LDE, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FIRST   LOGICAL
+          Specifies if AG8BYZ is called first time or it is called
+          for an already reduced system, with D full column rank
+          with the last M rows in upper triangular form:
+          FIRST = .TRUE.,  first time called;
+          FIRST = .FALSE., not first time called.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of matrix B, the number of columns of
+          matrix C and the order of square matrices A and E.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrices B and D.  M &gt;= 0.
+          M &lt;= P if FIRST = .FALSE. .
+
+  P       (input) INTEGER
+          The number of rows of matrices C and D.  P &gt;= 0.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound matrix
+                   (  B   A  ) ,
+                   (  D   C  )
+          where A is an N-by-N matrix, B is an N-by-M matrix,
+          C is a P-by-N matrix and D is a P-by-M matrix.
+          If FIRST = .FALSE., then D must be a full column
+          rank matrix with the last M rows in upper triangular form.
+          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
+          contains the reduced compound matrix
+                    (  Br  Ar ) ,
+                    (  Dr  Cr )
+          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
+          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
+          left upper trapezoidal matrix with the first PR columns
+          in upper triangular form.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular nonsingular matrix E.
+          On exit, the leading NR-by-NR part contains the reduced
+          upper triangular nonsingular matrix Er.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ar and Er; also the
+          number of rows of the reduced matrix Br and the number
+          of columns of the reduced matrix Cr.
+          If Dr is invertible, NR is also the number of finite
+          Smith zeros.
+
+  PR      (output) INTEGER
+          The rank of the resulting matrix Dr; also the number of
+          rows of reduced matrices Cr and Dr.
+
+  NINFZ   (output) INTEGER
+          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite zeros.
+          DINFZ = 0 if FIRST = .FALSE. .
+
+  NKRONL  (output) INTEGER
+          The maximal dimension of left elementary Kronecker blocks.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,DINFZ.
+          INFZ is not referenced if FIRST = .FALSE. .
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          KRONL(i) contains the number of left elementary Kronecker
+          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
+          instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FIRST = .FALSE., IWORK is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          LDWORK &gt;= 2*MAX(M,P), if FIRST = .TRUE.;
+          LDWORK &gt;= 2*P,        if FIRST = .FALSE. .
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= 1, if P = 0; otherwise
+          LZWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 3*P ),
+                                          if FIRST = .TRUE.;
+          LZWORK &gt;= MAX( 1, N+M-1, 3*P ), if FIRST = .FALSE. .
+          The second term is not needed if M = 0.
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( (P+N)*(M+N)*N )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite zeros is computed as
+
+                DINFZ
+     NINFZ =     Sum  (INFZ(i)*i) .
+                 i=1
+  Note that each infinite zero of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+  The multiplicities of the infinite eigenvalues can be determined
+  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
+
+                  DINFZ
+  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
+                   i=1
+
+  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
+    for i = 1, ..., DINFZ.
+
+  The left Kronecker indices are:
+
+  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
+  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>BB01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB01AD">BB01AD</A></H2>
+<H3>
+Benchmark examples for continuous-time algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate the benchmark examples for the numerical solution of
+  continuous-time algebraic Riccati equations (CAREs) of the form
+
+    0 = Q + A'X + XA - XGX
+
+  corresponding to the Hamiltonian matrix
+
+         (  A   G  )
+     H = (       T ).
+         (  Q  -A  )
+
+  A,G,Q,X are real N-by-N matrices, Q and G are symmetric and may
+  be given in factored form
+
+                -1 T                         T
+   (I)   G = B R  B  ,           (II)   Q = C W C .
+
+  Here, C is P-by-N, W P-by-P, B N-by-M, and R M-by-M, where W
+  and R are symmetric. In linear-quadratic optimal control problems,
+  usually W is positive semidefinite and R positive definite.  The
+  factorized form can be used if the CARE is solved using the
+  deflating subspaces of the extended Hamiltonian pencil
+
+               (  A   0   B  )       (  I   0   0  )
+               (       T     )       (             )
+     H - s K = (  Q   A   0  )  -  s (  0  -I   0  ) ,
+               (       T     )       (             )
+               (  0   B   R  )       (  0   0   0  )
+
+  where I and 0 denote the identity and zero matrix, respectively,
+  of appropriate dimensions.
+
+  NOTE: the formulation of the CARE and the related matrix (pencils)
+        used here does not include CAREs as they arise in robust
+        control (H_infinity optimization).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB01AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
+     1                  A, LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX,
+     2                  DWORK, LDWORK, INFO)
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDG, LDQ, LDWORK, LDX, M, N,
+     $                 P
+      CHARACTER        DEF
+C     .. Array Arguments ..
+      INTEGER          IPAR(4), NR(2)
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
+     1                 G(*), Q(*), X(LDX,*)
+      CHARACTER        CHPAR*(*)
+      LOGICAL          BPAR(6), VEC(9)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER
+          This parameter specifies if the default parameters are
+          to be used or not.
+          = 'N' or 'n' : The parameters given in the input vectors
+                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
+          = 'D' or 'd' : The default parameters for the example
+                         are used.
+          This parameter is not meaningful if NR(1) = 1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          This array determines the example for which CAREX returns
+          data. NR(1) is the group of examples.
+          NR(1) = 1 : parameter-free problems of fixed size.
+          NR(1) = 2 : parameter-dependent problems of fixed size.
+          NR(1) = 3 : parameter-free problems of scalable size.
+          NR(1) = 4 : parameter-dependent problems of scalable size.
+          NR(2) is the number of the example in group NR(1).
+          Let NEXi be the number of examples in group i. Currently,
+          NEX1 = 6, NEX2 = 9, NEX3 = 2, NEX4 = 4.
+          1 &lt;= NR(1) &lt;= 4;
+          1 &lt;= NR(2) &lt;= NEXi , where i = NR(1).
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
+          Double precision parameter vector. For explanation of the
+          parameters see [1].
+          DPAR(1)           : defines the parameters
+                              'delta' for NR(1) = 3,
+                              'q' for NR(1).NR(2) = 4.1,
+                              'a' for NR(1).NR(2) = 4.2, and
+                              'mu' for NR(1).NR(2) = 4.3.
+          DPAR(2)           : defines parameters
+                              'r' for NR(1).NR(2) = 4.1,
+                              'b' for NR(1).NR(2) = 4.2, and
+                              'delta' for NR(1).NR(2) = 4.3.
+          DPAR(3)           : defines parameters
+                              'c' for NR(1).NR(2) = 4.2 and
+                              'kappa' for NR(1).NR(2) = 4.3.
+          DPAR(j), j=4,5,6,7: These arguments are only used to
+                              generate Example 4.2 and define in
+                              consecutive order the intervals
+                              ['beta_1', 'beta_2'],
+                              ['gamma_1', 'gamma_2'].
+          NOTE that if DEF = 'D' or 'd', the values of DPAR entries
+          on input are ignored and, on output, they are overwritten
+          with the default parameters.
+
+  IPAR    (input/output) INTEGER array, dimension (4)
+          On input, IPAR(1) determines the actual state dimension,
+          i.e., the order of the matrix A as follows, where
+          NO = NR(1).NR(2).
+          NR(1) = 1 or 2.1-2.8: IPAR(1) is ignored.
+          NO = 2.9            : IPAR(1) = 1 generates the CARE for
+                                optimal state feedback (default);
+                                IPAR(1) = 2 generates the Kalman
+                                filter CARE.
+          NO = 3.1            : IPAR(1) is the number of vehicles
+                                (parameter 'l' in the description
+                                 in [1]).
+          NO = 3.2, 4.1 or 4.2: IPAR(1) is the order of the matrix
+                                A.
+          NO = 4.3 or 4.4     : IPAR(1) determines the dimension of
+                                the second-order system, i.e., the
+                                order of the stiffness matrix for
+                                Examples 4.3 and 4.4 (parameter 'l'
+                                in the description in [1]).
+
+          The order of the output matrix A is N = 2*IPAR(1) for
+          Example 4.3 and N = 2*IPAR(1)-1 for Examples 3.1 and 4.4.
+          NOTE that IPAR(1) is overwritten for Examples 1.1-2.8. For
+          the other examples, IPAR(1) is overwritten if the default
+          parameters are to be used.
+          On output, IPAR(1) contains the order of the matrix A.
+
+          On input, IPAR(2) is the number of colums in the matrix B
+          in (I) (in control problems, the number of inputs of the
+          system). Currently, IPAR(2) is fixed or determined by
+          IPAR(1) for all examples and thus is not referenced on
+          input.
+          On output, IPAR(2) is the number of columns of the
+          matrix B from (I).
+          NOTE that currently IPAR(2) is overwritten and that
+          rank(G) &lt;= IPAR(2).
+
+          On input, IPAR(3) is the number of rows in the matrix C
+          in (II) (in control problems, the number of outputs of the
+          system). Currently, IPAR(3) is fixed or determined by
+          IPAR(1) for all examples and thus is not referenced on
+          input.
+          On output, IPAR(3) contains the number of rows of the
+          matrix C in (II).
+          NOTE that currently IPAR(3) is overwritten and that
+          rank(Q) &lt;= IPAR(3).
+
+          On input, if NR(1) = NR(2) = 4, and other data file than
+          that used by default is desired, then IPAR(4) is the
+          length of the character string in CHPAR specifying the
+          file name.
+
+  BPAR    (input) BOOLEAN array, dimension (6)
+          This array defines the form of the output of the examples
+          and the storage mode of the matrices G and Q.
+          BPAR(1) = .TRUE.  : G is returned.
+          BPAR(1) = .FALSE. : G is returned in factored form, i.e.,
+                              B and R from (I) are returned.
+          BPAR(2) = .TRUE.  : The matrix returned in array G (i.e.,
+                              G if BPAR(1) = .TRUE. and R if
+                              BPAR(1) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(2) = .FALSE. : The matrix returned in array G is
+                              provided in packed storage mode.
+          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
+                              returned in array G is stored in upper
+                              packed mode, i.e., the upper triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              G(i,j) is stored in the array entry
+                              G(i+j*(j-1)/2) for i &lt;= j.
+                              Otherwise, this entry is ignored.
+          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
+                              returned in array G is stored in lower
+                              packed mode, i.e., the lower triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              G(i,j) is stored in the array entry
+                              G(i+(2*n-j)*(j-1)/2) for j &lt;= i.
+                              Otherwise, this entry is ignored.
+          BPAR(4) = .TRUE.  : Q is returned.
+          BPAR(4) = .FALSE. : Q is returned in factored form, i.e.,
+                              C and W from (II) are returned.
+          BPAR(5) = .TRUE.  : The matrix returned in array Q (i.e.,
+                              Q if BPAR(4) = .TRUE. and W if
+                              BPAR(4) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(5) = .FALSE. : The matrix returned in array Q is
+                              provided in packed storage mode.
+          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
+                              returned in array Q is stored in upper
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
+                              returned in array Q is stored in lower
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          NOTE that there are no default values for BPAR.  If all
+          entries are declared to be .TRUE., then matrices G and Q
+          are returned in conventional storage mode, i.e., as
+          N-by-N arrays where the array element Z(I,J) contains the
+          matrix entry Z_{i,j}.
+
+  CHPAR   (input/output) CHARACTER*255
+          On input, this is the name of a data file supplied by the
+          user.
+          In the current version, only Example 4.4 allows a
+          user-defined data file. This file must contain
+          consecutively DOUBLE PRECISION vectors mu, delta, gamma,
+          and kappa. The length of these vectors is determined by
+          the input value for IPAR(1).
+          If on entry, IPAR(1) = L, then mu and delta must each
+          contain L DOUBLE PRECISION values, and gamma and kappa
+          must each contain L-1 DOUBLE PRECISION values.
+          On output, this string contains short information about
+          the chosen example.
+
+  VEC     (output) LOGICAL array, dimension (9)
+          Flag vector which displays the availability of the output
+          data:
+          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
+          are always .TRUE.
+          VEC(4) refers to A and is always .TRUE.
+          VEC(5) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors B
+          and R from (I) are returned.
+          VEC(6) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors C
+          and W from (II) are returned.
+          VEC(7) refers to G and is always .TRUE.
+          VEC(8) refers to Q and is always .TRUE.
+          VEC(9) refers to X and is .TRUE. if the exact solution
+          matrix is available.
+          NOTE that VEC(i) = .FALSE. for i = 1 to 9 if on exit
+          INFO .NE. 0.
+
+  N       (output) INTEGER
+          The order of the matrices A, X, G if BPAR(1) = .TRUE., and
+          Q if BPAR(4) = .TRUE.
+
+  M       (output) INTEGER
+          The number of columns in the matrix B (or the dimension of
+          the control input space of the underlying dynamical
+          system).
+
+  P       (output) INTEGER
+          The number of rows in the matrix C (or the dimension of
+          the output space of the underlying dynamical system).
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          coefficient matrix A of the CARE.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If (BPAR(1) = .FALSE.), then the leading N-by-M part of
+          this array contains the matrix B of the factored form (I)
+          of G. Otherwise, B is used as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          If (BPAR(4) = .FALSE.), then the leading P-by-N part of
+          this array contains the matrix C of the factored form (II)
+          of Q. Otherwise, C is used as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= P, where P is the number of rows of the matrix C,
+          i.e., the output value of IPAR(3). (For all examples,
+          P &lt;= N, where N equals the output value of the argument
+          IPAR(1), i.e., LDC &gt;= LDA is always safe.)
+
+  G       (output) DOUBLE PRECISION array, dimension (NG)
+          If (BPAR(2) = .TRUE.)  then NG = LDG*N.
+          If (BPAR(2) = .FALSE.) then NG = N*(N+1)/2.
+          If (BPAR(1) = .TRUE.), then array G contains the
+          coefficient matrix G of the CARE.
+          If (BPAR(1) = .FALSE.), then array G contains the 'control
+          weighting matrix' R of G's factored form as in (I). (For
+          all examples, M &lt;= N.) The symmetric matrix contained in
+          array G is stored according to BPAR(2) and BPAR(3).
+
+  LDG     INTEGER
+          If conventional storage mode is used for G, i.e.,
+          BPAR(2) = .TRUE., then G is stored like a 2-dimensional
+          array with leading dimension LDG. If packed symmetric
+          storage mode is used, then LDG is not referenced.
+          LDG &gt;= N if BPAR(2) = .TRUE..
+
+  Q       (output) DOUBLE PRECISION array, dimension (NQ)
+          If (BPAR(5) = .TRUE.)  then NQ = LDQ*N.
+          If (BPAR(5) = .FALSE.) then NQ = N*(N+1)/2.
+          If (BPAR(4) = .TRUE.), then array Q contains the
+          coefficient matrix Q of the CARE.
+          If (BPAR(4) = .FALSE.), then array Q contains the 'output
+          weighting matrix' W of Q's factored form as in (II).
+          The symmetric matrix contained in array Q is stored
+          according to BPAR(5) and BPAR(6).
+
+  LDQ     INTEGER
+          If conventional storage mode is used for Q, i.e.,
+          BPAR(5) = .TRUE., then Q is stored like a 2-dimensional
+          array with leading dimension LDQ. If packed symmetric
+          storage mode is used, then LDQ is not referenced.
+          LDQ &gt;= N if BPAR(5) = .TRUE..
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,IPAR(1))
+          If an exact solution is available (NR = 1.1, 1.2, 2.1,
+          2.3-2.6, 3.2), then the leading N-by-N part of this array
+          contains the solution matrix X in conventional storage
+          mode. Otherwise, X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 1, and
+          LDX &gt;= N if NR = 1.1, 1.2, 2.1, 2.3-2.6, 3.2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= N*MAX(4,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0 : successful exit;
+          &lt; 0 : if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : data file could not be opened or had wrong format;
+          = 2 : division by zero;
+          = 3 : G can not be computed as in (I) due to a singular R
+                matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Abels, J. and Benner, P.
+      CAREX - A Collection of Benchmark Examples for Continuous-Time
+      Algebraic Riccati Equations (Version 2.0).
+      SLICOT Working Note 1999-14, November 1999. Available from
+      http://www.win.tue.nl/niconet/NIC2/reports.html.
+
+  This is an updated and extended version of
+
+  [2] Benner, P., Laub, A.J., and Mehrmann, V.
+      A Collection of Benchmark Examples for the Numerical Solution
+      of Algebraic Riccati Equations I: Continuous-Time Case.
+      Technical Report SPC 95_22, Fak. f. Mathematik,
+      TU Chemnitz-Zwickau (Germany), October 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If the original data as taken from the literature is given via
+  matrices G and Q, but factored forms are requested as output, then
+  these factors are obtained from Cholesky or LDL' decompositions of
+  G and Q, i.e., the output data will be corrupted by roundoff
+  errors.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Some benchmark examples read data from the data files provided
+  with the collection.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     BB01AD EXAMPLE PROGRAM TEXT
+*
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
+      INTEGER          LDA, LDB, LDC, LDG, LDQ, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDG = NMAX, LDQ = NMAX, LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*MAX( 4, NMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
+     $                 DPAR(7), DWORK(LDWORK), G(LDG, NMAX),
+     $                 Q(LDQ, NMAX), X(LDX, NMAX)
+      INTEGER          IPAR(4), NR(2)
+      LOGICAL          BPAR(6), VEC(9)
+      CHARACTER        CHPAR*255
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         BB01AD, MA02DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ( NIN, FMT = '()' )
+      READ( NIN, FMT = * ) DEF
+      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
+      IF( LSAME( DEF, 'N' ) ) THEN
+        READ( NIN, FMT = * ) LBPAR
+        IF( LBPAR.GT.0 )  READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
+        READ( NIN, FMT = * ) LDPAR
+        IF( LDPAR.GT.0 )  READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
+        READ( NIN, FMT = * ) LIPAR
+        IF( LIPAR.GT.0 )  READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
+      END IF
+*     Generate benchmark example
+      CALL BB01AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
+     $             LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX, DWORK,
+     $             LDWORK, INFO )
+*
+      IF( INFO.NE.0 ) THEN
+        WRITE( NOUT, FMT = 99998 ) INFO
+      ELSE
+        WRITE( NOUT, FMT = * ) CHPAR(1:70)
+        WRITE( NOUT, FMT = 99997 ) N
+        WRITE( NOUT, FMT = 99996 ) M
+        WRITE( NOUT, FMT = 99995 ) P
+        WRITE( NOUT, FMT = 99994 )
+        DO 10  I = 1, N
+          WRITE( NOUT, FMT = 99979 ) ( A(I,J), J = 1, N )
+   10   CONTINUE
+        IF( VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99993 )
+          DO 20  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( B(I,J), J = 1, M )
+   20     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99992 )
+        END IF
+        IF( VEC(6) ) THEN
+          WRITE( NOUT,FMT = 99991 )
+          DO 30  I = 1, P
+            WRITE( NOUT, FMT = 99979 ) ( C(I,J), J = 1, N )
+   30     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99990 )
+        END IF
+        IF( .NOT.VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99989 )
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, G, LDG, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, G, LDG, DWORK )
+            END IF
+          END IF
+          DO 40  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
+   40     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99988 )
+        END IF
+        IF( .NOT.VEC(6) ) THEN
+          IF( .NOT. BPAR(5) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99987 )
+          DO 50  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
+   50     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99986 )
+        END IF
+        IF( VEC(6) ) THEN
+          IF( .NOT.BPAR(5) ) THEN
+            ISYMM = ( P * ( P + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99985 )
+          DO 60  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
+   60     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99984 )
+        END IF
+        IF( VEC(5) ) THEN
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( M * ( M + 1 ) ) / 2
+            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', M, G, LDG, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', M, G, LDG, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99983 )
+          DO 70  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
+   70     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99982 )
+        END IF
+        IF( VEC(9) ) THEN
+          WRITE( NOUT, FMT = 99981 )
+          DO 80  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( X(I,J), J = 1, N )
+   80     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99980 )
+        END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' BB01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB03AD = ', I3)
+99997 FORMAT (/' Order of matrix A:              N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
+99994 FORMAT (' A  = ')
+99993 FORMAT (' B  = ')
+99992 FORMAT (' B is not provided.')
+99991 FORMAT (' C  = ')
+99990 FORMAT (' C is not provided.')
+99989 FORMAT (' G  = ')
+99988 FORMAT (' G is not provided.')
+99987 FORMAT (' Q  = ')
+99986 FORMAT (' Q is not provided.')
+99985 FORMAT (' W  = ')
+99984 FORMAT (' W is not provided.')
+99983 FORMAT (' R  = ')
+99982 FORMAT (' R is not provided.')
+99981 FORMAT (' X  = ')
+99980 FORMAT (' X is not provided.')
+99979 FORMAT (20(1X,F8.4))
+*
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB01AD EXAMPLE PROGRAM DATA
+N
+2 3
+6
+.T. .T. .T. .F. .F. .T.
+1
+.1234
+0
+
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB01AD EXAMPLE PROGRAM RESULTS
+
+ Kenney/Laub/Wette 1989, Ex.2: ARE ill conditioned for EPS -> oo       
+
+ Order of matrix A:              N  =   2
+ Number of columns in matrix B:  M  =   1
+ Number of rows in matrix C:     P  =   2
+ A  = 
+   0.0000   0.1234
+   0.0000   0.0000
+ B is not provided.
+ C  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ G  = 
+   0.0000   0.0000
+   0.0000   1.0000
+ Q is not provided.
+ W  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ R is not provided.
+ X  = 
+   9.0486   1.0000
+   1.0000   1.1166
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/BB02AD.html b/doc/_build/html/_static/doc/BB02AD.html
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+<HTML>
+<HEAD><TITLE>BB02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB02AD">BB02AD</A></H2>
+<H3>
+Benchmark examples for discrete-time algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate the benchmark examples for the numerical solution of
+  discrete-time algebraic Riccati equations (DAREs) of the form
+
+         T                T               T    -1  T       T
+  0  =  A X A  -  X  -  (A X B + S) (R + B X B)  (B X A + S )  +  Q
+
+  as presented in [1]. Here, A,Q,X are real N-by-N matrices, B,S are
+  N-by-M, and R is M-by-M. The matrices Q and R are symmetric and Q
+  may be given in factored form
+
+                T
+  (I)    Q  =  C Q0 C .
+
+  Here, C is P-by-N and Q0 is P-by-P. If R is nonsingular and S = 0,
+  the DARE can be rewritten equivalently as
+
+               T             -1
+  0  =  X  -  A X (I_n + G X)  A  -  Q,
+
+  where I_n is the N-by-N identity matrix and
+
+                -1  T
+  (II)   G = B R   B .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB02AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
+     1                  A, LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS,
+     2                  X, LDX, DWORK, LDWORK, INFO)
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDQ, LDR, LDS, LDWORK, LDX,
+     $                 M, N, P
+      CHARACTER        DEF
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
+     1                 Q(*), R(*), S(LDS,*), X(LDX,*)
+      INTEGER          IPAR(3), NR(2)
+      CHARACTER        CHPAR*255
+      LOGICAL          BPAR(7), VEC(10)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER
+          This parameter specifies if the default parameters are
+          to be used or not.
+          = 'N' or 'n' : The parameters given in the input vectors
+                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
+          = 'D' or 'd' : The default parameters for the example
+                         are used.
+          This parameter is not meaningful if NR(1) = 1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          This array determines the example for which DAREX returns
+          data. NR(1) is the group of examples.
+          NR(1) = 1 : parameter-free problems of fixed size.
+          NR(1) = 2 : parameter-dependent problems of fixed size.
+          NR(1) = 3 : parameter-free problems of scalable size.
+          NR(1) = 4 : parameter-dependent problems of scalable size.
+          NR(2) is the number of the example in group NR(1).
+          Let NEXi be the number of examples in group i. Currently,
+          NEX1 = 13, NEX2 = 5, NEX3 = 0, NEX4 = 1.
+          1 &lt;= NR(1) &lt;= 4;
+          0 &lt;= NR(2) &lt;= NEXi, where i = NR(1).
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (4)
+          Double precision parameter vector. For explanation of the
+          parameters see [1].
+          DPAR(1) defines the parameter 'epsilon' for
+          examples NR = 2.2,2.3,2.4, the parameter 'tau'
+          for NR = 2.5, and the 1-by-1 matrix R for NR = 2.1,4.1.
+          For Example 2.5, DPAR(2) - DPAR(4) define in
+          consecutive order 'D', 'K', and 'r'.
+          NOTE that DPAR is overwritten with default values
+          if DEF = 'D' or 'd'.
+
+  IPAR    (input/output) INTEGER array, dimension (3)
+          On input, IPAR(1) determines the actual state dimension,
+          i.e., the order of the matrix A as follows:
+          NR(1) = 1, NR(1) = 2   : IPAR(1) is ignored.
+          NR = NR(1).NR(2) = 4.1 : IPAR(1) determines the order of
+                                   the output matrix A.
+          NOTE that IPAR(1) is overwritten for Examples 1.1-2.3. For
+          the other examples, IPAR(1) is overwritten if the default
+          parameters are to be used.
+          On output, IPAR(1) contains the order of the matrix A.
+
+          On input, IPAR(2) is the number of colums in the matrix B
+          and the order of the matrix R (in control problems, the
+          number of inputs of the system). Currently, IPAR(2) is
+          fixed for all examples and thus is not referenced on
+          input.
+          On output, IPAR(2) is the number of columns of the
+          matrix B from (I).
+
+          On input, IPAR(3) is the number of rows in the matrix C
+          (in control problems, the number of outputs of the
+          system). Currently, IPAR(3) is fixed for all examples
+          and thus is not referenced on input.
+          On output, IPAR(3) is the number of rows of the matrix C
+          from (I).
+
+          NOTE that IPAR(2) and IPAR(3) are overwritten and
+          IPAR(2) &lt;= IPAR(1) and IPAR(3) &lt;= IPAR(1) for all
+          examples.
+
+  BPAR    (input) LOGICAL array, dimension (7)
+          This array defines the form of the output of the examples
+          and the storage mode of the matrices Q, G or R.
+          BPAR(1) = .TRUE.  : Q is returned.
+          BPAR(1) = .FALSE. : Q is returned in factored form, i.e.,
+                              Q0 and C from (I) are returned.
+          BPAR(2) = .TRUE.  : The matrix returned in array Q (i.e.,
+                              Q if BPAR(1) = .TRUE. and Q0 if
+                              BPAR(1) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(2) = .FALSE. : The matrix returned in array Q is
+                              provided in packed storage mode.
+          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
+                              returned in array Q is stored in upper
+                              packed mode, i.e., the upper triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              Q(i,j) is stored in the array entry
+                              Q(i+j*(j-1)/2) for i &lt;= j.
+                              Otherwise, this entry is ignored.
+          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
+                              returned in array Q is stored in lower
+                              packed mode, i.e., the lower triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              Q(i,j) is stored in the array entry
+                              Q(i+(2*n-j)*(j-1)/2) for j &lt;= i.
+                              Otherwise, this entry is ignored.
+          BPAR(4) = .TRUE.  : The product G in (II) is returned.
+          BPAR(4) = .FALSE. : G is returned in factored form, i.e.,
+                              B and R from (II) are returned.
+          BPAR(5) = .TRUE.  : The matrix returned in array R (i.e.,
+                              G if BPAR(4) = .TRUE. and R if
+                              BPAR(4) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(5) = .FALSE. : The matrix returned in array R is
+                              provided in packed storage mode.
+          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
+                              returned in array R is stored in upper
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
+                              returned in array R is stored in lower
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          BPAR(7) = .TRUE.  : The coefficient matrix S of the DARE
+                              is returned in array S.
+          BPAR(7) = .FALSE. : The coefficient matrix S of the DARE
+                              is not returned.
+          NOTE that there are no default values for BPAR.  If all
+          entries are declared to be .TRUE., then matrices Q, G or R
+          are returned in conventional storage mode, i.e., as
+          N-by-N or M-by-M arrays where the array element Z(I,J)
+          contains the matrix entry Z_{i,j}.
+
+  CHPAR   (output) CHARACTER*255
+          On output, this string contains short information about
+          the chosen example.
+
+  VEC     (output) LOGICAL array, dimension (10)
+          Flag vector which displays the availability of the output
+          data:
+          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
+          are always .TRUE.
+          VEC(4) refers to A and is always .TRUE.
+          VEC(5) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors B
+          and R from (II) are returned.
+          VEC(6) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors C
+          and Q0 from (I) are returned.
+          VEC(7) refers to Q and is always .TRUE.
+          VEC(8) refers to R and is always .TRUE.
+          VEC(9) is .TRUE. if BPAR(7) = .TRUE., i.e., the matrix S
+          is returned.
+          VEC(10) refers to X and is .TRUE. if the exact solution
+          matrix is available.
+          NOTE that VEC(i) = .FALSE. for i = 1 to 10 if on exit
+          INFO .NE. 0.
+
+  N       (output) INTEGER
+          The order of the matrices A, X, G if BPAR(4) = .TRUE., and
+          Q if BPAR(1) = .TRUE.
+
+  M       (output) INTEGER
+          The number of columns in the matrix B (or the dimension of
+          the control input space of the underlying dynamical
+          system).
+
+  P       (output) INTEGER
+          The number of rows in the matrix C (or the dimension of
+          the output space of the underlying dynamical system).
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          coefficient matrix A of the DARE.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If (BPAR(4) = .FALSE.), then the leading N-by-M part
+          of this array contains the coefficient matrix B of
+          the DARE.  Otherwise, B is used as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          If (BPAR(1) = .FALSE.), then the leading P-by-N part
+          of this array contains the matrix C of the factored
+          form (I) of Q.  Otherwise, C is used as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= P.
+
+  Q       (output) DOUBLE PRECISION array, dimension (NQ)
+          If (BPAR(1) = .TRUE.) and (BPAR(2) = .TRUE.), then
+          NQ = LDQ*N.
+          IF (BPAR(1) = .TRUE.) and (BPAR(2) = .FALSE.), then
+          NQ = N*(N+1)/2.
+          If (BPAR(1) = .FALSE.) and (BPAR(2) = .TRUE.), then
+          NQ = LDQ*P.
+          IF (BPAR(1) = .FALSE.) and (BPAR(2) = .FALSE.), then
+          NQ = P*(P+1)/2.
+          The symmetric matrix contained in array Q is stored
+          according to BPAR(2) and BPAR(3).
+
+  LDQ     INTEGER
+          If conventional storage mode is used for Q, i.e.,
+          BPAR(2) = .TRUE., then Q is stored like a 2-dimensional
+          array with leading dimension LDQ. If packed symmetric
+          storage mode is used, then LDQ is irrelevant.
+          LDQ &gt;= N if BPAR(1) = .TRUE.;
+          LDQ &gt;= P if BPAR(1) = .FALSE..
+
+  R       (output) DOUBLE PRECISION array, dimension (MR)
+          If (BPAR(4) = .TRUE.) and (BPAR(5) = .TRUE.), then
+          MR = LDR*N.
+          IF (BPAR(4) = .TRUE.) and (BPAR(5) = .FALSE.), then
+          MR = N*(N+1)/2.
+          If (BPAR(4) = .FALSE.) and (BPAR(5) = .TRUE.), then
+          MR = LDR*M.
+          IF (BPAR(4) = .FALSE.) and (BPAR(5) = .FALSE.), then
+          MR = M*(M+1)/2.
+          The symmetric matrix contained in array R is stored
+          according to BPAR(5) and BPAR(6).
+
+  LDR     INTEGER
+          If conventional storage mode is used for R, i.e.,
+          BPAR(5) = .TRUE., then R is stored like a 2-dimensional
+          array with leading dimension LDR. If packed symmetric
+          storage mode is used, then LDR is irrelevant.
+          LDR &gt;= N  if BPAR(4) =  .TRUE.;
+          LDR &gt;= M  if BPAR(4) = .FALSE..
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,M)
+          If (BPAR(7) = .TRUE.), then the leading N-by-M part of
+          this array contains the coefficient matrix S of the DARE.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= 1, and
+          LDS &gt;= N if BPAR(7) = .TRUE..
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,NX)
+          If an exact solution is available (NR = 1.1,1.3,1.4,2.1,
+          2.3,2.4,2.5,4.1), then NX = N and the leading N-by-N part
+          of this array contains the solution matrix X.
+          Otherwise, X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 1, and
+          LDX &gt;= N if an exact solution is available.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= N*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0 : successful exit;
+          &lt; 0 : if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : data file could not be opened or had wrong format;
+          = 2 : division by zero;
+          = 3 : G can not be computed as in (II) due to a singular R
+                matrix. This error can only occur if
+                BPAR(4) = .TRUE..
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Abels, J. and Benner, P.
+      DAREX - A Collection of Benchmark Examples for Discrete-Time
+      Algebraic Riccati Equations (Version 2.0).
+      SLICOT Working Note 1999-16, November 1999. Available from
+      http://www.win.tue.nl/niconet/NIC2/reports.html.
+
+  This is an updated and extended version of
+
+  [2] Benner, P., Laub, A.J., and Mehrmann, V.
+      A Collection of Benchmark Examples for the Numerical Solution
+      of Algebraic Riccati Equations II: Discrete-Time Case.
+      Technical Report SPC 95_23, Fak. f. Mathematik,
+      TU Chemnitz-Zwickau (Germany), December 1995.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Some benchmark examples read data from the data files provided
+  with the collection.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     BB02AD EXAMPLE PROGRAM TEXT
+*
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
+      INTEGER          LDA, LDB, LDC, LDQ, LDR, LDS, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDQ = NMAX, LDR = NMAX, LDS = NMAX,
+     $                   LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*NMAX )
+*     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
+     $                 DPAR(4), DWORK(LDWORK), Q(LDQ, NMAX),
+     $                 R(LDR, NMAX), S(LDS, NMAX), X(LDX, NMAX)
+      INTEGER          IPAR(3), NR(2)
+      LOGICAL          BPAR(7), VEC(10)
+      CHARACTER        CHPAR(255)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         BB02AD, MA02DD
+*     .. Executable Statements ..
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ( NIN, FMT = '()' )
+      READ( NIN, FMT = * ) DEF
+      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
+      IF( LSAME( DEF, 'N' ) ) THEN
+        READ( NIN, FMT = * ) LBPAR
+        IF( LBPAR.GT.0 ) READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
+        READ( NIN, FMT = * ) LDPAR
+        IF( LDPAR.GT.0 ) READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
+        READ( NIN, FMT = * ) LIPAR
+        IF( LIPAR.GT.0 ) READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
+      END IF
+*     Generate benchmark example
+      CALL BB02AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
+     $             LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS, X, LDX,
+     $             DWORK, LDWORK, INFO )
+*
+      IF( INFO.NE.0 ) THEN
+        WRITE( NOUT, FMT = 99998 ) INFO
+      ELSE
+        WRITE( NOUT, FMT = * ) CHPAR(1:70)
+        WRITE( NOUT, FMT = 99997 ) N
+        WRITE( NOUT, FMT = 99996 ) M
+        WRITE( NOUT, FMT = 99995 ) P
+        WRITE( NOUT, FMT = 99994 )
+        DO 10  I = 1, N
+          WRITE( NOUT, FMT = 99977 ) ( A(I,J), J = 1, N )
+   10   CONTINUE
+        IF( VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99993 )
+          DO 20  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( B(I,J), J = 1, M )
+   20     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99992 )
+        END IF
+        IF( VEC(6) ) THEN
+          WRITE( NOUT,FMT = 99991 )
+          DO 30  I = 1, P
+            WRITE( NOUT, FMT = 99977 ) ( C(I,J), J = 1, N )
+   30     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99990 )
+        END IF
+        IF( .NOT.VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99989 )
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, R, LDR, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, R, LDR, DWORK )
+            END IF
+          END IF
+          DO 40  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, N )
+   40     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99988 )
+        END IF
+        IF( .NOT.VEC(6) ) THEN
+          IF( .NOT.BPAR(5) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99987 )
+          DO 50  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, N )
+   50     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99986 )
+        END IF
+        IF( VEC(6) ) THEN
+          IF( .NOT.BPAR(5) ) THEN
+            ISYMM = ( P * ( P + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99985 )
+          DO 60  I = 1, P
+            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, P )
+   60     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99984 )
+        END IF
+        IF( VEC(5) ) THEN
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( M * ( M + 1 ) ) / 2
+            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', M, R, LDR, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', M, R, LDR, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99983 )
+          DO 70  I = 1, M
+            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, M )
+   70     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99982 )
+        END IF
+        IF( VEC(9) ) THEN
+          WRITE( NOUT, FMT = 99981 )
+          DO 80  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( S(I,J), J = 1, M )
+   80     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99980 )
+        END IF
+        IF( VEC(10) ) THEN
+          WRITE( NOUT, FMT = 99979 )
+          DO 90  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( X(I,J), J = 1, N )
+   90     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99978 )
+        END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' BB02AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB02AD = ', I3)
+99997 FORMAT (/' Order of matrix A:              N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
+99994 FORMAT (' A  = ')
+99993 FORMAT (' B  = ')
+99992 FORMAT (' B is not provided.')
+99991 FORMAT (' C  = ')
+99990 FORMAT (' C is not provided.')
+99989 FORMAT (' G  = ')
+99988 FORMAT (' G is not provided.')
+99987 FORMAT (' Q  = ')
+99986 FORMAT (' Q is not provided.')
+99985 FORMAT (' Q0  = ')
+99984 FORMAT (' Q0 is not provided.')
+99983 FORMAT (' R  = ')
+99982 FORMAT (' R is not provided.')
+99981 FORMAT (' S  = ')
+99980 FORMAT (' S is not provided.')
+99979 FORMAT (' X  = ')
+99978 FORMAT (' X is not provided.')
+99977 FORMAT (20(1X,F8.4))
+*
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB02AD EXAMPLE PROGRAM DATA
+N
+2 3
+7
+.T. .T. .T. .F. .F. .T. .T.
+1
+.1234
+0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB02AD EXAMPLE PROGRAM RESULTS
+
+ increasingly bad scaled system as eps -> oo                           
+
+ Order of matrix A:              N  =   2
+ Number of columns in matrix B:  M  =   1
+ Number of rows in matrix C:     P  =   2
+ A  = 
+   0.0000   0.1234
+   0.0000   0.0000
+ B  = 
+   0.0000
+   1.0000
+ C is not provided.
+ G is not provided.
+ Q  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ Q0 is not provided.
+ R  = 
+   1.0000
+ S  = 
+   0.0000
+   0.0000
+ X  = 
+   1.0000   0.0000
+   0.0000   1.0152
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/BB03AD.html b/doc/_build/html/_static/doc/BB03AD.html
new file mode 100644
index 00000000..c4132431
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+++ b/doc/_build/html/_static/doc/BB03AD.html
@@ -0,0 +1,386 @@
+<HTML>
+<HEAD><TITLE>BB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB03AD">BB03AD</A></H2>
+<H3>
+Benchmark examples of (generalized) continuous-time Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples of (generalized) continuous-time
+  Lyapunov equations
+
+     T           T
+    A  X  E  +  E  X A  =  Y .
+
+  In some examples, the right hand side has the form
+
+             T
+    Y  =  - B  B
+
+  and the solution can be represented as a product of Cholesky
+  factors
+
+           T
+    X  =  U  U .
+
+  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
+  that E can be the identity matrix. For some examples, B, X, or U
+  are not provided.
+
+  This routine is an implementation of the benchmark library
+  CTLEX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
+     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
+     2                  LDWORK, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
+     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          DEF = 'D' or 'd': Default values are used.
+          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension 2
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on real parameters, then the array DPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
+          respectively.
+          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
+          's', respectively.
+          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
+          't'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on real parameters, then the array DPAR is
+          overwritten by the default values given in [1].
+
+  IPAR    (input/output) INTEGER array of DIMENSION at least 1
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on integer parameters, then the array IPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
+          For Example 4.4, IPAR(1) defines 'q'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on integer parameters, then the array IPAR is
+          overwritten by the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension 8
+          Flag vector which displays the availability of the output
+          data:
+          VEC(1) and VEC(2) refer to N and M, respectively, and are
+          always .TRUE.
+          VEC(3) is .TRUE. iff E is NOT the identity matrix.
+          VEC(4) and VEC(5) refer to A and Y, respectively, and are
+          always .TRUE.
+          VEC(6) is .TRUE. iff B is provided.
+          VEC(7) is .TRUE. iff the solution matrix X is provided.
+          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of rows in the matrix B. If B is not provided
+          for the desired example, M = 0 is returned.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(3) = .FALSE.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the
+          matrix Y.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading M-by-N part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= M.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the
+          matrix X.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= N.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          matrix U.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
+          required.
+          For the other examples, no workspace is needed, i.e.,
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
+       CTLEX - a Collection of Benchmark Examples for Continuous-
+       Time Lyapunov Equations.
+       SLICOT Working Note 1999-6, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BB03AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX
+      PARAMETER        (NMAX = 100, MMAX = 100)
+      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
+      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
+     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
+     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
+     2                 DPAR(2), DWORK(LDWORK)
+      INTEGER          NR(2), IPAR(1)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BB03AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
+     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
+     2            INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        IF (VEC(3)) THEN
+          WRITE (NOUT, FMT = 99995)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99994)
+        END IF
+        WRITE (NOUT,FMT = 99993)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
+20      CONTINUE
+        IF (VEC(6)) THEN
+          WRITE (NOUT,FMT = 99992)
+          DO 30  I = 1, M
+            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
+30        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99991)
+        END IF
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, N
+          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(7)) THEN
+          WRITE (NOUT, FMT = 99989)
+          DO 50  I = 1, N
+            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+        IF (VEC(8)) THEN
+          WRITE (NOUT, FMT = 99987)
+          DO 60  I = 1, N
+            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
+60        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99986)
+        END IF
+      END IF
+C
+99999 FORMAT (' BB03AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB03AD = ', I3)
+99997 FORMAT (/' Order of matrix A:            N  = ', I3)
+99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
+99995 FORMAT (/' E  = ')
+99994 FORMAT (/' E is the identity matrix.')
+99993 FORMAT (' A  = ')
+99992 FORMAT (' B  = ')
+99991 FORMAT (' B is not provided.')
+99990 FORMAT (' Y  = ')
+99989 FORMAT (' X  = ')
+99988 FORMAT (' X is not provided.')
+99987 FORMAT (' U  = ')
+99986 FORMAT (' U is not provided.')
+99985 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB03AD EXAMPLE PROGRAM DATA
+N
+4 1
+2
+.15D1
+.15D1
+1
+5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB03AD EXAMPLE PROGRAM RESULTS
+
+ CTLEX: Example 4.1                                                    
+
+ Order of matrix A:            N  =   5
+ Number of rows in matrix B:   M  =   1
+
+ E is the identity matrix.
+ A  = 
+  -3.6360  -0.6921  -1.1933  -0.8137   0.3507
+   0.1406  -2.9375   0.9063   0.1562   0.3438
+  -2.5735  -1.4421  -2.8183  -1.1887   1.2257
+  -0.3779   0.0810   0.5544  -1.5891   0.0660
+   0.8961   1.1586   1.6279   0.5631  -2.2066
+ B  = 
+  -3.6914  -3.9753  -0.0247  -1.9012   1.1111
+ Y  = 
+ -13.6261 -14.6743  -0.0911  -7.0181   4.1015
+ -14.6743 -15.8031  -0.0982  -7.5580   4.4170
+  -0.0911  -0.0982  -0.0006  -0.0469   0.0274
+  -7.0181  -7.5580  -0.0469  -3.6147   2.1125
+   4.1015   4.4170   0.0274   2.1125  -1.2346
+ X  = 
+   1.7737   1.9307  -0.0703   1.0497  -0.4681
+   1.9307   2.1036  -0.0752   1.1489  -0.5069
+  -0.0703  -0.0752   0.0076  -0.0428   0.0178
+   1.0497   1.1489  -0.0428   0.6509  -0.2651
+  -0.4681  -0.5069   0.0178  -0.2651   0.1284
+ U is not provided.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/BB04AD.html b/doc/_build/html/_static/doc/BB04AD.html
new file mode 100644
index 00000000..84849172
--- /dev/null
+++ b/doc/_build/html/_static/doc/BB04AD.html
@@ -0,0 +1,386 @@
+<HTML>
+<HEAD><TITLE>BB04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB04AD">BB04AD</A></H2>
+<H3>
+Benchmark examples of (generalized) discrete-time Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples of (generalized) discrete-time
+  Lyapunov equations
+
+     T           T
+    A  X  A  -  E  X E  =  Y .
+
+  In some examples, the right hand side has the form
+
+             T
+    Y  =  - B  B
+
+  and the solution can be represented as a product of Cholesky
+  factors
+
+           T
+    X  =  U  U .
+
+  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
+  that E can be the identity matrix. For some examples, B, X, or U
+  are not provided.
+
+  This routine is an implementation of the benchmark library
+  DTLEX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
+     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
+     2                  LDWORK, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
+     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          DEF = 'D' or 'd': Default values are used.
+          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension 2
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on real parameters, then the array DPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
+          respectively.
+          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
+          's', respectively.
+          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
+          't'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on real parameters, then the array DPAR is
+          overwritten by the default values given in [1].
+
+  IPAR    (input/output) INTEGER array of DIMENSION at least 1
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on integer parameters, then the array IPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
+          For Example 4.4, IPAR(1) defines 'q'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on integer parameters, then the array IPAR is
+          overwritten by the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension 8
+          Flag vector which displays the availability of the output
+          data:
+          VEC(1) and VEC(2) refer to N and M, respectively, and are
+          always .TRUE.
+          VEC(3) is .TRUE. iff E is NOT the identity matrix.
+          VEC(4) and VEC(5) refer to A and Y, respectively, and are
+          always .TRUE.
+          VEC(6) is .TRUE. iff B is provided.
+          VEC(7) is .TRUE. iff the solution matrix X is provided.
+          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of rows in the matrix B. If B is not provided
+          for the desired example, M = 0 is returned.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(3) = .FALSE.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the
+          matrix Y.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading M-by-N part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= M.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the
+          matrix X.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= N.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          matrix U.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
+          required.
+          For the other examples, no workspace is needed, i.e.,
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
+       DTLEX - a Collection of Benchmark Examples for Discrete-
+       Time Lyapunov Equations.
+       SLICOT Working Note 1999-7, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BB04AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX
+      PARAMETER        (NMAX = 100, MMAX = 100)
+      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
+      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
+     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
+     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
+     2                 DPAR(2), DWORK(LDWORK)
+      INTEGER          NR(2), IPAR(1)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BB04AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
+     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
+     2            INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        IF (VEC(3)) THEN
+          WRITE (NOUT, FMT = 99995)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99994)
+        END IF
+        WRITE (NOUT,FMT = 99993)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
+20      CONTINUE
+        IF (VEC(6)) THEN
+          WRITE (NOUT,FMT = 99992)
+          DO 30  I = 1, M
+            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
+30        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99991)
+        END IF
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, N
+          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(7)) THEN
+          WRITE (NOUT, FMT = 99989)
+          DO 50  I = 1, N
+            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+        IF (VEC(8)) THEN
+          WRITE (NOUT, FMT = 99987)
+          DO 60  I = 1, N
+            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
+60        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99986)
+        END IF
+      END IF
+C
+99999 FORMAT (' BB04AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB04AD = ', I3)
+99997 FORMAT (/' Order of matrix A:            N  = ', I3)
+99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
+99995 FORMAT (/' E  = ')
+99994 FORMAT (/' E is the identity matrix.')
+99993 FORMAT (' A  = ')
+99992 FORMAT (' B  = ')
+99991 FORMAT (' B is not provided.')
+99990 FORMAT (' Y  = ')
+99989 FORMAT (' X  = ')
+99988 FORMAT (' X is not provided.')
+99987 FORMAT (' U  = ')
+99986 FORMAT (' U is not provided.')
+99985 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB04AD EXAMPLE PROGRAM DATA
+N
+4 1
+2
+.15D1
+.15D1
+1
+5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB04AD EXAMPLE PROGRAM RESULTS
+
+ DTLEX: Example 4.1                                                    
+
+ Order of matrix A:            N  =   5
+ Number of rows in matrix B:   M  =   1
+
+ E is the identity matrix.
+ A  = 
+   0.4562   0.0308   0.1990   0.0861   0.0217
+   0.0637   0.5142  -0.1828   0.0096  -0.1148
+   0.3139   0.1287   0.3484   0.1653  -0.1975
+   0.1500   0.0053  -0.1838   0.2501  -0.0687
+   0.0568  -0.1006  -0.3735  -0.0202   0.2285
+ B  = 
+   0.3086   0.0247  -0.4691   0.1728  -0.3704
+ Y  = 
+  -0.0953  -0.0076   0.1448  -0.0533   0.1143
+  -0.0076  -0.0006   0.0116  -0.0043   0.0091
+   0.1448   0.0116  -0.2201   0.0811  -0.1738
+  -0.0533  -0.0043   0.0811  -0.0299   0.0640
+   0.1143   0.0091  -0.1738   0.0640  -0.1372
+ X  = 
+   0.0953   0.0076  -0.1448   0.0533  -0.1143
+   0.0076   0.0006  -0.0116   0.0043  -0.0091
+  -0.1448  -0.0116   0.2201  -0.0811   0.1738
+   0.0533   0.0043  -0.0811   0.0299  -0.0640
+  -0.1143  -0.0091   0.1738  -0.0640   0.1372
+ U is not provided.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/BD01AD.html b/doc/_build/html/_static/doc/BD01AD.html
new file mode 100644
index 00000000..2268c1a8
--- /dev/null
+++ b/doc/_build/html/_static/doc/BD01AD.html
@@ -0,0 +1,352 @@
+<HTML>
+<HEAD><TITLE>BD01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BD01AD">BD01AD</A></H2>
+<H3>
+Benchmark examples for time-invariant continuous-time dynamical systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples for time-invariant,
+  continuous-time dynamical systems
+
+      .
+    E x(t) = A x(t) + B u(t)
+
+      y(t) = C x(t) + D u(t)
+
+  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
+  D is P-by-M. In many examples, E is the identity matrix and D is
+  the zero matrix.
+
+  This routine is an implementation of the benchmark library
+  CTDSX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BD01AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
+     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
+     2                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
+     1                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          = 'D':  Default values defined in [1] are used;
+          = 'N':  Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
+          On entry, if DEF = 'N' and the desired example depends on
+          real parameters, then the array DPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 2.1 and 2.2, DPAR(1) defines the parameter
+          'epsilon'.
+          For Example 2.4, DPAR(1), ..., DPAR(7) define 'b', 'mu',
+          'r', 'r_c', 'k_l', 'sigma', 'a', respectively.
+          For Example 2.7, DPAR(1) and DPAR(2) define 'mu' and 'nu',
+          respectively.
+          For Example 4.1, DPAR(1), ..., DPAR(7) define 'a', 'b',
+          'c', 'beta_1', 'beta_2', 'gamma_1', 'gamma_2',
+          respectively.
+          For Example 4.2, DPAR(1), ..., DPAR(3) define 'mu',
+          'delta', 'kappa', respectively.
+          On exit, if DEF = 'D' and the desired example depends on
+          real parameters, then the array DPAR is overwritten by the
+          default values given in [1].
+
+  IPAR    (input/output) INTEGER array, dimension (1)
+          On entry, if DEF = 'N' and the desired example depends on
+          integer parameters, then the array IPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 2.3, 2.5, and 2.6, IPAR(1) defines the
+          parameter 's'.
+          For Example 3.1, IPAR(1) defines 'q'.
+          For Examples 3.2 and 3.3, IPAR(1) defines 'n'.
+          For Example 3.4, IPAR(1) defines 'l'.
+          For Example 4.1, IPAR(1) defines 'n'.
+          For Example 4.2, IPAR(1) defines 'l'.
+          On exit, if DEF = 'D' and the desired example depends on
+          integer parameters, then the array IPAR is overwritten by
+          the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension (8)
+          Flag vector which displays the availabilty of the output
+          data:
+          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
+          and are always .TRUE..
+          VEC(4) is .TRUE. iff E is NOT the identity matrix.
+          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
+          and are always .TRUE..
+          VEC(8) is .TRUE. iff D is NOT the zero matrix.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of columns in the matrices B and D.
+
+  P       (output) INTEGER
+          The number of rows in the matrices C and D.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(4) = .FALSE..
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= P.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          matrix D.
+          NOTE that this array is overwritten (by the zero
+          matrix), if VEC(8) = .FALSE..
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= P.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          For Example 3.4, LDWORK &gt;= 4*IPAR(1) is required.
+          For the other examples, no workspace is needed, i.e.,
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value;
+          = 1:  data file can not be opened or has wrong format.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
+       CTDSX - a Collection of Benchmark Examples for State-Space
+       Realizations of Continuous-Time Dynamical Systems.
+       SLICOT Working Note 1998-9. 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BD01AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
+      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     1                  LDE = NMAX, LDWORK = 4*NMAX)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
+      INTEGER          NR(2), IPAR(7)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BD01AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BD01AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
+     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        WRITE (NOUT, FMT = 99995) P
+        IF (VEC(4)) THEN
+          WRITE (NOUT, FMT = 99994)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99993)
+        END IF
+        WRITE (NOUT,FMT = 99992)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
+20      CONTINUE
+        WRITE (NOUT,FMT = 99991)
+        DO 30  I = 1, N
+          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
+30      CONTINUE
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, P
+          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(8)) THEN
+          WRITE (NOUT,FMT = 99989)
+          DO 50  I = 1, P
+            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+      END IF
+C
+99999 FORMAT (' BD01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BD01AD = ', I3)
+99997 FORMAT (/' Order of matrix A:               N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
+99994 FORMAT (/' E  = ')
+99993 FORMAT (/' E is the identity matrix.')
+99992 FORMAT (' A  = ')
+99991 FORMAT (' B  = ')
+99990 FORMAT (' C  = ')
+99989 FORMAT (' D  = ')
+99988 FORMAT (' D is of zeros.')
+99987 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BD01AD EXAMPLE PROGRAM DATA
+D
+1 1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BD01AD EXAMPLE PROGRAM RESULTS
+
+ Laub 1979, Ex.1                                                       
+
+ Order of matrix A:               N  =   2
+ Number of columns in matrix B:   M  =   1
+ Number of rows in matrix C:      P  =   2
+
+ E is the identity matrix.
+ A  = 
+   0.0000   1.0000
+   0.0000   0.0000
+ B  = 
+   0.0000
+   1.0000
+ C  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ D is of zeros.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/BD02AD.html b/doc/_build/html/_static/doc/BD02AD.html
new file mode 100644
index 00000000..1e67379d
--- /dev/null
+++ b/doc/_build/html/_static/doc/BD02AD.html
@@ -0,0 +1,334 @@
+<HTML>
+<HEAD><TITLE>BD02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BD02AD">BD02AD</A></H2>
+<H3>
+Benchmark examples for time-invariant discrete-time dynamical systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples for time-invariant,
+  discrete-time dynamical systems
+
+    E x_k+1 = A x_k + B u_k
+
+        y_k = C x_k + D u_k
+
+  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
+  D is P-by-M. In many examples, E is the identity matrix and D is
+  the zero matrix.
+
+  This routine is an implementation of the benchmark library
+  DTDSX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BD02AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
+     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
+     2                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
+     1                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          = 'D':  Default values defined in [1] are used;
+          = 'N':  Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
+          On entry, if DEF = 'N' and the desired example depends on
+          real parameters, then the array DPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 2.1, DPAR(1), ..., DPAR(3) define the
+          parameters 'tau', 'delta', 'K', respectively.
+          On exit, if DEF = 'D' and the desired example depends on
+          real parameters, then the array DPAR is overwritten by the
+          default values given in [1].
+
+  IPAR    (input/output) INTEGER array, dimension (1)
+          On entry, if DEF = 'N' and the desired example depends on
+          integer parameters, then the array IPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 3.1, IPAR(1) defines the parameter 'n'.
+          On exit, if DEF = 'D' and the desired example depends on
+          integer parameters, then the array IPAR is overwritten by
+          the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension (8)
+          Flag vector which displays the availabilty of the output
+          data:
+          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
+          and are always .TRUE..
+          VEC(4) is .TRUE. iff E is NOT the identity matrix.
+          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
+          and are always .TRUE..
+          VEC(8) is .TRUE. iff D is NOT the zero matrix.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of columns in the matrices B and D.
+
+  P       (output) INTEGER
+          The number of rows in the matrices C and D.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(4) = .FALSE..
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= P.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          matrix D.
+          NOTE that this array is overwritten (by the zero
+          matrix), if VEC(8) = .FALSE..
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= P.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          NOTE that DWORK is not used in the current version
+          of BD02AD.
+
+  LDWORK  INTEGER
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value;
+          = 1:  data file can not be opened or has wrong format.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
+       DTDSX - a Collection of Benchmark Examples for State-Space
+       Realizations of Discrete-Time Dynamical Systems.
+       SLICOT Working Note 1998-10. 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BD02AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
+      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     1                  LDE = NMAX, LDWORK = 1)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
+      INTEGER          NR(2), IPAR(7)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BD02AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BD02AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
+     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        WRITE (NOUT, FMT = 99995) P
+        IF (VEC(4)) THEN
+          WRITE (NOUT, FMT = 99994)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99993)
+        END IF
+        WRITE (NOUT,FMT = 99992)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
+20      CONTINUE
+        WRITE (NOUT,FMT = 99991)
+        DO 30  I = 1, N
+          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
+30      CONTINUE
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, P
+          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(8)) THEN
+          WRITE (NOUT,FMT = 99989)
+          DO 50  I = 1, P
+            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+      END IF
+C
+99999 FORMAT (' BD02AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BD02AD = ', I3)
+99997 FORMAT (/' Order of matrix A:               N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
+99994 FORMAT (/' E  = ')
+99993 FORMAT (/' E is the identity matrix.')
+99992 FORMAT (' A  = ')
+99991 FORMAT (' B  = ')
+99990 FORMAT (' C  = ')
+99989 FORMAT (' D  = ')
+99988 FORMAT (' D is of zeros.')
+99987 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BD02AD EXAMPLE PROGRAM DATA
+D
+1 1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BD02AD EXAMPLE PROGRAM RESULTS
+
+ Laub 1979, Ex. 2: uncontrollable-unobservable data                    
+
+ Order of matrix A:               N  =   2
+ Number of columns in matrix B:   M  =   1
+ Number of rows in matrix C:      P  =   1
+
+ E is the identity matrix.
+ A  = 
+   4.0000   3.0000
+  -4.5000  -3.5000
+ B  = 
+   1.0000
+  -1.0000
+ C  = 
+   3.0000   2.0000
+ D is of zeros.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DAESolver.html b/doc/_build/html/_static/doc/DAESolver.html
new file mode 100644
index 00000000..aaa78f78
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+   <title>DAESolver - SLICOT Library Routine Documentation</title>
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+
+<h2>
+<a NAME="DAESolver"></a>DAESolver</h2>
+
+<h3>
+Solver for Algebraic Differential Equations (driver)</h3>
+<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
+<p><b><font size=+1>Purpose</font></b>
+<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
+&nbsp; defining Differential Algebraic Equations using several packages.</pre>
+
+<pre>&nbsp; The equations follow the form (CASE A):
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t) = 0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
+
+&nbsp; for the most general model which can only be solved by DASSL and
+&nbsp; DASSPK.
+
+&nbsp; A restricted case can be solved with RADAU5, LSODI, LSOIBT, if
+&nbsp; the system is expressed as (CASE B):
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(x(t), u(t), p, t)*dx(t)/dt = A(x(t), u(t), p, t)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
+
+&nbsp; And finally, the GELDA package is able to solve DAEs with the&nbsp;
+&nbsp; expression (CASE C):
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(u(t), p, t)*dx(t)/dt = A(u(t), p, t)*x(t) + E(u(t), p, t)
+
+&nbsp; The user must define the subroutines:
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDF:&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t)&nbsp; for CASES: A, B and C
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDA:&nbsp;&nbsp;&nbsp; A(x(t), u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: B and C
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDE:&nbsp;&nbsp;&nbsp; E(u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: C
+&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT:&nbsp;&nbsp; g(dx(t)/dx, x(t), u(t), p, t)
+&nbsp; and the Jacobians (JACFX, JACFU, JACFP) if used. The interface&nbsp;
+&nbsp; adapts the structure to fit all the codes</pre>
+<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAESolver(ISOLVER,CDAEDF_,CDAEDA_,CDAEDE_,CDAEOUT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_,CJACFU_,CJACFP_,CJACFXDOT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP, TINI, TOUT,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X, XDOTI, Y, U, P,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, RPAR, RTOL, ATOL,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)&nbsp;
+&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
+&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; TINI, TOUT
+&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF_, CDAEDA_,CDAEDE_, CDAEOUT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_, CJACFU_, CJACFP_, CJACFXDOT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF, CDAEDA,CDAEDE, CDAEOUT,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX, CJACFU, CJACFP, CJACFXDOT
+&nbsp;&nbsp;&nbsp; .. Array Arguments ..
+&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; DWORK(LDWORK), RPAR(*), ATOL(*), RTOL(*)
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), XDOTI(NX), Y(NY), U(NU), P(NP)
+&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)</pre>
+<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
+<p><b>Mode Parameters</b>
+<pre>&nbsp;&nbsp; ISOLVER INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver packages to be used
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODI,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSOIBT,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: RADAU5,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: DASSL,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASPK,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DGELDA.</pre>
+<b>Input/Output Parameters</b>
+<br>&nbsp;
+<pre><tt>&nbsp;&nbsp;&nbsp;&nbsp; DAEDF&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the F(dx(t)/dt, x(t), u(t), p, t).
+
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDA&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the A(x(t), u(t), p, t).
+
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDE&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the E(u(t), p, t).
+
+&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.
+
+&nbsp;&nbsp;&nbsp;&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.
+
+&nbsp;&nbsp;&nbsp;&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.
+
+&nbsp;&nbsp;&nbsp;&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the parameter vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.
+
+&nbsp;&nbsp;&nbsp;&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; XDOTI&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NX)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing dx(t)/dt at initial point.
+
+&nbsp;&nbsp;&nbsp;&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.
+
+&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NP)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the parameter variables.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (201)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
+&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both rtol and atol are scalars
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : rtol is a scalar and atol is a vector
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both rtol and atol are vectors
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values only at TOUT (and not
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; at the intermediate step). (1:Yes, 0:No)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mfjac, Method flag for jacobian
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (Note: IPAR(6) and IPAR(7) are obligatories only if the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian matrix is banded)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of residual evaluations.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for RADAU5, ODEPACK and DGELDA:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9), mfmass, Method flag for mass-matrix
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No mass-matrix used (non-stiff method).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full mass-matrix (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded mass-matrix (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : Identity mass-matrix is used (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(10), mlmass, lower half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(11), mumass, upper half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12), Maximum number of steps allowed during one
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(13), Maximum order to be allowed.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default values : 12 if meth = 1
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; In DASSL, DASPK and DGELDA : (1 .LE. MAXORD .LE. 5)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK package:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs, must be 0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBIT
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(24), mb, block size.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (mb .GE. 1) and mb*IPAR(28) = NX
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(25), nb, number of blocks in the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (nb .ge. 4) and nb*IPAR(27) = NX
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to Hessenberg
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; form.(Only if IPAR(9)=1 and IPAR(3)=1 or 10)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations in
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; each step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .EQ. 0 -> is taken the extrapolated collocation
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .NE. 0 -> zero values are used.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables( >0 ).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1 (default 0).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2 (default(M2=M1).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL, DASPK and DGELDA solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity constraints:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforze nonnegativity in X during the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (dense or band)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp; (iterative)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac (iterative)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38) > 0:&nbsp;&nbsp;&nbsp; 0: Yes
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; variables:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0:Yes
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Extra printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, no printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, for minimal printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2, for full printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(44), maximum number of iterations in the SPIGMR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (.LE. NX)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(45), number of vectors on which orthogonalization
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; is done in the SPIGMR algorithm. (.LE. IPAR(44))
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(46), maximum number of restarts of the SPIGMR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm per nonlinear iteration. (.GE. 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(47), maximum number of Newton iterations per
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Jacobian or preconditioner evaluation. (> 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(48), maximum number of Jacobian or preconditioner
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; evaluations. (> 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(49), maximum number of values of the artificial
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; stepsize parameter H to be tried if IPAR(38) = 1.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (> 0).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(50), flag to turn off the linesearch algorithm.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : ON
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : OFF (default)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DGELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(51), contains the strangeness index.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(52), number of differential components
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(53), number of algebraic components
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(54), number of undetermined components
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(55), method used:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 1 then uses the BDF solver
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 then uses the Runge-Kutta solver
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(56), E(t) and A(t) are: 1&nbsp; time dependent
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0&nbsp; constants
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(57), Maximum index of the problem. ( .GE. 0 )
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(58), Step size strategy:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, Mod. predictive controlled of Gustafsson(safer)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, classical step size control(faster)
+
+&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (201)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1), Initial step size guess.Obligatory in RADAU5.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(2), Maximum absolute step size allowed.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(111), Step size in t last used (successfully).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(112), Step size to be attempted on the next step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(113), Current value of the independent variable
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(16), Critical value of t which the solver is not
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(17), Minimum absolute step size allowed.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(18), Tolerance scale factor, greater than 1.0.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(26), The rounding unit, default 1E-16.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(27), The safety factor in step size prediction,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(28), Decides whether the jacobian should be
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Increase when jacobian evaluations are costly
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; For small systems should be smaller.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(29), Stopping criterion for Newton's method,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(30), RPAR(31): This saves, together with a
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large RPAR(28), LU-decompositions and computing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Small systems: RPAR(30)=1.D0, RPAR(31)=1.2D0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Large full systems: RPAR(30)=0.99D0, RPAR(31)=2.D0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; might be good.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(32), RPAR(33), Parameters for step size
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.Condition: RPAR(32)&lt;=HNEW/HOLD&lt;=RPAR(33)
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL, DASPK and DGELDA solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(36), Stopping point (Tstop)
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(37), convergence test constant in SPIGMR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (0 .LT. RPAR(37) .LT. 1.0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(38), minimum scaled step in linesearch algorithm.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; The default is&nbsp; = (unit roundoff)**(2/3). (> 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(39), swing factor in the Newton iteration
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; convergence test. (default 0.1) (> 0)
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(40), safety factor used in step size prediction.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(41) and RPAR(42) restric the relation between the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; new and old stepsize in step size selection.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1/RPAR(41) .LE. Hnew/Hold .LE. 1/RPAR(42)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(43), RPAR(44) QUOT1 and QUOT2 repectively.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If QUOT1 &lt; Hnew/Hold &lt; QUOT2 and A and E are
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; constants, the work can be saved by setting
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hnew=Hold and using the system matrix of the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; previous step.</tt></pre>
+<b>Tolerances</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.
+
+&nbsp;&nbsp;&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
+<b>Workspace</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)
+
+&nbsp;&nbsp;&nbsp;&nbsp; LIWORK&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Minimum size of DWORK, depending on solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI, LSOIBT, DASSL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + NX
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3*N+20
+
+&nbsp;&nbsp;&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PRECISION array, dimension (LDWORK)
+
+&nbsp;&nbsp;&nbsp;&nbsp; LDWORK&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 +&nbsp; 9*NX + NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , IPAR(3) = 1 or 10
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 + 10*NX + (2*ML + MU)*NX&nbsp;&nbsp;&nbsp; , IPAR(3) = 2 or 11
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBT
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + nyh*(maxord + 1) + 3*NX + lenw&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nyh&nbsp;&nbsp;&nbsp; = Initial value of NX
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; maxord = Maximum order allowed(default or IPAR(13)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lenw&nbsp;&nbsp; = 3*mb*mb*nb + 2&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; N*(LJAC+LMAS+3*LE+12)+20
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp; LJAC=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (full jacobian)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LJAC=MLJAC+MUJAC+1&nbsp;&nbsp; if (banded jacobian)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LMAS=0&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 10 or 11)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=MLMAS+MUMAS+1&nbsp;&nbsp; if (IPAR(9) = 2)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LE=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1 or 10)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LE=2*MLJAC+MUJAC+1&nbsp;&nbsp; if (IPAR(9) = 2 or 11)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
+<b>Warning Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; LSODI/LSOIBT/RADAU5 do not use the input vector as argument;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; LSODI/LSOIBT do not use the param vector as argument;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; RTOL and ATOL are used as scalars;</pre>
+<b>Error Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Method (IPAR(9)) is not allowed for ODEPACK/RADAU5;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) is not allowed for LSODE/RADAU5/DASSL;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Option not allowed for IPAR(37);
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(38);
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: RADAU5 returned -ERROR;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: DASSL returned -ERROR;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DASPK returned -ERROR;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DGELDA returned -ERROR.</pre>
+<a NAME="Method"></a><b><font size=+1>Method</font></b>
+<pre><tt><font color="#000000">Since the package integrates 8 different solvers, it is possible to solve differential&nbsp;
+equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
+iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
+equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
+the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
+and efficient integrated package.</font></tt></pre>
+<a NAME="References"></a><b><font size=+1>References</font></b>
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [18] V.Hernandez, I.Blanquer, E.Arias, and P.Ruiz,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Definition and Implementation of a SLICOT Standard Interface and the&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; associated MATLAB Gateway for the Solution of Nonlinear Control Systems
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; by using ODE and DAE Packages}, Universidad Politecnica de Valencia,&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DSIC. SLICOT Working Note 2000-3: July 2000. Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN2000-3.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [19] J.J.B. de Swart, W.M. Lioen, W.A. van der Veen, SIDE, November 25,&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1998. Available at http://www.cwi.nl/cwi/projects/PSIDE/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [20] Kim, H.Young, F.L.Lewis, D.M.Dawson, Intelligent optimal control of&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; robotic manipulators using neural networks.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [21] J.C.Fernandez, E.Arias, V.Hernandez, L.Penalver, High Performance&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
+<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
+<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
+&nbsp; different packages integrated. Several packages are more robust
+&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
+&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
+&nbsp; of each method is recommended to check the references above.</pre>
+<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
+<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
+&nbsp; The interface checks the suitability of the methods to the&nbsp;
+&nbsp; parameters and show a warning message if problems could arise.</pre>
+<a NAME="Example"></a><b><font size=+1>Example</font></b>
+<p><b>Program Text</b>
+<br>&nbsp;
+<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DAESOLVER EXAMPLE PROGRAM TEXT FOR LSODIX
+PROBLEM</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
+Error: ',NAME(1:8),' &lt;solver>'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
+: LSODI, LSOIBT, RADAU5, DASSL, DASPK, GELD</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;A'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
+LSODIX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
+'LSODI') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODI_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'LSOIBT') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSOIBT_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'RADAU5') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'GELDA') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(GELDA_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASSL') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASPK') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
+'Error: Solver: ', SOLVER,' unknown'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>*</tt>
+<br><tt>99999 FORMAT (' DAESOLVER EXAMPLE PROGRAM RESULTS FOR LSODIX PROBLEM'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,/1X)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine DAESolver</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Indicates the nonlinear solver package to be used:</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 1: LSODI,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 2: LSOIBT,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 3: RADAU5,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 4: DASSL,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 5: DASPK,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 6: DGELDA.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MD, ND, LPAR, LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( MD = 400, ND = 100, LPAR = 201,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+LWORK = 10000 )</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER2</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER2</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWARN, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL, RTOL, NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NUMJAC, NUMMAS, CONSIS</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 CDAEDF,CDAEDA,CDAEDE,CDAEOUT,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CJACFX,CJACFU,CJACFP,CJACFXDOT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
+DWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
+Y(MD), U(MD), P(MD), SOLU(MD)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DNRM2</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+PLSODIX, ILSODIX, SLSODIX</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DAXPY</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER2 = ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; P(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL=1D-6</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12)= 10000</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. LSODI_ .OR. ISOLVER
+.EQ. RADAU5_) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16)=1</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (ISOLVER
+.EQ. DASSL_ .OR. ISOLVER .EQ. DASPK_)</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36)=0</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37)=0</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODIX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODIX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(1) = 1.0d0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(2) = 0.0d0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(3) = 0.0d0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(1) = -0.04D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(2) =&nbsp; 0.04D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(3) =&nbsp; 0.0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODIX(NEQN,T(1),SOLU)</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'DAE' ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99998 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDA=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDE=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEOUT=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFP=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFXDOT=''</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL DAESolver(
+ISOLVER, CDAEDF, CDAEDA, CDAEDE, CDAEOUT,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CJACFX, CJACFU, CJACFP, CJACFXDOT,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NEQN, NEQN, NEQN, T(0), T(1),</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+X, XPRIME, Y, U, P,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR, RPAR, RTOL, ATOL,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
+) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99996 ) INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( IWARN.NE.0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NEQN .LE. 30 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99994 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DO 80 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99993 ) I, X(I), SOLU(I)</tt>
+<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,SOLU,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NORM.EQ.0D0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=1D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CALL DAXPY(NEQN,-1D0,X,1,SOLU,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,SOLU,1)/NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99992 ) NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>*</tt>
+<br><tt>99998 FORMAT (' ERROR: This test is only intended for DAE problems')</tt>
+<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
+<br><tt>99996 FORMAT (' INFO on exit from DAESolver = ',I3)</tt>
+<br><tt>99995 FORMAT (' IWARN on exit from DAESolver = ',I3)</tt>
+<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
+<br><tt>99993 FORMAT (I,F,F)</tt>
+<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,E,/1X)</tt>
+<br><tt>* *** Last line of TEST ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDA_( RPAR, NRP, IPAR,
+NIP, X, NX, U, NU, P, NP,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+F, LDF, T, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
+the problem function FEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array, dimension (NRP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array, dimension (NIP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The resulting function value f(T,X).</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of F.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the function is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns values of error from FEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDF, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
+U(NU), P(NP),</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+FLSODIX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODIX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of DAEDA_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDF_( RPAR, NRP, IPAR,
+NIP, X, XPRIME, NX,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+U, NU, P, NP, T, F, LDF, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
+the problem function MEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array, dimension (NRP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and MEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array, dimension (NIP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and MEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
+array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables derivative.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the function is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The resulting function value f(T,X).</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of F.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns values of error from MEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDF, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
+XPRIME(NX), U(NU), P(NP),</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+I</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MLSODIX, RLSODIX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. DASSL_ .OR. ISOLVER
+.EQ. DASPK_) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL RLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL MLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>* *** Last line of DAEDF_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NRP, NIP,
+RPAR, IPAR, NX, NU,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NP, X, U, P, T, FX, LDFX,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
+the problem function JEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and JEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and JEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the derivative is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The array with the resulting Jacobian matrix.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of the array FX.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns values of error from JEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDFX, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), P(NP),
+RPAR(NRP), FX(LDFX,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+JLSODIX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODIX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of JACFX_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE JACFXDOT_( NRP, NIP, RPAR,
+IPAR,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NX, NU, NP, XPRIME, U, P, T, J, LDJ, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; MATJACFXDOT routine for TRANSAMP problem</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication with the driver.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication with the driver.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
+array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the derivative of the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the derivative is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; J&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDJ,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The array with the resulting derivative matrix.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDJ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of the array J.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns 1 in case a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDJ, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION XPRIME(NX), U(NU),
+P(NP), RPAR(NRP), J(LDJ,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JDOTLSODIX(LDJ,NX,T,XPRIME,XPRIME,J,INFO,RPAR,IPAR)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>* *** Last line of JACFXDOT_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br><tt></tt>&nbsp;
+<p><b>Program Data</b>
+<pre>No data required</pre>
+<b>Program Results</b>
+<pre>&nbsp;DAESOLVER EXAMPLE PROGRAM RESULTS
+&nbsp;
+&nbsp;Problem: LSODIX&nbsp;&nbsp; Solver: LSODI&nbsp;&nbsp;
+&nbsp;lsodix&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (lsodix&nbsp;&nbsp; , DAE) with SOLVER&nbsp; 1
+&nbsp;IWARN on exit from DAESolver =&nbsp;&nbsp; 2
+&nbsp;Solution: (calculated) (reference)
+&nbsp;6.462112224297606E-07
+&nbsp;1.255974374648338E-10
+&nbsp;6.117680951077711E-07
+&nbsp;Relative error comparing with the reference solution:&nbsp;&nbsp;&nbsp; .8898590685949503E-06</pre>
+
+<hr>
+<p><!--Click <b><a href="../../SLICOT/arc/DAESolver.tgz">here</a></b> to get a compressed (gzip)
+tar file containing the source code of the routine, the example program,
+data, documentation, and related files.-->
+<br><b><a href="..\libindex.html">Return to index</a></b>
+</body>
+</html>
diff --git a/doc/_build/html/_static/doc/DE01OD.html b/doc/_build/html/_static/doc/DE01OD.html
new file mode 100644
index 00000000..f6b2d1a7
--- /dev/null
+++ b/doc/_build/html/_static/doc/DE01OD.html
@@ -0,0 +1,186 @@
+<HTML>
+<HEAD><TITLE>DE01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DE01OD">DE01OD</A></H2>
+<H3>
+Convolution or deconvolution of two real signals
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the convolution or deconvolution of two real signals
+  A and B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DE01OD( CONV, N, A, B, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CONV
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CONV    CHARACTER*1
+          Indicates whether convolution or deconvolution is to be
+          performed as follows:
+          = 'C':  Convolution;
+          = 'D':  Deconvolution.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N must be a power of 2.  N &gt;= 2.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the first signal.
+          On exit, this array contains the convolution (if
+          CONV = 'C') or deconvolution (if CONV = 'D') of the two
+          signals.
+
+  B       (input) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the second signal.
+          NOTE that this array is overwritten.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine computes the convolution or deconvolution of two real
+  signals A and B using an FFT algorithm (SLICOT Library routine
+  DG01MD).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DE01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      CONV
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), B(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DE01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, CONV
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
+*        Perform convolution on A and B.
+         CALL DE01OD( CONV, N, A, B, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( CONV, 'C' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+            END IF
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DE01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DE01OD = ',I2)
+99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
+99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
+99995 FORMAT (I4,1X,F8.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DE01OD EXAMPLE PROGRAM DATA
+   8     C
+   0.4862   0.2288
+   0.1948   0.3671
+   0.5788   0.6417
+  -0.5861   0.3875
+   0.8254   0.2380
+   0.1815   0.4682
+   0.2904   0.5312
+  -0.3599   0.6116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DE01OD EXAMPLE PROGRAM RESULTS
+
+   Convolution 
+
+   i    A(i)
+
+   1   0.5844
+   2   0.5769
+   3   0.6106
+   4   1.0433
+   5   0.6331
+   6   0.4531
+   7   0.7027
+   8   0.9929
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DE01PD.html b/doc/_build/html/_static/doc/DE01PD.html
new file mode 100644
index 00000000..d5a23237
--- /dev/null
+++ b/doc/_build/html/_static/doc/DE01PD.html
@@ -0,0 +1,203 @@
+<HTML>
+<HEAD><TITLE>DE01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DE01PD">DE01PD</A></H2>
+<H3>
+Convolution or deconvolution of two real signals using Hartley transform
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the convolution or deconvolution of two real signals
+  A and B using the Hartley transform.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DE01PD( CONV, WGHT, N, A, B, W, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CONV, WGHT
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*), W(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CONV    CHARACTER*1
+          Indicates whether convolution or deconvolution is to be
+          performed as follows:
+          = 'C':  Convolution;
+          = 'D':  Deconvolution.
+
+  WGHT    CHARACTER*1
+          Indicates whether the precomputed weights are available
+          or not, as follows:
+          = 'A':  available;
+          = 'N':  not available.
+          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
+          set to 'A' on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N must be a power of 2.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the first signal.
+          On exit, this array contains the convolution (if
+          CONV = 'C') or deconvolution (if CONV = 'D') of the two
+          signals.
+
+  B       (input) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the second signal.
+          NOTE that this array is overwritten.
+
+  W       (input/output) DOUBLE PRECISION array,
+                         dimension (N - LOG2(N))
+          On entry with WGHT = 'A', this array must contain the long
+          weight vector computed by a previous call of this routine
+          or of the SLICOT Library routine DG01OD.f, with the same
+          value of N. If WGHT = 'N', the contents of this array on
+          entry is ignored.
+          On exit, this array contains the long weight vector.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine computes the convolution or deconvolution of two
+  real signals A and B using three scrambled Hartley transforms
+  (SLICOT Library routine DG01OD).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, Charles.
+      Computational frameworks for the fast Fourier transform.
+      SIAM, 1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N log(N)) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DE01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      CONV, WGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), B(NMAX), W(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DE01PD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, CONV, WGHT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
+*        Perform convolution on A and B.
+         CALL DE01PD( CONV, WGHT, N, A, B, W, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( CONV, 'C' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+            END IF
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DE01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DE01PD = ',I2)
+99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
+99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
+99995 FORMAT (I4,1X,F8.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DE01PD EXAMPLE PROGRAM DATA
+   8     C     N
+   0.4862   0.2288
+   0.1948   0.3671
+   0.5788   0.6417
+  -0.5861   0.3875
+   0.8254   0.2380
+   0.1815   0.4682
+   0.2904   0.5312
+  -0.3599   0.6116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DE01PD EXAMPLE PROGRAM RESULTS
+
+   Convolution 
+
+   i    A(i)
+
+   1   0.5844
+   2   0.5769
+   3   0.6106
+   4   1.0433
+   5   0.6331
+   6   0.4531
+   7   0.7027
+   8   0.9929
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DF01MD.html b/doc/_build/html/_static/doc/DF01MD.html
new file mode 100644
index 00000000..62fa6629
--- /dev/null
+++ b/doc/_build/html/_static/doc/DF01MD.html
@@ -0,0 +1,282 @@
+<HTML>
+<HEAD><TITLE>DF01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DF01MD">DF01MD</A></H2>
+<H3>
+Sine transform or cosine transform of a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the sine transform or cosine transform of a real
+  signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DF01MD( SICO, N, DT, A, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SICO
+      INTEGER           INFO, N
+      DOUBLE PRECISION  DT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SICO    CHARACTER*1
+          Indicates whether the sine transform or cosine transform
+          is to be computed as follows:
+          = 'S':  The sine transform is computed;
+          = 'C':  The cosine transform is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N must be a power of 2 plus 1.
+          N &gt;= 5.
+
+  DT      (input) DOUBLE PRECISION
+          The sampling time of the signal.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the signal to be
+          processed.
+          On exit, this array contains either the sine transform, if
+          SICO = 'S', or the cosine transform, if SICO = 'C', of the
+          given signal.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N+1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A(1), A(2),..., A(N) be a real signal of N samples.
+
+  If SICO = 'S', the routine computes the sine transform of A as
+  follows. First, transform A(i), i = 1,2,...,N, into the complex
+  signal B(i), i = 1,2,...,(N+1)/2, where
+
+     B(1) = -2*A(2),
+     B(i) = {A(2i-2) - A(2i)} - j*A(2i-1) for i = 2,3,...,(N-1)/2,
+     B((N+1)/2) = 2*A(N-1) and j**2 = -1.
+
+  Next, perform a discrete inverse Fourier transform on B(i) by
+  calling SLICOT Library Routine DG01ND, to give the complex signal
+  Z(i), i = 1,2,...,(N-1)/2, from which the real signal C(i) may be
+  obtained as follows:
+
+     C(2i-1) = Re(Z(i)),  C(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
+
+  Finally, compute the sine transform coefficients S ,S ,...,S
+                                                    1  2      N
+  given by
+
+     S  = 0,
+      1
+             {                     [C(k) + C(N+1-k)]     }
+     S  = DT*{[C(k) - C(N+1-k)] - -----------------------},
+      k      {                    [2*sin(pi*(k-1)/(N-1))]}
+
+        for k = 2,3,...,N-1, and
+
+     S = 0.
+      N
+
+  If SICO = 'C', the routine computes the cosine transform of A as
+  follows. First, transform A(i), i = 1,2,...,N, into the complex
+  signal B(i), i = 1,2,...,(N+1)/2, where
+
+     B(1) = 2*A(1),
+     B(i) = 2*A(2i-1) + 2*j*{[A(2i-2) - A(2i)]}
+     for i = 2,3,...,(N-1)/2 and B((N+1)/2) = 2*A(N).
+
+  Next, perform a discrete inverse Fourier transform on B(i) by
+  calling SLICOT Library Routine DG01ND, to give the complex signal
+  Z(i), i = 1,2,...,(N-1)/2, from which the real signal D(i) may be
+  obtained as follows:
+
+     D(2i-1) = Re(Z(i)),  D(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
+
+  Finally, compute the cosine transform coefficients S ,S ,...,S
+                                                      1  2      N
+  given by
+
+     S  = 2*DT*[D(1) + A0],
+      1
+             {                     [D(k) - D(N+1-k)]     }
+     S  = DT*{[D(k) + D(N+1-k)] - -----------------------},
+      k      {                    [2*sin(pi*(k-1)/(N-1))]}
+
+        for k = 2,3,...,N-1, and
+
+     S  = 2*DT*[D(1) - A0],
+      N
+              (N-1)/2
+  where A0 = 2*SUM   A(2i).
+               i=1
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+  [2] Oppenheim, A.V. and Schafer, R.W.
+      Discrete-Time Signal Processing.
+      Prentice-Hall Signal Processing Series, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DF01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 129 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DT
+      INTEGER          I, INFO, N
+      CHARACTER*1      SICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), DWORK(NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DF01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DT, SICO
+      IF ( N.LE.1 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
+*        Compute the sine/cosine transform of the given real signal.
+         CALL DF01MD( SICO, N, DT, A, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( SICO, 'S' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   20          CONTINUE
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' DF01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DF01MD = ',I2)
+99997 FORMAT (' Components of sine transform are',//'   i',6X,'A(i)',/)
+99996 FORMAT (' Components of cosine transform are',//'   i',6X,'A(i)',
+     $       /)
+99995 FORMAT (I4,3X,F8.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DF01MD EXAMPLE PROGRAM DATA
+  17     1.0     C
+  -0.1862
+   0.1288
+   0.3948
+   0.0671
+   0.6788
+  -0.2417
+   0.1861
+   0.8875
+   0.7254
+   0.9380
+   0.5815
+  -0.2682
+   0.4904
+   0.9312
+  -0.9599
+  -0.3116
+   0.8743
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DF01MD EXAMPLE PROGRAM RESULTS
+
+ Components of cosine transform are
+
+   i      A(i)
+
+   1    28.0536
+   2     3.3726
+   3   -20.8158
+   4     6.0566
+   5     5.7317
+   6    -3.9347
+   7   -12.8074
+   8    -6.8780
+   9    16.2892
+  10   -17.0788
+  11    21.7836
+  12   -20.8203
+  13    -7.3277
+  14    -2.5325
+  15    -0.3636
+  16     7.8792
+  17    11.0048
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DG01MD.html b/doc/_build/html/_static/doc/DG01MD.html
new file mode 100644
index 00000000..f5293c6f
--- /dev/null
+++ b/doc/_build/html/_static/doc/DG01MD.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>DG01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DG01MD">DG01MD</A></H2>
+<H3>
+Discrete Fourier transform, or inverse transform, of a complex signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the discrete Fourier transform, or inverse transform,
+  of a complex signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DG01MD( INDI, N, XR, XI, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         INDI
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  XI(*), XR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INDI    CHARACTER*1
+          Indicates whether a Fourier transform or inverse Fourier
+          transform is to be performed as follows:
+          = 'D':  (Direct) Fourier transform;
+          = 'I':  Inverse Fourier transform.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of complex samples.  N must be a power of 2.
+          N &gt;= 2.
+
+  XR      (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the real part of either
+          the complex signal z if INDI = 'D', or f(z) if INDI = 'I'.
+          On exit, this array contains either the real part of the
+          computed Fourier transform f(z) if INDI = 'D', or the
+          inverse Fourier transform z of f(z) if INDI = 'I'.
+
+  XI      (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the imaginary part of
+          either z if INDI = 'D', or f(z) if INDI = 'I'.
+          On exit, this array contains either the imaginary part of
+          f(z) if INDI = 'D', or z if INDI = 'I'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INDI = 'D', then the routine performs a discrete Fourier
+  transform on the complex signal Z(i), i = 1,2,...,N. If the result
+  is denoted by FZ(k), k = 1,2,...,N, then the relationship between
+  Z and FZ is given by the formula:
+
+                  N            ((k-1)*(i-1))
+         FZ(k) = SUM ( Z(i) * V              ),
+                 i=1
+                                  2
+  where V = exp( -2*pi*j/N ) and j  = -1.
+
+  If INDI = 'I', then the routine performs an inverse discrete
+  Fourier transform on the complex signal FZ(k), k = 1,2,...,N. If
+  the result is denoted by Z(i), i = 1,2,...,N, then the
+  relationship between Z and FZ is given by the formula:
+
+                 N             ((k-1)*(i-1))
+         Z(i) = SUM ( FZ(k) * W              ),
+                k=1
+
+  where W = exp( 2*pi*j/N ).
+
+  Note that a discrete Fourier transform, followed by an inverse
+  discrete Fourier transform, will result in a signal which is a
+  factor N larger than the original input signal.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DG01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      INDI
+*     .. Local Arrays ..
+      DOUBLE PRECISION XI(NMAX), XR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DG01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, INDI
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( XR(I), XI(I), I = 1,N )
+*        Find the Fourier transform of the given complex signal.
+         CALL DG01MD( INDI, N, XR, XI, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DG01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DG01MD = ',I2)
+99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
+     $       'XR(i)',6X,'XI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DG01MD EXAMPLE PROGRAM DATA
+   8     D
+  -0.1862   0.1288
+   0.3948   0.0671
+   0.6788  -0.2417
+   0.1861   0.8875
+   0.7254   0.9380
+   0.5815  -0.2682
+   0.4904   0.9312
+  -0.9599  -0.3116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DG01MD EXAMPLE PROGRAM RESULTS
+
+ Components of Fourier transform are
+
+   i      XR(i)      XI(i)
+
+   1     1.9109     2.1311
+   2    -1.9419    -2.2867
+   3    -1.4070    -1.3728
+   4     2.2886    -0.6883
+   5     1.5059     1.3815
+   6    -2.2271     0.2915
+   7     0.1470     2.1274
+   8    -1.7660    -0.5533
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DG01ND.html b/doc/_build/html/_static/doc/DG01ND.html
new file mode 100644
index 00000000..cf67b29d
--- /dev/null
+++ b/doc/_build/html/_static/doc/DG01ND.html
@@ -0,0 +1,296 @@
+<HTML>
+<HEAD><TITLE>DG01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DG01ND">DG01ND</A></H2>
+<H3>
+Discrete Fourier transform, or inverse Fourier transform, of a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the discrete Fourier transform, or inverse Fourier
+  transform, of a real signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DG01ND( INDI, N, XR, XI, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         INDI
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  XI(*), XR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INDI    CHARACTER*1
+          Indicates whether a Fourier transform or inverse Fourier
+          transform is to be performed as follows:
+          = 'D':  (Direct) Fourier transform;
+          = 'I':  Inverse Fourier transform.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Half the number of real samples.  N must be a power of 2.
+          N &gt;= 2.
+
+  XR      (input/output) DOUBLE PRECISION array, dimension (N+1)
+          On entry with INDI = 'D', the first N elements of this
+          array must contain the odd part of the input signal; for
+          example, XR(I) = A(2*I-1) for I = 1,2,...,N.
+          On entry with INDI = 'I', the first N+1 elements of this
+          array must contain the the real part of the input discrete
+          Fourier transform (computed, for instance, by a previous
+          call of the routine).
+          On exit with INDI = 'D', the first N+1 elements of this
+          array contain the real part of the output signal, that is
+          of the computed discrete Fourier transform.
+          On exit with INDI = 'I', the first N elements of this
+          array contain the odd part of the output signal, that is
+          of the computed inverse discrete Fourier transform.
+
+  XI      (input/output) DOUBLE PRECISION array, dimension (N+1)
+          On entry with INDI = 'D', the first N elements of this
+          array must contain the even part of the input signal; for
+          example, XI(I) = A(2*I) for I = 1,2,...,N.
+          On entry with INDI = 'I', the first N+1 elements of this
+          array must contain the the imaginary part of the input
+          discrete Fourier transform (computed, for instance, by a
+          previous call of the routine).
+          On exit with INDI = 'D', the first N+1 elements of this
+          array contain the imaginary part of the output signal,
+          that is of the computed discrete Fourier transform.
+          On exit with INDI = 'I', the first N elements of this
+          array contain the even part of the output signal, that is
+          of the computed inverse discrete Fourier transform.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A(1),....,A(2*N) be a real signal of 2*N samples. Then the
+  first N+1 samples of the discrete Fourier transform of this signal
+  are given by the formula:
+
+               2*N           ((m-1)*(i-1))
+       FA(m) = SUM ( A(i) * W              ),
+               i=1
+                                               2
+  where m = 1,2,...,N+1, W = exp(-pi*j/N) and j = -1.
+
+  This transform can be computed as follows. First, transform A(i),
+  i = 1,2,...,2*N, into the complex signal Z(i) = (X(i),Y(i)),
+  i = 1,2,...,N. That is, X(i) = A(2*i-1) and Y(i) = A(2*i). Next,
+  perform a discrete Fourier transform on Z(i) by calling SLICOT
+  Library routine DG01MD. This gives a new complex signal FZ(k),
+  such that
+
+                N            ((k-1)*(i-1))
+       FZ(k) = SUM ( Z(i) * V              ),
+               i=1
+
+  where k = 1,2,...,N, V = exp(-2*pi*j/N).  Using the values of
+  FZ(k), the components of the discrete Fourier transform FA can be
+  computed by simple linear relations, implemented in the DG01NY
+  subroutine.
+
+  Finally, let
+
+       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)),   k = 1,2,...,N,
+
+  be the contents of the arrays XR and XI on entry to DG01NY with
+  INDI = 'D', then on exit XR and XI contain the real and imaginary
+  parts of the Fourier transform of the original real signal A.
+  That is,
+
+       XR(m) = Re(FA(m)),  XI(m) = Im(FA(m)),
+
+  where m = 1,2,...,N+1.
+
+  If INDI = 'I', then the routine evaluates the inverse Fourier
+  transform of a complex signal which may itself be the discrete
+  Fourier transform of a real signal.
+
+  Let FA(m), m = 1,2,...,2*N, denote the full discrete Fourier
+  transform of a real signal A(i), i=1,2,...,2*N. The relationship
+  between FA and A is given by the formula:
+
+              2*N            ((m-1)*(i-1))
+       A(i) = SUM ( FA(m) * W              ),
+              m=1
+
+  where W = exp(pi*j/N).
+
+  Let
+
+       XR(m) = Re(FA(m)) and XI(m) = Im(FA(m)) for m = 1,2,...,N+1,
+
+  be the contents of the arrays XR and XI on entry to the routine
+  DG01NY with INDI = 'I', then on exit the first N samples of the
+  complex signal FZ are returned in XR and XI such that
+
+       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)) and k = 1,2,...,N.
+
+  Next, an inverse Fourier transform is performed on FZ (e.g. by
+  calling SLICOT Library routine DG01MD), to give the complex signal
+  Z, whose i-th component is given by the formula:
+
+               N             ((k-1)*(i-1))
+       Z(i) = SUM ( FZ(k) * V              ),
+              k=1
+
+  where i = 1,2,...,N and V = exp(2*pi*j/N).
+
+  Finally, the 2*N samples of the real signal A can then be obtained
+  directly from Z. That is,
+
+       A(2*i-1) = Re(Z(i)) and A(2*i) = Im(Z(i)), for i = 1,2,...N.
+
+  Note that a discrete Fourier transform, followed by an inverse
+  transform will result in a signal which is a factor 2*N larger
+  than the original input signal.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DG01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, IEND, INFO, N
+      CHARACTER*1      INDI
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(2*NMAX), XI(NMAX+1), XR(NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DG01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, INDI
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,2*N )
+*        Copy the odd and even parts of A into XR and XI respectively.
+         DO 20 I = 1, N
+            XR(I) = A(2*I-1)
+            XI(I) = A(2*I)
+   20    CONTINUE
+*        Find the Fourier transform of the given real signal.
+         CALL DG01ND( INDI, N, XR, XI, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            IEND = N
+            IF ( LSAME( INDI, 'D' ) ) IEND = N + 1
+            DO 40 I = 1, IEND
+               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
+   40       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DG01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DG01ND = ',I2)
+99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
+     $       'XR(i)',6X,'XI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DG01ND EXAMPLE PROGRAM DATA
+   8     D
+  -0.1862
+   0.1288
+   0.3948
+   0.0671
+   0.6788
+  -0.2417
+   0.1861
+   0.8875
+   0.7254
+   0.9380
+   0.5815
+  -0.2682
+   0.4904
+   0.9312
+  -0.9599
+  -0.3116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DG01ND EXAMPLE PROGRAM RESULTS
+
+ Components of Fourier transform are
+
+   i      XR(i)      XI(i)
+
+   1     4.0420     0.0000
+   2    -3.1322    -0.2421
+   3     0.1862    -1.4675
+   4    -2.1312    -1.1707
+   5     1.5059    -1.3815
+   6     2.1927    -0.1908
+   7    -1.4462     2.0327
+   8    -0.5757     1.4914
+   9    -0.2202     0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DG01OD.html b/doc/_build/html/_static/doc/DG01OD.html
new file mode 100644
index 00000000..df0f089d
--- /dev/null
+++ b/doc/_build/html/_static/doc/DG01OD.html
@@ -0,0 +1,211 @@
+<HTML>
+<HEAD><TITLE>DG01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DG01OD">DG01OD</A></H2>
+<H3>
+Scrambled discrete Hartley transform of a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the (scrambled) discrete Hartley transform of
+  a real signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DG01OD( SCR, WGHT, N, A, W, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SCR, WGHT
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), W(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SCR     CHARACTER*1
+          Indicates whether the signal is scrambled on input or
+          on output as follows:
+          = 'N':  the signal is not scrambled at all;
+          = 'I':  the input signal is bit-reversed;
+          = 'O':  the output transform is bit-reversed.
+
+  WGHT    CHARACTER*1
+          Indicates whether the precomputed weights are available
+          or not, as follows:
+          = 'A':  available;
+          = 'N':  not available.
+          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
+          set to 'A' on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Number of real samples. N must be a power of 2.
+          N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry with SCR = 'N' or SCR = 'O', this array must
+          contain the input signal.
+          On entry with SCR = 'I', this array must contain the
+          bit-reversed input signal.
+          On exit with SCR = 'N' or SCR = 'I', this array contains
+          the Hartley transform of the input signal.
+          On exit with SCR = 'O', this array contains the
+          bit-reversed Hartley transform.
+
+  W       (input/output) DOUBLE PRECISION array,
+                         dimension (N - LOG2(N))
+          On entry with WGHT = 'A', this array must contain the long
+          weight vector computed by a previous call of this routine
+          with the same value of N. If WGHT = 'N', the contents of
+          this array on entry is ignored.
+          On exit, this array contains the long weight vector.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine uses a Hartley butterfly algorithm as described
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, Charles.
+      Computational frameworks for the fast Fourier transform.
+      SIAM, 1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable and requires O(N log(N))
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DG01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      SCR, WGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), W(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DG01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, SCR, WGHT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
+*        Compute the Hartley transform.
+         CALL DG01OD( SCR, WGHT, N, A, W, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, A(I)
+   10       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DG01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DG01OD = ',I2)
+99997 FORMAT ('   Hartley transform ',//'   i    A(i)',/)
+99996 FORMAT (I4,1X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DG01OD EXAMPLE
+  16      N      N
+ 1.0
+ 2.0
+ 3.0
+ 4.0
+ 5.0
+ 6.0
+ 7.0
+ 8.0
+ 9.0
+10.0
+11.0
+12.0
+13.0
+14.0
+15.0
+16.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DG01OD EXAMPLE PROGRAM RESULTS
+
+   Hartley transform 
+
+   i    A(i)
+
+   1 136.0000
+   2 -48.2187
+   3 -27.3137
+   4 -19.9728
+   5 -16.0000
+   6 -13.3454
+   7 -11.3137
+   8  -9.5913
+   9  -8.0000
+  10  -6.4087
+  11  -4.6863
+  12  -2.6546
+  13   0.0000
+  14   3.9728
+  15  11.3137
+  16  32.2187
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/DK01MD.html b/doc/_build/html/_static/doc/DK01MD.html
new file mode 100644
index 00000000..1c4310b0
--- /dev/null
+++ b/doc/_build/html/_static/doc/DK01MD.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>DK01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DK01MD">DK01MD</A></H2>
+<H3>
+Anti-aliasing window applied to a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply an anti-aliasing window to a real signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DK01MD( TYPE, N, A, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPE
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          Indicates the type of window to be applied to the signal
+          as follows:
+          = 'M':  Hamming window;
+          = 'N':  Hann window;
+          = 'Q':  Quadratic window.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N &gt;= 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the signal to be
+          processed.
+          On exit, this array contains the windowing function.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If TYPE = 'M', then a Hamming window is applied to A(1),...,A(N),
+  which yields
+    _
+    A(i) = (0.54 + 0.46*cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
+
+  If TYPE = 'N', then a Hann window is applied to A(1),...,A(N),
+  which yields
+    _
+    A(i) = 0.5*(1 + cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
+
+  If TYPE = 'Q', then a quadratic window is applied to A(1),...,
+  A(N), which yields
+    _
+    A(i) = (1 - 2*((i-1)/(N-1))**2)*(1 - (i-1)/(N-1))*A(i),
+                                          i = 1,2,...,(N-1)/2+1;
+    _
+    A(i) = 2*(1 - ((i-1)/(N-1))**3)*A(i), i = (N-1)/2+2,...,N.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DK01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+*     .. Local Scalars ..
+      CHARACTER*1      TYPE
+      INTEGER          I, INFO, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DK01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, TYPE
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
+*        Apply a Hamming window to the given signal.
+         CALL DK01MD( TYPE, N, A, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, A(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DK01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DK01MD = ',I2)
+99997 FORMAT (' Components of the windowing function are',//'   k     ',
+     $       ' A(k)',/)
+99996 FORMAT (I4,3X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DK01MD EXAMPLE PROGRAM DATA
+   8     M
+   0.3262
+   0.8723
+  -0.7972
+   0.6673
+  -0.1722
+   0.3237
+   0.5263
+  -0.3275
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DK01MD EXAMPLE PROGRAM RESULTS
+
+ Components of the windowing function are
+
+   k      A(k)
+
+   1     0.3262
+   2     0.8326
+   3    -0.6591
+   4     0.4286
+   5    -0.0754
+   6     0.0820
+   7     0.0661
+   8    -0.0262
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/FB01QD.html b/doc/_build/html/_static/doc/FB01QD.html
new file mode 100644
index 00000000..96e74984
--- /dev/null
+++ b/doc/_build/html/_static/doc/FB01QD.html
@@ -0,0 +1,459 @@
+<HTML>
+<HEAD><TITLE>FB01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01QD">FB01QD</A></H2>
+<H3>
+Time-varying square root covariance Kalman filter (dense matrices)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-varying Kalman filter. This update is given
+  for the square root covariance filter, using dense matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
+     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBK, MULTBQ
+      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
+     $                  M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBK    CHARACTER*1
+          Indicates whether the user wishes to compute the Kalman
+          filter gain matrix K  as follows:
+                              i
+          = 'K':  K  is computed and stored in array K;
+                   i
+          = 'N':  K  is not required.
+                   i
+
+  MULTBQ  CHARACTER*1                    1/2
+          Indicates how matrices B  and Q    are to be passed to
+                                  i      i
+          the routine as follows:
+          = 'P':  Array Q is not used and the array B must contain
+                                 1/2
+                  the product B Q   ;
+                               i i
+          = 'N':  Arrays B and Q must contain the matrices as
+                  described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices S    and A .  N &gt;= 0.
+                    i-1      i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           1/2
+          Q   .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           1/2
+          R   .  P &gt;= 0.
+           i
+
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
+          On entry, the leading N-by-N lower triangular part of this
+          array must contain S   , the square root (left Cholesky
+                              i-1
+          factor) of the state covariance matrix at instant (i-1).
+          On exit, the leading N-by-N lower triangular part of this
+          array contains S , the square root (left Cholesky factor)
+                          i
+          of the state covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain A ,
+                                                              i
+          the state transition matrix of the discrete system at
+          instant i.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                     1/2      i
+          the input weight matrix (or the product B Q    if
+                                                   i i
+          MULTBQ = 'P') of the discrete system at instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
+          If MULTBQ = 'N', then the leading M-by-M lower triangular
+                                           1/2
+          part of this array must contain Q   , the square root
+                                           i
+          (left Cholesky factor) of the input (process) noise
+          covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+          If MULTBQ = 'P', Q is not referenced and can be supplied
+          as a dummy array (i.e., set parameter LDQ = 1 and declare
+          this array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
+          LDQ &gt;= 1        if MULTBQ = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C , the
+                                                              i
+          output weight matrix of the discrete system at instant i.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
+          On entry, the leading P-by-P lower triangular part of this
+                              1/2
+          array must contain R   , the square root (left Cholesky
+                              i
+          factor) of the output (measurement) noise covariance
+          matrix at instant i.
+          On exit, the leading P-by-P lower triangular part of this
+                                 1/2
+          array contains (RINOV )   , the square root (left Cholesky
+                               i
+          factor) of the covariance matrix of the innovations at
+          instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,P).
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
+          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
+          of this array contains K , the Kalman filter gain matrix
+                                  i
+          at instant i.
+          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
+          leading N-by-P part of this array contains AK , a matrix
+                                                       i
+          related to the Kalman filter gain matrix at instant i (see
+                                                         -1/2
+          METHOD). Specifically, AK  = A P     C'(RINOV')    .
+                                   i    i i|i-1 i      i
+
+  LDK     INTEGER
+          The leading dimension of array K.   LDK &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBK = 'K', then TOL is used to test for near
+                                            1/2
+          singularity of the matrix (RINOV )   . If the user sets
+                                          i
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK),
+          where LIWORK = P if JOBK = 'K',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                                     1/2
+          (in the 1-norm) of (RINOV )   .
+                                   i
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(P+N)+2*P,N*(N+M+2)),     if JOBK = 'N';
+          LDWORK &gt;= MAX(2,N*(P+N)+2*P,N*(N+M+2),3*P), if JOBK = 'K'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                                     1/2
+          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
+                                                   i           1/2
+                i.e., the condition number estimate of (RINOV )
+                                                             i
+                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
+                            1/2                                   i
+                and (RINOV )    have been computed.
+                          i
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root covariance
+  filter algorithm, summarized as follows:
+
+   |  1/2                      |     |         1/2          |
+   | R      C x S      0       |     | (RINOV )     0     0 |
+   |  i      i   i-1           |     |       i              |
+   |                      1/2  | T = |                      |
+   | 0      A x S    B x Q     |     |     AK       S     0 |
+   |         i   i-1  i   i    |     |       i       i      |
+
+       (Pre-array)                      (Post-array)
+
+  where T is an orthogonal transformation triangularizing the
+  pre-array.
+
+  The state covariance matrix P    is factorized as
+                               i|i-1
+     P     = S  S'
+      i|i-1   i  i
+
+  and one combined time and measurement update for the state X
+                                                              i|i-1
+  is given by
+
+     X     = A X      + K (Y - C X     ),
+      i+1|i   i i|i-1    i  i   i i|i-1
+
+                       -1/2
+  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
+         i    i      i                                            i
+  is the observed output of the system.
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires
+
+        3    2                               2   2
+  (7/6)N  + N  x (5/2 x P + M) + N x (1/2 x M + P )
+
+  operations and is backward stable (see [2]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDK = NMAX, LDQ = MMAX, LDR = PMAX,
+     $                   LDS = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX)+2*PMAX,
+     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBK, MULTBQ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
+     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
+      INTEGER          IWORK(PMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = *)
+     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
+*              Save the strict lower triangle of R in its strict upper
+*              triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, P
+                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
+   10          CONTINUE
+               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter recursion
+*              (in square root covariance form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
+     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
+     $                         TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the lower triangle of R.
+                     DO 30 I = 2, P
+                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
+   30                CONTINUE
+                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBK, 'K' ) ) THEN
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01QD = ',I2)
+99997 FORMAT (' The square root of the state covariance matrix is ')
+99996 FORMAT (/' The Kalman gain matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01QD EXAMPLE PROGRAM DATA
+   4     2     2     K     0.0     N
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.2113  0.8497  0.7263  0.8833
+   0.7560  0.6857  0.1985  0.6525
+   0.0002  0.8782  0.5442  0.3076
+   0.3303  0.0683  0.2320  0.9329
+   0.5618  0.5042
+   0.5896  0.3493
+   0.6853  0.3873
+   0.8906  0.9222
+   1.0000  0.0000
+   0.0000  1.0000
+   0.3616  0.5664  0.5015  0.2693
+   0.2922  0.4826  0.4368  0.6325
+   0.9488  0.0000
+   0.3760  0.7340
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01QD EXAMPLE PROGRAM RESULTS
+
+ The square root of the state covariance matrix is 
+  -1.2936   0.0000   0.0000   0.0000
+  -1.1382  -0.2579   0.0000   0.0000
+  -0.9622  -0.1529   0.2974   0.0000
+  -1.3076   0.0936   0.4508  -0.4897
+
+ The Kalman gain matrix is 
+   0.3638   0.9469
+   0.3532   0.8179
+   0.2471   0.5542
+   0.1982   0.6471
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/FB01RD.html b/doc/_build/html/_static/doc/FB01RD.html
new file mode 100644
index 00000000..5bc4d5e4
--- /dev/null
+++ b/doc/_build/html/_static/doc/FB01RD.html
@@ -0,0 +1,481 @@
+<HTML>
+<HEAD><TITLE>FB01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01RD">FB01RD</A></H2>
+<H3>
+Time-invariant square root covariance Kalman filter (observer Hessenberg form)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-invariant Kalman filter. This update is
+  given for the square root covariance filter, using the condensed
+  observer Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
+     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBK, MULTBQ
+      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
+     $                  M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBK    CHARACTER*1
+          Indicates whether the user wishes to compute the Kalman
+          filter gain matrix K  as follows:
+                              i
+          = 'K':  K  is computed and stored in array K;
+                   i
+          = 'N':  K  is not required.
+                   i
+
+  MULTBQ  CHARACTER*1                    1/2
+          Indicates how matrices B  and Q    are to be passed to
+                                  i      i
+          the routine as follows:
+          = 'P':  Array Q is not used and the array B must contain
+                                 1/2
+                  the product B Q   ;
+                               i i
+          = 'N':  Arrays B and Q must contain the matrices as
+                  described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices S    and A.  N &gt;= 0.
+                    i-1
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           1/2
+          Q   .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           1/2
+          R   .  P &gt;= 0.
+           i
+
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
+          On entry, the leading N-by-N lower triangular part of this
+          array must contain S   , the square root (left Cholesky
+                              i-1
+          factor) of the state covariance matrix at instant (i-1).
+          On exit, the leading N-by-N lower triangular part of this
+          array contains S , the square root (left Cholesky factor)
+                          i
+          of the state covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain A,
+          the state transition matrix of the discrete system in
+          lower observer Hessenberg form (e.g., as produced by
+          SLICOT Library Routine TB01ND).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                     1/2      i
+          the input weight matrix (or the product B Q    if
+                                                   i i
+          MULTBQ = 'P') of the discrete system at instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
+          If MULTBQ = 'N', then the leading M-by-M lower triangular
+                                           1/2
+          part of this array must contain Q   , the square root
+                                           i
+          (left Cholesky factor) of the input (process) noise
+          covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+          Otherwise, Q is not referenced and can be supplied as a
+          dummy array (i.e., set parameter LDQ = 1 and declare this
+          array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
+          LDQ &gt;= 1        if MULTBQ = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C,
+          the output weight matrix of the discrete system in lower
+          observer Hessenberg form (e.g., as produced by SLICOT
+          Library routine TB01ND).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
+          On entry, the leading P-by-P lower triangular part of this
+                              1/2
+          array must contain R   , the square root (left Cholesky
+                              i
+          factor) of the output (measurement) noise covariance
+          matrix at instant i.
+          On exit, the leading P-by-P lower triangular part of this
+                                 1/2
+          array contains (RINOV )   , the square root (left Cholesky
+                               i
+          factor) of the covariance matrix of the innovations at
+          instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,P).
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
+          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
+          of this array contains K , the Kalman filter gain matrix
+                                  i
+          at instant i.
+          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
+          leading N-by-P part of this array contains AK ,  a matrix
+                                                       i
+          related to the Kalman filter gain matrix at instant i (see
+                                                         -1/2
+          METHOD). Specifically, AK  = A P     C'(RINOV')    .
+                                   i      i|i-1        i
+
+  LDK     INTEGER
+          The leading dimension of array K.  LDK &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBK = 'K', then TOL is used to test for near
+                                            1/2
+          singularity of the matrix (RINOV )   . If the user sets
+                                          i
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          where LIWORK = P if JOBK = 'K',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                                     1/2
+          (in the 1-norm) of (RINOV )   .
+                                   i
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2)),
+                        if JOBK = 'N';
+          LDWORK &gt;= MAX(2,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2),3*P),
+                        if JOBK = 'K'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                                     1/2
+          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
+                                                   i           1/2
+                i.e., the condition number estimate of (RINOV )
+                                                             i
+                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
+                            1/2                                   i
+                and (RINOV )    have been computed.
+                          i
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root covariance
+  filter algorithm, summarized as follows:
+
+   |  1/2                     |     |         1/2          |
+   | R      0        C x S    |     | (RINOV )     0     0 |
+   |  i                   i-1 |     |       i              |
+   |             1/2          | T = |                      |
+   | 0      B x Q    A x S    |     |     AK       S     0 |
+   |         i   i        i-1 |     |       i       i      |
+
+        (Pre-array)                      (Post-array)
+
+  where T is unitary and (A,C) is in lower observer Hessenberg form.
+
+  An example of the pre-array is given below (where N = 6, P = 2
+  and M = 3):
+
+       |x   |      | x          |
+       |x x |      | x x        |
+       |____|______|____________|
+       |    | x x x| x x x      |
+       |    | x x x| x x x x    |
+       |    | x x x| x x x x x  |
+       |    | x x x| x x x x x x|
+       |    | x x x| x x x x x x|
+       |    | x x x| x x x x x x|
+
+  The corresponding state covariance matrix P      is then
+                                             i|i-1
+  factorized as
+
+      P     = S  S'
+       i|i-1   i  i
+
+  and one combined time and measurement update for the state X
+                                                              i|i-1
+  is given by
+
+      X     = A X      + K (Y - C X     )
+       i+1|i     i|i-1    i  i     i|i-1
+
+                       -1/2
+  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
+         i    i      i                                            i
+  is the observed output of the system.
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Van Dooren, P. and Verhaegen, M.H.G.
+      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
+      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
+
+  [3] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires
+
+         3    2                           2         3
+  1/6 x N  + N x (3/2 x P + M) + 2 x N x P + 2/3 x P
+
+  operations and is backward stable (see [3]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDK = NMAX,
+     $                   LDQ = MMAX, LDR = PMAX, LDS = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX+1),
+     $                                 NMAX*(PMAX+NMAX)+2*PMAX,
+     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBK, MULTBQ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
+     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
+      INTEGER          IWORK(PMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = * )
+     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
+*              Save the strict lower triangle of R in its strict upper
+*              triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, P
+                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
+   10          CONTINUE
+               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter recursion
+*              (in square root covariance form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
+     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
+     $                         TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the lower triangle of R.
+                     DO 30 I = 2, P
+                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
+   30                CONTINUE
+                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBK, 'K' ) ) THEN
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01QD = ',I2)
+99997 FORMAT (' The square root of the state covariance matrix is ')
+99996 FORMAT (/' The Kalman gain matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01RD EXAMPLE PROGRAM DATA
+   4     2     2     K     0.0     N
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.2113  0.8497  0.7263  0.0000
+   0.7560  0.6857  0.1985  0.6525
+   0.0002  0.8782  0.5442  0.3076
+   0.3303  0.0683  0.2320  0.9329
+   0.5618  0.5042
+   0.5896  0.3493
+   0.6853  0.3873
+   0.8906  0.9222
+   1.0000  0.0000
+   0.0000  1.0000
+   0.3616  0.0000  0.0000  0.0000
+   0.2922  0.4826  0.0000  0.0000
+   0.9488  0.0000
+   0.3760  0.7340
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01RD EXAMPLE PROGRAM RESULTS
+
+ The square root of the state covariance matrix is 
+  -1.7223   0.0000   0.0000   0.0000
+  -2.1073   0.5467   0.0000   0.0000
+  -1.7649   0.1412  -0.1710   0.0000
+  -1.8291   0.2058  -0.1497   0.7760
+
+ The Kalman gain matrix is 
+  -0.2135   1.6649
+  -0.2345   2.1442
+  -0.2147   1.7069
+  -0.1345   1.4777
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>FB01SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01SD">FB01SD</A></H2>
+<H3>
+Time-varying square root information Kalman filter (dense matrices)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-varying Kalman filter. This update is given
+  for the square root information filter, using dense matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV, LDSINV,
+     $                   AINV, LDAINV, B, LDB, RINV, LDRINV, C, LDC,
+     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBX, MULTAB, MULTRC
+      INTEGER           INFO, LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV,
+     $                  LDWORK, M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  AINV(LDAINV,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  E(*), QINV(LDQINV,*), RINV(LDRINV,*), RINVY(*),
+     $                  SINV(LDSINV,*), X(*), Z(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Indicates whether X    is to be computed as follows:
+                             i+1
+          = 'X':  X    is computed and stored in array X;
+                   i+1
+          = 'N':  X    is not required.
+                   i+1
+
+  MULTAB  CHARACTER*1             -1
+          Indicates how matrices A   and B  are to be passed to
+                                  i       i
+          the routine as follows:                       -1
+          = 'P':  Array AINV must contain the matrix   A    and the
+                                                    -1  i
+                  array B must contain the product A  B ;
+                                                    i  i
+          = 'N':  Arrays AINV and B must contain the matrices
+                  as described below.
+
+  MULTRC  CHARACTER*1             -1/2
+          Indicates how matrices R     and C    are to be passed to
+                                  i+1       i+1
+          the routine as follows:
+          = 'P':  Array RINV is not used and the array C must
+                                       -1/2
+                  contain the product R    C   ;
+                                       i+1  i+1
+          = 'N':  Arrays RINV and C must contain the matrices
+                  as described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+                    -1      -1
+          matrices S   and A  .  N &gt;= 0.
+                    i       i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           -1/2
+          Q    .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           -1/2
+          R    .  P &gt;= 0.
+           i+1
+
+  SINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDSINV,N)
+          On entry, the leading N-by-N upper triangular part of this
+                              -1
+          array must contain S  , the inverse of the square root
+                              i
+          (right Cholesky factor) of the state covariance matrix
+          P    (hence the information square root) at instant i.
+           i|i
+          On exit, the leading N-by-N upper triangular part of this
+                          -1
+          array contains S   , the inverse of the square root (right
+                          i+1
+          Cholesky factor) of the state covariance matrix P
+                                                           i+1|i+1
+          (hence the information square root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDSINV  INTEGER
+          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
+
+  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
+                                                              -1
+          The leading N-by-N part of this array must contain A  ,
+                                                              i
+          the inverse of the state transition matrix of the discrete
+          system at instant i.
+
+  LDAINV  INTEGER
+          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                   -1         i
+          the input weight matrix (or the product A  B  if
+                                                   i  i
+          MULTAB = 'P') of the discrete system at instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
+          If MULTRC = 'N', then the leading P-by-P upper triangular
+                                           -1/2
+          part of this array must contain R    , the inverse of the
+                                           i+1
+          covariance square root (right Cholesky factor) of the
+          output (measurement) noise (hence the information square
+          root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+          Otherwise, RINV is not referenced and can be supplied as a
+          dummy array (i.e., set parameter LDRINV = 1 and declare
+          this array to be RINV(1,1) in the calling program).
+
+  LDRINV  INTEGER
+          The leading dimension of array RINV.
+          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
+          LDRINV &gt;= 1        if MULTRC = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C   ,
+                                                    -1/2      i+1
+          the output weight matrix (or the product R    C    if
+                                                    i+1  i+1
+          MULTRC = 'P') of the discrete system at instant i+1.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  QINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDQINV,M)
+          On entry, the leading M-by-M upper triangular part of this
+                              -1/2
+          array must contain Q    , the inverse of the covariance
+                              i
+          square root (right Cholesky factor) of the input (process)
+          noise (hence the information square root) at instant i.
+          On exit, the leading M-by-M upper triangular part of this
+                                 -1/2
+          array contains (QINOV )    , the inverse of the covariance
+                               i
+          square root (right Cholesky factor) of the process noise
+          innovation (hence the information square root) at
+          instant i.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDQINV  INTEGER
+          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain X , the estimated
+                                             i
+          filtered state at instant i.
+          On exit, if JOBX = 'X', and INFO = 0, then this array
+          contains X   , the estimated filtered state at
+                    i+1
+          instant i+1.
+          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
+                               -1
+          this array contains S   X   .
+                               i+1 i+1
+
+  RINVY   (input) DOUBLE PRECISION array, dimension (P)
+                                   -1/2
+          This array must contain R    Y   , the product of the
+                                   i+1  i+1
+                                   -1/2
+          upper triangular matrix R     and the measured output
+                                   i+1
+          vector Y    at instant i+1.
+                  i+1
+
+  Z       (input) DOUBLE PRECISION array, dimension (M)
+          This array must contain Z , the mean value of the state
+                                   i
+          process noise at instant i.
+
+  E       (output) DOUBLE PRECISION array, dimension (P)
+          This array contains E   , the estimated error at instant
+                               i+1
+          i+1.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBX = 'X', then TOL is used to test for near
+                                     -1
+          singularity of the matrix S   . If the user sets
+                                     i+1
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          where LIWORK = N if JOBX = 'X',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                              -1
+          (in the 1-norm) of S   .
+                              i+1
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N),
+                        if JOBX = 'N';
+          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N,3*N),
+                        if JOBX = 'X'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;                        -1
+          = 1:  if JOBX = 'X' and the matrix S   is singular,
+                                              i+1       -1
+                i.e., the condition number estimate of S    (in the
+                                                        i+1
+                                                      -1    -1/2
+                1-norm) exceeds 1/TOL.  The matrices S   , Q
+                                                      i+1   i
+                and E have been computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root information
+  filter algorithm, summarized as follows:
+
+    |    -1/2             -1/2    |     |         -1/2             |
+    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
+    |    i                i    i  |     |       i                  |
+    |                             |     |                          |
+    |  -1 -1     -1 -1    -1      |     |             -1    -1     |
+  T | S  A  B   S  A     S  X     |  =  |    0       S     S   X   |
+    |  i  i  i   i  i     i  i    |     |             i+1   i+1 i+1|
+    |                             |     |                          |
+    |           -1/2      -1/2    |     |                          |
+    |    0     R    C    R    Y   |     |    0         0     E     |
+    |           i+1  i+1  i+1  i+1|     |                     i+1  |
+
+               (Pre-array)                      (Post-array)
+
+  where T is an orthogonal transformation triangularizing the
+                     -1/2
+  pre-array, (QINOV )     is the inverse of the covariance square
+                   i
+  root (right Cholesky factor) of the process noise innovation
+  (hence the information square root) at instant i, and E    is the
+                                                         i+1
+  estimated error at instant i+1.
+
+  The inverse of the corresponding state covariance matrix P
+                                                            i+1|i+1
+  (hence the information matrix I) is then factorized as
+
+                -1         -1     -1
+     I       = P       = (S   )' S
+      i+1|i+1   i+1|i+1    i+1    i+1
+
+  and one combined time and measurement update for the state is
+  given by X   .
+            i+1
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+        3    2                              2   2
+  (7/6)N  + N x (7/2 x M + P) + N x (1/2 x P + M )
+
+  operations and is backward stable (see [2]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV
+      PARAMETER        ( LDAINV = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
+     $                                (NMAX + PMAX)*(NMAX + 1) + 2*NMAX,
+     $                                 3*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBX, MULTAB, MULTRC
+*     .. Local Arrays ..
+      DOUBLE PRECISION AINV(LDAINV,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DIAG(MMAX), DWORK(LDWORK), E(PMAX),
+     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
+     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01SD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTAB, MULTRC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
+     $                               ( ( RINV(I,J), J = 1,P ), I = 1,P )
+            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
+               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
+               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
+*              Save the strict upper triangle of QINV in its strict
+*              lower triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, M
+                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
+   10          CONTINUE
+               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter recursion
+*              (in square root information form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV,
+     $                         LDSINV, AINV, LDAINV, B, LDB, RINV,
+     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
+     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the upper triangle of QINV.
+                     DO 30 I = 2, M
+                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
+   30                CONTINUE
+                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBX, 'X' ) ) THEN
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 50 I = 1, N
+                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
+   50                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01SD = ',I2)
+99997 FORMAT (' The inverse of the square root of the state covariance',
+     $       ' matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The components of the estimated filtered state are ',
+     $       //'   k       X(k)',/)
+99994 FORMAT (I4,3X,F8.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01SD EXAMPLE PROGRAM DATA
+   4     2     2     X     0.0     P     N
+   0.2113  0.7560  0.0002  0.3303
+   0.8497  0.6857  0.8782  0.0683
+   0.7263  0.1985  0.5442  0.2320
+   0.8833  0.6525  0.3076  0.9329
+   0.3616  0.5664  0.5015  0.2693
+   0.2922  0.4826  0.4368  0.6325
+   1.0000  0.0000
+   0.0000  1.0000
+  -0.8805  1.3257
+   2.1039  0.5207
+  -0.6075  1.0386
+  -0.8531  1.1688
+   1.1159  0.2305
+   0.0000  0.6597
+   1.0000  0.0000  0.0000  0.0000
+   0.0000  1.0000  0.0000  0.0000
+   0.0000  0.0000  1.0000  0.0000
+   0.0000  0.0000  0.0000  1.0000
+   0.0019
+   0.5075
+   0.4076
+   0.8408
+   0.5017
+   0.9128
+   0.2129
+   0.5591
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01SD EXAMPLE PROGRAM RESULTS
+
+ The inverse of the square root of the state covariance matrix is 
+   0.6897   0.7721   0.7079   0.6102
+   0.0000  -0.3363  -0.2252  -0.2642
+   0.0000   0.0000  -0.1650   0.0319
+   0.0000   0.0000   0.0000   0.3708
+
+ The components of the estimated filtered state are 
+
+   k       X(k)
+
+   1    -0.7125
+   2    -1.8324
+   3     1.7500
+   4     1.5854
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>FB01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01TD">FB01TD</A></H2>
+<H3>
+Time-invariant square root information Kalman filter (controller Hessenberg form)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-invariant Kalman filter. This update is
+  given for the square root information filter, using the condensed
+  controller Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV, AINV,
+     $                   LDAINV, AINVB, LDAINB, RINV, LDRINV, C, LDC,
+     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBX, MULTRC
+      INTEGER           INFO, LDAINB, LDAINV, LDC, LDQINV, LDRINV,
+     $                  LDSINV, LDWORK, M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  AINV(LDAINV,*), AINVB(LDAINB,*), C(LDC,*),
+     $                  DWORK(*), E(*), QINV(LDQINV,*), RINV(LDRINV,*),
+     $                  RINVY(*), SINV(LDSINV,*), X(*), Z(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Indicates whether X    is to be computed as follows:
+                             i+1
+          = 'X':  X    is computed and stored in array X;
+                   i+1
+          = 'N':  X    is not required.
+                   i+1
+
+  MULTRC  CHARACTER*1             -1/2
+          Indicates how matrices R     and C    are to be passed to
+                                  i+1       i+1
+          the routine as follows:
+          = 'P':  Array RINV is not used and the array C must
+                                       -1/2
+                  contain the product R    C   ;
+                                       i+1  i+1
+          = 'N':  Arrays RINV and C must contain the matrices
+                  as described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+                    -1      -1
+          matrices S   and A  .  N &gt;= 0.
+                    i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           -1/2
+          Q    .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           -1/2
+          R    .  P &gt;= 0.
+           i+1
+
+  SINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDSINV,N)
+          On entry, the leading N-by-N upper triangular part of this
+                              -1
+          array must contain S  , the inverse of the square root
+                              i
+          (right Cholesky factor) of the state covariance matrix
+          P    (hence the information square root) at instant i.
+           i|i
+          On exit, the leading N-by-N upper triangular part of this
+                          -1
+          array contains S   , the inverse of the square root (right
+                          i+1
+          Cholesky factor) of the state covariance matrix P
+                                                           i+1|i+1
+          (hence the information square root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDSINV  INTEGER
+          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
+
+  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
+                                                              -1
+          The leading N-by-N part of this array must contain A  ,
+          the inverse of the state transition matrix of the discrete
+          system in controller Hessenberg form (e.g., as produced by
+          SLICOT Library Routine TB01MD).
+
+  LDAINV  INTEGER
+          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
+
+  AINVB   (input) DOUBLE PRECISION array, dimension (LDAINB,M)
+                                                               -1
+          The leading N-by-M part of this array must contain  A  B,
+                          -1
+          the product of A   and the input weight matrix B of the
+          discrete system, in upper controller Hessenberg form
+          (e.g., as produced by SLICOT Library Routine TB01MD).
+
+  LDAINB  INTEGER
+          The leading dimension of array AINVB.  LDAINB &gt;= MAX(1,N).
+
+  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
+          If MULTRC = 'N', then the leading P-by-P upper triangular
+                                           -1/2
+          part of this array must contain R    , the inverse of the
+                                           i+1
+          covariance square root (right Cholesky factor) of the
+          output (measurement) noise (hence the information square
+          root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+          Otherwise, RINV is not referenced and can be supplied as a
+          dummy array (i.e., set parameter LDRINV = 1 and declare
+          this array to be RINV(1,1) in the calling program).
+
+  LDRINV  INTEGER
+          The leading dimension of array RINV.
+          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
+          LDRINV &gt;= 1        if MULTRC = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C   ,
+                                                    -1/2      i+1
+          the output weight matrix (or the product R    C    if
+                                                    i+1  i+1
+          MULTRC = 'P') of the discrete system at instant i+1.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  QINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDQINV,M)
+          On entry, the leading M-by-M upper triangular part of this
+                              -1/2
+          array must contain Q    , the inverse of the covariance
+                              i
+          square root (right Cholesky factor) of the input (process)
+          noise (hence the information square root) at instant i.
+          On exit, the leading M-by-M upper triangular part of this
+                                 -1/2
+          array contains (QINOV )    , the inverse of the covariance
+                               i
+          square root (right Cholesky factor) of the process noise
+          innovation (hence the information square root) at
+          instant i.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDQINV  INTEGER
+          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain X , the estimated
+                                             i
+          filtered state at instant i.
+          On exit, if JOBX = 'X', and INFO = 0, then this array
+          contains X   , the estimated filtered state at
+                    i+1
+          instant i+1.
+          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
+                               -1
+          this array contains S   X   .
+                               i+1 i+1
+
+  RINVY   (input) DOUBLE PRECISION array, dimension (P)
+                                   -1/2
+          This array must contain R    Y   , the product of the
+                                   i+1  i+1
+                                   -1/2
+          upper triangular matrix R     and the measured output
+                                   i+1
+          vector Y    at instant i+1.
+                  i+1
+
+  Z       (input) DOUBLE PRECISION array, dimension (M)
+          This array must contain Z , the mean value of the state
+                                   i
+          process noise at instant i.
+
+  E       (output) DOUBLE PRECISION array, dimension (P)
+          This array contains E   , the estimated error at instant
+                               i+1
+          i+1.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBX = 'X', then TOL is used to test for near
+                                     -1
+          singularity of the matrix S   . If the user sets
+                                     i+1
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          where LIWORK = N if JOBX = 'X',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                              -1
+          (in the 1-norm) of S   .
+                              i+1
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1)),
+                              if JOBX = 'N';
+          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1),
+                        3*N), if JOBX = 'X'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;                        -1
+          = 1:  if JOBX = 'X' and the matrix S    is singular,
+                                              i+1       -1
+                i.e., the condition number estimate of S    (in the
+                                                        i+1
+                                                      -1    -1/2
+                1-norm) exceeds 1/TOL.  The matrices S   , Q
+                                                      i+1   i
+                and E have been computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root information
+  filter algorithm, summarized as follows:
+
+    |    -1/2             -1/2    |     |         -1/2             |
+    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
+    |    i                i    i  |     |       i                  |
+    |                             |     |                          |
+    |           -1/2      -1/2    |     |             -1    -1     |
+  T |    0     R    C    R    Y   |  =  |    0       S     S   X   |
+    |           i+1  i+1  i+1  i+1|     |             i+1   i+1 i+1|
+    |                             |     |                          |
+    |  -1 -1     -1 -1    -1      |     |                          |
+    | S  A  B   S  A     S  X     |     |    0         0     E     |
+    |  i         i        i  i    |     |                     i+1  |
+
+                (Pre-array)                      (Post-array)
+
+  where T is an orthogonal transformation triangularizing the
+                     -1/2
+  pre-array, (QINOV )     is the inverse of the covariance square
+                   i
+  root (right Cholesky factor) of the process noise innovation
+                                                         -1  -1
+  (hence the information square root) at instant i and (A  ,A  B) is
+  in upper controller Hessenberg form.
+
+  An example of the pre-array is given below (where N = 6, M = 2,
+  and P = 3):
+
+      |x x |             | x|
+      |  x |             | x|
+      _______________________
+      |    | x x x x x x | x|
+      |    | x x x x x x | x|
+      |    | x x x x x x | x|
+      _______________________
+      |x x | x x x x x x | x|
+      |  x | x x x x x x | x|
+      |    | x x x x x x | x|
+      |    |   x x x x x | x|
+      |    |     x x x x | x|
+      |    |       x x x | x|
+
+  The inverse of the corresponding state covariance matrix P
+                                                            i+1|i+1
+  (hence the information matrix I) is then factorized as
+
+                 -1         -1     -1
+      I       = P       = (S   )' S
+       i+1|i+1   i+1|i+1    i+1    i+1
+
+  and one combined time and measurement update for the state is
+  given by X   .
+            i+1
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Van Dooren, P. and Verhaegen, M.H.G.
+      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
+      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
+
+  [3] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+        3    2                           2          3
+  (1/6)N  + N x (3/2 x M + P) + 2 x N x M  + 2/3 x M
+
+  operations and is backward stable (see [3]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDAINB, LDAINV, LDC, LDQINV, LDRINV, LDSINV
+      PARAMETER        ( LDAINB = NMAX, LDAINV = NMAX, LDC = PMAX,
+     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
+     $                                (NMAX + PMAX)*(NMAX + 1) + NMAX +
+     $                                 MAX( NMAX - 1, MMAX + 1 ),
+     $                                 3*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBX, MULTRC
+*     .. Local Arrays ..
+      DOUBLE PRECISION AINV(LDAINV,NMAX), AINVB(LDAINB,MMAX),
+     $                 C(LDC,NMAX), DIAG(MMAX), DWORK(LDWORK), E(PMAX),
+     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
+     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01TD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTRC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
+     $                         ( ( RINV(I,J), J = 1,P ), I = 1,P )
+            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) M
+            ELSE
+               READ ( NIN, FMT = * )
+     $                              ( ( AINVB(I,J), J = 1,M ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
+               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
+               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
+*              Save the strict upper triangle of QINV in its strict
+*              lower triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, M
+                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
+   10          CONTINUE
+               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter
+*              recursion (in square root information form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV,
+     $                         AINV, LDAINV, AINVB, LDAINB, RINV,
+     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
+     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the upper triangle of QINV.
+                     DO 30 I = 2, M
+                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
+   30                CONTINUE
+                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBX, 'X' ) ) THEN
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 50 I = 1, N
+                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
+   50                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01TD = ',I2)
+99997 FORMAT (' The inverse of the square root of the state covariance',
+     $       ' matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The components of the estimated filtered state are ',
+     $       //'   k       X(k)',/)
+99994 FORMAT (I4,3X,F8.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01TD EXAMPLE PROGRAM DATA
+   4     2     2     X     0.0     N
+   0.2113  0.7560  0.0002  0.3303
+   0.8497  0.6857  0.8782  0.0683
+   0.7263  0.1985  0.5442  0.2320
+   0.0000  0.6525  0.3076  0.9329
+   0.3616  0.5664  0.5015  0.2693
+   0.2922  0.4826  0.4368  0.6325
+   1.0000  0.0000
+   0.0000  1.0000
+  -0.8805  1.3257
+   0.0000  0.5207
+   0.0000  0.0000
+   0.0000  0.0000
+   1.1159  0.2305
+   0.0000  0.6597
+   1.0000  0.0000  0.0000  0.0000
+   0.0000  1.0000  0.0000  0.0000
+   0.0000  0.0000  1.0000  0.0000
+   0.0000  0.0000  0.0000  1.0000
+   0.0019
+   0.5075
+   0.4076
+   0.8408
+   0.5017
+   0.9128
+   0.2129
+   0.5591
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01TD EXAMPLE PROGRAM RESULTS
+
+ The inverse of the square root of the state covariance matrix is 
+  -0.8731  -1.1461  -1.0260  -0.8901
+   0.0000  -0.2763  -0.1929  -0.3763
+   0.0000   0.0000  -0.1110  -0.1051
+   0.0000   0.0000   0.0000   0.3120
+
+ The components of the estimated filtered state are 
+
+   k       X(k)
+
+   1    -2.0688
+   2    -0.7814
+   3     2.2181
+   4     0.9298
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/FB01VD.html b/doc/_build/html/_static/doc/FB01VD.html
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+<HTML>
+<HEAD><TITLE>FB01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01VD">FB01VD</A></H2>
+<H3>
+One recursion of the conventional Kalman filter
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one recursion of the conventional Kalman filter
+  equations. This is one update of the Riccati difference equation
+  and the Kalman filter gain.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC, Q,
+     $                   LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LDC, LDK, LDP, LDQ, LDR,
+     $                  LDWORK, M, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  K(LDK,*), P(LDP,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices P      and A .  N &gt;= 0.
+                    i|i-1      i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+          Q .  M &gt;= 0.
+           i
+
+  L       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+          R .  L &gt;= 0.
+           i
+
+  P       (input/output) DOUBLE PRECISION array, dimension (LDP,N)
+          On entry, the leading N-by-N part of this array must
+          contain P     , the state covariance matrix at instant
+                   i|i-1
+          (i-1). The upper triangular part only is needed.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains P     , the state covariance matrix at
+                          i+1|i
+          instant i. The strictly lower triangular part is not set.
+          Otherwise, the leading N-by-N part of this array contains
+          P     , its input value.
+           i|i-1
+
+  LDP     INTEGER
+          The leading dimension of array P.  LDP &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain A ,
+                                                              i
+          the state transition matrix of the discrete system at
+          instant i.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                              i
+          the input weight matrix of the discrete system at
+          instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array must contain C ,
+                                                              i
+          the output weight matrix of the discrete system at
+          instant i.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,L).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,M)
+          The leading M-by-M part of this array must contain Q ,
+                                                              i
+          the input (process) noise covariance matrix at instant i.
+          The diagonal elements of this array are modified by the
+          routine, but are restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,M).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
+          On entry, the leading L-by-L part of this array must
+          contain R , the output (measurement) noise covariance
+                   i
+          matrix at instant i.
+          On exit, if INFO = 0, or INFO = L+1, the leading L-by-L
+                                                               1/2
+          upper triangular part of this array contains (RINOV )   ,
+                                                             i
+          the square root (left Cholesky factor) of the covariance
+          matrix of the innovations at instant i.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,L).
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,L)
+          If INFO = 0, the leading N-by-L part of this array
+          contains K , the Kalman filter gain matrix at instant i.
+                    i
+          If INFO &gt; 0, the leading N-by-L part of this array
+          contains the matrix product P     C'.
+                                       i|i-1 i
+
+  LDK     INTEGER
+          The leading dimension of array K.  LDK &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the matrix RINOV . If the user sets TOL &gt; 0, then the
+                          i
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number of that matrix; a matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be nonsingular. If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = L*L*EPS, is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (L)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, or INFO = L+1, DWORK(1) returns an
+          estimate of the reciprocal of the condition number (in the
+          1-norm) of the matrix RINOV .
+                                     i
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,L*N+3*L,N*N,N*M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value;
+          = k:  if INFO = k, 1 &lt;= k &lt;= L, the leading minor of order
+                k of the matrix RINOV  is not positive-definite, and
+                                     i
+                its Cholesky factorization could not be completed;
+          = L+1: the matrix RINOV  is singular, i.e., the condition
+                                 i
+                number estimate of RINOV  (in the 1-norm) exceeds
+                                        i
+                1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The conventional Kalman filter gain used at the i-th recursion
+  step is of the form
+
+                         -1
+     K  = P     C'  RINOV  ,
+      i    i|i-1 i       i
+
+  where RINOV  = C P     C' + R , and the state covariance matrix
+             i    i i|i-1 i    i
+
+  P      is updated by the discrete-time difference Riccati equation
+   i|i-1
+
+     P      = A  (P      - K C P     ) A'  + B Q B'.
+      i+1|i    i   i|i-1    i i i|i-1   i     i i i
+
+  Using these two updates, the combined time and measurement update
+  of the state X      is given by
+                i|i-1
+
+     X      = A X      + A K (Y  - C X     ),
+      i+1|i    i i|i-1    i i  i    i i|i-1
+
+  where Y  is the new observation at step i.
+         i
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering,
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, 1986.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+          3   2
+   3/2 x N + N  x (3 x L + M/2)
+
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, LMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, LMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDK, LDP, LDQ, LDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = LMAX, LDK = NMAX,
+     $                   LDP = NMAX, LDQ = MMAX, LDR = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( LMAX*NMAX + 3*LMAX, NMAX*NMAX,
+     $                                 MMAX*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, L, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), K(LDK,LMAX), P(LDP,NMAX),
+     $                 Q(LDQ,MMAX), R(LDR,LMAX)
+      INTEGER          IWORK(LMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01VD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, L, TOL
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( P(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,M ), I = 1,M )
+            IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) L
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,L ), I = 1,L )
+*              Perform one iteration of the (Kalman) filter recursion.
+               CALL FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC,
+     $                      Q, LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     CALL DCOPY( I-1, P(1,I), 1, P(I,1), LDP )
+                     WRITE ( NOUT, FMT = 99994 ) ( P(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( K(I,J), J = 1,L )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, L
+                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1,L )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01VD = ',I3)
+99997 FORMAT (' The state covariance matrix is ')
+99996 FORMAT (/' The Kalman filter gain matrix is ')
+99995 FORMAT (/' The square root of the covariance matrix of the innov',
+     $          'ations is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' L is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01VD EXAMPLE PROGRAM DATA
+   4     3     2     0.0
+   0.5015  0.4368  0.2693  0.6325
+   0.4368  0.4818  0.2639  0.4148
+   0.2693  0.2639  0.1121  0.6856
+   0.6325  0.4148  0.6856  0.8906
+   0.2113  0.8497  0.7263  0.8833
+   0.7560  0.6857  0.1985  0.6525
+   0.0002  0.8782  0.5442  0.3076
+   0.3303  0.0683  0.2320  0.9329
+   0.0437  0.7783  0.5618
+   0.4818  0.2119  0.5896
+   0.2639  0.1121  0.6853
+   0.4148  0.6856  0.8906
+   0.9329  0.2146  0.3126
+   0.2146  0.2922  0.5664
+   0.3126  0.5664  0.5935
+   0.3873  0.9488  0.3760  0.0881
+   0.9222  0.3435  0.7340  0.4498
+   1.0000  0.0000
+   0.0000  1.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01VD EXAMPLE PROGRAM RESULTS
+
+ The state covariance matrix is 
+   1.6007   1.3283   1.1153   1.7177
+   1.3283   1.2763   1.0132   1.5137
+   1.1153   1.0132   0.8222   1.2722
+   1.7177   1.5137   1.2722   2.1562
+
+ The Kalman filter gain matrix is 
+   0.1648   0.2241
+   0.2115   0.1610
+   0.0728   0.1673
+   0.1304   0.3892
+
+ The square root of the covariance matrix of the innovations is 
+   1.5091   1.1543
+   0.0000   1.5072
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/FD01AD.html b/doc/_build/html/_static/doc/FD01AD.html
new file mode 100644
index 00000000..82afe5cf
--- /dev/null
+++ b/doc/_build/html/_static/doc/FD01AD.html
@@ -0,0 +1,398 @@
+<HTML>
+<HEAD><TITLE>FD01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FD01AD">FD01AD</A></H2>
+<H3>
+Fast recursive least-squares filtering
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the least-squares filtering problem recursively in time.
+  Each subroutine call implements one time update of the solution.
+  The algorithm uses a fast QR-decomposition based approach.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
+     $                   CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JP
+      INTEGER           INFO, IWARN, L
+      DOUBLE PRECISION  EFOR, EOUT, EPOS, LAMBDA, XIN, YIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CTETA(*), EPSBCK(*), SALPH(*), STETA(*), XF(*),
+     $                  YQ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JP      CHARACTER*1
+          Indicates whether the user wishes to apply both prediction
+          and filtering parts, as follows:
+          = 'B':  Both prediction and filtering parts are to be
+                  applied;
+          = 'P':  Only the prediction section is to be applied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The length of the impulse response of the equivalent
+          transversal filter model.  L &gt;= 1.
+
+  LAMBDA  (input) DOUBLE PRECISION
+          Square root of the forgetting factor.
+          For tracking capabilities and exponentially stable error
+          propagation, LAMBDA &lt; 1.0 (strict inequality) should
+          be used.  0.0 &lt; LAMBDA &lt;= 1.0.
+
+  XIN     (input) DOUBLE PRECISION
+          The input sample at instant n.
+          (The situation just before and just after the call of
+          the routine are denoted by instant (n-1) and instant n,
+          respectively.)
+
+  YIN     (input) DOUBLE PRECISION
+          If JP = 'B', then YIN must contain the reference sample
+          at instant n.
+          Otherwise, YIN is not referenced.
+
+  EFOR    (input/output) DOUBLE PRECISION
+          On entry, this parameter must contain the square root of
+          exponentially weighted forward prediction error energy
+          at instant (n-1).  EFOR &gt;= 0.0.
+          On exit, this parameter contains the square root of the
+          exponentially weighted forward prediction error energy
+          at instant n.
+
+  XF      (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, this array must contain the transformed forward
+          prediction variables at instant (n-1).
+          On exit, this array contains the transformed forward
+          prediction variables at instant n.
+
+  EPSBCK  (input/output) DOUBLE PRECISION array, dimension (L+1)
+          On entry, the leading L elements of this array must
+          contain the normalized a posteriori backward prediction
+          error residuals of orders zero through L-1, respectively,
+          at instant (n-1), and EPSBCK(L+1) must contain the
+          square-root of the so-called "conversion factor" at
+          instant (n-1).
+          On exit, this array contains the normalized a posteriori
+          backward prediction error residuals, plus the square root
+          of the conversion factor at instant n.
+
+  CTETA   (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, this array must contain the cosines of the
+          rotation angles used in time updates, at instant (n-1).
+          On exit, this array contains the cosines of the rotation
+          angles at instant n.
+
+  STETA   (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, this array must contain the sines of the
+          rotation angles used in time updates, at instant (n-1).
+          On exit, this array contains the sines of the rotation
+          angles at instant n.
+
+  YQ      (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, if JP = 'B', then this array must contain the
+          orthogonally transformed reference vector at instant
+          (n-1). These elements are also the tap multipliers of an
+          equivalent normalized lattice least-squares filter.
+          Otherwise, YQ is not referenced and can be supplied as
+          a dummy array (i.e., declare this array to be YQ(1) in
+          the calling program).
+          On exit, if JP = 'B', then this array contains the
+          orthogonally transformed reference vector at instant n.
+
+  EPOS    (output) DOUBLE PRECISION
+          The a posteriori forward prediction error residual.
+
+  EOUT    (output) DOUBLE PRECISION
+          If JP = 'B', then EOUT contains the a posteriori output
+          error residual from the least-squares filter at instant n.
+
+  SALPH   (output) DOUBLE PRECISION array, dimension (L)
+          The element SALPH(i), i=1,...,L, contains the opposite of
+          the i-(th) reflection coefficient for the least-squares
+          normalized lattice predictor (whose value is -SALPH(i)).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  an element to be annihilated by a rotation is less
+                than the machine precision (see LAPACK Library
+                routine DLAMCH).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The output error EOUT at instant n, denoted by EOUT(n), is the
+  reference sample minus a linear combination of L successive input
+  samples:
+
+                        L-1
+     EOUT(n) = YIN(n) - SUM h_i * XIN(n-i),
+                        i=0
+
+  where YIN(n) and XIN(n) are the scalar samples at instant n.
+  A least-squares filter uses those h_0,...,h_{L-1} which minimize
+  an exponentially weighted sum of successive output errors squared:
+
+      n
+     SUM [LAMBDA**(2(n-k)) * EOUT(k)**2].
+     k=1
+
+  Each subroutine call performs a time update of the least-squares
+  filter using a fast least-squares algorithm derived from a
+  QR decomposition, as described in references [1] and [2] (the
+  notation from [2] is followed in the naming of the arrays).
+  The algorithm does not compute the parameters h_0,...,h_{L-1} from
+  the above formula, but instead furnishes the parameters of an
+  equivalent normalized least-squares lattice filter, which are
+  available from the arrays SALPH (reflection coefficients) and YQ
+  (tap multipliers), as well as the exponentially weighted input
+  signal energy
+
+      n                                              L
+     SUM [LAMBDA**(2(n-k)) * XIN(k)**2] = EFOR**2 + SUM XF(i)**2.
+     k=1                                            i=1
+
+  For more details on reflection coefficients and tap multipliers,
+  references [2] and [4] are recommended.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  Proudler, I. K., McWhirter, J. G., and Shepherd, T. J.
+       Fast QRD based algorithms for least-squares linear
+       prediction.
+       Proceedings IMA Conf. Mathematics in Signal Processing
+       Warwick, UK, December 1988.
+
+  [2]  Regalia, P. A., and Bellanger, M. G.
+       On the duality between QR methods and lattice methods in
+       least-squares adaptive filtering.
+       IEEE Trans. Signal Processing, SP-39, pp. 879-891,
+       April 1991.
+
+  [3]  Regalia, P. A.
+       Numerical stability properties of a QR-based fast
+       least-squares algorithm.
+       IEEE Trans. Signal Processing, SP-41, June 1993.
+
+  [4]  Lev-Ari, H., Kailath, T., and Cioffi, J.
+       Least-squares adaptive lattice and transversal filters:
+       A unified geometric theory.
+       IEEE Trans. Information Theory, IT-30, pp. 222-236,
+       March 1984.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(L) operations for each subroutine call.
+  It is backward consistent for all input sequences XIN, and
+  backward stable for persistently exciting input sequences,
+  assuming LAMBDA &lt; 1.0 (see [3]).
+  If the condition of the signal is very poor (IWARN = 1), then the
+  results are not guaranteed to be reliable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  1.  For tracking capabilities and exponentially stable error
+      propagation, LAMBDA &lt; 1.0 should be used.  LAMBDA is typically
+      chosen slightly less than 1.0 so that "past" data are
+      exponentially forgotten.
+  2.  Prior to the first subroutine call, the variables must be
+      initialized. The following initial values are recommended:
+
+      XF(i) = 0.0,        i=1,...,L
+      EPSBCK(i) = 0.0     i=1,...,L
+      EPSBCK(L+1) = 1.0
+      CTETA(i) = 1.0      i=1,...,L
+      STETA(i) = 0.0      i=1,...,L
+      YQ(i) = 0.0         i=1,...,L
+
+      EFOR = 0.0          (exact start)
+      EFOR = "small positive constant" (soft start).
+
+      Soft starts are numerically more reliable, but result in a
+      biased least-squares solution during the first few iterations.
+      This bias decays exponentially fast provided LAMBDA &lt; 1.0.
+      If sigma is the standard deviation of the input sequence
+      XIN, then initializing EFOR = sigma*1.0E-02 usually works
+      well.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FD01AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT, NOUT1
+      PARAMETER        ( NIN = 5, NOUT = 6, NOUT1 = 7 )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          IMAX, LMAX
+      PARAMETER        ( IMAX = 500, LMAX = 10 )
+      DOUBLE PRECISION LAMBDA
+      PARAMETER        ( LAMBDA = 0.99D0 )
+*     .. Local Scalars ..
+      CHARACTER        JP
+      INTEGER          I, INFO, IWARN, L
+      DOUBLE PRECISION DELTA, EFOR, EOUT, EPOS, XIN, YIN
+*     .. Local Arrays ..
+      DOUBLE PRECISION CTETA(LMAX), EPSBCK(LMAX+1), SALPH(LMAX),
+     $                 STETA(LMAX), XF(LMAX), YQ(LMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION XFCN, YFCN
+      EXTERNAL         XFCN, YFCN
+*     NOTE: XFCN() generates at each iteration the next sample of the
+*           input sequence. YFCN() generates at each iteration the next
+*           sample of the reference sequence. These functions are user
+*           defined (obtained from data acquisition devices, for
+*           example).
+*     .. External Subroutines ..
+      EXTERNAL         FD01AD
+*
+*     .. File for the output error sequence ..
+      OPEN ( UNIT = NOUT1, FILE = 'ERR.OUT', STATUS = 'REPLACE' )
+*     ..  Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, DELTA, JP
+      IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) L
+      ELSE
+         IF ( DELTA.LT.ZERO ) THEN
+            WRITE ( NOUT, FMT = 99991 )
+         ELSE
+*
+            DO 10 I = 1, L
+               CTETA(I)  = ONE
+               STETA(I)  = ZERO
+               EPSBCK(I) = ZERO
+               XF(I) = ZERO
+               YQ(I) = ZERO
+   10       CONTINUE
+            EPSBCK(L+1) = ONE
+            EFOR = DELTA
+*           .. Run least squares filter.
+            DO 20 I = 1, IMAX
+               XIN = XFCN(I)
+               YIN = YFCN(I)
+               CALL FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
+     $                      CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
+     $                      INFO)
+               WRITE(NOUT1,*) EOUT
+   20       CONTINUE
+            CLOSE(NOUT1)
+*           NOTE:  File 'ERR.OUT' now contains the output error
+*                  sequence.
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 30 I = 1, L
+                  WRITE ( NOUT, FMT = 99996 ) I, XF(I), YQ(I), EPSBCK(I)
+   30          CONTINUE
+               WRITE ( NOUT, FMT = 99995 ) L+1, EPSBCK(L+1)
+               WRITE ( NOUT, FMT = 99994 ) EFOR
+               IF ( IWARN.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99993 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FD01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from FD01AD = ', I2)
+99997 FORMAT ('  i', 7X, 'XF(i)', 7X, 'YQ(i)', 6X, 'EPSBCK(i)', /1X)
+99996 FORMAT ( I3, 2X, 3(2X, F10.6))
+99995 FORMAT ( I3, 28X, F10.6, /1X)
+99994 FORMAT (' EFOR = ', D10.3)
+99993 FORMAT (' IWARN on exit from FD01AD = ', I2)
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' The exponentially weighted forward prediction error',
+     $         '  energy must be non-negative.' )
+*
+      END
+*
+*     .. Example functions ..
+*
+      DOUBLE PRECISION FUNCTION XFCN( I )
+*     .. Intrinsic Functions ..
+      INTRINSIC        DBLE, SIN
+*     .. Local Scalar ..
+      INTEGER          I
+*     .. Executable Statements ..
+      XFCN = SIN( 0.3D0*DBLE( I ) )
+* *** Last line of XFCN ***
+      END
+*
+      DOUBLE PRECISION FUNCTION YFCN( I )
+*     .. Intrinsic Functions ..
+      INTRINSIC        DBLE, SIN
+*     .. Local Scalar ..
+      INTEGER          I
+*     .. Executable Statements ..
+      YFCN = 0.5D0 * SIN( 0.3D0*DBLE( I ) ) +
+     $       2.0D0 * SIN( 0.3D0*DBLE( I-1 ) )
+* *** Last line of YFCN ***
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FD01AD EXAMPLE PROGRAM DATA
+   2    1.0D-2     B
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FD01AD EXAMPLE PROGRAM RESULTS
+
+  i       XF(i)       YQ(i)      EPSBCK(i)
+
+  1      4.880088   12.307615   -0.140367
+  2     -1.456881    2.914057   -0.140367
+  3                              0.980099
+
+ EFOR =  0.197D-02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/FSQP.html b/doc/_build/html/_static/doc/FSQP.html
new file mode 100644
index 00000000..b78b4858
--- /dev/null
+++ b/doc/_build/html/_static/doc/FSQP.html
@@ -0,0 +1,438 @@
+<HTML>
+<HEAD><TITLE>FSQP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FSQP">FSQP</A></H2>
+<H3>
+Minimization of the maximum of a set of smooth objective functions
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the minimization of the maximum of a set of smooth
+  objective functions (possibly a single one or none at all) subject
+  to nonlinear equality and inequality constraints, linear equality
+  and inequality constraints, and simple bounds on the variables.
+  Specifically, the problem to solve is of the form
+
+                           min max{f (x)}
+                                i   i
+
+                                            n
+  where 1 &lt;= i &lt;= NF, and x is a vector in R  subject to the
+  following constraints
+
+   bl &lt;= x &lt;= bu
+
+   g (x)&lt;=0,    j = 1 ... NINEQN
+    j
+   g (x)&lt;=0,    j = NINEQN+1 ... NINEQ
+    j
+   h (x)=0,     j = 1 ... NEQN
+    j
+   h (x)=0,     j = NEQN+1 ... NEQ
+    j
+
+                                  n
+  where bl and bu are vectors in R , and
+
+       n
+  f : R -&gt; R,   j = 1 ... NF,           smooth
+   j    
+       n
+  g : R -&gt; R,   j = 1 ... NINEQN,       nonlinear and smooth 
+   j 
+       n
+  g : R -&gt; R,   j = NINEQN+1 ... NINEQ, linear
+   j 
+       n
+  h : R -&gt; R,   j = 1 ... NEQN,         nonlinear and smooth 
+   j 
+       n
+  h : R -&gt; R,   j = NEQN+1 ... NEQ,     linear
+   j 
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FSQP( MODE, IPRINT, OBJ, CONSTR, GRADOB, GRADCN,
+     &                 NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MITER,
+     &                 UDELTA, BIGBND, BL, BU, X, F, G, TOL1, TOL2,
+     &                 IWORK, LIWORK, DWORK, LDWORK, INFO)
+C     .. Scalar Arguments ..
+      INTEGER           NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MODE,
+     &                  IPRINT, MITER, INFO, LIWORK, LDWORK
+      DOUBLE PRECISION  BIGBND, TOL1, TOL2, UDELTA
+C     .. Array Arguments ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  BL(*), BU(*), X(*), F(*), G(*), DWORK(LDWORK)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  MODE    (input) INTEGER
+          mode = CBA (a 3-digit number) with the following meaning
+          (see [1] for more details):
+
+          A specifies the problem to be solved:
+          A = 0: The problem is that described above.
+          A = 1: In the problem described above, the function to
+                 minimize is replaced by
+                           min max{ABS(f (x))}
+                                i       i
+                 i.e., absolute values of the objective functions
+                 are taken.
+
+          B indicates the method to be used:
+          B = 0: Algorithm FFSQP-AL is selected (see METHOD below).
+          B = 1: Algorithm FFSQP-NL is selected (see METHOD below).
+
+          C indicates the order of evaluation of objective
+          functions and constraints during the line search:
+          C = 1: The function that caused the previous value of t
+                 to be rejected is checked first and all functions
+                 of the same type ("objective" or "constraint") as
+                 the latter will then be checked first (recommended
+                 for most users).
+          C = 2: Constraints will be always checked first at each
+                 trial point during the line search. If it is a
+                 contraint that caused the previous value of t to
+                 be rejected, that constraint will be checked first
+                 (useful when objective functions are not defined or
+                 are difficult to evaluate outside of the feasible
+                 region).
+
+  IPRINT  (input) INTEGER
+          Parameter indicating the desired output (see [1] for a
+          more complete description of the output).
+          IPRINT = 0: No information except for user-input errors
+             is displayed. This value is imposed during phase 1.
+          IPRINT = 1: Objective and constraint values at the
+             initial feasible point are displayed. At the end of
+             execution, status (INFO), iterate, objective values,
+             constraint values, number of evaluations of objectives
+             and nonlinear constraints, norm of the Kuhn-Tucker
+             vector, and sum of feasibility violation are
+             displayed.
+          IPRINT = 2: At the end of each iteration, the same
+             information as with IPRINT = 1 is displayed.
+          IPRINT = 3: At each iteration, the same information as
+             with IPRINT = 2,including detailed information on the
+             search direction computation, on the line search, and
+             on the update, is displayed.
+          IPRINT = 10*N +M: N any positive integer, M=2 or 3.
+             Information corresponding to IPRINT=M is displayed at
+             every (10*N)th iteration and at the last iteration.
+
+</PRE>
+<B>User-supplied Subroutines</B>
+<PRE>
+  OBJ     SUBROUTINE
+          Computes the value of the objective functions. If NF = 0,
+          a (dummy) subroutine must be provided anyway. The 
+          specification of OBJ is
+
+          SUBROUTINE OBJ(NPARAM,J,X,FJ)
+          INTEGER NPARAM, J
+          DOUBLE PRECISION X(NPARAM),FJ
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of the objective to be computed.
+          X (Input) Current iterate.
+          FJ (Output) Value of the jth objective function at X.
+
+  CONSTR  SUBROUTINE
+          Computes the value of the constraints. If there are no
+          constraints, a (dummy) subroutine must be provided anyway.
+          The specification of CONSTR is as follows.
+
+          SUBROUTINE CONSTR(NPARAM,J,X,GJ)
+          INTEGER NPARAM,J
+          DOUBLE PRECISION X(NPARAM),GJ
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of the constraint to be computed.
+          X (Input) Current iterate.
+          GJ (Output) Value of the jth constraint at X.
+
+          The order of the constraints must be as follows. First
+          the NINEQN (possibly zero) nonlinear inequality
+          constraints. Then the NINEQ-NINEQN (possibly zero) linear
+          inequality constraints. Finally, the NEQN (possibly zero)
+          nonlinear equality constraints followed by the NEQ-NEQN
+          (possibly zero) linear equality constraints.
+
+  GRADOB  SUBROUTINE
+          Computes the gradients of the objective functions. The
+          user must pass the subroutine name GROBFD, if he/she
+          wishes that FSQP evaluate these gradients automatically,
+          by forward finite differences. The specification of GRADOB
+          is as follows.
+
+          SUBROUTINE GRADOB(NPARAM,J,X,GRADFJ,DUMMY)
+          INTEGER NPARAM,J
+          DOUBLE PRECISION X(NPARAM),GRADFJ(NPARAM)
+          DOUBLE PRECISION DUMMY
+          EXTERNAL DUMMY
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of objective for which gradient is to be
+                computed.
+          X (Input) Current iterate.
+          GRADFJ (Output) Gradient of the jth objective function at
+                X.
+          DUMMY (Input) Used by GROBFD (internally assigned the 
+                name of the objective function subroutine by FFSQP).
+
+          Note that DUMMY is passed as argument to GRADOB to allow
+          for forward finite difference computation of the gradient.
+
+  GRADCN  SUBROUTINE
+          Computes the gradients of the constraints. The
+          user must pass the subroutine name GRCNFD, if he/she
+          wishes that FSQP evaluate these gradients automatically,
+          by forward finite differences. The specification of GRADCN
+          is as follows
+
+          SUBROUTINE GRADCN (NPARAM,J,X,GRADGJ,DUMMY)
+          INTEGER NPARAM,J
+          DOUBLE PRECISION X(NPARAM),GRADGJ(NPARAM)
+          DOUBLE PRECISION DUMMY
+          EXTERNAL DUMMY
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of constraint for which gradient is to
+                be computed.
+          X (Input) Current iterate.
+          GRADGJ (Output) Gradient of the jth constraint evaluated
+                at X.
+          DUMMY (Input) Used by GRCNFD (internally assigned the
+                name of the constraint function subroutine by
+                FFSQP).
+
+          Note that DUMMY is passed as argument to GRADCN to allow
+          for forward finite difference computation of the gradients.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NPARAM  (input) INTEGER
+          Number of free variables, i.e., the dimension of X.
+
+  NF      (input) INTEGER
+          Number of objective functions (possibly zero).
+
+  NINEQN  (input) INTEGER
+          Number (possibly zero) of nonlinear inequality 
+          constraints.
+
+  NINEQ   (input) INTEGER
+          Total number (possibly equal to nineqn) of inequality
+          constraints.
+
+  NEQN    (input) INTEGER
+          Number (possibly zero) of nonlinear equality constraints.
+
+  NEQ     (input) INTEGER
+          Total number (possibly equal to neqn) of equality
+          constraints.
+
+  MITER   (input) INTEGER
+          Maximum number of iterations allowed by the user before
+          termination of execution.
+
+  UDELTA  (input) DOUBLE PRECISION
+          The perturbation size the user suggests to use in 
+          approximating gradients by finite difference. UDELTA 
+          should be set to zero if the user has no idea how to 
+          choose it. See [1] for details.
+
+  BIGBND  (input) DOUBLE PRECISION
+          It plays the role of Infinite Bound (see also BL and BU
+          below). 
+
+  BL      (input) DOUBLE PRECISION array, dimension (NPARAM)
+          Lower bounds for the components of X. To specify a non-
+          existent lower bound for some j, the value used must
+          satisfy BL(j) &lt;= -BIGBND.
+
+  BU      (input) DOUBLE PRECISION array, dimension (NPARAM)
+          Upper bounds for the components of X. To specify a non-
+          existent upper bound for some j, the value used must
+          satisfy BU(j) &gt;= BIGBND.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (NPARAM)
+          On entry, this is the initial guess.
+          On exit, this is the iterate at the end of execution.
+
+  F       (output) DOUBLE PRECISION array, dimension ( MAX(1,NF) )
+          Value of functions f_i, i = 1, ..., NF, at X at the end
+          of execution.
+
+  G       (output) DOUBLE PRECISION array, dimension 
+          ( MAX(1,NINEQ+NEQ) )
+          Value of constraint functions at X at the end of
+          execution.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          Corresponds to argument EPS in [1].
+          Final norm requirement for the Newton direction (see [1],
+          argument EPS). It must be bigger than the machine 
+          precision epsmac (computed by FSQP). If the user does
+          not have a good feeling of what value should be chosen,
+          a very small number could be provided and IPRINT = 2 be
+          selected so that the user would be able to keep track of
+          the process of optimization and terminate FSQP at
+          appropriate time.
+
+  TOL2    DOUBLE PRECISION
+          Corresponds to argument EPSEQN in [1].
+          Maximum violation of nonlinear equality constraints
+          allowed by the user at an optimal point. It is in effect
+          only if NEQN &gt; 0 and must be bigger than the machine
+          precision epsmac (computed by FSQP).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          Corresponds to argument IW in [1].
+
+  LIWORK  INTEGER
+          Corresponds to argument IWSIZE in [1].
+          The length of array IWORK. It must be at least as big as 
+          6*NPARAM + 8*max(1,NINEQ+NEQ) + 7*max(1,NF) + 30. This
+          estimate is usually very conservative and the smallest
+          suitable value will be displayed if the user-supplied
+          value is too small.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          Corresponds to argument W in [1].
+          On exit, it will contain estimates of Lagrange
+          multipliers at the end of execution. These multipliers
+          will be placed in the first NPARAM + NINEQ + NEQ + NFF
+          entries; where NFF = 0 if (in mode) A = 0 and NF = 1, and
+          NFF = NF otherwise. See [1] for details.
+
+  LDWORK  INTEGER
+          Corresponds to argument NWSIZE in [1].
+          The length of array DWORK. It must be at least as big as
+          4*SQR(NPARAM) + 5*MAX(1,NINEQ+NEQ)*NPARAM + 
+          3*MAX(1,NF)*NPARAM + 26*(NPARAM+MAX(1,NF)) + 
+          45*MAX(1,NINEQ+NEQ) + 100.
+          This estimate is usually very conservative and the 
+          smallest suitable value will be displayed if the user-
+          supplied value is too small.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          Corresponds to argument INFORM in [1].
+          INFO = 0: Normal termination of execution.
+          INFO = 1: The user-provided initial guess is infeasible
+             for linear constraints and FFSQP is unable to generate
+             a point satisfying all these constraints.
+          INFO = 2: The user-provided initial guess is infeasible
+             for nonlinear inequality constraints and linear
+             constraints; and FFSQP is unable to generate a point
+             satisfying all these constraints.
+          INFO = 3: The maximum number miter of iterations has
+             been reached before a solution is obtained.
+          INFO = 4: The line search fails to find a new iterate
+             (trial step size being smaller than the machine
+             precision epsmac computed by FFSQP).
+          INFO = 5: Failure of the QP solver in attempting to
+             construct d0. A more robust QP solver may succeed.
+          INFO = 6: Failure of the QP solver in attempting to
+             construct d1 . A more robust QP solver may succeed.
+          INFO = 7: Input data are not consistent (with printout
+             indicating the error).
+          INFO = 8: Two consecutive iterates are numerically
+             equivalent before a stopping criterion is satisfied.
+          INFO = 9: One of the penalty parameters exceeded
+             BIGBND. The algorithm is having trouble satisfying a
+             nonlinear equality constraint.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the initial guess provided by the user is infeasible for
+  nonlinear inequality constraints and linear constraints, FFSQP
+  first generates a point satisfying all these constraints by
+  iterating on the problem of minimizing the maximum of these
+  constraints.
+
+  Then, using Mayne-Polak's scheme, nonlinear equality
+  constraints are turned into nonlinear inequality constraints
+  and the original objective function is replaced by a modified
+  objective function.
+
+  After obtaining feasibility, either (i) an Armijo-type line
+  search may be used (algorithm FFSQP-AL), yielding a monotone
+  decrease of the objective function at each iteration; or (ii) a
+  nonmonotone line search may be selected (algorithm FFSQP-NL),
+  forcing a decrease of the objective function within at most four
+  iterations.
+  
+  See [1] for further details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] J. L. Zhou, A. L. Tits and C. T. Lawrence
+      User's Guide for FFSQP Version 3.7 : A Fortran Code for
+      Solving Optimization Programs, Possibly Minimax, with General
+      Inequality Constraints and Linear Equality Constraints,
+      Generating Feasible Iterates
+      Institute for Systems Research, University of Maryland,
+      Technical Report SRC-TR-92-107r5, 1997.
+      (Available at http://gachinese.com/aemdesign/FSQPframe.htm)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
+of the routine and related files.-->
+</p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01AD">IB01AD</A></H2>
+<H3>
+Upper triangular factor in the QR factorization of the block-Hankel matrix (driver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To preprocess the input-output data for estimating the matrices
+  of a linear time-invariant dynamical system and to find an
+  estimate of the system order. The input-output data can,
+  optionally, be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U, LDU, Y, LDY, N, R, LDR, SV, RCOND,
+     $                   TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   RCOND, TOL
+      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, N,
+     $                   NOBR, NSMP
+      CHARACTER          ALG, BATCH, CONCT, CTRL, JOBD, METH
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*), U(LDU, *),
+     $                   Y(LDY, *)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  ALG     CHARACTER*1
+          Specifies the algorithm for computing the triangular
+          factor R, as follows:
+          = 'C':  Cholesky algorithm applied to the correlation
+                  matrix of the input-output data;
+          = 'F':  Fast QR algorithm;
+          = 'Q':  QR algorithm applied to the concatenated block
+                  Hankel matrices.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not the matrices B and D should later
+          be computed using the MOESP approach, as follows:
+          = 'M':  the matrices B and D should later be computed
+                  using the MOESP approach;
+          = 'N':  the matrices B and D should not be computed using
+                  the MOESP approach.
+          This parameter is not relevant for METH = 'N'.
+
+  BATCH   CHARACTER*1
+          Specifies whether or not sequential data processing is to
+          be used, and, for sequential processing, whether or not
+          the current data block is the first block, an intermediate
+          block, or the last block, as follows:
+          = 'F':  the first block in sequential data processing;
+          = 'I':  an intermediate block in sequential data
+                  processing;
+          = 'L':  the last block in sequential data processing;
+          = 'O':  one block only (non-sequential data processing).
+          NOTE that when  100  cycles of sequential data processing
+               are completed for  BATCH = 'I',  a warning is
+               issued, to prevent for an infinite loop.
+
+  CONCT   CHARACTER*1
+          Specifies whether or not the successive data blocks in
+          sequential data processing belong to a single experiment,
+          as follows:
+          = 'C':  the current data block is a continuation of the
+                  previous data block and/or it will be continued
+                  by the next data block;
+          = 'N':  there is no connection between the current data
+                  block and the previous and/or the next ones.
+          This parameter is not used if BATCH = 'O'.
+
+  CTRL    CHARACTER*1
+          Specifies whether or not the user's confirmation of the
+          system order estimate is desired, as follows:
+          = 'C':  user's confirmation;
+          = 'N':  no confirmation.
+          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
+          is indirectly called (by SLICOT Library routine IB01OD),
+          and, after inspecting the singular values and system order
+          estimate,  n,  the user may accept  n  or set a new value.
+          IB01OY  is not called if CTRL = 'N'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices to be processed.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+          When M = 0, no system inputs are processed.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t). (When sequential data processing is used,
+          NSMP  is the number of samples of the current data
+          block.)
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
+                                       processing;
+          NSMP &gt;= 2*NOBR,  for sequential processing.
+          The total number of samples when calling the routine with
+          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
+          The  NSMP  argument may vary from a cycle to another in
+          sequential data processing, but  NOBR, M,  and  L  should
+          be kept constant. For efficiency, it is advisable to use
+          NSMP  as large as possible.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NSMP-by-M part of this array must contain the
+          t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= NSMP, if M &gt; 0;
+          LDU &gt;= 1,    if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= NSMP.
+
+  N       (output) INTEGER
+          The estimated order of the system.
+          If  CTRL = 'C',  the estimated order has been reset to a
+          value specified by the user.
+
+  R       (output or input/output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the current upper triangular part of the
+          correlation matrix in sequential data processing.
+          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
+          referenced.
+          On exit, if INFO = 0, ALG = 'Q', and BATCH = 'F' or 'I',
+          the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular
+          part of this array contains the current upper triangular
+          factor R from the QR factorization of the concatenated
+          block Hankel matrices. Denote  R_ij, i,j = 1:4,  the
+          ij submatrix of  R,  partitioned by M*NOBR,  M*NOBR,
+          L*NOBR,  and  L*NOBR  rows and columns.
+          On exit, if INFO = 0 and BATCH = 'L' or 'O', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
+          this array contains the matrix S, the processed upper
+          triangular factor R from the QR factorization of the
+          concatenated block Hankel matrices, as required by other
+          subroutines. Specifically, let  S_ij, i,j = 1:4,  be the
+          ij submatrix of  S,  partitioned by M*NOBR,  L*NOBR,
+          M*NOBR,  and  L*NOBR  rows and columns. The submatrix
+          S_22  contains the matrix of left singular vectors needed
+          subsequently. Useful information is stored in  S_11  and
+          in the block-column  S_14 : S_44.  For METH = 'M' and
+          JOBD = 'M', the upper triangular part of  S_31  contains
+          the upper triangular factor in the QR factorization of the
+          matrix  R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12
+          contains the corresponding leading part of the transformed
+          matrix  R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',
+          the subarray  S_41 : S_43  contains the transpose of the
+          matrix contained in  S_14 : S_34.
+          The details of the contents of R need not be known if this
+          routine is followed by SLICOT Library routine IB01BD.
+          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
+          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
+          triangular part of this array must contain the upper
+          triangular matrix R computed at the previous call of this
+          routine in sequential data processing. The array R need
+          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
+                               for METH = 'M' and JOBD = 'M';
+          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
+                               for METH = 'N'.
+
+  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
+          The singular values used to estimate the system order.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  RCOND   DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  RCOND &gt; 0,  the given value
+          of  RCOND  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/RCOND  is considered to
+          be of full rank.  If the user sets  RCOND &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          RCONDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not used for  METH = 'M'.
+
+  TOL     DOUBLE PRECISION
+          Absolute tolerance used for determining an estimate of
+          the system order. If  TOL &gt;= 0,  the estimate is
+          indicated by the index of the last singular value greater
+          than or equal to  TOL.  (Singular values less than  TOL
+          are considered as zero.) When  TOL = 0,  an internally
+          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
+          where  SV(1)  is the maximal singular value, and  EPS  is
+          the relative machine precision (see LAPACK Library routine
+          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
+          index of the singular value that has the largest
+          logarithmic gap to its successor.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(3,(M+L)*NOBR), if METH = 'N';
+          LIWORK &gt;= MAX(3,M+L), if METH = 'M' and ALG = 'F';
+          LIWORK &gt;= 3,   if METH = 'M' and ALG = 'C' or 'Q'.
+          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
+          must contain the values of ICYCLE, MAXWRK, and NSMPSM
+          set by the previous call of this routine.
+          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
+          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
+          used by the next call of the routine.
+          ICYCLE  counts the cycles for  BATCH = 'I'.
+          MAXWRK  stores the current optimal workspace.
+          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
+          The first three elements of  IWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and, for  METH = 'N',  and  BATCH = 'L'  or
+          'O',  DWORK(2)  and  DWORK(3)  contain the reciprocal
+          condition numbers of the triangular factors of the
+          matrices  U_f  and  r_1  [6].
+          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          Let
+          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
+          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
+          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
+          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
+          The first (M+L)*k elements of  DWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  'I',  till the final call with  BATCH = 'L'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH = 'F' or
+                          'I' and CONCT = 'C';
+          LDWORK &gt;= 1, if ALG = 'C', BATCH = 'F' or 'I' and
+                          CONCT = 'N';
+          LDWORK &gt;= max((4*NOBR-2)*(M+L), 5*L*NOBR), if METH = 'M',
+                          ALG = 'C', BATCH = 'L' and CONCT = 'C';
+          LDWORK &gt;= max((2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR),
+                          if METH = 'M', JOBD = 'M', ALG = 'C',
+                           BATCH = 'O', or
+                          (BATCH = 'L' and CONCT = 'N');
+          LDWORK &gt;= 5*L*NOBR, if METH = 'M', JOBD = 'N', ALG = 'C',
+                           BATCH = 'O', or
+                          (BATCH = 'L' and CONCT = 'N');
+          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'C', and
+                          BATCH = 'L' or 'O';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
+                          BATCH &lt;&gt; 'O' and CONCT = 'C';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
+                          BATCH = 'F', 'I' and CONCT = 'N';
+          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
+                          BATCH = 'L' and CONCT = 'N', or
+                          BATCH = 'O';
+          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F', and
+                          LDR &gt;= NS = NSMP - 2*NOBR + 1;
+          LDWORK &gt;= max(4*(M+L)*NOBR, 5*L*NOBR), if METH = 'M',
+                          ALG = 'Q', BATCH = 'O', and LDR &gt;= NS;
+          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'Q',
+                          BATCH = 'O', and LDR &gt;= NS;
+          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', (BATCH = 'F' or 'O',
+                          and LDR &lt; NS), or (BATCH = 'I' or
+                          'L' and CONCT = 'N');
+          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
+                          or 'L' and CONCT = 'C'.
+          The workspace used for ALG = 'Q' is
+                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
+          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
+          value LDRWRK = NS, assuming a large enough cache size.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the number of 100 cycles in sequential data
+                processing has been exhausted without signaling
+                that the last block of data was get; the cycle
+                counter was reinitialized;
+          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
+                but it failed, and the QR algorithm was then used
+                (non-sequential data processing);
+          = 3:  all singular values were exactly zero, hence  N = 0
+                (both input and output were identically zero);
+          = 4:  the least squares problems with coefficient matrix
+                U_f,  used for computing the weighted oblique
+                projection (for METH = 'N'), have a rank-deficient
+                coefficient matrix;
+          = 5:  the least squares problem with coefficient matrix
+                r_1  [6], used for computing the weighted oblique
+                projection (for METH = 'N'), has a rank-deficient
+                coefficient matrix.
+          NOTE: the values 4 and 5 of IWARN have no significance
+                for the identification problem.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
+                in sequential data processing, but it failed; the
+                routine can be repeatedly called again using the
+                standard QR algorithm;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The procedure consists in three main steps, the first step being
+  performed by one of the three algorithms included.
+
+  1.a) For non-sequential data processing using QR algorithm, a
+  t x 2(m+l)s  matrix H is constructed, where
+
+       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
+               s+1,2s,t    1,s,t   1,2s,t
+
+       H = [ U'       Y'      ],              for METH = 'N',
+              1,2s,t   1,2s,t
+
+  and  Up     , Uf        , U      , and  Y        are block Hankel
+         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
+  matrices defined in terms of the input and output data [3].
+  A QR factorization is used to compress the data.
+  The fast QR algorithm uses a QR factorization which exploits
+  the block-Hankel structure. Actually, the Cholesky factor of H'*H
+  is computed.
+
+  1.b) For sequential data processing using QR algorithm, the QR
+  decomposition is done sequentially, by updating the upper
+  triangular factor  R.  This is also performed internally if the
+  workspace is not large enough to accommodate an entire batch.
+
+  1.c) For non-sequential or sequential data processing using
+  Cholesky algorithm, the correlation matrix of input-output data is
+  computed (sequentially, if requested), taking advantage of the
+  block Hankel structure [7].  Then, the Cholesky factor of the
+  correlation matrix is found, if possible.
+
+  2) A singular value decomposition (SVD) of a certain matrix is
+  then computed, which reveals the order  n  of the system as the
+  number of "non-zero" singular values. For the MOESP approach, this
+  matrix is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
+  where  R  is the upper triangular factor  R  constructed by SLICOT
+  Library routine  IB01MD.  For the N4SID approach, a weighted
+  oblique projection is computed from the upper triangular factor  R
+  and its SVD is then found.
+
+  3) The singular values are compared to the given, or default TOL,
+  and the estimated order  n  is returned, possibly after user's
+  confirmation.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Peternell, K., Scherrer, W. and Deistler, M.
+      Statistical Analysis of Novel Subspace Identification Methods.
+      Signal Processing, 52, pp. 161-177, 1996.
+
+  [6] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+  [7] Sima, V.
+      Cholesky or QR Factorization for Data Compression in
+      Subspace-based Identification ?
+      Proceedings of the Second NICONET Workshop on ``Numerical
+      Control Software: SLICOT, a Useful Tool in Industry'',
+      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable (when QR algorithm is
+  used), reliable and efficient. The fast Cholesky or QR algorithms
+  are more efficient, but the accuracy could diminish by forming the
+  correlation matrix.
+  The most time-consuming computational step is step 1:
+                                     2
+  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
+                                        2              3
+  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
+  point operations.
+                                       2           3 2
+  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
+  point operations.
+                                             3
+  Step 2 of the algorithm requires 0(((m+l)s) ) floating point
+  operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
+  calculations could be rather inefficient if only minimal workspace
+  (see argument LDWORK) is provided. It is advisable to provide as
+  much workspace as possible. Almost optimal efficiency can be
+  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+  cache size is large enough to accommodate R, U, Y, and DWORK.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB01AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LDR, LDU, LDWORK, LDY, LIWORK, LMAX, MMAX,
+     $                 NOBRMX, NSMPMX
+      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
+     $                   LDR = MAX( 2*( MMAX + LMAX )*NOBRMX,
+     $                              3*MMAX*NOBRMX ), LDU = NSMPMX,
+     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
+     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
+     $                                 ( MMAX + LMAX + 1 ) + 2*NOBRMX ),
+     $                                 ( MMAX + LMAX )*4*NOBRMX*
+     $                                 ( NOBRMX + 1 ) ),
+     $                   LDY = NSMPMX, LIWORK = ( MMAX + LMAX )*NOBRMX )
+*     .. Local Scalars ..
+      LOGICAL          NGIVEN
+      CHARACTER        ALG, BATCH, CONCT, CTRL, JOBD, METH
+      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
+     $                 NGIV, NOBR, NSAMPL, NSMP
+      DOUBLE PRECISION RCOND, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
+     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), Y(LDY, LMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         IB01AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     If the value of N is positive, it will be taken as system order.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL, METH, ALG,
+     $                      JOBD, BATCH, CONCT, CTRL
+      IF ( LSAME( BATCH, 'F' ) ) THEN
+         READ ( NIN, FMT = * ) NCYCLE
+      ELSE
+         NCYCLE = 1
+      END IF
+      NSAMPL = NCYCLE*NSMP
+*
+      NGIVEN = N.GT.0
+      IF( NGIVEN )
+     $   NGIV = N
+      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) NOBR
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) L
+      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
+     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'O' ) ) .OR.
+     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'L' ) ) .OR.
+     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
+     $                                 LSAME( BATCH, 'I' ) ) ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NSMP
+      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NCYCLE
+      ELSE
+*        Read the matrices U and Y from the input file.
+         IF ( M.GT.0 )
+     $      READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
+         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
+*        Compute the  R  factor from a QR (or Cholesky) factorization
+*        of the Hankel-like matrix (or correlation matrix).
+         DO 10 ICYCLE = 1, NCYCLE
+            II = ( ICYCLE - 1 )*NSMP + 1
+            IF ( NCYCLE.GT.1 ) THEN
+               IF ( ICYCLE.GT.1 )      BATCH = 'I'
+               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
+            END IF
+            CALL IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
+     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+   10    CONTINUE
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99990 ) IWARN
+            IF( NGIVEN )
+     $         N = NGIV
+            WRITE ( NOUT, FMT = 99992 ) N
+            WRITE ( NOUT, FMT = 99991 ) ( SV(I), I = 1,L*NOBR )
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( ' IB01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
+99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
+99996 FORMAT (/' M is out of range.',/' M = ', I5)
+99995 FORMAT (/' L is out of range.',/' L = ', I5)
+99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
+99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
+99992 FORMAT ( ' The order of the system is ', I5)
+99991 FORMAT ( ' The singular values are ',/ (8(1X,F8.4)))
+99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB01AD EXAMPLE PROGRAM DATA
+  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
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+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB01AD EXAMPLE PROGRAM RESULTS
+
+ The order of the system is     4
+ The singular values are 
+  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
+   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01BD">IB01BD</A></H2>
+<H3>
+Estimating system matrices, Kalman gain, and covariances (driver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the system matrices A, C, B, and D, the noise
+  covariance matrices Q, Ry, and S, and the Kalman gain matrix K
+  of a linear time-invariant state space model, using the
+  processed triangular factor R of the concatenated block Hankel
+  matrices, provided by SLICOT Library routine IB01AD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMPL, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
+     $                   RY, LDRY, S, LDS, K, LDK, TOL, IWORK, DWORK,
+     $                   LDWORK, BWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDK, LDQ,
+     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
+      CHARACTER          JOB, JOBCK, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  K(LDK, *), Q(LDQ, *), R(LDR, *),
+     $                   RY(LDRY, *), S(LDS, *)
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm;
+          = 'C':  combined method:  MOESP  algorithm for finding the
+                  matrices A and C, and  N4SID  algorithm for
+                  finding the matrices B and D.
+
+  JOB     CHARACTER*1
+          Specifies which matrices should be computed, as follows:
+          = 'A':  compute all system matrices, A, B, C, and D;
+          = 'C':  compute the matrices A and C only;
+          = 'B':  compute the matrix B only;
+          = 'D':  compute the matrices B and D only.
+
+  JOBCK   CHARACTER*1
+          Specifies whether or not the covariance matrices and the
+          Kalman gain matrix are to be computed, as follows:
+          = 'C':  the covariance matrices only should be computed;
+          = 'K':  the covariance matrices and the Kalman gain
+                  matrix should be computed;
+          = 'N':  the covariance matrices and the Kalman gain matrix
+                  should not be computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMPL   (input) INTEGER
+          If  JOBCK = 'C' or 'K',  the total number of samples used
+          for calculating the covariance matrices.
+          NSMPL &gt;= 2*(M+L)*NOBR.
+          This parameter is not meaningful if  JOBCK = 'N'.
+
+  R       (input/workspace) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
+          of this array must contain the relevant data for the MOESP
+          or N4SID algorithms, as constructed by SLICOT Library
+          routine IB01AD. Let  R_ij,  i,j = 1:4,  be the
+          ij submatrix of  R  (denoted  S  in IB01AD),  partitioned
+          by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR  rows and
+          columns. The submatrix  R_22  contains the matrix of left
+          singular vectors used. Also needed, for  METH = 'N'  or
+          JOBCK &lt;&gt; 'N',  are the submatrices  R_11,  R_14 : R_44,
+          and, for  METH = 'M' or 'C'  and  JOB &lt;&gt; 'C', the
+          submatrices  R_31  and  R_12,  containing the processed
+          matrices  R_1c  and  R_2c,  respectively, as returned by
+          SLICOT Library routine IB01AD.
+          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
+          block-row  R_41 : R_43  must contain the transpose of the
+          block-column  R_14 : R_34  as returned by SLICOT Library
+          routine IB01AD.
+          The remaining part of  R  is used as workspace.
+          On exit, part of this array is overwritten. Specifically,
+          if  METH = 'M',  R_22  and  R_31  are overwritten if
+              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
+              and possibly  R_11  are overwritten if  JOBCK &lt;&gt; 'N';
+          if  METH = 'N',  all needed submatrices are overwritten.
+          The details of the contents of  R  need not be known if
+          this routine is called once just after calling the SLICOT
+          Library routine IB01AD.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+  A       (input or output) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
+          the leading N-by-N part of this array must contain the
+          system state matrix.
+          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
+          or 'C'),  this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
+          leading N-by-N part of this array contains the system
+          state matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
+                         and  JOB = 'B' or 'D';
+          LDA &gt;= 1,  otherwise.
+
+  C       (input or output) DOUBLE PRECISION array, dimension
+          (LDC,N)
+          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
+          the leading L-by-N part of this array must contain the
+          system output matrix.
+          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
+          or 'C'),  this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
+          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
+          L-by-N part of this array contains the system output
+          matrix.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
+                         and  JOB = 'B' or 'D';
+          LDC &gt;= 1,  otherwise.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
+          leading N-by-M part of this array contains the system
+          input matrix. If  M = 0  or  JOB = 'C',  this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
+          not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
+          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If  JOBCK = 'C' or 'K',  the leading N-by-N part of this
+          array contains the positive semidefinite state covariance
+          matrix. If  JOBCK = 'K',  this matrix has been used as
+          state weighting matrix for computing the Kalman gain.
+          This parameter is not referenced if JOBCK = 'N'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= N,  if JOBCK = 'C' or 'K';
+          LDQ &gt;= 1,  if JOBCK = 'N'.
+
+  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
+          If  JOBCK = 'C' or 'K',  the leading L-by-L part of this
+          array contains the positive (semi)definite output
+          covariance matrix. If  JOBCK = 'K',  this matrix has been
+          used as output weighting matrix for computing the Kalman
+          gain.
+          This parameter is not referenced if JOBCK = 'N'.
+
+  LDRY    INTEGER
+          The leading dimension of the array RY.
+          LDRY &gt;= L,  if JOBCK = 'C' or 'K';
+          LDRY &gt;= 1,  if JOBCK = 'N'.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
+          If  JOBCK = 'C' or 'K',  the leading N-by-L part of this
+          array contains the state-output cross-covariance matrix.
+          If  JOBCK = 'K',  this matrix has been used as state-
+          output weighting matrix for computing the Kalman gain.
+          This parameter is not referenced if JOBCK = 'N'.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= N,  if JOBCK = 'C' or 'K';
+          LDS &gt;= 1,  if JOBCK = 'N'.
+
+  K       (output) DOUBLE PRECISION array, dimension ( LDK,L )
+          If  JOBCK = 'K',  the leading  N-by-L  part of this array
+          contains the estimated Kalman gain matrix.
+          If  JOBCK = 'C' or 'N',  this array is not referenced.
+
+  LDK     INTEGER
+          The leading dimension of the array  K.
+          LDK &gt;= N,  if JOBCK = 'K';
+          LDK &gt;= 1,  if JOBCK = 'C' or 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= max(LIW1,LIW2), where
+          LIW1 = N,                     if METH &lt;&gt; 'N' and M = 0
+                                     or JOB = 'C' and JOBCK = 'N';
+          LIW1 = M*NOBR+N,              if METH &lt;&gt; 'N', JOB = 'C',
+                                        and JOBCK &lt;&gt; 'N';
+          LIW1 = max(L*NOBR,M*NOBR),    if METH = 'M', JOB &lt;&gt; 'C',
+                                        and JOBCK = 'N';
+          LIW1 = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
+                                        and JOBCK = 'C' or 'K';
+          LIW1 = max(M*NOBR+N,M*(N+L)), if METH = 'N', or METH = 'C'
+                                        and JOB  &lt;&gt; 'C';
+          LIW2 = 0,                     if JOBCK &lt;&gt; 'K';
+          LIW2 = N*N,                   if JOBCK =  'K'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
+          DWORK(5)  contain the reciprocal condition numbers of the
+          triangular factors of the following matrices (defined in
+          SLICOT Library routine IB01PD and in the lower level
+          routines):
+             GaL  (GaL = Un(1:(s-1)*L,1:n)),
+             R_1c (if  METH = 'M' or 'C'),
+             M    (if  JOBCK = 'C' or 'K'  or  METH = 'N'),  and
+             Q or T  (see SLICOT Library routine IB01PY or IB01PX),
+          respectively.
+          If  METH = 'N',  DWORK(3)  is set to one without any
+          calculations. Similarly, if  METH = 'M'  and  JOBCK = 'N',
+          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
+          DWORK(3)  and  DWORK(5)  are set to one.
+          If  JOBCK = 'K'  and  INFO = 0,  DWORK(6)  to  DWORK(13)
+          contain information about the accuracy of the results when
+          computing the Kalman gain matrix, as follows:
+             DWORK(6)  - reciprocal condition number of the matrix
+                         U11  of the Nth order system of algebraic
+                         equations from which the solution matrix  X
+                         of the Riccati equation is obtained;
+             DWORK(7)  - reciprocal pivot growth factor for the LU
+                         factorization of the matrix  U11;
+             DWORK(8)  - reciprocal condition number of the matrix
+                         As = A - S*inv(Ry)*C,  which is inverted by
+                         the standard Riccati solver;
+             DWORK(9)  - reciprocal pivot growth factor for the LU
+                         factorization of the matrix  As;
+             DWORK(10) - reciprocal condition number of the matrix
+                         Ry;
+             DWORK(11) - reciprocal condition number of the matrix
+                         Ry + C*X*C';
+             DWORK(12) - reciprocal condition number for the Riccati
+                         equation solution;
+             DWORK(13) - forward error bound for the Riccati
+                         equation solution.
+          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( LDW1,LDW2,LDW3 ), where, if METH = 'M',
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
+                  if JOB = 'C' or JOB = 'A' and M = 0;
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
+                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
+                       max( L+M*NOBR, L*NOBR +
+                                      max( 3*L*NOBR+1, M ) ) ),
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDW2 &gt;= 0,                          if JOBCK = 'N';
+          LDW2 &gt;= L*NOBR*N+
+                  max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
+                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
+                                              if JOBCK = 'C' or 'K',
+          where Aw = N+N*N, if M = 0 or JOB = 'C';
+                Aw = 0,     otherwise;
+          if METH = 'N',
+          LDW1 &gt;= L*NOBR*N+max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
+                                2*(L*NOBR-L)*N+N*N+8*N,
+                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L );
+          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
+          LDW2 &gt;= L*NOBR*N+M*NOBR*(N+L)*(M*(N+L)+1)+
+                             max( (N+L)**2, 4*M*(N+L)+1 ),
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          and, if METH = 'C', LDW1 as
+          max( LDW1 for METH = 'M', JOB = 'C', LDW1 for METH = 'N'),
+          and LDW2 for METH = 'N' are used;
+          LDW3 &gt;= 0,                     if JOBCK &lt;&gt; 'K';
+          LDW3 &gt;= max(  4*N*N+2*N*L+L*L+max( 3*L,N*L ),
+                       14*N*N+12*N+5 ),  if JOBCK =  'K'.
+          For good performance,  LDWORK  should be larger.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK = 2*N, if JOBCK =  'K';
+          LBWORK = 0,   if JOBCK &lt;&gt; 'K'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  a least squares problem to be solved has a
+                rank-deficient coefficient matrix;
+          = 5:  the computed covariance matrices are too small.
+                The problem seems to be a deterministic one; the
+                gain matrix is set to zero.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge;
+          = 3:  a singular upper triangular matrix was found;
+          = 3+i:  if  JOBCK = 'K'  and the associated Riccati
+                equation could not be solved, where i = 1,...,6;
+                (see the description of the parameter INFO for the
+                SLICOT Library routine SB02RD for the meaning of
+                the i values);
+          = 10: the QR algorithm did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In the MOESP approach, the matrices  A  and  C  are first
+  computed from an estimated extended observability matrix [1],
+  and then, the matrices  B  and  D  are obtained by solving an
+  extended linear system in a least squares sense.
+  In the N4SID approach, besides the estimated extended
+  observability matrix, the solutions of two least squares problems
+  are used to build another least squares problem, whose solution
+  is needed to compute the system matrices  A,  C,  B,  and  D.  The
+  solutions of the two least squares problems are also optionally
+  used by both approaches to find the covariance matrices.
+  The Kalman gain matrix is obtained by solving a discrete-time
+  algebraic Riccati equation.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+  [4] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method consists in numerically stable steps.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The covariance matrices are computed using the N4SID approach.
+  Therefore, for efficiency reasons, it is advisable to set
+  METH = 'N',  if the Kalman gain matrix or covariance matrices
+  are needed  (JOBCK = 'K', or 'C').  When  JOBCK = 'N',  it could
+  be more efficient to use the combined method,  METH = 'C'.
+  Often, this combination will also provide better accuracy than
+  MOESP algorithm.
+  In some applications, it is useful to compute the system matrices
+  using two calls to this routine, the first one with  JOB = 'C',
+  and the second one with  JOB = 'B' or 'D'.  This is slightly less
+  efficient than using a single call with  JOB = 'A',  because some
+  calculations are repeated. If  METH = 'N',  all the calculations
+  at the first call are performed again at the second call;
+  moreover, it is required to save the needed submatrices of  R
+  before the first call and restore them before the second call.
+  If the covariance matrices and/or the Kalman gain are desired,
+  JOBCK  should be set to  'C'  or  'K'  at the second call.
+  If  B  and  D  are both needed, they should be computed at once.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB01BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LDA, LDB, LDC, LDD, LDK, LDQ, LDR, LDRY, LDS,
+     $                 LDU, LDW1, LDW2, LDW3, LDWORK, LDY, LIWORK, LMAX,
+     $                 MMAX, NMAX, NOBRMX, NSMPMX
+      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
+     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
+     $                   LDC  = LMAX, LDD  = LMAX, LDK = NMAX,
+     $                   LDQ  = NMAX, LDRY = LMAX, LDS = NMAX,
+     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
+     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
+     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
+     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
+     $                               LMAX*NOBRMX*NMAX +
+     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    3*NMAX + LMAX +
+     $                                    ( 2*MMAX + LMAX )*NOBRMX,
+     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    NMAX*NMAX + 8*NMAX,
+     $                                    NMAX +
+     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
+     $                   LDW2 = LMAX*NOBRMX*NMAX +
+     $                          MMAX*NOBRMX*( NMAX + LMAX )*
+     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                          MAX( ( NMAX + LMAX )**2,
+     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                   LDW3 = MAX( 4*NMAX*NMAX + 2*NMAX*LMAX +
+     $                               LMAX*LMAX +
+     $                               MAX( 3*LMAX, NMAX*LMAX ),
+     $                               14*NMAX*NMAX + 12*NMAX + 5 ),
+     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
+     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
+     $                                 ( MMAX + LMAX + 2 ) - 2 ),
+     $                                 ( MMAX + LMAX )*4*NOBRMX*
+     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
+     $                                 LDW3 ),
+     $                   LDY = NSMPMX,
+     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
+     $                                 MMAX*NOBRMX + NMAX, LMAX*NOBRMX,
+     $                                 MMAX*( NMAX + LMAX ), NMAX*NMAX )
+     $                 )
+*     .. Local Scalars ..
+      LOGICAL          NGIVEN
+      CHARACTER        ALG, BATCH, CONCT, CTRL, JOB, JOBCK, JOBD, JOBDA,
+     $                 METH, METHA
+      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
+     $                 NGIV, NOBR, NSAMPL, NSMP
+      DOUBLE PRECISION RCOND, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
+     $                 D(LDD, MMAX), DWORK(LDWORK), K(LDK, LMAX),
+     $                 Q(LDQ, NMAX), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
+     $                 RY(LDRY, LMAX), S(LDS, LMAX), SV(LMAX*NOBRMX),
+     $                 U(LDU, MMAX), Y(LDY, LMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(2*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         IB01AD, IB01BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     If the value of N is positive, it will be taken as system order.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
+      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
+     $                      JOBCK
+      IF ( LSAME( BATCH, 'F' ) ) THEN
+         READ ( NIN, FMT = * ) NCYCLE
+      ELSE
+         NCYCLE = 1
+      END IF
+      NSAMPL = NCYCLE*NSMP
+*
+      NGIVEN = N.GT.0
+      IF( NGIVEN )
+     $   NGIV = N
+      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) NOBR
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) L
+      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
+     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'O' ) ) .OR.
+     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'L' ) ) .OR.
+     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
+     $                                 LSAME( BATCH, 'I' ) ) ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NSMP
+      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NCYCLE
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99980 ) N
+      ELSE
+*        Read the matrices U and Y from the input file.
+         IF ( M.GT.0 )
+     $      READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
+         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
+*        Read A and C matrices, if METH <> 'M' and JOB = 'B' or 'D'.
+         IF ( .NOT.LSAME( METH, 'M' ) .AND.
+     $           ( LSAME( JOB,  'B' ) .OR. LSAME( JOB, 'D' ) ) ) THEN
+            DO 10 I = 1, N
+               READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
+   10       CONTINUE
+            DO 20 I = 1, L
+               READ ( NIN, FMT = * ) ( C(I,J), J = 1, N )
+   20       CONTINUE
+         END IF
+*        Force some options for IB01AD, depending on the specifications.
+         IF ( LSAME( METH, 'C' ) ) THEN
+            METHA = 'M'
+            JOBDA = 'N'
+         ELSE
+            METHA = METH
+            JOBDA = JOBD
+         END IF
+*        Compute the  R  factor from a QR (or Cholesky) factorization
+*        of the Hankel-like matrix (or correlation matrix).
+         DO 30 ICYCLE = 1, NCYCLE
+            II = ( ICYCLE - 1 )*NSMP + 1
+            IF ( NCYCLE.GT.1 ) THEN
+               IF ( ICYCLE.GT.1 )      BATCH = 'I'
+               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
+            END IF
+            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
+     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+   30    CONTINUE
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99990 ) IWARN
+            IF( NGIVEN )
+     $         N = NGIV
+*           Compute the system matrices.
+            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
+     $                   RY, LDRY, S, LDS, K, LDK, RCOND, IWORK, DWORK,
+     $                   LDWORK, BWORK, IWARN, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99992 ) INFO
+            ELSE
+               IF ( IWARN.NE.0 )
+     $            WRITE ( NOUT, FMT = 99991 ) IWARN
+               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99987 )
+                  DO 50 I = 1, L
+                     WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
+   50             CONTINUE
+               END IF
+               IF ( .NOT.LSAME( JOB, 'C' ) ) THEN
+                  WRITE ( NOUT, FMT = 99986 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+               END IF
+               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'D' ) ) THEN
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, L
+                     WRITE ( NOUT, FMT = 99988 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+               IF ( LSAME( JOBCK, 'K' ) ) THEN
+                  WRITE ( NOUT, FMT = 99984 )
+                  DO 80 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( K(I,J), J = 1,L )
+   80             CONTINUE
+               END IF
+               IF ( .NOT.LSAME( JOBCK, 'N' ) ) THEN
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 90 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( Q(I,J), J = 1,N )
+   90             CONTINUE
+                  WRITE ( NOUT, FMT = 99982 )
+                  DO 100 I = 1, L
+                     WRITE ( NOUT, FMT = 99988 ) ( RY(I,J), J = 1,L )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99981 )
+                  DO 110 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( S(I,J), J = 1,L )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( ' IB01BD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
+99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
+99996 FORMAT (/' M is out of range.',/' M = ', I5)
+99995 FORMAT (/' L is out of range.',/' L = ', I5)
+99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
+99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
+99992 FORMAT ( ' INFO on exit from IB01BD = ',I2)
+99991 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
+99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
+99989 FORMAT (/' The system state matrix A is ')
+99988 FORMAT (20(1X,F8.4))
+99987 FORMAT (/' The system output matrix C is ')
+99986 FORMAT (/' The system input matrix B is ')
+99985 FORMAT (/' The system input-output matrix D is ')
+99984 FORMAT (/' The Kalman gain matrix K is ')
+99983 FORMAT (/' The state covariance matrix Q is ')
+99982 FORMAT (/' The output covariance matrix Ry is ')
+99981 FORMAT (/' The state-output cross-covariance matrix S is ')
+99980 FORMAT (/' N is out of range.',/' N = ', I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB01BD EXAMPLE PROGRAM DATA
+  15     0     1     1  1000    0.0   -1.0
+   C     C     N     O     N     N     A     K
+   6.41
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+   5.926049
+   5.750229
+   5.415679
+   4.995649
+   4.861339
+   4.902859
+   5.103099
+   5.364389
+   5.596379
+   5.752669
+   5.845469
+   5.928499
+   6.006639
+   5.840579
+   5.518239
+   5.173919
+   4.739239
+   4.458409
+   4.426669
+   4.602489
+   4.822269
+   5.183689
+   5.430329
+   5.652549
+   5.821049
+   5.706269
+   5.369279
+   5.027399
+   4.705049
+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB01BD EXAMPLE PROGRAM RESULTS
+
+
+ The system state matrix A is 
+   0.8924   0.3887   0.1285   0.1716
+  -0.0837   0.6186  -0.6273  -0.4582
+   0.0052   0.1307   0.6685  -0.6755
+   0.0055   0.0734  -0.2148   0.4788
+
+ The system output matrix C is 
+  -0.4442   0.6663   0.3961   0.4102
+
+ The system input matrix B is 
+  -0.2142
+  -0.1968
+   0.0525
+   0.0361
+
+ The system input-output matrix D is 
+  -0.0041
+
+ The Kalman gain matrix K is 
+  -1.9513
+  -0.1867
+   0.6348
+  -0.3486
+
+ The state covariance matrix Q is 
+   0.0052   0.0005  -0.0017   0.0009
+   0.0005   0.0000  -0.0002   0.0001
+  -0.0017  -0.0002   0.0006  -0.0003
+   0.0009   0.0001  -0.0003   0.0002
+
+ The output covariance matrix Ry is 
+   0.0012
+
+ The state-output cross-covariance matrix S is 
+  -0.0025
+  -0.0002
+   0.0008
+  -0.0005
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01CD">IB01CD</A></H2>
+<H3>
+Estimating the initial state and system matrices B and D using A, B, and input-output data (driver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the initial state and, optionally, the system matrices
+  B  and  D  of a linear time-invariant (LTI) discrete-time system,
+  given the system matrices  (A,B,C,D),  or (when  B  and  D  are
+  estimated) only the matrix pair  (A,C),  and the input and output
+  trajectories of the system. The model structure is :
+
+        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
+        y(k)   = Cx(k) + Du(k),
+
+  where  x(k)  is the  n-dimensional state vector (at time k),
+         u(k)  is the  m-dimensional input vector,
+         y(k)  is the  l-dimensional output vector,
+  and  A, B, C, and D  are real matrices of appropriate dimensions.
+  The input-output data can internally be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01CD( JOBX0, COMUSE, JOB, N, M, L, NSMP, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0, V,
+     $                   LDV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU, LDV,
+     $                   LDWORK, LDY, M, N, NSMP
+      CHARACTER          COMUSE, JOB, JOBX0
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  U(LDU, *), V(LDV, *), X0(*),
+     $                   Y(LDY, *)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX0   CHARACTER*1
+          Specifies whether or not the initial state should be
+          computed, as follows:
+          = 'X':  compute the initial state x(0);
+          = 'N':  do not compute the initial state (possibly,
+                  because x(0) is known to be zero).
+
+  COMUSE  CHARACTER*1
+          Specifies whether the system matrices B and D should be
+          computed or used, as follows:
+          = 'C':  compute the system matrices B and D, as specified
+                  by JOB;
+          = 'U':  use the system matrices B and D, as specified by
+                  JOB;
+          = 'N':  do not compute/use the matrices B and D.
+          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'N',  then  x(0)  is set
+          to zero.
+          If  JOBX0 = 'N'  and  COMUSE =  'N',  then  x(0)  is
+          neither computed nor set to zero.
+
+  JOB     CHARACTER*1
+          If  COMUSE = 'C'  or  'U',  specifies which of the system
+          matrices  B and D  should be computed or used, as follows:
+          = 'B':  compute/use the matrix B only (D is known to be
+                  zero);
+          = 'D':  compute/use the matrices B and D.
+          The value of  JOB  is irrelevant if  COMUSE = 'N'  or if
+          JOBX0 = 'N'  and  COMUSE = 'U'.
+          The combinations of options, the data used, and the
+          returned results, are given in the table below, where
+          '*'  denotes an irrelevant value.
+
+           JOBX0   COMUSE    JOB     Data used    Returned results
+          ----------------------------------------------------------
+             X       C        B       A,C,u,y          x,B
+             X       C        D       A,C,u,y          x,B,D
+             N       C        B       A,C,u,y          x=0,B
+             N       C        D       A,C,u,y          x=0,B,D
+          ----------------------------------------------------------
+             X       U        B      A,B,C,u,y            x
+             X       U        D      A,B,C,D,u,y          x
+             N       U        *          -               x=0
+          ----------------------------------------------------------
+             X       N        *        A,C,y              x
+             N       N        *          -                -
+          ----------------------------------------------------------
+
+          For  JOBX0 = 'N'  and  COMUSE = 'N',  the routine just
+          sets  DWORK(1)  to 2 and  DWORK(2)  to 1, and returns
+          (see the parameter DWORK).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t).
+          NSMP &gt;= 0,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
+          NSMP &gt;= N,            if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
+          NSMP &gt;= N*M + a + e,  if  COMUSE = 'C',
+          where   a = 0,  if  JOBX0 = 'N';
+                  a = N,  if  JOBX0 = 'X';
+                  e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
+                  e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
+                  e = M,  if  JOB   = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading N-by-N
+          part of this array must contain the system state matrix A.
+          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
+          array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C';
+          LDA &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+  B       (input or output) DOUBLE PRECISION array, dimension
+          (LDB,M)
+          If  JOBX0 = 'X'  and  COMUSE = 'U',  B  is an input
+          parameter and, on entry, the leading N-by-M part of this
+          array must contain the system input matrix  B.
+          If  COMUSE = 'C',  B  is an output parameter and, on exit,
+          if  INFO = 0,  the leading N-by-M part of this array
+          contains the estimated system input matrix  B.
+          If  min(N,M) = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
+          or  COMUSE = 'N',  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N),  if  M &gt; 0,  COMUSE = 'U',  JOBX0 = 'X',
+                            or  M &gt; 0,  COMUSE = 'C';
+          LDB &gt;= 1,         if  min(N,M) = 0,  or  COMUSE = 'N',
+                            or  JOBX0  = 'N'  and  COMUSE = 'U'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading L-by-N
+          part of this array must contain the system output
+          matrix  C.
+          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
+          array is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= L,  if  N &gt; 0, and  JOBX0 = 'X'  or  COMUSE = 'C';
+          LDC &gt;= 1,  if  N = 0, or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+  D       (input or output) DOUBLE PRECISION array, dimension
+          (LDD,M)
+          If  JOBX0 = 'X',  COMUSE = 'U',  and  JOB = 'D',  D  is an
+          input parameter and, on entry, the leading L-by-M part of
+          this array must contain the system input-output matrix  D.
+          If  COMUSE = 'C'  and  JOB = 'D',  D  is an output
+          parameter and, on exit, if  INFO = 0,  the leading
+          L-by-M part of this array contains the estimated system
+          input-output matrix  D.
+          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
+          COMUSE = 'N',  or  JOB = 'B',  this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if  M &gt; 0,   JOBX0 = 'X',  COMUSE = 'U',  and
+                                                JOB = 'D',  or
+                     if  M &gt; 0,  COMUSE = 'C',  and  JOB = 'D';
+          LDD &gt;= 1,  if  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
+                     or  COMUSE = 'N',  or  JOB = 'B'.
+
+  U       (input or input/output) DOUBLE PRECISION array, dimension
+          (LDU,M)
+          On entry, if  COMUSE = 'C',  or  JOBX0 = 'X'  and
+          COMUSE = 'U',  the leading NSMP-by-M part of this array
+          must contain the t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          On exit, if  COMUSE = 'C'  and  JOB = 'D',  the leading
+          NSMP-by-M part of this array contains details of the
+          QR factorization of the t-by-m matrix  U,  possibly
+          computed sequentially (see METHOD).
+          If  COMUSE = 'C'  and  JOB = 'B',  or  COMUSE = 'U',  this
+          array is unchanged on exit.
+          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
+          COMUSE = 'N',  this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,NSMP),  if  M &gt; 0    and  COMUSE = 'C'  or
+                               JOBX0 = 'X'  and  COMUSE = 'U;
+          LDU &gt;= 1,            if  M = 0,   or   COMUSE = 'N',  or
+                               JOBX0 = 'N'  and  COMUSE = 'U'.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          On entry, if  JOBX0 = 'X'  or  COMUSE = 'C',  the leading
+          NSMP-by-L part of this array must contain the t-by-l
+          output-data sequence matrix  Y,  Y = [y_1 y_2 ... y_l].
+          Column  j  of  Y  contains the  NSMP  values of the j-th
+          output component for consecutive time increments.
+          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
+          referenced.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.
+          LDY &gt;= MAX(1,NSMP),  if  JOBX0 = 'X'  or   COMUSE = 'C;
+          LDY &gt;= 1,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          If  INFO = 0  and  JOBX0 = 'X',  this array contains the
+          estimated initial state of the system,  x(0).
+          If  JOBX0 = 'N'  and  COMUSE = 'C',  this array is used as
+          workspace and finally it is set to zero.
+          If  JOBX0 = 'N'  and  COMUSE = 'U',  then  x(0)  is set to
+          zero without any calculations.
+          If  JOBX0 = 'N'  and  COMUSE = 'N',  this array is not
+          referenced.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
+          On exit, if  INFO = 0  or 2,  JOBX0 = 'X'  or
+          COMUSE = 'C',  the leading N-by-N part of this array
+          contains the orthogonal matrix V of a real Schur
+          factorization of the matrix  A.
+          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
+          referenced.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C;
+          LDV &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  a matrix whose estimated condition
+          number is less than  1/TOL  is considered to be of full
+          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
+          instead, where  EPS  is the relative machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= 0,          if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
+          LIWORK &gt;= N,          if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
+          LIWORK &gt;= N*M + a,        if COMUSE = 'C' and JOB = 'B',
+          LIWORK &gt;= max(N*M + a,M), if COMUSE = 'C' and JOB = 'D',
+          with  a = 0,  if  JOBX0 = 'N';
+                a = N,  if  JOBX0 = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK;  DWORK(2)  contains the reciprocal condition
+          number of the triangular factor of the QR factorization of
+          the matrix  W2,  if  COMUSE = 'C',  or of the matrix
+          Gamma,  if  COMUSE = 'U'  (see METHOD); if  JOBX0 = 'N'
+          and  COMUSE &lt;&gt; 'C',  DWORK(2)  is set to one;
+          if  COMUSE = 'C',  M &gt; 0,  and  JOB = 'D',   DWORK(3)
+          contains the reciprocal condition number of the triangular
+          factor of the QR factorization of  U;  denoting
+             g = 2,  if  JOBX0  = 'X'  and  COMUSE &lt;&gt; 'C'  or
+                         COMUSE = 'C'  and  M = 0  or   JOB = 'B',
+             g = 3,  if  COMUSE = 'C'  and  M &gt; 0  and  JOB = 'D',
+          then  DWORK(i), i = g+1:g+N*N,
+                DWORK(j), j = g+1+N*N:g+N*N+L*N,  and
+                DWORK(k), k = g+1+N*N+L*N:g+N*N+L*N+N*M,
+          contain the transformed system matrices  At, Ct, and Bt,
+          respectively, corresponding to the real Schur form of the
+          given system state matrix  A,  i.e.,
+             At = V'*A*V,  Bt = V'*B,  Ct = C*V.
+          The matrices  At, Ct, Bt  are not computed if  JOBX0 = 'N'
+          and  COMUSE &lt;&gt; 'C'.
+          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2,  if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  or
+                        if  max( N, M ) = 0.
+          Otherwise,
+          LDWORK &gt;= LDW1 + N*( N + M + L ) +
+                           max( 5*N, LDW1, min( LDW2, LDW3 ) ),
+          where, if  COMUSE = 'C',  then
+          LDW1 = 2,          if  M = 0  or   JOB = 'B',
+          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
+          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
+          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
+          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+          LDWb = (b + r)*(r + 1) +
+                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
+          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
+          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+             r = N*M + a,
+             a = 0,                  if  JOBX0 = 'N',
+             a = N,                  if  JOBX0 = 'X';
+             b = 0,                  if  JOB   = 'B',
+             b = L*M,                if  JOB   = 'D';
+             c = 0,                  if  JOBX0 = 'N',
+             c = L*N,                if  JOBX0 = 'X';
+             d = 0,                  if  JOBX0 = 'N',
+             d = 2*N*N + N,          if  JOBX0 = 'X';
+             f = 2*r,                if  JOB   = 'B'   or  M = 0,
+             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
+             q = b + r*L;
+          and, if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  then
+          LDW1 = 2,
+          LDW2 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
+          LDW3 = N*(N + 1) + 2*N + max( q*(N + 1) + 2*N*N + L*N,
+                                        4*N ),
+             q = N*L.
+          For good performance,  LDWORK  should be larger.
+          If  LDWORK &gt;= LDW2,  or if  COMUSE = 'C'  and
+              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
+                        max( d, f ),
+          then standard QR factorizations of the matrices  U  and/or
+          W2,  if  COMUSE = 'C',  or of the matrix  Gamma,  if
+          JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C'  (see METHOD), are used.
+          Otherwise, the QR factorizations are computed sequentially
+          by performing  NCYCLE  cycles, each cycle (except possibly
+          the last one) processing  s &lt; t  samples, where  s  is
+          chosen by equating  LDWORK  to the first term of  LDWb,
+          if  COMUSE = 'C',  or of  LDW3,  if  COMUSE &lt;&gt; 'C',  for
+          q  replaced by  s*L.  (s  is larger than or equal to the
+          minimum value of  NSMP.)  The computational effort may
+          increase and the accuracy may slightly decrease with the
+          decrease of  s.  Recommended value is  LDWORK = LDW2,
+          assuming a large enough cache size, to also accommodate
+          A,  (B,)  C,  (D,)  U,  and  Y.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix;
+          = 6:  the matrix  A  is unstable;  the estimated  x(0)
+                and/or  B and D  could be inaccurate.
+          NOTE: the value 4 of  IWARN  has no significance for the
+                identification problem.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the QR algorithm failed to compute all the
+                eigenvalues of the matrix A (see LAPACK Library
+                routine DGEES); the locations  DWORK(i),  for
+                i = g+1:g+N*N,  contain the partially converged
+                Schur form;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix  A  is initially reduced to a real Schur form, A = V*At*V',
+  and the given system matrices are transformed accordingly. For the
+  reduced system, an extension and refinement of the method in [1,2]
+  is used. Specifically, for  JOBX0 = 'X',  COMUSE = 'C',  and
+  JOB = 'D',  denoting
+
+        X = [ vec(D')' vec(B)' x0' ]',
+
+  where  vec(M)  is the vector obtained by stacking the columns of
+  the matrix  M,  then  X  is the least squares solution of the
+  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
+  defined by
+
+        ( U         |     | ... |     |     | ... |     |         )
+        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
+    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
+        (       :   |     | ... |     |     | ... |     |         )
+        (         U |     | ... |     |     | ... |     |         )
+                                                                  ij
+  diag(U)  having  L  block rows and columns.  In this formula,  y
+  are the outputs of the system for zero initial state computed
+  using the following model, for j = 1:m, and for i = 1:n,
+         ij          ij                    ij
+        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
+
+         ij          ij
+        y  (k)   = Cx  (k),
+
+  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
+  given by
+
+             (     C     )
+             (    C*A    )
+     Gamma = (   C*A^2   ),
+             (     :     )
+             ( C*A^(t-1) )
+
+  and  P  is a permutation matrix that groups together the rows of
+  Gamma  depending on the same row of  C,  namely
+  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
+  The first block column,  diag(U),  is not explicitly constructed,
+  but its structure is exploited. The last block column is evaluated
+  using powers of A with exponents 2^k. No interchanges are applied.
+  A special QR decomposition of the matrix  S  is computed. Let
+  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
+  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
+  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
+  matrix  S  becomes
+
+     ( diag(r)  W1 )
+     (    0     W2 ),
+
+  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
+  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
+  The intermediate results and the QR decomposition of  U  are
+  needed to find  D.  If a triangular factor is too ill conditioned,
+  then singular value decomposition (SVD) is employed. SVD is not
+  generally needed if the input sequence is sufficiently
+  persistently exciting and  NSMP  is large enough.
+  If the matrix  W  cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
+  computed sequentially.
+  For  JOBX0 = 'N'  and  COMUSE = 'C',  or  JOB = 'B',  a simpler
+  problem is solved efficiently.
+
+  For  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  a simpler method is used.
+  Specifically, the output y0(k) of the system for zero initial
+  state is computed for k = 0, 1, ...,  t-1 using the given model.
+  Then the following least squares problem is solved for x(0)
+
+                      (   y(0) - y0(0)   )
+                      (   y(1) - y0(1)   )
+     Gamma * x(0)  =  (        :         ).
+                      (        :         )
+                      ( y(t-1) - y0(t-1) )
+
+  The coefficient matrix  Gamma  is evaluated using powers of A with
+  exponents 2^k. The QR decomposition of this matrix is computed.
+  If its triangular factor  R  is too ill conditioned, then singular
+  value decomposition of  R  is used.
+  If the coefficient matrix cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW2),  the QR decomposition is computed sequentially.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Varga, A.
+      Some Experience with the MOESP Class of Subspace Model
+      Identification Methods in Identifying the BO105 Helicopter.
+      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
+
+  [2] Sima, V., and Varga, A.
+      RASP-IDENT : Subspace Model Identification Programs.
+      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
+      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The algorithm for computing the system matrices  B  and  D  is
+  less efficient than the MOESP or N4SID algorithms implemented in
+  SLICOT Library routines IB01BD/IB01PD, because a large least
+  squares problem has to be solved, but the accuracy is better, as
+  the computed matrices  B  and  D  are fitted to the input and
+  output trajectories. However, if matrix  A  is unstable, the
+  computed matrices  B  and  D  could be inaccurate.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB01CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LDA, LDB, LDC, LDD, LDR, LDU, LDV, LDW1, LDW2,
+     $                 LDW4, LDW5, LDWORK, LDY, LIWORK, LMAX, MMAX,
+     $                 NMAX, NOBRMX, NSMPMX
+      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
+     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
+     $                   LDC  = LMAX, LDD = LMAX, LDV = NMAX,
+     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
+     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
+     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
+     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
+     $                               LMAX*NOBRMX*NMAX +
+     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    3*NMAX + LMAX +
+     $                                    ( 2*MMAX + LMAX )*NOBRMX,
+     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    NMAX*NMAX + 8*NMAX,
+     $                                    NMAX +
+     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
+     $                   LDW2 = LMAX*NOBRMX*NMAX +
+     $                          MMAX*NOBRMX*( NMAX + LMAX )*
+     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                          MAX( ( NMAX + LMAX )**2,
+     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                   LDW4 = NSMPMX*LMAX*NMAX*( MMAX + 1 ) +
+     $                          MAX( NMAX +
+     $                               MAX( 2*NMAX*NMAX + NMAX,
+     $                                    MMAX +
+     $                                    MAX( 2*NMAX*( MMAX + 1 ),
+     $                                         MMAX ),
+     $                                    6*NMAX*( MMAX + 1 ) ),
+     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
+     $                   LDW5 = ( LMAX*MMAX + NMAX*( MMAX + 1 ) )*
+     $                          NMAX*( MMAX + 1 ) +
+     $                          MAX( ( LMAX*MMAX +
+     $                               LMAX*NMAX*( MMAX + 1 ) )*
+     $                               NMAX*( MMAX + 1 ) +
+     $                               NMAX*NMAX*MMAX + LMAX*NMAX +
+     $                               MAX( 2*NMAX*NMAX + NMAX,
+     $                                    MMAX +
+     $                                    MAX( 2*NMAX*( MMAX + 1 ),
+     $                                         MMAX ),
+     $                                    6*NMAX*( MMAX + 1 ) ),
+     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
+     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
+     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
+     $                                 ( MMAX + LMAX + 2 ) - 2 ),
+     $                                 ( MMAX + LMAX )*4*NOBRMX*
+     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
+     $                                 3 + ( NMAX + MMAX + LMAX )*NMAX +
+     $                                 MAX( 5*NMAX, 3,
+     $                                      MIN( LDW4, LDW5 ) ) ),
+     $                   LDY = NSMPMX,
+     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
+     $                                 MMAX*NOBRMX + NMAX,
+     $                                 MMAX*( NMAX + LMAX ),
+     $                                 NMAX*MMAX + NMAX, MMAX )
+     $                 )
+*     .. Local Scalars ..
+      LOGICAL          NGIVEN
+      CHARACTER        ALG, BATCH, COMUSE, CONCT, CTRL, JOB, JOBBD,
+     $                 JOBCK, JOBD, JOBDA, JOBX0, METH, METHA
+      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
+     $                 NGIV, NOBR, NSAMPL, NSMP
+      DOUBLE PRECISION RCOND, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
+     $                 D(LDD, MMAX), DUM(1), DWORK(LDWORK),
+     $                 R(LDR, 2*(MMAX+LMAX)*NOBRMX),
+     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), V(LDV, NMAX),
+     $                 X0(NMAX), Y(LDY, LMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         IB01AD, IB01BD, IB01CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     If the value of N is positive, it will be taken as system order.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
+      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
+     $                      COMUSE, JOBX0
+      IF ( LSAME( BATCH, 'F' ) ) THEN
+         READ ( NIN, FMT = * ) NCYCLE
+      ELSE
+         NCYCLE = 1
+      END IF
+      NSAMPL = NCYCLE*NSMP
+*
+      NGIVEN = N.GT.0
+      IF( NGIVEN )
+     $   NGIV = N
+      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) NOBR
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) L
+      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
+     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'O' ) ) .OR.
+     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'L' ) ) .OR.
+     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
+     $                                 LSAME( BATCH, 'I' ) ) ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NSMP
+      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NCYCLE
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) N
+      ELSE
+*        Read the matrices U and Y from the input file.
+         IF ( M.GT.0 )
+     $      READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
+         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
+*        Force some options, depending on the specifications.
+         IF ( LSAME( METH, 'C' ) ) THEN
+            METHA = 'M'
+            JOBDA = 'N'
+         ELSE
+            METHA = METH
+            JOBDA = JOBD
+         END IF
+*        The covariances and Kalman gain matrix are not computed.
+         JOBCK = 'N'
+         IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
+            JOBBD = 'D'
+         ELSE
+            JOBBD = JOB
+         END IF
+         IF ( LSAME( COMUSE, 'C' ) ) THEN
+            JOB = 'C'
+         ELSE IF ( LSAME( COMUSE, 'U' ) ) THEN
+            JOB = 'A'
+         END IF
+*        Compute the  R  factor from a QR (or Cholesky) factorization
+*        of the Hankel-like matrix (or correlation matrix).
+         DO 10 ICYCLE = 1, NCYCLE
+            II = ( ICYCLE - 1 )*NSMP + 1
+            IF ( NCYCLE.GT.1 ) THEN
+               IF ( ICYCLE.GT.1 )      BATCH = 'I'
+               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
+            END IF
+            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
+     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+   10    CONTINUE
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99990 ) IWARN
+            IF( NGIVEN )
+     $         N = NGIV
+*           Compute the system matrices and x0.
+            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, DUM, 1,
+     $                   DUM, 1, DUM, 1, DUM, 1, RCOND, IWORK, DWORK,
+     $                   LDWORK, BWORK, IWARN, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99982 ) INFO
+            ELSE
+               IF ( IWARN.NE.0 )
+     $            WRITE ( NOUT, FMT = 99981 ) IWARN
+               CALL IB01CD( JOBX0, COMUSE, JOBBD, N, M, L, NSMP, A, LDA,
+     $                      B, LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0,
+     $                      V, LDV, RCOND, IWORK, DWORK, LDWORK, IWARN,
+     $                      INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) INFO
+               ELSE
+                  IF ( IWARN.NE.0 )
+     $               WRITE ( NOUT, FMT = 99991 ) IWARN
+                  IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
+                     WRITE ( NOUT, FMT = 99989 )
+                     DO 20 I = 1, N
+                        WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99987 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
+   30                CONTINUE
+                  END IF
+                  IF ( LSAME( COMUSE, 'C' ) ) THEN
+                     WRITE ( NOUT, FMT = 99986 )
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
+   40                CONTINUE
+                     IF ( LSAME( JOBBD, 'D' ) ) THEN
+                        WRITE ( NOUT, FMT = 99985 )
+                        DO 50 I = 1, L
+                           WRITE ( NOUT, FMT = 99988 )
+     $                           ( D(I,J), J = 1,M )
+   50                   CONTINUE
+                     END IF
+                  END IF
+                  IF ( LSAME( JOBX0, 'X' ) ) THEN
+                     WRITE ( NOUT, FMT = 99984 )
+                     WRITE ( NOUT, FMT = 99988 ) ( X0(I), I = 1,N )
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( ' IB01CD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
+99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
+99996 FORMAT (/' M is out of range.',/' M = ', I5)
+99995 FORMAT (/' L is out of range.',/' L = ', I5)
+99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
+99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
+99992 FORMAT ( ' INFO on exit from IB01CD = ',I2)
+99991 FORMAT ( ' IWARN on exit from IB01CD = ',I2)
+99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
+99989 FORMAT (/' The system state matrix A is ')
+99988 FORMAT (20(1X,F8.4))
+99987 FORMAT (/' The system output matrix C is ')
+99986 FORMAT (/' The system input matrix B is ')
+99985 FORMAT (/' The system input-output matrix D is ')
+99984 FORMAT (/' The initial state vector x0 is ')
+99983 FORMAT (/' N is out of range.',/' N = ', I5)
+99982 FORMAT ( ' INFO on exit from IB01BD = ',I2)
+99981 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB01CD EXAMPLE PROGRAM DATA
+  15     0     1     1  1000    0.0   -1.0
+   C     C     N     O     N     N     A     C     X
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+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB01CD EXAMPLE PROGRAM RESULTS
+
+
+ The system state matrix A is 
+   0.8924   0.3887   0.1285   0.1716
+  -0.0837   0.6186  -0.6273  -0.4582
+   0.0052   0.1307   0.6685  -0.6755
+   0.0055   0.0734  -0.2148   0.4788
+
+ The system output matrix C is 
+  -0.4442   0.6663   0.3961   0.4102
+
+ The system input matrix B is 
+  -0.2150
+  -0.1962
+   0.0511
+   0.0373
+
+ The system input-output matrix D is 
+  -0.0018
+
+ The initial state vector x0 is 
+ -11.4329  -0.6767   0.0472   0.3600
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01MD">IB01MD</A></H2>
+<H3>
+Upper triangular factor in the QR factorization of the block-Hankel matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct an upper triangular factor  R  of the concatenated
+  block Hankel matrices using input-output data.  The input-output
+  data can, optionally, be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01MD( METH, ALG, BATCH, CONCT, NOBR, M, L, NSMP, U,
+     $                   LDU, Y, LDY, R, LDR, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
+     $                   NSMP
+      CHARACTER          ALG, BATCH, CONCT, METH
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  ALG     CHARACTER*1
+          Specifies the algorithm for computing the triangular
+          factor R, as follows:
+          = 'C':  Cholesky algorithm applied to the correlation
+                  matrix of the input-output data;
+          = 'F':  Fast QR algorithm;
+          = 'Q':  QR algorithm applied to the concatenated block
+                  Hankel matrices.
+
+  BATCH   CHARACTER*1
+          Specifies whether or not sequential data processing is to
+          be used, and, for sequential processing, whether or not
+          the current data block is the first block, an intermediate
+          block, or the last block, as follows:
+          = 'F':  the first block in sequential data processing;
+          = 'I':  an intermediate block in sequential data
+                  processing;
+          = 'L':  the last block in sequential data processing;
+          = 'O':  one block only (non-sequential data processing).
+          NOTE that when  100  cycles of sequential data processing
+               are completed for  BATCH = 'I',  a warning is
+               issued, to prevent for an infinite loop.
+
+  CONCT   CHARACTER*1
+          Specifies whether or not the successive data blocks in
+          sequential data processing belong to a single experiment,
+          as follows:
+          = 'C':  the current data block is a continuation of the
+                  previous data block and/or it will be continued
+                  by the next data block;
+          = 'N':  there is no connection between the current data
+                  block and the previous and/or the next ones.
+          This parameter is not used if BATCH = 'O'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices to be processed.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+          When M = 0, no system inputs are processed.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t). (When sequential data processing is used,
+          NSMP  is the number of samples of the current data
+          block.)
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
+                                       processing;
+          NSMP &gt;= 2*NOBR,  for sequential processing.
+          The total number of samples when calling the routine with
+          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
+          The  NSMP  argument may vary from a cycle to another in
+          sequential data processing, but  NOBR, M,  and  L  should
+          be kept constant. For efficiency, it is advisable to use
+          NSMP  as large as possible.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NSMP-by-M part of this array must contain the
+          t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= NSMP, if M &gt; 0;
+          LDU &gt;= 1,    if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= NSMP.
+
+  R       (output or input/output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On exit, if INFO = 0 and ALG = 'Q', or (ALG = 'C' or 'F',
+          and BATCH = 'L' or 'O'), the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
+          this array contains the (current) upper triangular factor
+          R from the QR factorization of the concatenated block
+          Hankel matrices. The diagonal elements of R are positive
+          when the Cholesky algorithm was successfully used.
+          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the current upper triangular part of the
+          correlation matrix in sequential data processing.
+          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
+          referenced.
+          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
+          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
+          triangular part of this array must contain the upper
+          triangular matrix R computed at the previous call of this
+          routine in sequential data processing. The array R need
+          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(3,M+L), if ALG = 'F';
+          LIWORK &gt;= 3,          if ALG = 'C' or 'Q'.
+          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
+          must contain the values of ICYCLE, MAXWRK, and NSMPSM
+          set by the previous call of this routine.
+          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
+          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
+          used by the next call of the routine.
+          ICYCLE  counts the cycles for  BATCH = 'I'.
+          MAXWRK  stores the current optimal workspace.
+          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
+          The first three elements of  IWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          Let
+          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
+          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
+          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
+          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
+          The first (M+L)*k elements of  DWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  'I',  till the final call with  BATCH = 'L'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH &lt;&gt; 'O' and
+                                  CONCT = 'C';
+          LDWORK &gt;= 1,            if ALG = 'C', BATCH = 'O' or
+                                  CONCT = 'N';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
+                                  BATCH &lt;&gt; 'O' and CONCT = 'C';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
+                                  BATCH = 'F', 'I' and CONCT = 'N';
+          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
+                                  BATCH = 'L' and CONCT = 'N', or
+                                  BATCH = 'O';
+          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
+                                  and LDR &gt;= NS = NSMP - 2*NOBR + 1;
+          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
+                                  and LDR &lt; NS, or BATCH = 'I' or
+                                  'L' and CONCT = 'N';
+          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
+                                  or 'L' and CONCT = 'C'.
+          The workspace used for ALG = 'Q' is
+                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
+          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
+          value LDRWRK = NS, assuming a large enough cache size.
+          For good performance,  LDWORK  should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the number of 100 cycles in sequential data
+                processing has been exhausted without signaling
+                that the last block of data was get; the cycle
+                counter was reinitialized;
+          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
+                but it failed, and the QR algorithm was then used
+                (non-sequential data processing).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
+                in sequential data processing, but it failed. The
+                routine can be repeatedly called again using the
+                standard QR algorithm.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  1) For non-sequential data processing using QR algorithm, a
+  t x 2(m+l)s  matrix H is constructed, where
+
+       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
+               s+1,2s,t    1,s,t   1,2s,t
+
+       H = [ U'       Y'      ],              for METH = 'N',
+              1,2s,t   1,2s,t
+
+  and  Up     , Uf        , U      , and  Y        are block Hankel
+         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
+  matrices defined in terms of the input and output data [3].
+  A QR factorization is used to compress the data.
+  The fast QR algorithm uses a QR factorization which exploits
+  the block-Hankel structure. Actually, the Cholesky factor of H'*H
+  is computed.
+
+  2) For sequential data processing using QR algorithm, the QR
+  decomposition is done sequentially, by updating the upper
+  triangular factor  R.  This is also performed internally if the
+  workspace is not large enough to accommodate an entire batch.
+
+  3) For non-sequential or sequential data processing using
+  Cholesky algorithm, the correlation matrix of input-output data is
+  computed (sequentially, if requested), taking advantage of the
+  block Hankel structure [7].  Then, the Cholesky factor of the
+  correlation matrix is found, if possible.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Peternell, K., Scherrer, W. and Deistler, M.
+      Statistical Analysis of Novel Subspace Identification Methods.
+      Signal Processing, 52, pp. 161-177, 1996.
+
+  [6] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+  [7] Sima, V.
+      Cholesky or QR Factorization for Data Compression in
+      Subspace-based Identification ?
+      Proceedings of the Second NICONET Workshop on ``Numerical
+      Control Software: SLICOT, a Useful Tool in Industry'',
+      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable (when QR algorithm is
+  used), reliable and efficient. The fast Cholesky or QR algorithms
+  are more efficient, but the accuracy could diminish by forming the
+  correlation matrix.
+                                     2
+  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
+                                        2              3
+  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
+  point operations.
+                                       2           3 2
+  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
+  point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
+  calculations could be rather inefficient if only minimal workspace
+  (see argument LDWORK) is provided. It is advisable to provide as
+  much workspace as possible. Almost optimal efficiency can be
+  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+  cache size is large enough to accommodate R, U, Y, and DWORK.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB01MY.html b/doc/_build/html/_static/doc/IB01MY.html
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+<HTML>
+<HEAD><TITLE>IB01MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01MY">IB01MY</A></H2>
+<H3>
+Upper triangular factor in the QR factorization of the block Hankel matrix, using a fast QR algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct an upper triangular factor  R  of the concatenated
+  block Hankel matrices using input-output data, via a fast QR
+  algorithm based on displacement rank.  The input-output data can,
+  optionally, be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01MY( METH, BATCH, CONCT, NOBR, M, L, NSMP, U, LDU,
+     $                   Y, LDY, R, LDR, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
+     $                   NSMP
+      CHARACTER          BATCH, CONCT, METH
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  BATCH   CHARACTER*1
+          Specifies whether or not sequential data processing is to
+          be used, and, for sequential processing, whether or not
+          the current data block is the first block, an intermediate
+          block, or the last block, as follows:
+          = 'F':  the first block in sequential data processing;
+          = 'I':  an intermediate block in sequential data
+                  processing;
+          = 'L':  the last block in sequential data processing;
+          = 'O':  one block only (non-sequential data processing).
+          NOTE that when  100  cycles of sequential data processing
+               are completed for  BATCH = 'I',  a warning is
+               issued, to prevent for an infinite loop.
+
+  CONCT   CHARACTER*1
+          Specifies whether or not the successive data blocks in
+          sequential data processing belong to a single experiment,
+          as follows:
+          = 'C':  the current data block is a continuation of the
+                  previous data block and/or it will be continued
+                  by the next data block;
+          = 'N':  there is no connection between the current data
+                  block and the previous and/or the next ones.
+          This parameter is not used if BATCH = 'O'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices to be processed.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n, the
+          estimated dimension of state vector.)
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+          When M = 0, no system inputs are processed.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t). (When sequential data processing is used,
+          NSMP  is the number of samples of the current data
+          block.)
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
+                                       processing;
+          NSMP &gt;= 2*NOBR,  for sequential processing.
+          The total number of samples when calling the routine with
+          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
+          The  NSMP  argument may vary from a cycle to another in
+          sequential data processing, but  NOBR, M,  and  L  should
+          be kept constant. For efficiency, it is advisable to use
+          NSMP  as large as possible.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NSMP-by-M part of this array must contain the
+          t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= NSMP, if M &gt; 0;
+          LDU &gt;= 1,    if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= NSMP.
+
+  R       (output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          If INFO = 0 and BATCH = 'L' or 'O', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the upper triangular factor R from the
+          QR factorization of the concatenated block Hankel
+          matrices.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension MAX(3,M+L)
+          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
+          must contain the values of ICYCLE, MAXWRK, and NSMPSM
+          set by the previous call of this routine.
+          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
+          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
+          used by the next call of the routine.
+          ICYCLE  counts the cycles for  BATCH = 'I'.
+          MAXWRK  stores the current optimal workspace.
+          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
+          The first three elements of  IWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          The first (M+L)*2*NOBR*(M+L+c) elements of  DWORK  should
+          be preserved during successive calls of the routine
+          with  BATCH = 'F'  or  'I',  till the final call with
+          BATCH = 'L',  where
+          c = 1,  if the successive data blocks do not belong to a
+                  single experiment  (CONCT = 'N');
+          c = 2,  if the successive data blocks belong to a single
+                  experiment  (CONCT = 'C').
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3),
+                           if BATCH &lt;&gt; 'O' and CONCT = 'C';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1),
+                           if BATCH = 'F' or 'I' and CONCT = 'N';
+          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR,
+                           if BATCH = 'L' and CONCT = 'N',
+                           or BATCH = 'O'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA. The workspace query should be done
+          for BATCH = 'L' or BATCH = 'O'. To get it in advance, use
+          BATCH = 'O'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the number of 100 cycles in sequential data
+                processing has been exhausted without signaling
+                that the last block of data was get.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the fast QR factorization algorithm failed. The
+                matrix H'*H is not (numerically) positive definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Consider the  t x 2(m+l)s  matrix H of concatenated block Hankel
+  matrices
+
+       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
+               s+1,2s,t    1,s,t   1,2s,t
+
+       H = [ U'       Y'      ],              for METH = 'N',
+              1,2s,t   1,2s,t
+
+  where  Up     , Uf        , U      , and  Y        are block
+           1,s,t    s+1,2s,t   1,2s,t        1,2s,t
+  Hankel matrices defined in terms of the input and output data [3].
+  The fast QR algorithm uses a factorization of H'*H which exploits
+  the block-Hankel structure, via a displacement rank technique [5].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Kressner, D., Mastronardi, N., Sima, V., Van Dooren, P., and
+      Van Huffel, S.
+      A Fast Algorithm for Subspace State-space System
+      Identification via Exploitation of the Displacement Structure.
+      J. Comput. Appl. Math., Vol.132, No.1, pp. 71-81, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is reliable and efficient. Numerical
+  difficulties are possible when the matrix H'*H is nearly rank
+  defficient. The method cannot be used if the matrix H'*H is not
+  numerically positive definite.
+                                  2           3 2
+  The algorithm requires 0(2t(m+l) s)+0(4(m+l) s ) floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB01ND.html b/doc/_build/html/_static/doc/IB01ND.html
new file mode 100644
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@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>IB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01ND">IB01ND</A></H2>
+<H3>
+Singular value decomposition giving the system order
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the singular value decomposition (SVD) giving the system
+  order, using the triangular factor of the concatenated block
+  Hankel matrices. Related preliminary calculations needed for
+  computing the system matrices are also performed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01ND( METH, JOBD, NOBR, M, L, R, LDR, SV, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDR, LDWORK, M, NOBR
+      CHARACTER          JOBD, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not the matrices B and D should later
+          be computed using the MOESP approach, as follows:
+          = 'M':  the matrices B and D should later be computed
+                  using the MOESP approach;
+          = 'N':  the matrices B and D should not be computed using
+                  the MOESP approach.
+          This parameter is not relevant for METH = 'N'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices.  NOBR &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On entry, the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper
+          triangular part of this array must contain the upper
+          triangular factor R from the QR factorization of the
+          concatenated block Hankel matrices. Denote  R_ij,
+          i,j = 1:4,  the ij submatrix of  R,  partitioned by
+          M*NOBR,  M*NOBR,  L*NOBR,  and  L*NOBR  rows and columns.
+          On exit, if INFO = 0, the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the matrix S, the processed upper
+          triangular factor R, as required by other subroutines.
+          Specifically, let  S_ij, i,j = 1:4,  be the ij submatrix
+          of  S,  partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and
+          L*NOBR  rows and columns. The submatrix  S_22  contains
+          the matrix of left singular vectors needed subsequently.
+          Useful information is stored in  S_11  and in the
+          block-column  S_14 : S_44.  For METH = 'M' and JOBD = 'M',
+          the upper triangular part of  S_31  contains the upper
+          triangular factor in the QR factorization of the matrix
+          R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12  contains the
+          corresponding leading part of the transformed matrix
+          R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',  the
+          subarray  S_41 : S_43  contains the transpose of the
+          matrix contained in  S_14 : S_34.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
+                               for METH = 'M' and JOBD = 'M';
+          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
+                               for METH = 'N'.
+
+  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
+          The singular values of the relevant part of the triangular
+          factor from the QR factorization of the concatenated block
+          Hankel matrices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not used for  METH = 'M'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ((M+L)*NOBR)
+          This parameter is not referenced for METH = 'M'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and, for  METH = 'N',  DWORK(2)  and  DWORK(3)
+          contain the reciprocal condition numbers of the
+          triangular factors of the matrices  U_f  and  r_1  [6].
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( (2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR ),
+                                      if METH = 'M' and JOBD = 'M';
+          LDWORK &gt;=  5*L*NOBR,        if METH = 'M' and JOBD = 'N';
+          LDWORK &gt;=  5*(M+L)*NOBR+1,  if METH = 'N'.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problems with coefficient matrix
+                U_f,  used for computing the weighted oblique
+                projection (for METH = 'N'), have a rank-deficient
+                coefficient matrix;
+          = 5:  the least squares problem with coefficient matrix
+                r_1  [6], used for computing the weighted oblique
+                projection (for METH = 'N'), has a rank-deficient
+                coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A singular value decomposition (SVD) of a certain matrix is
+  computed, which reveals the order  n  of the system as the number
+  of "non-zero" singular values. For the MOESP approach, this matrix
+  is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
+  where  R  is the upper triangular factor  R  constructed by SLICOT
+  Library routine  IB01MD.  For the N4SID approach, a weighted
+  oblique projection is computed from the upper triangular factor  R
+  and its SVD is then found.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Van Overschee, P., and De Moor, B.
+      Subspace Identification for Linear Systems: Theory -
+      Implementation - Applications.
+      Kluwer Academic Publishers, Boston/London/Dordrecht, 1996.
+
+  [6] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                                   3
+  The algorithm requires 0(((m+l)s) ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB01OD.html b/doc/_build/html/_static/doc/IB01OD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>IB01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01OD">IB01OD</A></H2>
+<H3>
+Estimating the system order
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the system order, based on the singular values of the
+  relevant part of the triangular factor of the concatenated block
+  Hankel matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01OD( CTRL, NOBR, L, SV, N, TOL, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, N, NOBR
+      CHARACTER          CTRL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CTRL    CHARACTER*1
+          Specifies whether or not the user's confirmation of the
+          system order estimate is desired, as follows:
+          = 'C':  user's confirmation;
+          = 'N':  no confirmation.
+          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
+          is called, and, after inspecting the singular values and
+          system order estimate,  n,  the user may accept  n  or set
+          a new value.
+          IB01OY  is not called by the routine if CTRL = 'N'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the processed input and
+          output block Hankel matrices.  NOBR &gt; 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  SV      (input) DOUBLE PRECISION array, dimension ( L*NOBR )
+          The singular values of the relevant part of the triangular
+          factor from the QR factorization of the concatenated block
+          Hankel matrices.
+
+  N       (output) INTEGER
+          The estimated order of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Absolute tolerance used for determining an estimate of
+          the system order. If  TOL &gt;= 0,  the estimate is
+          indicated by the index of the last singular value greater
+          than or equal to  TOL.  (Singular values less than  TOL
+          are considered as zero.) When  TOL = 0,  an internally
+          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
+          where  SV(1)  is the maximal singular value, and  EPS  is
+          the relative machine precision (see LAPACK Library routine
+          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
+          index of the singular value that has the largest
+          logarithmic gap to its successor.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 3:  all singular values were exactly zero, hence  N = 0.
+                (Both input and output were identically zero.)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The singular values are compared to the given, or default TOL, and
+  the estimated order  n  is returned, possibly after user's
+  confirmation.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB01OY.html b/doc/_build/html/_static/doc/IB01OY.html
new file mode 100644
index 00000000..3ea8fb47
--- /dev/null
+++ b/doc/_build/html/_static/doc/IB01OY.html
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+<HTML>
+<HEAD><TITLE>IB01OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01OY">IB01OY</A></H2>
+<H3>
+User's confirmation of the system order
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To ask for user's confirmation of the system order found by
+  SLICOT Library routine IB01OD. This routine may be modified,
+  but its interface must be preserved.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01OY( NS, NMAX, N, SV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, N, NMAX, NS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   SV( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NS      (input) INTEGER
+          The number of singular values.  NS &gt; 0.
+
+  NMAX    (input) INTEGER
+          The maximum value of the system order.  0 &lt;= NMAX &lt;= NS.
+
+  N       (input/output) INTEGER
+          On entry, the estimate of the system order computed by
+          IB01OD routine.  0 &lt;= N &lt;= NS.
+          On exit, the user's estimate of the system order, which
+          could be identical with the input value of  N.
+          Note that the output value of  N  should be less than
+          or equal to  NMAX.
+
+  SV      (input) DOUBLE PRECISION array, dimension ( NS )
+          The singular values, in descending order, used for
+          determining the system order.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB01PD.html b/doc/_build/html/_static/doc/IB01PD.html
new file mode 100644
index 00000000..acb3f1ce
--- /dev/null
+++ b/doc/_build/html/_static/doc/IB01PD.html
@@ -0,0 +1,406 @@
+<HTML>
+<HEAD><TITLE>IB01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01PD">IB01PD</A></H2>
+<H3>
+Estimating system matrices and covariances
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the matrices A, C, B, and D of a linear time-invariant
+  (LTI) state space model, using the singular value decomposition
+  information provided by other routines. Optionally, the system and
+  noise covariance matrices, needed for the Kalman gain, are also
+  determined.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01PD( METH, JOB, JOBCV, NOBR, N, M, L, NSMPL, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
+     $                   RY, LDRY, S, LDS, O, LDO, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDO, LDQ,
+     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
+      CHARACTER          JOB, JOBCV, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  O(LDO, *), Q(LDQ, *), R(LDR, *),
+     $                   RY(LDRY, *), S(LDS, *)
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  JOB     CHARACTER*1
+          Specifies which matrices should be computed, as follows:
+          = 'A':  compute all system matrices, A, B, C, and D;
+          = 'C':  compute the matrices A and C only;
+          = 'B':  compute the matrix B only;
+          = 'D':  compute the matrices B and D only.
+
+  JOBCV   CHARACTER*1
+          Specifies whether or not the covariance matrices are to
+          be computed, as follows:
+          = 'C':  the covariance matrices should be computed;
+          = 'N':  the covariance matrices should not be computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMPL   (input) INTEGER
+          If JOBCV = 'C', the total number of samples used for
+          calculating the covariance matrices.
+          NSMPL &gt;= 2*(M+L)*NOBR.
+          This parameter is not meaningful if  JOBCV = 'N'.
+
+  R       (input/workspace) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
+          of this array must contain the relevant data for the MOESP
+          or N4SID algorithms, as constructed by SLICOT Library
+          routines IB01AD or IB01ND. Let  R_ij,  i,j = 1:4,  be the
+          ij submatrix of  R  (denoted  S  in IB01AD and IB01ND),
+          partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR
+          rows and columns. The submatrix  R_22  contains the matrix
+          of left singular vectors used. Also needed, for
+          METH = 'N'  or  JOBCV = 'C',  are the submatrices  R_11,
+          R_14 : R_44,  and, for  METH = 'M'  and  JOB &lt;&gt; 'C',  the
+          submatrices  R_31  and  R_12,  containing the processed
+          matrices  R_1c  and  R_2c,  respectively, as returned by
+          SLICOT Library routines IB01AD or IB01ND.
+          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
+          block-row  R_41 : R_43  must contain the transpose of the
+          block-column  R_14 : R_34  as returned by SLICOT Library
+          routines IB01AD or IB01ND.
+          The remaining part of  R  is used as workspace.
+          On exit, part of this array is overwritten. Specifically,
+          if  METH = 'M',  R_22  and  R_31  are overwritten if
+              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
+              and possibly  R_11  are overwritten if  JOBCV = 'C';
+          if  METH = 'N',  all needed submatrices are overwritten.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+  A       (input or output) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
+          leading N-by-N part of this array must contain the system
+          state matrix.
+          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
+          this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
+          leading N-by-N part of this array contains the system
+          state matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
+                         JOB = 'B' or 'D';
+          LDA &gt;= 1,  otherwise.
+
+  C       (input or output) DOUBLE PRECISION array, dimension
+          (LDC,N)
+          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
+          leading L-by-N part of this array must contain the system
+          output matrix.
+          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
+          this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
+          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
+          L-by-N part of this array contains the system output
+          matrix.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
+                         JOB = 'B' or 'D';
+          LDC &gt;= 1,  otherwise.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
+          leading N-by-M part of this array contains the system
+          input matrix. If  M = 0  or  JOB = 'C',  this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
+          not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
+          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If JOBCV = 'C', the leading N-by-N part of this array
+          contains the positive semidefinite state covariance matrix
+          to be used as state weighting matrix when computing the
+          Kalman gain.
+          This parameter is not referenced if JOBCV = 'N'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= N,  if JOBCV = 'C';
+          LDQ &gt;= 1,  if JOBCV = 'N'.
+
+  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
+          If JOBCV = 'C', the leading L-by-L part of this array
+          contains the positive (semi)definite output covariance
+          matrix to be used as output weighting matrix when
+          computing the Kalman gain.
+          This parameter is not referenced if JOBCV = 'N'.
+
+  LDRY    INTEGER
+          The leading dimension of the array RY.
+          LDRY &gt;= L,  if JOBCV = 'C';
+          LDRY &gt;= 1,  if JOBCV = 'N'.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
+          If JOBCV = 'C', the leading N-by-L part of this array
+          contains the state-output cross-covariance matrix to be
+          used as cross-weighting matrix when computing the Kalman
+          gain.
+          This parameter is not referenced if JOBCV = 'N'.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= N,  if JOBCV = 'C';
+          LDS &gt;= 1,  if JOBCV = 'N'.
+
+  O       (output) DOUBLE PRECISION array, dimension ( LDO,N )
+          If  METH = 'M'  and  JOBCV = 'C',  or  METH = 'N',
+          the leading  L*NOBR-by-N  part of this array contains
+          the estimated extended observability matrix, i.e., the
+          first  N  columns of the relevant singular vectors.
+          If  METH = 'M'  and  JOBCV = 'N',  this array is not
+          referenced.
+
+  LDO     INTEGER
+          The leading dimension of the array  O.
+          LDO &gt;= L*NOBR,  if  JOBCV = 'C'  or  METH = 'N';
+          LDO &gt;= 1,       otherwise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = N,                   if METH = 'M' and M = 0
+                                     or JOB = 'C' and JOBCV = 'N';
+          LIWORK = M*NOBR+N,            if METH = 'M', JOB = 'C',
+                                        and JOBCV = 'C';
+          LIWORK = max(L*NOBR,M*NOBR),  if METH = 'M', JOB &lt;&gt; 'C',
+                                        and JOBCV = 'N';
+          LIWORK = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
+                                          and JOBCV = 'C';
+          LIWORK = max(M*NOBR+N,M*(N+L)), if METH = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
+          DWORK(5)  contain the reciprocal condition numbers of the
+          triangular factors of the matrices, defined in the code,
+          GaL  (GaL = Un(1:(s-1)*L,1:n)),  R_1c  (if  METH = 'M'),
+          M  (if  JOBCV = 'C'  or  METH = 'N'),  and  Q  or  T  (see
+          SLICOT Library routines IB01PY or IB01PX),  respectively.
+          If  METH = 'N',  DWORK(3)  is set to one without any
+          calculations. Similarly, if  METH = 'M'  and  JOBCV = 'N',
+          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
+          DWORK(3)  and  DWORK(5)  are set to one.
+          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( LDW1,LDW2 ), where, if METH = 'M',
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
+                  if JOB = 'C' or JOB = 'A' and M = 0;
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
+                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
+                       max( L+M*NOBR, L*NOBR +
+                                      max( 3*L*NOBR+1, M ) ) )
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDW2 &gt;= 0,                                 if JOBCV = 'N';
+          LDW2 &gt;= max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
+                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
+                                                     if JOBCV = 'C',
+          where Aw = N+N*N, if M = 0 or JOB = 'C';
+                Aw = 0,     otherwise;
+          and, if METH = 'N',
+          LDW1 &gt;= max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
+                       2*(L*NOBR-L)*N+N*N+8*N, N+4*(M*NOBR+N)+1,
+                       M*NOBR+3*N+L );
+          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
+          LDW2 &gt;= M*NOBR*(N+L)*(M*(N+L)+1)+
+                  max( (N+L)**2, 4*M*(N+L)+1 ),
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D'.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  a least squares problem to be solved has a
+                rank-deficient coefficient matrix;
+          = 5:  the computed covariance matrices are too small.
+                The problem seems to be a deterministic one.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge;
+          = 3:  a singular upper triangular matrix was found.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In the MOESP approach, the matrices  A  and  C  are first
+  computed from an estimated extended observability matrix [1],
+  and then, the matrices  B  and  D  are obtained by solving an
+  extended linear system in a least squares sense.
+  In the N4SID approach, besides the estimated extended
+  observability matrix, the solutions of two least squares problems
+  are used to build another least squares problem, whose solution
+  is needed to compute the system matrices  A,  C,  B,  and  D.  The
+  solutions of the two least squares problems are also optionally
+  used by both approaches to find the covariance matrices.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error state-
+      space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+  [4] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In some applications, it is useful to compute the system matrices
+  using two calls to this routine, the first one with  JOB = 'C',
+  and the second one with  JOB = 'B' or 'D'.  This is slightly less
+  efficient than using a single call with  JOB = 'A',  because some
+  calculations are repeated. If  METH = 'N',  all the calculations
+  at the first call are performed again at the second call;
+  moreover, it is required to save the needed submatrices of  R
+  before the first call and restore them before the second call.
+  If the covariance matrices are desired,  JOBCV  should be set
+  to  'C'  at the second call. If  B  and  D  are both needed, they
+  should be computed at once.
+  It is possible to compute the matrices A and C using the MOESP
+  algorithm (METH = 'M'), and the matrices B and D using the N4SID
+  algorithm (METH = 'N'). This combination could be slightly more
+  efficient than N4SID algorithm alone and it could be more accurate
+  than MOESP algorithm. No saving/restoring is needed in such a
+  combination, provided  JOBCV  is set to  'N'  at the first call.
+  Recommended usage:  either one call with  JOB = 'A',  or
+     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
+     second call with  METH = 'M',  JOB = 'D',  JOBCV = 'C',  or
+     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
+     second call with  METH = 'N',  JOB = 'D',  JOBCV = 'C'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01PX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01PX">IB01PX</A></H2>
+<H3>
+Estimating system matrices B and D using Kronecker products
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To build and solve the least squares problem  T*X = Kv,  and
+  estimate the matrices B and D of a linear time-invariant (LTI)
+  state space model, using the solution  X,  and the singular
+  value decomposition information and other intermediate results,
+  provided by other routines.
+
+  The matrix  T  is computed as a sum of Kronecker products,
+
+     T = T + kron(Uf(:,(i-1)*m+1:i*m),N_i),  for i = 1 : s,
+
+  (with  T  initialized by zero), where  Uf  is the triangular
+  factor of the QR factorization of the future input part (see
+  SLICOT Library routine IB01ND),  N_i  is given by the i-th block
+  row of the matrix
+
+         [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ]   [ I_L  0  ]
+         [ Q_12  Q_13  ...  Q_1,s-1    Q_1s    0   ]   [         ]
+     N = [ Q_13  Q_14  ...    Q_1s      0      0   ] * [         ],
+         [  :     :            :        :      :   ]   [         ]
+         [ Q_1s   0    ...     0        0      0   ]   [  0  GaL ]
+
+  and where
+
+            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
+     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
+            [ I_L - L_2|1 ]          [     -L_2|i    ]
+
+  are  (n+L)-by-L  matrices, and  GaL  is built from the first  n
+  relevant singular vectors,  GaL = Un(1:L(s-1),1:n),  computed
+  by IB01ND.
+
+  The vector  Kv  is vec(K), with the matrix  K  defined by
+
+     K = [ K_1  K_2  K_3  ...  K_s ],
+
+  where  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
+  The given matrices are  Uf,  GaL,  and
+
+         [ L_1|1  ...  L_1|s ]
+     L = [                   ],   (n+L)-by-L*s,
+         [ L_2|1  ...  L_2|s ]
+
+     M = [ M_1  ...  M_s-1 ],      n-by-L*(s-1),  and
+     K,                            (n+L)-by-m*s.
+
+  Matrix  M  is the pseudoinverse of the matrix  GaL,  computed by
+  SLICOT Library routine IB01PD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01PX( JOB, NOBR, N, M, L, UF, LDUF, UN, LDUN, UL,
+     $                   LDUL, PGAL, LDPGAL, K, LDK, R, LDR, X, B, LDB,
+     $                   D, LDD, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDB, LDD, LDK, LDPGAL, LDR,
+     $                   LDUF, LDUL, LDUN, LDWORK, M, N, NOBR
+      CHARACTER          JOB
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), K(LDK, *),
+     $                   PGAL(LDPGAL, *), R(LDR, *), UF(LDUF, *),
+     $                   UL(LDUL, *), UN(LDUN, *), X(*)
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies which of the matrices B and D should be
+          computed, as follows:
+          = 'B':  compute the matrix B, but not the matrix D;
+          = 'D':  compute both matrices B and D.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  UF      (input/output) DOUBLE PRECISION array, dimension
+          ( LDUF,M*NOBR )
+          On entry, the leading  M*NOBR-by-M*NOBR  upper triangular
+          part of this array must contain the upper triangular
+          factor of the QR factorization of the future input part,
+          as computed by SLICOT Library routine IB01ND.
+          The strict lower triangle need not be set to zero.
+          On exit, the leading  M*NOBR-by-M*NOBR  upper triangular
+          part of this array is unchanged, and the strict lower
+          triangle is set to zero.
+
+  LDUF    INTEGER
+          The leading dimension of the array  UF.
+          LDUF &gt;= MAX( 1, M*NOBR ).
+
+  UN      (input) DOUBLE PRECISION array, dimension ( LDUN,N )
+          The leading  L*(NOBR-1)-by-N  part of this array must
+          contain the matrix  GaL,  i.e., the leading part of the
+          first  N  columns of the matrix  Un  of relevant singular
+          vectors.
+
+  LDUN    INTEGER
+          The leading dimension of the array  UN.
+          LDUN &gt;= L*(NOBR-1).
+
+  UL      (input/output) DOUBLE PRECISION array, dimension
+          ( LDUL,L*NOBR )
+          On entry, the leading  (N+L)-by-L*NOBR  part of this array
+          must contain the given matrix  L.
+          On exit, if  M &gt; 0,  the leading  (N+L)-by-L*NOBR  part of
+          this array is overwritten by the matrix
+          [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ].
+
+  LDUL    INTEGER
+          The leading dimension of the array  UL.  LDUL &gt;= N+L.
+
+  PGAL    (input) DOUBLE PRECISION array, dimension
+          ( LDPGAL,L*(NOBR-1) )
+          The leading  N-by-L*(NOBR-1)  part of this array must
+          contain the pseudoinverse of the matrix  GaL,  computed by
+          SLICOT Library routine IB01PD.
+
+  LDPGAL  INTEGER
+          The leading dimension of the array  PGAL.  LDPGAL &gt;= N.
+
+  K       (input) DOUBLE PRECISION array, dimension ( LDK,M*NOBR )
+          The leading  (N+L)-by-M*NOBR  part of this array must
+          contain the given matrix  K.
+
+  LDK     INTEGER
+          The leading dimension of the array  K.  LDK &gt;= N+L.
+
+  R       (output) DOUBLE PRECISION array, dimension ( LDR,M*(N+L) )
+          The leading  (N+L)*M*NOBR-by-M*(N+L)  part of this array
+          contains details of the complete orthogonal factorization
+          of the coefficient matrix  T  of the least squares problem
+          which is solved for getting the system matrices B and D.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= MAX( 1, (N+L)*M*NOBR ).
+
+  X       (output) DOUBLE PRECISION array, dimension
+          ( (N+L)*M*NOBR )
+          The leading  M*(N+L)  elements of this array contain the
+          least squares solution of the system  T*X = Kv.
+          The remaining elements are used as workspace (to store the
+          corresponding part of the vector Kv = vec(K)).
+
+  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
+          The leading N-by-M part of this array contains the system
+          input matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
+          If  JOB = 'D',  the leading L-by-M part of this array
+          contains the system input-output matrix.
+          If  JOB = 'B',  this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L, if  JOB = 'D';
+          LDD &gt;= 1, if  JOB = 'B'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ( M*(N+L) )
+
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and, if  M &gt; 0,  DWORK(2)  contains the
+          reciprocal condition number of the triangular factor of
+          the matrix  T.
+          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( (N+L)*(N+L), 4*M*(N+L)+1 ).
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix  T  is computed, evaluating the sum of Kronecker
+  products, and then the linear system  T*X = Kv  is solved in a
+  least squares sense. The matrices  B  and  D  are then directly
+  obtained from the least squares solution.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01PY">IB01PY</A></H2>
+<H3>
+Estimating system matrices B and D using a structure exploiting QR factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  1. To compute the triangular  (QR)  factor of the  p-by-L*s
+  structured matrix  Q,
+
+      [ Q_1s  Q_1,s-1  Q_1,s-2  ...  Q_12  Q_11 ]
+      [  0      Q_1s   Q_1,s-1  ...  Q_13  Q_12 ]
+  Q = [  0       0       Q_1s   ...  Q_14  Q_13 ],
+      [  :       :        :           :     :   ]
+      [  0       0        0     ...   0    Q_1s ]
+
+  and apply the transformations to the p-by-m matrix  Kexpand,
+
+            [ K_1 ]
+            [ K_2 ]
+  Kexpand = [ K_3 ],
+            [  :  ]
+            [ K_s ]
+
+  where, for MOESP approach (METH = 'M'), p = s*(L*s-n), and
+  Q_1i = u2(L*(i-1)+1:L*i,:)'  is  (Ls-n)-by-L,  for  i = 1:s,
+  u2 = Un(1:L*s,n+1:L*s),  K_i = K(:,(i-1)*m+1:i*m)  (i = 1:s)
+  is  (Ls-n)-by-m, and for N4SID approach (METH = 'N'), p = s*(n+L),
+  and
+
+            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
+     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
+            [ I_L - L_2|1 ]          [     -L_2|i    ]
+
+  are  (n+L)-by-L  matrices, and
+  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
+  The given matrices are:
+  For  METH = 'M',  u2 = Un(1:L*s,n+1:L*s),
+                    K(1:Ls-n,1:m*s);
+
+                        [ L_1|1  ...  L_1|s ]
+  For  METH = 'N',  L = [                   ],   (n+L)-by-L*s,
+                        [ L_2|1  ...  L_2|s ]
+
+                    M = [ M_1  ...  M_s-1 ],  n-by-L*(s-1),  and
+                    K,                        (n+L)-by-m*s.
+                    Matrix M is the pseudoinverse of the matrix GaL,
+                    built from the first  n  relevant singular
+                    vectors,  GaL = Un(1:L(s-1),1:n),  and computed
+                    by SLICOT Library routine IB01PD for METH = 'N'.
+
+  Matrix  Q  is triangularized  (in  R),  exploiting its structure,
+  and the transformations are applied from the left to  Kexpand.
+
+  2. To estimate the matrices B and D of a linear time-invariant
+  (LTI) state space model, using the factor  R,  transformed matrix
+  Kexpand, and the singular value decomposition information provided
+  by other routines.
+
+  IB01PY  routine is intended for speed and efficient use of the
+  memory space. It is generally not recommended for  METH = 'N',  as
+  IB01PX  routine can produce more accurate results.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01PY( METH, JOB, NOBR, N, M, L, RANKR1, UL, LDUL,
+     $                   R1, LDR1, TAU1, PGAL, LDPGAL, K, LDK, R, LDR,
+     $                   H, LDH, B, LDB, D, LDD, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDB, LDD, LDH, LDK, LDPGAL,
+     $                   LDR, LDR1, LDUL, LDWORK, M, N, NOBR, RANKR1
+      CHARACTER          JOB, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), H(LDH, *),
+     $                   K(LDK, *), PGAL(LDPGAL, *), R(LDR, *),
+     $                   R1(LDR1, *), TAU1(*), UL(LDUL, *)
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  JOB     CHARACTER*1
+          Specifies whether or not the matrices B and D should be
+          computed, as follows:
+          = 'B':  compute the matrix B, but not the matrix D;
+          = 'D':  compute both matrices B and D;
+          = 'N':  do not compute the matrices B and D, but only the
+                  R  factor of  Q  and the transformed Kexpand.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  RANKR1  (input) INTEGER
+          The effective rank of the upper triangular matrix  r1,
+          i.e., the triangular QR factor of the matrix  GaL,
+          computed by SLICOT Library routine IB01PD. It is also
+          the effective rank of the matrix  GaL.  0 &lt;= RANKR1 &lt;= N.
+          If  JOB = 'N',  or  M = 0,  or  METH = 'N',  this
+          parameter is not used.
+
+  UL      (input/workspace) DOUBLE PRECISION array, dimension
+          ( LDUL,L*NOBR )
+          On entry, if  METH = 'M',  the leading  L*NOBR-by-L*NOBR
+          part of this array must contain the matrix  Un  of
+          relevant singular vectors. The first  N  columns of  UN
+          need not be specified for this routine.
+          On entry, if  METH = 'N',  the leading  (N+L)-by-L*NOBR
+          part of this array must contain the given matrix  L.
+          On exit, the leading  LDF-by-L*(NOBR-1) part of this array
+          is overwritten by the matrix  F  of the algorithm in [4],
+          where  LDF = MAX( 1, L*NOBR-N-L ), if  METH = 'M';
+                 LDF = N,                    if  METH = 'N'.
+
+  LDUL    INTEGER
+          The leading dimension of the array  UL.
+          LDUL &gt;= L*NOBR, if  METH = 'M';
+          LDUL &gt;= N+L,    if  METH = 'N'.
+
+  R1      (input) DOUBLE PRECISION array, dimension ( LDR1,N )
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
+          the leading  L*(NOBR-1)-by-N  part of this array must
+          contain details of the QR factorization of the matrix
+          GaL,  as computed by SLICOT Library routine IB01PD.
+          Specifically, the leading N-by-N upper triangular part
+          must contain the upper triangular factor  r1  of  GaL,
+          and the lower  L*(NOBR-1)-by-N  trapezoidal part, together
+          with array TAU1, must contain the factored form of the
+          orthogonal matrix  Q1  in the QR factorization of  GaL.
+          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
+          and  RANKR1 &lt; N,  this array is not referenced.
+
+  LDR1    INTEGER
+          The leading dimension of the array  R1.
+          LDR1 &gt;= L*(NOBR-1), if  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',
+                              and  RANKR1 = N;
+          LDR1 &gt;= 1,          otherwise.
+
+  TAU1    (input) DOUBLE PRECISION array, dimension ( N )
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
+          this array must contain the scalar factors of the
+          elementary reflectors used in the QR factorization of the
+          matrix  GaL,  computed by SLICOT Library routine IB01PD.
+          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
+          and  RANKR1 &lt; N,  this array is not referenced.
+
+  PGAL    (input) DOUBLE PRECISION array, dimension
+          ( LDPGAL,L*(NOBR-1) )
+          If  METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and
+          RANKR1 &lt; N,  the leading  N-by-L*(NOBR-1)  part of this
+          array must contain the pseudoinverse of the matrix  GaL,
+          as computed by SLICOT Library routine IB01PD.
+          If  METH = 'M'  and  JOB = 'N',  or  M = 0,  or
+          RANKR1 = N,  this array is not referenced.
+
+  LDPGAL  INTEGER
+          The leading dimension of the array  PGAL.
+          LDPGAL &gt;= N,  if   METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,
+                        and  METH = 'M'  and RANKR1 &lt; N;
+          LDPGAL &gt;= 1,  otherwise.
+
+  K       (input/output) DOUBLE PRECISION array, dimension
+          ( LDK,M*NOBR )
+          On entry, the leading  (p/s)-by-M*NOBR  part of this array
+          must contain the given matrix  K  defined above.
+          On exit, the leading  (p/s)-by-M*NOBR  part of this array
+          contains the transformed matrix  K.
+
+  LDK     INTEGER
+          The leading dimension of the array  K.  LDK &gt;= p/s.
+
+  R       (output) DOUBLE PRECISION array, dimension ( LDR,L*NOBR )
+          If  JOB = 'N',  or  M = 0,  or  Q  has full rank, the
+          leading  L*NOBR-by-L*NOBR  upper triangular part of this
+          array contains the  R  factor of the QR factorization of
+          the matrix  Q.
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  Q  has not a full rank, the
+          leading  L*NOBR-by-L*NOBR  upper trapezoidal part of this
+          array contains details of the complete orhogonal
+          factorization of the matrix  Q,  as constructed by SLICOT
+          Library routines MB03OD and MB02QY.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.  LDR &gt;= L*NOBR.
+
+  H       (output) DOUBLE PRECISION array, dimension ( LDH,M )
+          If  JOB = 'N'  or  M = 0,  the leading  L*NOBR-by-M  part
+          of this array contains the updated part of the matrix
+          Kexpand  corresponding to the upper triangular factor  R
+          in the QR factorization of the matrix  Q.
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  METH = 'N'  or  METH = 'M'
+          and  RANKR1 &lt; N,  the leading  L*NOBR-by-M  part of this
+          array contains the minimum norm least squares solution of
+          the linear system  Q*X = Kexpand,  from which the matrices
+          B  and  D  are found. The first  NOBR-1  row blocks of  X
+          appear in the reverse order in  H.
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and  RANKR1 = N,  the
+          leading  L*(NOBR-1)-by-M  part of this array contains the
+          matrix product  Q1'*X,  and the subarray
+          L*(NOBR-1)+1:L*NOBR-by-M  contains the  corresponding
+          submatrix of  X,  with  X  defined in the phrase above.
+
+  LDH     INTEGER
+          The leading dimension of the array  H.  LDH &gt;= L*NOBR.
+
+  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
+          If  M &gt; 0,  JOB = 'B' or 'D'  and  INFO = 0,  the leading
+          N-by-M part of this array contains the system input
+          matrix.
+          If  M = 0  or  JOB = 'N',  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N, if  M &gt; 0 and JOB = 'B' or 'D';
+          LDB &gt;= 1, if  M = 0 or  JOB = 'N'.
+
+  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
+          If  M &gt; 0,  JOB = 'D'  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix.
+          If  M = 0  or  JOB = 'B'  or  'N',  this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L, if  M &gt; 0 and JOB = 'D';
+          LDD &gt;= 1, if  M = 0 or  JOB = 'B' or 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not used if  M = 0  or  JOB = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ( LIWORK )
+          where  LIWORK &gt;= 0,       if  JOB =  'N',  or   M = 0;
+                 LIWORK &gt;= L*NOBR,  if  JOB &lt;&gt; 'N',  and  M &gt; 0.
+
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of  LDWORK,  and, if  JOB &lt;&gt; 'N',  and  M &gt; 0,  DWORK(2)
+          contains the reciprocal condition number of the triangular
+          factor of the matrix  R.
+          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 2*L, L*NOBR, L+M*NOBR ),
+                                      if  JOB = 'N',  or  M = 0;
+          LDWORK &gt;= MAX( L+M*NOBR, L*NOBR + MAX( 3*L*NOBR+1, M ) ),
+                                      if  JOB &lt;&gt; 'N',  and  M &gt; 0.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  a singular upper triangular matrix was found.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The QR factorization is computed exploiting the structure,
+  as described in [4].
+  The matrices  B  and  D  are then obtained by solving certain
+  linear systems in a least squares sense.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+  [4] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method for computing the triangular factor and
+  updating Kexpand is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The computed matrices B and D are not the least squares solutions
+  delivered by either MOESP or N4SID algorithms, except for the
+  special case n = s - 1, L = 1. However, the computed B and D are
+  frequently good enough estimates, especially for  METH = 'M'.
+  Better estimates could be obtained by calling SLICOT Library
+  routine IB01PX, but it is less efficient, and requires much more
+  workspace.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01QD">IB01QD</A></H2>
+<H3>
+Estimating initial state and system matrices B and D, given A, C, and input-output trajectories
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the initial state and the system matrices  B  and  D
+  of a linear time-invariant (LTI) discrete-time system, given the
+  matrix pair  (A,C)  and the input and output trajectories of the
+  system. The model structure is :
+
+        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
+        y(k)   = Cx(k) + Du(k),
+
+  where  x(k)  is the  n-dimensional state vector (at time k),
+         u(k)  is the  m-dimensional input vector,
+         y(k)  is the  l-dimensional output vector,
+  and  A, B, C, and D  are real matrices of appropriate dimensions.
+  Matrix  A  is assumed to be in a real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01QD( JOBX0, JOB, N, M, L, NSMP, A, LDA, C, LDC, U,
+     $                   LDU, Y, LDY, X0, B, LDB, D, LDD, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
+     $                   LDWORK, LDY, M, N, NSMP
+      CHARACTER          JOB, JOBX0
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX0   CHARACTER*1
+          Specifies whether or not the initial state should be
+          computed, as follows:
+          = 'X':  compute the initial state x(0);
+          = 'N':  do not compute the initial state (x(0) is known
+                  to be zero).
+
+  JOB     CHARACTER*1
+          Specifies which matrices should be computed, as follows:
+          = 'B':  compute the matrix B only (D is known to be zero);
+          = 'D':  compute the matrices B and D.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t).
+          NSMP &gt;= N*M + a + e,  where
+          a = 0,  if  JOBX0 = 'N';
+          a = N,  if  JOBX0 = 'X';
+          e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
+          e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
+          e = M,  if  JOB   = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix  A  in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array must contain the
+          system output matrix  C  (corresponding to the real Schur
+          form of  A).
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= L.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,M)
+          On entry, the leading NSMP-by-M part of this array must
+          contain the t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          On exit, if  JOB = 'D',  the leading NSMP-by-M part of
+          this array contains details of the QR factorization of
+          the t-by-m matrix  U, possibly computed sequentially
+          (see METHOD).
+          If  JOB = 'B',  this array is unchanged on exit.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
+          LDU &gt;= 1,            if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          If  JOBX0 = 'X',  the estimated initial state of the
+          system,  x(0).
+          If  JOBX0 = 'N',  x(0)  is set to zero without any
+          calculations.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If  N &gt; 0,  M &gt; 0,  and  INFO = 0,  the leading N-by-M
+          part of this array contains the system input matrix  B
+          in the coordinates corresponding to the real Schur form
+          of  A.
+          If  N = 0  or  M = 0,  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
+          LDB &gt;= 1,  if  N = 0  or   M = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          If  M &gt; 0,  JOB = 'D',  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix  D.
+          If  M = 0  or  JOB = 'B',  this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'D';
+          LDD &gt;= 1,  if  M = 0  or   JOB = 'B'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  a matrix whose estimated condition
+          number is less than  1/TOL  is considered to be of full
+          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
+          instead, where  EPS  is the relative machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= N*M + a,            if  JOB = 'B',
+          LIWORK &gt;= max( N*M + a, M ),  if  JOB = 'D',
+          with  a = 0,  if  JOBX0 = 'N';
+                a = N,  if  JOBX0 = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK;  DWORK(2)  contains the reciprocal condition
+          number of the triangular factor of the QR factorization of
+          the matrix  W2  (see METHOD); if  M &gt; 0  and  JOB = 'D',
+          DWORK(3)  contains the reciprocal condition number of the
+          triangular factor of the QR factorization of  U.
+          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( LDW1, min( LDW2, LDW3 ) ),  where
+          LDW1 = 2,          if  M = 0  or   JOB = 'B',
+          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
+          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
+          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
+          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+          LDWb = (b + r)*(r + 1) +
+                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
+          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
+          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+             r = N*M + a,
+             a = 0,                  if  JOBX0 = 'N',
+             a = N,                  if  JOBX0 = 'X';
+             b = 0,                  if  JOB   = 'B',
+             b = L*M,                if  JOB   = 'D';
+             c = 0,                  if  JOBX0 = 'N',
+             c = L*N,                if  JOBX0 = 'X';
+             d = 0,                  if  JOBX0 = 'N',
+             d = 2*N*N + N,          if  JOBX0 = 'X';
+             f = 2*r,                if  JOB   = 'B'   or  M = 0,
+             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
+             q = b + r*L.
+          For good performance,  LDWORK  should be larger.
+          If  LDWORK &gt;= LDW2  or
+              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
+                        max( d, f ),
+          then standard QR factorizations of the matrices  U  and/or
+          W2  (see METHOD) are used.
+          Otherwise, the QR factorizations are computed sequentially
+          by performing  NCYCLE  cycles, each cycle (except possibly
+          the last one) processing  s &lt; t  samples, where  s  is
+          chosen from the equation
+            LDWORK = s*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
+                     max( d, f ).
+          (s  is at least  N*M+a+e,  the minimum value of  NSMP.)
+          The computational effort may increase and the accuracy may
+          decrease with the decrease of  s.  Recommended value is
+          LDWORK = LDW2,  assuming a large enough cache size, to
+          also accommodate  A,  C,  U,  and  Y.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension and refinement of the method in [1,2] is used.
+  Specifically, denoting
+
+        X = [ vec(D')' vec(B)' x0' ]',
+
+  where  vec(M)  is the vector obtained by stacking the columns of
+  the matrix  M,  then  X  is the least squares solution of the
+  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
+  defined by
+
+        ( U         |     | ... |     |     | ... |     |         )
+        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
+    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
+        (       :   |     | ... |     |     | ... |     |         )
+        (         U |     | ... |     |     | ... |     |         )
+                                                                  ij
+  diag(U)  having  L  block rows and columns.  In this formula,  y
+  are the outputs of the system for zero initial state computed
+  using the following model, for j = 1:m, and for i = 1:n,
+         ij          ij                    ij
+        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
+
+         ij          ij
+        y  (k)   = Cx  (k),
+
+  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
+  given by
+
+             (     C     )
+             (    C*A    )
+     Gamma = (   C*A^2   ),
+             (     :     )
+             ( C*A^(t-1) )
+
+  and  P  is a permutation matrix that groups together the rows of
+  Gamma  depending on the same row of  C,  namely
+  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
+  The first block column,  diag(U),  is not explicitly constructed,
+  but its structure is exploited. The last block column is evaluated
+  using powers of A with exponents 2^k. No interchanges are applied.
+  A special QR decomposition of the matrix  S  is computed. Let
+  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
+  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
+  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
+  matrix  S  becomes
+
+     ( diag(r)  W1 )
+     (    0     W2 ),
+
+  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
+  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
+  The intermediate results and the QR decomposition of  U  are
+  needed to find  D.  If a triangular factor is too ill conditioned,
+  then singular value decomposition (SVD) is employed. SVD is not
+  generally needed if the input sequence is sufficiently
+  persistently exciting and  NSMP  is large enough.
+  If the matrix  W  cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
+  computed sequentially.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Varga, A.
+      Some Experience with the MOESP Class of Subspace Model
+      Identification Methods in Identifying the BO105 Helicopter.
+      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
+
+  [2] Sima, V., and Varga, A.
+      RASP-IDENT : Subspace Model Identification Programs.
+      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
+      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The algorithm for computing the system matrices  B  and  D  is
+  less efficient than the MOESP or N4SID algorithms implemented in
+  SLICOT Library routine IB01PD, because a large least squares
+  problem has to be solved, but the accuracy is better, as the
+  computed matrices  B  and  D  are fitted to the input and output
+  trajectories. However, if matrix  A  is unstable, the computed
+  matrices  B  and  D  could be inaccurate.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB01RD.html b/doc/_build/html/_static/doc/IB01RD.html
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+<HTML>
+<HEAD><TITLE>IB01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01RD">IB01RD</A></H2>
+<H3>
+Estimating initial state, given A, B, C, D, and input-output trajectories
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the initial state of a linear time-invariant (LTI)
+  discrete-time system, given the system matrices  (A,B,C,D)  and
+  the input and output trajectories of the system. The model
+  structure is :
+
+        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
+        y(k)   = Cx(k) + Du(k),
+
+  where  x(k)  is the  n-dimensional state vector (at time k),
+         u(k)  is the  m-dimensional input vector,
+         y(k)  is the  l-dimensional output vector,
+  and  A, B, C, and D  are real matrices of appropriate dimensions.
+  Matrix  A  is assumed to be in a real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01RD( JOB, N, M, L, NSMP, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, U, LDU, Y, LDY, X0, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
+     $                   LDWORK, LDY, M, N, NSMP
+      CHARACTER          JOB
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether or not the matrix D is zero, as follows:
+          = 'Z':  the matrix  D  is zero;
+          = 'N':  the matrix  D  is not zero.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples used,  t).  NSMP &gt;= N.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix  A  in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix  B  (corresponding to the real Schur
+          form of  A).
+          If  N = 0  or  M = 0,  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
+          LDB &gt;= 1,  if  N = 0  or   M = 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array must contain the
+          system output matrix  C  (corresponding to the real Schur
+          form of  A).
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= L.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading L-by-M part of this array must contain the
+          system input-output matrix.
+          If  M = 0  or  JOB = 'Z',  this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'N';
+          LDD &gt;= 1,  if  M = 0  or   JOB = 'Z'.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          If  M &gt; 0,  the leading NSMP-by-M part of this array must
+          contain the t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
+          LDU &gt;= 1,            if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          The estimated initial state of the system,  x(0).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  a matrix whose estimated condition
+          number is less than  1/TOL  is considered to be of full
+          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
+          instead, where  EPS  is the relative machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK and  DWORK(2)  contains the reciprocal condition
+          number of the triangular factor of the QR factorization of
+          the matrix  Gamma  (see METHOD).
+          On exit, if  INFO = -22,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 2, min( LDW1, LDW2 ) ),  where
+          LDW1 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
+          LDW2 =   N*(N + 1) + 2*N +
+                   max( q*(N + 1) + 2*N*N + L*N, 4*N ),
+             q = N*L.
+          For good performance,  LDWORK  should be larger.
+          If  LDWORK &gt;= LDW1,  then standard QR factorization of
+          the matrix  Gamma  (see METHOD) is used. Otherwise, the
+          QR factorization is computed sequentially by performing
+          NCYCLE  cycles, each cycle (except possibly the last one)
+          processing  s  samples, where  s  is chosen by equating
+          LDWORK  to  LDW2,  for  q  replaced by  s*L.
+          The computational effort may increase and the accuracy may
+          decrease with the decrease of  s.  Recommended value is
+          LDRWRK = LDW1,  assuming a large enough cache size, to
+          also accommodate  A, B, C, D, U,  and  Y.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension and refinement of the method in [1] is used.
+  Specifically, the output y0(k) of the system for zero initial
+  state is computed for k = 0, 1, ...,  t-1 using the given model.
+  Then the following least squares problem is solved for x(0)
+
+                      (     C     )            (   y(0) - y0(0)   )
+                      (    C*A    )            (   y(1) - y0(1)   )
+     Gamma * x(0)  =  (     :     ) * x(0)  =  (        :         ).
+                      (     :     )            (        :         )
+                      ( C*A^(t-1) )            ( y(t-1) - y0(t-1) )
+
+  The coefficient matrix  Gamma  is evaluated using powers of A with
+  exponents 2^k. The QR decomposition of this matrix is computed.
+  If its triangular factor  R  is too ill conditioned, then singular
+  value decomposition of  R  is used.
+
+  If the coefficient matrix cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW1),  the QR decomposition is computed sequentially.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Varga, A.
+      Some Experience with the MOESP Class of Subspace Model
+      Identification Methods in Identifying the BO105 Helicopter.
+      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/IB03AD.html b/doc/_build/html/_static/doc/IB03AD.html
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+<HTML>
+<HEAD><TITLE>IB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB03AD">IB03AD</A></H2>
+<H3>
+Estimating parameters of a Wiener system using Levenberg-Marquardt algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a set of parameters for approximating a Wiener system
+  in a least-squares sense, using a neural network approach and a
+  Levenberg-Marquardt algorithm. Conjugate gradients (CG) or
+  Cholesky algorithms are used to solve linear systems of equations.
+  The Wiener system is represented as
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t)   = f(z(t),wb(1:L)),
+
+  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
+  evaluated by the SLICOT Library routine NF01AY. The parameter
+  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
+  where wb(i), i = 1 : L, correspond to the nonlinear part, and
+  theta corresponds to the linear part. See SLICOT Library routine
+  NF01AD for further details.
+
+  The sum of squares of the error functions, defined by
+
+     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
+
+  is minimized, where Y(t) is the measured output vector. The
+  functions and their Jacobian matrices are evaluated by SLICOT
+  Library routine NF01BB (the FCN routine in the call of MD03AD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
+     $                   ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX,
+     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ALG, INIT, STOR
+      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
+     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INIT    CHARACTER*1
+          Specifies which parts have to be initialized, as follows:
+          = 'L' : initialize the linear part only, X already
+                  contains an initial approximation of the
+                  nonlinearity;
+          = 'S' : initialize the static nonlinearity only, X
+                  already contains an initial approximation of the
+                  linear part;
+          = 'B' : initialize both linear and nonlinear parts;
+          = 'N' : do not initialize anything, X already contains
+                  an initial approximation.
+          If INIT = 'S' or 'B', the error functions for the
+          nonlinear part, and their Jacobian matrices, are evaluated
+          by SLICOT Library routine NF01BA (used as a second FCN
+          routine in the MD03AD call for the initialization step,
+          see METHOD).
+
+  ALG     CHARACTER*1
+          Specifies the algorithm used for solving the linear
+          systems involving a Jacobian matrix J, as follows:
+          = 'D' :  a direct algorithm, which computes the Cholesky
+                   factor of the matrix J'*J + par*I is used, where
+                   par is the Levenberg factor;
+          = 'I' :  an iterative Conjugate Gradients algorithm, which
+                   only needs the matrix J, is used.
+          In both cases, matrix J is stored in a compressed form.
+
+  STOR    CHARACTER*1
+          If ALG = 'D', specifies the storage scheme for the
+          symmetric matrix J'*J, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+          The option STOR = 'F' usually ensures a faster execution.
+          This parameter is not relevant if ALG = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
+          in the input and output block Hankel matrices to be
+          processed for estimating the linear part.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+          This parameter is ignored if INIT is 'S' or 'N'.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
+          INIT = 'L' or 'B'.
+
+  NSMP    (input) INTEGER
+          The number of input and output samples, t.  NSMP &gt;= 0, and
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
+
+  N       (input/output) INTEGER
+          The order of the linear part.
+          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
+          assumed unknown and it will be found by the routine.
+          Otherwise, the input value will be used. If INIT = 'S'
+          or 'N', N must be non-negative. The values N &gt;= NOBR,
+          or N = 0, are not acceptable if INIT = 'L' or 'B'.
+
+  NN      (input) INTEGER
+          The number of neurons which shall be used to approximate
+          the nonlinear part.  NN &gt;= 0.
+
+  ITMAX1  (input) INTEGER
+          The maximum number of iterations for the initialization of
+          the static nonlinearity.
+          This parameter is ignored if INIT is 'N' or 'L'.
+          Otherwise, ITMAX1 &gt;= 0.
+
+  ITMAX2  (input) INTEGER
+          The maximum number of iterations.  ITMAX2 &gt;= 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          and the current error norm is printed. Other intermediate
+          results could be printed by modifying the corresponding
+          FCN routine (NF01BA and/or NF01BB). If NPRINT &lt;= 0, no
+          special calls of FCN with IFLAG = 0 are made.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array must contain the
+          set of output samples,
+          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X       (input/output) DOUBLE PRECISION array dimension (LX)
+          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
+          of this array must contain the initial parameters for
+          the nonlinear part of the system.
+          On entry, if INIT = 'S', the elements lin1 : lin2 of this
+          array must contain the initial parameters for the linear
+          part of the system, corresponding to the output normal
+          form, computed by SLICOT Library routine TB01VD, where
+             lin1 = (NN*(L+2) + 1)*L + 1;
+             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
+          On entry, if INIT = 'N', the elements 1 : lin2 of this
+          array must contain the initial parameters for the
+          nonlinear part followed by the initial parameters for the
+          linear part of the system, as specified above.
+          This array need not be set on entry if INIT = 'B'.
+          On exit, the elements 1 : lin2 of this array contain the
+          optimal parameters for the nonlinear part followed by the
+          optimal parameters for the linear part of the system, as
+          specified above.
+
+  LX      (input/output) INTEGER
+          On entry, this parameter must contain the intended length
+          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
+          If N is unknown (N &lt; 0 on entry), a large enough estimate
+          of N should be used in the formula of lin2.
+          On exit, if N &lt; 0 on entry, but LX is not large enough,
+          then this parameter contains the actual length of X,
+          corresponding to the computed N. Otherwise, its value
+          is unchanged.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
+          which measures the relative error desired in the sum of
+          squares, for the initialization step of nonlinear part.
+          Termination occurs when the actual relative reduction in
+          the sum of squares is at most TOL1. In addition, if
+          ALG = 'I', TOL1 also measures the relative residual of
+          the solutions computed by the CG algorithm (for the
+          initialization step). Termination of a CG process occurs
+          when the relative residual is at most TOL1.
+          If the user sets  TOL1 &lt; 0,  then  SQRT(EPS)  is used
+          instead TOL1, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+          This parameter is ignored if INIT is 'N' or 'L'.
+
+  TOL2    DOUBLE PRECISION
+          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
+          relative error desired in the sum of squares, for the
+          whole optimization process. Termination occurs when the
+          actual relative reduction in the sum of squares is at
+          most TOL2.
+          If ALG = 'I', TOL2 also measures the relative residual of
+          the solutions computed by the CG algorithm (for the whole
+          optimization). Termination of a CG process occurs when the
+          relative residual is at most TOL2.
+          If the user sets  TOL2 &lt; 0,  then  SQRT(EPS)  is used
+          instead TOL2. This default value could require many
+          iterations, especially if TOL1 is larger. If INIT = 'S'
+          or 'B', it is advisable that TOL2 be larger than TOL1,
+          and spend more time with cheaper iterations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX( 3, LIW1, LIW2 )), where
+          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
+          LIW1 = M+L;
+          LIW2 = MAX(M*NOBR+N,M*(N+L)).
+          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
+          (total) number of function and Jacobian evaluations,
+          respectively (including the initialization step, if it was
+          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
+          specifies how many locations of DWORK contain reciprocal
+          condition number estimates (see below); otherwise,
+          IWORK(3) = 0.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On entry, if desired, and if INIT = 'S' or 'B', the
+          entries DWORK(1:4) are set to initialize the random
+          numbers generator for the nonlinear part parameters (see
+          the description of the argument XINIT of SLICOT Library
+          routine MD03AD); this enables to obtain reproducible
+          results. The same seed is used for all outputs.
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, DWORK(4) returns the number of conjugate
+          gradients iterations performed, and DWORK(5) returns the
+          final Levenberg factor, for optimizing the parameters of
+          both the linear part and the static nonlinearity part.
+          If INIT = 'S' or INIT = 'B' and INFO = 0, then the
+          elements DWORK(6) to DWORK(10) contain the corresponding
+          five values for the initialization step (see METHOD).
+          (If L &gt; 1, DWORK(10) contains the maximum of the Levenberg
+          factors for all outputs.) If INIT = 'L' or INIT = 'B', and
+          INFO = 0, DWORK(11) to DWORK(10+IWORK(3)) contain
+          reciprocal condition number estimates set by SLICOT
+          Library routines IB01AD, IB01BD, and IB01CD.
+          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          In the formulas below, N should be taken not larger than
+          NOBR - 1, if N &lt; 0 on entry.
+          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
+          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
+          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
+                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
+                     MAX( LDW1, LDW2 ),
+                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
+                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
+              where,
+              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
+                           L*NOBR*N +
+                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
+                                2*(L*NOBR-L)*N+N*N+8*N,
+                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
+              LDW2 &gt;= 0,                                  if M = 0;
+              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
+                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
+              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
+              LDW4 = N*(N+1) + 2*N +
+                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
+              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
+              LDW6 = NSMP*L + (N+L)*(N+M) + N +
+                     MAX(1, N*N*L + N*L + N, N*N +
+                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
+                             N*M));
+          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
+          LW2 = NSMP*L +
+                MAX( 5, NSMP + 2*BSN + NSMP*BSN +
+                        MAX( 2*NN + BSN, LDW7 ) );
+              LDW7 = BSN*BSN,       if ALG = 'D' and STOR = 'F';
+              LDW7 = BSN*(BSN+1)/2, if ALG = 'D' and STOR = 'P';
+              LDW7 = 3*BSN + NSMP,  if ALG = 'I';
+          LW3 = MAX( LDW8, NSMP*L + (N+L)*(2*N+M) + 2*N );
+              LDW8 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
+              LDW8 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
+          LW4 = MAX( 5, NSMP*L + 2*NX + NSMP*L*( BSN + LTHS ) +
+                        MAX( L1 + NX, NSMP*L + L1, L2 ) ),
+               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
+               L0 = MAX( N*(N+L), L ),        if M = 0;
+               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
+               L2 = NX*NX,          if ALG = 'D' and STOR = 'F';
+               L2 = NX*(NX+1)/2,    if ALG = 'D' and STOR = 'P';
+               L2 = 3*NX + NSMP*L,  if ALG = 'I',
+               with BSN  = NN*( L + 2 ) + 1,
+                    LTHS = N*( L + M + 1 ) + L*M.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          &lt; 0:  the user set IFLAG = IWARN in (one of) the
+                subroutine(s) FCN, i.e., NF01BA, if INIT = 'S'
+                or 'B', and/or NF01BB; this value cannot be returned
+                without changing the FCN routine(s);
+                otherwise, IWARN has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning (where TOL* denotes TOL1 or TOL2,
+                and similarly for ITMAX*):
+          = 1:  the number of iterations has reached ITMAX* without
+                satisfying the convergence condition;
+          = 2:  if alg = 'I' and in an iteration of the Levenberg-
+                Marquardt algorithm, the CG algorithm finished
+                after 3*NX iterations (or 3*(lin1-1) iterations, for
+                the initialization phase), without achieving the
+                precision required in the call;
+          = 3:  the cosine of the angle between the vector of error
+                function values and any column of the Jacobian is at
+                most FACTOR*EPS in absolute value (FACTOR = 100);
+          = 4:  TOL* is too small: no further reduction in the sum
+                of squares is possible.
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 6 (see IB01AD, IB01BD
+          and IB01CD). In all these cases, the entries DWORK(1:5),
+          DWORK(6:10) (if INIT = 'S' or 'B'), and
+          DWORK(11:10+IWORK(3)) (if INIT = 'L' or 'B'), are set as
+          described above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                otherwise, INFO has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning:
+          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 1;
+          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 2;
+          = 3:  ALG = 'D' and SLICOT Library routines MB02XD or
+                NF01BU (or NF01BV, if INIT = 'S' or 'B') or
+                ALG = 'I' and SLICOT Library routines MB02WD or
+                NF01BW (or NF01BX, if INIT = 'S' or 'B') returned
+                with INFO &lt;&gt; 0.
+          In addition, if INIT = 'L' or 'B', i could also be
+          = 4:  if a Lyapunov equation could not be solved;
+          = 5:  if the identified linear system is unstable;
+          = 6:  if the QR algorithm failed on the state matrix
+                of the identified linear system.
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INIT = 'L' or 'B', the linear part of the system is
+  approximated using the combined MOESP and N4SID algorithm. If
+  necessary, this algorithm can also choose the order, but it is
+  advantageous if the order is already known.
+
+  If INIT = 'S' or 'B', the output of the approximated linear part
+  is computed and used to calculate an approximation of the static
+  nonlinearity using the Levenberg-Marquardt algorithm [1].
+  This step is referred to as the (nonlinear) initialization step.
+
+  As last step, the Levenberg-Marquardt algorithm is used again to
+  optimize the parameters of the linear part and the static
+  nonlinearity as a whole. Therefore, it is necessary to parametrise
+  the matrices of the linear part. The output normal form [2]
+  parameterisation is used.
+
+  The Jacobian is computed analytically, for the nonlinear part, and
+  numerically, for the linear part.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kelley, C.T.
+      Iterative Methods for Optimization.
+      Society for Industrial and Applied Mathematics (SIAM),
+      Philadelphia (Pa.), 1999.
+
+  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
+      Balanced realizations of discrete-time stable all-pass
+      systems and the tangential Schur algorithm.
+      Proceedings of the European Control Conference,
+      31 August - 3 September 1999, Karlsruhe, Germany.
+      Session CP-6, Discrete-time Systems, 1999.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           LDU, LDY, LIWORK, LMAX, MMAX, NMAX, NNMAX,
+     $                  NOBRMX, NSMPMX
+      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
+     $                    NMAX = 4, NSMPMX = 1024,
+     $                    LDU  = NSMPMX, LDY = NSMPMX,
+     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
+     $                                  MMAX*( NMAX + LMAX ) ) )
+      INTEGER           BSNM, L0, L1M, L2M, LDW1, LDW2, LDW3, LDW4,
+     $                  LDW5, LDW6, LDW7, LDW8, LDWORK, LTHS, LW1, LW2,
+     $                  LW3, LW4, LXM
+      PARAMETER         ( BSNM = NNMAX*( LMAX + 2 ) + 1,
+     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
+     $                    L0   = MAX( NMAX*( NMAX + LMAX ),
+     $                                NMAX + MMAX + LMAX ),
+     $                    L1M  = NSMPMX*LMAX +
+     $                           MAX( 2*NNMAX,
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                2*NMAX + L0 ),
+     $                    LXM  = BSNM*LMAX + LTHS,
+     $                    L2M  = MAX( LXM*LXM, 3*LXM + NSMPMX*LMAX ),
+     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                2*NMAX,
+     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                NMAX*NMAX + 7*NMAX,
+     $                                LMAX*NOBRMX*NMAX +
+     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                     2*NMAX + LMAX +
+     $                                     ( 2*MMAX + LMAX )*NOBRMX,
+     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
+     $                                   + NMAX*NMAX + 8*NMAX,
+     $                                     NMAX + 4*( MMAX*NOBRMX +
+     $                                                NMAX ) + 1,
+     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
+     $                              ),
+     $                    LDW2 = LMAX*NOBRMX*NMAX +
+     $                           MMAX*NOBRMX*( NMAX + LMAX )*
+     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                           MAX( ( NMAX + LMAX )**2,
+     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
+     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
+     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
+     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + NMAX +
+     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
+     $                                NMAX, NMAX*NMAX +
+     $                                MAX( NMAX*NMAX +
+     $                                     NMAX*MAX( NMAX, LMAX ) +
+     $                                     6*NMAX + MIN( NMAX, LMAX ),
+     $                                     NMAX*MMAX ) ),
+     $                    LDW7 = MAX( BSNM*BSNM, 3*BSNM + NSMPMX ),
+     $                    LDW8 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
+     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
+     $                                  + 3 ) + LMAX*NOBRMX,
+     $                                4*( MMAX + LMAX )*NOBRMX*
+     $                                ( MMAX + LMAX )*NOBRMX +
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                MAX( LDW1, LDW2 ),
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                NMAX + NMAX*NMAX + 2 +
+     $                                NMAX*( NMAX + MMAX + LMAX ) +
+     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
+     $                                     LDW5, LDW6 ) ),
+     $                    LW2  = NSMPMX*LMAX +
+     $                           MAX( 5, NSMPMX + 2*BSNM + NSMPMX*BSNM +
+     $                                   MAX( 2*NNMAX + BSNM, LDW7 ) ),
+     $                    LW3  = MAX( LDW8, NSMPMX*LMAX +
+     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
+     $                                2*NMAX ),
+     $                    LW4  = MAX( 5, NSMPMX*LMAX + 2*LXM +
+     $                                NSMPMX*LMAX*( BSNM + LTHS ) +
+     $                                MAX( L1M + LXM, NSMPMX*LMAX + L1M,
+     $                                     L2M ) ),
+     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
+*     .. Local Scalars ..
+      LOGICAL           INIT1, INITB, INITL, INITN, INITS
+      CHARACTER*1       ALG, INIT, STOR
+      INTEGER           BSN, I, INFO, INI, ITER, ITERCG, ITMAX1, ITMAX2,
+     $                  IWARN, J, L, L1, L2, LPAR, LX, M, N, NN, NOBR,
+     $                  NPRINT, NS, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+*     .. Array Arguments ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          IB03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
+     $                      NPRINT, TOL1, TOL2, INIT, ALG, STOR
+      INITL = LSAME( INIT, 'L' )
+      INITS = LSAME( INIT, 'S' )
+      INITB = LSAME( INIT, 'B' )
+      INITN = LSAME( INIT, 'N' )
+      INIT1 = INITL .OR. INITB
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) L
+         ELSE
+            NS = N
+            IF( INIT1 ) THEN
+               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NOBR
+                  STOP
+               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+               IF ( N.LT.0 )
+     $            N = NOBR - 1
+            ELSE
+               IF( NSMP.LT.0 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+            END IF
+            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) NN
+            ELSE
+               BSN = NN*( L + 2 ) + 1
+               L1  = BSN*L
+               L2  = N*( L + M + 1 ) + L*M
+               LX  = L1 + L2
+               INI = 1
+               IF ( INITL ) THEN
+                  LPAR = L1
+               ELSEIF ( INITS ) THEN
+                  INI  = L1 + 1
+                  LPAR = L2
+               ELSEIF ( INITN ) THEN
+                  LPAR = LX
+               END IF
+               IF( INIT1 )
+     $            N = NS
+*              Read the input-output data, initial parameters, and seed.
+               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
+               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
+               IF ( .NOT.INITB )
+     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
+               IF ( INITS .OR. INITB )
+     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
+*              Solve a Wiener system identification problem.
+               CALL IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
+     $                      ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY,
+     $                      X, LX, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
+                  ITER   = DWORK(3)
+                  ITERCG = DWORK(4)
+                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+                  WRITE ( NOUT, FMT = 99996 ) ITER, ITERCG,
+     $                                        IWORK(1), IWORK(2)
+*                 Recompute LX is necessary.
+                  IF ( INIT1 .AND. NS.LT.0 )
+     $               LX = L1 + N*( L + M + 1 ) + L*M
+                  WRITE ( NOUT, FMT = 99994 )
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' IB03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from IB03AD = ',I4)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' Number of iterations                     = ', I7,
+     $        /' Number of conjugate gradients iterations = ', I7,
+     $        /' Number of function evaluations           = ', I7,
+     $        /' Number of Jacobian evaluations           = ', I7)
+99995 FORMAT (10(1X,F8.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
+99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
+99989 FORMAT (/' N is out of range.',/' N = ',I5)
+99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
+99987 FORMAT (' IWARN on exit from IB03AD = ',I4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB03AD EXAMPLE PROGRAM DATA
+ 10     1     1  1024    4   12   500  1000     0  .00001  .00001   B   D   F
+   2.2183165e-01
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+   1.1223045e-02
+  -4.3543819e-03
+  -4.2668837e-02
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+  -1.0909342e-01
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+   1.5122945e-01
+   1.2531404e-01
+   3.3620966e-02
+  -8.3194568e-02
+  -1.6716420e-01
+ 1998.   1999.   2000.   2001.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB03AD EXAMPLE PROGRAM RESULTS
+
+
+ Final 2-norm of the residuals =   0.2970365D+00
+
+ Number of iterations                     =      87
+ Number of conjugate gradients iterations =       0
+ Number of function evaluations           =    1322
+ Number of Jacobian evaluations           =     105
+
+ Final approximate solution is 
+  -0.9728   0.6465  -1.2888  -0.4296  -0.8530   0.3181   0.9778   0.4570  -0.1420   0.8984
+  -0.6031   0.0697  -1.0822   0.4465   0.6036   0.3792   0.2532  -0.0285   0.4129   0.4833
+   0.1746   0.5626   0.2150  -0.3343   0.4013  -0.3679   0.5653   0.8092  -0.2363  -0.6361
+  -0.6818   0.6110  -0.5506   0.9914   0.0352   0.1968  -0.2502   7.0067 -10.7378   2.6900
+ -59.8756  -0.9898  -0.8296   2.3429   1.3456  -0.2531  -1.1265   0.0326   0.5617   0.1045
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB03BD">IB03BD</A></H2>
+<H3>
+Wiener system identification using a MINPACK-like Levenberg-Marquardt algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a set of parameters for approximating a Wiener system
+  in a least-squares sense, using a neural network approach and a
+  MINPACK-like Levenberg-Marquardt algorithm. The Wiener system
+  consists of a linear part and a static nonlinearity, and it is
+  represented as
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t)   = f(z(t),wb(1:L)),
+
+  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
+  evaluated by the SLICOT Library routine NF01AY. The parameter
+  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
+  where theta corresponds to the linear part, and wb(i), i = 1 : L,
+  correspond to the nonlinear part. See SLICOT Library routine
+  NF01AD for further details.
+
+  The sum of squares of the error functions, defined by
+
+     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
+
+  is minimized, where Y(t) is the measured output vector. The
+  functions and their Jacobian matrices are evaluated by SLICOT
+  Library routine NF01BF (the FCN routine in the call of MD03BD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
+     $                   NPRINT, U, LDU, Y, LDY, X, LX, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         INIT
+      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
+     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INIT    CHARACTER*1
+          Specifies which parts have to be initialized, as follows:
+          = 'L' : initialize the linear part only, X already
+                  contains an initial approximation of the
+                  nonlinearity;
+          = 'S' : initialize the static nonlinearity only, X
+                  already contains an initial approximation of the
+                  linear part;
+          = 'B' : initialize both linear and nonlinear parts;
+          = 'N' : do not initialize anything, X already contains
+                  an initial approximation.
+          If INIT = 'S' or 'B', the error functions for the
+          nonlinear part, and their Jacobian matrices, are evaluated
+          by SLICOT Library routine NF01BE (used as a second FCN
+          routine in the MD03BD call for the initialization step,
+          see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
+          in the input and output block Hankel matrices to be
+          processed for estimating the linear part.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+          This parameter is ignored if INIT is 'S' or 'N'.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
+          INIT = 'L' or 'B'.
+
+  NSMP    (input) INTEGER
+          The number of input and output samples, t.  NSMP &gt;= 0, and
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
+
+  N       (input/output) INTEGER
+          The order of the linear part.
+          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
+          assumed unknown and it will be found by the routine.
+          Otherwise, the input value will be used. If INIT = 'S'
+          or 'N', N must be non-negative. The values N &gt;= NOBR,
+          or N = 0, are not acceptable if INIT = 'L' or 'B'.
+
+  NN      (input) INTEGER
+          The number of neurons which shall be used to approximate
+          the nonlinear part.  NN &gt;= 0.
+
+  ITMAX1  (input) INTEGER
+          The maximum number of iterations for the initialization of
+          the static nonlinearity.
+          This parameter is ignored if INIT is 'N' or 'L'.
+          Otherwise, ITMAX1 &gt;= 0.
+
+  ITMAX2  (input) INTEGER
+          The maximum number of iterations.  ITMAX2 &gt;= 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          and the current error norm is printed. Other intermediate
+          results could be printed by modifying the corresponding
+          FCN routine (NF01BE and/or NF01BF). If NPRINT &lt;= 0, no
+          special calls of FCN with IFLAG = 0 are made.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array must contain the
+          set of output samples,
+          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X       (input/output) DOUBLE PRECISION array dimension (LX)
+          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
+          of this array must contain the initial parameters for
+          the nonlinear part of the system.
+          On entry, if INIT = 'S', the elements lin1 : lin2 of this
+          array must contain the initial parameters for the linear
+          part of the system, corresponding to the output normal
+          form, computed by SLICOT Library routine TB01VD, where
+             lin1 = (NN*(L+2) + 1)*L + 1;
+             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
+          On entry, if INIT = 'N', the elements 1 : lin2 of this
+          array must contain the initial parameters for the
+          nonlinear part followed by the initial parameters for the
+          linear part of the system, as specified above.
+          This array need not be set on entry if INIT = 'B'.
+          On exit, the elements 1 : lin2 of this array contain the
+          optimal parameters for the nonlinear part followed by the
+          optimal parameters for the linear part of the system, as
+          specified above.
+
+  LX      (input/output) INTEGER
+          On entry, this parameter must contain the intended length
+          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
+          If N is unknown (N &lt; 0 on entry), a large enough estimate
+          of N should be used in the formula of lin2.
+          On exit, if N &lt; 0 on entry, but LX is not large enough,
+          then this parameter contains the actual length of X,
+          corresponding to the computed N. Otherwise, its value
+          is unchanged.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
+          which measures the relative error desired in the sum of
+          squares, as well as the relative error desired in the
+          approximate solution, for the initialization step of
+          nonlinear part. Termination occurs when either both the
+          actual and predicted relative reductions in the sum of
+          squares, or the relative error between two consecutive
+          iterates are at most TOL1. If the user sets  TOL1 &lt; 0,
+          then  SQRT(EPS)  is used instead TOL1, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          This parameter is ignored if INIT is 'N' or 'L'.
+
+  TOL2    DOUBLE PRECISION
+          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
+          relative error desired in the sum of squares, as well as
+          the relative error desired in the approximate solution,
+          for the whole optimization process. Termination occurs
+          when either both the actual and predicted relative
+          reductions in the sum of squares, or the relative error
+          between two consecutive iterates are at most TOL2. If the
+          user sets TOL2 &lt; 0, then  SQRT(EPS)  is used instead TOL2.
+          This default value could require many iterations,
+          especially if TOL1 is larger. If INIT = 'S' or 'B', it is
+          advisable that TOL2 be larger than TOL1, and spend more
+          time with cheaper iterations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX( LIW1, LIW2, LIW3 )), where
+          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
+          LIW1 = M+L;
+          LIW2 = MAX(M*NOBR+N,M*(N+L));
+          LIW3 = 3+MAX(NN*(L+2)+2,NX+L), if INIT = 'S' or 'B';
+          LIW3 = 3+NX+L,                 if INIT = 'L' or 'N'.
+          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
+          (total) number of function and Jacobian evaluations,
+          respectively (including the initialization step, if it was
+          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
+          specifies how many locations of DWORK contain reciprocal
+          condition number estimates (see below); otherwise,
+          IWORK(3) = 0. If INFO = 0, the entries 4 to 3+NX of IWORK
+          define a permutation matrix P such that J*P = Q*R, where
+          J is the final calculated Jacobian, Q is an orthogonal
+          matrix (not stored), and R is upper triangular with
+          diagonal elements of nonincreasing magnitude (possibly
+          for each block column of J). Column j of P is column
+          IWORK(3+j) of the identity matrix. Moreover, the entries
+          4+NX:3+NX+L of this array contain the ranks of the final
+          submatrices S_k (see description of LMPARM in MD03BD).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On entry, if desired, and if INIT = 'S' or 'B', the
+          entries DWORK(1:4) are set to initialize the random
+          numbers generator for the nonlinear part parameters (see
+          the description of the argument XINIT of SLICOT Library
+          routine MD03BD); this enables to obtain reproducible
+          results. The same seed is used for all outputs.
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, and DWORK(4) returns the final Levenberg
+          factor, for optimizing the parameters of both the linear
+          part and the static nonlinearity part. If INIT = 'S' or
+          INIT = 'B' and INFO = 0, then the elements DWORK(5) to
+          DWORK(8) contain the corresponding four values for the
+          initialization step (see METHOD). (If L &gt; 1, DWORK(8)
+          contains the maximum of the Levenberg factors for all
+          outputs.) If INIT = 'L' or INIT = 'B', and INFO = 0,
+          DWORK(9) to DWORK(8+IWORK(3)) contain reciprocal condition
+          number estimates set by SLICOT Library routines IB01AD,
+          IB01BD, and IB01CD.
+          On exit, if  INFO = -21,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          In the formulas below, N should be taken not larger than
+          NOBR - 1, if N &lt; 0 on entry.
+          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
+          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
+          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
+                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
+                     MAX( LDW1, LDW2 ),
+                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
+                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
+              where,
+              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
+                           L*NOBR*N +
+                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
+                                2*(L*NOBR-L)*N+N*N+8*N,
+                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
+              LDW2 &gt;= 0,                                  if M = 0;
+              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
+                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
+              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
+              LDW4 = N*(N+1) + 2*N +
+                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
+              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
+              LDW6 = NSMP*L + (N+L)*(N+M) + N +
+                     MAX(1, N*N*L + N*L + N, N*N +
+                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
+                             N*M));
+          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
+          LW2 = NSMP*L + BSN +
+                MAX( 4, NSMP +
+                        MAX( NSMP*BSN + MAX( 2*NN, 5*BSN + 1 ),
+                             BSN**2 + BSN +
+                             MAX( NSMP + 2*NN, 5*BSN ) ) );
+          LW3 = MAX( LDW7, NSMP*L + (N+L)*(2*N+M) + 2*N );
+              LDW7 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
+              LDW7 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
+          LW4 = NSMP*L + NX +
+                MAX( 4, NSMP*L +
+                        MAX( NSMP*L*( BSN + LTHS ) +
+                             MAX( NSMP*L + L1, L2 + NX ),
+                                  NX*( BSN + LTHS ) + NX +
+                                  MAX( NSMP*L + L1, NX + L3 ) ) ),
+               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
+               L0 = MAX( N*(N+L), L ),        if M = 0;
+               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
+               L2 = 4*NX + 1,  if L &lt;= 1 or BSN = 0; otherwise,
+               L2 = BSN + MAX(3*BSN+1,LTHS);
+               L2 = MAX(L2,4*LTHS+1),         if NSMP &gt; BSN;
+               L2 = MAX(L2,(NSMP-BSN)*(L-1)), if BSN &lt; NSMP &lt; 2*BSN;
+               L3 = 4*NX,                     if L &lt;= 1 or BSN = 0;
+               L3 = LTHS*BSN + 2*NX + 2*MAX(BSN,LTHS),
+                                              if L &gt; 1 and BSN &gt; 0,
+               with BSN  = NN*( L + 2 ) + 1,
+                    LTHS = N*( L + M + 1 ) + L*M.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          &lt; 0:  the user set IFLAG = IWARN in (one of) the
+                subroutine(s) FCN, i.e., NF01BE, if INIT = 'S'
+                or 'B', and/or NF01BF; this value cannot be returned
+                without changing the FCN routine(s);
+                otherwise, IWARN has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning (where TOL* denotes TOL1 or TOL2,
+                and similarly for ITMAX*):
+          = 1:  both actual and predicted relative reductions in
+                the sum of squares are at most TOL*;
+          = 2:  relative error between two consecutive iterates is
+                at most TOL*;
+          = 3:  conditions for i or j = 1 and i or j = 2 both hold;
+          = 4:  the cosine of the angle between the vector of error
+                function values and any column of the Jacobian is at
+                most EPS in absolute value;
+          = 5:  the number of iterations has reached ITMAX* without
+                satisfying any convergence condition;
+          = 6:  TOL* is too small: no further reduction in the sum
+                of squares is possible;
+          = 7:  TOL* is too small: no further improvement in the
+                approximate solution X is possible;
+          = 8:  the vector of function values e is orthogonal to the
+                columns of the Jacobian to machine precision.
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 6 (see IB01AD, IB01BD
+          and IB01CD). In all these cases, the entries DWORK(1:4),
+          DWORK(5:8) (if INIT = 'S' or 'B'), and DWORK(9:8+IWORK(3))
+          (if INIT = 'L' or 'B'), are set as described above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                otherwise, INFO has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning:
+          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 1;
+          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 2;
+          = 3:  the routine QRFACT returned with INFO &lt;&gt; 0;
+          = 4:  the routine LMPARM returned with INFO &lt;&gt; 0.
+          In addition, if INIT = 'L' or 'B', i could also be
+          = 5:  if a Lyapunov equation could not be solved;
+          = 6:  if the identified linear system is unstable;
+          = 7:  if the QR algorithm failed on the state matrix
+                of the identified linear system.
+          QRFACT and LMPARM are generic names for SLICOT Library
+          routines NF01BS and NF01BP, respectively, for the whole
+          optimization process, and MD03BA and MD03BB, respectively,
+          for the initialization step (if INIT = 'S' or 'B').
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INIT = 'L' or 'B', the linear part of the system is
+  approximated using the combined MOESP and N4SID algorithm. If
+  necessary, this algorithm can also choose the order, but it is
+  advantageous if the order is already known.
+
+  If INIT = 'S' or 'B', the output of the approximated linear part
+  is computed and used to calculate an approximation of the static
+  nonlinearity using the Levenberg-Marquardt algorithm [1,3].
+  This step is referred to as the (nonlinear) initialization step.
+
+  As last step, the Levenberg-Marquardt algorithm is used again to
+  optimize the parameters of the linear part and the static
+  nonlinearity as a whole. Therefore, it is necessary to parametrise
+  the matrices of the linear part. The output normal form [2]
+  parameterisation is used.
+
+  The Jacobian is computed analytically, for the nonlinear part, and
+  numerically, for the linear part.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
+      Balanced realizations of discrete-time stable all-pass
+      systems and the tangential Schur algorithm.
+      Proceedings of the European Control Conference,
+      31 August - 3 September 1999, Karlsruhe, Germany.
+      Session CP-6, Discrete-time Systems, 1999.
+
+  [3] More, J.J.
+      The Levenberg-Marquardt algorithm: implementation and theory.
+      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
+      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
+      and New York, pp. 105-116, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The Levenberg-Marquardt algorithm described in [3] is scaling
+  invariant and globally convergent to (maybe local) minima.
+  The convergence rate near a local minimum is quadratic, if the
+  Jacobian is computed analytically, and linear, if the Jacobian
+  is computed numerically.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           BSNM, LDU, LDY, LIWORK, LMAX, LTHS, LXM, MMAX,
+     $                  NMAX, NNMAX, NOBRMX, NSMPMX
+      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
+     $                    NMAX = 4, NSMPMX = 1024,
+     $                    BSNM = NNMAX*( LMAX + 2 ) + 1,
+     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
+     $                    LDU  = NSMPMX, LDY = NSMPMX,
+     $                    LXM  = BSNM*LMAX + LTHS,
+     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
+     $                                  MMAX*( NMAX + LMAX ), 3 +
+     $                                  MAX( BSNM + 1, LXM + LMAX ) ) )
+      INTEGER           L0, L1M, L2M, L3M, LDW1, LDW2, LDW3, LDW4, LDW5,
+     $                  LDW6, LDW7, LDWORK, LW1, LW2, LW3, LW4
+      PARAMETER         ( L0   = MAX( NMAX*( NMAX + LMAX ),
+     $                                NMAX + MMAX + LMAX ),
+     $                    L1M  = NSMPMX*LMAX +
+     $                           MAX( 2*NNMAX,
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                2*NMAX + L0 ),
+     $                    L2M  = MAX( 4*LXM + 1, BSNM +
+     $                                MAX( 3*BSNM + 1, LTHS ),
+     $                                     NSMPMX*( LMAX - 1 ) ),
+     $                    L3M  = MAX( 4*LXM, LTHS*BSNM + 2*LXM +
+     $                                2*MAX( BSNM, LTHS ) ),
+     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                2*NMAX,
+     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                NMAX*NMAX + 7*NMAX,
+     $                                LMAX*NOBRMX*NMAX +
+     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                     2*NMAX + LMAX +
+     $                                     ( 2*MMAX + LMAX )*NOBRMX,
+     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
+     $                                   + NMAX*NMAX + 8*NMAX,
+     $                                     NMAX + 4*( MMAX*NOBRMX +
+     $                                                NMAX ) + 1,
+     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
+     $                              ),
+     $                    LDW2 = LMAX*NOBRMX*NMAX +
+     $                           MMAX*NOBRMX*( NMAX + LMAX )*
+     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                           MAX( ( NMAX + LMAX )**2,
+     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
+     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
+     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
+     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + NMAX +
+     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
+     $                                NMAX, NMAX*NMAX +
+     $                                MAX( NMAX*NMAX +
+     $                                     NMAX*MAX( NMAX, LMAX ) +
+     $                                     6*NMAX + MIN( NMAX, LMAX ),
+     $                                     NMAX*MMAX ) ),
+     $                    LDW7 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
+     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
+     $                                  + 3 ) + LMAX*NOBRMX,
+     $                                4*( MMAX + LMAX )*NOBRMX*
+     $                                ( MMAX + LMAX )*NOBRMX +
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                MAX( LDW1, LDW2 ),
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                NMAX + NMAX*NMAX + 2 +
+     $                                NMAX*( NMAX + MMAX + LMAX ) +
+     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
+     $                                     LDW5, LDW6 ) ),
+     $                    LW2  = NSMPMX*LMAX + BSNM +
+     $                           MAX( 4, NSMPMX +
+     $                                MAX( NSMPMX*BSNM +
+     $                                     MAX( 2*NNMAX, 5*BSNM + 1 ),
+     $                                     BSNM**2 + BSNM +
+     $                                     MAX( NSMPMX + 2*NNMAX,
+     $                                          5*BSNM ) ) ),
+     $                    LW3  = MAX( LDW7, NSMPMX*LMAX +
+     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
+     $                                2*NMAX ),
+     $                    LW4  = NSMPMX*LMAX + LXM +
+     $                           MAX( 4, NSMPMX*LMAX +
+     $                                MAX( NSMPMX*LMAX*( BSNM + LTHS ) +
+     $                                     MAX( NSMPMX*LMAX + L1M,
+     $                                          L2M + LXM ),
+     $                                          LXM*( BSNM + LTHS ) +
+     $                                          LXM +
+     $                                          MAX( NSMPMX*LMAX + L1M,
+     $                                               LXM + L3M ) ) ),
+     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
+*     .. Local Scalars ..
+      LOGICAL           INIT1, INITB, INITL, INITN, INITS
+      CHARACTER*1       INIT
+      INTEGER           BSN, I, INFO, INI, ITER, ITMAX1, ITMAX2, IWARN,
+     $                  J, L, L1, L2, LPAR, LX, M, N, NN, NOBR, NPRINT,
+     $                  NS, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+*     .. Array Arguments ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          IB03BD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
+     $                      NPRINT, TOL1, TOL2, INIT
+      INITL = LSAME( INIT, 'L' )
+      INITS = LSAME( INIT, 'S' )
+      INITB = LSAME( INIT, 'B' )
+      INITN = LSAME( INIT, 'N' )
+      INIT1 = INITL .OR. INITB
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) L
+         ELSE
+            NS = N
+            IF( INIT1 ) THEN
+               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NOBR
+                  STOP
+               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+               IF ( N.LT.0 )
+     $            N = NOBR - 1
+            ELSE
+               IF( NSMP.LT.0 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+            END IF
+            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) NN
+            ELSE
+               BSN = NN*( L + 2 ) + 1
+               L1  = BSN*L
+               L2  = N*( L + M + 1 ) + L*M
+               LX  = L1 + L2
+               INI = 1
+               IF ( INITL ) THEN
+                  LPAR = L1
+               ELSEIF ( INITS ) THEN
+                  INI  = L1 + 1
+                  LPAR = L2
+               ELSEIF ( INITN ) THEN
+                  LPAR = LX
+               END IF
+               IF( INIT1 )
+     $            N = NS
+*              Read the input-output data, initial parameters, and seed.
+               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
+               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
+               IF ( .NOT.INITB )
+     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
+               IF ( INITS .OR. INITB )
+     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
+*              Solve a Wiener system identification problem.
+               CALL IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1,
+     $                      ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX, TOL1,
+     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
+                  ITER = DWORK(3)
+                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+                  WRITE ( NOUT, FMT = 99996 ) ITER, IWORK(1), IWORK(2)
+*                 Recompute LX is necessary.
+                  IF ( INIT1 .AND. NS.LT.0 )
+     $               LX = L1 + N*( L + M + 1 ) + L*M
+                  WRITE ( NOUT, FMT = 99994 )
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' IB03BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from IB03BD = ',I4)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' Number of iterations                     = ', I7,
+     $        /' Number of function evaluations           = ', I7,
+     $        /' Number of Jacobian evaluations           = ', I7)
+99995 FORMAT (10(1X,F9.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
+99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
+99989 FORMAT (/' N is out of range.',/' N = ',I5)
+99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
+99987 FORMAT (' IWARN on exit from IB03BD = ',I4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB03BD EXAMPLE PROGRAM DATA
+ 10     1     1  1024    4   12   500  1000     0  .00001  .00001   B
+   2.2183165e-01
+   3.9027807e-02
+  -5.0295887e-02
+   8.5386224e-03
+   7.2431159e-02
+  -1.7082198e-03
+  -1.7176287e-01
+  -2.6198104e-01
+  -1.7194108e-01
+   1.8566868e-02
+   1.5625362e-01
+   1.7463811e-01
+   1.1564450e-01
+   2.8779248e-02
+  -8.4265993e-02
+  -2.0978501e-01
+  -2.6591828e-01
+  -1.7268680e-01
+   2.1525013e-02
+   1.4363602e-01
+   7.3101431e-02
+  -1.0259212e-01
+  -1.6380473e-01
+  -1.0021167e-02
+   2.0263451e-01
+   2.1983417e-01
+  -2.1636523e-02
+  -3.0986057e-01
+  -3.8521982e-01
+  -2.1785179e-01
+  -1.4761096e-02
+   3.7005180e-02
+  -2.8119028e-02
+  -4.2167901e-02
+   5.2117694e-02
+   1.2023747e-01
+   1.8863385e-02
+  -1.9506434e-01
+  -3.0192175e-01
+  -1.7000747e-01
+   8.0740471e-02
+   2.0188076e-01
+   8.5108288e-02
+  -1.3270970e-01
+  -2.3646822e-01
+  -1.6505385e-01
+  -4.7448014e-02
+  -2.7886815e-02
+  -1.0152026e-01
+  -1.4155374e-01
+  -6.1650823e-02
+   8.3519614e-02
+   1.5926650e-01
+   8.6142760e-02
+  -9.4385381e-02
+  -2.6609066e-01
+  -3.2883874e-01
+  -2.5908050e-01
+  -1.1648940e-01
+  -3.0653766e-03
+   1.0326675e-02
+  -5.3445909e-02
+  -9.2412724e-02
+  -3.0279541e-02
+   8.4846832e-02
+   1.1133075e-01
+  -3.2135250e-02
+  -2.5308181e-01
+  -3.5670882e-01
+  -2.4458860e-01
+  -2.5254261e-02
+   9.3714332e-02
+   1.8643667e-02
+  -1.4592119e-01
+  -2.2730880e-01
+  -1.7140060e-01
+  -7.4131665e-02
+  -3.9669515e-02
+  -5.1266129e-02
+  -1.1752833e-02
+   1.0785565e-01
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+   1.1223045e-02
+  -4.3543819e-03
+  -4.2668837e-02
+  -8.5657964e-02
+  -1.0909342e-01
+  -9.7154374e-02
+  -4.6781850e-02
+   3.1101930e-02
+   1.0973840e-01
+   1.5122945e-01
+   1.2531404e-01
+   3.3620966e-02
+  -8.3194568e-02
+  -1.6716420e-01
+ 1998.   1999.   2000.   2001.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB03BD EXAMPLE PROGRAM RESULTS
+
+ IWARN on exit from IB03BD =   12
+
+ Final 2-norm of the residuals =   0.2995840D+00
+
+ Number of iterations                     =      42
+ Number of function evaluations           =     898
+ Number of Jacobian evaluations           =     295
+
+ Final approximate solution is 
+   14.1294    1.1232    6.4322  -11.2418    7.6380  -33.4730  -64.7203  747.1515   -0.4623  -92.6092
+    6.1682   -0.7672    0.1194    0.3558    0.9091    0.2948    1.3465    0.0093    0.0560   -0.0035
+   -0.4179   -0.0455   -2.0871   -0.9196    1.0777    0.9213    0.5373    1.0412   -0.3978    7.6832
+   -6.8614  -31.6119   -0.1092   -9.8984    0.1257    0.4056    0.0472    7.5819  -13.3969    2.4869
+  -66.0727   -0.8411   -0.7040    1.9641    1.3059   -0.2046   -0.9326    0.0040    0.4032    0.1479
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>KINSOL - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="KINSOL">KINSOL</A></H2>
+<H3>
+Solving a nonlinear system of equations using Krylov Inexact Newton techniques
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a nonlinear system of equations F(u)=0, where F(u) is
+                             n    n
+  a nonlinear function from R to R , using Krylov Inexact Newton
+  techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE KINSOL (GSTRAT, LINSU, NEQ, OPTIN, MAXL, MAXLRST,
+     &                   MSBPRE, UU, USCALE, FSCALE, CONSTR,
+     &                   IOPT, ROPT, TOL1, TOL2, INFO)
+C     .. Scalar Arguments ..
+      LOGICAL           OPTIN
+      INTEGER           INFO, GSTRAT, MAXL, MAXLRST, MSBPRE, NEQ
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IOPT(40)
+      DOUBLE PRECISION  CONSTR(NEQ), FSCALE(NEQ), ROPT(40), USCALE(NEQ),
+     $                  UU(NEQ)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+ 
+<B>Input/Output Parameters</B>
+<PRE>
+  GSTRAT  (input) INTEGER
+          Indicates the global strategy to apply the computed
+          increment delta in the solution UU.  Choices are:
+          0 - Inexact Newton.
+          1 - Linesearch.
+
+  LINSU   SUBROUTINE
+          Linear Solver Set-up Routine. This is the KINSOL routine
+          to be called to set-up the linear solver. The user should
+          specify here one of the 6 different Fortran-callable
+          routines provided by KINSOL for this purpose. The choice
+          to be used depends on which of the optional user-defined
+          routines are provided by the user (see User-defined
+          routines below).
+          LINSU can be one of the following routines: FKINSPGMR00,
+          FKINSPGMR01, FKINSPGMR10, FKINSPGMR11, FKINSPGMR20, and
+          FKINSPGMR21, where the first digit in the name of the
+          function is: 0 if neither KPSOL nor KPRECO routines are
+          provided; 1 if only the preconditioner solve routine
+          (KPSOL) is provided; and 2 if both the preconditioner
+          solve (KPSOL) and setup (KPRECO) routines are provided.
+          The second digit is: 0 if a function FATIMES is not
+          provided; and 1 if a function FATIMES is provided.
+
+  NEQ     (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system.
+
+  OPTIN   (input) LOGICAL
+          Flag indicating whether optional inputs from the user in
+          the arrays IOPT and ROPT are to be used.
+          Pass FALSE to ignore all optional inputs and TRUE to use
+          all optional inputs that are present. Either choice does
+          NOT affect outputs in other positions of IOPT or ROPT.
+
+  MAXL    (input) INTEGER
+          Maximum Krylov dimension for the Linear Solver. Pass 0
+          to use the default value MIN(Neq, 10). 
+
+  MAXLRST (input) INTEGER
+          Maximum number of linear solver restarts allowed. Values
+          outside the range 0 to 2*NEQ/MAXL will be restricted to
+          that range. 0, meaning no restarts, is a safe starting
+          value.
+
+  MSBPRE  (input) INTEGER
+          Maximum number of steps calling the solver KPSOL
+          without calling the preconditioner KPRECO. (The default is
+          10).
+
+  UU      (input/output) DOUBLE PRECISION array, dimension (NEQ)
+          On entry, UU is the initial guess.
+          On exit, if no errors ocurr, UU is the solution of
+          the system KFUN(UU) = 0.
+
+  USCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
+          Array of diagonal elements of the scaling matrix for UU.
+          The elements of USCALE must be positive values. The
+          scaling matrix USCALE should be chosen so that 
+          USCALE * UU (as a matrix multiplication) should have all
+          its components with roughly the same magnitude when UU is
+          close to a root of KFUN.
+
+  FSCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
+          Array of diagonal elements of the scaling matrix for
+          KFUN. The elements of FSCALE must be positive values.
+          The scaling matrix FSCALE should be chosen so that
+          FSCALE * KFUN(UU) (as a matrix multiplication) should
+          have all its components with roughly the same magnitude
+          when UU is NOT too near a root of KFUN.
+
+  CONSTR  (input) DOUBLE PRECISION array, dimension (NEQ)
+          Constraints on UU.
+          A positive value in CONSTR(I) implies that the Ith
+          component of UU is to be constrained &gt; 0.
+          A negative value in CONSTR(I) implies that the Ith
+          component of UU is to be constrained &lt; 0.
+          A zero value in CONSTR(I) implies there is no constraint
+          on UU(I). 
+
+  IOPT    (input/output) INTEGER array, dimension (40)
+          Array of optional integer inputs and outputs.
+          If OPTIN is TRUE, the user should preset to 0 those
+          locations for which default values are to be used.
+          See Optional Inputs and Outputs, below. 
+
+  ROPT    (input/output) DOUBLE PRECISION array, dimension (40)
+          Array of optional double precision inputs and outputs.
+          If OPTIN is TRUE, the user should preset to 0 those
+          locations for which default values are to be used.
+          See Optional Inputs and Outputs, below. 
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          Stopping tolerance on maxnorm( FSCALE * KFUN(UU) ).
+          If TOL1 is input as 0., then a default value of
+          (uround) to the 1/3 power will be used. uround is the
+          unit roundoff for the machine in use for the calculation.
+
+  TOL2    DOUBLE PRECISION
+          Stopping tolerance on the maximum scaled step 
+          UU(K) - UU(K-1). 
+          If TOL2 is input as 0., then a default value of (uround)
+          to the 2/3 power will be used. uround is the unit 
+          roundoff for the machine in use for the calculation.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          See Termination Codes below.
+
+  ---------------------------------------------------------------
+
+  Termination Codes
+
+  (Note: in this documentation we use named constants for 
+  certain integer constant values. To see the values of these
+  symbols see Named constants below.)
+
+  The termination values KINS_***** are now given. These are the
+  values of the INFO argument.
+
+  SUCCESS :    means maxnorm(FSCALE*KFUN(UU) &lt;= TOL1, where
+               maxnorm() is the maximum norm function N_VMaxNorm.
+               Therefore, UU is probably an approximate root of
+               KFUN.
+
+  INITIAL_GUESS_OK: means the initial guess UU has been found
+               to already satisfy the system to the desired
+               accuracy. No calculation was performed other
+               than testing UU.
+
+  STEP_LT_STPTOL:  means the scaled distance between the last
+               two steps is less than TOL2.  UU may be an
+               approximate root of KFUN, but it is also possible
+               that the algorithm is making very slow progress
+               and is not near a root or that TOL2 is too
+               large
+
+  LNSRCH_NONCONV: means the LineSearch module failed to reduce
+               norm(KFUN) sufficiently on the last global step.
+               Either UU is close to a root of F and no more
+               accuracy is possible, or the finite-difference
+               approximation to J*v is inaccurate, or TOL2
+               is too large. Check the outputs NCFL and NNI: if
+               NCFL is close to NNI, it may be the case that the
+               Krylov iteration is converging very slowly. In
+               this case, the user may want to use precondition-
+               ing and/or increase the MAXL argument (that is,
+               increase the max dimension of the Krylov subspace)
+               by setting MAXL to nonzero (thus not using the
+               default value of KINSPGMR_MAXL) or if MAXL is being
+               set, increase its value.
+
+  MAXITER_REACHED: means that the maximum allowable number of
+               nonlinear iterations has been reached. This is by
+               default 200, but may be changed through optional
+               input IOPT(MXITER).
+
+  MXNEWT_5X_EXCEEDED: means 5 consecutive steps of length mxnewt
+               (maximum Newton stepsize limit) have been taken.
+               Either norm(F) asymptotes from above to a finite
+               value in some direction, or mxnewt is too small.
+               Mxnewt is computed internally (by default) as
+               mxnewt = 1000*max(norm(USCALE*UU0),1), where
+               UU0 is the initial guess for UU, and norm() is
+               the Euclidean norm. Mxnewt can be  set by the
+               user through optional input ROPT(MXNEWTSTEP).
+
+  LINESEARCH_BCFAIL: means that more than the allowed maximum
+               number of failures (MXNBCF) occurred when trying
+               to satisfy the beta condition in the linesearch
+               algorithm. It is likely that the iteration is
+               making poor progress.
+
+  KRYLOV_FAILURE: means there was a failure of the Krylov
+               iteration process to converge.
+
+  PRECONDSET_FAILURE: means there was a nonrecoverable
+               error in PrecondSet causing the iteration to halt.
+
+  PRECONDSOLVE_FAILURE: means there was a nonrecoverable
+            error in PrecondSolve causing the iteration to halt.
+
+  NO_MEM:    the KINSol memory pointer received was NULL.
+
+  INPUT_ERROR: one or more input parameters or arrays was in
+               error. See the program output for further info.
+
+  LSOLV_NO_MEM: The linear solver memory pointer (lmem) was
+             received as NULL. The return value from the linear
+             solver needs to be checked and the cause found.
+
+  ---------------------------------------------------------------
+
+</PRE>
+<B>Optional inputs and outputs</B>
+<PRE>
+  (Note: in this documentation we use named constants for 
+  certain integer constant values. To see the values of these
+  symbols see Named constants below.)
+
+  The user should declare two arrays for optional input and
+  output, an IOPT array for optional integer input and output
+  and an ROPT array for optional real input and output. These
+  arrays should both be of size OPT_SIZE.
+  So the user's declaration should look like:
+
+  INTEGER          IOPT(OPT_SIZE)
+  DOUBLE PRECISION ROPT(OPT_SIZE)
+
+  The following definitions are indices into the IOPT and ROPT
+  arrays. A brief description of the contents of these positions
+  follows.
+
+  IOPT(PRINTFL)  (input)  Allows user to select from 4 levels
+                 of output.
+                 =0 no statistics printed   (DEFAULT)
+                 =1 output the nonlinear iteration count, the
+                    scaled norm of KFUN(UU), and number of
+                    KFUN calls.
+                 =2 same as 1 with the addition of global
+                    strategy statistics:
+                    f1 = 0.5*norm(FSCALE*KFUN(UU))**2   and
+                    f1new = 0.5*norm(FSCALE*KFUN(unew))**2 .
+                 =3 same as 2 with the addition of further
+                    Krylov iteration statistics.
+
+  IOPT(MXITER)   (input) Maximum allowable number of nonlinear
+                  iterations. The default is MXITER_DEFAULT.
+
+  IOPT(PRECOND_NO_INIT) (input) Set to 1 to prevent the initial
+                   call to the routine KPRECO upon a given
+                   call to KINSol. Set to 0 or leave unset to
+                   force the initial call to KPRECO.
+                   Use the choice of 1 only after beginning the
+                   first of a series of calls with a 0 value.
+                   If a value other than 0 or 1 is encountered,
+                   the default, 0, is set in this element of
+                   IOPT and thus the routine KPRECO will
+                   be called upon every call to KINSol, unless
+                   IOPT(PRECOND_NO_INIT) is changed by the user.
+
+  IOPT(ETACHOICE) (input) A flag indicating which of three
+                   methods to use for computing eta, the
+                   coefficient in the linear solver
+                   convergence tolerance eps, given by
+                     eps = (eta+u_round)*norm(KFUN(UU)).
+                   Here, all norms are  the scaled L2 norm.
+                   The linear solver attempts to produce a step
+                   p such that norm(KFUN(UU)+J(UU)*p) &lt;= eps.
+                   Two of the methods for computing eta
+                   calculate a value based on the convergence
+                   process in the routine KINForcingTerm.
+                   The third method does not require
+                   calculation; a constant eta is selected.
+
+                   The default if IOPT(ETACHOICE) is  not
+                   specified is ETACHOICE1, (see below).
+
+                   The allowed values (methods)  are:
+              ETACONSTANT  constant eta, default of 0.1 or user
+                 supplied choice, for which see ROPT(ETACONST),
+
+              ETACHOICE1 (default) which uses choice 1 of
+                 Eisenstat and Walker's paper of SIAM J. Sci.
+                 Comput.,17 (1996), pp 16-32 wherein eta is:
+                         eta(k) =
+  ABS( norm(KFUN(UU(k))) - norm(KFUN(UU(k-1))+J(UU(k-1))*p) )
+                      / norm(KFUN(UU(k-1))),
+
+              ETACHOICE2   which uses choice 2 of
+                 Eisenstat and Walker wherein eta is:
+                 eta(k) = egamma *
+             ( norm(KFUN(UU(k))) / norm(KFUN(u(k-1))) )^ealpha
+
+                 egamma and ealpha for choice 2, both required,
+                 are from either defaults (egamma = 0.9 ,
+                 ealpha = 2)  or from  user input,
+                 see ROPT(ETAALPHA) and ROPT(ETAGAMMA), below.
+
+                 For eta(k) determined by either Choice 1 or
+                 Choice 2, a value eta_safe is determined, and
+                 the safeguard   eta(k) &lt;- max(eta_safe,eta(k))
+                 is applied to prevent eta(k) from becoming too
+                 small too quickly.
+                  For Choice 1,
+                    eta_safe = eta(k-1)^((1.+sqrt(5.))/2.)
+           and    for Choice 2,
+                    eta_safe = egamma*eta(k-1)^ealpha.
+                 (These safeguards are turned off if they drop
+                 below 0.1 . Also, eta is never allowed to be
+                 less than eta_min = 1.e-4).
+
+  IOPT(NO_MIN_EPS) (input) Set to 1 or greater to remove
+                 protection agains eps becoming too small.
+                 This option is useful for debugging linear
+                 and nonlinear solver interactions. Set to 0
+                 for standard eps minimum value testing.
+
+  IOPT(NNI)      (output) Total number of nonlinear iterations.
+
+  IOPT(NFE)      (output) Total number of calls to the user-
+                  supplied system function KFUN.
+
+  IOPT(NBCF)     (output) Total number of times the beta
+                  condition could not be met in the linesearch
+                  algorithm. The nonlinear iteration is halted
+                  if this value ever exceeds MXNBCF (10).
+
+  IOPT(NBKTRK)   (output) Total number of backtracks in the
+                  linesearch algorithm.
+
+  IOPT(SPGMR_NLI) (output) Number of linear iterations.
+
+  IOPT(SPGMR_NPE) (output) Number of preconditioner evaluations.
+
+  IOPT(SPGMR_NPS) (output) Number of calls made to user's psolve
+                  function.
+
+  IOPT(SPGMR_NCFL) (output) Number of linear convergence failures.
+
+  ROPT(MXNEWTSTEP) (input) Maximum allowable length of a Newton
+                  step. The default value is calculated from
+                  1000*max(norm(USCALE*UU(0),norm(USCALE)).
+
+  ROPT(RELFUNC)  (input) Relative error in computing KFUN(UU)
+                  if known. Default is the machine epsilon.
+
+  ROPT(RELU)     (input) A scalar constraint which restricts
+                  the update of UU to  del(UU)/UU &lt; ROPT(RELU)
+                  The default is no constraint on the relative
+                  step in UU.
+
+  ROPT(ETAGAMMA) (input) The coefficient egamma in the eta
+                  computation. See routine KINForcingTerm
+           (SEE IOPT(ETACHOICE) above for additional info).
+
+  ROPT(ETAALPHA) (input) The coefficient ealpha in the eta
+                  computation. See routine KINForcingTerm
+           (SEE IOPT(ETACHOICE) above for additional info).
+
+  ROPT(ETACONST) (input) A user specified constant value for
+                   eta, used in lieu of that computed by
+                       routine KINForcingTerm
+           (SEE IOPT(ETACHOICE) above for additional info).
+
+  ROPT(FNORM)    (output) The scaled norm at a given iteration:
+                  norm(FSCALE(KFUN(UU)).
+
+  ROPT(STEPL)    (output) Last step length in the global
+                  strategy routine:
+                  KINLineSearch or KINInexactNewton.
+
+  ---------------------------------------------------------------
+
+</PRE>
+<B>User-defined routines</B>
+<PRE>
+  In order to use this routine, some user-defined routines have to
+  be provided. One of them is required, while the others are
+  optional. These routines are described next.
+
+  KFUN    Required
+
+          SUBROUTINE KFUN (NEQ, UU, FVAL)
+          INTEGER           NEQ
+          DOUBLE PRECISION  UU(NEQ), FVAL(NEQ)
+
+          PURPOSE
+
+          Evaluates the KFUN function which defines the system
+          to be solved:
+                            KFUN(UU)=0
+
+          ARGUMENTS
+
+          NEQ
+          (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          independent variable vector
+
+          FVAL
+          (output) DOUBLE PRECISION array, dimension (NEQ)
+          Result of KFUN(UU)
+
+  KPRECO  Optional
+
+          SUBROUTINE KPRECO (NEQ, UU, USCALE, FVAL, FSCALE,
+                             VTEMP1, VTEMP2, UROUND, NFE, IER)
+          INTEGER           NEQ, NFE, IER
+          DOUBLE PRECISION  UROUND
+          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
+                            FSCALE(NEQ), VTEMP1(NEQ), VTEMP2(NEQ)
+
+          PURPOSE
+
+          The user-supplied preconditioner setup function KPRECO and
+          the user-supplied preconditioner solve function KPSOL
+          together must define the right preconditoner matrix P
+          chosen so as to provide an easier system for the Krylov
+          solver to solve. KPRECO is called to provide any matrix
+          data required by the subsequent call(s) to KPSOL. The
+          data is expected to be stored in variables within a
+          COMMON block and the definition of those variables is up
+          to the user. More specifically, the user-supplied
+          preconditioner setup function KPRECO is to evaluate and
+          preprocess any Jacobian-related data needed by the
+          preconditioner solve function KPSOL. This might include
+          forming a crude approximate Jacobian, and performing an
+          LU factorization on the resulting approximation to J.
+          This function will not be called in advance of every call
+          to KPSOL, but instead will be called only as often as
+          necessary to achieve convergence within the Newton
+          iteration in KINSol.  If the KPSOL function needs no
+          preparation, the KPRECO function need not be provided.
+
+          KPRECO should not modify the contents of the arrays
+          UU or FVAL as those arrays are used elsewhere in the
+          iteration process.
+
+          Each call to the KPRECO function is preceded by a call to
+          the system function KFUN. Thus the KPRECO function can use
+          any auxiliary data that is computed by the KFUN function
+          and saved in a way accessible to KPRECO.
+
+          The two scaling arrays, FSCALE and USCALE, and unit
+          roundoff UROUND are provided to the KPRECO function for
+          possible use in approximating Jacobian data, e.g. by
+          difference quotients. These arrays should also not be
+          altered
+
+          ARGUMENTS
+
+          NEQ
+          (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system.
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Independent variable vector.
+
+          USCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See USCALE above.
+
+          FVAL
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Current value of KFUN(UU).
+
+          FSCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See FSCALE above.
+
+          VTEMP1
+          DOUBLE PRECISION array, dimension (NEQ)
+          Temporary work array.
+
+          VTEMP2
+          DOUBLE PRECISION array, dimension (NEQ)
+          Temporary work array.
+
+          UROUND
+          (input) DOUBLE PRECISION
+          Machine unit roundoff.
+
+          NFE
+          (input/output) INTEGER
+          Number of calls to KFUN made by the package. The KPRECO
+          routine should update this counter by adding on the
+          number of KFUN calls made in order to approximate the
+          Jacobian, if any.  For example, if the routine calls
+          KFUN a total of W times, then the update is 
+          NFE = NFE + W.
+
+          IER
+          (output) INTEGER
+          Error indicator. 
+          0 if successful,
+          1 if failure, in which case KINSOL stops.
+
+  KPSOL   Optional
+
+          SUBROUTINE KPSOL (NEQ, UU, USCALE, FVAL, FSCALE, VTEM,
+                            FTEM, UROUND, NFE, IER)
+          INTEGER           NEQ, NFE, IER
+          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
+                            FSCALE(NEQ), VTEM(NEQ), FTEM(NEQ)
+
+          PURPOSE
+
+          The user-supplied preconditioner solve function KPSOL
+          is to solve a linear system P x = r in which the matrix
+          P is the (right) preconditioner matrix P.
+
+          KPSOL should not modify the contents of the iterate
+          array UU  or the current function value array  FVAL as
+          those are used elsewhere in the iteration process.
+
+          ARGUMENTS
+
+          NEQ
+          (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system.
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Independent variable vector.
+
+          USCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See USCALE above.
+
+          FVAL
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Current value of KFUN(UU).
+
+          FSCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See FSCALE above.
+
+          VTEM
+          (input/output) DOUBLE PRECISION array, dimension (NEQ)
+          On entry, holds the RHS vector r.
+          On exit, holds the result x.
+
+          FTEM
+          DOUBLE PRECISION array, dimension (NEQ)
+          Temporary work array.
+
+          UROUND
+          (input) DOUBLE PRECISION
+          Machine unit roundoff.
+
+          NFE
+          (input/output) INTEGER
+          Number of calls to KFUN made by the package. The KPRECO
+          routine should update this counter by adding on the
+          number of KFUN calls made in order to carry out the
+          solution, if any.  For example, if the routine calls
+          KFUN a total of W times, then the update is 
+          NFE = NFE + W.
+
+          IER
+          (output) INTEGER
+          Error indicator. 
+          0 if successful,
+          1 if failure, in which case KINSOL stops.
+
+  FATIMES Optional
+
+          SUBROUTINE FATIMES(V, Z, NEWU, UU, IER)
+          INTEGER           NEWU, IER
+          DOUBLE PRECISION  V(:), Z(:), UU(:)
+
+          PURPOSE
+
+          The user-supplied A times V routine (optional) where
+          A is the Jacobian matrix dF/du, or an approximation to
+          it, and V is a given  vector.  This routine computes the
+          product Z = J V.
+
+          ARGUMENTS
+
+          V
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Vector to be multiplied by J
+          (preconditioned and unscaled as received).
+
+          Z
+          (output) DOUBLE PRECISION array, dimension (NEQ)
+          Vector resulting from the application of J to V.
+
+          NEW_UU
+          (input) INTEGER
+          Flag indicating whether or not the UU vector has been
+          changed since the last call to this function (0 means
+          FALSE, 1 TRUE).
+          If this function computes and saves Jacobian data, then
+          this computation can be skipped if NEW_UU = FALSE.
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Current iterate u.
+
+          IER
+          (output) INTEGER
+          Error indicator. 
+          0 if successful,
+          1 if failure, in which case KINSOL stops.
+
+  ---------------------------------------------------------------
+
+</PRE>
+<B>Named constants</B>
+<PRE>
+  Here we specify the value of the named integer constants used
+  in this documentation. We use Fortran code for the specification,
+  so that the user can copy and paste these lines in order to
+  use the named constants in his/her programs.
+
+   KINSOL return values
+   Note that the value of these constants differ from those of
+   the KINSOL package. This is due to the adaptation to the 
+   SLICOT standards.
+   INTEGER KINS_NO_MEM, KINS_INPUT_ERROR, KINS_LSOLV_NO_MEM, 
+  &        KINS_SUCCESS, KINS_INITIAL_GUESS_OK,KINS_STEP_LT_STPTOL,
+  &        KINS_LNSRCH_NONCONV, KINS_MAXITER_REACHED, 
+  &        KINS_MXNEWT_5X_EXCEEDED, KINS_LINESEARCH_BCFAIL,
+  &        KINS_KRYLOV_FAILURE, KINS_PRECONDSET_FAILURE, 
+  &        KINS_PRECONDSOLVE_FAILURE}
+
+   PARAMETER(KINS_NO_MEM=101)
+   PARAMETER(KINS_INPUT_ERROR=102)
+   PARAMETER(KINS_LSOLV_NO_MEM=103)
+   PARAMETER(KINS_SUCCESS=0)
+   PARAMETER(KINS_INITIAL_GUESS_OK=2)
+   PARAMETER(KINS_STEP_LT_STPTOL=3)
+   PARAMETER(KINS_LNSRCH_NONCONV=4)
+   PARAMETER(KINS_MAXITER_REACHED=5)
+   PARAMETER(KINS_MXNEWT_5X_EXCEEDED=6)
+   PARAMETER(KINS_LINESEARCH_BCFAIL=7)
+   PARAMETER(KINS_KRYLOV_FAILURE = 8)
+   PARAMETER(KINS_PRECONDSET_FAILURE=9)
+   PARAMETER(KINS_PRECONDSOLVE_FAILURE=10)
+
+   Size of IOPT, ROPT
+   INTEGER OPT_SIZE
+   PARAMETER(OPT_SIZE=40)
+
+   IOPT indices
+   INTEGER PRINTFL, MXITER, PRECOND_NO_INIT, NNI ,NFE ,NBCF, NBKTRK,
+  &        ETACHOICE, NO_MIN_EPS
+   INTEGER SPGMR_NLI, SPGMR_NPE, SPGMR_NPS, SPGMR_NCFL
+
+   PARAMETER(PRINTFL=1)
+   PARAMETER(MXITER=2)
+   PARAMETER(PRECOND_NO_INIT=3)
+   PARAMETER(NNI=4)
+   PARAMETER(NFE=5)
+   PARAMETER(NBCF=6)
+   PARAMETER(NBKTRK=7)
+   PARAMETER(ETACHOICE=8)
+   PARAMETER(NO_MIN_EPS=9)
+   PARAMETER(SPGMR_NLI=11)
+   PARAMETER(SPGMR_NPE=12)
+   PARAMETER(SPGMR_NPS=13)
+   PARAMETER(SPGMR_NCFL=14)
+
+   ROPT indices
+   INTEGER MXNEWTSTEP , RELFUNC , RELU , FNORM , STEPL,
+  &        ETACONST, ETAGAMMA, ETAALPHA
+
+   PARAMETER(MXNEWTSTEP=1)
+   PARAMETER(RELFUNC=2)
+   PARAMETER(RELU=3)
+   PARAMETER(FNORM=4)
+   PARAMETER(STEPL=5)
+   PARAMETER(ETACONST=6)
+   PARAMETER(ETAGAMMA=7)
+   PARAMETER(ETAALPHA=8)
+
+   Values for IOPT(ETACHOICE)
+   INTEGER ETACHOICE1, ETACHOICE2, ETACONSTANT
+
+   PARAMETER(ETACHOICE1=0)
+   PARAMETER(ETACHOICE2=1)
+   PARAMETER(ETACONSTANT=2)
+   
+  ---------------------------------------------------------------
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  KINSOL (Krylov Inexact Newton SOLver) is a general purpose
+  solver for nonlinear systems of equations. Its most notable
+  feature is that it uses Krylov Inexact Newton techniques in the
+  system's approximate solution. 
+  The Newton method used results in the solution of linear systems
+  of the form
+                          J(u)*x = b
+  where J(u) is the Jacobian of F at u. The solution of these
+  systems by a Krylov method requires products of the form J(u)*v,
+  which are approximated by a difference quotient of the form
+                       F(u+sigma*v)-F(u)
+                       -----------------
+                            sigma
+  Thus, the Jacobian need not be formed explicitly.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Allan G. Taylor and Alan C. Hindmarsh, "User Documentation
+      for KINSOL, a Nonlinear Solver for Sequential and Parallel
+      Computers", Center for Applied Scientific Computing, L-561,
+      LLNL, Livermore, CA 94551.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
+of the routine and related files.-->
+</p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA01AD.html b/doc/_build/html/_static/doc/MA01AD.html
new file mode 100644
index 00000000..03a92d75
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA01AD.html
@@ -0,0 +1,83 @@
+<HTML>
+<HEAD><TITLE>MA01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01AD">MA01AD</A></H2>
+<H3>
+Complex square root of a complex number in real arithmetic
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the complex square root YR + i*YI of a complex number
+  XR + i*XI  in real arithmetic.  The returned result is so that
+  YR &gt;= 0.0  and  SIGN(YI) = SIGN(XI).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA01AD( XR, XI, YR, YI )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  XR, XI, YR, YI
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  XR      (input) DOUBLE PRECISION
+  XI      (input) DOUBLE PRECISION
+          These scalars define the real and imaginary part of the
+          complex number of which the square root is sought.
+
+  YR      (output) DOUBLE PRECISION
+  YI      (output) DOUBLE PRECISION
+          These scalars define the real and imaginary part of the
+          complex square root.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The complex square root YR + i*YI of the complex number XR + i*XI
+  is computed in real arithmetic, taking care to avoid overflow.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  Adapted from EISPACK subroutine CSROOT.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA01BD.html b/doc/_build/html/_static/doc/MA01BD.html
new file mode 100644
index 00000000..41b844a6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA01BD.html
@@ -0,0 +1,97 @@
+<HTML>
+<HEAD><TITLE>MA01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01BD">MA01BD</A></H2>
+<H3>
+Safely computing the general product of K real scalars
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the general product of K real scalars without over-
+  or underflow.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA01BD( BASE, LGBAS, K, S, A, INCA, ALPHA, BETA, SCAL )
+C     .. Scalar Arguments ..
+      INTEGER           INCA, K, SCAL
+      DOUBLE PRECISION  ALPHA, BASE, BETA, LGBAS
+C     .. Array Arguments ..
+      INTEGER           S(*)
+      DOUBLE PRECISION  A(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  BASE    (input)  DOUBLE PRECISION
+          Machine base.
+
+  LGBAS   (input)  DOUBLE PRECISION
+          Logarithm of BASE.
+
+  K       (input)  INTEGER
+          The number of scalars.  K &gt;= 1.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  A       (input)  DOUBLE PRECISION array, dimension (K)
+          Vector of real scalars.
+
+  INCA    (input)  INTEGER
+          Increment for the array A. INCA &lt;&gt; 0.
+
+  ALPHA   (output)  DOUBLE PRECISION
+          ALPHA is a real scalar such that
+
+             ALPHA / BETA * BASE**(SCAL)
+
+          is the general product of the scalars in the array A.
+
+  BETA    (output)  DOUBLE PRECISION
+          BETA is either 0.0 or 1.0.
+          See also the description of ALPHA.
+
+  SCAL    (output)  INTEGER
+          Scaling factor exponent, see ALPHA.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA01BZ.html b/doc/_build/html/_static/doc/MA01BZ.html
new file mode 100644
index 00000000..fce60286
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA01BZ.html
@@ -0,0 +1,96 @@
+<HTML>
+<HEAD><TITLE>MA01BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01BZ">MA01BZ</A></H2>
+<H3>
+Safely computing the general product of K complex scalars
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the general product of K complex scalars trying to
+  avoid over- and underflow.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA01BZ( BASE, K, S, A, INCA, ALPHA, BETA, SCAL )
+C     .. Scalar Arguments ..
+      INTEGER           INCA, K, SCAL
+      DOUBLE PRECISION  BASE
+      COMPLEX*16        ALPHA, BETA
+C     .. Array Arguments ..
+      INTEGER           S(*)
+      COMPLEX*16        A(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  BASE    (input)  DOUBLE PRECISION
+          Machine base.
+
+  K       (input)  INTEGER
+          The number of scalars.  K &gt;= 1.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  A       (input)  COMPLEX*16 array, dimension (K)
+          Vector of complex scalars.
+
+  INCA    (input)  INTEGER
+          Increment for the array A. INCA &lt;&gt; 0.
+
+  ALPHA   (output)  COMPLEX*16
+          ALPHA is a complex scalar with ABS(ALPHA) = 0, or
+          1.0 &lt;= ABS(ALPHA) &lt; BASE, such that
+
+             ALPHA / BETA * BASE**(SCAL)
+
+          is the general product of the scalars in the array A.
+
+  BETA    (output)  COMPLEX*16
+          BETA is either 0.0 or 1.0.
+          See also the description of ALPHA.
+
+  SCAL    (output)  INTEGER
+          Scaling factor exponent, see ALPHA.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA01CD.html b/doc/_build/html/_static/doc/MA01CD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/MA01CD.html
@@ -0,0 +1,89 @@
+<HTML>
+<HEAD><TITLE>MA01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01CD">MA01CD</A></H2>
+<H3>
+Safely computing the sign of a sum of two real numbers represented using integer powers of a base
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, without over- or underflow, the sign of the sum of two
+  real numbers represented using integer powers of a base (usually,
+  the machine base). Any base can be used, but it should the same
+  for both numbers. The result is an integer with value 1, 0, or -1,
+  depending on the sum being found as positive, zero, or negative,
+  respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MA01CD( A, IA, B, IB )
+C     .. Scalar Arguments ..
+      INTEGER           IA, IB
+      DOUBLE PRECISION  A, B
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA01CD  INTEGER
+          The sign of the sum of the two numbers, which is usually
+          either 1, or -1. If both numbers are 0, or if they have
+          the same exponent and their sum is 0, the returned value
+          is 0.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input)  DOUBLE PRECISION
+          The first real scalar.
+
+  IA      (input)  INTEGER
+          Exponent of the base for the first real scalar. The scalar
+          is represented as A * BASE**(IA).
+
+  B       (input)  DOUBLE PRECISION
+          The first real scalar.
+
+  IB      (input)  INTEGER
+          Exponent of the base for the first real scalar. The scalar
+          is represented as B * BASE**(IB).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02AD.html b/doc/_build/html/_static/doc/MA02AD.html
new file mode 100644
index 00000000..4dd24d03
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02AD.html
@@ -0,0 +1,93 @@
+<HTML>
+<HEAD><TITLE>MA02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02AD">MA02AD</A></H2>
+<H3>
+Matrix transposition
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To transpose all or part of a two-dimensional matrix A into
+  another matrix B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02AD( JOB, M, N, A, LDA, B, LDB )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            LDA, LDB, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be transposed into B
+          as follows:
+          = 'U': Upper triangular part;
+          = 'L': Lower triangular part;
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
+         The m-by-n matrix A.  If JOB = 'U', only the upper
+         triangle or trapezoid is accessed; if JOB = 'L', only the
+         lower triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B      (output) DOUBLE PRECISION array, dimension (LDB,M)
+         B = A' in the locations specified by JOB.
+
+  LDB    INTEGER
+         The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02AZ.html b/doc/_build/html/_static/doc/MA02AZ.html
new file mode 100644
index 00000000..647c9d33
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@@ -0,0 +1,101 @@
+<HTML>
+<HEAD><TITLE>MA02AZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02AZ">MA02AZ</A></H2>
+<H3>
+Complex matrix (conjugate) transposition
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To (conjugate) transpose all or part of a two-dimensional complex
+  matrix A into another matrix B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02AZ( TRANS, JOB, M, N, A, LDA, B, LDB )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, TRANS
+      INTEGER            LDA, LDB, M, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*), B(LDB,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies if a transpose or conjugate transpose operation
+          should be performed as follows:
+          = 'T':  transpose operation;
+          = 'C':  conjugate transpose operation.
+
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be transposed into B
+          as follows:
+          = 'U': Upper triangular part;
+          = 'L': Lower triangular part;
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  A      (input) COMPLEX*16 array, dimension (LDA,N)
+         The m-by-n matrix A.  If JOB = 'U', only the upper
+         triangle or trapezoid is accessed; if JOB = 'L', only the
+         lower triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B      (output) COMPLEX*16 array, dimension (LDB,M)
+         B = A' in the locations specified by JOB, where ' denotes
+         the transpose or conjugate transpose operation, as
+         as specified by TRANS.
+
+  LDB    INTEGER
+         The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02BD.html b/doc/_build/html/_static/doc/MA02BD.html
new file mode 100644
index 00000000..64b5c840
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02BD.html
@@ -0,0 +1,95 @@
+<HTML>
+<HEAD><TITLE>MA02BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02BD">MA02BD</A></H2>
+<H3>
+Reversing the order of rows and/or columns of a matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reverse the order of rows and/or columns of a given matrix A
+  by pre-multiplying and/or post-multiplying it, respectively, with
+  a permutation matrix P, where P is a square matrix of appropriate
+  order, with ones down the secondary diagonal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02BD( SIDE, M, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SIDE
+      INTEGER            LDA, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies the operation to be performed, as follows:
+          = 'L': the order of rows of A is to be reversed by
+                 pre-multiplying A with P;
+          = 'R': the order of columns of A is to be reversed by
+                 post-multiplying A with P;
+          = 'B': both the order of rows and the order of columns
+                 of A is to be reversed by pre-multiplying and
+                 post-multiplying A with P.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix whose rows and/or columns are to
+          be permuted.
+          On exit, the leading M-by-N part of this array contains
+          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
+          P*A*P if SIDE = 'B'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02BZ.html b/doc/_build/html/_static/doc/MA02BZ.html
new file mode 100644
index 00000000..578d3ad1
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02BZ.html
@@ -0,0 +1,95 @@
+<HTML>
+<HEAD><TITLE>MA02BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02BZ">MA02BZ</A></H2>
+<H3>
+Reversing the order of rows and/or columns of a matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reverse the order of rows and/or columns of a given matrix A
+  by pre-multiplying and/or post-multiplying it, respectively, with
+  a permutation matrix P, where P is a square matrix of appropriate
+  order, with ones down the secondary diagonal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02BZ( SIDE, M, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SIDE
+      INTEGER            LDA, M, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies the operation to be performed, as follows:
+          = 'L': the order of rows of A is to be reversed by
+                 pre-multiplying A with P;
+          = 'R': the order of columns of A is to be reversed by
+                 post-multiplying A with P;
+          = 'B': both the order of rows and the order of columns
+                 of A is to be reversed by pre-multiplying and
+                 post-multiplying A with P.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix whose rows and/or columns are to
+          be permuted.
+          On exit, the leading M-by-N part of this array contains
+          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
+          P*A*P if SIDE = 'B'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02CD.html b/doc/_build/html/_static/doc/MA02CD.html
new file mode 100644
index 00000000..dd3650b9
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02CD.html
@@ -0,0 +1,90 @@
+<HTML>
+<HEAD><TITLE>MA02CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02CD">MA02CD</A></H2>
+<H3>
+Pertransposing the central band of a square matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the pertranspose of a central band of a square matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02CD( N, KL, KU, A, LDA )
+C     .. Scalar Arguments ..
+      INTEGER          KL, KU, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrix A.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be pertransposed.
+          0 &lt;= KL &lt;= N-1.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be pertransposed.
+          0 &lt;= KU &lt;= N-1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a square matrix whose central band formed from
+          the KL subdiagonals, the main diagonal and the KU
+          superdiagonals will be pertransposed.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A with its central band (the KL subdiagonals,
+          the main diagonal and the KU superdiagonals) pertransposed
+          (that is the elements of each antidiagonal appear in
+          reversed order). This is equivalent to forming P*B'*P,
+          where B is the matrix formed from the central band of A
+          and P is a permutation matrix with ones down the secondary
+          diagonal.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02CZ.html b/doc/_build/html/_static/doc/MA02CZ.html
new file mode 100644
index 00000000..63c0dfde
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02CZ.html
@@ -0,0 +1,90 @@
+<HTML>
+<HEAD><TITLE>MA02CZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02CZ">MA02CZ</A></H2>
+<H3>
+Pertransposing the central band of a square matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the pertranspose of a central band of a square matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02CZ( N, KL, KU, A, LDA )
+C     .. Scalar Arguments ..
+      INTEGER          KL, KU, LDA, N
+C     .. Array Arguments ..
+      COMPLEX*16       A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrix A.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be pertransposed.
+          0 &lt;= KL &lt;= N-1.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be pertransposed.
+          0 &lt;= KU &lt;= N-1.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a square matrix whose central band formed from
+          the KL subdiagonals, the main diagonal and the KU
+          superdiagonals will be pertransposed.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A with its central band (the KL subdiagonals,
+          the main diagonal and the KU superdiagonals) pertransposed
+          (that is the elements of each antidiagonal appear in
+          reversed order). This is equivalent to forming P*B'*P,
+          where B is the matrix formed from the central band of A
+          and P is a permutation matrix with ones down the secondary
+          diagonal.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02DD.html b/doc/_build/html/_static/doc/MA02DD.html
new file mode 100644
index 00000000..25b613e3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02DD.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>MA02DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02DD">MA02DD</A></H2>
+<H3>
+Pack/unpack the upper or lower triangle of a symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To pack/unpack the upper or lower triangle of a symmetric matrix.
+  The packed matrix is stored column-wise in the one-dimensional
+  array AP.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02DD( JOB, UPLO, N, A, LDA, AP )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), AP(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether the matrix should be packed or unpacked,
+          as follows:
+          = 'P':  The matrix should be packed;
+          = 'U':  The matrix should be unpacked.
+
+  UPLO    CHARACTER*1
+          Specifies the part of the matrix to be packed/unpacked,
+          as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input or output) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          This array is an input parameter if JOB = 'P', and an
+          output parameter if JOB = 'U'.
+          On entry, if JOB = 'P', the leading N-by-N upper
+          triangular part (if UPLO = 'U'), or lower triangular part
+          (if UPLO = 'L'), of this array must contain the
+          corresponding upper or lower triangle of the symmetric
+          matrix A, and the other strictly triangular part is not
+          referenced.
+          On exit, if JOB = 'U', the leading N-by-N upper triangular
+          part (if UPLO = 'U'), or lower triangular part (if
+          UPLO = 'L'), of this array contains the corresponding
+          upper or lower triangle of the symmetric matrix A; the
+          other strictly triangular part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  AP      (output or input) DOUBLE PRECISION array, dimension
+          (N*(N+1)/2)
+          This array is an output parameter if JOB = 'P', and an
+          input parameter if JOB = 'U'.
+          On entry, if JOB = 'U', the leading N*(N+1)/2 elements of
+          this array must contain the upper (if UPLO = 'U') or lower
+          (if UPLO = 'L') triangle of the symmetric matrix A, packed
+          column-wise. That is, the elements are stored in the order
+          11, 12, 22, ..., 1n, 2n, 3n, ..., nn,      if UPLO = 'U';
+          11, 21, 31, ..., n1, 22, 32, ..., n2, ..., if UPLO = 'L'.
+          On exit, if JOB = 'P', the leading N*(N+1)/2 elements of
+          this array contain the upper (if UPLO = 'U') or lower
+          (if UPLO = 'L') triangle of the symmetric matrix A, packed
+          column-wise, as described above.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02ED.html b/doc/_build/html/_static/doc/MA02ED.html
new file mode 100644
index 00000000..288dfeeb
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02ED.html
@@ -0,0 +1,86 @@
+<HTML>
+<HEAD><TITLE>MA02ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02ED">MA02ED</A></H2>
+<H3>
+Store by symmetry the upper or lower triangle of a symmetric matrix, given the other triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To store by symmetry the upper or lower triangle of a symmetric
+  matrix, given the other triangle.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02ED( UPLO, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix is given as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+          For all other values, the array A is not referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the symmetric matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the symmetric matrix A with all elements stored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02ES.html b/doc/_build/html/_static/doc/MA02ES.html
new file mode 100644
index 00000000..daf1f72c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02ES.html
@@ -0,0 +1,87 @@
+<HTML>
+<HEAD><TITLE>MA02ES - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02ES">MA02ES</A></H2>
+<H3>
+Store by skew-symmetry the upper or lower triangle of a skew-symmetric real matrix, given the other triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To store by skew-symmetry the upper or lower triangle of a
+  skew-symmetric matrix, given the other triangle. The diagonal
+  entries are set to zero.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02ES( UPLO, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix is given as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+          For all other values, the array A is not referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the skew-symmetric matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the skew-symmetric matrix A with all elements stored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02EZ.html b/doc/_build/html/_static/doc/MA02EZ.html
new file mode 100644
index 00000000..cf547f0f
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02EZ.html
@@ -0,0 +1,105 @@
+<HTML>
+<HEAD><TITLE>MA02EZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02EZ">MA02EZ</A></H2>
+<H3>
+Store by (skew-)symmetry the upper or lower triangle of a (skew-)symmetric/Hermitian complex matrix, given the other triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To store by (skew-)symmetry the upper or lower triangle of a
+  (skew-)symmetric/Hermitian complex matrix, given the other
+  triangle. The option SKEW = 'G' allows to suitably deal with the
+  diagonal of a general square triangular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02EZ( UPLO, TRANS, SKEW, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW, TRANS, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix is given as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+          For all other values, the array A is not referenced.
+
+  TRANS   CHARACTER*1
+          Specifies whether to use transposition or conjugate
+          transposition as follows:
+          = 'T':  Use transposition;
+          = 'C':  Use conjugate transposition.
+
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is symmetric/Hermitian or
+          skew-symmetric/Hermitian as follows:
+          = 'G':  The matrix is not symmetric/Hermitian (general);
+          = 'N':  The matrix is symmetric/Hermitian;
+          = 'S':  The matrix is skew-symmetric/Hermitian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the (skew-)symmetric/Hermitian matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the (skew-)symmetric/Hermitian matrix A with all elements
+          stored. If the resulted matrix should be Hermitian, the
+          imaginary parts of the diagonal entries are set to zero.
+          If the resulted matrix should be skew-Hermitian, the real
+          parts of the diagonal entries are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02FD.html b/doc/_build/html/_static/doc/MA02FD.html
new file mode 100644
index 00000000..1fe6b300
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02FD.html
@@ -0,0 +1,90 @@
+<HTML>
+<HEAD><TITLE>MA02FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02FD">MA02FD</A></H2>
+<H3>
+Hyperbolic plane rotation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients c and s (c^2 + s^2 = 1) for a modified
+  hyperbolic plane rotation, such that,
+
+      y1 := 1/c * x1 - s/c * x2 = sqrt(x1^2 - x2^2),
+      y2 :=  -s * y1 +  c  * x2 = 0,
+
+  given two real numbers x1 and x2, satisfying either x1 = x2 = 0,
+  or abs(x2) &lt; abs(x1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02FD( X1, X2, C, S, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  X1, X2, C, S
+      INTEGER           INFO
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  X1      (input/output) DOUBLE PRECISION
+          On entry, the real number x1.
+          On exit, the real number y1.
+
+  X2      (input) DOUBLE PRECISION
+          The real number x2.
+          The values x1 and x2 should satisfy either x1 = x2 = 0, or
+          abs(x2) &lt; abs(x1).
+
+  C       (output) DOUBLE PRECISION
+          The cosines c of the modified hyperbolic plane rotation.
+
+  S       (output) DOUBLE PRECISION
+          The sines s of the modified hyperbolic plane rotation.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  succesful exit;
+          = 1:  if abs(x2) &gt;= abs(x1) and either x1 &lt;&gt; 0 or x2 &lt;&gt; 0.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02GD.html b/doc/_build/html/_static/doc/MA02GD.html
new file mode 100644
index 00000000..0455a4aa
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02GD.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MA02GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02GD">MA02GD</A></H2>
+<H3>
+Column interchanges in a matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a series of column interchanges on the matrix A.
+  One column interchange is initiated for each of columns K1 through
+  K2 of A. This is useful for solving linear systems X*A = B, when
+  the matrix A has already been factored by LAPACK Library routine
+  DGETRF.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02GD( N, A, LDA, K1, K2, IPIV, INCX )
+C     .. Scalar Arguments ..
+      INTEGER            INCX, K1, K2, LDA, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,*)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A to which the column interchanges will
+          be applied, where M is the largest element of IPIV(K), for
+          K = K1, ..., K2.
+          On exit, the leading N-by-M part of this array contains
+          the permuted matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  K1      (input) INTEGER
+          The first element of IPIV for which a column interchange
+          will be done.
+
+  K2      (input) INTEGER
+          The last element of IPIV for which a column interchange
+          will be done.
+
+  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
+          The vector of interchanging (pivot) indices.  Only the
+          elements in positions K1 through K2 of IPIV are accessed.
+          IPIV(K) = L implies columns K and L are to be
+          interchanged.
+
+  INCX    (input) INTEGER
+          The increment between successive values of IPIV.
+          If INCX is negative, the interchanges are applied in
+          reverse order.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
+  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is the column-oriented counterpart of the LAPACK
+  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
+  be used in this context. To solve the system X*A = B, where A and
+  B are N-by-N and M-by-N, respectively, the following statements
+  can be used:
+
+      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
+      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
+      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
+      CALL MA02GD( M, B, LDB, 1, N, IPIV, -1 )
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02GZ.html b/doc/_build/html/_static/doc/MA02GZ.html
new file mode 100644
index 00000000..c49d09e6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02GZ.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MA02GZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02GZ">MA02GZ</A></H2>
+<H3>
+Column interchanges in a complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a series of column interchanges on the matrix A.
+  One column interchange is initiated for each of columns K1 through
+  K2 of A. This is useful for solving linear systems X*A = B, when
+  the matrix A has already been factored by LAPACK Library routine
+  DGETRF.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02GZ( N, A, LDA, K1, K2, IPIV, INCX )
+C     .. Scalar Arguments ..
+      INTEGER            INCX, K1, K2, LDA, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      COMPLEX*16         A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,*)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A to which the column interchanges will
+          be applied, where M is the largest element of IPIV(K), for
+          K = K1, ..., K2.
+          On exit, the leading N-by-M part of this array contains
+          the permuted matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  K1      (input) INTEGER
+          The first element of IPIV for which a column interchange
+          will be done.
+
+  K2      (input) INTEGER
+          The last element of IPIV for which a column interchange
+          will be done.
+
+  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
+          The vector of interchanging (pivot) indices.  Only the
+          elements in positions K1 through K2 of IPIV are accessed.
+          IPIV(K) = L implies columns K and L are to be
+          interchanged.
+
+  INCX    (input) INTEGER
+          The increment between successive values of IPIV.
+          If INCX is negative, the interchanges are applied in
+          reverse order.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
+  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is the column-oriented counterpart of the LAPACK
+  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
+  be used in this context. To solve the system X*A = B, where A and
+  B are N-by-N and M-by-N, respectively, the following statements
+  can be used:
+
+      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
+      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
+      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
+      CALL MA02GZ( M, B, LDB, 1, N, IPIV, -1 )
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02HD.html b/doc/_build/html/_static/doc/MA02HD.html
new file mode 100644
index 00000000..c92a0501
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02HD.html
@@ -0,0 +1,106 @@
+<HTML>
+<HEAD><TITLE>MA02HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02HD">MA02HD</A></H2>
+<H3>
+Check if a matrix is a scalar multiple of an identity-like matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
+  the diagonal and zeros elsewhere.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      LOGICAL FUNCTION MA02HD( JOB, M, N, DIAG, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            LDA, M, N
+      DOUBLE PRECISION   DIAG
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02HD  LOGICAL
+          The function value is set to .TRUE. if A = DIAG*I, and to
+          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be checked out,
+          as follows:
+          = 'U': Upper triangular/trapezoidal part;
+          = 'L': Lower triangular/trapezoidal part.
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  DIAG   (input) DOUBLE PRECISION
+         The scalar DIAG.
+
+  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
+         The leading M-by-N part of this array must contain the
+         matrix A.  If JOB = 'U', only the upper triangle or
+         trapezoid is accessed; if JOB = 'L', only the lower
+         triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine returns immediately after detecting a diagonal element
+  which differs from DIAG, or a nonzero off-diagonal element in the
+  searched part of A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02HZ.html b/doc/_build/html/_static/doc/MA02HZ.html
new file mode 100644
index 00000000..c4ab8f40
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02HZ.html
@@ -0,0 +1,107 @@
+<HTML>
+<HEAD><TITLE>MA02HZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02HZ">MA02HZ</A></H2>
+<H3>
+Check if a matrix is a scalar multiple of an identity-like matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
+  the diagonal and zeros elsewhere, A is a complex matrix and DIAG
+  is a complex scalar.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      LOGICAL FUNCTION MA02HZ( JOB, M, N, DIAG, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            LDA, M, N
+      COMPLEX*16         DIAG
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02HZ  LOGICAL
+          The function value is set to .TRUE. if A = DIAG*I, and to
+          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be checked out,
+          as follows:
+          = 'U': Upper triangular/trapezoidal part;
+          = 'L': Lower triangular/trapezoidal part.
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  DIAG   (input) COMPLEX*16
+         The scalar DIAG.
+
+  A      (input) COMPLEX*16 array, dimension (LDA,N)
+         The leading M-by-N part of this array must contain the
+         matrix A.  If JOB = 'U', only the upper triangle or
+         trapezoid is accessed; if JOB = 'L', only the lower
+         triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine returns immediately after detecting a diagonal element
+  which differs from DIAG, or a nonzero off-diagonal element in the
+  searched part of A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02ID.html b/doc/_build/html/_static/doc/MA02ID.html
new file mode 100644
index 00000000..ed25e609
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02ID.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>MA02ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02ID">MA02ID</A></H2>
+<H3>
+Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a real skew-Hamiltonian matrix
+
+                [  A   G  ]          T         T
+          X  =  [       T ],   G = -G,   Q = -Q,
+                [  Q   A  ]
+
+  or of a real Hamiltonian matrix
+
+                [  A   G  ]          T         T
+          X  =  [       T ],   G =  G,   Q =  Q,
+                [  Q  -A  ]
+
+  where A, G and Q are real n-by-n matrices.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02ID( TYP, NORM, N, A, LDA, QG,
+     $                                  LDQG, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, TYP
+      INTEGER            LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02ID  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYP     CHARACTER*1
+          Specifies the type of the input matrix X:
+          = 'S':         X is skew-Hamiltonian;
+          = 'H':         X is Hamiltonian.
+
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02ID:
+          = '1' or 'O':  one norm of X;
+          = 'F' or 'E':  Frobenius norm of X;
+          = 'I':         infinity norm of X;
+          = 'M':         max(abs(X(i,j)).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G. If TYP = 'S', the parts containing the
+          diagonal and the first supdiagonal of this array are not
+          referenced.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
+          NORM = 'O'; otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02IZ.html b/doc/_build/html/_static/doc/MA02IZ.html
new file mode 100644
index 00000000..3f808c7e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02IZ.html
@@ -0,0 +1,134 @@
+<HTML>
+<HEAD><TITLE>MA02IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02IZ">MA02IZ</A></H2>
+<H3>
+Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a complex skew-Hamiltonian matrix
+
+                [  A   G  ]          H         H
+          X  =  [       H ],   G = -G,   Q = -Q,
+                [  Q   A  ]
+
+  or of a complex Hamiltonian matrix
+
+                [  A   G  ]          H         H
+          X  =  [       H ],   G =  G,   Q =  Q,
+                [  Q  -A  ]
+
+  where A, G and Q are complex n-by-n matrices.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02IZ( TYP, NORM, N, A, LDA, QG,
+     $                                  LDQG, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, TYP
+      INTEGER            LDA, LDQG, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*), QG(LDQG,*)
+      DOUBLE PRECISION   DWORK(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02IZ  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYP     CHARACTER*1
+          Specifies the type of the input matrix X:
+          = 'S':         X is skew-Hamiltonian;
+          = 'H':         X is Hamiltonian.
+
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02IZ:
+          = '1' or 'O':  one norm of X;
+          = 'F' or 'E':  Frobenius norm of X;
+          = 'I':         infinity norm of X;
+          = 'M':         max(abs(X(i,j)).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input) COMPLEX*16 array, dimension (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G. If TYP = 'S', the real parts of the
+          entries on the diagonal and the first superdiagonal of
+          this array, which should be zero, need not be set, since
+          they are not used. Similarly, if TYP = 'H', the imaginary
+          parts of the entries on the diagonal and the first
+          superdiagonal of this array, which should be zero, need
+          not be set.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
+          NORM = 'O'; otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02JD.html b/doc/_build/html/_static/doc/MA02JD.html
new file mode 100644
index 00000000..3b6e862d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02JD.html
@@ -0,0 +1,119 @@
+<HTML>
+<HEAD><TITLE>MA02JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02JD">MA02JD</A></H2>
+<H3>
+Test if a matrix is an orthogonal symplectic matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute || Q^T Q - I ||_F for a matrix of the form
+
+                    [  op( Q1 )  op( Q2 ) ]
+               Q =  [                     ],
+                    [ -op( Q2 )  op( Q1 ) ]
+
+  where Q1 and Q2 are N-by-N matrices. This residual can be used to
+  test wether Q is numerically an orthogonal symplectic matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02JD( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
+     $                                  LDQ2, RES, LDRES )
+C     .. Scalar Arguments ..
+      LOGICAL           LTRAN1, LTRAN2
+      INTEGER           LDQ1, LDQ2, LDRES, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02JD  DOUBLE PRECISION
+          The computed residual.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN1  LOGICAL
+          Specifies the form of op( Q1 ) as follows:
+          = .FALSE.:  op( Q1 ) = Q1;
+          = .TRUE. :  op( Q1 ) = Q1'.
+
+  LTRAN2  LOGICAL
+          Specifies the form of op( Q2 ) as follows:
+          = .FALSE.:  op( Q2 ) = Q2;
+          = .TRUE. :  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices Q1 and Q2.  N &gt;= 0.
+
+  Q1      (input) DOUBLE PRECISION array, dimension (LDQ1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q1 ).
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
+
+  Q2      (input) DOUBLE PRECISION array, dimension (LDQ2,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q2 ).
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  RES     DOUBLE PRECISION array, dimension (LDRES,N)
+
+  LDRES   INTEGER
+          The leading dimension of the array RES.  LDRES &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the residual by simple elementary operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02JZ.html b/doc/_build/html/_static/doc/MA02JZ.html
new file mode 100644
index 00000000..1e021ca5
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02JZ.html
@@ -0,0 +1,120 @@
+<HTML>
+<HEAD><TITLE>MA02JZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02JZ">MA02JZ</A></H2>
+<H3>
+Test if a matrix is a unitary symplectic matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute || Q^H Q - I ||_F for a complex matrix of the form
+
+                    [  op( Q1 )  op( Q2 ) ]
+               Q =  [                     ],
+                    [ -op( Q2 )  op( Q1 ) ]
+
+  where Q1 and Q2 are N-by-N matrices. This residual can be used to
+  test wether Q is numerically a unitary symplectic matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02JZ( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
+     $                                  LDQ2, RES, LDRES )
+C     .. Scalar Arguments ..
+      LOGICAL           LTRAN1, LTRAN2
+      INTEGER           LDQ1, LDQ2, LDRES, N
+C     .. Array Arguments ..
+      COMPLEX*16        Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02JZ  DOUBLE PRECISION
+          The computed residual.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN1  LOGICAL
+          Specifies the form of op( Q1 ) as follows:
+          = .FALSE.:  op( Q1 ) = Q1;
+          = .TRUE. :  op( Q1 ) = Q1'.
+
+  LTRAN2  LOGICAL
+          Specifies the form of op( Q2 ) as follows:
+          = .FALSE.:  op( Q2 ) = Q2;
+          = .TRUE. :  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices Q1 and Q2.  N &gt;= 0.
+
+  Q1      (input) COMPLEX*16 array, dimension (LDQ1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q1 ).
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
+
+  Q2      (input) COMPLEX*16 array, dimension (LDQ2,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q2 ).
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  RES     DOUBLE PRECISION array, dimension (LDRES,N)
+
+  LDRES   INTEGER
+          The leading dimension of the array RES.
+          LDRES &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the residual by simple elementary operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02MD.html b/doc/_build/html/_static/doc/MA02MD.html
new file mode 100644
index 00000000..6326a1b8
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02MD.html
@@ -0,0 +1,114 @@
+<HTML>
+<HEAD><TITLE>MA02MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02MD">MA02MD</A></H2>
+<H3>
+Compute norms of a real skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a real skew-symmetric matrix.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02MD( NORM, UPLO, N, A, LDA, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02MD  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02MD:
+          = '1' or 'O':  one norm of A;
+          = 'F' or 'E':  Frobenius norm of A;
+          = 'I':         infinity norm of A;
+          = 'M':         max(abs(A(i,j)).
+
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the skew-symmetric matrix A is to be referenced.
+          = 'U':  Upper triangular part of A is referenced;
+          = 'L':  Lower triangular part of A is referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MD is
+          set to zero.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The skew-symmetric matrix A.  If UPLO = 'U', the leading
+          N-by-N strictly upper triangular part of A contains the
+          strictly upper triangular part of the matrix A, and the
+          lower triangular part of A is not referenced.
+          If UPLO = 'L', the leading N-by-N strictly lower
+          triangular part of A contains the strictly lower
+          triangular part of the matrix A, and the upper triangular
+          part of A is not referenced.
+          The diagonal of A need not be set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
+          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
+          otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02MZ.html b/doc/_build/html/_static/doc/MA02MZ.html
new file mode 100644
index 00000000..e7de44a9
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02MZ.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MA02MZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02MZ">MA02MZ</A></H2>
+<H3>
+Compute norms of a complex skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a complex skew-Hermitian matrix.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02MZ( NORM, UPLO, N, A, LDA, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK( * )
+      COMPLEX*16         A( LDA, * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02MZ  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02MZ:
+          = '1' or 'O':  one norm of A;
+          = 'F' or 'E':  Frobenius norm of A;
+          = 'I':         infinity norm of A;
+          = 'M':         max(abs(A(i,j)).
+
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the skew-Hermitian matrix A is to be referenced.
+          = 'U':  Upper triangular part of A is referenced;
+          = 'L':  Lower triangular part of A is referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MZ is
+          set to zero.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The skew-Hermitian matrix A.  If UPLO = 'U', the leading
+          N-by-N upper triangular part of A contains the upper
+          triangular part of the matrix A, and the strictly lower
+          triangular part of A is not referenced. If UPLO = 'L', the
+          leading N-by-N lower triangular part of A contains the
+          lower triangular part of the matrix A, and the strictly
+          upper triangular part of A is not referenced.
+          The real parts of the diagonal elements of A need not be
+          set and are assumed to be zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
+          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
+          otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02NZ.html b/doc/_build/html/_static/doc/MA02NZ.html
new file mode 100644
index 00000000..3ec660f1
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02NZ.html
@@ -0,0 +1,112 @@
+<HTML>
+<HEAD><TITLE>MA02NZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02NZ">MA02NZ</A></H2>
+<H3>
+Permute two rows and corresponding columns of a (skew-)symmetric/Hermitian complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To permute two specified rows and corresponding columns of a
+  (skew-)symmetric/Hermitian complex matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02NZ( UPLO, TRANS, SKEW, N, K, L, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW, TRANS, UPLO
+      INTEGER            K, L, LDA, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the (skew-)symmetric/Hermitian matrix A is to be
+          referenced, as follows:
+          = 'U':  Upper triangular part of A is referenced;
+          = 'L':  Lower triangular part of A is referenced.
+
+  TRANS   CHARACTER*1
+          Specifies whether to use transposition or conjugate
+          transposition as follows:
+          = 'T':  Use transposition;
+          = 'C':  Use conjugate transposition.
+
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is symmetric/Hermitian or
+          skew-symmetric/Hermitian as follows:
+          = 'N':  The matrix is symmetric/Hermitian;
+          = 'S':  The matrix is skew-symmetric/skew-Hermitian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The smaller index of the pair of rows and columns to be
+          permuted.  0 &lt;= K &lt;= L. If K = 0, the routine returns.
+
+  L       (input) INTEGER
+          The larger index of the pair of rows and columns to be
+          permuted.  K &lt;= L &lt;= N.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the (skew-)symmetric/Hermitian matrix A.
+          On exit, the leading N-by-N upper or lower triangular part
+          of this array (depending on UPLO) contains the
+          corresponding part of the permuted matrix A.
+          Note that a Hermitian matrix has the imaginary parts of
+          the diagonal entries zero. Similarly, a skew-Hermitian
+          matrix has the real parts of the diagonal entries zero.
+          The routine does not check out this conditions.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(N,1).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02OD.html b/doc/_build/html/_static/doc/MA02OD.html
new file mode 100644
index 00000000..ee30c419
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02OD.html
@@ -0,0 +1,105 @@
+<HTML>
+<HEAD><TITLE>MA02OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02OD">MA02OD</A></H2>
+<H3>
+Compute the number of zero rows (and zero columns) of a real (skew-)Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows (and zero columns) of a real
+  (skew-)Hamiltonian matrix,
+
+        (  A    D   )
+    H = (           ).
+        (  E  +/-A' )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MA02OD( SKEW, M, A, LDA, DE, LDDE )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW
+      INTEGER            LDA, LDDE, M
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), DE( LDDE, * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02OD  INTEGER
+          The number of zero rows.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is Hamiltonian or skew-
+          Hamiltonian as follows:
+          = 'H':  The matrix is Hamiltonian;
+          = 'S':  The matrix is skew-Hamiltonian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A, D, and E.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  DE      (input) DOUBLE PRECISION array, dimension (LDDE,M+1)
+          The leading M-by-M lower triangular part of this array
+          must contain the lower triangular part of the (skew-)
+          symmetric matrix E, and the M-by-M upper triangular
+          part of the submatrix in the columns 2 to M+1 of this
+          array must contain the upper triangular part of the
+          (skew-)symmetric matrix D. If S is skew-Hamiltonian, the
+          parts containing the diagonal and the first superdiagonal
+          of this array, which should be zero, are not referenced.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02OZ.html b/doc/_build/html/_static/doc/MA02OZ.html
new file mode 100644
index 00000000..c86b4812
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02OZ.html
@@ -0,0 +1,108 @@
+<HTML>
+<HEAD><TITLE>MA02OZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02OZ">MA02OZ</A></H2>
+<H3>
+Compute the number of zero rows (and zero columns) of a complex (skew-)Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows (and zero columns) of a complex
+  (skew-)Hamiltonian matrix,
+
+        (  A    D   )
+    H = (           ).
+        (  E  +/-A' )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MA02OZ( SKEW, M, A, LDA, DE, LDDE )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW
+      INTEGER            LDA, LDDE, M
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), DE( LDDE, * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02OZ  INTEGER
+          The number of zero rows.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is Hamiltonian or skew-
+          Hamiltonian as follows:
+          = 'H':  The matrix is Hamiltonian;
+          = 'S':  The matrix is skew-Hamiltonian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A, D, and E.  M &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  DE      (input) COMPLEX*16 array, dimension (LDDE,M+1)
+          The leading M-by-M lower triangular part of this array
+          must contain the lower triangular part of the (skew-)
+          Hermitian matrix E, and the M-by-M upper triangular
+          part of the submatrix in the columns 2 to M+1 of this
+          array must contain the upper triangular part of the
+          (skew-)Hermitian matrix D. If S is skew-Hamiltonian, the
+          real parts of the entries on the diagonal and the first
+          superdiagonal of this array, which should be zero, are
+          not used. If S is Hamiltonian, the imaginary parts of the
+          entries on the diagonal and the first superdiagonal of
+          this array, which should be zero, are not used.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02PD.html b/doc/_build/html/_static/doc/MA02PD.html
new file mode 100644
index 00000000..091ca812
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02PD.html
@@ -0,0 +1,82 @@
+<HTML>
+<HEAD><TITLE>MA02PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02PD">MA02PD</A></H2>
+<H3>
+Compute the number of zero rows and zero columns of a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows and zero columns of a real
+  matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02PD( M, N, A, LDA, NZR, NZC )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, M, N, NZC, NZR
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  NZR     (output) INTEGER
+          The number of zero rows of the matrix A.
+
+  NZC     (output) INTEGER
+          The number of zero columns of the matrix A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MA02PZ.html b/doc/_build/html/_static/doc/MA02PZ.html
new file mode 100644
index 00000000..3876910c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MA02PZ.html
@@ -0,0 +1,82 @@
+<HTML>
+<HEAD><TITLE>MA02PZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02PZ">MA02PZ</A></H2>
+<H3>
+Compute the number of zero rows and zero columns of a complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows and zero columns of a complex
+  matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02PZ( M, N, A, LDA, NZR, NZC )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, M, N, NZC, NZR
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  NZR     (output) INTEGER
+          The number of zero rows of the matrix A.
+
+  NZC     (output) INTEGER
+          The number of zero columns of the matrix A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01KD.html b/doc/_build/html/_static/doc/MB01KD.html
new file mode 100644
index 00000000..f1d07457
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01KD.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MB01KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01KD">MB01KD</A></H2>
+<H3>
+Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C, with A and C skew-symmetric matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform one of the skew-symmetric rank 2k operations
+
+      C := alpha*A*B' - alpha*B*A' + beta*C,
+
+  or
+
+      C := alpha*A'*B - alpha*B'*A + beta*C,
+
+  where alpha and beta are scalars, C is a real N-by-N skew-
+  symmetric matrix and A, B are N-by-K matrices in the first case
+  and K-by-N matrices in the second case.
+
+  This is a modified version of the vanilla implemented BLAS
+  routine DSYR2K written by Jack Dongarra, Iain Duff,
+  Jeremy Du Croz and Sven Hammarling.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01KD( UPLO, TRANS, N, K, ALPHA, A, LDA, B, LDB, BETA,
+     $                   C, LDC, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO, TRANS
+      INTEGER           INFO, K, LDA, LDB, LDC, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the array C is to be referenced, as follows:
+          = 'U':  only the strictly upper triangular part of C is to
+                  be referenced;
+          = 'L':  only the striclty lower triangular part of C is to
+                  be referenced.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed, as follows:
+          = 'N':         C := alpha*A*B' - alpha*B*A' + beta*C;
+          = 'T' or 'C':  C := alpha*A'*B - alpha*B'*A + beta*C.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix C.  N &gt;= 0.
+
+  K       (input) INTEGER
+          If TRANS = 'N' the number of columns of A and B; and if
+          TRANS = 'T' or TRANS = 'C' the number of rows of A and B.
+          K &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. If alpha is zero, or N &lt;= 1, or K = 0,
+          A and B are not referenced.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA,KA),
+          where KA is K when TRANS = 'N', and is N otherwise.
+          On entry with TRANS = 'N', the leading N-by-K part of
+          of this array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          K-by-N part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N),  if TRANS = 'N';
+          LDA &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
+
+  B       (input)  DOUBLE PRECISION array, dimension (LDB,KB),
+          where KB is K when TRANS = 'N', and is N otherwise.
+          On entry with TRANS = 'N', the leading N-by-K part of
+          of this array must contain the matrix B.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          K-by-N part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N),  if TRANS = 'N';
+          LDB &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. If beta is zero C need not be set before
+          entry.
+
+  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with UPLO = 'U', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the matrix C. The lower triangular part of this array is
+          not referenced.
+          On entry with UPLO = 'L', the leading N-by-N part of this
+          array must contain the strictly lower triangular part of
+          the matrix C. The upper triangular part of this array is
+          not referenced.
+          On exit with UPLO = 'U', the leading N-by-N part of this
+          array contains the strictly upper triangular part of the
+          updated matrix C.
+          On exit with UPLO = 'L', the leading N-by-N part of this
+          array contains the strictly lower triangular part of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Though being almost identical with the vanilla implementation
+  of the BLAS routine DSYR2K the performance of this routine could
+  be significantly lower in the case of vendor supplied, highly
+  optimized BLAS.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01LD.html b/doc/_build/html/_static/doc/MB01LD.html
new file mode 100644
index 00000000..a12ac34b
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01LD.html
@@ -0,0 +1,209 @@
+<HTML>
+<HEAD><TITLE>MB01LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01LD">MB01LD</A></H2>
+<H3>
+Computation of matrix expression alpha*R + beta*A*X*trans(A) with skew-symmetric matrices R and X
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+     _
+     R = alpha*R + beta*op( A )*X*op( A )',
+                                              _
+  where alpha and beta are scalars, R, X, and R are skew-symmetric
+  matrices, A is a general matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01LD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the skew-symmetric matrices R
+          and X are given, as follows:
+          = 'U':  the strictly upper triangular part is given;
+          = 'L':  the strictly lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R and the number of rows
+          of the matrix op( A ).  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix X and the number of columns of the
+          matrix op( A ).  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero or N &lt;= 1, or M &lt;= 1,
+          then A and X are not referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M strictly
+          upper triangular part of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix R. The lower triangle is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M strictly
+          lower triangular part of this array must contain the
+          strictly lower triangular part of the skew-symmetric
+          matrix R. The upper triangle is not referenced.
+          On exit, the leading M-by-M strictly upper triangular part
+          (if UPLO = 'U'), or strictly lower triangular part
+          (if UPLO = 'L'), of this array contains the corresponding
+                                                          _
+          strictly triangular part of the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
+          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+          TRANS = 'C'.
+          On entry with TRANS = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,k),
+          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
+          TRANS = 'C'.
+
+  X       (input or input/output) DOUBLE PRECISION array, dimension
+          (LDX,K), where K = N, if UPLO = 'U' or  LDWORK &gt;= M*(N-1),
+               or K = MAX(N,M), if UPLO = 'L' and LDWORK &lt;  M*(N-1).
+          On entry, if UPLO = 'U', the leading N-by-N strictly upper
+          triangular part of this array must contain the strictly
+          upper triangular part of the skew-symmetric matrix X and
+          the lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N strictly lower
+          triangular part of this array must contain the strictly
+          lower triangular part of the skew-symmetric matrix X and
+          the upper triangular part of the array is not referenced.
+          If LDWORK &lt; M*(N-1), this array is overwritten with the
+          matrix op(A)*X, if UPLO = 'U', or X*op(A)', if UPLO = 'L'.
+
+  LDX     INTEGER
+          The leading dimension of the array X.
+          LDX &gt;= MAX(1,N),   if UPLO = 'L' or  LDWORK &gt;= M*(N-1);
+          LDX &gt;= MAX(1,N,M), if UPLO = 'U' and LDWORK &lt;  M*(N-1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or M &lt;= 1, or
+          N &lt;= 1.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N, if  beta &lt;&gt; 0, and M &gt; 0, and N &gt;  1;
+          LDWORK &gt;= 0, if  beta =  0, or  M = 0, or  N &lt;= 1.
+          For optimum performance, LDWORK &gt;= M*(N-1), if  beta &lt;&gt; 0,
+          M &gt; 1, and N &gt; 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the skew-
+  symmetry into account. If LDWORK &gt;= M*(N-1), a BLAS 3 like
+  implementation is used. Specifically, let X = T - T', with T a
+  strictly upper or strictly lower triangular matrix, defined by
+
+     T = striu( X ),  if UPLO = 'U',
+     T = stril( X ),  if UPLO = 'L',
+
+  where striu and stril denote the strictly upper triangular part
+  and strictly lower triangular part of X, respectively. Then,
+
+     A*X*A' = ( A*T )*A' - A*( A*T )',  for TRANS = 'N',
+     A'*X*A = A'*( T*A ) - ( T*A )'*A,  for TRANS = 'T', or 'C',
+
+  which involve BLAS 3 operations DTRMM and the skew-symmetric
+  correspondent of DSYR2K (with a Fortran implementation available
+  in the SLICOT Library routine MB01KD).
+  If LDWORK &lt; M*(N-1), a BLAS 2 implementation is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+                2         2
+     3/2 x M x N + 1/2 x M
+
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01MD.html b/doc/_build/html/_static/doc/MB01MD.html
new file mode 100644
index 00000000..85246208
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01MD.html
@@ -0,0 +1,136 @@
+<HTML>
+<HEAD><TITLE>MB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01MD">MB01MD</A></H2>
+<H3>
+Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the matrix-vector operation
+
+     y := alpha*A*x + beta*y,
+
+  where alpha and beta are scalars, x and y are vectors of length
+  n and A is an n-by-n skew-symmetric matrix.
+
+  This is a modified version of the vanilla implemented BLAS
+  routine DSYMV written by Jack Dongarra, Jeremy Du Croz,
+  Sven Hammarling, and Richard Hanson.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01MD( UPLO, N, ALPHA, A, LDA, X, INCX, BETA, Y,
+     $                   INCY )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   ALPHA, BETA
+      INTEGER            INCX, INCY, LDA, N
+      CHARACTER          UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), X(*), Y(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the array A is to be referenced as follows:
+          = 'U':  only the strictly upper triangular part of A is to
+                  be referenced;
+          = 'L':  only the strictly lower triangular part of A is to
+                  be referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. If alpha is zero the array A is not
+          referenced.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry with UPLO = 'U', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the matrix A. The lower triangular part of this array is
+          not referenced.
+          On entry with UPLO = 'L', the leading N-by-N part of this
+          array must contain the strictly lower triangular part of
+          the matrix A. The upper triangular part of this array is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
+
+  X       (input) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCX ) ).
+          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
+          this array must contain the elements of the vector X.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X. IF INCX &lt; 0 then the
+          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. If beta is zero then Y need not be set on
+          input.
+
+  Y       (input/output) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCY ) ).
+          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
+          this array must contain the elements of the vector Y.
+          On exit, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
+          this array contain the updated elements of the vector Y.
+
+  INCY    (input) INTEGER
+          The increment for the elements of Y. IF INCY &lt; 0 then the
+          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Though being almost identical with the vanilla implementation
+  of the BLAS routine DSYMV the performance of this routine could
+  be significantly lower in the case of vendor supplied, highly
+  optimized BLAS.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01ND.html b/doc/_build/html/_static/doc/MB01ND.html
new file mode 100644
index 00000000..14e758ba
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01ND.html
@@ -0,0 +1,135 @@
+<HTML>
+<HEAD><TITLE>MB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01ND">MB01ND</A></H2>
+<H3>
+Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the skew-symmetric rank 2 operation
+
+       A := alpha*x*y' - alpha*y*x' + A,
+
+  where alpha is a scalar, x and y are vectors of length n and A is
+  an n-by-n skew-symmetric matrix.
+
+  This is a modified version of the vanilla implemented BLAS
+  routine DSYR2 written by Jack Dongarra, Jeremy Du Croz,
+  Sven Hammarling, and Richard Hanson.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01ND( UPLO, N, ALPHA, X, INCX, Y, INCY, A, LDA )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   ALPHA
+      INTEGER            INCX, INCY, LDA, N
+      CHARACTER          UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), X( * ), Y( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the array A is to be referenced as follows:
+          = 'U':  only the strictly upper triangular part of A is to
+                  be referenced;
+          = 'L':  only the strictly lower triangular part of A is to
+                  be referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. If alpha is zero X and Y are not
+          referenced.
+
+  X       (input) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCX ) ).
+          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
+          this array must contain the elements of the vector X.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X. IF INCX &lt; 0 then the
+          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCY ) ).
+          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
+          this array must contain the elements of the vector Y.
+
+  INCY    (input) INTEGER
+          The increment for the elements of Y. IF INCY &lt; 0 then the
+          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry with UPLO = 'U', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the matrix A. The lower triangular part of this array is
+          not referenced.
+          On entry with UPLO = 'L', the leading N-by-N part of this
+          array must contain the strictly lower triangular part of
+          the matrix A. The upper triangular part of this array is
+          not referenced.
+          On exit with UPLO = 'U', the leading N-by-N part of this
+          array contains the strictly upper triangular part of the
+          updated matrix A.
+          On exit with UPLO = 'L', the leading N-by-N part of this
+          array contains the strictly lower triangular part of the
+          updated matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Though being almost identical with the vanilla implementation
+  of the BLAS routine DSYR2 the performance of this routine could
+  be significantly lower in the case of vendor supplied, highly
+  optimized BLAS.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OC.html b/doc/_build/html/_static/doc/MB01OC.html
new file mode 100644
index 00000000..6aac163b
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OC.html
@@ -0,0 +1,155 @@
+<HTML>
+<HEAD><TITLE>MB01OC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OC">MB01OC</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) with R, X symmetric and H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform one of the special symmetric rank 2k operations
+
+     R := alpha*R + beta*H*X + beta*X*H',
+  or
+     R := alpha*R + beta*H'*X + beta*X*H,
+
+  where alpha and beta are scalars, R and X are N-by-N symmetric
+  matrices, and H is an N-by-N upper Hessenberg matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OC( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, X,
+     $                   LDX, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDH, LDR, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed as follows:
+          = 'N':         R := alpha*R + beta*H*X  + beta*X*H';
+          = 'T' or 'C':  R := alpha*R + beta*H'*X + beta*X*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, H, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  structure into account, and using inline code and BLAS1 routines.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine acts as a specialization of BLAS Library routine
+  DSYR2K.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OD.html b/doc/_build/html/_static/doc/MB01OD.html
new file mode 100644
index 00000000..15863783
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OD.html
@@ -0,0 +1,206 @@
+<HTML>
+<HEAD><TITLE>MB01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OD">MB01OD</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' ) with R, X symmetric, H upper Hessenberg, and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+
+    R := alpha*R + beta*( op( H )*X*op( E )' + op( E )*X*op( H )' ),
+
+  where alpha and beta are scalars, R and X are symmetric matrices,
+  H is an upper Hessenberg matrix, E is an upper triangular matrix,
+  and op( M ) is one of
+
+    op( M ) = M   or   op( M ) = M'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OD( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
+     $                   X, LDX, E, LDE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDE, LDH, LDR, LDWORK, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(LDE,*), H(LDH,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( M ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( M ) = M;
+          = 'T':  op( M ) = M';
+          = 'C':  op( M ) = M'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, H, E, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          If TRANS = 'N', the entries 3, 4,..., N of the first
+          column are modified internally, but are restored on exit.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = U + L, with U and L upper and
+  lower triangular matrices, defined by
+
+     U = triu( X ) - (1/2)*diag( X ),
+     L = tril( X ) - (1/2)*diag( X ),
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+  if UPLO = 'U',
+
+    H*X*E' + E*X*H' = (H*U)*E' + E*(H*U)' + H*(E*U)' + (E*U)*H',
+                      for TRANS = 'N',
+    H'*X*E + E'*X*H = H'*(U*E) + (U*E)'*H + (U*H)'*E + E'*(U*H),
+                      for TRANS = 'T', or 'C',
+
+  and if UPLO = 'L',
+
+    H*X*E' + E*X*H' = (H*L')*E' + E*(H*L')' + H*(E*L')' + (E*L')*H',
+                      for TRANS = 'N',
+    H'*X*E + E'*X*H = H'*(L'*E) + (L'*E)'*H + (L'*H)'*E + E'*(L'*H),
+                      for TRANS = 'T', or 'C',
+
+  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
+  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
+  are upper Hessenberg, and E*U, U*E, E*L', or L'*E are upper
+  triangular.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OE.html b/doc/_build/html/_static/doc/MB01OE.html
new file mode 100644
index 00000000..5fc57a69
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OE.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01OE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OE">MB01OE</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' ) with R symmetric, H upper Hessenberg, and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the symmetric rank 2k operations
+
+     R := alpha*R + beta*H*E' + beta*E*H',
+
+  or
+
+     R := alpha*R + beta*H'*E + beta*E'*H,
+
+  where alpha and beta are scalars, R, E, and H are N-by-N matrices,
+  with H upper Hessenberg and E upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OE( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, E,
+     $                   LDE )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  ALPHA, BETA
+      INTEGER           LDE, LDH, LDR, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(LDE,*), H(LDH,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix R is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of H to be used in the matrix
+          multiplication as follows:
+          = 'N':  R := alpha*R + beta*H*E' + beta*E*H';
+          = 'T':  R := alpha*R + beta*H'*E + beta*E'*H;
+          = 'C':  R := alpha*R + beta*H'*E + beta*E'*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, E, and H.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then E and H are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  E particularization of the algorithm used in the BLAS 3 routine
+  DSYR2K is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OH.html b/doc/_build/html/_static/doc/MB01OH.html
new file mode 100644
index 00000000..4c8303bd
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OH.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01OH - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OH">MB01OH</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) with R symmetric, and A, H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the symmetric rank 2k operations
+
+     R := alpha*R + beta*H*A' + beta*A*H',
+
+  or
+
+     R := alpha*R + beta*H'*A + beta*A'*H,
+
+  where alpha and beta are scalars, R, A, and H are N-by-N matrices,
+  with A and H upper Hessenberg.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, A,
+     $                   LDA )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  ALPHA, BETA
+      INTEGER           LDA, LDH, LDR, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), H(LDH,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix R is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of H to be used in the matrix
+          multiplication as follows:
+          = 'N':  R := alpha*R + beta*H*A' + beta*A*H';
+          = 'T':  R := alpha*R + beta*H'*A + beta*A'*H;
+          = 'C':  R := alpha*R + beta*H'*A + beta*A'*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, A, and H.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and H are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N)
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix A.
+          The remaining part of this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A particularization of the algorithm used in the BLAS 3 routine
+  DSYR2K is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OO.html b/doc/_build/html/_static/doc/MB01OO.html
new file mode 100644
index 00000000..7051494a
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OO.html
@@ -0,0 +1,145 @@
+<HTML>
+<HEAD><TITLE>MB01OO - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OO">MB01OO</A></H2>
+<H3>
+Computation of P or P' with P = op(H) X op(E)' with X symmetric, H upper Hessenberg, and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either P or P', with P defined by the matrix formula
+
+     P = op( H )*X*op( E )',
+
+  where H is an upper Hessenberg matrix, X is a symmetric matrix,
+  E is an upper triangular matrix, and op( M ) is one of
+
+     op( M ) = M   or   op( M ) = M'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OO( UPLO, TRANS, N, H, LDH, X, LDX, E, LDE, P, LDP,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDE, LDH, LDP, LDX, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(LDE,*), H(LDH,*), P(LDP,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix X is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed as follows:
+          = 'N':         compute P  = H*X*E';
+          = 'T' or 'C':  compute P' = E'*X*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices H, X, E, and P.  N &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
+          On exit, the leading N-by-N part of this array contains
+          the computed matrix P  = H*X*E', if TRANS = 'N', or
+          the computed matrix P' = E'*X*H, if TRANS = 'T'.
+
+  LDP     INTEGER
+          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  structure into account, and using BLAS and SLICOT routines.
+  Let W = H*X, or W = X*H, computed using SLICOT Library routine
+  MB01OS. The result is then obtained calling BLAS 3 routine DTRMM.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OS.html b/doc/_build/html/_static/doc/MB01OS.html
new file mode 100644
index 00000000..5ff250b6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OS.html
@@ -0,0 +1,135 @@
+<HTML>
+<HEAD><TITLE>MB01OS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OS">MB01OS</A></H2>
+<H3>
+Computation of matrix expression P = H X or P = X H, with X symmetric and H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute P = H*X or P = X*H, where H is an upper Hessenberg
+  matrix and X is a symmetric matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OS( UPLO, TRANS, N, H, LDH, X, LDX, P, LDP, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDH, LDP, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), P(LDP,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix X is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed as follows:
+          = 'N':         compute P = H*X;
+          = 'T' or 'C':  compute P = X*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices H, X, and P.  N &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
+          On exit, the leading N-by-N part of this array contains
+          the computed matrix P.
+
+  LDP     INTEGER
+          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  structure into account, and using inline code and BLAS routines.
+  Let X = U + sL, where U is upper triangular and sL is strictly
+  lower triangular. Then, P = H*X = H*U + H*sL = H*U + H*sU', where
+  sU is the strictly upper triangular part of X.
+  Similarly, P = X*H = L'*H + sL*H, where L is lower triangular, and
+  X = L + sL'. Note that H*U and L'*H are both upper Hessenberg.
+  However, when UPLO = 'L' and TRANS = 'N', or when UPLO = 'U' and
+  TRANS = 'T', then the matrix P is full. The computations are done
+  similarly.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OT.html b/doc/_build/html/_static/doc/MB01OT.html
new file mode 100644
index 00000000..c7e431c6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01OT.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01OT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OT">MB01OT</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) with R symmetric and E, T upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the symmetric rank 2k operations
+
+     R := alpha*R + beta*E*T' + beta*T*E',
+
+  or
+
+     R := alpha*R + beta*E'*T + beta*T'*E,
+
+  where alpha and beta are scalars, R, T, and E are N-by-N matrices,
+  with T and E upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE, T,
+     $                   LDT )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  ALPHA, BETA
+      INTEGER           LDE, LDR, LDT, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(LDE,*), R(LDR,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix R is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of E to be used in the matrix
+          multiplication as follows:
+          = 'N':  R := alpha*R + beta*E*T' + beta*T*E';
+          = 'T':  R := alpha*R + beta*E'*T + beta*T'*E;
+          = 'C':  R := alpha*R + beta*E'*T + beta*T'*E.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, T, and E.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then T and E are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix T.
+          The remaining part of this array is not referenced.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A particularization of the algorithm used in the BLAS 3 routine
+  DSYR2K is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01PD.html b/doc/_build/html/_static/doc/MB01PD.html
new file mode 100644
index 00000000..0a3bb43b
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01PD.html
@@ -0,0 +1,155 @@
+<HTML>
+<HEAD><TITLE>MB01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01PD">MB01PD</A></H2>
+<H3>
+Matrix scaling (higher level routine)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale a matrix or undo scaling.  Scaling is performed, if
+  necessary, so that the matrix norm will be in a safe range of
+  representable numbers.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01PD( SCUN, TYPE, M, N, KL, KU, ANRM, NBL, NROWS, A,
+     $                   LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          SCUN, TYPE
+      INTEGER            INFO, KL, KU, LDA, M, MN, N, NBL
+      DOUBLE PRECISION   ANRM
+C     .. Array Arguments ..
+      INTEGER            NROWS ( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SCUN    CHARACTER*1
+          SCUN indicates the operation to be performed.
+          = 'S':  scale the matrix.
+          = 'U':  undo scaling of the matrix.
+
+  TYPE    CHARACTER*1
+          TYPE indicates the storage type of the input matrix.
+          = 'G':  A is a full matrix.
+          = 'L':  A is a (block) lower triangular matrix.
+          = 'U':  A is an (block) upper triangular matrix.
+          = 'H':  A is an (block) upper Hessenberg matrix.
+          = 'B':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  lower half stored.
+          = 'Q':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  upper half stored.
+          = 'Z':  A is a band matrix with lower bandwidth KL and
+                  upper bandwidth KU.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A. N &gt;= 0.
+
+  KL      (input) INTEGER
+          The lower bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  KU      (input) INTEGER
+          The upper bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  ANRM    (input) DOUBLE PRECISION
+          The norm of the initial matrix A.  ANRM &gt;= 0.
+          When  ANRM = 0  then an immediate return is effected.
+          ANRM should be preserved between the call of the routine
+          with SCUN = 'S' and the corresponding one with SCUN = 'U'.
+
+  NBL     (input) INTEGER
+          The number of diagonal blocks of the matrix A, if it has a
+          block structure.  To specify that matrix A has no block
+          structure, set NBL = 0.  NBL &gt;= 0.
+
+  NROWS   (input) INTEGER array, dimension max(1,NBL)
+          NROWS(i) contains the number of rows and columns of the
+          i-th diagonal block of matrix A.  The sum of the values
+          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
+          The elements of the array  NROWS  are not referenced if
+          NBL = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M by N part of this array must
+          contain the matrix to be scaled/unscaled.
+          On exit, the leading M by N part of A will contain
+          the modified matrix.
+          The storage mode of A is specified by TYPE.
+
+  LDA     (input) INTEGER
+          The leading dimension of the array A.  LDA  &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Denote by ANRM the norm of the matrix, and by SMLNUM and BIGNUM,
+  two positive numbers near the smallest and largest safely
+  representable numbers, respectively.  The matrix is scaled, if
+  needed, such that the norm of the result is in the range
+  [SMLNUM, BIGNUM].  The scaling factor is represented as a ratio
+  of two numbers, one of them being ANRM, and the other one either
+  SMLNUM or BIGNUM, depending on ANRM being less than SMLNUM or
+  larger than BIGNUM, respectively.  For undoing the scaling, the
+  norm is again compared with SMLNUM or BIGNUM, and the reciprocal
+  of the previous scaling factor is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01QD.html b/doc/_build/html/_static/doc/MB01QD.html
new file mode 100644
index 00000000..316df71d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01QD.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01QD">MB01QD</A></H2>
+<H3>
+Matrix scaling (lower level routine)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To multiply the M by N real matrix A by the real scalar CTO/CFROM.
+  This is done without over/underflow as long as the final result
+  CTO*A(I,J)/CFROM does not over/underflow. TYPE specifies that
+  A may be full, (block) upper triangular, (block) lower triangular,
+  (block) upper Hessenberg, or banded.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01QD( TYPE, M, N, KL, KU, CFROM, CTO, NBL, NROWS, A,
+     $                   LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TYPE
+      INTEGER            INFO, KL, KU, LDA, M, N, NBL
+      DOUBLE PRECISION   CFROM, CTO
+C     .. Array Arguments ..
+      INTEGER            NROWS ( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          TYPE indices the storage type of the input matrix.
+          = 'G':  A is a full matrix.
+          = 'L':  A is a (block) lower triangular matrix.
+          = 'U':  A is a (block) upper triangular matrix.
+          = 'H':  A is a (block) upper Hessenberg matrix.
+          = 'B':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  lower half stored.
+          = 'Q':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  upper half stored.
+          = 'Z':  A is a band matrix with lower bandwidth KL and
+                  upper bandwidth KU.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The lower bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  KU      (input) INTEGER
+          The upper bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  CFROM   (input) DOUBLE PRECISION
+  CTO     (input) DOUBLE PRECISION
+          The matrix A is multiplied by CTO/CFROM. A(I,J) is
+          computed without over/underflow if the final result
+          CTO*A(I,J)/CFROM can be represented without over/
+          underflow.  CFROM must be nonzero.
+
+  NBL     (input) INTEGER
+          The number of diagonal blocks of the matrix A, if it has a
+          block structure.  To specify that matrix A has no block
+          structure, set NBL = 0.  NBL &gt;= 0.
+
+  NROWS   (input) INTEGER array, dimension max(1,NBL)
+          NROWS(i) contains the number of rows and columns of the
+          i-th diagonal block of matrix A.  The sum of the values
+          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
+          The array  NROWS  is not referenced if NBL = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          The matrix to be multiplied by CTO/CFROM.  See TYPE for
+          the storage type.
+
+  LDA     (input) INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          Not used in this implementation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is multiplied by the real scalar CTO/CFROM, taking into
+  account the specified storage mode of the matrix.
+  MB01QD is a version of the LAPACK routine DLASCL, modified for
+  dealing with block triangular, or block Hessenberg matrices.
+  For efficiency, no tests of the input scalar parameters are
+  performed.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RB.html b/doc/_build/html/_static/doc/MB01RB.html
new file mode 100644
index 00000000..a2e1c9f0
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RB.html
@@ -0,0 +1,194 @@
+<HTML>
+<HEAD><TITLE>MB01RB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RB">MB01RB</A></H2>
+<H3>
+Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either the upper or lower triangular part of one of the
+  matrix formulas
+     _
+     R = alpha*R + beta*op( A )*B,                               (1)
+     _
+     R = alpha*R + beta*B*op( A ),                               (2)
+                                          _
+  where alpha and beta are scalars, R and R are m-by-m matrices,
+  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
+  and m-by-n matrices for (2), respectively, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A',  the transpose of A.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RB( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
+     $                   A, LDA, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDR, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the matrix A appears on the left or
+          right in the matrix product as follows:
+                  _
+          = 'L':  R = alpha*R + beta*op( A )*B;
+                  _
+          = 'R':  R = alpha*R + beta*B*op( A ).
+
+  UPLO    CHARACTER*1                               _
+          Specifies which triangles of the matrices R and R are
+          computed and given, respectively, as follows:
+          = 'U':  the upper triangular part;
+          = 'L':  the lower triangular part.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R, the number of rows of
+          the matrix op( A ) and the number of columns of the
+          matrix B, for SIDE = 'L', or the number of rows of the
+          matrix B and the number of columns of the matrix op( A ),
+          for SIDE = 'R'.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix B and the number of
+          columns of the matrix op( A ), for SIDE = 'L', or the
+          number of rows of the matrix op( A ) and the number of
+          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and B are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix R; the strictly lower
+          triangular part of the array is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix R; the strictly upper
+          triangular part of the array is not referenced.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
+          k = N  when  SIDE = 'L', and TRANS =  'N', or
+                       SIDE = 'R', and TRANS &lt;&gt; 'T';
+          k = M  when  SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
+          On entry, if SIDE = 'L', and TRANS =  'N', or
+                       SIDE = 'R', and TRANS &lt;&gt; 'T',
+          the leading M-by-N part of this array must contain the
+          matrix A.
+          On entry, if SIDE = 'R', and TRANS =  'N', or
+                       SIDE = 'L', and TRANS &lt;&gt; 'T',
+          the leading N-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
+          l = M  when  SIDE = 'L', and TRANS =  'N', or
+                       SIDE = 'R', and TRANS &lt;&gt; 'T';
+          l = N  when  SIDE = 'R', and TRANS =  'N', or
+                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
+          p = M  when  SIDE = 'L';
+          p = N  when  SIDE = 'R'.
+          On entry, the leading N-by-M part, if SIDE = 'L', or
+          M-by-N part, if SIDE = 'R', of this array must contain the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N), if SIDE = 'L';
+          LDB &gt;= MAX(1,M), if SIDE = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is evaluated taking the triangular
+  structure into account. A block algorithm is used.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The main application of this routine is when the result should
+  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
+  B = op( A )'*X, for (2), where B is already available and X = X'.
+  The required triangle only is computed and overwritten, contrary
+  to a general matrix multiplication operation.
+
+  This is a BLAS 3 version of the SLICOT Library routine MB01RX.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RD.html b/doc/_build/html/_static/doc/MB01RD.html
new file mode 100644
index 00000000..6a85bc75
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RD.html
@@ -0,0 +1,219 @@
+<HTML>
+<HEAD><TITLE>MB01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RD">MB01RD</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+     _
+     R = alpha*R + beta*op( A )*X*op( A )',
+                                              _
+  where alpha and beta are scalars, R, X, and R are symmetric
+  matrices, A is a general matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1                                         _
+          Specifies which triangles of the symmetric matrices R, R,
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R and the number of rows
+          of the matrix op( A ).  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix X and the number of columns of the
+          the matrix op( A ).  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call (which is possible only in this case).
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R; the strictly
+          lower triangular part of the array is used as workspace.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R; the strictly
+          upper triangular part of the array is used as workspace.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R. If beta &lt;&gt; 0, the remaining
+          strictly triangular part of this array contains the
+          corresponding part of the matrix expression
+          beta*op( A )*T*op( A )', where T is the triangular matrix
+          defined in the Method section.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
+          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+          TRANS = 'C'.
+          On entry with TRANS = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,l),
+          where l is M when TRANS = 'N' and is N when TRANS = 'T' or
+          TRANS = 'C'.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          On exit, each diagonal element of this array has half its
+          input value, but the other elements are not modified.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array (with the leading dimension MAX(1,M)) returns the
+          matrix product beta*op( A )*T, where T is the triangular
+          matrix defined in the Method section.
+          This array is not referenced when beta = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,M*N), if  beta &lt;&gt; 0;
+          LDWORK &gt;= 1,          if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = T + T', with T an upper or
+  lower triangular matrix, defined by
+
+     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
+     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+
+     op( A )*X*op( A )' = B + B',
+
+  where B := op( A )*T*op( A )'. Matrix B is not symmetric, but it
+  can be written as tri( B ) + stri( B ), where tri denotes the
+  triangular part specified by UPLO, and stri denotes the remaining
+  strictly triangular part. Let R = V + V', with V defined as T
+  above. Then, the required triangular part of the result can be
+  written as
+
+     alpha*V + beta*tri( B )  + beta*(stri( B ))' +
+              alpha*diag( V ) + beta*diag( tri( B ) ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+      2             2
+     M x N + 1/2 x N x M
+
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RH.html b/doc/_build/html/_static/doc/MB01RH.html
new file mode 100644
index 00000000..38ad03c9
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RH.html
@@ -0,0 +1,192 @@
+<HTML>
+<HEAD><TITLE>MB01RH - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RH">MB01RH</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta op(H) X op(H)' with R, X symmetric and H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+
+     R := alpha*R + beta*op( H )*X*op( H )',
+
+  where alpha and beta are scalars, R and X are symmetric matrices,
+  H is an upper Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDH, LDR, LDWORK, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), H(LDH,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, H, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R. 
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          If TRANS = 'N', the entries 3, 4,..., N of the first
+          column are modified internally, but are restored on exit.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = U + L, with U and L upper and
+  lower triangular matrices, defined by
+
+     U = triu( X ) - (1/2)*diag( X ),
+     L = tril( X ) - (1/2)*diag( X ),
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+  if UPLO = 'U',
+
+     H*X*H' = ( H*U )*H' + H*( H*U )',  for TRANS = 'N',
+     H'*X*H = H'*( U*H ) + ( U*H )'*H,  for TRANS = 'T', or 'C',
+
+  and if UPLO = 'L',
+
+     H*X*H' = ( H*L' )*H' + H*( H*L' )',  for TRANS = 'N',
+     H'*X*H = H'*( L'*H ) + ( L'*H )'*H,  for TRANS = 'T', or 'C',
+
+  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
+  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
+  are upper Hessenberg.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RT.html b/doc/_build/html/_static/doc/MB01RT.html
new file mode 100644
index 00000000..d8f60d68
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RT.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB01RT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RT">MB01RT</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta op(E) X op(E)' with R, X symmetric and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+
+     R := alpha*R + beta*op( E )*X*op( E )',
+
+  where alpha and beta are scalars, R and X are symmetric matrices,
+  E is an upper triangular matrix, and op( E ) is one of
+
+     op( E ) = E   or   op( E ) = E'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDE, LDR, LDWORK, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(LDE,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( E ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( E ) = E;
+          = 'T':  op( E ) = E';
+          = 'C':  op( E ) = E'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, E, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then E and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = U + L, with U and L upper and
+  lower triangular matrices, defined by
+
+     U = triu( X ) - (1/2)*diag( X ),
+     L = tril( X ) - (1/2)*diag( X ),
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+  if UPLO = 'U',
+
+     E*X*E' = ( E*U )*E' + E*( E*U )',  for TRANS = 'N',
+     E'*X*E = E'*( U*E ) + ( U*E )'*E,  for TRANS = 'T', or 'C',
+
+  and if UPLO = 'L',
+
+     E*X*E' = ( E*L' )*E' + E*( E*L' )',  for TRANS = 'N',
+     E'*X*E = E'*( L'*E ) + ( L'*E )'*E,  for TRANS = 'T', or 'C',
+
+  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
+  This approach ensures that the matrices E*U, U*E, E*L', or L'*E
+  are upper triangular.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RU.html b/doc/_build/html/_static/doc/MB01RU.html
new file mode 100644
index 00000000..0a94bafd
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RU.html
@@ -0,0 +1,198 @@
+<HTML>
+<HEAD><TITLE>MB01RU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RU">MB01RU</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric (MB01RD variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+     _
+     R = alpha*R + beta*op( A )*X*op( A )',
+                                              _
+  where alpha and beta are scalars, R, X, and R are symmetric
+  matrices, A is a general matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RU( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R and the number of rows
+          of the matrix op( A ).  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix X and the number of columns of the
+          the matrix op( A ).  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R. When R is identified with X in
+          the call, after exit, the diagonal entries of R must be
+          divided by 2.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
+          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+          TRANS = 'C'.
+          On entry with TRANS = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,k),
+          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
+          TRANS = 'C'.
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or M*N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= M*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = T + T', with T an upper or
+  lower triangular matrix, defined by
+
+     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
+     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+
+     A*X*A' = ( A*T )*A' + A*( A*T )',  for TRANS = 'N',
+     A'*X*A = A'*( T*A ) + ( T*A )'*A,  for TRANS = 'T', or 'C',
+
+  which involve BLAS 3 operations (DTRMM and DSYR2K).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+      2             2
+     M x N + 1/2 x N x M
+
+  operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This is a simpler version for MB01RD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RW.html b/doc/_build/html/_static/doc/MB01RW.html
new file mode 100644
index 00000000..c1693b7e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RW.html
@@ -0,0 +1,130 @@
+<HTML>
+<HEAD><TITLE>MB01RW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RW">MB01RW</A></H2>
+<H3>
+Computation of matrix expression alpha A X trans(A), X symmetric (BLAS 2 version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transformation of the symmetric matrix A by the
+  matrix Z in the form
+
+     A := op(Z)*A*op(Z)',
+
+  where op(Z) is either Z or its transpose, Z'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RW( UPLO, TRANS, M, N, A, LDA, Z, LDZ, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDZ, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangle of A
+          is stored:
+          = 'U':  Upper triangle of A is stored;
+          = 'L':  Lower triangle of A is stored.
+
+  TRANS   CHARACTER*1
+          Specifies whether op(Z) is Z or its transpose Z':
+          = 'N':  op(Z) = Z;
+          = 'T':  op(Z) = Z'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the resulting symmetric matrix op(Z)*A*op(Z)'
+          and the number of rows of the matrix Z, if TRANS = 'N',
+          or the number of columns of the matrix Z, if TRANS = 'T'.
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the symmetric matrix A and the number of
+          columns of the matrix Z, if TRANS = 'N', or the number of
+          rows of the matrix Z, if TRANS = 'T'.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA,MAX(M,N))
+          On entry, the leading N-by-N upper or lower triangular
+          part of this array must contain the upper (UPLO = 'U')
+          or lower (UPLO = 'L') triangular part of the symmetric
+          matrix A.
+          On exit, the leading M-by-M upper or lower triangular
+          part of this array contains the upper (UPLO = 'U') or
+          lower (UPLO = 'L') triangular part of the symmetric
+          matrix op(Z)*A*op(Z)'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M,N).
+
+  Z       (input) DOUBLE PRECISION array, dimension (LDQ,K)
+          where K = N if TRANS = 'N' and K = M if TRANS = 'T'.
+          The leading M-by-N part, if TRANS = 'N', or N-by-M part,
+          if TRANS = 'T', of this array contains the matrix Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= MAX(1,M) if TRANS = 'N' and
+          LDZ &gt;= MAX(1,N) if TRANS = 'T'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This is a simpler, BLAS 2 version for MB01RD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RX.html b/doc/_build/html/_static/doc/MB01RX.html
new file mode 100644
index 00000000..04c6c921
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RX.html
@@ -0,0 +1,192 @@
+<HTML>
+<HEAD><TITLE>MB01RX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RX">MB01RX</A></H2>
+<H3>
+Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either the upper or lower triangular part of one of the
+  matrix formulas
+     _
+     R = alpha*R + beta*op( A )*B,                               (1)
+     _
+     R = alpha*R + beta*B*op( A ),                               (2)
+                                          _
+  where alpha and beta are scalars, R and R are m-by-m matrices,
+  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
+  and m-by-n matrices for (2), respectively, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A',  the transpose of A.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RX( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
+     $                   A, LDA, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDR, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the matrix A appears on the left or
+          right in the matrix product as follows:
+                  _
+          = 'L':  R = alpha*R + beta*op( A )*B;
+                  _
+          = 'R':  R = alpha*R + beta*B*op( A ).
+
+  UPLO    CHARACTER*1                               _
+          Specifies which triangles of the matrices R and R are
+          computed and given, respectively, as follows:
+          = 'U':  the upper triangular part;
+          = 'L':  the lower triangular part.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R, the number of rows of
+          the matrix op( A ) and the number of columns of the
+          matrix B, for SIDE = 'L', or the number of rows of the
+          matrix B and the number of columns of the matrix op( A ),
+          for SIDE = 'R'.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix B and the number of
+          columns of the matrix op( A ), for SIDE = 'L', or the
+          number of rows of the matrix op( A ) and the number of
+          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and B are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix R; the strictly lower
+          triangular part of the array is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix R; the strictly upper
+          triangular part of the array is not referenced.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
+          k = N  when  SIDE = 'L', and TRANS = 'N', or
+                       SIDE = 'R', and TRANS = 'T';
+          k = M  when  SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS = 'T'.
+          On entry, if SIDE = 'L', and TRANS = 'N', or
+                       SIDE = 'R', and TRANS = 'T',
+          the leading M-by-N part of this array must contain the
+          matrix A.
+          On entry, if SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS = 'T',
+          the leading N-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
+          l = M  when  SIDE = 'L', and TRANS = 'N', or
+                       SIDE = 'R', and TRANS = 'T';
+          l = N  when  SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS = 'T'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
+          p = M  when  SIDE = 'L';
+          p = N  when  SIDE = 'R'.
+          On entry, the leading N-by-M part, if SIDE = 'L', or
+          M-by-N part, if SIDE = 'R', of this array must contain the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N), if SIDE = 'L';
+          LDB &gt;= MAX(1,M), if SIDE = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is evaluated taking the triangular
+  structure into account. BLAS 2 operations are used. A block
+  algorithm can be easily constructed; it can use BLAS 3 GEMM
+  operations for most computations, and calls of this BLAS 2
+  algorithm for computing the triangles.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The main application of this routine is when the result should
+  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
+  B = op( A )'*X, for (2), where B is already available and X = X'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RY.html b/doc/_build/html/_static/doc/MB01RY.html
new file mode 100644
index 00000000..1ae0683d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01RY.html
@@ -0,0 +1,174 @@
+<HTML>
+<HEAD><TITLE>MB01RY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RY">MB01RY</A></H2>
+<H3>
+Computation of a triangle of matrix expression alpha R + beta H B or alpha R + beta B H, H upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either the upper or lower triangular part of one of the
+  matrix formulas
+     _
+     R = alpha*R + beta*op( H )*B,                               (1)
+     _
+     R = alpha*R + beta*B*op( H ),                               (2)
+                                                 _
+  where alpha and beta are scalars, H, B, R, and R are m-by-m
+  matrices, H is an upper Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H',  the transpose of H.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RY( SIDE, UPLO, TRANS, M, ALPHA, BETA, R, LDR, H,
+     $                   LDH, B, LDB, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDB, LDH, LDR, M
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), DWORK(*), H(LDH,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the Hessenberg matrix H appears on the
+          left or right in the matrix product as follows:
+                  _
+          = 'L':  R = alpha*R + beta*op( H )*B;
+                  _
+          = 'R':  R = alpha*R + beta*B*op( H ).
+
+  UPLO    CHARACTER*1                               _
+          Specifies which triangles of the matrices R and R are
+          computed and given, respectively, as follows:
+          = 'U':  the upper triangular part;
+          = 'L':  the lower triangular part.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R, R, H and B.  M &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and B are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix R; the strictly lower
+          triangular part of the array is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix R; the strictly upper
+          triangular part of the array is not referenced.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,M)
+          On entry, the leading M-by-M upper Hessenberg part of
+          this array must contain the upper Hessenberg part of the
+          matrix H.
+          The elements below the subdiagonal are not referenced,
+          except possibly for those in the first column, which
+          could be overwritten, but are restored on exit.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading M-by-M part of this array must
+          contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          LDWORK &gt;= M, if  beta &lt;&gt; 0 and SIDE = 'L';
+          LDWORK &gt;= 0, if  beta =  0 or  SIDE = 'R'.
+          This array is not referenced when beta = 0 or SIDE = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  Hessenberg/triangular structure into account. BLAS 2 operations
+  are used. A block algorithm can be constructed; it can use BLAS 3
+  GEMM operations for most computations, and calls of this BLAS 2
+  algorithm for computing the triangles.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The main application of this routine is when the result should
+  be a symmetric matrix, e.g., when B = X*op( H )', for (1), or
+  B = op( H )'*X, for (2), where B is already available and X = X'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01SD.html b/doc/_build/html/_static/doc/MB01SD.html
new file mode 100644
index 00000000..63b45d63
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01SD.html
@@ -0,0 +1,97 @@
+<HTML>
+<HEAD><TITLE>MB01SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01SD">MB01SD</A></H2>
+<H3>
+Scaling a rectangular matrix using given row and column scaling factors
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale a general M-by-N matrix A using the row and column
+  scaling factors in the vectors R and C.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01SD( JOBS, M, N, A, LDA, R, C )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBS
+      INTEGER            LDA, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), C(*), R(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBS    CHARACTER*1
+          Specifies the scaling operation to be done, as follows:
+          = 'R':  row scaling, i.e., A will be premultiplied
+                  by diag(R);
+          = 'C':  column scaling, i.e., A will be postmultiplied
+                  by diag(C);
+          = 'B':  both row and column scaling, i.e., A will be
+                  replaced by diag(R) * A * diag(C).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the M-by-N matrix A.
+          On exit, the scaled matrix.  See JOBS for the form of the
+          scaled matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  R       (input) DOUBLE PRECISION array, dimension (M)
+          The row scale factors for A.
+          R is not referenced if JOBS = 'C'.
+
+  C       (input) DOUBLE PRECISION array, dimension (N)
+          The column scale factors for A.
+          C is not referenced if JOBS = 'R'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01SS.html b/doc/_build/html/_static/doc/MB01SS.html
new file mode 100644
index 00000000..1b5534c9
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01SS.html
@@ -0,0 +1,103 @@
+<HTML>
+<HEAD><TITLE>MB01SS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01SS">MB01SS</A></H2>
+<H3>
+Symmetric scaling of a symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale a symmetric N-by-N matrix A using the row and column
+  scaling factors stored in the vector D.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01SS( JOBS, UPLO, N, A, LDA, D )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBS, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBS    CHARACTER*1
+          Specifies the scaling operation to be done, as follows:
+          = 'D':  row and column scaling with D, i.e., A will be
+                  transformed to diag(D)*A*diag(D);
+          = 'I':  row and column scaling with inv(D), i.e., A will
+                  be transformed to inv(diag(D))*A*inv(diag(D)).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrix A is stored, as
+          follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the symmetric
+          matrix A.
+          On exit, the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array contains the corresponding triangular part
+          of the matrix diag(D)*A*diag(D), if JOBS = 'D', or of the
+          matrix inv(diag(D))*A*inv(diag(D)), JOBS = 'I'.
+          The stricly lower triangular part (if UPLO = 'U') or
+          stricly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (N)
+          The diagonal elements of the diagonal matrix D.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01TD.html b/doc/_build/html/_static/doc/MB01TD.html
new file mode 100644
index 00000000..40f38c3d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01TD.html
@@ -0,0 +1,176 @@
+<HTML>
+<HEAD><TITLE>MB01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01TD">MB01TD</A></H2>
+<H3>
+Computation of A B in B, with A and B upper quasi-triangular matrices with the same structure
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product A * B, where A and B are upper
+  quasi-triangular matrices (that is, block upper triangular with
+  1-by-1 or 2-by-2 diagonal blocks) with the same structure.
+  The result is returned in the array B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix A. The elements below the
+          subdiagonal are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix B, with the same
+          structure as matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the computed product A * B, with the same structure as
+          on entry.
+          The elements below the subdiagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N-1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrices A and B have not the same structure,
+                and/or A and B are not upper quasi-triangular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product A * B is computed column by column, using
+  BLAS 2 and BLAS 1 operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine can be used, for instance, for computing powers of
+  a real Schur form matrix.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB01TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX-1 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         MB01TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+*        Compute the matrix product A*B.
+         CALL MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB01TD = ',I2)
+99997 FORMAT (' The matrix product A*B is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB01TD EXAMPLE PROGRAM DATA
+   5
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   0.    0.    1.    5.    1.
+   0.    0.    0.    0.   -4.
+   0.    0.    0.   20.    4.
+   5.    5.    1.    5.    1.
+  -2.    1.    3.    0.   -4.
+   0.    0.    4.   20.    4.
+   0.    0.    0.    3.    5.
+   0.    0.    0.    1.   -2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB01TD EXAMPLE PROGRAM RESULTS
+
+ The matrix product A*B is 
+   1.0000   7.0000  31.0000 139.0000  22.0000
+  -8.0000 -11.0000  -9.0000 -32.0000   2.0000
+   0.0000   0.0000   4.0000  36.0000  27.0000
+   0.0000   0.0000   0.0000  -4.0000   8.0000
+   0.0000   0.0000   0.0000  64.0000  92.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UD.html b/doc/_build/html/_static/doc/MB01UD.html
new file mode 100644
index 00000000..7dcd7c4e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01UD.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UD">MB01UD</A></H2>
+<H3>
+Computation of matrix expressions alpha H A or alpha A H, H Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+     B = alpha*op( H ) * A, or B = alpha*A * op( H ),
+
+  where alpha is a scalar, A and B are m-by-n matrices, H is an
+  upper Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H',  the transpose of H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UD( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA, B,
+     $                   LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS
+      INTEGER           INFO, LDA, LDB, LDH, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the Hessenberg matrix H appears on the
+          left or right in the matrix product as follows:
+          = 'L':  B = alpha*op( H ) * A;
+          = 'R':  B = alpha*A * op( H ).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices A and B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices A and B.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then H is not
+          referenced and A need not be set before entry.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with SIDE = 'L', the leading M-by-M upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          On entry with SIDE = 'R', the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          The elements below the subdiagonal are not referenced,
+          except possibly for those in the first column, which
+          could be overwritten, but are restored on exit.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading M-by-N part of this array contains the
+          computed product.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The required matrix product is computed in two steps. In the first
+  step, the upper triangle of H is used; in the second step, the
+  contribution of the subdiagonal is added. A fast BLAS 3 DTRMM
+  operation is used in the first step.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UW.html b/doc/_build/html/_static/doc/MB01UW.html
new file mode 100644
index 00000000..b010a40e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01UW.html
@@ -0,0 +1,154 @@
+<HTML>
+<HEAD><TITLE>MB01UW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UW">MB01UW</A></H2>
+<H3>
+Computation of matrix expressions alpha H A or alpha A H, over A, H Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+     A : = alpha*op( H ) * A, or A : = alpha*A * op( H ),
+
+  where alpha is a scalar, A is an m-by-n matrix, H is an upper
+  Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H',  the transpose of H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UW( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS
+      INTEGER           INFO, LDA, LDH, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the Hessenberg matrix H appears on the
+          left or right in the matrix product as follows:
+          = 'L':  A := alpha*op( H ) * A;
+          = 'R':  A := alpha*A * op( H ).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then H is not
+          referenced and A need not be set before entry.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with SIDE = 'L', the leading M-by-M upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          On entry with SIDE = 'R', the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          The elements below the subdiagonal are not referenced,
+          except possibly for those in the first column, which
+          could be overwritten, but are restored on exit.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the computed product.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, alpha &lt;&gt; 0, and LDWORK &gt;= M*N &gt; 0,
+          DWORK contains a copy of the matrix A, having the leading
+          dimension M.
+          This array is not referenced when alpha = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= 0,   if  alpha =  0 or MIN(M,N) = 0;
+          LDWORK &gt;= M-1, if  SIDE  = 'L';
+          LDWORK &gt;= N-1, if  SIDE  = 'R'.
+          For maximal efficiency LDWORK should be at least M*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The required matrix product is computed in two steps. In the first
+  step, the upper triangle of H is used; in the second step, the
+  contribution of the subdiagonal is added. If the workspace can
+  accomodate a copy of A, a fast BLAS 3 DTRMM operation is used in
+  the first step.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UX.html b/doc/_build/html/_static/doc/MB01UX.html
new file mode 100644
index 00000000..2ed581ae
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01UX.html
@@ -0,0 +1,184 @@
+<HTML>
+<HEAD><TITLE>MB01UX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UX">MB01UX</A></H2>
+<H3>
+Computation of matrix expressions alpha T A or alpha A T, over A, T quasi-triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+    A : = alpha*op( T ) * A, or A : = alpha*A * op( T ),
+
+  where alpha is a scalar, A is an m-by-n matrix, T is a quasi-
+  triangular matrix, and op( T ) is one of
+
+     op( T ) = T   or   op( T ) = T',  the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UX( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDT, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the upper quasi-triangular matrix H
+          appears on the left or right in the matrix product as
+          follows:
+          = 'L':  A := alpha*op( T ) * A;
+          = 'R':  A := alpha*A * op( T ).
+
+  UPLO    CHARACTER*1.
+          Specifies whether the matrix T is an upper or lower
+          quasi-triangular matrix as follows:
+          = 'U':  T is an upper quasi-triangular matrix;
+          = 'L':  T is a lower quasi-triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then T is not
+          referenced and A need not be set before entry.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,k)
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with UPLO = 'U', the leading k-by-k upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T. The elements below the
+          subdiagonal are not referenced.
+          On entry with UPLO = 'L', the leading k-by-k lower
+          Hessenberg part of this array must contain the lower
+          quasi-triangular matrix T. The elements above the
+          supdiagonal are not referenced.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the computed product.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 and ALPHA&lt;&gt;0,  DWORK(1)  returns the
+          optimal value of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          This array is not referenced when alpha = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= 1,       if alpha =  0 or MIN(M,N) = 0;
+          LDWORK &gt;= 2*(M-1), if SIDE  = 'L';
+          LDWORK &gt;= 2*(N-1), if SIDE  = 'R'.
+          For maximal efficiency LDWORK should be at least
+          NOFF*N + M - 1,    if SIDE  = 'L';
+          NOFF*M + N - 1,    if SIDE  = 'R';
+          where NOFF is the number of nonzero elements on the
+          subdiagonal (if UPLO = 'U') or supdiagonal (if UPLO = 'L')
+          of T.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The technique used in this routine is similiar to the technique
+  used in the SLICOT [1] subroutine MB01UW developed by Vasile Sima.
+  The required matrix product is computed in two steps. In the first
+  step, the triangle of T specified by UPLO is used; in the second
+  step, the contribution of the sub-/supdiagonal is added. If the
+  workspace can accommodate parts of A, a fast BLAS 3 DTRMM
+  operation is used in the first step.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., Sima, V., Van Huffel, S., and
+      Varga, A.
+      SLICOT - A subroutine library in systems and control theory.
+      In: Applied and computational control, signals, and circuits,
+      Vol. 1, pp. 499-539, Birkhauser, Boston, 1999.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UY.html b/doc/_build/html/_static/doc/MB01UY.html
new file mode 100644
index 00000000..6b676cdc
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01UY.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>MB01UY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UY">MB01UY</A></H2>
+<H3>
+Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
+
+  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
+  matrix, and op( T ) is one of
+
+     op( T ) = T   or   op( T ) = T',  the transpose of T.
+
+  A block-row/column algorithm is used, if possible. The result
+  overwrites the array T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UY( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDT, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the triangular matrix T appears on the
+          left or right in the matrix product, as follows:
+          = 'L':  T := alpha*op( T ) * A;
+          = 'R':  T := alpha*A * op( T ).
+
+  UPLO    CHARACTER*1.
+          Specifies whether the matrix T is an upper or lower
+          triangular matrix, as follows:
+          = 'U':  T is an upper triangular matrix;
+          = 'L':  T is a lower triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then T and A need not
+          be set before entry.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,max(K,N)), when SIDE = 'L', and
+          (LDT,K),        when SIDE = 'R',
+          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
+          On entry with UPLO = 'U', the leading K-by-K upper
+          triangular part of this array must contain the upper
+          triangular matrix T. The elements below the diagonal
+          do not need to be zero.
+          On entry with UPLO = 'L', the leading K-by-K lower
+          triangular part of this array must contain the lower
+          triangular matrix T. The elements above the diagonal
+          do not need to be zero.
+          On exit, the leading M-by-N part of this array contains
+          the corresponding product defined by SIDE, UPLO, and
+          TRANS.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= max(1,M),    if SIDE = 'L';
+          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
+          LDWORK &gt;= M, if SIDE = 'L';
+          LDWORK &gt;= N, if SIDE = 'R'.
+          For good performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A block-row/column size is found based on the available workspace.
+  BLAS 3 gemm and trmm are used if possible.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UZ.html b/doc/_build/html/_static/doc/MB01UZ.html
new file mode 100644
index 00000000..e737b56a
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01UZ.html
@@ -0,0 +1,171 @@
+<HTML>
+<HEAD><TITLE>MB01UZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UZ">MB01UZ</A></H2>
+<H3>
+Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular (complex version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
+
+  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
+  matrix, and op( T ) is one of
+
+     op( T ) = T,  or  op( T ) = T',  the transpose of T, or
+     op( T ) = conj(T'),              the conjugate transpose of T.
+
+  A block-row/column algorithm is used, if possible. The result
+  overwrites the array T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UZ( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDT, LZWORK, M, N
+      COMPLEX*16        ALPHA
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), T(LDT,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the triangular matrix T appears on the
+          left or right in the matrix product, as follows:
+          = 'L':  T := alpha * op( T ) * A;
+          = 'R':  T := alpha * A * op( T ).
+
+  UPLO    CHARACTER*1.
+          Specifies whether the matrix T is an upper or lower
+          triangular matrix, as follows:
+          = 'U':  T is an upper triangular matrix;
+          = 'L':  T is a lower triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = conj(T').
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) COMPLEX*16
+          The scalar alpha. When alpha is zero then T and A need not
+          be set before entry.
+
+  T       (input/output) COMPLEX*16 array, dimension
+          (LDT,max(K,N)), when SIDE = 'L', and
+          (LDT,K),        when SIDE = 'R',
+          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
+          On entry with UPLO = 'U', the leading K-by-K upper
+          triangular part of this array must contain the upper
+          triangular matrix T. The elements below the diagonal
+          do not need to be zero.
+          On entry with UPLO = 'L', the leading K-by-K lower
+          triangular part of this array must contain the lower
+          triangular matrix T. The elements above the diagonal
+          do not need to be zero.
+          On exit, the leading M-by-N part of this array contains
+          the corresponding product defined by SIDE, UPLO, and
+          TRANS.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= max(1,M),    if SIDE = 'L';
+          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0,  ZWORK(1)  returns the optimal value
+          of LZWORK.
+          On exit, if  INFO = -12,  ZWORK(1)  returns the minimum
+          value of LZWORK.
+
+  LZWORK  The length of the array ZWORK.
+          LZWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
+          LZWORK &gt;= M, if SIDE  = 'L';
+          LZWORK &gt;= N, if SIDE  = 'R'.
+          For good performance, LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A block-row/column size is found based on the available workspace.
+  BLAS 3 gemm and trmm are used if possible.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01VD.html b/doc/_build/html/_static/doc/MB01VD.html
new file mode 100644
index 00000000..2e4840db
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01VD.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>MB01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01VD">MB01VD</A></H2>
+<H3>
+Kronecker product of two matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the following matrix operation
+
+     C = alpha*kron( op(A), op(B) ) + beta*C,
+
+  where alpha and beta are real scalars, op(M) is either matrix M or
+  its transpose, M', and kron( X, Y ) denotes the Kronecker product
+  of the matrices X and Y.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01VD( TRANA, TRANB, MA, NA, MB, NB, ALPHA, BETA,
+     $                   A, LDA, B, LDB, C, LDC, MC, NC, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANA, TRANB
+      INTEGER           INFO, LDA, LDB, LDC, MA, MB, MC, NA, NB, NC
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used as follows:
+          = 'N':  op(A) = A;
+          = 'T':  op(A) = A';
+          = 'C':  op(A) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op(B) to be used as follows:
+          = 'N':  op(B) = B;
+          = 'T':  op(B) = B';
+          = 'C':  op(B) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MA      (input) INTEGER
+          The number of rows of the matrix op(A).  MA &gt;= 0.
+
+  NA      (input) INTEGER
+          The number of columns of the matrix op(A).  NA &gt;= 0.
+
+  MB      (input) INTEGER
+          The number of rows of the matrix op(B).  MB &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns of the matrix op(B).  NB &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then A and B need not
+          be set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then C need not be
+          set before entry.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,ka),
+          where ka is NA when TRANA = 'N', and is MA otherwise.
+          If TRANA = 'N', the leading MA-by-NA part of this array
+          must contain the matrix A; otherwise, the leading NA-by-MA
+          part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= max(1,MA), if TRANA = 'N';
+          LDA &gt;= max(1,NA), if TRANA = 'T' or 'C'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,kb)
+          where kb is NB when TRANB = 'N', and is MB otherwise.
+          If TRANB = 'N', the leading MB-by-NB part of this array
+          must contain the matrix B; otherwise, the leading NB-by-MB
+          part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= max(1,MB), if TRANB = 'N';
+          LDB &gt;= max(1,NB), if TRANB = 'T' or 'C'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
+          On entry, if beta is nonzero, the leading MC-by-NC part of
+          this array must contain the given matric C, where
+          MC = MA*MB and NC = NA*NB.
+          On exit, the leading MC-by-NC part of this array contains
+          the computed matrix expression
+          C = alpha*kron( op(A), op(B) ) + beta*C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= max(1,MC).
+
+  MC      (output) INTEGER
+          The number of rows of the matrix C.  MC = MA*MB.
+
+  NC      (output) INTEGER
+          The number of columns of the matrix C.  NC = NA*NB.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Kronecker product of the matrices op(A) and op(B) is computed
+  column by column.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The multiplications by zero elements in A are avoided, if the
+  matrix A is considered to be sparse, i.e., if
+  (number of zeros in A)/(MA*NA) &gt;= SPARST = 0.8. The code makes
+  NB+1 passes through the matrix A, and MA*NA passes through the
+  matrix B. If LDA and/or LDB are very large, and op(A) = A' and/or
+  op(B) = B', it could be more efficient to transpose A and/or B
+  before calling this routine, and use the 'N' values for TRANA
+  and/or TRANB.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01WD.html b/doc/_build/html/_static/doc/MB01WD.html
new file mode 100644
index 00000000..442ec939
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01WD.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01WD">MB01WD</A></H2>
+<H3>
+Residuals of Lyapunov or Stein equations for Cholesky factored solutions
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+  _
+  R = alpha*( op( A )'*op( T )'*op( T ) + op( T )'*op( T )*op( A ) )
+      + beta*R,                                                  (1)
+
+  if DICO = 'C', or
+  _
+  R = alpha*( op( A )'*op( T )'*op( T )*op( A ) -  op( T )'*op( T ))
+      + beta*R,                                                  (2)
+                                                          _
+  if DICO = 'D', where alpha and beta are scalars, R, and R are
+  symmetric matrices, T is a triangular matrix, A is a general or
+  Hessenberg matrix, and op( M ) is one of
+
+     op( M ) = M   or   op( M ) = M'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01WD( DICO, UPLO, TRANS, HESS, N, ALPHA, BETA, R,
+     $                   LDR, A, LDA, T, LDT, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HESS, TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDT, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), R(LDR,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the formula to be evaluated, as follows:
+          = 'C':  formula (1), "continuous-time" case;
+          = 'D':  formula (2), "discrete-time" case.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrix R and
+          triangular matrix T are given, as follows:
+          = 'U':  the upper triangular parts of R and T are given;
+          = 'L':  the lower triangular parts of R and T are given;
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( M ) to be used, as follows:
+          = 'N':  op( M ) = M;
+          = 'T':  op( M ) = M';
+          = 'C':  op( M ) = M'.
+
+  HESS    CHARACTER*1
+          Specifies the form of the matrix A, as follows:
+          = 'F':  matrix A is full;
+          = 'H':  matrix A is Hessenberg (or Schur), either upper
+                  (if UPLO = 'U'), or lower (if UPLO = 'L').
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, A, and T.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then the arrays A
+          and T are not referenced.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then the array R need
+          not be set before entry.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If HESS = 'H' the elements below the
+          first subdiagonal, if UPLO = 'U', or above the first
+          superdiagonal, if UPLO = 'L', need not be set to zero,
+          and are not referenced if DICO = 'D'.
+          On exit, the leading N-by-N part of this array contains
+          the following matrix product
+             alpha*T'*T*A, if TRANS = 'N', or
+             alpha*A*T*T', otherwise,
+          if DICO = 'C', or
+             T*A, if TRANS = 'N', or
+             A*T, otherwise,
+          if DICO = 'D' (and in this case, these products have a
+          Hessenberg form, if HESS = 'H').
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular matrix T and
+          the strictly lower triangular part need not be set to zero
+          (and it is not referenced).
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular matrix T and
+          the strictly upper triangular part need not be set to zero
+          (and it is not referenced).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression (1) or (2) is efficiently evaluated taking
+  the structure into account. BLAS 3 operations (DTRMM, DSYRK and
+  their specializations) are used throughout.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If A is a full matrix, the algorithm requires approximately
+   3
+  N  operations, if DICO = 'C';
+         3
+  7/6 x N  operations, if DICO = 'D'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01XD.html b/doc/_build/html/_static/doc/MB01XD.html
new file mode 100644
index 00000000..cbbd339c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01XD.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>MB01XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01XD">MB01XD</A></H2>
+<H3>
+Computing U' U or L L', with U and L upper and lower triangular matrices (block algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product U' * U or L * L', where U and L are
+  upper and lower triangular matrices, respectively, stored in the
+  corresponding upper or lower triangular part of the array A.
+
+  If UPLO = 'U' then the upper triangle of the result is stored,
+  overwriting the matrix U in A.
+  If UPLO = 'L' then the lower triangle of the result is stored,
+  overwriting the matrix L in A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01XD( UPLO, N, A, LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle (U or L) is given in the array A,
+          as follows:
+          = 'U':  the upper triangular part U is given;
+          = 'L':  the lower triangular part L is given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the triangular matrices U or L.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular matrix U.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular matrix L.
+          On exit, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the product U' * U. The strictly lower
+          triangular part is not referenced.
+          On exit, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array contains the lower
+          triangular part of the product L * L'. The strictly upper
+          triangular part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product U' * U or L * L' is computed using BLAS 3
+  operations as much as possible (a block algorithm).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a counterpart of LAPACK Library routine DLAUUM,
+  which computes the matrix product U * U' or L' * L.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01XY.html b/doc/_build/html/_static/doc/MB01XY.html
new file mode 100644
index 00000000..ce736900
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01XY.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MB01XY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01XY">MB01XY</A></H2>
+<H3>
+Computing U' U or L L', with U and L upper and lower triangular matrices (unblock algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product U' * U or L * L', where U and L are
+  upper and lower triangular matrices, respectively, stored in the
+  corresponding upper or lower triangular part of the array A.
+
+  If UPLO = 'U' then the upper triangle of the result is stored,
+  overwriting the matrix U in A.
+  If UPLO = 'L' then the lower triangle of the result is stored,
+  overwriting the matrix L in A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01XY( UPLO, N, A, LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle (U or L) is given in the array A,
+          as follows:
+          = 'U':  the upper triangular part U is given;
+          = 'L':  the lower triangular part L is given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the triangular matrices U or L.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular matrix U.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular matrix L.
+          On exit, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the product U' * U. The strictly lower
+          triangular part is not referenced.
+          On exit, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array contains the lower
+          triangular part of the product L * L'. The strictly upper
+          triangular part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product U' * U or L * L' is computed using BLAS 2 and
+  BLAS 1 operations (an unblocked algorithm).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a counterpart of LAPACK Library routine DLAUU2,
+  which computes the matrix product U * U' or L' * L.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01YD.html b/doc/_build/html/_static/doc/MB01YD.html
new file mode 100644
index 00000000..82d1d351
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01YD.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>MB01YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01YD">MB01YD</A></H2>
+<H3>
+Symmetric rank k operation C := alpha op( A ) op( A )' + beta C, C symmetric
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the symmetric rank k operations
+
+     C := alpha*op( A )*op( A )' + beta*C,
+
+  where alpha and beta are scalars, C is an n-by-n symmetric matrix,
+  op( A ) is an n-by-k matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The matrix A has l nonzero codiagonals, either upper or lower.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01YD( UPLO, TRANS, N, K, L, ALPHA, BETA, A, LDA, C,
+     $                   LDC, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS, UPLO
+      INTEGER            INFO, LDA, LDC, K, L, N
+      DOUBLE PRECISION   ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix C
+          is given and computed, as follows:
+          = 'U':  the upper triangular part is given/computed;
+          = 'L':  the lower triangular part is given/computed.
+          UPLO also defines the pattern of the matrix A (see below).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used, as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix C.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of columns of the matrix op( A ).  K &gt;= 0.
+
+  L       (input) INTEGER
+          If UPLO = 'U', matrix A has L nonzero subdiagonals.
+          If UPLO = 'L', matrix A has L nonzero superdiagonals.
+          MAX(0,NR-1) &gt;= L &gt;= 0, if UPLO = 'U',
+          MAX(0,NC-1) &gt;= L &gt;= 0, if UPLO = 'L',
+          where NR and NC are the numbers of rows and columns of the
+          matrix A, respectively.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then the array A is
+          not referenced.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then the array C need
+          not be set before entry.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,NC), where
+          NC is K when TRANS = 'N', and is N otherwise.
+          If TRANS = 'N', the leading N-by-K part of this array must
+          contain the matrix A, otherwise the leading K-by-N part of
+          this array must contain the matrix A.
+          If UPLO = 'U', only the upper triangular part and the
+          first L subdiagonals are referenced, and the remaining
+          subdiagonals are assumed to be zero.
+          If UPLO = 'L', only the lower triangular part and the
+          first L superdiagonals are referenced, and the remaining
+          superdiagonals are assumed to be zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,NR),
+          where NR = N, if TRANS = 'N', and NR = K, otherwise.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix C.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix C.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The calculations are efficiently performed taking the symmetry
+  and structure into account.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The matrix A may have the following patterns, when n = 7, k = 5,
+  and l = 2 are used for illustration:
+
+  UPLO = 'U', TRANS = 'N'         UPLO = 'L', TRANS = 'N'
+
+         [ x x x x x ]                   [ x x x 0 0 ]
+         [ x x x x x ]                   [ x x x x 0 ]
+         [ x x x x x ]                   [ x x x x x ]
+     A = [ 0 x x x x ],              A = [ x x x x x ],
+         [ 0 0 x x x ]                   [ x x x x x ]
+         [ 0 0 0 x x ]                   [ x x x x x ]
+         [ 0 0 0 0 x ]                   [ x x x x x ]
+
+  UPLO = 'U', TRANS = 'T'         UPLO = 'L', TRANS = 'T'
+
+         [ x x x x x x x ]               [ x x x 0 0 0 0 ]
+         [ x x x x x x x ]               [ x x x x 0 0 0 ]
+     A = [ x x x x x x x ],          A = [ x x x x x 0 0 ].
+         [ 0 x x x x x x ]               [ x x x x x x 0 ]
+         [ 0 0 x x x x x ]               [ x x x x x x x ]
+
+  If N = K, the matrix A is upper or lower triangular, for L = 0,
+  and upper or lower Hessenberg, for L = 1.
+
+  This routine is a specialization of the BLAS 3 routine DSYRK.
+  BLAS 1 calls are used when appropriate, instead of in-line code,
+  in order to increase the efficiency. If the matrix A is full, or
+  its zero triangle has small order, an optimized DSYRK code could
+  be faster than MB01YD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB01ZD.html b/doc/_build/html/_static/doc/MB01ZD.html
new file mode 100644
index 00000000..72bd0d55
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB01ZD.html
@@ -0,0 +1,192 @@
+<HTML>
+<HEAD><TITLE>MB01ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01ZD">MB01ZD</A></H2>
+<H3>
+Computing H := alpha op( T ) H, or H := alpha H op( T ), with H Hessenberg-like, T triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product
+
+     H := alpha*op( T )*H,   or   H := alpha*H*op( T ),
+
+  where alpha is a scalar, H is an m-by-n upper or lower
+  Hessenberg-like matrix (with l nonzero subdiagonals or
+  superdiagonals, respectively), T is a unit, or non-unit,
+  upper or lower triangular matrix, and op( T ) is one of
+
+     op( T ) = T   or   op( T ) = T'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01ZD( SIDE, UPLO, TRANST, DIAG, M, N, L, ALPHA, T,
+     $                   LDT, H, LDH, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DIAG, SIDE, TRANST, UPLO
+      INTEGER            INFO, L, LDH, LDT, M, N
+      DOUBLE PRECISION   ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION   H( LDH, * ), T( LDT, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the triangular matrix T appears on the
+          left or right in the matrix product, as follows:
+          = 'L':  the product alpha*op( T )*H is computed;
+          = 'R':  the product alpha*H*op( T ) is computed.
+
+  UPLO    CHARACTER*1
+          Specifies the form of the matrices T and H, as follows:
+          = 'U':  the matrix T is upper triangular and the matrix H
+                  is upper Hessenberg-like;
+          = 'L':  the matrix T is lower triangular and the matrix H
+                  is lower Hessenberg-like.
+
+  TRANST  CHARACTER*1
+          Specifies the form of op( T ) to be used, as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+  DIAG    CHARACTER*1.
+          Specifies whether or not T is unit triangular, as follows:
+          = 'U':  the matrix T is assumed to be unit triangular;
+          = 'N':  the matrix T is not assumed to be unit triangular.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of H.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of H.  N &gt;= 0.
+
+  L       (input) INTEGER
+          If UPLO = 'U', matrix H has L nonzero subdiagonals.
+          If UPLO = 'L', matrix H has L nonzero superdiagonals.
+          MAX(0,M-1) &gt;= L &gt;= 0, if UPLO = 'U';
+          MAX(0,N-1) &gt;= L &gt;= 0, if UPLO = 'L'.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then T is not
+          referenced and H need not be set before entry.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,k), where
+          k is m when SIDE = 'L' and is n when SIDE = 'R'.
+          If UPLO = 'U', the leading k-by-k upper triangular part
+          of this array must contain the upper triangular matrix T
+          and the strictly lower triangular part is not referenced.
+          If UPLO = 'L', the leading k-by-k lower triangular part
+          of this array must contain the lower triangular matrix T
+          and the strictly upper triangular part is not referenced.
+          Note that when DIAG = 'U', the diagonal elements of T are
+          not referenced either, but are assumed to be unity.
+
+  LDT     INTEGER
+          The leading dimension of array T.
+          LDT &gt;= MAX(1,M), if SIDE = 'L';
+          LDT &gt;= MAX(1,N), if SIDE = 'R'.
+
+  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, if UPLO = 'U', the leading M-by-N upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg-like matrix H.
+          On entry, if UPLO = 'L', the leading M-by-N lower
+          Hessenberg part of this array must contain the lower
+          Hessenberg-like matrix H.
+          On exit, the leading M-by-N part of this array contains
+          the matrix product alpha*op( T )*H, if SIDE = 'L',
+          or alpha*H*op( T ), if SIDE = 'R'. If TRANST = 'N', this
+          product has the same pattern as the given matrix H;
+          the elements below the L-th subdiagonal (if UPLO = 'U'),
+          or above the L-th superdiagonal (if UPLO = 'L'), are not
+          referenced in this case. If TRANST = 'T', the elements
+          below the (N+L)-th row (if UPLO = 'U', SIDE = 'R', and
+          M &gt; N+L), or at the right of the (M+L)-th column
+          (if UPLO = 'L', SIDE = 'L', and N &gt; M+L), are not set to
+          zero nor referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The calculations are efficiently performed taking the problem
+  structure into account.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The matrix H may have the following patterns, when m = 7, n = 6,
+  and l = 2 are used for illustration:
+
+            UPLO = 'U'                    UPLO = 'L'
+
+         [ x x x x x x ]               [ x x x 0 0 0 ]
+         [ x x x x x x ]               [ x x x x 0 0 ]
+         [ x x x x x x ]               [ x x x x x 0 ]
+     H = [ 0 x x x x x ],          H = [ x x x x x x ].
+         [ 0 0 x x x x ]               [ x x x x x x ]
+         [ 0 0 0 x x x ]               [ x x x x x x ]
+         [ 0 0 0 0 x x ]               [ x x x x x x ]
+
+  The products T*H or H*T have the same pattern as H, but the
+  products T'*H or H*T' may be full matrices.
+
+  If m = n, the matrix H is upper or lower triangular, for l = 0,
+  and upper or lower Hessenberg, for l = 1.
+
+  This routine is a specialization of the BLAS 3 routine DTRMM.
+  BLAS 1 calls are used when appropriate, instead of in-line code,
+  in order to increase the efficiency. If the matrix H is full, or
+  its zero triangle has small order, an optimized DTRMM code could
+  be faster than MB01ZD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CD.html b/doc/_build/html/_static/doc/MB02CD.html
new file mode 100644
index 00000000..e9a3202f
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02CD.html
@@ -0,0 +1,337 @@
+<HTML>
+<HEAD><TITLE>MB02CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CD">MB02CD</A></H2>
+<H3>
+Cholesky factorization of a positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor and the generator and/or the
+  Cholesky factor of the inverse of a symmetric positive definite
+  (s.p.d.) block Toeplitz matrix T, defined by either its first
+  block row, or its first block column, depending on the routine
+  parameter TYPET. Transformation information is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
+     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, TYPET
+      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
+     $                  T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine, as follows:
+          = 'G':  only computes the generator G of the inverse;
+          = 'R':  computes the generator G of the inverse and the
+                  Cholesky factor R of T, i.e., if TYPET = 'R',
+                  then R'*R = T, and if TYPET = 'C', then R*R' = T;
+          = 'L':  computes the generator G and the Cholesky factor L
+                  of the inverse, i.e., if TYPET = 'R', then
+                  L'*L = inv(T), and if TYPET = 'C', then
+                  L*L' = inv(T);
+          = 'A':  computes the generator G, the Cholesky factor L
+                  of the inverse and the Cholesky factor R of T;
+          = 'O':  only computes the Cholesky factor R of T.
+
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix; if demanded, the Cholesky factors
+                  R and L are upper and lower triangular,
+                  respectively, and G contains the transposed
+                  generator of the inverse;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix; if demanded, the Cholesky
+                  factors R and L are lower and upper triangular,
+                  respectively, and G contains the generator of the
+                  inverse. This choice results in a column oriented
+                  algorithm which is usually faster.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,N*K) / (LDT,K)
+          On entry, the leading K-by-N*K / N*K-by-K part of this
+          array must contain the first block row / column of an
+          s.p.d. block Toeplitz matrix.
+          On exit, if INFO = 0, then the leading K-by-N*K / N*K-by-K
+          part of this array contains, in the first K-by-K block,
+          the upper / lower Cholesky factor of T(1:K,1:K), and in
+          the remaining part, the Householder transformations
+          applied during the process.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),    if TYPET = 'R';
+          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
+
+  G       (output)  DOUBLE PRECISION array, dimension
+          (LDG,N*K) / (LDG,2*K)
+          If INFO = 0 and JOB = 'G', 'R', 'L', or 'A', the leading
+          2*K-by-N*K / N*K-by-2*K part of this array contains, in
+          the first K-by-K block of the second block row / column,
+          the lower right block of L (necessary for updating
+          factorizations in SLICOT Library routine MB02DD), and
+          in the remaining part, the generator of the inverse of T.
+          Actually, to obtain a generator one has to set
+              G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
+              G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
+
+  LDG     INTEGER
+          The leading dimension of the array G.
+          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and
+                                 JOB = 'G', 'R', 'L', or 'A';
+          LDG &gt;= MAX(1,N*K),  if TYPET = 'C' and
+                                 JOB = 'G', 'R', 'L', or 'A';
+          LDG &gt;= 1,           if JOB = 'O'.
+
+  R       (output)  DOUBLE PRECISION array, dimension (LDR,N*K)
+          If INFO = 0 and JOB = 'R', 'A', or 'O', then the leading
+          N*K-by-N*K part of this array contains the upper / lower
+          Cholesky factor of T.
+          The elements in the strictly lower / upper triangular part
+          are not referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,N*K),  if JOB = 'R', 'A', or 'O';
+          LDR &gt;= 1,           if JOB = 'G', or 'L'.
+
+  L       (output)  DOUBLE PRECISION array, dimension (LDL,N*K)
+          If INFO = 0 and JOB = 'L', or 'A', then the leading
+          N*K-by-N*K part of this array contains the lower / upper
+          Cholesky factor of the inverse of T.
+          The elements in the strictly upper / lower triangular part
+          are not referenced.
+
+  LDL     INTEGER
+          The leading dimension of the array L.
+          LDL &gt;= MAX(1,N*K),  if JOB = 'L', or 'A';
+          LDL &gt;= 1,           if JOB = 'G', 'R', or 'O'.
+
+  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
+          If INFO = 0, then the leading 3*(N-1)*K part of this
+          array contains information about the hyperbolic rotations
+          and Householder transformations applied during the
+          process. This information is needed for updating the
+          factorizations in SLICOT Library routine MB02DD.
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 3*(N-1)*K.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N-1)*K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                            3 2
+  The algorithm requires 0(K N ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, NMAX
+      PARAMETER        ( KMAX = 20, NMAX = 20 )
+      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
+      PARAMETER        ( LDG = 2*KMAX, LDL = NMAX*KMAX, LDR = NMAX*KMAX,
+     $                   LDT = KMAX, LDWORK = ( NMAX - 1 )*KMAX )
+      PARAMETER        ( LCS = 3*LDWORK )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N
+      CHARACTER        JOB, TYPET
+*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
+      DOUBLE PRECISION CS(LCS), DWORK(LDWORK), G(LDG, NMAX*KMAX),
+     $                 L(LDL, NMAX*KMAX), R(LDR, NMAX*KMAX),
+     $                 T(LDT, NMAX*KMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLASET, MB02CD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, JOB
+      TYPET = 'R'
+      M = N*K
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) K
+         ELSE
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+*           Compute the Cholesky factor(s) and/or the generator.
+            CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
+     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF ( LSAME( JOB, 'G' ) .OR. LSAME( JOB, 'A' ) .OR.
+     $              LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'R' ) ) THEN
+                  WRITE ( NOUT, FMT = 99997 )
+                  CALL DLASET( 'Full', K, K, ZERO, ZERO, G(K+1,1), LDG )
+                  DO 10  I = 1, 2*K
+                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1, M )
+   10             CONTINUE
+               END IF
+               IF ( LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'A' ) ) THEN
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20  I = 1, M
+                     WRITE ( NOUT, FMT = 99994 ) ( L(I,J), J = 1, M )
+   20             CONTINUE
+               END IF
+               IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' )
+     $                                .OR. LSAME( JOB, 'O' ) ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 30  I = 1, M
+                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
+   30             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02CD = ',I2)
+99997 FORMAT (' The generator of the inverse of block Toeplitz matrix',
+     $        ' is ')
+99996 FORMAT (/' The lower Cholesky factor of the inverse is ')
+99995 FORMAT (/' The upper Cholesky factor of block Toeplitz matrix is '
+     $       )
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02CD EXAMPLE PROGRAM DATA
+  3    2     A
+  3.0000    1.0000    0.1000    0.1000    0.2000    0.0500
+  1.0000    4.0000    0.4000    0.1000    0.0400    0.2000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02CD EXAMPLE PROGRAM RESULTS
+
+ The generator of the inverse of block Toeplitz matrix is 
+  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
+  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
+   0.0000   0.0000  -0.0387   0.0052   0.0003  -0.0575
+   0.0000   0.0000   0.0119  -0.0265  -0.0110   0.0076
+
+ The lower Cholesky factor of the inverse is 
+   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
+  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
+  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
+   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
+
+ The upper Cholesky factor of block Toeplitz matrix is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
+   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CU.html b/doc/_build/html/_static/doc/MB02CU.html
new file mode 100644
index 00000000..5ff2d3f4
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02CU.html
@@ -0,0 +1,253 @@
+<HTML>
+<HEAD><TITLE>MB02CU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CU">MB02CU</A></H2>
+<H3>
+Bringing the first blocks of a generator in proper form (extended version of MB02CX)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To bring the first blocks of a generator to proper form.
+  The positive part of the generator is contained in the arrays A1
+  and A2. The negative part of the generator is contained in B.
+  Transformation information will be stored and can be applied
+  via SLICOT Library routine MB02CV.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CU( TYPEG, K, P, Q, NB, A1, LDA1, A2, LDA2, B, LDB,
+     $                   RNK, IPVT, CS, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TYPEG
+      INTEGER            INFO, K, LDA1, LDA2, LDB, LDWORK, NB, P, Q, RNK
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IPVT(*)
+      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
+     $                   DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPEG   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'D':  generator is column oriented and rank
+                  deficiencies are expected;
+          = 'C':  generator is column oriented and rank
+                  deficiencies are not expected;
+          = 'R':  generator is row oriented and rank
+                  deficiencies are not expected.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in A1 to be processed.  K &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of columns of the positive generator.  P &gt;= K.
+
+  Q       (input)  INTEGER
+          The number of columns in B containing the negative
+          generators.
+          If TYPEG = 'D',        Q &gt;= K;
+          If TYPEG = 'C' or 'R', Q &gt;= 0.
+
+  NB      (input)  INTEGER
+          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
+          the block size to be used in the blocked parts of the
+          algorithm. If NB &lt;= 0, an unblocked algorithm is used.
+
+  A1      (input/output)  DOUBLE PRECISION array, dimension
+          (LDA1, K)
+          On entry, the leading K-by-K part of this array must
+          contain the leading submatrix of the positive part of the
+          generator. If TYPEG = 'C', A1 is assumed to be lower
+          triangular and the strictly upper triangular part is not
+          referenced. If TYPEG = 'R', A1 is assumed to be upper
+          triangular and the strictly lower triangular part is not
+          referenced.
+          On exit, if TYPEG = 'D', the leading K-by-RNK part of this
+          array contains the lower trapezoidal part of the proper
+          generator and information for the Householder
+          transformations applied during the reduction process.
+          On exit, if TYPEG = 'C', the leading K-by-K part of this
+          array contains the leading lower triangular part of the
+          proper generator.
+          On exit, if TYPEG = 'R', the leading K-by-K part of this
+          array contains the leading upper triangular part of the
+          proper generator.
+
+  LDA1    INTEGER
+          The leading dimension of the array A1.  LDA1 &gt;= MAX(1,K).
+
+  A2      (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
+          if TYPEG = 'R',                   dimension (LDA2, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-(P-K) part of this array must contain the (K+1)-st
+          to P-th columns of the positive part of the generator.
+          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
+          this array must contain the (K+1)-st to P-th rows of the
+          positive part of the generator.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-(P-K) part of this array contains information for
+          Householder transformations.
+          On exit, if TYPEG = 'R', the leading (P-K)-by-K part of
+          this array contains information for Householder
+          transformations.
+
+  LDA2    INTEGER
+          The leading dimension of the array A2.
+          If P = K,                   LDA2 &gt;= 1;
+          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
+                                      LDA2 &gt;= MAX(1,K);
+          if P &gt; K and TYPEG = 'R',   LDA2 &gt;= P-K.
+
+  B       (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
+          if TYPEG = 'R',                   dimension (LDB, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-Q part of this array must contain the negative part
+          of the generator.
+          On entry, if TYPEG = 'R', the leading Q-by-K part of this
+          array must contain the negative part of the generator.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-Q part of this array contains information for
+          Householder transformations.
+          On exit, if TYPEG = 'R', the leading Q-by-K part of this
+          array contains information for Householder transformations.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If Q = 0,                  LDB &gt;= 1;
+          if Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDB &gt;= MAX(1,K);
+          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
+
+  RNK     (output)  INTEGER
+          If TYPEG = 'D', the number of columns in the reduced
+          generator which are found to be linearly independent.
+          If TYPEG = 'C' or TYPEG = 'R', then RNK is not set.
+
+  IPVT    (output)  INTEGER array, dimension (K)
+          If TYPEG = 'D', then if IPVT(i) = k, the k-th row of the
+          proper generator is the reduced i-th row of the input
+          generator.
+          If TYPEG = 'C' or TYPEG = 'R', this array is not
+          referenced.
+
+  CS      (output)  DOUBLE PRECISION array, dimension (x)
+          If TYPEG = 'D' and P = K,                   x = 3*K;
+          if TYPEG = 'D' and P &gt; K,                   x = 5*K;
+          if (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
+          if (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
+          On exit, the first x elements of this array contain
+          necessary information for the SLICOT library routine
+          MB02CV (Givens and modified hyperbolic rotation
+          parameters, scalar factors of the Householder
+          transformations).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If TYPEG = 'D', this number specifies the used tolerance
+          for handling deficiencies. If the hyperbolic norm
+          of two diagonal elements in the positive and negative
+          generators appears to be less than or equal to TOL, then
+          the corresponding columns are not reduced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -17,  DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,4*K),         if TYPEG = 'D';
+          LDWORK &gt;= MAX(1,MAX(NB,1)*K), if TYPEG = 'C' or 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if TYPEG = 'D', the generator represents a
+                (numerically) indefinite matrix; and if TYPEG = 'C'
+                or TYPEG = 'R', the generator represents a
+                (numerically) semidefinite matrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If TYPEG = 'C' or TYPEG = 'R', blocked Householder transformations
+  and modified hyperbolic rotations are used to downdate the
+  matrix [ A1  A2  sqrt(-1)*B ], cf. [1], [2].
+  If TYPEG = 'D', then an algorithm with row pivoting is used. In
+  the first stage it maximizes the hyperbolic norm of the active
+  row. As soon as the hyperbolic norm is below the threshold TOL,
+  the strategy is changed. Now, in the second stage, the algorithm
+  applies an LQ decomposition with row pivoting on B such that
+  the Euclidean norm of the active row is maximized.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(K *( P + Q )) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CV.html b/doc/_build/html/_static/doc/MB02CV.html
new file mode 100644
index 00000000..bb994065
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02CV.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>MB02CV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CV">MB02CV</A></H2>
+<H3>
+Applying the MB02CU transformations on other columns / rows of the generator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the transformations created by the SLICOT Library routine
+  MB02CU on other columns / rows of the generator, contained in the
+  arrays F1, F2 and G.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CV( TYPEG, STRUCG, K, N, P, Q, NB, RNK, A1, LDA1,
+     $                   A2, LDA2, B, LDB, F1, LDF1, F2, LDF2, G, LDG,
+     $                   CS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          STRUCG, TYPEG
+      INTEGER            INFO, K, LDA1, LDA2, LDB, LDF1, LDF2, LDG,
+     $                   LDWORK, N, NB, P, Q, RNK
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
+     $                   DWORK(*), F1(LDF1,*), F2(LDF2,*), G(LDG,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPEG   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'D':  generator is column oriented and rank
+                  deficient;
+          = 'C':  generator is column oriented and not rank
+                  deficient;
+          = 'R':  generator is row oriented and not rank
+                  deficient.
+          Note that this parameter must be equivalent with the
+          used TYPEG in the call of MB02CU.
+
+  STRUCG  CHARACTER*1
+          Information about the structure of the generators,
+          as follows:
+          = 'T':  the trailing block of the positive generator
+                  is upper / lower triangular, and the trailing
+                  block of the negative generator is zero;
+          = 'N':  no special structure to mention.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in A1 to be processed.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          If TYPEG = 'D'  or  TYPEG = 'C', the number of rows in F1;
+          if TYPEG = 'R', the number of columns in F1.  N &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of columns of the positive generator.  P &gt;= K.
+
+  Q       (input)  INTEGER
+          The number of columns in B.
+          If TYPEG = 'D',        Q &gt;= K;
+          If TYPEG = 'C' or 'R', Q &gt;= 0.
+
+  NB      (input)  INTEGER
+          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
+          the block size to be used in the blocked parts of the
+          algorithm. NB must be equivalent with the used block size
+          in the routine MB02CU.
+
+  RNK     (input)  INTEGER
+          If TYPEG = 'D', the number of linearly independent columns
+          in the generator as returned by MB02CU.  0 &lt;= RNK &lt;= K.
+          If TYPEG = 'C' or 'R', the value of this parameter is
+          irrelevant.
+
+  A1      (input)  DOUBLE PRECISION array, dimension
+          (LDA1, K)
+          On entry, if TYPEG = 'D', the leading K-by-K part of this
+          array must contain the matrix A1 as returned by MB02CU.
+          If TYPEG = 'C' or 'R', this array is not referenced.
+
+  LDA1    INTEGER
+          The leading dimension of the array A1.
+          If TYPEG = 'D',                   LDA1 &gt;= MAX(1,K);
+          if TYPEG = 'C'  or  TYPEG = 'R',  LDA1 &gt;= 1.
+
+  A2      (input)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
+          if TYPEG = 'R',                   dimension (LDA2, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-(P-K) part of this array must contain the matrix
+          A2 as returned by MB02CU.
+          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
+          this array must contain the matrix A2 as returned by
+          MB02CU.
+
+  LDA2    INTEGER
+          The leading dimension of the array A2.
+          If P = K,                  LDA2 &gt;= 1;
+          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDA2 &gt;= MAX(1,K);
+          if P &gt; K and TYPEG = 'R',  LDA2 &gt;= P-K.
+
+  B       (input)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
+          if TYPEG = 'R',                   dimension (LDB, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-Q part of this array must contain the matrix B as
+          returned by MB02CU.
+          On entry, if TYPEG = 'R', the leading Q-by-K part of this
+          array must contain the matrix B as returned by MB02CU.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If Q = 0,                  LDB &gt;= 1;
+          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDB &gt;= MAX(1,K);
+          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
+
+  F1      (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF1, K);
+          if TYPEG = 'R',                   dimension (LDF1, N).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-K part of this array must contain the first part
+          of the positive generator to be processed.
+          On entry, if TYPEG = 'R', the leading K-by-N part of this
+          array must contain the first part of the positive
+          generator to be processed.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-K part of this array contains the first part of the
+          transformed positive generator.
+          On exit, if TYPEG = 'R', the leading K-by-N part of this
+          array contains the first part of the transformed positive
+          generator.
+
+  LDF1    INTEGER
+          The leading dimension of the array F1.
+          If TYPEG = 'D'  or  TYPEG = 'C',   LDF1 &gt;= MAX(1,N);
+          if TYPEG = 'R',                    LDF1 &gt;= MAX(1,K).
+
+  F2      (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF2, P-K);
+          if TYPEG = 'R',                   dimension (LDF2, N).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-(P-K) part of this array must contain the second part
+          of the positive generator to be processed.
+          On entry, if TYPEG = 'R', the leading (P-K)-by-N part of
+          this array must contain the second part of the positive
+          generator to be processed.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-(P-K) part of this array contains the second part of
+          the transformed positive generator.
+          On exit, if TYPEG = 'R', the leading (P-K)-by-N part of
+          this array contains the second part of the transformed
+          positive generator.
+
+  LDF2    INTEGER
+          The leading dimension of the array F2.
+          If P = K,                  LDF2 &gt;= 1;
+          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDF2 &gt;= MAX(1,N);
+          if P &gt; K and TYPEG = 'R',  LDF2 &gt;= P-K.
+
+  G       (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDG, Q);
+          if TYPEG = 'R',                   dimension (LDG, N).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-Q part of this array must contain the negative part
+          of the generator to be processed.
+          On entry, if TYPEG = 'R', the leading Q-by-N part of this
+          array must contain the negative part of the generator to
+          be processed.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-Q part of this array contains the transformed
+          negative generator.
+          On exit, if TYPEG = 'R', the leading Q-by-N part of this
+          array contains the transformed negative generator.
+
+  LDG     INTEGER
+          The leading dimension of the array G.
+          If Q = 0,                  LDG &gt;= 1;
+          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDG &gt;= MAX(1,N);
+          if Q &gt; 0 and TYPEG = 'R',  LDG &gt;= Q.
+
+  CS      (input)  DOUBLE PRECISION array, dimension (x)
+          If TYPEG = 'D' and P = K,                   x = 3*K;
+          If TYPEG = 'D' and P &gt; K,                   x = 5*K;
+          If (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
+          If (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
+          On entry, the first x elements of this array must contain
+          Givens and modified hyperbolic rotation parameters, and
+          scalar factors of the Householder transformations as
+          returned by MB02CU.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -23,  DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          TYPEG = 'D':               LDWORK &gt;= MAX(1,N);
+          (TYPEG = 'C' or TYPEG = 'R')  and  NB &lt;= 0:
+                                     LDWORK &gt;= MAX(1,N);
+          (TYPEG = 'C' or TYPEG = 'R')  and  NB &gt;= 1:
+                                     LDWORK &gt;= MAX(1,( N + K )*NB).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N*K*( P + Q )) floating point operations.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder transformations and modified hyperbolic rotations
+  computed by SLICOT Library routine MB02CU are applied to the
+  corresponding parts of the matrices F1, F2 and G.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CX.html b/doc/_build/html/_static/doc/MB02CX.html
new file mode 100644
index 00000000..c413f111
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02CX.html
@@ -0,0 +1,173 @@
+<HTML>
+<HEAD><TITLE>MB02CX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CX">MB02CX</A></H2>
+<H3>
+Bringing the first blocks of a generator in proper form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To bring the first blocks of a generator in proper form.
+  The columns / rows of the positive and negative generators
+  are contained in the arrays A and B, respectively.
+  Transformation information will be stored and can be applied
+  via SLICOT Library routine MB02CY.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CX( TYPET, P, Q, K, A, LDA, B, LDB, CS, LCS,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPET
+      INTEGER           INFO, K, LDA, LDB, LCS, LDWORK, P, Q
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'R':  A and B are the first blocks of the rows of the
+                  positive and negative generators;
+          = 'C':  A and B are the first blocks of the columns of the
+                  positive and negative generators.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input)  INTEGER
+          The number of rows / columns in A containing the positive
+          generators.  P &gt;= 0.
+
+  Q       (input)  INTEGER
+          The number of rows / columns in B containing the negative
+          generators.  Q &gt;= 0.
+
+  K       (input)  INTEGER
+          The number of columns / rows in A and B to be processed.
+          Normally, the size of the first block.  P &gt;= K &gt;= 0.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+          (LDA, K) / (LDA, P)
+          On entry, the leading P-by-K upper / K-by-P lower
+          triangular part of this array must contain the rows /
+          columns of the positive part in the first block of the
+          generator.
+          On exit, the leading P-by-K upper / K-by-P lower
+          triangular part of this array contains the rows / columns
+          of the positive part in the first block of the proper
+          generator.
+          The lower / upper trapezoidal part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,P),    if TYPET = 'R';
+          LDA &gt;= MAX(1,K),    if TYPET = 'C'.
+
+  B       (input/output)  DOUBLE PRECISION array, dimension
+          (LDB, K) / (LDB, Q)
+          On entry, the leading Q-by-K / K-by-Q part of this array
+          must contain the rows / columns of the negative part in
+          the first block of the generator.
+          On exit, the leading Q-by-K / K-by-Q part of this array
+          contains part of the necessary information for the
+          Householder transformations.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
+          LDB &gt;= MAX(1,K),    if TYPET = 'C'.
+
+  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
+          On exit, the leading 2*K + MIN(K,Q) part of this array
+          contains necessary information for the SLICOT Library
+          routine MB02CY (modified hyperbolic rotation parameters
+          and scalar factors of the Householder transformations).
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  succesful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The matrix
+                associated with the generator is not (numerically)
+                positive definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If  TYPET = 'R',  a QR decomposition of B is first computed.
+  Then, the elements below the first row of each column i of B
+  are annihilated by a Householder transformation modifying the
+  first element in that column. This first element, in turn, is
+  then annihilated by a modified hyperbolic rotation, acting also
+  on the i-th row of A.
+
+  If  TYPET = 'C',  an LQ decomposition of B is first computed.
+  Then, the elements on the right of the first column of each row i
+  of B are annihilated by a Householder transformation modifying the
+  first element in that row. This first element, in turn, is
+  then annihilated by a modified hyperbolic rotation, acting also
+  on the i-th column of A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CY.html b/doc/_build/html/_static/doc/MB02CY.html
new file mode 100644
index 00000000..72bd1e06
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02CY.html
@@ -0,0 +1,173 @@
+<HTML>
+<HEAD><TITLE>MB02CY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CY">MB02CY</A></H2>
+<H3>
+Applying the MB02CX transformations on other columns / rows of the generator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the transformations created by the SLICOT Library
+  routine MB02CX on other columns / rows of the generator,
+  contained in the arrays A and B of positive and negative
+  generators, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CY( TYPET, STRUCG, P, Q, N, K, A, LDA, B, LDB, H,
+     $                   LDH, CS, LCS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K, LDA, LDB, LCS, LDH, LDWORK, N, P, Q
+      CHARACTER         STRUCG, TYPET
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'R':  A and B are additional columns of the generator;
+          = 'C':  A and B are additional rows of the generator.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+  STRUCG  CHARACTER*1
+          Information about the structure of the two generators,
+          as follows:
+          = 'T':  the trailing block of the positive generator
+                  is lower / upper triangular, and the trailing
+                  block of the negative generator is zero;
+          = 'N':  no special structure to mention.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input)  INTEGER
+          The number of rows / columns in A containing the positive
+          generators.  P &gt;= 0.
+
+  Q       (input)  INTEGER
+          The number of rows / columns in B containing the negative
+          generators.  Q &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of columns / rows in A and B to be processed.
+          N &gt;= 0.
+
+  K       (input)  INTEGER
+          The number of columns / rows in H.  P &gt;= K &gt;= 0.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+          (LDA, N) / (LDA, P)
+          On entry, the leading P-by-N / N-by-P part of this array
+          must contain the positive part of the generator.
+          On exit, the leading P-by-N / N-by-P part of this array
+          contains the transformed positive part of the generator.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,P),    if TYPET = 'R';
+          LDA &gt;= MAX(1,N),    if TYPET = 'C'.
+
+  B       (input/output)  DOUBLE PRECISION array, dimension
+          (LDB, N) / (LDB, Q)
+          On entry, the leading Q-by-N / N-by-Q part of this array
+          must contain the negative part of the generator.
+          On exit, the leading Q-by-N / N-by-Q part of this array
+          contains the transformed negative part of the generator.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
+          LDB &gt;= MAX(1,N),    if TYPET = 'C'.
+
+  H       (input)  DOUBLE PRECISION array, dimension
+          (LDH, K) / (LDH, Q)
+          The leading Q-by-K / K-by-Q part of this array must
+          contain part of the necessary information for the
+          Householder transformations computed by SLICOT Library
+          routine MB02CX.
+
+  LDH     INTEGER
+          The leading dimension of the array H.
+          LDH &gt;= MAX(1,Q),    if TYPET = 'R';
+          LDH &gt;= MAX(1,K),    if TYPET = 'C'.
+
+  CS      (input)  DOUBLE PRECISION array, dimension (LCS)
+          The leading 2*K + MIN(K,Q) part of this array must
+          contain the necessary information for modified hyperbolic
+          rotations and the scalar factors of the Householder
+          transformations computed by SLICOT Library routine MB02CX.
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  succesful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder transformations and modified hyperbolic rotations
+  computed by SLICOT Library routine MB02CX are applied to the
+  corresponding parts of the matrices A and B.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02DD.html b/doc/_build/html/_static/doc/MB02DD.html
new file mode 100644
index 00000000..51646be9
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02DD.html
@@ -0,0 +1,477 @@
+<HTML>
+<HEAD><TITLE>MB02DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02DD">MB02DD</A></H2>
+<H3>
+Updating Cholesky factorization of a positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To update the Cholesky factor and the generator and/or the
+  Cholesky factor of the inverse of a symmetric positive definite
+  (s.p.d.) block Toeplitz matrix T, given the information from
+  a previous factorization and additional blocks in TA of its first
+  block row, or its first block column, depending on the routine
+  parameter TYPET. Transformation information is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02DD( JOB, TYPET, K, M, N, TA, LDTA, T, LDT, G,
+     $                   LDG, R, LDR, L, LDL, CS, LCS, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, TYPET
+      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDTA, LDWORK,
+     $                  M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
+     $                  T(LDT,*), TA(LDTA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine, as follows:
+          = 'R':  updates the generator G of the inverse and
+                  computes the new columns / rows for the Cholesky
+                  factor R of T;
+          = 'A':  updates the generator G, computes the new
+                  columns / rows for the Cholesky factor R of T and
+                  the new rows / columns for the Cholesky factor L
+                  of the inverse;
+          = 'O':  only computes the new columns / rows for the
+                  Cholesky factor R of T.
+
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  the first block row of an s.p.d. block Toeplitz
+                  matrix was/is defined; if demanded, the Cholesky
+                  factors R and L are upper and lower triangular,
+                  respectively, and G contains the transposed
+                  generator of the inverse;
+          = 'C':  the first block column of an s.p.d. block Toeplitz
+                  matrix was/is defined; if demanded, the Cholesky
+                  factors R and L are lower and upper triangular,
+                  respectively, and G contains the generator of the
+                  inverse. This choice results in a column oriented
+                  algorithm which is usually faster.
+          Note:   in this routine, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  M       (input)  INTEGER
+          The number of blocks in TA.  M &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  TA      (input/output)  DOUBLE PRECISION array, dimension
+          (LDTA,M*K) / (LDTA,K)
+          On entry, the leading K-by-M*K / M*K-by-K part of this
+          array must contain the (N+1)-th to (N+M)-th blocks in the
+          first block row / column of an s.p.d. block Toeplitz
+          matrix.
+          On exit, if INFO = 0, the leading K-by-M*K / M*K-by-K part
+          of this array contains information on the Householder
+          transformations used, such that the array
+
+                     [ T  TA ]    /    [ T  ]
+                                       [ TA ]
+
+          serves as the new transformation matrix T for further
+          applications of this routine.
+
+  LDTA    INTEGER
+          The leading dimension of the array TA.
+          LDTA &gt;= MAX(1,K),   if TYPET = 'R';
+          LDTA &gt;= MAX(1,M*K), if TYPET = 'C'.
+
+  T       (input)  DOUBLE PRECISION array, dimension (LDT,N*K) /
+          (LDT,K)
+          The leading K-by-N*K / N*K-by-K part of this array must
+          contain transformation information generated by the SLICOT
+          Library routine MB02CD, i.e., in the first K-by-K block,
+          the upper / lower Cholesky factor of T(1:K,1:K), and in
+          the remaining part, the Householder transformations
+          applied during the initial factorization process.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),    if TYPET = 'R';
+          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
+
+  G       (input/output)  DOUBLE PRECISION array, dimension
+          (LDG,( N + M )*K) / (LDG,2*K)
+          On entry, if JOB = 'R', or 'A', then the leading
+          2*K-by-N*K / N*K-by-2*K part of this array must contain,
+          in the first K-by-K block of the second block row /
+          column, the lower right block of the Cholesky factor of
+          the inverse of T, and in the remaining part, the generator
+          of the inverse of T.
+          On exit, if INFO = 0 and JOB = 'R', or 'A', then the
+          leading 2*K-by-( N + M )*K / ( N + M )*K-by-2*K part of
+          this array contains the same information as on entry, now
+          for the updated Toeplitz matrix. Actually, to obtain a
+          generator of the inverse one has to set
+            G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
+            G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
+
+  LDG     INTEGER
+          The leading dimension of the array G.
+          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and JOB = 'R', or 'A';
+          LDG &gt;= MAX(1,( N + M )*K),
+                              if TYPET = 'C' and JOB = 'R', or 'A';
+          LDG &gt;= 1,           if JOB = 'O'.
+
+  R       (input/output)  DOUBLE PRECISION array, dimension
+          (LDR,M*K) / (LDR,( N + M )*K)
+          On input, the leading N*K-by-K part of R(K+1,1) /
+          K-by-N*K part of R(1,K+1) contains the last block column /
+          row of the previous Cholesky factor R.
+          On exit, if INFO = 0, then the leading
+          ( N + M )*K-by-M*K / M*K-by-( N + M )*K part of this
+          array contains the last M*K columns / rows of the upper /
+          lower Cholesky factor of T. The elements in the strictly
+          lower / upper triangular part are not referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1, ( N + M )*K), if TYPET = 'R';
+          LDR &gt;= MAX(1, M*K),         if TYPET = 'C'.
+
+  L       (output)  DOUBLE PRECISION array, dimension
+          (LDL,( N + M )*K) / (LDL,M*K)
+          If INFO = 0 and JOB = 'A', then the leading
+          M*K-by-( N + M )*K / ( N + M )*K-by-M*K part of this
+          array contains the last M*K rows / columns of the lower /
+          upper Cholesky factor of the inverse of T. The elements
+          in the strictly upper / lower triangular part are not
+          referenced.
+
+  LDL     INTEGER
+          The leading dimension of the array L.
+          LDL &gt;= MAX(1, M*K),         if TYPET = 'R' and JOB = 'A';
+          LDL &gt;= MAX(1, ( N + M )*K), if TYPET = 'C' and JOB = 'A';
+          LDL &gt;= 1,                   if JOB = 'R', or 'O'.
+
+  CS      (input/output)  DOUBLE PRECISION array, dimension (LCS)
+          On input, the leading 3*(N-1)*K part of this array must
+          contain the necessary information about the hyperbolic
+          rotations and Householder transformations applied
+          previously by SLICOT Library routine MB02CD.
+          On exit, if INFO = 0, then the leading 3*(N+M-1)*K part of
+          this array contains information about all the hyperbolic
+          rotations and Householder transformations applied during
+          the whole process.
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 3*(N+M-1)*K.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N+M-1)*K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The block Toeplitz
+                matrix associated with [ T  TA ] / [ T'  TA' ]' is
+                not (numerically) positive definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                            3         2
+  The algorithm requires 0(K ( N M + M ) ) floating point
+  operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For min(K,N,M) = 0, the routine sets DWORK(1) = 1 and returns.
+  Although the calculations could still be performed when N = 0,
+  but min(K,M) &gt; 0, this case is not considered as an "update".
+  SLICOT Library routine MB02CD should be called with the argument
+  M instead of N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, MMAX, NMAX
+      PARAMETER        ( KMAX = 20, MMAX = 20, NMAX = 20 )
+      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
+      PARAMETER        ( LDG = KMAX*( MMAX + NMAX ),
+     $                   LDL = KMAX*( MMAX + NMAX ),
+     $                   LDR = KMAX*( MMAX + NMAX ),
+     $                   LDT = KMAX*( MMAX + NMAX ),
+     $                   LDWORK = ( MMAX + NMAX - 1 )*KMAX )
+      PARAMETER        ( LCS = 3*LDWORK )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N, S
+      CHARACTER        JOB, TYPET
+*     .. Local Arrays ..
+*     The arrays are dimensioned for both TYPET = 'R' and TYPET = 'C'.
+*     Arrays G and T could be smaller.
+*     For array G, it is assumed that MMAX + NMAX >= 2.
+*     The matrix TA is also stored in the array T.
+      DOUBLE PRECISION CS(LCS), DWORK(LDWORK),
+     $                 G(LDG, KMAX*( MMAX + NMAX )),
+     $                 L(LDL, KMAX*( MMAX + NMAX )),
+     $                 R(LDR, KMAX*( MMAX + NMAX )),
+     $                 T(LDT, KMAX*( MMAX + NMAX ))
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLACPY, MB02CD, MB02DD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, M, JOB, TYPET
+      S = ( N + M )*K
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) N
+      ELSE
+         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) K
+         ELSE
+            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               IF ( LSAME( TYPET, 'R' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,S ), I = 1,K )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,S )
+               END IF
+*              Compute the Cholesky factors.
+               CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
+     $                      LDL, CS, LCS, DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 10  I = 1, N*K
+                     WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, N*K )
+   10             CONTINUE
+                  IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) ) THEN
+                     WRITE ( NOUT, FMT = 99995 )
+                     IF ( LSAME( TYPET, 'R' ) ) THEN
+                        DO 20  I = 1, 2*K
+                           WRITE ( NOUT, FMT = 99990 )
+     $                           ( G(I,J), J = 1, N*K )
+   20                   CONTINUE
+                     ELSE
+                        DO 30  I = 1, N*K
+                           WRITE ( NOUT, FMT = 99990 )
+     $                           ( G(I,J), J = 1, 2*K )
+   30                   CONTINUE
+                     END IF
+                  END IF
+                  IF ( LSAME( JOB, 'A' ) ) THEN
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 40  I = 1, N*K
+                        WRITE ( NOUT, FMT = 99990 )
+     $                        ( L(I,J), J = 1, N*K )
+   40                CONTINUE
+                  END IF
+*                 Update the Cholesky factors.
+                  IF ( LSAME( TYPET, 'R' ) ) THEN
+*                    Copy the last block column of R.
+                     CALL DLACPY( 'All', N*K, K, R(1,(N-1)*K+1), LDR,
+     $                            R(K+1,N*K+1), LDR )
+                     CALL MB02DD( JOB, TYPET, K, M, N, T(1,N*K+1), LDT,
+     $                            T, LDT, G, LDG, R(1,N*K+1), LDR,
+     $                            L(N*K+1,1), LDL, CS, LCS, DWORK,
+     $                            LDWORK, INFO )
+                  ELSE
+*                    Copy the last block row of R.
+                     CALL DLACPY( 'All', K, N*K, R((N-1)*K+1,1), LDR,
+     $                            R(N*K+1,K+1), LDR )
+                     CALL MB02DD( JOB, TYPET, K, M, N, T(N*K+1,1), LDT,
+     $                            T, LDT, G, LDG, R(N*K+1,1), LDR,
+     $                            L(1,N*K+1), LDL, CS, LCS, DWORK,
+     $                            LDWORK, INFO )
+                  END IF
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 50  I = 1, S
+                        WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, S )
+   50                CONTINUE
+                     IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) )
+     $                       THEN
+                        WRITE ( NOUT, FMT = 99992 )
+                        IF ( LSAME( TYPET, 'R' ) ) THEN
+                           DO 60  I = 1, 2*K
+                              WRITE ( NOUT, FMT = 99990 )
+     $                              ( G(I,J), J = 1, S )
+   60                      CONTINUE
+                        ELSE
+                           DO 70  I = 1, S
+                              WRITE ( NOUT, FMT = 99990 )
+     $                              ( G(I,J), J = 1, 2*K )
+   70                      CONTINUE
+                        END IF
+                     END IF
+                     IF ( LSAME( JOB, 'A' ) ) THEN
+                        WRITE ( NOUT, FMT = 99991 )
+                        DO 80  I = 1, S
+                           WRITE ( NOUT, FMT = 99990 )
+     $                           ( L(I,J), J = 1, S )
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( ' MB02DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT ( ' INFO on exit from MB02CD = ',I2)
+99997 FORMAT ( ' INFO on exit from MB02DD = ',I2)
+99996 FORMAT ( ' The Cholesky factor is ')
+99995 FORMAT (/' The inverse generator is ')
+99994 FORMAT (/' The inverse Cholesky factor is ')
+99993 FORMAT (/' The updated Cholesky factor is ')
+99992 FORMAT (/' The updated inverse generator is ')
+99991 FORMAT (/' The updated inverse Cholesky factor is ')
+99990 FORMAT (20(1X,F8.4))
+99989 FORMAT (/' N is out of range.',/' N = ',I5)
+99988 FORMAT (/' K is out of range.',/' K = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02DD EXAMPLE PROGRAM DATA
+        3       2       2       A       R
+    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500    0.1000    0.0400    0.01   0.02
+    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000    0.0300    0.0200    0.03   0.01
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02DD EXAMPLE PROGRAM RESULTS
+
+ The Cholesky factor is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
+   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
+
+ The inverse generator is 
+  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
+  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
+   0.5825   0.0000  -0.0387   0.0052   0.0003  -0.0575
+  -0.1754   0.5231   0.0119  -0.0265  -0.0110   0.0076
+
+ The inverse Cholesky factor is 
+   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
+  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
+  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
+   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
+
+ The updated Cholesky factor is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.0577   0.0231   0.0058   0.0115
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957  -0.0017   0.0035   0.0139   0.0017
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1145   0.0279   0.0564   0.0227
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0152   0.0953  -0.0017   0.0033
+   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759   0.0523   0.0453   0.1146   0.0273
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1902   0.0357  -0.0157   0.0955
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757   0.0526   0.0450
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1901   0.0357
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9117
+
+ The updated inverse generator is 
+  -0.5599   0.3310  -0.0305   0.0098   0.0392  -0.0209   0.0191  -0.0010  -0.0045   0.0035
+  -0.2289  -0.4091   0.0612  -0.0012   0.0125   0.0182   0.0042   0.0017   0.0014   0.0000
+   0.5828   0.0000   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580
+  -0.1755   0.5231  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077
+
+ The updated inverse Cholesky factor is 
+   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231   0.0000   0.0000   0.0000   0.0000
+  -0.0199   0.0073  -0.0391   0.0056   0.0017  -0.0580   0.5828   0.0000   0.0000   0.0000
+   0.0007  -0.0023   0.0122  -0.0265  -0.0110   0.0077  -0.1755   0.5231   0.0000   0.0000
+   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580   0.5828   0.0000
+  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077  -0.1755   0.5231
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02ED.html b/doc/_build/html/_static/doc/MB02ED.html
new file mode 100644
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+++ b/doc/_build/html/_static/doc/MB02ED.html
@@ -0,0 +1,287 @@
+<HTML>
+<HEAD><TITLE>MB02ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02ED">MB02ED</A></H2>
+<H3>
+Solution of T X = B or X T = B with a positive definite block Toeplitz matrix T
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of linear equations  T*X = B  or  X*T = B  with
+  a symmetric positive definite (s.p.d.) block Toeplitz matrix T.
+  T is defined either by its first block row or its first block
+  column, depending on the parameter TYPET.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPET
+      INTEGER           INFO, K, LDB, LDT, LDWORK, N, NRHS
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), DWORK(*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix, and the system X*T = B is solved;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix, and the system T*X = B is
+                  solved.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  NRHS    (input)  INTEGER
+          The number of right hand sides.  NRHS &gt;= 0.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,N*K) / (LDT,K)
+          On entry, the leading K-by-N*K / N*K-by-K part of this
+          array must contain the first block row / column of an
+          s.p.d. block Toeplitz matrix.
+          On exit, if  INFO = 0  and  NRHS &gt; 0,  then the leading
+          K-by-N*K / N*K-by-K part of this array contains the last
+          row / column of the Cholesky factor of inv(T).
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),    if TYPET = 'R';
+          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,N*K) / (LDB,NRHS)
+          On entry, the leading NRHS-by-N*K / N*K-by-NRHS part of
+          this array must contain the right hand side matrix B.
+          On exit, the leading NRHS-by-N*K / N*K-by-NRHS part of
+          this array contains the solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,NRHS),  if TYPET = 'R';
+          LDB &gt;= MAX(1,N*K),   if TYPET = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*K*K+(N+2)*K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations, modified hyperbolic rotations and
+  block Gaussian eliminations are used in the Schur algorithm [1],
+  [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically equivalent with forming
+  the Cholesky factor R and the inverse Cholesky factor of T, using
+  the generalized Schur algorithm, and solving the systems of
+  equations  R*X = L*B  or  X*R = B*L by a blocked backward
+  substitution algorithm.
+                            3 2    2 2
+  The algorithm requires 0(K N  + K N NRHS) floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, NMAX
+      PARAMETER        ( KMAX = 20, NMAX = 20 )
+      INTEGER          LDB, LDT, LDWORK
+      PARAMETER        ( LDB = KMAX*NMAX, LDT = KMAX*NMAX,
+     $                   LDWORK = NMAX*KMAX*KMAX + ( NMAX+2 )*KMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N, NRHS
+      CHARACTER        TYPET
+*     .. Local Arrays ..
+*     The arrays B and T are dimensioned for both TYPET = 'R' and
+*     TYPET = 'C'.
+*     NRHS is assumed to be not larger than KMAX*NMAX.
+      DOUBLE PRECISION B(LDB, KMAX*NMAX), DWORK(LDWORK),
+     $                 T(LDT, KMAX*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02ED
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, NRHS, TYPET
+      M = N*K
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) K
+         ELSE
+            IF ( NRHS.LE.0 .OR. NRHS.GT.KMAX*NMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) NRHS
+            ELSE
+               IF ( LSAME( TYPET, 'R' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,M )
+               END IF
+               IF ( LSAME( TYPET, 'R' ) ) THEN
+                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,
+     $                                   NRHS )
+               ELSE
+                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,
+     $                                   M )
+               END IF
+*              Compute the solution of X T = B or T X = B.
+               CALL MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
+     $                      LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( LSAME( TYPET, 'R' ) ) THEN
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10  I = 1, NRHS
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   10                CONTINUE
+                  ELSE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20  I = 1, M
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,
+     $                                                NRHS )
+   20                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02ED = ',I2)
+99997 FORMAT (' The solution of X*T = B is ')
+99996 FORMAT (' The solution of T*X = B is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' K is out of range.',/' K = ',I5)
+99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02ED EXAMPLE PROGRAM DATA
+  3    3    2     C
+    3.0000    1.0000    0.2000
+    1.0000    4.0000    0.4000
+    0.2000    0.4000    5.0000
+    0.1000    0.1000    0.2000
+    0.2000    0.0400    0.0300
+    0.0500    0.2000    0.1000
+    0.1000    0.0300    0.1000
+    0.0400    0.0200    0.2000
+    0.0100    0.0300    0.0200
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02ED EXAMPLE PROGRAM RESULTS
+
+ The solution of T*X = B is 
+   0.2408   0.4816
+   0.1558   0.3116
+   0.1534   0.3068
+   0.2302   0.4603
+   0.1467   0.2934
+   0.1537   0.3075
+   0.2349   0.4698
+   0.1498   0.2995
+   0.1653   0.3307
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02FD.html b/doc/_build/html/_static/doc/MB02FD.html
new file mode 100644
index 00000000..bb98c7e0
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02FD.html
@@ -0,0 +1,362 @@
+<HTML>
+<HEAD><TITLE>MB02FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02FD">MB02FD</A></H2>
+<H3>
+Incomplete Cholesky factor of a positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the incomplete Cholesky (ICC) factor of a symmetric
+  positive definite (s.p.d.) block Toeplitz matrix T, defined by
+  either its first block row, or its first block column, depending
+  on the routine parameter TYPET.
+
+  By subsequent calls of this routine, further rows / columns of
+  the Cholesky factor can be added.
+  Furthermore, the generator of the Schur complement of the leading
+  (P+S)*K-by-(P+S)*K block in T is available, which can be used,
+  e.g., for measuring the quality of the ICC factorization.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02FD( TYPET, K, N, P, S, T, LDT, R, LDR, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPET
+      INTEGER           INFO, K, LDR, LDT, LDWORK, N, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), R(LDR,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix; the ICC factor R is upper
+                  trapezoidal;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix; the ICC factor R is lower
+                  trapezoidal; this choice leads to better
+                  localized memory references and hence a faster
+                  algorithm.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of previously computed block rows / columns
+          of R.  0 &lt;= P &lt;= N.
+
+  S       (input)  INTEGER
+          The number of block rows / columns of R to compute.
+          0 &lt;= S &lt;= N-P.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,(N-P)*K) / (LDT,K)
+          On entry, if P = 0, then the leading K-by-N*K / N*K-by-K
+          part of this array must contain the first block row /
+          column of an s.p.d. block Toeplitz matrix.
+          If P &gt; 0, the leading K-by-(N-P)*K / (N-P)*K-by-K must
+          contain the negative generator of the Schur complement of
+          the leading P*K-by-P*K part in T, computed from previous
+          calls of this routine.
+          On exit, if INFO = 0, then the leading K-by-(N-P)*K /
+          (N-P)*K-by-K part of this array contains, in the first
+          K-by-K block, the upper / lower Cholesky factor of
+          T(1:K,1:K), in the following S-1 K-by-K blocks, the
+          Householder transformations applied during the process,
+          and in the remaining part, the negative generator of the
+          Schur complement of the leading (P+S)*K-by(P+S)*K part
+          in T.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),        if TYPET = 'R';
+          LDT &gt;= MAX(1,(N-P)*K),  if TYPET = 'C'.
+
+  R       (input/output)  DOUBLE PRECISION array, dimension
+          (LDR, N*K)       / (LDR, S*K )     if P = 0;
+          (LDR, (N-P+1)*K) / (LDR, (S+1)*K ) if P &gt; 0.
+          On entry, if P &gt; 0, then the leading K-by-(N-P+1)*K /
+          (N-P+1)*K-by-K part of this array must contain the
+          nonzero blocks of the last block row / column in the
+          ICC factor from a previous call of this routine. Note that
+          this part is identical with the positive generator of
+          the Schur complement of the leading P*K-by-P*K part in T.
+          If P = 0, then R is only an output parameter.
+          On exit, if INFO = 0 and P = 0, then the leading
+          S*K-by-N*K / N*K-by-S*K part of this array contains the
+          upper / lower trapezoidal ICC factor.
+          On exit, if INFO = 0 and P &gt; 0, then the leading
+          (S+1)*K-by-(N-P+1)*K / (N-P+1)*K-by-(S+1)*K part of this
+          array contains the upper / lower trapezoidal part of the
+          P-th to (P+S)-th block rows / columns of the ICC factor.
+          The elements in the strictly lower / upper trapezoidal
+          part are not referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1, S*K ),        if TYPET = 'R' and P = 0;
+          LDR &gt;= MAX(1, (S+1)*K ),    if TYPET = 'R' and P &gt; 0;
+          LDR &gt;= MAX(1, N*K ),        if TYPET = 'C' and P = 0;
+          LDR &gt;= MAX(1, (N-P+1)*K ),  if TYPET = 'C' and P &gt; 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -11,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N+1)*K,4*K),   if P = 0;
+          LDWORK &gt;= MAX(1,(N-P+2)*K,4*K), if P &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed; the Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite in its leading (P+S)*K-by-(P+S)*K part.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                            3
+  The algorithm requires 0(K S (N-P)) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          ITMAX, KMAX, NMAX
+      PARAMETER        ( ITMAX = 10, KMAX = 20, NMAX = 20 )
+      INTEGER          LDR, LDT, LDWORK
+      PARAMETER        ( LDR = NMAX*KMAX, LDT = KMAX,
+     $                   LDWORK = ( NMAX + 1 )*KMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, IT, J, K, LEN, M, N, P, PIT, POS, POSR,
+     $                 S1, SCIT
+      CHARACTER        TYPET
+      DOUBLE PRECISION NNRM
+*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
+      INTEGER          S(ITMAX)
+      DOUBLE PRECISION DWORK(LDWORK), R(LDR, NMAX*KMAX),
+     $                 T(LDT, NMAX*KMAX), V(NMAX*KMAX), W(NMAX*KMAX),
+     $                 Z(NMAX*KMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DNRM2
+      EXTERNAL         DNRM2, LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DAXPY, DCOPY, DGEMV, DLASET, DSCAL, DTRMV, MB02FD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, IT
+      TYPET = 'R'
+      M = N*K
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) K
+      ELSE IF( IT.LE.0 .OR. IT.GT.ITMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) IT
+      ELSE
+         READ ( NIN, FMT = * ) ( S(I), I = 1, IT )
+         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+         P   = 0
+         POS = 1
+         WRITE ( NOUT, FMT = 99997 )
+         DO 90  SCIT = 1, IT
+            CALL MB02FD( TYPET, K, N, P, S(SCIT), T(1,POS), LDT,
+     $                   R(POS,POS), LDR, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+               STOP
+            END IF
+            S1 = S(SCIT) + P
+            IF ( S1.EQ.0 ) THEN
+*              Estimate the 2-norm of the Toeplitz matrix with 5 power
+*              iterations.
+               LEN = N*K
+               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
+               DO 30  PIT = 1, 5
+                  DO 10  I = 1, N
+                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE, T,
+     $                           LDT, V((I-1)*K+1), 1, ZERO,
+     $                           W((I-1)*K+1), 1 )
+   10             CONTINUE
+                  DO 20 I = 1, N-1
+                     CALL DGEMV( 'Transpose', K, (N-I)*K, ONE,
+     $                           T(1,K+1), LDT, V((I-1)*K+1), 1,
+     $                           ONE, W(I*K+1), 1 )
+   20             CONTINUE
+                  CALL DCOPY( LEN, W, 1, V, 1 )
+                  NNRM = DNRM2( LEN, V, 1 )
+                  CALL DSCAL( LEN, ONE/NNRM, V, 1 )
+   30          CONTINUE
+            ELSE
+*              Estimate the 2-norm of the Schur complement with 5 power
+*              iterations.
+               LEN = ( N - S1 )*K
+               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
+               DO 80  PIT = 1, 5
+                  POSR = ( S1 - 1 )*K + 1
+                  DO 40  I = 1, N - S1
+                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE,
+     $                           T(1,POSR+K), LDT, V((I-1)*K+1), 1,
+     $                           ZERO, W((I-1)*K+1), 1 )
+   40             CONTINUE
+                  DO 50  I = 1, N - S1
+                     CALL DTRMV( 'Upper', 'NoTranspose', 'NonUnit', K,
+     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
+                     CALL DGEMV( 'NoTranspose', K, LEN-I*K, ONE,
+     $                           R(POSR,POSR+K), LDR, V(I*K+1), 1, ONE,
+     $                           V((I-1)*K+1), 1 )
+   50             CONTINUE
+                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, Z, 1 )
+                  DO 60  I = 1, N - S1
+                     CALL DGEMV( 'Transpose', K, LEN-I*K, ONE,
+     $                           R(POSR,POSR+K), LDR, V((I-1)*K+1), 1,
+     $                           ONE, Z(I*K+1), 1 )
+                     CALL DTRMV( 'Upper', 'Transpose', 'NonUnit', K,
+     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
+                     CALL DAXPY( K, ONE, V((I-1)*K+1), 1, Z((I-1)*K+1),
+     $                           1 )
+   60             CONTINUE
+                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, V, 1 )
+                  DO 70  I = 1, N - S1
+                     CALL DGEMV( 'Transpose', K, LEN-(I-1)*K, ONE,
+     $                           T(1,POSR+K), LDT, W((I-1)*K+1), 1,
+     $                           ONE, V((I-1)*K+1), 1 )
+   70             CONTINUE
+                  CALL DAXPY( LEN, -ONE, Z, 1, V, 1 )
+                  NNRM = DNRM2( LEN, V, 1 )
+                  CALL DSCAL( LEN, -ONE/NNRM, V, 1 )
+   80          CONTINUE
+               POS = ( S1 - 1 )*K + 1
+               P   = S1
+            END IF
+            WRITE ( NOUT, FMT = 99995 ) P*K, NNRM
+   90    CONTINUE
+         WRITE ( NOUT, FMT = 99996 )
+         DO 100  I = 1, P*K
+            WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
+  100    CONTINUE
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02FD = ',I2)
+99997 FORMAT ('   Incomplete Cholesky factorization ',
+     $         //'   rows    norm(Schur complement)',/)
+99996 FORMAT (/' The upper ICC factor of the block Toeplitz matrix is '
+     $       )
+99995 FORMAT (I4,5X,F8.4)
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' K is out of range.',/' K = ',I5)
+99991 FORMAT (/' IT is out of range.',/' IT = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02FD EXAMPLE
+4 2 3
+0 1 1
+    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500   0.2000   0.3000
+    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000   0.1000   0.2000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02FD EXAMPLE PROGRAM RESULTS
+
+   Incomplete Cholesky factorization 
+
+   rows    norm(Schur complement)
+
+   0       5.5509
+   2       5.1590
+   4       4.8766
+
+ The upper ICC factor of the block Toeplitz matrix is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.1155   0.1732
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957   0.0174   0.0522
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1104   0.0174
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0161   0.0931
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02GD.html b/doc/_build/html/_static/doc/MB02GD.html
new file mode 100644
index 00000000..32cfdac3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02GD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>MB02GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02GD">MB02GD</A></H2>
+<H3>
+Cholesky factorization of a banded symmetric positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor of a banded symmetric positive
+  definite (s.p.d.) block Toeplitz matrix, defined by either its
+  first block row, or its first block column, depending on the
+  routine parameter TYPET.
+
+  By subsequent calls of this routine the Cholesky factor can be
+  computed block column by block column.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02GD( TYPET, TRIU, K, N, NL, P, S, T, LDT, RB, LDRB,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRIU, TYPET
+      INTEGER           INFO, K, LDRB, LDT, LDWORK, N, NL, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix; the Cholesky factor is upper
+                  triangular;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix; the Cholesky factor is
+                  lower triangular. This choice results in a column
+                  oriented algorithm which is usually faster.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+  TRIU    CHARACTER*1
+          Specifies the structure of the last block in T, as
+          follows:
+          = 'N':  the last block has no special structure;
+          = 'T':  the last block is lower / upper triangular.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 1.
+          If TRIU = 'N',   N &gt;= 1;
+          if TRIU = 'T',   N &gt;= 2.
+
+  NL      (input)  INTEGER
+          The lower block bandwidth, i.e., NL + 1 is the number of
+          nonzero blocks in the first block column of the block
+          Toeplitz matrix.
+          If TRIU = 'N',   0 &lt;= NL &lt; N;
+          if TRIU = 'T',   1 &lt;= NL &lt; N.
+
+  P       (input)  INTEGER
+          The number of previously computed block rows / columns of
+          the Cholesky factor.  0 &lt;= P &lt;= N.
+
+  S       (input)  INTEGER
+          The number of block rows / columns of the Cholesky factor
+          to compute.  0 &lt;= S &lt;= N - P.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,(NL+1)*K) / (LDT,K)
+          On entry, if P = 0, the leading K-by-(NL+1)*K /
+          (NL+1)*K-by-K part of this array must contain the first
+          block row / column of an s.p.d. block Toeplitz matrix.
+          On entry, if P &gt; 0, the leading K-by-(NL+1)*K /
+          (NL+1)*K-by-K part of this array must contain the P-th
+          block row / column of the Cholesky factor.
+          On exit, if INFO = 0, then the leading K-by-(NL+1)*K /
+          (NL+1)*K-by-K part of this array contains the (P+S)-th
+          block row / column of the Cholesky factor.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K) / MAX(1,(NL+1)*K).
+
+  RB      (input/output)  DOUBLE PRECISION array, dimension
+          (LDRB,MIN(P+NL+S,N)*K) / (LDRB,MIN(P+S,N)*K)
+          On entry, if TYPET = 'R'  and  TRIU = 'N'  and  P &gt; 0,
+          the leading (NL+1)*K-by-MIN(NL,N-P)*K part of this array
+          must contain the (P*K+1)-st to ((P+NL)*K)-th columns
+          of the upper Cholesky factor in banded format from a
+          previous call of this routine.
+          On entry, if TYPET = 'R'  and  TRIU = 'T'  and  P &gt; 0,
+          the leading (NL*K+1)-by-MIN(NL,N-P)*K part of this array
+          must contain the (P*K+1)-st to (MIN(P+NL,N)*K)-th columns
+          of the upper Cholesky factor in banded format from a
+          previous call of this routine.
+          On exit, if TYPET = 'R'  and  TRIU = 'N', the leading
+          (NL+1)*K-by-MIN(NL+S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
+          upper Cholesky factor in banded format.
+          On exit, if TYPET = 'R'  and  TRIU = 'T', the leading
+          (NL*K+1)-by-MIN(NL+S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
+          upper Cholesky factor in banded format.
+          On exit, if TYPET = 'C'  and  TRIU = 'N', the leading
+          (NL+1)*K-by-MIN(S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
+          Cholesky factor in banded format.
+          On exit, if TYPET = 'C'  and  TRIU = 'T', the leading
+          (NL*K+1)-by-MIN(S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
+          Cholesky factor in banded format.
+          For further details regarding the band storage scheme see
+          the documentation of the LAPACK routine DPBTF2.
+
+  LDRB    INTEGER
+          The leading dimension of the array RB.
+          If TRIU = 'N',   LDRB &gt;= MAX( (NL+1)*K,1 );
+          if TRIU = 'T',   LDRB &gt;= NL*K+1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          The first 1 + ( NL + 1 )*K*K elements of DWORK should be
+          preserved during successive calls of the routine.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1 + ( NL + 1 )*K*K + NL*K.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                             3
+  The algorithm requires O( K *N*NL ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, NMAX, NLMAX
+      PARAMETER        ( KMAX = 20, NMAX = 20, NLMAX = 20 )
+      INTEGER          LDRB, LDT, LDWORK
+      PARAMETER        ( LDRB = ( NLMAX + 1 )*KMAX, LDT = KMAX*NMAX,
+     $                   LDWORK = ( NLMAX + 1 )*KMAX*KMAX +
+     $                            ( 3 + NLMAX )*KMAX )
+*     .. Local Scalars ..
+      INTEGER          I, J, INFO, K, M, N, NL, SIZR
+      CHARACTER        TRIU, TYPET
+*     .. Local Arrays dimensioned for TYPET = 'R' ..
+      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB, NMAX*KMAX),
+     $                 T(LDT, NMAX*KMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02GD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, N, NL, TRIU
+      TYPET = 'R'
+      M = ( NL + 1 )*K
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE IF( NL.LE.0 .OR. NL.GT.NLMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NL
+      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) K
+      ELSE
+         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+*        Compute the banded Cholesky factor.
+         CALL MB02GD( TYPET, TRIU, K, N, NL, 0, N, T, LDT, RB, LDRB,
+     $                DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            IF ( LSAME( TRIU, 'T' ) ) THEN
+               SIZR = NL*K + 1
+            ELSE
+               SIZR = ( NL + 1 )*K
+            END IF
+            DO 10  I = 1, SIZR
+               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1, N*K )
+   10       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02GD = ',I2)
+99997 FORMAT (/' The upper Cholesky factor in banded storage format ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' NL is out of range.',/' NL = ',I5)
+99993 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02GD EXAMPLE PROGRAM DATA
+  2    4    2    T
+  3.0000    1.0000    0.1000    0.4000    0.2000    0.0000
+  0.0000    4.0000    0.1000    0.1000    0.0500    0.2000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02GD EXAMPLE PROGRAM RESULTS
+
+
+ The upper Cholesky factor in banded storage format 
+   0.0000   0.0000   0.0000   0.0000   0.1155   0.1044   0.1156   0.1051
+   0.0000   0.0000   0.0000   0.2309  -0.0087   0.2290  -0.0084   0.2302
+   0.0000   0.0000   0.0577  -0.0174   0.0541  -0.0151   0.0544  -0.0159
+   0.0000   0.5774   0.0348   0.5704   0.0222   0.5725   0.0223   0.5724
+   1.7321   1.9149   1.7307   1.9029   1.7272   1.8996   1.7272   1.8995
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02HD.html b/doc/_build/html/_static/doc/MB02HD.html
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+<HTML>
+<HEAD><TITLE>MB02HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02HD">MB02HD</A></H2>
+<H3>
+Cholesky factorization of the matrix T' T, with T a banded block Toeplitz matrix of full rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a banded K*M-by-L*N block Toeplitz matrix T with
+  block size (K,L), specified by the nonzero blocks of its first
+  block column TC and row TR, a LOWER triangular matrix R (in band
+  storage scheme) such that
+                       T          T
+                      T  T  =  R R .                             (1)
+
+  It is assumed that the first MIN(M*K, N*L) columns of T are
+  linearly independent.
+
+  By subsequent calls of this routine, the matrix R can be computed
+  block column by block column.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02HD( TRIU, K, L, M, ML, N, NU, P, S, TC, LDTC, TR,
+     $                   LDTR, RB, LDRB, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRIU
+      INTEGER           INFO, K, L, LDRB, LDTC, LDTR, LDWORK, M, ML, N,
+     $                  NU, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRIU    CHARACTER*1
+          Specifies the structure, if any, of the last blocks in TC
+          and TR, as follows:
+          = 'N':  TC and TR have no special structure;
+          = 'T':  TC and TR are upper and lower triangular,
+                  respectively. Depending on the block sizes, two
+                  different shapes of the last blocks in TC and TR
+                  are possible, as illustrated below:
+
+                  1)    TC       TR     2)   TC         TR
+
+                       x x x    x 0 0      x x x x    x 0 0 0
+                       0 x x    x x 0      0 x x x    x x 0 0
+                       0 0 x    x x x      0 0 x x    x x x 0
+                       0 0 0    x x x
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of rows in the blocks of T.  K &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the blocks of T.  L &gt;= 0.
+
+  M       (input) INTEGER
+          The number of blocks in the first block column of T.
+          M &gt;= 1.
+
+  ML      (input) INTEGER
+          The lower block bandwidth, i.e., ML + 1 is the number of
+          nonzero blocks in the first block column of T.
+          0 &lt;= ML &lt; M and (ML + 1)*K &gt;= L and
+          if ( M*K &lt;= N*L ),  ML &gt;= M - INT( ( M*K - 1 )/L ) - 1;
+                              ML &gt;= M - INT( M*K/L ) or
+                              MOD( M*K, L ) &gt;= K;
+          if ( M*K &gt;= N*L ),  ML*K &gt;= N*( L - K ).
+
+  N       (input) INTEGER
+          The number of blocks in the first block row of T.
+          N &gt;= 1.
+
+  NU      (input) INTEGER
+          The upper block bandwidth, i.e., NU + 1 is the number of
+          nonzero blocks in the first block row of T.
+          If TRIU = 'N',   0 &lt;= NU &lt; N and
+                           (M + NU)*L &gt;= MIN( M*K, N*L );
+          if TRIU = 'T',   MAX(1-ML,0) &lt;= NU &lt; N and
+                           (M + NU)*L &gt;= MIN( M*K, N*L ).
+
+  P       (input)  INTEGER
+          The number of previously computed block columns of R.
+          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
+
+  S       (input)  INTEGER
+          The number of block columns of R to compute.
+          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
+
+  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
+          On entry, if P = 0, the leading (ML+1)*K-by-L part of this
+          array must contain the nonzero blocks in the first block
+          column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,(ML+1)*K),  if P = 0.
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,NU*L)
+          On entry, if P = 0, the leading K-by-NU*L part of this
+          array must contain the 2nd to the (NU+1)-st blocks of
+          the first block row of T.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.
+          LDTR &gt;= MAX(1,K),  if P = 0.
+
+  RB      (output)  DOUBLE PRECISION array, dimension
+          (LDRB,MIN( S*L,MIN( M*K,N*L )-P*L ))
+          On exit, if INFO = 0 and TRIU = 'N', the leading
+          MIN( ML+NU+1,N )*L-by-MIN( S*L,MIN( M*K,N*L )-P*L ) part
+          of this array contains the (P+1)-th to (P+S)-th block
+          column of the lower R factor (1) in band storage format.
+          On exit, if INFO = 0 and TRIU = 'T', the leading
+          MIN( (ML+NU)*L+1,N*L )-by-MIN( S*L,MIN( M*K,N*L )-P*L )
+          part of this array contains the (P+1)-th to (P+S)-th block
+          column of the lower R factor (1) in band storage format.
+          For further details regarding the band storage scheme see
+          the documentation of the LAPACK routine DPBTF2.
+
+  LDRB    INTEGER
+          The leading dimension of the array RB.
+          LDRB &gt;= MAX( MIN( ML+NU+1,N )*L,1 ),      if TRIU = 'N';
+          LDRB &gt;= MAX( MIN( (ML+NU)*L+1,N*L ),1 ),  if TRIU = 'T'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          The first 1 + 2*MIN( ML+NU+1,N )*L*(K+L) elements of DWORK
+          should be preserved during successive calls of the routine.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          Let x = MIN( ML+NU+1,N ), then
+          LDWORK &gt;= 1 + MAX( x*L*L + (2*NU+1)*L*K,
+                             2*x*L*(K+L) + (6+x)*L ),  if P = 0;
+          LDWORK &gt;= 1 + 2*x*L*(K+L) + (6+x)*L,         if P &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the full rank condition for the first MIN(M*K, N*L)
+                columns of T is (numerically) violated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method yields a factor R which has comparable
+  accuracy with the Cholesky factor of T^T * T.
+  The algorithm requires
+            2                                  2
+        O( L *K*N*( ML + NU ) + N*( ML + NU )*L *( L + K ) )
+
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, MLMAX, NMAX, NUMAX
+      PARAMETER        ( KMAX = 20, LMAX  = 20, MMAX = 20, MLMAX = 10,
+     $                   NMAX = 20, NUMAX = 10 )
+      INTEGER          LDRB, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDRB = ( MLMAX + NUMAX + 1 )*LMAX,
+     $                   LDTC = ( MLMAX + 1 )*KMAX, LDTR = KMAX )
+      PARAMETER        ( LDWORK = LDRB*LMAX + ( 2*NUMAX + 1 )*LMAX*KMAX
+     $                            + 2*LDRB*( KMAX + LMAX ) + LDRB
+     $                            + 6*LMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, LENR, M, ML, N, NU, S
+      CHARACTER        TRIU
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB,NMAX*LMAX),
+     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, L, M, ML, N, NU, TRIU
+      IF( K.LT.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) K
+      ELSE IF( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( ML.LT.0 .OR. ML.GT.MLMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) ML
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF( NU.LT.0 .OR. NU.GT.NUMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NU
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,(ML+1)*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,NU*L ), I = 1,K )
+         S = ( MIN( M*K, N*L ) + L - 1 ) / L
+*        Compute the banded R factor.
+         CALL MB02HD( TRIU, K, L, M, ML, N, NU, 0, S, TC, LDTC, TR,
+     $                LDTR, RB, LDRB, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            LENR = ( ML + NU + 1 )*L
+            IF ( LSAME( TRIU, 'T' ) )  LENR = ( ML + NU )*L + 1
+            LENR = MIN( LENR, N*L )
+            DO 10  I = 1, LENR
+               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1,
+     $                                       MIN( N*L, M*K ) )
+   10       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02HD = ',I2)
+99997 FORMAT (/' The lower triangular factor R in banded storage ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' NU is out of range.',/' NU = ',I5)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ML is out of range.',/' ML = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' L is out of range.',/' L = ',I5)
+99990 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02HD EXAMPLE PROGRAM DATA
+   2  2  6  2  5   1  N
+     4.0     4.0
+     1.0     3.0
+     2.0     1.0
+     2.0     2.0
+     4.0     4.0
+     3.0     4.0
+     1.0     3.0   
+     2.0     1.0     
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02HD EXAMPLE PROGRAM RESULTS
+
+
+ The lower triangular factor R in banded storage 
+  -7.0711  -2.4125   6.0822   2.9967   5.9732   2.8593   5.8497   2.7914   2.7298   1.9557
+  -7.4953  -0.0829   5.8986  -0.5571   5.5329   0.2059   5.6797   0.3414   0.9565   0.0000
+  -4.2426   0.9202   2.4747  -1.6425   2.9472  -1.0052   2.4396  -0.7785   0.0000   0.0000
+  -5.2326   0.6218   2.8391  -0.0820   3.2670   0.6327   2.7067   0.0000   0.0000   0.0000
+  -3.5355   0.8207   3.1160  -0.4451   3.5758   0.5701   0.0000   0.0000   0.0000   0.0000
+  -4.6669  -0.5803   3.9454   0.7682   4.5481   0.0000   0.0000   0.0000   0.0000   0.0000
+  -1.4142  -0.0415   1.6441   0.4848   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -2.1213   0.0000   2.4662   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02ID.html b/doc/_build/html/_static/doc/MB02ID.html
new file mode 100644
index 00000000..50146327
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02ID.html
@@ -0,0 +1,367 @@
+<HTML>
+<HEAD><TITLE>MB02ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02ID">MB02ID</A></H2>
+<H3>
+Solution of over- or underdetermined linear systems with a full rank block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the overdetermined or underdetermined real linear systems
+  involving an M*K-by-N*L block Toeplitz matrix T that is specified
+  by its first block column and row. It is assumed that T has full
+  rank.
+  The following options are provided:
+
+  1. If JOB = 'O' or JOB = 'A' :  find the least squares solution of
+     an overdetermined system, i.e., solve the least squares problem
+
+               minimize || B - T*X ||.                           (1)
+
+  2. If JOB = 'U' or JOB = 'A' :  find the minimum norm solution of
+     the undetermined system
+                T
+               T * X = C.                                        (2)
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
+     $                   LDB, C, LDC, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
+     $                  RB, RC
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(LDWORK), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the problem to be solved as follows
+          = 'O':  solve the overdetermined system (1);
+          = 'U':  solve the underdetermined system (2);
+          = 'A':  solve (1) and (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of rows in the blocks of T.  K &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the blocks of T.  L &gt;= 0.
+
+  M       (input) INTEGER
+          The number of blocks in the first block column of T.
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of blocks in the first block row of T.
+          0 &lt;= N &lt;= M*K / L.
+
+  RB      (input) INTEGER
+          If JOB = 'O' or 'A', the number of columns in B.  RB &gt;= 0.
+
+  RC      (input) INTEGER
+          If JOB = 'U' or 'A', the number of columns in C.  RC &gt;= 0.
+
+  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
+          On entry, the leading M*K-by-L part of this array must
+          contain the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.  LDTC &gt;= MAX(1,M*K)
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
+          On entry, the leading K-by-(N-1)*L part of this array must
+          contain the 2nd to the N-th blocks of the first block row
+          of T.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
+
+  B       (input/output)  DOUBLE PRECISION array, dimension (LDB,RB)
+          On entry, if JOB = 'O' or JOB = 'A', the leading M*K-by-RB
+          part of this array must contain the right hand side
+          matrix B of the overdetermined system (1).
+          On exit, if JOB = 'O' or JOB = 'A', the leading N*L-by-RB
+          part of this array contains the solution of the
+          overdetermined system (1).
+          This array is not referenced if JOB = 'U'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,M*K),  if JOB = 'O'  or  JOB = 'A';
+          LDB &gt;= 1,           if JOB = 'U'.
+
+  C       (input)  DOUBLE PRECISION array, dimension (LDC,RC)
+          On entry, if JOB = 'U' or JOB = 'A', the leading N*L-by-RC
+          part of this array must contain the right hand side
+          matrix C of the underdetermined system (2).
+          On exit, if JOB = 'U' or JOB = 'A', the leading M*K-by-RC
+          part of this array contains the solution of the
+          underdetermined system (2).
+          This array is not referenced if JOB = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDB &gt;= 1,           if JOB = 'O';
+          LDB &gt;= MAX(1,M*K),  if JOB = 'U'  or  JOB = 'A'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          Let x = MAX( 2*N*L*(L+K) + (6+N)*L,(N*L+M*K+1)*L + M*K )
+          and y = N*M*K*L + N*L, then
+          if MIN( M,N ) = 1 and JOB = 'O',
+                      LDWORK &gt;= MAX( y + MAX( M*K,RB ),1 );
+          if MIN( M,N ) = 1 and JOB = 'U',
+                      LDWORK &gt;= MAX( y + MAX( M*K,RC ),1 );
+          if MIN( M,N ) = 1 and JOB = 'A',
+                      LDWORK &gt;= MAX( y +MAX( M*K,MAX( RB,RC ),1 );
+          if MIN( M,N ) &gt; 1 and JOB = 'O',
+                      LDWORK &gt;= MAX( x,N*L*RB + 1 );
+          if MIN( M,N ) &gt; 1 and JOB = 'U',
+                      LDWORK &gt;= MAX( x,N*L*RC + 1 );
+          if MIN( M,N ) &gt; 1 and JOB = 'A',
+                      LDWORK &gt;= MAX( x,N*L*MAX( RB,RC ) + 1 ).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is (numerically) not of full rank.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O( L*L*K*(N+M)*log(N+M) + N*N*L*L*(L+K) )
+  and additionally
+
+  if JOB = 'O' or JOB = 'A',
+               O( (K*L+RB*L+K*RB)*(N+M)*log(N+M) + N*N*L*L*RB );
+  if JOB = 'U' or JOB = 'A',
+               O( (K*L+RC*L+K*RC)*(N+M)*log(N+M) + N*N*L*L*RC );
+
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX, RBMAX, RCMAX
+      PARAMETER        ( KMAX  = 20, LMAX  = 20, MMAX = 20, NMAX = 20,
+     $                   RBMAX = 20, RCMAX = 20 )
+      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDB  = KMAX*MMAX, LDC  = KMAX*MMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = 2*NMAX*LMAX*( LMAX + KMAX ) +
+     $                            ( 6 + NMAX )*LMAX +
+     $                            MMAX*KMAX*( LMAX + 1 ) +
+     $                            RBMAX + RCMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, M, N, RB, RC
+      CHARACTER        JOB
+      DOUBLE PRECISION B(LDB,RBMAX),  C(LDC,RCMAX), DWORK(LDWORK),
+     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02ID
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  K, L, M, N, RB, RC, JOB
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF ( ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) )
+     $          .AND. ( ( RB.LE.0 ) .OR. ( RB.GT.RBMAX ) ) ) THEN
+         WRITE ( NOUT, FMT = 99990 ) RB
+      ELSE IF ( ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) )
+     $          .AND. ( ( RC.LE.0 ) .OR. ( RC.GT.RCMAX ) ) ) THEN
+         WRITE ( NOUT, FMT = 99989 ) RC
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ), I = 1,K )
+         IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,RB ), I = 1,M*K )
+         END IF
+         IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,RC ), I = 1,N*L )
+         END IF
+         CALL MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
+     $                LDB, C, LDC, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, N*L
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, RB )
+   10          CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 20  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, RC )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02ID = ',I2)
+99997 FORMAT (' The least squares solution of T * X = B is ')
+99996 FORMAT (' The minimum norm solution of T^T * X = C is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' K is out of range.',/' K = ',I5)
+99993 FORMAT (/' L is out of range.',/' L = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' RB is out of range.',/' RB = ',I5)
+99989 FORMAT (/' RC is out of range.',/' RC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02ID EXAMPLE PROGRAM DATA
+   3   2   4   3   1   1   A
+     5.0     2.0
+     1.0     2.0
+     4.0     3.0
+     4.0     0.0
+     2.0     2.0
+     3.0     3.0
+     5.0     1.0
+     3.0     3.0
+     1.0     1.0
+     2.0     3.0
+     1.0     3.0
+     2.0     2.0
+     1.0     4.0     2.0     3.0
+     2.0     2.0     2.0     4.0
+     3.0     1.0     0.0     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02ID EXAMPLE PROGRAM RESULTS
+
+ The least squares solution of T * X = B is 
+   0.0379
+   0.1677
+   0.0485
+  -0.0038
+   0.0429
+   0.1365
+ The minimum norm solution of T^T * X = C is 
+   0.0509
+   0.0547
+   0.0218
+   0.0008
+   0.0436
+   0.0404
+   0.0031
+   0.0451
+   0.0421
+   0.0243
+   0.0556
+   0.0472
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02JD.html b/doc/_build/html/_static/doc/MB02JD.html
new file mode 100644
index 00000000..229049d2
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02JD.html
@@ -0,0 +1,338 @@
+<HTML>
+<HEAD><TITLE>MB02JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02JD">MB02JD</A></H2>
+<H3>
+Full QR factorization of a block Toeplitz matrix of full rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a lower triangular matrix R and a matrix Q with
+  Q^T Q = I such that
+                                 T
+                        T  =  Q R ,
+
+  where T is a K*M-by-L*N block Toeplitz matrix with blocks of size
+  (K,L). The first column of T will be denoted by TC and the first
+  row by TR. It is assumed that the first MIN(M*K, N*L) columns of T
+  have full rank.
+
+  By subsequent calls of this routine the factors Q and R can be
+  computed block column by block column.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02JD( JOB, K, L, M, N, P, S, TC, LDTC, TR, LDTR, Q,
+     $                   LDQ, R, LDR, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK,
+     $                  M, N, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine as follows:
+          = 'Q':  computes Q and R;
+          = 'R':  only computes R.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in one block of T.  K &gt;= 0.
+
+  L       (input)  INTEGER
+          The number of columns in one block of T.  L &gt;= 0.
+
+  M       (input)  INTEGER
+          The number of blocks in one block column of T.  M &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in one block row of T.  N &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of previously computed block columns of R.
+          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
+
+  S       (input)  INTEGER
+          The number of block columns of R to compute.
+          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
+
+  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
+          On entry, if P = 0, the leading M*K-by-L part of this
+          array must contain the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,M*K).
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
+          On entry, if P = 0, the leading K-by-(N-1)*L part of this
+          array must contain the first block row of T without the
+          leading K-by-L block.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.
+          LDTR &gt;= MAX(1,K).
+
+  Q       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDQ,MIN( S*L, MIN( M*K,N*L )-P*L ))
+          On entry, if JOB = 'Q'  and  P &gt; 0, the leading M*K-by-L
+          part of this array must contain the last block column of Q
+          from a previous call of this routine.
+          On exit, if JOB = 'Q'  and  INFO = 0, the leading
+          M*K-by-MIN( S*L, MIN( M*K,N*L )-P*L ) part of this array
+          contains the P-th to (P+S)-th block columns of the factor
+          Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= MAX(1,M*K), if JOB = 'Q';
+          LDQ &gt;= 1,          if JOB = 'R'.
+
+  R       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDR,MIN( S*L, MIN( M*K,N*L )-P*L ))
+          On entry, if P &gt; 0, the leading (N-P+1)*L-by-L
+          part of this array must contain the nozero part of the
+          last block column of R from a previous call of this
+          routine.
+          One exit, if INFO = 0, the leading
+          MIN( N, N-P+1 )*L-by-MIN( S*L, MIN( M*K,N*L )-P*L )
+          part of this array contains the nonzero parts of the P-th
+          to (P+S)-th block columns of the lower triangular
+          factor R.
+          Note that elements in the strictly upper triangular part
+          will not be referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX( 1, MIN( N, N-P+1 )*L )
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -17,  DWORK(1) returns the minimum
+          value of LDWORK.
+          If JOB = 'Q', the first 1 + ( (N-1)*L + M*K )*( 2*K + L )
+          elements of DWORK should be preserved during successive
+          calls of the routine.
+          If JOB = 'R', the first 1 + (N-1)*L*( 2*K + L ) elements
+          of DWORK should be preserved during successive calls of
+          the routine.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          JOB = 'Q':
+             LDWORK &gt;= 1 + ( M*K + ( N - 1 )*L )*( L + 2*K ) + 6*L
+                         + MAX( M*K,( N - MAX( 1,P )*L ) );
+          JOB = 'R':
+             If P = 0,
+                LDWORK &gt;= MAX( 1 + ( N - 1 )*L*( L + 2*K ) + 6*L
+                                 + (N-1)*L, M*K*( L + 1 ) + L );
+             If P &gt; 0,
+                LDWORK &gt;= 1 + (N-1)*L*( L + 2*K ) + 6*L + (N-P)*L.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the full rank condition for the first MIN(M*K, N*L)
+                columns of T is (numerically) violated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Block Householder transformations and modified hyperbolic
+  rotations are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method yields a factor R which has comparable
+  accuracy with the Cholesky factor of T^T * T. Q is implicitly
+  computed from the formula Q = T * inv(R^T R) * R, i.e., for ill
+  conditioned problems this factor is of very limited value.
+                              2
+  The algorithm requires 0(K*L *M*N) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02JD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX
+      PARAMETER        ( KMAX = 10, LMAX = 10, MMAX = 20, NMAX = 20 )
+      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
+     $                            *( LMAX + 2*KMAX ) + 6*LMAX
+     $                            + MMAX*KMAX + NMAX*LMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, M, N, S
+      CHARACTER        JOB
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
+     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
+     $                 TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02JD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, L, M, N, JOB
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
+     $                             I = 1,K )
+         S = ( MIN( M*K, N*L ) + L - 1 ) / L
+*        Compute the required part of the QR factorization.
+         CALL MB02JD( JOB, K, L, M, N, 0, S, TC, LDTC, TR, LDTR, Q, LDQ,
+     $                R, LDR, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( JOB, 'Q' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99995 )
+     $                  ( Q(I,J), J = 1, MIN( N*L, M*K ) )
+   10          CONTINUE
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N*L
+               WRITE ( NOUT, FMT = 99995 )
+     $               ( R(I,J), J = 1, MIN( N*L, M*K ) )
+   20       CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB02JD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02JD = ',I2)
+99997 FORMAT (/' The factor Q is ')
+99996 FORMAT (/' The factor R is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' K is out of range.',/' K = ',I5)
+99993 FORMAT (/' L is out of range.',/' L = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02JD EXAMPLE PROGRAM DATA
+    2   3    4    3    Q
+     1.0     4.0     0.0
+     4.0     1.0     2.0
+     4.0     2.0     2.0
+     5.0     3.0     2.0
+     2.0     4.0     4.0
+     5.0     3.0     4.0
+     2.0     2.0     5.0
+     4.0     2.0     3.0
+     3.0     4.0     2.0     5.0     0.0     4.0
+     5.0     1.0     1.0     2.0     4.0     1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02JD EXAMPLE PROGRAM RESULTS
+
+
+ The factor Q is 
+  -0.0967   0.7166  -0.4651   0.1272   0.4357   0.0435   0.2201   0.0673
+  -0.3867  -0.3108  -0.0534   0.5251   0.0963  -0.3894   0.1466   0.5412
+  -0.3867  -0.0990  -0.1443  -0.7021   0.3056  -0.3367  -0.3233   0.1249
+  -0.4834  -0.0178  -0.3368  -0.1763  -0.5446   0.5100   0.1503   0.2054
+  -0.1933   0.5859   0.3214   0.1156  -0.4670  -0.3199  -0.4185   0.0842
+  -0.4834  -0.0178   0.1072   0.0357  -0.0575  -0.2859   0.4339  -0.6928
+  -0.1933   0.1623   0.7251  -0.1966   0.2736   0.3058   0.3398   0.2968
+  -0.3867  -0.0990   0.0777   0.3615   0.3386   0.4421  -0.5693  -0.2641
+
+ The factor R is 
+ -10.3441   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -6.3805   4.7212   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -7.3472   1.9320   4.5040   0.0000   0.0000   0.0000   0.0000   0.0000
+ -10.0541   2.5101   0.5065   3.6550   0.0000   0.0000   0.0000   0.0000
+  -6.5738   3.6127   1.2702  -1.3146   3.5202   0.0000   0.0000   0.0000
+  -5.2204   2.4764   2.4113   1.3890   1.2780   2.4976   0.0000   0.0000
+  -9.6674   3.2445  -0.5099  -0.0224   2.6548   2.9491   1.0049   0.0000
+  -6.3805   0.6968   1.9483   0.3050   0.7002  -2.0220  -2.8246   2.3147
+  -4.1570   2.4309  -0.7190  -0.1455   3.0149   0.5454   0.9394  -0.0548
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02JX.html b/doc/_build/html/_static/doc/MB02JX.html
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+<HTML>
+<HEAD><TITLE>MB02JX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02JX">MB02JX</A></H2>
+<H3>
+Low rank QR factorization with column pivoting of a block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a low rank QR factorization with column pivoting of a
+  K*M-by-L*N block Toeplitz matrix T with blocks of size (K,L);
+  specifically,
+                                  T
+                        T P =  Q R ,
+
+  where R is lower trapezoidal, P is a block permutation matrix
+  and Q^T Q = I. The number of columns in R is equivalent to the
+  numerical rank of T with respect to the given tolerance TOL1.
+  Note that the pivoting scheme is local, i.e., only columns
+  belonging to the same block in T are permuted.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q,
+     $                   LDQ, R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK, M, N,
+     $                  RNK
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+      INTEGER           JPVT(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine as follows:
+          = 'Q':  computes Q and R;
+          = 'R':  only computes R.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in one block of T.  K &gt;= 0.
+
+  L       (input)  INTEGER
+          The number of columns in one block of T.  L &gt;= 0.
+
+  M       (input)  INTEGER
+          The number of blocks in one block column of T.  M &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in one block row of T.  N &gt;= 0.
+
+  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
+          The leading M*K-by-L part of this array must contain
+          the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,M*K).
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
+          The leading K-by-(N-1)*L part of this array must contain
+          the first block row of T without the leading K-by-L
+          block.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
+
+  RNK     (output)  INTEGER
+          The number of columns in R, which is equivalent to the
+          numerical rank of T.
+
+  Q       (output)  DOUBLE PRECISION array, dimension (LDQ,RNK)
+          If JOB = 'Q', then the leading M*K-by-RNK part of this
+          array contains the factor Q.
+          If JOB = 'R', then this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= MAX(1,M*K),  if JOB = 'Q';
+          LDQ &gt;= 1,           if JOB = 'R'.
+
+  R       (output)  DOUBLE PRECISION array, dimension (LDR,RNK)
+          The leading N*L-by-RNK part of this array contains the
+          lower trapezoidal factor R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,N*L)
+
+  JPVT    (output)  INTEGER array, dimension (MIN(M*K,N*L))
+          This array records the column pivoting performed.
+          If JPVT(j) = k, then the j-th column of T*P was
+          the k-th column of T.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If TOL1 &gt;= 0.0, the user supplied diagonal tolerance;
+          if TOL1 &lt; 0.0, a default diagonal tolerance is used.
+
+  TOL2    DOUBLE PRECISION
+          If TOL2 &gt;= 0.0, the user supplied offdiagonal tolerance;
+          if TOL2 &lt; 0.0, a default offdiagonal tolerance is used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK;  DWORK(2) and DWORK(3) return the used values
+          for TOL1 and TOL2, respectively.
+          On exit, if INFO = -19,  DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 3, ( M*K + ( N - 1 )*L )*( L + 2*K ) + 9*L
+                              + MAX(M*K,(N-1)*L) ),    if JOB = 'Q';
+          LDWORK &gt;= MAX( 3, ( N - 1 )*L*( L + 2*K + 1 ) + 9*L,
+                              M*K*( L + 1 ) + L ),     if JOB = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  due to perturbations induced by roundoff errors, or
+                removal of nearly linearly dependent columns of the
+                generator, the Schur algorithm encountered a
+                situation where a diagonal element in the negative
+                generator is larger in magnitude than the
+                corresponding diagonal element in the positive
+                generator (modulo TOL1);
+          = 2:  due to perturbations induced by roundoff errors, or
+                removal of nearly linearly dependent columns of the
+                generator, the Schur algorithm encountered a
+                situation where diagonal elements in the positive
+                and negative generator are equal in magnitude
+                (modulo TOL1), but the offdiagonal elements suggest
+                that these columns are not linearly dependent
+                (modulo TOL2*ABS(diagonal element)).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+  If, during the process, the hyperbolic norm of a row in the
+  leading part of the generator is found to be less than or equal
+  to TOL1, then this row is not reduced. If the difference of the
+  corresponding columns has a norm less than or equal to TOL2 times
+  the magnitude of the leading element, then this column is removed
+  from the generator, as well as from R. Otherwise, the algorithm
+  breaks down. TOL1 is set to norm(TC)*sqrt(eps) and TOL2 is set
+  to N*L*sqrt(eps) by default.
+  If M*K &gt; L, the columns of T are permuted so that the diagonal
+  elements in one block column of R have decreasing magnitudes.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(K*RNK*L*M*N) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02JX EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX
+      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20 )
+      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
+     $                            *( LMAX + 2*KMAX ) + 5*LMAX
+     $                            + MMAX*KMAX + NMAX*LMAX )
+*     .. Local Scalars ..
+      CHARACTER        JOB
+      INTEGER          I, INFO, J, K, L, M, N, RNK
+      DOUBLE PRECISION TOL1, TOL2
+*     .. Local Arrays ..
+      INTEGER          JPVT(NMAX*LMAX)
+      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
+     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
+     $                 TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02JX
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, L, M, N, TOL1, TOL2, JOB
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
+     $                             I = 1,K )
+*        Compute the required part of the QR factorization.
+         CALL MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q, LDQ,
+     $                R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99994 ) RNK
+            IF ( LSAME( JOB, 'Q' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99993 ) ( Q(I,J), J = 1, RNK )
+   10          CONTINUE
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N*L
+               WRITE ( NOUT, FMT = 99993 ) ( R(I,J), J = 1, RNK )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            WRITE ( NOUT, FMT = 99992 ) ( JPVT(I),
+     $                                    I = 1, MIN( M*K, N*L ) )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02JX EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02JX = ',I2)
+99997 FORMAT (/' The factor Q is ')
+99996 FORMAT (/' The factor R is ')
+99995 FORMAT (/' The column permutation is ')
+99994 FORMAT (/' Numerical rank ',/' RNK = ',I5)
+99993 FORMAT (20(1X,F8.4))
+99992 FORMAT (20(1X,I4))
+99991 FORMAT (/' K is out of range.',/' K = ',I5)
+99990 FORMAT (/' L is out of range.',/' L = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02JX EXAMPLE PROGRAM DATA
+   3   3   4   4  -1.0D0  -1.0D0   Q
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     0.0     1.0
+     1.0     1.0     0.0
+     2.0     2.0     0.0
+     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     1.0
+     1.0     2.0     3.0     1.0     2.0     3.0     1.0     2.0     1.0
+     1.0     2.0     3.0     1.0     2.0     3.0     1.0     1.0     1.0
+     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02JX EXAMPLE PROGRAM RESULTS
+
+
+ Numerical rank 
+ RNK =     7
+
+ The factor Q is 
+  -0.3313  -0.0105  -0.0353   0.0000  -0.4714  -0.8165   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082   0.7071
+  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082  -0.7071
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.1104   0.2824   0.9529   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.4288  -0.1271   0.8944   0.0000   0.0000   0.0000
+   0.0000   0.8576  -0.2541  -0.4472   0.0000   0.0000   0.0000
+
+ The factor R is 
+  -9.0554   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -3.0921   2.3322   0.0000   0.0000   0.0000   0.0000   0.0000
+  -5.9633   1.9557  -1.2706   0.0000   0.0000   0.0000   0.0000
+  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
+  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
+  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
+  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
+  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
+  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
+  -7.2885   4.4866   0.9741   1.3416   2.8284   0.0000   0.0000
+  -2.7608   1.4851   0.2894   0.4472   0.4714   0.8165   0.0000
+  -5.5216   2.9701   0.5788   0.8944   0.9428   0.4082   0.7071
+
+ The column permutation is 
+    3    1    2    6    5    4    9    8    7   12   10   11
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02KD.html b/doc/_build/html/_static/doc/MB02KD.html
new file mode 100644
index 00000000..5cf32bab
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02KD.html
@@ -0,0 +1,346 @@
+<HTML>
+<HEAD><TITLE>MB02KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02KD">MB02KD</A></H2>
+<H3>
+Computation of the product C = alpha op( T ) B + beta C, with T a block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product
+
+            C = alpha*op( T )*B + beta*C,
+
+  where alpha and beta are scalars and T is a block Toeplitz matrix
+  specified by its first block column TC and first block row TR;
+  B and C are general matrices of appropriate dimensions.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA,
+     $                   TC, LDTC, TR, LDTR, B, LDB, C, LDC, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LDBLK, TRANS
+      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
+     $                  R
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LDBLK   CHARACTER*1
+          Specifies where the (1,1)-block of T is stored, as
+          follows:
+          = 'C':  in the first block of TC;
+          = 'R':  in the first block of TR.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of rows in the blocks of T.  K &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the blocks of T.  L &gt;= 0.
+
+  M       (input) INTEGER
+          The number of blocks in the first block column of T.
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of blocks in the first block row of T.  N &gt;= 0.
+
+  R       (input) INTEGER
+          The number of columns in B and C.  R &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then TC, TR and B
+          are not referenced.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then C need not be set
+          before entry.
+
+  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
+          On entry with LDBLK = 'C', the leading M*K-by-L part of
+          this array must contain the first block column of T.
+          On entry with LDBLK = 'R', the leading (M-1)*K-by-L part
+          of this array must contain the 2nd to the M-th blocks of
+          the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,M*K),      if LDBLK = 'C';
+          LDTC &gt;= MAX(1,(M-1)*K),  if LDBLK = 'R'.
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,k)
+          where k is (N-1)*L when LDBLK = 'C' and is N*L when
+          LDBLK = 'R'.
+          On entry with LDBLK = 'C', the leading K-by-(N-1)*L part
+          of this array must contain the 2nd to the N-th blocks of
+          the first block row of T.
+          On entry with LDBLK = 'R', the leading K-by-N*L part of
+          this array must contain the first block row of T.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
+
+  B       (input)  DOUBLE PRECISION array, dimension (LDB,R)
+          On entry with TRANS = 'N', the leading N*L-by-R part of
+          this array must contain the matrix B.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          M*K-by-R part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N*L),  if TRANS = 'N';
+          LDB &gt;= MAX(1,M*K),  if TRANS = 'T' or TRANS = 'C'.
+
+  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,R)
+          On entry with TRANS = 'N', the leading M*K-by-R part of
+          this array must contain the matrix C.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N*L-by-R part of this array must contain the matrix C.
+          On exit with TRANS = 'N', the leading M*K-by-R part of
+          this array contains the updated matrix C.
+          On exit with TRANS = 'T' or TRANS = 'C', the leading
+          N*L-by-R part of this array contains the updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M*K),  if TRANS = 'N';
+          LDC &gt;= MAX(1,N*L),  if TRANS = 'T' or TRANS = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For point Toeplitz matrices or sufficiently large block Toeplitz
+  matrices, this algorithm uses convolution algorithms based on
+  the fast Hartley transforms [1]. Otherwise, TC is copied in
+  reversed order into the workspace such that C can be computed from
+  barely M matrix-by-matrix multiplications.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, Charles.
+      Computational frameworks for the fast Fourier transform.
+      SIAM, 1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O( (K*L+R*L+K*R)*(N+M)*log(N+M) + K*L*R )
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX, RMAX
+      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20,
+     $                   RMAX = 20 )
+      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDB  = LMAX*NMAX, LDC  = KMAX*MMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = 2*( KMAX*LMAX + KMAX*RMAX
+     $                            + LMAX*RMAX + 1 )*( MMAX + NMAX ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, M, N, R
+      CHARACTER        LDBLK, TRANS
+      DOUBLE PRECISION ALPHA, BETA
+*     .. Local Arrays .. (Dimensioned for TRANS = 'N'.)
+      DOUBLE PRECISION B(LDB,RMAX), C(LDC,RMAX), DWORK(LDWORK),
+     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02KD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  K, L, M, N, R, LDBLK, TRANS
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF( R.LE.0 .OR. R.GT.RMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         IF ( LSAME( LDBLK, 'R' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ),
+     $                              I = 1,(M-1)*K )
+            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,N*L ), I = 1,K )
+         ELSE
+            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ),
+     $                              I = 1,K )
+         END IF
+         IF ( LSAME( TRANS, 'N' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,N*L )
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,M*K )
+         END IF
+         ALPHA = ONE
+         BETA  = ZERO
+         CALL MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA, TC,
+     $                LDTC, TR, LDTR, B, LDB, C, LDC, DWORK, LDWORK,
+     $                INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( TRANS, 'N' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
+   10          CONTINUE
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 20  I = 1, N*L
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02KD = ',I2)
+99997 FORMAT (' The product C = T * B is ')
+99996 FORMAT (' The product C = T^T * B is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' K is out of range.',/' K = ',I5)
+99993 FORMAT (/' L is out of range.',/' L = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' R is out of range.',/' R = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02KD EXAMPLE PROGRAM DATA
+   3    2   4    5    1    C    N
+     4.0     1.0
+     3.0     5.0
+     2.0     1.0
+     4.0     1.0
+     3.0     4.0
+     2.0     4.0
+     3.0     1.0
+     3.0     0.0
+     4.0     4.0
+     5.0     1.0
+     3.0     1.0
+     4.0     3.0
+     5.0     2.0     2.0     2.0     2.0     1.0     1.0     3.0
+     4.0     1.0     5.0     4.0     5.0     4.0     1.0     2.0
+     2.0     3.0     4.0     1.0     3.0     3.0     3.0     3.0
+     0.0
+     2.0
+     2.0
+     2.0
+     1.0
+     3.0
+     3.0
+     4.0
+     2.0
+     3.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02KD EXAMPLE PROGRAM RESULTS
+
+ The product C = T * B is 
+  45.0000
+  76.0000
+  55.0000
+  44.0000
+  84.0000
+  56.0000
+  52.0000
+  70.0000
+  54.0000
+  49.0000
+  63.0000
+  59.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02MD.html b/doc/_build/html/_static/doc/MB02MD.html
new file mode 100644
index 00000000..acdfc343
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02MD.html
@@ -0,0 +1,462 @@
+<HTML>
+<HEAD><TITLE>MB02MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02MD">MB02MD</A></H2>
+<H3>
+Solution of Total Least-Squares problem using a SVD approach
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Total Least Squares (TLS) problem using a Singular
+  Value Decomposition (SVD) approach.
+  The TLS problem assumes an overdetermined set of linear equations
+  AX = B, where both the data matrix A as well as the observation
+  matrix B are inaccurate. The routine also solves determined and
+  underdetermined sets of equations by computing the minimum norm
+  solution.
+  It is assumed that all preprocessing measures (scaling, coordinate
+  transformations, whitening, ... ) of the data have been performed
+  in advance.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  C(LDC,*), DWORK(*), S(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Determines whether the values of the parameters RANK and
+          TOL are to be specified by the user or computed by the
+          routine as follows:
+          = 'R':  Compute RANK only;
+          = 'T':  Compute TOL only;
+          = 'B':  Compute both RANK and TOL;
+          = 'N':  Compute neither RANK nor TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the data matrix A and the
+          observation matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the data matrix A.  N &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the observation matrix B.
+          L &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if JOB = 'T' or JOB = 'N', then RANK must
+          specify r, the rank of the TLS approximation [A+DA|B+DB].
+          RANK &lt;= min(M,N).
+          Otherwise, r is computed by the routine.
+          On exit, if JOB = 'R' or JOB = 'B', and INFO = 0, then
+          RANK contains the computed (effective) rank of the TLS
+          approximation [A+DA|B+DB].
+          Otherwise, the user-supplied value of RANK may be
+          changed by the routine on exit if the RANK-th and the
+          (RANK+1)-th singular values of C = [A|B] are considered
+          to be equal, or if the upper triangular matrix F (as
+          defined in METHOD) is (numerically) singular.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
+          On entry, the leading M-by-(N+L) part of this array must
+          contain the matrices A and B. Specifically, the first N
+          columns must contain the data matrix A and the last L
+          columns the observation matrix B (right-hand sides).
+          On exit, the leading (N+L)-by-(N+L) part of this array
+          contains the (transformed) right singular vectors,
+          including null space vectors, if any, of C = [A|B].
+          Specifically, the leading (N+L)-by-RANK part of this array
+          always contains the first RANK right singular vectors,
+          corresponding to the largest singular values of C. If
+          L = 0, or if RANK = 0 and IWARN &lt;&gt; 2, the remaining
+          (N+L)-by-(N+L-RANK) top-right part of this array contains
+          the remaining N+L-RANK right singular vectors. Otherwise,
+          this part contains the matrix V2 transformed as described
+          in Step 3 of the TLS algorithm (see METHOD).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
+
+  S       (output) DOUBLE PRECISION array, dimension (min(M,N+L))
+          If INFO = 0, the singular values of matrix C, ordered
+          such that S(1) &gt;= S(2) &gt;= ... &gt;= S(p-1) &gt;= S(p) &gt;= 0,
+          where p = min(M,N+L).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
+          If INFO = 0, the leading N-by-L part of this array
+          contains the solution X to the TLS problem specified
+          by A and B.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= max(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used to determine the rank of the TLS
+          approximation [A+DA|B+DB] and to check the multiplicity
+          of the singular values of matrix C. Specifically, S(i)
+          and S(j) (i &lt; j) are considered to be equal if
+          SQRT(S(i)**2 - S(j)**2) &lt;= TOL, and the TLS approximation
+          [A+DA|B+DB] has rank r if S(i) &gt; TOL*S(1) (or S(i) &gt; TOL,
+          if TOL specifies sdev (see below)), for i = 1,2,...,r.
+          TOL is also used to check the singularity of the upper
+          triangular matrix F (as defined in METHOD).
+          If JOB = 'R' or JOB = 'N', then TOL must specify the
+          desired tolerance. If the user sets TOL to be less than or
+          equal to 0, the tolerance is taken as EPS, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH).
+          Otherwise, the tolerance is computed by the routine and
+          the user must supply the non-negative value sdev, i.e. the
+          estimated standard deviation of the error on each element
+          of the matrix C, as input value of TOL.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (L)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2) returns the reciprocal of the
+          condition number of the matrix F.
+          If INFO &gt; 0, DWORK(1:min(M,N+L)-1) contain the unconverged
+          non-diagonal elements of the bidiagonal matrix whose
+          diagonal is in S (see LAPACK Library routine DGESVD).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max(2, 3*(N+L) + M, 5*(N+L)),       if M &gt;= N+L;
+          LDWORK = max(2, M*(N+L) + max( 3M+N+L, 5*M), 3*L),
+                                                       if M &lt;  N+L.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 1:  if the rank of matrix C has been lowered because a
+                singular value of multiplicity greater than 1 was
+                found;
+          = 2:  if the rank of matrix C has been lowered because the
+                upper triangular matrix F is (numerically) singular.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if the SVD algorithm (in LAPACK Library routine
+                DBDSQR) has failed to converge. In this case, S(1),
+                S(2), ..., S(INFO) may not have been found
+                correctly and the remaining singular values may
+                not be the smallest. This failure is not likely
+                to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is an extension (see [3,4,5]) of the classical
+  TLS algorithm proposed by Golub and Van Loan [1].
+
+  Let [A|B] denote the matrix formed by adjoining the columns of B
+  to the columns of A on the right.
+
+  Total Least Squares (TLS) definition:
+  -------------------------------------
+
+    Given matrices A and B, find a matrix X satisfying
+
+         (A + DA) X = B + DB,
+
+    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
+    and X is an N-by-L matrix.
+    The solution X must be such that the Frobenius norm of [DA|DB]
+    is a minimum and each column of B + DB is in the range of
+    A + DA. Whenever the solution is not unique, the routine singles
+    out the minimum norm solution X.
+
+  Define matrix C = [A|B] and s(i) as its i-th singular value for
+  i = 1,2,...,min(M,NL), where NL = N + L. If M &lt; NL, then s(j) = 0
+  for j = M+1,...,NL.
+
+  The Classical TLS algorithm proceeds as follows (see [3,4,5]):
+
+  Step 1: Compute part of the singular value decomposition (SVD)
+          USV' of C = [A|B], namely compute S and V'. (An initial
+          QR factorization of C is used when M is larger enough
+          than NL.)
+
+  Step 2: If not fixed by the user, compute the rank r0 of the data
+          [A|B] based on TOL as follows: if JOB = 'R' or JOB = 'N',
+
+             s(1) &gt;= ... &gt;= s(r0) &gt; TOL*s(1) &gt;= ... &gt;= s(NL).
+
+          Otherwise, using [2], TOL can be computed from the
+          standard deviation sdev of the errors on [A|B]:
+
+             TOL = SQRT(2 * max(M,NL)) * sdev,
+
+          and the rank r0 is determined (if JOB = 'R' or 'B') using
+
+             s(1) &gt;= ... &gt;= s(r0) &gt; TOL &gt;= ... &gt;= s(NL).
+
+          The rank r of the approximation [A+DA|B+DB] is then equal
+          to the minimum of N and r0.
+
+  Step 3: Let V2 be the matrix of the columns of V corresponding to
+          the (NL - r) smallest singular values of C, i.e. the last
+          (NL - r) columns of V.
+          Compute with Householder transformations the orthogonal
+          matrix Q such that:
+
+                    |VH   Y|
+           V2 x Q = |      |
+                    |0    F|
+
+          where VH is an N-by-(N - r) matrix, Y is an N-by-L matrix
+          and F is an L-by-L upper triangular matrix.
+          If F is singular, then lower the rank r with the
+          multiplicity of s(r) and repeat this step.
+
+  Step 4: If F is nonsingular then the solution X is obtained by
+          solving the following equations by forward elimination:
+
+             X F = -Y.
+
+  Notes :
+  The TLS solution is unique if r = N, F is nonsingular and
+  s(N) &gt; s(N+1).
+  If F is singular, however, then the computed solution is infinite
+  and hence does not satisfy the second TLS criterion (see TLS
+  definition). For these cases, Golub and Van Loan [1] claim that
+  the TLS problem has no solution. The properties of these so-called
+  nongeneric problems are described in [4] and the TLS computations
+  are generalized in order to solve them. As proven in [4], the
+  proposed generalization satisfies the TLS criteria for any
+  number L of observation vectors in B provided that, in addition,
+  the solution | X| is constrained to be orthogonal to all vectors
+               |-I|
+  of the form |w| which belong to the space generated by the columns
+              |0|
+  of the submatrix |Y|.
+                   |F|
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      An Analysis of the Total Least-Squares Problem.
+      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
+
+  [2] Staar, J., Vandewalle, J. and Wemans, M.
+      Realization of Truncated Impulse Response Sequences with
+      Prescribed Uncertainty.
+      Proc. 8th IFAC World Congress, Kyoto, I, pp. 7-12, 1981.
+
+  [3] Van Huffel, S.
+      Analysis of the Total Least Squares Problem and its Use in
+      Parameter Estimation.
+      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
+      Universiteit Leuven, Belgium, June 1987.
+
+  [4] Van Huffel, S. and Vandewalle, J.
+      Analysis and Solution of the Nongeneric Total Least Squares
+      Problem.
+      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
+
+  [5] Van Huffel, S. and Vandewalle, J.
+      The Total Least Squares Problem: Computational Aspects and
+      Analysis.
+      Series "Frontiers in Applied Mathematics", Vol. 9,
+      SIAM, Philadelphia, 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm consists in (backward) stable steps.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, LMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
+      INTEGER          LDC, LDX
+      PARAMETER        ( LDC = MAX( MMAX,NMAX+LMAX ), LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MMAX*(NMAX+LMAX) +
+     $                            MAX( 3*MIN(MMAX,NMAX+LMAX) +
+     $                                   MAX(MMAX,NMAX+LMAX),
+     $                                 5*MIN(MMAX,NMAX+LMAX),
+     $                                 3*LMAX ) )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = LMAX )
+      INTEGER          LENGS
+      PARAMETER        ( LENGS = MIN( MMAX, NMAX+LMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SDEV, TOL
+      INTEGER          I, INFO, IWARN, J, L, M, N, RANK
+      CHARACTER*1      JOB
+*     .. Local Arrays ..
+      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK), S(LENGS),
+     $                 X(LDX,LMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, L, JOB
+*
+      IF ( LSAME( JOB, 'R' ) ) THEN
+         READ ( NIN, FMT = * ) TOL
+      ELSE IF ( LSAME( JOB, 'T' ) ) THEN
+         READ ( NIN, FMT = * ) RANK, SDEV
+         TOL = SDEV
+      ELSE IF ( LSAME( JOB, 'N' ) ) THEN
+         READ ( NIN, FMT = * ) RANK, TOL
+      ELSE
+         READ ( NIN, FMT = * ) SDEV
+         TOL = SDEV
+      END IF
+*
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
+*        Compute the solution to the TLS problem Ax = b.
+         CALL MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL, IWORK,
+     $                DWORK, LDWORK, IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) RANK
+            ELSE
+               IF ( ( LSAME( JOB, 'R' ) ) .OR. ( LSAME( JOB, 'B' ) ) )
+     $            WRITE ( NOUT, FMT = 99996 ) RANK
+            END IF
+            WRITE ( NOUT, FMT = 99995 )
+            DO 40 J = 1, L
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) X(I,J)
+   20          CONTINUE
+               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99993 )
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99992 ) ( S(J),J = 1, MIN( M, N+L ) )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02MD = ',I2)
+99997 FORMAT (' IWARN on exit from MB02MD = ',I2,/)
+99996 FORMAT (' The computed rank of the TLS approximation = ',I3,/)
+99995 FORMAT (' The solution X to the TLS problem is ',/)
+99994 FORMAT (1X,F8.4)
+99993 FORMAT (' ')
+99992 FORMAT (/' The singular values of C are ',//(1X,F8.4))
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02MD EXAMPLE PROGRAM DATA
+   6     3     1     B
+   0.0
+   0.80010  0.39985  0.60005  0.89999
+   0.29996  0.69990  0.39997  0.82997
+   0.49994  0.60003  0.20012  0.79011
+   0.90013  0.20016  0.79995  0.85002
+   0.39998  0.80006  0.49985  0.99016
+   0.20002  0.90007  0.70009  1.02994
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02MD EXAMPLE PROGRAM RESULTS
+
+ The computed rank of the TLS approximation =   3
+
+ The solution X to the TLS problem is 
+
+   0.5003
+   0.8003
+   0.2995
+
+ The singular values of C are 
+
+   3.2281
+   0.8716
+   0.3697
+   0.0001
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB02ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02ND">MB02ND</A></H2>
+<H3>
+Solution of Total Least-Squares problem using a partial SVD approach
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Total Least Squares (TLS) problem using a Partial
+  Singular Value Decomposition (PSVD) approach.
+  The TLS problem assumes an overdetermined set of linear equations
+  AX = B, where both the data matrix A as well as the observation
+  matrix B are inaccurate. The routine also solves determined and
+  underdetermined sets of equations by computing the minimum norm
+  solution.
+  It is assumed that all preprocessing measures (scaling, coordinate
+  transformations, whitening, ... ) of the data have been performed
+  in advance.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
+     $                   TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
+      DOUBLE PRECISION  RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*), INUL(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  C(LDC,*), DWORK(*), Q(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the data matrix A and the
+          observation matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the data matrix A.  N &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the observation matrix B.
+          L &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if RANK &lt; 0, then the rank of the TLS
+          approximation [A+DA|B+DB] (r say) is computed by the
+          routine.
+          Otherwise, RANK must specify the value of r.
+          RANK &lt;= min(M,N).
+          On exit, if RANK &lt; 0 on entry and INFO = 0, then RANK
+          contains the computed rank of the TLS approximation
+          [A+DA|B+DB].
+          Otherwise, the user-supplied value of RANK may be
+          changed by the routine on exit if the RANK-th and the
+          (RANK+1)-th singular values of C = [A|B] are considered
+          to be equal, or if the upper triangular matrix F (as
+          defined in METHOD) is (numerically) singular.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, if RANK &lt; 0, then the rank of the TLS
+          approximation [A+DA|B+DB] is computed using THETA as
+          (min(M,N+L) - d), where d is the number of singular
+          values of [A|B] &lt;= THETA. THETA &gt;= 0.0.
+          Otherwise, THETA is an initial estimate (t say) for
+          computing a lower bound on the RANK largest singular
+          values of [A|B]. If THETA &lt; 0.0 on entry however, then
+          t is computed by the routine.
+          On exit, if RANK &gt;= 0 on entry, then THETA contains the
+          computed bound such that precisely RANK singular values
+          of C = [A|B] are greater than THETA + TOL.
+          Otherwise, THETA is unchanged.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
+          On entry, the leading M-by-(N+L) part of this array must
+          contain the matrices A and B. Specifically, the first N
+          columns must contain the data matrix A and the last L
+          columns the observation matrix B (right-hand sides).
+          On exit, if INFO = 0, the first N+L components of the
+          columns of this array whose index i corresponds with
+          INUL(i) = .TRUE., are the possibly transformed (N+L-RANK)
+          base vectors of the right singular subspace corresponding
+          to the singular values of C = [A|B] which are less than or
+          equal to THETA. Specifically, if L = 0, or if RANK = 0 and
+          IWARN &lt;&gt; 2, these vectors are indeed the base vectors
+          above. Otherwise, these vectors form the matrix V2,
+          transformed as described in Step 4 of the PTLS algorithm
+          (see METHOD). The TLS solution is computed from these
+          vectors. The other columns of array C contain no useful
+          information.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
+          If INFO = 0, the leading N-by-L part of this array
+          contains the solution X to the TLS problem specified by
+          A and B.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= max(1,N).
+
+  Q       (output) DOUBLE PRECISION array, dimension
+          (max(1,2*min(M,N+L)-1))
+          This array contains the partially diagonalized bidiagonal
+          matrix J computed from C, at the moment that the desired
+          singular subspace has been found. Specifically, the
+          leading p = min(M,N+L) entries of Q contain the diagonal
+          elements q(1),q(2),...,q(p) and the entries Q(p+1),Q(p+2),
+          ...,Q(2*p-1) contain the superdiagonal elements e(1),e(2),
+          ...,e(p-1) of J.
+
+  INUL    (output) LOGICAL array, dimension (N+L)
+          The indices of the elements of this array with value
+          .TRUE. indicate the columns in C containing the base
+          vectors of the right singular subspace of C from which
+          the TLS solution has been computed.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width. TOL is also taken
+          as an absolute tolerance for negligible elements in the
+          QR/QL iterations. If the user sets TOL to be less than or
+          equal to 0, then the tolerance is taken as specified in
+          SLICOT Library routine MB04YD document.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged. If the user sets RELTOL to be less than
+          BASE * EPS, where BASE is machine radix and EPS is machine
+          precision (see LAPACK Library routine DLAMCH), then the
+          tolerance is taken as BASE * EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+2*L)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2) returns the reciprocal of the
+          condition number of the matrix F.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max(2, max(M,N+L) + 2*min(M,N+L),
+                       min(M,N+L) + LW + max(6*(N+L)-5,
+                                             L*L+max(N+L,3*L)),
+          where
+          LW = (N+L)*(N+L-1)/2,  if M &gt;= N+L,
+          LW = M*(N+L-(M-1)/2),  if M &lt;  N+L.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N+L)
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 1:  if the rank of matrix C has been lowered because a
+                singular value of multiplicity greater than 1 was
+                found;
+          = 2:  if the rank of matrix C has been lowered because the
+                upper triangular matrix F is (numerically) singular.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the maximum number of QR/QL iteration steps
+                (30*MIN(M,N)) has been exceeded;
+          = 2:  if the computed rank of the TLS approximation
+                [A+DA|B+DB] exceeds MIN(M,N). Try increasing the
+                value of THETA or set the value of RANK to min(M,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Partial Total Least Squares (PTLS) approach
+  proposed by Van Huffel and Vandewalle [5].
+
+  Let C = [A|B] denote the matrix formed by adjoining the columns of
+  B to the columns of A on the right.
+
+  Total Least Squares (TLS) definition:
+  -------------------------------------
+
+    Given matrices A and B, find a matrix X satisfying
+
+         (A + DA) X = B + DB,
+
+    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
+    and X is an N-by-L matrix.
+    The solution X must be such that the Frobenius norm of [DA|DB]
+    is a minimum and each column of B + DB is in the range of
+    A + DA. Whenever the solution is not unique, the routine singles
+    out the minimum norm solution X.
+
+  Let V denote the right singular subspace of C. Since the TLS
+  solution can be computed from any orthogonal basis of the subspace
+  of V corresponding to the smallest singular values of C, the
+  Partial Singular Value Decomposition (PSVD) can be used instead of
+  the classical SVD. The dimension of this subspace of V may be
+  determined by the rank of C or by an upper bound for those
+  smallest singular values.
+
+  The PTLS algorithm proceeds as follows (see [2 - 5]):
+
+  Step 1: Bidiagonalization phase
+          -----------------------
+   (a) If M is large enough than N + L, transform C into upper
+       triangular form R by Householder transformations.
+   (b) Transform C (or R) into upper bidiagonal form
+       (p = min(M,N+L)):
+
+                  |q(1) e(1)  0   ...  0   |
+             (0)  | 0   q(2) e(2)      .   |
+            J   = | .                  .   |
+                  | .                e(p-1)|
+                  | 0             ... q(p) |
+
+       if M &gt;= N + L, or lower bidiagonal form:
+
+                  |q(1)  0    0   ...  0     0   |
+             (0)  |e(1) q(2)  0        .     .   |
+            J   = | .                  .     .   |
+                  | .                 q(p)   .   |
+                  | 0             ... e(p-1) q(p)|
+
+       if M &lt; N + L, using Householder transformations.
+       In the second case, transform the matrix to the upper
+       bidiagonal form by applying Givens rotations.
+   (c) Initialize the right singular base matrix with the identity
+       matrix.
+
+  Step 2: Partial diagonalization phase
+          -----------------------------
+  If the upper bound THETA is not given, then compute THETA such
+  that precisely p - RANK singular values (p=min(M,N+L)) of the
+  bidiagonal matrix are less than or equal to THETA, using a
+  bisection method [5]. Diagonalize the given bidiagonal matrix J
+  partially, using either QL iterations (if the upper left diagonal
+  element of the considered bidiagonal submatrix is smaller than the
+  lower right diagonal element) or QR iterations, such that J is
+  split into unreduced bidiagonal submatrices whose singular values
+  are either all larger than THETA or are all less than or equal
+  to THETA. Accumulate the Givens rotations in V.
+
+  Step 3: Back transformation phase
+          -------------------------
+  Apply the Householder transformations of Step 1(b) onto the base
+  vectors of V associated with the bidiagonal submatrices with all
+  singular values less than or equal to THETA.
+
+  Step 4: Computation of F and Y
+          ----------------------
+  Let V2 be the matrix of the columns of V corresponding to the
+  (N + L - RANK) smallest singular values of C.
+  Compute with Householder transformations the matrices F and Y
+  such that:
+
+                    |VH   Y|
+           V2 x Q = |      |
+                    |0    F|
+
+  where Q is an orthogonal matrix, VH is an N-by-(N-RANK) matrix,
+  Y is an N-by-L matrix and F is an L-by-L upper triangular matrix.
+  If F is singular, then reduce the value of RANK by one and repeat
+  Steps 2, 3 and 4.
+
+  Step 5: Computation of the TLS solution
+          -------------------------------
+  If F is non-singular then the solution X is obtained by solving
+  the following equations by forward elimination:
+
+           X F = -Y.
+
+  Notes:
+  If RANK is lowered in Step 4, some additional base vectors must
+  be computed in Step 2. The additional computations are kept to
+  a minimum.
+  If RANK is lowered in Step 4 but the multiplicity of the RANK-th
+  singular value is larger than 1, then the value of RANK is further
+  lowered with its multiplicity defined by the parameter TOL. This
+  is done at the beginning of Step 2 by calling SLICOT Library
+  routine MB03MD (from MB04YD), which estimates THETA using a
+  bisection method. If F in Step 4 is singular, then the computed
+  solution is infinite and hence does not satisfy the second TLS
+  criterion (see TLS definition). For these cases, Golub and
+  Van Loan [1] claim that the TLS problem has no solution. The
+  properties of these so-called nongeneric problems are described
+  in [6] and the TLS computations are generalized in order to solve
+  them. As proven in [6], the proposed generalization satisfies the
+  TLS criteria for any number L of observation vectors in B provided
+  that, in addition, the solution | X| is constrained to be
+                                  |-I|
+  orthogonal to all vectors of the form |w| which belong to the
+                                        |0|
+  space generated by the columns of the submatrix |Y|.
+                                                  |F|
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      An Analysis of the Total Least-Squares Problem.
+      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
+
+  [2] Van Huffel, S., Vandewalle, J. and Haegemans, A.
+      An Efficient and Reliable Algorithm for Computing the
+      Singular Subspace of a Matrix Associated with its Smallest
+      Singular Values.
+      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
+
+  [3] Van Huffel, S.
+      Analysis of the Total Least Squares Problem and its Use in
+      Parameter Estimation.
+      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
+      Universiteit Leuven, Belgium, June 1987.
+
+  [4] Chan, T.F.
+      An Improved Algorithm for Computing the Singular Value
+      Decomposition.
+      ACM TOMS, 8, pp. 72-83, 1982.
+
+  [5] Van Huffel, S. and Vandewalle, J.
+      The Partial Total Least Squares Algorithm.
+      J. Comput. Appl. Math., 21, pp. 333-341, 1988.
+
+  [6] Van Huffel, S. and Vandewalle, J.
+      Analysis and Solution of the Nongeneric Total Least Squares
+      Problem.
+      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The computational efficiency of the PTLS algorithm compared with
+  the classical TLS algorithm (see [2 - 5]) is obtained by making
+  use of PSVD (see [1]) instead of performing the entire SVD.
+  Depending on the gap between the RANK-th and the (RANK+1)-th
+  singular values of C, the number (N + L - RANK) of base vectors to
+  be computed with respect to the column dimension (N + L) of C and
+  the desired accuracy RELTOL, the algorithm used by this routine is
+  approximately twice as fast as the classical TLS algorithm at the
+  expense of extra storage requirements, namely:
+    (N + L) x (N + L - 1)/2  if M &gt;= N + L or
+    M x (N + L - (M - 1)/2)  if M &lt;  N + L.
+  This is because the Householder transformations performed on the
+  rows of C in the bidiagonalization phase (see Step 1) must be kept
+  until the end (Step 5).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, LMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
+      INTEGER          LDC, LDX
+      PARAMETER        ( LDC = MAX( MMAX, NMAX+LMAX ), LDX = NMAX )
+      INTEGER          LENGQ
+      PARAMETER        ( LENGQ = 2*MIN(MMAX,NMAX+LMAX)-1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX+2*LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(2, MAX( MMAX, NMAX+LMAX ) +
+     $                            2*MIN( MMAX, NMAX+LMAX ),
+     $                            MIN( MMAX, NMAX+LMAX ) +
+     $                            MAX( ( NMAX+LMAX )*( NMAX+LMAX-1 )/2,
+     $                              MMAX*( NMAX+LMAX-( MMAX-1 )/2 ) ) +
+     $                            MAX( 6*(NMAX+LMAX)-5, LMAX*LMAX +
+     $                                 MAX( NMAX+LMAX, 3*LMAX ) ) ) )
+      INTEGER          LBWORK
+      PARAMETER        ( LBWORK = NMAX+LMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
+      INTEGER          I, INFO, IWARN, J, K, L, LOOP, M, MINMNL, N,
+     $                 RANK, RANK1
+*     .. Local Arrays ..
+      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK),
+     $                 Q(LENGQ), X(LDX,LMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LBWORK), INUL(NMAX+LMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB02ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, L, RANK, THETA, TOL, RELTOL
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99982 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) N
+      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99981 ) L
+      ELSE IF ( RANK.GT.MIN( MMAX, NMAX ) ) THEN
+         WRITE ( NOUT, FMT = 99980 ) RANK
+      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
+         WRITE ( NOUT, FMT = 99979 ) THETA
+      ELSE
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
+         RANK1 = RANK
+         THETA1 = THETA
+*        Compute the solution to the TLS problem Ax = b.
+         CALL MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
+     $                TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK, IWARN,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) RANK
+            ELSE
+               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
+            END IF
+            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
+            WRITE ( NOUT, FMT = 99994 )
+            MINMNL = MIN( M, N+L )
+            LOOP = MINMNL - 1
+            DO 20 I = 1, LOOP
+               K = I + MINMNL
+               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99992 ) MINMNL, MINMNL, Q(MINMNL)
+            WRITE ( NOUT, FMT = 99991 )
+            DO 60 J = 1, L
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) X(I,J)
+   40          CONTINUE
+               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99989 )
+   60       CONTINUE
+            WRITE ( NOUT, FMT = 99987 ) N + L, N + L
+            WRITE ( NOUT, FMT = 99985 )
+            DO 80 I = 1, MAX( M, N + L )
+               WRITE ( NOUT, FMT = 99984 ) ( C(I,J), J = 1,N+L )
+   80       CONTINUE
+            WRITE ( NOUT, FMT = 99986 )
+            DO 100 J = 1, N + L
+               WRITE ( NOUT, FMT = 99988 ) J, INUL(J)
+  100       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02ND = ',I2)
+99997 FORMAT (' IWARN on exit from MB02ND = ',I2,/)
+99996 FORMAT (' The computed rank of the TLS approximation  = ',I3,/)
+99995 FORMAT (' The computed value of THETA = ',F7.4,/)
+99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
+     $       'matrix are',/)
+99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
+99991 FORMAT (' The solution X to the TLS problem is ',/)
+99990 FORMAT (1X,F8.4)
+99989 FORMAT (' ')
+99988 FORMAT (I3,L8)
+99987 FORMAT (/' Right singular subspace corresponds to the first ',I2,
+     $       ' components of the j-th ',/' column of C for which INUL(',
+     $       'j) = .TRUE., j = 1,...,',I2,/)
+99986 FORMAT (/'  j    INUL(j)',/)
+99985 FORMAT (' Matrix C',/)
+99984 FORMAT (20(1X,F8.4))
+99983 FORMAT (/' N is out of range.',/' N = ',I5)
+99982 FORMAT (/' M is out of range.',/' M = ',I5)
+99981 FORMAT (/' L is out of range.',/' L = ',I5)
+99980 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
+99979 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02ND EXAMPLE PROGRAM DATA
+   6     3     1     -1     0.001     0.0     0.0
+   0.80010  0.39985  0.60005  0.89999
+   0.29996  0.69990  0.39997  0.82997
+   0.49994  0.60003  0.20012  0.79011
+   0.90013  0.20016  0.79995  0.85002
+   0.39998  0.80006  0.49985  0.99016
+   0.20002  0.90007  0.70009  1.02994
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02ND EXAMPLE PROGRAM RESULTS
+
+ The computed rank of the TLS approximation  =   3
+
+ The elements of the partially diagonalized bidiagonal matrix are
+
+ (1,1) =  3.2280   (1,2) = -0.0287
+ (2,2) =  0.8714   (2,3) =  0.0168
+ (3,3) =  0.3698   (3,4) =  0.0000
+ (4,4) =  0.0001
+
+ The solution X to the TLS problem is 
+
+   0.5003
+   0.8003
+   0.2995
+
+ Right singular subspace corresponds to the first  4 components of the j-th 
+ column of C for which INUL(j) = .TRUE., j = 1,..., 4
+
+ Matrix C
+
+  -0.3967  -0.7096   0.4612  -0.3555
+   0.9150  -0.2557   0.2414  -0.5687
+  -0.0728   0.6526   0.5215  -0.2128
+   0.0000   0.0720   0.6761   0.7106
+   0.1809   0.3209   0.0247  -0.4139
+   0.0905   0.4609  -0.3528   0.5128
+
+  j    INUL(j)
+
+  1       F
+  2       F
+  3       F
+  4       T
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02NY.html b/doc/_build/html/_static/doc/MB02NY.html
new file mode 100644
index 00000000..2de98dd8
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+<HTML>
+<HEAD><TITLE>MB02NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02NY">MB02NY</A></H2>
+<H3>
+Separation of a zero singular value of a bidiagonal submatrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To separate a zero singular value of a bidiagonal submatrix of
+  order k, k &lt;= p, of the bidiagonal matrix
+
+            |Q(1) E(1)  0    ...   0   |
+            | 0   Q(2) E(2)        .   |
+        J = | .                    .   |
+            | .                  E(p-1)|
+            | 0   ...  ...   ...  Q(p) |
+
+  with p = MIN(M,N), by annihilating one or two superdiagonal
+  elements E(i-1) (if i &gt; 1) and/or E(i) (if i &lt; k).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02NY( UPDATU, UPDATV, M, N, I, K, Q, E, U, LDU, V,
+     $                   LDV, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           UPDATU, UPDATV
+      INTEGER           I, K, LDU, LDV, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPDATU  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix U the left-hand Givens rotations S, as follows:
+          = .FALSE.:  Do not form U;
+          = .TRUE. :  The given matrix U is updated (postmultiplied)
+                      by the left-hand Givens rotations S.
+
+  UPDATV  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix V the right-hand Givens rotations T, as follows:
+          = .FALSE.:  Do not form V;
+          = .TRUE. :  The given matrix V is updated (postmultiplied)
+                      by the right-hand Givens rotations T.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix U.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix V.  N &gt;= 0.
+
+  I       (input) INTEGER
+          The index of the negligible diagonal entry Q(I) of the
+          bidiagonal matrix J, I &lt;= p.
+
+  K       (input) INTEGER
+          The index of the last diagonal entry of the considered
+          bidiagonal submatrix of J, i.e., E(K-1) is considered
+          negligible, K &lt;= p.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (p)
+          where p = MIN(M,N).
+          On entry, Q must contain the diagonal entries of the
+          bidiagonal matrix J.
+          On exit, Q contains the diagonal entries of the
+          transformed bidiagonal matrix S' J T.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
+          On entry, E must contain the superdiagonal entries of J.
+          On exit, E contains the superdiagonal entries of the
+          transformed bidiagonal matrix S' J T.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
+          On entry, if UPDATU = .TRUE., U must contain the M-by-p
+          left transformation matrix.
+          On exit, if UPDATU = .TRUE., the Givens rotations S on the
+          left, annihilating E(i) if i &lt; k, have been postmultiplied
+          into U.
+          U is not referenced if UPDATU = .FALSE..
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
+          LDU &gt;= 1        if UPDATU = .FALSE..
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
+          On entry, if UPDATV = .TRUE., V must contain the N-by-p
+          right transformation matrix.
+          On exit, if UPDATV = .TRUE., the Givens rotations T on the
+          right, annihilating E(i-1) if i &gt; 1,  have been
+          postmultiplied into V.
+          V is not referenced if UPDATV = .FALSE..
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
+          LDV &gt;= 1        if UPDATV = .FALSE..
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
+          LDWORK &gt;= 2*MAX(K-I,I-1),  if UPDATV = UPDATU = .TRUE.;
+          LDWORK &gt;= 2*(K-I), if UPDATU = .TRUE., UPDATV = .FALSE.;
+          LDWORK &gt;= 2*(I-1), if UPDATV = .TRUE., UPDATU = .FALSE.;
+          LDWORK &gt;= 1,       if UPDATU = UPDATV = .FALSE..
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let the considered bidiagonal submatrix be
+
+            |Q(1) E(1)  0                    ...   0   |
+            | 0   Q(2) E(2)                        .   |
+            | .                                    .   |
+            | .           Q(i-1) E(i-1)            .   |
+       Jk = | .                   Q(i) E(i)        .   |.
+            | .                       Q(i+1) .     .   |
+            | .                              ..    .   |
+            | .                                  E(k-1)|
+            | 0    ...                       ...  Q(k) |
+
+  A zero singular value of Jk manifests itself by a zero diagonal
+  entry Q(i) or in practice, a negligible value of Q(i).
+  When a negligible diagonal element Q(i) in Jk is present, the
+  bidiagonal submatrix Jk is split by the routine into 2 or 3
+  unreduced bidiagonal submatrices by annihilating E(i) (if i &lt; k)
+  using Givens rotations S on the left and by annihilating E(i-1)
+  (if i &gt; 1) using Givens rotations T on the right until Jk is
+  reduced to the form:
+
+            |Q(1) E(1)  0                ...   0   |
+            | 0         .                ...   .   |
+            | .                          ...   .   |
+            | .       Q(i-1) 0                 .   |
+  S' Jk T = | .              0   0             .   |.
+            | .                 Q(i+1)   .     .   |
+            | .                          ..    .   |
+            | .                              E(k-1)|
+            | 0    ...                   ...  Q(k) |
+
+  For more details, see [1, pp.11.12-11.14].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Dongarra, J.J., Bunch, J.R., Moler C.B. and Stewart, G.W.
+      LINPACK User's Guide.
+      SIAM, Philadelphia, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02OD.html b/doc/_build/html/_static/doc/MB02OD.html
new file mode 100644
index 00000000..f6b323c6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02OD.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>MB02OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02OD">MB02OD</A></H2>
+<H3>
+Solution of matrix equations A X = alpha B, or X A = alpha B, A triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve (if well-conditioned) one of the matrix equations
+
+     op( A )*X = alpha*B,   or   X*op( A ) = alpha*B,
+
+  where alpha is a scalar, X and B are m-by-n matrices, A is a unit,
+  or non-unit, upper or lower triangular matrix and op( A ) is one
+  of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  An estimate of the reciprocal of the condition number of the
+  triangular matrix A, in either the 1-norm or the infinity-norm, is
+  also computed as
+
+     RCOND = 1 / ( norm(A) * norm(inv(A)) ).
+
+  and the specified matrix equation is solved only if RCOND is
+  larger than a given tolerance TOL.  In that case, the matrix X is
+  overwritten on B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02OD( SIDE, UPLO, TRANS, DIAG, NORM, M, N, ALPHA, A,
+     $                   LDA, B, LDB, RCOND, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DIAG, NORM, SIDE, TRANS, UPLO
+      INTEGER            INFO, LDA, LDB, M, N
+      DOUBLE PRECISION   ALPHA, RCOND, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether op( A ) appears on the left or right
+          of X as follows:
+          = 'L':  op( A )*X = alpha*B;
+          = 'R':  X*op( A ) = alpha*B.
+
+  UPLO    CHARACTER*1
+          Specifies whether the matrix A is an upper or lower
+          triangular matrix as follows:
+          = 'U':  A is an upper triangular matrix;
+          = 'L':  A is a lower triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+  DIAG    CHARACTER*1
+          Specifies whether or not A is unit triangular as follows:
+          = 'U':  A is assumed to be unit triangular;
+          = 'N':  A is not assumed to be unit triangular.
+
+  NORM    CHARACTER*1
+          Specifies whether the 1-norm condition number or the
+          infinity-norm condition number is required:
+          = '1' or 'O':  1-norm;
+          = 'I':         Infinity-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of B.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar  alpha. When alpha is zero then A is not
+          referenced and B need not be set before entry.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with UPLO = 'U', the leading k-by-k upper
+          triangular part of this array must contain the upper
+          triangular matrix and the strictly lower triangular part
+          of A is not referenced.
+          On entry with UPLO = 'L', the leading k-by-k lower
+          triangular part of this array must contain the lower
+          triangular matrix and the strictly upper triangular part
+          of A is not referenced.
+          Note that when DIAG = 'U', the diagonal elements of A are
+          not referenced either, but are assumed to be unity.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= max(1,M) when SIDE = 'L';
+          LDA &gt;= max(1,N) when SIDE = 'R'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand side matrix B.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X.
+          Otherwise, this array is not modified by the routine.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal of the condition number of the matrix A,
+          computed as RCOND = 1/(norm(A) * norm(inv(A))).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the matrix A. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the reciprocal
+          condition number of that matrix; a matrix whose estimated
+          condition number is less than 1/TOL is considered to be
+          nonsingular. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF = k*k*EPS,
+          is used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (k)
+
+  DWORK   DOUBLE PRECISION array, dimension (3*k)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix A is numerically singular, i.e. the
+                condition number estimate of A (in the specified
+                norm) exceeds 1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An estimate of the reciprocal of the condition number of the
+  triangular matrix A (in the specified norm) is computed, and if
+  this estimate is larger then the given (or default) tolerance,
+  the specified matrix equation is solved using Level 3 BLAS
+  routine DTRSM.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                          2
+  The algorithm requires k N/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02PD.html b/doc/_build/html/_static/doc/MB02PD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB02PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02PD">MB02PD</A></H2>
+<H3>
+Solution of matrix equation op(A) X = B, with error bounds and condition estimates
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve (if well-conditioned) the matrix equations
+
+     op( A )*X = B,
+
+  where X and B are N-by-NRHS matrices, A is an N-by-N matrix and
+  op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  Error bounds on the solution and a condition estimate are also
+  provided.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02PD( FACT, TRANS, N, NRHS, A, LDA, AF, LDAF, IPIV,
+     $                   EQUED, R, C, B, LDB, X, LDX, RCOND, FERR, BERR,
+     $                   IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUED, FACT, TRANS
+      INTEGER           INFO, LDA, LDAF, LDB, LDX, N, NRHS
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      INTEGER           IPIV( * ), IWORK( * )
+      DOUBLE PRECISION  A( LDA, * ), AF( LDAF, * ), B( LDB, * ),
+     $                  BERR( * ), C( * ), DWORK( * ), FERR( * ),
+     $                  R( * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FACT    CHARACTER*1
+          Specifies whether or not the factored form of the matrix A
+          is supplied on entry, and if not, whether the matrix A
+          should be equilibrated before it is factored.
+          = 'F':  On entry, AF and IPIV contain the factored form
+                  of A. If EQUED is not 'N', the matrix A has been
+                  equilibrated with scaling factors given by R
+                  and C. A, AF, and IPIV are not modified.
+          = 'N':  The matrix A will be copied to AF and factored.
+          = 'E':  The matrix A will be equilibrated if necessary,
+                  then copied to AF and factored.
+
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations as follows:
+          = 'N':  A * X = B     (No transpose);
+          = 'T':  A**T * X = B  (Transpose);
+          = 'C':  A**H * X = B  (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of linear equations, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrices B and X.  NRHS &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.  If FACT = 'F' and EQUED is not 'N',
+          then A must have been equilibrated by the scaling factors
+          in R and/or C.  A is not modified if FACT = 'F' or 'N',
+          or if FACT = 'E' and EQUED = 'N' on exit.
+          On exit, if EQUED .NE. 'N', the leading N-by-N part of
+          this array contains the matrix A scaled as follows:
+          EQUED = 'R':  A := diag(R) * A;
+          EQUED = 'C':  A := A * diag(C);
+          EQUED = 'B':  A := diag(R) * A * diag(C).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  AF      (input or output) DOUBLE PRECISION array, dimension
+          (LDAF,N)
+          If FACT = 'F', then AF is an input argument and on entry
+          the leading N-by-N part of this array must contain the
+          factors L and U from the factorization A = P*L*U as
+          computed by DGETRF.  If EQUED .NE. 'N', then AF is the
+          factored form of the equilibrated matrix A.
+          If FACT = 'N', then AF is an output argument and on exit
+          the leading N-by-N part of this array contains the factors
+          L and U from the factorization A = P*L*U of the original
+          matrix A.
+          If FACT = 'E', then AF is an output argument and on exit
+          the leading N-by-N part of this array contains the factors
+          L and U from the factorization A = P*L*U of the
+          equilibrated matrix A (see the description of A for the
+          form of the equilibrated matrix).
+
+  LDAF    (input) INTEGER
+          The leading dimension of the array AF.  LDAF &gt;= max(1,N).
+
+  IPIV    (input or output) INTEGER array, dimension (N)
+          If FACT = 'F', then IPIV is an input argument and on entry
+          it must contain the pivot indices from the factorization
+          A = P*L*U as computed by DGETRF; row i of the matrix was
+          interchanged with row IPIV(i).
+          If FACT = 'N', then IPIV is an output argument and on exit
+          it contains the pivot indices from the factorization
+          A = P*L*U of the original matrix A.
+          If FACT = 'E', then IPIV is an output argument and on exit
+          it contains the pivot indices from the factorization
+          A = P*L*U of the equilibrated matrix A.
+
+  EQUED   (input or output) CHARACTER*1
+          Specifies the form of equilibration that was done as
+          follows:
+          = 'N':  No equilibration (always true if FACT = 'N');
+          = 'R':  Row equilibration, i.e., A has been premultiplied
+                  by diag(R);
+          = 'C':  Column equilibration, i.e., A has been
+                  postmultiplied by diag(C);
+          = 'B':  Both row and column equilibration, i.e., A has
+                  been replaced by diag(R) * A * diag(C).
+          EQUED is an input argument if FACT = 'F'; otherwise, it is
+          an output argument.
+
+  R       (input or output) DOUBLE PRECISION array, dimension (N)
+          The row scale factors for A.  If EQUED = 'R' or 'B', A is
+          multiplied on the left by diag(R); if EQUED = 'N' or 'C',
+          R is not accessed.  R is an input argument if FACT = 'F';
+          otherwise, R is an output argument.  If FACT = 'F' and
+          EQUED = 'R' or 'B', each element of R must be positive.
+
+  C       (input or output) DOUBLE PRECISION array, dimension (N)
+          The column scale factors for A.  If EQUED = 'C' or 'B',
+          A is multiplied on the right by diag(C); if EQUED = 'N'
+          or 'R', C is not accessed.  C is an input argument if
+          FACT = 'F'; otherwise, C is an output argument.  If
+          FACT = 'F' and EQUED = 'C' or 'B', each element of C must
+          be positive.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,NRHS)
+          On entry, the leading N-by-NRHS part of this array must
+          contain the right-hand side matrix B.
+          On exit,
+          if EQUED = 'N', B is not modified;
+          if TRANS = 'N' and EQUED = 'R' or 'B', the leading
+          N-by-NRHS part of this array contains diag(R)*B;
+          if TRANS = 'T' or 'C' and EQUED = 'C' or 'B', the leading
+          N-by-NRHS part of this array contains diag(C)*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,NRHS)
+          If INFO = 0 or INFO = N+1, the leading N-by-NRHS part of
+          this array contains the solution matrix X to the original
+          system of equations.  Note that A and B are modified on
+          exit if EQUED .NE. 'N', and the solution to the
+          equilibrated system is inv(diag(C))*X if TRANS = 'N' and
+          EQUED = 'C' or 'B', or inv(diag(R))*X if TRANS = 'T' or
+          'C' and EQUED = 'R' or 'B'.
+
+  LDX     (input) INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimate of the reciprocal condition number of the
+          matrix A after equilibration (if done).  If RCOND is less
+          than the machine precision (in particular, if RCOND = 0),
+          the matrix is singular to working precision.  This
+          condition is indicated by a return code of INFO &gt; 0.
+          For efficiency reasons, RCOND is computed only when the
+          matrix A is factored, i.e., for FACT = 'N' or 'E'.  For
+          FACT = 'F', RCOND is not used, but it is assumed that it
+          has been computed and checked before the routine call.
+
+  FERR    (output) DOUBLE PRECISION array, dimension (NRHS)
+          The estimated forward error bound for each solution vector
+          X(j) (the j-th column of the solution matrix X).
+          If XTRUE is the true solution corresponding to X(j),
+          FERR(j) is an estimated upper bound for the magnitude of
+          the largest element in (X(j) - XTRUE) divided by the
+          magnitude of the largest element in X(j).  The estimate
+          is as reliable as the estimate for RCOND, and is almost
+          always a slight overestimate of the true error.
+
+  BERR    (output) DOUBLE PRECISION array, dimension (NRHS)
+          The componentwise relative backward error of each solution
+          vector X(j) (i.e., the smallest relative change in
+          any element of A or B that makes X(j) an exact solution).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (4*N)
+          On entry, if FACT = 'F', DWORK(1) contains the reciprocal
+          pivot growth factor norm(A)/norm(U), computed previously
+          by this routine, with FACT &lt;&gt; 'N', for the same matrix A.
+          On exit, DWORK(1) contains the reciprocal pivot growth
+          factor norm(A)/norm(U). The "max absolute element" norm is
+          used. If DWORK(1) is much less than 1, then the stability
+          of the LU factorization of the (equilibrated) matrix A
+          could be poor. This also means that the solution X,
+          condition estimator RCOND, and forward error bound FERR
+          could be unreliable. If factorization fails with
+          0 &lt; INFO &lt;= N, then DWORK(1) contains the reciprocal pivot
+          growth factor for the leading INFO columns of A.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, and i is
+                &lt;= N:  U(i,i) is exactly zero.  The factorization
+                       has been completed, but the factor U is
+                       exactly singular, so the solution and error
+                       bounds could not be computed. RCOND = 0 is
+                       returned.
+                = N+1: U is nonsingular, but RCOND is less than
+                       machine precision, meaning that the matrix is
+                       singular to working precision.  Nevertheless,
+                       the solution and error bounds are computed
+                       because there are a number of situations
+                       where the computed solution can be more
+                       accurate than the value of RCOND would
+                       suggest.
+          The positive values for INFO are set only when the
+          matrix A is factored, i.e., for FACT = 'N' or 'E'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The following steps are performed:
+
+  1. If FACT = 'E', real scaling factors are computed to equilibrate
+     the system:
+
+     TRANS = 'N':  diag(R)*A*diag(C)     *inv(diag(C))*X = diag(R)*B
+     TRANS = 'T': (diag(R)*A*diag(C))**T *inv(diag(R))*X = diag(C)*B
+     TRANS = 'C': (diag(R)*A*diag(C))**H *inv(diag(R))*X = diag(C)*B
+
+     Whether or not the system will be equilibrated depends on the
+     scaling of the matrix A, but if equilibration is used, A is
+     overwritten by diag(R)*A*diag(C) and B by diag(R)*B
+     (if TRANS='N') or diag(C)*B (if TRANS = 'T' or 'C').
+
+  2. If FACT = 'N' or 'E', the LU decomposition is used to factor
+     the matrix A (after equilibration if FACT = 'E') as
+        A = P * L * U,
+     where P is a permutation matrix, L is a unit lower triangular
+     matrix, and U is upper triangular.
+
+  3. If some U(i,i)=0, so that U is exactly singular, then the
+     routine returns with INFO = i. Otherwise, the factored form
+     of A is used to estimate the condition number of the matrix A.
+     If the reciprocal of the condition number is less than machine
+     precision, INFO = N+1 is returned as a warning, but the routine
+     still goes on to solve for X and compute error bounds as
+     described below.
+
+  4. The system of equations is solved for X using the factored form
+     of A.
+
+  5. Iterative refinement is applied to improve the computed
+     solution matrix and calculate error bounds and backward error
+     estimates for it.
+
+  6. If equilibration was used, the matrix X is premultiplied by
+     diag(C) (if TRANS = 'N') or diag(R) (if TRANS = 'T' or 'C') so
+     that it solves the original system before equilibration.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., Sorensen, D.
+      LAPACK Users' Guide: Second Edition, SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This is a simplified version of the LAPACK Library routine DGESVX,
+  useful when several sets of matrix equations with the same
+  coefficient matrix  A and/or A'  should be solved.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02QD.html b/doc/_build/html/_static/doc/MB02QD.html
new file mode 100644
index 00000000..06c2bdab
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02QD.html
@@ -0,0 +1,345 @@
+<HTML>
+<HEAD><TITLE>MB02QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02QD">MB02QD</A></H2>
+<H3>
+Solution of a linear least squares problem corresponding to specified free elements
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a solution, optionally corresponding to specified free
+  elements, to a real linear least squares problem:
+
+      minimize || A * X - B ||
+
+  using a complete orthogonal factorization of the M-by-N matrix A,
+  which may be rank-deficient.
+
+  Several right hand side vectors b and solution vectors x can be
+  handled in a single call; they are stored as the columns of the
+  M-by-NRHS right hand side matrix B and the N-by-NRHS solution
+  matrix X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A, LDA,
+     $                   B, LDB, Y, JPVT, RANK, SVAL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          INIPER, JOB
+      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   SVAL( 3 ), Y ( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether or not a standard least squares solution
+          must be computed, as follows:
+          = 'L':  Compute a standard least squares solution (Y = 0);
+          = 'F':  Compute a solution with specified free elements
+                  (given in Y).
+
+  INIPER  CHARACTER*1
+          Specifies whether an initial column permutation, defined
+          by JPVT, must be performed, as follows:
+          = 'P':  Perform an initial column permutation;
+          = 'N':  Do not perform an initial column permutation.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrices B and X.  NRHS &gt;= 0.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix C, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of C
+          (for instance, the Frobenius norm of C).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading M-by-N part of this array contains
+          details of its complete orthogonal factorization:
+          the leading RANK-by-RANK upper triangular part contains
+          the upper triangular factor T11 (see METHOD);
+          the elements below the diagonal, with the entries 2 to
+          min(M,N)+1 of the array DWORK, represent the orthogonal
+          matrix Q as a product of min(M,N) elementary reflectors
+          (see METHOD);
+          the elements of the subarray A(1:RANK,RANK+1:N), with the
+          next RANK entries of the array DWORK, represent the
+          orthogonal matrix Z as a product of RANK elementary
+          reflectors (see METHOD).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,NRHS)
+          On entry, the leading M-by-NRHS part of this array must
+          contain the right hand side matrix B.
+          On exit, the leading N-by-NRHS part of this array contains
+          the solution matrix X.
+          If M &gt;= N and RANK = N, the residual sum-of-squares for
+          the solution in the i-th column is given by the sum of
+          squares of elements N+1:M in that column.
+          If NRHS = 0, this array is not referenced, and the routine
+          returns the effective rank of A, and its QR factorization.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,M,N).
+
+  Y       (input) DOUBLE PRECISION array, dimension ( N*NRHS )
+          If JOB = 'F', the elements Y(1:(N-RANK)*NRHS) are used as
+          free elements in computing the solution (see METHOD).
+          The remaining elements are not referenced.
+          If JOB = 'L', or NRHS = 0, this array is not referenced.
+
+  JPVT    (input/output) INTEGER array, dimension (N)
+          On entry with INIPER = 'P', if JPVT(i) &lt;&gt; 0, the i-th
+          column of A is an initial column, otherwise it is a free
+          column.  Before the QR factorization of A, all initial
+          columns are permuted to the leading positions; only the
+          remaining free columns are moved as a result of column
+          pivoting during the factorization.
+          If INIPER = 'N', JPVT need not be set on entry.
+          On exit, if JPVT(i) = k, then the i-th column of A*P
+          was the k-th column of A.
+
+  RANK    (output) INTEGER
+          The effective rank of A, i.e., the order of the submatrix
+          R11.  This is the same as the order of the submatrix T11
+          in the complete orthogonal factorization of A.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R11:
+          SVAL(1): largest singular value of  R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and the entries 2 to min(M,N) + RANK + 1
+          contain the scalar factors of the elementary reflectors
+          used in the complete orthogonal factorization of A.
+          Among the entries 2 to min(M,N) + 1, only the first RANK
+          elements are useful, if INIPER = 'N'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( min(M,N)+3*N+1, 2*min(M,N)+NRHS )
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INIPER = 'P', the routine first computes a QR factorization
+  with column pivoting:
+      A * P = Q * [ R11 R12 ]
+                  [  0  R22 ]
+  with R11 defined as the largest leading submatrix whose estimated
+  condition number is less than 1/RCOND.  The order of R11, RANK,
+  is the effective rank of A.
+  If INIPER = 'N', the effective rank is estimated during a
+  truncated QR factorization (with column pivoting) process, and
+  the submatrix R22 is not upper triangular, but full and of small
+  norm. (See SLICOT Library routines MB03OD or MB03OY, respectively,
+  for further details.)
+
+  Then, R22 is considered to be negligible, and R12 is annihilated
+  by orthogonal transformations from the right, arriving at the
+  complete orthogonal factorization:
+     A * P = Q * [ T11 0 ] * Z
+                 [  0  0 ]
+  The solution is then
+     X = P * Z' [ inv(T11)*Q1'*B ]
+                [        Y       ]
+  where Q1 consists of the first RANK columns of Q, and Y contains
+  free elements (if JOB = 'F'), or is zero (if JOB = 'L').
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Significant gain in efficiency is possible for small-rank problems
+  using truncated QR factorization (option INIPER = 'N').
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, NRHSMX
+      PARAMETER        ( NMAX = 20, MMAX = 20, NRHSMX = 20 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = MMAX, LDB = MAX( MMAX, NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(   MIN( MMAX, NMAX) + 3*NMAX + 1,
+     $                                 2*MIN( MMAX, NMAX) + NRHSMX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND, SVLMAX
+      INTEGER          I, INFO, J, M, N, NRHS, RANK
+      CHARACTER*1      INIPER, JOB
+*     .. Local Arrays ..
+      INTEGER          JPVT(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NRHSMX), DWORK(LDWORK),
+     $                 SVAL(3), Y(NMAX*NRHSMX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, NRHS, RCOND, SVLMAX, JOB, INIPER
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) N
+         ELSE
+            IF ( NRHS.LT.0 .OR. NRHS.GT.NRHSMX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) NRHS
+            ELSE
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,M )
+               IF ( LSAME( JOB, 'F' ) )
+     $            READ ( NIN, FMT = * ) ( Y(I),  I = 1,N*NRHS )
+               IF ( LSAME( INIPER, 'P' ) )
+     $            READ ( NIN, FMT = * ) ( JPVT(I),  I = 1,N )
+*              Find the least squares solution.
+               CALL MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A,
+     $                      LDA, B, LDB, Y, JPVT, RANK, SVAL, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) RANK, SVAL
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,NRHS )
+   10             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02QD =',I2)
+99997 FORMAT (' The effective rank of A =',I2,/
+     $        ' Estimates of the singular values SVAL = '/3(1X,F8.4))
+99996 FORMAT (' The least squares solution is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02QD EXAMPLE PROGRAM DATA
+   4   3   2 2.3D-16     0.0     L     N
+   2.0  2.0 -3.0 
+   3.0  3.0 -1.0 
+   4.0  4.0 -5.0 
+  -1.0 -1.0 -2.0 
+   1.0  0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02QD EXAMPLE PROGRAM RESULTS
+
+ The effective rank of A = 2
+ Estimates of the singular values SVAL = 
+   7.8659   2.6698   0.0000
+ The least squares solution is
+  -0.0034  -0.1054
+  -0.0034  -0.1054
+  -0.0816  -0.1973
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02QY.html b/doc/_build/html/_static/doc/MB02QY.html
new file mode 100644
index 00000000..3e56a7cb
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02QY.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB02QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02QY">MB02QY</A></H2>
+<H3>
+Minimum-norm solution to a linear least squares problem, given a rank-revealing QR factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine the minimum-norm solution to a real linear least
+  squares problem:
+
+      minimize || A * X - B ||,
+
+  using the rank-revealing QR factorization of a real general
+  M-by-N matrix  A,  computed by SLICOT Library routine  MB03OD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02QY( M, N, NRHS, RANK, A, LDA, JPVT, B, LDB, TAU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices A and B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of columns of the matrix B.  NRHS &gt;= 0.
+
+  RANK    (input) INTEGER
+          The effective rank of  A,  as returned by SLICOT Library
+          routine  MB03OD.  min(M,N) &gt;= RANK &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry, the leading min(M,N)-by-N upper trapezoidal
+          part of this array contains the triangular factor  R,  as
+          returned by SLICOT Library routine  MB03OD.  The strict
+          lower trapezoidal part of  A  is not referenced.
+          On exit, if  RANK &lt; N,  the leading  RANK-by-RANK  upper
+          triangular part of this array contains the upper
+          triangular matrix  R  of the complete orthogonal
+          factorization of  A,  and the submatrix  (1:RANK,RANK+1:N)
+          of this array, with the array  TAU,  represent the
+          orthogonal matrix  Z  (of the complete orthogonal
+          factorization of  A),  as a product of  RANK  elementary
+          reflectors.
+          On exit, if  RANK = N,  this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  JPVT    (input) INTEGER array, dimension ( N )
+          The recorded permutations performed by SLICOT Library
+          routine  MB03OD;  if  JPVT(i) = k,  then the i-th column
+          of  A*P  was the k-th column of the original matrix  A.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          ( LDB, NRHS )
+          On entry, if  NRHS &gt; 0,  the leading M-by-NRHS part of
+          this array must contain the matrix  B  (corresponding to
+          the transformed matrix  A,  returned by SLICOT Library
+          routine  MB03OD).
+          On exit, if  NRHS &gt; 0,  the leading N-by-NRHS part of this
+          array contains the solution matrix X.
+          If  M &gt;= N  and  RANK = N,  the residual sum-of-squares
+          for the solution in the i-th column is given by the sum
+          of squares of elements  N+1:M  in that column.
+          If  NRHS = 0,  the array  B  is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= max(1,M,N),  if  NRHS &gt; 0.
+          LDB &gt;= 1,           if  NRHS = 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( min(M,N) )
+          The scalar factors of the elementary reflectors.
+          If  RANK = N,  the array  TAU  is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 1, N, NRHS ).
+          For good performance,  LDWORK  should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses a QR factorization with column pivoting:
+
+     A * P = Q * R = Q * [ R11 R12 ],
+                         [  0  R22 ]
+
+  where  R11  is an upper triangular submatrix of estimated rank
+  RANK,  the effective rank of  A.  The submatrix  R22  can be
+  considered as negligible.
+
+  If  RANK &lt; N,  then  R12  is annihilated by orthogonal
+  transformations from the right, arriving at the complete
+  orthogonal factorization:
+
+     A * P = Q * [ T11 0 ] * Z.
+                 [  0  0 ]
+
+  The minimum-norm solution is then
+
+     X = P * Z' [ inv(T11)*Q1'*B ],
+                [        0       ]
+
+  where Q1 consists of the first  RANK  columns of Q.
+
+  The input data for  MB02QY  are the transformed matrices  Q' * A
+  (returned by SLICOT Library routine  MB03OD)  and  Q' * B.
+  Matrix  Q  is not needed.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02RD.html b/doc/_build/html/_static/doc/MB02RD.html
new file mode 100644
index 00000000..a40219dc
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02RD.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>MB02RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02RD">MB02RD</A></H2>
+<H3>
+Solution of a system of linear equations with upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of linear equations
+     H * X = B  or  H' * X = B
+  with an upper Hessenberg N-by-N matrix H using the LU
+  factorization computed by MB02SD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS
+      INTEGER            INFO, LDB, LDH, N, NRHS
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      DOUBLE PRECISION   B( LDB, * ), H( LDH, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations:
+          = 'N':  H * X = B  (No transpose)
+          = 'T':  H'* X = B  (Transpose)
+          = 'C':  H'* X = B  (Conjugate transpose = Transpose)
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrix B.  NRHS &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SD.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices from MB02SD; for 1&lt;=i&lt;=N, row i of the
+          matrix was interchanged with row IPIV(i).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,NRHS)
+          On entry, the right hand side matrix B.
+          On exit, the solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses the factorization
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N x NRHS ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02RZ.html b/doc/_build/html/_static/doc/MB02RZ.html
new file mode 100644
index 00000000..0515435e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02RZ.html
@@ -0,0 +1,125 @@
+<HTML>
+<HEAD><TITLE>MB02RZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02RZ">MB02RZ</A></H2>
+<H3>
+Solution of a system of linear equations with complex upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of linear equations
+     H * X = B,  H' * X = B  or  H**H * X = B
+  with a complex upper Hessenberg N-by-N matrix H using the LU
+  factorization computed by MB02SZ.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02RZ( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS
+      INTEGER            INFO, LDB, LDH, N, NRHS
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      COMPLEX*16         B( LDB, * ), H( LDH, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations:
+          = 'N':  H * X = B  (No transpose)
+          = 'T':  H'* X = B  (Transpose)
+          = 'C':  H**H * X = B  (Conjugate transpose)
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrix B.  NRHS &gt;= 0.
+
+  H       (input) COMPLEX*16 array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SZ.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices from MB02SZ; for 1&lt;=i&lt;=N, row i of the
+          matrix was interchanged with row IPIV(i).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,NRHS)
+          On entry, the right hand side matrix B.
+          On exit, the solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  INFO    (output) INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses the factorization
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N x NRHS ) complex operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02SD.html b/doc/_build/html/_static/doc/MB02SD.html
new file mode 100644
index 00000000..26145134
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02SD.html
@@ -0,0 +1,208 @@
+<HTML>
+<HEAD><TITLE>MB02SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02SD">MB02SD</A></H2>
+<H3>
+LU factorization of an upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LU factorization of an n-by-n upper Hessenberg
+  matrix H using partial pivoting with row interchanges.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02SD( N, H, LDH, IPIV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, N
+C     .. Array Arguments ..
+      INTEGER           IPIV(*)
+      DOUBLE PRECISION  H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the n-by-n upper Hessenberg matrix to be
+          factored.
+          On exit, the factors L and U from the factorization
+          H = P*L*U; the unit diagonal elements of L are not stored,
+          and L is lower bidiagonal.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
+                factorization has been completed, but the factor U
+                is exactly singular, and division by zero will occur
+                if it is used to solve a system of equations.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The factorization has the form
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+  This is the right-looking Level 1 BLAS version of the algorithm
+  (adapted after DGETF2).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NRHMAX
+      PARAMETER        ( NMAX = 20, NRHMAX = 20 )
+      INTEGER          LDB, LDH
+      PARAMETER        ( LDB = NMAX, LDH = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION HNORM, RCOND
+      INTEGER          I, INFO, INFO1, J, N, NRHS
+      CHARACTER*1      NORM, TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION H(LDH,NMAX), B(LDB,NRHMAX), DWORK(LDWORK)
+      INTEGER          IPIV(NMAX), IWORK(LIWORK)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAMCH, DLANHS
+      EXTERNAL         DLAMCH, DLANHS
+*     .. External Subroutines ..
+      EXTERNAL         DLASET, MB02RD, MB02SD, MB02TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NRHS, NORM, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( H(I,J), J = 1,N ), I = 1,N )
+         IF ( NRHS.LT.0 .OR. NRHS.GT.NRHMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) NRHS
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,N )
+            IF ( N.GT.2 )
+     $         CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, H(3,1), LDH )
+*           Compute the LU factorization of the upper Hessenberg matrix.
+            CALL MB02SD( N, H, LDH, IPIV, INFO )
+*           Estimate the reciprocal condition number of the matrix.
+            HNORM = DLANHS( NORM, N, H, LDH, DWORK )
+            CALL MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
+     $                   DWORK, INFO1 )
+            IF ( INFO.EQ.0 .AND. RCOND.GT.DLAMCH( 'Epsilon' ) ) THEN
+*              Solve the linear system.
+               CALL MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+*
+               WRITE ( NOUT, FMT = 99997 )
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,NRHS )
+   10          CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) RCOND
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02SD = ',I2)
+99997 FORMAT (' The solution matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' Reciprocal condition number = ',D12.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02SD EXAMPLE PROGRAM DATA
+   5    4      O      N
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   0.    3.    1.    5.    1.
+   0.    0.    2.    0.   -4.
+   0.    0.    0.    1.    4.
+   5.    5.    1.    5.
+  -2.    1.    3.    1.
+   0.    0.    4.    5.
+   2.    1.    1.    3.
+  -1.    3.    3.    1.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02SD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix is 
+   0.0435   1.2029   1.6377   1.1014
+   1.0870  -4.4275  -5.5580  -2.9638
+   0.9130   0.7609  -0.1087   0.6304
+  -0.8261   2.4783   4.2174   2.7391
+  -0.0435   0.1304  -0.3043  -0.4348
+
+ Reciprocal condition number =   0.1554D-01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02SZ.html b/doc/_build/html/_static/doc/MB02SZ.html
new file mode 100644
index 00000000..32c44b1a
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02SZ.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>MB02SZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02SZ">MB02SZ</A></H2>
+<H3>
+LU factorization of a complex upper Hessenberg matrix H
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LU factorization of a complex n-by-n upper
+  Hessenberg matrix H using partial pivoting with row interchanges.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02SZ( N, H, LDH, IPIV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, N
+C     .. Array Arguments ..
+      INTEGER           IPIV(*)
+      COMPLEX*16        H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  H       (input/output) COMPLEX*16 array, dimension (LDH,N)
+          On entry, the n-by-n upper Hessenberg matrix to be
+          factored.
+          On exit, the factors L and U from the factorization
+          H = P*L*U; the unit diagonal elements of L are not stored,
+          and L is lower bidiagonal.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
+                factorization has been completed, but the factor U
+                is exactly singular, and division by zero will occur
+                if it is used to solve a system of equations.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The factorization has the form
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+  This is the right-looking Level 2 BLAS version of the algorithm
+  (adapted after ZGETF2).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) complex operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02TD.html b/doc/_build/html/_static/doc/MB02TD.html
new file mode 100644
index 00000000..26c90ad0
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02TD.html
@@ -0,0 +1,131 @@
+<HTML>
+<HEAD><TITLE>MB02TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02TD">MB02TD</A></H2>
+<H3>
+Estimation of the reciprocal condition number of an upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the reciprocal of the condition number of an upper
+  Hessenberg matrix H, in either the 1-norm or the infinity-norm,
+  using the LU factorization computed by MB02SD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM
+      INTEGER            INFO, LDH, N
+      DOUBLE PRECISION   HNORM, RCOND
+C     .. Array Arguments ..
+      INTEGER            IPIV( * ), IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), H( LDH, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies whether the 1-norm condition number or the
+          infinity-norm condition number is required:
+          = '1' or 'O':  1-norm;
+          = 'I':         Infinity-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  HNORM   (input) DOUBLE PRECISION
+          If NORM = '1' or 'O', the 1-norm of the original matrix H.
+          If NORM = 'I', the infinity-norm of the original matrix H.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SD.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal of the condition number of the matrix H,
+          computed as RCOND = 1/(norm(H) * norm(inv(H))).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (3*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An estimate is obtained for norm(inv(H)), and the reciprocal of
+  the condition number is computed as
+     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02TZ.html b/doc/_build/html/_static/doc/MB02TZ.html
new file mode 100644
index 00000000..6c99885e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02TZ.html
@@ -0,0 +1,132 @@
+<HTML>
+<HEAD><TITLE>MB02TZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02TZ">MB02TZ</A></H2>
+<H3>
+Estimation of the reciprocal condition number of a complex upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the reciprocal of the condition number of a complex
+  upper Hessenberg matrix H, in either the 1-norm or the
+  infinity-norm, using the LU factorization computed by MB02SZ.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02TZ( NORM, N, HNORM, H, LDH, IPIV, RCOND, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM
+      INTEGER            INFO, LDH, N
+      DOUBLE PRECISION   HNORM, RCOND
+C     .. Array Arguments ..
+      INTEGER            IPIV(*)
+      DOUBLE PRECISION   DWORK( * )
+      COMPLEX*16         H( LDH, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies whether the 1-norm condition number or the
+          infinity-norm condition number is required:
+          = '1' or 'O':  1-norm;
+          = 'I':         Infinity-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  HNORM   (input) DOUBLE PRECISION
+          If NORM = '1' or 'O', the 1-norm of the original matrix H.
+          If NORM = 'I', the infinity-norm of the original matrix H.
+
+  H       (input) COMPLEX*16 array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SZ.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal of the condition number of the matrix H,
+          computed as RCOND = 1/(norm(H) * norm(inv(H))).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+  ZWORK   COMPLEX*16 array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An estimate is obtained for norm(inv(H)), and the reciprocal of
+  the condition number is computed as
+     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) complex operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UD.html b/doc/_build/html/_static/doc/MB02UD.html
new file mode 100644
index 00000000..1f09cfe9
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02UD.html
@@ -0,0 +1,251 @@
+<HTML>
+<HEAD><TITLE>MB02UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UD">MB02UD</A></H2>
+<H3>
+Minimum norm least squares solution of op(R) X = alpha B, or X op(R) = alpha B, with R upper triangular, using singular value decomposition
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the minimum norm least squares solution of one of the
+  following linear systems
+
+     op(R)*X = alpha*B,                                          (1)
+     X*op(R) = alpha*B,                                          (2)
+
+  where alpha is a real scalar, op(R) is either R or its transpose,
+  R', R is an L-by-L real upper triangular matrix, B is an M-by-N
+  real matrix, and L = M for (1), or L = N for (2). Singular value
+  decomposition, R = Q*S*P', is used, assuming that R is rank
+  deficient.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UD( FACT, SIDE, TRANS, JOBP, M, N, ALPHA, RCOND,
+     $                   RANK, R, LDR, Q, LDQ, SV, B, LDB, RP, LDRP,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FACT, JOBP, SIDE, TRANS
+      INTEGER           INFO, LDB, LDQ, LDR, LDRP, LDWORK, M, N, RANK
+      DOUBLE PRECISION  ALPHA, RCOND
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), DWORK(*), Q(LDQ,*), R(LDR,*),
+     $                  RP(LDRP,*), SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FACT    CHARACTER*1
+          Specifies whether R has been previously factored or not,
+          as follows:
+          = 'F':  R has been factored and its rank and singular
+                  value decomposition, R = Q*S*P', are available;
+          = 'N':  R has not been factored and its singular value
+                  decomposition, R = Q*S*P', should be computed.
+
+  SIDE    CHARACTER*1
+          Specifies whether op(R) appears on the left or right
+          of X as follows:
+          = 'L':  Solve op(R)*X = alpha*B  (op(R) is on the left);
+          = 'R':  Solve X*op(R) = alpha*B  (op(R) is on the right).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(R) to be used as follows:
+          = 'N':  op(R) = R;
+          = 'T':  op(R) = R';
+          = 'C':  op(R) = R'.
+
+  JOBP    CHARACTER*1
+          Specifies whether or not the pseudoinverse of R is to be
+          computed or it is available as follows:
+          = 'P':  Compute pinv(R), if FACT = 'N', or
+                  use pinv(R),     if FACT = 'F';
+          = 'N':  Do not compute or use pinv(R).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix B.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then B need not be
+          set before entry.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of R.
+          Singular values of R satisfying Sv(i) &lt;= RCOND*Sv(1) are
+          treated as zero. If RCOND &lt;= 0, then EPS is used instead,
+          where EPS is the relative machine precision (see LAPACK
+          Library routine DLAMCH).  RCOND &lt;= 1.
+          RCOND is not used if FACT = 'F'.
+
+  RANK    (input or output) INTEGER
+          The rank of matrix R.
+          RANK is an input parameter when FACT = 'F', and an output
+          parameter when FACT = 'N'.  L &gt;= RANK &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
+          On entry, if FACT = 'F', the leading L-by-L part of this
+          array must contain the L-by-L orthogonal matrix P' from
+          singular value decomposition, R = Q*S*P', of the matrix R;
+          if JOBP = 'P', the first RANK rows of P' are assumed to be
+          scaled by inv(S(1:RANK,1:RANK)).
+          On entry, if FACT = 'N', the leading L-by-L upper
+          triangular part of this array must contain the upper
+          triangular matrix R.
+          On exit, if INFO = 0, the leading L-by-L part of this
+          array contains the L-by-L orthogonal matrix P', with its
+          first RANK rows scaled by inv(S(1:RANK,1:RANK)), when
+          JOBP = 'P'.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,L).
+
+  Q       (input or output) DOUBLE PRECISION array, dimension
+          (LDQ,L)
+          On entry, if FACT = 'F', the leading L-by-L part of this
+          array must contain the L-by-L orthogonal matrix Q from
+          singular value decomposition, R = Q*S*P', of the matrix R.
+          If FACT = 'N', this array need not be set on entry, and
+          on exit, if INFO = 0, the leading L-by-L part of this
+          array contains the orthogonal matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
+
+  SV      (input or output) DOUBLE PRECISION array, dimension (L)
+          On entry, if FACT = 'F', the first RANK entries of this
+          array must contain the reciprocal of the largest RANK
+          singular values of the matrix R, and the last L-RANK
+          entries of this array must contain the remaining singular
+          values of R sorted in descending order.
+          If FACT = 'N', this array need not be set on input, and
+          on exit, if INFO = 0, the first RANK entries of this array
+          contain the reciprocal of the largest RANK singular values
+          of the matrix R, and the last L-RANK entries of this array
+          contain the remaining singular values of R sorted in
+          descending order.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, if ALPHA &lt;&gt; 0, the leading M-by-N part of this
+          array must contain the matrix B.
+          On exit, if INFO = 0 and RANK &gt; 0, the leading M-by-N part
+          of this array contains the M-by-N solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  RP      (input or output) DOUBLE PRECISION array, dimension
+          (LDRP,L)
+          On entry, if FACT = 'F', JOBP = 'P', and RANK &gt; 0, the
+          leading L-by-L part of this array must contain the L-by-L
+          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
+          On exit, if FACT = 'N', JOBP = 'P', and RANK &gt; 0, the
+          leading L-by-L part of this array contains the L-by-L
+          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
+          If JOBP = 'N', this array is not referenced.
+
+  LDRP    INTEGER
+          The leading dimension of array RP.
+          LDRP &gt;= MAX(1,L), if JOBP = 'P'.
+          LDRP &gt;= 1,        if JOBP = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          if INFO = i, 1 &lt;= i &lt;= L, then DWORK(2:L) contain the
+          unconverged superdiagonal elements of an upper bidiagonal
+          matrix D whose diagonal is in SV (not necessarily sorted).
+          D satisfies R = Q*D*P', so it has the same singular
+          values as R, and singular vectors related by Q and P'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,L),   if FACT = 'F';
+          LDWORK &gt;= MAX(1,5*L), if FACT = 'N'.
+          For optimum performance LDWORK should be larger than
+          MAX(1,L,M*N),   if FACT = 'F';
+          MAX(1,5*L,M*N), if FACT = 'N'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i = 1:L, the SVD algorithm has failed
+                to converge. In this case INFO specifies how many
+                superdiagonals did not converge (see the description
+                of DWORK); this failure is not likely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The L-by-L upper triangular matrix R is factored as  R = Q*S*P',
+  if FACT = 'N', using SLICOT Library routine MB03UD, where Q and P
+  are L-by-L orthogonal matrices and S is an L-by-L diagonal matrix
+  with non-negative diagonal elements, SV(1), SV(2), ..., SV(L),
+  ordered decreasingly. Then, the effective rank of R is estimated,
+  and matrix (or matrix-vector) products and scalings are used to
+  compute X. If FACT = 'F', only matrix (or matrix-vector) products
+  and scalings are performed.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Option JOBP = 'P' should be used only if the pseudoinverse is
+  really needed. Usually, it is possible to avoid the use of
+  pseudoinverse, by computing least squares solutions.
+  The routine uses BLAS 3 calculations if LDWORK &gt;= M*N, and BLAS 2
+  calculations, otherwise. No advantage of any additional workspace
+  larger than L is taken for matrix products, but the routine can
+  be called repeatedly for chunks of columns of B, if LDWORK &lt; M*N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UU.html b/doc/_build/html/_static/doc/MB02UU.html
new file mode 100644
index 00000000..a9e90e06
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02UU.html
@@ -0,0 +1,98 @@
+<HTML>
+<HEAD><TITLE>MB02UU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UU">MB02UU</A></H2>
+<H3>
+Solution of a system of linear equations using LU factorization with complete pivoting
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for x in A * x = scale * RHS, using the LU factorization
+  of the N-by-N matrix A computed by SLICOT Library routine MB02UV.
+  The factorization has the form A = P * L * U * Q, where P and Q
+  are permutation matrices, L is unit lower triangular and U is
+  upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UU( N, A, LDA, RHS, IPIV, JPIV, SCALE )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      INTEGER            IPIV( * ), JPIV( * )
+      DOUBLE PRECISION   A( LDA, * ), RHS( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
+          The leading N-by-N part of this array must contain
+          the LU part of the factorization of the matrix A computed
+          by SLICOT Library routine MB02UV:  A = P * L * U * Q.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1, N).
+
+  RHS     (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the right hand side
+          of the system.
+          On exit, this array contains the solution of the system.
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
+          matrix has been interchanged with row IPIV(i).
+
+  JPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
+          matrix has been interchanged with column JPIV(j).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, chosen 0 &lt; SCALE &lt;= 1 to prevent
+          overflow in the solution.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interest of speed, this routine does not check the input
+  for errors. It should only be used if the order of the matrix A
+  is very small.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UV.html b/doc/_build/html/_static/doc/MB02UV.html
new file mode 100644
index 00000000..5d3759ec
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02UV.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB02UV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UV">MB02UV</A></H2>
+<H3>
+LU factorization with complete pivoting of a general matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LU factorization, using complete pivoting, of the
+  N-by-N matrix A. The factorization has the form A = P * L * U * Q,
+  where P and Q are permutation matrices, L is lower triangular with
+  unit diagonal elements and U is upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UV( N, A, LDA, IPIV, JPIV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * ), JPIV( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A to be factored.
+          On exit, the leading N-by-N part of this array contains
+          the factors L and U from the factorization A = P*L*U*Q;
+          the unit diagonal elements of L are not stored. If U(k, k)
+          appears to be less than SMIN, U(k, k) is given the value
+          of SMIN, giving a nonsingular perturbed system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1, N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
+          matrix has been interchanged with row IPIV(i).
+
+  JPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
+          matrix has been interchanged with column JPIV(j).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = k:  U(k, k) is likely to produce owerflow if one tries
+                to solve for x in Ax = b. So U is perturbed to get
+                a nonsingular system. This is a warning.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interests of speed, this routine does not check the input
+  for errors. It should only be used to factorize matrices A of
+  very small order.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UW.html b/doc/_build/html/_static/doc/MB02UW.html
new file mode 100644
index 00000000..27bcbd9c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02UW.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB02UW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UW">MB02UW</A></H2>
+<H3>
+Solving a set of linear systems of order at most 2 with possible scaling and perturbation of system matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of the form  A X = s B  or  A' X = s B  with
+  possible scaling ("s") and perturbation of A.  (A' means
+  A-transpose.)  A is an N-by-N real matrix, and X and B are
+  N-by-M matrices.  N may be 1 or 2.  The scalar "s" is a scaling
+  factor (.LE. 1), computed by this subroutine, which is so chosen
+  that X can be computed without overflow.  X is further scaled if
+  necessary to assure that norm(A)*norm(X) is less than overflow.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UW( LTRANS, N, M, PAR, A, LDA, B, LDB, SCALE,
+     $                   IWARN )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRANS
+      INTEGER            IWARN, LDA, LDB, N, M
+      DOUBLE PRECISION   SCALE, SMIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), PAR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRANS  LOGICAL
+          Specifies if A or A-transpose is to be used, as follows:
+          =.TRUE. :  A-transpose will be used;
+          =.FALSE.:  A will be used (not transposed).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  It may (only) be 1 or 2.
+
+  M       (input) INTEGER
+          The number of right hand size vectors.
+
+  PAR     (input) DOUBLE PRECISION array, dimension (3)
+          Machine related parameters:
+          PAR(1) =: PREC  (machine precision)*base, DLAMCH( 'P' );
+          PAR(2) =: SFMIN safe minimum,             DLAMCH( 'S' );
+          PAR(3) =: SMIN  The desired lower bound on the singular
+                          values of A.  This should be a safe
+                          distance away from underflow or overflow,
+                          say, between (underflow/machine precision)
+                          and (machine precision * overflow).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B (right-hand side).
+          On exit, the leading N-by-M part of this array contains
+          the N-by-M matrix X (unknowns).
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor that B must be multiplied by to insure
+          that overflow does not occur when computing X.  Thus,
+          A X  will be SCALE*B, not B (ignoring perturbations of A).
+          SCALE will be at most 1.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings (A did not have to be perturbed);
+          = 1:  A had to be perturbed to make its smallest (or only)
+                singular value greater than SMIN (see below).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with complete pivoting is used. The matrix A
+  is slightly perturbed if it is (close to being) singular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If both singular values of A are less than SMIN, SMIN*identity
+  will be used instead of A.  If only one singular value is less
+  than SMIN, one element of A will be perturbed enough to make the
+  smallest singular value roughly SMIN.  If both singular values
+  are at least SMIN, A will not be perturbed.  In any case, the
+  perturbation will be at most some small multiple of
+  max( SMIN, EPS*norm(A) ), where EPS is the machine precision
+  (see LAPACK Library routine DLAMCH).  The singular values are
+  computed by infinity-norm approximations, and thus will only be
+  correct to a factor of 2 or so.
+
+  Note: all input quantities are assumed to be smaller than overflow
+  by a reasonable factor.  (See BIGNUM.)  In the interests of speed,
+  this routine does not check the inputs for errors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02VD.html b/doc/_build/html/_static/doc/MB02VD.html
new file mode 100644
index 00000000..43141218
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02VD.html
@@ -0,0 +1,198 @@
+<HTML>
+<HEAD><TITLE>MB02VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02VD">MB02VD</A></H2>
+<H3>
+Solution of linear equations X op(A) = B
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the solution to a real system of linear equations
+     X * op(A) = B,
+  where op(A) is either A or its transpose, A is an N-by-N matrix,
+  and X and B are M-by-N matrices.
+  The LU decomposition with partial pivoting and row interchanges,
+  A = P * L * U, is used, where P is a permutation matrix, L is unit
+  lower triangular, and U is upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS
+      INTEGER            INFO, LDA, LDB, M, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies the form of op(A) to be used as follows:
+          = 'N':  op(A) = A;
+          = 'T':  op(A) = A';
+          = 'C':  op(A) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix B, and the order of
+          the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the factors L and U from the factorization A = P*L*U;
+          the unit diagonal elements of L are not stored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices that define the permutation matrix P;
+          row i of the matrix was interchanged with row IPIV(i).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix B.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X.
+
+  LDB     (input) INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,M).
+
+  INFO    (output) INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero.  The
+                factorization has been completed, but the factor U
+                is exactly singular, so the solution could not be
+                computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The LU decomposition with partial pivoting and row interchanges is
+  used to factor A as
+     A = P * L * U,
+  where P is a permutation matrix, L is unit lower triangular, and
+  U is upper triangular.  The factored form of A is then used to
+  solve the system of equations X * A = B or X * A' = B.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine enables to solve the system X * A = B or X * A' = B
+  as easily and efficiently as possible; it is similar to the LAPACK
+  Library routine DGESV, which solves A * X = B.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02VD EXAMPLE PROGRAM TEXT
+*
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX)
+      INTEGER          IPIV(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB02VD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
+*           Solve the linear system using the LU factorization.
+            CALL MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
+*
+            IF ( INFO.EQ.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
+   10          CONTINUE
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02VD = ',I2)
+99997 FORMAT (' The solution matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02VD EXAMPLE PROGRAM DATA
+   5    4      N
+   1.    2.    6.    3.
+  -2.   -1.   -1.    0.
+   2.    3.    1.    5.
+   1.   -1.    2.    0.
+   0.    0.    0.    1.
+   5.    5.    1.    5.
+  -2.    1.    3.    1.
+   0.    0.    4.    5.
+   2.    1.    1.    3.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02VD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix is 
+  -0.0690   0.3333   0.2414   0.2529
+  -0.1724  -1.6667   1.1034  -0.3678
+   0.9655   0.6667  -0.3793  -0.8736
+   0.3448   1.6667   0.7931   1.4023
+  -0.2069   0.0000   0.7241   0.7586
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02WD.html b/doc/_build/html/_static/doc/MB02WD.html
new file mode 100644
index 00000000..8f838678
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB02WD.html
@@ -0,0 +1,308 @@
+<HTML>
+<HEAD><TITLE>MB02WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02WD">MB02WD</A></H2>
+<H3>
+Solution of Ax = b or f(A, x) = b, for a positive definite linear mapping, using conjugate gradients
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the system of linear equations Ax = b, with A symmetric,
+  positive definite, or, in the implicit form, f(A, x) = b, where
+  y = f(A, x) is a symmetric positive definite linear mapping
+  from x to y, using the conjugate gradient (CG) algorithm without
+  preconditioning.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02WD( FORM, F, N, IPAR, LIPAR, DPAR, LDPAR, ITMAX,
+     $                   A, LDA, B, INCB, X, INCX, TOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FORM
+      INTEGER           INCB, INCX, INFO, ITMAX, IWARN, LDA, LDPAR,
+     $                  LDWORK, LIPAR, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), DPAR(*), DWORK(*), X(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FORM     CHARACTER*1
+           Specifies the form of the system of equations, as
+           follows:
+           = 'U' :  Ax = b, the upper triagular part of A is used;
+           = 'L' :  Ax = b, the lower triagular part of A is used;
+           = 'F' :  the implicit, function form, f(A, x) = b.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  F       EXTERNAL
+          If FORM = 'F', then F is a subroutine which calculates the
+          value of f(A, x), for given A and x.
+          If FORM &lt;&gt; 'F', then F is not called.
+
+          F must have the following interface:
+
+          SUBROUTINE F( N, IPAR, LIPAR, DPAR, LDPAR, A, LDA, X,
+         $              INCX, DWORK, LDWORK, INFO )
+
+          where
+
+          N       (input) INTEGER
+                  The dimension of the vector x.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the matrix A.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+                  The real parameters needed for solving the
+                  problem.
+
+          LDPAR   (input) INTEGER
+                  The length of the array DPAR.  LDPAR &gt;= 0.
+
+          A       (input) DOUBLE PRECISION array, dimension
+                  (LDA, NC), where NC is the number of columns.
+                  The leading NR-by-NC part of this array must
+                  contain the (compressed) representation of the
+                  matrix A, where NR is the number of rows of A
+                  (function of IPAR entries).
+
+          LDA     (input) INTEGER
+                  The leading dimension of the array A.
+                  LDA &gt;= MAX(1,NR).
+
+          X       (input/output) DOUBLE PRECISION array, dimension
+                  (1+(N-1)*INCX)
+                  On entry, this incremented array must contain the
+                  vector x.
+                  On exit, this incremented array contains the value
+                  of the function f, y = f(A, x).
+
+          INCX    (input) INTEGER
+                  The increment for the elements of X.  INCX &gt; 0.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine F.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine F).
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input scalar argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine F. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the vector x.  N &gt;= 0.
+          If FORM = 'U' or FORM = 'L', N is also the number of rows
+          and columns of the matrix A.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          If FORM = 'F', the integer parameters describing the
+          structure of the matrix A.
+          This parameter is ignored if FORM = 'U' or FORM = 'L'.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 0.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          If FORM = 'F', the real parameters needed for solving
+          the problem.
+          This parameter is ignored if FORM = 'U' or FORM = 'L'.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 0.
+
+  ITMAX   (input) INTEGER
+          The maximal number of iterations to do.  ITMAX &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array,
+                  dimension (LDA, NC), if FORM = 'F',
+                  dimension (LDA, N),  otherwise.
+          If FORM = 'F', the leading NR-by-NC part of this array
+          must contain the (compressed) representation of the
+          matrix A, where NR and NC are the number of rows and
+          columns, respectively, of the matrix A. The array A is
+          not referenced by this routine itself, except in the
+          calls to the routine F.
+          If FORM &lt;&gt; 'F', the leading N-by-N part of this array
+          must contain the matrix A, assumed to be symmetric;
+          only the triangular part specified by FORM is referenced.
+
+  LDA     (input) INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,NR), if FORM = 'F';
+          LDA &gt;= MAX(1,N),  if FORM = 'U' or FORM = 'L'.
+
+  B       (input) DOUBLE PRECISION array, dimension (1+(N-1)*INCB)
+          The incremented vector b.
+
+  INCB    (input) INTEGER
+          The increment for the elements of B.  INCB &gt; 0.
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          (1+(N-1)*INCX)
+          On entry, this incremented array must contain an initial
+          approximation of the solution. If an approximation is not
+          known, setting all elements of x to zero is recommended.
+          On exit, this incremented array contains the computed
+          solution x of the system of linear equations.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X.  INCX &gt; 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If TOL &gt; 0, absolute tolerance for the iterative process.
+          The algorithm will stop if || Ax - b ||_2 &lt;= TOL. Since
+          it is advisable to use a relative tolerance, say TOLER,
+          TOL should be chosen as TOLER*|| b ||_2.
+          If TOL &lt;= 0, a default relative tolerance,
+          TOLDEF = N*EPS*|| b ||_2,  is used, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the number of
+          iterations performed and DWORK(2) returns the remaining
+          residual, || Ax - b ||_2.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(2,3*N + DWORK(F)),  if FORM = 'F',
+                    where DWORK(F) is the workspace needed by F;
+          LDWORK &gt;= MAX(2,3*N),       if FORM = 'U' or FORM = 'L'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the algorithm finished after ITMAX &gt; 0 iterations,
+                without achieving the desired precision TOL;
+          = 2:  ITMAX is zero; in this case, DWORK(2) is not set.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then F returned with INFO = i.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The following CG iteration is used for solving Ax = b:
+
+  Start: q(0) = r(0) = Ax - b
+
+                &lt; q(k),  r(k) &gt;
+  ALPHA(k) = - ----------------
+                &lt; q(k), Aq(k) &gt;
+  x(k+1)   = x(k) - ALPHA(k) * q(k)
+  r(k+1)   = r(k) - ALPHA(k) * Aq(k)
+              &lt; r(k+1), r(k+1) &gt;
+  BETA(k)  = --------------------
+              &lt; r(k)  , r(k)   &gt;
+  q(k+1)   = r(k+1) + BETA(k) * q(k)
+
+  where &lt;.,.&gt; denotes the scalar product.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
+      1996.
+
+  [2] Luenberger, G.
+      Introduction to Linear and Nonlinear Programming.
+      Addison-Wesley, Reading, MA, p.187, York, 1973.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Since the residuals are orthogonal in the scalar product
+  &lt;x, y&gt; = y'Ax, the algorithm is theoretically finite. But rounding
+  errors cause a loss of orthogonality, so a finite termination
+  cannot be guaranteed. However, one can prove [2] that
+
+     || x-x_k ||_A := sqrt( (x-x_k)' * A * (x-x_k) )
+
+                                          sqrt( kappa_2(A) ) - 1
+                   &lt;=  2 || x-x_0 ||_A * ------------------------ ,
+                                          sqrt( kappa_2(A) ) + 1
+
+  where kappa_2 is the condition number.
+
+  The approximate number of floating point operations is
+     (k*(N**2 + 15*N) + N**2 + 3*N)/2, if FORM &lt;&gt; 'F',
+     k*(f + 7*N) + f,                  if FORM =  'F',
+  where k is the number of CG iterations performed, and f is the
+  number of floating point operations required by the subroutine F.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02XD.html b/doc/_build/html/_static/doc/MB02XD.html
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+<HTML>
+<HEAD><TITLE>MB02XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02XD">MB02XD</A></H2>
+<H3>
+Solution of A' A X = B, or f(A) X = B, using symmetric Gaussian elimination
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a set of systems of linear equations, A'*A*X = B, or,
+  in the implicit form, f(A)*X = B, with A'*A or f(A) positive
+  definite, using symmetric Gaussian elimination.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02XD( FORM, STOR, UPLO, F, M, N, NRHS, IPAR, LIPAR,
+     $                   DPAR, LDPAR, A, LDA, B, LDB, ATA, LDATA, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FORM, STOR, UPLO
+      INTEGER           INFO, LDA, LDATA, LDB, LDPAR, LDWORK, LIPAR, M,
+     $                  N, NRHS
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ATA(*), B(LDB,*), DPAR(*), DWORK(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FORM    CHARACTER*1
+          Specifies the form in which the matrix A is provided, as
+          follows:
+          = 'S' :  standard form, the matrix A is given;
+          = 'F' :  the implicit, function form f(A) is provided.
+          If FORM = 'F', then the routine F is called to compute the
+          matrix A'*A.
+
+  STOR    CHARACTER*1
+          Specifies the storage scheme for the symmetric
+          matrix A'*A, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix A'*A is stored, as
+          follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  F       EXTERNAL
+          If FORM = 'F', then F is a subroutine which calculates the
+          value of f(A) = A'*A, for given A.
+          If FORM = 'S', then F is not called.
+
+          F must have the following interface:
+
+          SUBROUTINE F( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, A,
+         $              LDA, ATA, LDATA, DWORK, LDWORK, INFO )
+
+          where
+
+          STOR    (input) CHARACTER*1
+                  Specifies the storage scheme for the symmetric
+                  matrix A'*A, as follows:
+                  = 'F' :  full storage is used;
+                  = 'P' :  packed storage is used.
+
+          UPLO    (input) CHARACTER*1
+                  Specifies which part of the matrix A'*A is stored,
+                  as follows:
+                  = 'U' :  the upper triagular part is stored;
+                  = 'L' :  the lower triagular part is stored.
+
+          N       (input) INTEGER
+                  The order of the matrix A'*A.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the matrix A.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+                  The real parameters needed for solving the
+                  problem.
+
+          LDPAR   (input) INTEGER
+                  The length of the array DPAR.  LDPAR &gt;= 0.
+
+          A       (input) DOUBLE PRECISION array, dimension
+                  (LDA, NC), where NC is the number of columns.
+                  The leading NR-by-NC part of this array must
+                  contain the (compressed) representation of the
+                  matrix A, where NR is the number of rows of A
+                  (function of IPAR entries).
+
+          LDA     (input) INTEGER
+                  The leading dimension of the array A.
+                  LDA &gt;= MAX(1,NR).
+
+          ATA     (output) DOUBLE PRECISION array,
+                           dimension (LDATA,N),    if STOR = 'F',
+                           dimension (N*(N+1)/2),  if STOR = 'P'.
+                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
+                  (if STOR = 'P') part of this array contains the
+                  upper or lower triangle of the matrix A'*A,
+                  depending on UPLO = 'U', or UPLO = 'L',
+                  respectively, stored either as a two-dimensional,
+                  or one-dimensional array, depending on STOR.
+
+          LDATA   (input) INTEGER
+                  The leading dimension of the array ATA.
+                  LDATA &gt;= MAX(1,N), if STOR = 'F'.
+                  LDATA &gt;= 1,        if STOR = 'P'.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine F.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine F).
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input scalar argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine F. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix A'*A, the number of columns of the
+          matrix A, and the number of rows of the matrix X.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of columns of the matrices B and X.  NRHS &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          If FORM = 'F', the integer parameters describing the
+          structure of the matrix A.
+          This parameter is ignored if FORM = 'S'.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 0.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          If FORM = 'F', the real parameters needed for solving
+          the problem.
+          This parameter is ignored if FORM = 'S'.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array,
+                  dimension (LDA, N),  if FORM = 'S',
+                  dimension (LDA, NC), if FORM = 'F', where NC is
+                  the number of columns.
+          If FORM = 'S', the leading M-by-N part of this array
+          must contain the matrix A.
+          If FORM = 'F', the leading NR-by-NC part of this array
+          must contain an appropriate representation of matrix A,
+          where NR is the number of rows.
+          If FORM = 'F', this array is not referenced by this
+          routine itself, except in the call to the routine F.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,M),  if FORM = 'S';
+          LDA &gt;= MAX(1,NR), if FORM = 'F'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB, NRHS)
+          On entry, the leading N-by-NRHS part of this array must
+          contain the right hand side matrix B.
+          On exit, if INFO = 0 and M (or NR) is nonzero, the leading
+          N-by-NRHS part of this array contains the solution X of
+          the set of systems of linear equations A'*A*X = B or
+          f(A)*X = B. If M (or NR) is zero, then B is unchanged.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  ATA     (output) DOUBLE PRECISION array,
+                   dimension (LDATA,N),    if STOR = 'F',
+                   dimension (N*(N+1)/2),  if STOR = 'P'.
+          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
+          STOR = 'P') part of this array contains the upper or lower
+          triangular Cholesky factor of the matrix A'*A, depending
+          on UPLO = 'U', or UPLO = 'L', respectively, stored either
+          as a two-dimensional, or one-dimensional array, depending
+          on STOR.
+
+  LDATA   INTEGER
+          The leading dimension of the array ATA.
+          LDATA &gt;= MAX(1,N), if STOR = 'F'.
+          LDATA &gt;= 1,        if STOR = 'P'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then the (i,i) element of the
+                triangular factor of the matrix A'*A is exactly
+                zero (the matrix A'*A is exactly singular);
+                if INFO = j &gt; n, then F returned with INFO = j-n.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A'*A is built either directly (if FORM = 'S'), or
+  implicitly, by calling the routine F. Then, A'*A is Cholesky
+  factored and its factor is used to solve the set of systems of
+  linear equations, A'*A*X = B.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, 1996.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Blackford, Demmel, J.,
+      Dongarra, J., Du Croz, J., Greenbaum, A., Hammarling, S.,
+      McKenney, A., Sorensen, D.
+      LAPACK Users' Guide: Third Edition, SIAM, Philadelphia, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  For speed, this routine does not check for near singularity of the
+  matrix A'*A. If the matrix A is nearly rank deficient, then the
+  computed X could be inaccurate. Estimates of the reciprocal
+  condition numbers of the matrices A and A'*A can be obtained
+  using LAPACK routines DGECON and DPOCON (DPPCON), respectively.
+
+  The approximate number of floating point operations is
+     (M+3)*N**2/2 + N**3/6 + NRHS*N**2, if FORM = 'S',
+     f + N**3/6 + NRHS*N**2,            if FORM = 'F',
+  where M is the number of rows of A, and f is the number of
+  floating point operations required by the subroutine F.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB02YD.html b/doc/_build/html/_static/doc/MB02YD.html
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+<HTML>
+<HEAD><TITLE>MB02YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02YD">MB02YD</A></H2>
+<H3>
+Solving the linear system A x = b, D x = 0, D diagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a vector x which solves the system of linear
+  equations
+
+        A*x = b ,     D*x = 0 ,
+
+  in the least squares sense, where A is an m-by-n matrix,
+  D is an n-by-n diagonal matrix, and b is an m-vector.
+  It is assumed that a QR factorization, with column pivoting, of A
+  is available, that is, A*P = Q*R, where P is a permutation matrix,
+  Q has orthogonal columns, and R is an upper triangular matrix
+  with diagonal elements of nonincreasing magnitude.
+  The routine needs the full upper triangle of R, the permutation
+  matrix P, and the first n components of Q'*b (' denotes the
+  transpose). The system A*x = b, D*x = 0, is then equivalent to
+
+        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
+
+  where x = P*z. If this system does not have full rank, then a
+  least squares solution is obtained. On output, MB02YD also
+  provides an upper triangular matrix S such that
+
+        P'*(A'*A + D*D)*P = S'*S .
+
+  The system (1) is equivalent to S*z = c , where c contains the
+  first n components of the vector obtained by applying to
+  [ (Q'*b)'  0 ]' the transformations which triangularized
+  [ R'  P'*D*P ]', getting S.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02YD( COND, N, R, LDR, IPVT, DIAG, QTB, RANK, X, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, N, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IPVT(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the matrix S should be
+          estimated, as follows:
+          = 'E' :  use incremental condition estimation and store
+                   the numerical rank of S in RANK;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of S for zero values;
+          = 'U' :  use the rank already stored in RANK.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the full upper triangle is unaltered, and the
+          strict lower triangle contains the strict upper triangle
+          (transposed) of the upper triangular matrix S.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          A*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  RANK    (input or output) INTEGER
+          On entry, if COND = 'U', this parameter must contain the
+          (numerical) rank of the matrix S.
+          On exit, if COND = 'E' or 'N', this parameter contains
+          the numerical rank of the matrix S, estimated according
+          to the value of COND.
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system A*x = b, D*x = 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          rank of the matrix S. If the user sets TOL &gt; 0, then the
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S, and
+          the next N elements contain the solution z.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 4*N, if COND =  'E';
+          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Standard plane rotations are used to annihilate the elements of
+  the diagonal matrix D, updating the upper triangular matrix R
+  and the first n elements of the vector Q'*b. A basic least squares
+  solution is computed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a LAPACK-based modification of QRSOLV from the
+  MINPACK package [1], and with optional condition estimation.
+  The option COND = 'U' is useful when dealing with several
+  right-hand side vectors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AB.html b/doc/_build/html/_static/doc/MB03AB.html
new file mode 100644
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@@ -0,0 +1,148 @@
+<HTML>
+<HEAD><TITLE>MB03AB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AB">MB03AB</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with explicit shifts) 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is needed for the real
+  Wilkinson single shift polynomial (see the SLICOT Library routines
+  MB03BE or MB03BF). The shifts are defined based on the eigenvalues
+  (computed externally by the SLICOT Library routine MB03BB) of the
+  trailing 2-by-2 submatrix of the matrix product. See the
+  definitions of the arguments W1 and W2.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AB( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, W1,
+     $                   W2, C1, S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2, W1, W2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number and type of shifts employed by the
+          shift polynomial, as follows:
+          = 'C':  two complex conjugate shifts;
+          = 'D':  two real identical shifts;
+          = 'R':  two real shifts;
+          = 'S':  one real shift.
+          When the eigenvalues are complex conjugate, this argument
+          must be set to 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors in the array A.
+          N &gt;= 2, for a single shift polynomial;
+          N &gt;= 3, for a double shift polynomial.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix, defined
+          by A(:,:,AMAP(1)).
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain an
+          n-by-n product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  W1      (input)  DOUBLE PRECISION
+          The real part of the first eigenvalue.
+          If SHFT = 'S', this argument is not used.
+
+  W2      (input)  DOUBLE PRECISION
+          The second eigenvalue, if both eigenvalues are real, else
+          the imaginary part of the complex conjugate pair.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, C2 and S2 contain the parameters for the second
+          Givens rotation. If SHFT = 'S', C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are properly computed and applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AD.html b/doc/_build/html/_static/doc/MB03AD.html
new file mode 100644
index 00000000..248509ef
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03AD.html
@@ -0,0 +1,133 @@
+<HTML>
+<HEAD><TITLE>MB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AD">MB03AD</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routine
+  MB03BE).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AD( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors in the array A.
+          N &gt;= 2, for a single shift polynomial;
+          N &gt;= 3, for a double shift polynomial.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
+          parameters for the second Givens rotation. Otherwise,
+          C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Two Givens rotations are properly computed and applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AE.html b/doc/_build/html/_static/doc/MB03AE.html
new file mode 100644
index 00000000..3c95c503
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03AE.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>MB03AE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AE">MB03AE</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the first one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
+  submatrix and the five nonzero elements in the first two columns
+  of the matrix product are evaluated when a double shift is used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AE( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
+          parameters for the second Givens rotation. Otherwise,
+          C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double/single shift
+  polynomial are computed, and suitable Givens rotations are found.
+  For numerical reasons, this routine should be called when
+  convergence difficulties are encountered.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AF.html b/doc/_build/html/_static/doc/MB03AF.html
new file mode 100644
index 00000000..7dad33cb
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03AF.html
@@ -0,0 +1,134 @@
+<HTML>
+<HEAD><TITLE>MB03AF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AF">MB03AF</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant, Hessenberg factor is the last one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AF( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two real shifts;
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors in the array A.
+          N &gt;= 2, for a single shift polynomial;
+          N &gt;= 3, for a double shift polynomial.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(K) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+          S(K) is not used, but assumed to be 1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array must
+          contain a n-by-n product (implicitly represented by its K
+          factors) in periodic upper Hessenberg form. The Hessenberg
+          matrix is assumed to be the last one in the product.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D', C2 and S2 contain the parameters
+          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are properly computed and applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AG.html b/doc/_build/html/_static/doc/MB03AG.html
new file mode 100644
index 00000000..2b3d9e9b
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03AG.html
@@ -0,0 +1,146 @@
+<HTML>
+<HEAD><TITLE>MB03AG - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AG">MB03AG</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the first one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The matrix product
+  is evaluated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AG( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2, IWORK, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), IWORK(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D', C2 and S2 contain the parameters
+          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (2*N*N)
+          On exit, DWORK(N*N+1:N*N+N) and DWORK(N*N+N+1:N*N+2*N)
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of the matrix product.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double shift
+  polynomial are computed, and suitable Givens rotations are
+  found. For numerical reasons, this routine should be called
+  when convergence difficulties are encountered for small order
+  matrices and small K, e.g., N, K &lt;= 6.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AH.html b/doc/_build/html/_static/doc/MB03AH.html
new file mode 100644
index 00000000..a00c044d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03AH.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB03AH - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AH">MB03AH</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the last one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
+  submatrix and the five nonzero elements in the first two columns
+  of the matrix product are evaluated when a double shift is used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AH( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(K) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
+          parameters for the second Givens rotation. Otherwise,
+          C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double/single shift
+  polynomial are computed, and suitable Givens rotations are found.
+  For numerical reasons, this routine should be called when
+  convergence difficulties are encountered. For a double shift, if
+  there are two real eigenvalues of the trailing 2-by-2 part of the
+  product, both shifts are chosen equal to the eigenvalue with
+  minimum modulus. The trailing element of the product is used as a
+  single shift. If SINV is negative, the shift(s) correspond to the
+  reciprocals of the eigenvalues of the product, as required by the
+  SLICOT Library routine MB03BD.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AI.html b/doc/_build/html/_static/doc/MB03AI.html
new file mode 100644
index 00000000..5dfcde8e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03AI.html
@@ -0,0 +1,141 @@
+<HTML>
+<HEAD><TITLE>MB03AI - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AI">MB03AI</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the last one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2)
+  such that the orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The matrix product
+  is evaluated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AI( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(K) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D', C2 and S2 contain the parameters
+          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N*(N+2))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double shift
+  polynomial are computed, and suitable Givens rotations are 
+  found. For numerical reasons, this routine should be called
+  when convergence difficulties are encountered for small order
+  matrices and small K, e.g., N, K &lt;= 6. 
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BA.html b/doc/_build/html/_static/doc/MB03BA.html
new file mode 100644
index 00000000..9203ca6e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03BA.html
@@ -0,0 +1,87 @@
+<HTML>
+<HEAD><TITLE>MB03BA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BA">MB03BA</A></H2>
+<H3>
+Computing maps for Hessenberg index and signature array
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the suitable maps for Hessenberg index H and
+  signature array S. Auxiliary routine for the periodic QZ
+  algorithms.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BA( K, H, S, SMULT, AMAP, QMAP )
+C     .. Scalar Arguments ..
+      INTEGER           K, H, SMULT
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), QMAP(*), S(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  H       (input)  INTEGER
+          Index which corresponds to A_1.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SMULT   (output)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SMULT.
+
+  AMAP    (output)  INTEGER array, dimension (K)
+          The map for accessing the factors, that is,
+          if AMAP(I) = J, then the factor A_I is stored at the J-th
+          position in A.
+
+  QMAP    (output)  INTEGER array, dimension (K)
+          The map for accessing the orthognal transformation
+          matrices, that is, if QMAP(I) = J, then the matrix Q_I is
+          stored at the J-th position in Q.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BB.html b/doc/_build/html/_static/doc/MB03BB.html
new file mode 100644
index 00000000..0195f613
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03BB.html
@@ -0,0 +1,140 @@
+<HTML>
+<HEAD><TITLE>MB03BB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BB">MB03BB</A></H2>
+<H3>
+Eigenvalues of a 2-by-2 matrix product via a complex single shifted periodic QZ algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a general 2-by-2 matrix product via
+  a complex single shifted periodic QZ algorithm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BB( BASE, LGBAS, ULP, K, AMAP, S, SINV, A, LDA1,
+     $                   LDA2, ALPHAR, ALPHAI, BETA, SCAL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K, LDA1, LDA2, SINV
+      DOUBLE PRECISION  BASE, LGBAS, ULP
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(2), ALPHAR(2), BETA(2),
+     $                  DWORK(*)
+      INTEGER           AMAP(*), S(*), SCAL(2)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  BASE    (input)  DOUBLE PRECISION
+          Machine base.
+
+  LGBAS   (input)  DOUBLE PRECISION
+          Logarithm of BASE.
+
+  ULP     (input)  DOUBLE PRECISION
+          Machine precision.
+
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg-triangular form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+  ALPHAR  (output)  DOUBLE PRECISION array, dimension (2)
+          On exit, this array contains the scaled real part of the
+          two eigenvalues. If BETA(I) &lt;&gt; 0, then the I-th eigenvalue
+          (I = 1 : 2) is given by
+              (ALPHAR(I) + ALPHAI(I)*SQRT(-1) ) * (BASE)**SCAL(I).
+
+  ALPHAI  (output)  DOUBLE PRECISION array, dimension (2)
+          On exit, this array contains the scaled imaginary part of
+          the two eigenvalues. ALPHAI(1) &gt;= 0.
+
+  BETA    (output)  DOUBLE PRECISION array, dimension (2)
+          On exit, this array contains information about infinite
+          eigenvalues. If BETA(I) = 0, then the I-th eigenvalue is
+          infinite. Otherwise, BETA(I) = 1.0.
+
+  SCAL    (output)  INTEGER array, dimension (2)
+          On exit, this array contains the scaling exponents for the
+          two eigenvalues.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (8*K)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  the periodic QZ algorithm did not converge;
+          = 2:  the computed eigenvalues might be inaccurate.
+                Both values might be taken as warnings, since
+                approximations of eigenvalues are returned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A complex single shifted periodic QZ iteration is applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BC.html b/doc/_build/html/_static/doc/MB03BC.html
new file mode 100644
index 00000000..6543cd0e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03BC.html
@@ -0,0 +1,151 @@
+<HTML>
+<HEAD><TITLE>MB03BC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BC">MB03BC</A></H2>
+<H3>
+Product singular value decomposition of K-1 triangular factors of order 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the product singular value decomposition of the K-1
+  triangular factors corresponding to a 2-by-2 product of K
+  factors in upper Hessenberg-triangular form.
+  For a general product of 2-by-2 triangular matrices
+
+                     S(2)        S(3)            S(K)
+         A = A(:,:,2)    A(:,:,3)    ... A(:,:,K),
+
+  Givens rotations are computed so that
+                                                       S(i)
+    [  CV(i-1) SV(i-1) ] [ A(1,1,i)(in)  A(1,2,i)(in) ]
+    [ -SV(i-1) CV(i-1) ] [     0         A(2,2,i)(in) ]
+                                   S(i)
+    [ A(1,1,i)(out) A(1,2,i)(out) ]    [  CV(i) SV(i) ]
+  = [     0         A(2,2,i)(out) ]    [ -SV(i) CV(i) ]
+
+  stays upper triangular and
+
+    [  CV(1) SV(1) ]       [ CV(K) -SV(K) ]
+    [ -SV(1) CV(1) ] * A * [ SV(K)  CV(K) ]
+
+  is diagonal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BC( K, AMAP, S, SINV, A, LDA1, LDA2, MACPAR, CV,
+     $                   SV, DWORK )
+C     .. Scalar Arguments ..
+      INTEGER           K, LDA1, LDA2, SINV
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), CV(*), DWORK(*), MACPAR(*),
+     $                  SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg-triangular form.
+          On exit, the leading 2-by-2-by-K part of this array
+          contains modified triangular factors such that their
+          product is diagonal.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+  MACPAR  (input)  DOUBLE PRECISION array, dimension (5)
+          Machine parameters:
+          MACPAR(1)  overflow threshold,         DLAMCH( 'O' );
+          MACPAR(2)  underflow threshold,        DLAMCH( 'U' );
+          MACPAR(3)  safe minimum,               DLAMCH( 'S' );
+          MACPAR(4)  relative machine precision, DLAMCH( 'E' );
+          MACPAR(5)  base of the machine,        DLAMCH( 'B' ).
+
+  CV      (output)  DOUBLE PRECISION array, dimension (K)
+          On exit, the first K elements of this array contain the
+          cosines of the Givens rotations.
+
+  SV      (output)  DOUBLE PRECISION array, dimension (K)
+          On exit, the first K elements of this array contain the
+          sines of the Givens rotations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*(K-1))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The product singular value decomposition of the K-1
+  triangular factors are computed as described in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A. and Van Dooren, P.
+      On propagating orthogonal transformations in a product of 2x2
+      triangular matrices.
+      In Reichel, Ruttan and Varga: 'Numerical Linear Algebra',
+      pp. 1-9, 1993.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BD">MB03BD</A></H2>
+<H3>
+Finding eigenvalues of a generalized matrix product in Hessenberg-triangular form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the eigenvalues of the generalized matrix product
+
+               S(1)           S(2)                 S(K)
+       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
+
+  where A(:,:,H) is upper Hessenberg and A(:,:,i), i &lt;&gt; H, is upper
+  triangular, using a double-shift version of the periodic
+  QZ method. In addition, A may be reduced to periodic Schur form:
+  A(:,:,H) is upper quasi-triangular and all the other factors
+  A(:,:,I) are upper triangular. Optionally, the 2-by-2 triangular
+  matrices corresponding to 2-by-2 diagonal blocks in A(:,:,H)
+  are so reduced that their product is a 2-by-2 diagonal matrix.
+
+  If COMPQ = 'U' or COMPQ = 'I', then the orthogonal factors are
+  computed and stored in the array Q so that for S(I) = 1,
+
+                      T
+          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
+                                                              T  (1)
+      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
+
+  and for S(I) = -1,
+
+                               T
+          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
+                                                              T  (2)
+      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
+
+  A partial generation of the orthogonal factors can be realized
+  via the array QIND.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S,
+     $                   A, LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI,
+     $                   BETA, SCAL, IWORK, LIWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPQ, DEFL, JOB
+      INTEGER           H, IHI, ILO, INFO, IWARN, K, LDA1, LDA2, LDQ1,
+     $                  LDQ2, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*), QIND(*), S(*), SCAL(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(*), ALPHAR(*), BETA(*),
+     $                  DWORK(*), Q(LDQ1,LDQ2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; A will not
+                 necessarily be put into periodic Schur form;
+          = 'S': put A into periodic Schur form, and return the
+                 eigenvalues in ALPHAR, ALPHAI, BETA, and SCAL;
+          = 'T': as JOB = 'S', but A is put into standardized
+                 periodic Schur form, that is, the general product
+                 of the 2-by-2 triangular matrices corresponding to
+                 a complex eigenvalue is diagonal.
+
+  DEFL    CHARACTER*1
+          Specifies the deflation strategy to be used, as follows:
+          = 'C': apply a careful deflation strategy, that is,
+                 the criteria are based on the magnitudes of
+                 neighboring elements and infinite eigenvalues are
+                 only deflated at the top; this is the recommended
+                 option;
+          = 'A': apply a more aggressive strategy, that is,
+                 elements on the subdiagonal or diagonal are set
+                 to zero as soon as they become smaller in magnitude
+                 than eps times the norm of the corresponding
+                 factor; this option is only recommended if
+                 balancing is applied beforehand and convergence
+                 problems are observed.
+
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N': do not modify Q;
+          = 'U': modify (update) the array Q by the orthogonal
+                 transformations that are applied to the matrices in
+                 the array A to reduce them to periodic Schur form;
+          = 'I': like COMPQ = 'U', except that each matrix in the
+                 array Q will be first initialized to the identity
+                 matrix;
+          = 'P': use the parameters as encoded in QIND.
+
+  QIND    INTEGER array, dimension (K)
+          If COMPQ = 'P', then this array describes the generation
+          of the orthogonal factors as follows:
+             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
+          modified by the transformations corresponding to the
+          i-th orthogonal factor in (1) and (2).
+             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
+          initialized to the identity and modified by the
+          transformations corresponding to the i-th orthogonal
+          factor in (1) and (2).
+             If QIND(I) = 0, then the transformations corresponding
+          to the i-th orthogonal factor in (1), (2) are not applied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of each factor in the array A.  N &gt;= 0.
+
+  H       (input)  INTEGER
+          Hessenberg index. The factor A(:,:,H) is on entry in upper
+          Hessenberg form.  1 &lt;= H &lt;= K.
+
+  ILO     (input)  INTEGER
+  IHI     (input)  INTEGER
+          It is assumed that each factor in A is already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
+          ILO = 1 and IHI  = 0, if N = 0.
+
+  S       (input)  INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array
+          must contain the factors in upper Hessenberg-triangular
+          form, that is, A(:,:,H) is upper Hessenberg and the other
+          factors are upper triangular.
+          On exit, if JOB = 'S' and INFO = 0, the leading
+          N-by-N-by-K part of this array contains the factors of
+          A in periodic Schur form, that is, A(:,:,H) is upper quasi
+          triangular and the other factors are upper triangular.
+          On exit, if JOB = 'T' and INFO = 0, the leading
+          N-by-N-by-K part of this array contains the factors of
+          A as for the option JOB = 'S', but the product of the
+          triangular factors corresponding to a 2-by-2 block in
+          A(:,:,H) is diagonal.
+          On exit, if JOB = 'E', then the leading N-by-N-by-K part
+          of this array contains meaningless elements in the off-
+          diagonal blocks. Consequently, the formulas (1) and (2)
+          do not hold for the returned A and Q (if COMPQ &lt;&gt; 'N')
+          in this case.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= MAX(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= MAX(1,N).
+
+  Q       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDQ1,LDQ2,K)
+          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
+          of this array must contain the initial orthogonal factors
+          as described in (1) and (2).
+          On entry, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part of this array must contain some
+          orthogonal factors as described by the parameters QIND.
+          If COMPQ = 'I', this array should not be set on entry.
+          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
+          N-by-N-by-K part of this array contains the modified
+          orthogonal factors as described in (1) and (2).
+          On exit, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part contain some modified orthogonal factors
+          as described by the parameters QIND.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ1    INTEGER
+          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
+
+  LDQ2    INTEGER
+          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain the scaled real parts of the eigenvalues of the
+          matrix product A. The i-th eigenvalue of A is given by
+
+          (ALPHAR(I) + ALPHAI(I)*SQRT(-1))/BETA(I) * BASE**SCAL(I),
+
+          where BASE is the machine base (often 2.0). Complex
+          conjugate eigenvalues appear in consecutive locations.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain the scaled imaginary parts of the eigenvalues
+          of A.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain indicators for infinite eigenvalues. That is, if
+          BETA(I) = 0.0, then the i-th eigenvalue is infinite.
+          Otherwise BETA(I) is set to 1.0.
+
+  SCAL    (output) INTEGER array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain the scaling parameters for the eigenvalues of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 0, IWORK(1) returns the optimal LIWORK,
+          and if IWARN &gt; N, the nonzero absolute values in IWORK(2),
+          ..., IWORK(N+1) are indices of the possibly inaccurate
+          eigenvalues, as well as of the corresponding 1-by-1 or
+          2-by-2 diagonal blocks of the factors in the array A.
+          The 2-by-2 blocks correspond to negative values in IWORK.
+          One negative value is stored for each such eigenvalue
+          pair. Its modulus indicates the starting index of a
+          2-by-2 block. This is also done for any value of IWARN,
+          if a 2-by-2 block is found to have two real eigenvalues.
+          On exit, if INFO = -22, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The length of the array IWORK.  LIWORK  &gt;= 2*K+N.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK,
+          and DWORK(2), ..., DWORK(1+K) contain the Frobenius norms
+          of the factors of the formal matrix product used by the
+          algorithm.
+          On exit, if INFO = -24, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= K + MAX( 2*N, 8*K ).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0        :  no warnings;
+          = 1,..,N-1 :  A is in periodic Schur form, but the
+                        algorithm was not able to reveal information
+                        about the eigenvalues from the 2-by-2
+                        blocks.
+                        ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i),
+                        can be incorrect for i = 1, ..., IWARN+1;
+          = N        :  some eigenvalues might be inaccurate;
+          = N+1      :  some eigenvalues might be inaccurate, and
+                        details can be found in IWORK.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0      :  succesful exit;
+          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
+                      value;
+          = 1,..,N :  the periodic QZ iteration did not converge.
+                      A is not in periodic Schur form, but
+                      ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i), for
+                      i = INFO+1,...,N should be correct.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A modified version of the periodic QZ algorithm is used [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
+      2001), Como (Italy), August 27-28 2001. Periodic Control
+      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+                              3
+  The algorithm requires 0(K N ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            KMAX, NMAX
+      PARAMETER          ( KMAX = 6, NMAX = 50 )
+      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
+      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                     LDQ2 = NMAX,
+     $                     LDWORK = KMAX + MAX( 2*NMAX, 8*KMAX ),
+     $                     LIWORK = 2*KMAX + NMAX )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, DEFL, JOB
+      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK ), QIND( KMAX ), S( KMAX ),
+     $                   SCAL( NMAX )
+      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
+     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
+     $                   Q( LDQ1, LDQ2, KMAX )
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03BD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, K, N, H, ILO, IHI
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
+         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
+     $                                I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'U' ) )
+     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
+     $                                   I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'P' ) ) THEN
+            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
+            DO 10 L = 1, K
+               IF( QIND( L ).GT.0 )
+     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
+     $                                    J = 1, N ), I = 1, N )
+   10       CONTINUE
+         END IF
+*        Compute the eigenvalues and the transformed matrices, if
+*        required.
+         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
+     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
+     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE IF( IWARN.EQ.0 ) THEN
+            IF( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 30 L = 1, K
+                  WRITE( NOUT, FMT = 99988 ) L
+                  DO 20 I = 1, N
+                     WRITE( NOUT, FMT = 99995 ) ( A( I, J, L ), J = 1, N
+     $                                          )
+   20             CONTINUE
+   30          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99994 )
+               DO 50 L = 1, K
+                  WRITE( NOUT, FMT = 99988 ) L
+                  DO 40 I = 1, N
+                     WRITE( NOUT, FMT = 99995 ) ( Q( I, J, L ), J = 1, N
+     $                                          )
+   40             CONTINUE
+   50          CONTINUE
+            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
+               WRITE( NOUT, FMT = 99994 )
+               DO 70 L = 1, K
+                  IF( QIND( L ).GT.0 ) THEN
+                     WRITE( NOUT, FMT = 99988 ) QIND( L )
+                     DO 60 I = 1, N
+                        WRITE( NOUT, FMT = 99995 )
+     $                       ( Q( I, J, QIND( L ) ), J = 1, N )
+   60                CONTINUE
+                  END IF
+   70          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) (   SCAL( I ), I = 1, N )
+         ELSE
+            WRITE( NOUT, FMT = 99987 ) IWARN
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03BD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
+99996 FORMAT( 'The matrix A on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix Q on exit is ' )
+99993 FORMAT( 'The vector ALPHAR is ' )
+99992 FORMAT( 'The vector ALPHAI is ' )
+99991 FORMAT( 'The vector BETA is ' )
+99990 FORMAT( 'The vector SCAL is ' )
+99989 FORMAT( 50( 1X, I8 ) )
+99988 FORMAT( 'The factor ', I2, ' is ' )
+99987 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03BD EXAMPLE PROGRAM DATA
+   S   C   I   3   3   2   1   3
+  -1     1    -1
+   2.0   0.0   1.0
+   0.0  -2.0  -1.0
+   0.0   0.0   3.0
+   1.0   2.0   0.0
+   4.0  -1.0   3.0
+   0.0   3.0   1.0
+   1.0   0.0   1.0
+   0.0   4.0  -1.0
+   0.0   0.0  -2.0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03BD EXAMPLE PROGRAM RESULTS
+The matrix A on exit is 
+The factor  1 is 
+  -2.1306   0.8205   0.7462
+   0.0000   2.8786   1.0564
+   0.0000   0.0000   1.9566
+The factor  2 is 
+  -4.0763  -1.0376  -2.6948
+  -1.9525   1.8283   2.2987
+   0.0000   0.0000   1.8990
+The factor  3 is 
+   3.3463  -2.3239  -0.5623
+   0.0000   1.0778  -0.0646
+   0.0000   0.0000  -2.2180
+The matrix Q on exit is 
+The factor  1 is 
+   0.2594   0.7715  -0.5809
+  -0.9552   0.1162  -0.2723
+  -0.1426   0.6255   0.7671
+The factor  2 is 
+  -0.1766   0.8037  -0.5683
+  -0.9636  -0.0234   0.2664
+   0.2008   0.5946   0.7785
+The factor  3 is 
+   0.6295   0.7315   0.2619
+  -0.7394   0.4605   0.4911
+   0.2386  -0.5028   0.8308
+The vector ALPHAR is 
+   0.3230   0.3230  -0.8752
+The vector ALPHAI is 
+   0.5694  -0.5694   0.0000
+The vector BETA is 
+   1.0000   1.0000   1.0000
+The vector SCAL is 
+        0        0       -1
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BE.html b/doc/_build/html/_static/doc/MB03BE.html
new file mode 100644
index 00000000..62a7410c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03BE.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB03BE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BE">MB03BE</A></H2>
+<H3>
+Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply at most 20 iterations of a real single shifted
+  periodic QZ algorithm to the 2-by-2 product of matrices stored
+  in the array A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BE( K, AMAP, S, SINV, A, LDA1, LDA2 )
+C     .. Scalar Arguments ..
+      INTEGER           K, LDA1, LDA2, SINV
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg form.
+          On exit, the leading 2-by-2-by-K part of this array
+          contains the product after at most 20 iterations of a real
+          shifted periodic QZ algorithm.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Ten iterations of a real single shifted periodic QZ algorithm are
+  applied to the 2-by-2 matrix product A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BF.html b/doc/_build/html/_static/doc/MB03BF.html
new file mode 100644
index 00000000..74850311
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03BF.html
@@ -0,0 +1,106 @@
+<HTML>
+<HEAD><TITLE>MB03BF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BF">MB03BF</A></H2>
+<H3>
+Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product, with Hessenberg factor the last one
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply at most 20 iterations of a real single shifted
+  periodic QZ algorithm to the 2-by-2 product of matrices stored
+  in the array A. The Hessenberg matrix is the last one of the
+  formal matrix product.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BF( K, AMAP, S, SINV, A, LDA1, LDA2, ULP )
+C     .. Scalar Arguments ..
+      INTEGER           K, LDA1, LDA2, SINV
+      DOUBLE PRECISION  ULP
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg form. The Hessenberg matrix
+          is the last one of the formal matrix product.
+          On exit, the leading 2-by-2-by-K part of this array
+          contains the product after at most 20 iterations of a real
+          shifted periodic QZ algorithm.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+  ULP     INTEGER
+          The machine relation precision.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Twenty iterations of a real single shifted periodic QZ algorithm
+  are applied to the 2-by-2 matrix product A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BZ.html b/doc/_build/html/_static/doc/MB03BZ.html
new file mode 100644
index 00000000..588a1c59
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03BZ.html
@@ -0,0 +1,396 @@
+<HTML>
+<HEAD><TITLE>MB03BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BZ">MB03BZ</A></H2>
+<H3>
+Finding eigenvalues of a complex generalized matrix product in Hessenberg-triangular form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the eigenvalues of the complex generalized matrix product
+
+               S(1)           S(2)                 S(K)
+       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)    ,  S(1) = 1,
+
+  where A(:,:,1) is upper Hessenberg and A(:,:,i) is upper
+  triangular, i = 2, ..., K, using a single-shift version of the
+  periodic QZ method. In addition, A may be reduced to periodic
+  Schur form by unitary transformations: all factors A(:,:,i) become
+  upper triangular.
+
+  If COMPQ = 'V' or COMPQ = 'I', then the unitary factors are
+  computed and stored in the array Q so that for S(I) = 1,
+
+                      H
+          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
+                       H                                        (1)
+      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
+
+  and for S(I) = -1,
+
+                               H
+          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
+                                H                               (2)
+      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
+     $                   Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK,
+     $                   LDWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPQ, JOB
+      INTEGER           IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
+     $                  LDWORK, LZWORK, N
+C     .. Array Arguments ..
+      INTEGER           S(*), SCAL(*)
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA1, LDA2, *), ALPHA(*), BETA(*),
+     $                  Q(LDQ1, LDQ2, *), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; A will not
+                 necessarily be put into periodic Schur form;
+          = 'S': put A into periodic Schur form, and return the
+                 eigenvalues in ALPHA, BETA, and SCAL.
+
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N': do not modify Q;
+          = 'V': modify the array Q by the unitary transformations
+                 that are applied to the matrices in the array A to
+                 reduce them to periodic Schur form;
+          = 'I': like COMPQ = 'V', except that each matrix in the
+                 array Q will be first initialized to the identity
+                 matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of each factor in the array A.  N &gt;= 0.
+
+  ILO     (input)  INTEGER
+  IHI     (input)  INTEGER
+          It is assumed that each factor in A is already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
+          ILO = 1 and IHI  = 0, if N = 0.
+
+  S       (input)  INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1. By definition, S(1) must be set to 1.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array
+          must contain the factors in upper Hessenberg-triangular
+          form, that is, A(:,:,1) is upper Hessenberg and the other
+          factors are upper triangular.
+          On exit, if JOB = 'S' and INFO = 0, the leading
+          N-by-N-by-K part of this array contains the factors of
+          A in periodic Schur form. All factors are reduced to
+          upper triangular form and, moreover, A(:,:,2), ...,
+          A(:,:,K) are normalized so that their diagonals contain
+          nonnegative real numbers.
+          On exit, if JOB = 'E', then the leading N-by-N-by-K part
+          of this array contains meaningless elements.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= MAX(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= MAX(1,N).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ1,LDQ2,K)
+          On entry, if COMPQ = 'V', the leading N-by-N-by-K part
+          of this array must contain the initial unitary factors
+          as described in (1) and (2).
+          On exit, if COMPQ = 'V' or COMPQ = 'I', the leading
+          N-by-N-by-K part of this array contains the modified
+          unitary factors as described in (1) and (2).
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ1    INTEGER
+          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
+
+  LDQ2    INTEGER
+          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
+
+  ALPHA   (output) COMPLEX*16 array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this
+          array contain the scaled eigenvalues of the matrix
+          product A. The i-th eigenvalue of A is given by
+
+          ALPHA(I) / BETA(I) * BASE**(SCAL(I)),
+
+          where ABS(ALPHA(I)) = 0.0 or 1.0 &lt;= ABS(ALPHA(I)) &lt; BASE,
+          and BASE is the machine base (normally 2.0).
+
+  BETA    (output) COMPLEX*16 array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this
+          array contain indicators for infinite eigenvalues. That
+          is, if BETA(I) = 0.0, then the i-th eigenvalue is
+          infinite. Otherwise BETA(I) is set to 1.0.
+
+  SCAL    (output) INTEGER array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this
+          array contain the scaling parameters for the eigenvalues
+          of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the minimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the minimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.  LZWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0      :  succesful exit;
+          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
+                      value;
+          = 1,..,N :  the periodic QZ iteration did not converge.
+                      A is not in periodic Schur form, but
+                      ALPHA(I), BETA(I), and SCAL(I), for
+                      I = INFO+1,...,N should be correct.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A slightly modified version of the periodic QZ algorithm is
+  used. For more details, see [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
+      2001), Como (Italy), August 27-28 2001. Periodic Control
+      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+                              3
+  The algorithm requires 0(K N ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03BZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            KMAX, NMAX
+      PARAMETER          ( KMAX = 6, NMAX = 50 )
+      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LZWORK
+      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                     LDQ2 = NMAX, LDWORK = NMAX, LZWORK = NMAX )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            I, IHI, ILO, INFO, J, K, L, N
+*
+*     .. Local Arrays ..
+      COMPLEX*16         A( LDA1, LDA2, KMAX ), ALPHA( NMAX ),
+     $                   BETA( NMAX ), Q( LDQ1, LDQ2, KMAX ),
+     $                   ZWORK( LZWORK )
+      DOUBLE PRECISION   DWORK( LDWORK)
+      INTEGER            S( KMAX ), SCAL( NMAX )
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03BZ
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, K, N, ILO, IHI
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
+         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
+     $                                I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'V' ) )
+     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
+     $                                   I = 1, N ), L = 1, K )
+*        Compute the eigenvalues and the transformed matrices, if
+*        required.
+         CALL MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
+     $                Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK, LDWORK,
+     $                ZWORK, LZWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( JOB, 'S' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 20 L = 1, K
+                  WRITE( NOUT, FMT = 99995 ) L
+                  DO 10 I = 1, N
+                     WRITE( NOUT, FMT = 99994 ) ( A( I, J, L ), J = 1, N
+     $                                          )
+   10             CONTINUE
+   20          CONTINUE
+            END IF
+            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99993 )
+               DO 40 L = 1, K
+                  WRITE( NOUT, FMT = 99995 ) L
+                  DO 30 I = 1, N
+                     WRITE( NOUT, FMT = 99994 ) ( Q( I, J, L ), J = 1, N
+     $                                          )
+   30             CONTINUE
+   40          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99994 ) ( ALPHA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99994 ) (  BETA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) (  SCAL( I ), I = 1, N )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03BZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03BZ = ', I2 )
+99996 FORMAT(/'The matrix A on exit is ' )
+99995 FORMAT( 'The factor ', I2, ' is ' )
+99994 FORMAT( 50( 1X, F9.4, SP, F9.4, S, 'i ') )
+99993 FORMAT(/'The matrix Q on exit is ' )
+99992 FORMAT(/'The vector ALPHA is ' )
+99991 FORMAT( 'The vector BETA is ' )
+99990 FORMAT( 'The vector SCAL is ' )
+99989 FORMAT( 50( 1X, I8 ) )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03BZ EXAMPLE PROGRAM DATA
+	S	I	3	4	1	4
+	1	-1	1
+   (0.8637,0.9326)   (0.8819,0.4850)   (0.5920,0.8826)   (0.8991,0.9040)
+   (0.6994,0.8588)   (0.9527,0.2672)   (0.5087,0.0621)   (0.9653,0.5715)
+        0            (0.1561,0.1898)   (0.9514,0.9266)   (0.6582,0.3102)
+        0                  0           (0.8649,0.1265)   (0.1701,0.0013)
+   (0.5113,0.7375)   (0.6869,0.7692)   (0.7812,0.1467)   (0.7216,0.9498)
+        0            (0.1319,0.9137)   (0.5879,0.0201)   (0.9834,0.0549)
+        0                  0           (0.7711,0.2422)   (0.9468,0.3280)
+        0                  0                  0          (0.2219,0.3971)
+   (0.0158,0.4042)   (0.0082,0.2033)   (0.1028,0.9913)   (0.6954,0.1987)
+        0            (0.5066,0.4587)   (0.1060,0.6949)   (0.5402,0.0970)
+        0                  0           (0.4494,0.3700)   (0.8492,0.4882)
+        0                  0                  0          (0.2110,0.5824)
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03BZ EXAMPLE PROGRAM RESULTS
+
+The matrix A on exit is 
+The factor  1 is 
+    0.6053  +1.0311i    -1.7227  -0.5753i     1.2428  -1.2632i     0.9445  -0.4317i 
+    0.0000  +0.0000i    -0.2596  +1.0235i     0.4673  -0.2403i    -0.5579  -1.1564i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.3336  -0.3367i     0.0687  +0.0261i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.2014  +0.0057i 
+The factor  2 is 
+    1.1118  +0.0000i    -1.4173  +1.1607i     0.3271  -0.5800i     0.5291  -0.6341i 
+    0.0000  +0.0000i     0.9051  +0.0000i     0.1710  +0.1014i    -0.2696  -0.3549i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.3599  +0.0000i     0.0231  -0.5865i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8410  +0.0000i 
+The factor  3 is 
+    1.1554  +0.0000i    -0.7577  +0.0825i     0.1284  -0.0063i     1.1175  -0.0778i 
+    0.0000  +0.0000i     0.5216  +0.0000i    -0.5761  +0.2972i    -0.3534  -0.3595i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.2750  +0.0000i     0.2587  -0.1664i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6015  +0.0000i 
+
+The matrix Q on exit is 
+The factor  1 is 
+    0.6033  -0.4021i     0.3478  -0.1834i    -0.0029  -0.4458i    -0.3157  +0.1462i 
+    0.1519  -0.3002i     0.6010  +0.1411i     0.0134  +0.5692i     0.4223  -0.0574i 
+    0.1002  -0.5387i    -0.4199  +0.3933i     0.1148  +0.2694i    -0.3713  -0.3810i 
+   -0.0599  -0.2395i    -0.0968  +0.3521i     0.2342  -0.5801i     0.6247  -0.1555i 
+The factor  2 is 
+    0.3325  +0.6289i     0.0930  +0.3421i    -0.1849  -0.1715i    -0.5470  -0.0734i 
+    0.3247  -0.4396i     0.1766  -0.1691i     0.2307  -0.3746i    -0.2617  -0.6160i 
+    0.2180  -0.2074i    -0.3853  +0.1978i    -0.6852  +0.2781i     0.1492  -0.3909i 
+   -0.0268  -0.3223i    -0.0623  +0.7893i     0.0957  -0.4323i     0.1716  +0.2072i 
+The factor  3 is 
+    0.6791  +0.1138i     0.0183  +0.2703i     0.3289  -0.2770i    -0.2355  -0.4605i 
+    0.5111  -0.1775i     0.3990  +0.1941i    -0.0851  +0.4779i     0.4563  +0.2580i 
+    0.2687  -0.3788i    -0.7974  -0.0691i    -0.2836  +0.1192i     0.1765  -0.1340i 
+    0.1098  -0.0739i    -0.2845  -0.0903i     0.6651  +0.2062i    -0.2810  +0.5741i 
+
+The vector ALPHA is 
+    0.6290  +1.0715i    -0.2992  +1.1797i    -1.0195  -1.0290i    -1.1523  +0.0326i 
+The vector BETA is 
+    1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i 
+The vector SCAL is 
+        0       -1       -2       -3
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03CD.html b/doc/_build/html/_static/doc/MB03CD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB03CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03CD">MB03CD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2,
+  3-by-3, or 4-by-4 regular block upper triangular pencil
+
+                 ( A11 A12 ) ( B11 B12 )     ( D11 D12 )
+    aAB - bD = a (         ) (         ) - b (         ),        (1)
+                 (  0  A22 ) (  0  B22 )     (  0  D22 )
+
+  such that the pencil a(Q3' A Q2 )(Q2' B Q1 ) - b(Q3' D Q1) is
+  still in block upper triangular form, but the eigenvalues in
+  Spec(A11 B11, D11), Spec(A22 B22, D22) are exchanged, where
+  Spec(X,Y) denotes the spectrum of the matrix pencil (X,Y), and M'
+  denotes the transpose of the matrix M.
+
+  Optionally, to upper triangularize the real regular pencil in
+  block lower triangular form
+
+               ( A11  0  ) ( B11  0  )     ( D11  0  )
+  aAB - bD = a (         ) (         ) - b (         ),          (2)
+               ( A21 A22 ) ( B21 B22 )     ( D21 D22 )
+
+  while keeping the eigenvalues in the same diagonal position.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03CD( UPLO, N1, N2, PREC, A, LDA, B, LDB, D, LDD, Q1,
+     $                   LDQ1, Q2, LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
+     $                   N1, N2
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   Q3( LDQ3, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies if the pencil is in lower or upper block
+          triangular form on entry, as follows:
+          = 'U': Upper block triangular, eigenvalues are exchanged
+                 on exit;
+          = 'L': Lower block triangular, eigenvalues are not
+                 exchanged on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input/output) INTEGER
+          Size of the upper left block, N1 &lt;= 2.
+          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
+          N1 and N2 are exchanged on exit; otherwise, N1 is
+          unchanged on exit.
+
+  N2      (input/output) INTEGER
+          Size of the lower right block, N2 &lt;= 2.
+          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
+          N1 and N2 are exchanged on exit; otherwise, N2 is
+          unchanged on exit.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input or input/output) DOUBLE PRECISION array, dimension
+             (LDA, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix A of the pencil aAB - bD.
+          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
+          UPLO = 'L', need not be set to zero.
+          On exit, if N1 = N2 = 1, this array contains the matrix
+                            [  0 1 ]
+          J' A J, where J = [ -1 0 ]; otherwise, this array is
+          unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N1+N2.
+
+  B       (input or input/output) DOUBLE PRECISION array, dimension
+             (LDB, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix B of the pencil aAB - bD.
+          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
+          UPLO = 'L', need not be set to zero.
+          On exit, if N1 = N2 = 1, this array contains the matrix
+          J' B J; otherwise, this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N1+N2.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+             (LDD, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix D of the pencil aAB - bD.
+          On exit, if N1 = 2 or N2 = 2, the leading
+          (N1+N2)-by-(N1+N2) part of this array contains the
+          transformed matrix D in real Schur form. If N1 = 1 and
+          N2 = 1, this array contains the matrix J' D J.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= N1+N2.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the first orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the second orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
+
+  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the third orthogonal transformation matrix.
+
+  LDQ3    INTEGER
+          The leading dimension of the array Q3.  LDQ3 &gt;= N1+N2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N1+N2 = 2 then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N1+N2 = 2, then LDWORK = 0; otherwise,
+          LDWORK &gt;= 16*N1 + 10*N2 + 23, UPLO = 'U';
+          LDWORK &gt;= 10*N1 + 16*N2 + 23, UPLO = 'L'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the QZ iteration failed in the LAPACK routine DGGEV;
+          = 2: another error occured while executing a routine in
+               DGGEV;
+          = 3: the QZ iteration failed in the LAPACK routine DGGES;
+          = 4: another error occured during execution of DGGES;
+          = 5: reordering of aA*B - bD in the LAPACK routine DTGSEN
+               failed because the transformed matrix pencil
+               aA*B - bD would be too far from generalized Schur
+               form; the problem is very ill-conditioned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described in [2]
+  (page 21). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
+  always acts on an upper block triangular pencil.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03CZ.html b/doc/_build/html/_static/doc/MB03CZ.html
new file mode 100644
index 00000000..6abdc2b6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03CZ.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>MB03CZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03CZ">MB03CZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute unitary matrices Q1, Q2, and Q3 for a complex 2-by-2
+  regular pencil aAB - bD, with A, B, D upper triangular, such that
+  Q3' A Q2, Q2' B Q1, Q3' D Q1 are still upper triangular, but the
+  eigenvalues are in reversed order. The matrices Q1, Q2, and Q3 are
+  represented by
+
+       (  CO1  SI1  )       (  CO2  SI2  )       (  CO3  SI3  )
+  Q1 = (            ), Q2 = (            ), Q3 = (            ).
+       ( -SI1' CO1  )       ( -SI2' CO2  )       ( -SI3' CO3  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03CZ( A, LDA, B, LDB, D, LDD, CO1, SI1, CO2, SI2,
+     $                   CO3, SI3 )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, LDB, LDD
+      DOUBLE PRECISION   CO1, CO2, CO3
+      COMPLEX*16         SI1, SI2, SI3
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) COMPLEX*16 array, dimension (LDA, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix A of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  B       (input) COMPLEX*16 array, dimension (LDB, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix B of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  D       (input) COMPLEX*16 array, dimension (LDD, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix D of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= 2.
+
+  CO1     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q1.
+
+  SI1     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q1.
+
+  CO2     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q2.
+
+  SI2     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q2.
+
+  CO3     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q3.
+
+  SI3     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q3.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary transformations as described on page 37
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03DD.html b/doc/_build/html/_static/doc/MB03DD.html
new file mode 100644
index 00000000..b598a467
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03DD.html
@@ -0,0 +1,208 @@
+<HTML>
+<HEAD><TITLE>MB03DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03DD">MB03DD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2,
+  3-by-3, or 4-by-4 regular block upper triangular pencil
+
+                 ( A11 A12 )     ( B11 B12 )
+    aA - bB =  a (         ) - b (         ),                    (1)
+                 (  0  A22 )     (  0  B22 )
+
+  such that the pencil a(Q2' A Q1) - b(Q2' B Q1) is still in block
+  upper triangular form, but the eigenvalues in Spec(A11, B11),
+  Spec(A22, B22) are exchanged, where Spec(X,Y) denotes the spectrum
+  of the matrix pencil (X,Y) and the notation M' denotes the
+  transpose of the matrix M.
+
+  Optionally, to upper triangularize the real regular pencil in
+  block lower triangular form
+
+                ( A11  0  )     ( B11  0  )
+    aA - bB = a (         ) - b (         ),                     (2)
+                ( A21 A22 )     ( B21 B22 )
+
+  while keeping the eigenvalues in the same diagonal position.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03DD( UPLO, N1, N2, PREC, A, LDA, B, LDB, Q1, LDQ1,
+     $                   Q2, LDQ2, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N1, N2
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies if the pencil is in lower or upper block
+          triangular form on entry, as follows:
+          = 'U': Upper block triangular, eigenvalues are exchanged
+                 on exit;
+          = 'T': Upper block triangular, B triangular, eigenvalues
+                 are exchanged on exit;
+          = 'L': Lower block triangular, eigenvalues are not
+                 exchanged on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input/output) INTEGER
+          Size of the upper left block, N1 &lt;= 2.
+          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
+          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
+          N1 is unchanged on exit.
+
+  N2      (input/output) INTEGER
+          Size of the lower right block, N2 &lt;= 2.
+          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
+          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
+          N2 is unchanged on exit.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+             (LDA, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix A of the pencil aA - bB.
+          On exit, if N1 = N2 = 1, this array is unchanged, if
+          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
+                                       [  0 1 ]
+          the matrix J' A J, where J = [ -1 0 ]; otherwise, this
+          array contains the transformed quasi-triangular matrix in
+          generalized real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N1+N2.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+             (LDB, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix B of the pencil aA - bB.
+          On exit, if N1 = N2 = 1, this array is unchanged, if
+          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
+          the matrix J' B J; otherwise, this array contains the
+          transformed upper triangular matrix in generalized real
+          Schur form.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N1+N2.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the first orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the second orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N1+N2 = 2 then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N1+N2 = 2, then LDWORK = 0; otherwise,
+          LDWORK &gt;= 16*N1 + 10*N2 + 23, if UPLO = 'U';
+          LDWORK &gt;=  7*N1 +  7*N2 + 16, if UPLO = 'T';
+          LDWORK &gt;= 10*N1 + 16*N2 + 23, if UPLO = 'L'.
+          For good performance LDWORK should be generally larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 3: the QZ iteration failed in the LAPACK routine DGGES
+               (if UPLO &lt;&gt; 'T') or DHGEQZ (if UPLO = 'T');
+          = 4: another error occured during execution of DHGEQZ;
+          = 5: reordering of aA - bB in the LAPACK routine DTGSEN
+               failed because the transformed matrix pencil aA - bB
+               would be too far from generalized Schur form;
+               the problem is very ill-conditioned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described in [2]
+  (page 30). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
+  always acts on an upper block triangular pencil.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03DZ.html b/doc/_build/html/_static/doc/MB03DZ.html
new file mode 100644
index 00000000..c4c89395
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03DZ.html
@@ -0,0 +1,121 @@
+<HTML>
+<HEAD><TITLE>MB03DZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03DZ">MB03DZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute unitary matrices Q1 and Q2 for a complex 2-by-2 regular
+  pencil aA - bB with A, B upper triangular, such that
+  Q2' (aA - bB) Q1 is still upper triangular but the eigenvalues are
+  in reversed order. The matrices Q1 and Q2 are represented by
+
+       (  CO1  SI1  )       (  CO2  SI2  )
+  Q1 = (            ), Q2 = (            ).
+       ( -SI1' CO1  )       ( -SI2' CO2  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03DZ( A, LDA, B, LDB, CO1, SI1, CO2, SI2 )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, LDB
+      DOUBLE PRECISION   CO1, CO2
+      COMPLEX*16         SI1, SI2
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) COMPLEX*16 array, dimension (LDA, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix A of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  B       (input) COMPLEX*16 array, dimension (LDB, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix B of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  CO1     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q1.
+
+  SI1     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q1.
+
+  CO2     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q2.
+
+  SI2     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q2.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary transformations as described on page 42
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ED.html b/doc/_build/html/_static/doc/MB03ED.html
new file mode 100644
index 00000000..ff2b697e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03ED.html
@@ -0,0 +1,183 @@
+<HTML>
+<HEAD><TITLE>MB03ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ED">MB03ED</A></H2>
+<H3>
+Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2 or
+  4-by-4 regular pencil
+
+                 ( A11  0  ) ( B11  0  )     (  0  D12 )
+    aAB - bD = a (         ) (         ) - b (         ),        (1)
+                 (  0  A22 ) (  0  B22 )     ( D21  0  )
+
+  such that Q3' A Q2 and Q2' B Q1 are upper triangular, Q3' D Q1 is
+  upper quasi-triangular, and the eigenvalues with negative real
+  parts (if there are any) are allocated on the top. The notation M'
+  denotes the transpose of the matrix M. The submatrices A11, A22,
+  B11, B22 and D12 are upper triangular. If D21 is 2-by-2, then all
+  other blocks are nonsingular and the product
+     -1        -1    -1        -1
+  A22   D21 B11   A11   D12 B22   has a pair of complex conjugate
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ED( N, PREC, A, LDA, B, LDB, D, LDD, Q1, LDQ1, Q2,
+     $                   LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
+     $                   N
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   Q3( LDQ3, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the input pencil, N = 2 or N = 4.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
+          The leading N-by-N upper triangular part of this array
+          must contain the upper triangular matrix A of the pencil
+          aAB - bD. The strictly lower triangular part and the
+          entries of the (1,2) block are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
+          The leading N-by-N upper triangular part of this array
+          must contain the upper triangular matrix B of the pencil
+          aAB - bD. The strictly lower triangular part and the
+          entries of the (1,2) block are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix D of the pencil aAB - bD.
+          On exit, if N = 4, the leading N-by-N part of this array
+          contains the transformed matrix D in real Schur form.
+          If N = 2, this array is unchanged on exit.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= N.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          The leading N-by-N part of this array contains the first
+          orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          The leading N-by-N part of this array contains the second
+          orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N.
+
+  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N)
+          The leading N-by-N part of this array contains the third
+          orthogonal transformation matrix.
+
+  LDQ3    INTEGER
+          The leading dimension of the array Q3.  LDQ3 &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N = 2, then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N = 4, then LDWORK &gt;= 79. For good performance LDWORK
+          should be generally larger.
+          If N = 2, then LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the QZ iteration failed in the LAPACK routine DGGES;
+          = 2: another error occured during execution of DGGES.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  20 in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03FD.html b/doc/_build/html/_static/doc/MB03FD.html
new file mode 100644
index 00000000..d278e9f3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03FD.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MB03FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03FD">MB03FD</A></H2>
+<H3>
+Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2 or
+  4-by-4 regular pencil
+
+                ( A11  0  )     (  0  B12 )
+    aA - bB = a (         ) - b (         ),                     (1)
+                (  0  A22 )     ( B21  0  )
+
+  such that Q2' A Q1 is upper triangular, Q2' B Q1 is upper quasi-
+  triangular, and the eigenvalues with negative real parts (if there
+  are any) are allocated on the top. The notation M' denotes the
+  transpose of the matrix M. The submatrices A11, A22, and B12 are
+  upper triangular. If B21 is 2-by-2, then all the other blocks are
+                                 -1        -1
+  nonsingular and the product A11   B12 A22   B21 has a pair of
+  complex conjugate eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03FD( N, PREC, A, LDA, B, LDB, Q1, LDQ1, Q2, LDQ2,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the input pencil, N = 2 or N = 4.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A of the pencil aA - bB.
+          If N = 2, the diagonal elements only are referenced.
+          On exit, if N = 4, the leading N-by-N part of this array
+          contains the transformed upper triangular matrix of the
+          generalized real Schur form of the pencil aA - bB.
+          If N = 2, this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B of the pencil aA - bB.
+          If N = 2, the anti-diagonal elements only are referenced.
+          On exit, if N = 4, the leading N-by-N part of this array
+          contains the transformed real Schur matrix of the
+          generalized real Schur form of the pencil aA - bB.
+          If N = 2, this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          The leading N-by-N part of this array contains the first
+          orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          The leading N-by-N part of this array contains the second
+          orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N = 2, then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N = 4, then LDWORK &gt;= 63. For good performance LDWORK
+          should be generally larger.
+          If N = 2, then LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the QZ iteration failed in the LAPACK routine DGGES;
+          = 2: another error occured during execution of DGGES.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  29 in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
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+<HTML>
+<HEAD><TITLE>MB03FZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03FZ">MB03FZ</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+                          (  B  F  )      (  Z11  Z12  )
+    S = J Z' J' Z and H = (        ), Z = (            ),
+                          (  G -B' )      (  Z21  Z22  )
+                                                                (1)
+        (  0  I  )
+    J = (        ).
+        ( -I  0  )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+                                                         
+  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z' J' B_Z,
+
+          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
+          (                     |                     )
+          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
+          (                     |                     )
+    B_Z = (---------------------+---------------------) ,
+          (                     |                     )
+          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
+          (                     |                     )
+          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |                 )
+          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
+          (                 |                 )
+          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
+
+  is determined and used to compute the eigenvalues. Optionally, if
+  COMPQ = 'C', an orthonormal basis of the right deflating subspace,
+  Def_-(S, H), of the pencil aS - bH in (1), corresponding to the
+  eigenvalues with strictly negative real part, is computed. Namely,
+  after transforming aB_S - bB_H, in the factored form, by unitary
+  matrices, we have B_Sout = J B_Zout' J' B_Zout,
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Zout = (         ) and B_Hout = (         ),               (3)
+             (  0  BC  )              (  0 -BB' )
+
+  and the eigenvalues with strictly negative real part of the
+  complex pencil aB_Sout - bB_Hout are moved to the top. The 
+  notation M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPU = 'C', an orthonormal basis of the companion
+  subspace, range(P_U) [1], which corresponds to the eigenvalues
+  with negative real part, is computed. The embedding doubles the
+  multiplicities of the eigenvalues of the pencil aS - bH.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
+     $                   LDFG, NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU,
+     $                   ALPHAR, ALPHAI, BETA, IWORK, LIWORK, DWORK,
+     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
+     $                   LDZ, LIWORK, LZWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
+     $                   Z( LDZ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the deflating subspace;
+          = 'C': compute the deflating subspace and store it in the
+                 leading subarray of Q.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the companion subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the companion subspace;
+          = 'C': compute the companion subspace and store it in the
+                 leading subarray of U.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C' or COMPU = 'C', specifies the technique for
+          computing the orthonormal bases of the deflating subspace
+          and companion subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
+          used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the non-trivial factor Z in the factorization
+          S = J Z' J' Z of the skew-Hamiltonian matrix S.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the upper triangular
+          matrix BA in (3) (see also METHOD). The strictly lower
+          triangular part is not zeroed.
+          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
+          on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the upper triangular
+          matrix BB in (3) (see also METHOD). The strictly lower
+          triangular part is not zeroed. 
+          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
+          on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the Hermitian matrix
+          BF in (3) (see also METHOD). The strictly lower triangular
+          part of the input matrix is preserved. The diagonal
+          elements might have tiny imaginary parts.
+          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
+          on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
+          in aS - bH with strictly negative real part.
+
+  D       (output) COMPLEX*16 array, dimension (LDD, N)
+          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
+          this array contains the matrix BD in (3) (see METHOD).
+          If COMPQ = 'N' and COMPU = 'N', this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
+          LDD &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
+
+  C       (output) COMPLEX*16 array, dimension (LDC, N)
+          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
+          this array contains the lower triangular matrix BC in (3)
+          (see also METHOD). The strictly upper triangular part is
+          not zeroed. 
+          If COMPQ = 'N' and COMPU = 'N', this array is not
+          referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
+          LDC &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the right
+          deflating subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part.
+          The remaining entries are meaningless.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
+          On exit, if COMPU = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the companion
+          subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part. The
+          remaining entries are meaningless.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,         if COMPU = 'N';
+          LDU &gt;= MAX(1, N), if COMPU = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -26, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
+                    c = 18, if                 COMPU = 'C';
+                    c = 16, if COMPQ = 'C' and COMPU = 'N';
+                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -28, ZWORK(1) returns the minimum
+          value of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 8*N + 28, if COMPQ = 'C';
+          LZWORK &gt;= 6*N + 28, if COMPQ = 'N' and COMPU = 'C';
+          LZWORK &gt;= 1,        if COMPQ = 'N' and COMPU = 'N'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0, if COMPQ = 'N' and COMPU = 'N';
+          LBWORK &gt;= N, if COMPQ = 'C' or  COMPU = 'C'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the algorithm was not able to reveal information
+               about the eigenvalues from the 2-by-2 blocks in the
+               SLICOT Library routine MB03BD (called by MB04ED);
+          = 2: periodic QZ iteration failed in the SLICOT Library
+               routines MB03BD or MB03BZ when trying to
+               triangularize the 2-by-2 blocks;
+          = 3: the singular value decomposition failed in the LAPACK
+               routine ZGESVD (for ORTH = 'S').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT 
+  Library routine MB04ED is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~                (  BZ11  BZ12  )
+  B_Z = U' B_Z Q = (              ) and
+                   (    0   BZ22  )
+
+  ~                     (  T11  T12  )
+  B_T = J Q' J' B_T Q = (            ),
+                        (   0   T11' )
+
+  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
+  BZ22' are upper triangular and T11 is upper quasi-triangular.
+
+  Second, the SLICOT Library routine MB03IZ is applied, to compute a
+                 ~                                 ~
+  unitary matrix Q and a unitary symplectic matrix U, such that
+
+                ~    ~
+  ~  ~   ~   (  Z11  Z12  )
+  U' B_Z Q = (       ~    ) =: B_Zout,
+             (   0   Z22  )
+
+    ~        ~    ~   (  H11  H12  )
+  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
+                      (   0  -H11' )
+       ~    ~   
+  with Z11, Z22', H11 upper triangular, and such that the spectrum
+
+           ~       ~       ~
+  Spec_-(J B_Z' J' B_Z, -i*B_T) is contained in the spectrum of the
+                                                ~    ~
+  2*NEIG-by-2*NEIG leading principal subpencil aZ22'*Z11 - bH11.
+
+  Finally, the right deflating subspace and the companion subspace
+  are computed. See also page 21 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03FZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
+     $                   LIWORK, LZWORK
+      PARAMETER          ( LDB  = NMAX, LDC =   NMAX, LDD = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
+     $                     LDWORK = 18*NMAX*NMAX + NMAX + 3 +
+     $                              MAX( 2*NMAX, 24 ), LDZ  = NMAX,
+     $                     LIWORK = 2*NMAX + 9, LZWORK = 8*NMAX + 28 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            I, INFO, J, M, N, NEIG
+*
+*     .. Local Arrays ..
+      COMPLEX*16         B( LDB, NMAX ), C( LDC, NMAX ), D( LDD, NMAX ),
+     $                   FG( LDFG, NMAX ), Q( LDQ, 2*NMAX ),
+     $                   U( LDU, 2*NMAX ), Z( LDZ, NMAX ),
+     $                   ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ),  ALPHAR( NMAX ), BETA( NMAX ),
+     $                   DWORK( LDWORK )
+      INTEGER            IWORK( LIWORK )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03FZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues and orthogonal bases of the right
+*        deflating subspace and companion subspace of a complex
+*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
+*        eigenvalues with strictly negative real part.
+         CALL MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
+     $                ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
+     $                LZWORK, BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
+   10       CONTINUE
+            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( D( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( C( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
+   40          CONTINUE
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99987 )
+            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99986 )
+               DO 60 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   60          CONTINUE
+            END IF
+            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99985 )
+               DO 70 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
+   70          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
+     $         WRITE( NOUT, FMT = 99984 ) NEIG
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( 'MB03FZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB03FZ = ', I2 )
+99996 FORMAT (/'The matrix Z on exit is ' )
+99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
+99994 FORMAT (/'The matrix D is ' )
+99993 FORMAT (/'The matrix C is ' )
+99992 FORMAT (/'The matrix B on exit is ' )
+99991 FORMAT (/'The matrix F on exit is ' )
+99990 FORMAT (/'The vector ALPHAR is ' )
+99989 FORMAT ( 50( 1X, F8.4 ) )
+99988 FORMAT (/'The vector ALPHAI is ' )
+99987 FORMAT (/'The vector BETA is ' )
+99986 FORMAT (/'The deflating subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99985 FORMAT (/'The companion subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99984 FORMAT (/'The number of eigenvalues in the initial pencil with ',
+     $         'negative real part is ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03FZ EXAMPLE PROGRAM DATA
+	C	C	P	4
+   (0.0328,0.9611)   (0.6428,0.2585)   (0.7033,0.4254)   (0.2552,0.7053)
+   (0.0501,0.2510)   (0.2827,0.8865)   (0.4719,0.5387)   (0.0389,0.5676)
+   (0.5551,0.4242)   (0.0643,0.2716)   (0.1165,0.7875)   (0.9144,0.3891)
+   (0.0539,0.7931)   (0.0408,0.2654)   (0.9912,0.0989)   (0.0991,0.6585)
+   (0.0547,0.8726)   (0.4008,0.8722)
+   (0.7423,0.6166)   (0.2631,0.5872)
+    0.8740            0.3697           (0.9178,0.6418)
+   (0.7748,0.5358)    0.1652            0.2441          
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03FZ EXAMPLE PROGRAM RESULTS
+
+The matrix Z on exit is 
+    1.1347  -0.1694i     0.0920  -0.0894i     0.5253  +0.0280i    -0.0597  +0.1098i 
+    0.0000  +0.0000i    -0.9874  -0.6015i     0.2523  -0.0600i     0.3178  -0.0902i 
+    0.5551  +0.4242i     0.0643  +0.2716i     0.7553  -0.3356i     0.4772  -0.3177i 
+    0.0539  +0.7931i     0.0408  +0.2654i     0.9912  +0.0989i     0.9064  -0.1055i 
+
+The matrix D is 
+   -0.7634  -0.2773i    -0.8466  -0.9586i    -0.0308  -0.0175i    -0.2754  -0.0715i 
+    1.2612  -0.2643i    -0.7291  -0.3165i     0.0282  -0.1748i     0.4091  +0.0233i 
+    0.3773  -0.1536i    -0.3937  -0.0480i    -0.1635  +0.1617i    -0.1775  +0.1277i 
+    0.7540  -0.0280i    -0.6860  -0.8306i    -0.2446  +0.0943i    -0.0722  +0.0517i 
+
+The matrix C is 
+    0.5063  +0.1548i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -0.0046  +0.1049i     0.3884  +0.3420i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -1.1206  +0.1313i    -0.2270  -0.1753i     0.4300  -0.6107i     0.0000  +0.0000i 
+   -0.6127  -0.1939i    -0.5713  -0.7913i     0.3739  -0.2943i    -1.1501  -0.0850i 
+
+The matrix B on exit is 
+    0.3322  +1.9093i    -0.1216  -0.1193i    -0.0030  +0.0330i     0.0405  +0.0592i 
+    0.0000  +0.0000i     0.1863  -1.8998i     0.2983  +0.2974i     0.6636  +0.5916i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.4459  -0.7452i    -0.0625  +0.2197i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1418  +0.7392i 
+
+The matrix F on exit is 
+    0.0258  +0.0000i    -0.0878  +0.1090i     0.3547  +0.5306i    -0.0138  -0.8770i 
+    0.7748  +0.5358i     0.0864  +0.0000i    -0.3788  -0.2829i    -0.3303  -0.0415i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0184  +0.0000i     0.1077  -0.0795i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0938  +0.0000i 
+
+The vector ALPHAR is 
+   0.4295  -0.4295   0.0000   0.0000
+
+The vector ALPHAI is 
+   1.5363   1.5363  -1.4069  -0.7153
+
+The vector BETA is 
+   0.5000   0.5000   1.0000   1.0000
+
+The deflating subspace corresponding to the eigenvalues with negative real part is 
+   -0.2249  +0.4158i 
+   -0.1984  -0.3100i 
+    0.7286  -0.0427i 
+    0.3282  -0.0251i 
+
+The companion subspace corresponding to the eigenvalues with negative real part is 
+   -0.1542  -0.0712i 
+   -0.4162  -0.3021i 
+   -0.0806  -0.6946i 
+   -0.4580  -0.0889i 
+
+The number of eigenvalues in the initial pencil with negative real part is  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03GD.html b/doc/_build/html/_static/doc/MB03GD.html
new file mode 100644
index 00000000..7448ccef
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03GD.html
@@ -0,0 +1,152 @@
+<HTML>
+<HEAD><TITLE>MB03GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03GD">MB03GD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an orthogonal matrix Q and an orthogonal symplectic
+  matrix U for a real regular 2-by-2 or 4-by-4 skew-Hamiltonian/
+  Hamiltonian pencil a J B' J' B - b D with
+
+        ( B11  B12 )      (  D11  D12  )      (  0  I  )
+    B = (          ), D = (            ), J = (        ),
+        (  0   B22 )      (   0  -D11' )      ( -I  0  )
+
+  such that J Q' J' D Q and U' B Q keep block triangular form, but
+  the eigenvalues are reordered. The notation M' denotes the
+  transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03GD( N, B, LDB, D, LDD, MACPAR, Q, LDQ, U, LDU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDB, LDD, LDQ, LDU, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), D( LDD, * ), DWORK( * ),
+     $                   MACPAR( * ), Q( LDQ, * ), U( LDU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil a J B' J' B - b D. N = 2 or N = 4.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
+          The leading N-by-N part of this array must contain the
+          non-trivial factor of the decomposition of the
+          skew-Hamiltonian input matrix J B' J' B. The (2,1) block
+          is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD, N)
+          The leading N/2-by-N part of this array must contain the
+          first block row of the second matrix of a J B' J' B - b D.
+          The matrix D has to be Hamiltonian. The strict lower
+          triangle of the (1,2) block is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= N/2.
+
+  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
+          Machine parameters:
+          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
+          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
+          This argument is not used for N = 2.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= N.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU, N)
+          The leading N-by-N part of this array contains the
+          orthogonal symplectic transformation matrix U.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N = 2 then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If N = 2 then LDWORK &gt;= 0; if N = 4 then LDWORK &gt;= 12.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: B11 or B22 is a (numerically) singular matrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  22 in [1], but with an improved implementation.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03GZ.html b/doc/_build/html/_static/doc/MB03GZ.html
new file mode 100644
index 00000000..1cc5aee6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03GZ.html
@@ -0,0 +1,127 @@
+<HTML>
+<HEAD><TITLE>MB03GZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03GZ">MB03GZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a unitary matrix Q and a unitary symplectic matrix U
+  for a complex regular 2-by-2 skew-Hamiltonian/Hamiltonian pencil
+  aS - bH with S = J Z' J' Z, where
+
+         (  Z11  Z12  )         (  H11  H12  )
+     Z = (            ) and H = (            ),
+         (   0   Z22  )         (   0  -H11' )
+
+  such that U' Z Q, (J Q J' )' H Q are both upper triangular, but the  
+  eigenvalues of (J Q J')' ( aS - bH ) Q are in reversed order.
+  The matrices Q and U are represented by
+
+         (  CO1  SI1  )         (  CO2  SI2  )
+     Q = (            ) and U = (            ), respectively.
+         ( -SI1' CO1  )         ( -SI2' CO2  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03GZ( Z11, Z12, Z22, H11, H12, CO1, SI1, CO2, SI2 )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   CO1, CO2
+      COMPLEX*16         H11, H12, SI1, SI2, Z11, Z12, Z22
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  Z11     (input) COMPLEX*16
+          Upper left element of the non-trivial factor Z in the
+          factorization of S.
+
+  Z12     (input) COMPLEX*16
+          Upper right element of the non-trivial factor Z in the
+          factorization of S.
+
+  Z22     (input) COMPLEX*16
+          Lower right element of the non-trivial factor Z in the
+          factorization of S.
+
+  H11     (input) COMPLEX*16
+          Upper left element of the Hamiltonian matrix H.
+
+  H12     (input) COMPLEX*16
+          Upper right element of the Hamiltonian matrix H.
+
+  CO1     (output) DOUBLE PRECISION
+          Upper left element of Q.
+
+  SI1     (output) COMPLEX*16
+          Upper right element of Q.
+
+  CO2     (output) DOUBLE PRECISION
+          Upper left element of U.
+
+  SI2     (output) COMPLEX*16
+          Upper right element of U.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary and unitary symplectic transformations
+  as described on page 37 in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03HD.html b/doc/_build/html/_static/doc/MB03HD.html
new file mode 100644
index 00000000..704d7b67
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03HD.html
@@ -0,0 +1,149 @@
+<HTML>
+<HEAD><TITLE>MB03HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03HD">MB03HD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine an orthogonal matrix Q, for a real regular 2-by-2 or
+  4-by-4 skew-Hamiltonian/Hamiltonian pencil
+
+                  ( A11 A12  )     ( B11  B12  )
+      aA - bB = a (          ) - b (           )
+                  (  0  A11' )     (  0  -B11' )
+
+  in structured Schur form, such that  J Q' J' (aA - bB) Q  is still
+  in structured Schur form but the eigenvalues are exchanged. The
+  notation M' denotes the transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03HD( N, A, LDA, B, LDB, MACPAR, Q, LDQ, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDQ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   MACPAR( * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aA - bB.  N = 2 or N = 4.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
+          If N = 4, the leading N/2-by-N upper trapezoidal part of
+          this array must contain the first block row of the skew-
+          Hamiltonian matrix A of the pencil aA - bB in structured
+          Schur form. Only the entries (1,1), (1,2), (1,4), and
+          (2,2) are referenced.
+          If N = 2, this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N/2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
+          The leading N/2-by-N part of this array must contain the
+          first block row of the Hamiltonian matrix B of the
+          pencil aA - bB in structured Schur form. The entry (2,3)
+          is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N/2.
+
+  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
+          Machine parameters:
+          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
+          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
+          This argument is not used for N = 2.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (24)
+          If N = 2, then DWORK is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the leading N/2-by-N/2 block of the matrix B is
+               numerically singular, but slightly perturbed values
+               have been used. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  31 in [2]. The structure is exploited.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03HZ.html b/doc/_build/html/_static/doc/MB03HZ.html
new file mode 100644
index 00000000..0e3ea013
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03HZ.html
@@ -0,0 +1,113 @@
+<HTML>
+<HEAD><TITLE>MB03HZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03HZ">MB03HZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a unitary matrix Q for a complex regular 2-by-2 
+  skew-Hamiltonian/Hamiltonian pencil aS - bH with
+
+      (  S11  S12  )        (  H11  H12  )
+  S = (            ),   H = (            ),
+      (   0   S11' )        (   0  -H11' )
+
+  such that J Q' J' (aS - bH) Q is upper triangular but the
+  eigenvalues are in reversed order. The matrix Q is represented by
+
+      (  CO  SI  )
+  Q = (          ).
+      ( -SI' CO  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03HZ( S11, S12, H11, H12, CO, SI )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   CO
+      COMPLEX*16         H11, H12, S11, S12, SI
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  S11     (input) COMPLEX*16
+          Upper left element of the skew-Hamiltonian matrix S.
+
+  S12     (input) COMPLEX*16
+          Upper right element of the skew-Hamiltonian matrix S.
+
+  H11     (input) COMPLEX*16
+          Upper left element of the Hamiltonian matrix H.
+
+  H12     (input) COMPLEX*16
+          Upper right element of the Hamiltonian matrix H.
+
+  CO      (output) DOUBLE PRECISION
+          Upper left element of Q.
+
+  SI      (output) COMPLEX*16
+          Upper right element of Q.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary transformations as described on page 43
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ID.html b/doc/_build/html/_static/doc/MB03ID.html
new file mode 100644
index 00000000..8d67226b
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03ID.html
@@ -0,0 +1,321 @@
+<HTML>
+<HEAD><TITLE>MB03ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ID">MB03ID</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form, with
+
+                       (  0  I  )      (  A  D  )      (  B  F  )
+    S = J Z' J' Z, J = (        ), Z = (        ), H = (        ),
+                       ( -I  0  )      (  0  C  )      (  0 -B' )
+
+  to the leading principal subpencil, while keeping the triangular
+  form. Above, A is upper triangular, B is upper quasi-triangular,
+  and C is lower triangular.
+  The matrices Z and H are transformed by an orthogonal symplectic
+  matrix U and an orthogonal matrix Q such that
+
+                    (  Aout  Dout  )
+    Zout = U' Z Q = (              ), and
+                    (    0   Cout  )
+                                                                 (1)
+                         (  Bout  Fout  )
+    Hout = J Q' J' H Q = (              ),
+                         (    0  -Bout' )
+
+  where Aout, Bout and Cout remain in triangular form. The notation
+  M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
+  that fulfills (1) is computed.
+  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
+  symplectic matrix
+
+        (  U1  U2  )
+    U = (          )
+        ( -U2  U1  )
+
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ID( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
+     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
+     $                   IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
+     $                   LDWORK, LIWORK, N, NEIG
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( *  ), F( LDF, * ),
+     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+  COMPU   CHARACTER*1
+          Specifies whether or not the orthogonal symplectic
+          transformations should be accumulated in the arrays U1 and
+          U2, as follows:
+          = 'N':  U1 and U2 are not computed;
+          = 'I':  the arrays U1 and U2 are initialized internally,
+                  and the submatrices U1 and U2 defining the
+                  orthogonal symplectic matrix U are returned;
+          = 'U':  the arrays U1 and U2 contain the corresponding
+                  submatrices of an orthogonal symplectic matrix U0
+                  on entry, and the updated submatrices U1 and U2
+                  of the matrix product U0*U are returned, where U
+                  is the product of the orthogonal symplectic
+                  transformations that are applied to the pencil
+                  aS - bH to reorder the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A. The elements of the
+          strictly lower triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                         (LDC, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the lower triangular matrix C. The elements of the
+          strictly upper triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Cout.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                         (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper quasi-triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper quasi-triangular part of
+          the matrix Bout.
+          The part below the first subdiagonal of this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) DOUBLE PRECISION array, dimension
+                         (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the symmetric matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced, except for the element F(N/2,N/2-1), but its
+          initial value is preserved.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices Z and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU1, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper left block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U1 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U1 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= 1,           if COMPU = 'N';
+          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU2, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper right block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U2 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U2 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= 1,           if COMPU = 'N';
+          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= N+1.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If COMPQ = 'N',
+             LDWORK &gt;= MAX(2*N+48,171);
+          if COMPQ = 'I' or COMPQ = 'U',
+             LDWORK &gt;= MAX(4*N+48,171).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm did not converge in SLICOT
+               Library routine MB03BB;
+          = 2: an error occured during the execution of MB03CD;
+          = 3: an error occured during the execution of MB03GD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts in the pencil aS - bH.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aC'*A - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues of the R-th block to the (MM+1)-th
+          block, where R denotes the number of upper quasi-
+          triangular blocks in aC'*A - bB and MM denotes the current
+          number of blocks in aC'*A - bB with eigenvalues with
+          negative real parts.
+
+  The algorithm uses a sequence of orthogonal transformations as
+  described on page 25 in [1]. To achieve those transformations the
+  elementary subroutines MB03CD and MB03GD are called for the
+  corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03IZ.html b/doc/_build/html/_static/doc/MB03IZ.html
new file mode 100644
index 00000000..95dbad4e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03IZ.html
@@ -0,0 +1,305 @@
+<HTML>
+<HEAD><TITLE>MB03IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03IZ">MB03IZ</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form, with
+
+                             (  0  I  )
+    S = J Z' J' Z, where J = (        ),
+                             ( -I  0  )
+
+  to the leading principal subpencil, while keeping the triangular
+  form. On entry, we have
+
+        (  A  D  )      (  B  F  )
+    Z = (        ), H = (        ),
+        (  0  C  )      (  0 -B' )
+
+  where A and B are upper triangular and C is lower triangular.
+  Z and H are transformed by a unitary symplectic matrix U and a
+  unitary matrix Q such that
+
+                    (  Aout  Dout  )
+    Zout = U' Z Q = (              ), and
+                    (    0   Cout  )
+                                                                 (1)
+                         (  Bout  Fout  )
+    Hout = J Q' J' H Q = (              ), 
+                         (    0  -Bout' )
+
+  where Aout, Bout and Cout remain in triangular form. The notation
+  M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
+  that fulfills (1) is computed.
+  Optionally, if COMPU = 'I' or COMPU = 'U', the unitary symplectic
+  matrix 
+
+        (  U1  U2  )
+    U = (          )
+        ( -U2  U1  )   
+
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03IZ( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
+     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
+     $                   TOL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
+     $                   N, NEIG
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), F( LDF, * ), Q( LDQ, * ),
+     $                   U1( LDU1, * ), U2( LDU2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the unitary matrix Q is returned;
+          = 'U':  the array Q contains a unitary matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the unitary transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+  COMPU   CHARACTER*1
+          Specifies whether or not the unitary symplectic
+          transformations should be accumulated in the arrays U1 and
+          U2, as follows:
+          = 'N':  U1 and U2 are not computed;
+          = 'I':  the arrays U1 and U2 are initialized internally,
+                  and the submatrices U1 and U2 defining the
+                  unitary symplectic matrix U are returned;
+          = 'U':  the arrays U1 and U2 contain the corresponding
+                  submatrices of a unitary symplectic matrix U0
+                  on entry, and the updated submatrices U1 and U2
+                  of the matrix product U0*U are returned, where U
+                  is the product of the unitary symplectic
+                  transformations that are applied to the pencil
+                  aS - bH to reorder the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the lower triangular matrix C.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Cout.
+          The strictly upper triangular part of this array is not
+          referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Bout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the Hermitian matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the unitary transformation matrix Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  U1      (input/output) COMPLEX*16 array, dimension (LDU1, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper left block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U1 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices S and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U1 of the
+          unitary symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= 1,           if COMPU = 'N';
+          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  U2      (input/output) COMPLEX*16 array, dimension (LDU2, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper right block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U2 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices S and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U2 of the
+          unitary symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= 1,           if COMPU = 'N';
+          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance used to decide the sign of the eigenvalues.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by MIN(N,10)*EPS, is
+          used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH). A larger value might be
+          needed for pencils with multiple eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+                                                     
+  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aC'*A - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
+          place, where MM denotes the current number of eigenvalues
+          with negative real parts in aC'*A - bB.
+
+  The algorithm uses a sequence of unitary transformations as
+  described on page 38 in [1]. To achieve those transformations the
+  elementary SLICOT Library subroutines MB03CZ and MB03GZ are called
+  for the corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03JD.html b/doc/_build/html/_static/doc/MB03JD.html
new file mode 100644
index 00000000..2c23d6f5
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03JD.html
@@ -0,0 +1,250 @@
+<HTML>
+<HEAD><TITLE>MB03JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03JD">MB03JD</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form,
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  with A upper triangular and B upper quasi-triangular, to the
+  leading principal subpencil, while keeping the triangular form.
+  The notation M' denotes the transpose of the matrix M.
+  The matrices S and H are transformed by an orthogonal matrix Q
+  such that
+
+                         (  Aout  Dout  )  
+    Sout = J Q' J' S Q = (              ),
+                         (    0   Aout' )  
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (  0    -Bout' )           ( -I  0  )
+
+  where Aout is upper triangular and Bout is upper quasi-triangular.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
+  that fulfills (1), is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03JD( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
+     $                   N, NEIG
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A. The elements of the
+          strictly lower triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                        (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-symmetric
+          matrix D. The diagonal need not be set to zero.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Dout.
+          The strictly lower triangular part of this array is
+          not referenced, except for the element D(N/2,N/2-1), but
+          its initial value is preserved.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper quasi-triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper quasi-triangular part of
+          the matrix Bout.
+          The part below the first subdiagonal of this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) DOUBLE PRECISION array, dimension
+                        (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the symmetric matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced, except for the element F(N/2,N/2-1), but its
+          initial value is preserved.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= N+1.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If COMPQ = 'N',
+             LDWORK &gt;= MAX(2*N+32,108);
+          if COMPQ = 'I' or COMPQ = 'U',
+             LDWORK &gt;= MAX(4*N+32,108).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: error occured during execution of MB03DD;
+          = 2: error occured during execution of MB03HD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts in the pencil aS - bH.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues of the R-th block to the (MM+1)-th
+          block, where R denotes the number of upper quasi-
+          triangular blocks in aA - bB and MM denotes the current
+          number of blocks in aA - bB with eigenvalues with negative
+          real parts.
+
+  The algorithm uses a sequence of orthogonal transformations as
+  described on page 33 in [1]. To achieve those transformations the
+  elementary subroutines MB03DD and MB03HD are called for the
+  corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03JP.html b/doc/_build/html/_static/doc/MB03JP.html
new file mode 100644
index 00000000..0806d945
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03JP.html
@@ -0,0 +1,253 @@
+<HTML>
+<HEAD><TITLE>MB03JP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03JP">MB03JP</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form,
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  with A upper triangular and B upper quasi-triangular, to the
+  leading principal subpencil, while keeping the triangular form.
+  The notation M' denotes the transpose of the matrix M.
+  The matrices S and H are transformed by an orthogonal matrix Q
+  such that
+
+                         (  Aout  Dout  )  
+    Sout = J Q' J' S Q = (              ),
+                         (    0   Aout' )  
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (  0    -Bout' )           ( -I  0  )
+
+  where Aout is upper triangular and Bout is upper quasi-triangular.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
+  that fulfills (1), is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03JP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
+     $                   N, NEIG
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A. The elements of the
+          strictly lower triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                        (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-symmetric
+          matrix D. The diagonal need not be set to zero.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Dout.
+          The strictly lower triangular part of this array is
+          not referenced, except for the element D(N/2,N/2-1), but
+          its initial value is preserved.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper quasi-triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper quasi-triangular part of
+          the matrix Bout.
+          The part below the first subdiagonal of this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) DOUBLE PRECISION array, dimension
+                        (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the symmetric matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced, except for the element F(N/2,N/2-1), but its
+          initial value is preserved.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= 3*N-3.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If COMPQ = 'N',
+             LDWORK &gt;= MAX(2*N+32,108)+5*N/2;
+          if COMPQ = 'I' or COMPQ = 'U',
+             LDWORK &gt;= MAX(4*N+32,108)+5*N/2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: error occured during execution of MB03DD;
+          = 2: error occured during execution of MB03HD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts in the pencil aS - bH.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues of the R-th block to the (MM+1)-th
+          block, where R denotes the number of upper quasi-
+          triangular blocks in aA - bB and MM denotes the current
+          number of blocks in aA - bB with eigenvalues with negative
+          real parts.
+
+  The algorithm uses a sequence of orthogonal transformations as
+  described on page 33 in [1]. To achieve those transformations the
+  elementary subroutines MB03DD and MB03HD are called for the
+  corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03JZ.html b/doc/_build/html/_static/doc/MB03JZ.html
new file mode 100644
index 00000000..e04bc525
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03JZ.html
@@ -0,0 +1,228 @@
+<HTML>
+<HEAD><TITLE>MB03JZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03JZ">MB03JZ</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form to the leading principal subpencil, while
+  keeping the triangular form. On entry, we have
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  where A and B are upper triangular.
+  S and H are transformed by a unitary matrix Q such that
+
+                         (  Aout  Dout  )
+    Sout = J Q' J' S Q = (              ), and
+                         (    0   Aout' )
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (    0  -Bout' )           ( -I  0  )
+
+  where Aout and Bout remain in upper triangular form. The notation
+  M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03JZ( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, TOL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   F( LDF, * ), Q( LDQ, * ) 
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the unitary matrix Q is returned;
+          = 'U':  the array Q contains a unitary matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the unitary transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-Hermitian
+          matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Bout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the Hermitian matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the unitary transformation matrix Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance used to decide the sign of the eigenvalues.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by MIN(N,10)*EPS, is
+          used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH). A larger value might be
+          needed for pencils with multiple eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real parts.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
+          place, where MM denotes the current number of eigenvalues
+          with negative real parts in aA - bB.
+
+  The algorithm uses a sequence of unitary transformations as
+  described on page 43 in [1]. To achieve those transformations the
+  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
+  for the corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KA.html b/doc/_build/html/_static/doc/MB03KA.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03KA.html
@@ -0,0 +1,270 @@
+<HTML>
+<HEAD><TITLE>MB03KA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KA">MB03KA</A></H2>
+<H3>
+Moving diagonal blocks at a specified position in a formal matrix product to another position
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the formal matrix product
+
+     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
+
+  of length K, in the generalized periodic Schur form
+
+           [  T11_k  T12_k  T13_k  ]
+     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
+           [    0      0    T33_k  ]
+
+  where
+
+  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
+    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
+    infinite eigenvalues,
+  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
+    which are generically neither zero nor infinite,
+  - the submatrices T33_k contain dimension-induced zero
+    eigenvalues,
+
+  such that the block with starting row index IFST in (1) is moved
+  to row index ILST. The indices refer to the T22_k submatrices.
+
+  Optionally, the transformation matrices Q_1,...,Q_K from the
+  reduction into generalized periodic Schur form are updated with
+  respect to the performed reordering.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KA( COMPQ, WHICHQ, WS, K, NC, KSCHUR, IFST, ILST,
+     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      LOGICAL            WS
+      INTEGER            IFST, ILST, INFO, K, KSCHUR, LDWORK, NC
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
+     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
+      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N': do not compute any of the matrices Q_k;
+          = 'U': each coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the products Q1_k*Q_k are
+                 returned, where Q_k, k = 1, ..., K, performed the
+                 reordering;
+          = 'W': the computation of each Q_k is specified
+                 individually in the array WHICHQ.
+
+  WHICHQ  INTEGER array, dimension (K)
+          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
+          as follows:
+          = 0:   do not compute Q_k;
+          &gt; 0:   the kth coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the product Q1_k*Q_k is
+                 returned.
+          This array is not referenced if COMPQ &lt;&gt; 'W'.
+
+  WS      LOGICAL
+          = .FALSE. : do not perform the strong stability tests;
+          = .TRUE.  : perform the strong stability tests; often,
+                      this is not needed, and omitting them can save
+                      some computations.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences T and Q (the
+          number of factors in the matrix product).  K &gt;= 2.
+          (For K = 1, a standard eigenvalue reordering problem is
+          obtained.)
+
+  NC      (input) INTEGER
+          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
+
+  KSCHUR  (input) INTEGER
+          The index for which the matrix T22_kschur is upper quasi-
+          triangular. All other T22 matrices are upper triangular.
+
+  IFST    (input/output) INTEGER
+  ILST    (input/output) INTEGER
+          Specify the reordering of the diagonal blocks, as follows:
+          The block with starting row index IFST in (1) is moved to
+          row index ILST by a sequence of direct swaps between adjacent
+          blocks in the product.
+          On exit, if IFST pointed on entry to the second row of a
+          2-by-2 block in the product, it is changed to point to the
+          first row; ILST always points to the first row of the block
+          in its final position in the product (which may differ from
+          its input value by +1 or -1).
+          1 &lt;= IFST &lt;= NC, 1 &lt;= ILST &lt;= NC.
+
+  N       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the formal matrix product T,
+          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
+          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
+          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
+
+  NI      (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the matrix sequence T11_k.
+          N(k) &gt;= NI(k) + NC &gt;= 0.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequence. Each entry in S must be either 1 or -1;
+          the value S(k) = -1 corresponds to using the inverse of
+          the factor T_k.
+
+  T       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXT(k) the
+          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
+          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
+          Schur form.
+          On exit, the matrices T_k are overwritten by the reordered
+          periodic Schur form.
+
+  LDT     INTEGER array, dimension (K)
+          The leading dimensions of the matrices T_k in the one-
+          dimensional array T.
+          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
+          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
+
+  IXT     INTEGER array, dimension (K)
+          Start indices of the matrices T_k in the one-dimensional
+          array T.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXQ(k) a
+          matrix Q_k of size at least N(k)-by-N(k), provided that
+          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
+          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
+          Q_k is post-multiplied with the orthogonal matrix that
+          performed the reordering.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ     INTEGER array, dimension (K)
+          The leading dimensions of the matrices Q_k in the one-
+          dimensional array Q.
+          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
+                                                    WHICHQ(k) &gt; 0;
+          This array is not referenced if COMPQ = 'N'.
+
+  IXQ     INTEGER array, dimension (K)
+          Start indices of the matrices Q_k in the one-dimensional
+          array Q.
+          This array is not referenced if COMPQ = 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension (3)
+          This array contains tolerance parameters. The weak and
+          strong stability tests use a threshold computed by the
+          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
+          NRM is the Frobenius norm of the current matrix formed by
+          concatenating K pairs of adjacent diagonal blocks of sizes
+          1 and/or 2 in the T22_k submatrices from (2), which are
+          swapped, and EPS and SMLNUM are the machine precision and
+          safe minimum divided by EPS, respectively (see LAPACK
+          Library routine DLAMCH). The norm NRM is computed by this
+          routine; the other values are stored in the array TOL.
+          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
+          respectively. TOL(1) should normally be at least 10.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*K)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 10*K + MN, if all blocks between IFST and ILST
+                               have order 1;
+          LDWORK &gt;= 25*K + MN, if there is at least a block of
+                               order 2, but no adjacent blocks of
+                               order 2 can appear between IFST and
+                               ILST during reordering;
+          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if at least a pair of
+                               adjacent blocks of order 2 can appear
+                               between IFST and ILST during
+                               reordering;
+          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
+          MXN = MAX(N(k),k=1,...,K).
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -21, the LDWORK argument was too small;
+          = 1:  the reordering of T failed because some eigenvalues
+                are too close to separate (the problem is very ill-
+                conditioned); T may have been partially reordered.
+                The returned value of ILST is the index where this
+                was detected.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An adaptation of the LAPACK Library routine DTGEXC is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KB.html b/doc/_build/html/_static/doc/MB03KB.html
new file mode 100644
index 00000000..b6143337
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03KB.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>MB03KB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KB">MB03KB</A></H2>
+<H3>
+Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in a formal matrix product
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the formal matrix product
+
+     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1)              (1)
+
+  of length K in the generalized periodic Schur form
+
+           [  T11_k  T12_k  T13_k  ]
+     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
+           [    0      0    T33_k  ]
+
+  where
+
+  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
+    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
+    infinite eigenvalues,
+  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
+    which are generically neither zero nor infinite,
+  - the submatrices T33_k contain dimension-induced zero
+    eigenvalues,
+
+  such that pairs of adjacent diagonal blocks of sizes 1 and/or 2 in
+  the product (1) are swapped.
+
+  Optionally, the transformation matrices Q_1,...,Q_K from the
+  reduction into generalized periodic Schur form are updated with
+  respect to the performed reordering.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KB( COMPQ, WHICHQ, WS, K, NC, KSCHUR, J1, N1, N2,
+     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      LOGICAL            WS
+      INTEGER            INFO, J1, K, KSCHUR, LDWORK, N1, N2, NC
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
+     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
+      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N': do not compute any of the matrices Q_k;
+          = 'U': each coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the products Q1_k*Q_k are
+                 returned, where Q_k, k = 1, ..., K, performed the
+                 reordering;
+          = 'W': the computation of each Q_k is specified
+                 individually in the array WHICHQ.
+
+  WHICHQ  INTEGER array, dimension (K)
+          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
+          as follows:
+          = 0:   do not compute Q_k;
+          &gt; 0:   the kth coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the product Q1_k*Q_k is
+                 returned.
+          This array is not referenced if COMPQ &lt;&gt; 'W'.
+
+  WS      LOGICAL
+          = .FALSE. : do not perform the strong stability tests;
+          = .TRUE.  : perform the strong stability tests; often,
+                      this is not needed, and omitting them can save
+                      some computations.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences T and Q (the
+          number of factors in the matrix product).  K &gt;= 2.
+          (For K = 1, a standard eigenvalue reordering problem is
+          obtained.)
+
+  NC      (input) INTEGER
+          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
+
+  KSCHUR  (input) INTEGER
+          The index for which the matrix T22_kschur is upper quasi-
+          triangular.
+
+  J1      (input) INTEGER
+          The index of the first row and column of the first block
+          to swap in T22_k.
+          1 &lt;= J1 &lt;= NC-N1-N2+1.
+
+  N1      (input) INTEGER
+          The order of the first block to swap.   N1 = 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of the second block to swap.  N2 = 0, 1 or 2.
+
+  N       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the formal matrix product T,
+          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
+          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
+          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
+
+  NI      (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the matrix sequence T11_k.
+          N(k) &gt;= NI(k) + NC &gt;= 0.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequence. Each entry in S must be either 1 or -1;
+          the value S(k) = -1 corresponds to using the inverse of
+          the factor T_k.
+
+  T       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXT(k) the
+          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
+          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
+          Schur form.
+          On exit, the matrices T_k are overwritten by the reordered
+          periodic Schur form.
+
+  LDT     INTEGER array, dimension (K)
+          The leading dimensions of the matrices T_k in the one-
+          dimensional array T.
+          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
+          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
+
+  IXT     INTEGER array, dimension (K)
+          Start indices of the matrices T_k in the one-dimensional
+          array T.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXQ(k) a
+          matrix Q_k of size at least N(k)-by-N(k), provided that
+          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
+          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
+          Q_k is post-multiplied with the orthogonal matrix that
+          performed the reordering.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ     INTEGER array, dimension (K)
+          The leading dimensions of the matrices Q_k in the one-
+          dimensional array Q.  LDQ(k) &gt;= 1, and
+          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
+                                                    WHICHQ(k) &gt; 0;
+          This array is not referenced if COMPQ = 'N'.
+
+  IXQ     INTEGER array, dimension (K)
+          Start indices of the matrices Q_k in the one-dimensional
+          array Q.
+          This array is not referenced if COMPQ = 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension (3)
+          This array contains tolerance parameters. The weak and
+          strong stability tests use a threshold computed by the
+          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
+          NRM is the Frobenius norm of the matrix formed by
+          concatenating K pairs of adjacent diagonal blocks of sizes
+          1 and/or 2 in the T22_k submatrices from (2), which are
+          swapped, and EPS and SMLNUM are the machine precision and
+          safe minimum divided by EPS, respectively (see LAPACK
+          Library routine DLAMCH). The norm NRM is computed by this
+          routine; the other values are stored in the array TOL.
+          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
+          respectively. TOL(1) should normally be at least 10.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*K)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 10*K + MN,                 if N1 = 1, N2 = 1;
+          LDWORK &gt;= 25*K + MN,                 if N1 = 1, N2 = 2;
+          LDWORK &gt;= MAX(23*K + MN, 25*K - 12), if N1 = 2, N2 = 1;
+          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if N1 = 2, N2 = 2;
+          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
+          MXN = MAX(N(k),k=1,...,K).
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -22, then LDWORK is too small; appropriate
+                value for LDWORK is returned in DWORK(1); the other
+                arguments are not tested, for efficiency;
+          = 1:  the swap was rejected from stability reasons; the
+                blocks are not swapped and T and Q are unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm described in [1] is used. Both weak and strong
+  stability tests are performed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Granat, R., Kagstrom, B. and Kressner, D.
+      Computing periodic deflating subspaces associated with a
+      specified set of eigenvalues.
+      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+                               3
+  The algorithm requires 0(K NC ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KC.html b/doc/_build/html/_static/doc/MB03KC.html
new file mode 100644
index 00000000..e71ab7ad
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03KC.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB03KC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KC">MB03KC</A></H2>
+<H3>
+Reducing a 2-by-2 formal matrix product to periodic Hessenberg-triangular form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a 2-by-2 general, formal matrix product A of length K,
+
+     A_K^s(K) * A_K-1^s(K-1) * ... * A_1^s(1),
+
+  to the periodic Hessenberg-triangular form using a K-periodic
+  sequence of elementary reflectors (Householder matrices). The
+  matrices A_k, k = 1, ..., K, are stored in the N-by-N-by-K array A
+  starting in the R-th row and column, and N can be 3 or 4.
+
+  Each elementary reflector H_k is represented as
+
+     H_k = I - tau_k * v_k * v_k',                               (1)
+
+  where I is the 2-by-2 identity, tau_k is a real scalar, and v_k is
+  a vector of length 2, k = 1,...,K, and it is constructed such that
+  the following holds for k = 1,...,K:
+
+         H_{k+1} * A_k * H_k = T_k, if s(k) = 1,
+                                                                 (2)
+         H_k * A_k * H_{k+1} = T_k, if s(k) = -1,
+
+  with H_{K+1} = H_1 and all T_k upper triangular except for
+  T_{khess} which is full. Clearly,
+
+     T_K^s(K) *...* T_1^s(1) = H_1 * A_K^s(K) *...* A_1^s(1) * H_1.
+
+  The reflectors are suitably applied to the whole, extended N-by-N
+  matrices Ae_k, not only to the submatrices A_k, k = 1, ..., K.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KC( K, KHESS, N, R, S, A, LDA, V, TAU )
+C     .. Scalar Arguments ..
+      INTEGER            K, KHESS, LDA, N, R
+C     .. Array Arguments ..
+      INTEGER            S( * )
+      DOUBLE PRECISION   A( * ), TAU( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of matrices in the sequence A_k.  K &gt;= 2.
+
+  KHESS   (input) INTEGER
+          The index for which the returned matrix A_khess should be
+          in the Hessenberg form on output.  1 &lt;= KHESS &lt;= K.
+
+  N       (input) INTEGER
+          The order of the extended matrices.  N = 3 or N = 4.
+
+  R       (input) INTEGER
+          The starting row and column index for the
+          2-by-2 submatrices.  R = 1, or R = N-1.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1; the value S(k) = -1 corresponds to using the
+          inverse of the factor A_k.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXA(k) =
+          (k-1)*N*LDA+1 the N-by-N matrix Ae_k stored with leading
+          dimension LDA.
+          On exit, this array contains at position IXA(k) the
+          N-by-N matrix Te_k stored with leading dimension LDA.
+
+  LDA     INTEGER
+          Leading dimension of the matrices Ae_k and Te_k in the
+          one-dimensional array A.  LDA &gt;= N.
+
+  V       (output) DOUBLE PRECISION array, dimension (2*K)
+          On exit, this array contains the K vectors v_k,
+          k = 1,...,K, defining the elementary reflectors H_k as
+          in (1). The k-th reflector is stored in V(2*k-1:2*k).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (K)
+          On exit, this array contains the K values of tau_k,
+          k = 1,...,K, defining the elementary reflectors H_k
+          as in (1).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A K-periodic sequence of elementary reflectors (Householder
+  matrices) is used. The computations start for k = khess with the
+  left reflector in (1), which is the identity matrix.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KD.html b/doc/_build/html/_static/doc/MB03KD.html
new file mode 100644
index 00000000..9f5f1075
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03KD.html
@@ -0,0 +1,521 @@
+<HTML>
+<HEAD><TITLE>MB03KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KD">MB03KD</A></H2>
+<H3>
+Reordering the diagonal blocks of a formal matrix product using periodic QZ algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the formal matrix product
+
+     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
+
+  of length K, in the generalized periodic Schur form,
+
+           [  T11_k  T12_k  T13_k  ]
+     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
+           [    0      0    T33_k  ]
+
+  where
+
+  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
+    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
+    infinite eigenvalues,
+  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
+    which are generically neither zero nor infinite,
+  - the submatrices T33_k contain dimension-induced zero
+    eigenvalues,
+
+  such that the M selected eigenvalues pointed to by the logical
+  vector SELECT end up in the leading part of the matrix sequence
+  T22_k.
+
+  Given that N(k) = N(k+1) for all k where S(k) = -1, the T11_k are
+  void and the first M columns of the updated orthogonal
+  transformation matrix sequence Q_1, ..., Q_K span a periodic
+  deflating subspace corresponding to the same eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KD( COMPQ, WHICHQ, STRONG, K, NC, KSCHUR, N, NI, S,
+     $                   SELECT, T, LDT, IXT, Q, LDQ, IXQ, M, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, STRONG
+      INTEGER            INFO, K, KSCHUR, LDWORK, M, NC
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      LOGICAL            SELECT( * )
+      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
+     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
+      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrices Q_k, as follows:
+          = 'N': do not compute any of the matrices Q_k;
+          = 'I': each coefficient of Q is initialized internally to
+                 the identity matrix, and the orthogonal matrices
+                 Q_k are returned, where Q_k, k = 1, ..., K,
+                 performed the reordering;
+          = 'U': each coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the products Q1_k*Q_k are
+                 returned;
+          = 'W': the computation of each Q_k is specified
+                 individually in the array WHICHQ.
+
+  WHICHQ  INTEGER array, dimension (K)
+          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
+          as follows:
+          = 0:   do not compute Q_k;
+          = 1:   the kth coefficient of Q is initialized to the
+                 identity matrix, and the orthogonal matrix Q_k is
+                 returned;
+          = 2:   the kth coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the product Q1_k*Q_k is
+                 returned.
+          This array is not referenced if COMPQ &lt;&gt; 'W'.
+
+  STRONG  CHARACTER*1
+          Specifies whether to perform the strong stability tests,
+          as follows:
+          = 'N': do not perform the strong stability tests;
+          = 'S': perform the strong stability tests; often, this is
+                 not needed, and omitting them can save some
+                 computations.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences T and Q (the
+          number of factors in the matrix product).  K &gt;= 2.
+          (For K = 1, a standard eigenvalue reordering problem is
+          obtained.)
+
+  NC      (input) INTEGER
+          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
+
+  KSCHUR  (input) INTEGER
+          The index for which the matrix T22_kschur is upper quasi-
+          triangular. All other T22 matrices are upper triangular.
+
+  N       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the formal matrix product T,
+          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
+          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
+          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
+
+  NI      (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the matrix sequence T11_k.
+          N(k) &gt;= NI(k) + NC &gt;= 0.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequence. Each entry in S must be either 1 or -1;
+          the value S(k) = -1 corresponds to using the inverse of
+          the factor T_k.
+
+  SELECT  (input) LOGICAL array, dimension (NC)
+          SELECT specifies the eigenvalues in the selected cluster.
+          To select a real eigenvalue w(j), SELECT(j) must be set to
+          .TRUE.. To select a complex conjugate pair of eigenvalues
+          w(j) and w(j+1), corresponding to a 2-by-2 diagonal block,
+          either SELECT(j) or SELECT(j+1) or both must be set to
+          .TRUE.; a complex conjugate pair of eigenvalues must be
+          either both included in the cluster or both excluded.
+
+  T       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXT(k) the
+          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
+          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
+          Schur form.
+          On exit, the matrices T_k are overwritten by the reordered
+          periodic Schur form.
+
+  LDT     INTEGER array, dimension (K)
+          The leading dimensions of the matrices T_k in the one-
+          dimensional array T.
+          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
+          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
+
+  IXT     INTEGER array, dimension (K)
+          Start indices of the matrices T_k in the one-dimensional
+          array T.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXQ(k) a
+          matrix Q_k of size at least N(k)-by-N(k), provided that
+          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) = 2.
+          On exit, if COMPQ = 'I' or COMPQ = 'W' and WHICHQ(k) = 1,
+          Q_k contains the orthogonal matrix that performed the
+          reordering. If COMPQ = 'U', or COMPQ = 'W' and
+          WHICHQ(k) = 2, Q_k is post-multiplied with the orthogonal
+          matrix that performed the reordering.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ     INTEGER array, dimension (K)
+          The leading dimensions of the matrices Q_k in the one-
+          dimensional array Q.
+          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'I', or COMPQ = 'U', or
+                                    COMPQ = 'W' and WHICHQ(k) &gt; 0;
+          This array is not referenced if COMPQ = 'N'.
+
+  IXQ     INTEGER array, dimension (K)
+          Start indices of the matrices Q_k in the one-dimensional
+          array Q.
+          This array is not referenced if COMPQ = 'N'.
+
+  M       (output) INTEGER
+          The number of selected core eigenvalues which were
+          reordered to the top of T22_k.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance parameter c. The weak and strong stability
+          tests performed for checking the reordering use a
+          threshold computed by the formula  MAX(c*EPS*NRM, SMLNUM),
+          where NRM is the varying Frobenius norm of the matrices
+          formed by concatenating K pairs of adjacent diagonal
+          blocks of sizes 1 and/or 2 in the T22_k submatrices from
+          (2), which are swapped, and EPS and SMLNUM are the machine
+          precision and safe minimum divided by EPS, respectively
+          (see LAPACK Library routine DLAMCH). The value c should
+          normally be at least 10.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*K)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 10*K + MN, if all blocks involved in reordering
+                               have order 1;
+          LDWORK &gt;= 25*K + MN, if there is at least a block of
+                               order 2, but no adjacent blocks of
+                               order 2 are involved in reordering;
+          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if there is at least
+                               a pair of adjacent blocks of order 2
+                               involved in reordering;
+          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
+          MXN = MAX(N(k),k=1,...,K).
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reordering of T failed because some eigenvalues
+                are too close to separate (the problem is very ill-
+                conditioned); T may have been partially reordered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An adaptation of the LAPACK Library routine DTGSEN is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            KMAX, NMAX
+      PARAMETER          ( KMAX = 6, NMAX = 50 )
+      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
+      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                     LDQ2 = NMAX,
+     $                     LDWORK = MAX( 42*KMAX + NMAX, 80*KMAX - 48,
+     $                                   KMAX + MAX( 2*NMAX, 8*KMAX ) ),
+     $                     LIWORK = MAX( 4*KMAX, 2*KMAX + NMAX ) )
+      DOUBLE PRECISION   HUND, ZERO
+      PARAMETER          ( HUND = 1.0D2, ZERO = 0.0D0 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, DEFL, JOB, STRONG
+      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, M, N, P
+      DOUBLE PRECISION   TOL
+*
+*     .. Local Arrays ..
+      LOGICAL            SELECT( NMAX )
+      INTEGER            IWORK( LIWORK ), IXQ( KMAX ), IXT( KMAX ),
+     $                   LDQ( KMAX ), LDT( KMAX ), ND( KMAX ),
+     $                   NI( KMAX ), QIND( KMAX ), S( KMAX ),
+     $                   SCAL( NMAX )
+      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
+     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
+     $                   Q( LDQ1, LDQ2, KMAX ), QK( NMAX*NMAX*KMAX ),
+     $                   T( NMAX*NMAX*KMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           DLACPY, MB03BD, MB03KD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          INT, MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, STRONG, K, N, H, ILO, IHI
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         TOL = HUND
+         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
+         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
+     $                                I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'U' ) )
+     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
+     $                                   I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'P' ) ) THEN
+            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
+            DO 10 L = 1, K
+               IF( QIND( L ).GT.0 )
+     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
+     $                                    J = 1, N ), I = 1, N )
+   10       CONTINUE
+         END IF
+         IF( LSAME( JOB, 'E' ) )
+     $      JOB = 'S'
+*        Compute the eigenvalues and the transformed matrices.
+         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
+     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
+     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE IF( IWARN.EQ.0 ) THEN
+*           Prepare the data for calling MB03KD, which uses different
+*           data structures and reverse ordering of the factors.
+            DO 20 L = 1, K
+               ND(  L ) = MAX( 1, N )
+               NI(  L ) = 0
+               LDT( L ) = MAX( 1, N )
+               IXT( L ) = ( L - 1 )*LDT( L )*N + 1
+               LDQ( L ) = MAX( 1, N )
+               IXQ( L ) = IXT( L )
+               IF( L.LE.INT( K/2 ) ) THEN
+                  I = S( K - L + 1 )
+                  S( K - L + 1 ) = S( L )
+                  S( L ) = I
+               END IF
+   20       CONTINUE
+            DO 30 L = 1, K
+               CALL DLACPY( 'Full', N, N, A( 1, 1, K-L+1 ), LDA1,
+     $                      T( IXT( L ) ), LDT( L ) )
+   30       CONTINUE
+            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
+               COMPQ = 'U'
+               DO 40 L = 1, K
+                  CALL DLACPY( 'Full', N, N, Q( 1, 1, K-L+1 ), LDQ1,
+     $                         QK( IXQ( L ) ), LDQ( L ) )
+   40          CONTINUE
+            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
+               COMPQ = 'W'
+               DO 50 L = 1, K
+                  IF( QIND( L ).LT.0 )
+     $                QIND( L ) = 2
+                  P = QIND( L )
+                  IF( P.NE.0 )
+     $               CALL DLACPY( 'Full', N, N, Q( 1, 1, K-P+1 ), LDQ1,
+     $                            QK( IXQ( P ) ), LDQ( P ) )
+   50          CONTINUE
+            END IF
+*           Select eigenvalues with negative real part.
+            DO 60 I = 1, N
+               SELECT( I ) = ALPHAR( I ).LT.ZERO
+   60       CONTINUE
+            WRITE( NOUT, FMT = 99996 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99994 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99991 ) (   SCAL( I ), I = 1, N )
+*           Compute the transformed matrices, after reordering the
+*           eigenvalues.
+            CALL MB03KD( COMPQ, QIND, STRONG, K, N, H, ND, NI, S,
+     $                   SELECT, T, LDT, IXT, QK, LDQ, IXQ, M, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+            IF( INFO.NE.0 ) THEN
+               WRITE( NOUT, FMT = 99990 ) INFO
+            ELSE
+               WRITE( NOUT, FMT = 99989 )
+               DO 80 L = 1, K
+                  P = K - L + 1
+                  WRITE( NOUT, FMT = 99988 ) L
+                  DO 70 I = 1, N
+                     WRITE( NOUT, FMT = 99995 )
+     $                    ( T( IXT( P ) + I - 1 + ( J - 1 )*LDT( P ) ),
+     $                       J = 1, N )
+   70             CONTINUE
+   80          CONTINUE
+               IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
+                  WRITE( NOUT, FMT = 99987 )
+                  DO 100 L = 1, K
+                     P = K - L + 1
+                     WRITE( NOUT, FMT = 99988 ) L
+                     DO 90 I = 1, N
+                        WRITE( NOUT, FMT = 99995 )
+     $                       ( QK( IXQ( P ) + I - 1 +
+     $                           ( J - 1 )*LDQ( P ) ), J = 1, N )
+   90                CONTINUE
+  100             CONTINUE
+               ELSE IF( LSAME( COMPQ, 'W' ) ) THEN
+                  WRITE( NOUT, FMT = 99987 )
+                  DO 120 L = 1, K
+                     IF( QIND( L ).GT.0 ) THEN
+                        P = K - QIND( L ) + 1
+                        WRITE( NOUT, FMT = 99988 ) QIND( L )
+                        DO 110 I = 1, N
+                           WRITE( NOUT, FMT = 99995 )
+     $                          ( QK( IXQ( P ) + I - 1 +
+     $                              ( J - 1 )*LDQ( P ) ), J = 1, N )
+  110                   CONTINUE
+                     END IF
+  120             CONTINUE
+               END IF
+            END IF
+         ELSE
+            WRITE( NOUT, FMT = 99979 ) IWARN
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03KD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
+99996 FORMAT( 'The vector ALPHAR is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The vector ALPHAI is ' )
+99993 FORMAT( 'The vector BETA is ' )
+99992 FORMAT( 'The vector SCAL is ' )
+99991 FORMAT( 50( 1X, I5 ) )
+99990 FORMAT( 'INFO on exit from MB03KD = ', I2 )
+99989 FORMAT( 'The matrix A on exit is ' )
+99988 FORMAT( 'The factor ', I2, ' is ' )
+99987 FORMAT( 'The matrix Q on exit is ' )
+99986 FORMAT( 'LDT', 3I5 )
+99985 FORMAT( 'IXT', 3I5 )
+99984 FORMAT( 'LDQ', 3I5 )
+99983 FORMAT( 'IXQ', 3I5 )
+99982 FORMAT( 'ND' , 3I5 )
+99981 FORMAT( 'NI' , 3I5)
+99980 FORMAT( 'SELECT', 3L5 )
+99979 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03KD EXAMPLE PROGRAM DATA
+   S   C   I   N   3   3   2   1   3
+  -1     1    -1
+   2.0   0.0   1.0
+   0.0  -2.0  -1.0
+   0.0   0.0   3.0
+   1.0   2.0   0.0
+   4.0  -1.0   3.0
+   0.0   3.0   1.0
+   1.0   0.0   1.0
+   0.0   4.0  -1.0
+   0.0   0.0  -2.0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03KD EXAMPLE PROGRAM RESULTS
+The vector ALPHAR is 
+   0.3230   0.3230  -0.8752
+The vector ALPHAI is 
+   0.5694  -0.5694   0.0000
+The vector BETA is 
+   1.0000   1.0000   1.0000
+The vector SCAL is 
+     0     0    -1
+The matrix A on exit is 
+The factor  1 is 
+   2.5997  -0.0087   1.6898
+   0.0000   1.9846   0.1942
+   0.0000   0.0000   2.3259
+The factor  2 is 
+  -2.0990  -1.0831  -2.5601
+   0.0000   3.4838   0.2950
+   0.0000   3.4552  -2.1690
+The factor  3 is 
+   1.8451   0.9260   1.2717
+   0.0000   1.3976  -2.3544
+   0.0000   0.0000  -3.1023
+The matrix Q on exit is 
+The factor  1 is 
+  -0.2052   0.4647  -0.8614
+   0.2033   0.8811   0.4270
+  -0.9574   0.0875   0.2753
+The factor  2 is 
+  -0.7743  -0.1384   0.6176
+   0.6070  -0.4386   0.6627
+   0.1791   0.8880   0.4236
+The factor  3 is 
+  -0.6714   0.7225  -0.1651
+  -0.3658  -0.5168  -0.7740
+  -0.6446  -0.4593   0.6112
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KE.html b/doc/_build/html/_static/doc/MB03KE.html
new file mode 100644
index 00000000..d288c475
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03KE.html
@@ -0,0 +1,191 @@
+<HTML>
+<HEAD><TITLE>MB03KE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KE">MB03KE</A></H2>
+<H3>
+Solving periodic Sylvester-like equations with matrices of order at most 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve small periodic Sylvester-like equations (PSLE)
+
+   op(A(i))*X( i ) + isgn*X(i+1)*op(B(i)) = -scale*C(i), S(i) =  1,
+   op(A(i))*X(i+1) + isgn*X( i )*op(B(i)) = -scale*C(i), S(i) = -1.
+
+  i = 1, ..., K, where op(A) means A or A**T, for the K-periodic
+  matrix sequence X(i) = X(i+K), where A, B and C are K-periodic
+  matrix sequences and A and B are in periodic real Schur form. The
+  matrices A(i) are M-by-M and B(i) are N-by-N, with 1 &lt;= M, N &lt;= 2.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KE( TRANA, TRANB, ISGN, K, M, N, PREC, SMIN, S, A,
+     $                   B, C, SCALE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            TRANA, TRANB
+      INTEGER            INFO, ISGN, K, LDWORK, M, N
+      DOUBLE PRECISION   PREC, SCALE, SMIN
+C     .. Array Arguments ..
+      INTEGER            S( * )
+      DOUBLE PRECISION   A( * ), B( * ), C( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   LOGICAL
+          Specifies the form of op(A) to be used, as follows:
+          = .FALSE.:  op(A) = A,
+          = .TRUE. :  op(A) = A**T.
+
+  TRANB   LOGICAL
+          Specifies the form of op(B) to be used, as follows:
+          = .FALSE.:  op(B) = B,
+          = .TRUE. :  op(B) = B**T.
+
+  ISGN    INTEGER
+          Specifies which sign variant of the equations to solve.
+          ISGN = 1 or ISGN = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences A, B, C and X.
+          K &gt;= 2. (For K = 1, a standard Sylvester equation is
+          obtained.)
+
+  M       (input) INTEGER
+          The order of the matrices A(i) and the number of rows of
+          the matrices C(i) and X(i), i = 1, ..., K.  1 &lt;= M &lt;= 2.
+
+  N       (input) INTEGER
+          The order of the matrices B(i) and the number of columns
+          of the matrices C(i) and X(i), i = 1, ..., K.
+          1 &lt;= N &lt;= 2.
+
+  PREC    (input) DOUBLE PRECISION
+          The relative machine precision. See the LAPACK Library
+          routine DLAMCH.
+
+  SMIN    (input) DOUBLE PRECISION
+          The machine safe minimum divided by PREC.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequences for A and B. Each entry in S must be
+          either 1 or -1. Notice that it is assumed that the same
+          exponents are tied to both A and B on reduction to the
+          periodic Schur form.
+
+  A       (input) DOUBLE PRECISION array, dimension (M*M*K)
+          On entry, this array must contain the M-by-M matrices
+          A(i), for i = 1, ..., K, stored with the leading dimension
+          M. Matrix A(i) is stored starting at position M*M*(i-1)+1.
+
+  B       (input) DOUBLE PRECISION array, dimension (N*N*K)
+          On entry, this array must contain the N-by-N matrices
+          B(i), for i = 1, ..., K, stored with the leading dimension
+          N. Matrix B(i) is stored starting at position N*N*(i-1)+1.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (M*N*K)
+          On entry, this array must contain the M-by-N matrices
+          C(i), for i = 1, ..., K, stored with the leading dimension
+          M. Matrix C(i) is stored starting at position M*N*(i-1)+1.
+          On exit, the matrices C(i) are overwritten by the solution
+          sequence X(i).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          avoid overflow in X.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= (4*K-3) * (M*N)**2 + K * M*N.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -21, then LDWORK is too small; appropriate
+                value for LDWORK is returned in DWORK(1); the other
+                arguments are not tested, for efficiency;
+          = 1:  the solution would overflow with scale = 1, so
+                SCALE was set less than 1. This is a warning, not
+                an error.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A version of the algorithm described in [1] is used. The routine
+  uses a sparse Kronecker product representation Z of the PSLE and
+  solves for X(i) from an associated linear system Z*x = c using
+  structured (overlapping) variants of QR factorization and backward
+  substitution.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Granat, R., Kagstrom, B. and Kressner, D.
+      Computing periodic deflating subspaces associated with a
+      specified set of eigenvalues.
+      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03LD.html b/doc/_build/html/_static/doc/MB03LD.html
new file mode 100644
index 00000000..bf084b90
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03LD.html
@@ -0,0 +1,491 @@
+<HTML>
+<HEAD><TITLE>MB03LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LD">MB03LD</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the relevant eigenvalues of a real N-by-N skew-
+  Hamiltonian/Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ),                           (1)
+        (  E  A' )         (  G -B' )
+
+  where the notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'C', an orthogonal basis of the right
+  deflating subspace of aS - bH corresponding to the eigenvalues
+  with strictly negative real part is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LIWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N':  do not compute the deflating subspace;
+          = 'C':  compute the deflating subspace and store it in the
+                  leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthogonal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix Aout
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix A obtained just before the application of the
+          periodic QZ algorithm (see SLICOT Library routine MB04BD).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-symmetric matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of the
+          skew-symmetric matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper quasi-triangular matrix C2out (see
+          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
+          of the submatrix in the columns 3 to N/2+1 of this array
+          contains the strictly upper triangular part of the
+          skew-symmetric matrix Dout (see METHOD), without the main
+          diagonal, which is zero.
+          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper Hessenberg matrix C2, and the
+          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
+          in the columns 3 to N/2+1 of this array contains the
+          strictly upper triangular part of the skew-symmetric
+          matrix D (without the main diagonal) just before the
+          application of the periodic QZ algorithm.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix C1out
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix C1 obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix F.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          the submatrix in the columns 2 to N/2+1 of this array
+          contains the matrix Vout (see METHOD); otherwise, it
+          contains the matrix V obtained just before the application
+          of the periodic QZ algorithm.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the right
+          deflating subspace corresponding to the eigenvalues of
+          aA - bB with strictly negative real part. The remaining
+          part of this array is used as workspace.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = -19, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
+          LIWORK &gt;= MAX( N + 12, 2*N + 3 ),     if COMPQ = 'N',
+          LIWORK &gt;= MAX( 32, 2*N + 3 ),         if COMPQ = 'C'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
+          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
+                                                     if COMPQ = 'N',
+          where     L = 4*N + 4, if N/2 is even, and
+                    L = 4*N    , if N/2 is odd; 
+          LDWORK &gt;= 8*N**2 + MAX( 8*N + 32, 272 ),   if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: periodic QZ iteration failed in the SLICOT Library
+               routines MB04BD or MB04HD (QZ iteration did not
+               converge or computation of the shifts failed);
+          = 2: standard QZ iteration failed in the SLICOT Library
+               routines MB04HD or MB03DD (called by MB03JD);
+          = 3: a numerically singular matrix was found in the SLICOT
+               Library routine MB03HD (called by MB03JD);
+          = 4: the singular value decomposition failed in the LAPACK
+               routine DGESVD (for ORTH = 'S');
+          = 5: some eigenvalues might be inaccurate. This is a
+               warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the decompositions of S and H are computed via orthogonal
+  transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        ),
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric.
+
+  Then, orthogonal matrices Q3 and Q4 are found, for the extended
+  matrices
+
+         (  Aout   0  )          (    0   C1out )
+    Se = (            ) and He = (              ),
+         (   0   Bout )          ( -C2out   0   )
+
+  such that S11 := Q4' Se Q3 is upper triangular and
+  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
+  are computed:
+
+               (  Dout   0  )                   (   0   Vout )
+    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
+               (   0   Fout )                   ( Vout'   0  )
+
+  Then, an orthogonal matrix Q is found such that the eigenvalues
+  with strictly negative real parts of the pencil
+
+      (  S11  S12  )     (  H11  H12  )
+    a (            ) - b (            )
+      (   0   S11' )     (   0  -H11' )
+
+  are moved to the top of this pencil.
+
+  Finally, an orthogonal basis of the right deflating subspace
+  corresponding to the eigenvalues with strictly negative real part
+  is computed. See also page 12 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03LD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LIWORK
+      PARAMETER          (  LDA = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
+     $                     LDFG = NMAX/2, LDQ = 2*NMAX,
+     $                     LDWORK = 8*NMAX*NMAX +
+     $                              MAX( 8*NMAX + 32, NMAX/2 + 168,
+     $                                   272 ),
+     $                     LIWORK = MAX( 32, NMAX + 12, NMAX*2 + 3 ) )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            I, INFO, J, M, N, NEIG
+*
+*     .. Local Arrays ..
+      LOGICAL            BWORK( NMAX/2 )
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
+     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
+     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
+     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, 2*NMAX )
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03LD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, ORTH, N
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues and an orthogonal basis of the right
+*        deflating subspace of a real skew-Hamiltonian/Hamiltonian
+*        pencil, corresponding to the eigenvalues with strictly negative
+*        real part.
+         CALL MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                LIWORK, DWORK, LDWORK, BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, M+1 )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
+   30       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            DO 40 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 2, M+1 )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99989 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99988 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   50          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03LD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03LD = ', I2 )
+99996 FORMAT( 'The matrix A on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix DE on exit is ' )
+99993 FORMAT( 'The matrix C1 on exit is ' )
+99992 FORMAT( 'The matrix V on exit is ' )
+99991 FORMAT( 'The vector ALPHAR is ' )
+99990 FORMAT( 'The vector ALPHAI is ' )
+99989 FORMAT( 'The vector BETA is ' )
+99988 FORMAT( 'The matrix Q is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03LD EXAMPLE PROGRAM DATA
+   C   P   8
+   3.1472   1.3236   4.5751   4.5717
+   4.0579  -4.0246   4.6489  -0.1462
+  -3.7301  -2.2150  -3.4239   3.0028
+   4.1338   0.4688   4.7059  -3.5811
+   0.0000   0.0000  -1.5510  -4.5974  -2.5127
+   3.5071   0.0000   0.0000   1.5961   2.4490  
+  -3.1428   2.5648   0.0000   0.0000  -0.0596 
+   3.0340   2.4892  -1.1604   0.0000   0.0000
+   0.6882  -3.3782  -3.3435   1.8921
+  -0.3061   2.9428   1.0198   2.4815
+  -4.8810  -1.8878  -2.3703  -0.4946
+  -1.6288   0.2853   1.5408  -4.1618
+  -2.4013  -2.7102   0.3834  -3.9335   3.1730
+  -3.1815  -2.3620   4.9613   4.6190   3.6869
+   3.6929   0.7970   0.4986  -4.9537  -4.1556
+   3.5303   1.2206  -1.4905   0.1325  -1.0022
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03LD EXAMPLE PROGRAM RESULTS
+The matrix A on exit is 
+  -4.7460   4.1855   3.2696  -0.2244
+   0.0000   6.4157   2.8287   1.4553
+   0.0000   0.0000   7.4626   1.5726
+   0.0000   0.0000   0.0000   8.8702
+The matrix DE on exit is 
+  -5.4562   2.5550  -1.3137  -6.3615  -0.8940
+  -2.1348  -7.9616   0.0000   1.0704  -0.0659
+   4.9694   1.1516   4.8504   0.0000  -0.6922
+  -2.2744   3.4912   0.5046   4.4394   0.0000
+The matrix C1 on exit is 
+   6.9525  -4.9881   2.3661   4.2188
+   0.0000   8.5009   0.7182   5.5533
+   0.0000   0.0000  -4.6650  -2.8177
+   0.0000   0.0000   0.0000   1.5124
+The matrix V on exit is 
+   0.9136   4.1106  -0.0079   3.5789
+  -1.1553  -1.4785  -1.5155  -0.8018
+  -2.2167   4.8029   1.3645   2.5202
+  -1.0994  -0.6144   0.3970   2.0730
+The vector ALPHAR is 
+   0.8314  -0.8314   0.8131   0.0000
+The vector ALPHAI is 
+   0.4372   0.4372   0.0000   0.9164
+The vector BETA is 
+   0.7071   0.7071   1.4142   2.8284
+The matrix Q is 
+  -0.5844  -0.2949   0.1692
+   0.5470  -0.2324  -0.4524
+   0.0382   0.4673  -0.3092
+  -0.0378   0.0904  -0.4451
+  -0.0255   0.1497  -0.1929
+  -0.1286  -0.6067  -0.2275
+  -0.2260   0.4901   0.0951
+   0.5367  -0.0430   0.6123
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03LF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LF">MB03LF</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the relevant eigenvalues of a real N-by-N skew-
+  Hamiltonian/Hamiltonian pencil aS - bH, with
+
+                                (  B  F  )      (  0  I  )
+    S = T Z = J Z' J' Z and H = (        ), J = (        ),      (1)
+                                (  G -B' )      ( -I  0  )
+
+  where the notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'C', an orthogonal basis of the right
+  deflating subspace of aS - bH corresponding to the eigenvalues
+  with strictly negative real part is computed. Optionally, if
+  COMPU = 'C', an orthonormal basis of the companion subspace,
+  range(P_U) [1], which corresponds to the eigenvalues with strictly
+  negative real part, is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
+     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, BWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            INFO, IWARN, LDB, LDFG, LDQ, LDU, LDWORK, LDZ,
+     $                   LIWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
+     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
+     $                   Q( LDQ, * ), U( LDU, * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N':  do not compute the deflating subspace;
+          = 'C':  compute the deflating subspace and store it in the
+                  leading subarray of Q.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the companion subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the companion subspace;
+          = 'C': compute the companion subspace and store it in the
+                 leading subarray of U.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C' and/or COMPU = 'C', specifies the technique
+          for computing the orthogonal basis of the deflating
+          subspace, and/or of the companion subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
+          used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the non-trivial factor Z in the factorization
+          S = J Z' J' Z of the skew-Hamiltonian matrix S.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the transformed upper
+                            ~
+          triangular matrix Z11 (see METHOD), after moving the
+          eigenvalues with strictly negative real part to the top
+          of the pencil (3). The strictly lower triangular part is
+          not zeroed.
+          If COMPQ = 'N' and COMPU = 'N', the leading N-by-N part of
+          this array contains the matrix Z obtained by the SLICOT
+          Library routine MB04AD just before the application of the
+          periodic QZ algorithm. The elements of the (2,1) block,
+          i.e., in the rows N/2+1 to N and in the columns 1 to N/2
+          are not set to zero, but are unchanged on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input) DOUBLE PRECISION array, dimension (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix F.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
+          in aS - bH with strictly negative real part.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the right
+          deflating subspace corresponding to the eigenvalues of
+          aS - bH with strictly negative real part. The remaining
+          part of this array is used as workspace.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU, 2*N)
+          On exit, if COMPU = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the companion
+          subspace corresponding to the eigenvalues of aS - bH with
+          strictly negative real part. The remaining part of this
+          array is used as workspace.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,         if COMPU = 'N';
+          LDU &gt;= MAX(1, N), if COMPU = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = -20, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= N + 18,      if COMPQ = 'N' and COMPU = 'N';
+          LIWORK &gt;= MAX( 2*N+1, 48 ), otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -22, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= b*N*N + 3*N*N/2 + MAX( 6*N, 54 ),
+                                    if COMPQ = 'N' and COMPU = 'N';
+          LDWORK &gt;= d*N*N + MAX( N/2+252, 432 ), otherwise, where
+                    b = a,   d = c,   if COMPU = 'N',
+                    b = a+1, d = c+1, if COMPU = 'C', and
+                    a = 2,   c = 7,   if COMPQ = 'N',
+                    a = 4,   c = 10,  if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0: no warning;
+          = 1: some eigenvalues might be unreliable. More details
+               can be obtained by running the SLICOT routine MB04AD.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: periodic QZ iteration failed in the SLICOT Library
+               routines MB04AD, MB04CD or MB03BB (QZ iteration did
+               not converge or computation of the shifts failed);
+          = 2: standard QZ iteration failed in the SLICOT Library
+               routines MB04CD or MB03CD (called by MB03ID);
+          = 3: a numerically singular matrix was found in the SLICOT
+               Library routine MB03GD (called by MB03ID);
+          = 4: the singular value decomposition failed in the LAPACK
+               routine DGESVD (for ORTH = 'S').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the decompositions of S and H are computed via orthogonal
+  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2,
+  such that
+
+                                ( T11  T12 )
+    Q1' T U1 = Q1' J Z' J' U1 = (          ),
+                                (  0   T22 )
+
+               ( Z11  Z12 )
+    U2' Z Q2 = (          ),                                     (2)
+               (  0   Z22 )
+
+               ( H11  H12 )
+    Q1' H Q2 = (          ),
+               (  0   H22 )
+
+  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
+  upper quasi-triangular.
+
+  Then, orthogonal matrices Q3, Q4 and U3 are found, for the
+  matrices
+
+    ~     ( T22'  0  )  ~     ( T11'  0  )  ~   (   0   H11 )
+    Z11 = (          ), Z22 = (          ), H = (           ),
+          (  0   Z11 )        (  0   Z22 )      ( -H22'  0  )
+
+            ~          ~       ~          ~
+  such that Z11 := U3' Z11 Q4, Z22 := U3' Z22 Q3 are upper
+                 ~          ~
+  triangular and H11 := Q3' H Q4 is upper quasi-triangular. The
+  following matrices are computed:
+
+    ~          ( -T12'  0  )        ~          (  0   H12 )
+    Z12 := U3' (           ) Q3 and H12 := Q3' (          ) Q3.
+               (  0    Z12 )                   ( H12'  0  )
+
+  Then, an orthogonal matrix Q and an orthogonal symplectic matrix U
+  are found such that the eigenvalues with strictly negative real
+  parts of the pencil
+
+          ~    ~          ~    ~           ~    ~
+        ( Z11  Z12 )'   ( Z11  Z12 )     ( H11  H12  )
+    a J (      ~   ) J' (      ~   ) - b (      ~    )           (3)
+        (  0   Z22 )    (  0   Z22 )     (  0  -H11' )
+
+  are moved to the top of this pencil.
+
+  Finally, an orthogonal basis of the right deflating subspace
+  and an orthogonal basis of the companion subspace corresponding to
+  the eigenvalues with strictly negative real part are computed.
+  See also page 11 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03LF EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDB, LDFG, LDQ, LDU, LDWORK, LDZ, LIWORK
+      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2, LDQ = 2*NMAX,
+     $                     LDU = NMAX,   LDZ  = NMAX,
+     $                     LDWORK = 10*NMAX*NMAX +
+     $                              MAX( NMAX*NMAX +
+     $                                   MAX( NMAX/2 + 252, 432 ),
+     $                                   MAX( 8*NMAX +  48, 171 ) ),
+     $                     LIWORK = MAX( NMAX + 18, NMAX/2 + 48,
+     $                                   5*NMAX/2 + 1 ) )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            I, INFO, IWARN, J, M, N, NEIG
+*
+*     .. Local Arrays ..
+      LOGICAL            BWORK( NMAX/2 )
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX/2 ),  ALPHAR( NMAX/2 ),
+     $                   B( LDB, NMAX/2 ),    BETA( NMAX/2 ),
+     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
+     $                   Z( LDZ, NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03LF
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues and orthogonal bases of the right
+*        deflating subspace and companion subspace of a real
+*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
+*        eigenvalues with strictly negative real part.
+         CALL MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI, BETA, IWORK,
+     $                LIWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   20          CONTINUE
+            END IF
+            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
+   30          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
+     $         WRITE( NOUT, FMT = 99989 ) NEIG
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( 'MB03LF EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB03LF = ', I2 )
+99996 FORMAT (/'The matrix Z on exit is ' )
+99995 FORMAT ( 50( 1X, F8.4 ) )
+99994 FORMAT (/'The vector ALPHAR is ' )
+99993 FORMAT (/'The vector ALPHAI is ' )
+99992 FORMAT (/'The vector BETA is ' )
+99991 FORMAT (/'The deflating subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99990 FORMAT (/'The companion subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99989 FORMAT (/'The number of eigenvalues in the initial pencil with ',
+     $         'negative real part is ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03LF EXAMPLE PROGRAM DATA
+   C   C   P   8
+   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
+   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
+  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
+   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
+   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
+  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
+  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
+   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
+   0.6882  -3.3782  -3.3435   1.8921
+  -0.3061   2.9428   1.0198   2.4815
+  -4.8810  -1.8878  -2.3703  -0.4946
+  -1.6288   0.2853   1.5408  -4.1618
+  -2.4013  -2.7102   0.3834  -3.9335   3.1730
+  -3.1815  -2.3620   4.9613   4.6190   3.6869
+   3.6929   0.7970   0.4986  -4.9537  -4.1556
+   3.5303   1.2206  -1.4905   0.1325  -1.0022
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03LF EXAMPLE PROGRAM RESULTS
+
+The matrix Z on exit is 
+   4.4128   0.1059  -1.8709   1.2963  -4.3448   2.7633   2.3580   2.1931
+   0.0000  10.0337  -1.9797   1.8052  -1.0112   1.1335   1.2374   0.3107
+   0.0000   0.0000   8.9476   1.8523  -1.8578  -0.5807  -1.4157   1.3007
+   0.0000   0.0000   0.0000  -7.0889  -2.1193  -2.1634  -2.4393   0.1148
+   0.0765   1.0139   0.0000  -1.5390  -8.3187  -5.0172   0.7738  -2.8626
+   1.1884  -0.9225   0.0000   0.2905   0.0000   6.4090   2.1994  -2.5933
+  -0.5931   0.1981   0.0000  -0.5280   0.0000   0.0000   4.7155   2.3817
+   1.8591  -1.8416   0.0000  -0.0807   0.0000   0.0000   0.0000  -5.3153
+
+The vector ALPHAR is 
+   0.7353   0.0000   0.5168  -0.5168
+
+The vector ALPHAI is 
+   0.0000   0.7190   0.5610   0.5610
+
+The vector BETA is 
+   2.0000   2.8284  11.3137  11.3137
+
+The deflating subspace corresponding to the eigenvalues with negative real part is 
+  -0.2509   0.3670   0.0416
+  -0.3267  -0.7968  -0.1019
+   0.0263   0.0338  -0.5795
+  -0.0139  -0.0491  -0.5217
+  -0.4637   0.2992  -0.4403
+  -0.1345   0.3071  -0.0917
+  -0.1364   0.2013   0.3447
+  -0.7601  -0.0495   0.2426
+
+The companion subspace corresponding to the eigenvalues with negative real part is 
+  -0.3219   0.6590   0.1693
+  -0.5216  -0.1829  -0.0689
+  -0.0413  -0.4664  -0.1359
+   0.1310  -0.1702   0.4543
+  -0.3598   0.2660   0.3355
+  -0.5082  -0.0512  -0.6035
+  -0.3582  -0.4513   0.4649
+   0.2991   0.0932  -0.2207
+
+The number of eigenvalues in the initial pencil with negative real part is  3
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03LP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LP">MB03LP</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the relevant eigenvalues of a real N-by-N skew-
+  Hamiltonian/Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ),                           (1)
+        (  E  A' )         (  G -B' )
+
+  where the notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'C', an orthogonal basis of the right
+  deflating subspace of aS - bH corresponding to the eigenvalues
+  with strictly negative real part is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LIWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N':  do not compute the deflating subspace;
+          = 'C':  compute the deflating subspace and store it in the
+                  leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthogonal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix Aout
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix A obtained just before the application of the
+          periodic QZ algorithm (see SLICOT Library routine MB04BP).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-symmetric matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of the
+          skew-symmetric matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper quasi-triangular matrix C2out (see
+          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
+          of the submatrix in the columns 3 to N/2+1 of this array
+          contains the strictly upper triangular part of the
+          skew-symmetric matrix Dout (see METHOD), without the main
+          diagonal, which is zero.
+          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper Hessenberg matrix C2, and the
+          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
+          in the columns 3 to N/2+1 of this array contains the
+          strictly upper triangular part of the skew-symmetric
+          matrix D (without the main diagonal) just before the
+          application of the periodic QZ algorithm.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix C1out
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix C1 obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix F.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          the submatrix in the columns 2 to N/2+1 of this array
+          contains the matrix Vout (see METHOD); otherwise, it
+          contains the matrix V obtained just before the application
+          of the periodic QZ algorithm.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the right
+          deflating subspace corresponding to the eigenvalues of
+          aA - bB with strictly negative real part. The remaining
+          part of this array is used as workspace.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = -19, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
+          LIWORK &gt;= MAX( N + 12, 2*N + 3 ), if COMPQ = 'N',
+          LIWORK &gt;= MAX( 32, 6*N - 3 ),     if COMPQ = 'C'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
+          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
+                                                     if COMPQ = 'N',
+          where     L = 4*N + 4, if N/2 is even, and
+                    L = 4*N    , if N/2 is odd; 
+          LDWORK &gt;= 8*N**2 + MAX( 13*N + 32, 272 ),  if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: periodic QZ iteration failed in the SLICOT Library
+               routines MB04BP or MB04HD (QZ iteration did not
+               converge or computation of the shifts failed);
+          = 2: standard QZ iteration failed in the SLICOT Library
+               routines MB04HD or MB03DD (called by MB03JP);
+          = 3: a numerically singular matrix was found in the SLICOT
+               Library routine MB03HD (called by MB03JP);
+          = 4: the singular value decomposition failed in the LAPACK
+               routine DGESVD (for ORTH = 'S');
+          = 5: some eigenvalues might be inaccurate. This is a
+               warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the decompositions of S and H are computed via orthogonal
+  transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        ),
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric.
+
+  Then, orthogonal matrices Q3 and Q4 are found, for the extended
+  matrices
+
+         (  Aout   0  )          (    0   C1out )
+    Se = (            ) and He = (              ),
+         (   0   Bout )          ( -C2out   0   )
+
+  such that S11 := Q4' Se Q3 is upper triangular and
+  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
+  are computed:
+
+               (  Dout   0  )                   (   0   Vout )
+    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
+               (   0   Fout )                   ( Vout'   0  )
+
+  Then, an orthogonal matrix Q is found such that the eigenvalues
+  with strictly negative real parts of the pencil
+
+      (  S11  S12  )     (  H11  H12  )
+    a (            ) - b (            )
+      (   0   S11' )     (   0  -H11' )
+
+  are moved to the top of this pencil.
+
+  Finally, an orthogonal basis of the right deflating subspace
+  corresponding to the eigenvalues with strictly negative real part
+  is computed. See also page 12 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03LZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LZ">MB03LZ</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  G -B' )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+  skew-Hamiltonian pencil aB_S - bB_T, defined as
+
+          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
+          (                 |                 )
+          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
+          (                 |                 )
+    B_S = (-----------------+-----------------) , and
+          (                 |                 )
+          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
+          (                 |                 )
+          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |                 )
+          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
+          (                 |                 )
+          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
+
+  is determined and used to compute the eigenvalues. The notation M'
+  denotes the conjugate transpose of the matrix M. Optionally,
+  if COMPQ = 'C', an orthonormal basis of the right deflating
+  subspace of the pencil aS - bH, corresponding to the eigenvalues
+  with strictly negative real part, is computed. Namely, after
+  transforming aB_S - bB_H by unitary matrices, we have
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Sout = (         ) and B_Hout = (         ),               (3)
+             (  0  BA' )              (  0 -BB' )
+
+  and the eigenvalues with strictly negative real part of the
+  complex pencil aB_Sout - bB_Hout are moved to the top. The
+  embedding doubles the multiplicities of the eigenvalues of the
+  pencil aS - bH.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LZWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the deflating subspace; compute the
+                 eigenvalues only;
+          = 'C': compute the deflating subspace and store it in the
+                 leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthonormal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; it is preserved in the leading N/2-by-N/2 part.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of
+          the skew-Hermitian matrix D.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the skew-Hermitian matrix BD in (3) (see
+          also METHOD). The strictly lower triangular part of the
+          input matrix is preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; the elements below the first subdiagonal of the
+          input matrix are preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the right
+          deflating subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part.
+          The remaining entries are meaningless.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -20, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
+          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -22, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,       if COMPQ = 'N';
+          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0,     if COMPQ = 'N';
+          LBWORK &gt;= N - 1, if COMPQ = 'C'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the SLICOT Library routine
+               MB04FD (QZ iteration did not converge or computation
+               of the shifts failed);
+          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
+               trying to triangularize the 2-by-2 blocks;
+          = 3: the singular value decomposition failed in the LAPACK
+               routine ZGESVD (for ORTH = 'S');
+          = 4: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04FD is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~                     (  S11  S12  )
+  B_S = J Q' J' B_S Q = (            ) and
+                        (   0   S11' )
+
+  ~                     (  T11  T12  )           (  0  I  )
+  B_T = J Q' J' B_T Q = (            ), with J = (        ),
+                        (   0   T11' )           ( -I  0  )
+
+  where Q is real orthogonal, S11 is upper triangular, and T11 is
+  upper quasi-triangular.
+
+  Second, the SLICOT Library routine MB03JZ is applied, to compute a
+                 ~
+  unitary matrix Q, such that
+
+                     ~    ~
+    ~     ~   ~   (  S11  S12  )
+  J Q' J' B_S Q = (       ~    ) =: B_Sout,
+                  (   0   S11' )
+
+    ~        ~    ~   (  H11  H12  )
+  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
+                      (   0  -H11' )
+       ~                                               ~       ~
+  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
+  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
+                       ~
+  principal subpencil aS11 - bH11.
+
+  Finally, the right deflating subspace is computed.
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03LZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
+      PARAMETER          ( LDA = NMAX, LDB = NMAX, LDDE = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX,
+     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
+     $                     LZWORK =  8*NMAX + 4 )
+*
+*     .. Local Scalars ..
+      CHARACTER*1        COMPQ, ORTH
+      INTEGER            I, INFO, J, N, NEIG
+*
+*     .. Local Arrays ..
+      COMPLEX*16         A( LDA, NMAX ), B( LDB, NMAX ),
+     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
+     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ), BETA( NMAX ),
+     $                   DWORK( LDWORK )
+      INTEGER            IWORK( NMAX + 1 )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03LZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MOD
+*
+*     .. Executable statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*
+*     Skip first line in data file.
+*
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, ORTH, N
+      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+*        Compute the eigenvalues and an orthogonal basis of the right
+*        deflating subspace of a complex skew-Hamiltonian/Hamiltonian
+*        pencil, corresponding to the eigenvalues with strictly negative
+*        real part.
+         CALL MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( COMPQ, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
+   10          CONTINUE
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   40          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99990 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99989 )
+            WRITE( NOUT, FMT = 99990 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99990 ) (   BETA( I ), I = 1, N )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99987 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   50          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) )
+     $         WRITE( NOUT, FMT = 99986 ) NEIG
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( 'MB03LZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB03LZ = ', I2 )
+99996 FORMAT (/'The matrix A on exit is ' )
+99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
+99994 FORMAT (/'The matrix D on exit is ' )
+99993 FORMAT (/'The matrix B on exit is ' )
+99992 FORMAT (/'The matrix F on exit is ' )
+99991 FORMAT ( 'The vector ALPHAR is ' )
+99990 FORMAT ( 50( 1X, F8.4 ) )
+99989 FORMAT (/'The vector ALPHAI is ' )
+99988 FORMAT (/'The vector BETA is ' )
+99987 FORMAT (/'The deflating subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99986 FORMAT (/'The number of eigenvalues in the initial pencil with ',
+     $         'negative real part is ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03LZ EXAMPLE PROGRAM DATA
+   C   P   4
+   (0.0604,0.6568)   (0.5268,0.2919)
+   (0.3992,0.6279)   (0.4167,0.4316)
+        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
+   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
+   (0.2691,0.4177)   (0.5478,0.3014)
+   (0.4228,0.9830)   (0.9427,0.7010)
+    0.6663            0.6981           (0.1781,0.8818)
+   (0.5391,0.1711)    0.6665            0.1280         
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03LZ EXAMPLE PROGRAM RESULTS
+
+The matrix A on exit is 
+    0.7430  +0.0000i    -0.1431  -0.1304i    -0.4169  -0.0495i     0.0650  -0.0262i 
+    0.3992  +0.6279i     0.7398  -1.2647i    -0.0861  -0.1075i     0.2826  +0.7725i 
+    0.0000  +0.0000i     0.0000  +0.0000i     1.4799  +0.1442i    -0.1094  -0.1061i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6816  +0.2278i 
+
+The matrix D on exit is 
+    0.0000  -0.6858i    -0.3122  -0.1018i    -0.7813  -0.4163i    -0.1343  +0.3259i 
+    0.9840  +0.3394i     0.0000  +0.1465i    -0.1678  +0.2971i    -0.0728  -0.6524i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0000  +0.2979i    -0.0728  +0.3971i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2414i 
+
+The matrix B on exit is 
+   -1.5832  +0.5069i    -0.0819  -0.1073i     0.7749  -0.0519i     0.0635  -0.0052i 
+    0.0000  +0.0000i    -0.1916  -0.0106i    -0.0074  +0.0165i    -0.1546  -0.6817i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0716  -0.1811i     0.3146  +0.1558i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -1.6078  -0.0203i 
+
+The matrix F on exit is 
+    0.3382   0.0000i    -0.0622  +0.8488i     0.0042  +0.9053i    -0.1584  +0.0726i 
+    0.5391  +0.1711i    -0.5888  +0.0000i     0.4089  +0.2018i    -0.6913  -0.5011i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.2712  +0.0000i     0.5114  +0.3726i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5218  +0.0000i 
+The vector ALPHAR is 
+  -1.5832   1.5832  -0.0842   0.0842
+
+The vector ALPHAI is 
+   0.5069   0.5069  -0.1642  -0.1642
+
+The vector BETA is 
+   0.7430   0.7430   1.4085   1.4085
+
+The deflating subspace corresponding to the eigenvalues with negative real part is 
+   -0.0793  -0.1949i     0.4845  -0.5472i 
+    0.4349  +0.1710i    -0.2878  +0.0952i 
+   -0.1266  +0.1505i     0.1364  -0.4776i 
+   -0.5035  +0.6671i     0.1628  +0.3174i 
+
+The number of eigenvalues in the initial pencil with negative real part is  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03MD.html b/doc/_build/html/_static/doc/MB03MD.html
new file mode 100644
index 00000000..4ee71a9c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03MD.html
@@ -0,0 +1,319 @@
+<HTML>
+<HEAD><TITLE>MB03MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03MD">MB03MD</A></H2>
+<H3>
+Upper bound for L singular values of a bidiagonal matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an upper bound THETA using a bisection method such that
+  the bidiagonal matrix
+
+           |q(1) e(1)  0    ...   0   |
+           | 0   q(2) e(2)        .   |
+       J = | .                    .   |
+           | .                  e(N-1)|
+           | 0   ...        ...  q(N) |
+
+  has precisely L singular values less than or equal to THETA plus
+  a given tolerance TOL.
+
+  This routine is mainly intended to be called only by other SLICOT
+  routines.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IWARN, L, N
+      DOUBLE PRECISION  PIVMIN, RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(*), E2(*), Q(*), Q2(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the bidiagonal matrix J.  N &gt;= 0.
+
+  L       (input/output) INTEGER
+          On entry, L must contain the number of singular values
+          of J which must be less than or equal to the upper bound
+          computed by the routine.  0 &lt;= L &lt;= N.
+          On exit, L may be increased if the L-th smallest singular
+          value of J has multiplicity greater than 1. In this case,
+          L is increased by the number of singular values of J which
+          are larger than its L-th smallest one and approach the
+          L-th smallest singular value of J within a distance less
+          than TOL.
+          If L has been increased, then the routine returns with
+          IWARN set to 1.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, THETA must contain an initial estimate for the
+          upper bound to be computed. If THETA &lt; 0.0 on entry, then
+          one of the following default values is used.
+          If L = 0, THETA is set to 0.0 irrespective of the input
+          value of THETA; if L = 1, then THETA is taken as
+          MIN(ABS(Q(i))), for i = 1,2,...,N; otherwise, THETA is
+          taken as ABS(Q(N-L+1)).
+          On exit, THETA contains the computed upper bound such that
+          the bidiagonal matrix J has precisely L singular values
+          less than or equal to THETA + TOL.
+
+  Q       (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements q(1),
+          q(2),...,q(N) of the bidiagonal matrix J. That is,
+          Q(i) = J(i,i) for i = 1,2,...,N.
+
+  E       (input) DOUBLE PRECISION array, dimension (N-1)
+          This array must contain the superdiagonal elements
+          e(1),e(2),...,e(N-1) of the bidiagonal matrix J. That is,
+          E(k) = J(k,k+1) for k = 1,2,...,N-1.
+
+  Q2      (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the squares of the diagonal
+          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
+          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
+
+  E2      (input) DOUBLE PRECISION array, dimension (N-1)
+          This array must contain the squares of the superdiagonal
+          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
+          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
+
+  PIVMIN  (input) DOUBLE PRECISION
+          The minimum absolute value of a "pivot" in the Sturm
+          sequence loop.
+          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
+          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
+          least the smallest number that can divide one without
+          overflow (see LAPACK Library routine DLAMCH).
+          Note that this condition is not checked by the routine.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width.  TOL &gt;= 0.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged.
+          RELTOL &gt;= BASE * EPS, where BASE is machine radix and EPS
+          is machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 1:  if the value of L has been increased as the L-th
+                smallest singular value of J coincides with the
+                (L+1)-th smallest one.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let s(i), i = 1,2,...,N, be the N non-negative singular values of
+  the bidiagonal matrix J arranged so that s(1) &gt;= ... &gt;= s(N) &gt;= 0.
+  The routine then computes an upper bound T such that s(N-L) &gt; T &gt;=
+  s(N-L+1) as follows (see [2]).
+  First, if the initial estimate of THETA is not specified by the
+  user then the routine initialises THETA to be an estimate which
+  is close to the requested value of THETA if s(N-L) &gt;&gt; s(N-L+1).
+  Second, a bisection method (see [1, 8.5]) is used which generates
+  a sequence of shrinking intervals [Y,Z] such that either THETA in
+  [Y,Z] was found (so that J has L singular values less than or
+  equal to THETA), or
+
+     (number of s(i) &lt;= Y) &lt; L &lt; (number of s(i) &lt;= Z).
+
+  This bisection method is applied to an associated 2N-by-2N
+  symmetric tridiagonal matrix T" whose eigenvalues (see [1]) are
+  given by s(1),s(2),...,s(N),-s(1),-s(2),...,-s(N). One of the
+  starting values for the bisection method is the initial value of
+  THETA. If this value is an upper bound, then the initial lower
+  bound is set to zero, else the initial upper bound is computed
+  from the Gershgorin Circle Theorem [1, Theorem 7.2-1], applied to
+  T". The computation of the "number of s(i) &lt;= Y (or Z)" is
+  achieved by calling SLICOT Library routine MB03ND, which applies
+  Sylvester's Law of Inertia or equivalently Sturm sequences
+  [1, 8.5] to the associated matrix T". If
+
+     Z - Y &lt;= MAX( TOL, PIVMIN, RELTOL*MAX( ABS( Y ), ABS( Z ) ) )
+
+  at some stage of the bisection method, then at least two singular
+  values of J lie in the interval [Y,Z] within a distance less than
+  TOL from each other. In this case, s(N-L) and s(N-L+1) are assumed
+  to coincide, the upper bound T is set to the value of Z, the value
+  of L is increased and IWARN is set to 1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      Matrix Computations.
+      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
+
+  [2] Van Huffel, S. and Vandewalle, J.
+      The Partial Total Least Squares Algorithm.
+      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION PIVMIN, RELTOL, SAFMIN, THETA, TOL
+      INTEGER          I, INFO, IWARN, L, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAMCH
+      EXTERNAL         DLAMCH
+*     .. External Subroutines ..
+      EXTERNAL         MB03MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, THETA, L, TOL, RELTOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF ( L.LT.0 .OR. L.GT.N ) THEN
+         WRITE ( NOUT, FMT = 99990 ) L
+      ELSE
+         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
+*        Print out the bidiagonal matrix J.
+         WRITE ( NOUT, FMT = 99997 )
+         DO 20 I = 1, N - 1
+            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
+   20    CONTINUE
+         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
+*        Compute Q**2, E**2, and PIVMIN.
+         Q2(N) = Q(N)**2
+         PIVMIN = Q2(N)
+         DO 40 I = 1, N - 1
+            Q2(I) = Q(I)**2
+            E2(I) = E(I)**2
+            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
+   40    CONTINUE
+         SAFMIN = DLAMCH( 'Safe minimum' )
+         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
+         TOL = MAX( TOL, ZERO )
+         IF ( RELTOL.LE.ZERO )
+     $      RELTOL = DLAMCH( 'Base' )*DLAMCH( 'Epsilon' )
+*        Compute an upper bound THETA such that J has 3 singular values
+*        < =  THETA.
+         CALL MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
+     $                IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
+            WRITE ( NOUT, FMT = 99993 ) THETA
+            WRITE ( NOUT, FMT = 99992 ) L
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB03MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03MD = ',I2)
+99997 FORMAT (' The Bidiagonal Matrix J is',/)
+99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
+99994 FORMAT (' IWARN on exit from MB03MD = ',I2,/)
+99993 FORMAT (/' The computed value of THETA is ',F7.4)
+99992 FORMAT (/' J has ',I2,' singular values < =  THETA')
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' L is out of range.',/' L = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03MD EXAMPLE PROGRAM DATA
+   5     -3.0     3     0.0     0.0
+   1.0  2.0  3.0  4.0  5.0
+   2.0  3.0  4.0  5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03MD EXAMPLE PROGRAM RESULTS
+
+ The Bidiagonal Matrix J is
+
+ (1,1) =  1.0000   (1,2) =  2.0000
+ (2,2) =  2.0000   (2,3) =  3.0000
+ (3,3) =  3.0000   (3,4) =  4.0000
+ (4,4) =  4.0000   (4,5) =  5.0000
+ (5,5) =  5.0000
+
+ The computed value of THETA is  4.7500
+
+ J has  3 singular values < =  THETA
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ND.html b/doc/_build/html/_static/doc/MB03ND.html
new file mode 100644
index 00000000..da02281c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03ND.html
@@ -0,0 +1,261 @@
+<HTML>
+<HEAD><TITLE>MB03ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ND">MB03ND</A></H2>
+<H3>
+Number of singular values of a bidiagonal matrix less than a bound
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the number of singular values of the bidiagonal matrix
+
+           |q(1) e(1)  .    ...    0   |
+           | 0   q(2) e(2)         .   |
+       J = | .                     .   |
+           | .                   e(N-1)|
+           | 0   ...     ...   0  q(N) |
+
+  which are less than or equal to a given bound THETA.
+
+  This routine is intended to be called only by other SLICOT
+  routines.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, N
+      DOUBLE PRECISION  PIVMIN, THETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E2(*), Q2(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the bidiagonal matrix J.  N &gt;= 0.
+
+  THETA   (input) DOUBLE PRECISION
+          Given bound.
+          Note: If THETA &lt; 0.0 on entry, then MB03ND is set to 0
+                as the singular values of J are non-negative.
+
+  Q2      (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the squares of the diagonal
+          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
+          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
+
+  E2      (input) DOUBLE PRECISION array, dimension (N-1)
+          This array must contain the squares of the superdiagonal
+          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
+          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
+
+  PIVMIN  (input) DOUBLE PRECISION
+          The minimum absolute value of a "pivot" in the Sturm
+          sequence loop.
+          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
+          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
+          least the smallest number that can divide one without
+          overflow (see LAPACK Library routine DLAMCH).
+          Note that this condition is not checked by the routine.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The computation of the number of singular values s(i) of J which
+  are less than or equal to THETA is based on applying Sylvester's
+  Law of Inertia, or equivalently, Sturm sequences [1,p.52] to the
+  unreduced symmetric tridiagonal matrices associated with J as
+  follows. Let T be the following 2N-by-2N symmetric matrix
+  associated with J:
+
+            | 0   J'|
+       T =  |       |.
+            | J   0 |
+
+  (The eigenvalues of T are given by s(1),s(2),...,s(N),-s(1),-s(2),
+  ...,-s(N)). Then, by permuting the rows and columns of T into the
+  order 1, N+1, 2, N+2, ..., N, 2N it follows that T is orthogonally
+  similar to the tridiagonal matrix T" with zeros on its diagonal
+  and q(1), e(1), q(2), e(2), ..., e(N-1), q(N) on its offdiagonals
+  [3,4]. If q(1),q(2),...,q(N) and e(1),e(2),...,e(N-1) are nonzero,
+  Sylvester's Law of Inertia may be applied directly to T".
+  Otherwise, T" is block diagonal and each diagonal block (which is
+  then unreduced) must be analysed separately by applying
+  Sylvester's Law of Inertia.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Parlett, B.N.
+      The Symmetric Eigenvalue Problem.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1980.
+
+  [2] Demmel, J. and Kahan, W.
+      Computing Small Singular Values of Bidiagonal Matrices with
+      Guaranteed High Relative Accuracy.
+      Technical Report, Courant Inst., New York, March 1988.
+
+  [3] Van Huffel, S. and Vandewalle, J.
+      The Partial Total Least-Squares Algorithm.
+      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
+
+  [4] Golub, G.H. and Kahan, W.
+      Calculating the Singular Values and Pseudo-inverse of a
+      Matrix.
+      SIAM J. Numer. Anal., Ser. B, 2, pp. 205-224, 1965.
+
+  [5] Demmel, J.W., Dhillon, I. and Ren, H.
+      On the Correctness of Parallel Bisection in Floating Point.
+      Computer Science Division Technical Report UCB//CSD-94-805,
+      University of California, Berkeley, CA 94720, March 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The singular values s(i) could also be obtained with the use of
+  the symmetric tridiagonal matrix T = J'J, whose eigenvalues are
+  the squared singular values of J [4,p.213]. However, the method
+  actually used by the routine is more accurate and equally
+  efficient (see [2]).
+
+  To avoid overflow, matrix J should be scaled so that its largest
+  element is no greater than  overflow**(1/2) * underflow**(1/4)
+  in absolute value (and not much smaller than that, for maximal
+  accuracy).
+
+  With respect to accuracy the following condition holds (see [2]):
+
+  If the established value is denoted by p, then at least p
+  singular values of J are less than or equal to
+  THETA/(1 - (3 x N - 1.5) x EPS) and no more than p singular values
+  are less than or equal to
+  THETA x (1 - (6 x N-2) x EPS)/(1 - (3 x N - 1.5) x EPS).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION PIVMIN, SAFMIN, THETA
+      INTEGER          I, INFO, N, NUMSV
+*     .. Local Arrays ..
+      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAMCH
+      EXTERNAL         DLAMCH
+*     .. External Functions ..
+      INTEGER          MB03ND
+      EXTERNAL         MB03ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, THETA
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
+*        Print out the bidiagonal matrix J.
+         WRITE ( NOUT, FMT = 99997 )
+         DO 20 I = 1, N - 1
+            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
+   20    CONTINUE
+         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
+*        Compute Q**2, E**2, and PIVMIN.
+         Q2(N) = Q(N)**2
+         PIVMIN = Q2(N)
+         DO 40 I = 1, N - 1
+            Q2(I) = Q(I)**2
+            E2(I) = E(I)**2
+            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
+   40    CONTINUE
+         SAFMIN = DLAMCH( 'Safe minimum' )
+         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
+*        Compute the number of singular values of J < =  THETA.
+         NUMSV = MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99994 ) NUMSV, THETA
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB03ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03ND = ',I2)
+99997 FORMAT (' The Bidiagonal Matrix J is',/)
+99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
+99994 FORMAT (/' J has ',I2,' singular values < =  ',F7.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03ND EXAMPLE PROGRAM DATA
+   5     5.0     0.0     0.0
+   1.0  2.0  3.0  4.0  5.0
+   2.0  3.0  4.0  5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03ND EXAMPLE PROGRAM RESULTS
+
+ The Bidiagonal Matrix J is
+
+ (1,1) =  1.0000   (1,2) =  2.0000
+ (2,2) =  2.0000   (2,3) =  3.0000
+ (3,3) =  3.0000   (3,4) =  4.0000
+ (4,4) =  4.0000   (4,5) =  5.0000
+ (5,5) =  5.0000
+
+ J has  3 singular values < =   5.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03NY.html b/doc/_build/html/_static/doc/MB03NY.html
new file mode 100644
index 00000000..6439978e
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+++ b/doc/_build/html/_static/doc/MB03NY.html
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+<HTML>
+<HEAD><TITLE>MB03NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03NY">MB03NY</A></H2>
+<H3>
+Computing the smallest singular value of A - jwI
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the smallest singular value of A - jwI.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MB03NY( N, OMEGA, A, LDA, S, DWORK,
+     $                                  LDWORK, CWORK, LCWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER                INFO, LCWORK, LDA, LDWORK, N
+      DOUBLE PRECISION       OMEGA
+C     .. Array Arguments ..
+      DOUBLE PRECISION       A(LDA,*), DWORK(*), S(*)
+      COMPLEX*16             CWORK(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MB03NY  DOUBLE PRECISION
+          The smallest singular value of A - jwI (if INFO = 0).
+          If N = 0, the function value is set to zero.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the the matrix A.  N &gt;= 0.
+
+  OMEGA   (input) DOUBLE PRECISION
+          The constant factor of A - jwI.
+
+  A       (input/workspace) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, if OMEGA = 0, the contents of this array are
+          destroyed. Otherwise, this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  S       (output) DOUBLE PRECISION array, dimension (N)
+          The singular values of A - jwI in decreasing order.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX( 1, 5*N ).
+          For optimum performance LDWORK should be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0 and OMEGA &lt;&gt; 0, CWORK(1) returns the
+          optimal value of LCWORK.
+          If OMEGA is zero, this array is not referenced.
+
+  LCWORK  INTEGER
+          The length of the array CWORK.
+          LCWORK &gt;= 1,                 if OMEGA =  0;
+          LCWORK &gt;= MAX( 1, N*N+3*N ), if OMEGA &lt;&gt; 0.
+          For optimum performance LCWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  The SVD algorithm (in either LAPACK Library routine
+                DGESVD or ZGESVD) fails to converge; this error is
+                very rare.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This procedure simply constructs the matrix A - jwI, and calls
+  ZGESVD if w is not zero, or DGESVD if w = 0.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is not very efficient because it computes all
+  singular values, but it is very accurate. The routine is intended
+  to be called only from the SLICOT Library routine AB13FD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03OD.html b/doc/_build/html/_static/doc/MB03OD.html
new file mode 100644
index 00000000..40a12f94
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03OD.html
@@ -0,0 +1,288 @@
+<HTML>
+<HEAD><TITLE>MB03OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03OD">MB03OD</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute (optionally) a rank-revealing QR factorization of a
+  real general M-by-N matrix  A,  which may be rank-deficient,
+  and estimate its effective rank using incremental condition
+  estimation.
+
+  The routine uses a QR factorization with column pivoting:
+     A * P = Q * R,  where  R = [ R11 R12 ],
+                                [  0  R22 ]
+  with R11 defined as the largest leading submatrix whose estimated
+  condition number is less than 1/RCOND.  The order of R11, RANK,
+  is the effective rank of A.
+
+  MB03OD  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBQR
+      INTEGER            INFO, LDA, LDWORK, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBQR   CHARACTER*1
+          = 'Q':  Perform a QR factorization with column pivoting;
+          = 'N':  Do not perform the QR factorization (but assume
+                  that it has been done outside).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry with JOBQR = 'Q', the leading M by N part of this
+          array must contain the given matrix A.
+          On exit with JOBQR = 'Q', the leading min(M,N) by N upper
+          triangular part of A contains the triangular factor R,
+          and the elements below the diagonal, with the array TAU,
+          represent the orthogonal matrix Q as a product of
+          min(M,N) elementary reflectors.
+          On entry and on exit with JOBQR = 'N', the leading
+          min(M,N) by N upper triangular part of A contains the
+          triangular factor R, as determined by the QR factorization
+          with pivoting.  The elements below the diagonal of A are
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  JPVT    (input/output) INTEGER array, dimension ( N )
+          On entry with JOBQR = 'Q', if JPVT(i) &lt;&gt; 0, the i-th
+          column of A is an initial column, otherwise it is a free
+          column. Before the QR factorization of A, all initial
+          columns are permuted to the leading positions; only the
+          remaining free columns are moved as a result of column
+          pivoting during the factorization.  For rank determination
+          it is preferable that all columns be free.
+          On exit with JOBQR = 'Q', if JPVT(i) = k, then the i-th
+          column of A*P was the k-th column of A.
+          Array JPVT is not referenced when JOBQR = 'N'.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          RCOND &gt;= 0.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          On exit with JOBQR = 'Q', the leading min(M,N) elements of
+          TAU contain the scalar factors of the elementary
+          reflectors.
+          Array TAU is not referenced when JOBQR = 'N'.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e. the order of
+          the submatrix R11.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 3*N + 1,                 if JOBQR = 'Q';
+          LDWORK &gt;= max( 1, 2*min( M, N ) ), if JOBQR = 'N'.
+          For good performance when JOBQR = 'Q', LDWORK should be
+          larger. Specifically, LDWORK &gt;= 2*N + ( N + 1 )*NB, where
+          NB is the optimal block size for the LAPACK Library
+          routine DGEQP3.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes or uses a QR factorization with column
+  pivoting of A,  A * P = Q * R,  with  R  defined above, and then
+  finds the largest leading submatrix whose estimated condition
+  number is less than 1/RCOND, taking the possible positive value of
+  SVLMAX into account.  This is performed using the LAPACK
+  incremental condition estimation scheme and a slightly modified
+  rank decision test.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDTAU
+      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX + 1 )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBQR
+      INTEGER          I, INFO, J, M, N, RANK
+      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
+*     ..
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
+      INTEGER          JPVT(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB03OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, JOBQR, RCOND, SVLMAX
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+*           QR with column pivoting.
+            DO 10 I = 1, N
+               JPVT(I) = 0
+   10       CONTINUE
+            CALL MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99995 ) RANK
+               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,N )
+               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03OD = ',I2)
+99995 FORMAT (' The rank is ',I5)
+99994 FORMAT (' Column permutations are ',/(20(I3,2X)))
+99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03OD EXAMPLE PROGRAM DATA
+   6     5     Q  5.D-16     0.0
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   5.    5.    1.    5.    1.
+  -2.   -1.   -1.    0.   -2.
+   4.    8.    4.   20.    4.
+  -2.   -1.   -1.    0.   -2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03OD EXAMPLE PROGRAM RESULTS
+
+ The rank is     4
+ Column permutations are 
+  4    3    1    5    2
+ SVAL vector is 
+    22.7257     1.4330     0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03OY.html b/doc/_build/html/_static/doc/MB03OY.html
new file mode 100644
index 00000000..e2d9e478
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03OY.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>MB03OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03OY">MB03OY</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing QR factorization of a real general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated QR factorization with column pivoting
+                                [ R11 R12 ]
+     A * P = Q * R,  where  R = [         ],
+                                [  0  R22 ]
+  with R11 defined as the largest leading upper triangular submatrix
+  whose estimated condition number is less than 1/RCOND.  The order
+  of R11, RANK, is the effective rank of A.  Condition estimation is
+  performed during the QR factorization process.  Matrix R22 is full
+  (but of small norm), or empty.
+
+  MB03OY  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03OY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading RANK-by-RANK upper triangular part
+          of A contains the triangular factor R11, and the elements
+          below the diagonal in the first  RANK  columns, with the
+          array TAU, represent the orthogonal matrix Q as a product
+          of  RANK  elementary reflectors.
+          The remaining  N-RANK  columns contain the result of the
+          QR factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R11.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+  JPVT    (output) INTEGER array, dimension ( N )
+          If JPVT(i) = k, then the i-th column of A*P was the k-th
+          column of A.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          The leading  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 3*N-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
+  during this process, finds the largest leading submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using the LAPACK incremental condition estimation scheme and a
+  slightly modified rank decision test.  The factorization process
+  stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
+  A(i+1:m,i), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth column of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For a matrix with a small norm, the rank is set to zero if the
+  largest column Euclidean norm is smaller than or equal to RCOND.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03PD.html b/doc/_build/html/_static/doc/MB03PD.html
new file mode 100644
index 00000000..91e23de6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03PD.html
@@ -0,0 +1,318 @@
+<HTML>
+<HEAD><TITLE>MB03PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03PD">MB03PD</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation (row pivoting)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute (optionally) a rank-revealing RQ factorization of a
+  real general M-by-N matrix  A,  which may be rank-deficient,
+  and estimate its effective rank using incremental condition
+  estimation.
+
+  The routine uses an RQ factorization with row pivoting:
+     P * A = R * Q,  where  R = [ R11 R12 ],
+                                [  0  R22 ]
+  with R22 defined as the largest trailing submatrix whose estimated
+  condition number is less than 1/RCOND.  The order of R22, RANK,
+  is the effective rank of A.
+
+  MB03PD  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBRQ
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBRQ   CHARACTER*1
+          = 'R':  Perform an RQ factorization with row pivoting;
+          = 'N':  Do not perform the RQ factorization (but assume
+                  that it has been done outside).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry with JOBRQ = 'R', the leading M-by-N part of this
+          array must contain the given matrix A.
+          On exit with JOBRQ = 'R',
+          if M &lt;= N, the upper triangle of the subarray
+          A(1:M,N-M+1:N) contains the M-by-M upper triangular
+          matrix R;
+          if M &gt;= N, the elements on and above the (M-N)-th
+          subdiagonal contain the M-by-N upper trapezoidal matrix R;
+          the remaining elements, with the array TAU, represent the
+          orthogonal matrix Q as a product of min(M,N) elementary
+          reflectors (see METHOD).
+          On entry and on exit with JOBRQ = 'N',
+          if M &lt;= N, the upper triangle of the subarray
+          A(1:M,N-M+1:N) must contain the M-by-M upper triangular
+          matrix R;
+          if M &gt;= N, the elements on and above the (M-N)-th
+          subdiagonal must contain the M-by-N upper trapezoidal
+          matrix R;
+          the remaining elements are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  JPVT    (input/output) INTEGER array, dimension ( M )
+          On entry with JOBRQ = 'R', if JPVT(i) &lt;&gt; 0, the i-th row
+          of A is a final row, otherwise it is a free row. Before
+          the RQ factorization of A, all final rows are permuted
+          to the trailing positions; only the remaining free rows
+          are moved as a result of row pivoting during the
+          factorization.  For rank determination it is preferable
+          that all rows be free.
+          On exit with JOBRQ = 'R', if JPVT(i) = k, then the i-th
+          row of P*A was the k-th row of A.
+          Array JPVT is not referenced when JOBRQ = 'N'.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest trailing triangular
+          submatrix R22 in the RQ factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          RCOND &gt;= 0.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          On exit with JOBRQ = 'R', the leading min(M,N) elements of
+          TAU contain the scalar factors of the elementary
+          reflectors.
+          Array TAU is not referenced when JOBRQ = 'N'.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e. the order of
+          the submatrix R22.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(2): smallest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
+                   if RANK &lt; MIN( M, N ), or of
+                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the trailing rows were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(M-RANK+1:M,N-RANK+1:N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          where LDWORK = max( 1, 3*M ),           if JOBRQ = 'R';
+                LDWORK = max( 1, 3*min( M, N ) ), if JOBRQ = 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes or uses an RQ factorization with row
+  pivoting of A,  P * A = R * Q,  with  R  defined above, and then
+  finds the largest trailing submatrix whose estimated condition
+  number is less than 1/RCOND, taking the possible positive value of
+  SVLMAX into account.  This is performed using an adaptation of the
+  LAPACK incremental condition estimation scheme and a slightly
+  modified rank decision test.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
+  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDTAU
+      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*MMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBRQ
+      INTEGER          I, INFO, J, M, N, RANK
+      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
+*     ..
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
+      INTEGER          JPVT(MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB03PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, JOBRQ, RCOND, SVLMAX
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+*           RQ with row pivoting.
+            DO 10 I = 1, M
+               JPVT(I) = 0
+   10       CONTINUE
+            CALL MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99995 ) RANK
+               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
+               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03PD = ',I2)
+99995 FORMAT (' The rank is ',I5)
+99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
+99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03PD EXAMPLE PROGRAM DATA
+   6     5     R  5.D-16     0.0
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   5.    5.    1.    5.    1.
+  -2.   -1.   -1.    0.   -2.
+   4.    8.    4.   20.    4.
+  -2.   -1.   -1.    0.   -2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03PD EXAMPLE PROGRAM RESULTS
+
+ The rank is     4
+ Row permutations are 
+  2    4    6    3    1    5
+ SVAL vector is 
+    24.5744     0.9580     0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03PY.html b/doc/_build/html/_static/doc/MB03PY.html
new file mode 100644
index 00000000..95f34355
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03PY.html
@@ -0,0 +1,211 @@
+<HTML>
+<HEAD><TITLE>MB03PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03PY">MB03PY</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing RQ factorization of a real general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated RQ factorization with row pivoting:
+                                [ R11 R12 ]
+     P * A = R * Q,  where  R = [         ],
+                                [  0  R22 ]
+  with R22 defined as the largest trailing upper triangular
+  submatrix whose estimated condition number is less than 1/RCOND.
+  The order of R22, RANK, is the effective rank of A.  Condition
+  estimation is performed during the RQ factorization process.
+  Matrix R11 is full (but of small norm), or empty.
+
+  MB03PY  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03PY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the upper triangle of the subarray
+          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
+          triangular matrix R22;  the remaining elements in the last
+          RANK  rows, with the array TAU, represent the orthogonal
+          matrix Q as a product of  RANK  elementary reflectors
+          (see METHOD).  The first  M-RANK  rows contain the result
+          of the RQ factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest trailing triangular
+          submatrix R22 in the RQ factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R22.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(2): smallest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
+                   if RANK &lt; MIN( M, N ), or of
+                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the trailing rows were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(M-RANK+1:M,N-RANK+1:N).
+
+  JPVT    (output) INTEGER array, dimension ( M )
+          If JPVT(i) = k, then the i-th row of P*A was the k-th row
+          of A.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          The trailing  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 3*M-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated RQ factorization with row
+  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
+  during this process, finds the largest trailing submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using an adaptation of the LAPACK incremental condition estimation
+  scheme and a slightly modified rank decision test.  The
+  factorization process stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(k-rank+1) H(k-rank+2) . . . H(k), where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
+  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QD.html b/doc/_build/html/_static/doc/MB03QD.html
new file mode 100644
index 00000000..05a684e4
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03QD.html
@@ -0,0 +1,301 @@
+<HTML>
+<HEAD><TITLE>MB03QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QD">MB03QD</A></H2>
+<H3>
+Reordering the diagonal blocks of a principal submatrix of an upper quasi-triangular matrix to have eigenvalues in a specified domain
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of a principal submatrix of an
+  upper quasi-triangular matrix A together with their eigenvalues by
+  constructing an orthogonal similarity transformation UT.
+  After reordering, the leading block of the selected submatrix of A
+  has eigenvalues in a suitably defined domain of interest, usually
+  related to stability/instability in a continuous- or discrete-time
+  sense.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBU, STDOM
+      INTEGER          INFO, LDA, LDU, N, NDIM, NLOW, NSUP
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the spectrum separation to be
+          performed as follows:
+          = 'C':  continuous-time sense;
+          = 'D':  discrete-time sense.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBU    CHARACTER*1
+          Indicates how the performed orthogonal transformations UT
+          are accumulated, as follows:
+          = 'I':  U is initialized to the unit matrix and the matrix
+                  UT is returned in U;
+          = 'U':  the given matrix U is updated and the matrix U*UT
+                  is returned in U.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and U.  N &gt;= 1.
+
+  NLOW,   (input) INTEGER
+  NSUP    NLOW and NSUP specify the boundary indices for the rows
+          and columns of the principal submatrix of A whose diagonal
+          blocks are to be reordered.  1 &lt;= NLOW &lt;= NSUP &lt;= N.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the eigenvalues
+          of A. If DICO = 'C', ALPHA is the boundary value for the
+          real parts of eigenvalues, while for DICO = 'D',
+          ALPHA &gt;= 0 represents the boundary value for the moduli of
+          eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a matrix in a real Schur form whose 1-by-1 and
+          2-by-2 diagonal blocks between positions NLOW and NSUP
+          are to be reordered.
+          On exit, the leading N-by-N part contains the ordered
+          real Schur matrix UT' * A * UT with the elements below the
+          first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal submatrix
+          D = A(NLOW:NSUP,NLOW:NSUP) has eigenvalues in the domain
+          of interest and the trailing part of this submatrix has
+          eigenvalues outside the domain of interest.
+          The domain of interest for lambda(D), the eigenvalues of
+          D, is defined by the parameters ALPHA, DICO and STDOM as
+          follows:
+            For DICO = 'C':
+               Real(lambda(D)) &lt; ALPHA if STDOM = 'S';
+               Real(lambda(D)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(lambda(D)) &lt; ALPHA if STDOM = 'S';
+               Abs(lambda(D)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry with JOBU = 'U', the leading N-by-N part of this
+          array must contain a transformation matrix (e.g. from a
+          previous call to this routine).
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the product of the input matrix U and the
+          orthogonal matrix UT used to reorder the diagonal blocks
+          of A.
+          On exit, if JOBU = 'I', the leading N-by-N part of this
+          array contains the matrix UT of the performed orthogonal
+          transformations.
+          Array U need not be set on entry if JOBU = 'I'.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  NDIM    (output) INTEGER
+          The number of eigenvalues of the selected principal
+          submatrix lying inside the domain of interest.
+          If NLOW = 1, NDIM is also the dimension of the invariant
+          subspace corresponding to the eigenvalues of the leading
+          NDIM-by-NDIM submatrix. In this case, if U is the
+          orthogonal transformation matrix used to compute and
+          reorder the real Schur form of A, its first NDIM columns
+          form an orthonormal basis for the above invariant
+          subspace.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  A(NLOW,NLOW-1) is nonzero, i.e. A(NLOW,NLOW) is not
+                the leading element of a 1-by-1 or 2-by-2 diagonal
+                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.
+                A(NSUP,NSUP) is not the bottom element of a 1-by-1
+                or 2-by-2 diagonal block of A;
+          = 2:  two adjacent blocks are too close to swap (the
+                problem is very ill-conditioned).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an upper quasi-triangular matrix A with 1-by-1 or 2-by-2
+  diagonal blocks, the routine reorders its diagonal blocks along
+  with its eigenvalues by performing an orthogonal similarity
+  transformation UT' * A * UT. The column transformation UT is also
+  performed on the given (initial) transformation U (resulted from
+  a possible previous step or initialized as the identity matrix).
+  After reordering, the eigenvalues inside the region specified by
+  the parameters ALPHA, DICO and STDOM appear at the top of
+  the selected diagonal block between positions NLOW and NSUP.
+  In other words, lambda(A(NLOW:NSUP,NLOW:NSUP)) are ordered such
+  that lambda(A(NLOW:NLOW+NDIM-1,NLOW:NLOW+NDIM-1)) are inside and
+  lambda(A(NLOW+NDIM:NSUP,NLOW+NDIM:NSUP)) are outside the domain
+  of interest. If NLOW = 1, the first NDIM columns of U*UT span the
+  corresponding invariant subspace of A.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Stewart, G.W.
+      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
+      ordering the eigenvalues of a real upper Hessenberg matrix.
+      ACM TOMS, 2, pp. 275-280, 1976.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3
+  The algorithm requires less than 4*N  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDU
+      PARAMETER        ( LDA = NMAX, LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBU, STDOM
+      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), U(LDU,NMAX),
+     $                 WI(NMAX), WR(NMAX)
+      LOGICAL          BWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, MB03QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Compute Schur form, eigenvalues and Schur vectors.
+         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, NDIM,
+     $               WR, WI, U, LDU, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+*           Block reordering.
+            CALL MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99996 ) NDIM
+               WRITE ( NOUT, FMT = 99994 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DGEES  = ',I2)
+99997 FORMAT (' INFO on exit from MB03QD = ',I2)
+99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' The ordered Schur form matrix is ')
+99993 FORMAT (/' The transformation matrix is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03QD EXAMPLE PROGRAM DATA
+   4     1     4      0.0      C      S      U
+  -1.0  37.0 -12.0 -12.0
+  -1.0 -10.0   0.0   4.0
+   2.0  -4.0   7.0  -6.0
+   2.0   2.0   7.0  -9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03QD EXAMPLE PROGRAM RESULTS
+
+ The number of eigenvalues in the domain is     4
+
+ The ordered Schur form matrix is 
+          -3.1300 -26.5066  27.2262 -16.2009
+           0.9070  -3.1300  13.6254   8.9206
+           0.0000   0.0000  -3.3700   0.3419
+           0.0000   0.0000  -1.7879  -3.3700
+
+ The transformation matrix is 
+           0.9611   0.1784   0.2064  -0.0440
+          -0.1468  -0.2704   0.8116  -0.4965
+          -0.2224   0.7675   0.4555   0.3924
+          -0.0733   0.5531  -0.3018  -0.7730
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QG.html b/doc/_build/html/_static/doc/MB03QG.html
new file mode 100644
index 00000000..f56ef619
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03QG.html
@@ -0,0 +1,394 @@
+<HTML>
+<HEAD><TITLE>MB03QG - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QG">MB03QG</A></H2>
+<H3>
+Reorder diagonal blocks of a principal subpencil of an upper quasi-triangular matrix pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of a principal subpencil of an
+  upper quasi-triangular matrix pencil A-lambda*E together with
+  their generalized eigenvalues, by constructing orthogonal
+  similarity transformations UT and VT.
+  After reordering, the leading block of the selected subpencil of
+  A-lambda*E has generalized eigenvalues in a suitably defined
+  domain of interest, usually related to stability/instability in a
+  continuous- or discrete-time sense.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBU, JOBV, STDOM
+      INTEGER          INFO, LDA, LDE, LDU, LDV, LDWORK, N, NDIM, NLOW,
+     $                 NSUP
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), DWORK(*), E(LDE,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the spectrum separation to be
+          performed, as follows:
+          = 'C':  continuous-time sense;
+          = 'D':  discrete-time sense.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle), as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBU    CHARACTER*1
+          Indicates how the performed orthogonal transformations UT
+          are accumulated, as follows:
+          = 'I':  U is initialized to the unit matrix and the matrix
+                  UT is returned in U;
+          = 'U':  the given matrix U is updated and the matrix U*UT
+                  is returned in U.
+
+  JOBV    CHARACTER*1
+          Indicates how the performed orthogonal transformations VT
+          are accumulated, as follows:
+          = 'I':  V is initialized to the unit matrix and the matrix
+                  VT is returned in V;
+          = 'U':  the given matrix V is updated and the matrix V*VT
+                  is returned in V.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, U, and V.  N &gt;= 0.
+
+  NLOW,   (input) INTEGER
+  NSUP    (input) INTEGER
+          NLOW and NSUP specify the boundary indices for the rows
+          and columns of the principal subpencil  of A - lambda*E
+          whose diagonal blocks are to be reordered.
+          0 &lt;= NLOW &lt;= NSUP &lt;= N.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the eigenvalues
+          of A. If DICO = 'C', ALPHA is the boundary value for the
+          real parts of the generalized eigenvalues, while for
+          DICO = 'D', ALPHA &gt;= 0 represents the boundary value for
+          the moduli of the generalized eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a matrix in a real Schur form whose 1-by-1 and
+          2-by-2 diagonal blocks between positions NLOW and NSUP
+          are to be reordered.
+          On exit, the leading N-by-N part of this array contains
+          a real Schur matrix UT' * A * VT, with the elements below
+          the first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP),
+          C := E(NLOW:NSUP,NLOW:NSUP), has generalized eigenvalues
+          in the domain of interest and the trailing part of this
+          subpencil has generalized eigenvalues outside the domain
+          of interest.
+          The domain of interest for eig(B,C), the generalized
+          eigenvalues of the pair (B,C), is defined by the
+          parameters ALPHA, DICO and STDOM as follows:
+            For DICO = 'C':
+               Real(eig(B,C)) &lt; ALPHA if STDOM = 'S';
+               Real(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(eig(B,C)) &lt; ALPHA if STDOM = 'S';
+               Abs(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain a matrix in an upper triangular form.
+          On exit, the leading N-by-N part of this array contains an
+          upper triangular matrix UT' * E * VT, with the elements
+          below the diagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP)
+          C := E(NLOW:NSUP,NLOW:NSUP) has generalized eigenvalues
+          in the domain of interest and the trailing part of this
+          subpencil has generalized eigenvalues outside the domain
+          of interest (see description of A).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry with JOBU = 'U', the leading N-by-N part of this
+          array must contain a transformation matrix (e.g., from a
+          previous call to this routine).
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the product of the input matrix U and the
+          orthogonal matrix UT used to reorder the diagonal blocks
+          of A - lambda*E.
+          On exit, if JOBU = 'I', the leading N-by-N part of this
+          array contains the matrix UT of the performed orthogonal
+          transformations.
+          Array U need not be set on entry if JOBU = 'I'.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= MAX(1,N).
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
+          On entry with JOBV = 'U', the leading N-by-N part of this
+          array must contain a transformation matrix (e.g., from a
+          previous call to this routine).
+          On exit, if JOBV = 'U', the leading N-by-N part of this
+          array contains the product of the input matrix V and the
+          orthogonal matrix VT used to reorder the diagonal blocks
+          of A - lambda*E.
+          On exit, if JOBV = 'I', the leading N-by-N part of this
+          array contains the matrix VT of the performed orthogonal
+          transformations.
+          Array V need not be set on entry if JOBV = 'I'.
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= MAX(1,N).
+
+  NDIM    (output) INTEGER
+          The number of generalized eigenvalues of the selected
+          principal subpencil lying inside the domain of interest.
+          If NLOW = 1, NDIM is also the dimension of the deflating
+          subspace corresponding to the generalized eigenvalues of
+          the leading NDIM-by-NDIM subpencil. In this case, if U and
+          V are the orthogonal transformation matrices used to
+          compute and reorder the generalized real Schur form of the
+          pair (A,E), then the first NDIM columns of V form an
+          orthonormal basis for the above deflating subspace.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 1,
+          LDWORK &gt;= 4*N + 16.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  A(NLOW,NLOW-1) is nonzero, i.e., A(NLOW,NLOW) is not
+                the leading element of a 1-by-1 or 2-by-2 diagonal
+                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.,
+                A(NSUP,NSUP) is not the bottom element of a 1-by-1
+                or 2-by-2 diagonal block of A;
+          = 2:  two adjacent blocks are too close to swap (the
+                problem is very ill-conditioned).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an upper quasi-triangular matrix pencil A - lambda*E with
+  1-by-1 or 2-by-2 diagonal blocks, the routine reorders its
+  diagonal blocks along with its eigenvalues by performing an
+  orthogonal equivalence transformation UT'*(A - lambda*E)* VT.
+  The column transformations UT and VT are also performed on the
+  given (initial) transformations U and V (resulted from a
+  possible previous step or initialized as identity matrices).
+  After reordering, the generalized eigenvalues inside the region
+  specified by the parameters ALPHA, DICO and STDOM appear at the
+  top of the selected diagonal subpencil between positions NLOW and
+  NSUP. In other words, lambda(A(Select,Select),E(Select,Select))
+  are ordered such that lambda(A(Inside,Inside),E(Inside,Inside))
+  are inside, and lambda(A(Outside,Outside),E(Outside,Outside)) are
+  outside the domain of interest, where Select = NLOW:NSUP,
+  Inside = NLOW:NLOW+NDIM-1, and Outside = NLOW+NDIM:NSUP.
+  If NLOW = 1, the first NDIM columns of V*VT span the corresponding
+  right deflating subspace of (A,E).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Stewart, G.W.
+      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
+      ordering the eigenvalues of a real upper Hessenberg matrix.
+      ACM TOMS, 2, pp. 275-280, 1976.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3
+  The algorithm requires less than 4*N  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03QG EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDE, LDU, LDV
+      PARAMETER        ( LDA = NMAX, LDE = NMAX, LDU = NMAX, LDV = NMAX)
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX + 16 )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBU, JOBV, STDOM
+      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
+     $                 E(LDE,NMAX), U(LDU,NMAX), V(LDV,NMAX), WI(NMAX),
+     $                 WR(NMAX)
+      LOGICAL          BWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          DELCTG
+*     .. External Subroutines ..
+      EXTERNAL         DGGES, MB03QG
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU,
+     $                      JOBV
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+*        Compute Schur form, eigenvalues and Schur vectors.
+         CALL DGGES( 'Vectors', 'Vectors', 'Not sorted', DELCTG, N,
+     $               A, LDA, E, LDE, NDIM, WR, WI, BETA, U, LDU, V, LDV,
+     $               DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+*           Block reordering.
+            CALL MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99996 ) NDIM
+               WRITE ( NOUT, FMT = 99994 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99992 )
+               DO 30 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   30          CONTINUE
+               WRITE ( NOUT, FMT = 99991 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( V(I,J), J = 1,N )
+   40          CONTINUE
+           END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03QG EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DGEES  = ',I2)
+99997 FORMAT (' INFO on exit from MB03QG = ',I2)
+99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' The ordered Schur form matrix is ')
+99993 FORMAT (/' The ordered triangular matrix is ')
+99992 FORMAT (/' The transformation matrix U is ')
+99991 FORMAT (/' The transformation matrix V is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03QG EXAMPLE PROGRAM DATA
+   4     1     4      0.0      C      S      U      U
+  -1.0  37.0 -12.0 -12.0
+  -1.0 -10.0   0.0   4.0
+   2.0  -4.0   7.0  -6.0
+   2.0   2.0   7.0  -9.0
+   1.0   3.0   2.0  -1.0
+  -2.0   5.0   3.0   2.0
+   2.0   4.0   5.0   6.0
+   3.0   7.0   6.0   9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03QG EXAMPLE PROGRAM RESULTS
+
+ The number of eigenvalues in the domain is     2
+
+ The ordered Schur form matrix is 
+          -1.4394   2.5550 -12.5655  -4.0714
+           2.8887  -1.1242   9.2819  -2.6724
+           0.0000   0.0000 -19.7785  36.4447
+           0.0000   0.0000   0.0000   3.5537
+
+ The ordered triangular matrix is 
+         -16.0178   0.0000   2.3850   4.7645
+           0.0000   3.2809  -1.5640   1.9954
+           0.0000   0.0000  -3.0652   0.3039
+           0.0000   0.0000   0.0000   1.1671
+
+ The transformation matrix U is 
+          -0.1518  -0.0737  -0.9856   0.0140
+          -0.2865  -0.9466   0.1136  -0.0947
+          -0.5442   0.0924   0.0887   0.8292
+          -0.7738   0.3000   0.0890  -0.5508
+
+ The transformation matrix V is 
+           0.2799   0.9041   0.2685   0.1794
+           0.4009  -0.0714   0.3780  -0.8315
+           0.7206  -0.4006   0.2628   0.5012
+           0.4917   0.1306  -0.8462  -0.1588
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QV.html b/doc/_build/html/_static/doc/MB03QV.html
new file mode 100644
index 00000000..028c50d8
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03QV.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB03QV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QV">MB03QV</A></H2>
+<H3>
+Compute eigenvalues of an upper quasi-triangular matrix pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of an upper quasi-triangular matrix
+  pencil.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QV( N, S, LDS, T, LDT, ALPHAR, ALPHAI, BETA, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDS, LDT, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*), S(LDS,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S and T.  N &gt;= 0.
+
+  S       (input) DOUBLE PRECISION array, dimension(LDS,N)
+          The upper quasi-triangular matrix S.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= max(1,N).
+
+  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
+          The upper triangular matrix T.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
+          are the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and  BETA(j),j=1,...,N, are the
+          diagonals of the complex Schur form (S,T) that would
+          result if the 2-by-2 diagonal blocks of the real Schur
+          form of (A,B) were further reduced to triangular form
+          using 2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QW.html b/doc/_build/html/_static/doc/MB03QW.html
new file mode 100644
index 00000000..a01f408c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03QW.html
@@ -0,0 +1,153 @@
+<HTML>
+<HEAD><TITLE>MB03QW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QW">MB03QW</A></H2>
+<H3>
+Reduce a 2-by-2 diagonal block pair of an upper quasi-triangular pencil to standard form and compute eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a selected 2-by-2 diagonal block
+  pair of an upper quasi-triangular pencil, to reduce the selected
+  block pair to the standard form and to split it in the case of
+  real eigenvalues, by constructing orthogonal matrices UT and VT.
+  The transformations UT and VT are applied to the pair (A,E) by
+  computing (UT'*A*VT, UT'*E*VT ), to the matrices U and V,
+  by computing U*UT and V*VT.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QW( N, L, A, LDA, E, LDE, U, LDU, V, LDV,
+     $                   ALPHAR, ALPHAI, BETA, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, L, LDA, LDE, LDU, LDV, N
+      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*)
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), E(LDE,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, UT and VT.  N &gt;= 2.
+
+  L       (input) INTEGER
+          Specifies the position of the block.  1 &lt;= L &lt; N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A whose
+          selected 2-by-2 diagonal block is to be processed.
+          On exit, the leading N-by-N part of this array contains
+          the upper quasi-triangular matrix A after its selected
+          block has been split and/or put in the LAPACK standard
+          form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix E whose selected
+          2-by-2 diagonal block is to be processed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix E (in the LAPACK
+          standard form).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= N.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain a transformation matrix U.
+          On exit, the leading N-by-N part of this array contains
+          U*UT, where UT is the transformation matrix used to
+          split and/or standardize the selected block pair.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= N.
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
+          On entry, the leading N-by-N part of this array must
+          contain a transformation matrix V.
+          On exit, the leading N-by-N part of this array contains
+          V*VT, where VT is the transformation matrix used to
+          split and/or standardize the selected block pair.
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= N.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
+  BETA    (output) DOUBLE PRECISION array, dimension (2)
+          (ALPHAR(k)+i*ALPHAI(k))/BETA(k) are the eigenvalues of the
+          block pair of the pencil (A,B), k=1,2, i = sqrt(-1).
+          Note that BETA(k) may be zero.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A1 = ( A(L,L)    A(L,L+1)   ), E1 = ( E(L,L)    E(L,L+1)   ),
+           ( A(L+1,L)  A(L+1,L+1) )       ( E(L+1,L)  E(L+1,L+1) )
+  be the specified 2-by-2 diagonal block pair of the pencil (A,B).
+  If the eigenvalues of (A1,E1) are complex, then they are computed
+  and stored in ER and EI, where the real part is stored in ER and
+  the positive imaginary part in EI. The 2-by-2 block pair is
+  reduced if necessary to the standard form, such that
+  A(L,L) = A(L+1,L+1), and A(L,L+1) and A(L+1,L) have oposite signs.
+  If the eigenvalues are real, the 2-by-2 block pair is reduced to
+  upper triangular form such that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
+  In both cases, an orthogonal rotation U1' is constructed such that
+  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
+  to an N-by-N orthogonal matrix, using identity submatrices. Then A
+  and E are replaced by UT'*A*UT and UT'*E*UT, and the contents of
+  the arrays U and V are U * UT and V * VT, respectively.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QX.html b/doc/_build/html/_static/doc/MB03QX.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03QX.html
@@ -0,0 +1,86 @@
+<HTML>
+<HEAD><TITLE>MB03QX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QX">MB03QX</A></H2>
+<H3>
+Eigenvalues of an upper quasi-triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of an upper quasi-triangular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QX( N, T, LDT, WR, WI, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDT, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION T(LDT, *), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix T.  N &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
+          The upper quasi-triangular matrix T.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of T. The eigenvalues are stored in the same
+          order as on the diagonal of T. If T(i:i+1,i:i+1) is a
+          2-by-2 diagonal block with complex conjugated eigenvalues
+          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QY.html b/doc/_build/html/_static/doc/MB03QY.html
new file mode 100644
index 00000000..ba00b01e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03QY.html
@@ -0,0 +1,127 @@
+<HTML>
+<HEAD><TITLE>MB03QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QY">MB03QY</A></H2>
+<H3>
+Transformation to the Schur canonical form of a selected 2-by-2 diagonal block of an upper quasi-triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a selected 2-by-2 diagonal block
+  of an upper quasi-triangular matrix, to reduce the selected block
+  to the standard form and to split the block in the case of real
+  eigenvalues by constructing an orthogonal transformation UT.
+  This transformation is applied to A (by similarity) and to
+  another matrix U from the right.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QY( N, L, A, LDA, U, LDU, E1, E2, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, L, LDA, LDU, N
+      DOUBLE PRECISION E1, E2
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and UT.  N &gt;= 2.
+
+  L       (input) INTEGER
+          Specifies the position of the block.  1 &lt;= L &lt; N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A whose
+          selected 2-by-2 diagonal block is to be processed.
+          On exit, the leading N-by-N part of this array contains
+          the upper quasi-triangular matrix A after its selected
+          block has been splitt and/or put in the LAPACK standard
+          form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain a transformation matrix U.
+          On exit, the leading N-by-N part of this array contains
+          U*UT, where UT is the transformation matrix used to
+          split and/or standardize the selected block.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  E1, E2  (output) DOUBLE PRECISION
+          E1 and E2 contain either the real eigenvalues or the real
+          and positive imaginary parts, respectively, of the complex
+          eigenvalues of the selected 2-by-2 diagonal block of A.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A1 = ( A(L,L)    A(L,L+1)   )
+           ( A(L+1,L)  A(L+1,L+1) )
+  be the specified 2-by-2 diagonal block of matrix A.
+  If the eigenvalues of A1 are complex, then they are computed and
+  stored in E1 and E2, where the real part is stored in E1 and the
+  positive imaginary part in E2. The 2-by-2 block is reduced if
+  necessary to the standard form, such that A(L,L) = A(L+1,L+1), and
+  A(L,L+1) and A(L+1,L) have oposite signs. If the eigenvalues are
+  real, the 2-by-2 block is reduced to an upper triangular form such
+  that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
+  In both cases, an orthogonal rotation U1' is constructed such that
+  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
+  to an N-by-N orthogonal matrix, using identity submatrices. Then A
+  is replaced by UT'*A*UT and the contents of array U is U * UT.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RD.html b/doc/_build/html/_static/doc/MB03RD.html
new file mode 100644
index 00000000..14b86481
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03RD.html
@@ -0,0 +1,387 @@
+<HTML>
+<HEAD><TITLE>MB03RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RD">MB03RD</A></H2>
+<H3>
+Reduction of a real Schur form matrix to a block-diagonal form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a matrix A in real Schur form to a block-diagonal form
+  using well-conditioned non-orthogonal similarity transformations.
+  The condition numbers of the transformations used for reduction
+  are roughly bounded by PMAX, where PMAX is a given value.
+  The transformations are optionally postmultiplied in a given
+  matrix X. The real Schur form is optionally ordered, so that
+  clustered eigenvalues are grouped in the same block.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
+     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBX, SORT
+      INTEGER           INFO, LDA, LDX, N, NBLCKS
+      DOUBLE PRECISION  PMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           BLSIZE(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Specifies whether or not the transformations are
+          accumulated, as follows:
+          = 'N':  The transformations are not accumulated;
+          = 'U':  The transformations are accumulated in X (the
+                  given matrix X is updated).
+
+  SORT    CHARACTER*1
+          Specifies whether or not the diagonal blocks of the real
+          Schur form are reordered, as follows:
+          = 'N':  The diagonal blocks are not reordered;
+          = 'S':  The diagonal blocks are reordered before each
+                  step of reduction, so that clustered eigenvalues
+                  appear in the same block;
+          = 'C':  The diagonal blocks are not reordered, but the
+                  "closest-neighbour" strategy is used instead of
+                  the standard "closest to the mean" strategy
+                  (see METHOD);
+          = 'B':  The diagonal blocks are reordered before each
+                  step of reduction, and the "closest-neighbour"
+                  strategy is used (see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the infinity norm of elementary
+          submatrices of the individual transformations used for
+          reduction (see METHOD).  PMAX &gt;= 1.0D0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A to be block-diagonalized, in real
+          Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the computed block-diagonal matrix, in real Schur
+          canonical form. The non-diagonal blocks are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if JOBX = 'U', the leading N-by-N part of this
+          array must contain a given matrix X.
+          On exit, if JOBX = 'U', the leading N-by-N part of this
+          array contains the product of the given matrix X and the
+          transformation matrix that reduced A to block-diagonal
+          form. The transformation matrix is itself a product of
+          non-orthogonal similarity transformations having elements
+          with magnitude less than or equal to PMAX.
+          If JOBX = 'N', this array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOBX = 'N';
+          LDX &gt;= MAX(1,N), if JOBX = 'U'.
+
+  NBLCKS  (output) INTEGER
+          The number of diagonal blocks of the matrix A.
+
+  BLSIZE  (output) INTEGER array, dimension (N)
+          The first NBLCKS elements of this array contain the orders
+          of the resulting diagonal blocks of the matrix A.
+
+  WR,     (output) DOUBLE PRECISION arrays, dimension (N)
+  WI      These arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the matrix A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in the ordering of the diagonal
+          blocks of the real Schur form matrix.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used as an absolute tolerance: a block i and a temporarily
+          fixed block 1 (the first block of the current trailing
+          submatrix to be reduced) are considered to belong to the
+          same cluster if their eigenvalues satisfy
+
+            | lambda_1 - lambda_i | &lt;= TOL.
+
+          If the user sets TOL &lt; 0, then the given value of TOL is
+          used as a relative tolerance: a block i and a temporarily
+          fixed block 1 are considered to belong to the same cluster
+          if their eigenvalues satisfy, for j = 1, ..., N,
+
+            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
+
+          If the user sets TOL = 0, then an implicitly computed,
+          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
+          is used instead, as a relative tolerance, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH).
+          If SORT = 'N' or 'C', this parameter is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Consider first that SORT = 'N'. Let
+
+         ( A    A   )
+         (  11   12 )
+     A = (          ),
+         ( 0    A   )
+         (       22 )
+
+  be the given matrix in real Schur form, where initially A   is the
+                                                           11
+  first diagonal block of dimension 1-by-1 or 2-by-2. An attempt is
+  made to compute a transformation matrix X of the form
+
+         ( I   P )
+     X = (       )                                               (1)
+         ( 0   I )
+
+  (partitioned as A), so that
+
+              ( A     0  )
+      -1      (  11      )
+     X  A X = (          ),
+              ( 0    A   )
+              (       22 )
+
+  and the elements of P do not exceed the value PMAX in magnitude.
+  An adaptation of the standard method for solving Sylvester
+  equations [1], which controls the magnitude of the individual
+  elements of the computed solution [2], is used to obtain matrix P.
+  When this attempt failed, an 1-by-1 (or 2-by-2) diagonal block of
+  A  , whose eigenvalue(s) is (are) the closest to the mean of those
+   22
+  of A   is selected, and moved by orthogonal similarity
+      11
+  transformations in the leading position of A  ; the moved diagonal
+                                              22
+  block is then added to the block A  , increasing its order by 1
+                                    11
+  (or 2). Another attempt is made to compute a suitable
+  transformation matrix X with the new definitions of the blocks A
+                                                                  11
+  and A  . After a successful transformation matrix X has been
+       22
+  obtained, it postmultiplies the current transformation matrix
+  (if JOBX = 'U'), and the whole procedure is repeated for the
+  matrix A  .
+          22
+
+  When SORT = 'S', the diagonal blocks of the real Schur form are
+  reordered before each step of the reduction, so that each cluster
+  of eigenvalues, defined as specified in the definition of TOL,
+  appears in adjacent blocks. The blocks for each cluster are merged
+  together, and the procedure described above is applied to the
+  larger blocks. Using the option SORT = 'S' will usually provide
+  better efficiency than the standard option (SORT = 'N'), proposed
+  in [2], because there could be no or few unsuccessful attempts
+  to compute individual transformation matrices X of the form (1).
+  However, the resulting dimensions of the blocks are usually
+  larger; this could make subsequent calculations less efficient.
+
+  When SORT = 'C' or 'B', the procedure is similar to that for
+  SORT = 'N' or 'S', respectively, but the block of A   whose
+                                                     22
+  eigenvalue(s) is (are) the closest to those of A   (not to their
+                                                  11
+  mean) is selected and moved to the leading position of A  . This
+                                                          22
+  is called the "closest-neighbour" strategy.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+  [3] Demmel, J.
+      The Condition Number of Equivalence Transformations that
+      Block Diagonalize Matrix Pencils.
+      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                    3                     4
+  The algorithm usually requires 0(N ) operations, but 0(N ) are
+  possible in the worst case, when all diagonal blocks in the real
+  Schur form of A are 1-by-1, and the matrix cannot be diagonalized
+  by well-conditioned transformations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The individual non-orthogonal transformation matrices used in the
+  reduction of A to a block-diagonal form have condition numbers
+  of the order PMAX. This does not guarantee that their product
+  is well-conditioned enough. The routine can be easily modified to
+  provide estimates for the condition numbers of the clusters of
+  eigenvalues.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDX
+      PARAMETER        ( LDA = NMAX, LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBX, SORT
+      INTEGER          I, INFO, J, N, NBLCKS, SDIM
+      DOUBLE PRECISION PMAX, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), WI(NMAX), WR(NMAX),
+     $                 X(LDX,NMAX)
+      INTEGER          BLSIZE(NMAX)
+      LOGICAL          BWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, MB03RD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, PMAX, TOL, JOBX, SORT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Compute Schur form, eigenvalues and Schur vectors.
+         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, SDIM,
+     $               WR, WI, X, LDX, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+*           Block-diagonalization.
+            CALL MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
+     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99995 ) NBLCKS
+               WRITE ( NOUT, FMT = 99994 ) ( BLSIZE(I), I = 1,NBLCKS )
+               WRITE ( NOUT, FMT = 99993 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99991 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99992 ) ( X(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DGEES  = ',I2)
+99997 FORMAT (' INFO on exit from MB03RD = ',I2)
+99995 FORMAT (' The number of blocks is ',I5)
+99994 FORMAT (' The orders of blocks are ',/(20(I3,2X)))
+99993 FORMAT (' The block-diagonal matrix is ')
+99992 FORMAT (8X,20(1X,F8.4))
+99991 FORMAT (' The transformation matrix is ')
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03RD EXAMPLE PROGRAM DATA
+   8   1.D03   1.D-2     U     S
+   1.   -1.    1.    2.    3.    1.    2.    3.
+   1.    1.    3.    4.    2.    3.    4.    2.
+   0.    0.    1.   -1.    1.    5.    4.    1.
+   0.    0.    0.    1.   -1.    3.    1.    2.
+   0.    0.    0.    1.    1.    2.    3.   -1.
+   0.    0.    0.    0.    0.    1.    5.    1.
+   0.    0.    0.    0.    0.    0.    0.99999999   -0.99999999
+   0.    0.    0.    0.    0.    0.    0.99999999    0.99999999
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03RD EXAMPLE PROGRAM RESULTS
+
+ The number of blocks is     2
+ The orders of blocks are 
+  6    2
+ The block-diagonal matrix is 
+           1.0000  -1.0000  -1.2247  -0.7071  -3.4186   1.4577   0.0000   0.0000
+           1.0000   1.0000   0.0000   1.4142  -5.1390   3.1637   0.0000   0.0000
+           0.0000   0.0000   1.0000  -1.7321  -0.0016   2.0701   0.0000   0.0000
+           0.0000   0.0000   0.5774   1.0000   0.7516   1.1379   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   1.0000  -5.8606   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   0.1706   1.0000   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000  -0.8850
+           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+ The transformation matrix is 
+           1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.9045   0.1957
+           0.0000   1.0000   0.0000   0.0000   0.0000   0.0000  -0.3015   0.9755
+           0.0000   0.0000   0.8165   0.0000  -0.5768  -0.0156  -0.3015   0.0148
+           0.0000   0.0000  -0.4082   0.7071  -0.5768  -0.0156   0.0000  -0.0534
+           0.0000   0.0000  -0.4082  -0.7071  -0.5768  -0.0156   0.0000   0.0801
+           0.0000   0.0000   0.0000   0.0000  -0.0276   0.9805   0.0000   0.0267
+           0.0000   0.0000   0.0000   0.0000   0.0332  -0.0066   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   0.0011   0.1948   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RW.html b/doc/_build/html/_static/doc/MB03RW.html
new file mode 100644
index 00000000..dbd26a89
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03RW.html
@@ -0,0 +1,176 @@
+<HTML>
+<HEAD><TITLE>MB03RW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RW">MB03RW</A></H2>
+<H3>
+Solution of a Sylvester equation -AX + XB = C, with A and B in complex Schur form, aborting the computations when the norm of X is too large
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Sylvester equation -AX + XB = C, where A and B are
+  complex M-by-M and N-by-N matrices, respectively, in Schur form.
+
+  This routine is intended to be called only by SLICOT Library
+  routine MB03RZ. For efficiency purposes, the computations are
+  aborted when the absolute value of an element of X is greater than
+  a given value PMAX.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RW( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, M, N
+      DOUBLE PRECISION  PMAX
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A and the number of rows of the
+          matrices C and X.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B and the number of columns of the
+          matrices C and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the absolute value of the elements of X
+          (see METHOD).
+
+  A       (input) COMPLEX*16 array, dimension (LDA,M)
+          The leading M-by-M upper triangular part of this array
+          must contain the matrix A of the Sylvester equation.
+          The elements below the diagonal are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) COMPLEX*16 array, dimension (LDB,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the matrix B of the Sylvester equation.
+          The elements below the diagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix C of the Sylvester equation.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X of the Sylvester
+          equation, and each element of X (see METHOD) has the
+          absolute value less than or equal to PMAX.
+          On exit, if INFO = 1, the solution matrix X has not been
+          computed completely, because an element of X had the
+          absolute value greater than PMAX. Part of the matrix C has
+          possibly been overwritten with the corresponding part
+          of X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  an element of X had the absolute value greater than
+                the given value PMAX.
+          = 2:  A and B have common or very close eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrices A and B are unchanged). This is a
+                warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses an adaptation of the standard method for solving
+  Sylvester equations [1], which controls the magnitude of the
+  individual elements of the computed solution [2]. The equation
+  -AX + XB = C can be rewritten as
+                               m            l-1
+    -A  X   + X  B   = C   +  sum  A  X   - sum  X  B
+      kk kl    kl ll    kl   i=k+1  ki il   j=1   kj jl
+
+  for l = 1:n, and k = m:-1:1, where A  , B  , C  , and X  , are the
+                                      kk   ll   kl       kl
+  elements defined by the partitioning induced by the Schur form
+  of A and B. So, the elements of X are found column by column,
+  starting from the bottom. If any such element has the absolute
+  value greater than the given value PMAX, the calculations are
+  ended.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2      2
+  The algorithm requires 0(M N + MN ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Let
+
+         ( A   C )       ( I   X )
+     M = (       ),  Y = (       ).
+         ( 0   B )       ( 0   I )
+
+  Then
+
+      -1      ( A   0 )
+     Y  M Y = (       ),
+              ( 0   B )
+
+  hence Y is a non-unitary transformation matrix which performs the
+  reduction of M to a block-diagonal form. Bounding a norm of X is
+  equivalent to setting an upper bound to the condition number of
+  the transformation matrix Y.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RX.html b/doc/_build/html/_static/doc/MB03RX.html
new file mode 100644
index 00000000..cb031e95
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03RX.html
@@ -0,0 +1,167 @@
+<HTML>
+<HEAD><TITLE>MB03RX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RX">MB03RX</A></H2>
+<H3>
+Reordering the diagonal blocks of a principal submatrix of a real Schur form matrix (the last block is moved in the leading position)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the principal submatrix between
+  the indices KL and KU (KU &gt;= KL) of a real Schur form matrix A
+  together with their eigenvalues, using orthogonal similarity
+  transformations, such that the block specified by KU is moved in
+  the position KL. The transformations are optionally postmultiplied
+  in a given matrix X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RX( JOBV, N, KL, KU, A, LDA, X, LDX, WR, WI,
+     $                   DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBV
+      INTEGER           KL, KU, LDA, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBV    CHARACTER*1
+          Specifies whether or not the transformations are
+          accumulated, as follows:
+          = 'N':  The transformations are not accumulated;
+          = 'V':  The transformations are accumulated in X (the
+                  given matrix X is updated).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The lower boundary index for the rows and columns of the
+          principal submatrix of A whose diagonal blocks are to be
+          reordered, and also the target position for the block to
+          be moved.  1 &lt;= KL &lt;= KU &lt;= N.
+
+  KU      (input/output) INTEGER
+          On entry, KU specifies the upper boundary index for the
+          rows and columns of the principal submatrix of A whose
+          diagonal blocks are to be reordered, and also the original
+          position for the block to be moved.  1 &lt;= KL &lt;= KU &lt;= N.
+          On exit, KU specifies the upper boundary index for the
+          rows and columns of the principal submatrix of A whose
+          diagonal blocks have been reordered. The given value will
+          be increased by 1 if the moved block was 2-by-2 and it has
+          been replaced by two 1-by-1 blocks. Otherwise, its input
+          value is preserved.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A in real Schur canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the ordered real Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if JOBV = 'V', the leading N-by-N part of this
+          array must contain a given matrix X.
+          On exit, if JOBV = 'V', the leading N-by-N part of this
+          array contains the product of the given matrix X and the
+          transformation matrix that performed the reordering of A.
+          If JOBV = 'N', this array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOBV = 'N';
+          LDX &gt;= MAX(1,N), if JOBV = 'V'.
+
+  WR,     (input/output) DOUBLE PRECISION arrays, dimension (N)
+  WI      On entry, these arrays must contain the real and imaginary
+          parts, respectively, of the eigenvalues of the matrix A.
+          On exit, these arrays contain the real and imaginary
+          parts, respectively, of the eigenvalues of the matrix A,
+          possibly reordered.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An attempt is made to move the block in the position (KU,KU) to
+  the position (KL,KL) by a sequence of orthogonal similarity
+  transformations, each swapping two consecutive blocks. The
+  standard algorithm [1], [2] usually succeeds to perform this
+  reordering. A failure of this algorithm means that two consecutive
+  blocks (one of them being the desired block possibly moved) are
+  too close to swap. In such a case, the leading block of the two
+  is tried to be moved in the position (KL,KL) and the procedure is
+  repeated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Stewart, G.W.
+      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
+      ordering the eigenvalues of a real upper Hessenberg matrix.
+      ACM TOMS, 2, pp. 275-280, 1976.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable. If some eigenvalues are
+  ill-conditioned, their returned values could differ much from
+  their input values.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RY.html b/doc/_build/html/_static/doc/MB03RY.html
new file mode 100644
index 00000000..62357d1a
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03RY.html
@@ -0,0 +1,173 @@
+<HTML>
+<HEAD><TITLE>MB03RY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RY">MB03RY</A></H2>
+<H3>
+Solution of a Sylvester equation -AX + XB = C, with A and B in real Schur form, aborting the computations when the norm of X is too large
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Sylvester equation -AX + XB = C, where A and B are
+  M-by-M and N-by-N matrices, respectively, in real Schur form.
+
+  This routine is intended to be called only by SLICOT Library
+  routine MB03RD. For efficiency purposes, the computations are
+  aborted when the infinity norm of an elementary submatrix of X is
+  greater than a given value PMAX.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RY( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, M, N
+      DOUBLE PRECISION  PMAX
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A and the number of rows of the
+          matrices C and X.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B and the number of columns of the
+          matrices C and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the infinity norm of an elementary
+          submatrix of X (see METHOD).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          matrix A of the Sylvester equation, in real Schur form.
+          The elements below the real Schur form are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain the
+          matrix B of the Sylvester equation, in real Schur form.
+          The elements below the real Schur form are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix C of the Sylvester equation.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X of the Sylvester
+          equation, and each elementary submatrix of X (see METHOD)
+          has the infinity norm less than or equal to PMAX.
+          On exit, if INFO = 1, the solution matrix X has not been
+          computed completely, because an elementary submatrix of X
+          had the infinity norm greater than PMAX. Part of the
+          matrix C has possibly been overwritten with the
+          corresponding part of X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  an elementary submatrix of X had the infinity norm
+                greater than the given value PMAX.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses an adaptation of the standard method for solving
+  Sylvester equations [1], which controls the magnitude of the
+  individual elements of the computed solution [2]. The equation
+  -AX + XB = C can be rewritten as
+                              p            l-1
+    -A  X   + X  B   = C   + sum  A  X   - sum  X  B
+      kk kl    kl ll    kl  i=k+1  ki il   j=1   kj jl
+
+  for l = 1:q, and k = p:-1:1, where A  , B  , C  , and X  , are
+                                      kk   ll   kl       kl
+  block submatrices defined by the partitioning induced by the Schur
+  form of A and B, and p and q are the numbers of the diagonal
+  blocks of A and B, respectively. So, the elementary submatrices of
+  X are found block column by block column, starting from the
+  bottom. If any such elementary submatrix has the infinity norm
+  greater than the given value PMAX, the calculations are ended.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2      2
+  The algorithm requires 0(M N + MN ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Let
+
+         ( A   C )       ( I   X )
+     M = (       ),  Y = (       ).
+         ( 0   B )       ( 0   I )
+
+  Then
+
+      -1      ( A   0 )
+     Y  M Y = (       ),
+              ( 0   B )
+
+  hence Y is an non-orthogonal transformation matrix which performs
+  the reduction of M to a block-diagonal form. Bounding a norm of
+  X is equivalent to setting an upper bound to the condition number
+  of the transformation matrix Y.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RZ.html b/doc/_build/html/_static/doc/MB03RZ.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB03RZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RZ">MB03RZ</A></H2>
+<H3>
+Reduction of a complex Schur form matrix to a block-diagonal form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce an upper triangular complex matrix A (Schur form) to a
+  block-diagonal form using well-conditioned non-unitary similarity
+  transformations. The condition numbers of the transformations used
+  for reduction are roughly bounded by PMAX, where PMAX is a given
+  value. The transformations are optionally postmultiplied in a
+  given matrix X. The Schur form is optionally ordered, so that
+  clustered eigenvalues are grouped in the same block.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RZ( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
+     $                   BLSIZE, W, TOL, INFO )C     .. Scalar Arguments ..
+      CHARACTER         JOBX, SORT
+      INTEGER           INFO, LDA, LDX, N, NBLCKS
+      DOUBLE PRECISION  PMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           BLSIZE(*)
+      COMPLEX*16        A(LDA,*), W(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Specifies whether or not the transformations are
+          accumulated, as follows:
+          = 'N':  The transformations are not accumulated;
+          = 'U':  The transformations are accumulated in X (the
+                  given matrix X is updated).
+
+  SORT    CHARACTER*1
+          Specifies whether or not the diagonal elements of the
+          Schur form are reordered, as follows:
+          = 'N':  The diagonal elements are not reordered;
+          = 'S':  The diagonal elements are reordered before each
+                  step of reduction, so that clustered eigenvalues
+                  appear in the same block;
+          = 'C':  The diagonal elements are not reordered, but the
+                  "closest-neighbour" strategy is used instead of
+                  the standard "closest to the mean" strategy (see
+                  METHOD);
+          = 'B':  The diagonal elements are reordered before each
+                  step of reduction, and the "closest-neighbour"
+                  strategy is used (see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the absolute value of the elements of
+          the individual transformations used for reduction
+          (see METHOD). PMAX &gt;= 1.0D0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix A to be
+          block-diagonalized.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the computed block-diagonal matrix, in
+          Schur form.
+          The strictly lower triangular part is used as workspace,
+          but it is set to zero before exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  X       (input/output) COMPLEX*16 array, dimension (LDX,*)
+          On entry, if JOBX = 'U', the leading N-by-N part of this
+          array must contain a given matrix X.
+          On exit, if JOBX = 'U', the leading N-by-N part of this
+          array contains the product of the given matrix X and the
+          transformation matrix that reduced A to block-diagonal
+          form. The transformation matrix is itself a product of
+          non-unitary similarity transformations having elements
+          with magnitude less than or equal to PMAX.
+          If JOBX = 'N', this array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOBX = 'N';
+          LDX &gt;= MAX(1,N), if JOBX = 'U'.
+
+  NBLCKS  (output) INTEGER
+          The number of diagonal blocks of the matrix A.
+
+  BLSIZE  (output) INTEGER array, dimension (N)
+          The first NBLCKS elements of this array contain the orders
+          of the resulting diagonal blocks of the matrix A.
+
+  W       (output) COMPLEX*16 array, dimension (N)
+          This array contains the eigenvalues of the matrix A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in the ordering of the diagonal
+          elements of the upper triangular matrix.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used as an absolute tolerance: an eigenvalue i and a
+          temporarily fixed eigenvalue 1 (the first element of the
+          current trailing submatrix to be reduced) are considered
+          to belong to the same cluster if they satisfy
+
+            | lambda_1 - lambda_i | &lt;= TOL.
+
+          If the user sets TOL &lt; 0, then the given value of TOL is
+          used as a relative tolerance: an eigenvalue i and a
+          temporarily fixed eigenvalue 1 are considered to belong to
+          the same cluster if they satisfy, for j = 1, ..., N,
+
+            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
+
+          If the user sets TOL = 0, then an implicitly computed,
+          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
+          is used instead, as a relative tolerance, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH).
+          If SORT = 'N' or 'C', this parameter is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Consider first that SORT = 'N'. Let
+
+         ( A    A   )
+         (  11   12 )
+     A = (          ),
+         ( 0    A   )
+         (       22 )
+
+  be the given matrix in Schur form, where initially A   is the
+                                                      11
+  first diagonal element. An attempt is made to compute a
+  transformation matrix X of the form
+
+         ( I   P )
+     X = (       )                                               (1)
+         ( 0   I )
+
+  (partitioned as A), so that
+
+              ( A     0  )
+      -1      (  11      )
+     X  A X = (          ),
+              ( 0    A   )
+              (       22 )
+
+  and the elements of P do not exceed the value PMAX in magnitude.
+  An adaptation of the standard method for solving Sylvester
+  equations [1], which controls the magnitude of the individual
+  elements of the computed solution [2], is used to obtain matrix P.
+  When this attempt failed, a diagonal element of A  , closest to
+                                                   22
+  the mean of those of A   is selected, and moved by unitary
+                        11
+  similarity transformations in the leading position of A  ; the
+                                                         22
+  moved diagonal element is then added to the block A  , increasing
+                                                     11
+  its order by 1. Another attempt is made to compute a suitable
+  transformation matrix X with the new definitions of the blocks A
+                                                                  11
+  and A  . After a successful transformation matrix X has been
+       22
+  obtained, it postmultiplies the current transformation matrix
+  (if JOBX = 'U'), and the whole procedure is repeated for the
+  block A  .
+         22
+
+  When SORT = 'S', the diagonal elements of the Schur form are
+  reordered before each step of the reduction, so that each cluster
+  of eigenvalues, defined as specified in the definition of TOL,
+  appears in adjacent elements. The elements for each cluster are
+  merged together, and the procedure described above is applied to
+  the larger blocks. Using the option SORT = 'S' will usually
+  provide better efficiency than the standard option (SORT = 'N'),
+  proposed in [2], because there could be no or few unsuccessful
+  attempts to compute individual transformation matrices X of the
+  form (1). However, the resulting dimensions of the blocks are
+  usually larger; this could make subsequent calculations less
+  efficient.
+
+  When SORT = 'C' or 'B', the procedure is similar to that for
+  SORT = 'N' or 'S', respectively, but the block of A   whose
+                                                     22
+  eigenvalue(s) is (are) the closest to those of A   (not to their
+                                                  11
+  mean) is selected and moved to the leading position of A  . This
+                                                          22
+  is called the "closest-neighbour" strategy.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+  [3] Demmel, J.
+      The Condition Number of Equivalence Transformations that
+      Block Diagonalize Matrix Pencils.
+      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                    3                     4
+  The algorithm usually requires 0(N ) operations, but 0(N ) are
+  possible in the worst case, when the matrix cannot be diagonalized
+  by well-conditioned transformations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The individual non-unitary transformation matrices used in the
+  reduction of A to a block-diagonal form have condition numbers of
+  the order PMAX. This does not guarantee that their product is
+  well-conditioned enough. The routine can be easily modified to
+  provide estimates for the condition numbers of the clusters of
+  eigenvalues.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03SD.html b/doc/_build/html/_static/doc/MB03SD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB03SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03SD">MB03SD</A></H2>
+<H3>
+Eigenvalues of a square-reduced Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of an N-by-N square-reduced Hamiltonian
+  matrix
+
+             ( A'   G'  )
+      H'  =  (        T ).                                       (1)
+             ( Q'  -A'  )
+
+  Here, A' is an N-by-N matrix, and G' and Q' are symmetric N-by-N
+  matrices.  It is assumed without a check that H' is square-
+  reduced, i.e., that
+
+        2    ( A''   G'' )
+      H'  =  (         T )    with A'' upper Hessenberg.         (2)
+             ( 0    A''  )
+
+                         T                2
+  (Equivalently, Q'A'- A' Q' = 0, A'' = A' + G'Q', and for i &gt; j+1,
+   A''(i,j) = 0.)  Ordinarily, H' is the output from SLICOT Library
+  routine MB04ZD. The eigenvalues of H' are computed as the square
+  roots of the eigenvalues of A''.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDQG, LDWORK, N
+      CHARACTER         JOBSCL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBSCL  CHARACTER*1
+          Specifies whether or not balancing operations should
+          be performed by the LAPACK subroutine DGEBAL on the
+          Hessenberg matrix A'' in (2), as follows:
+          = 'N':  do not use balancing;
+          = 'S':  do scaling in order to equilibrate the rows
+                  and columns of A''.
+          See LAPACK subroutine DGEBAL and Section METHOD below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper left block A' of the square-reduced Hamiltonian
+          matrix H' in (1), as produced by SLICOT Library routine
+          MB04ZD.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
+          The leading N-by-N lower triangular part of this array
+          must contain the lower triangle of the lower left
+          symmetric block Q' of the square-reduced Hamiltonian
+          matrix H' in (1), and the N-by-N upper triangular part of
+          the submatrix in the columns 2 to N+1 of this array must
+          contain the upper triangle of the upper right symmetric
+          block G' of the square-reduced Hamiltonian matrix H'
+          in (1), as produced by SLICOT Library routine MB04ZD.
+          So, if i &gt;= j, then Q'(i,j) is stored in QG(i,j) and
+          G'(i,j) is stored in QG(j,i+1).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The arrays WR and WI contain the real and imaginary parts,
+          respectively, of the N eigenvalues of H' with non-negative
+          real part.  The remaining N eigenvalues are the negatives
+          of these eigenvalues.
+          Eigenvalues are stored in WR and WI in decreasing order of
+          magnitude of the real parts, i.e., WR(I) &gt;= WR(I+1).
+          (In particular, an eigenvalue closest to the imaginary
+           axis is WR(N)+WI(N)i.)
+          In addition, eigenvalues with zero real part are sorted in
+          decreasing order of magnitude of imaginary parts.  Note
+          that non-real eigenvalues with non-zero real part appear
+          in complex conjugate pairs, but eigenvalues with zero real
+          part do not, in general, appear in complex conjugate
+          pairs.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(N+1)).
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO =  i, i &lt;= N, then LAPACK subroutine DHSEQR
+                failed to converge while computing the i-th
+                eigenvalue.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine forms the upper Hessenberg matrix A'' in (2) and calls
+  LAPACK subroutines to calculate its eigenvalues.  The eigenvalues
+  of H' are the square roots of the eigenvalues of A''.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C. F.
+      A Symplectic Method for Approximating All the Eigenvalues of
+      a Hamiltonian Matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Byers, R.
+      Hamiltonian and Symplectic Algorithms for the Algebraic
+      Riccati Equation.
+      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
+
+  [3] Benner, P., Byers, R., and Barth, E.
+      Fortran 77 Subroutines for Computing the Eigenvalues of
+      Hamiltonian Matrices. I: The Square-Reduced Method.
+      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires (32/3)*N**3 + O(N**2) floating point
+  operations.
+  Eigenvalues computed by this subroutine are exact eigenvalues
+  of a perturbed Hamiltonian matrix  H' + E  where
+
+              || E || &lt;= c sqrt(eps) || H' ||,
+
+  c is a modest constant depending on the dimension N and eps is the
+  machine precision. Moreover, if the norm of H' and an eigenvalue
+  are of roughly the same magnitude, the computed eigenvalue is
+  essentially as accurate as the computed eigenvalue obtained by
+  traditional methods. See [1] or [2].
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03SD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX+1 ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      JOBSCL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
+     $                 WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB03SD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     NOTE: input must define a square-reduced Hamiltonian matrix.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOBSCL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99998 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
+*        Compute the eigenvalues.
+         CALL MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
+     $                LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+*           Show the computed eigenvalues.
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99995 )  WR(I), ' + (',  WI(I), ')i'
+10          CONTINUE
+            DO 20 I = N, 1, -1
+               WRITE ( NOUT, FMT = 99995 ) -WR(I), ' + (', -WI(I), ')i'
+20          CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB03SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' N is out of range.',/' N = ',I5)
+99997 FORMAT (' INFO on exit from MB03SD = ',I2)
+99996 FORMAT (/' The eigenvalues are ')
+99995 FORMAT (1X,F8.4,A,F8.4,A)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03SD EXAMPLE PROGRAM DATA
+ 3 S
+  2.0  0.0  0.0
+  0.0  1.0  2.0
+  0.0 -1.0  3.0
+  1.0  0.0  0.0  2.0  3.0  4.0
+ -2.0  0.0  0.0  0.0  0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03SD EXAMPLE PROGRAM RESULTS
+
+
+ The eigenvalues are 
+   2.0000 + (  1.0000)i
+   2.0000 + ( -1.0000)i
+   1.4142 + (  0.0000)i
+  -1.4142 + (  0.0000)i
+  -2.0000 + (  1.0000)i
+  -2.0000 + ( -1.0000)i
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03TD.html b/doc/_build/html/_static/doc/MB03TD.html
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+<HTML>
+<HEAD><TITLE>MB03TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03TD">MB03TD</A></H2>
+<H3>
+Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder a matrix X in skew-Hamiltonian Schur form:
+
+                [  A   G  ]          T
+          X  =  [       T ],   G = -G,
+                [  0   A  ]
+
+  or in Hamiltonian Schur form:
+
+                [  A   G  ]          T
+          X  =  [       T ],   G =  G,
+                [  0  -A  ]
+
+  where A is in upper quasi-triangular form, so that a selected
+  cluster of eigenvalues appears in the leading diagonal blocks
+  of the matrix A (in X) and the leading columns of [ U1; -U2 ] form
+  an orthonormal basis for the corresponding right invariant
+  subspace.
+
+  If X is skew-Hamiltonian, then each eigenvalue appears twice; one
+  copy corresponds to the j-th diagonal element and the other to the
+  (n+j)-th diagonal element of X. The logical array LOWER controls
+  which copy is to be reordered to the leading part of A.
+
+  If X is Hamiltonian then the eigenvalues appear in pairs
+  (lambda,-lambda); lambda corresponds to the j-th diagonal
+  element and -lambda to the (n+j)-th diagonal element of X.
+  The logical array LOWER controls whether lambda or -lambda is to
+  be reordered to the leading part of A.
+
+  The matrix A must be in Schur canonical form (as returned by the
+  LAPACK routine DHSEQR), that is, block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG,
+     $                   U1, LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPU, TYP
+      INTEGER           INFO, LDA, LDG, LDU1, LDU2, LDWORK, M, N
+C     .. Array Arguments ..
+      LOGICAL           LOWER(*), SELECT(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
+     $                  U2(LDU2,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYP     CHARACTER*1
+          Specifies the type of the input matrix X:
+          = 'S': X is skew-Hamiltonian;
+          = 'H': X is Hamiltonian.
+
+  COMPU   CHARACTER*1
+          = 'U': update the matrices U1 and U2 containing the
+                 Schur vectors;
+          = 'N': do not update U1 and U2.
+
+  SELECT  (input/output) LOGICAL array, dimension (N)
+          SELECT specifies the eigenvalues in the selected cluster.
+          To select a real eigenvalue w(j), SELECT(j) must be set
+          to .TRUE.. To select a complex conjugate pair of
+          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
+          diagonal block, both SELECT(j) and SELECT(j+1) must be set
+          to .TRUE.; a complex conjugate pair of eigenvalues must be
+          either both included in the cluster or both excluded.
+
+  LOWER   (input/output) LOGICAL array, dimension (N)
+          LOWER controls which copy of a selected eigenvalue is
+          included in the cluster. If SELECT(j) is set to .TRUE.
+          for a real eigenvalue w(j); then LOWER(j) must be set to
+          .TRUE. if the eigenvalue corresponding to the (n+j)-th
+          diagonal element of X is to be reordered to the leading
+          part; and LOWER(j) must be set to .FALSE. if the
+          eigenvalue corresponding to the j-th diagonal element of
+          X is to be reordered to the leading part. Similarly, for
+          a complex conjugate pair of eigenvalues w(j) and w(j+1),
+          both LOWER(j) and LOWER(j+1) must be set to .TRUE. if the
+          eigenvalues corresponding to the (n+j:n+j+1,n+j:n+j+1)
+          diagonal block of X are to be reordered to the leading
+          part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A in Schur
+          canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the reordered matrix A, again in Schur canonical form,
+          with the selected eigenvalues in the diagonal blocks.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, if TYP = 'S', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the skew-symmetric matrix G. The rest of this array is not
+          referenced.
+          On entry, if TYP = 'H', the leading N-by-N part of this
+          array must contain the upper triangular part of the
+          symmetric matrix G. The rest of this array is not
+          referenced.
+          On exit, if TYP = 'S', the leading N-by-N part of this
+          array contains the strictly upper triangular part of the
+          skew-symmetric matrix G, updated by the orthogonal
+          symplectic transformation which reorders X.
+          On exit, if TYP = 'H', the leading N-by-N part of this
+          array contains the upper triangular part of the symmetric
+          matrix G, updated by the orthogonal symplectic
+          transformation which reorders X.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, if COMPU = 'U', the leading N-by-N part of this
+          array must contain U1, the (1,1) block of an orthogonal
+          symplectic matrix U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U', the leading N-by-N part of this
+          array contains the (1,1) block of the matrix U,
+          postmultiplied by the orthogonal symplectic transformation
+          which reorders X. The leading M columns of U form an
+          orthonormal basis for the specified invariant subspace.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= MAX(1,N),  if COMPU = 'U';
+          LDU1 &gt;= 1,         otherwise.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, if COMPU = 'U', the leading N-by-N part of this
+          array must contain U2, the (1,2) block of an orthogonal
+          symplectic matrix U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U', the leading N-by-N part of this
+          array contains the (1,2) block of the matrix U,
+          postmultiplied by the orthogonal symplectic transformation
+          which reorders X.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= MAX(1,N),  if COMPU = 'U';
+          LDU2 &gt;= 1,         otherwise.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The real and imaginary parts, respectively, of the
+          reordered eigenvalues of A. The eigenvalues are stored
+          in the same order as on the diagonal of A, with
+          WR(i) = A(i,i) and, if A(i:i+1,i:i+1) is a 2-by-2 diagonal
+          block, WI(i) &gt; 0 and WI(i+1) = -WI(i). Note that if an
+          eigenvalue is sufficiently ill-conditioned, then its value
+          may differ significantly from its value before reordering.
+
+  M       (output) INTEGER
+          The dimension of the specified invariant subspace.
+          0 &lt;= M &lt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          = 1:  reordering of X failed because some eigenvalue pairs
+                are too close to separate (the problem is very
+                ill-conditioned); X may have been partially
+                reordered, and WR and WI contain the eigenvalues in
+                the same order as in X.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bai, Z. and Demmel, J.W.
+      On Swapping Diagonal Blocks in Real Schur Form.
+      Linear Algebra Appl., 186, pp. 73-95, 1993.
+
+  [2] Benner, P., Kressner, D., and Mehrmann, V.
+      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
+      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDG, LDRES, LDU1, LDU2, LDWORK
+      PARAMETER        ( LDA  = NMAX, LDG  = NMAX, LDRES  = NMAX,
+     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 8*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPU, TYP
+      INTEGER          I, INFO, J, N, M
+*     .. Local Arrays ..
+      LOGICAL          LOWER(NMAX), SELECT(NMAX)
+      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), G(LDG, NMAX),
+     $                 RES(LDRES,NMAX), U1(LDU1,NMAX), U2(LDU2,NMAX),
+     $                 WR(NMAX), WI(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION MA02JD
+      EXTERNAL         LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         MB03TD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, TYP, COMPU
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( SELECT(J), J = 1,N )
+         READ ( NIN, FMT = * ) ( LOWER(J), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( COMPU, 'U' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
+         END IF
+         CALL MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG, U1,
+     $                LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( COMPU, 'U' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10             CONTINUE
+               DO 20  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20             CONTINUE
+               WRITE ( NOUT, FMT = 99992 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+            END IF
+*
+            WRITE ( NOUT, FMT = 99996 )
+            DO 30  I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
+30          CONTINUE
+*
+            WRITE ( NOUT, FMT = 99995 )
+            IF ( LSAME( TYP, 'S' ) ) THEN
+               DO 40  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $               ( -G(J,I), J = 1,I-1 ), ZERO, ( G(I,J), J = I+1,N )
+40             CONTINUE
+            ELSE
+               DO 50  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $               ( G(J,I), J = 1,I-1 ), ( G(I,J), J = I,N )
+50             CONTINUE
+           END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03TD = ',I2)
+99997 FORMAT (' The orthogonal symplectic factor U is ')
+99996 FORMAT (/' The matrix A in reordered Schur canonical form is ')
+99995 FORMAT (/' The matrix G is ')
+99994 FORMAT (20(1X,F9.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03TD EXAMPLE PROGRAM DATA
+	5	S	U
+	.F. .T. .T. .F. .F.
+	.F. .T. .T. .F. .F.
+    0.9501    0.7621    0.6154    0.4057    0.0579
+         0    0.4565    0.7919    0.9355    0.3529
+         0   -0.6822    0.4565    0.9169    0.8132
+         0         0         0    0.4103    0.0099
+         0         0         0         0    0.1389
+         0   -0.1834   -0.1851    0.5659    0.3040
+         0         0    0.4011   -0.9122    0.2435
+         0         0         0    0.4786   -0.2432
+         0         0         0         0   -0.5272
+         0         0         0         0         0
+     1     0     0     0     0
+     0     1     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+     0     0     0     0     1
+     0     0     0     0     0
+     0     0     0     0     0
+     0     0     0     0     0
+     0     0     0     0     0
+     0     0     0     0     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03TD EXAMPLE PROGRAM RESULTS
+
+The orthogonal symplectic factor U is 
+   0.0407    0.4847    0.8737    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+   0.1245   -0.3866    0.2087    0.4509   -0.1047    0.3229    0.1248   -0.0843    0.1967    0.6415
+  -0.0933    0.4089   -0.2225   -0.4085    0.0709   -0.2171    0.2156   -0.1095    0.4348    0.5551
+  -0.1059   -0.5250    0.2962   -0.0295    0.2207   -0.6789    0.1133   -0.0312    0.2979   -0.1112
+   0.3937    0.3071   -0.1887    0.5332   -0.4351   -0.4423    0.0600   -0.0127    0.1679   -0.1179
+   0.0000    0.0000    0.0000    0.0000    0.0000    0.0407    0.4847    0.8737    0.0000    0.0000
+  -0.3229   -0.1248    0.0843   -0.1967   -0.6415    0.1245   -0.3866    0.2087    0.4509   -0.1047
+   0.2171   -0.2156    0.1095   -0.4348   -0.5551   -0.0933    0.4089   -0.2225   -0.4085    0.0709
+   0.6789   -0.1133    0.0312   -0.2979    0.1112   -0.1059   -0.5250    0.2962   -0.0295    0.2207
+   0.4423   -0.0600    0.0127   -0.1679    0.1179    0.3937    0.3071   -0.1887    0.5332   -0.4351
+
+Orthogonality of U: || U'*U - I ||_F = .21E-14
+
+The matrix A in reordered Schur canonical form is 
+   0.4565   -0.4554    0.2756   -0.8651   -1.2050
+   1.1863    0.4565    0.2186   -0.0233    0.8293
+   0.0000    0.0000    0.9501    0.0625   -0.0064
+   0.0000    0.0000    0.0000    0.4103    0.5597
+   0.0000    0.0000    0.0000    0.0000    0.1389
+
+The matrix G is 
+   0.0000    0.3298   -0.0292   -0.1571    0.1751
+  -0.3298    0.0000   -0.0633   -0.2951    0.2396
+   0.0292    0.0633    0.0000    0.9567    0.7485
+   0.1571    0.2951   -0.9567    0.0000    0.2960
+  -0.1751   -0.2396   -0.7485   -0.2960    0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB03TS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03TS">MB03TS</A></H2>
+<H3>
+Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian canonical Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To swap diagonal blocks A11 and A22 of order 1 or 2 in the upper
+  quasi-triangular matrix A contained in a skew-Hamiltonian matrix
+
+                [  A   G  ]          T
+          X  =  [       T ],   G = -G,
+                [  0   A  ]
+
+  or in a Hamiltonian matrix
+
+                [  A   G  ]          T
+          X  =  [       T ],   G =  G.
+                [  0  -A  ]
+
+  This routine is a modified version of the LAPACK subroutine
+  DLAEX2.
+
+  The matrix A must be in Schur canonical form (as returned by the
+  LAPACK routine DHSEQR), that is, block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03TS( ISHAM, WANTU, N, A, LDA, G, LDG, U1, LDU1, U2,
+     $                   LDU2, J1, N1, N2, DWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            ISHAM, WANTU
+      INTEGER            INFO, J1, LDA, LDG, LDU1, LDU2, N, N1, N2
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
+     $                   U2(LDU2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ISHAM   LOGIGAL
+          Specifies the type of X:
+          = .TRUE.:   X is a Hamiltonian matrix;
+          = .FALSE.:  X is a skew-Hamiltonian matrix.
+
+  WANTU   LOGIGAL
+          = .TRUE.:   update the matrices U1 and U2 containing the
+                      Schur vectors;
+          = .FALSE.:  do not update U1 and U2.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A, in Schur
+          canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the reordered matrix A, again in Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular part of the symmetric
+          matrix G, if ISHAM = .TRUE., or the strictly upper
+          triangular part of the skew-symmetric matrix G, otherwise.
+          The rest of this array is not referenced.
+          On exit, the leading N-by-N part of this array contains
+          the upper or strictly upper triangular part of the
+          symmetric or skew-symmetric matrix G, respectively,
+          updated by the orthogonal transformation which reorders A.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, if WANTU = .TRUE., the leading N-by-N part of
+          this array must contain the matrix U1.
+          On exit, if WANTU = .TRUE., the leading N-by-N part of
+          this array contains U1, postmultiplied by the orthogonal
+          transformation which reorders A. See the description in
+          the SLICOT subroutine MB03TD for further details.
+          If WANTU = .FALSE., this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= MAX(1,N),  if WANTU = .TRUE.;
+          LDU1 &gt;= 1,         otherwise.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, if WANTU = .TRUE., the leading N-by-N part of
+          this array must contain the matrix U2.
+          On exit, if WANTU = .TRUE., the leading N-by-N part of
+          this array contains U2, postmultiplied by the orthogonal
+          transformation which reorders A.
+          If WANTU = .FALSE., this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= MAX(1,N),  if WANTU = .TRUE.;
+          LDU2 &gt;= 1,         otherwise.
+
+  J1      (input) INTEGER
+          The index of the first row of the first block A11.
+          If J1+N1 &lt; N, then A11 is swapped with the block starting
+          at (J1+N1+1)-th diagonal element.
+          If J1+N1 &gt; N, then A11 is the last block in A and swapped
+          with -A11', if ISHAM = .TRUE.,
+          or    A11', if ISHAM = .FALSE..
+
+  N1      (input) INTEGER
+          The order of the first block A11. N1 = 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of the second block A22. N2 = 0, 1 or 2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  the transformed matrix A would be too far from Schur
+                form; the blocks are not swapped and A, G, U1 and
+                U2 are unchanged.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bai, Z., and Demmel, J.W.
+     On swapping diagonal blocks in real Schur form.
+     Linear Algebra Appl., 186, pp. 73-95, 1993.
+
+  [2] Benner, P., Kressner, D., and Mehrmann, V.
+      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
+      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03UD.html b/doc/_build/html/_static/doc/MB03UD.html
new file mode 100644
index 00000000..2d635a59
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03UD.html
@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>MB03UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03UD">MB03UD</A></H2>
+<H3>
+Computation of the singular value decomposition of a real upper triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute all, or part, of the singular value decomposition of a
+  real upper triangular matrix.
+
+  The N-by-N upper triangular matrix A is factored as  A = Q*S*P',
+  where Q and P are N-by-N orthogonal matrices and S is an
+  N-by-N diagonal matrix with non-negative diagonal elements,
+  SV(1), SV(2), ..., SV(N), ordered such that
+
+     SV(1) &gt;= SV(2) &gt;= ... &gt;= SV(N) &gt;= 0.
+
+  The columns of Q are the left singular vectors of A, the diagonal
+  elements of S are the singular values of A and the columns of P
+  are the right singular vectors of A.
+
+  Either or both of Q and P' may be requested.
+  When P' is computed, it is returned in A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBP, JOBQ
+      INTEGER           INFO, LDA, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(LDQ,*), SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBQ    CHARACTER*1
+          Specifies whether the user wishes to compute the matrix Q
+          of left singular vectors as follows:
+          = 'V':  Left singular vectors are computed;
+          = 'N':  No left singular vectors are computed.
+
+  JOBP    CHARACTER*1
+          Specifies whether the user wishes to compute the matrix P'
+          of right singular vectors as follows:
+          = 'V':  Right singular vectors are computed;
+          = 'N':  No right singular vectors are computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix A.
+          On exit, if JOBP = 'V', the leading N-by-N part of this
+          array contains the N-by-N orthogonal matrix  P'; otherwise
+          the N-by-N upper triangular part of A is used as internal
+          workspace. The strictly lower triangular part of A is set
+          internally to zero before the reduction to bidiagonal form
+          is performed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If JOBQ = 'V', the leading N-by-N part of this array
+          contains the orthogonal matrix Q.
+          If JOBQ = 'N', Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,  and when JOBQ = 'V',  LDQ &gt;= MAX(1,N).
+
+  SV      (output) DOUBLE PRECISION array, dimension (N)
+          The N singular values of the matrix A, sorted in
+          descending order.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          if INFO &gt; 0, DWORK(2:N) contains the unconverged
+          superdiagonal elements of an upper bidiagonal matrix B
+          whose diagonal is in SV (not necessarily sorted).
+          B satisfies A = Q*B*P', so it has the same singular
+          values as A, and singular vectors related by Q and P'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,5*N).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  the QR algorithm has failed to converge. In this
+                case INFO specifies how many superdiagonals did not
+                converge (see the description of DWORK).
+                This failure is not likely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine reduces A to bidiagonal form by means of elementary
+  reflectors and then uses the QR algorithm on the bidiagonal form.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDQ
+      PARAMETER        ( LDA = NMAX, LDQ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 5*NMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBQ, JOBP
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LDQ,NMAX),
+     $                 SV(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB03UD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOBQ, JOBP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Compute the singular values and vectors.
+         CALL MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
+     $                LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99995 ) ( SV(I), I = 1,N )
+            IF ( LSAME( JOBP, 'V' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+            END IF
+            IF ( LSAME( JOBQ, 'V' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03UD = ',I2)
+99997 FORMAT (' Singular values are ',I5)
+99996 FORMAT (/' The transpose of the right singular vectors matrix is '
+     $       )
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' The left singular vectors matrix is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03UD EXAMPLE PROGRAM DATA
+   4     V      V
+  -1.0  37.0 -12.0 -12.0
+   0.0 -10.0   0.0   4.0
+   0.0   0.0   7.0  -6.0
+   0.0   0.0   0.0  -9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03UD EXAMPLE PROGRAM RESULTS
+
+ Singular values are 
+          42.0909  11.7764   5.4420   0.2336
+
+ The transpose of the right singular vectors matrix is 
+           0.0230  -0.9084   0.2759   0.3132
+           0.0075  -0.1272   0.5312  -0.8376
+           0.0092   0.3978   0.8009   0.4476
+           0.9997   0.0182  -0.0177  -0.0050
+
+ The left singular vectors matrix is 
+          -0.9671  -0.0882  -0.0501  -0.2335
+           0.2456  -0.1765  -0.4020  -0.8643
+           0.0012   0.7425   0.5367  -0.4008
+          -0.0670   0.6401  -0.7402   0.1945
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03VD.html b/doc/_build/html/_static/doc/MB03VD.html
new file mode 100644
index 00000000..40d00e15
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03VD.html
@@ -0,0 +1,372 @@
+<HTML>
+<HEAD><TITLE>MB03VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03VD">MB03VD</A></H2>
+<H3>
+Periodic Hessenberg form of a product of p matrices using orthogonal similarity transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a product of p real general matrices A = A_1*A_2*...*A_p
+  to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is
+  upper Hessenberg, and H_2, ..., H_p are upper triangular, by using
+  orthogonal similarity transformations on A,
+
+          Q_1' * A_1 * Q_2 = H_1,
+          Q_2' * A_2 * Q_3 = H_2,
+                 ...
+          Q_p' * A_p * Q_1 = H_p.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrices A_1, A_2, ..., A_p.
+          N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of matrices in the product A_1*A_2*...*A_p.
+          P &gt;= 1.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that all matrices A_j, j = 2, ..., p, are
+          already upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N, and A_1 is upper Hessenberg in rows and columns
+          1:ILO-1 and IHI+1:N, with A_1(ILO,ILO-1) = 0 (unless
+          ILO = 1), and A_1(IHI+1,IHI) = 0 (unless IHI = N).
+          If this is not the case, ILO and IHI should be set to 1
+          and N, respectively.
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA1,LDA2,P)
+          On entry, the leading N-by-N-by-P part of this array must
+          contain the matrices of factors to be reduced;
+          specifically, A(*,*,j) must contain A_j, j = 1, ..., p.
+          On exit, the leading N-by-N upper triangle and the first
+          subdiagonal of A(*,*,1) contain the upper Hessenberg
+          matrix H_1, and the elements below the first subdiagonal,
+          with the first column of the array TAU represent the
+          orthogonal matrix Q_1 as a product of elementary
+          reflectors. See FURTHER COMMENTS.
+          For j &gt; 1, the leading N-by-N upper triangle of A(*,*,j)
+          contains the upper triangular matrix H_j, and the elements
+          below the diagonal, with the j-th column of the array TAU
+          represent the orthogonal matrix Q_j as a product of
+          elementary reflectors. See FURTHER COMMENTS.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= max(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= max(1,N).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (LDTAU,P)
+          The leading N-1 elements in the j-th column contain the
+          scalar factors of the elementary reflectors used to form
+          the matrix Q_j, j = 1, ..., P. See FURTHER COMMENTS.
+
+  LDTAU   INTEGER
+          The leading dimension of the array TAU.
+          LDTAU &gt;= max(1,N-1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm consists in ihi-ilo major steps. In each such
+  step i, ilo &lt;= i &lt;= ihi-1, the subdiagonal elements in the i-th
+  column of A_j are annihilated using a Householder transformation
+  from the left, which is also applied to A_(j-1) from the right,
+  for j = p:-1:2. Then, the elements below the subdiagonal of the
+  i-th column of A_1 are annihilated, and the Householder
+  transformation is also applied to A_p from the right.
+  See FURTHER COMMENTS.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      Periodic Schur form and some matrix equations.
+      Proc. of the Symposium on the Mathematical Theory of Networks
+      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
+      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Each matrix Q_j is represented as a product of (ihi-ilo)
+  elementary reflectors,
+
+     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
+
+  Each H_j(i), i = ilo, ..., ihi-1, has the form
+
+     H_j(i) = I - tau_j * v_j * v_j',
+
+  where tau_j is a real scalar, and v_j is a real vector with
+  v_j(1:i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)
+  is stored on exit in A_j(i+2:ihi,i), and tau_j in TAU(i,j).
+
+  The contents of A_1 are illustrated by the following example
+  for n = 7, ilo = 2, and ihi = 6:
+
+  on entry                         on exit
+
+  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
+  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )
+  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
+  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
+
+  where a denotes an element of the original matrix A_1, h denotes
+  a modified element of the upper Hessenberg matrix H_1, and vi
+  denotes an element of the vector defining H_1(i).
+
+  The contents of A_j, j &gt; 1, are illustrated by the following
+  example for n = 7, ilo = 2, and ihi = 6:
+
+  on entry                         on exit
+
+  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
+  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )
+  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
+
+  where a denotes an element of the original matrix A_j, h denotes
+  a modified element of the upper triangular matrix H_j, and vi
+  denotes an element of the vector defining H_j(i). (The element
+  (1,2) in A_p is also unchanged for this example.)
+
+  Note that for P = 1, the LAPACK Library routine DGEHRD could be
+  more efficient on some computer architectures than this routine
+  (a BLAS 2 version).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA1, LDA2, LDQ1, LDQ2, LDTAU
+      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                   LDQ2 = NMAX, LDTAU = NMAX-1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SSQ
+      INTEGER          I, IHI, ILO, INFO, J, K, KP1, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
+     $                 DWORK(LDWORK), Q(LDQ1,LDQ2,PMAX),
+     $                 QTA(LDQ1,NMAX), TAU(LDTAU,PMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE, DLAPY2
+      EXTERNAL         DLANGE, DLAPY2
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, MB03VD, MB03VY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, ILO, IHI
+      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) P
+         ELSE
+*           Read matrices A_1, ..., A_p from the input file.
+            DO 10 K = 1, P
+               READ ( NIN, FMT = * )
+     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
+               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
+   10       CONTINUE
+*           Reduce to the periodic Hessenberg form.
+            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 30 K = 1, P
+                  CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Q(1,1,K),
+     $                         LDQ1 )
+                  IF ( N.GT.1 ) THEN
+                     IF ( N.GT.2 .AND. K.EQ.1 ) THEN
+                        CALL DLASET( 'L', N-2, N-2, ZERO, ZERO,
+     $                               A(3,1,K), LDA1 )
+                     ELSE IF ( K.GT.1 ) THEN
+                        CALL DLASET( 'L', N-1, N-1, ZERO, ZERO,
+     $                               A(2,1,K), LDA1 )
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 ) K
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( A(I,J,K), J = 1, N )
+   20             CONTINUE
+   30          CONTINUE
+*              Accumulate the transformations.
+               CALL MB03VY( N, P, ILO, IHI, Q, LDQ1, LDQ2, TAU, LDTAU,
+     $                      DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 50 K = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) K
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99994 )
+     $                        ( Q(I,J,K), J = 1, N )
+   40                CONTINUE
+   50             CONTINUE
+*                 Compute error.
+                  SSQ = ZERO
+                  DO 60 K = 1, P
+                     KP1 = K+1
+                     IF( KP1.GT.P ) KP1 = 1
+*                    Compute NORM (Z' * A * Z - Aout)
+                     CALL DGEMM( 'T', 'N', N, N, N, ONE, Q(1,1,K), LDQ1,
+     $                           AS(1,1,K), LDA1, ZERO, QTA, LDQ1 )
+                     CALL DGEMM( 'N', 'N', N, N, N, ONE, QTA, LDQ1,
+     $                           Q(1,1,KP1), LDQ1, -ONE, A(1,1,K),
+     $                           LDA1 )
+                     SSQ = DLAPY2( SSQ,
+     $                             DLANGE( 'Frobenius', N, N, A(1,1,K),
+     $                                     LDA1, DWORK ) )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 ) SSQ
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT (' MB03VD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from MB03VD = ', I2)
+99997 FORMAT (' INFO on exit from MB03VY = ', I2)
+99996 FORMAT (' Reduced matrices')
+99995 FORMAT (/' K = ', I5)
+99994 FORMAT (8F8.4)
+99993 FORMAT (/' Transformation matrices')
+99992 FORMAT (/,' NORM (Q''*A*Q - Aout) = ', 1PD12.5)
+99991 FORMAT (/, ' N is out of range.',/' N = ', I5)
+99990 FORMAT (/, ' P is out of range.',/' P = ', I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03VD EXAMPLE PROGRAM DATA
+4 2 1 4
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03VD EXAMPLE PROGRAM RESULTS
+
+ Reduced matrices
+
+ K =     1
+ -2.3926  2.7042 -0.9598 -1.2335
+  4.1417 -1.7046  1.3001 -1.3120
+  0.0000 -1.6247 -0.2534  1.6453
+  0.0000  0.0000 -0.0169 -0.4451
+
+ K =     2
+ -2.5495  2.3402  4.7021  0.2329
+  0.0000  1.9725 -0.2483 -2.3493
+  0.0000  0.0000 -0.6290 -0.5975
+  0.0000  0.0000  0.0000 -0.4426
+
+ Transformation matrices
+
+ K =     1
+  1.0000  0.0000  0.0000  0.0000
+  0.0000 -0.7103  0.5504 -0.4388
+  0.0000 -0.4735 -0.8349 -0.2807
+  0.0000 -0.5209  0.0084  0.8536
+
+ K =     2
+ -0.5883  0.2947  0.7528 -0.0145
+ -0.3922 -0.8070  0.0009 -0.4415
+ -0.5883  0.4292 -0.6329 -0.2630
+ -0.3922 -0.2788 -0.1809  0.8577
+
+ NORM (Q'*A*Q - Aout) =  2.93760D-15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03VW.html b/doc/_build/html/_static/doc/MB03VW.html
new file mode 100644
index 00000000..9887916f
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03VW.html
@@ -0,0 +1,233 @@
+<HTML>
+<HEAD><TITLE>MB03VW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03VW">MB03VW</A></H2>
+<H3>
+Periodic Hessenberg form of a formal product of p matrices using orthogonal similarity transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the generalized matrix product
+
+               S(1)           S(2)                 S(K)
+       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
+
+  to upper Hessenberg-triangular form, where A is N-by-N-by-K and S
+  is the signature array with values 1 or -1. The H-th matrix of A
+  is reduced to upper Hessenberg form while the other matrices are
+  triangularized. Unblocked version.
+
+  If COMPQ = 'U' or COMPZ = 'I', then the orthogonal factors are
+  computed and stored in the array Q so that for S(I) = 1,
+                                                           T
+        Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
+                                                            T    (1)
+     =  Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out) ,
+
+  and for S(I) = -1,
+                                                           T
+        Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
+                                                            T    (2)
+     =  Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out) .
+
+  A partial generation of the orthogonal factors can be realized via
+  the array QIND.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03VW( COMPQ, QIND, TRIU, N, K, H, ILO, IHI, S, A,
+     $                   LDA1, LDA2, Q, LDQ1, LDQ2, IWORK, LIWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPQ, TRIU
+      INTEGER           H, IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
+     $                  LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*), QIND(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(LDWORK), Q(LDQ1,LDQ2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N': do not modify Q;
+          = 'U': modify (update) the array Q by the orthogonal
+                 transformations that are applied to the matrices in
+                 the array A to reduce them to periodic Hessenberg-
+                 triangular form;
+          = 'I': like COMPQ = 'U', except that each matrix in the
+                 array Q will be first initialized to the identity
+                 matrix;
+          = 'P': use the parameters as encoded in QIND.
+
+  QIND    INTEGER array, dimension (K)
+          If COMPQ = 'P', then this array describes the generation
+          of the orthogonal factors as follows:
+             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
+          modified by the transformations corresponding to the
+          i-th orthogonal factor in (1) and (2).
+             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
+          initialized to the identity and modified by the
+          transformations corresponding to the i-th orthogonal
+          factor in (1) and (2).
+             If QIND(I) = 0, then the transformations corresponding
+          to the i-th orthogonal factor in (1), (2) are not applied.
+
+  TRIU    CHARACTER*1
+          Indicates how many matrices are reduced to upper
+          triangular form in the first stage of the algorithm,
+          as follows
+          = 'N':  only matrices with negative signature;
+          = 'A':  all possible N - 1 matrices.
+          The first choice minimizes the computational costs of the
+          algorithm, whereas the second is more cache efficient and
+          therefore faster on modern architectures.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input)  INTEGER
+          The order of each factor in the array A.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of factors.  K &gt;= 0.
+
+  H       (input/output) INTEGER
+          On entry, if H is in the interval [1,K] then the H-th
+          factor of A will be transformed to upper Hessenberg form.
+          Otherwise the most efficient H is chosen.
+          On exit, H indicates the factor of A which is in upper
+          Hessenberg form.
+
+  ILO     (input)  INTEGER
+  IHI     (input)  INTEGER
+          It is assumed that each factor in A is already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
+          ILO = 1 and IHI  = 0, if N = 0.
+          If ILO = IHI, all factors are upper triangular.
+
+  S       (input)  INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array must
+          contain the factors of the general product to be reduced.
+          On exit, A(:,:,H) is overwritten by an upper Hessenberg
+          matrix and each A(:,:,I), for I not equal to H, is
+          overwritten by an upper triangular matrix.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= MAX(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension
+                         (LDQ1,LDQ2,K)
+          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
+          of this array must contain the initial orthogonal factors
+          as described in (1) and (2).
+          On entry, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part of this array must contain some
+          orthogonal factors as described by the parameters QIND.
+          If COMPQ = 'I', this array should not be set on entry.
+          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
+          N-by-N-by-K part of this array contains the modified
+          orthogonal factors as described in (1) and (2).
+          On exit, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part contain some modified orthogonal factors
+          as described by the parameters QIND.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ1    INTEGER
+          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
+
+  LDQ2    INTEGER
+          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if  INFO = -17,  IWORK(1)  returns the needed
+          value of LIWORK.
+
+  LIWORK  INTEGER
+          The length of the array IWORK.  LIWORK &gt;= MAX(1,3*K).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LIWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. 
+          LDWORK &gt;= 1, if MIN(N,K) = 0, or N = 1 or ILO = IHI;
+          LDWORK &gt;= M+MAX(IHI,N-ILO+1)), otherwise, where
+                    M = IHI-ILO+1.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03VY.html b/doc/_build/html/_static/doc/MB03VY.html
new file mode 100644
index 00000000..6cea7cec
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03VY.html
@@ -0,0 +1,157 @@
+<HTML>
+<HEAD><TITLE>MB03VY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03VY">MB03VY</A></H2>
+<H3>
+Orthogonal matrices for reduction to periodic Hessenberg form of a product of matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p,
+  which are defined as the product of ihi-ilo elementary reflectors
+  of order n, as returned by SLICOT Library routine MB03VD:
+
+     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03VY( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, LDWORK, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices Q_1, Q_2, ..., Q_p.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number p of transformation matrices.  P &gt;= 1.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          The values of the indices ilo and ihi, respectively, used
+          in the previous call of the SLICOT Library routine MB03VD.
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA1,LDA2,N)
+          On entry, the leading N-by-N strictly lower triangular
+          part of A(*,*,j) must contain the vectors which define the
+          elementary reflectors used for reducing A_j, as returned
+          by SLICOT Library routine MB03VD, j = 1, ..., p.
+          On exit, the leading N-by-N part of A(*,*,j) contains the
+          N-by-N orthogonal matrix Q_j, j = 1, ..., p.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= max(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= max(1,N).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (LDTAU,P)
+          The leading N-1 elements in the j-th column must contain
+          the scalar factors of the elementary reflectors used to
+          form the matrix Q_j, as returned by SLICOT Library routine
+          MB03VD.
+
+  LDTAU   INTEGER
+          The leading dimension of the array TAU.
+          LDTAU &gt;= max(1,N-1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Each matrix Q_j is generated as the product of the elementary
+  reflectors used for reducing A_j. Standard LAPACK routines for
+  Hessenberg and QR decompositions are used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      Periodic Schur form and some matrix equations.
+      Proc. of the Symposium on the Mathematical Theory of Networks
+      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
+      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03WA.html b/doc/_build/html/_static/doc/MB03WA.html
new file mode 100644
index 00000000..977ee3f8
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03WA.html
@@ -0,0 +1,180 @@
+<HTML>
+<HEAD><TITLE>MB03WA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03WA">MB03WA</A></H2>
+<H3>
+Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To swap adjacent diagonal blocks A11*B11 and A22*B22 of size
+  1-by-1 or 2-by-2 in an upper (quasi) triangular matrix product
+  A*B by an orthogonal equivalence transformation.
+
+  (A, B) must be in periodic real Schur canonical form (as returned
+  by SLICOT Library routine MB03XP), i.e., A is block upper
+  triangular with 1-by-1 and 2-by-2 diagonal blocks, and B is upper
+  triangular.
+
+  Optionally, the matrices Q and Z of generalized Schur vectors are
+  updated.
+
+      Q(in) * A(in) * Z(in)' = Q(out) * A(out) * Z(out)',
+      Z(in) * B(in) * Q(in)' = Z(out) * B(out) * Q(out)'.
+
+  This routine is largely based on the LAPACK routine DTGEX2
+  developed by Bo Kagstrom and Peter Poromaa.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03WA( WANTQ, WANTZ, N1, N2, A, LDA, B, LDB, Q, LDQ,
+     $                   Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            WANTQ, WANTZ
+      INTEGER            INFO, LDA, LDB, LDQ, LDZ, N1, N2
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WANTQ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = .TRUE. :  The matrix Q is updated;
+          = .FALSE.:  the matrix Q is not required.
+
+  WANTZ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = .TRUE. :  The matrix Z is updated;
+          = .FALSE.:  the matrix Z is not required.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The order of the first block A11*B11. N1 = 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of the second block A22*B22. N2 = 0, 1 or 2.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA,N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix A.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the matrix A of the reordered pair.
+
+  LDA     INTEGER
+          The leading dimension of the array A. LDA &gt;= MAX(1,N1+N2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix B.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the matrix B of the reordered pair.
+
+  LDB     INTEGER
+          The leading dimension of the array B. LDB &gt;= MAX(1,N1+N2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension
+          (LDQ,N1+N2)
+          On entry, if WANTQ = .TRUE., the leading
+          (N1+N2)-by-(N1+N2) part of this array must contain the
+          orthogonal matrix Q.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the updated matrix Q. Q will be a rotation
+          matrix for N1=N2=1.
+          This array is not referenced if WANTQ = .FALSE..
+
+  LDQ     INTEGER
+          The leading dimension of the array Q. LDQ &gt;= 1.
+          If WANTQ = .TRUE., LDQ &gt;= N1+N2.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension
+          (LDZ,N1+N2)
+          On entry, if WANTZ = .TRUE., the leading
+          (N1+N2)-by-(N1+N2) part of this array must contain the
+          orthogonal matrix Z.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the updated matrix Z. Z will be a rotation
+          matrix for N1=N2=1.
+          This array is not referenced if WANTZ = .FALSE..
+
+  LDZ     INTEGER
+          The leading dimension of the array Z. LDZ &gt;= 1.
+          If WANTZ = .TRUE., LDZ &gt;= N1+N2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  the transformed matrix (A, B) would be
+                too far from periodic Schur form; the blocks are
+                not swapped and (A,B) and (Q,Z) are unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In the current code both weak and strong stability tests are
+  performed. The user can omit the strong stability test by changing
+  the internal logical parameter WANDS to .FALSE.. See ref. [2] for
+  details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B.
+      A direct method for reordering eigenvalues in the generalized
+      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
+      et al (eds.), Linear Algebra for Large Scale and Real-Time
+      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
+
+  [2] Kagstrom, B., and Poromaa, P.
+      Computing eigenspaces with specified eigenvalues of a regular
+      matrix pair (A, B) and condition estimation: Theory,
+      algorithms and software, Numer. Algorithms, 1996, vol. 12,
+      pp. 369-407.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB03WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03WD">MB03WD</A></H2>
+<H3>
+Schur decomposition and eigenvalues of a product of matrices in periodic Hessenberg form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Schur decomposition and the eigenvalues of a
+  product of matrices, H = H_1*H_2*...*H_p, with H_1 an upper
+  Hessenberg matrix and H_2, ..., H_p upper triangular matrices,
+  without evaluating the product. Specifically, the matrices Z_i
+  are computed, such that
+
+          Z_1' * H_1 * Z_2 = T_1,
+          Z_2' * H_2 * Z_3 = T_2,
+                 ...
+          Z_p' * H_p * Z_1 = T_p,
+
+  where T_1 is in real Schur form, and T_2, ..., T_p are upper
+  triangular.
+
+  The routine works primarily with the Hessenberg and triangular
+  submatrices in rows and columns ILO to IHI, but optionally applies
+  the transformations to all the rows and columns of the matrices
+  H_i, i = 1,...,p. The transformations can be optionally
+  accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ, IHIZ, H,
+     $                   LDH1, LDH2, Z, LDZ1, LDZ2, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPZ, JOB
+      INTEGER           IHI, IHIZ, ILO, ILOZ, INFO, LDH1, LDH2, LDWORK,
+     $                  LDZ1, LDZ2, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK( * ), H( LDH1, LDH2, * ), WI( * ),
+     $                  WR( * ), Z( LDZ1, LDZ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = 'E':  Compute the eigenvalues only;
+          = 'S':  Compute the factors T_1, ..., T_p of the full
+                  Schur form, T = T_1*T_2*...*T_p.
+
+  COMPZ   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrices Z_1, ..., Z_p, as follows:
+          = 'N':  The matrices Z_1, ..., Z_p are not required;
+          = 'I':  Z_i is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z_i is returned,
+                  i = 1, ..., p;
+          = 'V':  Z_i must contain an orthogonal matrix Q_i on
+                  entry, and the product Q_i*Z_i is returned,
+                  i = 1, ..., p.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of matrices in the product H_1*H_2*...*H_p.
+          P &gt;= 1.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that all matrices H_j, j = 2, ..., p, are
+          already upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N, and H_1 is upper quasi-triangular in rows and
+          columns 1:ILO-1 and IHI+1:N, with H_1(ILO,ILO-1) = 0
+          (unless ILO = 1), and H_1(IHI+1,IHI) = 0 (unless IHI = N).
+          The routine works primarily with the Hessenberg submatrix
+          in rows and columns ILO to IHI, but applies the
+          transformations to all the rows and columns of the
+          matrices H_i, i = 1,...,p, if JOB = 'S'.
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  ILOZ    (input) INTEGER
+  IHIZ    (input) INTEGER
+          Specify the rows of Z to which the transformations must be
+          applied if COMPZ = 'I' or COMPZ = 'V'.
+          1 &lt;= ILOZ &lt;= ILO; IHI &lt;= IHIZ &lt;= N.
+
+  H       (input/output) DOUBLE PRECISION array, dimension
+          (LDH1,LDH2,P)
+          On entry, the leading N-by-N part of H(*,*,1) must contain
+          the upper Hessenberg matrix H_1 and the leading N-by-N
+          part of H(*,*,j) for j &gt; 1 must contain the upper
+          triangular matrix H_j, j = 2, ..., p.
+          On exit, if JOB = 'S', the leading N-by-N part of H(*,*,1)
+          is upper quasi-triangular in rows and columns ILO:IHI,
+          with any 2-by-2 diagonal blocks corresponding to a pair of
+          complex conjugated eigenvalues, and the leading N-by-N
+          part of H(*,*,j) for j &gt; 1 contains the resulting upper
+          triangular matrix T_j.
+          If JOB = 'E', the contents of H are unspecified on exit.
+
+  LDH1    INTEGER
+          The first leading dimension of the array H.
+          LDH1 &gt;= max(1,N).
+
+  LDH2    INTEGER
+          The second leading dimension of the array H.
+          LDH2 &gt;= max(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension
+          (LDZ1,LDZ2,P)
+          On entry, if COMPZ = 'V', the leading N-by-N-by-P part of
+          this array must contain the current matrix Q of
+          transformations accumulated by SLICOT Library routine
+          MB03VY.
+          If COMPZ = 'I', Z need not be set on entry.
+          On exit, if COMPZ = 'V', or COMPZ = 'I', the leading
+          N-by-N-by-P part of this array contains the transformation
+          matrices which produced the Schur form; the
+          transformations are applied only to the submatrices
+          Z_j(ILOZ:IHIZ,ILO:IHI), j = 1, ..., P.
+          If COMPZ = 'N', Z is not referenced.
+
+  LDZ1    INTEGER
+          The first leading dimension of the array Z.
+          LDZ1 &gt;= 1,        if COMPZ = 'N';
+          LDZ1 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
+
+  LDZ2    INTEGER
+          The second leading dimension of the array Z.
+          LDZ2 &gt;= 1,        if COMPZ = 'N';
+          LDZ2 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The real and imaginary parts, respectively, of the
+          computed eigenvalues ILO to IHI are stored in the
+          corresponding elements of WR and WI. If two eigenvalues
+          are computed as a complex conjugate pair, they are stored
+          in consecutive elements of WR and WI, say the i-th and
+          (i+1)th, with WI(i) &gt; 0 and WI(i+1) &lt; 0. If JOB = 'S', the
+          eigenvalues are stored in the same order as on the
+          diagonal of the Schur form returned in H.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= IHI-ILO+P-1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, ILO &lt;= i &lt;= IHI, the QR algorithm
+                failed to compute all the eigenvalues ILO to IHI
+                in a total of 30*(IHI-ILO+1) iterations;
+                the elements i+1:IHI of WR and WI contain those
+                eigenvalues which have been successfully computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A refined version of the QR algorithm proposed in [1] and [2] is
+  used. The elements of the subdiagonal, diagonal, and the first
+  supradiagonal of current principal submatrix of H are computed
+  in the process.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      Periodic Schur form and some matrix equations.
+      Proc. of the Symposium on the Mathematical Theory of Networks
+      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
+      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Note that for P = 1, the LAPACK Library routine DHSEQR could be
+  more efficient on some computer architectures than this routine,
+  because DHSEQR uses a block multishift QR algorithm.
+  When P is large and JOB = 'S', it could be more efficient to
+  compute the product matrix H, and use the LAPACK Library routines.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03WD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA1, LDA2, LDTAU, LDZ1, LDZ2, LDZTA
+      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDTAU = NMAX-1,
+     $                   LDZ1 = NMAX, LDZ2 = NMAX, LDZTA = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, NMAX + PMAX - 2 ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SSQ
+      INTEGER          I, IHI, IHIZ, ILO, ILOZ, INFO, J, K, KP1, N, P
+      CHARACTER        COMPZ, JOB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
+     $                 DWORK(LDWORK), TAU(LDTAU,PMAX), WI(NMAX),
+     $                 WR(NMAX), Z(LDZ1,LDZ2,PMAX), ZTA(LDZTA,NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE, DLAPY2
+      LOGICAL          LSAME
+      EXTERNAL         DLANGE, DLAPY2, LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, MB03VD, MB03VY, MB03WD, MB03WX
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, ILO, IHI, ILOZ, IHIZ, JOB, COMPZ
+      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) P
+         ELSE
+*           Read matrices A_1, ..., A_p from the input file.
+            DO 10 K = 1, P
+               READ ( NIN, FMT = * )
+     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
+               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
+   10       CONTINUE
+*           Reduce to the periodic Hessenberg form.
+            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               IF ( LSAME( COMPZ, 'V' ) ) THEN
+                  DO 20 K = 1, P
+                     CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Z(1,1,K),
+     $                            LDZ1 )
+   20             CONTINUE
+*                 Accumulate the transformations.
+                  CALL MB03VY( N, P, ILO, IHI, Z, LDZ1, LDZ2, TAU,
+     $                         LDTAU, DWORK, LDWORK, INFO )
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99996 ) INFO
+                     STOP
+                  ELSE
+*                    Reduce to the periodic Schur form.
+                     CALL MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ,
+     $                            IHIZ, A, LDA1, LDA2, Z, LDZ1, LDZ2,
+     $                            WR, WI, DWORK, LDWORK, INFO )
+                     IF ( INFO.GT.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                        WRITE ( NOUT, FMT = 99991 )
+                        DO 30 I = MAX( ILO, INFO + 1 ), IHI
+                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
+   30                   CONTINUE
+                        STOP
+                     END IF
+                     IF ( INFO.LT.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+*                       Store the isolated eigenvalues.
+                        CALL MB03WX( ILO-1, P, A, LDA1, LDA2, WR, WI,
+     $                               INFO )
+                        IF ( IHI.LT.N )
+     $                     CALL MB03WX( N-IHI, P, A(IHI+1,IHI+1,1),
+     $                                  LDA1, LDA2, WR(IHI+1),
+     $                                  WI(IHI+1), INFO )
+                        WRITE ( NOUT, FMT = 99991 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 60 K = 1, P
+                           WRITE ( NOUT, FMT = 99994 ) K
+                           DO 50 I = 1, N
+                              WRITE ( NOUT, FMT = 99993 )
+     $                              ( A(I,J,K), J = 1, N )
+   50                      CONTINUE
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99992 )
+                        DO 80 K = 1, P
+                           WRITE ( NOUT, FMT = 99994 ) K
+                           DO 70 I = 1, N
+                              WRITE ( NOUT, FMT = 99993 )
+     $                              ( Z(I,J,K), J = 1, N )
+   70                      CONTINUE
+   80                   CONTINUE
+*                       Compute error.
+                        SSQ = ZERO
+                        DO 90 K = 1, P
+                           KP1 = K+1
+                           IF( KP1.GT.P ) KP1 = 1
+*                          Compute NORM (Z' * A * Z - Aout)
+                           CALL DGEMM( 'T', 'N', N, N, N, ONE, Z(1,1,K),
+     $                                 LDZ1, AS(1,1,K), LDA1, ZERO, ZTA,
+     $                                 LDZTA )
+                           CALL DGEMM( 'N', 'N', N, N, N, ONE, ZTA,
+     $                                 LDZTA, Z(1,1,KP1), LDZ1, -ONE,
+     $                                 A(1,1,K), LDA1 )
+                           SSQ = DLAPY2( SSQ,
+     $                                   DLANGE( 'Frobenius', N, N,
+     $                                           A(1,1,K), LDA1,
+     $                                           DWORK ) )
+   90                   CONTINUE
+                        WRITE ( NOUT, FMT = 99989 ) SSQ
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT (' MB03WD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from MB03WD = ', I2)
+99997 FORMAT (' INFO on exit from MB03VD = ', I2)
+99996 FORMAT (' INFO on exit from MB03VY = ', I2)
+99995 FORMAT (/' Reduced matrices')
+99994 FORMAT (/' K = ', I5)
+99993 FORMAT (8F8.4)
+99992 FORMAT (/' Transformation matrices')
+99991 FORMAT ( ' Computed eigenvalues'/)
+99990 FORMAT (4X,'( ', F17.6,' ,', F17.6,' )')
+99989 FORMAT (/,' NORM (Z''*A*Z - Aout) = ', 1PD12.5)
+99988 FORMAT (/, ' N is out of range.',/' N = ', I5)
+99987 FORMAT (/, ' P is out of range.',/' P = ', I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03WD EXAMPLE PROGRAM DATA
+4 2 1 4 1 4 S V
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03WD EXAMPLE PROGRAM RESULTS
+
+ Computed eigenvalues
+
+    (          6.449861 ,         7.817717 )
+    (          6.449861 ,        -7.817717 )
+    (          0.091315 ,         0.000000 )
+    (          0.208964 ,         0.000000 )
+
+ Reduced matrices
+
+ K =     1
+  2.2112  4.3718 -2.3362  0.8907
+ -0.9179  2.7688 -0.6570 -2.2426
+  0.0000  0.0000  0.3022  0.1932
+  0.0000  0.0000  0.0000 -0.4571
+
+ K =     2
+  2.9169  3.4539  2.2016  1.2367
+  0.0000  3.4745  1.0209 -2.0720
+  0.0000  0.0000  0.3022 -0.1932
+  0.0000  0.0000  0.0000 -0.4571
+
+ Transformation matrices
+
+ K =     1
+  0.3493  0.6751 -0.6490  0.0327
+  0.7483 -0.4863 -0.1249 -0.4336
+  0.2939  0.5504  0.7148 -0.3158
+  0.4813 -0.0700  0.2286  0.8433
+
+ K =     2
+  0.2372  0.7221  0.6490  0.0327
+  0.8163 -0.3608  0.1249 -0.4336
+  0.2025  0.5902 -0.7148 -0.3158
+  0.4863  0.0076 -0.2286  0.8433
+
+ NORM (Z'*A*Z - Aout) =  7.18432D-15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03WX.html b/doc/_build/html/_static/doc/MB03WX.html
new file mode 100644
index 00000000..3df87c44
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03WX.html
@@ -0,0 +1,103 @@
+<HTML>
+<HEAD><TITLE>MB03WX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03WX">MB03WX</A></H2>
+<H3>
+Eigenvalues of a product of matrices in periodic Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a product of matrices,
+  T = T_1*T_2*...*T_p, where T_1 is an upper quasi-triangular
+  matrix and T_2, ..., T_p are upper triangular matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03WX( N, P, T, LDT1, LDT2, WR, WI, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDT1, LDT2, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION T( LDT1, LDT2, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix T.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of matrices in the product T_1*T_2*...*T_p.
+          P &gt;= 1.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT1,LDT2,P)
+          The leading N-by-N part of T(*,*,1) must contain the upper
+          quasi-triangular matrix T_1 and the leading N-by-N part of
+          T(*,*,j) for j &gt; 1 must contain the upper-triangular
+          matrix T_j, j = 2, ..., p.
+          The elements below the subdiagonal of T(*,*,1) and below
+          the diagonal of T(*,*,j), j = 2, ..., p, are not
+          referenced.
+
+  LDT1    INTEGER
+          The first leading dimension of the array T.
+          LDT1 &gt;= max(1,N).
+
+  LDT2    INTEGER
+          The second leading dimension of the array T.
+          LDT2 &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of T. The eigenvalues are stored in the same
+          order as on the diagonal of T_1. If T(i:i+1,i:i+1,1) is a
+          2-by-2 diagonal block with complex conjugated eigenvalues
+          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03XD.html b/doc/_build/html/_static/doc/MB03XD.html
new file mode 100644
index 00000000..caa94ae2
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03XD.html
@@ -0,0 +1,524 @@
+<HTML>
+<HEAD><TITLE>MB03XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XD">MB03XD</A></H2>
+<H3>
+Computing the eigenvalues of a Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a Hamiltonian matrix,
+
+                [  A   G  ]         T        T
+          H  =  [       T ],   G = G,   Q = Q,                  (1)
+                [  Q  -A  ]
+
+  where A, G and Q are real n-by-n matrices.
+
+  Due to the structure of H all eigenvalues appear in pairs
+  (lambda,-lambda). This routine computes the eigenvalues of H
+  using an algorithm based on the symplectic URV and the periodic
+  Schur decompositions as described in [1],
+
+        T       [  T   G  ]
+       U H V =  [       T ],                                    (2)
+                [  0   S  ]
+
+  where U and V are 2n-by-2n orthogonal symplectic matrices,
+  S is in real Schur form and T is upper triangular.
+
+  The algorithm is backward stable and preserves the eigenvalue
+  pairings in finite precision arithmetic.
+
+  Optionally, a symplectic balancing transformation to improve the
+  conditioning of eigenvalues is computed (see MB04DD). In this
+  case, the matrix H in decomposition (2) must be replaced by the
+  balanced matrix.
+
+  The SLICOT Library routine MB03ZD can be used to compute invariant
+  subspaces of H from the output of this routine.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
+     $                   T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
+     $                   WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          BALANC, JOB, JOBU, JOBV
+      INTEGER            ILO, INFO, LDA, LDQG, LDT, LDU1, LDU2, LDV1,
+     $                   LDV2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*), SCALE(*),
+     $                   T(LDT,*), U1(LDU1,*), U2(LDU2,*), V1(LDV1,*),
+     $                   V2(LDV2,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how H should be diagonally scaled and/or
+          permuted to reduce its norm.
+          = 'N': Do not diagonally scale or permute;
+          = 'P': Perform symplectic permutations to make the matrix
+                 closer to Hamiltonian Schur form. Do not diagonally
+                 scale;
+          = 'S': Diagonally scale the matrix, i.e., replace A, G and
+                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
+                 D is a diagonal matrix chosen to make the rows and
+                 columns of H more equal in norm. Do not permute;
+          = 'B': Both diagonally scale and permute A, G and Q.
+          Permuting does not change the norm of H, but scaling does.
+
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          decomposition (2) or the eigenvalues only, as follows:
+          = 'E': compute the eigenvalues only;
+          = 'S': compute matrices T and S of (2);
+          = 'G': compute matrices T, S and G of (2).
+
+  JOBU    CHARACTER*1
+          Indicates whether or not the user wishes to compute the
+          orthogonal symplectic matrix U of (2) as follows:
+          = 'N': the matrix U is not computed;
+          = 'U': the matrix U is computed.
+
+  JOBV    CHARACTER*1
+          Indicates whether or not the user wishes to compute the
+          orthogonal symplectic matrix V of (2) as follows:
+          = 'N': the matrix V is not computed;
+          = 'V': the matrix V is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, this array is overwritten. If JOB = 'S' or
+          JOB = 'G', the leading N-by-N part of this array contains
+          the matrix S in real Schur form of decomposition (2).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G.
+          On exit, this array is overwritten. If JOB = 'G', the
+          leading N-by-N+1 part of this array contains in columns
+          2:N+1 the matrix G of decomposition (2).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= max(1,N).
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          On exit, if JOB = 'S' or JOB = 'G', the leading N-by-N
+          part of this array contains the upper triangular matrix T
+          of the decomposition (2). Otherwise, this array is used as
+          workspace.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the (1,1) block of the orthogonal
+          symplectic matrix U of decomposition (2).
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= 1.
+          LDU1 &gt;= N,    if JOBU = 'U'.
+
+  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the (2,1) block of the orthogonal
+          symplectic matrix U of decomposition (2).
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= 1.
+          LDU2 &gt;= N,    if JOBU = 'U'.
+
+  V1      (output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On exit, if JOBV = 'V', the leading N-by-N part of this
+          array contains the (1,1) block of the orthogonal
+          symplectic matrix V of decomposition (2).
+
+  LDV1    INTEGER
+          The leading dimension of the array V1.  LDV1 &gt;= 1.
+          LDV1 &gt;= N,    if JOBV = 'V'.
+
+  V2      (output) DOUBLE PRECISION array, dimension (LDV2,N)
+          On exit, if JOBV = 'V', the leading N-by-N part of this
+          array contains the (2,1) block of the orthogonal
+          symplectic matrix V of decomposition (2).
+
+  LDV2    INTEGER
+          The leading dimension of the array V2.  LDV2 &gt;= 1.
+          LDV2 &gt;= N,    if JOBV = 'V'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          On exit, the leading N elements of WR and WI contain the
+          real and imaginary parts, respectively, of N eigenvalues
+          that have nonnegative imaginary part. Their complex
+          conjugate eigenvalues are not stored. If imaginary parts
+          are zero (i.e., for real eigenvalues), only positive
+          eigenvalues are stored.
+
+  ILO     (output) INTEGER
+          ILO is an integer value determined when H was balanced.
+          The balanced A(i,j) = 0 if I &gt; J and J = 1,...,ILO-1.
+          The balanced Q(i,j) = 0 if J = 1,...,ILO-1 or
+          I = 1,...,ILO-1.
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
+          array contain details of the permutation and/or scaling
+          factors applied when balancing H, see MB04DD.
+          This array is not referenced if BALANC = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
+          scaled (if BALANC = 'S' or 'B') Hamiltonian matrix.
+          On exit, if  INFO = -25,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  (input) INTEGER
+          The dimension of the array DWORK. LDWORK &gt;= max( 2, 8*N ).
+          Moreover:
+          If JOB = 'E' or 'S' and JOBU = 'N' and JOBV = 'N',
+             LDWORK &gt;= 7*N+N*N.
+          If JOB = 'G' and JOBU = 'N' and JOBV = 'N',
+             LDWORK &gt;= max( 7*N+N*N, 2*N+3*N*N ).
+          If JOB = 'G' and JOBU = 'U' and JOBV = 'N',
+             LDWORK &gt;= 7*N+2*N*N.
+          If JOB = 'G' and JOBU = 'N' and JOBV = 'V',
+             LDWORK &gt;= 7*N+2*N*N.
+          If JOB = 'G' and JOBU = 'U' and JOBV = 'V',
+             LDWORK &gt;= 7*N+N*N.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO     (output) INTEGER
+           = 0:  successful exit;
+           &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+           &gt; 0:  if INFO = i, the periodic QR algorithm failed to
+                 compute all the eigenvalues, elements i+1:N of WR
+                 and WI contain eigenvalues which have converged.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils.
+      Numer. Math., Vol. 78(3), pp. 329-358, 1998.
+
+  [2] Benner, P., Mehrmann, V., and Xu, H.
+      A new method for computing the stable invariant subspace of a
+      real Hamiltonian matrix,  J. Comput. Appl. Math., vol. 86,
+      pp. 17-43, 1997.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03XD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG, LDRES, LDT, LDU1, LDU2, LDV1, LDV2,
+     $                 LDWORK
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDRES = NMAX,
+     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDV1 = NMAX, LDV2 = NMAX,
+     $                   LDWORK = 3*NMAX*NMAX + 7*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      BALANC, JOB, JOBU, JOBV
+      INTEGER          I, ILO, INFO, J, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), QG(LDQG, NMAX+1),
+     $                 RES(LDRES,3*NMAX+1), SCALE(NMAX), T(LDT,NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), V1(LDV1,NMAX),
+     $                 V2(LDV2, NMAX), WI(NMAX), WR(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
+      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, MB03XD, MB04DD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU, JOBV
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
+         INFO = 0
+         CALL MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
+     $                T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
+     $                WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
+20          CONTINUE
+            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) ( A(I,J), J = 1,N )
+30             CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 40  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) ( T(I,J), J = 1,N )
+40             CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99993 )
+               DO 50  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) ( QG(I,J+1), J = 1,N )
+50             CONTINUE
+            END IF
+C
+            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ).AND.
+     $           LSAME( JOBV, 'V' ) ) THEN
+               CALL MB04DD( BALANC, N, RES(1,N+1), LDRES, RES(1,2*N+1),
+     $                      LDRES, I, DWORK, INFO )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     RES(1,N+1), LDRES, V1, LDV1, ZERO, RES,
+     $                     LDRES )
+               CALL DSYMM ( 'Left', 'Upper', N, N, -ONE, RES(1,2*N+2),
+     $                      LDRES, V2, LDV2, ONE, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                     -ONE, U1, LDU1, T, LDT, ONE, RES, LDRES )
+               TEMP = DLANGE( 'Frobenius', N, N, RES, LDRES, DWORK )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     RES(1,N+1), LDRES, V2, LDV2, ZERO, RES,
+     $                     LDRES )
+               CALL DSYMM( 'Left', 'Upper', N, N, ONE, RES(1,2*N+2),
+     $                     LDRES, V1, LDV1, ONE, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                     -ONE, U1, LDU1, QG(1,2), LDQG, ONE, RES,
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                     -ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
+     $                                      LDRES, DWORK ) )
+               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
+     $                     LDRES, V1, LDV1, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE,
+     $                     RES(1,N+1), LDRES, V2, LDV2, ONE, RES,
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, T, LDT, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
+     $                                      LDRES, DWORK ) )
+
+
+               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
+     $                     LDRES, V2, LDV2, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, -ONE,
+     $                     RES(1,N+1), LDRES, V1, LDV1, ONE, RES,
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, QG(1,2), LDQG, ONE, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
+     $                                      LDRES, DWORK ) )
+               WRITE ( NOUT, FMT = 99987 ) TEMP
+            END IF
+C
+            IF ( LSAME( JOBU, 'U' ) ) THEN
+               WRITE ( NOUT, FMT = 99992 )
+               DO 60  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+60             CONTINUE
+               DO 70  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+70             CONTINUE
+               WRITE ( NOUT, FMT = 99986 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+            END IF
+            IF ( LSAME( JOBV, 'V' ) ) THEN
+               WRITE ( NOUT, FMT = 99991 )
+               DO 80  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( V1(I,J), J = 1,N ), ( V2(I,J), J = 1,N )
+80             CONTINUE
+               DO 90  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( -V2(I,J), J = 1,N ), ( V1(I,J), J = 1,N )
+90             CONTINUE
+               WRITE ( NOUT, FMT = 99985 ) MA02JD( .FALSE., .FALSE., N,
+     $                 V1, LDV1, V2, LDV2, RES, LDRES )
+            END IF
+            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99989 )
+               DO 100  I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
+100            CONTINUE
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03XD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03XD = ',I2)
+99997 FORMAT (' The eigenvalues are',//'   i',6X,
+     $        'WR(i)',6X,'WI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' The matrix S of the reduced matrix is')
+99994 FORMAT (/' The matrix T of the reduced matrix is')
+99993 FORMAT (/' The matrix G of the reduced matrix is')
+99992 FORMAT (/' The orthogonal symplectic factor U is')
+99991 FORMAT (/' The orthogonal symplectic factor V is')
+99990 FORMAT (20(1X,F19.16))
+99989 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
+     $        'SCALE(i)',/)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
+99986 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
+99985 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03XD EXAMPLE PROGRAM DATA
+	5	N	G	U	V
+  3.7588548168313685e-001  9.1995720669587144e-001  1.9389317998466821e-001  5.4878212553858818e-001  6.2731478808399666e-001
+  9.8764628987858052e-003  8.4472150190817474e-001  9.0481233416635698e-001  9.3158335257969060e-001  6.9908013774533750e-001
+  4.1985780631021896e-001  3.6775288246828447e-001  5.6920574967174709e-001  3.3519743020639464e-001  3.9718395379261456e-001
+  7.5366962581358721e-001  6.2080133182114383e-001  6.3178992922175603e-001  6.5553105501201447e-001  4.1362889533818031e-001
+  7.9387177473231862e-001  7.3127726446634478e-001  2.3441295540825388e-001  3.9190420688900335e-001  6.5521294635567051e-001
+  1.8015558545989005e-001  4.1879254941592853e-001  2.7203760737317784e-001  2.8147214090719214e-001  1.7731904815580199e-001  3.4718672159409536e-001
+  2.7989257702981651e-001  3.5042861661866559e-001  2.5565572408444881e-001  4.3977750345993827e-001  2.8855026075967616e-001  2.1496327083014577e-001
+  1.7341073886969158e-001  3.9913855375815932e-001  4.0151317011596516e-001  4.0331887464437133e-001  2.6723538667317948e-001  3.7110275606849241e-001
+  3.7832182695699140e-001  3.3812641389556752e-001  8.4360396433341395e-002  4.3672540277019672e-001  7.0022228267365608e-002  3.8210230186291916e-001
+  1.9548216143135175e-001  2.9055490787446736e-001  4.7670819669167425e-001  1.4636498713707141e-001  2.7670398401519275e-001  2.9431082727794898e-002
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03XD EXAMPLE PROGRAM RESULTS
+
+ The eigenvalues are
+
+   i      WR(i)      WI(i)
+
+   1     3.1941     0.0000
+   2     0.1350     0.3179
+   3    -0.1350     0.3179
+   4     0.0595     0.2793
+   5    -0.0595     0.2793
+
+ The matrix S of the reduced matrix is
+ -3.1844761777714723  0.1612357243439330 -0.0628592203751083  0.2449004200921966  0.1974400149992633
+  0.0000000000000000 -0.1510667773167795  0.4260444411622876 -0.1775026035208666  0.3447278421198404
+  0.0000000000000000 -0.1386140422054281 -0.3006779624777419  0.2944143257134117  0.3456440339120381
+  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740589  0.0933189808067083
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359630  0.2004347508746724
+
+ The matrix T of the reduced matrix is
+  3.2038208121776366  0.1805955192510636  0.2466389119377562 -0.2539149302433404 -0.0359238844381174
+  0.0000000000000000 -0.7196686433290822  0.0000000000000000  0.2428659121580382 -0.0594190100670709
+  0.0000000000000000  0.0000000000000000 -0.1891741194498124 -0.3309578443491325 -0.0303520731950498
+  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961496  0.0000000000000000
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
+
+ The matrix G of the reduced matrix is
+ -0.0370982242678458  0.0917788436945730 -0.0560402416315236  0.1345152517579191  0.0256668227276665
+  0.0652183678916926 -0.0700457231988328  0.0350041175858816 -0.2233868768749277 -0.1171980260782820
+ -0.0626428681377074  0.2327575351902838 -0.1251515732208133 -0.0177816046663209  0.3696921118421109
+  0.0746042309265569 -0.0828007611045243  0.0217427473546003 -0.1157775118548850 -0.3161183681200607
+  0.1374372236164838  0.1002727885506978  0.4021556774753987 -0.0431072263235625  0.1067394572547804
+
+ Residual: || H*V - U*R ||_F = .38E-14
+
+ The orthogonal symplectic factor U is
+  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499 -0.1795922007470744  0.1908329820840935  0.0868799433942041  0.3114741142062469 -0.2579907627915116
+  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881 -0.2447897730222852 -0.1028403314750053 -0.1157840914576285 -0.1873268885694422  0.1700708002861556
+  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478 -0.2243335325285329  0.3180998613802498  0.3315380214794935  0.1977859924739816  0.5072476567310036
+  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014 -0.2128397588651423 -0.2740560593051884  0.1941418870268831 -0.3096684962457407 -0.0581576193198820
+  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056 -0.2002027567371933 -0.0040094115506845 -0.3979373387545256  0.1520881534833996 -0.2010804514091296
+  0.1795922007470744 -0.1908329820840935 -0.0868799433942041 -0.3114741142062469  0.2579907627915116  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499
+  0.2447897730222852  0.1028403314750053  0.1157840914576285  0.1873268885694422 -0.1700708002861556  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881
+  0.2243335325285329 -0.3180998613802498 -0.3315380214794935 -0.1977859924739816 -0.5072476567310036  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478
+  0.2128397588651423  0.2740560593051884 -0.1941418870268831  0.3096684962457407  0.0581576193198820  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014
+  0.2002027567371933  0.0040094115506845  0.3979373387545256 -0.1520881534833996  0.2010804514091296  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056
+
+ Orthogonality of U: || U^T U - I ||_F = .28E-14
+
+ The orthogonal symplectic factor V is
+  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
+  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576  0.0299719306696789 -0.2322624725320732 -0.0280846899680330 -0.3044255686880015 -0.1077641482535463
+  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027 -0.0069083614679702  0.3351358347080169 -0.4922707032978909  0.4293545450291777  0.4372821269061838
+  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154  0.0167847133528844  0.2843629278945263  0.5958979805231206  0.3097336757510830 -0.2086733033047175
+  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708  0.0248567764822071 -0.2810759958040465 -0.1653113624869875 -0.3528780198620394 -0.0254898556119200
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695
+ -0.0299719306696789  0.2322624725320732  0.0280846899680330  0.3044255686880015  0.1077641482535463  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576
+  0.0069083614679702 -0.3351358347080169  0.4922707032978909 -0.4293545450291777 -0.4372821269061838  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027
+ -0.0167847133528844 -0.2843629278945263 -0.5958979805231206 -0.3097336757510830  0.2086733033047175  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154
+ -0.0248567764822071  0.2810759958040465  0.1653113624869875  0.3528780198620394  0.0254898556119200  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708
+
+ Orthogonality of V: || V^T V - I ||_F = .25E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03XP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XP">MB03XP</A></H2>
+<H3>
+Computing periodic Schur decomposition and eigenvalues of a matrix product A B, with A upper Hessenberg and B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the periodic Schur decomposition and the eigenvalues of
+  a product of matrices, H = A*B, with A upper Hessenberg and B
+  upper triangular without evaluating any part of the product.
+  Specifically, the matrices Q and Z are computed, so that
+
+       Q' * A * Z = S,    Z' * B * Q = T
+
+  where S is in real Schur form, and T is upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XP( JOB, COMPQ, COMPZ, N, ILO, IHI, A, LDA, B, LDB,
+     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOB
+      INTEGER            IHI, ILO, INFO, LDA, LDB, LDQ, LDWORK, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = 'E':  Compute the eigenvalues only;
+          = 'S':  compute the factors S and T of the full
+                  Schur form.
+
+  COMPQ   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = 'N':  The matrix Q is not required;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'V':  Q must contain an orthogonal matrix U on entry,
+                  and the product U*Q is returned.
+
+  COMPZ   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = 'N':  The matrix Z is not required;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'V':  Z must contain an orthogonal matrix U on entry,
+                  and the product U*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B. N &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that the matrices A and B are already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          The routine works primarily with the submatrices in rows
+          and columns ILO to IHI, but applies the transformations to
+          all the rows and columns of the matrices A and B, if
+          JOB = 'S'.
+          1 &lt;= ILO &lt;= max(1,N+1); min(ILO,N) &lt;= IHI &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array A must
+          contain the upper Hessenberg matrix A.
+          On exit, if JOB = 'S', the leading N-by-N part of this
+          array is upper quasi-triangular with any 2-by-2 diagonal
+          blocks corresponding to a pair of complex conjugated
+          eigenvalues.
+          If JOB = 'E', the diagonal elements and 2-by-2 diagonal
+          blocks of A will be correct, but the remaining parts of A
+          are unspecified on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array B must
+          contain the upper triangular matrix B.
+          On exit, if JOB = 'S', the leading N-by-N part of this
+          array contains the transformed upper triangular matrix.
+          2-by-2 blocks in B corresponding to 2-by-2 blocks in A
+          will be reduced to positive diagonal form. (I.e., if
+          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
+          and B(j+1,j+1) will be positive.)
+          If JOB = 'E', the elements corresponding to diagonal
+          elements and 2-by-2 diagonal blocks in A will be correct,
+          but the remaining parts of B are unspecified on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if COMPQ = 'V', then the leading N-by-N part of
+          this array must contain a matrix Q which is assumed to be
+          equal to the unit matrix except for the submatrix
+          Q(ILO:IHI,ILO:IHI).
+          If COMPQ = 'I', Q need not be set on entry.
+          On exit, if COMPQ = 'V' or COMPQ = 'I' the leading N-by-N
+          part of this array contains the transformation matrix
+          which produced the Schur form.
+          If COMPQ = 'N', Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= 1.
+          If COMPQ &lt;&gt; 'N', LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if COMPZ = 'V', then the leading N-by-N part of
+          this array must contain a matrix Z which is assumed to be
+          equal to the unit matrix except for the submatrix
+          Z(ILO:IHI,ILO:IHI).
+          If COMPZ = 'I', Z need not be set on entry.
+          On exit, if COMPZ = 'V' or COMPZ = 'I' the leading N-by-N
+          part of this array contains the transformation matrix
+          which produced the Schur form.
+          If COMPZ = 'N', Z is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= 1.
+          If COMPZ &lt;&gt; 'N', LDZ &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The i-th (1 &lt;= i &lt;= N) computed eigenvalue is given by
+          BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
+          eigenvalues are computed as a complex conjugate pair,
+          they are stored in consecutive elements of ALPHAR, ALPHAI
+          and BETA. If JOB = 'S', the eigenvalues are stored in the
+          same order as on the diagonales of the Schur forms of A
+          and B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then MB03XP failed to compute the Schur
+                form in a total of 30*(IHI-ILO+1) iterations;
+                elements 1:ilo-1 and i+1:n of ALPHAR, ALPHAI and
+                BETA contain successfully computed eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm is a multi-shift version of the periodic
+  QR algorithm described in [1,3] with some minor modifications
+  proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
+      The periodic Schur decomposition: Algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. Proc. of the IFAC Workshop on Periodic Control
+      Systems, pp. 187-192, 2001.
+
+  [3] Van Loan, C.
+      Generalized Singular Values with Algorithms and Applications.
+      Ph. D. Thesis, University of Michigan, 1973.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03XP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 200 )
+      INTEGER          LDA, LDB, LDQ, LDRES, LDZ, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDQ = NMAX,
+     $                   LDRES = NMAX, LDWORK = NMAX, LDZ = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, IHI, ILO, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
+     $                 Q(LDQ,NMAX), RES(LDRES,3*NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE
+      EXTERNAL         DLANGE
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, MB03XP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, ILO, IHI
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, B, LDB, RES(1,2*N+1), LDRES )
+         CALL MB03XP( 'S', 'I', 'I', N, ILO, IHI, A, LDA, B, LDB, Q,
+     $                LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK, LDWORK,
+     $                INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( A(I,J), J = 1,N )
+10          CONTINUE
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                  RES(1,N+1), LDRES, Z, LDZ, ZERO, RES, LDRES )
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
+     $                  Q, LDQ, A, LDA, ONE, RES, LDRES )
+            WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99995 )
+            DO 20  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( B(I,J), J = 1,N )
+20          CONTINUE
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                  RES(1,2*N+1), LDRES, Q, LDQ, ZERO, RES, LDRES )
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
+     $                  Z, LDZ, B, LDB, ONE, RES, LDRES )
+            WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99994 )
+            DO 30  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( Q(I,J), J = 1,N )
+30          CONTINUE
+            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Q,
+     $                  LDQ, Q, LDQ, ONE, RES, LDRES )
+            DO 40  I = 1, N
+               RES(I,I) = RES(I,I) - ONE
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99987 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99993 )
+            DO 50  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( Z(I,J), J = 1,N )
+50          CONTINUE
+            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Z,
+     $                  LDZ, Z, LDZ, ONE, RES, LDRES )
+            DO 60 I = 1, N
+               RES(I,I) = RES(I,I) - ONE
+60          CONTINUE
+            WRITE ( NOUT, FMT = 99986 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99992 )
+            DO 70  I = 1, N
+               WRITE ( NOUT, FMT = 99991 )
+     $                 ALPHAR(I), ALPHAI(I), BETA(I)
+70          CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03XP EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03XP = ',I2)
+99996 FORMAT (' The reduced matrix A is ')
+99995 FORMAT (/' The reduced matrix B is ')
+99994 FORMAT (/' The orthogonal factor Q is ')
+99993 FORMAT (/' The orthogonal factor Z is ')
+99992 FORMAT (/4X,'ALPHAR',4X,'ALPHAI',4X,'BETA')
+99991 FORMAT (1000(1X,F9.4))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' Residual: || A*Z - Q*S ||_F = ',G7.2)
+99988 FORMAT (/' Residual: || B*Q - Z*T ||_F = ',G7.2)
+99987 FORMAT (/' Orthogonality of Q: || Q''*Q - I ||_F = ',G7.2)
+99986 FORMAT (/' Orthogonality of Z: || Z''*Z - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03XP EXAMPLE PROGRAM DATA
+        8       1       8
+    0.9708   -1.1156   -0.0884   -0.2684    0.2152    0.0402    0.0333    0.5141
+   -1.6142    2.8635    1.0420   -0.2295   -0.3560    0.4885    0.1026   -0.0164
+         0    1.1138    0.3509   -0.0963    0.0875    0.2158    0.2444   -0.2838
+         0         0   -0.5975    0.1021   -0.1026   -0.0062   -0.2646   -0.0745
+         0         0         0    0.6181    0.1986    0.3612   -0.1750    0.3332
+         0         0         0         0   -0.7387   -0.5201    0.0713    0.0501
+         0         0         0         0         0   -0.2677   -0.4918   -0.2838
+         0         0         0         0         0         0    0.3011    0.3389
+    0.9084    0.1739    0.5915    0.8729    0.8188    0.1911    0.4122    0.5527
+         0    0.1708    0.1197    0.2379    0.4302    0.4225    0.9016    0.4001
+         0         0    0.0381    0.6458    0.8903    0.8560    0.0056    0.1988
+         0         0         0    0.9669    0.7349    0.4902    0.2974    0.6252
+         0         0         0         0    0.6873    0.8159    0.0492    0.7334
+         0         0         0         0         0    0.4608    0.6932    0.3759
+         0         0         0         0         0         0    0.6501    0.0099
+         0         0         0         0         0         0         0    0.4199
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03XP EXAMPLE PROGRAM RESULTS
+
+ The reduced matrix A is 
+   -0.6290   -0.1397   -0.0509    0.1603   -0.3248    0.2381    0.0694    0.0103
+    1.5112   -3.4273   -0.4485   -0.4357   -0.3456    0.4619    0.5998    0.5654
+    0.0000    0.0000    0.0547   -0.4360    0.1714   -0.2103   -0.0900   -0.4011
+    0.0000    0.0000    0.6623    0.2038    0.2796   -0.2629    0.3837    0.2382
+    0.0000    0.0000    0.0000    0.0000   -0.6315    0.2071   -0.0174   -0.3538
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.5850   -0.1813    0.2435
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000   -0.7884    0.1535
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.2832
+
+ Residual: || A*Z - Q*S ||_F = .60E-14
+
+ The reduced matrix B is 
+   -0.9231    0.0000   -0.9834    0.1805    0.4428    0.3655   -0.4300    0.8498
+    0.0000   -0.1837   -0.1873    0.0681    0.8412   -0.0556    0.0538    0.6113
+    0.0000    0.0000   -1.8997    0.0000    0.5651   -0.2785    0.2882    1.0458
+    0.0000    0.0000    0.0000   -0.2602    0.3527   -0.0020   -0.3396    0.2739
+    0.0000    0.0000    0.0000    0.0000    0.8521   -0.0164    0.2115    0.5446
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0283   -0.5128    0.0153
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.4153    0.4587
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.5894
+
+ Residual: || B*Q - Z*T ||_F = .55E-14
+
+ The orthogonal factor Q is 
+   -0.5333    0.3661   -0.1179    0.0264    0.0026    0.7527    0.0018    0.0189
+    0.0583   -0.8833   -0.0666   -0.0007    0.0017    0.4603    0.0050    0.0092
+   -0.8414   -0.2927    0.0347    0.0452   -0.0005   -0.4498   -0.0269    0.0001
+    0.0077    0.0046   -0.5687   -0.4810    0.0227   -0.0708   -0.6500    0.1312
+    0.0598    0.0059   -0.6128    0.7656    0.1348   -0.0863    0.0038    0.0954
+   -0.0242   -0.0016   -0.4295   -0.4163    0.3871   -0.0709    0.6964   -0.0417
+    0.0027    0.0001    0.3109    0.0620    0.8615    0.0378   -0.2267    0.3231
+    0.0012    0.0000    0.0188   -0.0514   -0.2987   -0.0172    0.2010    0.9312
+
+ Orthogonality of Q: || Q'*Q - I ||_F = .63E-14
+
+ The orthogonal factor Z is 
+    0.9957   -0.0786    0.0397   -0.0032    0.0006    0.0227    0.0104    0.0123
+    0.0764    0.9956    0.0200    0.0073   -0.0009    0.0389    0.0263    0.0193
+   -0.0062    0.0235    0.6714   -0.0229    0.0271   -0.4461   -0.5354   -0.2486
+   -0.0445   -0.0437    0.6098    0.4197   -0.0656    0.6125    0.1248    0.2302
+   -0.0242   -0.0148    0.4049   -0.6041    0.2808   -0.1328    0.5972    0.1311
+    0.0096    0.0037   -0.0183    0.6539    0.5114   -0.4136    0.3620   -0.0913
+   -0.0019   -0.0004   -0.1055   -0.1544    0.7891    0.2944   -0.4436    0.2426
+   -0.0005    0.0000   -0.0039    0.0826   -0.1786   -0.3853   -0.1119    0.8946
+
+ Orthogonality of Z: || Z'*Z - I ||_F = .78E-14
+
+    ALPHAR    ALPHAI    BETA
+    0.4723    0.1464    1.2811
+    0.4723   -0.1464    1.2811
+   -0.0318    0.1527    2.4691
+   -0.0318   -0.1527    2.4691
+   -0.6315    0.0000    0.8521
+   -0.5850    0.0000    0.0283
+   -0.7884    0.0000    0.4153
+    0.2832    0.0000    0.5894
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03XS.html b/doc/_build/html/_static/doc/MB03XS.html
new file mode 100644
index 00000000..035e9c3e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03XS.html
@@ -0,0 +1,225 @@
+<HTML>
+<HEAD><TITLE>MB03XS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XS">MB03XS</A></H2>
+<H3>
+Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues and real skew-Hamiltonian Schur form of
+  a skew-Hamiltonian matrix,
+
+                [  A   G  ]
+          W  =  [       T ],
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices. Specifically, an orthogonal symplectic matrix U is
+  computed so that
+
+            T       [  Aout  Gout  ]
+           U W U =  [            T ] ,
+                    [    0   Aout  ]
+
+  where Aout is in Schur canonical form (as returned by the LAPACK
+  routine DHSEQR). That is, Aout is block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+  Optionally, the matrix U is returned in terms of its first N/2
+  rows
+
+                   [  U1   U2 ]
+               U = [          ].
+                   [ -U2   U1 ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XS( JOBU, N, A, LDA, QG, LDQG, U1, LDU1, U2, LDU2,
+     $                   WR, WI, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU
+      INTEGER           INFO, LDA, LDQG, LDU1, LDU2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U1(LDU1,*),
+     $                  U2(LDU2,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Specifies whether matrix U is computed or not, as follows:
+          = 'N': transformation matrix U is not computed;
+          = 'U': transformation matrix U is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout in Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          in columns 2:N+1 the strictly upper triangular part of the
+          skew-symmetric matrix Gout. The part which contained the
+          matrix Q is set to zero.
+          Note that the parts containing the diagonal and the first
+          superdiagonal of this array are not overwritten by zeros
+          only if JOBU = 'U' or LDWORK &gt;= 2*N*N - N.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the matrix U1.
+          If JOBU = 'N', this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= MAX(1,N),  if JOBU = 'U';
+          LDU1 &gt;= 1,         if JOBU = 'N'.
+
+  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the matrix U2.
+          If JOBU = 'N', this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= MAX(1,N),  if JOBU = 'U';
+          LDU2 &gt;= 1,         if JOBU = 'N'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of Aout, which are half of the eigenvalues
+          of W. The eigenvalues are stored in the same order as on
+          the diagonal of Aout, with WR(i) = Aout(i,i) and, if
+          Aout(i:i+1,i:i+1) is a 2-by-2 diagonal block, WI(i) &gt; 0
+          and WI(i+1) = -WI(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -14,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N+5)*N),      if JOBU = 'U';
+          LDWORK &gt;= MAX(1,5*N,(N+1)*N),  if JOBU = 'N'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, DHSEQR failed to compute all of the
+                eigenvalues.  Elements 1:ILO-1 and i+1:N of WR
+                and WI contain those eigenvalues which have been
+                successfully computed. The matrix A (and QG) has
+                been partially reduced; namely, A is upper
+                Hessenberg in the rows and columns ILO through i.
+                (See DHSEQR for details.)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, using the SLICOT Library routine MB04RB, an orthogonal
+  symplectic matrix UP is computed so that
+
+             T      [  AP  GP  ]
+         UP W UP =  [        T ]
+                    [  0   AP  ]
+
+  is in Paige/Van Loan form. Next, the LAPACK routine DHSEQR is
+  applied to the matrix AP to compute an orthogonal matrix V so
+  that Aout = V'*AP*V is in Schur canonical form.
+  Finally, the transformations
+
+                    [ V  0 ]
+          U =  UP * [      ],     Gout = V'*G*V,
+                    [ 0  V ]
+
+  using the SLICOT Library routine MB01LD for the latter, are
+  performed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03XU.html b/doc/_build/html/_static/doc/MB03XU.html
new file mode 100644
index 00000000..fbfa7a51
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03XU.html
@@ -0,0 +1,304 @@
+<HTML>
+<HEAD><TITLE>MB03XU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XU">MB03XU</A></H2>
+<H3>
+Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by orthogonal symplectic transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce 2*nb columns and rows of a real (k+2n)-by-(k+2n)
+  matrix H:
+
+          [ op(A)   G   ]
+      H = [             ],
+          [  Q    op(B) ]
+
+  so that elements in the first nb columns below the k-th
+  subdiagonal of the (k+n)-by-n matrix op(A), in the first nb
+  columns and rows of the n-by-n matrix Q and in the first nb rows
+  above the diagonal of the n-by-(k+n) matrix op(B) are zero.
+  The reduction is performed by orthogonal symplectic
+  transformations UU'*H*VV and matrices U, V, YA, YB, YG, YQ, XA,
+  XB, XG, and XQ are returned so that
+
+                 [ op(Aout)+U*YA'+XA*V'     G+U*YG'+XG*V'    ]
+      UU' H VV = [                                           ].
+                 [   Qout+U*YQ'+XQ*V'   op(Bout)+U*YB'+XB*V' ]
+
+  This is an auxiliary routine called by MB04TB.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XU( LTRA, LTRB, N, K, NB, A, LDA, B, LDB, G, LDG,
+     $                   Q, LDQ, XA, LDXA, XB, LDXB, XG, LDXG, XQ, LDXQ,
+     $                   YA, LDYA, YB, LDYB, YG, LDYG, YQ, LDYQ, CSL,
+     $                   CSR, TAUL, TAUR, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           LTRA, LTRB
+      INTEGER           K, LDA, LDB, LDG, LDQ, LDXA, LDXB, LDXG, LDXQ,
+     $                  LDYA, LDYB, LDYG, LDYQ, N, NB
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
+     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*),
+     $                  XA(LDXA,*), XB(LDXB,*), XG(LDXG,*), XQ(LDXQ,*),
+     $                  YA(LDYA,*), YB(LDYB,*), YG(LDYG,*), YQ(LDYQ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRA    LOGICAL
+          Specifies the form of op( A ) as follows:
+          = .FALSE.:  op( A ) = A;
+          = .TRUE.:   op( A ) = A'.
+
+  LTRB    LOGICAL
+          Specifies the form of op( B ) as follows:
+          = .FALSE.:  op( B ) = B;
+          = .TRUE.:   op( B ) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix Q. N &gt;= 0.
+
+  K       (input) INTEGER
+          The offset of the reduction. Elements below the K-th
+          subdiagonal in the first NB columns of op(A) are
+          reduced to zero. K &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns/rows to be reduced. N &gt; NB &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                  (LDA,N)     if LTRA = .FALSE.
+                  (LDA,K+N)   if LTRA = .TRUE.
+          On entry with LTRA = .FALSE., the leading (K+N)-by-N part
+          of this array must contain the matrix A.
+          On entry with LTRA = .TRUE., the leading N-by-(K+N) part
+          of this array must contain the matrix A.
+          On exit with LTRA = .FALSE., the leading (K+N)-by-N part
+          of this array contains the matrix Aout and, in the zero
+          parts, information about the elementary reflectors used to
+          compute the reduction.
+          On exit with LTRA = .TRUE., the leading N-by-(K+N) part of
+          this array contains the matrix Aout and in the zero parts
+          information about the elementary reflectors.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,K+N),  if LTRA = .FALSE.;
+          LDA &gt;= MAX(1,N),    if LTRA = .TRUE..
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                  (LDB,K+N)   if LTRB = .FALSE.
+                  (LDB,N)     if LTRB = .TRUE.
+          On entry with LTRB = .FALSE., the leading N-by-(K+N) part
+          of this array must contain the matrix B.
+          On entry with LTRB = .TRUE., the leading (K+N)-by-N part
+          of this array must contain the matrix B.
+          On exit with LTRB = .FALSE., the leading N-by-(K+N) part
+          of this array contains the matrix Bout and, in the zero
+          parts, information about the elementary reflectors used to
+          compute the reduction.
+          On exit with LTRB = .TRUE., the leading (K+N)-by-N part of
+          this array contains the matrix Bout and in the zero parts
+          information about the elementary reflectors.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N),    if LTRB = .FALSE.;
+          LDB &gt;= MAX(1,K+N),  if LTRB = .TRUE..
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix G.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Gout.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Q.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Qout and in the zero parts information about
+          the elementary reflectors used to compute the reduction.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XA.
+
+  LDXA    INTEGER
+          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
+
+  XB      (output) DOUBLE PRECISION array, dimension (LDXB,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix XB.
+
+  LDXB    INTEGER
+          The leading dimension of the array XB. LDXB &gt;= MAX(1,K+N).
+
+  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix XG.
+
+  LDXG    INTEGER
+          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
+
+  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XQ.
+
+  LDXQ    INTEGER
+          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
+
+  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix YA.
+
+  LDYA    INTEGER
+          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
+
+  YB      (output) DOUBLE PRECISION array, dimension (LDYB,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix YB.
+
+  LDYB    INTEGER
+          The leading dimension of the array YB.  LDYB &gt;= MAX(1,N).
+
+  YG      (output) DOUBLE PRECISION array, dimension (LDYG,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix YG.
+
+  LDYG    INTEGER
+          The leading dimension of the array YG. LDYG &gt;= MAX(1,K+N).
+
+  YQ      (output) DOUBLE PRECISION array, dimension (LDYQ,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix YQ.
+
+  LDYQ    INTEGER
+          The leading dimension of the array YQ.  LDYQ &gt;= MAX(1,N).
+
+  CSL     (output) DOUBLE PRECISION array, dimension (2*NB)
+          On exit, the first 2NB elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the left-hand side used to compute the
+          reduction.
+
+  CSR     (output) DOUBLE PRECISION array, dimension (2*NB)
+          On exit, the first 2NB-2 elements of this array contain
+          the cosines and sines of the symplectic Givens rotations
+          applied from the right-hand side used to compute the
+          reduction.
+
+  TAUL    (output) DOUBLE PRECISION array, dimension (NB)
+          On exit, the first NB elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the left-hand side.
+
+  TAUR    (output) DOUBLE PRECISION array, dimension (NB)
+          On exit, the first NB-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (5*NB)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For details regarding the representation of the orthogonal
+  symplectic matrices UU and VV within the arrays A, B, CSL, CSR, Q,
+  TAUL and TAUR see the description of MB04TB.
+
+  The contents of A, B, G and Q on exit are illustrated by the
+  following example with op(A) = A, op(B) = B, n = 5, k = 2 and
+  nb = 2:
+
+       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( r  r  r  r  r  )       ( r  r  r  r  r  r  r  )
+   A = ( u2 r  r  r  r  ),  G = ( r  r  r  r  r  r  r  ),
+       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
+
+       ( t  t  v1 v1 v1 )       ( r  r  r  r  r  v2 v2 )
+       ( u1 t  t  v1 v1 )       ( r  r  r  r  r  r  v2 )
+   Q = ( u1 u1 r  q  q  ),  B = ( b  b  b  r  r  b  b  ).
+       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
+       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
+
+  where a, b, g and q denote elements of the original matrices, r
+  denotes a modified element, t denotes a scalar factor of an
+  applied elementary reflector, ui and vi denote elements of the
+  matrices U and V, respectively.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires ( 16*K + 32*N + 42 )*N*NB +
+  ( 16*K + 112*N - 208/3*NB - 69 )*NB*NB - 29/3*NB floating point
+  operations and is numerically backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils.
+      Numer. Math., Vol. 78 (3), pp. 329-358, 1998.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT Numerical Mathematics, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03XZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XZ">MB03XZ</A></H2>
+<H3>
+Eigenvalues of a complex Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a Hamiltonian matrix,
+
+                [  A   G  ]         H        H
+          H  =  [       H ],   G = G ,  Q = Q ,                  (1)
+                [  Q  -A  ]
+
+  where A, G and Q are complex n-by-n matrices.
+
+  Due to the structure of H, if lambda is an eigenvalue, then
+  -conjugate(lambda) is also an eigenvalue. This does not mean that
+  purely imaginary eigenvalues are necessarily multiple. The routine
+  computes the eigenvalues of H using an embedding to a real skew-
+  Hamiltonian matrix He,
+
+                 [  Ae   Ge  ]            T            T
+          He  =  [         T ],   Ge = -Ge ,   Qe = -Qe ,        (2)
+                 [  Qe   Ae  ]
+
+  where Ae, Ge, and Qe are real 2*n-by-2*n matrices, defined by
+
+                 [   Im(A)   Re(A)  ]
+          Ae  =  [                  ],
+                 [  -Re(A)   Im(A)  ]
+
+                 [  triu(Im(G))     Re(G)     ]
+     triu(Ge) =  [                            ],
+                 [       0       triu(Im(G))  ]
+
+                 [  tril(Im(Q))       0       ]
+     tril(Qe) =  [                            ], 
+                 [     -Re(Q)    tril(Im(Q))  ]
+
+  and triu and tril denote the upper and lower triangle,
+  respectively. Then, an orthogonal symplectic matrix Ue is used to
+  reduce He to the structured real Schur form
+
+        T          [  Se   De ]            T
+       Ue He Ue =  [        T ],   De = -De ,                    (3)
+                   [  0    Se ]
+
+  where Ue is a 4n-by-4n real symplectic matrix, and Se is upper
+  quasi-triangular (real Schur form).
+
+  Optionally, if JOB = 'S', or JOB = 'G', the matrix i*He is further
+  transformed to the structured complex Schur form
+
+        H            [  Sc  Gc ]           H
+       U (i*He) U =  [       H ],   Gc = Gc ,                    (4)
+                     [  0  -Sc ]
+
+  where U is a 4n-by-4n unitary symplectic matrix, and Sc is upper
+  triangular (Schur form).
+
+  The algorithm is backward stable and preserves the spectrum
+  structure in finite precision arithmetic.
+
+  Optionally, a symplectic balancing transformation to improve the
+  conditioning of eigenvalues is computed (see the SLICOT Library
+  routine MB04DZ). In this case, the matrix He in decompositions (3)
+  and (4) must be replaced by the balanced matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1,
+     $                   LDU1, U2, LDU2, WR, WI, ILO, SCALE, DWORK,
+     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          BALANC, JOB, JOBU
+      INTEGER            ILO, INFO, LDA, LDQG, LDU1, LDU2, LDWORK,
+     $                   LZWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   DWORK( * ), SCALE( * ), WI( * ), WR( * )
+      COMPLEX*16         A( LDA, * ), QG( LDQG, * ), U1( LDU1, * ),
+     $                   U2( LDU2, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how H should be diagonally scaled and/or
+          permuted to reduce its norm.
+          = 'N': Do not diagonally scale or permute;
+          = 'P': Perform symplectic permutations to make the matrix
+                 closer to skew-Hamiltonian Schur form. Do not
+                 diagonally scale;
+          = 'S': Diagonally scale the matrix, i.e., replace A, G and
+                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
+                 D is a diagonal matrix chosen to make the rows and
+                 columns of H more equal in norm. Do not permute;
+          = 'B': Both diagonally scale and permute A, G and Q.
+          Permuting does not change the norm of H, but scaling does.
+
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          decomposition (4) or the eigenvalues only, as follows:
+          = 'E': compute the eigenvalues only;
+          = 'S': compute the matrix Sc of (4);
+          = 'G': compute the matrices Sc and Gc of (4).
+
+  JOBU    CHARACTER*1
+          Indicates whether or not the user wishes to compute the
+          symplectic matrix Ue of (3), if JOB = 'E', or U of (4),
+          if JOB = 'S' or JOB = 'G', as follows:
+          = 'N': the matrix Ue or U is not computed;
+          = 'U': the matrix Ue or U is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,K)
+          where K = N, if JOB = 'E', and K = 2*N, if JOB &lt;&gt; 'E'.
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'E', the leading N-by-N part of this
+          array is unchanged, if BALANC = 'N', or it contains the
+          balanced (permuted and/or scaled) matrix A, if
+          BALANC &lt;&gt; 'N'.
+          On exit, if JOB = 'S' or JOB = 'G', the leading 2*N-by-2*N
+          upper triangular part of this array contains the matrix Sc
+          (complex Schur form) of decomposition (4).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,K).
+
+  QG      (input/output) COMPLEX*16 array, dimension
+                         (LDQG,min(K+1,2*N))
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G.
+          On exit, if JOB &lt;&gt; 'G', the leading N-by-N+1 part of this
+          array is unchanged, if BALANC = 'N', or it contains the
+          balanced (permuted and/or scaled) parts of the matrices
+          Q and G (as above), if BALANC &lt;&gt; 'N'.
+          On exit, JOB = 'G', the leading 2*N-by-2*N upper
+          triangular part of this array contains the upper
+          triangular part of the matrix Gc in the decomposition (4).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= max(1,K).
+
+  U1      (output) COMPLEX*16 array, dimension (LDU1,2*N)
+          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
+          leading 2*N-by-2*N part of this array contains the (1,1)
+          block of the unitary symplectic matrix U of the
+          decomposition (4).
+          If JOB = 'E' or JOBU = 'N', this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= 1.
+          LDU1 &gt;= 2*N,    if JOBU = 'U'.
+
+  U2      (output) COMPLEX*16 array, dimension (LDU2,2*N)
+          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
+          leading 2*N-by-2*N part of this array contains the (1,2)
+          block of the unitary symplectic matrix U of the
+          decomposition (4).
+          If JOB = 'E' or JOBU = 'N', this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= 1.
+          LDU2 &gt;= 2*N,    if JOBU = 'U'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (2*N)
+  WI      (output) DOUBLE PRECISION array, dimension (2*N)
+          On exit, the leading 2*N elements of WR and WI contain the
+          real and imaginary parts, respectively, of the eigenvalues
+          of the Hamiltonian matrix H.
+
+  ILO     (output) INTEGER
+          ILO is an integer value determined when H was balanced.
+          The balanced A(I,J) = 0 if I &gt; J and J = 1,...,ILO-1.
+          The balanced Q(I,J) = 0 if J = 1,...,ILO-1 or
+          I = 1,...,ILO-1.
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
+          array contain details of the permutation and/or scaling
+          factors applied when balancing H, see MB04DZ.
+          This array is not referenced if BALANC = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
+          (scaled, if BALANC = 'S' or 'B') Hamiltonian matrix.
+          Moreover, the next locations of this array have the
+          following content:
+          - The leading 2*N-by-2*N upper Hessenberg part in the
+          locations 3:2+4*N*N contains the upper Hessenberg part of
+          the real Schur matrix Se in the decomposition (3);
+          - the leading 2*N-by-2*N upper triangular part in the
+          locations 3+4*N*N+2*N:2+8*N*N+2*N contains the upper
+          triangular part of the skew-symmetric matrix De in the
+          decomposition (3).
+          - If JOBU = 'U', the leading 2*N-by-2*N part in the
+          locations 3+8*N*N+2*N:2+12*N*N+2*N contains the (1,1)
+          block of the orthogonal symplectic matrix Ue of
+          decomposition (3).
+          - the leading 2*N-by-2*N part in the locations
+          3+12*N*N+2*N:2+16*N*N+2*N contains the (2,1) block of the
+          orthogonal symplectic matrix Ue.
+          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( 12*N**2 + 4*N, 8*N**2 + 12*N ) + 2,
+                                 if JOB = 'E' and JOBU = 'N';
+          LDWORK &gt;= MAX( 2, 12*N**2 + 4*N, 8*N**2 + 12*N ),
+                                 if JOB = 'S' or 'G' and JOBU = 'N';
+          LDWORK &gt;= 20*N**2 + 12*N + 2,
+                                 if JOB = 'E' and JOBU = 'U';
+          LDWORK &gt;= MAX( 2, 20*N**2 + 12*N ),
+                                 if JOB = 'S' or 'G' and JOBU = 'U'.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0,  ZWORK(1)  returns the optimal
+          value of LZWORK.
+          On exit, if  INFO = -20,  ZWORK(1)  returns the minimum
+          value of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,                  if JOB = 'E';
+          LZWORK &gt;= MAX( 1, 12*N - 6 ), if JOB = 'S' and JOBU = 'N';
+          LZWORK &gt;= MAX( 1, 12*N - 2 ), if JOB = 'G' or  JOBU = 'U'.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0,     if JOB = 'E';
+          LBWORK &gt;= 2*N-1, if JOB = 'S' or JOB = 'G'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO     INTEGER
+           = 0:  successful exit;
+           &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+           &gt; 0:  if INFO = i, the QR algorithm failed to compute
+                 all the eigenvalues; elements i+1:2*N of WR and
+                 WI contain eigenvalues which have converged;
+           = 2*N+1:  the QR algorithm failed to compute the
+                 eigenvalues of a 2-by-2 real block.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the extended matrix He in (2) is built. Then, the
+  structured real Schur form in (3) is computed, using the SLICOT
+  Library routine MB03XS. The eigenvalues of Se immediately give
+  the eigenvalues of H. Finally, if required, Se is further
+  transformed by using the complex QR algorithm to triangularize
+  its 2-by-2 blocks, and Ge and U are updated, to obtain (4).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V. and Xu, H.
+      A note on the numerical solution of complex Hamiltonian and
+      skew-Hamiltonian eigenvalue problems.
+      Electr. Trans. Num. Anal., 8, pp. 115-126, 1999.
+
+  [2] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03XZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZER
+      PARAMETER        ( ZER = 0.0D0 )
+      COMPLEX*16       ZERO, ONE
+      PARAMETER        ( ZERO = (0.0D0,0.0D0), ONE = (1.0D0,0.0D0) )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDAE, LDAS, LDGE, LDQG, LDQGE, LDQGS, LDRES,
+     $                 LDU1, LDU2, LDWORK, LZWORK
+      PARAMETER        ( LDA   = 2*NMAX, LDAE  = 2*NMAX, LDAS  = NMAX,
+     $                   LDGE  = 2*NMAX, LDQG  = 2*NMAX, LDQGE = 2*NMAX,
+     $                   LDQGS  = NMAX,  LDRES = 2*NMAX, LDU1  = 2*NMAX,
+     $                   LDU2   = 2*NMAX,
+     $                   LDWORK = 20*NMAX*NMAX + 12*NMAX + 2,
+     $                   LZWORK = 12*NMAX - 2 )
+*     .. Local Scalars ..
+      CHARACTER*1      BALANC, JOB, JOBU
+      INTEGER          I, ILO, INFO, J, M, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, 2*NMAX), AE(LDAE, 2*NMAX), AS(LDAS, NMAX),
+     $                 GE(LDGE, 2*NMAX), QG(LDQG, 2*NMAX+1),
+     $                 QGE(LDQGE, 2*NMAX+1), QGS(LDQGS, NMAX+1),
+     $                 RES(LDRES,2*NMAX), U1(LDU1,2*NMAX),
+     $                 U2(LDU2,  2*NMAX), ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK), SCALE(NMAX), WI(2*NMAX),
+     $                 WR(2*NMAX)
+      LOGICAL          BWORK(2*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLAPY2, MA02JZ, ZLANGE
+      EXTERNAL         DLAPY2, LSAME, MA02JZ, ZLANGE
+*     .. External Subroutines ..
+      EXTERNAL         MA02EZ, MB03XZ, MB04DZ, ZCOPY, ZGEMM, ZLACPY,
+     $                 ZLASET
+*     ..Intrinsic Functions..
+      INTRINSIC        DBLE, DCMPLX, DIMAG
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         M = 2*N
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL ZLACPY( 'All', N, N, A, LDA, AS, LDAS )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL ZLACPY( 'All', N, N+1, QG, LDQG, QGS, LDQGS )
+*        Compute the eigenvalues and the transformed Hamiltonian matrix.
+         CALL MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1, LDU1,
+     $                U2, LDU2, WR, WI, ILO, SCALE, DWORK, LDWORK,
+     $                ZWORK, LZWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, M
+               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
+   10       CONTINUE
+            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 20  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,M )
+   20          CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 )
+               DO 30  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 ) ( QG(I,J), J = 1,M )
+   30          CONTINUE
+            END IF
+*
+            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ) ) THEN
+*              Compute the residual of the formula (4) in MB03XZ.
+               CALL MB04DZ( BALANC, N, AS, LDAS, QGS, LDQGS, I, DWORK,
+     $                      INFO )
+               CALL ZLASET( 'Lower', M-1, M-1, ZERO, ZERO, A(2,1), LDA )
+               CALL MA02EZ( 'Upper', 'Conjugate', 'Not skew', M, QG,
+     $                      LDQG )
+*              Compute Ae, Ge, and Qe.
+               DO 60  J = 1, N
+                  DO 40  I = 1, N
+                     AE(I,J) = DCMPLX( ZER, DIMAG( AS(I,J) ) )
+   40             CONTINUE
+                  DO 50  I = 1, N
+                     AE(I+N,J) = -DCMPLX( ZER, DBLE( AS(I,J) ) )
+   50             CONTINUE
+   60          CONTINUE
+*
+               DO 90  J = 1, N
+                  DO 70  I = 1, N
+                     AE(I,J+N) = -AE(I+N,J)
+   70             CONTINUE
+                  DO 80  I = 1, N
+                     AE(I+N,J+N) = AE(I,J)
+   80             CONTINUE
+   90          CONTINUE
+*
+               DO 120  J = 1, N+1
+                  DO 100  I = 1, N
+                     QGE(I,J) = DCMPLX( ZER, DIMAG( QGS(I,J) ) )
+  100             CONTINUE
+                  DO 110  I = J, N
+                     QGE(I+N,J) = -DCMPLX( ZER, DBLE( QGS(I,J) ) )
+  110             CONTINUE
+  120          CONTINUE
+*
+               DO 150  J = 1, N
+                  DO 130  I = 1, J
+                     QGE(I,J+N+1) = DCMPLX( ZER, DBLE( QGS(I,J+1) ) )
+  130             CONTINUE
+                  DO 140  I = 1, N
+                     QGE(I+N,J+N+1) = QGE(I,J+1)
+  140             CONTINUE
+  150          CONTINUE
+               CALL ZCOPY( N, QGE, 1, QGE(N+1,N+1), 1 )
+               CALL MA02EZ( 'Lower', 'Transpose', 'Not Skew', N,
+     $                      QGE(N+1,1), LDQGE )
+               CALL MA02EZ( 'Upper', 'Transpose', 'Not Skew', N,
+     $                      QGE(1,N+2), LDQGE )
+*
+               CALL ZLACPY( 'Upper', M, M, QGE(1,2), LDQGE, GE, LDGE )
+               CALL MA02EZ( 'Upper', 'Transpose', 'Skew', M, GE, LDGE )
+               CALL MA02EZ( 'Lower', 'Transpose', 'Skew', M, QGE,
+     $                      LDQGE )
+*              Compute the residual of the (1,1) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     AE, LDAE, U1, LDU1, ZERO, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, GE, LDGE, U2, LDU2, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
+               TEMP = ZLANGE( 'Frobenius', M, M, RES, LDRES, DWORK )
+*              Compute the residual of the (1,2) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     AE, LDAE, U2, LDU2, ZERO, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     GE, LDGE, U1, LDU1, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, U1, LDU1, QG, LDQG, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
+     $                     ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
+     $                                      LDRES, DWORK ) )
+*              Compute the residual of the (2,1) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     QGE, LDQGE, U1, LDU1, ZERO, RES, LDRES )
+               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, AE, LDAE, U2, LDU2, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     U2, LDU2, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
+     $                                      LDRES, DWORK ) )
+*              Compute the residual of the (2,2) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     QGE, LDQGE, U2, LDU2, ZERO, RES, LDRES )
+               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M, ONE,
+     $                     AE, LDAE, U1, LDU1, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     U2, LDU2, QG, LDQG, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
+     $                     ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
+     $                                      LDRES, DWORK ) )
+               WRITE ( NOUT, FMT = 99989 ) TEMP
+            END IF
+*
+            IF ( .NOT.LSAME( JOB, 'E' ).AND.LSAME( JOBU, 'U' ) ) THEN
+               WRITE ( NOUT, FMT = 99993 )
+               DO 160  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 )
+     $               ( U1(I,J), J = 1,M ), ( U2(I,J), J = 1,M )
+  160          CONTINUE
+               DO 170  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 )
+     $               ( -U2(I,J), J = 1,M ), ( U1(I,J), J = 1,M )
+  170          CONTINUE
+               WRITE ( NOUT, FMT = 99988 ) MA02JZ( .FALSE., .FALSE., M,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+            END IF
+            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99991 )
+               DO 180  I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
+  180          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03XZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03XZ = ',I2)
+99997 FORMAT (' The eigenvalues are',//'   i',6X,
+     $        'WR(i)',6X,'WI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' The transformed matrix S is')
+99994 FORMAT (/' The transformed matrix G is')
+99993 FORMAT (/' The unitary symplectic factor U is')
+99992 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99991 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
+     $        'SCALE(i)',/)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' Residual: || i*He*U - U*Hc ||_F = ',G9.2)
+99988 FORMAT (/' Orthogonality of U: || U^H U - I ||_F = ',G9.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03XZ EXAMPLE PROGRAM DATA
+	4	N	G	U
+   (0.8147,0.4217)   (0.6323,0.6557)   (0.9575,0.6787)   (0.9571,0.6554)
+   (0.9057,0.9157)   (0.0975,0.0357)   (0.9648,0.7577)   (0.4853,0.1711)
+   (0.1269,0.7922)   (0.2784,0.8491)   (0.1576,0.7431)   (0.8002,0.7060)
+   (0.9133,0.9594)   (0.5468,0.9339)   (0.9705,0.3922)   (0.1418,0.0318)
+    0.2769            0.6948           (0.4387,0.7513)   (0.1869,0.8909)   (0.7094,0.1493)
+   (0.0462,0.1626)    0.3171            0.3816           (0.4898,0.9593)   (0.7547,0.2575)
+   (0.0971,0.1190)   (0.9502,0.5853)    0.7655            0.4456           (0.2760,0.8407)         
+   (0.8235,0.4984)   (0.0344,0.2238)   (0.7952,0.6991)    0.6463            0.6797
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03XZ EXAMPLE PROGRAM RESULTS
+
+ The eigenvalues are
+
+   i      WR(i)      WI(i)
+
+   1     3.0844     2.7519
+   2    -3.0844     2.7519
+   3     0.5241    -1.3026
+   4    -0.5241    -1.3026
+   5     0.8824    -0.6918
+   6    -0.8824    -0.6918
+   7     0.4459     0.4748
+   8    -0.4459     0.4748
+
+ The transformed matrix S is
+    3.0844  +2.7519i     0.0618  +0.0000i    -0.1952  +0.1977i     0.0439  +0.0628i     0.0599  -0.0344i    -0.1543  -0.7126i    -0.3906  +0.3615i     0.2877  +0.5766i 
+    0.0000  +0.0000i    -3.0844  +2.7519i    -0.0458  -0.0727i    -0.2607  +0.0867i     0.1505  -0.7137i    -0.0717  +0.0066i    -0.4008  +0.4356i     0.2819  +0.5317i 
+    0.1269  +0.7922i     0.0000  +0.0000i     0.5241  -1.3026i    -0.0175  +0.0350i    -0.0676  +0.1183i     0.3695  -0.0335i    -0.3138  -0.4268i     0.2973  -0.0042i 
+    0.9133  +0.9594i     0.5468  +0.9339i     0.0000  +0.0000i    -0.5241  -1.3026i     0.1453  +0.3375i     0.0590  -0.1483i     0.2795  +0.3002i    -0.4594  -0.0099i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8824  -0.6918i    -0.1193  +0.0000i    -0.1672  -0.0189i    -0.1008  -0.2026i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8824  -0.6918i     0.0539  -0.1852i     0.1978  -0.0688i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.4459  +0.4748i     0.2987  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.4459  +0.4748i 
+
+ The transformed matrix G is
+   -0.2169  +0.0000i    -0.0022  +0.0000i    -0.2082  -0.0281i     0.0691  +0.0092i     0.0362  -0.0426i    -0.2374  +0.4904i    -0.2678  -0.5870i    -0.2567  +0.3258i 
+    0.0462  +0.1626i     0.2169  +0.0000i     0.0128  -0.0651i    -0.0654  +0.2006i     0.2348  +0.4861i    -0.0545  -0.0706i     0.1557  +0.4895i     0.3329  -0.4499i 
+    0.0971  +0.1190i     0.9502  +0.5853i     0.1341  +0.0000i    -0.0022  +0.0045i    -0.0232  +0.0320i     0.3395  -0.3847i    -0.0646  -0.2900i    -0.0920  -0.1605i 
+    0.8235  +0.4984i     0.0344  +0.2238i     0.7952  +0.6991i    -0.1341  +0.0000i    -0.1893  +0.4728i     0.0127  -0.0720i    -0.0923  -0.0258i    -0.3361  +0.0706i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.5145  +0.0000i     0.0348  +0.0000i    -0.0662  -0.2049i     0.2987  -0.0488i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5145  +0.0000i    -0.3004  +0.0327i    -0.0524  -0.2070i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0241  +0.0000i     0.0081  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0241  +0.0000i 
+
+ Residual: || i*He*U - U*Hc ||_F = .11E-13
+
+ The unitary symplectic factor U is
+   -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i     0.0570  -0.0194i     0.0576  +0.0192i    -0.1622  +0.3576i     0.3834  +0.0034i     0.0436  +0.0676i     0.0408  -0.0723i    -0.2802  +0.1272i    -0.3893  -0.0915i 
+   -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i     0.0887  -0.0452i     0.0896  +0.0448i     0.0357  +0.0168i    -0.0021  +0.0404i    -0.0614  +0.0720i    -0.0574  -0.0770i     0.2713  -0.1920i     0.3769  +0.1382i 
+   -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i     0.1763  -0.0047i     0.1781  +0.0046i     0.1017  -0.2162i    -0.2335  +0.0013i     0.1817  +0.0174i     0.1699  -0.0186i     0.0902  +0.1296i     0.1253  -0.0933i 
+    0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i    -0.0148  -0.0576i    -0.0150  +0.0570i     0.0145  -0.2255i    -0.2011  -0.0837i     0.0523  +0.0093i     0.0488  -0.0099i     0.0689  +0.2345i     0.0957  -0.1688i 
+    0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i    -0.0226  -0.1038i    -0.0228  +0.1027i     0.1693  +0.2699i     0.1539  +0.2735i    -0.1978  -0.0842i    -0.1849  +0.0901i     0.0400  -0.1732i     0.0556  +0.1246i 
+   -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i    -0.0669  -0.1453i    -0.0676  +0.1439i     0.1604  +0.0320i    -0.0469  +0.1627i    -0.0078  -0.1319i    -0.0073  +0.1411i    -0.0086  -0.4118i    -0.0120  +0.2963i 
+    0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i    -0.0318  -0.2136i    -0.0321  +0.2115i    -0.1467  +0.0498i     0.1110  -0.1148i    -0.0279  +0.2616i    -0.0261  -0.2799i     0.0611  +0.3196i     0.0849  -0.2300i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i 
+   -0.0570  +0.0194i    -0.0576  -0.0192i     0.1622  -0.3576i    -0.3834  -0.0034i    -0.0436  -0.0676i    -0.0408  +0.0723i     0.2802  -0.1272i     0.3893  +0.0915i    -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i 
+   -0.0887  +0.0452i    -0.0896  -0.0448i    -0.0357  -0.0168i     0.0021  -0.0404i     0.0614  -0.0720i     0.0574  +0.0770i    -0.2713  +0.1920i    -0.3769  -0.1382i    -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i 
+   -0.1763  +0.0047i    -0.1781  -0.0046i    -0.1017  +0.2162i     0.2335  -0.0013i    -0.1817  -0.0174i    -0.1699  +0.0186i    -0.0902  -0.1296i    -0.1253  +0.0933i    -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i 
+    0.0148  +0.0576i     0.0150  -0.0570i    -0.0145  +0.2255i     0.2011  +0.0837i    -0.0523  -0.0093i    -0.0488  +0.0099i    -0.0689  -0.2345i    -0.0957  +0.1688i     0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i 
+    0.0226  +0.1038i     0.0228  -0.1027i    -0.1693  -0.2699i    -0.1539  -0.2735i     0.1978  +0.0842i     0.1849  -0.0901i    -0.0400  +0.1732i    -0.0556  -0.1246i     0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i 
+    0.0669  +0.1453i     0.0676  -0.1439i    -0.1604  -0.0320i     0.0469  -0.1627i     0.0078  +0.1319i     0.0073  -0.1411i     0.0086  +0.4118i     0.0120  -0.2963i    -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i 
+    0.0318  +0.2136i     0.0321  -0.2115i     0.1467  -0.0498i    -0.1110  +0.1148i     0.0279  -0.2616i     0.0261  +0.2799i    -0.0611  -0.3196i    -0.0849  +0.2300i     0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i 
+
+ Orthogonality of U: || U^H U - I ||_F = .39E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03YA.html b/doc/_build/html/_static/doc/MB03YA.html
new file mode 100644
index 00000000..1dcd88ed
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03YA.html
@@ -0,0 +1,213 @@
+<HTML>
+<HEAD><TITLE>MB03YA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03YA">MB03YA</A></H2>
+<H3>
+Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix corresponding to zero elements on the diagonal of a triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To annihilate one or two entries on the subdiagonal of the
+  Hessenberg matrix A for dealing with zero elements on the diagonal
+  of the triangular matrix B.
+
+  MB03YA is an auxiliary routine called by SLICOT Library routines
+  MB03XP and MB03YD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03YA( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
+     $                   POS, A, LDA, B, LDB, Q, LDQ, Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            WANTQ, WANTT, WANTZ
+      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ, LDZ,
+     $                   N, POS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WANTT   LOGICAL
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = .TRUE. :  Compute the full Schur form;
+          = .FALSE.:  compute the eigenvalues only.
+
+  WANTQ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = .TRUE. :  The matrix Q is updated;
+          = .FALSE.:  the matrix Q is not required.
+
+  WANTZ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = .TRUE. :  The matrix Z is updated;
+          = .FALSE.:  the matrix Z is not required.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B. N &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that the matrices A and B are already
+          (quasi) upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N. The routine works primarily with the submatrices
+          in rows and columns ILO to IHI, but applies the
+          transformations to all the rows and columns of the
+          matrices A and B, if WANTT = .TRUE..
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  ILOQ    (input) INTEGER
+  IHIQ    (input) INTEGER
+          Specify the rows of Q and Z to which transformations
+          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
+          respectively.
+          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
+
+  POS     (input) INTEGER
+          The position of the zero element on the diagonal of B.
+          ILO &lt;= POS &lt;= IHI.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper Hessenberg matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the updated matrix A where A(POS,POS-1) = 0, if POS &gt; ILO,
+          and A(POS+1,POS) = 0, if POS &lt; IHI.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain an upper triangular matrix B with B(POS,POS) = 0.
+          On exit, the leading N-by-N part of this array contains
+          the updated upper triangular matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Q of
+          transformations accumulated by MB03XP.
+          On exit, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Q updated in the
+          submatrix Q(ILOQ:IHIQ,ILO:IHI).
+          If WANTQ = .FALSE., Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= 1.
+          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Z of
+          transformations accumulated by MB03XP.
+          On exit, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Z updated in the
+          submatrix Z(ILOQ:IHIQ,ILO:IHI).
+          If WANTZ = .FALSE., Z is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= 1.
+          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method is illustrated by Wilkinson diagrams for N = 5,
+  POS = 3:
+
+        [ x x x x x ]       [ x x x x x ]
+        [ x x x x x ]       [ o x x x x ]
+    A = [ o x x x x ],  B = [ o o o x x ].
+        [ o o x x x ]       [ o o o x x ]
+        [ o o o x x ]       [ o o o o x ]
+
+  First, a QR factorization is applied to A(1:3,1:3) and the
+  resulting nonzero in the updated matrix B is immediately
+  annihilated by a Givens rotation acting on columns 1 and 2:
+
+        [ x x x x x ]       [ x x x x x ]
+        [ x x x x x ]       [ o x x x x ]
+    A = [ o o x x x ],  B = [ o o o x x ].
+        [ o o x x x ]       [ o o o x x ]
+        [ o o o x x ]       [ o o o o x ]
+
+  Secondly, an RQ factorization is applied to A(4:5,4:5) and the
+  resulting nonzero in the updated matrix B is immediately
+  annihilated by a Givens rotation acting on rows 4 and 5:
+
+        [ x x x x x ]       [ x x x x x ]
+        [ x x x x x ]       [ o x x x x ]
+    A = [ o o x x x ],  B = [ o o o x x ].
+        [ o o o x x ]       [ o o o x x ]
+        [ o o o x x ]       [ o o o o x ]
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
+      The periodic Schur decomposition: Algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**2) floating point operations and is
+  backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03YD.html b/doc/_build/html/_static/doc/MB03YD.html
new file mode 100644
index 00000000..e81d27e3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB03YD.html
@@ -0,0 +1,230 @@
+<HTML>
+<HEAD><TITLE>MB03YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03YD">MB03YD</A></H2>
+<H3>
+Periodic QR iteration
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To deal with small subtasks of the product eigenvalue problem.
+
+  MB03YD is an auxiliary routine called by SLICOT Library routine
+  MB03XP.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03YD( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
+     $                   A, LDA, B, LDB, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI,
+     $                   BETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            WANTQ, WANTT, WANTZ
+      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ,
+     $                   LDWORK, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WANTT   LOGICAL
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = .TRUE. :  Compute the full Schur form;
+          = .FALSE.:  compute the eigenvalues only.
+
+  WANTQ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = .TRUE. :  The matrix Q is updated;
+          = .FALSE.:  the matrix Q is not required.
+
+  WANTZ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = .TRUE. :  The matrix Z is updated;
+          = .FALSE.:  the matrix Z is not required.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B. N &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that the matrices A and B are already
+          (quasi) upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N. The routine works primarily with the submatrices
+          in rows and columns ILO to IHI, but applies the
+          transformations to all the rows and columns of the
+          matrices A and B, if WANTT = .TRUE..
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  ILOQ    (input) INTEGER
+  IHIQ    (input) INTEGER
+          Specify the rows of Q and Z to which transformations
+          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
+          respectively.
+          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper Hessenberg matrix A.
+          On exit, if WANTT = .TRUE., the leading N-by-N part of
+          this array is upper quasi-triangular in rows and columns
+          ILO:IHI.
+          If WANTT = .FALSE., the diagonal elements and 2-by-2
+          diagonal blocks of A will be correct, but the remaining
+          parts of A are unspecified on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix B.
+          On exit, if WANTT = .TRUE., the leading N-by-N part of
+          this array contains the transformed upper triangular
+          matrix. 2-by-2 blocks in B corresponding to 2-by-2 blocks
+          in A will be reduced to positive diagonal form. (I.e., if
+          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
+          and B(j+1,j+1) will be positive.)
+          If WANTT = .FALSE., the elements corresponding to diagonal
+          elements and 2-by-2 diagonal blocks in A will be correct,
+          but the remaining parts of B are unspecified on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Q of
+          transformations accumulated by MB03XP.
+          On exit, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Q updated in the
+          submatrix Q(ILOQ:IHIQ,ILO:IHI).
+          If WANTQ = .FALSE., Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= 1.
+          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Z of
+          transformations accumulated by MB03XP.
+          On exit, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Z updated in the
+          submatrix Z(ILOQ:IHIQ,ILO:IHI).
+          If WANTZ = .FALSE., Z is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= 1.
+          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The i-th (ILO &lt;= i &lt;= IHI) computed eigenvalue is given
+          by BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
+          eigenvalues are computed as a complex conjugate pair,
+          they are stored in consecutive elements of ALPHAR, ALPHAI
+          and BETA. If WANTT = .TRUE., the eigenvalues are stored in
+          the same order as on the diagonals of the Schur forms of
+          A and B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then MB03YD failed to compute the Schur
+                form in a total of 30*(IHI-ILO+1) iterations;
+                elements i+1:n of ALPHAR, ALPHAI and BETA contain
+                successfully computed eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm is a double-shift version of the
+  periodic QR algorithm described in [1,3] with some minor
+  modifications [2]. The eigenvalues are computed via an implicit
+  complex single shift algorithm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
+      The periodic Schur decomposition: Algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. Proc. of the IFAC Workshop on Periodic Control
+      Systems, pp. 187-192, 2001.
+
+  [3] Van Loan, C.
+      Generalized Singular Values with Algorithms and Applications.
+      Ph. D. Thesis, University of Michigan, 1973.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03YT.html b/doc/_build/html/_static/doc/MB03YT.html
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+<HTML>
+<HEAD><TITLE>MB03YT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03YT">MB03YT</A></H2>
+<H3>
+Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) with B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the periodic Schur factorization of a real 2-by-2
+  matrix pair (A,B) where B is upper triangular. This routine
+  computes orthogonal (rotation) matrices given by CSL, SNL and CSR,
+  SNR such that
+
+  1) if the pair (A,B) has two real eigenvalues, then
+
+     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
+     [  0  a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
+
+     [ b11 b12 ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
+     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ],
+
+  2) if the pair (A,B) has a pair of complex conjugate eigenvalues,
+     then
+
+     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
+     [ a21 a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
+
+     [ b11  0  ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
+     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ].
+
+  This is a modified version of the LAPACK routine DLAGV2 for
+  computing the real, generalized Schur decomposition of a
+  two-by-two matrix pencil.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03YT( A, LDA, B, LDB, ALPHAR, ALPHAI, BETA, CSL, SNL,
+     $                   CSR, SNR )
+C     .. Scalar Arguments ..
+      INTEGER           LDA, LDB
+      DOUBLE PRECISION  CSL, CSR, SNL, SNR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(2), ALPHAR(2), B(LDB,*),
+     $                  BETA(2)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,2)
+          On entry, the leading 2-by-2 part of this array must
+          contain the matrix A.
+          On exit, the leading 2-by-2 part of this array contains
+          the matrix A of the pair in periodic Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,2)
+          On entry, the leading 2-by-2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading 2-by-2 part of this array contains
+          the matrix B of the pair in periodic Schur form.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
+  BETA    (output) DOUBLE PRECISION array, dimension (2)
+          (ALPHAR(k)+i*ALPHAI(k))*BETA(k) are the eigenvalues of the
+          pair (A,B), k=1,2, i = sqrt(-1). ALPHAI(1) &gt;= 0.
+
+  CSL     (output) DOUBLE PRECISION
+          The cosine of the first rotation matrix.
+
+  SNL     (output) DOUBLE PRECISION
+          The sine of the first rotation matrix.
+
+  CSR     (output) DOUBLE PRECISION
+          The cosine of the second rotation matrix.
+
+  SNR     (output) DOUBLE PRECISION
+          The sine of the second rotation matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.
+      Generalized Singular Values with Algorithms and Applications.
+      Ph. D. Thesis, University of Michigan, 1973.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ZA.html b/doc/_build/html/_static/doc/MB03ZA.html
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+<HTML>
+<HEAD><TITLE>MB03ZA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ZA">MB03ZA</A></H2>
+<H3>
+Reordering a selected cluster of eigenvalues of a given matrix pair in periodic Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  1. To compute, for a given matrix pair (A,B) in periodic Schur
+     form, orthogonal matrices Ur and Vr so that
+
+         T           [ A11  A12 ]     T           [ B11  B12 ]
+       Vr * A * Ur = [          ],  Ur * B * Vr = [          ], (1)
+                     [  0   A22 ]                 [  0   B22 ]
+
+     is in periodic Schur form, and the eigenvalues of A11*B11
+     form a selected cluster of eigenvalues.
+
+  2. To compute an orthogonal matrix W so that
+
+                T  [  0  -A11 ]       [  R11   R12 ]
+               W * [          ] * W = [            ],           (2)
+                   [ B11   0  ]       [   0    R22 ]
+
+     where the eigenvalues of R11 and -R22 coincide and have
+     positive real part.
+
+  Optionally, the matrix C is overwritten by Ur'*C*Vr.
+
+  All eigenvalues of A11*B11 must either be complex or real and
+  negative.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ZA( COMPC, COMPU, COMPV, COMPW, WHICH, SELECT, N,
+     $                   A, LDA, B, LDB, C, LDC, U1, LDU1, U2, LDU2, V1,
+     $                   LDV1, V2, LDV2, W, LDW, WR, WI, M, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPC, COMPU, COMPV, COMPW, WHICH
+      INTEGER           INFO, LDA, LDB, LDC, LDU1, LDU2, LDV1, LDV2,
+     $                  LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      LOGICAL           SELECT(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  U1(LDU1,*), U2(LDU2,*), V1(LDV1,*), V2(LDV2,*),
+     $                  W(LDW,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPC   CHARACTER*1
+          = 'U':  update the matrix C;
+          = 'N':  do not update C.
+
+  COMPU   CHARACTER*1
+          = 'U':  update the matrices U1 and U2;
+          = 'N':  do not update U1 and U2.
+          See the description of U1 and U2.
+
+  COMPV   CHARACTER*1
+          = 'U':  update the matrices V1 and V2;
+          = 'N':  do not update V1 and V2.
+          See the description of V1 and V2.
+
+  COMPW   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrix W as follows:
+          = 'N':  the matrix W is not required;
+          = 'I':  W is initialized to the unit matrix and the
+                  orthogonal transformation matrix W is returned;
+          = 'V':  W must contain an orthogonal matrix Q on entry,
+                  and the product Q*W is returned.
+
+  WHICH   CHARACTER*1
+          = 'A':  select all eigenvalues, this effectively means
+                  that Ur and Vr are identity matrices and A11 = A,
+                  B11 = B;
+          = 'S':  select a cluster of eigenvalues specified by
+                  SELECT.
+
+  SELECT  LOGICAL array, dimension (N)
+          If WHICH = 'S', then SELECT specifies the eigenvalues of
+          A*B in the selected cluster. To select a real eigenvalue
+          w(j), SELECT(j) must be set to .TRUE.. To select a complex
+          conjugate pair of eigenvalues w(j) and w(j+1),
+          corresponding to a 2-by-2 diagonal block in A, both
+          SELECT(j) and SELECT(j+1) must be set to .TRUE.; a complex
+          conjugate pair of eigenvalues must be either both included
+          in the cluster or both excluded.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A of the matrix
+          pair (A,B) in periodic Schur form.
+          On exit, the leading M-by-M part of this array contains
+          the matrix R22 in (2).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix B of the matrix pair
+          (A,B) in periodic Schur form.
+          On exit, the leading N-by-N part of this array is
+          overwritten.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, if COMPC = 'U', the leading N-by-N part of this
+          array must contain a general matrix C.
+          On exit, if COMPC = 'U', the leading N-by-N part of this
+          array contains the updated matrix Ur'*C*Vr.
+          If COMPC = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= 1.
+          LDC &gt;= N,  if COMPC = 'U' and WHICH = 'S'.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain U1, the (1,1)
+          block of an orthogonal symplectic matrix
+          U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains U1*Ur.
+          If COMPU = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= 1.
+          LDU1 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain U2, the (1,2)
+          block of an orthogonal symplectic matrix
+          U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains U2*Ur.
+          If COMPU = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= 1.
+          LDU2 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On entry, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain V1, the (1,1)
+          block of an orthogonal symplectic matrix
+          V = [ V1, V2; -V2, V1 ].
+          On exit, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains V1*Vr.
+          If COMPV = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1.  LDV1 &gt;= 1.
+          LDV1 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,N)
+          On entry, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain V2, the (1,2)
+          block of an orthogonal symplectic matrix
+          V = [ V1, V2; -V2, V1 ].
+          On exit, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains V2*Vr.
+          If COMPV = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2.  LDV2 &gt;= 1.
+          LDV2 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
+
+  W       (input/output) DOUBLE PRECISION array, dimension (LDW,2*M)
+          On entry, if COMPW = 'V', then the leading 2*M-by-2*M part
+          of this array must contain a matrix W.
+          If COMPW = 'I', then W need not be set on entry, W is set
+          to the identity matrix.
+          On exit, if COMPW = 'I' or 'V' the leading 2*M-by-2*M part
+          of this array is post-multiplied by the transformation
+          matrix that produced (2).
+          If COMPW = 'N', this array is not referenced.
+
+  LDW     INTEGER
+          The leading dimension of the array W.  LDW &gt;= 1.
+          LDW &gt;= 2*M,  if COMPW = 'I' or COMPW = 'V'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (M)
+  WI      (output) DOUBLE PRECISION array, dimension (M)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of R11. The eigenvalues are stored in the same
+          order as on the diagonal of R22, with
+          WR(i) = -R22(i,i) and, if R22(i:i+1,i:i+1) is a 2-by-2
+          diagonal block, WI(i) &gt; 0 and WI(i+1) = -WI(i).
+          In exact arithmetic, these eigenvalue are the positive
+          square roots of the selected eigenvalues of the product
+          A*B. However, if an eigenvalue is sufficiently
+          ill-conditioned, then its value may differ significantly.
+
+  M       (output) INTEGER
+          The number of selected eigenvalues.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 4*N, 8*M ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  reordering of the product A*B in Step 1 failed
+                because some eigenvalues are too close to separate;
+          = 2:  reordering of some submatrix in Step 2 failed
+                because some eigenvalues are too close to separate;
+          = 3:  the QR algorithm failed to compute the Schur form
+                of some submatrix in Step 2;
+          = 4:  the condition that all eigenvalues of A11*B11 must
+                either be complex or real and negative is
+                numerically violated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Step 1 is performed using a reordering technique analogous to the
+  LAPACK routine DTGSEN for reordering matrix pencils [1,2]. Step 2
+  is an implementation of Algorithm 2 in [3]. It requires O(M*N*N)
+  floating point operations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B.
+      A direct method for reordering eigenvalues in the generalized
+      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
+      et al (eds), Linear Algebra for Large Scale and Real-Time
+      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
+
+  [2] Kagstrom, B. and Poromaa P.:
+      Computing eigenspaces with specified eigenvalues of a regular
+      matrix pair (A, B) and condition estimation: Theory,
+      algorithms and software, Numer. Algorithms, 1996, vol. 12,
+      pp. 369-407.
+
+  [3] Benner, P., Mehrmann, V., and Xu, H.
+      A new method for computing the stable invariant subspace of a
+      real Hamiltonian matrix,  J. Comput. Appl. Math., 86,
+      pp. 17-43, 1997.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ZD.html b/doc/_build/html/_static/doc/MB03ZD.html
new file mode 100644
index 00000000..2af87dba
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+++ b/doc/_build/html/_static/doc/MB03ZD.html
@@ -0,0 +1,576 @@
+<HTML>
+<HEAD><TITLE>MB03ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ZD">MB03ZD</A></H2>
+<H3>
+Computing the stable and unstable invariant subspaces for a Hamiltonian matrix with no eigenvalues on the imaginary axis
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the stable and unstable invariant subspaces for a
+  Hamiltonian matrix with no eigenvalues on the imaginary axis,
+  using the output of the SLICOT Library routine MB03XD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N,
+     $                   MM, ILO, SCALE, S, LDS, T, LDT, G, LDG, U1,
+     $                   LDU1, U2, LDU2, V1, LDV1, V2, LDV2, M, WR, WI,
+     $                   US, LDUS, UU, LDUU, LWORK, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC, METH, ORTBAL, STAB, WHICH
+      INTEGER           ILO, INFO, LDG, LDS, LDT, LDU1, LDU2, LDUS,
+     $                  LDUU, LDV1, LDV2, LDWORK, M, MM, N
+C     .. Array Arguments ..
+      LOGICAL           LWORK(*), SELECT(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  DWORK(*), G(LDG,*), S(LDS,*), SCALE(*),
+     $                  T(LDT,*), U1(LDU1,*), U2(LDU2,*), US(LDUS,*),
+     $                  UU(LDUU,*), V1(LDV1,*), V2(LDV2,*), WI(*),
+     $                  WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WHICH   CHARACTER*1
+          Specifies the cluster of eigenvalues for which the
+          invariant subspaces are computed:
+          = 'A':  select all n eigenvalues;
+          = 'S':  select a cluster of eigenvalues specified by
+                  SELECT.
+
+  METH    CHARACTER*1
+          If WHICH = 'A' this parameter specifies the method to be
+          used for computing bases of the invariant subspaces:
+          = 'S':  compute the n-dimensional basis from a set of
+                  n vectors;
+          = 'L':  compute the n-dimensional basis from a set of
+                  2*n vectors;
+          = 'Q':  quick return of the set of n vectors;
+          = 'R':  quick return of the set of 2*n vectors.
+          When in doubt, use METH = 'S'. In some cases, METH = 'L'
+          may result in more accurately computed invariant
+          subspaces, see [1].
+          Options METH = 'Q' or METH = 'R' return the range vectors
+          Y = [ Y1; Y2 ], where Y1 and Y2 have 2*n rows and n or 2*n
+          columns, respectively, which can be directly used, e.g.,
+          for finding the (stabilizing) solution of a Riccati
+          equation, by solving X*Y1 = Y2. Note that Y1 might be
+          singular when METH = 'Q'.
+
+  STAB    CHARACTER*1
+          Specifies the type of invariant subspaces to be computed:
+          = 'S':  compute the stable invariant subspace, i.e., the
+                  invariant subspace belonging to those selected
+                  eigenvalues that have negative real part;
+          = 'U':  compute the unstable invariant subspace, i.e.,
+                  the invariant subspace belonging to those
+                  selected eigenvalues that have positive real
+                  part;
+          = 'B':  compute both the stable and unstable invariant
+                  subspaces.
+
+  BALANC  CHARACTER*1
+          Specifies the type of inverse balancing transformation
+          required:
+          = 'N':  do nothing;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          BALANC must be the same as the argument BALANC supplied to
+          MB03XD. Note that if the data is further post-processed,
+          e.g., for solving an algebraic Riccati equation, it is
+          recommended to delay inverse balancing (in particular the
+          scaling part) and apply it to the final result only,
+          see [2]. Inverse balancing is not used by this routine
+          if METH = 'Q' or METH = 'R'.
+
+  ORTBAL  CHARACTER*1
+          If BALANC &lt;&gt; 'N', this option specifies how inverse
+          balancing is applied to the computed invariant subspaces:
+          = 'B':  apply inverse balancing before orthogonal bases
+                  for the invariant subspaces are computed;
+          = 'A':  apply inverse balancing after orthogonal bases
+                  for the invariant subspaces have been computed;
+                  this may yield non-orthogonal bases if
+                  BALANC = 'S' or BALANC = 'B'.
+
+  SELECT  (input) LOGICAL array, dimension (N)
+          If WHICH = 'S', SELECT specifies the eigenvalues
+          corresponding to the positive and negative square
+          roots of the eigenvalues of S*T in the selected cluster.
+          To select a real eigenvalue w(j), SELECT(j) must be set
+          to .TRUE.. To select a complex conjugate pair of
+          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
+          diagonal block, both SELECT(j) and SELECT(j+1) must be set
+          to .TRUE.; a complex conjugate pair of eigenvalues must be
+          either both included in the cluster or both excluded.
+          This array is not referenced if WHICH = 'A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S, T and G. N &gt;= 0.
+
+  MM      (input) INTEGER
+          The number of columns in the arrays US and/or UU.
+          If WHICH = 'A' and (METH = 'S' or METH = 'Q'),  MM =   N;
+          if WHICH = 'A' and (METH = 'L' or METH = 'R'),  MM = 2*N;
+          if WHICH = 'S',                                 MM =   M.
+          The values above for MM give the numbers of vectors to be
+          returned, if METH = 'Q' or METH = 'R', or the numbers of
+          vectors to be used for computing a basis for the invariant
+          subspace(s), if METH = 'S' or METH = 'L', or WHICH = 'S'.
+
+  ILO     (input) INTEGER
+          If BALANC &lt;&gt; 'N', then ILO is the integer returned by
+          MB03XD.  1 &lt;= ILO &lt;= N+1.
+
+  SCALE   (input) DOUBLE PRECISION array, dimension (N)
+          If BALANC &lt;&gt; 'N', the leading N elements of this array
+          must contain details of the permutation and scaling
+          factors, as returned by MB03XD.
+          This array is not referenced if BALANC = 'N'.
+
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix S in real Schur form.
+          On exit, the leading N-by-N part of this array is
+          overwritten.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= max(1,N).
+
+  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix T.
+          On exit, the leading N-by-N part of this array is
+          overwritten.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, if METH = 'L' or METH = 'R', the leading N-by-N
+          part of this array must contain a general matrix G.
+          On exit, if METH = 'L' or METH = 'R', the leading N-by-N
+          part of this array is overwritten.
+          This array is not referenced if METH = 'S' or METH = 'Q'.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= 1.
+          LDG &gt;= max(1,N) if METH = 'L' or METH = 'R'.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (1,1) block of an orthogonal symplectic
+          matrix U.
+          On exit, this array is overwritten.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (2,1) block of an orthogonal symplectic
+          matrix U.
+          On exit, this array is overwritten.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (1,1) block of an orthogonal symplectic
+          matrix V.
+          On exit, this array is overwritten.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1.  LDV1 &gt;= MAX(1,N).
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (2,1) block of an orthogonal symplectic
+          matrix V.
+          On exit, this array is overwritten.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2.  LDV2 &gt;= MAX(1,N).
+
+  M       (output) INTEGER
+          The number of selected eigenvalues.
+
+  WR      (output) DOUBLE PRECISION array, dimension (M)
+  WI      (output) DOUBLE PRECISION array, dimension (M)
+          On exit, the leading M elements of WR and WI contain the
+          real and imaginary parts, respectively, of the selected
+          eigenvalues that have nonpositive real part. Complex
+          conjugate pairs of eigenvalues with real part not equal
+          to zero will appear consecutively with the eigenvalue
+          having the positive imaginary part first. Note that, due
+          to roundoff errors, these numbers may differ from the
+          eigenvalues computed by MB03XD.
+
+  US      (output) DOUBLE PRECISION array, dimension (LDUS,MM)
+          On exit, if STAB = 'S' or STAB = 'B', the leading
+          2*N-by-MM part of this array contains a basis for the
+          stable invariant subspace belonging to the selected
+          eigenvalues, if METH = 'S' or METH = 'L', or the range
+          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
+          METH). This basis is orthogonal unless ORTBAL = 'A'.
+
+  LDUS    INTEGER
+          The leading dimension of the array US.  LDUS &gt;= 1.
+          If STAB = 'S' or STAB = 'B',  LDUS &gt;= 2*N.
+
+  UU      (output) DOUBLE PRECISION array, dimension (LDUU,MM)
+          On exit, if STAB = 'U' or STAB = 'B', the leading
+          2*N-by-MM part of this array contains a basis for the
+          unstable invariant subspace belonging to the selected
+          eigenvalues, if METH = 'S' or METH = 'L', or the range
+          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
+          METH). This basis is orthogonal unless ORTBAL = 'A'.
+
+  LDUU    INTEGER
+          The leading dimension of the array UU.  LDUU &gt;= 1.
+          If STAB = 'U' or STAB = 'B',  LDUU &gt;= 2*N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  LWORK   LOGICAL array, dimension (2*N)
+          This array is only referenced if WHICH = 'A' and
+          (METH = 'L' or METH = 'R').
+
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 2*N, if WHICH = 'A' and METH = 'L';
+          LIWORK = N,   if WHICH = 'A' and METH = 'S';
+          LIWORK = 0,   if WHICH = 'A' and METH = 'Q' or METH = 'R';
+          LIWORK = M,   if WHICH = 'S'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -35,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If WHICH = 'S' or METH = 'S' or METH = 'Q':
+             LDWORK &gt;= MAX( 1, 4*M*M + MAX( 8*M, 4*N ) ).
+          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
+             ( STAB = 'U' or STAB = 'S' ):
+             LDWORK &gt;= MAX( 1, 2*N*N + 2*N, 8*N ).
+          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
+             STAB = 'B':
+             LDWORK &gt;= 8*N + 1.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  some of the selected eigenvalues are on or too close
+                to the imaginary axis;
+          = 2:  reordering of the product S*T in routine MB03ZA
+                failed because some eigenvalues are too close to
+                separate;
+          = 3:  the QR algorithm failed to compute some Schur form
+                in MB03ZA;
+          = 4:  reordering of the Hamiltonian Schur form in routine
+                MB03TD failed because some eigenvalues are too close
+                to separate;
+          = 5:  the computed stable invariant subspace for
+                METH = 'S' is inaccurate. This may be taken as a
+                warning and a suggestion to try METH = 'L';
+          = 6:  the computed unstable invariant subspace for
+                METH = 'S' is inaccurate. This may be taken as a
+                warning and a suggestion to try METH = 'L'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This is an implementation of Algorithm 1 in [1].
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The method is strongly backward stable for an embedded
+  (skew-)Hamiltonian matrix, see [1]. Although good results have
+  been reported if the eigenvalues are not too close to the
+  imaginary axis, the method is not backward stable for the original
+  Hamiltonian matrix itself.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A new method for computing the stable invariant subspace of a
+      real Hamiltonian matrix, J. Comput. Appl. Math., 86,
+      pp. 17-43, 1997.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03ZD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 200 )
+      INTEGER          LDG, LDRES, LDS, LDT, LDU1, LDU2, LDUS, LDUU,
+     $                 LDV1, LDV2, LDWORK
+      PARAMETER        ( LDG = NMAX, LDRES = 2*NMAX, LDS = NMAX,
+     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDUS = 2*NMAX, LDUU = 2*NMAX, LDV1 = NMAX,
+     $                   LDV2 = NMAX, LDWORK = 3*NMAX*NMAX + 7*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      BALANC, METH, ORTBAL, STAB, WHICH
+      INTEGER          I, ILO, INFO, J, M, N
+*     .. Local Arrays ..
+      LOGICAL          LWORK(2*NMAX), SELECT(NMAX)
+      INTEGER          IWORK(2*NMAX)
+      DOUBLE PRECISION DWORK(LDWORK), G(LDG, NMAX), RES(LDRES,NMAX),
+     $                 S(LDS, NMAX), SCALE(NMAX), T(LDT,NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), US(LDUS,2*NMAX),
+     $                 UU(LDUU,2*NMAX), V1(LDV1,NMAX), V2(LDV2, NMAX),
+     $                 WI(NMAX), WR(NMAX)
+*     .. External Functions ..
+      EXTERNAL         DLANGE, LSAME
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE
+*     .. External Subroutines ..
+      EXTERNAL         MB03ZD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, ILO, WHICH, METH, STAB, BALANC, ORTBAL
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+*
+         IF ( LSAME( WHICH, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( SELECT(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( WHICH, 'A' ).AND.LSAME( METH, 'L' ) )
+     $      READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( BALANC, 'P' ).OR.LSAME( BALANC, 'S' ).OR.
+     $        LSAME( BALANC, 'B' ) )
+     $      READ ( NIN, FMT = * ) ( SCALE(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( V1(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( V2(I,J), J = 1,N ), I = 1,N )
+*
+         CALL MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N, 2*N,
+     $                ILO, SCALE, S, LDS, T, LDT, G, LDG, U1, LDU1, U2,
+     $                LDU2, V1, LDV1, V2, LDV2, M, WR, WI, US, LDUS,
+     $                UU, LDUU, LWORK, IWORK, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
+20          CONTINUE
+*
+            IF ( LSAME( STAB, 'S' ).OR.LSAME( STAB, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, 2*N
+                  WRITE ( NOUT, FMT = 99993 ) ( US(I,J), J = 1,M )
+30             CONTINUE
+               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
+     $            LSAME( BALANC, 'P' ) ) THEN
+                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
+     $                        ONE, US, LDUS, US, LDUS, ZERO, RES,
+     $                        LDRES )
+                  DO 40  I = 1, M
+                     RES(I,I) = RES(I,I) - ONE
+40                CONTINUE
+                  WRITE ( NOUT, FMT = 99991 ) DLANGE( 'Frobenius', M, M,
+     $                    RES, LDRES, DWORK )
+               END IF
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
+     $                     US, LDUS, US(N+1,1), LDUS, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
+     $                     US(N+1,1), LDUS, US, LDUS, ONE, RES, LDRES )
+               WRITE ( NOUT, FMT = 99990 ) DLANGE( 'Frobenius', M, M,
+     $                 RES, LDRES, DWORK )
+            END IF
+*
+            IF ( LSAME( STAB, 'U' ).OR.LSAME( STAB, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 )
+               DO 50  I = 1, 2*N
+                  WRITE ( NOUT, FMT = 99993 ) ( UU(I,J), J = 1,M )
+50             CONTINUE
+               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
+     $            LSAME( BALANC, 'P' ) ) THEN
+                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
+     $                        ONE, UU, LDUU, UU, LDUU, ZERO, RES,
+     $                        LDRES )
+                  DO 60  I = 1, M
+                     RES(I,I) = RES(I,I) - ONE
+60                CONTINUE
+                  WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', M, M,
+     $                    RES, LDRES, DWORK )
+               END IF
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
+     $                     UU, LDUU, UU(N+1,1), LDUU, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
+     $                     UU(N+1,1), LDUU, UU, LDUU, ONE, RES, LDRES )
+               WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', M, M,
+     $                 RES, LDRES, DWORK )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03ZD = ',I2)
+99997 FORMAT (' The stable eigenvalues are',//'   i',6X,
+     $        'WR(i)',6X,'WI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' A basis for the stable invariant subspace is')
+99994 FORMAT (/' A basis for the unstable invariant subspace is')
+99993 FORMAT (20(1X,F9.3))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of US: || US''*US - I ||_F = ',G7.2)
+99990 FORMAT (/' Symplecticity of US: || US''*J*US   ||_F = ',G7.2)
+99989 FORMAT (/' Orthogonality of UU: || UU''*UU - I ||_F = ',G7.2)
+99988 FORMAT (/' Symplecticity of UU: || UU''*J*UU   ||_F = ',G7.2)
+
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03ZD EXAMPLE PROGRAM DATA
+	5	1	A	L	B	N	B
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+ -0.1795922007470742  0.1908329820840911  0.0868799433942070  0.3114741142062388 -0.2579907627915167
+ -0.2447897730222852 -0.1028403314750045 -0.1157840914576285 -0.1873268885694406  0.1700708002861580
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+  0.5121756358795817  0.0297197140254773  0.4332229148788766 -0.3240527006890552  0.5330850295256511
+  0.3664711365265602  0.3288511296455119  0.0588396016404451  0.1134221597062257  0.1047567336850078
+  0.4535357098437908  0.1062866148880792 -0.3964092656837774 -0.2211800890450674  0.0350667323996222
+  0.4450432900616097  0.2950206358263853 -0.1617837757183893 -0.0376369332204927 -0.6746752660482623
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
+  0.0299719306696789 -0.2322624725320701 -0.0280846899680325 -0.3044255686880000 -0.1077641482535519
+ -0.0069083614679702  0.3351358347080056 -0.4922707032978891  0.4293545450291714  0.4372821269062001
+  0.0167847133528843  0.2843629278945327  0.5958979805231146  0.3097336757510886 -0.2086733033047188
+  0.0248567764822071 -0.2810759958040470 -0.1653113624869834 -0.3528780198620412 -0.0254898556119252
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03ZD EXAMPLE PROGRAM RESULTS
+
+The stable eigenvalues are
+
+  i      WR(i)      WI(i)
+
+  1    -3.1941     0.0000
+  2    -0.1350     0.3179
+  3    -0.1350    -0.3179
+  4    -0.0595     0.2793
+  5    -0.0595    -0.2793
+
+A basis for the stable invariant subspace is
+   -0.102    -0.116     0.627     0.118    -0.605
+   -0.100    -0.510    -0.266     0.504     0.124
+   -0.179     0.015    -0.112    -0.142     0.413
+   -0.055     0.252     0.182    -0.134     0.100
+   -0.078     0.576    -0.271    -0.252    -0.177
+    0.340    -0.135     0.053    -0.234    -0.110
+    0.528     0.108    -0.205     0.219    -0.096
+    0.397    -0.429     0.161    -0.598     0.199
+    0.444     0.342     0.447     0.406     0.440
+    0.434     0.014    -0.383     0.072    -0.391
+
+Orthogonality of US: || US'*US - I ||_F = .62E-15
+
+Symplecticity of US: || US'*J*US   ||_F = .23E-14
+
+A basis for the unstable invariant subspace is
+   -0.428     0.383     0.048     0.105     0.187
+   -0.506    -0.100     0.541     0.245     0.223
+   -0.334    -0.524    -0.044    -0.153     0.126
+   -0.453     0.076     0.103    -0.525    -0.268
+   -0.436     0.098    -0.752     0.209    -0.251
+   -0.093    -0.089     0.258    -0.114    -0.725
+   -0.112    -0.196    -0.186    -0.302     0.394
+   -0.120    -0.286     0.027     0.680    -0.119
+   -0.102     0.630     0.079     0.040     0.127
+   -0.091    -0.171    -0.136    -0.136     0.231
+
+Orthogonality of UU: || UU'*UU - I ||_F = .69E-15
+
+Symplecticity of UU: || UU'*J*UU   ||_F = .10E-13
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04AD">MB04AD</A></H2>
+<H3>
+Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH with
+
+                                   (  0  I  )
+    S = T Z = J Z' J' Z, where J = (        ),                   (1)
+                                   ( -I  0  )
+
+  via generalized symplectic URV decomposition. That is, orthogonal
+  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2
+  are computed such that
+
+                                ( T11  T12 )
+    Q1' T U1 = Q1' J Z' J' U1 = (          ) = Tout,
+                                (  0   T22 )
+
+               ( Z11  Z12 )
+    U2' Z Q2 = (          ) = Zout,                              (2)
+               (  0   Z22 )
+
+               ( H11  H12 )
+    Q1' H Q2 = (          ) = Hout,
+               (  0   H22 )
+
+  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
+  upper quasi-triangular. The notation M' denotes the transpose of
+  the matrix M.
+  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', the orthogonal
+  transformation matrix Q1 will be computed.
+  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', the orthogonal
+  transformation matrix Q2 will be computed.
+  Optionally, if COMPU1 = 'I' or COMPU1 = 'U', the orthogonal
+  symplectic transformation matrix
+
+         (  U11  U12  )
+    U1 = (            )
+         ( -U12  U11  )
+
+  will be computed.
+  Optionally, if COMPU2 = 'I' or COMPU2 = 'U', the orthogonal
+  symplectic transformation matrix
+
+         (  U21  U22  )
+    U2 = (            )
+         ( -U22  U21  )
+
+  will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ,
+     $                   H, LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12,
+     $                   LDU12, U21, LDU21, U22, LDU22, T, LDT, ALPHAR,
+     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
+      INTEGER            INFO, LDH, LDQ1, LDQ2, LDT, LDU11, LDU12,
+     $                   LDU21, LDU22, LDWORK, LDZ, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ),
+     $                   DWORK( * ), H( LDH, * ), Q1( LDQ1, * ),
+     $                   Q2( LDQ2, * ), T( LDT, * ), U11( LDU11, * ),
+     $                   U12( LDU12, * ), U21( LDU21, * ),
+     $                   U22( LDU22, * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; Z, T, and H will not
+                 necessarily be put into the forms in (2); H22' is
+                 upper Hessenberg;
+          = 'T': put Z, T, and H into the forms in (2), and return
+                 the eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N': Q1 is not computed;
+          = 'I': the array Q1 is initialized internally to the unit
+                 matrix, and the orthogonal matrix Q1 is returned;
+          = 'U': the array Q1 contains an orthogonal matrix Q01 on
+                 entry, and the product Q01*Q1 is returned, where Q1
+                 is the product of the orthogonal transformations
+                 that are applied to the pencil aT*Z - bH on the
+                 left to reduce T, Z, and H to the forms in (2),
+                 for COMPQ1 = 'I'.
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N': Q2 is not computed;
+          = 'I': the array Q2 is initialized internally to the unit
+                 matrix, and the orthogonal matrix Q2 is returned;
+          = 'U': the array Q2 contains an orthogonal matrix Q02 on
+                 entry, and the product Q02*Q2 is returned, where Q2
+                 is the product of the orthogonal transformations
+                 that are applied to the pencil aT*Z - bH on the
+                 right to reduce T, Z, and H to the forms in (2),
+                 for COMPQ2 = 'I'.
+
+  COMPU1  CHARACTER*1
+          Specifies whether to compute the orthogonal symplectic
+          transformation matrix U1, as follows:
+          = 'N': U1 is not computed;
+          = 'I': the arrays U11 and U12 are initialized internally
+                 to the unit and zero matrices, respectively, and
+                 the corresponding submatrices of the orthogonal
+                 symplectic matrix U1 are returned;
+          = 'U': the arrays U11 and U12 contain the corresponding
+                 submatrices of an orthogonal symplectic matrix U01
+                 on entry, and the updated submatrices U11 and U12
+                 of the matrix product U01*U1 are returned, where U1
+                 is the product of the orthogonal symplectic
+                 transformations that are applied to the pencil
+                 aT*Z - bH to reduce T, Z, and H to the forms in
+                 (2), for COMPU1 = 'I'.
+
+  COMPU2  CHARACTER*1
+          Specifies whether to compute the orthogonal symplectic
+          transformation matrix U2, as follows:
+          = 'N': U2 is not computed;
+          = 'I': the arrays U21 and U22 are initialized internally
+                 to the unit and zero matrices, respectively, and
+                 the corresponding submatrices of the orthogonal
+                 symplectic matrix U2 are returned;
+          = 'U': the arrays U21 and U22 contain the corresponding
+                 submatrices of an orthogonal symplectic matrix U02
+                 on entry, and the updated submatrices U21 and U22
+                 of the matrix product U02*U2 are returned, where U2
+                 is the product of the orthogonal symplectic
+                 transformations that are applied to the pencil
+                 aT*Z - bH to reduce T, Z, and H to the forms in
+                 (2), for COMPU2 = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Z.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the matrix Zout; otherwise, it contains the
+          matrix Z obtained just before the application of the
+          periodic QZ algorithm.
+          The elements of the (2,1) block, i.e., in the rows N/2+1
+          to N and in the columns 1 to N/2 are not set to zero, but
+          are unchanged on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  H       (input/output) DOUBLE PRECISION array, dimension (LDH, N)
+          On entry, the leading N-by-N part of this array must
+          contain the Hamiltonian matrix H (H22 = -H11', H12 = H12',
+          H21 = H21').
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the matrix Hout; otherwise, it contains the
+          matrix H obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1, N).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q01, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q01 and the transformation matrix Q1
+          used to transform the matrices Z, T and H.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N', this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q02, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q02 and the transformation matrix Q2
+          used to transform the matrices Z, T and H.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N', this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  U11     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU11, N/2)
+          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper left block of a
+          given matrix U01, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U11 of
+          the product of the input matrix U01 and the transformation
+          matrix U1 used to transform the matrices Z, T, and H.
+          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U11 of the
+          orthogonal symplectic transformation matrix U1.
+          If COMPU1 = 'N' this array is not referenced.
+
+  LDU11   INTEGER
+          The leading dimension of the array U11.
+          LDU11 &gt;= 1,           if COMPU1 = 'N';
+          LDU11 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
+
+  U12     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU12, N/2)
+          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper right block of a
+          given matrix U01, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U12
+          of the product of the input matrix U01 and the
+          transformation matrix U1 used to transform the matrices
+          Z, T, and H.
+          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U12 of the
+          orthogonal symplectic transformation matrix U1.
+          If COMPU1 = 'N' this array is not referenced.
+
+  LDU12   INTEGER
+          The leading dimension of the array U12.
+          LDU12 &gt;= 1,           if COMPU1 = 'N';
+          LDU12 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
+
+  U21     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU21, N/2)
+          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper left block of a
+          given matrix U02, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U21 of
+          the product of the input matrix U02 and the transformation
+          matrix U2 used to transform the matrices Z, T, and H.
+          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U21 of the
+          orthogonal symplectic transformation matrix U2.
+          If COMPU2 = 'N' this array is not referenced.
+
+  LDU21   INTEGER
+          The leading dimension of the array U21.
+          LDU21 &gt;= 1,           if COMPU2 = 'N';
+          LDU21 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
+
+  U22     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU22, N/2)
+          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper right block of a
+          given matrix U02, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U22
+          of the product of the input matrix U02 and the
+          transformation matrix U2 used to transform the matrices
+          Z, T, and H.
+          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U22 of the
+          orthogonal symplectic transformation matrix U2.
+          If COMPU2 = 'N' this array is not referenced.
+
+  LDU22   INTEGER
+          The leading dimension of the array U22.
+          LDU22 &gt;= 1,           if COMPU2 = 'N';
+          LDU22 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT, N)
+          If JOB = 'T', the leading N-by-N part of this array
+          contains the matrix Tout; otherwise, it contains the
+          matrix T obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1, N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta defining the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th quadruple of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.   LIWORK &gt;= N+18.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(7) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(8), ...,
+          DWORK(7+6*s) contain the s sextuple values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained from
+          -i*sqrt((a1/a2/a3)*(a4/a5/a6)), but always taking a
+          positive sign, where a1, ..., a6 are the corresponding
+          sextuple values.
+          Moreover, DWORK(8+6*s), ..., DWORK(7+6*s+24*t) contain the
+          t groups of sextuple 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
+          positive imaginary parts, where ev are the eigenvalues of
+          the product A1*inv(A2)*inv(A3)*A4*inv(A5)*inv(A6), where
+          A1, ..., A6 define the corresponding 2-by-2 matrix
+          sextuple.
+          On exit, if INFO = -31, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N' and
+          COMPU1 = 'N' and COMPU2 = 'N', then
+                LDWORK &gt;= 3/2*N**2 + MAX(6*N,54);
+          else, LDWORK &gt;=   3*N**2 + MAX(6*N,54).
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm was not able to reveal
+               information about the eigenvalues from the 2-by-2
+               blocks in the SLICOT Library routine MB03BD;
+          = 2: the periodic QZ algorithm did not converge in the
+               SLICOT Library routine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in T, Z, and H such that T11, T22', Z11, Z22',
+  and H11 are upper triangular and H22' is upper Hessenberg. Finally
+  the periodic QZ algorithm is applied to transform H22' to upper
+  quasi-triangular form while T11, T22', Z11, Z22', and H11 stay in
+  upper triangular form.
+  See also page 17 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDH, LDQ1, LDQ2, LDT, LDU11, LDU12, LDU21,
+     $                   LDU22, LDWORK, LDZ, LIWORK
+      PARAMETER          ( LDH = NMAX, LDQ1  = NMAX,   LDQ2 = NMAX,
+     $                     LDT = NMAX, LDU11 = NMAX/2, LDU12 = NMAX/2,
+     $                     LDU21  = NMAX/2, LDU22 = NMAX/2,
+     $                     LDWORK = 3*NMAX*NMAX + MAX( NMAX, 48 ) + 6,
+     $                     LDZ = NMAX,  LIWORK = NMAX + 18 )
+      DOUBLE PRECISION  ZERO
+      PARAMETER         ( ZERO = 0.0D0 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX/2 ), ALPHAR( NMAX/2 ),
+     $                   BETA( NMAX/2 ), DWORK( LDWORK ),
+     $                   H( LDH, NMAX ), Q1( LDQ1, NMAX ),
+     $                   Q2( LDQ2, NMAX ), T( LDT, NMAX ),
+     $                   U11( LDU11, NMAX/2 ), U12( LDU12, NMAX/2 ),
+     $                   U21( LDU21, NMAX/2 ), U22( LDU22, NMAX/2 ),
+     $                   Z( LDZ, NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           DLASET, MB04AD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( ( Z( I, J ), J = 1, N ), I = 1, N )
+         READ( NIN, FMT = * ) ( ( H( I, J ), J = 1, N ), I = 1, N )
+*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
+*        pencil (factored version).
+         CALL MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ, H,
+     $                LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12, LDU12,
+     $                U21, LDU21, U22, LDU22, T, LDT, ALPHAR, ALPHAI,
+     $                BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            M = N/2
+            CALL DLASET( 'Full', M, M, ZERO, ZERO, Z( M+1, 1 ), LDZ )
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( T( I, J ), J = 1, N )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( H( I, J ), J = 1, N )
+   30       CONTINUE
+            IF( LSAME( COMPQ1, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
+   40          CONTINUE
+            END IF
+            IF( LSAME( COMPQ2, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            IF( LSAME( COMPU1, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 60 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U11( I, J ), J = 1, M )
+   60          CONTINUE
+               WRITE( NOUT, FMT = 99989 )
+               DO 70 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U12( I, J ), J = 1, M )
+   70          CONTINUE
+            END IF
+            IF( LSAME( COMPU2, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99988 )
+               DO 80 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U21( I, J ), J = 1, M )
+   80          CONTINUE
+               WRITE( NOUT, FMT = 99987 )
+               DO 90 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U22( I, J ), J = 1, M )
+   90          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99986 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99985 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99984 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+         END IF
+      END IF
+      STOP
+* 
+99999 FORMAT( 'MB04AD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB04AD = ', I2 )
+99996 FORMAT( 'The matrix T on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix Z on exit is ' )
+99993 FORMAT( 'The matrix H is ' )
+99992 FORMAT( 'The matrix Q1 is ' )
+99991 FORMAT( 'The matrix Q2 is ' )
+99990 FORMAT( 'The upper left block of the matrix U1 is ' )
+99989 FORMAT( 'The upper right block of the matrix U1 is ' )
+99988 FORMAT( 'The upper left block of the matrix U2 is ' )
+99987 FORMAT( 'The upper right block of the matrix U2 is ' )
+99986 FORMAT( 'The vector ALPHAR is ' )
+99985 FORMAT( 'The vector ALPHAI is ' )
+99984 FORMAT( 'The vector BETA is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04AD EXAMPLE PROGRAM DATA
+   T   I   I   I   I   8
+   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
+   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
+  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
+   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
+   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
+  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
+  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
+   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
+   3.9090   -3.5071    3.1428   -3.0340   -1.4834    3.7401   -0.1715    0.4026
+   4.5929   -2.4249   -2.5648   -2.4892    3.7401   -2.1416    1.6251    2.6645
+   0.4722    3.4072    4.2926    1.1604   -0.1715    1.6251   -4.2415   -0.0602
+  -3.6138   -2.4572   -1.5002   -0.2671    0.4026    2.6645   -0.0602   -3.7009
+   0.6882   -1.8421   -4.1122    0.1317   -3.9090   -4.5929   -0.4722    3.6138
+  -1.8421    2.9428   -0.4340    1.3834    3.5071    2.4249   -3.4072    2.4572
+  -4.1122   -0.4340   -2.3703    0.5231   -3.1428    2.5648   -4.2926    1.5002
+   0.1317    1.3834    0.5231   -4.1618    3.0340    2.4892   -1.1604    0.2671
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04AD EXAMPLE PROGRAM RESULTS
+The matrix T on exit is 
+  -3.9699   3.7658   5.5815  -1.7750  -0.8818  -0.0511  -4.2158   1.9054
+   0.0000   5.3686  -5.9166   4.9163   1.3839   0.8870   3.9458  -4.9167
+   0.0000   0.0000   5.9641   1.9432  -2.0680   2.4402  -1.4091   5.8512
+   0.0000   0.0000   0.0000   5.9983  -3.8172   4.0147  -2.0739  -1.2570
+   0.0000   0.0000   0.0000   0.0000   8.2005   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   1.5732   8.0098   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.6017   2.4397   5.9751   0.0000
+   0.0000   0.0000   0.0000   0.0000  -2.5869   0.5598   0.2544   5.2129
+The matrix Z on exit is 
+  -6.4705  -2.5511  -4.0551  -1.9895  -2.7642   0.7532  -4.1047  -2.2046
+   0.0000   7.3589  -4.4480  -2.7491  -1.5465  -1.4345  -0.9272   1.3121
+   0.0000   0.0000   4.9125  -0.4968   5.3574   3.8579   5.2547  -1.7324
+   0.0000   0.0000   0.0000   9.0822   0.0460  -0.3382   3.9302   3.1084
+   0.0000   0.0000   0.0000   0.0000   6.1869   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   5.5573   6.6549   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   2.7456  -3.5789   4.3432   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.1549   3.5335   3.1346   4.1062
+The matrix H is 
+  -7.4834   0.4404   2.3558   1.6724  -0.4630   1.9533   1.5724  -2.7254
+   0.0000  -7.3500   3.7414   3.7466   0.2837   0.6849   0.7727  -4.2140
+   0.0000   0.0000  -2.3493  -3.7994  -0.6872   1.1773  -2.6901  -5.1494
+   0.0000   0.0000   0.0000  -3.4719   5.3322   0.4182   1.9779   1.5175
+   0.0000   0.0000   0.0000   0.0000  -6.1880   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000  -3.3324   9.0833   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8703   0.0799  -2.8180   0.0000
+   0.0000   0.0000   0.0000   0.0000  -2.3477   3.3110   0.6561   0.7281
+The matrix Q1 is 
+  -0.2489  -0.1409   0.3615   0.6458   0.0113   0.6063  -0.0470   0.0238
+  -0.2436   0.1294  -0.0874  -0.4103   0.3408   0.3628  -0.3267   0.6272
+  -0.4316  -0.2352   0.5553  -0.2811  -0.2198  -0.2880  -0.4564  -0.1773
+   0.1992  -0.2176  -0.5198   0.1561  -0.1523   0.1299  -0.7281  -0.2197
+   0.0161   0.7390   0.1125  -0.2226  -0.1003   0.3608  -0.1118  -0.4886
+  -0.5824   0.0984  -0.3052   0.1996   0.5889  -0.2442   0.0060  -0.3341
+  -0.3246   0.4661  -0.1835   0.3523  -0.5153  -0.3034  -0.0865   0.3931
+  -0.4559  -0.2961  -0.3790  -0.3127  -0.4356   0.3452   0.3642  -0.1467
+The matrix Q2 is 
+   0.0288  -0.1842  -0.6791  -0.2115  -0.4790   0.4212  -0.0417  -0.2253
+  -0.0666  -0.0787  -0.3711   0.1737  -0.0482  -0.5770  -0.6785   0.1607
+   0.1506   0.6328   0.0518  -0.6266   0.0652  -0.0790  -0.2854  -0.2994
+  -0.2900  -0.2737  -0.0076  -0.3671  -0.2017  -0.6241   0.4521  -0.2675
+   0.3353   0.4107   0.0326   0.1400  -0.6447  -0.2043   0.2561   0.4187
+   0.0905  -0.1648  -0.2363  -0.5323   0.3180   0.0286   0.1252   0.7126
+  -0.7246   0.0468   0.3328  -0.1794  -0.3639   0.2257  -0.2623   0.2786
+   0.4922  -0.5353   0.4803  -0.2501  -0.2723   0.0199  -0.3194  -0.0371
+The upper left block of the matrix U1 is 
+   0.4144   0.2249   0.6015  -0.1964
+  -0.0198   0.5131  -0.2823  -0.3058
+  -0.6620   0.1508   0.2237   0.0240
+  -0.0743  -0.4323  -0.0332  -0.7263
+The upper right block of the matrix U1 is 
+  -0.3474   0.1306  -0.3391  -0.3530
+  -0.3760   0.1550   0.6087  -0.1646
+   0.1707   0.6553  -0.1262  -0.1177
+   0.3048  -0.0773   0.0767  -0.4173
+The upper left block of the matrix U2 is 
+   0.1403  -0.6447  -0.6536  -0.3707
+   0.7069   0.2609  -0.0091  -0.1702
+  -0.1218  -0.1120   0.3766  -0.5154
+   0.0773   0.6349  -0.5070  -0.1810
+The upper right block of the matrix U2 is 
+   0.0000   0.0000   0.0000   0.0000
+   0.1182   0.1587   0.1930  -0.5716
+   0.6051  -0.2720   0.3364   0.1089
+   0.2823  -0.0386  -0.1529   0.4434
+The vector ALPHAR is 
+   0.0000   0.7122   0.0000   0.7450
+The vector ALPHAI is 
+   0.7540   0.0000   0.7465   0.0000
+The vector BETA is 
+   4.0000   4.0000   8.0000  16.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04AZ.html b/doc/_build/html/_static/doc/MB04AZ.html
new file mode 100644
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@@ -0,0 +1,588 @@
+<HTML>
+<HEAD><TITLE>MB04AZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04AZ">MB04AZ</A></H2>
+<H3>
+Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+           H  T           (  B  F  )       (  Z11  Z12  )
+    S = J Z  J  Z and H = (      H ), Z =: (            ).       (1)
+                          (  G -B  )       (  Z21  Z22  )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+                                                        H  T
+  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z  J  B_Z,
+
+          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
+          (                     |                     )
+          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
+          (                     |                     )
+    B_Z = (---------------------+---------------------) ,
+          (                     |                     )
+          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
+          (                     |                     )
+          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |      T       T  )
+          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
+          (                 |      T       T  )
+          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
+
+  is determined and used to compute the eigenvalues. Optionally,
+  if JOB = 'T', the pencil aB_S - bB_H is transformed by a unitary
+  matrix Q and a unitary symplectic matrix U to the structured Schur
+                                                H  T
+  form aB_Sout - bB_Hout, with B_Sout = J B_Zout  J  B_Zout,
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Zout = (         ) and B_Hout = (       H ),               (3)
+             (  0  BC  )              (  0 -BB  )
+
+  where BA and BB are upper triangular, BC is lower triangular,
+  and BF is Hermitian. B_H above is defined as B_H = -i*B_T.
+  The embedding doubles the multiplicities of the eigenvalues of
+  the pencil aS - bH.
+  Optionally, if COMPQ = 'C', the unitary matrix Q is computed.
+  Optionally, if COMPU = 'C', the unitary symplectic matrix U is
+  computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG,
+     $                   LDFG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
+     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
+     $                   ZWORK, LZWORK, BWORK, INFO )C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
+     $                   LDZ, LIWORK, LZWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
+     $                   Z( LDZ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (3).
+          = 'T': put S and H into the forms in (3) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the unitary transformation
+          matrix Q, as follows:
+          = 'N': do not compute the unitary matrix Q;
+          = 'C': the array Q is initialized internally to the unit
+                 matrix, and the unitary matrix Q is returned.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the unitary symplectic
+          transformation matrix U, as follows:
+          = 'N': do not compute the unitary symplectic matrix U;
+          = 'C': the array U is initialized internally to the unit
+                 matrix, and the unitary symplectic matrix U is
+                 returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the non-trivial factor Z in the factorization
+                 H  T
+          S = J Z  J  Z of the skew-Hamiltonian matrix S.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3)
+          (see also METHOD). The strictly lower triangular part is
+          not zeroed. The submatrix in the rows N/2+1 to N and the
+          first N/2 columns is unchanged, except possibly for the
+          entry (N/2+1,N/2), which might be set to zero.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, K), where
+          K = N, if JOB = 'T', and K = M, if JOB = 'E'.
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3)
+          (see also METHOD).
+          The strictly lower triangular part is not zeroed.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1, M), if JOB = 'E';
+          LDB &gt;= MAX(1, N), if JOB = 'T'.
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, P),
+          where P = MAX(M+1,N), if JOB = 'T', and
+                P = M+1,        if JOB = 'E'.
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F. Accidental nonzero imaginary parts on
+          the main diagonals of F and G do not perturb the results.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts, since they have not been annihilated.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, M), if JOB = 'E';
+          LDFG &gt;= MAX(1, N), if JOB = 'T'.
+
+  D       (output) COMPLEX*16 array, dimension (LDD, N)
+          If JOB = 'T', the leading N-by-N part of this array
+          contains the matrix BD in (3) (see also METHOD).
+          If JOB = 'E', this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= 1,         if JOB = 'E';
+          LDD &gt;= MAX(1, N), if JOB = 'T'.
+
+  C       (output) COMPLEX*16 array, dimension (LDC, N)
+          If JOB = 'T', the leading N-by-N part of this array
+          contains the lower triangular matrix BC in (3) (see also
+          METHOD). The part over the first superdiagonal is not set.
+          If JOB = 'E', this array is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,         if JOB = 'E';
+          LDC &gt;= MAX(1, N), if JOB = 'T'.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C' and JOB = 'T', then the leading
+          2*N-by-2*N part of this array contains the unitary
+          transformation matrix Q.
+          If COMPQ = 'C' and JOB = 'E', this array contains the
+          orthogonal transformation which reduced B_Z and B_T
+          in the first step of the algorithm (see METHOD).
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
+          On exit, if COMPU = 'C' and JOB = 'T', then the leading
+          N-by-2*N part of this array contains the leading N-by-2*N
+          part of the unitary symplectic transformation matrix U.
+          If COMPU = 'C' and JOB = 'E', this array contains the
+          first N rows of the transformation U which reduced B_Z
+          and B_T in the first step of the algorithm (see METHOD).
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,         if COMPU = 'N';
+          LDU &gt;= MAX(1, N), if COMPU = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue. The blocks are those in B_T and B_S.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th triplet of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(5), ...,
+          DWORK(4+3*s) contain the s triplet values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained as -a1/a2/a3*i,
+          where a1, ..., a3 are the corresponding triplet values,
+          and i is the purely imaginary unit.
+          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
+          t groups of triplet 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is given by imag( ev ) - real( ev )*i,
+          where ev is the spectrum of the matrix product
+          A1*inv(A2)*inv(A3), and A1, ..., A3 define the
+          corresponding 2-by-2 matrix triplet.
+          On exit, if INFO = -25, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
+                    c = 18, if                 COMPU = 'C';
+                    c = 16, if COMPQ = 'C' and COMPU = 'N';
+                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -27, ZWORK(1) returns the minimum
+          value of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 8*N + 28, if JOB = 'T' and COMPQ = 'C';
+          LZWORK &gt;= 6*N + 28, if JOB = 'T' and COMPQ = 'N';
+          LZWORK &gt;= 1,        if JOB = 'E'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0, if JOB = 'E';
+          LBWORK &gt;= N, if JOB = 'T'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the algorithm was not able to reveal information
+               about the eigenvalues from the 2-by-2 blocks in the
+               SLICOT Library routine MB03BD (called by MB04ED);
+          = 2: periodic QZ iteration failed in the SLICOT Library
+               routines MB03BD or MB03BZ when trying to
+               triangularize the 2-by-2 blocks;
+          = 3: some eigenvalues might be inaccurate. This is a
+               warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04ED is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~      T         (  BZ11  BZ12  )
+  B_Z = U  B_Z Q = (              ) and
+                   (    0   BZ22  )
+
+  ~        T  T         (  T11  T12  )
+  B_T = J Q  J  B_T Q = (          T ),
+                        (   0   T11  )
+
+  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
+  BZ22' are upper triangular and T11 is upper quasi-triangular.
+  If JOB = 'T', the 2-by-2 blocks are triangularized using the
+  periodic QZ algorithm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04AZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
+     $                   LIWORK, LZWORK
+      PARAMETER          ( LDB = NMAX,  LDC =   NMAX, LDD = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
+     $                     LDWORK = 18*NMAX*NMAX + NMAX + MAX( 2*NMAX,
+     $                                                         24 ) + 3,
+     $                     LDZ = NMAX, LIWORK = 2*NMAX + 9,
+     $                     LZWORK = 8*NMAX + 28 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      COMPLEX*16         B( LDB,   NMAX ),  C( LDC,   NMAX ),
+     $                   D( LDD,   NMAX ), FG( LDFG,  NMAX ),
+     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
+     $                   Z( LDZ,   NMAX ), ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
+     $                   BETA(   NMAX ), DWORK(LDWORK )
+      INTEGER            IWORK( LIWORK )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04AZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I=1, N )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I=1, N/2 )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I=1, N/2 )
+*        Compute the eigenvalues of a complex skew-Hamiltonian/
+*        Hamiltonian pencil (factored version).
+         CALL MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
+     $                BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK, LZWORK,
+     $                BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            M = N/2
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  Z( I, J ), J = 1, N )
+   10          CONTINUE
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  B( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  D( I, J ), J = 1, N )
+   40          CONTINUE
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  C( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 60 I = 1, 2*N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
+   60          CONTINUE
+            END IF
+            IF( LSAME( COMPU, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99989 )
+               DO 70 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, 2*N )
+   70          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99987 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99986 )
+            WRITE( NOUT, FMT = 99987 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99985 )
+            WRITE( NOUT, FMT = 99987 ) (   BETA( I ), I = 1, N )
+         END IF
+      END IF
+      STOP
+* 
+99999 FORMAT ( 'MB04AZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04AZ = ', I2 )
+99996 FORMAT (/' The transformed matrix Z is' )
+99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99994 FORMAT (/' The transformed matrix B is' )
+99993 FORMAT (/' The transformed matrix FG is' )
+99992 FORMAT (/' The matrix D is' )
+99991 FORMAT (/' The matrix C is' )
+99990 FORMAT (/' The matrix Q is' )
+99989 FORMAT (/' The upper part of the matrix U is' )
+99988 FORMAT (/' The vector ALPHAR is ' )
+99987 FORMAT ( 50( 1X, F8.4 ) )
+99986 FORMAT (/' The vector ALPHAI is ' )
+99985 FORMAT (/' The vector BETA is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04AZ EXAMPLE PROGRAM DATA
+	T	C	C	4
+   (0.4941,0.8054)   (0.8909,0.8865)   (0.0305,0.9786)   (0.9047,0.0596)
+   (0.7790,0.5767)   (0.3341,0.0286)   (0.7440,0.7126)   (0.6098,0.6819)
+   (0.7150,0.1829)   (0.6987,0.4899)   (0.5000,0.5004)   (0.6176,0.0424)
+   (0.9037,0.2399)   (0.1978,0.1679)   (0.4799,0.4710)   (0.8594,0.0714)
+   (0.5216,0.7224)   (0.8181,0.6596)
+   (0.0967,0.1498)   (0.8175,0.5185)
+    0.9729            0.8003           (0.4323,0.8313)
+   (0.6489,0.1331)    0.4537            0.8253          
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04AZ EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix Z is
+    0.4545  +0.0000i     0.7904  +0.0000i    -0.1601  +0.0000i    -0.2691  +0.0000i 
+    0.7790  +0.5767i     0.4273  +0.0000i     0.1459  +0.0000i     0.1298  +0.0000i 
+    0.7150  +0.1829i     0.6987  +0.4899i     0.6715  +0.0000i    -0.3001  +0.0000i 
+    0.9037  +0.2399i     0.1978  +0.1679i     0.4799  +0.4710i     0.7924  +0.0000i 
+
+ The transformed matrix B is
+    0.0000  -1.7219i     0.0000  +0.7762i     0.0000  +0.5342i     0.0000  +0.0845i 
+    0.0000  +0.0000i     0.0000  +0.8862i     0.0000  +0.5186i     0.0000  -0.1429i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +1.1122i     0.0000  +0.2898i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.4889i 
+
+ The transformed matrix FG is
+    0.0000  +0.0000i     0.0000  +0.4145i     0.0000  -0.7921i     0.0000  +0.5630i 
+    0.6489  +0.1331i     0.0000  +0.0000i     0.0000  +1.5982i     0.0000  +0.5818i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.5819i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+
+ The matrix D is
+    2.2139  +0.0000i     0.0402  +0.0000i    -0.2787  +0.0000i     1.0465  +0.0000i 
+   -0.5021  +0.0000i     0.5502  +0.0000i    -0.2771  +0.0000i    -0.4521  +0.0000i 
+   -0.0398  +0.0000i     0.4046  +0.0000i     0.0149  +0.0000i     0.7577  +0.0000i 
+   -0.1550  +0.0000i     2.0660  +0.0000i     1.6075  +0.0000i     0.5836  +0.0000i 
+
+ The matrix C is
+    0.3159  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.7819  +0.0000i    -0.7575  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -0.3494  +0.0000i     0.8622  +0.0000i     0.7539  +0.0000i     0.0000  +0.0000i 
+    1.1178  +0.0000i     0.3133  +0.0000i     0.4638  +0.0000i     1.2348  +0.0000i 
+
+ The matrix Q is
+   -0.4983  +0.0000i     0.3694  +0.0000i    -0.4754  +0.0000i     0.2791  +0.0000i     0.1950  +0.0000i     0.2416  +0.0000i     0.1869  +0.0000i     0.4242  +0.0000i 
+   -0.1045  +0.0000i     0.3309  +0.0000i     0.5730  +0.0000i    -0.5566  +0.0000i     0.0877  +0.0000i     0.3543  +0.0000i     0.1761  +0.0000i     0.2779  +0.0000i 
+   -0.2586  +0.0000i    -0.4457  +0.0000i    -0.2838  +0.0000i    -0.5436  +0.0000i     0.5524  +0.0000i    -0.1064  +0.0000i    -0.2040  +0.0000i     0.0205  +0.0000i 
+   -0.0040  +0.0000i     0.3845  +0.0000i     0.2469  +0.0000i     0.2965  +0.0000i     0.5799  +0.0000i     0.0840  +0.0000i    -0.4788  +0.0000i    -0.3614  +0.0000i 
+    0.7958  +0.0000i     0.1597  +0.0000i    -0.3420  +0.0000i    -0.1047  +0.0000i     0.3370  +0.0000i     0.1813  +0.0000i     0.2275  +0.0000i     0.1229  +0.0000i 
+   -0.0600  +0.0000i    -0.4599  +0.0000i     0.3487  +0.0000i     0.3910  +0.0000i     0.4005  +0.0000i     0.1010  +0.0000i     0.5819  +0.0000i    -0.0345  +0.0000i 
+   -0.0539  +0.0000i     0.3817  +0.0000i     0.0501  +0.0000i    -0.1114  +0.0000i     0.1751  +0.0000i    -0.8212  +0.0000i     0.3606  +0.0000i    -0.0380  +0.0000i 
+    0.1846  +0.0000i    -0.1577  +0.0000i     0.2510  +0.0000i     0.2293  +0.0000i     0.0911  +0.0000i    -0.2834  +0.0000i    -0.3779  +0.0000i     0.7708  +0.0000i 
+
+ The upper part of the matrix U is
+   -0.2544  +0.0000i    -0.1844  +0.0000i     0.7632  +0.0000i     0.5646  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.4272  +0.0000i    -0.0454  +0.0000i    -0.2918  +0.0000i     0.5721  +0.0000i     0.1446  +0.0000i    -0.1611  +0.0000i     0.3609  +0.0000i    -0.4752  +0.0000i 
+    0.6936  +0.0000i     0.3812  +0.0000i     0.2606  +0.0000i     0.0848  +0.0000i    -0.3359  +0.0000i    -0.1592  +0.0000i    -0.3242  +0.0000i     0.2348  +0.0000i 
+    0.2320  +0.0000i    -0.4483  +0.0000i    -0.1629  +0.0000i     0.1784  +0.0000i    -0.2898  +0.0000i     0.7525  +0.0000i    -0.0511  +0.0000i     0.1841  +0.0000i 
+
+ The vector ALPHAR is 
+   0.0000   0.0000   0.0000   0.0000
+
+ The vector ALPHAI is 
+  -1.4991  -1.3690   1.0985   0.9993
+
+ The vector BETA is 
+   0.1250   0.5000   0.5000   2.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04BD">MB04BD</A></H2>
+<H3>
+Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  W -C' )
+
+  Optionally, if JOB = 'T', decompositions of S and H will be
+  computed via orthogonal transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        )
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric. The notation M'
+  denotes the transpose of the matrix M.
+  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
+  transformation matrix Q1 will be computed.
+  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
+  transformation matrix Q2 will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
+     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
+     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, JOB
+      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
+     $                   LDQ2, LDVW, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
+     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
+     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   VW( LDVW, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (2).
+          = 'T': put S and H into the forms in (2) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q on
+                  entry, and the product Q*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reduce
+                  S and H to the forms in (2), for COMPQ1 = 'I'.
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  on exit, the array Q2 contains the orthogonal
+                  matrix Q2;
+          = 'U':  on exit, the array Q2 contains the matrix product
+                  J*Q*J'*Q2, where Q2 is the product of the
+                  orthogonal transformations that are applied to
+                  the pencil aS - bH to reduce S and H to the forms
+                  in (2), for COMPQ2 = 'I'.
+                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains the
+          upper triangular matrix A obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N/2+1 of this array contains the strictly upper triangular
+          part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the periodic QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  C1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDC1, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix C1 = C.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C1out; otherwise, it contains
+          the upper triangular matrix C1 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC1    INTEGER
+          The leading dimension of the array C1.
+          LDC1 &gt;= MAX(1, N/2).
+
+  VW      (input/output) DOUBLE PRECISION array, dimension
+                         (LDVW, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix W, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix V.
+          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
+          2 to N/2+1 of this array contains the matrix Vout.
+          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
+          N/2+1 of this array contains the matrix V just before the
+          application of the periodic QZ algorithm.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.
+          LDVW &gt;= MAX(1, N/2).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q and the transformation matrix Q1
+          used to transform the matrices S and H.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N', this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array contains the product of the matrix J*Q*J' and
+          the transformation matrix Q2 used to transform the
+          matrices S and H.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N', this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains the
+          upper triangular matrix B obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of this array contains the strictly
+          upper triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix F just before
+          the application of the periodic QZ algorithm.
+          The entries on the leading N/2-by-N/2 lower triangular
+          part of this array are not referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C2out; otherwise, it contains
+          the upper Hessenberg matrix C2 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC2    INTEGER
+          The leading dimension of the array C2.
+          LDC2 &gt;= MAX(1, N/2).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the (i-q-1)-th quadruple
+          of 1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= N+12.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(6), ...,
+          DWORK(5+4*s) contain the s quadruple values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained from
+          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
+          where a1, ..., a4 are the corresponding quadruple values.
+          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
+          t groups of quadruple 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
+          positive imaginary parts, where ev are the eigenvalues of
+          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
+          define the corresponding 2-by-2 matrix quadruple.
+          On exit, if INFO = -27, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
+             LDWORK &gt;= N**2 + MAX(L,36);
+          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
+             LDWORK &gt;= 2*N**2 + MAX(L,36);
+          where
+             L = 4*N + 4, if N/2 is even, and
+             L = 4*N,     if N/2 is odd.
+          For good performance LDWORK should generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: problem during computation of the eigenvalues;
+          = 2: periodic QZ algorithm did not converge in the SLICOT
+               Library subroutine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S, T, and H such that A, B, and C1 are
+  upper triangular and C2 is upper Hessenberg. Finally, the periodic
+  QZ algorithm is applied to transform C2 to upper quasi-triangular
+  form while A, B, and C1 stay in upper triangular form.
+  See also page 27 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1, LDQ2,
+     $                   LDVW, LDWORK, LIWORK
+      PARAMETER          (  LDA = NMAX/2,  LDB = NMAX/2, LDC1 = NMAX/2,
+     $                     LDC2 = NMAX/2, LDDE = NMAX/2,  LDF = NMAX/2,
+     $                     LDQ1 = NMAX, LDQ2 = NMAX, LDVW = NMAX/2,
+     $                     LDWORK = 2*NMAX*NMAX + MAX( 4*NMAX, 36 ),
+     $                     LIWORK = MAX( NMAX + 12, 2*NMAX + 3 ) )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ1, COMPQ2, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   A( LDA, NMAX/2 ), ALPHAI( NMAX/2 ),
+     $                   ALPHAR( NMAX/2 ), B( LDB, NMAX/2 ),
+     $                   BETA( NMAX/2 ), C1( LDC1, NMAX/2 ),
+     $                   C2( LDC2, NMAX/2 ), DE( LDDE, NMAX/2+1 ),
+     $                   DWORK( LDWORK ),  F( LDF, NMAX/2 ),
+     $                   Q1( LDQ1, NMAX ), Q2( LDQ2, NMAX ),
+     $                   VW( LDVW, NMAX/2+1 )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04BD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, N
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( C1( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( VW( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
+*        pencil.
+         CALL MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
+     $                LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
+     $                LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
+     $                LIWORK, DWORK, LDWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 2, M+1 )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
+   30       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            DO 40 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( F( I, J ), J = 1, M )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99991 )
+            DO 50 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( C1( I, J ), J = 1, M )
+   50       CONTINUE
+            WRITE( NOUT, FMT = 99990 )
+            DO 60 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( C2( I, J ), J = 1, M )
+   60       CONTINUE
+            WRITE( NOUT, FMT = 99989 )
+            DO 70 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( VW( I, J ), J = 2, M+1 )
+   70       CONTINUE
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99987 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99986 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99985 )
+            IF( .NOT.LSAME( COMPQ1, 'N' ) ) THEN
+               DO 80 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
+   80          CONTINUE
+            END IF
+            IF( .NOT.LSAME( COMPQ2, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99984 )
+               DO 90 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
+   90          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB04BD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB04BD = ', I2 )
+99996 FORMAT( 'The matrix A on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix D on exit is ' )
+99993 FORMAT( 'The matrix B on exit is ' )
+99992 FORMAT( 'The matrix F on exit is ' )
+99991 FORMAT( 'The matrix C1 on exit is ' )
+99990 FORMAT( 'The matrix C2 on exit is ' )
+99989 FORMAT( 'The matrix V on exit is ' )
+99988 FORMAT( 'The vector ALPHAR is ' )
+99987 FORMAT( 'The vector ALPHAI is ' )
+99986 FORMAT( 'The vector BETA is ' )
+99985 FORMAT( 'The matrix Q1 is ' )
+99984 FORMAT( 'The matrix Q2 is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04BD EXAMPLE PROGRAM DATA
+   T   I   I   8
+   3.1472   1.3236   4.5751   4.5717
+   4.0579  -4.0246   4.6489  -0.1462
+  -3.7301  -2.2150  -3.4239   3.0028
+   4.1338   0.4688   4.7059  -3.5811
+   0.0000   0.0000  -1.5510  -4.5974  -2.5127
+   3.5071   0.0000   0.0000   1.5961   2.4490  
+  -3.1428   2.5648   0.0000   0.0000  -0.0596 
+   3.0340   2.4892  -1.1604   0.0000   0.0000
+   0.6882  -3.3782  -3.3435   1.8921
+  -0.3061   2.9428   1.0198   2.4815
+  -4.8810  -1.8878  -2.3703  -0.4946
+  -1.6288   0.2853   1.5408  -4.1618
+  -2.4013  -2.7102   0.3834  -3.9335   3.1730
+  -3.1815  -2.3620   4.9613   4.6190   3.6869
+   3.6929   0.7970   0.4986  -4.9537  -4.1556
+   3.5303   1.2206  -1.4905   0.1325  -1.0022
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04BD EXAMPLE PROGRAM RESULTS
+The matrix A on exit is 
+  -4.7460   4.1855   3.2696  -0.2244
+   0.0000   6.4157   2.8287   1.4553
+   0.0000   0.0000   7.4626   1.5726
+   0.0000   0.0000   0.0000   8.8702
+The matrix D on exit is 
+   0.0000  -1.3137  -6.3615  -0.8940
+   0.0000   0.0000   1.0704  -0.0659
+   4.4324   0.0000   0.0000  -0.6922
+   0.5254   1.6653   0.0000   0.0000
+The matrix B on exit is 
+  -6.4937  -2.1982  -1.3881   1.3477
+   0.0000   4.6929   0.6650  -4.1191
+   0.0000   0.0000   9.1725   3.4721
+   0.0000   0.0000   0.0000   7.2106
+The matrix F on exit is 
+   0.0000  -1.1367   2.2966  -1.0744
+   0.0000   0.0000   3.7875   0.9427
+   0.0000   0.0000   0.0000  -4.7136
+   0.0000   0.0000   0.0000   0.0000
+The matrix C1 on exit is 
+   6.9525  -4.9881   2.3661   4.2188
+   0.0000   8.5009   0.7182   5.5533
+   0.0000   0.0000  -4.6650  -2.8177
+   0.0000   0.0000   0.0000   1.5124
+The matrix C2 on exit is 
+  -5.4562  -2.1348   4.9694  -2.2744
+   2.5550  -7.9616   1.1516   3.4912
+   0.0000   0.0000   4.8504   0.5046
+   0.0000   0.0000   0.0000   4.4394
+The matrix V on exit is 
+   0.9136   4.1106  -0.0079   3.5789
+  -1.1553  -1.4785  -1.5155  -0.8018
+  -2.2167   4.8029   1.3645   2.5202
+  -1.0994  -0.6144   0.3970   2.0730
+The vector ALPHAR is 
+   0.8314  -0.8314   0.8131   0.0000
+The vector ALPHAI is 
+   0.4372   0.4372   0.0000   0.9164
+The vector BETA is 
+   0.7071   0.7071   1.4142   2.8284
+The matrix Q1 is 
+  -0.0098   0.1978   0.2402   0.5274   0.1105  -0.0149  -0.1028   0.7759
+  -0.6398   0.2356   0.2765  -0.1301  -0.5351  -0.3078   0.2435   0.0373
+   0.1766  -0.4781   0.2657  -0.5415   0.0968  -0.4663  -0.0983   0.3741
+   0.3207  -0.1980   0.1141   0.0240  -0.1712   0.2630   0.8513   0.1451
+  -0.6551  -0.2956  -0.0288  -0.1169   0.5593   0.3381   0.1753   0.1055
+  -0.0246  -0.2759   0.2470  -0.1408  -0.4837   0.6567  -0.4042   0.1172
+  -0.0772  -0.0121  -0.8394  -0.1852  -0.2673   0.0046   0.0159   0.4282
+   0.1442   0.6884   0.1257  -0.5860   0.2110   0.2699   0.0363   0.1657
+The matrix Q2 is 
+  -0.2891   0.3096   0.6312   0.6498   0.0000   0.0000   0.0000   0.0000
+   0.1887   0.1936  -0.3857   0.3664   0.5660   0.1238  -0.2080  -0.5148
+  -0.2492  -0.2877  -0.0874   0.1110  -0.1081  -0.2999   0.6800  -0.5207
+  -0.7430  -0.0646  -0.4689   0.1556  -0.2401   0.0181  -0.3724   0.0562
+  -0.0999  -0.2026  -0.0355   0.0866   0.5587  -0.6625  -0.0114   0.4349
+  -0.4357   0.1209   0.0489  -0.2990   0.5094   0.5191   0.3837   0.1661
+  -0.2429   0.4131   0.2549  -0.5525   0.0749  -0.3829  -0.2690  -0.4190
+   0.0889   0.7439  -0.3960   0.0697  -0.1821  -0.1988   0.3687   0.2616
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04BP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04BP">MB04BP</A></H2>
+<H3>
+Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  W -C' )
+
+  Optionally, if JOB = 'T', decompositions of S and H will be
+  computed via orthogonal transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        )
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric. The notation M'
+  denotes the transpose of the matrix M.
+  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
+  transformation matrix Q1 will be computed.
+  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
+  transformation matrix Q2 will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04BP( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
+     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
+     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, JOB
+      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
+     $                   LDQ2, LDVW, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
+     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
+     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   VW( LDVW, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (2).
+          = 'T': put S and H into the forms in (2) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q on
+                  entry, and the product Q*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reduce
+                  S and H to the forms in (2), for COMPQ1 = 'I'.
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  on exit, the array Q2 contains the orthogonal
+                  matrix Q2;
+          = 'U':  on exit, the array Q2 contains the matrix product
+                  J*Q*J'*Q2, where Q2 is the product of the
+                  orthogonal transformations that are applied to
+                  the pencil aS - bH to reduce S and H to the forms
+                  in (2), for COMPQ2 = 'I'.
+                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains the
+          upper triangular matrix A obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N/2+1 of this array contains the strictly upper triangular
+          part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the periodic QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  C1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDC1, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix C1 = C.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C1out; otherwise, it contains
+          the upper triangular matrix C1 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC1    INTEGER
+          The leading dimension of the array C1.
+          LDC1 &gt;= MAX(1, N/2).
+
+  VW      (input/output) DOUBLE PRECISION array, dimension
+                         (LDVW, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix W, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix V.
+          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
+          2 to N/2+1 of this array contains the matrix Vout.
+          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
+          N/2+1 of this array contains the matrix V just before the
+          application of the periodic QZ algorithm.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.
+          LDVW &gt;= MAX(1, N/2).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q and the transformation matrix Q1
+          used to transform the matrices S and H.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N', this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array contains the product of the matrix J*Q*J' and
+          the transformation matrix Q2 used to transform the
+          matrices S and H.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N', this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains the
+          upper triangular matrix B obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of this array contains the strictly
+          upper triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix F just before
+          the application of the periodic QZ algorithm.
+          The entries on the leading N/2-by-N/2 lower triangular
+          part of this array are not referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C2out; otherwise, it contains
+          the upper Hessenberg matrix C2 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC2    INTEGER
+          The leading dimension of the array C2.
+          LDC2 &gt;= MAX(1, N/2).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th quadruple of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= N+12.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(6), ...,
+          DWORK(5+4*s) contain the s quadruple values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained from
+          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
+          where a1, ..., a4 are the corresponding quadruple values.
+          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
+          t groups of quadruple 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
+          positive imaginary parts, where ev are the eigenvalues of
+          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
+          define the corresponding 2-by-2 matrix quadruple.
+          On exit, if INFO = -27, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
+             LDWORK &gt;= N**2 + MAX(L,36);
+          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
+             LDWORK &gt;= 2*N**2 + MAX(L,36);
+          where
+             L = 4*N + 4, if N/2 is even, and
+             L = 4*N,     if N/2 is odd.
+          For good performance LDWORK should generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: problem during computation of the eigenvalues;
+          = 2: periodic QZ algorithm did not converge in the SLICOT
+               Library subroutine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S, T, and H such that A, B, and C1 are
+  upper triangular and C2 is upper Hessenberg. Finally, the periodic
+  QZ algorithm is applied to transform C2 to upper quasi-triangular
+  form while A, B, and C1 stay in upper triangular form.
+  See also page 27 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations
+  for reducing T on panels of columns. The user may specify in INFO
+  the desired number of columns. If on entry INFO &lt; 0, then the
+  routine estimates a suitable value of this number. If INFO = 0,
+  the routine MB04BD is directly called.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04BZ.html b/doc/_build/html/_static/doc/MB04BZ.html
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+<HTML>
+<HEAD><TITLE>MB04BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04BZ">MB04BZ</A></H2>
+<H3>
+Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (      H ) and H = (      H ).                           (1)
+        (  E  A  )         (  G -B  )
+
+  This routine computes the eigenvalues using an embedding to a real
+  skew-Hamiltonian/skew-Hamiltonian pencil aB_S - bB_T, defined as
+
+          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
+          (                 |                 )
+          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
+          (                 |                 )
+    B_S = (-----------------+-----------------) , and
+          (                 |      T       T  )
+          (  Re(E)  -Im(E)  |  Re(A )  Im(A ) )
+          (                 |      T       T  )
+          (  Im(E)   Re(E)  | -Im(A )  Re(A ) )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H.
+          (                 |      T       T  )
+          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
+          (                 |      T       T  )
+          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
+
+  Optionally, if JOB = 'T', the pencil aB_S - bB_H (B_H = -i*B_T) is
+  transformed by a unitary matrix Q to the structured Schur form
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Sout = (       H ) and B_Hout = (       H ),               (3)
+             (  0  BA  )              (  0 -BB  )
+
+  where BA and BB are upper triangular, BD is skew-Hermitian, and
+  BF is Hermitian. The embedding doubles the multiplicities of the
+  eigenvalues of the pencil aS - bH. Optionally, if COMPQ = 'C', the
+  unitary matrix Q is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LZWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (3).
+          = 'T': put S and H into the forms in (3) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the unitary transformation
+          matrix Q, as follows:
+          = 'N':  Q is not computed;
+          = 'C':  compute the unitary transformation matrix Q.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, K)
+          where K = N/2, if JOB = 'E', and K = N, if JOB = 'T'.
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed, but it is preserved.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, K).
+
+  DE      (input/output) COMPLEX*16 array, dimension
+                         (LDDE, MIN(K+1,N))
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of
+          the skew-Hermitian matrix D.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the skew-Hermitian matrix BD in (3) (see
+          also METHOD). The strictly lower triangular part of the
+          input matrix is preserved.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, K).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, K)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; the elements below the first subdiagonal of the
+          input matrix are preserved.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, K).
+
+  FG      (input/output) COMPLEX*16 array, dimension
+                         (LDFG, MIN(K+1,N))
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, K).
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading 2*N-by-2*N part of
+          this array contains the unitary transformation matrix Q
+          that reduced the matrices B_S and B_H to the form in (3).
+          However, if JOB = 'E', the reduction was possibly not
+          completed: the matrix B_H may have 2-by-2 diagonal blocks,
+          and the array Q returns the orthogonal matrix that
+          performed the partial reduction.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+4)
+          On exit, IWORK(1) contains the number, q, of unreliable,
+          possibly inaccurate (pairs of) eigenvalues, and the
+          absolute values in IWORK(2), ..., IWORK(q+1) are their
+          indices, as well as of the corresponding 1-by-1 and 2-by-2
+          diagonal blocks of the arrays B and A on exit, if
+          JOB = 'T'. Specifically, a positive value is an index of
+          a real or purely imaginary eigenvalue, corresponding to a
+          1-by-1 block, while the absolute value of a negative entry
+          in IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. Moreover, IWORK(q+2),..., IWORK(2*q+1)
+          contain pointers to the starting elements in DWORK where
+          each block pair is stored. Specifically, if IWORK(i+1) &gt; 0
+          then DWORK(r) and DWORK(r+1) store corresponding diagonal
+          elements of T11 and S11, respectively, and if
+          IWORK(i+1) &lt; 0, then DWORK(r:r+3) and DWORK(r+4:r+7) store
+          the elements of the block in T11 and S11, respectively
+          (see Section METHOD), where r = IWORK(q+1+i). Moreover,
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2) and DWORK(3) contain the
+          Frobenius norms of the matrices B_S and B_T. These norms
+          are used in the tests to decide that some eigenvalues are
+          considered as numerically unreliable. Moreover, DWORK(4),
+          ..., DWORK(3+2*s) contain the s pairs of values of the
+          1-by-1 diagonal elements of T11 and S11. The eigenvalue of
+          such a block pair is obtained from -i*T11(i,i)/S11(i,i).
+          Similarly, DWORK(4+2*s), ..., DWORK(3+2*s+8*t) contain the
+          t groups of pairs of 2-by-2 diagonal submatrices of T11
+          and S11, stored column-wise. The spectrum of such a block
+          pair is obtained from -i*ev, where ev are the eigenvalues
+          of (T11(i:i+1,i:i+1),S11(i:i+1,i:i+1)).
+          On exit, if INFO = -19, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK. If COMPQ = 'N',
+          LDWORK &gt;= MAX( 3,  4*N*N + 3*N ), if   JOB = 'E';
+          LDWORK &gt;= MAX( 3,  5*N*N + 3*N ), if   JOB = 'T';
+          LDWORK &gt;= MAX( 3, 11*N*N + 2*N ), if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -21, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,       if JOB = 'E'; otherwise,
+          LZWORK &gt;= 6*N + 4, if COMPQ = 'N';
+          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0, if JOB = 'E';
+          LBWORK &gt;= N, if JOB = 'T'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the SLICOT Library routine
+               MB04FD (QZ iteration did not converge or computation
+               of the shifts failed);
+          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
+               trying to triangularize the 2-by-2 blocks;
+          = 3: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04FD is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~        T  T         (  S11  S12  )
+  B_S = J Q  J  B_S Q = (          T ) and
+                        (   0   S11  )
+
+  ~        T  T         (  T11  T12  )
+  B_T = J Q  J  B_T Q = (          T ),
+                        (   0   T11  )
+
+  where Q is real orthogonal, S11 is upper triangular, and T11 is
+  upper quasi-triangular. If JOB = 'T', then the matrices above are
+                                                     ~
+  further transformed so that the 2-by-2 blocks in i*B_T are split
+  into 1-by-1 blocks.  If COMPQ = 'C', the transformations are
+  accumulated in the unitary matrix Q.
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The returned eigenvalues are those of the pencil (-i*T11,S11),
+  where i is the purely imaginary unit.
+
+  If JOB = 'E', the returned matrix T11 is quasi-triangular. Note
+  that the off-diagonal elements of the 2-by-2 blocks of S11 are
+  zero by construction.
+
+  If JOB = 'T', the returned eigenvalues correspond to the diagonal
+  elements of BB and BA.
+
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04BZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
+      PARAMETER          ( LDA  = NMAX, LDB = NMAX, LDDE = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX,
+     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
+     $                     LZWORK = 8*NMAX + 4 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      COMPLEX*16         A(  LDA,  NMAX ), B(  LDB,  NMAX ),
+     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
+     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
+     $                   BETA(   NMAX ), DWORK( LDWORK )
+      INTEGER            IWORK( 2*NMAX+3 )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04BZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues of a complex skew-Hamiltonian/
+*        Hamiltonian pencil.
+         CALL MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
+     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
+     $                LDWORK, ZWORK, LZWORK, BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
+   10          CONTINUE
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   40          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, 2*N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
+   50          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99987 )
+            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( 'MB04BZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04BZ = ', I2 )
+99996 FORMAT (/'The matrix A on exit is ' )
+99995 FORMAT (20( 1X, F9.4, SP, F9.4, S, 'i ') )
+99994 FORMAT (/'The matrix D on exit is ' )
+99993 FORMAT (/'The matrix B on exit is ' )
+99992 FORMAT (/'The matrix F on exit is ' )
+99991 FORMAT (/'The matrix Q is ' )
+99990 FORMAT (/'The vector ALPHAR is ' )
+99989 FORMAT ( 50( 1X, F8.4 ) )
+99988 FORMAT (/'The vector ALPHAI is ' )
+99987 FORMAT (/'The vector BETA is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04BZ EXAMPLE PROGRAM DATA
+	T	C	4
+   (0.0604,0.6568)   (0.5268,0.2919)
+   (0.3992,0.6279)   (0.4167,0.4316)
+        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
+   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
+   (0.2691,0.4177)   (0.5478,0.3014)
+   (0.4228,0.9830)   (0.9427,0.7010)
+    0.6663            0.6981           (0.1781,0.8818)
+   (0.5391,0.1711)    0.6665            0.1280          
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04BZ EXAMPLE PROGRAM RESULTS
+
+The matrix A on exit is 
+    0.7430  +0.0000i     0.0389  -0.4330i    -0.1155  -0.1366i    -0.6586  -0.3210i 
+    0.3992  +0.6279i     0.7548  +0.0000i     0.6099  -0.2308i     0.2140  +0.1260i 
+    0.0000  +0.0000i     0.0000  +0.0000i     1.4085  +0.0000i     0.0848  +0.4972i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.4725  +0.0000i 
+
+The matrix D on exit is 
+    0.0000  -0.6858i     0.1839  -0.0474i    -0.4428  -0.1290i     0.4759  +0.0380i 
+    0.9840  +0.3394i     0.0000  +0.6858i    -0.6339  +0.1358i     0.4204  -0.2140i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  -0.2110i    -0.0159  -0.0338i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2110i 
+
+The matrix B on exit is 
+   -1.5832  +0.5069i    -0.0097  +0.0866i     0.1032  -0.1431i    -0.0426  +0.7942i 
+    0.0000  +0.0000i     1.6085  +0.5150i    -0.1342  -0.8180i     0.5143  +0.0178i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0842  -0.1642i     0.0246  -0.0264i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0880  -0.1716i 
+
+The matrix F on exit is 
+    0.3382   0.0000i     0.0234  +0.0907i    -0.1619  +0.9033i    -0.8227  +0.0204i 
+    0.5391  +0.1711i    -0.3382  +0.0000i    -0.6525  +0.2455i    -0.3532  -0.6409i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0120   0.0000i     0.0019  -0.0009i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0120  +0.0000i 
+
+The matrix Q is 
+    0.1422  +0.5446i    -0.3877  -0.1273i    -0.4363  +0.1705i     0.0348  -0.5440i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.1594  -0.2382i     0.1967  -0.2467i    -0.1376  -0.0961i    -0.1070  -0.2058i    -0.1273  +0.0585i    -0.0852  +0.1020i     0.6125  -0.1059i    -0.0172  +0.5589i 
+   -0.3659  -0.0211i    -0.0291  +0.4967i    -0.0729  +0.4236i     0.3169  -0.0008i     0.2947  -0.1080i     0.1614  -0.2342i     0.2867  -0.0578i    -0.0170  +0.2603i 
+    0.1846  +0.4089i    -0.2815  -0.2018i     0.3220  -0.1600i    -0.0526  +0.3937i     0.2747  -0.0655i     0.1045  -0.2159i     0.2085  -0.3104i    -0.3052  +0.1463i 
+   -0.0201  -0.2898i     0.2131  -0.0081i    -0.2165  -0.1055i    -0.1324  -0.3133i     0.1660  -0.1635i     0.2250  -0.1390i    -0.1590  -0.4634i    -0.5310  -0.2239i 
+    0.1342  -0.1295i     0.1128  -0.1990i    -0.0712  -0.1686i    -0.1490  -0.1336i     0.6198  +0.0113i     0.0281  -0.4762i    -0.0462  +0.3244i     0.3464  +0.0086i 
+    0.2305  -0.1358i     0.1292  -0.3311i    -0.0106  +0.4992i     0.3906  +0.0997i     0.1429  +0.3376i    -0.4310  -0.0866i    -0.0894  -0.1336i    -0.1601  -0.1055i 
+   -0.2601  +0.0835i    -0.0940  +0.3652i    -0.0213  -0.3116i    -0.2502  -0.0995i     0.1361  +0.4589i    -0.5898  -0.0730i     0.0294  -0.1192i    -0.1253  +0.0085i 
+
+The vector ALPHAR is 
+  -1.5832   1.5832  -0.0842   0.0842
+
+The vector ALPHAI is 
+   0.5069   0.5069  -0.1642  -0.1642
+
+The vector BETA is 
+   0.7430   0.7430   1.4085   1.4085
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04CD.html b/doc/_build/html/_static/doc/MB04CD.html
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+<HTML>
+<HEAD><TITLE>MB04CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04CD">MB04CD</A></H2>
+<H3>
+Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil in factored form to generalized Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transformed matrices A, B and D, using orthogonal
+  matrices Q1, Q2 and Q3 for a real N-by-N regular pencil
+
+                  ( A11   0  ) ( B11   0  )     (  0   D12 )
+    aA*B - bD = a (          ) (          ) - b (          ),    (1)
+                  (  0   A22 ) (  0   B22 )     ( D21   0  )
+
+  where A11, A22, B11, B22 and D12 are upper triangular, D21 is
+  upper quasi-triangular and the generalized matrix product 
+     -1        -1    -1        -1
+  A11   D12 B22   A22   D21 B11   is upper quasi-triangular, such
+  that Q3' A Q2, Q2' B Q1 are upper triangular, Q3' D Q1 is upper
+  quasi-triangular and the transformed pencil
+  a(Q3' A B Q1) - b(Q3' D Q1) is in generalized Schur form. The
+  notation M' denotes the transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04CD( COMPQ1, COMPQ2, COMPQ3, N, A, LDA, B, LDB, D,
+     $                   LDD, Q1, LDQ1, Q2, LDQ2, Q3, LDQ3, IWORK,
+     $                   LIWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, COMPQ3
+      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
+     $                   LIWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   Q3( LDQ3, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
+                  entry, and the matrix Q01*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied on the right to the pencil
+                  aA*B - bD in (1).
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  the array Q2 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q2 is returned;
+          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
+                  entry, and the matrix Q02*Q2 is returned, where Q2
+                  is the product of the orthogonal transformations
+                  that are applied on the left to the pencil
+                  aA*B - bD in (1).
+
+  COMPQ3  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q3, as follows:
+          = 'N':  Q3 is not computed;
+          = 'I':  the array Q3 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q3 is returned;
+          = 'U':  the array Q3 contains an orthogonal matrix Q01 on
+                  entry, and the matrix Q03*Q3 is returned, where Q3
+                  is the product of the orthogonal transformations
+                  that are applied on the right to the pencil
+                  aA*B - bD in (1).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aA*B - bD.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N block diagonal part of this
+          array must contain the matrix A in (1). The off-diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N block diagonal part of this
+          array must contain the matrix B in (1). The off-diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
+          On entry, the leading N-by-N block anti-diagonal part of
+          this array must contain the matrix D in (1). The diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper quasi-triangular matrix.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q01, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q01 and the transformation matrix Q1
+          used to transform the matrices A, B, and D.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N' this array is not referenced.
+
+  LDQ1    INTEGER
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q02, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q02 and the transformation matrix Q2
+          used to transform the matrices A, B, and D.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N' this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  Q3      (input/output) DOUBLE PRECISION array, dimension (LDQ3, N)
+          On entry, if COMPQ3 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q03, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q03 and the transformation matrix Q3
+          used to transform the matrices A, B and D.
+          On exit, if COMPQ3 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q3.
+          If COMPQ3 = 'N' this array is not referenced.
+
+  LDQ3    INTEGER
+          The leading dimension of the array Q3.
+          LDQ3 &gt;= 1,         if COMPQ3 = 'N';
+          LDQ3 &gt;= MAX(1, N), if COMPQ3 = 'I' or COMPQ3 = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= MAX( N/2+1, 48 ).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -20, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 3*N*N + MAX( N/2 + 252, 432 ).
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the 
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA. 
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm failed to reorder the
+               eigenvalues (the problem is very ill-conditioned) in
+               the SLICOT Library routine MB03KD;
+          = 2: the standard QZ algorithm failed in the LAPACK
+               routine DGGEV, called by the SLICOT routine MB03CD;
+          = 3: the standard QZ algorithm failed in the LAPACK
+               routines DGGES, called by the SLICOT routines MB03CD
+               or MB03ED;
+          = 4: the standard QZ algorithm failed to reorder the
+               eigenvalues in the LAPACK routine DTGSEN, called by
+               the SLICOT routine MB03CD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the periodic QZ algorithm (see also [2] and [3]) is applied
+                                  -1        -1    -1        -1
+  to the formal matrix product A11   D12 B22   A22   D21 B11   to
+  reorder the eigenvalues, i.e., orthogonal matrices V1, V2, V3, V4,
+  V5 and V6 are computed such that V2' A11 V1, V2' D12 V3,
+  V4' B22 V3, V5' A22 V4, V5' D21 V6 and V1' B11 V6 keep the
+  triangular form, but they can be partitioned into 2-by-2 block
+  forms and the last diagonal blocks correspond to all nonpositive
+  real eigenvalues of the formal product, and the first diagonal
+  blocks correspond to the remaining eigenvalues.
+
+  Second, Q1 = diag(V6, V3), Q2 = diag(V1, V4), Q3 = diag(V2, V5)
+  and
+
+                   ( AA11 AA12   0    0  )
+                   (                     )
+                   (   0  AA22   0    0  )
+  A := Q3' A Q2 =: (                     ),
+                   (   0    0  AA33 AA34 )
+                   (                     )
+                   (   0    0    0  AA44 )
+
+                   ( BB11 BB12   0    0  )
+                   (                     )
+                   (   0  BB22   0    0  )
+  B := Q2' B Q1 =: (                     ),
+                   (   0    0  BB33 BB34 )
+                   (                     )
+                   (   0    0    0  BB44 )
+
+                   (   0    0  DD13 DD14 )
+                   (                     )
+                   (   0    0    0  DD24 )
+  D := Q3' D Q1 =: (                     ),
+                   ( DD31 DD32   0    0  )
+                   (                     )
+                   (   0  DD42   0    0  )
+
+                         -1          -1     -1          -1
+  are set, such that AA22   DD24 BB44   AA44   DD42 BB22   has only
+  nonpositive real eigenvalues.
+
+  Third, the permutation matrix
+
+      (  I  0  0  0  )
+      (              )
+      (  0  0  I  0  )
+  P = (              ),
+      (  0  I  0  0  )
+      (              )
+      (  0  0  0  I  )
+
+  where I denotes the identity matrix of appropriate size is used to
+  transform aA*B - bD to block upper triangular form
+
+                ( AA11   0  | AA12   0  )
+                (           |           )
+                (   0  AA33 |   0  AA34 )   ( AA1  *  )
+  A := P' A P = (-----------+-----------) = (         ),
+                (   0    0  | AA22   0  )   (  0  AA2 )
+                (           |           )
+                (   0    0  |   0  AA44 )
+
+                ( BB11   0  | BB12   0  )
+                (           |           )
+                (   0  BB33 |   0  BB34 )   ( BB1  *  )
+  B := P' B P = (-----------+-----------) = (         ),
+                (   0    0  | BB22   0  )   (  0  BB2 )
+                (           |           )
+                (   0    0  |   0  BB44 )
+
+                (   0  DD13 |   0  DD14 )
+                (           |           )
+                ( DD31   0  | DD32   0  )   ( DD1  *  )
+  D := P' D P = (-----------+-----------) = (         ).
+                (   0    0  |   0  DD24 )   (  0  DD2 )
+                (           |           )
+                (   0    0  | DD42   0  )
+
+  Then, further orthogonal transformations that are provided by the
+  SLICOT Library routines MB03ED and MB03CD are used to
+  triangularize the subpencil aAA1 BB1 - bDD1.
+
+  Finally, the subpencil aAA2 BB2 - bDD2 is triangularized by
+  applying a special permutation matrix.
+
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [3] Hench, J. J. and Laub, A. J.
+      Numerical Solution of the discrete-time periodic Riccati
+      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DB.html b/doc/_build/html/_static/doc/MB04DB.html
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+<HTML>
+<HEAD><TITLE>MB04DB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DB">MB04DB</A></H2>
+<H3>
+Inverse of a balancing transformation for a real skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply from the left the inverse of a balancing transformation,
+  computed by the SLICOT Library routine MB04DP, to the matrix
+
+            [   V1   ]
+            [        ],
+            [ sgn*V2 ]
+
+  where sgn is either +1 or -1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DB( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
+     $                   V2, LDV2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, SGN
+      INTEGER           ILO, INFO, LDV1, LDV2, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  LSCALE(*), RSCALE(*), V1(LDV1,*), V2(LDV2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of inverse transformation required:
+          = 'N':  do nothing, return immediately;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          JOB must be the same as the argument JOB supplied to
+          MB04DP.
+
+  SGN     CHARACTER*1
+          Specifies the sign to use for V2:
+          = 'P':  sgn = +1;
+          = 'N':  sgn = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrices V1 and V2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          The integer ILO determined by MB04DP.
+          1 &lt;= ILO &lt;= N+1.
+
+  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the left, as returned by MB04DP.
+
+  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the right, as returned by MB04DP.
+
+  M       (input) INTEGER
+          The number of columns of the matrices V1 and V2.  M &gt;= 0.
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V1.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V1 of the transformed
+          matrix.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V2.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V2 of the transformed
+          matrix.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DD.html b/doc/_build/html/_static/doc/MB04DD.html
new file mode 100644
index 00000000..9f57032e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04DD.html
@@ -0,0 +1,235 @@
+<HTML>
+<HEAD><TITLE>MB04DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DD">MB04DD</A></H2>
+<H3>
+Balancing a real Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a real Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       T ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N symmetric
+  matrices. This involves, first, permuting H by a symplectic
+  similarity transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A; and second, applying a
+  diagonal similarity transformation to rows and columns
+  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
+  as possible. Both steps are optional.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           ILO, INFO, LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on H:
+          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced Hamiltonian. In particular,
+          the strictly lower triangular part of the first ILO-1
+          columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the lower and upper triangular parts of the matrices Q and
+          G, respectively, of the balanced Hamiltonian. In
+          particular, the lower triangular part of the first ILO-1
+          columns of QG is zero.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced Hamiltonian matrix.
+
+  SCALE   (output) DOUBLE PRECISION array of dimension (N)
+          Details of the permutations and scaling factors applied to
+          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
+          then rows and columns P(j) and P(j)+N are interchanged
+          with rows and columns j and j+N, respectively. If
+          P(j) &gt; N, then row and column P(j)-N are interchanged with
+          row and column j+N by a generalized symplectic
+          permutation. For j = ILO,...,N the j-th element of SCALE
+          contains the factor of the scaling applied to row and
+          column j.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
+     $                 SCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANTR, DLAPY2
+      EXTERNAL         DLANTR, DLAPY2
+*     .. External Subroutines ..
+      EXTERNAL         MB04DD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 30  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE (NOUT, FMT = 99993)  ILO
+            IF ( ILO.GT.1 ) THEN
+                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
+     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
+     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
+     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DD = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix QG is ')
+99995 FORMAT (20(1X,F12.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ILO = ',I4)
+99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DD EXAMPLE PROGRAM DATA
+       6       B
+         0         0         0         0         0         0
+    0.0994         0         0         0         0    0.9696
+    0.3248         0         0         0    0.4372    0.8308
+         0         0         0    0.0717         0         0
+         0         0         0         0         0    0.1976
+         0         0         0         0         0         0
+         0         0         0         0         0         0         0
+         0         0         0         0    0.0651         0         0
+         0         0         0         0         0         0         0
+         0         0    0.0444         0         0    0.1957         0
+    0.8144         0         0         0    0.3652         0    0.9121
+    0.9023         0         0         0         0         0    1.0945
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DD EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.9696
+       0.0000       0.0000       0.0000       0.0000      -0.8144      -0.9023
+       0.0000       0.0000       0.0000       0.0000       0.1093       0.2077
+       0.0000       0.0000       0.0000       0.0717       0.0000       0.0000
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.1976
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
+
+ The balanced matrix QG is 
+       0.0000       0.0000       0.0994       0.0000       0.0651       0.0000       0.0000
+       0.0000       0.0000       0.0000       0.0812       0.0000       0.0000       0.0000
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
+       0.0000       0.0000       0.1776       0.0000       0.0000       0.1957       0.0000
+       0.0000       0.0000       0.0000       0.0000       0.3652       0.0000       0.9121
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       1.0945
+
+ ILO =    3
+
+ Norm of subdiagonal blocks: 0.0    
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DI.html b/doc/_build/html/_static/doc/MB04DI.html
new file mode 100644
index 00000000..9376f7b5
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04DI.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>MB04DI - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DI">MB04DI</A></H2>
+<H3>
+Applying the inverse of a balancing transformation for a real Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the inverse of a balancing transformation, computed by
+  the SLICOT Library routines MB04DD or MB04DS, to a 2*N-by-M matrix
+
+            [   V1   ]
+            [        ],
+            [ sgn*V2 ]
+
+  where sgn is either +1 or -1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DI( JOB, SGN, N, ILO, SCALE, M, V1, LDV1, V2, LDV2,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, SGN
+      INTEGER           ILO, INFO, LDV1, LDV2, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  SCALE(*), V1(LDV1,*), V2(LDV2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of inverse transformation required:
+          = 'N':  do nothing, return immediately;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          JOB must be the same as the argument JOB supplied to
+          MB04DD or MB04DS.
+
+  SGN     CHARACTER*1
+          Specifies the sign to use for V2:
+          = 'P':  sgn = +1;
+          = 'N':  sgn = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrices V1 and V2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          The integer ILO determined by MB04DD or MB04DS.
+          1 &lt;= ILO &lt;= N+1.
+
+  SCALE   (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors, as
+          returned by MB04DD or MB04DS.
+
+  M       (input) INTEGER
+          The number of columns of the matrices V1 and V2.  M &gt;= 0.
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V1.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V1 of the transformed
+          matrix.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V2.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V2 of the transformed
+          matrix.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DL.html b/doc/_build/html/_static/doc/MB04DL.html
new file mode 100644
index 00000000..7e483173
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04DL.html
@@ -0,0 +1,374 @@
+<HTML>
+<HEAD><TITLE>MB04DL - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DL">MB04DL</A></H2>
+<H3>
+Balancing a real pencil, optionally avoiding large norms for the scaled (sub)matrices 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a pair of N-by-N real matrices (A,B). This involves,
+  first, permuting A and B by equivalence transformations to isolate
+  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
+  on the diagonal of A and B; and second, applying a diagonal
+  equivalence transformation to rows and columns ILO to IHI to make
+  the rows and columns as close in 1-norm as possible. Both steps
+  are optional. Balancing may reduce the 1-norms of the matrices,
+  and improve the accuracy of the computed eigenvalues and/or
+  eigenvectors in the generalized eigenvalue problem
+  A*x = lambda*B*x.
+
+  This routine may optionally improve the conditioning of the
+  scaling transformation compared to the LAPACK routine DGGBAL.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
+     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*), LSCALE(*),
+     $                   RSCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on A and B:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for I = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A and B.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(A(s,s),1)/norm(B(s,s),1),
+                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where A(s,s) and B(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in LSCALE(s) and RSCALE(s), will be
+          at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix A.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix B.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of B is zero.
+          If JOB = 'N', the arrays A and B are not referenced.
+
+  LDB    INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+  IHI     (output) INTEGER
+          ILO and IHI are set to integers such that on exit
+          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
+          j = 1,...,ILO-1 or i = IHI+1,...,N.
+          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the left side of A and B.  If P(j) is the index of the
+          row interchanged with row j, and D(j) is the scaling
+          factor applied to row j, then
+            LSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the right side of A and B.  If P(j) is the index of the
+          column interchanged with column j, and D(j) is the scaling
+          factor applied to column j, then
+            RSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of A(s,s) and B(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = IHI).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying an equivalence transformation
+  to isolate eigenvalues and/or to make the 1-norms of the rows
+  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
+  a search is performed to find those scaling factors giving the
+  smallest norm ratio or product defined above (see the description
+  of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+     Dl*A*Dr and Dl*B*Dr.
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than DGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  No rounding errors appear if JOB = 'P'.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DL EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), DWORK(8*NMAX),
+     $                 LSCALE(NMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04DL
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
+     $                RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )  ILO
+            WRITE ( NOUT, FMT = 99993 )  IHI
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99995 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DL EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DL = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix B is ')
+99995 FORMAT (20(1X,G12.4))
+99994 FORMAT (/' ILO = ',I4)
+99993 FORMAT (/' IHI = ',I4)
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB04DL = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DL EXAMPLE PROGRAM DATA
+       4       B      -3
+         1         0    -1e-12         0
+         0        -2         0         0
+        -1        -1        -1         0
+        -1        -1         0         2
+         1         0         0         0
+         0         1         0         0
+         0         0         1         0
+         0         0         0         1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DL EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    2.000       -1.000        0.000       -1.000    
+    0.000        1.000      -0.1000E-11    0.000    
+    0.000       -1.000       -1.000       -1.000    
+    0.000        0.000        0.000       -2.000    
+
+ The balanced matrix B is 
+    1.000        0.000        0.000        0.000    
+    0.000        1.000        0.000        0.000    
+    0.000        0.000        1.000        0.000    
+    0.000        0.000        0.000        1.000    
+
+ ILO =    2
+
+ IHI =    3
+
+ The permutations and left scaling factors are 
+    2.000        1.000        1.000        2.000    
+
+ The permutations and right scaling factors are 
+    2.000        1.000        1.000        2.000    
+
+ The initial 1-norms of the (sub)matrices are 
+    2.000        1.000    
+
+ The final 1-norms of the (sub)matrices are 
+    2.000        1.000    
+
+ The threshold value finally used is 
+   0.2500E-12
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04DP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DP">MB04DP</A></H2>
+<H3>
+Balancing a real skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the 2*N-by-2*N skew-Hamiltonian/Hamiltonian pencil
+  aS - bH, with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ),  A, C N-by-N,             (1)
+        (  E  A' )         (  W -C' )
+
+  where D and E are skew-symmetric, and V and W are symmetric
+  matrices. This involves, first, permuting aS - bH by a symplectic
+  equivalence transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A and C; and second, applying
+  a diagonal equivalence transformation to make the pairs of rows
+  and columns ILO:N and N+ILO:2*N as close in 1-norm as possible.
+  Both steps are optional. Balancing may reduce the 1-norms of the
+  matrices S and H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), C(LDC,*), DE(LDDE,*), DWORK(*),
+     $                   LSCALE(*), RSCALE(*), VW(LDVW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on S and H:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for i = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(H(s,s),1)/norm(S(s,s),1),
+                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where S(s,s) and H(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
+          will be at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced skew-Hamiltonian matrix S.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N+1)
+          On entry, the leading N-by-N strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N-by-N strictly upper triangular part of the submatrix
+          in the columns 2 to N+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, the leading N-by-N strictly lower triangular
+          part of this array contains the strictly lower triangular
+          part of the balanced matrix E, and the N-by-N strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N+1 of this array contains the strictly upper triangular
+          part of the balanced matrix D. In particular, the strictly
+          lower triangular part of the first ILO-1 columns of DE is
+          zero.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix C.
+          On exit, the leading N-by-N part of this array contains
+          the matrix C of the balanced Hamiltonian matrix H.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of C is zero.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
+
+  VW      (input/output) DOUBLE PRECISION array, dimension
+                         (LDVW, N+1)
+          On entry, the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix W, and the N-by-N upper triangular
+          part of the submatrix in the columns 2 to N+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix V.
+          On exit, the leading N-by-N lower triangular part of this
+          array contains the lower triangular part of the balanced
+          matrix W, and the N-by-N upper triangular part of the
+          submatrix in the columns 2 to N+1 of this array contains
+          the upper triangular part of the balanced matrix V. In
+          particular, the lower triangular part of the first ILO-1
+          columns of VW is zero.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
+          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
+          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of LSCALE contains the factor of the scaling applied to
+          row j of the matrices A, D, C, and V.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
+          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of RSCALE contains the factor of the scaling applied to
+          column j of the matrices A, E, C, and W.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of S(s,s) and H(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = N).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a (symplectic) equivalence
+  transformation to isolate eigenvalues and/or to make the 1-norms
+  of each pair of rows and columns indexed by s of S and H nearly
+  equal. If THRESH &lt; 0, a search is performed to find those scaling
+  factors giving the smallest norm ratio or product defined above
+  (see the description of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
+    (       ) (       ) (       ),  (       ) (       ) (       ).
+    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than DGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The transformations used preserve the skew-Hamiltonian/Hamiltonian
+  structure and do not introduce significant rounding errors.
+  No rounding errors appear if JOB = 'P'. If T is the global
+  transformation matrix applied to the right, then J'*T*J is the
+  global transformation matrix applied to the left, where
+  J = [ 0 I; -I 0 ], with blocks of order N.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDC, LDDE, LDVW
+      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
+     $                   LDVW = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DWORK(8*NMAX), C(LDC, NMAX),
+     $                 DE(LDDE, NMAX+1), LSCALE(NMAX), RSCALE(NMAX),
+     $                 VW(LDVW, NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04DP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
+20          CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99992 )  ILO
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99993 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99993 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DP EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DP = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix DE is ')
+99995 FORMAT (' The balanced matrix C is ')
+99994 FORMAT (/' The balanced matrix VW is ')
+99993 FORMAT (20(1X,G12.4))
+99992 FORMAT (/' ILO = ',I4)
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB04DP = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DP EXAMPLE PROGRAM DATA
+       2       B      -3
+         1         0
+         0         1
+         0         0         0
+         0         0         0
+         1         0
+         0        -2
+        -1  -1.0e-12         0
+        -1        -1         0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DP EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    1.000        0.000    
+    0.000        1.000    
+
+ The balanced matrix DE is 
+    0.000        0.000        0.000    
+    0.000        0.000        0.000    
+ The balanced matrix C is 
+    2.000        1.000    
+    0.000        1.000    
+
+ The balanced matrix VW is 
+    0.000        1.000        0.000    
+    0.000       -1.000      -0.1000E-11
+
+ ILO =    2
+
+ The permutations and left scaling factors are 
+    4.000        1.000    
+
+ The permutations and right scaling factors are 
+    4.000        1.000    
+
+ The initial 1-norms of the (sub)matrices are 
+    1.000        2.000    
+
+ The final 1-norms of the (sub)matrices are 
+    1.000        2.000    
+
+ The threshold value finally used is 
+   -3.000    
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DS.html b/doc/_build/html/_static/doc/MB04DS.html
new file mode 100644
index 00000000..ee0037df
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04DS.html
@@ -0,0 +1,238 @@
+<HTML>
+<HEAD><TITLE>MB04DS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DS">MB04DS</A></H2>
+<H3>
+Balancing a real skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a real skew-Hamiltonian matrix
+
+                [  A   G  ]
+           S =  [       T ] ,
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices. This involves, first, permuting S by a symplectic
+  similarity transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A; and second, applying a
+  diagonal similarity transformation to rows and columns
+  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
+  as possible. Both steps are optional.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           ILO, INFO, LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on S:
+          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced skew-Hamiltonian. In
+          particular, the strictly lower triangular part of the
+          first ILO-1 columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G. The parts containing the
+          diagonal and the first supdiagonal of this array are not
+          referenced.
+          On exit, the leading N-by-N+1 part of this array contains
+          the strictly lower and strictly upper triangular parts of
+          the matrices Q and G, respectively, of the balanced
+          skew-Hamiltonian. In particular, the strictly lower
+          triangular part of the first ILO-1 columns of QG is zero.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced skew-Hamiltonian matrix.
+
+  SCALE   (output) DOUBLE PRECISION array of dimension (N)
+          Details of the permutations and scaling factors applied to
+          S.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
+          then rows and columns P(j) and P(j)+N are interchanged
+          with rows and columns j and j+N, respectively. If
+          P(j) &gt; N, then row and column P(j)-N are interchanged with
+          row and column j+N by a generalized symplectic
+          permutation. For j = ILO,...,N the j-th element of SCALE
+          contains the factor of the scaling applied to row and
+          column j.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DS EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
+     $                 SCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANTR, DLAPY2
+      EXTERNAL         DLANTR, DLAPY2
+*     .. External Subroutines ..
+      EXTERNAL         MB04DS
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 30  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE (NOUT, FMT = 99993)  ILO
+            IF ( ILO.GT.1 ) THEN
+                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
+     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
+     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
+     $                 N-1, ILO-1, QG(2,1), LDQG, DUMMY ) )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DS EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DS = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix QG is ')
+99995 FORMAT (20(1X,F9.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ILO = ',I4)
+99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DS EXAMPLE PROGRAM DATA
+       6       B
+    0.0576         0    0.5208         0    0.7275   -0.7839
+    0.1901    0.0439    0.1663    0.0928    0.6756   -0.5030
+    0.5962         0    0.4418         0   -0.5955    0.7176
+    0.5869         0    0.3939    0.0353    0.6992   -0.0147
+    0.2222         0   -0.3663         0    0.5548   -0.4608
+         0         0         0         0         0    0.1338
+         0         0   -0.9862   -0.4544   -0.4733    0.4435         0
+         0         0         0   -0.6927    0.6641    0.4453         0
+   -0.3676         0         0         0    0.0841    0.3533         0
+         0         0         0         0         0    0.0877         0
+    0.9561         0    0.4784         0         0         0         0
+   -0.0164   -0.4514   -0.8289   -0.6831   -0.1536         0         0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DS EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    0.1338    0.4514    0.6831    0.8289    0.1536    0.0164
+    0.0000    0.0439    0.0928    0.1663    0.6756    0.1901
+    0.0000    0.0000    0.0353    0.3939    0.6992    0.5869
+    0.0000    0.0000    0.0000    0.4418   -0.5955    0.5962
+    0.0000    0.0000    0.0000   -0.3663    0.5548    0.2222
+    0.0000    0.0000    0.0000    0.5208    0.7275    0.0576
+
+ The balanced matrix QG is 
+    0.0000    0.0000    0.5030    0.0147   -0.7176    0.4608    0.7839
+    0.0000    0.0000    0.0000    0.6641   -0.6927    0.4453    0.9862
+    0.0000    0.0000    0.0000    0.0000   -0.0841    0.0877    0.4733
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.3533    0.4544
+    0.0000    0.0000    0.0000    0.4784    0.0000    0.0000   -0.4435
+    0.0000    0.0000    0.0000    0.3676   -0.9561    0.0000    0.0000
+
+ ILO =    4
+
+ Norm of subdiagonal blocks: 0.0    
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DY.html b/doc/_build/html/_static/doc/MB04DY.html
new file mode 100644
index 00000000..6b2d9b9e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04DY.html
@@ -0,0 +1,301 @@
+<HTML>
+<HEAD><TITLE>MB04DY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DY">MB04DY</A></H2>
+<H3>
+Symplectic scaling of a Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a symplectic scaling on the Hamiltonian matrix
+
+           ( A    G  )
+       H = (       T ),                                          (1)
+           ( Q   -A  )
+
+  i.e., perform either the symplectic scaling transformation
+
+                                -1
+              ( A'   G'  )   ( D   0 ) ( A   G  ) ( D  0   )
+       H' &lt;-- (        T ) = (       ) (      T ) (     -1 ),    (2)
+              ( Q'  -A'  )   ( 0   D ) ( Q  -A  ) ( 0  D   )
+
+  where D is a diagonal scaling matrix, or the symplectic norm
+  scaling transformation
+
+               ( A''   G''  )    1  (   A   G/tau )
+       H'' &lt;-- (          T ) = --- (           T ),             (3)
+               ( Q''  -A''  )   tau ( tau Q   -A  )
+
+  where tau is a real scalar.  Note that if tau is not equal to 1,
+  then (3) is NOT a similarity transformation.  The eigenvalues
+  of H are then tau times the eigenvalues of H''.
+
+  For symplectic scaling (2), D is chosen to give the rows and
+  columns of A' approximately equal 1-norms and to give Q' and G'
+  approximately equal norms.  (See METHOD below for details.) For
+  norm scaling, tau = MAX(1, ||A||, ||G||, ||Q||) where ||.||
+  denotes the 1-norm (column sum norm).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDQG, N
+      CHARACTER         JOBSCL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(*), QG(LDQG,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBSCL  CHARACTER*1
+          Indicates which scaling strategy is used, as follows:
+          = 'S'       :  do the symplectic scaling (2);
+          = '1' or 'O':  do the 1-norm scaling (3);
+          = 'N'       :  do nothing; set INFO and return.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
+          this array must contain the upper left block A of the
+          Hamiltonian matrix H in (1).
+          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
+          this array contains the leading N-by-N part of the scaled
+          Hamiltonian matrix H' in (2) or H'' in (3), depending on
+          the setting of JOBSCL.
+          If JOBSCL = 'N', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
+          LDA &gt;= 1,        if JOBSCL =  'N'.
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+          (LDQG,N+1)
+          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangle of the lower left symmetric block Q of the
+          Hamiltonian matrix H in (1), and the N-by-N upper
+          triangular part of the submatrix in the columns 2 to N+1
+          of this array must contain the upper triangle of the upper
+          right symmetric block G of H in (1).
+          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
+          and G(i,j) = G(j,i) is stored in QG(j,i+1).
+          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
+          triangular part of this array contains the lower triangle
+          of the lower left symmetric block Q' or Q'', and the
+          N-by-N upper triangular part of the submatrix in the
+          columns 2 to N+1 of this array contains the upper triangle
+          of the upper right symmetric block G' or G'' of the scaled
+          Hamiltonian matrix H' in (2) or H'' in (3), depending on
+          the setting of JOBSCL.
+          If JOBSCL = 'N', this array is not referenced.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.
+          LDQG &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
+          LDQG &gt;= 1,        if JOBSCL =  'N'.
+
+  D       (output) DOUBLE PRECISION array, dimension (nd)
+          If JOBSCL = 'S', then nd = N and D contains the diagonal
+          elements of the diagonal scaling matrix in (2).
+          If JOBSCL = '1' or 'O', then nd = 1 and D(1) is set to tau
+          from (3). In this case, no other elements of D are
+          referenced.
+          If JOBSCL = 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+          If JOBSCL = 'N', this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  1. Symplectic scaling (JOBSCL = 'S'):
+
+  First, LAPACK subroutine DGEBAL is used to equilibrate the 1-norms
+  of the rows and columns of A using a diagonal scaling matrix D_A.
+  Then, H is similarily transformed by the symplectic diagonal
+  matrix D1 = diag(D_A,D_A**(-1)).  Next, the off-diagonal blocks of
+  the resulting Hamiltonian matrix are equilibrated in the 1-norm
+  using the symplectic diagonal matrix D2 of the form
+
+              ( I/rho    0   )
+         D2 = (              )
+              (   0    rho*I )
+
+  where rho is a real scalar. Thus, in (2), D = D1*D2.
+
+  2. Norm scaling (JOBSCL = '1' or 'O'):
+
+  The norm of the matrices A and G of (1) is reduced by setting
+  A := A/tau  and  G := G/(tau**2) where tau is the power of the
+  base of the arithmetic closest to MAX(1, ||A||, ||G||, ||Q||) and
+  ||.|| denotes the 1-norm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., and Barth, E.
+      Fortran 77 Subroutines for Computing the Eigenvalues of
+      Hamiltonian Matrices. I: The Square-Reduced Method.
+      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  For symplectic scaling, the complexity of the used algorithms is
+  hard to estimate and depends upon how well the rows and columns of
+  A in (1) are equilibrated.  In one sweep, each row/column of A is
+  scaled once, i.e., the cost of one sweep is N**2 multiplications.
+  Usually, 3-6 sweeps are enough to equilibrate the norms of the
+  rows and columns of a matrix.  Roundoff errors are possible as
+  LAPACK routine DGEBAL does NOT use powers of the machine base for
+  scaling. The second stage (equilibrating ||G|| and ||Q||) requires
+  N**2 multiplications.
+  For norm scaling, 3*N**2 + O(N) multiplications are required and
+  NO rounding errors occur as all multiplications are performed with
+  powers of the machine base.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DY EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      JOBSCL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), D(NMAX), DWORK(LDWORK),
+     $                 QG(LDQG,NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04DY
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOBSCL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99998 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
+*        Scale the Hamiltonian matrix.
+         CALL MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+*           Show the scaled Hamiltonian matrix.
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+              WRITE ( NOUT, FMT = 99993 )  ( A(I,J),    J = 1,N ),
+     $           ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
+10          CONTINUE
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) (  QG(I,J), J = 1,I-1 ),
+     $               ( QG(J,I), J = I,N ), ( -A(J,I),  J = 1,N )
+20          CONTINUE
+*           Show the scaling factors.
+            IF ( LSAME( JOBSCL, 'S' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               WRITE ( NOUT, FMT = 99993 ) ( D(I), I = 1,N )
+            ELSE IF ( LSAME( JOBSCL, '1' ) .OR. LSAME( JOBSCL, 'O' ) )
+     $            THEN
+               WRITE ( NOUT, FMT = 99994 )
+               WRITE ( NOUT, FMT = 99993 ) D(1)
+            END IF
+         ENDIF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04DY EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' N is out of range.',/' N = ',I5)
+99997 FORMAT (' INFO on exit from MB04DY = ',I2)
+99996 FORMAT (/' The scaled Hamiltonian is ')
+99995 format (/' The scaling factors are ')
+99994 format (/' The scaling factor tau is ')
+99993 FORMAT (1X,8(F10.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DY EXAMPLE PROGRAM DATA
+3 S
+-0.4   0.05  0.0007   
+-4.7   0.8   0.025   
+81.0  29.0  -0.9        
+0.0034  0.0014  0.00077 -0.005  0.0004  0.003
+-18.0 -12.0  43.0  99.0  420.0  -200.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DY EXAMPLE PROGRAM RESULTS
+
+
+ The scaled Hamiltonian is 
+    -0.4000    0.4000    0.3584  418.4403   21.5374    0.1851
+    -0.5875    0.8000    1.6000   21.5374   -9.6149    0.0120
+     0.1582    0.4531   -0.9000    0.1851    0.0120    0.0014
+    -0.0001   -0.0008    0.1789    0.4000    0.5875   -0.1582
+    -0.0008    0.0515   13.9783   -0.4000   -0.8000   -0.4531
+     0.1789   13.9783 -426.0056   -0.3584   -1.6000    0.9000
+
+ The scaling factors are 
+     0.0029    0.0228    1.4595
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DZ.html b/doc/_build/html/_static/doc/MB04DZ.html
new file mode 100644
index 00000000..c9c21863
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04DZ.html
@@ -0,0 +1,242 @@
+<HTML>
+<HEAD><TITLE>MB04DZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DZ">MB04DZ</A></H2>
+<H3>
+Balancing a complex Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a complex Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       H ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N Hermitian
+  matrices. This involves, first, permuting H by a symplectic
+  similarity transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A; and second, applying a
+  diagonal similarity transformation to rows and columns
+  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
+  as possible. Both steps are optional. Assuming ILO = 1, let D be a
+  diagonal matrix of order N with the scaling factors on the
+  diagonal. The scaled Hamiltonian is defined by
+
+                 [  D**-1*A*D   D**-1*G*D**-1  ]
+           Hs =  [                   H         ] .
+                 [    D*Q*D      -D*A *D**-1   ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           ILO, INFO, LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  SCALE(*)
+      COMPLEX*16        A(LDA,*), QG(LDQG,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on H:
+          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced Hamiltonian. In particular,
+          the strictly lower triangular part of the first ILO-1
+          columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) COMPLEX*16 array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the lower and upper triangular parts of the matrices Q and
+          G, respectively, of the balanced Hamiltonian. In
+          particular, the lower triangular part of the first ILO-1
+          columns of QG is zero.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced Hamiltonian matrix.
+
+  SCALE   (output) DOUBLE PRECISION array of dimension (N)
+          Details of the permutations and scaling factors applied to
+          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
+          then rows and columns P(j) and P(j)+N are interchanged
+          with rows and columns j and j+N, respectively. If
+          P(j) &gt; N, then row and column P(j)-N are interchanged with
+          row and column j+N by a generalized symplectic
+          permutation. For j = ILO,...,N the j-th element of SCALE
+          contains the factor of the scaling applied to row and
+          column j.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, J, N
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, NMAX), QG(LDQG, NMAX+1)
+      DOUBLE PRECISION DUMMY(1), SCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAPY2, ZLANTR
+      EXTERNAL         DLAPY2, ZLANTR
+*     .. External Subroutines ..
+      EXTERNAL         MB04DZ
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
+   20       CONTINUE
+            WRITE (NOUT, FMT = 99993)  ILO
+            IF ( ILO.GT.1 ) THEN
+                WRITE (NOUT, FMT = 99992) DLAPY2( ZLANTR( 'Frobenius',
+     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
+     $                 DUMMY ), ZLANTR( 'Frobenius', 'Lower', 'No Unit',
+     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DZ = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix QG is ')
+99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ILO = ',I4)
+99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DZ EXAMPLE PROGRAM DATA
+       6       B
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+  (.0994,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.9696,0)
+  (.3248,0)  (0,0)      (0,0)      (0,0)  (.4372,0)  (.8308,0)
+      (0,0)  (0,0)      (0,0)  (.0717,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.1976,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)  (.0651,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+      (0,0)  (0,0)  (.0444,0)      (0,0)      (0,0)  (.1957,0)      (0,0)
+  (.8144,0)  (0,0)      (0,0)      (0,0)  (.3652,0)      (0,0)  (.9121,0)
+  (.9023,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)  1.0945,0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.9696  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8144  +0.0000i    -0.9023  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1093  +0.0000i     0.2077  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0717  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1976  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+
+ The balanced matrix QG is 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0994  +0.0000i     0.0000  +0.0000i     0.0651  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0812  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.1776  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1957  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3652  +0.0000i     0.0000  +0.0000i     0.9121  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.0945  +0.0000i 
+
+ ILO =    3
+
+ Norm of subdiagonal blocks: 0.0    
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ED.html b/doc/_build/html/_static/doc/MB04ED.html
new file mode 100644
index 00000000..fcdbb864
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04ED.html
@@ -0,0 +1,543 @@
+<HTML>
+<HEAD><TITLE>MB04ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ED">MB04ED</A></H2>
+<H3>
+Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  skew-Hamiltonian pencil aS - bT with
+
+                          (  B  F  )            (  0  I  )
+    S = J Z' J' Z and T = (        ), where J = (        ).      (1)
+                          (  G  B' )            ( -I  0  )
+
+  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
+  to the structured Schur form: an orthogonal transformation matrix
+  Q and an orthogonal symplectic transformation matrix U are
+  computed, such that
+
+             (  Z11  Z12  )
+    U' Z Q = (            ) = Zout, and
+             (   0   Z22  )
+                                                                 (2)
+                  (  Bout  Fout  )
+    J Q' J' T Q = (              ),
+                  (   0    Bout' )
+
+  where Z11 and Z22' are upper triangular and Bout is upper quasi-
+  triangular. The notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I', the orthogonal transformation matrix Q
+  will be computed.
+  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
+  symplectic transformation matrix
+
+        (  U1  U2  )
+    U = (          )
+        ( -U2  U1  )
+
+  will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                   Q, LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI,
+     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            INFO, LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
+     $                   LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
+     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
+     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E':  compute the eigenvalues only; Z and T will not
+                  necessarily be put into the forms in (2);
+          = 'T':  put Z and T into the forms in (2), and return the
+                  eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the orthogonal symplectic
+          transformation matrix U as follows:
+          = 'N':  U is not computed;
+          = 'I':  the array U is initialized internally to the unit
+                  matrix, and the orthogonal matrix U is returned;
+          = 'U':  the arrays U1 and U2 contain the corresponding
+                  submatrices of an orthogonal symplectic matrix U0
+                  on entry, and the updated submatrices U1 and U2
+                  of the matrix product U0*U are returned, where U
+                  is the product of the orthogonal symplectic
+                  transformations that are applied to the pencil
+                  aS - bT to reduce Z and T to the forms in (2), for
+                  COMPU = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bT.  N &gt;= 0, even.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Z.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the matrix Zout; otherwise, it contains the
+          matrix Z just before the application of the periodic QZ
+          algorithm. The entries in the rows N/2+1 to N and the
+          first N/2 columns are unchanged.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains the
+          matrix B just before the application of the periodic QZ
+          algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix G, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix F.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N/2+1 of this array contains the strictly upper triangular
+          part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix F just before the application
+          of the QZ algorithm.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          Moreover, the diagonal and the first subdiagonal of this
+          array on exit coincide to the corresponding diagonals of
+          this array on entry.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On exit, if COMPQ = 'I', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix Q.
+          On exit, if COMPQ = 'N', the leading N-by-N part of this
+          array contains the orthogonal matrix Q1, such that
+
+                   (  Z11  Z12  )
+            Z*Q1 = (            ),
+                   (   0   Z22  )
+
+          where Z11 and Z22' are upper triangular (the first step
+          of the algorithm).
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1, N).
+
+  U1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU1, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper left block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U1 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and T.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U1 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= 1,           if COMPU = 'N';
+          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU2, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper right block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U2 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and T.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U2 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= 1,           if COMPU = 'N';
+          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bT.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bT.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) = -ALPHAI(j).
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bT.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bT, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
+          the pencil, every eigenvalue occurs twice and thus it has
+          only to be saved once in ALPHAR, ALPHAI and BETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th triplet of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= N+9.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(5), ...,
+          DWORK(4+3*s) contain the s triplet values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained as a1/a2/a3,
+          where a1, ..., a3 are the corresponding triplet values.
+          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
+          t groups of triplet 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is the spectrum of the matrix product
+          A1*inv(A2)*inv(A3), where A1, ..., A3 define the
+          corresponding 2-by-2 matrix triplet.
+          On exit, if INFO = -23, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ = 'N' and COMPU = 'N',
+                LDWORK &gt;= 3/4*N**2+MAX(3*N, 27);
+          else, LDWORK &gt;= 3/2*N**2+MAX(3*N, 27).
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: problem during computation of the eigenvalues;
+          = 2: periodic QZ algorithm did not converge in the SLICOT
+               Library subroutine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in Z and T such that Z is in a special block
+  triangular form and T is in skew-Hamiltonian Hessenberg form:
+
+      (  Z11  Z12  )      (  B1  F1  )
+  Z = (            ), T = (          ),
+      (   0   Z22  )      (   0  B1' )
+
+  with Z11 and Z22' upper triangular and B1 upper Hessenberg.
+  Subsequently, the periodic QZ algorithm is applied to the pencil
+  aZ22' Z11 - bB1 to determine orthogonal matrices Q1, Q2 and U such
+  that U' Z11 Q1, Q2' Z22' U are upper triangular and Q2' B1 Q1 is
+  upper quasi-triangular. See also page 35 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 60 )
+      INTEGER            LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
+     $                   LIWORK
+      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2,
+     $                     LDQ = NMAX,   LDU1 = NMAX/2, LDU2 = NMAX/2,
+     $                     LDWORK = 3*NMAX**2/2 + MAX( NMAX, 24 ) + 3,
+     $                     LDZ = NMAX, LIWORK = NMAX + 9 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            I, INFO, J, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX/2 ),   ALPHAR( NMAX/2 ),
+     $                   B( LDB, NMAX/2 ),     BETA( NMAX/2 ),
+     $                   DWORK( LDWORK ),  FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, NMAX ),   U1( LDU1, NMAX/2 ),
+     $                   U2( LDU2, NMAX/2 ), Z( LDZ, NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04ED
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*
+*     Skip first line in data file.
+*
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
+      READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I = 1, N )
+      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      IF( LSAME( COMPU, 'U' ) ) THEN
+         READ( NIN, FMT = * ) ( ( U1( I, J ), J = 1, N/2 ), I = 1, N/2 )
+         READ( NIN, FMT = * ) ( ( U2( I, J ), J = 1, N/2 ), I = 1, N/2 )
+      END IF
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+*
+*        Test of MB04ED.
+*
+         CALL MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG, Q,
+     $                LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI, BETA,
+     $                IWORK, LIWORK, DWORK, LDWORK, INFO )
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z(I,J), J = 1, N )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( B(I,J), J = 1, N/2 )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( FG(I,J), J = 1, N/2+1 )
+   30       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99991 )
+            DO 40 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
+   40       CONTINUE
+            IF ( .NOT.LSAME( COMPU, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 50 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( U1( I, J ), J = 1, N/2 )
+   50          CONTINUE
+               WRITE( NOUT, FMT = 99989 )
+               DO 60 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( U2( I, J ), J = 1, N/2 )
+   60          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( 'MB04ED EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04ED = ', I2 )
+99996 FORMAT (/' The transformed matrix Z is' )
+99995 FORMAT ( 60( 1X, F8.4 ) )
+99994 FORMAT (/' The transformed matrix B is' )
+99993 FORMAT (/' The transformed matrix FG is' )
+99992 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
+     $       )
+99991 FORMAT (/' The matrix Q is ' )
+99990 FORMAT (/' The upper left block of the matrix U is ' )
+99989 FORMAT (/' The upper right block of the matrix U is ' )
+      END
+ 
+ 
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04ED EXAMPLE PROGRAM DATA
+   T   I   I   8
+   0.0949    3.3613   -4.7663   -0.5534    0.6408   -3.2793    3.4253    2.9654
+   0.1138   -1.5903    2.1837   -4.1648   -4.3775   -1.7454    0.1744    2.3262
+   2.7505    4.4048    4.4183    3.0478    2.7728    2.3048   -0.6451   -1.2045
+   3.6091   -4.1716    3.4461    3.6880   -0.0985    3.8458    0.2528   -1.3859
+   0.4352   -3.2829    3.7246    0.4794   -0.3690   -1.5562   -3.4817   -2.2902
+   1.3080   -3.9881   -3.5497    3.5020    2.2582    4.4764   -4.4080   -1.6818
+   1.1308   -1.5087    2.4730    2.1553   -1.7129   -4.8669   -2.4102    4.2274
+   4.7933   -4.3671   -0.0473   -2.0092    1.2439   -4.7385    3.4242   -0.2764
+   2.0936    1.5510    4.5974    2.5127
+   2.5469   -3.3739   -1.5961   -2.4490
+  -2.2397   -3.8100    0.8527    0.0596
+   1.7970   -0.0164   -2.7619    1.9908
+   1.0000    2.0000   -4.0500    1.3353    0.2899
+  -0.4318    2.0000    2.0000   -2.9860   -0.0160
+   1.0241    0.9469    2.0000    2.0000    1.3303
+   0.0946   -0.1272   -4.4003    2.0000    2.0000
+ 
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04ED EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix Z is
+  -2.5678  -2.9888   0.4304  -2.8719   2.7331   1.3072   1.7565   2.8246
+   0.0000  -3.8520  -6.0992   6.2935  -3.0386  -5.5317  -1.2189   3.9973
+   0.0000   0.0000   4.4560   4.4602   0.6080  -4.4326   3.7959  -0.6297
+   0.0000   0.0000   0.0000   7.0155   1.5557   2.1441   3.6649  -2.3864
+   0.4352  -3.2829   3.7246   0.4794  -5.3205   0.0000   0.0000   0.0000
+   1.3080  -3.9881  -3.5497   3.5020   2.2466   6.9633   0.0000   0.0000
+   1.1308  -1.5087   2.4730   2.1553  -1.7204  -0.8164   8.1468   0.0000
+   4.7933  -4.3671  -0.0473  -2.0092  -3.9547   0.2664   1.0382   5.5977
+
+ The transformed matrix B is
+   3.8629  -1.3266   0.1253   2.1882
+   0.0000   3.7258  -3.5913  -2.4583
+   0.0000  -3.6551  -2.5063  -0.8378
+   0.0000   0.0000   0.0000  -6.7384
+
+ The transformed matrix FG is
+   1.0000   2.0000  -0.7448  -1.2359  -1.3653
+   0.0158   2.0000   2.0000   3.4030   3.2344
+  -1.1665   2.5791   2.0000   2.0000  -0.4096
+   3.3823  -1.2344   3.9016   2.0000   2.0000
+
+ The real, imaginary, and beta parts of eigenvalues are
+   1.1310  -0.0697  -0.0697  -0.6864
+   0.0000   0.6035  -0.6035   0.0000
+   4.0000   4.0000   4.0000   4.0000
+
+ The matrix Q is 
+  -0.6042  -0.4139  -0.4742   0.1400  -0.2947   0.3462  -0.0980   0.0534
+  -0.3706   0.1367   0.4442  -0.1381  -0.1210   0.2913   0.7248  -0.0524
+   0.1325  -0.2735  -0.0515  -0.5084  -0.3163  -0.2855   0.1638   0.6619
+   0.2373   0.5514  -0.4988   0.3373  -0.3852  -0.0007   0.3329   0.1339
+   0.4777  -0.4517   0.2739   0.5172  -0.0775   0.3874   0.1088   0.2395
+  -0.0116  -0.4372  -0.1843   0.2474   0.1236  -0.6052   0.4772  -0.3228
+   0.1237  -0.0310  -0.4300  -0.2090   0.7209   0.3408   0.2898   0.1883
+   0.4245  -0.1871  -0.1803  -0.4655  -0.3304   0.2849   0.0623  -0.5843
+
+ The upper left block of the matrix U is 
+   0.0154  -0.5058  -0.5272   0.6826
+   0.4829  -0.1519  -0.2921  -0.3491
+   0.4981   0.1532   0.1019   0.1810
+  -0.0188   0.6270  -0.5260   0.0587
+
+ The upper right block of the matrix U is 
+   0.0000   0.0000   0.0000   0.0000
+   0.3179  -0.4312  -0.1802  -0.4659
+   0.5644   0.0873   0.4480   0.3979
+  -0.3137  -0.3330   0.3413   0.0239
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04FD.html b/doc/_build/html/_static/doc/MB04FD.html
new file mode 100644
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@@ -0,0 +1,472 @@
+<HTML>
+<HEAD><TITLE>MB04FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04FD">MB04FD</A></H2>
+<H3>
+Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  skew-Hamiltonian pencil aS - bT with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and T = (        ).                           (1)
+        (  E  A' )         (  G  B' )
+
+  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
+  to the structured Schur form: an orthogonal transformation matrix
+  Q is computed such that
+
+                  (  Aout  Dout  )
+    J Q' J' S Q = (              ), and
+                  (   0    Aout' )
+                                                                 (2)
+                  (  Bout  Fout  )            (  0  I  )
+    J Q' J' T Q = (              ), where J = (        ),
+                  (   0    Bout' )            ( -I  0  )
+
+  Aout is upper triangular, and Bout is upper quasi-triangular. The
+  notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
+  transformation matrix Q will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E':  compute the eigenvalues only; S and T will not
+                  necessarily be put into skew-Hamiltonian
+                  triangular form (2);
+          = 'T':  put S and T into skew-Hamiltonian triangular form
+                  (2), and return the eigenvalues in ALPHAR, ALPHAI
+                  and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the product Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bT to reduce
+                  S and T to the forms in (2), for COMPQ = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bT.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains
+          meaningless elements, except for the diagonal blocks,
+          which are correctly set.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains
+          meaningless elements, except for the diagonal 1-by-1 and
+          2-by-2 blocks, which are correctly set.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix G, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix F.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix F just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and T.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bT.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bT.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bT.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bT, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
+          the pencil, every eigenvalue occurs twice and thus it has
+          only to be saved once in ALPHAR, ALPHAI and BETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N/2+1)
+          On exit, IWORK(1) contains the number of (pairs of)
+          possibly inaccurate eigenvalues, q &lt;= N/2, and the
+          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
+          indices of the possibly inaccurate eigenvalues, as well as
+          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
+          the arrays A and B on exit. The 2-by-2 blocks correspond
+          to negative values in IWORK. One negative value is stored
+          for each such eigenvalue pair. Its modulus indicates the
+          starting index of a 2-by-2 block.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          DWORK(2) and DWORK(3) contain the Frobenius norms of the
+          matrices S and T on entry. These norms are used in the
+          tests to decide that some eigenvalues are considered as
+          unreliable.
+          On exit, if INFO = -19, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(3,N/2),        if JOB = 'E' and COMPQ = 'N';
+          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
+          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the LAPACK Library routine
+               DHGEQZ. (QZ iteration did not converge or computation
+               of the shifts failed.)
+          = 2: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S and T such that S is in skew-Hamiltonian
+  triangular form and T is in skew-Hamiltonian Hessenberg form:
+
+      (  A1  D1  )      (  B1  F1  )
+  S = (          ), T = (          ),
+      (   0  A1' )      (   0  B1' )
+
+  where A1 is upper triangular and B1 is upper Hessenberg.
+  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
+  to determine orthogonal matrices Q1 and Q2 such that
+  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
+  triangular.
+  See also page 40 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  real floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK
+      PARAMETER          ( LDA  = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
+     $                     LDFG = NMAX/2, LDQ = NMAX, LDWORK =
+     $                     3*NMAX*NMAX/4 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            I, INFO, J, N
+*
+*     .. Local Arrays ..
+      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
+     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
+     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
+     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, NMAX )
+      INTEGER            IWORK( NMAX/2+1 )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04FD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MOD
+*
+*     .. Executable statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*
+*     Skip first line in data file.
+*
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, N
+      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      IF( LSAME( COMPQ, 'U' ) )
+     $   READ( NIN, FMT = * ) ( ( Q( I, J ), J = 1, N ), I = 1, N )
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+*
+*        Test of MB04FD.
+*
+         CALL MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
+     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
+     $                LDWORK, INFO )
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N/2 )
+   10          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N/2+1 )
+   20       CONTINUE
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N/2 )
+   30          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99992 )
+            DO 40 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N/2+1 )
+   40       CONTINUE
+            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( 'MB04FD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04FD = ', I2 )
+99996 FORMAT (/' The transformed matrix A is' )
+99995 FORMAT ( 51( 1X, F8.4 ) )
+99994 FORMAT (/' The transformed matrix DE is' )
+99993 FORMAT (/' The transformed matrix B is' )
+99992 FORMAT (/' The transformed matrix FG is' )
+99991 FORMAT (/' The transformed matrix Q is ' )
+99990 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
+     $       )
+      END
+ 
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04FD EXAMPLE PROGRAM DATA
+   T   I  8
+    0.8147    0.6323    0.9575    0.9571
+    0.9057    0.0975    0.9648    0.4853
+    0.1269    0.2784    0.1576    0.8002
+    0.9133    0.5468    0.9705    0.1418
+    0.4217    0.6557    0.6787    0.6554    0.2769
+    0.9157    0.0357    0.7577    0.1711    0.0461
+    0.7922    0.8491    0.7431    0.7060    0.0971
+    0.9594    0.9339    0.3922    0.0318    0.8234
+    0.6948    0.4387    0.1868    0.7093
+    0.3170    0.3815    0.4897    0.7546
+    0.9502    0.7655    0.4455    0.2760
+    0.0344    0.7951    0.6463    0.6797
+    0.6550    0.9597    0.7512    0.8909    0.1492
+    0.1626    0.3403    0.2550    0.9592    0.2575
+    0.1189    0.5852    0.5059    0.5472    0.8407
+    0.4983    0.2238    0.6990    0.1386    0.2542
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04FD EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix A is
+   0.0550  -0.3064   0.1543   0.2170
+   0.0000   1.2189   0.3267  -1.3622
+   0.0000   0.0000   0.7734  -0.6215
+   0.0000   0.0000   0.0000   2.5172
+
+ The transformed matrix DE is
+   0.4217   0.6557   0.4277  -0.2877  -0.3980
+  -1.5448   0.0357   0.7577  -0.2582  -0.4775
+   0.3220   1.1004   0.7431   0.7060  -1.1102
+   0.3899   0.3463   0.4843   0.0318   0.8234
+
+ The transformed matrix B is
+   0.8482  -0.4425  -0.3643   0.8333
+   0.0000  -0.5919  -0.0987  -0.7923
+   0.0000   0.0000   1.1021   0.1926
+   0.0000   0.0000   0.0000   1.9788
+
+ The transformed matrix FG is
+   0.6550   0.9597   0.3266  -0.6059  -0.9618
+  -0.3151   0.3403   0.2550  -0.4771  -0.3005
+   0.1987  -0.0141   0.5059   0.5472  -0.4172
+   0.7914   0.0371   0.0000   0.1386   0.2542
+
+ The transformed matrix Q is 
+   0.0762   0.7824  -0.2771  -0.5526   0.0000   0.0000   0.0000   0.0000
+   0.1786  -0.2450   0.4261  -0.5360   0.1843  -0.5857   0.2437  -0.0522
+  -0.2452   0.1425   0.4831  -0.0742  -0.1834  -0.0856  -0.6529   0.4620
+  -0.2123  -0.3870  -0.6431  -0.2548   0.3061  -0.1791  -0.2518   0.3707
+  -0.4085   0.0154   0.0784  -0.0738   0.3908   0.0160  -0.3950  -0.7157
+   0.6418  -0.2868   0.0258  -0.3305  -0.0286   0.4768  -0.3901  -0.1253
+  -0.0077  -0.1340  -0.2740  -0.0534  -0.7708  -0.3910  -0.1981  -0.3432
+  -0.5275  -0.2394   0.1131  -0.4684  -0.3018   0.4869   0.3216   0.0252
+
+ The real, imaginary, and beta parts of eigenvalues are
+   0.8482  -0.5919   1.1021   1.9788
+   0.0000   0.0000   0.0000   0.0000
+   0.0550   1.2189   0.7734   2.5172
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04FP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04FP">MB04FP</A></H2>
+<H3>
+Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  skew-Hamiltonian pencil aS - bT with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and T = (        ).                           (1)
+        (  E  A' )         (  G  B' )
+
+  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
+  to the structured Schur form: an orthogonal transformation matrix
+  Q is computed such that
+
+                  (  Aout  Dout  )
+    J Q' J' S Q = (              ), and
+                  (   0    Aout' )
+                                                                 (2)
+                  (  Bout  Fout  )            (  0  I  )
+    J Q' J' T Q = (              ), where J = (        ),
+                  (   0    Bout' )            ( -I  0  )
+
+  Aout is upper triangular, and Bout is upper quasi-triangular. The
+  notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
+  transformation matrix Q will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04FP( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E':  compute the eigenvalues only; S and T will not
+                  necessarily be put into skew-Hamiltonian
+                  triangular form (2);
+          = 'T':  put S and T into skew-Hamiltonian triangular form
+                  (2), and return the eigenvalues in ALPHAR, ALPHAI
+                  and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the product Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bT to reduce
+                  S and T to the forms in (2), for COMPQ = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bT.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains
+          meaningless elements, except for the diagonal blocks,
+          which are correctly set.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains
+          meaningless elements, except for the diagonal 1-by-1 and
+          2-by-2 blocks, which are correctly set.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix G, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix F.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix F just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and T.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bT.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bT.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bT.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bT, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
+          the pencil, every eigenvalue occurs twice and thus it has
+          only to be saved once in ALPHAR, ALPHAI and BETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N/2+1)
+          On exit, IWORK(1) contains the number of (pairs of)
+          possibly inaccurate eigenvalues, q &lt;= N/2, and the
+          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
+          indices of the possibly inaccurate eigenvalues, as well as
+          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
+          the arrays A and B on exit. The 2-by-2 blocks correspond
+          to negative values in IWORK. One negative value is stored
+          for each such eigenvalue pair. Its modulus indicates the
+          starting index of a 2-by-2 block.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          DWORK(2) and DWORK(3) contain the Frobenius norms of the
+          matrices S and T on entry. These norms are used in the
+          tests to decide that some eigenvalues are considered as
+          unreliable.
+          On exit, if INFO = -19, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(3,N/2,2*N-6),  if JOB = 'E' and COMPQ = 'N';
+          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
+          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the LAPACK Library routine
+               DHGEQZ. (QZ iteration did not converge or computation
+               of the shifts failed.)
+          = 2: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S and T such that S is in skew-Hamiltonian
+  triangular form and T is in skew-Hamiltonian Hessenberg form:
+
+      (  A1  D1  )      (  B1  F1  )
+  S = (          ), T = (          ),
+      (   0  A1' )      (   0  B1' )
+
+  where A1 is upper triangular and B1 is upper Hessenberg.
+  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
+  to determine orthogonal matrices Q1 and Q2 such that
+  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
+  triangular.
+  See also page 40 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  real floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations
+  for reducing T on panels of columns. The user may specify in INFO
+  the desired number of columns. If on entry INFO &lt;= 0, then the
+  routine estimates a suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04GD.html b/doc/_build/html/_static/doc/MB04GD.html
new file mode 100644
index 00000000..c649241f
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04GD.html
@@ -0,0 +1,232 @@
+<HTML>
+<HEAD><TITLE>MB04GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04GD">MB04GD</A></H2>
+<H3>
+RQ factorization with row pivoting of a matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an RQ factorization with row pivoting of a
+  real m-by-n matrix A: P*A = R*Q.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the m-by-n matrix A.
+          On exit,
+          if m &lt;= n, the upper triangle of the subarray
+          A(1:m,n-m+1:n) contains the m-by-m upper triangular
+          matrix R;
+          if m &gt;= n, the elements on and above the (m-n)-th
+          subdiagonal contain the m-by-n upper trapezoidal matrix R;
+          the remaining elements, with the array TAU, represent the
+          orthogonal matrix Q as a product of min(m,n) elementary
+          reflectors (see METHOD).
+
+  LDA     INTEGER
+          The leading dimension of the array A. LDA &gt;= max(1,M).
+
+  JPVT    (input/output) INTEGER array, dimension (M)
+          On entry, if JPVT(i) .ne. 0, the i-th row of A is permuted
+          to the bottom of P*A (a trailing row); if JPVT(i) = 0,
+          the i-th row of A is a free row.
+          On exit, if JPVT(i) = k, then the i-th row of P*A
+          was the k-th row of A.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
+          The scalar factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
+  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = MMAX )
+      INTEGER          LDTAU
+      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
+      INTEGER          JPVT(MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DLASET, MB04GD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+            READ ( NIN, FMT = * ) ( JPVT(I), I = 1,M )
+*           RQ with row pivoting.
+            CALL MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
+               WRITE ( NOUT, FMT = 99990 )
+               IF ( M.GE.N ) THEN
+                  IF ( N.GT.1 )
+     $               CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
+     $                            A(M-N+2,1), LDA )
+                ELSE
+                   CALL DLASET( 'Full', M, N-M-1, ZERO, ZERO, A, LDA )
+                   CALL DLASET( 'Lower', M, M, ZERO, ZERO, A(1,N-M),
+     $                          LDA )
+               END IF
+               DO 20 I = 1, M
+                  WRITE ( NOUT, FMT = 99989 ) ( A(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB04GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04GD = ',I2)
+99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
+99990 FORMAT (/' The matrix A is ')
+99989 FORMAT (20(1X,F8.4))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04GD EXAMPLE PROGRAM DATA
+   6     5 
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   5.    5.    1.    5.    1.
+  -2.   -1.   -1.    0.   -2.
+   4.    8.    4.   20.    4.
+  -2.   -1.   -1.    0.   -2.
+   0     0     0     0     0     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04GD EXAMPLE PROGRAM RESULTS
+
+ Row permutations are 
+  2    4    6    3    1    5
+
+ The matrix A is 
+   0.0000  -1.0517  -1.8646  -1.9712   1.2374
+   0.0000  -1.0517  -1.8646  -1.9712   1.2374
+   0.0000  -1.0517  -1.8646  -1.9712   1.2374
+   0.0000   0.0000   4.6768   0.0466  -7.4246
+   0.0000   0.0000   0.0000   6.7059  -5.4801
+   0.0000   0.0000   0.0000   0.0000 -22.6274
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04HD.html b/doc/_build/html/_static/doc/MB04HD.html
new file mode 100644
index 00000000..620254b3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04HD.html
@@ -0,0 +1,305 @@
+<HTML>
+<HEAD><TITLE>MB04HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04HD">MB04HD</A></H2>
+<H3>
+Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transformed matrices A and B, using orthogonal
+  matrices Q1 and Q2 for a real N-by-N regular pencil
+
+                ( A11   0  )     (  0   B12 )
+    aA - bB = a (          ) - b (          ),                   (1)
+                (  0   A22 )     ( B21   0  )
+
+  where A11, A22 and B12 are upper triangular, B21 is upper
+  quasi-triangular and the generalized matrix product
+     -1        -1
+  A11   B12 A22   B21 is in periodic Schur form, such that the
+  matrix Q2' A Q1 is upper triangular, Q2' B Q1 is upper
+  quasi-triangular and the transformed pencil
+  a(Q2' A Q1) - b(Q2' B Q1) is in generalized Schur form. The
+  notation M' denotes the transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04HD( COMPQ1, COMPQ2, N, A, LDA, B, LDB, Q1, LDQ1,
+     $                   Q2, LDQ2, IWORK, LIWORK, DWORK, LDWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2
+      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
+                  entry, and the matrix Q01*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied on the right to the pencil
+                  aA - bB in (1).
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  the array Q2 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q2 is returned;
+          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
+                  entry, and the matrix Q02*Q2 is returned, where Q2
+                  is the product of the orthogonal transformations
+                  that are applied on the left to the pencil aA - bB
+                  in (1).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aA - bB, N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N block diagonal part of this
+          array must contain the matrix A in (1). The off-diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N block anti-diagonal part of
+          this array must contain the matrix B in (1). The diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper quasi-triangular matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q01, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q01 and the transformation matrix Q1
+          used to transform the matrices A and B.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N' this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q02, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q02 and the transformation matrix Q2
+          used to transform the matrices A and B.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N' this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= MAX( N/2+1, 32 ).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -16, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 2*N*N + MAX( N/2 + 168, 272 ).
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the 
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA. 
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm failed to reorder the
+               eigenvalues (the problem is very ill-conditioned) in
+               the SLICOT Library routine MB03KD;
+          = 2: the standard QZ algorithm failed in the LAPACK
+               routines DGGES or DHGEQZ, called by the SLICOT
+               routines MB03DD or MB03FD;
+          = 3: the eigenvalue reordering failed in the LAPACK
+               routine DTGEX2, called by the SLICOT routine MB03FD;
+          = 4: the standard QZ algorithm failed to reorder the
+               eigenvalues in the LAPACK routine DTGSEN, called by
+               the SLICOT routine MB03DD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the periodic QZ algorithm (see also [2] and [3]) is applied
+                                  -1        -1
+  to the formal matrix product A11   B12 A22   B21 to reorder the
+  eigenvalues, i.e., orthogonal matrices V1, V2, V3 and V4 are
+  computed such that V2' A11 V1, V2' B12 V3, V4' A22 V3 and
+  V4' B21 V1 keep the triangular form, but they can be partitioned
+  into 2-by-2 block forms and the last diagonal blocks correspond to
+  all nonpositive real eigenvalues of the formal product, and the
+  first diagonal blocks correspond to the remaining eigenvalues.
+
+  Second, Q1 = diag(V1, V3), Q2 = diag(V2, V4) and
+
+                   ( AA11 AA12   0    0  )
+                   (                     )
+                   (   0  AA22   0    0  )
+  A := Q2' A Q1 =: (                     ),
+                   (   0    0  AA33 AA34 )
+                   (                     )
+                   (   0    0    0  AA44 )
+
+                   (   0    0  BB13 BB14 )
+                   (                     )
+                   (   0    0    0  BB24 )
+  B := Q2' B Q1 =: (                     ),
+                   ( BB31 BB32   0    0  )
+                   (                     )
+                   (   0  BB42   0    0  )
+
+                         -1          -1
+  are set, such that AA22   BB24 AA44   BB42 has only nonpositive
+  real eigenvalues.
+
+  Third, the permutation matrix
+
+      (  I  0  0  0  )
+      (              )
+      (  0  0  I  0  )
+  P = (              ),
+      (  0  I  0  0  )
+      (              )
+      (  0  0  0  I  )
+
+  where I denotes the identity matrix of appropriate size, is used
+  to transform aA - bB to block upper triangular form
+
+                ( AA11   0  | AA12   0  )
+                (           |           )
+                (   0  AA33 |   0  AA34 )   ( AA1  *  )
+  A := P' A P = (-----------+-----------) = (         ),
+                (   0    0  | AA22   0  )   (  0  AA2 )
+                (           |           )
+                (   0    0  |   0  AA44 )
+
+                (   0  BB13 |   0  BB14 )
+                (           |           )
+                ( BB31   0  | BB32   0  )   ( BB1  *  )
+  B := P' B P = (-----------+-----------) = (         ).
+                (   0    0  |   0  BB24 )   (  0  BB2 )
+                (           |           )
+                (   0    0  | BB42   0  )
+
+  Then, further orthogonal transformations that are provided by
+  MB03FD and MB03DD are used to triangularize the subpencil
+  aAA1 - bBB1.
+
+  Finally, the subpencil aAA2 - bBB2 is triangularized by applying a
+  special permutation matrix.
+
+  See also page 31 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [3] Hench, J. J. and Laub, A. J.
+      Numerical Solution of the discrete-time periodic Riccati
+      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ID.html b/doc/_build/html/_static/doc/MB04ID.html
new file mode 100644
index 00000000..baa29bbf
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04ID.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>MB04ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ID">MB04ID</A></H2>
+<H3>
+QR factorization of a matrix with a lower left-hand side zero triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
+  having a p-by-min(p,m) zero triangle in the lower left-hand side
+  corner, as shown below, for n = 8, m = 7, and p = 2:
+
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+     A = [ x x x x x x x ],
+         [ x x x x x x x ]
+         [ 0 x x x x x x ]
+         [ 0 0 x x x x x ]
+
+  and optionally apply the transformations to an n-by-l matrix B
+  (from the left). The problem structure is exploited. This
+  computation is useful, for instance, in combined measurement and
+  time update of one iteration of the time-invariant Kalman filter
+  (square root information filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ID( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix A.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The order of the zero triagle.  P &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns of the matrix B.  L &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A. The elements corresponding to the
+          zero P-by-MIN(P,M) lower trapezoidal/triangular part
+          (if P &gt; 0) are not referenced.
+          On exit, the elements on and above the diagonal of this
+          array contain the MIN(N,M)-by-M upper trapezoidal matrix
+          R (R is upper triangular, if N &gt;= M) of the QR
+          factorization, and the relevant elements below the
+          diagonal contain the trailing components (the vectors v,
+          see Method) of the elementary reflectors used in the
+          factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,L)
+          On entry, the leading N-by-L part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-L part of this array contains
+          the updated matrix B.
+          If L = 0, this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if L &gt; 0;
+          LDB &gt;= 1        if L = 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,M-1,M-P,L).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses min(N,M) Householder transformations exploiting
+  the zero pattern of the matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an (N-P+I-2)-vector.  The components of v  are stored
+         i                                             i
+  in the i-th column of A, beginning from the location i+1, and
+  tau  is stored in TAU(i).
+     i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04IY.html b/doc/_build/html/_static/doc/MB04IY.html
new file mode 100644
index 00000000..8efa1a98
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04IY.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MB04IY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04IY">MB04IY</A></H2>
+<H3>
+Applying the product of elementary reflectors used for QR factorization of a matrix having a lower left zero triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To overwrite the real n-by-m matrix  C  with  Q' * C,  Q * C,
+  C * Q',  or  C * Q,  according to the following table
+
+                  SIDE = 'L'     SIDE = 'R'
+  TRANS = 'N':      Q * C          C * Q
+  TRANS = 'T':      Q'* C          C * Q'
+
+  where  Q  is a real orthogonal matrix defined as the product of
+  k elementary reflectors
+
+     Q = H(1) H(2) . . . H(k)
+
+  as returned by SLICOT Library routine MB04ID.  Q  is of order n
+  if  SIDE = 'L'  and of order m if  SIDE = 'R'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04IY( SIDE, TRANS, N, M, K, P, A, LDA, TAU, C, LDC,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, K, LDA, LDC, LDWORK, M, N, P
+      CHARACTER          SIDE, TRANS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specify if  Q  or  Q'  is applied from the left or right,
+          as follows:
+          = 'L':  apply  Q  or  Q'  from the left;
+          = 'R':  apply  Q  or  Q'  from the right.
+
+  TRANS   CHARACTER*1
+          Specify if  Q  or  Q'  is to be applied, as follows:
+          = 'N':  apply  Q   (No transpose);
+          = 'T':  apply  Q'  (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix C.  M &gt;= 0.
+
+  K       (input) INTEGER
+          The number of elementary reflectors whose product defines
+          the matrix Q.
+          N &gt;= K &gt;= 0,  if  SIDE = 'L';
+          M &gt;= K &gt;= 0,  if  SIDE = 'R'.
+
+  P       (input) INTEGER
+          The order of the zero triagle (or the number of rows of
+          the zero trapezoid) in the matrix triangularized by SLICOT
+          Library routine MB04ID.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,K)
+          On input, the elements in the rows  i+1:min(n,n-p-1+i)  of
+          the  i-th  column, and  TAU(i),  represent the orthogonal
+          reflector  H(i),  so that matrix  Q  is the product of
+          elementary reflectors:  Q = H(1) H(2) . . . H(k).
+          A is modified by the routine but restored on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array  A.
+          LDA &gt;= max(1,N),  if  SIDE = 'L';
+          LDA &gt;= max(1,M),  if  SIDE = 'R'.
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          The scalar factors of the elementary reflectors.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix  C.
+          On exit, the leading N-by-M part of this array contains
+          the updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array  C.  LDC &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,M),  if  SIDE = 'L';
+          LDWORK &gt;= MAX(1,N),  if  SIDE = 'R'.
+          For optimum performance LDWORK &gt;= M*NB if SIDE = 'L',
+          or LDWORK &gt;= N*NB if SIDE = 'R', where NB is the optimal
+          block size.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If  SIDE = 'L',  each elementary reflector  H(i)  modifies
+  n-p  elements of each column of  C,  for  i = 1:p+1,  and
+  n-i+1  elements, for  i = p+2:k.
+  If  SIDE = 'R',  each elementary reflector  H(i)  modifies
+  m-p  elements of each row of  C,  for  i = 1:p+1,  and
+  m-i+1  elements, for  i = p+2:k.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04IZ.html b/doc/_build/html/_static/doc/MB04IZ.html
new file mode 100644
index 00000000..77845f86
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04IZ.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>MB04IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04IZ">MB04IZ</A></H2>
+<H3>
+QR factorization of a matrix with a lower left-hand side zero triangle (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
+  having a p-by-min(p,m) zero triangle in the lower left-hand side
+  corner, as shown below, for n = 8, m = 7, and p = 2:
+
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+     A = [ x x x x x x x ],
+         [ x x x x x x x ]
+         [ 0 x x x x x x ]
+         [ 0 0 x x x x x ]
+
+  and optionally apply the transformations to an n-by-l matrix B
+  (from the left). The problem structure is exploited. This
+  computation is useful, for instance, in combined measurement and
+  time update of one iteration of the time-invariant Kalman filter
+  (square root information filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04IZ( N, M, P, L, A, LDA, B, LDB, TAU, ZWORK, LZWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LZWORK, M, N, P
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(LDB,*), TAU(*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix A.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The order of the zero triagle.  P &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns of the matrix B.  L &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A. The elements corresponding to the
+          zero P-by-MIN(P,M) lower trapezoidal/triangular part
+          (if P &gt; 0) are not referenced.
+          On exit, the elements on and above the diagonal of this
+          array contain the MIN(N,M)-by-M upper trapezoidal matrix
+          R (R is upper triangular, if N &gt;= M) of the QR
+          factorization, and the relevant elements below the
+          diagonal contain the trailing components (the vectors v,
+          see Method) of the elementary reflectors used in the
+          factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,L)
+          On entry, the leading N-by-L part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-L part of this array contains
+          the updated matrix B.
+          If L = 0, this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if L &gt; 0;
+          LDB &gt;= 1        if L = 0.
+
+  TAU     (output) COMPLEX*16 array, dimension MIN(N,M)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  The length of the array ZWORK.
+          LZWORK &gt;= MAX(1,M-1,M-P,L).
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses min(N,M) Householder transformations exploiting
+  the zero pattern of the matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an (N-P+I-2)-vector.  The components of v  are stored
+         i                                             i
+  in the i-th column of A, beginning from the location i+1, and
+  tau  is stored in TAU(i).
+     i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04JD.html b/doc/_build/html/_static/doc/MB04JD.html
new file mode 100644
index 00000000..d4b3ec1a
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04JD.html
@@ -0,0 +1,162 @@
+<HTML>
+<HEAD><TITLE>MB04JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04JD">MB04JD</A></H2>
+<H3>
+LQ factorization of a matrix with an upper right-hand side zero triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LQ factorization of an n-by-m matrix A (A = L * Q),
+  having a min(n,p)-by-p zero triangle in the upper right-hand side
+  corner, as shown below, for n = 8, m = 7, and p = 2:
+
+         [ x x x x x 0 0 ]
+         [ x x x x x x 0 ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+     A = [ x x x x x x x ],
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+
+  and optionally apply the transformations to an l-by-m matrix B
+  (from the right). The problem structure is exploited. This
+  computation is useful, for instance, in combined measurement and
+  time update of one iteration of the time-invariant Kalman filter
+  (square root covariance filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04JD( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix A.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The order of the zero triagle.  P &gt;= 0.
+
+  L       (input) INTEGER
+          The number of rows of the matrix B.  L &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A. The elements corresponding to the
+          zero MIN(N,P)-by-P upper trapezoidal/triangular part
+          (if P &gt; 0) are not referenced.
+          On exit, the elements on and below the diagonal of this
+          array contain the N-by-MIN(N,M) lower trapezoidal matrix
+          L (L is lower triangular, if N &lt;= M) of the LQ
+          factorization, and the relevant elements above the
+          diagonal contain the trailing components (the vectors v,
+          see Method) of the elementary reflectors used in the
+          factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the updated matrix B.
+          If L = 0, this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,L).
+
+  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N-1,N-P,L).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses min(N,M) Householder transformations exploiting
+  the zero pattern of the matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an (M-P+I-2)-vector.  The components of v  are stored
+         i                                             i
+  in the i-th row of A, beginning from the location i+1, and tau
+                                                                i
+  is stored in TAU(i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04KD.html b/doc/_build/html/_static/doc/MB04KD.html
new file mode 100644
index 00000000..c3628c8e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04KD.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>MB04KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04KD">MB04KD</A></H2>
+<H3>
+QR factorization of a special structured block matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a QR factorization of the first block column and
+  apply the orthogonal transformations (from the left) also to the
+  second block column of a structured matrix, as follows
+                       _
+         [ R   0 ]   [ R   C ]
+    Q' * [       ] = [       ]
+         [ A   B ]   [ 0   D ]
+              _
+  where R and R are upper triangular. The matrix A can be full or
+  upper trapezoidal/triangular. The problem structure is exploited.
+  This computation is useful, for instance, in combined measurement
+  and time update of one iteration of the Kalman filter (square
+  root information filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04KD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  R(LDR,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'U':  Matrix A is upper trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices R and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B, C and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices A, B and D.  P &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+                                                     _
+          array contains the upper triangular matrix R.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'F', the leading P-by-N part of this
+          array must contain the matrix A. If UPLO = 'U', the
+          leading MIN(P,N)-by-N part of this array must contain the
+          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
+          and the elements below the diagonal are not referenced.
+          On exit, the leading P-by-N part (upper trapezoidal or
+          triangular, if UPLO = 'U') of this array contains the
+          trailing components (the vectors v, see Method) of the
+          elementary reflectors used in the factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,P).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading P-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading P-by-M part of this array contains
+          the computed matrix D.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,P).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array contains the
+          computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is a P-vector, if UPLO = 'F', or an min(i,P)-vector, if
+         i
+  UPLO = 'U'.  The components of v  are stored in the i-th column
+                                  i
+  of A, and tau  is stored in TAU(i).
+               i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04LD.html b/doc/_build/html/_static/doc/MB04LD.html
new file mode 100644
index 00000000..2d7b8f5d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04LD.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>MB04LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04LD">MB04LD</A></H2>
+<H3>
+LQ factorization of a special structured block matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate an LQ factorization of the first block row and apply
+  the orthogonal transformations (from the right) also to the second
+  block row of a structured matrix, as follows
+                     _
+     [ L   A ]     [ L   0 ]
+     [       ]*Q = [       ]
+     [ 0   B ]     [ C   D ]
+              _
+  where L and L are lower triangular. The matrix A can be full or
+  lower trapezoidal/triangular. The problem structure is exploited.
+  This computation is useful, for instance, in combined measurement
+  and time update of one iteration of the Kalman filter (square
+  root covariance filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04LD( UPLO, N, M, P, L, LDL, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDL, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  L(LDL,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'L':  Matrix A is lower trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices L and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices A, B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices B, C and D.  P &gt;= 0.
+
+  L       (input/output) DOUBLE PRECISION array, dimension (LDL,N)
+          On entry, the leading N-by-N lower triangular part of this
+          array must contain the lower triangular matrix L.
+          On exit, the leading N-by-N lower triangular part of this
+                                                     _
+          array contains the lower triangular matrix L.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.  LDL &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, if UPLO = 'F', the leading N-by-M part of this
+          array must contain the matrix A. If UPLO = 'L', the
+          leading N-by-MIN(N,M) part of this array must contain the
+          lower trapezoidal (lower triangular if N &lt;= M) matrix A,
+          and the elements above the diagonal are not referenced.
+          On exit, the leading N-by-M part (lower trapezoidal or
+          triangular, if UPLO = 'L') of this array contains the
+          trailing components (the vectors v, see Method) of the
+          elementary reflectors used in the factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading P-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading P-by-M part of this array contains
+          the computed matrix D.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,P).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an M-vector, if UPLO = 'F', or an min(i,M)-vector, if
+         i
+  UPLO = 'L'.  The components of v  are stored in the i-th row of A,
+                                  i
+  and tau  is stored in TAU(i).
+         i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04MD.html b/doc/_build/html/_static/doc/MB04MD.html
new file mode 100644
index 00000000..e2e703e3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04MD.html
@@ -0,0 +1,197 @@
+<HTML>
+<HEAD><TITLE>MB04MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04MD">MB04MD</A></H2>
+<H3>
+Balancing a general real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the 1-norm of a general real matrix A by balancing.
+  This involves diagonal similarity transformations applied
+  iteratively to A to make the rows and columns as close in norm as
+  possible.
+
+  This routine can be used instead LAPACK Library routine DGEBAL,
+  when no reduction of the 1-norm of the matrix is possible with
+  DGEBAL, as for upper triangular matrices. LAPACK Library routine
+  DGEBAK, with parameters ILO = 1, IHI = N, and JOB = 'S', should
+  be used to apply the backward transformation.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, N
+      DOUBLE PRECISION   MAXRED
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  MAXRED  (input/output) DOUBLE PRECISION
+          On entry, the maximum allowed reduction in the 1-norm of
+          A (in an iteration) if zero rows or columns are
+          encountered.
+          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
+          the norm reduction).
+          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
+          used.
+          On exit, if the 1-norm of the given matrix A is non-zero,
+          the ratio between the 1-norm of the given matrix and the
+          1-norm of the balanced matrix. Usually, this ratio will be
+          larger than one, but it can sometimes be one, or even less
+          than one (for instance, for some companion matrices).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the input matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to A.  If D(j) is the scaling
+          factor applied to row and column j, then SCALE(j) = D(j),
+          for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation inv(D) * A * D to make the 1-norms of each row
+  of A and its corresponding column nearly equal.
+
+  Information about the diagonal matrix D is returned in the vector
+  SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04MD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION MAXRED
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), SCALE(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB04MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, MAXRED
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Balance matrix A.
+         CALL MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) ( SCALE(I), I = 1,N )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04MD = ',I2)
+99997 FORMAT (' The balanced matrix is ')
+99996 FORMAT (20(1X,F10.4))
+99994 FORMAT (/' SCALE is ',/20(1X,F10.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04MD EXAMPLE PROGRAM DATA
+   4    0.0
+   1.0   0.0   0.0   0.0
+ 300.0 400.0 500.0 600.0
+   1.0   2.0   0.0   0.0
+   1.0   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04MD EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix is 
+     1.0000     0.0000     0.0000     0.0000
+    30.0000   400.0000    50.0000    60.0000
+     1.0000    20.0000     0.0000     0.0000
+     1.0000    10.0000     1.0000     1.0000
+
+ SCALE is 
+     1.0000    10.0000     1.0000     1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ND.html b/doc/_build/html/_static/doc/MB04ND.html
new file mode 100644
index 00000000..2f7c8656
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04ND.html
@@ -0,0 +1,175 @@
+<HTML>
+<HEAD><TITLE>MB04ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ND">MB04ND</A></H2>
+<H3>
+RQ factorization of a special structured block matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate an RQ factorization of the first block row and
+  apply the orthogonal transformations (from the right) also to the
+  second block row of a structured matrix, as follows
+                           _
+    [ A   R ]        [ 0   R ]
+    [       ] * Q' = [ _   _ ]
+    [ C   B ]        [ C   B ]
+              _
+  where R and R are upper triangular. The matrix A can be full or
+  upper trapezoidal/triangular. The problem structure is exploited.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ND( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  R(LDR,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'U':  Matrix A is upper trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices R and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows of the matrices B and C.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of columns of the matrices A and C.  P &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+                                                     _
+          array contains the upper triangular matrix R.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,P)
+          On entry, if UPLO = 'F', the leading N-by-P part of this
+          array must contain the matrix A. For UPLO = 'U', if
+          N &lt;= P, the upper triangle of the subarray A(1:N,P-N+1:P)
+          must contain the N-by-N upper triangular matrix A, and if
+          N &gt;= P, the elements on and above the (N-P)-th subdiagonal
+          must contain the N-by-P upper trapezoidal matrix A.
+          On exit, if UPLO = 'F', the leading N-by-P part of this
+          array contains the trailing components (the vectors v, see
+          METHOD) of the elementary reflectors used in the
+          factorization. If UPLO = 'U', the upper triangle of the
+          subarray A(1:N,P-N+1:P) (if N &lt;= P), or the elements on
+          and above the (N-P)-th subdiagonal (if N &gt;= P), contain
+          the trailing components (the vectors v, see METHOD) of the
+          elementary reflectors used in the factorization.
+          The remaining elements are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+                              _
+          the computed matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,P)
+          On entry, the leading M-by-P part of this array must
+          contain the matrix C.
+          On exit, the leading M-by-P part of this array contains
+                              _
+          the computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 )
+     H  = I - tau *u *u',    u  = ( v ),
+      i          i  i  i      i   (  i)
+
+  where v  is a P-vector, if UPLO = 'F', or a min(N-i+1,P)-vector,
+         i
+  if UPLO = 'U'.  The components of v  are stored in the i-th row
+                                     i
+  of A, and tau  is stored in TAU(i), i = N,N-1,...,1.
+               i
+  In-line code for applying Householder transformations is used
+  whenever possible (see MB04NY routine).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04NY.html b/doc/_build/html/_static/doc/MB04NY.html
new file mode 100644
index 00000000..f57683d3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04NY.html
@@ -0,0 +1,124 @@
+<HTML>
+<HEAD><TITLE>MB04NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04NY">MB04NY</A></H2>
+<H3>
+Applying an elementary reflector (using in-line code for a low order) to a matrix C = ( A B ), from the right, where A has one column
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a real elementary reflector H to a real m-by-(n+1)
+  matrix C = [ A  B ], from the right, where A has one column. H is
+  represented in the form
+                                     ( 1 )
+        H = I - tau * u *u',    u  = (   ),
+                                     ( v )
+  where tau is a real scalar and v is a real n-vector.
+
+  If tau = 0, then H is taken to be the unit matrix.
+
+  In-line code is used if H has order &lt; 11.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04NY( M, N, V, INCV, TAU, A, LDA, B, LDB, DWORK )
+C     .. Scalar Arguments ..
+      INTEGER           INCV, LDA, LDB, M, N
+      DOUBLE PRECISION  TAU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices A and B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix B.  N &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+          (1+(N-1)*ABS( INCV ))
+          The vector v in the representation of H.
+
+  INCV    (input) INTEGER
+          The increment between the elements of v.  INCV &lt;&gt; 0.
+
+  TAU     (input) DOUBLE PRECISION
+          The scalar factor of the elementary reflector H.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,1)
+          On entry, the leading M-by-1 part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-1 part of this array contains
+          the updated matrix A (the first column of C * H).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+          the updated matrix B (the last n columns of C * H).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (M)
+          DWORK is not referenced if H has order less than 11.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine applies the elementary reflector H, taking the special
+  structure of C into account.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OD.html b/doc/_build/html/_static/doc/MB04OD.html
new file mode 100644
index 00000000..7d9b325f
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04OD.html
@@ -0,0 +1,271 @@
+<HTML>
+<HEAD><TITLE>MB04OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OD">MB04OD</A></H2>
+<H3>
+QR factorization of a special structured block matrix (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a QR factorization of the first block column and
+  apply the orthogonal transformations (from the left) also to the
+  second block column of a structured matrix, as follows
+                       _   _
+         [ R   B ]   [ R   B ]
+    Q' * [       ] = [     _ ]
+         [ A   C ]   [ 0   C ]
+              _
+  where R and R are upper triangular. The matrix A can be full or
+  upper trapezoidal/triangular. The problem structure is exploited.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  R(LDR,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'U':  Matrix A is upper trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices R and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and C.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices A and C.  P &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+                                                     _
+          array contains the upper triangular matrix R.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'F', the leading P-by-N part of this
+          array must contain the matrix A. If UPLO = 'U', the
+          leading MIN(P,N)-by-N part of this array must contain the
+          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
+          and the elements below the diagonal are not referenced.
+          On exit, the leading P-by-N part (upper trapezoidal or
+          triangular, if UPLO = 'U') of this array contains the
+          trailing components (the vectors v, see Method) of the
+          elementary reflectors used in the factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,P).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-M part of this array contains
+                              _
+          the computed matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading P-by-M part of this array must
+          contain the matrix C.
+          On exit, the leading P-by-M part of this array contains
+                              _
+          the computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 )
+     H  = I - tau *u *u',    u  = ( v ),
+      i          i  i  i      i   (  i)
+
+  where v  is a P-vector, if UPLO = 'F', or a min(i,P)-vector, if
+         i
+  UPLO = 'U'.  The components of v  are stored in the i-th column
+                                  i
+  of A, and tau  is stored in TAU(i).
+               i
+  In-line code for applying Householder transformations is used
+  whenever possible (see MB04OY routine).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04OD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        (ZERO  = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDR
+      PARAMETER        ( LDA = PMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDR = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX-1,MMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      UPLO
+      INTEGER          I, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK), R(LDR,NMAX), TAU(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB04OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,N ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,P )
+*              Compute and apply QR factorization.
+               CALL MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C,
+     $                      LDC,  TAU, DWORK )
+*
+               WRITE ( NOUT, FMT = 99997 )
+               DO 40 I = 1, N
+                  DO 20 J = 1, I-1
+                     R(I,J) = ZERO
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 ) ( R(I,J), J = 1,N )
+   40          CONTINUE
+               IF ( M.GT.0 ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+                  IF ( P.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 80 I = 1, P
+                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04OD EXAMPLE PROGRAM RESULTS',/1X)
+99997 FORMAT (' The updated matrix R is ')
+99996 FORMAT (20(1X,F10.4))
+99995 FORMAT (' The updated matrix B is ')
+99994 FORMAT (' The updated matrix C is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04OD EXAMPLE PROGRAM DATA
+   3     2     2     F
+   3.    2.    1.
+   0.    2.    1.
+   0.    0.    1.
+   2.    3.    1.
+   4.    6.    5.
+   3.    2.
+   1.    3.
+   3.    2.
+   1.    3.
+   3.    2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04OD EXAMPLE PROGRAM RESULTS
+
+ The updated matrix R is 
+    -5.3852    -6.6850    -4.6424
+     0.0000    -2.8828    -2.0694
+     0.0000     0.0000    -1.7793
+ The updated matrix B is 
+    -4.2710    -3.7139
+    -0.1555    -2.1411
+    -1.6021     0.9398
+ The updated matrix C is 
+     0.5850     1.0141
+    -2.7974    -3.1162
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OW.html b/doc/_build/html/_static/doc/MB04OW.html
new file mode 100644
index 00000000..2ac7b7c2
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04OW.html
@@ -0,0 +1,168 @@
+<HTML>
+<HEAD><TITLE>MB04OW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OW">MB04OW</A></H2>
+<H3>
+Rank-one update of a Cholesky factorization (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the QR factorization
+
+     ( U  ) = Q*( R ),  where  U = ( U1  U2 ),  R = ( R1  R2 ),
+     ( x' )     ( 0 )              ( 0   T  )       ( 0   R3 )
+
+  where U and R are (m+n)-by-(m+n) upper triangular matrices, x is
+  an m+n element vector, U1 is m-by-m, T is n-by-n, stored
+  separately, and Q is an (m+n+1)-by-(m+n+1) orthogonal matrix.
+
+  The matrix ( U1 U2 ) must be supplied in the m-by-(m+n) upper
+  trapezoidal part of the array A and this is overwritten by the
+  corresponding part ( R1 R2 ) of R. The remaining upper triangular
+  part of R, R3, is overwritten on the array T.
+
+  The transformations performed are also applied to the (m+n+1)-by-p
+  matrix ( B' C' d )' (' denotes transposition), where B, C, and d'
+  are m-by-p, n-by-p, and 1-by-p matrices, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OW( M, N, P, A, LDA, T, LDT, X, INCX, B, LDB,
+     $                   C, LDC, D, INCD )
+C     .. Scalar Arguments ..
+      INTEGER            INCD, INCX, LDA, LDB, LDC, LDT, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(*), T(LDT,*),
+     $                   X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix ( U1  U2 ).  M &gt;= 0.
+
+  N      (input) INTEGER
+         The order of the matrix T.  N &gt;= 0.
+
+  P      (input) INTEGER
+         The number of columns of the matrices B and C.  P &gt;= 0.
+
+  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+         On entry, the leading M-by-(M+N) upper trapezoidal part of
+         this array must contain the upper trapezoidal matrix
+         ( U1 U2 ).
+         On exit, the leading M-by-(M+N) upper trapezoidal part of
+         this array contains the upper trapezoidal matrix ( R1 R2 ).
+         The strict lower triangle of A is not referenced.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  T      (input/output) DOUBLE PRECISION array, dimension (LDT,N)
+         On entry, the leading N-by-N upper triangular part of this
+         array must contain the upper triangular matrix T.
+         On exit, the leading N-by-N upper triangular part of this
+         array contains the upper triangular matrix R3.
+         The strict lower triangle of T is not referenced.
+
+  LDT    INTEGER
+         The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  X      (input/output) DOUBLE PRECISION array, dimension
+         (1+(M+N-1)*INCX), if M+N &gt; 0, or dimension (0), if M+N = 0.
+         On entry, the incremented array X must contain the
+         vector x. On exit, the content of X is changed.
+
+  INCX   (input) INTEGER
+         Specifies the increment for the elements of X.  INCX &gt; 0.
+
+  B      (input/output) DOUBLE PRECISION array, dimension (LDB,P)
+         On entry, the leading M-by-P part of this array must
+         contain the matrix B.
+         On exit, the leading M-by-P part of this array contains
+         the transformed matrix B.
+         If M = 0 or P = 0, this array is not referenced.
+
+  LDB    INTEGER
+         The leading dimension of the array B.
+         LDB &gt;= max(1,M), if P &gt; 0;
+         LDB &gt;= 1,        if P = 0.
+
+  C      (input/output) DOUBLE PRECISION array, dimension (LDC,P)
+         On entry, the leading N-by-P part of this array must
+         contain the matrix C.
+         On exit, the leading N-by-P part of this array contains
+         the transformed matrix C.
+         If N = 0 or P = 0, this array is not referenced.
+
+  LDC    INTEGER
+         The leading dimension of the array C.
+         LDC &gt;= max(1,N), if P &gt; 0;
+         LDC &gt;= 1,        if P = 0.
+
+  D      (input/output) DOUBLE PRECISION array, dimension
+         (1+(P-1)*INCD), if P &gt; 0, or dimension (0), if P = 0.
+         On entry, the incremented array D must contain the
+         vector d.
+         On exit, this incremented array contains the transformed
+         vector d.
+         If P = 0, this array is not referenced.
+
+  INCD   (input) INTEGER
+         Specifies the increment for the elements of D.  INCD &gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let q = m+n. The matrix Q is formed as a sequence of plane
+  rotations in planes (1, q+1), (2, q+1), ..., (q, q+1), the
+  rotation in the (j, q+1)th plane, Q(j), being chosen to
+  annihilate the jth element of x.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0((M+N)*(M+N+P)) operations and is backward
+  stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For P = 0, this routine produces the same result as SLICOT Library
+  routine MB04OX, but matrix T may not be stored in the array A.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OX.html b/doc/_build/html/_static/doc/MB04OX.html
new file mode 100644
index 00000000..14e36012
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04OX.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB04OX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OX">MB04OX</A></H2>
+<H3>
+Rank-one update of a Cholesky factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the QR factorization
+
+     (U ) = Q*(R),
+     (x')     (0)
+
+  where U and R are n-by-n upper triangular matrices, x is an
+  n element vector and Q is an (n+1)-by-(n+1) orthogonal matrix.
+
+  U must be supplied in the n-by-n upper triangular part of the
+  array A and this is overwritten by R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OX( N, A, LDA, X, INCX )
+C     .. Scalar Arguments ..
+      INTEGER            INCX, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N      (input) INTEGER
+         The number of elements of X and the order of the square
+         matrix A.  N &gt;= 0.
+
+  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+         On entry, the leading N-by-N upper triangular part of this
+         array must contain the upper triangular matrix U.
+         On exit, the leading N-by-N upper triangular part of this
+         array contains the upper triangular matrix R.
+         The strict lower triangle of A is not referenced.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  X      (input/output) DOUBLE PRECISION array, dimension
+         (1+(N-1)*INCX)
+         On entry, the incremented array X must contain the
+         vector x. On exit, the content of X is changed.
+
+  INCX   (input) INTEGER.
+         Specifies the increment for the elements of X.  INCX &gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix Q is formed as a sequence of plane rotations in planes
+  (1, n+1), (2, n+1), ..., (n, n+1), the rotation in the (j, n+1)th
+  plane, Q(j), being chosen to annihilate the jth element of x.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OY.html b/doc/_build/html/_static/doc/MB04OY.html
new file mode 100644
index 00000000..89aac245
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04OY.html
@@ -0,0 +1,121 @@
+<HTML>
+<HEAD><TITLE>MB04OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OY">MB04OY</A></H2>
+<H3>
+Applying an elementary reflector (using in-line code for a low order) to a matrix C = trans( trans(A) trans(B) ), from the left, where A has one row
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a real elementary reflector H to a real (m+1)-by-n
+  matrix C = [ A ], from the left, where A has one row. H is
+             [ B ]
+  represented in the form
+                                     ( 1 )
+        H = I - tau * u *u',    u  = (   ),
+                                     ( v )
+  where tau is a real scalar and v is a real m-vector.
+
+  If tau = 0, then H is taken to be the unit matrix.
+
+  In-line code is used if H has order &lt; 11.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OY( M, N, V, TAU, A, LDA, B, LDB, DWORK )
+C     .. Scalar Arguments ..
+      INTEGER           LDA, LDB, M, N
+      DOUBLE PRECISION  TAU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices A and B.  N &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension (M)
+          The vector v in the representation of H.
+
+  TAU     (input) DOUBLE PRECISION
+          The scalar factor of the elementary reflector H.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading 1-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading 1-by-N part of this array contains
+          the updated matrix A (the first row of H * C).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= 1.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+          the updated matrix B (the last m rows of H * C).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+          DWORK is not referenced if H has order less than 11.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine applies the elementary reflector H, taking the special
+  structure of C into account.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PA.html b/doc/_build/html/_static/doc/MB04PA.html
new file mode 100644
index 00000000..42c3ac25
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04PA.html
@@ -0,0 +1,218 @@
+<HTML>
+<HEAD><TITLE>MB04PA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PA">MB04PA</A></H2>
+<H3>
+Special reduction of a (skew-)Hamiltonian like matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a Hamiltonian like matrix
+
+                [  A   G  ]           T          T
+           H =  [       T ] ,    G = G ,    Q = Q,
+                [  Q  -A  ]
+
+  or a skew-Hamiltonian like matrix
+
+                [  A   G  ]            T          T
+           W =  [       T ] ,    G = -G ,   Q = -Q,
+                [  Q   A  ]
+
+  so that elements below the (k+1)-th subdiagonal in the first nb
+  columns of the (k+n)-by-n matrix A, and offdiagonal elements
+  in the first nb columns and rows of the n-by-n matrix Q are zero.
+
+  The reduction is performed by an orthogonal symplectic
+  transformation UU'*H*UU and matrices U, XA, XG, XQ, and YA are
+  returned so that
+
+                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'+ XG*U' ]
+      UU'*H*UU = [                                           ].
+                 [ Qout + U*XQ'+ XQ*U'  -Aout'- XA*U'- U*YA' ]
+
+  Similarly,
+
+                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'- XG*U' ]
+      UU'*W*UU = [                                           ].
+                 [ Qout + U*XQ'- XQ*U'   Aout'+ XA*U'+ U*YA' ]
+
+  This is an auxiliary routine called by MB04PB.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PA( LHAM, N, K, NB, A, LDA, QG, LDQG, XA, LDXA,
+     $                   XG, LDXG, XQ, LDXQ, YA, LDYA, CS, TAU, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           LHAM
+      INTEGER           K, LDA, LDQG, LDXA, LDXG, LDXQ, LDYA, N, NB
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*),
+     $                  XA(LDXA,*), XG(LDXG,*), XQ(LDXQ,*), YA(LDYA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LHAM    LOGICAL
+          Specifies the type of matrix to be reduced:
+          = .FALSE. :  skew-Hamiltonian like W;
+          = .TRUE.  :  Hamiltonian like H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The offset of the reduction. Elements below the (K+1)-th
+          subdiagonal in the first NB columns of A are reduced
+          to zero.  K &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns/rows to be reduced.  N &gt; NB &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading (K+N)-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading (K+N)-by-N part of this array
+          contains the matrix Aout and in the zero part
+          information about the elementary reflectors used to
+          compute the reduction.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,K+N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N+K-by-N+1 part of this array must
+          contain in the bottom left part the lower triangular part
+          of the N-by-N matrix Q and in the remainder the upper
+          trapezoidal part of the last N columns of the N+K-by-N+K
+          matrix G.
+          On exit, the leading N+K-by-N+1 part of this array
+          contains parts of the matrices Q and G in the same fashion
+          as on entry only that the zero parts of Q contain
+          information about the elementary reflectors used to
+          compute the reduction. Note that if LHAM = .FALSE. then
+          the (K-1)-th and K-th subdiagonals are not referenced.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG. LDQG &gt;= MAX(1,N+K).
+
+  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XA.
+
+  LDXA    INTEGER
+          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
+
+  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix XG.
+
+  LDXG    INTEGER
+          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
+
+  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XQ.
+
+  LDXQ    INTEGER
+          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
+
+  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix YA.
+
+  LDYA    INTEGER
+          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2*NB)
+          On exit, the first 2*NB elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the reduction.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (NB)
+          On exit, the first NB elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*NB)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For details regarding the representation of the orthogonal
+  symplectic matrix UU within the arrays A, QG, CS, TAU see the
+  description of MB04PU.
+
+  The contents of A and QG on exit are illustrated by the following
+  example with n = 5, k = 2 and nb = 2:
+
+        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
+        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
+        ( a  r  r  a  a  )         ( q  g  r  r  g  g  )
+    A = ( r  r  r  r  r  ),   QG = ( t  r  r  r  r  r  ),
+        ( u2 r  r  r  r  )         ( u1 t  r  r  r  r  )
+        ( u2 u2 r  a  a  )         ( u1 u1 r  q  g  g  )
+        ( u2 u2 r  a  a  )         ( u1 u1 r  q  q  g  )
+
+  where a, g and q denote elements of the original matrices, r
+  denotes a modified element, t denotes a scalar factor of an
+  applied elementary reflector and ui denote elements of the
+  matrix U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] D. KRESSNER:
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PB.html b/doc/_build/html/_static/doc/MB04PB.html
new file mode 100644
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@@ -0,0 +1,384 @@
+<HTML>
+<HEAD><TITLE>MB04PB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PB">MB04PB</A></H2>
+<H3>
+Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (block algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       T ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
+  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
+  is computed so that
+
+            T       [  Aout   Gout  ]
+           U H U =  [             T ] ,
+                    [  Qout  -Aout  ]
+
+  where Aout is upper Hessenberg and Qout is diagonal.
+  Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the diagonal of the matrix Qout, the upper triangular part
+          of the matrix Gout and, in the zero parts of Qout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
+          block size determined by the function UE01MD.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  QG(i+2:n,i), and tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  A(i+2:n,i), and nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
+  where the cosine is stored in CS(2*i-1) and the sine in
+  CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] D. KRESSNER:
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04PB/MB04WP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE, TWO
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NBMAX
+      PARAMETER        ( NMAX = 7, NBMAX = 3 )
+      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
+      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES = NMAX,
+     $                   LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDWORK = 8*NBMAX*NMAX + 3*NBMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
+     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION MA02ID, MA02JD
+      EXTERNAL         MA02ID, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
+     $                 DSYR2K, DTRMM, MB04PB, MB04WP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
+         CALL MB04PB( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
+     $                INFO )
+         INFO = 0
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
+            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               IF ( N.GT.2 )
+     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
+     $                         LDA )
+               IF ( N.GT.1 )
+     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
+     $                         LDQG )
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10             CONTINUE
+               DO 20  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20             CONTINUE
+               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
+30             CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 40  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
+40             CONTINUE
+C
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
+     $                      U1, LDU1, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
+               DO 50 I = 1, N
+                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
+50             CONTINUE
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
+               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
+               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
+               DO 60  I = 1, N
+                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
+     $                       RES(1,2*N+1), LDRES )
+60             CONTINUE
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
+               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
+               DO 70  I = 1, N
+                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
+     $                       RES(1,2*N+2), LDRES )
+70             CONTINUE
+C
+               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
+     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
+     $                LDRES, DWORK )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' TMB04PB EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04PB = ',I2)
+99997 FORMAT (' INFO on exit from MB04WP = ',I2)
+99996 FORMAT (' The symplectic orthogonal factor U is ')
+99995 FORMAT (/' The reduced matrix A is ')
+99994 FORMAT (/' The reduced matrix QG is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04PB EXAMPLE PROGRAM DATA
+        5
+    0.9501    0.7621    0.6154    0.4057    0.0579
+    0.2311    0.4565    0.7919    0.9355    0.3529
+    0.6068    0.0185    0.9218    0.9169    0.8132
+    0.4860    0.8214    0.7382    0.4103    0.0099
+    0.8913    0.4447    0.1763    0.8936    0.1389
+    0.3869    0.4055    0.2140    1.0224    1.1103    0.7016
+    1.3801    0.7567    1.4936    1.2913    0.9515    1.1755
+    0.7993    1.7598    1.6433    1.0503    0.8839    1.1010
+    1.2019    1.1956    0.9346    0.6824    0.7590    1.1364
+    0.8780    0.9029    1.6565    1.1022    0.7408    0.3793
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TMB04PB EXAMPLE PROGRAM RESULTS
+
+ The symplectic orthogonal factor U is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.0927    0.2098    0.5594   -0.0226    0.0000    0.5538    0.3184    0.2519   -0.4031
+    0.0000   -0.2435    0.4745   -0.6362   -0.2542    0.0000    0.3207   -0.2455    0.0595   -0.2819
+    0.0000   -0.1950   -0.1770   -0.1519   -0.2857    0.0000    0.4823    0.4122   -0.2060    0.6173
+    0.0000   -0.3576   -0.0480    0.2302    0.4512    0.0000    0.3523   -0.6047   -0.3110    0.1635
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.5538   -0.3184   -0.2519    0.4031    0.0000   -0.0927    0.2098    0.5594   -0.0226
+    0.0000   -0.3207    0.2455   -0.0595    0.2819    0.0000   -0.2435    0.4745   -0.6362   -0.2542
+    0.0000   -0.4823   -0.4122    0.2060   -0.6173    0.0000   -0.1950   -0.1770   -0.1519   -0.2857
+    0.0000   -0.3523    0.6047    0.3110   -0.1635    0.0000   -0.3576   -0.0480    0.2302    0.4512
+
+ Orthogonality of U: || U'*U - I ||_F = .77E-15
+
+ The reduced matrix A is 
+    0.9501   -1.5494    0.5268    0.3187   -0.6890
+   -2.4922    2.0907   -1.3598    0.5682    0.5618
+    0.0000   -1.7723    0.3960   -0.2624   -0.3709
+    0.0000    0.0000   -0.2648    0.2136   -0.3226
+    0.0000    0.0000    0.0000   -0.2308    0.2319
+
+ The reduced matrix QG is 
+    0.3869    0.4055    0.0992    0.5237   -0.4110   -0.4861
+    0.0000   -3.7784   -4.1609    0.3614    0.3606   -0.0696
+    0.0000    0.0000    1.2192   -0.0848    0.2007    0.3735
+    0.0000    0.0000    0.0000   -0.8646    0.1538   -0.1970
+    0.0000    0.0000    0.0000    0.0000   -0.4527    0.0743
+
+ Residual: || H - U*R*U' ||_F = .33E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PU.html b/doc/_build/html/_static/doc/MB04PU.html
new file mode 100644
index 00000000..972a83ac
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04PU.html
@@ -0,0 +1,371 @@
+<HTML>
+<HEAD><TITLE>MB04PU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PU">MB04PU</A></H2>
+<H3>
+Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (unblocked algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       T ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
+  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
+  is computed so that
+
+            T       [  Aout   Gout  ]
+           U H U =  [             T ] ,
+                    [  Qout  -Aout  ]
+
+  where Aout is upper Hessenberg and Qout is diagonal.
+  Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the diagonal of the matrix Qout, the upper triangular part
+          of the matrix Gout and, in the zero parts of Qout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  QG(i+2:n,i), and tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  A(i+2:n,i), and nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
+  where the cosine is stored in CS(2*i-1) and the sine in
+  CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 40/3 N**3 + O(N) floating point operations
+  and is strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04PU/MB04WP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE, TWO
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
+      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES  = NMAX,
+     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 2*NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
+     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION MA02ID, MA02JD
+      EXTERNAL         MA02ID, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
+     $                 DSYR2K, DTRMM, MB04PU, MB04WP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
+         CALL MB04PU( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
+     $                INFO )
+         INFO = 0
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
+            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               IF ( N.GT.2 )
+     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
+     $                         LDA )
+               IF ( N.GT.1 )
+     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
+     $                         LDQG )
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10             CONTINUE
+               DO 20  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20             CONTINUE
+               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
+30             CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 40  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
+40             CONTINUE
+C
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
+     $                      U1, LDU1, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
+               DO 50 I = 1, N
+                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
+50             CONTINUE
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
+               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
+               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
+               DO 60  I = 1, N
+                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
+     $                       RES(1,2*N+1), LDRES )
+60             CONTINUE
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
+               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
+               DO 70  I = 1, N
+                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
+     $                       RES(1,2*N+2), LDRES )
+70             CONTINUE
+C
+               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
+     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
+     $                LDRES, DWORK )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' TMB04PU EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04PU = ',I2)
+99997 FORMAT (' INFO on exit from MB04WP = ',I2)
+99996 FORMAT (' The symplectic orthogonal factor U is ')
+99995 FORMAT (/' The reduced matrix A is ')
+99994 FORMAT (/' The reduced matrix QG is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04PU EXAMPLE PROGRAM DATA
+        5
+    0.9501    0.7621    0.6154    0.4057    0.0579
+    0.2311    0.4565    0.7919    0.9355    0.3529
+    0.6068    0.0185    0.9218    0.9169    0.8132
+    0.4860    0.8214    0.7382    0.4103    0.0099
+    0.8913    0.4447    0.1763    0.8936    0.1389
+    0.4055    0.3869    1.3801    0.7993    1.2019    0.8780
+    0.2140    1.4936    0.7567    1.7598    1.1956    0.9029
+    1.0224    1.2913    1.0503    1.6433    0.9346    1.6565
+    1.1103    0.9515    0.8839    0.7590    0.6824    1.1022
+    0.7016    1.1755    1.1010    1.1364    0.3793    0.7408
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TMB04PU EXAMPLE PROGRAM RESULTS
+
+ The symplectic orthogonal factor U is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.1119    0.7763   -0.2005   -0.0001    0.0000    0.1036   -0.2783   -0.2583    0.4356
+    0.0000   -0.2937    0.2320    0.4014    0.5541    0.0000    0.4949    0.1187   -0.0294   -0.3632
+    0.0000   -0.2352   -0.2243   -0.7056   -0.0500    0.0000    0.5374    0.3102   -0.0893    0.0318
+    0.0000   -0.4314   -0.0354    0.2658   -0.6061    0.0000    0.3396   -0.3230    0.3931    0.0207
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.1036    0.2783    0.2583   -0.4356    0.0000   -0.1119    0.7763   -0.2005   -0.0001
+    0.0000   -0.4949   -0.1187    0.0294    0.3632    0.0000   -0.2937    0.2320    0.4014    0.5541
+    0.0000   -0.5374   -0.3102    0.0893   -0.0318    0.0000   -0.2352   -0.2243   -0.7056   -0.0500
+    0.0000   -0.3396    0.3230   -0.3931   -0.0207    0.0000   -0.4314   -0.0354    0.2658   -0.6061
+
+ Orthogonality of U: || U'*U - I ||_F = .16E-14
+
+ The reduced matrix A is 
+    0.9501   -1.8690    0.8413   -0.0344   -0.0817
+   -2.0660    2.7118   -1.6646    0.7606   -0.0285
+    0.0000   -2.4884    0.4115   -0.4021    0.3964
+    0.0000    0.0000   -0.5222    0.1767   -0.3081
+    0.0000    0.0000    0.0000    0.1915   -0.3426
+
+ The reduced matrix QG is 
+    0.4055    0.3869   -0.4295    0.9242   -0.7990   -0.0268
+    0.0000   -3.0834   -2.5926    0.0804    0.1386   -0.1630
+    0.0000    0.0000    1.3375    0.9618   -0.0263    0.1829
+    0.0000    0.0000    0.0000   -0.3556    0.6662    0.2123
+    0.0000    0.0000    0.0000    0.0000    0.1337   -0.8622
+
+ Residual: || H - U*R*U' ||_F = .60E-14
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PY.html b/doc/_build/html/_static/doc/MB04PY.html
new file mode 100644
index 00000000..d2896830
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04PY.html
@@ -0,0 +1,123 @@
+<HTML>
+<HEAD><TITLE>MB04PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PY">MB04PY</A></H2>
+<H3>
+Applying an elementary reflector (using in-line code for a low order) to a matrix, from either the left or the right
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a real elementary reflector H to a real m-by-n matrix
+  C, from either the left or the right. H is represented in the form
+                                     ( 1 )
+        H = I - tau * u *u',    u  = (   ),
+                                     ( v )
+  where tau is a real scalar and v is a real vector.
+
+  If tau = 0, then H is taken to be the unit matrix.
+
+  In-line code is used if H has order &lt; 11.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PY( SIDE, M, N, V, TAU, C, LDC, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          SIDE
+      INTEGER            LDC, M, N
+      DOUBLE PRECISION   TAU
+C     .. Array Arguments ..
+      DOUBLE PRECISION   C( LDC, * ), DWORK( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Indicates whether the elementary reflector should be
+          applied from the left or from the right, as follows:
+          = 'L':  Compute H * C;
+          = 'R':  Compute C * H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix C.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix C.  N &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+          (M-1), if SIDE = 'L', or
+          (N-1), if SIDE = 'R'.
+          The vector v in the representation of H.
+
+  TAU     (input) DOUBLE PRECISION
+          The scalar factor of the elementary reflector H.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the matrix H * C, if SIDE = 'L', or C * H, if SIDE = 'R'.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N), if SIDE = 'L', or
+                                            (M), if SIDE = 'R'.
+          DWORK is not referenced if H has order less than 11.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine applies the elementary reflector H, taking its special
+  structure into account. The multiplications by the first component
+  of u (which is 1) are avoided, to increase the efficiency.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QB.html b/doc/_build/html/_static/doc/MB04QB.html
new file mode 100644
index 00000000..e1caa590
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04QB.html
@@ -0,0 +1,238 @@
+<HTML>
+<HEAD><TITLE>MB04QB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QB">MB04QB</A></H2>
+<H3>
+Applying a product of symplectic reflectors and Givens rotations to two general real matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To overwrite general real m-by-n matrices C and D, or their
+  transposes, with
+
+            [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'N', or
+            [ op(D) ]
+
+       T    [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'T',
+            [ op(D) ]
+
+  where Q is defined as the product of symplectic reflectors and
+  Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QB( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
+     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
+      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
+     $                  V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANC   CHARACTER*1
+          Specifies the form of op( C ) as follows:
+          = 'N':  op( C ) = C;
+          = 'T':  op( C ) = C';
+          = 'C':  op( C ) = C'.
+
+  TRAND   CHARACTER*1
+          Specifies the form of op( D ) as follows:
+          = 'N':  op( D ) = D;
+          = 'T':  op( D ) = D';
+          = 'C':  op( D ) = D'.
+
+  TRANQ   CHARACTER*1
+          = 'N':  apply Q;
+          = 'T':  apply Q'.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in V are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in W are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(C) and op(D).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(C) and op(D).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of elementary reflectors whose product defines
+          the matrix Q.  M &gt;= K &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,M) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors F(i).
+          On entry with STOREV = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors F(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M),  if STOREV = 'C';
+          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,M) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors H(i).
+          On entry with STOREW = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors H(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,M),  if STOREW = 'C';
+          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                  (LDC,N) if TRANC = 'N',
+                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
+          On entry with TRANC = 'N', the leading M-by-N part of
+          this array must contain the matrix C.
+          On entry with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix C.
+          On exit with TRANC = 'N', the leading M-by-N part of
+          this array contains the updated matrix C.
+          On exit with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M),  if TRANC = 'N';
+          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                  (LDD,N) if TRAND = 'N',
+                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
+          On entry with TRAND = 'N', the leading M-by-N part of
+          this array must contain the matrix D.
+          On entry with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix D.
+          On exit with TRAND = 'N', the leading M-by-N part of
+          this array contains the updated matrix D.
+          On exit with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= MAX(1,M),  if TRAND = 'N';
+          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QC.html b/doc/_build/html/_static/doc/MB04QC.html
new file mode 100644
index 00000000..28c7cdf6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04QC.html
@@ -0,0 +1,230 @@
+<HTML>
+<HEAD><TITLE>MB04QC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QC">MB04QC</A></H2>
+<H3>
+Premultiplying a real matrix with an orthogonal symplectic block reflector
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the orthogonal symplectic block reflector
+
+           [  I+V*T*V'  V*R*S*V'  ]
+      Q =  [                      ]
+           [ -V*R*S*V'  I+V*T*V'  ]
+
+  or its transpose to a real 2m-by-n matrix [ op(A); op(B) ] from
+  the left.
+  The k-by-k upper triangular blocks of the matrices
+
+                              [ S1 ]       [ T11 T12 T13 ]
+      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
+                              [ S3 ]       [ T31 T32 T33 ]
+
+  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
+  are stored rowwise in the arrays RS and T, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QC( STRAB, TRANA, TRANB, TRANQ, DIRECT, STOREV,
+     $                   STOREW, M, N, K, V, LDV, W, LDW, RS, LDRS, T,
+     $                   LDT, A, LDA, B, LDB, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         DIRECT, STOREV, STOREW, STRAB, TRANA, TRANB,
+     $                  TRANQ
+      INTEGER           K, LDA, LDB, LDRS, LDT, LDV, LDW, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), RS(LDRS,*),
+     $                  T(LDT,*), V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STRAB   CHARACTER*1
+          Specifies the structure of the first blocks of A and B:
+          = 'Z':  the leading K-by-N submatrices of op(A) and op(B)
+                  are (implicitly) assumed to be zero;
+          = 'N';  no structure to mention.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op( A ) as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op( B ) as follows:
+          = 'N':  op( B ) = B;
+          = 'T':  op( B ) = B';
+          = 'C':  op( B ) = B'.
+
+  DIRECT  CHARACTER*1
+          This is a dummy argument, which is reserved for future
+          extensions of this subroutine. Not referenced.
+
+  TRANQ   CHARACTER*1
+          = 'N':  apply Q;
+          = 'T':  apply Q'.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in V are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in W are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(A) and op(B).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(A) and op(B).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The order of the triangular matrices defining R, S and T.
+          M &gt;= K &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,M) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflector used to form parts of Q.
+          On entry with STOREV = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflector used to form parts of Q.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M),  if STOREV = 'C';
+          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,M) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflector used to form parts of Q.
+          On entry with STOREW = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflector used to form parts of Q.
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,M),  if STOREW = 'C';
+          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
+
+  RS      (input) DOUBLE PRECISION array, dimension (K,6*K)
+          On entry, the leading K-by-6*K part of this array must
+          contain the upper triangular matrices defining the factors
+          R and S of the symplectic block reflector Q. The
+          (strictly) lower portions of this array are not
+          referenced.
+
+  LDRS    INTEGER
+          The leading dimension of the array RS.  LDRS &gt;= MAX(1,K).
+
+  T       (input) DOUBLE PRECISION array, dimension (K,9*K)
+          On entry, the leading K-by-9*K part of this array must
+          contain the upper triangular matrices defining the factor
+          T of the symplectic block reflector Q. The (strictly)
+          lower portions of this array are not referenced.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,K).
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                  (LDA,N) if TRANA = 'N',
+                  (LDA,M) if TRANA = 'C' or TRANA = 'T'
+          On entry with TRANA = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANA = 'T' or TRANA = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,M),  if TRANA = 'N';
+          LDA &gt;= MAX(1,N),  if TRANA = 'C' or TRANA = 'T'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                  (LDB,N) if TRANB = 'N',
+                  (LDB,M) if TRANB = 'C' or TRANB = 'T'
+          On entry with TRANB = 'N', the leading M-by-N part of this
+          array must contain the matrix B.
+          On entry with TRANB = 'T' or TRANB = 'C', the leading
+          N-by-M part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,M),  if TRANB = 'N';
+          LDB &gt;= MAX(1,N),  if TRANB = 'C' or TRANB = 'T'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
+          LDWORK &gt;= 8*N*K,   if STRAB = 'Z',
+          LDWORK &gt;= 9*N*K,   if STRAB = 'N'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 16*( M - K )*N + ( 26*K - 4 )*K*N floating
+  point operations if STRAB = 'Z' and additional ( 12*K + 2 )*K*N
+  floating point operations if STRAB = 'N'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QF.html b/doc/_build/html/_static/doc/MB04QF.html
new file mode 100644
index 00000000..1a1605b0
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04QF.html
@@ -0,0 +1,182 @@
+<HTML>
+<HEAD><TITLE>MB04QF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QF">MB04QF</A></H2>
+<H3>
+Forming the triangular block factors of a symplectic block reflector
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To form the triangular block factors R, S and T of a symplectic
+  block reflector SH, which is defined as a product of 2k
+  concatenated Householder reflectors and k Givens rotations,
+
+      SH = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+           diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                             ....
+           diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  The upper triangular blocks of the matrices
+
+                              [ S1 ]       [ T11 T12 T13 ]
+      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
+                              [ S3 ]       [ T31 T32 T33 ]
+
+  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
+  are stored rowwise in the arrays RS and T, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QF( DIRECT, STOREV, STOREW, N, K, V, LDV, W, LDW,
+     $                   CS, TAU, RS, LDRS, T, LDT, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         DIRECT, STOREV, STOREW
+      INTEGER           K, LDRS, LDT, LDV, LDW, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), RS(LDRS,*), T(LDT,*),
+     $                  TAU(*), V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DIRECT  CHARACTER*1
+          This is a dummy argument, which is reserved for future
+          extensions of this subroutine. Not referenced.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder F(i) reflectors are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder H(i) reflectors are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the Householder reflectors F(i) and H(i).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of Givens rotations.  K &gt;= 1.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,N) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading N-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector F(i).
+          On entry with STOREV = 'R', the leading K-by-N part of
+          this array must contain in its i-th row the vector
+          which defines the elementary reflector F(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,N),  if STOREV = 'C';
+          LDV &gt;= K,         if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,N) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading N-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector H(i).
+          On entry with STOREV = 'R', the leading K-by-N part of
+          this array must contain in its i-th row the vector
+          which defines the elementary reflector H(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,N),  if STOREW = 'C';
+          LDW &gt;= K,         if STOREW = 'R'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+  RS      (output) DOUBLE PRECISION array, dimension (K,6*K)
+          On exit, the leading K-by-6*K part of this array contains
+          the upper triangular matrices defining the factors R and
+          S of the symplectic block reflector SH. The (strictly)
+          lower portions of this array are not used.
+
+  LDRS    INTEGER
+          The leading dimension of the array RS.  LDRS &gt;= K.
+
+  T       (output) DOUBLE PRECISION array, dimension (K,9*K)
+          On exit, the leading K-by-9*K part of this array contains
+          the upper triangular matrices defining the factor T of the
+          symplectic block reflector SH. The (strictly) lower
+          portions of this array are not used.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= K.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*K)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires ( 4*K - 2 )*K*N + 19/3*K*K*K + 1/2*K*K
+  + 43/6*K - 4 floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QS.html b/doc/_build/html/_static/doc/MB04QS.html
new file mode 100644
index 00000000..e66031c4
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04QS.html
@@ -0,0 +1,208 @@
+<HTML>
+<HEAD><TITLE>MB04QS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QS">MB04QS</A></H2>
+<H3>
+Multiplication with a product of symplectic reflectors and Givens rotations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Overwrites general real m-by-n/n-by-m matrices C and D with
+
+            [ op(C) ]
+      U  *  [       ]   if TRANU = 'N', or
+            [ op(D) ]
+
+       T    [ op(C) ]
+      U  *  [       ]   if TRANU = 'T',
+            [ op(D) ]
+
+  where U is defined as the product of symplectic reflectors and
+  Givens rotations,
+
+      U = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
+
+  with k = m-1, as returned by the SLICOT Library routines MB04PU
+  or MB04RU.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QS( TRANC, TRAND, TRANU, M, N, ILO, V, LDV, W, LDW,
+     $                   C, LDC, D, LDD, CS, TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANC, TRAND, TRANU
+      INTEGER           ILO, INFO, LDC, LDD, LDV, LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
+     $                  V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANC   CHARACTER*1
+          Specifies the form of op( C ) as follows:
+          = 'N':  op( C ) = C; 
+          = 'T':  op( C ) = C';
+          = 'C':  op( C ) = C'.
+
+  TRAND   CHARACTER*1
+          Specifies the form of op( D ) as follows:
+          = 'N':  op( D ) = D; 
+          = 'T':  op( D ) = D';
+          = 'C':  op( D ) = D'.
+
+  TRANU   CHARACTER*1
+          Specifies whether U or U' is applied as follows:
+          = 'N':  apply U;
+          = 'T':  apply U'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(C) and op(D).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(C) and op(D).
+          N &gt;= 0.
+
+  ILO     (input) INTEGER
+          ILO must have the same value as in the previous call of
+          MB04PU or MB04RU. U is equal to the unit matrix except in
+          the submatrix
+          U([ilo+1:m m+ilo+1:2*m], [ilo+1:m m+ilo+1:2*m]).
+          1 &lt;= ILO &lt;= M+1.
+
+  V       (input) DOUBLE PRECISION array, dimension (LDV,M)
+          On entry, the leading M-by-M part of this array must
+          contain in its columns the vectors which define the
+          elementary reflectors H(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= MAX(1,M).
+
+  W       (input) DOUBLE PRECISION array, dimension (LDW,M)
+          On entry, the leading M-by-M part of this array must
+          contain in its columns the vectors which define the
+          elementary reflectors F(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.  LDW &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                  (LDC,N) if TRANC = 'N',
+                  (LDC,M) if TRANC = 'T' or TRANC = 'C'.
+          On entry with TRANC = 'N', the leading M-by-N part of this
+          array must contain the matrix C.
+          On entry with TRANC = 'T' or TRANC = 'C', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix C.
+          On exit with TRANC = 'N', the leading M-by-N part of this
+          array contains the updated matrix C.
+          On exit with TRANC = 'T' or TRANC = 'C', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M),  if TRANC = 'N';
+          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                  (LDD,N) if TRAND = 'N',
+                  (LDD,M) if TRAND = 'T' or TRAND = 'C'.
+          On entry with TRAND = 'N', the leading M-by-N part of this
+          array must contain the matrix D.
+          On entry with TRAND = 'T' or TRAND = 'C', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix D.
+          On exit with TRAND = 'N', the leading M-by-N part of this
+          array contains the updated matrix D.
+          On exit with TRAND = 'T' or TRAND = 'C', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= MAX(1,M),  if TRAND = 'N';
+          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*N-2)
+          On entry, the first 2*N-2 elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i), as returned by MB04PU or MB04RU.
+
+  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
+          On entry, the first N-1 elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i), as returned by MB04PU or MB04RU.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QU.html b/doc/_build/html/_static/doc/MB04QU.html
new file mode 100644
index 00000000..b2e64de5
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04QU.html
@@ -0,0 +1,225 @@
+<HTML>
+<HEAD><TITLE>MB04QU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QU">MB04QU</A></H2>
+<H3>
+Applying a product of symplectic reflectors and Givens rotations to two general real matrices (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To overwrite general real m-by-n matrices C and D, or their
+  transposes, with
+
+            [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'N', or
+            [ op(D) ]
+
+       T    [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'T',
+            [ op(D) ]
+
+  where Q is defined as the product of symplectic reflectors and
+  Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QU( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
+     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
+      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), C(LDC,*), D(LDD,*), V(LDV,*),
+     $                  W(LDW,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANC   CHARACTER*1
+          Specifies the form of op( C ) as follows:
+          = 'N':  op( C ) = C;
+          = 'T':  op( C ) = C';
+          = 'C':  op( C ) = C'.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in V are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in W are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  TRAND   CHARACTER*1
+          Specifies the form of op( D ) as follows:
+          = 'N':  op( D ) = D;
+          = 'T':  op( D ) = D';
+          = 'C':  op( D ) = D'.
+
+  TRANQ   CHARACTER*1
+          = 'N':  apply Q;
+          = 'T':  apply Q'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(C) and op(D).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(C) and op(D).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of elementary reflectors whose product defines
+          the matrix Q.  M &gt;= K &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,M) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors F(i).
+          On entry with STOREV = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors F(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M),  if STOREV = 'C';
+          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,M) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors H(i).
+          On entry with STOREW = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors H(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,M),  if STOREW = 'C';
+          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                  (LDC,N) if TRANC = 'N',
+                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
+          On entry with TRANC = 'N', the leading M-by-N part of
+          this array must contain the matrix C.
+          On entry with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix C.
+          On exit with TRANC = 'N', the leading M-by-N part of
+          this array contains the updated matrix C.
+          On exit with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M),  if TRANC = 'N';
+          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                  (LDD,N) if TRAND = 'N',
+                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
+          On entry with TRAND = 'N', the leading M-by-N part of
+          this array must contain the matrix D.
+          On entry with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix D.
+          On exit with TRAND = 'N', the leading M-by-N part of
+          this array contains the updated matrix D.
+          On exit with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= MAX(1,M),  if TRAND = 'N';
+          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04RB.html b/doc/_build/html/_static/doc/MB04RB.html
new file mode 100644
index 00000000..a9d8f984
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04RB.html
@@ -0,0 +1,203 @@
+<HTML>
+<HEAD><TITLE>MB04RB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04RB">MB04RB</A></H2>
+<H3>
+Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (blocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a skew-Hamiltonian matrix,
+
+                [  A   G  ]
+          W  =  [       T ] ,
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
+  symplectic matrix U is computed so that
+
+            T       [  Aout  Gout  ]
+           U W U =  [            T ] ,
+                    [    0   Aout  ]
+
+  where Aout is in upper Hessenberg form.
+  Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04RB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to the SLICOT Library routine MB04DS;
+          otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G. The parts containing the
+          diagonal and the first superdiagonal of this array are not
+          referenced.
+          On exit, the leading N-by-N+1 part of this array contains
+          in its first N-1 columns information about the elementary
+          reflectors used to compute the PVL factorization and in
+          its last N columns the strictly upper triangular part of
+          the matrix Gout.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
+          block size.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An algorithm similar to the block algorithm for the symplectic
+  URV factorization described in [2] is used.
+
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with v(1:i) = 0
+  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
+  tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with w(1:i) = 0
+  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
+  nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
+  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43(4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04RU.html b/doc/_build/html/_static/doc/MB04RU.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB04RU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04RU">MB04RU</A></H2>
+<H3>
+Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a skew-Hamiltonian matrix,
+
+                [  A   G  ]
+          W  =  [       T ] ,
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
+  symplectic matrix U is computed so that
+
+            T       [  Aout  Gout  ]
+           U W U =  [            T ] ,
+                    [    0   Aout  ]
+
+  where Aout is in upper Hessenberg form.
+  Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04RU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to the SLICOT Library routine MB04DS;
+          otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout, information
+          about the elementary reflectors used to compute the
+          PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G. The parts containing the
+          diagonal and the first superdiagonal of this array are not
+          referenced.
+          On exit, the leading N-by-N+1 part of this array contains
+          in its first N-1 columns information about the elementary
+          reflectors used to compute the PVL factorization and in
+          its last N columns the strictly upper triangular part of
+          the matrix Gout.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with v(1:i) = 0
+  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
+  tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with w(1:i) = 0
+  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
+  nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
+  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 40/3 N**3 + O(N) floating point operations
+  and is strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04SU.html b/doc/_build/html/_static/doc/MB04SU.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04SU.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>MB04SU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04SU">MB04SU</A></H2>
+<H3>
+Symplectic QR decomposition of a real 2M-by-N matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a symplectic QR decomposition of a real 2M-by-N matrix
+  [A; B],
+
+            [ A ]             [ R11  R12 ]
+            [   ] = Q * R = Q [          ],
+            [ B ]             [ R21  R22 ]
+
+  where Q is a symplectic orthogonal matrix, R11 is upper triangular
+  and R21 is strictly upper triangular.
+  If [A; B] is symplectic then, theoretically, R21 = 0 and
+  R22 = inv(R11)^T. Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04SU( M, N, A, LDA, B, LDB, CS, TAU, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CS(*), DWORK(*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of A and B. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of A and B. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the matrix [ R11  R12 ] and, in the zero parts of R,
+          information about the elementary reflectors used to
+          compute the symplectic QR decomposition.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+          the matrix [ R21  R22 ] and, in the zero parts of B,
+          information about the elementary reflectors used to
+          compute the symplectic QR decomposition.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,M).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2 * min(M,N))
+          On exit, the first 2*min(M,N) elements of this array
+          contain the cosines and sines of the symplectic Givens
+          rotations used to compute the symplectic QR decomposition.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
+          On exit, the first min(M,N) elements of this array
+          contain the scalar factors of some of the elementary
+          reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix Q is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+      diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                        ....
+      diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
+
+  where k = min(m,n).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * w * w'
+
+  where tau is a real scalar, and w is a real vector with
+  w(1:i-1) = 0 and w(i) = 1; w(i+1:m) is stored on exit in
+  B(i+1:m,i), and tau in B(i,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * v * v'
+
+  where nu is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
+  A(i+1:m,i), and nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i of A and B,
+  where the cosine is stored in CS(2*i-1) and the sine in
+  CS(2*i).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bunse-Gerstner, A.
+      Matrix factorizations for symplectic QR-like methods.
+      Linear Algebra Appl., 83, pp. 49-77, 1986.
+
+  [2] Byers, R.
+      Hamiltonian and Symplectic Algorithms for the Algebraic
+      Riccati Equation.
+      Ph.D. Dissertation, Center for Applied Mathematics,
+      Cornell University, Ithaca, NY, 1983.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires
+     8*M*N*N - 8/3*N*N*N +  2*M*N + 6*N*N + 8/3*N,  if M &gt;= N,
+     8*M*M*N - 8/3*M*M*M + 14*M*N - 6*M*M + 8/3*N,  if M &lt;= N,
+  floating point operations and is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04TB.html b/doc/_build/html/_static/doc/MB04TB.html
new file mode 100644
index 00000000..b4021124
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04TB.html
@@ -0,0 +1,559 @@
+<HTML>
+<HEAD><TITLE>MB04TB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04TB">MB04TB</A></H2>
+<H3>
+Symplectic URV decomposition of a real 2N-by-2N matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a symplectic URV (SURV) decomposition of a real
+  2N-by-2N matrix H,
+
+         [ op(A)   G   ]                 [ op(R11)   R12   ]
+     H = [             ] = U R V'  = U * [                 ] * V' ,
+         [  Q    op(B) ]                 [   0     op(R22) ]
+
+  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
+  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
+  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
+  matrices. Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04TB( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
+     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANA, TRANB
+      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
+     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op( A ) as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op( B ) as follows:
+          = 'N':  op( B ) = B;
+          = 'T':  op( B ) = B';
+          = 'C':  op( B ) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that op(A) is already upper triangular,
+          op(B) is lower triangular and Q is zero in rows and
+          columns 1:ILO-1. ILO is normally set by a previous call
+          to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the triangular matrix R11, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the Hessenberg matrix R22, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix G.
+          On exit, the leading N-by-N part of this array contains
+          the matrix R12.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Q.
+          On exit, the leading N-by-N part of this array contains
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  CSL     (output) DOUBLE PRECISION array, dimension (2N)
+          On exit, the first 2N elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the left-hand side used to compute the SURV
+          decomposition.
+
+  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the right-hand side used to compute the SURV
+          decomposition.
+
+  TAUL    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, the first N elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the left-hand side.
+
+  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, (16*N + 5)*NB, where NB is the optimal
+          block size determined by the function UE01MD.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices U and V are represented as products of symplectic
+  reflectors and Givens rotations
+
+  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
+      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
+                           ....
+      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
+
+  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
+      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
+                                ....
+      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
+
+  Each HU(i) has the form
+
+        HU(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
+  Q(i+1:n,i), and tau in Q(i,i).
+
+  Each FU(i) has the form
+
+        FU(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
+  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
+  scalar nu is stored in TAUL(i).
+
+  Each GU(i) is a Givens rotation acting on rows i and n+i,
+  where the cosine is stored in CSL(2*i-1) and the sine in
+  CSL(2*i).
+
+  Each HV(i) has the form
+
+        HV(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  Q(i,i+2:n), and tau in Q(i,i+1).
+
+  Each FV(i) has the form
+
+        FV(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
+  The scalar nu is stored in TAUR(i).
+
+  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
+  where the cosine is stored in CSR(2*i-1) and the sine in
+  CSR(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 80/3*N**3 + ( 64*NB + 77 )*N**2 +
+  ( -16*NB + 48 )*NB*N + O(N) floating point operations, where
+  NB is the used block size, and is numerically backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04TB/MB04WR EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NBMAX, NMAX
+      PARAMETER        ( NBMAX = 64, NMAX = 421 )
+      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
+     $                 LDV2, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDV1 = NMAX, LDV2 = NMAX,
+     $                   LDWORK = NBMAX*( 16*NMAX + 1 ) )
+*     .. Local Scalars ..
+      CHARACTER*1      TRANA, TRANB, TRANV1
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
+     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG, NMAX),
+     $                 Q(LDQ, NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
+     $                 TAUR(NMAX), U1(LDU1, NMAX), U2(LDU2, NMAX),
+     $                 V1(LDV1, NMAX), V2(LDV2, NMAX)
+*     .. External Functions ..
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
+      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TB, MB04WR
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, TRANA, TRANB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
+         CALL MB04TB( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
+     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
+            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
+     $                   TAUL, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
+               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
+               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
+     $                      CSR, TAUR, DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     DO 10  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10                   CONTINUE
+                     DO 20  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 30  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
+30                   CONTINUE
+                     DO 40  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
+40                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 )
+                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
+     $                            A(2,1), LDA )
+                     DO 50  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
+50                   CONTINUE
+                  ELSE
+                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
+     $                            A(1,2), LDA )
+                     DO 60  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
+60                   CONTINUE
+                  END IF
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     IF ( N.GT.1 ) THEN
+                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
+     $                               B(1,3), LDB )
+                     END IF
+                     DO 70  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
+70                   CONTINUE
+                  ELSE
+                     IF ( N.GT.1 ) THEN
+C                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
+C     $                               B(3,1), LDB )
+                     END IF
+                     DO 80  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
+80                   CONTINUE
+                  END IF
+C
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     TRANV1 = 'T'
+                  ELSE
+                     TRANV1 = 'N'
+                  END IF
+                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
+     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
+     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
+     $                           LDRES, DWORK )
+                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
+     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
+     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
+     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
+     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
+     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
+     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
+     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  WRITE ( NOUT, FMT = 99990 ) TEMP
+C
+                  WRITE ( NOUT, FMT = 99994 )
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     DO 90  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
+90                   CONTINUE
+                     DO 100  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
+100                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 110  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
+110                  CONTINUE
+                     DO 120  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
+120                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB04TB EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04TB = ',I2)
+99997 FORMAT (' INFO on exit from MB04WR = ',I2)
+99996 FORMAT (' The orthogonal symplectic factor U is ')
+99995 FORMAT (/' The factor R is ')
+99994 FORMAT (/' The orthogonal symplectic factor V is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
+99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04TB EXAMPLE PROGRAM DATA
+        5       N       N
+    0.4643    0.3655    0.6853    0.5090    0.3718
+    0.3688    0.6460    0.4227    0.6798    0.5135
+    0.7458    0.5043    0.9419    0.9717    0.9990
+    0.7140    0.4941    0.7802    0.5272    0.1220
+    0.7418    0.0339    0.7441    0.0436    0.6564
+   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
+   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
+   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
+   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
+   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
+    0.7933    1.5765    1.0711    1.0794    0.8481
+    1.5765    0.1167    1.5685    0.8756    0.5037
+    1.0711    1.5685    0.9902    0.3858    0.2109
+    1.0794    0.8756    0.3858    1.8834    1.4338
+    0.8481    0.5037    0.2109    1.4338    0.1439
+    1.0786    1.5264    1.1721    1.5343    0.4756
+    1.5264    0.8644    0.6872    1.1379    0.6499
+    1.1721    0.6872    1.5194    1.1197    1.0158
+    1.5343    1.1379    1.1197    0.6612    0.2004
+    0.4756    0.6499    1.0158    0.2004    1.2188
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04TB EXAMPLE PROGRAM RESULTS
+
+ The orthogonal symplectic factor U is 
+   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
+   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
+   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
+   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
+   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
+   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
+   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
+   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
+   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
+   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
+
+ Orthogonality of U: || U^T U - I ||_F = .17E-14
+
+ The factor R is 
+   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
+    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
+    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
+    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
+    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
+    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
+
+ Residual: || H*V - U*R ||_F = .76E-14
+
+ The orthogonal symplectic factor V is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
+    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
+    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
+    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
+    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
+    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
+    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
+
+ Orthogonality of V: || V^T V - I ||_F = .17E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04TS.html b/doc/_build/html/_static/doc/MB04TS.html
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+<HTML>
+<HEAD><TITLE>MB04TS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04TS">MB04TS</A></H2>
+<H3>
+Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a symplectic URV (SURV) decomposition of a real
+  2N-by-2N matrix H:
+
+          [ op(A)   G   ]        T       [ op(R11)   R12   ]    T
+      H = [             ] = U R V  = U * [                 ] * V ,
+          [  Q    op(B) ]                [   0     op(R22) ]
+
+  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
+  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
+  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
+  matrices. Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04TS( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
+     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANA, TRANB
+      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
+     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op( A ) as follows:
+          = 'N': op( A ) = A;
+          = 'T': op( A ) = A';
+          = 'C': op( A ) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op( B ) as follows:
+          = 'N': op( B ) = B;
+          = 'T': op( B ) = B';
+          = 'C': op( B ) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that op(A) is already upper triangular,
+          op(B) is lower triangular and Q is zero in rows and
+          columns 1:ILO-1. ILO is normally set by a previous call
+          to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO=1, if N=0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the triangular matrix R11, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the Hessenberg matrix R22, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix G.
+          On exit, the leading N-by-N part of this array contains
+          the matrix R12.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Q.
+          On exit, the leading N-by-N part of this array contains
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDG &gt;= MAX(1,N).
+
+  CSL     (output) DOUBLE PRECISION array, dimension (2N)
+          On exit, the first 2N elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the left-hand side used to compute the SURV
+          decomposition.
+
+  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the right-hand side used to compute the SURV
+          decomposition.
+
+  TAUL    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, the first N elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied from the left-hand side.
+
+  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied from the right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices U and V are represented as products of symplectic
+  reflectors and Givens rotations
+
+  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
+      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
+                           ....
+      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
+
+  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
+      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
+                                ....
+      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
+
+  Each HU(i) has the form
+
+        HU(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
+  Q(i+1:n,i), and tau in Q(i,i).
+
+  Each FU(i) has the form
+
+        FU(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
+  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
+  scalar nu is stored in TAUL(i).
+
+  Each GU(i) is a Givens rotation acting on rows i and n+i,
+  where the cosine is stored in CSL(2*i-1) and the sine in
+  CSL(2*i).
+
+  Each HV(i) has the form
+
+        HV(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  Q(i,i+2:n), and tau in Q(i,i+1).
+
+  Each FV(i) has the form
+
+        FV(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
+  The scalar nu is stored in TAUR(i).
+
+  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
+  where the cosine is stored in CSR(2*i-1) and the sine in
+  CSR(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 80/3 N**3 + 20 N**2 + O(N) floating point
+  operations and is numerically backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04TS/MB04WR EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 200 )
+      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
+     $                 LDV2, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDV1 = NMAX, LDV2 = NMAX, LDWORK = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      TRANA, TRANB, TRANV1
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
+     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
+     $                 TAUR(NMAX), U1(LDU1,NMAX), U2(LDU2, NMAX),
+     $                 V1(LDV1, NMAX), V2(LDV2,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
+      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TS, MB04WR
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, TRANA, TRANB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
+         CALL MB04TS( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
+     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
+            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
+     $                   TAUL, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
+               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
+               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
+     $                      CSR, TAUR, DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     DO 10  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10                   CONTINUE
+                     DO 20  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 30  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
+30                   CONTINUE
+                     DO 40  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
+40                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 )
+                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
+     $                            A(2,1), LDA )
+                     DO 50  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
+50                   CONTINUE
+                  ELSE
+                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
+     $                            A(1,2), LDA )
+                     DO 60  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
+60                   CONTINUE
+                  END IF
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     IF ( N.GT.1 ) THEN
+                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
+     $                               B(1,3), LDB )
+                     END IF
+                     DO 70  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
+70                   CONTINUE
+                  ELSE
+                     IF ( N.GT.1 ) THEN
+                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
+     $                               B(3,1), LDB )
+                     END IF
+                     DO 80  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
+80                   CONTINUE
+                  END IF
+C
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     TRANV1 = 'T'
+                  ELSE
+                     TRANV1 = 'N'
+                  END IF
+                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
+     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
+     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
+     $                           LDRES, DWORK )
+                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
+     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
+     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
+     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
+     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
+     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
+     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
+     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  WRITE ( NOUT, FMT = 99990 ) TEMP
+C
+                  WRITE ( NOUT, FMT = 99994 )
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     DO 90  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
+90                   CONTINUE
+                     DO 100  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
+100                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 110  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
+110                  CONTINUE
+                     DO 120  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
+120                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB04TS EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04TS = ',I2)
+99997 FORMAT (' INFO on exit from MB04WR = ',I2)
+99996 FORMAT (' The orthogonal symplectic factor U is ')
+99995 FORMAT (/' The factor R is ')
+99994 FORMAT (/' The orthogonal symplectic factor V is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
+99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04TB EXAMPLE PROGRAM DATA
+        5       N       N
+    0.4643    0.3655    0.6853    0.5090    0.3718
+    0.3688    0.6460    0.4227    0.6798    0.5135
+    0.7458    0.5043    0.9419    0.9717    0.9990
+    0.7140    0.4941    0.7802    0.5272    0.1220
+    0.7418    0.0339    0.7441    0.0436    0.6564
+   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
+   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
+   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
+   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
+   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
+    0.7933    1.5765    1.0711    1.0794    0.8481
+    1.5765    0.1167    1.5685    0.8756    0.5037
+    1.0711    1.5685    0.9902    0.3858    0.2109
+    1.0794    0.8756    0.3858    1.8834    1.4338
+    0.8481    0.5037    0.2109    1.4338    0.1439
+    1.0786    1.5264    1.1721    1.5343    0.4756
+    1.5264    0.8644    0.6872    1.1379    0.6499
+    1.1721    0.6872    1.5194    1.1197    1.0158
+    1.5343    1.1379    1.1197    0.6612    0.2004
+    0.4756    0.6499    1.0158    0.2004    1.2188
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04TS EXAMPLE PROGRAM RESULTS
+
+ The orthogonal symplectic factor U is 
+   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
+   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
+   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
+   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
+   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
+   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
+   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
+   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
+   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
+   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
+
+ Orthogonality of U: || U^T U - I ||_F = .24E-14
+
+ The factor R is 
+   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
+    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
+    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
+    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
+    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
+    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
+
+ Residual: || H*V - U*R ||_F = .87E-14
+
+ The orthogonal symplectic factor V is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
+    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
+    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
+    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
+    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
+    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
+    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
+
+ Orthogonality of V: || V^T V - I ||_F = .14E-14
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04TU.html b/doc/_build/html/_static/doc/MB04TU.html
new file mode 100644
index 00000000..dc8544de
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04TU.html
@@ -0,0 +1,69 @@
+<HTML>
+<HEAD><TITLE>MB04TU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04TU">MB04TU</A></H2>
+<H3>
+Applying a row-permuted Givens transformation to two row vectors
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the Givens transformation, defined by C (cos) and S
+  (sin), and interchange the vectors involved, i.e.
+
+     |X(i)|    | 0   1 |   | C   S |   |X(i)|
+     |    | := |       | x |       | x |    |, i = 1,...N.
+     |Y(i)|    | 1   0 |   |-S   C |   |Y(i)|
+
+  REMARK. This routine is a modification of DROT from BLAS.
+          This routine is called only by the SLICOT routines MB04TX
+          and MB04VX.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04TU( N, X, INCX, Y, INCY, C, S )
+C     .. Scalar Arguments ..
+      INTEGER           INCX, INCY, N
+      DOUBLE PRECISION  C, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  X(*), Y(*)
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04UD.html b/doc/_build/html/_static/doc/MB04UD.html
new file mode 100644
index 00000000..cb27d657
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04UD.html
@@ -0,0 +1,310 @@
+<HTML>
+<HEAD><TITLE>MB04UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04UD">MB04UD</A></H2>
+<H3>
+Column echelon form by unitary transformations for a rectangular matrix (added functionality)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformations Q and Z such that the
+  transformed pencil Q'(sE-A)Z has the E matrix in column echelon
+  form, where E and A are M-by-N matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ,
+     $                   Z, LDZ, RANKE, ISTAIR, TOL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBQ, JOBZ
+      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, RANKE
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           ISTAIR(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBQ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the unitary row permutations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  unitary row permutation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the unitary
+                  row permutations used in the reduction.
+
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the unitary column transformations, as follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  unitary transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the unitary
+                  transformations used in the reduction.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the matrices A, E and the order of
+          the matrix Q.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the matrices A, E and the order
+          of the matrix Z.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the A matrix of the pencil sE-A.
+          On exit, the leading M-by-N part of this array contains
+          the unitary transformed matrix Q' * A * Z.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading M-by-N part of this array must
+          contain the E matrix of the pencil sE-A, to be reduced to
+          column echelon form.
+          On exit, the leading M-by-N part of this array contains
+          the unitary transformed matrix Q' * E * Z, which is in
+          column echelon form.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,M).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
+          On entry, if JOBQ = 'U', then the leading M-by-M part of
+          this array must contain a given matrix Q (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading M-by-M part of this array contains the product of
+          the input matrix Q and the row permutation matrix used to
+          transform the rows of matrix E.
+          On exit, if JOBQ = 'I', then the leading M-by-M part of
+          this array contains the matrix of accumulated unitary
+          row transformations performed.
+          If JOBQ = 'N', the array Q is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDQ = 1 and
+          declare this array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q. If JOBQ = 'U' or
+          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          On entry, if JOBZ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Z (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix Z and the column transformation matrix
+          used to transform the columns of matrix E.
+          On exit, if JOBZ = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated unitary
+          column transformations performed.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'U' or
+          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  RANKE   (output) INTEGER
+          The computed rank of the unitary transformed matrix E.
+
+  ISTAIR  (output) INTEGER array, dimension (M)
+          This array contains information on the column echelon form
+          of the unitary transformed matrix E. Specifically,
+          ISTAIR(i) = +j if the first non-zero element E(i,j)
+          is a corner point and -j otherwise, for i = 1,2,...,M.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance below which matrix elements are considered
+          to be zero. If the user sets TOL to be less than (or
+          equal to) zero then the tolerance is taken as
+          EPS * MAX(ABS(E(I,J))), where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH),
+          I = 1,2,...,M and J = 1,2,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(M,N))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an M-by-N matrix pencil sE-A with E not necessarily regular,
+  the routine computes a unitary transformed pencil Q'(sE-A)Z such
+  that the matrix Q' * E * Z is in column echelon form (trapezoidal
+  form).  Further details can be found in [1].
+
+  [An M-by-N matrix E with rank(E) = r is said to be in column
+  echelon form if the following conditions are satisfied:
+  (a) the first (N - r) columns contain only zero elements; and
+  (b) if E(i(k),k) is the last nonzero element in column k for
+      k = N-r+1,...,N, i.e. E(i(k),k) &lt;&gt; 0 and E(j,k) = 0 for
+      j &gt; i(k), then 1 &lt;= i(N-r+1) &lt; i(N-r+2) &lt; ... &lt; i(N) &lt;= M.]
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Beelen, Th. and Van Dooren, P.
+      An improved algorithm for the computation of Kronecker's
+      canonical form of a singular pencil.
+      Linear Algebra and Applications, 105, pp. 9-65, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  It is shown in [1] that the algorithm is numerically backward
+  stable. The operations count is proportional to (MAX(M,N))**3.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = MMAX, LDE = MMAX, LDQ = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
+*     PARAMETER        ( LDWORK = NMAX+MMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, RANKE
+      CHARACTER*1      JOBQ, JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
+      INTEGER          ISTAIR(MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB04UD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, TOL
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
+         JOBQ = 'N'
+         JOBZ = 'N'
+*        Reduce E to column echelon form and compute Q'*A*Z.
+         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
+     $                RANKE, ISTAIR, TOL, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99991 )
+            DO 10 I = 1, M
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 100 I = 1, M
+               WRITE ( NOUT, FMT = 99996 ) ( E(I,J), J = 1,N )
+  100       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) RANKE
+            WRITE ( NOUT, FMT = 99994 ) ( ISTAIR(I), I = 1,M )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04UD = ',I2)
+99997 FORMAT (' The transformed matrix E is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The computed rank of E = ',I2)
+99994 FORMAT (/' ISTAIR is ',/20(1X,I5))
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (' The transformed matrix A is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04UD EXAMPLE PROGRAM DATA
+   4     4     0.0
+   2.0  0.0  2.0 -2.0
+   0.0 -2.0  0.0  2.0
+   2.0  0.0 -2.0  0.0
+   2.0 -2.0  0.0  2.0
+   1.0  0.0  1.0 -1.0
+   0.0 -1.0  0.0  1.0
+   1.0  0.0 -1.0  0.0
+   1.0 -1.0  0.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04UD EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix A is 
+   0.5164   1.0328   1.1547  -2.3094
+   0.0000  -2.5820   0.0000  -1.1547
+   0.0000   0.0000  -3.4641   0.0000
+   0.0000   0.0000   0.0000  -3.4641
+ The transformed matrix E is 
+   0.2582   0.5164   0.5774  -1.1547
+   0.0000  -1.2910   0.0000  -0.5774
+   0.0000   0.0000  -1.7321   0.0000
+   0.0000   0.0000   0.0000  -1.7321
+
+ The computed rank of E =  4
+
+ ISTAIR is 
+     1     2     3     4
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04VD">MB04VD</A></H2>
+<H3>
+Upper block triangular form for a rectangular pencil sE-A, with E in column echelon form (added functionality)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformations Q and Z such that the
+  transformed pencil Q'(sE-A)Z is in upper block triangular form,
+  where E is an M-by-N matrix in column echelon form (see SLICOT
+  Library routine MB04UD) and A is an M-by-N matrix.
+
+  If MODE = 'B', then the matrices A and E are transformed into the
+  following generalized Schur form by unitary transformations Q1
+  and Z1 :
+
+                   | sE(eps,inf)-A(eps,inf) |      X     |
+     Q1'(sE-A)Z1 = |------------------------|------------|.   (1)
+                   |            O           | sE(r)-A(r) |
+
+  The pencil sE(eps,inf)-A(eps,inf) is in staircase form, and it
+  contains all Kronecker column indices and infinite elementary
+  divisors of the pencil sE-A. The pencil sE(r)-A(r) contains all
+  Kronecker row indices and elementary divisors of sE-A.
+  Note: X is a pencil.
+
+  If MODE = 'T', then the submatrices having full row and column
+  rank in the pencil sE(eps,inf)-A(eps,inf) in (1) are
+  triangularized by applying unitary transformations Q2 and Z2 to
+  Q1'*(sE-A)*Z1.
+
+  If MODE = 'S', then the pencil sE(eps,inf)-A(eps,inf) in (1) is
+  separated into sE(eps)-A(eps) and sE(inf)-A(inf) by applying
+  unitary transformations Q3 and Z3 to Q2'*Q1'*(sE-A)*Z1*Z2.
+
+  This gives
+
+             | sE(eps)-A(eps) |        X       |      X     |
+             |----------------|----------------|------------|
+             |        O       | sE(inf)-A(inf) |      X     |
+  Q'(sE-A)Z =|=================================|============| (2)
+             |                                 |            |
+             |                O                | sE(r)-A(r) |
+
+  where Q = Q1*Q2*Q3 and Z = Z1*Z2*Z3.
+  Note: the pencil sE(r)-A(r) is not reduced further.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
+     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
+     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBQ, JOBZ, MODE
+      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, NBLCKI, NBLCKS,
+     $                  RANKE
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IMUK(*), IMUK0(*), INUK(*), ISTAIR(*), IWORK(*),
+     $                  MNEI(*)
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  MODE    CHARACTER*1
+          Specifies the desired structure of the transformed
+          pencil Q'(sE-A)Z to be computed as follows:
+          = 'B':  Basic reduction given by (1);
+          = 'T':  Further reduction of (1) to triangular form;
+          = 'S':  Further separation of sE(eps,inf)-A(eps,inf)
+                  in (1) into the two pencils in (2).
+
+  JOBQ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the orthogonal row transformations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the orthogonal
+                  row transformations used in the reduction.
+
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal column transformations, as
+          follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the orthogonal
+                  transformations used in the reduction.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the matrices A, E and the order of
+          the matrix Q.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the matrices A, E and the order
+          of the matrix Z.  N &gt;= 0.
+
+  RANKE   (input) INTEGER
+          The rank of the matrix E in column echelon form.
+          RANKE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix to be row compressed.
+          On exit, the leading M-by-N part of this array contains
+          the matrix that has been row compressed while keeping
+          matrix E in column echelon form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix in column echelon form to be
+          transformed equivalent to matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the matrix that has been transformed equivalent to matrix
+          A.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,M).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
+          On entry, if JOBQ = 'U', then the leading M-by-M part of
+          this array must contain a given matrix Q (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading M-by-M part of this array contains the product of
+          the input matrix Q and the row transformation matrix used
+          to transform the rows of matrices A and E.
+          On exit, if JOBQ = 'I', then the leading M-by-M part of
+          this array contains the matrix of accumulated orthogonal
+          row transformations performed.
+          If JOBQ = 'N', the array Q is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDQ = 1 and
+          declare this array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q. If JOBQ = 'U' or
+          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          On entry, if JOBZ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Z (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix Z and the column transformation matrix
+          used to transform the columns of matrices A and E.
+          On exit, if JOBZ = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated orthogonal
+          column transformations performed.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'U' or
+          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  ISTAIR  (input/output) INTEGER array, dimension (M)
+          On entry, this array must contain information on the
+          column echelon form of the unitary transformed matrix E.
+          Specifically, ISTAIR(i) must be set to +j if the first
+          non-zero element E(i,j) is a corner point and -j
+          otherwise, for i = 1,2,...,M.
+          On exit, this array contains no useful information.
+
+  NBLCKS  (output) INTEGER
+          The number of submatrices having full row rank greater
+          than or equal to 0 detected in matrix A in the pencil
+          sE(x)-A(x),
+             where  x = eps,inf  if MODE = 'B' or 'T',
+             or     x = eps      if MODE = 'S'.
+
+  NBLCKI  (output) INTEGER
+          If MODE = 'S', the number of diagonal submatrices in the
+          pencil sE(inf)-A(inf). If MODE = 'B' or 'T' then
+          NBLCKI = 0.
+
+  IMUK    (output) INTEGER array, dimension (MAX(N,M+1))
+          The leading NBLCKS elements of this array contain the
+          column dimensions mu(1),...,mu(NBLCKS) of the submatrices
+          having full column rank in the pencil sE(x)-A(x),
+             where  x = eps,inf  if MODE = 'B' or 'T',
+             or     x = eps      if MODE = 'S'.
+
+  INUK    (output) INTEGER array, dimension (MAX(N,M+1))
+          The leading NBLCKS elements of this array contain the
+          row dimensions nu(1),...,nu(NBLCKS) of the submatrices
+          having full row rank in the pencil sE(x)-A(x),
+             where  x = eps,inf  if MODE = 'B' or 'T',
+             or     x = eps      if MODE = 'S'.
+
+  IMUK0   (output) INTEGER array, dimension (limuk0),
+          where limuk0 = N if MODE = 'S' and 1, otherwise.
+          If MODE = 'S', then the leading NBLCKI elements of this
+          array contain the dimensions mu0(1),...,mu0(NBLCKI)
+          of the square diagonal submatrices in the pencil
+          sE(inf)-A(inf).
+          Otherwise, IMUK0 is not referenced and can be supplied
+          as a dummy array.
+
+  MNEI    (output) INTEGER array, dimension (3)
+          If MODE = 'B' or 'T' then
+          MNEI(1) contains the row dimension of
+                  sE(eps,inf)-A(eps,inf);
+          MNEI(2) contains the column dimension of
+                  sE(eps,inf)-A(eps,inf);
+          MNEI(3) = 0.
+          If MODE = 'S', then
+          MNEI(1) contains the row    dimension of sE(eps)-A(eps);
+          MNEI(2) contains the column dimension of sE(eps)-A(eps);
+          MNEI(3) contains the order of the regular pencil
+                  sE(inf)-A(inf).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance below which matrix elements are considered
+          to be zero. If the user sets TOL to be less than (or
+          equal to) zero then the tolerance is taken as
+          EPS * MAX( ABS(A(I,J)), ABS(E(I,J)) ), where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH),
+          I = 1,2,...,M and J = 1,2,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          &gt; 0:  if incorrect rank decisions were revealed during the
+                triangularization phase. This failure is not likely
+                to occur. The possible values are:
+          = 1:  if incorrect dimensions of a full column rank
+                submatrix;
+          = 2:  if incorrect dimensions of a full row rank
+                submatrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let sE - A be an arbitrary pencil. Prior to calling the routine,
+  this pencil must be transformed into a pencil with E in column
+  echelon form. This may be accomplished by calling the SLICOT
+  Library routine MB04UD. Depending on the value of MODE,
+  submatrices of A and E are then reduced to one of the forms
+  described above. Further details can be found in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Beelen, Th. and Van Dooren, P.
+      An improved algorithm for the computation of Kronecker's
+      canonical form of a singular pencil.
+      Linear Algebra and Applications, 105, pp. 9-65, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  It is shown in [1] that the algorithm is numerically backward
+  stable. The operations count is proportional to (MAX(M,N))**3.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The difference mu(k)-nu(k), for k = 1,2,...,NBLCKS, is the number
+  of elementary Kronecker blocks of size k x (k+1).
+
+  If MODE = 'B' or 'T' on entry, then the difference nu(k)-mu(k+1),
+  for k = 1,2,...,NBLCKS, is the number of infinite elementary
+  divisors of degree k (with mu(NBLCKS+1) = 0).
+
+  If MODE = 'S' on entry, then the difference mu0(k)-mu0(k+1),
+  for k = 1,2,...,NBLCKI, is the number of infinite elementary
+  divisors of degree k (with mu0(NBLCKI+1) = 0).
+  In the pencil sE(r)-A(r), the pencils sE(f)-A(f) and
+  sE(eta)-A(eta) can be separated by pertransposing the pencil
+  sE(r)-A(r) and calling the routine with MODE set to 'B'. The
+  result has got to be pertransposed again. (For more details see
+  [1]).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDE, LDQ, LDZ
+      PARAMETER        ( LDA  = MMAX, LDE = MMAX, LDQ = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LINUK
+      PARAMETER        ( LINUK = MAX( NMAX,MMAX+1 ) )
+*     PARAMETER        ( LINUK = NMAX+MMAX+1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
+*     PARAMETER        ( LDWORK = NMAX+MMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NBLCKI, NBLCKS, RANKE
+      CHARACTER*1      JOBQ, JOBZ, MODE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
+      INTEGER          IMUK(LINUK), IMUK0(NMAX), INUK(LINUK),
+     $                 ISTAIR(MMAX), IWORK(LIWORK), MNEI(3)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04UD, MB04VD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, TOL, MODE
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99984 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
+         JOBQ = 'I'
+         JOBZ = 'I'
+*        Reduce E to column echelon form and compute Q'*A*Z.
+         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
+     $                RANKE, ISTAIR, TOL, DWORK, INFO )
+         JOBQ = 'U'
+         JOBZ = 'U'
+*
+         IF ( INFO.EQ.0 ) THEN
+*           Compute a unitary transformed pencil Q'*(s*E-A)*Z.
+            CALL MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
+     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
+     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
+*
+            IF ( INFO.EQ.0 ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               WRITE ( NOUT, FMT = 99995 )
+               DO 140 I = 1, M
+                  WRITE ( NOUT, FMT = 99994 ) ( Q(I,J), J = 1,M )
+  140          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 160 I = 1, M
+                  WRITE ( NOUT, FMT = 99994 ) ( E(I,J), J = 1,N )
+  160          CONTINUE
+               WRITE ( NOUT, FMT = 99992 )
+               DO 180 I = 1, M
+                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
+  180          CONTINUE
+               WRITE ( NOUT, FMT = 99991 )
+               DO 200 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
+  200          CONTINUE
+               WRITE ( NOUT, FMT = 99990 ) NBLCKS
+               IF ( .NOT. LSAME( MODE, 'S' ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) ( IMUK(I),  I = 1,NBLCKS )
+                  WRITE ( NOUT, FMT = 99988 ) ( INUK(I),  I = 1,NBLCKS )
+               ELSE
+                  WRITE ( NOUT, FMT = 99987 ) ( IMUK(I),  I = 1,NBLCKS )
+                  WRITE ( NOUT, FMT = 99986 ) ( INUK(I),  I = 1,NBLCKS )
+                  WRITE ( NOUT, FMT = 99982 ) ( IMUK0(I), I = 1,NBLCKI )
+                  WRITE ( NOUT, FMT = 99985 ) ( MNEI(I),  I = 1,3 )
+               END IF
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04VD = ',I2)
+99997 FORMAT (' INFO on exit from MB04UD = ',I2)
+99996 FORMAT (' The unitary transformed pencil is Q''*(s*E-A)*Z, where',
+     $          /)
+99995 FORMAT (' Matrix Q',/)
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' Matrix E',/)
+99992 FORMAT (/' Matrix A',/)
+99991 FORMAT (/' Matrix Z',/)
+99990 FORMAT (/' The number of submatrices having full row rank detect',
+     $       'ed in matrix A = ',I3)
+99989 FORMAT (/' The column dimensions of the submatrices having full ',
+     $       'column rank in the pencil',/' sE(eps,inf) - A(eps,inf) a',
+     $       're',/20(1X,I5))
+99988 FORMAT (/' The row dimensions of the submatrices having full row',
+     $       ' rank in the pencil',/' sE(eps,inf) - A(eps,inf) are',
+     $       /20(1X,I5))
+99987 FORMAT (/' The column dimensions of the submatrices having full ',
+     $       'column rank in the pencil',/' sE(eps) - A(eps) are',
+     $       /20(1X,I5))
+99986 FORMAT (/' The row dimensions of the submatrices having full row',
+     $       ' rank in the pencil',/' sE(eps) - A(eps) are',/20(1X,I5))
+99985 FORMAT (/' MNEI is ',/20(1X,I5))
+99984 FORMAT (/' M is out of range.',/' M = ',I5)
+99983 FORMAT (/' N is out of range.',/' N = ',I5)
+99982 FORMAT (/' The orders of the diagonal submatrices in the pencil ',
+     $       'sE(inf) - A(inf) are',/20(1X,I5))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04VD EXAMPLE PROGRAM DATA
+   2     4     0.0     S
+   1.0  0.0 -1.0  0.0
+   1.0  1.0  0.0 -1.0
+   0.0 -1.0  0.0  0.0
+   0.0 -1.0  0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04VD EXAMPLE PROGRAM RESULTS
+
+ The unitary transformed pencil is Q'*(s*E-A)*Z, where
+
+ Matrix Q
+
+   0.7071  -0.7071
+   0.7071   0.7071
+
+ Matrix E
+
+   0.0000   0.0000  -1.1547   0.8165
+   0.0000   0.0000   0.0000   0.0000
+
+ Matrix A
+
+   0.0000   1.7321   0.5774  -0.4082
+   0.0000   0.0000   0.0000  -1.2247
+
+ Matrix Z
+
+   0.5774   0.8165   0.0000   0.0000
+   0.0000   0.0000   0.8165  -0.5774
+   0.5774  -0.4082  -0.4082  -0.5774
+   0.5774  -0.4082   0.4082   0.5774
+
+ The number of submatrices having full row rank detected in matrix A =   2
+
+ The column dimensions of the submatrices having full column rank in the pencil
+ sE(eps) - A(eps) are
+     2     1
+
+ The row dimensions of the submatrices having full row rank in the pencil
+ sE(eps) - A(eps) are
+     1     0
+
+ The orders of the diagonal submatrices in the pencil sE(inf) - A(inf) are
+     1
+
+ MNEI is 
+     1     3     1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WD.html b/doc/_build/html/_static/doc/MB04WD.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB04WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WD">MB04WD</A></H2>
+<H3>
+Generating an orthogonal basis spanning an isotropic subspace
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate a matrix Q with orthogonal columns (spanning an
+  isotropic subspace), which is defined as the first n columns
+  of a product of symplectic reflectors and Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  The matrix Q is returned in terms of its first 2*M rows
+
+                   [  op( Q1 )   op( Q2 ) ]
+               Q = [                      ].
+                   [ -op( Q2 )   op( Q1 ) ]
+
+  Blocked version of the SLICOT Library routine MB04WU.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WD( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
+     $                   CS, TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANQ1, TRANQ2
+      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANQ1  CHARACTER*1
+          Specifies the form of op( Q1 ) as follows:
+          = 'N':  op( Q1 ) = Q1;
+          = 'T':  op( Q1 ) = Q1';
+          = 'C':  op( Q1 ) = Q1'.
+
+  TRANQ2  CHARACTER*1
+          Specifies the form of op( Q2 ) as follows:
+          = 'N':  op( Q2 ) = Q2;
+          = 'T':  op( Q2 ) = Q2';
+          = 'C':  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices Q1 and Q2.
+          M &gt;= N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of symplectic Givens rotations whose product
+          partly defines the matrix Q. N &gt;= K &gt;= 0.
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ1,N) if TRANQ1 = 'N',
+                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
+          On entry with TRANQ1 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector F(i).
+          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row
+          the vector which defines the elementary reflector F(i).
+          On exit with TRANQ1 = 'N', the leading M-by-N part of this
+          array contains the matrix Q1.
+          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          N-by-M part of this array contains the matrix Q1'.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
+          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ2,N) if TRANQ2 = 'N',
+                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
+          On entry with TRANQ2 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector H(i) and, on the
+          diagonal, the scalar factor of H(i).
+          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row the
+          vector which defines the elementary reflector H(i) and, on
+          the diagonal, the scalar factor of H(i).
+          On exit with TRANQ2 = 'N', the leading M-by-N part of this
+          array contains the matrix Q2.
+          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          N-by-M part of this array contains the matrix Q2'.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
+          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, MAX(M+N,8*N*NB + 15*NB*NB), where NB is
+          the optimal block size determined by the function UE01MD.
+          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WP.html b/doc/_build/html/_static/doc/MB04WP.html
new file mode 100644
index 00000000..3f64f325
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04WP.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>MB04WP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WP">MB04WP</A></H2>
+<H3>
+Generating an orthogonal symplectic matrix which performed the reduction in MB04PU
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate an orthogonal symplectic matrix U, which is defined as
+  a product of symplectic reflectors and Givens rotations
+
+  U = diag( H(1),H(1) )      G(1)  diag( F(1),F(1) )
+      diag( H(2),H(2) )      G(2)  diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  as returned by MB04PU. The matrix U is returned in terms of its
+  first N rows
+
+                   [  U1   U2 ]
+               U = [          ].
+                   [ -U2   U1 ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WP( N, ILO, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDU1, LDU2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), U1(LDU1,*), U2(LDU2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices U1 and U2.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          ILO must have the same value as in the previous call of
+          MB04PU. U is equal to the unit matrix except in the
+          submatrix
+          U([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]).
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, the leading N-by-N part of this array must
+          contain in its i-th column the vector which defines the
+          elementary reflector F(i).
+          On exit, the leading N-by-N part of this array contains
+          the matrix U1.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, the leading N-by-N part of this array must
+          contain in its i-th column the vector which defines the
+          elementary reflector H(i) and, on the subdiagonal, the
+          scalar factor of H(i).
+          On exit, the leading N-by-N part of this array contains
+          the matrix U2.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
+
+  CS      (input) DOUBLE PRECISION array, dimension (2N-2)
+          On entry, the first 2N-2 elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
+          On entry, the first N-1 elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,2*(N-ILO)).
+          For optimum performance LDWORK should be larger. (See
+          SLICOT Library routine MB04WD).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] D. KRESSNER:
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WR.html b/doc/_build/html/_static/doc/MB04WR.html
new file mode 100644
index 00000000..9e876c32
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04WR.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>MB04WR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WR">MB04WR</A></H2>
+<H3>
+Generating orthogonal symplectic matrices defined as products of symplectic reflectors and Givens rotations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate orthogonal symplectic matrices U or V, defined as
+  products of symplectic reflectors and Givens rotations
+
+  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
+      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
+                           ....
+      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
+
+  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
+      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
+                                ....
+      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ),
+
+  as returned by the SLICOT Library routines MB04TS or MB04TB. The
+  matrices U and V are returned in terms of their first N/2 rows:
+
+              [  U1   U2 ]           [  V1   V2 ]
+          U = [          ],      V = [          ].
+              [ -U2   U1 ]           [ -V2   V1 ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WR( JOB, TRANS, N, ILO, Q1, LDQ1, Q2, LDQ2, CS,
+     $                   TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, TRANS
+      INTEGER           ILO, INFO, LDQ1, LDQ2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether the matrix U or the matrix V is
+          required:
+          = 'U':  generate U;
+          = 'V':  generate V.
+
+  TRANS   CHARACTER*1
+          If  JOB = 'U'  then TRANS must have the same value as
+          the argument TRANA in the previous call of MB04TS or
+          MB04TB.
+          If  JOB = 'V'  then TRANS must have the same value as
+          the argument TRANB in the previous call of MB04TS or
+          MB04TB.
+
+  N       (input) INTEGER
+          The order of the matrices Q1 and Q2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          ILO must have the same value as in the previous call of
+          MB04TS or MB04TB. U and V are equal to the unit matrix
+          except in the submatrices
+          U([ilo:n n+ilo:2*n], [ilo:n n+ilo:2*n]) and
+          V([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]),
+          respectively.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1,N)
+          On entry, if  JOB = 'U'  and  TRANS = 'N'  then the
+          leading N-by-N part of this array must contain in its i-th
+          column the vector which defines the elementary reflector
+          FU(i).
+          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array must contain in its i-th
+          row the vector which defines the elementary reflector
+          FU(i).
+          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
+          part of this array must contain in its i-th row the vector
+          which defines the elementary reflector FV(i).
+          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array must contain in its i-th
+          column the vector which defines the elementary reflector
+          FV(i).
+          On exit, if  JOB = 'U'  and  TRANS = 'N'  then the leading
+          N-by-N part of this array contains the matrix U1.
+          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array contains the matrix
+          U1**T.
+          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
+          part of this array contains the matrix V1**T.
+          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array contains the matrix V1.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2,N)
+          On entry, if  JOB = 'U'  then the leading N-by-N part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector HU(i).
+          If  JOB = 'V'  then the leading N-by-N part of this array
+          must contain in its i-th row the vector which defines the
+          elementary reflector HV(i).
+          On exit, if  JOB = 'U'  then the leading N-by-N part of
+          this array contains the matrix U2.
+          If  JOB = 'V'  then the leading N-by-N part of this array
+          contains the matrix V2**T.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
+
+  CS      (input) DOUBLE PRECISION array, dimension (2N)
+          On entry, if  JOB = 'U'  then the first 2N elements of
+          this array must contain the cosines and sines of the
+          symplectic Givens rotations GU(i).
+          If  JOB = 'V'  then the first 2N-2 elements of this array
+          must contain the cosines and sines of the symplectic
+          Givens rotations GV(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (N)
+          On entry, if  JOB = 'U'  then the first N elements of
+          this array must contain the scalar factors of the
+          elementary reflectors FU(i).
+          If  JOB = 'V'  then the first N-1 elements of this array
+          must contain the scalar factors of the elementary
+          reflectors FV(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,2*(N-ILO+1)).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WU.html b/doc/_build/html/_static/doc/MB04WU.html
new file mode 100644
index 00000000..e058126b
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04WU.html
@@ -0,0 +1,179 @@
+<HTML>
+<HEAD><TITLE>MB04WU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WU">MB04WU</A></H2>
+<H3>
+Generating an orthogonal basis spanning an isotropic subspace (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate a matrix Q with orthogonal columns (spanning an
+  isotropic subspace), which is defined as the first n columns
+  of a product of symplectic reflectors and Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  The matrix Q is returned in terms of its first 2*M rows
+
+                   [  op( Q1 )   op( Q2 ) ]
+               Q = [                      ].
+                   [ -op( Q2 )   op( Q1 ) ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WU( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
+     $                   CS, TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANQ1, TRANQ2
+      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANQ1  CHARACTER*1
+          Specifies the form of op( Q1 ) as follows:
+          = 'N':  op( Q1 ) = Q1;
+          = 'T':  op( Q1 ) = Q1';
+          = 'C':  op( Q1 ) = Q1'.
+
+  TRANQ2  CHARACTER*1
+          Specifies the form of op( Q2 ) as follows:
+          = 'N':  op( Q2 ) = Q2;
+          = 'T':  op( Q2 ) = Q2';
+          = 'C':  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices Q1 and Q2.
+          M &gt;= N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of symplectic Givens rotations whose product
+          partly defines the matrix Q. N &gt;= K &gt;= 0.
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ1,N) if TRANQ1 = 'N',
+                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
+          On entry with TRANQ1 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector F(i).
+          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row
+          the vector which defines the elementary reflector F(i).
+          On exit with TRANQ1 = 'N', the leading M-by-N part of this
+          array contains the matrix Q1.
+          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          N-by-M part of this array contains the matrix Q1'.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
+          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ2,N) if TRANQ2 = 'N',
+                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
+          On entry with TRANQ2 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector H(i) and, on the
+          diagonal, the scalar factor of H(i).
+          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row the
+          vector which defines the elementary reflector H(i) and, on
+          the diagonal, the scalar factor of H(i).
+          On exit with TRANQ2 = 'N', the leading M-by-N part of this
+          array contains the matrix Q2.
+          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          N-by-M part of this array contains the matrix Q2'.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
+          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bunse-Gerstner, A.
+      Matrix factorizations for symplectic QR-like methods.
+      Linear Algebra Appl., 83, pp. 49-77, 1986.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04XD">MB04XD</A></H2>
+<H3>
+Basis for left/right singular subspace of a matrix corresponding to its smallest singular values
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a basis for the left and/or right singular subspace of
+  an M-by-N matrix A corresponding to its smallest singular values.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU,
+     $                   V, LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV
+      INTEGER           INFO, IWARN, LDA, LDU, LDV, LDWORK, M, N, RANK
+      DOUBLE PRECISION  RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      LOGICAL           INUL(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Specifies whether to compute the left singular subspace
+          as follows:
+          = 'N':  Do not compute the left singular subspace;
+          = 'A':  Return the (M - RANK) base vectors of the desired
+                  left singular subspace in U;
+          = 'S':  Return the first (min(M,N) - RANK) base vectors
+                  of the desired left singular subspace in U.
+
+  JOBV    CHARACTER*1
+          Specifies whether to compute the right singular subspace
+          as follows:
+          = 'N':  Do not compute the right singular subspace;
+          = 'A':  Return the (N - RANK) base vectors of the desired
+                  right singular subspace in V;
+          = 'S':  Return the first (min(M,N) - RANK) base vectors
+                  of the desired right singular subspace in V.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in matrix A.  N &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if RANK &lt; 0, then the rank of matrix A is
+          computed by the routine as the number of singular values
+          greater than THETA.
+          Otherwise, RANK must specify the rank of matrix A.
+          RANK &lt;= min(M,N).
+          On exit, if RANK &lt; 0 on entry, then RANK contains the
+          computed rank of matrix A. That is, the number of singular
+          values of A greater than THETA.
+          Otherwise, the user-supplied value of RANK may be changed
+          by the routine on exit if the RANK-th and the (RANK+1)-th
+          singular values of A are considered to be equal.
+          See also the description of parameter TOL below.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, if RANK &lt; 0, then THETA must specify an upper
+          bound on the smallest singular values of A corresponding
+          to the singular subspace to be computed.  THETA &gt;= 0.0.
+          Otherwise, THETA must specify an initial estimate (t say)
+          for computing an upper bound on the (min(M,N) - RANK)
+          smallest singular values of A. If THETA &lt; 0.0, then t is
+          computed by the routine.
+          On exit, if RANK &gt;= 0 on entry, then THETA contains the
+          computed upper bound such that precisely RANK singular
+          values of A are greater than THETA + TOL.
+          Otherwise, THETA is unchanged.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A from which the basis of a desired singular
+          subspace is to be computed.
+          NOTE that this array is destroyed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,M).
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
+          If JOBU = 'A', then the leading M-by-M part of this array
+          contains the (M - RANK) M-dimensional base vectors of the
+          desired left singular subspace of A corresponding to its
+          singular values less than or equal to THETA. These vectors
+          are stored in the i-th column(s) of U for which
+          INUL(i) = .TRUE., where i = 1,2,...,M.
+
+          If JOBU = 'S', then the leading M-by-min(M,N) part of this
+          array contains the first (min(M,N) - RANK) M-dimensional
+          base vectors of the desired left singular subspace of A
+          corresponding to its singular values less than or equal to
+          THETA. These vectors are stored in the i-th column(s) of U
+          for which INUL(i) = .TRUE., where i = 1,2,..., min(M,N).
+
+          Otherwise, U is not referenced (since JOBU = 'N') and can
+          be supplied as a dummy array (i.e. set parameter LDU = 1
+          and declare this array to be U(1,1) in the calling
+          program).
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= max(1,M) if JOBU = 'A' or JOBU = 'S',
+          LDU &gt;= 1        if JOBU = 'N'.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
+          If JOBV = 'A', then the leading N-by-N part of this array
+          contains the (N - RANK) N-dimensional base vectors of the
+          desired right singular subspace of A corresponding to its
+          singular values less than or equal to THETA. These vectors
+          are stored in the i-th column(s) of V for which
+          INUL(i) = .TRUE., where i = 1,2,...,N.
+
+          If JOBV = 'S', then the leading N-by-min(M,N) part of this
+          array contains the first (min(M,N) - RANK) N-dimensional
+          base vectors of the desired right singular subspace of A
+          corresponding to its singular values less than or equal to
+          THETA. These vectors are stored in the i-th column(s) of V
+          for which INUL(i) = .TRUE., where i = 1,2,...,MIN( M,N).
+
+          Otherwise, V is not referenced (since JOBV = 'N') and can
+          be supplied as a dummy array (i.e. set parameter LDV = 1
+          and declare this array to be V(1,1) in the calling
+          program).
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          LDV &gt;= max(1,N) if JOBV = 'A' or JOBV = 'S',
+          LDV &gt;= 1        if JOBV = 'N'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (2*min(M,N)-1)
+          This array contains the partially diagonalized bidiagonal
+          matrix J computed from A, at the moment that the desired
+          singular subspace has been found. Specifically, the
+          leading p = min(M,N) entries of Q contain the diagonal
+          elements q(1),q(2),...,q(p) and the entries Q(p+1),
+          Q(p+2),...,Q(2*p-1) contain the superdiagonal elements
+          e(1),e(2),...,e(p-1) of J.
+
+  INUL    (output) LOGICAL array, dimension (max(M,N))
+          If JOBU &lt;&gt; 'N' or JOBV &lt;&gt; 'N', then the indices of the
+          elements of this array with value .TRUE. indicate the
+          columns in U and/or V containing the base vectors of the
+          desired left and/or right singular subspace of A. They
+          also equal the indices of the diagonal elements of the
+          bidiagonal submatrices in the array Q, which correspond
+          to the computed singular subspaces.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width. TOL is also taken
+          as an absolute tolerance for negligible elements in the
+          QR/QL iterations. If the user sets TOL to be less than or
+          equal to 0, then the tolerance is taken as specified in
+          SLICOT Library routine MB04YD document.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged. If the user sets RELTOL to be less than
+          BASE * EPS, where BASE is machine radix and EPS is machine
+          precision (see LAPACK Library routine DLAMCH), then the
+          tolerance is taken as BASE * EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max(1, LDW + max(2*P + max(M,N), LDY)), where
+               P = min(M,N);
+             LDW = max(2*N, N*(N+1)/2), if JOBU &lt;&gt; 'N' and M large
+                                                     enough than N;
+             LDW = 0,                   otherwise;
+             LDY = 8*P - 5, if JOBU &lt;&gt; 'N' or  JOBV &lt;&gt; 'N';
+             LDY = 6*P - 3, if JOBU =  'N' and JOBV =  'N'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  if the rank of matrix A (as specified by the user)
+                has been lowered because a singular value of
+                multiplicity greater than 1 was found.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the maximum number of QR/QL iteration steps
+                (30*MIN(M,N)) has been exceeded.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Partial Singular Value Decomposition (PSVD)
+  approach proposed by Van Huffel, Vandewalle and Haegemans, which
+  is an efficient technique (see [1]) for computing the singular
+  subspace of a matrix corresponding to its smallest singular
+  values. It differs from the classical SVD algorithm [3] at three
+  points, which results in high efficiency. Firstly, the Householder
+  transformations of the bidiagonalization need only to be applied
+  on the base vectors of the desired singular subspaces; secondly,
+  the bidiagonal matrix need only be partially diagonalized; and
+  thirdly, the convergence rate of the iterative diagonalization can
+  be improved by an appropriate choice between QL and QR iterations.
+  (Note, however, that LAPACK Library routine DGESVD, for computing
+  SVD, also uses either QL and QR iterations.) Depending on the gap,
+  the desired numerical accuracy and the dimension of the desired
+  singular subspace, the PSVD can be up to three times faster than
+  the classical SVD algorithm.
+
+  The PSVD algorithm [1-2] for an M-by-N matrix A proceeds as
+  follows:
+
+  Step 1: Bidiagonalization phase
+          -----------------------
+   (a) If M is large enough than N, transform A into upper
+       triangular form R.
+
+   (b) Transform A (or R) into bidiagonal form:
+
+             |q(1) e(1)  0   ...  0   |
+        (0)  | 0   q(2) e(2)      .   |
+       J   = | .                  .   |
+             | .                e(N-1)|
+             | 0            ...  q(N) |
+
+  if M &gt;= N, or
+
+             |q(1)  0    0   ...  0     0   |
+        (0)  |e(1) q(2)  0        .     .   |
+       J   = | .                  .     .   |
+             | .                 q(M-1) .   |
+             | 0             ... e(M-1) q(M)|
+
+  if M &lt; N, using Householder transformations.
+  In the second case, transform the matrix to the upper bidiagonal
+  form by applying Givens rotations.
+
+   (c) If U is requested, initialize U with the identity matrix.
+       If V is requested, initialize V with the identity matrix.
+
+  Step 2: Partial diagonalization phase
+          -----------------------------
+  If the upper bound THETA is not given, then compute THETA such
+  that precisely (min(M,N) - RANK) singular values of the bidiagonal
+  matrix are less than or equal to THETA, using a bisection method
+  [4]. Diagonalize the given bidiagonal matrix J partially, using
+  either QR iterations (if the upper left diagonal element of the
+  considered bidiagonal submatrix is larger than the lower right
+  diagonal element) or QL iterations, such that J is split into
+  unreduced bidiagonal submatrices whose singular values are either
+  all larger than THETA or all less than or equal to THETA.
+  Accumulate the Givens rotations in U and/or V (if desired).
+
+  Step 3: Back transformation phase
+          -------------------------
+   (a) Apply the Householder transformations of Step 1(b) onto the
+       columns of U and/or V associated with the bidiagonal
+       submatrices with all singular values less than or equal to
+       THETA (if U and/or V is desired).
+
+   (b) If M is large enough than N, and U is desired, then apply the
+       Householder transformations of Step 1(a) onto each computed
+       column of U in Step 3(a).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
+      An efficient and reliable algorithm for computing the singular
+      subspace of a matrix associated with its smallest singular
+      values.
+      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
+
+  [2] Van Huffel, S.
+      Analysis of the total least squares problem and its use in
+      parameter estimation.
+      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
+      Universiteit Leuven, Belgium, June 1987.
+
+  [3] Chan, T.F.
+      An improved algorithm for computing the singular value
+      decomposition.
+      ACM TOMS, 8, pp. 72-83, 1982.
+
+  [4] Van Huffel, S. and Vandewalle, J.
+      The partial total least squares algorithm.
+      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Using the PSVD a large reduction in computation time can be
+  gained in total least squares applications (cf [2 - 4]), in the
+  computation of the null space of a matrix and in solving
+  (non)homogeneous linear equations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04XD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDU, LDV
+      PARAMETER        ( LDA = MMAX, LDU = MMAX, LDV = NMAX )
+      INTEGER          MAXMN, MNMIN
+      PARAMETER        ( MAXMN = MAX( MMAX, NMAX ),
+     $                   MNMIN = MIN( MMAX, NMAX ) )
+      INTEGER          LENGQ
+      PARAMETER        ( LENGQ = 2*MNMIN-1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 2*NMAX, NMAX*( NMAX+1 )/2 )
+     $                          + MAX( 2*MNMIN + MAXMN, 8*MNMIN - 5 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
+      INTEGER          I, INFO, IWARN, J, K, LOOP, M, MINMN, N, NCOLU,
+     $                 NCOLV, RANK, RANK1
+      CHARACTER*1      JOBU, JOBV
+      LOGICAL          LJOBUA, LJOBUS, LJOBVA, LJOBVS, WANTU, WANTV
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LENGQ),
+     $                 U(LDU,MMAX), V(LDV,NMAX)
+      LOGICAL          INUL(MAXMN)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04XD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, RANK, THETA, TOL, RELTOL, JOBU, JOBV
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99982 ) N
+      ELSE IF ( RANK.GT.MNMIN ) THEN
+         WRITE ( NOUT, FMT = 99981 ) RANK
+      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
+         WRITE ( NOUT, FMT = 99980 ) THETA
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+         RANK1 = RANK
+         THETA1 = THETA
+*        Compute a basis for the left and right singular subspace of A.
+         CALL MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU, V,
+     $                LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) RANK
+            ELSE
+               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
+            END IF
+            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
+            LJOBUA = LSAME( JOBU, 'A' )
+            LJOBUS = LSAME( JOBU, 'S' )
+            LJOBVA = LSAME( JOBV, 'A' )
+            LJOBVS = LSAME( JOBV, 'S' )
+            WANTU = LJOBUA.OR.LJOBUS
+            WANTV = LJOBVA.OR.LJOBVS
+            WRITE ( NOUT, FMT = 99994 )
+            MINMN = MIN( M, N )
+            LOOP = MINMN - 1
+            DO 20 I = 1, LOOP
+               K = I + MINMN
+               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99992 ) MINMN, MINMN, Q(MINMN)
+            IF ( WANTU ) THEN
+               NCOLU = M
+               IF ( LJOBUS ) NCOLU = MINMN
+               WRITE ( NOUT, FMT = 99986 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99985 ) ( U(I,J), J = 1,NCOLU )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99991 ) NCOLU
+               WRITE ( NOUT, FMT = 99990 )
+               DO 60 I = 1, NCOLU
+                  WRITE ( NOUT, FMT = 99989 ) I, INUL(I)
+   60          CONTINUE
+            END IF
+            IF ( WANTV ) THEN
+               NCOLV = N
+               IF ( LJOBVS ) NCOLV = MINMN
+               WRITE ( NOUT, FMT = 99984 )
+               DO 80 I = 1, N
+                  WRITE ( NOUT, FMT = 99985 ) ( V(I,J), J = 1,NCOLV )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99988 ) NCOLV
+               WRITE ( NOUT, FMT = 99987 )
+               DO 100 J = 1, NCOLV
+                  WRITE ( NOUT, FMT = 99989 ) J, INUL(J)
+  100          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04XD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04XD = ',I2)
+99997 FORMAT (' IWARN on exit from MB04XD = ',I2,/)
+99996 FORMAT (' The computed rank of matrix A = ',I3,/)
+99995 FORMAT (' The computed value of THETA = ',F7.4,/)
+99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
+     $       'matrix are',/)
+99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
+99991 FORMAT (/' Left singular subspace corresponds to the i-th column',
+     $       '(s) of U for which ',/' INUL(i) = .TRUE., i = 1,...,',I1,
+     $       /)
+99990 FORMAT ('  i    INUL(i)',/)
+99989 FORMAT (I3,L8)
+99988 FORMAT (/' Right singular subspace corresponds to the j-th colum',
+     $       'n(s) of V for which ',/' INUL(j) = .TRUE., j = 1,...,',I1,
+     $       /)
+99987 FORMAT ('  j    INUL(j)',/)
+99986 FORMAT (' Matrix U',/)
+99985 FORMAT (20(1X,F8.4))
+99984 FORMAT (/' Matrix V',/)
+99983 FORMAT (/' M is out of range.',/' M = ',I5)
+99982 FORMAT (/' N is out of range.',/' N = ',I5)
+99981 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
+99980 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04XD EXAMPLE PROGRAM DATA
+   6     4     -1     0.001     0.0     0.0     A     A
+   0.80010  0.39985  0.60005  0.89999
+   0.29996  0.69990  0.39997  0.82997
+   0.49994  0.60003  0.20012  0.79011
+   0.90013  0.20016  0.79995  0.85002
+   0.39998  0.80006  0.49985  0.99016
+   0.20002  0.90007  0.70009  1.02994
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04XD EXAMPLE PROGRAM RESULTS
+
+ The computed rank of matrix A =   3
+
+ The elements of the partially diagonalized bidiagonal matrix are
+
+ (1,1) =  3.2280   (1,2) = -0.0287
+ (2,2) =  0.8714   (2,3) =  0.0168
+ (3,3) =  0.3698   (3,4) =  0.0000
+ (4,4) =  0.0001
+
+ Matrix U
+
+   0.8933   0.4328  -0.1209   0.2499  -0.5812   0.4913
+  -0.4493   0.8555  -0.2572   0.1617  -0.4608  -0.7379
+  -0.0079   0.2841   0.9588  -0.5352   0.1892   0.0525
+   0.0000   0.0000   0.0003  -0.1741   0.3389  -0.3397
+   0.0000   0.0000   0.0000   0.6482   0.5428   0.1284
+   0.0000   0.0000   0.0000  -0.4176  -0.0674   0.2819
+
+ Left singular subspace corresponds to the i-th column(s) of U for which 
+ INUL(i) = .TRUE., i = 1,...,6
+
+  i    INUL(i)
+
+  1       F
+  2       F
+  3       F
+  4       T
+  5       T
+  6       T
+
+ Matrix V
+
+  -0.3967  -0.7096   0.4612  -0.3555
+   0.9150  -0.2557   0.2414  -0.5687
+  -0.0728   0.6526   0.5215  -0.2128
+   0.0000   0.0720   0.6761   0.7106
+
+ Right singular subspace corresponds to the j-th column(s) of V for which 
+ INUL(j) = .TRUE., j = 1,...,4
+
+  j    INUL(j)
+
+  1       F
+  2       F
+  3       F
+  4       T
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04XY.html b/doc/_build/html/_static/doc/MB04XY.html
new file mode 100644
index 00000000..3eaade2c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04XY.html
@@ -0,0 +1,162 @@
+<HTML>
+<HEAD><TITLE>MB04XY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04XY">MB04XY</A></H2>
+<H3>
+Applying the Householder transformations for bidiagonalization (stored in factored form) to specified one or two matrices, from the left
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the Householder transformations Pj stored in factored
+  form into the columns of the array X, to the desired columns of
+  the matrix U by premultiplication, and/or the Householder
+  transformations Qj stored in factored form into the rows of the
+  array X, to the desired columns of the matrix V by
+  premultiplication. The Householder transformations Pj and Qj
+  are stored as produced by LAPACK Library routine DGEBRD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04XY( JOBU, JOBV, M, N, X, LDX, TAUP, TAUQ, U,
+     $                   LDU, V, LDV, INUL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV
+      INTEGER           INFO, LDU, LDV, LDX, M, N
+C     .. Array Arguments ..
+      LOGICAL           INUL(*)
+      DOUBLE PRECISION  TAUP(*), TAUQ(*), U(LDU,*), V(LDV,*),
+     $                  X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Specifies whether to transform the columns in U as
+          follows:
+          = 'N':  Do not transform the columns in U;
+          = 'A':  Transform the columns in U (U has M columns);
+          = 'S':  Transform the columns in U (U has min(M,N)
+                  columns).
+
+  JOBV    CHARACTER*1
+          Specifies whether to transform the columns in V as
+          follows:
+          = 'N':  Do not transform the columns in V;
+          = 'A':  Transform the columns in V (V has N columns);
+          = 'S':  Transform the columns in V (V has min(M,N)
+                  columns).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix X.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix X.  N &gt;= 0.
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading M-by-N part contains in the columns of its
+          lower triangle the Householder transformations Pj, and
+          in the rows of its upper triangle the Householder
+          transformations Qj in factored form.
+          X is modified by the routine but restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of the array X.   LDX &gt;= MAX(1,M).
+
+  TAUP    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
+          The scalar factors of the Householder transformations Pj.
+
+  TAUQ    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
+          The scalar factors of the Householder transformations Qj.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, U contains the M-by-M (if JOBU = 'A') or
+          M-by-min(M,N) (if JOBU = 'S') matrix U.
+          On exit, the Householder transformations Pj have been
+          applied to each column i of U corresponding to a parameter
+          INUL(i) = .TRUE.
+          NOTE that U is not referenced if JOBU = 'N'.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,M), if JOBU = 'A' or JOBU = 'S';
+          LDU &gt;= 1,        if JOBU = 'N'.
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
+          On entry, V contains the N-by-N (if JOBV = 'A') or
+          N-by-min(M,N) (if JOBV = 'S') matrix V.
+          On exit, the Householder transformations Qj have been
+          applied to each column i of V corresponding to a parameter
+          INUL(i) = .TRUE.
+          NOTE that V is not referenced if JOBV = 'N'.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M), if JOBV = 'A' or JOBV = 'S';
+          LDV &gt;= 1,        if JOBV = 'N'.
+
+  INUL    (input) LOGICAL array, dimension (MAX(M,N))
+          INUL(i) = .TRUE. if the i-th column of U and/or V is to be
+          transformed, and INUL(i) = .FALSE., otherwise.
+          (1 &lt;= i &lt;= MAX(M,N)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder transformations Pj or Qj are applied to the
+  columns of U or V indexed by I for which INUL(I) = .TRUE..
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04YD.html b/doc/_build/html/_static/doc/MB04YD.html
new file mode 100644
index 00000000..a1cb0bee
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04YD.html
@@ -0,0 +1,444 @@
+<HTML>
+<HEAD><TITLE>MB04YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04YD">MB04YD</A></H2>
+<H3>
+Partial diagonalization of a bidiagonal matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To partially diagonalize the bidiagonal matrix
+
+            |q(1) e(1)  0    ...       0      |
+            | 0   q(2) e(2)            .      |
+        J = | .                        .      |                  (1)
+            | .                  e(MIN(M,N)-1)|
+            | 0   ...        ...  q(MIN(M,N)) |
+
+  using QR or QL iterations in such a way that J is split into
+  unreduced bidiagonal submatrices whose singular values are either
+  all larger than a given bound or are all smaller than (or equal
+  to) this bound. The left- and right-hand Givens rotations
+  performed on J (corresponding to each QR or QL iteration step) may
+  be optionally accumulated in the arrays U and V.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
+     $                   LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV
+      INTEGER           INFO, IWARN, LDU, LDV, LDWORK, M, N, RANK
+      DOUBLE PRECISION  RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      LOGICAL           INUL(*)
+      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the left-hand Givens rotations, as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is initialized to the M-by-MIN(M,N) submatrix of
+                  the unit matrix and the left-hand Givens rotations
+                  are accumulated in U;
+          = 'U':  The given matrix U is updated by the left-hand
+                  Givens rotations used in the calculation.
+
+  JOBV    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix V the right-hand Givens rotations, as follows:
+          = 'N':  Do not form V;
+          = 'I':  V is initialized to the N-by-MIN(M,N) submatrix of
+                  the unit matrix and the right-hand Givens
+                  rotations are accumulated in V;
+          = 'U':  The given matrix V is updated by the right-hand
+                  Givens rotations used in the calculation.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in matrix U.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows in matrix V.  N &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if RANK &lt; 0, then the rank of matrix J is
+          computed by the routine as the number of singular values
+          larger than THETA.
+          Otherwise, RANK must specify the rank of matrix J.
+          RANK &lt;= MIN(M,N).
+          On exit, if RANK &lt; 0 on entry, then RANK contains the
+          computed rank of J. That is, the number of singular
+          values of J larger than THETA.
+          Otherwise, the user-supplied value of RANK may be
+          changed by the routine on exit if the RANK-th and the
+          (RANK+1)-th singular values of J are considered to be
+          equal. See also the parameter TOL.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, if RANK &lt; 0, then THETA must specify an upper
+          bound on the smallest singular values of J. THETA &gt;= 0.0.
+          Otherwise, THETA must specify an initial estimate (t say)
+          for computing an upper bound such that precisely RANK
+          singular values are greater than this bound.
+          If THETA &lt; 0.0, then t is computed by the routine.
+          On exit, if RANK &gt;= 0 on entry, then THETA contains the
+          computed upper bound such that precisely RANK singular
+          values of J are greater than THETA + TOL.
+          Otherwise, THETA is unchanged.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension
+          (MIN(M,N))
+          On entry, this array must contain the diagonal elements
+          q(1),q(2),...,q(MIN(M,N)) of the bidiagonal matrix J. That
+          is, Q(i) = J(i,i) for i = 1,2,...,MIN(M,N).
+          On exit, this array contains the leading diagonal of the
+          transformed bidiagonal matrix J.
+
+  E       (input/output) DOUBLE PRECISION array, dimension
+          (MIN(M,N)-1)
+          On entry, this array must contain the superdiagonal
+          elements e(1),e(2),...,e(MIN(M,N)-1) of the bidiagonal
+          matrix J. That is, E(k) = J(k,k+1) for k = 1,2,...,
+          MIN(M,N)-1.
+          On exit, this array contains the superdiagonal of the
+          transformed bidiagonal matrix J.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if JOBU = 'U', the leading M-by-MIN(M,N) part
+          of this array must contain a left transformation matrix
+          applied to the original matrix of the problem, and
+          on exit, the leading M-by-MIN(M,N) part of this array
+          contains the product of the input matrix U and the
+          left-hand Givens rotations.
+          On exit, if JOBU = 'I', then the leading M-by-MIN(M,N)
+          part of this array contains the matrix of accumulated
+          left-hand Givens rotations used.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U. If JOBU = 'U' or
+          JOBU = 'I', LDU &gt;= MAX(1,M); if JOBU = 'N', LDU &gt;= 1.
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
+          On entry, if JOBV = 'U', the leading N-by-MIN(M,N) part
+          of this array must contain a right transformation matrix
+          applied to the original matrix of the problem, and
+          on exit, the leading N-by-MIN(M,N) part of this array
+          contains the product of the input matrix V and the
+          right-hand Givens rotations.
+          On exit, if JOBV = 'I', then the leading N-by-MIN(M,N)
+          part of this array contains the matrix of accumulated
+          right-hand Givens rotations used.
+          If JOBV = 'N', the array V is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDV = 1 and
+          declare this array to be V(1,1) in the calling program).
+
+  LDV     INTEGER
+          The leading dimension of array V. If JOBV = 'U' or
+          JOBV = 'I', LDV &gt;= MAX(1,N); if JOBV = 'N', LDV &gt;= 1.
+
+  INUL    (input/output) LOGICAL array, dimension (MIN(M,N))
+          On entry, the leading MIN(M,N) elements of this array must
+          be set to .FALSE. unless the i-th columns of U (if JOBU =
+          'U') and V (if JOBV = 'U') already contain a computed base
+          vector of the desired singular subspace of the original
+          matrix, in which case INUL(i) must be set to .TRUE.
+          for 1 &lt;= i &lt;= MIN(M,N).
+          On exit, the indices of the elements of this array with
+          value .TRUE. indicate the indices of the diagonal entries
+          of J which belong to those bidiagonal submatrices whose
+          singular values are all less than or equal to THETA.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width. TOL is also taken
+          as an absolute tolerance for negligible elements in the
+          QR/QL iterations. If the user sets TOL to be less than or
+          equal to 0, then the tolerance is taken as
+          EPS * MAX(ABS(Q(i)), ABS(E(k))), where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH),
+          i = 1,2,...,MIN(M,N) and k = 1,2,...,MIN(M,N)-1.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged. If the user sets RELTOL to be less than
+          BASE * EPS, where BASE is machine radix and EPS is machine
+          precision (see LAPACK Library routine DLAMCH), then the
+          tolerance is taken as BASE * EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,6*MIN(M,N)-5), if JOBU = 'I' or 'U', or
+                                            JOBV = 'I' or 'U';
+          LDWORK &gt;= MAX(1,4*MIN(M,N)-3), if JOBU = 'N' and
+                                            JOBV = 'N'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  if the rank of the bidiagonal matrix J (as specified
+                by the user) has been lowered because a singular
+                value of multiplicity larger than 1 was found.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; this includes values like RANK &gt; MIN(M,N), or
+                THETA &lt; 0.0 and RANK &lt; 0;
+          = 1:  if the maximum number of QR/QL iteration steps
+                (30*MIN(M,N)) has been exceeded.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the upper bound THETA is not specified by the user, then it is
+  computed by the routine (using a bisection method) such that
+  precisely (MIN(M,N) - RANK) singular values of J are less than or
+  equal to THETA + TOL.
+
+  The method used by the routine (see [1]) then proceeds as follows.
+
+  The unreduced bidiagonal submatrices of J(j), where J(j) is the
+  transformed bidiagonal matrix after the j-th iteration step, are
+  classified into the following three classes:
+
+  - C1 contains the bidiagonal submatrices with all singular values
+    &gt; THETA,
+  - C2 contains the bidiagonal submatrices with all singular values
+    &lt;= THETA and
+  - C3 contains the bidiagonal submatrices with singular values
+    &gt; THETA and also singular values &lt;= THETA.
+
+  If C3 is empty, then the partial diagonalization is complete, and
+  RANK is the sum of the dimensions of the bidiagonal submatrices of
+  C1.
+  Otherwise, QR or QL iterations are performed on each bidiagonal
+  submatrix of C3, until this bidiagonal submatrix has been split
+  into two bidiagonal submatrices. These two submatrices are then
+  classified and the iterations are restarted.
+  If the upper left diagonal element of the bidiagonal submatrix is
+  larger than its lower right diagonal element, then QR iterations
+  are performed, else QL iterations are used. The shift is taken as
+  the smallest diagonal element of the bidiagonal submatrix (in
+  magnitude) unless its value exceeds THETA, in which case it is
+  taken as zero.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
+      An efficient and reliable algorithm for computing the
+      singular subspace of a matrix associated with its smallest
+      singular values.
+      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+  To avoid overflow, matrix J is scaled so that its largest element
+  is no greater than  overflow**(1/2) * underflow**(1/4) in absolute
+  value (and not much smaller than that, for maximal accuracy).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04YD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          MNMIN
+      PARAMETER        ( MNMIN = MIN( MMAX, NMAX ) )
+      INTEGER          LDU, LDV
+      PARAMETER        ( LDU = MMAX, LDV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 6*MNMIN - 5 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RELTOL, THETA, TOL
+      INTEGER          I, INFO, IWARN, J, M, MINMN, N, RANK, RANK1
+      CHARACTER*1      JOBU, JOBV
+      LOGICAL          LJOBUU, LJOBVU
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), E(MNMIN-1), Q(MNMIN),
+     $                 U(LDU,MNMIN), V(LDV,MNMIN)
+      LOGICAL          INUL(MNMIN)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04YD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, THETA, RANK, TOL, RELTOL, JOBU, JOBV
+      MINMN = MIN( M, N )
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) N
+      ELSE IF ( RANK.GT.MINMN ) THEN
+         WRITE ( NOUT, FMT = 99986 ) RANK
+      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
+         WRITE ( NOUT, FMT = 99985 ) THETA
+      ELSE
+         READ ( NIN, FMT = * ) ( Q(I), I = 1,MINMN )
+         READ ( NIN, FMT = * ) ( E(I), I = 1,MINMN-1 )
+         RANK1 = RANK
+         LJOBUU = LSAME( JOBU, 'U' )
+         LJOBVU = LSAME( JOBV, 'U' )
+         IF ( LJOBUU ) READ ( NIN, FMT = * )
+     $                      ( ( U(I,J), J = 1,MINMN ), I = 1,M )
+         IF ( LJOBVU ) READ ( NIN, FMT = * )
+     $                      ( ( V(I,J), J = 1,MINMN ), I = 1,N )
+*        Initialise the array INUL.
+         DO 20 I = 1, MINMN
+            INUL(I) = .FALSE.
+   20    CONTINUE
+         IF ( LJOBUU.OR.LJOBVU ) READ ( NIN, FMT = * )
+     $                                ( INUL(I), I = 1,MINMN )
+*        Compute the number of singular values of J > THETA.
+         CALL MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
+     $                LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99993 ) IWARN
+               WRITE ( NOUT, FMT = 99984 ) RANK
+            END IF
+            WRITE ( NOUT, FMT = 99997 )
+            DO 160 I = 1, MINMN - 1
+               WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
+  160       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) MINMN, MINMN, Q(MINMN)
+            IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99994 ) RANK, THETA
+            IF ( .NOT.LSAME( JOBV, 'N' ) ) THEN
+               WRITE ( NOUT, FMT = 99992 )
+               DO 180 I = 1, N
+                  WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,MINMN )
+  180          CONTINUE
+            END IF
+            IF ( ( .NOT.LSAME( JOBU, 'N' ) ) .AND.
+     $           ( .NOT.LSAME( JOBV, 'N' ) ) )
+     $           WRITE ( NOUT, FMT = 99990 )
+            IF ( .NOT.LSAME( JOBU, 'N' ) ) THEN
+               WRITE ( NOUT, FMT = 99989 )
+               DO 200 I = 1, M
+                  WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,MINMN )
+  200          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04YD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04YD = ',I2)
+99997 FORMAT (' The transformed bidiagonal matrix J is',/)
+99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
+99994 FORMAT (/' J has ',I2,' singular values >',F7.4,/)
+99993 FORMAT (' IWARN on exit from MB04YD = ',I2,/)
+99992 FORMAT (' The product of the right-hand Givens rotation matrices',
+     $       ' equals ')
+99991 FORMAT (20(1X,F8.4))
+99990 FORMAT (' ')
+99989 FORMAT (' The product of the left-hand Givens rotation matrices ',
+     $       'equals ')
+99988 FORMAT (/' M is out of range.',/' M = ',I5)
+99987 FORMAT (/' N is out of range.',/' N = ',I5)
+99986 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
+99985 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
+99984 FORMAT (/' The computed rank of matrix J = ',I3,/)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04YD EXAMPLE PROGRAM DATA
+   5     5     2.0     -1     0.0     0.0     N     N
+   1.0  2.0  3.0  4.0  5.0
+   2.0  3.0  4.0  5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04YD EXAMPLE PROGRAM RESULTS
+
+ The transformed bidiagonal matrix J is
+
+ (1,1) =  0.4045   (1,2) =  0.0000
+ (2,2) =  1.9839   (2,3) =  0.0000
+ (3,3) =  3.4815   (3,4) =  0.0128
+ (4,4) =  5.3723   (4,5) =  0.0273
+ (5,5) =  7.9948
+
+ J has  3 singular values > 2.0000
+
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04YW.html b/doc/_build/html/_static/doc/MB04YW.html
new file mode 100644
index 00000000..791622b4
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04YW.html
@@ -0,0 +1,214 @@
+<HTML>
+<HEAD><TITLE>MB04YW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04YW">MB04YW</A></H2>
+<H3>
+Performing either one QR or QL iteration step onto an unreduced bidiagonal submatrix of a bidiagonal matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform either one QR or QL iteration step onto the unreduced
+  bidiagonal submatrix Jk:
+
+           |D(l) E(l)    0  ...    0   |
+           | 0   D(l+1) E(l+1)     .   |
+      Jk = | .                     .   |
+           | .                     .   |
+           | .                   E(k-1)|
+           | 0   ...        ...   D(k) |
+
+  with k &lt;= p and l &gt;= 1, p = MIN(M,N), of the bidiagonal matrix J:
+
+           |D(1) E(1)  0    ...   0   |
+           | 0   D(2) E(2)        .   |
+       J = | .                    .   |.
+           | .                    .   |
+           | .                  E(p-1)|
+           | 0   ...        ...  D(p) |
+
+  Hereby, Jk is transformed to  S' Jk T with S and T products of
+  Givens rotations. These Givens rotations S (respectively, T) are
+  postmultiplied into U (respectively, V), if UPDATU (respectively,
+  UPDATV) is .TRUE..
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04YW( QRIT, UPDATU, UPDATV, M, N, L, K, SHIFT, D, E,
+     $                   U, LDU, V, LDV, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           QRIT, UPDATU, UPDATV
+      INTEGER           K, L, LDU, LDV, M, N
+      DOUBLE PRECISION  SHIFT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  D( * ), DWORK( * ), E( * ), U( LDU, * ),
+     $                  V( LDV, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  QRIT    LOGICAL
+          Indicates whether a QR or QL iteration step is to be
+          taken (from larger end diagonal element towards smaller),
+          as follows:
+          = .TRUE. :  QR iteration step (chase bulge from top to
+                      bottom);
+          = .FALSE.:  QL iteration step (chase bulge from bottom to
+                      top).
+
+  UPDATU  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix U the left-hand Givens rotations S, as follows:
+          = .FALSE.:  Do not form U;
+          = .TRUE. :  The given matrix U is updated (postmultiplied)
+                      by the left-hand Givens rotations S.
+
+  UPDATV  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix V the right-hand Givens rotations S, as follows:
+          = .FALSE.:  Do not form V;
+          = .TRUE. :  The given matrix V is updated (postmultiplied)
+                      by the right-hand Givens rotations T.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix U.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix V.  N &gt;= 0.
+
+  L       (input) INTEGER
+          The index of the first diagonal entry of the considered
+          unreduced bidiagonal submatrix Jk of J.
+
+  K       (input) INTEGER
+          The index of the last diagonal entry of the considered
+          unreduced bidiagonal submatrix Jk of J.
+
+  SHIFT   (input) DOUBLE PRECISION
+          Value of the shift used in the QR or QL iteration step.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (p)
+          where p = MIN(M,N)
+          On entry, D must contain the diagonal entries of the
+          bidiagonal matrix J.
+          On exit, D contains the diagonal entries of the
+          transformed bidiagonal matrix S' J T.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
+          On entry, E must contain the superdiagonal entries of J.
+          On exit, E contains the superdiagonal entries of the
+          transformed matrix S' J T.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
+          On entry, if UPDATU = .TRUE., U must contain the M-by-p
+          left transformation matrix.
+          On exit, if UPDATU = .TRUE., the Givens rotations S on the
+          left have been postmultiplied into U, i.e., U * S is
+          returned.
+          U is not referenced if UPDATU = .FALSE..
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
+          LDU &gt;= 1        if UPDATU = .FALSE..
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
+          On entry, if UPDATV = .TRUE., V must contain the N-by-p
+          right transformation matrix.
+          On exit, if UPDATV = .TRUE., the Givens rotations T on the
+          right have been postmultiplied into V, i.e., V * T is
+          returned.
+          V is not referenced if UPDATV = .FALSE..
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
+          LDV &gt;= 1        if UPDATV = .FALSE..
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
+          LDWORK &gt;= 4*MIN(M,N)-4, if UPDATU = UPDATV = .TRUE.;
+          LDWORK &gt;= 2*MIN(M,N)-2, if
+                          UPDATU = .TRUE. and UPDATV = .FALSE. or
+                          UPDATV = .TRUE. and UPDATU = .FALSE.;
+          LDWORK &gt;= 1, if UPDATU = UPDATV = .FALSE..
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  QR iterations diagonalize the bidiagonal matrix by zeroing the
+  super-diagonal elements of Jk from bottom to top.
+  QL iterations diagonalize the bidiagonal matrix by zeroing the
+  super-diagonal elements of Jk from top to bottom.
+  The routine overwrites Jk with the bidiagonal matrix S' Jk T,
+  where S and T are products of Givens rotations.
+  T is essentially the orthogonal matrix that would be obtained by
+  applying one implicit symmetric shift QR (QL) step onto the matrix
+  Jk'Jk. This step factors the matrix (Jk'Jk - shift*I) into a
+  product of an orthogonal matrix T and a upper (lower) triangular
+  matrix. See [1,Sec.8.2-8.3] and [2] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      Matrix Computations.
+      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
+
+  [2] Bowdler, H., Martin, R.S. and Wilkinson, J.H.
+      The QR and QL algorithms for symmetric matrices.
+      Numer. Math., 11, pp. 293-306, 1968.
+
+  [3] Demmel, J. and Kahan, W.
+      Computing small singular values of bidiagonal matrices with
+      guaranteed high relative accuracy.
+      SIAM J. Sci. Statist. Comput., 11, pp. 873-912, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ZD.html b/doc/_build/html/_static/doc/MB04ZD.html
new file mode 100644
index 00000000..f7357fe6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB04ZD.html
@@ -0,0 +1,355 @@
+<HTML>
+<HEAD><TITLE>MB04ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ZD">MB04ZD</A></H2>
+<H3>
+Transforming a Hamiltonian matrix into a square-reduced Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To transform a Hamiltonian matrix
+
+            ( A   G  )
+        H = (      T )                                           (1)
+            ( Q  -A  )
+
+  into a square-reduced Hamiltonian matrix
+
+             ( A'  G'  )
+        H' = (       T )                                         (2)
+             ( Q' -A'  )
+                                                              T
+  by an orthogonal symplectic similarity transformation H' = U H U,
+  where
+            (  U1   U2 )
+        U = (          ).                                        (3)
+            ( -U2   U1 )
+                                                           T
+  The square-reduced Hamiltonian matrix satisfies Q'A' - A' Q' = 0,
+  and
+
+        2       T     2     ( A''   G''  )
+      H'  :=  (U  H U)   =  (          T ).
+                            ( 0     A''  )
+
+  In addition, A'' is upper Hessenberg and G'' is skew symmetric.
+  The square roots of the eigenvalues of A'' = A'*A' + G'*Q' are the
+  eigenvalues of H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO
+     $                 )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDQG, LDU, N
+      CHARACTER         COMPU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPU   CHARACTER*1
+          Indicates whether the orthogonal symplectic similarity
+          transformation matrix U in (3) is returned or
+          accumulated into an orthogonal symplectic matrix, or if
+          the transformation matrix is not required, as follows:
+          = 'N':         U is not required;
+          = 'I' or 'F':  on entry, U need not be set;
+                         on exit, U contains the orthogonal
+                         symplectic matrix U from (3);
+          = 'V' or 'A':  the orthogonal symplectic similarity
+                         transformations are accumulated into U;
+                         on input, U must contain an orthogonal
+                         symplectic matrix S;
+                         on exit, U contains S*U with U from (3).
+          See the description of U below for details.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On input, the leading N-by-N part of this array must
+          contain the upper left block A of the Hamiltonian matrix H
+          in (1).
+          On output, the leading N-by-N part of this array contains
+          the upper left block A' of the square-reduced Hamiltonian
+          matrix H' in (2).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+          (LDQG,N+1)
+          On input, the leading N-by-N lower triangular part of this
+          array must contain the lower triangle of the lower left
+          symmetric block Q of the Hamiltonian matrix H in (1), and
+          the N-by-N upper triangular part of the submatrix in the
+          columns 2 to N+1 of this array must contain the upper
+          triangle of the upper right symmetric block G of H in (1).
+          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
+          and G(i,j) = G(j,i) is stored in QG(j,i+1).
+          On output, the leading N-by-N lower triangular part of
+          this array contains the lower triangle of the lower left
+          symmetric block Q', and the N-by-N upper triangular part
+          of the submatrix in the columns 2 to N+1 of this array
+          contains the upper triangle of the upper right symmetric
+          block G' of the square-reduced Hamiltonian matrix H'
+          in (2).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          If COMPU = 'N', then this array is not referenced.
+          If COMPU = 'I' or 'F', then the input contents of this
+          array are not specified.  On output, the leading
+          N-by-(2*N) part of this array contains the first N rows
+          of the orthogonal symplectic matrix U in (3).
+          If COMPU = 'V' or 'A', then, on input, the leading
+          N-by-(2*N) part of this array must contain the first N
+          rows of an orthogonal symplectic matrix S. On output, the
+          leading N-by-(2*N) part of this array contains the first N
+          rows of the product S*U where U is the orthogonal
+          symplectic matrix from (3).
+          The storage scheme implied by (3) is used for orthogonal
+          symplectic matrices, i.e., only the first N rows are
+          stored, as they contain all relevant information.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,N), if COMPU &lt;&gt; 'N';
+          LDU &gt;= 1,        if COMPU =  'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Hamiltonian matrix H is transformed into a square-reduced
+  Hamiltonian matrix H' using the implicit version of Van Loan's
+  method as proposed in [1,2,3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C. F.
+      A Symplectic Method for Approximating All the Eigenvalues of
+      a Hamiltonian Matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Byers, R.
+      Hamiltonian and Symplectic Algorithms for the Algebraic
+      Riccati Equation.
+      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
+
+  [3] Benner, P., Byers, R., and Barth, E.
+      Fortran 77 Subroutines for Computing the Eigenvalues of
+      Hamiltonian Matrices. I: The Square-Reduced Method.
+      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  This algorithm requires approximately 20*N**3 flops for
+  transforming H into square-reduced form. If the transformations
+  are required, this adds another 8*N**3 flops. The method is
+  strongly backward stable in the sense that if H' and U are the
+  computed square-reduced Hamiltonian and computed orthogonal
+  symplectic similarity transformation, then there is an orthogonal
+  symplectic matrix T and a Hamiltonian matrix M such that
+
+               H T  =  T M
+
+     || T - U ||   &lt;=  c1 * eps
+
+     || H' - M ||  &lt;=  c2 * eps * || H ||
+
+  where c1, c2 are modest constants depending on the dimension N and
+  eps is the machine precision.
+
+  Eigenvalues computed by explicitly forming the upper Hessenberg
+  matrix  A'' = A'A' + G'Q', with A', G', and Q' as in (2), and
+  applying the Hessenberg QR iteration to A'' are exactly
+  eigenvalues of a perturbed Hamiltonian matrix H + E,  where
+
+     || E ||  &lt;=  c3 * sqrt(eps) * || H ||,
+
+  and c3 is a modest constant depending on the dimension N and eps
+  is the machine precision.  Moreover, if the norm of H and an
+  eigenvalue lambda are of roughly the same magnitude, the computed
+  eigenvalue is essentially as accurate as the computed eigenvalue
+  from traditional methods.  See [1] or [2].
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04ZD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDQG, LDU
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = ( NMAX+NMAX )*( NMAX+NMAX+1 ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, IJ, J, JI, N, POS, WPOS
+      CHARACTER*1      COMPU
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
+     $                 U(LDU,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, DGEMM, DSYMV, MB04ZD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, COMPU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99998 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
+*        Square-reduce by symplectic orthogonal similarity.
+         CALL MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+*           Show the square-reduced Hamiltonian.
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99994 )  ( A(I,J),    J = 1,N ),
+     $            ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
+10          CONTINUE
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( QG(I,J), J = 1,I-1 ),
+     $               ( QG(J,I), J = I,N ), ( -A(J,I), J = 1,N )
+20          CONTINUE
+*           Show the square of H.
+            WRITE ( NOUT, FMT = 99995 )
+            WPOS = ( NMAX+NMAX )*( NMAX+NMAX )
+*                                                    T
+*           Compute N11 = A*A + G*Q and set N22 = N11 .
+            CALL DGEMM( 'N', 'N', N, N, N, ONE, A, LDA, A, LDA, ZERO,
+     $                  DWORK, N+N )
+            DO 30 I = 1, N
+               CALL DCOPY( N-I+1, QG(I,I), 1, DWORK(WPOS+I), 1 )
+               CALL DCOPY( I-1, QG(I,1), LDQG, DWORK(WPOS+1), 1 )
+               CALL DSYMV( 'U', N, ONE, QG(1,2), LDQG, DWORK(WPOS+1), 1,
+     $                     ONE, DWORK((I-1)*(N+N)+1), 1 )
+               POS = N*( N+N ) + N + I
+               CALL DCOPY( N, DWORK((I-1)*(N+N)+1), 1, DWORK(POS), N+N )
+30          CONTINUE
+            DO 40 I = 1, N
+               CALL DSYMV( 'U', N, -ONE, QG(1,2), LDQG, A(I,1), LDA,
+     $                     ZERO, DWORK((N+I-1)*(N+N)+1), 1 )
+               CALL DSYMV( 'L', N, ONE, QG, LDQG, A(1,I), 1, ZERO,
+     $                     DWORK((I-1)*(N+N)+N+1), 1 )
+40          CONTINUE
+            DO 60 J = 1, N
+               DO 50 I = J, N
+                  IJ = ( N+J-1 )*( N+N ) + I
+                  JI = ( N+I-1 )*( N+N ) + J
+                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
+                  DWORK(JI) = -DWORK(IJ)
+                  IJ = N + I + ( J-1 )*( N+N )
+                  JI = N + J + ( I-1 )*( N+N )
+                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
+                  DWORK(JI) = -DWORK(IJ)
+50             CONTINUE
+60          CONTINUE
+            DO 70 I = 1, N+N
+               WRITE ( NOUT, FMT = 99994 )
+     $               ( DWORK(I+(J-1)*(N+N) ), J = 1,N+N )
+70          CONTINUE
+         ENDIF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' N is out of range.',/' N = ',I5)
+99997 FORMAT (' INFO on exit from MB04ZD = ',I2)
+99996 FORMAT (/' The square-reduced Hamiltonian is ')
+99995 FORMAT (/' The square of the square-reduced Hamiltonian is ')
+99994 FORMAT (1X,8(F10.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04ZD EXAMPLE PROGRAM DATA
+3 N
+1.0 2.0 3.0 
+4.0 5.0 6.0
+7.0 8.0 9.0
+1.0 1.0 1.0 2.0 2.0 3.0
+7.0 6.0 5.0 8.0 4.0 9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04ZD EXAMPLE PROGRAM RESULTS
+
+
+ The square-reduced Hamiltonian is 
+     1.0000    3.3485    0.3436    1.0000    1.9126   -0.1072
+     6.7566   11.0750   -0.3014    1.9126    8.4479   -1.0790
+     2.3478    1.6899   -2.3868   -0.1072   -1.0790   -2.9871
+     7.0000    8.6275   -0.6352   -1.0000   -6.7566   -2.3478
+     8.6275   16.2238   -0.1403   -3.3485  -11.0750   -1.6899
+    -0.6352   -0.1403    1.2371   -0.3436    0.3014    2.3868
+
+ The square of the square-reduced Hamiltonian is 
+    48.0000   80.6858   -2.5217    0.0000    1.8590  -10.5824
+   167.8362  298.4815   -4.0310   -1.8590    0.0000  -33.1160
+     0.0000    4.5325    2.5185   10.5824   33.1160    0.0000
+     0.0000    0.0000    0.0000   48.0000  167.8362    0.0000
+     0.0000    0.0000    0.0000   80.6858  298.4815    4.5325
+     0.0000    0.0000    0.0000   -2.5217   -4.0310    2.5185
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB05MD.html b/doc/_build/html/_static/doc/MB05MD.html
new file mode 100644
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@@ -0,0 +1,298 @@
+<HTML>
+<HEAD><TITLE>MB05MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05MD">MB05MD</A></H2>
+<H3>
+Matrix exponential for a real non-defective matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute exp(A*delta) where A is a real N-by-N non-defective
+  matrix with real or complex eigenvalues and delta is a scalar
+  value. The routine also returns the eigenvalues and eigenvectors
+  of A as well as (if all eigenvalues are real) the matrix product
+  exp(Lambda*delta) times the inverse of the eigenvector matrix
+  of A, where Lambda is the diagonal matrix of eigenvalues.
+  Optionally, the routine computes a balancing transformation to
+  improve the conditioning of the eigenvalues and eigenvectors.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
+     $                   VALI, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC
+      INTEGER           INFO, LDA, LDV, LDWORK, LDY, N
+      DOUBLE PRECISION  DELTA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), V(LDV,*), VALI(*), VALR(*),
+     $                  Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how the input matrix should be diagonally scaled
+          to improve the conditioning of its eigenvalues as follows:
+          = 'N':  Do not diagonally scale;
+          = 'S':  Diagonally scale the matrix, i.e. replace A by
+                  D*A*D**(-1), where D is a diagonal matrix chosen
+                  to make the rows and columns of A more equal in
+                  norm. Do not permute.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  DELTA   (input) DOUBLE PRECISION
+          The scalar value delta of the problem.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A of the problem.
+          On exit, the leading N-by-N part of this array contains
+          the solution matrix exp(A*delta).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
+          The leading N-by-N part of this array contains the
+          eigenvector matrix for A.
+          If the k-th eigenvalue is real the k-th column of the
+          eigenvector matrix holds the eigenvector corresponding
+          to the k-th eigenvalue.
+          Otherwise, the k-th and (k+1)-th eigenvalues form a
+          complex conjugate pair and the k-th and (k+1)-th columns
+          of the eigenvector matrix hold the real and imaginary
+          parts of the eigenvectors corresponding to these
+          eigenvalues as follows.
+          If p and q denote the k-th and (k+1)-th columns of the
+          eigenvector matrix, respectively, then the eigenvector
+          corresponding to the complex eigenvalue with positive
+          (negative) imaginary value is given by
+                                    2
+          p + q*j (p - q*j), where j  = -1.
+
+  LDV     INTEGER
+          The leading dimension of array V.  LDV &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains an
+          intermediate result for computing the matrix exponential.
+          Specifically, exp(A*delta) is obtained as the product V*Y,
+          where V is the matrix stored in the leading N-by-N part of
+          the array V. If all eigenvalues of A are real, then the
+          leading N-by-N part of this array contains the matrix
+          product exp(Lambda*delta) times the inverse of the (right)
+          eigenvector matrix of A, where Lambda is the diagonal
+          matrix of eigenvalues.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= max(1,N).
+
+  VALR    (output) DOUBLE PRECISION array, dimension (N)
+  VALI    (output) DOUBLE PRECISION array, dimension (N)
+          These arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the matrix A. The
+          eigenvalues are unordered except that complex conjugate
+          pairs of values appear consecutively with the eigenvalue
+          having positive imaginary part first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and if N &gt; 0, DWORK(2) returns the reciprocal
+          condition number of the triangular matrix used to obtain
+          the inverse of the eigenvector matrix.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
+          For good performance, LDWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues; no eigenvectors have been computed;
+                elements i+1:N of VALR and VALI contain eigenvalues
+                which have converged;
+          = N+1:  if the inverse of the eigenvector matrix could not
+                be formed due to an attempt to divide by zero, i.e.,
+                the eigenvector matrix is singular;
+          = N+2:  if the matrix A is defective, possibly due to
+                rounding errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine is an implementation of "Method 15" of the set of
+  methods described in reference [1], which uses an eigenvalue/
+  eigenvector decomposition technique. A modification of LAPACK
+  Library routine DGEEV is used for obtaining the right eigenvector
+  matrix. A condition estimate is then employed to determine if the
+  matrix A is near defective and hence the exponential solution is
+  inaccurate. In this case the routine returns with the Error
+  Indicator (INFO) set to N+2, and SLICOT Library routines MB05ND or
+  MB05OD are the preferred alternative routines to be used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Moler, C.B. and Van Loan, C.F.
+      Nineteen dubious ways to compute the exponential of a matrix.
+      SIAM Review, 20, pp. 801-836, 1978.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB05MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDV, LDY
+      PARAMETER        ( LDA = NMAX, LDV = NMAX, LDY = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DELTA
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      BALANC
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), V(LDV,NMAX),
+     $                 VALI(NMAX), VALR(NMAX), Y(LDY,NMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB05MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      BALANC = 'N'
+      READ ( NIN, FMT = * ) N, DELTA
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Find the exponential of the real non-defective matrix A*DELTA.
+         CALL MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
+     $                VALI, IWORK, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) ( VALR(I), VALI(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99993 )
+            DO 60 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( Y(I,J), J = 1,N )
+   60       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB05MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB05MD = ',I2)
+99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The eigenvalues of A are ',/20(2F5.1,'*j  '))
+99994 FORMAT (/' The eigenvector matrix for A is ')
+99993 FORMAT (/' The inverse eigenvector matrix for A (premultiplied by'
+     $        ,' exp(Lambda*DELTA)) is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB05MD EXAMPLE PROGRAM DATA
+   4     1.0
+   0.5   0.0   2.3  -2.6
+   0.0   0.5  -1.4  -0.7
+   2.3  -1.4   0.5   0.0
+  -2.6  -0.7   0.0   0.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB05MD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix exp(A*DELTA) is 
+  26.8551  -3.2824  18.7409 -19.4430
+  -3.2824   4.3474  -5.1848   0.2700
+  18.7409  -5.1848  15.6012 -11.7228
+ -19.4430   0.2700 -11.7228  15.6012
+
+ The eigenvalues of A are 
+ -3.0  0.0*j    4.0  0.0*j   -1.0  0.0*j    2.0  0.0*j  
+
+ The eigenvector matrix for A is 
+  -0.7000   0.7000   0.1000  -0.1000
+   0.1000  -0.1000   0.7000  -0.7000
+   0.5000   0.5000   0.5000   0.5000
+  -0.5000  -0.5000   0.5000   0.5000
+
+ The inverse eigenvector matrix for A (premultiplied by exp(Lambda*DELTA)) is 
+  -0.0349   0.0050   0.0249  -0.0249
+  38.2187  -5.4598  27.2991 -27.2991
+   0.0368   0.2575   0.1839   0.1839
+  -0.7389  -5.1723   3.6945   3.6945
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB05MY.html b/doc/_build/html/_static/doc/MB05MY.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB05MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05MY">MB05MY</A></H2>
+<H3>
+Computation of the orthogonal matrix reducing a given matrix to real Schur form T, of the eigenvalues, and of the upper triangular matrix of right eigenvectors of T
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for an N-by-N real nonsymmetric matrix A, the
+  orthogonal matrix Q reducing it to real Schur form T, the
+  eigenvalues, and the right eigenvectors of T.
+
+  The right eigenvector r(j) of T satisfies
+                   T * r(j) = lambda(j) * r(j)
+  where lambda(j) is its eigenvalue.
+
+  The matrix of right eigenvectors R is upper triangular, by
+  construction.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05MY( BALANC, N, A, LDA, WR, WI, R, LDR, Q, LDQ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC
+      INTEGER           INFO, LDA, LDQ, LDR, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA, * ), DWORK( * ), Q( LDQ, * ),
+     $                  R( LDR, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how the input matrix should be diagonally scaled
+          to improve the conditioning of its eigenvalues as follows:
+          = 'N':  Do not diagonally scale;
+          = 'S':  Diagonally scale the matrix, i.e. replace A by
+                  D*A*D**(-1), where D is a diagonal matrix chosen
+                  to make the rows and columns of A more equal in
+                  norm. Do not permute.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading N-by-N upper quasi-triangular part of
+          this array contains the real Schur canonical form of A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues. Complex
+          conjugate pairs of eigenvalues appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the matrix of right eigenvectors R, in the same
+          order as their eigenvalues. The real and imaginary parts
+          of a complex eigenvector corresponding to an eigenvalue
+          with positive imaginary part are stored in consecutive
+          columns. (The corresponding conjugate eigenvector is not
+          stored.) The eigenvectors are not backward transformed
+          for balancing (when BALANC = 'S').
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= max(1,N).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Q which has reduced A to real Schur
+          form.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          If BALANC = 'S' and LDWORK &gt; 0, DWORK(2),...,DWORK(N+1)
+          return the scaling factors used for balancing.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues, and no eigenvectors have been
+                computed; elements i+1:N of WR and WI contain
+                eigenvalues which have converged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine uses the QR algorithm to obtain the real Schur form
+  T of matrix A. Then, the right eigenvectors of T are computed,
+  but they are not backtransformed into the eigenvectors of A.
+  MB05MY is a modification of the LAPACK driver routine DGEEV.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB05ND.html b/doc/_build/html/_static/doc/MB05ND.html
new file mode 100644
index 00000000..1732b164
--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB05ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05ND">MB05ND</A></H2>
+<H3>
+Matrix exponential and integral for a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute
+
+  (a)    F(delta) =  exp(A*delta) and
+
+  (b)    H(delta) =  Int[F(s) ds] from s = 0 to s = delta,
+
+  where A is a real N-by-N matrix and delta is a scalar value.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDEX, LDEXIN, LDWORK, N
+      DOUBLE PRECISION  DELTA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), EX(LDEX,*), EXINT(LDEXIN,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  DELTA   (input) DOUBLE PRECISION
+          The scalar value delta of the problem.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A of the problem. (Array A need not be set if
+          DELTA = 0.)
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+  EX      (output) DOUBLE PRECISION array, dimension (LDEX,N)
+          The leading N-by-N part of this array contains an
+          approximation to F(delta).
+
+  LDEX    INTEGER
+          The leading dimension of array EX.  LDEX &gt;= MAX(1,N).
+
+  EXINT   (output) DOUBLE PRECISION array, dimension (LDEXIN,N)
+          The leading N-by-N part of this array contains an
+          approximation to H(delta).
+
+  LDEXIN  INTEGER
+          The leading dimension of array EXINT.  LDEXIN &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the order of the
+          Pade approximation to H(t), where t is a scale factor
+          determined by the routine. A reasonable value for TOL may
+          be SQRT(EPS), where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,N*(N+1)).
+          For optimum performance LDWORK should be larger (2*N*N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the (i,i) element of the denominator of
+                the Pade approximation is zero, so the denominator
+                is exactly singular;
+          = N+1:  if DELTA = (delta * frobenius norm of matrix A) is
+                probably too large to permit meaningful computation.
+                That is, DELTA &gt; SQRT(BIG), where BIG is a
+                representable number near the overflow threshold of
+                the machine (see LAPACK Library Routine DLAMCH).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine uses a Pade approximation to H(t) for some small
+  value of t (where 0 &lt; t &lt;= delta) and then calculates F(t) from
+  H(t). Finally, the results are re-scaled to give F(delta) and
+  H(delta). For a detailed description of the implementation of this
+  algorithm see [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benson, C.J.
+      The numerical evaluation of the matrix exponential and its
+      integral.
+      Report 82/03, Control Systems Research Group,
+      School of Electronic Engineering and Computer
+      Science, Kingston Polytechnic, January 1982.
+
+  [2] Ward, R.C.
+      Numerical computation of the matrix exponential with accuracy
+      estimate.
+      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
+
+  [3] Moler, C.B. and Van Loan, C.F.
+      Nineteen Dubious Ways to Compute the Exponential of a Matrix.
+      SIAM Rev., 20, pp. 801-836, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB05ND EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDEX, LDEXIN, LDWORK
+      PARAMETER        ( LDA = NMAX, LDEX = NMAX, LDEXIN = NMAX,
+     $                   LDWORK = NMAX*( NMAX+1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DELTA, TOL
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), EX(LDEX,NMAX),
+     $                 EXINT(LDEXIN,NMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB05ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DELTA, TOL
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Find the matrix exponential of A*DELTA and its integral.
+         CALL MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN, TOL,
+     $                IWORK, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( EX(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 40 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( EXINT(I,J), J = 1,N )
+   40       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB05ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB05ND = ',I2)
+99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' and its integral is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB05ND EXAMPLE PROGRAM DATA
+   5     0.1     0.0001
+   5.0   4.0   3.0   2.0   1.0
+   1.0   6.0   0.0   4.0   3.0
+   2.0   0.0   7.0   6.0   5.0
+   1.0   3.0   1.0   8.0   7.0
+   2.0   5.0   7.0   1.0   9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB05ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix exp(A*DELTA) is 
+   1.8391   0.9476   0.7920   0.8216   0.7811
+   0.3359   2.2262   0.4013   1.0078   1.0957
+   0.6335   0.6776   2.6933   1.6155   1.8502
+   0.4804   1.1561   0.9110   2.7461   2.0854
+   0.7105   1.4244   1.8835   1.0966   3.4134
+
+ and its integral is 
+   0.1347   0.0352   0.0284   0.0272   0.0231
+   0.0114   0.1477   0.0104   0.0369   0.0368
+   0.0218   0.0178   0.1624   0.0580   0.0619
+   0.0152   0.0385   0.0267   0.1660   0.0732
+   0.0240   0.0503   0.0679   0.0317   0.1863
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB05OD.html b/doc/_build/html/_static/doc/MB05OD.html
new file mode 100644
index 00000000..1db8b15f
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB05OD.html
@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>MB05OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05OD">MB05OD</A></H2>
+<H3>
+Matrix exponential for a real matrix, with accuracy estimate
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute exp(A*delta) where A is a real N-by-N matrix and delta
+  is a scalar value. The routine also returns the minimal number of
+  accurate digits in the 1-norm of exp(A*delta) and the number of
+  accurate digits in the 1-norm of exp(A*delta) at 95% confidence
+  level.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC
+      INTEGER           IDIG, INFO, IWARN, LDA, LDWORK, MDIG, N,
+     $                  NDIAG
+      DOUBLE PRECISION  DELTA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Specifies whether or not a balancing transformation (done
+          by SLICOT Library routine MB04MD) is required, as follows:
+          = 'N', do not use balancing;
+          = 'S', use balancing (scaling).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  NDIAG   (input) INTEGER
+          The specified order of the diagonal Pade approximant.
+          In the absence of further information NDIAG should
+          be set to 9.  NDIAG should not exceed 15.  NDIAG &gt;= 1.
+
+  DELTA   (input) DOUBLE PRECISION
+          The scalar value delta of the problem.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On input, the leading N-by-N part of this array must
+          contain the matrix A of the problem. (This is not needed
+          if DELTA = 0.)
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the solution matrix exp(A*delta).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  MDIG    (output) INTEGER
+          The minimal number of accurate digits in the 1-norm of
+          exp(A*delta).
+
+  IDIG    (output) INTEGER
+          The number of accurate digits in the 1-norm of
+          exp(A*delta) at 95% confidence level.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= N*(2*N+NDIAG+1)+NDIAG, if N &gt;  1.
+          LDWORK &gt;= 1,                     if N &lt;= 1.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  if MDIG = 0 and IDIG &gt; 0, warning for possible
+                inaccuracy (the exponential has been computed);
+          = 2:  if MDIG = 0 and IDIG = 0, warning for severe
+                inaccuracy (the exponential has been computed);
+          = 3:  if balancing has been requested, but it failed to
+                reduce the matrix norm and was not actually used.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the norm of matrix A*delta (after a possible
+                balancing) is too large to obtain an accurate
+                result;
+          = 2:  if the coefficient matrix (the denominator of the
+                Pade approximant) is exactly singular; try a
+                different value of NDIAG;
+          = 3:  if the solution exponential would overflow, possibly
+                due to a too large value DELTA; the calculations
+                stopped prematurely. This error is not likely to
+                appear.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The exponential of the matrix A is evaluated from a diagonal Pade
+  approximant. This routine is a modification of the subroutine
+  PADE, described in reference [1]. The routine implements an
+  algorithm which exploits the identity
+
+      (exp[(2**-m)*A]) ** (2**m) = exp(A),
+
+  where m is an integer determined by the algorithm, to improve the
+  accuracy for matrices with large norms.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Ward, R.C.
+      Numerical computation of the matrix exponential with accuracy
+      estimate.
+      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB05OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          NDIAG
+      PARAMETER        ( NDIAG = 9 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX+NDIAG+1 )+NDIAG )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DELTA
+      INTEGER          I, IDIG, INFO, IWARN, J, MDIG, N
+      CHARACTER*1      BALANC
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB05OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DELTA, BALANC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Find the exponential of the real defective matrix A*DELTA.
+         CALL MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
+     $                IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99993 ) IWARN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) MDIG, IDIG
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB05OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB05OD = ',I2)
+99997 FORMAT (' The solution matrix E = exp(A*DELTA) is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' Minimal number of accurate digits in the norm of E =',
+     $       I4,/' Number of accurate digits in the norm of E',/'     ',
+     $       '            at 95 per cent confidence interval =',I4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (' IWARN on exit from MB05OD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB05OD EXAMPLE PROGRAM DATA
+   3     1.0     S
+   2.0   1.0   1.0
+   0.0   3.0   2.0
+   1.0   0.0   4.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB05OD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix E = exp(A*DELTA) is 
+  22.5984  17.2073  53.8144
+  24.4047  27.6033  83.2241
+  29.4097  12.2024  81.4177
+
+ Minimal number of accurate digits in the norm of E =  12
+ Number of accurate digits in the norm of E
+                 at 95 per cent confidence interval =  15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB05OY.html b/doc/_build/html/_static/doc/MB05OY.html
new file mode 100644
index 00000000..39c94ff8
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB05OY.html
@@ -0,0 +1,128 @@
+<HTML>
+<HEAD><TITLE>MB05OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05OY">MB05OY</A></H2>
+<H3>
+Restoring a matrix after balancing transformations (permutations and scalings)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To restore a matrix after it has been transformed by applying
+  balancing transformations (permutations and scalings), as
+  determined by LAPACK Library routine DGEBAL.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05OY( JOB, N, LOW, IGH, A, LDA, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           IGH, INFO, LDA, LOW, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), SCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of backward transformation required,
+          as follows:
+          = 'N', do nothing, return immediately;
+          = 'P', do backward transformation for permutation only;
+          = 'S', do backward transformation for scaling only;
+          = 'B', do backward transformations for both permutation
+                 and scaling.
+          JOB must be the same as the argument JOB supplied
+          to DGEBAL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  LOW     (input) INTEGER
+  IGH     (input) INTEGER
+          The integers LOW and IGH determined by DGEBAL.
+          1 &lt;= LOW &lt;= IGH &lt;= N, if N &gt; 0; LOW=1 and IGH=0, if N=0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix to be back-transformed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  SCALE   (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors, as
+          returned by DGEBAL.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let P be a permutation matrix, and D a diagonal matrix of scaling
+  factors, both of order N. The routine computes
+                  -1
+     A &lt;-- P D A D  P'.
+
+  where the permutation and scaling factors are encoded in the
+  array SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires O(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB3JZP.html b/doc/_build/html/_static/doc/MB3JZP.html
new file mode 100644
index 00000000..30c069bd
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB3JZP.html
@@ -0,0 +1,239 @@
+<HTML>
+<HEAD><TITLE>MB3JZP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3JZP">MB3JZP</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form to the leading principal subpencil, while
+  keeping the triangular form. On entry, we have
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  where A and B are upper triangular.
+  S and H are transformed by a unitary matrix Q such that
+
+                         (  Aout  Dout  )
+    Sout = J Q' J' S Q = (              ), and
+                         (    0   Aout' )
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (    0  -Bout' )           ( -I  0  )
+
+  where Aout and Bout remain in upper triangular form. The notation
+  M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3JZP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, TOL, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   F( LDF, * ), Q( LDQ, * ), ZWORK( * ) 
+      DOUBLE PRECISION   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the unitary matrix Q is returned;
+          = 'U':  the array Q contains a unitary matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the unitary transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-Hermitian
+          matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Bout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the Hermitian matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the unitary transformation matrix Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance used to decide the sign of the eigenvalues.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by MIN(N,10)*EPS, is
+          used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH). A larger value might be
+          needed for pencils with multiple eigenvalues.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N/2)
+
+  ZWORK   COMPLEX*16 array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real parts.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
+          place, where MM denotes the current number of eigenvalues
+          with negative real parts in aA - bB.
+
+  The algorithm uses a sequence of unitary transformations as
+  described on page 43 in [1]. To achieve those transformations the
+  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
+  for the corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB3LZP.html b/doc/_build/html/_static/doc/MB3LZP.html
new file mode 100644
index 00000000..d9dd91b6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB3LZP.html
@@ -0,0 +1,347 @@
+<HTML>
+<HEAD><TITLE>MB3LZP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3LZP">MB3LZP</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  G -B' )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+  skew-Hamiltonian pencil aB_S - bB_T, defined as
+
+          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
+          (                 |                 )
+          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
+          (                 |                 )
+    B_S = (-----------------+-----------------) , and
+          (                 |                 )
+          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
+          (                 |                 )
+          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |                 )
+          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
+          (                 |                 )
+          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
+
+  is determined and used to compute the eigenvalues. The notation M'
+  denotes the conjugate transpose of the matrix M. Optionally,
+  if COMPQ = 'C', an orthonormal basis of the right deflating
+  subspace of the pencil aS - bH, corresponding to the eigenvalues
+  with strictly negative real part, is computed. Namely, after
+  transforming aB_S - bB_H by unitary matrices, we have
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Sout = (         ) and B_Hout = (         ),               (3)
+             (  0  BA' )              (  0 -BB' )
+
+  and the eigenvalues with strictly negative real part of the
+  complex pencil aB_Sout - bB_Hout are moved to the top. The
+  embedding doubles the multiplicities of the eigenvalues of the
+  pencil aS - bH.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3LZP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LZWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the deflating subspace; compute the
+                 eigenvalues only;
+          = 'C': compute the deflating subspace and store it in the
+                 leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthonormal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; it is preserved in the leading N/2-by-N/2 part.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of
+          the skew-Hermitian matrix D.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the skew-Hermitian matrix BD in (3) (see
+          also METHOD). The strictly lower triangular part of the
+          input matrix is preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; the elements below the first subdiagonal of the
+          input matrix are preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the right
+          deflating subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part.
+          The remaining entries are meaningless.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -20, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
+          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -22, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,       if COMPQ = 'N';
+          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0,     if COMPQ = 'N';
+          LBWORK &gt;= N - 1, if COMPQ = 'C'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the SLICOT Library routine
+               MB04FP (QZ iteration did not converge or computation
+               of the shifts failed);
+          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
+               trying to triangularize the 2-by-2 blocks;
+          = 3: the singular value decomposition failed in the LAPACK
+               routine ZGESVD (for ORTH = 'S');
+          = 4: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04FP is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~                     (  S11  S12  )
+  B_S = J Q' J' B_S Q = (            ) and
+                        (   0   S11' )
+
+  ~                     (  T11  T12  )           (  0  I  )
+  B_T = J Q' J' B_T Q = (            ), with J = (        ),
+                        (   0   T11' )           ( -I  0  )
+
+  where Q is real orthogonal, S11 is upper triangular, and T11 is
+  upper quasi-triangular.
+
+  Second, the SLICOT Library routine MB3JZP is applied, to compute a
+                 ~
+  unitary matrix Q, such that
+
+                     ~    ~
+    ~     ~   ~   (  S11  S12  )
+  J Q' J' B_S Q = (       ~    ) =: B_Sout,
+                  (   0   S11' )
+
+    ~        ~    ~   (  H11  H12  )
+  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
+                      (   0  -H11' )
+       ~                                               ~       ~
+  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
+  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
+                       ~
+  principal subpencil aS11 - bH11.
+
+  Finally, the right deflating subspace is computed.
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB3OYZ.html b/doc/_build/html/_static/doc/MB3OYZ.html
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+<HTML>
+<HEAD><TITLE>MB3OYZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3OYZ">MB3OYZ</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing QR factorization of a complex general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated QR factorization with column pivoting
+                                [ R11 R12 ]
+     A * P = Q * R,  where  R = [         ],
+                                [  0  R22 ]
+  with R11 defined as the largest leading upper triangular submatrix
+  whose estimated condition number is less than 1/RCOND.  The order
+  of R11, RANK, is the effective rank of A.  Condition estimation is
+  performed during the QR factorization process.  Matrix R22 is full
+  (but of small norm), or empty.
+
+  MB3OYZ  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3OYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
+      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading RANK-by-RANK upper triangular part
+          of A contains the triangular factor R11, and the elements
+          below the diagonal in the first  RANK  columns, with the
+          array TAU, represent the unitary matrix Q as a product
+          of  RANK  elementary reflectors.
+          The remaining  N-RANK  columns contain the result of the
+          QR factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R11.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+  JPVT    (output) INTEGER array, dimension ( N )
+          If JPVT(i) = k, then the i-th column of A*P was the k-th
+          column of A.
+
+  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
+          The leading  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 2*N )
+
+  ZWORK   COMPLEX*16 array, dimension ( 3*N-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
+  during this process, finds the largest leading submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using the LAPACK incremental condition estimation scheme and a
+  slightly modified rank decision test.  The factorization process
+  stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a complex scalar, and v is a complex vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
+  A(i+1:m,i), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth column of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB3PYZ.html b/doc/_build/html/_static/doc/MB3PYZ.html
new file mode 100644
index 00000000..f81c89ae
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB3PYZ.html
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+<HTML>
+<HEAD><TITLE>MB3PYZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3PYZ">MB3PYZ</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting, complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing RQ factorization of a complex general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated RQ factorization with row pivoting:
+                                [ R11 R12 ]
+     P * A = R * Q,  where  R = [         ],
+                                [  0  R22 ]
+  with R22 defined as the largest trailing upper triangular
+  submatrix whose estimated condition number is less than 1/RCOND.
+  The order of R22, RANK, is the effective rank of A.  Condition
+  estimation is performed during the RQ factorization process.
+  Matrix R11 is full (but of small norm), or empty.
+
+  MB3PYZ  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3PYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
+      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the upper triangle of the subarray
+          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
+          triangular matrix R22;  the remaining elements in the last
+          RANK  rows, with the array TAU, represent the unitary
+          matrix Q as a product of  RANK  elementary reflectors
+          (see METHOD).  The first  M-RANK  rows contain the result
+          of the RQ factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest trailing triangular
+          submatrix R22 in the RQ factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R22.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(2): smallest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
+                   if RANK &lt; MIN( M, N ), or of
+                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the trailing rows were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(M-RANK+1:M,N-RANK+1:N).
+
+  JPVT    (output) INTEGER array, dimension ( M )
+          If JPVT(i) = k, then the i-th row of P*A was the k-th row
+          of A.
+
+  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
+          The trailing  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 2*M )
+
+  ZWORK   COMPLEX*16 array, dimension ( 3*M-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated RQ factorization with row
+  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
+  during this process, finds the largest trailing submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using an adaptation of the LAPACK incremental condition estimation
+  scheme and a slightly modified rank decision test.  The
+  factorization process stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(k-rank+1)' H(k-rank+2)' . . . H(k)', where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a complex scalar, and v is a complex vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; conjg(v(1:n-k+i-1)) is stored
+  on exit in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB4DBZ.html b/doc/_build/html/_static/doc/MB4DBZ.html
new file mode 100644
index 00000000..160b78da
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB4DBZ.html
@@ -0,0 +1,149 @@
+<HTML>
+<HEAD><TITLE>MB4DBZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB4DBZ">MB4DBZ</A></H2>
+<H3>
+Inverse of a balancing transformation for a complex skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply from the left the inverse of a balancing transformation,
+  computed by the SLICOT Library routine MB4DPZ, to the complex
+  matrix
+
+            [   V1   ]
+            [        ],
+            [ sgn*V2 ]
+
+  where sgn is either +1 or -1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB4DBZ( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
+     $                   V2, LDV2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, SGN
+      INTEGER           ILO, INFO, LDV1, LDV2, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  LSCALE(*), RSCALE(*)
+      COMPLEX*16        V1(LDV1,*), V2(LDV2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of inverse transformation required:
+          = 'N':  do nothing, return immediately;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          JOB must be the same as the argument JOB supplied to
+          MB4DPZ.
+
+  SGN     CHARACTER*1
+          Specifies the sign to use for V2:
+          = 'P':  sgn = +1;
+          = 'N':  sgn = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrices V1 and V2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          The integer ILO determined by MB4DPZ.
+          1 &lt;= ILO &lt;= N+1.
+
+  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the left, as returned by MB4DPZ.
+
+  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the right, as returned by MB4DPZ.
+
+  M       (input) INTEGER
+          The number of columns of the matrices V1 and V2.  M &gt;= 0.
+
+  V1      (input/output) COMPLEX*16 array, dimension (LDV1,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V1.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V1 of the transformed
+          matrix.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
+
+  V2      (input/output) COMPLEX*16 array, dimension (LDV2,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V2.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V2 of the transformed
+          matrix.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB4DLZ.html b/doc/_build/html/_static/doc/MB4DLZ.html
new file mode 100644
index 00000000..98d219b3
--- /dev/null
+++ b/doc/_build/html/_static/doc/MB4DLZ.html
@@ -0,0 +1,375 @@
+<HTML>
+<HEAD><TITLE>MB4DLZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB4DLZ">MB4DLZ</A></H2>
+<H3>
+Balancing a complex pencil, optionally avoiding large norms for the scaled (sub)matrices 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a pair of N-by-N complex matrices (A,B). This involves,
+  first, permuting A and B by equivalence transformations to isolate
+  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
+  on the diagonal of A and B; and second, applying a diagonal
+  equivalence transformation to rows and columns ILO to IHI to make
+  the rows and columns as close in 1-norm as possible. Both steps
+  are optional. Balancing may reduce the 1-norms of the matrices,
+  and improve the accuracy of the computed eigenvalues and/or
+  eigenvectors in the generalized eigenvalue problem
+  A*x = lambda*B*x.
+
+  This routine may optionally improve the conditioning of the
+  scaling transformation compared to the LAPACK routine ZGGBAL.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
+     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
+      COMPLEX*16         A(LDA,*), B(LDB,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on A and B:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for I = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A and B.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(A(s,s),1)/norm(B(s,s),1),
+                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where A(s,s) and B(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in LSCALE(s) and RSCALE(s), will be
+          at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix A.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix B.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of B is zero.
+          If JOB = 'N', the arrays A and B are not referenced.
+
+  LDB    INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+  IHI     (output) INTEGER
+          ILO and IHI are set to integers such that on exit
+          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
+          j = 1,...,ILO-1 or i = IHI+1,...,N.
+          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the left side of A and B.  If P(j) is the index of the
+          row interchanged with row j, and D(j) is the scaling
+          factor applied to row j, then
+            LSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the right side of A and B.  If P(j) is the index of the
+          column interchanged with column j, and D(j) is the scaling
+          factor applied to column j, then
+            RSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of A(s,s) and B(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = IHI).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying an equivalence transformation
+  to isolate eigenvalues and/or to make the 1-norms of the rows
+  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
+  a search is performed to find those scaling factors giving the
+  smallest norm ratio or product defined above (see the description
+  of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+     Dl*A*Dr and Dl*B*Dr.
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than ZGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  No rounding errors appear if JOB = 'P'.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB4DLZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, NMAX ), B( LDB, NMAX )
+      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB4DLZ
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
+     $                RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )  ILO
+            WRITE ( NOUT, FMT = 99993 )  IHI
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99992 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99992 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB4DLZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB4DLZ = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix B is ')
+99995 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
+99994 FORMAT (/' ILO = ',I4)
+99993 FORMAT (/' IHI = ',I4)
+99992 FORMAT (20(1X,G11.4))
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB4DLZ = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB4DLZ EXAMPLE PROGRAM DATA
+       4       B      -3
+   (1,0.5)         0    -1e-12         0
+         0   (-2,-1)         0         0
+         1 (-1,-0.5)  (-1,0.5)         0
+  (-1,0.5)        -1         0    (2,-1)
+   (1,0.5)         0         0         0
+         0   (1,0.5)         0         0
+         0         0  (1,-0.5)         0
+         0         0         0  (1,-0.5)
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB4DLZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+   2.000       -1.000i   -1.000       +0.500i    0.000       +0.000i   -1.000       +0.000i 
+   0.000       +0.000i    1.000       +0.500i  -0.1000E-11   +0.000i    0.000       +0.000i 
+   0.000       +0.000i    1.000       +0.000i   -1.000       +0.500i   -1.000       -0.500i 
+   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i   -2.000       -1.000i 
+
+ The balanced matrix B is 
+   1.000       -0.500i    0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
+   0.000       +0.000i    1.000       +0.500i    0.000       +0.000i    0.000       +0.000i 
+   0.000       +0.000i    0.000       +0.000i    1.000       -0.500i    0.000       +0.000i 
+   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i    1.000       +0.500i 
+
+ ILO =    2
+
+ IHI =    3
+
+ The permutations and left scaling factors are 
+   2.000       1.000       1.000       2.000    
+
+ The permutations and right scaling factors are 
+   2.000       1.000       1.000       2.000    
+
+ The initial 1-norms of the (sub)matrices are 
+   2.118       1.118    
+
+ The final 1-norms of the (sub)matrices are 
+   2.118       1.118    
+
+ The threshold value finally used is 
+  0.2229E-12
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MB4DPZ.html b/doc/_build/html/_static/doc/MB4DPZ.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/MB4DPZ.html
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+<HTML>
+<HEAD><TITLE>MB4DPZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB4DPZ">MB4DPZ</A></H2>
+<H3>
+Balancing a complex skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the 2*N-by-2*N complex skew-Hamiltonian/Hamiltonian
+  pencil aS - bH, with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ),  A, C N-by-N,             (1)
+        (  E  A' )         (  W -C' )
+
+  where D and E are skew-Hermitian, V and W are Hermitian matrices,
+  and ' denotes conjugate transpose. This involves, first, permuting
+  aS - bH by a symplectic equivalence transformation to isolate
+  eigenvalues in the first 1:ILO-1 elements on the diagonal of A
+  and C; and second, applying a diagonal equivalence transformation
+  to make the pairs of rows and columns ILO:N and N+ILO:2*N as close
+  in 1-norm as possible. Both steps are optional. Balancing may
+  reduce the 1-norms of the matrices S and H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
+      COMPLEX*16         A(LDA,*), C(LDC,*), DE(LDDE,*), VW(LDVW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on S and H:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for i = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(H(s,s),1)/norm(S(s,s),1),
+                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where S(s,s) and H(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
+          will be at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced skew-Hamiltonian matrix S.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N+1)
+          On entry, the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N-by-N upper triangular
+          part of the submatrix in the columns 2 to N+1 of this
+          array must contain the upper triangular part of the
+          skew-Hermitian matrix D. The real parts of the entries on
+          the diagonal and the first superdiagonal of this array
+          should be zero.
+          On exit, the leading N-by-N lower triangular part of this
+          array contains the lower triangular part of the balanced
+          matrix E, and the N-by-N upper triangular part of the 
+          submatrix in the columns 2 to N+1 of this array contains
+          the upper triangular part of the balanced matrix D.
+          In particular, the lower triangular part of the first
+          ILO-1 columns of DE is zero.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix C.
+          On exit, the leading N-by-N part of this array contains
+          the matrix C of the balanced Hamiltonian matrix H.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of C is zero.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
+
+  VW      (input/output) COMPLEX*16 array, dimension (LDVW, N+1)
+          On entry, the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix W, and the N-by-N upper triangular
+          part of the submatrix in the columns 2 to N+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix V. The imaginary parts of the entries on
+          the diagonal and the first superdiagonal of this array
+          should be zero.
+          On exit, the leading N-by-N lower triangular part of this
+          array contains the lower triangular part of the balanced
+          matrix W, and the N-by-N upper triangular part of the
+          submatrix in the columns 2 to N+1 of this array contains
+          the upper triangular part of the balanced matrix V. In
+          particular, the lower triangular part of the first ILO-1
+          columns of VW is zero.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
+          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
+          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of LSCALE contains the factor of the scaling applied to
+          row j of the matrices A, D, C, and V.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
+          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of RSCALE contains the factor of the scaling applied to
+          column j of the matrices A, E, C, and W.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of S(s,s) and H(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = N).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a (symplectic) equivalence
+  transformation to isolate eigenvalues and/or to make the 1-norms
+  of each pair of rows and columns indexed by s of S and H nearly
+  equal. If THRESH &lt; 0, a search is performed to find those scaling
+  factors giving the smallest norm ratio or product defined above
+  (see the description of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
+    (       ) (       ) (       ),  (       ) (       ) (       ).
+    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than ZGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The transformations used preserve the skew-Hamiltonian/Hamiltonian
+  structure and do not introduce significant rounding errors.
+  No rounding errors appear if JOB = 'P'. If T is the global
+  transformation matrix applied to the right, then J'*T*J is the
+  global transformation matrix applied to the left, where
+  J = [ 0 I; -I 0 ], with blocks of order N.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB4DPZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDC, LDDE, LDVW
+      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
+     $                   LDVW = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, NMAX ), C( LDC, NMAX ), DE(LDDE, NMAX),
+     $                 VW(LDVW, NMAX)
+      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB4DPZ
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
+20          CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99992 )  ILO
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99984 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99984 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB4DPZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB4DPZ = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix DE is ')
+99995 FORMAT (' The balanced matrix C is ')
+99994 FORMAT (/' The balanced matrix VW is ')
+99993 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
+99992 FORMAT (/' ILO = ',I4)
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB4DPZ = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+99984 FORMAT (20(1X,G11.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB4DPZ EXAMPLE PROGRAM DATA
+       2       B      -3
+   (1,0.5)         0
+         0   (1,0.5)
+         0         0         0
+         0         0         0
+   (1,0.5)         0
+         0   (-2,-1)
+         1   -1.e-12         0
+  (-1,0.5)        -1         0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB4DPZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+   1.000       -0.500i    0.000        0.000i 
+   0.000        0.000i    1.000       +0.500i 
+
+ The balanced matrix DE is 
+   0.000        0.000i    0.000       +0.000i    0.000       +0.000i 
+   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
+ The balanced matrix C is 
+   2.000       -1.000i    1.000       -0.500i 
+   0.000        0.000i    1.000       +0.500i 
+
+ The balanced matrix VW is 
+   0.000        0.000i    1.000       +0.000i    0.000        0.000i 
+   0.000        0.000i    1.000       +0.000i  -0.1000E-11   +0.000i 
+
+ ILO =    2
+
+ The permutations and left scaling factors are 
+   4.000       1.000    
+
+ The permutations and right scaling factors are 
+   4.000       1.000    
+
+ The initial 1-norms of the (sub)matrices are 
+   1.118       2.118    
+
+ The final 1-norms of the (sub)matrices are 
+   1.118       2.118    
+
+ The threshold value finally used is 
+  -3.000    
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01MD.html b/doc/_build/html/_static/doc/MC01MD.html
new file mode 100644
index 00000000..7879b138
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01MD.html
@@ -0,0 +1,199 @@
+<HTML>
+<HEAD><TITLE>MC01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01MD">MC01MD</A></H2>
+<H3>
+The leading coefficients of the shifted polynomial for a given real polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate, for a given real polynomial P(x) and a real scalar
+  alpha, the leading K coefficients of the shifted polynomial
+                                                            K-1
+     P(x) = q(1) + q(2) * (x-alpha) + ... + q(K) * (x-alpha)   + ...
+
+  using Horner's algorithm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01MD( DP, ALPHA, K, P, Q, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, K
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(*), Q(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar value alpha of the problem.
+
+  K       (input) INTEGER
+          The number of coefficients of the shifted polynomial to be
+          computed.  1 &lt;= K &lt;= DP+1.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of P(x) in
+          increasing powers of x.
+
+  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
+          The leading K elements of this array contain the first
+          K coefficients of the shifted polynomial in increasing
+          powers of (x - alpha), and the next (DP-K+1) elements
+          are used as internal workspace.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the real polynomial
+                                      2                    DP
+     P(x) = p(1) + p(2) * x + p(3) * x  + ... + p(DP+1) * x  ,
+
+  the routine computes the leading K coefficients of the shifted
+  polynomial
+                                                                K-1
+     P(x) = q(1) + q(2) * (x - alpha) + ... + q(K) * (x - alpha)
+
+  as follows.
+
+  Applying Horner's algorithm (see [1]) to P(x), i.e. dividing P(x)
+  by (x-alpha), yields
+
+     P(x) = q(1) + (x-alpha) * D(x),
+
+  where q(1) is the value of the constant term of the shifted
+  polynomial and D(x) is the quotient polynomial of degree (DP-1)
+  given by
+                                      2                     DP-1
+     D(x) = d(2) + d(3) * x + d(4) * x  + ... +  d(DP+1) * x    .
+
+  Applying Horner's algorithm to D(x) and subsequent quotient
+  polynomials yields q(2) and q(3), q(4), ..., q(K) respectively.
+
+  It follows immediately that q(1) = P(alpha), and in general
+             (i-1)
+     q(i) = P     (alpha) / (i - 1)! for i = 1, 2, ..., K.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] STOER, J. and BULIRSCH, R.
+      Introduction to Numerical Analysis.
+      Springer-Verlag. 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA
+      INTEGER          DP, I, INFO, K
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01MD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP, ALPHA, K
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Compute the leading K coefficients of the shifted polynomial.
+         CALL MC01MD( DP, ALPHA, K, P, Q, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) ALPHA
+            DO 20 I = 1, K
+               WRITE ( NOUT, FMT = 99996 ) I - 1, Q(I)
+   20       CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01MD = ',I2)
+99997 FORMAT (' ALPHA = ',F8.4,//' The coefficients of the shifted pol',
+     $       'ynomial are ',//' power of (x-ALPHA)     coefficient ')
+99996 FORMAT (5X,I5,15X,F9.4)
+99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01MD EXAMPLE PROGRAM DATA
+   5     2.0     6
+   6.0  5.0  4.0  3.0  2.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01MD EXAMPLE PROGRAM RESULTS
+
+ ALPHA =   2.0000
+
+ The coefficients of the shifted polynomial are 
+
+ power of (x-ALPHA)     coefficient 
+         0                120.0000
+         1                201.0000
+         2                150.0000
+         3                 59.0000
+         4                 12.0000
+         5                  1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01ND.html b/doc/_build/html/_static/doc/MC01ND.html
new file mode 100644
index 00000000..2dd56456
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01ND.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>MC01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01ND">MC01ND</A></H2>
+<H3>
+Value of a real polynomial at a given complex point
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the real polynomial P(x) at a given
+  complex point x = x0 using Horner's algorithm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01ND( DP, XR, XI, P, VR, VI, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO
+      DOUBLE PRECISION  VI, VR, XI, XR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  XR      (input) DOUBLE PRECISION
+  XI      (input) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of x0.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of the polynomial
+          P(x) in increasing powers of x.
+
+  VR      (output) DOUBLE PRECISION
+  VI      (output) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of P(x0).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the real polynomial
+                                      2                   DP
+     P(x) = p(1) + p(2) * x + p(3) * x + ... + p(DP+1) * x  ,
+
+  the routine computes the value of P(x0) using the recursion
+
+     q(DP+1) = p(DP+1),
+     q(i) = x0*q(i+1) + p(i) for i = DP, DP-1, ..., 1,
+
+  which is known as Horner's algorithm (see [1]). Then q(1) = P(x0).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] STOER, J and BULIRSCH, R.
+      Introduction to Numerical Analysis.
+      Springer-Verlag. 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires DP operations for real arguments and 4*DP
+  for complex arguments.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION VI, VR, XI, XR
+      INTEGER          DP, I, INFO
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(DPMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP, XR, XI
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Evaluate the polynomial at the given (complex) point.
+         CALL MC01ND( DP, XR, XI, P, VR, VI, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) XR, XI, VR
+            WRITE ( NOUT, FMT = 99996 ) XR, XI, VI
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01ND = ',I2)
+99997 FORMAT (' Real      part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
+99996 FORMAT (/' Imaginary part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
+99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01ND EXAMPLE PROGRAM DATA
+   4     -1.56     0.29
+   5.0  3.0  -1.0  2.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01ND EXAMPLE PROGRAM RESULTS
+
+ Real      part of P( -1.56 +0.29*j ) =  -4.1337
+
+ Imaginary part of P( -1.56 +0.29*j ) =   1.7088
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01OD.html b/doc/_build/html/_static/doc/MC01OD.html
new file mode 100644
index 00000000..272a1052
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01OD.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MC01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01OD">MC01OD</A></H2>
+<H3>
+Coefficients of a complex polynomial, given its zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a complex polynomial P(x) from its
+  zeros.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMP(*), IMZ(*), REP(*), REZ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of zeros (and hence the degree) of P(x).
+          K &gt;= 0.
+
+  REZ     (input) DOUBLE PRECISION array, dimension (K)
+  IMZ     (input) DOUBLE PRECISION array, dimension (K)
+          The real and imaginary parts of the i-th zero of P(x)
+          must be stored in REZ(i) and IMZ(i), respectively, where
+          i = 1, 2, ..., K. The zeros may be supplied in any order.
+
+  REP     (output) DOUBLE PRECISION array, dimension (K+1)
+  IMP     (output) DOUBLE PRECISION array, dimension (K+1)
+          These arrays contain the real and imaginary parts,
+          respectively, of the coefficients of P(x) in increasing
+          powers of x. If K = 0, then REP(1) is set to one and
+          IMP(1) is set to zero.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*K+2)
+          If K = 0, this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the coefficients of the complex K-th degree
+  polynomial P(x) as
+
+     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+
+  where r(i) = (REZ(i),IMZ(i)), using real arithmetic.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX
+      PARAMETER        ( KMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, K
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(2*KMAX+2), IMP(KMAX+1), IMZ(KMAX),
+     $                 REP(KMAX+1), REZ(KMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MC01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K
+      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) K
+      ELSE
+         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
+*        Compute the coefficients of P(x) from the given zeros.
+         CALL MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99996 )
+     $            ( I, REP(I+1), IMP(I+1), I = 0,K )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01OD = ',I2)
+99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
+     $       'r of x     real part     imag part ')
+99996 FORMAT (2X,I5,8X,F9.4,5X,F9.4)
+99995 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01OD EXAMPLE PROGRAM DATA
+   5
+   1.1   0.9
+   0.6  -0.7
+  -2.0   0.3
+  -0.8   2.5
+  -0.3  -0.4
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01OD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial P(x) are 
+
+ power of x     real part     imag part 
+      0           2.7494       -2.1300
+      1          -1.7590       -5.4205
+      2           0.0290        2.8290
+      3          -1.6500       -1.7300
+      4           1.4000       -2.6000
+      5           1.0000        0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01PD.html b/doc/_build/html/_static/doc/MC01PD.html
new file mode 100644
index 00000000..7aefe569
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01PD.html
@@ -0,0 +1,172 @@
+<HTML>
+<HEAD><TITLE>MC01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01PD">MC01PD</A></H2>
+<H3>
+Coefficients of a real polynomial, given its zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a real polynomial P(x) from its
+  zeros.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01PD( K, REZ, IMZ, P, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of zeros (and hence the degree) of P(x).
+          K &gt;= 0.
+
+  REZ     (input) DOUBLE PRECISION array, dimension (K)
+  IMZ     (input) DOUBLE PRECISION array, dimension (K)
+          The real and imaginary parts of the i-th zero of P(x)
+          must be stored in REZ(i) and IMZ(i), respectively, where
+          i = 1, 2, ..., K. The zeros may be supplied in any order,
+          except that complex conjugate zeros must appear
+          consecutively.
+
+  P       (output) DOUBLE PRECISION array, dimension (K+1)
+          This array contains the coefficients of P(x) in increasing
+          powers of x. If K = 0, then P(1) is set to one.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (K+1)
+          If K = 0, this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+                (REZ(i-1),IMZ(i-1)) is not its conjugate.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the coefficients of the real K-th degree
+  polynomial P(x) as
+
+     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+
+  where r(i) = (REZ(i),IMZ(i)).
+
+  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
+  if r(i) is real.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX
+      PARAMETER        ( KMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, K
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(KMAX+1), IMZ(KMAX), P(KMAX+1), REZ(KMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MC01PD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K
+      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) K
+      ELSE
+         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
+*        Compute the coefficients of P(x) from the given zeros.
+         CALL MC01PD( K, REZ, IMZ, P, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99996 ) ( I, P(I+1), I = 0,K )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01PD = ',I2)
+99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
+     $       'r of x     coefficient ')
+99996 FORMAT (2X,I5,9X,F9.4)
+99995 FORMAT (' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01PD EXAMPLE PROGRAM DATA
+   5
+   0.0   1.0
+   0.0  -1.0
+   2.0   0.0
+   1.0   3.0
+   1.0  -3.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01PD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial P(x) are 
+
+ power of x     coefficient 
+      0          -20.0000
+      1           14.0000
+      2          -24.0000
+      3           15.0000
+      4           -4.0000
+      5            1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01PY.html b/doc/_build/html/_static/doc/MC01PY.html
new file mode 100644
index 00000000..8a26d2e6
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01PY.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MC01PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01PY">MC01PY</A></H2>
+<H3>
+Coefficients of a real polynomial, stored in decreasing order, given its zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a real polynomial P(x) from its
+  zeros. The coefficients are stored in decreasing order of the
+  powers of x.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01PY( K, REZ, IMZ, P, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of zeros (and hence the degree) of P(x).
+          K &gt;= 0.
+
+  REZ     (input) DOUBLE PRECISION array, dimension (K)
+  IMZ     (input) DOUBLE PRECISION array, dimension (K)
+          The real and imaginary parts of the i-th zero of P(x)
+          must be stored in REZ(i) and IMZ(i), respectively, where
+          i = 1, 2, ..., K. The zeros may be supplied in any order,
+          except that complex conjugate zeros must appear
+          consecutively.
+
+  P       (output) DOUBLE PRECISION array, dimension (K+1)
+          This array contains the coefficients of P(x) in decreasing
+          powers of x.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (K)
+          If K = 0, this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+                (REZ(i-1),IMZ(i-1)) is not its conjugate.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the coefficients of the real K-th degree
+  polynomial P(x) as
+
+     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+
+  where r(i) = (REZ(i),IMZ(i)).
+
+  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
+  if r(i) is real.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01QD.html b/doc/_build/html/_static/doc/MC01QD.html
new file mode 100644
index 00000000..b0faa8b2
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01QD.html
@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>MC01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01QD">MC01QD</A></H2>
+<H3>
+Quotient and remainder polynomials for polynomial division
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for two given real polynomials A(x) and B(x), the
+  quotient polynomial Q(x) and the remainder polynomial R(x) of
+  A(x) divided by B(x).
+
+  The polynomials Q(x) and R(x) satisfy the relationship
+
+     A(x) = B(x) * Q(x) + R(x),
+
+  where the degree of R(x) is less than the degree of B(x).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DA, DB, INFO, IWARN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*), RQ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DA      (input) INTEGER
+          The degree of the numerator polynomial A(x).  DA &gt;= -1.
+
+  DB      (input/output) INTEGER
+          On entry, the degree of the denominator polynomial B(x).
+          DB &gt;= 0.
+          On exit, if B(DB+1) = 0.0 on entry, then DB contains the
+          index of the highest power of x for which B(DB+1) &lt;&gt; 0.0.
+
+  A       (input) DOUBLE PRECISION array, dimension (DA+1)
+          This array must contain the coefficients of the
+          numerator polynomial A(x) in increasing powers of x
+          unless DA = -1 on entry, in which case A(x) is taken
+          to be the zero polynomial.
+
+  B       (input) DOUBLE PRECISION array, dimension (DB+1)
+          This array must contain the coefficients of the
+          denominator polynomial B(x) in increasing powers of x.
+
+  RQ      (output) DOUBLE PRECISION array, dimension (DA+1)
+          If DA &lt; DB on exit, then this array contains the
+          coefficients of the remainder polynomial R(x) in
+          increasing powers of x; Q(x) is the zero polynomial.
+          Otherwise, the leading DB elements of this array contain
+          the coefficients of R(x) in increasing powers of x, and
+          the next (DA-DB+1) elements contain the coefficients of
+          Q(x) in increasing powers of x.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = k:  if the degree of the denominator polynomial B(x) has
+                been reduced to (DB - k) because B(DB+1-j) = 0.0 on
+                entry for j = 0, 1, ..., k-1 and B(DB+1-k) &lt;&gt; 0.0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, DB &gt;= 0 and B(i) = 0.0, where
+                i = 1, 2, ..., DB+1.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given real polynomials
+                                               DA
+     A(x) = a(1) + a(2) * x + ... + a(DA+1) * x
+
+  and
+                                               DB
+     B(x) = b(1) + b(2) * x + ... + b(DB+1) * x
+
+  where b(DB+1) is non-zero, the routine computes the coeffcients of
+  the quotient polynomial
+                                                  DA-DB
+     Q(x) = q(1) + q(2) * x + ... + q(DA-DB+1) * x
+
+  and the remainder polynomial
+                                             DB-1
+     R(x) = r(1) + r(2) * x + ... + r(DB) * x
+
+  such that A(x) = B(x) * Q(x) + R(x).
+
+  The algorithm used is synthetic division of polynomials (see [1]),
+  which involves the following steps:
+
+     (a) compute q(k+1) = a(DB+k+1) / b(DB+1)
+
+  and
+
+     (b) set a(j) = a(j) - q(k+1) * b(j-k) for j = k+1, ..., DB+k.
+
+  Steps (a) and (b) are performed for k = DA-DB, DA-DB-1, ..., 0 and
+  the algorithm terminates with r(i) = a(i) for i = 1, 2, ..., DB.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Knuth, D.E.
+      The Art of Computer Programming, (Vol. 2, Seminumerical
+      Algorithms).
+      Addison-Wesley, Reading, Massachusetts (2nd Edition), 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DAMAX, DBMAX
+      PARAMETER        ( DAMAX = 10, DBMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          DA, DB, DBB, DQ, DR, I, IMAX, INFO, IWARN
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(DAMAX+1), B(DBMAX+1), RQ(DAMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DA
+      IF ( DA.LE.-2 .OR. DA.GT.DAMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) DA
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
+         READ ( NIN, FMT = * ) DB
+         DBB = DB
+         IF ( DB.LE.-1 .OR. DB.GT.DBMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) DB
+         ELSE
+            READ ( NIN, FMT = * ) ( B(I), I = 1,DB+1 )
+*           Compute Q(x) and R(x) from the given A(x) and B(x).
+            CALL MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF ( IWARN.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) IWARN
+                  WRITE ( NOUT, FMT = 99996 ) DBB, DB
+               END IF
+               WRITE ( NOUT, FMT = 99995 )
+               DQ = DA - DB
+               DR = DB - 1
+               IMAX = DQ
+               IF ( DR.GT.IMAX ) IMAX = DR
+               DO 20 I = 0, IMAX
+                  IF ( I.LE.DQ .AND. I.LE.DR ) THEN
+                     WRITE ( NOUT, FMT = 99994 ) I, RQ(DB+I+1), RQ(I+1)
+                  ELSE IF ( I.LE.DQ ) THEN
+                     WRITE ( NOUT, FMT = 99993 ) I, RQ(DB+I+1)
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) I, RQ(I+1)
+                  END IF
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01QD = ',I2)
+99997 FORMAT (' IWARN on exit from MC01QD = ',I2,/)
+99996 FORMAT (' The degree of the denominator polynomial B(x) has been',
+     $       ' reduced from ',I2,' to ',I2,/)
+99995 FORMAT (' The coefficients of the polynomials Q(x) and R(x) are ',
+     $       //'                    Q(x)            R(x) ',/' power of',
+     $       ' x     coefficient     coefficient ')
+99994 FORMAT (2X,I5,9X,F9.4,7X,F9.4)
+99993 FORMAT (2X,I5,9X,F9.4)
+99992 FORMAT (2X,I5,25X,F9.4)
+99991 FORMAT (/' DA is out of range.',/' DA = ',I5)
+99990 FORMAT (/' DB is out of range.',/' DB = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01QD EXAMPLE PROGRAM DATA
+   4
+   2.0  2.0  -1.0  2.0  1.0
+   2
+   1.0  -1.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01QD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomials Q(x) and R(x) are 
+
+                    Q(x)            R(x) 
+ power of x     coefficient     coefficient 
+      0            1.0000          1.0000
+      1            3.0000          0.0000
+      2            1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01RD.html b/doc/_build/html/_static/doc/MC01RD.html
new file mode 100644
index 00000000..d66a8409
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01RD.html
@@ -0,0 +1,251 @@
+<HTML>
+<HEAD><TITLE>MC01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01RD">MC01RD</A></H2>
+<H3>
+Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of the polynomial
+
+     P(x) = P1(x) * P2(x) + alpha * P3(x),
+
+  where P1(x), P2(x) and P3(x) are given real polynomials and alpha
+  is a real scalar.
+
+  Each of the polynomials P1(x), P2(x) and P3(x) may be the zero
+  polynomial.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP1, DP2, DP3, INFO
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P1(*), P2(*), P3(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP1     (input) INTEGER
+          The degree of the polynomial P1(x).  DP1 &gt;= -1.
+
+  DP2     (input) INTEGER
+          The degree of the polynomial P2(x).  DP2 &gt;= -1.
+
+  DP3     (input/output) INTEGER
+          On entry, the degree of the polynomial P3(x).  DP3 &gt;= -1.
+          On exit, the degree of the polynomial P(x).
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar value alpha of the problem.
+
+  P1      (input) DOUBLE PRECISION array, dimension (lenp1)
+          where lenp1 = DP1 + 1 if DP1 &gt;= 0 and 1 otherwise.
+          If DP1 &gt;= 0, then this array must contain the
+          coefficients of P1(x) in increasing powers of x.
+          If DP1 = -1, then P1(x) is taken to be the zero
+          polynomial, P1 is not referenced and can be supplied
+          as a dummy array.
+
+  P2      (input) DOUBLE PRECISION array, dimension (lenp2)
+          where lenp2 = DP2 + 1 if DP2 &gt;= 0 and 1 otherwise.
+          If DP2 &gt;= 0, then this array must contain the
+          coefficients of P2(x) in increasing powers of x.
+          If DP2 = -1, then P2(x) is taken to be the zero
+          polynomial, P2 is not referenced and can be supplied
+          as a dummy array.
+
+  P3      (input/output) DOUBLE PRECISION array, dimension (lenp3)
+          where lenp3 = MAX(DP1+DP2,DP3,0) + 1.
+          On entry, if DP3 &gt;= 0, then this array must contain the
+          coefficients of P3(x) in increasing powers of x.
+          On entry, if DP3 = -1, then P3(x) is taken to be the zero
+          polynomial.
+          On exit, the leading (DP3+1) elements of this array
+          contain the coefficients of P(x) in increasing powers of x
+          unless DP3 = -1 on exit, in which case the coefficients of
+          P(x) (the zero polynomial) are not stored in the array.
+          This is the case, for instance, when ALPHA = 0.0 and
+          P1(x) or P2(x) is the zero polynomial.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given real polynomials
+
+             DP1           i           DP2           i
+     P1(x) = SUM a(i+1) * x ,  P2(x) = SUM b(i+1) * x  and
+             i=0                       i=0
+
+             DP3           i
+     P3(x) = SUM c(i+1) * x ,
+             i=0
+
+  the routine computes the coefficents of P(x) = P1(x) * P2(x) +
+                  DP3            i
+  alpha * P3(x) = SUM  d(i+1) * x  as follows.
+                  i=0
+
+  Let e(i) = c(i) for 1 &lt;= i &lt;= DP3+1 and e(i) = 0 for i &gt; DP3+1.
+  Then if DP1 &gt;= DP2,
+
+             i
+     d(i) = SUM a(k) * b(i-k+1) + f(i), for i = 1, ..., DP2+1,
+            k=1
+
+              i
+     d(i)  = SUM a(k) * b(i-k+1) + f(i), for i = DP2+2, ..., DP1+1
+            k=i-DP2
+
+  and
+             DP1+1
+     d(i)  = SUM a(k) * b(i-k+1) + f(i) for i = DP1+2,...,DP1+DP2+1,
+            k=i-DP2
+
+  where f(i) = alpha * e(i).
+
+  Similar formulas hold for the case DP1 &lt; DP2.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DP1MAX, DP2MAX, DP3MAX
+      PARAMETER        ( DP1MAX = 10, DP2MAX = 10, DP3MAX = 10 )
+      INTEGER          LENP3
+      PARAMETER        ( LENP3 = MAX(DP1MAX+DP2MAX,DP3MAX)+1 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA
+      INTEGER          DP1, DP2, DP3, I, INFO
+*     .. Local Arrays ..
+      DOUBLE PRECISION P1(DP1MAX+1), P2(DP2MAX+1), P3(LENP3)
+*    $                 P3(DP1MAX+DP2MAX+DP3MAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP1
+      IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) DP1
+      ELSE
+         READ ( NIN, FMT = * ) ( P1(I), I = 1,DP1+1 )
+         READ ( NIN, FMT = * ) DP2
+         IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) DP2
+         ELSE
+            READ ( NIN, FMT = * ) ( P2(I), I = 1,DP2+1 )
+            READ ( NIN, FMT = * ) DP3
+            IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) DP3
+            ELSE
+               READ ( NIN, FMT = * ) ( P3(I), I = 1,DP3+1 )
+            END IF
+            READ ( NIN, FMT = * ) ALPHA
+*           Compute the coefficients of the polynomial P(x).
+            CALL MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) DP3
+               IF ( DP3.GE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 0, DP3
+                     WRITE ( NOUT, FMT = 99995 ) I, P3(I+1)
+   20             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01RD = ',I2)
+99997 FORMAT (' Degree of the resulting polynomial P(x) = ',I2)
+99996 FORMAT (/' The coefficients of P(x) are ',//' power of x     coe',
+     $       'fficient ')
+99995 FORMAT (2X,I5,9X,F9.4)
+99994 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
+99993 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
+99992 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01RD EXAMPLE PROGRAM DATA
+   1
+   1.00  2.50
+   2
+   1.00  0.10  -0.40
+   1
+   1.15  1.50
+  -2.20
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01RD EXAMPLE PROGRAM RESULTS
+
+ Degree of the resulting polynomial P(x) =  3
+
+ The coefficients of P(x) are 
+
+ power of x     coefficient 
+      0           -1.5300
+      1           -0.7000
+      2           -0.1500
+      3           -1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01SD.html b/doc/_build/html/_static/doc/MC01SD.html
new file mode 100644
index 00000000..f6ed2ca8
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01SD.html
@@ -0,0 +1,229 @@
+<HTML>
+<HEAD><TITLE>MC01SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01SD">MC01SD</A></H2>
+<H3>
+Scaling coefficients of a real polynomial for having minimal variation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale the coefficients of the real polynomial P(x) such that
+  the coefficients of the scaled polynomial Q(x) = sP(tx) have
+  minimal variation, where s and t are real scalars.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, S, T
+C     .. Array Arguments ..
+      INTEGER           E(*), IWORK(*)
+      DOUBLE PRECISION  MANT(*), P(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  P       (input/output) DOUBLE PRECISION array, dimension (DP+1)
+          On entry, this array must contain the coefficients of P(x)
+          in increasing powers of x.
+          On exit, this array contains the coefficients of the
+          scaled polynomial Q(x) in increasing powers of x.
+
+  S       (output) INTEGER
+          The exponent of the floating-point representation of the
+          scaling factor s = BASE**S, where BASE is the base of the
+          machine representation of floating-point numbers (see
+          LAPACK Library Routine DLAMCH).
+
+  T       (output) INTEGER
+          The exponent of the floating-point representation of the
+          scaling factor t = BASE**T.
+
+  MANT    (output) DOUBLE PRECISION array, dimension (DP+1)
+          This array contains the mantissas of the standard
+          floating-point representation of the coefficients of the
+          scaled polynomial Q(x) in increasing powers of x.
+
+  E       (output) INTEGER array, dimension (DP+1)
+          This array contains the exponents of the standard
+          floating-point representation of the coefficients of the
+          scaled polynomial Q(x) in increasing powers of x.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (DP+1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, P(x) is the zero polynomial.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Define the variation of the coefficients of the real polynomial
+
+                                      2                DP
+     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
+
+  whose non-zero coefficients can be represented as
+                       e(i)
+     p(i) = m(i) * BASE     (where 1 &lt;= ABS(m(i)) &lt; BASE)
+
+  by
+
+     V = max(e(i)) - min(e(i)),
+
+  where max and min are taken over the indices i for which p(i) is
+  non-zero.
+                                     DP         i    i
+  For the scaled polynomial P(cx) = SUM p(i) * c  * x  with
+                                    i=0
+             j
+  c  = (BASE) , the variation V(j) is given by
+
+    V(j) = max(e(i) + j * i) - min(e(i) + j * i).
+
+  Using the fact that V(j) is a convex function of j, the routine
+  determines scaling factors s = (BASE)**S and t = (BASE)**T such
+  that the coefficients of the scaled polynomial Q(x) = sP(tx)
+  satisfy the following conditions:
+
+    (a) 1 &lt;= q(0) &lt; BASE and
+
+    (b) the variation of the coefficients of Q(x) is minimal.
+
+  Further details can be found in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Dunaway, D.K.
+      Calculation of Zeros of a Real Polynomial through
+      Factorization using Euclid's Algorithm.
+      SIAM J. Numer. Anal., 11, pp. 1087-1104, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Since the scaling is performed on the exponents of the floating-
+  point representation of the coefficients of P(x), no rounding
+  errors occur during the computation of the coefficients of Q(x).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The scaling factors s and t are BASE dependent.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          BETA, DP, I, INFO, S, T
+*     .. Local Arrays ..
+      DOUBLE PRECISION MANT(DPMAX+1), P(DPMAX+1)
+      INTEGER          E(DPMAX+1), IWORK(DPMAX+1)
+C     .. External Functions ..
+      DOUBLE PRECISION DLAMCH
+      EXTERNAL         DLAMCH
+*     .. External Subroutines ..
+      EXTERNAL         MC01SD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Compute the coefficients of the scaled polynomial Q(x).
+         CALL MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            BETA = DLAMCH( 'Base' )
+            WRITE ( NOUT, FMT = 99995 ) BETA, S, T
+            WRITE ( NOUT,FMT = 99997 )
+            DO 20 I = 0, DP
+               WRITE ( NOUT, FMT = 99996 ) I, P(I+1)
+   20       CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01SD = ',I2)
+99997 FORMAT (/' The coefficients of the scaled polynomial Q(x) = s*P(',
+     $       'tx) are ',//' power of x     coefficient ')
+99996 FORMAT (2X,I5,9X,F9.4)
+99995 FORMAT (' The base of the machine (BETA) = ',I2,//' The scaling ',
+     $       'factors are s = BETA**(',I3,') and t = BETA**(',I3,')')
+99994 FORMAT (/' DP is out of range.',/' DP =',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01SD EXAMPLE PROGRAM DATA
+   5
+  10.0  -40.5  159.5  0.0  2560.0  -10236.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01SD EXAMPLE PROGRAM RESULTS
+
+ The base of the machine (BETA) =  2
+
+ The scaling factors are s = BETA**( -3) and t = BETA**( -2)
+
+ The coefficients of the scaled polynomial Q(x) = s*P(tx) are 
+
+ power of x     coefficient 
+      0            1.2500
+      1           -1.2656
+      2            1.2461
+      3            0.0000
+      4            1.2500
+      5           -1.2496
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01TD.html b/doc/_build/html/_static/doc/MC01TD.html
new file mode 100644
index 00000000..a5224f76
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01TD.html
@@ -0,0 +1,253 @@
+<HTML>
+<HEAD><TITLE>MC01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01TD">MC01TD</A></H2>
+<H3>
+Checking stability of a given real polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine whether or not a given polynomial P(x) with real
+  coefficients is stable, either in the continuous-time or discrete-
+  time case.
+
+  A polynomial is said to be stable in the continuous-time case
+  if all its zeros lie in the left half-plane, and stable in the
+  discrete-time case if all its zeros lie inside the unit circle.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      LOGICAL           STABLE
+      INTEGER           DP, INFO, IWARN, NZ
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), P(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Indicates whether the stability test to be applied to
+          P(x) is in the continuous-time or discrete-time case as
+          follows:
+          = 'C':  Continuous-time case;
+          = 'D':  Discrete-time case.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input/output) INTEGER
+          On entry, the degree of the polynomial P(x).  DP &gt;= 0.
+          On exit, if P(DP+1) = 0.0 on entry, then DP contains the
+          index of the highest power of x for which P(DP+1) &lt;&gt; 0.0.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of P(x) in
+          increasing powers of x.
+
+  STABLE  (output) LOGICAL
+          Contains the value .TRUE. if P(x) is stable and the value
+          .FALSE. otherwise (see also NUMERICAL ASPECTS).
+
+  NZ      (output) INTEGER
+          If INFO = 0, contains the number of unstable zeros - that
+          is, the number of zeros of P(x) in the right half-plane if
+          DICO = 'C' or the number of zeros of P(x) outside the unit
+          circle if DICO = 'D' (see also NUMERICAL ASPECTS).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*DP+2)
+          The leading (DP+1) elements of DWORK contain the Routh
+          coefficients, if DICO = 'C', or the constant terms of
+          the Schur-Cohn transforms, if DICO = 'D'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = k:  if the degree of the polynomial P(x) has been
+                reduced to (DB - k) because P(DB+1-j) = 0.0 on entry
+                for j = 0, 1,..., k-1 and P(DB+1-k) &lt;&gt; 0.0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, P(x) is the zero polynomial;
+          = 2:  if the polynomial P(x) is most probably unstable,
+                although it may be stable with one or more zeros
+                very close to either the imaginary axis if
+                DICO = 'C' or the unit circle if DICO = 'D'.
+                The number of unstable zeros (NZ) is not determined.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The stability of the real polynomial
+                                      2                DP
+     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
+
+  is determined as follows.
+
+  In the continuous-time case (DICO = 'C') the Routh algorithm
+  (see [1]) is used. The routine computes the Routh coefficients and
+  if they are non-zero then the number of sign changes in the
+  sequence of the coefficients is equal to the number of zeros with
+  positive imaginary part.
+
+  In the discrete-time case (DICO = 'D') the Schur-Cohn
+  algorithm (see [2] and [3]) is applied to the reciprocal
+  polynomial
+                                             2               DP
+     Q(x) = p(DP) + p(DP-1) * x + p(DP-2) * x  + ... + p(0) x  .
+
+  The routine computes the constant terms of the Schur transforms
+  and if all of them are non-zero then the number of zeros of P(x)
+  with modulus greater than unity is obtained from the sequence of
+  constant terms.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Gantmacher, F.R.
+      Applications of the Theory of Matrices.
+      Interscience Publishers, New York, 1959.
+
+  [2] Kucera, V.
+      Discrete Linear Control. The Algorithmic Approach.
+      John Wiley & Sons, Chichester, 1979.
+
+  [3] Henrici, P.
+      Applied and Computational Complex Analysis (Vol. 1).
+      John Wiley & Sons, New York, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm used by the routine is numerically stable.
+
+  Note that if some of the Routh coefficients (DICO = 'C') or
+  some of the constant terms of the Schur-Cohn transforms (DICO =
+  'D') are small relative to EPS (the machine precision), then
+  the number of unstable zeros (and hence the value of STABLE) may
+  be incorrect.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          DP, DPP, I, INFO, IWARN, NZ
+      LOGICAL          STABLE
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(2*DPMAX+2), P(DPMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MC01TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = * )
+      READ ( NIN, FMT = * ) DP, DICO
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+         DPP = DP
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Determine whether or not the given polynomial P(x) is stable.
+         CALL MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) DPP, DP
+            END IF
+            IF ( STABLE ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+            ELSE
+               WRITE ( NOUT, FMT = 99994 )
+               IF ( LSAME( DICO, 'D' ) ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) NZ
+               ELSE
+                  WRITE ( NOUT, FMT = 99991 ) NZ
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01TD = ',I2)
+99997 FORMAT (' IWARN on exit from MC01TD = ',I2,/)
+99996 FORMAT (' The degree of the polynomial P(x) has been reduced fro',
+     $       'm ',I2,' to ',I2,/)
+99995 FORMAT (' The polynomial P(x) is stable ')
+99994 FORMAT (' The polynomial P(x) is unstable ')
+99993 FORMAT (/' DP is out of range. ',/' DP = ',I5)
+99992 FORMAT (/' The number of zeros of P(x) outside the unit ',
+     $       'circle = ',I2)
+99991 FORMAT (/' The number of zeros of P(x) in the right ',
+     $       'half-plane = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01TD EXAMPLE PROGRAM DATA
+   4     C
+   2.0  0.0  1.0  -1.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01TD EXAMPLE PROGRAM RESULTS
+
+ The polynomial P(x) is unstable 
+
+ The number of zeros of P(x) in the right half-plane =  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01VD.html b/doc/_build/html/_static/doc/MC01VD.html
new file mode 100644
index 00000000..e6838f9e
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01VD.html
@@ -0,0 +1,168 @@
+<HTML>
+<HEAD><TITLE>MC01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01VD">MC01VD</A></H2>
+<H3>
+Roots of a quadratic equation with real coefficients
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the roots of a quadratic equation with real
+  coefficients.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO
+      DOUBLE PRECISION  A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) DOUBLE PRECISION
+          The value of the coefficient of the quadratic term.
+
+  B       (input) DOUBLE PRECISION
+          The value of the coefficient of the linear term.
+
+  C       (input) DOUBLE PRECISION
+          The value of the coefficient of the constant term.
+
+  Z1RE    (output) DOUBLE PRECISION
+  Z1IM    (output) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of the largest
+          root in magnitude.
+
+  Z2RE    (output) DOUBLE PRECISION
+  Z2IM    (output) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of the
+          smallest root in magnitude.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if on entry, either A = B = 0.0 or A = 0.0 and the
+                root -C/B overflows; in this case Z1RE, Z1IM, Z2RE
+                and Z2IM are unassigned;
+          = 2:  if on entry, A = 0.0; in this case Z1RE contains
+                BIG and Z1IM contains zero, where BIG is a
+                representable number near the overflow threshold
+                of the machine (see LAPACK Library Routine DLAMCH);
+          = 3:  if on entry, either C = 0.0 and the root -B/A
+                overflows or A, B and C are non-zero and the largest
+                real root in magnitude cannot be computed without
+                overflow; in this case Z1RE contains BIG and Z1IM
+                contains zero;
+          = 4:  if the roots cannot be computed without overflow; in
+                this case Z1RE, Z1IM, Z2RE and Z2IM are unassigned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the roots (r1 and r2) of the real quadratic
+  equation
+          2
+     a * x  + b * x + c = 0
+
+  as
+          - b - SIGN(b) * SQRT(b * b - 4 * a * c)             c
+     r1 = ---------------------------------------  and r2 = ------
+                           2 * a                            a * r1
+
+  unless a = 0, in which case
+
+          -c
+     r1 = --.
+           b
+
+  Precautions are taken to avoid overflow and underflow wherever
+  possible.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
+      INTEGER          INFO
+*     .. External Subroutines ..
+      EXTERNAL         MC01VD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) A, B, C
+*     Solve the quadratic equation A*x**2 + B*x + C = 0.
+      CALL MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
+*
+      IF ( INFO.NE.0 ) THEN
+         WRITE ( NOUT, FMT = 99998 ) INFO
+      ELSE
+         WRITE ( NOUT, FMT = 99997 )
+         WRITE ( NOUT, FMT = 99996 ) Z1RE, Z1IM, Z2RE, Z2IM
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01VD = ',I2)
+99997 FORMAT (' The roots of the quadratic equation are ')
+99996 FORMAT (/' x = ',F8.4,2X,SP,F8.4,'*j',SS,/' x = ',F8.4,2X,SP,F8.4,
+     $       '*j')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01VD EXAMPLE PROGRAM DATA
+   0.5  -1.0  2.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01VD EXAMPLE PROGRAM RESULTS
+
+ The roots of the quadratic equation are 
+
+ x =   1.0000   +1.7321*j
+ x =   1.0000   -1.7321*j
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01WD.html b/doc/_build/html/_static/doc/MC01WD.html
new file mode 100644
index 00000000..0f0c0fe7
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01WD.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>MC01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01WD">MC01WD</A></H2>
+<H3>
+Quotient and remainder polynomials for a quadratic denominator polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given real polynomial P(x) and a quadratic
+  polynomial B(x), the quotient polynomial Q(x) and the linear
+  remainder polynomial R(x) such that
+
+     P(x) = B(x) * Q(x) + R(x),
+
+                              2
+  where B(x) = u1 + u2 * x + x , R(x) = q(1) + q(2) * (u2 + x)
+  and u1, u2, q(1) and q(2) are real scalars.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01WD( DP, P, U1, U2, Q, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO
+      DOUBLE PRECISION  U1, U2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(*), Q(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of P(x) in
+          increasing powers of x.
+
+  U1      (input) DOUBLE PRECISION
+          The value of the constant term of the quadratic
+          polynomial B(x).
+
+  U2      (input) DOUBLE PRECISION
+          The value of the coefficient of x of the quadratic
+          polynomial B(x).
+
+  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
+          If DP &gt;= 1 on entry, then elements Q(1) and Q(2) contain
+          the coefficients q(1) and q(2), respectively, of the
+          remainder polynomial R(x), and the next (DP-1) elements
+          of this array contain the coefficients of the quotient
+          polynomial Q(x) in increasing powers of x.
+          If DP = 0 on entry, then element Q(1) contains the
+          coefficient q(1) of the remainder polynomial R(x) = q(1);
+          Q(x) is the zero polynomial.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the real polynomials
+
+             DP           i                           2
+     P(x) = SUM p(i+1) * x  and B(x) = u1 + u2 * x + x
+            i=0
+
+  the routine uses the recurrence relationships
+
+     q(DP+1) = p(DP+1),
+
+     q(DP) = p(DP) - u2 * q(DP+1) and
+
+     q(i)  = p(i) - u2 * q(i+1) - u1 * q(i+2) for i = DP-1, ..., 1
+
+  to determine the coefficients of the quotient polynomial
+
+            DP-2          i
+     Q(x) = SUM q(i+3) * x
+            i=0
+
+  and the remainder polynomial
+
+     R(x) = q(1) + q(2) * (u2 + x).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01WD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 10 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION U1, U2
+      INTEGER          DP, I, INFO
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01WD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT,FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+         READ ( NIN, FMT = * ) U1, U2
+*        Compute Q(x) and R(x) from P(x) = (x**2+U2*x+U1) * Q(x) + R(x).
+         CALL MC01WD( DP, P, U1, U2, Q, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 0, DP - 2
+               WRITE ( NOUT, FMT = 99996 ) I, Q(I+3)
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) Q(1) + Q(2)*U2, Q(2)
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01WD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01WD = ',I2)
+99997 FORMAT (' The coefficients of the quotient polynomial Q(x) are ',
+     $       //' power of x     coefficient ')
+99996 FORMAT (2X,I5,9X,F9.4)
+99995 FORMAT (/' The coefficients of the remainder polynomial R(x) are '
+     $       ,//' power of x     coefficient ',/'      0         ',F9.4,
+     $       /'      1         ',F9.4)
+99994 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01WD EXAMPLE PROGRAM DATA
+   6
+   0.62  1.10  1.64  1.88  2.12  1.70  1.00
+   0.60  0.80
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01WD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the quotient polynomial Q(x) are 
+
+ power of x     coefficient 
+      0            0.6000
+      1            0.7000
+      2            0.8000
+      3            0.9000
+      4            1.0000
+
+ The coefficients of the remainder polynomial R(x) are 
+
+ power of x     coefficient 
+      0            0.2600
+      1            0.2000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC01XD.html b/doc/_build/html/_static/doc/MC01XD.html
new file mode 100644
index 00000000..4a09722c
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC01XD.html
@@ -0,0 +1,200 @@
+<HTML>
+<HEAD><TITLE>MC01XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01XD">MC01XD</A></H2>
+<H3>
+The roots of a third order polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the roots of the polynomial
+
+      P(t) = ALPHA + BETA*t + GAMMA*t^2 + DELTA*t^3 .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDWORK
+      DOUBLE PRECISION  ALPHA, BETA, DELTA, GAMMA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), EVI(3), EVQ(3), EVR(3)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  ALPHA   (input) DOUBLE PRECISION
+  BETA    (input) DOUBLE PRECISION
+  GAMMA   (input) DOUBLE PRECISION
+  DELTA   (input) DOUBLE PRECISION
+          The coefficients of the polynomial P.
+
+  EVR     (output) DOUBLE PRECISION array, DIMENSION at least 3
+  EVI     (output) DOUBLE PRECISION array, DIMENSION at least 3
+  EVQ     (output) DOUBLE PRECISION array, DIMENSION at least 3
+          On output, the kth root of P will be equal to
+          (EVR(K) + i*EVI(K))/EVQ(K) if EVQ(K) .NE. ZERO. Note that
+          the quotient may over- or underflow. If P has a degree d
+          less than 3, then 3-d computed roots will be infinite.
+          EVQ(K) &gt;= 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, DIMENSION (LDWORK)
+          On exit, if LDWORK = -1 on input, then DWORK(1) returns
+          the optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.  LDWORK &gt;= 42.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = j, 1 &lt;= j &lt;= 6, an error occurred during
+                the call to one of the LAPACK Library routines DGGEV
+                or DGEEV (1 &lt;= j &lt;= 3). If INFO &lt; 3, the values
+                returned in EVR(K), EVI(K), and EVQ(K) should be
+                correct for K = INFO+1,...,3.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A matrix pencil is built, whose eigenvalues are the roots of the
+  given polynomial, and they are computed using the QZ algorithm.
+  However, when the ratio between the largest and smallest (in
+  magnitude) polynomial coefficients is relatively big, and either
+  ALPHA or DELTA has the largest magnitude, then a standard
+  eigenproblem is solved using the QR algorithm, and EVQ(I) are set
+  to 1, for I = 1,2,3.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01XD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NEV
+      PARAMETER        ( NEV = 3 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 42 )
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J
+      DOUBLE PRECISION ALPHA, BETA, DELTA, GAMMA
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), EVI(NEV), EVQ(NEV), EVR(NEV),
+     $                 RT(2)
+*     .. External Subroutines ..
+      EXTERNAL         MC01XD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) ALPHA, BETA, GAMMA, DELTA
+*     Compute the roots of the polynomial.
+      CALL MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
+     $             DWORK, LDWORK, INFO )
+*
+      IF ( INFO.NE.0 ) THEN
+         WRITE ( NOUT, FMT = 99998 ) INFO
+      ELSE
+         WRITE ( NOUT, FMT = 99995 )
+         WRITE ( NOUT, FMT = 99996 ) ( EVR(J), J = 1, 3 )
+*
+         WRITE ( NOUT, FMT = 99994 )
+         WRITE ( NOUT, FMT = 99996 ) ( EVI(J), J = 1, 3 )
+*
+         WRITE ( NOUT, FMT = 99993 )
+         WRITE ( NOUT, FMT = 99996 ) ( EVQ(J), J = 1, 3 )
+*
+         WRITE ( NOUT, FMT = 99992 )
+         DO 20 I = 1, 3
+            IF ( EVQ(I).NE.ZERO ) THEN
+               RT(1) = EVR(I)/EVQ(I)
+               RT(2) = EVI(I)/EVQ(I)
+               WRITE ( NOUT, FMT = 99996 ) ( RT(J), J = 1, 2 )
+            END IF
+   20    CONTINUE
+*
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01XD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01XD = ',I2)
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (' Real part of the numerators of the roots')
+99994 FORMAT (' Imaginary part of the numerators of the roots')
+99993 FORMAT (' Denominators of the roots')
+99992 FORMAT (' Roots of the polynomial',/1X)
+      END
+
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01XD EXAMPLE PROGRAM DATA
+   -3098110792.0746     4649783048.0746     -2327508384.0000     388574551.8120
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01XD EXAMPLE PROGRAM RESULTS
+
+ Real part of the numerators of the roots
+   1.0185   1.1048   0.5911
+ Imaginary part of the numerators of the roots
+   0.0000   0.0455  -0.0244
+ Denominators of the roots
+   0.5110   0.5528   0.2958
+ Roots of the polynomial
+
+   1.9931   0.0000
+   1.9984   0.0823
+   1.9984  -0.0823
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC03MD.html b/doc/_build/html/_static/doc/MC03MD.html
new file mode 100644
index 00000000..83f281f0
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC03MD.html
@@ -0,0 +1,358 @@
+<HTML>
+<HEAD><TITLE>MC03MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC03MD">MC03MD</A></H2>
+<H3>
+Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of the real polynomial matrix
+
+     P(x) = P1(x) * P2(x) + alpha * P3(x),
+
+  where P1(x), P2(x) and P3(x) are given real polynomial matrices
+  and alpha is a real scalar.
+
+  Each of the polynomial matrices P1(x), P2(x) and P3(x) may be the
+  zero matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
+     $                   LDP11, LDP12, P2, LDP21, LDP22, P3, LDP31,
+     $                   LDP32, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           CP1, CP2, DP1, DP2, DP3, INFO, LDP11, LDP12,
+     $                  LDP21, LDP22, LDP31, LDP32, RP1
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), P1(LDP11,LDP12,*), P2(LDP21,LDP22,*),
+     $                  P3(LDP31,LDP32,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  RP1     (input) INTEGER
+          The number of rows of the matrices P1(x) and P3(x).
+          RP1 &gt;= 0.
+
+  CP1     (input) INTEGER
+          The number of columns of matrix P1(x) and the number of
+          rows of matrix P2(x).  CP1 &gt;= 0.
+
+  CP2     (input) INTEGER
+          The number of columns of the matrices P2(x) and P3(x).
+          CP2 &gt;= 0.
+
+  DP1     (input) INTEGER
+          The degree of the polynomial matrix P1(x).  DP1 &gt;= -1.
+
+  DP2     (input) INTEGER
+          The degree of the polynomial matrix P2(x).  DP2 &gt;= -1.
+
+  DP3     (input/output) INTEGER
+          On entry, the degree of the polynomial matrix P3(x).
+          DP3 &gt;= -1.
+          On exit, the degree of the polynomial matrix P(x).
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar value alpha of the problem.
+
+  P1      (input) DOUBLE PRECISION array, dimension (LDP11,LDP12,*)
+          If DP1 &gt;= 0, then the leading RP1-by-CP1-by-(DP1+1) part
+          of this array must contain the coefficients of the
+          polynomial matrix P1(x). Specifically, P1(i,j,k) must
+          contain the coefficient of x**(k-1) of the polynomial
+          which is the (i,j)-th element of P1(x), where i = 1,2,...,
+          RP1, j = 1,2,...,CP1 and k = 1,2,...,DP1+1.
+          If DP1 = -1, then P1(x) is taken to be the zero polynomial
+          matrix, P1 is not referenced and can be supplied as a
+          dummy array (i.e. set the parameters LDP11 = LDP12 = 1 and
+          declare this array to be P1(1,1,1) in the calling
+          program).
+
+  LDP11   INTEGER
+          The leading dimension of array P1.
+          LDP11 &gt;= MAX(1,RP1) if DP1 &gt;= 0,
+          LDP11 &gt;= 1          if DP1 = -1.
+
+  LDP12   INTEGER
+          The second dimension of array P1.
+          LDP12 &gt;= MAX(1,CP1) if DP1 &gt;= 0,
+          LDP12 &gt;= 1          if DP1 = -1.
+
+  P2      (input) DOUBLE PRECISION array, dimension (LDP21,LDP22,*)
+          If DP2 &gt;= 0, then the leading CP1-by-CP2-by-(DP2+1) part
+          of this array must contain the coefficients of the
+          polynomial matrix P2(x). Specifically, P2(i,j,k) must
+          contain the coefficient of x**(k-1) of the polynomial
+          which is the (i,j)-th element of P2(x), where i = 1,2,...,
+          CP1, j = 1,2,...,CP2 and k = 1,2,...,DP2+1.
+          If DP2 = -1, then P2(x) is taken to be the zero polynomial
+          matrix, P2 is not referenced and can be supplied as a
+          dummy array (i.e. set the parameters LDP21 = LDP22 = 1 and
+          declare this array to be P2(1,1,1) in the calling
+          program).
+
+  LDP21   INTEGER
+          The leading dimension of array P2.
+          LDP21 &gt;= MAX(1,CP1) if DP2 &gt;= 0,
+          LDP21 &gt;= 1          if DP2 = -1.
+
+  LDP22   INTEGER
+          The second dimension of array P2.
+          LDP22 &gt;= MAX(1,CP2) if DP2 &gt;= 0,
+          LDP22 &gt;= 1          if DP2 = -1.
+
+  P3      (input/output) DOUBLE PRECISION array, dimension
+          (LDP31,LDP32,n), where n = MAX(DP1+DP2,DP3,0)+1.
+          On entry, if DP3 &gt;= 0, then the leading
+          RP1-by-CP2-by-(DP3+1) part of this array must contain the
+          coefficients of the polynomial matrix P3(x). Specifically,
+          P3(i,j,k) must contain the coefficient of x**(k-1) of the
+          polynomial which is the (i,j)-th element of P3(x), where
+          i = 1,2,...,RP1, j = 1,2,...,CP2 and k = 1,2,...,DP3+1.
+          If DP3 = -1, then P3(x) is taken to be the zero polynomial
+          matrix.
+          On exit, if DP3 &gt;= 0 on exit (ALPHA &lt;&gt; 0.0 and DP3 &lt;&gt; -1,
+          on entry, or DP1 &lt;&gt; -1 and DP2 &lt;&gt; -1), then the leading
+          RP1-by-CP2-by-(DP3+1) part of this array contains the
+          coefficients of P(x). Specifically, P3(i,j,k) contains the
+          coefficient of x**(k-1) of the polynomial which is the
+          (i,j)-th element of P(x), where i = 1,2,...,RP1, j = 1,2,
+          ...,CP2 and k = 1,2,...,DP3+1.
+          If DP3 = -1 on exit, then the coefficients of P(x) (the
+          zero polynomial matrix) are not stored in the array.
+
+  LDP31   INTEGER
+          The leading dimension of array P3.  LDP31 &gt;= MAX(1,RP1).
+
+  LDP32   INTEGER
+          The second dimension of array P3.   LDP32 &gt;= MAX(1,CP2).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (CP1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given real polynomial matrices
+
+             DP1            i
+     P1(x) = SUM (A(i+1) * x ),
+             i=0
+
+             DP2            i
+     P2(x) = SUM (B(i+1) * x ),
+             i=0
+
+             DP3            i
+     P3(x) = SUM (C(i+1) * x )
+             i=0
+
+  and a real scalar alpha, the routine computes the coefficients
+  d ,d ,..., of the polynomial matrix
+   1  2
+
+     P(x) = P1(x) * P2(x) + alpha * P3(x)
+
+  from the formula
+
+              s
+     d    =  SUM (A(k+1) * B(i-k+1)) + alpha * C(i+1),
+      i+1    k=r
+
+  where i = 0,1,...,DP1+DP2 and r and s depend on the value of i
+  (e.g. if i &lt;= DP1 and i &lt;= DP2, then r = 0 and s = i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Other elementary operations involving polynomial matrices can
+  easily be obtained by calling the appropriate BLAS routine(s).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC03MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          CP1MAX, CP2MAX, DP1MAX, DP2MAX, DP3MAX, RP1MAX
+      PARAMETER        ( CP1MAX = 10, CP2MAX = 10, DP1MAX = 10,
+     $                   DP2MAX = 10, DP3MAX = 20, RP1MAX = 10 )
+      INTEGER          LDP11, LDP12, LDP21, LDP22, LDP31, LDP32
+      PARAMETER        ( LDP11 = RP1MAX, LDP12 = CP1MAX,
+     $                   LDP21 = CP1MAX, LDP22 = CP2MAX,
+     $                   LDP31 = RP1MAX, LDP32 = CP2MAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA
+      INTEGER          CP1, CP2, DP1, DP2, DP3, I, INFO, J, K, RP1
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(CP1MAX),
+     $                 P1(LDP11,LDP12,DP1MAX+1),
+     $                 P2(LDP21,LDP22,DP2MAX+1),
+     $                 P3(LDP31,LDP32,DP3MAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC03MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) RP1, CP1, CP2
+      IF ( RP1.LT.0 .OR. RP1.GT.RP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) RP1
+      ELSE IF ( CP1.LT.0 .OR. CP1.GT.CP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) CP1
+      ELSE IF ( CP2.LT.0 .OR. CP2.GT.CP2MAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) CP2
+      ELSE
+         READ ( NIN, FMT = * ) DP1
+         IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) DP1
+         ELSE
+            DO 40 K = 1, DP1 + 1
+               DO 20 J = 1, CP1
+                  READ ( NIN, FMT = * ) ( P1(I,J,K), I = 1,RP1 )
+   20          CONTINUE
+   40       CONTINUE
+            READ ( NIN, FMT = * ) DP2
+            IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) DP2
+            ELSE
+               DO 80 K = 1, DP2 + 1
+                  DO 60 J = 1, CP2
+                     READ ( NIN, FMT = * ) ( P2(I,J,K), I = 1,CP1 )
+   60             CONTINUE
+   80          CONTINUE
+               READ ( NIN, FMT = * ) DP3
+               IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) DP3
+               ELSE
+                  DO 120 K = 1, DP3 + 1
+                     DO 100 J = 1, CP2
+                        READ ( NIN, FMT = * ) ( P3(I,J,K), I = 1,RP1 )
+  100                CONTINUE
+  120             CONTINUE
+                  READ ( NIN, FMT = * ) ALPHA
+*                 Compute the coefficients of the polynomial matrix P(x)
+                  CALL MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
+     $                         LDP11, LDP12, P2, LDP21, LDP22, P3,
+     $                         LDP31, LDP32, DWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 ) DP3,
+     $                     ( I-1, I = 1,DP3+1 )
+                     DO 160 I = 1, RP1
+                        DO 140 J = 1, CP2
+                           WRITE ( NOUT, FMT = 99996 ) I, J,
+     $                       ( P3(I,J,K), K = 1,DP3+1 )
+  140                   CONTINUE
+  160                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC03MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC03MD = ',I2)
+99997 FORMAT (' The polynomial matrix P(x) (of degree ',I2,') is ',
+     $       //' power of x         ',20I8)
+99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
+99995 FORMAT (/' RP1 is out of range.',/' RP1 = ',I5)
+99994 FORMAT (/' CP1 is out of range.',/' CP1 = ',I5)
+99993 FORMAT (/' CP2 is out of range.',/' CP2 = ',I5)
+99992 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
+99991 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
+99990 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC03MD EXAMPLE PROGRAM DATA
+   3     2     2
+   2
+   1.0   0.0   3.0
+   2.0  -1.0   2.0
+  -2.0   4.0   9.0
+   3.0   7.0  -2.0
+   6.0   2.0  -3.0
+   1.0   2.0   4.0
+   1
+   6.0   1.0
+   1.0   7.0
+  -9.0  -6.0
+   7.0   8.0
+   1
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+  -1.0   1.0   1.0
+  -1.0  -1.0   1.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC03MD EXAMPLE PROGRAM RESULTS
+
+ The polynomial matrix P(x) (of degree  3) is 
+
+ power of x                0       1       2       3
+
+ element ( 1, 1) is     9.00  -31.00   37.00  -60.00
+
+ element ( 1, 2) is    15.00   41.00   23.00   50.00
+
+ element ( 2, 1) is     0.00   38.00  -64.00  -30.00
+
+ element ( 2, 2) is    -6.00   44.00  100.00   30.00
+
+ element ( 3, 1) is    20.00   14.00  -83.00    3.00
+
+ element ( 3, 2) is    18.00   33.00   72.00   11.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC03ND.html b/doc/_build/html/_static/doc/MC03ND.html
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+<HTML>
+<HEAD><TITLE>MC03ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC03ND">MC03ND</A></H2>
+<H3>
+Minimal polynomial basis for the right nullspace of a polynomial matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a minimal polynomial basis
+                                              DK
+      K(s) = K(0) + K(1) * s + ... + K(DK) * s
+
+  for the right nullspace of the MP-by-NP polynomial matrix of
+  degree DP, given by
+                                              DP
+      P(s) = P(0) + P(1) * s + ... + P(DP) * s  ,
+
+  which corresponds to solving the polynomial matrix equation
+  P(s) * K(s) = 0.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
+     $                   LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DK, DP, INFO, LDKER1, LDKER2, LDNULL, LDP1,
+     $                  LDP2, LDWORK, MP, NP
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           GAM(*), IWORK(*)
+      DOUBLE PRECISION  DWORK(*), KER(LDKER1,LDKER2,*),
+     $                  NULLSP(LDNULL,*), P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the polynomial matrix P(s).
+          MP &gt;= 0.
+
+  NP      (input) INTEGER
+          The number of columns of the polynomial matrix P(s).
+          NP &gt;= 0.
+
+  DP      (input) INTEGER
+          The degree of the polynomial matrix P(s).  DP &gt;= 1.
+
+  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array must
+          contain the coefficients of the polynomial matrix P(s).
+          Specifically, P(i,j,k) must contain the (i,j)-th element
+          of P(k-1), which is the cofficient of s**(k-1) of P(s),
+          where i = 1,2,...,MP, j = 1,2,...,NP and k = 1,2,...,DP+1.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
+
+  LDP2    INTEGER
+          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
+
+  DK      (output) INTEGER
+          The degree of the minimal polynomial basis K(s) for the
+          right nullspace of P(s) unless DK = -1, in which case
+          there is no right nullspace.
+
+  GAM     (output) INTEGER array, dimension (DP*MP+1)
+          The leading (DK+1) elements of this array contain
+          information about the ordering of the right nullspace
+          vectors stored in array NULLSP.
+
+  NULLSP  (output) DOUBLE PRECISION array, dimension
+          (LDNULL,(DP*MP+1)*NP)
+          The leading NP-by-SUM(i*GAM(i)) part of this array
+          contains the right nullspace vectors of P(s) in condensed
+          form (as defined in METHOD), where i = 1,2,...,DK+1.
+
+  LDNULL  INTEGER
+          The leading dimension of array NULLSP.
+          LDNULL &gt;= MAX(1,NP).
+
+  KER     (output) DOUBLE PRECISION array, dimension
+          (LDKER1,LDKER2,DP*MP+1)
+          The leading NP-by-nk-by-(DK+1) part of this array contains
+          the coefficients of the minimal polynomial basis K(s),
+          where nk = SUM(GAM(i)) and i = 1,2,...,DK+1. Specifically,
+          KER(i,j,m) contains the (i,j)-th element of K(m-1), which
+          is the coefficient of s**(m-1) of K(s), where i = 1,2,...,
+          NP, j = 1,2,...,nk and m = 1,2,...,DK+1.
+
+  LDKER1  INTEGER
+          The leading dimension of array KER.  LDKER1 &gt;= MAX(1,NP).
+
+  LDKER2  INTEGER
+          The second dimension of array KER.   LDKER2 &gt;= MAX(1,NP).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance below which matrix elements are considered
+          to be zero. If the user sets TOL to be less than
+          10 * EPS * MAX( ||A|| , ||E|| ), then the tolerance is
+                               F       F
+          taken as 10 * EPS * MAX( ||A|| , ||E|| ), where EPS is the
+                                        F       F
+          machine precision (see LAPACK Library Routine DLAMCH) and
+          A and E are matrices (as defined in METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (m+2*MAX(n,m+1)+n),
+          where m = DP*MP and n = (DP-1)*MP + NP.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= m*n*n + 2*m*n + 2*n*n.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          &gt; 0:  if incorrect rank decisions were taken during the
+                computations. This failure is not likely to occur.
+                The possible values are:
+                  k, 1 &lt;= k &lt;= DK+1, the k-th diagonal submatrix had
+                        not a full row rank;
+                  DK+2, if incorrect dimensions of a full column
+                        rank submatrix;
+                  DK+3, if incorrect dimensions of a full row rank
+                        submatrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The computation of the right nullspace of the MP-by-NP polynomial
+  matrix P(s) of degree DP given by
+                                               DP-1            DP
+     P(s) = P(0) + P(1) * s + ... + P(DP-1) * s     + P(DP) * s
+
+  is performed via the pencil s*E - A, associated with P(s), where
+
+         | I              |           | 0         -P(DP) |
+         |   .            |           | I .          .   |
+     A = |     .          |  and  E = |   . .        .   |.      (1)
+         |       .        |           |     . 0      .   |
+         |         I      |           |       I 0 -P(2)  |
+         |           P(0) |           |         I -P(1)  |
+
+  The pencil s*E - A is transformed by unitary matrices Q and Z such
+  that
+
+                  | sE(eps)-A(eps) |        X       |      X     |
+                  |----------------|----------------|------------|
+                  |        0       | sE(inf)-A(inf) |      X     |
+     Q'(s*E-A)Z = |=================================|============|.
+                  |                                 |            |
+                  |                0                | sE(r)-A(r) |
+
+  Since s*E(inf)-A(inf) and s*E(r)-A(r) have full column rank, the
+  minimal polynomial basis for the right nullspace of Q'(s*E-A)Z
+  (and consequently the basis for the right nullspace of s*E - A) is
+  completely determined by s*E(eps)-A(eps).
+
+  Let Veps(s) be a minimal polynomial basis for the right nullspace
+  of s*E(eps)-A(eps). Then
+
+                | Veps(s) |
+     V(s) = Z * |---------|
+                |    0    |
+
+  is a minimal polynomial basis for the right nullspace of s*E - A.
+  From the structure of s*E - A it can be shown that if V(s) is
+  partitioned as
+
+            | Vo(s) | (DP-1)*MP
+     V(s) = |------ |
+            | Ve(s) | NP
+
+  then the columns of Ve(s) form a minimal polynomial basis for the
+  right nullspace of P(s).
+
+  The vectors of Ve(s) are computed and stored in array NULLSP in
+  the following condensed form:
+
+     ||      ||      |      ||      |      |      ||      |     |
+     || U1,0 || U2,0 | U2,1 || U3,0 | U3,1 | U3,2 || U4,0 | ... |,
+     ||      ||      |      ||      |      |      ||      |     |
+
+  where Ui,j is an NP-by-GAM(i) matrix which contains the i-th block
+  of columns of K(j), the j-th coefficient of the polynomial matrix
+  representation for the right nullspace
+                                               DK
+     K(s) = K(0) + K(1) * s + . . . + K(DK) * s  .
+
+  The coefficients K(0), K(1), ..., K(DK) are NP-by-nk matrices
+  given by
+
+     K(0)  = | U1,0 | U2,0 | U3,0 | . . .          | U(DK+1,0) |
+
+     K(1)  = |  0   | U2,1 | U3,1 | . . .          | U(DK+1,1) |
+
+     K(2)  = |  0   |  0   | U3,2 | . . .          | U(DK+1,2) |
+
+       .     .     .     .     .     .     .     .     .     .
+
+     K(DK) = |  0   |  0   |  0   | . . .    |  0  | U(DK+1,DK)|.
+
+  Note that the degree of K(s) satisfies the inequality DK &lt;=
+  DP * MIN(MP,NP) and that the dimension of K(s) satisfies the
+  inequality (NP-MP) &lt;= nk &lt;= NP.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Beelen, Th.G.J.
+      New Algorithms for Computing the Kronecker structure of a
+      Pencil with Applications to Systems and Control Theory.
+      Ph.D.Thesis, Eindhoven University of Technology, 1987.
+
+  [2] Van Den Hurk, G.J.H.H.
+      New Algorithms for Solving Polynomial Matrix Problems.
+      Master's Thesis, Eindhoven University of Technology, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm used by the routine involves the construction of a
+  special block echelon form with pivots considered to be non-zero
+  when they are larger than TOL. These pivots are then inverted in
+  order to construct the columns of the kernel of the polynomial
+  matrix. If TOL is chosen to be too small then these inversions may
+  be sensitive whereas increasing TOL will make the inversions more
+  robust but will affect the block echelon form (and hence the
+  column degrees of the polynomial kernel). Furthermore, if the
+  elements of the computed polynomial kernel are large relative to
+  the polynomial matrix, then the user should consider trying
+  several values of TOL.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  It also possible to compute a minimal polynomial basis for the
+  right nullspace of a pencil, since a pencil is a polynomial matrix
+  of degree 1. Thus for the pencil (s*E - A), the required input is
+  P(1)  = E and P(0) = -A.
+
+  The routine can also be used to compute a minimal polynomial
+  basis for the left nullspace of a polynomial matrix by simply
+  transposing P(s).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC03ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX, MPMAX, NPMAX
+*     PARAMETER        ( DPMAX = 5, MPMAX = 5, NPMAX = 5 )
+      PARAMETER        ( DPMAX = 2, MPMAX = 5, NPMAX = 4 )
+      INTEGER          LDP1, LDP2, LDNULL, LDKER1, LDKER2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX, LDNULL = NPMAX,
+     $                   LDKER1 = NPMAX, LDKER2 = NPMAX )
+      INTEGER          M, N
+      PARAMETER        ( M = DPMAX*MPMAX, N = ( DPMAX-1 )*MPMAX+NPMAX )
+      INTEGER          LIWORK, LDWORK
+*     PARAMETER        ( LIWORK = 3*( N+M )+2,
+      PARAMETER        ( LIWORK = M+2*MAX( N,M+1 )+N,
+     $                   LDWORK = M*N**2+2*M*N+2*N**2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DK, DP, I, INFO, J, K, M1, MP, NK, NP
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), KER(LDKER1,LDKER2,M+1),
+     $                 NULLSP(LDNULL,(M+1)*NPMAX), P(LDP1,LDP2,DPMAX+1)
+      INTEGER          GAM(M+1), IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         MC03ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP, TOL
+      IF ( MP.LT.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) MP
+      ELSE IF ( NP.LT.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) NP
+      ELSE IF ( DP.LE.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) DP
+      ELSE
+         DO 40 K = 1, DP + 1
+            DO 20 I = 1, MP
+               READ ( NIN, FMT = * ) ( P(I,J,K), J = 1,NP )
+   20       CONTINUE
+   40    CONTINUE
+*        Compute a minimal polynomial basis K(s) of the given P(s).
+         CALL MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
+     $                LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
+     $                LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE IF ( DK.LT.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+         ELSE
+            NK = 0
+            M1 = 0
+            DO 60 I = 1, DK + 1
+               NK = NK + GAM(I)
+               M1 = M1 + GAM(I)*I
+   60       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 80 I = 1, NP
+               WRITE ( NOUT, FMT = 99995 ) ( NULLSP(I,J), J = 1,M1 )
+   80       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) DK, ( I-1, I = 1,DK+1 )
+            DO 120 I = 1, NP
+               DO 100 J = 1, NK
+                  WRITE ( NOUT, FMT = 99993 )
+     $                  I, J, ( KER(I,J,K), K = 1,DK+1 )
+  100          CONTINUE
+  120       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC03ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC03ND = ',I2)
+99997 FORMAT (' The polynomial matrix P(s) has no right nullspace')
+99996 FORMAT (' The right nullspace vectors of P(s) are ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The minimal polynomial basis K(s) (of degree ',I2,') ',
+     $       'for the right nullspace is ',//' power of s         ',
+     $       20I8)
+99993 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
+99992 FORMAT (/' DP is out of range.',/' DP = ',I5)
+99991 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99990 FORMAT (/' MP is out of range.',/' MP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC03ND EXAMPLE PROGRAM DATA
+   5     4     2     0.0
+   2.0   2.0   0.0   3.0
+   0.0   4.0   0.0   6.0
+   8.0   8.0   0.0  12.0
+   0.0   0.0   0.0   0.0
+   2.0   2.0   0.0   3.0
+   1.0   0.0   1.0   0.0
+   0.0   0.0   2.0   0.0
+   4.0   0.0   4.0   0.0
+   2.0   2.0   0.0   3.0
+   3.0   2.0   1.0   3.0
+   0.0   0.0   0.0   0.0
+   1.0   0.0   0.0   0.0
+   0.0   0.0   0.0   0.0
+   1.0   0.0   1.0   0.0
+   1.0   0.0   1.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC03ND EXAMPLE PROGRAM RESULTS
+
+ The right nullspace vectors of P(s) are 
+   0.0000   0.0000   0.0000
+  -0.8321   0.0000   0.1538
+   0.0000  -1.0000   0.0000
+   0.5547   0.0000   0.2308
+
+ The minimal polynomial basis K(s) (of degree  1) for the right nullspace is 
+
+ power of s                0       1
+
+ element ( 1, 1) is     0.00    0.00
+
+ element ( 1, 2) is     0.00    0.00
+
+ element ( 2, 1) is    -0.83    0.00
+
+ element ( 2, 2) is     0.00    0.15
+
+ element ( 3, 1) is     0.00    0.00
+
+ element ( 3, 2) is    -1.00    0.00
+
+ element ( 4, 1) is     0.55    0.00
+
+ element ( 4, 2) is     0.00    0.23
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MC03NX.html b/doc/_build/html/_static/doc/MC03NX.html
new file mode 100644
index 00000000..0ed169df
--- /dev/null
+++ b/doc/_build/html/_static/doc/MC03NX.html
@@ -0,0 +1,121 @@
+<HTML>
+<HEAD><TITLE>MC03NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC03NX">MC03NX</A></H2>
+<H3>
+Construction of a pencil sE-A related to a given polynomial matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given an MP-by-NP polynomial matrix of degree dp
+                                 dp-1            dp
+  P(s) = P(0) + ... + P(dp-1) * s     + P(dp) * s            (1)
+
+  the routine composes the related pencil s*E-A where
+
+      | I              |           | O          -P(dp) |
+      |   .            |           | I .           .   |
+  A = |     .          |  and  E = |   . .         .   |.    (2)
+      |       .        |           |     . O       .   |
+      |         I      |           |       I  O -P(2)  |
+      |           P(0) |           |          I -P(1)  |
+
+  ==================================================================
+  REMARK: This routine is intended to be called only from the SLICOT
+          routine MC03ND.
+  ==================================================================
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC03NX( MP, NP, DP, P, LDP1, LDP2, A, LDA, E, LDE )
+C     .. Scalar Arguments ..
+      INTEGER           DP, LDA, LDE, LDP1, LDP2, MP, NP
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the polynomial matrix P(s).
+          MP &gt;= 0.
+
+  NP      (input) INTEGER
+          The number of columns of the polynomial matrix P(s).
+          NP &gt;= 0.
+
+  DP      (input) INTEGER
+          The degree of the polynomial matrix P(s).  DP &gt;= 1.
+
+  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array must
+          contain the coefficients of the polynomial matrix P(s)
+          in (1) in increasing powers of s.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
+
+  LDP2    INTEGER
+          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
+
+  A       (output) DOUBLE PRECISION array, dimension
+          (LDA,(DP-1)*MP+NP)
+          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
+          contains the matrix A as described in (2).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,DP*MP).
+
+  E       (output) DOUBLE PRECISION array, dimension
+          (LDE,(DP-1)*MP+NP)
+          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
+          contains the matrix E as described in (2).
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,DP*MP).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MD03AD.html b/doc/_build/html/_static/doc/MD03AD.html
new file mode 100644
index 00000000..eb2637de
--- /dev/null
+++ b/doc/_build/html/_static/doc/MD03AD.html
@@ -0,0 +1,788 @@
+<HTML>
+<HEAD><TITLE>MD03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03AD">MD03AD</A></H2>
+<H3>
+Solution of a standard nonlinear least squares problem (Cholesky-based or conjugate gradients solver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To minimize the sum of the squares of m nonlinear functions, e, in
+  n variables, x, by a modification of the Levenberg-Marquardt
+  algorithm, using either a Cholesky-based or a conjugate gradients
+  solver. The user must provide a subroutine FCN which calculates
+  the functions and the Jacobian J (possibly by finite differences),
+  and another subroutine JPJ, which computes either J'*J + par*I
+  (if ALG = 'D'), or (J'*J + par*I)*x (if ALG = 'I'), where par is
+  the Levenberg factor, exploiting the possible structure of the
+  Jacobian matrix. Template implementations of these routines are
+  included in the SLICOT Library.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03AD( XINIT, ALG, STOR, UPLO, FCN, JPJ, M, N, ITMAX,
+     $                   NPRINT, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
+     $                   LDPAR2, X, NFEV, NJEV, TOL, CGTOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ALG, STOR, UPLO, XINIT
+      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
+     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  CGTOL, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DPAR1(LDPAR1,*), DPAR2(LDPAR2,*), DWORK(*), X(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  XINIT   CHARACTER*1
+          Specifies how the variables x are initialized, as follows:
+          = 'R' :  the array X is initialized to random values; the
+                   entries DWORK(1:4) are used to initialize the
+                   random number generator: the first three values
+                   are converted to integers between 0 and 4095, and
+                   the last one is converted to an odd integer
+                   between 1 and 4095;
+          = 'G' :  the given entries of X are used as initial values
+                   of variables.
+
+  ALG     CHARACTER*1
+          Specifies the algorithm used for solving the linear
+          systems involving a Jacobian matrix J, as follows:
+          = 'D' :  a direct algorithm, which computes the Cholesky
+                   factor of the matrix J'*J + par*I is used;
+          = 'I' :  an iterative Conjugate Gradients algorithm, which
+                   only needs the matrix J, is used.
+          In both cases, matrix J is stored in a compressed form.
+
+  STOR    CHARACTER*1
+          If ALG = 'D', specifies the storage scheme for the
+          symmetric matrix J'*J, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+          The option STOR = 'F' usually ensures a faster execution.
+          This parameter is not relevant if ALG = 'I'.
+
+  UPLO    CHARACTER*1
+          If ALG = 'D', specifies which part of the matrix J'*J
+          is stored, as follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+          The option UPLO = 'U' usually ensures a faster execution.
+          This parameter is not relevant if ALG = 'I'.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  FCN     EXTERNAL
+          Subroutine which evaluates the functions and the Jacobian.
+          FCN must be declared in an external statement in the user
+          calling program, and must have the following interface:
+
+          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
+         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, JTE,
+         $                DWORK, LDWORK, INFO )
+
+          where
+
+          IFLAG   (input/output) INTEGER
+                  On entry, this parameter must contain a value
+                  defining the computations to be performed:
+                  = 0 :  Optionally, print the current iterate X,
+                         function values E, and Jacobian matrix J,
+                         or other results defined in terms of these
+                         values. See the argument NPRINT of MD03AD.
+                         Do not alter E and J.
+                  = 1 :  Calculate the functions at X and return
+                         this vector in E. Do not alter J.
+                  = 2 :  Calculate the Jacobian at X and return
+                         this matrix in J. Also return J'*e in JTE
+                         and NFEVL (see below). Do not alter E.
+                  = 3 :  Do not compute neither the functions nor
+                         the Jacobian, but return in LDJ and
+                         IPAR/DPAR1,DPAR2 (some of) the integer/real
+                         parameters needed.
+                  On exit, the value of this parameter should not be
+                  changed by FCN unless the user wants to terminate
+                  execution of MD03AD, in which case IFLAG must be
+                  set to a negative integer.
+
+          M       (input) INTEGER
+                  The number of functions.  M &gt;= 0.
+
+          N       (input) INTEGER
+                  The number of variables.  M &gt;= N &gt;= 0.
+
+          IPAR    (input/output) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix or needed for problem solving.
+                  IPAR is an input parameter, except for IFLAG = 3
+                  on entry, when it is also an output parameter.
+                  On exit, if IFLAG = 3, IPAR(1) contains the length
+                  of the array J, for storing the Jacobian matrix,
+                  and the entries IPAR(2:5) contain the workspace
+                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
+                  JPJ for ALG = 'D', and JPJ for ALG = 'I',
+                  respectively.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 5.
+
+          DPAR1   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR1,*) or (LDPAR1)
+                  A first set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR1 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR1 could
+                  store the input trajectory of a system.
+
+          LDPAR1  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
+                  if leading dimension.)
+
+          DPAR2   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR2,*) or (LDPAR2)
+                  A second set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR2 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR2 could
+                  store the output trajectory of a system.
+
+          LDPAR2  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
+                  if leading dimension.)
+
+          X       (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the value of the
+                  variables x where the functions or the Jacobian
+                  must be evaluated.
+
+          NFEVL   (input/output) INTEGER
+                  The number of function evaluations needed to
+                  compute the Jacobian by a finite difference
+                  approximation.
+                  NFEVL is an input parameter if IFLAG = 0, or an
+                  output parameter if IFLAG = 2. If the Jacobian is
+                  computed analytically, NFEVL should be set to a
+                  non-positive value.
+
+          E       (input/output) DOUBLE PRECISION array,
+                  dimension (M)
+                  This array contains the value of the (error)
+                  functions e evaluated at X.
+                  E is an input parameter if IFLAG = 0 or 2, or an
+                  output parameter if IFLAG = 1.
+
+          J       (input/output) DOUBLE PRECISION array, dimension
+                  (LDJ,NC), where NC is the number of columns
+                  needed.
+                  This array contains a possibly compressed
+                  representation of the Jacobian matrix evaluated
+                  at X. If full Jacobian is stored, then NC = N.
+                  J is an input parameter if IFLAG = 0, or an output
+                  parameter if IFLAG = 2.
+
+          LDJ     (input/output) INTEGER
+                  The leading dimension of array J.  LDJ &gt;= 1.
+                  LDJ is essentially used inside the routines FCN
+                  and JPJ.
+                  LDJ is an input parameter, except for IFLAG = 3
+                  on entry, when it is an output parameter.
+                  It is assumed in MD03AD that LDJ is not larger
+                  than needed.
+
+          JTE     (output) DOUBLE PRECISION array, dimension (N)
+                  If IFLAG = 2, the matrix-vector product J'*e.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine FCN.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine FCN).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine FCN. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+  JPJ     EXTERNAL
+          Subroutine which computes J'*J + par*I, if ALG = 'D', and
+          J'*J*x + par*x, if ALG = 'I', where J is the Jacobian as
+          described above.
+
+          JPJ must have the following interface:
+
+          SUBROUTINE JPJ( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR,
+         $                J, LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
+
+          if ALG = 'D', and
+
+          SUBROUTINE JPJ( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X,
+         $                INCX, DWORK, LDWORK, INFO )
+
+          if ALG = 'I', where
+
+          STOR    (input) CHARACTER*1
+                  Specifies the storage scheme for the symmetric
+                  matrix J'*J, as follows:
+                  = 'F' :  full storage is used;
+                  = 'P' :  packed storage is used.
+
+          UPLO    (input) CHARACTER*1
+                  Specifies which part of the matrix J'*J is stored,
+                  as follows:
+                  = 'U' :  the upper triagular part is stored;
+                  = 'L' :  the lower triagular part is stored.
+
+          N       (input) INTEGER
+                  The number of columns of the matrix J.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+                  DPAR(1) must contain an initial estimate of the
+                  Levenberg-Marquardt parameter, par.  DPAR(1) &gt;= 0.
+
+          LDPAR   (input) INTEGER
+                  The length of the array DPAR.  LDPAR &gt;= 1.
+
+          J       (input) DOUBLE PRECISION array, dimension
+                  (LDJ, NC), where NC is the number of columns.
+                  The leading NR-by-NC part of this array must
+                  contain the (compressed) representation of the
+                  Jacobian matrix J, where NR is the number of rows
+                  of J (function of IPAR entries).
+
+          LDJ     (input) INTEGER
+                  The leading dimension of array J.
+                  LDJ &gt;= MAX(1,NR).
+
+          JTJ     (output) DOUBLE PRECISION array,
+                           dimension (LDJTJ,N),    if STOR = 'F',
+                           dimension (N*(N+1)/2),  if STOR = 'P'.
+                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
+                  (if STOR = 'P') part of this array contains the
+                  upper or lower triangle of the matrix J'*J+par*I,
+                  depending on UPLO = 'U', or UPLO = 'L',
+                  respectively, stored either as a two-dimensional,
+                  or one-dimensional array, depending on STOR.
+
+          LDJTJ   (input) INTEGER
+                  The leading dimension of the array JTJ.
+                  LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
+                  LDJTJ &gt;= 1,        if STOR = 'P'.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine JPJ.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine JPJ).
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine JPJ. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO
+                  values. INFO must be zero if the subroutine
+                  finished successfully.
+
+          If ALG = 'I', the parameters in common with those for
+          ALG = 'D', have the same meaning, and the additional
+          parameters are:
+
+          X       (input/output) DOUBLE PRECISION array, dimension
+                  (1+(N-1)*INCX)
+                  On entry, this incremented array must contain the
+                  vector x.
+                  On exit, this incremented array contains the value
+                  of the matrix-vector product (J'*J + par)*x.
+
+          INCX    (input) INTEGER
+                  The increment for the elements of X.  INCX &gt; 0.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of functions.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of variables.  M &gt;= N &gt;= 0.
+
+  ITMAX   (input) INTEGER
+          The maximum number of iterations.  ITMAX &gt;= 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          with X, E, and J available for printing. If NPRINT is not
+          positive, no special calls of FCN with IFLAG = 0 are made.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed, for instance, for
+          describing the structure of the Jacobian matrix, which
+          are handed over to the routines FCN and JPJ.
+          The first five entries of this array are modified
+          internally by a call to FCN (with IFLAG = 3), but are
+          restored on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 5.
+
+  DPAR1   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR1,*) or (LDPAR1)
+          A first set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03AD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR1  (input) INTEGER
+          The leading dimension or the length of the array DPAR1, as
+          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
+          dimension.)
+
+  DPAR2   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR2,*) or (LDPAR2)
+          A second set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03AD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR2  (input) INTEGER
+          The leading dimension or the length of the array DPAR2, as
+          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
+          dimension.)
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if XINIT = 'G', this array must contain the
+          vector of initial variables x to be optimized.
+          If XINIT = 'R', this array need not be set before entry,
+          and random values will be used to initialize x.
+          On exit, if INFO = 0, this array contains the vector of
+          values that (approximately) minimize the sum of squares of
+          error functions. The values returned in IWARN and
+          DWORK(1:5) give details on the iterative process.
+
+  NFEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 1. If FCN is
+          properly implemented, this includes the function
+          evaluations needed for finite difference approximation
+          of the Jacobian.
+
+  NJEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 2.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If TOL &gt;= 0, the tolerance which measures the relative
+          error desired in the sum of squares. Termination occurs
+          when the actual relative reduction in the sum of squares
+          is at most TOL. If the user sets  TOL &lt; 0, then  SQRT(EPS)
+          is used instead TOL, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+
+  CGTOL   DOUBLE PRECISION
+          If ALG = 'I' and CGTOL &gt; 0, the tolerance which measures
+          the relative residual of the solutions computed by the
+          conjugate gradients (CG) algorithm. Termination of a
+          CG process occurs when the relative residual is at
+          most CGTOL. If the user sets  CGTOL &lt;= 0, then  SQRT(EPS)
+          is used instead CGTOL.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, DWORK(4) returns the total number of conjugate
+          gradients iterations performed (zero, if ALG = 'D'), and
+          DWORK(5) returns the final Levenberg factor.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 5, M + 2*N + size(J) +
+                         max( DW( FCN|IFLAG = 1 ) + N,
+                              DW( FCN|IFLAG = 2 ),
+                              DW( sol ) ) ),
+          where size(J) is the size of the Jacobian (provided by FCN
+          in IPAR(1), for IFLAG = 3), DW( f ) is the workspace
+          needed by the routine f, where f is FCN or JPJ (provided
+          by FCN in IPAR(2:5), for IFLAG = 3), and DW( sol ) is the
+          workspace needed for solving linear systems,
+          DW( sol ) = N*N + DW( JPJ ),  if ALG = 'D', STOR = 'F';
+          DW( sol ) = N*(N+1)/2 + DW( JPJ ),
+                                        if ALG = 'D', STOR = 'P';
+          DW( sol ) = 3*N + DW( JPJ ),  if ALG = 'I'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
+          = 0:  no warning;
+          = 1:  if the iterative process did not converge in ITMAX
+                iterations with tolerance TOL;
+          = 2:  if ALG = 'I', and in one or more iterations of the
+                Levenberg-Marquardt algorithm, the conjugate
+                gradient algorithm did not finish after 3*N
+                iterations, with the accuracy required in the
+                call;
+          = 3:  the cosine of the angle between e and any column of
+                the Jacobian is at most FACTOR*EPS in absolute
+                value, where FACTOR = 100 is defined in a PARAMETER
+                statement;
+          = 4:  TOL is too small: no further reduction in the sum
+                of squares is possible.
+                In all these cases, DWORK(1:5) are set as described
+                above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 1;
+          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 2;
+          = 3:  SLICOT Library routine MB02XD, if ALG = 'D', or
+                SLICOT Library routine MB02WD, if ALG = 'I' (or
+                user-defined routine JPJ), returned with INFO &lt;&gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If XINIT = 'R', the initial value for X is set to a vector of
+  pseudo-random values uniformly distributed in [-1,1].
+
+  The Levenberg-Marquardt algorithm (described in [1]) is used for
+  optimizing the parameters. This algorithm needs the Jacobian
+  matrix J, which is provided by the subroutine FCN. The algorithm
+  tries to update x by the formula
+
+      x = x - p,
+
+  using the solution of the system of linear equations
+
+      (J'*J + PAR*I)*p = J'*e,
+
+  where I is the identity matrix, and e the error function vector.
+  The Levenberg factor PAR is decreased after each successfull step
+  and increased in the other case.
+
+  If ALG = 'D', a direct method, which evaluates the matrix product
+  J'*J + par*I and then factors it using Cholesky algorithm,
+  implemented in the SLICOT Libray routine MB02XD, is used for
+  solving the linear system above.
+
+  If ALG = 'I', the Conjugate Gradients method, described in [2],
+  and implemented in the SLICOT Libray routine MB02WD, is used for
+  solving the linear system above. The main advantage of this method
+  is that in most cases the solution of the system can be computed
+  in less time than the time needed to compute the matrix J'*J
+  This is, however, problem dependent.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kelley, C.T.
+      Iterative Methods for Optimization.
+      Society for Industrial and Applied Mathematics (SIAM),
+      Philadelphia (Pa.), 1999.
+
+  [2] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
+      1996.
+
+  [3] More, J.J.
+      The Levenberg-Marquardt algorithm: implementation and theory.
+      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
+      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
+      and New York, pp. 105-116, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The Levenberg-Marquardt algorithm described in [3] is scaling
+  invariant and globally convergent to (maybe local) minima.
+  According to [1], the convergence rate near a local minimum is
+  quadratic, if the Jacobian is computed analytically, and linear,
+  if the Jacobian is computed numerically.
+
+  Whether or not the direct algorithm is faster than the iterative
+  Conjugate Gradients algorithm for solving the linear systems
+  involved depends on several factors, including the conditioning
+  of the Jacobian matrix, and the ratio between its dimensions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MD03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           MMAX, NMAX
+      PARAMETER         ( MMAX = 20, NMAX = 20 )
+      INTEGER           LDWORK
+      PARAMETER         ( LDWORK = MMAX + 2*NMAX + MMAX*NMAX +
+     $                             MAX( NMAX*NMAX, 3*NMAX + MMAX ) )
+*     .. The lengths of DPAR1, DPAR2, IPAR are set to 1, 1, and 5 ..
+      INTEGER           LDPAR1, LDPAR2, LIPAR
+      PARAMETER         ( LDPAR1 = 1, LDPAR2 = 1, LIPAR = 5 )
+*     .. Local Scalars ..
+      CHARACTER*1       ALG, STOR, UPLO, XINIT
+      INTEGER           I, INFO, ITMAX, IWARN, M, N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  CGTOL, TOL
+*     .. Array Arguments ..
+      INTEGER           IPAR(LIPAR)
+      DOUBLE PRECISION  DPAR1(LDPAR1), DPAR2(LDPAR2), DWORK(LDWORK),
+     $                  X(NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          MD03AD, MD03AF, NF01BV, NF01BX
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, ITMAX, NPRINT, TOL, CGTOL, XINIT,
+     $                      ALG, STOR, UPLO
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) N
+         ELSE
+            IF ( LSAME( XINIT, 'G' ) )
+     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+*           Solve a standard nonlinear least squares problem.
+            IPAR(1) = M
+            IF ( LSAME( ALG, 'D' ) ) THEN
+               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BV, M,
+     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
+     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
+     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
+            ELSE
+               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BX, M,
+     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
+     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
+     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
+            END IF
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
+               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
+               WRITE ( NOUT, FMT = 99994 )
+               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MD03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MD03AD = ',I2)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' The number of function and Jacobian evaluations = ',
+     $           2I7)
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (' IWARN on exit from MD03AD = ',I2)
+      END
+C
+      SUBROUTINE MD03AF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
+     $                   LDPAR2, X, NFEVL, E, J, LDJ, JTE, DWORK,
+     $                   LDWORK, INFO )
+C
+C     This is the FCN routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03AD. See the
+C     argument FCN in the routine MD03AD for the description of
+C     parameters.
+C
+C     The example programmed in this routine is adapted from that
+C     accompanying the MINPACK routine LMDER.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+C     .. NOUT is the unit number for printing intermediate results ..
+      INTEGER           NOUT
+      PARAMETER         ( NOUT = 6 )
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
+     $                  M, N, NFEVL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
+     $                  JTE(*), X(*)
+C     .. Local Scalars ..
+      INTEGER           I
+      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
+C     .. External Functions ..
+      DOUBLE PRECISION  DNRM2
+      EXTERNAL          DNRM2
+C     .. External Subroutines ..
+      EXTERNAL          DGEMV
+C     .. DATA Statements ..
+      DOUBLE PRECISION  Y(15)
+      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
+     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
+     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
+     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
+     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
+C
+C     .. Executable Statements ..
+C
+      INFO = 0
+      IF ( IFLAG.EQ.1 ) THEN
+C
+C        Compute the error function values, e.
+C
+         DO 10 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
+   10    CONTINUE
+C
+      ELSE IF ( IFLAG.EQ.2 ) THEN
+C
+C        Compute the Jacobian.
+C
+         DO 30 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
+            J(I,1) = -ONE
+            J(I,2) = TMP1*TMP2/TMP4
+            J(I,3) = TMP1*TMP3/TMP4
+   30    CONTINUE
+C
+C        Compute the product J'*e (the error e was computed in array E).
+C
+         CALL DGEMV( 'Transpose', M, N, ONE, J, LDJ, E, 1, ZERO, JTE,
+     $               1 )
+C
+         NFEVL = 0
+C
+      ELSE IF ( IFLAG.EQ.3 ) THEN
+C
+C        Set the parameter LDJ, the length of the array J, and the sizes
+C        of the workspace for MD03AF (IFLAG = 1 or 2), NF01BV and
+C        NF01BX.
+C
+         LDJ = M
+         IPAR(1) = M*N
+         IPAR(2) = 0
+         IPAR(3) = 0
+         IPAR(4) = M
+      ELSE IF ( IFLAG.EQ.0 ) THEN
+C
+C        Special call for printing intermediate results.
+C
+         ERR = DNRM2( M, E, 1 )
+         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
+C
+      END IF
+C
+      DWORK(1) = ZERO
+      RETURN
+C
+C *** Last line of MD03AF ***
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MD03AD EXAMPLE PROGRAM DATA
+ 15     3   100     0   -1.   -1.    G     D     F    U
+   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MD03AD EXAMPLE PROGRAM RESULTS
+
+
+ Final 2-norm of the residuals =   0.9063596D-01
+
+ The number of function and Jacobian evaluations =      13     12
+
+ Final approximate solution is 
+   0.0824   1.1330   2.3437
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MD03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03BD">MD03BD</A></H2>
+<H3>
+Solution of a standard nonlinear least squares problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To minimize the sum of the squares of m nonlinear functions, e, in
+  n variables, x, by a modification of the Levenberg-Marquardt
+  algorithm. The user must provide a subroutine FCN which calculates
+  the functions and the Jacobian (possibly by finite differences).
+  In addition, specialized subroutines QRFACT, for QR factorization
+  with pivoting of the Jacobian, and LMPARM, for the computation of
+  Levenberg-Marquardt parameter, exploiting the possible structure
+  of the Jacobian matrix, should be provided. Template
+  implementations of these routines are included in SLICOT Library.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03BD( XINIT, SCALE, COND, FCN, QRFACT, LMPARM, M, N,
+     $                   ITMAX, FACTOR, NPRINT, IPAR, LIPAR, DPAR1,
+     $                   LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV, NJEV,
+     $                   FTOL, XTOL, GTOL, TOL, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND, SCALE, XINIT
+      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
+     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IWORK(*)
+      DOUBLE PRECISION  DIAG(*), DPAR1(*), DPAR2(*), DWORK(*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  XINIT   CHARACTER*1
+          Specifies how the variables x are initialized, as follows:
+          = 'R' :  the array X is initialized to random values; the
+                   entries DWORK(1:4) are used to initialize the
+                   random number generator: the first three values
+                   are converted to integers between 0 and 4095, and
+                   the last one is converted to an odd integer
+                   between 1 and 4095;
+          = 'G' :  the given entries of X are used as initial values
+                   of variables.
+
+  SCALE   CHARACTER*1
+          Specifies how the variables will be scaled, as follows:
+          = 'I' :  use internal scaling;
+          = 'S' :  use specified scaling factors, given in DIAG.
+
+  COND    CHARACTER*1
+          Specifies whether the condition of the linear systems
+          involved should be estimated, as follows:
+          = 'E' :  use incremental condition estimation to find the
+                   numerical rank;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of matrices for zero values.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  FCN     EXTERNAL
+          Subroutine which evaluates the functions and the Jacobian.
+          FCN must be declared in an external statement in the user
+          calling program, and must have the following interface:
+
+          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
+         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, DWORK,
+         $                LDWORK, INFO )
+
+          where
+
+          IFLAG   (input/output) INTEGER
+                  On entry, this parameter must contain a value
+                  defining the computations to be performed:
+                  = 0 :  Optionally, print the current iterate X,
+                         function values E, and Jacobian matrix J,
+                         or other results defined in terms of these
+                         values. See the argument NPRINT of MD03BD.
+                         Do not alter E and J.
+                  = 1 :  Calculate the functions at X and return
+                         this vector in E. Do not alter J.
+                  = 2 :  Calculate the Jacobian at X and return
+                         this matrix in J. Also return NFEVL
+                         (see below). Do not alter E.
+                  = 3 :  Do not compute neither the functions nor
+                         the Jacobian, but return in LDJ and
+                         IPAR/DPAR1,DPAR2 (some of) the integer/real
+                         parameters needed.
+                  On exit, the value of this parameter should not be
+                  changed by FCN unless the user wants to terminate
+                  execution of MD03BD, in which case IFLAG must be
+                  set to a negative integer.
+
+          M       (input) INTEGER
+                  The number of functions.  M &gt;= 0.
+
+          N       (input) INTEGER
+                  The number of variables.  M &gt;= N &gt;= 0.
+
+          IPAR    (input/output) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix or needed for problem solving.
+                  IPAR is an input parameter, except for IFLAG = 3
+                  on entry, when it is also an output parameter.
+                  On exit, if IFLAG = 3, IPAR(1) contains the length
+                  of the array J, for storing the Jacobian matrix,
+                  and the entries IPAR(2:5) contain the workspace
+                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
+                  QRFACT, and LMPARM, respectively.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 5.
+
+          DPAR1   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR1,*) or (LDPAR1)
+                  A first set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR1 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR1 could
+                  store the input trajectory of a system.
+
+          LDPAR1  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
+                  if leading dimension.)
+
+          DPAR2   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR2,*) or (LDPAR2)
+                  A second set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR2 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR2 could
+                  store the output trajectory of a system.
+
+          LDPAR2  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
+                  if leading dimension.)
+
+          X       (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the value of the
+                  variables x where the functions or the Jacobian
+                  must be evaluated.
+
+          NFEVL   (input/output) INTEGER
+                  The number of function evaluations needed to
+                  compute the Jacobian by a finite difference
+                  approximation.
+                  NFEVL is an input parameter if IFLAG = 0, or an
+                  output parameter if IFLAG = 2. If the Jacobian is
+                  computed analytically, NFEVL should be set to a
+                  non-positive value.
+
+          E       (input/output) DOUBLE PRECISION array,
+                  dimension (M)
+                  This array contains the value of the (error)
+                  functions e evaluated at X.
+                  E is an input parameter if IFLAG = 0 or 2, or an
+                  output parameter if IFLAG = 1.
+
+          J       (input/output) DOUBLE PRECISION array, dimension
+                  (LDJ,NC), where NC is the number of columns
+                  needed.
+                  This array contains a possibly compressed
+                  representation of the Jacobian matrix evaluated
+                  at X. If full Jacobian is stored, then NC = N.
+                  J is an input parameter if IFLAG = 0, or an output
+                  parameter if IFLAG = 2.
+
+          LDJ     (input/output) INTEGER
+                  The leading dimension of array J.  LDJ &gt;= 1.
+                  LDJ is essentially used inside the routines FCN,
+                  QRFACT and LMPARM.
+                  LDJ is an input parameter, except for IFLAG = 3
+                  on entry, when it is an output parameter.
+                  It is assumed in MD03BD that LDJ is not larger
+                  than needed.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine FCN.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine FCN).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine FCN. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+  QRFACT  EXTERNAL
+          Subroutine which computes the QR factorization with
+          (block) column pivoting of the Jacobian matrix, J*P = Q*R.
+          QRFACT must be declared in an external statement in the
+          calling program, and must have the following interface:
+
+          SUBROUTINE QRFACT( N, IPAR, LIPAR, FNORM, J, LDJ, E,
+         $                   JNORMS, GNORM, IPVT, DWORK, LDWORK,
+         $                   INFO )
+
+          where
+
+          N       (input) INTEGER
+                  The number of columns of the Jacobian matrix J.
+                  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          FNORM   (input) DOUBLE PRECISION
+                  The Euclidean norm of the vector e.  FNORM &gt;= 0.
+
+          J       (input/output) DOUBLE PRECISION array, dimension
+                  (LDJ, NC), where NC is the number of columns.
+                  On entry, the leading NR-by-NC part of this array
+                  must contain the (compressed) representation
+                  of the Jacobian matrix J, where NR is the number
+                  of rows of J (function of IPAR entries).
+                  On exit, the leading N-by-NC part of this array
+                  contains a (compressed) representation of the
+                  upper triangular factor R of the Jacobian matrix.
+                  For efficiency of the later calculations, the
+                  matrix R is delivered with the leading dimension
+                  MAX(1,N), possibly much smaller than the value
+                  of LDJ on entry.
+
+          LDJ     (input/output) INTEGER
+                  The leading dimension of array J.
+                  On entry, LDJ &gt;= MAX(1,NR).
+                  On exit,  LDJ &gt;= MAX(1,N).
+
+          E       (input/output) DOUBLE PRECISION array, dimension
+                  (NR)
+                  On entry, this array contains the error vector e.
+                  On exit, this array contains the updated vector
+                  Z*Q'*e, where Z is a block row permutation matrix
+                  (possibly identity) used in the QR factorization
+                  of J. (See, for example, the SLICOT Library
+                  routine NF01BS, Section METHOD.)
+
+          JNORMS  (output) DOUBLE PRECISION array, dimension (N)
+                  This array contains the Euclidean norms of the
+                  columns of the Jacobian matrix (in the original
+                  order).
+
+          GNORM   (output) DOUBLE PRECISION
+                  If FNORM &gt; 0, the 1-norm of the scaled vector
+                  J'*e/FNORM, with each element i further divided
+                  by JNORMS(i) (if JNORMS(i) is nonzero).
+                  If FNORM = 0, the returned value of GNORM is 0.
+
+          IPVT    (output) INTEGER array, dimension (N)
+                  This array defines the permutation matrix P such
+                  that J*P = Q*R. Column j of P is column IPVT(j) of
+                  the identity matrix.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine QRFACT.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine QRFACT).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine QRFACT. The LAPACK Library routine
+                  XERBLA should be used in conjunction with negative
+                  INFO. INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+  LMPARM  EXTERNAL
+          Subroutine which determines a value for the Levenberg-
+          Marquardt parameter PAR such that if x solves the system
+
+                J*x = b ,     sqrt(PAR)*D*x = 0 ,
+
+          in the least squares sense, where J is an m-by-n matrix,
+          D is an n-by-n nonsingular diagonal matrix, and b is an
+          m-vector, and if DELTA is a positive number, DXNORM is
+          the Euclidean norm of D*x, then either PAR is zero and
+
+                ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
+
+          or PAR is positive and
+
+                ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
+
+          It is assumed that a block QR factorization, with column
+          pivoting, of J is available, that is, J*P = Q*R, where P
+          is a permutation matrix, Q has orthogonal columns, and
+          R is an upper triangular matrix (possibly stored in a
+          compressed form), with diagonal elements of nonincreasing
+          magnitude for each block. On output, LMPARM also provides
+          a (compressed) representation of an upper triangular
+          matrix S, such that
+
+                P'*(J'*J + PAR*D*D)*P = S'*S .
+
+          LMPARM must be declared in an external statement in the
+          calling program, and must have the following interface:
+
+          SUBROUTINE LMPARM( COND, N, IPAR, LIPAR, R, LDR, IPVT,
+         $                   DIAG, QTB, DELTA, PAR, RANKS, X, RX,
+         $                   TOL, DWORK, LDWORK, INFO )
+
+          where
+
+          COND    CHARACTER*1
+                  Specifies whether the condition of the linear
+                  systems involved should be estimated, as follows:
+                  = 'E' :  use incremental condition estimation
+                           to find the numerical rank;
+                  = 'N' :  do not use condition estimation, but
+                           check the diagonal entries for zero
+                           values;
+                  = 'U' :  use the ranks already stored in RANKS
+                           (for R).
+
+          N       (input) INTEGER
+                  The order of the matrix R.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          R       (input/output) DOUBLE PRECISION array, dimension
+                  (LDR, NC), where NC is the number of columns.
+                  On entry, the leading N-by-NC part of this array
+                  must contain the (compressed) representation (Rc)
+                  of the upper triangular matrix R.
+                  On exit, the full upper triangular part of R
+                  (in representation Rc), is unaltered, and the
+                  remaining part contains (part of) the (compressed)
+                  representation of the transpose of the upper
+                  triangular matrix S.
+
+          LDR     (input) INTEGER
+                  The leading dimension of array R.
+                  LDR &gt;= MAX(1,N).
+
+          IPVT    (input) INTEGER array, dimension (N)
+                  This array must define the permutation matrix P
+                  such that J*P = Q*R. Column j of P is column
+                  IPVT(j) of the identity matrix.
+
+          DIAG    (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the diagonal elements of
+                  the matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
+
+          QTB     (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the first n elements of
+                  the vector Q'*b.
+
+          DELTA   (input) DOUBLE PRECISION
+                  An upper bound on the Euclidean norm of D*x.
+                  DELTA &gt; 0.
+
+          PAR     (input/output) DOUBLE PRECISION
+                  On entry, PAR must contain an initial estimate of
+                  the Levenberg-Marquardt parameter.  PAR &gt;= 0.
+                  On exit, it contains the final estimate of this
+                  parameter.
+
+          RANKS   (input or output) INTEGER array, dimension (r),
+                  where r is the number of diagonal blocks R_k in R,
+                  corresponding to the block column structure of J.
+                  On entry, if COND = 'U' and N &gt; 0, this array must
+                  contain the numerical ranks of the submatrices
+                  R_k, k = 1:r. The number r is defined in terms of
+                  the entries of IPAR.
+                  On exit, if N &gt; 0, this array contains the
+                  numerical ranks of the submatrices S_k, k = 1:r.
+
+          X       (output) DOUBLE PRECISION array, dimension (N)
+                  This array contains the least squares solution of
+                  the system J*x = b, sqrt(PAR)*D*x = 0.
+
+          RX      (output) DOUBLE PRECISION array, dimension (N)
+                  This array contains the matrix-vector product
+                  -R*P'*x.
+
+          TOL     (input) DOUBLE PRECISION
+                  If COND = 'E', the tolerance to be used for
+                  finding the ranks of the submatrices R_k and S_k.
+                  If the user sets TOL &gt; 0, then the given value of
+                  TOL is used as a lower bound for the reciprocal
+                  condition number;  a (sub)matrix whose estimated
+                  condition number is less than 1/TOL is considered
+                  to be of full rank.  If the user sets TOL &lt;= 0,
+                  then an implicitly computed, default tolerance,
+                  defined by TOLDEF = N*EPS,  is used instead,
+                  where EPS is the machine precision (see LAPACK
+                  Library routine DLAMCH).
+                  This parameter is not relevant if COND = 'U'
+                  or 'N'.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine LMPARM.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine LMPARM).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine LMPARM. The LAPACK Library routine
+                  XERBLA should be used in conjunction with negative
+                  INFO. INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of functions.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of variables.  M &gt;= N &gt;= 0.
+
+  ITMAX   (input) INTEGER
+          The maximum number of iterations.  ITMAX &gt;= 0.
+
+  FACTOR  (input) DOUBLE PRECISION
+          The value used in determining the initial step bound. This
+          bound is set to the product of FACTOR and the Euclidean
+          norm of DIAG*X if nonzero, or else to FACTOR itself.
+          In most cases FACTOR should lie in the interval (.1,100).
+          A generally recommended value is 100.  FACTOR &gt; 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          with X, E, and J available for printing. Note that when
+          called immediately prior to return, J normally contains
+          the result returned by QRFACT and LMPARM (the compressed
+          R and S factors). If NPRINT is not positive, no special
+          calls of FCN with IFLAG = 0 are made.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed, for instance, for
+          describing the structure of the Jacobian matrix, which
+          are handed over to the routines FCN, QRFACT and LMPARM.
+          The first five entries of this array are modified
+          internally by a call to FCN (with IFLAG = 3), but are
+          restored on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 5.
+
+  DPAR1   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR1,*) or (LDPAR1)
+          A first set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03BD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR1  (input) INTEGER
+          The leading dimension or the length of the array DPAR1, as
+          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
+          dimension.)
+
+  DPAR2   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR2,*) or (LDPAR2)
+          A second set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03BD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR2  (input) INTEGER
+          The leading dimension or the length of the array DPAR2, as
+          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
+          dimension.)
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if XINIT = 'G', this array must contain the
+          vector of initial variables x to be optimized.
+          If XINIT = 'R', this array need not be set before entry,
+          and random values will be used to initialize x.
+          On exit, if INFO = 0, this array contains the vector of
+          values that (approximately) minimize the sum of squares of
+          error functions. The values returned in IWARN and
+          DWORK(1:4) give details on the iterative process.
+
+  DIAG    (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if SCALE = 'S', this array must contain some
+          positive entries that serve as multiplicative scale
+          factors for the variables x.  DIAG(I) &gt; 0, I = 1,...,N.
+          If SCALE = 'I', DIAG is internally set.
+          On exit, this array contains the scale factors used
+          (or finally used, if SCALE = 'I').
+
+  NFEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 1. If FCN is
+          properly implemented, this includes the function
+          evaluations needed for finite difference approximation
+          of the Jacobian.
+
+  NJEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 2.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  FTOL    DOUBLE PRECISION
+          If FTOL &gt;= 0, the tolerance which measures the relative
+          error desired in the sum of squares. Termination occurs
+          when both the actual and predicted relative reductions in
+          the sum of squares are at most FTOL. If the user sets
+          FTOL &lt; 0,  then  SQRT(EPS)  is used instead FTOL, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+  XTOL    DOUBLE PRECISION
+          If XTOL &gt;= 0, the tolerance which measures the relative
+          error desired in the approximate solution. Termination
+          occurs when the relative error between two consecutive
+          iterates is at most XTOL. If the user sets  XTOL &lt; 0,
+          then  SQRT(EPS)  is used instead XTOL.
+
+  GTOL    DOUBLE PRECISION
+          If GTOL &gt;= 0, the tolerance which measures the
+          orthogonality desired between the function vector e and
+          the columns of the Jacobian J. Termination occurs when
+          the cosine of the angle between e and any column of the
+          Jacobian J is at most GTOL in absolute value. If the user
+          sets  GTOL &lt; 0,  then  EPS  is used instead GTOL.
+
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the matrices of linear systems to be solved. If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as a lower bound for the reciprocal condition number;  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*EPS,  is used instead.
+          This parameter is not relevant if COND = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+r), where r is the number
+          of diagonal blocks R_k in R (see description of LMPARM).
+          On output, if INFO = 0, the first N entries of this array
+          define a permutation matrix P such that J*P = Q*R, where
+          J is the final calculated Jacobian, Q is an orthogonal
+          matrix (not stored), and R is upper triangular with
+          diagonal elements of nonincreasing magnitude (possibly
+          for each block column of J). Column j of P is column
+          IWORK(j) of the identity matrix. If INFO = 0, the entries
+          N+1:N+r of this array contain the ranks of the final
+          submatrices S_k (see description of LMPARM).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, and DWORK(4) returns the final Levenberg
+          factor. If INFO = 0, N &gt; 0, and IWARN &gt;= 0, the elements
+          DWORK(5) to DWORK(4+M) contain the final matrix-vector
+          product Z*Q'*e, and the elements DWORK(5+M) to
+          DWORK(4+M+N*NC) contain the (compressed) representation of
+          final upper triangular matrices R and S (if IWARN &lt;&gt; 4).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 4, M + max( size(J) +
+                                     max( DW( FCN|IFLAG = 1 ),
+                                          DW( FCN|IFLAG = 2 ),
+                                          DW( QRFACT ) + N ),
+                                     N*NC + N +
+                                     max( M + DW( FCN|IFLAG = 1 ),
+                                          N + DW( LMPARM ) ) ) ),
+          where size(J) is the size of the Jacobian (provided by FCN
+          in IPAR(1), for IFLAG = 3), and DW( f ) is the workspace
+          needed by the routine f, where f is FCN, QRFACT, or LMPARM
+          (provided by FCN in IPAR(2:5), for IFLAG = 3).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
+          = 1:  both actual and predicted relative reductions in
+                the sum of squares are at most FTOL;
+          = 2:  relative error between two consecutive iterates is
+                at most XTOL;
+          = 3:  conditions for IWARN = 1 and IWARN = 2 both hold;
+          = 4:  the cosine of the angle between e and any column of
+                the Jacobian is at most GTOL in absolute value;
+          = 5:  the number of iterations has reached ITMAX without
+                satisfying any convergence condition;
+          = 6:  FTOL is too small: no further reduction in the sum
+                of squares is possible;
+          = 7:  XTOL is too small: no further improvement in the
+                approximate solution x is possible;
+          = 8:  GTOL is too small: e is orthogonal to the columns of
+                the Jacobian to machine precision.
+          In all these cases, DWORK(1:4) are set as described above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 1;
+          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 2;
+          = 3:  user-defined routine QRFACT returned with INFO &lt;&gt; 0;
+          = 4:  user-defined routine LMPARM returned with INFO &lt;&gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If XINIT = 'R', the initial value for x is set to a vector of
+  pseudo-random values uniformly distributed in (-1,1).
+
+  The Levenberg-Marquardt algorithm (described in [1,3]) is used for
+  optimizing the variables x. This algorithm needs the Jacobian
+  matrix J, which is provided by the subroutine FCN. A trust region
+  method is used. The algorithm tries to update x by the formula
+
+      x = x - p,
+
+  using an approximate solution of the system of linear equations
+
+      (J'*J + PAR*D*D)*p = J'*e,
+
+  with e the error function vector, and D a diagonal nonsingular
+  matrix, where either PAR = 0 and
+
+      ( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA ,
+
+  or PAR &gt; 0 and
+
+      ABS( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA .
+
+  DELTA is the radius of the trust region. If the Gauss-Newton
+  direction is not acceptable, then an iterative algorithm obtains
+  improved lower and upper bounds for the Levenberg-Marquardt
+  parameter PAR. Only a few iterations are generally needed for
+  convergence of the algorithm. The trust region radius DELTA
+  and the Levenberg factor PAR are updated based on the ratio
+  between the actual and predicted reduction in the sum of squares.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+  [2] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
+      1996.
+
+  [3] More, J.J.
+      The Levenberg-Marquardt algorithm: implementation and theory.
+      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
+      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
+      and New York, pp. 105-116, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The Levenberg-Marquardt algorithm described in [3] is scaling
+  invariant and globally convergent to (maybe local) minima.
+  The convergence rate near a local minimum is quadratic, if the
+  Jacobian is computed analytically, and linear, if the Jacobian
+  is computed numerically.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a more general version of the subroutines LMDER
+  and LMDER1 from the MINPACK package [1], which enables to exploit
+  the structure of the problem, and optionally use condition
+  estimation. Unstructured problems could be solved as well.
+
+  Template SLICOT Library implementations for FCN, QRFACT and
+  LMPARM routines are:
+  MD03BF, MD03BA, and MD03BB, respectively, for standard problems;
+  NF01BF, NF01BS, and NF01BP, respectively, for optimizing the
+  parameters of Wiener systems (structured problems).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MD03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           MMAX, NMAX
+      PARAMETER         ( MMAX = 20, NMAX = 20 )
+      INTEGER           LDWORK
+      PARAMETER         ( LDWORK = MMAX +
+     $                             MAX( MMAX*NMAX + 5*NMAX + 1,
+     $                                  NMAX*NMAX + NMAX +
+     $                                  MAX( MMAX, 5*NMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1       COND, SCALE, XINIT
+      INTEGER           I, INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LIPAR, M,
+     $                  N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
+*     .. Array Arguments ..
+      INTEGER           IPAR(5), IWORK(NMAX+1)
+      DOUBLE PRECISION  DIAG(NMAX), DPAR1(1), DPAR2(1), DWORK(LDWORK),
+     $                  X(NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          MD03BA, MD03BB, MD03BD, MD03BF
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, ITMAX, LIPAR, LDPAR1, LDPAR2, FACTOR,
+     $                      NPRINT, FTOL, XTOL, GTOL, TOL, XINIT, SCALE,
+     $                      COND
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) N
+         ELSE
+            IF ( LSAME( SCALE, 'S' ) )
+     $         READ ( NIN, FMT = * ) ( DIAG(I), I = 1,N )
+            IF ( LSAME( XINIT, 'G' ) )
+     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+*           Solve a standard nonlinear least squares problem.
+            IPAR(1) = M
+            CALL MD03BD( XINIT, SCALE, COND, MD03BF, MD03BA, MD03BB,
+     $                   M, N, ITMAX, FACTOR, NPRINT, IPAR, LIPAR,
+     $                   DPAR1, LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV,
+     $                   NJEV, FTOL, XTOL, GTOL, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99991 ) IWARN
+               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
+               WRITE ( NOUT, FMT = 99994 )
+               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MD03BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MD03BD = ',I2)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' The number of function and Jacobian evaluations = ',
+     $           2I7)
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (' IWARN on exit from MD03BD = ',I2)
+      END
+C
+      SUBROUTINE MD03BF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
+     $                   LDPAR2, X, NFEVL, E, J, LDJ, DWORK, LDWORK,
+     $                   INFO )
+C
+C     This is the FCN routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03BD. See the
+C     argument FCN in the routine MD03BD for the description of
+C     parameters.
+C
+C     The example programmed in this routine is adapted from that
+C     accompanying the MINPACK routine LMDER.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+C     .. NOUT is the unit number for printing intermediate results ..
+      INTEGER           NOUT
+      PARAMETER         ( NOUT = 6 )
+      DOUBLE PRECISION  ONE
+      PARAMETER         ( ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
+     $                  M, N, NFEVL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
+     $                  X(*)
+C     .. Local Scalars ..
+      INTEGER           I
+      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
+C     .. External Functions ..
+      DOUBLE PRECISION  DNRM2
+      EXTERNAL          DNRM2
+C     .. External Subroutines ..
+      EXTERNAL          MD03BA, MD03BB
+C     .. DATA Statements ..
+      DOUBLE PRECISION  Y(15)
+      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
+     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
+     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
+     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
+     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
+C
+C     .. Executable Statements ..
+C
+      INFO = 0
+      IF ( IFLAG.EQ.1 ) THEN
+C
+C        Compute the error function values.
+C
+         DO 10 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
+   10    CONTINUE
+C
+      ELSE IF ( IFLAG.EQ.2 ) THEN
+C
+C        Compute the Jacobian.
+C
+         DO 30 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
+            J(I,1) = -ONE
+            J(I,2) = TMP1*TMP2/TMP4
+            J(I,3) = TMP1*TMP3/TMP4
+   30    CONTINUE
+C
+         NFEVL = 0
+C
+      ELSE IF ( IFLAG.EQ.3 ) THEN
+C
+C        Set the parameter LDJ, the length of the array J, and the sizes
+C        of the workspace for MD03BF (IFLAG = 1 or 2), MD03BA and MD03BB.
+C
+         LDJ = M
+         IPAR(1) = M*N
+         IPAR(2) = 0
+         IPAR(3) = 0
+         IPAR(4) = 4*N + 1
+         IPAR(5) = 4*N
+      ELSE IF ( IFLAG.EQ.0 ) THEN
+C
+C        Special call for printing intermediate results.
+C
+         ERR = DNRM2( M, E, 1 )
+         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
+C
+      END IF
+C
+      RETURN
+C
+C *** Last line of MD03BF ***
+      END
+C
+      SUBROUTINE MD03BA( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
+     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
+C
+C     This is the QRFACT routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03BD. See the
+C     argument QRFACT in the routine MD03BD for the description of
+C     parameters.
+C
+C     For efficiency, the arguments are not checked. This is done in
+C     the routine MD03BX (except for LIPAR).
+C
+C     ******************************************************************
+C
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
+      DOUBLE PRECISION  FNORM, GNORM
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JNORMS(*)
+C     .. External Subroutines ..
+      EXTERNAL          MD03BX
+C     ..
+C     .. Executable Statements ..
+C
+      CALL MD03BX( IPAR(1), N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
+     $             DWORK, LDWORK, INFO )
+      RETURN
+C
+C *** Last line of MD03BA ***
+      END
+C
+      SUBROUTINE MD03BB( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
+     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
+     $                   INFO )
+C
+C     This is the LMPARM routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03BD. See the
+C     argument LMPARM in the routine MD03BD for the description of
+C     parameters.
+C
+C     For efficiency, the arguments are not checked. This is done in
+C     the routine MD03BY (except for LIPAR).
+C
+C     ******************************************************************
+C
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, LIPAR, N
+      DOUBLE PRECISION  DELTA, PAR, TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*), RANKS(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
+C     .. External Subroutines ..
+      EXTERNAL          MD03BY
+C     ..
+C     .. Executable Statements ..
+C
+      CALL MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
+     $             RANKS(1), X, RX, TOL, DWORK, LDWORK, INFO )
+      RETURN
+C
+C *** Last line of MD03BB ***
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MD03BD EXAMPLE PROGRAM DATA
+ 15     3   100     5     0     0   1.D2     0   -1.   -1.   -1.   -1.     G     I     E
+   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MD03BD EXAMPLE PROGRAM RESULTS
+
+ IWARN on exit from MD03BD =  1
+
+ Final 2-norm of the residuals =   0.9063596D-01
+
+ The number of function and Jacobian evaluations =       6      5
+
+ Final approximate solution is 
+   0.0824   1.1330   2.3437
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MD03BX.html b/doc/_build/html/_static/doc/MD03BX.html
new file mode 100644
index 00000000..6eee1e6d
--- /dev/null
+++ b/doc/_build/html/_static/doc/MD03BX.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MD03BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03BX">MD03BX</A></H2>
+<H3>
+QR factorization with column pivoting for a standard nonlinear least squares problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the QR factorization with column pivoting of an
+  m-by-n matrix J (m &gt;= n), that is, J*P = Q*R, where Q is a matrix
+  with orthogonal columns, P a permutation matrix, and R an upper
+  trapezoidal matrix with diagonal elements of nonincreasing
+  magnitude, and to apply the transformation Q' on the error
+  vector e (in-situ). The 1-norm of the scaled gradient is also
+  returned. The matrix J could be the Jacobian of a nonlinear least
+  squares problem.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03BX( M, N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDJ, LDWORK, M, N
+      DOUBLE PRECISION  FNORM, GNORM
+C     .. Array Arguments ..
+      INTEGER           IPVT(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the Jacobian matrix J.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.
+          M &gt;= N &gt;= 0.
+
+  FNORM   (input) DOUBLE PRECISION
+          The Euclidean norm of the vector e.  FNORM &gt;= 0.
+
+  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, N)
+          On entry, the leading M-by-N part of this array must
+          contain the Jacobian matrix J.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangular factor R of the
+          Jacobian matrix. Note that for efficiency of the later
+          calculations, the matrix R is delivered with the leading
+          dimension MAX(1,N), possibly much smaller than the value
+          of LDJ on entry.
+
+  LDJ     (input/output) INTEGER
+          The leading dimension of array J.
+          On entry, LDJ &gt;= MAX(1,M).
+          On exit,  LDJ &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (M)
+          On entry, this array must contain the error vector e.
+          On exit, this array contains the updated vector Q'*e.
+
+  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the Euclidean norms of the columns of
+          the Jacobian matrix, considered in the initial order.
+
+  GNORM   (output) DOUBLE PRECISION
+          If FNORM &gt; 0, the 1-norm of the scaled vector
+          J'*Q'*e/FNORM, with each element i further divided by
+          JNORMS(i) (if JNORMS(i) is nonzero).
+          If FNORM = 0, the returned value of GNORM is 0.
+
+  IPVT    (output) INTEGER array, dimension (N)
+          This array defines the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1,      if N = 0 or M = 1;
+          LDWORK &gt;= 4*N+1,  if N &gt; 1.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses QR factorization with column pivoting of the
+  matrix J, J*P = Q*R, and applies the orthogonal matrix Q' to the
+  vector e.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/MD03BY.html b/doc/_build/html/_static/doc/MD03BY.html
new file mode 100644
index 00000000..57ce4f8a
--- /dev/null
+++ b/doc/_build/html/_static/doc/MD03BY.html
@@ -0,0 +1,217 @@
+<HTML>
+<HEAD><TITLE>MD03BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03BY">MD03BY</A></H2>
+<H3>
+Levenberg-Marquardt parameter for a standard nonlinear least squares problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a value for the parameter PAR such that if x solves
+  the system
+
+        A*x = b ,     sqrt(PAR)*D*x = 0 ,
+
+  in the least squares sense, where A is an m-by-n matrix, D is an
+  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
+  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
+  then either PAR is zero and
+
+        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
+
+  or PAR is positive and
+
+        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
+
+  It is assumed that a QR factorization, with column pivoting, of A
+  is available, that is, A*P = Q*R, where P is a permutation matrix,
+  Q has orthogonal columns, and R is an upper triangular matrix
+  with diagonal elements of nonincreasing magnitude.
+  The routine needs the full upper triangle of R, the permutation
+  matrix P, and the first n components of Q'*b (' denotes the
+  transpose). On output, MD03BY also provides an upper triangular
+  matrix S such that
+
+        P'*(A'*A + PAR*D*D)*P = S'*S .
+
+  Matrix S is used in the solution process.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
+     $                   RANK, X, RX, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, N, RANK
+      DOUBLE PRECISION  DELTA, PAR, TOL
+C     .. Array Arguments ..
+      INTEGER           IPVT(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the matrices R and S
+          should be estimated, as follows:
+          = 'E' :  use incremental condition estimation for R and S;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of R and S for zero values;
+          = 'U' :  use the rank already stored in RANK (for R).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the full upper triangle is unaltered, and the
+          strict lower triangle contains the strict upper triangle
+          (transposed) of the upper triangular matrix S.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          A*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  DELTA   (input) DOUBLE PRECISION
+          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
+
+  PAR     (input/output) DOUBLE PRECISION
+          On entry, PAR must contain an initial estimate of the
+          Levenberg-Marquardt parameter.  PAR &gt;= 0.
+          On exit, it contains the final estimate of this parameter.
+
+  RANK    (input or output) INTEGER
+          On entry, if COND = 'U', this parameter must contain the
+          (numerical) rank of the matrix R.
+          On exit, this parameter contains the numerical rank of
+          the matrix S.
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system A*x = b, sqrt(PAR)*D*x = 0.
+
+  RX      (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the matrix-vector product -R*P'*x.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          rank of the matrices R and S. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          the reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 4*N, if COND =  'E';
+          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm computes the Gauss-Newton direction. A least squares
+  solution is found if the Jacobian is rank deficient. If the Gauss-
+  Newton direction is not acceptable, then an iterative algorithm
+  obtains improved lower and upper bounds for the parameter PAR.
+  Only a few iterations are generally needed for convergence of the
+  algorithm. If, however, the limit of ITMAX = 10 iterations is
+  reached, then the output PAR will contain the best value obtained
+  so far. If the Gauss-Newton step is acceptable, it is stored in x,
+  and PAR is set to zero, hence S = R.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a LAPACK-based modification of LMPAR from the
+  MINPACK package [1], and with optional condition estimation.
+  The option COND = 'U' is useful when dealing with several
+  right-hand side vectors, but RANK should be reset.
+  If COND = 'E', but the matrix S is guaranteed to be nonsingular
+  and well conditioned relative to TOL, i.e., rank(R) = N, and
+  min(DIAG) &gt; 0, then its condition is not estimated.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01AD.html b/doc/_build/html/_static/doc/NF01AD.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>NF01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01AD">NF01AD</A></H2>
+<H3>
+Computing the output of a Wiener system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate the output y of the Wiener system
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t)   = f(z(t),wb(1:L)),
+
+  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
+  evaluated by the SLICOT Library routine NF01AY. The parameter
+  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
+  where wb(i), i = 1:L, correspond to the nonlinear part, theta
+  corresponds to the linear part, and the notation is fully
+  described below.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01AD( NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU, Y, LDY,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDU, LDWORK, LDY, LX, LIPAR, M, NSMP
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  M       (input) INTEGER
+          The length of each input sample.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.  L &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed.
+          IPAR(1)  must contain the order of the linear part,
+                   referred to as N below.  N &gt;= 0.
+          IPAR(2)  must contain the number of neurons for the
+                   nonlinear part, referred to as NN below.
+                   NN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of IPAR.  LIPAR &gt;= 2.
+
+  X       (input) DOUBLE PRECISION array, dimension (LX)
+          The parameter vector, partitioned as
+          X = (wb(1), ..., wb(L), theta), where the vectors
+          wb(i), of length NN*(L+2)+1, are parameters for the
+          static nonlinearity, which is simulated by the
+          SLICOT Library routine NF01AY. See the documentation of
+          NF01AY for further details. The vector theta, of length
+          N*(M + L + 1) + L*M, represents the matrices A, B, C,
+          D and x(1), and it can be retrieved from these matrices
+          by SLICOT Library routine TB01VD and retranslated by
+          TB01VY.
+
+  LX      (input) INTEGER
+          The length of the array X.
+          LX &gt;= ( NN*(L+2)+1 )*L + N*(M + L + 1) + L*M.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= MAX(1,NSMP).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array contains the
+          simulated output.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
+                                  MAX( N*(N + L), N + M + L ) )
+                                                           if M &gt; 0;
+          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
+                                  MAX( N*(N + L), L ) ),   if M = 0.
+          A larger value of LDWORK could improve the efficiency.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  BLAS routines are used for the matrix-vector multiplications and
+  the routine NF01AY is called for the calculation of the nonlinear
+  function.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01AY.html b/doc/_build/html/_static/doc/NF01AY.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01AY.html
@@ -0,0 +1,148 @@
+<HTML>
+<HEAD><TITLE>NF01AY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01AY">NF01AY</A></H2>
+<H3>
+Computing the output of a set of neural networks
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate the output of a set of neural networks with the
+  structure
+
+          - tanh(w1'*z+b1) -
+        /      :             \
+      z ---    :           --- sum(ws(i)*...)+ b(n+1)  --- y,
+        \      :             /
+          - tanh(wn'*z+bn) -
+
+  given the input z and the parameter vectors wi, ws, and b,
+  where z, w1, ..., wn are vectors of length NZ, ws is a vector
+  of length n, b(1), ..., b(n+1) are scalars, and n is called the
+  number of neurons in the hidden layer, or just number of neurons.
+  Such a network is used for each L output variables.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01AY( NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z, LDZ,
+     $                   Y, LDY, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDWORK, LDY, LDZ, LIPAR, LWB, NSMP, NZ
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), WB(*), Y(LDY,*), Z(LDZ,*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  NZ      (input) INTEGER
+          The length of each input sample.  NZ &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.  L &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed.
+          IPAR(1) must contain the number of neurons, n, per output
+          variable, denoted NN in the sequel.  NN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the vector IPAR.  LIPAR &gt;= 1.
+
+  WB      (input) DOUBLE PRECISION array, dimension (LWB)
+          The leading (NN*(NZ+2)+1)*L part of this array must
+          contain the weights and biases of the network. This vector
+          is partitioned into L vectors of length NN*(NZ+2)+1,
+          WB = [ wb(1), ..., wb(L) ]. Each wb(k), k = 1, ..., L,
+          corresponds to one output variable, and has the structure
+          wb(k) = [ w1(1), ..., w1(NZ), ..., wn(1), ..., wn(NZ),
+                    ws(1), ..., ws(n), b(1), ..., b(n+1) ],
+          where wi(j) are the weights of the hidden layer,
+          ws(i) are the weights of the linear output layer, and
+          b(i) are the biases, as in the scheme above.
+
+  LWB     (input) INTEGER
+          The length of the array WB.
+          LWB &gt;= ( NN*(NZ + 2) + 1 )*L.
+
+  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
+          The leading NSMP-by-NZ part of this array must contain the
+          set of input samples,
+          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,NSMP).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array contains the set
+          of output samples,
+          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 2*NN.
+          For better performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  BLAS routines are used to compute the matrix-vector products.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BD.html b/doc/_build/html/_static/doc/NF01BD.html
new file mode 100644
index 00000000..02334836
--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01BD.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>NF01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BD">NF01BD</A></H2>
+<H3>
+Computing the Jacobian of a Wiener system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate the Jacobian dy/dX of the Wiener system
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t,i) = sum( ws(k, i)*f(w(k, i)*z(t) + b(k,i)) ) + b(k+1,i),
+
+  where t = 1, 2, ...,  NSMP,
+        i = 1, 2, ...,  L,
+        k = 1, 2, ...,  NN.
+
+  NN is arbitrary eligible and has to be provided in IPAR(2), and
+  X = ( wb(1), ..., wb(L), theta ) is described below.
+
+  Denoting y(j) = y(1:NSMP,j), the Jacobian J has the block form
+
+    dy(1)/dwb(1)       0         .....       0         dy(1)/dtheta
+         0        dy(2)/dwb(2)   .....       0         dy(2)/dtheta
+       .....         .....       .....     .....          .....
+         0           .....         0    dy(L)/dwb(L)   dy(L)/dtheta
+
+  but it will be returned without the zero blocks, in the form
+
+  dy(1)/dwb(1)    dy(1)/dtheta
+               ...
+  dy(L)/dwb(L)    dy(L)/dtheta.
+
+  dy(i)/dwb(i) depends on f and is calculated by the routine NF01BY;
+  dy(i)/dtheta is computed by a forward-difference approximation.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BD( CJTE, NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU,
+     $                   E, J, LDJ, JTE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CJTE
+      INTEGER           INFO, L, LDJ, LDU, LDWORK, LX, LIPAR, M, NSMP
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ, *), JTE(*), U(LDU,*),
+     $                  X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CJTE    CHARACTER*1
+          Specifies whether the matrix-vector product J'*e should be
+          computed or not, as follows:
+          = 'C' :  compute J'*e;
+          = 'N' :  do not compute J'*e.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  M       (input) INTEGER
+          The length of each input sample.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.  L &gt;= 0.
+
+  IPAR    (input/output) INTEGER array, dimension (LIPAR)
+          On entry, the first entries of this array must contain
+          the integer parameters needed; specifically,
+          IPAR(1)  must contain the order of the linear part, N;
+                   actually, N = abs(IPAR(1)), since setting
+                   IPAR(1) &lt; 0 has a special meaning (see below);
+          IPAR(2)  must contain the number of neurons for the
+                   nonlinear part, NN, NN &gt;= 0.
+          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
+          performed, except the needed tests on input parameters,
+          but the following values are returned:
+          IPAR(1) contains the length of the array J, LJ;
+          LDJ     contains the leading dimension of array J.
+          Otherwise, IPAR(1) and LDJ are unchanged on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 2.
+
+  X       (input) DOUBLE PRECISION array, dimension (LX)
+          The leading LPAR entries of this array must contain the
+          set of system parameters, where
+             LPAR = (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
+          X has the form (wb(1), ..., wb(L), theta), where the
+          vectors wb(i) have the structure
+           (w(1,1), ..., w(1,L), ..., w(NN,1), ..., w(NN,L),
+             ws(1), ..., ws(NN), b(1), ..., b(NN+1) ),
+          and the vector theta represents the matrices A, B, C, D
+          and x(1), and it can be retrieved from these matrices
+          by SLICOT Library routine TB01VD and retranslated by
+          TB01VY.
+
+  LX      (input) INTEGER
+          The length of X.
+          LX &gt;= (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
+
+  E       (input) DOUBLE PRECISION array, dimension (NSMP*L)
+          If CJTE = 'C', this array must contain a vector e, which
+          will be premultiplied with J', e = vec( Y - y ), where
+          Y is set of output samples, and vec denotes the
+          concatenation of the columns of a matrix.
+          If CJTE = 'N', this array is not referenced.
+
+  J       (output) DOUBLE PRECISION array, dimension (LDJ, *)
+          The leading NSMP*L-by-NCOLJ part of this array contains
+          the Jacobian of the error function stored in a compressed
+          form, as described above, where
+          NCOLJ = NN*(L + 2) + 1 + N*(M + L + 1) + L*M.
+
+  LDJ     INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP*L).
+          Note that LDJ is an input parameter, except for
+          IPAR(1) &lt; 0 on entry, when it is an output parameter.
+
+  JTE     (output) DOUBLE PRECISION array, dimension (LPAR)
+          If CJTE = 'C', this array contains the matrix-vector
+          product J'*e.
+          If CJTE = 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
+                                    MAX( N*(N + L), N + M + L ) )
+                                                           if M &gt; 0;
+          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
+                                    MAX( N*(N + L), L ) ), if M = 0.
+          A larger value of LDWORK could improve the efficiency.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  BLAS routines are used for the matrix-vector multiplications, and
+  the SLICOT Library routine TB01VY is called for the conversion of
+  the output normal form parameters to an LTI-system; the routine
+  NF01AD is then used for the simulation of the system with given
+  parameters, and the routine NF01BY is called for the (analytically
+  performed) calculation of the parts referring to the parameters
+  of the static nonlinearity.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BP.html b/doc/_build/html/_static/doc/NF01BP.html
new file mode 100644
index 00000000..9e90977a
--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01BP.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>NF01BP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BP">NF01BP</A></H2>
+<H3>
+Levenberg-Marquardt parameter for Wiener system identification
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a value for the Levenberg-Marquardt parameter PAR
+  such that if x solves the system
+
+        J*x = b ,     sqrt(PAR)*D*x = 0 ,
+
+  in the least squares sense, where J is an m-by-n matrix, D is an
+  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
+  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
+  then either PAR is zero and
+
+        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
+
+  or PAR is positive and
+
+        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
+
+  The matrix J is the current Jacobian matrix of a nonlinear least
+  squares problem, provided in a compressed form by SLICOT Library
+  routine NF01BD. It is assumed that a block QR factorization, with
+  column pivoting, of J is available, that is, J*P = Q*R, where P is
+  a permutation matrix, Q has orthogonal columns, and R is an upper
+  triangular matrix with diagonal elements of nonincreasing
+  magnitude for each block, as returned by SLICOT Library
+  routine NF01BS. The routine NF01BP needs the upper triangle of R
+  in compressed form, the permutation matrix P, and the first
+  n components of Q'*b (' denotes the transpose). On output,
+  NF01BP also provides a compressed representation of an upper
+  triangular matrix S, such that
+
+        P'*(J'*J + PAR*D*D)*P = S'*S .
+
+  Matrix S is used in the solution process. The matrix R has the
+  following structure
+
+      /   R_1    0    ..   0   |   L_1   \
+      |    0    R_2   ..   0   |   L_2   |
+      |    :     :    ..   :   |    :    | ,
+      |    0     0    ..  R_l  |   L_l   |
+      \    0     0    ..   0   |  R_l+1  /
+
+  where the submatrices R_k, k = 1:l, have the same order BSN,
+  and R_k, k = 1:l+1, are square and upper triangular. This matrix
+  is stored in the compressed form
+
+           /   R_1  |   L_1   \
+           |   R_2  |   L_2   |
+    Rc =   |    :   |    :    | ,
+           |   R_l  |   L_l   |
+           \    X   |  R_l+1  /
+
+  where the submatrix X is irrelevant. The matrix S has the same
+  structure as R, and its diagonal blocks are denoted by S_k,
+  k = 1:l+1.
+
+  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BP( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
+     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, LIPAR, N
+      DOUBLE PRECISION  DELTA, PAR, TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*), RANKS(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the diagonal blocks R_k
+          and S_k of the matrices R and S should be estimated,
+          as follows:
+          = 'E' :  use incremental condition estimation for each
+                   diagonal block of R_k and S_k to find its
+                   numerical rank;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of R_k and S_k for zero values;
+          = 'U' :  use the ranks already stored in RANKS (for R).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
+          (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix R, as follows:
+          IPAR(1) must contain ST, the number of columns of the
+                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, l, in the
+                  block diagonal part of R.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  R_k, k = 1:l.  BSM &gt;= 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks R_k, k = 1:l.  BSN &gt;= 0.
+          BSM is not used by this routine, but assumed equal to BSN.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          On entry, the leading N-by-NC part of this array must
+          contain the (compressed) representation (Rc) of the upper
+          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
+          not referenced. The zero strict lower triangles of R_k,
+          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
+          the full upper triangle of R must be stored.
+          On exit, the full upper triangles of R_k, k = 1:l+1, and
+          L_k, k = 1:l, are unaltered, and the strict lower
+          triangles of R_k, k = 1:l+1, contain the corresponding
+          strict upper triangles (transposed) of the upper
+          triangular matrix S.
+          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
+          upper triangle of S is stored in the strict lower triangle
+          of R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  DELTA   (input) DOUBLE PRECISION
+          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
+
+  PAR     (input/output) DOUBLE PRECISION
+          On entry, PAR must contain an initial estimate of the
+          Levenberg-Marquardt parameter.  PAR &gt;= 0.
+          On exit, it contains the final estimate of this parameter.
+
+  RANKS   (input or output) INTEGER array, dimension (r), where
+          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
+          r = BN,      if ST = 0 and BSN &gt; 0;
+          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
+          r = 0,       if ST = 0 and BSN = 0.
+          On entry, if COND = 'U' and N &gt; 0, this array must contain
+          the numerical ranks of the submatrices R_k, k = 1:l(+1).
+          On exit, if N &gt; 0, this array contains the numerical ranks
+          of the submatrices S_k, k = 1:l(+1).
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system J*x = b, sqrt(PAR)*D*x = 0.
+
+  RX      (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the matrix-vector product -R*P'*x.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the submatrices R_k and S_k. If the user sets
+          TOL &gt; 0, then the given value of TOL is used as a lower
+          bound for the reciprocal condition number;  a (sub)matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S.
+          If BN &gt; 1 and BSN &gt; 0, the elements N+1 : N+ST*(N-ST)
+          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
+          matrix S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND =  'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
+                                      if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND =  'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm computes the Gauss-Newton direction. An approximate
+  basic least squares solution is found if the Jacobian is rank
+  deficient. The computations exploit the special structure and
+  storage scheme of the matrix R. If one or more of the submatrices
+  R_k or S_k, k = 1:l+1, is singular, then the computed result is
+  not the basic least squares solution for the whole problem, but a
+  concatenation of (least squares) solutions of the individual
+  subproblems involving R_k or S_k, k = 1:l+1 (with adapted right
+  hand sides).
+
+  If the Gauss-Newton direction is not acceptable, then an iterative
+  algorithm obtains improved lower and upper bounds for the
+  Levenberg-Marquardt parameter PAR. Only a few iterations are
+  generally needed for convergence of the algorithm. If, however,
+  the limit of ITMAX = 10 iterations is reached, then the output PAR
+  will contain the best value obtained so far. If the Gauss-Newton
+  step is acceptable, it is stored in x, and PAR is set to zero,
+  hence S = R.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N*(BSN+ST)) operations and is backward
+  stable, if R is nonsingular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a structure-exploiting, LAPACK-based modification
+  of LMPAR from the MINPACK package [1], and with optional condition
+  estimation. The option COND = 'U' is useful when dealing with
+  several right-hand side vectors, but RANKS array should be reset.
+  If COND = 'E', but the matrix S is guaranteed to be nonsingular
+  and well conditioned relative to TOL, i.e., rank(R) = N, and
+  min(DIAG) &gt; 0, then its condition is not estimated.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BQ.html b/doc/_build/html/_static/doc/NF01BQ.html
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+<HTML>
+<HEAD><TITLE>NF01BQ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BQ">NF01BQ</A></H2>
+<H3>
+Solving the linear system J x = b, D x = 0, D diagonal, for Wiener system identification
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a vector x which solves the system of linear
+  equations
+
+        J*x = b ,     D*x = 0 ,
+
+  in the least squares sense, where J is an m-by-n matrix,
+  D is an n-by-n diagonal matrix, and b is an m-vector. The matrix J
+  is the current Jacobian of a nonlinear least squares problem,
+  provided in a compressed form by SLICOT Library routine NF01BD.
+  It is assumed that a block QR factorization, with column pivoting,
+  of J is available, that is, J*P = Q*R, where P is a permutation
+  matrix, Q has orthogonal columns, and R is an upper triangular
+  matrix with diagonal elements of nonincreasing magnitude for each
+  block, as returned by SLICOT Library routine NF01BS. The routine
+  NF01BQ needs the upper triangle of R in compressed form, the
+  permutation matrix P, and the first n components of Q'*b
+  (' denotes the transpose). The system J*x = b, D*x = 0, is then
+  equivalent to
+
+        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
+
+  where x = P*z. If this system does not have full rank, then an
+  approximate least squares solution is obtained (see METHOD).
+  On output, NF01BQ also provides an upper triangular matrix S
+  such that
+
+        P'*(J'*J + D*D)*P = S'*S .
+
+  The system (1) is equivalent to S*z = c , where c contains the
+  first n components of the vector obtained by applying to
+  [ (Q'*b)'  0 ]' the transformations which triangularized
+  [ R'  P'*D*P ]', getting S.
+
+  The matrix R has the following structure
+
+      /   R_1    0    ..   0   |   L_1   \
+      |    0    R_2   ..   0   |   L_2   |
+      |    :     :    ..   :   |    :    | ,
+      |    0     0    ..  R_l  |   L_l   |
+      \    0     0    ..   0   |  R_l+1  /
+
+  where the submatrices R_k, k = 1:l, have the same order BSN,
+  and R_k, k = 1:l+1, are square and upper triangular. This matrix
+  is stored in the compressed form
+
+           /   R_1  |   L_1   \
+           |   R_2  |   L_2   |
+    Rc =   |    :   |    :    | ,
+           |   R_l  |   L_l   |
+           \    X   |  R_l+1  /
+
+  where the submatrix X is irrelevant. The matrix S has the same
+  structure as R, and its diagonal blocks are denoted by S_k,
+  k = 1:l+1.
+
+  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BQ( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
+     $                   RANKS, X, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, LIPAR, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*), RANKS(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the matrices S_k should
+          be estimated, as follows:
+          = 'E' :  use incremental condition estimation and store
+                   the numerical rank of S_k in the array entry
+                   RANKS(k), for k = 1:l+1;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of S_k for zero values;
+          = 'U' :  use the ranks already stored in RANKS(1:l+1).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
+          (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix R, as follows:
+          IPAR(1) must contain ST, the number of columns of the
+                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, l, in the
+                  block diagonal part of R.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  R_k, k = 1:l.  BSM &gt;= 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks R_k, k = 1:l.  BSN &gt;= 0.
+          BSM is not used by this routine, but assumed equal to BSN.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          On entry, the leading N-by-NC part of this array must
+          contain the (compressed) representation (Rc) of the upper
+          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
+          not referenced. The zero strict lower triangles of R_k,
+          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
+          the full upper triangle of R must be stored.
+          On exit, the full upper triangles of R_k, k = 1:l+1, and
+          L_k, k = 1:l, are unaltered, and the strict lower
+          triangles of R_k, k = 1:l+1, contain the corresponding
+          strict upper triangles (transposed) of the upper
+          triangular matrix S.
+          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
+          upper triangle of S is stored in the strict lower triangle
+          of R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  RANKS   (input or output) INTEGER array, dimension (r), where
+          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
+          r = BN,      if ST = 0 and BSN &gt; 0;
+          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
+          r = 0,       if ST = 0 and BSN = 0.
+          On entry, if COND = 'U' and N &gt; 0, this array must contain
+          the numerical ranks of the submatrices S_k, k = 1:l(+1).
+          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
+          contains the numerical ranks of the submatrices S_k,
+          k = 1:l(+1), estimated according to the value of COND.
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system J*x = b, D*x = 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the submatrices S_k. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          the reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S, and
+          the next N elements contain the solution z.
+          If BN &gt; 1 and BSN &gt; 0, the elements 2*N+1 : 2*N+ST*(N-ST)
+          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
+          matrix S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND =  'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
+                                      if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND = 'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Standard plane rotations are used to annihilate the elements of
+  the diagonal matrix D, updating the upper triangular matrix R
+  and the first n elements of the vector Q'*b. A basic least squares
+  solution is computed. The computations exploit the special
+  structure and storage scheme of the matrix R. If one or more of
+  the submatrices S_k, k = 1:l+1, is singular, then the computed
+  result is not the basic least squares solution for the whole
+  problem, but a concatenation of (least squares) solutions of the
+  individual subproblems involving R_k, k = 1:l+1 (with adapted
+  right hand sides).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N*(BSN+ST)) operations and is backward
+  stable, if R is nonsingular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a structure-exploiting, LAPACK-based modification
+  of QRSOLV from the MINPACK package [1], and with optional
+  condition estimation.
+  The option COND = 'U' is useful when dealing with several
+  right-hand side vectors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BR.html b/doc/_build/html/_static/doc/NF01BR.html
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+<HTML>
+<HEAD><TITLE>NF01BR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BR">NF01BR</A></H2>
+<H3>
+Solving linear systems R x = b, or R' x = b, in the least squares sense
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve one of the systems of linear equations
+
+        R*x = b ,  or  R'*x = b ,
+
+  in the least squares sense, where R is an n-by-n block upper
+  triangular matrix, with the structure
+
+      /   R_1    0    ..   0   |   L_1   \
+      |    0    R_2   ..   0   |   L_2   |
+      |    :     :    ..   :   |    :    | ,
+      |    0     0    ..  R_l  |   L_l   |
+      \    0     0    ..   0   |  R_l+1  /
+
+  with the upper triangular submatrices R_k, k = 1:l+1, square, and
+  the first l of the same order, BSN. The diagonal elements of each
+  block R_k have nonincreasing magnitude. The matrix R is stored in
+  the compressed form, as returned by SLICOT Library routine NF01BS,
+
+           /   R_1  |   L_1   \
+           |   R_2  |   L_2   |
+    Rc =   |    :   |    :    | ,
+           |   R_l  |   L_l   |
+           \    X   |  R_l+1  /
+
+  where the submatrix X is irrelevant. If the matrix R does not have
+  full rank, then a least squares solution is obtained. If l &lt;= 1,
+  then R is an upper triangular matrix and its full upper triangle
+  is stored.
+
+  Optionally, the transpose of the matrix R can be stored in the
+  strict lower triangles of the submatrices R_k, k = 1:l+1, and in
+  the arrays SDIAG and S, as described at the parameter UPLO below.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BR( COND, UPLO, TRANS, N, IPAR, LIPAR, R, LDR,
+     $                   SDIAG, S, LDS, B, RANKS, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND, TRANS, UPLO
+      INTEGER           INFO, LDR, LDS, LDWORK, LIPAR, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), RANKS(*)
+      DOUBLE PRECISION  B(*), DWORK(*), R(LDR,*), S(LDS,*), SDIAG(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of submatrices R_k should
+          be estimated, as follows:
+          = 'E' :  use incremental condition estimation and store
+                   the numerical rank of R_k in the array entry
+                   RANKS(k), for k = 1:l+1;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of R_k for zero values;
+          = 'U' :  use the ranks already stored in RANKS(1:l+1).
+
+  UPLO    CHARACTER*1
+          Specifies the storage scheme for the matrix R, as follows:
+          = 'U' :  the upper triangular part is stored as in Rc;
+          = 'L' :  the lower triangular part is stored, namely,
+                   - the transpose of the strict upper triangle of
+                     R_k is stored in the strict lower triangle of
+                     R_k, for k = 1:l+1;
+                   - the diagonal elements of R_k, k = 1:l+1, are
+                     stored in the array SDIAG;
+                   - the transpose of the last block column in R
+                     (without R_l+1) is stored in the array S.
+
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations, as follows:
+          = 'N':  R*x  = b  (No transpose);
+          = 'T':  R'*x = b  (Transpose);
+          = 'C':  R'*x = b  (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
+          (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix R, as follows:
+          IPAR(1) must contain ST, the number of columns of the
+                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, l, in the
+                  block diagonal part of R.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  R_k, k = 1:l.  BSM &gt;= 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks R_k, k = 1:l.  BSN &gt;= 0.
+          BSM is not used by this routine, but assumed equal to BSN.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          If UPLO = 'U', the leading N-by-NC part of this array must
+          contain the (compressed) representation (Rc) of the upper
+          triangular matrix R. The submatrix X in Rc and the strict
+          lower triangular parts of the diagonal blocks R_k,
+          k = 1:l+1, are not referenced. If BN &lt;= 1 or BSN = 0, then
+          the full upper triangle of R must be stored.
+          If UPLO = 'L', BN &gt; 1 and BSN &gt; 0, the leading
+          (N-ST)-by-BSN part of this array must contain the
+          transposes of the strict upper triangles of R_k, k = 1:l,
+          stored in the strict lower triangles of R_k, and the
+          strict lower triangle of R_l+1 must contain the transpose
+          of the strict upper triangle of R_l+1. The submatrix X
+          in Rc is not referenced. The diagonal elements of R_k,
+          and, if COND = 'E', the upper triangular parts of R_k,
+          k = 1:l+1, are modified internally, but are restored
+          on exit.
+          If UPLO = 'L' and BN &lt;= 1 or BSN = 0, the leading N-by-N
+          strict lower triangular part of this array must contain
+          the transpose of the strict upper triangular part of R.
+          The diagonal elements and, if COND = 'E', the upper
+          triangular elements are modified internally, but are
+          restored on exit.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+  SDIAG   (input) DOUBLE PRECISION array, dimension (N)
+          If UPLO = 'L', this array must contain the diagonal
+          entries of R_k, k = 1:l+1. This array is modified
+          internally, but is restored on exit.
+          This parameter is not referenced if UPLO = 'U'.
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,N-ST)
+          If UPLO = 'L', BN &gt; 1, and BSN &gt; 0, the leading
+          ST-by-(N-ST) part of this array must contain the transpose
+          of the rectangular part of the last block column in R,
+          that is [ L_1' L_2' ... L_l' ] . If COND = 'E', S is
+          modified internally, but is restored on exit.
+          This parameter is not referenced if UPLO = 'U', or
+          BN &lt;= 1, or BSN = 0.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= 1,         if UPLO = 'U', or BN &lt;= 1, or BSN = 0;
+          LDS &gt;= MAX(1,ST), if UPLO = 'L', BN &gt; 1, and BSN &gt; 0.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the right hand side
+          vector b.
+          On exit, this array contains the (least squares) solution
+          of the system R*x = b or R'*x = b.
+
+  RANKS   (input or output) INTEGER array, dimension (r), where
+          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
+          r = BN,      if ST = 0 and BSN &gt; 0;
+          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
+          r = 0,       if ST = 0 and BSN = 0.
+          On entry, if COND = 'U' and N &gt; 0, this array must contain
+          the numerical ranks of the submatrices R_k, k = 1:l(+1).
+          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
+          contains the numerical ranks of the submatrices R_k,
+          k = 1:l(+1), estimated according to the value of COND.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the submatrices R_k. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          the reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank. If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          Denote Full = ( BN &lt;= 1 or  BSN = 0 );
+                 Comp = ( BN &gt;  1 and BSN &gt; 0 ).
+          LDWORK &gt;= 2*N,           if Full and COND = 'E';
+          LDWORK &gt;= 2*MAX(BSN,ST), if Comp and COND = 'E';
+          LDWORK &gt;= 0,   in the remaining cases.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Block back or forward substitution is used (depending on TRANS
+  and UPLO), exploiting the special structure and storage scheme of
+  the matrix R. If a submatrix R_k, k = 1:l+1, is singular, a local
+  basic least squares solution is computed. Therefore, the returned
+  result is not the basic least squares solution for the whole
+  problem, but a concatenation of (least squares) solutions of the
+  individual subproblems involving R_k, k = 1:l+1 (with adapted
+  right hand sides).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                 2    2
+  The algorithm requires 0(BN*BSN + ST + N*ST) operations and is
+  backward stable, if R is nonsingular.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BS.html b/doc/_build/html/_static/doc/NF01BS.html
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+<HTML>
+<HEAD><TITLE>NF01BS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BS">NF01BS</A></H2>
+<H3>
+QR factorization with column pivoting for Wiener system identification
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the QR factorization of the Jacobian matrix J, as
+  received in compressed form from SLICOT Library routine NF01BD,
+
+         /  dy(1)/dwb(1)  |  dy(1)/ dtheta  \
+    Jc = |       :        |       :         | ,
+         \  dy(L)/dwb(L)  |  dy(L)/ dtheta  /
+
+  and to apply the transformation Q on the error vector e (in-situ).
+  The factorization is J*P = Q*R, where Q is a matrix with
+  orthogonal columns, P a permutation matrix, and R an upper
+  trapezoidal matrix with diagonal elements of nonincreasing
+  magnitude for each block column (see below). The 1-norm of the
+  scaled gradient is also returned.
+
+  Actually, the Jacobian J has the block form
+
+    dy(1)/dwb(1)       0         .....       0        dy(1)/dtheta
+         0        dy(2)/dwb(2)   .....       0        dy(2)/dtheta
+       .....         .....       .....     .....         .....
+         0           .....         0    dy(L)/dwb(L)  dy(L)/dtheta
+
+  but the zero blocks are omitted. The diagonal blocks have the
+  same size and correspond to the nonlinear part. The last block
+  column corresponds to the linear part. It is assumed that the
+  Jacobian matrix has at least as many rows as columns. The linear
+  or nonlinear parts can be empty. If L &lt;= 1, the Jacobian is
+  represented as a full matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BS( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
+     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
+      DOUBLE PRECISION  FNORM, GNORM
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.
+          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain ST, the number of parameters
+                  corresponding to the linear part.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, BN = L,
+                  for the parameters corresponding to the nonlinear
+                  part.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
+                  number of rows of the matrix J, if BN &lt;= 1.
+                  BN*BSM &gt;= N, if BN &gt; 0;
+                  BSM &gt;= N,    if BN = 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  FNORM   (input) DOUBLE PRECISION
+          The Euclidean norm of the vector e.  FNORM &gt;= 0.
+
+  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          On entry, the leading NR-by-NC part of this array must
+          contain the (compressed) representation (Jc) of the
+          Jacobian matrix J, where NR = BSM if BN &lt;= 1, and
+          NR = BN*BSM, if BN &gt; 1.
+          On exit, the leading N-by-NC part of this array contains
+          a (compressed) representation of the upper triangular
+          factor R of the Jacobian matrix. The matrix R has the same
+          structure as the Jacobian matrix J, but with an additional
+          diagonal block. Note that for efficiency of the later
+          calculations, the matrix R is delivered with the leading
+          dimension MAX(1,N), possibly much smaller than the value
+          of LDJ on entry.
+
+  LDJ     (input/output) INTEGER
+          The leading dimension of array J.
+          On entry, LDJ &gt;= MAX(1,NR).
+          On exit,  LDJ &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (NR)
+          On entry, this array contains the vector e,
+          e = vec( Y - y ), where Y is set of output samples, and
+          vec denotes the concatenation of the columns of a matrix.
+          On exit, this array contains the updated vector Z*Q'*e,
+          where Z is the block row permutation matrix used in the
+          QR factorization of J (see METHOD).
+
+  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the Euclidean norms of the columns
+          of the Jacobian matrix, considered in the initial order.
+
+  GNORM   (output) DOUBLE PRECISION
+          If FNORM &gt; 0, the 1-norm of the scaled vector J'*e/FNORM,
+          with each element i further divided by JNORMS(i) (if
+          JNORMS(i) is nonzero).
+          If FNORM = 0, the returned value of GNORM is 0.
+
+  IPVT    (output) INTEGER array, dimension (N)
+          This array defines the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1,      if N = 0 or BN &lt;= 1 and BSM = N = 1;
+                            otherwise,
+          LDWORK &gt;= 4*N+1,  if BN &lt;= 1 or  BSN = 0;
+          LDWORK &gt;= JWORK,  if BN &gt;  1 and BSN &gt; 0, where JWORK is
+                            given by the following procedure:
+           JWORK  = BSN + MAX(3*BSN+1,ST);
+           JWORK  = MAX(JWORK,4*ST+1),         if BSM &gt; BSN;
+           JWORK  = MAX(JWORK,(BSM-BSN)*(BN-1)),
+                                               if BSN &lt; BSM &lt; 2*BSN.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A QR factorization with column pivoting of the matrix J is
+  computed, J*P = Q*R.
+
+  If l = L &gt; 1, the R factor of the QR factorization has the same
+  structure as the Jacobian, but with an additional diagonal block.
+  Denote
+
+      /   J_1    0    ..   0   |  L_1  \
+      |    0    J_2   ..   0   |  L_2  |
+  J = |    :     :    ..   :   |   :   | .
+      |    :     :    ..   :   |   :   |
+      \    0     0    ..  J_l  |  L_l  /
+
+  The algorithm consists in two phases. In the first phase, the
+  algorithm uses QR factorizations with column pivoting for each
+  block J_k, k = 1:l, and applies the orthogonal matrix Q'_k to the
+  corresponding part of the last block column and of e. After all
+  block rows have been processed, the block rows are interchanged
+  so that the zeroed submatrices in the first l block columns are
+  moved to the bottom part. The same block row permutation Z is
+  also applied to the vector e. At the end of the first phase,
+  the structure of the processed matrix J is
+
+      /   R_1    0    ..   0   |  L^1_1  \
+      |    0    R_2   ..   0   |  L^1_2  |
+      |    :     :    ..   :   |    :    | .
+      |    :     :    ..   :   |    :    |
+      |    0     0    ..  R_l  |  L^1_l  |
+      |    0     0    ..   0   |  L^2_1  |
+      |    :     :    ..   :   |    :    |
+      \    0     0    ..   0   |  L^2_l  /
+
+  In the second phase, the submatrix L^2_1:l is triangularized
+  using an additional QR factorization with pivoting. (The columns
+  of L^1_1:l are also permuted accordingly.) Therefore, the column
+  pivoting is restricted to each such local block column.
+
+  If l &lt;= 1, the matrix J is triangularized in one phase, by one
+  QR factorization with pivoting. In this case, the column
+  pivoting is global.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BU.html b/doc/_build/html/_static/doc/NF01BU.html
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+<HTML>
+<HEAD><TITLE>NF01BU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BU">NF01BU</A></H2>
+<H3>
+Computation of the matrix J' J + c I, for the Jacobian J given in a compressed form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix J'*J + c*I, for the Jacobian J as received
+  from SLICOT Library routine NF01BD:
+
+       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
+  Jc = |       :        |       :        | .
+       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
+
+  This is a compressed representation of the actual structure
+
+      /   J_1    0    ..   0   |  L_1  \
+      |    0    J_2   ..   0   |  L_2  |
+  J = |    :     :    ..   :   |   :   | .
+      |    :     :    ..   :   |   :   |
+      \    0     0    ..  J_L  |  L_L  /
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BU( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
+     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOR, UPLO
+      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STOR    CHARACTER*1
+          Specifies the storage scheme for the symmetric
+          matrix J'*J + c*I, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix J'*J + c*I is stored,
+          as follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix J'*J + c*I.
+          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain ST, the number of parameters
+                  corresponding to the linear part.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, BN = L,
+                  for the parameters corresponding to the nonlinear
+                  part.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
+                  number of rows of the matrix J, if BN &lt;= 1.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          The leading NR-by-NC part of this array must contain
+          the (compressed) representation (Jc) of the Jacobian
+          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
+          if BN &gt; 1.
+
+  LDJ     (input) INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
+
+  JTJ     (output) DOUBLE PRECISION array,
+                   dimension (LDJTJ,N),    if STOR = 'F',
+                   dimension (N*(N+1)/2),  if STOR = 'P'.
+          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
+          STOR = 'P') part of this array contains the upper or
+          lower triangle of the matrix J'*J + c*I, depending on
+          UPLO = 'U', or UPLO = 'L', respectively, stored either as
+          a two-dimensional, or one-dimensional array, depending
+          on STOR.
+
+  LDJTJ   INTEGER
+          The leading dimension of the array JTJ.
+          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
+          LDJTJ &gt;= 1,        if STOR = 'P'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          Currently, this array is not used.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product is computed columnn-wise, exploiting the
+  symmetry. BLAS 3 routines DGEMM and DSYRK are used if STOR = 'F',
+  and BLAS 2 routine DGEMV is used if STOR = 'P'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BV.html b/doc/_build/html/_static/doc/NF01BV.html
new file mode 100644
index 00000000..16ca68cf
--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01BV.html
@@ -0,0 +1,150 @@
+<HTML>
+<HEAD><TITLE>NF01BV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BV">NF01BV</A></H2>
+<H3>
+Computation of the matrix J' J + c I, for a full Jacobian J (one output variable)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix J'*J + c*I, for the Jacobian J as received
+  from SLICOT Library routine NF01BY, for one output variable.
+
+  NOTE: this routine must have the same arguments as SLICOT Library
+  routine NF01BU.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BV( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
+     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOR, UPLO
+      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STOR    CHARACTER*1
+          Specifies the storage scheme for the symmetric
+          matrix J'*J + c*I, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix J'*J + c*I is stored,
+          as follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.  N &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain the number of rows M of the Jacobian
+                  matrix J.  M &gt;= 0.
+          IPAR is provided for compatibility with SLICOT Library
+          routine MD03AD.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 1.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
+          The leading M-by-N part of this array must contain the
+          Jacobian matrix J.
+
+  LDJ     INTEGER
+          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
+
+  JTJ     (output) DOUBLE PRECISION array,
+                   dimension (LDJTJ,N),    if STOR = 'F',
+                   dimension (N*(N+1)/2),  if STOR = 'P'.
+          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
+          STOR = 'P') part of this array contains the upper or
+          lower triangle of the matrix J'*J + c*I, depending on
+          UPLO = 'U', or UPLO = 'L', respectively, stored either as
+          a two-dimensional, or one-dimensional array, depending
+          on STOR.
+
+  LDJTJ   INTEGER
+          The leading dimension of the array JTJ.
+          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
+          LDJTJ &gt;= 1,        if STOR = 'P'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          Currently, this array is not used.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product is computed columnn-wise, exploiting the
+  symmetry. BLAS 3 routine DSYRK is used if STOR = 'F', and BLAS 2
+  routine DGEMV is used if STOR = 'P'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BW.html b/doc/_build/html/_static/doc/NF01BW.html
new file mode 100644
index 00000000..5f1971aa
--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01BW.html
@@ -0,0 +1,147 @@
+<HTML>
+<HEAD><TITLE>NF01BW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BW">NF01BW</A></H2>
+<H3>
+Matrix-vector product x <-- (J' J + c I) x, for J in a compressed form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix-vector product x &lt;-- (J'*J + c*I)*x, for the
+  Jacobian J as received from SLICOT Library routine NF01BD:
+
+       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
+  Jc = |       :        |       :        | .
+       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
+
+  This is a compressed representation of the actual structure
+
+      /   J_1    0    ..   0   |  L_1  \
+      |    0    J_2   ..   0   |  L_2  |
+  J = |    :     :    ..   :   |   :   | .
+      |    :     :    ..   :   |   :   |
+      \    0     0    ..  J_L  |  L_L  /
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BW( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the vector x.
+          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain ST, the number of parameters
+                  corresponding to the linear part.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, BN = L,
+                  for the parameters corresponding to the nonlinear
+                  part.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
+                  number of rows of the matrix J, if BN &lt;= 1.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          The leading NR-by-NC part of this array must contain
+          the (compressed) representation (Jc) of the Jacobian
+          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
+          if BN &gt; 1.
+
+  LDJ     (input) INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          (1+(N-1)*INCX)
+          On entry, this incremented array must contain the
+          vector x.
+          On exit, this incremented array contains the value of the
+          matrix-vector product (J'*J + c*I)*x.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X.  INCX &gt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= NR.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The associativity of matrix multiplications is used; the result
+  is obtained as:  x_out = J'*( J*x ) + c*x.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BX.html b/doc/_build/html/_static/doc/NF01BX.html
new file mode 100644
index 00000000..61ff9d5a
--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01BX.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>NF01BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BX">NF01BX</A></H2>
+<H3>
+Matrix-vector product x <-- (A' A + c I) x, for a full matrix A
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute (J'*J + c*I)*x, where J is an m-by-n real matrix, c is
+  a real scalar, I is the n-by-n identity matrix, and x is a real
+  n-vector.
+
+  NOTE: this routine must have the same arguments as SLICOT Library
+  routine NF01BW.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BX( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.  N &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain the number of rows M of the Jacobian
+                  matrix J.  M &gt;= 0.
+          IPAR is provided for compatibility with SLICOT Library
+          routine MD03AD.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 1.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
+          The leading M-by-N part of this array must contain the
+          Jacobian matrix J.
+
+  LDJ     INTEGER
+          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          (1+(N-1)*abs(INCX))
+          On entry, this incremented array must contain the
+          vector x.
+          On exit, this incremented array contains the value of the
+          matrix-vector product (J'*J + c*I)*x.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X.  INCX &lt;&gt; 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= M.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The associativity of matrix multiplications is used; the result
+  is obtained as:  x_out = J'*( J*x ) + c*x.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BY.html b/doc/_build/html/_static/doc/NF01BY.html
new file mode 100644
index 00000000..0fcb68ed
--- /dev/null
+++ b/doc/_build/html/_static/doc/NF01BY.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>NF01BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BY">NF01BY</A></H2>
+<H3>
+Computing the Jacobian of the error function for a neural network (one output variable)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Jacobian of the error function for a neural network
+  of the structure
+
+          - tanh(w1*z+b1) -
+        /      :            \
+      z ---    :          --- sum(ws(i)*...)+ b(n+1)  --- y,
+        \      :            /
+          - tanh(wn*z+bn) -
+
+  for the single-output case. The Jacobian has the form
+
+             d e(1)  / d WB(1)   ...    d e(1)  / d WB(NWB)
+      J =            :                          :           ,
+           d e(NSMP) / d WB(1)   ...  d e(NSMP) / d WB(NWB)
+
+  where e(z) is the error function, WB is the set of weights and
+  biases of the network (for the considered output), and NWB is
+  the number of elements of this set, NWB = IPAR(1)*(NZ+2)+1
+  (see below).
+
+  In the multi-output case, this routine should be called for each
+  output.
+
+  NOTE: this routine must have the same arguments as SLICOT Library
+  routine NF01BD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BY( CJTE, NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z,
+     $                   LDZ, E, J, LDJ, JTE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CJTE
+      INTEGER           INFO, L, LDJ, LDWORK, LDZ, LIPAR, LWB, NSMP, NZ
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JTE(*), WB(*),
+     $                  Z(LDZ,*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CJTE    CHARACTER*1
+          Specifies whether the matrix-vector product J'*e should be
+          computed or not, as follows:
+          = 'C' :  compute J'*e;
+          = 'N' :  do not compute J'*e.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  NZ      (input) INTEGER
+          The length of each input sample.  NZ &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.
+          Currently, L must be 1.
+
+  IPAR    (input/output) INTEGER array, dimension (LIPAR)
+          The integer parameters needed.
+          On entry, the first element of this array must contain
+          a value related to the number of neurons, n; specifically,
+          n = abs(IPAR(1)), since setting IPAR(1) &lt; 0 has a special
+          meaning (see below).
+          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
+          performed, except the needed tests on input parameters,
+          but the following values are returned:
+          IPAR(1) contains the length of the array J, LJ;
+          LDJ     contains the leading dimension of array J.
+          Otherwise, IPAR(1) and LDJ are unchanged on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the vector IPAR.  LIPAR &gt;= 1.
+
+  WB      (input) DOUBLE PRECISION array, dimension (LWB)
+          The leading NWB = IPAR(1)*(NZ+2)+1 part of this array
+          must contain the weights and biases of the network,
+          WB = ( w(1,1), ..., w(1,NZ), ..., w(n,1), ...,  w(n,NZ),
+                 ws(1), ..., ws(n), b(1), ..., b(n+1) ),
+          where w(i,j) are the weights of the hidden layer,
+          ws(i) are the weights of the linear output layer and
+          b(i) are the biases.
+
+  LWB     (input) INTEGER
+          The length of array WB.  LWB &gt;= NWB.
+
+  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
+          The leading NSMP-by-NZ part of this array must contain the
+          set of input samples,
+          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,NSMP).
+
+  E       (input) DOUBLE PRECISION array, dimension (NSMP)
+          If CJTE = 'C', this array must contain the error vector e.
+          If CJTE = 'N', this array is not referenced.
+
+  J       (output) DOUBLE PRECISION array, dimension (LDJ, NWB)
+          The leading NSMP-by-NWB part of this array contains the
+          Jacobian of the error function.
+
+  LDJ     INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP).
+          Note that LDJ is an input parameter, except for
+          IPAR(1) &lt; 0 on entry, when it is an output parameter.
+
+  JTE     (output) DOUBLE PRECISION array, dimension (NWB)
+          If CJTE = 'C', this array contains the matrix-vector
+          product J'*e.
+          If CJTE = 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This argument is included for combatibility with SLICOT
+          Library routine NF01BD.
+
+  LDWORK  INTEGER
+          Normally, the length of the array DWORK.  LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Jacobian is computed analytically.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/ODESolver.html b/doc/_build/html/_static/doc/ODESolver.html
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+<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
+<html>
+<head>
+   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
+   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
+   <title>ODESolver - SLICOT Library Routine Documentation</title>
+</head>
+<body>
+
+<h2>
+<a NAME="ODESolver"></a>ODESolver</h2>
+
+<h3>
+Solver for Ordinary Differential Equations (driver)</h3>
+<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
+<p><b><font size=+1>Purpose</font></b>
+<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
+&nbsp; defining Differential Algebraic Equations using several packages.
+
+
+&nbsp; The equations follow the form:
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; dx/dt = f(x(t), (t), p, t)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(x(t), (t), p, t)
+
+&nbsp; The user must define only the subroutines ODEDER and ODEOUT and
+&nbsp; the Jacobians (JACFX, JACFU, JACFP) if used, and the interface&nbsp;
+&nbsp; adapts the structure to fit all the codes</pre>
+<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODESolver(ISOLVER, CODEDER_, CODEOUT_, CJACFX_,&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU_, CJACFP_,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, TINI, TOUT, X, U, Y,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, DPAR, RTOL, ATOL,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; RTOL, TINI, TOUT
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO, NX, NY, NU,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CODEDER_, CODEOUT_, CJACFX_, CJACFU_, CJACFP_
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; ATOL(*), DWORK(LDWORK), DPAR(*),&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), Y(NY), U(NU)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)
+
+
+</pre>
+<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
+<p><b>Mode Parameters</b>
+<pre>&nbsp; ISOLVER&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver package to be used:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSODA,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: LSODES,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: RADAU5,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASSL,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DASPK,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 7: DGELDA.</pre>
+<b>Input/Output Parameters</b>
+<pre>&nbsp; ODEDER&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the right hand side f of the ODE.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; ODEOUT&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.</pre>
+
+<pre>&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (230)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both RTOL and ATOL are scalars&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : RTOL is scalar and ATOL is vector
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both RTOL and ATOL are vectors&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values, must be 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mf, Method flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(5), Maximum number of steps allowed during one&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Flag to generate extra printing at method&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switches:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 means no extra printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 for minimal printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 for full printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of f evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE and LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(19), Maximum order to be allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 if meth = 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(118), Number of nonzero elements in the jacobian&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrix, including the diagonal (miter = 1 or 2).&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(119), Number of groups of column indices, used in
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; difference quotient jacobian aproximations if&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; miter = 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(120), Number of sparse LU decompositions.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(121), Base address in rwork of the history array.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(122), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array ian.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(123), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array jan.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(124), Number of nonzero elements in the strict&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lower triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(125),&nbsp; Number of nonzero elements in the strict&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; upper triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(22), Maximum order to be allowed for the&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nonstiff method, default value is 12.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(23), Maximum order to be allowed for the stiff&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; method, default value is 5.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(116), Method indicator for the last successful&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; step&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(117), Current method indicator&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hessenberg form.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 0 then is taken the extrapolated collocation
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if not equal 0 zero values are used.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity contraints:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforce nonnegativity in X during the&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -Parameters for DASPK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (compatible with DASSL)&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(40),&nbsp; DASPK uses scalars MAXLm KMP, NRMAX and EPLI&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; when uses Krylov method.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: uses default values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: uses user values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when INFOV(11)>0&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the variables.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(43), Use default values for initial condition heuristic&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; controls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No and provide MXNIT, MXNJ, MXNH, LSOFF, STPTOL,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EPINIT.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; DPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (202)&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common real parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(1), Initial step size guess. Optional in:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEPACK, DASSL, ..&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(2), Maximum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK and DASSL:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(111), Step size in t last used (successfully).&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(113), Current value of the independent variable&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(16), Critical value of t which the solver is not&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(17), Minimum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(112), Step size to be attempted on the next step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(18), Tolerance scale factor, greater than 1.0.&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(19), The element threshhold for sparsity&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; determination when moss = 1 or 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(26), The rounding unit, default 1E-16.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(27), The safety factor in step size prediction,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(28), Decides whether the jacobian should be&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(29), Stopping criterion for Newton's method,&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(30), DPAR(31): This saves, together with a&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large DPAR(28), LU-decompositions and computing&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(32), DPAR(33), Parameters for step size&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL and DASPK solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(36), Stopping point (Tstop)</pre>
+<b>Tolerances</b>
+<pre>&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
+<b>Workspace</b>
+<pre>&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; LIWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of IWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for mf = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + neq&nbsp; for mf = 21, 22, 24, or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if mf = 24, 25, input in iwork(1),iwork(2) the lower
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and upper half-bandwidths ml,mu.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 30&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PREISION array, dimension (LDWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; LDWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+ 9*NX+NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 21 or 22,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+10*NX+(2*IPAR(4)+IPAR(9))*NX,&nbsp; IPAR(3) = 24 or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+NX*max(16,NX+9)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , mf=10&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+(2+1./lenrat)*nnz + (11+9./lenrat)*NX, mf=121,222&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
+<b>Warning Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE/LSODA/LSODES/RADAU5 do not use
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; the input vector as argument;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Only the 1st element of RTOL is used;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) not allowed with
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/LSODES/RADAU5/DASSL/DASPK;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Only the 1st element of ATOL is used;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(37);
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6:&nbsp; Option not allowed for IPAR(38).</pre>
+<b>Error Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Sparse storage (IPAR(4)=1) incompatible with
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/RADAU5;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Dense storage (IPAR(4)=0) incompatible with LSODES
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: ODEDER returned ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: RADAU5 returned -ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DDASSL returned -ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DDASPK returned -ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 500+ERROR: DGELDA returned -ERROR
+</pre>
+<br>
+<a NAME="Method"></a><b><font size=+1>Method</font></b>
+<pre><tt><font color="#000000">Since the package integrates 9 different solvers, it is possible to solve differential&nbsp;
+equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
+iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
+equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
+the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
+and efficient integrated package.</font></tt></pre>
+<a NAME="References"></a><b><font size=+1>References</font></b>
+<pre>&nbsp; [1]&nbsp; A.C. Hindmarsh, Brief Description of ODEPACK: A Systematized Collection&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of ODE Solvers, http://www.netlib.org/odepack/doc&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [2]&nbsp; L.R. Petzold DASSL Library Documentation, http://www.netlib.org/ode/&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Systems, http://www.netlib.org/odepack/doc&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Technology, May 1990.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Math., 56:225{259, 1994.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [13] Working Group on Software (WGS), SLICOT Implementation and Documentation
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Standards, WGS-Report 96-1, Eindhoven University of Technology, updated:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Feb. 1998, ../../REPORTS/rep96-1.ps.Z.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [14] A. Varga, Standarization of Interface for Nonlinear Systems Software&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; in SLICOT, Deutsches Zentrum ur Luft un Raumfahrt, DLR. SLICOT-Working&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Note 1998-4, 1998, Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN1998-4.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Englewood Cli, NJ, 1970.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [16] F.L. Lewis and V.L. Syrmos, Optimal Control, Addison-Wesley.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; New York, 1995.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [17] W.M.Lioen, J.J.B de Swart, Test Set for Initial Value Problem Solvers,&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Technical Report NM-R9615, CWI, Amsterdam, 1996.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; http://www.cwi.nl/cwi/projects/IVPTestset/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [18] V.Hernandez, I.Blanquer, E.Arias, and P.Ruiz,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Definition and Implementation of a SLICOT Standard Interface and the&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; associated MATLAB Gateway for the Solution of Nonlinear Control Systems
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; by using ODE and DAE Packages}, Universidad Politecnica de Valencia,&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DSIC. SLICOT Working Note 2000-3: July 2000. Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN2000-3.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [19] J.J.B. de Swart, W.M. Lioen, W.A. van der Veen, SIDE, November 25,&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1998. Available at http://www.cwi.nl/cwi/projects/PSIDE/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [20] Kim, H.Young, F.L.Lewis, D.M.Dawson, Intelligent optimal control of&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; robotic manipulators using neural networks.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [21] J.C.Fernandez, E.Arias, V.Hernandez, L.Penalver, High Performance&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
+<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
+<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
+&nbsp; different packages integrated. Several packages are more robust
+&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
+&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
+&nbsp; of each method is recommended to check the references above.</pre>
+<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
+<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
+&nbsp; The interface checks the suitability of the methods to the&nbsp;
+&nbsp; parameters and show a warning message if problems could arise.</pre>
+<a NAME="Example"></a><b><font size=+1>Example</font></b>
+<p><b>Program Text</b>
+<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ODESOLVER EXAMPLE PROGRAM TEXT FOR LSODEX
+PROBLEM</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
+RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
+= 2, LSODES_ = 3)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
+5, DASPK_&nbsp; = 6)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
+Error: ',NAME(1:8),' &lt;solver>'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
+: LSODE, LSODA, LSODES, RADAU5, DASSL, DASP</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;K'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
+LSODEX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
+'LSODE') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODE_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'LSODA') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODA_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'LSODES') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODES_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'RADAU5') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASSL') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASPK') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
+'Error: Solver: ', SOLVER,' unknown'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>*</tt>
+<br><tt>99999 FORMAT (' ODESOLVER EXAMPLE PROGRAM RESULTS FOR LSODEX PROBLEM'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,/1X)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>*
+<br>*
+<br>*
+<br>*
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine ODESolver</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Indicates the nonlinear solver package to be used:</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 1: LSODE,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 2: LSODA,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 3: LSODES,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 4: RADAU5,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 5: DASSL,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 6: DASPK,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 7: DGELDA.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
+RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
+= 2, LSODES_ = 3)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
+5, DASPK_&nbsp; = 6)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MD, ND, LPAR, LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( MD = 400, ND = 100, LPAR = 250,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+LWORK = 650000 )</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWARN, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL(MD), RTOL,
+NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NUMJAC, NUMMAS, CONSIS</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 ODEDER, ODEOUT, JACFX,
+JACFU, JACFP</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
+DWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
+U(MD), Y(MD)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DNRM2</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+PLSODEX,ILSODEX,SLSODEX</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DAXPY</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(1)=1D-6</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(2)=1D-10</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(3)=1D-6</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODEX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODEX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODEX(NEQN,T(1),XPRIME)</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'ODE' ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99998 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( NUMJAC )
+THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(3)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(3)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6)=MLJAC</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7)=MUJAC</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEDER=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEOUT=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFX=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFU=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFP=''</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ODESolver(
+ISOLVER, ODEDER, ODEOUT, JACFX, JACFU, JACFP,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NEQN, NEQN, T(0), T(1), X, U, Y,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR, RPAR, RTOL, ATOL,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
+) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99996 ) INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( IWARN.NE.0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NEQN .LE. 10 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99994 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DO 80 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99993 ) X(I), XPRIME(I)</tt>
+<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,XPRIME,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NORM.EQ.0D0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=1D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CALL DAXPY(NEQN,-1D0,X,1,XPRIME,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,XPRIME,1)/NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99992 ) NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>*</tt>
+<br><tt>99998 FORMAT (' ERROR: This test is only intended for ODE problems')</tt>
+<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
+<br><tt>99996 FORMAT (' INFO on exit from ODESolver = ',I3)</tt>
+<br><tt>99995 FORMAT (' IWARN on exit from ODESolver = ',I3)</tt>
+<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
+<br><tt>99993 FORMAT (F,F)</tt>
+<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,E,/1X)</tt>
+<br><tt>* *** Last line of TEST ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODEDER_( NX, NU, T, X,
+U, RPAR, IPAR, F, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
+the problem function FEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the function is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The resulting function value f(T,X).</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Return values of error from FEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NX, NU, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(*)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), RPAR(*),
+F(NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+FLSODEX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODEX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of ODEDER_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NX, DUMMY,
+LDFX, T, X, DUMMY2, RPAR, IPAR, FX,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
+the problem function JEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY&nbsp;&nbsp;&nbsp; (input) INTEGER</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of the array FX.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the derivative is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY2&nbsp;&nbsp; (input) DOUBLE PRECISION</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The array with the resulting Jacobian matrix.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Return values of error from JEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NX, DUMMY, LDFX, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(*)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), DUMMY2(*),
+RPAR(*), FX(NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+JLSODEX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODEX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of JACFX_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<p><b>Program Data</b>
+<pre>No data required</pre>
+<b>Program Results</b>
+<pre>&nbsp;ODESOLVER EXAMPLE PROGRAM RESULTS&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;Problem: LSODEX&nbsp;&nbsp; Solver: LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;IWARN on exit from ODESolver =&nbsp;&nbsp; 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;Solution: (calculated)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;8.287534436182735E-08&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;3.329129749822125E-13&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;1.118553835127275E-07</pre>
+
+<hr>
+<p><!--Click <b><a href="../../SLICOT/arc/ODESolver.tgz">here</a></b> to get a compressed (gzip)
+tar file containing the source code of the routine, the example program,
+data, documentation, and related files.-->
+<br><b><a href="..\libindex.html">Return to index</a></b>
+</body>
+</html>
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+<HTML>
+<HEAD><TITLE>SB01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01BD">SB01BD</A></H2>
+<H3>
+Pole assignment for a given matrix pair (A,B)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine the state feedback matrix F for a given system (A,B)
+  such that the closed-loop state matrix A+B*F has specified
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB, WR, WI,
+     $                   NFP, NAP, NUP, F, LDF, Z, LDZ, TOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO
+      INTEGER          INFO, IWARN, LDA, LDB, LDF, LDWORK, LDZ, M, N,
+     $                 NAP, NFP, NP, NUP
+      DOUBLE PRECISION ALPHA, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
+     $                 WI(*), WR(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrix B and
+          the number of columns of the matrix F.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrix B and the number of rows of the matrix F.
+          M &gt;= 0.
+
+  NP      (input) INTEGER
+          The number of given eigenvalues. At most N eigenvalues
+          can be assigned.  0 &lt;= NP.
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the maximum admissible value, either for real
+          parts, if DICO = 'C', or for moduli, if DICO = 'D',
+          of the eigenvalues of A which will not be modified by
+          the eigenvalue assignment algorithm.
+          ALPHA &gt;= 0 if DICO = 'D'.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Z'*(A+B*F)*Z in a real Schur form.
+          The leading NFP-by-NFP diagonal block of A corresponds
+          to the fixed (unmodified) eigenvalues having real parts
+          less than ALPHA, if DICO = 'C', or moduli less than ALPHA,
+          if DICO = 'D'. The trailing NUP-by-NUP diagonal block of A
+          corresponds to the uncontrollable eigenvalues detected by
+          the eigenvalue assignment algorithm. The elements under
+          the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  WR,WI   (input/output) DOUBLE PRECISION array, dimension (NP)
+          On entry, these arrays must contain the real and imaginary
+          parts, respectively, of the desired eigenvalues of the
+          closed-loop system state-matrix A+B*F. The eigenvalues
+          can be unordered, except that complex conjugate pairs
+          must appear consecutively in these arrays.
+          On exit, if INFO = 0, the leading NAP elements of these
+          arrays contain the real and imaginary parts, respectively,
+          of the assigned eigenvalues. The trailing NP-NAP elements
+          contain the unassigned eigenvalues.
+
+  NFP     (output) INTEGER
+          The number of eigenvalues of A having real parts less than
+          ALPHA, if DICO = 'C', or moduli less than ALPHA, if
+          DICO = 'D'. These eigenvalues are not modified by the
+          eigenvalue assignment algorithm.
+
+  NAP     (output) INTEGER
+          The number of assigned eigenvalues. If INFO = 0 on exit,
+          then NAP = N-NFP-NUP.
+
+  NUP     (output) INTEGER
+          The number of uncontrollable eigenvalues detected by the
+          eigenvalue assignment algorithm (see METHOD).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the state
+          feedback F, which assigns NAP closed-loop eigenvalues and
+          keeps unaltered N-NAP open-loop eigenvalues.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z which reduces the closed-loop
+          system state matrix A + B*F to upper real Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of A
+          or B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then the default tolerance
+          TOL = N * EPS * max(NORM(A),NORM(B)) is used, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH)
+          and NORM(A) denotes the 1-norm of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1,5*M,5*N,2*N+4*M ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(F) &lt;= 100*NORM(A)/NORM(B) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal.
+          = 3:  the number of eigenvalues to be assigned is less
+                than the number of possibly assignable eigenvalues;
+                NAP eigenvalues have been properly assigned,
+                but some assignable eigenvalues remain unmodified.
+          = 4:  an attempt is made to place a complex conjugate
+                pair on the location of a real eigenvalue. This
+                situation can only appear when N-NFP is odd,
+                NP &gt; N-NFP-NUP is even, and for the last real
+                eigenvalue to be modified there exists no available
+                real eigenvalue to be assigned. However, NAP
+                eigenvalues have been already properly assigned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  SB01BD is based on the factorization algorithm of [1].
+  Given the matrices A and B of dimensions N-by-N and N-by-M,
+  respectively, this subroutine constructs an M-by-N matrix F such
+  that A + BF has eigenvalues as follows.
+  Let NFP eigenvalues of A have real parts less than ALPHA, if
+  DICO = 'C', or moduli less then ALPHA, if DICO = 'D'. Then:
+  1) If the pair (A,B) is controllable, then A + B*F has
+     NAP = MIN(NP,N-NFP) eigenvalues assigned from those specified
+     by WR + j*WI and N-NAP unmodified eigenvalues;
+  2) If the pair (A,B) is uncontrollable, then the number of
+     assigned eigenvalues NAP satifies generally the condition
+     NAP &lt;= MIN(NP,N-NFP).
+
+  At the beginning of the algorithm, F = 0 and the matrix A is
+  reduced to an ordered real Schur form by separating its spectrum
+  in two parts. The leading NFP-by-NFP part of the Schur form of
+  A corresponds to the eigenvalues which will not be modified.
+  These eigenvalues have real parts less than ALPHA, if
+  DICO = 'C', or moduli less than ALPHA, if DICO = 'D'.
+  The performed orthogonal transformations are accumulated in Z.
+  After this preliminary reduction, the algorithm proceeds
+  recursively.
+
+  Let F be the feedback matrix at the beginning of a typical step i.
+  At each step of the algorithm one real eigenvalue or two complex
+  conjugate eigenvalues are placed by a feedback Fi of rank 1 or
+  rank 2, respectively. Since the feedback Fi affects only the
+  last 1 or 2 columns of Z'*(A+B*F)*Z, the matrix Z'*(A+B*F+B*Fi)*Z
+  therefore remains in real Schur form. The assigned eigenvalue(s)
+  is (are) then moved to another diagonal position of the real
+  Schur form using reordering techniques and a new block is
+  transfered in the last diagonal position. The feedback matrix F
+  is updated as F &lt;-- F + Fi. The eigenvalue(s) to be assigned at
+  each step is (are) chosen such that the norm of each Fi is
+  minimized.
+
+  If uncontrollable eigenvalues are encountered in the last diagonal
+  position of the real Schur matrix Z'*(A+B*F)*Z, the algorithm
+  deflates them at the bottom of the real Schur form and redefines
+  accordingly the position of the "last" block.
+
+  Note: Not all uncontrollable eigenvalues of the pair (A,B) are
+  necessarily detected by the eigenvalue assignment algorithm.
+  Undetected uncontrollable eigenvalues may exist if NFP &gt; 0 and/or
+  NP &lt; N-NFP.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      A Schur method for pole assignment.
+      IEEE Trans. Autom. Control, Vol. AC-26, pp. 517-519, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations. Although no proof of numerical stability is known,
+  the algorithm has always been observed to yield reliable
+  numerical results.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB01BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDF, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDF = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 5*MMAX,5*NMAX,2*NMAX+4*MMAX ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, ANORM, NRM, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NAP, NFP, NP, NUP
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AIN(LDA,NMAX), B(LDB,MMAX),
+     $                 DWORK(LDWORK), F(LDF,NMAX), WI(NMAX), WR(NMAX),
+     $                 Z(LDZ,NMAX), ZTA(LDZ,NMAX)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLAMCH, DLANGE
+      EXTERNAL         DLAMCH, DLANGE, LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, MB03QX, SB01BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, ALPHA, TOL, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF( NP.LT.0 .OR. NP.GT.NMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) NP
+            ELSE
+               DO 10 I = 1, NP
+                  READ ( NIN, FMT = * ) WR(I), WI(I)
+   10          CONTINUE
+*              Perform "eigenvalue assignment" to compute F.
+               CALL DLACPY( 'G', N, N, A, LDA, AIN, LDA )
+               CALL SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB,
+     $                      WR, WI, NFP, NAP, NUP, F, LDF, Z, LDZ,
+     $                      TOL, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 .AND. INFO.LT.3 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  IF ( INFO  .NE. 0 ) WRITE ( NOUT, FMT = 99997 ) INFO
+                  IF ( IWARN .NE. 0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
+                  WRITE ( NOUT, FMT = 99990 ) NAP
+                  WRITE ( NOUT, FMT = 99989 ) NFP
+                  WRITE ( NOUT, FMT = 99988 ) NUP
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
+   60             CONTINUE
+                  CALL MB03QX( N, A, LDA, WR, WI, INFO )
+                  WRITE ( NOUT, FMT = 99998 ) ( WR(I), WI(I), I = 1,N )
+*                 Compute NORM (Z*Aout*Z'-(A+B*F)) / (eps*NORM(A))
+                  ANORM = DLANGE( 'F', N, N, AIN, LDA, DWORK )
+                  CALL DGEMM( 'N', 'N', N, N, M, ONE, B, LDB, F, LDF,
+     $                        ONE, AIN, LDA )
+                  CALL DGEMM( 'N', 'N', N, N, N, ONE, Z, LDZ, A, LDA,
+     $                        ZERO, ZTA, LDZ )
+                  CALL DGEMM( 'N', 'T', N, N, N, ONE, ZTA, LDZ, Z, LDZ,
+     $                        -ONE, AIN, LDA )
+                  NRM = DLANGE( 'F', N, N, AIN, LDA, DWORK ) /
+     $                  ( DLAMCH( 'E' )*ANORM )
+                  WRITE ( NOUT, FMT = 99987 ) NRM
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB01BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/,' The eigenvalues of closed-loop matrix A+B*F',/
+     $          ( ' ( ',F8.4,',',F8.4,' )' ) )
+99997 FORMAT (' INFO on exit from SB01BD = ',I2)
+99996 FORMAT (/,' The state feedback matrix F is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99991 FORMAT (/' IWARN on exit from SB01BD = ', I2)
+99990 FORMAT ( ' Number of assigned eigenvalues: NAP = ', I2 )
+99989 FORMAT ( ' Number of fixed eigenvalues:    NFP = ', I2)
+99988 FORMAT ( ' Number of uncontrollable poles: NUP = ', I2)
+99987 FORMAT (/,' NORM(A+B*F - Z*Aout*Z'') / (eps*NORM(A)) =',1PD12.5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB01BD EXAMPLE PROGRAM DATA
+   4   2   2   -.4  1.E-8   C
+  -6.8000   0.0000  -207.0000   0.0000
+   1.0000   0.0000     0.0000   0.0000
+  43.2000   0.0000     0.0000  -4.2000
+   0.0000   0.0000     1.0000   0.0000
+   5.6400   0.0000
+   0.0000   0.0000
+   0.0000   1.1800
+   0.0000   0.0000
+  -0.5000   0.1500
+  -0.5000  -0.1500
+  -2.0000   0.0000
+  -0.4000   0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB01BD EXAMPLE PROGRAM RESULTS
+
+ Number of assigned eigenvalues: NAP =  2
+ Number of fixed eigenvalues:    NFP =  2
+ Number of uncontrollable poles: NUP =  0
+
+ The state feedback matrix F is 
+  -0.0876  -4.2138   0.0837 -18.1412
+  -0.0233  18.2483  -0.4259  -4.8120
+
+ The eigenvalues of closed-loop matrix A+B*F
+ (  -3.3984, 94.5253 )
+ (  -3.3984,-94.5253 )
+ (  -0.5000,  0.1500 )
+ (  -0.5000, -0.1500 )
+
+ NORM(A+B*F - Z*Aout*Z') / (eps*NORM(A)) = 1.03505D+01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB01BX.html b/doc/_build/html/_static/doc/SB01BX.html
new file mode 100644
index 00000000..ff5555a7
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB01BX.html
@@ -0,0 +1,107 @@
+<HTML>
+<HEAD><TITLE>SB01BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01BX">SB01BX</A></H2>
+<H3>
+Choosing the closest real (complex conjugate) eigenvalue(s) to a given real (complex) value
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To choose a real eigenvalue or a pair of complex conjugate
+  eigenvalues at "minimal" distance to a given real or complex
+  value.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01BX( REIG, N, XR, XI, WR, WI, S, P )
+C     .. Scalar Arguments ..
+      LOGICAL          REIG
+      INTEGER          N
+      DOUBLE PRECISION P, S, XI ,XR
+C     .. Array Arguments ..
+      DOUBLE PRECISION WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  REIG    LOGICAL
+          Specifies the type of eigenvalues as follows:
+          = .TRUE.,  a real eigenvalue is to be selected;
+          = .FALSE., a pair of complex eigenvalues is to be
+                     selected.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of eigenvalues contained in the arrays WR
+          and WI.  N &gt;= 1.
+
+  XR,XI   (input) DOUBLE PRECISION
+          If REIG = .TRUE., XR must contain the real value and XI
+          is assumed zero and therefore not referenced.
+          If REIG = .FALSE., XR must contain the real part and XI
+          the imaginary part, respectively, of the complex value.
+
+  WR,WI   (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if REIG = .TRUE., WR must contain the real
+          eigenvalues from which an eigenvalue at minimal distance
+          to XR is to be selected. In this case, WI is considered
+          zero and therefore not referenced.
+          On entry, if REIG = .FALSE., WR and WI must contain the
+          real and imaginary parts, respectively, of the eigenvalues
+          from which a pair of complex conjugate eigenvalues at
+          minimal "distance" to XR + jXI is to be selected.
+          The eigenvalues of each pair of complex conjugate
+          eigenvalues must appear consecutively.
+          On exit, the elements of these arrays are reordered such
+          that the selected eigenvalue(s) is (are) found in the
+          last element(s) of these arrays.
+
+  S,P     (output) DOUBLE PRECISION
+          If REIG = .TRUE., S (and also P) contains the value of
+          the selected real eigenvalue.
+          If REIG = .FALSE., S and P contain the sum and product,
+          respectively, of the selected complex conjugate pair of
+          eigenvalues.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For efficiency reasons, |x| + |y| is used for a complex number
+  x + jy, instead of its modulus.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB01BY.html b/doc/_build/html/_static/doc/SB01BY.html
new file mode 100644
index 00000000..b0b66ef3
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB01BY.html
@@ -0,0 +1,124 @@
+<HTML>
+<HEAD><TITLE>SB01BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01BY">SB01BY</A></H2>
+<H3>
+Pole placement for systems of order 1 or 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve an N-by-N pole placement problem for the simple cases
+  N = 1 or N = 2: given the N-by-N matrix A and N-by-M matrix B,
+  construct an M-by-N matrix F such that A + B*F has prescribed
+  eigenvalues. These eigenvalues are specified by their sum S and
+  product P (if N = 2). The resulting F has minimum Frobenius norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01BY( N, M, S, P, A, B, F, TOL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M, N
+      DOUBLE PRECISION  P, S, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(N,*), B(N,*), DWORK(*), F(M,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and also the number of rows of
+          the matrix B and the number of columns of the matrix F.
+          N is either 1, if a single real eigenvalue is prescribed
+          or 2, if a complex conjugate pair or a set of two real
+          eigenvalues are prescribed.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B and also the number
+          of rows of the matrix F.  M &gt;= 1.
+
+  S       (input) DOUBLE PRECISION
+          The sum of the prescribed eigenvalues if N = 2 or the
+          value of prescribed eigenvalue if N = 1.
+
+  P       (input) DOUBLE PRECISION
+          The product of the prescribed eigenvalues if N = 2.
+          Not referenced if N = 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N,N)
+          On entry, this array must contain the N-by-N state
+          dynamics matrix whose eigenvalues have to be moved to
+          prescribed locations.
+          On exit, this array contains no useful information.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N,M)
+          On entry, this array must contain the N-by-M input/state
+          matrix B.
+          On exit, this array contains no useful information.
+
+  F       (output) DOUBLE PRECISION array, dimension (M,N)
+          The state feedback matrix F which assigns one pole or two
+          poles of the closed-loop matrix A + B*F.
+          If N = 2 and the pair (A,B) is not controllable
+          (INFO = 1), then F(1,1) and F(1,2) contain the elements of
+          an orthogonal rotation which can be used to remove the
+          uncontrollable part of the pair (A,B).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of A
+          and B are considered zero (used for controllability test).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if uncontrollability of the pair (A,B) is detected.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB01DD.html b/doc/_build/html/_static/doc/SB01DD.html
new file mode 100644
index 00000000..198e7c4e
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB01DD.html
@@ -0,0 +1,322 @@
+<HTML>
+<HEAD><TITLE>SB01DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01DD">SB01DD</A></H2>
+<H3>
+Eigenstructure assignment for a multi-input system in orthogonal canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a controllable matrix pair ( A, B ) a matrix G
+  such that the matrix A - B*G has the desired eigenstructure,
+  specified by desired eigenvalues and free eigenvector elements.
+
+  The pair ( A, B ) should be given in orthogonal canonical form
+  as returned by the SLICOT Library routine AB01ND.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
+     $                   Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            COUNT, INDCON, INFO, LDA, LDB, LDG, LDWORK,
+     $                   LDZ, M, N
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), NBLK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   G( LDG, * ), WI( * ), WR( * ), Y( * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of rows of the
+          matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  INDCON  (input) INTEGER
+          The controllability index of the pair ( A, B ).
+          0 &lt;= INDCON &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N matrix A in orthogonal canonical form,
+          as returned by SLICOT Library routine AB01ND.
+          On exit, the leading N-by-N part of this array contains
+          the real Schur form of the matrix A - B*G.
+          The elements below the real Schur form of A are set to
+          zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M matrix B in orthogonal canonical form,
+          as returned by SLICOT Library routine AB01ND.
+          On exit, the leading N-by-M part of this array contains
+          the transformed matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  NBLK    (input) INTEGER array, dimension (N)
+          The leading INDCON elements of this array must contain the
+          orders of the diagonal blocks in the orthogonal canonical
+          form of A, as returned by SLICOT Library routine AB01ND.
+          The values of these elements must satisfy the following
+          conditions:
+          NBLK(1) &gt;= NBLK(2) &gt;= ... &gt;= NBLK(INDCON),
+          NBLK(1) + NBLK(2) + ... + NBLK(INDCON) = N.
+
+  WR      (input) DOUBLE PRECISION array, dimension (N)
+  WI      (input) DOUBLE PRECISION array, dimension (N)
+          These arrays must contain the real and imaginary parts,
+          respectively, of the desired poles of the closed-loop
+          system, i.e., the eigenvalues of A - B*G. The poles can be
+          unordered, except that complex conjugate pairs of poles
+          must appear consecutively.
+          The elements of WI for complex eigenvalues are modified
+          internally, but restored on exit.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the orthogonal matrix Z generated by SLICOT
+          Library routine AB01ND in the reduction of ( A, B ) to
+          orthogonal canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal transformation matrix which reduces A - B*G
+          to real Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
+
+  Y       (input) DOUBLE PRECISION array, dimension (M*N)
+          Y contains elements which are used as free parameters
+          in the eigenstructure design. The values of these
+          parameters are often set by an external optimization
+          procedure.
+
+  COUNT   (output) INTEGER
+          The actual number of elements in Y used as free
+          eigenvector and feedback matrix elements in the
+          eigenstructure design.
+
+  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
+          The leading M-by-N part of this array contains the
+          feedback matrix which assigns the desired eigenstructure
+          of A - B*G.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,M).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where
+          EPS  is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(M*N,M*M+2*N+4*M+1).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the pair ( A, B ) is not controllable or the free
+                parameters are not set appropriately.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method proposed in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
+      Postlethwaite, I.
+      Optimal pole assignment design of linear multi-input systems.
+      Report 96-11, Department of Engineering, Leicester University,
+      1996.
+
+  [2] Petkov, P.Hr., Christov, N.D. and Konstantinov, M.M.
+      A computational algorithm for pole assignment of linear multi
+      input systems. IEEE Trans. Automatic Control, vol. AC-31,
+      pp. 1044-1047, 1986.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The method implemented is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The eigenvalues of the real Schur form matrix As, returned in the
+  array A, are very close to the desired eigenvalues WR+WI*i.
+  However, the eigenvalues of the closed-loop matrix A - B*G,
+  computed by the QR algorithm using the matrices A and B, given on
+  entry, may be far from WR+WI*i, although the relative error
+     norm( Z'*(A - B*G)*Z - As )/norm( As )
+  is close to machine accuracy. This may happen when the eigenvalue
+  problem for the matrix A - B*G is ill-conditioned.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB01DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDG, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 3*NMAX, MMAX*NMAX,
+     $                                 MMAX*MMAX + 2*NMAX + 4*MMAX + 1 )
+     $                 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          COUNT, I, INDCON, INFO1, INFO2, J, M, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      INTEGER          IWORK(MMAX), NBLK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX,MMAX), DWORK(LDWORK),
+     $                 G(LDG,NMAX), WI(NMAX), WR(NMAX), Y(MMAX*NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB01ND, SB01DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
+            READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
+            READ ( NIN, FMT = * ) ( Y(I),  I = 1,M*N )
+*           First reduce the given system to canonical form.
+            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
+     $                   NBLK, Z, LDZ, DWORK, TOL, IWORK, DWORK(N+1),
+     $                   LDWORK-N, INFO1 )
+*
+            IF ( INFO1.EQ.0 ) THEN
+*              Find the state feedback matrix G.
+               CALL SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
+     $                      Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO2 )
+*
+               IF ( INFO2.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO2
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 10 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,N )
+   10             CONTINUE
+               END IF
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO1
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB01DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01ND =',I2)
+99997 FORMAT (' INFO on exit from SB01DD =',I2)
+99996 FORMAT (' The state feedback matrix G is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB01DD EXAMPLE PROGRAM DATA
+   4   2     0.0     I
+  -1.0  0.0  2.0 -3.0
+   1.0 -4.0  3.0 -1.0
+   0.0  2.0  4.0 -5.0
+   0.0  0.0 -1.0 -2.0
+   1.0  0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+  -1.0 -1.0 -1.0 -1.0
+   0.0  0.0  0.0  0.0
+   1.0  2.0  2.0  1.0 -1.0 -2.0  3.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB01DD EXAMPLE PROGRAM RESULTS
+
+ The state feedback matrix G is
+  -5.2339   3.1725 -15.7885  21.7043
+  -1.6022   0.8504  -5.1914   6.2339
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB01FY.html b/doc/_build/html/_static/doc/SB01FY.html
new file mode 100644
index 00000000..f5948ba5
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB01FY.html
@@ -0,0 +1,130 @@
+<HTML>
+<HEAD><TITLE>SB01FY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01FY">SB01FY</A></H2>
+<H3>
+Inner denominator of a right-coprime factorization of an unstable system of order 1 or 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the inner denominator of a right-coprime factorization
+  of a system of order N, where N is either 1 or 2. Specifically,
+  given the N-by-N unstable system state matrix A and the N-by-M
+  system input matrix B, an M-by-N state-feedback matrix F and
+  an M-by-M matrix V are constructed, such that the system
+  (A + B*F, B*V, F, V) is inner.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01FY( DISCR, N, M, A, LDA, B, LDB, F, LDF, V, LDV,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR
+      INTEGER           INFO, LDA, LDB, LDF, LDV, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), F(LDF,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of system as follows:
+          = .FALSE.:  continuous-time system;
+          = .TRUE. :  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and also the number of rows of
+          the matrix B and the number of columns of the matrix F.
+          N is either 1 or 2.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and V, and also
+          the number of rows of the matrix F.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A whose eigenvalues must have positive
+          real parts if DISCR = .FALSE. or moduli greater than unity
+          if DISCR = .TRUE..
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the state-
+          feedback matrix F which assigns one eigenvalue (if N = 1)
+          or two eigenvalues (if N = 2) of the matrix A + B*F in
+          symmetric positions with respect to the imaginary axis
+          (if DISCR = .FALSE.) or the unit circle (if
+          DISCR = .TRUE.).
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
+          The leading M-by-M upper triangular part of this array
+          contains the input/output matrix V of the resulting inner
+          system in upper triangular form.
+          If DISCR = .FALSE., the resulting V is an identity matrix.
+
+  LDV     INTEGER
+          The leading dimension of array V.  LDF &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if uncontrollability of the pair (A,B) is detected;
+          = 2:  if A is stable or at the stability limit;
+          = 3:  if N = 2 and A has a pair of real eigenvalues.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB01MD.html b/doc/_build/html/_static/doc/SB01MD.html
new file mode 100644
index 00000000..c96dcfb3
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB01MD.html
@@ -0,0 +1,239 @@
+<HTML>
+<HEAD><TITLE>SB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01MD">SB01MD</A></H2>
+<H3>
+State feedback matrix of a linear time-invariant single-input system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine the one-dimensional state feedback matrix G of the
+  linear time-invariant single-input system
+
+        dX/dt = A * X + B * U,
+
+  where A is an NCONT-by-NCONT matrix and B is an NCONT element
+  vector such that the closed-loop system
+
+        dX/dt = (A - B * G) * X
+
+  has desired poles. The system must be preliminarily reduced
+  to orthogonal canonical form using the SLICOT Library routine
+  AB01MD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDZ, N, NCONT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), G(*), WI(*), WR(*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NCONT   (input) INTEGER
+          The order of the matrix A as produced by SLICOT Library
+          routine AB01MD.  NCONT &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix Z.  N &gt;= NCONT.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA,NCONT)
+          On entry, the leading NCONT-by-NCONT part of this array
+          must contain the canonical form of the state dynamics
+          matrix A as produced by SLICOT Library routine AB01MD.
+          On exit, the leading NCONT-by-NCONT part of this array
+          contains the upper quasi-triangular form S of the closed-
+          loop system matrix (A - B * G), that is triangular except
+          for possible 2-by-2 diagonal blocks.
+          (To reconstruct the closed-loop system matrix see
+          FURTHER COMMENTS below.)
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,NCONT).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (NCONT)
+          On entry, this array must contain the canonical form of
+          the input/state vector B as produced by SLICOT Library
+          routine AB01MD.
+          On exit, this array contains the transformed vector Z * B
+          of the closed-loop system.
+
+  WR      (input) DOUBLE PRECISION array, dimension (NCONT)
+  WI      (input) DOUBLE PRECISION array, dimension (NCONT)
+          These arrays must contain the real and imaginary parts,
+          respectively, of the desired poles of the closed-loop
+          system. The poles can be unordered, except that complex
+          conjugate pairs of poles must appear consecutively.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the orthogonal transformation matrix as produced
+          by SLICOT Library routine AB01MD, which reduces the system
+          to canonical form.
+          On exit, the leading NCONT-by-NCONT part of this array
+          contains the orthogonal matrix Z which reduces the closed-
+          loop system matrix (A - B * G) to upper quasi-triangular
+          form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
+
+  G       (output) DOUBLE PRECISION array, dimension (NCONT)
+          This array contains the one-dimensional state feedback
+          matrix G of the original system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*NCONT)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method is based on the orthogonal reduction of the closed-loop
+  system matrix (A - B * G) to upper quasi-triangular form S whose
+  1-by-1 and 2-by-2 diagonal blocks correspond to the desired poles.
+  That is, S = Z'*(A - B * G)*Z, where Z is an orthogonal matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Petkov, P. Hr.
+      A Computational Algorithm for Pole Assignment of Linear
+      Single Input Systems.
+      Internal Report 81/2, Control Systems Research Group, School
+      of Electronic Engineering and Computer Science, Kingston
+      Polytechnic, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                3
+  The algorithm requires 0(NCONT ) operations and is backward
+  stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If required, the closed-loop system matrix (A - B * G) can be
+  formed from the matrix product Z * S * Z' (where S and Z are the
+  matrices output in arrays A and Z respectively).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDZ
+      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO1, INFO2, J, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), G(NMAX),
+     $                 WI(NMAX), WR(NMAX), Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB01MD, SB01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, TOL, JOBZ
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
+*        First reduce the given system to canonical form.
+         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, DWORK, TOL,
+     $                DWORK(N+1), LDWORK-N, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+*           Find the one-dimensional state feedback matrix G.
+            CALL SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
+     $                   INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            ELSE
+               WRITE ( NOUT, FMT = 99996 ) ( G(I), I = 1,NCONT )
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01MD =',I2)
+99997 FORMAT (' INFO on exit from SB01MD =',I2)
+99996 FORMAT (' The one-dimensional state feedback matrix G is',
+     $       /20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB01MD EXAMPLE PROGRAM DATA
+   4     0.0     I
+  -1.0  0.0  2.0 -3.0
+   1.0 -4.0  3.0 -1.0
+   0.0  2.0  4.0 -5.0
+   0.0  0.0 -1.0 -2.0
+   1.0  0.0  0.0  0.0
+  -1.0 -1.0 -1.0 -1.0
+   0.0  0.0  0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB01MD EXAMPLE PROGRAM RESULTS
+
+ The one-dimensional state feedback matrix G is
+   1.0000  29.0000  93.0000 -76.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MD.html b/doc/_build/html/_static/doc/SB02MD.html
new file mode 100644
index 00000000..1f908070
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB02MD.html
@@ -0,0 +1,420 @@
+<HTML>
+<HEAD><TITLE>SB02MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MD">SB02MD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations (Schur vectors method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                           -1
+     Q + A'*X + X*A - X*B*R  B'*X = 0                            (1)
+
+  or the discrete-time algebraic Riccati equation
+                                     -1
+     X = A'*X*A - A'*X*B*(R + B'*X*B)  B'*X*A + Q                (2)
+
+  where A, B, Q and R are N-by-N, N-by-M, N-by-N and M-by-M matrices
+  respectively, with Q symmetric and R symmetric nonsingular; X is
+  an N-by-N symmetric matrix.
+                    -1
+  The matrix G = B*R  B' must be provided on input, instead of B and
+  R, that is, for instance, the continuous-time equation
+
+     Q + A'*X + X*A - X*G*X = 0                                  (3)
+
+  is solved, where G is an N-by-N symmetric matrix. SLICOT Library
+  routine SB02MT should be used to compute G, given B and R. SB02MT
+  also enables to solve Riccati equations corresponding to optimal
+  problems with coupling terms.
+
+  The routine also returns the computed values of the closed-loop
+  spectrum of the optimal system, i.e., the stable eigenvalues
+  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
+  symplectic matrix associated to the optimal problem.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G,
+     $                   LDG, Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU,
+     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HINV, SCAL, SORT, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDU, LDWORK, N
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*), U(LDU,*), WR(*), WI(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved as
+          follows:
+          = 'C':  Equation (3), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  HINV    CHARACTER*1
+          If DICO = 'D', specifies which symplectic matrix is to be
+          constructed, as follows:
+          = 'D':  The matrix H in (5) (see METHOD) is constructed;
+          = 'I':  The inverse of the matrix H in (5) is constructed.
+          HINV is not used if DICO = 'C'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  SCAL    CHARACTER*1
+          Specifies whether or not a scaling strategy should be
+          used, as follows:
+          = 'G':  General scaling should be used;
+          = 'N':  No scaling should be used.
+
+  SORT    CHARACTER*1
+          Specifies which eigenvalues should be obtained in the top
+          of the Schur form, as follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, G and X.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A of the equation.
+          On exit, if DICO = 'D', and INFO = 0 or INFO &gt; 1, the
+                                                                 -1
+          leading N-by-N part of this array contains the matrix A  .
+          Otherwise, the array A is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          The leading N-by-N upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          must contain the upper triangular part or lower triangular
+          part, respectively, of the symmetric matrix G.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix Q.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          used.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the solution matrix X of the problem.
+
+  LDQ     INTEGER
+          The leading dimension of array N.  LDQ &gt;= MAX(1,N).
+
+  RCOND   (output) DOUBLE PRECISION
+          An estimate of the reciprocal of the condition number (in
+          the 1-norm) of the N-th order system of algebraic
+          equations from which the solution matrix X is obtained.
+
+  WR      (output) DOUBLE PRECISION array, dimension (2*N)
+  WI      (output) DOUBLE PRECISION array, dimension (2*N)
+          If INFO = 0 or INFO = 5, these arrays contain the real and
+          imaginary parts, respectively, of the eigenvalues of the
+          2N-by-2N matrix S, ordered as specified by SORT (except
+          for the case HINV = 'D', when the order is opposite to
+          that specified by SORT). The leading N elements of these
+          arrays contain the closed-loop spectrum of the system
+                        -1
+          matrix A - B*R  *B'*X, if DICO = 'C', or of the matrix
+                            -1
+          A - B*(R + B'*X*B)  B'*X*A, if DICO = 'D'. Specifically,
+             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
+          array contains the ordered real Schur form S of the
+          Hamiltonian or symplectic matrix H. That is,
+
+                 (S   S  )
+                 ( 11  12)
+             S = (       ),
+                 (0   S  )
+                 (     22)
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
+          array contains the transformation matrix U which reduces
+          the Hamiltonian or symplectic matrix H to the ordered real
+          Schur form S. That is,
+
+                 (U   U  )
+                 ( 11  12)
+             U = (       ),
+                 (U   U  )
+                 ( 21  22)
+
+          where U  , U  , U   and U   are N-by-N matrices.
+                 11   12   21      22
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) returns the scaling factor used
+          (set to 1 if SCAL = 'N'), also set if INFO = 5;
+          if DICO = 'D', DWORK(3) returns the reciprocal condition
+          number of the given matrix  A.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(2,6*N) if DICO = 'C';
+          LDWORK &gt;= MAX(3,6*N) if DICO = 'D'.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if matrix A is (numerically) singular in discrete-
+                time case;
+          = 2:  if the Hamiltonian or symplectic matrix H cannot be
+                reduced to real Schur form;
+          = 3:  if the real Schur form of the Hamiltonian or
+                symplectic matrix H cannot be appropriately ordered;
+          = 4:  if the Hamiltonian or symplectic matrix H has less
+                than N stable eigenvalues;
+          = 5:  if the N-th order system of linear algebraic
+                equations, from which the solution matrix X would
+                be obtained, is singular to working precision.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Schur vector approach proposed by Laub.
+  It is assumed that [A,B] is a stabilizable pair (where for (3) B
+  is any matrix such that B*B' = G with rank(B) = rank(G)), and
+  [E,A] is a detectable pair, where E is any matrix such that
+  E*E' = Q with rank(E) = rank(Q). Under these assumptions, any of
+  the algebraic Riccati equations (1)-(3) is known to have a unique
+  non-negative definite solution. See [2].
+  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
+
+              ( A   -G )
+         H =  (        ),                                    (4)
+              (-Q   -A'),
+
+  for continuous-time equation, and
+                 -1        -1
+              ( A         A  *G   )
+         H =  (   -1          -1  ),                         (5)
+              (Q*A    A' + Q*A  *G)
+                                                         -1
+  for discrete-time equation, respectively, where G = B*R  *B'.
+  The assumptions guarantee that H in (4) has no pure imaginary
+  eigenvalues, and H in (5) has no eigenvalues on the unit circle.
+  If Y is an N-by-N matrix then there exists an orthogonal matrix U
+  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
+  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
+  (corresponding to the complex conjugate eigenvalues and real
+  eigenvalues respectively) appear in any desired order. This is the
+  ordered real Schur form. Thus, we can find an orthogonal
+  similarity transformation U which puts (4) or (5) in ordered real
+  Schur form
+
+         U'*H*U = S = (S(1,1)  S(1,2))
+                      (  0     S(2,2))
+
+  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
+  have negative real parts in case of (4), or moduli greater than
+  one in case of (5). If U is conformably partitioned into four
+  N-by-N blocks
+
+            U = (U(1,1)  U(1,2))
+                (U(2,1)  U(2,2))
+
+  with respect to the assumptions we then have
+  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
+      (2), or (3) with X = X' and non-negative definite;
+  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
+      DICO = 'D') are equal to the eigenvalues of optimal system
+      (the 'closed-loop' spectrum).
+
+  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
+  is stable. [E,A] is detectable if [A',E'] is stabilizable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Laub, A.J.
+      A Schur Method for Solving Algebraic Riccati equations.
+      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
+
+  [2] Wonham, W.M.
+      On a matrix Riccati equation of stochastic control.
+      SIAM J. Contr., 6, pp. 681-697, 1968.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
+  SORT = 'S', if HINV = 'I'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying
+      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
+      SORT = 'S' if DICO = 'D' and HINV = 'D'.
+
+  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
+  and SORT = 'U', will be faster then the other combinations [3].
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02MD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDS, LDU
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDS = 2*NMAX, LDU = 2*NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 6*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, N
+      CHARACTER        DICO, HINV, SCAL, SORT, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), U(LDU,2*NMAX),
+     $                 WI(2*NMAX), WR(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB02MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DICO, HINV, UPLO, SCAL, SORT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G, LDG,
+     $                Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU, IWORK,
+     $                DWORK, LDWORK, BWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) RCOND
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( Q(I,J), J = 1,N )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02MD = ',I2)
+99997 FORMAT (' RCOND = ',F4.2,//' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02MD EXAMPLE PROGRAM DATA
+   2     C     D     U     N     S
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02MD EXAMPLE PROGRAM RESULTS
+
+ RCOND = 0.31
+
+ The solution matrix X is 
+   2.0000   1.0000
+   1.0000   2.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MT.html b/doc/_build/html/_static/doc/SB02MT.html
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+<HTML>
+<HEAD><TITLE>SB02MT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MT">SB02MT</A></H2>
+<H3>
+Conversion of optimal problems with coupling weighting terms to standard problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the following matrices
+
+             -1
+      G = B*R  *B',
+
+      -          -1
+      A = A - B*R  *L',
+
+      -          -1
+      Q = Q - L*R  *L',
+
+  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
+  N-by-M, and N-by-N matrices, respectively, with Q, R and G
+  symmetric matrices.
+
+  When R is well-conditioned with respect to inversion, standard
+  algorithms for solving linear-quadratic optimization problems will
+  then also solve optimization problems with coupling weighting
+  matrix L. Moreover, a gain in efficiency is possible using matrix
+  G in the deflating subspace algorithms (see SLICOT Library routine
+  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
+  SG02CD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MT( JOBG, JOBL, FACT, UPLO, N, M, A, LDA, B, LDB,
+     $                   Q, LDQ, R, LDR, L, LDL, IPIV, OUFACT, G, LDG,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FACT, JOBG, JOBL, UPLO
+      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
+     $                  N, OUFACT
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
+     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBG    CHARACTER*1
+          Specifies whether or not the matrix G is to be computed,
+          as follows:
+          = 'G':  Compute G;
+          = 'N':  Do not compute G.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the factors of the symmetric
+                  indefinite UdU' or LdL' factorization of R.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices R, Q (if
+          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, and G, and the number of
+          rows of the matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix R, and the number of columns of
+          the matrices B and L.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if JOBL = 'N', the leading N-by-N part of this
+          array must contain the matrix A.
+          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
+                                                 -          -1
+          part of this array contains the matrix A = A - B*R  L'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if JOBL = 'N';
+          LDA &gt;= 1        if JOBL = 'Z'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B.
+          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
+                                                          -1
+          part of this array contains the matrix B*chol(R)  .
+          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if JOBL = 'N', the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively, of
+          the symmetric matrix Q. The strictly lower triangular part
+          (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array contains the upper
+          triangular part or lower triangular part, respectively, of
+                               -          -1
+          the symmetric matrix Q = Q - L*R  *L'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if JOBL = 'N';
+          LDQ &gt;= 1        if JOBL = 'Z'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if FACT = 'U', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the factors of
+          the UdU' or LdL' factorization, respectively, of the
+          symmetric indefinite input weighting matrix R (as produced
+          by LAPACK routine DSYTRF).
+          If FACT = 'N', the strictly lower triangular part (if UPLO
+          = 'U') or strictly upper triangular part (if UPLO = 'L')
+          of this array is used as workspace (filled in by
+          symmetry).
+          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix.
+          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix.
+          On exit R is unchanged if FACT = 'C' or 'U'.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
+          On entry, if JOBL = 'N', the leading N-by-M part of this
+          array must contain the matrix L.
+          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
+          leading N-by-M part of this array contains the matrix
+                   -1
+          L*chol(R)  .
+          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+          L is not referenced if JOBL = 'Z'.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R,
+          as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'C'.
+
+  OUFACT  (output) INTEGER
+          Information about the factorization finally used.
+          OUFACT = 0:  no factorization of R has been used (M = 0);
+          OUFACT = 1:  Cholesky factorization of R has been used;
+          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
+                       factorization of R has been used.
+
+  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
+          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array contains the upper
+          triangular part (if UPLO = 'U') or lower triangular part
+                                                              -1
+          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
+          If JOBG = 'N', this array is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.
+          LDG &gt;= MAX(1,N) if JOBG = 'G';
+          LDG &gt;= 1        if JOBG = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FACT = 'C' or FACT = 'U', this array is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
+          as specified below, DWORK(2) contains the reciprocal
+          condition number of the given matrix R.
+          On exit, if LDWORK = -2 on input or INFO = -23, then
+          DWORK(1) returns the minimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
+                                      JOBG = 'N' and  JOBL = 'Z');
+          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
+                                                      JOBL = 'Z';
+          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
+                                                      JOBL = 'N');
+          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
+                                                      JOBL = 'N').
+          For optimum performance LDWORK should be larger than 3*M,
+          if FACT = 'N'.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
+                exactly zero; the UdU' (or LdL') factorization has
+                been completed, but the block diagonal matrix d is
+                exactly singular;
+          = M+1:  if the matrix R is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>                         -     -
+  The matrices G, and/or A and Q are evaluated using the given or
+  computed symmetric factorization of R.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine should not be used when R is ill-conditioned.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MU.html b/doc/_build/html/_static/doc/SB02MU.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB02MU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MU">SB02MU</A></H2>
+<H3>
+Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
+  associated to the linear-quadratic optimization problem, used to
+  solve the continuous- or discrete-time algebraic Riccati equation,
+  respectively.
+
+  For a continuous-time problem, S is defined by
+
+          (  A  -G )
+      S = (        ),                                       (1)
+          ( -Q  -A')
+
+  and for a discrete-time problem by
+
+              -1       -1
+          (  A        A  *G     )
+      S = (   -1           -1   ),                          (2)
+          ( QA     A' + Q*A  *G )
+
+  or
+
+                    -T         -T
+          (  A + G*A  *Q   -G*A   )
+      S = (      -T            -T ),                        (3)
+          (    -A  *Q         A   )
+
+  where A, G, and Q are N-by-N matrices, with G and Q symmetric.
+  Matrix A must be nonsingular in the discrete-time case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MU( DICO, HINV, UPLO, N, A, LDA, G, LDG, Q, LDQ, S,
+     $                   LDS, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HINV, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  Continuous-time system;
+          = 'D':  Discrete-time system.
+
+  HINV    CHARACTER*1
+          If DICO = 'D', specifies which of the matrices (2) or (3)
+          is constructed, as follows:
+          = 'D':  The matrix S in (2) is constructed;
+          = 'I':  The (inverse) matrix S in (3) is constructed.
+          HINV is not referenced if DICO = 'C'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, if DICO = 'D', and INFO = 0, the leading N-by-N
+                                                  -1
+          part of this array contains the matrix A  .
+          Otherwise, the array A is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          The leading N-by-N upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          must contain the upper triangular part or lower triangular
+          part, respectively, of the symmetric matrix G.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          must contain the upper triangular part or lower triangular
+          part, respectively, of the symmetric matrix Q.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If INFO = 0, the leading 2N-by-2N part of this array
+          contains the Hamiltonian or symplectic matrix of the
+          problem.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK; if DICO = 'D', DWORK(2) returns the reciprocal
+          condition number of the given matrix  A.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1          if DICO = 'C';
+          LDWORK &gt;= MAX(2,4*N) if DICO = 'D'.
+          For optimum performance LDWORK should be larger, if
+          DICO = 'D'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
+                submatrix of A is singular in discrete-time case;
+          = N+1:  if matrix A is numerically singular in discrete-
+                time case.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
+  is constructed.
+  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
+  (3) - the inverse of the matrix in (2) - is constructed.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The discrete-time case needs the inverse of the matrix A, hence
+  the routine should not be used when A is ill-conditioned.
+                            3
+  The algorithm requires 0(n ) floating point operations in the
+  discrete-time case.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MX.html b/doc/_build/html/_static/doc/SB02MX.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/SB02MX.html
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+<HTML>
+<HEAD><TITLE>SB02MX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MX">SB02MX</A></H2>
+<H3>
+Conversion of optimal problems with coupling weighting terms to standard problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the following matrices
+
+             -1
+      G = B*R  *B',
+
+      -               -1
+      A = A +/- op(B*R  *L'),
+
+      -            -1
+      Q = Q +/- L*R  *L',
+
+  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
+  N-by-M, and N-by-N matrices, respectively, with Q, R and G
+  symmetric matrices, and op(W) is one of
+
+      op(W) = W  or  op(W) = W'.
+
+  When R is well-conditioned with respect to inversion, standard
+  algorithms for solving linear-quadratic optimization problems will
+  then also solve optimization problems with coupling weighting
+  matrix L. Moreover, a gain in efficiency is possible using matrix
+  G in the deflating subspace algorithms (see SLICOT Library routine
+  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
+  SG02CD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MX( JOBG, JOBL, FACT, UPLO, TRANS, FLAG, DEF, N, M,
+     $                   A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, IPIV,
+     $                   OUFACT, G, LDG, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DEF, FACT, FLAG, JOBG, JOBL, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
+     $                  N, OUFACT
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
+     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBG    CHARACTER*1
+          Specifies whether or not the matrix G is to be computed,
+          as follows:
+          = 'G':  Compute G;
+          = 'N':  Do not compute G.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the factors of the symmetric
+                  indefinite UdU' or LdL' factorization of R.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices R, Q (if
+          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+  FLAG    CHARACTER*1
+          Specifies which sign is used, as follows:
+          = 'P':  The plus  sign is used;
+          = 'M':  The minus sign is used.
+
+  DEF     CHARACTER*1
+          If FACT = 'N', specifies whether or not it is assumed that
+          matrix R is positive definite, as follows:
+          = 'D':  Matrix R is assumed positive definite;
+          = 'I':  Matrix R is assumed indefinite.
+          Both values can be used to perform the computations,
+          irrespective to the R definiteness, but using the adequate
+          value will save some computational effort (see FURTHER
+          COMMENTS).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, and G, and the number of
+          rows of the matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix R, and the number of columns of
+          the matrices B and L.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if JOBL = 'N', the leading N-by-N part of this
+          array must contain the matrix A.
+          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
+                                                 -
+          part of this array contains the matrix A.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if JOBL = 'N';
+          LDA &gt;= 1        if JOBL = 'Z'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B.
+          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
+                                                          -1
+          part of this array contains the matrix B*chol(R)  .
+          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if JOBL = 'N', the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively, of
+          the symmetric matrix Q. The strictly lower triangular part
+          (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array contains the upper
+          triangular part or lower triangular part, respectively, of
+                               -            -1
+          the symmetric matrix Q = Q +/- L*R  *L'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if JOBL = 'N';
+          LDQ &gt;= 1        if JOBL = 'Z'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if FACT = 'U', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the factors of
+          the UdU' or LdL' factorization, respectively, of the
+          symmetric indefinite input weighting matrix R (as produced
+          by LAPACK routine DSYTRF).
+          If FACT = 'N' and DEF = 'D', the strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part
+          (if UPLO = 'L') of this array is used as workspace (filled
+          in by symmetry). If FACT = 'N' and DEF = 'I', the strictly
+          lower triangular part (if UPLO = 'U') or strictly upper
+          triangular part (if UPLO = 'L') is unchanged.
+          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix.
+          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix.
+          On exit R is unchanged if FACT = 'C' or 'U'.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
+          On entry, if JOBL = 'N', the leading N-by-M part of this
+          array must contain the matrix L.
+          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
+          leading N-by-M part of this array contains the matrix
+                   -1
+          L*chol(R)  .
+          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+          L is not referenced if JOBL = 'Z'.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R,
+          as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'C'.
+
+  OUFACT  (output) INTEGER
+          Information about the factorization finally used.
+          OUFACT = 0:  no factorization of R has been used (M = 0);
+          OUFACT = 1:  Cholesky factorization of R has been used;
+          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
+                       factorization of R has been used.
+
+  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
+          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array contains the upper
+          triangular part (if UPLO = 'U') or lower triangular part
+                                                              -1
+          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
+          If JOBG = 'N', this array is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.
+          LDG &gt;= MAX(1,N) if JOBG = 'G';
+          LDG &gt;= 1        if JOBG = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FACT = 'C' or FACT = 'U', this array is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
+          as specified below, DWORK(2) contains the reciprocal
+          condition number of the given matrix R. DWORK(2) is set to
+          zero if M = 0.
+          On exit, if LDWORK = -2 on input or INFO = -26, then
+          DWORK(1) returns the minimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
+                                      JOBG = 'N' and  JOBL = 'Z');
+          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
+                                                      JOBL = 'Z';
+          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
+                                                      JOBL = 'N');
+          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
+                                                      JOBL = 'N').
+          For optimum performance LDWORK should be larger than 3*M,
+          if FACT = 'N'.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
+                exactly zero; the UdU' (or LdL') factorization has
+                been completed, but the block diagonal matrix d is
+                exactly singular;
+          = M+1:  if the matrix R is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>                         -     -
+  The matrices G, and/or A and Q are evaluated using the given or
+  computed symmetric factorization of R.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine should not be used when R is ill-conditioned.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Using argument TRANS allows to avoid the transposition of matrix A
+  needed to solve optimal filtering/estimation problems by the same
+  routines solving optimal control problems.
+  If DEF is set to 'D', but R is indefinite, the computational
+  effort for factorization will be approximately double, since
+  Cholesky factorization, tried first, will fail, and symmetric
+  indefinite factorization will then be used.
+  If DEF is set to 'I', but R is positive definite, the
+  computational effort will be slightly higher than that when using
+  Cholesky factorization. It is recommended to use DEF = 'D' also if
+  the definiteness is not known, but M is (much) smaller than N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02ND.html b/doc/_build/html/_static/doc/SB02ND.html
new file mode 100644
index 00000000..b4cc93c5
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB02ND.html
@@ -0,0 +1,486 @@
+<HTML>
+<HEAD><TITLE>SB02ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02ND">SB02ND</A></H2>
+<H3>
+Optimal state feedback matrix for an optimal control problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the optimal feedback matrix F for the problem of
+  optimal control given by
+
+                     -1
+       F = (R + B'XB)  (B'XA + L')                           (1)
+
+  in the discrete-time case and
+
+            -1
+       F = R  (B'X + L')                                     (2)
+
+  in the continuous-time case, where A, B and L are N-by-N, N-by-M
+  and N-by-M matrices respectively; R and X are M-by-M and N-by-N
+  symmetric matrices respectively.
+
+  Optionally, matrix R may be specified in a factored form, and L
+  may be zero.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA, B,
+     $                   LDB, R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
+     $                   LDF, OUFACT, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOBL, UPLO
+      INTEGER           INFO, LDA, LDB, LDF, LDL, LDR, LDWORK, LDX, M,
+     $                  N, P
+      DOUBLE PRECISION  RNORM
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
+     $                  L(LDL,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which F is to be determined,
+          as follows:
+          = 'D':  Equation (1), discrete-time case;
+          = 'C':  Equation (2), continuous-time case.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the symmetric indefinite UdU' or
+                  LdL' factorization of R. This option is not
+                  available for DICO = 'D'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the possibly factored matrix R
+          (or R + B'XB, on exit) is or should be stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+          No computations are performed if MIN(N,M) = 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix D.
+          P &gt;= M for DICO = 'C';
+          P &gt;= 0 for DICO = 'D'.
+          This parameter must be specified only for FACT = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If DICO = 'D', the leading N-by-N part of this array must
+          contain the state matrix A of the system.
+          If DICO = 'C', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if DICO = 'D';
+          LDA &gt;= 1        if DICO = 'C'.
+
+  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
+          array is destroyed. Specifically, if, on exit,
+          OUFACT(2) = 1, this array contains chol(X)*B, and if
+          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
+          part (in the first N rows) contains the submatrix of
+          sqrt(V)*U'B corresponding to the non-negligible, positive
+          eigenvalues of X, where V and U are the matrices with the
+          eigenvalues and eigenvectors of X.
+          Otherwise, B is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'D', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array must contain the
+          factors of the UdU' or LdL' factorization, respectively,
+          of the symmetric indefinite input weighting matrix R (as
+          produced by LAPACK routine DSYTRF).
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') of this
+          array is used as workspace (filled in by symmetry with the
+          other strictly triangular part of R, of R+B'XB, or of the
+          result, if DICO = 'C', DICO = 'D', or (DICO = 'D' and
+          (FACT = 'D' or FACT = 'C') and UPLO = 'L'), respectively.
+          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D').
+          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix
+          (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D' and FACT = 'N').
+          On exit R is unchanged if FACT = 'U' or N = 0.
+
+  LDR     INTEGER.
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
+          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT(1) = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R or
+          R + B'XB, as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'D', or FACT = 'C',
+          or N = 0.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N', the leading N-by-M part of this array must
+          contain the cross weighting matrix L.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the solution matrix X of the algebraic Riccati
+          equation as produced by SLICOT Library routines SB02MD or
+          SB02OD. Matrix X is assumed non-negative definite if
+          DICO = 'D' and (FACT = 'D' or FACT = 'C').
+          The full matrix X must be given on input if LDWORK &lt; N*M
+          or if DICO = 'D' and (FACT = 'D' or FACT = 'C').
+          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
+          OUFACT(2) = 1, the N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array contains the Cholesky factor of the given
+          matrix X, which is found to be positive definite.
+          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
+          and INFO &lt; M+2 (but INFO &gt;= 0), the leading N-by-N part of
+          this array contains the matrix of orthonormal eigenvectors
+          of X.
+          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  RNORM   (input) DOUBLE PRECISION
+          If FACT = 'U', this parameter must contain the 1-norm of
+          the original matrix R (before factoring it).
+          Otherwise, this parameter is not used.
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the
+          optimal feedback matrix F.
+          This array is not referenced if DICO = 'C' and FACT = 'D'
+          and P &lt; M.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  OUFACT  (output) INTEGER array, dimension (2)
+          Information about the factorization finally used.
+          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
+                          'L') factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(2) = 1:  Cholesky factorization of X has been used;
+          OUFACT(2) = 2:  Spectral factorization of X has been used.
+          The value of OUFACT(2) is not set for DICO = 'C' or for
+          DICO = 'D' and FACT = 'N'.
+          This array is not set if N = 0 or M = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK, and for LDWORK set as specified
+          below, DWORK(2) contains the reciprocal condition number
+          of the matrix R (for DICO = 'C') or of R + B'XB (for
+          DICO = 'D'); DWORK(2) is set to 1 if N = 0.
+          On exit, if LDWORK = -2 on input or INFO = -25, then
+          DWORK(1) returns the minimal value of LDWORK.
+          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
+          DWORK(N+2) contain the eigenvalues of X, in ascending
+          order.
+
+  LDWORK  INTEGER
+          Dimension of working array DWORK.
+          LDWORK &gt;= max(2,2*M)           if FACT =  'U';
+          LDWORK &gt;= max(2,3*M)           if FACT &lt;&gt; 'U', DICO = 'C';
+          LDWORK &gt;= max(2,3*M,N)         if FACT =  'N', DICO = 'D';
+          LDWORK &gt;= max(N+3*M+2,4*N+1)   if FACT &lt;&gt; 'N', DICO = 'D'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element of the d factor is exactly zero;
+                the UdU' (or LdL') factorization has been completed,
+                but the block diagonal matrix d is exactly singular;
+          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
+                (if DICO = 'D') is numerically singular (to working
+                precision);
+          = M+2:  if one or more of the eigenvalues of X has not
+                converged;
+          = M+3:  if the matrix X is indefinite and updating the
+                triangular factorization failed.
+          If INFO &gt; M+1, call the routine again with an appropriate,
+          unfactored matrix R.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The optimal feedback matrix F is obtained as the solution to the
+  system of linear equations
+
+     (R + B'XB) * F = B'XA + L'
+
+  in the discrete-time case and
+
+     R * F = B'X + L'
+
+  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
+  If FACT = 'N', Cholesky factorization is tried first, but
+  if the coefficient matrix is not positive definite, then UdU' (or
+  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
+  of R is taken into account. The discrete-time case then involves
+  updating of a triangular factorization of R (or D'D); Cholesky or
+  symmetric spectral factorization of X is employed to avoid
+  squaring of the condition number of the matrix. When D is given,
+  its QR factorization is determined, and the triangular factor is
+  used as described above.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm consists of numerically stable steps.
+                                 3     2
+  For DICO = 'C', it requires O(m  + mn ) floating point operations
+                        2
+  if FACT = 'N' and O(mn ) floating point operations, otherwise.
+  For DICO = 'D', the operation counts are similar, but additional
+     3
+  O(n ) floating point operations may be needed in the worst case.
+  These estimates assume that M &lt;= N.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2
+      PARAMETER        ( NMAX2 = 2*NMAX )
+      INTEGER          LDA, LDB, LDC, LDL, LDR, LDS, LDT, LDU, LDX, LDF
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
+     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
+     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
+     $                   LDF = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX2,MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
+     $                   16*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL, RCOND, RNORM
+      INTEGER          I, INFO1, INFO2, J, M, N, P
+      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
+     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), F(LDF,NMAX), L(LDL,MMAX),
+     $                 R(LDR,MMAX), S(LDS,NMAX2+MMAX), T(LDT,NMAX2),
+     $                 U(LDU,NMAX2), X(LDX,NMAX)
+      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
+      LOGICAL          BWORK(NMAX2)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02ND, SB02OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, FACT, JOBL, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
+               END IF
+*              Find the solution matrix X.
+               JOBB = 'B'
+               SORT = 'S'
+               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
+     $                      P, A, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
+     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
+     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
+     $                      BWORK, INFO1 )
+*
+               IF ( INFO1.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO1
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+*                 Compute the optimal feedback matrix F.
+                  CALL SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA,
+     $                         B, LDB, R, LDR, IPIV, L, LDL, X, LDX,
+     $                         RNORM, F, LDF, OUFACT, IWORK, DWORK,
+     $                         LDWORK, INFO2 )
+*
+                  IF ( INFO2.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) INFO2
+                  ELSE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, M
+                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
+   40                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02OD = ',I2)
+99997 FORMAT (' INFO on exit from SB02ND = ',I2)
+99996 FORMAT (' The solution matrix X is ')
+99995 FORMAT (/' The optimal feedback matrix F is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02ND EXAMPLE PROGRAM DATA
+   2     1     3     0.0     D     N     Z     U
+   2.0 -1.0
+   1.0  0.0
+   1.0
+   0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+   0.0
+   0.0
+   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The optimal feedback matrix F is 
+   2.0000  -1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02OD">SB02OD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations (generalized Schur vectors method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                           -1
+     Q + A'X + XA - (L+XB)R  (L+XB)' = 0                       (1)
+
+  or the discrete-time algebraic Riccati equation
+                                  -1
+     X = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q              (2)
+
+  where A, B, Q, R, and L are N-by-N, N-by-M, N-by-N, M-by-M and
+  N-by-M matrices, respectively, such that Q = C'C, R = D'D and
+  L = C'D; X is an N-by-N symmetric matrix.
+  The routine also returns the computed values of the closed-loop
+  spectrum of the system, i.e., the stable eigenvalues lambda(1),
+  ..., lambda(N) of the corresponding Hamiltonian or symplectic
+  pencil, in the continuous-time case or discrete-time case,
+  respectively.
+                           -1
+  Optionally, matrix G = BR  B' may be given instead of B and R.
+  Other options include the case with Q and/or R given in a
+  factored form, Q = C'C, R = D'D, and with L a zero matrix.
+
+  The routine uses the method of deflating subspaces, based on
+  reordering the eigenvalues in a generalized Schur matrix pair.
+  A standard eigenproblem is solved in the continuous-time case
+  if G is given.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P, A,
+     $                   LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, RCOND, X,
+     $                   LDX, ALFAR, ALFAI, BETA, S, LDS, T, LDT, U,
+     $                   LDU, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOBB, JOBL, SORT, UPLO
+      INTEGER           INFO, LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU,
+     $                  LDWORK, LDX, M, N, P
+      DOUBLE PRECISION  RCOND, TOL
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
+     $                  DWORK(*), L(LDL,*), Q(LDQ,*), R(LDR,*),
+     $                  S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  JOBB    CHARACTER*1
+          Specifies whether or not the matrix G is given, instead
+          of the matrices B and R, as follows:
+          = 'B':  B and R are given;
+          = 'G':  G is given.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the matrices Q and/or R (if
+          JOBB = 'B') are factored, as follows:
+          = 'N':  Not factored, Q and R are given;
+          = 'C':  C is given, and Q = C'C;
+          = 'D':  D is given, and R = D'D;
+          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
+
+  UPLO    CHARACTER*1
+          If JOBB = 'G', or FACT = 'N', specifies which triangle of
+          the matrices G and Q (if FACT = 'N'), or Q and R (if
+          JOBB = 'B'), is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
+          SLICOT Library routine SB02MT should be called just before
+          SB02OD, for obtaining the results when JOBB = 'G' and
+          JOBL = 'N'.
+
+  SORT    CHARACTER*1
+          Specifies which eigenvalues should be obtained in the top
+          of the generalized Schur form, as follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the matrices
+          A, Q, and X, and the number of rows of the matrices B
+          and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs. If JOBB = 'B', M is the
+          order of the matrix R, and the number of columns of the
+          matrix B.  M &gt;= 0.
+          M is not used if JOBB = 'G'.
+
+  P       (input) INTEGER
+          The number of system outputs. If FACT = 'C' or 'D' or 'B',
+          P is the number of rows of the matrices C and/or D.
+          P &gt;= 0.
+          Otherwise, P is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
+          If JOBB = 'B', the leading N-by-M part of this array must
+          contain the input matrix B of the system.
+          If JOBB = 'G', the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the matrix
+                -1
+          G = BR  B'. The strictly lower triangular part (if
+          UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If FACT = 'N' or 'D', the leading N-by-N upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          state weighting matrix Q. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If JOBB = 'B', the triangular part of this array defined
+          by UPLO is modified internally, but is restored on exit.
+          If FACT = 'C' or 'B', the leading P-by-N part of this
+          array must contain the output matrix C of the system.
+          If JOBB = 'B', this part is modified internally, but is
+          restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
+          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
+          If FACT = 'N' or 'C', the leading M-by-M upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          input weighting matrix R. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          The triangular part of this array defined by UPLO is
+          modified internally, but is restored on exit.
+          If FACT = 'D' or 'B', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system. This part is modified internally, but is restored
+          on exit.
+          If JOBB = 'G', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
+          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
+          LDR &gt;= 1        if JOBB = 'G'.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
+          this array must contain the cross weighting matrix L.
+          This part is modified internally, but is restored on exit.
+          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
+          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
+
+  RCOND   (output) DOUBLE PRECISION
+          An estimate of the reciprocal of the condition number (in
+          the 1-norm) of the N-th order system of algebraic
+          equations from which the solution matrix X is obtained.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the
+          solution matrix X of the problem.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
+  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
+  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
+          The generalized eigenvalues of the 2N-by-2N matrix pair,
+          ordered as specified by SORT (if INFO = 0). For instance,
+          if SORT = 'S', the leading N elements of these arrays
+          contain the closed-loop spectrum of the system matrix
+          A - BF, where F is the optimal feedback matrix computed
+          based on the solution matrix X. Specifically,
+             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
+          k = 1,2,...,N.
+          If DICO = 'C' and JOBB = 'G', the elements of BETA are
+          set to 1.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
+          The leading 2N-by-2N part of this array contains the
+          ordered real Schur form S of the first matrix in the
+          reduced matrix pencil associated to the optimal problem,
+          or of the corresponding Hamiltonian matrix, if DICO = 'C'
+          and JOBB = 'G'. That is,
+
+                 (S   S  )
+                 ( 11  12)
+             S = (       ),
+                 (0   S  )
+                 (     22)
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
+          columns, otherwise.
+
+  LDS     INTEGER
+          The leading dimension of array S.
+          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
+          If DICO = 'D' or JOBB = 'B', the leading 2N-by-2N part of
+          this array contains the ordered upper triangular form T of
+          the second matrix in the reduced matrix pencil associated
+          to the optimal problem. That is,
+
+                 (T   T  )
+                 ( 11  12)
+             T = (       ),
+                 (0   T  )
+                 (     22)
+
+          where T  , T   and T   are N-by-N matrices.
+                 11   12      22
+          If DICO = 'C' and JOBB = 'G' this array is not referenced.
+
+  LDT     INTEGER
+          The leading dimension of array T.
+          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDT &gt;= MAX(1,2*N)   if JOBB = 'G' and DICO = 'D',
+          LDT &gt;= 1            if JOBB = 'G' and DICO = 'C'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          The leading 2N-by-2N part of this array contains the right
+          transformation matrix U which reduces the 2N-by-2N matrix
+          pencil to the ordered generalized real Schur form (S,T),
+          or the Hamiltonian matrix to the ordered real Schur
+          form S, if DICO = 'C' and JOBB = 'G'. That is,
+
+                 (U   U  )
+                 ( 11  12)
+             U = (       ),
+                 (U   U  )
+                 ( 21  22)
+
+          where U  , U  , U   and U   are N-by-N matrices.
+                 11   12   21      22
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the original matrix pencil, specifically of the triangular
+          factor obtained during the reduction process. If the user
+          sets TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then a default tolerance, defined by
+          TOLDEF = EPS, is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not referenced if JOBB = 'G'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B',
+          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
+          reciprocal of the condition number of the M-by-M lower
+          triangular matrix obtained after compressing the matrix
+          pencil of order 2N+M to obtain a pencil of order 2N.
+          If INFO = 0 or INFO = 6, DWORK(3) returns the scaling
+          factor used internally, which should multiply the
+          submatrix Y2 to recover X from the first N columns of U
+          (see METHOD).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(3,6*N),                       if JOBB = 'G',
+                                                         DICO = 'C';
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G',
+                                                         DICO = 'D';
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the computed extended matrix pencil is singular,
+                possibly due to rounding errors;
+          = 2:  if the QZ (or QR) algorithm failed;
+          = 3:  if reordering of the (generalized) eigenvalues
+                failed;
+          = 4:  if after reordering, roundoff changed values of
+                some complex eigenvalues so that leading eigenvalues
+                in the (generalized) Schur form no longer satisfy
+                the stability condition; this could also be caused
+                due to scaling;
+          = 5:  if the computed dimension of the solution does not
+                equal N;
+          = 6:  if a singular matrix was encountered during the
+                computation of the solution matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses a variant of the method of deflating subspaces
+  proposed by van Dooren [1]. See also [2], [3].
+  It is assumed that (A,B) is stabilizable and (C,A) is detectable.
+  Under these assumptions the algebraic Riccati equation is known to
+  have a unique non-negative definite solution.
+  The first step in the method of deflating subspaces is to form the
+  extended Hamiltonian matrices, dimension 2N + M given by
+
+        discrete-time                   continuous-time
+
+  |A   0   B|     |I   0   0|    |A   0   B|     |I   0   0|
+  |Q  -I   L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -I   0|.
+  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
+
+  Next, these pencils are compressed to a form (see [1])
+
+     lambda x A  - B .
+               f    f
+
+  This generalized eigenvalue problem is then solved using the QZ
+  algorithm and the stable deflating subspace Ys is determined.
+  If [Y1'|Y2']' is a basis for Ys, then the required solution is
+                    -1
+         X = Y2 x Y1  .
+  A standard eigenvalue problem is solved using the QR algorithm in
+  the continuous-time case when G is given (DICO = 'C', JOBB = 'G').
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      A Generalized Eigenvalue Approach for Solving Riccati
+      Equations.
+      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
+
+  [2] Mehrmann, V.
+      The Autonomous Linear Quadratic Control Problem. Theory and
+      Numerical Solution.
+      Lect. Notes in Control and Information Sciences, vol. 163,
+      Springer-Verlag, Berlin, 1991.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  This routine is particularly suited for systems where the matrix R
+  is ill-conditioned. Internal scaling is used.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equations set SORT = 'S'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying SORT = 'U'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2M, NMAX2
+      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX )
+      INTEGER          LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDL = NMAX,
+     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
+     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX) )
+      INTEGER          LBWORK
+      PARAMETER        ( LBWORK = NMAX2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND, TOL
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
+      LOGICAL          LJOBB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFAI(NMAX2), ALFAR(NMAX2),
+     $                 B(LDB,MMAX), BETA(NMAX2), DWORK(LDWORK),
+     $                 L(LDL,MMAX), Q(LDQ,NMAX), R(LDR,MMAX),
+     $                 S(LDS,NMAX2M), T(LDT,NMAX2), U(LDU,NMAX2),
+     $                 X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LBWORK)
+C     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
+     $                      SORT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            LJOBB = LSAME( JOBB, 'B' )
+            IF ( LJOBB ) THEN
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            END IF
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99993 ) P
+            ELSE
+               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
+               END IF
+               IF ( LJOBB ) THEN
+                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
+                  ELSE
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
+                  END IF
+                  IF ( LSAME( JOBL, 'N' ) )
+     $                READ ( NIN, FMT = * )
+     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
+               END IF
+*              Find the solution matrix X.
+               CALL SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P,
+     $                      A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL,
+     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
+     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
+     $                      BWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02OD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02OD EXAMPLE PROGRAM DATA
+   2     1     3     0.0     C     B     B     U     Z     S
+   0.0  1.0
+   0.0  0.0
+   0.0
+   1.0
+   1.0  0.0
+   0.0  1.0
+   0.0  0.0
+   0.0
+   0.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02OD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.7321   1.0000
+   1.0000   1.7321
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02OY">SB02OY</A></H2>
+<H3>
+Constructing the extended Hamiltonian or symplectic matrix pairs for linear-quadratic optimization problems, and compressing them to 2N-by-2N matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the extended matrix pairs for the computation of the
+  solution of the algebraic matrix Riccati equations arising in the
+  problems of optimal control, both discrete and continuous-time,
+  and of spectral factorization, both discrete and continuous-time.
+  These matrix pairs, of dimension 2N + M, are given by
+
+        discrete-time                   continuous-time
+
+  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
+  |Q  -E'  L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -E'  0|.   (1)
+  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
+
+  After construction, these pencils are compressed to a form
+  (see [1])
+
+     lambda x A  - B ,
+               f    f
+
+  where A  and B  are 2N-by-2N matrices.
+         f      f
+                           -1
+  Optionally, matrix G = BR  B' may be given instead of B and R;
+  then, for L = 0, 2N-by-2N matrix pairs are directly constructed as
+
+      discrete-time            continuous-time
+
+  |A   0 |     |E   G |    |A  -G |     |E   0 |
+  |      | - z |      |,   |      | - s |      |.               (2)
+  |Q  -E'|     |0  -A'|    |Q   A'|     |0  -E'|
+
+  Similar pairs are obtained for non-zero L, if SLICOT Library
+  routine SB02MT is called before SB02OY.
+  Other options include the case with E identity matrix, L a zero
+  matrix, or Q and/or R given in a factored form, Q = C'C, R = D'D.
+  For spectral factorization problems, there are minor differences
+  (e.g., B is replaced by C').
+  The second matrix in (2) is not constructed in the continuous-time
+  case if E is specified as being an identity matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02OY( TYPE, DICO, JOBB, FACT, UPLO, JOBL, JOBE, N, M,
+     $                   P, A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, E,
+     $                   LDE, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOBB, JOBE, JOBL, TYPE, UPLO
+      INTEGER           INFO, LDA, LDAF, LDB, LDBF, LDE, LDL, LDQ, LDR,
+     $                  LDWORK, M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
+     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          Specifies the type of problem to be addressed as follows:
+          = 'O':  Optimal control problem;
+          = 'S':  Spectral factorization problem.
+
+  DICO    CHARACTER*1
+          Specifies the type of linear system considered as follows:
+          = 'C':  Continuous-time system;
+          = 'D':  Discrete-time system.
+
+  JOBB    CHARACTER*1
+          Specifies whether or not the matrix G is given, instead
+          of the matrices B and R, as follows:
+          = 'B':  B and R are given;
+          = 'G':  G is given.
+          For JOBB = 'G', a 2N-by-2N matrix pair is directly
+          obtained assuming L = 0 (see the description of JOBL).
+
+  FACT    CHARACTER*1
+          Specifies whether or not the matrices Q and/or R (if
+          JOBB = 'B') are factored, as follows:
+          = 'N':  Not factored, Q and R are given;
+          = 'C':  C is given, and Q = C'C;
+          = 'D':  D is given, and R = D'D (if TYPE = 'O'), or
+                  R = D + D' (if TYPE = 'S');
+          = 'B':  Both factors C and D are given, Q = C'C, R = D'D
+                  (or R = D + D').
+
+  UPLO    CHARACTER*1
+          If JOBB = 'G', or FACT = 'N', specifies which triangle of
+          the matrices G and Q (if FACT = 'N'), or Q and R (if
+          JOBB = 'B'), is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
+          Using SLICOT Library routine SB02MT to compute the
+          corresponding A and Q in this case, before calling SB02OY,
+          enables to obtain 2N-by-2N matrix pairs directly.
+
+  JOBE    CHARACTER*1
+          Specifies whether or not the matrix E is identity, as
+          follows:
+          = 'I':  E is the identity matrix;
+          = 'N':  E is a general matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, and E, and the number
+          of rows of the matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          If JOBB = 'B', M is the order of the matrix R, and the
+          number of columns of the matrix B.  M &gt;= 0.
+          M is not used if JOBB = 'G'.
+
+  P       (input) INTEGER
+          If FACT = 'C' or 'D' or 'B', or if TYPE = 'S', P is the
+          number of rows of the matrix C and/or D, respectively.
+          P &gt;= 0, and if JOBB = 'B' and TYPE = 'S', then P = M.
+          Otherwise, P is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
+          If JOBB = 'B', the leading N-by-M part of this array must
+          contain the input matrix B of the system.
+          If JOBB = 'G', the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the matrix
+                -1
+          G = BR  B'. The strictly lower triangular part (if
+          UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If FACT = 'N' or 'D', the leading N-by-N upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          output weighting matrix Q. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'C' or 'B', the leading P-by-N part of this
+          array must contain the output matrix C of the system.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
+          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
+          If FACT = 'N' or 'C', the leading M-by-M upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          input weighting matrix R. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'D' or 'B', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          If JOBB = 'G', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
+          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
+          LDR &gt;= 1        if JOBB = 'G'.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
+          this array must contain the cross weighting matrix L.
+          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z' or JOBB = 'G'.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'N', the leading N-by-N part of this array must
+          contain the matrix E of the descriptor system.
+          If JOBE = 'I', E is taken as identity and this array is
+          not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N) if JOBE = 'N';
+          LDE &gt;= 1        if JOBE = 'I'.
+
+  AF      (output) DOUBLE PRECISION array, dimension (LDAF,*)
+          The leading 2N-by-2N part of this array contains the
+          matrix A  in the matrix pencil.
+                  f
+          Array AF must have 2*N+M columns if JOBB = 'B', and 2*N
+          columns, otherwise.
+
+  LDAF    INTEGER
+          The leading dimension of array AF.
+          LDAF &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDAF &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  BF      (output) DOUBLE PRECISION array, dimension (LDBF,2*N)
+          If DICO = 'D' or JOBB = 'B' or JOBE = 'N', the leading
+          2N-by-2N part of this array contains the matrix B  in the
+                                                           f
+          matrix pencil.
+          The last M zero columns are never constructed.
+          If DICO = 'C' and JOBB = 'G' and JOBE = 'I', this array
+          is not referenced.
+
+  LDBF    INTEGER
+          The leading dimension of array BF.
+          LDBF &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDBF &gt;= MAX(1,2*N)   if JOBB = 'G' and ( DICO = 'D' or
+                                                   JOBE = 'N' ),
+          LDBF &gt;= 1            if JOBB = 'G' and ( DICO = 'C' and
+                                                   JOBE = 'I' ).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the original matrix pencil, specifically of the triangular
+          factor obtained during the reduction process. If the user
+          sets TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then a default tolerance, defined by
+          TOLDEF = EPS, is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not referenced if JOBB = 'G'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= M if JOBB = 'B',
+          LIWORK &gt;= 1 if JOBB = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK. If JOBB = 'B', DWORK(2) returns the reciprocal
+          of the condition number of the M-by-M lower triangular
+          matrix obtained after compression.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1                  if JOBB = 'G',
+          LDWORK &gt;= MAX(1,2*N + M,3*M) if JOBB = 'B'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the computed extended matrix pencil is singular,
+                possibly due to rounding errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The extended matrix pairs are constructed, taking various options
+  into account. If JOBB = 'B', the problem order is reduced from
+  2N+M to 2N (see [1]).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      A Generalized Eigenvalue Approach for Solving Riccati
+      Equations.
+      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
+
+  [2] Mehrmann, V.
+      The Autonomous Linear Quadratic Control Problem. Theory and
+      Numerical Solution.
+      Lect. Notes in Control and Information Sciences, vol. 163,
+      Springer-Verlag, Berlin, 1991.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02PD">SB02PD</A></H2>
+<H3>
+Solution of continuous-time algebraic Riccati equations (matrix sign function method) with error bounds and condition estimates
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real continuous-time matrix algebraic Riccati
+  equation
+
+     op(A)'*X + X*op(A) + Q - X*G*X = 0,
+
+  where op(A) = A or A' = A**T and G, Q are symmetric (G = G**T,
+  Q = Q**T). The matrices A, G and Q are N-by-N and the solution X
+  is an N-by-N symmetric matrix.
+
+  An error bound on the solution and a condition estimate are also
+  optionally provided.
+
+  It is assumed that the matrices A, G and Q are such that the
+  corresponding Hamiltonian matrix has N eigenvalues with negative
+  real parts.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
+     $                   LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, TRANA, UPLO
+      INTEGER            INFO, LDA, LDG, LDQ, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), G( LDG, * ),
+     $                   Q( LDQ, * ), WI( * ), WR( * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'A':  Compute all: the solution, reciprocal condition
+                  number, and the error bound.
+
+  TRANA   CHARACTER*1
+          Specifies the option op(A):
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangles of G and Q are stored;
+          = 'L':  Lower triangles of G and Q are stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, Q, and X.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix G.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix G.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix Q.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          If INFO = 0, INFO = 2, or INFO = 4, the leading N-by-N
+          part of this array contains the symmetric solution matrix
+          X of the algebraic Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'A', the estimate of the reciprocal condition
+          number of the Riccati equation.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'A', the estimated forward error bound for the
+          solution X. If XTRUE is the true solution, FERR bounds the
+          magnitude of the largest entry in (X - XTRUE) divided by
+          the magnitude of the largest entry in X.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If JOB = 'A' and TRANA = 'N', WR and WI contain the real
+          and imaginary parts, respectively, of the eigenvalues of
+          the matrix A - G*X, i.e., the closed-loop system poles.
+          If JOB = 'A' and TRANA = 'T' or 'C', WR and WI contain the
+          real and imaginary parts, respectively, of the eigenvalues
+          of the matrix A - X*G, i.e., the closed-loop system poles.
+          If JOB = 'X', these arrays are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= 2*N,          if JOB = 'X';
+          LIWORK &gt;= max(2*N,N*N), if JOB = 'A'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 2, DWORK(1) contains the
+          optimal value of LDWORK. If JOB = 'A', then DWORK(2:N*N+1)
+          and DWORK(N*N+2:2*N*N+1) contain a real Schur form of the
+          closed-loop system matrix, Ac = A - G*X (if TRANA = 'N')
+          or Ac = A - X*G (if TRANA = 'T' or 'C'), and the
+          orthogonal matrix which reduced Ac to real Schur form,
+          respectively.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 4*N*N + 8*N + 1,               if JOB = 'X';
+          LDWORK &gt;= max( 4*N*N + 8*N + 1, 6*N*N ), if JOB = 'A'.
+          For good performance, LDWORK should be larger, e.g.,
+          LDWORK &gt;= 4*N*N + 6*N +( 2*N+1 )*NB,     if JOB = 'X',
+          where NB is the optimal blocksize.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the Hamiltonian matrix has eigenvalues on the
+                imaginary axis, so the solution and error bounds
+                could not be computed;
+          = 2:  the iteration for the matrix sign function failed to
+                converge after 50 iterations, but an approximate
+                solution and error bounds (if JOB = 'A') have been
+                computed;
+          = 3:  the system of linear equations for the solution is
+                singular to working precision, so the solution and
+                error bounds could not be computed;
+          = 4:  the matrix A-G*X (or A-X*G) cannot be reduced to
+                Schur canonical form and condition number estimate
+                and forward error estimate have not been computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Riccati equation is solved by the matrix sign function
+  approach [1], [2], implementing a scaling which enhances the
+  numerical stability [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bai, Z., Demmel, J., Dongarra, J., Petitet, A., Robinson, H.,
+      and Stanley, K.
+      The spectral decomposition of nonsymmetric matrices on
+      distributed memory parallel computers.
+      SIAM J. Sci. Comput., vol. 18, pp. 1446-1461, 1997.
+
+  [2] Byers, R., He, C., and Mehrmann, V.
+      The matrix sign function method and the computation of
+      invariant subspaces.
+      SIAM J. Matrix Anal. Appl., vol. 18, pp. 615-632, 1997.
+
+  [3] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.,
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Technical
+      University Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The solution accuracy can be controlled by the output parameter
+  FERR.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The condition number of the Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W + W*op(Ac),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
+     Pi(W) = inv(Omega(X*W*X)),
+
+  and the matrix Ac (the closed-loop system matrix) is given by
+     Ac = A - G*X, if TRANA = 'N', or
+     Ac = A - X*G, if TRANA = 'T' or 'C'.
+
+  The program estimates the quantities
+
+  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [3].
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02PD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 4*NMAX*NMAX + 8*NMAX,
+     $                                 6*NMAX*NMAX ) + 1 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND
+      INTEGER          I, INFO, J, N
+      CHARACTER        JOB, TRANA, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), WI(NMAX), WR(NMAX),
+     $                 X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, TRANA, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
+     $                LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+         IF ( INFO.EQ.0 .OR. INFO.EQ.2 .OR. INFO.EQ.4 ) THEN
+             WRITE ( NOUT, FMT = 99997 )
+             DO 20 I = 1, N
+                WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20        CONTINUE
+             IF ( LSAME( JOB, 'A' ) .AND. INFO.NE.4 ) THEN
+                WRITE ( NOUT, FMT = 99994 ) RCOND
+                WRITE ( NOUT, FMT = 99993 ) FERR
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02PD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99993 FORMAT (/' Estimated error bound = ',F20.16)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02PD EXAMPLE PROGRAM DATA
+   2     A     N     U 
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02PD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   1.0000
+   1.0000   2.0000
+
+ Estimated reciprocal condition number =   0.1333
+
+ Estimated error bound =   0.0000000000000063
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02QD">SB02QD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of continuous-time Riccati equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real continuous-time matrix algebraic Riccati
+  equation
+
+      op(A)'*X + X*op(A) + Q - X*G*X = 0,                        (1)
+
+  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
+  G = G**T). The matrices A, Q and G are N-by-N and the solution X
+  is N-by-N.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
+     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization of
+          the matrix Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G
+          (if TRANA = 'T' or 'C') is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix Ac;
+          = 'N':  The Schur factorization of Ac will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrices Q and G is
+          to be used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, Q, and G.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input or output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then T is an input argument and on entry,
+          the leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of Ac (see
+          argument FACT).
+          If FACT = 'N', then T is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, the leading N-by-N upper
+          Hessenberg part of this array contains the upper quasi-
+          triangular matrix T in Schur canonical form from a Schur
+          factorization of Ac (see argument FACT).
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of Ac (see argument FACT).
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of Ac (see argument FACT).
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix G.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix G.                     _
+          Matrix G should correspond to G in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix Q.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix Q.                     _
+          Matrix Q should correspond to Q in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix of the original Riccati
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          "reduced" Riccati equation (with matrix T), if
+          LYAPUN = 'R'. See METHOD.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sep(op(Ac),-op(Ac)').
+          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the continuous-time Riccati equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          Let LWA = N*N, if LYAPUN = 'O' and JOB = 'E' or 'B';
+              LWA = 0,   otherwise.
+          If FACT = 'N', then
+             LDWORK  = MAX(1, 5*N, 2*N*N),        if JOB = 'C';
+             LDWORK  = MAX(1, LWA + 5*N, 4*N*N ), if JOB = 'E', 'B'.
+          If FACT = 'F', then
+             LDWORK  = MAX(1, 2*N*N),  if JOB = 'C';
+             LDWORK  = MAX(1, 4*N*N ), if JOB = 'E' or 'B'.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction of the matrix Ac to Schur
+                canonical form (see LAPACK Library routine DGEES);
+                on exit, the matrix T(i+1:N,i+1:N) contains the
+                partially converged Schur form, and DWORK(i+1:N) and
+                DWORK(N+i+1:2*N) contain the real and imaginary
+                parts, respectively, of the converged eigenvalues;
+                this error is unlikely to appear;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations, but the matrix T, if given
+                (for FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W + W*op(Ac),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
+     Pi(W) = inv(Omega(X*W*X)),
+
+  and Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G (if TRANA = 'T'
+  or 'C'). Note that the Riccati equation (1) is equivalent to
+             _   _         _   _ _ _
+      op(T)'*X + X*op(T) + Q + X*G*X = 0,                        (2)
+        _           _               _
+  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
+  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
+
+  The routine estimates the quantities
+
+  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Ghavimi, A.R. and Laub, A.J.
+      Backward error, sensitivity, and refinement of computed
+      solutions of algebraic Riccati equations.
+      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
+      1995.
+
+  [2] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEP is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCND, RCOND, SEP
+      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
+     $                 SDIM
+      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), T(LDT,NMAX), U(LDU,NMAX),
+     $                 X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME, SELECT
+      EXTERNAL         LSAME, SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, DLACPY, DSYMM, MA02ED, MB01RU, SB02MD,
+     $                 SB02QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
+         N2 = 2*N
+         IS = 2*N2 + 1
+         IU = IS + N2*N2
+         IW = IU + N2*N2
+*        Solve the continuous-time Riccati equation.
+         CALL SB02MD( 'continuous', 'direct', UPLO, 'no scaling',
+     $                'stable', N, A, LDA, G, LDG, X, LDX, RCND,
+     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
+     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99995 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
+               CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+               IF ( LSAME( TRANA, 'N' ) ) THEN
+*                 Compute Ac = A-G*X.
+                  CALL DSYMM( 'Left', UPLO, N, N, -ONE, G, LDG, X, LDX,
+     $                        ONE, T, LDT )
+               ELSE
+*                 Compute Ac = A-X*G.
+                  CALL DSYMM( 'Right', UPLO, N, N, -ONE, G, LDG, X, LDX,
+     $                        ONE, T, LDT )
+               END IF
+*              Compute the Schur factorization of Ac.
+               JOBS = 'V'
+               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
+     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
+     $                     LDWORK-2*N, BWORK, INFO3 )
+               IF( INFO3.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99996 ) INFO3
+                  STOP
+               END IF
+            END IF
+*
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+*
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
+     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
+     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            END IF
+            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
+               WRITE ( NOUT, FMT = 99992 ) SEP
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02MD =',I2)
+99997 FORMAT (' INFO on exit from SB02QD =',I2)
+99996 FORMAT (' INFO on exit from DGEES  =',I2)
+99995 FORMAT (' The solution matrix X is')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02QD EXAMPLE PROGRAM DATA
+   2     B     N     N     U     O
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02QD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   2.0000   1.0000
+   1.0000   2.0000
+
+ Estimated separation =   0.4000
+
+ Estimated reciprocal condition number =   0.1333
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02RD">SB02RD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations (increased accuracy Schur vectors method) with condition and forward error bound estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                                       -1
+     Q + op(A)'*X + X*op(A) - X*op(B)*R  op(B)'*X = 0,           (1)
+
+  or the discrete-time algebraic Riccati equation
+                                                             -1
+     X = op(A)'*X*op(A) - op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *
+                          op(B)'*X*op(A) + Q,                    (2)
+
+  where op(M) = M or M' (M**T), A, op(B), Q, and R are N-by-N,
+  N-by-M, N-by-N, and M-by-M matrices respectively, with Q symmetric
+  and R symmetric nonsingular; X is an N-by-N symmetric matrix.
+                        -1
+  The matrix G = op(B)*R  *op(B)' must be provided on input, instead
+  of B and R, that is, the continuous-time equation
+
+     Q + op(A)'*X + X*op(A) - X*G*X = 0,                         (3)
+
+  or the discrete-time equation
+                             -1
+     Q + op(A)'*X*(I_n + G*X)  *op(A) - X = 0,                   (4)
+
+  are solved, where G is an N-by-N symmetric matrix. SLICOT Library
+  routine SB02MT should be used to compute G, given B and R. SB02MT
+  also enables to solve Riccati equations corresponding to optimal
+  problems with coupling terms.
+
+  The routine also returns the computed values of the closed-loop
+  spectrum of the optimal system, i.e., the stable eigenvalues
+  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
+  symplectic matrix associated to the optimal problem. It is assumed
+  that the matrices A, G, and Q are such that the associated
+  Hamiltonian or symplectic matrix has N stable eigenvalues, i.e.,
+  with negative real parts, in the continuous-time case, and with
+  moduli less than one, in the discrete-time case.
+
+  Optionally, estimates of the conditioning and error bound on the
+  solution of the Riccati equation (3) or (4) are returned.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
+     $                   LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q,
+     $                   LDQ, X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS,
+     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT,
+     $                  TRANA, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDT, LDV, LDWORK, LDX,
+     $                  N
+      DOUBLE PRECISION  FERR, RCOND, SEP
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*), T(LDT,*), V(LDV,*), WI(*), WR(*),
+     $                  X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'A':  Compute all: the solution, reciprocal condition
+                  number, and the error bound.
+
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved or
+          analyzed, as follows:
+          = 'C':  Equation (3), continuous-time case;
+          = 'D':  Equation (4), discrete-time case.
+
+  HINV    CHARACTER*1
+          If DICO = 'D' and JOB = 'X' or JOB = 'A', specifies which
+          symplectic matrix is to be constructed, as follows:
+          = 'D':  The matrix H in (6) (see METHOD) is constructed;
+          = 'I':  The inverse of the matrix H in (6) is constructed.
+          HINV is not used if DICO = 'C', or JOB = 'C' or 'E'.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  SCAL    CHARACTER*1
+          If JOB = 'X' or JOB = 'A', specifies whether or not a
+          scaling strategy should be used, as follows:
+          = 'G':  General scaling should be used;
+          = 'N':  No scaling should be used.
+          SCAL is not used if JOB = 'C' or 'E'.
+
+  SORT    CHARACTER*1
+          If JOB = 'X' or JOB = 'A', specifies which eigenvalues
+          should be obtained in the top of the Schur form, as
+          follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+          SORT is not used if JOB = 'C' or 'E'.
+
+  FACT    CHARACTER*1
+          If JOB &lt;&gt; 'X', specifies whether or not a real Schur
+          factorization of the closed-loop system matrix Ac is
+          supplied on entry, as follows:
+          = 'F':  On entry, T and V contain the factors from a real
+                  Schur factorization of the matrix Ac;
+          = 'N':  A Schur factorization of Ac will be computed
+                  and the factors will be stored in T and V.
+          For a continuous-time system, the matrix Ac is given by
+             Ac = A - G*X, if TRANA = 'N', or
+             Ac = A - X*G, if TRANA = 'T' or 'C',
+          and for a discrete-time system, the matrix Ac is given by
+             Ac = inv(I_n + G*X)*A, if TRANA = 'N', or
+             Ac = A*inv(I_n + X*G), if TRANA = 'T' or 'C'.
+          FACT is not used if JOB = 'X'.
+
+  LYAPUN  CHARACTER*1
+          If JOB &lt;&gt; 'X', specifies whether or not the original or
+          "reduced" Lyapunov equations should be solved for
+          estimating reciprocal condition number and/or the error
+          bound, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix V, e.g., X &lt;-- V'*X*V;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+                  This means that a real Schur form T of Ac appears
+                  in the equations, instead of Ac.
+          LYAPUN is not used if JOB = 'X'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, G, and X.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If JOB = 'X' or JOB = 'A' or FACT = 'N' or LYAPUN = 'O',
+          the leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+          If JOB = 'C' or 'E' and FACT = 'F' and LYAPUN = 'R', A is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if JOB  = 'X' or JOB = 'A' or
+                              FACT = 'N' or LYAPUN = 'O'.
+          LDA &gt;= 1,        otherwise.
+
+  T       (input or output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If JOB &lt;&gt; 'X' and FACT = 'F', then T is an input argument
+          and on entry, the leading N-by-N upper Hessenberg part of
+          this array must contain the upper quasi-triangular matrix
+          T in Schur canonical form from a Schur factorization of Ac
+          (see argument FACT).
+          If JOB &lt;&gt; 'X' and FACT = 'N', then T is an output argument
+          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
+          upper Hessenberg part of this array contains the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of Ac (see argument FACT).
+          If JOB = 'X', the array T is not referenced.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= 1,        if JOB =  'X';
+          LDT &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
+
+  V       (input or output) DOUBLE PRECISION array, dimension
+          (LDV,N)
+          If JOB &lt;&gt; 'X' and FACT = 'F', then V is an input argument
+          and on entry, the leading N-by-N part of this array must
+          contain the orthogonal matrix V from a real Schur
+          factorization of Ac (see argument FACT).
+          If JOB &lt;&gt; 'X' and FACT = 'N', then V is an output argument
+          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
+          part of this array contains the orthogonal N-by-N matrix
+          from a real Schur factorization of Ac (see argument FACT).
+          If JOB = 'X', the array V is not referenced.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= 1,        if JOB =  'X';
+          LDV &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix G.
+          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
+          LYAPUN = 'R', the leading N-by-N part of this array
+          contains the symmetric matrix G fully stored.
+          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
+          internally, but restored on exit.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix Q.
+          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
+          LYAPUN = 'R', the leading N-by-N part of this array
+          contains the symmetric matrix Q fully stored.
+          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
+          internally, but restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  X       (input or output) DOUBLE PRECISION array, dimension
+          (LDX,N)
+          If JOB = 'C' or JOB = 'E', then X is an input argument
+          and on entry, the leading N-by-N part of this array must
+          contain the symmetric solution matrix of the algebraic
+          Riccati equation. If LYAPUN = 'R', this array is modified
+          internally, but restored on exit; however, it could differ
+          from the input matrix at the round-off error level.
+          If JOB = 'X' or JOB = 'A', then X is an output argument
+          and on exit, if INFO = 0 or INFO &gt;= 6, the leading N-by-N
+          part of this array contains the symmetric solution matrix
+          X of the algebraic Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, the
+          estimated quantity
+             sep(op(Ac),-op(Ac)'), if DICO = 'C', or
+             sepd(op(Ac),op(Ac)'), if DICO = 'D'. (See METHOD.)
+          If JOB = 'C' or JOB = 'A' and X = 0, or JOB = 'E', SEP is
+          not referenced.
+          If JOB = 'X', and INFO = 0, INFO = 5 or INFO = 7,
+          SEP contains the scaling factor used, which should
+          multiply the (2,1) submatrix of U to recover X from the
+          first N columns of U (see METHOD). If SCAL = 'N', SEP is
+          set to 1.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, an
+          estimate of the reciprocal condition number of the
+          algebraic Riccati equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'X', or JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = 7, an
+          estimated forward error bound for the solution X. If XTRUE
+          is the true solution, FERR bounds the magnitude of the
+          largest entry in (X - XTRUE) divided by the magnitude of
+          the largest entry in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'X', or JOB = 'C', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (2*N)
+  WI      (output) DOUBLE PRECISION array, dimension (2*N)
+          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5,
+          these arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the 2N-by-2N matrix S,
+          ordered as specified by SORT (except for the case
+          HINV = 'D', when the order is opposite to that specified
+          by SORT). The leading N elements of these arrays contain
+          the closed-loop spectrum of the system matrix Ac (see
+          argument FACT). Specifically,
+             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
+          If JOB = 'C' or JOB = 'E', these arrays are not
+          referenced.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5, the
+          leading 2N-by-2N part of this array contains the ordered
+          real Schur form S of the (scaled, if SCAL = 'G')
+          Hamiltonian or symplectic matrix H. That is,
+
+                 ( S    S   )
+                 (  11   12 )
+             S = (          ),
+                 ( 0    S   )
+                 (       22 )
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+          If JOB = 'C' or JOB = 'E', this array is not referenced.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= MAX(1,2*N), if JOB = 'X' or JOB = 'A';
+          LDS &gt;= 1,          if JOB = 'C' or JOB = 'E'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= 2*N,          if JOB = 'X';
+          LIWORK &gt;= N*N,          if JOB = 'C' or JOB = 'E';
+          LIWORK &gt;= MAX(2*N,N*N), if JOB = 'A'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, or INFO = 7, DWORK(1) returns the
+          optimal value of LDWORK. If INFO = 0, or INFO &gt;= 5, and
+          JOB = 'X', or JOB = 'A', then DWORK(2) returns an estimate
+          RCONDU of the reciprocal of the condition number (in the
+          1-norm) of the N-th order system of algebraic equations
+          from which the solution matrix X is obtained, and DWORK(3)
+          returns the reciprocal pivot growth factor for the LU
+          factorization of the coefficient matrix of that system
+          (see SLICOT Library routine MB02PD); if DWORK(3) is much
+          less than 1, then the computed X and RCONDU could be
+          unreliable.
+          If DICO = 'D', and JOB = 'X', or JOB = 'A', then DWORK(4)
+          returns the reciprocal condition number RCONDA of the
+          given matrix A, and DWORK(5) returns the reciprocal pivot
+          growth factor for A or for its leading columns, if A is
+          singular (see SLICOT Library routine MB02PD); if DWORK(5)
+          is much less than 1, then the computed S and RCONDA could
+          be unreliable.
+          On exit, if INFO = 0, or INFO &gt;= 4, and JOB = 'X', the
+          elements DWORK(6:5+4*N*N) contain the 2*N-by-2*N
+          transformation matrix  U  which reduced the Hamiltonian or
+          symplectic matrix  H  to the ordered real Schur form  S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 5+MAX(1,4*N*N+8*N), if JOB = 'X' or JOB = 'A';
+          This may also be used for JOB = 'C' or JOB = 'E', but
+          exact bounds are as follows:
+          LDWORK &gt;= 5 + MAX(1,LWS,LWE) + LWN, where
+          LWS = 0,       if FACT = 'F' or  LYAPUN = 'R';
+              = 5*N,     if FACT = 'N' and LYAPUN = 'O' and
+                                           DICO = 'C' and JOB = 'C';
+              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
+                                           DICO = 'C' and JOB = 'E';
+              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
+                                           DICO = 'D';
+          LWE = 2*N*N,                if DICO = 'C' and JOB = 'C';
+              = 4*N*N,                if DICO = 'C' and JOB = 'E';
+              = MAX(3,2*N*N) + N*N,   if DICO = 'D' and JOB = 'C';
+              = MAX(3,2*N*N) + 2*N*N, if DICO = 'D' and JOB = 'E';
+          LWN = 0,   if LYAPUN = 'O' or   JOB = 'C';
+              = 2*N, if LYAPUN = 'R' and DICO = 'C' and JOB = 'E';
+              = 3*N, if LYAPUN = 'R' and DICO = 'D' and JOB = 'E'.
+          For optimum performance LDWORK should sometimes be larger.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 2*N,          if JOB = 'X' or JOB = 'A';
+          LBWORK &gt;= 1,            if JOB = 'C' or JOB = 'E', and
+                                  FACT = 'N' and LYAPUN = 'R';
+          LBWORK &gt;= 0,            otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if matrix A is (numerically) singular in discrete-
+                time case;
+          = 2:  if the Hamiltonian or symplectic matrix H cannot be
+                reduced to real Schur form;
+          = 3:  if the real Schur form of the Hamiltonian or
+                symplectic matrix H cannot be appropriately ordered;
+          = 4:  if the Hamiltonian or symplectic matrix H has less
+                than N stable eigenvalues;
+          = 5:  if the N-th order system of linear algebraic
+                equations, from which the solution matrix X would
+                be obtained, is singular to working precision;
+          = 6:  if the QR algorithm failed to complete the reduction
+                of the matrix Ac to Schur canonical form, T;
+          = 7:  if T and -T' have some almost equal eigenvalues, if
+                DICO = 'C', or T has almost reciprocal eigenvalues,
+                if DICO = 'D'; perturbed values were used to solve
+                Lyapunov equations, but the matrix T, if given (for
+                FACT = 'F'), is unchanged. (This is a warning
+                indicator.)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Schur vector approach proposed by Laub [1],
+  but with an optional scaling, which enhances the numerical
+  stability [6]. It is assumed that [A,B] is a stabilizable pair
+  (where for (3) or (4), B is any matrix such that B*B' = G with
+  rank(B) = rank(G)), and [E,A] is a detectable pair, where E is any
+  matrix such that E*E' = Q with rank(E) = rank(Q). Under these
+  assumptions, any of the algebraic Riccati equations (1)-(4) is
+  known to have a unique non-negative definite solution. See [2].
+  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
+
+              ( op(A)   -G    )
+         H =  (               ),                                 (5)
+              (  -Q   -op(A)' ),
+
+  for continuous-time equation, and
+                      -1              -1
+              (  op(A)           op(A)  *G       )
+         H =  (        -1                   -1   ),              (6)
+              ( Q*op(A)     op(A)' + Q*op(A)  *G )
+
+  for discrete-time equation, respectively, where
+                    -1
+         G = op(B)*R  *op(B)'.
+  The assumptions guarantee that H in (5) has no pure imaginary
+  eigenvalues, and H in (6) has no eigenvalues on the unit circle.
+  If Y is an N-by-N matrix then there exists an orthogonal matrix U
+  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
+  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
+  (corresponding to the complex conjugate eigenvalues and real
+  eigenvalues respectively) appear in any desired order. This is the
+  ordered real Schur form. Thus, we can find an orthogonal
+  similarity transformation U which puts (5) or (6) in ordered real
+  Schur form
+
+         U'*H*U = S = (S(1,1)  S(1,2))
+                      (  0     S(2,2))
+
+  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
+  have negative real parts in case of (5), or moduli greater than
+  one in case of (6). If U is conformably partitioned into four
+  N-by-N blocks
+
+            U = (U(1,1)  U(1,2))
+                (U(2,1)  U(2,2))
+
+  with respect to the assumptions we then have
+  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
+      (2), (3), or (4) with X = X' and non-negative definite;
+  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
+      DICO = 'D') are equal to the eigenvalues of optimal system
+      (the 'closed-loop' spectrum).
+
+  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
+  is stable. [E,A] is detectable if [A',E'] is stabilizable.
+
+  The condition number of a Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W + W*op(Ac),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
+     Pi(W) = inv(Omega(X*W*X)),
+
+  in the continuous-time case, and
+
+  Omega(W) = op(Ac)'*W*op(Ac) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
+     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
+
+  in the discrete-time case, and Ac has been defined (see argument
+  FACT). Details are given in the comments of SLICOT Library
+  routines SB02QD and SB02SD.
+
+  The routine estimates the quantities
+
+  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
+  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [5].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Laub, A.J.
+      A Schur Method for Solving Algebraic Riccati equations.
+      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
+
+  [2] Wonham, W.M.
+      On a matrix Riccati equation of stochastic control.
+      SIAM J. Contr., 6, pp. 681-697, 1968.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+  [4] Ghavimi, A.R. and Laub, A.J.
+      Backward error, sensitivity, and refinement of computed
+      solutions of algebraic Riccati equations.
+      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
+      1995.
+
+  [5] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [6] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations. The solution accuracy
+  can be controlled by the output parameter FERR.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
+  SORT = 'S', if HINV = 'I'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying
+      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
+      SORT = 'S' if DICO = 'D' and HINV = 'D'.
+
+  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
+  and SORT = 'U', for stabilizing and anti-stabilizing solutions,
+  respectively, will be faster then the other combinations [3].
+
+  The option LYAPUN = 'R' may produce slightly worse or better
+  estimates, and it is faster than the option 'O'.
+
+  This routine is a functionally extended and more accurate
+  version of the SLICOT Library routine SB02MD. Transposed problems
+  can be dealt with as well. Iterative refinement is used whenever
+  useful to solve linear algebraic systems. Condition numbers and
+  error bounds on the solutions are optionally provided.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02RD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDS, LDT, LDV, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDS = 2*NMAX, LDT = NMAX, LDV = NMAX,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 5 + 4*NMAX*NMAX + 8*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SEP
+      INTEGER          I, INFO, J, N
+      CHARACTER        DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT, TRANA,
+     $                 UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), T(LDT,NMAX),
+     $                 V(LDV,NMAX), WI(2*NMAX), WR(2*NMAX), X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT,
+     $                      FACT, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) .OR.
+     $        LSAME( FACT, 'N' ) .OR. LSAME( LYAPUN, 'O' ) )
+     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( .NOT.LSAME( JOB, 'X' ) .AND. LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
+         END IF
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
+     $                LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q, LDQ,
+     $                X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS, IWORK,
+     $                DWORK, LDWORK, BWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+         IF ( INFO.EQ.0 .OR. INFO.EQ.7 ) THEN
+            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 ) SEP
+               WRITE ( NOUT, FMT = 99993 ) RCOND
+            END IF
+            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) FERR
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02RD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' Estimated separation = ',F8.4)
+99993 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99992 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02RD EXAMPLE PROGRAM DATA
+   2     A     C     D     N     U     N     S     N     O
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02RD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   1.0000
+   1.0000   2.0000
+
+ Estimated separation =   0.4000
+
+ Estimated reciprocal condition number =   0.1333
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02RU.html b/doc/_build/html/_static/doc/SB02RU.html
new file mode 100644
index 00000000..9a112d45
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB02RU.html
@@ -0,0 +1,219 @@
+<HTML>
+<HEAD><TITLE>SB02RU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02RU">SB02RU</A></H2>
+<H3>
+Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
+  associated to the linear-quadratic optimization problem, used to
+  solve the continuous- or discrete-time algebraic Riccati equation,
+  respectively.
+
+  For a continuous-time problem, S is defined by
+
+          ( op(A)   -G    )
+      S = (               ),                                     (1)
+          (  -Q   -op(A)' )
+
+  and for a discrete-time problem by
+
+                  -1              -1
+          (  op(A)           op(A)  *G       )
+      S = (        -1                   -1   ),                  (2)
+          ( Q*op(A)     op(A)' + Q*op(A)  *G )
+
+  or
+                           -T             -T
+          ( op(A) + G*op(A)  *Q   -G*op(A)   )
+      S = (           -T                 -T  ),                  (3)
+          (     -op(A)  *Q          op(A)    )
+
+  where op(A) = A or A' (A**T), A, G, and Q are n-by-n matrices,
+  with G and Q symmetric. Matrix A must be nonsingular in the
+  discrete-time case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02RU( DICO, HINV, TRANA, UPLO, N, A, LDA, G, LDG, Q,
+     $                   LDQ, S, LDS, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HINV, TRANA, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  Continuous-time system;
+          = 'D':  Discrete-time system.
+
+  HINV    CHARACTER*1
+          If DICO = 'D', specifies which of the matrices (2) or (3)
+          is constructed, as follows:
+          = 'D':  The matrix S in (2) is constructed;
+          = 'I':  The (inverse) matrix S in (3) is constructed.
+          HINV is not referenced if DICO = 'C'.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix G.
+          On exit, if DICO = 'D', the leading N-by-N part of this
+          array contains the symmetric matrix G fully stored.
+          If DICO = 'C', this array is not modified on exit, and the
+          strictly lower triangular part (if UPLO = 'U') or strictly
+          upper triangular part (if UPLO = 'L') is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix Q.
+          On exit, if DICO = 'D', the leading N-by-N part of this
+          array contains the symmetric matrix Q fully stored.
+          If DICO = 'C', this array is not modified on exit, and the
+          strictly lower triangular part (if UPLO = 'U') or strictly
+          upper triangular part (if UPLO = 'L') is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If INFO = 0, the leading 2N-by-2N part of this array
+          contains the Hamiltonian or symplectic matrix of the
+          problem.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= 0,   if DICO = 'C';
+          LIWORK &gt;= 2*N, if DICO = 'D'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if DICO = 'D', DWORK(1) returns the reciprocal
+          condition number  RCOND  of the given matrix  A,  and
+          DWORK(2) returns the reciprocal pivot growth factor
+          norm(A)/norm(U) (see SLICOT Library routine MB02PD).
+          If DWORK(2) is much less than 1, then the computed  S
+          and  RCOND  could be unreliable. If 0 &lt; INFO &lt;= N, then
+          DWORK(2) contains the reciprocal pivot growth factor for
+          the leading INFO columns of  A.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,          if DICO = 'C';
+          LDWORK &gt;= MAX(2,6*N), if DICO = 'D'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
+                submatrix of A is singular in discrete-time case;
+          = N+1:  if matrix A is numerically singular in discrete-
+                time case.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
+  is constructed.
+  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
+  (3) - the inverse of the matrix in (2) - is constructed.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The discrete-time case needs the inverse of the matrix A, hence
+  the routine should not be used when A is ill-conditioned.
+                            3
+  The algorithm requires 0(n ) floating point operations in the
+  discrete-time case.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a functionally extended and with improved accuracy
+  version of the SLICOT Library routine SB02MU. Transposed problems
+  can be dealt with as well. The LU factorization of  op(A)  (with
+  no equilibration) and iterative refinement are used for solving
+  the various linear algebraic systems involved.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB02SD.html b/doc/_build/html/_static/doc/SB02SD.html
new file mode 100644
index 00000000..d9610e9f
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB02SD.html
@@ -0,0 +1,509 @@
+<HTML>
+<HEAD><TITLE>SB02SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02SD">SB02SD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of discrete-time Riccati equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real discrete-time matrix algebraic Riccati
+  equation (see FURTHER COMMENTS)
+                              -1
+      X = op(A)'*X*(I_n + G*X)  *op(A) + Q,                      (1)
+
+  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
+  G = G**T). The matrices A, Q and G are N-by-N and the solution X
+  is N-by-N.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
+     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization of
+          the matrix Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
+          Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C'), is supplied
+          on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix Ac;
+          = 'N':  The Schur factorization of Ac will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrices Q and G is
+          to be used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, Q, and G.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input or output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then T is an input argument and on entry,
+          the leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of Ac (see
+          argument FACT).
+          If FACT = 'N', then T is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, the leading N-by-N upper
+          Hessenberg part of this array contains the upper quasi-
+          triangular matrix T in Schur canonical form from a Schur
+          factorization of Ac (see argument FACT).
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of Ac (see argument FACT).
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of Ac (see argument FACT).
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix G.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix G.                     _
+          Matrix G should correspond to G in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix Q.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix Q.                     _
+          Matrix Q should correspond to Q in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix of the original Riccati
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          "reduced" Riccati equation (with matrix T), if
+          LYAPUN = 'R'. See METHOD.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sepd(op(Ac),op(Ac)').
+          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the discrete-time Riccati equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          Let LWA = N*N, if LYAPUN = 'O';
+              LWA = 0,   otherwise,
+          and LWN = N,   if LYAPUN = 'R' and JOB = 'E' or 'B';
+              LWN = 0,   otherwise.
+          If FACT = 'N', then
+             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + N*N),
+                                              if JOB = 'C';
+             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + 2*N*N + LWN),
+                                              if JOB = 'E' or 'B'.
+          If FACT = 'F', then
+             LDWORK  = MAX(3,2*N*N) + N*N,    if JOB = 'C';
+             LDWORK  = MAX(3,2*N*N) + 2*N*N + LWN,
+                                              if JOB = 'E' or 'B'.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction of the matrix Ac to Schur
+                canonical form (see LAPACK Library routine DGEES);
+                on exit, the matrix T(i+1:N,i+1:N) contains the
+                partially converged Schur form, and DWORK(i+1:N) and
+                DWORK(N+i+1:2*N) contain the real and imaginary
+                parts, respectively, of the converged eigenvalues;
+                this error is unlikely to appear;
+          = N+1:  if T has almost reciprocal eigenvalues; perturbed
+                values were used to solve Lyapunov equations, but
+                the matrix T, if given (for FACT = 'F'), is
+                unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W*op(Ac) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
+     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
+
+  and Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
+      Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C').
+
+  Note that the Riccati equation (1) is equivalent to
+
+      X = op(Ac)'*X*op(Ac) + op(Ac)'*X*G*X*op(Ac) + Q,           (2)
+
+  and to
+      _          _                _ _ _         _
+      X = op(T)'*X*op(T) + op(T)'*X*G*X*op(T) + Q,               (3)
+        _           _               _
+  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
+  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
+
+  The routine estimates the quantities
+
+  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Ghavimi, A.R. and Laub, A.J.
+      Backward error, sensitivity, and refinement of computed
+      solutions of algebraic Riccati equations.
+      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
+      1995.
+
+  [2] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEPD is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+  Let B be an N-by-M matrix (if TRANA = 'N') or an M-by-N matrix
+  (if TRANA = 'T' or 'C'), let R be an M-by-M symmetric positive
+  definite matrix (R = R**T), and denote G = op(B)*inv(R)*op(B)'.
+  Then, the Riccati equation (1) is equivalent to the standard
+  discrete-time matrix algebraic Riccati equation
+
+      X = op(A)'*X*op(A) -                                       (4)
+                                             -1
+          op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *op(B)'*X*op(A) + Q.
+
+  By symmetry, the equation (1) is also equivalent to
+                            -1
+      X = op(A)'*(I_n + X*G)  *X*op(A) + Q.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCND, RCOND, SEPD
+      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
+     $                 SDIM
+      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AS(LDA,NMAX), DWORK(LDWORK),
+     $                 G(LDG,NMAX), Q(LDQ,NMAX), T(LDT,NMAX),
+     $                 U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME, SELECT
+      EXTERNAL         LSAME, SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, DGESV, DLACPY, DLASET, DSWAP, DSYMM,
+     $                 MA02AD, MA02ED, MB01RU, SB02MD, SB02SD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
+         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
+         N2 = 2*N
+         IS = 2*N2 + 1
+         IU = IS + N2*N2
+         IW = IU + N2*N2
+*        Solve the discrete-time Riccati equation.
+         CALL SB02MD( 'discrete', 'direct', UPLO, 'no scaling',
+     $                'stable', N, AS, LDA, G, LDG, X, LDX, RCND,
+     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
+     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99995 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
+               CALL DLASET( 'Full', N, N, ZERO, ONE, DWORK, N )
+               CALL DSYMM( 'Left', UPLO, N, N, ONE, G, LDG, X, LDX,
+     $                     ONE, DWORK, N )
+               IF ( LSAME( TRANA, 'N' ) ) THEN
+*                 Compute Ac = inv(I_n + G*X)*A.
+                  CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
+               ELSE
+*                 Compute Ac = A*inv(I_n + X*G)
+                  CALL MA02AD( 'Full', N, N, A, LDA, T, LDT )
+                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
+                  DO 20 J = 2, N
+                     CALL DSWAP( J-1, T(1,J), 1, T(J,1), LDT )
+   20             CONTINUE
+               END IF
+*              Compute the Schur factorization of Ac.
+               JOBS = 'V'
+               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
+     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
+     $                     LDWORK-2*N, BWORK, INFO3 )
+               IF( INFO3.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99996 ) INFO3
+                  STOP
+               END IF
+            END IF
+*
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+*
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
+     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
+     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            END IF
+            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
+               WRITE ( NOUT, FMT = 99992 ) SEPD
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02MD =',I2)
+99997 FORMAT (' INFO on exit from SB02SD =',I2)
+99996 FORMAT (' INFO on exit from DGEES  =',I2)
+99995 FORMAT (' The solution matrix X is')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02SD EXAMPLE PROGRAM DATA
+   2     B     N     N     U     O
+   2.0 -1.0
+   1.0  0.0
+   0.0  0.0
+   0.0  1.0
+   1.0  0.0
+   0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02SD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+  -0.7691   1.2496
+   1.2496  -2.3306
+
+ Estimated separation =   0.4456
+
+ Estimated reciprocal condition number =   0.1445
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB03MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MD">SB03MD</A></H2>
+<H3>
+Solution of continuous- or discrete-time Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the real continuous-time Lyapunov equation
+
+     op(A)'*X + X*op(A) = scale*C                             (1)
+
+  or the real discrete-time Lyapunov equation
+
+     op(A)'*X*op(A) - X = scale*C                             (2)
+
+  and/or estimate an associated condition number, called separation,
+  where op(A) = A or A' (A**T) and C is symmetric (C = C').
+  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
+  hand side C and the solution X are N-by-N, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C,
+     $                   LDC, SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, TRANA
+      INTEGER           INFO, LDA, LDC, LDU, LDWORK, N
+      DOUBLE PRECISION  FERR, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER           IWORK( * )
+      DOUBLE PRECISION  A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                  U( LDU, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which X is to be determined
+          as follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'B':  Compute both the solution and the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix in Schur canonical form;
+          the elements below the upper Hessenberg part of the
+          array A are not referenced.
+          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
+          upper Hessenberg part of this array contains the upper
+          quasi-triangular matrix in Schur canonical form from the
+          Schur factorization of A. The contents of array A is not
+          modified if FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If FACT = 'F', then U is an input argument and on entry
+          the leading N-by-N part of this array must contain the
+          orthogonal matrix U of the real Schur factorization of A.
+          If FACT = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with JOB = 'X' or 'B', the leading N-by-N part of
+          this array must contain the symmetric matrix C.
+          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
+          the leading N-by-N part of C has been overwritten by the
+          symmetric solution matrix X.
+          If JOB = 'S', C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
+          contains the estimated separation of the matrices op(A)
+          and -op(A)', if DICO = 'C' or of op(A) and op(A)', if
+          DICO = 'D'.
+          If JOB = 'X', SEP is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains an
+          estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the relative
+          error in the computed solution, measured in the Frobenius
+          norm:  norm(X - XTRUE)/norm(XTRUE).
+          If JOB = 'X' or JOB = 'S', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of
+          the eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and
+          If JOB = 'X' then
+             If FACT = 'F', LDWORK &gt;= N*N,           for DICO = 'C';
+                            LDWORK &gt;= MAX(N*N, 2*N), for DICO = 'D';
+             If FACT = 'N', LDWORK &gt;= MAX(N*N, 3*N).
+          If JOB = 'S' or JOB = 'B' then
+             If FACT = 'F', LDWORK &gt;= 2*N*N,       for DICO = 'C';
+                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
+             If FACT = 'N', LDWORK &gt;= MAX(2*N*N, 3*N), DICO = 'C';
+                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues (see LAPACK Library routine DGEES);
+                elements i+1:n of WR and WI contain eigenvalues
+                which have converged, and A contains the partially
+                converged Schur form;
+          = N+1:  if DICO = 'C', and the matrices A and -A' have
+                common or very close eigenvalues, or
+                if DICO = 'D', and matrix A has almost reciprocal
+                eigenvalues (that is, lambda(i) = 1/lambda(j) for
+                some i and j, where lambda(i) and lambda(j) are
+                eigenvalues of A and i &lt;&gt; j); perturbed values were
+                used to solve the equation (but the matrix A is
+                unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Schur factorization of a square matrix  A  is given by
+
+     A = U*S*U'
+
+  where U is orthogonal and S is block upper triangular with 1-by-1
+  and 2-by-2 blocks on its diagonal, these blocks corresponding to
+  the eigenvalues of A, the 2-by-2 blocks being complex conjugate
+  pairs. This factorization is obtained by numerically stable
+  methods: first A is reduced to upper Hessenberg form (if FACT =
+  'N') by means of Householder transformations and then the
+  QR Algorithm is applied to reduce the Hessenberg form to S, the
+  transformation matrices being accumulated at each step to give U.
+  If A has already been factorized prior to calling the routine
+  however, then the factors U and S may be supplied and the initial
+  factorization omitted.
+                _            _
+  If we now put C = U'CU and X = UXU' equations (1) and (2) (see
+  PURPOSE) become (for TRANS = 'N')
+       _   _    _
+     S'X + XS = C,                                               (3)
+  and
+       _    _   _
+     S'XS - X = C,                                               (4)
+
+  respectively. Partition S, C and X as
+                         _   _         _   _
+         (s    s')      (c   c')      (x   x')
+         ( 11    )  _   ( 11   )  _   ( 11   )
+     S = (       ), C = (      ), X = (      )
+         (       )      ( _    )      ( _    )
+         ( 0   S )      ( c  C )      ( x  X )
+                1             1             1
+             _      _
+  where s  , c  and x  are either scalars or 2-by-2 matrices and s,
+         11   11     11
+  _     _
+  c and x are either (N-1) element vectors or matrices with two
+  columns. Equations (3) and (4) can then be re-written as
+        _     _        _
+     s' x   + x  s   = c                                       (3.1)
+      11 11    11 11    11
+
+       _   _           _    _
+     S'x + xs        = c - sx                                  (3.2)
+      1      11              11
+
+                             _    _
+     S'X + X S       = C - (sx' + xs')                         (3.3)
+      1 1   1 1         1
+  and
+        _       _       _
+     s' x  s  - x     = c                                      (4.1)
+      11 11 11   11      11
+
+       _     _          _    _
+     S'xs  - x        = c - sx  s                              (4.2)
+      1  11                   11 11
+
+                             _            _        _
+     S'X S - X        = C - sx  s' - [s(S'x)' + (S'x)s']       (4.3)
+      1 1 1   1          1    11         1        1
+                                               _
+  respectively. If DICO = 'C' ['D'], then once x   has been
+                                                11
+  found from equation (3.1) [(4.1)], equation (3.2) [(4.2)] can be
+                                     _
+  solved by forward substitution for x and then equation (3.3)
+  [(4.3)] is of the same form as (3) [(4)] but of the order (N-1) or
+  (N-2) depending upon whether s   is 1-by-1 or 2-by-2.
+                                11
+                          _      _
+  When s   is 2-by-2 then x  and c   will be 1-by-2 matrices and s,
+        11                 11     11
+  _     _
+  x and c are matrices with two columns. In this case, equation
+  (3.1) [(4.1)] defines the three equations in the unknown elements
+     _
+  of x   and equation (3.2) [(4.2)] can then be solved by forward
+      11                 _
+  substitution, a row of x being found at each step.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [3] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If DICO = 'C', SEP is defined as the separation of op(A) and
+  -op(A)':
+
+         sep( op(A), -op(A)' ) = sigma_min( T )
+
+  and if DICO = 'D', SEP is defined as
+
+         sep( op(A), op(A)' ) = sigma_min( T )
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+    T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) )  (DICO = 'C'),
+
+    T = kprod( op(A)', op(A)' ) - I(N**2)              (DICO = 'D').
+
+  I(x) is an x-by-x identity matrix, and kprod denotes the Kronecker
+  product. The program estimates sigma_min(T) by the reciprocal of
+  an estimate of the 1-norm of inverse(T). The true reciprocal
+  1-norm of inverse(T) cannot differ from sigma_min(T) by more
+  than a factor of N.
+
+  When SEP is small, small changes in A, C can cause large changes
+  in the solution of the equation. An approximate bound on the
+  maximum relative error in the computed solution is
+
+                   EPS * norm(A) / SEP      (DICO = 'C'),
+
+                   EPS * norm(A)**2 / SEP   (DICO = 'D'),
+
+  where EPS is the machine precision.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDU = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 3*NMAX,
+     $                   LIWORK = NMAX*NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      DICO, FACT, JOB, TRANA
+      DOUBLE PRECISION FERR, SCALE, SEP
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DICO, FACT, JOB, TRANA
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
+     $                SCALE, SEP, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) SCALE
+            IF ( .NOT.LSAME( JOB, 'X' ) )
+     $         WRITE ( NOUT, FMT = 99993 ) SEP
+            IF ( LSAME( JOB, 'B' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) FERR
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03MD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' Scaling factor = ',F8.4)
+99993 FORMAT (/' Estimated separation = ',F8.4)
+99992 FORMAT (/' Estimated forward error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03MD EXAMPLE PROGRAM DATA
+   3     D     N     X     N
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03MD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   1.0000   1.0000
+   1.0000   3.0000   0.0000
+   1.0000   0.0000   4.0000
+
+ Scaling factor =   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MU.html b/doc/_build/html/_static/doc/SB03MU.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB03MU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MU">SB03MU</A></H2>
+<H3>
+Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
+
+         ISGN*op(TL)*X*op(TR) - X = SCALE*B,
+
+  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
+  or -1.  op(T) = T or T', where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MU( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
+     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRANL, LTRANR
+      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRANL  LOGICAL
+          Specifies the form of op(TL) to be used, as follows:
+          = .FALSE.:  op(TL) = TL,
+          = .TRUE. :  op(TL) = TL'.
+
+  LTRANR  LOGICAL
+          Specifies the form of op(TR) to be used, as follows:
+          = .FALSE.:  op(TR) = TR,
+          = .TRUE. :  op(TR) = TR'.
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The order of matrix TL.  N1 may only be 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of matrix TR.  N2 may only be 0, 1 or 2.
+
+  TL      (input) DOUBLE PRECISION array, dimension (LDTL,2)
+          The leading N1-by-N1 part of this array must contain the
+          matrix TL.
+
+  LDTL    INTEGER
+          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
+
+  TR      (input) DOUBLE PRECISION array, dimension (LDTR,2)
+          The leading N2-by-N2 part of this array must contain the
+          matrix TR.
+
+  LDTR    INTEGER
+          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          The leading N1-by-N2 part of this array must contain the
+          right-hand side of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
+          The leading N1-by-N2 part of this array contains the
+          solution of the equation.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if TL and TR have almost reciprocal eigenvalues, so
+                TL or TR is perturbed to get a nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MV.html b/doc/_build/html/_static/doc/SB03MV.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB03MV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MV">SB03MV</A></H2>
+<H3>
+Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the 2-by-2 symmetric matrix X in
+
+         op(T)'*X*op(T) - X = SCALE*B,
+
+  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
+  where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MV( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
+     $                   XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRAN, LUPPER
+      INTEGER            INFO, LDB, LDT, LDX
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN   LOGICAL
+          Specifies the form of op(T) to be used, as follows:
+          = .FALSE.:  op(T) = T,
+          = .TRUE. :  op(T) = T'.
+
+  LUPPER  LOGICAL
+          Specifies which triangle of the matrix B is used, and
+          which triangle of the matrix X is computed, as follows:
+          = .TRUE. :  The upper triangular part;
+          = .FALSE.:  The lower triangular part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
+          The leading 2-by-2 part of this array must contain the
+          matrix T.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= 2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix B and the strictly
+          lower triangular part of B is not referenced.
+          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix B and the strictly
+          upper triangular part of B is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
+          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array contains the upper
+          triangular part of the symmetric solution matrix X and the
+          strictly lower triangular part of X is not referenced.
+          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array contains the lower
+          triangular part of the symmetric solution matrix X and the
+          strictly upper triangular part of X is not referenced.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 2.
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if T has almost reciprocal eigenvalues, so T
+                is perturbed to get a nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MW.html b/doc/_build/html/_static/doc/SB03MW.html
new file mode 100644
index 00000000..1f10bf47
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03MW.html
@@ -0,0 +1,157 @@
+<HTML>
+<HEAD><TITLE>SB03MW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MW">SB03MW</A></H2>
+<H3>
+Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the 2-by-2 symmetric matrix X in
+
+         op(T)'*X + X*op(T) = SCALE*B,
+
+  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
+  where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MW( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
+     $                   XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRAN, LUPPER
+      INTEGER            INFO, LDB, LDT, LDX
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN   LOGICAL
+          Specifies the form of op(T) to be used, as follows:
+          = .FALSE.:  op(T) = T,
+          = .TRUE. :  op(T) = T'.
+
+  LUPPER  LOGICAL
+          Specifies which triangle of the matrix B is used, and
+          which triangle of the matrix X is computed, as follows:
+          = .TRUE. :  The upper triangular part;
+          = .FALSE.:  The lower triangular part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
+          The leading 2-by-2 part of this array must contain the
+          matrix T.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= 2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix B and the strictly
+          lower triangular part of B is not referenced.
+          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix B and the strictly
+          upper triangular part of B is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
+          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array contains the upper
+          triangular part of the symmetric solution matrix X and the
+          strictly lower triangular part of X is not referenced.
+          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array contains the lower
+          triangular part of the symmetric solution matrix X and the
+          strictly upper triangular part of X is not referenced.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 2.
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if T and -T have too close eigenvalues, so T
+                is perturbed to get a nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MX.html b/doc/_build/html/_static/doc/SB03MX.html
new file mode 100644
index 00000000..8cb755dc
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03MX.html
@@ -0,0 +1,152 @@
+<HTML>
+<HEAD><TITLE>SB03MX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MX">SB03MX</A></H2>
+<H3>
+Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real discrete Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = scale*C
+
+  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
+  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
+  A is N-by-N, the right hand side C and the solution X are N-by-N,
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The solution matrix X is overwritten
+  onto C.
+
+  A must be in Schur canonical form (as returned by LAPACK routines
+  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
+  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
+  diagonal elements equal and its off-diagonal elements of opposite
+  sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MX( TRANA, N, A, LDA, C, LDC, SCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANA
+      INTEGER            INFO, LDA, LDC, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix A, in Schur canonical form.
+          The part of A below the first sub-diagonal is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading N-by-N part of this array must
+          contain the symmetric matrix C.
+          On exit, if INFO &gt;= 0, the leading N-by-N part of this
+          array contains the symmetric solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if A has almost reciprocal eigenvalues; perturbed
+                values were used to solve the equation (but the
+                matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A discrete-time version of the Bartels-Stewart algorithm is used.
+  A set of equivalent linear algebraic systems of equations of order
+  at most four are formed and solved using Gaussian elimination with
+  complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MY.html b/doc/_build/html/_static/doc/SB03MY.html
new file mode 100644
index 00000000..afc6d9fd
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03MY.html
@@ -0,0 +1,142 @@
+<HTML>
+<HEAD><TITLE>SB03MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MY">SB03MY</A></H2>
+<H3>
+Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = scale*C
+
+  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
+  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
+  A is N-by-N, the right hand side C and the solution X are N-by-N,
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The solution matrix X is overwritten
+  onto C.
+
+  A must be in Schur canonical form (as returned by LAPACK routines
+  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
+  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
+  diagonal elements equal and its off-diagonal elements of opposite
+  sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MY( TRANA, N, A, LDA, C, LDC, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANA
+      INTEGER            INFO, LDA, LDC, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix A, in Schur canonical form.
+          The part of A below the first sub-diagonal is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading N-by-N part of this array must
+          contain the symmetric matrix C.
+          On exit, if INFO &gt;= 0, the leading N-by-N part of this
+          array contains the symmetric solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if A and -A have common or very close eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Bartels-Stewart algorithm is used. A set of equivalent linear
+  algebraic systems of equations of order at most four are formed
+  and solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OD.html b/doc/_build/html/_static/doc/SB03OD.html
new file mode 100644
index 00000000..3e0987bc
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OD.html
@@ -0,0 +1,485 @@
+<HTML>
+<HEAD><TITLE>SB03OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OD">SB03OD</A></H2>
+<H3>
+Solution of stable continuous- or discrete-time Lyapunov equations (Cholesky factor)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)'*op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+                                2
+     op(A)'*X + X*op(A) = -scale *op(B)'*op(B),                  (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+                                2
+     op(A)'*X*op(A) - X = -scale *op(B)'*op(B),                  (2)
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
+  an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
+  triangular matrix containing the Cholesky factor of the solution
+  matrix X, X = op(U)'*op(U), and scale is an output scale factor,
+  set less than or equal to 1 to avoid overflow in X. If matrix B
+  has full rank then the solution matrix X will be positive definite
+  and hence the Cholesky factor U will be nonsingular, but if B is
+  rank deficient, then X may be only positive semi-definite and U
+  will be singular.
+
+  In the case of equation (1) the matrix A must be stable (that is,
+  all the eigenvalues of A must have negative real parts), and for
+  equation (2) the matrix A must be convergent (that is, all the
+  eigenvalues of A must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
+     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, TRANS
+      INTEGER           INFO, LDA, LDB, LDQ, LDWORK, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), Q(LDQ,*), WI(*),
+     $                  WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Lyapunov equation to be solved, as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and Q contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and Q.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(K) to be used, as follows:
+          = 'N':  op(K) = K    (No transpose);
+          = 'T':  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of columns of
+          the matrix op(B).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows of the matrix op(B).  M &gt;= 0.
+          If M = 0, A is unchanged on exit, and Q, WR and WI are not
+          set.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix S in Schur canonical
+          form; the elements below the upper Hessenberg part of the
+          array A are then not referenced.
+          On exit, the leading N-by-N upper Hessenberg part of this
+          array contains the upper quasi-triangular matrix S in
+          Schur canonical form from the Shur factorization of A.
+          The contents of the array A is not modified if FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  Q       (input or output) DOUBLE PRECISION array, dimension
+          (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Q of the
+          Schur factorization of A.
+          Otherwise, Q need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal matrix Q of the Schur factorization of A.
+          The contents of the array Q is not modified if FACT = 'F'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          if TRANS = 'N', and dimension (LDB,max(M,N)), if
+          TRANS = 'T'.
+          On entry, if TRANS = 'N', the leading M-by-N part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On entry, if TRANS = 'T', the leading N-by-M part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)'*op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
+          LDB &gt;= MAX(1,N),   if TRANS = 'T'.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If INFO &gt;= 0 and INFO &lt;= 3, WR and WI contain the real and
+          imaginary parts, respectively, of the eigenvalues of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 1, DWORK(1) returns the
+          optimal value of LDWORK.
+          On exit, if INFO = -16, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If M &gt; 0, LDWORK &gt;= MAX(1,4*N);
+          If M = 0, LDWORK &gt;= 1.
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DICO = 'C' this means that while the matrix A
+                (or the factor S) has computed eigenvalues with
+                negative real parts, it is only just stable in the
+                sense that small perturbations in A can make one or
+                more of the eigenvalues have a non-negative real
+                part;
+                if DICO = 'D' this means that while the matrix A
+                (or the factor S) has computed eigenvalues inside
+                the unit circle, it is nevertheless only just
+                convergent, in the sense that small perturbations
+                in A can make one or more of the eigenvalues lie
+                outside the unit circle;
+                perturbed values were used to solve the equation;
+          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
+                not stable (that is, one or more of the eigenvalues
+                of A has a non-negative real part), or DICO = 'D',
+                but the matrix A is not convergent (that is, one or
+                more of the eigenvalues of A lies outside the unit
+                circle); however, A will still have been factored
+                and the eigenvalues of A returned in WR and WI.
+          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
+                supplied in the array A is not stable (that is, one
+                or more of the eigenvalues of S has a non-negative
+                real part), or DICO = 'D', but the Schur factor S
+                supplied in the array A is not convergent (that is,
+                one or more of the eigenvalues of S lies outside the
+                unit circle); the eigenvalues of A are still
+                returned in WR and WI;
+          = 4:  if FACT = 'F' and the Schur factor S supplied in
+                the array A has two or more consecutive non-zero
+                elements on the first subdiagonal, so that there is
+                a block larger than 2-by-2 on the diagonal;
+          = 5:  if FACT = 'F' and the Schur factor S supplied in
+                the array A has a 2-by-2 diagonal block with real
+                eigenvalues instead of a complex conjugate pair;
+          = 6:  if FACT = 'N' and the LAPACK Library routine DGEES
+                has failed to converge. This failure is not likely
+                to occur. The matrix B will be unaltered but A will
+                be destroyed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on the Bartels and Stewart
+  method [1], except that it finds the upper triangular matrix U
+  directly without first finding X and without the need to form the
+  normal matrix op(B)'*op(B).
+
+  The Schur factorization of a square matrix A is given by
+
+     A = QSQ',
+
+  where Q is orthogonal and S is an N-by-N block upper triangular
+  matrix with 1-by-1 and 2-by-2 blocks on its diagonal (which
+  correspond to the eigenvalues of A). If A has already been
+  factored prior to calling the routine however, then the factors
+  Q and S may be supplied and the initial factorization omitted.
+
+  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
+  (QR factorization)
+         _   _
+     B = P ( R ),
+           ( 0 )
+        _                                    _
+  where P is an M-by-M orthogonal matrix and R is a square upper
+                                      _   _
+  triangular matrix. Then, the matrix B = RQ is factored as
+     _
+     B = PR.
+
+  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
+
+     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
+            ( 0 )
+
+  If TRANS = 'T' and 6*M &gt; 7*N, the matrix B is factored as
+  (RQ factorization)
+              _   _
+     B = ( 0  R ) P,
+        _                                    _
+  where P is an M-by-M orthogonal matrix and R is a square upper
+                                      _      _
+  triangular matrix. Then, the matrix B = Q' R is factored as
+     _
+     B = RP.
+
+  If TRANS = 'T' and 6*M &lt;= 7*N, the matrix Q' B is factored as
+
+                                           ( Z )
+     Q' B = ( 0  R ) P,   M &gt;= N,   Q' B = (   ) P,   M &lt; N.
+                                           ( R )
+
+  These factorizations are utilised to either transform the
+  continuous-time Lyapunov equation to the canonical form
+                                                     2
+    op(S)'*op(V)'*op(V) + op(V)'*op(V)*op(S) = -scale *op(F)'*op(F),
+
+  or the discrete-time Lyapunov equation to the canonical form
+                                                     2
+    op(S)'*op(V)'*op(V)*op(S) - op(V)'*op(V) = -scale *op(F)'*op(F),
+
+  where V and F are upper triangular, and
+
+     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
+                           ( 0  0 )
+
+     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'T'.
+                           ( 0  R )
+
+  The transformed equation is then solved for V, from which U is
+  obtained via the QR factorization of V*Q', if TRANS = 'N', or
+  via the RQ factorization of Q*V, if TRANS = 'T'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if A is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned.  A symptom of ill-conditioning
+  is "large" elements in U relative to those of A and B, or a
+  "small" value for scale. A condition estimate can be computed
+  using SLICOT Library routine SB03MD.
+
+  SB03OD routine can be also used for solving "unstable" Lyapunov
+  equations, i.e., when matrix A has all eigenvalues with positive
+  real parts, if DICO = 'C', or with moduli greater than one,
+  if DICO = 'D'. Specifically, one may solve for X = op(U)'*op(U)
+  either the continuous-time Lyapunov equation
+                               2
+     op(A)'*X + X*op(A) = scale *op(B)'*op(B),                   (3)
+
+  or the discrete-time Lyapunov equation
+                               2
+     op(A)'*X*op(A) - X = scale *op(B)'*op(B),                   (4)
+
+  provided, for equation (3), the given matrix A is replaced by -A,
+  or, for equation (4), the given matrices A and B are replaced by
+  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'T'),
+  respectively. Although the inversion generally can rise numerical
+  problems, in case of equation (4) it is expected that the matrix A
+  is enough well-conditioned, having only eigenvalues with moduli
+  greater than 1. However, if A is ill-conditioned, it could be
+  preferable to use the more general SLICOT Lyapunov solver SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDQ, LDX, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = MAX( MMAX,NMAX ),
+     $                   LDQ = NMAX, LDX = NMAX )
+      PARAMETER        ( LDWORK = 4*NMAX+MIN(MMAX,NMAX) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SCALE, TEMP
+      INTEGER          I, INFO, J, K, M, N
+      CHARACTER*1      DICO, FACT, TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,LDB), DWORK(LDWORK),
+     $                 Q(LDQ,NMAX), WR(NMAX), WI(NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( Q(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            IF ( LSAME( TRANS, 'N' ) ) THEN
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            END IF
+*           Find the Cholesky factor U.
+            CALL SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
+     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 J = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), I = 1,J )
+   20          CONTINUE
+*              Form the solution matrix X = op(U)'*op(U).
+               IF ( LSAME( TRANS, 'N' ) ) THEN
+                  DO 80 I = 1, N
+                     DO 60 J = I, N
+                        TEMP = ZERO
+                        DO 40 K = 1, I
+                           TEMP = TEMP + B(K,I)*B(K,J)
+   40                   CONTINUE
+                        X(I,J) = TEMP
+                        X(J,I) = TEMP
+   60                CONTINUE
+   80             CONTINUE
+               ELSE
+                  DO 140 I = 1, N
+                     DO 120 J = I, N
+                        TEMP = ZERO
+                        DO 100 K = J, N
+                           TEMP = TEMP + B(I,K)*B(J,K)
+  100                   CONTINUE
+                        X(I,J) = TEMP
+                        X(J,I) = TEMP
+  120                CONTINUE
+  140             CONTINUE
+               END IF
+               WRITE ( NOUT, FMT = 99995 )
+               DO 160 J = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), I = 1,N )
+  160          CONTINUE
+               WRITE ( NOUT, FMT = 99992 ) SCALE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03OD = ',I2)
+99997 FORMAT (' The transpose of the Cholesky factor U is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The solution matrix X = op(U)''*op(U) is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' Scaling factor = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03OD EXAMPLE PROGRAM DATA
+   4     5      C      N      N
+  -1.0  37.0 -12.0 -12.0
+  -1.0 -10.0   0.0   4.0
+   2.0  -4.0   7.0  -6.0
+   2.0   2.0   7.0  -9.0
+   1.0   2.5   1.0   3.5
+   0.0   1.0   0.0   1.0
+  -1.0  -2.5  -1.0  -1.5
+   1.0   2.5   4.0  -5.5
+  -1.0  -2.5  -4.0   3.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03OD EXAMPLE PROGRAM RESULTS
+
+ The transpose of the Cholesky factor U is 
+   1.0000
+   3.0000   1.0000
+   2.0000  -1.0000   1.0000
+  -1.0000   1.0000  -2.0000   1.0000
+
+ The solution matrix X = op(U)'*op(U) is 
+   1.0000   3.0000   2.0000  -1.0000
+   3.0000  10.0000   5.0000  -2.0000
+   2.0000   5.0000   6.0000  -5.0000
+  -1.0000  -2.0000  -5.0000   7.0000
+
+ Scaling factor =   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB03OR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OR">SB03OR</A></H2>
+<H3>
+Solving continuous- or discrete-time Sylvester equations, with matrix S quasi-triangular, for an n-by-m matrix X, 1 <= m <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the solution of the Sylvester equations
+
+     op(S)'*X + X*op(A) = scale*C, if DISCR = .FALSE.  or
+
+     op(S)'*X*op(A) - X = scale*C, if DISCR = .TRUE.
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
+  an N-by-N block upper triangular matrix with one-by-one and
+  two-by-two blocks on the diagonal, A is an M-by-M matrix (M = 1 or
+  M = 2), X and C are each N-by-M matrices, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+  The solution X is overwritten on C.
+
+  SB03OR  is a service routine for the Lyapunov solver  SB03OT.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OR( DISCR, LTRANS, N, M, S, LDS, A, LDA, C, LDC,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            DISCR, LTRANS
+      INTEGER            INFO, LDA, LDS, LDC, M, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), S( LDS, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the equation to be solved:
+          = .FALSE.:  op(S)'*X + X*op(A) = scale*C;
+          = .TRUE. :  op(S)'*X*op(A) - X = scale*C.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix  S  and also the number of rows of
+          matrices  X and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix  A  and also the number of columns
+          of matrices  X and C.  M = 1 or M = 2.
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading  N-by-N  upper Hessenberg part of the array  S
+          must contain the block upper triangular matrix. The
+          elements below the upper Hessenberg part of the array  S
+          are not referenced.  The array  S  must not contain
+          diagonal blocks larger than two-by-two and the two-by-two
+          blocks must only correspond to complex conjugate pairs of
+          eigenvalues, not to real eigenvalues.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDS,M)
+          The leading  M-by-M  part of this array must contain a
+          given matrix, where M = 1 or M = 2.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= M.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, C must contain an N-by-M matrix, where M = 1 or
+          M = 2.
+          On exit, C contains the N-by-M matrix X, the solution of
+          the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if DISCR = .FALSE., and S and -A have common
+                eigenvalues, or if DISCR = .TRUE., and S and A have
+                eigenvalues whose product is equal to unity;
+                a solution has been computed using slightly
+                perturbed values.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The LAPACK scheme for solving Sylvester equations is adapted.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(N M) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OS.html b/doc/_build/html/_static/doc/SB03OS.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OS.html
@@ -0,0 +1,186 @@
+<HTML>
+<HEAD><TITLE>SB03OS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OS">SB03OS</A></H2>
+<H3>
+Solving (for Cholesky factor) stable continuous- or discrete-time complex Lyapunov equations, with matrices S and R triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>                        H
+  To solve for X = op(U) *op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+          H                     2      H
+     op(S) *X + X*op(S) = -scale *op(R) *op(R),                  (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+          H                     2      H
+     op(S) *X*op(S) - X = -scale *op(R) *op(R),                  (2)
+
+  where op(K) = K or K**H (i.e., the conjugate transpose of the
+  matrix K), S and R are complex N-by-N upper triangular matrices,
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The diagonal elements of the matrix R must
+  be real non-negative.
+
+  In the case of equation (1) the matrix S must be stable (that is,
+  all the eigenvalues of S must have negative real parts), and for
+  equation (2) the matrix S must be convergent (that is, all the
+  eigenvalues of S must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OS( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDR, LDS, N
+      LOGICAL           DISCR, LTRANS
+C     .. Array Arguments ..
+      COMPLEX*16        R(LDR,*), S(LDS,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of Lyapunov equation to be solved as
+          follows:
+          = .TRUE. :  Equation (2), discrete-time case;
+          = .FALSE.:  Equation (1), continuous-time case.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**H (Conjugate transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S and R.  N &gt;= 0.
+
+  S       (input) COMPLEX*16 array of dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the upper triangular matrix.
+          The elements below the upper triangular part of the array
+          S are not referenced.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (input/output) COMPLEX*16 array of dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R, with
+          real non-negative entries on its main diagonal.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangular matrix U, with real
+          non-negative entries on its main diagonal.
+          The strictly lower triangle of R is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N-1)
+
+  ZWORK   COMPLEX*16 array, dimension (2*N-2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  if the matrix S is not stable (that is, one or more
+                of the eigenvalues of S has a non-negative real
+                part), if DISCR = .FALSE., or not convergent (that
+                is, one or more of the eigenvalues of S lies outside
+                the unit circle), if DISCR = .TRUE..
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a variant of the
+  Bartels and Stewart backward substitution method [1], that finds
+  the Cholesky factor op(U) directly without first finding X and
+  without the need to form the normal matrix op(R)'*op(R) [2].
+
+  The continuous-time Lyapunov equation in the canonical form
+         H      H              H                     2      H
+    op(S) *op(U) *op(U) + op(U) *op(U)*op(S) = -scale *op(R) *op(R),
+
+  or the discrete-time Lyapunov equation in the canonical form
+         H      H                    H               2      H
+    op(S) *op(U) *op(U)*op(S) - op(U) *op(U) = -scale *op(R) *op(R),
+
+  where U and R are upper triangular, is solved for U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular
+  if S is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned. "Large" elements in U relative
+  to those of S and R, or a "small" value for scale, is a symptom
+  of ill-conditioning. A condition estimate can be computed using
+  SLICOT Library routine SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OT.html b/doc/_build/html/_static/doc/SB03OT.html
new file mode 100644
index 00000000..6d88c503
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OT.html
@@ -0,0 +1,204 @@
+<HTML>
+<HEAD><TITLE>SB03OT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OT">SB03OT</A></H2>
+<H3>
+Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix S quasi-triangular and R triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)'*op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+                                2
+     op(S)'*X + X*op(S) = -scale *op(R)'*op(R)                   (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+                                2
+     op(S)'*X*op(S) - X = -scale *op(R)'*op(R)                   (2)
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
+  an N-by-N block upper triangular matrix with one-by-one or
+  two-by-two blocks on the diagonal, R is an N-by-N upper triangular
+  matrix, and scale is an output scale factor, set less than or
+  equal to 1 to avoid overflow in X.
+
+  In the case of equation (1) the matrix S must be stable (that
+  is, all the eigenvalues of S must have negative real parts),
+  and for equation (2) the matrix S must be convergent (that is,
+  all the eigenvalues of S must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OT( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR, LTRANS
+      INTEGER           INFO, LDR, LDS, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of Lyapunov equation to be solved as
+          follows:
+          = .TRUE. :  Equation (2), discrete-time case;
+          = .FALSE.:  Equation (1), continuous-time case.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S and R.  N &gt;= 0.
+
+  S       (input) DOUBLE PRECISION array of dimension (LDS,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the block upper triangular matrix.
+          The elements below the upper Hessenberg part of the array
+          S are not referenced. The 2-by-2 blocks must only
+          correspond to complex conjugate pairs of eigenvalues (not
+          to real eigenvalues).
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array of dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangular matrix U.
+          The strict lower triangle of R is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (4*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DISCR = .FALSE., this means that while the
+                matrix S has computed eigenvalues with negative real
+                parts, it is only just stable in the sense that
+                small perturbations in S can make one or more of the
+                eigenvalues have a non-negative real part;
+                if DISCR = .TRUE., this means that while the
+                matrix S has computed eigenvalues inside the unit
+                circle, it is nevertheless only just convergent, in
+                the sense that small perturbations in S can make one
+                or more of the eigenvalues lie outside the unit
+                circle;
+                perturbed values were used to solve the equation
+                (but the matrix S is unchanged);
+          = 2:  if the matrix S is not stable (that is, one or more
+                of the eigenvalues of S has a non-negative real
+                part), if DISCR = .FALSE., or not convergent (that
+                is, one or more of the eigenvalues of S lies outside
+                the unit circle), if DISCR = .TRUE.;
+          = 3:  if the matrix S has two or more consecutive non-zero
+                elements on the first sub-diagonal, so that there is
+                a block larger than 2-by-2 on the diagonal;
+          = 4:  if the matrix S has a 2-by-2 diagonal block with
+                real eigenvalues instead of a complex conjugate
+                pair.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a variant of the
+  Bartels and Stewart backward substitution method [1], that finds
+  the Cholesky factor op(U) directly without first finding X and
+  without the need to form the normal matrix op(R)'*op(R) [2].
+
+  The continuous-time Lyapunov equation in the canonical form
+                                                     2
+    op(S)'*op(U)'*op(U) + op(U)'*op(U)*op(S) = -scale *op(R)'*op(R),
+
+  or the discrete-time Lyapunov equation in the canonical form
+                                                     2
+    op(S)'*op(U)'*op(U)*op(S) - op(U)'*op(U) = -scale *op(R)'*op(R),
+
+  where U and R are upper triangular, is solved for U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular
+  if S is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned. "Large" elements in U relative
+  to those of S and R, or a "small" value for scale, is a symptom
+  of ill-conditioning. A condition estimate can be computed using
+  SLICOT Library routine SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OU.html b/doc/_build/html/_static/doc/SB03OU.html
new file mode 100644
index 00000000..3ff3058a
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OU.html
@@ -0,0 +1,286 @@
+<HTML>
+<HEAD><TITLE>SB03OU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OU">SB03OU</A></H2>
+<H3>
+Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix A in real Schur form and B rectangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)'*op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+                                2
+     op(A)'*X + X*op(A) = -scale *op(B)'*op(B)                   (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+                                2
+     op(A)'*X*op(A) - X = -scale *op(B)'*op(B)                   (2)
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
+  an N-by-N matrix in real Schur form, op(B) is an M-by-N matrix,
+  U is an upper triangular matrix containing the Cholesky factor of
+  the solution matrix X, X = op(U)'*op(U), and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+  If matrix B has full rank then the solution matrix X will be
+  positive-definite and hence the Cholesky factor U will be
+  nonsingular, but if B is rank deficient then X may only be
+  positive semi-definite and U will be singular.
+
+  In the case of equation (1) the matrix A must be stable (that
+  is, all the eigenvalues of A must have negative real parts),
+  and for equation (2) the matrix A must be convergent (that is,
+  all the eigenvalues of A must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OU( DISCR, LTRANS, N, M, A, LDA, B, LDB, TAU, U,
+     $                   LDU, SCALE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR, LTRANS
+      INTEGER           INFO, LDA, LDB, LDU, LDWORK, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of Lyapunov equation to be solved as
+          follows:
+          = .TRUE. :  Equation (2), discrete-time case;
+          = .FALSE.:  Equation (1), continuous-time case.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of columns in
+          matrix op(B).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows in matrix op(B).  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain a real Schur form matrix S. The elements
+          below the upper Hessenberg part of the array A are not
+          referenced. The 2-by-2 blocks must only correspond to
+          complex conjugate pairs of eigenvalues (not to real
+          eigenvalues).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          if LTRANS = .FALSE., and dimension (LDB,M), if
+          LTRANS = .TRUE..
+          On entry, if LTRANS = .FALSE., the leading M-by-N part of
+          this array must contain the coefficient matrix B of the
+          equation.
+          On entry, if LTRANS = .TRUE., the leading N-by-M part of
+          this array must contain the coefficient matrix B of the
+          equation.
+          On exit, if LTRANS = .FALSE., the leading
+          MIN(M,N)-by-MIN(M,N) upper triangular part of this array
+          contains the upper triangular matrix R (as defined in
+          METHOD), and the M-by-MIN(M,N) strictly lower triangular
+          part together with the elements of the array TAU are
+          overwritten by details of the matrix P (also defined in
+          METHOD). When M &lt; N, columns (M+1),...,N of the array B
+          are overwritten by the matrix Z (see METHOD).
+          On exit, if LTRANS = .TRUE., the leading
+          MIN(M,N)-by-MIN(M,N) upper triangular part of
+          B(1:N,M-N+1), if M &gt;= N, or of B(N-M+1:N,1:M), if M &lt; N,
+          contains the upper triangular matrix R (as defined in
+          METHOD), and the remaining elements (below the diagonal
+          of R) together with the elements of the array TAU are
+          overwritten by details of the matrix P (also defined in
+          METHOD). When M &lt; N, rows 1,...,(N-M) of the array B
+          are overwritten by the matrix Z (see METHOD).
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,M), if LTRANS = .FALSE.,
+          LDB &gt;= MAX(1,N), if LTRANS = .TRUE..
+
+  TAU     (output) DOUBLE PRECISION array of dimension (MIN(N,M))
+          This array contains the scalar factors of the elementary
+          reflectors defining the matrix P.
+
+  U       (output) DOUBLE PRECISION array of dimension (LDU,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor of the solution matrix X of
+          the problem, X = op(U)'*op(U).
+          The array U may be identified with B in the calling
+          statement, if B is properly dimensioned, and the
+          intermediate results returned in B are not needed.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, or INFO = 1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,4*N).
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DISCR = .FALSE., this means that while the matrix
+                A has computed eigenvalues with negative real parts,
+                it is only just stable in the sense that small
+                perturbations in A can make one or more of the
+                eigenvalues have a non-negative real part;
+                if DISCR = .TRUE., this means that while the matrix
+                A has computed eigenvalues inside the unit circle,
+                it is nevertheless only just convergent, in the
+                sense that small perturbations in A can make one or
+                more of the eigenvalues lie outside the unit circle;
+                perturbed values were used to solve the equation
+                (but the matrix A is unchanged);
+          = 2:  if matrix A is not stable (that is, one or more of
+                the eigenvalues of A has a non-negative real part),
+                if DISCR = .FALSE., or not convergent (that is, one
+                or more of the eigenvalues of A lies outside the
+                unit circle), if DISCR = .TRUE.;
+          = 3:  if matrix A has two or more consecutive non-zero
+                elements on the first sub-diagonal, so that there is
+                a block larger than 2-by-2 on the diagonal;
+          = 4:  if matrix A has a 2-by-2 diagonal block with real
+                eigenvalues instead of a complex conjugate pair.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on the Bartels and
+  Stewart method [1], except that it finds the upper triangular
+  matrix U directly without first finding X and without the need
+  to form the normal matrix op(B)'*op(B) [2].
+
+  If LTRANS = .FALSE., the matrix B is factored as
+
+     B = P ( R ),  M &gt;= N,   B = P ( R  Z ),  M &lt; N,
+           ( 0 )
+
+  (QR factorization), where P is an M-by-M orthogonal matrix and
+  R is a square upper triangular matrix.
+
+  If LTRANS = .TRUE., the matrix B is factored as
+
+     B = ( 0  R ) P,  M &gt;= N,  B = ( Z ) P,  M &lt; N,
+                                   ( R )
+
+  (RQ factorization), where P is an M-by-M orthogonal matrix and
+  R is a square upper triangular matrix.
+
+  These factorizations are used to solve the continuous-time
+  Lyapunov equation in the canonical form
+                                                     2
+    op(A)'*op(U)'*op(U) + op(U)'*op(U)*op(A) = -scale *op(F)'*op(F),
+
+  or the discrete-time Lyapunov equation in the canonical form
+                                                     2
+    op(A)'*op(U)'*op(U)*op(A) - op(U)'*op(U) = -scale *op(F)'*op(F),
+
+  where U and F are N-by-N upper triangular matrices, and
+
+     F = R,                                  if M &gt;= N, or
+
+     F = ( R ),    if LTRANS = .FALSE.,  or
+         ( 0 )
+
+     F = ( 0  Z ), if LTRANS = .TRUE.,       if M &lt; N.
+         ( 0  R )
+
+  The canonical equation is solved for U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if A is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned. "Large" elements in U relative
+  to those of A and B, or a "small" value for scale, are symptoms
+  of ill-conditioning. A condition estimate can be computed using
+  SLICOT Library routine SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OV.html b/doc/_build/html/_static/doc/SB03OV.html
new file mode 100644
index 00000000..4d0a8be1
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OV.html
@@ -0,0 +1,98 @@
+<HTML>
+<HEAD><TITLE>SB03OV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OV">SB03OV</A></H2>
+<H3>
+Construction of a complex plane rotation to annihilate a real number, modifying a complex number
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a complex plane rotation such that, for a complex
+  number  a  and a real number  b,
+
+     ( conjg( c )  s )*( a ) = ( d ),
+     (       -s    c ) ( b )   ( 0 )
+
+  where  d  is always real and is overwritten on  a,  so that on
+  return the imaginary part of  a  is zero.  b  is unaltered.
+
+  This routine has A and C declared as REAL, because it is intended
+  for use within a real Lyapunov solver and the REAL declarations
+  mean that a standard Fortran DOUBLE PRECISION version may be
+  readily constructed.  However A and C could safely be declared
+  COMPLEX in the calling program, although some systems may give a
+  type mismatch warning.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OV( A, B, SMALL, C, S )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  B, S, SMALL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(2), C(2)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input/output) DOUBLE PRECISION array, dimension (2)
+          On entry, A(1) and A(2) must contain the real and
+          imaginary part, respectively, of the complex number a.
+          On exit, A(1) contains the real part of d, and A(2) is
+          set to zero.
+
+  B       (input) DOUBLE PRECISION
+          The real number b.
+
+  SMALL   (input) DOUBLE PRECISION
+          A small real number. If the norm d of [ a; b ] is smaller
+          than SMALL, then the rotation is taken as a unit matrix,
+          and A(1) and A(2) are set to d and 0, respectively.
+
+  C       (output) DOUBLE PRECISION array, dimension (2)
+          C(1) and C(2) contain the real and imaginary part,
+          respectively, of the complex number c, the cosines of
+          the plane rotation.
+
+  S       (output) DOUBLE PRECISION
+          The real number s, the sines of the plane rotation.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OY.html b/doc/_build/html/_static/doc/SB03OY.html
new file mode 100644
index 00000000..faa6e9eb
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OY.html
@@ -0,0 +1,196 @@
+<HTML>
+<HEAD><TITLE>SB03OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OY">SB03OY</A></H2>
+<H3>
+Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time Lyapunov equations, with matrix A having complex conjugate eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the Cholesky factor  U  of  X,
+
+     op(U)'*op(U) = X,
+
+  where  U  is a two-by-two upper triangular matrix, either the
+  continuous-time two-by-two Lyapunov equation
+                                      2
+      op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R),
+
+  when DISCR = .FALSE., or the discrete-time two-by-two Lyapunov
+  equation
+                                      2
+      op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R),
+
+  when DISCR = .TRUE., where op(K) = K or K' (i.e., the transpose of
+  the matrix K),  S  is a two-by-two matrix with complex conjugate
+  eigenvalues,  R  is a two-by-two upper triangular matrix,
+  ISGN = -1 or 1,  and  scale  is an output scale factor, set less
+  than or equal to 1 to avoid overflow in  X.  The routine also
+  computes two matrices, B and A, so that
+                                2
+     B*U = U*S  and  A*U = scale *R,  if  LTRANS = .FALSE.,  or
+                                2
+     U*B = S*U  and  U*A = scale *R,  if  LTRANS = .TRUE.,
+  which are used by the general Lyapunov solver.
+  In the continuous-time case  ISGN*S  must be stable, so that its
+  eigenvalues must have strictly negative real parts.
+  In the discrete-time case  S  must be convergent if ISGN = 1, that
+  is, its eigenvalues must have moduli less than unity, or  S  must
+  be completely divergent if ISGN = -1, that is, its eigenvalues
+  must have moduli greater than unity.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OY( DISCR, LTRANS, ISGN, S, LDS, R, LDR, A, LDA,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR, LTRANS
+      INTEGER           INFO, ISGN, LDA, LDR, LDS
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the equation to be solved:       2
+          = .FALSE.: op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R);
+                                                     2
+          = .TRUE. : op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R).
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,2)
+          On entry, S must contain a 2-by-2 matrix.
+          On exit, S contains a 2-by-2 matrix B such that B*U = U*S,
+          if LTRANS = .FALSE., or U*B = S*U, if LTRANS = .TRUE..
+          Notice that if U is nonsingular then
+            B = U*S*inv( U ),  if LTRANS = .FALSE.
+            B = inv( U )*S*U,  if LTRANS = .TRUE..
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= 2.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,2)
+          On entry, R must contain a 2-by-2 upper triangular matrix.
+          The element R( 2, 1 ) is not referenced.
+          On exit, R contains U, the 2-by-2 upper triangular
+          Cholesky factor of the solution X, X = op(U)'*op(U).
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= 2.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,2)
+          A contains a 2-by-2 upper triangular matrix A satisfying
+          A*U/scale = scale*R, if LTRANS = .FALSE., or
+          U*A/scale = scale*R, if LTRANS = .TRUE..
+          Notice that if U is nonsingular then
+            A = scale*scale*R*inv( U ),  if LTRANS = .FALSE.
+            A = scale*scale*inv( U )*R,  if LTRANS = .TRUE..
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DISCR = .FALSE., this means that while the
+                matrix S has computed eigenvalues with negative real
+                parts, it is only just stable in the sense that
+                small perturbations in S can make one or more of the
+                eigenvalues have a non-negative real part;
+                if DISCR = .TRUE., this means that while the
+                matrix S has computed eigenvalues inside the unit
+                circle, it is nevertheless only just convergent, in
+                the sense that small perturbations in S can make one
+                or more of the eigenvalues lie outside the unit
+                circle;
+                perturbed values were used to solve the equation
+                (but the matrix S is unchanged);
+          = 2:  if DISCR = .FALSE., and ISGN*S is not stable or
+                if DISCR = .TRUE., ISGN = 1 and S is not convergent
+                or if DISCR = .TRUE., ISGN = -1 and S is not
+                completely divergent;
+          = 4:  if S has real eigenvalues.
+
+  NOTE: In the interests of speed, this routine does not check all
+        inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The LAPACK scheme for solving 2-by-2 Sylvester equations is
+  adapted for 2-by-2 Lyapunov equations, but directly computing the
+  Cholesky factor of the solution.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling S. J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OZ.html b/doc/_build/html/_static/doc/SB03OZ.html
new file mode 100644
index 00000000..d4ccd264
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03OZ.html
@@ -0,0 +1,348 @@
+<HTML>
+<HEAD><TITLE>SB03OZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OZ">SB03OZ</A></H2>
+<H3>
+Solution of stable continuous- or discrete-time complex Lyapunov equations (Cholesky factor)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>                        H
+  To solve for X = op(U) *op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+          H                     2      H
+     op(A) *X + X*op(A) = -scale *op(B) *op(B),                  (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+          H                     2      H
+     op(A) *X*op(A) - X = -scale *op(B) *op(B),                  (2)
+
+  where op(K) = K or K**H  (i.e., the conjugate transpose of the
+  matrix K), A is an N-by-N matrix, op(B) is an M-by-N matrix, U is
+  an upper triangular matrix containing the Cholesky factor of the
+  solution matrix X, and scale is an output scale factor, set less
+  than or equal to 1 to avoid overflow in X. If matrix B has full
+  rank, then the solution matrix X will be positive definite and
+  hence the Cholesky factor U will be nonsingular, but if B is rank
+  deficient, then X may be only positive semi-definite and U will be
+  singular.
+
+  In the case of equation (1) the matrix A must be stable (that is,
+  all the eigenvalues of A must have negative real parts), and for
+  equation (2) the matrix A must be convergent (that is, all the
+  eigenvalues of A must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OZ( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
+     $                   LDB, SCALE, W, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, TRANS
+      INTEGER           INFO, LDA, LDB, LDQ, LZWORK, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(LDB,*), Q(LDQ,*), W(*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Lyapunov equation to be solved, as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the Schur factorization of the
+          matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and Q contain the factors from the
+                  Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and Q.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(K) to be used, as follows:
+          = 'N':  op(K) = K    (No transpose);
+          = 'C':  op(K) = K**H (Conjugate transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of columns of
+          the matrix op(B).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows of the matrix op(B).  M &gt;= 0.
+          If M = 0, A is unchanged on exit, and Q and W are not set.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper triangular matrix S in Schur form; the elements
+          below the diagonal of the array A are then not referenced.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangle of the matrix S.
+          The contents of the array A is not modified if FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  Q       (input or output) COMPLEX*16 array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the unitary matrix Q of the Schur
+          factorization of A.
+          Otherwise, Q need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the unitary matrix Q of the Schur factorization of A.
+          The contents of the array Q is not modified if FACT = 'F'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
+          if TRANS = 'N', and dimension (LDB,max(M,N)), if
+          TRANS = 'C'.
+          On entry, if TRANS = 'N', the leading M-by-N part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On entry, if TRANS = 'C', the leading N-by-M part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)**H * op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
+          LDB &gt;= MAX(1,N),   if TRANS = 'C'.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  W       (output) COMPLEX*16 array, dimension (N)
+          If INFO &gt;= 0 and INFO &lt;= 3, W contains the eigenvalues of
+          the matrix A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0 or INFO = 1, ZWORK(1) returns the
+          optimal value of LZWORK.
+          On exit, if INFO = -16, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          If M &gt; 0, LZWORK &gt;= MAX(1,2*N+MAX(MIN(N,M)-2,0));
+          If M = 0, LZWORK &gt;= 1.
+          For optimum performance LZWORK should sometimes be larger.
+
+          If LZWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the ZWORK
+          array, returns this value as the first entry of the ZWORK
+          array, and no error message related to LZWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DICO = 'C' this means that while the matrix A
+                (or the factor S) has computed eigenvalues with
+                negative real parts, it is only just stable in the
+                sense that small perturbations in A can make one or
+                more of the eigenvalues have a non-negative real
+                part;
+                if DICO = 'D' this means that while the matrix A
+                (or the factor S) has computed eigenvalues inside
+                the unit circle, it is nevertheless only just
+                convergent, in the sense that small perturbations
+                in A can make one or more of the eigenvalues lie
+                outside the unit circle;
+                perturbed values were used to solve the equation;
+          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
+                not stable (that is, one or more of the eigenvalues
+                of A has a non-negative real part), or DICO = 'D',
+                but the matrix A is not convergent (that is, one or
+                more of the eigenvalues of A lies outside the unit
+                circle); however, A will still have been factored
+                and the eigenvalues of A returned in W;
+          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
+                supplied in the array A is not stable (that is, one
+                or more of the eigenvalues of S has a non-negative
+                real part), or DICO = 'D', but the Schur factor S
+                supplied in the array A is not convergent (that is,
+                one or more of the eigenvalues of S lies outside the
+                unit circle); the eigenvalues of A are still
+                returned in W;
+          = 6:  if FACT = 'N' and the LAPACK Library routine ZGEES
+                has failed to converge. This failure is not likely
+                to occur. The matrix B will be unaltered but A will
+                be destroyed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on the Bartels and Stewart
+  method [1], except that it finds the upper triangular matrix U
+  directly without first finding X and without the need to form the
+  normal matrix op(B)**H * op(B).
+
+  The Schur factorization of a square matrix A is given by
+            H
+     A = QSQ ,
+
+  where Q is unitary and S is an N-by-N upper triangular matrix.
+  If A has already been factored prior to calling the routine, then
+  the factors Q and S may be supplied and the initial factorization
+  omitted.
+
+  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
+  (QR factorization)
+         _   _
+     B = P ( R ), 
+           ( 0 )
+        _                                 _
+  where P is an M-by-M unitary matrix and R is a square upper
+                                      _   _
+  triangular matrix. Then, the matrix B = RQ is factored as
+     _
+     B = PR.
+
+  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
+
+     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
+            ( 0 ) 
+
+  If TRANS = 'C' and 6*M &gt; 7*N, the matrix B is factored as
+  (RQ factorization)
+              _   _
+     B = ( 0  R ) P,
+        _                                 _
+  where P is an M-by-M unitary matrix and R is a square upper
+                                      _    H _
+  triangular matrix. Then, the matrix B = Q  R is factored as
+     _
+     B = RP.
+                                             H
+  If TRANS = 'C' and 6*M &lt;= 7*N, the matrix Q  B is factored as
+
+      H                              H     ( Z )
+     Q  B = ( 0  R ) P,   M &gt;= N,   Q  B = (   ) P,   M &lt; N.
+                                           ( R )
+
+  These factorizations are utilised to either transform the
+  continuous-time Lyapunov equation to the canonical form
+         H      H              H                     2      H
+    op(S) *op(V) *op(V) + op(V) *op(V)*op(S) = -scale *op(F) *op(F),
+
+  or the discrete-time Lyapunov equation to the canonical form
+         H      H                    H               2      H
+    op(S) *op(V) *op(V)*op(S) - op(V) *op(V) = -scale *op(F) *op(F),
+
+  where V and F are upper triangular, and
+
+     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
+                           ( 0  0 )
+
+     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'C'.
+                           ( 0  R )
+
+  The transformed equation is then solved for V, from which U is
+  obtained via the QR factorization of V*Q**H, if TRANS = 'N', or
+  via the RQ factorization of Q*V, if TRANS = 'C'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if A is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned.  A symptom of ill-conditioning
+  is "large" elements in U relative to those of A and B, or a
+  "small" value for scale.
+
+  SB03OZ routine can be also used for solving "unstable" Lyapunov
+  equations, i.e., when matrix A has all eigenvalues with positive
+  real parts, if DICO = 'C', or with moduli greater than one,
+  if DICO = 'D'. Specifically, one may solve for X = op(U)**H*op(U)
+  either the continuous-time Lyapunov equation
+          H                    2      H
+     op(A) *X + X*op(A) = scale *op(B) *op(B),                   (3)
+
+  or the discrete-time Lyapunov equation
+          H                    2      H
+     op(A) *X*op(A) - X = scale *op(B) *op(B),                   (4)
+
+  provided, for equation (3), the given matrix A is replaced by -A,
+  or, for equation (4), the given matrices A and B are replaced by
+  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'C'),
+  respectively. Although the inversion generally can rise numerical
+  problems, in case of equation (4) it is expected that the matrix A
+  is enough well-conditioned, having only eigenvalues with moduli
+  greater than 1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03PD.html b/doc/_build/html/_static/doc/SB03PD.html
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+<HTML>
+<HEAD><TITLE>SB03PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03PD">SB03PD</A></H2>
+<H3>
+Solution of discrete-time Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real discrete Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = scale*C
+
+  and/or estimate the quantity, called separation,
+
+      sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C').
+  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
+  hand side C and the solution X are N-by-N, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03PD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
+     $                   SCALE, SEPD, FERR, WR, WI, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, TRANA
+      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, SCALE, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   U( LDU, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'B':  Compute both the solution and the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix in Schur canonical form.
+          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
+          part of this array contains the upper quasi-triangular
+          matrix in Schur canonical form from the Shur factorization
+          of A. The contents of array A is not modified if
+          FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If FACT = 'F', then U is an input argument and on entry
+          it must contain the orthogonal matrix U from the real
+          Schur factorization of A.
+          If FACT = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with JOB = 'X' or 'B', the leading N-by-N part of
+          this array must contain the symmetric matrix C.
+          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
+          the leading N-by-N part of C has been overwritten by the
+          symmetric solution matrix X.
+          If JOB = 'S', C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1,
+          SEPD contains the estimate in the 1-norm of
+          sepd(op(A),op(A)').
+          If JOB = 'X' or N = 0, SEPD is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
+          an estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the relative
+          error in the computed solution, measured in the Frobenius
+          norm:  norm(X - XTRUE)/norm(XTRUE).
+          If JOB = 'X' or JOB = 'S', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1 and
+          If JOB = 'X' then
+             If FACT = 'F', LDWORK &gt;= MAX(N*N,2*N);
+             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
+          If JOB = 'S' or JOB = 'B' then
+             LDWORK &gt;= 2*N*N + 2*N.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues (see LAPACK Library routine DGEES);
+                elements i+1:n of WR and WI contain eigenvalues
+                which have converged, and A contains the partially
+                converged Schur form;
+          = N+1:  if matrix A has almost reciprocal eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  a discrete-time version of the Bartels-Stewart algorithm is used.
+  A set of equivalent linear algebraic systems of equations of order
+  at most four are formed and solved using Gaussian elimination with
+  complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  SEPD is defined as
+
+         sepd( op(A), op(A)' ) = sigma_min( T )
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( op(A)', op(A)' ) - I(N**2).
+
+  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
+  Kronecker product. The program estimates sigma_min(T) by the
+  reciprocal of an estimate of the 1-norm of inverse(T). The true
+  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
+  more than a factor of N.
+
+  When SEPD is small, small changes in A, C can cause large changes
+  in the solution of the equation. An approximate bound on the
+  maximum relative error in the computed solution is
+
+                         EPS * norm(A)**2 / SEPD
+
+  where EPS is the machine precision.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03QD.html b/doc/_build/html/_static/doc/SB03QD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB03QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03QD">SB03QD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of continuous-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real continuous-time Lyapunov matrix equation
+
+      op(A)'*X + X*op(A) = scale*C
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A is N-by-N, the right hand side C and the solution X are
+  N-by-N symmetric matrices, and scale is a given scale factor.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X and C.  N &gt;= 0.
+
+  SCALE   (input) DOUBLE PRECISION
+          The scale factor, scale, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the original matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sep(op(A),-op(A)').
+          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the continuous-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'C', then
+          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
+          LDWORK &gt;= MAX(1,2*N*N,5*N),     if FACT = 'N'.
+          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'O', then
+          LDWORK &gt;= MAX(1,3*N*N),         if FACT = 'F';
+          LDWORK &gt;= MAX(1,3*N*N,5*N),     if FACT = 'N'.
+          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'R', then
+          LDWORK &gt;= MAX(1,3*N*N+N-1),     if FACT = 'F';
+          LDWORK &gt;= MAX(1,3*N*N+N-1,5*N), if FACT = 'N'.
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations, but the matrix T, if given
+                (for FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the continuous-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W + W*op(A),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
+
+  The routine estimates the quantities
+
+  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEP is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1,
+     $                                    5*NMAX ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
+      INTEGER          I, INFO1, INFO2, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'C'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
+*        Solve the continuous-time Lyapunov matrix equation.
+         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
+     $                SCALE, SEP, FERR, DWORK(1), DWORK(N+1), IWORK,
+     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
+     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB03QD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            ELSE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+               WRITE ( NOUT, FMT = 99992 ) SEP
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03MD =',I2)
+99997 FORMAT (' INFO on exit from SB03QD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03QD EXAMPLE PROGRAM DATA
+   3     B     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03QD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   3.2604   2.7187   1.8616
+   2.7187   4.4271   0.5699
+   1.8616   0.5699   6.0461
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   4.9068
+
+ Estimated reciprocal condition number =   0.3611
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03QX.html b/doc/_build/html/_static/doc/SB03QX.html
new file mode 100644
index 00000000..c6664ff9
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03QX.html
@@ -0,0 +1,197 @@
+<HTML>
+<HEAD><TITLE>SB03QX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03QX">SB03QX</A></H2>
+<H3>
+Estimating a forward error bound for the solution of a continuous-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate a forward error bound for the solution X of a real
+  continuous-time Lyapunov matrix equation,
+
+         op(A)'*X + X*op(A) = C,
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A, the right hand side C, and the solution X are N-by-N.
+  An absolute residual matrix, which takes into account the rounding
+  errors in forming it, is given in the array R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03QX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
+     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, XANORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
+     $                   U( LDU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix R is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and R.  N &gt;= 0.
+
+  XANORM  (input) DOUBLE PRECISION
+          The absolute (maximal) norm of the symmetric solution
+          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On exit, the leading N-by-N part of this array contains
+          the symmetric absolute residual matrix R (with bounds on
+          rounding errors added), fully stored.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  FERR    (output) DOUBLE PRECISION
+          An estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the magnitude
+          of the largest entry in (X - XTRUE) divided by the
+          magnitude of the largest entry in X.
+          If N = 0 or XANORM = 0, FERR is set to 0, without any
+          calculations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations (but the matrix T is
+                unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1], based on the 1-norm estimator
+  in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [2] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  The routine can be also used as a final step in estimating a
+  forward error bound for the solution of a continuous-time
+  algebraic matrix Riccati equation.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03QY.html b/doc/_build/html/_static/doc/SB03QY.html
new file mode 100644
index 00000000..f9eaa746
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03QY.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>SB03QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03QY">SB03QY</A></H2>
+<H3>
+Estimating separation between op(A) and -op(A)' and 1-norm of Theta operator for a continuous-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the separation between the matrices op(A) and -op(A)',
+
+  sep(op(A),-op(A)') = min norm(op(A)'*X + X*op(A))/norm(X)
+                     = 1 / norm(inv(Omega))
+
+  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
+  Omega and Theta are linear operators associated to the real
+  continuous-time Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = C,
+
+  defined by
+
+  Omega(W) = op(A)'*W + W*op(A),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
+
+  The 1-norm condition estimators are used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03QY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, X, LDX,
+     $                   SEP, THNORM, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, LYAPUN, TRANA
+      INTEGER            INFO, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   SEP, THNORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'S':  Compute the separation only;
+          = 'T':  Compute the norm of Theta only;
+          = 'B':  Compute both the separation and the norm of Theta.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          solution matrix X of the Lyapunov equation (reduced
+          Lyapunov equation if LYAPUN = 'R').
+          If JOB = 'S', the array X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOB = 'S';
+          LDX &gt;= MAX(1,N), if JOB = 'T' or 'B'.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEP contains the
+          estimated separation of the matrices op(A) and -op(A)'.
+          If JOB = 'T' or N = 0, SEP is not referenced.
+
+  THNORM  (output) DOUBLE PRECISION
+          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
+          the estimated 1-norm of operator Theta.
+          If JOB = 'S' or N = 0, THNORM is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations (but the matrix T is
+                unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  SEP is defined as the separation of op(A) and -op(A)':
+
+         sep( op(A), -op(A)' ) = sigma_min( K )
+
+  where sigma_min(K) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     K = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
+
+  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
+  product. The routine estimates sigma_min(K) by the reciprocal of
+  an estimate of the 1-norm of inverse(K), computed as suggested in
+  [1]. This involves the solution of several continuous-time
+  Lyapunov equations, either direct or transposed. The true
+  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
+  more than a factor of N.
+  The 1-norm of Theta is estimated similarly.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  When SEP is zero, the routine returns immediately, with THNORM
+  (if requested) not set. In this case, the equation is singular.
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB03RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03RD">SB03RD</A></H2>
+<H3>
+Solution of continuous-time Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = scale*C
+
+  and/or estimate the separation between the matrices op(A) and
+  -op(A)', where op(A) = A or A' (A**T) and C is symmetric (C = C').
+  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
+  hand side C and the solution X are N-by-N, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03RD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
+     $                   SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, TRANA
+      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   U( LDU, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'B':  Compute both the solution and the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix in Schur canonical form.
+          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
+          part of this array contains the upper quasi-triangular
+          matrix in Schur canonical form from the Shur factorization
+          of A. The contents of array A is not modified if
+          FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If FACT = 'F', then U is an input argument and on entry
+          it must contain the orthogonal matrix U from the real
+          Schur factorization of A.
+          If FACT = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with JOB = 'X' or 'B', the leading N-by-N part of
+          this array must contain the symmetric matrix C.
+          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
+          the leading N-by-N part of C has been overwritten by the
+          symmetric solution matrix X.
+          If JOB = 'S', C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
+          contains the estimated separation of the matrices op(A)
+          and -op(A)'.
+          If JOB = 'X' or N = 0, SEP is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
+          an estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the relative
+          error in the computed solution, measured in the Frobenius
+          norm:  norm(X - XTRUE)/norm(XTRUE).
+          If JOB = 'X' or JOB = 'S', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1 and
+          If JOB = 'X' then
+             If FACT = 'F', LDWORK &gt;= N*N;
+             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
+          If JOB = 'S' or JOB = 'B' then
+             If FACT = 'F', LDWORK &gt;= 2*N*N;
+             If FACT = 'N', LDWORK &gt;= MAX(2*N*N,3*N).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues (see LAPACK Library routine DGEES);
+                elements i+1:n of WR and WI contain eigenvalues
+                which have converged, and A contains the partially
+                converged Schur form;
+          = N+1:  if the matrices A and -A' have common or very
+                close eigenvalues; perturbed values were used to
+                solve the equation (but the matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  the Bartels-Stewart algorithm is used. A set of equivalent linear
+  algebraic systems of equations of order at most four are formed
+  and solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  SEP is defined as the separation of op(A) and -op(A)':
+
+         sep( op(A), -op(A)' ) = sigma_min( T )
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( I(N), op(A)' ) + kprod( op(A), I(N) ).
+
+  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
+  product. The program estimates sigma_min(T) by the reciprocal of
+  an estimate of the 1-norm of inverse(T). The true reciprocal
+  1-norm of inverse(T) cannot differ from sigma_min(T) by more
+  than a factor of N.
+
+  When SEP is small, small changes in A, C can cause large changes
+  in the solution of the equation. An approximate bound on the
+  maximum relative error in the computed solution is
+
+                         EPS * norm(A) / SEP
+
+  where EPS is the machine precision.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03SD.html b/doc/_build/html/_static/doc/SB03SD.html
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+<HTML>
+<HEAD><TITLE>SB03SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03SD">SB03SD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of discrete-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real discrete-time Lyapunov matrix equation
+
+      op(A)'*X*op(A) - X = scale*C
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A is N-by-N, the right hand side C and the solution X are
+  N-by-N symmetric matrices, and scale is a given scale factor.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X and C.  N &gt;= 0.
+
+  SCALE   (input) DOUBLE PRECISION
+          The scale factor, scale, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the original matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          The array X is modified internally, but restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sepd(op(A),op(A)').
+          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the discrete-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 1,                            if N = 0; else,
+          LDWORK &gt;= MAX(3,2*N*N) + N*N,           if JOB  = 'C',
+                                                     FACT = 'F';
+          LDWORK &gt;= MAX(MAX(3,2*N*N) + N*N, 5*N), if JOB  = 'C',
+                                                     FACT = 'N';
+          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N,     if JOB  = 'E', or
+                                                     JOB  = 'B'.
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrix T has almost reciprocal eigenvalues;
+                perturbed values were used to solve Lyapunov
+                equations, but the matrix T, if given (for
+                FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the discrete-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W*op(A) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
+
+  The routine estimates the quantities
+
+  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEPD is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
+     $                                 NMAX*NMAX + 2*NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
+      INTEGER          I, INFO1, INFO2, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03SD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'D'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
+*        Solve the discrete-time Lyapunov matrix equation.
+         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
+     $                SCALE, SEPD, FERR, DWORK(1), DWORK(N+1), IWORK,
+     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
+     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB03SD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            ELSE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+               WRITE ( NOUT, FMT = 99992 ) SEPD
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03MD =',I2)
+99997 FORMAT (' INFO on exit from SB03SD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03SD EXAMPLE PROGRAM DATA
+   3     B     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03SD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   2.0000   1.0000   1.0000
+   1.0000   3.0000   0.0000
+   1.0000   0.0000   4.0000
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   5.2302
+
+ Estimated reciprocal condition number =   0.1832
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03SX.html b/doc/_build/html/_static/doc/SB03SX.html
new file mode 100644
index 00000000..426ea8e1
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03SX.html
@@ -0,0 +1,198 @@
+<HTML>
+<HEAD><TITLE>SB03SX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03SX">SB03SX</A></H2>
+<H3>
+Estimating a forward error bound for the solution of a discrete-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate a forward error bound for the solution X of a real
+  discrete-time Lyapunov matrix equation,
+
+         op(A)'*X*op(A) - X = C,
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A, the right hand side C, and the solution X are N-by-N.
+  An absolute residual matrix, which takes into account the rounding
+  errors in forming it, is given in the array R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03SX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
+     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, XANORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
+     $                   U( LDU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix R is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and R.  N &gt;= 0.
+
+  XANORM  (input) DOUBLE PRECISION
+          The absolute (maximal) norm of the symmetric solution
+          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On exit, the leading N-by-N part of this array contains
+          the symmetric absolute residual matrix R (with bounds on
+          rounding errors added), fully stored.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  FERR    (output) DOUBLE PRECISION
+          An estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the magnitude
+          of the largest entry in (X - XTRUE) divided by the
+          magnitude of the largest entry in X.
+          If N = 0 or XANORM = 0, FERR is set to 0, without any
+          calculations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,            if N = 0;
+          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if T has almost reciprocal eigenvalues; perturbed
+                values were used to solve Lyapunov equations (but
+                the matrix T is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1], based on the 1-norm estimator
+  in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [2] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  The routine can be also used as a final step in estimating a
+  forward error bound for the solution of a discrete-time algebraic
+  matrix Riccati equation.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03SY.html b/doc/_build/html/_static/doc/SB03SY.html
new file mode 100644
index 00000000..5f039b5b
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03SY.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>SB03SY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03SY">SB03SY</A></H2>
+<H3>
+Estimating separation between op(A) and op(A)' and 1-norm of Theta operator for a discrete-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the "separation" between the matrices op(A) and
+  op(A)',
+
+  sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
+                     = 1 / norm(inv(Omega))
+
+  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
+  Omega and Theta are linear operators associated to the real
+  discrete-time Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = C,
+
+  defined by
+
+  Omega(W) = op(A)'*W*op(A) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
+
+  The 1-norm condition estimators are used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03SY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, XA,
+     $                   LDXA, SEPD, THNORM, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, LYAPUN, TRANA
+      INTEGER            INFO, LDT, LDU, LDWORK, LDXA, N
+      DOUBLE PRECISION   SEPD, THNORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
+     $                   XA( LDXA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'S':  Compute the separation only;
+          = 'T':  Compute the norm of Theta only;
+          = 'B':  Compute both the separation and the norm of Theta.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  XA      (input) DOUBLE PRECISION array, dimension (LDXA,N)
+          The leading N-by-N part of this array must contain the
+          matrix product X*op(A), if LYAPUN = 'O', or U'*X*U*op(T),
+          if LYAPUN = 'R', in the Lyapunov equation.
+          If JOB = 'S', the array XA is not referenced.
+
+  LDXA    INTEGER
+          The leading dimension of array XA.
+          LDXA &gt;= 1,        if JOB = 'S';
+          LDXA &gt;= MAX(1,N), if JOB = 'T' or 'B'.
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEPD contains
+          the estimated quantity sepd(op(A),op(A)').
+          If JOB = 'T' or N = 0, SEPD is not referenced.
+
+  THNORM  (output) DOUBLE PRECISION
+          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
+          the estimated 1-norm of operator Theta.
+          If JOB = 'S' or N = 0, THNORM is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,            if N = 0;
+          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if T has (almost) reciprocal eigenvalues;
+                perturbed values were used to solve Lyapunov
+                equations (but the matrix T is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  SEPD is defined as
+
+         sepd( op(A), op(A)' ) = sigma_min( K )
+
+  where sigma_min(K) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     K = kprod( op(A)', op(A)' ) - I(N**2).
+
+  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
+  Kronecker product. The routine estimates sigma_min(K) by the
+  reciprocal of an estimate of the 1-norm of inverse(K), computed as
+  suggested in [1]. This involves the solution of several discrete-
+  time Lyapunov equations, either direct or transposed. The true
+  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
+  more than a factor of N.
+  The 1-norm of Theta is estimated similarly.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  When SEPD is zero, the routine returns immediately, with THNORM
+  (if requested) not set. In this case, the equation is singular.
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03TD.html b/doc/_build/html/_static/doc/SB03TD.html
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+<HTML>
+<HEAD><TITLE>SB03TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03TD">SB03TD</A></H2>
+<H3>
+Solution of continuous-time Lyapunov equations and condition and error bounds estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real continuous-time Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = scale*C,
+
+  estimate the conditioning, and compute an error bound on the
+  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
+  the right hand side C and the solution X are N-by-N symmetric
+  matrices (C = C', X = X'), and scale is an output scale factor,
+  set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
+     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'A':  Compute all: the solution, separation, reciprocal
+                  condition number, and the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original or "reduced"
+          Lyapunov equations should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+                  This means that a real Schur form T of A appears
+                  in the equation, instead of A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  SCALE   (input or output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
+          the scale factor, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
+          the scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+          If JOB = 'S', this argument is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
+          leading N-by-N part of this array must contain the
+          original matrix A.
+          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
+                                            JOB &lt;&gt; 'X';
+          LDA &gt;= 1,        otherwise.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+          The contents of array T is not modified if FACT = 'F'.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          The remaining strictly triangular part of this array is
+          used as workspace.
+          If JOB = 'X', then this array may be identified with X
+          in the call of this routine.
+          If JOB = 'S', the array C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  X       (input or output) DOUBLE PRECISION array, dimension
+          (LDX,N)
+          If JOB = 'C' or 'E', then X is an input argument and on
+          entry, the leading N-by-N part of this array must contain
+          the symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB = 'X' or 'A', then X is an output argument and on
+          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
+          of this array contains the symmetric solution matrix X of
+          of the original Lyapunov equation (with matrix A), if
+          LYAPUN = 'O', or of the reduced Lyapunov equation (with
+          matrix T), if LYAPUN = 'R'.
+          If JOB = 'S', the array X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.
+          LDX &gt;= 1,        if JOB = 'S';
+          LDX &gt;= MAX(1,N), otherwise.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
+          INFO = N+1, SEP contains the estimated separation of the
+          matrices op(A) and -op(A)', sep(op(A),-op(A)').
+          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEP is not
+          referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
+          condition number of the continuous-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
+          referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
+          FERR contains an estimated forward error bound for the
+          solution X. If XTRUE is the true solution, FERR bounds the
+          relative error in the computed solution, measured in the
+          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
+          referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If JOB = 'X', then
+          LDWORK &gt;= MAX(1,N*N),           if FACT = 'F';
+          LDWORK &gt;= MAX(1,MAX(N*N,3*N)),  if FACT = 'N'.
+          If JOB = 'S' or JOB = 'C', then
+          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
+          LDWORK &gt;= MAX(1,2*N*N,3*N),     if FACT = 'N'.
+          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'O', then
+          LDWORK &gt;= MAX(1,3*N*N);
+          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'R', then
+          LDWORK &gt;= MAX(1,3*N*N+N-1).
+          For optimum performance LDWORK should sometimes be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and the elements i+1:n of WR and WI
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations, but the matrix T, if given
+                (for FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  the Bartels-Stewart algorithm is used. A set of equivalent linear
+  algebraic systems of equations of order at most four are formed
+  and solved using Gaussian elimination with complete pivoting.
+
+  The condition number of the continuous-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W + W*op(A),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
+
+  The routine estimates the quantities
+
+  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The separation of op(A) and -op(A)' can also be defined as
+
+         sep( op(A), -op(A)' ) = sigma_min( T ),
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
+
+  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
+  product. The routine estimates sigma_min(T) by the reciprocal of
+  an estimate of the 1-norm of inverse(T). The true reciprocal
+  1-norm of inverse(T) cannot differ from sigma_min(T) by more
+  than a factor of N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03TD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'C'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $                               READ ( NIN, FMT = * ) SCALE
+         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
+     $                             .NOT.LSAME( JOB, 'X') ) )
+     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+            IF ( LSAME( LYAPUN, 'O' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( .NOT.LSAME( JOB, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Solve the continuous-time Lyapunov matrix equation and/or
+*        estimate the condition and error bound on the solution.
+         CALL SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
+     $                T, LDT, U, LDU, C, LDC, X, LDX, SEP, RCOND, FERR,
+     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
+     $                LDWORK-2*N, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+            END IF
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
+     $                             .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) SEP
+            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99991 ) RCOND
+            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99990 ) FERR
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03TD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03TD EXAMPLE PROGRAM DATA
+   3     A     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03TD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   3.2604   2.7187   1.8616
+   2.7187   4.4271   0.5699
+   1.8616   0.5699   6.0461
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   4.9068
+
+ Estimated reciprocal condition number =   0.3611
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB03UD.html b/doc/_build/html/_static/doc/SB03UD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/SB03UD.html
@@ -0,0 +1,474 @@
+<HTML>
+<HEAD><TITLE>SB03UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03UD">SB03UD</A></H2>
+<H3>
+Solution of discrete-time Lyapunov equations and condition and error bounds estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real discrete-time Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = scale*C,
+
+  estimate the conditioning, and compute an error bound on the
+  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
+  the right hand side C and the solution X are N-by-N symmetric
+  matrices (C = C', X = X'), and scale is an output scale factor,
+  set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
+     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'A':  Compute all: the solution, separation, reciprocal
+                  condition number, and the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original or "reduced"
+          Lyapunov equations should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+                  This means that a real Schur form T of A appears
+                  in the equation, instead of A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  SCALE   (input or output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
+          the scale factor, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
+          the scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+          If JOB = 'S', this argument is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
+          leading N-by-N part of this array must contain the
+          original matrix A.
+          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
+                                            JOB &lt;&gt; 'X';
+          LDA &gt;= 1,        otherwise.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+          The contents of array T is not modified if FACT = 'F'.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          The remaining strictly triangular part of this array is
+          used as workspace.
+          If JOB = 'X', then this array may be identified with X
+          in the call of this routine.
+          If JOB = 'S', the array C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  X       (input or output) DOUBLE PRECISION array, dimension
+          (LDX,N)
+          If JOB = 'C' or 'E', then X is an input argument and on
+          entry, the leading N-by-N part of this array must contain
+          the symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB = 'X' or 'A', then X is an output argument and on
+          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
+          of this array contains the symmetric solution matrix X of
+          of the original Lyapunov equation (with matrix A), if
+          LYAPUN = 'O', or of the reduced Lyapunov equation (with
+          matrix T), if LYAPUN = 'R'.
+          If JOB = 'S', the array X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.
+          LDX &gt;= 1,        if JOB = 'S';
+          LDX &gt;= MAX(1,N), otherwise.
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
+          INFO = N+1, SEPD contains the estimated separation of the
+          matrices op(A) and op(A)', sepd(op(A),op(A)').
+          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEPD is not
+          referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
+          condition number of the continuous-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
+          referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
+          FERR contains an estimated forward error bound for the
+          solution X. If XTRUE is the true solution, FERR bounds the
+          relative error in the computed solution, measured in the
+          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
+          referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If JOB = 'X', then
+          LDWORK &gt;= MAX(1,N*N,2*N),       if FACT = 'F';
+          LDWORK &gt;= MAX(1,N*N,3*N),       if FACT = 'N'.
+          If JOB = 'S', then
+          LDWORK &gt;= MAX(3,2*N*N).
+          If JOB = 'C', then
+          LDWORK &gt;= MAX(3,2*N*N) + N*N.
+          If JOB = 'E', or JOB = 'A', then
+          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N.
+          For optimum performance LDWORK should sometimes be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and the elements i+1:n of WR and WI
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrix T has almost reciprocal eigenvalues;
+                perturbed values were used to solve Lyapunov
+                equations, but the matrix T, if given (for
+                FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  a discrete-time version of the Bartels-Stewart algorithm is used.
+  A set of equivalent linear algebraic systems of equations of order
+  at most four are formed and solved using Gaussian elimination with
+  complete pivoting.
+
+  The condition number of the discrete-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W*op(A) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
+
+  The routine estimates the quantities
+
+  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [3] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The "separation" sepd of op(A) and op(A)' can also be defined as
+
+         sepd( op(A), op(A)' ) = sigma_min( T ),
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( op(A)', op(A)' ) - I(N**2).
+
+  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
+  Kronecker product. The routine estimates sigma_min(T) by the
+  reciprocal of an estimate of the 1-norm of inverse(T). The true
+  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
+  more than a factor of N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
+     $                                 NMAX*NMAX + 2*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03UD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'D'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $                               READ ( NIN, FMT = * ) SCALE
+         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
+     $                             .NOT.LSAME( JOB, 'X') ) )
+     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+            IF ( LSAME( LYAPUN, 'O' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( .NOT.LSAME( JOB, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Solve the discrete-time Lyapunov matrix equation and/or
+*        estimate the condition and error bound on the solution.
+         CALL SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
+     $                T, LDT, U, LDU, C, LDC, X, LDX, SEPD, RCOND, FERR,
+     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
+     $                LDWORK-2*N, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+            END IF
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
+     $                             .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) SEPD
+            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99991 ) RCOND
+            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99990 ) FERR
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03UD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03UD EXAMPLE PROGRAM DATA
+   3     A     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03UD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   2.0000   1.0000   1.0000
+   1.0000   3.0000   0.0000
+   1.0000   0.0000   4.0000
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   5.2302
+
+ Estimated reciprocal condition number =   0.1832
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB04MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MD">SB04MD</A></H2>
+<H3>
+Solution of continuous-time Sylvester equations (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the continuous-time Sylvester equation
+
+     AX + XB = C
+
+  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
+  N-by-M matrices respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A of the equation.
+          On exit, the leading N-by-N upper Hessenberg part of this
+          array contains the matrix H, and the remainder of the
+          leading N-by-N part, together with the elements 2,3,...,N
+          of array DWORK, contain the orthogonal transformation
+          matrix U (stored in factored form).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix B of the equation.
+          On exit, the leading M-by-M part of this array contains
+          the quasi-triangular Schur factor S of the matrix B'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading N-by-M part of this array contains
+          the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
+          The leading M-by-M part of this array contains the
+          orthogonal matrix Z used to transform B' to real upper
+          Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
+          the scalar factors of the elementary reflectors used to
+          reduce A to upper Hessenberg form, as returned by LAPACK
+          Library routine DGEHRD.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = MAX(1, 2*N*N + 8*N, 5*M, N + M).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
+                compute all the eigenvalues (see LAPACK Library
+                routine DGEES);
+          &gt; M:  if a singular matrix was encountered whilst solving
+                for the (INFO-M)-th column of matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A is transformed to upper Hessenberg form H = U'AU by
+  the orthogonal transformation matrix U; matrix B' is transformed
+  to real upper Schur form S = Z'B'Z using the orthogonal
+  transformation matrix Z. The matrix C is also multiplied by the
+  transformations, F = U'CZ, and the solution matrix Y of the
+  transformed system
+
+     HY + YS' = F
+
+  is computed by back substitution. Finally, the matrix Y is then
+  multiplied by the orthogonal transformation matrices, X = UYZ', in
+  order to obtain the solution matrix X to the original problem.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3       3      2         2
+  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
+  operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
+     $                   LDZ = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 4*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+8*NMAX, 5*MMAX,
+     $                   NMAX+MMAX ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK), Z(LDZ,MMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04MD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The orthogonal matrix Z is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04MD EXAMPLE PROGRAM DATA
+   3     2
+   2.0   1.0   3.0
+   0.0   2.0   1.0
+   6.0   1.0   2.0
+   2.0   1.0
+   1.0   6.0
+   2.0   1.0
+   1.0   4.0
+   0.0   5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04MD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+  -2.7685   0.5498
+  -1.0531   0.6865
+   4.5257  -0.4389
+
+ The orthogonal matrix Z is 
+  -0.9732  -0.2298
+   0.2298  -0.9732
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MR.html b/doc/_build/html/_static/doc/SB04MR.html
new file mode 100644
index 00000000..9b9b44ac
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04MR.html
@@ -0,0 +1,113 @@
+<HTML>
+<HEAD><TITLE>SB04MR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MR">SB04MR</A></H2>
+<H3>
+Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a linear algebraic system of order M whose coefficient
+  matrix has zeros below the second subdiagonal. The matrix is
+  stored compactly, row-wise.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MR( M, D, IPR, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the system.  M &gt;= 0.
+          Note that parameter M should have twice the value in the
+          original problem (see SLICOT Library routine SB04MU).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (M*(M+1)/2+3*M)
+          On entry, the first M*(M+1)/2 + 2*M elements of this array
+          must contain the coefficient matrix, stored compactly,
+          row-wise, and the next M elements must contain the right
+          hand side of the linear system, as set by SLICOT Library
+          routine SB04MU.
+          On exit, the content of this array is updated, the last M
+          elements containing the solution with components
+          interchanged (see IPR).
+
+  IPR     (output) INTEGER array, dimension (2*M)
+          The leading M elements contain information about the
+          row interchanges performed for solving the system.
+          Specifically, the i-th component of the solution is
+          specified by IPR(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with partial pivoting is used. The rows of
+  the matrix are not actually permuted, only their indices are
+  interchanged in array IPR.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MU.html b/doc/_build/html/_static/doc/SB04MU.html
new file mode 100644
index 00000000..d38ade39
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04MU.html
@@ -0,0 +1,133 @@
+<HTML>
+<HEAD><TITLE>SB04MU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MU">SB04MU</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order 2*M
+  whose coefficient matrix has zeros below the second subdiagonal.
+  Such systems appear when solving continuous-time Sylvester
+  equations using the Hessenberg-Schur method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          IND and IND - 1 specify the indices of the columns in C
+          to be computed.  IND &gt; 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with columns IND-1 and IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (2*M*M+7*M)
+
+  IPR     INTEGER array, dimension (4*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order 2*M, whose coefficient
+  matrix has zeros below the second subdiagonal is constructed and
+  solved. The coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MW.html b/doc/_build/html/_static/doc/SB04MW.html
new file mode 100644
index 00000000..9388dd2c
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04MW.html
@@ -0,0 +1,110 @@
+<HTML>
+<HEAD><TITLE>SB04MW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MW">SB04MW</A></H2>
+<H3>
+Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a linear algebraic system of order M whose coefficient
+  matrix is in upper Hessenberg form, stored compactly, row-wise.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MW( M, D, IPR, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the system.  M &gt;= 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (M*(M+1)/2+2*M)
+          On entry, the first M*(M+1)/2 + M elements of this array
+          must contain an upper Hessenberg matrix, stored compactly,
+          row-wise, and the next M elements must contain the right
+          hand side of the linear system, as set by SLICOT Library
+          routine SB04MY.
+          On exit, the content of this array is updated, the last M
+          elements containing the solution with components
+          interchanged (see IPR).
+
+  IPR     (output) INTEGER array, dimension (2*M)
+          The leading M elements contain information about the
+          row interchanges performed for solving the system.
+          Specifically, the i-th component of the solution is
+          specified by IPR(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with partial pivoting is used. The rows of
+  the matrix are not actually permuted, only their indices are
+  interchanged in array IPR.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MY.html b/doc/_build/html/_static/doc/SB04MY.html
new file mode 100644
index 00000000..d6b3bfa9
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04MY.html
@@ -0,0 +1,132 @@
+<HTML>
+<HEAD><TITLE>SB04MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MY">SB04MY</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order M whose
+  coefficient matrix is in upper Hessenberg form. Such systems
+  appear when solving Sylvester equations using the Hessenberg-Schur
+  method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          The index of the column in C to be computed.  IND &gt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with column IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
+
+  IPR     INTEGER array, dimension (2*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order M, with coefficient
+  matrix in upper Hessenberg form is constructed and solved. The
+  coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04ND.html b/doc/_build/html/_static/doc/SB04ND.html
new file mode 100644
index 00000000..a04012d5
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04ND.html
@@ -0,0 +1,286 @@
+<HTML>
+<HEAD><TITLE>SB04ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04ND">SB04ND</A></H2>
+<H3>
+Solution of continuous-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the continuous-time Sylvester equation
+
+     AX + XB = C,
+
+  with at least one of the matrices A or B in Schur form and the
+  other in Hessenberg or Schur form (both either upper or lower);
+  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
+  respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHU, ULA, ULB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHU  CHARACTER*1
+          Indicates whether A and/or B is/are in Schur or
+          Hessenberg form as follows:
+          = 'A':  A is in Schur form, B is in Hessenberg form;
+          = 'B':  B is in Schur form, A is in Hessenberg form;
+          = 'S':  Both A and B are in Schur form.
+
+  ULA     CHARACTER*1
+          Indicates whether A is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
+                  upper Schur form otherwise;
+          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
+                  lower Schur form otherwise.
+
+  ULB     CHARACTER*1
+          Indicates whether B is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
+                  upper Schur form otherwise;
+          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
+                  lower Schur form otherwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading M-by-M part of this array must contain the
+          coefficient matrix B of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity in
+          the Sylvester equation. If the user sets TOL &gt; 0, then the
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number; a matrix whose estimated
+          condition number is less than 1/TOL is considered to be
+          nonsingular. If the user sets TOL &lt;= 0, then a default
+          tolerance, defined by TOLDEF = EPS, is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*MAX(M,N))
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = 0, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
+          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if a (numerically) singular matrix T was encountered
+                during the computation of the solution matrix X.
+                That is, the estimated reciprocal condition number
+                of T is less than or equal to TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrices A and B are assumed to be in (upper or lower) Hessenberg
+  or Schur form (with at least one of them in Schur form). The
+  solution matrix X is then computed by rows or columns via the back
+  substitution scheme proposed by Golub, Nash and Van Loan (see
+  [1]), which involves the solution of triangular systems of
+  equations that are constructed recursively and which may be nearly
+  singular if A and -B have close eigenvalues. If near singularity
+  is detected, then the routine returns with the Error Indicator
+  (INFO) set to 1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         2         2
+  The algorithm requires approximately 5M N + 0.5MN  operations in
+                         2         2
+  the worst case and 2.5M N + 0.5MN  operations in the best case
+  (where M is the order of the matrix in Hessenberg form and N is
+  the order of the matrix in Schur form) and is mixed stable (see
+  [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
+     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      ABSCHU, ULA, ULB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04ND = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04ND EXAMPLE PROGRAM DATA
+   5     3     0.0     U     U     B
+  17.0  24.0   1.0   8.0  15.0
+  23.0   5.0   7.0  14.0  16.0
+   0.0   6.0  13.0  20.0  22.0
+   0.0   0.0  19.0  21.0   3.0
+   0.0   0.0   0.0   2.0   9.0
+   8.0   1.0   6.0
+   0.0   5.0   7.0
+   0.0   9.0   2.0
+  62.0 -12.0  26.0
+  59.0 -10.0  31.0
+  70.0  -6.0   9.0
+  35.0  31.0  -7.0
+  36.0 -15.0   7.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   0.0000   0.0000   1.0000
+   1.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000
+   1.0000   1.0000  -1.0000
+   2.0000  -2.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NV.html b/doc/_build/html/_static/doc/SB04NV.html
new file mode 100644
index 00000000..60c81043
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04NV.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>SB04NV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NV">SB04NV</A></H2>
+<H3>
+Constructing the right-hand sides for a system of equations in Hessenberg form solved via SB04NX (case with 2 right-hand sides)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand sides D for a system of equations in
+  Hessenberg form solved via SB04NX (case with 2 right-hand sides).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation AX + XB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the first column/row of C to be used in
+          the construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          AX + XB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading 2*N or 2*M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side stored as a matrix with two rows.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NW.html b/doc/_build/html/_static/doc/SB04NW.html
new file mode 100644
index 00000000..547bf6c6
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04NW.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>SB04NW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NW">SB04NW</A></H2>
+<H3>
+Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04NY
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand side D for a system of equations in
+  Hessenberg form solved via SB04NY (case with 1 right-hand side).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation AX + XB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the column/row of C to be used in the
+          construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          AX + XB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading N or M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NX.html b/doc/_build/html/_static/doc/SB04NX.html
new file mode 100644
index 00000000..14ccc748
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04NX.html
@@ -0,0 +1,140 @@
+<HTML>
+<HEAD><TITLE>SB04NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NX">SB04NX</A></H2>
+<H3>
+Solving a system of equations in Hessenberg form with two consecutive offdiagonals and two right-hand sides
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in Hessenberg form with two
+  consecutive offdiagonals and two right-hand sides.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
+     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBD1, (input) DOUBLE PRECISION
+  LAMBD2, These variables must contain the 2-by-2 block to be added
+  LAMBD3, to the diagonal blocks of A.
+  LAMBD4
+
+  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
+          On entry, this array must contain the two right-hand
+          side vectors of the Hessenberg system, stored row-wise.
+          On exit, if INFO = 0, this array contains the two solution
+          vectors of the Hessenberg system, stored row-wise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the Hessenberg matrix. A matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
+          The leading 2*M-by-2*M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the Hessenberg matrix. The remaining 6*M elements are
+          used as workspace for the computation of the reciprocal
+          condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.
+          LDDWOR &gt;= MAX(1,2*M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Hessenberg matrix is (numerically) singular.
+                That is, its estimated reciprocal condition number
+                is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NY.html b/doc/_build/html/_static/doc/SB04NY.html
new file mode 100644
index 00000000..1afd64be
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04NY.html
@@ -0,0 +1,138 @@
+<HTML>
+<HEAD><TITLE>SB04NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NY">SB04NY</A></H2>
+<H3>
+Solving a system of equations in Hessenberg form with one offdiagonal and one right-hand side
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in Hessenberg form with one
+  offdiagonal and one right-hand side.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
+     $                   DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBDA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBDA  (input) DOUBLE PRECISION
+          This variable must contain the value to be added to the
+          diagonal elements of A.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (M)
+          On entry, this array must contain the right-hand side
+          vector of the Hessenberg system.
+          On exit, if INFO = 0, this array contains the solution
+          vector of the Hessenberg system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the Hessenberg matrix. A matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
+          The leading M-by-M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the Hessenberg matrix. The remaining 3*M elements are
+          used as workspace for the computation of the reciprocal
+          condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Hessenberg matrix is (numerically) singular.
+                That is, its estimated reciprocal condition number
+                is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04OD.html b/doc/_build/html/_static/doc/SB04OD.html
new file mode 100644
index 00000000..e486b054
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04OD.html
@@ -0,0 +1,582 @@
+<HTML>
+<HEAD><TITLE>SB04OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04OD">SB04OD</A></H2>
+<H3>
+Solution of generalized Sylvester equations with separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for R and L one of the generalized Sylvester equations
+
+     A * R - L * B = scale * C )
+                               )                                 (1)
+     D * R - L * E = scale * F )
+
+  or
+
+     A' * R + D' * L = scale * C    )
+                                    )                            (2)
+     R * B' + L * E' = scale * (-F) )
+
+  where A and D are M-by-M matrices, B and E are N-by-N matrices and
+  C, F, R and L are M-by-N matrices.
+
+  The solution (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an
+  output scaling factor chosen to avoid overflow.
+
+  The routine also optionally computes a Dif estimate, which
+  measures the separation of the spectrum of the matrix pair (A,D)
+  from the spectrum of the matrix pair (B,E), Dif[(A,D),(B,E)].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
+     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBD, REDUCE, TRANS
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ,
+     $                  LDU, LDV, LDWORK, M, N
+      DOUBLE PRECISION  DIF, SCALE
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*), F(LDF,*), P(LDP,*),
+     $                  Q(LDQ,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  REDUCE  CHARACTER*1
+          Indicates whether the matrix pairs (A,D) and/or (B,E) are
+          to be reduced to generalized Schur form as follows:
+          = 'R':  The matrix pairs (A,D) and (B,E) are to be reduced
+                  to generalized (real) Schur canonical form;
+          = 'A':  The matrix pair (A,D) only is to be reduced
+                  to generalized (real) Schur canonical form,
+                  and the matrix pair (B,E) already is in this form;
+          = 'B':  The matrix pair (B,E) only is to be reduced
+                  to generalized (real) Schur canonical form,
+                  and the matrix pair (A,D) already is in this form;
+          = 'N':  The matrix pairs (A,D) and (B,E) are already in
+                  generalized (real) Schur canonical form, as
+                  produced by LAPACK routine DGGES.
+
+  TRANS   CHARACTER*1
+          Indicates which of the equations, (1) or (2), is to be
+          solved as follows:
+          = 'N':  The generalized Sylvester equation (1) is to be
+                  solved;
+          = 'T':  The "transposed" generalized Sylvester equation
+                  (2) is to be solved.
+
+  JOBD    CHARACTER*1
+          Indicates whether the Dif estimator is to be computed as
+          follows:
+          = '1':  Only the one-norm-based Dif estimate is computed
+                  and stored in DIF;
+          = '2':  Only the Frobenius norm-based Dif estimate is
+                  computed and stored in DIF;
+          = 'D':  The equation (1) is solved and the one-norm-based
+                  Dif estimate is computed and stored in DIF;
+          = 'F':  The equation (1) is solved and the Frobenius norm-
+                  based Dif estimate is computed and stored in DIF;
+          = 'N':  The Dif estimator is not required and hence DIF is
+                  not referenced. (Solve either (1) or (2) only.)
+          JOBD is not referenced if TRANS = 'T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A and D and the number of rows
+          of the matrices C, F, R and L.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrices B and E and the number of
+          columns of the matrices C, F, R and L.  N &gt;= 0.
+          No computations are performed if N = 0 or M = 0, but SCALE
+          and DIF (if JOB &lt;&gt; 'N') are set to 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix A of the equation; A must
+          be in upper quasi-triangular form if REDUCE = 'B' or 'N'.
+          On exit, the leading M-by-M part of this array contains
+          the upper quasi-triangular form of A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix B of the equation; B must
+          be in upper quasi-triangular form if REDUCE = 'A' or 'N'.
+          On exit, the leading N-by-N part of this array contains
+          the upper quasi-triangular form of B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand side matrix C of the first equation
+          in (1) or (2).
+          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
+          part of this array contains the solution matrix R of the
+          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
+          M-by-N part of this array contains the solution matrix R
+          achieved during the computation of the Dif estimate.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix D of the equation; D must
+          be in upper triangular form if REDUCE = 'B' or 'N'.
+          On exit, the leading M-by-M part of this array contains
+          the upper triangular form of D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix E of the equation; E must
+          be in upper triangular form if REDUCE = 'A' or 'N'.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular form of E.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand side matrix F of the second
+          equation in (1) or (2).
+          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
+          part of this array contains the solution matrix L of the
+          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
+          M-by-N part of this array contains the solution matrix L
+          achieved during the computation of the Dif estimate.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scaling factor in (1) or (2). If 0 &lt; SCALE &lt; 1, C and
+          F hold the solutions R and L, respectively, to a slightly
+          perturbed system, but the computed generalized (real)
+          Schur canonical form matrices P'*A*Q, U'*B*V, P'*D*Q and
+          U'*E*V (see METHOD), or input matrices A, B, D, and E (if
+          already reduced to these forms), have not been changed.
+          If SCALE = 0, C and F hold the solutions R and L,
+          respectively, to the homogeneous system with C = F = 0.
+          Normally, SCALE = 1.
+
+  DIF     (output) DOUBLE PRECISION
+          If TRANS = 'N' and JOBD &lt;&gt; 'N', then DIF contains the
+          value of the Dif estimator, which is an upper bound of
+                                                 -1
+          Dif[(A,D),(B,E)] = sigma_min(Z) = 1/||Z  ||, in either the
+          one-norm, or Frobenius norm, respectively (see METHOD).
+          Otherwise, DIF is not referenced.
+
+  P       (output) DOUBLE PRECISION array, dimension (LDP,*)
+          If REDUCE = 'R' or 'A', then the leading M-by-M part of
+          this array contains the (left) transformation matrix used
+          to reduce (A,D) to generalized Schur form.
+          Otherwise, P is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDP = 1 and declare this
+          array to be P(1,1) in the calling program).
+
+  LDP     INTEGER
+          The leading dimension of array P.
+          LDP &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
+          LDP &gt;= 1        if REDUCE = 'B' or 'N'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,*)
+          If REDUCE = 'R' or 'A', then the leading M-by-M part of
+          this array contains the (right) transformation matrix used
+          to reduce (A,D) to generalized Schur form.
+          Otherwise, Q is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDQ = 1 and declare this
+          array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
+          LDQ &gt;= 1        if REDUCE = 'B' or 'N'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
+          If REDUCE = 'R' or 'B', then the leading N-by-N part of
+          this array contains the (left) transformation matrix used
+          to reduce (B,E) to generalized Schur form.
+          Otherwise, U is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDU = 1 and declare this
+          array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
+          LDU &gt;= 1        if REDUCE = 'A' or 'N'.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
+          If REDUCE = 'R' or 'B', then the leading N-by-N part of
+          this array contains the (right) transformation matrix used
+          to reduce (B,E) to generalized Schur form.
+          Otherwise, V is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDV = 1 and declare this
+          array to be V(1,1) in the calling program).
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          LDV &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
+          LDV &gt;= 1        if REDUCE = 'A' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M+N+6)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If TRANS = 'N' and JOBD = 'D' or 'F', then
+             LDWORK = MAX(1,11*MN,10*MN+23,2*M*N) if REDUCE = 'R';
+             LDWORK = MAX(1,11*M, 10*M+23, 2*M*N) if REDUCE = 'A';
+             LDWORK = MAX(1,11*N, 10*N+23, 2*M*N) if REDUCE = 'B';
+             LDWORK = MAX(1,2*M*N)                if REDUCE = 'N',
+          where MN = max(M,N).
+          Otherwise, the term 2*M*N above should be omitted.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if REDUCE &lt;&gt; 'N' and either (A,D) and/or (B,E)
+                cannot be reduced to generalized Schur form;
+          = 2:  if REDUCE = 'N' and either A or B is not in
+                upper quasi-triangular form;
+          = 3:  if a singular matrix was encountered during the
+                computation of the solution matrices R and L, that
+                is (A,D) and (B,E) have common or close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the case TRANS = 'N', and REDUCE = 'R' or 'N', the algorithm
+  used by the routine consists of four steps (see [1] and [2]) as
+  follows:
+
+     (a) if REDUCE = 'R', then the matrix pairs (A,D) and (B,E) are
+         transformed to generalized Schur form, i.e. orthogonal
+         matrices P, Q, U and V are computed such that P' * A * Q
+         and U' * B * V are in upper quasi-triangular form and
+         P' * D * Q and U' * E * V are in upper triangular form;
+     (b) if REDUCE = 'R', then the matrices C and F are transformed
+         to give P' * C * V and P' * F * V respectively;
+     (c) if REDUCE = 'R', then the transformed system
+
+         P' * A * Q * R1 - L1 * U' * B * V = scale * P' * C * V
+         P' * D * Q * R1 - L1 * U' * E * V = scale * P' * F * V
+
+         is solved to give R1 and L1; otherwise, equation (1) is
+         solved to give R and L directly. The Dif estimator
+         is also computed if JOBD &lt;&gt; 'N'.
+     (d) if REDUCE = 'R', then the solution is transformed back
+         to give R = Q * R1 * V' and L = P * L1 * U'.
+
+  By using Kronecker products, equation (1) can also be written as
+  the system of linear equations Z * x = scale*y (see [1]), where
+
+         | I*A    I*D  |
+     Z = |             |.
+         |-B'*I  -E'*I |
+
+                                           -1
+  If JOBD &lt;&gt; 'N', then a lower bound on ||Z  ||, in either the one-
+  norm or Frobenius norm, is computed, which in most cases is
+  a reliable estimate of the true value. Notice that since Z is a
+  matrix of order 2 * M * N, the exact value of Dif (i.e., in the
+  Frobenius norm case, the smallest singular value of Z) may be very
+  expensive to compute.
+
+  The case TRANS = 'N', and REDUCE = 'A' or 'B', is similar, but
+  only one of the matrix pairs should be reduced and the
+  calculations simplify.
+
+  For the case TRANS = 'T', and REDUCE = 'R' or 'N', the algorithm
+  is similar, but the steps (b), (c), and (d) are as follows:
+
+     (b) if REDUCE = 'R', then the matrices C and F are transformed
+         to give Q' * C * V and P' * F * U respectively;
+     (c) if REDUCE = 'R', then the transformed system
+
+         Q' * A' * P * R1 + Q' * D' * P * L1 =  scale * Q' * C * V
+         R1 * V' * B' * U + L1 * V' * E' * U = -scale * P' * F * U
+
+         is solved to give R1 and L1; otherwise, equation (2) is
+         solved to give R and L directly.
+     (d) if REDUCE = 'R', then the solution is transformed back
+         to give R = P * R1 * V' and L = P * L1 * V'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B. and Westin, L.
+      Generalized Schur Methods with Condition Estimators for
+      Solving the Generalized Sylvester Equation.
+      IEEE Trans. Auto. Contr., 34, pp. 745-751, 1989.
+  [2] Kagstrom, B. and Westin, L.
+      GSYLV - Fortran Routines for the Generalized Schur Method with
+      Dif Estimators for Solving the Generalized Sylvester
+      Equation.
+      Report UMINF-132.86, Institute of Information Processing,
+      Univ. of Umea, Sweden, July 1987.
+  [3] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur Method for the Problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+  [4] Kagstrom, B. and Van Dooren, P.
+      Additive Decomposition of a Transfer Function with respect to
+      a Specified Region.
+      In: "Signal Processing, Scattering and Operator Theory, and
+      Numerical Methods" (Eds. M.A. Kaashoek et al.).
+      Proceedings of MTNS-89, Vol. 3, pp. 469-477, Birkhauser Boston
+      Inc., 1990.
+  [5] Kagstrom, B. and Van Dooren, P.
+      A Generalized State-space Approach for the Additive
+      Decomposition of a Transfer Matrix.
+      Report UMINF-91.12, Institute of Information Processing, Univ.
+      of Umea, Sweden, April 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable. A reliable estimate for the
+  condition number of Z in the Frobenius norm, is (see [1])
+
+     K(Z) = SQRT(  ||A||**2 + ||B||**2 + ||C||**2 + ||D||**2 )/DIF.
+
+  If mu is an upper bound on the relative error of the elements of
+  the matrices A, B, C, D, E and F, then the relative error in the
+  actual solution is approximately mu * K(Z).
+
+  The relative error in the computed solution (due to rounding
+  errors) is approximately EPS * K(Z), where EPS is the machine
+  precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For applications of the generalized Sylvester equation in control
+  theory, see [4] and [5].
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 10, NMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ, LDU, LDV
+      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX, LDD = MMAX,
+     $                   LDE = NMAX, LDF = MMAX, LDP = MMAX, LDQ = MMAX,
+     $                   LDU = NMAX, LDV = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = MAX(11*MAX(MMAX,NMAX),
+     $                                10*MAX(MMAX,NMAX)+23,2*MMAX*NMAX),
+     $                   LIWORK = MMAX+NMAX+6 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DIF, SCALE
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      JOBD, REDUCE, TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 F(LDF,NMAX), P(LDP,MMAX), Q(LDQ,MMAX),
+     $                 U(LDU,NMAX), V(LDV,NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB04OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, REDUCE, TRANS, JOBD
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
+*           Find the solution matrices L and R.
+            CALL SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
+     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
+     $                   LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, M
+                  WRITE ( NOUT, FMT = 99991 ) ( F(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99991 ) ( C(I,J), J = 1,N )
+   40          CONTINUE
+               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'A' ) ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99991 ) ( P(I,J), J = 1,M )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 80 I = 1, M
+                     WRITE ( NOUT, FMT = 99991 ) ( Q(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'B' ) ) THEN
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 100 I = 1, N
+                     WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,N )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 120 I = 1, N
+                     WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,N )
+  120             CONTINUE
+               END IF
+               IF ( SCALE.NE.ONE ) WRITE ( NOUT, FMT = 99987 ) SCALE
+               IF ( .NOT.LSAME( JOBD, 'N' ) )
+     $            WRITE ( NOUT, FMT = 99990 ) DIF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' SB04OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04OD = ',I2)
+99997 FORMAT (' The solution matrix L is ')
+99996 FORMAT (/' The solution matrix R is ')
+99995 FORMAT (/' The left transformation matrix P is ')
+99994 FORMAT (/' The right transformation matrix Q is ')
+99993 FORMAT (/' The left transformation matrix U is ')
+99992 FORMAT (/' The right transformation matrix V is ')
+99991 FORMAT (20(1X,F8.4))
+99990 FORMAT (/' DIF = ',F8.4)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' SCALE = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04OD EXAMPLE PROGRAM DATA
+   3     2     R     N     D
+    1.6   -3.1    1.9
+   -3.8    4.2    2.4
+    0.5    2.2   -4.5
+    1.1    0.1
+   -1.3   -3.1
+   -2.0   28.9
+   -5.7  -11.8
+   12.9  -31.7
+    2.5    0.1    1.7
+   -2.5    0.0    0.9
+    0.1    5.1   -7.3
+    6.0    2.4
+   -3.6    2.5
+    0.5   23.8
+  -11.0  -10.4
+   39.5  -74.8
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04OD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix L is 
+  -0.7538  -1.6210
+   2.1778   1.7005
+  -3.5029   2.7961
+
+ The solution matrix R is 
+   1.3064   2.7989
+   0.3698  -5.3376
+  -0.8767   6.7500
+
+ The left transformation matrix P is 
+  -0.3093  -0.9502   0.0383
+   0.9366  -0.2974   0.1851
+  -0.1645   0.0932   0.9820
+
+ The right transformation matrix Q is 
+  -0.6097  -0.7920  -0.0314
+   0.6310  -0.5090   0.5854
+   0.4796  -0.3371  -0.8102
+
+ The left transformation matrix U is 
+  -0.8121   0.5835
+   0.5835   0.8121
+
+ The right transformation matrix V is 
+  -0.9861   0.1660
+   0.1660   0.9861
+
+ DIF =   0.1147
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04OW.html b/doc/_build/html/_static/doc/SB04OW.html
new file mode 100644
index 00000000..10e6b022
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04OW.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>SB04OW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04OW">SB04OW</A></H2>
+<H3>
+Solving a periodic Sylvester equation with matrices in periodic Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a periodic Sylvester equation
+
+           A * R - L * B = scale * C                           (1)
+           D * L - R * E = scale * F,
+
+  using Level 1 and 2 BLAS, where R and L are unknown M-by-N
+  matrices, (A, D), (B, E) and (C, F) are given matrix pairs of
+  size M-by-M, N-by-N and M-by-N, respectively, with real entries.
+  (A, D) and (B, E) must be in periodic Schur form, i.e. A, B are
+  upper quasi triangular and D, E are upper triangular. The solution
+  (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an output scaling
+  factor chosen to avoid overflow.
+
+  This routine is largely based on the LAPACK routine DTGSY2
+  developed by Bo Kagstrom and Peter Poromaa.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04OW( M, N, A, LDA, B, LDB, C, LDC, D, LDD, E, LDE,
+     $                   F, LDF, SCALE, IWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  E(LDE,*), F(LDF,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of A and D, and the row dimension of C, F, R
+          and L.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of B and E, and the column dimension of C, F, R
+          and L.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading M-by-M part of this array must
+          contain the upper quasi triangular matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi triangular matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand-side of the first matrix equation
+          in (1).
+          On exit, the leading M-by-N part of this array contains
+          the solution R.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading M-by-M part of this array must
+          contain the upper triangular matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand-side of the second matrix equation
+          in (1).
+          On exit, the leading M-by-N part of this array contains
+          the solution L.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          On exit, 0 &lt;= SCALE &lt;= 1. If 0 &lt; SCALE &lt; 1, the arrays
+          C and F will hold the solutions R and L, respectively, to
+          a slightly perturbed system but the input matrices A, B, D
+          and E have not been changed. If SCALE = 0, C and F will
+          hold solutions to the homogeneous system with C = F = 0.
+          Normally, SCALE = 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M+N+2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  the matrix products A*D and B*E have common or very
+                close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In matrix notation solving equation (1) corresponds to solving
+  Z*x = scale*b, where Z is defined as
+
+      Z = [  kron(In, A)  -kron(B', Im) ]            (2)
+          [ -kron(E', Im)  kron(In, D)  ],
+
+  Ik is the identity matrix of size k and X' is the transpose of X.
+  kron(X, Y) is the Kronecker product between the matrices X and Y.
+  In the process of solving (1), we solve a number of such systems
+  where Dim(Im), Dim(In) = 1 or 2.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B.
+      A Direct Method for Reordering Eigenvalues in the Generalized
+      Real Schur Form of a Regular Matrix Pair (A,B). M.S. Moonen
+      et al (eds.), Linear Algebra for Large Scale and Real-Time
+      Applications, Kluwer Academic Publ., pp. 195-218, 1993.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      A Schur approach for solving some periodic matrix equations.
+      U. Helmke et al (eds.), Systems and Networks: Mathematical
+      Theory and Applications, Akademie Verlag, Berlin, vol. 77,
+      pp. 339-362, 1994.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04PD.html b/doc/_build/html/_static/doc/SB04PD.html
new file mode 100644
index 00000000..2fdb3f34
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04PD.html
@@ -0,0 +1,440 @@
+<HTML>
+<HEAD><TITLE>SB04PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04PD">SB04PD</A></H2>
+<H3>
+Solution of continuous-time or discrete-time Sylvester equations (Bartels-Stewart method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the real continuous-time Sylvester equation
+
+     op(A)*X + ISGN*X*op(B) = scale*C,                           (1)
+
+  or the real discrete-time Sylvester equation
+
+     op(A)*X*op(B) + ISGN*X = scale*C,                           (2)
+
+  where op(M) = M or M**T, and ISGN = 1 or -1. A is M-by-M and
+  B is N-by-N; the right hand side C and the solution X are M-by-N;
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The solution matrix X is overwritten
+  onto C.
+
+  If A and/or B are not (upper) quasi-triangular, that is, block
+  upper triangular with 1-by-1 and 2-by-2 diagonal blocks, they are
+  reduced to Schur canonical form, that is, quasi-triangular with
+  each 2-by-2 diagonal block having its diagonal elements equal and
+  its off-diagonal elements of opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
+     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DICO, FACTA, FACTB, TRANA, TRANB
+      INTEGER            INFO, ISGN, LDA, LDB, LDC, LDU, LDV, LDWORK, M,
+     $                   N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  U( LDU, * ), V( LDV, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which X is to be determined
+          as follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  FACTA   CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U;
+          = 'S':  The matrix A is quasi-triangular (or Schur).
+
+  FACTB   CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix B is supplied on entry, as follows:
+          = 'F':  On entry, B and V contain the factors from the
+                  real Schur factorization of the matrix B;
+          = 'N':  The Schur factorization of B will be computed
+                  and the factors will be stored in B and V;
+          = 'S':  The matrix B is quasi-triangular (or Schur).
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  TRANB   CHARACTER*1
+          Specifies the form of op(B) to be used, as follows:
+          = 'N':  op(B) = B    (No transpose);
+          = 'T':  op(B) = B**T (Transpose);
+          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A, and the number of rows in the
+          matrices X and C.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B, and the number of columns in
+          the matrices X and C.  N &gt;= 0.
+
+  A       (input or input/output) DOUBLE PRECISION array,
+          dimension (LDA,M)
+          On entry, the leading M-by-M part of this array must
+          contain the matrix A. If FACTA = 'S', then A contains
+          a quasi-triangular matrix, and if FACTA = 'F', then A
+          is in Schur canonical form; the elements below the upper
+          Hessenberg part of the array A are not referenced.
+          On exit, if FACTA = 'N', and INFO = 0 or INFO &gt;= M+1, the
+          leading M-by-M upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix in Schur
+          canonical form from the Schur factorization of A. The
+          contents of array A is not modified if FACTA = 'F' or 'S'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,M)
+          If FACTA = 'F', then U is an input argument and on entry
+          the leading M-by-M part of this array must contain the
+          orthogonal matrix U of the real Schur factorization of A.
+          If FACTA = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO &gt;= M+1, it contains the orthogonal
+          M-by-M matrix from the real Schur factorization of A.
+          If FACTA = 'S', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= MAX(1,M), if FACTA = 'F' or 'N';
+          LDU &gt;= 1,        if FACTA = 'S'.
+
+  B       (input or input/output) DOUBLE PRECISION array,
+          dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B. If FACTB = 'S', then B contains
+          a quasi-triangular matrix, and if FACTB = 'F', then B
+          is in Schur canonical form; the elements below the upper
+          Hessenberg part of the array B are not referenced.
+          On exit, if FACTB = 'N', and INFO = 0 or INFO = M+N+1,
+          the leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix in Schur
+          canonical form from the Schur factorization of B. The
+          contents of array B is not modified if FACTB = 'F' or 'S'.
+
+  LDB     (input) INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  V       (input or output) DOUBLE PRECISION array, dimension
+          (LDV,N)
+          If FACTB = 'F', then V is an input argument and on entry
+          the leading N-by-N part of this array must contain the
+          orthogonal matrix V of the real Schur factorization of B.
+          If FACTB = 'N', then V is an output argument and on exit,
+          if INFO = 0 or INFO = M+N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of B.
+          If FACTB = 'S', the array V is not referenced.
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          LDV &gt;= MAX(1,N), if FACTB = 'F' or 'N';
+          LDV &gt;= 1,        if FACTB = 'S'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix C.
+          On exit, if INFO = 0 or INFO = M+N+1, the leading M-by-N
+          part of this array contains the solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or M+N+1, then: DWORK(1) returns the
+          optimal value of LDWORK; if FACTA = 'N', DWORK(1+i) and
+          DWORK(1+M+i), i = 1,...,M, contain the real and imaginary
+          parts, respectively, of the eigenvalues of A; and, if
+          FACTB = 'N', DWORK(1+f+j) and DWORK(1+f+N+j), j = 1,...,N,
+          with f = 2*M if FACTA = 'N', and f = 0, otherwise, contain
+          the real and imaginary parts, respectively, of the
+          eigenvalues of B.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, a+MAX( c, b+d, b+e ) ),
+          where a = 1+2*M, if FACTA =  'N',
+                a = 0,     if FACTA &lt;&gt; 'N',
+                b = 2*N,   if FACTB =  'N', FACTA =  'N',
+                b = 1+2*N, if FACTB =  'N', FACTA &lt;&gt; 'N',
+                b = 0,     if FACTB &lt;&gt; 'N',
+                c = 3*M,   if FACTA =  'N',
+                c = M,     if FACTA =  'F',
+                c = 0,     if FACTA =  'S',
+                d = 3*N,   if FACTB =  'N',
+                d = N,     if FACTB =  'F',
+                d = 0,     if FACTB =  'S',
+                e = M,     if DICO  =  'C', FACTA &lt;&gt; 'S',
+                e = 0,     if DICO  =  'C', FACTA =  'S',
+                e = 2*M,   if DICO  =  'D'.
+          An upper bound is
+          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M ).
+          For good performance, LDWORK should be larger, e.g.,
+          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M, 2*N+M*N ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if INFO = i, i = 1,...,M, the QR algorithm failed
+                to compute all the eigenvalues of the matrix A
+                (see LAPACK Library routine DGEES); the elements
+                2+i:1+M and 2+i+M:1+2*M of DWORK contain the real
+                and imaginary parts, respectively, of the
+                eigenvalues of A which have converged, and the
+                array A contains the partially converged Schur form;
+          = M+j:  if INFO = M+j, j = 1,...,N, the QR algorithm
+                failed to compute all the eigenvalues of the matrix
+                B (see LAPACK Library routine DGEES); the elements
+                2+f+j:1+f+N and 2+f+j+N:1+f+2*N of DWORK contain the
+                real and imaginary parts, respectively, of the
+                eigenvalues of B which have converged, and the
+                array B contains the partially converged Schur form;
+                as defined for the parameter DWORK,
+                f = 2*M, if FACTA =  'N',
+                f = 0,   if FACTA &lt;&gt; 'N';
+          = M+N+1:  if DICO = 'C', and the matrices A and -ISGN*B
+                have common or very close eigenvalues, or
+                if DICO = 'D', and the matrices A and -ISGN*B have
+                almost reciprocal eigenvalues (that is, if lambda(i)
+                and mu(j) are eigenvalues of A and -ISGN*B, then
+                lambda(i) = 1/mu(j) for some i and j);
+                perturbed values were used to solve the equation
+                (but the matrices A and B are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension and refinement of the algorithms in [1,2] is used.
+  If the matrices A and/or B are not quasi-triangular (see PURPOSE),
+  they are reduced to Schur canonical form
+
+     A = U*S*U',  B = V*T*V',
+
+  where U, V are orthogonal, and S, T are block upper triangular
+  with 1-by-1 and 2-by-2 blocks on their diagonal. The right hand
+  side matrix C is updated accordingly,
+
+     C = U'*C*V;
+
+  then, the solution matrix X of the "reduced" Sylvester equation
+  (with A and B in (1) or (2) replaced by S and T, respectively),
+  is computed column-wise via a back substitution scheme. A set of
+  equivalent linear algebraic systems of equations of order at most
+  four are formed and solved using Gaussian elimination with
+  complete pivoting. Finally, the solution X of the original
+  equation is obtained from the updating formula
+
+     X = U*X*V'.
+
+  If A and/or B are already quasi-triangular (or in Schur form), the
+  initial factorizations and the corresponding updating steps are
+  omitted.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since orthogonal
+  transformations and Gaussian elimination with complete pivoting
+  are used. If INFO = M+N+1, the Sylvester equation is numerically
+  singular.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU, LDV
+      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX,
+     $                   LDU = MMAX, LDV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 1 + 2*MMAX + MAX( 3*MMAX, 5*NMAX,
+     $                                            2*( NMAX + MMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER        DICO, FACTA, FACTB, TRANA, TRANB
+      INTEGER          I, INFO, ISGN, J, M, N
+      DOUBLE PRECISION SCALE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,MMAX), V(LDV,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB04PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, ISGN, DICO, FACTA, FACTB, TRANA, TRANB
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
+         IF ( LSAME( FACTA, 'F' ) )
+     $      READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,M )
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            IF ( LSAME( FACTB, 'F' ) )
+     $         READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
+*           Find the solution matrix X.
+            CALL SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
+     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 )
+     $         WRITE ( NOUT, FMT = 99998 ) INFO
+            IF ( INFO.EQ.0 .OR. INFO.EQ.M+N+1 ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 ) SCALE
+               IF ( LSAME( FACTA, 'N' ) ) THEN
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 40 I = 1, M
+                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,M )
+   40             CONTINUE
+               END IF
+               IF ( LSAME( FACTB, 'N' ) ) THEN
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04PD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' Scaling factor = ',F8.4)
+99994 FORMAT (/' The orthogonal matrix U is ')
+99993 FORMAT (/' The orthogonal matrix V is ')
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04PD EXAMPLE PROGRAM DATA
+   3     2     1     D     N     N     N     N
+   2.0   1.0   3.0
+   0.0   2.0   1.0
+   6.0   1.0   2.0
+   2.0   1.0
+   1.0   6.0
+   2.0   1.0
+   1.0   4.0
+   0.0   5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04PD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+  -0.3430   0.1995
+  -0.1856   0.4192
+   0.6922  -0.2952
+
+ Scaling factor =   1.0000
+
+ The orthogonal matrix U is 
+   0.5396  -0.7797   0.3178
+   0.1954  -0.2512  -0.9480
+  -0.8190  -0.5736  -0.0168
+
+ The orthogonal matrix V is 
+  -0.9732  -0.2298
+   0.2298  -0.9732
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04PX.html b/doc/_build/html/_static/doc/SB04PX.html
new file mode 100644
index 00000000..c63eedc6
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04PX.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>SB04PX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04PX">SB04PX</A></H2>
+<H3>
+Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
+
+         op(TL)*X*op(TR) + ISGN*X = SCALE*B,
+
+  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
+  or -1.  op(T) = T or T', where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04PX( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
+     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRANL, LTRANR
+      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRANL  LOGICAL
+          Specifies the form of op(TL) to be used, as follows:
+          = .FALSE.:  op(TL) = TL,
+          = .TRUE. :  op(TL) = TL'.
+
+  LTRANR  LOGICAL
+          Specifies the form of op(TR) to be used, as follows:
+          = .FALSE.:  op(TR) = TR,
+          = .TRUE. :  op(TR) = TR'.
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The order of matrix TL.  N1 may only be 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of matrix TR.  N2 may only be 0, 1 or 2.
+
+  TL      (input) DOUBLE PRECISION array, dimension (LDTL,N1)
+          The leading N1-by-N1 part of this array must contain the
+          matrix TL.
+
+  LDTL    INTEGER
+          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
+
+  TR      (input) DOUBLE PRECISION array, dimension (LDTR,N2)
+          The leading N2-by-N2 part of this array must contain the
+          matrix TR.
+
+  LDTR    INTEGER
+          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N2)
+          The leading N1-by-N2 part of this array must contain the
+          right-hand side of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
+          The leading N1-by-N2 part of this array contains the
+          solution of the equation.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if TL and -ISGN*TR have almost reciprocal
+                eigenvalues, so TL or TR is perturbed to get a
+                nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04PY.html b/doc/_build/html/_static/doc/SB04PY.html
new file mode 100644
index 00000000..ca75fe1c
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04PY.html
@@ -0,0 +1,182 @@
+<HTML>
+<HEAD><TITLE>SB04PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04PY">SB04PY</A></H2>
+<H3>
+Solving discrete-time Sylvester equations with matrices in real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the discrete-time Sylvester equation
+
+     op(A)*X*op(B) + ISGN*X = scale*C,
+
+  where op(A) = A or A**T, A and B are both upper quasi-triangular,
+  and ISGN = 1 or -1. A is M-by-M and B is N-by-N; the right hand
+  side C and the solution X are M-by-N; and scale is an output scale
+  factor, set less than or equal to 1 to avoid overflow in X. The
+  solution matrix X is overwritten onto C.
+
+  A and B must be in Schur canonical form (as returned by LAPACK
+  Library routine DHSEQR), that is, block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04PY( TRANA, TRANB, ISGN, M, N, A, LDA, B, LDB, C,
+     $                   LDC, SCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANA, TRANB
+      INTEGER            INFO, ISGN, LDA, LDB, LDC, M, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  TRANB   CHARACTER*1
+          Specifies the form of op(B) to be used, as follows:
+          = 'N':  op(B) = B    (No transpose);
+          = 'T':  op(B) = B**T (Transpose);
+          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A, and the number of rows in the
+          matrices X and C.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B, and the number of columns in
+          the matrices X and C.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          upper quasi-triangular matrix A, in Schur canonical form.
+          The part of A below the first sub-diagonal is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix B, in Schur canonical form.
+          The part of B below the first sub-diagonal is not
+          referenced.
+
+  LDB     (input) INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix C.
+          On exit, if INFO &gt;= 0, the leading M-by-N part of this
+          array contains the solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  A and -ISGN*B have almost reciprocal eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrices A and B are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The solution matrix X is computed column-wise via a back
+  substitution scheme, an extension and refinement of the algorithm
+  in [1], similar to that used in [2] for continuous-time Sylvester
+  equations. A set of equivalent linear algebraic systems of
+  equations of order at most four are formed and solved using
+  Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QD.html b/doc/_build/html/_static/doc/SB04QD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04QD.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>SB04QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QD">SB04QD</A></H2>
+<H3>
+Solution of discrete-time Sylvester equations (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the discrete-time Sylvester equation
+
+     X + AXB = C,
+
+  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
+  N-by-M matrices respectively. A Hessenberg-Schur method, which
+  reduces A to upper Hessenberg form, H = U'AU, and B' to real
+  Schur form, S = Z'B'Z (with U, Z orthogonal matrices), is used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A of the equation.
+          On exit, the leading N-by-N upper Hessenberg part of this
+          array contains the matrix H, and the remainder of the
+          leading N-by-N part, together with the elements 2,3,...,N
+          of array DWORK, contain the orthogonal transformation
+          matrix U (stored in factored form).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix B of the equation.
+          On exit, the leading M-by-M part of this array contains
+          the quasi-triangular Schur factor S of the matrix B'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading N-by-M part of this array contains
+          the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
+          The leading M-by-M part of this array contains the
+          orthogonal matrix Z used to transform B' to real upper
+          Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
+          the scalar factors of the elementary reflectors used to
+          reduce A to upper Hessenberg form, as returned by LAPACK
+          Library routine DGEHRD.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = MAX(1, 2*N*N + 9*N, 5*M, N + M).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
+                compute all the eigenvalues of B (see LAPACK Library
+                routine DGEES);
+          &gt; M:  if a singular matrix was encountered whilst solving
+                for the (INFO-M)-th column of matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A is transformed to upper Hessenberg form H = U'AU by
+  the orthogonal transformation matrix U; matrix B' is transformed
+  to real upper Schur form S = Z'B'Z using the orthogonal
+  transformation matrix Z. The matrix C is also multiplied by the
+  transformations, F = U'CZ, and the solution matrix Y of the
+  transformed system
+
+     Y + HYS' = F
+
+  is computed by back substitution. Finally, the matrix Y is then
+  multiplied by the orthogonal transformation matrices, X = UYZ', in
+  order to obtain the solution matrix X to the original problem.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3       3      2         2
+  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
+  operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
+     $                   LDZ = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 4*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+9*NMAX, 5*MMAX,
+     $                   NMAX+MMAX ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK), Z(LDZ,MMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04QD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The orthogonal matrix Z is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04QD EXAMPLE PROGRAM DATA
+   3     3
+   1.0   2.0   3.0 
+   6.0   7.0   8.0 
+   9.0   2.0   3.0 
+   7.0   2.0   3.0 
+   2.0   1.0   2.0 
+   3.0   4.0   1.0 
+   271.0   135.0   147.0
+   923.0   494.0   482.0
+   578.0   383.0   287.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04QD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   3.0000   6.0000
+   4.0000   7.0000   1.0000
+   5.0000   3.0000   2.0000
+
+ The orthogonal matrix Z is 
+   0.8337   0.5204  -0.1845
+   0.3881  -0.7900  -0.4746
+   0.3928  -0.3241   0.8606
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QR.html b/doc/_build/html/_static/doc/SB04QR.html
new file mode 100644
index 00000000..dc869d35
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04QR.html
@@ -0,0 +1,118 @@
+<HTML>
+<HEAD><TITLE>SB04QR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QR">SB04QR</A></H2>
+<H3>
+Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a linear algebraic system of order M whose coefficient
+  matrix has zeros below the third subdiagonal and zero elements on
+  the third subdiagonal with even column indices. The matrix is
+  stored compactly, row-wise.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QR( M, D, IPR, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the system.  M &gt;= 0, M even.
+          Note that parameter M should have twice the value in the
+          original problem (see SLICOT Library routine SB04QU).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (M*M/2+4*M)
+          On entry, the first M*M/2 + 3*M elements of this array
+          must contain the coefficient matrix, stored compactly,
+          row-wise, and the next M elements must contain the right
+          hand side of the linear system, as set by SLICOT Library
+          routine SB04QU.
+          On exit, the content of this array is updated, the last M
+          elements containing the solution with components
+          interchanged (see IPR).
+
+  IPR     (output) INTEGER array, dimension (2*M)
+          The leading M elements contain information about the
+          row interchanges performed for solving the system.
+          Specifically, the i-th component of the solution is
+          specified by IPR(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with partial pivoting is used. The rows of
+  the matrix are not actually permuted, only their indices are
+  interchanged in array IPR.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QU.html b/doc/_build/html/_static/doc/SB04QU.html
new file mode 100644
index 00000000..acf2cfc8
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04QU.html
@@ -0,0 +1,139 @@
+<HTML>
+<HEAD><TITLE>SB04QU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QU">SB04QU</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order 2*M
+  whose coefficient matrix has zeros below the third subdiagonal,
+  and zero elements on the third subdiagonal with even column
+  indices. Such systems appear when solving discrete-time Sylvester
+  equations using the Hessenberg-Schur method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          IND and IND - 1 specify the indices of the columns in C
+          to be computed.  IND &gt; 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with columns IND-1 and IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (2*M*M+8*M)
+
+  IPR     INTEGER array, dimension (4*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order 2*M, whose coefficient
+  matrix has zeros below the third subdiagonal and zero elements on
+  the third subdiagonal with even column indices, is constructed and
+  solved. The coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QY.html b/doc/_build/html/_static/doc/SB04QY.html
new file mode 100644
index 00000000..49c36298
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04QY.html
@@ -0,0 +1,136 @@
+<HTML>
+<HEAD><TITLE>SB04QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QY">SB04QY</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order M whose
+  coefficient matrix is in upper Hessenberg form. Such systems
+  appear when solving discrete-time Sylvester equations using the
+  Hessenberg-Schur method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          The index of the column in C to be computed.  IND &gt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with column IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
+
+  IPR     INTEGER array, dimension (2*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order M, with coefficient
+  matrix in upper Hessenberg form is constructed and solved. The
+  coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RD.html b/doc/_build/html/_static/doc/SB04RD.html
new file mode 100644
index 00000000..6a781294
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04RD.html
@@ -0,0 +1,290 @@
+<HTML>
+<HEAD><TITLE>SB04RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RD">SB04RD</A></H2>
+<H3>
+Solution of discrete-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the discrete-time Sylvester equation
+
+     X + AXB = C,
+
+  with at least one of the matrices A or B in Schur form and the
+  other in Hessenberg or Schur form (both either upper or lower);
+  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
+  respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHU, ULA, ULB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHU  CHARACTER*1
+          Indicates whether A and/or B is/are in Schur or
+          Hessenberg form as follows:
+          = 'A':  A is in Schur form, B is in Hessenberg form;
+          = 'B':  B is in Schur form, A is in Hessenberg form;
+          = 'S':  Both A and B are in Schur form.
+
+  ULA     CHARACTER*1
+          Indicates whether A is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
+                  upper Schur form otherwise;
+          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
+                  lower Schur form otherwise.
+
+  ULB     CHARACTER*1
+          Indicates whether B is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
+                  upper Schur form otherwise;
+          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
+                  lower Schur form otherwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading M-by-M part of this array must contain the
+          coefficient matrix B of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity in
+          the Sylvester equation. If the user sets TOL &gt; 0, then the
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number; a matrix whose estimated
+          condition number is less than 1/TOL is considered to be
+          nonsingular. If the user sets TOL &lt;= 0, then a default
+          tolerance, defined by TOLDEF = EPS, is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*MAX(M,N))
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = 2*N, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
+          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if a (numerically) singular matrix T was encountered
+                during the computation of the solution matrix X.
+                That is, the estimated reciprocal condition number
+                of T is less than or equal to TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrices A and B are assumed to be in (upper or lower) Hessenberg
+  or Schur form (with at least one of them in Schur form). The
+  solution matrix X is then computed by rows or columns via the back
+  substitution scheme proposed by Golub, Nash and Van Loan (see
+  [1]), which involves the solution of triangular systems of
+  equations that are constructed recursively and which may be nearly
+  singular if A and -B have almost reciprocal eigenvalues. If near
+  singularity is detected, then the routine returns with the Error
+  Indicator (INFO) set to 1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         2         2
+  The algorithm requires approximately 5M N + 0.5MN  operations in
+                         2         2
+  the worst case and 2.5M N + 0.5MN  operations in the best case
+  (where M is the order of the matrix in Hessenberg form and N is
+  the order of the matrix in Schur form) and is mixed stable (see
+  [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
+     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      ABSCHU, ULA, ULB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04RD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04RD EXAMPLE PROGRAM DATA
+   5     5     0.0     U     U     B
+   1.0   2.0   3.0   4.0   5.0
+   6.0   7.0   8.0   9.0   1.0
+   0.0   2.0   3.0   4.0   5.0
+   0.0   0.0   6.0   7.0   8.0
+   0.0   0.0   0.0   9.0   1.0
+   1.0   2.0   3.0   4.0   5.0
+   0.0   1.0   2.0   3.0   4.0
+   0.0   0.0   1.0   2.0   3.0
+   0.0   0.0   0.0   1.0  -5.0
+   0.0   0.0   0.0   4.0   1.0
+   2.0   4.0  10.0  40.0   7.0
+   6.0  20.0  40.0  74.0  38.0
+   0.0   2.0   8.0  36.0   2.0
+   0.0   0.0   6.0  52.0  -9.0
+   0.0   0.0   0.0  13.0 -43.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04RD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RV.html b/doc/_build/html/_static/doc/SB04RV.html
new file mode 100644
index 00000000..52dc0172
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04RV.html
@@ -0,0 +1,135 @@
+<HTML>
+<HEAD><TITLE>SB04RV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RV">SB04RV</A></H2>
+<H3>
+Constructing the right-hand sides for a system of equations in quasi-Hessenberg form solved via SB04RX (case with 2 right-hand sides)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand sides D for a system of equations in
+  quasi-Hessenberg form solved via SB04RX (case with 2 right-hand
+  sides).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
+     $                   LDBA, D, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDBA, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation X + AXB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the first column/row of C to be used in
+          the construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C, the matrix not contained in AB.
+
+  LDBA    INTEGER
+          The leading dimension of array BA.
+          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading 2*N or 2*M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side stored as a matrix with two rows.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK is equal to 2*N or 2*M (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RW.html b/doc/_build/html/_static/doc/SB04RW.html
new file mode 100644
index 00000000..d6f533ff
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04RW.html
@@ -0,0 +1,134 @@
+<HTML>
+<HEAD><TITLE>SB04RW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RW">SB04RW</A></H2>
+<H3>
+Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04RY
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand side D for a system of equations in
+  Hessenberg form solved via SB04RY (case with 1 right-hand side).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
+     $                   LDBA, D, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDBA, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation X + AXB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the column/row of C to be used in the
+          construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C, the matrix not contained in AB.
+
+  LDBA    INTEGER
+          The leading dimension of array BA.
+          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading N or M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK is equal to N or M (depending on ABSCHR = 'B'
+          or ABSCHR = 'A', respectively).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RX.html b/doc/_build/html/_static/doc/SB04RX.html
new file mode 100644
index 00000000..2be4b9b9
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04RX.html
@@ -0,0 +1,142 @@
+<HTML>
+<HEAD><TITLE>SB04RX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RX">SB04RX</A></H2>
+<H3>
+Solving a system of equations in quasi-Hessenberg form with two right-hand sides
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in quasi-Hessenberg form
+  (Hessenberg form plus two consecutive offdiagonals) with two
+  right-hand sides.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
+     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether A is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  A is upper Hessenberg;
+          = 'L':  A is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBD1, (input) DOUBLE PRECISION
+  LAMBD2, These variables must contain the 2-by-2 block to be
+  LAMBD3, multiplied to the elements of A.
+  LAMBD4
+
+  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
+          On entry, this array must contain the two right-hand
+          side vectors of the quasi-Hessenberg system, stored
+          row-wise.
+          On exit, if INFO = 0, this array contains the two solution
+          vectors of the quasi-Hessenberg system, stored row-wise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the quasi-Hessenberg matrix.
+          A matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
+          The leading 2*M-by-2*M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the quasi-Hessenberg matrix. The remaining 6*M elements
+          are used as workspace for the computation of the
+          reciprocal condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.
+          LDDWOR &gt;= MAX(1,2*M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the quasi-Hessenberg matrix is (numerically)
+                singular. That is, its estimated reciprocal
+                condition number is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RY.html b/doc/_build/html/_static/doc/SB04RY.html
new file mode 100644
index 00000000..1eafeffb
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB04RY.html
@@ -0,0 +1,138 @@
+<HTML>
+<HEAD><TITLE>SB04RY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RY">SB04RY</A></H2>
+<H3>
+Solving a system of equations in Hessenberg form with one right-hand side
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in Hessenberg form with one
+  right-hand side.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
+     $                   DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBDA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether A is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  A is upper Hessenberg;
+          = 'L':  A is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBDA  (input) DOUBLE PRECISION
+          This variable must contain the value to be multiplied with
+          the elements of A.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (M)
+          On entry, this array must contain the right-hand side
+          vector of the Hessenberg system.
+          On exit, if INFO = 0, this array contains the solution
+          vector of the Hessenberg system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the Hessenberg matrix. A matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
+          The leading M-by-M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the Hessenberg matrix. The remaining 3*M elements are
+          used as workspace for the computation of the reciprocal
+          condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Hessenberg matrix is (numerically) singular.
+                That is, its estimated reciprocal condition number
+                is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB06ND.html b/doc/_build/html/_static/doc/SB06ND.html
new file mode 100644
index 00000000..f0463b8c
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB06ND.html
@@ -0,0 +1,293 @@
+<HTML>
+<HEAD><TITLE>SB06ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB06ND">SB06ND</A></H2>
+<H3>
+Minimum norm feedback matrix for "deadbeat control" of a state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the minimum norm feedback matrix F to perform
+  "deadbeat control" on a (A,B)-pair of a state-space model (which
+  must be preliminarily reduced to upper "staircase" form using
+  SLICOT Library routine AB01OD) such that the matrix R = A + BFU'
+  is nilpotent.
+  (The transformation matrix U reduces R to upper Schur form with
+  zero blocks on its diagonal (of dimension KSTAIR(i)) and
+  therefore contains bases for the i-th controllable subspaces,
+  where i = 1,...,KMAX).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU, F,
+     $                   LDF, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, KMAX, LDA, LDB, LDF, LDU, M, N
+C     .. Array Arguments ..
+      INTEGER           KSTAIR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The actual input dimension.  M &gt;= 0.
+
+  KMAX    (input) INTEGER
+          The number of "stairs" in the staircase form as produced
+          by SLICOT Library routine AB01OD.  0 &lt;= KMAX &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the transformed state-space matrix of the
+          (A,B)-pair with triangular stairs, as produced by SLICOT
+          Library routine AB01OD (with option STAGES = 'A').
+          On exit, the leading N-by-N part of this array contains
+          the matrix U'AU + U'BF.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the transformed triangular input matrix of the
+          (A,B)-pair as produced by SLICOT Library routine AB01OD
+          (with option STAGES = 'A').
+          On exit, the leading N-by-M part of this array contains
+          the matrix U'B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  KSTAIR  (input) INTEGER array, dimension (KMAX)
+          The leading KMAX elements of this array must contain the
+          dimensions of each "stair" as produced by SLICOT Library
+          routine AB01OD.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain either a transformation matrix (e.g. from a
+          previous call to other SLICOT routine) or be initialised
+          as the identity matrix.
+          On exit, the leading N-by-N part of this array contains
+          the product of the input matrix U and the state-space
+          transformation matrix which reduces A + BFU' to real
+          Schur form.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the
+          deadbeat feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Starting from the (A,B)-pair in "staircase form" with "triangular"
+  stairs, dimensions KSTAIR(i+1) x KSTAIR(i), (described by the
+  vector KSTAIR):
+
+                 | B | A      *  . . .  *  |
+                 |  1|  11       .      .  |
+                 |   | A     A     .    .  |
+                 |   |  21    22     .  .  |
+                 |   |    .      .     .   |
+   [ B | A ]  =  |   |      .      .    *  |
+                 |   |        .      .     |
+                 | 0 |   0                 |
+                 |   |          A      A   |
+                 |   |           r,r-1  rr |
+
+  where the i-th diagonal block of A has dimension KSTAIR(i), for
+  i = 1,2,...,r, the feedback matrix F is constructed recursively in
+  r steps (where the number of "stairs" r is given by KMAX). In each
+  step a unitary state-space transformation U and a part of F are
+  updated in order to achieve the final form:
+
+                    | 0   A      *   . . .  *   |
+                    |      12      .        .   |
+                    |                .      .   |
+                    |     0    A       .    .   |
+                    |           23       .  .   |
+                    |         .      .          |
+  [ U'AU + U'BF ] = |           .      .    *   | .
+                    |             .      .      |
+                    |                           |
+                    |                     A     |
+                    |                      r-1,r|
+                    |                           |
+                    |                       0   |
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      Deadbeat control: a special inverse eigenvalue problem.
+      BIT, 24, pp. 681-699, 1984.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + M) * N**2) operations and is mixed
+  numerical stable (see [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB06ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDU, LDV, LDF
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
+     $                   LDV = MMAX, LDF = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX + MAX(NMAX,3*MMAX) )
+*     PARAMETER        ( LDWORK = 4*NMAX)
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, KMAX, M, N, NCONT
+      CHARACTER*1      JOBU, JOBV
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
+     $                 F(LDF,NMAX), U(LDU,NMAX), V(LDV,MMAX)
+      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB01OD, DLASET, SB06ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, JOBU, JOBV
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+*           First put (A,B) into staircase form with triangular pivots
+*           and determine the stairsizes.
+            CALL AB01OD( 'A', JOBU, JOBV, N, M, A, LDA, B, LDB, U,
+     $                   LDU, V, LDV, NCONT, KMAX, KSTAIR, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.EQ.0 ) THEN
+               IF( LSAME( JOBU, 'N' ) ) THEN
+*                 Initialize U as the identity matrix.
+                  CALL DLASET( 'Full', N, N, ZERO, ONE, U, LDU )
+               END IF
+*              Perform "deadbeat control" to give F.
+               CALL SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU,
+     $                      F, LDF, DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB06ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01OD = ',I2)
+99997 FORMAT (' INFO on exit from SB06ND = ',I2)
+99996 FORMAT (' The deadbeat feedback matrix F is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB06ND EXAMPLE PROGRAM DATA
+   5     2     0.0     N     N
+  -17.0   24.0   41.0   68.0   15.0
+   23.0  -35.0   27.0   14.0   16.0
+   34.0   26.0  -13.0   20.0   22.0
+   10.0   12.0   19.0  -21.0   63.0
+   11.0   18.0   25.0   52.0  -29.0
+  -31.0   14.0
+   74.0  -69.0
+  -59.0   16.0
+   16.0  -25.0
+  -25.0   36.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB06ND EXAMPLE PROGRAM RESULTS
+
+ The deadbeat feedback matrix F is 
+  -0.4819  -0.5782  -2.7595  -3.1093   0.0000
+   0.2121  -0.4462   0.7698  -1.5421  -0.5773
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08CD.html b/doc/_build/html/_static/doc/SB08CD.html
new file mode 100644
index 00000000..3e71fe36
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB08CD.html
@@ -0,0 +1,445 @@
+<HTML>
+<HEAD><TITLE>SB08CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08CD">SB08CD</A></H2>
+<H3>
+Left coprime factorization with inner denominator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), an output
+  injection matrix H, an orthogonal transformation matrix Z, and a
+  gain matrix V, such that the systems
+
+       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), V*C*Z, V*D)
+  and
+       R = (Z'*(A+H*C)*Z, Z'*H, V*C*Z, V)
+
+  provide a stable left coprime factorization of G in the form
+                -1
+           G = R  * Q,
+
+  where G, Q and R are the corresponding transfer-function matrices
+  and the denominator R is co-inner, that is, R(s)*R'(-s) = I in
+  the continuous-time case, or R(z)*R'(1/z) = I in the discrete-time
+  case. The Z matrix is not explicitly computed.
+
+  Note: G must have no observable poles on the imaginary axis
+  for a continuous-time system, or on the unit circle for a
+  discrete-time system. If the given state-space representation
+  is not detectable, the undetectable part of the original
+  system is automatically deflated and the order of the systems
+  Q and R is accordingly reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrices B
+          and BR, and the number of columns of the matrix C.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C, D and DR, and the number of columns
+          of the matrices BR and DR.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A. The matrix A must not
+          have observable eigenvalues on the imaginary axis, if
+          DICO = 'C', or on the unit circle, if DICO = 'D'.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The leading NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
+          input/state matrix of the numerator factor Q.
+          The remaining part of this array is needed as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix V*C*Z, the
+          state/output matrix of the numerator factor Q.
+          The first NR columns of this array represent the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+          The remaining part of this array is needed as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P), if N &gt; 0.
+          LDC &gt;= 1,          if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (LDD,MAX(M,P))
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix.
+          On exit, the leading P-by-M part of this array contains
+          the matrix V*D representing the input/output matrix
+          of the numerator factor Q.
+          The remaining part of this array is needed as workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          unobservable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of observable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
+          The leading NQ-by-P part of this array contains the
+          leading NQ-by-P part of the output injection matrix
+          Z'*H, which reflects the eigenvalues of A lying outside
+          the stable region to values which are symmetric with
+          respect to the imaginary axis (if DICO = 'C') or the unit
+          circle (if DICO = 'D'). The first NR rows of this matrix
+          form the input/state matrix of a minimal realization of
+          the denominator factor R.
+
+  LDBR    INTEGER
+          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
+          The leading P-by-P part of this array contains the lower
+          triangular matrix V representing the input/output matrix
+          of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          C are considered zero (used for observability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
+          the infinity-norm of C.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, P*N + MAX( N*(N+5),P*(P+2),4*P,4*M ) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                along the diagonal;
+          = 3:  if DICO = 'C' and the matrix A has an observable
+                eigenvalue on the imaginary axis, or DICO = 'D' and
+                A has an observable eigenvalue on the unit circle.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine uses the right coprime factorization algorithm with
+  inner denominator of [1] applied to G'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBR = NMAX,
+     $                   LDC = MPMAX, LDD = MPMAX, LDDR = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
+     $                            PMAX*( PMAX + 2 ), 4*PMAX, 4*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMAX), BR(LDBR,PMAX),
+     $                 C(LDC,NMAX), D(LDD,MPMAX), DR(LDDR,PMAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a RCFID for (A,B,C,D).
+               CALL SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = 1, NR )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( C(I,J), J = 1, NR )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08CD = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08CD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08CD EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -0.1605   0.0523   0.9423   2.0193   0.4166   0.2518   1.6140
+  -0.4489  -0.1605   1.7955   3.8719  -0.2394   0.0491  -0.8740
+   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
+   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
+   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
+   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
+   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
+
+ The numerator input/state matrix BQ is 
+  -1.0157   0.2554
+   0.5523   0.4443
+   0.0056 -11.6989
+   0.0490   4.3728
+  11.7198  -0.0038
+  -2.8173   0.0308
+   3.1018  -0.0009
+
+ The numerator state/output matrix CQ is 
+   0.1975  -0.1063  -0.0006  -0.0083   0.1279   0.8797   0.3994
+   0.8541  -0.4513  -0.0007  -0.0041   0.0305  -0.2562   0.0122
+   0.4668   0.8826   0.0248  -0.0506   0.0000   0.0022  -0.0017
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -0.1605   0.0523
+  -0.4489  -0.1605
+
+ The denominator input/state matrix BR is 
+  -0.0158  -0.0692  -0.1688
+   0.0306   0.1281  -0.4984
+
+ The denominator state/output matrix CR is 
+   0.1975  -0.1063
+   0.8541  -0.4513
+   0.4668   0.8826
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000
+   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08DD.html b/doc/_build/html/_static/doc/SB08DD.html
new file mode 100644
index 00000000..936b97aa
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB08DD.html
@@ -0,0 +1,433 @@
+<HTML>
+<HEAD><TITLE>SB08DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08DD">SB08DD</A></H2>
+<H3>
+Right coprime factorization with inner denominator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), a feedback matrix
+  F, an orthogonal transformation matrix Z, and a gain matrix V,
+  such that the systems
+
+       Q = (Z'*(A+B*F)*Z, Z'*B*V, (C+D*F)*Z, D*V)
+  and
+       R = (Z'*(A+B*F)*Z, Z'*B*V, F*Z, V)
+
+  provide a stable right coprime factorization of G in the form
+                    -1
+           G = Q * R  ,
+
+  where G, Q and R are the corresponding transfer-function matrices
+  and the denominator R is inner, that is, R'(-s)*R(s) = I in the
+  continuous-time case, or R'(1/z)*R(z) = I in the discrete-time
+  case. The Z matrix is not explicitly computed.
+
+  Note: G must have no controllable poles on the imaginary axis
+  for a continuous-time system, or on the unit circle for a
+  discrete-time system. If the given state-space representation
+  is not stabilizable, the unstabilizable part of the original
+  system is automatically deflated and the order of the systems
+  Q and R is accordingly reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrix B and
+          the number of columns of the matrices C and CR.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B, D and DR and the number of rows of the
+          matrices CR and DR.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C and D.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A. The matrix A must not
+          have controllable eigenvalues on the imaginary axis, if
+          DICO = 'C', or on the unit circle, if DICO = 'D'.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The trailing NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*B*V, the
+          input/state matrix of the numerator factor Q. The last
+          NR rows of this matrix form the input/state matrix of
+          a minimal realization of the denominator factor R.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix (C+D*F)*Z,
+          the state/output matrix of the numerator factor Q.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix.
+          On exit, the leading P-by-M part of this array contains
+          the matrix D*V representing the input/output matrix
+          of the numerator factor Q.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          uncontrollable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of controllable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
+          The leading M-by-NQ part of this array contains the
+          leading M-by-NQ part of the feedback matrix F*Z, which
+          reflects the eigenvalues of A lying outside the stable
+          region to values which are symmetric with respect to the
+          imaginary axis (if DICO = 'C') or the unit circle (if
+          DICO = 'D').  The last NR columns of this matrix form the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+
+  LDCR    INTEGER
+          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
+          The leading M-by-M part of this array contains the upper
+          triangular matrix V of order M representing the
+          input/output matrix of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
+          the 1-norm of B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, N*(N+5), M*(M+2), 4*M, 4*P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal;
+          = 3:  if DICO = 'C' and the matrix A has a controllable
+                eigenvalue on the imaginary axis, or DICO = 'D'
+                and A has a controllable eigenvalue on the unit
+                circle.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the factorization algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      A Schur method for computing coprime factorizations with inner
+      denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ),
+     $                                 MMAX*( MMAX + 2 ),
+     $                                 4*NMAX, 4*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a RCFID for (A,B,C,D).
+               CALL SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = NQ-NR+1, NQ )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( CR(I,J), J = NQ-NR+1, NQ )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08DD = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08DD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08DD EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -4.1066  -0.2336
+   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4816   0.2196
+   0.0000   0.0000 -13.1627   0.0608  -0.0218   3.8320   0.3429
+   0.0000   0.0000   0.0000  -3.5957  -3.3373   0.0816  -4.1237
+   0.0000   0.0000   0.0000   0.0000 -12.4245  -0.3133   4.4255
+   0.0000   0.0000   0.0000   0.0000   0.0000  -0.1605  -0.0772
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.3040  -0.1605
+
+ The numerator input/state matrix BQ is 
+   5.0302  -0.0063
+   0.7078  -0.0409
+ -11.3663   0.0051
+   0.1760   0.5879
+  -0.0265  12.2119
+   1.1050   0.3215
+   0.0066  -2.5822
+
+ The numerator state/output matrix CQ is 
+  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2325   0.0265
+   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.8985   0.1406
+  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.0874  -0.5630
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -0.1605  -0.0772
+   0.3040  -0.1605
+
+ The denominator input/state matrix BR is 
+   1.1050   0.3215
+   0.0066  -2.5822
+
+ The denominator state/output matrix CR is 
+  -0.2288  -0.0259
+  -0.0070   0.1497
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08ED.html b/doc/_build/html/_static/doc/SB08ED.html
new file mode 100644
index 00000000..8065d4ec
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@@ -0,0 +1,447 @@
+<HTML>
+<HEAD><TITLE>SB08ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08ED">SB08ED</A></H2>
+<H3>
+Left coprime factorization with prescribed stability degree
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), an output
+  injection matrix H and an orthogonal transformation matrix Z, such
+  that the systems
+
+       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), C*Z, D)
+  and
+       R = (Z'*(A+H*C)*Z, Z'*H, C*Z, I)
+
+  provide a stable left coprime factorization of G in the form
+                -1
+           G = R  * Q,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+  The resulting state dynamics matrix of the systems Q and R has
+  eigenvalues lying inside a given stability domain.
+  The Z matrix is not explicitly computed.
+
+  Note: If the given state-space representation is not detectable,
+  the undetectable part of the original system is automatically
+  deflated and the order of the systems Q and R is accordingly
+  reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), BR(LDBR,*),
+     $                  C(LDC,*), D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrices B
+          and BR, and the number of columns of the matrix C.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C, D and DR, and the number of columns of
+          the matrices BR and DR.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
+          ALPHA(1) contains the desired stability degree to be
+          assigned for the eigenvalues of A+H*C, and ALPHA(2)
+          the stability margin. The eigenvalues outside the
+          ALPHA(2)-stability region will be assigned to have the
+          real parts equal to ALPHA(1) &lt; 0 and unmodified
+          imaginary parts for a continuous-time system
+          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
+          for a discrete-time system (DICO = 'D').
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The leading NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix of the system.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
+          input/state matrix of the numerator factor Q.
+          The remaining part of this array is needed as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix of the system.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix C*Z, the
+          state/output matrix of the numerator factor Q.
+          The first NR columns of this array represent the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+          The remaining part of this array is needed as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P), if N &gt; 0.
+          LDC &gt;= 1,          if N = 0.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array must contain the
+          input/output matrix. D represents also the input/output
+          matrix of the numerator factor Q.
+          This array is modified internally, but restored on exit.
+          The remaining part of this array is needed as workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          unobservable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of observable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
+          The leading NQ-by-P part of this array contains the
+          leading NQ-by-P part of the output injection matrix
+          Z'*H, which moves the eigenvalues of A lying outside
+          the ALPHA-stable region to values on the ALPHA-stability
+          boundary. The first NR rows of this matrix form the
+          input/state matrix of a minimal realization of the
+          denominator factor R.
+
+  LDBR    INTEGER
+          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
+          The leading P-by-P part of this array contains an
+          identity matrix representing the input/output matrix
+          of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          C are considered zero (used for observability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
+          the infinity-norm of C.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, N*P + MAX( N*(N+5), 5*P, 4*M ) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                along the diagonal.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine uses the right coprime factorization algorithm
+  of [1] applied to G'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MPMAX,
+     $                   LDD = MPMAX, LDBR = NMAX, LDDR = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
+     $                                             5*PMAX, 4*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MPMAX),
+     $                 BR(LDBR,PMAX), C(LDC,NMAX), D(LDD,MPMAX),
+     $                 DR(LDDR,PMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
+      ALPHA(2) = ALPHA(1)
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a LCF for (A,B,C,D).
+               CALL SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
+     $                      LDC, D, LDD, NQ, NR, BR, LDBR, DR, LDDR,
+     $                      TOL, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = 1, NR )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( C(I,J), J = 1, NR )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08ED = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08ED EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3 -1.0   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08ED EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -1.0000   0.0526  -0.1408  -0.3060   0.4199   0.2408   1.7274
+  -0.4463  -1.0000   2.0067   4.3895   0.0062   0.1813   0.0895
+   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
+   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
+   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
+   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
+   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
+
+ The numerator input/state matrix BQ is 
+  -1.1544  -0.0159
+  -0.0631   0.5122
+   0.0056 -11.6989
+   0.0490   4.3728
+  11.7198  -0.0038
+  -2.8173   0.0308
+   3.1018  -0.0009
+
+ The numerator state/output matrix CQ is 
+   0.2238   0.0132  -0.0006  -0.0083   0.1279   0.8797   0.3994
+   0.9639   0.0643  -0.0007  -0.0041   0.0305  -0.2562   0.0122
+  -0.0660   0.9962   0.0248  -0.0506   0.0000   0.0022  -0.0017
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -1.0000   0.0526
+  -0.4463  -1.0000
+
+ The denominator input/state matrix BR is 
+  -0.2623  -1.1297   0.0764
+  -0.0155  -0.0752  -1.1676
+
+ The denominator state/output matrix CR is 
+   0.2238   0.0132
+   0.9639   0.0643
+  -0.0660   0.9962
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000
+   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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@@ -0,0 +1,433 @@
+<HTML>
+<HEAD><TITLE>SB08FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08FD">SB08FD</A></H2>
+<H3>
+Right coprime factorization with prescribed stability degree
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), a feedback
+  matrix F and an orthogonal transformation matrix Z, such that
+  the systems
+
+       Q = (Z'*(A+B*F)*Z, Z'*B, (C+D*F)*Z, D)
+  and
+       R = (Z'*(A+B*F)*Z, Z'*B, F*Z, I)
+
+  provide a stable right coprime factorization of G in the form
+                    -1
+           G = Q * R  ,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+  The resulting state dynamics matrix of the systems Q and R has
+  eigenvalues lying inside a given stability domain.
+  The Z matrix is not explicitly computed.
+
+  Note: If the given state-space representation is not stabilizable,
+  the unstabilizable part of the original system is automatically
+  deflated and the order of the systems Q and R is accordingly
+  reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), C(LDC,*),
+     $                  CR(LDCR,*), D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrix B and
+          the number of columns of the matrices C and CR.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B, D and DR and the number of rows of the
+          matrices CR and DR.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C and D.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
+          ALPHA(1) contains the desired stability degree to be
+          assigned for the eigenvalues of A+B*F, and ALPHA(2)
+          the stability margin. The eigenvalues outside the
+          ALPHA(2)-stability region will be assigned to have the
+          real parts equal to ALPHA(1) &lt; 0 and unmodified
+          imaginary parts for a continuous-time system
+          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
+          for a discrete-time system (DICO = 'D').
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The trailing NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*B, the
+          input/state matrix of the numerator factor Q. The last
+          NR rows of this matrix form the input/state matrix of
+          a minimal realization of the denominator factor R.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix (C+D*F)*Z,
+          the state/output matrix of the numerator factor Q.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix. D represents also the input/output
+          matrix of the numerator factor Q.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          uncontrollable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of controllable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
+          The leading M-by-NQ part of this array contains the
+          leading M-by-NQ part of the feedback matrix F*Z, which
+          moves the eigenvalues of A lying outside the ALPHA-stable
+          region to values which are on the ALPHA-stability
+          boundary.  The last NR columns of this matrix form the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+
+  LDCR    INTEGER
+          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
+          The leading M-by-M part of this array contains an
+          identity matrix representing the input/output matrix
+          of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
+          the 1-norm of B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LWORK &gt;= MAX( 1, N*(N+5), 5*M, 4*P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the factorization algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ), 5*MMAX,
+     $                                 4*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MMAX), C(LDC,NMAX),
+     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08FD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
+      ALPHA(2) = ALPHA(1)
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a RCF for (A,B,C,D).
+               CALL SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
+     $                      LDC, D, LDD, NQ, NR, CR, LDCR, DR, LDDR,
+     $                      TOL, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = NQ-NR+1, NQ )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( CR(I,J), J = NQ-NR+1, NQ )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08FD = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08FD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3 -1.0   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08FD EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -3.2129  -3.6183
+   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4392  -0.2528
+   0.0000   0.0000 -13.1627   0.0608  -0.0218   2.3461   5.8272
+   0.0000   0.0000   0.0000  -3.5957  -3.3373   1.3622  -3.6083
+   0.0000   0.0000   0.0000   0.0000 -12.4245  -9.8634   8.1191
+   0.0000   0.0000   0.0000   0.0000   0.0000  -1.0000  -0.0135
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.7393  -1.0000
+
+ The numerator input/state matrix BQ is 
+   5.0302  -0.0063
+   0.7078  -0.0409
+ -11.3663   0.0051
+   0.1760   0.5879
+  -0.0265  12.2119
+   1.0104   1.3262
+   0.4474  -2.2388
+
+ The numerator state/output matrix CQ is 
+  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2026   0.1172
+   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.7676   0.4879
+  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.3050  -0.4812
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -1.0000  -0.0135
+   1.7393  -1.0000
+
+ The denominator input/state matrix BR is 
+   1.0104   1.3262
+   0.4474  -2.2388
+
+ The denominator state/output matrix CR is 
+  -0.1091  -0.4653
+  -0.7055   0.4766
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08GD.html b/doc/_build/html/_static/doc/SB08GD.html
new file mode 100644
index 00000000..e00edf87
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB08GD.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>SB08GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08GD">SB08GD</A></H2>
+<H3>
+State-space representation of a left coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the state-space representation for the system
+  G = (A,B,C,D) from the factors Q = (AQR,BQ,CQR,DQ) and
+  R = (AQR,BR,CQR,DR) of its left coprime factorization
+                -1
+           G = R  * Q,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08GD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, BR,
+     $                   LDBR, DR, LDDR, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDBR, LDC, LDD, LDDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. Also the number of rows of the
+          matrices B and BR and the number of columns of the matrix
+          C. N represents the order of the systems Q and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows of
+          the matrices C, D and DR and the number of columns of the
+          matrices BR and DR.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix AQR of the systems
+          Q and R.
+          On exit, the leading N-by-N part of this array contains
+          the state dynamics matrix of the system G.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix BQ of the system Q.
+          On exit, the leading N-by-M part of this array contains
+          the input/state matrix of the system G.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix CQR of the systems
+          Q and R.
+          On exit, the leading P-by-N part of this array contains
+          the state/output matrix of the system G.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix DQ of the system Q.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix of the system G.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  BR      (input) DOUBLE PRECISION array, dimension (LDBR,P)
+          The leading N-by-P part of this array must contain the
+          input/state matrix BR of the system R.
+
+  LDBR    INTEGER
+          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
+
+  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,P)
+          On entry, the leading P-by-P part of this array must
+          contain the input/output matrix DR of the system R.
+          On exit, the leading P-by-P part of this array contains
+          the LU factorization of the matrix DR, as computed by
+          LAPACK Library routine DGETRF.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*P))
+          On exit, DWORK(1) contains an estimate of the reciprocal
+          condition number of the matrix DR.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix DR is singular;
+          = 2:  the matrix DR is numerically singular (warning);
+                the calculations continued.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine computes the matrices of the state-space
+  representation G = (A,B,C,D) by using the formulas:
+
+                   -1              -1
+  A = AQR - BR * DR  * CQR,  C = DR  * CQR,
+                   -1              -1
+  B = BQ  - BR * DR  * DQ,   D = DR  * DQ.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08HD.html b/doc/_build/html/_static/doc/SB08HD.html
new file mode 100644
index 00000000..42ddfc3f
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB08HD.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>SB08HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08HD">SB08HD</A></H2>
+<H3>
+State-space representation of a right coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the state-space representation for the system
+  G = (A,B,C,D) from the factors Q = (AQR,BQR,CQ,DQ) and
+  R = (AQR,BQR,CR,DR) of its right coprime factorization
+                    -1
+           G = Q * R  ,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08HD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, CR,
+     $                   LDCR, DR, LDDR, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDCR, LDD, LDDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. Also the number of rows of the
+          matrix B and the number of columns of the matrices C and
+          CR. N represents the order of the systems Q and R.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector. Also the number of columns
+          of the matrices B, D and DR and the number of rows of the
+          matrices CR and DR.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector. Also the number of rows
+          of the matrices C and D.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix AQR of the systems
+          Q and R.
+          On exit, the leading N-by-N part of this array contains
+          the state dynamics matrix of the system G.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix BQR of the systems Q and R.
+          On exit, the leading N-by-M part of this array contains
+          the input/state matrix of the system G.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix CQ of the system Q.
+          On exit, the leading P-by-N part of this array contains
+          the state/output matrix of the system G.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix DQ of the system Q.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix of the system G.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  CR      (input) DOUBLE PRECISION array, dimension (LDCR,N)
+          The leading M-by-N part of this array must contain the
+          state/output matrix CR of the system R.
+
+  LDCR    INTEGER
+          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
+
+  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,M)
+          On entry, the leading M-by-M part of this array must
+          contain the input/output matrix DR of the system R.
+          On exit, the leading M-by-M part of this array contains
+          the LU factorization of the matrix DR, as computed by
+          LAPACK Library routine DGETRF.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*M))
+          On exit, DWORK(1) contains an estimate of the reciprocal
+          condition number of the matrix DR.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix DR is singular;
+          = 2:  the matrix DR is numerically singular (warning);
+                the calculations continued.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine computes the matrices of the state-space
+  representation G = (A,B,C,D) by using the formulas:
+
+                    -1                   -1
+  A = AQR - BQR * DR  * CR,  B = BQR * DR  ,
+                   -1                   -1
+  C = CQ  - DQ * DR  * CR,   D = DQ * DR  .
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08MD.html b/doc/_build/html/_static/doc/SB08MD.html
new file mode 100644
index 00000000..ea7a1aa3
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB08MD.html
@@ -0,0 +1,293 @@
+<HTML>
+<HEAD><TITLE>SB08MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08MD">SB08MD</A></H2>
+<H3>
+Spectral factorization of polynomials (continuous-time case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a real polynomial E(s) such that
+
+     (a)  E(-s) * E(s) = A(-s) * A(s) and
+     (b)  E(s) is stable - that is, all the zeros of E(s) have
+          non-positive real parts,
+
+  which corresponds to computing the spectral factorization of the
+  real polynomial A(s) arising from continuous optimality problems.
+
+  The input polynomial may be supplied either in the form
+
+     A(s) = a(0) + a(1) * s + ... + a(DA) * s**DA
+
+  or as
+
+     B(s) = A(-s) * A(s)
+          = b(0) + b(1) * s**2  + ... + b(DA) * s**(2*DA)        (1)
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ACONA
+      INTEGER           DA, INFO, LDWORK
+      DOUBLE PRECISION  RES
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), DWORK(*), E(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ACONA   CHARACTER*1
+          Indicates whether the coefficients of A(s) or B(s) =
+          A(-s) * A(s) are to be supplied as follows:
+          = 'A':  The coefficients of A(s) are to be supplied;
+          = 'B':  The coefficients of B(s) are to be supplied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DA      (input) INTEGER
+          The degree of the polynomials A(s) and E(s).  DA &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
+          On entry, this array must contain either the coefficients
+          of the polynomial A(s) in increasing powers of s if
+          ACONA = 'A', or the coefficients of the polynomial B(s) in
+          increasing powers of s**2 (see equation (1)) if ACONA =
+          'B'.
+          On exit, this array contains the coefficients of the
+          polynomial B(s) in increasing powers of s**2.
+
+  RES     (output) DOUBLE PRECISION
+          An estimate of the accuracy with which the coefficients of
+          the polynomial E(s) have been computed (see also METHOD
+          and NUMERICAL ASPECTS).
+
+  E       (output) DOUBLE PRECISION array, dimension (DA+1)
+          The coefficients of the spectral factor E(s) in increasing
+          powers of s.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, A(I) = 0.0, for I = 1,2,...,DA+1.
+          = 2:  if on entry, ACONA = 'B' but the supplied
+                coefficients of the polynomial B(s) are not the
+                coefficients of A(-s) * A(s) for some real A(s);
+                in this case, RES and E are unassigned;
+          = 3:  if the iterative process (see METHOD) has failed to
+                converge in 30 iterations;
+          = 4:  if the last computed iterate (see METHOD) is
+                unstable. If ACONA = 'B', then the supplied
+                coefficients of the polynomial B(s) may not be the
+                coefficients of A(-s) * A(s) for some real A(s).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>      _                                               _
+  Let A(s) be the conjugate polynomial of A(s), i.e., A(s) = A(-s).
+
+  The method used by the routine is based on applying the
+  Newton-Raphson iteration to the function
+            _       _
+     F(e) = A * A - e * e,
+
+  which leads to the iteration formulae (see [1]):
+
+     _(i)   (i)  _(i)   (i)     _      )
+     q   * x   + x   * q    = 2 A * A  )
+                                       )   for i = 0, 1, 2,...
+      (i+1)    (i)   (i)               )
+     q     = (q   + x   )/2            )
+
+                 (0)         DA
+  Starting from q   = (1 + s)   (which has no zeros in the closed
+                                               (1)   (2)   (3)
+  right half-plane), the sequence of iterates q   , q   , q   ,...
+  converges to a solution of F(e) = 0 which has no zeros in the
+  open right half-plane.
+
+  The iterates satisfy the following conditions:
+
+           (i)
+     (a)  q   is a stable polynomial (no zeros in the closed right
+          half-plane) and
+
+           (i)        (i-1)
+     (b)  q   (1) &lt;= q     (1).
+
+                                    (i-1)                       (i)
+  The iterative process stops with q     , (where i &lt;= 30)  if q
+  violates either (a) or (b), or if the condition
+                    _(i) (i)  _
+     (c)  RES  = ||(q   q   - A A)|| &lt; tol,
+
+  is satisfied, where || . || denotes the largest coefficient of
+                  _(i) (i)  _
+  the polynomial (q   q   - A A) and tol is an estimate of the
+                                                 _(i)  (i)
+  rounding error in the computed coefficients of q    q   . If there
+  is no convergence after 30 iterations then the routine returns
+  with the Error Indicator (INFO) set to 3, and the value of RES may
+  indicate whether or not the last computed iterate is close to the
+  solution.
+
+  If ACONA = 'B', then it is possible that the equation e(-s) *
+  e(s) = B(s) has no real solution, which will be the case if A(1)
+  &lt; 0 or if ( -1)**DA * A(DA+1) &lt; 0.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Vostry, Z.
+      New Algorithm for Polynomial Spectral Factorization with
+      Quadratic Convergence II.
+      Kybernetika, 12, pp. 248-259, 1976.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The conditioning of the problem depends upon the distance of the
+  zeros of A(s) from the imaginary axis and on their multiplicity.
+  For a well-conditioned problem the accuracy of the computed
+  coefficients of E(s) is of the order of RES. However, for problems
+  with zeros near the imaginary axis or with multiple zeros, the
+  value of RES may be an overestimate of the true accuracy.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order for the problem e(-s) * e(s) = B(s) to have a real
+  solution e(s), it is necessary and sufficient that B(j*omega)
+  &gt;= 0 for any purely imaginary argument j*omega (see [1]).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DAMAX
+      PARAMETER        ( DAMAX = 10 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 5*DAMAX+5 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RES
+      INTEGER          DA, I, INFO
+      CHARACTER*1      ACONA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB08MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      READ ( NIN, FMT = '()' )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = * ) DA, ACONA
+      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DA
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
+*        Compute the spectral factorization of the given polynomial.
+         CALL SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( ACONA, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 0, DA
+                  WRITE ( NOUT, FMT = 99995 ) 2*I, A(I+1)
+   20          CONTINUE
+               WRITE ( NOUT, FMT = * )
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40 I = 0, DA
+               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) RES
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' SB08MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08MD = ',I2)
+99997 FORMAT (' The coefficients of the polynomial B(s) are ',//' powe',
+     $       'r of s     coefficient ')
+99996 FORMAT (' The coefficients of the spectral factor E(s) are ',
+     $       //' power of s     coefficient ')
+99995 FORMAT (2X,I5,9X,F9.4)
+99994 FORMAT (/' RES = ',1P,E8.1)
+99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08MD EXAMPLE PROGRAM DATA
+   3     A
+   8.0  -6.0  -3.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08MD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial B(s) are 
+
+ power of s     coefficient 
+      0           64.0000
+      2          -84.0000
+      4           21.0000
+      6           -1.0000
+ 
+ The coefficients of the spectral factor E(s) are 
+
+ power of s     coefficient 
+      0            8.0000
+      1           14.0000
+      2            7.0000
+      3            1.0000
+
+ RES =  2.7E-15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB08ND.html b/doc/_build/html/_static/doc/SB08ND.html
new file mode 100644
index 00000000..52ad4c7d
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB08ND.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>SB08ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08ND">SB08ND</A></H2>
+<H3>
+Spectral factorization of polynomials (discrete-time case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a real polynomial E(z) such that
+
+     (a)  E(1/z) * E(z) = A(1/z) * A(z) and
+     (b)  E(z) is stable - that is, E(z) has no zeros with modulus
+          greater than 1,
+
+  which corresponds to computing the spectral factorization of the
+  real polynomial A(z) arising from discrete optimality problems.
+
+  The input polynomial may be supplied either in the form
+
+  A(z) = a(0) + a(1) * z + ... + a(DA) * z**DA
+
+  or as
+
+  B(z) = A(1/z) * A(z)
+       = b(0) + b(1) * (z + 1/z) + ... + b(DA) * (z**DA + 1/z**DA)
+                                                                 (1)
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ACONA
+      INTEGER           DA, INFO, LDWORK
+      DOUBLE PRECISION  RES
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), DWORK(*), E(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ACONA   CHARACTER*1
+          Indicates whether the coefficients of A(z) or B(z) =
+          A(1/z) * A(z) are to be supplied as follows:
+          = 'A':  The coefficients of A(z) are to be supplied;
+          = 'B':  The coefficients of B(z) are to be supplied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DA      (input) INTEGER
+          The degree of the polynomials A(z) and E(z).  DA &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
+          On entry, if ACONA = 'A', this array must contain the
+          coefficients of the polynomial A(z) in increasing powers
+          of z, and if ACONA = 'B', this array must contain the
+          coefficients b ,b ,...,b   of the polynomial B(z) in
+                        0  1      DA
+          equation (1). That is, A(i) = b    for i = 1,2,...,DA+1.
+                                         i-1
+          On exit, this array contains the coefficients of the
+          polynomial B(z) in eqation (1). Specifically, A(i)
+          contains b   ,  for i = 1,2,...DA+1.
+                    i-1
+
+  RES     (output) DOUBLE PRECISION
+          An estimate of the accuracy with which the coefficients of
+          the polynomial E(z) have been computed (see also METHOD
+          and NUMERICAL ASPECTS).
+
+  E       (output) DOUBLE PRECISION array, dimension (DA+1)
+          The coefficients of the spectral factor E(z) in increasing
+          powers of z.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  if on entry, ACONA = 'B' but the supplied
+                coefficients of the polynomial B(z) are not the
+                coefficients of A(1/z) * A(z) for some real A(z);
+                in this case, RES and E are unassigned;
+          = 3:  if the iterative process (see METHOD) has failed to
+                converge in 30 iterations;
+          = 4:  if the last computed iterate (see METHOD) is
+                unstable. If ACONA = 'B', then the supplied
+                coefficients of the polynomial B(z) may not be the
+                coefficients of A(1/z) * A(z) for some real A(z).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>      _                                               _
+  Let A(z) be the conjugate polynomial of A(z), i.e., A(z) = A(1/z).
+
+  The method used by the routine is based on applying the
+  Newton-Raphson iteration to the function
+            _       _
+     F(e) = A * A - e * e,
+
+  which leads to the iteration formulae (see [1] and [2])
+
+     _(i)   (i)  _(i)   (i)     _      )
+     q   * x   + x   * q    = 2 A * A  )
+                                       )   for i = 0, 1, 2,...
+      (i+1)    (i)   (i)               )
+     q     = (q   + x   )/2            )
+
+  The iteration starts from
+
+      (0)                                        DA
+     q   (z) = (b(0) + b(1) * z + ... + b(DA) * z  ) / SQRT( b(0))
+
+  which is a Hurwitz polynomial that has no zeros in the closed unit
+                                         (i)
+  circle (see [2], Theorem 3). Then lim q   = e, the convergence is
+  uniform and e is a Hurwitz polynomial.
+
+  The iterates satisfy the following conditions:
+           (i)
+     (a)  q    has no zeros in the closed unit circle,
+           (i)     (i-1)
+     (b)  q    &lt;= q     and
+           0       0
+           DA   (i) 2    DA     2
+     (c)  SUM (q   )  - SUM (A )  &gt;= 0.
+          k=0   k       k=0   k
+                                  (i)
+  The iterative process stops if q    violates (a), (b) or (c),
+  or if the condition
+                    _(i) (i)  _
+     (d)  RES  = ||(q   q   - A A)|| &lt; tol,
+
+  is satisfied, where || . || denotes the largest coefficient of
+                  _(i) (i)  _
+  the polynomial (q   q   - A A) and tol is an estimate of the
+                                                 _(i)  (i)
+  rounding error in the computed coefficients of q    q   . If
+                                         (i-1)
+  condition (a) or (b) is violated then q      is taken otherwise
+   (i)
+  q    is used. Thus the computed reciprocal polynomial E(z) = z**DA
+  * q(1/z) is stable. If there is no convergence after 30 iterations
+  then the routine returns with the Error Indicator (INFO) set to 3,
+  and the value of RES may indicate whether or not the last computed
+  iterate is close to the solution.
+                                            (0)
+  If ACONA = 'B', then it is possible that q    is not a Hurwitz
+  polynomial, in which case the equation e(1/z) * e(z) = B(z) has no
+  real solution (see [2], Theorem 3).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kucera, V.
+      Discrete Linear Control, The polynomial Approach.
+      John Wiley & Sons, Chichester, 1979.
+
+  [2] Vostry, Z.
+      New Algorithm for Polynomial Spectral Factorization with
+      Quadratic Convergence I.
+      Kybernetika, 11, pp. 415-422, 1975.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DAMAX
+      PARAMETER        ( DAMAX = 10 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 5*DAMAX+5 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RES
+      INTEGER          DA, I, INFO
+      CHARACTER*1      ACONA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB08ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      READ ( NIN, FMT = '()' )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = * ) DA, ACONA
+      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DA
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
+*        Compute the spectral factorization of the given polynomial.
+         CALL SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( ACONA, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 0, DA
+                  WRITE ( NOUT, FMT = 99995 ) I, A(I+1)
+   20          CONTINUE
+               WRITE ( NOUT, FMT = * )
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40 I = 0, DA
+               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) RES
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' SB08ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08ND = ',I2)
+99997 FORMAT (' The coefficients of the polynomial B(z) are ',//' powe',
+     $       'r of z     coefficient ')
+99996 FORMAT (' The coefficients of the spectral factor E(z) are ',
+     $       //' power of z     coefficient ')
+99995 FORMAT (2X,I5,9X,F9.4)
+99994 FORMAT (/' RES = ',1P,E8.1)
+99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08ND EXAMPLE PROGRAM DATA
+   2     A
+   2.0  4.5  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08ND EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial B(z) are 
+
+ power of z     coefficient 
+      0           25.2500
+      1           13.5000
+      2            2.0000
+ 
+ The coefficients of the spectral factor E(z) are 
+
+ power of z     coefficient 
+      0            0.5000
+      1            3.0000
+      2            4.0000
+
+ RES =  4.4E-16
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB09MD.html b/doc/_build/html/_static/doc/SB09MD.html
new file mode 100644
index 00000000..2e30961c
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB09MD.html
@@ -0,0 +1,257 @@
+<HTML>
+<HEAD><TITLE>SB09MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB09MD">SB09MD</A></H2>
+<H3>
+Evaluation of closeness of two multivariable sequences
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compare two multivariable sequences M1(k) and M2(k) for
+  k = 1,2,...,N, and evaluate their closeness. Each of the
+  parameters M1(k) and M2(k) is an NC by NB matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE,
+     $                   LDSE, PRE, LDPRE, TOL, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH1, LDH2, LDPRE, LDSE, LDSS, N, NB, NC
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H1(LDH1,*), H2(LDH2,*), PRE(LDPRE,*),
+     $                  SE(LDSE,*), SS(LDSS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of parameters.  N &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of rows in M1(k) and M2(k).  NC &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns in M1(k) and M2(k).  NB &gt;= 0.
+
+  H1      (input) DOUBLE PRECISION array, dimension (LDH1,N*NB)
+          The leading NC-by-N*NB part of this array must contain
+          the multivariable sequence M1(k), where k = 1,2,...,N.
+          Each parameter M1(k) is an NC-by-NB matrix, whose
+          (i,j)-th element must be stored in H1(i,(k-1)*NB+j) for
+          i = 1,2,...,NC and j = 1,2,...,NB.
+
+  LDH1    INTEGER
+          The leading dimension of array H1.  LDH1 &gt;= MAX(1,NC).
+
+  H2      (input) DOUBLE PRECISION array, dimension (LDH2,N*NB)
+          The leading NC-by-N*NB part of this array must contain
+          the multivariable sequence M2(k), where k = 1,2,...,N.
+          Each parameter M2(k) is an NC-by-NB matrix, whose
+          (i,j)-th element must be stored in H2(i,(k-1)*NB+j) for
+          i = 1,2,...,NC and j = 1,2,...,NB.
+
+  LDH2    INTEGER
+          The leading dimension of array H2.  LDH2 &gt;= MAX(1,NC).
+
+  SS      (output) DOUBLE PRECISION array, dimension (LDSS,NB)
+          The leading NC-by-NB part of this array contains the
+          matrix SS.
+
+  LDSS    INTEGER
+          The leading dimension of array SS.  LDSS &gt;= MAX(1,NC).
+
+  SE      (output) DOUBLE PRECISION array, dimension (LDSE,NB)
+          The leading NC-by-NB part of this array contains the
+          quadratic error matrix SE.
+
+  LDSE    INTEGER
+          The leading dimension of array SE.  LDSE &gt;= MAX(1,NC).
+
+  PRE     (output) DOUBLE PRECISION array, dimension (LDPRE,NB)
+          The leading NC-by-NB part of this array contains the
+          percentage relative error matrix PRE.
+
+  LDPRE   INTEGER
+          The leading dimension of array PRE.  LDPRE &gt;= MAX(1,NC).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in the computation of the error
+          matrices SE and PRE. If the user sets TOL to be less than
+          EPS then the tolerance is taken as EPS, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j)-th element of the matrix SS is defined by:
+                     N          2
+            SS    = SUM  M1  (k) .                            (1)
+              ij    k=1    ij
+
+  The (i,j)-th element of the quadratic error matrix SE is defined
+  by:
+                     N                      2
+            SE    = SUM  (M1  (k) - M2  (k)) .                (2)
+              ij    k=1     ij        ij
+
+  The (i,j)-th element of the percentage relative error matrix PRE
+  is defined by:
+
+            PRE   = 100 x SQRT( SE  / SS  ).                  (3)
+               ij                 ij    ij
+
+  The following precautions are taken by the routine to guard
+  against underflow and overflow:
+
+  (i) if ABS( M1  (k) ) &gt; 1/TOL or ABS( M1  (k) - M2  (k) ) &gt; 1/TOL,
+                ij                        ij        ij
+
+      then SE   and SS   are set to 1/TOL and PRE   is set to 1; and
+             ij       ij                         ij
+
+  (ii) if ABS( SS  ) &lt;= TOL, then PRE   is set to 100.
+                 ij                  ij
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+     2xNBxNCx(N+1) multiplications/divisions,
+     4xNBxNCxN     additions/subtractions and
+       NBxNC       square roots.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB09MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NCMAX, NBMAX
+      PARAMETER        ( NMAX = 20, NCMAX = 20, NBMAX = 20 )
+      INTEGER          LDH1, LDH2, LDSS, LDSE, LDPRE
+      PARAMETER        ( LDH1 = NCMAX, LDH2 = NCMAX, LDSS = NCMAX,
+     $                   LDSE = NCMAX, LDPRE = NCMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, N, NB, NC
+*     .. Local Arrays ..
+      DOUBLE PRECISION H1(LDH1,NMAX*NBMAX), H2(LDH2,NMAX*NBMAX),
+     $                 PRE(LDPRE,NBMAX), SE(LDSE,NBMAX), SS(LDSS,NBMAX)
+*     .. External Subroutines ..
+      EXTERNAL         SB09MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NC, NB, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE IF ( NB.LT.0 .OR. NB.GT.NBMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NB
+      ELSE IF ( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) NC
+      ELSE
+         READ ( NIN, FMT = * ) ( ( H1(I,J), I = 1,NC ), J = 1,N*NB )
+         READ ( NIN, FMT = * ) ( ( H2(I,J), I = 1,NC ), J = 1,N*NB )
+*        Compare the given sequences and evaluate their closeness.
+         CALL SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE, LDSE,
+     $                PRE, LDPRE, TOL, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, NC
+               WRITE ( NOUT, FMT = 99996 ) ( SS(I,J), J = 1,NB )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 40 I = 1, NC
+               WRITE ( NOUT, FMT = 99996 ) ( SE(I,J), J = 1,NB )
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 60 I = 1, NC
+               WRITE ( NOUT, FMT = 99996 ) ( PRE(I,J), J = 1,NB )
+   60       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB09MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB09MD = ',I2)
+99997 FORMAT (' The sum-of-squares matrix SS is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The quadratic error matrix SE is ')
+99994 FORMAT (/' The percentage relative error matrix PRE is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
+99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB09MD EXAMPLE PROGRAM DATA
+   2     2     2     0.0
+   1.3373  0.1205  0.6618 -0.3372
+  -0.4062  1.6120  0.9299  0.7429
+   1.1480 -0.1837  0.8843 -0.4947
+  -0.4616  1.4674  0.6028  0.9524
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB09MD EXAMPLE PROGRAM RESULTS
+
+ The sum-of-squares matrix SS is 
+   1.9534   1.3027
+   2.6131   0.6656
+
+ The quadratic error matrix SE is 
+   0.0389   0.1565
+   0.1134   0.0687
+
+ The percentage relative error matrix PRE is 
+  14.1125  34.6607
+  20.8363  32.1262
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB10AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10AD">SB10AD</A></H2>
+<H3>
+H-infinity optimal controller using modified Glover's and Doyle's formulas (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity optimal n-state
+  controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  using modified Glover's and Doyle's 1988 formulas, for the system
+
+           | A  | B1  B2  |   | A | B |
+       P = |----|---------| = |---|---|
+           | C1 | D11 D12 |   | C | D |
+           | C2 | D21 D22 |
+
+  and for the estimated minimal possible value of gamma with respect
+  to GTOL, where B2 has as column size the number of control inputs
+  (NCON) and C2 has as row size the number of measurements (NMEAS)
+  being provided to the controller, and then to compute the matrices
+  of the closed-loop system
+
+           | AC | BC |
+       G = |----|----|,
+           | CC | DC |
+
+  if the stabilizing controller exists.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
+       |    C1        D12 |
+
+  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
+       |    C2        D21 |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10AD( JOB, N, M, NP, NCON, NMEAS, GAMMA, A, LDA,
+     $                   B, LDB, C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK,
+     $                   LDCK, DK, LDDK, AC, LDAC, BC, LDBC, CC, LDCC,
+     $                   DC, LDDC, RCOND, GTOL, ACTOL, IWORK, LIWORK,
+     $                   DWORK, LDWORK, BWORK, LBWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, JOB, LBWORK, LDA, LDAC, LDAK, LDB, LDBC,
+     $                   LDBK, LDC, LDCC, LDCK, LDD, LDDC, LDDK, LDWORK,
+     $                   LIWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   ACTOL, GAMMA, GTOL
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
+     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
+     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
+     $                   DWORK( * ), RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  JOB     (input) INTEGER
+          Indicates the strategy for reducing the GAMMA value, as
+          follows:
+          = 1: Use bisection method for decreasing GAMMA from GAMMA
+               to GAMMAMIN until the closed-loop system leaves
+               stability.
+          = 2: Scan from GAMMA to 0 trying to find the minimal GAMMA
+               for which the closed-loop system retains stability.
+          = 3: First bisection, then scanning.
+          = 4: Find suboptimal controller only.
+
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input/output) DOUBLE PRECISION
+          The initial value of gamma on input. It is assumed that
+          gamma is sufficiently large so that the controller is
+          admissible. GAMMA &gt;= 0.
+          On output it contains the minimal estimated gamma.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
+          The leading 2*N-by-2*N part of this array contains the
+          closed-loop system state matrix AC.
+
+  LDAC    INTEGER
+          The leading dimension of the array AC.
+          LDAC &gt;= max(1,2*N).
+
+  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
+          The leading 2*N-by-(M-NCON) part of this array contains
+          the closed-loop system input matrix BC.
+
+  LDBC    INTEGER
+          The leading dimension of the array BC.
+          LDBC &gt;= max(1,2*N).
+
+  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
+          The leading (NP-NMEAS)-by-2*N part of this array contains
+          the closed-loop system output matrix CC.
+
+  LDCC    INTEGER
+          The leading dimension of the array CC.
+          LDCC &gt;= max(1,NP-NMEAS).
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
+          The leading (NP-NMEAS)-by-(M-NCON) part of this array
+          contains the closed-loop system input/output matrix DC.
+
+  LDDC    INTEGER
+          The leading dimension of the array DC.
+          LDDC &gt;= max(1,NP-NMEAS).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+                   For the last successful step:
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  GTOL    DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of GAMMA
+          and its distance to the estimated minimal possible
+          value of GAMMA.
+          If GTOL &lt;= 0, then a default value equal to sqrt(EPS)
+          is used, where EPS is the relative machine precision.
+
+  ACTOL   DOUBLE PRECISION
+          Upper bound for the poles of the closed-loop system
+          used for determining if it is stable.
+          ACTOL &lt;= 0 for stable systems.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= max(2*max(N,M-NCON,NP-NMEAS,NCON,NMEAS),N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= LW1 + max(1,LW2,LW3,LW4,LW5 + MAX(LW6,LW7)),
+          where
+          LW1 = N*M + NP*N + NP*M + M2*M2 + NP2*NP2;
+          LW2 = max( ( N + NP1 + 1 )*( N + M2 ) +
+                       max( 3*( N + M2 ) + N + NP1, 5*( N + M2 ) ),
+                     ( N + NP2 )*( N + M1 + 1 ) +
+                       max( 3*( N + NP2 ) + N + M1, 5*( N + NP2 ) ),
+                     M2 + NP1*NP1 + max( NP1*max( N, M1 ),
+                                         3*M2 + NP1, 5*M2 ),
+                     NP2 + M1*M1 +  max( max( N, NP1 )*M1,
+                                         3*NP2 + M1, 5*NP2 ) );
+          LW3 = max( ND1*M1 + max( 4*min( ND1, M1 ) + max( ND1,M1 ),
+                                   6*min( ND1, M1 ) ),
+                     NP1*ND2 + max( 4*min( NP1, ND2 ) +
+                                                     max( NP1,ND2 ),
+                                    6*min( NP1, ND2 ) ) );
+          LW4 = 2*M*M + NP*NP + 2*M*N + M*NP + 2*N*NP;
+          LW5 = 2*N*N + M*N + N*NP;
+          LW6 = max( M*M   + max( 2*M1, 3*N*N +
+                                  max( N*M, 10*N*N + 12*N + 5 ) ),
+                     NP*NP + max( 2*NP1, 3*N*N +
+                                  max( N*NP, 10*N*N + 12*N + 5 ) ));
+          LW7 = M2*NP2 + NP2*NP2 + M2*M2 +
+                max( ND1*ND1 + max( 2*ND1, ( ND1 + ND2 )*NP2 ),
+                     ND2*ND2 + max( 2*ND2, ND2*M2 ), 3*N,
+                     N*( 2*NP2 + M2 ) +
+                     max( 2*N*M2, M2*NP2 +
+                                  max( M2*M2 + 3*M2, NP2*( 2*NP2 +
+                                       M2 + max( NP2, N ) ) ) ) );
+          M1  = M   - M2, NP1 = NP - NP2,
+          ND1 = NP1 - M2, ND2 = M1 - NP2.
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+
+  LBWORK  INTEGER
+          The dimension of the array BWORK.  LBWORK &gt;= 2*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix | A-j*omega*I  B2  | had not full
+                              |    C1        D12 |
+                column rank in respect to the tolerance EPS;
+          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
+                              |    C2        D21 |
+                rank in respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance SQRT(EPS);
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance SQRT(EPS);
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21);
+                             |C1  D12|  |C2  D21|
+          = 6:  if the controller is not admissible (too small value
+                of gamma);
+          = 7:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 8:  if the Y-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
+                zero [3];
+          = 10: if there are numerical problems when estimating
+                singular values of D1111, D1112, D1111', D1121';
+          = 11: if the matrices Inp2 - D22*DK or Im2 - DK*D22
+                are singular to working precision;
+          = 12: if a stabilizing controller cannot be found.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's 1988 formulas [1],
+  [2], modified to improve the efficiency as described in [3].
+
+  JOB = 1: It tries with a decreasing value of GAMMA, starting with
+  the given, and with the newly obtained controller estimates of the
+  closed-loop system. If it is stable, (i.e., max(eig(AC)) &lt; ACTOL)
+  the iterations can be continued until the given tolerance between
+  GAMMA and the estimated GAMMAMIN is reached. Otherwise, in the
+  next step GAMMA is increased. The step in the all next iterations
+  is step = step/2. The closed-loop system is obtained by the
+  formulas given in [2].
+
+  JOB = 2: The same as for JOB = 1, but with non-varying step till
+  GAMMA = 0, step = max(0.1, GTOL).
+
+  JOB = 3: Combines the JOB = 1 and JOB = 2 cases for a quicker
+  procedure.
+
+  JOB = 4: Suboptimal controller for current GAMMA only.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, MA, 1995.
+
+  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of continuous-time
+      linear control systems.
+      Rep. 98-14, Department of Engineering, Leicester University,
+      Leicester, U.K., 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and on the condition numbers of
+  the two Riccati equations, as given by the values of RCOND(1),
+  RCOND(2), RCOND(3) and RCOND(4), respectively.
+  This approach by estimating the closed-loop system and checking
+  its poles seems to be reliable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB10DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10DD">SB10DD</A></H2>
+<H3>
+H-infinity (sub)optimal controller for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity (sub)optimal n-state
+  controller
+
+                        | AK | BK |
+                    K = |----|----|,
+                        | CK | DK |
+
+  for the discrete-time system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  and for a given value of gamma, where B2 has as column size the
+  number of control inputs (NCON) and C2 has as row size the number
+  of measurements (NMEAS) being provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+            j*Theta
+  (A3) | A-e       *I  B2  | has full column rank for all
+       |    C1         D12 |
+
+       0 &lt;= Theta &lt; 2*Pi ,
+
+            j*Theta
+  (A4) | A-e       *I  B1  |  has full row rank for all
+       |    C2         D21 |
+
+       0 &lt;= Theta &lt; 2*Pi .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                   DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
+     $                   DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, LDX, LDZ, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( * ), X( LDX, * ), Z( LDZ, * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt; 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the matrix
+          Z, solution of the Z-Riccati equation.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (8)
+          RCOND contains estimates of the reciprocal condition
+          numbers of the matrices which are to be inverted and
+          estimates of the reciprocal condition numbers of the
+          Riccati equations which have to be solved during the
+          computation of the controller. (See the description of
+          the algorithm in [2].)
+          RCOND(1) contains the reciprocal condition number of the
+                   matrix R3;
+          RCOND(2) contains the reciprocal condition number of the
+                   matrix R1 - R2'*inv(R3)*R2;
+          RCOND(3) contains the reciprocal condition number of the
+                   matrix V21;
+          RCOND(4) contains the reciprocal condition number of the
+                   matrix St3;
+          RCOND(5) contains the reciprocal condition number of the
+                   matrix V12;
+          RCOND(6) contains the reciprocal condition number of the
+                   matrix Im2 + DKHAT*D22
+          RCOND(7) contains the reciprocal condition number of the
+                   X-Riccati equation;
+          RCOND(8) contains the reciprocal condition number of the
+                   Z-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used in neglecting the small singular values
+          in rank determination. If TOL &lt;= 0, then a default value
+          equal to 1000*EPS is used, where EPS is the relative
+          machine precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*max(M2,N),M,M2+NP2,N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(LW1,LW2,LW3,LW4), where
+          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2));
+          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2));
+          LW3 = 13*N*N + 2*M*M + N*(8*M+NP2) + M1*(M2+NP2) + 6*N +
+                max(14*N+23,16*N,2*N+M,3*M);
+          LW4 = 13*N*N + M*M + (8*N+M+M2+2*NP2)*(M2+NP2) + 6*N +
+                N*(M+NP2) + max(14*N+23,16*N,2*N+M2+NP2,3*(M2+NP2));
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          max((N+Q)*(N+Q+6),13*N*N + M*M + 2*Q*Q + N*(M+Q) +
+              max(M*(M+7*N),2*Q*(8*N+M+2*Q)) + 6*N +
+              max(14*N+23,16*N,2*N+max(M,2*Q),3*max(M,2*Q)).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                   j*Theta
+          = 1:  if the matrix | A-e       *I  B2  | had not full
+                              |      C1       D12 |
+                column rank;
+                                   j*Theta
+          = 2:  if the matrix | A-e       *I  B1  | had not full
+                              |      C2       D21 |
+                row rank;
+          = 3:  if the matrix D12 had not full column rank;
+          = 4:  if the matrix D21 had not full row rank;
+          = 5:  if the controller is not admissible (too small value
+                of gamma);
+          = 6:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 7:  if the Z-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 8:  if the matrix Im2 + DKHAT*D22 is singular.
+          = 9:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21).
+                             |C1  D12|  |C2  D21|
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Green, M. and Limebeer, D.J.N.
+      Linear Robust Control.
+      Prentice-Hall, Englewood Cliffs, NJ, 1995.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  With approaching the minimum value of gamma some of the matrices
+  which are to be inverted tend to become ill-conditioned and
+  the X- or Z-Riccati equation may also become ill-conditioned
+  which may deteriorate the accuracy of the result. (The
+  corresponding reciprocal condition numbers are given in
+  the output array RCOND.)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK, LDX,
+     $                 LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
+     $                   LDDK = PMAX, LDX = NMAX, LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*MAX( MMAX, NMAX ),
+     $                                 MMAX + PMAX, NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK =
+     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
+     $                        13*NMAX*NMAX + MMAX*MMAX + 2*MPMX*MPMX +
+     $                        NMAX*( MMAX + MPMX ) +
+     $                        MAX( MMAX*( MMAX + 7*NMAX ),
+     $                             2*MPMX*( 8*NMAX + MMAX + 2*MPMX ) )
+     $                             + 6*NMAX +
+     $                             MAX( 14*NMAX + 23, 16*NMAX,
+     $                                  2*NMAX + MAX( MMAX, 2*MPMX ),
+     $                                  3*MAX( MMAX, 2*MPMX ) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION GAMMA, TOL
+      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,PMAX), X(LDX,NMAX),
+     $                 Z(LDZ,NMAX), DWORK(LDWORK), RCOND( 8 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) GAMMA, TOL
+         CALL SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
+     $                DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 8 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10DD =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10DD EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -0.7  0.0  0.3  0.0 -0.5 -0.1
+  -0.6  0.2 -0.4 -0.3  0.0  0.0
+  -0.5  0.7 -0.1  0.0  0.0 -0.8
+  -0.7  0.0  0.0 -0.5 -1.0  0.0
+   0.0  0.3  0.6 -0.9  0.1 -0.4
+   0.5 -0.8  0.0  0.0  0.2 -0.9
+  -1.0 -2.0 -2.0  1.0  0.0
+   1.0  0.0  1.0 -2.0  1.0
+  -3.0 -4.0  0.0  2.0 -2.0
+   1.0 -2.0  1.0  0.0 -1.0
+   0.0  1.0 -2.0  0.0  3.0
+   1.0  0.0  3.0 -1.0 -2.0
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0  0.0
+   0.0  2.0  0.0 -4.0  0.0 -2.0
+   1.0 -3.0  0.0  0.0  3.0  1.0
+   0.0  1.0 -2.0  1.0  0.0 -2.0
+   1.0 -1.0 -2.0  0.0  0.0
+   0.0  1.0  0.0  1.0  0.0
+   2.0 -1.0 -3.0  0.0  1.0
+   0.0  1.0  0.0  1.0 -1.0
+   0.0  0.0  1.0  2.0  1.0
+ 111.294   0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10DD EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+ -18.0030  52.0376  26.0831  -0.4271 -40.9022  18.0857
+  18.8203 -57.6244 -29.0938   0.5870  45.3309 -19.8644
+ -26.5994  77.9693  39.0368  -1.4020 -60.1129  26.6910
+ -21.4163  62.1719  30.7507  -0.9201 -48.6221  21.8351
+  -0.8911   4.2787   2.3286  -0.2424  -3.0376   1.2169
+  -5.3286  16.1955   8.4824  -0.2489 -12.2348   5.1590
+
+ The controller input matrix BK is
+
+  16.9788  14.1648
+ -18.9215 -15.6726
+  25.2046  21.2848
+  20.1122  16.8322
+   1.4104   1.2040
+   5.3181   4.5149
+
+ The controller output matrix CK is
+
+  -9.1941  27.5165  13.7364  -0.3639 -21.5983   9.6025
+   3.6490 -10.6194  -5.2772   0.2432   8.1108  -3.6293
+
+ The controller matrix DK is
+
+   9.0317   7.5348
+  -3.4006  -2.8219
+
+ The estimated condition numbers are
+
+  0.24960D+00  0.98548D+00  0.99186D+00  0.63733D-05  0.48625D+00
+  0.29430D-01  0.56942D-02  0.12470D-01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ED.html b/doc/_build/html/_static/doc/SB10ED.html
new file mode 100644
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+++ b/doc/_build/html/_static/doc/SB10ED.html
@@ -0,0 +1,466 @@
+<HTML>
+<HEAD><TITLE>SB10ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ED">SB10ED</A></H2>
+<H3>
+H2 optimal state controller for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal n-state controller
+
+                        | AK | BK |
+                    K = |----|----|
+                        | CK | DK |
+
+  for the discrete-time system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---| ,
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+            j*Theta
+  (A3) | A-e       *I  B2  | has full column rank for all
+       |    C1         D12 |
+
+       0 &lt;= Theta &lt; 2*Pi ,
+
+            j*Theta
+  (A4) | A-e       *I  B1  |  has full row rank for all
+       |    C2         D21 |
+
+       0 &lt;= Theta &lt; 2*Pi .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input/worksp.) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+          This array is modified internally, but it is restored on
+          exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (7)
+          RCOND contains estimates the reciprocal condition
+          numbers of the matrices which are to be inverted and the
+          reciprocal condition numbers of the Riccati equations
+          which have to be solved during the computation of the
+          controller. (See the description of the algorithm in [2].)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix TU;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix TY;
+          RCOND(3) contains the reciprocal condition number of the
+                   matrix Im2 + B2'*X2*B2;
+          RCOND(4) contains the reciprocal condition number of the
+                   matrix Ip2 + C2*Y2*C2';
+          RCOND(5) contains the reciprocal condition number of the
+                   X-Riccati equation;
+          RCOND(6) contains the reciprocal condition number of the
+                   Y-Riccati equation;
+          RCOND(7) contains the reciprocal condition number of the
+                   matrix Im2 + DKHAT*D22 .
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the
+          transformations applied for diagonalizing D12 and D21,
+          and for checking the nonsingularity of the matrices to be
+          inverted. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*M2,2*N,N*N,NP2))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
+                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
+          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
+          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
+          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
+          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
+          LW5 = 2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),M2*(N+M2+
+                          max(3,M1)),NP2*(N+NP2+3)),
+          LW6 = max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2),
+          with M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
+                  2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),
+                            Q*(N+Q+max(Q,3)))).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                   j*Theta
+          = 1:  if the matrix | A-e       *I  B2  | had not full
+                              |      C1       D12 |
+                column rank in respect to the tolerance EPS;
+                                   j*Theta
+          = 2:  if the matrix | A-e       *I  B1  |  had not full
+                              |      C2       D21 |
+                row rank in respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A-I  B2 |, |A-I  B1 |, D12 or D21).
+                             |C1   D12|  |C2   D21|
+          = 6:  if the X-Riccati equation was not solved
+                successfully;
+          = 7:  if the matrix Im2 + B2'*X2*B2 is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL);
+          = 8:  if the Y-Riccati equation was not solved
+                successfully;
+          = 9:  if the matrix Ip2 + C2*Y2*C2' is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL);
+          =10:  if the matrix Im2 + DKHAT*D22 is singular, or its
+                estimated condition number is larger than or equal
+                to 1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  matrices which are to be inverted and on the condition numbers of
+  the matrix Riccati equations which are to be solved in the
+  computation of the controller. (The corresponding reciprocal
+  condition numbers are given in the output array RCOND.)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
+     $                   LDDK = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*MMAX, PMAX, 2*NMAX,
+     $                                 NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
+     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
+     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
+     $                   2*NMAX*NMAX + MAX( 14*NMAX*NMAX + 6*NMAX +
+     $                   MAX( 14*NMAX + 23, 16*NMAX ),
+     $                   MPMX*( NMAX + MPMX + MAX( MPMX, 3 ) ) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
+     $                 RCOND( 8 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) TOL
+         CALL SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 7 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10ED =',I2)
+99997 FORMAT (' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10ED EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -0.7  0.0  0.3  0.0 -0.5 -0.1
+  -0.6  0.2 -0.4 -0.3  0.0  0.0
+  -0.5  0.7 -0.1  0.0  0.0 -0.8
+  -0.7  0.0  0.0 -0.5 -1.0  0.0
+   0.0  0.3  0.6 -0.9  0.1 -0.4
+   0.5 -0.8  0.0  0.0  0.2 -0.9
+  -1.0 -2.0 -2.0  1.0  0.0
+   1.0  0.0  1.0 -2.0  1.0
+  -3.0 -4.0  0.0  2.0 -2.0
+   1.0 -2.0  1.0  0.0 -1.0
+   0.0  1.0 -2.0  0.0  3.0
+   1.0  0.0  3.0 -1.0 -2.0
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0  0.0
+   0.0  2.0  0.0 -4.0  0.0 -2.0
+   1.0 -3.0  0.0  0.0  3.0  1.0
+   0.0  1.0 -2.0  1.0  0.0 -2.0
+   1.0 -1.0 -2.0  0.0  0.0
+   0.0  1.0  0.0  1.0  0.0
+   2.0 -1.0 -3.0  0.0  1.0
+   0.0  1.0  0.0  1.0 -1.0
+   0.0  0.0  1.0  2.0  1.0
+   0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10ED EXAMPLE PROGRAM RESULTS
+
+ The controller state matrix AK is
+
+  -0.0551  -2.1891  -0.6607  -0.2532   0.6674  -1.0044
+  -1.0379   2.3804   0.5031   0.3960  -0.6605   1.2673
+  -0.0876  -2.1320  -0.4701  -1.1461   1.2927  -1.5116
+  -0.1358  -2.1237  -0.9560  -0.7144   0.6673  -0.7957
+   0.4900   0.0895   0.2634  -0.2354   0.1623  -0.2663
+   0.1672  -0.4163   0.2871  -0.1983   0.4944  -0.6967
+
+ The controller input matrix BK is
+
+  -0.5985  -0.5464
+   0.5285   0.6087
+  -0.7600  -0.4472
+  -0.7288  -0.6090
+   0.0532   0.0658
+  -0.0663   0.0059
+
+ The controller output matrix CK is
+
+   0.2500  -1.0200  -0.3371  -0.2733   0.2747  -0.4444
+   0.0654   0.2095   0.0632   0.2089  -0.1895   0.1834
+
+ The controller matrix DK is
+
+  -0.2181  -0.2070
+   0.1094   0.1159
+
+ The estimated condition numbers are
+
+  0.10000D+01  0.10000D+01  0.25207D+00  0.83985D-01  0.48628D-02
+  0.55015D-03  0.49886D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10FD.html b/doc/_build/html/_static/doc/SB10FD.html
new file mode 100644
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+++ b/doc/_build/html/_static/doc/SB10FD.html
@@ -0,0 +1,516 @@
+<HTML>
+<HEAD><TITLE>SB10FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10FD">SB10FD</A></H2>
+<H3>
+H-infinity (sub)optimal state controller for a continuous-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity (sub)optimal n-state
+  controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  using modified Glover's and Doyle's 1988 formulas, for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  and for a given value of gamma, where B2 has as column size the
+  number of control inputs (NCON) and C2 has as row size the number
+  of measurements (NMEAS) being provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
+       |    C1        D12 |
+
+  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
+       |    C2        D21 |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                   DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                   BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA, TOL
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations for computing the normalized form in
+          SLICOT Library routine SB10PD. Transformation matrices
+          whose reciprocal condition numbers are less than TOL are
+          not allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = max(2*max(N,M-NCON,NP-NMEAS,NCON),N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
+                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
+          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
+          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
+          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
+          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
+          LW5 = 2*N*N + N*(M+NP) +
+                max(1,M*M + max(2*M1,3*N*N+max(N*M,10*N*N+12*N+5)),
+                    NP*NP + max(2*NP1,3*N*N +
+                                max(N*NP,10*N*N+12*N+5))),
+          LW6 = 2*N*N + N*(M+NP) +
+                max(1, M2*NP2 + NP2*NP2 + M2*M2 +
+                    max(D1*D1 + max(2*D1, (D1+D2)*NP2),
+                        D2*D2 + max(2*D2, D2*M2), 3*N,
+                        N*(2*NP2 + M2) +
+                        max(2*N*M2, M2*NP2 +
+                                    max(M2*M2+3*M2, NP2*(2*NP2+
+                                           M2+max(NP2,N)))))),
+          with D1 = NP1 - M2, D2 = M1 - NP2,
+              NP1 = NP - NP2, M1 = M - M2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
+            2*N*(N+2*Q)+max(1,4*Q*Q+
+                            max(2*Q,3*N*N+max(2*N*Q,10*N*N+12*N+5)),
+                              Q*(3*N+3*Q+max(2*N,4*Q+max(N,Q))))).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix | A-j*omega*I  B2  | had not full
+                              |    C1        D12 |
+                column rank in respect to the tolerance EPS;
+          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
+                              |    C2        D21 |
+                rank in respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21).
+                             |C1  D12|  |C2  D21|
+          = 6:  if the controller is not admissible (too small value
+                of gamma);
+          = 7:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 8:  if the Y-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
+                zero [3].
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's 1988 formulas [1],
+  [2] modified to improve the efficiency as described in [3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of continuous-time
+      linear control systems.
+      Rep. 98-14, Department of Engineering, Leicester University,
+      Leicester, U.K., 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and on the condition numbers of
+  the two Riccati equations, as given by the values of RCOND(1),
+  RCOND(2), RCOND(3) and RCOND(4), respectively.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, N2MAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10, N2MAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK,
+     $                 LDAC, LDBC, LDCC, LDDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = MMAX,
+     $                   LDDK = MMAX, LDAC = 2*NMAX, LDBC = 2*NMAX,
+     $                   LDCC = PMAX, LDDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*MAX( NMAX, MMAX, PMAX ),
+     $                            NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
+     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
+     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
+     $                   2*NMAX*( NMAX + 2*MPMX ) +
+     $                   MAX( 4*MPMX*MPMX + MAX( 2*MPMX, 3*NMAX*NMAX +
+     $                   MAX( 2*NMAX*MPMX, 10*NMAX*NMAX+12*NMAX+5 ) ),
+     $                   MPMX*( 3*NMAX + 3*MPMX +
+     $                          MAX( 2*NMAX, 4*MPMX +
+     $                               MAX( NMAX, MPMX ) ) ) ) ) )
+*     .. Local Scalars ..
+      INTEGER SDIM
+      LOGICAL SELECT
+      DOUBLE PRECISION GAMMA, TOL
+      INTEGER          I, INFO1, INFO2, INFO3, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(N2MAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDAK,NMAX), AC(LDAC,N2MAX),
+     $                 B(LDB,MMAX), BK(LDBK,PMAX), BC(LDBC,MMAX),
+     $                 C(LDC,NMAX), CK(LDCK,NMAX), CC(LDCC,N2MAX),
+     $                 D(LDD,MMAX), DK(LDDK,PMAX), DC(LDDC,MMAX),
+     $                 DWORK(LDWORK), RCOND( 4 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10FD, SB10LD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99984 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) GAMMA, TOL
+*        Compute the suboptimal controller
+         CALL SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99989 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99989 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99989 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99993 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99989 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99988 ) ( RCOND(I), I = 1, 4 )
+*           Compute the closed-loop matrices
+            CALL SB10LD(N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                  D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                  AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
+     $                  DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.EQ.0 ) THEN
+*              Compute the closed-loop poles
+               CALL DGEES( 'N','N', SELECT, 2*N, AC, LDAC, SDIM,
+     $                     DWORK(1), DWORK(2*N+1), DWORK, 2*N,
+     $                     DWORK(4*N+1), LDWORK-4*N, BWORK, INFO3)
+*
+               IF( INFO3.EQ.0 ) THEN
+                  WRITE( NOUT, FMT = 99991 )
+                  WRITE( NOUT, FMT = 99988 ) (DWORK(I), I =1, 2*N)
+                  WRITE( NOUT, FMT = 99990 )
+                  WRITE( NOUT, FMT = 99988 ) (DWORK(2*N+I), I =1, 2*N)
+               ELSE
+                  WRITE( NOUT, FMT = 99996 ) INFO3
+               END IF
+            ELSE
+               WRITE( NOUT, FMT = 99997 ) INFO2
+            END IF
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10FD =',I2)
+99997 FORMAT (/' INFO on exit from SB10LD =',I2)
+99996 FORMAT (' The controller state matrix AK is'/)
+99995 FORMAT (/' The controller input matrix BK is'/)
+99994 FORMAT (/' The controller output matrix CK is'/)
+99993 FORMAT (/' The controller matrix DK is'/)
+99992 FORMAT (/' The estimated condition numbers are'/)
+99991 FORMAT (/' The real parts of the closed-loop system poles are'/)
+99990 FORMAT (/' The imaginary parts of the closed-loop system',
+     $           ' poles are'/)
+99989 FORMAT (10(1X,F8.4))
+99988 FORMAT ( 5(1X,D12.5))
+99987 FORMAT (/' N is out of range.',/' N = ',I5)
+99986 FORMAT (/' M is out of range.',/' M = ',I5)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+99984 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99983 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10FD EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -1.0  0.0  4.0  5.0 -3.0 -2.0
+  -2.0  4.0 -7.0 -2.0  0.0  3.0
+  -6.0  9.0 -5.0  0.0  2.0 -1.0
+  -8.0  4.0  7.0 -1.0 -3.0  0.0
+   2.0  5.0  8.0 -9.0  1.0 -4.0
+   3.0 -5.0  8.0  0.0  2.0 -6.0
+  -3.0 -4.0 -2.0  1.0  0.0
+   2.0  0.0  1.0 -5.0  2.0
+  -5.0 -7.0  0.0  7.0 -2.0
+   4.0 -6.0  1.0  1.0 -2.0
+  -3.0  9.0 -8.0  0.0  5.0
+   1.0 -2.0  3.0 -6.0 -2.0
+   1.0 -1.0  2.0 -4.0  0.0 -3.0
+  -3.0  0.0  5.0 -1.0  1.0  1.0
+  -7.0  5.0  0.0 -8.0  2.0 -2.0
+   9.0 -3.0  4.0  0.0  3.0  7.0
+   0.0  1.0 -2.0  1.0 -6.0 -2.0
+   1.0 -2.0 -3.0  0.0  0.0
+   0.0  4.0  0.0  1.0  0.0
+   5.0 -3.0 -4.0  0.0  1.0
+   0.0  1.0  0.0  1.0 -3.0
+   0.0  0.0  1.0  7.0  1.0
+  15.0  0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10FD EXAMPLE PROGRAM RESULTS
+
+ The controller state matrix AK is
+
+  -2.8043  14.7367   4.6658   8.1596   0.0848   2.5290
+   4.6609   3.2756  -3.5754  -2.8941   0.2393   8.2920
+ -15.3127  23.5592  -7.1229   2.7599   5.9775  -2.0285
+ -22.0691  16.4758  12.5523 -16.3602   4.4300  -3.3168
+  30.6789  -3.9026  -1.3868  26.2357  -8.8267  10.4860
+  -5.7429   0.0577  10.8216 -11.2275   1.5074 -10.7244
+
+ The controller input matrix BK is
+
+  -0.1581  -0.0793
+  -0.9237  -0.5718
+   0.7984   0.6627
+   0.1145   0.1496
+  -0.6743  -0.2376
+   0.0196  -0.7598
+
+ The controller output matrix CK is
+
+  -0.2480  -0.1713  -0.0880   0.1534   0.5016  -0.0730
+   2.8810  -0.3658   1.3007   0.3945   1.2244   2.5690
+
+ The controller matrix DK is
+
+   0.0554   0.1334
+  -0.3195   0.0333
+
+ The estimated condition numbers are
+
+  0.10000D+01  0.10000D+01  0.11241D-01  0.80492D-03
+
+ The real parts of the closed-loop system poles are
+
+ -0.10731D+03 -0.66556D+02 -0.38269D+02 -0.38269D+02 -0.20089D+02
+ -0.62557D+01 -0.62557D+01 -0.32405D+01 -0.32405D+01 -0.17178D+01
+ -0.41466D+01 -0.76437D+01
+
+ The imaginary parts of the closed-loop system poles are
+
+  0.00000D+00  0.00000D+00  0.13114D+02 -0.13114D+02  0.00000D+00
+  0.12961D+02 -0.12961D+02  0.67998D+01 -0.67998D+01  0.00000D+00
+  0.00000D+00  0.00000D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10HD.html b/doc/_build/html/_static/doc/SB10HD.html
new file mode 100644
index 00000000..99268016
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10HD.html
@@ -0,0 +1,417 @@
+<HTML>
+<HEAD><TITLE>SB10HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10HD">SB10HD</A></H2>
+<H3>
+H2 optimal state controller for a continuous-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal n-state controller
+
+           | AK | BK |
+       K = |----|----|
+           | CK | DK |
+
+  for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---| ,
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) The block D11 of D is zero,
+
+  (A3) D12 is full column rank and D21 is full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations for computing the normalized form in
+          SLICOT Library routine SB10UD. Transformation matrices
+          whose reciprocal condition numbers are less than TOL are
+          not allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*N,N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
+                    max(max(M2 + NP1*NP1 +
+                            max(NP1*N,3*M2+NP1,5*M2),
+                            NP2 + M1*M1 +
+                            max(M1*N,3*NP2+M1,5*NP2),
+                            N*M2,NP2*N,NP2*M2,1),
+                            N*(14*N+12+M2+NP2)+5),
+          where M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          2*Q*(3*Q+2*N)+max(1,Q*(Q+max(N,5)+1),N*(14*N+12+2*Q)+5).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 2:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 3:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices D12 or D21).
+          = 4:  if the X-Riccati equation was not solved
+                successfully;
+          = 5:  if the Y-Riccati equation was not solved
+                successfully.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and on the condition numbers of
+  the two Riccati equations, as given by the values of RCOND(1),
+  RCOND(2), RCOND(3) and RCOND(4), respectively.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
+     $                   LDDK = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MPMX*( 2*NMAX + 3*MPMX ) +
+     $                   MAX( MPMX*( MPMX + MAX( NMAX, 5 ) + 1 ),
+     $                   NMAX*( 14*NMAX + 12 + 2*MPMX ) + 5 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
+     $                 RCOND( 4 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) TOL
+*        Compute the optimal H2 controller
+         CALL SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10HD =',I2)
+99997 FORMAT (' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (6(1X,F10.4))
+99991 FORMAT (5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10HD EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -1.0  0.0  4.0  5.0 -3.0 -2.0
+  -2.0  4.0 -7.0 -2.0  0.0  3.0
+  -6.0  9.0 -5.0  0.0  2.0 -1.0
+  -8.0  4.0  7.0 -1.0 -3.0  0.0
+   2.0  5.0  8.0 -9.0  1.0 -4.0
+   3.0 -5.0  8.0  0.0  2.0 -6.0
+  -3.0 -4.0 -2.0  1.0  0.0
+   2.0  0.0  1.0 -5.0  2.0
+  -5.0 -7.0  0.0  7.0 -2.0
+   4.0 -6.0  1.0  1.0 -2.0
+  -3.0  9.0 -8.0  0.0  5.0
+   1.0 -2.0  3.0 -6.0 -2.0
+   1.0 -1.0  2.0 -4.0  0.0 -3.0
+  -3.0  0.0  5.0 -1.0  1.0  1.0
+  -7.0  5.0  0.0 -8.0  2.0 -2.0
+   9.0 -3.0  4.0  0.0  3.0  7.0
+   0.0  1.0 -2.0  1.0 -6.0 -2.0
+   0.0  0.0  0.0 -4.0 -1.0
+   0.0  0.0  0.0  1.0  0.0
+   0.0  0.0  0.0  0.0  1.0
+   3.0  1.0  0.0  1.0 -3.0
+  -2.0  0.0  1.0  7.0  1.0
+   0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10HD EXAMPLE PROGRAM RESULTS
+
+ The controller state matrix AK is
+
+    88.0015  -145.7298   -46.2424    82.2168   -45.2996   -31.1407
+    25.7489   -31.4642   -12.4198     9.4625    -3.5182     2.7056
+    54.3008  -102.4013   -41.4968    50.8412   -20.1286   -26.7191
+   108.1006  -198.0785   -45.4333    70.3962   -25.8591   -37.2741
+  -115.8900   226.1843    47.2549   -47.8435   -12.5004    34.7474
+    59.0362  -101.8471   -20.1052    36.7834   -16.1063   -26.4309
+
+ The controller input matrix BK is
+
+     3.7345     3.4758
+    -0.3020     0.6530
+     3.4735     4.0499
+     4.3198     7.2755
+    -3.9424   -10.5942
+     2.1784     2.5048
+
+ The controller output matrix CK is
+
+    -2.3346     3.2556     0.7150    -0.9724     0.6962     0.4074
+     7.6899    -8.4558    -2.9642     7.0365    -4.2844     0.1390
+
+ The controller matrix DK is
+
+     0.0000     0.0000
+     0.0000     0.0000
+
+ The estimated condition numbers are
+
+  0.23570D+00  0.26726D+00  0.22747D-01  0.21130D-02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ID.html b/doc/_build/html/_static/doc/SB10ID.html
new file mode 100644
index 00000000..3f5c15fe
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10ID.html
@@ -0,0 +1,362 @@
+<HTML>
+<HEAD><TITLE>SB10ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ID">SB10ID</A></H2>
+<H3>
+Positive feedback controller for a continuous-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the positive feedback controller
+
+           | Ak | Bk |
+       K = |----|----|
+           | Ck | Dk |
+
+  for the shaped plant
+
+           | A | B |
+       G = |---|---|
+           | C | D |
+
+  in the McFarlane/Glover Loop Shaping Design Procedure.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                   DK, LDDK, RCOND, IWORK, DWORK, LDWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NK, NP
+      DOUBLE PRECISION   FACTOR
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 2 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the plant.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A of the shaped plant.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B of the shaped plant.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C of the shaped plant.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system matrix D of the shaped plant.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  FACTOR  (input) DOUBLE PRECISION
+          = 1 implies that an optimal controller is required;
+          &gt; 1 implies that a suboptimal controller is required,
+              achieving a performance FACTOR less than optimal.
+          FACTOR &gt;= 1.
+
+  NK      (output) INTEGER
+          The order of the positive feedback controller.  NK &lt;= N.
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading NK-by-NK part of this array contains the
+          controller state matrix Ak.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
+          The leading NK-by-NP part of this array contains the
+          controller input matrix Bk.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading M-by-NK part of this array contains the
+          controller output matrix Ck.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
+          The leading M-by-NP part of this array contains the
+          controller matrix Dk.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (2)
+          RCOND(1) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(2) contains an estimate of the reciprocal condition
+                   number of the Z-Riccati equation.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*N,N*N,M,NP))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 4*N*N + M*M + NP*NP + 2*M*N + N*NP + 4*N +
+                    max( 6*N*N + 5 + max(1,4*N*N+8*N), N*NP + 2*N ).
+          For good performance, LDWORK must generally be larger.
+          An upper bound of LDWORK in the above formula is
+          LDWORK &gt;= 10*N*N + M*M + NP*NP + 2*M*N + 2*N*NP + 4*N +
+                    5 + max(1,4*N*N+8*N).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the X-Riccati equation is not solved successfully;
+          = 2:  the Z-Riccati equation is not solved successfully;
+          = 3:  the iteration to compute eigenvalues or singular
+                values failed to converge;
+          = 4:  the matrix Ip - D*Dk is singular;
+          = 5:  the matrix Im - Dk*D is singular;
+          = 6:  the closed-loop system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] McFarlane, D. and Glover, K.
+      A loop shaping design procedure using H_infinity synthesis.
+      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
+      1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the results depends on the conditioning of the
+  two Riccati equations solved in the controller design (see the
+  output parameter RCOND).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
+      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
+     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
+     $                   LDD  = PMAX, LDDK = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX, MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX*NMAX + MMAX*MMAX + PMAX*PMAX +
+     $                            2*MMAX*NMAX + NMAX*PMAX + 4*NMAX +
+     $                            MAX( 10*NMAX*NMAX + 8*NMAX + 5,
+     $                                    NMAX*PMAX + 2*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FACTOR
+      INTEGER          I, INFO, J, M, N, NK, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,PMAX), DWORK(LDWORK),
+     $                 RCOND( 2 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10ID
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) FACTOR
+         CALL SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, NK
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,NK )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, NK
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,NK )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 2 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10ID =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F9.4))
+99991 FORMAT ( 2(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10ID EXAMPLE PROGRAM DATA
+   6     2     3   
+  -1.0  0.0  4.0  5.0 -3.0 -2.0
+  -2.0  4.0 -7.0 -2.0  0.0  3.0
+  -6.0  9.0 -5.0  0.0  2.0 -1.0
+  -8.0  4.0  7.0 -1.0 -3.0  0.0
+   2.0  5.0  8.0 -9.0  1.0 -4.0
+   3.0 -5.0  8.0  0.0  2.0 -6.0
+  -3.0 -4.0
+   2.0  0.0
+  -5.0 -7.0
+   4.0 -6.0
+  -3.0  9.0
+   1.0 -2.0
+   1.0 -1.0  2.0 -4.0  0.0 -3.0
+  -3.0  0.0  5.0 -1.0  1.0  1.0
+  -7.0  5.0  0.0 -8.0  2.0 -2.0
+   1.0 -2.0
+   0.0  4.0
+   5.0 -3.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10ID EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+  -39.0671    9.9293   22.2322  -27.4113   43.8655
+   -6.6117    3.0006   11.0878  -11.4130   15.4269
+   33.6805   -6.6934  -23.9953   14.1438  -33.4358
+  -32.3191    9.7316   25.4033  -24.0473   42.0517
+  -44.1655   18.7767   34.8873  -42.4369   50.8437
+
+ The controller input matrix BK is
+
+  -10.2905  -16.5382  -10.9782
+   -4.3598   -8.7525   -5.1447
+    6.5962    1.8975    6.2316
+   -9.8770  -14.7041  -11.8778
+   -9.6726  -22.7309  -18.2692
+
+ The controller output matrix CK is
+
+   -0.6647   -0.0599   -1.0376    0.5619    1.7297
+   -8.4202    3.9573    7.3094   -7.6283   10.6768
+
+ The controller matrix DK is
+
+    0.8466    0.4979   -0.6993
+   -1.2226   -4.8689   -4.5056
+
+ The estimated condition numbers are
+
+  0.13861D-01  0.90541D-02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10JD.html b/doc/_build/html/_static/doc/SB10JD.html
new file mode 100644
index 00000000..4afaf649
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10JD.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>SB10JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10JD">SB10JD</A></H2>
+<H3>
+Converting a descriptor state-space system into regular state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To convert the descriptor state-space system
+
+  E*dx/dt = A*x + B*u
+        y = C*x + D*u
+
+  into regular state-space form
+
+   dx/dt = Ad*x + Bd*u
+       y = Cd*x + Dd*u .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10JD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, E,
+     $                   LDE, NSYS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N,
+     $                   NP, NSYS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * ),  E( LDE, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the descriptor system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A of the descriptor system.
+          On exit, the leading NSYS-by-NSYS part of this array
+          contains the state matrix Ad of the converted system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the descriptor system.
+          On exit, the leading NSYS-by-M part of this array
+          contains the input matrix Bd of the converted system.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading NP-by-N part of this array must
+          contain the output matrix C of the descriptor system.
+          On exit, the leading NP-by-NSYS part of this array
+          contains the output matrix Cd of the converted system.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading NP-by-M part of this array must
+          contain the matrix D of the descriptor system.
+          On exit, the leading NP-by-M part of this array contains
+          the matrix Dd of the converted system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix E of the descriptor system.
+          On exit, this array contains no useful information.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= max(1,N).
+
+  NSYS    (output) INTEGER
+          The order of the converted state-space system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max( 1, 2*N*N + 2*N + N*MAX( 5, N + M + NP ) ).
+          For good performance, LDWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the iteration for computing singular value
+                decomposition did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs the transformations described in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Chiang, R.Y. and Safonov, M.G.
+      Robust Control Toolbox User's Guide.
+      The MathWorks Inc., Natick, Mass., 1992.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10KD.html b/doc/_build/html/_static/doc/SB10KD.html
new file mode 100644
index 00000000..ed69300d
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10KD.html
@@ -0,0 +1,359 @@
+<HTML>
+<HEAD><TITLE>SB10KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10KD">SB10KD</A></H2>
+<H3>
+Positive feedback controller for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the positive feedback controller
+
+           | Ak | Bk |
+       K = |----|----|
+           | Ck | Dk |
+
+  for the shaped plant
+
+           | A | B |
+       G = |---|---|
+           | C | 0 |
+
+  in the Discrete-Time Loop Shaping Design Procedure.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR,
+     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
+     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK,
+     $                   LDWORK, M, N, NP
+      DOUBLE PRECISION   FACTOR
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   DK( LDDK, * ), DWORK( * ), RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the plant.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A of the shaped plant.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B of the shaped plant.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C of the shaped plant.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  FACTOR  (input) DOUBLE PRECISION
+          = 1  implies that an optimal controller is required;
+          &gt; 1  implies that a suboptimal controller is required
+               achieving a performance FACTOR less than optimal.
+          FACTOR &gt;= 1.
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix Ak.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
+          The leading N-by-NP part of this array contains the
+          controller input matrix Bk.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading M-by-N part of this array contains the
+          controller output matrix Ck.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
+          The leading M-by-NP part of this array contains the
+          controller matrix Dk.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND(1) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the P-Riccati equation is
+                   obtained;
+          RCOND(2) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the Q-Riccati equation is
+                   obtained;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the X-Riccati equation is
+                   obtained;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the matrix Rx + Bx'*X*Bx (see the
+                   comments in the code).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*max(N,NP+M))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 15*N*N + 6*N +
+                    max( 14*N+23, 16*N, 2*N+NP+M, 3*(NP+M) ) +
+                    max( N*N, 11*N*NP + 2*M*M + 8*NP*NP + 8*M*N +
+                              4*M*NP + NP ).
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the P-Riccati equation is not solved successfully;
+          = 2:  the Q-Riccati equation is not solved successfully;
+          = 3:  the X-Riccati equation is not solved successfully;
+          = 4:  the iteration to compute eigenvalues failed to
+                converge;
+          = 5:  the matrix Rx + Bx'*X*Bx is singular;
+          = 6:  the closed-loop system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] McFarlane, D. and Glover, K.
+      A loop shaping design procedure using H_infinity synthesis.
+      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
+      1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the results depends on the conditioning of the
+  two Riccati equations solved in the controller design. For
+  better conditioning it is advised to take FACTOR &gt; 1.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK
+      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
+     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
+     $                   LDDK = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 15*NMAX*NMAX + 6*NMAX +
+     $                            MAX( 14*NMAX + 23, 16*NMAX,
+     $                                 2*NMAX+PMAX+MMAX,
+     $                                 3*(PMAX+MMAX) ) +
+     $                            MAX( NMAX*NMAX,
+     $                                 11*NMAX*PMAX + 2*MMAX*MMAX +
+     $                                 8*PMAX*PMAX + 8*MMAX*NMAX +
+     $                                 4*MMAX*PMAX + PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FACTOR
+      INTEGER          I, INFO, J, M, N, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 DK(LDDK,PMAX), DWORK(LDWORK), RCOND(4)
+*     .. External Subroutines ..
+      EXTERNAL         SB10KD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) FACTOR
+         CALL SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR, AK,
+     $                LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
+     $                IWORK, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10KD =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10KD EXAMPLE PROGRAM DATA
+   6     2     2   
+   0.2  0.0  0.3  0.0 -0.3 -0.1
+  -0.3  0.2 -0.4 -0.3  0.0  0.0
+  -0.1  0.1 -0.1  0.0  0.0 -0.3
+   0.1  0.0  0.0 -0.1 -0.1  0.0
+   0.0  0.3  0.6  0.2  0.1 -0.4
+   0.2 -0.4  0.0  0.0  0.2 -0.2
+  -1.0 -2.0
+   1.0  3.0 
+  -3.0 -4.0 
+   1.0 -2.0 
+   0.0  1.0
+   1.0  5.0  
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0 -1.0
+   1.1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10KD EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+   0.0337   0.0222   0.0858   0.1264  -0.1872   0.1547
+   0.4457   0.0668  -0.2255  -0.3204  -0.4548  -0.0691
+  -0.2419  -0.2506  -0.0982  -0.1321  -0.0130  -0.0838
+  -0.4402   0.3654  -0.0335  -0.2444   0.6366  -0.6469
+  -0.3623   0.3854   0.4162   0.4502   0.0065   0.1261
+  -0.0121  -0.4377   0.0604   0.2265  -0.3389   0.4542
+
+ The controller input matrix BK is
+
+   0.0931  -0.0269
+  -0.0872   0.1599
+   0.0956  -0.1469
+  -0.1728   0.0129
+   0.2022  -0.1154
+   0.2419  -0.1737
+
+ The controller output matrix CK is
+
+  -0.3677   0.2188   0.0403  -0.0854   0.3564  -0.3535
+   0.1624  -0.0708   0.0058   0.0606  -0.2163   0.1802
+
+ The controller matrix DK is
+
+  -0.0857  -0.0246
+   0.0460   0.0074
+
+ The estimated condition numbers are
+
+  0.11269D-01  0.17596D-01  0.18225D+00  0.75968D-03
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10LD.html b/doc/_build/html/_static/doc/SB10LD.html
new file mode 100644
index 00000000..1fd8af18
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10LD.html
@@ -0,0 +1,239 @@
+<HTML>
+<HEAD><TITLE>SB10LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10LD">SB10LD</A></H2>
+<H3>
+Closed-loop system matrices for a system with robust controller
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the closed-loop system
+
+           | AC | BC |
+       G = |----|----|,
+           | CC | DC |
+
+  from the matrices of the open-loop system
+
+            | A | B |
+        P = |---|---|
+            | C | D |
+
+  and the matrices of the controller
+
+           | AK | BK |
+       K = |----|----|.
+           | CK | DK |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10LD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAC, LDAK, LDB, LDBC, LDBK, LDC,
+     $                   LDCC, LDCK, LDD, LDDC, LDDK, LDWORK, M, N,
+     $                   NCON, NMEAS, NP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
+     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
+     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
+     $                   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (input) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array must contain the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (input) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array must contain the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (input) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array must contain the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (input) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array must contain
+          the controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
+          The leading 2*N-by-2*N part of this array contains the
+          closed-loop system state matrix AC.
+
+  LDAC    INTEGER
+          The leading dimension of the array AC.
+          LDAC &gt;= max(1,2*N).
+
+  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
+          The leading 2*N-by-(M-NCON) part of this array contains
+          the closed-loop system input matrix BC.
+
+  LDBC    INTEGER
+          The leading dimension of the array BC.
+          LDBC &gt;= max(1,2*N).
+
+  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
+          The leading (NP-NMEAS)-by-2*N part of this array contains
+          the closed-loop system output matrix CC.
+
+  LDCC    INTEGER
+          The leading dimension of the array CC.
+          LDCC &gt;= max(1,NP-NMEAS).
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
+          The leading (NP-NMEAS)-by-(M-NCON) part of this array
+          contains the closed-loop system input/output matrix DC.
+
+  LDDC    INTEGER
+          The leading dimension of the array DC.
+          LDDC &gt;= max(1,NP-NMEAS).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*max(NCON,NMEAS))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 2*M*M+NP*NP+2*M*N+M*NP+2*N*NP.
+          For good performance, LDWORK must generally be larger.
+
+  Error Indicactor
+
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix Inp2 - D22*DK is singular to working
+                precision;
+          = 2:  if the matrix Im2 - DK*D22 is singular to working
+                precision.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  matrices  Inp2 - D22*DK  and  Im2 - DK*D22.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10MD.html b/doc/_build/html/_static/doc/SB10MD.html
new file mode 100644
index 00000000..ff1a6e39
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10MD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>SB10MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10MD">SB10MD</A></H2>
+<H3>
+D-step in the D-K iteration for continuous-time case
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the D-step in the D-K iteration. It handles
+  continuous-time case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10MD( NC, MP, LENDAT, F, ORD, MNB, NBLOCK, ITYPE,
+     $                   QUTOL, A, LDA, B, LDB, C, LDC, D, LDD, OMEGA,
+     $                   TOTORD, AD, LDAD, BD, LDBD, CD, LDCD, DD, LDDD,
+     $                   MJU, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
+     $                   LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           F, INFO, LDA, LDAD, LDB, LDBD, LDC, LDCD, LDD,
+     $                  LDDD, LDWORK, LENDAT, LIWORK, LZWORK, MNB, MP,
+     $                  NC, ORD, TOTORD
+      DOUBLE PRECISION  QUTOL
+C     .. Array Arguments ..
+      INTEGER           ITYPE(*), IWORK(*), NBLOCK(*)
+      DOUBLE PRECISION  A(LDA, *), AD(LDAD, *), B(LDB, *), BD(LDBD, *),
+     $                  C(LDC, *), CD(LDCD, *), D(LDD, *), DD(LDDD, *),
+     $                  DWORK(*), MJU(*), OMEGA(*)
+      COMPLEX*16        ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NC      (input) INTEGER
+          The order of the matrix A.  NC &gt;= 0.
+
+  MP      (input) INTEGER
+          The order of the matrix D.  MP &gt;= 0.
+
+  LENDAT  (input) INTEGER
+          The length of the vector OMEGA.  LENDAT &gt;= 2.
+
+  F       (input) INTEGER
+          The number of the measurements and controls, i.e.,
+          the size of the block I_f in the D-scaling system.
+          F &gt;= 0.
+
+  ORD     (input/output) INTEGER
+          The MAX order of EACH block in the fitting procedure.
+          ORD &lt;= LENDAT-1.
+          On exit, if ORD &lt; 1 then ORD = 1.
+
+  MNB     (input) INTEGER
+          The number of diagonal blocks in the block structure of
+          the uncertainty, and the length of the vectors NBLOCK
+          and ITYPE.  1 &lt;= MNB &lt;= MP.
+
+  NBLOCK  (input) INTEGER array, dimension (MNB)
+          The vector of length MNB containing the block structure
+          of the uncertainty. NBLOCK(I), I = 1:MNB, is the size of
+          each block.
+
+  ITYPE   (input) INTEGER array, dimension (MNB)
+          The vector of length MNB indicating the type of each
+          block.
+          For I = 1 : MNB,
+          ITYPE(I) = 1 indicates that the corresponding block is a
+          real block. IN THIS CASE ONLY MJU(JW) WILL BE ESTIMATED
+          CORRECTLY, BUT NOT D(S)!
+          ITYPE(I) = 2 indicates that the corresponding block is a
+          complex block. THIS IS THE ONLY ALLOWED VALUE NOW!
+          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
+
+  QUTOL   (input) DOUBLE PRECISION
+          The acceptable mean relative error between the D(jw) and
+          the frequency responce of the estimated block
+          [ADi,BDi;CDi,DDi]. When it is reached, the result is
+          taken as good enough.
+          A good value is QUTOL = 2.0.
+          If QUTOL &lt; 0 then only mju(jw) is being estimated,
+          not D(s).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,NC)
+          On entry, the leading NC-by-NC part of this array must
+          contain the A matrix of the closed-loop system.
+          On exit, if MP &gt; 0, the leading NC-by-NC part of this
+          array contains an upper Hessenberg matrix similar to A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,NC).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,MP)
+          On entry, the leading NC-by-MP part of this array must
+          contain the B matrix of the closed-loop system.
+          On exit, the leading NC-by-MP part of this array contains
+          the transformed B matrix corresponding to the Hessenberg
+          form of A.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,NC).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
+          On entry, the leading MP-by-NC part of this array must
+          contain the C matrix of the closed-loop system.
+          On exit, the leading MP-by-NC part of this array contains
+          the transformed C matrix corresponding to the Hessenberg
+          form of A.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,MP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,MP)
+          The leading MP-by-MP part of this array must contain the
+          D matrix of the closed-loop system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,MP).
+
+  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The vector with the frequencies.
+
+  TOTORD  (output) INTEGER
+          The TOTAL order of the D-scaling system.
+          TOTORD is set to zero, if QUTOL &lt; 0.
+
+  AD      (output) DOUBLE PRECISION array, dimension (LDAD,MP*ORD)
+          The leading TOTORD-by-TOTORD part of this array contains
+          the A matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDAD    INTEGER
+          The leading dimension of the array AD.
+          LDAD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
+          LDAD &gt;= 1,             if QUTOL &lt;  0.
+
+  BD      (output) DOUBLE PRECISION array, dimension (LDBD,MP+F)
+          The leading TOTORD-by-(MP+F) part of this array contains
+          the B matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDBD    INTEGER
+          The leading dimension of the array BD.
+          LDBD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
+          LDBD &gt;= 1,             if QUTOL &lt;  0.
+
+  CD      (output) DOUBLE PRECISION array, dimension (LDCD,MP*ORD)
+          The leading (MP+F)-by-TOTORD part of this array contains
+          the C matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDCD    INTEGER
+          The leading dimension of the array CD.
+          LDCD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
+          LDCD &gt;= 1,           if QUTOL &lt;  0.
+
+  DD      (output) DOUBLE PRECISION array, dimension (LDDD,MP+F)
+          The leading (MP+F)-by-(MP+F) part of this array contains
+          the D matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDDD    INTEGER
+          The leading dimension of the array DD.
+          LDDD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
+          LDDD &gt;= 1,           if QUTOL &lt;  0.
+
+  MJU     (output) DOUBLE PRECISION array, dimension (LENDAT)
+          The vector with the upper bound of the structured
+          singular value (mju) for each frequency in OMEGA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The length of the array IWORK.
+          LIWORK &gt;= MAX( NC, 4*MNB-2, MP, 2*ORD+1 ), if QUTOL &gt;= 0;
+          LIWORK &gt;= MAX( NC, 4*MNB-2, MP ),          if QUTOL &lt;  0.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the optimal value of LZWORK,
+          and DWORK(3) returns an estimate of the minimum reciprocal
+          of the condition numbers (with respect to inversion) of
+          the generated Hessenberg matrices.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 3, LWM, LWD ), where
+          LWM = LWA + MAX( NC + MAX( NC, MP-1 ),
+                           2*MP*MP*MNB - MP*MP + 9*MNB*MNB +
+                           MP*MNB + 11*MP + 33*MNB - 11 );
+          LWD = LWB + MAX( 2, LW1, LW2, LW3, LW4, 2*ORD ),
+                           if QUTOL &gt;= 0;
+          LWD = 0,         if QUTOL &lt;  0;
+          LWA = MP*LENDAT + 2*MNB + MP - 1;
+          LWB = LENDAT*(MP + 2) + ORD*(ORD + 2) + 1;
+          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
+          LW2 =   LENDAT + 6*HNPTS;  MN  = MIN( 2*LENDAT, 2*ORD+1 );
+          LW3 = 2*LENDAT*(2*ORD + 1) + MAX( 2*LENDAT, 2*ORD + 1 ) +
+                MAX( MN + 6*ORD + 4, 2*MN + 1 );
+          LW4 = MAX( ORD*ORD + 5*ORD, 6*ORD + 1 + MIN( 1, ORD ) ).
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( LZM, LZD ), where
+          LZM = MAX( MP*MP + NC*MP + NC*NC + 2*NC,
+                     6*MP*MP*MNB + 13*MP*MP + 6*MNB + 6*MP - 3 );
+          LZD = MAX( LENDAT*(2*ORD + 3), ORD*ORD + 3*ORD + 1 ),
+                           if QUTOL &gt;= 0;
+          LZD = 0,         if QUTOL &lt;  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  if one or more values w in OMEGA are (close to
+                 some) poles of the closed-loop system, i.e., the
+                 matrix jw*I - A is (numerically) singular;
+          =  2:  the block sizes must be positive integers;
+          =  3:  the sum of block sizes must be equal to MP;
+          =  4:  the size of a real block must be equal to 1;
+          =  5:  the block type must be either 1 or 2;
+          =  6:  errors in solving linear equations or in matrix
+                 inversion;
+          =  7:  errors in computing eigenvalues or singular values.
+          = 1i:  INFO on exit from SB10YD is i. (1i means 10 + i.)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  I.   First, W(jw) for the given closed-loop system is being
+       estimated.
+  II.  Now, AB13MD SLICOT subroutine can obtain the D(jw) scaling
+       system with respect to NBLOCK and ITYPE, and colaterally,
+       mju(jw).
+       If QUTOL &lt; 0 then the estimations stop and the routine exits.
+  III. Now that we have D(jw), SB10YD subroutine can do block-by-
+       block fit. For each block it tries with an increasing order
+       of the fit, starting with 1 until the
+       (mean quadratic error + max quadratic error)/2
+       between the Dii(jw) and the estimated frequency responce
+       of the block becomes less than or equal to the routine
+       argument QUTOL, or the order becomes equal to ORD.
+  IV.  Arrange the obtained blocks in the AD, BD, CD and DD
+       matrices and estimate the total order of D(s), TOTORD.
+  V.   Add the system I_f to the system obtained in IV.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Balas, G., Doyle, J., Glover, K., Packard, A. and Smith, R.
+      Mu-analysis and Synthesis toolbox - User's Guide,
+      The Mathworks Inc., Natick, MA, USA, 1998.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10PD.html b/doc/_build/html/_static/doc/SB10PD.html
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+<HTML>
+<HEAD><TITLE>SB10PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10PD">SB10PD</A></H2>
+<H3>
+Normalization of a system for H-infinity controller design
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices D12 and D21 of the linear time-invariant
+  system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  to unit diagonal form, to transform the matrices B, C, and D11 to
+  satisfy the formulas in the computation of an H2 and H-infinity
+  (sub)optimal controllers and to check the rank conditions.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10PD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, TU, LDTU, TY, LDTY, RCOND, TOL, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDTU, LDTY, LDWORK,
+     $                   M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * ), RCOND( 2 ),
+     $                   TU( LDTU, * ), TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading NP-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading NP-by-N part of this array contains
+          the transformed system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading NP-by-M part of this array must
+          contain the system input/output matrix D. The
+          NMEAS-by-NCON trailing submatrix D22 is not referenced.
+          On exit, the leading (NP-NMEAS)-by-(M-NCON) part of this
+          array contains the transformed submatrix D11.
+          The transformed submatrices D12 = [ 0  Im2 ]' and
+          D21 = [ 0  Inp2 ] are not stored. The corresponding part
+          of this array contains no useful information.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array contains the
+          control transformation matrix TU.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array contains the
+          measurement transformation matrix TY.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (2)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix TU;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix TY.
+          RCOND is set even if INFO = 3 or INFO = 4; if INFO = 3,
+          then RCOND(2) was not computed, but it is set to 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations. Transformation matrices TU and TY whose
+          reciprocal condition numbers are less than TOL are not
+          allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1,LW1,LW2,LW3,LW4), where
+          LW1 = (N+NP1+1)*(N+M2) + MAX(3*(N+M2)+N+NP1,5*(N+M2)),
+          LW2 = (N+NP2)*(N+M1+1) + MAX(3*(N+NP2)+N+M1,5*(N+NP2)),
+          LW3 = M2 + NP1*NP1 + MAX(NP1*MAX(N,M1),3*M2+NP1,5*M2),
+          LW4 = NP2 + M1*M1 + MAX(MAX(N,NP1)*M1,3*NP2+M1,5*NP2),
+          with M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
+          MAX(1,(N+Q)*(N+Q+6),Q*(Q+MAX(N,Q,5)+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix | A   B2  | had not full column rank
+                              | C1  D12 |
+                in respect to the tolerance EPS;
+          = 2:  if the matrix | A   B1  | had not full row rank in
+                              | C2  D21 |
+                respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21).
+                             |C1  D12|  |C2  D21|
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs the transformations described in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the transformations can be controlled by the
+  condition numbers of the matrices TU and TY as given by the
+  values of RCOND(1) and RCOND(2), respectively. An error return
+  with INFO = 3 or INFO = 4 will be obtained if the condition
+  number of TU or TY, respectively, would exceed 1/TOL.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10QD.html b/doc/_build/html/_static/doc/SB10QD.html
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@@ -0,0 +1,261 @@
+<HTML>
+<HEAD><TITLE>SB10QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10QD">SB10QD</A></H2>
+<H3>
+State feedback and output injection matrices for an H-infinity (sub)optimal state controller (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the state feedback and the output injection
+  matrices for an H-infinity (sub)optimal n-state controller,
+  using Glover's and Doyle's 1988 formulas, for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  and for a given value of gamma, where B2 has as column size the
+  number of control inputs (NCON) and C2 has as row size the number
+  of measurements (NMEAS) being provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank with D12 = | 0 | and D21 is
+                                          | I |
+       full row rank with D21 = | 0 I | as obtained by the
+       subroutine SB10PD,
+
+  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
+       |    C1        D12 |
+
+  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
+       |    C2        D21 |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10QD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, F, LDF, H, LDH, X, LDX, Y, LDY,
+     $                   XYCOND, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDH, LDWORK,
+     $                   LDX, LDY, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * ),  F( LDF, * ),
+     $                   H( LDH, * ), X( LDX, * ), XYCOND( 2 ),
+     $                   Y( LDY, * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the state
+          feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,M).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,NP)
+          The leading N-by-NP part of this array contains the output
+          injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the matrix
+          Y, solution of the Y-Riccati equation.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
+          XYCOND(1) contains an estimate of the reciprocal condition
+                    number of the X-Riccati equation;
+          XYCOND(2) contains an estimate of the reciprocal condition
+                    number of the Y-Riccati equation.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension
+          (max(2*max(N,M-NCON,NP-NMEAS),N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(1,M*M + max(2*M1,3*N*N +
+                                    max(N*M,10*N*N+12*N+5)),
+                        NP*NP + max(2*NP1,3*N*N +
+                                    max(N*NP,10*N*N+12*N+5))),
+          where M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
+          max(1,4*Q*Q+max(2*Q,3*N*N + max(2*N*Q,10*N*N+12*N+5))).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the controller is not admissible (too small value
+                of gamma);
+          = 2:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 3:  if the Y-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's formulas [1],[2]
+  modified as described in [3]. The X- and Y-Riccati equations
+  are solved with condition and accuracy estimates [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of continuous-time
+      linear control systems.
+      Rep. 98-14, Department of Engineering, Leicester University,
+      Leicester, U.K., 1998.
+
+  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the solution of the matrix Riccati equations
+  can be controlled by the values of the condition numbers
+  XYCOND(1) and XYCOND(2) of these equations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Riccati equations are solved by the Schur approach
+  implementing condition and accuracy estimates.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10RD.html b/doc/_build/html/_static/doc/SB10RD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB10RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10RD">SB10RD</A></H2>
+<H3>
+H-infinity (sub)optimal controller matrices using state feedback and output injection matrices (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity (sub)optimal controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  from the state feedback matrix F and output injection matrix H as
+  determined by the SLICOT Library routine SB10QD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10RD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, F, LDF, H, LDH, TU, LDTU, TY,
+     $                   LDTY, X, LDX, Y, LDY, AK, LDAK, BK, LDBK, CK,
+     $                   LDCK, DK, LDDK, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDF, LDH, LDTU, LDTY, LDWORK, LDX, LDY,
+     $                   M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   F( LDF, * ), H( LDH, * ), TU( LDTU, * ),
+     $                   TY( LDTY, * ), X( LDX, * ), Y( LDY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array must contain the
+          state feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,M).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,NP)
+          The leading N-by-NP part of this array must contain the
+          output injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array must contain the
+          control transformation matrix TU, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array must contain the
+          measurement transformation matrix TY, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          matrix X, solution of the X-Riccati equation, as obtained
+          by the SLICOT Library routine SB10QD.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array must contain the
+          matrix Y, solution of the Y-Riccati equation, as obtained
+          by the SLICOT Library routine SB10QD.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = max(2*(max(NP,M)-M2-NP2,M2,N),NP2)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(1, M2*NP2 + NP2*NP2 + M2*M2 +
+                        max(D1*D1 + max(2*D1, (D1+D2)*NP2),
+                            D2*D2 + max(2*D2, D2*M2), 3*N,
+                            N*(2*NP2 + M2) +
+                            max(2*N*M2, M2*NP2 +
+                                        max(M2*M2+3*M2, NP2*(2*NP2+
+                                               M2+max(NP2,N))))))
+          where D1 = NP1 - M2, D2 = M1 - NP2,
+               NP1 = NP - NP2, M1 = M - M2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          max( 1, Q*(3*Q + 3*N + max(2*N, 4*Q + max(Q, N)))).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the controller is not admissible (too small value
+                of gamma);
+          = 2:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is zero.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's formulas [1],[2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10SD.html b/doc/_build/html/_static/doc/SB10SD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB10SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10SD">SB10SD</A></H2>
+<H3>
+H2 optimal controller matrices for a normalized discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  for the normalized discrete-time system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21  0  |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank with D12 = | 0 | and D21 is
+                                          | I |
+       full row rank with D21 = | 0 I | as obtained by the
+       SLICOT Library routine SB10PD,
+
+            j*Theta
+  (A3) | A-e       *I  B2  | has full column rank for all
+       |    C1         D12 |
+
+       0 &lt;= Theta &lt; 2*Pi ,
+
+            j*Theta
+  (A4) | A-e       *I  B1  | has full row rank for all
+       |    C2         D21 |
+
+       0 &lt;= Theta &lt; 2*Pi .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10SD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   X, LDX, Y, LDY, RCOND, TOL, IWORK, DWORK,
+     $                   LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, LDX, LDY, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( * ), X( LDX, * ), Y( LDY, * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D. Only the leading
+          (NP-NP2)-by-(M-M2) submatrix D11 is used.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the matrix
+          Y, solution of the Y-Riccati equation.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND contains estimates of the reciprocal condition
+          numbers of the matrices which are to be inverted and the
+          reciprocal condition numbers of the Riccati equations
+          which have to be solved during the computation of the
+          controller. (See the description of the algorithm in [2].)
+          RCOND(1) contains the reciprocal condition number of the
+                   matrix Im2 + B2'*X2*B2;
+          RCOND(2) contains the reciprocal condition number of the
+                   matrix Ip2 + C2*Y2*C2';
+          RCOND(3) contains the reciprocal condition number of the
+                   X-Riccati equation;
+          RCOND(4) contains the reciprocal condition number of the
+                   Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used in determining the nonsingularity of the
+          matrices which must be inverted. If TOL &lt;= 0, then a
+          default value equal to sqrt(EPS) is used, where EPS is the
+          relative machine precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(M2,2*N,N*N,NP2))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(1, 14*N*N+6*N+max(14*N+23,16*N),
+                           M2*(N+M2+max(3,M1)), NP2*(N+NP2+3)),
+          where M1 = M - M2.
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the X-Riccati equation was not solved
+                successfully;
+          = 2:  if the matrix Im2 + B2'*X2*B2 is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL);
+          = 3:  if the Y-Riccati equation was not solved
+                successfully;
+          = 4:  if the matrix Ip2 + C2*Y2*C2' is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1]. The X- and
+  Y-Riccati equations are solved with condition estimates.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  matrices which are to be inverted and on the condition numbers of
+  the matrix Riccati equations which are to be solved in the
+  computation of the controller. (The corresponding reciprocal
+  condition numbers are given in the output array RCOND.)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10TD.html b/doc/_build/html/_static/doc/SB10TD.html
new file mode 100644
index 00000000..44d3ea69
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10TD.html
@@ -0,0 +1,223 @@
+<HTML>
+<HEAD><TITLE>SB10TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10TD">SB10TD</A></H2>
+<H3>
+H2 optimal controller matrices for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal discrete-time controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  from the matrices of the controller for the normalized system,
+  as determined by the SLICOT Library routine SB10SD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10TD( N, M, NP, NCON, NMEAS, D, LDD, TU, LDTU, TY,
+     $                   LDTY, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   RCOND, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDAK, LDBK, LDCK, LDD, LDDK, LDTU, LDTY,
+     $                   LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   RCOND, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   AK( LDAK, * ), BK( LDBK, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   TU( LDTU, * ), TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D. Only the trailing
+          NMEAS-by-NCON submatrix D22 is used.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array must contain the
+          control transformation matrix TU, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array must contain the
+          measurement transformation matrix TY, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  AK      (input/output) DOUBLE PRECISION array, dimension (LDAK,N)
+          On entry, the leading N-by-N part of this array must
+          contain controller state matrix for the normalized system
+          as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading N-by-N part of this array contains
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (input/output) DOUBLE PRECISION array, dimension
+          (LDBK,NMEAS)
+          On entry, the leading N-by-NMEAS part of this array must
+          contain controller input matrix for the normalized system
+          as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading N-by-NMEAS part of this array
+          contains controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (input/output) DOUBLE PRECISION array, dimension (LDCK,N)
+          On entry, the leading NCON-by-N part of this array must
+          contain controller output matrix for the normalized
+          system as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading NCON-by-N part of this array contains
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (input/output) DOUBLE PRECISION array, dimension
+          (LDDK,NMEAS)
+          On entry, the leading NCON-by-NMEAS part of this array
+          must contain controller matrix DK for the normalized
+          system as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading NCON-by-NMEAS part of this array
+          contains controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION
+          RCOND contains an estimate of the reciprocal condition
+          number of the matrix Im2 + DKHAT*D22 which must be
+          inverted in the computation of the controller.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used in determining the nonsingularity of the
+          matrix which must be inverted. If TOL &lt;= 0, then a default
+          value equal to sqrt(EPS) is used, where EPS is the
+          relative machine precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M2)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix Im2 + DKHAT*D22 is singular, or the
+                estimated condition number is larger than or equal
+                to 1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and of the matrix Im2 +
+  DKHAT*D22.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10UD.html b/doc/_build/html/_static/doc/SB10UD.html
new file mode 100644
index 00000000..1283f2e2
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10UD.html
@@ -0,0 +1,220 @@
+<HTML>
+<HEAD><TITLE>SB10UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10UD">SB10UD</A></H2>
+<H3>
+Normalization of a system for H2 controller design
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices D12 and D21 of the linear time-invariant
+  system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  to unit diagonal form, and to transform the matrices B and C to
+  satisfy the formulas in the computation of the H2 optimal
+  controller.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10UD( N, M, NP, NCON, NMEAS, B, LDB, C, LDC, D, LDD,
+     $                   TU, LDTU, TY, LDTY, RCOND, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDB, LDC, LDD, LDTU, LDTY, LDWORK, M, N,
+     $                   NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), C( LDC, * ), D( LDD, * ),
+     $                   DWORK( * ), RCOND( 2 ), TU( LDTU, * ),
+     $                   TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading NP-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading NP-by-N part of this array contains
+          the transformed system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading NP-by-M part of this array must
+          contain the system input/output matrix D.
+          The (NP-NMEAS)-by-(M-NCON) leading submatrix D11 is not
+          referenced.
+          On exit, the trailing NMEAS-by-NCON part (in the leading
+          NP-by-M part) of this array contains the transformed
+          submatrix D22.
+          The transformed submatrices D12 = [ 0  Im2 ]' and
+          D21 = [ 0  Inp2 ] are not stored. The corresponding part
+          of this array contains no useful information.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array contains the
+          control transformation matrix TU.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array contains the
+          measurement transformation matrix TY.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (2)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix TU;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix TY.
+          RCOND is set even if INFO = 1 or INFO = 2; if INFO = 1,
+          then RCOND(2) was not computed, but it is set to 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations. Transformation matrices TU and TY whose
+          reciprocal condition numbers are less than TOL are not
+          allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( M2 + NP1*NP1 + MAX(NP1*N,3*M2+NP1,5*M2),
+                         NP2 + M1*M1  + MAX(M1*N,3*NP2+M1,5*NP2),
+                         N*M2, NP2*N, NP2*M2, 1 )
+          where M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
+          MAX(1,Q*(Q+MAX(N,5)+1)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 2:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 3:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of D12 or
+                D21).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs the transformations described in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the transformations can be controlled by the
+  condition numbers of the matrices TU and TY as given by the
+  values of RCOND(1) and RCOND(2), respectively. An error return
+  with INFO = 1 or INFO = 2 will be obtained if the condition
+  number of TU or TY, respectively, would exceed 1/TOL.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10VD.html b/doc/_build/html/_static/doc/SB10VD.html
new file mode 100644
index 00000000..2cda995d
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10VD.html
@@ -0,0 +1,223 @@
+<HTML>
+<HEAD><TITLE>SB10VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10VD">SB10VD</A></H2>
+<H3>
+State feedback and output injection matrices for an H2 optimal state controller (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the state feedback and the output injection
+  matrices for an H2 optimal n-state controller for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank with D12 = | 0 | and D21 is
+                                          | I |
+       full row rank with D21 = | 0 I | as obtained by the
+       SLICOT Library routine SB10UD. Matrix D is not used
+       explicitly.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10VD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   F, LDF, H, LDH, X, LDX, Y, LDY, XYCOND, IWORK,
+     $                   DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDF, LDH, LDWORK, LDX,
+     $                   LDY, M, N, NCON, NMEAS, NP
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  F( LDF, * ), H( LDH, * ),
+     $                   X( LDX, * ), XYCOND( 2 ), Y( LDY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading NCON-by-N part of this array contains the
+          state feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          output injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the matrix
+          Y, solution of the Y-Riccati equation.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
+          XYCOND(1) contains an estimate of the reciprocal condition
+                    number of the X-Riccati equation;
+          XYCOND(2) contains an estimate of the reciprocal condition
+                    number of the Y-Riccati equation.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*N,N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 13*N*N + 12*N + 5.
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the X-Riccati equation was not solved
+                successfully;
+          = 2:  if the Y-Riccati equation was not solved
+                successfully.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1], [2]. The X-
+  and Y-Riccati equations are solved with condition and accuracy
+  estimates [3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the solution of the matrix Riccati equations
+  can be controlled by the values of the condition numbers
+  XYCOND(1) and XYCOND(2) of these equations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Riccati equations are solved by the Schur approach
+  implementing condition and accuracy estimates.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10WD.html b/doc/_build/html/_static/doc/SB10WD.html
new file mode 100644
index 00000000..647702da
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10WD.html
@@ -0,0 +1,216 @@
+<HTML>
+<HEAD><TITLE>SB10WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10WD">SB10WD</A></H2>
+<H3>
+H2 optimal controller matrices using state feedback and output injection matrices (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  from the state feedback matrix F and output injection matrix H as
+  determined by the SLICOT Library routine SB10VD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10WD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, F, LDF, H, LDH, TU, LDTU, TY, LDTY,
+     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDF, LDH, LDTU, LDTY, M, N, NCON, NMEAS,
+     $                   NP
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), F( LDF, * ),
+     $                   H( LDH, * ), TU( LDTU, * ), TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B. Only the submatrix
+          B2 = B(:,M-M2+1:M) is used.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C. Only the submatrix
+          C2 = C(NP-NP2+1:NP,:) is used.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D. Only the submatrix
+          D22 = D(NP-NP2+1:NP,M-M2+1:M) is used.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading NCON-by-N part of this array must contain the
+          state feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,NMEAS)
+          The leading N-by-NMEAS part of this array must contain the
+          output injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array must contain the
+          control transformation matrix TU, as obtained by the
+          SLICOT Library routine SB10UD.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array must contain the
+          measurement transformation matrix TY, as obtained by the
+          SLICOT Library routine SB10UD.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10YD.html b/doc/_build/html/_static/doc/SB10YD.html
new file mode 100644
index 00000000..ec37ff5d
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10YD.html
@@ -0,0 +1,231 @@
+<HTML>
+<HEAD><TITLE>SB10YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10YD">SB10YD</A></H2>
+<H3>
+Fitting frequency response data with a stable, minimum phase SISO system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To fit a supplied frequency response data with a stable, minimum
+  phase SISO (single-input single-output) system represented by its
+  matrices A, B, C, D. It handles both discrete- and continuous-time
+  cases.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10YD( DISCFL, FLAG, LENDAT, RFRDAT, IFRDAT, OMEGA, N,
+     $                   A, LDA, B, C, D, TOL, IWORK, DWORK, LDWORK,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DISCFL, FLAG, INFO, LDA, LDWORK, LENDAT,
+     $                   LZWORK, N
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA, *), B(*), C(*), D(*), DWORK(*),
+     $                   IFRDAT(*), OMEGA(*), RFRDAT(*)
+      COMPLEX*16         ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DISCFL  (input) INTEGER
+          Indicates the type of the system, as follows:
+          = 0: continuous-time system;
+          = 1: discrete-time system.
+
+  FLAG    (input) INTEGER
+          If FLAG = 0, then the system zeros and poles are not
+          constrained.
+          If FLAG = 1, then the system zeros and poles will have
+          negative real parts in the continuous-time case, or moduli
+          less than 1 in the discrete-time case. Consequently, FLAG
+          must be equal to 1 in mu-synthesis routines.
+
+  LENDAT  (input) INTEGER
+          The length of the vectors RFRDAT, IFRDAT and OMEGA.
+          LENDAT &gt;= 2.
+
+  RFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The real part of the frequency data to be fitted.
+
+  IFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The imaginary part of the frequency data to be fitted.
+
+  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The frequencies corresponding to RFRDAT and IFRDAT.
+          These values must be nonnegative and monotonically
+          increasing. Additionally, for discrete-time systems
+          they must be between 0 and PI.
+
+  N       (input/output) INTEGER
+          On entry, the desired order of the system to be fitted.
+          N &lt;= LENDAT-1.
+          On exit, the order of the obtained system. The value of N
+          could only be modified if N &gt; 0 and FLAG = 1.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A. If FLAG = 1, then A is in an upper Hessenberg
+          form, and corresponds to a minimal realization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (N)
+          The computed vector B.
+
+  C       (output) DOUBLE PRECISION array, dimension (N)
+          The computed vector C. If FLAG = 1, the first N-1 elements
+          are zero (for the exit value of N).
+
+  D       (output) DOUBLE PRECISION array, dimension (1)
+          The computed scalar D.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for determining the effective
+          rank of matrices. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the reciprocal
+          condition number;  a (sub)matrix whose estimated condition
+          number is less than 1/TOL is considered to be of full
+          rank.  If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF = SIZE*EPS,
+          is used instead, where SIZE is the product of the matrix
+          dimensions, and EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2,2*N+1))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains the optimal value of
+          LZWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max( 2, LW1, LW2, LW3, LW4 ), where
+          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
+          LW2 =   LENDAT + 6*HNPTS;
+          MN  = min( 2*LENDAT, 2*N+1 )
+          LW3 = 2*LENDAT*(2*N+1) + max( 2*LENDAT, 2*N+1 ) +
+                max( MN + 6*N + 4, 2*MN + 1 ), if N &gt; 0;
+          LW3 = 4*LENDAT + 5                 , if N = 0;
+          LW4 = max( N*N + 5*N, 6*N + 1 + min( 1,N ) ), if FLAG = 1;
+          LW4 = 0,                                      if FLAG = 0.
+          For optimum performance LDWORK should be larger.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK = LENDAT*(2*N+3), if N &gt; 0;
+          LZWORK = LENDAT,         if N = 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the discrete --&gt; continuous transformation cannot
+                be made;
+          = 2:  if the system poles cannot be found;
+          = 3:  if the inverse system cannot be found, i.e., D is
+                (close to) zero;
+          = 4:  if the system zeros cannot be found;
+          = 5:  if the state-space representation of the new
+                transfer function T(s) cannot be found;
+          = 6:  if the continuous --&gt; discrete transformation cannot
+                be made.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, if the given frequency data are corresponding to a
+  continuous-time system, they are changed to a discrete-time
+  system using a bilinear transformation with a scaled alpha.
+  Then, the magnitude is obtained from the supplied data.
+  Then, the frequency data are linearly interpolated around
+  the unit-disc.
+  Then, Oppenheim and Schafer complex cepstrum method is applied
+  to get frequency data corresponding to a stable, minimum-
+  phase system. This is done in the following steps:
+  - Obtain LOG (magnitude)
+  - Obtain IFFT of the result (DG01MD SLICOT subroutine);
+  - halve the data at 0;
+  - Obtain FFT of the halved data (DG01MD SLICOT subroutine);
+  - Obtain EXP of the result.
+  Then, the new frequency data are interpolated back to the
+  original frequency.
+  Then, based on these newly obtained data, the system matrices
+  A, B, C, D are constructed; the very identification is
+  performed by Least Squares Method using DGELSY LAPACK subroutine.
+  If needed, a discrete-to-continuous time transformation is
+  applied on the system matrices by AB04MD SLICOT subroutine.
+  Finally, if requested, the poles and zeros of the system are
+  checked. If some of them have positive real parts in the
+  continuous-time case (or are not inside the unit disk in the
+  complex plane in the discrete-time case), they are exchanged with
+  their negatives (or reciprocals, respectively), to preserve the
+  frequency response, while getting a minimum phase and stable
+  system. This is done by SB10ZP SLICOT subroutine.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Oppenheim, A.V. and Schafer, R.W.
+      Discrete-Time Signal Processing.
+      Prentice-Hall Signal Processing Series, 1989.
+
+  [2] Balas, G., Doyle, J., Glover, K., Packard, A., and Smith, R.
+      Mu-analysis and Synthesis toolbox - User's Guide,
+      The Mathworks Inc., Natick, MA, USA, 1998.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ZD.html b/doc/_build/html/_static/doc/SB10ZD.html
new file mode 100644
index 00000000..18a929eb
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10ZD.html
@@ -0,0 +1,391 @@
+<HTML>
+<HEAD><TITLE>SB10ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ZD">SB10ZD</A></H2>
+<H3>
+Positive feedback controller for a discrete-time system (D <> 0)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the positive feedback controller
+
+           | Ak | Bk |
+       K = |----|----|
+           | Ck | Dk |
+
+  for the shaped plant
+
+           | A | B |
+       G = |---|---|
+           | C | D |
+
+  in the Discrete-Time Loop Shaping Design Procedure.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   FACTOR, AK, LDAK, BK, LDBK, CK, LDCK, DK,
+     $                   LDDK, RCOND, TOL, IWORK, DWORK, LDWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NP
+      DOUBLE PRECISION   FACTOR, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   A ( LDA,  * ), AK( LDAK, * ), B ( LDB,  * ),
+     $                   BK( LDBK, * ), C ( LDC,  * ), CK( LDCK, * ),
+     $                   D ( LDD,  * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 6 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the plant.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A of the shaped plant.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B of the shaped plant.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C of the shaped plant.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D of the shaped plant.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  FACTOR  (input) DOUBLE PRECISION
+          = 1  implies that an optimal controller is required
+               (not recommended);
+          &gt; 1  implies that a suboptimal controller is required
+               achieving a performance FACTOR less than optimal.
+          FACTOR &gt;= 1.
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix Ak.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
+          The leading N-by-NP part of this array contains the
+          controller input matrix Bk.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading M-by-N part of this array contains the
+          controller output matrix Ck.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
+          The leading M-by-NP part of this array contains the
+          controller matrix Dk.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (6)
+          RCOND(1) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the P-Riccati equation is
+                   obtained;
+          RCOND(2) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the Q-Riccati equation is
+                   obtained;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the matrix (gamma^2-1)*In - P*Q;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the matrix Rx + Bx'*X*Bx;
+          RCOND(5) contains an estimate of the reciprocal condition
+                                               ^
+                   number of the matrix Ip + D*Dk;
+          RCOND(6) contains an estimate of the reciprocal condition
+                                             ^
+                   number of the matrix Im + Dk*D.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for checking the nonsingularity of the
+          matrices to be inverted. If TOL &lt;= 0, then a default value
+          equal to sqrt(EPS) is used, where EPS is the relative
+          machine precision.  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*max(N,M+NP))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 16*N*N + 5*M*M + 7*NP*NP + 6*M*N + 7*M*NP +
+                     7*N*NP + 6*N + 2*(M + NP) +
+                     max(14*N+23,16*N,2*M-1,2*NP-1).
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the P-Riccati equation is not solved successfully;
+          =  2:  the Q-Riccati equation is not solved successfully;
+          =  3:  the iteration to compute eigenvalues or singular
+                 values failed to converge;
+          =  4:  the matrix (gamma^2-1)*In - P*Q is singular;
+          =  5:  the matrix Rx + Bx'*X*Bx is singular;
+                                   ^
+          =  6:  the matrix Ip + D*Dk is singular;
+                                 ^
+          =  7:  the matrix Im + Dk*D is singular;
+          =  8:  the matrix Ip - D*Dk is singular;
+          =  9:  the matrix Im - Dk*D is singular;
+          = 10:  the closed-loop system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Gu, D.-W., Petkov, P.H., and Konstantinov, M.M.
+      On discrete H-infinity loop shaping design procedure routines.
+      Technical Report 00-6, Dept. of Engineering, Univ. of
+      Leicester, UK, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the results depends on the conditioning of the
+  two Riccati equations solved in the controller design. For
+  better conditioning it is advised to take FACTOR &gt; 1.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10ZD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 10, NMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
+      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
+     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
+     $                   LDD  = PMAX, LDDK = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 16*NMAX*NMAX + 5*MMAX*MMAX +
+     $                            7*PMAX*PMAX + 6*MMAX*NMAX +
+     $                            7*MMAX*PMAX + 7*NMAX*PMAX + 6*NMAX +
+     $                            2*( MMAX + PMAX ) +
+     $                            MAX( 14*NMAX + 23, 16*NMAX,
+     $                                  2*MMAX - 1, 2*PMAX - 1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FACTOR, TOL
+      INTEGER          I, INFO, J, M, N, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX),   AK(LDAK,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX),   CK(LDCK,NMAX),
+     $                 D(LDD,MMAX),   DK(LDDK,PMAX), DWORK(LDWORK),
+     $                 RCOND( 6 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10ZD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) FACTOR, TOL
+         CALL SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, FACTOR,
+     $                AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
+     $                TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1,6 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10ZD =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10LD EXAMPLE PROGRAM DATA
+   6     2     3   
+   0.2  0.0  3.0  0.0 -0.3 -0.1
+  -3.0  0.2 -0.4 -0.3  0.0  0.0
+  -0.1  0.1 -1.0  0.0  0.0 -3.0
+   1.0  0.0  0.0 -1.0 -1.0  0.0
+   0.0  0.3  0.6  2.0  0.1 -0.4
+   0.2 -4.0  0.0  0.0  0.2 -2.0
+  -1.0 -2.0
+   1.0  3.0 
+  -3.0 -4.0 
+   1.0 -2.0 
+   0.0  1.0
+   1.0  5.0  
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0 -1.0
+   2.0  4.0 -3.0  0.0  5.0  1.0
+  10.0 -6.0
+  -7.0  8.0
+   2.0 -4.0
+   1.1  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10ZD EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+   1.0128   0.5101  -0.1546   1.1300   3.3759   0.4911
+  -2.1257  -1.4517  -0.4486   0.3493  -1.5506  -1.4296
+  -1.0930  -0.6026  -0.1344   0.2253  -1.5625  -0.6762
+   0.3207   0.1698   0.2376  -1.1781  -0.8705   0.2896
+   0.5017   0.9006   0.0668   2.3613   0.2049   0.3703
+   1.0787   0.6703   0.2783  -0.7213   0.4918   0.7435
+
+ The controller input matrix BK is
+
+   0.4132   0.3112  -0.8077
+   0.2140   0.4253   0.1811
+  -0.0710   0.0807   0.3558
+  -0.0121  -0.2019   0.0249
+   0.1047   0.1399  -0.0457
+  -0.2542  -0.3472   0.0523
+
+ The controller output matrix CK is
+
+  -0.0372  -0.0456  -0.0040   0.0962  -0.2059  -0.0571
+   0.1999   0.2994   0.1335  -0.0251  -0.3108   0.2048
+
+ The controller matrix DK is
+
+   0.0629  -0.0022   0.0363
+  -0.0228   0.0195   0.0600
+
+ The estimated condition numbers are
+
+  0.27949D-03  0.66679D-03  0.45677D-01  0.23433D-07  0.68495D-01
+  0.76854D-01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ZP.html b/doc/_build/html/_static/doc/SB10ZP.html
new file mode 100644
index 00000000..d552c0dd
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB10ZP.html
@@ -0,0 +1,156 @@
+<HTML>
+<HEAD><TITLE>SB10ZP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ZP">SB10ZP</A></H2>
+<H3>
+Transforming a SISO system into a stable and minimum phase one
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To transform a SISO (single-input single-output) system [A,B;C,D]
+  by mirroring its unstable poles and zeros in the boundary of the
+  stability domain, thus preserving the frequency response of the
+  system, but making it stable and minimum phase. Specifically, for
+  a continuous-time system, the positive real parts of its poles
+  and zeros are exchanged with their negatives. Discrete-time
+  systems are first converted to continuous-time systems using a
+  bilinear transformation, and finally converted back.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ZP( DISCFL, N, A, LDA, B, C, D, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DISCFL, INFO, LDA, LDWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( * ), C( * ), D( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DISCFL  (input) INTEGER
+          Indicates the type of the system, as follows:
+          = 0: continuous-time system;
+          = 1: discrete-time system.
+
+  N       (input/output) INTEGER
+          On entry, the order of the original system.  N &gt;= 0.
+          On exit, the order of the transformed, minimal system.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original system matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed matrix A, in an upper Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the original system
+          vector B.
+          On exit, this array contains the transformed vector B.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the original system
+          vector C.
+          On exit, this array contains the transformed vector C.
+          The first N-1 elements are zero (for the exit value of N).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (1)
+          On entry, this array must contain the original system
+          scalar D.
+          On exit, this array contains the transformed scalar D.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2,N+1))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max(N*N + 5*N, 6*N + 1 + min(1,N)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the discrete --&gt; continuous transformation cannot
+                be made;
+          = 2:  if the system poles cannot be found;
+          = 3:  if the inverse system cannot be found, i.e., D is
+                (close to) zero;
+          = 4:  if the system zeros cannot be found;
+          = 5:  if the state-space representation of the new
+                transfer function T(s) cannot be found;
+          = 6:  if the continuous --&gt; discrete transformation cannot
+                be made.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, if the system is discrete-time, it is transformed to
+  continuous-time using alpha = beta = 1 in the bilinear
+  transformation implemented in the SLICOT routine AB04MD.
+  Then the eigenvalues of A, i.e., the system poles, are found.
+  Then, the inverse of the original system is found and its poles,
+  i.e., the system zeros, are evaluated.
+  The obtained system poles Pi and zeros Zi are checked and if a
+  positive real part is detected, it is exchanged by -Pi or -Zi.
+  Then the polynomial coefficients of the transfer function
+  T(s) = Q(s)/P(s) are found.
+  The state-space representation of T(s) is then obtained.
+  The system matrices B, C, D are scaled so that the transformed
+  system has the same system gain as the original system.
+  If the original system is discrete-time, then the result (which is
+  continuous-time) is converted back to discrete-time.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB16AD.html b/doc/_build/html/_static/doc/SB16AD.html
new file mode 100644
index 00000000..e9b8688f
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB16AD.html
@@ -0,0 +1,650 @@
+<HTML>
+<HEAD><TITLE>SB16AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16AD">SB16AD</A></H2>
+<H3>
+Stability/performance enforcing frequency-weighted controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order controller (Acr,Bcr,Ccr,Dcr) for an
+  original state-space controller representation (Ac,Bc,Cc,Dc) by
+  using the frequency-weighted square-root or balancing-free
+  square-root Balance & Truncate (B&T) or Singular Perturbation
+  Approximation (SPA) model reduction methods. The algorithm tries
+  to minimize the norm of the frequency-weighted error
+
+        ||V*(K-Kr)*W||
+
+  where K and Kr are the transfer-function matrices of the original
+  and reduced order controllers, respectively. V and W are special
+  frequency-weighting transfer-function matrices constructed
+  to enforce closed-loop stability and/or closed-loop performance.
+  If G is the transfer-function matrix of the open-loop system, then
+  the following weightings V and W can be used:
+                   -1
+   (a)   V = (I-G*K) *G, W = I - to enforce closed-loop stability;
+                           -1
+   (b)   V = I,  W = (I-G*K) *G - to enforce closed-loop stability;
+                   -1              -1
+   (c)   V = (I-G*K) *G, W = (I-G*K)  - to enforce closed-loop
+         stability and performance.
+
+  G has the state space representation (A,B,C,D).
+  If K is unstable, only the ALPHA-stable part of K is reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL,
+     $                   N, M, P, NC, NCR, ALPHA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AC, LDAC, BC, LDBC, CC, LDCC,
+     $                   DC, LDDC, NCS, HSVC, TOL1, TOL2, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
+      INTEGER           INFO, IWARN, LDA, LDAC, LDB, LDBC, LDC, LDCC,
+     $                  LDD, LDDC, LDWORK, M, N, NC, NCR, NCS, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
+     $                  C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
+     $                  DWORK(*), HSVC(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original controller as follows:
+          = 'C':  continuous-time controller;
+          = 'D':  discrete-time controller.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified Enns' method of [2].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [2].
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method;
+          = 'S':  use the square-root SPA method;
+          = 'P':  use the balancing-free square-root SPA method.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency-weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'O':  stability enforcing left (output) weighting
+                            -1
+                  V = (I-G*K) *G is used (W = I);
+          = 'I':  stability enforcing right (input) weighting
+                            -1
+                  W = (I-G*K) *G is used (V = I);
+          = 'P':  stability and performance enforcing weightings
+                            -1                -1
+                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplets (A,B,C) and (Ac,Bc,Cc) as
+          follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NCR is fixed;
+          = 'A':  the resulting order NCR is automatically
+                  determined on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop system state-space
+          representation, i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NC      (input) INTEGER
+          The order of the controller state-space representation,
+          i.e., the order of the matrix AC.  NC &gt;= 0.
+
+  NCR     (input/output) INTEGER
+          On entry with ORDSEL = 'F', NCR is the desired order of
+          the resulting reduced order controller.  0 &lt;= NCR &lt;= NC.
+          On exit, if INFO = 0, NCR is the order of the resulting
+          reduced order controller. For a controller with NCU
+          ALPHA-unstable eigenvalues and NCS ALPHA-stable
+          eigenvalues (NCU+NCS = NC), NCR is set as follows:
+          if ORDSEL = 'F', NCR is equal to
+          NCU+MIN(MAX(0,NCR-NCU),NCMIN), where NCR is the desired
+          order on entry, NCMIN is the number of frequency-weighted
+          Hankel singular values greater than NCS*EPS*S1, EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH) and
+          S1 is the largest Hankel singular value (computed in
+          HSVC(1)); NCR can be further reduced to ensure
+          HSVC(NCR-NCU) &gt; HSVC(NCR+1-NCU);
+          if ORDSEL = 'A', NCR is the sum of NCU and the number of
+          Hankel singular values greater than MAX(TOL1,NCS*EPS*S1).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix AC. For a continuous-time
+          controller (DICO = 'C'), ALPHA &lt;= 0 is the boundary value
+          for the real parts of eigenvalues; for a discrete-time
+          controller (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A of the open-loop
+          system.
+          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-N
+          part of this array contains the scaled state dynamics
+          matrix of the open-loop system.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B of the open-loop system.
+          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-M
+          part of this array contains the scaled input/state matrix
+          of the open-loop system.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the open-loop system.
+          On exit, if INFO = 0 and EQUIL = 'S', the leading P-by-N
+          part of this array contains the scaled state/output matrix
+          of the open-loop system.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D of the open-loop system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AC      (input/output) DOUBLE PRECISION array, dimension (LDAC,NC)
+          On entry, the leading NC-by-NC part of this array must
+          contain the state dynamics matrix Ac of the original
+          controller.
+          On exit, if INFO = 0, the leading NCR-by-NCR part of this
+          array contains the state dynamics matrix Acr of the
+          reduced controller. The resulting Ac has a
+          block-diagonal form with two blocks.
+          For a system with NCU ALPHA-unstable eigenvalues and
+          NCS ALPHA-stable eigenvalues (NCU+NCS = NC), the leading
+          NCU-by-NCU block contains the unreduced part of Ac
+          corresponding to the ALPHA-unstable eigenvalues.
+          The trailing (NCR+NCS-NC)-by-(NCR+NCS-NC) block contains
+          the reduced part of Ac corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDAC    INTEGER
+          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
+
+  BC      (input/output) DOUBLE PRECISION array, dimension (LDBC,P)
+          On entry, the leading NC-by-P part of this array must
+          contain the input/state matrix Bc of the original
+          controller.
+          On exit, if INFO = 0, the leading NCR-by-P part of this
+          array contains the input/state matrix Bcr of the reduced
+          controller.
+
+  LDBC    INTEGER
+          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
+
+  CC      (input/output) DOUBLE PRECISION array, dimension (LDCC,NC)
+          On entry, the leading M-by-NC part of this array must
+          contain the state/output matrix Cc of the original
+          controller.
+          On exit, if INFO = 0, the leading M-by-NCR part of this
+          array contains the state/output matrix Ccr of the reduced
+          controller.
+
+  LDCC    INTEGER
+          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
+
+  DC      (input/output) DOUBLE PRECISION array, dimension (LDDC,P)
+          On entry, the leading M-by-P part of this array must
+          contain the input/output matrix Dc of the original
+          controller.
+          On exit, if INFO = 0, the leading M-by-P part of this
+          array contains the input/output matrix Dcr of the reduced
+          controller.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
+
+  NCS     (output) INTEGER
+          The dimension of the ALPHA-stable part of the controller.
+
+  HSVC    (output) DOUBLE PRECISION array, dimension (NC)
+          If INFO = 0, the leading NCS elements of this array
+          contain the frequency-weighted Hankel singular values,
+          ordered decreasingly, of the ALPHA-stable part of the
+          controller.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of the reduced controller.
+          For model reduction, the recommended value is
+          TOL1 = c*S1, where c is a constant in the
+          interval [0.00001,0.001], and S1 is the largest
+          frequency-weighted Hankel singular value of the
+          ALPHA-stable part of the original controller
+          (computed in HSVC(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NCS*EPS*S1, where NCS is the number of
+          ALPHA-stable eigenvalues of Ac and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given
+          controller. The recommended value is TOL2 = NCS*EPS*S1.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,LIWRK1,LIWRK2))
+          LIWRK1 = 0,       if JOBMR  = 'B';
+          LIWRK1 = NC,      if JOBMR  = 'F';
+          LIWRK1 = 2*NC,    if JOBMR  = 'S' or 'P';
+          LIWRK2 = 0,       if WEIGHT = 'N';
+          LIWRK2 = 2*(M+P), if WEIGHT = 'O', 'I', or 'P'.
+          On exit, if INFO = 0, IWORK(1) contains NCMIN, the order
+          of the computed minimal realization of the stable part of
+          the controller.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*NC*NC + MAX( 1, LFREQ, LSQRED ),
+          where
+          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
+                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
+                                   if WEIGHT = 'I' or 'O' or 'P';
+          LFREQ  = NC*(MAX(M,P)+5) if WEIGHT = 'N' and EQUIL = 'N';
+          LFREQ  = MAX(N,NC*(MAX(M,P)+5)) if WEIGHT = 'N' and
+                                             EQUIL  = 'S';
+          LSQRED = MAX( 1, 2*NC*NC+5*NC );
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NCR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                controller; in this case, the resulting NCR is set
+                equal to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NCR
+                corresponds to repeated singular values for the
+                ALPHA-stable part of the controller, which are
+                neither all included nor all excluded from the
+                reduced model; in this case, the resulting NCR is
+                automatically decreased to exclude all repeated
+                singular values;
+          = 3:  with ORDSEL = 'F', the selected order NCR is less
+                than the order of the ALPHA-unstable part of the
+                given controller. In this case NCR is set equal to
+                the order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the closed-loop system is not well-posed;
+                its feedthrough matrix is (numerically) singular;
+          = 2:  the computation of the real Schur form of the
+                closed-loop state matrix failed;
+          = 3:  the closed-loop state matrix is not stable;
+          = 4:  the solution of a symmetric eigenproblem failed;
+          = 5:  the computation of the ordered real Schur form of Ac
+                failed;
+          = 6:  the separation of the ALPHA-stable/unstable
+                diagonal blocks failed because of very close
+                eigenvalues;
+          = 7:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let K be the transfer-function matrix of the original linear
+  controller
+
+       d[xc(t)] = Ac*xc(t) + Bc*y(t)
+       u(t)     = Cc*xc(t) + Dc*y(t),                      (1)
+
+  where d[xc(t)] is dxc(t)/dt for a continuous-time system and
+  xc(t+1) for a discrete-time system. The subroutine SB16AD
+  determines the matrices of a reduced order controller
+
+       d[z(t)] = Acr*z(t) + Bcr*y(t)
+       u(t)    = Ccr*z(t) + Dcr*y(t),                      (2)
+
+  such that the corresponding transfer-function matrix Kr minimizes
+  the norm of the frequency-weighted error
+
+          V*(K-Kr)*W,                                      (3)
+
+  where V and W are special stable transfer-function matrices
+  chosen to enforce stability and/or performance of the closed-loop
+  system [3] (see description of the parameter WEIGHT).
+
+  The following procedure is used to reduce K in conjunction
+  with the frequency-weighted balancing approach of [2]
+  (see also [3]):
+
+  1) Decompose additively K, of order NC, as
+
+       K = K1 + K2,
+
+     such that K1 has only ALPHA-stable poles and K2, of order NCU,
+     has only ALPHA-unstable poles.
+
+  2) Compute for K1 a B&T or SPA frequency-weighted approximation
+     K1r of order NCR-NCU using the frequency-weighted balancing
+     approach of [1] in conjunction with accuracy enhancing
+     techniques specified by the parameter JOBMR.
+
+  3) Assemble the reduced model Kr as
+
+        Kr = K1r + K2.
+
+  For the reduction of the ALPHA-stable part, several accuracy
+  enhancing techniques can be employed (see [2] for details).
+
+  If JOBMR = 'B', the square-root B&T method of [1] is used.
+
+  If JOBMR = 'F', the balancing-free square-root version of the
+  B&T method [1] is used.
+
+  If JOBMR = 'S', the square-root version of the SPA method [2,3]
+  is used.
+
+  If JOBMR = 'P', the balancing-free square-root version of the
+  SPA method [2,3] is used.
+
+  For each of these methods, two left and right truncation matrices
+  are determined using the Cholesky factors of an input
+  frequency-weighted controllability Grammian P and an output
+  frequency-weighted observability Grammian Q.
+  P and Q are determined as the leading NC-by-NC diagonal blocks
+  of the controllability Grammian of K*W and of the
+  observability Grammian of V*K. Special techniques developed in [2]
+  are used to compute the Cholesky factors of P and Q directly
+  (see also SLICOT Library routine SB16AY).
+  The frequency-weighted Hankel singular values HSVC(1), ....,
+  HSVC(NC) are computed as the square roots of the eigenvalues
+  of the product P*Q.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Varga, A. and Anderson, B.D.O.
+      Square-root balancing-free methods for frequency-weighted
+      balancing related model reduction.
+      (report in preparation)
+
+  [3] Anderson, B.D.O and Liu, Y.
+      Controller reduction: concepts and approaches.
+      IEEE Trans. Autom. Control, Vol. 34, pp. 802-812, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root
+  techniques.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB16AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NCMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
+     $                   NCMAX = 20 )
+      INTEGER          MPMAX, NNCMAX
+      PARAMETER        ( MPMAX  = MMAX + PMAX, NNCMAX = NMAX + NCMAX )
+      INTEGER          LDA, LDB, LDC, LDD, LDAC, LDBC, LDCC, LDDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDAC = NCMAX, LDBC = NCMAX,
+     $                   LDCC = PMAX, LDDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NCMAX, MPMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NCMAX*NCMAX +
+     $                            NNCMAX*( NNCMAX + 2*MPMAX ) +
+     $                            MAX( NNCMAX*( NNCMAX +
+     $                                 MAX( NNCMAX, MMAX, PMAX ) + 7 ),
+     $                                 MPMAX*( MPMAX + 4 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NCR, NCS, NC, P
+      CHARACTER*1      DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSVC(NMAX),
+     $                 AC(LDAC,NCMAX), BC(LDBC,PMAX), CC(LDCC,NMAX),
+     $                 DC(LDDC,PMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB16AD
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NC, NCR, ALPHA, TOL1, TOL2, DICO,
+     $                      JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF( P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) NC
+               ELSE
+                  IF( NC.GT.0 ) THEN
+                     READ ( NIN, FMT = * )
+     $                 ( ( AC(I,J), J = 1,NC ), I = 1,NC )
+                     READ ( NIN, FMT = * )
+     $                 ( ( BC(I,J), J = 1,P ), I = 1, NC )
+                     READ ( NIN, FMT = * )
+     $                 ( ( CC(I,J), J = 1,NC ), I = 1,M )
+                  END IF
+                  READ ( NIN, FMT = * )
+     $                 ( ( DC(I,J), J = 1,P ), I = 1,M )
+               END IF
+*              Find a reduced ssr for (AC,BC,CC,DC).
+               CALL SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL,
+     $                      ORDSEL, N, M, P, NC, NCR, ALPHA, A, LDA,
+     $                      B, LDB, C, LDC, D, LDD, AC, LDAC, BC, LDBC,
+     $                      CC, LDCC, DC, LDDC, NCS, HSVC, TOL1, TOL2,
+     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NCR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSVC(J), J = 1, NCS )
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( AC(I,J), J = 1,NCR )
+   20             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( BC(I,J), J = 1,P )
+   40             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( CC(I,J), J = 1,NCR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,P )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB16AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB16AD = ',I2)
+99997 FORMAT (/' The order of reduced controller = ',I2)
+99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
+99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
+99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NC is out of range.',/' NC = ',I5)
+99984 FORMAT (' IWARN on exit from SB16AD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB16AD EXAMPLE PROGRAM DATA (Continuous system)
+  3  1  1   3  2   0.0  0.1E0  0.0    C  S  S  F   I  N   F 
+  -1.  0.   4.
+   0.  2.   0.
+   0.  0.  -3.
+   1.
+   1.
+   1.
+   1.  1.   1.
+   0. 
+  -26.4000    6.4023    4.3868
+   32.0000         0         0
+         0    8.0000         0
+    -16
+     0
+     0
+    9.2994    1.1624    0.1090
+     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB16AD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced controller =  2
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   3.8253   0.2005
+
+ The reduced controller state dynamics matrix Ac is 
+   9.1900   0.0000
+   0.0000 -34.5297
+
+ The reduced controller input/state matrix Bc is 
+ -11.9593
+  86.3137
+
+ The reduced controller state/output matrix Cc is 
+   2.8955  -1.3566
+
+ The reduced controller input/output matrix Dc is 
+   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB16AY.html b/doc/_build/html/_static/doc/SB16AY.html
new file mode 100644
index 00000000..464b5002
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB16AY.html
@@ -0,0 +1,343 @@
+<HTML>
+<HEAD><TITLE>SB16AY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16AY">SB16AY</A></H2>
+<H3>
+Cholesky factors of the frequency-weighted controllability and observability Grammians for controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for given state-space representations (A,B,C,D) and
+  (Ac,Bc,Cc,Dc) of the transfer-function matrices of the
+  open-loop system G and feedback controller K, respectively,
+  the Cholesky factors of the frequency-weighted
+  controllability and observability Grammians corresponding
+  to a frequency-weighted model reduction problem.
+  The controller must stabilize the closed-loop system.
+  The state matrix Ac must be in a block-diagonal real Schur form
+  Ac = diag(Ac1,Ac2), where Ac1 contains the unstable eigenvalues
+  of Ac and Ac2 contains the stable eigenvalues of Ac.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16AY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NC, NCS,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC,
+     $                   SCALEC, SCALEO, S, LDS, R, LDR,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBC, JOBO, WEIGHT
+      INTEGER          INFO, LDA, LDAC, LDB, LDBC, LDC, LDCC, LDD, LDDC,
+     $                 LDR, LDS, LDWORK, M, N, NC, NCS, P
+      DOUBLE PRECISION SCALEC, SCALEO
+C     .. Array Arguments ..
+      INTEGER          IWORK(*)
+      DOUBLE PRECISION A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
+     $                 C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
+     $                 DWORK(*), R(LDR,*),   S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G and K are continuous-time systems;
+          = 'D':  G and K are discrete-time systems.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified Enns' method of [2].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [2].
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency-weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'O':  stability enforcing left (output) weighting
+                            -1
+                  V = (I-G*K) *G is used (W = I);
+          = 'I':  stability enforcing right (input) weighting
+                            -1
+                  W = (I-G*K) *G is used (V = I);
+          = 'P':  stability and performance enforcing weightings
+                            -1                -1
+                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop system state-space
+          representation, i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NC      (input) INTEGER
+          The order of the controller state-space representation,
+          i.e., the order of the matrix AC.  NC &gt;= 0.
+
+  NCS     (input) INTEGER
+          The dimension of the stable part of the controller, i.e.,
+          the order of matrix Ac2.  NC &gt;= NCS &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system with the transfer-function
+          matrix G.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D of the open-loop system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AC      (input) DOUBLE PRECISION array, dimension (LDAC,NC)
+          The leading NC-by-NC part of this array must contain
+          the state dynamics matrix Ac of the controller in a
+          block diagonal real Schur form Ac = diag(Ac1,Ac2), where
+          Ac1 is (NC-NCS)-by-(NC-NCS) and contains the unstable
+          eigenvalues of Ac, and Ac2 is NCS-by-NCS and contains
+          the stable eigenvalues of Ac.
+
+  LDAC    INTEGER
+          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
+
+  BC      (input) DOUBLE PRECISION array, dimension (LDBC,P)
+          The leading NC-by-P part of this array must contain
+          the input/state matrix Bc of the controller.
+
+  LDBC    INTEGER
+          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
+
+  CC      (input) DOUBLE PRECISION array, dimension (LDCC,NC)
+          The leading M-by-NC part of this array must contain
+          the state/output matrix Cc of the controller.
+
+  LDCC    INTEGER
+          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
+
+  DC      (input) DOUBLE PRECISION array, dimension (LDDC,P)
+          The leading M-by-P part of this array must contain
+          the input/output matrix Dc of the controller.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian.
+          See METHOD.
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian. See METHOD.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,NCS)
+          The leading NCS-by-NCS upper triangular part of this array
+          contains the Cholesky factor S of the frequency-weighted
+          controllability Grammian P = S*S'. See METHOD.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,NCS).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,NCS)
+          The leading NCS-by-NCS upper triangular part of this array
+          contains the Cholesky factor R of the frequency-weighted
+          observability Grammian Q = R'*R. See METHOD.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,NCS).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWRK)
+          LIWRK = 0,       if WEIGHT = 'N';
+          LIWRK = 2(M+P),  if WEIGHT = 'O', 'I', or 'P'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, LFREQ ),
+          where
+          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
+                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
+                                   if WEIGHT = 'I' or 'O' or 'P';
+          LFREQ  = NCS*(MAX(M,P)+5) if WEIGHT = 'N'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the closed-loop system is not well-posed;
+                its feedthrough matrix is (numerically) singular;
+          = 2:  the computation of the real Schur form of the
+                closed-loop state matrix failed;
+          = 3:  the closed-loop state matrix is not stable;
+          = 4:  the solution of a symmetric eigenproblem failed;
+          = 5:  the NCS-by-NCS trailing part Ac2 of the state
+                matrix Ac is not stable or not in a real Schur form.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOBC = 'S', the controllability Grammian P is determined as
+  follows:
+
+  - if WEIGHT = 'O' or 'N', P satisfies for a continuous-time
+    controller the Lyapunov equation
+
+         Ac2*P + P*Ac2' +  scalec^2*Bc*Bc' = 0
+
+    and for a discrete-time controller
+
+         Ac2*P*Ac2' - P +  scalec^2*Bc*Bc' = 0;
+
+  - if WEIGHT = 'I' or 'P', let Pi be the solution of the
+    continuous-time Lyapunov equation
+
+         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0
+
+    or of the discrete-time Lyapunov equation
+
+         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,
+
+    where Ai and Bi are the state and input matrices of a special
+    state-space realization of the input frequency weight (see [2]);
+    P results as the trailing NCS-by-NCS part of Pi partitioned as
+
+        Pi = ( *  * ).
+             ( *  P )
+
+  If JOBC = 'E', a modified controllability Grammian P1 &gt;= P is
+  determined to guarantee stability for a modified Enns' method [2].
+
+  If JOBO = 'S', the observability Grammian Q is determined as
+  follows:
+
+  - if WEIGHT = 'I' or 'N', Q satisfies for a continuous-time
+    controller the Lyapunov equation
+
+         Ac2'*Q + Q*Ac2 +  scaleo^2*Cc'*Cc = 0
+
+    and for a discrete-time controller
+
+         Ac2'*Q*Ac2 - Q +  scaleo^2*Cc'*Cc = 0;
+
+  - if WEIGHT = 'O' or 'P', let Qo be the solution of the
+    continuous-time Lyapunov equation
+
+         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0
+
+    or of the discrete-time Lyapunov equation
+
+         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,
+
+    where Ao and Co are the state and output matrices of a
+    special state-space realization of the output frequency weight
+    (see [2]); if WEIGHT = 'O', Q results as the leading NCS-by-NCS
+    part of Qo partitioned as
+
+        Qo = ( Q  * )
+             ( *  * )
+
+    while if WEIGHT = 'P', Q results as the trailing NCS-by-NCS
+    part of Qo partitioned as
+
+        Qo = ( *  * ).
+             ( *  Q )
+
+  If JOBO = 'E', a modified observability Grammian Q1 &gt;= Q is
+  determined to guarantee stability for a modified Enns' method [2].
+
+  The routine computes directly the Cholesky factors S and R
+  such that P = S*S' and Q = R'*R according to formulas
+  developed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Varga, A. and Anderson, B.D.O.
+      Frequency-weighted balancing related controller reduction.
+      Proceedings of the 15th IFAC World Congress, July 21-26, 2002,
+      Barcelona, Spain, Vol.15, Part 1, 2002-07-21.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SB16BD.html b/doc/_build/html/_static/doc/SB16BD.html
new file mode 100644
index 00000000..04313e51
--- /dev/null
+++ b/doc/_build/html/_static/doc/SB16BD.html
@@ -0,0 +1,551 @@
+<HTML>
+<HEAD><TITLE>SB16BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16BD">SB16BD</A></H2>
+<H3>
+Coprime factorization based state feedback controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given open-loop model (A,B,C,D), and for
+  given state feedback gain F and full observer gain G,
+  such that A+B*F and A+G*C are stable, a reduced order
+  controller model (Ac,Bc,Cc,Dc) using a coprime factorization
+  based controller reduction approach. For reduction,
+  either the square-root or the balancing-free square-root
+  versions of the Balance & Truncate (B&T) or Singular Perturbation
+  Approximation (SPA) model reduction methods are used in
+  conjunction with stable coprime factorization techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL,
+     $                   N, M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDDC,
+     $                  LDF, LDG, LDWORK, M, N, NCR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DC(LDDC,*), DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the open-loop system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears
+          in the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method;
+          = 'S':  use the square-root SPA method;
+          = 'P':  use the balancing-free square-root SPA method.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization is
+          to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to perform a
+          preliminary equilibration before performing
+          order reduction as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting controller order NCR is fixed;
+          = 'A':  the resulting controller order NCR is
+                  automatically determined on basis of the given
+                  tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+          N also represents the order of the original state-feedback
+          controller.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NCR     (input/output) INTEGER
+          On entry with ORDSEL = 'F', NCR is the desired order of
+          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
+          On exit, if INFO = 0, NCR is the order of the resulting
+          reduced order controller. NCR is set as follows:
+          if ORDSEL = 'F', NCR is equal to MIN(NCR,NMIN), where NCR
+          is the desired order on entry, and NMIN is the order of a
+          minimal realization of an extended system Ge (see METHOD);
+          NMIN is determined as the number of
+          Hankel singular values greater than N*EPS*HNORM(Ge),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
+          extended system (computed in HSV(1));
+          if ORDSEL = 'A', NCR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(Ge)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NCR-by-NCR part of this
+          array contains the state dynamics matrix Ac of the reduced
+          controller.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must
+          contain the original input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must
+          contain the original state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this
+          array must contain the system direct input/output
+          transmission matrix D.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain a stabilizing state feedback matrix.
+          On exit, if INFO = 0, the leading M-by-NCR part of this
+          array contains the state/output matrix Cc of the reduced
+          controller.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
+          On entry, the leading N-by-P part of this array must
+          contain a stabilizing observer gain matrix.
+          On exit, if INFO = 0, the leading NCR-by-P part of this
+          array contains the input/state matrix Bc of the reduced
+          controller.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,P)
+          If INFO = 0, the leading M-by-P part of this array
+          contains the input/output matrix Dc of the reduced
+          controller.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the N Hankel singular values
+          of the extended system ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of the reduced extended system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(Ge), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(Ge) is the
+          Hankel norm of the extended system (computed in HSV(1)).
+          The value TOL1 = N*EPS*HNORM(Ge) is used by default if
+          TOL1 &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the coprime factorization controller
+          (see METHOD). The recommended value is
+          TOL2 = N*EPS*HNORM(Ge) (see METHOD).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0,         if ORDSEL = 'F' and NCR = N.
+                                              Otherwise,
+          LIWORK = MAX(PM,M), if JOBCF = 'L',
+          LIWORK = MAX(PM,P), if JOBCF = 'R', where
+          PM = 0,             if JOBMR = 'B',
+          PM = N,             if JOBMR = 'F',
+          PM = MAX(1,2*N),    if JOBMR = 'S' or 'P'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= P*N, if ORDSEL = 'F' and NCR = N. Otherwise,
+          LDWORK &gt;= (N+M)*(M+P) + MAX(LWR,4*M), if JOBCF = 'L',
+          LDWORK &gt;= (N+P)*(M+P) + MAX(LWR,4*P), if JOBCF = 'R',
+          where LWR = MAX(1,N*(2*N+MAX(N,M+P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NCR is
+                greater than the order of a minimal
+                realization of the controller.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A+G*C to a real Schur form
+                failed;
+          = 2:  the matrix A+G*C is not stable (if DICO = 'C'),
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed;
+          = 4:  the reduction of A+B*F to a real Schur form
+                failed;
+          = 5:  the matrix A+B*F is not stable (if DICO = 'C'),
+                or not convergent (if DICO = 'D').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let Go(d) be the open-loop
+  transfer-function matrix
+                        -1
+       Go(d) = C*(d*I-A) *B + D .
+
+  Let F and G be the state feedback and observer gain matrices,
+  respectively, chosen so that A+B*F and A+G*C are stable matrices.
+  The controller has a transfer-function matrix K(d) given by
+                                     -1
+       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
+
+  The closed-loop transfer-function matrix is given by
+                                  -1
+       Gcl(d) = Go(d)(I+K(d)Go(d)) .
+
+  K(d) can be expressed as a left coprime factorization (LCF),
+                       -1
+       K(d) = M_left(d) *N_left(d) ,
+
+  or as a right coprime factorization (RCF),
+                                   -1
+       K(d) = N_right(d)*M_right(d) ,
+
+  where M_left(d), N_left(d), N_right(d), and M_right(d) are
+  stable transfer-function matrices.
+
+  The subroutine SB16BD determines the matrices of a reduced
+  controller
+
+       d[z(t)] = Ac*z(t) + Bc*y(t)
+       u(t)    = Cc*z(t) + Dc*y(t),                           (2)
+
+  with the transfer-function matrix Kr as follows:
+
+  (1) If JOBCF = 'L', the extended system
+      Ge(d)  = [ N_left(d) M_left(d) ] is reduced to
+      Ger(d) = [ N_leftr(d) M_leftr(d) ] by using either the
+      B&T or SPA methods. The reduced order controller Kr(d)
+      is computed as
+                        -1
+      Kr(d) = M_leftr(d) *N_leftr(d) ;
+
+  (2) If JOBCF = 'R', the extended system
+      Ge(d) = [ N_right(d) ] is reduced to
+              [ M_right(d) ]
+      Ger(d) = [ N_rightr(d) ] by using either the
+               [ M_rightr(d) ]
+      B&T or SPA methods. The reduced order controller Kr(d)
+      is computed as
+                                      -1
+      Kr(d) = N_rightr(d)* M_rightr(d) .
+
+  If ORDSEL = 'A', the order of the controller is determined by
+  computing the number of Hankel singular values greater than
+  the given tolerance TOL1. The Hankel singular values are
+  the square roots of the eigenvalues of the product of
+  the controllability and observability Grammians of the
+  extended system Ge.
+
+  If JOBMR = 'B', the square-root B&T method of [1] is used.
+
+  If JOBMR = 'F', the balancing-free square-root version of the
+  B&T method [1] is used.
+
+  If JOBMR = 'S', the square-root version of the SPA method [2,3]
+  is used.
+
+  If JOBMR = 'P', the balancing-free square-root version of the
+  SPA method [2,3] is used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs, M.S. and Postlethwaite, I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga, A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
+      pp. 42-46, 1991.
+
+  [3] Varga, A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+  [4] Liu, Y., Anderson, B.D.O. and Ly, O.L.
+      Coprime factorization controller reduction with Bezout
+      identity induced frequency weighting.
+      Automatica, vol. 26, pp. 233-249, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB16BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
+      PARAMETER        ( LDA = NMAX, LDB  = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX
+     $                 )
+      INTEGER          LDWORK, LIWORK, MAXMP, MPMAX
+      PARAMETER        ( LIWORK = 2*NMAX, MAXMP = MAX( MMAX, PMAX ),
+     $                   MPMAX  = MMAX + PMAX )
+      PARAMETER        ( LDWORK = ( NMAX + MAXMP )*MPMAX +
+     $                            MAX ( NMAX*( 2*NMAX +
+     $                                         MAX( NMAX, MPMAX ) + 5 )
+     $                                      + ( NMAX*( NMAX + 1 ) )/2,
+     $                                  4*MAXMP ) )
+      CHARACTER        DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
+      DOUBLE PRECISION TOL1, TOL2
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DC(LDDC,PMAX), DWORK(LDWORK),
+     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB16BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NCR, TOL1, TOL2,
+     $                      DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL, N,
+     $                      M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
+     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
+   20             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
+   40             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB16BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB16BD = ',I2)
+99997 FORMAT (' The order of reduced controller = ',I2)
+99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
+99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
+99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of extended system are:')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB16BD EXAMPLE PROGRAM DATA (Continuous system)
+  8  1  1   4   0.1E0  0.0    C  D  F  L  S   F
+         0    1.0000         0         0         0         0         0        0
+         0         0         0         0         0         0         0        0
+         0         0   -0.0150    0.7650         0         0         0        0
+         0         0   -0.7650   -0.0150         0         0         0        0
+         0         0         0         0   -0.0280    1.4100         0        0
+         0         0         0         0   -1.4100   -0.0280         0        0
+         0         0         0         0         0         0   -0.0400    1.850
+         0         0         0         0         0         0   -1.8500   -0.040
+    0.0260
+   -0.2510
+    0.0330
+   -0.8860
+   -4.0170
+    0.1450
+    3.6040
+    0.2800
+  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
+  0.0
+4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002
+  4.1089e-001
+  8.6846e-002
+  3.8523e-004
+ -3.6194e-003
+ -8.8037e-003
+  8.4205e-003
+  1.2349e-003
+  4.2632e-003
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB16BD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced controller =  4
+
+ The Hankel singular values of extended system are:
+   4.9078   4.8745   3.8455   3.7811   1.2289   1.1785   0.5176   0.1148
+
+ The reduced controller state dynamics matrix Ac is 
+   0.5946  -0.7336   0.1914  -0.3368
+   0.5960  -0.0184  -0.1088   0.0207
+   1.2253   0.2043   0.1009  -1.4948
+  -0.0330  -0.0243   1.3440   0.0035
+
+ The reduced controller input/state matrix Bc is 
+   0.0015
+  -0.0202
+   0.0159
+  -0.0544
+
+ The reduced controller state/output matrix Cc is 
+   0.3534   0.0274   0.0337  -0.0320
+
+ The reduced controller input/output matrix Dc is 
+   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB16CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16CD">SB16CD</A></H2>
+<H3>
+Coprime factorization based frequency-weighted state feedback controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given open-loop model (A,B,C,D), and for
+  given state feedback gain F and full observer gain G,
+  such that A+B*F and A+G*C are stable, a reduced order
+  controller model (Ac,Bc,Cc) using a coprime factorization
+  based controller reduction approach. For reduction of
+  coprime factors, a stability enforcing frequency-weighted
+  model reduction is performed using either the square-root or
+  the balancing-free square-root versions of the Balance & Truncate
+  (B&T) model reduction method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P, NCR,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, F, LDF, G, LDG,
+     $                   HSV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD,
+     $                  LDF, LDG, LDWORK, M, N, NCR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the open-loop system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears
+          in the given state space model, as follows:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization
+          of the controller is to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting controller order NCR is fixed;
+          = 'A':  the resulting controller order NCR is
+                  automatically determined on basis of the given
+                  tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+          N also represents the order of the original state-feedback
+          controller.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NCR     (input/output) INTEGER
+          On entry with ORDSEL = 'F', NCR is the desired order of
+          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
+          On exit, if INFO = 0, NCR is the order of the resulting
+          reduced order controller. NCR is set as follows:
+          if ORDSEL = 'F', NCR is equal to MIN(NCR,NCRMIN), where
+          NCR is the desired order on entry, and NCRMIN is the
+          number of Hankel-singular values greater than N*EPS*S1,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and S1 is the largest Hankel singular
+          value (computed in HSV(1)); NCR can be further reduced
+          to ensure HSV(NCR) &gt; HSV(NCR+1);
+          if ORDSEL = 'A', NCR is equal to the number of Hankel
+          singular values greater than MAX(TOL,N*EPS*S1).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NCR-by-NCR part of this
+          array contains the state dynamics matrix Ac of the reduced
+          controller.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the open-loop system input/state matrix B.
+          On exit, this array is overwritten with a NCR-by-M
+          B&T approximation of the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the open-loop system state/output matrix C.
+          On exit, this array is overwritten with a P-by-NCR
+          B&T approximation of the matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the system direct input/output
+          transmission matrix D.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain a stabilizing state feedback matrix.
+          On exit, if INFO = 0, the leading M-by-NCR part of this
+          array contains the output/state matrix Cc of the reduced
+          controller.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
+          On entry, the leading N-by-P part of this array must
+          contain a stabilizing observer gain matrix.
+          On exit, if INFO = 0, the leading NCR-by-P part of this
+          array contains the input/state matrix Bc of the reduced
+          controller.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, HSV contains the N frequency-weighted
+          Hankel singular values ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced controller.
+          The recommended value is TOL = c*S1, where c is a constant
+          in the interval [0.00001,0.001], and S1 is the largest
+          Hankel singular value (computed in HSV(1)).
+          The value TOL = N*EPS*S1 is used by default if
+          TOL &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0,   if JOBMR = 'B';
+          LIWORK = N,   if JOBMR = 'F'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N*N + MAX( 1, 2*N*N + 5*N, N*MAX(M,P),
+                                 N*(N + MAX(N,MP) + MIN(N,MP) + 6)),
+          where     MP = M, if JOBCF = 'L';
+                    MP = P, if JOBCF = 'R'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NCR is
+                greater than the order of a minimal realization
+                of the controller;
+          = 2:  with ORDSEL = 'F', the selected order NCR
+                corresponds to repeated singular values, which are
+                neither all included nor all excluded from the
+                reduced controller. In this case, the resulting NCR
+                is set automatically to the largest value such that
+                HSV(NCR) &gt; HSV(NCR+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  eigenvalue computation failure;
+          = 2:  the matrix A+G*C is not stable;
+          = 3:  the matrix A+B*F is not stable;
+          = 4:  the Lyapunov equation for computing the
+                observability Grammian is (nearly) singular;
+          = 5:  the Lyapunov equation for computing the
+                controllability Grammian is (nearly) singular;
+          = 6:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let Go(d) be the open-loop
+  transfer-function matrix
+                       -1
+       Go(d) = C*(d*I-A) *B + D .
+
+  Let F and G be the state feedback and observer gain matrices,
+  respectively, chosen such that A+BF and A+GC are stable matrices.
+  The controller has a transfer-function matrix K(d) given by
+                                    -1
+       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
+
+  The closed-loop transfer function matrix is given by
+                                 -1
+       Gcl(d) = Go(d)(I+K(d)Go(d)) .
+
+  K(d) can be expressed as a left coprime factorization (LCF)
+                      -1
+       K(d) = M_left(d) *N_left(d),
+
+  or as a right coprime factorization (RCF)
+                                  -1
+       K(d) = N_right(d)*M_right(d) ,
+
+  where M_left(d), N_left(d), N_right(d), and M_right(d) are
+  stable transfer-function matrices.
+
+  The subroutine SB16CD determines the matrices of a reduced
+  controller
+
+       d[z(t)] = Ac*z(t) + Bc*y(t)
+       u(t)    = Cc*z(t),                                   (2)
+
+  with the transfer-function matrix Kr, using the following
+  stability enforcing approach proposed in [1]:
+
+  (1) If JOBCF = 'L', the frequency-weighted approximation problem
+      is solved
+
+      min||[M_left(d)-M_leftr(d)  N_left(d)-N_leftr(d)][-Y(d)]|| ,
+                                                       [ X(d)]
+      where
+                           -1
+            G(d) = Y(d)*X(d)
+
+      is a RCF of the open-loop system transfer-function matrix.
+      The B&T model reduction technique is used in conjunction
+      with the method proposed in [1].
+
+  (2) If JOBCF = 'R', the frequency-weighted approximation problem
+      is solved
+
+      min || [ -U(d) V(d) ] [ N_right(d)-N_rightr(d) ] || ,
+                            [ M_right(d)-M_rightr(d) ]
+      where
+                      -1
+            G(d) = V(d) *U(d)
+
+      is a LCF of the open-loop system transfer-function matrix.
+      The B&T model reduction technique is used in conjunction
+      with the method proposed in [1].
+
+  If ORDSEL = 'A', the order of the controller is determined by
+  computing the number of Hankel singular values greater than
+  the given tolerance TOL. The Hankel singular values are
+  the square roots of the eigenvalues of the product of
+  two frequency-weighted Grammians P and Q, defined as follows.
+
+  If JOBCF = 'L', then P is the controllability Grammian of a system
+  of the form (A+BF,B,*,*), and Q is the observability Grammian of a
+  system of the form (A+GC,*,F,*). This choice corresponds to an
+  input frequency-weighted order reduction of left coprime
+  factors [1].
+
+  If JOBCF = 'R', then P is the controllability Grammian of a system
+  of the form (A+BF,G,*,*), and Q is the observability Grammian of a
+  system of the form (A+GC,*,C,*). This choice corresponds to an
+  output frequency-weighted order reduction of right coprime
+  factors [1].
+
+  For the computation of truncation matrices, the B&T approach
+  is used in conjunction with accuracy enhancing techniques.
+  If JOBMR = 'B', the square-root B&T method of [2,4] is used.
+  If JOBMR = 'F', the balancing-free square-root version of the
+  B&T method [3,4] is used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
+      Coprime factorization controller reduction with Bezout
+      identity induced frequency weighting.
+      Automatica, vol. 26, pp. 233-249, 1990.
+
+  [2] Tombs, M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [3] Varga, A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
+      pp. 42-46, 1991.
+
+  [4] Varga, A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB16CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                 LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX )
+      INTEGER          LDWORK, LIWORK, MPMAX
+      PARAMETER        ( LIWORK = 2*NMAX, MPMAX = MAX( MMAX, PMAX ) )
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX +
+     $                            MAX( 2*NMAX*NMAX + 5*NMAX,
+     $                                 NMAX*( NMAX + MAX( NMAX, MPMAX )
+     $                                      + MIN( NMAX, MPMAX ) + 6 ) )
+     $                 )
+      CHARACTER        DICO, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK),
+     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB16CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NCR, TOL,
+     $                      DICO, JOBD, JOBMR, JOBCF, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P,
+     $                      NCR, A, LDA, B, LDB, C, LDC, D, LDD, F, LDF,
+     $                      G, LDG, HSV, TOL, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
+   20             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
+   40             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB16CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB16CD = ',I2)
+99997 FORMAT (' The order of reduced controller = ',I2)
+99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
+99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The frequency-weighted Hankel singular values are:')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB16CD EXAMPLE PROGRAM DATA (Continuous system)
+  8  1  1   2   0.1E0  C  D  F  R  F
+         0    1.0000         0         0         0         0         0        0
+         0         0         0         0         0         0         0        0
+         0         0   -0.0150    0.7650         0         0         0        0
+         0         0   -0.7650   -0.0150         0         0         0        0
+         0         0         0         0   -0.0280    1.4100         0        0
+         0         0         0         0   -1.4100   -0.0280         0        0
+         0         0         0         0         0         0   -0.0400    1.850
+         0         0         0         0         0         0   -1.8500   -0.040
+    0.0260
+   -0.2510
+    0.0330
+   -0.8860
+   -4.0170
+    0.1450
+    3.6040
+    0.2800
+  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
+  0.0
+4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002
+    4.108939884667451e-001
+    8.684600000000012e-002
+    3.852317308197148e-004
+   -3.619366874815911e-003
+   -8.803722876359955e-003
+    8.420521094001852e-003
+    1.234944428038507e-003
+    4.263205617645322e-003
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB16CD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced controller =  2
+
+ The frequency-weighted Hankel singular values are:
+   3.3073   0.7274   0.1124   0.0784   0.0242   0.0182   0.0101   0.0094
+
+ The reduced controller state dynamics matrix Ac is 
+  -0.4334   0.4884
+  -0.1950  -0.1093
+
+ The reduced controller input/state matrix Bc is 
+  -0.4231
+  -0.1785
+
+ The reduced controller state/output matrix Cc is 
+  -0.0326  -0.2307
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB16CY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16CY">SB16CY</A></H2>
+<H3>
+Cholesky factors of controllability and observability Grammians of coprime factors of a state-feedback controller
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given open-loop model (A,B,C,0), and for
+  given state feedback gain F and full observer gain G,
+  such that A+B*F and A+G*C are stable, the Cholesky factors
+  Su and Ru of a controllability Grammian P = Su*Su' and of
+  an observability Grammian Q = Ru'*Ru corresponding to a
+  frequency-weighted model reduction of the left or right coprime
+  factors of the state-feedback controller.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16CY( DICO, JOBCF, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   F, LDF, G, LDG, SCALEC, SCALEO, S, LDS, R, LDR,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBCF
+      INTEGER          INFO, LDA, LDB, LDC, LDF, LDG, LDR, LDS, LDWORK,
+     $                 M, N, P
+      DOUBLE PRECISION SCALEC, SCALEO
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                 F(LDF,*), G(LDG,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the open-loop system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBCF   CHARACTER*1
+          Specifies whether a left or right coprime factorization
+          of the state-feedback controller is to be used as follows:
+          = 'L':  use a left coprime factorization;
+          = 'R':  use a right coprime factorization.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the open-loop system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the open-loop system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the open-loop system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array must contain a
+          stabilizing state feedback matrix.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,P)
+          The leading N-by-P part of this array must contain a
+          stabilizing observer gain matrix.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian.
+          See METHOD.
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian.
+          See METHOD.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Su of frequency-weighted
+          cotrollability Grammian P = Su*Su'. See METHOD.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= MAX(1,N).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Ru of the frequency-weighted
+          observability Grammian Q = Ru'*Ru. See METHOD.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N + MAX(N,M) + MIN(N,M) + 6)),
+                                                    if JOBCF = 'L';
+          LDWORK &gt;= MAX(1, N*(N + MAX(N,P) + MIN(N,P) + 6)),
+                                                    if JOBCF = 'R'.
+          For optimum performance LDWORK should be larger.
+          An upper bound for both cases is
+          LDWORK &gt;= MAX(1, N*(N + MAX(N,M,P) + 7)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  eigenvalue computation failure;
+          = 2:  the matrix A+G*C is not stable;
+          = 3:  the matrix A+B*F is not stable;
+          = 4:  the Lyapunov equation for computing the
+                observability Grammian is (nearly) singular;
+          = 5:  the Lyapunov equation for computing the
+                controllability Grammian is (nearly) singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In accordance with the type of the coprime factorization
+  of the controller (left or right), the Cholesky factors Su and Ru
+  of the frequency-weighted controllability Grammian P = Su*Su' and
+  of the frequency-weighted observability Grammian Q = Ru'*Ru are
+  computed by solving appropriate Lyapunov or Stein equations [1].
+
+  If JOBCF = 'L' and DICO = 'C', P and Q are computed as the
+  solutions of the following Lyapunov equations:
+
+         (A+B*F)*P + P*(A+B*F)' +  scalec^2*B*B' = 0,  (1)
+
+         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*F'*F = 0.  (2)
+
+  If JOBCF = 'L' and DICO = 'D', P and Q are computed as the
+  solutions of the following Stein equations:
+
+         (A+B*F)*P*(A+B*F)' - P +  scalec^2*B*B' = 0,  (3)
+
+         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*F'*F = 0.  (4)
+
+  If JOBCF = 'R' and DICO = 'C', P and Q are computed as the
+  solutions of the following Lyapunov equations:
+
+         (A+B*F)*P + P*(A+B*F)' +  scalec^2*G*G' = 0,  (5)
+
+         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*C'*C = 0.  (6)
+
+  If JOBCF = 'R' and DICO = 'D', P and Q are computed as the
+  solutions of the following Stein equations:
+
+         (A+B*F)*P*(A+B*F)' - P +  scalec^2*G*G' = 0,  (7)
+
+         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*C'*C = 0.  (8)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
+      Coprime factorization controller reduction with Bezout
+      identity induced frequency weighting.
+      Automatica, vol. 26, pp. 233-249, 1990.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02AD">SG02AD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations for descriptor systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                                -1
+     Q + A'XE + E'XA - (L+E'XB)R  (L+E'XB)' = 0 ,              (1)
+
+  or the discrete-time algebraic Riccati equation
+                                     -1
+     E'XE = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q ,         (2)
+
+  where A, E, B, Q, R, and L are N-by-N, N-by-N, N-by-M, N-by-N,
+  M-by-M and N-by-M matrices, respectively, such that Q = C'C,
+  R = D'D and L = C'D; X is an N-by-N symmetric matrix.
+  The routine also returns the computed values of the closed-loop
+  spectrum of the system, i.e., the stable eigenvalues
+  lambda(1),...,lambda(N) of the pencil (A - BF,E), where F is
+  the optimal gain matrix,
+          -1
+     F = R  (L+E'XB)' ,        for (1),
+
+  and
+                 -1
+     F = (R+B'XB)  (L+A'XB)' , for (2).
+                           -1
+  Optionally, matrix G = BR  B' may be given instead of B and R.
+  Other options include the case with Q and/or R given in a
+  factored form, Q = C'C, R = D'D, and with L a zero matrix.
+
+  The routine uses the method of deflating subspaces, based on
+  reordering the eigenvalues in a generalized Schur matrix pair.
+
+  It is assumed that E is nonsingular, but this condition is not
+  checked. Note that the definition (1) of the continuous-time
+  algebraic Riccati equation, and the formula for the corresponding
+  optimal gain matrix, require R to be nonsingular, but the
+  associated linear quadratic optimal problem could have a unique
+  solution even when matrix R is singular, under mild assumptions
+  (see METHOD). The routine SG02AD works accordingly in this case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT, ACC,
+     $                   N, M, P, A, LDA, E, LDE, B, LDB, Q, LDQ, R,
+     $                   LDR, L, LDL, RCONDU, X, LDX, ALFAR, ALFAI,
+     $                   BETA, S, LDS, T, LDT, U, LDU, TOL, IWORK,
+     $                   DWORK, LDWORK, BWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
+      INTEGER           INFO, IWARN, LDA, LDB, LDE, LDL, LDQ, LDR, LDS,
+     $                  LDT, LDU, LDWORK, LDX, M, N, P
+      DOUBLE PRECISION  RCONDU, TOL
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
+     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*),
+     $                  R(LDR,*), S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  JOBB    CHARACTER*1
+          Specifies whether or not the matrix G is given, instead
+          of the matrices B and R, as follows:
+          = 'B':  B and R are given;
+          = 'G':  G is given.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the matrices Q and/or R (if
+          JOBB = 'B') are factored, as follows:
+          = 'N':  Not factored, Q and R are given;
+          = 'C':  C is given, and Q = C'C;
+          = 'D':  D is given, and R = D'D;
+          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
+
+  UPLO    CHARACTER*1
+          If JOBB = 'G', or FACT = 'N', specifies which triangle of
+          the matrices G, or Q and R, is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
+          SLICOT Library routine SB02MT should be called just before
+          SG02AD, for obtaining the results when JOBB = 'G' and
+          JOBL = 'N'.
+
+  SCAL    CHARACTER*1
+          If JOBB = 'B', specifies whether or not a scaling strategy
+          should be used to scale Q, R, and L, as follows:
+          = 'G':  General scaling should be used;
+          = 'N':  No scaling should be used.
+          SCAL is not used if JOBB = 'G'.
+
+  SORT    CHARACTER*1
+          Specifies which eigenvalues should be obtained in the top
+          of the generalized Schur form, as follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+
+  ACC     CHARACTER*1
+          Specifies whether or not iterative refinement should be
+          used to solve the system of algebraic equations giving
+          the solution matrix X, as follows:
+          = 'R':  Use iterative refinement;
+          = 'N':  Do not use iterative refinement.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices A, E, Q, and X, and the number of rows of the
+          matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs. If JOBB = 'B', M is the
+          order of the matrix R, and the number of columns of the
+          matrix B.  M &gt;= 0.
+          M is not used if JOBB = 'G'.
+
+  P       (input) INTEGER
+          The number of system outputs. If FACT = 'C' or 'D' or 'B',
+          P is the number of rows of the matrices C and/or D.
+          P &gt;= 0.
+          Otherwise, P is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the descriptor system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array must contain the
+          matrix E of the descriptor system.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
+          If JOBB = 'B', the leading N-by-M part of this array must
+          contain the input matrix B of the system.
+          If JOBB = 'G', the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the matrix
+                -1
+          G = BR  B'. The strictly lower triangular part (if
+          UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If FACT = 'N' or 'D', the leading N-by-N upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          state weighting matrix Q. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'C' or 'B', the leading P-by-N part of this
+          array must contain the output matrix C of the system.
+          If JOBB = 'B' and SCAL = 'G', then Q is modified
+          internally, but is restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D';
+          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,*)
+          If FACT = 'N' or 'C', the leading M-by-M upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          input weighting matrix R. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'D' or 'B', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          If JOBB = 'B' and SCAL = 'G', then R is modified
+          internally, but is restored on exit.
+          If JOBB = 'G', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
+          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
+          LDR &gt;= 1        if JOBB = 'G'.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,*)
+          If JOBL = 'N' and JOBB = 'B', the leading N-by-M part of
+          this array must contain the cross weighting matrix L.
+          If JOBB = 'B' and SCAL = 'G', then L is modified
+          internally, but is restored on exit.
+          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
+          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
+
+  RCONDU  (output) DOUBLE PRECISION
+          If N &gt; 0 and INFO = 0 or INFO = 7, an estimate of the
+          reciprocal of the condition number (in the 1-norm) of
+          the N-th order system of algebraic equations from which
+          the solution matrix X is obtained.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          If INFO = 0, the leading N-by-N part of this array
+          contains the solution matrix X of the problem.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
+  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
+  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
+          The generalized eigenvalues of the 2N-by-2N matrix pair,
+          ordered as specified by SORT (if INFO = 0, or INFO &gt;= 5).
+          For instance, if SORT = 'S', the leading N elements of
+          these arrays contain the closed-loop spectrum of the
+          system. Specifically,
+             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
+          k = 1,2,...,N.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
+          The leading 2N-by-2N part of this array contains the
+          ordered real Schur form S of the first matrix in the
+          reduced matrix pencil associated to the optimal problem,
+          corresponding to the scaled Q, R, and L, if JOBB = 'B'
+          and SCAL = 'G'. That is,
+
+                 (S   S  )
+                 ( 11  12)
+             S = (       ),
+                 (0   S  )
+                 (     22)
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
+          columns, otherwise.
+
+  LDS     INTEGER
+          The leading dimension of array S.
+          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B';
+          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
+          The leading 2N-by-2N part of this array contains the
+          ordered upper triangular form T of the second matrix in
+          the reduced matrix pencil associated to the optimal
+          problem, corresponding to the scaled Q, R, and L, if
+          JOBB = 'B' and SCAL = 'G'. That is,
+
+                 (T   T  )
+                 ( 11  12)
+             T = (       ),
+                 (0   T  )
+                 (     22)
+
+          where T  , T   and T   are N-by-N matrices.
+                 11   12      22
+
+  LDT     INTEGER
+          The leading dimension of array T.
+          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B';
+          LDT &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          The leading 2N-by-2N part of this array contains the right
+          transformation matrix U which reduces the 2N-by-2N matrix
+          pencil to the ordered generalized real Schur form (S,T).
+          That is,
+
+                 (U   U  )
+                 ( 11  12)
+             U = (       ),
+                 (U   U  )
+                 ( 21  22)
+
+          where U  , U  , U   and U   are N-by-N matrices.
+                 11   12   21      22
+          If JOBB = 'B' and SCAL = 'G', then U corresponds to the
+          scaled pencil. If a basis for the stable deflating
+          subspace of the original problem is needed, then the
+          submatrix U   must be multiplied by the scaling factor
+                     21
+          contained in DWORK(4).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the original matrix pencil, specifically of the triangular
+          M-by-M factor obtained during the reduction process. If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as a lower bound for the reciprocal condition number of
+          that matrix; a matrix whose estimated condition number is
+          less than 1/TOL is considered to be nonsingular. If the
+          user sets TOL &lt;= 0, then a default tolerance, defined by
+          TOLDEF = EPS, is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not referenced if JOBB = 'G'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B';
+          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
+          reciprocal of the condition number of the M-by-M bottom
+          right lower triangular matrix obtained while compressing
+          the matrix pencil of order 2N+M to obtain a pencil of
+          order 2N. If ACC = 'R', and INFO = 0 or INFO = 7, DWORK(3)
+          returns the reciprocal pivot growth factor (see SLICOT
+          Library routine MB02PD) for the LU factorization of the
+          coefficient matrix of the system of algebraic equations
+          giving the solution matrix X; if DWORK(3) is much
+          less than 1, then the computed X and RCONDU could be
+          unreliable. If INFO = 0 or INFO = 7, DWORK(4) returns the
+          scaling factor used to scale Q, R, and L. DWORK(4) is set
+          to 1 if JOBB = 'G' or SCAL = 'N'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G';
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the computed solution may be inaccurate due to poor
+                scaling or eigenvalues too close to the boundary of
+                the stability domain (the imaginary axis, if
+                DICO = 'C', or the unit circle, if DICO = 'D').
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the computed extended matrix pencil is singular,
+                possibly due to rounding errors;
+          = 2:  if the QZ algorithm failed;
+          = 3:  if reordering of the generalized eigenvalues failed;
+          = 4:  if after reordering, roundoff changed values of
+                some complex eigenvalues so that leading eigenvalues
+                in the generalized Schur form no longer satisfy the
+                stability condition; this could also be caused due
+                to scaling;
+          = 5:  if the computed dimension of the solution does not
+                equal N;
+          = 6:  if the spectrum is too close to the boundary of
+                the stability domain;
+          = 7:  if a singular matrix was encountered during the
+                computation of the solution matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses a variant of the method of deflating subspaces
+  proposed by van Dooren [1]. See also [2], [3], [4].
+  It is assumed that E is nonsingular, the triple (E,A,B) is
+  strongly stabilizable and detectable (see [3]); if, in addition,
+
+     -    [ Q   L ]
+     R := [       ] &gt;= 0 ,
+          [ L'  R ]
+
+  then the pencils
+
+        discrete-time                   continuous-time
+
+  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
+  |Q  -E'  L| - z |0  -A'  0| ,  |Q   A'  L| - s |0  -E'  0| ,   (3)
+  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
+
+  are dichotomic, i.e., they have no eigenvalues on the boundary of
+  the stability domain. The above conditions are sufficient for
+  regularity of these pencils. A necessary condition is that
+  rank([ B'  L'  R']') = m.
+
+  Under these assumptions the algebraic Riccati equation is known to
+  have a unique non-negative definite solution.
+  The first step in the method of deflating subspaces is to form the
+  extended matrices in (3), of order 2N + M. Next, these pencils are
+  compressed to a form of order 2N (see [1])
+
+     lambda x A  - B .
+               f    f
+
+  This generalized eigenvalue problem is then solved using the QZ
+  algorithm and the stable deflating subspace Ys is determined.
+  If [Y1'|Y2']' is a basis for Ys, then the required solution is
+                    -1
+         X = Y2 x Y1  .
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      A Generalized Eigenvalue Approach for Solving Riccati
+      Equations.
+      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
+
+  [2] Arnold, III, W.F. and Laub, A.J.
+      Generalized Eigenproblem Algorithms and Software for
+      Algebraic Riccati Equations.
+      Proc. IEEE, 72, 1746-1754, 1984.
+
+  [3] Mehrmann, V.
+      The Autonomous Linear Quadratic Control Problem. Theory and
+      Numerical Solution.
+      Lect. Notes in Control and Information Sciences, vol. 163,
+      Springer-Verlag, Berlin, 1991.
+
+  [4] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  This routine is particularly suited for systems where the matrix R
+  is ill-conditioned, or even singular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equations set SORT = 'S'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying SORT = 'U'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG02AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2M, NMAX2, NMMAX
+      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX,
+     $                   NMMAX  = MAX(NMAX,MMAX) )
+      INTEGER          LDA, LDB, LDE, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDE = NMAX, LDL = NMAX,
+     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
+     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX,2*NMAX+MMAX,
+     $                                3*MMAX) )
+      INTEGER          LBWORK
+      PARAMETER        ( LBWORK = NMAX2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCONDU, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, P
+      CHARACTER*1      ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
+      LOGICAL          LJOBB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX),  ALFAI(NMAX2),  ALFAR(NMAX2),
+     $                 B(LDB,NMMAX), BETA(NMAX2),   DWORK(LDWORK),
+     $                 E(LDE,NMAX),  L(LDL,MMAX),   Q(LDQ,NMAX),
+     $                 R(LDR,MMAX),  S(LDS,NMAX2M), T(LDT,NMAX2),
+     $                 U(LDU,NMAX2), X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LBWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SG02AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
+     $                      SCAL, SORT, ACC
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            LJOBB = LSAME( JOBB, 'B' )
+            IF ( LJOBB ) THEN
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            END IF
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99993 ) P
+            ELSE
+               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
+               END IF
+               IF ( LJOBB ) THEN
+                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
+                  ELSE
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
+                  END IF
+                  IF ( LSAME( JOBL, 'N' ) )
+     $                READ ( NIN, FMT = * )
+     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
+               END IF
+*              Find the solution matrix X.
+               CALL SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT,
+     $                      ACC, N, M, P, A, LDA, E, LDE, B, LDB, Q,
+     $                      LDQ, R, LDR, L, LDL, RCONDU, X, LDX, ALFAR,
+     $                      ALFAI, BETA, S, LDS, T, LDT, U, LDU, TOL,
+     $                      IWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG02AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SG02AD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG02AD EXAMPLE PROGRAM DATA
+   2     1     3     0.0     C     B     B     U     Z     N     S     N
+   0.0  1.0
+   0.0  0.0
+   1.0  0.0
+   0.0  1.0
+   0.0
+   1.0
+   1.0  0.0
+   0.0  1.0
+   0.0  0.0
+   0.0
+   0.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG02AD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.7321   1.0000
+   1.0000   1.7321
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG02CV.html b/doc/_build/html/_static/doc/SG02CV.html
new file mode 100644
index 00000000..9090db8e
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG02CV.html
@@ -0,0 +1,256 @@
+<HTML>
+<HEAD><TITLE>SG02CV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02CV">SG02CV</A></H2>
+<H3>
+Computation of residual matrix for a continuous-time or discrete-time reduced Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the residual matrix R for a continuous-time or
+  discrete-time "reduced" Lyapunov equation, using the formulas
+
+     R = op(A)'*X + X*op(A) + Q,
+  or
+     R = op(A)'*X*op(E) + op(E)'*X*op(A) + Q,
+
+  in the continuous-time case, or the formulas
+
+     R = op(A)'*X*op(A) - X + Q,
+  or
+     R = op(A)'*X*op(A) - op(E)'*X*op(E) + Q,
+
+  in the discrete-time case, where X and Q are symmetric matrices,
+  A is in upper real Schur form, E is upper triangular, and op(W) is
+
+     op(W) = W   or   op(W) = W'.
+
+  Optionally, the Frobenius norms of the product terms defining the
+  denominator of the relative residual are also computed. The norms
+  of Q and X are not computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02CV( DICO, JOB, JOBE, UPLO, TRANS, N, A, LDA, E,
+     $                   LDE, X, LDX, R, LDR, NORMS, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, JOBE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDE, LDR, LDWORK, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), NORMS(*),
+     $                  R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the Lyapunov equation, as follows:
+          = 'C':  continuous-time Lyapunov equation;
+          = 'D':  discrete-time Lyapunov equation.
+
+  JOB     CHARACTER*1
+          Specifies which results must be computed, as follows:
+          = 'R':  The matrix R only must be computed;
+          = 'N':  The matrix R and the norms must be computed;
+          = 'B':  The matrix R and the norms must be computed.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices X and
+          Q are given, as follows:
+          = 'U':  The upper triangular part is given;
+          = 'L':  The lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the formulas
+          above, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, Q, X, and R.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper part of this array must contain
+          the upper real Schur matrix A.
+          If TRANS = 'N' and (DICO = 'D' or (JOB = 'R' and
+          JOBE = 'G')), the entries 3, 4,..., N of the first column
+          are modified internally, but are restored on exit.
+          Otherwise, the part of this array below the first
+          subdiagonal is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular matrix E.
+          The strictly lower triangular part of this array is not
+          referenced.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          If DICO = 'D' or (JOB = 'R' and JOBE = 'G'), the diagonal
+          elements of this array are modified internally, but they
+          are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
+          On entry, the leading N-by-N upper or lower triangular
+          part (depending on UPLO) of this array must contain the
+          upper or lower triangular part, respectively, of the
+          matrix Q. The other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper or lower triangular
+          part (depending on UPLO) of this array contains the upper
+          or lower triangular part, respectively, of the matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
+          If JOB = 'N' or JOB = 'B', LN = 1 or 2, if (DICO = 'C' or
+          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
+          If DICO = 'C',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
+          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G'.
+          If DICO = 'D',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X*op(A);
+          if JOBE = 'G', NORMS(2) contains the Frobenius norm of the
+          matrix op(E)'*X*op(E).
+          If JOB &lt;&gt; 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -17 or if LDWORK = -2 on input, then
+          DWORK(1) returns the minimum value of LDWORK.
+          On exit, if INFO = 0, or if LDWORK = -1 on input, then
+          DWORK(1) returns the optimal value of LDWORK.
+
+  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
+          specified in the following table, where
+             a = 1, if JOBE = 'G';
+             a = 0, if JOBE = 'I'.
+
+          DICO   JOB             v
+          ----------------------------
+          'C'    'R'           a*N*N
+          'C'    'N','B'         N*N
+          ----------------------------
+          'D'    'R'             N*N
+          'D'    'N','B'       2*N*N
+          ----------------------------
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expressions are efficiently evaluated, using symmetry.
+  If JOB = 'N' or JOB = 'B', then:
+  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), are
+  efficiently computed.
+  If DICO = 'D', the matrices op(A)'*X*op(A) and op(E)'*X*op(E), if
+  JOBE = 'G', are efficiently computed. The results are used to
+  evaluate R and the norms.
+  If JOB = 'R', then the needed parts of the intermediate results
+  are obtained and used to evaluate R.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The calculations are backward stable.
+
+  The algorithm requires approximately a*N^3 operations, where ^
+  denotes the power operator, and
+
+     a = 1,      if DICO = 'C' and JOB &lt;&gt; 'R' and JOBE = 'G';
+     a = 1/2,    otherwise.
+
+  An "operation" includes a multiplication, an addition, and some
+  address calculations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG02CW.html b/doc/_build/html/_static/doc/SG02CW.html
new file mode 100644
index 00000000..58089747
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG02CW.html
@@ -0,0 +1,495 @@
+<HTML>
+<HEAD><TITLE>SG02CW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02CW">SG02CW</A></H2>
+<H3>
+Residual of continuous- or discrete-time (generalized) algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the residual matrix R for a continuous-time or
+  discrete-time Riccati equation and/or the "closed-loop system"
+  matrix op(C), using the formulas
+
+     R = op(A)'*X + X*op(A) +/- X*G*X + Q,
+     C = op(A) +/- G*X,
+  or
+     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q,
+     C = op(A) +/- G*X*op(E),
+  or
+     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- H*K + Q,
+     C = op(A) +/- B*K,
+
+  in the continuous-time case, or the formulas
+
+     R = op(A)'*X*op(A) - X +/- op(A)'*X*G*X*op(A) + Q,
+     C = op(A) +/- G*X*op(A),
+  or
+     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- op(A)'*X*G*X*op(A) + Q,
+     C = op(A) +/- G*X*op(A),
+  or
+     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- H*K + Q,
+     C = op(A) +/- B*K,
+
+  in the discrete-time case, where X, G, and Q are symmetric
+  matrices, A, E, H, K, B are general matrices, and op(W) is one of
+
+     op(W) = W   or   op(W) = W'.
+                                                  _-1
+  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
+                  _-1
+  matrix D, D = B*L  , such that G = D*D', may be given on entry.
+             _       _   _  _
+  The matrix R, with R = L'*L, is a weighting matrix of the optimal
+                                   _            _
+  problem, if DICO = 'C', or it is R = B'*X*B + Rd, if DICO = 'D',
+       _                              _                         _
+  with Rd a similar weighting matrix; L is a Cholesky factor of R,
+     _                          _
+  if R is positive definite. If R is not positive definite, which
+  may happen in the discrete-time case, a UdU' or LdL' factorization
+  is used to compute the matrices H and K. If M = 0, the residual
+  matrix of a (generalized) Lyapunov or Stein equation is computed.
+  To this end, set JOBG = 'D' and JOB = 'R' (since op(C) = A in this
+  case).
+
+  Optionally, the quadratic term in the formulas for R is specified
+  as H*K, where
+
+     H = L + op(E)'*X*B,  if DICO = 'C', or
+     H = L + op(A)'*X*B,  if DICO = 'D', and
+         _-1
+     K = R *H',
+
+  with L an N-by-M matrix. This is useful, e.g., for DICO = 'D',
+                     _                     _
+  when L &lt;&gt; 0 and/or Rd is singular, hence R might be numerically
+  indefinite; it might be indefinite in the first iterations of
+  Newton's algorithm. Depending on JOB, part or all of the matrices
+  H, K, and B should be given in such a case.
+     _
+  If R is positive definite, the quadratic term can be specified
+  as F*F', and the second term in the formulas for C is D*F', where
+           _-1
+     F = H*L .
+
+  The matrices F and/or D should be given. This option is not useful
+  when L = 0, unless F and D are available. If DICO = 'C', the
+  computational problem with L &lt;&gt; 0 is equivalent with one with
+  L = 0 after replacing
+                _-1                 _-1
+     A := A - B*R* L',   Q := Q - L*R* L'.
+                       _             _
+  These formulas, with R replaced by Rd, can also be used in the
+                         _
+  discrete-time case, if Rd is nonsingular and well-conditioned with
+  respect to inversion.
+
+  Optionally, the Frobenius norms of the product terms defining the
+  denominator of the relative residual are also computed. The norms
+  of Q and X are not computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02CW( DICO, JOB, JOBE, FLAG, JOBG, UPLO, TRANS, N, M,
+     $                   A, LDA, E, LDE, G, LDG, X, LDX, F, LDF, K, LDK,
+     $                   XE, LDXE, R, LDR, C, LDC, NORMS, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FLAG, JOB, JOBE, JOBG, TRANS, UPLO
+      INTEGER           INFO, LDA, LDC, LDE, LDF, LDG, LDK, LDR, LDWORK,
+     $                  LDX, LDXE, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), E(LDE,*),
+     $                  F(LDF,*), G(LDG,*), K(LDK,*), NORMS(*),
+     $                  R(LDR,*), X(LDX,*), XE(LDXE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the Riccati equation, as follows:
+          = 'C':  continuous-time algebraic Riccati equation;
+          = 'D':  discrete-time algebraic Riccati equation.
+
+  JOB     CHARACTER*1
+          Specifies which results must be computed, as follows:
+          = 'A':  Both (all) matrices R and C must be computed;
+          = 'R':  The matrix R only must be computed;
+          = 'C':  The matrix C only must be computed;
+          = 'N':  The matrices R and C and the norms must be
+                  computed;
+          = 'B':  The matrix R and the norms must be computed.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  FLAG    CHARACTER*1
+          Specifies which sign is used, as follows:
+          = 'P':  The plus sign is used;
+          = 'M':  The minus sign is used.
+
+  JOBG    CHARACTER*1
+          Specifies how the quadratic term in the formulas for R is
+          defined, as follows:
+          = 'G':  The matrix G is given;
+          = 'D':  The matrix D is given;
+          = 'F':  The matrix F is given;
+          = 'H':  The matrices H and K are given.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices X, G
+          (if JOBG = 'G'), and Q (if JOB &lt;&gt; 'C') are given, as
+          follows:
+          = 'U':  The upper triangular part is given;
+          = 'L':  The lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the formulas
+          above, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, Q, X, C and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
+          F, and/or B, H, and K'.  M &gt;= 0.
+          If JOBG = 'G', the value of M is meaningless.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G' and (JOB &lt;&gt; 'C' or (DICO = 'C' and
+          (JOBG = 'G' or JOBG = 'D'))), the leading N-by-N part of
+          this array must contain the matrix E.
+          If JOBE = 'I' or (JOB = 'C' and (DICO = 'D' or
+          JOBG = 'F' or JOBG = 'H')), this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOB &lt;&gt; 'C' or
+                             (DICO = 'C' and (JOBG = 'G' or
+                                              JOBG = 'D')));
+          LDE &gt;= 1,        if JOBE = 'I'  or (JOB  = 'C' and
+                             (DICO = 'D'  or  JOBG = 'F' or
+                                              JOBG = 'H')).
+
+  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
+          If JOBG = 'G', the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array must
+          contain the upper or lower triangular part, respectively,
+          of the matrix G. The other strictly triangular part is not
+          referenced. If DICO = 'D', (JOB = 'R' or JOB = 'B'), and
+          JOBG = 'G', the diagonal elements of this array are
+          modified internally, but are restored on exit.
+          If JOBG = 'D' or (JOBG = 'F' and JOB &lt;&gt; 'R' and
+          JOB &lt;&gt; 'B'), the leading N-by-M part of this array must
+          contain the matrix D, so that G = D*D'.
+          If JOBG = 'H' and JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B', the leading
+          N-by-M part of this array must contain the matrix B.
+          If (JOBG = 'F' or JOBG = 'H') and JOB = 'R' or JOB = 'B',
+          this array is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.
+          LDG &gt;= MAX(1,N), if  JOBG = 'G' or  JOBG = 'D' or
+                              (JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B');
+          LDG &gt;= 1,        if (JOBG = 'F' or JOBG = 'H') and
+                              (JOB  = 'R' or JOB  = 'B').
+
+  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric matrix X, and it is unchanged on exit.
+          If DICO = 'D', JOBE = 'G' and JOB &lt;&gt; 'C', the diagonal
+          elements of this array are modified internally, but they
+          are restored on exit.
+          The full matrix X should be input if DICO = 'C',
+          JOBE = 'I', and the conditions in the lines of the table
+          below are satisfied
+
+             JOBG     JOB             LDWORK
+          ----------------------------------------------
+            'F','H'  'A','R'          LDWORK &lt;   N*N
+              'G'    'A','R','N'      LDWORK &lt; 2*N*N
+              'G'      'C'            LDWORK &lt;   N*N
+              'G'      'B'            LDWORK &lt; 3*N*N
+              'D'      'R'     (M&lt;=N, LDWORK &lt;   N*N) or
+                               (M&gt; N, LDWORK &lt; 3*N*N)
+              'D'      'A'     (M&lt;=N, LDWORK &lt;   N*N) or
+                                     (LDWORK &gt;=  N*N and
+                                      LDWORK &lt; 2*N*N)
+          ----------------------------------------------
+
+          For all the other cases, including when the optimal length
+          of the workspace array DWORK is used, only the relevant
+          upper or lower triangular part (depending on UPLO) of this
+          array must be input, and the other strictly triangular
+          part is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,*)
+          If JOBG = 'F', the leading N-by-M part of this array must
+          contain the matrix F.
+          If JOBG = 'H', the leading N-by-M part of this array must
+          contain the matrix H.
+          If JOBG = 'G' or JOBG = 'D', this array is not referenced.
+
+  LDF     INTEGER
+          The leading dimension of array F.
+          LDF &gt;= MAX(1,N), if JOBG = 'F' or JOBG = 'H';
+          LDF &gt;= 1,        if JOBG = 'G' or JOBG = 'D'.
+
+  K       (input) DOUBLE PRECISION array, dimension (LDK,*)
+          If JOBG = 'H', the leading M-by-N part of this array must
+          contain the matrix K.
+          If JOBG &lt;&gt; 'H', this array is not referenced.
+
+  LDK     INTEGER
+          The leading dimension of array K.
+          LDK &gt;= MAX(1,M), if JOBG =  'H';
+          LDK &gt;= 1,        if JOBG &lt;&gt; 'H'.
+
+  XE      (input) DOUBLE PRECISION array, dimension (LDXE,*)
+          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', DICO = 'C', and
+          JOBE = 'G', the leading N-by-N part of this array must
+          contain the matrix product X*E, if TRANS = 'N', or E*X, if
+          TRANS = 'T' or 'C'.
+          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', and DICO = 'D',
+          the leading N-by-N part of this array must contain the
+          matrix product X*A, if TRANS = 'N', or A*X, if TRANS = 'T'
+          or 'C'.
+          These matrix products are needed for computing F or H.
+          If JOBG = 'G' or JOBG = 'D' or JOB = 'C' or (DICO = 'C'
+          and JOBE = 'I') this array is not referenced.
+
+  LDXE    INTEGER
+          The leading dimension of array XE.
+          LDXE &gt;= MAX(1,N), if (JOBG = 'F' or JOBG = 'H'),
+                            JOB &lt;&gt; 'C', and either DICO = 'C' and
+                            JOBE = 'G', or DICO = 'D';
+          LDXE &gt;= 1,        if JOBG = 'G' or JOBG = 'D' or JOB = 'C'
+                            or (DICO = 'C' and JOBE = 'I').
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
+          On entry, if JOB &lt;&gt; 'C', the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array must
+          contain the upper or lower triangular part, respectively,
+          of the matrix Q. The other strictly triangular part is not
+          referenced.
+          On exit, if JOB &lt;&gt; 'C' and INFO = 0, the leading N-by-N
+          upper or lower triangular part (depending on UPLO) of this
+          array contains the upper or lower triangular part,
+          respectively, of the matrix R.
+          If JOB = 'C', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,N), if JOB &lt;&gt; 'C';
+          LDR &gt;= 1,        if JOB =  'C'.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,*)
+          If JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B' and INFO = 0, the leading
+          N-by-N part of this array contains the matrix op(C).
+          If JOB = 'R' or JOB = 'B', this array is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,N), if JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B';
+          LDC &gt;= 1,        if JOB =  'R' or  JOB =  'B'.
+
+  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
+          If JOB = 'N' or JOB = 'B', LN = 2 or 3, if (DICO = 'C' or
+          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
+          If DICO = 'C',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
+          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G';
+          NORMS(2) contains the Frobenius norm of the matrix
+          product X*G*X, if JOBE = 'I', or of the matrix product
+          V = op(E)'*X*G*X*op(E), if JOBE = 'G' (for JOBG = 'G' or
+          JOBG = 'D'), or of V = F*F', if JOBG = 'F', or of V = H*K,
+          if JOBG = 'H'.
+          If DICO = 'D',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X*op(A);
+          NORMS(2) contains the Frobenius norm of the matrix product
+          V = op(A)'*X*G*X*op(A), if JOBG = 'G' or JOBG = 'D', or of
+          V = F*F', if JOBG = 'F', or of V = H*K, if JOBG = 'H';
+          if JOBE = 'G', NORMS(3) contains the Frobenius norm of the
+          matrix product op(E)'*X*op(E).
+          If JOB &lt;&gt; 'N' and JOB &lt;&gt; 'B', this array is not
+          referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -30, or if LDWORK = -2 on input, then
+          DWORK(1) returns the minimum value of LDWORK.
+          On exit, if INFO = 0, or if LDWORK = -1 on input, then
+          DWORK(1) returns the optimal value of LDWORK.
+
+  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
+          specified in the following table, where
+             a = 1, if JOBE = 'G';
+             a = 0, if JOBE = 'I'.
+
+          DICO     JOBG     JOB             v
+          -----------------------------------------------
+          'C'    'F','H' 'A','C','R'         0
+          'C'    'F','H'    'N'           a*N*N
+          'C'    'F','H'    'B'             N*N
+          'C'      'G'    'A','C'         a*N*N
+          'C'      'G'    'N','R'     (a+1)*N*N
+          'C'      'G'      'B'       (a+2)*N*N
+          'C'      'D'      'A'       N*MIN(M,(a+1)*N)
+          'C'      'D'      'C'         N*MIN(N,M)
+          'C'      'D'      'N'       N*(N+MIN(a*N,M))
+          'C'      'D'      'B'     N*(N+MIN(N+a*N,M))
+          'C'      'D'      'R'     N*MIN(a*N+M,(a+2)*N)
+          -----------------------------------------------
+          'D'    'F','H'  'A','C'           0
+          'D'    'F','H'  'N','R'         a*N*N
+          'D'    'F','H'    'B'       (a+1)*N*N
+          'D'      'G'    'A','C'           N*N
+          'D'      'G'    'N','R'         2*N*N
+          'D'      'G'      'B'           3*N*N
+          'D'      'D'    'A','N'   N*MIN(MAX(N,M),2*N)
+          'D'      'D'      'B'      N*(N+MAX(N,M))
+          'D'      'D'      'C'         N*MIN(N,M)
+          'D'      'D'      'R'       N*MIN(3*N,N+M)
+          -----------------------------------------------
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+          This evaluation assumes that only the specified triangle
+          of the array X is always used, and the other strict
+          triangle is not referenced.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+          This evaluation assumes that full matrix is given in the
+          array X, when needed (see the table at the description of
+          the array X).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expressions are efficiently evaluated, using symmetry,
+  common matrix subexpressions, and proper order of matrix
+  multiplications.
+  If JOB = 'N' or JOB = 'B', then:
+  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), and
+  V = op(E)'*X*G*X*op(E) or V = F*F' or V = H*K, are efficiently
+  computed.
+  If DICO = 'D', the matrices op(A)'*X*op(A), V = op(A)'*X*G*X*op(A)
+  or V = F*F' or V = H*K, and op(E)'*X*op(E), if JOBE = 'G', are
+  efficiently computed. The results are used to evaluate R, op(C)
+  (if JOB = 'N'), and the norms.
+  If JOB &lt;&gt; 'N', then the needed parts of the intermediate results
+  are obtained and used to evaluate R and/or op(C).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The calculations are backward stable.
+                                             3     2
+  The algorithm requires approximately (a+b)N  + cN M operations,
+  where,
+    a = 0,    if JOBE = 'I',
+    a = 1,    if JOBE = 'G' and (DICO = 'C' or
+                                (DICO = 'D' and JOB = 'C')),
+    a = 1.5,  if JOBE = 'G' and  DICO = 'D',
+  and b and c are implicitly defined below. Specifically, the effort
+  is approximately as follows (using ^ to denote the power operator)
+
+  For DICO = 'C':
+
+  JOBG                      JOB
+            C                R                 A, N, B
+  'G'  (a+1)*N^3    (a+2)*N^3              (a+2)*N^3,(a+2.5)*N^3
+  'D'  (a+2)*N^2*M  (a+1)*N^3+1.5*N^2*M    (a+1)*N^3+2.5*N^2*M
+  'F','H'    N^2*M        N^3+0.5*N^2*M        N^3+1.5*N^2*M
+
+  For DICO = 'D':
+
+  JOBG                      JOB
+            C                R                 A, N, B
+  'G'      2*N^3    (a+3  )*N^3            (a+3  )*N^3
+  'D'      3*N^2*M  (a+1.5)*N^3+1.5*N^2*M  (a+1.5)*N^3+2.5*N^2*M
+  'F','H'  N^2*M    (a+0.5)*N^3+0.5*N^2*M  (a+0.5)*N^3+1.5*N^2*M
+
+  For JOBG &lt;&gt; 'G' and JOB = 'B', the effort reduces by N^2*M in
+  both tables.
+
+  An "operation" includes a multiplication, an addition, and some
+  address calculations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG02CX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02CX">SG02CX</A></H2>
+<H3>
+Line search parameter minimizing the residual of (generalized) continuous- or discrete-time algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the line search parameter alpha minimizing the Frobenius
+  norm (in a MATLAB-style notation)
+
+     P(alpha) := norm(R(X+alpha*S), 'fro')
+               = norm((1-alpha)*R(X) +/- alpha^2*V, 'fro'),
+
+  where R(X) is the residual of a (generalized) continuous-time
+  algebraic Riccati equation
+
+     0 = op(A)'*X + X*op(A) +/- X*G*X + Q  =:  R(X),
+  or
+     0 = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q
+       =:  R(X),
+
+  V = op(E)'*S*G*S*op(E), and op(W) is either W or W'. The matrix S
+  is the Newton step.
+                                                  _-1
+  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
+                   -1
+  matrix D, D = B*L  , such that G = D*D', may be given on entry.
+             _  _
+  The matrix R, R = L'*L, is a weighting matrix of the optimal
+  problem, and L is its (Cholesky) factor.
+
+  Optionally, V is specified as V = H*K, or V = F*F', but F or H and
+  K must be evaluated in S. See the SLICOT Library routine SG02CW
+  description for more details.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02CX( JOBE, FLAG, JOBG, UPLO, TRANS, N, M, E, LDE, R,
+     $                   LDR, S, LDS, G, LDG, ALPHA, RNORM, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FLAG, JOBE, JOBG, TRANS, UPLO
+      INTEGER           INFO, IWARN, LDE, LDG, LDR, LDS, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA, RNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(LDE,*), G(LDG,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  FLAG    CHARACTER*1
+          Specifies which sign is used, as follows:
+          = 'P':  The plus sign is used;
+          = 'M':  The minus sign is used.
+
+  JOBG    CHARACTER*1
+          Specifies how the matrix product V is defined, as follows:
+          = 'G':  The matrix G is given:  V = op(E)'*S*G*S*op(E);
+          = 'D':  The matrix D is given:  V = op(E)'*S*D*D'*S*op(E);
+          = 'F':  The matrix F is given:           V = F*F';
+          = 'H':  The matrices H and K are given:  V = H*K.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R, G,
+          if JOBG = 'G', and S, if JOBG = 'G' or JOBG = 'D', are
+          given, as follows:
+          = 'U':  The upper triangular part is given;
+          = 'L':  The lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices E, R, and S.  N &gt;= 0.
+
+  M       (input) INTEGER
+          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
+          F, or K'.  M &gt;= 0.
+          If JOBG = 'G', the value of M is meaningless.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G' and (JOBG = 'G' or JOBG = 'D'), the leading
+          N-by-N part of this array must contain the matrix E.
+          If JOBE = 'I' or JOBG = 'F' or JOBG = 'H', this array is
+          not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOBG = 'G' or
+                                              JOBG = 'D');
+          LDE &gt;= 1,        if JOBE = 'I'  or  JOBG = 'F' or
+                                              JOBG = 'H'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper or lower triangular part
+          (depending on UPLO) of this array must contain the upper
+          or lower triangular part, respectively, of the matrix
+          R(X), the residual of the algebraic Riccati equation.
+          The other strictly triangular part is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,*)
+          If JOBG = 'G' or JOBG = 'D', the leading N-by-N part of
+          this array must contain the symmetric Newton step
+          matrix S. If JOBE = 'I', the full matrix must be given.
+          Otherwise, it is sufficient to input only the triangular
+          part specified by UPLO, and the remaining strictly
+          triangular part is not referenced.
+          If JOBG = 'F', this array is not referenced.
+          If JOBG = 'H', the leading M-by-N part of this array must
+          contain the matrix K.
+
+  LDS     INTEGER
+          The leading dimension of array S.
+          LDS &gt;= MAX(1,N), if JOBG =  'G' or JOBG =  'D';
+          LDS &gt;= 1,        if JOBG =  'F';
+          LDS &gt;= MAX(1,M), if JOBG =  'H'.
+
+  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
+          If JOBG = 'G', the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array must
+          contain the upper or lower triangular part, respectively,
+          of the matrix G. The other strictly triangular part is not
+          referenced. The diagonal elements of this array are
+          modified internally, but are restored on exit.
+          If JOBG = 'D', the leading N-by-M part of this array must
+          contain the matrix D, so that G = D*D'.
+          If JOBG = 'F', the leading N-by-M part of this array must
+          contain the matrix F.
+          If JOBG = 'H', leading N-by-M part of this array must
+          contain the matrix H.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  ALPHA   (output) DOUBLE PRECISION
+          If INFO = 0, ALPHA contains the real number alpha which
+          minimizes  P(alpha) = norm(R(X+alpha*S), 'fro') in the
+          interval [0,2].
+          If INFO = 1 or IWARN = 2, ALPHA is set equal to 1.
+
+  RNORM   (output) DOUBLE PRECISION
+          On exit, if INFO &gt;= 0, RNORM contains the Frobenius norm
+          of the residual R(X+alpha*S).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if LDWORK = -1 on input, then DWORK(1) returns
+          the optimal value of LDWORK.
+          On exit, if LDWORK = -2 on input or INFO = -19, then
+          DWORK(1) returns the minimal value of LDWORK.
+          On exit, if INFO = 0, the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array contains
+          the corresponding triangular part of the matrix V.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N + MAX( 2*N*N, 51 ),
+                                    if JOBG = 'G' and JOBE = 'G';
+          LDWORK &gt;= N*N + MAX( N*N, 51 ),
+                                    if JOBG = 'G' and JOBE = 'I',
+                                    or JOBG = 'F', or JOBG = 'H';
+          LDWORK &gt;= N*N + MAX( MAX( N*N, 51 ), MIN( 2*N*N, N*M ) ),
+                                    if JOBG = 'D' and JOBE = 'G';
+          LDWORK &gt;= N*N + MAX( N*N, N*M, 51 ),
+                                    if JOBG = 'D' and JOBE = 'I'.
+          For M &lt;= N, the last two formulas simplify to
+          LDWORK &gt;= N*N + MAX( N*N, 51).
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 2:  no optimal line search parameter t := alpha in [0,2]
+                was found; t = 1 was set.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value;
+          = 1:  an error occurred during the call of the SLICOT
+                Library routine MC01XD: the eigenvalues computation
+                for the 3-by-3 (generalized) eigenproblem failed.
+                ALPHA and RNORM are set as specified above.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix V is computed with the suitable formula, and used to
+  set up a third order polynomial whose roots in [0,2], if any, are
+  candidates for the solution of the minimum residual problem.
+  The roots of the polynomial are computed by solving an equivalent
+  3-by-3 (generalized) eigenproblem.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Contributions to the Numerical Solution of Algebraic
+      Riccati Equations and Related Eigenvalue Problems.
+      Fakultat fur Mathematik, Technische Universitat Chemnitz-
+      Zwickau, D-09107 Chemnitz, Germany, Feb. 1997.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The calculations are backward stable. The computational effort is
+  of the order of c*N**2*M operations. Here, M = N, if JOBG = 'G',
+  and the coefficient c varies between 0.5 and 2.5, depending on
+  JOBE and JOBG. (An "operation" includes a multiplication, an
+  addition, and some address calculations.)
+  The computed value of norm(R(X+alpha*S),'fro'), returned in RNORM,
+  could be inaccurate if R(X) is small, since then subtraction
+  cancellation could appear in the updating formula which is used.
+  (This can happen, e.g., when solving a Riccati equation by
+  Newton's method with line search, since then the sequence of R(.)
+  tends to zero.) In such a case, it is better to recompute the
+  residual from the data.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The routine does not ckeck if the matrix S is zero, when a quick
+  return with ALPHA = 1 is possible.
+  With suitable input arguments E and G, this routine may also be
+  used for discrete-time algebraic Riccati equations. (Matrix E
+  must be the current closed-loop matrix.)
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG02ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02ND">SG02ND</A></H2>
+<H3>
+Optimal state feedback matrix for an optimal control problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the optimal gain matrix K for the problem of optimal
+  control given by
+
+                     -1
+       K = (R + B'XB)  (B'Xop(A) + L')                           (1)
+
+  in the discrete-time case and
+
+            -1
+       K = R  (B'Xop(E) + L')                                    (2)
+
+  in the continuous-time case, where A, E, B and L are N-by-N,
+  N-by-N, N-by-M, and N-by-M matrices, respectively; R and X are
+  M-by-M and N-by-N symmetric matrices, respectively, and op(W) is
+  either W or W'. Matrix op(K) defines the feedback gain matrix, if
+  op(W) = W, and the estimator matrix, if op(W) = W'. The formulas
+  above are also useful in Newton's algorithms for solving algebraic
+  Riccati equations, when X is the current iterate.
+
+  Optionally, matrix R may be specified in a factored form, and L
+  may be zero. If R or R + B'XB (for DICO = 'C', or DICO = 'D',
+  respectively), is positive definite, let C be its Cholesky factor
+  (denoted, e.g., C = chol(R), for DICO = 'C'). Optionally, the
+  matrix H, defined by
+
+       H = op(E)'XB + L, if DICO = 'C', or
+       H = op(A)'XB + L, if DICO = 'D',                          (3)
+
+  is returned on exit, besides K; if C exists, the matrix F, defined
+  by FC = H may be optionally returned, instead of K and H. The
+  matrix F or the pair of matrices H and K may be used for computing
+  the residual matrix for an (approximate) solution of an algebraic
+  Riccati equation (see SLICOT Library routine SG02CW).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL, TRANS,
+     $                   N, M, P, A, LDA, E, LDE, B, LDB, R, LDR, IPIV,
+     $                   L, LDL, X, LDX, RNORM, K, LDK, H, LDH, XE,
+     $                   LDXE, OUFACT, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, JOBE, JOBL, JOBX, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDE, LDH, LDK, LDL, LDR, LDWORK,
+     $                  LDX, LDXE, M, N, P
+      DOUBLE PRECISION  RNORM
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*),
+     $                  H(LDH,*), K(LDK,*), L(LDL,*), R(LDR,*),
+     $                  X(LDX,*), XE(LDXE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which K is to be determined,
+          as follows:
+          = 'D':  Equation (1), discrete-time case;
+          = 'C':  Equation (2), continuous-time case.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+          This parameter is not relevant for DICO = 'D'.
+
+  JOB     CHARACTER*1
+          Specifies what should be computed, as follows:
+          = 'K':  Compute and return the matrix K only;
+          = 'H':  Compute and return both matrices H and K;
+          = 'F':  Compute the matrix F, if possible; otherwise,
+                  compute and return H and K;
+          = 'D':  Compute and return both matrices H and K, when
+                  B and L have previously been transformed using
+                  SLICOT Library routines SB02MT or SB02MX, which
+                  returned OUFACT = 1. This is useful for computing
+                  K in (2), since then K is the solution of CK = H'.
+                  In this case, FACT should be set to 'C', and the
+                  array R must contain the Cholesky factor of
+                  R + B'XB, if DICO = 'D';
+          = 'C':  Compute and return the matrix F, when B and L have
+                  previously been transformed using SB02MT or
+                  SB02MX, which returned OUFACT = 1. In this case,
+                  FACT should be set to 'C', and the array R must
+                  contain the Cholesky factor of R + B'XB, if
+                  DICO = 'D'.
+          JOB should not be set to 'F' if FACT = 'U'.
+
+  JOBX    CHARACTER*1
+          Specifies whether the matrix op(Xop(E)), if DICO = 'C', or
+          op(Xop(A)), if DICO = 'D', must be computed, as follows:
+          = 'C':  Compute and return the coresponding matrix;
+          = 'N':  Do not compute that matrix.
+          This parameter is not relevant for DICO = 'C' and
+          JOBE = 'I'.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the symmetric indefinite UdU' or
+                  LdL' factorization of R. This option is not
+                  available for DICO = 'D'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the possibly factored matrix R
+          (or R + B'XB, on exit) is or should be stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+          No computations are performed if MIN(N,M) = 0.
+
+  M       (input) INTEGER
+          The order of the matrix R and the number of columns of the
+          matrices B and L.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix D.
+          P &gt;= M for DICO = 'C';
+          P &gt;= 0 for DICO = 'D'.
+          This parameter is relevant only for FACT = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If DICO = 'D', the leading N-by-N part of this array must
+          contain the state matrix A of the system.
+          If DICO = 'C', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if DICO = 'D';
+          LDA &gt;= 1        if DICO = 'C'.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G' and DICO = 'C', the leading N-by-N part of
+          this array must contain the matrix E.
+          If JOBE = 'I' or DICO = 'D', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G' and DICO = 'C';
+          LDE &gt;= 1,        if JOBE = 'I'  or DICO = 'D'.
+
+  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system, transformed by SB02MT or
+          SB02MX, if JOB = 'D' or JOB = 'C'.
+          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
+          array is destroyed. Specifically, if, on exit,
+          OUFACT(2) = 1, this array contains chol(X)*B, and if
+          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
+          part (in the first N rows) contains the submatrix of
+          sqrt(V)*U'B corresponding to the non-negligible, positive
+          eigenvalues of X, where V and U are the matrices with the
+          eigenvalues and eigenvectors of X.
+          Otherwise, B is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'D', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array must contain the
+          factors of the UdU' or LdL' factorization, respectively,
+          of the symmetric indefinite input weighting matrix R (as
+          produced by LAPACK routine DSYTRF).
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') of this
+          array is used as workspace (filled in by symmetry with the
+          other strictly triangular part of R, of R+B'XB, or of the
+          result, if DICO = 'C', DICO = 'D' (if FACT = 'N', in both
+          cases), or (DICO = 'D' and (FACT = 'D' or FACT = 'C') and
+          UPLO = 'L'), respectively.
+          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D').
+          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix
+          (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D' and FACT = 'N').
+          On exit R is unchanged if FACT = 'U' or N = 0.
+
+  LDR     INTEGER.
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
+          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT(1) = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R or
+          R + B'XB, as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'D', or FACT = 'C',
+          or N = 0.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N', the leading N-by-M part of this array must
+          contain the cross weighting matrix L, transformed by
+          SB02MT or SB02MX, if JOB = 'D' or JOB = 'C'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (approximate) solution matrix X of the
+          algebraic Riccati equation as produced by SLICOT Library
+          routines SB02MD or SB02OD (or SG02CD). Matrix X is assumed
+          non-negative definite if DICO = 'D', FACT &lt;&gt; 'N',
+          JOB &lt;&gt; 'D' and JOB &lt;&gt; 'C'. The full matrix X must be given
+          on input in this case.
+          For minimal workspace, full matrix X must also be given if
+          ((JOBX = 'C', DICO = 'D', FACT = 'N', and M &gt; N), or
+           (JOBX = 'N', ((DICO = 'C' or FACT = 'N'), (DICO = 'D' or
+            JOBE = 'I') or N &gt;= M, or LDWORK &lt; N*N) and (DICO = 'D'
+            or JOBE = 'G' or JOB = 'K'))) and LDWORK &lt; N*M.
+          (Simpler, but more demanding conditions are the following:
+          ((JOBX = 'C',  DICO = 'D', FACT = 'N', and M &gt; N), or
+           (JOBX = 'N', (DICO = 'D' or ((DICO = 'C', JOBE = 'G') or
+            JOB = 'K'))),  LDWORK &lt; N*N.)
+          For optimal workspace, full matrix X is not needed in any
+          of the cases described above for minimal workspace.
+          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
+          OUFACT(2) = 1, the N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array contains the Cholesky factor of the given
+          matrix X, which is found to be positive definite.
+          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
+          and INFO &lt;&gt; M+2 (but INFO &gt;= 0), the leading N-by-N part
+          of this array contains the matrix of orthonormal
+          eigenvectors of X.
+          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  RNORM   (input) DOUBLE PRECISION
+          If FACT = 'U', this parameter must contain the 1-norm of
+          the original matrix R (before factoring it).
+          Otherwise, this parameter is not used.
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,N)
+          If JOB = 'K' or JOB = 'H' or JOB = 'D' or OUFACT(1) = 2,
+          the leading M-by-N part of this array contains the gain
+          matrix K.
+
+  LDK     INTEGER
+          The leading dimension of array K.  LDK &gt;= MAX(1,M).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,*)
+          If JOB = 'H' or JOB = 'D' or (JOB = 'F' and
+          OUFACT(1) = 2), the leading N-by-M part of this array
+          contains the matrix H.
+          If JOB = 'C' or (JOB = 'F' and OUFACT(1) = 1), the leading
+          N-by-M part of this array contains the matrix F.
+          If JOB = 'K', this array is not referenced.
+
+  LDH    INTEGER
+          The leading dimension of array H.
+          LDH &gt;= MAX(1,N), if JOB &lt;&gt; 'K';
+          LDH &gt;= 1,        if JOB =  'K'.
+
+  XE      (output) DOUBLE PRECISION array, dimension (LDXE,*)
+          If JOBX = 'C', DICO = 'C', and JOBE = 'G', the leading
+          N-by-N part of this array contains the matrix product X*E,
+          if TRANS = 'N', or E*X, if TRANS = 'T' or TRANS = 'C'.
+          If JOBX = 'C' and DICO = 'D', the leading N-by-N part of
+          this array contains the matrix product X*A, if
+          TRANS = 'N', or A*X, if TRANS = 'T' or TRANS = 'C'.
+          These matrix products may be needed for computing the
+          residual matrix for an (approximate) solution of a Riccati
+          equation (see SLICOT Library routine SG02CW).
+          If JOBX = 'N' or (DICO = 'C' and JOBE = 'I'), this array
+          is not referenced.
+
+  LDXE    INTEGER
+          The leading dimension of array XE.
+          LDXE &gt;= MAX(1,N), if JOBX = 'C', and either DICO = 'C' and
+                            JOBE = 'G', or DICO = 'D';
+          LDXE &gt;= 1,        if JOBX = 'N' or (DICO = 'C' and
+                                              JOBE = 'I').
+
+  OUFACT  (output) INTEGER array, dimension (2)
+          Information about the factorization finally used.
+          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
+                          'L') factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(2) = 1:  Cholesky factorization of X has been used;
+          OUFACT(2) = 2:  Spectral factorization of X has been used.
+          The value of OUFACT(2) is not set for DICO = 'C' or for
+          DICO = 'D' and FACT = 'N'.
+          This array is not set if N = 0 or M = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK, and for LDWORK set as specified
+          below, DWORK(2) contains the reciprocal condition number
+          of the matrix R (for DICO = 'C') or of R + B'XB (for
+          DICO = 'D'), if FACT = 'N' or FACT = 'U' or OUFACT(1) = 2,
+          or of its Cholesky factor, if FACT = 'C' or FACT = 'D' and
+          OUFACT(1) = 1; DWORK(2) is set to 1 if N = 0.
+          On exit, if LDWORK = -2 on input or INFO = -35, then
+          DWORK(1) returns the minimal value of LDWORK.
+          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
+          DWORK(N+2) contain the eigenvalues of X, in ascending
+          order.
+
+  LDWORK  INTEGER
+          Dimension of working array DWORK.
+          Let a = N, if JOBX = 'N' and (DICO = 'D' or JOBE = 'G');
+              a = 0, otherwise. Then
+          LDWORK &gt;= max(2,2*M,a)       if FACT =  'U';
+          LDWORK &gt;= max(2,3*M,4*N+1)   if FACT =  'D' or
+                                         (FACT =  'C' and JOB &lt;&gt; 'C'
+                                       and JOB &lt;&gt; 'D'), DICO = 'D';
+          LDWORK &gt;= max(2,3*M,a)       otherwise.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element of the d factor is exactly zero;
+                the UdU' (or LdL') factorization has been completed,
+                but the block diagonal matrix d is exactly singular;
+          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
+                (if DICO = 'D') is numerically singular (to working
+                precision);
+          = M+2:  if one or more of the eigenvalues of X has not
+                converged;
+          = M+3:  if the matrix X is indefinite and updating the
+                triangular factorization failed.
+          If INFO &gt; M+1, call the routine again with an appropriate,
+          unfactored matrix R.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (optimal) gain matrix K is obtained as the solution to the
+  system of linear equations
+
+     (R + B'XB) * K = B'Xop(A) + L'
+
+  in the discrete-time case and
+
+     R * K = B'Xop(E) + L'
+
+  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
+  If FACT = 'N', Cholesky factorization is tried first, but
+  if the coefficient matrix is not positive definite, then UdU' (or
+  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
+  of R is taken into account. The discrete-time case then involves
+  updating of a triangular factorization of R (or D'D); Cholesky or
+  symmetric spectral factorization of X is employed to avoid
+  squaring of the condition number of the matrix. When D is given,
+  its QR factorization is determined, and the triangular factor is
+  used as described above.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm consists of numerically stable steps.
+                                                3     2
+  For DICO = 'C' and JOBE = 'I', it requires O(m  + mn ) floating
+                                         2
+  point operations if FACT = 'N' and O(mn ) floating point
+  operations, otherwise.
+  For DICO = 'D' or JOBE = 'G', the operation counts are similar,
+                    3
+  but additional O(n ) floating point operations may be needed in
+  the worst case.
+  These estimates assume that M &lt;= N.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG02ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2
+      PARAMETER        ( NMAX2 = 2*NMAX )
+      INTEGER          LDA, LDB, LDC, LDF, LDH, LDL, LDR, LDS, LDT, LDU,
+     $                 LDX, LDXE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
+     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
+     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
+     $                   LDF = MMAX, LDH = NMAX, LDXE = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
+     $                   16*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL, RCOND, RNORM
+      INTEGER          I, INFO1, INFO2, J, M, N, P
+      CHARACTER*1      DICO, FACT, JOB, JOBB, JOBE, JOBL, JOBX, SORT,
+     $                 TRANS, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION AE(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
+     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), F(LDF,NMAX), H(LDH,MMAX),
+     $                 L(LDL,MMAX), R(LDR,MMAX), S(LDS,NMAX2+MMAX),
+     $                 T(LDT,NMAX2), U(LDU,NMAX2), X(LDX,NMAX),
+     $                 XE(LDXE,NMAX)
+      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
+      LOGICAL          BWORK(NMAX2)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SG02ND, SB02OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBE, JOB, JOBX, FACT,
+     $                      JOBL, UPLO, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( AE(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
+               END IF
+               IF ( LSAME( JOBL, 'N' ) )
+     $            READ ( NIN, FMT = * ) ( ( L(I,J), J = 1,M ), I = 1,N )
+*              Find the solution matrix X.
+               JOBB = 'B'
+               SORT = 'S'
+               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
+     $                      P, AE, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
+     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
+     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
+     $                      BWORK, INFO1 )
+*
+               IF ( INFO1.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO1
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+*                 Compute the optimal feedback matrix F.
+                  CALL SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL,
+     $                         TRANS, N, M, P, AE, LDA, AE, LDA, B, LDB,
+     $                         R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
+     $                         LDF, H, LDH, XE, LDXE, OUFACT, IWORK,
+     $                         DWORK, LDWORK, INFO2 )
+*
+                  IF ( INFO2.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) INFO2
+                  ELSE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, M
+                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
+   40                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG02ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02OD = ',I2)
+99997 FORMAT (' INFO on exit from SG02ND = ',I2)
+99996 FORMAT (' The solution matrix X is ')
+99995 FORMAT (/' The optimal feedback matrix F is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG02ND EXAMPLE PROGRAM DATA
+   2     1     3     0.0     D     I     K     N     N     Z     U     N
+   2.0 -1.0
+   1.0  0.0
+   1.0
+   0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+   0.0
+   0.0
+   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG02ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The optimal feedback matrix F is 
+   2.0000  -1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03AD">SG03AD</A></H2>
+<H3>
+Solution of continuous- or discrete-time generalized Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the generalized continuous-time Lyapunov
+  equation
+
+          T                T
+     op(A)  X op(E) + op(E)  X op(A) = SCALE * Y,                (1)
+
+  or the generalized discrete-time Lyapunov equation
+
+          T                T
+     op(A)  X op(A) - op(E)  X op(E) = SCALE * Y,                (2)
+
+  where op(M) is either M or M**T for M = A, E and the right hand
+  side Y is symmetric. A, E, Y, and the solution X are N-by-N
+  matrices. SCALE is an output scale factor, set to avoid overflow
+  in X.
+
+  Estimates of the separation and the relative forward error norm
+  are provided.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E,
+     $                   LDE, Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR,
+     $                   ALPHAR, ALPHAI, BETA, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, TRANS, UPLO
+      DOUBLE PRECISION  FERR, SCALE, SEP
+      INTEGER           INFO, LDA, LDE, LDQ, LDWORK, LDX, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), BETA(*),
+     $                  DWORK(*), E(LDE,*), Q(LDQ,*), X(LDX,*),
+     $                  Z(LDZ,*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies which type of the equation is considered:
+          = 'C':  Continuous-time equation (1);
+          = 'D':  Discrete-time equation (2).
+
+  JOB     CHARACTER*1
+          Specifies if the solution is to be computed and if the
+          separation is to be estimated:
+          = 'X':  Compute the solution only;
+          = 'S':  Estimate the separation only;
+          = 'B':  Compute the solution and estimate the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether the generalized real Schur
+          factorization of the pencil A - lambda * E is supplied
+          on entry or not:
+          = 'N':  Factorization is not supplied;
+          = 'F':  Factorization is supplied.
+
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  op(A) = A,    op(E) = E;
+          = 'T':  op(A) = A**T, op(E) = E**T.
+
+  UPLO    CHARACTER*1
+          Specifies whether the lower or the upper triangle of the
+          array X is needed on input:
+          = 'L':  Only the lower triangle is needed on input;
+          = 'U':  Only the upper triangle is needed on input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          Hessenberg part of this array must contain the
+          generalized Schur factor A_s of the matrix A (see
+          definition (3) in section METHOD). A_s must be an upper
+          quasitriangular matrix. The elements below the upper
+          Hessenberg part of the array A are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this
+          array must contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the generalized Schur factor A_s of the matrix A. (A_s is
+          an upper quasitriangular matrix.)
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the
+          generalized Schur factor E_s of the matrix E (see
+          definition (4) in section METHOD). The elements below the
+          upper triangular part of the array E are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this
+          array must contain the coefficient matrix E of the
+          equation.
+          On exit, the leading N-by-N part of this array contains
+          the generalized Schur factor E_s of the matrix E. (E_s is
+          an upper triangular matrix.)
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Q from
+          the generalized Schur factorization (see definitions (3)
+          and (4) in section METHOD).
+          If FACT = 'N', Q need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal matrix Q from the generalized Schur
+          factorization.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Z from
+          the generalized Schur factorization (see definitions (3)
+          and (4) in section METHOD).
+          If FACT = 'N', Z need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal matrix Z from the generalized Schur
+          factorization.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if JOB = 'B' or 'X', then the leading N-by-N
+          part of this array must contain the right hand side matrix
+          Y of the equation. Either the lower or the upper
+          triangular part of this array is needed (see mode
+          parameter UPLO).
+          If JOB = 'S', X is not referenced.
+          On exit, if JOB = 'B' or 'X', and INFO = 0, 3, or 4, then
+          the leading N-by-N part of this array contains the
+          solution matrix X of the equation.
+          If JOB = 'S', X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          (0 &lt; SCALE &lt;= 1)
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0, 3, or 4, then
+          SEP contains an estimate of the separation of the
+          Lyapunov operator.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0, 3, or 4, then FERR contains an
+          estimated forward error bound for the solution X. If XTRUE
+          is the true solution, FERR estimates the relative error
+          in the computed solution, measured in the Frobenius norm:
+          norm(X - XTRUE) / norm(XTRUE)
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N' and INFO = 0, 3, or 4, then
+          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N, are the
+          eigenvalues of the matrix pencil A - lambda * E.
+          If FACT = 'F', ALPHAR, ALPHAI, and BETA are not
+          referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N**2)
+          IWORK is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. The following table
+          contains the minimal work space requirements depending
+          on the choice of JOB and FACT.
+
+                 JOB        FACT    |  LDWORK
+                 -------------------+-------------------
+                 'X'        'F'     |  MAX(1,N)
+                 'X'        'N'     |  MAX(1,8*N+16)
+                 'B', 'S'   'F'     |  MAX(1,2*N**2)
+                 'B', 'S'   'N'     |  MAX(1,2*N**2,8*N+16)
+
+          For optimum performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  FACT = 'F' and the matrix contained in the upper
+                Hessenberg part of the array A is not in upper
+                quasitriangular form;
+          = 2:  FACT = 'N' and the pencil A - lambda * E cannot be
+                reduced to generalized Schur form: LAPACK routine
+                DGGES has failed to converge;
+          = 3:  DICO = 'D' and the pencil A - lambda * E has a
+                pair of reciprocal eigenvalues. That is, lambda_i =
+                1/lambda_j for some i and j, where lambda_i and
+                lambda_j are eigenvalues of A - lambda * E. Hence,
+                equation (2) is singular;  perturbed values were
+                used to solve the equation (but the matrices A and
+                E are unchanged);
+          = 4:  DICO = 'C' and the pencil A - lambda * E has a
+                degenerate pair of eigenvalues. That is, lambda_i =
+                -lambda_j for some i and j, where lambda_i and
+                lambda_j are eigenvalues of A - lambda * E. Hence,
+                equation (1) is singular;  perturbed values were
+                used to solve the equation (but the matrices A and
+                E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A straightforward generalization [3] of the method proposed by
+  Bartels and Stewart [1] is utilized to solve (1) or (2).
+
+  First the pencil A - lambda * E is reduced to real generalized
+  Schur form A_s - lambda * E_s by means of orthogonal
+  transformations (QZ-algorithm):
+
+     A_s = Q**T * A * Z   (upper quasitriangular)                (3)
+
+     E_s = Q**T * E * Z   (upper triangular).                    (4)
+
+  If FACT = 'F', this step is omitted. Assuming SCALE = 1 and
+  defining
+
+           ( Z**T * Y * Z   :   TRANS = 'N'
+     Y_s = &lt;
+           ( Q**T * Y * Q   :   TRANS = 'T'
+
+           ( Q**T * X * Q    if TRANS = 'N'
+     X_s = &lt;                                                     (5)
+           ( Z**T * X * Z    if TRANS = 'T'
+
+  leads to the reduced Lyapunov equation
+
+            T                      T
+     op(A_s)  X_s op(E_s) + op(E_s)  X_s op(A_s) = Y_s,          (6)
+
+  or
+            T                      T
+     op(A_s)  X_s op(A_s) - op(E_s)  X_s op(E_s) = Y_s,          (7)
+
+  which are equivalent to (1) or (2), respectively. The solution X_s
+  of (6) or (7) is computed via block back substitution (if TRANS =
+  'N') or block forward substitution (if TRANS = 'T'), where the
+  block order is at most 2. (See [1] and [3] for details.)
+  Equation (5) yields the solution matrix X.
+
+  For fast computation the estimates of the separation and the
+  forward error are gained from (6) or (7) rather than (1) or
+  (2), respectively. We consider (6) and (7) as special cases of the
+  generalized Sylvester equation
+
+     R * X * S + U * X * V = Y,                                  (8)
+
+  whose separation is defined as follows
+
+     sep = sep(R,S,U,V) =   min   || R * X * S + U * X * V || .
+                         ||X|| = 1                           F
+                              F
+
+  Equation (8) is equivalent to the system of linear equations
+
+     K * vec(X) = (kron(S**T,R) + kron(V**T,U)) * vec(X) = vec(Y),
+
+  where kron is the Kronecker product of two matrices and vec
+  is the mapping that stacks the columns of a matrix. If K is
+  nonsingular then
+
+     sep = 1 / ||K**(-1)|| .
+                          2
+
+  We estimate ||K**(-1)|| by a method devised by Higham [2]. Note
+  that this method yields an estimation for the 1-norm but we use it
+  as an approximation for the 2-norm. Estimates for the forward
+  error norm are provided by
+
+     FERR = 2 * EPS * ||A_s||  * ||E_s||  / sep
+                             F          F
+
+  in the continuous-time case (1) and
+
+     FERR = EPS * ( ||A_s|| **2 + ||E_s|| **2 ) / sep
+                           F             F
+
+  in the discrete-time case (2).
+  The reciprocal condition number, RCOND, of the Lyapunov equation
+  can be estimated by FERR/EPS.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or complex
+      matrix, with applications to condition estimation.
+      A.C.M. Trans. Math. Soft., vol. 14, no. 4, pp. 381-396, 1988.
+
+  [3] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The number of flops required by the routine is given by the
+  following table. Note that we count a single floating point
+  arithmetic operation as one flop. c is an integer number of modest
+  size (say 4 or 5).
+
+                |  FACT = 'F'            FACT = 'N'
+     -----------+------------------------------------------
+     JOB = 'B'  |  (26+8*c)/3 * N**3     (224+8*c)/3 * N**3
+     JOB = 'S'  |  8*c/3 * N**3          (198+8*c)/3 * N**3
+     JOB = 'X'  |  26/3 * N**3           224/3 * N**3
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
+  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
+  degenerate pair of eigenvalues, then the Lyapunov equation will be
+  ill-conditioned. Perturbed values were used to solve the equation.
+  Ill-conditioning can be detected by a very small value of the
+  reciprocal condition number RCOND.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           NMAX
+      PARAMETER         ( NMAX = 20 )
+      INTEGER           LDA, LDE, LDQ, LDX, LDZ
+      PARAMETER         ( LDA = NMAX, LDE = NMAX, LDQ = NMAX,
+     $                    LDX = NMAX, LDZ = NMAX )
+      INTEGER           LIWORK, LDWORK
+      PARAMETER         ( LIWORK = NMAX**2,
+     $                    LDWORK = MAX( 2*NMAX**2, 4*NMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1       DICO, FACT, JOB, TRANS, UPLO
+      DOUBLE PRECISION  FERR, SCALE, SEP
+      INTEGER           I, INFO, J, N
+*     .. Local Arrays ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
+     $                  BETA(NMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                  Q(LDQ,NMAX), X(LDX,NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          SG03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, DICO, FACT, TRANS, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME ( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( .NOT.LSAME ( JOB, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X and the scalar SEP.
+         CALL SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E, LDE,
+     $                Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR, ALPHAR,
+     $                ALPHAI, BETA, IWORK, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'S' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 ) SEP
+               WRITE ( NOUT, FMT = 99996 ) FERR
+            END IF
+            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'X' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 ) SCALE
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SG03AD = ',I2)
+99997 FORMAT (' SEP =   ',D8.2)
+99996 FORMAT (' FERR =  ',D8.2)
+99995 FORMAT (' SCALE = ',D8.2,//' The solution matrix X is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG03AD EXAMPLE PROGRAM DATA
+  3       B       C       N       N       U
+  3.0     1.0     1.0
+  1.0     3.0     0.0
+  1.0     0.0     2.0
+  1.0     3.0     0.0
+  3.0     2.0     1.0
+  1.0     0.0     1.0
+-64.0   -73.0   -28.0
+  0.0   -70.0   -25.0
+  0.0     0.0   -18.0 
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG03AD EXAMPLE PROGRAM RESULTS
+
+ SEP =   0.29D+00
+ FERR =  0.40D-13
+ SCALE = 0.10D+01
+
+ The solution matrix X is 
+  -2.0000  -1.0000   0.0000
+  -1.0000  -3.0000  -1.0000
+   0.0000  -1.0000  -3.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03AX.html b/doc/_build/html/_static/doc/SG03AX.html
new file mode 100644
index 00000000..d0cf438d
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03AX.html
@@ -0,0 +1,160 @@
+<HTML>
+<HEAD><TITLE>SG03AX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03AX">SG03AX</A></H2>
+<H3>
+Solving a discrete-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the reduced generalized discrete-time
+  Lyapunov equation
+
+      T            T
+     A  * X * A - E  * X * E  =  SCALE * Y                       (1)
+
+  or
+
+              T            T
+     A * X * A  - E * X * E   =  SCALE * Y                       (2)
+
+  where the right hand side Y is symmetric. A, E, Y, and the
+  solution X are N-by-N matrices. The pencil A - lambda * E must be
+  in generalized Schur form (A upper quasitriangular, E upper
+  triangular). SCALE is an output scale factor, set to avoid
+  overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03AX( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDE, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the right hand side matrix Y of the equation. Only
+          the upper triangular part of this matrix need be given.
+          On exit, the leading N-by-N part of this array contains
+          the solution matrix X of the equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          (0 &lt; SCALE &lt;= 1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  equation is (almost) singular to working precision;
+                perturbed values were used to solve the equation
+                (but the matrices A and E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The solution X of (1) or (2) is computed via block back
+  substitution or block forward substitution, respectively. (See
+  [1] and [2] for details.)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  8/3 * N**3 flops are required by the routine. Note that we count a
+  single floating point arithmetic operation as one flop.
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03AY.html b/doc/_build/html/_static/doc/SG03AY.html
new file mode 100644
index 00000000..1b21a08f
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03AY.html
@@ -0,0 +1,160 @@
+<HTML>
+<HEAD><TITLE>SG03AY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03AY">SG03AY</A></H2>
+<H3>
+Solving a continuous-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the reduced generalized continuous-time
+  Lyapunov equation
+
+      T            T
+     A  * X * E + E  * X * A  =  SCALE * Y                       (1)
+
+  or
+
+              T            T
+     A * X * E  + E * X * A   =  SCALE * Y                       (2)
+
+  where the right hand side Y is symmetric. A, E, Y, and the
+  solution X are N-by-N matrices. The pencil A - lambda * E must be
+  in generalized Schur form (A upper quasitriangular, E upper
+  triangular). SCALE is an output scale factor, set to avoid
+  overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03AY( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDE, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the right hand side matrix Y of the equation. Only
+          the upper triangular part of this matrix need be given.
+          On exit, the leading N-by-N part of this array contains
+          the solution matrix X of the equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          (0 &lt; SCALE &lt;= 1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  equation is (almost) singular to working precision;
+                perturbed values were used to solve the equation
+                (but the matrices A and E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The solution X of (1) or (2) is computed via block back
+  substitution or block forward substitution, respectively. (See
+  [1] and [2] for details.)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  8/3 * N**3 flops are required by the routine. Note that we count a
+  single floating point arithmetic operation as one flop.
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BD.html b/doc/_build/html/_static/doc/SG03BD.html
new file mode 100644
index 00000000..ce0bec1d
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03BD.html
@@ -0,0 +1,581 @@
+<HTML>
+<HEAD><TITLE>SG03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BD">SG03BD</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable continuous- or discrete-time Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X,
+
+              T
+     X = op(U)  * op(U),
+
+  which is the solution of either the generalized c-stable
+  continuous-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(E) + op(E)  * X * op(A)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (1)
+
+  or the generalized d-stable discrete-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(A) - op(E)  * X * op(E)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (2)
+
+  without first finding X and without the need to form the matrix
+  op(B)**T * op(B).
+
+  op(K) is either K or K**T for K = A, B, E, U. A and E are N-by-N
+  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
+  N-by-N upper triangular matrix with non-negative entries on its
+  main diagonal. SCALE is an output scale factor set to avoid
+  overflow in U.
+
+  In the continuous-time case (1) the pencil A - lambda * E must be
+  c-stable (that is, all eigenvalues must have negative real parts).
+  In the discrete-time case (2) the pencil A - lambda * E must be
+  d-stable (that is, the moduli of all eigenvalues must be smaller
+  than one).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
+     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI,
+     $                   BETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDWORK, LDZ, M, N
+      CHARACTER         DICO, FACT, TRANS
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                  BETA(*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies which type of the equation is considered:
+          = 'C':  Continuous-time equation (1);
+          = 'D':  Discrete-time equation (2).
+
+  FACT    CHARACTER*1
+          Specifies whether the generalized real Schur
+          factorization of the pencil A - lambda * E is supplied on
+          entry or not:
+          = 'N':  Factorization is not supplied;
+          = 'F':  Factorization is supplied.
+
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  op(A) = A,    op(E) = E;
+          = 'T':  op(A) = A**T, op(E) = E**T.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows in the matrix op(B).  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          Hessenberg part of this array must contain the generalized
+          Schur factor A_s of the matrix A (see definition (3) in
+          section METHOD). A_s must be an upper quasitriangular
+          matrix. The elements below the upper Hessenberg part of
+          the array A are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the matrix A.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          Hessenberg part of this array contains the generalized
+          Schur factor A_s of the matrix A. (A_s is an upper
+          quasitriangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the generalized
+          Schur factor E_s of the matrix E (see definition (4) in
+          section METHOD). E_s must be an upper triangular matrix.
+          The elements below the upper triangular part of the array
+          E are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the coefficient matrix E of the equation.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          triangular part of this array contains the generalized
+          Schur factor E_s of the matrix E. (E_s is an upper
+          triangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Q from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Q need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the orthogonal matrix Q from the
+          generalized Schur factorization. If FACT = 'F', this array
+          is unchanged.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Z from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Z need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the orthogonal matrix Z from the
+          generalized Schur factorization. If FACT = 'F', this array
+          is unchanged.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N1)
+          On entry, if TRANS = 'T', the leading N-by-M part of this
+          array must contain the matrix B and N1 &gt;= MAX(M,N).
+          If TRANS = 'N', the leading M-by-N part of this array
+          must contain the matrix B and N1 &gt;= N.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)**T * op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If TRANS = 'T',  LDB &gt;= MAX(1,N).
+          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, 3, 5, 6, or 7, then
+          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ... ,N, are the
+          eigenvalues of the matrix pencil A - lambda * E.
+          All BETA(j) are non-negative numbers.
+          ALPHAR and ALPHAI will be always less than and usually
+          comparable with norm(A) in magnitude, and BETA always less
+          than and usually comparable with norm(B).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1,8*N+16),  if FACT = 'N';
+          LDWORK &gt;= MAX(1,2*N,6*N-6),  if FACT = 'F'.
+          For good performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A - lambda * E is (nearly) singular;
+                perturbed values were used to solve the equation
+                (but the reduced (quasi)triangular matrices A and E
+                are unchanged);
+          = 2:  FACT = 'F' and the matrix contained in the upper
+                Hessenberg part of the array A is not in upper
+                quasitriangular form;
+          = 3:  FACT = 'F' and there is a 2-by-2 block on the main
+                diagonal of the pencil A_s - lambda * E_s whose
+                eigenvalues are not conjugate complex;
+          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
+                reduced to generalized Schur form: LAPACK routine
+                or DGGES has failed to converge;
+          = 5:  DICO = 'C' and the pencil A - lambda * E is not
+                c-stable;
+          = 6:  DICO = 'D' and the pencil A - lambda * E is not
+                d-stable;
+          = 7:  the LAPACK routine DSYEVX utilized to factorize M3
+                failed to converge in the discrete-time case (see
+                section METHOD for SLICOT Library routine SG03BU).
+                This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension [2] of Hammarling's method [1] to generalized
+  Lyapunov equations is utilized to solve (1) or (2).
+
+  First the pencil A - lambda * E is reduced to real generalized
+  Schur form A_s - lambda * E_s by means of orthogonal
+  transformations (QZ-algorithm):
+
+     A_s = Q**T * A * Z   (upper quasitriangular),               (3)
+
+     E_s = Q**T * E * Z   (upper triangular).                    (4)
+
+  If the pencil A - lambda * E has already been factorized prior to
+  calling the routine, however, then the factors A_s, E_s, Q and Z
+  may be supplied and the initial factorization omitted.
+
+  Depending on the parameters TRANS and M, the N-by-N upper
+  triangular matrix B_s is defined as follows. In any case Q_B is
+  an M-by-M orthogonal matrix, which need not be accumulated.
+
+  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
+     from the QR-factorization
+
+        ( Q_B  O )           ( B * Z )
+        (        ) * B_s  =  (       ),
+        (  O   I )           (   O   )
+
+     where the O's are zero matrices of proper size and I is the
+     identity matrix of order N-M.
+
+  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) QR-factorization
+
+              ( B_s )
+        Q_B * (     )  =  B * Z,
+              (  O  )
+
+     where O is the (M-N)-by-N zero matrix.
+
+  3. If TRANS = 'T' and M &lt; N, B_s is the upper triangular matrix
+     from the RQ-factorization
+
+                    ( Q_B  O )
+        (B_s  O ) * (        )  =  ( Q**T * B   O ).
+                    (  O   I )
+
+  4. If TRANS = 'T' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) RQ-factorization
+
+        ( B_s   O ) * Q_B  =  Q**T * B,
+
+     where O is the N-by-(M-N) zero matrix.
+
+  Assuming SCALE = 1, the transformation of A, E and B described
+  above leads to the reduced continuous-time equation
+
+              T        T
+       op(A_s)  op(U_s)  op(U_s) op(E_s)
+
+              T        T
+     + op(E_s)  op(U_s)  op(U_s) op(A_s)
+
+                 T
+     =  - op(B_s)  op(B_s)                                       (5)
+
+  or to the reduced discrete-time equation
+
+              T        T
+       op(A_s)  op(U_s)  op(U_s) op(A_s)
+
+              T        T
+     - op(E_s)  op(U_s)  op(U_s) op(E_s)
+
+                 T
+     =  - op(B_s)  op(B_s).                                      (6)
+
+  For brevity we restrict ourself to equation (5) and the case
+  TRANS = 'N'. The other three cases can be treated in a similar
+  fashion.
+
+  We use the following partitioning for the matrices A_s, E_s, B_s,
+  and U_s
+
+              ( A11   A12 )          ( E11   E12 )
+        A_s = (           ),   E_s = (           ),
+              (   0   A22 )          (   0   E22 )
+
+              ( B11   B12 )          ( U11   U12 )
+        B_s = (           ),   U_s = (           ).              (7)
+              (   0   B22 )          (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1 (iff A_s(2,1) = 0.0) or
+  2-by-2.
+
+  We compute U11, U12**T, and U22 in three steps.
+
+  Step I:
+
+     From (5) and (7) we get the 1-by-1 or 2-by-2 equation
+
+             T      T                   T      T
+          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
+
+                 T
+          = - B11  * B11.
+
+     For brevity, details are omitted here. See [2]. The technique
+     for computing U11 is similar to those applied to standard
+     Lyapunov equations in Hammarling's algorithm ([1], section 6).
+
+     Furthermore, the auxiliary matrices M1 and M2 defined as
+     follows
+
+                            -1      -1
+        M1 = U11 * A11 * E11   * U11
+
+                      -1      -1
+        M2 = B11 * E11   * U11
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     The generalized Sylvester equation
+
+           T      T      T      T
+        A22  * U12  + E22  * U12  * M1  =
+
+             T           T      T      T      T
+        - B12  * M2 - A12  * U11  - E12  * U11  * M1
+
+     is solved for U12**T.
+
+  Step III:
+
+     It can be shown that
+
+           T      T                  T      T
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             T              T
+        - B22  * B22 - y * y                                     (8)
+
+     holds, where y is defined as
+
+               T        T      T      T      T       T
+        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
+
+     If B22_tilde is the square triangular matrix arising from the
+     (rectangular) QR-factorization
+
+                    ( B22_tilde )     ( B22  )
+        Q_B_tilde * (           )  =  (      ),
+                    (     O     )     ( y**T )
+
+     where Q_B_tilde is an orthogonal matrix of order N, then
+
+             T              T                T
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (8) by the term
+     - B22_tilde**T * B22_tilde leads to a reduced generalized
+     Lyapunov equation of lower dimension compared to (5).
+
+  The recursive application of the steps I to III yields the
+  solution U_s of the equation (5).
+
+  It remains to compute the solution matrix U of the original
+  problem (1) or (2) from the matrix U_s. To this end we transform
+  the solution back (with respect to the transformation that led
+  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
+  (RQ-factorization). The upper triangular solution matrix U is
+  obtained by
+
+     Q_U * U  =  U_s * Q**T     (if TRANS = 'N'),
+
+  or
+
+     U * Q_U  =  Z * U_s        (if TRANS = 'T'),
+
+  where Q_U is an N-by-N orthogonal matrix. Again, the orthogonal
+  matrix Q_U need not be accumulated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The number of flops required by the routine is given by the
+  following table. Note that we count a single floating point
+  arithmetic operation as one flop.
+
+              |           FACT = 'F'                  FACT = 'N'
+     ---------+--------------------------------------------------
+      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
+              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
+              |
+       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
+  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
+  degenerate pair of eigenvalues, then the Lyapunov equation will be
+  ill-conditioned. Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+  When setting the error indicator INFO, the routine does not test
+  for near instability in the equation but only for exact
+  instability.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           NMAX
+      PARAMETER         ( NMAX = 20 )
+      INTEGER           LDA, LDB, LDE, LDQ, LDZ
+      PARAMETER         ( LDA = NMAX, LDB = NMAX, LDE = NMAX,
+     $                    LDQ = NMAX, LDZ = NMAX )
+      INTEGER           LDWORK
+      PARAMETER         ( LDWORK = MAX( 1, 4*NMAX, 6*NMAX-6 ) )
+*     .. Local Scalars ..
+      CHARACTER*1       DICO, FACT, TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           I, INFO, J, N, M
+*     .. Local Arrays ..
+      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
+     $                  B(LDB,NMAX), BETA(NMAX), DWORK(LDWORK),
+     $                  E(LDE,NMAX), Q(LDQ,NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          SG03BD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( LSAME( FACT, 'T' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
+         END IF
+*        Find the Cholesky factor U of the solution matrix.
+         CALL SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q, LDQ,
+     $                Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI, BETA,
+     $                DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) SCALE
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG03BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SG03BD = ',I2)
+99997 FORMAT (' SCALE = ',F8.4,//' The Cholesky factor U of the solution
+     $ matrix is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG03BD EXAMPLE PROGRAM DATA
+   3      1      C      N      N
+  -1.0    3.0   -4.0
+   0.0    5.0   -2.0
+  -4.0    4.0    1.0
+   2.0    1.0    3.0
+   2.0    0.0    1.0
+   4.0    5.0    1.0
+   2.0   -1.0    7.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG03BD EXAMPLE PROGRAM RESULTS
+
+ SCALE =   1.0000
+
+ The Cholesky factor U of the solution matrix is
+   1.6003  -0.4418  -0.1523
+   0.0000   0.6795  -0.2499
+   0.0000   0.0000   0.2041
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BR.html b/doc/_build/html/_static/doc/SG03BR.html
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+<HTML>
+<HEAD><TITLE>SG03BR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BR">SG03BR</A></H2>
+<H3>
+Compute a complex Givens rotation in real arithmetic (SG03BY version - adaptation of LAPACK ZLARTG)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the parameters for the complex Givens rotation
+
+     (    C      SR+SI*I )   ( XR+XI*I )   ( ZR+ZI*I )
+     (                   ) * (         ) = (         )
+     ( -SR+SI*I     C    )   ( YR+YI*I )   (    0    )
+
+  where C, SR, SI, XR, XI, YR, YI, ZR, ZI are real numbers, I is the
+  imaginary unit, I = SQRT(-1), and C**2 + |SR+SI*I|**2 = 1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BR( XR, XI, YR, YI, C, SR, SI, ZR, ZI )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  C, SI, SR, XI, XR, YI, YR, ZI, ZR
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  XR, XI, (input) DOUBLE PRECISION
+  YR, YI  (input) DOUBLE PRECISION
+          The given real scalars XR, XI, YR, YI.
+
+  C,      (output) DOUBLE PRECISION
+  SR, SI, (output) DOUBLE PRECISION
+  ZR, ZI  (output) DOUBLE PRECISION
+          The computed real scalars C, SR, SI, ZR, ZI defining the
+          complex Givens rotation and Z = ZR+ZI*I.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The subroutine avoids unnecessary overflow.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interest of speed, this routine does not check the input
+  for errors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BS.html b/doc/_build/html/_static/doc/SG03BS.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SG03BS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BS">SG03BS</A></H2>
+<H3>
+Solving (for Cholesky factor) stable generalized discrete-time complex Lyapunov equations, with A, E, and B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**H * U or
+  X = U * U**H, which is the solution of the generalized d-stable
+  discrete-time Lyapunov equation
+
+      H            H                  2    H
+     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
+
+  or the conjugate transposed equation
+
+              H            H          2        H
+     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are complex N-by-N matrices.
+  The Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in complex
+  generalized Schur form (A and E are upper triangular and the
+  diagonal elements of E are non-negative real numbers). Moreover,
+  it must be d-stable, i.e., the moduli of its eigenvalues must be
+  less than one. B must be an upper triangular matrix with real
+  non-negative entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BS( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'C':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix A. The lower triangular
+          part is used as workspace, but the diagonal is restored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. If TRANS = 'N', the
+          strictly lower triangular part is used as workspace.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension LDWORK, where
+          LDWORK = 0,            if N &lt;= 1;
+          LDWORK = MAX(N-1,10),  if N &gt;  1.
+
+  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  the pencil A - lambda * E is not stable, i.e., there
+                there are eigenvalues outside the open unit circle;
+          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
+                failed to converge. This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations. The real case is
+  described in [2].
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  Since all matrices A, E, B, and U are upper triangular, we use the
+  following partitioning
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ),                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  where the size of the (1,1)-blocks is 1-by-1.
+
+  We compute U11, U12**H and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 equation
+
+           H     H                 H     H                  H
+        A11 * U11 * U11 * A11 - E11 * U11 * U11 * E11 = -B11 * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 5).
+
+     Furthermore, the auxiliary scalars M1 and M2 defined as follows
+
+        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**H the linear system of equations, with
+     scaling to prevent overflow,
+
+                  H      H      H
+        ( M1 * A22  - E22  ) U12  =
+
+                    H              H           H
+        = - M2 * B12  + U11 * ( E12  - M1 * A12  ) .
+
+  Step III:
+
+     One can show that
+
+           H      H                  H      H
+        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
+
+             H              H
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+                 H           H      H      H
+        y = ( B12   U11 * A12  + A22  * U12  ) * M3EV,
+
+     where M3EV is a matrix which fulfils
+
+             ( I - M2*M2     -M2*M1**H )              H
+        M3 = (                         ) = M3EV * M3EV .
+             (    -M1*M2  I - M1*M1**H )
+
+     M3 is positive semidefinite and its rank is equal to 1.
+     Therefore, a matrix M3EV can be found by solving the Hermitian
+     eigenvalue problem for M3 such that y consists of one column.
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**H )
+
+     then
+
+             H              H                H
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
+     equation like (1), but of dimension N-1.
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost reciprocal
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BT.html b/doc/_build/html/_static/doc/SG03BT.html
new file mode 100644
index 00000000..f20348f0
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03BT.html
@@ -0,0 +1,255 @@
+<HTML>
+<HEAD><TITLE>SG03BT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BT">SG03BT</A></H2>
+<H3>
+Solving (for Cholesky factor) stable generalized continuous-time complex Lyapunov equations, with A, E, and B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**H * U or
+  X = U * U**H, which is the solution of the generalized c-stable
+  continuous-time Lyapunov equation
+
+      H            H                  2    H
+     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
+
+  or the conjugate transposed equation
+
+              H            H          2        H
+     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are complex N-by-N matrices.
+  The Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in complex
+  generalized Schur form (A and E are upper triangular and the
+  diagonal elements of E are non-negative real numbers). Moreover,
+  it must be c-stable, i.e., its eigenvalues must have negative real
+  parts. B must be an upper triangular matrix with real non-negative
+  entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BT( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'C':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix A. The lower triangular
+          part is used as workspace, but the diagonal is restored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. If TRANS = 'N', the
+          strictly lower triangular part is used as workspace.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension MAX(N-1,0)
+
+  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  the pencil A - lambda * E is not stable, i.e., there
+                is an eigenvalue without a negative real part.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations. The real case is
+  described in [2].
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  Since all matrices A, E, B, and U are upper triangular, we use the
+  following partitioning
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ),                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  where the size of the (1,1)-blocks is 1-by-1.
+
+  We compute U11, U12**H and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 equation
+
+           H     H                 H     H                  H
+        A11 * U11 * U11 * E11 + E11 * U11 * U11 * A11 = -B11 * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 5).
+
+     Furthermore, the auxiliary scalars M1 and M2 defined as follows
+
+        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**H the linear system of equations, with
+     scaling to prevent overflow,
+
+             H           H      H
+        ( A22  + M1 * E22  ) U12  =
+
+                    H              H           H
+        = - M2 * B12  - U11 * ( A12  + M1 * E12  ) .
+
+  Step III:
+
+     One can show that
+
+           H      H                  H      H
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             H              H
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+               H                   H      H      H
+        y = B12  - M2 * ( U11 * E12  + E22  * U12  ).
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**H )
+
+     then
+
+             H              H                H
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
+     equation like (1), but of dimension N-1.
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost degenerate
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BU.html b/doc/_build/html/_static/doc/SG03BU.html
new file mode 100644
index 00000000..99e2e086
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03BU.html
@@ -0,0 +1,288 @@
+<HTML>
+<HEAD><TITLE>SG03BU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BU">SG03BU</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable discrete-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**T * U or
+  X = U * U**T, which is the solution of the generalized d-stable
+  discrete-time Lyapunov equation
+
+      T            T                  2    T
+     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
+
+  or the transposed equation
+
+              T            T          2        T
+     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are real N-by-N matrices. The
+  Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in generalized Schur
+  form ( A upper quasitriangular, E upper triangular ). Moreover, it
+  must be d-stable, i.e., the moduli of its eigenvalues must be less
+  than one. B must be an upper triangular matrix with non-negative
+  entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BU( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A. The elements
+          below the upper Hessenberg part are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. The elements below
+          the main diagonal are not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U. The elements below
+          the main diagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the generalized Sylvester equation to be solved in
+                step II (see METHOD) is (nearly) singular to working
+                precision;  perturbed values were used to solve the
+                equation (but the matrices A and E are unchanged);
+          = 2:  the generalized Schur form of the pencil
+                A - lambda * E contains a 2-by-2 main diagonal block
+                whose eigenvalues are not a pair of complex
+                conjugate numbers;
+          = 3:  the pencil A - lambda * E is not d-stable, i.e.,
+                there are eigenvalues outside the open unit circle;
+          = 4:  the LAPACK routine DSYEVX utilized to factorize M3
+                failed to converge. This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method [2] used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations.
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  The matrix A is an upper quasitriangular matrix, i.e., it is a
+  block triangular matrix with square blocks on the main diagonal
+  and the block order at most 2. We use the following partitioning
+  for the matrices A, E, B and the solution matrix U
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ).                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
+  2-by-2.
+
+  We compute U11, U12**T, and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
+
+             T      T                  T      T
+          A11  * U11  * U11 * A11 - E11  * U11  * U11 * E11
+
+                 T
+          = - B11  * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 6).
+
+     Furthermore, the auxiliary matrices M1 and M2 defined as
+     follows
+
+                            -1      -1
+        M1 = U11 * A11 * E11   * U11  ,
+
+                      -1      -1
+        M2 = B11 * E11   * U11  ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**T the generalized Sylvester equation
+
+           T      T           T      T
+        A22  * U12  * M1 - E22  * U12
+
+               T           T      T      T      T
+        = - B12  * M2 + E12  * U11  - A12  * U11  * M1.
+
+  Step III:
+
+     One can show that
+
+           T      T                  T      T
+        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
+
+             T              T
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+               T      T      T      T
+        w = A12  * U11  + A22  * U12 ,
+
+                 T
+        y = ( B12   w ) * M3EV,
+
+     where M3EV is a matrix which fulfils
+
+             ( I-M2*M2**T   -M2*M1**T )              T
+        M3 = (                        ) = M3EV * M3EV .
+             (  -M1*M2**T  I-M1*M1**T )
+
+     M3 is positive semidefinite and its rank is equal to the size
+     of U11. Therefore, a matrix M3EV can be found by solving the
+     symmetric eigenvalue problem for M3 such that y consists of
+     either 1 or 2 rows.
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**T )
+
+     then
+
+             T              T                T
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
+     equation of lower dimension compared to (1).
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost reciprocal
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+  When setting the error indicator INFO, the routine does not test
+  for near instability in the equation but only for exact
+  instability.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BV.html b/doc/_build/html/_static/doc/SG03BV.html
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+<HTML>
+<HEAD><TITLE>SG03BV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BV">SG03BV</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable continuous-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**T * U or
+  X = U * U**T, which is the solution of the generalized c-stable
+  continuous-time Lyapunov equation
+
+      T            T                  2    T
+     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
+
+  or the transposed equation
+
+              T            T          2        T
+     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are real N-by-N matrices. The
+  Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in generalized Schur
+  form ( A upper quasitriangular, E upper triangular ). Moreover, it
+  must be c-stable, i.e., its eigenvalues must have negative real
+  parts. B must be an upper triangular matrix with non-negative
+  entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BV( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A. The elements
+          below the upper Hessenberg part are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. The elements below
+          the main diagonal are not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U. The elements below
+          the main diagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the generalized Sylvester equation to be solved in
+                step II (see METHOD) is (nearly) singular to working
+                precision;  perturbed values were used to solve the
+                equation (but the matrices A and E are unchanged);
+          = 2:  the generalized Schur form of the pencil
+                A - lambda * E contains a 2-by-2 main diagonal block
+                whose eigenvalues are not a pair of complex
+                conjugate numbers;
+          = 3:  the pencil A - lambda * E is not stable, i.e., there
+                is an eigenvalue with zero or positive real part.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method [2] used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations.
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  The matrix A is an upper quasitriangular matrix, i.e., it is a
+  block triangular matrix with square blocks on the main diagonal
+  and the block order at most 2. We use the following partitioning
+  for the matrices A, E, B and the solution matrix U
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ).                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
+  2-by-2.
+
+  We compute U11, U12**T, and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
+
+             T      T                  T      T
+          A11  * U11  * U11 * E11 + E11  * U11  * U11 * A11
+
+                 T
+          = - B11  * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 6).
+
+     Furthermore, the auxiliary matrices M1 and M2 defined as
+     follows
+
+                            -1      -1
+        M1 = U11 * A11 * E11   * U11  ,
+
+                      -1      -1
+        M2 = B11 * E11   * U11  ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**T the generalized Sylvester equation
+
+           T      T      T      T
+        A22  * U12  + E22  * U12  * M1
+
+               T           T      T      T      T
+        = - B12  * M2 - A12  * U11  - E12  * U11  * M1.
+
+  Step III:
+
+     One can show that
+
+           T      T                  T      T
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             T              T
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+               T      T      T      T
+        w = E12  * U11  + E22  * U12 ,
+               T         T
+        y = B12  - w * M2 .
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**T )
+
+     then
+
+             T              T                T
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
+     equation of lower dimension compared to (1).
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost degenerate
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+  When setting the error indicator INFO, the routine does not test
+  for near instability in the equation but only for exact
+  instability.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BW.html b/doc/_build/html/_static/doc/SG03BW.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03BW.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>SG03BW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BW">SG03BW</A></H2>
+<H3>
+Solving a generalized Sylvester equation, with A quasi-triangular, and E upper triangular, for an m-by-n matrix X, 1 <= n <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the generalized Sylvester equation
+
+      T            T
+     A  * X * C + E  * X * D  =  SCALE * Y,                      (1)
+
+  or the transposed equation
+
+              T            T
+     A * X * C  + E * X * D   =  SCALE * Y,                      (2)
+
+  where A and E are real M-by-M matrices, C and D are real N-by-N
+  matrices, X and Y are real M-by-N matrices. N is either 1 or 2.
+  The pencil A - lambda * E must be in generalized real Schur form
+  (A upper quasitriangular, E upper triangular). SCALE is an output
+  scale factor, set to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BW( TRANS, M, N, A, LDA, C, LDC, E, LDE, D, LDD, X,
+     $                   LDX, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDC, LDD, LDE, LDX, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), C(LDC,*), D(LDD,*), E(LDE,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A and E.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrices C and D.  N = 1 or N = 2.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          upper quasitriangular matrix A. The elements below the
+          upper Hessenberg part are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading N-by-N part of this array must contain the
+          matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,M)
+          The leading M-by-M part of this array must contain the
+          upper triangular matrix E. The elements below the main
+          diagonal are not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,N)
+          The leading N-by-N part of this array must contain the
+          matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix Y.
+          On exit, the leading M-by-N part of this array contains
+          the solution matrix X.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the generalized Sylvester equation is (nearly)
+                singular to working precision;  perturbed values
+                were used to solve the equation (but the matrices
+                A, C, D, and E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a generalization of the
+  algorithm due to Bartels and Stewart [1]. See also [2] and [3] for
+  details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Gardiner, J.D., Laub, A.J., Amato, J.J., Moler, C.B.
+      Solution of the Sylvester Matrix Equation
+      A X B**T + C X D**T = E.
+      A.C.M. Trans. Math. Soft., vol. 18, no. 2, pp. 223-231, 1992.
+
+  [3] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires about 2 * N * M**2 flops. Note that we count
+  a single floating point arithmetic operation as one flop.
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  When near singularity is detected, perturbed values are used
+  to solve the equation (but the given matrices are unchanged).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BX.html b/doc/_build/html/_static/doc/SG03BX.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SG03BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BX">SG03BX</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable 2-by-2 continuous- or discrete-time Lyapunov equations, with pencil A - lambda E having complex conjugate eigenvalues (E upper triangular)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)**T * op(U) either the generalized c-stable
+  continuous-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(E) + op(E)  * X * op(A)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (1)
+
+  or the generalized d-stable discrete-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(A) - op(E)  * X * op(E)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (2)
+
+  where op(K) is either K or K**T for K = A, B, E, U. The Cholesky
+  factor U of the solution is computed without first finding X.
+
+  Furthermore, the auxiliary matrices
+
+                                -1        -1
+     M1 := op(U) * op(A) * op(E)   * op(U)
+
+                        -1        -1
+     M2 := op(B) * op(E)   * op(U)
+
+  are computed in a numerically reliable way.
+
+  The matrices A, B, E, M1, M2, and U are real 2-by-2 matrices. The
+  pencil A - lambda * E must have a pair of complex conjugate
+  eigenvalues. The eigenvalues must be in the open right half plane
+  (in the continuous-time case) or inside the unit circle (in the
+  discrete-time case). The matrices E and B are upper triangular.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BX( DICO, TRANS, A, LDA, E, LDE, B, LDB, U, LDU,
+     $                   SCALE, M1, LDM1, M2, LDM2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, LDM1, LDM2, LDU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), E(LDE,*), M1(LDM1,*),
+     $                  M2(LDM2,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies whether the continuous-time or the discrete-time
+          equation is to be solved:
+          = 'C':  Solve continuous-time equation (1);
+          = 'D':  Solve discrete-time equation (2).
+
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  op(K) = K,     K = A, B, E, U;
+          = 'T':  op(K) = K**T,  K = A, B, E, U.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) DOUBLE PRECISION array, dimension (LDA,2)
+          The leading 2-by-2 part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,2)
+          The leading 2-by-2 upper triangular part of this array
+          must contain the matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= 2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          The leading 2-by-2 upper triangular part of this array
+          must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2)
+          The leading 2-by-2 part of this array contains the upper
+          triangular matrix U.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+  M1      (output) DOUBLE PRECISION array, dimension (LDM1,2)
+          The leading 2-by-2 part of this array contains the
+          matrix M1.
+
+  LDM1    INTEGER
+          The leading dimension of the array M1.  LDM1 &gt;= 2.
+
+  M2      (output) DOUBLE PRECISION array, dimension (LDM2,2)
+          The leading 2-by-2 part of this array contains the
+          matrix M2.
+
+  LDM2    INTEGER
+          The leading dimension of the array M2.  LDM2 &gt;= 2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 2:  the eigenvalues of the pencil A - lambda * E are not
+                a pair of complex conjugate numbers;
+          = 3:  the eigenvalues of the pencil A - lambda * E are
+                not in the open right half plane (in the continuous-
+                time case) or inside the unit circle (in the
+                discrete-time case);
+          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
+                (see SLICOT Library routine SG03BS) failed to
+                converge. This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a generalization of the
+  method due to Hammarling ([1], section 6) for Lyapunov equations
+  of order 2. A more detailed description is given in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the solution matrix U is singular, the matrices M1 and M2 are
+  properly set (see [1], equation (6.21)).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BY.html b/doc/_build/html/_static/doc/SG03BY.html
new file mode 100644
index 00000000..ee1bcb8f
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03BY.html
@@ -0,0 +1,83 @@
+<HTML>
+<HEAD><TITLE>SG03BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BY">SG03BY</A></H2>
+<H3>
+Compute a complex Givens rotation in real arithmetic
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the parameters for the complex Givens rotation
+
+     (  CR-CI*I   SR-SI*I )   ( XR+XI*I )   ( Z )
+     (                    ) * (         ) = (   ),
+     ( -SR-SI*I   CR+CI*I )   ( YR+YI*I )   ( 0 )
+
+  where CR, CI, SR, SI, XR, XI, YR, YI are real numbers and I is the
+  imaginary unit, I = SQRT(-1). Z is a non-negative real number.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BY( XR, XI, YR, YI, CR, CI, SR, SI, Z )
+C     .. Scalar Arguments ..
+       DOUBLE PRECISION  CI, CR, SI, SR, XI, XR, YI, YR, Z
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  XR, XI, (input) DOUBLE PRECISION
+  YR, YI  (input) DOUBLE PRECISION
+          The given real scalars XR, XI, YR, YI.
+
+  CR, CI, (output) DOUBLE PRECISION
+  SR, SI, (output) DOUBLE PRECISION
+  Z       (output) DOUBLE PRECISION
+          The computed real scalars CR, CI, SR, SI, Z, defining the
+          complex Givens rotation and Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The subroutine avoids unnecessary overflow.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interest of speed, this routine does not check the input
+  for errors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BZ.html b/doc/_build/html/_static/doc/SG03BZ.html
new file mode 100644
index 00000000..5d52651e
--- /dev/null
+++ b/doc/_build/html/_static/doc/SG03BZ.html
@@ -0,0 +1,484 @@
+<HTML>
+<HEAD><TITLE>SG03BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BZ">SG03BZ</A></H2>
+<H3>
+Solving (for Cholesky factor) stable generalized continuous- or discrete-time complex Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X,
+
+              H
+     X = op(U)  * op(U),
+
+  which is the solution of either the generalized c-stable
+  continuous-time Lyapunov equation
+
+          H                    H
+     op(A)  * X * op(E) + op(E)  * X * op(A)
+
+              2        H
+     = - SCALE  * op(B)  * op(B),                                (1)
+
+  or the generalized d-stable discrete-time Lyapunov equation
+
+          H                    H
+     op(A)  * X * op(A) - op(E)  * X * op(E)
+
+              2        H
+     = - SCALE  * op(B)  * op(B),                                (2)
+
+  without first finding X and without the need to form the matrix
+  op(B)**H * op(B).
+
+  op(K) is either K or K**H for K = A, B, E, U. A and E are N-by-N
+  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
+  N-by-N upper triangular matrix with non-negative entries on its
+  main diagonal. SCALE is an output scale factor set to avoid
+  overflow in U.
+
+  In the continuous-time case (1) the pencil A - lambda * E must be
+  c-stable (that is, all eigenvalues must have negative real parts).
+  In the discrete-time case (2) the pencil A - lambda * E must be
+  d-stable (that is, the moduli of all eigenvalues must be smaller
+  than one).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BZ( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
+     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHA, BETA, DWORK,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDZ, LZWORK, M, N
+      CHARACTER         DICO, FACT, TRANS
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), ALPHA(*), B(LDB,*), BETA(*), E(LDE,*),
+     $                  Q(LDQ,*), Z(LDZ,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies which type of the equation is considered:
+          = 'C':  Continuous-time equation (1);
+          = 'D':  Discrete-time equation (2).
+
+  FACT    CHARACTER*1
+          Specifies whether the generalized (complex) Schur
+          factorization of the pencil A - lambda * E is supplied on
+          entry or not:
+          = 'N':  Factorization is not supplied;
+          = 'F':  Factorization is supplied.
+
+  TRANS   CHARACTER*1
+          Specifies whether the conjugate transposed equation is to
+          be solved or not:
+          = 'N':  op(A) = A,    op(E) = E;
+          = 'C':  op(A) = A**H, op(E) = E**H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows in the matrix op(B).  M &gt;= 0.
+          If M = 0, A and E are unchanged on exit, and Q, Z, ALPHA
+          and BETA are not set.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the generalized
+          Schur factor A_s of the matrix A (see definition (3) in
+          section METHOD). A_s must be an upper triangular matrix.
+          The elements below the upper triangular part of the array
+          A are used as workspace.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the matrix A.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          triangular part of this array contains the generalized
+          Schur factor A_s of the matrix A. (A_s is an upper
+          triangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the generalized
+          Schur factor E_s of the matrix E (see definition (4) in
+          section METHOD). E_s must be an upper triangular matrix.
+          The elements below the upper triangular part of the array
+          E are used as workspace.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the coefficient matrix E of the equation.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          triangular part of this array contains the generalized
+          Schur factor E_s of the matrix E. (E_s is an upper
+          triangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the unitary matrix Q from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Q need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the unitary matrix Q from the generalized
+          Schur factorization. If FACT = 'F', this array is
+          unchanged.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the unitary matrix Z from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Z need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the unitary matrix Z from the generalized
+          Schur factorization. If FACT = 'F', this array is
+          unchanged.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N1)
+          On entry, if TRANS = 'C', the leading N-by-M part of this
+          array must contain the matrix B and N1 &gt;= MAX(M,N).
+          If TRANS = 'N', the leading M-by-N part of this array
+          must contain the matrix B and N1 &gt;= N.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)**H * op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If TRANS = 'C',  LDB &gt;= MAX(1,N).
+          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+  ALPHA   (output) COMPLEX*16 arrays, dimension (N)
+  BETA    If INFO = 0, 5, 6, or 7, then ALPHA(j)/BETA(j),
+          j = 1, ... , N, are the eigenvalues of the matrix pencil
+          A - lambda * E (the diagonals of the complex Schur form).
+          All BETA(j) are non-negative real numbers.
+          ALPHA will be always less than and usually comparable with
+          norm(A) in magnitude, and BETA always less than and
+          usually comparable with norm(B).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
+          LDWORK = 0,           if MIN(M,N) = 0 or
+                                   FACT = 'F' and N &lt;= 1; else,
+          LDWORK = N-1,         if FACT = 'F' and DICO = 'C';
+          LDWORK = MAX(N-1,10), if FACT = 'F' and DICO = 'D';
+          LDWORK = 8*N,         if FACT = 'N'.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+          On exit, if INFO = -21, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= MAX(1,3*N-3,2*N).
+          For good performance, LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the ZWORK
+          array, returns this value as the first entry of the ZWORK
+          array, and no error message related to LZWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
+                reduced to generalized Schur form: LAPACK routine
+                ZGGES has failed to converge;
+          = 5:  DICO = 'C' and the pencil A - lambda * E is not
+                c-stable;
+          = 6:  DICO = 'D' and the pencil A - lambda * E is not
+                d-stable;
+          = 7:  the LAPACK routine ZSTEIN utilized to factorize M3
+                failed to converge in the discrete-time case (see
+                section METHOD for SLICOT Library routine SG03BS).
+                This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension [2] of Hammarling's method [1] to generalized
+  Lyapunov equations is utilized to solve (1) or (2).
+
+  First the pencil A - lambda * E is reduced to complex generalized
+  Schur form A_s - lambda * E_s by means of unitary transformations
+  (QZ-algorithm):
+
+     A_s = Q**H * A * Z   (upper triangular),                    (3)
+
+     E_s = Q**H * E * Z   (upper triangular).                    (4)
+
+  If the pencil A - lambda * E has already been factorized prior to
+  calling the routine, however, then the factors A_s, E_s, Q and Z
+  may be supplied and the initial factorization omitted.
+
+  Depending on the parameters TRANS and M, the N-by-N upper
+  triangular matrix B_s is defined as follows. In any case Q_B is
+  an M-by-M unitary matrix, which need not be accumulated.
+
+  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
+     from the QR-factorization
+
+        ( Q_B  O )           ( B * Z )
+        (        ) * B_s  =  (       ),
+        (  O   I )           (   O   )
+
+     where the O's are zero matrices of proper size and I is the
+     identity matrix of order N-M.
+
+  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) QR-factorization
+
+              ( B_s )
+        Q_B * (     )  =  B * Z,
+              (  O  )
+
+     where O is the (M-N)-by-N zero matrix.
+
+  3. If TRANS = 'C' and M &lt; N, B_s is the upper triangular matrix
+     from the RQ-factorization
+
+                    ( Q_B  O )
+        (B_s  O ) * (        )  =  ( Q**H * B   O ).
+                    (  O   I )
+
+  4. If TRANS = 'C' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) RQ-factorization
+
+        ( B_s   O ) * Q_B  =  Q**H * B,
+
+     where O is the N-by-(M-N) zero matrix.
+
+  Assuming SCALE = 1, the transformation of A, E and B described
+  above leads to the reduced continuous-time equation
+
+              H        H
+       op(A_s)  op(U_s)  op(U_s) op(E_s)
+
+              H        H
+     + op(E_s)  op(U_s)  op(U_s) op(A_s)
+
+                 H
+     =  - op(B_s)  op(B_s)                                       (5)
+
+  or to the reduced discrete-time equation
+
+              H        H
+       op(A_s)  op(U_s)  op(U_s) op(A_s)
+
+              H        H
+     - op(E_s)  op(U_s)  op(U_s) op(E_s)
+
+                 H
+     =  - op(B_s)  op(B_s).                                      (6)
+
+  For brevity we restrict ourself to equation (5) and the case
+  TRANS = 'N'. The other three cases can be treated in a similar
+  fashion.
+
+  We use the following partitioning for the matrices A_s, E_s, B_s,
+  and U_s
+
+              ( A11   A12 )          ( E11   E12 )
+        A_s = (           ),   E_s = (           ),
+              (   0   A22 )          (   0   E22 )
+
+              ( B11   B12 )          ( U11   U12 )
+        B_s = (           ),   U_s = (           ).              (7)
+              (   0   B22 )          (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1.
+
+  We compute U11, U12**H, and U22 in three steps.
+
+  Step I:
+
+     From (5) and (7) we get the 1-by-1 equation
+
+             H      H                   H      H
+          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
+
+                 H
+          = - B11  * B11.
+
+     For brevity, details are omitted here. See [2]. The technique
+     for computing U11 is similar to those applied to standard
+     Lyapunov equations in Hammarling's algorithm ([1], section 5).
+
+     Furthermore, the auxiliary scalars M1 and M2 defined as follows
+
+        M1 = A11 / E11 ,
+
+        M2 = B11 / E11 / U11 ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     The generalized Sylvester equation
+
+           H      H      H      H
+        A22  * U12  + E22  * U12  * M1  =
+
+             H           H      H      H      H
+        - B12  * M2 - A12  * U11  - E12  * U11  * M1
+
+     is solved for U12**H, as a linear system of order N-1.
+
+  Step III:
+
+     It can be shown that
+
+           H      H                  H      H
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             H              H
+        - B22  * B22 - y * y                                     (8)
+
+     holds, where y is defined as
+
+               H        H      H      H      H
+        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
+
+     If B22_tilde is the square triangular matrix arising from the
+     (rectangular) QR-factorization
+
+                    ( B22_tilde )     ( B22  )
+        Q_B_tilde * (           )  =  (      ),
+                    (     O     )     ( y**H )
+
+     where Q_B_tilde is a unitary matrix of order N, then
+
+             H              H                H
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (8) by the term
+     - B22_tilde**H * B22_tilde leads to a reduced generalized
+     Lyapunov equation like (5), but of dimension N-1.
+
+  The recursive application of the steps I to III yields the
+  solution U_s of the equation (5).
+
+  It remains to compute the solution matrix U of the original
+  problem (1) or (2) from the matrix U_s. To this end we transform
+  the solution back (with respect to the transformation that led
+  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
+  (RQ-factorization). The upper triangular solution matrix U is
+  obtained by
+
+     Q_U * U  =  U_s * Q**H     (if TRANS = 'N'),
+
+  or
+
+     U * Q_U  =  Z * U_s        (if TRANS = 'C'),
+
+  where Q_U is an N-by-N unitary matrix. Again, the unitary matrix
+  Q_U need not be accumulated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The number of flops required by the routine is given by the
+  following table. Note that we count a single floating point
+  arithmetic operation as one flop.
+
+              |           FACT = 'F'                  FACT = 'N'
+     ---------+--------------------------------------------------
+      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
+              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
+              |
+       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
+  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
+  degenerate pair of eigenvalues, then the Lyapunov equation will be
+  ill-conditioned. Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01ID.html b/doc/_build/html/_static/doc/TB01ID.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01ID.html
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+<HTML>
+<HEAD><TITLE>TB01ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ID">TB01ID</A></H2>
+<H3>
+Balancing a system matrix corresponding to a triplet (A,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the 1-norm of a system matrix
+
+          S =  ( A  B )
+               ( C  0 )
+
+  corresponding to the triple (A,B,C), by balancing. This involves
+  a diagonal similarity transformation inv(D)*A*D applied
+  iteratively to A to make the rows and columns of
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  as close in norm as possible.
+
+  The balancing can be performed optionally on the following
+  particular system matrices
+
+           S = A,    S = ( A  B )    or    S = ( A )
+                                               ( C )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, LDA, LDB, LDC, M, N, P
+      DOUBLE PRECISION   MAXRED
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B and A matrices are involved in balancing;
+          = 'C':  C and A matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  MAXRED  (input/output) DOUBLE PRECISION
+          On entry, the maximum allowed reduction in the 1-norm of
+          S (in an iteration) if zero rows or columns are
+          encountered.
+          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
+          the norm reduction).
+          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
+          used.
+          On exit, if the 1-norm of the given matrix S is non-zero,
+          the ratio between the 1-norm of the given matrix and the
+          1-norm of the balanced matrix.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix inv(D)*A*D.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, if M &gt; 0, the leading N-by-M part of this array
+          must contain the system input matrix B.
+          On exit, if M &gt; 0, the leading N-by-M part of this array
+          contains the balanced matrix inv(D)*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0.
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, if P &gt; 0, the leading P-by-N part of this array
+          must contain the system output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*D.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S.  If D(j) is the scaling
+          factor applied to row and column j, then SCALE(j) = D(j),
+          for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  to make the 1-norms of each row of the first N rows of S and its
+  corresponding column nearly equal.
+
+  Information about the diagonal matrix D is returned in the vector
+  SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01ID EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, INFO, J, M, N, P
+      DOUBLE PRECISION MAXRED
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 SCALE(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01ID, UD01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Balance system matrix S.
+               CALL TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
+     $                      LDC, SCALE, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  CALL UD01MD( N, N, 5, NOUT, A, LDA,
+     $                        'The balanced matrix A', INFO )
+                  IF ( M.GT.0 )
+     $               CALL UD01MD( N, M, 5, NOUT, B, LDB,
+     $                            'The balanced matrix B', INFO )
+                  IF ( P.GT.0 )
+     $               CALL UD01MD( P, N, 5, NOUT, C, LDC,
+     $                            'The balanced matrix C', INFO )
+                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
+     $                        'The scaling vector SCALE', INFO )
+                  WRITE ( NOUT, FMT = 99994 ) MAXRED
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ID = ',I2)
+99994 FORMAT (/' MAXRED is ',E13.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ID EXAMPLE PROGRAM DATA
+   5     2     5       A    0.0
+          0.0  1.0000e+000          0.0          0.0          0.0
+ -1.5800e+006 -1.2570e+003          0.0          0.0          0.0
+  3.5410e+014          0.0 -1.4340e+003          0.0 -5.3300e+011
+          0.0          0.0          0.0          0.0  1.0000e+000
+          0.0          0.0          0.0 -1.8630e+004 -1.4820e+000
+          0.0          0.0
+  1.1030e+002          0.0
+          0.0          0.0
+          0.0          0.0
+          0.0  8.3330e-003
+  1.0000e+000          0.0          0.0          0.0          0.0
+          0.0          0.0  1.0000e+000          0.0          0.0
+          0.0          0.0          0.0  1.0000e+000          0.0
+  6.6640e-001          0.0 -6.2000e-013          0.0          0.0
+          0.0          0.0 -1.0000e-003  1.8960e+006  1.5080e+002
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ID EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A ( 5X 5)
+
+            1              2              3              4              5
+  1    0.0000000D+00  0.1000000D+05  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2   -0.1580000D+03 -0.1257000D+04  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.3541000D+05  0.0000000D+00 -0.1434000D+04  0.0000000D+00 -0.5330000D+03
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+03
+  5    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.1863000D+03 -0.1482000D+01
+ 
+ The balanced matrix B ( 5X 2)
+
+            1              2
+  1    0.0000000D+00  0.0000000D+00
+  2    0.1103000D+04  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00
+  5    0.0000000D+00  0.8333000D+02
+ 
+ The balanced matrix C ( 5X 5)
+
+            1              2              3              4              5
+  1    0.1000000D-04  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.1000000D+06  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D-05  0.0000000D+00
+  4    0.6664000D-05  0.0000000D+00 -0.6200000D-07  0.0000000D+00  0.0000000D+00
+  5    0.0000000D+00  0.0000000D+00 -0.1000000D+03  0.1896000D+01  0.1508000D-01
+ 
+ The scaling vector SCALE ( 1X 5)
+
+            1              2              3              4              5
+  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
+ 
+
+ MAXRED is    0.3488E+10
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01IZ.html b/doc/_build/html/_static/doc/TB01IZ.html
new file mode 100644
index 00000000..434b8175
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01IZ.html
@@ -0,0 +1,322 @@
+<HTML>
+<HEAD><TITLE>TB01IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01IZ">TB01IZ</A></H2>
+<H3>
+Balancing a system matrix corresponding to a triplet (A,B,C) (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the 1-norm of a system matrix
+
+          S =  ( A  B )
+               ( C  0 )
+
+  corresponding to the triple (A,B,C), by balancing. This involves
+  a diagonal similarity transformation inv(D)*A*D applied
+  iteratively to A to make the rows and columns of
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  as close in norm as possible.
+
+  The balancing can be performed optionally on the following
+  particular system matrices
+
+           S = A,    S = ( A  B )    or    S = ( A )
+                                               ( C )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, LDA, LDB, LDC, M, N, P
+      DOUBLE PRECISION   MAXRED
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * )
+      DOUBLE PRECISION   SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B and A matrices are involved in balancing;
+          = 'C':  C and A matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  MAXRED  (input/output) DOUBLE PRECISION
+          On entry, the maximum allowed reduction in the 1-norm of
+          S (in an iteration) if zero rows or columns are
+          encountered.
+          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
+          the norm reduction).
+          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
+          used.
+          On exit, if the 1-norm of the given matrix S is non-zero,
+          the ratio between the 1-norm of the given matrix and the
+          1-norm of the balanced matrix.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix inv(D)*A*D.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, if M &gt; 0, the leading N-by-M part of this array
+          must contain the system input matrix B.
+          On exit, if M &gt; 0, the leading N-by-M part of this array
+          contains the balanced matrix inv(D)*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0.
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, if P &gt; 0, the leading P-by-N part of this array
+          must contain the system output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*D.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S.  If D(j) is the scaling
+          factor applied to row and column j, then SCALE(j) = D(j),
+          for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  to make the 1-norms of each row of the first N rows of S and its
+  corresponding column nearly equal.
+
+  Information about the diagonal matrix D is returned in the vector
+  SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01IZ EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, INFO, J, M, N, P
+      DOUBLE PRECISION MAXRED
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX)
+      DOUBLE PRECISION SCALE(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01IZ, UD01MD, UD01MZ
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Balance system matrix S.
+               CALL TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
+     $                      LDC, SCALE, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  CALL UD01MZ( N, N, 3, NOUT, A, LDA,
+     $                        'The balanced matrix A', INFO )
+                  IF ( M.GT.0 )
+     $               CALL UD01MZ( N, M, 3, NOUT, B, LDB,
+     $                            'The balanced matrix B', INFO )
+                  IF ( P.GT.0 )
+     $               CALL UD01MZ( P, N, 3, NOUT, C, LDC,
+     $                            'The balanced matrix C', INFO )
+                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
+     $                        'The scaling vector SCALE', INFO )
+                  WRITE ( NOUT, FMT = 99994 ) MAXRED
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01IZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01IZ = ',I2)
+99994 FORMAT (/' MAXRED is ',E13.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01IZ EXAMPLE PROGRAM DATA
+   5     2     5       A     0.0
+         (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
+(-1.5800e+006,0.0) (-1.2570e+003,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
+ (3.5410e+014,0.0)          (0.0,0.0) (-1.4340e+003,0.0)          (0.0,0.0) (-5.3300e+011,0.0)
+         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)
+         (0.0,0.0)          (0.0,0.0)          (0.0,0.0) (-1.8630e+004,0.0) (-1.4820e+000,0.0)
+         (0.0,0.0)          (0.0,0.0)
+ (1.1030e+002,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)  (8.3330e-003,0.0)
+ (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)
+ (6.6640e-001,0.0)          (0.0,0.0) (-6.2000e-013,0.0)          (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0) (-1.0000e-003,0.0)  (1.8960e+006,0.0)  (1.5080e+002,0.0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01IZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A (    5X    5)
+
+                        1                               2                               3
+     1    0.0000000D+00 +0.0000000D+00i   0.1000000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2   -0.1580000D+03 +0.0000000D+00i  -0.1257000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.3541000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1434000D+04 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+ 
+                        4                               5
+     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.0000000D+00 +0.0000000D+00i  -0.5330000D+03 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.1000000D+03 +0.0000000D+00i 
+     5   -0.1863000D+03 +0.0000000D+00i  -0.1482000D+01 +0.0000000D+00i 
+ 
+ The balanced matrix B (    5X    2)
+
+                        1                               2
+     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.1103000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     5    0.0000000D+00 +0.0000000D+00i   0.8333000D+02 +0.0000000D+00i 
+ 
+ The balanced matrix C (    5X    5)
+
+                        1                               2                               3
+     1    0.1000000D-04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.1000000D+06 +0.0000000D+00i 
+     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     4    0.6664000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.6200000D-07 +0.0000000D+00i 
+     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1000000D+03 +0.0000000D+00i 
+ 
+                        4                               5
+     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.1000000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     5    0.1896000D+01 +0.0000000D+00i   0.1508000D-01 +0.0000000D+00i 
+ 
+ The scaling vector SCALE ( 1X 5)
+
+            1              2              3              4              5
+  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
+ 
+
+ MAXRED is    0.3488E+10
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TB01KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01KD">TB01KD</A></H2>
+<H3>
+Similarity reduction of system state-matrix to block-diagonal form with two blocks so that the leading block has eigenvalues in a specified domain
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an additive spectral decomposition of the transfer-
+  function matrix of the system (A,B,C) by reducing the system
+  state-matrix A to a block-diagonal form.
+  The system matrices are transformed as
+  A &lt;-- inv(U)*A*U, B &lt;--inv(U)*B and C &lt;-- C*U.
+  The leading diagonal block of the resulting A has eigenvalues
+  in a suitably defined domain of interest.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
+     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBA, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
+     $                 WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBA    CHARACTER*1
+          Specifies the shape of the state dynamics matrix on entry
+          as follows:
+          = 'S':  A is in an upper real Schur form;
+          = 'G':  A is a general square dense matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION.
+          Specifies the boundary of the domain of interest for the
+          eigenvalues of A. For a continuous-time system
+          (DICO = 'C'), ALPHA is the boundary value for the real
+          parts of eigenvalues, while for a discrete-time system
+          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
+          the moduli of eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the unreduced state dynamics matrix A.
+          If JOBA = 'S' then A must be a matrix in real Schur form.
+          On exit, the leading N-by-N part of this array contains a
+          block diagonal matrix inv(U) * A * U with two diagonal
+          blocks in real Schur form with the elements below the
+          first subdiagonal set to zero.
+          The leading NDIM-by-NDIM block of A has eigenvalues in the
+          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
+          block has eigenvalues outside the domain of interest.
+          The domain of interest for lambda(A), the eigenvalues
+          of A, is defined by the parameters ALPHA, DICO and STDOM
+          as follows:
+          For a continuous-time system (DICO = 'C'):
+            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
+          For a discrete-time system (DICO = 'D'):
+            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix inv(U) * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NDIM    (output) INTEGER
+          The number of eigenvalues of A lying inside the domain of
+          interest for eigenvalues.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          transformation matrix used to reduce A to the block-
+          diagonal form. The first NDIM columns of U span the
+          invariant subspace of A corresponding to the eigenvalues
+          of its leading diagonal block. The last N-NDIM columns
+          of U span the reducing subspace of A corresponding to
+          the eigenvalues of the trailing diagonal block of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues of A. The
+          eigenvalues will be in the same order that they appear on
+          the diagonal of the output real Schur form of A. Complex
+          conjugate pairs of eigenvalues will appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
+          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: successful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal
+               value;
+          = 1: the QR algorithm failed to compute all the
+               eigenvalues of A;
+          = 2: a failure occured during the ordering of the real
+               Schur form of A;
+          = 3: the separation of the two diagonal blocks failed
+               because of very close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A similarity transformation U is determined that reduces the
+  system state-matrix A to a block-diagonal form (with two diagonal
+  blocks), so that the leading diagonal block of the resulting A has
+  eigenvalues in a specified domain of the complex plane. The
+  determined transformation is applied to the system (A,B,C) as
+    A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
+      Synthesis of positive real multivariable feedback systems.
+      Int. J. Control, pp. 817-842, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 14N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBA, STDOM
+      INTEGER          I, INFO, J, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01KD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA,
+     $                      B, LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99987 ) NDIM
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01KD = ',I2)
+99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
+99996 FORMAT (/' The transformed state dynamics matrix inv(U)*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix inv(U)*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (' The number of eigenvalues in the domain of interest =',
+     $        I5 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01KD EXAMPLE PROGRAM DATA (Continuous system)
+  5     2     3    -1.0      C     U     G
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01KD EXAMPLE PROGRAM RESULTS
+
+ The number of eigenvalues in the domain of interest =    2
+
+ The eigenvalues of state dynamics matrix A are 
+ ( -0.7483,   2.9940 )
+ ( -0.7483,  -2.9940 )
+ ( -1.6858,   2.0311 )
+ ( -1.6858,  -2.0311 )
+ ( -1.8751,   0.0000 )
+
+ The transformed state dynamics matrix inv(U)*A*U is 
+  -0.7483  -8.6406   0.0000   0.0000   0.0000
+   1.0374  -0.7483   0.0000   0.0000   0.0000
+   0.0000   0.0000  -1.6858   5.5669   0.0000
+   0.0000   0.0000  -0.7411  -1.6858   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8751
+
+ The transformed input/state matrix inv(U)*B is 
+   2.0240  -2.0240
+  -1.1309   1.1309
+  -0.8621  -0.8621
+   2.1912   2.1912
+  -1.5555   1.5555
+
+ The transformed state/output matrix C*U is 
+   0.6864  -0.0987   0.6580   0.2589   0.9650
+  -0.0471   0.6873   0.0000   0.0000  -0.5609
+  -0.6864   0.0987   0.6580   0.2589  -0.9650
+
+ The similarity transformation matrix U is 
+   0.6864  -0.0987   0.6580   0.2589   0.9650
+  -0.1665  -0.5041  -0.2589   0.6580  -0.9205
+  -0.0471   0.6873   0.0000   0.0000  -0.5609
+  -0.6864   0.0987   0.6580   0.2589  -0.9650
+   0.1665   0.5041  -0.2589   0.6580   0.9205
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01KX.html b/doc/_build/html/_static/doc/TB01KX.html
new file mode 100644
index 00000000..85bd2843
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01KX.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>TB01KX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01KX">TB01KX</A></H2>
+<H3>
+Additive spectral decomposition of the transfer-function matrix of a standard system 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an additive spectral decomposition of the transfer-
+  function matrix of the system (A,B,C) by reducing the system
+  state-matrix A to a block-diagonal form. It is assumed that A is
+  in a real Schur form, and the leading diagonal block of order NDIM
+  has eigenvalues distinct from those of the trailing diagonal
+  block. The system matrices are transformed as
+     A &lt;-- V*A*U, B &lt;--V*B and C &lt;-- C*U, where V = inv(U),
+  preserving the spectra of the two diagonal blocks.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01KX( N, M, P, NDIM, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                   V, LDV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDV, M, N, NDIM, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e., the
+          order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  NDIM    (input) INTEGER
+          The dimension of the leading diagonal block of A having
+          eigenvalues distinct from those of the trailing diagonal
+          block.  0 &lt;= NDIM &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in real Schur form.
+          On exit, the leading N-by-N part of this array contains a
+          block diagonal matrix inv(U) * A * U with two diagonal
+          blocks in real Schur form, with the elements below the
+          first subdiagonal set to zero. The leading block has
+          dimension NDIM-by-NDIM.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix inv(U) * B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain an initial transformation matrix U.
+          On exit, the leading N-by-N part of this array contains
+          the transformation matrix used to reduce A to the block-
+          diagonal form. The first NDIM columns of U span the
+          invariant subspace of A corresponding to the eigenvalues
+          of its leading diagonal block. The last N-NDIM columns of
+          U span the reducing subspace of A corresponding to the
+          eigenvalues of the trailing diagonal block of A.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= max(1,N).
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
+          The leading N-by-N part of this array contains the
+          inverse of the transformation matrix U used to reduce A
+          to the block-diagonal form.
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: successful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the separation of the two diagonal blocks failed
+               because of very close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A similarity transformation U is determined that reduces the given
+  system state-matrix A to a block-diagonal form (with two diagonal
+  blocks), so that the eigenvalues of the leading diagonal block of
+  the resulting A are preserved. The determined transformation is
+  applied to the system (A,B,C) as
+     A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
+      Synthesis of positive real multivariable feedback systems.
+      Int. J. Control, pp. 817-842, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                3
+  The algorithm requires about N /2 + NDIM*(N-NDIM)*(2*N+M+P)
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01LD.html b/doc/_build/html/_static/doc/TB01LD.html
new file mode 100644
index 00000000..aff08801
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01LD.html
@@ -0,0 +1,355 @@
+<HTML>
+<HEAD><TITLE>TB01LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01LD">TB01LD</A></H2>
+<H3>
+Orthogonal similarity reduction so that the leading part of system state-matrix has eigenvalues in a specified domain
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the system state matrix A to an ordered upper real
+  Schur form by using an orthogonal similarity transformation
+  A &lt;-- U'*A*U and to apply the transformation to the matrices
+  B and C: B &lt;-- U'*B and C &lt;-- C*U.
+  The leading block of the resulting A has eigenvalues in a
+  suitably defined domain of interest.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
+     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBA, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
+     $                 WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBA    CHARACTER*1
+          Specifies the shape of the state dynamics matrix on entry
+          as follows:
+          = 'S':  A is in an upper real Schur form;
+          = 'G':  A is a general square dense matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION.
+          Specifies the boundary of the domain of interest for the
+          eigenvalues of A. For a continuous-time system
+          (DICO = 'C'), ALPHA is the boundary value for the real
+          parts of eigenvalues, while for a discrete-time system
+          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value
+          for the moduli of eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the unreduced state dynamics matrix A.
+          If JOBA = 'S' then A must be a matrix in real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the ordered real Schur matrix U' * A * U with the elements
+          below the first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of A has eigenvalues in the
+          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
+          part has eigenvalues outside the domain of interest.
+          The domain of interest for lambda(A), the eigenvalues
+          of A, is defined by the parameters ALPHA, DICO and STDOM
+          as follows:
+          For a continuous-time system (DICO = 'C'):
+            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
+          For a discrete-time system (DICO = 'D'):
+            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NDIM    (output) INTEGER
+          The number of eigenvalues of A lying inside the domain of
+          interest for eigenvalues.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix used to reduce A to the
+          real Schur form and/or to reorder the diagonal blocks of
+          real Schur form of A. The first NDIM columns of U form
+          an orthogonal basis for the invariant subspace of A
+          corresponding to the first NDIM eigenvalues.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues of A. The
+          eigenvalues will be in the same order that they appear on
+          the diagonal of the output real Schur form of A. Complex
+          conjugate pairs of eigenvalues will appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
+          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: successful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal
+               value;
+          = 1: the QR algorithm failed to compute all the
+               eigenvalues of A;
+          = 2: a failure occured during the ordering of the real
+               Schur form of A.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is reduced to an ordered upper real Schur form using an
+  orthogonal similarity transformation A &lt;-- U'*A*U. This
+  transformation is determined so that the leading block of the
+  resulting A has eigenvalues in a suitably defined domain of
+  interest. Then, the transformation is applied to the matrices B
+  and C: B &lt;-- U'*B and C &lt;-- C*U.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 14N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01LD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBA, STDOM
+      INTEGER          I, INFO, J, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01LD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA,
+     $                      A, LDA, B, LDB, C, LDC, NDIM, U, LDU,
+     $                      WR, WI, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99987 ) NDIM
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01LD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01LD = ',I2)
+99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
+99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix U''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The number of eigenvalues in the domain of interest =',
+     $        I5 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01LD EXAMPLE PROGRAM DATA (Continuous system)
+  5     2     3    -1.0      C     U     G
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01LD EXAMPLE PROGRAM RESULTS
+
+
+ The number of eigenvalues in the domain of interest =    2
+
+ The eigenvalues of state dynamics matrix A are 
+ ( -0.7483,   2.9940 )
+ ( -0.7483,  -2.9940 )
+ ( -1.6858,   2.0311 )
+ ( -1.6858,  -2.0311 )
+ ( -1.8751,   0.0000 )
+
+ The transformed state dynamics matrix U'*A*U is 
+  -0.7483  -8.6406   0.0000   0.0000   1.1745
+   1.0374  -0.7483   0.0000   0.0000  -2.1164
+   0.0000   0.0000  -1.6858   5.5669   0.0000
+   0.0000   0.0000  -0.7411  -1.6858   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8751
+
+ The transformed input/state matrix U'*B is 
+  -0.5543   0.5543
+  -1.6786   1.6786
+  -0.8621  -0.8621
+   2.1912   2.1912
+  -1.5555   1.5555
+
+ The transformed state/output matrix C*U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+
+ The similarity transformation matrix U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+   0.1665   0.5041  -0.2589   0.6580   0.4671
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01MD.html b/doc/_build/html/_static/doc/TB01MD.html
new file mode 100644
index 00000000..bb7ce97f
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01MD.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>TB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01MD">TB01MD</A></H2>
+<H3>
+Upper/lower controller Hessenberg form using unitary state-space transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the pair (B,A) to upper or lower controller Hessenberg
+  form using (and optionally accumulating) unitary state-space
+  transformations.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, UPLO
+      INTEGER           INFO, LDA, LDB, LDU, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the unitary state-space transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is initialized to the unit matrix and the
+                  unitary transformation matrix U is returned;
+          = 'U':  The given matrix U is updated by the unitary
+                  transformations used in the reduction.
+
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes the pair (B,A) to be
+          reduced to upper or lower controller Hessenberg form as
+          follows:
+          = 'U':  Upper controller Hessenberg form;
+          = 'L':  Lower controller Hessenberg form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The actual input dimension, i.e. the number of columns of
+          the matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A to be transformed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state transition matrix U' * A * U.
+          The annihilated elements are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B to be transformed.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+          The annihilated elements are set to zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if JOBU = 'U', then the leading N-by-N part of
+          this array must contain a given matrix U (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix U and the state-space transformation
+          matrix which reduces the given pair to controller
+          Hessenberg form.
+          On exit, if JOBU = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated unitary
+          similarity transformations which reduces the given pair
+          to controller Hessenberg form.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U. If JOBU = 'U' or
+          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,M-1))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a unitary state-space transformation U, which
+  reduces the pair (B,A) to one of the following controller
+  Hessenberg forms:
+
+                 |*  . . .  *|*  . . . . . .  *|
+                 |   .      .|.               .|
+                 |     .    .|.               .|
+                 |       .  .|.               .|
+    [U'B|U'AU] = |          *|.               .| N
+                 |           |*               .|
+                 |           |   .            .|
+                 |           |     .          .|
+                 |           |       .        .|
+                 |           |         * . .  *|
+                      M               N
+
+  if UPLO = 'U', or
+
+                 |*  . . *         |           |
+                 |.        .       |           |
+                 |.          .     |           |
+                 |.            .   |           |
+    [U'AU|U'B] = |.               *|           | N
+                 |.               .|*          |
+                 |.               .|.  .       |
+                 |.               .|.    .     |
+                 |.               .|.      .   |
+                 |*  . . . . . .  *|*  . . .  *|
+                         N               M
+  if UPLO = 'L'.
+
+  If M &gt;= N, then the matrix U'B is trapezoidal and U'AU is full.
+  If M  = 0, but N &gt; 0, the array A is unchanged on exit.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P. and Verhaegen, M.H.G.
+      On the use of unitary state-space transformations.
+      In : Contemporary Mathematics on Linear Algebra and its Role
+      in Systems Theory, 47, AMS, Providence, 1985.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + M) x N**2) operations and is
+  backward stable (see [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDU, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
+     $                   LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      JOBU, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), U(LDU,NMAX),
+     $                 DWORK(LDWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, JOBU, UPLO
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( LSAME( JOBU, 'U' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+*           Reduce the pair (B,A) to controller Hessenberg form.
+            CALL TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
+     $                   DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 60 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 80 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   80          CONTINUE
+               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 100 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
+  100             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01MD = ',I2)
+99997 FORMAT (' The transformed state transition matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed input matrix is ')
+99994 FORMAT (/' The transformation matrix that reduces (B,A) to contr',
+     $       'oller Hessenberg form is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01MD EXAMPLE PROGRAM DATA
+   6     3     N     U
+  35.0   1.0   6.0  26.0  19.0  24.0
+   3.0  32.0   7.0  21.0  23.0  25.0
+  31.0   9.0   2.0  22.0  27.0  20.0
+   8.0  28.0  33.0  17.0  10.0  15.0
+  30.0   5.0  34.0  12.0  14.0  16.0
+   4.0  36.0  29.0  13.0  18.0  11.0
+   1.0   5.0  11.0
+  -1.0   4.0  11.0
+  -5.0   1.0   9.0
+ -11.0  -4.0   5.0
+ -19.0 -11.0  -1.0
+ -29.0 -20.0  -9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01MD EXAMPLE PROGRAM RESULTS
+
+ The transformed state transition matrix is 
+  60.3649  58.8853   5.0480  -5.4406   2.1382  -7.3870
+  54.5832  33.1865  36.5234   6.3272  -3.1377   8.8154
+  17.6406  21.4501 -13.5942   0.5417   1.6926   0.0786
+  -9.0567  10.7202   0.3531   1.5444  -1.2846  24.6407
+   0.0000   6.8796 -20.1372  -2.6440   2.4983 -21.8071
+   0.0000   0.0000   0.0000   0.0000   0.0000  27.0000
+
+ The transformed input matrix is 
+ -16.8819  -8.8260  13.9202
+   0.0000  13.8240  39.9205
+   0.0000   0.0000   4.1928
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01ND.html b/doc/_build/html/_static/doc/TB01ND.html
new file mode 100644
index 00000000..358b4b62
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01ND.html
@@ -0,0 +1,298 @@
+<HTML>
+<HEAD><TITLE>TB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ND">TB01ND</A></H2>
+<H3>
+Upper/lower observer Hessenberg form using unitary state-space transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the pair (A,C) to lower or upper observer Hessenberg
+  form using (and optionally accumulating) unitary state-space
+  transformations.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDC, LDU, N, P
+      CHARACTER         JOBU, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the unitary state-space transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is initialized to the unit matrix and the
+                  unitary transformation matrix U is returned;
+          = 'U':  The given matrix U is updated by the unitary
+                  transformations used in the reduction.
+
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes the pair (A,C) to be
+          reduced to upper or lower observer Hessenberg form as
+          follows:
+          = 'U':  Upper observer Hessenberg form;
+          = 'L':  Lower observer Hessenberg form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The actual output dimension, i.e. the number of rows of
+          the matrix C.  0 &lt;= P &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A to be transformed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state transition matrix U' * A * U.
+          The annihilated elements are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C to be transformed.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+          The annihilated elements are set to zero.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if JOBU = 'U', then the leading N-by-N part of
+          this array must contain a given matrix U (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix U and the state-space transformation
+          matrix which reduces the given pair to observer Hessenberg
+          form.
+          On exit, if JOBU = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated unitary
+          similarity transformations which reduces the given pair
+          to observer Hessenberg form.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U. If JOBU = 'U' or
+          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,P-1))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a unitary state-space transformation U, which
+  reduces the pair (A,C) to one of the following observer Hessenberg
+  forms:
+
+                             N
+                    |*  . . . . . .  *|
+                    |.               .|
+                    |.               .|
+                    |.               .| N
+                    |*               .|
+         |U'AU|     |   .            .|
+         |----|  =  |     .          .|
+         |CU  |     |       * . . .  *|
+                    -------------------
+                    |         * . .  *|
+                    |           .    .| P
+                    |             .  .|
+                    |                *|
+
+      if UPLO = 'U', or
+
+                            N
+                   |*                |
+                   |.  .             |
+                   |.    .           | P
+                   |*  . . *         |
+         |CU  |    -------------------
+         |----|  = |*  . . . *       |
+         |U'AU|    |.          .     |
+                   |.            .   |
+                   |.               *|
+                   |.               .| N
+                   |.               .|
+                   |.               .|
+                   |*  . . . . . .  *|
+
+  if UPLO = 'L'.
+
+  If P &gt;= N, then the matrix CU is trapezoidal and U'AU is full.
+  If P  = 0, but N &gt; 0, the array A is unchanged on exit.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P. and Verhaegen, M.H.G.
+      On the use of unitary state-space transformations.
+      In : Contemporary Mathematics on Linear Algebra and its Role
+      in Systems Theory, 47, AMS, Providence, 1985.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + P) x N**2) operations and is
+  backward stable (see [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDC, LDU, LDWORK
+      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDU = NMAX,
+     $                   LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N, P
+      CHARACTER*1      JOBU, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), U(LDU,NMAX),
+     $                 DWORK(LDWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, JOBU, UPLO
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+            IF ( LSAME( JOBU, 'U' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+*           Reduce the pair (A,C) to observer Hessenberg form.
+            CALL TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
+     $                   DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 60 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   80          CONTINUE
+               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 100 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
+  100             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ND = ',I2)
+99997 FORMAT (' The transformed state transition matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed output matrix is ')
+99994 FORMAT (/' The transformation matrix that reduces (A,C) to obser',
+     $       'ver Hessenberg form is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ND EXAMPLE PROGRAM DATA
+   5     3     N     U
+  15.0  21.0  -3.0   3.0   9.0
+  20.0   1.0   2.0   8.0   9.0
+   4.0   1.0   7.0  13.0  14.0
+   5.0   6.0  12.0  13.0  -6.0
+   5.0  11.0  17.0  -7.0  -1.0
+   7.0  -1.0   3.0  -6.0  -3.0
+   4.0   5.0   6.0  -2.0  -3.0
+   9.0   8.0   5.0   2.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ND EXAMPLE PROGRAM RESULTS
+
+ The transformed state transition matrix is 
+   7.1637  -0.9691 -16.5046   0.2869   0.9205
+  -2.3285  11.5431  -8.7471   3.4122  -3.7118
+ -10.5440  -7.6032  -0.3215   3.6571  -0.4335
+  -3.6845   5.6449   0.5906 -15.6996  17.4267
+   0.0000  -6.4260   1.5591  14.4317  32.3143
+
+ The transformed output matrix is 
+   0.0000   0.0000   7.6585   5.2973  -4.1576
+   0.0000   0.0000   0.0000   5.8305  -7.4837
+   0.0000   0.0000   0.0000   0.0000 -13.2288
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01PD.html b/doc/_build/html/_static/doc/TB01PD.html
new file mode 100644
index 00000000..be87224f
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01PD.html
@@ -0,0 +1,324 @@
+<HTML>
+<HEAD><TITLE>TB01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01PD">TB01PD</A></H2>
+<H3>
+Minimal, controllable or observable block Hessenberg realization for a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or minimal) state-
+  space representation (Ar,Br,Cr) for any original state-space
+  representation (A,B,C). The matrix Ar is in upper block
+  Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   NR, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, JOB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'M':  Remove both the uncontrollable and unobservable
+                  parts to get a minimal state-space representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable state-space representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable state-space representation.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily balance
+          the triplet (A,B,C) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.   P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the upper block Hessenberg state dynamics matrix Ar of a
+          minimal, controllable, or observable realization for the
+          original system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the transformed input/state matrix Br of a minimal,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'C', only the first IWORK(1) rows of B are
+          nonzero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cr of a minimal,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'M', or JOB = 'O', only the last IWORK(1) columns
+          (in the first NR columns) of C are nonzero.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced state-space representation
+          (Ar,Br,Cr) of a minimal, controllable, or observable
+          realization for the original system, depending on
+          JOB = 'M', JOB = 'C', or JOB = 'O'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOB = 'M', the matrices A and B are operated on by orthogonal
+  similarity transformations (made up of products of Householder
+  transformations) so as to produce an upper block Hessenberg matrix
+  A1 and a matrix B1 with all but its first rank(B) rows zero; this
+  separates out the controllable part of the original system.
+  Applying the same algorithm to the dual of this subsystem,
+  therefore separates out the controllable and observable (i.e.
+  minimal) part of the original system representation, with the
+  final Ar upper block Hessenberg (after using pertransposition).
+  If JOB = 'C', or JOB = 'O', only the corresponding part of the
+  above procedure is applied.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      The Generalized Eigenstructure Problem in Linear System
+      Theory. (Algorithm 1)
+      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX+MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NR, P
+      CHARACTER        JOB, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TB01PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a minimal ssr for (A,B,C).
+               CALL TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      NR, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01PD = ',I2)
+99997 FORMAT (' The order of the minimal realization = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
+     $       'alization is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
+     $       'zation is ')
+99992 FORMAT (/' The transformed state/output matrix of a minimal real',
+     $       'ization is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01PD EXAMPLE PROGRAM DATA
+   3     1     2     0.0     M     N
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01PD EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal realization =  3
+
+ The transformed state dynamics matrix of a minimal realization is 
+   1.0000  -1.4142   1.4142
+  -2.8284   0.0000   1.0000
+   2.8284   1.0000   0.0000
+
+ The transformed input/state matrix of a minimal realization is 
+  -1.0000
+   0.7071
+   0.7071
+
+ The transformed state/output matrix of a minimal realization is 
+   0.0000   0.0000  -1.4142
+   0.0000   0.7071   0.7071
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01PX.html b/doc/_build/html/_static/doc/TB01PX.html
new file mode 100644
index 00000000..5f52d3f2
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01PX.html
@@ -0,0 +1,370 @@
+<HTML>
+<HEAD><TITLE>TB01PX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01PX">TB01PX</A></H2>
+<H3>
+Reduced (controllable, observable, or minimal) state-space representation of a standard system (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or minimal) state-
+  space representation (Ar,Br,Cr) for any original state-space
+  representation (A,B,C). The matrix Ar is in an upper block
+  Hessenberg staircase form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, JOB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFRED(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'M':  Remove both the uncontrollable and unobservable
+                  parts to get a minimal state-space representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable state-space representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable state-space representation.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily balance
+          the triplet (A,B,C) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.   P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
+          leading NR-by-NR part of this array contains the upper
+          block Hessenberg state dynamics matrix Ar of a minimal,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+          The block structure of the resulting staircase form is
+          contained in the leading INFRED(4) elements of IWORK.
+          If INFRED(1:2) &lt; 0, then A contains the original matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
+          leading NR-by-M part of this array contains the
+          input/state matrix Br of a minimal, controllable, or
+          observable realization for the original system, depending
+          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
+          respectively. If JOB = 'C', only the first IWORK(1) rows
+          of B are nonzero.
+          If INFRED(1:2) &lt; 0, then B contains the original matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
+          leading P-by-NR part of this array contains the
+          state/output matrix Cr of a minimal, controllable, or
+          observable realization for the original system, depending
+          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
+          respectively. If JOB = 'M', or JOB = 'O', only the last
+          IWORK(1) columns (in the first NR columns) of C are
+          nonzero.
+          If INFRED(1:2) &lt; 0, then C contains the original matrix.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M,P), if N &gt; 0.
+          LDC &gt;= 1,          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced state-space representation
+          (Ar,Br,Cr) of a minimal, controllable, or observable
+          realization for the original system, depending on
+          JOB = 'M', JOB = 'C', or JOB = 'O'.
+
+  INFRED  (output) INTEGER array, dimension 4
+          This array contains information on the performed reduction
+          and on structure of resulting system matrices, as follows:
+          INFRED(k) &gt;= 0 (k = 1 or 2) if Phase k of the reduction
+                         (see METHOD) has been performed. In this
+                         case, INFRED(k) is the achieved order
+                         reduction in Phase k.
+          INFRED(k) &lt; 0  (k = 1 or 2) if Phase k was not performed.
+                         This can also appear when Phase k was
+                         tried, but did not reduce the order, if
+                         enough workspace is provided for saving the
+                         system matrices (see LDWORK description).
+          INFRED(3)  -   the number of nonzero subdiagonals of A.
+          INFRED(4)  -   the number of blocks in the resulting
+                         staircase form at the last performed
+                         reduction phase. The block dimensions are
+                         contained in the first INFRED(4) elements
+                         of IWORK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (c*N+MAX(M,P)), where
+          c = 2, if JOB = 'M', and c = 1, otherwise.
+          On exit, if INFO = 0, the first INFRED(4) elements of
+          IWORK return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= N + MAX(N, 3*M, 3*P).
+          For optimum performance LDWORK should be larger.
+          If LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P) + N*(N+M+P) ),
+          then more accurate results are to be expected by accepting
+          only those reductions phases (see METHOD), where effective
+          order reduction occurs. This is achieved by saving the
+          system matrices before each phase and restoring them if
+          no order reduction took place in that phase.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The order reduction is performed in two phases:
+
+  Phase 1:
+  If JOB = 'M' or 'C', the pair (A,B) is reduced by orthogonal
+  similarity transformations to the controllability staircase form
+  (see [1]) and a controllable realization (Ac,Bc,Cc) is extracted.
+  Ac results in an upper block Hessenberg form.
+
+  Phase 2:
+  If JOB = 'M' or 'O', the same algorithm is applied to the dual
+  of the controllable realization (Ac,Bc,Cc), or to the dual of
+  the original system, respectively, to extract an observable
+  realization (Ar,Br,Cr). If JOB = 'M', the resulting realization
+  is also controllable, and thus minimal.
+  Ar results in an upper block Hessenberg form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      The Generalized Eigenstructure Problem in Linear System
+      Theory. (Algorithm 1)
+      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01PX EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX+MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP +
+     $                   NMAX*( NMAX+MMAX+PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NR, P
+      CHARACTER        JOB, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          INFRED(4), IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TB01PX
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a minimal ssr for (A,B,C).
+               CALL TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 ) ( INFRED(I), I = 1,4 )
+                  IF ( INFRED(4).GT.0 )
+     $               WRITE ( NOUT, FMT = 99991 ) ( IWORK(I),
+     $                                             I = 1,INFRED(4) )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01PX EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01PX = ',I2)
+99997 FORMAT (' The order of the minimal realization = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
+     $       'alization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Information on the performed reduction is ', 4I5)
+99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
+     $       'zation is ')
+99992 FORMAT (/' The transformed state/output matrix of a minimal real',
+     $       'ization is ')
+99991 FORMAT (/' The block dimensions are ',/ 20I5)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01PX EXAMPLE PROGRAM DATA
+   3     1     2     0.0     M     N
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01PX EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal realization =  3
+
+ The transformed state dynamics matrix of a minimal realization is 
+   1.0000   2.0000   0.0000
+   4.0000  -1.0000   0.0000
+   0.0000   0.0000   1.0000
+
+ The transformed input/state matrix of a minimal realization is 
+   1.0000
+   0.0000
+   1.0000
+
+ The transformed state/output matrix of a minimal realization is 
+   0.0000   1.0000  -1.0000
+   0.0000   0.0000   1.0000
+
+ Information on the performed reduction is    -1   -1    2    0
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01TD.html b/doc/_build/html/_static/doc/TB01TD.html
new file mode 100644
index 00000000..03317c41
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01TD.html
@@ -0,0 +1,316 @@
+<HTML>
+<HEAD><TITLE>TB01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01TD">TB01TD</A></H2>
+<H3>
+Balancing state-space representation by permutations and scalings
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a given state-space representation (A,B,C,D) to
+  balanced form by means of state permutations and state, input and
+  output scalings.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, LOW,
+     $                   IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           IGH, INFO, LDA, LDB, LDC, LDD, LOW, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), SCIN(*), SCOUT(*), SCSTAT(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the original state dynamics matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced state dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the balanced input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the balanced state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original direct transmission matrix D.
+          On exit, the leading P-by-M part of this array contains
+          the scaled direct transmission matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  LOW     (output) INTEGER
+          The index of the lower end of the balanced submatrix of A.
+
+  IGH     (output) INTEGER
+          The index of the upper end of the balanced submatrix of A.
+
+  SCSTAT  (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the information defining the
+          similarity transformations used to permute and balance
+          the state dynamics matrix A, as returned from the LAPACK
+          library routine DGEBAL.
+
+  SCIN    (output) DOUBLE PRECISION array, dimension (M)
+          Contains the scalars used to scale the system inputs so
+          that the columns of the final matrix B have norms roughly
+          equal to the column sums of the balanced matrix A
+          (see FURTHER COMMENTS).
+          The j-th input of the balanced state-space representation
+          is SCIN(j)*(j-th column of the permuted and balanced
+          input/state matrix B).
+
+  SCOUT   (output) DOUBLE PRECISION array, dimension (P)
+          Contains the scalars used to scale the system outputs so
+          that the rows of the final matrix C have norms roughly
+          equal to the row sum of the balanced matrix A.
+          The i-th output of the balanced state-space representation
+          is SCOUT(i)*(i-th row of the permuted and balanced
+          state/ouput matrix C).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Similarity transformations are used to permute the system states
+  and balance the corresponding row and column sum norms of a
+  submatrix of the state dynamics matrix A. These operations are
+  also applied to the input/state matrix B and the system inputs
+  are then scaled (see parameter SCIN) so that the columns of the
+  final matrix B have norms roughly equal to the column sum norm of
+  the balanced matrix A (see FURTHER COMMENTS).
+  The above operations are also applied to the matrix C, and the
+  system outputs are then scaled (see parameter SCOUT) so that the
+  rows of the final matrix C have norms roughly equal to the row sum
+  norm of the balanced matrix A (see FURTHER COMMENTS).
+  Finally, the (I,J)-th element of the direct transmission matrix D
+  is scaled as
+       D(I,J) = D(I,J)*(1.0/SCIN(J))*SCOUT(I), where I = 1,2,...,P
+  and J = 1,2,...,M.
+
+  Scaling performed to balance the row/column sum norms is by
+  integer powers of the machine base so as to avoid introducing
+  rounding errors.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Wilkinson, J.H. and Reinsch, C.
+      Handbook for Automatic Computation, (Vol II, Linear Algebra).
+      Springer-Verlag, 1971, (contribution II/11).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The columns (rows) of the final matrix B (matrix C) have norms
+  'roughly' equal to the column (row) sum norm of the balanced
+  matrix A, i.e.
+     size/BASE &lt; abssum &lt;= size
+  where
+     BASE   = the base of the arithmetic used on the computer, which
+              can be obtained from the LAPACK Library routine
+              DLAMCH;
+
+     size   = column or row sum norm of the balanced matrix A;
+     abssum = column sum norm of the balanced matrix B or row sum
+              norm of the balanced matrix C.
+
+  The routine is BASE dependent.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01TD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, IGH, J, LOW, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(NMAX), SCIN(MMAX),
+     $                 SCOUT(PMAX), SCSTAT(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99989 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Balance the state-space representation (A,B,C,D).
+               CALL TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      LOW, IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) LOW, IGH
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01TD = ',I2)
+99997 FORMAT (' LOW = ',I2,'   IGH = ',I2,/)
+99996 FORMAT (' The balanced state dynamics matrix A is ')
+99995 FORMAT (20(1X,F9.4))
+99994 FORMAT (/' The balanced input/state matrix B is ')
+99993 FORMAT (/' The balanced state/output matrix C is ')
+99992 FORMAT (/' The scaled direct transmission matrix D is ')
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01TD EXAMPLE PROGRAM DATA
+   5     2     2
+   0.0   0.0   1.0   4.0   5.0
+  50.0  10.0   1.0   0.0   0.0
+   0.0   0.0  90.0  10.0   0.0
+   0.0   1.0   1.0   1.0   1.0
+ 100.0   0.0   0.0   0.0  70.0
+   0.0   2.0   0.0   1.0   2.0
+   0.0  20.0 100.0   1.0   0.0
+   1.0   0.0   0.0   1.0   0.0
+   1.0   1.0   0.0   2.0   1.0
+   1.0   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01TD EXAMPLE PROGRAM RESULTS
+
+ LOW =  1   IGH =  5
+
+ The balanced state dynamics matrix A is 
+    0.0000    0.0000    1.0000    4.0000   40.0000
+    6.2500   10.0000    0.1250    0.0000    0.0000
+    0.0000    0.0000   90.0000   10.0000    0.0000
+    0.0000    8.0000    1.0000    1.0000    8.0000
+   12.5000    0.0000    0.0000    0.0000   70.0000
+
+ The balanced input/state matrix B is 
+    0.0000    0.0000
+   16.0000    2.5000
+    0.0000  100.0000
+   64.0000    1.0000
+   16.0000    0.0000
+
+ The balanced state/output matrix C is 
+   32.0000    0.0000    0.0000   32.0000    0.0000
+    4.0000   32.0000    0.0000    8.0000   32.0000
+
+ The scaled direct transmission matrix D is 
+ 2048.0000   32.0000
+  256.0000    4.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01UD.html b/doc/_build/html/_static/doc/TB01UD.html
new file mode 100644
index 00000000..086fac0e
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01UD.html
@@ -0,0 +1,407 @@
+<HTML>
+<HEAD><TITLE>TB01UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01UD">TB01UD</A></H2>
+<H3>
+Controllable block Hessenberg realization for a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  multi-input system
+
+          dX/dt = A * X + B * U,
+             Y  = C * X,
+
+  where A, B, and C are N-by-N, N-by-M, and P-by-N matrices,
+  respectively, and A and B are reduced by this routine to
+  orthogonal canonical form using (and optionally accumulating)
+  orthogonal similarity transformations, which are also applied
+  to C.  Specifically, the system (A, B, C) is reduced to the
+  triplet (Ac, Bc, Cc), where Ac = Z' * A * Z, Bc = Z' * B,
+  Cc = C * Z,  with
+
+          [ Acont     *    ]         [ Bcont ]
+     Ac = [                ],   Bc = [       ],
+          [   0    Auncont ]         [   0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
+             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
+             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
+     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
+             [  .   .     . .    .     .  ]         [ .  ]
+             [  .   .       .    .     .  ]         [ .  ]
+             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
+
+  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
+  p is the controllability index of the pair.  The size of the
+  block  Auncont is equal to the dimension of the uncontrollable
+  subspace of the pair (A, B).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC, NCONT,
+     $                   INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N,
+     $                  NCONT, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
+     $                  Z(LDZ,*)
+      INTEGER           IWORK(*), NBLK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT part contains the
+          upper block Hessenberg state dynamics matrix Acont in Ac,
+          given by Z' * A * Z, of a controllable realization for
+          the original system. The elements below the first block-
+          subdiagonal are set to zero. The leading N-by-N part
+          contains the matrix Ac.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading NCONT-by-M part of this array
+          contains the transformed input matrix Bcont in Bc, given
+          by Z' * B, with all elements but the first block set to
+          zero. The leading N-by-M part contains the matrix Bc.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix Cc, given by C * Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  INDCON  (output) INTEGER
+          The controllability index of the controllable part of the
+          system representation.
+
+  NBLK    (output) INTEGER array, dimension (N)
+          The leading INDCON elements of this array contain the
+          the orders of the diagonal blocks of Acont.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this
+          array contains the matrix of accumulated orthogonal
+          similarity transformations which reduces the given system
+          to orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N, 3*M, P).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix B is first QR-decomposed and the appropriate orthogonal
+  similarity transformation applied to the matrix A. Leaving the
+  first rank(B) states unchanged, the remaining lower left block
+  of A is then QR-decomposed and the new orthogonal matrix, Q1,
+  is also applied to the right of A to complete the similarity
+  transformation. By continuing in this manner, a completely
+  controllable state-space pair (Acont, Bcont) is found for the
+  given (A, B), where Acont is upper block Hessenberg with each
+  subdiagonal block of full row rank, and Bcont is zero apart from
+  its (independent) first rank(B) rows.
+  All orthogonal transformations determined in this process are also
+  applied to the matrix C, from the right.
+  NOTE that the system controllability indices are easily
+  calculated from the dimensions of the blocks of Acont.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Paige, C.C.
+      Properties of numerical algorithms related to computing
+      controllablity.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
+      Postlethwaite, I.
+      Optimal Pole Assignment Design of Linear Multi-Input Systems.
+      Leicester University, Report 99-11, May 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, INDCON, J, M, N, NCONT, P
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), TAU(NMAX), Z(LDZ,NMAX)
+      INTEGER          IWORK(LIWORK), NBLK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01UD, DORGQR
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a controllable ssr for the given system.
+               CALL TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCONT
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99987 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 ) INDCON
+                  IF ( LSAME( JOBZ, 'F' ) )
+     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                            INFO )
+                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 80 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01UD = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
+     $       'le realization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
+     $       /20(1X,I2))
+99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
+     $       'e realization is ')
+99992 FORMAT (/' The controllability index of the transformed system r',
+     $       'epresentation = ',I2)
+99991 FORMAT (/' The similarity transformation matrix Z is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The transformed output/state matrix C of a controlla',
+     $       'ble realization is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01UD EXAMPLE PROGRAM DATA
+   3     2     2     0.0     I
+  -1.0   0.0   0.0
+  -2.0  -2.0  -2.0
+  -1.0   0.0  -3.0
+   1.0   0.0   0.0
+   0.0   2.0   1.0
+   0.0   2.0   1.0
+   1.0   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01UD EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  2
+
+ The transformed state dynamics matrix of a controllable realization is 
+  -3.0000   2.2361
+   0.0000  -1.0000
+
+ and the dimensions of its diagonal blocks are 
+  2
+
+ The transformed input/state matrix B of a controllable realization is 
+   0.0000  -2.2361
+   1.0000   0.0000
+
+ The transformed output/state matrix C of a controllable realization is 
+  -2.2361   0.0000
+   0.0000   1.0000
+
+ The controllability index of the transformed system representation =  1
+
+ The similarity transformation matrix Z is 
+   0.0000   1.0000   0.0000
+  -0.8944   0.0000  -0.4472
+  -0.4472   0.0000   0.8944
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TB01UX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01UX">TB01UX</A></H2>
+<H3>
+Observable-unobservable decomposition of a standard system 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an orthogonal transformation matrix Z which reduces the
+  N-th order system (A,B,C) to the form
+
+             ( Ano  * )               ( Bno )
+    Z'*A*Z = (        ) ,      Z'*B = (     ) ,
+             ( 0   Ao )               ( Bo  )
+
+       C*Z = ( 0   Co ) ,
+
+  where the NOBSV-th order system (Ao,Bo,Co) is observable.
+  The matrix Ano of order N-NOBSV contains the unobservable
+  eigenvalues of A.
+
+  The pencil ( Ao-lambda*I ) has full column rank NOBSV for all
+             (      Co     )
+  lambda, and is in a staircase form, with
+                  _      _            _      _
+                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
+                ( _      _            _      _      )
+    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,          (1)
+    ( Co )      (  :       :      ... _ :    _ :    )
+                (  0       0      ... A1,2   A1,1   )
+                (                            _      )
+                (  0       0      ... 0      A0,1   )
+        _
+  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
+  (with CTAU(0) = P).
+
+  The orthogonal transformation Z, performed to reduce the system
+  matrices, can be optionally accumulated.
+
+  The reduced order system (Ao,Bo,Co) has the same transfer-function
+  matrix as the original system (A,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01UX( COMPZ, N, M, P, A, LDA, B, LDB, C, LDC, Z, LDZ,
+     $                   NOBSV, NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPZ
+      INTEGER            INFO, LDA, LDB, LDC, LDZ, M, N, NLBLCK, NOBSV,
+     $                   P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            CTAU( * ), IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
+     $                   DWORK( * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the system state vector; also the order
+          of the square matrix A, the number of rows of the matrix B
+          and the number of columns of the matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of system input vector; also the number of
+          columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of system output vector; also the number of
+          rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Z'*A*Z,
+
+                             ( Ano  *  )
+                    Z'*A*Z = (         ) ,
+                             ( 0    Ao )
+
+          where Ao is NOBSV-by-NOBSV and Ano is
+          (N-NOBSV)-by-(N-NOBSV).
+          The matrix ( Ao ) is in the observability staircase
+                     ( Co )
+          form (1).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Z'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0;
+          LDB &gt;= 1        if M = 0 and P = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix
+
+                  C*Z = (  0   Co ) ,
+
+          where Co is P-by-NOBSV.          
+          The matrix ( Ao ) is in the observability staircase
+                     ( Co )
+          form (1).
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0;
+          LDC &gt;= 1          if N = 0.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Z,
+                          i.e., the product of the transformations
+                          applied to A and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I'.
+
+  NOBSV   (output) INTEGER
+          The order of the reduced matrix Ao, and the number of
+          columns of the reduced matrix Co; also, the order of the
+          observable part of the pair (C, A-lambda*I).
+
+  NLBLCK  (output) INTEGER                         _
+          The number k, of full column rank blocks Ai-1,i in the
+          staircase form of the pencil (Ao-lambda*I) (see (1)).
+                                       (     Co    )
+
+  CTAU    (output) INTEGER array, dimension (N)
+          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
+                                        _
+          of the full column rank block Ai-1,i in the staircase
+          form (1).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming the pair (A,C). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P)
+
+  DWORK   DOUBLE PRECISION array, dimension (N+MAX(1, N, 3*P, M))
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the dual of the reduction
+  algorithms of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and C are badly scaled, it is
+  generally recommendable to scale them with the SLICOT routine
+  TB01ID, before calling TG01UX.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01UY.html b/doc/_build/html/_static/doc/TB01UY.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01UY.html
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+<HTML>
+<HEAD><TITLE>TB01UY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01UY">TB01UY</A></H2>
+<H3>
+Controllable realization of a standard multi-input system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  multi-input system
+
+          dX/dt = A * X + B1 * U1 + B2 * U2,
+             Y  = C * X,
+
+  where A, B1, B2 and C are N-by-N, N-by-M1, N-by-M2, and P-by-N
+  matrices, respectively, and A and [B1,B2] are reduced by this
+  routine to orthogonal canonical form using (and optionally
+  accumulating) orthogonal similarity transformations, which are
+  also applied to C.  Specifically, the system (A, [B1,B2], C) is
+  reduced to the triplet (Ac, [Bc1,Bc2], Cc), where
+  Ac = Z' * A * Z, [Bc1,Bc2] = Z' * [B1,B2], Cc = C * Z,  with
+
+          [ Acont     *    ]                [ Bcont1, Bcont2 ]
+     Ac = [                ],   [Bc1,Bc1] = [                ],
+          [   0    Auncont ]                [   0        0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
+             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
+             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
+             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
+     Acont = [  .   .   . . .    .      .     .  ],
+             [  .   .     . .    .      .     .  ]
+             [  .   .       .    .      .     .  ]
+             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
+
+                 [ B11 B12 ]
+                 [  0  B22 ]
+                 [  0   0  ]
+                 [  0   0  ]
+     [Bc1,Bc2] = [  .   .  ],
+                 [  .   .  ]
+                 [  .   .  ]
+                 [  0   0  ]
+
+  where the blocks  B11, B22, A31, ..., Ap,p-2  have full row ranks and
+  p is the controllability index of the pair (A,[B1,B2]).  The size of the
+  block  Auncont  is equal to the dimension of the uncontrollable
+  subspace of the pair (A,[B1,B2]).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
+     $                   NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M1,
+     $                  M2, N, NCONT, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
+     $                  Z(LDZ,*)
+      INTEGER           IWORK(*), NBLK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of system inputs in U1, or of columns of B1.
+          M1 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of system inputs in U2, or of columns of B2.
+          M2 &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state dynamics matrix Ac = Z'*A*Z. The
+          leading NCONT-by-NCONT diagonal block of this matrix,
+          Acont, is the state dynamics matrix of a controllable
+          realization for the original system. The elements below
+          the second block-subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,M1+M2)
+          On entry, the leading N-by-(M1+M2) part of this array must
+          contain the compound input matrix B = [B1,B2], where B1 is
+          N-by-M1 and B2 is N-by-M2.
+          On exit, the leading N-by-(M1+M2) part of this array
+          contains the transformed compound input matrix [Bc1,Bc2] =
+          Z'*[B1,B2]. The leading NCONT-by-(M1+M2) part of this
+          array, [Bcont1, Bcont2], is the compound input matrix of
+          a controllable realization for the original system.
+          All elements below the first block-diagonal are set to
+          zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix Cc, given by C * Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  INDCON  (output) INTEGER
+          The controllability index of the controllable part of the
+          system representation.
+
+  NBLK    (output) INTEGER array, dimension (2*N)
+          The leading INDCON elements of this array contain the
+          orders of the diagonal blocks of Acont. INDCON is always
+          an even number, and the INDCON/2 odd and even components
+          of NBLK have decreasing values, respectively.
+          Note that some elements of NBLK can be zero.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this
+          array contains the matrix of accumulated orthogonal
+          similarity transformations which reduces the given system
+          to orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e., set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of the array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (MIN(N,M1+M2))
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of [B1,B2]
+          and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A, [B1,B2]). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M1,M2))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and
+          LDWORK &gt;= MAX(N, 3*MAX(M1,M2), P), if MIN(N,M1+M2) &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm [1] represents a specialization of the
+  controllability staircase algorithm of [2] to the special structure
+  of the input matrix B = [B1,B2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Reliable algorithms for computing minimal dynamic covers.
+      Proc. CDC'2003, Hawaii, 2003.
+
+  [2] Varga, A.
+      Numerically stable algorithm for standard controllability
+      form determination.
+      Electronics Letters, vol. 17, pp. 74-75, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01UY EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, INDCON, J, M, M1, M2, N, NCONT, P
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), TAU(MIN(NMAX,MMAX)), Z(LDZ,NMAX)
+      INTEGER          IWORK(LIWORK), NBLK(2*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DORGQR, TB01UY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M1, M2, P, TOL, JOBZ
+      M = M1 + M2
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a controllable ssr for the given system.
+               CALL TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
+     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCONT
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99987 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 ) INDCON
+                  IF ( LSAME( JOBZ, 'F' ) )
+     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                            INFO )
+                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 80 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01UY EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01UY = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
+     $       'le realization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
+     $       /20(1X,I2))
+99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
+     $       'e realization is ')
+99992 FORMAT (/' The controllability index of the transformed system r',
+     $       'epresentation = ',I2)
+99991 FORMAT (/' The similarity transformation matrix Z is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The transformed output/state matrix C of a controlla',
+     $       'ble realization is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01UY EXAMPLE PROGRAM DATA
+   3     1     1     2     0.0     I
+  -1.0   0.0   0.0
+  -2.0  -2.0  -2.0
+  -1.0   0.0  -3.0
+   1.0   0.0   0.0
+   0.0   2.0   1.0
+   0.0   2.0   1.0
+   1.0   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01UY EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  2
+
+ The transformed state dynamics matrix of a controllable realization is 
+  -1.0000   0.0000
+   2.2361  -3.0000
+
+ and the dimensions of its diagonal blocks are 
+  1  1
+
+ The transformed input/state matrix B of a controllable realization is 
+   1.0000   0.0000
+   0.0000  -2.2361
+
+ The transformed output/state matrix C of a controllable realization is 
+   0.0000  -2.2361
+   1.0000   0.0000
+
+ The controllability index of the transformed system representation =  2
+
+ The similarity transformation matrix Z is 
+   1.0000   0.0000   0.0000
+   0.0000  -0.8944  -0.4472
+   0.0000  -0.4472   0.8944
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01VD.html b/doc/_build/html/_static/doc/TB01VD.html
new file mode 100644
index 00000000..9d8e002f
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01VD.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>TB01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01VD">TB01VD</A></H2>
+<H3>
+Conversion of a linear discrete-time system into the output normal form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To convert the linear discrete-time system given as (A, B, C, D),
+  with initial state x0, into the output normal form [1], with
+  parameter vector THETA. The matrix A is assumed to be stable.
+  The matrices A, B, C, D and the vector x0 are converted, so that
+  on exit they correspond to the system defined by THETA.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01VD( APPLY, N, M, L, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   X0, THETA, LTHETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         APPLY
+      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
+     $                  N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), THETA(*), X0(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  APPLY   CHARACTER*1
+          Specifies whether or not the parameter vector should be
+          transformed using a bijective mapping, as follows:
+          = 'A' : apply the bijective mapping to the N vectors in
+                  THETA corresponding to the matrices A and C;
+          = 'N' : do not apply the bijective mapping.
+          The transformation performed when APPLY = 'A' allows
+          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
+          A call of the SLICOT Library routine TB01VY associated to
+          a call of TB01VD must use the same value of APPLY.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A, assumed to be stable.
+          On exit, the leading N-by-N part of this array contains
+          the transformed system state matrix corresponding to the
+          output normal form with parameter vector THETA.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed system input matrix corresponding to the
+          output normal form with parameter vector THETA.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading L-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading L-by-N part of this array contains
+          the transformed system output matrix corresponding to the
+          output normal form with parameter vector THETA.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,L).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading L-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,L).
+
+  X0      (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state of the
+          system, x0.
+          On exit, this array contains the transformed initial state
+          of the system, corresponding to the output normal form
+          with parameter vector THETA.
+
+  THETA   (output) DOUBLE PRECISION array, dimension (LTHETA)
+          The leading N*(L+M+1)+L*M part of this array contains the
+          parameter vector that defines a system (A, B, C, D, x0)
+          which is equivalent up to a similarity transformation to
+          the system given on entry. The parameters are:
+
+          THETA(1:N*L)                      : parameters for A, C;
+          THETA(N*L+1:N*(L+M))              : parameters for B;
+          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
+          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
+
+  LTHETA  INTEGER
+          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*N*L + N*L + N,
+                        N*N + MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
+                                  N*M)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation A'*Q*A - Q = -scale^2*C'*C
+                could only be solved with scale = 0;
+          = 2:  if matrix A is not discrete-time stable;
+          = 3:  if the QR algorithm failed to converge for
+                matrix A.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices A and C are converted to output normal form.
+  First, the Lyapunov equation
+
+     A'*Q*A - Q = -scale^2*C'*C,
+
+  is solved in the Cholesky factor T, T'*T = Q, and then T is used
+  to get the transformation matrix.
+
+  The matrix B and the initial state x0 are transformed accordingly.
+
+  Then, the QR factorization of the transposed observability matrix
+  is computed, and the matrix Q is used to further transform the
+  system matrices. The parameters characterizing A and C are finally
+  obtained by applying a set of N orthogonal transformations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Peeters, R.L.M., Hanzon, B., and Olivi, M.
+      Balanced realizations of discrete-time stable all-pass
+      systems and the tangential Schur algorithm.
+      Proceedings of the European Control Conference,
+      31 August - 3 September 1999, Karlsruhe, Germany.
+      Session CP-6, Discrete-time Systems, 1999.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01VY.html b/doc/_build/html/_static/doc/TB01VY.html
new file mode 100644
index 00000000..e44b2a84
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01VY.html
@@ -0,0 +1,164 @@
+<HTML>
+<HEAD><TITLE>TB01VY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01VY">TB01VY</A></H2>
+<H3>
+Conversion of the output normal form to a state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To convert the linear discrete-time system given as its output
+  normal form [1], with parameter vector THETA, into the state-space
+  representation (A, B, C, D), with the initial state x0.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01VY( APPLY, N, M, L, THETA, LTHETA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, X0, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         APPLY
+      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
+     $                  N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), THETA(*), X0(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  APPLY   CHARACTER*1
+          Specifies whether or not the parameter vector should be
+          transformed using a bijective mapping, as follows:
+          = 'A' : apply the bijective mapping to the N vectors in
+                  THETA corresponding to the matrices A and C;
+          = 'N' : do not apply the bijective mapping.
+          The transformation performed when APPLY = 'A' allows
+          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
+          A call of the SLICOT Library routine TB01VD associated to
+          a call of TB01VY must use the same value of APPLY.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0.
+
+  THETA   (input) DOUBLE PRECISION array, dimension (LTHETA)
+          The leading N*(L+M+1)+L*M part of this array must contain
+          the parameter vector that defines a system (A, B, C, D),
+          with the initial state x0. The parameters are:
+
+          THETA(1:N*L)                      : parameters for A, C;
+          THETA(N*L+1:N*(L+M))              : parameters for B;
+          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
+          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
+
+  LTHETA  INTEGER
+          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the system
+          state matrix corresponding to the output normal form with
+          parameter vector THETA.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the system
+          input matrix corresponding to the output normal form with
+          parameter vector THETA.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array contains the system
+          output matrix corresponding to the output normal form with
+          parameter vector THETA.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,L).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading L-by-M part of this array contains the system
+          input/output matrix corresponding to the output normal
+          form with parameter vector THETA.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,L).
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the initial state of the system, x0,
+          corresponding to the output normal form with parameter
+          vector THETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= N*(N+L+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The parameters characterizing A and C are used to build N
+  orthogonal transformations, which are then applied to recover
+  these matrices.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01WD.html b/doc/_build/html/_static/doc/TB01WD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>TB01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01WD">TB01WD</A></H2>
+<H3>
+Orthogonal similarity transformation of system state-matrix to real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the system state matrix A to an upper real Schur form
+  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
+  to apply the transformation to the matrices B and C: B &lt;-- U'*B
+  and C &lt;-- C*U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                   WR, WI, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
+     $                 WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix U' * A * U in real Schur form. The elements
+          below the first subdiagonal are set to zero.
+          Note:  A matrix is in real Schur form if it is upper
+                 quasi-triangular with 1-by-1 and 2-by-2 blocks.
+                 2-by-2 blocks are standardized in the form
+                          [  a  b  ]
+                          [  c  a  ]
+                 where b*c &lt; 0. The eigenvalues of such a block
+                 are a +- sqrt(bc).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix used to reduce A to the
+          real Schur form. The columns of U are the Schur vectors of
+          matrix A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues of A. The
+          eigenvalues will be in the same order that they appear on
+          the diagonal of the output real Schur form of A. Complex
+          conjugate pairs of eigenvalues will appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.  LWORK &gt;= 3*N.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute
+                all the eigenvalues; elements i+1:N of WR and WI
+                contain those eigenvalues which have converged;
+                U contains the matrix which reduces A to its
+                partially converged Schur form.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is reduced to a real Schur form using an orthogonal
+  similarity transformation A &lt;- U'*A*U. Then, the transformation
+  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 10N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01WD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01WD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                      WR, WI, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01WD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01WD = ',I2)
+99997 FORMAT (' The eigenvalues of state dynamics matrix A are ')
+99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix U''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01WD EXAMPLE PROGRAM DATA (Continuous system)
+  5  2   3    
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01WD EXAMPLE PROGRAM RESULTS
+
+ The eigenvalues of state dynamics matrix A are 
+ ( -0.7483,   2.9940 )
+ ( -0.7483,  -2.9940 )
+ ( -1.6858,   2.0311 )
+ ( -1.6858,  -2.0311 )
+ ( -1.8751,   0.0000 )
+
+ The transformed state dynamics matrix U'*A*U is 
+  -0.7483  -8.6406   0.0000   0.0000   1.1745
+   1.0374  -0.7483   0.0000   0.0000  -2.1164
+   0.0000   0.0000  -1.6858   5.5669   0.0000
+   0.0000   0.0000  -0.7411  -1.6858   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8751
+
+ The transformed input/state matrix U'*B is 
+  -0.5543   0.5543
+  -1.6786   1.6786
+  -0.8621  -0.8621
+   2.1912   2.1912
+  -1.5555   1.5555
+
+ The transformed state/output matrix C*U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+
+ The similarity transformation matrix U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+   0.1665   0.5041  -0.2589   0.6580   0.4671
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01WX.html b/doc/_build/html/_static/doc/TB01WX.html
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+++ b/doc/_build/html/_static/doc/TB01WX.html
@@ -0,0 +1,290 @@
+<HTML>
+<HEAD><TITLE>TB01WX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01WX">TB01WX</A></H2>
+<H3>
+Orthogonal similarity transformation of a standard system to one with state matrix in a Hessenberg form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the system state matrix A to an upper Hessenberg form
+  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
+  to apply the transformation to the matrices B and C: B &lt;-- U'*B
+  and C &lt;-- C*U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        COMPU
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPU   CHARACTER*1
+          = 'N':  do not compute U;
+          = 'I':  U is initialized to the unit matrix, and the
+                  orthogonal matrix U is returned;
+          = 'U':  U must contain an orthogonal matrix U1 on entry,
+                  and the product U1*U is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix U' * A * U in Hessenberg form. The elements
+          below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if COMPU = 'U', the leading N-by-N part of this
+          array must contain the given matrix U1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          to reduce A to the Hessenberg form (U1*U if COMPU = 'U').
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if COMPU =  'N';
+          LDU &gt;= max(1,N), if COMPU &lt;&gt; 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= N - 1 + MAX(N,M,P).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is reduced to the Hessenberg form using an orthogonal
+  similarity transformation A &lt;- U'*A*U. Then, the transformation
+  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                 3      2
+  The algorithm requires about 5N /3 + N (M+P) floating point
+                                           3
+  operations, if COMPU = 'N'. Otherwise, 2N /3 additional operations
+  are needed.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01WX EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX - 1 + MAX( NMAX, MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        COMPU
+      INTEGER          I, INFO, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01WX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, COMPU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U,
+     $                      LDU, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01WX EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01WX = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix U''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01WX EXAMPLE PROGRAM DATA (Continuous system)
+  5  2   3     I    
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01WX EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix U'*A*U is 
+  -0.0416  -6.3778   1.4826  -1.9856   1.2630
+   1.4911  -2.8851  -0.4353   0.8984  -0.5714
+   0.0000  -2.1254   1.6804  -4.9686  -1.7731
+   0.0000   0.0000   2.1880  -3.3545  -2.6069
+   0.0000   0.0000   0.0000   0.7554  -2.1424
+
+ The transformed input/state matrix U'*B is 
+   0.0000   0.0000
+  -3.0996   0.0000
+  -0.6488   0.0000
+   0.8689   1.7872
+  -0.5527   2.8098
+
+ The transformed state/output matrix C*U is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.3655  -0.4962   0.6645  -0.4227
+   0.0000   0.0000  -0.8461  -0.4498   0.2861
+
+ The similarity transformation matrix U is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.9308  -0.1948   0.2609  -0.1660
+   0.0000   0.3655  -0.4962   0.6645  -0.4227
+   0.0000   0.0000  -0.8461  -0.4498   0.2861
+   0.0000   0.0000   0.0000   0.5367   0.8438
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01XD.html b/doc/_build/html/_static/doc/TB01XD.html
new file mode 100644
index 00000000..d8aa2c03
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01XD.html
@@ -0,0 +1,168 @@
+<HTML>
+<HEAD><TITLE>TB01XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01XD">TB01XD</A></H2>
+<H3>
+Special similarity transformation of the dual state-space system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a special transformation to a system given as a triple
+  (A,B,C),
+
+     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
+
+  where P is a matrix with 1 on the secondary diagonal, and with 0
+  in the other entries. Matrix A can be specified as a band matrix.
+  Optionally, matrix D of the system can be transposed. This
+  transformation is actually a special similarity transformation of
+  the dual system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01XD( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBD
+      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed (pertransposed) matrix P*A'*P.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-P part of this array contains
+          the dual input/state matrix P*C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
+          LDB &gt;= 1        if M = 0 and P = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the dual state/output matrix B'*P.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (LDD,MAX(M,P))
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the original direct transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading M-by-P part of this
+          array contains the transposed direct transmission matrix
+          D'. The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
+          LDD &gt;= 1          if JOBD = 'Z'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The rows and/or columns of the matrices of the triplet (A,B,C)
+  and, optionally, of the matrix D are swapped in a special way.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01XZ.html b/doc/_build/html/_static/doc/TB01XZ.html
new file mode 100644
index 00000000..ba8534dd
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01XZ.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>TB01XZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01XZ">TB01XZ</A></H2>
+<H3>
+Special similarity transformation of the dual state-space system (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a special transformation to a system given as a triple
+  (A,B,C),
+
+     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
+
+  where P is a matrix with 1 on the secondary diagonal, and with 0
+  in the other entries. Matrix A can be specified as a band matrix.
+  Optionally, matrix D of the system can be transposed. This
+  transformation is actually a special similarity transformation of
+  the dual system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01XZ( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBD
+      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed (pertransposed) matrix P*A'*P.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-P part of this array contains
+          the dual input/state matrix P*C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
+          LDB &gt;= 1        if M = 0 and P = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the dual state/output matrix B'*P.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD,MAX(M,P))
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the original direct transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading M-by-P part of this
+          array contains the transposed direct transmission matrix
+          D'. The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
+          LDD &gt;= 1          if JOBD = 'Z'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The rows and/or columns of the matrices of the triplet (A,B,C)
+  and, optionally, of the matrix D are swapped in a special way.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01YD.html b/doc/_build/html/_static/doc/TB01YD.html
new file mode 100644
index 00000000..39fc712e
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01YD.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>TB01YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01YD">TB01YD</A></H2>
+<H3>
+Special similarity transformation of a state-space system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a special similarity transformation to a system given as
+  a triple (A,B,C),
+
+     A &lt;-- P * A * P,  B &lt;-- P * B,  C &lt;-- C * P,
+
+  where P is a matrix with 1 on the secondary diagonal, and with 0
+  in the other entries.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01YD( N, M, P, A, LDA, B, LDB, C, LDC, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed matrix P*A*P.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed matrix P*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0.
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*P.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The rows and/or columns of the matrices of the triplet (A,B,C)
+  are swapped in a special way.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB01ZD.html b/doc/_build/html/_static/doc/TB01ZD.html
new file mode 100644
index 00000000..7563f17a
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB01ZD.html
@@ -0,0 +1,335 @@
+<HTML>
+<HEAD><TITLE>TB01ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ZD">TB01ZD</A></H2>
+<H3>
+Controllable realization for single-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  single-input system
+
+          dX/dt = A * X + B * U,
+             Y  = C * X,
+
+  where A is an N-by-N matrix, B is an N element vector, C is an
+  P-by-N matrix, and A and B are reduced by this routine to
+  orthogonal canonical form using (and optionally accumulating)
+  orthogonal similarity transformations, which are also applied
+  to C.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
+     $                   TAU, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INFO, LDA, LDC, LDWORK, LDZ, N, NCONT, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), C(LDC,*), DWORK(*), TAU(*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT upper Hessenberg
+          part of this array contains the canonical form of the
+          state dynamics matrix, given by Z' * A * Z, of a
+          controllable realization for the original system. The
+          elements below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, the original input/state vector B.
+          On exit, the leading NCONT elements of this array contain
+          canonical form of the input/state vector, given by Z' * B,
+          with all elements but B(1) set to zero.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output/state matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output/state matrix, given by C * Z, and
+          the leading P-by-NCONT part contains the output/state
+          matrix of the controllable realization.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this array
+          contains the matrix of accumulated orthogonal similarity
+          transformations which reduces the given system to
+          orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of (A,B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as an absolute tolerance;
+          elements with absolute value less than TOL are considered
+          neglijible. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by
+          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,N,P).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder matrix which reduces all but the first element
+  of vector B to zero is found and this orthogonal similarity
+  transformation is applied to the matrix A. The resulting A is then
+  reduced to upper Hessenberg form by a sequence of Householder
+  transformations. Finally, the order of the controllable state-
+  space representation (NCONT) is determined by finding the position
+  of the first sub-diagonal element of A which is below an
+  appropriate zero threshold, either TOL or TOLDEF (see parameter
+  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
+  zero, and no computations for reducing the system to orthogonal
+  canonical form are performed.
+  All orthogonal transformations determined in this process are also
+  applied to the matrix C, from the right.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Hammarling, S.J.
+      Notes on the use of orthogonal similarity transformations in
+      control.
+      NPL Report DITC 8/82, August 1982.
+
+  [3] Paige, C.C
+      Properties of numerical algorithms related to computing
+      controllability.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01ZD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, N, NCONT, P
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 TAU(NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01ZD, DORGQR
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*           Find a controllable realization for the given system.
+            CALL TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
+     $                   TAU, TOL, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NCONT
+               DO 20 I = 1, NCONT
+                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
+               WRITE ( NOUT, FMT = 99991 )
+               DO 30 I = 1, P
+                  WRITE ( NOUT, FMT = 99994 ) ( C(I,J), J = 1,NCONT )
+   30          CONTINUE
+               IF ( LSAME( JOBZ, 'F' ) )
+     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                         INFO )
+               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ZD = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
+     $       'ble realization is ')
+99996 FORMAT (/' The input/state vector B of a controllable realizatio',
+     $       'n is ',/(1X,F8.4))
+99995 FORMAT (/' The similarity transformation matrix Z is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' The output/state matrix C of a controllable realizati',
+     $       'on is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ZD EXAMPLE PROGRAM DATA
+   3     2     0.0     I
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   2.0   1.0
+   1.0   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ZD EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  3
+
+ The state dynamics matrix A of a controllable realization is 
+   1.0000   1.4142   0.0000
+   2.8284  -1.0000   2.8284
+   0.0000   1.4142   1.0000
+
+ The input/state vector B of a controllable realization is 
+  -1.4142
+   0.0000
+   0.0000
+
+ The output/state matrix C of a controllable realization is 
+  -0.7071  -2.0000   0.7071
+  -0.7071   0.0000  -0.7071
+
+ The similarity transformation matrix Z is 
+  -0.7071   0.0000  -0.7071
+   0.0000  -1.0000   0.0000
+  -0.7071   0.0000   0.7071
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB03AD.html b/doc/_build/html/_static/doc/TB03AD.html
new file mode 100644
index 00000000..91ba6f3c
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB03AD.html
@@ -0,0 +1,499 @@
+<HTML>
+<HEAD><TITLE>TB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB03AD">TB03AD</A></H2>
+<H3>
+Left/right polynomial matrix representation of a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a relatively prime left polynomial matrix representation
+  inv(P(s))*Q(s) or right polynomial matrix representation
+  Q(s)*inv(P(s)) with the same transfer matrix T(s) as that of a
+  given state-space representation, i.e.
+
+     inv(P(s))*Q(s) = Q(s)*inv(P(s)) = T(s) = C*inv(s*I-A)*B + D.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, NR, INDEX, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1, LDVCO2,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, LERI
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
+     $                  LDQCO1, LDQCO2, LDVCO1, LDVCO2, LDWORK, M, N,
+     $                  NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether the left polynomial matrix
+          representation or the right polynomial matrix
+          representation is required as follows:
+          = 'L':  A left matrix fraction is required;
+          = 'R':  A right matrix fraction is required.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the triplet
+          (A,B,C), before computing a minimal state-space
+          representation, as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the original state dynamics matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the upper block Hessenberg state dynamics matrix Amin of a
+          minimal realization for the original system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; the remainder
+          of the leading N-by-MAX(M,P) part is used as internal
+          workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the transformed input/state matrix Bmin.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; the remainder
+          of the leading MAX(M,P)-by-N part is used as internal
+          workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cmin.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array must contain the
+          original direct transmission matrix D; the remainder of
+          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
+          workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  NR      (output) INTEGER
+          The order of the minimal state-space representation
+          (Amin,Bmin,Cmin).
+
+  INDEX   (output) INTEGER array, dimension (P), if LERI = 'L', or
+                                  dimension (M), if LERI = 'R'.
+          If LERI = 'L', INDEX(I), I = 1,2,...,P, contains the
+          maximum degree of the polynomials in the I-th row of the
+          denominator matrix P(s) of the left polynomial matrix
+          representation.
+          These elements are ordered so that
+          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(P).
+          If LERI = 'R', INDEX(I), I = 1,2,...,M, contains the
+          maximum degree of the polynomials in the I-th column of
+          the denominator matrix P(s) of the right polynomial
+          matrix representation.
+          These elements are ordered so that
+          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(M).
+
+  PCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,N+1)
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          The leading porm-by-porm-by-kpcoef part of this array
+          contains the coefficients of the denominator matrix P(s),
+          where kpcoef = MAX(INDEX(I)) + 1.
+          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
+          LERI = 'L' then iorj = I, otherwise iorj = J.
+          Thus for LERI = 'L', P(s) =
+          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P), if LERI = 'L';
+          LDPCO1 &gt;= MAX(1,M), if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P), if LERI = 'L';
+          LDPCO2 &gt;= MAX(1,M), if LERI = 'R'.
+
+  QCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,N+1)
+          If LERI = 'L' then porp = M, otherwise porp = P.
+          If LERI = 'L', the leading porm-by-porp-by-kpcoef part
+          of this array contains the coefficients of the numerator
+          matrix Q(s).
+          If LERI = 'R', the leading porp-by-porm-by-kpcoef part
+          of this array contains the coefficients of the numerator
+          matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,P),   if LERI = 'L';
+          LDQCO1 &gt;= MAX(1,M,P), if LERI = 'R'.
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M),   if LERI = 'L';
+          LDQCO2 &gt;= MAX(1,M,P), if LERI = 'R'.
+
+  VCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDVCO1,LDVCO2,N+1)
+          The leading porm-by-NR-by-kpcoef part of this array
+          contains the coefficients of the intermediate matrix V(s).
+          VCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+
+  LDVCO1  INTEGER
+          The leading dimension of array VCOEFF.
+          LDVCO1 &gt;= MAX(1,P), if LERI = 'L';
+          LDVCO1 &gt;= MAX(1,M), if LERI = 'R'.
+
+  LDVCO2  INTEGER
+          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
+          where  PM = P, if LERI = 'L';
+                 PM = M, if LERI = 'R'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if a singular matrix was encountered during the
+                computation of V(s);
+          = 2:  if a singular matrix was encountered during the
+                computation of P(s).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for a left matrix fraction will be described here:
+  right matrix fractions are dealt with by constructing a left
+  fraction for the dual of the original system. The first step is to
+  obtain, by means of orthogonal similarity transformations, a
+  minimal state-space representation (Amin,Bmin,Cmin,D) for the
+  original system (A,B,C,D), where Amin is lower block Hessenberg
+  with all its superdiagonal blocks upper triangular and Cmin has
+  all but its first rank(C) columns zero.  The number and dimensions
+  of the blocks of Amin now immediately yield the row degrees of
+  P(s) with P(s) row proper: furthermore, the P-by-NR polynomial
+  matrix V(s) (playing a similar role to S(s) in Wolovich's
+  Structure Theorem) can be calculated a column block at a time, in
+  reverse order, from Amin. P(s) is then found as if it were the
+  O-th column block of V(s) (using Cmin as well as Amin), while
+  Q(s) = (V(s) * Bmin) + (P(s) * D). Finally, a special similarity
+  transformation is used to put Amin in an upper block Hessenberg
+  form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Williams, T.W.C.
+      An Orthogonal Structure Theorem for Linear Systems.
+      Kingston Polytechnic Control Systems Research Group,
+      Internal Report 82/2, July 1982.
+
+  [2] Patel, R.V.
+      On Computing Matrix Fraction Descriptions and Canonical
+      Forms of Linear Time-Invariant Systems.
+      UMIST Control Systems Centre Report 489, 1980.
+      (Algorithms 1 and 2, extensively modified).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDPCO1, LDPCO2, LDQCO1,
+     $                 LDQCO2, LDVCO1, LDVCO2, NMAXP1
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP, LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP, LDVCO1 = MAXMP,
+     $                   LDVCO2 = NMAX, NMAXP1 = NMAX+1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
+     $                                 MAXMP*( MAXMP + 2 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INDBLK, INFO, J, K, KPCOEF, M, N, NR, P, PORM,
+     $                 PORP
+      CHARACTER*1      EQUIL, LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DWORK(LDWORK),
+     $                 PCOEFF(LDPCO1,LDPCO2,NMAXP1),
+     $                 QCOEFF(LDQCO1,LDQCO2,NMAXP1),
+     $                 VCOEFF(LDVCO1,LDVCO2,NMAXP1)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, LERI, EQUIL
+      LLERI = LSAME( LERI, 'L' )
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99986 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99985 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the right pmr which is equivalent to the ssr
+*              C*inv(sI-A)*B+D.
+               CALL TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C,
+     $                      LDC, D, LDD, NR, INDEX, PCOEFF, LDPCO1,
+     $                      LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF,
+     $                      LDVCO1, LDVCO2, TOL, IWORK, DWORK, LDWORK,
+     $                      INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  INDBLK = 0
+                  DO 40 I = 1, N
+                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 ) ( IWORK(I), I = 1,INDBLK )
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 60 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80             CONTINUE
+                  IF ( LLERI ) THEN
+                     PORM = P
+                     PORP = M
+                     WRITE ( NOUT, FMT = 99992 ) INDBLK
+                  ELSE
+                     PORM = M
+                     PORP = P
+                     WRITE ( NOUT, FMT = 99991 ) INDBLK
+                  END IF
+                  WRITE ( NOUT, FMT = 99990 ) ( INDEX(I), I = 1,PORM )
+                  KPCOEF = 0
+                  DO 100 I = 1, PORM
+                     KPCOEF = MAX( KPCOEF, INDEX(I) )
+  100             CONTINUE
+                  KPCOEF = KPCOEF + 1
+                  WRITE ( NOUT, FMT = 99989 )
+                  DO 140 I = 1, PORM
+                     DO 120 J = 1, PORM
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( PCOEFF(I,J,K), K = 1,KPCOEF )
+  120                CONTINUE
+  140             CONTINUE
+                  WRITE ( NOUT, FMT = 99988 )
+                  IF ( LLERI ) THEN
+                     DO 180 I = 1, PORM
+                        DO 160 J = 1, PORP
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
+  160                   CONTINUE
+  180                CONTINUE
+                  ELSE
+                     DO 220 I = 1, PORP
+                        DO 200 J = 1, PORM
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
+  200                   CONTINUE
+  220                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB03AD = ',I2)
+99997 FORMAT (' The order of the minimal state-space representation = ',
+     $       I2,//' The transformed state dynamics matrix of a minimal',
+     $       ' realization is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' and the dimensions of its diagonal blocks are ',/20(I5)
+     $       )
+99994 FORMAT (/' The transformed input/state matrix of a minimal reali',
+     $       'zation is ')
+99993 FORMAT (/' The transformed state/output matrix of a minimal real',
+     $       'ization is ')
+99992 FORMAT (/' The observability index of the transformed minimal sy',
+     $       'stem representation = ',I2)
+99991 FORMAT (/' The controllability index of the transformed minimal ',
+     $       'system representation = ',I2)
+99990 FORMAT (/' INDEX is ',/20(I5))
+99989 FORMAT (/' The denominator matrix P(s) is ')
+99988 FORMAT (/' The numerator matrix Q(s) is ')
+99987 FORMAT (/' N is out of range.',/' N = ',I5)
+99986 FORMAT (/' M is out of range.',/' M = ',I5)
+99985 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB03AD EXAMPLE PROGRAM DATA
+   3     1     2     0.0     R     N
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB03AD EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal state-space representation =  3
+
+ The transformed state dynamics matrix of a minimal realization is 
+   1.0000  -1.4142   0.0000
+  -2.8284  -1.0000   2.8284
+   0.0000   1.4142   1.0000
+
+ and the dimensions of its diagonal blocks are 
+    1    1    1
+
+ The transformed input/state matrix of a minimal realization is 
+  -1.4142
+   0.0000
+   0.0000
+
+ The transformed state/output matrix of a minimal realization is 
+   0.7071   1.0000   0.7071
+  -0.7071   0.0000  -0.7071
+
+ The controllability index of the transformed minimal system representation =  3
+
+ INDEX is 
+    3
+
+ The denominator matrix P(s) is 
+   0.1768  -0.1768  -1.5910   1.5910
+
+ The numerator matrix Q(s) is 
+   0.0000  -0.1768   0.7071   0.8839
+   0.1768   0.0000  -1.5910   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TB04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04AD">TB04AD</A></H2>
+<H3>
+Transfer matrix of a given state-space representation (A,B,C,D)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the transfer matrix T(s) of a given state-space
+  representation (A,B,C,D). T(s) is expressed as either row or
+  column polynomial vectors over monic least common denominator
+  polynomials.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF, LDUCO1,
+     $                   LDUCO2, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
+     $                  LDUCO2, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ROWCOL  CHARACTER*1
+          Indicates whether the transfer matrix T(s) is required
+          as rows or columns over common denominators as follows:
+          = 'R':  T(s) is required as rows over common denominators;
+          = 'C':  T(s) is required as columns over common
+                  denominators.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the original state dynamics matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the upper block Hessenberg state dynamics matrix A of a
+          transformed representation for the original system: this
+          is completely controllable if ROWCOL = 'R', or completely
+          observable if ROWCOL = 'C'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if ROWCOL = 'R', and (LDB,MAX(M,P)) if ROWCOL = 'C'.
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; if
+          ROWCOL = 'C', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the transformed input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; if
+          ROWCOL = 'C', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDC &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M),
+          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
+          The leading P-by-M part of this array must contain the
+          original direct transmission matrix D; if ROWCOL = 'C',
+          this array is modified internally, but restored on exit,
+          and the remainder of the leading MAX(M,P)-by-MAX(M,P)
+          part is used as internal workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  NR      (output) INTEGER
+          The order of the transformed state-space representation.
+
+  INDEX   (output) INTEGER array, dimension (porm), where porm = P,
+          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
+          The degrees of the denominator polynomials.
+
+  DCOEFF  (output) DOUBLE PRECISION array, dimension (LDDCOE,N+1)
+          The leading porm-by-kdcoef part of this array contains
+          the coefficients of each denominator polynomial, where
+          kdcoef = MAX(INDEX(I)) + 1.
+          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of
+          the I-th denominator polynomial, where K = 1,2,...,kdcoef.
+
+  LDDCOE  INTEGER
+          The leading dimension of array DCOEFF.
+          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
+          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
+
+  UCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDUCO1,LDUCO2,N+1)
+          If ROWCOL = 'R' then porp = M, otherwise porp = P.
+          The leading porm-by-porp-by-kdcoef part of this array
+          contains the coefficients of the numerator matrix U(s).
+          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
+          Thus for ROWCOL = 'R', U(s) =
+          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+
+  LDUCO1  INTEGER
+          The leading dimension of array UCOEFF.
+          LDUCO1 &gt;= MAX(1,P) if ROWCOL = 'R';
+          LDUCO1 &gt;= MAX(1,M) if ROWCOL = 'C'.
+
+  LDUCO2  INTEGER
+          The second dimension of array UCOEFF.
+          LDUCO2 &gt;= MAX(1,M) if ROWCOL = 'R';
+          LDUCO2 &gt;= MAX(1,P) if ROWCOL = 'C'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          The tolerance to be used in determining the i-th row of
+          T(s), where i = 1,2,...,porm. If the user sets TOL1 &gt; 0,
+          then the given value of TOL1 is used as an absolute
+          tolerance; elements with absolute value less than TOL1 are
+          considered neglijible. If the user sets TOL1 &lt;= 0, then
+          an implicitly computed, default tolerance, defined in
+          the SLICOT Library routine TB01ZD, is used instead.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance to be used to separate out a controllable
+          subsystem of (A,B,C). If the user sets TOL2 &gt; 0, then
+          the given value of TOL2 is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL2 is considered to be of full rank.  If the user sets
+          TOL2 &lt;= 0, then an implicitly computed, default tolerance,
+          defined in the SLICOT Library routine TB01UD, is used
+          instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N + 1) + MAX(N*MP + 2*N + MAX(N,MP),
+                                    3*MP, PM)),
+          where MP = M, PM = P, if ROWCOL = 'R';
+                MP = P, PM = M, if ROWCOL = 'C'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for transfer matrices factorized by rows will be
+  described here: T(s) factorized by columns is dealt with by
+  operating on the dual of the original system.  Each row of
+  T(s) is simply a single-output relatively left prime polynomial
+  matrix representation, so can be calculated by applying a
+  simplified version of the Orthogonal Structure Theorem to a
+  minimal state-space representation for the corresponding row of
+  the given system. A minimal state-space representation is obtained
+  using the Orthogonal Canonical Form to first separate out a
+  completely controllable one for the overall system and then, for
+  each row in turn, applying it again to the resulting dual SIMO
+  (single-input multi-output) system. Note that the elements of the
+  transformed matrix A so calculated are individually scaled in a
+  way which guarantees a monic denominator polynomial.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Williams, T.W.C.
+      An Orthogonal Structure Theorem for Linear Systems.
+      Control Systems Research Group, Kingston Polytechnic,
+      Internal Report 82/2, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDUCO1, LDUCO2,
+     $                 NMAXP1
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP, LDDCOE = MAXMP, LDUCO1 = MAXMP,
+     $                   LDUCO2 = MAXMP, NMAXP1 = NMAX+1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX + 1 ) +
+     $                            MAX( NMAX*MAXMP + 2*NMAX +
+     $                                 MAX( NMAX, MAXMP ), 3*MAXMP ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL1, TOL2
+      INTEGER          I, II, IJ, INDBLK, INFO, J, JJ, KDCOEF, M, N,
+     $                 NR, P, PORM, PORP
+      CHARACTER*1      ROWCOL
+      CHARACTER*132    ULINE
+      LOGICAL          LROWCO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,NMAXP1),
+     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,NMAXP1)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB04AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL1, TOL2, ROWCOL
+      LROWCO = LSAME( ROWCOL, 'R' )
+      ULINE(1:20) = ' '
+      DO 20 I = 21, 132
+         ULINE(I:I) = '-'
+   20 CONTINUE
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99985 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99984 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the transfer matrix T(s) of (A,B,C,D).
+               CALL TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                      LDUCO1, LDUCO2, TOL1, TOL2, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80             CONTINUE
+                  INDBLK = 0
+                  DO 100 I = 1, N
+                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+  100             CONTINUE
+                  IF ( LROWCO ) THEN
+                     PORM = P
+                     PORP = M
+                     WRITE ( NOUT, FMT = 99993 ) INDBLK,
+     $                          ( IWORK(I), I = 1,INDBLK )
+                  ELSE
+                     PORM = M
+                     PORP = P
+                     WRITE ( NOUT, FMT = 99992 ) INDBLK,
+     $                          ( IWORK(I), I = 1,INDBLK )
+                  END IF
+                  WRITE ( NOUT, FMT = 99991 ) ( INDEX(I), I = 1,PORM )
+                  WRITE ( NOUT, FMT = 99990 )
+                  KDCOEF = 0
+                  DO 120 I = 1, PORM
+                     KDCOEF = MAX( KDCOEF, INDEX(I) )
+  120             CONTINUE
+                  KDCOEF = KDCOEF + 1
+                  DO 160 II = 1, PORM
+                     DO 140 JJ = 1, PORP
+                        WRITE ( NOUT, FMT = 99989 ) II, JJ,
+     $                    ( UCOEFF(II,JJ,IJ), IJ = 1,KDCOEF )
+                        WRITE ( NOUT, FMT = 99988 ) ULINE(1:7*KDCOEF+21)
+                        WRITE ( NOUT, FMT = 99987 )
+     $                        ( DCOEFF(II,IJ), IJ = 1,KDCOEF )
+  140                CONTINUE
+  160             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB04AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB04AD = ',I2)
+99997 FORMAT (' The order of the transformed state-space representatio',
+     $       'n = ',I2,//' The transformed state dynamics matrix A is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed input/state matrix B is ')
+99994 FORMAT (/' The transformed state/output matrix C is ')
+99993 FORMAT (/' The controllability index of the transformed state-sp',
+     $       'ace representation = ',I2,//' The dimensions of the diag',
+     $       'onal blocks of the transformed A are ',/20(I5))
+99992 FORMAT (/' The observability index of the transformed state-spac',
+     $       'e representation = ',I2,//' The dimensions of the diagon',
+     $       'al blocks of the transformed A are ',/20(I5))
+99991 FORMAT (/' The degrees of the denominator polynomials are',/20(I5)
+     $       )
+99990 FORMAT (/' The coefficients of polynomials in the transfer matri',
+     $       'x T(s) are ')
+99989 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
+99988 FORMAT (1X,A)
+99987 FORMAT (20X,20(1X,F6.2))
+99986 FORMAT (/' N is out of range.',/' N = ',I5)
+99985 FORMAT (/' M is out of range.',/' M = ',I5)
+99984 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB04AD EXAMPLE PROGRAM DATA
+   3     2     2  0.0        0.0     R
+  -1.0   0.0   0.0
+   0.0  -2.0   0.0
+   0.0   0.0  -3.0
+   0.0   1.0  -1.0
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+   1.0   1.0   1.0
+   1.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB04AD EXAMPLE PROGRAM RESULTS
+
+ The order of the transformed state-space representation =  3
+
+ The transformed state dynamics matrix A is 
+  -2.5000  -0.2887  -0.4082
+  -0.2887  -1.5000  -0.7071
+  -0.4082  -0.7071  -2.0000
+
+ The transformed input/state matrix B is 
+  -1.4142  -0.7071
+   0.0000   1.2247
+   0.0000   0.0000
+
+ The transformed state/output matrix C is 
+   0.0000   0.8165   1.1547
+   0.0000   1.6330   0.5774
+
+ The controllability index of the transformed state-space representation =  2
+
+ The dimensions of the diagonal blocks of the transformed A are 
+    2    1
+
+ The degrees of the denominator polynomials are
+    2    3
+
+ The coefficients of polynomials in the transfer matrix T(s) are 
+
+ element ( 1, 1) is    1.00   5.00   7.00   0.00
+                     -----------------------------
+                       1.00   5.00   6.00   0.00
+
+ element ( 1, 2) is    0.00   1.00   3.00   0.00
+                     -----------------------------
+                       1.00   5.00   6.00   0.00
+
+ element ( 2, 1) is    0.00   0.00   1.00   1.00
+                     -----------------------------
+                       1.00   6.00  11.00   6.00
+
+ element ( 2, 2) is    1.00   8.00  20.00  15.00
+                     -----------------------------
+                       1.00   6.00  11.00   6.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TB04BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BD">TB04BD</A></H2>
+<H3>
+Transfer matrix of a given state-space representation (A,B,C,D), using the pole-zeros method
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transfer function matrix G of a state-space
+  representation (A,B,C,D) of a linear time-invariant multivariable
+  system, using the pole-zeros method. Each element of the transfer
+  function matrix is returned in a cancelled, minimal form, with
+  numerator and denominator polynomials stored either in increasing
+  or decreasing order of the powers of the indeterminate.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
+     $                   GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          EQUIL, JOBD, ORDER
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDIGD, LDIGN, LDWORK,
+     $                   M, MD, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                   DWORK(*), GD(*), GN(*)
+      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*), IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state-space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed to be a zero matrix.
+
+  ORDER   CHARACTER*1
+          Specifies the order in which the polynomial coefficients
+          are stored, as follows:
+          = 'I':  Increasing order of powers of the indeterminate;
+          = 'D':  Decreasing order of powers of the indeterminate.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system (A,B,C,D).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  MD      (input) INTEGER
+          The maximum degree of the polynomials in G, plus 1. An
+          upper bound for MD is N+1.  MD &gt;= 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if EQUIL = 'S', the leading N-by-N part of this
+          array contains the balanced matrix inv(S)*A*S, as returned
+          by SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the contents of B are destroyed: all elements but
+          those in the first row are set to zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, if EQUIL = 'S', the leading P-by-N part of this
+          array contains the balanced matrix C*S, as returned by
+          SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this array must
+          contain the matrix D.
+          If JOBD = 'Z', the array D is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  IGN     (output) INTEGER array, dimension (LDIGN,M)
+          The leading P-by-M part of this array contains the degrees
+          of the numerator polynomials in the transfer function
+          matrix G. Specifically, the (i,j) element of IGN contains
+          the degree of the numerator polynomial of the transfer
+          function G(i,j) from the j-th input to the i-th output.
+
+  LDIGN   INTEGER
+          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
+
+  IGD     (output) INTEGER array, dimension (LDIGD,M)
+          The leading P-by-M part of this array contains the degrees
+          of the denominator polynomials in the transfer function
+          matrix G. Specifically, the (i,j) element of IGD contains
+          the degree of the denominator polynomial of the transfer
+          function G(i,j).
+
+  LDIGD   INTEGER
+          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
+
+  GN      (output) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array contains the coefficients of the numerator
+          polynomials, Num(i,j), of the transfer function matrix G.
+          The polynomials are stored in a column-wise order, i.e.,
+          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
+          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
+          MD memory locations are reserved for each polynomial,
+          hence, the (i,j) polynomial is stored starting from the
+          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
+          increasing or decreasing order of the powers of the
+          indeterminate, according to ORDER.
+
+  GD      (output) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array contains the coefficients of the denominator
+          polynomials, Den(i,j), of the transfer function matrix G.
+          The polynomials are stored in the same way as the
+          numerator polynomials.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of a single-input system (A,b) or (A',c'),
+          where b and c' are columns in B and C' (C transposed). If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as an absolute tolerance; elements with absolute value
+          less than TOL are considered neglijible. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH), and bc denotes the currently used
+          column in B or C' (see METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N+P) +
+                           MAX( N + MAX( N,P ), N*(2*N+5)))
+          If N &gt;= P, N &gt;= 1, the formula above can be written as
+          LDWORK &gt;= N*(3*N + P + 5).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QR algorithm failed to converge when trying to
+                compute the zeros of a transfer function;
+          = 2:  the QR algorithm failed to converge when trying to
+                compute the poles of a transfer function.
+                The errors INFO = 1 or 2 are unlikely to appear.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the pole-zero method proposed in [1].
+  This method is based on an algorithm for computing the transfer
+  function of a single-input single-output (SISO) system.
+  Let (A,b,c,d) be a SISO system. Its transfer function is computed
+  as follows:
+
+  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
+  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
+  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
+  4) Compute the zeros of (Ao,bo,co,d).
+  5) Compute the gain of (Ao,bo,co,d).
+
+  This algorithm can be implemented using only orthogonal
+  transformations [1]. However, for better efficiency, the
+  implementation in TB04BD uses one elementary transformation
+  in Step 4 and r elementary transformations in Step 5 (to reduce
+  an upper Hessenberg matrix to upper triangular form). These
+  special elementary transformations are numerically stable
+  in practice.
+
+  In the multi-input multi-output (MIMO) case, the algorithm
+  computes each element (i,j) of the transfer function matrix G,
+  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
+  is performed once for each value of j (each column of B). The
+  matrices Ac and Ao result in Hessenberg form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A. and Sima, V.
+      Numerically Stable Algorithm for Transfer Function Matrix
+      Evaluation.
+      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable in practice and requires about
+  20*N**3 floating point operations at most, but usually much less.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For maximum efficiency of index calculations, GN and GD are
+  implemented as one-dimensional arrays.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB04BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, MDMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
+     $                   MDMAX = NMAX + 1 )
+      INTEGER          PMNMAX
+      PARAMETER        ( PMNMAX = PMAX*MMAX*MDMAX )
+      INTEGER          LDA, LDB, LDC, LDD, LDIGD, LDIGN
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDIGD = PMAX, LDIGN = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
+     $                            MAX( NMAX + MAX( NMAX, PMAX ),
+     $                                 NMAX*( 2*NMAX + 5 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, IJ, INFO, J, K, M, MD, N, P
+      CHARACTER*1      JOBD, ORDER, EQUIL
+      CHARACTER*132    ULINE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), GD(PMNMAX),
+     $                 GN(PMNMAX)
+      INTEGER          IGD(LDIGD,MMAX), IGN(LDIGN,MMAX), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB04BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, ORDER, EQUIL
+      MD = N + 1
+      ULINE(1:20) = ' '
+      DO 20 I = 21, 132
+         ULINE(I:I) = '-'
+   20 CONTINUE
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99989 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the transfer matrix T(s) of (A,B,C,D).
+               CALL TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
+     $                      LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
+     $                      GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( LSAME( ORDER, 'I' ) ) THEN
+                     WRITE ( NOUT, FMT = 99997 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99996 )
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 J = 1, M
+                     DO 40 I = 1, P
+                        IJ = ( (J-1)*P + I-1 )*MD + 1
+                        WRITE ( NOUT, FMT = 99994 ) I, J,
+     $                    ( GN(K), K = IJ,IJ+IGN(I,J) )
+                        WRITE ( NOUT, FMT = 99993 )
+     $                          ULINE(1:7*(IGD(I,J)+1)+21)
+                        WRITE ( NOUT, FMT = 99992 )
+     $                        ( GD(K), K = IJ,IJ+IGD(I,J) )
+   40                CONTINUE
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB04BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB04BD = ',I2)
+99997 FORMAT (/' The polynomial coefficients appear in increasing',
+     $         ' order'/' of the powers of the indeterminate')
+99996 FORMAT (/' The polynomial coefficients appear in decreasing',
+     $         ' order'/' of the powers of the indeterminate')
+99995 FORMAT (/' The coefficients of polynomials in the transfer matri',
+     $       'x T(s) are ')
+99994 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
+99993 FORMAT (1X,A)
+99992 FORMAT (20X,20(1X,F6.2))
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB04BD EXAMPLE PROGRAM DATA
+   3     2     2  0.0         D     I     N
+  -1.0   0.0   0.0
+   0.0  -2.0   0.0
+   0.0   0.0  -3.0
+   0.0   1.0  -1.0
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+   1.0   1.0   1.0
+   1.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB04BD EXAMPLE PROGRAM RESULTS
+
+
+ The polynomial coefficients appear in increasing order
+ of the powers of the indeterminate
+
+ The coefficients of polynomials in the transfer matrix T(s) are 
+
+ element ( 1, 1) is    7.00   5.00   1.00
+                     ----------------------
+                       6.00   5.00   1.00
+
+ element ( 2, 1) is    1.00
+                     ----------------------
+                       6.00   5.00   1.00
+
+ element ( 1, 2) is    1.00
+                     ---------------
+                       2.00   1.00
+
+ element ( 2, 2) is    5.00   5.00   1.00
+                     ----------------------
+                       2.00   3.00   1.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BV.html b/doc/_build/html/_static/doc/TB04BV.html
new file mode 100644
index 00000000..dfa8d2bf
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB04BV.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>TB04BV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BV">TB04BV</A></H2>
+<H3>
+Strictly proper part of a proper transfer function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To separate the strictly proper part G0 from the constant part D
+  of an P-by-M proper transfer function matrix G.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BV( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
+     $                   GD, D, LDD, TOL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          ORDER
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
+      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ORDER   CHARACTER*1
+          Specifies the order in which the polynomial coefficients
+          of the transfer function matrix are stored, as follows:
+          = 'I':  Increasing order of powers of the indeterminate;
+          = 'D':  Decreasing order of powers of the indeterminate.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  MD      (input) INTEGER
+          The maximum degree of the polynomials in G, plus 1, i.e.,
+          MD = MAX(IGD(I,J)) + 1.
+               I,J
+
+  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
+          On entry, the leading P-by-M part of this array must
+          contain the degrees of the numerator polynomials in G:
+          the (i,j) element of IGN must contain the degree of the
+          numerator polynomial of the polynomial ratio G(i,j).
+          On exit, the leading P-by-M part of this array contains
+          the degrees of the numerator polynomials in G0.
+
+  LDIGN   INTEGER
+          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
+
+  IGD     (input) INTEGER array, dimension (LDIGD,M)
+          The leading P-by-M part of this array must contain the
+          degrees of the denominator polynomials in G (and G0):
+          the (i,j) element of IGD contains the degree of the
+          denominator polynomial of the polynomial ratio G(i,j).
+
+  LDIGD   INTEGER
+          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
+
+  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
+          On entry, this array must contain the coefficients of the
+          numerator polynomials, Num(i,j), of the transfer function
+          matrix G. The polynomials are stored in a column-wise
+          order, i.e., Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2),
+          Num(2,2), ..., Num(P,2), ..., Num(1,M), Num(2,M), ...,
+          Num(P,M); MD memory locations are reserved for each
+          polynomial, hence, the (i,j) polynomial is stored starting
+          from the location ((j-1)*P+i-1)*MD+1. The coefficients
+          appear in increasing or decreasing order of the powers
+          of the indeterminate, according to ORDER.
+          On exit, this array contains the coefficients of the
+          numerator polynomials of the strictly proper part G0 of
+          the transfer function matrix G, stored similarly.
+
+  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array must contain the coefficients of the
+          denominator polynomials, Den(i,j), of the transfer
+          function matrix G. The polynomials are stored as for the
+          numerator polynomials.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= max(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the degrees of
+          the numerators Num0(i,j) of the strictly proper part of
+          the transfer function matrix G. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as an absolute
+          tolerance; the leading coefficients with absolute value
+          less than TOL are considered neglijible. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by TOLDEF = IGN(i,j)*EPS*NORM( Num(i,j) ) is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH), and NORM denotes the infinity
+          norm (the maximum coefficient in absolute value).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the transfer function matrix is not proper;
+          = 2:  if a denominator polynomial is null.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j) entry of the real matrix D is zero, if the degree of
+  Num(i,j), IGN(i,j), is less than the degree of Den(i,j), IGD(i,j),
+  and it is given by the ratio of the leading coefficients of
+  Num(i,j) and Den(i,j), if IGN(i,j) is equal to IGD(i,j),
+  for i = 1 : P, and for j = 1 : M.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For maximum efficiency of index calculations, GN and GD are
+  implemented as one-dimensional arrays.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BW.html b/doc/_build/html/_static/doc/TB04BW.html
new file mode 100644
index 00000000..3930d97d
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB04BW.html
@@ -0,0 +1,159 @@
+<HTML>
+<HEAD><TITLE>TB04BW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BW">TB04BW</A></H2>
+<H3>
+Sum of a rational matrix and a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the sum of an P-by-M rational matrix G and a real
+  P-by-M matrix D.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BW( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
+     $                   GD, D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          ORDER
+      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
+      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ORDER   CHARACTER*1
+          Specifies the order in which the polynomial coefficients
+          of the rational matrix are stored, as follows:
+          = 'I':  Increasing order of powers of the indeterminate;
+          = 'D':  Decreasing order of powers of the indeterminate.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  MD      (input) INTEGER
+          The maximum degree of the polynomials in G, plus 1, i.e.,
+          MD = MAX(IGN(I,J),IGD(I,J)) + 1.
+               I,J
+
+  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
+          On entry, the leading P-by-M part of this array must
+          contain the degrees of the numerator polynomials in G:
+          the (i,j) element of IGN must contain the degree of the
+          numerator polynomial of the polynomial ratio G(i,j).
+          On exit, the leading P-by-M part of this array contains
+          the degrees of the numerator polynomials in G + D.
+
+  LDIGN   INTEGER
+          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
+
+  IGD     (input) INTEGER array, dimension (LDIGD,M)
+          The leading P-by-M part of this array must contain the
+          degrees of the denominator polynomials in G (and G + D):
+          the (i,j) element of IGD contains the degree of the
+          denominator polynomial of the polynomial ratio G(i,j).
+
+  LDIGD   INTEGER
+          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
+
+  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
+          On entry, this array must contain the coefficients of the
+          numerator polynomials, Num(i,j), of the rational matrix G.
+          The polynomials are stored in a column-wise order, i.e.,
+          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
+          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
+          MD memory locations are reserved for each polynomial,
+          hence, the (i,j) polynomial is stored starting from the
+          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
+          increasing or decreasing order of the powers of the
+          indeterminate, according to ORDER.
+          On exit, this array contains the coefficients of the
+          numerator polynomials of the rational matrix G + D,
+          stored similarly.
+
+  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array must contain the coefficients of the
+          denominator polynomials, Den(i,j), of the rational
+          matrix G. The polynomials are stored as for the
+          numerator polynomials.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= max(1,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j) entry of the real matrix D is added to the (i,j) entry
+  of the matrix G, g(i,j), which is a ratio of two polynomials,
+  for i = 1 : P, and for j = 1 : M. If g(i,j) = 0, it is assumed
+  that its denominator is 1.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Often, the rational matrix G is found from a state-space
+  representation (A,B,C), and D corresponds to the direct
+  feedthrough matrix of the system. The sum G + D gives the
+  transfer function matrix of the system (A,B,C,D).
+  For maximum efficiency of index calculations, GN and GD are
+  implemented as one-dimensional arrays.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BX.html b/doc/_build/html/_static/doc/TB04BX.html
new file mode 100644
index 00000000..6945625b
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB04BX.html
@@ -0,0 +1,159 @@
+<HTML>
+<HEAD><TITLE>TB04BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BX">TB04BX</A></H2>
+<H3>
+Gain of a SISO linear system, given its state-space representation, poles and zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the gain of a single-input single-output linear system,
+  given its state-space representation (A,b,c,d), and its poles and
+  zeros. The matrix A is assumed to be in an upper Hessenberg form.
+  The gain is computed using the formula
+
+                       -1         IP              IZ
+     g = (c*( S0*I - A ) *b + d)*Prod( S0 - Pi )/Prod( S0 - Zi ) ,
+                                  i=1             i=1            (1)
+
+  where Pi, i = 1 : IP, and Zj, j = 1 : IZ, are the poles and zeros,
+  respectively, and S0 is a real scalar different from all poles and
+  zeros.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BX( IP, IZ, A, LDA, B, C, D, PR, PI, ZR, ZI, GAIN,
+     $                   IWORK )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   D, GAIN
+      INTEGER            IP, IZ, LDA
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(*), C(*), PI(*), PR(*), ZI(*),
+     $                   ZR(*)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  IP      (input) INTEGER
+          The number of the system poles.  IP &gt;= 0.
+
+  IZ      (input) INTEGER
+          The number of the system zeros.  IZ &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,IP)
+          On entry, the leading IP-by-IP part of this array must
+          contain the state dynamics matrix A in an upper Hessenberg
+          form. The elements below the second diagonal are not
+          referenced.
+          On exit, the leading IP-by-IP upper Hessenberg part of
+          this array contains the LU factorization of the matrix
+          A - S0*I, as computed by SLICOT Library routine MB02SD.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,IP).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (IP)
+          On entry, this array must contain the system input
+          vector b.
+          On exit, this array contains the solution of the linear
+          system ( A - S0*I )x = b .
+
+  C       (input) DOUBLE PRECISION array, dimension (IP)
+          This array must contain the system output vector c.
+
+  D       (input) DOUBLE PRECISION
+          The variable must contain the system feedthrough scalar d.
+
+  PR      (input) DOUBLE PRECISION array, dimension (IP)
+          This array must contain the real parts of the system
+          poles. Pairs of complex conjugate poles must be stored in
+          consecutive memory locations.
+
+  PI      (input) DOUBLE PRECISION array, dimension (IP)
+          This array must contain the imaginary parts of the system
+          poles.
+
+  ZR      (input) DOUBLE PRECISION array, dimension (IZ)
+          This array must contain the real parts of the system
+          zeros. Pairs of complex conjugate zeros must be stored in
+          consecutive memory locations.
+
+  ZI      (input) DOUBLE PRECISION array, dimension (IZ)
+          This array must contain the imaginary parts of the system
+          zeros.
+
+  GAIN    (output) DOUBLE PRECISION
+          The gain of the linear system (A,b,c,d), given by (1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (IP)
+          On exit, it contains the pivot indices; for 1 &lt;= i &lt;= IP,
+          row i of the matrix A - S0*I was interchanged with
+          row IWORK(i).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1]. A suitable
+  value of S0 is chosen based on the system poles and zeros.
+  Then, the LU factorization of the upper Hessenberg, nonsingular
+  matrix A - S0*I is computed and used to solve the linear system
+  in (1).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A. and Sima, V.
+      Numerically Stable Algorithm for Transfer Function Matrix
+      Evaluation.
+      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable in practice and requires
+  O(IP*IP) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB04CD.html b/doc/_build/html/_static/doc/TB04CD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/doc/TB04CD.html
@@ -0,0 +1,455 @@
+<HTML>
+<HEAD><TITLE>TB04CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04CD">TB04CD</A></H2>
+<H3>
+Pole-zero-gain representation for a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transfer function matrix G of a state-space
+  representation (A,B,C,D) of a linear time-invariant multivariable
+  system, using the pole-zeros method. The transfer function matrix
+  is returned in a minimal pole-zero-gain form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
+     $                   ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          EQUIL, JOBD
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ,
+     $                   LDWORK, M, N, NPZ, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                   DWORK(*), GAINS(LDGAIN,*), POLESI(*),
+     $                   POLESR(*), ZEROSI(*), ZEROSR(*)
+      INTEGER            IWORK(*), NP(LDNP,*), NZ(LDNZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state-space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed to be a zero matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system (A,B,C,D).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  NPZ     (input) INTEGER
+          The maximum number of poles or zeros of the single-input
+          single-output channels in the system. An upper bound
+          for NPZ is N.  NPZ &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if EQUIL = 'S', the leading N-by-N part of this
+          array contains the balanced matrix inv(S)*A*S, as returned
+          by SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the contents of B are destroyed: all elements but
+          those in the first row are set to zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, if EQUIL = 'S', the leading P-by-N part of this
+          array contains the balanced matrix C*S, as returned by
+          SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this array must
+          contain the matrix D.
+          If JOBD = 'Z', the array D is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  NZ      (output) INTEGER array, dimension (LDNZ,M)
+          The leading P-by-M part of this array contains the numbers
+          of zeros of the elements of the transfer function
+          matrix G. Specifically, the (i,j) element of NZ contains
+          the number of zeros of the transfer function G(i,j) from
+          the j-th input to the i-th output.
+
+  LDNZ    INTEGER
+          The leading dimension of array NZ.  LDNZ &gt;= max(1,P).
+
+  NP      (output) INTEGER array, dimension (LDNP,M)
+          The leading P-by-M part of this array contains the numbers
+          of poles of the elements of the transfer function
+          matrix G. Specifically, the (i,j) element of NP contains
+          the number of poles of the transfer function G(i,j).
+
+  LDNP    INTEGER
+          The leading dimension of array NP.  LDNP &gt;= max(1,P).
+
+  ZEROSR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the real parts of the zeros of the
+          transfer function matrix G. The real parts of the zeros
+          are stored in a column-wise order, i.e., for the transfer
+          functions (1,1), (2,1), ..., (P,1), (1,2), (2,2), ...,
+          (P,2), ..., (1,M), (2,M), ..., (P,M); NPZ memory locations
+          are reserved for each transfer function, hence, the real
+          parts of the zeros for the (i,j) transfer function
+          are stored starting from the location ((j-1)*P+i-1)*NPZ+1.
+          Pairs of complex conjugate zeros are stored in consecutive
+          memory locations. Note that only the first NZ(i,j) entries
+          are initialized for the (i,j) transfer function.
+
+  ZEROSI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the imaginary parts of the zeros of
+          the transfer function matrix G, stored in a similar way
+          as the real parts of the zeros.
+
+  POLESR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the real parts of the poles of the
+          transfer function matrix G, stored in the same way as
+          the zeros. Note that only the first NP(i,j) entries are
+          initialized for the (i,j) transfer function.
+
+  POLESI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the imaginary parts of the poles of
+          the transfer function matrix G, stored in the same way as
+          the poles.
+
+  GAINS   (output) DOUBLE PRECISION array, dimension (LDGAIN,M)
+          The leading P-by-M part of this array contains the gains
+          of the transfer function matrix G. Specifically,
+          GAINS(i,j) contains the gain of the transfer function
+          G(i,j).
+
+  LDGAIN  INTEGER
+          The leading dimension of array GAINS.  LDGAIN &gt;= max(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of a single-input system (A,b) or (A',c'),
+          where b and c' are columns in B and C' (C transposed). If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as an absolute tolerance; elements with absolute value
+          less than TOL are considered neglijible. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH), and bc denotes the currently used
+          column in B or C' (see METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N+P) +
+                           MAX( N + MAX( N,P ), N*(2*N+3)))
+          If N &gt;= P, N &gt;= 1, the formula above can be written as
+          LDWORK &gt;= N*(3*N + P + 3).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QR algorithm failed to converge when trying to
+                compute the zeros of a transfer function;
+          = 2:  the QR algorithm failed to converge when trying to
+                compute the poles of a transfer function.
+                The errors INFO = 1 or 2 are unlikely to appear.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the pole-zero method proposed in [1].
+  This method is based on an algorithm for computing the transfer
+  function of a single-input single-output (SISO) system.
+  Let (A,b,c,d) be a SISO system. Its transfer function is computed
+  as follows:
+
+  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
+  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
+  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
+  4) Compute the zeros of (Ao,bo,co,d).
+  5) Compute the gain of (Ao,bo,co,d).
+
+  This algorithm can be implemented using only orthogonal
+  transformations [1]. However, for better efficiency, the
+  implementation in TB04CD uses one elementary transformation
+  in Step 4 and r elementary transformations in Step 5 (to reduce
+  an upper Hessenberg matrix to upper triangular form). These
+  special elementary transformations are numerically stable
+  in practice.
+
+  In the multi-input multi-output (MIMO) case, the algorithm
+  computes each element (i,j) of the transfer function matrix G,
+  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
+  is performed once for each value of j (each column of B). The
+  matrices Ac and Ao result in Hessenberg form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A. and Sima, V.
+      Numerically Stable Algorithm for Transfer Function Matrix
+      Evaluation.
+      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable in practice and requires about
+  20*N**3 floating point operations at most, but usually much less.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB04CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NPZMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
+     $                   NPZMAX = NMAX )
+      INTEGER          PMNMAX
+      PARAMETER        ( PMNMAX = PMAX*MMAX*NPZMAX )
+      INTEGER          LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDGAIN = PMAX, LDNP = PMAX,
+     $                   LDNZ = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
+     $                            MAX( NMAX + MAX( NMAX, PMAX ),
+     $                                 NMAX*( 2*NMAX + 3 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, IJ, INFO, J, K, M, N, NPZ, P
+      CHARACTER*1      JOBD, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), GAINS(LDGAIN,MMAX),
+     $                 POLESI(PMNMAX), POLESR(PMNMAX), ZEROSI(PMNMAX),
+     $                 ZEROSR(PMNMAX)
+      INTEGER          IWORK(LIWORK), NP(LDNP,MMAX), NZ(LDNZ,MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB04CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, EQUIL
+      NPZ = N
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the transfer matrix T(s) of (A,B,C,D) in the
+*              pole-zero-gain form.
+               CALL TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB,
+     $                      C, LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
+     $                      ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 60 J = 1, M
+                     DO 40 I = 1, P
+                        IJ = ( (J-1)*P + I-1 )*NPZ + 1
+                        IF ( NZ(I,J).EQ.0 ) THEN
+                           WRITE ( NOUT, FMT = 99996 ) I, J
+                        ELSE
+                           WRITE ( NOUT, FMT = 99995 ) I, J,
+     $                        ( ZEROSR(K), ZEROSI(K),
+     $                                 K = IJ,IJ+NZ(I,J)-1 )
+                        END IF
+                        WRITE ( NOUT, FMT = 99994 ) I, J,
+     $                     ( POLESR(K), POLESI(K), K = IJ,IJ+NP(I,J)-1 )
+                        WRITE ( NOUT, FMT = 99993 ) I, J, ( GAINS(I,J) )
+   40                CONTINUE
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB04CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB04CD = ',I2)
+99997 FORMAT (/' The poles, zeros and gains of the transfer matrix',
+     $         ' elements: ')
+99996 FORMAT (/' no zeros for element (',I2,',',I2,')')
+99995 FORMAT (/' zeros of element (',I2,',',I2,') are ',//
+     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
+99994 FORMAT (/' poles of element (',I2,',',I2,') are ',//
+     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
+99993 FORMAT (/' gain of element (',I2,',',I2,') is ', F9.4)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB04CD EXAMPLE PROGRAM DATA
+   3     2     2  0.0         D     N
+  -1.0   0.0   0.0
+   0.0  -2.0   0.0
+   0.0   0.0  -3.0
+   0.0   1.0  -1.0
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+   1.0   1.0   1.0
+   1.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB04CD EXAMPLE PROGRAM RESULTS
+
+
+ The poles, zeros and gains of the transfer matrix elements: 
+
+ zeros of element ( 1, 1) are 
+
+   real part     imag part 
+
+    -2.5000        0.8660
+    -2.5000       -0.8660
+
+ poles of element ( 1, 1) are 
+
+   real part     imag part 
+
+    -2.0000        0.0000
+    -3.0000        0.0000
+
+ gain of element ( 1, 1) is    1.0000
+
+ no zeros for element ( 2, 1)
+
+ poles of element ( 2, 1) are 
+
+   real part     imag part 
+
+    -2.0000        0.0000
+    -3.0000        0.0000
+
+ gain of element ( 2, 1) is    1.0000
+
+ no zeros for element ( 1, 2)
+
+ poles of element ( 1, 2) are 
+
+   real part     imag part 
+
+    -2.0000        0.0000
+
+ gain of element ( 1, 2) is    1.0000
+
+ zeros of element ( 2, 2) are 
+
+   real part     imag part 
+
+    -3.6180        0.0000
+    -1.3820        0.0000
+
+ poles of element ( 2, 2) are 
+
+   real part     imag part 
+
+    -1.0000        0.0000
+    -2.0000        0.0000
+
+ gain of element ( 2, 2) is    1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TB05AD.html b/doc/_build/html/_static/doc/TB05AD.html
new file mode 100644
index 00000000..5340f3c9
--- /dev/null
+++ b/doc/_build/html/_static/doc/TB05AD.html
@@ -0,0 +1,374 @@
+<HTML>
+<HEAD><TITLE>TB05AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB05AD">TB05AD</A></H2>
+<H3>
+Frequency response matrix of a given state-space representation (A,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the complex frequency response matrix (transfer matrix)
+  G(freq) of the state-space representation (A,B,C) given by
+                                -1
+     G(freq) = C * ((freq*I - A)  ) * B
+
+  where A, B and C are real N-by-N, N-by-M and P-by-N matrices
+  respectively and freq is a complex scalar.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B, LDB,
+     $                   C, LDC, RCOND, G, LDG, EVRE, EVIM, HINVB,
+     $                   LDHINV, IWORK, DWORK, LDWORK, ZWORK, LZWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALEIG, INITA
+      INTEGER           INFO, LDA, LDB, LDC, LDG, LDHINV, LDWORK,
+     $                  LZWORK, M, N, P
+      DOUBLE PRECISION  RCOND
+      COMPLEX*16        FREQ
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), EVIM(*),
+     $                  EVRE(*)
+      COMPLEX*16        ZWORK(*), G(LDG,*), HINVB(LDHINV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALEIG  CHARACTER*1
+          Determines whether the user wishes to balance matrix A
+          and/or compute its eigenvalues and/or estimate the
+          condition number of the problem as follows:
+          = 'N':  The matrix A should not be balanced and neither
+                  the eigenvalues of A nor the condition number
+                  estimate of the problem are to be calculated;
+          = 'C':  The matrix A should not be balanced and only an
+                  estimate of the condition number of the problem
+                  is to be calculated;
+          = 'B' or 'E' and INITA = 'G':  The matrix A is to be
+                  balanced and its eigenvalues calculated;
+          = 'A' and INITA = 'G':  The matrix A is to be balanced,
+                  and its eigenvalues and an estimate of the
+                  condition number of the problem are to be
+                  calculated.
+
+  INITA   CHARACTER*1
+          Specifies whether or not the matrix A is already in upper
+          Hessenberg form as follows:
+          = 'G':  The matrix A is a general matrix;
+          = 'H':  The matrix A is in upper Hessenberg form and
+                  neither balancing nor the eigenvalues of A are
+                  required.
+          INITA must be set to 'G' for the first call to the
+          routine, unless the matrix A is already in upper
+          Hessenberg form and neither balancing nor the eigenvalues
+          of A are required. Thereafter, it must be set to 'H' for
+          all subsequent calls.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of states, i.e. the order of the state
+          transition matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of inputs, i.e. the number of columns in the
+          matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of outputs, i.e. the number of rows in the
+          matrix C.  P &gt;= 0.
+
+  FREQ    (input) COMPLEX*16
+          The frequency freq at which the frequency response matrix
+          (transfer matrix) is to be evaluated.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A.
+          If INITA = 'G', then, on exit, the leading N-by-N part of
+          this array contains an upper Hessenberg matrix similar to
+          (via an orthogonal matrix consisting of a sequence of
+          Householder transformations) the original state transition
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B.
+          If INITA = 'G', then, on exit, the leading N-by-M part of
+          this array contains the product of the transpose of the
+          orthogonal transformation matrix used to reduce A to upper
+          Hessenberg form and the original input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          If INITA = 'G', then, on exit, the leading P-by-N part of
+          this array contains the product of the original output/
+          state matrix C and the orthogonal transformation matrix
+          used to reduce A to upper Hessenberg form.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  RCOND   (output) DOUBLE PRECISION
+          If BALEIG = 'C' or BALEIG = 'A', then RCOND contains an
+          estimate of the reciprocal of the condition number of
+          matrix H with respect to inversion (see METHOD).
+
+  G       (output) COMPLEX*16 array, dimension (LDG,M)
+          The leading P-by-M part of this array contains the
+          frequency response matrix G(freq).
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,P).
+
+  EVRE,   (output) DOUBLE PRECISION arrays, dimension (N)
+  EVIM    If INITA = 'G' and BALEIG = 'B' or 'E' or BALEIG = 'A',
+          then these arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the matrix A.
+          Otherwise, these arrays are not referenced.
+
+  HINVB   (output) COMPLEX*16 array, dimension (LDHINV,M)
+          The leading N-by-M part of this array contains the
+                   -1
+          product H  B.
+
+  LDHINV  INTEGER
+          The leading dimension of array HINVB.  LDHINV &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N - 1 + MAX(N,M,P)),
+                    if INITA = 'G' and BALEIG = 'N', or 'B', or 'E';
+          LDWORK &gt;= MAX(1, N + MAX(N,M-1,P-1)),
+                    if INITA = 'G' and BALEIG = 'C', or 'A';
+          LDWORK &gt;= MAX(1, 2*N),
+                    if INITA = 'H' and BALEIG = 'C', or 'A';
+          LDWORK &gt;= 1, otherwise.
+          For optimum performance when INITA = 'G' LDWORK should be
+          larger.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX(1,N*N+2*N), if BALEIG = 'C', or 'A';
+          LZWORK &gt;= MAX(1,N*N),     otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if more than 30*N iterations are required to
+                isolate all the eigenvalues of the matrix A; the
+                computations are continued;
+          = 2:  if either FREQ is too near to an eigenvalue of the
+                matrix A, or RCOND is less than EPS, where EPS is
+                the machine  precision (see LAPACK Library routine
+                DLAMCH).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A is first balanced (if BALEIG = 'B' or 'E', or
+  BALEIG = 'A') and then reduced to upper Hessenberg form; the same
+  transformations are applied to the matrix B and the matrix C.
+  The complex Hessenberg matrix  H = (freq*I - A) is then used
+                    -1
+  to solve for C * H  * B.
+
+  Depending on the input values of parameters BALEIG and INITA,
+  the eigenvalues of matrix A and the condition number of
+  matrix H with respect to inversion are also calculated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Laub, A.J.
+      Efficient Calculation of Frequency Response Matrices from
+      State-Space Models.
+      ACM TOMS, 12, pp. 26-33, 1986.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB05AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDG, LDHINV
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDG = PMAX,
+     $                   LDHINV = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NMAX )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = NMAX*( NMAX+2 ) )
+*     .. Local Scalars ..
+      COMPLEX*16       FREQ
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER*1      BALEIG, INITA
+      LOGICAL          LBALBA, LBALEA, LBALEB, LBALEC, LINITA
+*     .. Local Arrays ..
+      COMPLEX*16       G(LDG,MMAX), HINVB(LDHINV,MMAX), ZWORK(LZWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), EVIM(NMAX), EVRE(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB05AD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, FREQ, INITA, BALEIG
+      LBALEC = LSAME( BALEIG, 'C' )
+      LBALEB = LSAME( BALEIG, 'B' ) .OR. LSAME( BALEIG, 'E' )
+      LBALEA = LSAME( BALEIG, 'A' )
+      LBALBA = LBALEB.OR.LBALEA
+      LINITA = LSAME( INITA,  'G' )
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the frequency response matrix of the ssr (A,B,C).
+               CALL TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B,
+     $                      LDB, C, LDC, RCOND, G, LDG, EVRE, EVIM,
+     $                      HINVB, LDHINV, IWORK, DWORK, LDWORK, ZWORK,
+     $                      LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( ( LBALEC ) .OR. ( LBALEA ) ) WRITE ( NOUT,
+     $                FMT = 99997 ) RCOND
+                  IF ( ( LINITA ) .AND. ( LBALBA ) )
+     $               WRITE ( NOUT, FMT = 99996 )
+     $                       ( EVRE(I), EVIM(I), I = 1,N )
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 20 I = 1, P
+                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1,M )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( HINVB(I,J), J = 1,M )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB05AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB05AD = ',I2)
+99997 FORMAT (' RCOND = ',F4.2)
+99996 FORMAT (/' Eigenvalues of the state transmission matrix A are ',
+     $       /(1X,2F7.2,'*j'))
+99995 FORMAT (/' The frequency response matrix G(freq) is ')
+99994 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
+99993 FORMAT (/' H(inverse)*B is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB05AD EXAMPLE PROGRAM DATA
+   3     1     2     (0.0,0.5)     G     A
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   1.0   0.0  -1.0
+   0.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB05AD EXAMPLE PROGRAM RESULTS
+
+ RCOND = 0.22
+
+ Eigenvalues of the state transmission matrix A are 
+    3.00   0.00*j
+   -3.00   0.00*j
+    1.00   0.00*j
+
+ The frequency response matrix G(freq) is 
+ ( 0.69, 0.35) 
+ (-0.80,-0.40) 
+
+ H(inverse)*B is 
+ (-0.11,-0.05) 
+ (-0.43, 0.00) 
+ (-0.80,-0.40) 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TC01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TC01OD">TC01OD</A></H2>
+<H3>
+Dual of a left/right polynomial matrix representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the dual right (left) polynomial matrix representation of
+  a given left (right) polynomial matrix representation, where the
+  right and left polynomial matrix representations are of the form
+  Q(s)*inv(P(s)) and inv(P(s))*Q(s) respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LERI
+      INTEGER           INFO, INDLIM, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
+     $                  P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  PCOEFF(LDPCO1,LDPCO2,*), QCOEFF(LDQCO1,LDQCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether a left or right matrix fraction is input
+          as follows:
+          = 'L':  A left matrix fraction is input;
+          = 'R':  A right matrix fraction is input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDLIM  (input) INTEGER
+          The highest value of K for which PCOEFF(.,.,K) and
+          QCOEFF(.,.,K) are to be transposed.
+          K = kpcoef + 1, where kpcoef is the maximum degree of the
+          polynomials in P(s).  INDLIM &gt;= 1.
+
+  PCOEFF  (input/output) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,INDLIM)
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          On entry, the leading porm-by-porm-by-INDLIM part of this
+          array must contain the coefficients of the denominator
+          matrix P(s).
+          PCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
+          polynomial (I,J) of P(s), where K = 1,2,...,INDLIM.
+          On exit, the leading porm-by-porm-by-INDLIM part of this
+          array contains the coefficients of the denominator matrix
+          P'(s) of the dual system.
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
+
+  QCOEFF  (input/output) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,INDLIM)
+          On entry, the leading P-by-M-by-INDLIM part of this array
+          must contain the coefficients of the numerator matrix
+          Q(s).
+          QCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
+          polynomial (I,J) of Q(s), where K = 1,2,...,INDLIM.
+          On exit, the leading M-by-P-by-INDLIM part of the array
+          contains the coefficients of the numerator matrix Q'(s)
+          of the dual system.
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,M,P).
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the given M-input/P-output left (right) polynomial matrix
+  representation has numerator matrix Q(s) and denominator matrix
+  P(s), its dual P-input/M-output right (left) polynomial matrix
+  representation simply has numerator matrix Q'(s) and denominator
+  matrix P'(s).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TC01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, INDMAX
+      PARAMETER        ( MMAX = 20, PMAX = 20, INDMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2
+      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP )
+*     .. Local Scalars ..
+      INTEGER          I, INDLIM, INFO, J, K, M, P, PORM
+      CHARACTER*1      LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      DOUBLE PRECISION PCOEFF(LDPCO1,LDPCO2,INDMAX),
+     $                 QCOEFF(LDQCO1,LDQCO2,INDMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TC01OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, INDLIM, LERI
+      LLERI = LSAME( LERI, 'L' )
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) P
+      ELSE IF ( INDLIM.LE.0 .OR. INDLIM.GT.INDMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) INDLIM
+      ELSE
+         PORM = P
+         IF ( .NOT.LLERI ) PORM = M
+         READ ( NIN, FMT = * )
+     $      ( ( ( PCOEFF(I,J,K), K = 1,INDLIM ), J = 1,PORM ),
+     $                           I = 1,PORM )
+         READ ( NIN, FMT = * )
+     $      ( ( ( QCOEFF(I,J,K), K = 1,INDLIM ), J = 1,M ), I = 1,P )
+*        Find the dual right pmr of the given left pmr.
+         CALL TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
+     $                QCOEFF, LDQCO1, LDQCO2, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 40 I = 1, PORM
+               DO 20 J = 1, PORM
+                  WRITE ( NOUT, FMT = 99996 ) I, J,
+     $              ( PCOEFF(I,J,K), K = 1,INDLIM )
+   20          CONTINUE
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 80 I = 1, M
+               DO 60 J = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) I, J,
+     $              ( QCOEFF(I,J,K), K = 1,INDLIM )
+   60          CONTINUE
+   80       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TC01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TC01OD = ',I2)
+99997 FORMAT (' The coefficients of the denominator matrix of the dual',
+     $       ' system are ')
+99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
+99995 FORMAT (//' The coefficients of the numerator matrix of the dual',
+     $       ' system are ')
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' P is out of range.',/' P = ',I5)
+99992 FORMAT (/' INDLIM is out of range.',/' INDLIM = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TC01OD EXAMPLE PROGRAM DATA
+   2     2     3     L
+   2.0   3.0   1.0
+   4.0  -1.0  -1.0
+   5.0   7.0  -6.0
+   3.0   2.0   2.0
+   6.0  -1.0   5.0
+   1.0   7.0   5.0
+   1.0   1.0   1.0
+   4.0   1.0  -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TC01OD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the denominator matrix of the dual system are 
+
+ element ( 1, 1) is    2.00   3.00   1.00
+
+ element ( 1, 2) is    5.00   7.00  -6.00
+
+ element ( 2, 1) is    4.00  -1.00  -1.00
+
+ element ( 2, 2) is    3.00   2.00   2.00
+
+
+ The coefficients of the numerator matrix of the dual system are 
+
+ element ( 1, 1) is    6.00  -1.00   5.00
+
+ element ( 1, 2) is    1.00   1.00   1.00
+
+ element ( 2, 1) is    1.00   7.00   5.00
+
+ element ( 2, 2) is    4.00   1.00  -1.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TC04AD.html b/doc/_build/html/_static/doc/TC04AD.html
new file mode 100644
index 00000000..60fefe75
--- /dev/null
+++ b/doc/_build/html/_static/doc/TC04AD.html
@@ -0,0 +1,399 @@
+<HTML>
+<HEAD><TITLE>TC04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TC04AD">TC04AD</A></H2>
+<H3>
+State-space representation for a given left/right polynomial matrix representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a state-space representation (A,B,C,D) with the same
+  transfer matrix T(s) as that of a given left or right polynomial
+  matrix representation, i.e.
+
+     C*inv(sI-A)*B + D = T(s) = inv(P(s))*Q(s) = Q(s)*inv(P(s)).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LERI
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
+     $                  LDQCO1, LDQCO2, LDWORK, M, N, P
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether a left polynomial matrix representation
+          or a right polynomial matrix representation is input as
+          follows:
+          = 'L':  A left matrix fraction is input;
+          = 'R':  A right matrix fraction is input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDEX   (input) INTEGER array, dimension (MAX(M,P))
+          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
+          maximum degree of the polynomials in the I-th row of the
+          denominator matrix P(s) of the given left polynomial
+          matrix representation.
+          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
+          maximum degree of the polynomials in the I-th column of
+          the denominator matrix P(s) of the given right polynomial
+          matrix representation.
+
+  PCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          The leading porm-by-porm-by-kpcoef part of this array must
+          contain the coefficients of the denominator matrix P(s).
+          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
+          LERI = 'L' then iorj = I, otherwise iorj = J.
+          Thus for LERI = 'L', P(s) =
+          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+          If LERI = 'R', PCOEFF is modified by the routine but
+          restored on exit.
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
+
+  QCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,kpcoef)
+          If LERI = 'L' then porp = M, otherwise porp = P.
+          The leading porm-by-porp-by-kpcoef part of this array must
+          contain the coefficients of the numerator matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+          If LERI = 'R', QCOEFF is modified by the routine but
+          restored on exit.
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
+          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
+          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  N       (output) INTEGER
+          The order of the resulting state-space representation.
+                       porm
+          That is, N = SUM INDEX(I).
+                       I=1
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimated reciprocal of the condition number of the
+          leading row (if LERI = 'L') or the leading column (if
+          LERI = 'R') coefficient matrix of P(s).
+          If RCOND is nearly zero, P(s) is nearly row or column
+          non-proper.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the state
+          dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+          The leading N-by-M part of this array contains the
+          input/state matrix B; the remainder of the leading
+          N-by-MAX(M,P) part is used as internal workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          state/output matrix C; the remainder of the leading
+          MAX(M,P)-by-N part is used as internal workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array contains the direct
+          transmission matrix D; the remainder of the leading
+          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,MAX(M,P)*(MAX(M,P)+4)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if P(s) is not row (if LERI = 'L') or column
+                (if LERI = 'R') proper. Consequently, no state-space
+                representation is calculated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for a left matrix fraction will be described here;
+  right matrix fractions are dealt with by obtaining the dual left
+  polynomial matrix representation and constructing an equivalent
+  state-space representation for this. The first step is to check
+  if the denominator matrix P(s) is row proper; if it is not then
+  the routine returns with the Error Indicator (INFO) set to 1.
+  Otherwise, Wolovich's Observable  Structure Theorem is used to
+  construct a state-space representation (A,B,C,D) in observable
+  companion form. The sizes of the blocks of matrix A and matrix C
+  here are precisely the row degrees of P(s), while their
+  'non-trivial' columns are given easily from its coefficients.
+  Similarly, the matrix D is obtained from the leading coefficients
+  of P(s) and of the numerator matrix Q(s), while matrix B is given
+  by the relation Sbar(s)B = Q(s) - P(s)D, where Sbar(s) is a
+  polynomial matrix whose (j,k)(th) element is given by
+
+               j-u(k-1)-1
+            ( s           , j = u(k-1)+1,u(k-1)+2,....,u(k)
+  Sbar    = (
+     j,k    (           0 , otherwise
+
+          k
+  u(k) = SUM d , k = 1,2,...,M and d ,d ,...,d  are the
+         i=1  i                     1  2      M
+  controllability indices. For convenience in solving this, C' and B
+  are initially set up to contain the coefficients of P(s) and Q(s),
+  respectively, stored by rows.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Wolovich, W.A.
+      Linear Multivariate Systems, (Theorem 4.3.3).
+      Springer-Verlag, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TC04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KPCMAX, NMAX
+      PARAMETER        ( MMAX = 5, PMAX = 5, KPCMAX = 5, NMAX = 5 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2, LDA, LDB, LDC,
+     $                 LDD
+      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
+     $                   LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = ( MAXMP )*( MAXMP+4 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, K, KPCOEF, M, N, P, PORM, PORP
+      CHARACTER*1      LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
+     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX), DWORK(LDWORK)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TC04AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, LERI
+      LLERI = LSAME( LERI, 'L' )
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) M
+      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) P
+      ELSE
+         PORM = P
+         IF ( .NOT.LLERI ) PORM = M
+         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
+         PORP = M
+         IF ( .NOT.LLERI ) PORP = P
+         KPCOEF = 0
+         DO 20 I = 1, PORM
+            KPCOEF = MAX( KPCOEF, INDEX(I) )
+   20    CONTINUE
+         KPCOEF = KPCOEF + 1
+         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) KPCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
+     $                              I = 1,PORM )
+            READ ( NIN, FMT = * )
+     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
+     $                              I = 1,PORM )
+*           Find a ssr of the given left pmr.
+            CALL TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
+     $                   INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) N, RCOND
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 60 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99992 )
+               DO 100 I = 1, P
+                  WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+  100          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TC04AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TC04AD = ',I2)
+99997 FORMAT (' The order of the resulting state-space representation ',
+     $       ' =  ',I2,//' RCOND = ',F4.2)
+99996 FORMAT (/' The state dynamics matrix A is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The input/state matrix B is ')
+99993 FORMAT (/' The state/output matrix C is ')
+99992 FORMAT (/' The direct transmission matrix D is ')
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+99989 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TC04AD EXAMPLE PROGRAM DATA
+   2     2     L
+   2     2
+   2.0   3.0   1.0
+   4.0  -1.0  -1.0
+   5.0   7.0  -6.0
+   3.0   2.0   2.0
+   6.0  -1.0   5.0
+   1.0   7.0   5.0
+   1.0   1.0   1.0
+   4.0   1.0  -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TC04AD EXAMPLE PROGRAM RESULTS
+
+ The order of the resulting state-space representation  =   4
+
+ RCOND = 0.25
+
+ The state dynamics matrix A is 
+   0.0000   0.5714   0.0000  -0.4286
+   1.0000   1.0000   0.0000  -1.0000
+   0.0000  -2.0000   0.0000   2.0000
+   0.0000   0.7857   1.0000  -1.7143
+
+ The input/state matrix B is 
+   8.0000   3.8571
+   4.0000   4.0000
+  -9.0000   5.0000
+   4.0000  -5.0714
+
+ The state/output matrix C is 
+   0.0000  -0.2143   0.0000   0.2857
+   0.0000   0.3571   0.0000  -0.1429
+
+ The direct transmission matrix D is 
+  -1.0000   0.9286
+   2.0000  -0.2143
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TC05AD.html b/doc/_build/html/_static/doc/TC05AD.html
new file mode 100644
index 00000000..7d9d4cc1
--- /dev/null
+++ b/doc/_build/html/_static/doc/TC05AD.html
@@ -0,0 +1,328 @@
+<HTML>
+<HEAD><TITLE>TC05AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TC05AD">TC05AD</A></H2>
+<H3>
+Frequency response of a left/right polynomial matrix representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To evaluate the transfer matrix T(s) of a left polynomial matrix
+  representation [T(s) = inv(P(s))*Q(s)] or a right polynomial
+  matrix representation [T(s) = Q(s)*inv(P(s))] at any specified
+  complex frequency s = SVAL.
+
+  This routine will calculate the standard frequency response
+  matrix at frequency omega if SVAL is supplied as (0.0,omega).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
+     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LERI
+      INTEGER           INFO, LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
+     $                  P
+      DOUBLE PRECISION  RCOND
+      COMPLEX*16        SVAL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*)
+      COMPLEX*16        CFREQR(LDCFRE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether a left polynomial matrix representation
+          or a right polynomial matrix representation is to be used
+          to evaluate the transfer matrix as follows:
+          = 'L':  A left matrix fraction is input;
+          = 'R':  A right matrix fraction is input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  SVAL    (input) COMPLEX*16
+          The frequency at which the transfer matrix or the
+          frequency respose matrix is to be evaluated.
+          For a standard frequency response set the real part
+          of SVAL to zero.
+
+  INDEX   (input) INTEGER array, dimension (MAX(M,P))
+          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
+          maximum degree of the polynomials in the I-th row of the
+          denominator matrix P(s) of the given left polynomial
+          matrix representation.
+          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
+          maximum degree of the polynomials in the I-th column of
+          the denominator matrix P(s) of the given right polynomial
+          matrix representation.
+
+  PCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          The leading porm-by-porm-by-kpcoef part of this array must
+          contain the coefficients of the denominator matrix P(s).
+          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
+          LERI = 'L' then iorj = I, otherwise iorj = J.
+          Thus for LERI = 'L', P(s) =
+          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+          If LERI = 'R', PCOEFF is modified by the routine but
+          restored on exit.
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
+
+  QCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,kpcoef)
+          If LERI = 'L' then porp = M, otherwise porp = P.
+          The leading porm-by-porp-by-kpcoef part of this array must
+          contain the coefficients of the numerator matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+          If LERI = 'R', QCOEFF is modified by the routine but
+          restored on exit.
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
+          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
+          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimated reciprocal of the condition number of the
+          denominator matrix P(SVAL).
+          If RCOND is nearly zero, SVAL is approximately a system
+          pole.
+
+  CFREQR  (output) COMPLEX*16 array, dimension (LDCFRE,MAX(M,P))
+          The leading porm-by-porp part of this array contains the
+          frequency response matrix T(SVAL).
+
+  LDCFRE  INTEGER
+          The leading dimension of array CFREQR.
+          LDCFRE &gt;= MAX(1,P)   if LERI = 'L',
+          LDCFRE &gt;= MAX(1,M,P) if LERI = 'R'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (liwork)
+          where liwork = P, if LERI = 'L',
+                liwork = M, if LERI = 'R'.
+
+  DWORK   DOUBLE PRECISION array, dimension (ldwork)
+          where ldwork = 2*P, if LERI = 'L',
+                ldwork = 2*M, if LERI = 'R'.
+
+  ZWORK   COMPLEX*16 array, dimension (lzwork),
+          where lzwork = P*(P+2), if LERI = 'L',
+                lzwork = M*(M+2), if LERI = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if P(SVAL) is exactly or nearly singular;
+                no frequency response is calculated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for a left matrix fraction will be described here;
+  right matrix fractions are dealt with by obtaining the dual left
+  fraction and calculating its frequency response (see SLICOT
+  Library routine TC01OD). The first step is to calculate the
+  complex value P(SVAL) of the denominator matrix P(s) at the
+  desired frequency SVAL. If P(SVAL) is approximately singular,
+  SVAL is approximately a pole of this system and so the frequency
+  response matrix T(SVAL) is not calculated; in this case, the
+  routine returns with the Error Indicator (INFO) set to 1.
+  Otherwise, the complex value Q(SVAL) of the numerator matrix Q(s)
+  at frequency SVAL is calculated in a similar way to P(SVAL), and
+  the desired response matrix T(SVAL) = inv(P(SVAL))*Q(SVAL) is
+  found by solving the corresponding system of complex linear
+  equations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TC05AD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KPCMAX
+      PARAMETER        ( MMAX = 20, PMAX = 20, KPCMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2
+      PARAMETER        ( LDCFRE = MAXMP, LDPCO1 = MAXMP,
+     $                   LDPCO2 = MAXMP, LDQCO1 = MAXMP,
+     $                   LDQCO2 = MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MAXMP )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = ( MAXMP )*( MAXMP+2 ) )
+*     .. Local Scalars ..
+      COMPLEX*16       SVAL
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, K, KPCOEF, M, P, PORM, PORP
+      CHARACTER*1      LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      COMPLEX*16       CFREQR(LDCFRE,MAXMP), ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
+     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX)
+      INTEGER          INDEX(MAXMP), IWORK(MAXMP)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TC05AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, SVAL, LERI
+      LLERI = LSAME( LERI, 'L' )
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) M
+      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) P
+      ELSE
+         PORM = P
+         IF ( .NOT.LLERI ) PORM = M
+         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
+         PORP = M
+         IF ( .NOT.LLERI ) PORP = P
+         KPCOEF = 0
+         DO 20 I = 1, PORM
+            KPCOEF = MAX( KPCOEF, INDEX(I) )
+   20    CONTINUE
+         KPCOEF = KPCOEF + 1
+         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) KPCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
+     $                              I = 1,PORM )
+            READ ( NIN, FMT = * )
+     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
+     $                              I = 1,PORM )
+*           Find the standard frequency response matrix of left pmr
+*           at 0.5*j.
+            CALL TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
+     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) RCOND
+               DO 40 I = 1, PORM
+                  WRITE ( NOUT, FMT = 99996 )
+     $                  ( CFREQR(I,J), J = 1,PORP )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TC05AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TC05AD = ',I2)
+99997 FORMAT (' RCOND = ',F4.2,//' The frequency response matrix T(SVA',
+     $       'L) is ')
+99996 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
+99995 FORMAT (/' M is out of range.',/' M = ',I5)
+99994 FORMAT (/' P is out of range.',/' P = ',I5)
+99993 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TC05AD EXAMPLE PROGRAM DATA
+   2     2     (0.0,0.5)     L
+   2     2
+   2.0   3.0   1.0
+   4.0  -1.0  -1.0
+   5.0   7.0  -6.0
+   3.0   2.0   2.0
+   6.0  -1.0   5.0
+   1.0   7.0   5.0
+   1.0   1.0   1.0
+   4.0   1.0  -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TC05AD EXAMPLE PROGRAM RESULTS
+
+ RCOND = 0.19
+
+ The frequency response matrix T(SVAL) is 
+ (-0.25,-0.33)  ( 0.26,-0.45) 
+ (-1.48, 0.35)  (-2.25,-1.11) 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TD03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TD03AD">TD03AD</A></H2>
+<H3>
+Left/right polynomial matrix representation for a proper transfer matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a relatively prime left or right polynomial matrix
+  representation for a proper transfer matrix T(s) given as either
+  row or column polynomial vectors over common denominator
+  polynomials, possibly with uncancelled common terms.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
+     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
+     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, LERI, ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDPCO1,
+     $                  LDPCO2, LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1,
+     $                  LDVCO2, LDWORK, M, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEXD(*), INDEXP(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ROWCOL  CHARACTER*1
+          Indicates whether T(s) is to be factorized by rows or by
+          columns as follows:
+          = 'R':  T(s) is factorized by rows;
+          = 'C':  T(s) is factorized by columns.
+
+  LERI    CHARACTER*1
+          Indicates whether a left or a right polynomial matrix
+          representation is required as follows:
+          = 'L':  A left polynomial matrix representation
+                  inv(P(s))*Q(s) is required;
+          = 'R':  A right polynomial matrix representation
+                  Q(s)*inv(P(s)) is required.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the triplet
+          (A,B,C), before computing a minimal state-space
+          representation, as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDEXD  (input) INTEGER array, dimension (P), if ROWCOL = 'R', or
+                                 dimension (M), if ROWCOL = 'C'.
+          The leading pormd elements of this array must contain the
+          row degrees of the denominator polynomials in D(s).
+          pormd = P if the transfer matrix T(s) is given as row
+          polynomial vectors over denominator polynomials;
+          pormd = M if the transfer matrix T(s) is given as column
+          polynomial vectors over denominator polynomials.
+
+  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
+          where kdcoef = MAX(INDEXD(I)) + 1.
+          The leading pormd-by-kdcoef part of this array must
+          contain the coefficients of each denominator polynomial.
+          DCOEFF(I,K) is the coefficient in s**(INDEXD(I)-K+1) of
+          the I-th denominator polynomial in D(s), where K = 1,2,
+          ...,kdcoef.
+
+  LDDCOE  INTEGER
+          The leading dimension of array DCOEFF.
+          LDDCOE &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDDCOE &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  UCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDUCO1,LDUCO2,kdcoef)
+          The leading P-by-M-by-kdcoef part of this array must
+          contain the coefficients of the numerator matrix U(s);
+          if ROWCOL = 'C', this array is modified internally but
+          restored on exit, and the remainder of the leading
+          MAX(M,P)-by-MAX(M,P)-by-kdcoef part is used as internal
+          workspace.
+          UCOEFF(I,J,K) is the coefficient in s**(INDEXD(iorj)-K+1)
+          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+          iorj = I if T(s) is given as row polynomial vectors over
+          denominator polynomials; iorj = J if T(s) is given as
+          column polynomial vectors over denominator polynomials.
+          Thus for ROWCOL = 'R', U(s) =
+          diag(s**INDEXD(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+
+  LDUCO1  INTEGER
+          The leading dimension of array UCOEFF.
+          LDUCO1 &gt;= MAX(1,P),   if ROWCOL = 'R';
+          LDUCO1 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
+
+  LDUCO2  INTEGER
+          The second dimension of array UCOEFF.
+          LDUCO2 &gt;= MAX(1,M),   if ROWCOL = 'R';
+          LDUCO2 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
+
+  NR      (output) INTEGER
+          The order of the resulting minimal realization, i.e. the
+          order of the state dynamics matrix A.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
+                   pormd
+          where N = SUM INDEXD(I)
+                    I=1
+          The leading NR-by-NR part of this array contains the upper
+          block Hessenberg state dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+          The leading NR-by-M part of this array contains the
+          input/state matrix B; the remainder of the leading
+          N-by-MAX(M,P) part is used as internal workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-NR part of this array contains the
+          state/output matrix C; the remainder of the leading
+          MAX(M,P)-by-N part is used as internal workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array contains the direct
+          transmission matrix D; the remainder of the leading
+          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  INDEXP  (output) INTEGER array, dimension (P), if ROWCOL = 'R', or
+                                  dimension (M), if ROWCOL = 'C'.
+          The leading pormp elements of this array contain the
+          row (column if ROWCOL = 'C') degrees of the denominator
+          matrix P(s).
+          pormp = P if a left polynomial matrix representation
+          is requested; pormp = M if a right polynomial matrix
+          representation is requested.
+          These elements are ordered so that
+          INDEXP(1) &gt;= INDEXP(2) &gt;= ... &gt;= INDEXP(pormp).
+
+  PCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,N+1)
+          The leading pormp-by-pormp-by-kpcoef part of this array
+          contains the coefficients of the denominator matrix P(s),
+          where kpcoef = MAX(INDEXP(I)) + 1.
+          PCOEFF(I,J,K) is the coefficient in s**(INDEXP(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef;
+          iorj = I if a left polynomial matrix representation is
+          requested; iorj = J if a right polynomial matrix
+          representation is requested.
+          Thus for a left polynomial matrix representation, P(s) =
+          diag(s**INDEXP(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDPCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDPCO2 &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  QCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,N+1)
+          The leading pormp-by-pormd-by-kpcoef part of this array
+          contains the coefficients of the numerator matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          If LERI = 'L', LDQCO1 &gt;= MAX(1,PM),
+                                   where PM = P, if ROWCOL = 'R';
+                                         PM = M, if ROWCOL = 'C'.
+          If LERI = 'R', LDQCO1 &gt;= MAX(1,M,P).
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          If LERI = 'L', LDQCO2 &gt;= MAX(1,MP),
+                                   where MP = M, if ROWCOL = 'R';
+                                         MP = P, if ROWCOL = 'C'.
+          If LERI = 'R', LDQCO2 &gt;= MAX(1,M,P).
+
+  VCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDVCO1,LDVCO2,N+1)
+          The leading pormp-by-NR-by-kpcoef part of this array
+          contains the coefficients of the intermediate matrix
+          V(s) as produced by SLICOT Library routine TB03AD.
+
+  LDVCO1  INTEGER
+          The leading dimension of array VCOEFF.
+          LDVCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDVCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  LDVCO2  INTEGER
+          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
+          where  PM = P, if ROWCOL = 'R';
+                 PM = M, if ROWCOL = 'C'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i (i &lt;= k = pormd), then i is the first
+                integer I for which ABS( DCOEFF(I,1) ) is so small
+                that the calculations would overflow (see SLICOT
+                Library routine TD03AY); that is, the leading
+                coefficient of a polynomial is nearly zero; no
+                state-space representation or polynomial matrix
+                representation is calculated;
+          = k+1:  if a singular matrix was encountered during the
+                computation of V(s);
+          = k+2:  if a singular matrix was encountered during the
+                computation of P(s).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for transfer matrices factorized by rows will be
+  described here; T(s) factorized by columns is dealt with by
+  operating on the dual T'(s). The description for T(s) is actually
+  the left polynomial matrix representation
+
+       T(s) = inv(D(s))*U(s),
+
+  where D(s) is diagonal with its (I,I)-th polynomial element of
+  degree INDEXD(I). The first step is to check whether the leading
+  coefficient of any polynomial element of D(s) is approximately
+  zero, if so the routine returns with INFO &gt; 0. Otherwise,
+  Wolovich's Observable Structure Theorem is used to construct a
+  state-space representation in observable companion form which is
+  equivalent to the above polynomial matrix representation. The
+  method is particularly easy here due to the diagonal form of D(s).
+  This state-space representation is not necessarily controllable
+  (as D(s) and U(s) are not necessarily relatively left prime), but
+  it is in theory completely observable; however, its observability
+  matrix may be poorly conditioned, so it is treated as a general
+  state-space representation and SLICOT Library routine TB03AD is
+  used to separate out a minimal realization for T(s) from it by
+  means of orthogonal similarity transformations and then to
+  calculate a relatively prime (left or right) polynomial matrix
+  representation which is equivalent to this.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Patel, R.V.
+      On Computing Matrix Fraction Descriptions and Canonical
+      Forms of Linear Time-Invariant Systems.
+      UMIST Control Systems Centre Report 489, 1980.
+
+  [2] Wolovich, W.A.
+      Linear Multivariable Systems, (Theorem 4.3.3).
+      Springer-Verlag, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TD03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KDCMAX, NMAX
+      PARAMETER        ( MMAX = 8, PMAX = 8, KDCMAX = 8, NMAX = 8 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDPCO1, LDPCO2,
+     $                 LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1, LDVCO2
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP, LDDCOE = MAXMP,
+     $                   LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
+     $                   LDUCO1 = MAXMP, LDUCO2 = MAXMP,
+     $                   LDVCO1 = MAXMP, LDVCO2 = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
+     $                                 MAXMP*( MAXMP + 2 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      CHARACTER*1      EQUIL, LERI, ROWCOL
+      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, MAXINP, N, NR,
+     $                 P, PORMD, PORMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
+     $                 DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,NMAX+1),
+     $                 QCOEFF(LDQCO1,LDQCO2,NMAX+1),
+     $                 UCOEFF(LDUCO1,LDUCO2,KDCMAX),
+     $                 VCOEFF(LDVCO1,LDVCO2,NMAX+1)
+      INTEGER          INDEXD(MAXMP), INDEXP(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TD03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL, LERI, EQUIL
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) M
+      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) P
+      ELSE
+         PORMD = P
+         IF ( LSAME( ROWCOL, 'C' ) ) PORMD = M
+         PORMP = M
+         IF ( LSAME( LERI, 'R' ) ) PORMP = P
+         READ ( NIN, FMT = * ) ( INDEXD(I), I = 1,PORMD )
+*
+         KDCOEF = 0
+         N = 0
+         DO 20 I = 1, PORMD
+            KDCOEF = MAX( KDCOEF, INDEXD(I) )
+            N = N + INDEXD(I)
+   20    CONTINUE
+         KDCOEF = KDCOEF + 1
+*
+         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
+            WRITE ( NOUT, FMT = 99984 ) KDCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORMD )
+            READ ( NIN, FMT = * )
+     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
+*           Find a relatively prime left pmr for the given transfer
+*           function.
+            CALL TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
+     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
+     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NR
+               DO 40 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 60 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 100 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+  100          CONTINUE
+               INDBLK = 0
+               DO 120 I = 1, N
+                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+  120          CONTINUE
+               IF ( LSAME( LERI, 'L' ) ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
+     $                  ( IWORK(I), I = 1,INDBLK )
+                  WRITE ( NOUT, FMT = 99990 ) ( INDEXP(I), I = 1,P )
+               ELSE
+                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
+     $                  ( IWORK(I), I = 1,INDBLK )
+                  WRITE ( NOUT, FMT = 99989 ) ( INDEXP(I), I = 1,M )
+               END IF
+               MAXINP = 0
+               DO 140 I = 1, PORMP
+                  MAXINP = MAX( MAXINP, INDEXP(I) )
+  140          CONTINUE
+               MAXINP = MAXINP + 1
+               WRITE ( NOUT, FMT = 99988 )
+               DO 180 I = 1, PORMP
+                  DO 160 J = 1, PORMP
+                     WRITE ( NOUT, FMT = 99996 )
+     $                     ( PCOEFF(I,J,K), K = 1,MAXINP )
+  160             CONTINUE
+  180          CONTINUE
+               WRITE ( NOUT, FMT = 99987 )
+               DO 220 I = 1, PORMP
+                  DO 200 J = 1, PORMD
+                     WRITE ( NOUT, FMT = 99996 )
+     $                     ( QCOEFF(I,J,K), K = 1,MAXINP )
+  200             CONTINUE
+  220          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TD03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TD03AD = ',I2)
+99997 FORMAT (' The order of the resulting minimal realization = ',I2,
+     $       //' The state dynamics matrix A is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix B is ')
+99994 FORMAT (/' The state/output matrix C is ')
+99993 FORMAT (/' The direct transmission matrix D is ')
+99992 FORMAT (/' The observability index of the minimal realization = ',
+     $       I2,//' The dimensions of the diagonal blocks of the state',
+     $       ' dynamics matrix are ',/20(I5))
+99991 FORMAT (/' The controllability index of the minimal realization ',
+     $       '= ',I2,//' The dimensions of the diagonal blocks of the ',
+     $       'state dynamics matrix are ',/20(I5))
+99990 FORMAT (/' The row degrees of the denominator matrix P(s) are',
+     $       /20(I5))
+99989 FORMAT (/' The column degrees of the denominator matrix P(s) are',
+     $       /20(I5))
+99988 FORMAT (/' The denominator matrix P(s) is ')
+99987 FORMAT (/' The numerator matrix Q(s) is ')
+99986 FORMAT (/' M is out of range.',/' M = ',I5)
+99985 FORMAT (/' P is out of range.',/' P = ',I5)
+99984 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TD01ND EXAMPLE PROGRAM DATA
+   2     2     0.0     R     L     N
+   3     3
+   1.0   6.0  11.0   6.0
+   1.0   6.0  11.0   6.0
+   1.0   6.0  12.0   7.0
+   0.0   1.0   4.0   3.0
+   0.0   0.0   1.0   1.0
+   1.0   8.0  20.0  15.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TD03AD EXAMPLE PROGRAM RESULTS
+
+ The order of the resulting minimal realization =  3
+
+ The state dynamics matrix A is 
+   0.5000   0.9478  10.1036
+   0.0000  -1.0000   0.0000
+  -0.8660  -0.6156  -5.5000
+
+ The input/state matrix B is 
+   2.0000  12.5000
+   0.0000  -5.6273
+   0.0000  -2.0207
+
+ The state/output matrix C is 
+   0.0000   0.0296  -0.5774
+   0.0000  -0.1481  -0.5774
+
+ The direct transmission matrix D is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The observability index of the minimal realization =  2
+
+ The dimensions of the diagonal blocks of the state dynamics matrix are 
+    2    1
+
+ The row degrees of the denominator matrix P(s) are
+    2    1
+
+ The denominator matrix P(s) is 
+   1.6667   4.3333   6.6667
+   0.3333   5.6667   5.3333
+   5.6273   5.6273   0.0000
+  -5.6273  -5.6273   0.0000
+
+ The numerator matrix Q(s) is 
+   1.6667   4.3333   8.6667
+   0.3333   8.0000  16.6667
+   5.6273   5.6273   0.0000
+  -5.6273 -11.2546   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TD04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TD04AD">TD04AD</A></H2>
+<H3>
+Minimal state-space representation for a proper transfer matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a minimal state-space representation (A,B,C,D) for a
+  proper transfer matrix T(s) given as either row or column
+  polynomial vectors over denominator polynomials, possibly with
+  uncancelled common terms.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
+     $                  LDUCO2, LDWORK, M, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ROWCOL  CHARACTER*1
+          Indicates whether the transfer matrix T(s) is given as
+          rows or columns over common denominators as follows:
+          = 'R':  T(s) is given as rows over common denominators;
+          = 'C':  T(s) is given as columns over common denominators.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDEX   (input) INTEGER array, dimension (porm), where porm = P,
+          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
+          This array must contain the degrees of the denominator
+          polynomials in D(s).
+
+  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
+          where kdcoef = MAX(INDEX(I)) + 1.
+          The leading porm-by-kdcoef part of this array must contain
+          the coefficients of each denominator polynomial.
+          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of the
+          I-th denominator polynomial in D(s), where
+          K = 1,2,...,kdcoef.
+
+  LDDCOE  INTEGER
+          The leading dimension of array DCOEFF.
+          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
+          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
+
+  UCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDUCO1,LDUCO2,kdcoef)
+          The leading P-by-M-by-kdcoef part of this array must
+          contain the numerator matrix U(s); if ROWCOL = 'C', this
+          array is modified internally but restored on exit, and the
+          remainder of the leading MAX(M,P)-by-MAX(M,P)-by-kdcoef
+          part is used as internal workspace.
+          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
+          Thus for ROWCOL = 'R', U(s) =
+          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+
+  LDUCO1  INTEGER
+          The leading dimension of array UCOEFF.
+          LDUCO1 &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDUCO1 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  LDUCO2  INTEGER
+          The second dimension of array UCOEFF.
+          LDUCO2 &gt;= MAX(1,M)   if ROWCOL = 'R';
+          LDUCO2 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  NR      (output) INTEGER
+          The order of the resulting minimal realization, i.e. the
+          order of the state dynamics matrix A.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
+                    porm
+          where N = SUM INDEX(I).
+                    I=1
+          The leading NR-by-NR part of this array contains the upper
+          block Hessenberg state dynamics matrix A of a minimal
+          realization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+          The leading NR-by-M part of this array contains the
+          input/state matrix B of a minimal realization; the
+          remainder of the leading N-by-MAX(M,P) part is used as
+          internal workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-NR part of this array contains the
+          state/output matrix C of a minimal realization; the
+          remainder of the leading MAX(M,P)-by-N part is used as
+          internal workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M),
+          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
+          The leading P-by-M part of this array contains the direct
+          transmission matrix D; if ROWCOL = 'C', the remainder of
+          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
+          workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then i is the first integer for which
+                ABS( DCOEFF(I,1) ) is so small that the calculations
+                would overflow (see SLICOT Library routine TD03AY);
+                that is, the leading coefficient of a polynomial is
+                nearly zero; no state-space representation is
+                calculated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for transfer matrices factorized by rows will be
+  described here: T(s) factorized by columns is dealt with by
+  operating on the dual T'(s). This description for T(s) is
+  actually the left polynomial matrix representation
+
+       T(s) = inv(D(s))*U(s),
+
+  where D(s) is diagonal with its (I,I)-th polynomial element of
+  degree INDEX(I). The first step is to check whether the leading
+  coefficient of any polynomial element of D(s) is approximately
+  zero; if so the routine returns with INFO &gt; 0. Otherwise,
+  Wolovich's Observable Structure Theorem is used to construct a
+  state-space representation in observable companion form which
+  is equivalent to the above polynomial matrix representation.
+  The method is particularly easy here due to the diagonal form
+  of D(s). This state-space representation is not necessarily
+  controllable (as D(s) and U(s) are not necessarily relatively
+  left prime), but it is in theory completely observable; however,
+  its observability matrix may be poorly conditioned, so it is
+  treated as a general state-space representation and SLICOT
+  Library routine TB01PD is then called to separate out a minimal
+  realization from this general state-space representation by means
+  of orthogonal similarity transformations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Patel, R.V.
+      Computation of Minimal-Order State-Space Realizations and
+      Observability Indices using Orthogonal Transformations.
+      Int. J. Control, 33, pp. 227-246, 1981.
+
+  [2] Wolovich, W.A.
+      Linear Multivariable Systems, (Theorem 4.3.3).
+      Springer-Verlag, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TD04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KDCMAX, NMAX
+      PARAMETER        ( MMAX = 10, PMAX = 10, KDCMAX = 10, NMAX = 10 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDDCOE, LDUCO1, LDUCO2, LDA, LDB, LDC, LDD
+      PARAMETER        ( LDDCOE = MAXMP, LDUCO1 = MAXMP,
+     $                   LDUCO2 = MAXMP, LDA = NMAX, LDB = NMAX,
+     $                   LDC = MAXMP, LDD = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MAXMP ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, N, NR, P, PORM
+      CHARACTER*1      ROWCOL
+      LOGICAL          LROWCO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
+     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,KDCMAX)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TD04AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL
+      LROWCO = LSAME( ROWCOL, 'R' )
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) M
+      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) P
+      ELSE
+         PORM = P
+         IF ( .NOT.LROWCO ) PORM = M
+         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
+*
+         N = 0
+         KDCOEF = 0
+         DO 20 I = 1, PORM
+            N = N + INDEX(I)
+            KDCOEF = MAX( KDCOEF, INDEX(I) )
+   20    CONTINUE
+         KDCOEF = KDCOEF + 1
+*
+         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) KDCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORM )
+            READ ( NIN, FMT = * )
+     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
+*           Find a minimal state-space representation (A,B,C,D).
+            CALL TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NR
+               DO 40 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 60 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 100 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+  100          CONTINUE
+               INDBLK = 0
+               DO 120 I = 1, N
+                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+  120          CONTINUE
+               IF ( LROWCO ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
+     $                       ( IWORK(I), I = 1,INDBLK )
+               ELSE
+                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
+     $                       ( IWORK(I), I = 1,INDBLK )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TD04AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TD04AD = ',I2)
+99997 FORMAT (' The order of the minimal realization = ',I2,//' The st',
+     $       'ate dynamics matrix A of a minimal realization is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix B of a minimal realization is ')
+99994 FORMAT (/' The state/output matrix C of a minimal realization is '
+     $       )
+99993 FORMAT (/' The direct transmission matrix D is ')
+99992 FORMAT (/' The observability index of a minimal state-space repr',
+     $       'esentation = ',I2,//' The dimensions of the diagonal blo',
+     $       'cks of the state dynamics matrix are',/20(1X,I2))
+99991 FORMAT (/' The controllability index of a minimal state-space re',
+     $       'presentation = ',I2,//' The dimensions of the diagonal b',
+     $       'locks of the state dynamics matrix are',/20(1X,I2))
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' P is out of range.',/' P = ',I5)
+99988 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TD04AD EXAMPLE PROGRAM DATA
+   2     2     0.0     R
+   3     3
+   1.0   6.0  11.0   6.0
+   1.0   6.0  11.0   6.0
+   1.0   6.0  12.0   7.0
+   0.0   1.0   4.0   3.0
+   0.0   0.0   1.0   1.0
+   1.0   8.0  20.0  15.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TD04AD EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal realization =  3
+
+ The state dynamics matrix A of a minimal realization is 
+   0.5000  -0.8028   0.9387
+   4.4047  -2.3380   2.5076
+  -5.5541   1.6872  -4.1620
+
+ The input/state matrix B of a minimal realization is 
+  -0.2000  -1.2500
+   0.0000  -0.6097
+   0.0000   2.2217
+
+ The state/output matrix C of a minimal realization is 
+   0.0000  -0.8679   0.2119
+   0.0000   0.0000   0.9002
+
+ The direct transmission matrix D is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The observability index of a minimal state-space representation =  2
+
+ The dimensions of the diagonal blocks of the state dynamics matrix are
+  2  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TD05AD.html b/doc/_build/html/_static/doc/TD05AD.html
new file mode 100644
index 00000000..63603e8f
--- /dev/null
+++ b/doc/_build/html/_static/doc/TD05AD.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>TD05AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TD05AD">TD05AD</A></H2>
+<H3>
+Evaluation of a transfer function G(jW) for a specified frequency
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given a complex valued rational function of frequency (transfer
+  function) G(jW) this routine will calculate its complex value or
+  its magnitude and phase for a specified frequency value.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OUTPUT, UNITF
+      INTEGER           INFO, MP1, NP1
+      DOUBLE PRECISION  VALI, VALR, W
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UNITF   CHARACTER*1
+          Indicates the choice of frequency unit as follows:
+          = 'R':  Input frequency W in radians/second;
+          = 'H':  Input frequency W in hertz.
+
+  OUTPUT  CHARACTER*1
+          Indicates the choice of co-ordinates for output as folows:
+          = 'C':  Cartesian co-ordinates (output real and imaginary
+                  parts of G(jW));
+          = 'P':  Polar co-ordinates (output magnitude and phase
+                  of G(jW)).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NP1     (input) INTEGER
+          The order of the denominator + 1, i.e. N + 1.  NP1 &gt;= 1.
+
+  MP1     (input) INTEGER
+          The order of the numerator + 1, i.e. M + 1.  MP1 &gt;= 1.
+
+  W       (input) DOUBLE PRECISION
+          The frequency value W for which the transfer function is
+          to be evaluated.
+
+  A       (input) DOUBLE PRECISION array, dimension (NP1)
+          This array must contain the vector of denominator
+          coefficients in ascending order of powers. That is, A(i)
+          must contain the coefficient of (jW)**(i-1) for i = 1,
+          2,...,NP1.
+
+  B       (input) DOUBLE PRECISION array, dimension (MP1)
+          This array must contain the vector of numerator
+          coefficients in ascending order of powers. That is, B(i)
+          must contain the coefficient of (jW)**(i-1) for i = 1,
+          2,...,MP1.
+
+  VALR    (output) DOUBLE PRECISION
+          If OUTPUT = 'C', VALR contains the real part of G(jW).
+          If OUTPUT = 'P', VALR contains the magnitude of G(jW)
+                           in dBs.
+
+  VALI    (output) DOUBLE PRECISION
+          If OUTPUT = 'C', VALI contains the imaginary part of
+                           G(jW).
+          If OUTPUT = 'P', VALI contains the phase of G(jW) in
+                           degrees.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the frequency value W is a pole of G(jW), or all
+                the coefficients of the A polynomial are zero.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  By substituting the values of A, B and W in the following
+  formula:
+
+         B(1)+B(2)*(jW)+B(3)*(jW)**2+...+B(MP1)*(jW)**(MP1-1)
+  G(jW) = ---------------------------------------------------.
+         A(1)+A(2)*(jW)+A(3)*(jW)**2+...+A(NP1)*(jW)**(NP1-1)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N+M) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TD05AD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NP1MAX, MP1MAX
+      PARAMETER        ( NP1MAX = 20, MP1MAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION VALI, VALR, W
+      INTEGER          I, INFO, MP1, NP1
+      CHARACTER*1      UNITF, OUTPUT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NP1MAX), B(MP1MAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TD05AD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NP1, MP1, W, UNITF, OUTPUT
+      IF ( NP1.LE.0 .OR. NP1.GT.NP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP1
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,NP1 )
+         IF ( MP1.LE.0 .OR. MP1.GT.MP1MAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) MP1
+         ELSE
+            READ ( NIN, FMT = * ) ( B(I), I = 1,MP1 )
+*           Find the real and imaginary parts of G(jW), where
+*           W = 1.0 radian.
+            CALL TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
+     $                   INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF ( LSAME( OUTPUT, 'C' ) ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) VALR, VALI
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 ) VALR, VALI
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TD05AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TD05AD = ',I2)
+99997 FORMAT (' Complex value of G(jW) = ',F8.4,1X,F8.4,'*j')
+99996 FORMAT (' Magnitude of G(jW) = ',F8.4,' dBs, Phase of G(jW) = ',
+     $       F8.4,' degrees ')
+99995 FORMAT (/' NP1 is out of range.',/' NP1 = ',I5)
+99994 FORMAT (/' MP1 is out of range.',/' MP1 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TD05AD EXAMPLE PROGRAM DATA
+   6     4     1.0     R     C
+   1.0   1.0   0.0   0.0   2.0   1.0
+   6.0   2.0   3.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TD05AD EXAMPLE PROGRAM RESULTS
+
+ Complex value of G(jW) =   0.8462  -0.2308*j
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01MD.html b/doc/_build/html/_static/doc/TF01MD.html
new file mode 100644
index 00000000..647b5b7b
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01MD.html
@@ -0,0 +1,294 @@
+<HTML>
+<HEAD><TITLE>TF01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01MD">TF01MD</A></H2>
+<H3>
+Output response sequence of a linear time-invariant discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  (A,B,C,D), where A is an N-by-N general matrix.
+
+  The initial state vector x(1) must be supplied by the user.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   U, LDU, X, Y, LDY, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct link matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
+          The leading M-by-NY part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th column of U must contain u(k).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
+          The leading P-by-NY part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          column of Y contains y(k) (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     x(k+1) = A x(k) + B u(k)
+     y(k)   = C x(k) + D u(k),
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (N + M) x (N + P) x NY
+  multiplications and additions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NYMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDU = MMAX, LDY = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N, NY, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
+     $                 X(NMAX), Y(LDY,NYMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NY
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
+               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NY
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
+*                 Compute y(1),...,y(NY) of the given system.
+                  CALL TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
+     $                         LDD, U, LDU, X, Y, LDY, DWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 ) NY
+                     DO 20 K = 1, NY
+                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
+                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
+   20                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01MD = ',I2)
+99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
+99996 FORMAT (' Y(',I2,') : ',F8.4)
+99995 FORMAT (9X,F8.4,/)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01MD EXAMPLE PROGRAM DATA
+   3     2     2     10
+   0.0000 -0.0700  0.0150
+   1.0000  0.8000 -0.1500
+   0.0000  0.0000  0.5000
+   0.0000  2.0000  1.0000
+  -1.0000 -0.1000  1.0000
+   0.0000  1.0000
+   0.0000  0.0000
+   1.0000  0.0000
+   1.0000  0.5000
+   0.0000  0.5000
+   1.0000  1.0000  1.0000
+  -0.6922 -1.4934  0.3081 -2.7726  2.0039
+   0.2614 -0.9160 -0.6030  1.2556  0.2951
+  -1.5734  1.5639 -0.9942  1.8957  0.8988
+   0.4118 -1.4893 -0.9344  1.2506 -0.0701
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01MD EXAMPLE PROGRAM RESULTS
+
+ The output sequence Y(1),...,Y(10) is
+
+ Y( 1) :   0.3078
+          -0.0928
+
+ Y( 2) :  -1.5125
+           1.2611
+
+ Y( 3) :  -1.2577
+           3.4002
+
+ Y( 4) :  -0.2947
+          -0.7060
+
+ Y( 5) :  -0.5632
+           5.4532
+
+ Y( 6) :  -1.0846
+           1.1846
+
+ Y( 7) :  -1.2427
+           2.2286
+
+ Y( 8) :   1.8097
+          -1.9534
+
+ Y( 9) :   0.6685
+          -4.4965
+
+ Y(10) :  -0.0896
+           1.1654
+
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01MX.html b/doc/_build/html/_static/doc/TF01MX.html
new file mode 100644
index 00000000..2eef5443
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01MX.html
@@ -0,0 +1,165 @@
+<HTML>
+<HEAD><TITLE>TF01MX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01MX">TF01MX</A></H2>
+<H3>
+Output sequence of a linear time-invariant open-loop system given its system matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  with an (N+P)-by-(N+M) general system matrix S,
+
+         ( A  B )
+     S = (      ) .
+         ( C  D )
+
+  The initial state vector x(1) must be supplied by the user.
+
+  The input and output trajectories are stored as in the SLICOT
+  Library routine TF01MY.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01MX( N, M, P, NY, S, LDS, U, LDU, X, Y, LDY,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDS, LDU, LDWORK, LDY, M, N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), S(LDS,*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,N+M)
+          The leading (N+P)-by-(N+M) part of this array must contain
+          the system matrix S.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N+P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NY-by-M part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th row of U must contain u(k)'.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY+1.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
+          The leading NY-by-P part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          row of Y contains y(k)' (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,        if MIN(N,P,NY) = 0;  otherwise,
+          LDWORK &gt;= N+P,      if M = 0;
+          LDWORK &gt;= 2*N+M+P,  if M &gt; 0.
+          For better performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     ( x(k+1) )     ( x(k) )
+     (        ) = S (      ) ,
+     (  y(k)  )     ( u(k) )
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k, and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (N + M) x (N + P) x NY
+  multiplications and additions.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The implementation exploits data locality as much as possible,
+  given the workspace length.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01MY.html b/doc/_build/html/_static/doc/TF01MY.html
new file mode 100644
index 00000000..7995e18e
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01MY.html
@@ -0,0 +1,187 @@
+<HTML>
+<HEAD><TITLE>TF01MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01MY">TF01MY</A></H2>
+<H3>
+Output sequence of a linear time-invariant open-loop system (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  (A,B,C,D), where A is an N-by-N general matrix.
+
+  The initial state vector x(1) must be supplied by the user.
+
+  This routine differs from SLICOT Library routine TF01MD in the
+  way the input and output trajectories are stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01MY( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   U, LDU, X, Y, LDY, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDWORK, LDY, M,
+     $                  N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct link matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NY-by-M part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th row of U must contain u(k)'.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY+1.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
+          The leading NY-by-P part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          row of Y contains y(k)' (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For better performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     x(k+1) = A x(k) + B u(k)
+     y(k)   = C x(k) + D u(k),
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (N + M) x (N + P) x NY
+  multiplications and additions.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The implementation exploits data locality and uses BLAS 3
+  operations as much as possible, given the workspace length.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01ND.html b/doc/_build/html/_static/doc/TF01ND.html
new file mode 100644
index 00000000..6fb14be6
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01ND.html
@@ -0,0 +1,313 @@
+<HTML>
+<HEAD><TITLE>TF01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01ND">TF01ND</A></H2>
+<H3>
+Output response sequence of a linear time-invariant discrete-time system with upper/lower Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  (A,B,C,D), where A is an N-by-N upper or lower Hessenberg matrix.
+
+  The initial state vector x(1) must be supplied by the user.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, U, LDU, X, Y, LDY, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes to use an upper or lower
+          Hessenberg matrix as follows:
+          = 'U':  Upper Hessenberg matrix;
+          = 'L':  Lower Hessenberg matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If UPLO = 'U', the leading N-by-N upper Hessenberg part
+          of this array must contain the state matrix A of the
+          system.
+          If UPLO = 'L', the leading N-by-N lower Hessenberg part
+          of this array must contain the state matrix A of the
+          system.
+          The remainder of the leading N-by-N part is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct link matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
+          The leading M-by-NY part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th column of U must contain u(k).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
+          The leading P-by-NY part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          column of Y contains y(k) (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     x(k+1) = A x(k) + B u(k)
+     y(k)   = C x(k) + D u(k),
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately ((N+M)xP + (N/2+M)xN) x NY
+  multiplications and additions.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The processing time required by this routine will be approximately
+  half that required by the SLICOT Library routine TF01MD, which
+  treats A as a general matrix.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NYMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDU = MMAX, LDY = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      UPLO
+      INTEGER          I, INFO, J, K, M, N, NY, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
+     $                 X(NMAX), Y(LDY,NYMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NY, UPLO
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
+               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NY
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
+*                 Compute y(1),...,y(NY) of the given system.
+                  CALL TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C,
+     $                         LDC, D, LDD, U, LDU, X, Y, LDY, DWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 ) NY
+                     DO 20 K = 1, NY
+                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
+                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
+   20                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01ND = ',I2)
+99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
+99996 FORMAT (' Y(',I2,') : ',F8.4)
+99995 FORMAT (9X,F8.4,/)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01ND EXAMPLE PROGRAM DATA
+   3     2     2     10     U
+   0.0000 -0.0700  0.0000
+   1.0000  0.8000 -0.1500
+   0.0000  0.0000  0.5000
+   0.0000  2.0000  1.0000
+  -1.0000 -0.1000  1.0000
+   0.0000  1.0000
+   0.0000  0.0000
+   1.0000  0.0000
+   1.0000  0.5000
+   0.0000  0.5000
+   1.0000  1.0000  1.0000
+  -0.6922 -1.4934  0.3081 -2.7726  2.0039
+   0.2614 -0.9160 -0.6030  1.2556  0.2951
+  -1.5734  1.5639 -0.9942  1.8957  0.8988
+   0.4118 -1.4893 -0.9344  1.2506 -0.0701
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01ND EXAMPLE PROGRAM RESULTS
+
+ The output sequence Y(1),...,Y(10) is
+
+ Y( 1) :   0.3078
+          -0.0928
+
+ Y( 2) :  -1.5275
+           1.2611
+
+ Y( 3) :  -1.3026
+           3.4002
+
+ Y( 4) :  -0.3512
+          -0.7060
+
+ Y( 5) :  -0.5922
+           5.4532
+
+ Y( 6) :  -1.1693
+           1.1846
+
+ Y( 7) :  -1.3029
+           2.2286
+
+ Y( 8) :   1.7529
+          -1.9534
+
+ Y( 9) :   0.6793
+          -4.4965
+
+ Y(10) :  -0.0349
+           1.1654
+
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01OD.html b/doc/_build/html/_static/doc/TF01OD.html
new file mode 100644
index 00000000..89de0b23
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01OD.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>TF01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01OD">TF01OD</A></H2>
+<H3>
+Block Hankel expansion of a multivariable parameter sequence
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the block Hankel expansion T of a multivariable
+  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
+  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NH1     (input) INTEGER
+          The number of rows in each parameter M(k).  NH1 &gt;= 0.
+
+  NH2     (input) INTEGER
+          The number of columns in each parameter M(k).  NH2 &gt;= 0.
+
+  NR      (input) INTEGER
+          The number of parameters required in each column of the
+          block Hankel expansion matrix T.  NR &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of parameters required in each row of the
+          block Hankel expansion matrix T.  NC &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension
+          (LDH,(NR+NC-1)*NH2)
+          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
+          contain the multivariable sequence M(k), where k = 1,2,
+          ...,(NR+NC-1). Specifically, each parameter M(k) is an
+          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
+          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
+          The leading NH1*NR-by-NH2*NC part of this array contains
+          the block Hankel expansion of the multivariable sequence
+          M(k).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
+  sequence are arranged into a matrix T in Hankel form such that
+
+           | M(1)   M(2)    M(3)    . . .  M(NC)     |
+           |                                         |
+           | M(2)   M(3)    M(4)    . . .  M(NC+1)   |
+      T =  |  .      .       .              .        |.
+           |  .      .       .              .        |
+           |  .      .       .              .        |
+           |                                         |
+           | M(NR)  M(NR+1) M(NR+2) . . .  M(NR+NC-1)|
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Johvidov, J.S.
+      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
+      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
+      Birkhaeuser, Boston, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The time taken is approximately proportional to
+  NH1 x NH2 x NR x NC.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
+      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
+     $                   NCMAX = 20 )
+      INTEGER          LDH, LDT
+      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
+*     .. Local Arrays ..
+      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
+     $                 T(LDT,NH2MAX*NCMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
+      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NH1
+      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NH2
+      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NR
+      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NC
+      ELSE
+         READ ( NIN, FMT = * )
+     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
+*        Construct the NRT by NCT block Hankel expansion of M(k).
+         CALL TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            NRT = NH1*NR
+            NCT = NH2*NC
+            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
+            DO 20 I = 1, NRT
+               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01OD = ',I2)
+99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
+99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
+99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
+99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01OD EXAMPLE PROGRAM DATA
+   2     2     3     3
+   1.0647 -0.4282 -0.4922 -1.2072
+  -0.3043  0.6883 -0.0926  0.7167
+  -0.1844 -0.8507  0.4441 -0.0478
+   0.7195  0.0500 -0.3955  0.5674
+   1.3387 -0.2801  0.1073 -0.5315
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01OD EXAMPLE PROGRAM RESULTS
+
+ The  6 by  6 matrix T is 
+   1.0647  -0.4922  -0.3043  -0.0926  -0.1844   0.4441
+  -0.4282  -1.2072   0.6883   0.7167  -0.8507  -0.0478
+  -0.3043  -0.0926  -0.1844   0.4441   0.7195  -0.3955
+   0.6883   0.7167  -0.8507  -0.0478   0.0500   0.5674
+  -0.1844   0.4441   0.7195  -0.3955   1.3387   0.1073
+  -0.8507  -0.0478   0.0500   0.5674  -0.2801  -0.5315
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01PD.html b/doc/_build/html/_static/doc/TF01PD.html
new file mode 100644
index 00000000..f8266f1f
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01PD.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>TF01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01PD">TF01PD</A></H2>
+<H3>
+Block Toeplitz expansion of a multivariable parameter sequence
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the block Toeplitz expansion T of a multivariable
+  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
+  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NH1     (input) INTEGER
+          The number of rows in each parameter M(k).  NH1 &gt;= 0.
+
+  NH2     (input) INTEGER
+          The number of columns in each parameter M(k).  NH2 &gt;= 0.
+
+  NR      (input) INTEGER
+          The number of parameters required in each column of the
+          block Toeplitz expansion matrix T.  NR &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of parameters required in each row of the
+          block Toeplitz expansion matrix T.  NC &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension
+          (LDH,(NR+NC-1)*NH2)
+          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
+          contain the multivariable sequence M(k), where k = 1,2,
+          ...,(NR+NC-1). Specifically, each parameter M(k) is an
+          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
+          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
+          The leading NH1*NR-by-NH2*NC part of this array contains
+          the block Toeplitz expansion of the multivariable sequence
+          M(k).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
+  sequence are arranged into a matrix T in Toeplitz form such that
+
+             | M(NC)       M(NC-1)     M(NC-2)    . . .  M(1)  |
+             |                                                 |
+             | M(NC+1)     M(NC)       M(NC-1)    . . .  M(2)  |
+        T =  |  .           .           .                 .    |.
+             |  .           .           .                 .    |
+             |  .           .           .                 .    |
+             |                                                 |
+             | M(NR+NC-1)  M(NR+NC-2)  M(NR+NC-3) . . .  M(NR) |
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Johvidov, J.S.
+      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
+      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
+      Birkhaeuser, Boston, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The time taken is approximately proportional to
+  NH1 x NH2 x NR x NC.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
+      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
+     $                   NCMAX = 20 )
+      INTEGER          LDH, LDT
+      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
+*     .. Local Arrays ..
+      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
+     $                 T(LDT,NH2MAX*NCMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01PD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
+      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NH1
+      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NH2
+      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NR
+      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NC
+      ELSE
+         READ ( NIN, FMT = * )
+     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
+*        Construct the NRT by NCT block Toeplitz expansion of M(k).
+         CALL TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            NRT = NH1*NR
+            NCT = NH2*NC
+            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
+            DO 20 I = 1, NRT
+               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01PD = ',I2)
+99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
+99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
+99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
+99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01PD EXAMPLE PROGRAM DATA
+   2     2     3     3
+   1.0647 -0.4282 -0.4922 -1.2072
+  -0.3043  0.6883 -0.0926  0.7167
+  -0.1844 -0.8507  0.4441 -0.0478
+   0.7195  0.0500 -0.3955  0.5674
+   1.3387 -0.2801  0.1073 -0.5315
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01PD EXAMPLE PROGRAM RESULTS
+
+ The  6 by  6 matrix T is 
+  -0.1844   0.4441  -0.3043  -0.0926   1.0647  -0.4922
+  -0.8507  -0.0478   0.6883   0.7167  -0.4282  -1.2072
+   0.7195  -0.3955  -0.1844   0.4441  -0.3043  -0.0926
+   0.0500   0.5674  -0.8507  -0.0478   0.6883   0.7167
+   1.3387   0.1073   0.7195  -0.3955  -0.1844   0.4441
+  -0.2801  -0.5315   0.0500   0.5674  -0.8507  -0.0478
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01QD.html b/doc/_build/html/_static/doc/TF01QD.html
new file mode 100644
index 00000000..cbc0933a
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01QD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>TF01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01QD">TF01QD</A></H2>
+<H3>
+Markov parameters of a multivariable system from its transfer function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute N Markov parameters M(1), M(2),..., M(N) from a
+  multivariable system whose transfer function matrix G(z) is given.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, N, NB, NC
+C     .. Array Arguments ..
+      INTEGER           IORD(*)
+      DOUBLE PRECISION  AR(*), H(LDH,*), MA(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NC      (input) INTEGER
+          The number of system outputs, i.e. the number of rows in
+          the transfer function matrix G(z).  NC &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of system inputs, i.e. the number of columns in
+          the transfer function matrix G(z).  NB &gt;= 0.
+
+  N       (input) INTEGER
+          The number of Markov parameters M(k) to be computed.
+          N &gt;= 0.
+
+  IORD    (input) INTEGER array, dimension (NC*NB)
+          This array must contain the order r of the elements of the
+          transfer function matrix G(z), stored row by row.
+          For example, the order of the (i,j)-th element of G(z) is
+          given by IORD((i-1)xNB+j).
+
+  AR      (input) DOUBLE PRECISION array, dimension (NA), where
+          NA = IORD(1) + IORD(2) + ... + IORD(NC*NB).
+          The leading NA elements of this array must contain the
+          denominator coefficients AR(1),...,AR(r) in equation (1)
+          of the (i,j)-th element of the transfer function matrix
+          G(z), stored row by row, i.e. in the order
+          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
+          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
+          in decreasing order of powers of z; the coefficient of the
+          highest order term is assumed to be equal to 1.
+
+  MA      (input) DOUBLE PRECISION array, dimension (NA)
+          The leading NA elements of this array must contain the
+          numerator coefficients MA(1),...,MA(r) in equation (1)
+          of the (i,j)-th element of the transfer function matrix
+          G(z), stored row by row, i.e. in the order
+          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
+          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
+          in decreasing order of powers of z.
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
+          The leading NC-by-N*NB part of this array contains the
+          multivariable Markov parameter sequence M(k), where each
+          parameter M(k) is an NC-by-NB matrix and k = 1,2,...,N.
+          The Markov parameters are stored such that H(i,(k-1)xNB+j)
+          contains the (i,j)-th element of M(k) for i = 1,2,...,NC
+          and j = 1,2,...,NB.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j)-th element of G(z), defining the particular I/O transfer
+  between output i and input j, has the following form:
+
+                       -1         -2               -r
+                 MA(1)z   + MA(2)z   + ... + MA(r)z
+      G  (z) = ----------------------------------------.         (1)
+       ij                -1         -2               -r
+               1 + AR(1)z   + AR(2)z   + ... + AR(r)z
+
+  The (i,j)-th element of G(z) is defined by its order r, its r
+  moving average coefficients (= numerator) MA(1),...,MA(r) and its
+  r autoregressive coefficients (= denominator) AR(1),...,AR(r). The
+  coefficient of the constant term in the denominator is assumed to
+  be equal to 1.
+
+  The relationship between the (i,j)-th element of the Markov
+  parameters M(1),M(2),...,M(N) and the corresponding element of the
+  transfer function matrix G(z) is given by:
+
+                            -1          -2                -k
+   G  (z) = M  (0) + M  (1)z   + M  (2)z   + ... + M  (k)z  + ...(2)
+    ij       ij       ij          ij                ij
+
+  Equating (1) and (2), we find that the relationship between the
+  (i,j)-th element of the Markov parameters M(k) and the ARMA
+  parameters AR(1),...,AR(r) and MA(1),...,MA(r) of the (i,j)-th
+  element of the transfer function matrix G(z) is as follows:
+
+     M  (1)   = MA(1),
+      ij
+                        k-1
+     M  (k)   = MA(k) - SUM AR(p) x M  (k-p) for 1 &lt; k &lt;= r and
+      ij                p=1          ij
+                   r
+     M  (k+r) = - SUM AR(p) x M  (k+r-p) for k &gt; 0.
+      ij          p=1          ij
+
+  From these expressions the Markov parameters M(k) are computed
+  element by element.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The computation of the (i,j)-th element of M(k) requires:
+     (k-1) multiplications and k additions if k &lt;= r;
+       r   multiplications and r additions if k &gt; r.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
+      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
+      INTEGER          LDH
+      PARAMETER        ( LDH = NCMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, N, NA, NASUM, NB, NC, NL, NORD
+      LOGICAL          ERROR
+*     .. Local Arrays ..
+      DOUBLE PRECISION AR(NAMAX), H(LDH,NMAX*NBMAX), MA(NAMAX)
+      INTEGER          IORD(NCMAX*NBMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NA, NB, NC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NA
+      ELSE IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NB
+      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) NC
+      ELSE
+         ERROR = .FALSE.
+         NL = 0
+         K = 1
+         NASUM = 0
+         DO 40 I = 1, NC
+            DO 20 J = 1, NB
+               READ ( NIN, FMT = * ) NORD
+               NASUM = NASUM + NORD
+               IF ( NA.GE.NASUM ) THEN
+                  READ ( NIN, FMT = * ) ( MA(NL+L), L = 1,NORD )
+                  READ ( NIN, FMT = * ) ( AR(NL+L), L = 1,NORD )
+                  IORD(K) = NORD
+                  K = K + 1
+                  NL = NL + NORD
+               ELSE
+                  WRITE ( NOUT, FMT = 99993 ) NA
+                  ERROR = .TRUE.
+               END IF
+   20       CONTINUE
+   40    CONTINUE
+         IF ( .NOT. ERROR ) THEN
+*           Compute M(1),...,M(N) from the given transfer function
+*           matrix G(z).
+            CALL TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) N
+               DO 80 K = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) K,
+     $                  ( H(1,(K-1)*NB+J), J = 1,NB )
+                  DO 60 I = 2, NC
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( H(I,(K-1)*NB+J), J = 1,NB )
+   60             CONTINUE
+   80          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01QD = ',I2)
+99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
+99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
+99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
+99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01QD EXAMPLE PROGRAM DATA
+   8    10     2     2   
+   2
+   1.0  -0.5
+   0.6  -0.2
+   1
+   1.0
+  -0.8
+   3
+   0.5  -0.4   0.3
+   0.8   0.4   0.1
+   4
+   1.0   0.5  -0.5   0.0
+  -0.8   0.6   0.0  -0.2
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01QD EXAMPLE PROGRAM RESULTS
+
+ The Markov Parameters M(1),...,M(8) are 
+
+ M(1) :    1.0000   1.0000
+           0.5000   1.0000
+
+ M(2) :   -1.1000   0.8000
+          -0.8000   1.3000
+
+ M(3) :    0.8600   0.6400
+           0.7400  -0.0600
+
+ M(4) :   -0.7360   0.5120
+          -0.3220  -0.8280
+
+ M(5) :    0.6136   0.4096
+           0.0416  -0.4264
+
+ M(6) :   -0.5154   0.3277
+           0.0215   0.4157
+
+ M(7) :    0.4319   0.2621
+          -0.0017   0.5764
+
+ M(8) :   -0.3622   0.2097
+          -0.0114   0.0461
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TF01RD.html b/doc/_build/html/_static/doc/TF01RD.html
new file mode 100644
index 00000000..c3ee03b1
--- /dev/null
+++ b/doc/_build/html/_static/doc/TF01RD.html
@@ -0,0 +1,263 @@
+<HTML>
+<HEAD><TITLE>TF01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01RD">TF01RD</A></H2>
+<H3>
+Markov parameters of a multivariable system from the state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute N Markov parameters M(1), M(2),..., M(N) from the
+  parameters (A,B,C) of a linear time-invariant system, where each
+  M(k) is an NC-by-NB matrix and k = 1,2,...,N.
+
+  All matrices are treated as dense, and hence TF01RD is not
+  intended for large sparse problems.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H, LDH,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDH, LDWORK, N, NA, NB, NC
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NA      (input) INTEGER
+          The order of the matrix A.  NA &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of system inputs.  NB &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of system outputs.  NC &gt;= 0.
+
+  N       (input) INTEGER
+          The number of Markov parameters M(k) to be computed.
+          N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,NA)
+          The leading NA-by-NA part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,NA).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,NB)
+          The leading NA-by-NB part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,NA).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,NA)
+          The leading NC-by-NA part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,NC).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
+          The leading NC-by-N*NB part of this array contains the
+          multivariable parameters M(k), where each parameter M(k)
+          is an NC-by-NB matrix and k = 1,2,...,N. The Markov
+          parameters are stored such that H(i,(k-1)xNB+j) contains
+          the (i,j)-th element of M(k) for i = 1,2,...,NC and
+          j = 1,2,...,NB.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, 2*NA*NC).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the linear time-invariant discrete-time system
+
+         x(k+1) = A x(k) + B u(k)
+          y(k)  = C x(k) + D u(k),
+
+  the transfer function matrix G(z) is given by
+                         -1
+           G(z) = C(zI-A)  B + D
+                          -1        -2     2   -3
+                = D + CB z   + CAB z   + CA B z   + ...          (1)
+
+  Using Markov parameters, G(z) can also be written as
+                              -1        -2        -3
+           G(z) = M(0) + M(1)z   + M(2)z   + M(3)z   + ...       (2)
+
+                                                            k-1
+  Equating (1) and (2), we find that M(0) = D and M(k) = C A    B
+  for k &gt; 0, from which the Markov parameters M(1),M(2)...,M(N) are
+  computed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Chen, C.T.
+      Introduction to Linear System Theory.
+      H.R.W. Series in Electrical Engineering, Electronics and
+      Systems, Holt, Rinehart and Winston Inc., London, 1970.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (NA + NB) x NA x NC x N
+  multiplications and additions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
+      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDH
+      PARAMETER        ( LDA = NAMAX, LDB = NAMAX, LDC = NCMAX,
+     $                   LDH = NCMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NAMAX*NCMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, N, NA, NB, NC
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NAMAX), B(LDB,NBMAX), C(LDC,NAMAX),
+     $                 H(LDH,NMAX*NBMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TF01RD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NA, NB, NC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NA
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,NA ), J = 1,NA )
+         IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) NB
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,NA ), J = 1,NB )
+            IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) NC
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,NC ), J = 1,NA )
+*              Compute M(1),...,M(N) from the system (A,B,C).
+               CALL TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H,
+     $                      LDH, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) N
+                  DO 40 K = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) K,
+     $                     ( H(1,(K-1)*NB+J), J = 1,NB )
+                     DO 20 I = 2, NC
+                        WRITE ( NOUT, FMT = 99995 )
+     $                        ( H(I,(K-1)*NB+J), J = 1,NB )
+   20                CONTINUE
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01RD = ',I2)
+99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
+99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
+99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
+99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01RD EXAMPLE PROGRAM DATA
+   5     3     2     2
+   0.000 -0.070  0.015
+   1.000  0.800 -0.150
+   0.000  0.000  0.500
+   0.000  2.000  1.000
+  -1.000 -0.100  1.000
+   0.000  1.000  0.000
+   0.000  1.000  0.000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01RD EXAMPLE PROGRAM RESULTS
+
+ The Markov Parameters M(1),...,M(5) are 
+
+ M(1) :    1.0000   1.0000
+           0.0000  -1.0000
+
+ M(2) :    0.2000   0.5000
+           2.0000  -0.1000
+
+ M(3) :   -0.1100   0.2500
+           1.6000  -0.0100
+
+ M(4) :   -0.2020   0.1250
+           1.1400  -0.0010
+
+ M(5) :   -0.2039   0.0625
+           0.8000  -0.0001
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01AD.html b/doc/_build/html/_static/doc/TG01AD.html
new file mode 100644
index 00000000..d5b73452
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01AD.html
@@ -0,0 +1,376 @@
+<HTML>
+<HEAD><TITLE>TG01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01AD">TG01AD</A></H2>
+<H3>
+Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the matrices of the system pencil
+
+          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
+               ( C  0 )          ( 0  0 )
+
+  corresponding to the descriptor triple (A-lambda E,B,C),
+  by balancing. This involves diagonal similarity transformations
+  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
+  (A-lambda E,B,C) to make the rows and columns of system pencil
+  matrices
+
+               diag(Dl,I) * S * diag(Dr,I)
+
+  as close in norm as possible. Balancing may reduce the 1-norms
+  of the matrices of the system pencil S.
+
+  The balancing can be performed optionally on the following
+  particular system pencils
+
+           S = A-lambda E,
+
+           S = ( A-lambda E  B ),    or
+
+           S = ( A-lambda E ).
+               (     C      )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01AD( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), LSCALE( * ),
+     $                   RSCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B, A and E matrices are involved in balancing;
+          = 'C':  C, A and E matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          Threshold value for magnitude of elements:
+          elements with magnitude less than or equal to
+          THRESH are ignored for balancing. THRESH &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*A*Dr.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*E*Dr.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, if M &gt; 0, the leading L-by-M part of this array
+          contains the balanced matrix Dl*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*Dr.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
+          The scaling factors applied to S from left.  If Dl(j) is
+          the scaling factor applied to row j, then
+          SCALE(j) = Dl(j), for j = 1,...,L.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S from right.  If Dr(j) is
+          the scaling factor applied to column j, then
+          SCALE(j) = Dr(j), for j = 1,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                         -1
+               diag(Dl,I)  * S * diag(Dr,I)
+
+  to make the 1-norms of each row of the first L rows of S and its
+  corresponding N columns nearly equal.
+
+  Information about the diagonal matrices Dl and Dr are returned in
+  the vectors LSCALE and RSCALE, respectively.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] R.C. Ward, R. C.
+      Balancing the generalized eigenvalue problem.
+      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBS
+      INTEGER          I, INFO, J, L, M, N, P
+      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), LSCALE(LMAX),
+     $                 RSCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE
+      EXTERNAL         DLANGE
+*     .. External Subroutines ..
+      EXTERNAL         TG01AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Compute norms before scaling
+                  ABCNRM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
+     $                          DLANGE( '1', L, M, B, LDB, DWORK ),
+     $                          DLANGE( '1', P, N, C, LDC, DWORK ) )
+                  ENORM = DLANGE( '1', L, N, E, LDE, DWORK )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01AD( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     SABCNM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
+     $                             DLANGE( '1', L, M, B, LDB, DWORK ),
+     $                             DLANGE( '1', P, N, C, LDC, DWORK ) )
+                     SENORM = DLANGE( '1', L, N, E, LDE, DWORK )
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,L )
+                     WRITE ( NOUT, FMT = 99990 )
+                     WRITE ( NOUT, FMT = 99995 ) ( RSCALE(J), J = 1,N )
+                     WRITE ( NOUT, FMT = 99994 )
+     $                       ABCNRM, SABCNM, ENORM, SENORM
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01AD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
+99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
+99995 FORMAT (20(1X,F9.4))
+99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
+     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
+     $         ' Norm of E                   =', 1PD10.3/
+     $         ' Norm of scaled E            =', 1PD10.3)
+99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
+99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
+99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01AD EXAMPLE PROGRAM DATA
+  4    4     2     2     A   0.0
+        -1         0         0    0.003
+         0         0    0.1000    0.02
+       100        10         0    0.4
+         0         0         0    0.0
+         1       0.2         0    0.0
+         0         1         0    0.01
+       300        90         6    0.3
+         0         0        20    0.0
+        10         0
+         0         0
+         0      1000
+     10000     10000
+      -0.1      0.0    0.001    0.0
+       0.0      0.01  -0.001    0.0001
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01AD EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix Dl*A*Dr is 
+   -1.0000    0.0000    0.0000    0.3000
+    0.0000    0.0000    1.0000    2.0000
+    1.0000    0.1000    0.0000    0.4000
+    0.0000    0.0000    0.0000    0.0000
+
+ The transformed descriptor matrix Dl*E*Dr is 
+    1.0000    0.2000    0.0000    0.0000
+    0.0000    1.0000    0.0000    1.0000
+    3.0000    0.9000    0.6000    0.3000
+    0.0000    0.0000    0.2000    0.0000
+
+ The transformed input/state matrix Dl*B is 
+  100.0000    0.0000
+    0.0000    0.0000
+    0.0000  100.0000
+  100.0000  100.0000
+
+ The transformed state/output matrix C*Dr is 
+   -0.0100    0.0000    0.0010    0.0000
+    0.0000    0.0010   -0.0010    0.0010
+
+ The diagonal of left scaling matrix Dl is 
+   10.0000   10.0000    0.1000    0.0100
+
+ The diagonal of right scaling matrix Dr is 
+    0.1000    0.1000    1.0000   10.0000
+
+ Norm of [ A B; C 0]         = 1.100D+04
+ Norm of scaled [ A B; C 0]  = 2.000D+02
+ Norm of E                   = 3.010D+02
+ Norm of scaled E            = 4.000D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01AZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01AZ">TG01AZ</A></H2>
+<H3>
+Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C) (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the matrices of the system pencil
+
+          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
+               ( C  0 )          ( 0  0 )
+
+  corresponding to the descriptor triple (A-lambda E,B,C),
+  by balancing. This involves diagonal similarity transformations
+  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
+  (A-lambda E,B,C) to make the rows and columns of system pencil
+  matrices
+
+               diag(Dl,I) * S * diag(Dr,I)
+
+  as close in norm as possible. Balancing may reduce the 1-norms
+  of the matrices of the system pencil S.
+
+  The balancing can be performed optionally on the following
+  particular system pencils
+
+           S = A-lambda E,
+
+           S = ( A-lambda E  B ),    or
+
+           S = ( A-lambda E ).
+               (     C      )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01AZ( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   E( LDE, * )
+      DOUBLE PRECISION   DWORK( * ), LSCALE( * ), RSCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B, A and E matrices are involved in balancing;
+          = 'C':  C, A and E matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          Threshold value for magnitude of elements:
+          elements with magnitude less than or equal to
+          THRESH are ignored for balancing. THRESH &gt;= 0.
+          The magnitude is computed as the sum of the absolute
+          values of the real and imaginary parts.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*A*Dr.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*E*Dr.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, if M &gt; 0, the leading L-by-M part of this array
+          contains the balanced matrix Dl*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*Dr.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
+          The scaling factors applied to S from left.  If Dl(j) is
+          the scaling factor applied to row j, then
+          SCALE(j) = Dl(j), for j = 1,...,L.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S from right.  If Dr(j) is
+          the scaling factor applied to column j, then
+          SCALE(j) = Dr(j), for j = 1,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                         -1
+               diag(Dl,I)  * S * diag(Dr,I)
+
+  to make the 1-norms of each row of the first L rows of S and its
+  corresponding N columns nearly equal.
+
+  Information about the diagonal matrices Dl and Dr are returned in
+  the vectors LSCALE and RSCALE, respectively.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] R.C. Ward, R. C.
+      Balancing the generalized eigenvalue problem.
+      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01AZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBS
+      INTEGER          I, INFO, J, L, M, N, P
+      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 E(LDE,NMAX)
+      DOUBLE PRECISION DWORK(LDWORK), LSCALE(LMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION ZLANGE
+      EXTERNAL         ZLANGE
+*     .. External Subroutines ..
+      EXTERNAL         TG01AZ
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Compute norms before scaling
+                  ABCNRM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
+     $                          ZLANGE( '1', L, M, B, LDB, DWORK ),
+     $                          ZLANGE( '1', P, N, C, LDC, DWORK ) )
+                  ENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01AZ( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     SABCNM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
+     $                             ZLANGE( '1', L, M, B, LDB, DWORK ),
+     $                             ZLANGE( '1', P, N, C, LDC, DWORK ) )
+                     SENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99985 ) ( LSCALE(I), I = 1,L )
+                     WRITE ( NOUT, FMT = 99990 )
+                     WRITE ( NOUT, FMT = 99985 ) ( RSCALE(J), J = 1,N )
+                     WRITE ( NOUT, FMT = 99994 )
+     $                       ABCNRM, SABCNM, ENORM, SENORM
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01AZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01AZ = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
+99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
+99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
+     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
+     $         ' Norm of E                   =', 1PD10.3/
+     $         ' Norm of scaled E            =', 1PD10.3)
+99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
+99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
+99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (20(1X,F9.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01AZ EXAMPLE PROGRAM DATA
+  4    4     2     2     A   0.0
+       (-1,0)       (0,0)       (0,0)  (0.003,0)
+        (0,0)       (0,0)  (0.1000,0)   (0.02,0)
+      (100,0)      (10,0)       (0,0)    (0.4,0)
+        (0,0)       (0,0)       (0,0)    (0.0,0)
+        (1,0)     (0.2,0)       (0,0)    (0.0,0)
+        (0,0)       (1,0)       (0,0)  ( 0.01,0)
+      (300,0)      (90,0)       (6,0)    (0.3,0)
+        (0,0)       (0,0)      (20,0)    (0.0,0)
+       (10,0)       (0,0)
+        (0,0)       (0,0)
+        (0,0)    (1000,0)
+    (10000,0)   (10000,0)
+     (-0.1,0)     (0.0,0)   (0.001,0)    (0.0,0)
+      (0.0,0)    (0.01,0)  (-0.001,0) (0.0001,0)
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01AZ EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix Dl*A*Dr is 
+   -1.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i     2.0000  +0.0000i 
+    1.0000  +0.0000i     0.1000  +0.0000i     0.0000  +0.0000i     0.4000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+
+ The transformed descriptor matrix Dl*E*Dr is 
+    1.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     1.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i 
+    3.0000  +0.0000i     0.9000  +0.0000i     0.6000  +0.0000i     0.3000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i 
+
+ The transformed input/state matrix Dl*B is 
+  100.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i   100.0000  +0.0000i 
+  100.0000  +0.0000i   100.0000  +0.0000i 
+
+ The transformed state/output matrix C*Dr is 
+   -0.0100  +0.0000i     0.0000  +0.0000i     0.0010  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0010  +0.0000i    -0.0010  +0.0000i     0.0010  +0.0000i 
+
+ The diagonal of left scaling matrix Dl is 
+   10.0000   10.0000    0.1000    0.0100
+
+ The diagonal of right scaling matrix Dr is 
+    0.1000    0.1000    1.0000   10.0000
+
+ Norm of [ A B; C 0]         = 1.100D+04
+ Norm of scaled [ A B; C 0]  = 2.000D+02
+ Norm of E                   = 3.010D+02
+ Norm of scaled E            = 4.000D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01BD.html b/doc/_build/html/_static/doc/TG01BD.html
new file mode 100644
index 00000000..368f27ae
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01BD.html
@@ -0,0 +1,260 @@
+<HTML>
+<HEAD><TITLE>TG01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01BD">TG01BD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to the generalized Hessenberg form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices A and E of the system pencil
+
+          S =  ( A  B ) - lambda ( E  0 ) ,
+               ( C  0 )          ( 0  0 )
+
+  corresponding to the descriptor triple (A-lambda E,B,C),
+  to generalized upper Hessenberg form using orthogonal
+  transformations,
+
+       Q' * A * Z = H,   Q' * E * Z = T,
+
+  where H is upper Hessenberg, T is upper triangular, Q and Z
+  are orthogonal, and ' means transpose. The corresponding
+  transformations, written compactly as diag(Q',I) * S * diag(Z,I),
+  are also applied to B and C, getting Q' * B and C * Z.
+
+  The orthogonal matrices Q and Z are determined as products of
+  Givens rotations. They may either be formed explicitly, or they
+  may be postmultiplied into input matrices Q1 and Z1, so that
+
+       Q1 * A * Z1' = (Q1*Q) * H * (Z1*Z)'
+       Q1 * E * Z1' = (Q1*Q) * T * (Z1*Z)'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01BD( JOBE, COMPQ, COMPZ, N, M, P, ILO, IHI, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBE
+      INTEGER            IHI, ILO, INFO, LDA, LDB, LDC, LDE, LDQ,
+     $                   LDWORK, LDZ, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general square or an upper
+          triangular matrix, as follows:
+          = 'G':  E is a general square matrix;
+          = 'U':  E is an upper triangular matrix.
+
+  COMPQ   CHARACTER*1
+          Indicates what should be done with matrix Q, as follows:
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'V':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          Indicates what should be done with matrix Z, as follows:
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'V':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, and the number of rows of
+          the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that A and E are already upper triangular in
+          rows and columns 1:ILO-1 and IHI+1:N.  ILO and IHI could
+          normally be set by a previous call to LAPACK Library
+          routine DGGBAL; otherwise they should be set to 1 and N,
+          respectively.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0; ILO=1 and IHI=0, if N=0.
+          If JOBE = 'U', the matrix E is assumed upper triangular.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the upper Hessenberg matrix H = Q' * A * Z. The elements
+          below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E. If JOBE = 'U', this
+          matrix is assumed upper triangular.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular matrix T = Q' * E * Z. The elements
+          below the diagonal are set to zero.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, if M &gt; 0, the leading N-by-M part of this array
+          contains the transformed matrix Q' * B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0;  LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the transformed matrix C * Z.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N':  Q is not referenced;
+          If COMPQ = 'I':  on entry, Q need not be set, and on exit
+                           it contains the orthogonal matrix Q,
+                           where Q' is the product of the Givens
+                           transformations which are applied to A,
+                           E, and B on the left;
+          If COMPQ = 'V':  on entry, Q must contain an orthogonal
+                           matrix Q1, and on exit this is
+                           overwritten by Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'V'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced;
+          If COMPZ = 'I':  on entry, Z need not be set, and on exit
+                           it contains the orthogonal matrix Z,
+                           which is the product of the Givens
+                           transformations applied to A, E, and C
+                           on the right;
+          If COMPZ = 'V':  on entry, Z must contain an orthogonal
+                           matrix Z1, and on exit this is
+                           overwritten by Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'V'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 1,                          if JOBE = 'U';
+          LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)), if JOBE = 'G', where
+          NI = N+1-ILO, if COMPQ = 'N', and NI = N, otherwise.
+          For good performance, if JOBE = 'G', LDWORK must generally
+          be larger, LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)*NB), where
+          NB is the optimal block size.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, this routine computes the QR factorization of E and applies
+  the transformations to A, B, and possibly Q. Then, the routine
+  reduces A to upper Hessenberg form, preserving E triangular, by
+  an unblocked reduction [1], using two sequences of plane rotations
+  applied alternately from the left and from the right. The
+  corresponding transformations may be accumulated and/or applied
+  to the matrices B and C. If JOBE = 'U', the initial reduction of E
+  to upper triangular form is skipped.
+
+  This routine is a modification and extension of the LAPACK Library
+  routine DGGHRD [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, 1996.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01CD.html b/doc/_build/html/_static/doc/TG01CD.html
new file mode 100644
index 00000000..b7db705e
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01CD.html
@@ -0,0 +1,307 @@
+<HTML>
+<HEAD><TITLE>TG01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01CD">TG01CD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system pair (A-lambda E,B) to the QR-coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the descriptor system pair (A-lambda E,B) to the
+  QR-coordinate form by computing an orthogonal transformation
+  matrix Q such that the transformed descriptor system pair
+  (Q'*A-lambda Q'*E, Q'*B) has the descriptor matrix Q'*E
+  in an upper trapezoidal form.
+  The left orthogonal transformations performed to reduce E
+  can be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB, Q, LDQ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, L, LDA, LDB, LDE, LDQ, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   E( LDE, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E in upper trapezoidal form,
+          i.e.
+
+                   ( E11 )
+            Q'*E = (     ) ,     if L &gt;= N ,
+                   (  0  )
+          or
+
+            Q'*E = ( E11 E12 ),  if L &lt; N ,
+
+          where E11 is an MIN(L,N)-by-MIN(L,N) upper triangular
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of Householder
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading L-by-L part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)).
+          For optimum performance
+          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)*NB),
+          where NB is the optimal blocksize.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the QR factorization of E to reduce it
+  to the upper trapezoidal form.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+      A &lt;- Q' * A ,  B &lt;- Q' * B.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20)
+      INTEGER          LDA, LDB, LDE, LDQ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX,
+     $                   LDE = LMAX, LDQ = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,MMAX) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ
+      INTEGER          I, INFO, J, L, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M
+      COMPQ = 'I'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+*              Find the transformed descriptor system pair
+*              (A-lambda E,B).
+               CALL TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB,
+     $                      Q, LDQ, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 30 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01CD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99993 FORMAT (/' The left transformation matrix Q is ')
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01CD EXAMPLE PROGRAM DATA
+  4    4     2    0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01CD EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix Q'*A is 
+  -0.6325  -0.9487   0.0000  -4.7434
+  -0.8706  -0.2176  -0.7255  -0.3627
+  -0.5203  -0.1301   0.3902   1.4307
+  -0.7559  -0.1890   0.5669   2.0788
+
+ The transformed descriptor matrix Q'*E is 
+  -3.1623  -9.1706  -5.6921  -2.8460
+   0.0000  -1.3784  -1.3059  -1.3784
+   0.0000   0.0000  -2.4279   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.3162  -0.9487
+   0.6529  -0.2176
+  -0.4336  -0.9538
+   1.1339   0.3780
+
+ The left transformation matrix Q is 
+  -0.3162   0.6529   0.3902   0.5669
+   0.0000  -0.7255   0.3902   0.5669
+  -0.9487  -0.2176  -0.1301  -0.1890
+   0.0000   0.0000  -0.8238   0.5669
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01DD.html b/doc/_build/html/_static/doc/TG01DD.html
new file mode 100644
index 00000000..55661670
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01DD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>TG01DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01DD">TG01DD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system pair (C,A-lambda E) to the RQ-coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the descriptor system pair (C,A-lambda E) to the
+  RQ-coordinate form by computing an orthogonal transformation
+  matrix Z such that the transformed descriptor system pair
+  (C*Z,A*Z-lambda E*Z) has the descriptor matrix E*Z in an upper
+  trapezoidal form.
+  The right orthogonal transformations performed to reduce E can
+  be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC, Z, LDZ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPZ
+      INTEGER            INFO, L, LDA, LDC, LDE, LDWORK, LDZ, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   E( LDE, * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix A*Z.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix E*Z in upper trapezoidal form,
+          i.e.
+
+                   ( E11 )
+             E*Z = (     ) ,  if L &gt;= N ,
+                   (  R  )
+          or
+
+             E*Z = ( 0  R ),  if L &lt; N ,
+
+          where R is an MIN(L,N)-by-MIN(L,N) upper triangular
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)).
+          For optimum performance
+          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)*NB),
+          where NB is the optimal blocksize.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the RQ factorization of E to reduce it
+  the upper trapezoidal form.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+      A &lt;- A * Z,  C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*N*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, PMAX = 20)
+      INTEGER          LDA, LDC, LDE, LDZ
+      PARAMETER        ( LDA = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,PMAX) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPZ
+      INTEGER          I, INFO, J, L, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, P
+      COMPZ = 'I'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) L
+      ELSE
+         IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed descriptor system pair
+*              (A-lambda E,B).
+               CALL TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC,
+     $                      Z, LDZ, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 30 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01DD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The transformed input/state matrix C*Z is ')
+99993 FORMAT (/' The right transformation matrix Z is ')
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01DD EXAMPLE PROGRAM DATA
+  4    4     2    0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01DD EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix A*Z is 
+   0.4082   3.0773   0.6030   0.0000
+   0.8165   1.7233   0.6030  -1.0000
+   2.0412   2.8311   2.4121   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed descriptor matrix E*Z is 
+   0.0000  -0.7385   2.1106   0.0000
+   0.0000   0.7385   1.2060   0.0000
+   0.0000   0.0000   9.9499  -6.0000
+   0.0000   0.0000   0.0000  -2.0000
+
+ The transformed input/state matrix C*Z is 
+  -0.8165   0.4924  -0.3015  -1.0000
+   0.0000   0.7385   1.2060   1.0000
+
+ The right transformation matrix Z is 
+   0.8165  -0.4924   0.3015   0.0000
+  -0.4082  -0.1231   0.9045   0.0000
+   0.0000   0.0000   0.0000  -1.0000
+   0.4082   0.8616   0.3015   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01ED.html b/doc/_build/html/_static/doc/TG01ED.html
new file mode 100644
index 00000000..c8406a7a
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01ED.html
@@ -0,0 +1,429 @@
+<HTML>
+<HEAD><TITLE>TG01ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01ED">TG01ED</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a SVD coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for the descriptor system (A-lambda E,B,C)
+  the orthogonal transformation matrices Q and Z such that the
+  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is in an
+  SVD (singular value decomposition) coordinate form with
+  the system matrices  Q'*A*Z and Q'*E*Z in the form
+
+               ( A11  A12 )             ( Er  0 )
+      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
+               ( A21  A22 )             (  0  0 )
+
+  where Er is an invertible diagonal matrix having on the diagonal
+  the decreasingly ordered nonzero singular values of E.
+  Optionally, the A22 matrix can be further reduced to the
+  SVD form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  where Ar is an invertible diagonal matrix having on the diagonal
+  the decreasingly ordered nonzero singular values of A22.
+  The left and/or right orthogonal transformations performed
+  to reduce E and A22 are accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBA
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M, N, P, RNKA22, RANKE
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBA    CHARACTER*1
+          = 'N':  do not reduce A22;
+          = 'R':  reduce A22 to an SVD form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A*Z. If JOBA = 'R', this matrix
+          is in the form
+
+                        ( A11  *   *  )
+               Q'*A*Z = (  *   Ar  0  ) ,
+                        (  *   0   0  )
+
+          where A11 is a RANKE-by-RANKE matrix and Ar is a
+          RNKA22-by-RNKA22 invertible diagonal matrix, with
+          decresingly ordered positive diagonal elements.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E*Z.
+
+                   ( Er  0 )
+          Q'*E*Z = (       ) ,
+                   (  0  0 )
+
+          where Er is a RANKE-by-RANKE invertible diagonal matrix
+          having on the diagonal the decreasingly ordered positive
+          singular values of E.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,L)
+          The leading L-by-L part of this array contains the
+          orthogonal matrix Q, which is the accumulated product of
+          transformations applied to A, E, and B on the left.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z, which is the accumulated product of
+          transformations applied to A, E, and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
+
+  RANKE   (output) INTEGER
+          The effective rank of matrix E, and thus also the order
+          of the invertible diagonal submatrix Er.
+          RANKE is computed as the number of singular values of E
+          greater than TOL*SVEMAX, where SVEMAX is the maximum
+          singular value of E.
+
+  RNKA22  (output) INTEGER
+          If JOBA = 'R', then RNKA22 is the effective rank of
+          matrix A22, and thus also the order of the invertible
+          diagonal submatrix Ar. RNKA22 is computed as the number
+          of singular values of A22 greater than TOL*SVAMAX,
+          where SVAMAX is an estimate of the maximum singular value
+          of A.
+          If JOBA = 'N', then RNKA22 is not referenced.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the rank of E
+          and of A22. If TOL &gt; 0, then singular values less than
+          TOL*SVMAX are treated as zero, where SVMAX is the maximum
+          singular value of E or an estimate of it for A and E.
+          If TOL &lt;= 0, the default tolerance TOLDEF = EPS*L*N is
+          used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH). TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,MIN(L,N) +
+                        MAX(3*MIN(L,N)+MAX(L,N), 5*MIN(L,N), M, P)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  the QR algorithm has failed to converge when computing
+                singular value decomposition. In this case INFO
+                specifies how many superdiagonals did not converge.
+                This failure is not likely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the singular value decomposition (SVD) of E,
+  in the form
+
+                 ( Er  0 )
+        E  = Q * (       ) * Z'
+                 (  0  0 )
+
+  and finds the largest RANKE-by-RANKE leading diagonal submatrix
+  Er whose condition number is less than 1/TOL. RANKE defines thus
+  the effective rank of matrix E.
+  If JOBA = 'R' the same reduction is performed on A22 in the
+  partitioned matrix
+
+               ( A11  A12 )
+      Q'*A*Z = (          ) ,
+               ( A21  A22 )
+
+  to obtain it in the form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an invertible diagonal matrix.
+
+  The accumulated transformations are also applied to the rest of
+  matrices
+
+       B &lt;- Q' * B,  C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, MIN( LMAX, NMAX ) +
+     $                            MAX( MMAX, PMAX, 3*MIN( LMAX, NMAX ) +
+     $                            MAX( LMAX, NMAX ),
+     $                            5*MIN( LMAX, NMAX ) ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBA
+      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL
+      JOBA = 'R'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                         C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
+     $                         TOL, DWORK, LDWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   50                CONTINUE
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01ED = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Rank of matrix E   =', I5/
+     $        ' Rank of matrix A22 =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01ED EXAMPLE PROGRAM DATA
+  4    4     2     2     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01ED EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+ Rank of matrix A22 =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   2.1882  -0.8664  -3.5097  -2.1353
+  -0.4569  -0.2146   1.9802   0.3531
+  -0.5717  -0.5245  -0.4591   0.4696
+  -0.4766  -0.5846   2.1414   0.3086
+
+ The transformed descriptor matrix Q'*E*Z is 
+  11.8494   0.0000   0.0000   0.0000
+   0.0000   2.1302   0.0000   0.0000
+   0.0000   0.0000   1.0270   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.2396  -1.0668
+  -0.2656  -0.8393
+  -0.7657  -0.1213
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+  -0.2499  -1.0573   0.3912  -0.8165
+  -0.5225   1.3958   0.8825   0.0000
+
+ The left transformation matrix Q is 
+  -0.1534   0.5377  -0.6049   0.5669
+  -0.0872   0.2536   0.7789   0.5669
+  -0.9805  -0.0360   0.0395  -0.1890
+  -0.0863  -0.8033  -0.1608   0.5669
+
+ The right transformation matrix Z is 
+  -0.2612   0.2017  -0.4737   0.8165
+  -0.7780   0.4718  -0.0738  -0.4082
+  -0.5111  -0.8556  -0.0826   0.0000
+  -0.2556   0.0684   0.8737   0.4082
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01FD.html b/doc/_build/html/_static/doc/TG01FD.html
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+<HTML>
+<HEAD><TITLE>TG01FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01FD">TG01FD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a SVD-like coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for the descriptor system (A-lambda E,B,C)
+  the orthogonal transformation matrices Q and Z such that the
+  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
+  in a SVD-like coordinate form with
+
+               ( A11  A12 )             ( Er  0 )
+      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
+               ( A21  A22 )             (  0  0 )
+
+  where Er is an upper triangular invertible matrix.
+  Optionally, the A22 matrix can be further reduced to the form
+
+               ( Ar  X )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix, and X either a full
+  or a zero matrix.
+  The left and/or right orthogonal transformations performed
+  to reduce E and A22 can be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBA
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+  JOBA    CHARACTER*1
+          = 'N':  do not reduce A22;
+          = 'R':  reduce A22 to a SVD-like upper triangular form.
+          = 'T':  reduce A22 to an upper trapezoidal form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
+          is in the form
+
+                        ( A11  *   *  )
+               Q'*A*Z = (  *   Ar  X  ) ,
+                        (  *   0   0  )
+
+          where A11 is a RANKE-by-RANKE matrix and Ar is a
+          RNKA22-by-RNKA22 invertible upper triangular matrix.
+          If JOBA = 'R' then A has the above form with X = 0.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E*Z.
+
+                   ( Er  0 )
+          Q'*E*Z = (       ) ,
+                   (  0  0 )
+
+          where Er is a RANKE-by-RANKE upper triangular invertible
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of Householder
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading L-by-L part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  RANKE   (output) INTEGER
+          The estimated rank of matrix E, and thus also the order
+          of the invertible upper triangular submatrix Er.
+
+  RNKA22  (output) INTEGER
+          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
+          matrix A22, and thus also the order of the invertible
+          upper triangular submatrix Ar.
+          If JOBA = 'N', then RNKA22 is not referenced.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the rank of E
+          and of A22. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the
+          reciprocal condition numbers of leading submatrices
+          of R or R22 in the QR decompositions E * P = Q * R of E
+          or A22 * P22 = Q22 * R22 of A22.
+          A submatrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH). TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
+          For optimal performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of E, in the form
+
+                    ( E11 E12 )
+        E * P = Q * (         )
+                    (  0  E22 )
+
+  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
+  estimated condition number is less than 1/TOL. RANKE defines thus
+  the rank of matrix E. Further E22, being negligible, is set to
+  zero, and an orthogonal matrix Y is determined such that
+
+        ( E11 E12 ) = ( Er  0 ) * Y .
+
+  The overal transformation matrix Z results as Z = P * Y' and the
+  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
+
+                       ( Er  0 )                      ( A11  A12 )
+      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
+                       (  0  0 )                      ( A21  A22 )
+
+  where Er is an upper triangular invertible matrix.
+  If JOBA = 'R' the same reduction is performed on A22 to obtain it
+  in the form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+  If JOBA = 'T' then A22 is row compressed using the QR
+  factorization with column pivoting to the form
+
+               ( Ar  X )
+         A22 = (       )
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+       B &lt;- Q' * B, C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, PMAX,
+     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX, MMAX, LMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBA
+      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01FD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL
+      COMPQ = 'I'
+      COMPZ = 'I'
+      JOBA = 'R'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
+     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                         RANKE, RNKA22, TOL, IWORK, DWORK, LDWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   50                CONTINUE
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01FD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Rank of matrix E   =', I5/
+     $        ' Rank of matrix A22 =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01FD EXAMPLE PROGRAM DATA
+  4    4     2     2     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01FD EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+ Rank of matrix A22 =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   2.0278   0.1078   3.9062  -2.1571
+  -0.0980   0.2544   1.6053  -0.1269
+   0.2713   0.7760  -0.3692  -0.4853
+   0.0690  -0.5669  -2.1974   0.3086
+
+ The transformed descriptor matrix Q'*E*Z is 
+  10.1587   5.8230   1.3021   0.0000
+   0.0000  -2.4684  -0.1896   0.0000
+   0.0000   0.0000   1.0338   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.2157  -0.9705
+   0.3015   0.9516
+   0.7595   0.0991
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+   0.3651  -1.0000  -0.4472  -0.8165
+  -1.0954   1.0000  -0.8944   0.0000
+
+ The left transformation matrix Q is 
+  -0.2157  -0.5088   0.6109   0.5669
+  -0.1078  -0.2544  -0.7760   0.5669
+  -0.9705   0.1413  -0.0495  -0.1890
+   0.0000   0.8102   0.1486   0.5669
+
+ The right transformation matrix Z is 
+  -0.3651   0.0000   0.4472   0.8165
+  -0.9129   0.0000   0.0000  -0.4082
+   0.0000  -1.0000   0.0000   0.0000
+  -0.1826   0.0000  -0.8944   0.4082
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01FZ.html b/doc/_build/html/_static/doc/TG01FZ.html
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+<HTML>
+<HEAD><TITLE>TG01FZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01FZ">TG01FZ</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a SVD-like coordinate form (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for the descriptor system (A-lambda E,B,C)
+  the unitary transformation matrices Q and Z such that the
+  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
+  in a SVD-like coordinate form with
+
+               ( A11  A12 )             ( Er  0 )
+      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
+               ( A21  A22 )             (  0  0 )
+
+  where Er is an upper triangular invertible matrix, and ' denotes
+  the conjugate transpose. Optionally, the A22 matrix can be further
+  reduced to the form
+
+               ( Ar  X )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix, and X either a full
+  or a zero matrix.
+  The left and/or right unitary transformations performed
+  to reduce E and A22 can be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
+     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBA
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDZ, LZWORK,
+     $                   M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   E( LDE, * ), Q( LDQ, * ), Z( LDZ, * ),
+     $                   ZWORK( * )
+      DOUBLE PRECISION   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  unitary matrix Q is returned;
+          = 'U':  Q must contain a unitary matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  unitary matrix Z is returned;
+          = 'U':  Z must contain a unitary matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+  JOBA    CHARACTER*1
+          = 'N':  do not reduce A22;
+          = 'R':  reduce A22 to a SVD-like upper triangular form.
+          = 'T':  reduce A22 to an upper trapezoidal form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
+          is in the form
+
+                        ( A11  *   *  )
+               Q'*A*Z = (  *   Ar  X  ) ,
+                        (  *   0   0  )
+
+          where A11 is a RANKE-by-RANKE matrix and Ar is a
+          RNKA22-by-RNKA22 invertible upper triangular matrix.
+          If JOBA = 'R' then A has the above form with X = 0.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E*Z.
+
+                   ( Er  0 )
+          Q'*E*Z = (       ) ,
+                   (  0  0 )
+
+          where Er is a RANKE-by-RANKE upper triangular invertible
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ,L)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading L-by-L part of this
+                           array contains the unitary matrix Q,
+                           where Q' is the product of Householder
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading L-by-L part of this
+                           array must contain a unitary matrix Q1;
+                           on exit, the leading L-by-L part of this
+                           array contains the unitary matrix Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the unitary matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain a unitary matrix Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the unitary matrix Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  RANKE   (output) INTEGER
+          The estimated rank of matrix E, and thus also the order
+          of the invertible upper triangular submatrix Er.
+
+  RNKA22  (output) INTEGER
+          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
+          matrix A22, and thus also the order of the invertible
+          upper triangular submatrix Ar.
+          If JOBA = 'N', then RNKA22 is not referenced.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the rank of E
+          and of A22. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the
+          reciprocal condition numbers of leading submatrices
+          of R or R22 in the QR decompositions E * P = Q * R of E
+          or A22 * P22 = Q22 * R22 of A22.
+          A submatrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH). TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
+          For optimal performance, LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of E, in the form
+
+                    ( E11 E12 )
+        E * P = Q * (         )
+                    (  0  E22 )
+
+  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
+  estimated condition number is less than 1/TOL. RANKE defines thus
+  the rank of matrix E. Further E22, being negligible, is set to
+  zero, and a unitary matrix Y is determined such that
+
+        ( E11 E12 ) = ( Er  0 ) * Y .
+
+  The overal transformation matrix Z results as Z = P * Y' and the
+  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
+
+                       ( Er  0 )                      ( A11  A12 )
+      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
+                       (  0  0 )                      ( A21  A22 )
+
+  where Er is an upper triangular invertible matrix.
+  If JOBA = 'R' the same reduction is performed on A22 to obtain it
+  in the form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+  If JOBA = 'T' then A22 is row compressed using the QR
+  factorization with column pivoting to the form
+
+               ( Ar  X )
+         A22 = (       )
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+       B &lt;- Q' * B, C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01FZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NMAX )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = MAX( 1, NMAX+PMAX,
+     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX-1, MMAX, LMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBA
+      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(NMAX)
+      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 E(LDE,NMAX), Q(LDQ,LMAX), Z(LDZ,NMAX),
+     $                 ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TG01FZ
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL
+      COMPQ = 'I'
+      COMPZ = 'I'
+      JOBA = 'R'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
+     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                         RANKE, RNKA22, TOL, IWORK, DWORK, ZWORK,
+     $                         LZWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   50                CONTINUE
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01FZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01FZ = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4,SP,F8.4,S,'i '))
+99994 FORMAT (' Rank of matrix E   =', I5/
+     $        ' Rank of matrix A22 =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01FZ EXAMPLE PROGRAM DATA
+  4    4     2     2     0.0    
+    (-1,0)     (0,0)     (0,0)     (3,0)
+     (0,0)     (0,0)     (1,0)     (2,0)
+     (1,0)     (1,0)     (0,0)     (4,0)
+     (0,0)     (0,0)     (0,0)     (0,0)
+     (1,0)     (2,0)     (0,0)     (0,0)
+     (0,0)     (1,0)     (0,0)     (1,0)
+     (3,0)     (9,0)     (6,0)     (3,0)
+     (0,0)     (0,0)     (2,0)     (0,0)
+     (1,0)     (0,0)
+     (0,0)     (0,0)
+     (0,0)     (1,0)
+     (1,0)     (1,0)
+    (-1,0)     (0,0)     (1,0)     (0,0)
+     (0,0)     (1,0)    (-1,0)     (1,0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01FZ EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+ Rank of matrix A22 =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   2.0278 +0.0000i    0.1078 +0.0000i    3.9062 +0.0000i   -2.1571 +0.0000i 
+  -0.0980 +0.0000i    0.2544 +0.0000i    1.6053 +0.0000i   -0.1269 +0.0000i 
+   0.2713 +0.0000i    0.7760 +0.0000i   -0.3692 +0.0000i   -0.4853 +0.0000i 
+   0.0690 +0.0000i   -0.5669 +0.0000i   -2.1974 +0.0000i    0.3086 +0.0000i 
+
+ The transformed descriptor matrix Q'*E*Z is 
+  10.1587 +0.0000i    5.8230 +0.0000i    1.3021 +0.0000i    0.0000 +0.0000i 
+   0.0000 +0.0000i   -2.4684 +0.0000i   -0.1896 +0.0000i    0.0000 +0.0000i 
+   0.0000 +0.0000i    0.0000 +0.0000i    1.0338 +0.0000i    0.0000 +0.0000i 
+   0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
+
+ The transformed input/state matrix Q'*B is 
+  -0.2157 +0.0000i   -0.9705 +0.0000i 
+   0.3015 +0.0000i    0.9516 +0.0000i 
+   0.7595 +0.0000i    0.0991 +0.0000i 
+   1.1339 +0.0000i    0.3780 +0.0000i 
+
+ The transformed state/output matrix C*Z is 
+   0.3651 +0.0000i   -1.0000 +0.0000i   -0.4472 +0.0000i   -0.8165 +0.0000i 
+  -1.0954 +0.0000i    1.0000 +0.0000i   -0.8944 +0.0000i    0.0000 +0.0000i 
+
+ The left transformation matrix Q is 
+  -0.2157 +0.0000i   -0.5088 +0.0000i    0.6109 +0.0000i    0.5669 +0.0000i 
+  -0.1078 +0.0000i   -0.2544 +0.0000i   -0.7760 +0.0000i    0.5669 +0.0000i 
+  -0.9705 +0.0000i    0.1413 +0.0000i   -0.0495 +0.0000i   -0.1890 +0.0000i 
+   0.0000 +0.0000i    0.8102 +0.0000i    0.1486 +0.0000i    0.5669 +0.0000i 
+
+ The right transformation matrix Z is 
+  -0.3651 +0.0000i    0.0000 +0.0000i    0.4472 +0.0000i    0.8165 +0.0000i 
+  -0.9129 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i   -0.4082 +0.0000i 
+   0.0000 +0.0000i   -1.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
+  -0.1826 +0.0000i    0.0000 +0.0000i   -0.8944 +0.0000i    0.4082 +0.0000i 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01GD.html b/doc/_build/html/_static/doc/TG01GD.html
new file mode 100644
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+++ b/doc/_build/html/_static/doc/TG01GD.html
@@ -0,0 +1,409 @@
+<HTML>
+<HEAD><TITLE>TG01GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01GD">TG01GD</A></H2>
+<H3>
+Reduced descriptor representation without non-dynamic modes 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced descriptor representation (Ar-lambda*Er,Br,Cr)
+  without non-dynamic modes for a descriptor representation
+  (A-lambda*E,B,C). Optionally, the reduced descriptor system can
+  be put into a standard form with the leading diagonal block
+  of Er identity.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, D, LDD, LR, NR, RANKE, INFRED, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBS
+      INTEGER           INFO, INFRED, L, LDA, LDB, LDC, LDD, LDE,
+     $                  LDWORK, LR, M, N, NR, P, RANKE
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBS    CHARACTER*1
+          Indicates whether the user wishes to transform the leading
+          diagonal block of Er to an identity matrix, as follows:
+          = 'S':  make Er with leading diagonal identity;
+          = 'D':  keep Er unreduced or upper triangular.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of the matrices A, E, and B;
+          also the number of differential equations.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices A, E, and C;
+          also the dimension of descriptor state vector.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B;
+          also the dimension of the input vector.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.
+          also the dimension of the output vector.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if NR &lt; N, the leading LR-by-NR part of this
+          array contains the reduced order state matrix Ar of a
+          descriptor realization without non-dynamic modes.
+          Array A contains the original state dynamics matrix if
+          INFRED &lt; 0.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, if INFRED &gt;= 0, the leading LR-by-NR part of this
+          array contains the reduced order descriptor matrix Er of a
+          descriptor realization without non-dynamic modes.
+          In this case, only the leading RANKE-by-RANKE submatrix
+          of Er is nonzero and this submatrix is nonsingular and
+          upper triangular. Array E contains the original descriptor
+          matrix if INFRED &lt; 0. If JOBS = 'S', then the leading
+          RANKE-by-RANKE submatrix results in an identity matrix.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading LR-by-M part of this array contains
+          the reduced order input matrix Br of a descriptor
+          realization without non-dynamic modes. Array B contains
+          the original input matrix if INFRED &lt; 0.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-NR part of this array contains
+          the reduced order output matrix Cr of a descriptor
+          realization without non-dynamic modes. Array C contains
+          the original output matrix if INFRED &lt; 0.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original feedthrough matrix D.
+          On exit, the leading P-by-M part of this array contains
+          the feedthrough matrix Dr of a reduced descriptor
+          realization without non-dynamic modes.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  LR      (output) INTEGER
+          The number of reduced differential equations.
+
+  NR      (output) INTEGER
+          The dimension of the reduced descriptor state vector.
+
+  RANKE   (output) INTEGER
+          The estimated rank of the matrix E.
+
+  INFRED  (output) INTEGER
+          This parameter contains information on performed reduction
+          and on structure of resulting system matrices, as follows:
+          INFRED &gt;= 0 the reduced system is in an SVD-like
+                      coordinate form with Er upper triangular;
+                      INFRED is the achieved order reduction.
+          INFRED  &lt; 0 no reduction achieved and the original
+                      system has been restored.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MIN(L,N) = 0; otherwise,
+          LDWORK &gt;= MAX( N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
+          If LDWORK &gt;= 2*L*N+L*M+N*P+
+                       MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ) then
+          the original matrices are restored if no order reduction
+          is possible. This is achieved by saving system matrices
+          before reduction and restoring them if no order reduction
+          took place.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA. The optimal size does not necessarily include the 
+          space needed for saving the original system matrices.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine elliminates the non-dynamics modes in two steps:
+
+  Step 1: Reduce the system to the SVD-like coordinate form
+  (Q'*A*Z-lambda*Q'*E*Z, Q'*B, C*Z) , where
+
+           ( A11 A12 A13 )           ( E11 0 0 )         ( B1 )
+  Q'*A*Z = ( A21 A22  0  ), Q'*E*Z = (  0  0 0 ), Q'*B = ( B2 ),
+           ( A31  0   0  )           (  0  0 0 )         ( B3 )
+
+     C*Z = ( C1  C2  C3 ),
+
+  where E11 and A22 are upper triangular invertible matrices.
+
+  Step 2: Compute the reduced system as (Ar-lambda*Er,Br,Cr,Dr),
+  where
+       ( A11 - A12*inv(A22)*A21, A13 )        ( E11 0 )
+  Ar = (                             ),  Er = (       ),
+       (     A31                  0  )        (  0  0 )
+
+       ( B1 - A12*inv(A22)*B2 )
+  Br = (                      ),  Cr = ( C1 - C2*inv(A22)*A21, C3 ),
+       (        B3            )
+
+  Dr = D - C2*inv(A22)*B2.
+
+  Step 3: If desired (JOBS = 'S'), reduce the descriptor system to
+  the standard form
+
+  Ar &lt;- diag(inv(E11),I)*Ar;  Br &lt;- diag(inv(E11),I)*Br;
+  Er  = diag(I,0).
+
+  If L = N and LR = NR = RANKE, then if Step 3 is performed,
+  the resulting system is a standard state space system.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If L = N, the algorithm requires 0( N**3 ) floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDE
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MIN( LMAX, NMAX ) +
+     $                            MAX( 3*NMAX - 1, MMAX, LMAX ) +
+     $                            2*LMAX*NMAX + LMAX*MMAX + PMAX*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBS
+      INTEGER          I, INFO, INFRED, J, L, LR, M, N, NR, P, RANKE
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),   C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01GD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, JOBS, TOL
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+                  READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*                 Find the reduced descriptor system
+*                 (A-lambda E,B,C,D).
+                  CALL TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                         C, LDC, D, LDD, LR, NR, RANKE, INFRED,
+     $                         TOL, IWORK, DWORK, LDWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, LR
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, LR
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, LR
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   50                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01GD = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix is ')
+99996 FORMAT (/' The reduced descriptor matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Rank of matrix E   =', I5)
+99993 FORMAT (/' The reduced input/state matrix is ')
+99992 FORMAT (/' The reduced state/output matrix is ')
+99991 FORMAT (/' The transformed feedthrough matrix is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01GD EXAMPLE PROGRAM DATA
+  4    4     2     2     D     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+     1     0
+     1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01GD EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+
+ The reduced state dynamics matrix is 
+   2.5102  -3.8550 -11.4533
+  -0.0697   0.0212   0.7015
+   0.3798  -0.1156  -3.8250
+
+ The reduced descriptor matrix is 
+  10.1587   5.8230   1.3021
+   0.0000  -2.4684  -0.1896
+   0.0000   0.0000   1.0338
+
+ The reduced input/state matrix is 
+   7.7100   1.6714
+   0.7678   1.1070
+   2.5428   0.6935
+
+ The reduced state/output matrix is 
+   0.5477  -2.5000  -6.2610
+  -1.0954   1.0000  -0.8944
+
+ The transformed feedthrough matrix is 
+   4.0000   1.0000
+   1.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HD">TG01HD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to the controllability staircase form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the N-th order descriptor system (A-lambda*E,B,C)
+  to the form
+
+             ( Ac  *  )             ( Ec  *  )           ( Bc )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (    ) ,
+             ( 0  Anc )             ( 0  Enc )           ( 0  )
+
+       C*Z = ( Cc Cnc ) ,
+
+  where the NCONT-th order descriptor system (Ac-lambda*Ec,Bc,Cc)
+  is a finite and/or infinite controllable. The pencil
+  Anc - lambda*Enc is regular of order N-NCONT and contains the
+  uncontrollable finite and/or infinite eigenvalues of the pencil
+  A-lambda*E.
+
+  For JOBCON = 'C' or 'I', the pencil ( Bc Ec-lambda*Ac ) has full
+  row rank NCONT for all finite lambda and is in a staircase form
+  with
+                  _      _          _        _
+                ( E1,0   E1,1  ...  E1,k-1   E1,k  )
+                (        _          _        _     )
+    ( Bc Ec ) = (  0     E2,1  ...  E2,k-1   E2,k  ) ,  (1)
+                (              ...  _        _     )
+                (  0       0   ...  Ek,k-1   Ek,k  )
+
+                  _          _        _
+                ( A1,1  ...  A1,k-1   A1,k  )
+                (            _        _     )
+      Ac      = (   0   ...  A2,k-1   A2,k  ) ,         (2)
+                (       ...           _     )
+                (   0   ...    0      Ak,k  )
+        _
+  where Ei,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
+                         _
+  (with rtau(0) = M) and Ai,i is an rtau(i)-by-rtau(i)
+  upper triangular matrix.
+
+  For JOBCON = 'F', the pencil ( Bc Ac-lambda*Ec ) has full
+  row rank NCONT for all finite lambda and is in a staircase form
+  with
+                  _     _          _        _
+                ( A1,0  A1,1  ...  A1,k-1   A1,k  )
+                (       _          _        _     )
+    ( Bc Ac ) = (  0    A2,1  ...  A2,k-1   A2,k  ) ,   (3)
+                (             ...  _        _     )
+                (  0      0   ...  Ak,k-1   Ak,k  )
+
+                  _          _        _
+                ( E1,1  ...  E1,k-1   E1,k  )
+                (            _        _     )
+      Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (4)
+                (       ...           _     )
+                (   0   ...    0      Ek,k  )
+        _
+  where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
+                         _
+  (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
+  upper triangular matrix.
+
+  For JOBCON = 'C', the (N-NCONT)-by-(N-NCONT) regular pencil
+  Anc - lambda*Enc has the form
+
+                      ( Ainc - lambda*Einc         *          )
+   Anc - lambda*Enc = (                                       ) ,
+                      (        0           Afnc - lambda*Efnc )
+
+  where:
+    1) the NIUCON-by-NIUCON regular pencil Ainc - lambda*Einc,
+       with Ainc upper triangular and nonsingular, contains the
+       uncontrollable infinite eigenvalues of A - lambda*E;
+    2) the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) regular pencil
+       Afnc - lambda*Efnc, with Efnc upper triangular and
+       nonsingular, contains the uncontrollable finite
+       eigenvalues of A - lambda*E.
+
+  Note: The significance of the two diagonal blocks can be
+        interchanged by calling the routine with the
+        arguments A and E interchanged. In this case,
+        Ainc - lambda*Einc contains the uncontrollable zero
+        eigenvalues of A - lambda*E, while Afnc - lambda*Efnc
+        contains the uncontrollable nonzero finite and infinite
+        eigenvalues of A - lambda*E.
+
+  For JOBCON = 'F', the pencil Anc - lambda*Enc has the form
+
+     Anc - lambda*Enc = Afnc - lambda*Efnc ,
+
+  where the regular pencil Afnc - lambda*Efnc, with Efnc
+  upper triangular and nonsingular, contains the uncontrollable
+  finite eigenvalues of A - lambda*E.
+
+  For JOBCON = 'I', the pencil Anc - lambda*Enc has the form
+
+     Anc - lambda*Enc = Ainc - lambda*Einc ,
+
+  where the regular pencil Ainc - lambda*Einc, with Ainc
+  upper triangular and nonsingular, contains the uncontrollable
+  nonzero finite and infinite eigenvalues of A - lambda*E.
+
+  The left and/or right orthogonal transformations Q and Z
+  performed to reduce the system matrices can be optionally
+  accumulated.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has
+  the same transfer-function matrix as the original system
+  (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HD( JOBCON, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NCONT, NIUCON,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBCON
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
+     $                   M, N, NCONT, NIUCON, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBCON  CHARACTER*1
+          = 'C':  separate both finite and infinite uncontrollable
+                  eigenvalues;
+          = 'F':  separate only finite uncontrollable eigenvalues:
+          = 'I':  separate only nonzero finite and infinite
+                  uncontrollable eigenvalues.
+
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Ac   *  )
+                    Q'*A*Z = (         ) ,
+                             ( 0   Anc )
+
+          where Ac is NCONT-by-NCONT and Anc is
+          (N-NCONT)-by-(N-NCONT).
+          If JOBCON = 'F', the matrix ( Bc Ac ) is in the
+          controllability staircase form (3).
+          If JOBCON = 'C' or 'I', the submatrix Ac is upper
+          triangular.
+          If JOBCON = 'C', the Anc matrix has the form
+
+                          ( Ainc   *  )
+                    Anc = (           ) ,
+                          (  0   Afnc )
+
+          where the NIUCON-by-NIUCON matrix Ainc is nonsingular and
+          upper triangular.
+          If JOBCON = 'I', Anc is nonsingular and upper triangular.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z,
+
+                             ( Ec   *  )
+                    Q'*E*Z = (         ) ,
+                             ( 0   Enc )
+
+          where Ec is NCONT-by-NCONT and Enc is
+          (N-NCONT)-by-(N-NCONT).
+          If JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
+          controllability staircase form (1).
+          If JOBCON = 'F', the submatrix Ec is upper triangular.
+          If JOBCON = 'C', the Enc matrix has the form
+
+                          ( Einc   *  )
+                    Enc = (           ) ,
+                          (  0   Efnc )
+
+          where the NIUCON-by-NIUCON matrix Einc is nilpotent
+          and the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) matrix Efnc
+          is nonsingular and upper triangular.
+          If JOBCON = 'F', Enc is nonsingular and upper triangular.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix
+
+                           ( Bc )
+                    Q'*B = (    ) ,
+                           ( 0  )
+
+           where Bc is NCONT-by-M.
+           For JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
+           controllability staircase form (1).
+           For JOBCON = 'F', the matrix ( Bc Ac ) is in the
+           controllability staircase form (3).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Q,
+                          where Q' is the product of transformations
+                          which are applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Qc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Qc*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Z,
+                          which is the product of transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Zc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Zc*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NCONT   (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of reduced matrix Bc; also the order of
+          the controllable part of the pair (A-lambda*E,B).
+
+  NIUCON  (output) INTEGER
+          For JOBCON = 'C', the order of the reduced matrices
+          Ainc and Einc; also the number of uncontrollable
+          infinite eigenvalues of the pencil A - lambda*E.
+          For JOBCON = 'F' or 'I', NIUCON has no significance
+          and is set to zero.
+
+  NRBLCK  (output) INTEGER
+          For JOBCON = 'C' or 'I', the number k, of full row rank
+                 _
+          blocks Ei,i in the staircase form of the pencil
+          (Bc Ec-lambda*Ac) (see (1) and (2)).
+          For JOBCON = 'F', the number k, of full row rank blocks
+          _
+          Ai,i in the staircase form of the pencil (Bc Ac-lambda*Ec)
+          (see (3) and (4)).
+
+  RTAU    (output) INTEGER array, dimension (N)
+          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
+                                  _         _
+          the full row rank block Ei,i-1 or Ai,i-1 in the staircase
+          form (1) or (3) for JOBCON = 'C' or 'I', or
+          for JOBCON = 'F', respectively.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*M))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithms of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A, E and B are badly scaled, it is
+  generally recommendable to scale them with the SLICOT routine
+  TG01AD, before calling TG01HD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*MMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBCO
+      INTEGER          I, INFO, J, M, N, NCONT, NIUCON, NRBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(MMAX), RTAU(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBCO
+      COMPQ = 'I'
+      COMPZ = 'I'
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed descriptor system (A-lambda E,B,C).
+               CALL TG01HD( JOBCO, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                      NCONT, NIUCON, NRBLCK, RTAU, TOL, IWORK,
+     $                      DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NCONT, NIUCON
+                  WRITE ( NOUT, FMT = 99985 )
+                  WRITE ( NOUT, FMT = 99984 ) ( RTAU(I), I = 1,NRBLCK )
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01HD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Dimension of controllable part   =', I5/
+     $        ' Number of uncontrollable infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The staircase form row dimensions are ' )
+99984 FORMAT (10I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01HD EXAMPLE PROGRAM DATA
+  7    3     2     0.0    C
+     2     0     2     0    -1     3     1
+     0     1     0     0     1     0     0
+     0     0     0     1     0     0     1
+     0     0     2     0    -1     3     1
+     0     0     0     1     0     0     1
+     0     1     0     0     1     0     0
+     0     0     0     1     0     0     1
+     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0
+     0     0     0     0     0     0     1
+     0     0     0     0     0     0     1
+     0     0     0     1     0     0     0
+     0     0     1     0    -1     0     0
+     1     3     0     2     0     0     0
+     2     1     0
+     0     0     0
+     0     0     0
+     0     0     0
+     0     0     0
+     0     0     0
+     1     2     3
+     1     0     0     1     0     0     1
+     0    -1     1     0    -1     1     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01HD EXAMPLE PROGRAM RESULTS
+
+ Dimension of controllable part   =    3
+ Number of uncontrollable infinite eigenvalues =    1
+
+ The staircase form row dimensions are 
+    2    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   0.0000   0.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
+   0.0000   2.0000   0.0000  -3.7417  -0.8520   0.2924  -0.4342
+   0.0000   0.0000   1.7862   0.3780  -0.2651  -0.7723   0.0000
+   0.0000   0.0000   0.0000   3.7417   0.8520  -0.2924   0.4342
+   0.0000   0.0000   0.0000   0.0000  -1.5540   0.5334   0.5742
+   0.0000   0.0000   0.0000   0.0000  -0.6533   0.2242   0.2414
+   0.0000   0.0000   0.0000   0.0000  -0.5892   0.2022   0.2177
+
+ The transformed descriptor matrix Q'*E*Z is 
+  -1.8325   1.0000   2.3752   0.0000  -0.8214   0.2819   1.8016
+   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
+  -0.1728   0.0000  -0.1333  -1.1339   0.1325   0.3861   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.8520  -0.2924   0.4342
+   0.0000   0.0000   0.0000   0.0000  -1.0260  -0.1496   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.1937   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+
+ The transformed input/state matrix Q'*B is 
+   1.0000   2.0000   3.0000
+   2.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+
+ The transformed state/output matrix C*Z is 
+   0.0000   1.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
+   0.3665   0.0000  -0.9803  -1.6036   0.1874   0.5461   0.0000
+
+ The left transformation matrix Q is 
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.7071   0.0000   0.2740  -0.6519   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.8304   0.3491  -0.4342
+   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.4003   0.1683   0.9008
+   0.0000   0.0000   0.7071   0.0000  -0.2740   0.6519   0.0000
+   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+
+ The right transformation matrix Z is 
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.6108   0.0000   0.7917   0.0000   0.0000   0.0000   0.0000
+   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
+   0.0000   0.0000   0.0000   0.0000  -0.4107   0.1410   0.9008
+   0.6108   0.0000   0.4713   0.2673  -0.1874  -0.5461   0.0000
+  -0.1222   0.0000  -0.0943  -0.8018  -0.1874  -0.5461   0.0000
+   0.0000   0.0000   0.0000   0.0000  -0.8520   0.2924  -0.4342
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01HU.html b/doc/_build/html/_static/doc/TG01HU.html
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+<HTML>
+<HEAD><TITLE>TG01HU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HU">TG01HU</A></H2>
+<H3>
+Staircase controllability representation of a multi-input descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given the descriptor system (A-lambda*E,B,C) with the system
+  matrices A, E and B of the form
+
+         ( A1 X1 )        ( E1 Y1 )        ( B1 B2 )
+     A = (       ) ,  E = (       ) ,  B = (       ) ,
+         ( 0  X2 )        ( 0  Y2 )        ( 0  0  )
+
+  where
+       - B is an L-by-(M1+M2) matrix,
+         with B1 an N1-by-M1 submatrix, B2 an N1-by-M2 submatrix,
+       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
+       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
+           with LBE nonzero sub-diagonals,
+  this routine reduces the pair (A1-lambda*E1,[B1 B2]) to the form
+
+  Qc'*[B1 B2 A1-lambda*E1 ]*diag(I,Zc) =
+
+                           ( Bc1 Bc2 Ac-lambda*Ec      *         )
+                           (                                     ) ,
+                           (  0   0       0       Anc-lambda*Enc )
+
+  where:
+  1) the pencil ( Bc1 Bc2 Ac-lambda*Ec ) has full row rank NR for
+     all finite lambda and is in a staircase form with
+
+             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
+             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
+             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
+             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
+        Ac = [  .   .   . . .    .      .     .  ],              (1)
+             [  .   .     . .    .      .     .  ]
+             [  .   .       .    .      .     .  ]
+             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
+
+                  [ A1,-1 A1,0 ]
+                  [  0    A2,0 ]
+                  [  0     0   ]             ( E11  E12 ...  E1p  )
+                  [  0     0   ]             (  0   E22 ...  E2p  )
+      [Bc1 Bc2] = [  .     .   ],       Ec = (   .   .   .    .   ),
+                  [  .     .   ]             (   .   .   .    .   )
+                  [  .     .   ]             (   0   0  ...  Epp  )
+                  [  0     0   ]
+
+      where the block  Ai,i-2 is an rtau(i)-by-rtau(i-2) full row
+      rank matrix (with rtau(-1) = M1, rtau(0) = M2) and Ei,i is an
+      rtau(i)-by-rtau(i) upper triangular matrix.
+
+   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
+      upper triangular; this pencil contains the uncontrollable
+      finite eigenvalues of the pencil (A1-lambda*E1).
+
+  The transformations are applied to the whole matrices A, E, B
+  and C. The left and/or right orthogonal transformations Qc and Zc,
+  performed to reduce the pencil, can be optionally accumulated in
+  the matrices Q and Z, respectively.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
+  uncontrollable finite eigenvalues and has the same transfer-
+  function matrix as the original system (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HU( COMPQ, COMPZ, L, N, M1, M2, P, N1, LBE, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ
+      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M1, M2, N, N1, NR, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of descriptor state equations; also the number
+          of rows of the matrices A, E and B.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          number of columns of the matrices A, E and C.  N &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of system inputs in U1, or of columns of B1.
+          M1 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of system inputs in U2, or of columns of B2.
+          M2 &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output; also the
+          number of rows of the matrix C.  P &gt;= 0.
+
+  N1      (input) INTEGER
+          The order of the subsystem (A1-lambda*E1,B1,C1) to be
+          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
+
+  LBE     (input) INTEGER
+          The number of nonzero sub-diagonals of the submatrix E1.
+          MAX(0,N1-1) &gt;= LBE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N state matrix A in the partitioned form
+
+                   ( A1 X1 )
+               A = (       ) ,
+                   ( 0  X2 )
+
+          where A1 is N1-by-N1.
+          On exit, the leading L-by-N part of this array contains
+          the transformed state matrix,
+
+                                       ( Ac  *   * )
+                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
+                                       ( 0   0   * )
+
+          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N descriptor matrix E in the partitioned
+          form
+                   ( E1 Y1 )
+               E = (       ) ,
+                   ( 0  Y2 )
+
+          where E1 is an N1-by-N1 matrix with LBE nonzero
+          sub-diagonals.
+          On exit, the leading L-by-N part of this array contains
+          the transformed descriptor matrix
+
+                                       ( Ec  *   * )
+                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
+                                       ( 0   0   * )
+
+          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
+          Both Ec and Enc are upper triangular and Enc is
+          nonsingular.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          with M = M1 + M2.
+          On entry, the leading L-by-M part of this array must
+          contain the L-by-M input matrix B in the partitioned form
+
+                   ( Bi )
+               B = (    ) ,
+                   ( 0  )
+
+          where Bi is N1-by-M.
+          On exit, the leading L-by-M part of this array contains
+          the transformed input matrix
+
+                            ( Bc )
+                    Qc'*B = (    ) ,
+                            ( 0  )
+
+          where Bc is NR-by-M.
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Zc.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix Qc,
+                          where Qc' is the product of the
+                          transformations applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading L-by-L part of this
+                          array must contain an orthogonal matrix Q;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix
+                          Q*Qc.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'I' or 'U'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Zc,
+                          i.e., the product of the transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix Z;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Z*Zc.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of the reduced matrix Bc; also the order of
+          the controllable part of the pair (B, A-lambda*E).
+
+  NRBLCK  (output) INTEGER
+          The number p, of full row rank blocks Ai,i-2 in the
+          staircase form of the pencil (Bc1 Bc2 Ac-lambda*Ec).
+
+  RTAU    (output) INTEGER array, dimension (2*N1)
+          The leading NRBLCK elements of this array contain the
+          orders of the diagonal blocks of Ac. NRBLCK is always
+          an even number, and the NRBLCK/2 odd and even components
+          of RTAU have decreasing values, respectively.
+          Note that some elements of RTAU can be zero.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MIN(N1,M) = 0; otherwise,
+          LDWORK &gt;= MAX(N1+MAX(L,N,M),2*M), if LBE &gt; 0 and N1 &gt; 2;
+          LDWORK &gt;= MAX(1,L,N,2*M),         if LBE = 0 or N1 &lt;= 2.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm [1] represents a specialization of the
+  controllability staircase algorithm of [2] to the special structure
+  of the input matrix B = [B1,B2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Reliable algorithms for computing minimal dynamic covers for
+      descriptor systems.
+      Proc. of MTNS'04, Leuven, Belgium, 2004.
+
+  [2] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N*N1**2 )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01HX.html b/doc/_build/html/_static/doc/TG01HX.html
new file mode 100644
index 00000000..e5ac5212
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01HX.html
@@ -0,0 +1,343 @@
+<HTML>
+<HEAD><TITLE>TG01HX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HX">TG01HX</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given the descriptor system (A-lambda*E,B,C) with the system
+  matrices A, E and B of the form
+
+         ( A1 X1 )        ( E1 Y1 )        ( B1 )
+     A = (       ) ,  E = (       ) ,  B = (    ) ,
+         ( 0  X2 )        ( 0  Y2 )        ( 0  )
+
+  where
+       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix
+       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix
+       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
+           with LBE nonzero sub-diagonals,
+  this routine reduces the pair (A1-lambda*E1,B1) to the form
+
+  Qc'*[B1 A1-lambda*E1]*diag(I,Zc) =
+
+                           ( Bc Ac-lambda*Ec      *         )
+                           (                                ) ,
+                           ( 0     0         Anc-lambda*Enc )
+
+  where:
+  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
+     all finite lambda and is in a staircase form with
+                        _      _          _        _
+                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
+                      (        _          _        _     )
+          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
+                      (              ...  _        _     )
+                      (  0       0   ...  Ak,k-1   Ak,k  )
+
+                        _          _        _
+                      ( E1,1  ...  E1,k-1   E1,k  )
+                      (            _        _     )
+            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
+                      (       ...           _     )
+                      (   0   ...    0      Ek,k  )
+            _
+      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
+                                    _
+      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
+      upper triangular matrix.
+
+   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
+      upper triangular; this pencil contains the uncontrollable
+      finite eigenvalues of the pencil (A1-lambda*E1).
+
+  The transformations are applied to the whole matrices A, E, B
+  and C. The left and/or right orthogonal transformations Qc and Zc
+  performed to reduce the pencil can be optionally accumulated
+  in the matrices Q and Z, respectively.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
+  uncontrollable finite eigenvalues and has the same
+  transfer-function matrix as the original system (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HX( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ
+      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDZ, M,
+     $                   N, N1, NR, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of descriptor state equations; also the number
+          of rows of matrices A, E and B.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          number of columns of matrices A, E and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  N1      (input) INTEGER
+          The order of subsystem (A1-lambda*E1,B1,C1) to be reduced.
+          MIN(L,N) &gt;= N1 &gt;= 0.
+
+  LBE     (input) INTEGER
+          The number of nonzero sub-diagonals of submatrix E1.
+          MAX(0,N1-1) &gt;= LBE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N state matrix A in the partitioned
+          form
+                   ( A1 X1 )
+               A = (       ) ,
+                   ( 0  X2 )
+
+          where A1 is N1-by-N1.
+          On exit, the leading L-by-N part of this array contains
+          the transformed state matrix,
+
+                               ( Ac  *   * )
+                    Qc'*A*Zc = ( 0  Anc  * ) ,
+                               ( 0   0   * )
+
+          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
+          The matrix ( Bc Ac ) is in the controllability
+          staircase form (1).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N descriptor matrix E in the partitioned
+          form
+                   ( E1 Y1 )
+               E = (       ) ,
+                   ( 0  Y2 )
+
+          where E1 is N1-by-N1 matrix with LBE nonzero
+          sub-diagonals.
+          On exit, the leading L-by-N part of this array contains
+          the transformed descriptor matrix
+
+                               ( Ec  *   * )
+                    Qc'*E*Zc = ( 0  Enc  * ) ,
+                               ( 0   0   * )
+
+          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
+          Both Ec and Enc are upper triangular and Enc is
+          nonsingular.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the L-by-M input matrix B in the partitioned
+          form
+                   ( B1 )
+               B = (    ) ,
+                   ( 0  )
+
+          where B1 is N1-by-M.
+          On exit, the leading L-by-M part of this array contains
+          the transformed input matrix
+
+                            ( Bc )
+                    Qc'*B = (    ) ,
+                            ( 0  )
+
+          where Bc is NR-by-M.
+          The matrix ( Bc Ac ) is in the controllability
+          staircase form (1).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Zc.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix Qc,
+                          where Qc' is the product of transformations
+                          which are applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading L-by-L part of this
+                          array must contain an orthogonal matrix Q;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix
+                          Q*Qc.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Zc,
+                          which is the product of transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix Z;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Z*Zc.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of the reduced matrix Bc; also the order of
+          the controllable part of the pair (B, A-lambda*E).
+
+  NRBLCK  (output) INTEGER                      _
+          The number k, of full row rank blocks Ai,i in the
+          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
+          and (2)).
+
+  RTAU    (output) INTEGER array, dimension (N1)
+          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
+                                  _
+          the full row rank block Ai,i-1 in the staircase form (1).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,L,2*M))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N*N1**2 )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01HY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HY">TG01HY</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues (blocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given the descriptor system (A-lambda*E,B,C) with the system
+  matrices A, E and B of the form
+
+         ( A1 X1 )        ( E1 Y1 )        ( B1 )
+     A = (       ) ,  E = (       ) ,  B = (    ) ,
+         ( 0  X2 )        ( 0  Y2 )        ( 0  )
+
+  where
+       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix,
+       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
+       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
+           with LBE nonzero sub-diagonals,
+  this routine reduces the pair (A1-lambda*E1,B1) to the form
+
+  Qc'*[ B1 A1-lambda*E1 ]*diag(I,Zc) =
+
+                           ( Bc Ac-lambda*Ec      *         )
+                           (                                ) ,
+                           ( 0     0         Anc-lambda*Enc )
+
+  where:
+  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
+     all finite lambda and is in a staircase form with
+                        _      _          _        _
+                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
+                      (        _          _        _     )
+          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
+                      (              ...  _        _     )
+                      (  0       0   ...  Ak,k-1   Ak,k  )
+
+                        _          _        _
+                      ( E1,1  ...  E1,k-1   E1,k  )
+                      (            _        _     )
+            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
+                      (       ...           _     )
+                      (   0   ...    0      Ek,k  )
+            _
+      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
+                                    _
+      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
+      upper triangular matrix.
+
+   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
+      upper triangular; this pencil contains the uncontrollable
+      finite eigenvalues of the pencil (A1-lambda*E1).
+
+  The transformations are applied to the whole matrices A, E, B
+  and C. The left and/or right orthogonal transformations Qc and Zc,
+  performed to reduce the pencil, can be optionally accumulated in
+  the matrices Q and Z, respectively.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
+  uncontrollable finite eigenvalues and has the same transfer-
+  function matrix as the original system (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HY( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ
+      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M, N, N1, NR, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of descriptor state equations; also the number
+          of rows of the matrices A, E and B.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          number of columns of the matrices A, E and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output; also the
+          number of rows of the matrix C.  P &gt;= 0.
+
+  N1      (input) INTEGER
+          The order of the subsystem (A1-lambda*E1,B1,C1) to be
+          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
+
+  LBE     (input) INTEGER
+          The number of nonzero sub-diagonals of the submatrix E1.
+          MAX(0,N1-1) &gt;= LBE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N state matrix A in the partitioned form
+
+                   ( A1 X1 )
+               A = (       ) ,
+                   ( 0  X2 )
+
+          where A1 is N1-by-N1.
+          On exit, the leading L-by-N part of this array contains
+          the transformed state matrix,
+
+                                       ( Ac  *   * )
+                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
+                                       ( 0   0   * )
+
+          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N descriptor matrix E in the partitioned
+          form
+                   ( E1 Y1 )
+               E = (       ) ,
+                   ( 0  Y2 )
+
+          where E1 is an N1-by-N1 matrix with LBE nonzero
+          sub-diagonals.
+          On exit, the leading L-by-N part of this array contains
+          the transformed descriptor matrix
+
+                                       ( Ec  *   * )
+                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
+                                       ( 0   0   * )
+
+          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
+          Both Ec and Enc are upper triangular.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the L-by-M input matrix B in the partitioned form
+
+                   ( B1 )
+               B = (    ) ,
+                   ( 0  )
+
+          where B1 is N1-by-M.
+          On exit, the leading L-by-M part of this array contains
+          the transformed input matrix
+
+                            ( Bc )
+                    Qc'*B = (    ) ,
+                            ( 0  )
+
+          where Bc is NR-by-M.
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Zc.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix Qc,
+                          where Qc' is the product of the
+                          transformations applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading L-by-L part of this
+                          array must contain an orthogonal matrix Q;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix
+                          Q*Qc.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Zc,
+                          i.e., the product of the transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix Z;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Z*Zc.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of the reduced matrix Bc; also the order of
+          the controllable part of the pair (B, A-lambda*E).
+
+  NRBLCK  (output) INTEGER                      _
+          The number k, of full row rank blocks Ai,i in the
+          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
+          and (2)).
+
+  RTAU    (output) INTEGER array, dimension (N1)
+          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
+                                  _
+          the full row rank block Ai,i-1 in the staircase form (1).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N,L,2*(M+N1-1))
+          For good performance, LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+  If suitable, it uses block algorithms for the reduction of the
+  matrix E and for the corresponding updates of the matrices A, B,
+  and Q. Moreover, for large systems, the row transformations are
+  applied on panels of columns of the matrices A, B, and E.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N*N1**2 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If INFO &gt; 0 on entry, that value is used as block size for the
+  block algorithms. Otherwise, the block size is chosen internally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01ID">TG01ID</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to the observability staircase form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the N-th order descriptor system (A-lambda*E,B,C)
+  to the form
+
+             ( Ano  * )             ( Eno  * )           ( Bno )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (     ) ,
+             ( 0   Ao )             ( 0   Eo )           ( Bo  )
+
+       C*Z = ( 0   Co ) ,
+
+  where the NOBSV-th order descriptor system (Ao-lambda*Eo,Bo,Co)
+  is a finite and/or infinite observable. The pencil
+  Ano - lambda*Eno is regular of order N-NOBSV and contains the
+  unobservable finite and/or infinite eigenvalues of the pencil
+  A-lambda*E.
+
+  For JOBOBS = 'O' or 'I', the pencil ( Eo-lambda*Ao ) has full
+                                      (      Co      )
+  column rank NOBSV for all finite lambda and is in a staircase form
+  with
+                  _      _            _      _
+                ( Ek,k   Ek,k-1   ... Ek,2   Ek,1   )
+                ( _      _            _      _      )
+    ( Eo ) =    ( Ek-1,k Ek-1,k-1 ... Ek-1,2 Ek-1,1 ) ,  (1)
+    ( Co )      (     ...         ... _      _      )
+                (  0       0      ... E1,2   E1,1   )
+                (                            _      )
+                (  0       0      ... 0      E0,1   )
+                  _          _      _
+                ( Ak,k  ...  Ak,2   Ak,1 )
+                (       ...  _      _    )
+      Ao      = (   0   ...  A2,2   A2,1 ) ,             (2)
+                (                   _    )
+                (   0   ...    0    A1,1 )
+        _
+  where Ei-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
+                         _
+  (with CTAU(0) = P) and Ai,i is a CTAU(i)-by-CTAU(i)
+  upper triangular matrix.
+
+  For JOBOBS = 'F', the pencil ( Ao-lambda*Eo ) has full
+                               (      Co      )
+  column rank NOBSV for all finite lambda and is in a staircase form
+  with
+                  _      _            _      _
+                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
+                ( _      _            _      _      )
+    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,  (3)
+    ( Co )      (     ...         ... _      _      )
+                (  0       0      ... A1,2   A1,1   )
+                (                            _      )
+                (  0       0      ... 0      A0,1   )
+                  _          _      _
+                ( Ek,k  ...  Ek,2   Ek,1 )
+                (       ...  _      _    )
+      Eo      = (   0   ...  E2,2   E2,1 ) ,             (4)
+                (                   _    )
+                (   0   ...    0    E1,1 )
+        _
+  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
+                         _
+  (with CTAU(0) = P) and Ei,i is a CTAU(i)-by-CTAU(i)
+  upper triangular matrix.
+
+  For JOBOBS = 'O', the (N-NOBSV)-by-(N-NOBSV) regular pencil
+  Ano - lambda*Eno has the form
+
+                      ( Afno - lambda*Efno         *          )
+   Ano - lambda*Eno = (                                       ) ,
+                      (        0           Aino - lambda*Eino )
+
+  where:
+    1) the NIUOBS-by-NIUOBS regular pencil Aino - lambda*Eino,
+       with Aino upper triangular and nonsingular, contains the
+       unobservable infinite eigenvalues of A - lambda*E;
+    2) the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) regular pencil
+       Afno - lambda*Efno, with Efno upper triangular and
+       nonsingular, contains the unobservable finite
+       eigenvalues of A - lambda*E.
+
+  Note: The significance of the two diagonal blocks can be
+        interchanged by calling the routine with the
+        arguments A and E interchanged. In this case,
+        Aino - lambda*Eino contains the unobservable zero
+        eigenvalues of A - lambda*E, while Afno - lambda*Efno
+        contains the unobservable nonzero finite and infinite
+        eigenvalues of A - lambda*E.
+
+  For JOBOBS = 'F', the pencil Ano - lambda*Eno has the form
+
+     Ano - lambda*Eno = Afno - lambda*Efno ,
+
+  where the regular pencil Afno - lambda*Efno, with Efno
+  upper triangular and nonsingular, contains the unobservable
+  finite eigenvalues of A - lambda*E.
+
+  For JOBOBS = 'I', the pencil Ano - lambda*Eno has the form
+
+     Ano - lambda*Eno = Aino - lambda*Eino ,
+
+  where the regular pencil Aino - lambda*Eino, with Aino
+  upper triangular and nonsingular, contains the unobservable
+  nonzero finite and infinite eigenvalues of A - lambda*E.
+
+  The left and/or right orthogonal transformations Q and Z
+  performed to reduce the system matrices can be optionally
+  accumulated.
+
+  The reduced order descriptor system (Ao-lambda*Eo,Bo,Co) has
+  the same transfer-function matrix as the original system
+  (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NOBSV, NIUOBS,
+     $                   NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBOBS
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
+     $                   M, N, NIUOBS, NLBLCK, NOBSV, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            CTAU( * ), IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
+     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBOBS   CHARACTER*1
+          = 'O':  separate both finite and infinite unobservable
+                  eigenvalues;
+          = 'F':  separate only finite unobservable eigenvalues;
+          = 'I':  separate only nonzero finite and infinite
+                  unobservable eigenvalues.
+
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Ano  *  )
+                    Q'*A*Z = (         ) ,
+                             ( 0    Ao )
+
+          where Ao is NOBSV-by-NOBSV and Ano is
+          (N-NOBSV)-by-(N-NOBSV).
+          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
+                                      ( Co )
+          staircase form (3).
+          If JOBOBS = 'O' or 'I', the submatrix Ao is upper
+          triangular.
+          If JOBOBS = 'O', the submatrix Ano has the form
+
+                          ( Afno   *  )
+                    Ano = (           ) ,
+                          (  0   Aino )
+
+          where the NIUOBS-by-NIUOBS matrix Aino is nonsingular and
+          upper triangular.
+          If JOBOBS = 'I', Ano is nonsingular and upper triangular.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*E*Z,
+
+                             ( Eno  *  )
+                    Q'*E*Z = (         ) ,
+                             ( 0    Eo )
+
+          where Eo is NOBSV-by-NOBSV and Eno is
+          (N-NOBSV)-by-(N-NOBSV).
+          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
+                                             ( Co )
+          observability staircase form (1).
+          If JOBOBS = 'F', the submatrix Eo is upper triangular.
+          If JOBOBS = 'O', the Eno matrix has the form
+
+                          ( Efno   *  )
+                    Eno = (           ) ,
+                          (  0   Eino )
+
+          where the NIUOBS-by-NIUOBS matrix Eino is nilpotent
+          and the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) matrix Efno
+          is nonsingular and upper triangular.
+          If JOBOBS = 'F', Eno is nonsingular and upper triangular.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix
+
+                  C*Z = (  0   Co ) ,
+
+          where Co is P-by-NOBSV.
+          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
+                                             ( Co )
+          observability staircase form (1).
+          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
+                                      ( Co )
+          staircase form (3).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Q,
+                          where Q' is the product of transformations
+                          which are applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Qc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Qc*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Z,
+                          which is the product of transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Zc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Zc*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NOBSV   (output) INTEGER
+          The order of the reduced matrices Ao and Eo, and the
+          number of columns of reduced matrix Co; also the order of
+          observable part of the pair (C, A-lambda*E).
+
+  NIUOBS  (output) INTEGER
+          For JOBOBS = 'O', the order of the reduced matrices
+          Aino and Eino; also the number of unobservable
+          infinite eigenvalues of the pencil A - lambda*E.
+          For JOBOBS = 'F' or 'I', NIUOBS has no significance
+          and is set to zero.
+
+  NLBLCK  (output) INTEGER
+          For JOBOBS = 'O' or 'I', the number k, of full column rank
+                 _
+          blocks Ei-1,i in the staircase form of the pencil
+          (Eo-lambda*Ao) (see (1) and (2)).
+          (    Co      )
+          For JOBOBS = 'F', the number k, of full column rank blocks
+          _
+          Ai-1,i in the staircase form of the pencil (Ao-lambda*Eo)
+                                                     (     Co     )
+          (see (3) and (4)).
+
+  CTAU    (output) INTEGER array, dimension (N)
+          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
+                                        _         _
+          of the full column rank block Ei-1,i or Ai-1,i in the
+          staircase form (1) or (3) for JOBOBS = 'O' or 'I', or
+          for JOBOBS = 'F', respectively.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A'-lambda*E',C')'. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*P))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the dual of the reduction
+  algorithms of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A, E and C are badly scaled, it is
+  generally recommendable to scale them with the SLICOT routine
+  TG01AD, before calling TG01ID.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = MAX(MMAX,PMAX),
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBOBS
+      INTEGER          I, INFO, J, M, N, NOBSV, NIUOBS, NLBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(MMAX), CTAU(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01ID
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBOBS
+      COMPQ = 'I'
+      COMPZ = 'I'
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed descriptor system (A-lambda E,B,C).
+               CALL TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                      NOBSV, NIUOBS, NLBLCK, CTAU, TOL, IWORK,
+     $                      DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NOBSV, NIUOBS
+                  WRITE ( NOUT, FMT = 99985 )
+                  WRITE ( NOUT, FMT = 99984 ) ( CTAU(I), I = 1,NLBLCK )
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01ID = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Dimension of observable part   =', I5/
+     $        ' Number of unobservable infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The staircase form column dimensions are ' )
+99984 FORMAT (10I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01ID EXAMPLE PROGRAM DATA
+  7    2     3     0.0    O
+     2     0     0     0     0     0     0
+     0     1     0     0     0     1     0
+     2     0     0     2     0     0     0
+     0     0     1     0     1     0     1
+    -1     1     0    -1     0     1     0
+     3     0     0     3     0     0     0
+     1     0     1     1     1     0     1
+     0     0     0     0     0     0     1
+     0     0     0     0     0     0     3
+     1     0     0     0     0     1     0
+     0     0     0     0     1     0     2
+     0     0     0     0     0    -1     0
+     0     1     0     0     0     0     0
+     0     0     1     1     0     0     0
+     1     0
+     0    -1
+     0     1
+     1     0
+     0    -1
+     0     1
+     1     0
+     2     0     0     0     0     0     1
+     1     0     0     0     0     0     2
+     0     0     0     0     0     0     3
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01ID EXAMPLE PROGRAM RESULTS
+
+ Dimension of observable part   =    3
+ Number of unobservable infinite eigenvalues =    1
+
+ The staircase form column dimensions are 
+    2    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   0.2177   0.2414   0.5742   0.4342   0.0000  -0.4342   0.4666
+   0.2022   0.2242   0.5334  -0.2924  -0.7723   0.2924   0.4334
+  -0.5892  -0.6533  -1.5540   0.8520  -0.2651  -0.8520  -1.2627
+   0.0000   0.0000   0.0000   3.7417   0.3780  -3.7417   0.0000
+   0.0000   0.0000   0.0000   0.0000   1.7862   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+
+ The transformed descriptor matrix Q'*E*Z is 
+   1.0000   0.0000   0.0000   0.4342   0.0000   0.0000   1.8016
+   0.0000   1.1937  -0.1496  -0.2924   0.3861   0.5461   0.2819
+   0.0000   0.0000  -1.0260   0.8520   0.1325   0.1874  -0.8214
+   0.0000   0.0000   0.0000   0.0000  -1.1339  -0.5345   0.0000
+   0.0000   0.0000   0.0000   0.0000  -0.1333   0.3770   2.3752
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -0.1728   0.4887  -1.8325
+
+ The transformed input/state matrix Q'*B is 
+   0.4666   0.0000
+   0.4334   0.5461
+  -1.2627   0.1874
+   0.0000  -1.6036
+   0.0000  -0.9803
+   1.0000   0.0000
+   0.0000   0.3665
+
+ The transformed state/output matrix C*Z is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   2.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   3.0000
+
+ The left transformation matrix Q is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.7917   0.0000  -0.6108
+   0.0000   0.5461   0.1874  -0.5345   0.3770   0.0000   0.4887
+   0.9008   0.1410  -0.4107   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.5461  -0.1874   0.2673   0.4713   0.0000   0.6108
+   0.0000  -0.5461  -0.1874  -0.8018  -0.0943   0.0000  -0.1222
+  -0.4342   0.2924  -0.8520   0.0000   0.0000   0.0000   0.0000
+
+ The right transformation matrix Z is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
+   0.0000  -0.6519   0.2740   0.0000   0.7071   0.0000   0.0000
+  -0.4342   0.3491   0.8304   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.9008   0.1683   0.4003   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.6519  -0.2740   0.0000   0.7071   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01JD">TG01JD</A></H2>
+<H3>
+Irreducible descriptor representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or irreducible)
+  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
+  descriptor representation (A-lambda*E,B,C).
+  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
+  either Ar or Er upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, NR, INFRED, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, JOB, SYSTYP
+      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFRED(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'I':  Remove both the uncontrollable and unobservable
+                  parts to get an irreducible descriptor
+                  representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable descriptor representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable descriptor representation.
+
+  SYSTYP  CHARACTER*1
+          Indicates the type of descriptor system algorithm
+          to be applied according to the assumed
+          transfer-function matrix as follows:
+          = 'R':  Rational transfer-function matrix;
+          = 'S':  Proper (standard) transfer-function matrix;
+          = 'P':  Polynomial transfer-function matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily scale
+          the system (A-lambda*E,B,C) as follows:
+          = 'S':  Perform scaling;
+          = 'N':  Do not perform scaling.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order state matrix Ar of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The matrix Ar is upper triangular if SYSTYP = 'R' or 'P'.
+          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
+          is in a controllable staircase form (see TG01HD).
+          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
+                                                           ( Cr )
+          is in an observable staircase form (see TG01HD).
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original descriptor matrix E.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order descriptor matrix Er of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The resulting Er has INFRED(6) nonzero sub-diagonals.
+          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
+          resulting Er is structured being either upper triangular
+          or block Hessenberg, in accordance to the last
+          performed order reduction phase (see METHOD).
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input matrix B; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the reduced input matrix Br of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'C', only the first IWORK(1) rows of B are
+          nonzero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original output matrix C; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cr of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
+          (in the first NR columns) of C are nonzero.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced descriptor representation
+          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
+          or observable realization for the original system,
+          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
+          respectively.
+
+  INFRED  (output) INTEGER array, dimension 7
+          This array contains information on performed reduction
+          and on structure of resulting system matrices as follows:
+          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
+                         (see METHOD) has been performed. In this
+                         case, INFRED(k) is the achieved order
+                         reduction in Phase k.
+          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
+                         performed.
+          INFRED(5)  -   the number of nonzero sub-diagonals of A.
+          INFRED(6)  -   the number of nonzero sub-diagonals of E.
+          INFRED(7)  -   the number of blocks in the resulting
+                         staircase form at last performed reduction
+                         phase. The block dimensions are contained
+                         in the first INFRED(7) elements of IWORK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E,B,C). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ((c*N+MAX(M,P)), where
+          c = 2, if JOB = 'I' or SYSTYP = 'R', and c = 1, otherwise.
+          On exit, if INFO = 0, the leading INFRED(7) elements of
+          IWORK contain the orders of the diagonal blocks of
+          Ar-lambda*Er.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(8*N,2*M,2*P), if EQUIL = 'S';
+          LDWORK &gt;= MAX(N,2*M,2*P),   if EQUIL = 'N'.
+          If LDWORK &gt;= 2*N*N+N*M+N*P+MAX(N,2*M,2*P) then more
+          accurate results are to be expected by performing only
+          those reductions phases (see METHOD), where effective
+          order reduction occurs. This is achieved by saving the
+          system matrices before each phase and restoring them if no
+          order reduction took place.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithms of [1].
+  The order reduction is performed in 4 phases:
+  Phase 1: Eliminate all finite uncontrollable eigenvalues.
+           The resulting matrix ( Br Ar ) is in a controllable
+           staircase form (see SLICOT Library routine TG01HD), and
+           Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'S'.
+  Phase 2: Eliminate all infinite and finite nonzero uncontrollable
+           eigenvalues. The resulting matrix ( Br Er ) is in a
+           controllable staircase form (see TG01HD), and Ar is
+           upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'P'.
+  Phase 3: Eliminate all finite unobservable eigenvalues.
+           The resulting matrix ( Ar ) is in an observable
+                                ( Cr )
+           staircase form (see SLICOT Library routine TG01ID), and
+           Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'S'.
+  Phase 4: Eliminate all infinite and finite nonzero unobservable
+           eigenvalues. The resulting matrix ( Er ) is in an
+                                             ( Cr )
+           observable staircase form (see TG01ID), and Ar is
+           upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'P'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the pencil (A-lambda*E) has no zero eigenvalues, then an
+  irreducible realization can be computed skipping Phases 1 and 3
+  by using the setting: JOB = 'I' and SYSTYP = 'P'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01JD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = MAX( 8*NMAX,2*MMAX,2*PMAX ),
+     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        EQUIL, JOB, SYSTYP
+      INTEGER          I, INFO, J, M, N, NR, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          INFRED(7), IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01JD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, SYSTYP, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
+               CALL TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
+     $                      B, LDB, C, LDC, NR, INFRED, TOL, IWORK,
+     $                      DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NR
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 10 I = 1, 4
+                     IF( INFRED(I).GE.0 )
+     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 30 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 50 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   50             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01JD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01JD = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99996 FORMAT (/' The reduced descriptor matrix Er is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5 )
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' Achieved order reductions in different phases')
+99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01JD EXAMPLE PROGRAM DATA
+  9    2    2     0.0    I  R  N 
+    -2    -3     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     0    -2    -3     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     1     0
+     0     0
+     0     1
+     0     0
+    -1     0
+     0     0
+     0    -1
+     0     0
+     0     0
+     1     0     1    -3     0     1     0     2     0
+     0     1     1     3     0     1     0     0     1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01JD EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    7
+
+ Achieved order reductions in different phases
+ Phase 1:  0 elliminated eigenvalue(s)
+ Phase 2:  0 elliminated eigenvalue(s)
+ Phase 3:  2 elliminated eigenvalue(s)
+ Phase 4:  0 elliminated eigenvalue(s)
+
+ The reduced state dynamics matrix Ar is 
+   1.0000  -0.0393  -0.0980  -0.1066   0.0781  -0.2330   0.0777
+   0.0000   1.0312   0.2717   0.2609  -0.1533   0.6758  -0.3553
+   0.0000   0.0000   1.3887   0.6699  -0.4281   1.6389  -0.7615
+   0.0000   0.0000   0.0000  -1.2147   0.2423  -0.9792   0.4788
+   0.0000   0.0000   0.0000   0.0000  -1.0545   0.5035  -0.2788
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+
+ The reduced descriptor matrix Er is 
+   0.4100   0.2590   0.5080  -0.3109   0.0705   0.1429  -0.1477
+  -0.7629  -0.3464   0.0992  -0.3007   0.0619   0.2483  -0.0152
+   0.1120  -0.2124  -0.4184  -0.1288   0.0569  -0.4213  -0.6182
+   0.0000   0.1122  -0.0039   0.2771  -0.0758   0.0975   0.3923
+   0.0000   0.0000   0.3708  -0.4290   0.1006   0.1402  -0.2699
+   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
+   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
+
+ The reduced input/state matrix Br is 
+  -0.5597   0.2363
+  -0.4843  -0.0498
+  -0.4727  -0.1491
+   0.1802   1.1574
+   0.5995   0.1556
+  -0.1729  -0.3999
+   0.0000   0.2500
+
+ The reduced state/output matrix Cr is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01JY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01JY">TG01JY</A></H2>
+<H3>
+Irreducible descriptor representation (blocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or irreducible)
+  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
+  descriptor representation (A-lambda*E,B,C).
+  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
+  either Ar or Er upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P, A,
+     $                   LDA, E, LDE, B, LDB, C, LDC, NR, INFRED, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CKSING, EQUIL, JOB, RESTOR, SYSTYP
+      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
+C     .. Array Arguments ..
+      INTEGER           INFRED(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  E(LDE,*), TOL(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'I':  Remove both the uncontrollable and unobservable
+                  parts to get an irreducible descriptor
+                  representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable descriptor representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable descriptor representation.
+
+  SYSTYP  CHARACTER*1
+          Indicates the type of descriptor system algorithm
+          to be applied according to the assumed
+          transfer-function matrix as follows:
+          = 'R':  Rational transfer-function matrix;
+          = 'S':  Proper (standard) transfer-function matrix;
+          = 'P':  Polynomial transfer-function matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily scale
+          the system (A-lambda*E,B,C) as follows:
+          = 'S':  Perform scaling;
+          = 'N':  Do not perform scaling.
+
+  CKSING  CHARACTER*1
+          Specifies whether the user wishes to check if the pencil
+          (A-lambda*E) is singular as follows:
+          = 'C':  Check singularity;
+          = 'N':  Do not check singularity.
+          If the pencil is singular, the reduced system computed for
+          CKSING = 'N' can be wrong.
+
+  RESTOR  CHARACTER*1
+          Specifies whether the user wishes to save the system
+          matrices before each phase and restore them if no order
+          reduction took place as follows:
+          = 'R':  Save and restore;
+          = 'N':  Do not save the matrices.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order state matrix Ar of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The matrix Ar is upper triangular if SYSTYP = 'P'.
+          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
+          is in a controllable staircase form (see SLICOT Library
+          routine TG01HD).
+          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
+                                                           ( Cr )
+          is in an observable staircase form (see TG01HD).
+          The resulting Ar has INFRED(5) nonzero sub-diagonals.
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original descriptor matrix E.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order descriptor matrix Er of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The resulting Er has INFRED(6) nonzero sub-diagonals.
+          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
+          resulting Er is structured being either upper triangular
+          or block Hessenberg, in accordance to the last
+          performed order reduction phase (see METHOD).
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input matrix B; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the reduced input matrix Br of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'C', only the first IWORK(1) rows of B are
+          nonzero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original output matrix C; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cr of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
+          (in the first NR columns) of C are nonzero.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced descriptor representation
+          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
+          or observable realization for the original system,
+          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
+          respectively.
+
+  INFRED  (output) INTEGER array, dimension 7
+          This array contains information on performed reduction
+          and on structure of resulting system matrices as follows:
+          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
+                         (see METHOD) has been performed. In this
+                         case, INFRED(k) is the achieved order
+                         reduction in Phase k.
+          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
+                         performed.
+          INFRED(5)  -   the number of nonzero sub-diagonals of A.
+          INFRED(6)  -   the number of nonzero sub-diagonals of E.
+          INFRED(7)  -   the number of blocks in the resulting
+                         staircase form at last performed reduction
+                         phase. The block dimensions are contained
+                         in the first INFRED(7) elements of IWORK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension 3
+          TOL(1) is the tolerance to be used in rank determinations
+          when transforming (A-lambda*E,B,C). If the user sets
+          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
+          lower bound for reciprocal condition numbers in rank
+          determinations; a (sub)matrix whose estimated condition
+          number is less than 1/TOL(1) is considered to be of full
+          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
+          is used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
+          TOL(2) is the tolerance to be used for checking pencil
+          singularity when CKSING = 'C', or singularity of the
+          matrices A and E when CKSING = 'N'. If the user sets
+          TOL(2) &gt; 0, then the given value of TOL(2) is used.
+          If the user sets TOL(2) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
+          is used instead.  TOL(2) &lt; 1.
+          TOL(3) is the threshold value for magnitude of the matrix
+          elements, if EQUIL = 'S': elements with magnitude less
+          than or equal to TOL(3) are ignored for scaling. If the
+          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
+          used. If the user sets TOL(3) &lt; 0, then an implicitly
+          computed, default threshold, defined by  THRESH = c*EPS,
+          where c = MAX(norm_1(A,E,B,C)) is used instead.
+          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
+          TOL(3) is not used if EQUIL = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+MAX(M,P))
+          On exit, if INFO = 0, the leading INFRED(7) elements of
+          IWORK contain the orders of the diagonal blocks of
+          Ar-lambda*Er.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,x,y,8*N), if EQUIL = 'S',
+          LDWORK &gt;= MAX(1,x,y),     if EQUIL = 'N',
+          where x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
+                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
+                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
+                y = 0,                    if CKSING = 'N',
+                z = 2*N*N+N*M+N*P, if JOB  = 'I',
+                z = 0,             if JOB &lt;&gt; 'I'.
+          For good performance, LDWORK should be generally larger.
+          If RESTOR = 'R', or
+          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1),
+          more accurate results are to be expected by considering
+          only those reductions phases (see METHOD), where effective
+          order reduction occurs. This is achieved by saving the
+          system matrices before each phase and restoring them if no
+          order reduction took place. Actually, if JOB = 'I' and
+          RESTOR = 'N', then the saved matrices are those obtained
+          after orthogonally triangularizing the matrix A (if
+          SYSTYP = 'R' or 'P'), or the matrix E (if SYSTYP = 'R'
+          or 'S').
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA. The optimal workspace includes the
+          extra space for improving the accuracy.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the given pencil A - lambda*E is numerically
+                singular and the reduced system is not computed.
+                This error can be returned only if CKSING = 'C'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithms of [1], but
+  with a different ordering of the phases.
+  The order reduction is performed in 4 phases:
+  Phase 1: Eliminate all infinite and finite nonzero uncontrollable
+           eigenvalues. The resulting matrix ( Br Er ) is in a
+           controllable staircase form (see TG01HD), and Ar is
+           upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'P'.
+  Phase 2: Eliminate all infinite and finite nonzero unobservable
+           eigenvalues. The resulting matrix ( Er ) is in an
+                                             ( Cr )
+           observable staircase form (see SLICOT Library routine
+           TG01ID), and Ar is upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'P'.
+  Phase 3: Eliminate all finite uncontrollable eigenvalues.
+           The resulting matrix ( Br Ar ) is in a controllable
+           staircase form (see TG01HD), and Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'S'.
+  Phase 4: Eliminate all finite unobservable eigenvalues.
+           The resulting matrix ( Ar ) is in an observable
+                                ( Cr )
+           staircase form (see TG01ID), and Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'S'.
+  The routine checks the singularity of the matrices A and/or E
+  (depending on JOB and SYSTYP) and skips the unnecessary phases.
+  See FURTHER COMMENTS.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the pencil A-lambda*E has no zero eigenvalues, then an
+  irreducible realization is computed skipping Phases 3 and 4
+  (equivalent to setting: JOB = 'I' and SYSTYP = 'P').
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01JY EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
+     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
+     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
+     $                                 10*NMAX + MAX( NMAX, 23 ) ),
+     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        CKSING, EQUIL, JOB, RESTOR, SYSTYP
+      INTEGER          I, INFO, J, M, N, NR, P
+*     .. Local Arrays ..
+      INTEGER          INFRED(7), IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
+
+*     .. External Subroutines ..
+      EXTERNAL         TG01JY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOB,
+     $                      SYSTYP, EQUIL, CKSING, RESTOR
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
+               CALL TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P,
+     $                      A, LDA, E, LDE, B, LDB, C, LDC, NR, INFRED,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NR
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 10 I = 1, 4
+                     IF( INFRED(I).GE.0 )
+     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 30 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 50 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   50             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01JY EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01JY = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99996 FORMAT (/' The reduced descriptor matrix Er is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5 )
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' Achieved order reductions in different phases')
+99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01JY EXAMPLE PROGRAM DATA
+  9    2    2     0.0    0.0    0.0    I  R  N  N  N
+    -2    -3     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     0    -2    -3     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     1     0
+     0     0
+     0     1
+     0     0
+    -1     0
+     0     0
+     0    -1
+     0     0
+     0     0
+     1     0     1    -3     0     1     0     2     0
+     0     1     1     3     0     1     0     0     1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01JY EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    7
+
+ Achieved order reductions in different phases
+ Phase 1:  0 elliminated eigenvalue(s)
+ Phase 2:  2 elliminated eigenvalue(s)
+
+ The reduced state dynamics matrix Ar is 
+   1.0000  -0.0393  -0.0980   0.1066  -0.0781   0.2330  -0.0777
+   0.0000   1.0312   0.2717  -0.2609   0.1533  -0.6758   0.3553
+   0.0000   0.0000   1.3887  -0.6699   0.4281  -1.6389   0.7615
+   0.0000   0.0000   0.0000   1.2147  -0.2423   0.9792  -0.4788
+   0.0000   0.0000   0.0000   0.0000   1.0545  -0.5035   0.2788
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+
+ The reduced descriptor matrix Er is 
+   0.4100   0.2590   0.5080   0.3109  -0.0705  -0.1429   0.1477
+  -0.7629  -0.3464   0.0992   0.3007  -0.0619  -0.2483   0.0152
+   0.1120  -0.2124  -0.4184   0.1288  -0.0569   0.4213   0.6182
+   0.0000   0.1122  -0.0039  -0.2771   0.0758  -0.0975  -0.3923
+   0.0000   0.0000   0.3708   0.4290  -0.1006  -0.1402   0.2699
+   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
+   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
+
+ The reduced input/state matrix Br is 
+   0.5597  -0.2363
+   0.4843   0.0498
+   0.4727   0.1491
+  -0.1802  -1.1574
+  -0.5995  -0.1556
+  -0.1729  -0.3999
+   0.0000   0.2500
+
+ The reduced state/output matrix Cr is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01KD.html b/doc/_build/html/_static/doc/TG01KD.html
new file mode 100644
index 00000000..c03906ca
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01KD.html
@@ -0,0 +1,202 @@
+<HTML>
+<HEAD><TITLE>TG01KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01KD">TG01KD</A></H2>
+<H3>
+Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular (TG01OA version with more complex interface)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  (A, E, B, C), with E upper triangular, a transformed system,
+  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
+  transformation, so that Q'*B has only the first element nonzero
+  and Q'*E*Z remains upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01KD( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
+     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
+      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  COMPC   CHARACTER*1
+          Indicates whether the user wishes to transform the system
+          output matrix C, as follows:
+          = 'C':  Transform the system output matrix C;
+          = 'N':  Do not transform the system output matrix C.
+
+  COMPQ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the orthogonal row transformations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the orthogonal
+                  transformations used.
+
+  COMPZ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal column transformations, as
+          follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the orthogonal
+                  transformations used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, the leading N part of this array must contain
+          the original input matrix B.
+          On exit, the leading N part of this array contains the
+          transformed input matrix Q'*B with all elements but the
+          first set to zero.
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+          ((N-1)*INCC+1)
+          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array must contain the original
+          output vector C.
+          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array contain the transformed output
+          vector C*Z.
+          If COMPC = 'N', this array is not referenced.
+
+  INCC    INTEGER
+          If COMPC = 'C', the increment between successive values
+          of C.  INCC &gt; 0.
+          If COMPC = 'N', INCC is not used.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
+          On entry, if COMPQ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Q1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Q1*Q if COMPQ = 'U').
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ =  'N';
+          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          On entry, if COMPZ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Z1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Z1*Z if COMPZ = 'U').
+          If COMPZ = 'N', this array is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ =  'N';
+          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01KZ.html b/doc/_build/html/_static/doc/TG01KZ.html
new file mode 100644
index 00000000..432d97d6
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01KZ.html
@@ -0,0 +1,202 @@
+<HTML>
+<HEAD><TITLE>TG01KZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01KZ">TG01KZ</A></H2>
+<H3>
+Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular (TG01OB version with more complex interface)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  (A, E, B, C), with E upper triangular, a transformed system,
+  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
+  transformation, so that Q'*B has only the first element nonzero
+  and Q'*E*Z remains upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01KZ( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
+     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
+      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  COMPC   CHARACTER*1
+          Indicates whether the user wishes to transform the system
+          output matrix C, as follows:
+          = 'C':  Transform the system output matrix C;
+          = 'N':  Do not transform the system output matrix C.
+
+  COMPQ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the orthogonal row transformations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the orthogonal
+                  transformations used.
+
+  COMPZ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal column transformations, as
+          follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the orthogonal
+                  transformations used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input/output) COMPLEX*16 array, dimension (N)
+          On entry, the leading N part of this array must contain
+          the original input matrix B.
+          On exit, the leading N part of this array contains the
+          transformed input matrix Q'*B with all elements but the
+          first set to zero.
+
+  C       (input/output) COMPLEX*16 array, dimension
+          ((N-1)*INCC+1)
+          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array must contain the original
+          output vector C.
+          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array contain the transformed output
+          vector C*Z.
+          If COMPC = 'N', this array is not referenced.
+
+  INCC    INTEGER
+          If COMPC = 'C', the increment between successive values
+          of C.  INCC &gt; 0.
+          If COMPC = 'N', INCC is not used.
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ,*)
+          On entry, if COMPQ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Q1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Q1*Q if COMPQ = 'U').
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ =  'N';
+          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ,*)
+          On entry, if COMPZ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Z1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Z1*Z if COMPZ = 'U').
+          If COMPZ = 'N', this array is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ =  'N';
+          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01LD.html b/doc/_build/html/_static/doc/TG01LD.html
new file mode 100644
index 00000000..5107ec67
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01LD.html
@@ -0,0 +1,490 @@
+<HTML>
+<HEAD><TITLE>TG01LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01LD">TG01LD</A></H2>
+<H3>
+Finite-infinite decomposition of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the form (if JOB = 'F')
+
+             ( Af  *  )             ( Ef  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
+             ( 0   Ai )             ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+             ( Ai  *  )             ( Ei  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
+             ( 0   Af )             ( 0   Ef )
+
+  where the subpencil Af-lambda*Ef, with Ef nonsingular and upper
+  triangular, contains the finite eigenvalues, and the subpencil
+  Ai-lambda*Ei, with Ai nonsingular and upper triangular, contains
+  the infinite eigenvalues. The subpencil Ai-lambda*Ei is in a
+  staircase form (see METHOD). If JOBA = 'H', the submatrix Af
+  is further reduced to an upper Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF, ND,
+     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOB, JOBA
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          = 'F':  perform the finite-infinite separation;
+          = 'I':  perform the infinite-finite separation.
+
+  JOBA    CHARACTER*1
+          = 'H':  reduce Af further to an upper Hessenberg form;
+          = 'N':  keep Af unreduced.
+
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Af  *  )                 ( Ai  *  )
+                    Q'*A*Z = (        ) ,  or  Q'*A*Z = (        ) ,
+                             ( 0   Ai )                 ( 0   Af )
+
+          depending on JOB, with Af an NF-by-NF matrix, and Ai an
+          (N-NF)-by-(N-NF) nonsingular and upper triangular matrix.
+          If JOBA = 'H', Af is in an upper Hessenberg form.
+          Otherwise, Af is unreduced.
+          Ai has a block structure as in (3) or (4), where A0,0 is
+          ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
+          IBLCK(i)-by-IBLCK(i).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z,
+
+                             ( Ef  *  )                 ( Ei  *  )
+                    Q'*E*Z = (        ) ,  or  Q'*E*Z = (        ) ,
+                             ( 0   Ei )                 ( 0   Ef )
+
+          depending on JOB, with Ef an NF-by-NF nonsingular matrix,
+          and Ei an (N-NF)-by-(N-NF) nilpotent matrix in an upper
+          block triangular form, as in (3) or (4).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,K),
+          where K = M if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,K),
+          where K = P if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of Householder
+                           transformations applied to A, E, and B on
+                           the left.
+          If COMPQ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'U'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C on
+                           the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
+
+  NF      (output) INTEGER.
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  ND      (output) INTEGER.
+          The number of non-dynamic infinite eigenvalues of the
+          pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (3) or (4), with i = 1,2, ..., NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= N + MAX(3*N,M,P).
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+  If JOB = 'F', the matrices Ai and Ei have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOB = 'I', the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
+  triangular matrices. A0,0 corresponds to the non-dynamic infinite
+  modes of the system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF.
+                 i=1
+
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01LD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX+MAX( 3*NMAX, MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOB, JOBA
+      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX), IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX),   B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01LD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, JOBA, TOL
+      COMPQ = 'I'
+      COMPZ = 'I'
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
+     $                      ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NF, ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01LD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01LD = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The reduced descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5/
+     $        ' Number of non-dynamic infinite eigenvalues =', I5)
+99993 FORMAT (/' The reduced input/state matrix Q''*B is ')
+99992 FORMAT (/' The reduced state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT ( ' Dimension of the blocks'/20I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01LD EXAMPLE PROGRAM DATA
+  4     2     2     F     N     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01LD EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    3
+ Number of non-dynamic infinite eigenvalues =    1
+ Number of infinite blocks =     1
+
+ The reduced state dynamics matrix Q'*A*Z is 
+   2.4497  -1.3995   0.2397  -4.0023
+  -0.0680  -0.0030   0.1739  -1.6225
+   0.3707   0.0161  -0.9482   0.1049
+   0.0000   0.0000   0.0000   2.2913
+
+ The reduced descriptor matrix Q'*E*Z is 
+   9.9139   4.7725  -3.4725  -2.3836
+   0.0000  -1.2024   2.0137   0.7926
+   0.0000   0.0000   0.2929  -0.9914
+   0.0000   0.0000   0.0000   0.0000
+
+ The reduced input/state matrix Q'*B is 
+  -0.2157  -0.9705
+   0.3015   0.9516
+   0.7595   0.0991
+   1.1339   0.3780
+
+ The reduced state/output matrix C*Z is 
+   0.5345  -1.1134   0.3758   0.5774
+  -1.0690   0.2784  -1.2026   0.5774
+
+ The left transformation matrix Q is 
+  -0.2157  -0.5088   0.6109   0.5669
+  -0.1078  -0.2544  -0.7760   0.5669
+  -0.9705   0.1413  -0.0495  -0.1890
+   0.0000   0.8102   0.1486   0.5669
+
+ The right transformation matrix Z is 
+  -0.5345   0.6263   0.4617  -0.3299
+  -0.8018  -0.5219  -0.2792  -0.0825
+   0.0000  -0.4871   0.8375   0.2474
+  -0.2673   0.3132  -0.0859   0.9073
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01LY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01LY">TG01LY</A></H2>
+<H3>
+Finite-infinite decomposition of a structured descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which reduce
+  the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C), with the A and E matrices in the form
+
+        ( A11 A12 A13 )             ( E11  0  0 )
+    A = ( A21 A22 A23 ) ,       E = (  0   0  0 ) ,              (1)
+        ( A31  0   0  )             (  0   0  0 )
+
+  where E11 and A22 are nonsingular and upper triangular matrices,
+  to the form
+
+             ( Af  *  )             ( Ef  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,
+             ( 0   Ai )             ( 0   Ei )
+
+  where the subpencil Af-lambda*Ef contains the finite eigenvalues
+  and the subpencil Ai-lambda*Ei contains the infinite eigenvalues.
+  The subpencil Ai-lambda*Ei is in a staircase form with the
+  matrices Ai and Ei of form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ,   (2)
+        (  :     :   ...   :  )         ( :   :   ...   :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
+  matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01LY( COMPQ, COMPZ, N, M, P, RANKE, RNKA22, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
+     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            COMPQ, COMPZ
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, NF, NIBLCK, P, RANKE, RNKA22
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   LOGICAL
+          Specify the option to accumulate or not the performed
+          left transformations:
+          COMPQ = .FALSE. : do not accumulate the transformations;
+          COMPQ = .TRUE.  : accumulate the transformations; in this
+                  case, Q must contain an orthogonal matrix Q1
+                  on entry, and the product Q1*Q is returned.
+
+  COMPZ   LOGICAL
+          Specify the option to accumulate or not the performed
+          right transformations:
+          COMPZ = .FALSE. : do not accumulate the transformations;
+          COMPZ = .TRUE.  : accumulate the transformations; in this
+                  case, Z must contain an orthogonal matrix Z1
+                  on entry, and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  RANKE   (input) INTEGER
+          The rank of the matrix E; also, the order of the upper
+          triangular matrix E11.  0 &lt;= RANKE &lt;= N. 
+
+  RNKA22  (input) DOUBLE PRECISION
+          The order of the nonsingular submatrix A22 of A.
+          0 &lt;= RNKA22 &lt;= N - RANKE. 
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A in the form (1).
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Af  *  )
+                    Q'*A*Z = (        ) ,
+                             ( 0   Ai )
+
+          where Af is NF-by-NF and Ai is (N-NF)-by-(N-NF).
+          The submatrix Ai is in the staircase form (2), where A0,0
+          is (N-RANKE)-by-(N-RANKE), and Ai,i , for i = 1, ...,
+          NIBLCK is IBLCK(i)-by-IBLCK(i).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E in the form (1).
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z,
+
+                             ( Ef  *  )
+                    Q'*E*Z = (        ) ,
+                             ( 0   Ei )
+
+          where Ef is an NF-by-NF nonsingular matrix and Ei is an
+          (N-NF)-by-(N-NF) nilpotent matrix in the staircase
+          form (2).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = .FALSE., Q is not referenced.
+          If COMPQ = .TRUE., on entry, the leading N-by-N part of
+                      this array must contain an orthogonal matrix
+                      Q1; on exit, the leading N-by-N part of this
+                      array contains the orthogonal matrix Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = .FALSE.;
+          LDQ &gt;= MAX(1,N), if COMPQ = .TRUE. .
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = .FALSE., Z is not referenced.
+          If COMPZ = .TRUE., on entry, the leading N-by-N part of
+                     this array must contain an orthogonal matrix
+                     Z1; on exit, the leading N-by-N part of this
+                     array contains the orthogonal matrix Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = .FALSE.;
+          LDZ &gt;= MAX(1,N), if COMPZ = .TRUE. .
+
+  NF      (output) INTEGER
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  NIBLCK  (output) INTEGER
+          If RANKE &lt; N, the number of infinite blocks minus one.
+          If RANKE = N, NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (2), where i = 1, 2, ..., NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N-RANKE)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if RANKE = N; otherwise,
+          LDWORK &gt;= MAX(4*(N-RANKE)-1, N-RANKE-RNKA22+MAX(N,M)).
+          For optimal performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+         NIBLCK
+          Sum  IBLCK(i) = RANKE - NF.
+          i=1
+
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01MD">TG01MD</A></H2>
+<H3>
+Finite-infinite generalized real Schur form decomposition of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the form (if JOB = 'F')
+
+             ( Af  *  )             ( Ef  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
+             ( 0   Ai )             ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+             ( Ai  *  )             ( Ei  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
+             ( 0   Af )             ( 0   Ef )
+
+  where the pair (Af,Ef) is in a generalized real Schur form, with
+  Ef nonsingular and upper triangular and Af in real Schur form.
+  The subpencil Af-lambda*Ef contains the finite eigenvalues.
+  The pair (Ai,Ei) is in a generalized real Schur form with
+  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
+  with Ai nonsingular and Ei nilpotent contains the infinite
+  eigenvalues and is in a block staircase form (see METHOD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
+     $                   ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ, NF, ND,
+     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                   Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          = 'F':  perform the finite-infinite separation;
+          = 'I':  perform the infinite-finite separation.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z in the form
+
+          ( Af  *  )                    ( Ai  *  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ai )                    ( 0   Af )
+
+          where Af is an NF-by-NF matrix in real Schur form, and Ai
+          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
+          matrix. Ai has a block structure as in (3) or (4), where
+          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
+          IBLCK(i)-by-IBLCK(i). (See METHOD.)
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z in the form
+
+          ( Ef  *  )                    ( Ei  *  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ei )                    ( 0   Ef )
+
+          where Ef is an NF-by-NF nonsingular and upper triangular
+          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
+          an upper triangular block form as in (3) or (4).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAR(1:NF) will be set to the real parts of the diagonal
+          elements of Af that would result from reducing A and E to
+          the Schur form, and then further reducing both of them to
+          triangular form using unitary transformations, subject to
+          having the diagonal of E positive real.  Thus, if Af(j,j)
+          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
+          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
+          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
+          the finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAI(1:NF) will be set to the imaginary parts of the
+          diagonal elements of Af that would result from reducing A
+          and E to Schur form, and then further reducing both of
+          them to triangular form using unitary transformations,
+          subject to having the diagonal of E positive real. Thus,
+          if Af(j,j) is in a 1-by-1 block (see above), then
+          ALPHAI(j) = 0. Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          BETA(1:NF) will be set to the (real) diagonal elements of
+          Ef that would result from reducing A and E to Schur form,
+          and then further reducing both of them to triangular form
+          using unitary transformations, subject to having the
+          diagonal of E positive real. Thus, if Af(j,j) is in a
+          1-by-1 block (see above), then BETA(j) = Ef(j,j).
+          Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Q, which is the accumulated product of
+          the transformations applied to A, E, and B on the left.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z, which is the accumulated product of
+          the transformations applied to A, E, and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  NF      (output) INTEGER
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  ND      (output) INTEGER
+          The number of non-dynamic infinite eigenvalues of the
+          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (3), where i = 1,2,...,NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= 4*N.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular;
+          = 2:  the QZ iteration did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the separation of infinite structure, the reduction algorithm
+  of [1] is employed.
+  If JOB = 'F', the matrices Ai and Ei have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOB = 'I' the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
+  matrices. A0,0 corresponds to the non-dynamic infinite modes of
+  the system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF.
+                 i=1
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX),  IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C,
+     $                      LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
+     $                      NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NF, ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, NF
+                     WRITE ( NOUT, FMT = 99984 )
+     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01MD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5/
+     $        ' Number of non-dynamic infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01MD EXAMPLE PROGRAM DATA
+  4     2     2     F     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01MD EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    3
+ Number of non-dynamic infinite eigenvalues =    1
+ Number of infinite blocks =     1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   1.2803  -2.3613  -0.9025  -3.9982
+   0.0000  -0.5796   0.8504   0.4350
+   0.0000   0.0000   0.0000   1.5770
+   0.0000   0.0000   0.0000   2.2913
+
+ The transformed descriptor matrix Q'*E*Z is 
+   9.3142  -4.1463   5.4026  -2.3944
+   0.0000   0.1594   0.1212  -1.0948
+   0.0000   0.0000   2.3524  -0.6008
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.2089  -0.9712
+   0.6948  -0.0647
+  -0.4336  -0.9538
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+  -0.0469  -0.9391  -0.8847   0.5774
+  -1.0697   0.3620   1.1795   0.5774
+
+ The left transformation matrix Q is 
+  -0.2089   0.6948   0.3902   0.5669
+  -0.1148  -0.7163   0.3902   0.5669
+  -0.9712  -0.0647  -0.1301  -0.1890
+   0.0000   0.0000  -0.8238   0.5669
+
+ The right transformation matrix Z is 
+   0.0469   0.9391  -0.0843  -0.3299
+  -0.9962   0.0189  -0.0211  -0.0825
+   0.0000  -0.0000  -0.9689   0.2474
+  -0.0735   0.3432   0.2317   0.9073
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+    0.1375  +0.0000i 
+   -3.6375  +0.0000i 
+    0.0000  +0.0000i 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01ND">TG01ND</A></H2>
+<H3>
+Finite-infinite block-diagonal decomposition of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute equivalence transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the form (if JOB = 'F')
+
+             ( Af  0  )             ( Ef  0  )
+     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
+             ( 0   Ai )             ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+             ( Ai  0  )             ( Ei  0  )
+     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (2)
+             ( 0   Af )             ( 0   Ef )
+
+  where the pair (Af,Ef) is in a generalized real Schur form, with
+  Ef nonsingular and upper triangular and Af in real Schur form.
+  The subpencil Af-lambda*Ef contains the finite eigenvalues.
+  The pair (Ai,Ei) is in a generalized real Schur form with
+  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
+  with Ai nonsingular and Ei nilpotent contains the infinite
+  eigenvalues and is in a block staircase form (see METHOD).
+  This decomposition corresponds to an additive decomposition of
+  the transfer-function matrix of the descriptor system as the
+  sum of a proper term and a polynomial term.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
+     $                   NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, JOBT
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), ALPHAR(*), ALPHAI(*), B(LDB,*),
+     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                   Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          = 'F':  perform the finite-infinite separation;
+          = 'I':  perform the infinite-finite separation.
+
+  JOBT    CHARACTER*1
+          = 'D':  compute the direct transformation matrices;
+          = 'I':  compute the inverse transformation matrices
+                  inv(Q) and inv(Z).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q*A*Z (if JOBT = 'D') or
+          inv(Q)*A*inv(Z) (if JOBT = 'I') in the form
+
+          ( Af  0  )                    ( Ai  0  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ai )                    ( 0   Af )
+
+          where Af is an NF-by-NF matrix in real Schur form, and Ai
+          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
+          matrix. Ai has a block structure as in (3) or (4), where
+          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
+          IBLCK(i)-by-IBLCK(i). (See METHOD.)
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
+          inv(Q)*E*inv(Z) (if JOBT = 'I') in the form
+
+          ( Ef  0  )                    ( Ei  0  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ei )                    ( 0   Ef )
+
+          where Ef is an NF-by-NF nonsingular and upper triangular
+          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
+          an upper triangular block form as in (3) or (4).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q*B (if JOBT = 'D') or
+          inv(Q)*B (if JOBT = 'I').
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
+          (if JOBT = 'I').
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAR(1:NF) will be set to the real parts of the diagonal
+          elements of Af that would result from reducing A and E to
+          the Schur form, and then further reducing both of them to
+          triangular form using unitary transformations, subject to
+          having the diagonal of E positive real. Thus, if Af(j,j)
+          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
+          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
+          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
+          the finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAI(1:NF) will be set to the imaginary parts of the
+          diagonal elements of Af that would result from reducing A
+          and E to Schur form, and then further reducing both of
+          them to triangular form using unitary transformations,
+          subject to having the diagonal of E positive real. Thus,
+          if Af(j,j) is in a 1-by-1 block (see above), then
+          ALPHAI(j) = 0. Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          BETA(1:NF) will be set to the (real) diagonal elements of
+          Ef that would result from reducing A and E to Schur form,
+          and then further reducing both of them to triangular form
+          using unitary transformations, subject to having the
+          diagonal of E positive real. Thus, if Af(j,j) is in a
+          1-by-1 block (see above), then BETA(j) = Ef(j,j).
+          Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          left transformation matrix Q, if JOBT = 'D', or its
+          inverse inv(Q), if JOBT = 'I'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          right transformation matrix Z, if JOBT = 'D', or its
+          inverse inv(Z), if JOBT = 'I'.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  NF      (output) INTEGER
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  ND      (output) INTEGER
+          The number of non-dynamic infinite eigenvalues of the
+          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (3), where i = 1,2,...,NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+6)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= 4*N.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular;
+          = 2:  the QZ iteration did not converge;
+          = 3:  (Af,Ef) and (Ai,Ei) have too close generalized
+                eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the separation of infinite structure, the reduction algorithm
+  of [1] is employed. This separation is achieved by computing
+  orthogonal matrices Q1 and Z1 such that Q1*A*Z1 and Q1*E*Z1
+  have the form (if JOB = 'F')
+
+              ( Af  Ao )              ( Ef  Eo )
+    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) ,
+              ( 0   Ai )              ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+              ( Ai  Ao )              ( Ei  Eo )
+    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) .
+              ( 0   Af )              ( 0   Ef )
+
+  If JOB = 'F', the matrices Ai and Ei have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOB = 'I' the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
+  matrices. A0,0 corresponds to the non-dynamic infinite modes of
+  the system.
+
+  In a second step, the transformation matrices Q2 and Z2 are
+  determined, of the form
+
+          ( I -X )          ( I  Y )
+     Q2 = (      ) ,   Z2 = (      )
+          ( 0  I )          ( 0  I )
+
+  such that with Q = Q2*Q1 and Z = Z1*Z2, Q*A*Z and Q*E*Z are
+  block diagonal as in (1) (if JOB = 'F') or in (2) (if JOB = 'I').
+  X and Y are computed by solving generalized Sylvester equations.
+
+  If we partition Q*B and C*Z according to (1) or (2) in the form
+  ( Bf ) and ( Cf Ci ), if JOB = 'F', or ( Bi ) and ( Ci Cf ), if
+  ( Bi )                                 ( Bf )
+  JOB = 'I', then (Af-lambda*Ef,Bf,Cf) is the strictly proper part
+  of the original descriptor system and (Ai-lambda*Ei,Bi,Ci) is its
+  polynomial part.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF.
+                 i=1
+
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB, JOBT
+      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX),  IWORK(NMAX+6)
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, JOBT, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z,
+     $                      LDZ, NF, ND, NIBLCK, IBLCK, TOL, IWORK,
+     $                      DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NF, ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, NF
+                     WRITE ( NOUT, FMT = 99984 )
+     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01ND = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5/
+     $        ' Number of non-dynamic infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01ND EXAMPLE PROGRAM DATA
+  4     2     2     F     D     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01ND EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    3
+ Number of non-dynamic infinite eigenvalues =    1
+ Number of infinite blocks =     1
+
+ The transformed state dynamics matrix Q*A*Z is 
+   1.2803  -2.3613  -0.9025   0.0000
+   0.0000  -0.5796   0.8504   0.0000
+   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   2.2913
+
+ The transformed descriptor matrix Q*E*Z is 
+   9.3142  -4.1463   5.4026   0.0000
+   0.0000   0.1594   0.1212   0.0000
+   0.0000   0.0000   2.3524   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q*B is 
+   7.7328   1.6760
+   2.2870   0.4660
+  -1.2140  -1.2140
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+  -0.0469  -0.9391  -0.8847  -6.0622
+  -1.0697   0.3620   1.1795  -0.0000
+
+ The left transformation matrix Q is 
+   3.7620   3.8560  -2.2948   3.9708
+   1.4909   0.0798  -0.3301   0.7961
+  -0.0000  -0.0000   0.0000  -1.2140
+   0.5669   0.5669  -0.1890   0.5669
+
+ The right transformation matrix Z is 
+   0.0469   0.9391  -0.0843   6.0622
+  -0.9962   0.0189  -0.0211  -3.0311
+   0.0000  -0.0000  -0.9689  -0.0000
+  -0.0735   0.3432   0.2317   3.0311
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+    0.1375  +0.0000i 
+   -3.6375  +0.0000i 
+    0.0000  +0.0000i 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01NX.html b/doc/_build/html/_static/doc/TG01NX.html
new file mode 100644
index 00000000..cdff94e9
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01NX.html
@@ -0,0 +1,217 @@
+<HTML>
+<HEAD><TITLE>TG01NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01NX">TG01NX</A></H2>
+<H3>
+Block-diagonal decomposition of a descriptor system in generalized real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute equivalence transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C), with (A,E) in a generalized real Schur form, to
+  the block-diagonal form
+
+             ( A1  0  )             ( E1  0  )
+     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
+             ( 0   A2 )             ( 0   E2 )
+
+  where the pair (Q*A*Z,Q*E*Z) is in a generalized real Schur form,
+  with (A1,E1) and (A2,E2) having no common generalized eigenvalues.
+  This decomposition corresponds to an additive spectral
+  decomposition of the transfer-function matrix of the descriptor
+  system as the sum of two terms containing the generalized
+  eigenvalues of (A1,E1) and (A2,E2), respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01NX( JOBT, N, M, P, NDIM, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, Q, LDQ, Z, LDZ, IWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBT
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ, M, N, NDIM,
+     $                   P
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), E(LDE,*),
+     $                   Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBT    CHARACTER*1
+          = 'D':  compute the direct transformation matrices;
+          = 'I':  compute the inverse transformation matrices
+                  inv(Q) and inv(Z).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  NDIM    (input) INTEGER
+          The dimension of the leading diagonal blocks of (A,E)
+          having generalized eigenvalues distinct from those of the
+          trailing diagonal block.  0 &lt;= NDIM &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A in a real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q*A*Z (if JOBT = 'D') or
+          inv(Q)*A*inv(Z) (if JOBT = 'I'), in the form (1), where
+          A1 is a NDIM-by-NDIM matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E in upper triangular
+          form.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
+          inv(Q)*E*inv(Z) (if JOBT = 'I'), in the form (1), where
+          E1 is an NDIM-by-NDIM matrix.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q*B (if JOBT = 'D') or
+          inv(Q)*B (if JOBT = 'I').
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
+          (if JOBT = 'I').
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array contains
+          Q1, the orthogonal left transformation matrix Q used to
+          reduce the pair (A,E) to the generalized real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the left transformation matrix Q = Q2*Q1, if JOBT = 'D',
+          or its inverse inv(Q), if JOBT = 'I'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, the leading N-by-N part of this array contains
+          the orthogonal right transformation matrix Z1 used to
+          reduce the pair (A,E) to the generalized real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the right transformation matrix Z = Z1*Z2, if JOBT = 'D',
+          or its inverse inv(Z), if JOBT = 'I'.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+6)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the separation of the two diagonal blocks failed
+                because of very close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the separation, transformation matrices Q2 and Z2 of the form
+
+          ( I -X )          ( I  Y )
+     Q2 = (      ) ,   Z2 = (      )
+          ( 0  I )          ( 0  I )
+
+  are determined, such that Q2*A*Z2 and Q2*E*Z2 are block diagonal
+  as in (1). X and Y are computed by solving generalized Sylvester
+  equations.
+
+  If we partition Q2*B and C*Z2 according to (1) in the form ( B1 )
+                                                             ( B2 )
+  and ( C1 C2 ), then (A1-lambda*E1,B1,C1) and (A2-lambda*E2,B2,C2)
+  represent an additive spectral decomposition of the system
+  transfer-function matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B. and Van Dooren, P.
+      Additive decomposition of a transfer function with respect
+      to a specified region.
+      Proc. MTNS Symp., Brussels, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OA.html b/doc/_build/html/_static/doc/TG01OA.html
new file mode 100644
index 00000000..4cf46d36
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01OA.html
@@ -0,0 +1,138 @@
+<HTML>
+<HEAD><TITLE>TG01OA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OA">TG01OA</A></H2>
+<H3>
+Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
+  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
+  Q'*B has only the first element nonzero and Q'*E*Z remains upper
+  triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OA( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DCBA(LDDCBA,*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) DOUBLE PRECISION array, dimension
+          (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (N+1)-by-(N+1) part of this array
+          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
+          replacing C, B, and A. The scalar D is unchanged.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.
+          LDDCBA &gt;= N+1.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OB.html b/doc/_build/html/_static/doc/TG01OB.html
new file mode 100644
index 00000000..1206088e
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01OB.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>TG01OB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OB">TG01OB</A></H2>
+<H3>
+Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
+  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
+  Q'*B has only the first element nonzero and Q'*E*Z remains upper
+  triangular. The matrices have complex elements.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OB( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDE, N
+C     .. Array Arguments ..
+      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (N+1)-by-(N+1) part of this array
+          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
+          replacing C, B, and A. The scalar D is unchanged.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.
+          LDDCBA &gt;= N+1.
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OD.html b/doc/_build/html/_static/doc/TG01OD.html
new file mode 100644
index 00000000..b9c09fac
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01OD.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>TG01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OD">TG01OD</A></H2>
+<H3>
+Reducing a SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E nonsingular, a reduced system matrix,
+
+     [ d     c    ]
+     [ b  a - s*e ],
+
+  such that d has a "sufficiently" large magnitude.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OD( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDWORK, LDE, N, NZ
+      DOUBLE PRECISION  G, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DCBA(LDDCBA,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is a general matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) DOUBLE PRECISION array, dimension
+          (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
+          contains the reduced system matrices a, b, c, and d.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
+          On entry, if JOBE = 'G', the leading N-by-N part of this
+          array must contain the nonsingular descriptor matrix E.
+          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
+          array contains the reduced descriptor matrix e.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  NZ      (output) INTEGER
+          The order of the reduced system.
+
+  G       (output) DOUBLE PRECISION
+          The gain of the reduced system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining if the transformed
+          d has a "sufficiently" large magnitude. If the user sets
+          TOL &gt; 0, then the given value of TOL is used. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = EPS**(3/4), is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -11, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N+1,  if JOBE = 'G';
+          LDWORK &gt;=   N+1,  if JOBE = 'I'.
+          For good performance when JOBE = 'G', LDWORK should be
+          larger. Specifically,
+             LDWORK &gt;= MAX( N*NB(DGEQRF), (N+1)*NB(DORMQR) ),
+          where NB(X) is the optimal block sizes for the LAPACK
+          Library routine X.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and Givens rotations are used to
+  process the matrices. If E is a general matrix, it is first
+  triangularized using the QR decomposition, and the triangular form
+  is preserved during the remaining computations.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OZ.html b/doc/_build/html/_static/doc/TG01OZ.html
new file mode 100644
index 00000000..a57fadc1
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01OZ.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>TG01OZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OZ">TG01OZ</A></H2>
+<H3>
+Reducing a complex SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix with complex elements
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E nonsingular, a reduced system matrix,
+
+     [ d     c    ]
+     [ b  a - s*e ],
+
+  such that d has a "sufficiently" large magnitude.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OZ( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDE, LZWORK, N, NZ
+      DOUBLE PRECISION  TOL
+      COMPLEX*16        G
+C     .. Array Arguments ..
+      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is a general matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
+          contains the reduced system matrices a, b, c, and d.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
+          On entry, if JOBE = 'G', the leading N-by-N part of this
+          array must contain the nonsingular descriptor matrix E.
+          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
+          array contains the reduced descriptor matrix e.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  NZ      (output) INTEGER
+          The order of the reduced system.
+
+  G       (output) COMPLEX*16
+          The gain of the reduced system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining if the transformed
+          d has a "sufficiently" large magnitude. If the user sets
+          TOL &gt; 0, then the given value of TOL is used. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = EPS**(3/4), is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+          On exit, if INFO = -11, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= 2*N+1,  if JOBE = 'G';
+          LZWORK &gt;=   N+1,  if JOBE = 'I'.
+          For good performance when JOBE = 'G', LZWORK should be
+          larger. Specifically,
+             LZWORK &gt;= MAX( N*NB(ZGEQRF), (N+1)*NB(ZUNMQR) ),
+          where NB(X) is the optimal block sizes for the LAPACK
+          Library routine X.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and Givens rotations are used to
+  process the matrices. If E is a general matrix, it is first
+  triangularized using the QR decomposition, and the triangular form
+  is preserved during the remaining computations.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01PD.html b/doc/_build/html/_static/doc/TG01PD.html
new file mode 100644
index 00000000..c4b93951
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01PD.html
@@ -0,0 +1,498 @@
+<HTML>
+<HEAD><TITLE>TG01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01PD">TG01PD</A></H2>
+<H3>
+Bi-domain spectral splitting of a subpencil of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the generalized real Schur form with ordered
+  generalized eigenvalues. The pair (A,E) is reduced to the form
+
+             ( *  *  *  * )             ( *  *  *  * )
+             (            )             (            )
+             ( 0  A1 *  * )             ( 0  E1 *  * )
+    Q'*A*Z = (            ) ,  Q'*E*Z = (            ) ,
+             ( 0  0  A2 * )             ( 0  0  E2 * )
+             (            )             (            )
+             ( 0  0  0  * )             ( 0  0  0  * )
+
+  where the subpencil A1-lambda*E1 contains the eigenvalues which
+  belong to a suitably defined domain of interest and the subpencil
+  A2-lambda*E2 contains the eigenvalues which are outside of the
+  domain of interest.
+  If JOBAE = 'S', the pair (A,E) is assumed to be already in a
+  generalized real Schur form and the reduction is performed only
+  on the subpencil A12 - lambda*E12 defined by rows and columns
+  NLOW to NSUP of A - lambda*E.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
+     $                   NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR, ALPHAI,
+     $                   BETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        COMPQ, COMPZ, DICO, JOBAE, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
+     $                 NDIM, NLOW, NSUP, P
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                 BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                 Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the descriptor system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBAE   CHARACTER*1
+          Specifies the shape of the matrix pair (A,E) on entry
+          as follows:
+          = 'S':  (A,E) is in a generalized real Schur form;
+          = 'G':  A and E are general square dense matrices.
+
+  COMPQ   CHARACTER*1
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+                  This option can not be used when JOBAE = 'G'.
+
+  COMPZ   CHARACTER*1
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+                  This option can not be used when JOBAE = 'G'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C, and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  NLOW,   (input) INTEGER
+  NSUP    (input) INTEGER
+          NLOW and NSUP specify the boundary indices for the rows
+          and columns of the principal subpencil of A - lambda*E
+          whose diagonal blocks are to be reordered.
+          0 &lt;= NLOW &lt;= NSUP &lt;= N,       if JOBAE = 'S'.
+          NLOW = MIN( 1, N ), NSUP = N, if JOBAE = 'G'.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the generalized
+          eigenvalues of the pair (A,E). For a continuous-time
+          system (DICO = 'C'), ALPHA is the boundary value for the
+          real parts of the generalized eigenvalues, while for a
+          discrete-time system (DICO = 'D'), ALPHA &gt;= 0 represents
+          the boundary value for the moduli of the generalized
+          eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          If JOBAE = 'S' then A must be a matrix in real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q'*A*Z in real Schur form, with the elements
+          below the first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
+          and E12 := E(NLOW:NSUP,NLOW:NSUP), has generalized
+          eigenvalues in the domain of interest, and the trailing
+          part of this subpencil has generalized eigenvalues outside
+          the domain of interest.
+          The domain of interest for eig(A12,E12), the generalized
+          eigenvalues of the pair (A12,E12), is defined by the
+          parameters ALPHA, DICO and STDOM as follows:
+            For DICO = 'C':
+               Real(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
+               Real(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
+               Abs(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E.
+          If JOBAE = 'S', then E must be an upper triangular matrix.
+          On exit, the leading N-by-N part of this array contains an
+          upper triangular matrix Q'*E*Z, with the elements below
+          the diagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          A12 - lambda*E12 (see description of A) has generalized
+          eigenvalues in the domain of interest, and the trailing
+          part of this subpencil has generalized eigenvalues outside
+          the domain of interest.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of orthogonal
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q. LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of orthogonal
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z. LDZ &gt;= MAX(1,N).
+
+  NDIM    (output) INTEGER
+          The number of generalized eigenvalues of the principal
+          subpencil A12 - lambda*E12 (see description of A) lying
+          inside the domain of interest for eigenvalues.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
+          are the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1,...,N, are the
+          diagonals of the complex Schur form (S,T) that would
+          result if the 2-by-2 diagonal blocks of the real Schur
+          form of (A,B) were further reduced to triangular form
+          using 2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
+          if positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 8*N+16, if JOBAE = 'G';
+          LDWORK &gt;= 4*N+16, if JOBAE = 'S'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QZ algorithm failed to compute all generalized
+                eigenvalues of the pair (A,E);
+          = 2:  a failure occured during the ordering of the
+                generalized real Schur form of the pair (A,E).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOBAE = 'G', the pair (A,E) is reduced to an ordered
+  generalized real Schur form using an orthogonal equivalence
+  transformation A &lt;-- Q'*A*Z and E &lt;-- Q'*E*Z. This transformation
+  is determined so that the leading diagonal blocks of the resulting
+  pair (A,E) have generalized eigenvalues in a suitably defined
+  domain of interest. Then, the transformations are applied to the
+  matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
+  If JOBAE = 'S', then the diagonal blocks of the subpencil
+  A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
+  and E12 := E(NLOW:NSUP,NLOW:NSUP), are reordered using orthogonal
+  equivalence transformations, such that the leading blocks have
+  generalized eigenvalues in a suitably defined domain of interest.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 25N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX+16 )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, DICO, JOBAE, STDOM
+      INTEGER          I, INFO, J, M, N, NDIM, NLOW, NSUP, P
+      DOUBLE PRECISION ALPHA, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TG01PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBAE, COMPQ, COMPZ,
+     $                      NLOW, NSUP, ALPHA, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LSAME( COMPQ, 'U' ) )
+     $            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+               IF ( LSAME( COMPZ, 'U' ) )
+     $            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
+     $                      NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR,
+     $                      ALPHAI, BETA, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NDIM
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, N
+                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     ALPHAR(I)/BETA(I)
+                     ELSE
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+                     END IF
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01PD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Number of eigenvalues in the domain =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01PD EXAMPLE PROGRAM DATA
+  4     2     2     C     S     G     I     I     1     4     -1.E-7     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01PD EXAMPLE PROGRAM RESULTS
+
+ Number of eigenvalues in the domain =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+  -1.6311   2.1641  -3.6829  -0.3369
+   0.0000   0.4550  -1.9033   0.6425
+   0.0000   0.0000   2.6950   0.6882
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed descriptor matrix Q'*E*Z is 
+   0.4484   9.6340  -1.2601  -5.6475
+   0.0000   3.3099   0.6641  -1.4869
+   0.0000   0.0000   0.0000  -1.3765
+   0.0000   0.0000   0.0000   2.0000
+
+ The transformed input/state matrix Q'*B is 
+   0.0232  -0.9413
+  -0.7251  -0.2478
+   0.6882  -0.2294
+   1.0000   1.0000
+
+ The transformed state/output matrix C*Z is 
+  -0.8621   0.3754   0.3405   1.0000
+  -0.1511  -1.1192   0.8513  -1.0000
+
+ The left transformation matrix Q is 
+   0.0232  -0.7251   0.6882   0.0000
+  -0.3369   0.6425   0.6882   0.0000
+  -0.9413  -0.2478  -0.2294   0.0000
+   0.0000   0.0000   0.0000   1.0000
+
+ The right transformation matrix Z is 
+   0.8621  -0.3754  -0.3405   0.0000
+  -0.4258  -0.9008  -0.0851   0.0000
+   0.0000   0.0000   0.0000   1.0000
+   0.2748  -0.2184   0.9364   0.0000
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+   -3.6375
+    0.1375
+  Infinity
+    0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01QD.html b/doc/_build/html/_static/doc/TG01QD.html
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+<HTML>
+<HEAD><TITLE>TG01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01QD">TG01QD</A></H2>
+<H3>
+Three-domain spectral splitting of a subpencil of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the generalized real Schur form with ordered
+  generalized eigenvalues. The pair (A,E) is reduced to the form
+
+             ( A1  *   *  )             ( E1  *   *  )
+    Q'*A*Z = ( 0   A2  *  ) ,  Q'*E*Z = ( 0   E2  *  ) ,         (1)
+             ( 0   0   A3 )             ( 0   0   E2 )
+
+  where the subpencils Ak-lambda*Ek, for k = 1, 2, 3, contain the
+  generalized eigenvalues which belong to certain domains of
+  interest.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, N1, N2, N3, ND, NIBLCK,
+     $                   IBLCK, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBFI, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
+     $                 N1, N2, N3, ND, NIBLCK, P
+      DOUBLE PRECISION ALPHA, TOL
+C     .. Array Arguments ..
+      INTEGER          IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                 BETA(*), C(LDC,*), DWORK(*), E(LDE,*), Q(LDQ,*),
+     $                 Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the descriptor system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies the type of the domain of interest for the
+          generalized eigenvalues, as follows:
+          = 'S':  stability type domain (i.e., left part of complex
+                  plane or inside of a circle);
+          = 'U':  instability type domain (i.e., right part of complex
+                  plane or outside of a circle);
+          = 'N':  whole complex domain, excepting infinity.
+
+  JOBFI   CHARACTER*1
+          Specifies the type of generalized eigenvalues in the
+          leading diagonal block(s) as follows:
+          = 'F':  finite generalized eigenvalues are in the
+                  leading diagonal blocks (Af,Ef), and the resulting
+                  transformed pair has the form
+
+                           ( Af  *  )             ( Ef  *  )
+                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ;
+                           ( 0   Ai )             ( 0   Ei )
+
+          = 'I':  infinite generalized eigenvalues are in the
+                  leading diagonal blocks (Ai,Ei), and the resulting
+                  transformed pair has the form
+
+                           ( Ai  *  )             ( Ei  *  )
+                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) .
+                           ( 0   Af )             ( 0   Ef )
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the finite
+          generalized eigenvalues of the pair (A,E). For a
+          continuous-time system (DICO = 'C'), ALPHA is the boundary
+          value for the real parts of the generalized eigenvalues,
+          while for a discrete-time system (DICO = 'D'), ALPHA &gt;= 0
+          represents the boundary value for the moduli of the
+          generalized eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q'*A*Z in real Schur form, with the elements
+          below the first subdiagonal set to zero.
+          If JOBFI = 'I', the N1-by-N1 pair (A1,E1) contains the
+          infinite spectrum, the N2-by-N2 pair (A2,E2) contains the
+          finite spectrum in the domain of interest, and the
+          N3-by-N3 pair (A3,E3) contains the finite spectrum ouside
+          of the domain of interest.
+          If JOBFI = 'F', the N1-by-N1 pair (A1,E1) contains the
+          finite spectrum in the domain of interest, the N2-by-N2
+          pair (A2,E2) contains the finite spectrum ouside of the
+          domain of interest, and the N3-by-N3 pair (A3,E3) contains
+          the infinite spectrum.
+          Ai has a block structure as in (2), where A0,0 is ND-by-ND
+          and Ai,i is IBLCK(i)-by-IBLCK(i), for i = 1, ..., NIBLCK.
+          The domain of interest for the pair (Af,Ef), containing
+          the finite generalized eigenvalues, is defined by the
+          parameters ALPHA, DICO and STDOM as follows:
+            For DICO = 'C':
+               Real(eig(Af,Ef)) &lt; ALPHA if STDOM = 'S';
+               Real(eig(Af,Ef)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(eig(Af,Ef))  &lt; ALPHA if STDOM = 'S';
+               Abs(eig(Af,Ef))  &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q'*E*Z in upper triangular form, with the
+          elements below the diagonal set to zero. Its structure
+          corresponds to the block structure of the matrix Q'*A*Z
+          (see description of A).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  N1      (output) INTEGER
+  N2      (output) INTEGER
+  N3      (output) INTEGER
+          The number of the generalized eigenvalues of the pairs
+          (A1,E1), (A2,E2) and (A3,E3), respectively.
+
+  ND      (output) INTEGER.
+          The number of non-dynamic infinite eigenvalues of the
+          pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (2), where i = 1,2,...,NIBLCK.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Q, where Q' is the product of orthogonal
+          transformations applied to A, E, and B on the left.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z, which is the product of orthogonal
+          transformations applied to A, E, and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ..., N,
+          are the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1, ..., N, are
+          the diagonals of the complex Schur form (S,T) that would
+          result if the 2-by-2 diagonal blocks of the real Schur
+          form of (A,E) were further reduced to triangular form
+          using 2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
+          if positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N = 0,
+          LDWORK &gt;= 4*N,    if STDOM = 'N';
+          LDWORK &gt;= 4*N+16, if STDOM = 'S' or 'U'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular;
+          = 2:  the QZ algorithm failed to compute all generalized
+                eigenvalues of the pair (A,E);
+          = 3:  a failure occured during the ordering of the
+                generalized real Schur form of the pair (A,E).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The separation of the finite and infinite parts is based on the
+  reduction algorithm of [1].
+  If JOBFI = 'F', the matrices of the pair (Ai,Ei), containing the
+  infinite generalized eigenvalues, have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (2)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOBFI = 'I', the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (3)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
+  triangular matrices, and A0,0 corresponds to the non-dynamic
+  infinite modes of the system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 25N  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF,
+                 i=1
+
+  where NF is the number of finite generalized eigenvalues.
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity k,
+  for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to an
+  infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX+16 )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBFI, STDOM
+      INTEGER          I, INFO, J, M, N, N1, N2, N3, ND, NIBLCK, P
+      DOUBLE PRECISION ALPHA, TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX), IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TG01QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBFI, ALPHA, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, N1, N2, N3, ND,
+     $                      NIBLCK, IBLCK, Q, LDQ, Z, LDZ, ALPHAR,
+     $                      ALPHAI, BETA, TOL, IWORK, DWORK, LDWORK,
+     $                      INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) N1, N2, N3
+                  WRITE ( NOUT, FMT = 99983 ) ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, N
+                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     ALPHAR(I)/BETA(I)
+                     ELSE
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+                     END IF
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01QD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Number of eigenvalues of the three blocks =', 3I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+99983 FORMAT ( ' Number of non-dynamic infinite eigenvalues = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01QD EXAMPLE PROGRAM DATA
+  4     2     2     C     S     F     -1.E-7     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01QD EXAMPLE PROGRAM RESULTS
+
+ Number of eigenvalues of the three blocks =    1    2    1
+ Number of non-dynamic infinite eigenvalues =     1
+ Number of infinite blocks =     1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   1.6311   2.1641  -0.5848  -3.6517
+   0.0000  -0.4550   1.0935   1.6851
+   0.0000   0.0000   0.0000   1.5770
+   0.0000   0.0000   0.0000   2.2913
+
+ The transformed descriptor matrix Q'*E*Z is 
+  -0.4484   9.6340   5.1601  -2.6183
+   0.0000  -3.3099  -1.6050  -0.2756
+   0.0000   0.0000   2.3524  -0.6008
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+   0.0232  -0.9413
+   0.7251   0.2478
+  -0.4336  -0.9538
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+   0.8621   0.3754  -0.8847   0.5774
+   0.1511  -1.1192   1.1795   0.5774
+
+ The left transformation matrix Q is 
+   0.0232   0.7251   0.3902   0.5669
+  -0.3369  -0.6425   0.3902   0.5669
+  -0.9413   0.2478  -0.1301  -0.1890
+   0.0000   0.0000  -0.8238   0.5669
+
+ The right transformation matrix Z is 
+  -0.8621  -0.3754  -0.0843  -0.3299
+   0.4258  -0.9008  -0.0211  -0.0825
+   0.0000   0.0000  -0.9689   0.2474
+  -0.2748  -0.2184   0.2317   0.9073
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+   -3.6375
+    0.1375
+    0.0000
+  Infinity
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/TG01WD.html b/doc/_build/html/_static/doc/TG01WD.html
new file mode 100644
index 00000000..12a9c4cb
--- /dev/null
+++ b/doc/_build/html/_static/doc/TG01WD.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>TG01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01WD">TG01WD</A></H2>
+<H3>
+Reduction of the descriptor dynamics matrix pair to generalized real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the pair (A,E) to a real generalized Schur form
+  by using an orthogonal equivalence transformation
+  (A,E) &lt;-- (Q'*A*Z,Q'*E*Z) and to apply the transformation
+  to the matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01WD( N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
+     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ,
+     $                  M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                  BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                  Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrices A and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q' * A * Z in an upper quasi-triangular form.
+          The elements below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q' * E * Z in an upper triangular form.
+          The elements below the diagonal are set to zero.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q' * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the left
+          orthogonal transformation matrix used to reduce (A,E) to
+          the real generalized Schur form.
+          The columns of Q are the left generalized Schur vectors
+          of the pair (A,E).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= max(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the right
+          orthogonal transformation matrix used to reduce (A,E) to
+          the real generalized Schur form.
+          The columns of Z are the right generalized Schur vectors
+          of the pair (A,E).
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= max(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j),
+          j=1,...,N, will be the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j=1,...,N, are the
+          diagonals of the complex Schur form that would result if
+          the 2-by-2 diagonal blocks of the real Schur form of
+          (A,E) were further reduced to triangular form using
+          2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
+          if positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.  LDWORK &gt;= 8*N+16.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QZ algorithm failed to compute
+                the generalized real Schur form; elements i+1:N of
+                ALPHAR, ALPHAI, and BETA should be correct.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The pair (A,E) is reduced to a real generalized Schur form using
+  an orthogonal equivalence transformation (A,E) &lt;-- (Q'*A*Z,Q'*E*Z)
+  and the transformation is applied to the matrices B and C:
+  B &lt;-- Q'*B and C &lt;-- C*Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 25N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UD01BD.html b/doc/_build/html/_static/doc/UD01BD.html
new file mode 100644
index 00000000..96339e20
--- /dev/null
+++ b/doc/_build/html/_static/doc/UD01BD.html
@@ -0,0 +1,212 @@
+<HTML>
+<HEAD><TITLE>UD01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01BD">UD01BD</A></H2>
+<H3>
+Reading a matrix polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To read the coefficients of a matrix polynomial
+                                                 dp-1           dp
+     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the matrix polynomial P(s).
+          MP &gt;= 1.
+
+  NP      (input) INTEGER
+          The number of columns of the matrix polynomial P(s).
+          NP &gt;= 1.
+
+  DP      (input) INTEGER
+          The degree of the matrix polynomial P(s).  DP &gt;= 0.
+
+  NIN     (input) INTEGER
+          The input channel from which the elements of P(s) are
+          read.  NIN &gt;= 0.
+
+  P       (output) DOUBLE PRECISION array, dimension
+          (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array contains
+          the coefficients of the matrix polynomial P(s).
+          Specifically, P(i,j,k) contains the coefficient of
+          s**(k-1) of the polynomial which is the (i,j)-th element
+          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
+          k = 1,2,...,DP+1.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MP.
+
+  LDP2    INTEGER
+          The second dimension of array P.  LDP2 &gt;= NP.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The coefficients P(i), i = 0, ..., DP, which are MP-by-NP
+  matrices, are read from the input file NIN row by row. Each P(i)
+  must be preceded by a text line. This text line can be used to
+  indicate the coefficient matrices.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MPMAX, NPMAX, DPMAX
+      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
+      INTEGER          LDP1, LDP2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
+*     .. Local Scalars ..
+      INTEGER          DP, INFO, L, MP, NP
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01BD, UD01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP
+      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) MP
+      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP
+      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, 99996 ) MP, NP, DP
+*           Write the coefficients of the matrix polynomial P(s).
+            L = 5
+            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
+     $                   INFO )
+            IF ( INFO.NE.0 )
+     $         WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01BD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01BD = ',I2)
+99997 FORMAT (' INFO on exit from UD01ND = ',I2)
+99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
+99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
+99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01BD EXAMPLE PROGRAM DATA
+   4   3   2 
+P0
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  2.0D-00  4.0D-00
+ 0.0D-00  4.0D-00  8.0D-00
+ 0.0D-00  6.0D-00  1.2D+01
+P1
+ 0.0D-00  1.0D-00  2.0D-00
+ 1.0D-00  0.0D-00  0.0D-00
+ 2.0D-00  0.0D-00  0.0D-00
+ 3.0D-00  0.0D-00  0.0D-00
+P2
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01BD EXAMPLE PROGRAM RESULTS
+
+ MP = 4   NP = 3   DP = 2
+
+  P( 0) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
+  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
+  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
+
+  P( 1) ( 4X 3)
+            1              2              3
+  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
+  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
+  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
+
+  P( 2) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UD01CD.html b/doc/_build/html/_static/doc/UD01CD.html
new file mode 100644
index 00000000..15c6ece1
--- /dev/null
+++ b/doc/_build/html/_static/doc/UD01CD.html
@@ -0,0 +1,224 @@
+<HTML>
+<HEAD><TITLE>UD01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01CD">UD01CD</A></H2>
+<H3>
+Reading a sparse matrix polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To read the elements of a sparse matrix polynomial
+                                                 dp-1           dp
+     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the matrix polynomial P(s).
+          MP &gt;= 1.
+
+  NP      (input) INTEGER
+          The number of columns of the matrix polynomial P(s).
+          NP &gt;= 1.
+
+  DP      (input) INTEGER
+          The degree of the matrix polynomial P(s).  DP &gt;= 0.
+
+  NIN     (input) INTEGER
+          The input channel from which the elements of P(s) are
+          read.  NIN &gt;= 0.
+
+  P       (output) DOUBLE PRECISION array, dimension
+          (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array contains
+          the coefficients of the matrix polynomial P(s).
+          Specifically, P(i,j,k) contains the coefficient of
+          s**(k-1) of the polynomial which is the (i,j)-th element
+          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
+          k = 1,2,...,DP+1.
+          The not assigned elements are set to zero.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MP.
+
+  LDP2    INTEGER
+          The second dimension of array P.  LDP2 &gt;= NP.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : if a row index i is read with i &lt; 1 or i &gt; MP or
+                a column index j is read with j &lt; 1 or j &gt; NP or
+                a coefficient degree d is read with d &lt; 0 or
+                d &gt; DP + 1. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the elements P(i,j,k) with 1 &lt;= i &lt;= MP, 1 &lt;= j &lt;= NP and
+  1 &lt;= k &lt;= DP + 1 are set to zero. Next the nonzero (polynomial)
+  elements are read from the input file NIN. Each nonzero element is
+  given by the values i, j, d, P(i,j,k), k = 1, ..., d+1, where d is
+  the degree and P(i,j,k) is the coefficient of s**(k-1) in the
+  (i,j)-th element of P(s), i.e., let
+                                                           d
+      P   (s) = P   (0) + P   (1) * s + . . . + P   (d) * s
+       i,j       i,j       i,j                   i,j
+
+  be the nonzero (i,j)-th element of the matrix polynomial P(s).
+
+  Then P(i,j,k) corresponds to coefficient P   (k-1), k = 1,...,d+1.
+                                            i,j
+  For each nonzero element, the values i, j, and d are read as one
+  record of the file NIN, and the values P(i,j,k), k = 1,...,d+1,
+  are read as the following record.
+  The routine terminates after the last line has been read.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MPMAX, NPMAX, DPMAX
+      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
+      INTEGER          LDP1, LDP2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
+*     .. Local Scalars ..
+      INTEGER          DP, INFO, INFO1, L, MP, NP
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01CD, UD01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP
+      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) MP
+      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP
+      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+         IF ( INFO.GE.0 ) THEN
+            WRITE ( NOUT, 99996 ) MP, NP, DP
+*           Write the coefficients of the matrix polynomial P(s).
+            L = 5
+            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
+     $                   INFO1 )
+            IF ( INFO1.NE.0 )
+     $         WRITE ( NOUT, FMT = 99997 ) INFO1
+         END IF
+         IF ( INFO.NE.0 )
+     $      WRITE ( NOUT, FMT = 99998 ) INFO
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01CD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01CD = ',I2)
+99997 FORMAT (' INFO on exit from UD01ND = ',I2)
+99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
+99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
+99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01CD EXAMPLE PROGRAM DATA
+   4   3   2
+1  1  1
+1.0  1.0
+2  2  2
+2.0  0.0  1.0
+3  3  2
+0.0  3.0  1.0
+4  1  0
+4.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01CD EXAMPLE PROGRAM RESULTS
+
+ MP = 4   NP = 3   DP = 2
+
+  P( 0) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.2000000D+01  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  4    0.4000000D+01  0.0000000D+00  0.0000000D+00
+
+  P( 1) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.3000000D+01
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+
+  P( 2) ( 4X 3)
+            1              2              3
+  1    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.1000000D+01  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.1000000D+01
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UD01DD.html b/doc/_build/html/_static/doc/UD01DD.html
new file mode 100644
index 00000000..9ccfe4f5
--- /dev/null
+++ b/doc/_build/html/_static/doc/UD01DD.html
@@ -0,0 +1,176 @@
+<HTML>
+<HEAD><TITLE>UD01DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01DD">UD01DD</A></H2>
+<H3>
+Reading a sparse real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To read the elements of a sparse matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01DD( M, N, NIN, A, LDA, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, M, N, NIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  NIN     (input) INTEGER
+          The input channel from which the elements of A are read.
+          NIN &gt;= 0.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array contains the sparse
+          matrix A. The not assigned elements are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : if a row index i is read with i &lt; 1 or i &gt; M or
+                a column index j is read with j &lt; 1 or j &gt; N.
+                This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the elements A(i,j) with 1 &lt;= i &lt;= M and 1 &lt;= j &lt;= N are
+  set to zero. Next the nonzero elements are read from the input
+  file NIN. Each line of NIN must contain consecutively the values
+  i, j, A(i,j). The routine terminates after the last line has been
+  read.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 10, NMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+*     .. Local Scalars ..
+      INTEGER          INFO, INFO1, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01DD, UD01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01DD( M, N, NIN, A, LDA, INFO )
+         IF ( INFO.GE.0 ) THEN
+*           Write the matrix A.
+            CALL UD01MD( M, N, 5, NOUT, A, LDA, ' Matrix A', INFO1 )
+            IF ( INFO1.NE.0 )
+     $         WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+         IF ( INFO.NE.0 )
+     $      WRITE ( NOUT, FMT = 99997 ) INFO
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01DD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01MD = ',I2)
+99997 FORMAT (' INFO on exit from UD01DD = ',I2)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01DD EXAMPLE PROGRAM DATA
+6  5
+1   1   -1.1
+6   1    1.5
+2   2   -2.2
+6   2    2.5
+3   3   -3.3
+6   3    3.5
+4   4   -4.4
+6   4    4.5
+5   5   -5.5
+6   5    5.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01DD EXAMPLE PROGRAM RESULTS
+
+  Matrix A ( 6X 5)
+
+            1              2              3              4              5
+  1   -0.1100000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00 -0.2200000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00 -0.3300000D+01  0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.4400000D+01  0.0000000D+00
+  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.5500000D+01
+  6    0.1500000D+01  0.2500000D+01  0.3500000D+01  0.4500000D+01  0.5500000D+01
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UD01MD.html b/doc/_build/html/_static/doc/UD01MD.html
new file mode 100644
index 00000000..0e5565b6
--- /dev/null
+++ b/doc/_build/html/_static/doc/UD01MD.html
@@ -0,0 +1,178 @@
+<HTML>
+<HEAD><TITLE>UD01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01MD">UD01MD</A></H2>
+<H3>
+Printing a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To print an M-by-N real matrix A row by row. The elements of A
+  are output to 7 significant figures.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, M, N, NOUT
+      CHARACTER*(*)     TEXT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of matrix A to be printed.  M &gt;= 1.
+
+  N       (input) INTEGER
+          The number of columns of matrix A to be printed.  N &gt;= 1.
+
+  L       (input) INTEGER
+          The number of elements of matrix A to be printed per line.
+          1 &lt;= L &lt;= 5.
+
+  NOUT    (input) INTEGER
+          The output channel to which the results are sent.
+          NOUT &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix to be printed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= M.
+
+  TEXT    (input) CHARACTER*72.
+          Title caption of the matrix to be printed (up to a
+          maximum of 72 characters). For example, TEXT = 'Matrix A'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine first prints the contents of TEXT as a title, followed
+  by the elements of the matrix A such that
+
+  (i)  if N &lt;= L, the leading M-by-N part is printed;
+  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
+       consecutive columns of A are printed one after another
+       followed by one M-by-p block containing the last p columns
+       of A.
+
+  Row numbers are printed on the left of each row and a column
+  number appears on top of each column.
+  The routine uses 2 + (k + 1)*(m + 1) lines and 8 + 15*c positions
+  per line where c is the actual number of columns, (i.e. c = L
+  or c = p).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, L, M, N
+      CHARACTER*72     TEXT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, L, TEXT
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+*        Print out the matrix A.
+         CALL UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
+         IF ( INFO.NE.0 ) WRITE ( NOUT, FMT = 99998 ) INFO
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from UD01MD = ',I2)
+99997 FORMAT (/' N is out of range.',/' N = ',I5)
+99996 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ UD01MD EXAMPLE PROGRAM DATA
+   4     4     4     'Matrix A'
+   1.0   2.0   3.0   4.0
+   5.0   6.0   7.0   8.0
+   9.0  10.0  11.0  12.0
+  13.0  14.0  15.0  16.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01MD EXAMPLE PROGRAM RESULTS
+
+ Matrix A ( 4X 4)
+
+            1              2              3              4
+  1    0.1000000D+01  0.2000000D+01  0.3000000D+01  0.4000000D+01
+  2    0.5000000D+01  0.6000000D+01  0.7000000D+01  0.8000000D+01
+  3    0.9000000D+01  0.1000000D+02  0.1100000D+02  0.1200000D+02
+  4    0.1300000D+02  0.1400000D+02  0.1500000D+02  0.1600000D+02
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UD01MZ.html b/doc/_build/html/_static/doc/UD01MZ.html
new file mode 100644
index 00000000..0c773da6
--- /dev/null
+++ b/doc/_build/html/_static/doc/UD01MZ.html
@@ -0,0 +1,126 @@
+<HTML>
+<HEAD><TITLE>UD01MZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01MZ">UD01MZ</A></H2>
+<H3>
+Printing a real matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To print an M-by-N real matrix A row by row. The elements of A
+  are output to 7 significant figures.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01MZ( M, N, L, NOUT, A, LDA, TEXT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, M, N, NOUT
+      CHARACTER*(*)     TEXT
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of matrix A to be printed.  M &gt;= 1.
+
+  N       (input) INTEGER
+          The number of columns of matrix A to be printed.  N &gt;= 1.
+
+  L       (input) INTEGER
+          The number of elements of matrix A to be printed per line.
+          1 &lt;= L &lt;= 3.
+
+  NOUT    (input) INTEGER
+          The output channel to which the results are sent.
+          NOUT &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix to be printed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= M.
+
+  TEXT    (input) CHARACTER*72.
+          Title caption of the matrix to be printed (up to a
+          maximum of 72 characters). For example, TEXT = 'Matrix A'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine first prints the contents of TEXT as a title, followed
+  by the elements of the matrix A such that
+
+  (i)  if N &lt;= L, the leading M-by-N part is printed;
+  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
+       consecutive columns of A are printed one after another
+       followed by one M-by-p block containing the last p columns
+       of A.
+
+  Row numbers are printed on the left of each row and a column
+  number appears on top of each complex column.
+  The routine uses 2 + (k + 1)*(m + 1) lines and 7 + 32*c positions
+  per line where c is the actual number of columns, (i.e. c = L
+  or c = p).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UD01ND.html b/doc/_build/html/_static/doc/UD01ND.html
new file mode 100644
index 00000000..3bf109a8
--- /dev/null
+++ b/doc/_build/html/_static/doc/UD01ND.html
@@ -0,0 +1,231 @@
+<HTML>
+<HEAD><TITLE>UD01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01ND">UD01ND</A></H2>
+<H3>
+Printing a matrix polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To print the MP-by-NP coefficient matrices of a matrix polynomial
+                                                 dp-1           dp
+     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
+
+  The elements of the matrices are output to 7 significant figures.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, L, LDP1, LDP2, MP, NP, NOUT
+      CHARACTER*(*)     TEXT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the matrix polynomial P(s).
+          MP &gt;= 1.
+
+  NP      (input) INTEGER
+          The number of columns of the matrix polynomial P(s).
+          NP &gt;= 1.
+
+  DP      (input) INTEGER
+          The degree of the matrix polynomial P(s).  DP &gt;= 0.
+
+  L       (input) INTEGER
+          The number of elements of the coefficient matrices to be
+          printed per line.  1 &lt;= L &lt;= 5.
+
+  NOUT    (input) INTEGER
+          The output channel to which the results are sent.
+          NOUT &gt;= 0.
+
+  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array must
+          contain the coefficients of the matrix polynomial P(s).
+          Specifically, P(i,j,k) must contain the coefficient of
+          s**(k-1) of the polynomial which is the (i,j)-th element
+          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
+          k = 1,2,...,DP+1.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MP.
+
+  LDP2    INTEGER
+          The second dimension of array P.  LDP2 &gt;= NP.
+
+  TEXT    (input) CHARACTER*72
+          Title caption of the coefficient matrices to be printed.
+          TEXT is followed by the degree of the coefficient matrix,
+          within brackets. If TEXT = ' ', then the coefficient
+          matrices are separated by an empty line.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For i = 1, 2, ..., DP + 1 the routine first prints the contents of
+  TEXT followed by (i-1) as a title, followed by the elements of the
+  MP-by-NP coefficient matrix P(i) such that
+  (i)  if NP &lt; L, then the leading MP-by-NP part is printed;
+  (ii) if NP = k*L + p (where k, p &gt; 0), then k MP-by-L blocks of
+       consecutive columns of P(i) are printed one after another
+       followed by one MP-by-p block containing the last p columns
+       of P(i).
+  Row numbers are printed on the left of each row and a column
+  number on top of each column.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MPMAX, NPMAX, DPMAX
+      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
+      INTEGER          LDP1, LDP2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
+*     .. Local Scalars ..
+      INTEGER          DP, INFO, L, MP, NP
+      CHARACTER*72     TEXT
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01BD, UD01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP, L, TEXT
+      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) MP
+      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP
+      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, 99996 ) MP, NP, DP
+*           Write the coefficients of the matrix polynomial P(s).
+            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
+     $                   INFO )
+            IF ( INFO.NE.0 )
+     $         WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01ND EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01ND = ',I2)
+99997 FORMAT (' INFO on exit from UD01BD = ',I2)
+99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
+99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
+99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01ND EXAMPLE PROGRAM DATA
+   4     3     2     5   P
+P0
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  2.0D-00  4.0D-00
+ 0.0D-00  4.0D-00  8.0D-00
+ 0.0D-00  6.0D-00  1.2D+01
+P1
+ 0.0D-00  1.0D-00  2.0D-00
+ 1.0D-00  0.0D-00  0.0D-00
+ 2.0D-00  0.0D-00  0.0D-00
+ 3.0D-00  0.0D-00  0.0D-00
+P2
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01ND EXAMPLE PROGRAM RESULTS
+
+ MP = 4   NP = 3   DP = 2
+
+ P( 0) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
+  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
+  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
+
+ P( 1) ( 4X 3)
+            1              2              3
+  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
+  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
+  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
+
+ P( 2) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/UE01MD.html b/doc/_build/html/_static/doc/UE01MD.html
new file mode 100644
index 00000000..c1e20d09
--- /dev/null
+++ b/doc/_build/html/_static/doc/UE01MD.html
@@ -0,0 +1,104 @@
+<HTML>
+<HEAD><TITLE>UE01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UE01MD">UE01MD</A></H2>
+<H3>
+Default machine-specific parameters for (skew-)Hamiltonian computation routines
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To provide an extension of the LAPACK routine ILAENV to
+  machine-specific parameters for SLICOT routines.
+
+  The default values in this version aim to give good performance on
+  a wide range of computers. For optimal performance, however, the
+  user is advised to modify this routine. Note that an optimized
+  BLAS is a crucial prerequisite for any speed gains. For further
+  details, see ILAENV.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION UE01MD( ISPEC, NAME, OPTS, N1, N2, N3 )
+C     .. Scalar Arguments ..
+      CHARACTER*( * )    NAME, OPTS
+      INTEGER            ISPEC, N1, N2, N3
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  UE01MD  INTEGER
+          The function value set according to ISPEC.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  ISPEC   (input) INTEGER
+          Specifies the parameter to be returned as the value of
+          UE01MD, as follows:
+          = 1: the optimal blocksize; if the returned value is 1, an
+               unblocked algorithm will give the best performance;
+          = 2: the minimum block size for which the block routine
+               should be used; if the usable block size is less than
+               this value, an unblocked routine should be used;
+          = 3: the crossover point (in a block routine, for N less
+               than this value, an unblocked routine should be used)
+          = 4: the number of shifts, used in the product eigenvalue
+               routine;
+          = 8: the crossover point for the multishift QR method for
+               product eigenvalue problems.
+
+  NAME    (input) CHARACTER*(*)
+          The name of the calling subroutine, in either upper case
+          or lower case.
+
+  OPTS    (input) CHARACTER*(*)
+          The character options to the subroutine NAME, concatenated
+          into a single character string.
+
+  N1      (input) INTEGER
+  N2      (input) INTEGER
+  N3      (input) INTEGER
+          Problem dimensions for the subroutine NAME; these may not
+          all be required.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doc/readme b/doc/_build/html/_static/doc/readme
new file mode 100644
index 00000000..2b385284
--- /dev/null
+++ b/doc/_build/html/_static/doc/readme
@@ -0,0 +1,17 @@
+SLICOT Library Subdirectory doc
+-------------------------------
+
+SLICOT Library Subdirectory doc contains documentation files (*.html) for almost
+all SLICOT Library routines.  Omitted are few auxiliary routines, called by
+other SLICOT routines, but which seem to have no general use.  The documentation
+conforms to the SLICOT standards.  Besides function, arguments, and algorithm
+description, most documents for user-callable rotines include example programs,
+which could be easily modified, by copying, pasting, etc., to solve related,
+specific problems.
+
+The documentation files could be viewed individually, or via the provided index
+files: the main SLICOT Library index (libindex.html), stored in the SLICOT root
+directory, or the auxiliary, supporting routines index (support.html), stored in
+the subdirectory doc.  The second file is also accessible from the first one.
+These index files are organized according to the SLICOT Library chapters, sections,
+and subsections.
diff --git a/doc/_build/html/_static/doc/support.html b/doc/_build/html/_static/doc/support.html
new file mode 100644
index 00000000..d6535a12
--- /dev/null
+++ b/doc/_build/html/_static/doc/support.html
@@ -0,0 +1,911 @@
+<HTML>
+<HEAD><title>On-Line SLICOT Supporting Routines Overview</title></HEAD>
+<BODY>
+
+<H1>SLICOT SUPPORTING ROUTINES INDEX</H1>
+<HR>
+To go to the beginning of a chapter click on the appropriate letter below: <p>
+<center>
+<A href="#A"><B>A</B></A> ;
+<A href="#B"><B>B</B></A> ;
+<A href="#C"><B>C</B></A> ;
+<A href="#D"><B>D</B></A> ;
+<A href="#F"><B>F</B></A> ;
+<A href="#I"><B>I</B></A> ;
+<A href="#M"><B>M</B></A> ;
+<A href="#N"><B>N</B></A> ;
+<A href="#S"><B>S</B></A> ;
+<A href="#T"><B>T</B></A> ;
+<A href="#U"><B>U</B></A> ;
+</center>
+<BR>
+or <A href="http://www.slicot.org/index.php?site=home">
+<b>Return to SLICOT homepage</b></A>
+<BR>
+or <A href="..\libindex.html">
+<b>Go to SLICOT LIBRARY INDEX</b></A>
+<p>
+<HR>
+<A NAME="A"><H2>A - Analysis Routines</H2></A>
+<h3>AB - State-Space Analysis</h3>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href="AB08NX.html">
+<B>AB08NX</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving transmission zeros
+<A href="AB08NY.html">
+<B>AB08NY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving transmission zeros (extended variant)
+<A href="AB8NXZ.html">
+<B>AB8NXZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving transmission zeros (complex case)
+</PRE>
+<h4>Model Reduction</h4>
+<PRE>
+<A href="AB09AX.html">
+<B>AB09AX</B></A>   Balance & Truncate model reduction with state matrix in real Schur form  
+<A href="AB09BX.html">
+<B>AB09BX</B></A>   Singular perturbation approximation based model reduction with state
+         matrix in real Schur form 
+<A href="AB09CX.html">
+<B>AB09CX</B></A>   Hankel norm approximation based model reduction with state matrix
+         in real Schur form 
+<A href="AB09HX.html">
+<B>AB09HX</B></A>   Stochastic balancing model reduction of stable systems
+<A href="AB09HY.html">
+<B>AB09HY</B></A>   Cholesky factors of the controllability and observability Grammians
+<A href="AB09IX.html">
+<B>AB09IX</B></A>   Accuracy enhanced balancing related model reduction
+<A href="AB09IY.html">
+<B>AB09IY</B></A>   Cholesky factors of the frequency-weighted controllability and 
+         observability Grammians
+<A href="AB09JV.html">
+<B>AB09JV</B></A>   State-space representation of a projection of a left weighted 
+         transfer-function matrix
+<A href="AB09JW.html">
+<B>AB09JW</B></A>   State-space representation of a projection of a right weighted 
+         transfer-function matrix
+<A href="AB09JX.html">
+<B>AB09JX</B></A>   Check stability/antistability of finite eigenvalues
+<A href="AB09KX.html">
+<B>AB09KX</B></A>   Stable projection of V*G*W or conj(V)*G*conj(W)
+</PRE>
+<h4>System Norms</h4>
+<PRE>
+<A href="AB13AX.html">
+<B>AB13AX</B></A>   Hankel-norm of a stable system with state matrix in real Schur form  
+<A href="AB13DX.html">
+<B>AB13DX</B></A>   Maximum singular value of a transfer-function matrix
+</PRE>
+<h3>AG - Generalized State-Space Analysis</h3>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href="AG08BY.html">
+<B>AG08BY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving the finite Smith zeros
+<A href="AG8BYZ.html">
+<B>AG8BYZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving the finite Smith zeros (complex case)
+</PRE>
+<HR>
+<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
+<HR>
+<A NAME="C"><H2>C - Adaptive Control</H2></A>
+<HR>
+<A NAME="D"><H2>D - Data Analysis</H2></A>
+<h3>DE - Covariances</h3>
+<h3>DF - Spectra</h3>
+<h3>DG - Discrete Fourier Transforms</h3>
+<h3>DK - Windowing</h3>
+<HR>
+<A NAME="F"><H2>F - Filtering</H2></A>
+<h3>FB - Kalman Filters</h3>
+<HR>
+<A NAME="I"><H2>I - Identification</H2></A>
+<h3>IB - Subspace Identification</h3>
+<h4>Time Invariant State-space Systems</h4>
+<PRE>
+<A href="IB01MD.html">
+<B>IB01MD</B></A>   Upper triangular factor in QR factorization of a
+         block-Hankel-block matrix
+<A href="IB01MY.html">
+<B>IB01MY</B></A>   Upper triangular factor in fast QR factorization of a 
+         block-Hankel-block matrix
+<A href="IB01ND.html">
+<B>IB01ND</B></A>   Singular value decomposition giving the system order
+<A href="IB01OD.html">
+<B>IB01OD</B></A>   Estimating the system order
+<A href="IB01OY.html">
+<B>IB01OY</B></A>   User's confirmation of the system order
+<A href="IB01PD.html">
+<B>IB01PD</B></A>   Estimating the system matrices and covariances
+<A href="IB01PX.html">
+<B>IB01PX</B></A>   Estimating the matrices B and D of a system using Kronecker products
+<A href="IB01PY.html">
+<B>IB01PY</B></A>   Estimating the matrices B and D of a system exploiting the structure
+<A href="IB01QD.html">
+<B>IB01QD</B></A>   Estimating the initial state and the matrices B and D of a system
+<A href="IB01RD.html">
+<B>IB01RD</B></A>   Estimating the initial state of a system
+</PRE>
+<HR>
+<A NAME="M"><H2>M - Mathematical Routines</H2></A>
+<h3>MA - Auxiliary Routines</h3>
+<h4>Mathematical Scalar Routines</h4>
+<PRE>
+<A href="MA01AD.html">
+<B>MA01AD</B></A>   Complex square root of a complex number in real arithmetic
+<A href="MA01BD.html">
+<B>MA01BD</B></A>   Safely computing the general product of K real scalars
+<A href="MA01BZ.html">
+<B>MA01BZ</B></A>   Safely computing the general product of K complex scalars
+<A href="MA01CD.html">
+<B>MA01CD</B></A>   Safely computing the sign of a sum of two real numbers represented
+         using integer powers of a base
+</PRE>
+<h4>Mathematical Vector/Matrix Routines</h4>
+<PRE>
+<A href="MA02AD.html">
+<B>MA02AD</B></A>   Transpose of a matrix
+<A href="MA02AZ.html">
+<B>MA02AZ</B></A>   (Conjugate) transpose of a complex matrix
+<A href="MA02BD.html">
+<B>MA02BD</B></A>   Reversing the order of rows and/or columns of a matrix
+<A href="MA02BZ.html">
+<B>MA02BZ</B></A>   Reversing the order of rows and/or columns of a matrix (complex case)
+<A href="MA02CD.html">
+<B>MA02CD</B></A>   Pertranspose of the central band of a square matrix 
+<A href="MA02CZ.html">
+<B>MA02CZ</B></A>   Pertranspose of the central band of a square matrix (complex case)
+<A href="MA02DD.html">
+<B>MA02DD</B></A>   Pack/unpack the upper or lower triangle of a symmetric matrix 
+<A href="MA02ED.html">
+<B>MA02ED</B></A>   Construct a triangle of a symmetric matrix, given the other triangle 
+<A href="MA02ES.html">
+<B>MA02ES</B></A>   Construct a triangle of a skew-symmetric real matrix, given the 
+         other triangle
+<A href="MA02EZ.html">
+<B>MA02EZ</B></A>   Construct a triangle of a (skew-)symmetric/Hermitian complex matrix,
+         given the other triangle
+<A href="MA02FD.html">
+<B>MA02FD</B></A>   Hyperbolic plane rotation 
+<A href="MA02GD.html">
+<B>MA02GD</B></A>   Column interchanges on a real matrix 
+<A href="MA02GZ.html">
+<B>MA02GZ</B></A>   Column interchanges on a complex matrix 
+<A href="MA02HD.html">
+<B>MA02HD</B></A>   Check if a matrix is a scalar multiple of an identity-like matrix
+<A href="MA02HZ.html">
+<B>MA02HZ</B></A>   Check if a complex matrix is a scalar multiple of an identity-like matrix
+<A href="MA02ID.html">
+<B>MA02ID</B></A>   Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
+<A href="MA02IZ.html">
+<B>MA02IZ</B></A>   Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
+<A href="MA02JD.html">
+<B>MA02JD</B></A>   Test if a matrix is an orthogonal symplectic matrix
+<A href="MA02JZ.html">
+<B>MA02JZ</B></A>   Test if a matrix is a unitary symplectic matrix
+<A href="MA02MD.html">
+<B>MA02MD</B></A>   Norms of a real skew-symmetric matrix
+<A href="MA02MZ.html">
+<B>MA02MZ</B></A>   Norms of a complex skew-symmetric matrix
+<A href="MA02NZ.html">
+<B>MA02NZ</B></A>   Two rows and columns permutation of a (skew-)symmetric/Hermitian
+         complex matrix
+<A href="MA02OD.html">
+<B>MA02OD</B></A>   Number of zero rows of a real (skew-)Hamiltonian matrix
+<A href="MA02OZ.html">
+<B>MA02OZ</B></A>   Number of zero rows of a complex (skew-)Hamiltonian matrix
+<A href="MA02PD.html">
+<B>MA02PD</B></A>   Number of zero rows and columns of a real matrix
+<A href="MA02PZ.html">
+<B>MA02PZ</B></A>   Number of zero rows and columns of a complex matrix
+<A href="MB01KD.html">
+<B>MB01KD</B></A>   Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C,
+         with A and C skew-symmetric matrices
+<A href="MB01LD.html">
+<B>MB01LD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A) with 
+         skew-symmetric matrices R and X
+<A href="MB01MD.html">
+<B>MB01MD</B></A>   Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
+<A href="MB01ND.html">
+<B>MB01ND</B></A>   Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a 
+         skew-symmetric matrix
+<A href="MB01SD.html">
+<B>MB01SD</B></A>   Rows and/or columns scaling of a matrix 
+<A href="MB01SS.html">
+<B>MB01SS</B></A>   Symmetric scaling of a symmetric matrix 
+</PRE>
+<h3>MB - Linear Algebra</h3>
+<h4>Basic Linear Algebra Manipulations</h4>
+<PRE>
+<A href="MB01OC.html">
+<B>MB01OC</B></A>   Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) 
+         with R, X symmetric and H upper Hessenberg
+<A href="MB01OD.html">
+<B>MB01OD</B></A>   Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' )  
+         with R, X symmetric, H upper Hessenberg, and E upper triangular
+<A href="MB01OE.html">
+<B>MB01OE</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' )
+          with R symmetric, H upper Hessenberg, and E upper triangular
+<A href="MB01OH.html">
+<B>MB01OH</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) 
+         with R symmetric, and A, H upper Hessenberg
+<A href="MB01OO.html">
+<B>MB01OO</B></A>   Computation of P or P' with P = op(H) X op(E)' with X symmetric, 
+         H upper Hessenberg, and E upper triangular
+<A href="MB01OS.html">
+<B>MB01OS</B></A>   Computation of matrix expression P = H X or P = X H, with X symmetric and 
+         H upper Hessenberg
+<A href="MB01OT.html">
+<B>MB01OT</B></A>   Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) 
+         with R symmetric and E, T upper triangular
+<A href="MB01RH.html">
+<B>MB01RH</B></A>   Computation of matrix expression alpha R + beta op(H) X op(H)' 
+         with R, X symmetric and H upper Hessenberg
+<A href="MB01RT.html">
+<B>MB01RT</B></A>   Computation of matrix expression alpha R + beta op(E) X op(E)'  
+         with R, X symmetric and E upper triangular
+<A href="MB01RU.html">
+<B>MB01RU</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
+         (MB01RD variant)
+<A href="MB01RW.html">
+<B>MB01RW</B></A>   Computation of matrix expression alpha*A*X*trans(A), X symmetric (BLAS 2)
+<A href="MB01RX.html">
+<B>MB01RX</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*A*B 
+         or alpha*R + beta*B*A
+<A href="MB01RY.html">
+<B>MB01RY</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*H*B 
+         or alpha*R + beta*B*H, with H an upper Hessenberg matrix
+<A href="MB01UW.html">
+<B>MB01UW</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
+         overwritting A, with H an upper Hessenberg matrix
+<A href="MB01VD.html">
+<B>MB01VD</B></A>   Kronecker product of two matrices
+<A href="MB01XY.html">
+<B>MB01XY</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
+         lower triangular matrices (unblock algorithm)
+<A href="SB03OV.html">
+<B>SB03OV</B></A>   Construction of a complex plane rotation to annihilate a real number,
+         modifying a complex number
+<A href="SG03BY.html">
+<B>SG03BY</B></A>   Computing a complex plane rotation in real arithmetic 
+<A href="SG03BR.html">
+<B>SG03BR</B></A>   Computing a complex plane rotation in real arithmetic (SG03BY version
+         - adaptation of LAPACK ZLARTG)
+</PRE>
+<h4>Linear Equations and Least Squares</h4>
+<PRE>
+<A href="MB02CU.html">
+<B>MB02CU</B></A>   Bringing the first blocks of a generator in proper form
+         (extended version of MB02CX)
+<A href="MB02CV.html">
+<B>MB02CV</B></A>   Applying the MB02CU transformations on other columns / rows of 
+         the generator
+<A href="MB02CX.html">
+<B>MB02CX</B></A>   Bringing the first blocks of a generator in proper form
+<A href="MB02CY.html">
+<B>MB02CY</B></A>   Applying the MB02CX transformations on other columns / rows of 
+         the generator
+<A href="MB02NY.html">
+<B>MB02NY</B></A>   Separation of a zero singular value of a bidiagonal submatrix
+<A href="MB02QY.html">
+<B>MB02QY</B></A>   Minimum-norm least squares solution, given a rank-revealing
+         QR factorization
+<A href="MB02UU.html">
+<B>MB02UU</B></A>   Solution of linear equations using LU factorization with complete pivoting
+<A href="MB02UV.html">
+<B>MB02UV</B></A>   LU factorization with complete pivoting
+<A href="MB02UW.html">
+<B>MB02UW</B></A>   Solution of linear equations of order at most 2 with possible scaling 
+         and perturbation of system matrix
+<A href="MB02WD.html">
+<B>MB02WD</B></A>   Solution of a positive definite linear system A*x = b, or f(A, x) = b,
+         using conjugate gradient algorithm
+<A href="MB02XD.html">
+<B>MB02XD</B></A>   Solution of a set of positive definite linear systems, A'*A*X = B, or
+         f(A)*X = B, using Gaussian elimination
+<A href="MB02YD.html">
+<B>MB02YD</B></A>   Solution of the linear system A*x = b, D*x = 0, D diagonal
+</PRE>
+<h4>Eigenvalues and Eigenvectors</h4>
+<PRE>
+<A href="MB03AD.html">
+<B>MB03AD</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a 
+         product of matrices to the first unit vector
+<A href="MB03AB.html">
+<B>MB03AB</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with explicit shifts)
+<A href="MB03AE.html">
+<B>MB03AE</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with partial evaluation, 
+         Hessenberg factor is the first one)
+<A href="MB03AF.html">
+<B>MB03AF</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant, Hessenberg factor is the 
+         last one)
+<A href="MB03AG.html">
+<B>MB03AG</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with evaluation, 
+         Hessenberg factor is the first one)
+<A href="MB03AH.html">
+<B>MB03AH</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with partial evaluation, 
+         Hessenberg factor is the last one)
+<A href="MB03AI.html">
+<B>MB03AI</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with evaluation, 
+         Hessenberg factor is the last one)
+<A href="MB03BA.html">
+<B>MB03BA</B></A>   Computing maps for Hessenberg index and signature array
+<A href="MB03BB.html">
+<B>MB03BB</B></A>   Eigenvalues of a 2-by-2 matrix product via a complex single shifted 
+         periodic QZ algorithm
+<A href="MB03BC.html">
+<B>MB03BC</B></A>   Product singular value decomposition of K-1 triangular factors of 
+         order 2
+<A href="MB03BD.html">
+<B>MB03BD</B></A>   Finding eigenvalues of a generalized matrix product in 
+         Hessenberg-triangular form
+<A href="MB03BE.html">
+<B>MB03BE</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
+         to a 2-by-2 matrix product
+<A href="MB03BF.html">
+<B>MB03BF</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
+         to a 2-by-2 matrix product, with Hessenberg factor the last one
+<A href="MB03BZ.html">
+<B>MB03BZ</B></A>   Finding eigenvalues of a complex generalized matrix product in
+         Hessenberg-triangular form
+<A href="MB03CD.html">
+<B>MB03CD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
+         triangular pencil (factored version)
+<A href="MB03CZ.html">
+<B>MB03CZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil 
+         (factored version)
+<A href="MB03DD.html">
+<B>MB03DD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
+         triangular pencil
+<A href="MB03DZ.html">
+<B>MB03DZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
+<A href="MB03ED.html">
+<B>MB03ED</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
+         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
+         eigenvalues with negative real parts to the top (factored version)
+<A href="MB03FD.html">
+<B>MB03FD</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
+         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
+         eigenvalues with negative real parts to the top
+<A href="MB03GD.html">
+<B>MB03GD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper 
+         triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
+<A href="MB03GZ.html">
+<B>MB03GZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
+         Hamiltonian pencil in structured Schur form (factored version)
+<A href="MB03HD.html">
+<B>MB03HD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/
+         Hamiltonian pencil in structured Schur form
+<A href="MB03HZ.html">
+<B>MB03HZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
+         Hamiltonian pencil in structured Schur form
+<A href="MB03ID.html">
+<B>MB03ID</B></A>   Moving eigenvalues with negative real parts of a real 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (factored version)
+<A href="MB03IZ.html">
+<B>MB03IZ</B></A>   Moving eigenvalues with negative real parts of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (factored version)
+<A href="MB03JD.html">
+<B>MB03JD</B></A>   Moving eigenvalues with negative real parts of a real 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil
+<A href="MB03JP.html">
+<B>MB03JP</B></A>   Moving eigenvalues with negative real parts of a real 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (applying transformations on panels of columns)
+<A href="MB03JZ.html">
+<B>MB03JZ</B></A>   Moving eigenvalues with negative real parts of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil
+<A href="MB3JZP.html">
+<B>MB3JZP</B></A>   Moving eigenvalues with negative real parts of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (applying transformations on panels of columns)
+<A href="MB03KA.html">
+<B>MB03KA</B></A>   Moving diagonal blocks at a specified position in a formal matrix 
+         product to another position
+<A href="MB03KB.html">
+<B>MB03KB</B></A>   Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in 
+         a formal matrix product
+<A href="MB03KC.html">
+<B>MB03KC</B></A>   Reducing a 2-by-2 formal matrix product to periodic 
+         Hessenberg-triangular form
+<A href="MB03KD.html">
+<B>MB03KD</B></A>   Reordering the diagonal blocks of a formal matrix product using 
+         periodic QZ algorithm
+<A href="MB03KE.html">
+<B>MB03KE</B></A>   Solving periodic Sylvester-like equations with matrices of order 
+         at most 2
+<A href="MB03NY.html">
+<B>MB03NY</B></A>   The smallest singular value of A - jwI
+<A href="MB03OY.html">
+<B>MB03OY</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted QR factorization process 
+<A href="MB3OYZ.html">
+<B>MB3OYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted QR factorization process (complex case) 
+<A href="MB03PY.html">
+<B>MB03PY</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted RQ factorization process (row pivoting) 
+<A href="MB3PYZ.html">
+<B>MB3PYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted RQ factorization process (row pivoting, complex case) 
+<A href="MB03QV.html">
+<B>MB03QV</B></A>   Eigenvalues of an upper quasi-triangular matrix pencil
+<A href="MB03QW.html">
+<B>MB03QW</B></A>   Standardization and eigenvalues of a 2-by-2 diagonal block pair of
+         an upper quasi-triangular matrix pencil
+<A href="MB03QX.html">
+<B>MB03QX</B></A>   Eigenvalues of an upper quasi-triangular matrix
+<A href="MB03QY.html">
+<B>MB03QY</B></A>   Transformation to Schur canonical form of a selected 2-by-2 diagonal
+         block of an upper quasi-triangular matrix
+<A href="MB03RX.html">
+<B>MB03RX</B></A>   Reordering the diagonal blocks of a principal submatrix of a real Schur 
+         form matrix
+<A href="MB03RY.html">
+<B>MB03RY</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in real 
+         Schur form)
+<A href="MB03RW.html">
+<B>MB03RW</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in complex
+         Schur form)
+<A href="MB03TS.html">
+<B>MB03TS</B></A>   Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian 
+         canonical Schur form
+<A href="MB03VY.html">
+<B>MB03VY</B></A>   Generating orthogonal matrices for reduction to periodic 
+         Hessenberg form of a product of matrices
+<A href="MB03WA.html">
+<B>MB03WA</B></A>   Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
+<A href="MB03WX.html">
+<B>MB03WX</B></A>   Eigenvalues of a product of matrices, T = T_1*T_2*...*T_p,
+         with T_1 upper quasi-triangular and T_2, ..., T_p upper triangular 
+<A href="MB03XS.html">
+<B>MB03XS</B></A>   Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
+<A href="MB03XU.html">
+<B>MB03XU</B></A>   Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by 
+         orthogonal symplectic transformations
+<A href="MB03YA.html">
+<B>MB03YA</B></A>   Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix 
+         corresponding to zero elements on the diagonal of a triangular matrix
+<A href="MB03YT.html">
+<B>MB03YT</B></A>   Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) 
+         with B upper triangular
+<A href="MB03ZA.html">
+<B>MB03ZA</B></A>   Reordering a selected cluster of eigenvalues of a given matrix pair in 
+         periodic Schur form
+<A href="MB05MY.html">
+<B>MB05MY</B></A>   Computing an orthogonal matrix reducing a matrix to real Schur form T, 
+         the eigenvalues, and the upper triangular matrix of right eigenvectors 
+         of T 
+<A href="MB05OY.html">
+<B>MB05OY</B></A>   Restoring a matrix after balancing transformations
+</PRE>
+<h4>Decompositions and Transformations</h4>
+<PRE>
+<A href="MB04CD.html">
+<B>MB04CD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
+         Hamiltonian pencil in factored form to generalized Schur form
+<A href="MB04DB.html">
+<B>MB04DB</B></A>   Applying the inverse of a balancing transformation for a real 
+         skew-Hamiltonian/Hamiltonian matrix pencil
+<A href="MB4DBZ.html">
+<B>MB4DBZ</B></A>   Applying the inverse of a balancing transformation for a complex 
+         skew-Hamiltonian/Hamiltonian matrix pencil
+<A href="MB04DD.html">
+<B>MB04DD</B></A>   Balancing a real Hamiltonian matrix
+<A href="MB04DZ.html">
+<B>MB04DZ</B></A>   Balancing a complex Hamiltonian matrix
+<A href="MB04DI.html">
+<B>MB04DI</B></A>   Applying the inverse of a balancing transformation for a real Hamiltonian matrix
+<A href="MB04DS.html">
+<B>MB04DS</B></A>   Balancing a real skew-Hamiltonian matrix
+<A href="MB04DY.html">
+<B>MB04DY</B></A>   Symplectic scaling of a Hamiltonian matrix
+<A href="MB04HD.html">
+<B>MB04HD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
+         Hamiltonian pencil to generalized Schur form
+<A href="MB04IY.html">
+<B>MB04IY</B></A>   Applying the product of elementary reflectors used for QR factorization
+         of a matrix having a lower left zero triangle
+<A href="MB04NY.html">
+<B>MB04NY</B></A>   Applying an elementary reflector to a matrix C = ( A  B ), from the right, 
+         where A has one column
+<A href="MB04OY.html">
+<B>MB04OY</B></A>   Applying an elementary reflector to a matrix C = ( A'  B' )', from the 
+         left, where A has one row
+<A href="MB04OW.html">
+<B>MB04OW</B></A>   Rank-one update of a Cholesky factorization for a 2-by-2 block matrix
+<A href="MB04OX.html">
+<B>MB04OX</B></A>   Rank-one update of a Cholesky factorization
+<A href="MB04PA.html">
+<B>MB04PA</B></A>   Special reduction of a (skew-)Hamiltonian like matrix
+<A href="MB04PU.html">
+<B>MB04PU</B></A>   Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix 
+         (unblocked algorithm)
+<A href="MB04PY.html">
+<B>MB04PY</B></A>   Applying an elementary reflector to a matrix from the left or right
+<A href="MB04QB.html">
+<B>MB04QB</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
+         general real matrices
+<A href="MB04QC.html">
+<B>MB04QC</B></A>   Premultiplying a real matrix with an orthogonal symplectic block reflector
+<A href="MB04QF.html">
+<B>MB04QF</B></A>   Forming the triangular block factors of a symplectic block reflector
+<A href="MB04QS.html">
+<B>MB04QS</B></A>   Multiplication with a product of symplectic reflectors and Givens rotations
+<A href="MB04QU.html">
+<B>MB04QU</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
+         general real matrices (unblocked algorithm)
+<A href="MB04RB.html">
+<B>MB04RB</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
+         (blocked version)
+<A href="MB04RU.html">
+<B>MB04RU</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
+         (unblocked version)
+<A href="MB04SU.html">
+<B>MB04SU</B></A>   Symplectic QR decomposition of a real 2M-by-N matrix
+<A href="MB04TS.html">
+<B>MB04TS</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
+<A href="MB04TU.html">
+<B>MB04TU</B></A>   Applying a row-permuted Givens transformation to two row vectors
+<A href="MB04WD.html">
+<B>MB04WD</B></A>   Generating an orthogonal basis spanning an isotropic subspace
+<A href="MB04WP.html">
+<B>MB04WP</B></A>   Generating an orthogonal symplectic matrix which performed the reduction 
+         in MB04PU
+<A href="MB04WR.html">
+<B>MB04WR</B></A>   Generating orthogonal symplectic matrices defined as products of symplectic 
+         reflectors and Givens rotations
+<A href="MB04WU.html">
+<B>MB04WU</B></A>   Generating an orthogonal basis spanning an isotropic subspace 
+         (unblocked version)
+<A href="MB04XY.html">
+<B>MB04XY</B></A>   Applying Householder transformations for bidiagonalization (stored 
+         in factored form) to one or two matrices, from the left
+<A href="MB04YW.html">
+<B>MB04YW</B></A>   One QR or QL iteration step onto an unreduced bidiagonal submatrix 
+         of a bidiagonal matrix
+</PRE>
+<h3>MC - Polynomial and Rational Function Manipulation</h3>
+<h4>Scalar Polynomials</h4>
+<PRE>
+<A href="MC01PY.html">
+<B>MC01PY</B></A>   Coefficients of a real polynomial, stored in decreasing order, 
+         given its zeros         
+</PRE>
+<h4>Polynomial Matrices</h4>
+<PRE>
+<A href="MC03NX.html">
+<B>MC03NX</B></A>   Construction of a pencil sE-A related to a given polynomial matrix  
+</PRE>
+<h3>MD - Optimization</h3>
+<h4>Unconstrained Nonlinear Least Squares</h4>
+<PRE>
+<A href="MD03BX.html">
+<B>MD03BX</B></A>   QR factorization with column pivoting and error vector 
+         transformation
+<A href="MD03BY.html">
+<B>MD03BY</B></A>   Finding the Levenberg-Marquardt parameter
+</PRE>
+<HR>
+<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
+<h3>NF - Wiener Systems</h3>
+<h4>Wiener Systems Identification</h4>
+<PRE>
+<A href="NF01AD.html">
+<B>NF01AD</B></A>   Computing the output of a Wiener system  
+<A href="NF01AY.html">
+<B>NF01AY</B></A>   Computing the output of a set of neural networks
+<A href="NF01BD.html">
+<B>NF01BD</B></A>   Computing the Jacobian of a Wiener system  
+<A href="NF01BP.html">
+<B>NF01BP</B></A>   Finding the Levenberg-Marquardt parameter
+<A href="NF01BQ.html">
+<B>NF01BQ</B></A>   Solution of the linear system J*x = b, D*x = 0, D diagonal
+<A href="NF01BR.html">
+<B>NF01BR</B></A>   Solution of the linear system op(R)*x = b, R block upper 
+         triangular stored in a compressed form
+<A href="NF01BS.html">
+<B>NF01BS</B></A>   QR factorization of a structured Jacobian matrix
+<A href="NF01BU.html">
+<B>NF01BU</B></A>   Computing J'*J + c*I, for the Jacobian J given in a
+         compressed form
+<A href="NF01BV.html">
+<B>NF01BV</B></A>   Computing J'*J + c*I, for a full Jacobian J (one output
+         variable)
+<A href="NF01BW.html">
+<B>NF01BW</B></A>   Matrix-vector product x <-- (J'*J + c*I)*x, for J in a
+         compressed form
+<A href="NF01BX.html">
+<B>NF01BX</B></A>   Matrix-vector product x <-- (A'*A + c*I)*x, for a
+         full matrix A
+<A href="NF01BY.html">
+<B>NF01BY</B></A>   Computing the Jacobian of the error function for a neural 
+         network (for one output variable)
+</PRE>
+<HR>
+<A NAME="S"><H2>S - Synthesis Routines</H2></A>
+<h3>SB - State-Space Synthesis</h3>
+<h4>Eigenvalue/Eigenvector Assignment</h4>
+<PRE>
+<A href="SB01BX.html">
+<B>SB01BX</B></A>   Choosing the closest real (complex conjugate) eigenvalue(s) to
+         a given real (complex) value
+<A href="SB01BY.html">
+<B>SB01BY</B></A>   Pole placement for systems of order 1 or 2
+<A href="SB01FY.html">
+<B>SB01FY</B></A>   Inner denominator of a right-coprime factorization of an unstable system
+         of order 1 or 2
+</PRE>
+<h4>Riccati Equations</h4>
+<PRE>
+<A href="SB02MU.html">
+<B>SB02MU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
+         linear-quadratic optimization problems
+<A href="SB02RU.html">
+<B>SB02RU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
+         linear-quadratic optimization problems (efficient and accurate
+         version of SB02MU)
+<A href="SB02OY.html">
+<B>SB02OY</B></A>   Constructing and compressing the extended Hamiltonian or symplectic 
+         matrix pairs for linear-quadratic optimization problems
+</PRE>
+<h4>Lyapunov Equations</h4>
+<PRE>
+<A href="SB03MV.html">
+<B>SB03MV</B></A>   Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
+<A href="SB03MW.html">
+<B>SB03MW</B></A>   Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
+<A href="SB03MX.html">
+<B>SB03MX</B></A>   Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
+<A href="SB03MY.html">
+<B>SB03MY</B></A>   Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
+<A href="SB03OT.html">
+<B>SB03OT</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
+         Lyapunov equations, with A quasi-triangular and R triangular
+<A href="SB03OS.html">
+<B>SB03OS</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
+         complex Lyapunov equations, with matrices S and R triangular
+<A href="SB03OU.html">
+<B>SB03OU</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
+         Lyapunov equations, with A in real Schur form and B rectangular
+<A href="SB03OY.html">
+<B>SB03OY</B></A>   Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time
+         Lyapunov equations, with matrix A having complex conjugate eigenvalues
+<A href="SB03QX.html">
+<B>SB03QX</B></A>   Forward error bound for continuous-time Lyapunov equations
+<A href="SB03QY.html">
+<B>SB03QY</B></A>   Separation and Theta norm for continuous-time Lyapunov equations
+<A href="SB03SX.html">
+<B>SB03SX</B></A>   Forward error bound for discrete-time Lyapunov equations
+<A href="SB03SY.html">
+<B>SB03SY</B></A>   Separation and Theta norm for discrete-time Lyapunov equations
+</PRE>
+<h4>Sylvester Equations</h4>
+<PRE>
+<A href="SB03MU.html">
+<B>SB03MU</B></A>   Solving a discrete-time Sylvester equation for an m-by-n matrix X, 
+         1 <= m,n <= 2
+<A href="SB03OR.html">
+<B>SB03OR</B></A>   Solving quasi-triangular continuous- or discrete-time Sylvester equations, 
+         for an n-by-m matrix X, 1 <= m <= 2
+<A href="SB04MR.html">
+<B>SB04MR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
+         compactly) has zeros below the second subdiagonal
+<A href="SB04MU.html">
+<B>SB04MU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the second subdiagonal 
+<A href="SB04MW.html">
+<B>SB04MW</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
+         compactly) has zeros below the first subdiagonal
+<A href="SB04MY.html">
+<B>SB04MY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the first subdiagonal
+<A href="SB04NV.html">
+<B>SB04NV</B></A>   Constructing right-hand sides for a system of equations in 
+         Hessenberg form solved via SB04NX
+<A href="SB04NW.html">
+<B>SB04NW</B></A>   Constructing the right-hand side for a system of equations in 
+         Hessenberg form solved via SB04NY 
+<A href="SB04NX.html">
+<B>SB04NX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
+         offdiagonals and two right-hand sides 
+<A href="SB04NY.html">
+<B>SB04NY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
+         and one right-hand side 
+<A href="SB04OW.html">
+<B>SB04OW</B></A>   Solving a periodic Sylvester equation with matrices in periodic Schur form
+<A href="SB04PX.html">
+<B>SB04PX</B></A>   Solving a discrete-time Sylvester equation for matrices of order <= 2
+<A href="SB04PY.html">
+<B>SB04PY</B></A>   Solving a discrete-time Sylvester equation with matrices in Schur form
+<A href="SB04QR.html">
+<B>SB04QR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
+         compactly) has zeros below the third subdiagonal
+<A href="SB04QU.html">
+<B>SB04QU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the third subdiagonal
+<A href="SB04QY.html">
+<B>SB04QY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the first subdiagonal
+         (discrete-time case)
+<A href="SB04RV.html">
+<B>SB04RV</B></A>   Constructing right-hand sides for a system of equations in 
+         Hessenberg form solved via SB04RX
+<A href="SB04RW.html">
+<B>SB04RW</B></A>   Constructing the right-hand side for a system of equations in 
+         Hessenberg form solved via SB04RY 
+<A href="SB04RX.html">
+<B>SB04RX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
+         offdiagonals and two right-hand sides (discrete-time case) 
+<A href="SB04RY.html">
+<B>SB04RY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
+         and one right-hand side (discrete-time case) 
+</PRE>
+<h4>Optimal Regulator Problems</h4>
+<PRE>
+<A href="SB10JD.html">
+<B>SB10JD</B></A>    Conversion of a descriptor state-space system into regular 
+          state-space form
+<A href="SB10LD.html">
+<B>SB10LD</B></A>    Closed-loop system matrices for a system with robust controller
+<A href="SB10PD.html">
+<B>SB10PD</B></A>    Normalization of a system for H-infinity controller design
+<A href="SB10QD.html">
+<B>SB10QD</B></A>    State feedback and output injection matrices for an H-infinity
+          (sub)optimal state controller (continuous-time)
+<A href="SB10RD.html">
+<B>SB10RD</B></A>    H-infinity (sub)optimal controller matrices using state feedback
+          and output injection matrices (continuous-time)
+<A href="SB10SD.html">
+<B>SB10SD</B></A>    H2 optimal controller matrices for a normalized discrete-time system
+<A href="SB10TD.html">
+<B>SB10TD</B></A>    H2 optimal controller matrices for a discrete-time system
+<A href="SB10UD.html">
+<B>SB10UD</B></A>    Normalization of a system for H2 controller design
+<A href="SB10VD.html">
+<B>SB10VD</B></A>    State feedback and output injection matrices for an H2 optimal
+          state controller (continuous-time)
+<A href="SB10WD.html">
+<B>SB10WD</B></A>    H2 optimal controller matrices using state feedback and
+          output injection matrices (continuous-time)
+<A href="SB10YD.html">
+<B>SB10YD</B></A>    Fitting frequency response data with a stable, minimum phase
+          SISO system
+<A href="SB10ZP.html">
+<B>SB10ZP</B></A>    Transforming a SISO system into a stable and minimum phase one
+</PRE>
+<h4>Controller Reduction</h4>
+<PRE>
+<A href="SB16AY.html">
+<B>SB16AY</B></A>    Cholesky factors of the frequency-weighted controllability and 
+          observability Grammians for controller reduction
+<A href="SB16CY.html">
+<B>SB16CY</B></A>    Cholesky factors of controllability and observability Grammians
+          of coprime factors of a state-feedback controller
+</PRE>
+<h3>SG - Generalized State-Space Synthesis</h3>
+<h4>Generalized Lyapunov Equations</h4>
+<PRE>
+<A href="SG02CV.html">
+<B>SG02CV</B></A>   Computation of residual matrix for a continuous-time or discrete-time 
+         reduced Lyapunov equation
+<A href="SG03AX.html">
+<B>SG03AX</B></A>   Solving a generalized discrete-time Lyapunov equation with 
+         A quasi-triangular and E upper triangular
+<A href="SG03AY.html">
+<B>SG03AY</B></A>   Solving a generalized continuous-time Lyapunov equation with 
+         A quasi-triangular and E upper triangular
+<A href="SG03BU.html">
+<B>SG03BU</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
+         Lyapunov equations with A quasi-triangular, and E, B upper triangular
+<A href="SG03BS.html">
+<B>SG03BS</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
+         complex Lyapunov equations with A, E, and B upper triangular
+<A href="SG03BV.html">
+<B>SG03BV</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
+         Lyapunov equations with A quasi-triangular, and E, B upper triangular
+<A href="SG03BT.html">
+<B>SG03BT</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
+         complex Lyapunov equations with A, E, and B upper triangular
+<A href="SG03BX.html">
+<B>SG03BX</B></A>   Solving (for Cholesky factor) stable generalized 2-by-2 Lyapunov equations
+</PRE>
+<h4>Generalized Sylvester Equations</h4>
+<PRE>
+<A href="SG03BW.html">
+<B>SG03BW</B></A>   Solving a generalized Sylvester equation with A quasi-triangular 
+         and E upper triangular, for X m-by-n, n = 1 or 2
+</PRE>
+<HR>
+<A NAME="T"><H2>T - Transformation Routines</H2></A>
+<h3>TB - State-Space</h3>
+<h4>State-Space Transformations</h4>
+<PRE>
+<A href="TB01KX.html">
+<B>TB01KX</B></A>   Additive spectral decomposition of the transfer-function matrix of a standard system
+<A href="TB01UX.html">
+<B>TB01UX</B></A>   Observable-unobservable decomposition of a standard system
+<A href="TB01VD.html">
+<B>TB01VD</B></A>   Conversion of a discrete-time system to output normal form
+<A href="TB01VY.html">
+<B>TB01VY</B></A>   Conversion of the output normal form of a discrete-time system 
+         to a state-space representation
+<A href="TB01XD.html">
+<B>TB01XD</B></A>   Special similarity transformation of the dual state-space system
+<A href="TB01XZ.html">
+<B>TB01XZ</B></A>   Special similarity transformation of the dual state-space system 
+         (complex case)
+<A href="TB01YD.html">
+<B>TB01YD</B></A>   Special similarity transformation of a state-space system 
+</PRE>
+<h4>State-Space to Rational Matrix Conversion</h4>
+<PRE>
+<A href="TB04BV.html">
+<B>TB04BV</B></A>   Strictly proper part of a proper transfer function matrix 
+<A href="TB04BW.html">
+<B>TB04BW</B></A>   Sum of a rational matrix and a real matrix 
+<A href="TB04BX.html">
+<B>TB04BX</B></A>   Gain of a SISO linear system, given (A,b,c,d), its poles and zeros
+</PRE>
+<h3>TC - Polynomial Matrix</h3>
+<h3>TD - Rational  Matrix</h3>
+<h3>TF - Time Response</h3>
+<PRE>
+<A href="TF01MX.html">
+<B>TF01MX</B></A>   Output response of a linear discrete-time system, given a 
+         general system matrix (each output is a column of the result)
+<A href="TF01MY.html">
+<B>TF01MY</B></A>   Output response of a linear discrete-time system, given the
+         system matrices (each output is a column of the result)
+</PRE>
+<h3>TG - Generalized State-space</h3>
+<h4>Generalized State-space Transformations</h4>
+<PRE>
+<A href="TG01HU.html">
+<B>TG01HU</B></A>   Staircase controllability representation of a multi-input descriptor system
+<A href="TG01HX.html">
+<B>TG01HX</B></A>   Orthogonal reduction of a descriptor system to a system with
+         the same transfer-function matrix and without uncontrollable finite 
+         eigenvalues
+<A href="TG01HY.html">
+<B>TG01HY</B></A>   Orthogonal reduction of a descriptor system to a system with
+         the same transfer-function matrix and without uncontrollable finite 
+         eigenvalues (blocked version)
+<A href="TG01KD.html">
+<B>TG01KD</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
+         with E upper triangular (TG01OA version with more complex interface)
+<A href="TG01KZ.html">
+<B>TG01KZ</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
+         with E upper triangular (TG01OB version with more complex interface)
+<A href="TG01LY.html">
+<B>TG01LY</B></A>   Finite-infinite decomposition of a structured descriptor system
+<A href="TG01NX.html">
+<B>TG01NX</B></A>   Block-diagonal decomposition of a descriptor system in 
+         generalized real Schur form
+<A href="TG01OA.html">
+<B>TG01OA</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
+         with E upper triangular, so that B becomes parallel to the first unit vector
+         and E keeps its structure
+<A href="TG01OB.html">
+<B>TG01OB</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
+         with E upper triangular, so that B becomes parallel to the first unit vector
+         and E keeps its structure
+</PRE>
+<HR>
+<A NAME="U"><H2>U - Utility Routines</H2></A>
+<h3>UD - Numerical Data Handling</h3>
+<HR>
+</BODY>
+</HTML>
diff --git a/doc/_build/html/_static/doctools.js b/doc/_build/html/_static/doctools.js
new file mode 100644
index 00000000..527b876c
--- /dev/null
+++ b/doc/_build/html/_static/doctools.js
@@ -0,0 +1,156 @@
+/*
+ * doctools.js
+ * ~~~~~~~~~~~
+ *
+ * Base JavaScript utilities for all Sphinx HTML documentation.
+ *
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
+  "TEXTAREA",
+  "INPUT",
+  "SELECT",
+  "BUTTON",
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+
+const _ready = (callback) => {
+  if (document.readyState !== "loading") {
+    callback();
+  } else {
+    document.addEventListener("DOMContentLoaded", callback);
+  }
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const Documentation = {
+  init: () => {
+    Documentation.initDomainIndexTable();
+    Documentation.initOnKeyListeners();
+  },
+
+  /**
+   * i18n support
+   */
+  TRANSLATIONS: {},
+  PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
+  LOCALE: "unknown",
+
+  // gettext and ngettext don't access this so that the functions
+  // can safely bound to a different name (_ = Documentation.gettext)
+  gettext: (string) => {
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+    switch (typeof translated) {
+      case "undefined":
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+      default:
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+
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+    const translated = Documentation.TRANSLATIONS[singular];
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+    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
+    Documentation.PLURAL_EXPR = new Function(
+      "n",
+      `return (${catalog.plural_expr})`
+    );
+    Documentation.LOCALE = catalog.locale;
+  },
+
+  /**
+   * helper function to focus on search bar
+   */
+  focusSearchBar: () => {
+    document.querySelectorAll("input[name=q]")[0]?.focus();
+  },
+
+  /**
+   * Initialise the domain index toggle buttons
+   */
+  initDomainIndexTable: () => {
+    const toggler = (el) => {
+      const idNumber = el.id.substr(7);
+      const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
+      if (el.src.substr(-9) === "minus.png") {
+        el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
+        toggledRows.forEach((el) => (el.style.display = "none"));
+      } else {
+        el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
+        toggledRows.forEach((el) => (el.style.display = ""));
+      }
+    };
+
+    const togglerElements = document.querySelectorAll("img.toggler");
+    togglerElements.forEach((el) =>
+      el.addEventListener("click", (event) => toggler(event.currentTarget))
+    );
+    togglerElements.forEach((el) => (el.style.display = ""));
+    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+  },
+
+  initOnKeyListeners: () => {
+    // only install a listener if it is really needed
+    if (
+      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
+      !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+    )
+      return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      // bail with special keys
+      if (event.altKey || event.ctrlKey || event.metaKey) return;
+
+      if (!event.shiftKey) {
+        switch (event.key) {
+          case "ArrowLeft":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const prevLink = document.querySelector('link[rel="prev"]');
+            if (prevLink && prevLink.href) {
+              window.location.href = prevLink.href;
+              event.preventDefault();
+            }
+            break;
+          case "ArrowRight":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const nextLink = document.querySelector('link[rel="next"]');
+            if (nextLink && nextLink.href) {
+              window.location.href = nextLink.href;
+              event.preventDefault();
+            }
+            break;
+        }
+      }
+
+      // some keyboard layouts may need Shift to get /
+      switch (event.key) {
+        case "/":
+          if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
+          Documentation.focusSearchBar();
+          event.preventDefault();
+      }
+    });
+  },
+};
+
+// quick alias for translations
+const _ = Documentation.gettext;
+
+_ready(Documentation.init);
diff --git a/doc/_build/html/_static/documentation_options.js b/doc/_build/html/_static/documentation_options.js
new file mode 100644
index 00000000..87f14a0b
--- /dev/null
+++ b/doc/_build/html/_static/documentation_options.js
@@ -0,0 +1,14 @@
+var DOCUMENTATION_OPTIONS = {
+    URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
+    VERSION: '0.6',
+    LANGUAGE: 'en',
+    COLLAPSE_INDEX: false,
+    BUILDER: 'html',
+    FILE_SUFFIX: '.html',
+    LINK_SUFFIX: '.html',
+    HAS_SOURCE: true,
+    SOURCELINK_SUFFIX: '.txt',
+    NAVIGATION_WITH_KEYS: false,
+    SHOW_SEARCH_SUMMARY: true,
+    ENABLE_SEARCH_SHORTCUTS: true,
+};
\ No newline at end of file
diff --git a/doc/_build/html/_static/file.png b/doc/_build/html/_static/file.png
new file mode 100644
index 0000000000000000000000000000000000000000..a858a410e4faa62ce324d814e4b816fff83a6fb3
GIT binary patch
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z_CyJOe}D1){SET-^Amu_i71Lt6eYfZjRyw@I6OQAIXXHD<M{a4P!N^sPbQKi=?mBx
zoos%BSoiGXjr-;%$QixXMOVNSUNp6L0a1Oz&cgu)wqE?07u5I7qrQIu4Fij)Y3c&0
z@0u_#NH6I?Mk(n;dT}d~^J<WkTLqp|RW-hV56tKpXqu)k@V{?amI+5DOlEU@funz+
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literal 0
HcmV?d00001

diff --git a/doc/_build/html/_static/jquery-3.6.0.js b/doc/_build/html/_static/jquery-3.6.0.js
new file mode 100644
index 00000000..fc6c299b
--- /dev/null
+++ b/doc/_build/html/_static/jquery-3.6.0.js
@@ -0,0 +1,10881 @@
+/*!
+ * jQuery JavaScript Library v3.6.0
+ * https://jquery.com/
+ *
+ * Includes Sizzle.js
+ * https://sizzlejs.com/
+ *
+ * Copyright OpenJS Foundation and other contributors
+ * Released under the MIT license
+ * https://jquery.org/license
+ *
+ * Date: 2021-03-02T17:08Z
+ */
+( function( global, factory ) {
+
+	"use strict";
+
+	if ( typeof module === "object" && typeof module.exports === "object" ) {
+
+		// For CommonJS and CommonJS-like environments where a proper `window`
+		// is present, execute the factory and get jQuery.
+		// For environments that do not have a `window` with a `document`
+		// (such as Node.js), expose a factory as module.exports.
+		// This accentuates the need for the creation of a real `window`.
+		// e.g. var jQuery = require("jquery")(window);
+		// See ticket #14549 for more info.
+		module.exports = global.document ?
+			factory( global, true ) :
+			function( w ) {
+				if ( !w.document ) {
+					throw new Error( "jQuery requires a window with a document" );
+				}
+				return factory( w );
+			};
+	} else {
+		factory( global );
+	}
+
+// Pass this if window is not defined yet
+} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) {
+
+// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1
+// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode
+// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common
+// enough that all such attempts are guarded in a try block.
+"use strict";
+
+var arr = [];
+
+var getProto = Object.getPrototypeOf;
+
+var slice = arr.slice;
+
+var flat = arr.flat ? function( array ) {
+	return arr.flat.call( array );
+} : function( array ) {
+	return arr.concat.apply( [], array );
+};
+
+
+var push = arr.push;
+
+var indexOf = arr.indexOf;
+
+var class2type = {};
+
+var toString = class2type.toString;
+
+var hasOwn = class2type.hasOwnProperty;
+
+var fnToString = hasOwn.toString;
+
+var ObjectFunctionString = fnToString.call( Object );
+
+var support = {};
+
+var isFunction = function isFunction( obj ) {
+
+		// Support: Chrome <=57, Firefox <=52
+		// In some browsers, typeof returns "function" for HTML <object> elements
+		// (i.e., `typeof document.createElement( "object" ) === "function"`).
+		// We don't want to classify *any* DOM node as a function.
+		// Support: QtWeb <=3.8.5, WebKit <=534.34, wkhtmltopdf tool <=0.12.5
+		// Plus for old WebKit, typeof returns "function" for HTML collections
+		// (e.g., `typeof document.getElementsByTagName("div") === "function"`). (gh-4756)
+		return typeof obj === "function" && typeof obj.nodeType !== "number" &&
+			typeof obj.item !== "function";
+	};
+
+
+var isWindow = function isWindow( obj ) {
+		return obj != null && obj === obj.window;
+	};
+
+
+var document = window.document;
+
+
+
+	var preservedScriptAttributes = {
+		type: true,
+		src: true,
+		nonce: true,
+		noModule: true
+	};
+
+	function DOMEval( code, node, doc ) {
+		doc = doc || document;
+
+		var i, val,
+			script = doc.createElement( "script" );
+
+		script.text = code;
+		if ( node ) {
+			for ( i in preservedScriptAttributes ) {
+
+				// Support: Firefox 64+, Edge 18+
+				// Some browsers don't support the "nonce" property on scripts.
+				// On the other hand, just using `getAttribute` is not enough as
+				// the `nonce` attribute is reset to an empty string whenever it
+				// becomes browsing-context connected.
+				// See https://github.com/whatwg/html/issues/2369
+				// See https://html.spec.whatwg.org/#nonce-attributes
+				// The `node.getAttribute` check was added for the sake of
+				// `jQuery.globalEval` so that it can fake a nonce-containing node
+				// via an object.
+				val = node[ i ] || node.getAttribute && node.getAttribute( i );
+				if ( val ) {
+					script.setAttribute( i, val );
+				}
+			}
+		}
+		doc.head.appendChild( script ).parentNode.removeChild( script );
+	}
+
+
+function toType( obj ) {
+	if ( obj == null ) {
+		return obj + "";
+	}
+
+	// Support: Android <=2.3 only (functionish RegExp)
+	return typeof obj === "object" || typeof obj === "function" ?
+		class2type[ toString.call( obj ) ] || "object" :
+		typeof obj;
+}
+/* global Symbol */
+// Defining this global in .eslintrc.json would create a danger of using the global
+// unguarded in another place, it seems safer to define global only for this module
+
+
+
+var
+	version = "3.6.0",
+
+	// Define a local copy of jQuery
+	jQuery = function( selector, context ) {
+
+		// The jQuery object is actually just the init constructor 'enhanced'
+		// Need init if jQuery is called (just allow error to be thrown if not included)
+		return new jQuery.fn.init( selector, context );
+	};
+
+jQuery.fn = jQuery.prototype = {
+
+	// The current version of jQuery being used
+	jquery: version,
+
+	constructor: jQuery,
+
+	// The default length of a jQuery object is 0
+	length: 0,
+
+	toArray: function() {
+		return slice.call( this );
+	},
+
+	// Get the Nth element in the matched element set OR
+	// Get the whole matched element set as a clean array
+	get: function( num ) {
+
+		// Return all the elements in a clean array
+		if ( num == null ) {
+			return slice.call( this );
+		}
+
+		// Return just the one element from the set
+		return num < 0 ? this[ num + this.length ] : this[ num ];
+	},
+
+	// Take an array of elements and push it onto the stack
+	// (returning the new matched element set)
+	pushStack: function( elems ) {
+
+		// Build a new jQuery matched element set
+		var ret = jQuery.merge( this.constructor(), elems );
+
+		// Add the old object onto the stack (as a reference)
+		ret.prevObject = this;
+
+		// Return the newly-formed element set
+		return ret;
+	},
+
+	// Execute a callback for every element in the matched set.
+	each: function( callback ) {
+		return jQuery.each( this, callback );
+	},
+
+	map: function( callback ) {
+		return this.pushStack( jQuery.map( this, function( elem, i ) {
+			return callback.call( elem, i, elem );
+		} ) );
+	},
+
+	slice: function() {
+		return this.pushStack( slice.apply( this, arguments ) );
+	},
+
+	first: function() {
+		return this.eq( 0 );
+	},
+
+	last: function() {
+		return this.eq( -1 );
+	},
+
+	even: function() {
+		return this.pushStack( jQuery.grep( this, function( _elem, i ) {
+			return ( i + 1 ) % 2;
+		} ) );
+	},
+
+	odd: function() {
+		return this.pushStack( jQuery.grep( this, function( _elem, i ) {
+			return i % 2;
+		} ) );
+	},
+
+	eq: function( i ) {
+		var len = this.length,
+			j = +i + ( i < 0 ? len : 0 );
+		return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] );
+	},
+
+	end: function() {
+		return this.prevObject || this.constructor();
+	},
+
+	// For internal use only.
+	// Behaves like an Array's method, not like a jQuery method.
+	push: push,
+	sort: arr.sort,
+	splice: arr.splice
+};
+
+jQuery.extend = jQuery.fn.extend = function() {
+	var options, name, src, copy, copyIsArray, clone,
+		target = arguments[ 0 ] || {},
+		i = 1,
+		length = arguments.length,
+		deep = false;
+
+	// Handle a deep copy situation
+	if ( typeof target === "boolean" ) {
+		deep = target;
+
+		// Skip the boolean and the target
+		target = arguments[ i ] || {};
+		i++;
+	}
+
+	// Handle case when target is a string or something (possible in deep copy)
+	if ( typeof target !== "object" && !isFunction( target ) ) {
+		target = {};
+	}
+
+	// Extend jQuery itself if only one argument is passed
+	if ( i === length ) {
+		target = this;
+		i--;
+	}
+
+	for ( ; i < length; i++ ) {
+
+		// Only deal with non-null/undefined values
+		if ( ( options = arguments[ i ] ) != null ) {
+
+			// Extend the base object
+			for ( name in options ) {
+				copy = options[ name ];
+
+				// Prevent Object.prototype pollution
+				// Prevent never-ending loop
+				if ( name === "__proto__" || target === copy ) {
+					continue;
+				}
+
+				// Recurse if we're merging plain objects or arrays
+				if ( deep && copy && ( jQuery.isPlainObject( copy ) ||
+					( copyIsArray = Array.isArray( copy ) ) ) ) {
+					src = target[ name ];
+
+					// Ensure proper type for the source value
+					if ( copyIsArray && !Array.isArray( src ) ) {
+						clone = [];
+					} else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) {
+						clone = {};
+					} else {
+						clone = src;
+					}
+					copyIsArray = false;
+
+					// Never move original objects, clone them
+					target[ name ] = jQuery.extend( deep, clone, copy );
+
+				// Don't bring in undefined values
+				} else if ( copy !== undefined ) {
+					target[ name ] = copy;
+				}
+			}
+		}
+	}
+
+	// Return the modified object
+	return target;
+};
+
+jQuery.extend( {
+
+	// Unique for each copy of jQuery on the page
+	expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ),
+
+	// Assume jQuery is ready without the ready module
+	isReady: true,
+
+	error: function( msg ) {
+		throw new Error( msg );
+	},
+
+	noop: function() {},
+
+	isPlainObject: function( obj ) {
+		var proto, Ctor;
+
+		// Detect obvious negatives
+		// Use toString instead of jQuery.type to catch host objects
+		if ( !obj || toString.call( obj ) !== "[object Object]" ) {
+			return false;
+		}
+
+		proto = getProto( obj );
+
+		// Objects with no prototype (e.g., `Object.create( null )`) are plain
+		if ( !proto ) {
+			return true;
+		}
+
+		// Objects with prototype are plain iff they were constructed by a global Object function
+		Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor;
+		return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString;
+	},
+
+	isEmptyObject: function( obj ) {
+		var name;
+
+		for ( name in obj ) {
+			return false;
+		}
+		return true;
+	},
+
+	// Evaluates a script in a provided context; falls back to the global one
+	// if not specified.
+	globalEval: function( code, options, doc ) {
+		DOMEval( code, { nonce: options && options.nonce }, doc );
+	},
+
+	each: function( obj, callback ) {
+		var length, i = 0;
+
+		if ( isArrayLike( obj ) ) {
+			length = obj.length;
+			for ( ; i < length; i++ ) {
+				if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) {
+					break;
+				}
+			}
+		} else {
+			for ( i in obj ) {
+				if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) {
+					break;
+				}
+			}
+		}
+
+		return obj;
+	},
+
+	// results is for internal usage only
+	makeArray: function( arr, results ) {
+		var ret = results || [];
+
+		if ( arr != null ) {
+			if ( isArrayLike( Object( arr ) ) ) {
+				jQuery.merge( ret,
+					typeof arr === "string" ?
+						[ arr ] : arr
+				);
+			} else {
+				push.call( ret, arr );
+			}
+		}
+
+		return ret;
+	},
+
+	inArray: function( elem, arr, i ) {
+		return arr == null ? -1 : indexOf.call( arr, elem, i );
+	},
+
+	// Support: Android <=4.0 only, PhantomJS 1 only
+	// push.apply(_, arraylike) throws on ancient WebKit
+	merge: function( first, second ) {
+		var len = +second.length,
+			j = 0,
+			i = first.length;
+
+		for ( ; j < len; j++ ) {
+			first[ i++ ] = second[ j ];
+		}
+
+		first.length = i;
+
+		return first;
+	},
+
+	grep: function( elems, callback, invert ) {
+		var callbackInverse,
+			matches = [],
+			i = 0,
+			length = elems.length,
+			callbackExpect = !invert;
+
+		// Go through the array, only saving the items
+		// that pass the validator function
+		for ( ; i < length; i++ ) {
+			callbackInverse = !callback( elems[ i ], i );
+			if ( callbackInverse !== callbackExpect ) {
+				matches.push( elems[ i ] );
+			}
+		}
+
+		return matches;
+	},
+
+	// arg is for internal usage only
+	map: function( elems, callback, arg ) {
+		var length, value,
+			i = 0,
+			ret = [];
+
+		// Go through the array, translating each of the items to their new values
+		if ( isArrayLike( elems ) ) {
+			length = elems.length;
+			for ( ; i < length; i++ ) {
+				value = callback( elems[ i ], i, arg );
+
+				if ( value != null ) {
+					ret.push( value );
+				}
+			}
+
+		// Go through every key on the object,
+		} else {
+			for ( i in elems ) {
+				value = callback( elems[ i ], i, arg );
+
+				if ( value != null ) {
+					ret.push( value );
+				}
+			}
+		}
+
+		// Flatten any nested arrays
+		return flat( ret );
+	},
+
+	// A global GUID counter for objects
+	guid: 1,
+
+	// jQuery.support is not used in Core but other projects attach their
+	// properties to it so it needs to exist.
+	support: support
+} );
+
+if ( typeof Symbol === "function" ) {
+	jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ];
+}
+
+// Populate the class2type map
+jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ),
+	function( _i, name ) {
+		class2type[ "[object " + name + "]" ] = name.toLowerCase();
+	} );
+
+function isArrayLike( obj ) {
+
+	// Support: real iOS 8.2 only (not reproducible in simulator)
+	// `in` check used to prevent JIT error (gh-2145)
+	// hasOwn isn't used here due to false negatives
+	// regarding Nodelist length in IE
+	var length = !!obj && "length" in obj && obj.length,
+		type = toType( obj );
+
+	if ( isFunction( obj ) || isWindow( obj ) ) {
+		return false;
+	}
+
+	return type === "array" || length === 0 ||
+		typeof length === "number" && length > 0 && ( length - 1 ) in obj;
+}
+var Sizzle =
+/*!
+ * Sizzle CSS Selector Engine v2.3.6
+ * https://sizzlejs.com/
+ *
+ * Copyright JS Foundation and other contributors
+ * Released under the MIT license
+ * https://js.foundation/
+ *
+ * Date: 2021-02-16
+ */
+( function( window ) {
+var i,
+	support,
+	Expr,
+	getText,
+	isXML,
+	tokenize,
+	compile,
+	select,
+	outermostContext,
+	sortInput,
+	hasDuplicate,
+
+	// Local document vars
+	setDocument,
+	document,
+	docElem,
+	documentIsHTML,
+	rbuggyQSA,
+	rbuggyMatches,
+	matches,
+	contains,
+
+	// Instance-specific data
+	expando = "sizzle" + 1 * new Date(),
+	preferredDoc = window.document,
+	dirruns = 0,
+	done = 0,
+	classCache = createCache(),
+	tokenCache = createCache(),
+	compilerCache = createCache(),
+	nonnativeSelectorCache = createCache(),
+	sortOrder = function( a, b ) {
+		if ( a === b ) {
+			hasDuplicate = true;
+		}
+		return 0;
+	},
+
+	// Instance methods
+	hasOwn = ( {} ).hasOwnProperty,
+	arr = [],
+	pop = arr.pop,
+	pushNative = arr.push,
+	push = arr.push,
+	slice = arr.slice,
+
+	// Use a stripped-down indexOf as it's faster than native
+	// https://jsperf.com/thor-indexof-vs-for/5
+	indexOf = function( list, elem ) {
+		var i = 0,
+			len = list.length;
+		for ( ; i < len; i++ ) {
+			if ( list[ i ] === elem ) {
+				return i;
+			}
+		}
+		return -1;
+	},
+
+	booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" +
+		"ismap|loop|multiple|open|readonly|required|scoped",
+
+	// Regular expressions
+
+	// http://www.w3.org/TR/css3-selectors/#whitespace
+	whitespace = "[\\x20\\t\\r\\n\\f]",
+
+	// https://www.w3.org/TR/css-syntax-3/#ident-token-diagram
+	identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace +
+		"?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+",
+
+	// Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors
+	attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace +
+
+		// Operator (capture 2)
+		"*([*^$|!~]?=)" + whitespace +
+
+		// "Attribute values must be CSS identifiers [capture 5]
+		// or strings [capture 3 or capture 4]"
+		"*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" +
+		whitespace + "*\\]",
+
+	pseudos = ":(" + identifier + ")(?:\\((" +
+
+		// To reduce the number of selectors needing tokenize in the preFilter, prefer arguments:
+		// 1. quoted (capture 3; capture 4 or capture 5)
+		"('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" +
+
+		// 2. simple (capture 6)
+		"((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" +
+
+		// 3. anything else (capture 2)
+		".*" +
+		")\\)|)",
+
+	// Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter
+	rwhitespace = new RegExp( whitespace + "+", "g" ),
+	rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" +
+		whitespace + "+$", "g" ),
+
+	rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ),
+	rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace +
+		"*" ),
+	rdescend = new RegExp( whitespace + "|>" ),
+
+	rpseudo = new RegExp( pseudos ),
+	ridentifier = new RegExp( "^" + identifier + "$" ),
+
+	matchExpr = {
+		"ID": new RegExp( "^#(" + identifier + ")" ),
+		"CLASS": new RegExp( "^\\.(" + identifier + ")" ),
+		"TAG": new RegExp( "^(" + identifier + "|[*])" ),
+		"ATTR": new RegExp( "^" + attributes ),
+		"PSEUDO": new RegExp( "^" + pseudos ),
+		"CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" +
+			whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" +
+			whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ),
+		"bool": new RegExp( "^(?:" + booleans + ")$", "i" ),
+
+		// For use in libraries implementing .is()
+		// We use this for POS matching in `select`
+		"needsContext": new RegExp( "^" + whitespace +
+			"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace +
+			"*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" )
+	},
+
+	rhtml = /HTML$/i,
+	rinputs = /^(?:input|select|textarea|button)$/i,
+	rheader = /^h\d$/i,
+
+	rnative = /^[^{]+\{\s*\[native \w/,
+
+	// Easily-parseable/retrievable ID or TAG or CLASS selectors
+	rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,
+
+	rsibling = /[+~]/,
+
+	// CSS escapes
+	// http://www.w3.org/TR/CSS21/syndata.html#escaped-characters
+	runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ),
+	funescape = function( escape, nonHex ) {
+		var high = "0x" + escape.slice( 1 ) - 0x10000;
+
+		return nonHex ?
+
+			// Strip the backslash prefix from a non-hex escape sequence
+			nonHex :
+
+			// Replace a hexadecimal escape sequence with the encoded Unicode code point
+			// Support: IE <=11+
+			// For values outside the Basic Multilingual Plane (BMP), manually construct a
+			// surrogate pair
+			high < 0 ?
+				String.fromCharCode( high + 0x10000 ) :
+				String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 );
+	},
+
+	// CSS string/identifier serialization
+	// https://drafts.csswg.org/cssom/#common-serializing-idioms
+	rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g,
+	fcssescape = function( ch, asCodePoint ) {
+		if ( asCodePoint ) {
+
+			// U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER
+			if ( ch === "\0" ) {
+				return "\uFFFD";
+			}
+
+			// Control characters and (dependent upon position) numbers get escaped as code points
+			return ch.slice( 0, -1 ) + "\\" +
+				ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " ";
+		}
+
+		// Other potentially-special ASCII characters get backslash-escaped
+		return "\\" + ch;
+	},
+
+	// Used for iframes
+	// See setDocument()
+	// Removing the function wrapper causes a "Permission Denied"
+	// error in IE
+	unloadHandler = function() {
+		setDocument();
+	},
+
+	inDisabledFieldset = addCombinator(
+		function( elem ) {
+			return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset";
+		},
+		{ dir: "parentNode", next: "legend" }
+	);
+
+// Optimize for push.apply( _, NodeList )
+try {
+	push.apply(
+		( arr = slice.call( preferredDoc.childNodes ) ),
+		preferredDoc.childNodes
+	);
+
+	// Support: Android<4.0
+	// Detect silently failing push.apply
+	// eslint-disable-next-line no-unused-expressions
+	arr[ preferredDoc.childNodes.length ].nodeType;
+} catch ( e ) {
+	push = { apply: arr.length ?
+
+		// Leverage slice if possible
+		function( target, els ) {
+			pushNative.apply( target, slice.call( els ) );
+		} :
+
+		// Support: IE<9
+		// Otherwise append directly
+		function( target, els ) {
+			var j = target.length,
+				i = 0;
+
+			// Can't trust NodeList.length
+			while ( ( target[ j++ ] = els[ i++ ] ) ) {}
+			target.length = j - 1;
+		}
+	};
+}
+
+function Sizzle( selector, context, results, seed ) {
+	var m, i, elem, nid, match, groups, newSelector,
+		newContext = context && context.ownerDocument,
+
+		// nodeType defaults to 9, since context defaults to document
+		nodeType = context ? context.nodeType : 9;
+
+	results = results || [];
+
+	// Return early from calls with invalid selector or context
+	if ( typeof selector !== "string" || !selector ||
+		nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) {
+
+		return results;
+	}
+
+	// Try to shortcut find operations (as opposed to filters) in HTML documents
+	if ( !seed ) {
+		setDocument( context );
+		context = context || document;
+
+		if ( documentIsHTML ) {
+
+			// If the selector is sufficiently simple, try using a "get*By*" DOM method
+			// (excepting DocumentFragment context, where the methods don't exist)
+			if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) {
+
+				// ID selector
+				if ( ( m = match[ 1 ] ) ) {
+
+					// Document context
+					if ( nodeType === 9 ) {
+						if ( ( elem = context.getElementById( m ) ) ) {
+
+							// Support: IE, Opera, Webkit
+							// TODO: identify versions
+							// getElementById can match elements by name instead of ID
+							if ( elem.id === m ) {
+								results.push( elem );
+								return results;
+							}
+						} else {
+							return results;
+						}
+
+					// Element context
+					} else {
+
+						// Support: IE, Opera, Webkit
+						// TODO: identify versions
+						// getElementById can match elements by name instead of ID
+						if ( newContext && ( elem = newContext.getElementById( m ) ) &&
+							contains( context, elem ) &&
+							elem.id === m ) {
+
+							results.push( elem );
+							return results;
+						}
+					}
+
+				// Type selector
+				} else if ( match[ 2 ] ) {
+					push.apply( results, context.getElementsByTagName( selector ) );
+					return results;
+
+				// Class selector
+				} else if ( ( m = match[ 3 ] ) && support.getElementsByClassName &&
+					context.getElementsByClassName ) {
+
+					push.apply( results, context.getElementsByClassName( m ) );
+					return results;
+				}
+			}
+
+			// Take advantage of querySelectorAll
+			if ( support.qsa &&
+				!nonnativeSelectorCache[ selector + " " ] &&
+				( !rbuggyQSA || !rbuggyQSA.test( selector ) ) &&
+
+				// Support: IE 8 only
+				// Exclude object elements
+				( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) {
+
+				newSelector = selector;
+				newContext = context;
+
+				// qSA considers elements outside a scoping root when evaluating child or
+				// descendant combinators, which is not what we want.
+				// In such cases, we work around the behavior by prefixing every selector in the
+				// list with an ID selector referencing the scope context.
+				// The technique has to be used as well when a leading combinator is used
+				// as such selectors are not recognized by querySelectorAll.
+				// Thanks to Andrew Dupont for this technique.
+				if ( nodeType === 1 &&
+					( rdescend.test( selector ) || rcombinators.test( selector ) ) ) {
+
+					// Expand context for sibling selectors
+					newContext = rsibling.test( selector ) && testContext( context.parentNode ) ||
+						context;
+
+					// We can use :scope instead of the ID hack if the browser
+					// supports it & if we're not changing the context.
+					if ( newContext !== context || !support.scope ) {
+
+						// Capture the context ID, setting it first if necessary
+						if ( ( nid = context.getAttribute( "id" ) ) ) {
+							nid = nid.replace( rcssescape, fcssescape );
+						} else {
+							context.setAttribute( "id", ( nid = expando ) );
+						}
+					}
+
+					// Prefix every selector in the list
+					groups = tokenize( selector );
+					i = groups.length;
+					while ( i-- ) {
+						groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " +
+							toSelector( groups[ i ] );
+					}
+					newSelector = groups.join( "," );
+				}
+
+				try {
+					push.apply( results,
+						newContext.querySelectorAll( newSelector )
+					);
+					return results;
+				} catch ( qsaError ) {
+					nonnativeSelectorCache( selector, true );
+				} finally {
+					if ( nid === expando ) {
+						context.removeAttribute( "id" );
+					}
+				}
+			}
+		}
+	}
+
+	// All others
+	return select( selector.replace( rtrim, "$1" ), context, results, seed );
+}
+
+/**
+ * Create key-value caches of limited size
+ * @returns {function(string, object)} Returns the Object data after storing it on itself with
+ *	property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength)
+ *	deleting the oldest entry
+ */
+function createCache() {
+	var keys = [];
+
+	function cache( key, value ) {
+
+		// Use (key + " ") to avoid collision with native prototype properties (see Issue #157)
+		if ( keys.push( key + " " ) > Expr.cacheLength ) {
+
+			// Only keep the most recent entries
+			delete cache[ keys.shift() ];
+		}
+		return ( cache[ key + " " ] = value );
+	}
+	return cache;
+}
+
+/**
+ * Mark a function for special use by Sizzle
+ * @param {Function} fn The function to mark
+ */
+function markFunction( fn ) {
+	fn[ expando ] = true;
+	return fn;
+}
+
+/**
+ * Support testing using an element
+ * @param {Function} fn Passed the created element and returns a boolean result
+ */
+function assert( fn ) {
+	var el = document.createElement( "fieldset" );
+
+	try {
+		return !!fn( el );
+	} catch ( e ) {
+		return false;
+	} finally {
+
+		// Remove from its parent by default
+		if ( el.parentNode ) {
+			el.parentNode.removeChild( el );
+		}
+
+		// release memory in IE
+		el = null;
+	}
+}
+
+/**
+ * Adds the same handler for all of the specified attrs
+ * @param {String} attrs Pipe-separated list of attributes
+ * @param {Function} handler The method that will be applied
+ */
+function addHandle( attrs, handler ) {
+	var arr = attrs.split( "|" ),
+		i = arr.length;
+
+	while ( i-- ) {
+		Expr.attrHandle[ arr[ i ] ] = handler;
+	}
+}
+
+/**
+ * Checks document order of two siblings
+ * @param {Element} a
+ * @param {Element} b
+ * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b
+ */
+function siblingCheck( a, b ) {
+	var cur = b && a,
+		diff = cur && a.nodeType === 1 && b.nodeType === 1 &&
+			a.sourceIndex - b.sourceIndex;
+
+	// Use IE sourceIndex if available on both nodes
+	if ( diff ) {
+		return diff;
+	}
+
+	// Check if b follows a
+	if ( cur ) {
+		while ( ( cur = cur.nextSibling ) ) {
+			if ( cur === b ) {
+				return -1;
+			}
+		}
+	}
+
+	return a ? 1 : -1;
+}
+
+/**
+ * Returns a function to use in pseudos for input types
+ * @param {String} type
+ */
+function createInputPseudo( type ) {
+	return function( elem ) {
+		var name = elem.nodeName.toLowerCase();
+		return name === "input" && elem.type === type;
+	};
+}
+
+/**
+ * Returns a function to use in pseudos for buttons
+ * @param {String} type
+ */
+function createButtonPseudo( type ) {
+	return function( elem ) {
+		var name = elem.nodeName.toLowerCase();
+		return ( name === "input" || name === "button" ) && elem.type === type;
+	};
+}
+
+/**
+ * Returns a function to use in pseudos for :enabled/:disabled
+ * @param {Boolean} disabled true for :disabled; false for :enabled
+ */
+function createDisabledPseudo( disabled ) {
+
+	// Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable
+	return function( elem ) {
+
+		// Only certain elements can match :enabled or :disabled
+		// https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled
+		// https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled
+		if ( "form" in elem ) {
+
+			// Check for inherited disabledness on relevant non-disabled elements:
+			// * listed form-associated elements in a disabled fieldset
+			//   https://html.spec.whatwg.org/multipage/forms.html#category-listed
+			//   https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled
+			// * option elements in a disabled optgroup
+			//   https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled
+			// All such elements have a "form" property.
+			if ( elem.parentNode && elem.disabled === false ) {
+
+				// Option elements defer to a parent optgroup if present
+				if ( "label" in elem ) {
+					if ( "label" in elem.parentNode ) {
+						return elem.parentNode.disabled === disabled;
+					} else {
+						return elem.disabled === disabled;
+					}
+				}
+
+				// Support: IE 6 - 11
+				// Use the isDisabled shortcut property to check for disabled fieldset ancestors
+				return elem.isDisabled === disabled ||
+
+					// Where there is no isDisabled, check manually
+					/* jshint -W018 */
+					elem.isDisabled !== !disabled &&
+					inDisabledFieldset( elem ) === disabled;
+			}
+
+			return elem.disabled === disabled;
+
+		// Try to winnow out elements that can't be disabled before trusting the disabled property.
+		// Some victims get caught in our net (label, legend, menu, track), but it shouldn't
+		// even exist on them, let alone have a boolean value.
+		} else if ( "label" in elem ) {
+			return elem.disabled === disabled;
+		}
+
+		// Remaining elements are neither :enabled nor :disabled
+		return false;
+	};
+}
+
+/**
+ * Returns a function to use in pseudos for positionals
+ * @param {Function} fn
+ */
+function createPositionalPseudo( fn ) {
+	return markFunction( function( argument ) {
+		argument = +argument;
+		return markFunction( function( seed, matches ) {
+			var j,
+				matchIndexes = fn( [], seed.length, argument ),
+				i = matchIndexes.length;
+
+			// Match elements found at the specified indexes
+			while ( i-- ) {
+				if ( seed[ ( j = matchIndexes[ i ] ) ] ) {
+					seed[ j ] = !( matches[ j ] = seed[ j ] );
+				}
+			}
+		} );
+	} );
+}
+
+/**
+ * Checks a node for validity as a Sizzle context
+ * @param {Element|Object=} context
+ * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value
+ */
+function testContext( context ) {
+	return context && typeof context.getElementsByTagName !== "undefined" && context;
+}
+
+// Expose support vars for convenience
+support = Sizzle.support = {};
+
+/**
+ * Detects XML nodes
+ * @param {Element|Object} elem An element or a document
+ * @returns {Boolean} True iff elem is a non-HTML XML node
+ */
+isXML = Sizzle.isXML = function( elem ) {
+	var namespace = elem && elem.namespaceURI,
+		docElem = elem && ( elem.ownerDocument || elem ).documentElement;
+
+	// Support: IE <=8
+	// Assume HTML when documentElement doesn't yet exist, such as inside loading iframes
+	// https://bugs.jquery.com/ticket/4833
+	return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" );
+};
+
+/**
+ * Sets document-related variables once based on the current document
+ * @param {Element|Object} [doc] An element or document object to use to set the document
+ * @returns {Object} Returns the current document
+ */
+setDocument = Sizzle.setDocument = function( node ) {
+	var hasCompare, subWindow,
+		doc = node ? node.ownerDocument || node : preferredDoc;
+
+	// Return early if doc is invalid or already selected
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) {
+		return document;
+	}
+
+	// Update global variables
+	document = doc;
+	docElem = document.documentElement;
+	documentIsHTML = !isXML( document );
+
+	// Support: IE 9 - 11+, Edge 12 - 18+
+	// Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936)
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( preferredDoc != document &&
+		( subWindow = document.defaultView ) && subWindow.top !== subWindow ) {
+
+		// Support: IE 11, Edge
+		if ( subWindow.addEventListener ) {
+			subWindow.addEventListener( "unload", unloadHandler, false );
+
+		// Support: IE 9 - 10 only
+		} else if ( subWindow.attachEvent ) {
+			subWindow.attachEvent( "onunload", unloadHandler );
+		}
+	}
+
+	// Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only,
+	// Safari 4 - 5 only, Opera <=11.6 - 12.x only
+	// IE/Edge & older browsers don't support the :scope pseudo-class.
+	// Support: Safari 6.0 only
+	// Safari 6.0 supports :scope but it's an alias of :root there.
+	support.scope = assert( function( el ) {
+		docElem.appendChild( el ).appendChild( document.createElement( "div" ) );
+		return typeof el.querySelectorAll !== "undefined" &&
+			!el.querySelectorAll( ":scope fieldset div" ).length;
+	} );
+
+	/* Attributes
+	---------------------------------------------------------------------- */
+
+	// Support: IE<8
+	// Verify that getAttribute really returns attributes and not properties
+	// (excepting IE8 booleans)
+	support.attributes = assert( function( el ) {
+		el.className = "i";
+		return !el.getAttribute( "className" );
+	} );
+
+	/* getElement(s)By*
+	---------------------------------------------------------------------- */
+
+	// Check if getElementsByTagName("*") returns only elements
+	support.getElementsByTagName = assert( function( el ) {
+		el.appendChild( document.createComment( "" ) );
+		return !el.getElementsByTagName( "*" ).length;
+	} );
+
+	// Support: IE<9
+	support.getElementsByClassName = rnative.test( document.getElementsByClassName );
+
+	// Support: IE<10
+	// Check if getElementById returns elements by name
+	// The broken getElementById methods don't pick up programmatically-set names,
+	// so use a roundabout getElementsByName test
+	support.getById = assert( function( el ) {
+		docElem.appendChild( el ).id = expando;
+		return !document.getElementsByName || !document.getElementsByName( expando ).length;
+	} );
+
+	// ID filter and find
+	if ( support.getById ) {
+		Expr.filter[ "ID" ] = function( id ) {
+			var attrId = id.replace( runescape, funescape );
+			return function( elem ) {
+				return elem.getAttribute( "id" ) === attrId;
+			};
+		};
+		Expr.find[ "ID" ] = function( id, context ) {
+			if ( typeof context.getElementById !== "undefined" && documentIsHTML ) {
+				var elem = context.getElementById( id );
+				return elem ? [ elem ] : [];
+			}
+		};
+	} else {
+		Expr.filter[ "ID" ] =  function( id ) {
+			var attrId = id.replace( runescape, funescape );
+			return function( elem ) {
+				var node = typeof elem.getAttributeNode !== "undefined" &&
+					elem.getAttributeNode( "id" );
+				return node && node.value === attrId;
+			};
+		};
+
+		// Support: IE 6 - 7 only
+		// getElementById is not reliable as a find shortcut
+		Expr.find[ "ID" ] = function( id, context ) {
+			if ( typeof context.getElementById !== "undefined" && documentIsHTML ) {
+				var node, i, elems,
+					elem = context.getElementById( id );
+
+				if ( elem ) {
+
+					// Verify the id attribute
+					node = elem.getAttributeNode( "id" );
+					if ( node && node.value === id ) {
+						return [ elem ];
+					}
+
+					// Fall back on getElementsByName
+					elems = context.getElementsByName( id );
+					i = 0;
+					while ( ( elem = elems[ i++ ] ) ) {
+						node = elem.getAttributeNode( "id" );
+						if ( node && node.value === id ) {
+							return [ elem ];
+						}
+					}
+				}
+
+				return [];
+			}
+		};
+	}
+
+	// Tag
+	Expr.find[ "TAG" ] = support.getElementsByTagName ?
+		function( tag, context ) {
+			if ( typeof context.getElementsByTagName !== "undefined" ) {
+				return context.getElementsByTagName( tag );
+
+			// DocumentFragment nodes don't have gEBTN
+			} else if ( support.qsa ) {
+				return context.querySelectorAll( tag );
+			}
+		} :
+
+		function( tag, context ) {
+			var elem,
+				tmp = [],
+				i = 0,
+
+				// By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too
+				results = context.getElementsByTagName( tag );
+
+			// Filter out possible comments
+			if ( tag === "*" ) {
+				while ( ( elem = results[ i++ ] ) ) {
+					if ( elem.nodeType === 1 ) {
+						tmp.push( elem );
+					}
+				}
+
+				return tmp;
+			}
+			return results;
+		};
+
+	// Class
+	Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) {
+		if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) {
+			return context.getElementsByClassName( className );
+		}
+	};
+
+	/* QSA/matchesSelector
+	---------------------------------------------------------------------- */
+
+	// QSA and matchesSelector support
+
+	// matchesSelector(:active) reports false when true (IE9/Opera 11.5)
+	rbuggyMatches = [];
+
+	// qSa(:focus) reports false when true (Chrome 21)
+	// We allow this because of a bug in IE8/9 that throws an error
+	// whenever `document.activeElement` is accessed on an iframe
+	// So, we allow :focus to pass through QSA all the time to avoid the IE error
+	// See https://bugs.jquery.com/ticket/13378
+	rbuggyQSA = [];
+
+	if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) {
+
+		// Build QSA regex
+		// Regex strategy adopted from Diego Perini
+		assert( function( el ) {
+
+			var input;
+
+			// Select is set to empty string on purpose
+			// This is to test IE's treatment of not explicitly
+			// setting a boolean content attribute,
+			// since its presence should be enough
+			// https://bugs.jquery.com/ticket/12359
+			docElem.appendChild( el ).innerHTML = "<a id='" + expando + "'></a>" +
+				"<select id='" + expando + "-\r\\' msallowcapture=''>" +
+				"<option selected=''></option></select>";
+
+			// Support: IE8, Opera 11-12.16
+			// Nothing should be selected when empty strings follow ^= or $= or *=
+			// The test attribute must be unknown in Opera but "safe" for WinRT
+			// https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section
+			if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) {
+				rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" );
+			}
+
+			// Support: IE8
+			// Boolean attributes and "value" are not treated correctly
+			if ( !el.querySelectorAll( "[selected]" ).length ) {
+				rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" );
+			}
+
+			// Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+
+			if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) {
+				rbuggyQSA.push( "~=" );
+			}
+
+			// Support: IE 11+, Edge 15 - 18+
+			// IE 11/Edge don't find elements on a `[name='']` query in some cases.
+			// Adding a temporary attribute to the document before the selection works
+			// around the issue.
+			// Interestingly, IE 10 & older don't seem to have the issue.
+			input = document.createElement( "input" );
+			input.setAttribute( "name", "" );
+			el.appendChild( input );
+			if ( !el.querySelectorAll( "[name='']" ).length ) {
+				rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" +
+					whitespace + "*(?:''|\"\")" );
+			}
+
+			// Webkit/Opera - :checked should return selected option elements
+			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
+			// IE8 throws error here and will not see later tests
+			if ( !el.querySelectorAll( ":checked" ).length ) {
+				rbuggyQSA.push( ":checked" );
+			}
+
+			// Support: Safari 8+, iOS 8+
+			// https://bugs.webkit.org/show_bug.cgi?id=136851
+			// In-page `selector#id sibling-combinator selector` fails
+			if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) {
+				rbuggyQSA.push( ".#.+[+~]" );
+			}
+
+			// Support: Firefox <=3.6 - 5 only
+			// Old Firefox doesn't throw on a badly-escaped identifier.
+			el.querySelectorAll( "\\\f" );
+			rbuggyQSA.push( "[\\r\\n\\f]" );
+		} );
+
+		assert( function( el ) {
+			el.innerHTML = "<a href='' disabled='disabled'></a>" +
+				"<select disabled='disabled'><option/></select>";
+
+			// Support: Windows 8 Native Apps
+			// The type and name attributes are restricted during .innerHTML assignment
+			var input = document.createElement( "input" );
+			input.setAttribute( "type", "hidden" );
+			el.appendChild( input ).setAttribute( "name", "D" );
+
+			// Support: IE8
+			// Enforce case-sensitivity of name attribute
+			if ( el.querySelectorAll( "[name=d]" ).length ) {
+				rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" );
+			}
+
+			// FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled)
+			// IE8 throws error here and will not see later tests
+			if ( el.querySelectorAll( ":enabled" ).length !== 2 ) {
+				rbuggyQSA.push( ":enabled", ":disabled" );
+			}
+
+			// Support: IE9-11+
+			// IE's :disabled selector does not pick up the children of disabled fieldsets
+			docElem.appendChild( el ).disabled = true;
+			if ( el.querySelectorAll( ":disabled" ).length !== 2 ) {
+				rbuggyQSA.push( ":enabled", ":disabled" );
+			}
+
+			// Support: Opera 10 - 11 only
+			// Opera 10-11 does not throw on post-comma invalid pseudos
+			el.querySelectorAll( "*,:x" );
+			rbuggyQSA.push( ",.*:" );
+		} );
+	}
+
+	if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches ||
+		docElem.webkitMatchesSelector ||
+		docElem.mozMatchesSelector ||
+		docElem.oMatchesSelector ||
+		docElem.msMatchesSelector ) ) ) ) {
+
+		assert( function( el ) {
+
+			// Check to see if it's possible to do matchesSelector
+			// on a disconnected node (IE 9)
+			support.disconnectedMatch = matches.call( el, "*" );
+
+			// This should fail with an exception
+			// Gecko does not error, returns false instead
+			matches.call( el, "[s!='']:x" );
+			rbuggyMatches.push( "!=", pseudos );
+		} );
+	}
+
+	rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) );
+	rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) );
+
+	/* Contains
+	---------------------------------------------------------------------- */
+	hasCompare = rnative.test( docElem.compareDocumentPosition );
+
+	// Element contains another
+	// Purposefully self-exclusive
+	// As in, an element does not contain itself
+	contains = hasCompare || rnative.test( docElem.contains ) ?
+		function( a, b ) {
+			var adown = a.nodeType === 9 ? a.documentElement : a,
+				bup = b && b.parentNode;
+			return a === bup || !!( bup && bup.nodeType === 1 && (
+				adown.contains ?
+					adown.contains( bup ) :
+					a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16
+			) );
+		} :
+		function( a, b ) {
+			if ( b ) {
+				while ( ( b = b.parentNode ) ) {
+					if ( b === a ) {
+						return true;
+					}
+				}
+			}
+			return false;
+		};
+
+	/* Sorting
+	---------------------------------------------------------------------- */
+
+	// Document order sorting
+	sortOrder = hasCompare ?
+	function( a, b ) {
+
+		// Flag for duplicate removal
+		if ( a === b ) {
+			hasDuplicate = true;
+			return 0;
+		}
+
+		// Sort on method existence if only one input has compareDocumentPosition
+		var compare = !a.compareDocumentPosition - !b.compareDocumentPosition;
+		if ( compare ) {
+			return compare;
+		}
+
+		// Calculate position if both inputs belong to the same document
+		// Support: IE 11+, Edge 17 - 18+
+		// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+		// two documents; shallow comparisons work.
+		// eslint-disable-next-line eqeqeq
+		compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ?
+			a.compareDocumentPosition( b ) :
+
+			// Otherwise we know they are disconnected
+			1;
+
+		// Disconnected nodes
+		if ( compare & 1 ||
+			( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) {
+
+			// Choose the first element that is related to our preferred document
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			// eslint-disable-next-line eqeqeq
+			if ( a == document || a.ownerDocument == preferredDoc &&
+				contains( preferredDoc, a ) ) {
+				return -1;
+			}
+
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			// eslint-disable-next-line eqeqeq
+			if ( b == document || b.ownerDocument == preferredDoc &&
+				contains( preferredDoc, b ) ) {
+				return 1;
+			}
+
+			// Maintain original order
+			return sortInput ?
+				( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) :
+				0;
+		}
+
+		return compare & 4 ? -1 : 1;
+	} :
+	function( a, b ) {
+
+		// Exit early if the nodes are identical
+		if ( a === b ) {
+			hasDuplicate = true;
+			return 0;
+		}
+
+		var cur,
+			i = 0,
+			aup = a.parentNode,
+			bup = b.parentNode,
+			ap = [ a ],
+			bp = [ b ];
+
+		// Parentless nodes are either documents or disconnected
+		if ( !aup || !bup ) {
+
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			/* eslint-disable eqeqeq */
+			return a == document ? -1 :
+				b == document ? 1 :
+				/* eslint-enable eqeqeq */
+				aup ? -1 :
+				bup ? 1 :
+				sortInput ?
+				( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) :
+				0;
+
+		// If the nodes are siblings, we can do a quick check
+		} else if ( aup === bup ) {
+			return siblingCheck( a, b );
+		}
+
+		// Otherwise we need full lists of their ancestors for comparison
+		cur = a;
+		while ( ( cur = cur.parentNode ) ) {
+			ap.unshift( cur );
+		}
+		cur = b;
+		while ( ( cur = cur.parentNode ) ) {
+			bp.unshift( cur );
+		}
+
+		// Walk down the tree looking for a discrepancy
+		while ( ap[ i ] === bp[ i ] ) {
+			i++;
+		}
+
+		return i ?
+
+			// Do a sibling check if the nodes have a common ancestor
+			siblingCheck( ap[ i ], bp[ i ] ) :
+
+			// Otherwise nodes in our document sort first
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			/* eslint-disable eqeqeq */
+			ap[ i ] == preferredDoc ? -1 :
+			bp[ i ] == preferredDoc ? 1 :
+			/* eslint-enable eqeqeq */
+			0;
+	};
+
+	return document;
+};
+
+Sizzle.matches = function( expr, elements ) {
+	return Sizzle( expr, null, null, elements );
+};
+
+Sizzle.matchesSelector = function( elem, expr ) {
+	setDocument( elem );
+
+	if ( support.matchesSelector && documentIsHTML &&
+		!nonnativeSelectorCache[ expr + " " ] &&
+		( !rbuggyMatches || !rbuggyMatches.test( expr ) ) &&
+		( !rbuggyQSA     || !rbuggyQSA.test( expr ) ) ) {
+
+		try {
+			var ret = matches.call( elem, expr );
+
+			// IE 9's matchesSelector returns false on disconnected nodes
+			if ( ret || support.disconnectedMatch ||
+
+				// As well, disconnected nodes are said to be in a document
+				// fragment in IE 9
+				elem.document && elem.document.nodeType !== 11 ) {
+				return ret;
+			}
+		} catch ( e ) {
+			nonnativeSelectorCache( expr, true );
+		}
+	}
+
+	return Sizzle( expr, document, null, [ elem ] ).length > 0;
+};
+
+Sizzle.contains = function( context, elem ) {
+
+	// Set document vars if needed
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( ( context.ownerDocument || context ) != document ) {
+		setDocument( context );
+	}
+	return contains( context, elem );
+};
+
+Sizzle.attr = function( elem, name ) {
+
+	// Set document vars if needed
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( ( elem.ownerDocument || elem ) != document ) {
+		setDocument( elem );
+	}
+
+	var fn = Expr.attrHandle[ name.toLowerCase() ],
+
+		// Don't get fooled by Object.prototype properties (jQuery #13807)
+		val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ?
+			fn( elem, name, !documentIsHTML ) :
+			undefined;
+
+	return val !== undefined ?
+		val :
+		support.attributes || !documentIsHTML ?
+			elem.getAttribute( name ) :
+			( val = elem.getAttributeNode( name ) ) && val.specified ?
+				val.value :
+				null;
+};
+
+Sizzle.escape = function( sel ) {
+	return ( sel + "" ).replace( rcssescape, fcssescape );
+};
+
+Sizzle.error = function( msg ) {
+	throw new Error( "Syntax error, unrecognized expression: " + msg );
+};
+
+/**
+ * Document sorting and removing duplicates
+ * @param {ArrayLike} results
+ */
+Sizzle.uniqueSort = function( results ) {
+	var elem,
+		duplicates = [],
+		j = 0,
+		i = 0;
+
+	// Unless we *know* we can detect duplicates, assume their presence
+	hasDuplicate = !support.detectDuplicates;
+	sortInput = !support.sortStable && results.slice( 0 );
+	results.sort( sortOrder );
+
+	if ( hasDuplicate ) {
+		while ( ( elem = results[ i++ ] ) ) {
+			if ( elem === results[ i ] ) {
+				j = duplicates.push( i );
+			}
+		}
+		while ( j-- ) {
+			results.splice( duplicates[ j ], 1 );
+		}
+	}
+
+	// Clear input after sorting to release objects
+	// See https://github.com/jquery/sizzle/pull/225
+	sortInput = null;
+
+	return results;
+};
+
+/**
+ * Utility function for retrieving the text value of an array of DOM nodes
+ * @param {Array|Element} elem
+ */
+getText = Sizzle.getText = function( elem ) {
+	var node,
+		ret = "",
+		i = 0,
+		nodeType = elem.nodeType;
+
+	if ( !nodeType ) {
+
+		// If no nodeType, this is expected to be an array
+		while ( ( node = elem[ i++ ] ) ) {
+
+			// Do not traverse comment nodes
+			ret += getText( node );
+		}
+	} else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) {
+
+		// Use textContent for elements
+		// innerText usage removed for consistency of new lines (jQuery #11153)
+		if ( typeof elem.textContent === "string" ) {
+			return elem.textContent;
+		} else {
+
+			// Traverse its children
+			for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
+				ret += getText( elem );
+			}
+		}
+	} else if ( nodeType === 3 || nodeType === 4 ) {
+		return elem.nodeValue;
+	}
+
+	// Do not include comment or processing instruction nodes
+
+	return ret;
+};
+
+Expr = Sizzle.selectors = {
+
+	// Can be adjusted by the user
+	cacheLength: 50,
+
+	createPseudo: markFunction,
+
+	match: matchExpr,
+
+	attrHandle: {},
+
+	find: {},
+
+	relative: {
+		">": { dir: "parentNode", first: true },
+		" ": { dir: "parentNode" },
+		"+": { dir: "previousSibling", first: true },
+		"~": { dir: "previousSibling" }
+	},
+
+	preFilter: {
+		"ATTR": function( match ) {
+			match[ 1 ] = match[ 1 ].replace( runescape, funescape );
+
+			// Move the given value to match[3] whether quoted or unquoted
+			match[ 3 ] = ( match[ 3 ] || match[ 4 ] ||
+				match[ 5 ] || "" ).replace( runescape, funescape );
+
+			if ( match[ 2 ] === "~=" ) {
+				match[ 3 ] = " " + match[ 3 ] + " ";
+			}
+
+			return match.slice( 0, 4 );
+		},
+
+		"CHILD": function( match ) {
+
+			/* matches from matchExpr["CHILD"]
+				1 type (only|nth|...)
+				2 what (child|of-type)
+				3 argument (even|odd|\d*|\d*n([+-]\d+)?|...)
+				4 xn-component of xn+y argument ([+-]?\d*n|)
+				5 sign of xn-component
+				6 x of xn-component
+				7 sign of y-component
+				8 y of y-component
+			*/
+			match[ 1 ] = match[ 1 ].toLowerCase();
+
+			if ( match[ 1 ].slice( 0, 3 ) === "nth" ) {
+
+				// nth-* requires argument
+				if ( !match[ 3 ] ) {
+					Sizzle.error( match[ 0 ] );
+				}
+
+				// numeric x and y parameters for Expr.filter.CHILD
+				// remember that false/true cast respectively to 0/1
+				match[ 4 ] = +( match[ 4 ] ?
+					match[ 5 ] + ( match[ 6 ] || 1 ) :
+					2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) );
+				match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" );
+
+				// other types prohibit arguments
+			} else if ( match[ 3 ] ) {
+				Sizzle.error( match[ 0 ] );
+			}
+
+			return match;
+		},
+
+		"PSEUDO": function( match ) {
+			var excess,
+				unquoted = !match[ 6 ] && match[ 2 ];
+
+			if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) {
+				return null;
+			}
+
+			// Accept quoted arguments as-is
+			if ( match[ 3 ] ) {
+				match[ 2 ] = match[ 4 ] || match[ 5 ] || "";
+
+			// Strip excess characters from unquoted arguments
+			} else if ( unquoted && rpseudo.test( unquoted ) &&
+
+				// Get excess from tokenize (recursively)
+				( excess = tokenize( unquoted, true ) ) &&
+
+				// advance to the next closing parenthesis
+				( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) {
+
+				// excess is a negative index
+				match[ 0 ] = match[ 0 ].slice( 0, excess );
+				match[ 2 ] = unquoted.slice( 0, excess );
+			}
+
+			// Return only captures needed by the pseudo filter method (type and argument)
+			return match.slice( 0, 3 );
+		}
+	},
+
+	filter: {
+
+		"TAG": function( nodeNameSelector ) {
+			var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase();
+			return nodeNameSelector === "*" ?
+				function() {
+					return true;
+				} :
+				function( elem ) {
+					return elem.nodeName && elem.nodeName.toLowerCase() === nodeName;
+				};
+		},
+
+		"CLASS": function( className ) {
+			var pattern = classCache[ className + " " ];
+
+			return pattern ||
+				( pattern = new RegExp( "(^|" + whitespace +
+					")" + className + "(" + whitespace + "|$)" ) ) && classCache(
+						className, function( elem ) {
+							return pattern.test(
+								typeof elem.className === "string" && elem.className ||
+								typeof elem.getAttribute !== "undefined" &&
+									elem.getAttribute( "class" ) ||
+								""
+							);
+				} );
+		},
+
+		"ATTR": function( name, operator, check ) {
+			return function( elem ) {
+				var result = Sizzle.attr( elem, name );
+
+				if ( result == null ) {
+					return operator === "!=";
+				}
+				if ( !operator ) {
+					return true;
+				}
+
+				result += "";
+
+				/* eslint-disable max-len */
+
+				return operator === "=" ? result === check :
+					operator === "!=" ? result !== check :
+					operator === "^=" ? check && result.indexOf( check ) === 0 :
+					operator === "*=" ? check && result.indexOf( check ) > -1 :
+					operator === "$=" ? check && result.slice( -check.length ) === check :
+					operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 :
+					operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" :
+					false;
+				/* eslint-enable max-len */
+
+			};
+		},
+
+		"CHILD": function( type, what, _argument, first, last ) {
+			var simple = type.slice( 0, 3 ) !== "nth",
+				forward = type.slice( -4 ) !== "last",
+				ofType = what === "of-type";
+
+			return first === 1 && last === 0 ?
+
+				// Shortcut for :nth-*(n)
+				function( elem ) {
+					return !!elem.parentNode;
+				} :
+
+				function( elem, _context, xml ) {
+					var cache, uniqueCache, outerCache, node, nodeIndex, start,
+						dir = simple !== forward ? "nextSibling" : "previousSibling",
+						parent = elem.parentNode,
+						name = ofType && elem.nodeName.toLowerCase(),
+						useCache = !xml && !ofType,
+						diff = false;
+
+					if ( parent ) {
+
+						// :(first|last|only)-(child|of-type)
+						if ( simple ) {
+							while ( dir ) {
+								node = elem;
+								while ( ( node = node[ dir ] ) ) {
+									if ( ofType ?
+										node.nodeName.toLowerCase() === name :
+										node.nodeType === 1 ) {
+
+										return false;
+									}
+								}
+
+								// Reverse direction for :only-* (if we haven't yet done so)
+								start = dir = type === "only" && !start && "nextSibling";
+							}
+							return true;
+						}
+
+						start = [ forward ? parent.firstChild : parent.lastChild ];
+
+						// non-xml :nth-child(...) stores cache data on `parent`
+						if ( forward && useCache ) {
+
+							// Seek `elem` from a previously-cached index
+
+							// ...in a gzip-friendly way
+							node = parent;
+							outerCache = node[ expando ] || ( node[ expando ] = {} );
+
+							// Support: IE <9 only
+							// Defend against cloned attroperties (jQuery gh-1709)
+							uniqueCache = outerCache[ node.uniqueID ] ||
+								( outerCache[ node.uniqueID ] = {} );
+
+							cache = uniqueCache[ type ] || [];
+							nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ];
+							diff = nodeIndex && cache[ 2 ];
+							node = nodeIndex && parent.childNodes[ nodeIndex ];
+
+							while ( ( node = ++nodeIndex && node && node[ dir ] ||
+
+								// Fallback to seeking `elem` from the start
+								( diff = nodeIndex = 0 ) || start.pop() ) ) {
+
+								// When found, cache indexes on `parent` and break
+								if ( node.nodeType === 1 && ++diff && node === elem ) {
+									uniqueCache[ type ] = [ dirruns, nodeIndex, diff ];
+									break;
+								}
+							}
+
+						} else {
+
+							// Use previously-cached element index if available
+							if ( useCache ) {
+
+								// ...in a gzip-friendly way
+								node = elem;
+								outerCache = node[ expando ] || ( node[ expando ] = {} );
+
+								// Support: IE <9 only
+								// Defend against cloned attroperties (jQuery gh-1709)
+								uniqueCache = outerCache[ node.uniqueID ] ||
+									( outerCache[ node.uniqueID ] = {} );
+
+								cache = uniqueCache[ type ] || [];
+								nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ];
+								diff = nodeIndex;
+							}
+
+							// xml :nth-child(...)
+							// or :nth-last-child(...) or :nth(-last)?-of-type(...)
+							if ( diff === false ) {
+
+								// Use the same loop as above to seek `elem` from the start
+								while ( ( node = ++nodeIndex && node && node[ dir ] ||
+									( diff = nodeIndex = 0 ) || start.pop() ) ) {
+
+									if ( ( ofType ?
+										node.nodeName.toLowerCase() === name :
+										node.nodeType === 1 ) &&
+										++diff ) {
+
+										// Cache the index of each encountered element
+										if ( useCache ) {
+											outerCache = node[ expando ] ||
+												( node[ expando ] = {} );
+
+											// Support: IE <9 only
+											// Defend against cloned attroperties (jQuery gh-1709)
+											uniqueCache = outerCache[ node.uniqueID ] ||
+												( outerCache[ node.uniqueID ] = {} );
+
+											uniqueCache[ type ] = [ dirruns, diff ];
+										}
+
+										if ( node === elem ) {
+											break;
+										}
+									}
+								}
+							}
+						}
+
+						// Incorporate the offset, then check against cycle size
+						diff -= last;
+						return diff === first || ( diff % first === 0 && diff / first >= 0 );
+					}
+				};
+		},
+
+		"PSEUDO": function( pseudo, argument ) {
+
+			// pseudo-class names are case-insensitive
+			// http://www.w3.org/TR/selectors/#pseudo-classes
+			// Prioritize by case sensitivity in case custom pseudos are added with uppercase letters
+			// Remember that setFilters inherits from pseudos
+			var args,
+				fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] ||
+					Sizzle.error( "unsupported pseudo: " + pseudo );
+
+			// The user may use createPseudo to indicate that
+			// arguments are needed to create the filter function
+			// just as Sizzle does
+			if ( fn[ expando ] ) {
+				return fn( argument );
+			}
+
+			// But maintain support for old signatures
+			if ( fn.length > 1 ) {
+				args = [ pseudo, pseudo, "", argument ];
+				return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ?
+					markFunction( function( seed, matches ) {
+						var idx,
+							matched = fn( seed, argument ),
+							i = matched.length;
+						while ( i-- ) {
+							idx = indexOf( seed, matched[ i ] );
+							seed[ idx ] = !( matches[ idx ] = matched[ i ] );
+						}
+					} ) :
+					function( elem ) {
+						return fn( elem, 0, args );
+					};
+			}
+
+			return fn;
+		}
+	},
+
+	pseudos: {
+
+		// Potentially complex pseudos
+		"not": markFunction( function( selector ) {
+
+			// Trim the selector passed to compile
+			// to avoid treating leading and trailing
+			// spaces as combinators
+			var input = [],
+				results = [],
+				matcher = compile( selector.replace( rtrim, "$1" ) );
+
+			return matcher[ expando ] ?
+				markFunction( function( seed, matches, _context, xml ) {
+					var elem,
+						unmatched = matcher( seed, null, xml, [] ),
+						i = seed.length;
+
+					// Match elements unmatched by `matcher`
+					while ( i-- ) {
+						if ( ( elem = unmatched[ i ] ) ) {
+							seed[ i ] = !( matches[ i ] = elem );
+						}
+					}
+				} ) :
+				function( elem, _context, xml ) {
+					input[ 0 ] = elem;
+					matcher( input, null, xml, results );
+
+					// Don't keep the element (issue #299)
+					input[ 0 ] = null;
+					return !results.pop();
+				};
+		} ),
+
+		"has": markFunction( function( selector ) {
+			return function( elem ) {
+				return Sizzle( selector, elem ).length > 0;
+			};
+		} ),
+
+		"contains": markFunction( function( text ) {
+			text = text.replace( runescape, funescape );
+			return function( elem ) {
+				return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1;
+			};
+		} ),
+
+		// "Whether an element is represented by a :lang() selector
+		// is based solely on the element's language value
+		// being equal to the identifier C,
+		// or beginning with the identifier C immediately followed by "-".
+		// The matching of C against the element's language value is performed case-insensitively.
+		// The identifier C does not have to be a valid language name."
+		// http://www.w3.org/TR/selectors/#lang-pseudo
+		"lang": markFunction( function( lang ) {
+
+			// lang value must be a valid identifier
+			if ( !ridentifier.test( lang || "" ) ) {
+				Sizzle.error( "unsupported lang: " + lang );
+			}
+			lang = lang.replace( runescape, funescape ).toLowerCase();
+			return function( elem ) {
+				var elemLang;
+				do {
+					if ( ( elemLang = documentIsHTML ?
+						elem.lang :
+						elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) {
+
+						elemLang = elemLang.toLowerCase();
+						return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0;
+					}
+				} while ( ( elem = elem.parentNode ) && elem.nodeType === 1 );
+				return false;
+			};
+		} ),
+
+		// Miscellaneous
+		"target": function( elem ) {
+			var hash = window.location && window.location.hash;
+			return hash && hash.slice( 1 ) === elem.id;
+		},
+
+		"root": function( elem ) {
+			return elem === docElem;
+		},
+
+		"focus": function( elem ) {
+			return elem === document.activeElement &&
+				( !document.hasFocus || document.hasFocus() ) &&
+				!!( elem.type || elem.href || ~elem.tabIndex );
+		},
+
+		// Boolean properties
+		"enabled": createDisabledPseudo( false ),
+		"disabled": createDisabledPseudo( true ),
+
+		"checked": function( elem ) {
+
+			// In CSS3, :checked should return both checked and selected elements
+			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
+			var nodeName = elem.nodeName.toLowerCase();
+			return ( nodeName === "input" && !!elem.checked ) ||
+				( nodeName === "option" && !!elem.selected );
+		},
+
+		"selected": function( elem ) {
+
+			// Accessing this property makes selected-by-default
+			// options in Safari work properly
+			if ( elem.parentNode ) {
+				// eslint-disable-next-line no-unused-expressions
+				elem.parentNode.selectedIndex;
+			}
+
+			return elem.selected === true;
+		},
+
+		// Contents
+		"empty": function( elem ) {
+
+			// http://www.w3.org/TR/selectors/#empty-pseudo
+			// :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5),
+			//   but not by others (comment: 8; processing instruction: 7; etc.)
+			// nodeType < 6 works because attributes (2) do not appear as children
+			for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
+				if ( elem.nodeType < 6 ) {
+					return false;
+				}
+			}
+			return true;
+		},
+
+		"parent": function( elem ) {
+			return !Expr.pseudos[ "empty" ]( elem );
+		},
+
+		// Element/input types
+		"header": function( elem ) {
+			return rheader.test( elem.nodeName );
+		},
+
+		"input": function( elem ) {
+			return rinputs.test( elem.nodeName );
+		},
+
+		"button": function( elem ) {
+			var name = elem.nodeName.toLowerCase();
+			return name === "input" && elem.type === "button" || name === "button";
+		},
+
+		"text": function( elem ) {
+			var attr;
+			return elem.nodeName.toLowerCase() === "input" &&
+				elem.type === "text" &&
+
+				// Support: IE<8
+				// New HTML5 attribute values (e.g., "search") appear with elem.type === "text"
+				( ( attr = elem.getAttribute( "type" ) ) == null ||
+					attr.toLowerCase() === "text" );
+		},
+
+		// Position-in-collection
+		"first": createPositionalPseudo( function() {
+			return [ 0 ];
+		} ),
+
+		"last": createPositionalPseudo( function( _matchIndexes, length ) {
+			return [ length - 1 ];
+		} ),
+
+		"eq": createPositionalPseudo( function( _matchIndexes, length, argument ) {
+			return [ argument < 0 ? argument + length : argument ];
+		} ),
+
+		"even": createPositionalPseudo( function( matchIndexes, length ) {
+			var i = 0;
+			for ( ; i < length; i += 2 ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} ),
+
+		"odd": createPositionalPseudo( function( matchIndexes, length ) {
+			var i = 1;
+			for ( ; i < length; i += 2 ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} ),
+
+		"lt": createPositionalPseudo( function( matchIndexes, length, argument ) {
+			var i = argument < 0 ?
+				argument + length :
+				argument > length ?
+					length :
+					argument;
+			for ( ; --i >= 0; ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} ),
+
+		"gt": createPositionalPseudo( function( matchIndexes, length, argument ) {
+			var i = argument < 0 ? argument + length : argument;
+			for ( ; ++i < length; ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} )
+	}
+};
+
+Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ];
+
+// Add button/input type pseudos
+for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) {
+	Expr.pseudos[ i ] = createInputPseudo( i );
+}
+for ( i in { submit: true, reset: true } ) {
+	Expr.pseudos[ i ] = createButtonPseudo( i );
+}
+
+// Easy API for creating new setFilters
+function setFilters() {}
+setFilters.prototype = Expr.filters = Expr.pseudos;
+Expr.setFilters = new setFilters();
+
+tokenize = Sizzle.tokenize = function( selector, parseOnly ) {
+	var matched, match, tokens, type,
+		soFar, groups, preFilters,
+		cached = tokenCache[ selector + " " ];
+
+	if ( cached ) {
+		return parseOnly ? 0 : cached.slice( 0 );
+	}
+
+	soFar = selector;
+	groups = [];
+	preFilters = Expr.preFilter;
+
+	while ( soFar ) {
+
+		// Comma and first run
+		if ( !matched || ( match = rcomma.exec( soFar ) ) ) {
+			if ( match ) {
+
+				// Don't consume trailing commas as valid
+				soFar = soFar.slice( match[ 0 ].length ) || soFar;
+			}
+			groups.push( ( tokens = [] ) );
+		}
+
+		matched = false;
+
+		// Combinators
+		if ( ( match = rcombinators.exec( soFar ) ) ) {
+			matched = match.shift();
+			tokens.push( {
+				value: matched,
+
+				// Cast descendant combinators to space
+				type: match[ 0 ].replace( rtrim, " " )
+			} );
+			soFar = soFar.slice( matched.length );
+		}
+
+		// Filters
+		for ( type in Expr.filter ) {
+			if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] ||
+				( match = preFilters[ type ]( match ) ) ) ) {
+				matched = match.shift();
+				tokens.push( {
+					value: matched,
+					type: type,
+					matches: match
+				} );
+				soFar = soFar.slice( matched.length );
+			}
+		}
+
+		if ( !matched ) {
+			break;
+		}
+	}
+
+	// Return the length of the invalid excess
+	// if we're just parsing
+	// Otherwise, throw an error or return tokens
+	return parseOnly ?
+		soFar.length :
+		soFar ?
+			Sizzle.error( selector ) :
+
+			// Cache the tokens
+			tokenCache( selector, groups ).slice( 0 );
+};
+
+function toSelector( tokens ) {
+	var i = 0,
+		len = tokens.length,
+		selector = "";
+	for ( ; i < len; i++ ) {
+		selector += tokens[ i ].value;
+	}
+	return selector;
+}
+
+function addCombinator( matcher, combinator, base ) {
+	var dir = combinator.dir,
+		skip = combinator.next,
+		key = skip || dir,
+		checkNonElements = base && key === "parentNode",
+		doneName = done++;
+
+	return combinator.first ?
+
+		// Check against closest ancestor/preceding element
+		function( elem, context, xml ) {
+			while ( ( elem = elem[ dir ] ) ) {
+				if ( elem.nodeType === 1 || checkNonElements ) {
+					return matcher( elem, context, xml );
+				}
+			}
+			return false;
+		} :
+
+		// Check against all ancestor/preceding elements
+		function( elem, context, xml ) {
+			var oldCache, uniqueCache, outerCache,
+				newCache = [ dirruns, doneName ];
+
+			// We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching
+			if ( xml ) {
+				while ( ( elem = elem[ dir ] ) ) {
+					if ( elem.nodeType === 1 || checkNonElements ) {
+						if ( matcher( elem, context, xml ) ) {
+							return true;
+						}
+					}
+				}
+			} else {
+				while ( ( elem = elem[ dir ] ) ) {
+					if ( elem.nodeType === 1 || checkNonElements ) {
+						outerCache = elem[ expando ] || ( elem[ expando ] = {} );
+
+						// Support: IE <9 only
+						// Defend against cloned attroperties (jQuery gh-1709)
+						uniqueCache = outerCache[ elem.uniqueID ] ||
+							( outerCache[ elem.uniqueID ] = {} );
+
+						if ( skip && skip === elem.nodeName.toLowerCase() ) {
+							elem = elem[ dir ] || elem;
+						} else if ( ( oldCache = uniqueCache[ key ] ) &&
+							oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) {
+
+							// Assign to newCache so results back-propagate to previous elements
+							return ( newCache[ 2 ] = oldCache[ 2 ] );
+						} else {
+
+							// Reuse newcache so results back-propagate to previous elements
+							uniqueCache[ key ] = newCache;
+
+							// A match means we're done; a fail means we have to keep checking
+							if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) {
+								return true;
+							}
+						}
+					}
+				}
+			}
+			return false;
+		};
+}
+
+function elementMatcher( matchers ) {
+	return matchers.length > 1 ?
+		function( elem, context, xml ) {
+			var i = matchers.length;
+			while ( i-- ) {
+				if ( !matchers[ i ]( elem, context, xml ) ) {
+					return false;
+				}
+			}
+			return true;
+		} :
+		matchers[ 0 ];
+}
+
+function multipleContexts( selector, contexts, results ) {
+	var i = 0,
+		len = contexts.length;
+	for ( ; i < len; i++ ) {
+		Sizzle( selector, contexts[ i ], results );
+	}
+	return results;
+}
+
+function condense( unmatched, map, filter, context, xml ) {
+	var elem,
+		newUnmatched = [],
+		i = 0,
+		len = unmatched.length,
+		mapped = map != null;
+
+	for ( ; i < len; i++ ) {
+		if ( ( elem = unmatched[ i ] ) ) {
+			if ( !filter || filter( elem, context, xml ) ) {
+				newUnmatched.push( elem );
+				if ( mapped ) {
+					map.push( i );
+				}
+			}
+		}
+	}
+
+	return newUnmatched;
+}
+
+function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) {
+	if ( postFilter && !postFilter[ expando ] ) {
+		postFilter = setMatcher( postFilter );
+	}
+	if ( postFinder && !postFinder[ expando ] ) {
+		postFinder = setMatcher( postFinder, postSelector );
+	}
+	return markFunction( function( seed, results, context, xml ) {
+		var temp, i, elem,
+			preMap = [],
+			postMap = [],
+			preexisting = results.length,
+
+			// Get initial elements from seed or context
+			elems = seed || multipleContexts(
+				selector || "*",
+				context.nodeType ? [ context ] : context,
+				[]
+			),
+
+			// Prefilter to get matcher input, preserving a map for seed-results synchronization
+			matcherIn = preFilter && ( seed || !selector ) ?
+				condense( elems, preMap, preFilter, context, xml ) :
+				elems,
+
+			matcherOut = matcher ?
+
+				// If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results,
+				postFinder || ( seed ? preFilter : preexisting || postFilter ) ?
+
+					// ...intermediate processing is necessary
+					[] :
+
+					// ...otherwise use results directly
+					results :
+				matcherIn;
+
+		// Find primary matches
+		if ( matcher ) {
+			matcher( matcherIn, matcherOut, context, xml );
+		}
+
+		// Apply postFilter
+		if ( postFilter ) {
+			temp = condense( matcherOut, postMap );
+			postFilter( temp, [], context, xml );
+
+			// Un-match failing elements by moving them back to matcherIn
+			i = temp.length;
+			while ( i-- ) {
+				if ( ( elem = temp[ i ] ) ) {
+					matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem );
+				}
+			}
+		}
+
+		if ( seed ) {
+			if ( postFinder || preFilter ) {
+				if ( postFinder ) {
+
+					// Get the final matcherOut by condensing this intermediate into postFinder contexts
+					temp = [];
+					i = matcherOut.length;
+					while ( i-- ) {
+						if ( ( elem = matcherOut[ i ] ) ) {
+
+							// Restore matcherIn since elem is not yet a final match
+							temp.push( ( matcherIn[ i ] = elem ) );
+						}
+					}
+					postFinder( null, ( matcherOut = [] ), temp, xml );
+				}
+
+				// Move matched elements from seed to results to keep them synchronized
+				i = matcherOut.length;
+				while ( i-- ) {
+					if ( ( elem = matcherOut[ i ] ) &&
+						( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) {
+
+						seed[ temp ] = !( results[ temp ] = elem );
+					}
+				}
+			}
+
+		// Add elements to results, through postFinder if defined
+		} else {
+			matcherOut = condense(
+				matcherOut === results ?
+					matcherOut.splice( preexisting, matcherOut.length ) :
+					matcherOut
+			);
+			if ( postFinder ) {
+				postFinder( null, results, matcherOut, xml );
+			} else {
+				push.apply( results, matcherOut );
+			}
+		}
+	} );
+}
+
+function matcherFromTokens( tokens ) {
+	var checkContext, matcher, j,
+		len = tokens.length,
+		leadingRelative = Expr.relative[ tokens[ 0 ].type ],
+		implicitRelative = leadingRelative || Expr.relative[ " " ],
+		i = leadingRelative ? 1 : 0,
+
+		// The foundational matcher ensures that elements are reachable from top-level context(s)
+		matchContext = addCombinator( function( elem ) {
+			return elem === checkContext;
+		}, implicitRelative, true ),
+		matchAnyContext = addCombinator( function( elem ) {
+			return indexOf( checkContext, elem ) > -1;
+		}, implicitRelative, true ),
+		matchers = [ function( elem, context, xml ) {
+			var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || (
+				( checkContext = context ).nodeType ?
+					matchContext( elem, context, xml ) :
+					matchAnyContext( elem, context, xml ) );
+
+			// Avoid hanging onto element (issue #299)
+			checkContext = null;
+			return ret;
+		} ];
+
+	for ( ; i < len; i++ ) {
+		if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) {
+			matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ];
+		} else {
+			matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches );
+
+			// Return special upon seeing a positional matcher
+			if ( matcher[ expando ] ) {
+
+				// Find the next relative operator (if any) for proper handling
+				j = ++i;
+				for ( ; j < len; j++ ) {
+					if ( Expr.relative[ tokens[ j ].type ] ) {
+						break;
+					}
+				}
+				return setMatcher(
+					i > 1 && elementMatcher( matchers ),
+					i > 1 && toSelector(
+
+					// If the preceding token was a descendant combinator, insert an implicit any-element `*`
+					tokens
+						.slice( 0, i - 1 )
+						.concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } )
+					).replace( rtrim, "$1" ),
+					matcher,
+					i < j && matcherFromTokens( tokens.slice( i, j ) ),
+					j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ),
+					j < len && toSelector( tokens )
+				);
+			}
+			matchers.push( matcher );
+		}
+	}
+
+	return elementMatcher( matchers );
+}
+
+function matcherFromGroupMatchers( elementMatchers, setMatchers ) {
+	var bySet = setMatchers.length > 0,
+		byElement = elementMatchers.length > 0,
+		superMatcher = function( seed, context, xml, results, outermost ) {
+			var elem, j, matcher,
+				matchedCount = 0,
+				i = "0",
+				unmatched = seed && [],
+				setMatched = [],
+				contextBackup = outermostContext,
+
+				// We must always have either seed elements or outermost context
+				elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ),
+
+				// Use integer dirruns iff this is the outermost matcher
+				dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ),
+				len = elems.length;
+
+			if ( outermost ) {
+
+				// Support: IE 11+, Edge 17 - 18+
+				// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+				// two documents; shallow comparisons work.
+				// eslint-disable-next-line eqeqeq
+				outermostContext = context == document || context || outermost;
+			}
+
+			// Add elements passing elementMatchers directly to results
+			// Support: IE<9, Safari
+			// Tolerate NodeList properties (IE: "length"; Safari: <number>) matching elements by id
+			for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) {
+				if ( byElement && elem ) {
+					j = 0;
+
+					// Support: IE 11+, Edge 17 - 18+
+					// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+					// two documents; shallow comparisons work.
+					// eslint-disable-next-line eqeqeq
+					if ( !context && elem.ownerDocument != document ) {
+						setDocument( elem );
+						xml = !documentIsHTML;
+					}
+					while ( ( matcher = elementMatchers[ j++ ] ) ) {
+						if ( matcher( elem, context || document, xml ) ) {
+							results.push( elem );
+							break;
+						}
+					}
+					if ( outermost ) {
+						dirruns = dirrunsUnique;
+					}
+				}
+
+				// Track unmatched elements for set filters
+				if ( bySet ) {
+
+					// They will have gone through all possible matchers
+					if ( ( elem = !matcher && elem ) ) {
+						matchedCount--;
+					}
+
+					// Lengthen the array for every element, matched or not
+					if ( seed ) {
+						unmatched.push( elem );
+					}
+				}
+			}
+
+			// `i` is now the count of elements visited above, and adding it to `matchedCount`
+			// makes the latter nonnegative.
+			matchedCount += i;
+
+			// Apply set filters to unmatched elements
+			// NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount`
+			// equals `i`), unless we didn't visit _any_ elements in the above loop because we have
+			// no element matchers and no seed.
+			// Incrementing an initially-string "0" `i` allows `i` to remain a string only in that
+			// case, which will result in a "00" `matchedCount` that differs from `i` but is also
+			// numerically zero.
+			if ( bySet && i !== matchedCount ) {
+				j = 0;
+				while ( ( matcher = setMatchers[ j++ ] ) ) {
+					matcher( unmatched, setMatched, context, xml );
+				}
+
+				if ( seed ) {
+
+					// Reintegrate element matches to eliminate the need for sorting
+					if ( matchedCount > 0 ) {
+						while ( i-- ) {
+							if ( !( unmatched[ i ] || setMatched[ i ] ) ) {
+								setMatched[ i ] = pop.call( results );
+							}
+						}
+					}
+
+					// Discard index placeholder values to get only actual matches
+					setMatched = condense( setMatched );
+				}
+
+				// Add matches to results
+				push.apply( results, setMatched );
+
+				// Seedless set matches succeeding multiple successful matchers stipulate sorting
+				if ( outermost && !seed && setMatched.length > 0 &&
+					( matchedCount + setMatchers.length ) > 1 ) {
+
+					Sizzle.uniqueSort( results );
+				}
+			}
+
+			// Override manipulation of globals by nested matchers
+			if ( outermost ) {
+				dirruns = dirrunsUnique;
+				outermostContext = contextBackup;
+			}
+
+			return unmatched;
+		};
+
+	return bySet ?
+		markFunction( superMatcher ) :
+		superMatcher;
+}
+
+compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) {
+	var i,
+		setMatchers = [],
+		elementMatchers = [],
+		cached = compilerCache[ selector + " " ];
+
+	if ( !cached ) {
+
+		// Generate a function of recursive functions that can be used to check each element
+		if ( !match ) {
+			match = tokenize( selector );
+		}
+		i = match.length;
+		while ( i-- ) {
+			cached = matcherFromTokens( match[ i ] );
+			if ( cached[ expando ] ) {
+				setMatchers.push( cached );
+			} else {
+				elementMatchers.push( cached );
+			}
+		}
+
+		// Cache the compiled function
+		cached = compilerCache(
+			selector,
+			matcherFromGroupMatchers( elementMatchers, setMatchers )
+		);
+
+		// Save selector and tokenization
+		cached.selector = selector;
+	}
+	return cached;
+};
+
+/**
+ * A low-level selection function that works with Sizzle's compiled
+ *  selector functions
+ * @param {String|Function} selector A selector or a pre-compiled
+ *  selector function built with Sizzle.compile
+ * @param {Element} context
+ * @param {Array} [results]
+ * @param {Array} [seed] A set of elements to match against
+ */
+select = Sizzle.select = function( selector, context, results, seed ) {
+	var i, tokens, token, type, find,
+		compiled = typeof selector === "function" && selector,
+		match = !seed && tokenize( ( selector = compiled.selector || selector ) );
+
+	results = results || [];
+
+	// Try to minimize operations if there is only one selector in the list and no seed
+	// (the latter of which guarantees us context)
+	if ( match.length === 1 ) {
+
+		// Reduce context if the leading compound selector is an ID
+		tokens = match[ 0 ] = match[ 0 ].slice( 0 );
+		if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" &&
+			context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) {
+
+			context = ( Expr.find[ "ID" ]( token.matches[ 0 ]
+				.replace( runescape, funescape ), context ) || [] )[ 0 ];
+			if ( !context ) {
+				return results;
+
+			// Precompiled matchers will still verify ancestry, so step up a level
+			} else if ( compiled ) {
+				context = context.parentNode;
+			}
+
+			selector = selector.slice( tokens.shift().value.length );
+		}
+
+		// Fetch a seed set for right-to-left matching
+		i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length;
+		while ( i-- ) {
+			token = tokens[ i ];
+
+			// Abort if we hit a combinator
+			if ( Expr.relative[ ( type = token.type ) ] ) {
+				break;
+			}
+			if ( ( find = Expr.find[ type ] ) ) {
+
+				// Search, expanding context for leading sibling combinators
+				if ( ( seed = find(
+					token.matches[ 0 ].replace( runescape, funescape ),
+					rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) ||
+						context
+				) ) ) {
+
+					// If seed is empty or no tokens remain, we can return early
+					tokens.splice( i, 1 );
+					selector = seed.length && toSelector( tokens );
+					if ( !selector ) {
+						push.apply( results, seed );
+						return results;
+					}
+
+					break;
+				}
+			}
+		}
+	}
+
+	// Compile and execute a filtering function if one is not provided
+	// Provide `match` to avoid retokenization if we modified the selector above
+	( compiled || compile( selector, match ) )(
+		seed,
+		context,
+		!documentIsHTML,
+		results,
+		!context || rsibling.test( selector ) && testContext( context.parentNode ) || context
+	);
+	return results;
+};
+
+// One-time assignments
+
+// Sort stability
+support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando;
+
+// Support: Chrome 14-35+
+// Always assume duplicates if they aren't passed to the comparison function
+support.detectDuplicates = !!hasDuplicate;
+
+// Initialize against the default document
+setDocument();
+
+// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27)
+// Detached nodes confoundingly follow *each other*
+support.sortDetached = assert( function( el ) {
+
+	// Should return 1, but returns 4 (following)
+	return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1;
+} );
+
+// Support: IE<8
+// Prevent attribute/property "interpolation"
+// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx
+if ( !assert( function( el ) {
+	el.innerHTML = "<a href='#'></a>";
+	return el.firstChild.getAttribute( "href" ) === "#";
+} ) ) {
+	addHandle( "type|href|height|width", function( elem, name, isXML ) {
+		if ( !isXML ) {
+			return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 );
+		}
+	} );
+}
+
+// Support: IE<9
+// Use defaultValue in place of getAttribute("value")
+if ( !support.attributes || !assert( function( el ) {
+	el.innerHTML = "<input/>";
+	el.firstChild.setAttribute( "value", "" );
+	return el.firstChild.getAttribute( "value" ) === "";
+} ) ) {
+	addHandle( "value", function( elem, _name, isXML ) {
+		if ( !isXML && elem.nodeName.toLowerCase() === "input" ) {
+			return elem.defaultValue;
+		}
+	} );
+}
+
+// Support: IE<9
+// Use getAttributeNode to fetch booleans when getAttribute lies
+if ( !assert( function( el ) {
+	return el.getAttribute( "disabled" ) == null;
+} ) ) {
+	addHandle( booleans, function( elem, name, isXML ) {
+		var val;
+		if ( !isXML ) {
+			return elem[ name ] === true ? name.toLowerCase() :
+				( val = elem.getAttributeNode( name ) ) && val.specified ?
+					val.value :
+					null;
+		}
+	} );
+}
+
+return Sizzle;
+
+} )( window );
+
+
+
+jQuery.find = Sizzle;
+jQuery.expr = Sizzle.selectors;
+
+// Deprecated
+jQuery.expr[ ":" ] = jQuery.expr.pseudos;
+jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort;
+jQuery.text = Sizzle.getText;
+jQuery.isXMLDoc = Sizzle.isXML;
+jQuery.contains = Sizzle.contains;
+jQuery.escapeSelector = Sizzle.escape;
+
+
+
+
+var dir = function( elem, dir, until ) {
+	var matched = [],
+		truncate = until !== undefined;
+
+	while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) {
+		if ( elem.nodeType === 1 ) {
+			if ( truncate && jQuery( elem ).is( until ) ) {
+				break;
+			}
+			matched.push( elem );
+		}
+	}
+	return matched;
+};
+
+
+var siblings = function( n, elem ) {
+	var matched = [];
+
+	for ( ; n; n = n.nextSibling ) {
+		if ( n.nodeType === 1 && n !== elem ) {
+			matched.push( n );
+		}
+	}
+
+	return matched;
+};
+
+
+var rneedsContext = jQuery.expr.match.needsContext;
+
+
+
+function nodeName( elem, name ) {
+
+	return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase();
+
+}
+var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i );
+
+
+
+// Implement the identical functionality for filter and not
+function winnow( elements, qualifier, not ) {
+	if ( isFunction( qualifier ) ) {
+		return jQuery.grep( elements, function( elem, i ) {
+			return !!qualifier.call( elem, i, elem ) !== not;
+		} );
+	}
+
+	// Single element
+	if ( qualifier.nodeType ) {
+		return jQuery.grep( elements, function( elem ) {
+			return ( elem === qualifier ) !== not;
+		} );
+	}
+
+	// Arraylike of elements (jQuery, arguments, Array)
+	if ( typeof qualifier !== "string" ) {
+		return jQuery.grep( elements, function( elem ) {
+			return ( indexOf.call( qualifier, elem ) > -1 ) !== not;
+		} );
+	}
+
+	// Filtered directly for both simple and complex selectors
+	return jQuery.filter( qualifier, elements, not );
+}
+
+jQuery.filter = function( expr, elems, not ) {
+	var elem = elems[ 0 ];
+
+	if ( not ) {
+		expr = ":not(" + expr + ")";
+	}
+
+	if ( elems.length === 1 && elem.nodeType === 1 ) {
+		return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : [];
+	}
+
+	return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) {
+		return elem.nodeType === 1;
+	} ) );
+};
+
+jQuery.fn.extend( {
+	find: function( selector ) {
+		var i, ret,
+			len = this.length,
+			self = this;
+
+		if ( typeof selector !== "string" ) {
+			return this.pushStack( jQuery( selector ).filter( function() {
+				for ( i = 0; i < len; i++ ) {
+					if ( jQuery.contains( self[ i ], this ) ) {
+						return true;
+					}
+				}
+			} ) );
+		}
+
+		ret = this.pushStack( [] );
+
+		for ( i = 0; i < len; i++ ) {
+			jQuery.find( selector, self[ i ], ret );
+		}
+
+		return len > 1 ? jQuery.uniqueSort( ret ) : ret;
+	},
+	filter: function( selector ) {
+		return this.pushStack( winnow( this, selector || [], false ) );
+	},
+	not: function( selector ) {
+		return this.pushStack( winnow( this, selector || [], true ) );
+	},
+	is: function( selector ) {
+		return !!winnow(
+			this,
+
+			// If this is a positional/relative selector, check membership in the returned set
+			// so $("p:first").is("p:last") won't return true for a doc with two "p".
+			typeof selector === "string" && rneedsContext.test( selector ) ?
+				jQuery( selector ) :
+				selector || [],
+			false
+		).length;
+	}
+} );
+
+
+// Initialize a jQuery object
+
+
+// A central reference to the root jQuery(document)
+var rootjQuery,
+
+	// A simple way to check for HTML strings
+	// Prioritize #id over <tag> to avoid XSS via location.hash (#9521)
+	// Strict HTML recognition (#11290: must start with <)
+	// Shortcut simple #id case for speed
+	rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/,
+
+	init = jQuery.fn.init = function( selector, context, root ) {
+		var match, elem;
+
+		// HANDLE: $(""), $(null), $(undefined), $(false)
+		if ( !selector ) {
+			return this;
+		}
+
+		// Method init() accepts an alternate rootjQuery
+		// so migrate can support jQuery.sub (gh-2101)
+		root = root || rootjQuery;
+
+		// Handle HTML strings
+		if ( typeof selector === "string" ) {
+			if ( selector[ 0 ] === "<" &&
+				selector[ selector.length - 1 ] === ">" &&
+				selector.length >= 3 ) {
+
+				// Assume that strings that start and end with <> are HTML and skip the regex check
+				match = [ null, selector, null ];
+
+			} else {
+				match = rquickExpr.exec( selector );
+			}
+
+			// Match html or make sure no context is specified for #id
+			if ( match && ( match[ 1 ] || !context ) ) {
+
+				// HANDLE: $(html) -> $(array)
+				if ( match[ 1 ] ) {
+					context = context instanceof jQuery ? context[ 0 ] : context;
+
+					// Option to run scripts is true for back-compat
+					// Intentionally let the error be thrown if parseHTML is not present
+					jQuery.merge( this, jQuery.parseHTML(
+						match[ 1 ],
+						context && context.nodeType ? context.ownerDocument || context : document,
+						true
+					) );
+
+					// HANDLE: $(html, props)
+					if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) {
+						for ( match in context ) {
+
+							// Properties of context are called as methods if possible
+							if ( isFunction( this[ match ] ) ) {
+								this[ match ]( context[ match ] );
+
+							// ...and otherwise set as attributes
+							} else {
+								this.attr( match, context[ match ] );
+							}
+						}
+					}
+
+					return this;
+
+				// HANDLE: $(#id)
+				} else {
+					elem = document.getElementById( match[ 2 ] );
+
+					if ( elem ) {
+
+						// Inject the element directly into the jQuery object
+						this[ 0 ] = elem;
+						this.length = 1;
+					}
+					return this;
+				}
+
+			// HANDLE: $(expr, $(...))
+			} else if ( !context || context.jquery ) {
+				return ( context || root ).find( selector );
+
+			// HANDLE: $(expr, context)
+			// (which is just equivalent to: $(context).find(expr)
+			} else {
+				return this.constructor( context ).find( selector );
+			}
+
+		// HANDLE: $(DOMElement)
+		} else if ( selector.nodeType ) {
+			this[ 0 ] = selector;
+			this.length = 1;
+			return this;
+
+		// HANDLE: $(function)
+		// Shortcut for document ready
+		} else if ( isFunction( selector ) ) {
+			return root.ready !== undefined ?
+				root.ready( selector ) :
+
+				// Execute immediately if ready is not present
+				selector( jQuery );
+		}
+
+		return jQuery.makeArray( selector, this );
+	};
+
+// Give the init function the jQuery prototype for later instantiation
+init.prototype = jQuery.fn;
+
+// Initialize central reference
+rootjQuery = jQuery( document );
+
+
+var rparentsprev = /^(?:parents|prev(?:Until|All))/,
+
+	// Methods guaranteed to produce a unique set when starting from a unique set
+	guaranteedUnique = {
+		children: true,
+		contents: true,
+		next: true,
+		prev: true
+	};
+
+jQuery.fn.extend( {
+	has: function( target ) {
+		var targets = jQuery( target, this ),
+			l = targets.length;
+
+		return this.filter( function() {
+			var i = 0;
+			for ( ; i < l; i++ ) {
+				if ( jQuery.contains( this, targets[ i ] ) ) {
+					return true;
+				}
+			}
+		} );
+	},
+
+	closest: function( selectors, context ) {
+		var cur,
+			i = 0,
+			l = this.length,
+			matched = [],
+			targets = typeof selectors !== "string" && jQuery( selectors );
+
+		// Positional selectors never match, since there's no _selection_ context
+		if ( !rneedsContext.test( selectors ) ) {
+			for ( ; i < l; i++ ) {
+				for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) {
+
+					// Always skip document fragments
+					if ( cur.nodeType < 11 && ( targets ?
+						targets.index( cur ) > -1 :
+
+						// Don't pass non-elements to Sizzle
+						cur.nodeType === 1 &&
+							jQuery.find.matchesSelector( cur, selectors ) ) ) {
+
+						matched.push( cur );
+						break;
+					}
+				}
+			}
+		}
+
+		return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched );
+	},
+
+	// Determine the position of an element within the set
+	index: function( elem ) {
+
+		// No argument, return index in parent
+		if ( !elem ) {
+			return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1;
+		}
+
+		// Index in selector
+		if ( typeof elem === "string" ) {
+			return indexOf.call( jQuery( elem ), this[ 0 ] );
+		}
+
+		// Locate the position of the desired element
+		return indexOf.call( this,
+
+			// If it receives a jQuery object, the first element is used
+			elem.jquery ? elem[ 0 ] : elem
+		);
+	},
+
+	add: function( selector, context ) {
+		return this.pushStack(
+			jQuery.uniqueSort(
+				jQuery.merge( this.get(), jQuery( selector, context ) )
+			)
+		);
+	},
+
+	addBack: function( selector ) {
+		return this.add( selector == null ?
+			this.prevObject : this.prevObject.filter( selector )
+		);
+	}
+} );
+
+function sibling( cur, dir ) {
+	while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {}
+	return cur;
+}
+
+jQuery.each( {
+	parent: function( elem ) {
+		var parent = elem.parentNode;
+		return parent && parent.nodeType !== 11 ? parent : null;
+	},
+	parents: function( elem ) {
+		return dir( elem, "parentNode" );
+	},
+	parentsUntil: function( elem, _i, until ) {
+		return dir( elem, "parentNode", until );
+	},
+	next: function( elem ) {
+		return sibling( elem, "nextSibling" );
+	},
+	prev: function( elem ) {
+		return sibling( elem, "previousSibling" );
+	},
+	nextAll: function( elem ) {
+		return dir( elem, "nextSibling" );
+	},
+	prevAll: function( elem ) {
+		return dir( elem, "previousSibling" );
+	},
+	nextUntil: function( elem, _i, until ) {
+		return dir( elem, "nextSibling", until );
+	},
+	prevUntil: function( elem, _i, until ) {
+		return dir( elem, "previousSibling", until );
+	},
+	siblings: function( elem ) {
+		return siblings( ( elem.parentNode || {} ).firstChild, elem );
+	},
+	children: function( elem ) {
+		return siblings( elem.firstChild );
+	},
+	contents: function( elem ) {
+		if ( elem.contentDocument != null &&
+
+			// Support: IE 11+
+			// <object> elements with no `data` attribute has an object
+			// `contentDocument` with a `null` prototype.
+			getProto( elem.contentDocument ) ) {
+
+			return elem.contentDocument;
+		}
+
+		// Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only
+		// Treat the template element as a regular one in browsers that
+		// don't support it.
+		if ( nodeName( elem, "template" ) ) {
+			elem = elem.content || elem;
+		}
+
+		return jQuery.merge( [], elem.childNodes );
+	}
+}, function( name, fn ) {
+	jQuery.fn[ name ] = function( until, selector ) {
+		var matched = jQuery.map( this, fn, until );
+
+		if ( name.slice( -5 ) !== "Until" ) {
+			selector = until;
+		}
+
+		if ( selector && typeof selector === "string" ) {
+			matched = jQuery.filter( selector, matched );
+		}
+
+		if ( this.length > 1 ) {
+
+			// Remove duplicates
+			if ( !guaranteedUnique[ name ] ) {
+				jQuery.uniqueSort( matched );
+			}
+
+			// Reverse order for parents* and prev-derivatives
+			if ( rparentsprev.test( name ) ) {
+				matched.reverse();
+			}
+		}
+
+		return this.pushStack( matched );
+	};
+} );
+var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g );
+
+
+
+// Convert String-formatted options into Object-formatted ones
+function createOptions( options ) {
+	var object = {};
+	jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) {
+		object[ flag ] = true;
+	} );
+	return object;
+}
+
+/*
+ * Create a callback list using the following parameters:
+ *
+ *	options: an optional list of space-separated options that will change how
+ *			the callback list behaves or a more traditional option object
+ *
+ * By default a callback list will act like an event callback list and can be
+ * "fired" multiple times.
+ *
+ * Possible options:
+ *
+ *	once:			will ensure the callback list can only be fired once (like a Deferred)
+ *
+ *	memory:			will keep track of previous values and will call any callback added
+ *					after the list has been fired right away with the latest "memorized"
+ *					values (like a Deferred)
+ *
+ *	unique:			will ensure a callback can only be added once (no duplicate in the list)
+ *
+ *	stopOnFalse:	interrupt callings when a callback returns false
+ *
+ */
+jQuery.Callbacks = function( options ) {
+
+	// Convert options from String-formatted to Object-formatted if needed
+	// (we check in cache first)
+	options = typeof options === "string" ?
+		createOptions( options ) :
+		jQuery.extend( {}, options );
+
+	var // Flag to know if list is currently firing
+		firing,
+
+		// Last fire value for non-forgettable lists
+		memory,
+
+		// Flag to know if list was already fired
+		fired,
+
+		// Flag to prevent firing
+		locked,
+
+		// Actual callback list
+		list = [],
+
+		// Queue of execution data for repeatable lists
+		queue = [],
+
+		// Index of currently firing callback (modified by add/remove as needed)
+		firingIndex = -1,
+
+		// Fire callbacks
+		fire = function() {
+
+			// Enforce single-firing
+			locked = locked || options.once;
+
+			// Execute callbacks for all pending executions,
+			// respecting firingIndex overrides and runtime changes
+			fired = firing = true;
+			for ( ; queue.length; firingIndex = -1 ) {
+				memory = queue.shift();
+				while ( ++firingIndex < list.length ) {
+
+					// Run callback and check for early termination
+					if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false &&
+						options.stopOnFalse ) {
+
+						// Jump to end and forget the data so .add doesn't re-fire
+						firingIndex = list.length;
+						memory = false;
+					}
+				}
+			}
+
+			// Forget the data if we're done with it
+			if ( !options.memory ) {
+				memory = false;
+			}
+
+			firing = false;
+
+			// Clean up if we're done firing for good
+			if ( locked ) {
+
+				// Keep an empty list if we have data for future add calls
+				if ( memory ) {
+					list = [];
+
+				// Otherwise, this object is spent
+				} else {
+					list = "";
+				}
+			}
+		},
+
+		// Actual Callbacks object
+		self = {
+
+			// Add a callback or a collection of callbacks to the list
+			add: function() {
+				if ( list ) {
+
+					// If we have memory from a past run, we should fire after adding
+					if ( memory && !firing ) {
+						firingIndex = list.length - 1;
+						queue.push( memory );
+					}
+
+					( function add( args ) {
+						jQuery.each( args, function( _, arg ) {
+							if ( isFunction( arg ) ) {
+								if ( !options.unique || !self.has( arg ) ) {
+									list.push( arg );
+								}
+							} else if ( arg && arg.length && toType( arg ) !== "string" ) {
+
+								// Inspect recursively
+								add( arg );
+							}
+						} );
+					} )( arguments );
+
+					if ( memory && !firing ) {
+						fire();
+					}
+				}
+				return this;
+			},
+
+			// Remove a callback from the list
+			remove: function() {
+				jQuery.each( arguments, function( _, arg ) {
+					var index;
+					while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) {
+						list.splice( index, 1 );
+
+						// Handle firing indexes
+						if ( index <= firingIndex ) {
+							firingIndex--;
+						}
+					}
+				} );
+				return this;
+			},
+
+			// Check if a given callback is in the list.
+			// If no argument is given, return whether or not list has callbacks attached.
+			has: function( fn ) {
+				return fn ?
+					jQuery.inArray( fn, list ) > -1 :
+					list.length > 0;
+			},
+
+			// Remove all callbacks from the list
+			empty: function() {
+				if ( list ) {
+					list = [];
+				}
+				return this;
+			},
+
+			// Disable .fire and .add
+			// Abort any current/pending executions
+			// Clear all callbacks and values
+			disable: function() {
+				locked = queue = [];
+				list = memory = "";
+				return this;
+			},
+			disabled: function() {
+				return !list;
+			},
+
+			// Disable .fire
+			// Also disable .add unless we have memory (since it would have no effect)
+			// Abort any pending executions
+			lock: function() {
+				locked = queue = [];
+				if ( !memory && !firing ) {
+					list = memory = "";
+				}
+				return this;
+			},
+			locked: function() {
+				return !!locked;
+			},
+
+			// Call all callbacks with the given context and arguments
+			fireWith: function( context, args ) {
+				if ( !locked ) {
+					args = args || [];
+					args = [ context, args.slice ? args.slice() : args ];
+					queue.push( args );
+					if ( !firing ) {
+						fire();
+					}
+				}
+				return this;
+			},
+
+			// Call all the callbacks with the given arguments
+			fire: function() {
+				self.fireWith( this, arguments );
+				return this;
+			},
+
+			// To know if the callbacks have already been called at least once
+			fired: function() {
+				return !!fired;
+			}
+		};
+
+	return self;
+};
+
+
+function Identity( v ) {
+	return v;
+}
+function Thrower( ex ) {
+	throw ex;
+}
+
+function adoptValue( value, resolve, reject, noValue ) {
+	var method;
+
+	try {
+
+		// Check for promise aspect first to privilege synchronous behavior
+		if ( value && isFunction( ( method = value.promise ) ) ) {
+			method.call( value ).done( resolve ).fail( reject );
+
+		// Other thenables
+		} else if ( value && isFunction( ( method = value.then ) ) ) {
+			method.call( value, resolve, reject );
+
+		// Other non-thenables
+		} else {
+
+			// Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer:
+			// * false: [ value ].slice( 0 ) => resolve( value )
+			// * true: [ value ].slice( 1 ) => resolve()
+			resolve.apply( undefined, [ value ].slice( noValue ) );
+		}
+
+	// For Promises/A+, convert exceptions into rejections
+	// Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in
+	// Deferred#then to conditionally suppress rejection.
+	} catch ( value ) {
+
+		// Support: Android 4.0 only
+		// Strict mode functions invoked without .call/.apply get global-object context
+		reject.apply( undefined, [ value ] );
+	}
+}
+
+jQuery.extend( {
+
+	Deferred: function( func ) {
+		var tuples = [
+
+				// action, add listener, callbacks,
+				// ... .then handlers, argument index, [final state]
+				[ "notify", "progress", jQuery.Callbacks( "memory" ),
+					jQuery.Callbacks( "memory" ), 2 ],
+				[ "resolve", "done", jQuery.Callbacks( "once memory" ),
+					jQuery.Callbacks( "once memory" ), 0, "resolved" ],
+				[ "reject", "fail", jQuery.Callbacks( "once memory" ),
+					jQuery.Callbacks( "once memory" ), 1, "rejected" ]
+			],
+			state = "pending",
+			promise = {
+				state: function() {
+					return state;
+				},
+				always: function() {
+					deferred.done( arguments ).fail( arguments );
+					return this;
+				},
+				"catch": function( fn ) {
+					return promise.then( null, fn );
+				},
+
+				// Keep pipe for back-compat
+				pipe: function( /* fnDone, fnFail, fnProgress */ ) {
+					var fns = arguments;
+
+					return jQuery.Deferred( function( newDefer ) {
+						jQuery.each( tuples, function( _i, tuple ) {
+
+							// Map tuples (progress, done, fail) to arguments (done, fail, progress)
+							var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ];
+
+							// deferred.progress(function() { bind to newDefer or newDefer.notify })
+							// deferred.done(function() { bind to newDefer or newDefer.resolve })
+							// deferred.fail(function() { bind to newDefer or newDefer.reject })
+							deferred[ tuple[ 1 ] ]( function() {
+								var returned = fn && fn.apply( this, arguments );
+								if ( returned && isFunction( returned.promise ) ) {
+									returned.promise()
+										.progress( newDefer.notify )
+										.done( newDefer.resolve )
+										.fail( newDefer.reject );
+								} else {
+									newDefer[ tuple[ 0 ] + "With" ](
+										this,
+										fn ? [ returned ] : arguments
+									);
+								}
+							} );
+						} );
+						fns = null;
+					} ).promise();
+				},
+				then: function( onFulfilled, onRejected, onProgress ) {
+					var maxDepth = 0;
+					function resolve( depth, deferred, handler, special ) {
+						return function() {
+							var that = this,
+								args = arguments,
+								mightThrow = function() {
+									var returned, then;
+
+									// Support: Promises/A+ section 2.3.3.3.3
+									// https://promisesaplus.com/#point-59
+									// Ignore double-resolution attempts
+									if ( depth < maxDepth ) {
+										return;
+									}
+
+									returned = handler.apply( that, args );
+
+									// Support: Promises/A+ section 2.3.1
+									// https://promisesaplus.com/#point-48
+									if ( returned === deferred.promise() ) {
+										throw new TypeError( "Thenable self-resolution" );
+									}
+
+									// Support: Promises/A+ sections 2.3.3.1, 3.5
+									// https://promisesaplus.com/#point-54
+									// https://promisesaplus.com/#point-75
+									// Retrieve `then` only once
+									then = returned &&
+
+										// Support: Promises/A+ section 2.3.4
+										// https://promisesaplus.com/#point-64
+										// Only check objects and functions for thenability
+										( typeof returned === "object" ||
+											typeof returned === "function" ) &&
+										returned.then;
+
+									// Handle a returned thenable
+									if ( isFunction( then ) ) {
+
+										// Special processors (notify) just wait for resolution
+										if ( special ) {
+											then.call(
+												returned,
+												resolve( maxDepth, deferred, Identity, special ),
+												resolve( maxDepth, deferred, Thrower, special )
+											);
+
+										// Normal processors (resolve) also hook into progress
+										} else {
+
+											// ...and disregard older resolution values
+											maxDepth++;
+
+											then.call(
+												returned,
+												resolve( maxDepth, deferred, Identity, special ),
+												resolve( maxDepth, deferred, Thrower, special ),
+												resolve( maxDepth, deferred, Identity,
+													deferred.notifyWith )
+											);
+										}
+
+									// Handle all other returned values
+									} else {
+
+										// Only substitute handlers pass on context
+										// and multiple values (non-spec behavior)
+										if ( handler !== Identity ) {
+											that = undefined;
+											args = [ returned ];
+										}
+
+										// Process the value(s)
+										// Default process is resolve
+										( special || deferred.resolveWith )( that, args );
+									}
+								},
+
+								// Only normal processors (resolve) catch and reject exceptions
+								process = special ?
+									mightThrow :
+									function() {
+										try {
+											mightThrow();
+										} catch ( e ) {
+
+											if ( jQuery.Deferred.exceptionHook ) {
+												jQuery.Deferred.exceptionHook( e,
+													process.stackTrace );
+											}
+
+											// Support: Promises/A+ section 2.3.3.3.4.1
+											// https://promisesaplus.com/#point-61
+											// Ignore post-resolution exceptions
+											if ( depth + 1 >= maxDepth ) {
+
+												// Only substitute handlers pass on context
+												// and multiple values (non-spec behavior)
+												if ( handler !== Thrower ) {
+													that = undefined;
+													args = [ e ];
+												}
+
+												deferred.rejectWith( that, args );
+											}
+										}
+									};
+
+							// Support: Promises/A+ section 2.3.3.3.1
+							// https://promisesaplus.com/#point-57
+							// Re-resolve promises immediately to dodge false rejection from
+							// subsequent errors
+							if ( depth ) {
+								process();
+							} else {
+
+								// Call an optional hook to record the stack, in case of exception
+								// since it's otherwise lost when execution goes async
+								if ( jQuery.Deferred.getStackHook ) {
+									process.stackTrace = jQuery.Deferred.getStackHook();
+								}
+								window.setTimeout( process );
+							}
+						};
+					}
+
+					return jQuery.Deferred( function( newDefer ) {
+
+						// progress_handlers.add( ... )
+						tuples[ 0 ][ 3 ].add(
+							resolve(
+								0,
+								newDefer,
+								isFunction( onProgress ) ?
+									onProgress :
+									Identity,
+								newDefer.notifyWith
+							)
+						);
+
+						// fulfilled_handlers.add( ... )
+						tuples[ 1 ][ 3 ].add(
+							resolve(
+								0,
+								newDefer,
+								isFunction( onFulfilled ) ?
+									onFulfilled :
+									Identity
+							)
+						);
+
+						// rejected_handlers.add( ... )
+						tuples[ 2 ][ 3 ].add(
+							resolve(
+								0,
+								newDefer,
+								isFunction( onRejected ) ?
+									onRejected :
+									Thrower
+							)
+						);
+					} ).promise();
+				},
+
+				// Get a promise for this deferred
+				// If obj is provided, the promise aspect is added to the object
+				promise: function( obj ) {
+					return obj != null ? jQuery.extend( obj, promise ) : promise;
+				}
+			},
+			deferred = {};
+
+		// Add list-specific methods
+		jQuery.each( tuples, function( i, tuple ) {
+			var list = tuple[ 2 ],
+				stateString = tuple[ 5 ];
+
+			// promise.progress = list.add
+			// promise.done = list.add
+			// promise.fail = list.add
+			promise[ tuple[ 1 ] ] = list.add;
+
+			// Handle state
+			if ( stateString ) {
+				list.add(
+					function() {
+
+						// state = "resolved" (i.e., fulfilled)
+						// state = "rejected"
+						state = stateString;
+					},
+
+					// rejected_callbacks.disable
+					// fulfilled_callbacks.disable
+					tuples[ 3 - i ][ 2 ].disable,
+
+					// rejected_handlers.disable
+					// fulfilled_handlers.disable
+					tuples[ 3 - i ][ 3 ].disable,
+
+					// progress_callbacks.lock
+					tuples[ 0 ][ 2 ].lock,
+
+					// progress_handlers.lock
+					tuples[ 0 ][ 3 ].lock
+				);
+			}
+
+			// progress_handlers.fire
+			// fulfilled_handlers.fire
+			// rejected_handlers.fire
+			list.add( tuple[ 3 ].fire );
+
+			// deferred.notify = function() { deferred.notifyWith(...) }
+			// deferred.resolve = function() { deferred.resolveWith(...) }
+			// deferred.reject = function() { deferred.rejectWith(...) }
+			deferred[ tuple[ 0 ] ] = function() {
+				deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments );
+				return this;
+			};
+
+			// deferred.notifyWith = list.fireWith
+			// deferred.resolveWith = list.fireWith
+			// deferred.rejectWith = list.fireWith
+			deferred[ tuple[ 0 ] + "With" ] = list.fireWith;
+		} );
+
+		// Make the deferred a promise
+		promise.promise( deferred );
+
+		// Call given func if any
+		if ( func ) {
+			func.call( deferred, deferred );
+		}
+
+		// All done!
+		return deferred;
+	},
+
+	// Deferred helper
+	when: function( singleValue ) {
+		var
+
+			// count of uncompleted subordinates
+			remaining = arguments.length,
+
+			// count of unprocessed arguments
+			i = remaining,
+
+			// subordinate fulfillment data
+			resolveContexts = Array( i ),
+			resolveValues = slice.call( arguments ),
+
+			// the primary Deferred
+			primary = jQuery.Deferred(),
+
+			// subordinate callback factory
+			updateFunc = function( i ) {
+				return function( value ) {
+					resolveContexts[ i ] = this;
+					resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value;
+					if ( !( --remaining ) ) {
+						primary.resolveWith( resolveContexts, resolveValues );
+					}
+				};
+			};
+
+		// Single- and empty arguments are adopted like Promise.resolve
+		if ( remaining <= 1 ) {
+			adoptValue( singleValue, primary.done( updateFunc( i ) ).resolve, primary.reject,
+				!remaining );
+
+			// Use .then() to unwrap secondary thenables (cf. gh-3000)
+			if ( primary.state() === "pending" ||
+				isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) {
+
+				return primary.then();
+			}
+		}
+
+		// Multiple arguments are aggregated like Promise.all array elements
+		while ( i-- ) {
+			adoptValue( resolveValues[ i ], updateFunc( i ), primary.reject );
+		}
+
+		return primary.promise();
+	}
+} );
+
+
+// These usually indicate a programmer mistake during development,
+// warn about them ASAP rather than swallowing them by default.
+var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/;
+
+jQuery.Deferred.exceptionHook = function( error, stack ) {
+
+	// Support: IE 8 - 9 only
+	// Console exists when dev tools are open, which can happen at any time
+	if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) {
+		window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack );
+	}
+};
+
+
+
+
+jQuery.readyException = function( error ) {
+	window.setTimeout( function() {
+		throw error;
+	} );
+};
+
+
+
+
+// The deferred used on DOM ready
+var readyList = jQuery.Deferred();
+
+jQuery.fn.ready = function( fn ) {
+
+	readyList
+		.then( fn )
+
+		// Wrap jQuery.readyException in a function so that the lookup
+		// happens at the time of error handling instead of callback
+		// registration.
+		.catch( function( error ) {
+			jQuery.readyException( error );
+		} );
+
+	return this;
+};
+
+jQuery.extend( {
+
+	// Is the DOM ready to be used? Set to true once it occurs.
+	isReady: false,
+
+	// A counter to track how many items to wait for before
+	// the ready event fires. See #6781
+	readyWait: 1,
+
+	// Handle when the DOM is ready
+	ready: function( wait ) {
+
+		// Abort if there are pending holds or we're already ready
+		if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) {
+			return;
+		}
+
+		// Remember that the DOM is ready
+		jQuery.isReady = true;
+
+		// If a normal DOM Ready event fired, decrement, and wait if need be
+		if ( wait !== true && --jQuery.readyWait > 0 ) {
+			return;
+		}
+
+		// If there are functions bound, to execute
+		readyList.resolveWith( document, [ jQuery ] );
+	}
+} );
+
+jQuery.ready.then = readyList.then;
+
+// The ready event handler and self cleanup method
+function completed() {
+	document.removeEventListener( "DOMContentLoaded", completed );
+	window.removeEventListener( "load", completed );
+	jQuery.ready();
+}
+
+// Catch cases where $(document).ready() is called
+// after the browser event has already occurred.
+// Support: IE <=9 - 10 only
+// Older IE sometimes signals "interactive" too soon
+if ( document.readyState === "complete" ||
+	( document.readyState !== "loading" && !document.documentElement.doScroll ) ) {
+
+	// Handle it asynchronously to allow scripts the opportunity to delay ready
+	window.setTimeout( jQuery.ready );
+
+} else {
+
+	// Use the handy event callback
+	document.addEventListener( "DOMContentLoaded", completed );
+
+	// A fallback to window.onload, that will always work
+	window.addEventListener( "load", completed );
+}
+
+
+
+
+// Multifunctional method to get and set values of a collection
+// The value/s can optionally be executed if it's a function
+var access = function( elems, fn, key, value, chainable, emptyGet, raw ) {
+	var i = 0,
+		len = elems.length,
+		bulk = key == null;
+
+	// Sets many values
+	if ( toType( key ) === "object" ) {
+		chainable = true;
+		for ( i in key ) {
+			access( elems, fn, i, key[ i ], true, emptyGet, raw );
+		}
+
+	// Sets one value
+	} else if ( value !== undefined ) {
+		chainable = true;
+
+		if ( !isFunction( value ) ) {
+			raw = true;
+		}
+
+		if ( bulk ) {
+
+			// Bulk operations run against the entire set
+			if ( raw ) {
+				fn.call( elems, value );
+				fn = null;
+
+			// ...except when executing function values
+			} else {
+				bulk = fn;
+				fn = function( elem, _key, value ) {
+					return bulk.call( jQuery( elem ), value );
+				};
+			}
+		}
+
+		if ( fn ) {
+			for ( ; i < len; i++ ) {
+				fn(
+					elems[ i ], key, raw ?
+						value :
+						value.call( elems[ i ], i, fn( elems[ i ], key ) )
+				);
+			}
+		}
+	}
+
+	if ( chainable ) {
+		return elems;
+	}
+
+	// Gets
+	if ( bulk ) {
+		return fn.call( elems );
+	}
+
+	return len ? fn( elems[ 0 ], key ) : emptyGet;
+};
+
+
+// Matches dashed string for camelizing
+var rmsPrefix = /^-ms-/,
+	rdashAlpha = /-([a-z])/g;
+
+// Used by camelCase as callback to replace()
+function fcamelCase( _all, letter ) {
+	return letter.toUpperCase();
+}
+
+// Convert dashed to camelCase; used by the css and data modules
+// Support: IE <=9 - 11, Edge 12 - 15
+// Microsoft forgot to hump their vendor prefix (#9572)
+function camelCase( string ) {
+	return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase );
+}
+var acceptData = function( owner ) {
+
+	// Accepts only:
+	//  - Node
+	//    - Node.ELEMENT_NODE
+	//    - Node.DOCUMENT_NODE
+	//  - Object
+	//    - Any
+	return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType );
+};
+
+
+
+
+function Data() {
+	this.expando = jQuery.expando + Data.uid++;
+}
+
+Data.uid = 1;
+
+Data.prototype = {
+
+	cache: function( owner ) {
+
+		// Check if the owner object already has a cache
+		var value = owner[ this.expando ];
+
+		// If not, create one
+		if ( !value ) {
+			value = {};
+
+			// We can accept data for non-element nodes in modern browsers,
+			// but we should not, see #8335.
+			// Always return an empty object.
+			if ( acceptData( owner ) ) {
+
+				// If it is a node unlikely to be stringify-ed or looped over
+				// use plain assignment
+				if ( owner.nodeType ) {
+					owner[ this.expando ] = value;
+
+				// Otherwise secure it in a non-enumerable property
+				// configurable must be true to allow the property to be
+				// deleted when data is removed
+				} else {
+					Object.defineProperty( owner, this.expando, {
+						value: value,
+						configurable: true
+					} );
+				}
+			}
+		}
+
+		return value;
+	},
+	set: function( owner, data, value ) {
+		var prop,
+			cache = this.cache( owner );
+
+		// Handle: [ owner, key, value ] args
+		// Always use camelCase key (gh-2257)
+		if ( typeof data === "string" ) {
+			cache[ camelCase( data ) ] = value;
+
+		// Handle: [ owner, { properties } ] args
+		} else {
+
+			// Copy the properties one-by-one to the cache object
+			for ( prop in data ) {
+				cache[ camelCase( prop ) ] = data[ prop ];
+			}
+		}
+		return cache;
+	},
+	get: function( owner, key ) {
+		return key === undefined ?
+			this.cache( owner ) :
+
+			// Always use camelCase key (gh-2257)
+			owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ];
+	},
+	access: function( owner, key, value ) {
+
+		// In cases where either:
+		//
+		//   1. No key was specified
+		//   2. A string key was specified, but no value provided
+		//
+		// Take the "read" path and allow the get method to determine
+		// which value to return, respectively either:
+		//
+		//   1. The entire cache object
+		//   2. The data stored at the key
+		//
+		if ( key === undefined ||
+				( ( key && typeof key === "string" ) && value === undefined ) ) {
+
+			return this.get( owner, key );
+		}
+
+		// When the key is not a string, or both a key and value
+		// are specified, set or extend (existing objects) with either:
+		//
+		//   1. An object of properties
+		//   2. A key and value
+		//
+		this.set( owner, key, value );
+
+		// Since the "set" path can have two possible entry points
+		// return the expected data based on which path was taken[*]
+		return value !== undefined ? value : key;
+	},
+	remove: function( owner, key ) {
+		var i,
+			cache = owner[ this.expando ];
+
+		if ( cache === undefined ) {
+			return;
+		}
+
+		if ( key !== undefined ) {
+
+			// Support array or space separated string of keys
+			if ( Array.isArray( key ) ) {
+
+				// If key is an array of keys...
+				// We always set camelCase keys, so remove that.
+				key = key.map( camelCase );
+			} else {
+				key = camelCase( key );
+
+				// If a key with the spaces exists, use it.
+				// Otherwise, create an array by matching non-whitespace
+				key = key in cache ?
+					[ key ] :
+					( key.match( rnothtmlwhite ) || [] );
+			}
+
+			i = key.length;
+
+			while ( i-- ) {
+				delete cache[ key[ i ] ];
+			}
+		}
+
+		// Remove the expando if there's no more data
+		if ( key === undefined || jQuery.isEmptyObject( cache ) ) {
+
+			// Support: Chrome <=35 - 45
+			// Webkit & Blink performance suffers when deleting properties
+			// from DOM nodes, so set to undefined instead
+			// https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted)
+			if ( owner.nodeType ) {
+				owner[ this.expando ] = undefined;
+			} else {
+				delete owner[ this.expando ];
+			}
+		}
+	},
+	hasData: function( owner ) {
+		var cache = owner[ this.expando ];
+		return cache !== undefined && !jQuery.isEmptyObject( cache );
+	}
+};
+var dataPriv = new Data();
+
+var dataUser = new Data();
+
+
+
+//	Implementation Summary
+//
+//	1. Enforce API surface and semantic compatibility with 1.9.x branch
+//	2. Improve the module's maintainability by reducing the storage
+//		paths to a single mechanism.
+//	3. Use the same single mechanism to support "private" and "user" data.
+//	4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData)
+//	5. Avoid exposing implementation details on user objects (eg. expando properties)
+//	6. Provide a clear path for implementation upgrade to WeakMap in 2014
+
+var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/,
+	rmultiDash = /[A-Z]/g;
+
+function getData( data ) {
+	if ( data === "true" ) {
+		return true;
+	}
+
+	if ( data === "false" ) {
+		return false;
+	}
+
+	if ( data === "null" ) {
+		return null;
+	}
+
+	// Only convert to a number if it doesn't change the string
+	if ( data === +data + "" ) {
+		return +data;
+	}
+
+	if ( rbrace.test( data ) ) {
+		return JSON.parse( data );
+	}
+
+	return data;
+}
+
+function dataAttr( elem, key, data ) {
+	var name;
+
+	// If nothing was found internally, try to fetch any
+	// data from the HTML5 data-* attribute
+	if ( data === undefined && elem.nodeType === 1 ) {
+		name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase();
+		data = elem.getAttribute( name );
+
+		if ( typeof data === "string" ) {
+			try {
+				data = getData( data );
+			} catch ( e ) {}
+
+			// Make sure we set the data so it isn't changed later
+			dataUser.set( elem, key, data );
+		} else {
+			data = undefined;
+		}
+	}
+	return data;
+}
+
+jQuery.extend( {
+	hasData: function( elem ) {
+		return dataUser.hasData( elem ) || dataPriv.hasData( elem );
+	},
+
+	data: function( elem, name, data ) {
+		return dataUser.access( elem, name, data );
+	},
+
+	removeData: function( elem, name ) {
+		dataUser.remove( elem, name );
+	},
+
+	// TODO: Now that all calls to _data and _removeData have been replaced
+	// with direct calls to dataPriv methods, these can be deprecated.
+	_data: function( elem, name, data ) {
+		return dataPriv.access( elem, name, data );
+	},
+
+	_removeData: function( elem, name ) {
+		dataPriv.remove( elem, name );
+	}
+} );
+
+jQuery.fn.extend( {
+	data: function( key, value ) {
+		var i, name, data,
+			elem = this[ 0 ],
+			attrs = elem && elem.attributes;
+
+		// Gets all values
+		if ( key === undefined ) {
+			if ( this.length ) {
+				data = dataUser.get( elem );
+
+				if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) {
+					i = attrs.length;
+					while ( i-- ) {
+
+						// Support: IE 11 only
+						// The attrs elements can be null (#14894)
+						if ( attrs[ i ] ) {
+							name = attrs[ i ].name;
+							if ( name.indexOf( "data-" ) === 0 ) {
+								name = camelCase( name.slice( 5 ) );
+								dataAttr( elem, name, data[ name ] );
+							}
+						}
+					}
+					dataPriv.set( elem, "hasDataAttrs", true );
+				}
+			}
+
+			return data;
+		}
+
+		// Sets multiple values
+		if ( typeof key === "object" ) {
+			return this.each( function() {
+				dataUser.set( this, key );
+			} );
+		}
+
+		return access( this, function( value ) {
+			var data;
+
+			// The calling jQuery object (element matches) is not empty
+			// (and therefore has an element appears at this[ 0 ]) and the
+			// `value` parameter was not undefined. An empty jQuery object
+			// will result in `undefined` for elem = this[ 0 ] which will
+			// throw an exception if an attempt to read a data cache is made.
+			if ( elem && value === undefined ) {
+
+				// Attempt to get data from the cache
+				// The key will always be camelCased in Data
+				data = dataUser.get( elem, key );
+				if ( data !== undefined ) {
+					return data;
+				}
+
+				// Attempt to "discover" the data in
+				// HTML5 custom data-* attrs
+				data = dataAttr( elem, key );
+				if ( data !== undefined ) {
+					return data;
+				}
+
+				// We tried really hard, but the data doesn't exist.
+				return;
+			}
+
+			// Set the data...
+			this.each( function() {
+
+				// We always store the camelCased key
+				dataUser.set( this, key, value );
+			} );
+		}, null, value, arguments.length > 1, null, true );
+	},
+
+	removeData: function( key ) {
+		return this.each( function() {
+			dataUser.remove( this, key );
+		} );
+	}
+} );
+
+
+jQuery.extend( {
+	queue: function( elem, type, data ) {
+		var queue;
+
+		if ( elem ) {
+			type = ( type || "fx" ) + "queue";
+			queue = dataPriv.get( elem, type );
+
+			// Speed up dequeue by getting out quickly if this is just a lookup
+			if ( data ) {
+				if ( !queue || Array.isArray( data ) ) {
+					queue = dataPriv.access( elem, type, jQuery.makeArray( data ) );
+				} else {
+					queue.push( data );
+				}
+			}
+			return queue || [];
+		}
+	},
+
+	dequeue: function( elem, type ) {
+		type = type || "fx";
+
+		var queue = jQuery.queue( elem, type ),
+			startLength = queue.length,
+			fn = queue.shift(),
+			hooks = jQuery._queueHooks( elem, type ),
+			next = function() {
+				jQuery.dequeue( elem, type );
+			};
+
+		// If the fx queue is dequeued, always remove the progress sentinel
+		if ( fn === "inprogress" ) {
+			fn = queue.shift();
+			startLength--;
+		}
+
+		if ( fn ) {
+
+			// Add a progress sentinel to prevent the fx queue from being
+			// automatically dequeued
+			if ( type === "fx" ) {
+				queue.unshift( "inprogress" );
+			}
+
+			// Clear up the last queue stop function
+			delete hooks.stop;
+			fn.call( elem, next, hooks );
+		}
+
+		if ( !startLength && hooks ) {
+			hooks.empty.fire();
+		}
+	},
+
+	// Not public - generate a queueHooks object, or return the current one
+	_queueHooks: function( elem, type ) {
+		var key = type + "queueHooks";
+		return dataPriv.get( elem, key ) || dataPriv.access( elem, key, {
+			empty: jQuery.Callbacks( "once memory" ).add( function() {
+				dataPriv.remove( elem, [ type + "queue", key ] );
+			} )
+		} );
+	}
+} );
+
+jQuery.fn.extend( {
+	queue: function( type, data ) {
+		var setter = 2;
+
+		if ( typeof type !== "string" ) {
+			data = type;
+			type = "fx";
+			setter--;
+		}
+
+		if ( arguments.length < setter ) {
+			return jQuery.queue( this[ 0 ], type );
+		}
+
+		return data === undefined ?
+			this :
+			this.each( function() {
+				var queue = jQuery.queue( this, type, data );
+
+				// Ensure a hooks for this queue
+				jQuery._queueHooks( this, type );
+
+				if ( type === "fx" && queue[ 0 ] !== "inprogress" ) {
+					jQuery.dequeue( this, type );
+				}
+			} );
+	},
+	dequeue: function( type ) {
+		return this.each( function() {
+			jQuery.dequeue( this, type );
+		} );
+	},
+	clearQueue: function( type ) {
+		return this.queue( type || "fx", [] );
+	},
+
+	// Get a promise resolved when queues of a certain type
+	// are emptied (fx is the type by default)
+	promise: function( type, obj ) {
+		var tmp,
+			count = 1,
+			defer = jQuery.Deferred(),
+			elements = this,
+			i = this.length,
+			resolve = function() {
+				if ( !( --count ) ) {
+					defer.resolveWith( elements, [ elements ] );
+				}
+			};
+
+		if ( typeof type !== "string" ) {
+			obj = type;
+			type = undefined;
+		}
+		type = type || "fx";
+
+		while ( i-- ) {
+			tmp = dataPriv.get( elements[ i ], type + "queueHooks" );
+			if ( tmp && tmp.empty ) {
+				count++;
+				tmp.empty.add( resolve );
+			}
+		}
+		resolve();
+		return defer.promise( obj );
+	}
+} );
+var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source;
+
+var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" );
+
+
+var cssExpand = [ "Top", "Right", "Bottom", "Left" ];
+
+var documentElement = document.documentElement;
+
+
+
+	var isAttached = function( elem ) {
+			return jQuery.contains( elem.ownerDocument, elem );
+		},
+		composed = { composed: true };
+
+	// Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only
+	// Check attachment across shadow DOM boundaries when possible (gh-3504)
+	// Support: iOS 10.0-10.2 only
+	// Early iOS 10 versions support `attachShadow` but not `getRootNode`,
+	// leading to errors. We need to check for `getRootNode`.
+	if ( documentElement.getRootNode ) {
+		isAttached = function( elem ) {
+			return jQuery.contains( elem.ownerDocument, elem ) ||
+				elem.getRootNode( composed ) === elem.ownerDocument;
+		};
+	}
+var isHiddenWithinTree = function( elem, el ) {
+
+		// isHiddenWithinTree might be called from jQuery#filter function;
+		// in that case, element will be second argument
+		elem = el || elem;
+
+		// Inline style trumps all
+		return elem.style.display === "none" ||
+			elem.style.display === "" &&
+
+			// Otherwise, check computed style
+			// Support: Firefox <=43 - 45
+			// Disconnected elements can have computed display: none, so first confirm that elem is
+			// in the document.
+			isAttached( elem ) &&
+
+			jQuery.css( elem, "display" ) === "none";
+	};
+
+
+
+function adjustCSS( elem, prop, valueParts, tween ) {
+	var adjusted, scale,
+		maxIterations = 20,
+		currentValue = tween ?
+			function() {
+				return tween.cur();
+			} :
+			function() {
+				return jQuery.css( elem, prop, "" );
+			},
+		initial = currentValue(),
+		unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ),
+
+		// Starting value computation is required for potential unit mismatches
+		initialInUnit = elem.nodeType &&
+			( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) &&
+			rcssNum.exec( jQuery.css( elem, prop ) );
+
+	if ( initialInUnit && initialInUnit[ 3 ] !== unit ) {
+
+		// Support: Firefox <=54
+		// Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144)
+		initial = initial / 2;
+
+		// Trust units reported by jQuery.css
+		unit = unit || initialInUnit[ 3 ];
+
+		// Iteratively approximate from a nonzero starting point
+		initialInUnit = +initial || 1;
+
+		while ( maxIterations-- ) {
+
+			// Evaluate and update our best guess (doubling guesses that zero out).
+			// Finish if the scale equals or crosses 1 (making the old*new product non-positive).
+			jQuery.style( elem, prop, initialInUnit + unit );
+			if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) {
+				maxIterations = 0;
+			}
+			initialInUnit = initialInUnit / scale;
+
+		}
+
+		initialInUnit = initialInUnit * 2;
+		jQuery.style( elem, prop, initialInUnit + unit );
+
+		// Make sure we update the tween properties later on
+		valueParts = valueParts || [];
+	}
+
+	if ( valueParts ) {
+		initialInUnit = +initialInUnit || +initial || 0;
+
+		// Apply relative offset (+=/-=) if specified
+		adjusted = valueParts[ 1 ] ?
+			initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] :
+			+valueParts[ 2 ];
+		if ( tween ) {
+			tween.unit = unit;
+			tween.start = initialInUnit;
+			tween.end = adjusted;
+		}
+	}
+	return adjusted;
+}
+
+
+var defaultDisplayMap = {};
+
+function getDefaultDisplay( elem ) {
+	var temp,
+		doc = elem.ownerDocument,
+		nodeName = elem.nodeName,
+		display = defaultDisplayMap[ nodeName ];
+
+	if ( display ) {
+		return display;
+	}
+
+	temp = doc.body.appendChild( doc.createElement( nodeName ) );
+	display = jQuery.css( temp, "display" );
+
+	temp.parentNode.removeChild( temp );
+
+	if ( display === "none" ) {
+		display = "block";
+	}
+	defaultDisplayMap[ nodeName ] = display;
+
+	return display;
+}
+
+function showHide( elements, show ) {
+	var display, elem,
+		values = [],
+		index = 0,
+		length = elements.length;
+
+	// Determine new display value for elements that need to change
+	for ( ; index < length; index++ ) {
+		elem = elements[ index ];
+		if ( !elem.style ) {
+			continue;
+		}
+
+		display = elem.style.display;
+		if ( show ) {
+
+			// Since we force visibility upon cascade-hidden elements, an immediate (and slow)
+			// check is required in this first loop unless we have a nonempty display value (either
+			// inline or about-to-be-restored)
+			if ( display === "none" ) {
+				values[ index ] = dataPriv.get( elem, "display" ) || null;
+				if ( !values[ index ] ) {
+					elem.style.display = "";
+				}
+			}
+			if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) {
+				values[ index ] = getDefaultDisplay( elem );
+			}
+		} else {
+			if ( display !== "none" ) {
+				values[ index ] = "none";
+
+				// Remember what we're overwriting
+				dataPriv.set( elem, "display", display );
+			}
+		}
+	}
+
+	// Set the display of the elements in a second loop to avoid constant reflow
+	for ( index = 0; index < length; index++ ) {
+		if ( values[ index ] != null ) {
+			elements[ index ].style.display = values[ index ];
+		}
+	}
+
+	return elements;
+}
+
+jQuery.fn.extend( {
+	show: function() {
+		return showHide( this, true );
+	},
+	hide: function() {
+		return showHide( this );
+	},
+	toggle: function( state ) {
+		if ( typeof state === "boolean" ) {
+			return state ? this.show() : this.hide();
+		}
+
+		return this.each( function() {
+			if ( isHiddenWithinTree( this ) ) {
+				jQuery( this ).show();
+			} else {
+				jQuery( this ).hide();
+			}
+		} );
+	}
+} );
+var rcheckableType = ( /^(?:checkbox|radio)$/i );
+
+var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i );
+
+var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i );
+
+
+
+( function() {
+	var fragment = document.createDocumentFragment(),
+		div = fragment.appendChild( document.createElement( "div" ) ),
+		input = document.createElement( "input" );
+
+	// Support: Android 4.0 - 4.3 only
+	// Check state lost if the name is set (#11217)
+	// Support: Windows Web Apps (WWA)
+	// `name` and `type` must use .setAttribute for WWA (#14901)
+	input.setAttribute( "type", "radio" );
+	input.setAttribute( "checked", "checked" );
+	input.setAttribute( "name", "t" );
+
+	div.appendChild( input );
+
+	// Support: Android <=4.1 only
+	// Older WebKit doesn't clone checked state correctly in fragments
+	support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked;
+
+	// Support: IE <=11 only
+	// Make sure textarea (and checkbox) defaultValue is properly cloned
+	div.innerHTML = "<textarea>x</textarea>";
+	support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue;
+
+	// Support: IE <=9 only
+	// IE <=9 replaces <option> tags with their contents when inserted outside of
+	// the select element.
+	div.innerHTML = "<option></option>";
+	support.option = !!div.lastChild;
+} )();
+
+
+// We have to close these tags to support XHTML (#13200)
+var wrapMap = {
+
+	// XHTML parsers do not magically insert elements in the
+	// same way that tag soup parsers do. So we cannot shorten
+	// this by omitting <tbody> or other required elements.
+	thead: [ 1, "<table>", "</table>" ],
+	col: [ 2, "<table><colgroup>", "</colgroup></table>" ],
+	tr: [ 2, "<table><tbody>", "</tbody></table>" ],
+	td: [ 3, "<table><tbody><tr>", "</tr></tbody></table>" ],
+
+	_default: [ 0, "", "" ]
+};
+
+wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead;
+wrapMap.th = wrapMap.td;
+
+// Support: IE <=9 only
+if ( !support.option ) {
+	wrapMap.optgroup = wrapMap.option = [ 1, "<select multiple='multiple'>", "</select>" ];
+}
+
+
+function getAll( context, tag ) {
+
+	// Support: IE <=9 - 11 only
+	// Use typeof to avoid zero-argument method invocation on host objects (#15151)
+	var ret;
+
+	if ( typeof context.getElementsByTagName !== "undefined" ) {
+		ret = context.getElementsByTagName( tag || "*" );
+
+	} else if ( typeof context.querySelectorAll !== "undefined" ) {
+		ret = context.querySelectorAll( tag || "*" );
+
+	} else {
+		ret = [];
+	}
+
+	if ( tag === undefined || tag && nodeName( context, tag ) ) {
+		return jQuery.merge( [ context ], ret );
+	}
+
+	return ret;
+}
+
+
+// Mark scripts as having already been evaluated
+function setGlobalEval( elems, refElements ) {
+	var i = 0,
+		l = elems.length;
+
+	for ( ; i < l; i++ ) {
+		dataPriv.set(
+			elems[ i ],
+			"globalEval",
+			!refElements || dataPriv.get( refElements[ i ], "globalEval" )
+		);
+	}
+}
+
+
+var rhtml = /<|&#?\w+;/;
+
+function buildFragment( elems, context, scripts, selection, ignored ) {
+	var elem, tmp, tag, wrap, attached, j,
+		fragment = context.createDocumentFragment(),
+		nodes = [],
+		i = 0,
+		l = elems.length;
+
+	for ( ; i < l; i++ ) {
+		elem = elems[ i ];
+
+		if ( elem || elem === 0 ) {
+
+			// Add nodes directly
+			if ( toType( elem ) === "object" ) {
+
+				// Support: Android <=4.0 only, PhantomJS 1 only
+				// push.apply(_, arraylike) throws on ancient WebKit
+				jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem );
+
+			// Convert non-html into a text node
+			} else if ( !rhtml.test( elem ) ) {
+				nodes.push( context.createTextNode( elem ) );
+
+			// Convert html into DOM nodes
+			} else {
+				tmp = tmp || fragment.appendChild( context.createElement( "div" ) );
+
+				// Deserialize a standard representation
+				tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase();
+				wrap = wrapMap[ tag ] || wrapMap._default;
+				tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ];
+
+				// Descend through wrappers to the right content
+				j = wrap[ 0 ];
+				while ( j-- ) {
+					tmp = tmp.lastChild;
+				}
+
+				// Support: Android <=4.0 only, PhantomJS 1 only
+				// push.apply(_, arraylike) throws on ancient WebKit
+				jQuery.merge( nodes, tmp.childNodes );
+
+				// Remember the top-level container
+				tmp = fragment.firstChild;
+
+				// Ensure the created nodes are orphaned (#12392)
+				tmp.textContent = "";
+			}
+		}
+	}
+
+	// Remove wrapper from fragment
+	fragment.textContent = "";
+
+	i = 0;
+	while ( ( elem = nodes[ i++ ] ) ) {
+
+		// Skip elements already in the context collection (trac-4087)
+		if ( selection && jQuery.inArray( elem, selection ) > -1 ) {
+			if ( ignored ) {
+				ignored.push( elem );
+			}
+			continue;
+		}
+
+		attached = isAttached( elem );
+
+		// Append to fragment
+		tmp = getAll( fragment.appendChild( elem ), "script" );
+
+		// Preserve script evaluation history
+		if ( attached ) {
+			setGlobalEval( tmp );
+		}
+
+		// Capture executables
+		if ( scripts ) {
+			j = 0;
+			while ( ( elem = tmp[ j++ ] ) ) {
+				if ( rscriptType.test( elem.type || "" ) ) {
+					scripts.push( elem );
+				}
+			}
+		}
+	}
+
+	return fragment;
+}
+
+
+var rtypenamespace = /^([^.]*)(?:\.(.+)|)/;
+
+function returnTrue() {
+	return true;
+}
+
+function returnFalse() {
+	return false;
+}
+
+// Support: IE <=9 - 11+
+// focus() and blur() are asynchronous, except when they are no-op.
+// So expect focus to be synchronous when the element is already active,
+// and blur to be synchronous when the element is not already active.
+// (focus and blur are always synchronous in other supported browsers,
+// this just defines when we can count on it).
+function expectSync( elem, type ) {
+	return ( elem === safeActiveElement() ) === ( type === "focus" );
+}
+
+// Support: IE <=9 only
+// Accessing document.activeElement can throw unexpectedly
+// https://bugs.jquery.com/ticket/13393
+function safeActiveElement() {
+	try {
+		return document.activeElement;
+	} catch ( err ) { }
+}
+
+function on( elem, types, selector, data, fn, one ) {
+	var origFn, type;
+
+	// Types can be a map of types/handlers
+	if ( typeof types === "object" ) {
+
+		// ( types-Object, selector, data )
+		if ( typeof selector !== "string" ) {
+
+			// ( types-Object, data )
+			data = data || selector;
+			selector = undefined;
+		}
+		for ( type in types ) {
+			on( elem, type, selector, data, types[ type ], one );
+		}
+		return elem;
+	}
+
+	if ( data == null && fn == null ) {
+
+		// ( types, fn )
+		fn = selector;
+		data = selector = undefined;
+	} else if ( fn == null ) {
+		if ( typeof selector === "string" ) {
+
+			// ( types, selector, fn )
+			fn = data;
+			data = undefined;
+		} else {
+
+			// ( types, data, fn )
+			fn = data;
+			data = selector;
+			selector = undefined;
+		}
+	}
+	if ( fn === false ) {
+		fn = returnFalse;
+	} else if ( !fn ) {
+		return elem;
+	}
+
+	if ( one === 1 ) {
+		origFn = fn;
+		fn = function( event ) {
+
+			// Can use an empty set, since event contains the info
+			jQuery().off( event );
+			return origFn.apply( this, arguments );
+		};
+
+		// Use same guid so caller can remove using origFn
+		fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ );
+	}
+	return elem.each( function() {
+		jQuery.event.add( this, types, fn, data, selector );
+	} );
+}
+
+/*
+ * Helper functions for managing events -- not part of the public interface.
+ * Props to Dean Edwards' addEvent library for many of the ideas.
+ */
+jQuery.event = {
+
+	global: {},
+
+	add: function( elem, types, handler, data, selector ) {
+
+		var handleObjIn, eventHandle, tmp,
+			events, t, handleObj,
+			special, handlers, type, namespaces, origType,
+			elemData = dataPriv.get( elem );
+
+		// Only attach events to objects that accept data
+		if ( !acceptData( elem ) ) {
+			return;
+		}
+
+		// Caller can pass in an object of custom data in lieu of the handler
+		if ( handler.handler ) {
+			handleObjIn = handler;
+			handler = handleObjIn.handler;
+			selector = handleObjIn.selector;
+		}
+
+		// Ensure that invalid selectors throw exceptions at attach time
+		// Evaluate against documentElement in case elem is a non-element node (e.g., document)
+		if ( selector ) {
+			jQuery.find.matchesSelector( documentElement, selector );
+		}
+
+		// Make sure that the handler has a unique ID, used to find/remove it later
+		if ( !handler.guid ) {
+			handler.guid = jQuery.guid++;
+		}
+
+		// Init the element's event structure and main handler, if this is the first
+		if ( !( events = elemData.events ) ) {
+			events = elemData.events = Object.create( null );
+		}
+		if ( !( eventHandle = elemData.handle ) ) {
+			eventHandle = elemData.handle = function( e ) {
+
+				// Discard the second event of a jQuery.event.trigger() and
+				// when an event is called after a page has unloaded
+				return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ?
+					jQuery.event.dispatch.apply( elem, arguments ) : undefined;
+			};
+		}
+
+		// Handle multiple events separated by a space
+		types = ( types || "" ).match( rnothtmlwhite ) || [ "" ];
+		t = types.length;
+		while ( t-- ) {
+			tmp = rtypenamespace.exec( types[ t ] ) || [];
+			type = origType = tmp[ 1 ];
+			namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort();
+
+			// There *must* be a type, no attaching namespace-only handlers
+			if ( !type ) {
+				continue;
+			}
+
+			// If event changes its type, use the special event handlers for the changed type
+			special = jQuery.event.special[ type ] || {};
+
+			// If selector defined, determine special event api type, otherwise given type
+			type = ( selector ? special.delegateType : special.bindType ) || type;
+
+			// Update special based on newly reset type
+			special = jQuery.event.special[ type ] || {};
+
+			// handleObj is passed to all event handlers
+			handleObj = jQuery.extend( {
+				type: type,
+				origType: origType,
+				data: data,
+				handler: handler,
+				guid: handler.guid,
+				selector: selector,
+				needsContext: selector && jQuery.expr.match.needsContext.test( selector ),
+				namespace: namespaces.join( "." )
+			}, handleObjIn );
+
+			// Init the event handler queue if we're the first
+			if ( !( handlers = events[ type ] ) ) {
+				handlers = events[ type ] = [];
+				handlers.delegateCount = 0;
+
+				// Only use addEventListener if the special events handler returns false
+				if ( !special.setup ||
+					special.setup.call( elem, data, namespaces, eventHandle ) === false ) {
+
+					if ( elem.addEventListener ) {
+						elem.addEventListener( type, eventHandle );
+					}
+				}
+			}
+
+			if ( special.add ) {
+				special.add.call( elem, handleObj );
+
+				if ( !handleObj.handler.guid ) {
+					handleObj.handler.guid = handler.guid;
+				}
+			}
+
+			// Add to the element's handler list, delegates in front
+			if ( selector ) {
+				handlers.splice( handlers.delegateCount++, 0, handleObj );
+			} else {
+				handlers.push( handleObj );
+			}
+
+			// Keep track of which events have ever been used, for event optimization
+			jQuery.event.global[ type ] = true;
+		}
+
+	},
+
+	// Detach an event or set of events from an element
+	remove: function( elem, types, handler, selector, mappedTypes ) {
+
+		var j, origCount, tmp,
+			events, t, handleObj,
+			special, handlers, type, namespaces, origType,
+			elemData = dataPriv.hasData( elem ) && dataPriv.get( elem );
+
+		if ( !elemData || !( events = elemData.events ) ) {
+			return;
+		}
+
+		// Once for each type.namespace in types; type may be omitted
+		types = ( types || "" ).match( rnothtmlwhite ) || [ "" ];
+		t = types.length;
+		while ( t-- ) {
+			tmp = rtypenamespace.exec( types[ t ] ) || [];
+			type = origType = tmp[ 1 ];
+			namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort();
+
+			// Unbind all events (on this namespace, if provided) for the element
+			if ( !type ) {
+				for ( type in events ) {
+					jQuery.event.remove( elem, type + types[ t ], handler, selector, true );
+				}
+				continue;
+			}
+
+			special = jQuery.event.special[ type ] || {};
+			type = ( selector ? special.delegateType : special.bindType ) || type;
+			handlers = events[ type ] || [];
+			tmp = tmp[ 2 ] &&
+				new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" );
+
+			// Remove matching events
+			origCount = j = handlers.length;
+			while ( j-- ) {
+				handleObj = handlers[ j ];
+
+				if ( ( mappedTypes || origType === handleObj.origType ) &&
+					( !handler || handler.guid === handleObj.guid ) &&
+					( !tmp || tmp.test( handleObj.namespace ) ) &&
+					( !selector || selector === handleObj.selector ||
+						selector === "**" && handleObj.selector ) ) {
+					handlers.splice( j, 1 );
+
+					if ( handleObj.selector ) {
+						handlers.delegateCount--;
+					}
+					if ( special.remove ) {
+						special.remove.call( elem, handleObj );
+					}
+				}
+			}
+
+			// Remove generic event handler if we removed something and no more handlers exist
+			// (avoids potential for endless recursion during removal of special event handlers)
+			if ( origCount && !handlers.length ) {
+				if ( !special.teardown ||
+					special.teardown.call( elem, namespaces, elemData.handle ) === false ) {
+
+					jQuery.removeEvent( elem, type, elemData.handle );
+				}
+
+				delete events[ type ];
+			}
+		}
+
+		// Remove data and the expando if it's no longer used
+		if ( jQuery.isEmptyObject( events ) ) {
+			dataPriv.remove( elem, "handle events" );
+		}
+	},
+
+	dispatch: function( nativeEvent ) {
+
+		var i, j, ret, matched, handleObj, handlerQueue,
+			args = new Array( arguments.length ),
+
+			// Make a writable jQuery.Event from the native event object
+			event = jQuery.event.fix( nativeEvent ),
+
+			handlers = (
+				dataPriv.get( this, "events" ) || Object.create( null )
+			)[ event.type ] || [],
+			special = jQuery.event.special[ event.type ] || {};
+
+		// Use the fix-ed jQuery.Event rather than the (read-only) native event
+		args[ 0 ] = event;
+
+		for ( i = 1; i < arguments.length; i++ ) {
+			args[ i ] = arguments[ i ];
+		}
+
+		event.delegateTarget = this;
+
+		// Call the preDispatch hook for the mapped type, and let it bail if desired
+		if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) {
+			return;
+		}
+
+		// Determine handlers
+		handlerQueue = jQuery.event.handlers.call( this, event, handlers );
+
+		// Run delegates first; they may want to stop propagation beneath us
+		i = 0;
+		while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) {
+			event.currentTarget = matched.elem;
+
+			j = 0;
+			while ( ( handleObj = matched.handlers[ j++ ] ) &&
+				!event.isImmediatePropagationStopped() ) {
+
+				// If the event is namespaced, then each handler is only invoked if it is
+				// specially universal or its namespaces are a superset of the event's.
+				if ( !event.rnamespace || handleObj.namespace === false ||
+					event.rnamespace.test( handleObj.namespace ) ) {
+
+					event.handleObj = handleObj;
+					event.data = handleObj.data;
+
+					ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle ||
+						handleObj.handler ).apply( matched.elem, args );
+
+					if ( ret !== undefined ) {
+						if ( ( event.result = ret ) === false ) {
+							event.preventDefault();
+							event.stopPropagation();
+						}
+					}
+				}
+			}
+		}
+
+		// Call the postDispatch hook for the mapped type
+		if ( special.postDispatch ) {
+			special.postDispatch.call( this, event );
+		}
+
+		return event.result;
+	},
+
+	handlers: function( event, handlers ) {
+		var i, handleObj, sel, matchedHandlers, matchedSelectors,
+			handlerQueue = [],
+			delegateCount = handlers.delegateCount,
+			cur = event.target;
+
+		// Find delegate handlers
+		if ( delegateCount &&
+
+			// Support: IE <=9
+			// Black-hole SVG <use> instance trees (trac-13180)
+			cur.nodeType &&
+
+			// Support: Firefox <=42
+			// Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861)
+			// https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click
+			// Support: IE 11 only
+			// ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343)
+			!( event.type === "click" && event.button >= 1 ) ) {
+
+			for ( ; cur !== this; cur = cur.parentNode || this ) {
+
+				// Don't check non-elements (#13208)
+				// Don't process clicks on disabled elements (#6911, #8165, #11382, #11764)
+				if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) {
+					matchedHandlers = [];
+					matchedSelectors = {};
+					for ( i = 0; i < delegateCount; i++ ) {
+						handleObj = handlers[ i ];
+
+						// Don't conflict with Object.prototype properties (#13203)
+						sel = handleObj.selector + " ";
+
+						if ( matchedSelectors[ sel ] === undefined ) {
+							matchedSelectors[ sel ] = handleObj.needsContext ?
+								jQuery( sel, this ).index( cur ) > -1 :
+								jQuery.find( sel, this, null, [ cur ] ).length;
+						}
+						if ( matchedSelectors[ sel ] ) {
+							matchedHandlers.push( handleObj );
+						}
+					}
+					if ( matchedHandlers.length ) {
+						handlerQueue.push( { elem: cur, handlers: matchedHandlers } );
+					}
+				}
+			}
+		}
+
+		// Add the remaining (directly-bound) handlers
+		cur = this;
+		if ( delegateCount < handlers.length ) {
+			handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } );
+		}
+
+		return handlerQueue;
+	},
+
+	addProp: function( name, hook ) {
+		Object.defineProperty( jQuery.Event.prototype, name, {
+			enumerable: true,
+			configurable: true,
+
+			get: isFunction( hook ) ?
+				function() {
+					if ( this.originalEvent ) {
+						return hook( this.originalEvent );
+					}
+				} :
+				function() {
+					if ( this.originalEvent ) {
+						return this.originalEvent[ name ];
+					}
+				},
+
+			set: function( value ) {
+				Object.defineProperty( this, name, {
+					enumerable: true,
+					configurable: true,
+					writable: true,
+					value: value
+				} );
+			}
+		} );
+	},
+
+	fix: function( originalEvent ) {
+		return originalEvent[ jQuery.expando ] ?
+			originalEvent :
+			new jQuery.Event( originalEvent );
+	},
+
+	special: {
+		load: {
+
+			// Prevent triggered image.load events from bubbling to window.load
+			noBubble: true
+		},
+		click: {
+
+			// Utilize native event to ensure correct state for checkable inputs
+			setup: function( data ) {
+
+				// For mutual compressibility with _default, replace `this` access with a local var.
+				// `|| data` is dead code meant only to preserve the variable through minification.
+				var el = this || data;
+
+				// Claim the first handler
+				if ( rcheckableType.test( el.type ) &&
+					el.click && nodeName( el, "input" ) ) {
+
+					// dataPriv.set( el, "click", ... )
+					leverageNative( el, "click", returnTrue );
+				}
+
+				// Return false to allow normal processing in the caller
+				return false;
+			},
+			trigger: function( data ) {
+
+				// For mutual compressibility with _default, replace `this` access with a local var.
+				// `|| data` is dead code meant only to preserve the variable through minification.
+				var el = this || data;
+
+				// Force setup before triggering a click
+				if ( rcheckableType.test( el.type ) &&
+					el.click && nodeName( el, "input" ) ) {
+
+					leverageNative( el, "click" );
+				}
+
+				// Return non-false to allow normal event-path propagation
+				return true;
+			},
+
+			// For cross-browser consistency, suppress native .click() on links
+			// Also prevent it if we're currently inside a leveraged native-event stack
+			_default: function( event ) {
+				var target = event.target;
+				return rcheckableType.test( target.type ) &&
+					target.click && nodeName( target, "input" ) &&
+					dataPriv.get( target, "click" ) ||
+					nodeName( target, "a" );
+			}
+		},
+
+		beforeunload: {
+			postDispatch: function( event ) {
+
+				// Support: Firefox 20+
+				// Firefox doesn't alert if the returnValue field is not set.
+				if ( event.result !== undefined && event.originalEvent ) {
+					event.originalEvent.returnValue = event.result;
+				}
+			}
+		}
+	}
+};
+
+// Ensure the presence of an event listener that handles manually-triggered
+// synthetic events by interrupting progress until reinvoked in response to
+// *native* events that it fires directly, ensuring that state changes have
+// already occurred before other listeners are invoked.
+function leverageNative( el, type, expectSync ) {
+
+	// Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add
+	if ( !expectSync ) {
+		if ( dataPriv.get( el, type ) === undefined ) {
+			jQuery.event.add( el, type, returnTrue );
+		}
+		return;
+	}
+
+	// Register the controller as a special universal handler for all event namespaces
+	dataPriv.set( el, type, false );
+	jQuery.event.add( el, type, {
+		namespace: false,
+		handler: function( event ) {
+			var notAsync, result,
+				saved = dataPriv.get( this, type );
+
+			if ( ( event.isTrigger & 1 ) && this[ type ] ) {
+
+				// Interrupt processing of the outer synthetic .trigger()ed event
+				// Saved data should be false in such cases, but might be a leftover capture object
+				// from an async native handler (gh-4350)
+				if ( !saved.length ) {
+
+					// Store arguments for use when handling the inner native event
+					// There will always be at least one argument (an event object), so this array
+					// will not be confused with a leftover capture object.
+					saved = slice.call( arguments );
+					dataPriv.set( this, type, saved );
+
+					// Trigger the native event and capture its result
+					// Support: IE <=9 - 11+
+					// focus() and blur() are asynchronous
+					notAsync = expectSync( this, type );
+					this[ type ]();
+					result = dataPriv.get( this, type );
+					if ( saved !== result || notAsync ) {
+						dataPriv.set( this, type, false );
+					} else {
+						result = {};
+					}
+					if ( saved !== result ) {
+
+						// Cancel the outer synthetic event
+						event.stopImmediatePropagation();
+						event.preventDefault();
+
+						// Support: Chrome 86+
+						// In Chrome, if an element having a focusout handler is blurred by
+						// clicking outside of it, it invokes the handler synchronously. If
+						// that handler calls `.remove()` on the element, the data is cleared,
+						// leaving `result` undefined. We need to guard against this.
+						return result && result.value;
+					}
+
+				// If this is an inner synthetic event for an event with a bubbling surrogate
+				// (focus or blur), assume that the surrogate already propagated from triggering the
+				// native event and prevent that from happening again here.
+				// This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the
+				// bubbling surrogate propagates *after* the non-bubbling base), but that seems
+				// less bad than duplication.
+				} else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) {
+					event.stopPropagation();
+				}
+
+			// If this is a native event triggered above, everything is now in order
+			// Fire an inner synthetic event with the original arguments
+			} else if ( saved.length ) {
+
+				// ...and capture the result
+				dataPriv.set( this, type, {
+					value: jQuery.event.trigger(
+
+						// Support: IE <=9 - 11+
+						// Extend with the prototype to reset the above stopImmediatePropagation()
+						jQuery.extend( saved[ 0 ], jQuery.Event.prototype ),
+						saved.slice( 1 ),
+						this
+					)
+				} );
+
+				// Abort handling of the native event
+				event.stopImmediatePropagation();
+			}
+		}
+	} );
+}
+
+jQuery.removeEvent = function( elem, type, handle ) {
+
+	// This "if" is needed for plain objects
+	if ( elem.removeEventListener ) {
+		elem.removeEventListener( type, handle );
+	}
+};
+
+jQuery.Event = function( src, props ) {
+
+	// Allow instantiation without the 'new' keyword
+	if ( !( this instanceof jQuery.Event ) ) {
+		return new jQuery.Event( src, props );
+	}
+
+	// Event object
+	if ( src && src.type ) {
+		this.originalEvent = src;
+		this.type = src.type;
+
+		// Events bubbling up the document may have been marked as prevented
+		// by a handler lower down the tree; reflect the correct value.
+		this.isDefaultPrevented = src.defaultPrevented ||
+				src.defaultPrevented === undefined &&
+
+				// Support: Android <=2.3 only
+				src.returnValue === false ?
+			returnTrue :
+			returnFalse;
+
+		// Create target properties
+		// Support: Safari <=6 - 7 only
+		// Target should not be a text node (#504, #13143)
+		this.target = ( src.target && src.target.nodeType === 3 ) ?
+			src.target.parentNode :
+			src.target;
+
+		this.currentTarget = src.currentTarget;
+		this.relatedTarget = src.relatedTarget;
+
+	// Event type
+	} else {
+		this.type = src;
+	}
+
+	// Put explicitly provided properties onto the event object
+	if ( props ) {
+		jQuery.extend( this, props );
+	}
+
+	// Create a timestamp if incoming event doesn't have one
+	this.timeStamp = src && src.timeStamp || Date.now();
+
+	// Mark it as fixed
+	this[ jQuery.expando ] = true;
+};
+
+// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding
+// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html
+jQuery.Event.prototype = {
+	constructor: jQuery.Event,
+	isDefaultPrevented: returnFalse,
+	isPropagationStopped: returnFalse,
+	isImmediatePropagationStopped: returnFalse,
+	isSimulated: false,
+
+	preventDefault: function() {
+		var e = this.originalEvent;
+
+		this.isDefaultPrevented = returnTrue;
+
+		if ( e && !this.isSimulated ) {
+			e.preventDefault();
+		}
+	},
+	stopPropagation: function() {
+		var e = this.originalEvent;
+
+		this.isPropagationStopped = returnTrue;
+
+		if ( e && !this.isSimulated ) {
+			e.stopPropagation();
+		}
+	},
+	stopImmediatePropagation: function() {
+		var e = this.originalEvent;
+
+		this.isImmediatePropagationStopped = returnTrue;
+
+		if ( e && !this.isSimulated ) {
+			e.stopImmediatePropagation();
+		}
+
+		this.stopPropagation();
+	}
+};
+
+// Includes all common event props including KeyEvent and MouseEvent specific props
+jQuery.each( {
+	altKey: true,
+	bubbles: true,
+	cancelable: true,
+	changedTouches: true,
+	ctrlKey: true,
+	detail: true,
+	eventPhase: true,
+	metaKey: true,
+	pageX: true,
+	pageY: true,
+	shiftKey: true,
+	view: true,
+	"char": true,
+	code: true,
+	charCode: true,
+	key: true,
+	keyCode: true,
+	button: true,
+	buttons: true,
+	clientX: true,
+	clientY: true,
+	offsetX: true,
+	offsetY: true,
+	pointerId: true,
+	pointerType: true,
+	screenX: true,
+	screenY: true,
+	targetTouches: true,
+	toElement: true,
+	touches: true,
+	which: true
+}, jQuery.event.addProp );
+
+jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) {
+	jQuery.event.special[ type ] = {
+
+		// Utilize native event if possible so blur/focus sequence is correct
+		setup: function() {
+
+			// Claim the first handler
+			// dataPriv.set( this, "focus", ... )
+			// dataPriv.set( this, "blur", ... )
+			leverageNative( this, type, expectSync );
+
+			// Return false to allow normal processing in the caller
+			return false;
+		},
+		trigger: function() {
+
+			// Force setup before trigger
+			leverageNative( this, type );
+
+			// Return non-false to allow normal event-path propagation
+			return true;
+		},
+
+		// Suppress native focus or blur as it's already being fired
+		// in leverageNative.
+		_default: function() {
+			return true;
+		},
+
+		delegateType: delegateType
+	};
+} );
+
+// Create mouseenter/leave events using mouseover/out and event-time checks
+// so that event delegation works in jQuery.
+// Do the same for pointerenter/pointerleave and pointerover/pointerout
+//
+// Support: Safari 7 only
+// Safari sends mouseenter too often; see:
+// https://bugs.chromium.org/p/chromium/issues/detail?id=470258
+// for the description of the bug (it existed in older Chrome versions as well).
+jQuery.each( {
+	mouseenter: "mouseover",
+	mouseleave: "mouseout",
+	pointerenter: "pointerover",
+	pointerleave: "pointerout"
+}, function( orig, fix ) {
+	jQuery.event.special[ orig ] = {
+		delegateType: fix,
+		bindType: fix,
+
+		handle: function( event ) {
+			var ret,
+				target = this,
+				related = event.relatedTarget,
+				handleObj = event.handleObj;
+
+			// For mouseenter/leave call the handler if related is outside the target.
+			// NB: No relatedTarget if the mouse left/entered the browser window
+			if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) {
+				event.type = handleObj.origType;
+				ret = handleObj.handler.apply( this, arguments );
+				event.type = fix;
+			}
+			return ret;
+		}
+	};
+} );
+
+jQuery.fn.extend( {
+
+	on: function( types, selector, data, fn ) {
+		return on( this, types, selector, data, fn );
+	},
+	one: function( types, selector, data, fn ) {
+		return on( this, types, selector, data, fn, 1 );
+	},
+	off: function( types, selector, fn ) {
+		var handleObj, type;
+		if ( types && types.preventDefault && types.handleObj ) {
+
+			// ( event )  dispatched jQuery.Event
+			handleObj = types.handleObj;
+			jQuery( types.delegateTarget ).off(
+				handleObj.namespace ?
+					handleObj.origType + "." + handleObj.namespace :
+					handleObj.origType,
+				handleObj.selector,
+				handleObj.handler
+			);
+			return this;
+		}
+		if ( typeof types === "object" ) {
+
+			// ( types-object [, selector] )
+			for ( type in types ) {
+				this.off( type, selector, types[ type ] );
+			}
+			return this;
+		}
+		if ( selector === false || typeof selector === "function" ) {
+
+			// ( types [, fn] )
+			fn = selector;
+			selector = undefined;
+		}
+		if ( fn === false ) {
+			fn = returnFalse;
+		}
+		return this.each( function() {
+			jQuery.event.remove( this, types, fn, selector );
+		} );
+	}
+} );
+
+
+var
+
+	// Support: IE <=10 - 11, Edge 12 - 13 only
+	// In IE/Edge using regex groups here causes severe slowdowns.
+	// See https://connect.microsoft.com/IE/feedback/details/1736512/
+	rnoInnerhtml = /<script|<style|<link/i,
+
+	// checked="checked" or checked
+	rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i,
+	rcleanScript = /^\s*<!(?:\[CDATA\[|--)|(?:\]\]|--)>\s*$/g;
+
+// Prefer a tbody over its parent table for containing new rows
+function manipulationTarget( elem, content ) {
+	if ( nodeName( elem, "table" ) &&
+		nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) {
+
+		return jQuery( elem ).children( "tbody" )[ 0 ] || elem;
+	}
+
+	return elem;
+}
+
+// Replace/restore the type attribute of script elements for safe DOM manipulation
+function disableScript( elem ) {
+	elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type;
+	return elem;
+}
+function restoreScript( elem ) {
+	if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) {
+		elem.type = elem.type.slice( 5 );
+	} else {
+		elem.removeAttribute( "type" );
+	}
+
+	return elem;
+}
+
+function cloneCopyEvent( src, dest ) {
+	var i, l, type, pdataOld, udataOld, udataCur, events;
+
+	if ( dest.nodeType !== 1 ) {
+		return;
+	}
+
+	// 1. Copy private data: events, handlers, etc.
+	if ( dataPriv.hasData( src ) ) {
+		pdataOld = dataPriv.get( src );
+		events = pdataOld.events;
+
+		if ( events ) {
+			dataPriv.remove( dest, "handle events" );
+
+			for ( type in events ) {
+				for ( i = 0, l = events[ type ].length; i < l; i++ ) {
+					jQuery.event.add( dest, type, events[ type ][ i ] );
+				}
+			}
+		}
+	}
+
+	// 2. Copy user data
+	if ( dataUser.hasData( src ) ) {
+		udataOld = dataUser.access( src );
+		udataCur = jQuery.extend( {}, udataOld );
+
+		dataUser.set( dest, udataCur );
+	}
+}
+
+// Fix IE bugs, see support tests
+function fixInput( src, dest ) {
+	var nodeName = dest.nodeName.toLowerCase();
+
+	// Fails to persist the checked state of a cloned checkbox or radio button.
+	if ( nodeName === "input" && rcheckableType.test( src.type ) ) {
+		dest.checked = src.checked;
+
+	// Fails to return the selected option to the default selected state when cloning options
+	} else if ( nodeName === "input" || nodeName === "textarea" ) {
+		dest.defaultValue = src.defaultValue;
+	}
+}
+
+function domManip( collection, args, callback, ignored ) {
+
+	// Flatten any nested arrays
+	args = flat( args );
+
+	var fragment, first, scripts, hasScripts, node, doc,
+		i = 0,
+		l = collection.length,
+		iNoClone = l - 1,
+		value = args[ 0 ],
+		valueIsFunction = isFunction( value );
+
+	// We can't cloneNode fragments that contain checked, in WebKit
+	if ( valueIsFunction ||
+			( l > 1 && typeof value === "string" &&
+				!support.checkClone && rchecked.test( value ) ) ) {
+		return collection.each( function( index ) {
+			var self = collection.eq( index );
+			if ( valueIsFunction ) {
+				args[ 0 ] = value.call( this, index, self.html() );
+			}
+			domManip( self, args, callback, ignored );
+		} );
+	}
+
+	if ( l ) {
+		fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored );
+		first = fragment.firstChild;
+
+		if ( fragment.childNodes.length === 1 ) {
+			fragment = first;
+		}
+
+		// Require either new content or an interest in ignored elements to invoke the callback
+		if ( first || ignored ) {
+			scripts = jQuery.map( getAll( fragment, "script" ), disableScript );
+			hasScripts = scripts.length;
+
+			// Use the original fragment for the last item
+			// instead of the first because it can end up
+			// being emptied incorrectly in certain situations (#8070).
+			for ( ; i < l; i++ ) {
+				node = fragment;
+
+				if ( i !== iNoClone ) {
+					node = jQuery.clone( node, true, true );
+
+					// Keep references to cloned scripts for later restoration
+					if ( hasScripts ) {
+
+						// Support: Android <=4.0 only, PhantomJS 1 only
+						// push.apply(_, arraylike) throws on ancient WebKit
+						jQuery.merge( scripts, getAll( node, "script" ) );
+					}
+				}
+
+				callback.call( collection[ i ], node, i );
+			}
+
+			if ( hasScripts ) {
+				doc = scripts[ scripts.length - 1 ].ownerDocument;
+
+				// Reenable scripts
+				jQuery.map( scripts, restoreScript );
+
+				// Evaluate executable scripts on first document insertion
+				for ( i = 0; i < hasScripts; i++ ) {
+					node = scripts[ i ];
+					if ( rscriptType.test( node.type || "" ) &&
+						!dataPriv.access( node, "globalEval" ) &&
+						jQuery.contains( doc, node ) ) {
+
+						if ( node.src && ( node.type || "" ).toLowerCase()  !== "module" ) {
+
+							// Optional AJAX dependency, but won't run scripts if not present
+							if ( jQuery._evalUrl && !node.noModule ) {
+								jQuery._evalUrl( node.src, {
+									nonce: node.nonce || node.getAttribute( "nonce" )
+								}, doc );
+							}
+						} else {
+							DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc );
+						}
+					}
+				}
+			}
+		}
+	}
+
+	return collection;
+}
+
+function remove( elem, selector, keepData ) {
+	var node,
+		nodes = selector ? jQuery.filter( selector, elem ) : elem,
+		i = 0;
+
+	for ( ; ( node = nodes[ i ] ) != null; i++ ) {
+		if ( !keepData && node.nodeType === 1 ) {
+			jQuery.cleanData( getAll( node ) );
+		}
+
+		if ( node.parentNode ) {
+			if ( keepData && isAttached( node ) ) {
+				setGlobalEval( getAll( node, "script" ) );
+			}
+			node.parentNode.removeChild( node );
+		}
+	}
+
+	return elem;
+}
+
+jQuery.extend( {
+	htmlPrefilter: function( html ) {
+		return html;
+	},
+
+	clone: function( elem, dataAndEvents, deepDataAndEvents ) {
+		var i, l, srcElements, destElements,
+			clone = elem.cloneNode( true ),
+			inPage = isAttached( elem );
+
+		// Fix IE cloning issues
+		if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) &&
+				!jQuery.isXMLDoc( elem ) ) {
+
+			// We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2
+			destElements = getAll( clone );
+			srcElements = getAll( elem );
+
+			for ( i = 0, l = srcElements.length; i < l; i++ ) {
+				fixInput( srcElements[ i ], destElements[ i ] );
+			}
+		}
+
+		// Copy the events from the original to the clone
+		if ( dataAndEvents ) {
+			if ( deepDataAndEvents ) {
+				srcElements = srcElements || getAll( elem );
+				destElements = destElements || getAll( clone );
+
+				for ( i = 0, l = srcElements.length; i < l; i++ ) {
+					cloneCopyEvent( srcElements[ i ], destElements[ i ] );
+				}
+			} else {
+				cloneCopyEvent( elem, clone );
+			}
+		}
+
+		// Preserve script evaluation history
+		destElements = getAll( clone, "script" );
+		if ( destElements.length > 0 ) {
+			setGlobalEval( destElements, !inPage && getAll( elem, "script" ) );
+		}
+
+		// Return the cloned set
+		return clone;
+	},
+
+	cleanData: function( elems ) {
+		var data, elem, type,
+			special = jQuery.event.special,
+			i = 0;
+
+		for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) {
+			if ( acceptData( elem ) ) {
+				if ( ( data = elem[ dataPriv.expando ] ) ) {
+					if ( data.events ) {
+						for ( type in data.events ) {
+							if ( special[ type ] ) {
+								jQuery.event.remove( elem, type );
+
+							// This is a shortcut to avoid jQuery.event.remove's overhead
+							} else {
+								jQuery.removeEvent( elem, type, data.handle );
+							}
+						}
+					}
+
+					// Support: Chrome <=35 - 45+
+					// Assign undefined instead of using delete, see Data#remove
+					elem[ dataPriv.expando ] = undefined;
+				}
+				if ( elem[ dataUser.expando ] ) {
+
+					// Support: Chrome <=35 - 45+
+					// Assign undefined instead of using delete, see Data#remove
+					elem[ dataUser.expando ] = undefined;
+				}
+			}
+		}
+	}
+} );
+
+jQuery.fn.extend( {
+	detach: function( selector ) {
+		return remove( this, selector, true );
+	},
+
+	remove: function( selector ) {
+		return remove( this, selector );
+	},
+
+	text: function( value ) {
+		return access( this, function( value ) {
+			return value === undefined ?
+				jQuery.text( this ) :
+				this.empty().each( function() {
+					if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
+						this.textContent = value;
+					}
+				} );
+		}, null, value, arguments.length );
+	},
+
+	append: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
+				var target = manipulationTarget( this, elem );
+				target.appendChild( elem );
+			}
+		} );
+	},
+
+	prepend: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
+				var target = manipulationTarget( this, elem );
+				target.insertBefore( elem, target.firstChild );
+			}
+		} );
+	},
+
+	before: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.parentNode ) {
+				this.parentNode.insertBefore( elem, this );
+			}
+		} );
+	},
+
+	after: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.parentNode ) {
+				this.parentNode.insertBefore( elem, this.nextSibling );
+			}
+		} );
+	},
+
+	empty: function() {
+		var elem,
+			i = 0;
+
+		for ( ; ( elem = this[ i ] ) != null; i++ ) {
+			if ( elem.nodeType === 1 ) {
+
+				// Prevent memory leaks
+				jQuery.cleanData( getAll( elem, false ) );
+
+				// Remove any remaining nodes
+				elem.textContent = "";
+			}
+		}
+
+		return this;
+	},
+
+	clone: function( dataAndEvents, deepDataAndEvents ) {
+		dataAndEvents = dataAndEvents == null ? false : dataAndEvents;
+		deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents;
+
+		return this.map( function() {
+			return jQuery.clone( this, dataAndEvents, deepDataAndEvents );
+		} );
+	},
+
+	html: function( value ) {
+		return access( this, function( value ) {
+			var elem = this[ 0 ] || {},
+				i = 0,
+				l = this.length;
+
+			if ( value === undefined && elem.nodeType === 1 ) {
+				return elem.innerHTML;
+			}
+
+			// See if we can take a shortcut and just use innerHTML
+			if ( typeof value === "string" && !rnoInnerhtml.test( value ) &&
+				!wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) {
+
+				value = jQuery.htmlPrefilter( value );
+
+				try {
+					for ( ; i < l; i++ ) {
+						elem = this[ i ] || {};
+
+						// Remove element nodes and prevent memory leaks
+						if ( elem.nodeType === 1 ) {
+							jQuery.cleanData( getAll( elem, false ) );
+							elem.innerHTML = value;
+						}
+					}
+
+					elem = 0;
+
+				// If using innerHTML throws an exception, use the fallback method
+				} catch ( e ) {}
+			}
+
+			if ( elem ) {
+				this.empty().append( value );
+			}
+		}, null, value, arguments.length );
+	},
+
+	replaceWith: function() {
+		var ignored = [];
+
+		// Make the changes, replacing each non-ignored context element with the new content
+		return domManip( this, arguments, function( elem ) {
+			var parent = this.parentNode;
+
+			if ( jQuery.inArray( this, ignored ) < 0 ) {
+				jQuery.cleanData( getAll( this ) );
+				if ( parent ) {
+					parent.replaceChild( elem, this );
+				}
+			}
+
+		// Force callback invocation
+		}, ignored );
+	}
+} );
+
+jQuery.each( {
+	appendTo: "append",
+	prependTo: "prepend",
+	insertBefore: "before",
+	insertAfter: "after",
+	replaceAll: "replaceWith"
+}, function( name, original ) {
+	jQuery.fn[ name ] = function( selector ) {
+		var elems,
+			ret = [],
+			insert = jQuery( selector ),
+			last = insert.length - 1,
+			i = 0;
+
+		for ( ; i <= last; i++ ) {
+			elems = i === last ? this : this.clone( true );
+			jQuery( insert[ i ] )[ original ]( elems );
+
+			// Support: Android <=4.0 only, PhantomJS 1 only
+			// .get() because push.apply(_, arraylike) throws on ancient WebKit
+			push.apply( ret, elems.get() );
+		}
+
+		return this.pushStack( ret );
+	};
+} );
+var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" );
+
+var getStyles = function( elem ) {
+
+		// Support: IE <=11 only, Firefox <=30 (#15098, #14150)
+		// IE throws on elements created in popups
+		// FF meanwhile throws on frame elements through "defaultView.getComputedStyle"
+		var view = elem.ownerDocument.defaultView;
+
+		if ( !view || !view.opener ) {
+			view = window;
+		}
+
+		return view.getComputedStyle( elem );
+	};
+
+var swap = function( elem, options, callback ) {
+	var ret, name,
+		old = {};
+
+	// Remember the old values, and insert the new ones
+	for ( name in options ) {
+		old[ name ] = elem.style[ name ];
+		elem.style[ name ] = options[ name ];
+	}
+
+	ret = callback.call( elem );
+
+	// Revert the old values
+	for ( name in options ) {
+		elem.style[ name ] = old[ name ];
+	}
+
+	return ret;
+};
+
+
+var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" );
+
+
+
+( function() {
+
+	// Executing both pixelPosition & boxSizingReliable tests require only one layout
+	// so they're executed at the same time to save the second computation.
+	function computeStyleTests() {
+
+		// This is a singleton, we need to execute it only once
+		if ( !div ) {
+			return;
+		}
+
+		container.style.cssText = "position:absolute;left:-11111px;width:60px;" +
+			"margin-top:1px;padding:0;border:0";
+		div.style.cssText =
+			"position:relative;display:block;box-sizing:border-box;overflow:scroll;" +
+			"margin:auto;border:1px;padding:1px;" +
+			"width:60%;top:1%";
+		documentElement.appendChild( container ).appendChild( div );
+
+		var divStyle = window.getComputedStyle( div );
+		pixelPositionVal = divStyle.top !== "1%";
+
+		// Support: Android 4.0 - 4.3 only, Firefox <=3 - 44
+		reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12;
+
+		// Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3
+		// Some styles come back with percentage values, even though they shouldn't
+		div.style.right = "60%";
+		pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36;
+
+		// Support: IE 9 - 11 only
+		// Detect misreporting of content dimensions for box-sizing:border-box elements
+		boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36;
+
+		// Support: IE 9 only
+		// Detect overflow:scroll screwiness (gh-3699)
+		// Support: Chrome <=64
+		// Don't get tricked when zoom affects offsetWidth (gh-4029)
+		div.style.position = "absolute";
+		scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12;
+
+		documentElement.removeChild( container );
+
+		// Nullify the div so it wouldn't be stored in the memory and
+		// it will also be a sign that checks already performed
+		div = null;
+	}
+
+	function roundPixelMeasures( measure ) {
+		return Math.round( parseFloat( measure ) );
+	}
+
+	var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal,
+		reliableTrDimensionsVal, reliableMarginLeftVal,
+		container = document.createElement( "div" ),
+		div = document.createElement( "div" );
+
+	// Finish early in limited (non-browser) environments
+	if ( !div.style ) {
+		return;
+	}
+
+	// Support: IE <=9 - 11 only
+	// Style of cloned element affects source element cloned (#8908)
+	div.style.backgroundClip = "content-box";
+	div.cloneNode( true ).style.backgroundClip = "";
+	support.clearCloneStyle = div.style.backgroundClip === "content-box";
+
+	jQuery.extend( support, {
+		boxSizingReliable: function() {
+			computeStyleTests();
+			return boxSizingReliableVal;
+		},
+		pixelBoxStyles: function() {
+			computeStyleTests();
+			return pixelBoxStylesVal;
+		},
+		pixelPosition: function() {
+			computeStyleTests();
+			return pixelPositionVal;
+		},
+		reliableMarginLeft: function() {
+			computeStyleTests();
+			return reliableMarginLeftVal;
+		},
+		scrollboxSize: function() {
+			computeStyleTests();
+			return scrollboxSizeVal;
+		},
+
+		// Support: IE 9 - 11+, Edge 15 - 18+
+		// IE/Edge misreport `getComputedStyle` of table rows with width/height
+		// set in CSS while `offset*` properties report correct values.
+		// Behavior in IE 9 is more subtle than in newer versions & it passes
+		// some versions of this test; make sure not to make it pass there!
+		//
+		// Support: Firefox 70+
+		// Only Firefox includes border widths
+		// in computed dimensions. (gh-4529)
+		reliableTrDimensions: function() {
+			var table, tr, trChild, trStyle;
+			if ( reliableTrDimensionsVal == null ) {
+				table = document.createElement( "table" );
+				tr = document.createElement( "tr" );
+				trChild = document.createElement( "div" );
+
+				table.style.cssText = "position:absolute;left:-11111px;border-collapse:separate";
+				tr.style.cssText = "border:1px solid";
+
+				// Support: Chrome 86+
+				// Height set through cssText does not get applied.
+				// Computed height then comes back as 0.
+				tr.style.height = "1px";
+				trChild.style.height = "9px";
+
+				// Support: Android 8 Chrome 86+
+				// In our bodyBackground.html iframe,
+				// display for all div elements is set to "inline",
+				// which causes a problem only in Android 8 Chrome 86.
+				// Ensuring the div is display: block
+				// gets around this issue.
+				trChild.style.display = "block";
+
+				documentElement
+					.appendChild( table )
+					.appendChild( tr )
+					.appendChild( trChild );
+
+				trStyle = window.getComputedStyle( tr );
+				reliableTrDimensionsVal = ( parseInt( trStyle.height, 10 ) +
+					parseInt( trStyle.borderTopWidth, 10 ) +
+					parseInt( trStyle.borderBottomWidth, 10 ) ) === tr.offsetHeight;
+
+				documentElement.removeChild( table );
+			}
+			return reliableTrDimensionsVal;
+		}
+	} );
+} )();
+
+
+function curCSS( elem, name, computed ) {
+	var width, minWidth, maxWidth, ret,
+
+		// Support: Firefox 51+
+		// Retrieving style before computed somehow
+		// fixes an issue with getting wrong values
+		// on detached elements
+		style = elem.style;
+
+	computed = computed || getStyles( elem );
+
+	// getPropertyValue is needed for:
+	//   .css('filter') (IE 9 only, #12537)
+	//   .css('--customProperty) (#3144)
+	if ( computed ) {
+		ret = computed.getPropertyValue( name ) || computed[ name ];
+
+		if ( ret === "" && !isAttached( elem ) ) {
+			ret = jQuery.style( elem, name );
+		}
+
+		// A tribute to the "awesome hack by Dean Edwards"
+		// Android Browser returns percentage for some values,
+		// but width seems to be reliably pixels.
+		// This is against the CSSOM draft spec:
+		// https://drafts.csswg.org/cssom/#resolved-values
+		if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) {
+
+			// Remember the original values
+			width = style.width;
+			minWidth = style.minWidth;
+			maxWidth = style.maxWidth;
+
+			// Put in the new values to get a computed value out
+			style.minWidth = style.maxWidth = style.width = ret;
+			ret = computed.width;
+
+			// Revert the changed values
+			style.width = width;
+			style.minWidth = minWidth;
+			style.maxWidth = maxWidth;
+		}
+	}
+
+	return ret !== undefined ?
+
+		// Support: IE <=9 - 11 only
+		// IE returns zIndex value as an integer.
+		ret + "" :
+		ret;
+}
+
+
+function addGetHookIf( conditionFn, hookFn ) {
+
+	// Define the hook, we'll check on the first run if it's really needed.
+	return {
+		get: function() {
+			if ( conditionFn() ) {
+
+				// Hook not needed (or it's not possible to use it due
+				// to missing dependency), remove it.
+				delete this.get;
+				return;
+			}
+
+			// Hook needed; redefine it so that the support test is not executed again.
+			return ( this.get = hookFn ).apply( this, arguments );
+		}
+	};
+}
+
+
+var cssPrefixes = [ "Webkit", "Moz", "ms" ],
+	emptyStyle = document.createElement( "div" ).style,
+	vendorProps = {};
+
+// Return a vendor-prefixed property or undefined
+function vendorPropName( name ) {
+
+	// Check for vendor prefixed names
+	var capName = name[ 0 ].toUpperCase() + name.slice( 1 ),
+		i = cssPrefixes.length;
+
+	while ( i-- ) {
+		name = cssPrefixes[ i ] + capName;
+		if ( name in emptyStyle ) {
+			return name;
+		}
+	}
+}
+
+// Return a potentially-mapped jQuery.cssProps or vendor prefixed property
+function finalPropName( name ) {
+	var final = jQuery.cssProps[ name ] || vendorProps[ name ];
+
+	if ( final ) {
+		return final;
+	}
+	if ( name in emptyStyle ) {
+		return name;
+	}
+	return vendorProps[ name ] = vendorPropName( name ) || name;
+}
+
+
+var
+
+	// Swappable if display is none or starts with table
+	// except "table", "table-cell", or "table-caption"
+	// See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display
+	rdisplayswap = /^(none|table(?!-c[ea]).+)/,
+	rcustomProp = /^--/,
+	cssShow = { position: "absolute", visibility: "hidden", display: "block" },
+	cssNormalTransform = {
+		letterSpacing: "0",
+		fontWeight: "400"
+	};
+
+function setPositiveNumber( _elem, value, subtract ) {
+
+	// Any relative (+/-) values have already been
+	// normalized at this point
+	var matches = rcssNum.exec( value );
+	return matches ?
+
+		// Guard against undefined "subtract", e.g., when used as in cssHooks
+		Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) :
+		value;
+}
+
+function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) {
+	var i = dimension === "width" ? 1 : 0,
+		extra = 0,
+		delta = 0;
+
+	// Adjustment may not be necessary
+	if ( box === ( isBorderBox ? "border" : "content" ) ) {
+		return 0;
+	}
+
+	for ( ; i < 4; i += 2 ) {
+
+		// Both box models exclude margin
+		if ( box === "margin" ) {
+			delta += jQuery.css( elem, box + cssExpand[ i ], true, styles );
+		}
+
+		// If we get here with a content-box, we're seeking "padding" or "border" or "margin"
+		if ( !isBorderBox ) {
+
+			// Add padding
+			delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles );
+
+			// For "border" or "margin", add border
+			if ( box !== "padding" ) {
+				delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
+
+			// But still keep track of it otherwise
+			} else {
+				extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
+			}
+
+		// If we get here with a border-box (content + padding + border), we're seeking "content" or
+		// "padding" or "margin"
+		} else {
+
+			// For "content", subtract padding
+			if ( box === "content" ) {
+				delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles );
+			}
+
+			// For "content" or "padding", subtract border
+			if ( box !== "margin" ) {
+				delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
+			}
+		}
+	}
+
+	// Account for positive content-box scroll gutter when requested by providing computedVal
+	if ( !isBorderBox && computedVal >= 0 ) {
+
+		// offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border
+		// Assuming integer scroll gutter, subtract the rest and round down
+		delta += Math.max( 0, Math.ceil(
+			elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] -
+			computedVal -
+			delta -
+			extra -
+			0.5
+
+		// If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter
+		// Use an explicit zero to avoid NaN (gh-3964)
+		) ) || 0;
+	}
+
+	return delta;
+}
+
+function getWidthOrHeight( elem, dimension, extra ) {
+
+	// Start with computed style
+	var styles = getStyles( elem ),
+
+		// To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322).
+		// Fake content-box until we know it's needed to know the true value.
+		boxSizingNeeded = !support.boxSizingReliable() || extra,
+		isBorderBox = boxSizingNeeded &&
+			jQuery.css( elem, "boxSizing", false, styles ) === "border-box",
+		valueIsBorderBox = isBorderBox,
+
+		val = curCSS( elem, dimension, styles ),
+		offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 );
+
+	// Support: Firefox <=54
+	// Return a confounding non-pixel value or feign ignorance, as appropriate.
+	if ( rnumnonpx.test( val ) ) {
+		if ( !extra ) {
+			return val;
+		}
+		val = "auto";
+	}
+
+
+	// Support: IE 9 - 11 only
+	// Use offsetWidth/offsetHeight for when box sizing is unreliable.
+	// In those cases, the computed value can be trusted to be border-box.
+	if ( ( !support.boxSizingReliable() && isBorderBox ||
+
+		// Support: IE 10 - 11+, Edge 15 - 18+
+		// IE/Edge misreport `getComputedStyle` of table rows with width/height
+		// set in CSS while `offset*` properties report correct values.
+		// Interestingly, in some cases IE 9 doesn't suffer from this issue.
+		!support.reliableTrDimensions() && nodeName( elem, "tr" ) ||
+
+		// Fall back to offsetWidth/offsetHeight when value is "auto"
+		// This happens for inline elements with no explicit setting (gh-3571)
+		val === "auto" ||
+
+		// Support: Android <=4.1 - 4.3 only
+		// Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602)
+		!parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) &&
+
+		// Make sure the element is visible & connected
+		elem.getClientRects().length ) {
+
+		isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box";
+
+		// Where available, offsetWidth/offsetHeight approximate border box dimensions.
+		// Where not available (e.g., SVG), assume unreliable box-sizing and interpret the
+		// retrieved value as a content box dimension.
+		valueIsBorderBox = offsetProp in elem;
+		if ( valueIsBorderBox ) {
+			val = elem[ offsetProp ];
+		}
+	}
+
+	// Normalize "" and auto
+	val = parseFloat( val ) || 0;
+
+	// Adjust for the element's box model
+	return ( val +
+		boxModelAdjustment(
+			elem,
+			dimension,
+			extra || ( isBorderBox ? "border" : "content" ),
+			valueIsBorderBox,
+			styles,
+
+			// Provide the current computed size to request scroll gutter calculation (gh-3589)
+			val
+		)
+	) + "px";
+}
+
+jQuery.extend( {
+
+	// Add in style property hooks for overriding the default
+	// behavior of getting and setting a style property
+	cssHooks: {
+		opacity: {
+			get: function( elem, computed ) {
+				if ( computed ) {
+
+					// We should always get a number back from opacity
+					var ret = curCSS( elem, "opacity" );
+					return ret === "" ? "1" : ret;
+				}
+			}
+		}
+	},
+
+	// Don't automatically add "px" to these possibly-unitless properties
+	cssNumber: {
+		"animationIterationCount": true,
+		"columnCount": true,
+		"fillOpacity": true,
+		"flexGrow": true,
+		"flexShrink": true,
+		"fontWeight": true,
+		"gridArea": true,
+		"gridColumn": true,
+		"gridColumnEnd": true,
+		"gridColumnStart": true,
+		"gridRow": true,
+		"gridRowEnd": true,
+		"gridRowStart": true,
+		"lineHeight": true,
+		"opacity": true,
+		"order": true,
+		"orphans": true,
+		"widows": true,
+		"zIndex": true,
+		"zoom": true
+	},
+
+	// Add in properties whose names you wish to fix before
+	// setting or getting the value
+	cssProps: {},
+
+	// Get and set the style property on a DOM Node
+	style: function( elem, name, value, extra ) {
+
+		// Don't set styles on text and comment nodes
+		if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) {
+			return;
+		}
+
+		// Make sure that we're working with the right name
+		var ret, type, hooks,
+			origName = camelCase( name ),
+			isCustomProp = rcustomProp.test( name ),
+			style = elem.style;
+
+		// Make sure that we're working with the right name. We don't
+		// want to query the value if it is a CSS custom property
+		// since they are user-defined.
+		if ( !isCustomProp ) {
+			name = finalPropName( origName );
+		}
+
+		// Gets hook for the prefixed version, then unprefixed version
+		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
+
+		// Check if we're setting a value
+		if ( value !== undefined ) {
+			type = typeof value;
+
+			// Convert "+=" or "-=" to relative numbers (#7345)
+			if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) {
+				value = adjustCSS( elem, name, ret );
+
+				// Fixes bug #9237
+				type = "number";
+			}
+
+			// Make sure that null and NaN values aren't set (#7116)
+			if ( value == null || value !== value ) {
+				return;
+			}
+
+			// If a number was passed in, add the unit (except for certain CSS properties)
+			// The isCustomProp check can be removed in jQuery 4.0 when we only auto-append
+			// "px" to a few hardcoded values.
+			if ( type === "number" && !isCustomProp ) {
+				value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" );
+			}
+
+			// background-* props affect original clone's values
+			if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) {
+				style[ name ] = "inherit";
+			}
+
+			// If a hook was provided, use that value, otherwise just set the specified value
+			if ( !hooks || !( "set" in hooks ) ||
+				( value = hooks.set( elem, value, extra ) ) !== undefined ) {
+
+				if ( isCustomProp ) {
+					style.setProperty( name, value );
+				} else {
+					style[ name ] = value;
+				}
+			}
+
+		} else {
+
+			// If a hook was provided get the non-computed value from there
+			if ( hooks && "get" in hooks &&
+				( ret = hooks.get( elem, false, extra ) ) !== undefined ) {
+
+				return ret;
+			}
+
+			// Otherwise just get the value from the style object
+			return style[ name ];
+		}
+	},
+
+	css: function( elem, name, extra, styles ) {
+		var val, num, hooks,
+			origName = camelCase( name ),
+			isCustomProp = rcustomProp.test( name );
+
+		// Make sure that we're working with the right name. We don't
+		// want to modify the value if it is a CSS custom property
+		// since they are user-defined.
+		if ( !isCustomProp ) {
+			name = finalPropName( origName );
+		}
+
+		// Try prefixed name followed by the unprefixed name
+		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
+
+		// If a hook was provided get the computed value from there
+		if ( hooks && "get" in hooks ) {
+			val = hooks.get( elem, true, extra );
+		}
+
+		// Otherwise, if a way to get the computed value exists, use that
+		if ( val === undefined ) {
+			val = curCSS( elem, name, styles );
+		}
+
+		// Convert "normal" to computed value
+		if ( val === "normal" && name in cssNormalTransform ) {
+			val = cssNormalTransform[ name ];
+		}
+
+		// Make numeric if forced or a qualifier was provided and val looks numeric
+		if ( extra === "" || extra ) {
+			num = parseFloat( val );
+			return extra === true || isFinite( num ) ? num || 0 : val;
+		}
+
+		return val;
+	}
+} );
+
+jQuery.each( [ "height", "width" ], function( _i, dimension ) {
+	jQuery.cssHooks[ dimension ] = {
+		get: function( elem, computed, extra ) {
+			if ( computed ) {
+
+				// Certain elements can have dimension info if we invisibly show them
+				// but it must have a current display style that would benefit
+				return rdisplayswap.test( jQuery.css( elem, "display" ) ) &&
+
+					// Support: Safari 8+
+					// Table columns in Safari have non-zero offsetWidth & zero
+					// getBoundingClientRect().width unless display is changed.
+					// Support: IE <=11 only
+					// Running getBoundingClientRect on a disconnected node
+					// in IE throws an error.
+					( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ?
+					swap( elem, cssShow, function() {
+						return getWidthOrHeight( elem, dimension, extra );
+					} ) :
+					getWidthOrHeight( elem, dimension, extra );
+			}
+		},
+
+		set: function( elem, value, extra ) {
+			var matches,
+				styles = getStyles( elem ),
+
+				// Only read styles.position if the test has a chance to fail
+				// to avoid forcing a reflow.
+				scrollboxSizeBuggy = !support.scrollboxSize() &&
+					styles.position === "absolute",
+
+				// To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991)
+				boxSizingNeeded = scrollboxSizeBuggy || extra,
+				isBorderBox = boxSizingNeeded &&
+					jQuery.css( elem, "boxSizing", false, styles ) === "border-box",
+				subtract = extra ?
+					boxModelAdjustment(
+						elem,
+						dimension,
+						extra,
+						isBorderBox,
+						styles
+					) :
+					0;
+
+			// Account for unreliable border-box dimensions by comparing offset* to computed and
+			// faking a content-box to get border and padding (gh-3699)
+			if ( isBorderBox && scrollboxSizeBuggy ) {
+				subtract -= Math.ceil(
+					elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] -
+					parseFloat( styles[ dimension ] ) -
+					boxModelAdjustment( elem, dimension, "border", false, styles ) -
+					0.5
+				);
+			}
+
+			// Convert to pixels if value adjustment is needed
+			if ( subtract && ( matches = rcssNum.exec( value ) ) &&
+				( matches[ 3 ] || "px" ) !== "px" ) {
+
+				elem.style[ dimension ] = value;
+				value = jQuery.css( elem, dimension );
+			}
+
+			return setPositiveNumber( elem, value, subtract );
+		}
+	};
+} );
+
+jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft,
+	function( elem, computed ) {
+		if ( computed ) {
+			return ( parseFloat( curCSS( elem, "marginLeft" ) ) ||
+				elem.getBoundingClientRect().left -
+					swap( elem, { marginLeft: 0 }, function() {
+						return elem.getBoundingClientRect().left;
+					} )
+			) + "px";
+		}
+	}
+);
+
+// These hooks are used by animate to expand properties
+jQuery.each( {
+	margin: "",
+	padding: "",
+	border: "Width"
+}, function( prefix, suffix ) {
+	jQuery.cssHooks[ prefix + suffix ] = {
+		expand: function( value ) {
+			var i = 0,
+				expanded = {},
+
+				// Assumes a single number if not a string
+				parts = typeof value === "string" ? value.split( " " ) : [ value ];
+
+			for ( ; i < 4; i++ ) {
+				expanded[ prefix + cssExpand[ i ] + suffix ] =
+					parts[ i ] || parts[ i - 2 ] || parts[ 0 ];
+			}
+
+			return expanded;
+		}
+	};
+
+	if ( prefix !== "margin" ) {
+		jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber;
+	}
+} );
+
+jQuery.fn.extend( {
+	css: function( name, value ) {
+		return access( this, function( elem, name, value ) {
+			var styles, len,
+				map = {},
+				i = 0;
+
+			if ( Array.isArray( name ) ) {
+				styles = getStyles( elem );
+				len = name.length;
+
+				for ( ; i < len; i++ ) {
+					map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles );
+				}
+
+				return map;
+			}
+
+			return value !== undefined ?
+				jQuery.style( elem, name, value ) :
+				jQuery.css( elem, name );
+		}, name, value, arguments.length > 1 );
+	}
+} );
+
+
+function Tween( elem, options, prop, end, easing ) {
+	return new Tween.prototype.init( elem, options, prop, end, easing );
+}
+jQuery.Tween = Tween;
+
+Tween.prototype = {
+	constructor: Tween,
+	init: function( elem, options, prop, end, easing, unit ) {
+		this.elem = elem;
+		this.prop = prop;
+		this.easing = easing || jQuery.easing._default;
+		this.options = options;
+		this.start = this.now = this.cur();
+		this.end = end;
+		this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" );
+	},
+	cur: function() {
+		var hooks = Tween.propHooks[ this.prop ];
+
+		return hooks && hooks.get ?
+			hooks.get( this ) :
+			Tween.propHooks._default.get( this );
+	},
+	run: function( percent ) {
+		var eased,
+			hooks = Tween.propHooks[ this.prop ];
+
+		if ( this.options.duration ) {
+			this.pos = eased = jQuery.easing[ this.easing ](
+				percent, this.options.duration * percent, 0, 1, this.options.duration
+			);
+		} else {
+			this.pos = eased = percent;
+		}
+		this.now = ( this.end - this.start ) * eased + this.start;
+
+		if ( this.options.step ) {
+			this.options.step.call( this.elem, this.now, this );
+		}
+
+		if ( hooks && hooks.set ) {
+			hooks.set( this );
+		} else {
+			Tween.propHooks._default.set( this );
+		}
+		return this;
+	}
+};
+
+Tween.prototype.init.prototype = Tween.prototype;
+
+Tween.propHooks = {
+	_default: {
+		get: function( tween ) {
+			var result;
+
+			// Use a property on the element directly when it is not a DOM element,
+			// or when there is no matching style property that exists.
+			if ( tween.elem.nodeType !== 1 ||
+				tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) {
+				return tween.elem[ tween.prop ];
+			}
+
+			// Passing an empty string as a 3rd parameter to .css will automatically
+			// attempt a parseFloat and fallback to a string if the parse fails.
+			// Simple values such as "10px" are parsed to Float;
+			// complex values such as "rotate(1rad)" are returned as-is.
+			result = jQuery.css( tween.elem, tween.prop, "" );
+
+			// Empty strings, null, undefined and "auto" are converted to 0.
+			return !result || result === "auto" ? 0 : result;
+		},
+		set: function( tween ) {
+
+			// Use step hook for back compat.
+			// Use cssHook if its there.
+			// Use .style if available and use plain properties where available.
+			if ( jQuery.fx.step[ tween.prop ] ) {
+				jQuery.fx.step[ tween.prop ]( tween );
+			} else if ( tween.elem.nodeType === 1 && (
+				jQuery.cssHooks[ tween.prop ] ||
+					tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) {
+				jQuery.style( tween.elem, tween.prop, tween.now + tween.unit );
+			} else {
+				tween.elem[ tween.prop ] = tween.now;
+			}
+		}
+	}
+};
+
+// Support: IE <=9 only
+// Panic based approach to setting things on disconnected nodes
+Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = {
+	set: function( tween ) {
+		if ( tween.elem.nodeType && tween.elem.parentNode ) {
+			tween.elem[ tween.prop ] = tween.now;
+		}
+	}
+};
+
+jQuery.easing = {
+	linear: function( p ) {
+		return p;
+	},
+	swing: function( p ) {
+		return 0.5 - Math.cos( p * Math.PI ) / 2;
+	},
+	_default: "swing"
+};
+
+jQuery.fx = Tween.prototype.init;
+
+// Back compat <1.8 extension point
+jQuery.fx.step = {};
+
+
+
+
+var
+	fxNow, inProgress,
+	rfxtypes = /^(?:toggle|show|hide)$/,
+	rrun = /queueHooks$/;
+
+function schedule() {
+	if ( inProgress ) {
+		if ( document.hidden === false && window.requestAnimationFrame ) {
+			window.requestAnimationFrame( schedule );
+		} else {
+			window.setTimeout( schedule, jQuery.fx.interval );
+		}
+
+		jQuery.fx.tick();
+	}
+}
+
+// Animations created synchronously will run synchronously
+function createFxNow() {
+	window.setTimeout( function() {
+		fxNow = undefined;
+	} );
+	return ( fxNow = Date.now() );
+}
+
+// Generate parameters to create a standard animation
+function genFx( type, includeWidth ) {
+	var which,
+		i = 0,
+		attrs = { height: type };
+
+	// If we include width, step value is 1 to do all cssExpand values,
+	// otherwise step value is 2 to skip over Left and Right
+	includeWidth = includeWidth ? 1 : 0;
+	for ( ; i < 4; i += 2 - includeWidth ) {
+		which = cssExpand[ i ];
+		attrs[ "margin" + which ] = attrs[ "padding" + which ] = type;
+	}
+
+	if ( includeWidth ) {
+		attrs.opacity = attrs.width = type;
+	}
+
+	return attrs;
+}
+
+function createTween( value, prop, animation ) {
+	var tween,
+		collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ),
+		index = 0,
+		length = collection.length;
+	for ( ; index < length; index++ ) {
+		if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) {
+
+			// We're done with this property
+			return tween;
+		}
+	}
+}
+
+function defaultPrefilter( elem, props, opts ) {
+	var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display,
+		isBox = "width" in props || "height" in props,
+		anim = this,
+		orig = {},
+		style = elem.style,
+		hidden = elem.nodeType && isHiddenWithinTree( elem ),
+		dataShow = dataPriv.get( elem, "fxshow" );
+
+	// Queue-skipping animations hijack the fx hooks
+	if ( !opts.queue ) {
+		hooks = jQuery._queueHooks( elem, "fx" );
+		if ( hooks.unqueued == null ) {
+			hooks.unqueued = 0;
+			oldfire = hooks.empty.fire;
+			hooks.empty.fire = function() {
+				if ( !hooks.unqueued ) {
+					oldfire();
+				}
+			};
+		}
+		hooks.unqueued++;
+
+		anim.always( function() {
+
+			// Ensure the complete handler is called before this completes
+			anim.always( function() {
+				hooks.unqueued--;
+				if ( !jQuery.queue( elem, "fx" ).length ) {
+					hooks.empty.fire();
+				}
+			} );
+		} );
+	}
+
+	// Detect show/hide animations
+	for ( prop in props ) {
+		value = props[ prop ];
+		if ( rfxtypes.test( value ) ) {
+			delete props[ prop ];
+			toggle = toggle || value === "toggle";
+			if ( value === ( hidden ? "hide" : "show" ) ) {
+
+				// Pretend to be hidden if this is a "show" and
+				// there is still data from a stopped show/hide
+				if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) {
+					hidden = true;
+
+				// Ignore all other no-op show/hide data
+				} else {
+					continue;
+				}
+			}
+			orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop );
+		}
+	}
+
+	// Bail out if this is a no-op like .hide().hide()
+	propTween = !jQuery.isEmptyObject( props );
+	if ( !propTween && jQuery.isEmptyObject( orig ) ) {
+		return;
+	}
+
+	// Restrict "overflow" and "display" styles during box animations
+	if ( isBox && elem.nodeType === 1 ) {
+
+		// Support: IE <=9 - 11, Edge 12 - 15
+		// Record all 3 overflow attributes because IE does not infer the shorthand
+		// from identically-valued overflowX and overflowY and Edge just mirrors
+		// the overflowX value there.
+		opts.overflow = [ style.overflow, style.overflowX, style.overflowY ];
+
+		// Identify a display type, preferring old show/hide data over the CSS cascade
+		restoreDisplay = dataShow && dataShow.display;
+		if ( restoreDisplay == null ) {
+			restoreDisplay = dataPriv.get( elem, "display" );
+		}
+		display = jQuery.css( elem, "display" );
+		if ( display === "none" ) {
+			if ( restoreDisplay ) {
+				display = restoreDisplay;
+			} else {
+
+				// Get nonempty value(s) by temporarily forcing visibility
+				showHide( [ elem ], true );
+				restoreDisplay = elem.style.display || restoreDisplay;
+				display = jQuery.css( elem, "display" );
+				showHide( [ elem ] );
+			}
+		}
+
+		// Animate inline elements as inline-block
+		if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) {
+			if ( jQuery.css( elem, "float" ) === "none" ) {
+
+				// Restore the original display value at the end of pure show/hide animations
+				if ( !propTween ) {
+					anim.done( function() {
+						style.display = restoreDisplay;
+					} );
+					if ( restoreDisplay == null ) {
+						display = style.display;
+						restoreDisplay = display === "none" ? "" : display;
+					}
+				}
+				style.display = "inline-block";
+			}
+		}
+	}
+
+	if ( opts.overflow ) {
+		style.overflow = "hidden";
+		anim.always( function() {
+			style.overflow = opts.overflow[ 0 ];
+			style.overflowX = opts.overflow[ 1 ];
+			style.overflowY = opts.overflow[ 2 ];
+		} );
+	}
+
+	// Implement show/hide animations
+	propTween = false;
+	for ( prop in orig ) {
+
+		// General show/hide setup for this element animation
+		if ( !propTween ) {
+			if ( dataShow ) {
+				if ( "hidden" in dataShow ) {
+					hidden = dataShow.hidden;
+				}
+			} else {
+				dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } );
+			}
+
+			// Store hidden/visible for toggle so `.stop().toggle()` "reverses"
+			if ( toggle ) {
+				dataShow.hidden = !hidden;
+			}
+
+			// Show elements before animating them
+			if ( hidden ) {
+				showHide( [ elem ], true );
+			}
+
+			/* eslint-disable no-loop-func */
+
+			anim.done( function() {
+
+				/* eslint-enable no-loop-func */
+
+				// The final step of a "hide" animation is actually hiding the element
+				if ( !hidden ) {
+					showHide( [ elem ] );
+				}
+				dataPriv.remove( elem, "fxshow" );
+				for ( prop in orig ) {
+					jQuery.style( elem, prop, orig[ prop ] );
+				}
+			} );
+		}
+
+		// Per-property setup
+		propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim );
+		if ( !( prop in dataShow ) ) {
+			dataShow[ prop ] = propTween.start;
+			if ( hidden ) {
+				propTween.end = propTween.start;
+				propTween.start = 0;
+			}
+		}
+	}
+}
+
+function propFilter( props, specialEasing ) {
+	var index, name, easing, value, hooks;
+
+	// camelCase, specialEasing and expand cssHook pass
+	for ( index in props ) {
+		name = camelCase( index );
+		easing = specialEasing[ name ];
+		value = props[ index ];
+		if ( Array.isArray( value ) ) {
+			easing = value[ 1 ];
+			value = props[ index ] = value[ 0 ];
+		}
+
+		if ( index !== name ) {
+			props[ name ] = value;
+			delete props[ index ];
+		}
+
+		hooks = jQuery.cssHooks[ name ];
+		if ( hooks && "expand" in hooks ) {
+			value = hooks.expand( value );
+			delete props[ name ];
+
+			// Not quite $.extend, this won't overwrite existing keys.
+			// Reusing 'index' because we have the correct "name"
+			for ( index in value ) {
+				if ( !( index in props ) ) {
+					props[ index ] = value[ index ];
+					specialEasing[ index ] = easing;
+				}
+			}
+		} else {
+			specialEasing[ name ] = easing;
+		}
+	}
+}
+
+function Animation( elem, properties, options ) {
+	var result,
+		stopped,
+		index = 0,
+		length = Animation.prefilters.length,
+		deferred = jQuery.Deferred().always( function() {
+
+			// Don't match elem in the :animated selector
+			delete tick.elem;
+		} ),
+		tick = function() {
+			if ( stopped ) {
+				return false;
+			}
+			var currentTime = fxNow || createFxNow(),
+				remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ),
+
+				// Support: Android 2.3 only
+				// Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497)
+				temp = remaining / animation.duration || 0,
+				percent = 1 - temp,
+				index = 0,
+				length = animation.tweens.length;
+
+			for ( ; index < length; index++ ) {
+				animation.tweens[ index ].run( percent );
+			}
+
+			deferred.notifyWith( elem, [ animation, percent, remaining ] );
+
+			// If there's more to do, yield
+			if ( percent < 1 && length ) {
+				return remaining;
+			}
+
+			// If this was an empty animation, synthesize a final progress notification
+			if ( !length ) {
+				deferred.notifyWith( elem, [ animation, 1, 0 ] );
+			}
+
+			// Resolve the animation and report its conclusion
+			deferred.resolveWith( elem, [ animation ] );
+			return false;
+		},
+		animation = deferred.promise( {
+			elem: elem,
+			props: jQuery.extend( {}, properties ),
+			opts: jQuery.extend( true, {
+				specialEasing: {},
+				easing: jQuery.easing._default
+			}, options ),
+			originalProperties: properties,
+			originalOptions: options,
+			startTime: fxNow || createFxNow(),
+			duration: options.duration,
+			tweens: [],
+			createTween: function( prop, end ) {
+				var tween = jQuery.Tween( elem, animation.opts, prop, end,
+					animation.opts.specialEasing[ prop ] || animation.opts.easing );
+				animation.tweens.push( tween );
+				return tween;
+			},
+			stop: function( gotoEnd ) {
+				var index = 0,
+
+					// If we are going to the end, we want to run all the tweens
+					// otherwise we skip this part
+					length = gotoEnd ? animation.tweens.length : 0;
+				if ( stopped ) {
+					return this;
+				}
+				stopped = true;
+				for ( ; index < length; index++ ) {
+					animation.tweens[ index ].run( 1 );
+				}
+
+				// Resolve when we played the last frame; otherwise, reject
+				if ( gotoEnd ) {
+					deferred.notifyWith( elem, [ animation, 1, 0 ] );
+					deferred.resolveWith( elem, [ animation, gotoEnd ] );
+				} else {
+					deferred.rejectWith( elem, [ animation, gotoEnd ] );
+				}
+				return this;
+			}
+		} ),
+		props = animation.props;
+
+	propFilter( props, animation.opts.specialEasing );
+
+	for ( ; index < length; index++ ) {
+		result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts );
+		if ( result ) {
+			if ( isFunction( result.stop ) ) {
+				jQuery._queueHooks( animation.elem, animation.opts.queue ).stop =
+					result.stop.bind( result );
+			}
+			return result;
+		}
+	}
+
+	jQuery.map( props, createTween, animation );
+
+	if ( isFunction( animation.opts.start ) ) {
+		animation.opts.start.call( elem, animation );
+	}
+
+	// Attach callbacks from options
+	animation
+		.progress( animation.opts.progress )
+		.done( animation.opts.done, animation.opts.complete )
+		.fail( animation.opts.fail )
+		.always( animation.opts.always );
+
+	jQuery.fx.timer(
+		jQuery.extend( tick, {
+			elem: elem,
+			anim: animation,
+			queue: animation.opts.queue
+		} )
+	);
+
+	return animation;
+}
+
+jQuery.Animation = jQuery.extend( Animation, {
+
+	tweeners: {
+		"*": [ function( prop, value ) {
+			var tween = this.createTween( prop, value );
+			adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween );
+			return tween;
+		} ]
+	},
+
+	tweener: function( props, callback ) {
+		if ( isFunction( props ) ) {
+			callback = props;
+			props = [ "*" ];
+		} else {
+			props = props.match( rnothtmlwhite );
+		}
+
+		var prop,
+			index = 0,
+			length = props.length;
+
+		for ( ; index < length; index++ ) {
+			prop = props[ index ];
+			Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || [];
+			Animation.tweeners[ prop ].unshift( callback );
+		}
+	},
+
+	prefilters: [ defaultPrefilter ],
+
+	prefilter: function( callback, prepend ) {
+		if ( prepend ) {
+			Animation.prefilters.unshift( callback );
+		} else {
+			Animation.prefilters.push( callback );
+		}
+	}
+} );
+
+jQuery.speed = function( speed, easing, fn ) {
+	var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : {
+		complete: fn || !fn && easing ||
+			isFunction( speed ) && speed,
+		duration: speed,
+		easing: fn && easing || easing && !isFunction( easing ) && easing
+	};
+
+	// Go to the end state if fx are off
+	if ( jQuery.fx.off ) {
+		opt.duration = 0;
+
+	} else {
+		if ( typeof opt.duration !== "number" ) {
+			if ( opt.duration in jQuery.fx.speeds ) {
+				opt.duration = jQuery.fx.speeds[ opt.duration ];
+
+			} else {
+				opt.duration = jQuery.fx.speeds._default;
+			}
+		}
+	}
+
+	// Normalize opt.queue - true/undefined/null -> "fx"
+	if ( opt.queue == null || opt.queue === true ) {
+		opt.queue = "fx";
+	}
+
+	// Queueing
+	opt.old = opt.complete;
+
+	opt.complete = function() {
+		if ( isFunction( opt.old ) ) {
+			opt.old.call( this );
+		}
+
+		if ( opt.queue ) {
+			jQuery.dequeue( this, opt.queue );
+		}
+	};
+
+	return opt;
+};
+
+jQuery.fn.extend( {
+	fadeTo: function( speed, to, easing, callback ) {
+
+		// Show any hidden elements after setting opacity to 0
+		return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show()
+
+			// Animate to the value specified
+			.end().animate( { opacity: to }, speed, easing, callback );
+	},
+	animate: function( prop, speed, easing, callback ) {
+		var empty = jQuery.isEmptyObject( prop ),
+			optall = jQuery.speed( speed, easing, callback ),
+			doAnimation = function() {
+
+				// Operate on a copy of prop so per-property easing won't be lost
+				var anim = Animation( this, jQuery.extend( {}, prop ), optall );
+
+				// Empty animations, or finishing resolves immediately
+				if ( empty || dataPriv.get( this, "finish" ) ) {
+					anim.stop( true );
+				}
+			};
+
+		doAnimation.finish = doAnimation;
+
+		return empty || optall.queue === false ?
+			this.each( doAnimation ) :
+			this.queue( optall.queue, doAnimation );
+	},
+	stop: function( type, clearQueue, gotoEnd ) {
+		var stopQueue = function( hooks ) {
+			var stop = hooks.stop;
+			delete hooks.stop;
+			stop( gotoEnd );
+		};
+
+		if ( typeof type !== "string" ) {
+			gotoEnd = clearQueue;
+			clearQueue = type;
+			type = undefined;
+		}
+		if ( clearQueue ) {
+			this.queue( type || "fx", [] );
+		}
+
+		return this.each( function() {
+			var dequeue = true,
+				index = type != null && type + "queueHooks",
+				timers = jQuery.timers,
+				data = dataPriv.get( this );
+
+			if ( index ) {
+				if ( data[ index ] && data[ index ].stop ) {
+					stopQueue( data[ index ] );
+				}
+			} else {
+				for ( index in data ) {
+					if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) {
+						stopQueue( data[ index ] );
+					}
+				}
+			}
+
+			for ( index = timers.length; index--; ) {
+				if ( timers[ index ].elem === this &&
+					( type == null || timers[ index ].queue === type ) ) {
+
+					timers[ index ].anim.stop( gotoEnd );
+					dequeue = false;
+					timers.splice( index, 1 );
+				}
+			}
+
+			// Start the next in the queue if the last step wasn't forced.
+			// Timers currently will call their complete callbacks, which
+			// will dequeue but only if they were gotoEnd.
+			if ( dequeue || !gotoEnd ) {
+				jQuery.dequeue( this, type );
+			}
+		} );
+	},
+	finish: function( type ) {
+		if ( type !== false ) {
+			type = type || "fx";
+		}
+		return this.each( function() {
+			var index,
+				data = dataPriv.get( this ),
+				queue = data[ type + "queue" ],
+				hooks = data[ type + "queueHooks" ],
+				timers = jQuery.timers,
+				length = queue ? queue.length : 0;
+
+			// Enable finishing flag on private data
+			data.finish = true;
+
+			// Empty the queue first
+			jQuery.queue( this, type, [] );
+
+			if ( hooks && hooks.stop ) {
+				hooks.stop.call( this, true );
+			}
+
+			// Look for any active animations, and finish them
+			for ( index = timers.length; index--; ) {
+				if ( timers[ index ].elem === this && timers[ index ].queue === type ) {
+					timers[ index ].anim.stop( true );
+					timers.splice( index, 1 );
+				}
+			}
+
+			// Look for any animations in the old queue and finish them
+			for ( index = 0; index < length; index++ ) {
+				if ( queue[ index ] && queue[ index ].finish ) {
+					queue[ index ].finish.call( this );
+				}
+			}
+
+			// Turn off finishing flag
+			delete data.finish;
+		} );
+	}
+} );
+
+jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) {
+	var cssFn = jQuery.fn[ name ];
+	jQuery.fn[ name ] = function( speed, easing, callback ) {
+		return speed == null || typeof speed === "boolean" ?
+			cssFn.apply( this, arguments ) :
+			this.animate( genFx( name, true ), speed, easing, callback );
+	};
+} );
+
+// Generate shortcuts for custom animations
+jQuery.each( {
+	slideDown: genFx( "show" ),
+	slideUp: genFx( "hide" ),
+	slideToggle: genFx( "toggle" ),
+	fadeIn: { opacity: "show" },
+	fadeOut: { opacity: "hide" },
+	fadeToggle: { opacity: "toggle" }
+}, function( name, props ) {
+	jQuery.fn[ name ] = function( speed, easing, callback ) {
+		return this.animate( props, speed, easing, callback );
+	};
+} );
+
+jQuery.timers = [];
+jQuery.fx.tick = function() {
+	var timer,
+		i = 0,
+		timers = jQuery.timers;
+
+	fxNow = Date.now();
+
+	for ( ; i < timers.length; i++ ) {
+		timer = timers[ i ];
+
+		// Run the timer and safely remove it when done (allowing for external removal)
+		if ( !timer() && timers[ i ] === timer ) {
+			timers.splice( i--, 1 );
+		}
+	}
+
+	if ( !timers.length ) {
+		jQuery.fx.stop();
+	}
+	fxNow = undefined;
+};
+
+jQuery.fx.timer = function( timer ) {
+	jQuery.timers.push( timer );
+	jQuery.fx.start();
+};
+
+jQuery.fx.interval = 13;
+jQuery.fx.start = function() {
+	if ( inProgress ) {
+		return;
+	}
+
+	inProgress = true;
+	schedule();
+};
+
+jQuery.fx.stop = function() {
+	inProgress = null;
+};
+
+jQuery.fx.speeds = {
+	slow: 600,
+	fast: 200,
+
+	// Default speed
+	_default: 400
+};
+
+
+// Based off of the plugin by Clint Helfers, with permission.
+// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/
+jQuery.fn.delay = function( time, type ) {
+	time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time;
+	type = type || "fx";
+
+	return this.queue( type, function( next, hooks ) {
+		var timeout = window.setTimeout( next, time );
+		hooks.stop = function() {
+			window.clearTimeout( timeout );
+		};
+	} );
+};
+
+
+( function() {
+	var input = document.createElement( "input" ),
+		select = document.createElement( "select" ),
+		opt = select.appendChild( document.createElement( "option" ) );
+
+	input.type = "checkbox";
+
+	// Support: Android <=4.3 only
+	// Default value for a checkbox should be "on"
+	support.checkOn = input.value !== "";
+
+	// Support: IE <=11 only
+	// Must access selectedIndex to make default options select
+	support.optSelected = opt.selected;
+
+	// Support: IE <=11 only
+	// An input loses its value after becoming a radio
+	input = document.createElement( "input" );
+	input.value = "t";
+	input.type = "radio";
+	support.radioValue = input.value === "t";
+} )();
+
+
+var boolHook,
+	attrHandle = jQuery.expr.attrHandle;
+
+jQuery.fn.extend( {
+	attr: function( name, value ) {
+		return access( this, jQuery.attr, name, value, arguments.length > 1 );
+	},
+
+	removeAttr: function( name ) {
+		return this.each( function() {
+			jQuery.removeAttr( this, name );
+		} );
+	}
+} );
+
+jQuery.extend( {
+	attr: function( elem, name, value ) {
+		var ret, hooks,
+			nType = elem.nodeType;
+
+		// Don't get/set attributes on text, comment and attribute nodes
+		if ( nType === 3 || nType === 8 || nType === 2 ) {
+			return;
+		}
+
+		// Fallback to prop when attributes are not supported
+		if ( typeof elem.getAttribute === "undefined" ) {
+			return jQuery.prop( elem, name, value );
+		}
+
+		// Attribute hooks are determined by the lowercase version
+		// Grab necessary hook if one is defined
+		if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) {
+			hooks = jQuery.attrHooks[ name.toLowerCase() ] ||
+				( jQuery.expr.match.bool.test( name ) ? boolHook : undefined );
+		}
+
+		if ( value !== undefined ) {
+			if ( value === null ) {
+				jQuery.removeAttr( elem, name );
+				return;
+			}
+
+			if ( hooks && "set" in hooks &&
+				( ret = hooks.set( elem, value, name ) ) !== undefined ) {
+				return ret;
+			}
+
+			elem.setAttribute( name, value + "" );
+			return value;
+		}
+
+		if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) {
+			return ret;
+		}
+
+		ret = jQuery.find.attr( elem, name );
+
+		// Non-existent attributes return null, we normalize to undefined
+		return ret == null ? undefined : ret;
+	},
+
+	attrHooks: {
+		type: {
+			set: function( elem, value ) {
+				if ( !support.radioValue && value === "radio" &&
+					nodeName( elem, "input" ) ) {
+					var val = elem.value;
+					elem.setAttribute( "type", value );
+					if ( val ) {
+						elem.value = val;
+					}
+					return value;
+				}
+			}
+		}
+	},
+
+	removeAttr: function( elem, value ) {
+		var name,
+			i = 0,
+
+			// Attribute names can contain non-HTML whitespace characters
+			// https://html.spec.whatwg.org/multipage/syntax.html#attributes-2
+			attrNames = value && value.match( rnothtmlwhite );
+
+		if ( attrNames && elem.nodeType === 1 ) {
+			while ( ( name = attrNames[ i++ ] ) ) {
+				elem.removeAttribute( name );
+			}
+		}
+	}
+} );
+
+// Hooks for boolean attributes
+boolHook = {
+	set: function( elem, value, name ) {
+		if ( value === false ) {
+
+			// Remove boolean attributes when set to false
+			jQuery.removeAttr( elem, name );
+		} else {
+			elem.setAttribute( name, name );
+		}
+		return name;
+	}
+};
+
+jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) {
+	var getter = attrHandle[ name ] || jQuery.find.attr;
+
+	attrHandle[ name ] = function( elem, name, isXML ) {
+		var ret, handle,
+			lowercaseName = name.toLowerCase();
+
+		if ( !isXML ) {
+
+			// Avoid an infinite loop by temporarily removing this function from the getter
+			handle = attrHandle[ lowercaseName ];
+			attrHandle[ lowercaseName ] = ret;
+			ret = getter( elem, name, isXML ) != null ?
+				lowercaseName :
+				null;
+			attrHandle[ lowercaseName ] = handle;
+		}
+		return ret;
+	};
+} );
+
+
+
+
+var rfocusable = /^(?:input|select|textarea|button)$/i,
+	rclickable = /^(?:a|area)$/i;
+
+jQuery.fn.extend( {
+	prop: function( name, value ) {
+		return access( this, jQuery.prop, name, value, arguments.length > 1 );
+	},
+
+	removeProp: function( name ) {
+		return this.each( function() {
+			delete this[ jQuery.propFix[ name ] || name ];
+		} );
+	}
+} );
+
+jQuery.extend( {
+	prop: function( elem, name, value ) {
+		var ret, hooks,
+			nType = elem.nodeType;
+
+		// Don't get/set properties on text, comment and attribute nodes
+		if ( nType === 3 || nType === 8 || nType === 2 ) {
+			return;
+		}
+
+		if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) {
+
+			// Fix name and attach hooks
+			name = jQuery.propFix[ name ] || name;
+			hooks = jQuery.propHooks[ name ];
+		}
+
+		if ( value !== undefined ) {
+			if ( hooks && "set" in hooks &&
+				( ret = hooks.set( elem, value, name ) ) !== undefined ) {
+				return ret;
+			}
+
+			return ( elem[ name ] = value );
+		}
+
+		if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) {
+			return ret;
+		}
+
+		return elem[ name ];
+	},
+
+	propHooks: {
+		tabIndex: {
+			get: function( elem ) {
+
+				// Support: IE <=9 - 11 only
+				// elem.tabIndex doesn't always return the
+				// correct value when it hasn't been explicitly set
+				// https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/
+				// Use proper attribute retrieval(#12072)
+				var tabindex = jQuery.find.attr( elem, "tabindex" );
+
+				if ( tabindex ) {
+					return parseInt( tabindex, 10 );
+				}
+
+				if (
+					rfocusable.test( elem.nodeName ) ||
+					rclickable.test( elem.nodeName ) &&
+					elem.href
+				) {
+					return 0;
+				}
+
+				return -1;
+			}
+		}
+	},
+
+	propFix: {
+		"for": "htmlFor",
+		"class": "className"
+	}
+} );
+
+// Support: IE <=11 only
+// Accessing the selectedIndex property
+// forces the browser to respect setting selected
+// on the option
+// The getter ensures a default option is selected
+// when in an optgroup
+// eslint rule "no-unused-expressions" is disabled for this code
+// since it considers such accessions noop
+if ( !support.optSelected ) {
+	jQuery.propHooks.selected = {
+		get: function( elem ) {
+
+			/* eslint no-unused-expressions: "off" */
+
+			var parent = elem.parentNode;
+			if ( parent && parent.parentNode ) {
+				parent.parentNode.selectedIndex;
+			}
+			return null;
+		},
+		set: function( elem ) {
+
+			/* eslint no-unused-expressions: "off" */
+
+			var parent = elem.parentNode;
+			if ( parent ) {
+				parent.selectedIndex;
+
+				if ( parent.parentNode ) {
+					parent.parentNode.selectedIndex;
+				}
+			}
+		}
+	};
+}
+
+jQuery.each( [
+	"tabIndex",
+	"readOnly",
+	"maxLength",
+	"cellSpacing",
+	"cellPadding",
+	"rowSpan",
+	"colSpan",
+	"useMap",
+	"frameBorder",
+	"contentEditable"
+], function() {
+	jQuery.propFix[ this.toLowerCase() ] = this;
+} );
+
+
+
+
+	// Strip and collapse whitespace according to HTML spec
+	// https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace
+	function stripAndCollapse( value ) {
+		var tokens = value.match( rnothtmlwhite ) || [];
+		return tokens.join( " " );
+	}
+
+
+function getClass( elem ) {
+	return elem.getAttribute && elem.getAttribute( "class" ) || "";
+}
+
+function classesToArray( value ) {
+	if ( Array.isArray( value ) ) {
+		return value;
+	}
+	if ( typeof value === "string" ) {
+		return value.match( rnothtmlwhite ) || [];
+	}
+	return [];
+}
+
+jQuery.fn.extend( {
+	addClass: function( value ) {
+		var classes, elem, cur, curValue, clazz, j, finalValue,
+			i = 0;
+
+		if ( isFunction( value ) ) {
+			return this.each( function( j ) {
+				jQuery( this ).addClass( value.call( this, j, getClass( this ) ) );
+			} );
+		}
+
+		classes = classesToArray( value );
+
+		if ( classes.length ) {
+			while ( ( elem = this[ i++ ] ) ) {
+				curValue = getClass( elem );
+				cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " );
+
+				if ( cur ) {
+					j = 0;
+					while ( ( clazz = classes[ j++ ] ) ) {
+						if ( cur.indexOf( " " + clazz + " " ) < 0 ) {
+							cur += clazz + " ";
+						}
+					}
+
+					// Only assign if different to avoid unneeded rendering.
+					finalValue = stripAndCollapse( cur );
+					if ( curValue !== finalValue ) {
+						elem.setAttribute( "class", finalValue );
+					}
+				}
+			}
+		}
+
+		return this;
+	},
+
+	removeClass: function( value ) {
+		var classes, elem, cur, curValue, clazz, j, finalValue,
+			i = 0;
+
+		if ( isFunction( value ) ) {
+			return this.each( function( j ) {
+				jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) );
+			} );
+		}
+
+		if ( !arguments.length ) {
+			return this.attr( "class", "" );
+		}
+
+		classes = classesToArray( value );
+
+		if ( classes.length ) {
+			while ( ( elem = this[ i++ ] ) ) {
+				curValue = getClass( elem );
+
+				// This expression is here for better compressibility (see addClass)
+				cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " );
+
+				if ( cur ) {
+					j = 0;
+					while ( ( clazz = classes[ j++ ] ) ) {
+
+						// Remove *all* instances
+						while ( cur.indexOf( " " + clazz + " " ) > -1 ) {
+							cur = cur.replace( " " + clazz + " ", " " );
+						}
+					}
+
+					// Only assign if different to avoid unneeded rendering.
+					finalValue = stripAndCollapse( cur );
+					if ( curValue !== finalValue ) {
+						elem.setAttribute( "class", finalValue );
+					}
+				}
+			}
+		}
+
+		return this;
+	},
+
+	toggleClass: function( value, stateVal ) {
+		var type = typeof value,
+			isValidValue = type === "string" || Array.isArray( value );
+
+		if ( typeof stateVal === "boolean" && isValidValue ) {
+			return stateVal ? this.addClass( value ) : this.removeClass( value );
+		}
+
+		if ( isFunction( value ) ) {
+			return this.each( function( i ) {
+				jQuery( this ).toggleClass(
+					value.call( this, i, getClass( this ), stateVal ),
+					stateVal
+				);
+			} );
+		}
+
+		return this.each( function() {
+			var className, i, self, classNames;
+
+			if ( isValidValue ) {
+
+				// Toggle individual class names
+				i = 0;
+				self = jQuery( this );
+				classNames = classesToArray( value );
+
+				while ( ( className = classNames[ i++ ] ) ) {
+
+					// Check each className given, space separated list
+					if ( self.hasClass( className ) ) {
+						self.removeClass( className );
+					} else {
+						self.addClass( className );
+					}
+				}
+
+			// Toggle whole class name
+			} else if ( value === undefined || type === "boolean" ) {
+				className = getClass( this );
+				if ( className ) {
+
+					// Store className if set
+					dataPriv.set( this, "__className__", className );
+				}
+
+				// If the element has a class name or if we're passed `false`,
+				// then remove the whole classname (if there was one, the above saved it).
+				// Otherwise bring back whatever was previously saved (if anything),
+				// falling back to the empty string if nothing was stored.
+				if ( this.setAttribute ) {
+					this.setAttribute( "class",
+						className || value === false ?
+							"" :
+							dataPriv.get( this, "__className__" ) || ""
+					);
+				}
+			}
+		} );
+	},
+
+	hasClass: function( selector ) {
+		var className, elem,
+			i = 0;
+
+		className = " " + selector + " ";
+		while ( ( elem = this[ i++ ] ) ) {
+			if ( elem.nodeType === 1 &&
+				( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) {
+				return true;
+			}
+		}
+
+		return false;
+	}
+} );
+
+
+
+
+var rreturn = /\r/g;
+
+jQuery.fn.extend( {
+	val: function( value ) {
+		var hooks, ret, valueIsFunction,
+			elem = this[ 0 ];
+
+		if ( !arguments.length ) {
+			if ( elem ) {
+				hooks = jQuery.valHooks[ elem.type ] ||
+					jQuery.valHooks[ elem.nodeName.toLowerCase() ];
+
+				if ( hooks &&
+					"get" in hooks &&
+					( ret = hooks.get( elem, "value" ) ) !== undefined
+				) {
+					return ret;
+				}
+
+				ret = elem.value;
+
+				// Handle most common string cases
+				if ( typeof ret === "string" ) {
+					return ret.replace( rreturn, "" );
+				}
+
+				// Handle cases where value is null/undef or number
+				return ret == null ? "" : ret;
+			}
+
+			return;
+		}
+
+		valueIsFunction = isFunction( value );
+
+		return this.each( function( i ) {
+			var val;
+
+			if ( this.nodeType !== 1 ) {
+				return;
+			}
+
+			if ( valueIsFunction ) {
+				val = value.call( this, i, jQuery( this ).val() );
+			} else {
+				val = value;
+			}
+
+			// Treat null/undefined as ""; convert numbers to string
+			if ( val == null ) {
+				val = "";
+
+			} else if ( typeof val === "number" ) {
+				val += "";
+
+			} else if ( Array.isArray( val ) ) {
+				val = jQuery.map( val, function( value ) {
+					return value == null ? "" : value + "";
+				} );
+			}
+
+			hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ];
+
+			// If set returns undefined, fall back to normal setting
+			if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) {
+				this.value = val;
+			}
+		} );
+	}
+} );
+
+jQuery.extend( {
+	valHooks: {
+		option: {
+			get: function( elem ) {
+
+				var val = jQuery.find.attr( elem, "value" );
+				return val != null ?
+					val :
+
+					// Support: IE <=10 - 11 only
+					// option.text throws exceptions (#14686, #14858)
+					// Strip and collapse whitespace
+					// https://html.spec.whatwg.org/#strip-and-collapse-whitespace
+					stripAndCollapse( jQuery.text( elem ) );
+			}
+		},
+		select: {
+			get: function( elem ) {
+				var value, option, i,
+					options = elem.options,
+					index = elem.selectedIndex,
+					one = elem.type === "select-one",
+					values = one ? null : [],
+					max = one ? index + 1 : options.length;
+
+				if ( index < 0 ) {
+					i = max;
+
+				} else {
+					i = one ? index : 0;
+				}
+
+				// Loop through all the selected options
+				for ( ; i < max; i++ ) {
+					option = options[ i ];
+
+					// Support: IE <=9 only
+					// IE8-9 doesn't update selected after form reset (#2551)
+					if ( ( option.selected || i === index ) &&
+
+							// Don't return options that are disabled or in a disabled optgroup
+							!option.disabled &&
+							( !option.parentNode.disabled ||
+								!nodeName( option.parentNode, "optgroup" ) ) ) {
+
+						// Get the specific value for the option
+						value = jQuery( option ).val();
+
+						// We don't need an array for one selects
+						if ( one ) {
+							return value;
+						}
+
+						// Multi-Selects return an array
+						values.push( value );
+					}
+				}
+
+				return values;
+			},
+
+			set: function( elem, value ) {
+				var optionSet, option,
+					options = elem.options,
+					values = jQuery.makeArray( value ),
+					i = options.length;
+
+				while ( i-- ) {
+					option = options[ i ];
+
+					/* eslint-disable no-cond-assign */
+
+					if ( option.selected =
+						jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1
+					) {
+						optionSet = true;
+					}
+
+					/* eslint-enable no-cond-assign */
+				}
+
+				// Force browsers to behave consistently when non-matching value is set
+				if ( !optionSet ) {
+					elem.selectedIndex = -1;
+				}
+				return values;
+			}
+		}
+	}
+} );
+
+// Radios and checkboxes getter/setter
+jQuery.each( [ "radio", "checkbox" ], function() {
+	jQuery.valHooks[ this ] = {
+		set: function( elem, value ) {
+			if ( Array.isArray( value ) ) {
+				return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 );
+			}
+		}
+	};
+	if ( !support.checkOn ) {
+		jQuery.valHooks[ this ].get = function( elem ) {
+			return elem.getAttribute( "value" ) === null ? "on" : elem.value;
+		};
+	}
+} );
+
+
+
+
+// Return jQuery for attributes-only inclusion
+
+
+support.focusin = "onfocusin" in window;
+
+
+var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/,
+	stopPropagationCallback = function( e ) {
+		e.stopPropagation();
+	};
+
+jQuery.extend( jQuery.event, {
+
+	trigger: function( event, data, elem, onlyHandlers ) {
+
+		var i, cur, tmp, bubbleType, ontype, handle, special, lastElement,
+			eventPath = [ elem || document ],
+			type = hasOwn.call( event, "type" ) ? event.type : event,
+			namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : [];
+
+		cur = lastElement = tmp = elem = elem || document;
+
+		// Don't do events on text and comment nodes
+		if ( elem.nodeType === 3 || elem.nodeType === 8 ) {
+			return;
+		}
+
+		// focus/blur morphs to focusin/out; ensure we're not firing them right now
+		if ( rfocusMorph.test( type + jQuery.event.triggered ) ) {
+			return;
+		}
+
+		if ( type.indexOf( "." ) > -1 ) {
+
+			// Namespaced trigger; create a regexp to match event type in handle()
+			namespaces = type.split( "." );
+			type = namespaces.shift();
+			namespaces.sort();
+		}
+		ontype = type.indexOf( ":" ) < 0 && "on" + type;
+
+		// Caller can pass in a jQuery.Event object, Object, or just an event type string
+		event = event[ jQuery.expando ] ?
+			event :
+			new jQuery.Event( type, typeof event === "object" && event );
+
+		// Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true)
+		event.isTrigger = onlyHandlers ? 2 : 3;
+		event.namespace = namespaces.join( "." );
+		event.rnamespace = event.namespace ?
+			new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) :
+			null;
+
+		// Clean up the event in case it is being reused
+		event.result = undefined;
+		if ( !event.target ) {
+			event.target = elem;
+		}
+
+		// Clone any incoming data and prepend the event, creating the handler arg list
+		data = data == null ?
+			[ event ] :
+			jQuery.makeArray( data, [ event ] );
+
+		// Allow special events to draw outside the lines
+		special = jQuery.event.special[ type ] || {};
+		if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) {
+			return;
+		}
+
+		// Determine event propagation path in advance, per W3C events spec (#9951)
+		// Bubble up to document, then to window; watch for a global ownerDocument var (#9724)
+		if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) {
+
+			bubbleType = special.delegateType || type;
+			if ( !rfocusMorph.test( bubbleType + type ) ) {
+				cur = cur.parentNode;
+			}
+			for ( ; cur; cur = cur.parentNode ) {
+				eventPath.push( cur );
+				tmp = cur;
+			}
+
+			// Only add window if we got to document (e.g., not plain obj or detached DOM)
+			if ( tmp === ( elem.ownerDocument || document ) ) {
+				eventPath.push( tmp.defaultView || tmp.parentWindow || window );
+			}
+		}
+
+		// Fire handlers on the event path
+		i = 0;
+		while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) {
+			lastElement = cur;
+			event.type = i > 1 ?
+				bubbleType :
+				special.bindType || type;
+
+			// jQuery handler
+			handle = ( dataPriv.get( cur, "events" ) || Object.create( null ) )[ event.type ] &&
+				dataPriv.get( cur, "handle" );
+			if ( handle ) {
+				handle.apply( cur, data );
+			}
+
+			// Native handler
+			handle = ontype && cur[ ontype ];
+			if ( handle && handle.apply && acceptData( cur ) ) {
+				event.result = handle.apply( cur, data );
+				if ( event.result === false ) {
+					event.preventDefault();
+				}
+			}
+		}
+		event.type = type;
+
+		// If nobody prevented the default action, do it now
+		if ( !onlyHandlers && !event.isDefaultPrevented() ) {
+
+			if ( ( !special._default ||
+				special._default.apply( eventPath.pop(), data ) === false ) &&
+				acceptData( elem ) ) {
+
+				// Call a native DOM method on the target with the same name as the event.
+				// Don't do default actions on window, that's where global variables be (#6170)
+				if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) {
+
+					// Don't re-trigger an onFOO event when we call its FOO() method
+					tmp = elem[ ontype ];
+
+					if ( tmp ) {
+						elem[ ontype ] = null;
+					}
+
+					// Prevent re-triggering of the same event, since we already bubbled it above
+					jQuery.event.triggered = type;
+
+					if ( event.isPropagationStopped() ) {
+						lastElement.addEventListener( type, stopPropagationCallback );
+					}
+
+					elem[ type ]();
+
+					if ( event.isPropagationStopped() ) {
+						lastElement.removeEventListener( type, stopPropagationCallback );
+					}
+
+					jQuery.event.triggered = undefined;
+
+					if ( tmp ) {
+						elem[ ontype ] = tmp;
+					}
+				}
+			}
+		}
+
+		return event.result;
+	},
+
+	// Piggyback on a donor event to simulate a different one
+	// Used only for `focus(in | out)` events
+	simulate: function( type, elem, event ) {
+		var e = jQuery.extend(
+			new jQuery.Event(),
+			event,
+			{
+				type: type,
+				isSimulated: true
+			}
+		);
+
+		jQuery.event.trigger( e, null, elem );
+	}
+
+} );
+
+jQuery.fn.extend( {
+
+	trigger: function( type, data ) {
+		return this.each( function() {
+			jQuery.event.trigger( type, data, this );
+		} );
+	},
+	triggerHandler: function( type, data ) {
+		var elem = this[ 0 ];
+		if ( elem ) {
+			return jQuery.event.trigger( type, data, elem, true );
+		}
+	}
+} );
+
+
+// Support: Firefox <=44
+// Firefox doesn't have focus(in | out) events
+// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787
+//
+// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1
+// focus(in | out) events fire after focus & blur events,
+// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order
+// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857
+if ( !support.focusin ) {
+	jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) {
+
+		// Attach a single capturing handler on the document while someone wants focusin/focusout
+		var handler = function( event ) {
+			jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) );
+		};
+
+		jQuery.event.special[ fix ] = {
+			setup: function() {
+
+				// Handle: regular nodes (via `this.ownerDocument`), window
+				// (via `this.document`) & document (via `this`).
+				var doc = this.ownerDocument || this.document || this,
+					attaches = dataPriv.access( doc, fix );
+
+				if ( !attaches ) {
+					doc.addEventListener( orig, handler, true );
+				}
+				dataPriv.access( doc, fix, ( attaches || 0 ) + 1 );
+			},
+			teardown: function() {
+				var doc = this.ownerDocument || this.document || this,
+					attaches = dataPriv.access( doc, fix ) - 1;
+
+				if ( !attaches ) {
+					doc.removeEventListener( orig, handler, true );
+					dataPriv.remove( doc, fix );
+
+				} else {
+					dataPriv.access( doc, fix, attaches );
+				}
+			}
+		};
+	} );
+}
+var location = window.location;
+
+var nonce = { guid: Date.now() };
+
+var rquery = ( /\?/ );
+
+
+
+// Cross-browser xml parsing
+jQuery.parseXML = function( data ) {
+	var xml, parserErrorElem;
+	if ( !data || typeof data !== "string" ) {
+		return null;
+	}
+
+	// Support: IE 9 - 11 only
+	// IE throws on parseFromString with invalid input.
+	try {
+		xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" );
+	} catch ( e ) {}
+
+	parserErrorElem = xml && xml.getElementsByTagName( "parsererror" )[ 0 ];
+	if ( !xml || parserErrorElem ) {
+		jQuery.error( "Invalid XML: " + (
+			parserErrorElem ?
+				jQuery.map( parserErrorElem.childNodes, function( el ) {
+					return el.textContent;
+				} ).join( "\n" ) :
+				data
+		) );
+	}
+	return xml;
+};
+
+
+var
+	rbracket = /\[\]$/,
+	rCRLF = /\r?\n/g,
+	rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i,
+	rsubmittable = /^(?:input|select|textarea|keygen)/i;
+
+function buildParams( prefix, obj, traditional, add ) {
+	var name;
+
+	if ( Array.isArray( obj ) ) {
+
+		// Serialize array item.
+		jQuery.each( obj, function( i, v ) {
+			if ( traditional || rbracket.test( prefix ) ) {
+
+				// Treat each array item as a scalar.
+				add( prefix, v );
+
+			} else {
+
+				// Item is non-scalar (array or object), encode its numeric index.
+				buildParams(
+					prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]",
+					v,
+					traditional,
+					add
+				);
+			}
+		} );
+
+	} else if ( !traditional && toType( obj ) === "object" ) {
+
+		// Serialize object item.
+		for ( name in obj ) {
+			buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add );
+		}
+
+	} else {
+
+		// Serialize scalar item.
+		add( prefix, obj );
+	}
+}
+
+// Serialize an array of form elements or a set of
+// key/values into a query string
+jQuery.param = function( a, traditional ) {
+	var prefix,
+		s = [],
+		add = function( key, valueOrFunction ) {
+
+			// If value is a function, invoke it and use its return value
+			var value = isFunction( valueOrFunction ) ?
+				valueOrFunction() :
+				valueOrFunction;
+
+			s[ s.length ] = encodeURIComponent( key ) + "=" +
+				encodeURIComponent( value == null ? "" : value );
+		};
+
+	if ( a == null ) {
+		return "";
+	}
+
+	// If an array was passed in, assume that it is an array of form elements.
+	if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) {
+
+		// Serialize the form elements
+		jQuery.each( a, function() {
+			add( this.name, this.value );
+		} );
+
+	} else {
+
+		// If traditional, encode the "old" way (the way 1.3.2 or older
+		// did it), otherwise encode params recursively.
+		for ( prefix in a ) {
+			buildParams( prefix, a[ prefix ], traditional, add );
+		}
+	}
+
+	// Return the resulting serialization
+	return s.join( "&" );
+};
+
+jQuery.fn.extend( {
+	serialize: function() {
+		return jQuery.param( this.serializeArray() );
+	},
+	serializeArray: function() {
+		return this.map( function() {
+
+			// Can add propHook for "elements" to filter or add form elements
+			var elements = jQuery.prop( this, "elements" );
+			return elements ? jQuery.makeArray( elements ) : this;
+		} ).filter( function() {
+			var type = this.type;
+
+			// Use .is( ":disabled" ) so that fieldset[disabled] works
+			return this.name && !jQuery( this ).is( ":disabled" ) &&
+				rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) &&
+				( this.checked || !rcheckableType.test( type ) );
+		} ).map( function( _i, elem ) {
+			var val = jQuery( this ).val();
+
+			if ( val == null ) {
+				return null;
+			}
+
+			if ( Array.isArray( val ) ) {
+				return jQuery.map( val, function( val ) {
+					return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
+				} );
+			}
+
+			return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
+		} ).get();
+	}
+} );
+
+
+var
+	r20 = /%20/g,
+	rhash = /#.*$/,
+	rantiCache = /([?&])_=[^&]*/,
+	rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg,
+
+	// #7653, #8125, #8152: local protocol detection
+	rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/,
+	rnoContent = /^(?:GET|HEAD)$/,
+	rprotocol = /^\/\//,
+
+	/* Prefilters
+	 * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example)
+	 * 2) These are called:
+	 *    - BEFORE asking for a transport
+	 *    - AFTER param serialization (s.data is a string if s.processData is true)
+	 * 3) key is the dataType
+	 * 4) the catchall symbol "*" can be used
+	 * 5) execution will start with transport dataType and THEN continue down to "*" if needed
+	 */
+	prefilters = {},
+
+	/* Transports bindings
+	 * 1) key is the dataType
+	 * 2) the catchall symbol "*" can be used
+	 * 3) selection will start with transport dataType and THEN go to "*" if needed
+	 */
+	transports = {},
+
+	// Avoid comment-prolog char sequence (#10098); must appease lint and evade compression
+	allTypes = "*/".concat( "*" ),
+
+	// Anchor tag for parsing the document origin
+	originAnchor = document.createElement( "a" );
+
+originAnchor.href = location.href;
+
+// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport
+function addToPrefiltersOrTransports( structure ) {
+
+	// dataTypeExpression is optional and defaults to "*"
+	return function( dataTypeExpression, func ) {
+
+		if ( typeof dataTypeExpression !== "string" ) {
+			func = dataTypeExpression;
+			dataTypeExpression = "*";
+		}
+
+		var dataType,
+			i = 0,
+			dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || [];
+
+		if ( isFunction( func ) ) {
+
+			// For each dataType in the dataTypeExpression
+			while ( ( dataType = dataTypes[ i++ ] ) ) {
+
+				// Prepend if requested
+				if ( dataType[ 0 ] === "+" ) {
+					dataType = dataType.slice( 1 ) || "*";
+					( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func );
+
+				// Otherwise append
+				} else {
+					( structure[ dataType ] = structure[ dataType ] || [] ).push( func );
+				}
+			}
+		}
+	};
+}
+
+// Base inspection function for prefilters and transports
+function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) {
+
+	var inspected = {},
+		seekingTransport = ( structure === transports );
+
+	function inspect( dataType ) {
+		var selected;
+		inspected[ dataType ] = true;
+		jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) {
+			var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR );
+			if ( typeof dataTypeOrTransport === "string" &&
+				!seekingTransport && !inspected[ dataTypeOrTransport ] ) {
+
+				options.dataTypes.unshift( dataTypeOrTransport );
+				inspect( dataTypeOrTransport );
+				return false;
+			} else if ( seekingTransport ) {
+				return !( selected = dataTypeOrTransport );
+			}
+		} );
+		return selected;
+	}
+
+	return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" );
+}
+
+// A special extend for ajax options
+// that takes "flat" options (not to be deep extended)
+// Fixes #9887
+function ajaxExtend( target, src ) {
+	var key, deep,
+		flatOptions = jQuery.ajaxSettings.flatOptions || {};
+
+	for ( key in src ) {
+		if ( src[ key ] !== undefined ) {
+			( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ];
+		}
+	}
+	if ( deep ) {
+		jQuery.extend( true, target, deep );
+	}
+
+	return target;
+}
+
+/* Handles responses to an ajax request:
+ * - finds the right dataType (mediates between content-type and expected dataType)
+ * - returns the corresponding response
+ */
+function ajaxHandleResponses( s, jqXHR, responses ) {
+
+	var ct, type, finalDataType, firstDataType,
+		contents = s.contents,
+		dataTypes = s.dataTypes;
+
+	// Remove auto dataType and get content-type in the process
+	while ( dataTypes[ 0 ] === "*" ) {
+		dataTypes.shift();
+		if ( ct === undefined ) {
+			ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" );
+		}
+	}
+
+	// Check if we're dealing with a known content-type
+	if ( ct ) {
+		for ( type in contents ) {
+			if ( contents[ type ] && contents[ type ].test( ct ) ) {
+				dataTypes.unshift( type );
+				break;
+			}
+		}
+	}
+
+	// Check to see if we have a response for the expected dataType
+	if ( dataTypes[ 0 ] in responses ) {
+		finalDataType = dataTypes[ 0 ];
+	} else {
+
+		// Try convertible dataTypes
+		for ( type in responses ) {
+			if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) {
+				finalDataType = type;
+				break;
+			}
+			if ( !firstDataType ) {
+				firstDataType = type;
+			}
+		}
+
+		// Or just use first one
+		finalDataType = finalDataType || firstDataType;
+	}
+
+	// If we found a dataType
+	// We add the dataType to the list if needed
+	// and return the corresponding response
+	if ( finalDataType ) {
+		if ( finalDataType !== dataTypes[ 0 ] ) {
+			dataTypes.unshift( finalDataType );
+		}
+		return responses[ finalDataType ];
+	}
+}
+
+/* Chain conversions given the request and the original response
+ * Also sets the responseXXX fields on the jqXHR instance
+ */
+function ajaxConvert( s, response, jqXHR, isSuccess ) {
+	var conv2, current, conv, tmp, prev,
+		converters = {},
+
+		// Work with a copy of dataTypes in case we need to modify it for conversion
+		dataTypes = s.dataTypes.slice();
+
+	// Create converters map with lowercased keys
+	if ( dataTypes[ 1 ] ) {
+		for ( conv in s.converters ) {
+			converters[ conv.toLowerCase() ] = s.converters[ conv ];
+		}
+	}
+
+	current = dataTypes.shift();
+
+	// Convert to each sequential dataType
+	while ( current ) {
+
+		if ( s.responseFields[ current ] ) {
+			jqXHR[ s.responseFields[ current ] ] = response;
+		}
+
+		// Apply the dataFilter if provided
+		if ( !prev && isSuccess && s.dataFilter ) {
+			response = s.dataFilter( response, s.dataType );
+		}
+
+		prev = current;
+		current = dataTypes.shift();
+
+		if ( current ) {
+
+			// There's only work to do if current dataType is non-auto
+			if ( current === "*" ) {
+
+				current = prev;
+
+			// Convert response if prev dataType is non-auto and differs from current
+			} else if ( prev !== "*" && prev !== current ) {
+
+				// Seek a direct converter
+				conv = converters[ prev + " " + current ] || converters[ "* " + current ];
+
+				// If none found, seek a pair
+				if ( !conv ) {
+					for ( conv2 in converters ) {
+
+						// If conv2 outputs current
+						tmp = conv2.split( " " );
+						if ( tmp[ 1 ] === current ) {
+
+							// If prev can be converted to accepted input
+							conv = converters[ prev + " " + tmp[ 0 ] ] ||
+								converters[ "* " + tmp[ 0 ] ];
+							if ( conv ) {
+
+								// Condense equivalence converters
+								if ( conv === true ) {
+									conv = converters[ conv2 ];
+
+								// Otherwise, insert the intermediate dataType
+								} else if ( converters[ conv2 ] !== true ) {
+									current = tmp[ 0 ];
+									dataTypes.unshift( tmp[ 1 ] );
+								}
+								break;
+							}
+						}
+					}
+				}
+
+				// Apply converter (if not an equivalence)
+				if ( conv !== true ) {
+
+					// Unless errors are allowed to bubble, catch and return them
+					if ( conv && s.throws ) {
+						response = conv( response );
+					} else {
+						try {
+							response = conv( response );
+						} catch ( e ) {
+							return {
+								state: "parsererror",
+								error: conv ? e : "No conversion from " + prev + " to " + current
+							};
+						}
+					}
+				}
+			}
+		}
+	}
+
+	return { state: "success", data: response };
+}
+
+jQuery.extend( {
+
+	// Counter for holding the number of active queries
+	active: 0,
+
+	// Last-Modified header cache for next request
+	lastModified: {},
+	etag: {},
+
+	ajaxSettings: {
+		url: location.href,
+		type: "GET",
+		isLocal: rlocalProtocol.test( location.protocol ),
+		global: true,
+		processData: true,
+		async: true,
+		contentType: "application/x-www-form-urlencoded; charset=UTF-8",
+
+		/*
+		timeout: 0,
+		data: null,
+		dataType: null,
+		username: null,
+		password: null,
+		cache: null,
+		throws: false,
+		traditional: false,
+		headers: {},
+		*/
+
+		accepts: {
+			"*": allTypes,
+			text: "text/plain",
+			html: "text/html",
+			xml: "application/xml, text/xml",
+			json: "application/json, text/javascript"
+		},
+
+		contents: {
+			xml: /\bxml\b/,
+			html: /\bhtml/,
+			json: /\bjson\b/
+		},
+
+		responseFields: {
+			xml: "responseXML",
+			text: "responseText",
+			json: "responseJSON"
+		},
+
+		// Data converters
+		// Keys separate source (or catchall "*") and destination types with a single space
+		converters: {
+
+			// Convert anything to text
+			"* text": String,
+
+			// Text to html (true = no transformation)
+			"text html": true,
+
+			// Evaluate text as a json expression
+			"text json": JSON.parse,
+
+			// Parse text as xml
+			"text xml": jQuery.parseXML
+		},
+
+		// For options that shouldn't be deep extended:
+		// you can add your own custom options here if
+		// and when you create one that shouldn't be
+		// deep extended (see ajaxExtend)
+		flatOptions: {
+			url: true,
+			context: true
+		}
+	},
+
+	// Creates a full fledged settings object into target
+	// with both ajaxSettings and settings fields.
+	// If target is omitted, writes into ajaxSettings.
+	ajaxSetup: function( target, settings ) {
+		return settings ?
+
+			// Building a settings object
+			ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) :
+
+			// Extending ajaxSettings
+			ajaxExtend( jQuery.ajaxSettings, target );
+	},
+
+	ajaxPrefilter: addToPrefiltersOrTransports( prefilters ),
+	ajaxTransport: addToPrefiltersOrTransports( transports ),
+
+	// Main method
+	ajax: function( url, options ) {
+
+		// If url is an object, simulate pre-1.5 signature
+		if ( typeof url === "object" ) {
+			options = url;
+			url = undefined;
+		}
+
+		// Force options to be an object
+		options = options || {};
+
+		var transport,
+
+			// URL without anti-cache param
+			cacheURL,
+
+			// Response headers
+			responseHeadersString,
+			responseHeaders,
+
+			// timeout handle
+			timeoutTimer,
+
+			// Url cleanup var
+			urlAnchor,
+
+			// Request state (becomes false upon send and true upon completion)
+			completed,
+
+			// To know if global events are to be dispatched
+			fireGlobals,
+
+			// Loop variable
+			i,
+
+			// uncached part of the url
+			uncached,
+
+			// Create the final options object
+			s = jQuery.ajaxSetup( {}, options ),
+
+			// Callbacks context
+			callbackContext = s.context || s,
+
+			// Context for global events is callbackContext if it is a DOM node or jQuery collection
+			globalEventContext = s.context &&
+				( callbackContext.nodeType || callbackContext.jquery ) ?
+				jQuery( callbackContext ) :
+				jQuery.event,
+
+			// Deferreds
+			deferred = jQuery.Deferred(),
+			completeDeferred = jQuery.Callbacks( "once memory" ),
+
+			// Status-dependent callbacks
+			statusCode = s.statusCode || {},
+
+			// Headers (they are sent all at once)
+			requestHeaders = {},
+			requestHeadersNames = {},
+
+			// Default abort message
+			strAbort = "canceled",
+
+			// Fake xhr
+			jqXHR = {
+				readyState: 0,
+
+				// Builds headers hashtable if needed
+				getResponseHeader: function( key ) {
+					var match;
+					if ( completed ) {
+						if ( !responseHeaders ) {
+							responseHeaders = {};
+							while ( ( match = rheaders.exec( responseHeadersString ) ) ) {
+								responseHeaders[ match[ 1 ].toLowerCase() + " " ] =
+									( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] )
+										.concat( match[ 2 ] );
+							}
+						}
+						match = responseHeaders[ key.toLowerCase() + " " ];
+					}
+					return match == null ? null : match.join( ", " );
+				},
+
+				// Raw string
+				getAllResponseHeaders: function() {
+					return completed ? responseHeadersString : null;
+				},
+
+				// Caches the header
+				setRequestHeader: function( name, value ) {
+					if ( completed == null ) {
+						name = requestHeadersNames[ name.toLowerCase() ] =
+							requestHeadersNames[ name.toLowerCase() ] || name;
+						requestHeaders[ name ] = value;
+					}
+					return this;
+				},
+
+				// Overrides response content-type header
+				overrideMimeType: function( type ) {
+					if ( completed == null ) {
+						s.mimeType = type;
+					}
+					return this;
+				},
+
+				// Status-dependent callbacks
+				statusCode: function( map ) {
+					var code;
+					if ( map ) {
+						if ( completed ) {
+
+							// Execute the appropriate callbacks
+							jqXHR.always( map[ jqXHR.status ] );
+						} else {
+
+							// Lazy-add the new callbacks in a way that preserves old ones
+							for ( code in map ) {
+								statusCode[ code ] = [ statusCode[ code ], map[ code ] ];
+							}
+						}
+					}
+					return this;
+				},
+
+				// Cancel the request
+				abort: function( statusText ) {
+					var finalText = statusText || strAbort;
+					if ( transport ) {
+						transport.abort( finalText );
+					}
+					done( 0, finalText );
+					return this;
+				}
+			};
+
+		// Attach deferreds
+		deferred.promise( jqXHR );
+
+		// Add protocol if not provided (prefilters might expect it)
+		// Handle falsy url in the settings object (#10093: consistency with old signature)
+		// We also use the url parameter if available
+		s.url = ( ( url || s.url || location.href ) + "" )
+			.replace( rprotocol, location.protocol + "//" );
+
+		// Alias method option to type as per ticket #12004
+		s.type = options.method || options.type || s.method || s.type;
+
+		// Extract dataTypes list
+		s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ];
+
+		// A cross-domain request is in order when the origin doesn't match the current origin.
+		if ( s.crossDomain == null ) {
+			urlAnchor = document.createElement( "a" );
+
+			// Support: IE <=8 - 11, Edge 12 - 15
+			// IE throws exception on accessing the href property if url is malformed,
+			// e.g. http://example.com:80x/
+			try {
+				urlAnchor.href = s.url;
+
+				// Support: IE <=8 - 11 only
+				// Anchor's host property isn't correctly set when s.url is relative
+				urlAnchor.href = urlAnchor.href;
+				s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !==
+					urlAnchor.protocol + "//" + urlAnchor.host;
+			} catch ( e ) {
+
+				// If there is an error parsing the URL, assume it is crossDomain,
+				// it can be rejected by the transport if it is invalid
+				s.crossDomain = true;
+			}
+		}
+
+		// Convert data if not already a string
+		if ( s.data && s.processData && typeof s.data !== "string" ) {
+			s.data = jQuery.param( s.data, s.traditional );
+		}
+
+		// Apply prefilters
+		inspectPrefiltersOrTransports( prefilters, s, options, jqXHR );
+
+		// If request was aborted inside a prefilter, stop there
+		if ( completed ) {
+			return jqXHR;
+		}
+
+		// We can fire global events as of now if asked to
+		// Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118)
+		fireGlobals = jQuery.event && s.global;
+
+		// Watch for a new set of requests
+		if ( fireGlobals && jQuery.active++ === 0 ) {
+			jQuery.event.trigger( "ajaxStart" );
+		}
+
+		// Uppercase the type
+		s.type = s.type.toUpperCase();
+
+		// Determine if request has content
+		s.hasContent = !rnoContent.test( s.type );
+
+		// Save the URL in case we're toying with the If-Modified-Since
+		// and/or If-None-Match header later on
+		// Remove hash to simplify url manipulation
+		cacheURL = s.url.replace( rhash, "" );
+
+		// More options handling for requests with no content
+		if ( !s.hasContent ) {
+
+			// Remember the hash so we can put it back
+			uncached = s.url.slice( cacheURL.length );
+
+			// If data is available and should be processed, append data to url
+			if ( s.data && ( s.processData || typeof s.data === "string" ) ) {
+				cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data;
+
+				// #9682: remove data so that it's not used in an eventual retry
+				delete s.data;
+			}
+
+			// Add or update anti-cache param if needed
+			if ( s.cache === false ) {
+				cacheURL = cacheURL.replace( rantiCache, "$1" );
+				uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) +
+					uncached;
+			}
+
+			// Put hash and anti-cache on the URL that will be requested (gh-1732)
+			s.url = cacheURL + uncached;
+
+		// Change '%20' to '+' if this is encoded form body content (gh-2658)
+		} else if ( s.data && s.processData &&
+			( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) {
+			s.data = s.data.replace( r20, "+" );
+		}
+
+		// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+		if ( s.ifModified ) {
+			if ( jQuery.lastModified[ cacheURL ] ) {
+				jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] );
+			}
+			if ( jQuery.etag[ cacheURL ] ) {
+				jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] );
+			}
+		}
+
+		// Set the correct header, if data is being sent
+		if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) {
+			jqXHR.setRequestHeader( "Content-Type", s.contentType );
+		}
+
+		// Set the Accepts header for the server, depending on the dataType
+		jqXHR.setRequestHeader(
+			"Accept",
+			s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ?
+				s.accepts[ s.dataTypes[ 0 ] ] +
+					( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) :
+				s.accepts[ "*" ]
+		);
+
+		// Check for headers option
+		for ( i in s.headers ) {
+			jqXHR.setRequestHeader( i, s.headers[ i ] );
+		}
+
+		// Allow custom headers/mimetypes and early abort
+		if ( s.beforeSend &&
+			( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) {
+
+			// Abort if not done already and return
+			return jqXHR.abort();
+		}
+
+		// Aborting is no longer a cancellation
+		strAbort = "abort";
+
+		// Install callbacks on deferreds
+		completeDeferred.add( s.complete );
+		jqXHR.done( s.success );
+		jqXHR.fail( s.error );
+
+		// Get transport
+		transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR );
+
+		// If no transport, we auto-abort
+		if ( !transport ) {
+			done( -1, "No Transport" );
+		} else {
+			jqXHR.readyState = 1;
+
+			// Send global event
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] );
+			}
+
+			// If request was aborted inside ajaxSend, stop there
+			if ( completed ) {
+				return jqXHR;
+			}
+
+			// Timeout
+			if ( s.async && s.timeout > 0 ) {
+				timeoutTimer = window.setTimeout( function() {
+					jqXHR.abort( "timeout" );
+				}, s.timeout );
+			}
+
+			try {
+				completed = false;
+				transport.send( requestHeaders, done );
+			} catch ( e ) {
+
+				// Rethrow post-completion exceptions
+				if ( completed ) {
+					throw e;
+				}
+
+				// Propagate others as results
+				done( -1, e );
+			}
+		}
+
+		// Callback for when everything is done
+		function done( status, nativeStatusText, responses, headers ) {
+			var isSuccess, success, error, response, modified,
+				statusText = nativeStatusText;
+
+			// Ignore repeat invocations
+			if ( completed ) {
+				return;
+			}
+
+			completed = true;
+
+			// Clear timeout if it exists
+			if ( timeoutTimer ) {
+				window.clearTimeout( timeoutTimer );
+			}
+
+			// Dereference transport for early garbage collection
+			// (no matter how long the jqXHR object will be used)
+			transport = undefined;
+
+			// Cache response headers
+			responseHeadersString = headers || "";
+
+			// Set readyState
+			jqXHR.readyState = status > 0 ? 4 : 0;
+
+			// Determine if successful
+			isSuccess = status >= 200 && status < 300 || status === 304;
+
+			// Get response data
+			if ( responses ) {
+				response = ajaxHandleResponses( s, jqXHR, responses );
+			}
+
+			// Use a noop converter for missing script but not if jsonp
+			if ( !isSuccess &&
+				jQuery.inArray( "script", s.dataTypes ) > -1 &&
+				jQuery.inArray( "json", s.dataTypes ) < 0 ) {
+				s.converters[ "text script" ] = function() {};
+			}
+
+			// Convert no matter what (that way responseXXX fields are always set)
+			response = ajaxConvert( s, response, jqXHR, isSuccess );
+
+			// If successful, handle type chaining
+			if ( isSuccess ) {
+
+				// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+				if ( s.ifModified ) {
+					modified = jqXHR.getResponseHeader( "Last-Modified" );
+					if ( modified ) {
+						jQuery.lastModified[ cacheURL ] = modified;
+					}
+					modified = jqXHR.getResponseHeader( "etag" );
+					if ( modified ) {
+						jQuery.etag[ cacheURL ] = modified;
+					}
+				}
+
+				// if no content
+				if ( status === 204 || s.type === "HEAD" ) {
+					statusText = "nocontent";
+
+				// if not modified
+				} else if ( status === 304 ) {
+					statusText = "notmodified";
+
+				// If we have data, let's convert it
+				} else {
+					statusText = response.state;
+					success = response.data;
+					error = response.error;
+					isSuccess = !error;
+				}
+			} else {
+
+				// Extract error from statusText and normalize for non-aborts
+				error = statusText;
+				if ( status || !statusText ) {
+					statusText = "error";
+					if ( status < 0 ) {
+						status = 0;
+					}
+				}
+			}
+
+			// Set data for the fake xhr object
+			jqXHR.status = status;
+			jqXHR.statusText = ( nativeStatusText || statusText ) + "";
+
+			// Success/Error
+			if ( isSuccess ) {
+				deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] );
+			} else {
+				deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] );
+			}
+
+			// Status-dependent callbacks
+			jqXHR.statusCode( statusCode );
+			statusCode = undefined;
+
+			if ( fireGlobals ) {
+				globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError",
+					[ jqXHR, s, isSuccess ? success : error ] );
+			}
+
+			// Complete
+			completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] );
+
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] );
+
+				// Handle the global AJAX counter
+				if ( !( --jQuery.active ) ) {
+					jQuery.event.trigger( "ajaxStop" );
+				}
+			}
+		}
+
+		return jqXHR;
+	},
+
+	getJSON: function( url, data, callback ) {
+		return jQuery.get( url, data, callback, "json" );
+	},
+
+	getScript: function( url, callback ) {
+		return jQuery.get( url, undefined, callback, "script" );
+	}
+} );
+
+jQuery.each( [ "get", "post" ], function( _i, method ) {
+	jQuery[ method ] = function( url, data, callback, type ) {
+
+		// Shift arguments if data argument was omitted
+		if ( isFunction( data ) ) {
+			type = type || callback;
+			callback = data;
+			data = undefined;
+		}
+
+		// The url can be an options object (which then must have .url)
+		return jQuery.ajax( jQuery.extend( {
+			url: url,
+			type: method,
+			dataType: type,
+			data: data,
+			success: callback
+		}, jQuery.isPlainObject( url ) && url ) );
+	};
+} );
+
+jQuery.ajaxPrefilter( function( s ) {
+	var i;
+	for ( i in s.headers ) {
+		if ( i.toLowerCase() === "content-type" ) {
+			s.contentType = s.headers[ i ] || "";
+		}
+	}
+} );
+
+
+jQuery._evalUrl = function( url, options, doc ) {
+	return jQuery.ajax( {
+		url: url,
+
+		// Make this explicit, since user can override this through ajaxSetup (#11264)
+		type: "GET",
+		dataType: "script",
+		cache: true,
+		async: false,
+		global: false,
+
+		// Only evaluate the response if it is successful (gh-4126)
+		// dataFilter is not invoked for failure responses, so using it instead
+		// of the default converter is kludgy but it works.
+		converters: {
+			"text script": function() {}
+		},
+		dataFilter: function( response ) {
+			jQuery.globalEval( response, options, doc );
+		}
+	} );
+};
+
+
+jQuery.fn.extend( {
+	wrapAll: function( html ) {
+		var wrap;
+
+		if ( this[ 0 ] ) {
+			if ( isFunction( html ) ) {
+				html = html.call( this[ 0 ] );
+			}
+
+			// The elements to wrap the target around
+			wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true );
+
+			if ( this[ 0 ].parentNode ) {
+				wrap.insertBefore( this[ 0 ] );
+			}
+
+			wrap.map( function() {
+				var elem = this;
+
+				while ( elem.firstElementChild ) {
+					elem = elem.firstElementChild;
+				}
+
+				return elem;
+			} ).append( this );
+		}
+
+		return this;
+	},
+
+	wrapInner: function( html ) {
+		if ( isFunction( html ) ) {
+			return this.each( function( i ) {
+				jQuery( this ).wrapInner( html.call( this, i ) );
+			} );
+		}
+
+		return this.each( function() {
+			var self = jQuery( this ),
+				contents = self.contents();
+
+			if ( contents.length ) {
+				contents.wrapAll( html );
+
+			} else {
+				self.append( html );
+			}
+		} );
+	},
+
+	wrap: function( html ) {
+		var htmlIsFunction = isFunction( html );
+
+		return this.each( function( i ) {
+			jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html );
+		} );
+	},
+
+	unwrap: function( selector ) {
+		this.parent( selector ).not( "body" ).each( function() {
+			jQuery( this ).replaceWith( this.childNodes );
+		} );
+		return this;
+	}
+} );
+
+
+jQuery.expr.pseudos.hidden = function( elem ) {
+	return !jQuery.expr.pseudos.visible( elem );
+};
+jQuery.expr.pseudos.visible = function( elem ) {
+	return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length );
+};
+
+
+
+
+jQuery.ajaxSettings.xhr = function() {
+	try {
+		return new window.XMLHttpRequest();
+	} catch ( e ) {}
+};
+
+var xhrSuccessStatus = {
+
+		// File protocol always yields status code 0, assume 200
+		0: 200,
+
+		// Support: IE <=9 only
+		// #1450: sometimes IE returns 1223 when it should be 204
+		1223: 204
+	},
+	xhrSupported = jQuery.ajaxSettings.xhr();
+
+support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported );
+support.ajax = xhrSupported = !!xhrSupported;
+
+jQuery.ajaxTransport( function( options ) {
+	var callback, errorCallback;
+
+	// Cross domain only allowed if supported through XMLHttpRequest
+	if ( support.cors || xhrSupported && !options.crossDomain ) {
+		return {
+			send: function( headers, complete ) {
+				var i,
+					xhr = options.xhr();
+
+				xhr.open(
+					options.type,
+					options.url,
+					options.async,
+					options.username,
+					options.password
+				);
+
+				// Apply custom fields if provided
+				if ( options.xhrFields ) {
+					for ( i in options.xhrFields ) {
+						xhr[ i ] = options.xhrFields[ i ];
+					}
+				}
+
+				// Override mime type if needed
+				if ( options.mimeType && xhr.overrideMimeType ) {
+					xhr.overrideMimeType( options.mimeType );
+				}
+
+				// X-Requested-With header
+				// For cross-domain requests, seeing as conditions for a preflight are
+				// akin to a jigsaw puzzle, we simply never set it to be sure.
+				// (it can always be set on a per-request basis or even using ajaxSetup)
+				// For same-domain requests, won't change header if already provided.
+				if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) {
+					headers[ "X-Requested-With" ] = "XMLHttpRequest";
+				}
+
+				// Set headers
+				for ( i in headers ) {
+					xhr.setRequestHeader( i, headers[ i ] );
+				}
+
+				// Callback
+				callback = function( type ) {
+					return function() {
+						if ( callback ) {
+							callback = errorCallback = xhr.onload =
+								xhr.onerror = xhr.onabort = xhr.ontimeout =
+									xhr.onreadystatechange = null;
+
+							if ( type === "abort" ) {
+								xhr.abort();
+							} else if ( type === "error" ) {
+
+								// Support: IE <=9 only
+								// On a manual native abort, IE9 throws
+								// errors on any property access that is not readyState
+								if ( typeof xhr.status !== "number" ) {
+									complete( 0, "error" );
+								} else {
+									complete(
+
+										// File: protocol always yields status 0; see #8605, #14207
+										xhr.status,
+										xhr.statusText
+									);
+								}
+							} else {
+								complete(
+									xhrSuccessStatus[ xhr.status ] || xhr.status,
+									xhr.statusText,
+
+									// Support: IE <=9 only
+									// IE9 has no XHR2 but throws on binary (trac-11426)
+									// For XHR2 non-text, let the caller handle it (gh-2498)
+									( xhr.responseType || "text" ) !== "text"  ||
+									typeof xhr.responseText !== "string" ?
+										{ binary: xhr.response } :
+										{ text: xhr.responseText },
+									xhr.getAllResponseHeaders()
+								);
+							}
+						}
+					};
+				};
+
+				// Listen to events
+				xhr.onload = callback();
+				errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" );
+
+				// Support: IE 9 only
+				// Use onreadystatechange to replace onabort
+				// to handle uncaught aborts
+				if ( xhr.onabort !== undefined ) {
+					xhr.onabort = errorCallback;
+				} else {
+					xhr.onreadystatechange = function() {
+
+						// Check readyState before timeout as it changes
+						if ( xhr.readyState === 4 ) {
+
+							// Allow onerror to be called first,
+							// but that will not handle a native abort
+							// Also, save errorCallback to a variable
+							// as xhr.onerror cannot be accessed
+							window.setTimeout( function() {
+								if ( callback ) {
+									errorCallback();
+								}
+							} );
+						}
+					};
+				}
+
+				// Create the abort callback
+				callback = callback( "abort" );
+
+				try {
+
+					// Do send the request (this may raise an exception)
+					xhr.send( options.hasContent && options.data || null );
+				} catch ( e ) {
+
+					// #14683: Only rethrow if this hasn't been notified as an error yet
+					if ( callback ) {
+						throw e;
+					}
+				}
+			},
+
+			abort: function() {
+				if ( callback ) {
+					callback();
+				}
+			}
+		};
+	}
+} );
+
+
+
+
+// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432)
+jQuery.ajaxPrefilter( function( s ) {
+	if ( s.crossDomain ) {
+		s.contents.script = false;
+	}
+} );
+
+// Install script dataType
+jQuery.ajaxSetup( {
+	accepts: {
+		script: "text/javascript, application/javascript, " +
+			"application/ecmascript, application/x-ecmascript"
+	},
+	contents: {
+		script: /\b(?:java|ecma)script\b/
+	},
+	converters: {
+		"text script": function( text ) {
+			jQuery.globalEval( text );
+			return text;
+		}
+	}
+} );
+
+// Handle cache's special case and crossDomain
+jQuery.ajaxPrefilter( "script", function( s ) {
+	if ( s.cache === undefined ) {
+		s.cache = false;
+	}
+	if ( s.crossDomain ) {
+		s.type = "GET";
+	}
+} );
+
+// Bind script tag hack transport
+jQuery.ajaxTransport( "script", function( s ) {
+
+	// This transport only deals with cross domain or forced-by-attrs requests
+	if ( s.crossDomain || s.scriptAttrs ) {
+		var script, callback;
+		return {
+			send: function( _, complete ) {
+				script = jQuery( "<script>" )
+					.attr( s.scriptAttrs || {} )
+					.prop( { charset: s.scriptCharset, src: s.url } )
+					.on( "load error", callback = function( evt ) {
+						script.remove();
+						callback = null;
+						if ( evt ) {
+							complete( evt.type === "error" ? 404 : 200, evt.type );
+						}
+					} );
+
+				// Use native DOM manipulation to avoid our domManip AJAX trickery
+				document.head.appendChild( script[ 0 ] );
+			},
+			abort: function() {
+				if ( callback ) {
+					callback();
+				}
+			}
+		};
+	}
+} );
+
+
+
+
+var oldCallbacks = [],
+	rjsonp = /(=)\?(?=&|$)|\?\?/;
+
+// Default jsonp settings
+jQuery.ajaxSetup( {
+	jsonp: "callback",
+	jsonpCallback: function() {
+		var callback = oldCallbacks.pop() || ( jQuery.expando + "_" + ( nonce.guid++ ) );
+		this[ callback ] = true;
+		return callback;
+	}
+} );
+
+// Detect, normalize options and install callbacks for jsonp requests
+jQuery.ajaxPrefilter( "json jsonp", function( s, originalSettings, jqXHR ) {
+
+	var callbackName, overwritten, responseContainer,
+		jsonProp = s.jsonp !== false && ( rjsonp.test( s.url ) ?
+			"url" :
+			typeof s.data === "string" &&
+				( s.contentType || "" )
+					.indexOf( "application/x-www-form-urlencoded" ) === 0 &&
+				rjsonp.test( s.data ) && "data"
+		);
+
+	// Handle iff the expected data type is "jsonp" or we have a parameter to set
+	if ( jsonProp || s.dataTypes[ 0 ] === "jsonp" ) {
+
+		// Get callback name, remembering preexisting value associated with it
+		callbackName = s.jsonpCallback = isFunction( s.jsonpCallback ) ?
+			s.jsonpCallback() :
+			s.jsonpCallback;
+
+		// Insert callback into url or form data
+		if ( jsonProp ) {
+			s[ jsonProp ] = s[ jsonProp ].replace( rjsonp, "$1" + callbackName );
+		} else if ( s.jsonp !== false ) {
+			s.url += ( rquery.test( s.url ) ? "&" : "?" ) + s.jsonp + "=" + callbackName;
+		}
+
+		// Use data converter to retrieve json after script execution
+		s.converters[ "script json" ] = function() {
+			if ( !responseContainer ) {
+				jQuery.error( callbackName + " was not called" );
+			}
+			return responseContainer[ 0 ];
+		};
+
+		// Force json dataType
+		s.dataTypes[ 0 ] = "json";
+
+		// Install callback
+		overwritten = window[ callbackName ];
+		window[ callbackName ] = function() {
+			responseContainer = arguments;
+		};
+
+		// Clean-up function (fires after converters)
+		jqXHR.always( function() {
+
+			// If previous value didn't exist - remove it
+			if ( overwritten === undefined ) {
+				jQuery( window ).removeProp( callbackName );
+
+			// Otherwise restore preexisting value
+			} else {
+				window[ callbackName ] = overwritten;
+			}
+
+			// Save back as free
+			if ( s[ callbackName ] ) {
+
+				// Make sure that re-using the options doesn't screw things around
+				s.jsonpCallback = originalSettings.jsonpCallback;
+
+				// Save the callback name for future use
+				oldCallbacks.push( callbackName );
+			}
+
+			// Call if it was a function and we have a response
+			if ( responseContainer && isFunction( overwritten ) ) {
+				overwritten( responseContainer[ 0 ] );
+			}
+
+			responseContainer = overwritten = undefined;
+		} );
+
+		// Delegate to script
+		return "script";
+	}
+} );
+
+
+
+
+// Support: Safari 8 only
+// In Safari 8 documents created via document.implementation.createHTMLDocument
+// collapse sibling forms: the second one becomes a child of the first one.
+// Because of that, this security measure has to be disabled in Safari 8.
+// https://bugs.webkit.org/show_bug.cgi?id=137337
+support.createHTMLDocument = ( function() {
+	var body = document.implementation.createHTMLDocument( "" ).body;
+	body.innerHTML = "<form></form><form></form>";
+	return body.childNodes.length === 2;
+} )();
+
+
+// Argument "data" should be string of html
+// context (optional): If specified, the fragment will be created in this context,
+// defaults to document
+// keepScripts (optional): If true, will include scripts passed in the html string
+jQuery.parseHTML = function( data, context, keepScripts ) {
+	if ( typeof data !== "string" ) {
+		return [];
+	}
+	if ( typeof context === "boolean" ) {
+		keepScripts = context;
+		context = false;
+	}
+
+	var base, parsed, scripts;
+
+	if ( !context ) {
+
+		// Stop scripts or inline event handlers from being executed immediately
+		// by using document.implementation
+		if ( support.createHTMLDocument ) {
+			context = document.implementation.createHTMLDocument( "" );
+
+			// Set the base href for the created document
+			// so any parsed elements with URLs
+			// are based on the document's URL (gh-2965)
+			base = context.createElement( "base" );
+			base.href = document.location.href;
+			context.head.appendChild( base );
+		} else {
+			context = document;
+		}
+	}
+
+	parsed = rsingleTag.exec( data );
+	scripts = !keepScripts && [];
+
+	// Single tag
+	if ( parsed ) {
+		return [ context.createElement( parsed[ 1 ] ) ];
+	}
+
+	parsed = buildFragment( [ data ], context, scripts );
+
+	if ( scripts && scripts.length ) {
+		jQuery( scripts ).remove();
+	}
+
+	return jQuery.merge( [], parsed.childNodes );
+};
+
+
+/**
+ * Load a url into a page
+ */
+jQuery.fn.load = function( url, params, callback ) {
+	var selector, type, response,
+		self = this,
+		off = url.indexOf( " " );
+
+	if ( off > -1 ) {
+		selector = stripAndCollapse( url.slice( off ) );
+		url = url.slice( 0, off );
+	}
+
+	// If it's a function
+	if ( isFunction( params ) ) {
+
+		// We assume that it's the callback
+		callback = params;
+		params = undefined;
+
+	// Otherwise, build a param string
+	} else if ( params && typeof params === "object" ) {
+		type = "POST";
+	}
+
+	// If we have elements to modify, make the request
+	if ( self.length > 0 ) {
+		jQuery.ajax( {
+			url: url,
+
+			// If "type" variable is undefined, then "GET" method will be used.
+			// Make value of this field explicit since
+			// user can override it through ajaxSetup method
+			type: type || "GET",
+			dataType: "html",
+			data: params
+		} ).done( function( responseText ) {
+
+			// Save response for use in complete callback
+			response = arguments;
+
+			self.html( selector ?
+
+				// If a selector was specified, locate the right elements in a dummy div
+				// Exclude scripts to avoid IE 'Permission Denied' errors
+				jQuery( "<div>" ).append( jQuery.parseHTML( responseText ) ).find( selector ) :
+
+				// Otherwise use the full result
+				responseText );
+
+		// If the request succeeds, this function gets "data", "status", "jqXHR"
+		// but they are ignored because response was set above.
+		// If it fails, this function gets "jqXHR", "status", "error"
+		} ).always( callback && function( jqXHR, status ) {
+			self.each( function() {
+				callback.apply( this, response || [ jqXHR.responseText, status, jqXHR ] );
+			} );
+		} );
+	}
+
+	return this;
+};
+
+
+
+
+jQuery.expr.pseudos.animated = function( elem ) {
+	return jQuery.grep( jQuery.timers, function( fn ) {
+		return elem === fn.elem;
+	} ).length;
+};
+
+
+
+
+jQuery.offset = {
+	setOffset: function( elem, options, i ) {
+		var curPosition, curLeft, curCSSTop, curTop, curOffset, curCSSLeft, calculatePosition,
+			position = jQuery.css( elem, "position" ),
+			curElem = jQuery( elem ),
+			props = {};
+
+		// Set position first, in-case top/left are set even on static elem
+		if ( position === "static" ) {
+			elem.style.position = "relative";
+		}
+
+		curOffset = curElem.offset();
+		curCSSTop = jQuery.css( elem, "top" );
+		curCSSLeft = jQuery.css( elem, "left" );
+		calculatePosition = ( position === "absolute" || position === "fixed" ) &&
+			( curCSSTop + curCSSLeft ).indexOf( "auto" ) > -1;
+
+		// Need to be able to calculate position if either
+		// top or left is auto and position is either absolute or fixed
+		if ( calculatePosition ) {
+			curPosition = curElem.position();
+			curTop = curPosition.top;
+			curLeft = curPosition.left;
+
+		} else {
+			curTop = parseFloat( curCSSTop ) || 0;
+			curLeft = parseFloat( curCSSLeft ) || 0;
+		}
+
+		if ( isFunction( options ) ) {
+
+			// Use jQuery.extend here to allow modification of coordinates argument (gh-1848)
+			options = options.call( elem, i, jQuery.extend( {}, curOffset ) );
+		}
+
+		if ( options.top != null ) {
+			props.top = ( options.top - curOffset.top ) + curTop;
+		}
+		if ( options.left != null ) {
+			props.left = ( options.left - curOffset.left ) + curLeft;
+		}
+
+		if ( "using" in options ) {
+			options.using.call( elem, props );
+
+		} else {
+			curElem.css( props );
+		}
+	}
+};
+
+jQuery.fn.extend( {
+
+	// offset() relates an element's border box to the document origin
+	offset: function( options ) {
+
+		// Preserve chaining for setter
+		if ( arguments.length ) {
+			return options === undefined ?
+				this :
+				this.each( function( i ) {
+					jQuery.offset.setOffset( this, options, i );
+				} );
+		}
+
+		var rect, win,
+			elem = this[ 0 ];
+
+		if ( !elem ) {
+			return;
+		}
+
+		// Return zeros for disconnected and hidden (display: none) elements (gh-2310)
+		// Support: IE <=11 only
+		// Running getBoundingClientRect on a
+		// disconnected node in IE throws an error
+		if ( !elem.getClientRects().length ) {
+			return { top: 0, left: 0 };
+		}
+
+		// Get document-relative position by adding viewport scroll to viewport-relative gBCR
+		rect = elem.getBoundingClientRect();
+		win = elem.ownerDocument.defaultView;
+		return {
+			top: rect.top + win.pageYOffset,
+			left: rect.left + win.pageXOffset
+		};
+	},
+
+	// position() relates an element's margin box to its offset parent's padding box
+	// This corresponds to the behavior of CSS absolute positioning
+	position: function() {
+		if ( !this[ 0 ] ) {
+			return;
+		}
+
+		var offsetParent, offset, doc,
+			elem = this[ 0 ],
+			parentOffset = { top: 0, left: 0 };
+
+		// position:fixed elements are offset from the viewport, which itself always has zero offset
+		if ( jQuery.css( elem, "position" ) === "fixed" ) {
+
+			// Assume position:fixed implies availability of getBoundingClientRect
+			offset = elem.getBoundingClientRect();
+
+		} else {
+			offset = this.offset();
+
+			// Account for the *real* offset parent, which can be the document or its root element
+			// when a statically positioned element is identified
+			doc = elem.ownerDocument;
+			offsetParent = elem.offsetParent || doc.documentElement;
+			while ( offsetParent &&
+				( offsetParent === doc.body || offsetParent === doc.documentElement ) &&
+				jQuery.css( offsetParent, "position" ) === "static" ) {
+
+				offsetParent = offsetParent.parentNode;
+			}
+			if ( offsetParent && offsetParent !== elem && offsetParent.nodeType === 1 ) {
+
+				// Incorporate borders into its offset, since they are outside its content origin
+				parentOffset = jQuery( offsetParent ).offset();
+				parentOffset.top += jQuery.css( offsetParent, "borderTopWidth", true );
+				parentOffset.left += jQuery.css( offsetParent, "borderLeftWidth", true );
+			}
+		}
+
+		// Subtract parent offsets and element margins
+		return {
+			top: offset.top - parentOffset.top - jQuery.css( elem, "marginTop", true ),
+			left: offset.left - parentOffset.left - jQuery.css( elem, "marginLeft", true )
+		};
+	},
+
+	// This method will return documentElement in the following cases:
+	// 1) For the element inside the iframe without offsetParent, this method will return
+	//    documentElement of the parent window
+	// 2) For the hidden or detached element
+	// 3) For body or html element, i.e. in case of the html node - it will return itself
+	//
+	// but those exceptions were never presented as a real life use-cases
+	// and might be considered as more preferable results.
+	//
+	// This logic, however, is not guaranteed and can change at any point in the future
+	offsetParent: function() {
+		return this.map( function() {
+			var offsetParent = this.offsetParent;
+
+			while ( offsetParent && jQuery.css( offsetParent, "position" ) === "static" ) {
+				offsetParent = offsetParent.offsetParent;
+			}
+
+			return offsetParent || documentElement;
+		} );
+	}
+} );
+
+// Create scrollLeft and scrollTop methods
+jQuery.each( { scrollLeft: "pageXOffset", scrollTop: "pageYOffset" }, function( method, prop ) {
+	var top = "pageYOffset" === prop;
+
+	jQuery.fn[ method ] = function( val ) {
+		return access( this, function( elem, method, val ) {
+
+			// Coalesce documents and windows
+			var win;
+			if ( isWindow( elem ) ) {
+				win = elem;
+			} else if ( elem.nodeType === 9 ) {
+				win = elem.defaultView;
+			}
+
+			if ( val === undefined ) {
+				return win ? win[ prop ] : elem[ method ];
+			}
+
+			if ( win ) {
+				win.scrollTo(
+					!top ? val : win.pageXOffset,
+					top ? val : win.pageYOffset
+				);
+
+			} else {
+				elem[ method ] = val;
+			}
+		}, method, val, arguments.length );
+	};
+} );
+
+// Support: Safari <=7 - 9.1, Chrome <=37 - 49
+// Add the top/left cssHooks using jQuery.fn.position
+// Webkit bug: https://bugs.webkit.org/show_bug.cgi?id=29084
+// Blink bug: https://bugs.chromium.org/p/chromium/issues/detail?id=589347
+// getComputedStyle returns percent when specified for top/left/bottom/right;
+// rather than make the css module depend on the offset module, just check for it here
+jQuery.each( [ "top", "left" ], function( _i, prop ) {
+	jQuery.cssHooks[ prop ] = addGetHookIf( support.pixelPosition,
+		function( elem, computed ) {
+			if ( computed ) {
+				computed = curCSS( elem, prop );
+
+				// If curCSS returns percentage, fallback to offset
+				return rnumnonpx.test( computed ) ?
+					jQuery( elem ).position()[ prop ] + "px" :
+					computed;
+			}
+		}
+	);
+} );
+
+
+// Create innerHeight, innerWidth, height, width, outerHeight and outerWidth methods
+jQuery.each( { Height: "height", Width: "width" }, function( name, type ) {
+	jQuery.each( {
+		padding: "inner" + name,
+		content: type,
+		"": "outer" + name
+	}, function( defaultExtra, funcName ) {
+
+		// Margin is only for outerHeight, outerWidth
+		jQuery.fn[ funcName ] = function( margin, value ) {
+			var chainable = arguments.length && ( defaultExtra || typeof margin !== "boolean" ),
+				extra = defaultExtra || ( margin === true || value === true ? "margin" : "border" );
+
+			return access( this, function( elem, type, value ) {
+				var doc;
+
+				if ( isWindow( elem ) ) {
+
+					// $( window ).outerWidth/Height return w/h including scrollbars (gh-1729)
+					return funcName.indexOf( "outer" ) === 0 ?
+						elem[ "inner" + name ] :
+						elem.document.documentElement[ "client" + name ];
+				}
+
+				// Get document width or height
+				if ( elem.nodeType === 9 ) {
+					doc = elem.documentElement;
+
+					// Either scroll[Width/Height] or offset[Width/Height] or client[Width/Height],
+					// whichever is greatest
+					return Math.max(
+						elem.body[ "scroll" + name ], doc[ "scroll" + name ],
+						elem.body[ "offset" + name ], doc[ "offset" + name ],
+						doc[ "client" + name ]
+					);
+				}
+
+				return value === undefined ?
+
+					// Get width or height on the element, requesting but not forcing parseFloat
+					jQuery.css( elem, type, extra ) :
+
+					// Set width or height on the element
+					jQuery.style( elem, type, value, extra );
+			}, type, chainable ? margin : undefined, chainable );
+		};
+	} );
+} );
+
+
+jQuery.each( [
+	"ajaxStart",
+	"ajaxStop",
+	"ajaxComplete",
+	"ajaxError",
+	"ajaxSuccess",
+	"ajaxSend"
+], function( _i, type ) {
+	jQuery.fn[ type ] = function( fn ) {
+		return this.on( type, fn );
+	};
+} );
+
+
+
+
+jQuery.fn.extend( {
+
+	bind: function( types, data, fn ) {
+		return this.on( types, null, data, fn );
+	},
+	unbind: function( types, fn ) {
+		return this.off( types, null, fn );
+	},
+
+	delegate: function( selector, types, data, fn ) {
+		return this.on( types, selector, data, fn );
+	},
+	undelegate: function( selector, types, fn ) {
+
+		// ( namespace ) or ( selector, types [, fn] )
+		return arguments.length === 1 ?
+			this.off( selector, "**" ) :
+			this.off( types, selector || "**", fn );
+	},
+
+	hover: function( fnOver, fnOut ) {
+		return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver );
+	}
+} );
+
+jQuery.each(
+	( "blur focus focusin focusout resize scroll click dblclick " +
+	"mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " +
+	"change select submit keydown keypress keyup contextmenu" ).split( " " ),
+	function( _i, name ) {
+
+		// Handle event binding
+		jQuery.fn[ name ] = function( data, fn ) {
+			return arguments.length > 0 ?
+				this.on( name, null, data, fn ) :
+				this.trigger( name );
+		};
+	}
+);
+
+
+
+
+// Support: Android <=4.0 only
+// Make sure we trim BOM and NBSP
+var rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g;
+
+// Bind a function to a context, optionally partially applying any
+// arguments.
+// jQuery.proxy is deprecated to promote standards (specifically Function#bind)
+// However, it is not slated for removal any time soon
+jQuery.proxy = function( fn, context ) {
+	var tmp, args, proxy;
+
+	if ( typeof context === "string" ) {
+		tmp = fn[ context ];
+		context = fn;
+		fn = tmp;
+	}
+
+	// Quick check to determine if target is callable, in the spec
+	// this throws a TypeError, but we will just return undefined.
+	if ( !isFunction( fn ) ) {
+		return undefined;
+	}
+
+	// Simulated bind
+	args = slice.call( arguments, 2 );
+	proxy = function() {
+		return fn.apply( context || this, args.concat( slice.call( arguments ) ) );
+	};
+
+	// Set the guid of unique handler to the same of original handler, so it can be removed
+	proxy.guid = fn.guid = fn.guid || jQuery.guid++;
+
+	return proxy;
+};
+
+jQuery.holdReady = function( hold ) {
+	if ( hold ) {
+		jQuery.readyWait++;
+	} else {
+		jQuery.ready( true );
+	}
+};
+jQuery.isArray = Array.isArray;
+jQuery.parseJSON = JSON.parse;
+jQuery.nodeName = nodeName;
+jQuery.isFunction = isFunction;
+jQuery.isWindow = isWindow;
+jQuery.camelCase = camelCase;
+jQuery.type = toType;
+
+jQuery.now = Date.now;
+
+jQuery.isNumeric = function( obj ) {
+
+	// As of jQuery 3.0, isNumeric is limited to
+	// strings and numbers (primitives or objects)
+	// that can be coerced to finite numbers (gh-2662)
+	var type = jQuery.type( obj );
+	return ( type === "number" || type === "string" ) &&
+
+		// parseFloat NaNs numeric-cast false positives ("")
+		// ...but misinterprets leading-number strings, particularly hex literals ("0x...")
+		// subtraction forces infinities to NaN
+		!isNaN( obj - parseFloat( obj ) );
+};
+
+jQuery.trim = function( text ) {
+	return text == null ?
+		"" :
+		( text + "" ).replace( rtrim, "" );
+};
+
+
+
+// Register as a named AMD module, since jQuery can be concatenated with other
+// files that may use define, but not via a proper concatenation script that
+// understands anonymous AMD modules. A named AMD is safest and most robust
+// way to register. Lowercase jquery is used because AMD module names are
+// derived from file names, and jQuery is normally delivered in a lowercase
+// file name. Do this after creating the global so that if an AMD module wants
+// to call noConflict to hide this version of jQuery, it will work.
+
+// Note that for maximum portability, libraries that are not jQuery should
+// declare themselves as anonymous modules, and avoid setting a global if an
+// AMD loader is present. jQuery is a special case. For more information, see
+// https://github.com/jrburke/requirejs/wiki/Updating-existing-libraries#wiki-anon
+
+if ( typeof define === "function" && define.amd ) {
+	define( "jquery", [], function() {
+		return jQuery;
+	} );
+}
+
+
+
+
+var
+
+	// Map over jQuery in case of overwrite
+	_jQuery = window.jQuery,
+
+	// Map over the $ in case of overwrite
+	_$ = window.$;
+
+jQuery.noConflict = function( deep ) {
+	if ( window.$ === jQuery ) {
+		window.$ = _$;
+	}
+
+	if ( deep && window.jQuery === jQuery ) {
+		window.jQuery = _jQuery;
+	}
+
+	return jQuery;
+};
+
+// Expose jQuery and $ identifiers, even in AMD
+// (#7102#comment:10, https://github.com/jquery/jquery/pull/557)
+// and CommonJS for browser emulators (#13566)
+if ( typeof noGlobal === "undefined" ) {
+	window.jQuery = window.$ = jQuery;
+}
+
+
+
+
+return jQuery;
+} );
diff --git a/doc/_build/html/_static/jquery.js b/doc/_build/html/_static/jquery.js
new file mode 100644
index 00000000..c4c6022f
--- /dev/null
+++ b/doc/_build/html/_static/jquery.js
@@ -0,0 +1,2 @@
+/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */
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index 00000000..2b43bd06
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diff --git a/doc/_build/html/_static/js/html5shiv.min.js b/doc/_build/html/_static/js/html5shiv.min.js
new file mode 100644
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--- /dev/null
+++ b/doc/_build/html/_static/js/html5shiv.min.js
@@ -0,0 +1,4 @@
+/**
+* @preserve HTML5 Shiv 3.7.3 | @afarkas @jdalton @jon_neal @rem | MIT/GPL2 Licensed
+*/
+!function(a,b){function c(a,b){var c=a.createElement("p"),d=a.getElementsByTagName("head")[0]||a.documentElement;return c.innerHTML="x<style>"+b+"</style>",d.insertBefore(c.lastChild,d.firstChild)}function d(){var a=t.elements;return"string"==typeof a?a.split(" "):a}function e(a,b){var c=t.elements;"string"!=typeof c&&(c=c.join(" ")),"string"!=typeof a&&(a=a.join(" ")),t.elements=c+" "+a,j(b)}function f(a){var b=s[a[q]];return b||(b={},r++,a[q]=r,s[r]=b),b}function g(a,c,d){if(c||(c=b),l)return c.createElement(a);d||(d=f(c));var e;return e=d.cache[a]?d.cache[a].cloneNode():p.test(a)?(d.cache[a]=d.createElem(a)).cloneNode():d.createElem(a),!e.canHaveChildren||o.test(a)||e.tagUrn?e:d.frag.appendChild(e)}function h(a,c){if(a||(a=b),l)return a.createDocumentFragment();c=c||f(a);for(var e=c.frag.cloneNode(),g=0,h=d(),i=h.length;i>g;g++)e.createElement(h[g]);return e}function i(a,b){b.cache||(b.cache={},b.createElem=a.createElement,b.createFrag=a.createDocumentFragment,b.frag=b.createFrag()),a.createElement=function(c){return t.shivMethods?g(c,a,b):b.createElem(c)},a.createDocumentFragment=Function("h,f","return function(){var n=f.cloneNode(),c=n.createElement;h.shivMethods&&("+d().join().replace(/[\w\-:]+/g,function(a){return b.createElem(a),b.frag.createElement(a),'c("'+a+'")'})+");return n}")(t,b.frag)}function j(a){a||(a=b);var d=f(a);return!t.shivCSS||k||d.hasCSS||(d.hasCSS=!!c(a,"article,aside,dialog,figcaption,figure,footer,header,hgroup,main,nav,section{display:block}mark{background:#FF0;color:#000}template{display:none}")),l||i(a,d),a}var k,l,m="3.7.3-pre",n=a.html5||{},o=/^<|^(?:button|map|select|textarea|object|iframe|option|optgroup)$/i,p=/^(?:a|b|code|div|fieldset|h1|h2|h3|h4|h5|h6|i|label|li|ol|p|q|span|strong|style|table|tbody|td|th|tr|ul)$/i,q="_html5shiv",r=0,s={};!function(){try{var a=b.createElement("a");a.innerHTML="<xyz></xyz>",k="hidden"in a,l=1==a.childNodes.length||function(){b.createElement("a");var a=b.createDocumentFragment();return"undefined"==typeof a.cloneNode||"undefined"==typeof a.createDocumentFragment||"undefined"==typeof a.createElement}()}catch(c){k=!0,l=!0}}();var t={elements:n.elements||"abbr article aside audio bdi canvas data datalist details dialog figcaption figure footer header hgroup main mark meter nav output picture progress section summary template time video",version:m,shivCSS:n.shivCSS!==!1,supportsUnknownElements:l,shivMethods:n.shivMethods!==!1,type:"default",shivDocument:j,createElement:g,createDocumentFragment:h,addElements:e};a.html5=t,j(b),"object"==typeof module&&module.exports&&(module.exports=t)}("undefined"!=typeof window?window:this,document);
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diff --git a/doc/_build/html/_static/language_data.js b/doc/_build/html/_static/language_data.js
new file mode 100644
index 00000000..2e22b06a
--- /dev/null
+++ b/doc/_build/html/_static/language_data.js
@@ -0,0 +1,199 @@
+/*
+ * language_data.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * This script contains the language-specific data used by searchtools.js,
+ * namely the list of stopwords, stemmer, scorer and splitter.
+ *
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+
+
+/* Non-minified version is copied as a separate JS file, is available */
+
+/**
+ * Porter Stemmer
+ */
+var Stemmer = function() {
+
+  var step2list = {
+    ational: 'ate',
+    tional: 'tion',
+    enci: 'ence',
+    anci: 'ance',
+    izer: 'ize',
+    bli: 'ble',
+    alli: 'al',
+    entli: 'ent',
+    eli: 'e',
+    ousli: 'ous',
+    ization: 'ize',
+    ation: 'ate',
+    ator: 'ate',
+    alism: 'al',
+    iveness: 'ive',
+    fulness: 'ful',
+    ousness: 'ous',
+    aliti: 'al',
+    iviti: 'ive',
+    biliti: 'ble',
+    logi: 'log'
+  };
+
+  var step3list = {
+    icate: 'ic',
+    ative: '',
+    alize: 'al',
+    iciti: 'ic',
+    ical: 'ic',
+    ful: '',
+    ness: ''
+  };
+
+  var c = "[^aeiou]";          // consonant
+  var v = "[aeiouy]";          // vowel
+  var C = c + "[^aeiouy]*";    // consonant sequence
+  var V = v + "[aeiou]*";      // vowel sequence
+
+  var mgr0 = "^(" + C + ")?" + V + C;                      // [C]VC... is m>0
+  var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$";    // [C]VC[V] is m=1
+  var mgr1 = "^(" + C + ")?" + V + C + V + C;              // [C]VCVC... is m>1
+  var s_v   = "^(" + C + ")?" + v;                         // vowel in stem
+
+  this.stemWord = function (w) {
+    var stem;
+    var suffix;
+    var firstch;
+    var origword = w;
+
+    if (w.length < 3)
+      return w;
+
+    var re;
+    var re2;
+    var re3;
+    var re4;
+
+    firstch = w.substr(0,1);
+    if (firstch == "y")
+      w = firstch.toUpperCase() + w.substr(1);
+
+    // Step 1a
+    re = /^(.+?)(ss|i)es$/;
+    re2 = /^(.+?)([^s])s$/;
+
+    if (re.test(w))
+      w = w.replace(re,"$1$2");
+    else if (re2.test(w))
+      w = w.replace(re2,"$1$2");
+
+    // Step 1b
+    re = /^(.+?)eed$/;
+    re2 = /^(.+?)(ed|ing)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      re = new RegExp(mgr0);
+      if (re.test(fp[1])) {
+        re = /.$/;
+        w = w.replace(re,"");
+      }
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1];
+      re2 = new RegExp(s_v);
+      if (re2.test(stem)) {
+        w = stem;
+        re2 = /(at|bl|iz)$/;
+        re3 = new RegExp("([^aeiouylsz])\\1$");
+        re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+        if (re2.test(w))
+          w = w + "e";
+        else if (re3.test(w)) {
+          re = /.$/;
+          w = w.replace(re,"");
+        }
+        else if (re4.test(w))
+          w = w + "e";
+      }
+    }
+
+    // Step 1c
+    re = /^(.+?)y$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(s_v);
+      if (re.test(stem))
+        w = stem + "i";
+    }
+
+    // Step 2
+    re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step2list[suffix];
+    }
+
+    // Step 3
+    re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step3list[suffix];
+    }
+
+    // Step 4
+    re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
+    re2 = /^(.+?)(s|t)(ion)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      if (re.test(stem))
+        w = stem;
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1] + fp[2];
+      re2 = new RegExp(mgr1);
+      if (re2.test(stem))
+        w = stem;
+    }
+
+    // Step 5
+    re = /^(.+?)e$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      re2 = new RegExp(meq1);
+      re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
+        w = stem;
+    }
+    re = /ll$/;
+    re2 = new RegExp(mgr1);
+    if (re.test(w) && re2.test(w)) {
+      re = /.$/;
+      w = w.replace(re,"");
+    }
+
+    // and turn initial Y back to y
+    if (firstch == "y")
+      w = firstch.toLowerCase() + w.substr(1);
+    return w;
+  }
+}
+
diff --git a/doc/_build/html/_static/libindex.html b/doc/_build/html/_static/libindex.html
new file mode 100644
index 00000000..4cfcd106
--- /dev/null
+++ b/doc/_build/html/_static/libindex.html
@@ -0,0 +1,878 @@
+<HTML>
+<HEAD><title>On-Line SLICOT Overview</title></HEAD>
+<BODY>
+
+<H1>SLICOT LIBRARY INDEX</H1>
+<HR>
+To go to the beginning of a chapter click on the appropriate letter below: <p>
+<center>
+<A HREF = "#A"><B>A</B></A> ;
+<A HREF = "#B"><B>B</B></A> ;
+<A HREF = "#C"><B>C</B></A> ;
+<A HREF = "#D"><B>D</B></A> ;
+<A HREF = "#F"><B>F</B></A> ;
+<A HREF = "#I"><B>I</B></A> ;
+<A HREF = "#M"><B>M</B></A> ;
+<A HREF = "#N"><B>N</B></A> ;
+<A HREF = "#S"><B>S</B></A> ;
+<A HREF = "#T"><B>T</B></A> ;
+<A HREF = "#U"><B>U</B></A> ;
+</center>
+<BR>
+or <A href="http://www.slicot.org/index.php?site=home">
+<b>Return to SLICOT homepage</b></A>
+<BR>
+or <A href=".\doc\support.html">
+<b>Go to SLICOT Supporting Routines Index</b></A>
+<p>
+<HR>
+<A NAME="A"><H2>A - Analysis Routines</H2></A>
+<h3>AB - State-Space Analysis</h3>
+<h4>Canonical and Quasi Canonical Forms</h4>
+<PRE>
+<A href=".\doc\AB01MD.html">
+<B>AB01MD</B></A>   Orthogonal controllability form for single-input system
+<A href=".\doc\AB01ND.html">
+<B>AB01ND</B></A>   Orthogonal controllability staircase form for multi-input system
+<A href=".\doc\AB01OD.html">
+<B>AB01OD</B></A>   Staircase form for multi-input system using orthogonal transformations
+</PRE>
+<h4>Continuous/Discrete Time</h4>
+<PRE>
+<A href=".\doc\AB04MD.html">
+<B>AB04MD</B></A>   Discrete-time <-> continuous-time conversion by bilinear transformation
+</PRE>
+<h4>Interconnections of Subsystems</h4>
+<PRE>
+<A href=".\doc\AB05MD.html">
+<B>AB05MD</B></A>   Cascade inter-connection of two systems in state-space form
+<A href=".\doc\AB05ND.html">
+<B>AB05ND</B></A>   Feedback inter-connection of two systems in state-space form
+<A href=".\doc\AB05OD.html">
+<B>AB05OD</B></A>   Rowwise concatenation of two systems in state-space form
+<A href=".\doc\AB05PD.html">
+<B>AB05PD</B></A>   Parallel inter-connection of two systems in state-space form
+<A href=".\doc\AB05QD.html">
+<B>AB05QD</B></A>   Appending two systems in state-space form
+<A href=".\doc\AB05RD.html">
+<B>AB05RD</B></A>   Closed-loop system for a mixed output and state feedback control law
+<A href=".\doc\AB05SD.html">
+<B>AB05SD</B></A>   Closed-loop system for an output feedback control law
+</PRE>
+<h4>Inverse and Dual Systems</h4>
+<PRE>
+<A href=".\doc\AB07MD.html">
+<B>AB07MD</B></A>   Dual of a given state-space representation
+<A href=".\doc\AB07ND.html">
+<B>AB07ND</B></A>   Inverse of a given state-space representation
+</PRE>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href=".\doc\AB08MD.html">
+<B>AB08MD</B></A>   Normal rank of the transfer-function matrix of a state space model
+<A href=".\doc\AB08MZ.html">
+<B>AB08MZ</B></A>   Normal rank of the transfer-function matrix of a state space model (complex case)
+<A href=".\doc\AB08ND.html">
+<B>AB08ND</B></A>   System zeros and Kronecker structure of system pencil
+<A href=".\doc\AB08NW.html">
+<B>AB08NW</B></A>   System zeros and singular and infinite Kronecker structure of system pencil
+<A href=".\doc\AB08NZ.html">
+<B>AB08NZ</B></A>   System zeros and Kronecker structure of system pencil (complex case)
+</PRE>
+<h4>Model Reduction</h4>
+<PRE>
+<A href=".\doc\AB09AD.html">
+<B>AB09AD</B></A>   Balance & Truncate model reduction   
+<A href=".\doc\AB09BD.html">
+<B>AB09BD</B></A>   Singular perturbation approximation based model reduction 
+<A href=".\doc\AB09CD.html">
+<B>AB09CD</B></A>   Hankel norm approximation based model reduction 
+<A href=".\doc\AB09DD.html">
+<B>AB09DD</B></A>   Singular perturbation approximation formulas 
+<A href=".\doc\AB09ED.html">
+<B>AB09ED</B></A>   Hankel norm approximation based model reduction of unstable systems
+<A href=".\doc\AB09FD.html">
+<B>AB09FD</B></A>   Balance & Truncate model reduction of coprime factors
+<A href=".\doc\AB09GD.html">
+<B>AB09GD</B></A>   Singular perturbation approximation of coprime factors
+<A href=".\doc\AB09HD.html">
+<B>AB09HD</B></A>   Stochastic balancing based model reduction
+<A href=".\doc\AB09ID.html">
+<B>AB09ID</B></A>   Frequency-weighted model reduction based on balancing techniques
+<A href=".\doc\AB09JD.html">
+<B>AB09JD</B></A>   Frequency-weighted Hankel norm approximation with invertible weights
+<A href=".\doc\AB09KD.html">
+<B>AB09KD</B></A>   Frequency-weighted Hankel-norm approximation
+<A href=".\doc\AB09MD.html">
+<B>AB09MD</B></A>   Balance & Truncate model reduction for the stable part  
+<A href=".\doc\AB09ND.html">
+<B>AB09ND</B></A>   Singular perturbation approximation based model reduction for the   
+         stable part  
+</PRE>
+<h4>System Norms</h4>
+<PRE>
+<A href=".\doc\AB13AD.html">
+<B>AB13AD</B></A>   Hankel-norm of the stable projection   
+<A href=".\doc\AB13BD.html">
+<B>AB13BD</B></A>   H2 or L2 norm of a system 
+<A href=".\doc\AB13CD.html">
+<B>AB13CD</B></A>   H-infinity norm of a continuous-time stable system
+         (obsolete, replaced by AB13DD)
+<A href=".\doc\AB13DD.html">
+<B>AB13DD</B></A>   L-infinity norm of a state space system
+<A href=".\doc\AB13ED.html">
+<B>AB13ED</B></A>   Complex stability radius, using bisection
+<A href=".\doc\AB13FD.html">
+<B>AB13FD</B></A>   Complex stability radius, using bisection and SVD
+<A href=".\doc\AB13ID.html">
+<B>AB13ID</B></A>   Properness of the transfer function matrix of a descriptor system
+<A href=".\doc\AB13MD.html">
+<B>AB13MD</B></A>   Upper bound on the structured singular value for a square 
+         complex matrix
+</PRE>
+<h3>AG - Generalized State-Space Analysis</h3>
+<h4>Inverse and Dual Systems</h4>
+<PRE>
+<A href=".\doc\AG07BD.html">
+<B>AG07BD</B></A>   Descriptor inverse of a state-space or descriptor representation
+</PRE>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href=".\doc\AG08BD.html">
+<B>AG08BD</B></A>   Zeros and Kronecker structure of a descriptor system pencil
+<A href=".\doc\AG08BZ.html">
+<B>AG08BZ</B></A>   Zeros and Kronecker structure of a descriptor system pencil (complex case)
+</PRE>
+
+<HR>
+<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
+<h3>BB - State-space Models</h3>
+<PRE>
+<A href=".\doc\BB01AD.html">
+<B>BB01AD</B></A>   Benchmark examples for continuous-time Riccati equations
+<A href=".\doc\BB02AD.html">
+<B>BB02AD</B></A>   Benchmark examples for discrete-time Riccati equations
+<A href=".\doc\BB03AD.html">
+<B>BB03AD</B></A>   Benchmark examples of (generalized) continuous-time Lyapunov equations
+<A href=".\doc\BB04AD.html">
+<B>BB04AD</B></A>   Benchmark examples of (generalized) discrete-time Lyapunov equations
+</PRE>
+<h3>BD - Generalized State-space Models</h3>
+<PRE>
+<A href=".\doc\BD01AD.html">
+<B>BD01AD</B></A>   Benchmark examples of continuous-time systems
+<A href=".\doc\BD02AD.html">
+<B>BD02AD</B></A>   Benchmark examples of discrete-time systems
+</PRE>
+<HR>
+<A NAME="C"><H2>C - Adaptive Control</H2></A>
+<HR>
+<A NAME="D"><H2>D - Data Analysis</H2></A>
+<h3>DE - Covariances</h3>
+<PRE>
+<A href=".\doc\DE01OD.html">
+<B>DE01OD</B></A>   Convolution or deconvolution of two signals
+<A href=".\doc\DE01PD.html">
+<B>DE01PD</B></A>   Convolution or deconvolution of two real signals using Hartley transform
+</PRE>
+<h3>DF - Spectra</h3>
+<PRE>
+<A href=".\doc\DF01MD.html">
+<B>DF01MD</B></A>   Sine transform or cosine transform of a real signal
+</PRE>
+<h3>DG - Discrete Fourier and Hartley Transforms</h3>
+<PRE>
+<A href=".\doc\DG01MD.html">
+<B>DG01MD</B></A>   Discrete Fourier transform of a complex signal
+<A href=".\doc\DG01ND.html">
+<B>DG01ND</B></A>   Discrete Fourier transform of a real signal
+<A href=".\doc\DG01OD.html">
+<B>DG01OD</B></A>   Scrambled discrete Hartley transform of a real signal
+</PRE>
+<h3>DK - Windowing</h3>
+<PRE>
+<A href=".\doc\DK01MD.html">
+<B>DK01MD</B></A>   Anti-aliasing window applied to a real signal
+</PRE>
+<HR>
+<A NAME="F"><H2>F - Filtering</H2></A>
+<h3>FB - Kalman Filters</h3>
+<PRE>
+<A href=".\doc\FB01QD.html">
+<B>FB01QD</B></A>   Time-varying square root covariance filter (dense matrices)
+<A href=".\doc\FB01RD.html">
+<B>FB01RD</B></A>   Time-invariant square root covariance filter (Hessenberg form) 
+<A href=".\doc\FB01SD.html">
+<B>FB01SD</B></A>   Time-varying square root information filter (dense matrices)
+<A href=".\doc\FB01TD.html">
+<B>FB01TD</B></A>   Time-invariant square root information filter (Hessenberg form) 
+<A href=".\doc\FB01VD.html">
+<B>FB01VD</B></A>   One recursion of the conventional Kalman filter 
+</PRE>
+<h3>FD - Fast Recursive Least Squares Filters</h3>
+<PRE>
+<A href=".\doc\FD01AD.html">
+<B>FD01AD</B></A>   Fast recursive least-squares filter
+</PRE>
+<HR>
+<A NAME="I"><H2>I - Identification</H2></A>
+<h3>IB - Subspace Identification</h3>
+<h4>Time Invariant State-space Systems</h4>
+<PRE>
+<A href=".\doc\IB01AD.html">
+<B>IB01AD</B></A>   Input-output data preprocessing and finding the system order
+<A href=".\doc\IB01BD.html">
+<B>IB01BD</B></A>   Estimating the system matrices, covariances, and Kalman gain
+<A href=".\doc\IB01CD.html">
+<B>IB01CD</B></A>   Estimating the initial state and the system matrices B and D
+</PRE>
+<h4>Wiener Systems</h4>
+<PRE>
+<A href=".\doc\IB03AD.html">
+<B>IB03AD</B></A>   Estimating a Wiener system by a Levenberg-Marquardt algorithm
+         (Cholesky-based or conjugate gradients solver)
+<A href=".\doc\IB03BD.html">
+<B>IB03BD</B></A>   Estimating a Wiener system by a MINPACK-like Levenberg-Marquardt
+         algorithm
+</PRE>
+<HR>
+<A NAME="M"><H2>M - Mathematical Routines</H2></A>
+<h3>MB - Linear Algebra</h3>
+<h4>Basic Linear Algebra Manipulations</h4>
+<PRE>
+<A href=".\doc\MB01PD.html">
+<B>MB01PD</B></A>   Matrix scaling (higher level routine)
+<A href=".\doc\MB01QD.html">
+<B>MB01QD</B></A>   Matrix scaling (lower level routine)
+<A href=".\doc\MB01RB.html">
+<B>MB01RB</B></A>   Computation of a triangle of matrix expression alpha*R + beta*A*B 
+         or alpha*R + beta*B*A ( BLAS 3 version)
+<A href=".\doc\MB01RD.html">
+<B>MB01RD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
+<A href=".\doc\MB01TD.html">
+<B>MB01TD</B></A>   Product of two upper quasi-triangular matrices 
+<A href=".\doc\MB01UD.html">
+<B>MB01UD</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
+         with H an upper Hessenberg matrix
+<A href=".\doc\MB01UX.html">
+<B>MB01UX</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, T quasi-triangular
+<A href=".\doc\MB01UY.html">
+<B>MB01UY</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
+<A href=".\doc\MB01UZ.html">
+<B>MB01UZ</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
+         (complex version)
+<A href=".\doc\MB01WD.html">
+<B>MB01WD</B></A>   Residuals of Lyapunov or Stein equations for Cholesky factored 
+         solutions
+<A href=".\doc\MB01XD.html">
+<B>MB01XD</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
+         lower triangular matrices (block algorithm)
+<A href=".\doc\MB01YD.html">
+<B>MB01YD</B></A>   Symmetric rank k operation C := alpha*A*A' + beta*C, C symmetric
+<A href=".\doc\MB01ZD.html">
+<B>MB01ZD</B></A>   Computation of matrix expressions H := alpha*T*H, or H := alpha*H*T,
+         with H Hessenberg-like, T triangular
+</PRE>
+<h4>Linear Equations and Least Squares</h4>
+<PRE>
+<A href=".\doc\MB02CD.html">
+<B>MB02CD</B></A>   Cholesky factorization of a positive definite block Toeplitz matrix
+<A href=".\doc\MB02DD.html">
+<B>MB02DD</B></A>   Updating Cholesky factorization of a positive definite block 
+         Toeplitz matrix
+<A href=".\doc\MB02ED.html">
+<B>MB02ED</B></A>   Solution of T*X = B or X*T = B, with T a positive definite
+         block Toeplitz matrix
+<A href=".\doc\MB02FD.html">
+<B>MB02FD</B></A>   Incomplete Cholesky factor of a positive definite block Toeplitz matrix
+<A href=".\doc\MB02GD.html">
+<B>MB02GD</B></A>   Cholesky factorization of a banded symmetric positive definite
+         block Toeplitz matrix
+<A href=".\doc\MB02HD.html">
+<B>MB02HD</B></A>   Cholesky factorization of the matrix T'*T, with T a banded
+         block Toeplitz matrix of full rank
+<A href=".\doc\MB02ID.html">
+<B>MB02ID</B></A>   Solution of over- or underdetermined linear systems with a full rank
+         block Toeplitz matrix
+<A href=".\doc\MB02JD.html">
+<B>MB02JD</B></A>   Full QR factorization of a block Toeplitz matrix of full rank
+<A href=".\doc\MB02JX.html">
+<B>MB02JX</B></A>   Low rank QR factorization with column pivoting of a block Toeplitz matrix
+<A href=".\doc\MB02KD.html">
+<B>MB02KD</B></A>   Computation of the product C = alpha*op( T )*B + beta*C, with T
+         a block Toeplitz matrix
+<A href=".\doc\MB02MD.html">
+<B>MB02MD</B></A>   Solution of Total Least-Squares problem using a SVD approach
+<A href=".\doc\MB02ND.html">
+<B>MB02ND</B></A>   Solution of Total Least-Squares problem using a partial SVD approach
+<A href=".\doc\MB02OD.html">
+<B>MB02OD</B></A>   Solution of op(A)*X = alpha*B, or X*op(A) = alpha*B, A triangular 
+<A href=".\doc\MB02PD.html">
+<B>MB02PD</B></A>   Solution of matrix equation op(A)*X = B, with error bounds 
+         and condition estimates
+<A href=".\doc\MB02QD.html">
+<B>MB02QD</B></A>   Solution, optionally corresponding to specified free elements, 
+         of a linear least squares problem
+<A href=".\doc\MB02RD.html">
+<B>MB02RD</B></A>   Solution of a linear system with upper Hessenberg matrix
+<A href=".\doc\MB02RZ.html">
+<B>MB02RZ</B></A>   Solution of a linear system with complex upper Hessenberg matrix
+<A href=".\doc\MB02SD.html">
+<B>MB02SD</B></A>   LU factorization of an upper Hessenberg matrix
+<A href=".\doc\MB02SZ.html">
+<B>MB02SZ</B></A>   LU factorization of a complex upper Hessenberg matrix
+<A href=".\doc\MB02TD.html">
+<B>MB02TD</B></A>   Condition number of an upper Hessenberg matrix
+<A href=".\doc\MB02TZ.html">
+<B>MB02TZ</B></A>   Condition number of a complex upper Hessenberg matrix
+<A href=".\doc\MB02UD.html">
+<B>MB02UD</B></A>   Minimum norm least squares solution of op(R)*X = B, or X*op(R) = B,
+         using singular value decomposition (R upper triangular)
+<A href=".\doc\MB02VD.html">
+<B>MB02VD</B></A>   Solution of X*op(A) = B
+</PRE>
+<h4>Eigenvalues and Eigenvectors</h4>
+<PRE>
+<A href=".\doc\MB03LF.html">
+<B>MB03LF</B></A>   Eigenvalues and right deflating subspace of a real 
+         skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB03FZ.html">
+<B>MB03FZ</B></A>   Eigenvalues and right deflating subspace of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB03LD.html">
+<B>MB03LD</B></A>   Eigenvalues and right deflating subspace of a real 
+         skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB03LP.html">
+<B>MB03LP</B></A>   Eigenvalues and right deflating subspace of a real 
+         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB03LZ.html">
+<B>MB03LZ</B></A>   Eigenvalues and right deflating subspace of a complex 
+         skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB3LZP.html">
+<B>MB3LZP</B></A>   Eigenvalues and right deflating subspace of a complex 
+         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB03MD.html">
+<B>MB03MD</B></A>   Upper bound for L singular values of a bidiagonal matrix
+<A href=".\doc\MB03ND.html">
+<B>MB03ND</B></A>   Number of singular values of a bidiagonal matrix less than a bound
+<A href=".\doc\MB03OD.html">
+<B>MB03OD</B></A>   Matrix rank determination by incremental condition estimation
+<A href=".\doc\MB03PD.html">
+<B>MB03PD</B></A>   Matrix rank determination (row pivoting)
+<A href=".\doc\MB03QD.html">
+<B>MB03QD</B></A>   Reordering of the diagonal blocks of a real Schur matrix
+<A href=".\doc\MB03QG.html">
+<B>MB03QG</B></A>   Reordering of the diagonal blocks of principal subpencil of 
+         a real Schur-triangular matrix pencil
+<A href=".\doc\MB03RD.html">
+<B>MB03RD</B></A>   Reduction of a real Schur matrix to a block-diagonal form
+<A href=".\doc\MB03RZ.html">
+<B>MB03RZ</B></A>   Reduction of a complex Schur matrix to a block-diagonal form
+<A href=".\doc\MB03SD.html">
+<B>MB03SD</B></A>   Eigenvalues of a square-reduced Hamiltonian matrix
+<A href=".\doc\MB03TD.html">
+<B>MB03TD</B></A>   Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
+<A href=".\doc\MB03UD.html">
+<B>MB03UD</B></A>   Singular value decomposition of an upper triangular matrix
+<A href=".\doc\MB03VD.html">
+<B>MB03VD</B></A>   Periodic Hessenberg form of a product of matrices
+<A href=".\doc\MB03VW.html">
+<B>MB03VW</B></A>   Periodic Hessenberg form of a formal product of matrices
+<A href=".\doc\MB03WD.html">
+<B>MB03WD</B></A>   Periodic Schur decomposition and eigenvalues of a product of
+         matrices in periodic Hessenberg form
+<A href=".\doc\MB03XD.html">
+<B>MB03XD</B></A>   Eigenvalues of a Hamiltonian matrix
+<A href=".\doc\MB03XZ.html">
+<B>MB03XZ</B></A>   Eigenvalues of a complex Hamiltonian matrix
+<A href=".\doc\MB03XP.html">
+<B>MB03XP</B></A>   Periodic Schur decomposition and eigenvalues of a matrix product A*B, 
+         A upper Hessenberg and B upper triangular
+<A href=".\doc\MB03YD.html">
+<B>MB03YD</B></A>   Periodic QR iteration
+<A href=".\doc\MB03ZD.html">
+<B>MB03ZD</B></A>   Stable and unstable invariant subspaces for a dichotomic Hamiltonian matrix
+</PRE>
+<h4>Decompositions and Transformations</h4>
+<PRE>
+<A href=".\doc\MB04AD.html">
+<B>MB04AD</B></A>   Eigenvalues and generalized symplectic URV decomposition of a real 
+         skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB04AZ.html">
+<B>MB04AZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB04BD.html">
+<B>MB04BD</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB04BP.html">
+<B>MB04BP</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB04BZ.html">
+<B>MB04BZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB04DL.html">
+<B>MB04DL</B></A>   Balancing a real matrix pencil, optionally avoiding large 
+         norms for the scaled (sub)matrices
+<A href=".\doc\MB4DLZ.html">
+<B>MB4DLZ</B></A>   Balancing a complex matrix pencil, optionally avoiding large 
+         norms for the scaled (sub)matrices 
+<A href=".\doc\MB04DP.html">
+<B>MB04DP</B></A>   Balancing a real skew-Hamiltonian/Hamiltonian matrix pencil, 
+         optionally avoiding large norms for the scaled (sub)matrices
+<A href=".\doc\MB4DPZ.html">
+<B>MB4DPZ</B></A>   Balancing a complex skew-Hamiltonian/Hamiltonian matrix pencil, 
+         optionally avoiding large norms for the scaled (sub)matrices
+<A href=".\doc\MB04ED.html">
+<B>MB04ED</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/skew-Hamiltonian pencil in factored form
+<A href=".\doc\MB04FD.html">
+<B>MB04FD</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/skew-Hamiltonian pencil
+<A href=".\doc\MB04FP.html">
+<B>MB04FP</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB04GD.html">
+<B>MB04GD</B></A>   RQ factorization of a matrix with row pivoting
+<A href=".\doc\MB04ID.html">
+<B>MB04ID</B></A>   QR factorization of a matrix with a lower left zero triangle
+<A href=".\doc\MB04IZ.html">
+<B>MB04IZ</B></A>   QR factorization of a matrix with a lower left zero triangle (complex case)
+<A href=".\doc\MB04JD.html">
+<B>MB04JD</B></A>   LQ factorization of a matrix with an upper right zero triangle
+<A href=".\doc\MB04KD.html">
+<B>MB04KD</B></A>   QR factorization of a special structured block matrix
+<A href=".\doc\MB04LD.html">
+<B>MB04LD</B></A>   LQ factorization of a special structured block matrix
+<A href=".\doc\MB04MD.html">
+<B>MB04MD</B></A>   Balancing a general real matrix
+<A href=".\doc\MB04ND.html">
+<B>MB04ND</B></A>   RQ factorization of a special structured block matrix
+<A href=".\doc\MB04OD.html">
+<B>MB04OD</B></A>   QR factorization of a special structured block matrix (variant)
+<A href=".\doc\MB04PB.html">
+<B>MB04PB</B></A>   Paige/Van Loan form of a Hamiltonian matrix
+<A href=".\doc\MB04TB.html">
+<B>MB04TB</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix
+<A href=".\doc\MB04UD.html">
+<B>MB04UD</B></A>   Unitary column echelon form for a rectangular matrix 
+<A href=".\doc\MB04VD.html">
+<B>MB04VD</B></A>   Upper block triangular form for a rectangular pencil
+<A href=".\doc\MB04XD.html">
+<B>MB04XD</B></A>   Basis for left/right null singular subspace of a matrix  
+<A href=".\doc\MB04YD.html">
+<B>MB04YD</B></A>   Partial diagonalization of a bidiagonal matrix  
+<A href=".\doc\MB04ZD.html">
+<B>MB04ZD</B></A>   Transforming a Hamiltonian matrix into a square-reduced form  
+</PRE>
+<h4>Matrix Functions</h4>
+<PRE>
+<A href=".\doc\MB05MD.html">
+<B>MB05MD</B></A>   Matrix exponential for a real non-defective matrix 
+<A href=".\doc\MB05ND.html">
+<B>MB05ND</B></A>   Matrix exponential and integral for a real matrix 
+<A href=".\doc\MB05OD.html">
+<B>MB05OD</B></A>   Matrix exponential for a real matrix, with accuracy estimate
+</PRE>
+<h3>MC - Polynomial and Rational Function Manipulation</h3>
+<h4>Scalar Polynomials</h4>
+<PRE>
+<A href=".\doc\MC01MD.html">
+<B>MC01MD</B></A>   The leading coefficients of the shifted polynomial  
+<A href=".\doc\MC01ND.html">
+<B>MC01ND</B></A>   Value of a real polynomial at a given complex point  
+<A href=".\doc\MC01OD.html">
+<B>MC01OD</B></A>   Coefficients of a complex polynomial, given its zeros  
+<A href=".\doc\MC01PD.html">
+<B>MC01PD</B></A>   Coefficients of a real polynomial, given its zeros  
+<A href=".\doc\MC01QD.html">
+<B>MC01QD</B></A>   Quotient and remainder polynomials for polynomial division 
+<A href=".\doc\MC01RD.html">
+<B>MC01RD</B></A>   Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)  
+<A href=".\doc\MC01SD.html">
+<B>MC01SD</B></A>   Scaling coefficients of a real polynomial for minimal variation  
+<A href=".\doc\MC01TD.html">
+<B>MC01TD</B></A>   Checking stability of a given real polynomial  
+<A href=".\doc\MC01VD.html">
+<B>MC01VD</B></A>   Roots of a quadratic equation with real coefficients  
+<A href=".\doc\MC01WD.html">
+<B>MC01WD</B></A>   Quotient and remainder polynomials for a quadratic denominator  
+<A href=".\doc\MC01XD.html">
+<B>MC01XD</B></A>   Roots of a third order polynomial  
+</PRE>
+<h4>Polynomial Matrices</h4>
+<PRE>
+<A href=".\doc\MC03MD.html">
+<B>MC03MD</B></A>   Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)  
+<A href=".\doc\MC03ND.html">
+<B>MC03ND</B></A>   Minimal polynomial basis for the right nullspace of a polynomial matrix  
+</PRE>
+<h3>MD - Optimization</h3>
+<h4>Unconstrained Nonlinear Least Squares</h4>
+<PRE>
+<A href=".\doc\MD03AD.html">
+<B>MD03AD</B></A>   Levenberg-Marquardt algorithm (Cholesky-based or conjugate
+         gradients solver)
+<A href=".\doc\MD03BD.html">
+<B>MD03BD</B></A>   Enhanced MINPACK-like Levenberg-Marquardt algorithm 
+</PRE>
+<HR>
+<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
+<h3>NI - Interfaces to Nonlinear Solvers</h3>
+<h4>ODE and DAE Solvers</h4>
+<PRE>
+<A href=".\doc\DAESolver.html">
+<B>DAESolver</B></A>    Interface to DAE Solvers
+<A href=".\doc\ODESolver.html">
+<B>ODESolver</B></A>    Interface to ODE Solvers
+</PRE>
+<h4>Nonlinear Equation Solvers</h4>
+<PRE>
+<A href=".\doc\KINSOL.html">
+<B>KINSOL</B></A>    Interface to KINSOL solver for nonlinear systems of equations
+</PRE>
+<h4>Nonlinear Optimization Solvers</h4>
+<PRE>
+<A href=".\doc\FSQP.html">
+<B>FSQP</B></A>    Interface to FSQP solver for nonlinear optimization
+</PRE>
+<HR>
+<A NAME="S"><H2>S - Synthesis Routines</H2></A>
+<h3>SB - State-Space Synthesis</h3>
+<h4>Eigenvalue/Eigenvector Assignment</h4>
+<PRE>
+<A href=".\doc\SB01BD.html">
+<B>SB01BD</B></A>    Pole assignment for a given matrix pair (A,B)
+<A href=".\doc\SB01DD.html">
+<B>SB01DD</B></A>    Eigenstructure assignment for a controllable matrix pair (A,B) in
+          orthogonal canonical form
+<A href=".\doc\SB01MD.html">
+<B>SB01MD</B></A>    State feedback matrix of a time-invariant single-input system
+</PRE>
+<h4>Riccati Equations</h4>
+<PRE>
+<A href=".\doc\SB02MD.html">
+<B>SB02MD</B></A>    Solution of algebraic Riccati equations (Schur vectors method)
+<A href=".\doc\SB02MT.html">
+<B>SB02MT</B></A>    Conversion of problems with coupling terms to standard problems
+<A href=".\doc\SB02MX.html">
+<B>SB02MX</B></A>    Conversion of problems with coupling terms to standard problems
+          (more flexibility)
+<A href=".\doc\SB02ND.html">
+<B>SB02ND</B></A>    Optimal state feedback matrix for an optimal control problem
+<A href=".\doc\SB02OD.html">
+<B>SB02OD</B></A>    Solution of algebraic Riccati equations (generalized Schur method)
+<A href=".\doc\SB02PD.html">
+<B>SB02PD</B></A>    Solution of continuous algebraic Riccati equations (matrix sign 
+          function method) with condition and forward error bound estimates
+<A href=".\doc\SB02QD.html">
+<B>SB02QD</B></A>    Condition and forward error for continuous Riccati equation solution
+<A href=".\doc\SB02RD.html">
+<B>SB02RD</B></A>    Solution of algebraic Riccati equations (refined Schur vectors method) 
+          with condition and forward error bound estimates
+<A href=".\doc\SB02SD.html">
+<B>SB02SD</B></A>    Condition and forward error for discrete Riccati equation solution
+</PRE>
+<h4>Lyapunov Equations</h4>
+<PRE>
+<A href=".\doc\SB03MD.html">
+<B>SB03MD</B></A>    Solution of Lyapunov equations and separation estimation
+<A href=".\doc\SB03OD.html">
+<B>SB03OD</B></A>    Solution of stable Lyapunov equations (Cholesky factor)
+<A href=".\doc\SB03OZ.html">
+<B>SB03OZ</B></A>    Solution of stable complex Lyapunov equations (Cholesky factor)
+<A href=".\doc\SB03PD.html">
+<B>SB03PD</B></A>    Solution of discrete Lyapunov equations and separation estimation
+<A href=".\doc\SB03QD.html">
+<B>SB03QD</B></A>    Condition and forward error for continuous Lyapunov equations
+<A href=".\doc\SB03RD.html">
+<B>SB03RD</B></A>    Solution of continuous Lyapunov equations and separation estimation
+<A href=".\doc\SB03SD.html">
+<B>SB03SD</B></A>    Condition and forward error for discrete Lyapunov equations
+<A href=".\doc\SB03TD.html">
+<B>SB03TD</B></A>    Solution of continuous Lyapunov equations, condition and forward error 
+          estimation
+<A href=".\doc\SB03UD.html">
+<B>SB03UD</B></A>    Solution of discrete Lyapunov equations, condition and forward error 
+          estimation
+</PRE>
+<h4>Sylvester Equations</h4>
+<PRE>
+<A href=".\doc\SB04MD.html">
+<B>SB04MD</B></A>    Solution of continuous Sylvester equations (Hessenberg-Schur method)
+<A href=".\doc\SB04ND.html">
+<B>SB04ND</B></A>    Solution of continuous Sylvester equations (one matrix in Schur form)
+<A href=".\doc\SB04OD.html">
+<B>SB04OD</B></A>    Solution of generalized Sylvester equations with separation estimation
+<A href=".\doc\SB04PD.html">
+<B>SB04PD</B></A>    Solution of continuous or discrete Sylvester equations (Schur method)
+<A href=".\doc\SB04QD.html">
+<B>SB04QD</B></A>    Solution of discrete Sylvester equations (Hessenberg-Schur method)
+<A href=".\doc\SB04RD.html">
+<B>SB04RD</B></A>    Solution of discrete Sylvester equations (one matrix in Schur form)
+</PRE>
+<h4>Deadbeat Control</h4>
+<PRE>
+<A href=".\doc\SB06ND.html">
+<B>SB06ND</B></A>    Minimum norm deadbeat control state feedback matrix 
+</PRE>
+<h4>Transfer Matrix Factorization</h4>
+<PRE>
+<A href=".\doc\SB08CD.html">
+<B>SB08CD</B></A>    Left coprime factorization with inner denominator
+<A href=".\doc\SB08DD.html">
+<B>SB08DD</B></A>    Right coprime factorization with inner denominator
+<A href=".\doc\SB08ED.html">
+<B>SB08ED</B></A>    Left coprime factorization with prescribed stability degree
+<A href=".\doc\SB08FD.html">
+<B>SB08FD</B></A>    Right coprime factorization with prescribed stability degree
+<A href=".\doc\SB08GD.html">
+<B>SB08GD</B></A>    State-space representation of a left coprime factorization
+<A href=".\doc\SB08HD.html">
+<B>SB08HD</B></A>    State-space representation of a right coprime factorization
+<A href=".\doc\SB08MD.html">
+<B>SB08MD</B></A>    Spectral factorization of polynomials (continuous-time case)
+<A href=".\doc\SB08ND.html">
+<B>SB08ND</B></A>    Spectral factorization of polynomials (discrete-time case)
+</PRE>
+<h4>Realization Methods</h4>
+<PRE>
+<A href=".\doc\SB09MD.html">
+<B>SB09MD</B></A>    Closeness of two multivariable sequences
+
+</PRE>
+<h4>Optimal Regulator Problems</h4>
+<PRE>
+<A href=".\doc\SB10AD.html">
+<B>SB10AD</B></A>    H-infinity optimal controller using modified Glover's and Doyle's
+          formulas (continuous-time)
+<A href=".\doc\SB10DD.html">
+<B>SB10DD</B></A>    H-infinity (sub)optimal state controller for a discrete-time system
+<A href=".\doc\SB10ED.html">
+<B>SB10ED</B></A>    H2 optimal state controller for a discrete-time system
+<A href=".\doc\SB10FD.html">
+<B>SB10FD</B></A>    H-infinity (sub)optimal state controller for a continuous-time system
+<A href=".\doc\SB10HD.html">
+<B>SB10HD</B></A>    H2 optimal state controller for a continuous-time system
+<A href=".\doc\SB10MD.html">
+<B>SB10MD</B></A>    D-step in the D-K iteration for continuous-time case
+<A href=".\doc\SB10ID.html">
+<B>SB10ID</B></A>    Positive feedback controller for a continuous-time system
+<A href=".\doc\SB10KD.html">
+<B>SB10KD</B></A>    Positive feedback controller for a discrete-time system
+<A href=".\doc\SB10ZD.html">
+<B>SB10ZD</B></A>    Positive feedback controller for a discrete-time system (D <> 0)
+
+</PRE>
+<h4>Controller Reduction</h4>
+<PRE>
+<A href=".\doc\SB16AD.html">
+<B>SB16AD</B></A>    Stability/performance enforcing frequency-weighted controller reduction
+<A href=".\doc\SB16BD.html">
+<B>SB16BD</B></A>    Coprime factorization based state feedback controller reduction
+<A href=".\doc\SB16CD.html">
+<B>SB16CD</B></A>    Coprime factorization based frequency-weighted state feedback 
+          controller reduction
+</PRE>
+<h3>SG - Generalized State-Space Synthesis</h3>
+<h4>Riccati Equations</h4>
+<PRE>
+<A href=".\doc\SG02AD.html">
+<B>SG02AD</B></A>    Solution of algebraic Riccati equations for descriptor systems
+<A href=".\doc\SG02CW.html">
+<B>SG02CW</B></A>    Residual of continuous- or discrete-time (generalized) algebraic
+          Riccati equations
+<A href=".\doc\SG02CX.html">
+<B>SG02CX</B></A>    Line search parameter minimizing the residual of (generalized) 
+          continuous- or discrete-time algebraic Riccati equations
+<A href=".\doc\SG02ND.html">
+<B>SG02ND</B></A>    Optimal state feedback matrix for an optimal control problem
+</PRE>
+<h4>Generalized Lyapunov Equations</h4>
+<PRE>
+<A href=".\doc\SG03AD.html">
+<B>SG03AD</B></A>    Solution of generalized Lyapunov equations and separation estimation
+<A href=".\doc\SG03BD.html">
+<B>SG03BD</B></A>    Solution of stable generalized Lyapunov equations (Cholesky factor)
+<A href=".\doc\SG03BZ.html">
+<B>SG03BZ</B></A>    Solution of stable generalized complex Lyapunov equations (Cholesky factor)
+</PRE>
+<HR>
+<A NAME="T"><H2>T - Transformation Routines</H2></A>
+<h3>TB - State-Space</h3>
+<h4>State-Space Transformations</h4>
+<PRE>
+<A href=".\doc\TB01ID.html">
+<B>TB01ID</B></A>   Balancing a system matrix for a given triplet
+<A href=".\doc\TB01IZ.html">
+<B>TB01IZ</B></A>   Balancing a system matrix for a given triplet (complex case)
+<A href=".\doc\TB01KD.html">
+<B>TB01KD</B></A>   Additive spectral decomposition of a state-space system 
+<A href=".\doc\TB01LD.html">
+<B>TB01LD</B></A>   Spectral separation of a state-space system
+<A href=".\doc\TB01MD.html">
+<B>TB01MD</B></A>   Upper/lower controller Hessenberg form
+<A href=".\doc\TB01ND.html">
+<B>TB01ND</B></A>   Upper/lower observer Hessenberg form 
+<A href=".\doc\TB01PD.html">
+<B>TB01PD</B></A>   Minimal, controllable or observable block Hessenberg realization 
+<A href=".\doc\TB01PX.html">
+<B>TB01PX</B></A>   Minimal, controllable or observable block Hessenberg realization (variant)
+<A href=".\doc\TB01TD.html">
+<B>TB01TD</B></A>   Balancing state-space representation by permutations and scalings
+<A href=".\doc\TB01UD.html">
+<B>TB01UD</B></A>   Controllable block Hessenberg realization for a state-space representation
+<A href=".\doc\TB01UY.html">
+<B>TB01UY</B></A>   Controllable block Hessenberg realization for a standard multi-input system
+<A href=".\doc\TB01WD.html">
+<B>TB01WD</B></A>   Reduction of the state dynamics matrix to real Schur form 
+<A href=".\doc\TB01WX.html">
+<B>TB01WX</B></A>   Orthogonal similarity transformation of a standard system to one 
+         with state matrix in a Hessenberg form
+<A href=".\doc\TB01ZD.html">
+<B>TB01ZD</B></A>   Controllable realization for single-input systems 
+</PRE>
+<h4>State-Space to Polynomial Matrix Conversion</h4>
+<PRE>
+<A href=".\doc\TB03AD.html">
+<B>TB03AD</B></A>   Left/right polynomial matrix representation of a state-space representation
+</PRE>
+<h4>State-Space to Rational Matrix Conversion</h4>
+<PRE>
+<A href=".\doc\TB04AD.html">
+<B>TB04AD</B></A>   Transfer matrix of a state-space representation  
+<A href=".\doc\TB04BD.html">
+<B>TB04BD</B></A>   Transfer matrix of a state-space representation, using the pole-zeros method
+<A href=".\doc\TB04CD.html">
+<B>TB04CD</B></A>   Transfer matrix of a state-space representation in the pole-zero-gain form 
+</PRE>
+<h4>State-Space to Frequency Response</h4>
+<PRE>
+<A href=".\doc\TB05AD.html">
+<B>TB05AD</B></A>   Frequency response matrix of a state-space representation 
+</PRE>
+<h3>TC - Polynomial Matrix</h3>
+<h4>Polynomial Matrix Transformations</h4>
+<PRE>
+<A href=".\doc\TC01OD.html">
+<B>TC01OD</B></A>   Dual of a left/right polynomial matrix representation
+</PRE>
+<h4>Polynomial Matrix to State-Space Conversion</h4>
+<PRE>
+<A href=".\doc\TC04AD.html">
+<B>TC04AD</B></A>   State-space representation for left/right polynomial matrix representation
+</PRE>
+<h4>Polynomial Matrix to  Frequency Response</h4>
+<PRE>
+<A href=".\doc\TC05AD.html">
+<B>TC05AD</B></A>   Transfer matrix of a left/right polynomial matrix representation
+</PRE>
+<h3>TD - Rational  Matrix</h3>
+<h4>Rational Matrix to Polynomial Matrix Conversion</h4>
+<PRE>
+<A href=".\doc\TD03AD.html">
+<B>TD03AD</B></A>   Left/right polynomial matrix representation for a proper transfer matrix
+</PRE>
+<h4>Rational Matrix to State-Space Conversion</h4>
+<PRE>
+<A href=".\doc\TD04AD.html">
+<B>TD04AD</B></A>   Minimal state-space representation for a proper transfer matrix 
+</PRE>
+<h4>Rational Matrix to Frequency Response</h4>
+<PRE>
+<A href=".\doc\TD05AD.html">
+<B>TD05AD</B></A>   Evaluation of a transfer function for a specified frequency 
+</PRE>
+<h3>TF - Time Response</h3>
+<PRE>
+<A href=".\doc\TF01MD.html">
+<B>TF01MD</B></A>   Output response of a linear discrete-time system
+<A href=".\doc\TF01ND.html">
+<B>TF01ND</B></A>   Output response of a linear discrete-time system (Hessenberg matrix)
+<A href=".\doc\TF01OD.html">
+<B>TF01OD</B></A>   Block Hankel expansion of a multivariable parameter sequence
+<A href=".\doc\TF01PD.html">
+<B>TF01PD</B></A>   Block Toeplitz expansion of a multivariable parameter sequence
+<A href=".\doc\TF01QD.html">
+<B>TF01QD</B></A>   Markov parameters of a system from transfer function matrix
+<A href=".\doc\TF01RD.html">
+<B>TF01RD</B></A>   Markov parameters of a system from state-space representation
+</PRE>
+<h3>TG - Generalized State-space</h3>
+<h4>Generalized State-space Transformations</h4>
+<PRE>
+<A href=".\doc\TG01AD.html">
+<B>TG01AD</B></A>   Balancing the matrices of the system pencil corresponding to a
+         descriptor triple
+<A href=".\doc\TG01AZ.html">
+<B>TG01AZ</B></A>   Balancing the matrices of the system pencil corresponding to a
+         descriptor triple (complex case)
+<A href=".\doc\TG01BD.html">
+<B>TG01BD</B></A>   Orthogonal reduction of a descriptor system to the generalized 
+         Hessenberg form
+<A href=".\doc\TG01CD.html">
+<B>TG01CD</B></A>   Orthogonal reduction of a descriptor system pair (A-sE,B)
+         to the QR-coordinate form
+<A href=".\doc\TG01DD.html">
+<B>TG01DD</B></A>   Orthogonal reduction of a descriptor system pair (C,A-sE)
+         to the RQ-coordinate form
+<A href=".\doc\TG01ED.html">
+<B>TG01ED</B></A>   Orthogonal reduction of a descriptor system to a SVD coordinate 
+         form
+<A href=".\doc\TG01FD.html">
+<B>TG01FD</B></A>   Orthogonal reduction of a descriptor system to a SVD-like
+         coordinate form
+<A href=".\doc\TG01FZ.html">
+<B>TG01FZ</B></A>   Orthogonal reduction of a descriptor system to a SVD-like 
+         coordinate form (complex case)
+<A href=".\doc\TG01GD.html">
+<B>TG01GD</B></A>   Reduced descriptor representation without non-dynamic modes
+<A href=".\doc\TG01HD.html">
+<B>TG01HD</B></A>   Orthogonal reduction of a descriptor system to the controllability
+         staircase form
+<A href=".\doc\TG01ID.html">
+<B>TG01ID</B></A>   Orthogonal reduction of a descriptor system to the observability
+         staircase form
+<A href=".\doc\TG01JD.html">
+<B>TG01JD</B></A>   Irreducible descriptor representation
+<A href=".\doc\TG01JY.html">
+<B>TG01JY</B></A>   Irreducible descriptor representation (blocked version)
+<A href=".\doc\TG01LD.html">
+<B>TG01LD</B></A>   Finite-infinite decomposition of a descriptor system
+<A href=".\doc\TG01MD.html">
+<B>TG01MD</B></A>   Finite-infinite generalized real Schur form decomposition of a descriptor system
+<A href=".\doc\TG01ND.html">
+<B>TG01ND</B></A>   Finite-infinite block-diagonal decomposition of a descriptor system
+<A href=".\doc\TG01OD.html">
+<B>TG01OD</B></A>   Reducing a SISO descriptor system with E nonsingular so that
+         the obtained feedthrough term has a sufficiently large magnitude
+<A href=".\doc\TG01OZ.html">
+<B>TG01OZ</B></A>   Reducing a complex SISO descriptor system with E nonsingular so that
+         the obtained feedthrough term has a sufficiently large magnitude
+<A href=".\doc\TG01PD.html">
+<B>TG01PD</B></A>   Bi-domain spectral splitting of a subpencil of a descriptor system
+<A href=".\doc\TG01QD.html">
+<B>TG01QD</B></A>   Three-domain spectral splitting of a subpencil of a descriptor system
+<A href=".\doc\TG01WD.html">
+<B>TG01WD</B></A>   Reduction of the descriptor dynamics matrix pair to generalized 
+         real Schur form
+</PRE>
+<HR>
+<A NAME="U"><H2>U - Utility Routines</H2></A>
+<h3>UD - Numerical Data Handling</h3>
+<PRE>
+<A href=".\doc\UD01BD.html">
+<B>UD01BD</B></A>   Reading a matrix polynomial
+<A href=".\doc\UD01CD.html">
+<B>UD01CD</B></A>   Reading a sparse matrix polynomial
+<A href=".\doc\UD01DD.html">
+<B>UD01DD</B></A>   Reading a sparse real matrix
+<A href=".\doc\UD01MD.html">
+<B>UD01MD</B></A>   Printing a real matrix
+<A href=".\doc\UD01MZ.html">
+<B>UD01MZ</B></A>   Printing a real matrix (complex case)
+<A href=".\doc\UD01ND.html">
+<B>UD01ND</B></A>   Printing a matrix polynomial
+<A href=".\doc\UE01MD.html">
+<B>UE01MD</B></A>   Default machine-specific parameters for (skew-)Hamiltonian computation routines
+</PRE>
+<HR>
+</BODY>
+</HTML>
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diff --git a/doc/_build/html/_static/nbsphinx-code-cells.css b/doc/_build/html/_static/nbsphinx-code-cells.css
new file mode 100644
index 00000000..a3fb27c3
--- /dev/null
+++ b/doc/_build/html/_static/nbsphinx-code-cells.css
@@ -0,0 +1,259 @@
+/* remove conflicting styling from Sphinx themes */
+div.nbinput.container div.prompt *,
+div.nboutput.container div.prompt *,
+div.nbinput.container div.input_area pre,
+div.nboutput.container div.output_area pre,
+div.nbinput.container div.input_area .highlight,
+div.nboutput.container div.output_area .highlight {
+    border: none;
+    padding: 0;
+    margin: 0;
+    box-shadow: none;
+}
+
+div.nbinput.container > div[class*=highlight],
+div.nboutput.container > div[class*=highlight] {
+    margin: 0;
+}
+
+div.nbinput.container div.prompt *,
+div.nboutput.container div.prompt * {
+    background: none;
+}
+
+div.nboutput.container div.output_area .highlight,
+div.nboutput.container div.output_area pre {
+    background: unset;
+}
+
+div.nboutput.container div.output_area div.highlight {
+    color: unset;  /* override Pygments text color */
+}
+
+/* avoid gaps between output lines */
+div.nboutput.container div[class*=highlight] pre {
+    line-height: normal;
+}
+
+/* input/output containers */
+div.nbinput.container,
+div.nboutput.container {
+    display: -webkit-flex;
+    display: flex;
+    align-items: flex-start;
+    margin: 0;
+    width: 100%;
+}
+@media (max-width: 540px) {
+    div.nbinput.container,
+    div.nboutput.container {
+        flex-direction: column;
+    }
+}
+
+/* input container */
+div.nbinput.container {
+    padding-top: 5px;
+}
+
+/* last container */
+div.nblast.container {
+    padding-bottom: 5px;
+}
+
+/* input prompt */
+div.nbinput.container div.prompt pre,
+/* for sphinx_immaterial theme: */
+div.nbinput.container div.prompt pre > code {
+    color: #307FC1;
+}
+
+/* output prompt */
+div.nboutput.container div.prompt pre,
+/* for sphinx_immaterial theme: */
+div.nboutput.container div.prompt pre > code {
+    color: #BF5B3D;
+}
+
+/* all prompts */
+div.nbinput.container div.prompt,
+div.nboutput.container div.prompt {
+    width: 4.5ex;
+    padding-top: 5px;
+    position: relative;
+    user-select: none;
+}
+
+div.nbinput.container div.prompt > div,
+div.nboutput.container div.prompt > div {
+    position: absolute;
+    right: 0;
+    margin-right: 0.3ex;
+}
+
+@media (max-width: 540px) {
+    div.nbinput.container div.prompt,
+    div.nboutput.container div.prompt {
+        width: unset;
+        text-align: left;
+        padding: 0.4em;
+    }
+    div.nboutput.container div.prompt.empty {
+        padding: 0;
+    }
+
+    div.nbinput.container div.prompt > div,
+    div.nboutput.container div.prompt > div {
+        position: unset;
+    }
+}
+
+/* disable scrollbars and line breaks on prompts */
+div.nbinput.container div.prompt pre,
+div.nboutput.container div.prompt pre {
+    overflow: hidden;
+    white-space: pre;
+}
+
+/* input/output area */
+div.nbinput.container div.input_area,
+div.nboutput.container div.output_area {
+    -webkit-flex: 1;
+    flex: 1;
+    overflow: auto;
+}
+@media (max-width: 540px) {
+    div.nbinput.container div.input_area,
+    div.nboutput.container div.output_area {
+        width: 100%;
+    }
+}
+
+/* input area */
+div.nbinput.container div.input_area {
+    border: 1px solid #e0e0e0;
+    border-radius: 2px;
+    /*background: #f5f5f5;*/
+}
+
+/* override MathJax center alignment in output cells */
+div.nboutput.container div[class*=MathJax] {
+    text-align: left !important;
+}
+
+/* override sphinx.ext.imgmath center alignment in output cells */
+div.nboutput.container div.math p {
+    text-align: left;
+}
+
+/* standard error */
+div.nboutput.container div.output_area.stderr {
+    background: #fdd;
+}
+
+/* ANSI colors */
+.ansi-black-fg { color: #3E424D; }
+.ansi-black-bg { background-color: #3E424D; }
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+.ansi-magenta-bg { background-color: #D160C4; }
+.ansi-magenta-intense-fg { color: #A03196; }
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+.ansi-cyan-fg { color: #60C6C8; }
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+.ansi-white-bg { background-color: #C5C1B4; }
+.ansi-white-intense-fg { color: #A1A6B2; }
+.ansi-white-intense-bg { background-color: #A1A6B2; }
+
+.ansi-default-inverse-fg { color: #FFFFFF; }
+.ansi-default-inverse-bg { background-color: #000000; }
+
+.ansi-bold { font-weight: bold; }
+.ansi-underline { text-decoration: underline; }
+
+
+div.nbinput.container div.input_area div[class*=highlight] > pre,
+div.nboutput.container div.output_area div[class*=highlight] > pre,
+div.nboutput.container div.output_area div[class*=highlight].math,
+div.nboutput.container div.output_area.rendered_html,
+div.nboutput.container div.output_area > div.output_javascript,
+div.nboutput.container div.output_area:not(.rendered_html) > img{
+    padding: 5px;
+    margin: 0;
+}
+
+/* fix copybtn overflow problem in chromium (needed for 'sphinx_copybutton') */
+div.nbinput.container div.input_area > div[class^='highlight'],
+div.nboutput.container div.output_area > div[class^='highlight']{
+    overflow-y: hidden;
+}
+
+/* hide copy button on prompts for 'sphinx_copybutton' extension ... */
+.prompt .copybtn,
+/* ... and 'sphinx_immaterial' theme */
+.prompt .md-clipboard.md-icon {
+    display: none;
+}
+
+/* Some additional styling taken form the Jupyter notebook CSS */
+.jp-RenderedHTMLCommon table,
+div.rendered_html table {
+  border: none;
+  border-collapse: collapse;
+  border-spacing: 0;
+  color: black;
+  font-size: 12px;
+  table-layout: fixed;
+}
+.jp-RenderedHTMLCommon thead,
+div.rendered_html thead {
+  border-bottom: 1px solid black;
+  vertical-align: bottom;
+}
+.jp-RenderedHTMLCommon tr,
+.jp-RenderedHTMLCommon th,
+.jp-RenderedHTMLCommon td,
+div.rendered_html tr,
+div.rendered_html th,
+div.rendered_html td {
+  text-align: right;
+  vertical-align: middle;
+  padding: 0.5em 0.5em;
+  line-height: normal;
+  white-space: normal;
+  max-width: none;
+  border: none;
+}
+.jp-RenderedHTMLCommon th,
+div.rendered_html th {
+  font-weight: bold;
+}
+.jp-RenderedHTMLCommon tbody tr:nth-child(odd),
+div.rendered_html tbody tr:nth-child(odd) {
+  background: #f5f5f5;
+}
+.jp-RenderedHTMLCommon tbody tr:hover,
+div.rendered_html tbody tr:hover {
+  background: rgba(66, 165, 245, 0.2);
+}
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new file mode 100644
index 00000000..365c27a9
--- /dev/null
+++ b/doc/_build/html/_static/nbsphinx-gallery.css
@@ -0,0 +1,31 @@
+.nbsphinx-gallery {
+    display: grid;
+    grid-template-columns: repeat(auto-fill, minmax(160px, 1fr));
+    gap: 5px;
+    margin-top: 1em;
+    margin-bottom: 1em;
+}
+
+.nbsphinx-gallery > a {
+    padding: 5px;
+    border: 1px dotted currentColor;
+    border-radius: 2px;
+    text-align: center;
+}
+
+.nbsphinx-gallery > a:hover {
+    border-style: solid;
+}
+
+.nbsphinx-gallery img {
+    max-width: 100%;
+    max-height: 100%;
+}
+
+.nbsphinx-gallery > a > div:first-child {
+    display: flex;
+    align-items: start;
+    justify-content: center;
+    height: 120px;
+    margin-bottom: 5px;
+}
diff --git a/doc/_build/html/_static/nbsphinx-no-thumbnail.svg b/doc/_build/html/_static/nbsphinx-no-thumbnail.svg
new file mode 100644
index 00000000..9dca7588
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+.highlight .gd { color: #A00000 } /* Generic.Deleted */
+.highlight .ge { font-style: italic } /* Generic.Emph */
+.highlight .gr { color: #E40000 } /* Generic.Error */
+.highlight .gh { color: #000080; font-weight: bold } /* Generic.Heading */
+.highlight .gi { color: #008400 } /* Generic.Inserted */
+.highlight .go { color: #717171 } /* Generic.Output */
+.highlight .gp { color: #000080; font-weight: bold } /* Generic.Prompt */
+.highlight .gs { font-weight: bold } /* Generic.Strong */
+.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */
+.highlight .gt { color: #0044DD } /* Generic.Traceback */
+.highlight .kc { color: #008000; font-weight: bold } /* Keyword.Constant */
+.highlight .kd { color: #008000; font-weight: bold } /* Keyword.Declaration */
+.highlight .kn { color: #008000; font-weight: bold } /* Keyword.Namespace */
+.highlight .kp { color: #008000 } /* Keyword.Pseudo */
+.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */
+.highlight .kt { color: #B00040 } /* Keyword.Type */
+.highlight .m { color: #666666 } /* Literal.Number */
+.highlight .s { color: #BA2121 } /* Literal.String */
+.highlight .na { color: #687822 } /* Name.Attribute */
+.highlight .nb { color: #008000 } /* Name.Builtin */
+.highlight .nc { color: #0000FF; font-weight: bold } /* Name.Class */
+.highlight .no { color: #880000 } /* Name.Constant */
+.highlight .nd { color: #AA22FF } /* Name.Decorator */
+.highlight .ni { color: #717171; font-weight: bold } /* Name.Entity */
+.highlight .ne { color: #CB3F38; font-weight: bold } /* Name.Exception */
+.highlight .nf { color: #0000FF } /* Name.Function */
+.highlight .nl { color: #767600 } /* Name.Label */
+.highlight .nn { color: #0000FF; font-weight: bold } /* Name.Namespace */
+.highlight .nt { color: #008000; font-weight: bold } /* Name.Tag */
+.highlight .nv { color: #19177C } /* Name.Variable */
+.highlight .ow { color: #AA22FF; font-weight: bold } /* Operator.Word */
+.highlight .w { color: #bbbbbb } /* Text.Whitespace */
+.highlight .mb { color: #666666 } /* Literal.Number.Bin */
+.highlight .mf { color: #666666 } /* Literal.Number.Float */
+.highlight .mh { color: #666666 } /* Literal.Number.Hex */
+.highlight .mi { color: #666666 } /* Literal.Number.Integer */
+.highlight .mo { color: #666666 } /* Literal.Number.Oct */
+.highlight .sa { color: #BA2121 } /* Literal.String.Affix */
+.highlight .sb { color: #BA2121 } /* Literal.String.Backtick */
+.highlight .sc { color: #BA2121 } /* Literal.String.Char */
+.highlight .dl { color: #BA2121 } /* Literal.String.Delimiter */
+.highlight .sd { color: #BA2121; font-style: italic } /* Literal.String.Doc */
+.highlight .s2 { color: #BA2121 } /* Literal.String.Double */
+.highlight .se { color: #AA5D1F; font-weight: bold } /* Literal.String.Escape */
+.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */
+.highlight .si { color: #A45A77; font-weight: bold } /* Literal.String.Interpol */
+.highlight .sx { color: #008000 } /* Literal.String.Other */
+.highlight .sr { color: #A45A77 } /* Literal.String.Regex */
+.highlight .s1 { color: #BA2121 } /* Literal.String.Single */
+.highlight .ss { color: #19177C } /* Literal.String.Symbol */
+.highlight .bp { color: #008000 } /* Name.Builtin.Pseudo */
+.highlight .fm { color: #0000FF } /* Name.Function.Magic */
+.highlight .vc { color: #19177C } /* Name.Variable.Class */
+.highlight .vg { color: #19177C } /* Name.Variable.Global */
+.highlight .vi { color: #19177C } /* Name.Variable.Instance */
+.highlight .vm { color: #19177C } /* Name.Variable.Magic */
+.highlight .il { color: #666666 } /* Literal.Number.Integer.Long */
\ No newline at end of file
diff --git a/doc/_build/html/_static/searchtools.js b/doc/_build/html/_static/searchtools.js
new file mode 100644
index 00000000..e89e34d4
--- /dev/null
+++ b/doc/_build/html/_static/searchtools.js
@@ -0,0 +1,566 @@
+/*
+ * searchtools.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * Sphinx JavaScript utilities for the full-text search.
+ *
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+/**
+ * Simple result scoring code.
+ */
+if (typeof Scorer === "undefined") {
+  var Scorer = {
+    // Implement the following function to further tweak the score for each result
+    // The function takes a result array [docname, title, anchor, descr, score, filename]
+    // and returns the new score.
+    /*
+    score: result => {
+      const [docname, title, anchor, descr, score, filename] = result
+      return score
+    },
+    */
+
+    // query matches the full name of an object
+    objNameMatch: 11,
+    // or matches in the last dotted part of the object name
+    objPartialMatch: 6,
+    // Additive scores depending on the priority of the object
+    objPrio: {
+      0: 15, // used to be importantResults
+      1: 5, // used to be objectResults
+      2: -5, // used to be unimportantResults
+    },
+    //  Used when the priority is not in the mapping.
+    objPrioDefault: 0,
+
+    // query found in title
+    title: 15,
+    partialTitle: 7,
+    // query found in terms
+    term: 5,
+    partialTerm: 2,
+  };
+}
+
+const _removeChildren = (element) => {
+  while (element && element.lastChild) element.removeChild(element.lastChild);
+};
+
+/**
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
+ */
+const _escapeRegExp = (string) =>
+  string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
+
+const _displayItem = (item, searchTerms) => {
+  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
+  const docUrlRoot = DOCUMENTATION_OPTIONS.URL_ROOT;
+  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+  const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+  const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
+
+  const [docName, title, anchor, descr, score, _filename] = item;
+
+  let listItem = document.createElement("li");
+  let requestUrl;
+  let linkUrl;
+  if (docBuilder === "dirhtml") {
+    // dirhtml builder
+    let dirname = docName + "/";
+    if (dirname.match(/\/index\/$/))
+      dirname = dirname.substring(0, dirname.length - 6);
+    else if (dirname === "index/") dirname = "";
+    requestUrl = docUrlRoot + dirname;
+    linkUrl = requestUrl;
+  } else {
+    // normal html builders
+    requestUrl = docUrlRoot + docName + docFileSuffix;
+    linkUrl = docName + docLinkSuffix;
+  }
+  let linkEl = listItem.appendChild(document.createElement("a"));
+  linkEl.href = linkUrl + anchor;
+  linkEl.dataset.score = score;
+  linkEl.innerHTML = title;
+  if (descr)
+    listItem.appendChild(document.createElement("span")).innerHTML =
+      " (" + descr + ")";
+  else if (showSearchSummary)
+    fetch(requestUrl)
+      .then((responseData) => responseData.text())
+      .then((data) => {
+        if (data)
+          listItem.appendChild(
+            Search.makeSearchSummary(data, searchTerms)
+          );
+      });
+  Search.output.appendChild(listItem);
+};
+const _finishSearch = (resultCount) => {
+  Search.stopPulse();
+  Search.title.innerText = _("Search Results");
+  if (!resultCount)
+    Search.status.innerText = Documentation.gettext(
+      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
+    );
+  else
+    Search.status.innerText = _(
+      `Search finished, found ${resultCount} page(s) matching the search query.`
+    );
+};
+const _displayNextItem = (
+  results,
+  resultCount,
+  searchTerms
+) => {
+  // results left, load the summary and display it
+  // this is intended to be dynamic (don't sub resultsCount)
+  if (results.length) {
+    _displayItem(results.pop(), searchTerms);
+    setTimeout(
+      () => _displayNextItem(results, resultCount, searchTerms),
+      5
+    );
+  }
+  // search finished, update title and status message
+  else _finishSearch(resultCount);
+};
+
+/**
+ * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
+ * custom function per language.
+ *
+ * The regular expression works by splitting the string on consecutive characters
+ * that are not Unicode letters, numbers, underscores, or emoji characters.
+ * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
+ */
+if (typeof splitQuery === "undefined") {
+  var splitQuery = (query) => query
+      .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
+      .filter(term => term)  // remove remaining empty strings
+}
+
+/**
+ * Search Module
+ */
+const Search = {
+  _index: null,
+  _queued_query: null,
+  _pulse_status: -1,
+
+  htmlToText: (htmlString) => {
+    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
+    htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
+    const docContent = htmlElement.querySelector('[role="main"]');
+    if (docContent !== undefined) return docContent.textContent;
+    console.warn(
+      "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
+    );
+    return "";
+  },
+
+  init: () => {
+    const query = new URLSearchParams(window.location.search).get("q");
+    document
+      .querySelectorAll('input[name="q"]')
+      .forEach((el) => (el.value = query));
+    if (query) Search.performSearch(query);
+  },
+
+  loadIndex: (url) =>
+    (document.body.appendChild(document.createElement("script")).src = url),
+
+  setIndex: (index) => {
+    Search._index = index;
+    if (Search._queued_query !== null) {
+      const query = Search._queued_query;
+      Search._queued_query = null;
+      Search.query(query);
+    }
+  },
+
+  hasIndex: () => Search._index !== null,
+
+  deferQuery: (query) => (Search._queued_query = query),
+
+  stopPulse: () => (Search._pulse_status = -1),
+
+  startPulse: () => {
+    if (Search._pulse_status >= 0) return;
+
+    const pulse = () => {
+      Search._pulse_status = (Search._pulse_status + 1) % 4;
+      Search.dots.innerText = ".".repeat(Search._pulse_status);
+      if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
+    };
+    pulse();
+  },
+
+  /**
+   * perform a search for something (or wait until index is loaded)
+   */
+  performSearch: (query) => {
+    // create the required interface elements
+    const searchText = document.createElement("h2");
+    searchText.textContent = _("Searching");
+    const searchSummary = document.createElement("p");
+    searchSummary.classList.add("search-summary");
+    searchSummary.innerText = "";
+    const searchList = document.createElement("ul");
+    searchList.classList.add("search");
+
+    const out = document.getElementById("search-results");
+    Search.title = out.appendChild(searchText);
+    Search.dots = Search.title.appendChild(document.createElement("span"));
+    Search.status = out.appendChild(searchSummary);
+    Search.output = out.appendChild(searchList);
+
+    const searchProgress = document.getElementById("search-progress");
+    // Some themes don't use the search progress node
+    if (searchProgress) {
+      searchProgress.innerText = _("Preparing search...");
+    }
+    Search.startPulse();
+
+    // index already loaded, the browser was quick!
+    if (Search.hasIndex()) Search.query(query);
+    else Search.deferQuery(query);
+  },
+
+  /**
+   * execute search (requires search index to be loaded)
+   */
+  query: (query) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+    const allTitles = Search._index.alltitles;
+    const indexEntries = Search._index.indexentries;
+
+    // stem the search terms and add them to the correct list
+    const stemmer = new Stemmer();
+    const searchTerms = new Set();
+    const excludedTerms = new Set();
+    const highlightTerms = new Set();
+    const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
+    splitQuery(query.trim()).forEach((queryTerm) => {
+      const queryTermLower = queryTerm.toLowerCase();
+
+      // maybe skip this "word"
+      // stopwords array is from language_data.js
+      if (
+        stopwords.indexOf(queryTermLower) !== -1 ||
+        queryTerm.match(/^\d+$/)
+      )
+        return;
+
+      // stem the word
+      let word = stemmer.stemWord(queryTermLower);
+      // select the correct list
+      if (word[0] === "-") excludedTerms.add(word.substr(1));
+      else {
+        searchTerms.add(word);
+        highlightTerms.add(queryTermLower);
+      }
+    });
+
+    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
+      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+    }
+
+    // console.debug("SEARCH: searching for:");
+    // console.info("required: ", [...searchTerms]);
+    // console.info("excluded: ", [...excludedTerms]);
+
+    // array of [docname, title, anchor, descr, score, filename]
+    let results = [];
+    _removeChildren(document.getElementById("search-progress"));
+
+    const queryLower = query.toLowerCase();
+    for (const [title, foundTitles] of Object.entries(allTitles)) {
+      if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
+        for (const [file, id] of foundTitles) {
+          let score = Math.round(100 * queryLower.length / title.length)
+          results.push([
+            docNames[file],
+            titles[file] !== title ? `${titles[file]} > ${title}` : title,
+            id !== null ? "#" + id : "",
+            null,
+            score,
+            filenames[file],
+          ]);
+        }
+      }
+    }
+
+    // search for explicit entries in index directives
+    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
+      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
+        for (const [file, id] of foundEntries) {
+          let score = Math.round(100 * queryLower.length / entry.length)
+          results.push([
+            docNames[file],
+            titles[file],
+            id ? "#" + id : "",
+            null,
+            score,
+            filenames[file],
+          ]);
+        }
+      }
+    }
+
+    // lookup as object
+    objectTerms.forEach((term) =>
+      results.push(...Search.performObjectSearch(term, objectTerms))
+    );
+
+    // lookup as search terms in fulltext
+    results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+
+    // let the scorer override scores with a custom scoring function
+    if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
+
+    // now sort the results by score (in opposite order of appearance, since the
+    // display function below uses pop() to retrieve items) and then
+    // alphabetically
+    results.sort((a, b) => {
+      const leftScore = a[4];
+      const rightScore = b[4];
+      if (leftScore === rightScore) {
+        // same score: sort alphabetically
+        const leftTitle = a[1].toLowerCase();
+        const rightTitle = b[1].toLowerCase();
+        if (leftTitle === rightTitle) return 0;
+        return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+      }
+      return leftScore > rightScore ? 1 : -1;
+    });
+
+    // remove duplicate search results
+    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
+    let seen = new Set();
+    results = results.reverse().reduce((acc, result) => {
+      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
+      if (!seen.has(resultStr)) {
+        acc.push(result);
+        seen.add(resultStr);
+      }
+      return acc;
+    }, []);
+
+    results = results.reverse();
+
+    // for debugging
+    //Search.lastresults = results.slice();  // a copy
+    // console.info("search results:", Search.lastresults);
+
+    // print the results
+    _displayNextItem(results, results.length, searchTerms);
+  },
+
+  /**
+   * search for object names
+   */
+  performObjectSearch: (object, objectTerms) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const objects = Search._index.objects;
+    const objNames = Search._index.objnames;
+    const titles = Search._index.titles;
+
+    const results = [];
+
+    const objectSearchCallback = (prefix, match) => {
+      const name = match[4]
+      const fullname = (prefix ? prefix + "." : "") + name;
+      const fullnameLower = fullname.toLowerCase();
+      if (fullnameLower.indexOf(object) < 0) return;
+
+      let score = 0;
+      const parts = fullnameLower.split(".");
+
+      // check for different match types: exact matches of full name or
+      // "last name" (i.e. last dotted part)
+      if (fullnameLower === object || parts.slice(-1)[0] === object)
+        score += Scorer.objNameMatch;
+      else if (parts.slice(-1)[0].indexOf(object) > -1)
+        score += Scorer.objPartialMatch; // matches in last name
+
+      const objName = objNames[match[1]][2];
+      const title = titles[match[0]];
+
+      // If more than one term searched for, we require other words to be
+      // found in the name/title/description
+      const otherTerms = new Set(objectTerms);
+      otherTerms.delete(object);
+      if (otherTerms.size > 0) {
+        const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
+        if (
+          [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
+        )
+          return;
+      }
+
+      let anchor = match[3];
+      if (anchor === "") anchor = fullname;
+      else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
+
+      const descr = objName + _(", in ") + title;
+
+      // add custom score for some objects according to scorer
+      if (Scorer.objPrio.hasOwnProperty(match[2]))
+        score += Scorer.objPrio[match[2]];
+      else score += Scorer.objPrioDefault;
+
+      results.push([
+        docNames[match[0]],
+        fullname,
+        "#" + anchor,
+        descr,
+        score,
+        filenames[match[0]],
+      ]);
+    };
+    Object.keys(objects).forEach((prefix) =>
+      objects[prefix].forEach((array) =>
+        objectSearchCallback(prefix, array)
+      )
+    );
+    return results;
+  },
+
+  /**
+   * search for full-text terms in the index
+   */
+  performTermsSearch: (searchTerms, excludedTerms) => {
+    // prepare search
+    const terms = Search._index.terms;
+    const titleTerms = Search._index.titleterms;
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+
+    const scoreMap = new Map();
+    const fileMap = new Map();
+
+    // perform the search on the required terms
+    searchTerms.forEach((word) => {
+      const files = [];
+      const arr = [
+        { files: terms[word], score: Scorer.term },
+        { files: titleTerms[word], score: Scorer.title },
+      ];
+      // add support for partial matches
+      if (word.length > 2) {
+        const escapedWord = _escapeRegExp(word);
+        Object.keys(terms).forEach((term) => {
+          if (term.match(escapedWord) && !terms[word])
+            arr.push({ files: terms[term], score: Scorer.partialTerm });
+        });
+        Object.keys(titleTerms).forEach((term) => {
+          if (term.match(escapedWord) && !titleTerms[word])
+            arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
+        });
+      }
+
+      // no match but word was a required one
+      if (arr.every((record) => record.files === undefined)) return;
+
+      // found search word in contents
+      arr.forEach((record) => {
+        if (record.files === undefined) return;
+
+        let recordFiles = record.files;
+        if (recordFiles.length === undefined) recordFiles = [recordFiles];
+        files.push(...recordFiles);
+
+        // set score for the word in each file
+        recordFiles.forEach((file) => {
+          if (!scoreMap.has(file)) scoreMap.set(file, {});
+          scoreMap.get(file)[word] = record.score;
+        });
+      });
+
+      // create the mapping
+      files.forEach((file) => {
+        if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
+          fileMap.get(file).push(word);
+        else fileMap.set(file, [word]);
+      });
+    });
+
+    // now check if the files don't contain excluded terms
+    const results = [];
+    for (const [file, wordList] of fileMap) {
+      // check if all requirements are matched
+
+      // as search terms with length < 3 are discarded
+      const filteredTermCount = [...searchTerms].filter(
+        (term) => term.length > 2
+      ).length;
+      if (
+        wordList.length !== searchTerms.size &&
+        wordList.length !== filteredTermCount
+      )
+        continue;
+
+      // ensure that none of the excluded terms is in the search result
+      if (
+        [...excludedTerms].some(
+          (term) =>
+            terms[term] === file ||
+            titleTerms[term] === file ||
+            (terms[term] || []).includes(file) ||
+            (titleTerms[term] || []).includes(file)
+        )
+      )
+        break;
+
+      // select one (max) score for the file.
+      const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
+      // add result to the result list
+      results.push([
+        docNames[file],
+        titles[file],
+        "",
+        null,
+        score,
+        filenames[file],
+      ]);
+    }
+    return results;
+  },
+
+  /**
+   * helper function to return a node containing the
+   * search summary for a given text. keywords is a list
+   * of stemmed words.
+   */
+  makeSearchSummary: (htmlText, keywords) => {
+    const text = Search.htmlToText(htmlText);
+    if (text === "") return null;
+
+    const textLower = text.toLowerCase();
+    const actualStartPosition = [...keywords]
+      .map((k) => textLower.indexOf(k.toLowerCase()))
+      .filter((i) => i > -1)
+      .slice(-1)[0];
+    const startWithContext = Math.max(actualStartPosition - 120, 0);
+
+    const top = startWithContext === 0 ? "" : "...";
+    const tail = startWithContext + 240 < text.length ? "..." : "";
+
+    let summary = document.createElement("p");
+    summary.classList.add("context");
+    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
+
+    return summary;
+  },
+};
+
+_ready(Search.init);
diff --git a/doc/_build/html/_static/sphinx_highlight.js b/doc/_build/html/_static/sphinx_highlight.js
new file mode 100644
index 00000000..aae669d7
--- /dev/null
+++ b/doc/_build/html/_static/sphinx_highlight.js
@@ -0,0 +1,144 @@
+/* Highlighting utilities for Sphinx HTML documentation. */
+"use strict";
+
+const SPHINX_HIGHLIGHT_ENABLED = true
+
+/**
+ * highlight a given string on a node by wrapping it in
+ * span elements with the given class name.
+ */
+const _highlight = (node, addItems, text, className) => {
+  if (node.nodeType === Node.TEXT_NODE) {
+    const val = node.nodeValue;
+    const parent = node.parentNode;
+    const pos = val.toLowerCase().indexOf(text);
+    if (
+      pos >= 0 &&
+      !parent.classList.contains(className) &&
+      !parent.classList.contains("nohighlight")
+    ) {
+      let span;
+
+      const closestNode = parent.closest("body, svg, foreignObject");
+      const isInSVG = closestNode && closestNode.matches("svg");
+      if (isInSVG) {
+        span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+      } else {
+        span = document.createElement("span");
+        span.classList.add(className);
+      }
+
+      span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+      parent.insertBefore(
+        span,
+        parent.insertBefore(
+          document.createTextNode(val.substr(pos + text.length)),
+          node.nextSibling
+        )
+      );
+      node.nodeValue = val.substr(0, pos);
+
+      if (isInSVG) {
+        const rect = document.createElementNS(
+          "http://www.w3.org/2000/svg",
+          "rect"
+        );
+        const bbox = parent.getBBox();
+        rect.x.baseVal.value = bbox.x;
+        rect.y.baseVal.value = bbox.y;
+        rect.width.baseVal.value = bbox.width;
+        rect.height.baseVal.value = bbox.height;
+        rect.setAttribute("class", className);
+        addItems.push({ parent: parent, target: rect });
+      }
+    }
+  } else if (node.matches && !node.matches("button, select, textarea")) {
+    node.childNodes.forEach((el) => _highlight(el, addItems, text, className));
+  }
+};
+const _highlightText = (thisNode, text, className) => {
+  let addItems = [];
+  _highlight(thisNode, addItems, text, className);
+  addItems.forEach((obj) =>
+    obj.parent.insertAdjacentElement("beforebegin", obj.target)
+  );
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const SphinxHighlight = {
+
+  /**
+   * highlight the search words provided in localstorage in the text
+   */
+  highlightSearchWords: () => {
+    if (!SPHINX_HIGHLIGHT_ENABLED) return;  // bail if no highlight
+
+    // get and clear terms from localstorage
+    const url = new URL(window.location);
+    const highlight =
+        localStorage.getItem("sphinx_highlight_terms")
+        || url.searchParams.get("highlight")
+        || "";
+    localStorage.removeItem("sphinx_highlight_terms")
+    url.searchParams.delete("highlight");
+    window.history.replaceState({}, "", url);
+
+    // get individual terms from highlight string
+    const terms = highlight.toLowerCase().split(/\s+/).filter(x => x);
+    if (terms.length === 0) return; // nothing to do
+
+    // There should never be more than one element matching "div.body"
+    const divBody = document.querySelectorAll("div.body");
+    const body = divBody.length ? divBody[0] : document.querySelector("body");
+    window.setTimeout(() => {
+      terms.forEach((term) => _highlightText(body, term, "highlighted"));
+    }, 10);
+
+    const searchBox = document.getElementById("searchbox");
+    if (searchBox === null) return;
+    searchBox.appendChild(
+      document
+        .createRange()
+        .createContextualFragment(
+          '<p class="highlight-link">' +
+            '<a href="javascript:SphinxHighlight.hideSearchWords()">' +
+            _("Hide Search Matches") +
+            "</a></p>"
+        )
+    );
+  },
+
+  /**
+   * helper function to hide the search marks again
+   */
+  hideSearchWords: () => {
+    document
+      .querySelectorAll("#searchbox .highlight-link")
+      .forEach((el) => el.remove());
+    document
+      .querySelectorAll("span.highlighted")
+      .forEach((el) => el.classList.remove("highlighted"));
+    localStorage.removeItem("sphinx_highlight_terms")
+  },
+
+  initEscapeListener: () => {
+    // only install a listener if it is really needed
+    if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      // bail with special keys
+      if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return;
+      if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) {
+        SphinxHighlight.hideSearchWords();
+        event.preventDefault();
+      }
+    });
+  },
+};
+
+_ready(SphinxHighlight.highlightSearchWords);
+_ready(SphinxHighlight.initEscapeListener);
diff --git a/doc/_build/html/_static/underscore-1.13.1.js b/doc/_build/html/_static/underscore-1.13.1.js
new file mode 100644
index 00000000..ffd77af9
--- /dev/null
+++ b/doc/_build/html/_static/underscore-1.13.1.js
@@ -0,0 +1,2042 @@
+(function (global, factory) {
+  typeof exports === 'object' && typeof module !== 'undefined' ? module.exports = factory() :
+  typeof define === 'function' && define.amd ? define('underscore', factory) :
+  (global = typeof globalThis !== 'undefined' ? globalThis : global || self, (function () {
+    var current = global._;
+    var exports = global._ = factory();
+    exports.noConflict = function () { global._ = current; return exports; };
+  }()));
+}(this, (function () {
+  //     Underscore.js 1.13.1
+  //     https://underscorejs.org
+  //     (c) 2009-2021 Jeremy Ashkenas, Julian Gonggrijp, and DocumentCloud and Investigative Reporters & Editors
+  //     Underscore may be freely distributed under the MIT license.
+
+  // Current version.
+  var VERSION = '1.13.1';
+
+  // Establish the root object, `window` (`self`) in the browser, `global`
+  // on the server, or `this` in some virtual machines. We use `self`
+  // instead of `window` for `WebWorker` support.
+  var root = typeof self == 'object' && self.self === self && self ||
+            typeof global == 'object' && global.global === global && global ||
+            Function('return this')() ||
+            {};
+
+  // Save bytes in the minified (but not gzipped) version:
+  var ArrayProto = Array.prototype, ObjProto = Object.prototype;
+  var SymbolProto = typeof Symbol !== 'undefined' ? Symbol.prototype : null;
+
+  // Create quick reference variables for speed access to core prototypes.
+  var push = ArrayProto.push,
+      slice = ArrayProto.slice,
+      toString = ObjProto.toString,
+      hasOwnProperty = ObjProto.hasOwnProperty;
+
+  // Modern feature detection.
+  var supportsArrayBuffer = typeof ArrayBuffer !== 'undefined',
+      supportsDataView = typeof DataView !== 'undefined';
+
+  // All **ECMAScript 5+** native function implementations that we hope to use
+  // are declared here.
+  var nativeIsArray = Array.isArray,
+      nativeKeys = Object.keys,
+      nativeCreate = Object.create,
+      nativeIsView = supportsArrayBuffer && ArrayBuffer.isView;
+
+  // Create references to these builtin functions because we override them.
+  var _isNaN = isNaN,
+      _isFinite = isFinite;
+
+  // Keys in IE < 9 that won't be iterated by `for key in ...` and thus missed.
+  var hasEnumBug = !{toString: null}.propertyIsEnumerable('toString');
+  var nonEnumerableProps = ['valueOf', 'isPrototypeOf', 'toString',
+    'propertyIsEnumerable', 'hasOwnProperty', 'toLocaleString'];
+
+  // The largest integer that can be represented exactly.
+  var MAX_ARRAY_INDEX = Math.pow(2, 53) - 1;
+
+  // Some functions take a variable number of arguments, or a few expected
+  // arguments at the beginning and then a variable number of values to operate
+  // on. This helper accumulates all remaining arguments past the function’s
+  // argument length (or an explicit `startIndex`), into an array that becomes
+  // the last argument. Similar to ES6’s "rest parameter".
+  function restArguments(func, startIndex) {
+    startIndex = startIndex == null ? func.length - 1 : +startIndex;
+    return function() {
+      var length = Math.max(arguments.length - startIndex, 0),
+          rest = Array(length),
+          index = 0;
+      for (; index < length; index++) {
+        rest[index] = arguments[index + startIndex];
+      }
+      switch (startIndex) {
+        case 0: return func.call(this, rest);
+        case 1: return func.call(this, arguments[0], rest);
+        case 2: return func.call(this, arguments[0], arguments[1], rest);
+      }
+      var args = Array(startIndex + 1);
+      for (index = 0; index < startIndex; index++) {
+        args[index] = arguments[index];
+      }
+      args[startIndex] = rest;
+      return func.apply(this, args);
+    };
+  }
+
+  // Is a given variable an object?
+  function isObject(obj) {
+    var type = typeof obj;
+    return type === 'function' || type === 'object' && !!obj;
+  }
+
+  // Is a given value equal to null?
+  function isNull(obj) {
+    return obj === null;
+  }
+
+  // Is a given variable undefined?
+  function isUndefined(obj) {
+    return obj === void 0;
+  }
+
+  // Is a given value a boolean?
+  function isBoolean(obj) {
+    return obj === true || obj === false || toString.call(obj) === '[object Boolean]';
+  }
+
+  // Is a given value a DOM element?
+  function isElement(obj) {
+    return !!(obj && obj.nodeType === 1);
+  }
+
+  // Internal function for creating a `toString`-based type tester.
+  function tagTester(name) {
+    var tag = '[object ' + name + ']';
+    return function(obj) {
+      return toString.call(obj) === tag;
+    };
+  }
+
+  var isString = tagTester('String');
+
+  var isNumber = tagTester('Number');
+
+  var isDate = tagTester('Date');
+
+  var isRegExp = tagTester('RegExp');
+
+  var isError = tagTester('Error');
+
+  var isSymbol = tagTester('Symbol');
+
+  var isArrayBuffer = tagTester('ArrayBuffer');
+
+  var isFunction = tagTester('Function');
+
+  // Optimize `isFunction` if appropriate. Work around some `typeof` bugs in old
+  // v8, IE 11 (#1621), Safari 8 (#1929), and PhantomJS (#2236).
+  var nodelist = root.document && root.document.childNodes;
+  if (typeof /./ != 'function' && typeof Int8Array != 'object' && typeof nodelist != 'function') {
+    isFunction = function(obj) {
+      return typeof obj == 'function' || false;
+    };
+  }
+
+  var isFunction$1 = isFunction;
+
+  var hasObjectTag = tagTester('Object');
+
+  // In IE 10 - Edge 13, `DataView` has string tag `'[object Object]'`.
+  // In IE 11, the most common among them, this problem also applies to
+  // `Map`, `WeakMap` and `Set`.
+  var hasStringTagBug = (
+        supportsDataView && hasObjectTag(new DataView(new ArrayBuffer(8)))
+      ),
+      isIE11 = (typeof Map !== 'undefined' && hasObjectTag(new Map));
+
+  var isDataView = tagTester('DataView');
+
+  // In IE 10 - Edge 13, we need a different heuristic
+  // to determine whether an object is a `DataView`.
+  function ie10IsDataView(obj) {
+    return obj != null && isFunction$1(obj.getInt8) && isArrayBuffer(obj.buffer);
+  }
+
+  var isDataView$1 = (hasStringTagBug ? ie10IsDataView : isDataView);
+
+  // Is a given value an array?
+  // Delegates to ECMA5's native `Array.isArray`.
+  var isArray = nativeIsArray || tagTester('Array');
+
+  // Internal function to check whether `key` is an own property name of `obj`.
+  function has$1(obj, key) {
+    return obj != null && hasOwnProperty.call(obj, key);
+  }
+
+  var isArguments = tagTester('Arguments');
+
+  // Define a fallback version of the method in browsers (ahem, IE < 9), where
+  // there isn't any inspectable "Arguments" type.
+  (function() {
+    if (!isArguments(arguments)) {
+      isArguments = function(obj) {
+        return has$1(obj, 'callee');
+      };
+    }
+  }());
+
+  var isArguments$1 = isArguments;
+
+  // Is a given object a finite number?
+  function isFinite$1(obj) {
+    return !isSymbol(obj) && _isFinite(obj) && !isNaN(parseFloat(obj));
+  }
+
+  // Is the given value `NaN`?
+  function isNaN$1(obj) {
+    return isNumber(obj) && _isNaN(obj);
+  }
+
+  // Predicate-generating function. Often useful outside of Underscore.
+  function constant(value) {
+    return function() {
+      return value;
+    };
+  }
+
+  // Common internal logic for `isArrayLike` and `isBufferLike`.
+  function createSizePropertyCheck(getSizeProperty) {
+    return function(collection) {
+      var sizeProperty = getSizeProperty(collection);
+      return typeof sizeProperty == 'number' && sizeProperty >= 0 && sizeProperty <= MAX_ARRAY_INDEX;
+    }
+  }
+
+  // Internal helper to generate a function to obtain property `key` from `obj`.
+  function shallowProperty(key) {
+    return function(obj) {
+      return obj == null ? void 0 : obj[key];
+    };
+  }
+
+  // Internal helper to obtain the `byteLength` property of an object.
+  var getByteLength = shallowProperty('byteLength');
+
+  // Internal helper to determine whether we should spend extensive checks against
+  // `ArrayBuffer` et al.
+  var isBufferLike = createSizePropertyCheck(getByteLength);
+
+  // Is a given value a typed array?
+  var typedArrayPattern = /\[object ((I|Ui)nt(8|16|32)|Float(32|64)|Uint8Clamped|Big(I|Ui)nt64)Array\]/;
+  function isTypedArray(obj) {
+    // `ArrayBuffer.isView` is the most future-proof, so use it when available.
+    // Otherwise, fall back on the above regular expression.
+    return nativeIsView ? (nativeIsView(obj) && !isDataView$1(obj)) :
+                  isBufferLike(obj) && typedArrayPattern.test(toString.call(obj));
+  }
+
+  var isTypedArray$1 = supportsArrayBuffer ? isTypedArray : constant(false);
+
+  // Internal helper to obtain the `length` property of an object.
+  var getLength = shallowProperty('length');
+
+  // Internal helper to create a simple lookup structure.
+  // `collectNonEnumProps` used to depend on `_.contains`, but this led to
+  // circular imports. `emulatedSet` is a one-off solution that only works for
+  // arrays of strings.
+  function emulatedSet(keys) {
+    var hash = {};
+    for (var l = keys.length, i = 0; i < l; ++i) hash[keys[i]] = true;
+    return {
+      contains: function(key) { return hash[key]; },
+      push: function(key) {
+        hash[key] = true;
+        return keys.push(key);
+      }
+    };
+  }
+
+  // Internal helper. Checks `keys` for the presence of keys in IE < 9 that won't
+  // be iterated by `for key in ...` and thus missed. Extends `keys` in place if
+  // needed.
+  function collectNonEnumProps(obj, keys) {
+    keys = emulatedSet(keys);
+    var nonEnumIdx = nonEnumerableProps.length;
+    var constructor = obj.constructor;
+    var proto = isFunction$1(constructor) && constructor.prototype || ObjProto;
+
+    // Constructor is a special case.
+    var prop = 'constructor';
+    if (has$1(obj, prop) && !keys.contains(prop)) keys.push(prop);
+
+    while (nonEnumIdx--) {
+      prop = nonEnumerableProps[nonEnumIdx];
+      if (prop in obj && obj[prop] !== proto[prop] && !keys.contains(prop)) {
+        keys.push(prop);
+      }
+    }
+  }
+
+  // Retrieve the names of an object's own properties.
+  // Delegates to **ECMAScript 5**'s native `Object.keys`.
+  function keys(obj) {
+    if (!isObject(obj)) return [];
+    if (nativeKeys) return nativeKeys(obj);
+    var keys = [];
+    for (var key in obj) if (has$1(obj, key)) keys.push(key);
+    // Ahem, IE < 9.
+    if (hasEnumBug) collectNonEnumProps(obj, keys);
+    return keys;
+  }
+
+  // Is a given array, string, or object empty?
+  // An "empty" object has no enumerable own-properties.
+  function isEmpty(obj) {
+    if (obj == null) return true;
+    // Skip the more expensive `toString`-based type checks if `obj` has no
+    // `.length`.
+    var length = getLength(obj);
+    if (typeof length == 'number' && (
+      isArray(obj) || isString(obj) || isArguments$1(obj)
+    )) return length === 0;
+    return getLength(keys(obj)) === 0;
+  }
+
+  // Returns whether an object has a given set of `key:value` pairs.
+  function isMatch(object, attrs) {
+    var _keys = keys(attrs), length = _keys.length;
+    if (object == null) return !length;
+    var obj = Object(object);
+    for (var i = 0; i < length; i++) {
+      var key = _keys[i];
+      if (attrs[key] !== obj[key] || !(key in obj)) return false;
+    }
+    return true;
+  }
+
+  // If Underscore is called as a function, it returns a wrapped object that can
+  // be used OO-style. This wrapper holds altered versions of all functions added
+  // through `_.mixin`. Wrapped objects may be chained.
+  function _$1(obj) {
+    if (obj instanceof _$1) return obj;
+    if (!(this instanceof _$1)) return new _$1(obj);
+    this._wrapped = obj;
+  }
+
+  _$1.VERSION = VERSION;
+
+  // Extracts the result from a wrapped and chained object.
+  _$1.prototype.value = function() {
+    return this._wrapped;
+  };
+
+  // Provide unwrapping proxies for some methods used in engine operations
+  // such as arithmetic and JSON stringification.
+  _$1.prototype.valueOf = _$1.prototype.toJSON = _$1.prototype.value;
+
+  _$1.prototype.toString = function() {
+    return String(this._wrapped);
+  };
+
+  // Internal function to wrap or shallow-copy an ArrayBuffer,
+  // typed array or DataView to a new view, reusing the buffer.
+  function toBufferView(bufferSource) {
+    return new Uint8Array(
+      bufferSource.buffer || bufferSource,
+      bufferSource.byteOffset || 0,
+      getByteLength(bufferSource)
+    );
+  }
+
+  // We use this string twice, so give it a name for minification.
+  var tagDataView = '[object DataView]';
+
+  // Internal recursive comparison function for `_.isEqual`.
+  function eq(a, b, aStack, bStack) {
+    // Identical objects are equal. `0 === -0`, but they aren't identical.
+    // See the [Harmony `egal` proposal](https://wiki.ecmascript.org/doku.php?id=harmony:egal).
+    if (a === b) return a !== 0 || 1 / a === 1 / b;
+    // `null` or `undefined` only equal to itself (strict comparison).
+    if (a == null || b == null) return false;
+    // `NaN`s are equivalent, but non-reflexive.
+    if (a !== a) return b !== b;
+    // Exhaust primitive checks
+    var type = typeof a;
+    if (type !== 'function' && type !== 'object' && typeof b != 'object') return false;
+    return deepEq(a, b, aStack, bStack);
+  }
+
+  // Internal recursive comparison function for `_.isEqual`.
+  function deepEq(a, b, aStack, bStack) {
+    // Unwrap any wrapped objects.
+    if (a instanceof _$1) a = a._wrapped;
+    if (b instanceof _$1) b = b._wrapped;
+    // Compare `[[Class]]` names.
+    var className = toString.call(a);
+    if (className !== toString.call(b)) return false;
+    // Work around a bug in IE 10 - Edge 13.
+    if (hasStringTagBug && className == '[object Object]' && isDataView$1(a)) {
+      if (!isDataView$1(b)) return false;
+      className = tagDataView;
+    }
+    switch (className) {
+      // These types are compared by value.
+      case '[object RegExp]':
+        // RegExps are coerced to strings for comparison (Note: '' + /a/i === '/a/i')
+      case '[object String]':
+        // Primitives and their corresponding object wrappers are equivalent; thus, `"5"` is
+        // equivalent to `new String("5")`.
+        return '' + a === '' + b;
+      case '[object Number]':
+        // `NaN`s are equivalent, but non-reflexive.
+        // Object(NaN) is equivalent to NaN.
+        if (+a !== +a) return +b !== +b;
+        // An `egal` comparison is performed for other numeric values.
+        return +a === 0 ? 1 / +a === 1 / b : +a === +b;
+      case '[object Date]':
+      case '[object Boolean]':
+        // Coerce dates and booleans to numeric primitive values. Dates are compared by their
+        // millisecond representations. Note that invalid dates with millisecond representations
+        // of `NaN` are not equivalent.
+        return +a === +b;
+      case '[object Symbol]':
+        return SymbolProto.valueOf.call(a) === SymbolProto.valueOf.call(b);
+      case '[object ArrayBuffer]':
+      case tagDataView:
+        // Coerce to typed array so we can fall through.
+        return deepEq(toBufferView(a), toBufferView(b), aStack, bStack);
+    }
+
+    var areArrays = className === '[object Array]';
+    if (!areArrays && isTypedArray$1(a)) {
+        var byteLength = getByteLength(a);
+        if (byteLength !== getByteLength(b)) return false;
+        if (a.buffer === b.buffer && a.byteOffset === b.byteOffset) return true;
+        areArrays = true;
+    }
+    if (!areArrays) {
+      if (typeof a != 'object' || typeof b != 'object') return false;
+
+      // Objects with different constructors are not equivalent, but `Object`s or `Array`s
+      // from different frames are.
+      var aCtor = a.constructor, bCtor = b.constructor;
+      if (aCtor !== bCtor && !(isFunction$1(aCtor) && aCtor instanceof aCtor &&
+                               isFunction$1(bCtor) && bCtor instanceof bCtor)
+                          && ('constructor' in a && 'constructor' in b)) {
+        return false;
+      }
+    }
+    // Assume equality for cyclic structures. The algorithm for detecting cyclic
+    // structures is adapted from ES 5.1 section 15.12.3, abstract operation `JO`.
+
+    // Initializing stack of traversed objects.
+    // It's done here since we only need them for objects and arrays comparison.
+    aStack = aStack || [];
+    bStack = bStack || [];
+    var length = aStack.length;
+    while (length--) {
+      // Linear search. Performance is inversely proportional to the number of
+      // unique nested structures.
+      if (aStack[length] === a) return bStack[length] === b;
+    }
+
+    // Add the first object to the stack of traversed objects.
+    aStack.push(a);
+    bStack.push(b);
+
+    // Recursively compare objects and arrays.
+    if (areArrays) {
+      // Compare array lengths to determine if a deep comparison is necessary.
+      length = a.length;
+      if (length !== b.length) return false;
+      // Deep compare the contents, ignoring non-numeric properties.
+      while (length--) {
+        if (!eq(a[length], b[length], aStack, bStack)) return false;
+      }
+    } else {
+      // Deep compare objects.
+      var _keys = keys(a), key;
+      length = _keys.length;
+      // Ensure that both objects contain the same number of properties before comparing deep equality.
+      if (keys(b).length !== length) return false;
+      while (length--) {
+        // Deep compare each member
+        key = _keys[length];
+        if (!(has$1(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
+      }
+    }
+    // Remove the first object from the stack of traversed objects.
+    aStack.pop();
+    bStack.pop();
+    return true;
+  }
+
+  // Perform a deep comparison to check if two objects are equal.
+  function isEqual(a, b) {
+    return eq(a, b);
+  }
+
+  // Retrieve all the enumerable property names of an object.
+  function allKeys(obj) {
+    if (!isObject(obj)) return [];
+    var keys = [];
+    for (var key in obj) keys.push(key);
+    // Ahem, IE < 9.
+    if (hasEnumBug) collectNonEnumProps(obj, keys);
+    return keys;
+  }
+
+  // Since the regular `Object.prototype.toString` type tests don't work for
+  // some types in IE 11, we use a fingerprinting heuristic instead, based
+  // on the methods. It's not great, but it's the best we got.
+  // The fingerprint method lists are defined below.
+  function ie11fingerprint(methods) {
+    var length = getLength(methods);
+    return function(obj) {
+      if (obj == null) return false;
+      // `Map`, `WeakMap` and `Set` have no enumerable keys.
+      var keys = allKeys(obj);
+      if (getLength(keys)) return false;
+      for (var i = 0; i < length; i++) {
+        if (!isFunction$1(obj[methods[i]])) return false;
+      }
+      // If we are testing against `WeakMap`, we need to ensure that
+      // `obj` doesn't have a `forEach` method in order to distinguish
+      // it from a regular `Map`.
+      return methods !== weakMapMethods || !isFunction$1(obj[forEachName]);
+    };
+  }
+
+  // In the interest of compact minification, we write
+  // each string in the fingerprints only once.
+  var forEachName = 'forEach',
+      hasName = 'has',
+      commonInit = ['clear', 'delete'],
+      mapTail = ['get', hasName, 'set'];
+
+  // `Map`, `WeakMap` and `Set` each have slightly different
+  // combinations of the above sublists.
+  var mapMethods = commonInit.concat(forEachName, mapTail),
+      weakMapMethods = commonInit.concat(mapTail),
+      setMethods = ['add'].concat(commonInit, forEachName, hasName);
+
+  var isMap = isIE11 ? ie11fingerprint(mapMethods) : tagTester('Map');
+
+  var isWeakMap = isIE11 ? ie11fingerprint(weakMapMethods) : tagTester('WeakMap');
+
+  var isSet = isIE11 ? ie11fingerprint(setMethods) : tagTester('Set');
+
+  var isWeakSet = tagTester('WeakSet');
+
+  // Retrieve the values of an object's properties.
+  function values(obj) {
+    var _keys = keys(obj);
+    var length = _keys.length;
+    var values = Array(length);
+    for (var i = 0; i < length; i++) {
+      values[i] = obj[_keys[i]];
+    }
+    return values;
+  }
+
+  // Convert an object into a list of `[key, value]` pairs.
+  // The opposite of `_.object` with one argument.
+  function pairs(obj) {
+    var _keys = keys(obj);
+    var length = _keys.length;
+    var pairs = Array(length);
+    for (var i = 0; i < length; i++) {
+      pairs[i] = [_keys[i], obj[_keys[i]]];
+    }
+    return pairs;
+  }
+
+  // Invert the keys and values of an object. The values must be serializable.
+  function invert(obj) {
+    var result = {};
+    var _keys = keys(obj);
+    for (var i = 0, length = _keys.length; i < length; i++) {
+      result[obj[_keys[i]]] = _keys[i];
+    }
+    return result;
+  }
+
+  // Return a sorted list of the function names available on the object.
+  function functions(obj) {
+    var names = [];
+    for (var key in obj) {
+      if (isFunction$1(obj[key])) names.push(key);
+    }
+    return names.sort();
+  }
+
+  // An internal function for creating assigner functions.
+  function createAssigner(keysFunc, defaults) {
+    return function(obj) {
+      var length = arguments.length;
+      if (defaults) obj = Object(obj);
+      if (length < 2 || obj == null) return obj;
+      for (var index = 1; index < length; index++) {
+        var source = arguments[index],
+            keys = keysFunc(source),
+            l = keys.length;
+        for (var i = 0; i < l; i++) {
+          var key = keys[i];
+          if (!defaults || obj[key] === void 0) obj[key] = source[key];
+        }
+      }
+      return obj;
+    };
+  }
+
+  // Extend a given object with all the properties in passed-in object(s).
+  var extend = createAssigner(allKeys);
+
+  // Assigns a given object with all the own properties in the passed-in
+  // object(s).
+  // (https://developer.mozilla.org/docs/Web/JavaScript/Reference/Global_Objects/Object/assign)
+  var extendOwn = createAssigner(keys);
+
+  // Fill in a given object with default properties.
+  var defaults = createAssigner(allKeys, true);
+
+  // Create a naked function reference for surrogate-prototype-swapping.
+  function ctor() {
+    return function(){};
+  }
+
+  // An internal function for creating a new object that inherits from another.
+  function baseCreate(prototype) {
+    if (!isObject(prototype)) return {};
+    if (nativeCreate) return nativeCreate(prototype);
+    var Ctor = ctor();
+    Ctor.prototype = prototype;
+    var result = new Ctor;
+    Ctor.prototype = null;
+    return result;
+  }
+
+  // Creates an object that inherits from the given prototype object.
+  // If additional properties are provided then they will be added to the
+  // created object.
+  function create(prototype, props) {
+    var result = baseCreate(prototype);
+    if (props) extendOwn(result, props);
+    return result;
+  }
+
+  // Create a (shallow-cloned) duplicate of an object.
+  function clone(obj) {
+    if (!isObject(obj)) return obj;
+    return isArray(obj) ? obj.slice() : extend({}, obj);
+  }
+
+  // Invokes `interceptor` with the `obj` and then returns `obj`.
+  // The primary purpose of this method is to "tap into" a method chain, in
+  // order to perform operations on intermediate results within the chain.
+  function tap(obj, interceptor) {
+    interceptor(obj);
+    return obj;
+  }
+
+  // Normalize a (deep) property `path` to array.
+  // Like `_.iteratee`, this function can be customized.
+  function toPath$1(path) {
+    return isArray(path) ? path : [path];
+  }
+  _$1.toPath = toPath$1;
+
+  // Internal wrapper for `_.toPath` to enable minification.
+  // Similar to `cb` for `_.iteratee`.
+  function toPath(path) {
+    return _$1.toPath(path);
+  }
+
+  // Internal function to obtain a nested property in `obj` along `path`.
+  function deepGet(obj, path) {
+    var length = path.length;
+    for (var i = 0; i < length; i++) {
+      if (obj == null) return void 0;
+      obj = obj[path[i]];
+    }
+    return length ? obj : void 0;
+  }
+
+  // Get the value of the (deep) property on `path` from `object`.
+  // If any property in `path` does not exist or if the value is
+  // `undefined`, return `defaultValue` instead.
+  // The `path` is normalized through `_.toPath`.
+  function get(object, path, defaultValue) {
+    var value = deepGet(object, toPath(path));
+    return isUndefined(value) ? defaultValue : value;
+  }
+
+  // Shortcut function for checking if an object has a given property directly on
+  // itself (in other words, not on a prototype). Unlike the internal `has`
+  // function, this public version can also traverse nested properties.
+  function has(obj, path) {
+    path = toPath(path);
+    var length = path.length;
+    for (var i = 0; i < length; i++) {
+      var key = path[i];
+      if (!has$1(obj, key)) return false;
+      obj = obj[key];
+    }
+    return !!length;
+  }
+
+  // Keep the identity function around for default iteratees.
+  function identity(value) {
+    return value;
+  }
+
+  // Returns a predicate for checking whether an object has a given set of
+  // `key:value` pairs.
+  function matcher(attrs) {
+    attrs = extendOwn({}, attrs);
+    return function(obj) {
+      return isMatch(obj, attrs);
+    };
+  }
+
+  // Creates a function that, when passed an object, will traverse that object’s
+  // properties down the given `path`, specified as an array of keys or indices.
+  function property(path) {
+    path = toPath(path);
+    return function(obj) {
+      return deepGet(obj, path);
+    };
+  }
+
+  // Internal function that returns an efficient (for current engines) version
+  // of the passed-in callback, to be repeatedly applied in other Underscore
+  // functions.
+  function optimizeCb(func, context, argCount) {
+    if (context === void 0) return func;
+    switch (argCount == null ? 3 : argCount) {
+      case 1: return function(value) {
+        return func.call(context, value);
+      };
+      // The 2-argument case is omitted because we’re not using it.
+      case 3: return function(value, index, collection) {
+        return func.call(context, value, index, collection);
+      };
+      case 4: return function(accumulator, value, index, collection) {
+        return func.call(context, accumulator, value, index, collection);
+      };
+    }
+    return function() {
+      return func.apply(context, arguments);
+    };
+  }
+
+  // An internal function to generate callbacks that can be applied to each
+  // element in a collection, returning the desired result — either `_.identity`,
+  // an arbitrary callback, a property matcher, or a property accessor.
+  function baseIteratee(value, context, argCount) {
+    if (value == null) return identity;
+    if (isFunction$1(value)) return optimizeCb(value, context, argCount);
+    if (isObject(value) && !isArray(value)) return matcher(value);
+    return property(value);
+  }
+
+  // External wrapper for our callback generator. Users may customize
+  // `_.iteratee` if they want additional predicate/iteratee shorthand styles.
+  // This abstraction hides the internal-only `argCount` argument.
+  function iteratee(value, context) {
+    return baseIteratee(value, context, Infinity);
+  }
+  _$1.iteratee = iteratee;
+
+  // The function we call internally to generate a callback. It invokes
+  // `_.iteratee` if overridden, otherwise `baseIteratee`.
+  function cb(value, context, argCount) {
+    if (_$1.iteratee !== iteratee) return _$1.iteratee(value, context);
+    return baseIteratee(value, context, argCount);
+  }
+
+  // Returns the results of applying the `iteratee` to each element of `obj`.
+  // In contrast to `_.map` it returns an object.
+  function mapObject(obj, iteratee, context) {
+    iteratee = cb(iteratee, context);
+    var _keys = keys(obj),
+        length = _keys.length,
+        results = {};
+    for (var index = 0; index < length; index++) {
+      var currentKey = _keys[index];
+      results[currentKey] = iteratee(obj[currentKey], currentKey, obj);
+    }
+    return results;
+  }
+
+  // Predicate-generating function. Often useful outside of Underscore.
+  function noop(){}
+
+  // Generates a function for a given object that returns a given property.
+  function propertyOf(obj) {
+    if (obj == null) return noop;
+    return function(path) {
+      return get(obj, path);
+    };
+  }
+
+  // Run a function **n** times.
+  function times(n, iteratee, context) {
+    var accum = Array(Math.max(0, n));
+    iteratee = optimizeCb(iteratee, context, 1);
+    for (var i = 0; i < n; i++) accum[i] = iteratee(i);
+    return accum;
+  }
+
+  // Return a random integer between `min` and `max` (inclusive).
+  function random(min, max) {
+    if (max == null) {
+      max = min;
+      min = 0;
+    }
+    return min + Math.floor(Math.random() * (max - min + 1));
+  }
+
+  // A (possibly faster) way to get the current timestamp as an integer.
+  var now = Date.now || function() {
+    return new Date().getTime();
+  };
+
+  // Internal helper to generate functions for escaping and unescaping strings
+  // to/from HTML interpolation.
+  function createEscaper(map) {
+    var escaper = function(match) {
+      return map[match];
+    };
+    // Regexes for identifying a key that needs to be escaped.
+    var source = '(?:' + keys(map).join('|') + ')';
+    var testRegexp = RegExp(source);
+    var replaceRegexp = RegExp(source, 'g');
+    return function(string) {
+      string = string == null ? '' : '' + string;
+      return testRegexp.test(string) ? string.replace(replaceRegexp, escaper) : string;
+    };
+  }
+
+  // Internal list of HTML entities for escaping.
+  var escapeMap = {
+    '&': '&amp;',
+    '<': '&lt;',
+    '>': '&gt;',
+    '"': '&quot;',
+    "'": '&#x27;',
+    '`': '&#x60;'
+  };
+
+  // Function for escaping strings to HTML interpolation.
+  var _escape = createEscaper(escapeMap);
+
+  // Internal list of HTML entities for unescaping.
+  var unescapeMap = invert(escapeMap);
+
+  // Function for unescaping strings from HTML interpolation.
+  var _unescape = createEscaper(unescapeMap);
+
+  // By default, Underscore uses ERB-style template delimiters. Change the
+  // following template settings to use alternative delimiters.
+  var templateSettings = _$1.templateSettings = {
+    evaluate: /<%([\s\S]+?)%>/g,
+    interpolate: /<%=([\s\S]+?)%>/g,
+    escape: /<%-([\s\S]+?)%>/g
+  };
+
+  // When customizing `_.templateSettings`, if you don't want to define an
+  // interpolation, evaluation or escaping regex, we need one that is
+  // guaranteed not to match.
+  var noMatch = /(.)^/;
+
+  // Certain characters need to be escaped so that they can be put into a
+  // string literal.
+  var escapes = {
+    "'": "'",
+    '\\': '\\',
+    '\r': 'r',
+    '\n': 'n',
+    '\u2028': 'u2028',
+    '\u2029': 'u2029'
+  };
+
+  var escapeRegExp = /\\|'|\r|\n|\u2028|\u2029/g;
+
+  function escapeChar(match) {
+    return '\\' + escapes[match];
+  }
+
+  // In order to prevent third-party code injection through
+  // `_.templateSettings.variable`, we test it against the following regular
+  // expression. It is intentionally a bit more liberal than just matching valid
+  // identifiers, but still prevents possible loopholes through defaults or
+  // destructuring assignment.
+  var bareIdentifier = /^\s*(\w|\$)+\s*$/;
+
+  // JavaScript micro-templating, similar to John Resig's implementation.
+  // Underscore templating handles arbitrary delimiters, preserves whitespace,
+  // and correctly escapes quotes within interpolated code.
+  // NB: `oldSettings` only exists for backwards compatibility.
+  function template(text, settings, oldSettings) {
+    if (!settings && oldSettings) settings = oldSettings;
+    settings = defaults({}, settings, _$1.templateSettings);
+
+    // Combine delimiters into one regular expression via alternation.
+    var matcher = RegExp([
+      (settings.escape || noMatch).source,
+      (settings.interpolate || noMatch).source,
+      (settings.evaluate || noMatch).source
+    ].join('|') + '|$', 'g');
+
+    // Compile the template source, escaping string literals appropriately.
+    var index = 0;
+    var source = "__p+='";
+    text.replace(matcher, function(match, escape, interpolate, evaluate, offset) {
+      source += text.slice(index, offset).replace(escapeRegExp, escapeChar);
+      index = offset + match.length;
+
+      if (escape) {
+        source += "'+\n((__t=(" + escape + "))==null?'':_.escape(__t))+\n'";
+      } else if (interpolate) {
+        source += "'+\n((__t=(" + interpolate + "))==null?'':__t)+\n'";
+      } else if (evaluate) {
+        source += "';\n" + evaluate + "\n__p+='";
+      }
+
+      // Adobe VMs need the match returned to produce the correct offset.
+      return match;
+    });
+    source += "';\n";
+
+    var argument = settings.variable;
+    if (argument) {
+      // Insure against third-party code injection. (CVE-2021-23358)
+      if (!bareIdentifier.test(argument)) throw new Error(
+        'variable is not a bare identifier: ' + argument
+      );
+    } else {
+      // If a variable is not specified, place data values in local scope.
+      source = 'with(obj||{}){\n' + source + '}\n';
+      argument = 'obj';
+    }
+
+    source = "var __t,__p='',__j=Array.prototype.join," +
+      "print=function(){__p+=__j.call(arguments,'');};\n" +
+      source + 'return __p;\n';
+
+    var render;
+    try {
+      render = new Function(argument, '_', source);
+    } catch (e) {
+      e.source = source;
+      throw e;
+    }
+
+    var template = function(data) {
+      return render.call(this, data, _$1);
+    };
+
+    // Provide the compiled source as a convenience for precompilation.
+    template.source = 'function(' + argument + '){\n' + source + '}';
+
+    return template;
+  }
+
+  // Traverses the children of `obj` along `path`. If a child is a function, it
+  // is invoked with its parent as context. Returns the value of the final
+  // child, or `fallback` if any child is undefined.
+  function result(obj, path, fallback) {
+    path = toPath(path);
+    var length = path.length;
+    if (!length) {
+      return isFunction$1(fallback) ? fallback.call(obj) : fallback;
+    }
+    for (var i = 0; i < length; i++) {
+      var prop = obj == null ? void 0 : obj[path[i]];
+      if (prop === void 0) {
+        prop = fallback;
+        i = length; // Ensure we don't continue iterating.
+      }
+      obj = isFunction$1(prop) ? prop.call(obj) : prop;
+    }
+    return obj;
+  }
+
+  // Generate a unique integer id (unique within the entire client session).
+  // Useful for temporary DOM ids.
+  var idCounter = 0;
+  function uniqueId(prefix) {
+    var id = ++idCounter + '';
+    return prefix ? prefix + id : id;
+  }
+
+  // Start chaining a wrapped Underscore object.
+  function chain(obj) {
+    var instance = _$1(obj);
+    instance._chain = true;
+    return instance;
+  }
+
+  // Internal function to execute `sourceFunc` bound to `context` with optional
+  // `args`. Determines whether to execute a function as a constructor or as a
+  // normal function.
+  function executeBound(sourceFunc, boundFunc, context, callingContext, args) {
+    if (!(callingContext instanceof boundFunc)) return sourceFunc.apply(context, args);
+    var self = baseCreate(sourceFunc.prototype);
+    var result = sourceFunc.apply(self, args);
+    if (isObject(result)) return result;
+    return self;
+  }
+
+  // Partially apply a function by creating a version that has had some of its
+  // arguments pre-filled, without changing its dynamic `this` context. `_` acts
+  // as a placeholder by default, allowing any combination of arguments to be
+  // pre-filled. Set `_.partial.placeholder` for a custom placeholder argument.
+  var partial = restArguments(function(func, boundArgs) {
+    var placeholder = partial.placeholder;
+    var bound = function() {
+      var position = 0, length = boundArgs.length;
+      var args = Array(length);
+      for (var i = 0; i < length; i++) {
+        args[i] = boundArgs[i] === placeholder ? arguments[position++] : boundArgs[i];
+      }
+      while (position < arguments.length) args.push(arguments[position++]);
+      return executeBound(func, bound, this, this, args);
+    };
+    return bound;
+  });
+
+  partial.placeholder = _$1;
+
+  // Create a function bound to a given object (assigning `this`, and arguments,
+  // optionally).
+  var bind = restArguments(function(func, context, args) {
+    if (!isFunction$1(func)) throw new TypeError('Bind must be called on a function');
+    var bound = restArguments(function(callArgs) {
+      return executeBound(func, bound, context, this, args.concat(callArgs));
+    });
+    return bound;
+  });
+
+  // Internal helper for collection methods to determine whether a collection
+  // should be iterated as an array or as an object.
+  // Related: https://people.mozilla.org/~jorendorff/es6-draft.html#sec-tolength
+  // Avoids a very nasty iOS 8 JIT bug on ARM-64. #2094
+  var isArrayLike = createSizePropertyCheck(getLength);
+
+  // Internal implementation of a recursive `flatten` function.
+  function flatten$1(input, depth, strict, output) {
+    output = output || [];
+    if (!depth && depth !== 0) {
+      depth = Infinity;
+    } else if (depth <= 0) {
+      return output.concat(input);
+    }
+    var idx = output.length;
+    for (var i = 0, length = getLength(input); i < length; i++) {
+      var value = input[i];
+      if (isArrayLike(value) && (isArray(value) || isArguments$1(value))) {
+        // Flatten current level of array or arguments object.
+        if (depth > 1) {
+          flatten$1(value, depth - 1, strict, output);
+          idx = output.length;
+        } else {
+          var j = 0, len = value.length;
+          while (j < len) output[idx++] = value[j++];
+        }
+      } else if (!strict) {
+        output[idx++] = value;
+      }
+    }
+    return output;
+  }
+
+  // Bind a number of an object's methods to that object. Remaining arguments
+  // are the method names to be bound. Useful for ensuring that all callbacks
+  // defined on an object belong to it.
+  var bindAll = restArguments(function(obj, keys) {
+    keys = flatten$1(keys, false, false);
+    var index = keys.length;
+    if (index < 1) throw new Error('bindAll must be passed function names');
+    while (index--) {
+      var key = keys[index];
+      obj[key] = bind(obj[key], obj);
+    }
+    return obj;
+  });
+
+  // Memoize an expensive function by storing its results.
+  function memoize(func, hasher) {
+    var memoize = function(key) {
+      var cache = memoize.cache;
+      var address = '' + (hasher ? hasher.apply(this, arguments) : key);
+      if (!has$1(cache, address)) cache[address] = func.apply(this, arguments);
+      return cache[address];
+    };
+    memoize.cache = {};
+    return memoize;
+  }
+
+  // Delays a function for the given number of milliseconds, and then calls
+  // it with the arguments supplied.
+  var delay = restArguments(function(func, wait, args) {
+    return setTimeout(function() {
+      return func.apply(null, args);
+    }, wait);
+  });
+
+  // Defers a function, scheduling it to run after the current call stack has
+  // cleared.
+  var defer = partial(delay, _$1, 1);
+
+  // Returns a function, that, when invoked, will only be triggered at most once
+  // during a given window of time. Normally, the throttled function will run
+  // as much as it can, without ever going more than once per `wait` duration;
+  // but if you'd like to disable the execution on the leading edge, pass
+  // `{leading: false}`. To disable execution on the trailing edge, ditto.
+  function throttle(func, wait, options) {
+    var timeout, context, args, result;
+    var previous = 0;
+    if (!options) options = {};
+
+    var later = function() {
+      previous = options.leading === false ? 0 : now();
+      timeout = null;
+      result = func.apply(context, args);
+      if (!timeout) context = args = null;
+    };
+
+    var throttled = function() {
+      var _now = now();
+      if (!previous && options.leading === false) previous = _now;
+      var remaining = wait - (_now - previous);
+      context = this;
+      args = arguments;
+      if (remaining <= 0 || remaining > wait) {
+        if (timeout) {
+          clearTimeout(timeout);
+          timeout = null;
+        }
+        previous = _now;
+        result = func.apply(context, args);
+        if (!timeout) context = args = null;
+      } else if (!timeout && options.trailing !== false) {
+        timeout = setTimeout(later, remaining);
+      }
+      return result;
+    };
+
+    throttled.cancel = function() {
+      clearTimeout(timeout);
+      previous = 0;
+      timeout = context = args = null;
+    };
+
+    return throttled;
+  }
+
+  // When a sequence of calls of the returned function ends, the argument
+  // function is triggered. The end of a sequence is defined by the `wait`
+  // parameter. If `immediate` is passed, the argument function will be
+  // triggered at the beginning of the sequence instead of at the end.
+  function debounce(func, wait, immediate) {
+    var timeout, previous, args, result, context;
+
+    var later = function() {
+      var passed = now() - previous;
+      if (wait > passed) {
+        timeout = setTimeout(later, wait - passed);
+      } else {
+        timeout = null;
+        if (!immediate) result = func.apply(context, args);
+        // This check is needed because `func` can recursively invoke `debounced`.
+        if (!timeout) args = context = null;
+      }
+    };
+
+    var debounced = restArguments(function(_args) {
+      context = this;
+      args = _args;
+      previous = now();
+      if (!timeout) {
+        timeout = setTimeout(later, wait);
+        if (immediate) result = func.apply(context, args);
+      }
+      return result;
+    });
+
+    debounced.cancel = function() {
+      clearTimeout(timeout);
+      timeout = args = context = null;
+    };
+
+    return debounced;
+  }
+
+  // Returns the first function passed as an argument to the second,
+  // allowing you to adjust arguments, run code before and after, and
+  // conditionally execute the original function.
+  function wrap(func, wrapper) {
+    return partial(wrapper, func);
+  }
+
+  // Returns a negated version of the passed-in predicate.
+  function negate(predicate) {
+    return function() {
+      return !predicate.apply(this, arguments);
+    };
+  }
+
+  // Returns a function that is the composition of a list of functions, each
+  // consuming the return value of the function that follows.
+  function compose() {
+    var args = arguments;
+    var start = args.length - 1;
+    return function() {
+      var i = start;
+      var result = args[start].apply(this, arguments);
+      while (i--) result = args[i].call(this, result);
+      return result;
+    };
+  }
+
+  // Returns a function that will only be executed on and after the Nth call.
+  function after(times, func) {
+    return function() {
+      if (--times < 1) {
+        return func.apply(this, arguments);
+      }
+    };
+  }
+
+  // Returns a function that will only be executed up to (but not including) the
+  // Nth call.
+  function before(times, func) {
+    var memo;
+    return function() {
+      if (--times > 0) {
+        memo = func.apply(this, arguments);
+      }
+      if (times <= 1) func = null;
+      return memo;
+    };
+  }
+
+  // Returns a function that will be executed at most one time, no matter how
+  // often you call it. Useful for lazy initialization.
+  var once = partial(before, 2);
+
+  // Returns the first key on an object that passes a truth test.
+  function findKey(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var _keys = keys(obj), key;
+    for (var i = 0, length = _keys.length; i < length; i++) {
+      key = _keys[i];
+      if (predicate(obj[key], key, obj)) return key;
+    }
+  }
+
+  // Internal function to generate `_.findIndex` and `_.findLastIndex`.
+  function createPredicateIndexFinder(dir) {
+    return function(array, predicate, context) {
+      predicate = cb(predicate, context);
+      var length = getLength(array);
+      var index = dir > 0 ? 0 : length - 1;
+      for (; index >= 0 && index < length; index += dir) {
+        if (predicate(array[index], index, array)) return index;
+      }
+      return -1;
+    };
+  }
+
+  // Returns the first index on an array-like that passes a truth test.
+  var findIndex = createPredicateIndexFinder(1);
+
+  // Returns the last index on an array-like that passes a truth test.
+  var findLastIndex = createPredicateIndexFinder(-1);
+
+  // Use a comparator function to figure out the smallest index at which
+  // an object should be inserted so as to maintain order. Uses binary search.
+  function sortedIndex(array, obj, iteratee, context) {
+    iteratee = cb(iteratee, context, 1);
+    var value = iteratee(obj);
+    var low = 0, high = getLength(array);
+    while (low < high) {
+      var mid = Math.floor((low + high) / 2);
+      if (iteratee(array[mid]) < value) low = mid + 1; else high = mid;
+    }
+    return low;
+  }
+
+  // Internal function to generate the `_.indexOf` and `_.lastIndexOf` functions.
+  function createIndexFinder(dir, predicateFind, sortedIndex) {
+    return function(array, item, idx) {
+      var i = 0, length = getLength(array);
+      if (typeof idx == 'number') {
+        if (dir > 0) {
+          i = idx >= 0 ? idx : Math.max(idx + length, i);
+        } else {
+          length = idx >= 0 ? Math.min(idx + 1, length) : idx + length + 1;
+        }
+      } else if (sortedIndex && idx && length) {
+        idx = sortedIndex(array, item);
+        return array[idx] === item ? idx : -1;
+      }
+      if (item !== item) {
+        idx = predicateFind(slice.call(array, i, length), isNaN$1);
+        return idx >= 0 ? idx + i : -1;
+      }
+      for (idx = dir > 0 ? i : length - 1; idx >= 0 && idx < length; idx += dir) {
+        if (array[idx] === item) return idx;
+      }
+      return -1;
+    };
+  }
+
+  // Return the position of the first occurrence of an item in an array,
+  // or -1 if the item is not included in the array.
+  // If the array is large and already in sort order, pass `true`
+  // for **isSorted** to use binary search.
+  var indexOf = createIndexFinder(1, findIndex, sortedIndex);
+
+  // Return the position of the last occurrence of an item in an array,
+  // or -1 if the item is not included in the array.
+  var lastIndexOf = createIndexFinder(-1, findLastIndex);
+
+  // Return the first value which passes a truth test.
+  function find(obj, predicate, context) {
+    var keyFinder = isArrayLike(obj) ? findIndex : findKey;
+    var key = keyFinder(obj, predicate, context);
+    if (key !== void 0 && key !== -1) return obj[key];
+  }
+
+  // Convenience version of a common use case of `_.find`: getting the first
+  // object containing specific `key:value` pairs.
+  function findWhere(obj, attrs) {
+    return find(obj, matcher(attrs));
+  }
+
+  // The cornerstone for collection functions, an `each`
+  // implementation, aka `forEach`.
+  // Handles raw objects in addition to array-likes. Treats all
+  // sparse array-likes as if they were dense.
+  function each(obj, iteratee, context) {
+    iteratee = optimizeCb(iteratee, context);
+    var i, length;
+    if (isArrayLike(obj)) {
+      for (i = 0, length = obj.length; i < length; i++) {
+        iteratee(obj[i], i, obj);
+      }
+    } else {
+      var _keys = keys(obj);
+      for (i = 0, length = _keys.length; i < length; i++) {
+        iteratee(obj[_keys[i]], _keys[i], obj);
+      }
+    }
+    return obj;
+  }
+
+  // Return the results of applying the iteratee to each element.
+  function map(obj, iteratee, context) {
+    iteratee = cb(iteratee, context);
+    var _keys = !isArrayLike(obj) && keys(obj),
+        length = (_keys || obj).length,
+        results = Array(length);
+    for (var index = 0; index < length; index++) {
+      var currentKey = _keys ? _keys[index] : index;
+      results[index] = iteratee(obj[currentKey], currentKey, obj);
+    }
+    return results;
+  }
+
+  // Internal helper to create a reducing function, iterating left or right.
+  function createReduce(dir) {
+    // Wrap code that reassigns argument variables in a separate function than
+    // the one that accesses `arguments.length` to avoid a perf hit. (#1991)
+    var reducer = function(obj, iteratee, memo, initial) {
+      var _keys = !isArrayLike(obj) && keys(obj),
+          length = (_keys || obj).length,
+          index = dir > 0 ? 0 : length - 1;
+      if (!initial) {
+        memo = obj[_keys ? _keys[index] : index];
+        index += dir;
+      }
+      for (; index >= 0 && index < length; index += dir) {
+        var currentKey = _keys ? _keys[index] : index;
+        memo = iteratee(memo, obj[currentKey], currentKey, obj);
+      }
+      return memo;
+    };
+
+    return function(obj, iteratee, memo, context) {
+      var initial = arguments.length >= 3;
+      return reducer(obj, optimizeCb(iteratee, context, 4), memo, initial);
+    };
+  }
+
+  // **Reduce** builds up a single result from a list of values, aka `inject`,
+  // or `foldl`.
+  var reduce = createReduce(1);
+
+  // The right-associative version of reduce, also known as `foldr`.
+  var reduceRight = createReduce(-1);
+
+  // Return all the elements that pass a truth test.
+  function filter(obj, predicate, context) {
+    var results = [];
+    predicate = cb(predicate, context);
+    each(obj, function(value, index, list) {
+      if (predicate(value, index, list)) results.push(value);
+    });
+    return results;
+  }
+
+  // Return all the elements for which a truth test fails.
+  function reject(obj, predicate, context) {
+    return filter(obj, negate(cb(predicate)), context);
+  }
+
+  // Determine whether all of the elements pass a truth test.
+  function every(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var _keys = !isArrayLike(obj) && keys(obj),
+        length = (_keys || obj).length;
+    for (var index = 0; index < length; index++) {
+      var currentKey = _keys ? _keys[index] : index;
+      if (!predicate(obj[currentKey], currentKey, obj)) return false;
+    }
+    return true;
+  }
+
+  // Determine if at least one element in the object passes a truth test.
+  function some(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var _keys = !isArrayLike(obj) && keys(obj),
+        length = (_keys || obj).length;
+    for (var index = 0; index < length; index++) {
+      var currentKey = _keys ? _keys[index] : index;
+      if (predicate(obj[currentKey], currentKey, obj)) return true;
+    }
+    return false;
+  }
+
+  // Determine if the array or object contains a given item (using `===`).
+  function contains(obj, item, fromIndex, guard) {
+    if (!isArrayLike(obj)) obj = values(obj);
+    if (typeof fromIndex != 'number' || guard) fromIndex = 0;
+    return indexOf(obj, item, fromIndex) >= 0;
+  }
+
+  // Invoke a method (with arguments) on every item in a collection.
+  var invoke = restArguments(function(obj, path, args) {
+    var contextPath, func;
+    if (isFunction$1(path)) {
+      func = path;
+    } else {
+      path = toPath(path);
+      contextPath = path.slice(0, -1);
+      path = path[path.length - 1];
+    }
+    return map(obj, function(context) {
+      var method = func;
+      if (!method) {
+        if (contextPath && contextPath.length) {
+          context = deepGet(context, contextPath);
+        }
+        if (context == null) return void 0;
+        method = context[path];
+      }
+      return method == null ? method : method.apply(context, args);
+    });
+  });
+
+  // Convenience version of a common use case of `_.map`: fetching a property.
+  function pluck(obj, key) {
+    return map(obj, property(key));
+  }
+
+  // Convenience version of a common use case of `_.filter`: selecting only
+  // objects containing specific `key:value` pairs.
+  function where(obj, attrs) {
+    return filter(obj, matcher(attrs));
+  }
+
+  // Return the maximum element (or element-based computation).
+  function max(obj, iteratee, context) {
+    var result = -Infinity, lastComputed = -Infinity,
+        value, computed;
+    if (iteratee == null || typeof iteratee == 'number' && typeof obj[0] != 'object' && obj != null) {
+      obj = isArrayLike(obj) ? obj : values(obj);
+      for (var i = 0, length = obj.length; i < length; i++) {
+        value = obj[i];
+        if (value != null && value > result) {
+          result = value;
+        }
+      }
+    } else {
+      iteratee = cb(iteratee, context);
+      each(obj, function(v, index, list) {
+        computed = iteratee(v, index, list);
+        if (computed > lastComputed || computed === -Infinity && result === -Infinity) {
+          result = v;
+          lastComputed = computed;
+        }
+      });
+    }
+    return result;
+  }
+
+  // Return the minimum element (or element-based computation).
+  function min(obj, iteratee, context) {
+    var result = Infinity, lastComputed = Infinity,
+        value, computed;
+    if (iteratee == null || typeof iteratee == 'number' && typeof obj[0] != 'object' && obj != null) {
+      obj = isArrayLike(obj) ? obj : values(obj);
+      for (var i = 0, length = obj.length; i < length; i++) {
+        value = obj[i];
+        if (value != null && value < result) {
+          result = value;
+        }
+      }
+    } else {
+      iteratee = cb(iteratee, context);
+      each(obj, function(v, index, list) {
+        computed = iteratee(v, index, list);
+        if (computed < lastComputed || computed === Infinity && result === Infinity) {
+          result = v;
+          lastComputed = computed;
+        }
+      });
+    }
+    return result;
+  }
+
+  // Sample **n** random values from a collection using the modern version of the
+  // [Fisher-Yates shuffle](https://en.wikipedia.org/wiki/Fisher–Yates_shuffle).
+  // If **n** is not specified, returns a single random element.
+  // The internal `guard` argument allows it to work with `_.map`.
+  function sample(obj, n, guard) {
+    if (n == null || guard) {
+      if (!isArrayLike(obj)) obj = values(obj);
+      return obj[random(obj.length - 1)];
+    }
+    var sample = isArrayLike(obj) ? clone(obj) : values(obj);
+    var length = getLength(sample);
+    n = Math.max(Math.min(n, length), 0);
+    var last = length - 1;
+    for (var index = 0; index < n; index++) {
+      var rand = random(index, last);
+      var temp = sample[index];
+      sample[index] = sample[rand];
+      sample[rand] = temp;
+    }
+    return sample.slice(0, n);
+  }
+
+  // Shuffle a collection.
+  function shuffle(obj) {
+    return sample(obj, Infinity);
+  }
+
+  // Sort the object's values by a criterion produced by an iteratee.
+  function sortBy(obj, iteratee, context) {
+    var index = 0;
+    iteratee = cb(iteratee, context);
+    return pluck(map(obj, function(value, key, list) {
+      return {
+        value: value,
+        index: index++,
+        criteria: iteratee(value, key, list)
+      };
+    }).sort(function(left, right) {
+      var a = left.criteria;
+      var b = right.criteria;
+      if (a !== b) {
+        if (a > b || a === void 0) return 1;
+        if (a < b || b === void 0) return -1;
+      }
+      return left.index - right.index;
+    }), 'value');
+  }
+
+  // An internal function used for aggregate "group by" operations.
+  function group(behavior, partition) {
+    return function(obj, iteratee, context) {
+      var result = partition ? [[], []] : {};
+      iteratee = cb(iteratee, context);
+      each(obj, function(value, index) {
+        var key = iteratee(value, index, obj);
+        behavior(result, value, key);
+      });
+      return result;
+    };
+  }
+
+  // Groups the object's values by a criterion. Pass either a string attribute
+  // to group by, or a function that returns the criterion.
+  var groupBy = group(function(result, value, key) {
+    if (has$1(result, key)) result[key].push(value); else result[key] = [value];
+  });
+
+  // Indexes the object's values by a criterion, similar to `_.groupBy`, but for
+  // when you know that your index values will be unique.
+  var indexBy = group(function(result, value, key) {
+    result[key] = value;
+  });
+
+  // Counts instances of an object that group by a certain criterion. Pass
+  // either a string attribute to count by, or a function that returns the
+  // criterion.
+  var countBy = group(function(result, value, key) {
+    if (has$1(result, key)) result[key]++; else result[key] = 1;
+  });
+
+  // Split a collection into two arrays: one whose elements all pass the given
+  // truth test, and one whose elements all do not pass the truth test.
+  var partition = group(function(result, value, pass) {
+    result[pass ? 0 : 1].push(value);
+  }, true);
+
+  // Safely create a real, live array from anything iterable.
+  var reStrSymbol = /[^\ud800-\udfff]|[\ud800-\udbff][\udc00-\udfff]|[\ud800-\udfff]/g;
+  function toArray(obj) {
+    if (!obj) return [];
+    if (isArray(obj)) return slice.call(obj);
+    if (isString(obj)) {
+      // Keep surrogate pair characters together.
+      return obj.match(reStrSymbol);
+    }
+    if (isArrayLike(obj)) return map(obj, identity);
+    return values(obj);
+  }
+
+  // Return the number of elements in a collection.
+  function size(obj) {
+    if (obj == null) return 0;
+    return isArrayLike(obj) ? obj.length : keys(obj).length;
+  }
+
+  // Internal `_.pick` helper function to determine whether `key` is an enumerable
+  // property name of `obj`.
+  function keyInObj(value, key, obj) {
+    return key in obj;
+  }
+
+  // Return a copy of the object only containing the allowed properties.
+  var pick = restArguments(function(obj, keys) {
+    var result = {}, iteratee = keys[0];
+    if (obj == null) return result;
+    if (isFunction$1(iteratee)) {
+      if (keys.length > 1) iteratee = optimizeCb(iteratee, keys[1]);
+      keys = allKeys(obj);
+    } else {
+      iteratee = keyInObj;
+      keys = flatten$1(keys, false, false);
+      obj = Object(obj);
+    }
+    for (var i = 0, length = keys.length; i < length; i++) {
+      var key = keys[i];
+      var value = obj[key];
+      if (iteratee(value, key, obj)) result[key] = value;
+    }
+    return result;
+  });
+
+  // Return a copy of the object without the disallowed properties.
+  var omit = restArguments(function(obj, keys) {
+    var iteratee = keys[0], context;
+    if (isFunction$1(iteratee)) {
+      iteratee = negate(iteratee);
+      if (keys.length > 1) context = keys[1];
+    } else {
+      keys = map(flatten$1(keys, false, false), String);
+      iteratee = function(value, key) {
+        return !contains(keys, key);
+      };
+    }
+    return pick(obj, iteratee, context);
+  });
+
+  // Returns everything but the last entry of the array. Especially useful on
+  // the arguments object. Passing **n** will return all the values in
+  // the array, excluding the last N.
+  function initial(array, n, guard) {
+    return slice.call(array, 0, Math.max(0, array.length - (n == null || guard ? 1 : n)));
+  }
+
+  // Get the first element of an array. Passing **n** will return the first N
+  // values in the array. The **guard** check allows it to work with `_.map`.
+  function first(array, n, guard) {
+    if (array == null || array.length < 1) return n == null || guard ? void 0 : [];
+    if (n == null || guard) return array[0];
+    return initial(array, array.length - n);
+  }
+
+  // Returns everything but the first entry of the `array`. Especially useful on
+  // the `arguments` object. Passing an **n** will return the rest N values in the
+  // `array`.
+  function rest(array, n, guard) {
+    return slice.call(array, n == null || guard ? 1 : n);
+  }
+
+  // Get the last element of an array. Passing **n** will return the last N
+  // values in the array.
+  function last(array, n, guard) {
+    if (array == null || array.length < 1) return n == null || guard ? void 0 : [];
+    if (n == null || guard) return array[array.length - 1];
+    return rest(array, Math.max(0, array.length - n));
+  }
+
+  // Trim out all falsy values from an array.
+  function compact(array) {
+    return filter(array, Boolean);
+  }
+
+  // Flatten out an array, either recursively (by default), or up to `depth`.
+  // Passing `true` or `false` as `depth` means `1` or `Infinity`, respectively.
+  function flatten(array, depth) {
+    return flatten$1(array, depth, false);
+  }
+
+  // Take the difference between one array and a number of other arrays.
+  // Only the elements present in just the first array will remain.
+  var difference = restArguments(function(array, rest) {
+    rest = flatten$1(rest, true, true);
+    return filter(array, function(value){
+      return !contains(rest, value);
+    });
+  });
+
+  // Return a version of the array that does not contain the specified value(s).
+  var without = restArguments(function(array, otherArrays) {
+    return difference(array, otherArrays);
+  });
+
+  // Produce a duplicate-free version of the array. If the array has already
+  // been sorted, you have the option of using a faster algorithm.
+  // The faster algorithm will not work with an iteratee if the iteratee
+  // is not a one-to-one function, so providing an iteratee will disable
+  // the faster algorithm.
+  function uniq(array, isSorted, iteratee, context) {
+    if (!isBoolean(isSorted)) {
+      context = iteratee;
+      iteratee = isSorted;
+      isSorted = false;
+    }
+    if (iteratee != null) iteratee = cb(iteratee, context);
+    var result = [];
+    var seen = [];
+    for (var i = 0, length = getLength(array); i < length; i++) {
+      var value = array[i],
+          computed = iteratee ? iteratee(value, i, array) : value;
+      if (isSorted && !iteratee) {
+        if (!i || seen !== computed) result.push(value);
+        seen = computed;
+      } else if (iteratee) {
+        if (!contains(seen, computed)) {
+          seen.push(computed);
+          result.push(value);
+        }
+      } else if (!contains(result, value)) {
+        result.push(value);
+      }
+    }
+    return result;
+  }
+
+  // Produce an array that contains the union: each distinct element from all of
+  // the passed-in arrays.
+  var union = restArguments(function(arrays) {
+    return uniq(flatten$1(arrays, true, true));
+  });
+
+  // Produce an array that contains every item shared between all the
+  // passed-in arrays.
+  function intersection(array) {
+    var result = [];
+    var argsLength = arguments.length;
+    for (var i = 0, length = getLength(array); i < length; i++) {
+      var item = array[i];
+      if (contains(result, item)) continue;
+      var j;
+      for (j = 1; j < argsLength; j++) {
+        if (!contains(arguments[j], item)) break;
+      }
+      if (j === argsLength) result.push(item);
+    }
+    return result;
+  }
+
+  // Complement of zip. Unzip accepts an array of arrays and groups
+  // each array's elements on shared indices.
+  function unzip(array) {
+    var length = array && max(array, getLength).length || 0;
+    var result = Array(length);
+
+    for (var index = 0; index < length; index++) {
+      result[index] = pluck(array, index);
+    }
+    return result;
+  }
+
+  // Zip together multiple lists into a single array -- elements that share
+  // an index go together.
+  var zip = restArguments(unzip);
+
+  // Converts lists into objects. Pass either a single array of `[key, value]`
+  // pairs, or two parallel arrays of the same length -- one of keys, and one of
+  // the corresponding values. Passing by pairs is the reverse of `_.pairs`.
+  function object(list, values) {
+    var result = {};
+    for (var i = 0, length = getLength(list); i < length; i++) {
+      if (values) {
+        result[list[i]] = values[i];
+      } else {
+        result[list[i][0]] = list[i][1];
+      }
+    }
+    return result;
+  }
+
+  // Generate an integer Array containing an arithmetic progression. A port of
+  // the native Python `range()` function. See
+  // [the Python documentation](https://docs.python.org/library/functions.html#range).
+  function range(start, stop, step) {
+    if (stop == null) {
+      stop = start || 0;
+      start = 0;
+    }
+    if (!step) {
+      step = stop < start ? -1 : 1;
+    }
+
+    var length = Math.max(Math.ceil((stop - start) / step), 0);
+    var range = Array(length);
+
+    for (var idx = 0; idx < length; idx++, start += step) {
+      range[idx] = start;
+    }
+
+    return range;
+  }
+
+  // Chunk a single array into multiple arrays, each containing `count` or fewer
+  // items.
+  function chunk(array, count) {
+    if (count == null || count < 1) return [];
+    var result = [];
+    var i = 0, length = array.length;
+    while (i < length) {
+      result.push(slice.call(array, i, i += count));
+    }
+    return result;
+  }
+
+  // Helper function to continue chaining intermediate results.
+  function chainResult(instance, obj) {
+    return instance._chain ? _$1(obj).chain() : obj;
+  }
+
+  // Add your own custom functions to the Underscore object.
+  function mixin(obj) {
+    each(functions(obj), function(name) {
+      var func = _$1[name] = obj[name];
+      _$1.prototype[name] = function() {
+        var args = [this._wrapped];
+        push.apply(args, arguments);
+        return chainResult(this, func.apply(_$1, args));
+      };
+    });
+    return _$1;
+  }
+
+  // Add all mutator `Array` functions to the wrapper.
+  each(['pop', 'push', 'reverse', 'shift', 'sort', 'splice', 'unshift'], function(name) {
+    var method = ArrayProto[name];
+    _$1.prototype[name] = function() {
+      var obj = this._wrapped;
+      if (obj != null) {
+        method.apply(obj, arguments);
+        if ((name === 'shift' || name === 'splice') && obj.length === 0) {
+          delete obj[0];
+        }
+      }
+      return chainResult(this, obj);
+    };
+  });
+
+  // Add all accessor `Array` functions to the wrapper.
+  each(['concat', 'join', 'slice'], function(name) {
+    var method = ArrayProto[name];
+    _$1.prototype[name] = function() {
+      var obj = this._wrapped;
+      if (obj != null) obj = method.apply(obj, arguments);
+      return chainResult(this, obj);
+    };
+  });
+
+  // Named Exports
+
+  var allExports = {
+    __proto__: null,
+    VERSION: VERSION,
+    restArguments: restArguments,
+    isObject: isObject,
+    isNull: isNull,
+    isUndefined: isUndefined,
+    isBoolean: isBoolean,
+    isElement: isElement,
+    isString: isString,
+    isNumber: isNumber,
+    isDate: isDate,
+    isRegExp: isRegExp,
+    isError: isError,
+    isSymbol: isSymbol,
+    isArrayBuffer: isArrayBuffer,
+    isDataView: isDataView$1,
+    isArray: isArray,
+    isFunction: isFunction$1,
+    isArguments: isArguments$1,
+    isFinite: isFinite$1,
+    isNaN: isNaN$1,
+    isTypedArray: isTypedArray$1,
+    isEmpty: isEmpty,
+    isMatch: isMatch,
+    isEqual: isEqual,
+    isMap: isMap,
+    isWeakMap: isWeakMap,
+    isSet: isSet,
+    isWeakSet: isWeakSet,
+    keys: keys,
+    allKeys: allKeys,
+    values: values,
+    pairs: pairs,
+    invert: invert,
+    functions: functions,
+    methods: functions,
+    extend: extend,
+    extendOwn: extendOwn,
+    assign: extendOwn,
+    defaults: defaults,
+    create: create,
+    clone: clone,
+    tap: tap,
+    get: get,
+    has: has,
+    mapObject: mapObject,
+    identity: identity,
+    constant: constant,
+    noop: noop,
+    toPath: toPath$1,
+    property: property,
+    propertyOf: propertyOf,
+    matcher: matcher,
+    matches: matcher,
+    times: times,
+    random: random,
+    now: now,
+    escape: _escape,
+    unescape: _unescape,
+    templateSettings: templateSettings,
+    template: template,
+    result: result,
+    uniqueId: uniqueId,
+    chain: chain,
+    iteratee: iteratee,
+    partial: partial,
+    bind: bind,
+    bindAll: bindAll,
+    memoize: memoize,
+    delay: delay,
+    defer: defer,
+    throttle: throttle,
+    debounce: debounce,
+    wrap: wrap,
+    negate: negate,
+    compose: compose,
+    after: after,
+    before: before,
+    once: once,
+    findKey: findKey,
+    findIndex: findIndex,
+    findLastIndex: findLastIndex,
+    sortedIndex: sortedIndex,
+    indexOf: indexOf,
+    lastIndexOf: lastIndexOf,
+    find: find,
+    detect: find,
+    findWhere: findWhere,
+    each: each,
+    forEach: each,
+    map: map,
+    collect: map,
+    reduce: reduce,
+    foldl: reduce,
+    inject: reduce,
+    reduceRight: reduceRight,
+    foldr: reduceRight,
+    filter: filter,
+    select: filter,
+    reject: reject,
+    every: every,
+    all: every,
+    some: some,
+    any: some,
+    contains: contains,
+    includes: contains,
+    include: contains,
+    invoke: invoke,
+    pluck: pluck,
+    where: where,
+    max: max,
+    min: min,
+    shuffle: shuffle,
+    sample: sample,
+    sortBy: sortBy,
+    groupBy: groupBy,
+    indexBy: indexBy,
+    countBy: countBy,
+    partition: partition,
+    toArray: toArray,
+    size: size,
+    pick: pick,
+    omit: omit,
+    first: first,
+    head: first,
+    take: first,
+    initial: initial,
+    last: last,
+    rest: rest,
+    tail: rest,
+    drop: rest,
+    compact: compact,
+    flatten: flatten,
+    without: without,
+    uniq: uniq,
+    unique: uniq,
+    union: union,
+    intersection: intersection,
+    difference: difference,
+    unzip: unzip,
+    transpose: unzip,
+    zip: zip,
+    object: object,
+    range: range,
+    chunk: chunk,
+    mixin: mixin,
+    'default': _$1
+  };
+
+  // Default Export
+
+  // Add all of the Underscore functions to the wrapper object.
+  var _ = mixin(allExports);
+  // Legacy Node.js API.
+  _._ = _;
+
+  return _;
+
+})));
+//# sourceMappingURL=underscore-umd.js.map
diff --git a/doc/_build/html/_static/underscore.js b/doc/_build/html/_static/underscore.js
new file mode 100644
index 00000000..cf177d42
--- /dev/null
+++ b/doc/_build/html/_static/underscore.js
@@ -0,0 +1,6 @@
+!function(n,r){"object"==typeof exports&&"undefined"!=typeof module?module.exports=r():"function"==typeof define&&define.amd?define("underscore",r):(n="undefined"!=typeof globalThis?globalThis:n||self,function(){var t=n._,e=n._=r();e.noConflict=function(){return n._=t,e}}())}(this,(function(){
+//     Underscore.js 1.13.1
+//     https://underscorejs.org
+//     (c) 2009-2021 Jeremy Ashkenas, Julian Gonggrijp, and DocumentCloud and Investigative Reporters & Editors
+//     Underscore may be freely distributed under the MIT license.
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diff --git a/doc/_build/html/genindex.html b/doc/_build/html/genindex.html
new file mode 100644
index 00000000..2cef4e10
--- /dev/null
+++ b/doc/_build/html/genindex.html
@@ -0,0 +1,338 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Index &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <!--[if lt IE 9]>
+    <script src="_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+  
+        <script data-url_root="./" id="documentation_options" src="_static/documentation_options.js"></script>
+        <script src="_static/jquery.js"></script>
+        <script src="_static/underscore.js"></script>
+        <script src="_static/_sphinx_javascript_frameworks_compat.js"></script>
+        <script src="_static/doctools.js"></script>
+        <script src="_static/sphinx_highlight.js"></script>
+        <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="#" />
+    <link rel="search" title="Search" href="search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="index.html" class="icon icon-home">
+            Slycot
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="intro.html">Introduction</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="index.html">Slycot</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Index</li>
+      <li class="wy-breadcrumbs-aside">
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+
+<h1 id="index">Index</h1>
+
+<div class="genindex-jumpbox">
+ <a href="#A"><strong>A</strong></a>
+ | <a href="#M"><strong>M</strong></a>
+ | <a href="#S"><strong>S</strong></a>
+ | <a href="#T"><strong>T</strong></a>
+ 
+</div>
+<h2 id="A">A</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot._wrapper.ab01nd.html#slycot._wrapper.ab01nd">ab01nd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab01nd.html#slycot.ab01nd">ab01nd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab04md.html#slycot._wrapper.ab04md">ab04md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab04md.html#slycot.ab04md">ab04md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab05md.html#slycot._wrapper.ab05md">ab05md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab05md.html#slycot.ab05md">ab05md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab05nd.html#slycot._wrapper.ab05nd">ab05nd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab05nd.html#slycot.ab05nd">ab05nd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab07nd.html#slycot._wrapper.ab07nd">ab07nd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab07nd.html#slycot.ab07nd">ab07nd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab08nd.html#slycot._wrapper.ab08nd">ab08nd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab08nd.html#slycot.ab08nd">ab08nd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab08nz.html#slycot._wrapper.ab08nz">ab08nz (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab08nz.html#slycot.ab08nz">ab08nz() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab09ad.html#slycot._wrapper.ab09ad">ab09ad (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab09ad.html#slycot.ab09ad">ab09ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab09ax.html#slycot._wrapper.ab09ax">ab09ax (in module slycot._wrapper)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot.ab09ax.html#slycot.ab09ax">ab09ax() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab09bd.html#slycot._wrapper.ab09bd">ab09bd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab09bd.html#slycot.ab09bd">ab09bd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab09md.html#slycot._wrapper.ab09md">ab09md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab09md.html#slycot.ab09md">ab09md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab09nd.html#slycot._wrapper.ab09nd">ab09nd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab09nd.html#slycot.ab09nd">ab09nd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab13bd.html#slycot._wrapper.ab13bd">ab13bd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab13bd.html#slycot.ab13bd">ab13bd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab13dd.html#slycot._wrapper.ab13dd">ab13dd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab13dd.html#slycot.ab13dd">ab13dd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab13ed.html#slycot._wrapper.ab13ed">ab13ed (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab13ed.html#slycot.ab13ed">ab13ed() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab13fd.html#slycot._wrapper.ab13fd">ab13fd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab13fd.html#slycot.ab13fd">ab13fd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.ab13md.html#slycot._wrapper.ab13md">ab13md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.ab13md.html#slycot.ab13md">ab13md() (in module slycot)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="M">M</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot._wrapper.mb03rd.html#slycot._wrapper.mb03rd">mb03rd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mb03rd.html#slycot.mb03rd">mb03rd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.mb03vd.html#slycot._wrapper.mb03vd">mb03vd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mb03vd.html#slycot.mb03vd">mb03vd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.mb03vy.html#slycot._wrapper.mb03vy">mb03vy (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mb03vy.html#slycot.mb03vy">mb03vy() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.mb03wd.html#slycot._wrapper.mb03wd">mb03wd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mb03wd.html#slycot.mb03wd">mb03wd() (in module slycot)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot._wrapper.mb05md.html#slycot._wrapper.mb05md">mb05md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mb05md.html#slycot.mb05md">mb05md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.mb05nd.html#slycot._wrapper.mb05nd">mb05nd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mb05nd.html#slycot.mb05nd">mb05nd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.mc01td.html#slycot._wrapper.mc01td">mc01td (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.mc01td.html#slycot.mc01td">mc01td() (in module slycot)</a>
+</li>
+      <li>
+    module
+
+      <ul>
+        <li><a href="source/reference/slycot_inner.html#module-slycot">slycot</a>, <a href="source/reference/slycot_outer.html#module-slycot">[1]</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="S">S</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot._wrapper.sb01bd.html#slycot._wrapper.sb01bd">sb01bd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb01bd.html#slycot.sb01bd">sb01bd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb02md.html#slycot._wrapper.sb02md">sb02md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb02md.html#slycot.sb02md">sb02md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb02mt.html#slycot.sb02mt">sb02mt() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb02od.html#slycot.sb02od">sb02od() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb03md.html#slycot._wrapper.sb03md">sb03md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb03md.html#slycot.sb03md">sb03md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb03md57.html#slycot.sb03md57">sb03md57() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb03od.html#slycot._wrapper.sb03od">sb03od (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb03od.html#slycot.sb03od">sb03od() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb04md.html#slycot._wrapper.sb04md">sb04md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb04md.html#slycot.sb04md">sb04md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb04qd.html#slycot._wrapper.sb04qd">sb04qd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb04qd.html#slycot.sb04qd">sb04qd() (in module slycot)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot._wrapper.sb10ad.html#slycot._wrapper.sb10ad">sb10ad (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb10ad.html#slycot.sb10ad">sb10ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb10dd.html#slycot._wrapper.sb10dd">sb10dd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb10dd.html#slycot.sb10dd">sb10dd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb10fd.html#slycot._wrapper.sb10fd">sb10fd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb10fd.html#slycot.sb10fd">sb10fd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sb10hd.html#slycot._wrapper.sb10hd">sb10hd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sb10hd.html#slycot.sb10hd">sb10hd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sg02ad.html#slycot.sg02ad">sg02ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sg03ad.html#slycot._wrapper.sg03ad">sg03ad (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sg03ad.html#slycot.sg03ad">sg03ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.sg03bd.html#slycot._wrapper.sg03bd">sg03bd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.sg03bd.html#slycot.sg03bd">sg03bd() (in module slycot)</a>
+</li>
+      <li>
+    slycot
+
+      <ul>
+        <li><a href="source/reference/slycot_inner.html#module-slycot">module</a>, <a href="source/reference/slycot_outer.html#module-slycot">[1]</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="T">T</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot._wrapper.tb01id.html#slycot._wrapper.tb01id">tb01id (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tb01id.html#slycot.tb01id">tb01id() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.tb01pd.html#slycot._wrapper.tb01pd">tb01pd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tb01pd.html#slycot.tb01pd">tb01pd() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tb03ad.html#slycot.tb03ad">tb03ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tb04ad.html#slycot.tb04ad">tb04ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tb05ad.html#slycot.tb05ad">tb05ad() (in module slycot)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/reference/generated/slycot.tc01od.html#slycot.tc01od">tc01od() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tc04ad.html#slycot.tc04ad">tc04ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.td04ad.html#slycot.td04ad">td04ad() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.tf01md.html#slycot._wrapper.tf01md">tf01md (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tf01md.html#slycot.tf01md">tf01md() (in module slycot)</a>
+</li>
+      <li><a href="source/reference/generated/slycot._wrapper.tf01rd.html#slycot._wrapper.tf01rd">tf01rd (in module slycot._wrapper)</a>
+</li>
+      <li><a href="source/reference/generated/slycot.tf01rd.html#slycot.tf01rd">tf01rd() (in module slycot)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
+
+</footer>
+        </div>
+      </div>
+    </section>
+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
\ No newline at end of file
diff --git a/doc/_build/html/index.html b/doc/_build/html/index.html
new file mode 100644
index 00000000..07bfdd47
--- /dev/null
+++ b/doc/_build/html/index.html
@@ -0,0 +1,141 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Slycot &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <!--[if lt IE 9]>
+    <script src="_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+  
+        <script data-url_root="./" id="documentation_options" src="_static/documentation_options.js"></script>
+        <script src="_static/jquery.js"></script>
+        <script src="_static/underscore.js"></script>
+        <script src="_static/_sphinx_javascript_frameworks_compat.js"></script>
+        <script src="_static/doctools.js"></script>
+        <script src="_static/sphinx_highlight.js"></script>
+        <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" />
+    <link rel="next" title="Introduction" href="intro.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
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+            Slycot
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
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+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="intro.html">Introduction</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="#">Slycot</a>
+      </nav>
+
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+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="#" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Slycot</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="_sources/index.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot">
+<h1>Slycot<a class="headerlink" href="#slycot" title="Permalink to this heading"></a></h1>
+<p>Python wrapper for selected SLICOT routines,
+notably including solvers for Riccati, Lyapunov, and Sylvester equations.</p>
+<p class="rubric">Features</p>
+<ul class="simple">
+<li><p>Analysis Routines</p></li>
+<li><p>Benchmark</p></li>
+<li><p>Adaptive Control</p></li>
+<li><p>Data Analysis</p></li>
+<li><p>Filtering</p></li>
+<li><p>Identification</p></li>
+<li><p>Mathematical Routines</p></li>
+<li><p>Nonlinear Systems</p></li>
+<li><p>Synthesis Routines</p></li>
+<li><p>Transformation Routines</p></li>
+<li><p>Utility Routines</p></li>
+</ul>
+<p class="rubric">Documentation</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="intro.html">Introduction</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
+</ul>
+</div>
+</div>
+<div class="section" id="indices-and-tables">
+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading"></a></h1>
+<ul class="simple">
+<li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
+<li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
+<li><p><a class="reference internal" href="search.html"><span class="std std-ref">Search Page</span></a></p></li>
+</ul>
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+        <a href="intro.html" class="btn btn-neutral float-right" title="Introduction" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
+
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+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
\ No newline at end of file
diff --git a/doc/_build/html/intro.html b/doc/_build/html/intro.html
new file mode 100644
index 00000000..c06ea1b9
--- /dev/null
+++ b/doc/_build/html/intro.html
@@ -0,0 +1,167 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Introduction &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <!--[if lt IE 9]>
+    <script src="_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+  
+        <script data-url_root="./" id="documentation_options" src="_static/documentation_options.js"></script>
+        <script src="_static/jquery.js"></script>
+        <script src="_static/underscore.js"></script>
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+        <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" />
+    <link rel="next" title="Slycot reference" href="source/reference/index.html" />
+    <link rel="prev" title="Slycot" href="index.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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+        <div class="wy-side-nav-search" >
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+            Slycot
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Introduction</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#installation">Installation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#getting-started">Getting started</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="index.html">Slycot</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Introduction</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="_sources/intro.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="introduction">
+<h1>Introduction<a class="headerlink" href="#introduction" title="Permalink to this heading"></a></h1>
+<p>Welcome to the Slycot (<cite>slycot</cite>) User’s Manual.
+This manual contains information on using the <cite>slycot</cite> package,
+including documentation for all functions in the package and examples illustrating their use.</p>
+<div class="section" id="installation">
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<p>The <cite>slycot</cite> package can be installed using conda or pip.  The
+package requires <a class="reference external" href="http://www.numpy.org">NumPy</a>.</p>
+<p>For users with the Anaconda distribution of Python, the following
+command can be used:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">conda</span> <span class="n">install</span> <span class="o">-</span><span class="n">c</span> <span class="n">conda</span><span class="o">-</span><span class="n">forge</span> <span class="n">slycot</span>
+</pre></div>
+</div>
+<p>This installs <cite>slycot</cite> from conda-forge, including the
+<cite>openblas</cite> package.  NumPy will also be installed if
+they are not already present.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Mixing packages from conda-forge and the default conda channel
+can sometimes cause problems with dependencies, so it is usually best to
+instally NumPy, SciPy, and Matplotlib from conda-forge as well.</p>
+</div>
+<p>To install using pip:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="n">slycot</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you install Slycot using pip you’ll need a development
+environment (e.g., Python development files, C and Fortran compilers).
+Pip installation can be particularly complicated for Windows.</p>
+</div>
+<p>Users can check to insure that slycot is installed
+correctly by running the command:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">python</span> <span class="o">-</span><span class="n">c</span> <span class="s2">&quot;import slycot&quot;</span>
+</pre></div>
+</div>
+<p>and verifying that no error message appears. More information on the
+Slycot package can be obtained from the <a class="reference external" href="https://github.com/python-control/Slycot">Slycot project page</a>.</p>
+<p>Alternatively, to install from source, first <a class="reference external" href="https://github.com/python-control/Slycot">download the source</a> and unpack it.
+To install in your home directory, use:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="o">.</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="getting-started">
+<h2>Getting started<a class="headerlink" href="#getting-started" title="Permalink to this heading"></a></h2>
+<p>There are two different ways to use the package.  For the default interface
+described in <a class="reference internal" href="source/reference/slycot_outer.html#function-ref"><span class="std std-ref">Outer function reference</span></a>, simply import the control package as follows:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
+</pre></div>
+</div>
+</div>
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="index.html" class="btn btn-neutral float-left" title="Slycot" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="source/reference/index.html" class="btn btn-neutral float-right" title="Slycot reference" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
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new file mode 100644
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+++ b/doc/_build/html/py-modindex.html
@@ -0,0 +1,126 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Python Module Index &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <!--[if lt IE 9]>
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+        <script src="_static/sphinx_highlight.js"></script>
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+    <script src="_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
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+ 
+
+    <script>
+      DOCUMENTATION_OPTIONS.COLLAPSE_INDEX = true;
+    </script>
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+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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+        <div class="wy-side-nav-search" >
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+            Slycot
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+<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+
+   <h1>Python Module Index</h1>
+
+   <div class="modindex-jumpbox">
+   <a href="#cap-s"><strong>s</strong></a>
+   </div>
+
+   <table class="indextable modindextable">
+     <tr class="pcap"><td></td><td>&#160;</td><td></td></tr>
+     <tr class="cap" id="cap-s"><td></td><td>
+       <strong>s</strong></td><td></td></tr>
+     <tr>
+       <td></td>
+       <td>
+       <a href="source/reference/slycot_outer.html#module-slycot"><code class="xref">slycot</code></a></td><td>
+       <em></em></td></tr>
+   </table>
+
+
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"slycot.ab13md"]], "mb03rd() (in module slycot)": [[62, "slycot.mb03rd"]], "mb03vd() (in module slycot)": [[63, "slycot.mb03vd"]], "mb03vy() (in module slycot)": [[64, "slycot.mb03vy"]], "mb03wd() (in module slycot)": [[65, "slycot.mb03wd"]], "mb05md() (in module slycot)": [[66, "slycot.mb05md"]], "mb05nd() (in module slycot)": [[67, "slycot.mb05nd"]], "mc01td() (in module slycot)": [[68, "slycot.mc01td"]], "sb01bd() (in module slycot)": [[69, "slycot.sb01bd"]], "sb02md() (in module slycot)": [[70, "slycot.sb02md"]], "sb02mt() (in module slycot)": [[71, "slycot.sb02mt"]], "sb02od() (in module slycot)": [[72, "slycot.sb02od"]], "sb03md() (in module slycot)": [[73, "slycot.sb03md"]], "sb03md57() (in module slycot)": [[74, "slycot.sb03md57"]], "sb03od() (in module slycot)": [[75, "slycot.sb03od"]], "sb04md() (in module slycot)": [[76, "slycot.sb04md"]], "sb04qd() (in module slycot)": [[77, "slycot.sb04qd"]], "sb10ad() (in module slycot)": [[78, "slycot.sb10ad"]], "sb10dd() (in module slycot)": [[79, "slycot.sb10dd"]], "sb10fd() (in module slycot)": [[80, "slycot.sb10fd"]], "sb10hd() (in module slycot)": [[81, "slycot.sb10hd"]], "sg02ad() (in module slycot)": [[82, "slycot.sg02ad"]], "sg03ad() (in module slycot)": [[83, "slycot.sg03ad"]], "sg03bd() (in module slycot)": [[84, "slycot.sg03bd"]], "tb01id() (in module slycot)": [[85, "slycot.tb01id"]], "tb01pd() (in module slycot)": [[86, "slycot.tb01pd"]], "tb03ad() (in module slycot)": [[87, "slycot.tb03ad"]], "tb04ad() (in module slycot)": [[88, "slycot.tb04ad"]], "tb05ad() (in module slycot)": [[89, "slycot.tb05ad"]], "tc01od() (in module slycot)": [[90, "slycot.tc01od"]], "tc04ad() (in module slycot)": [[91, "slycot.tc04ad"]], "td04ad() (in module slycot)": [[92, "slycot.td04ad"]], "tf01md() (in module slycot)": [[93, "slycot.tf01md"]], "tf01rd() (in module slycot)": [[94, "slycot.tf01rd"]], "module": [[96, "module-slycot"], [97, "module-slycot"]], "slycot": [[96, "module-slycot"], [97, "module-slycot"]]}})
\ No newline at end of file
diff --git a/doc/_build/html/source/dev/basic.html b/doc/_build/html/source/dev/basic.html
new file mode 100644
index 00000000..b5161bc9
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Contributing to Slycot</a><ul>
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+             
+  <div class="section" id="contributing-to-slycot">
+<h1>Contributing to Slycot<a class="headerlink" href="#contributing-to-slycot" title="Permalink to this heading"></a></h1>
+<div class="section" id="f2py">
+<h2>F2PY<a class="headerlink" href="#f2py" title="Permalink to this heading"></a></h2>
+<p>Slycot heavily relias on <a class="reference external" href="https://numpy.org/devdocs/f2py/index.html">F2PY</a>.
+<a class="reference external" href="https://numpy.org/devdocs/f2py/index.html">F2PY</a> is currently a part of <a class="reference external" href="http://www.numpy.org">NumPy</a>.</p>
+</div>
+<div class="section" id="development-process-summary">
+<h2>Development process - summary<a class="headerlink" href="#development-process-summary" title="Permalink to this heading"></a></h2>
+<p>Here’s the short summary, complete TOC links are below:</p>
+<ol class="arabic">
+<li><p>If you are a first-time contributor:</p>
+<ul>
+<li><p>Go to <a class="reference external" href="https://github.com/numpy/numpy">https://github.com/numpy/numpy</a> and click the
+“fork” button to create your own copy of the project.</p></li>
+<li><p>Clone the project to your local computer:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">clone</span> <span class="o">--</span><span class="n">recurse</span><span class="o">-</span><span class="n">submodules</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">github</span><span class="o">.</span><span class="n">com</span><span class="o">/</span><span class="n">your</span><span class="o">-</span><span class="n">username</span><span class="o">/</span><span class="n">numpy</span><span class="o">.</span><span class="n">git</span>
+</pre></div>
+</div>
+</li>
+<li><p>Change the directory:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">numpy</span>
+</pre></div>
+</div>
+</li>
+<li><p>Add the upstream repository:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">remote</span> <span class="n">add</span> <span class="n">upstream</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">github</span><span class="o">.</span><span class="n">com</span><span class="o">/</span><span class="n">numpy</span><span class="o">/</span><span class="n">numpy</span><span class="o">.</span><span class="n">git</span>
+</pre></div>
+</div>
+</li>
+<li><p>Now, <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">remote</span> <span class="pre">-v</span></code> will show two remote repositories named:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">upstream</span></code>, which refers to the <code class="docutils literal notranslate"><span class="pre">numpy</span></code> repository</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">origin</span></code>, which refers to your personal fork</p></li>
+</ul>
+</li>
+<li><p>Pull the latest changes from upstream, including tags:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">checkout</span> <span class="n">main</span>
+<span class="n">git</span> <span class="n">pull</span> <span class="n">upstream</span> <span class="n">main</span> <span class="o">--</span><span class="n">tags</span>
+</pre></div>
+</div>
+</li>
+<li><p>Initialize numpy’s submodules:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">submodule</span> <span class="n">update</span> <span class="o">--</span><span class="n">init</span>
+</pre></div>
+</div>
+</li>
+</ul>
+</li>
+<li><p>Develop your contribution:</p>
+<ul>
+<li><p>Create a branch for the feature you want to work on. Since the
+branch name will appear in the merge message, use a sensible name
+such as ‘linspace-speedups’:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">checkout</span> <span class="o">-</span><span class="n">b</span> <span class="n">linspace</span><span class="o">-</span><span class="n">speedups</span>
+</pre></div>
+</div>
+</li>
+<li><p>Commit locally as you progress (<code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">add</span></code> and <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">commit</span></code>)
+Use a <span class="xref std std-ref">properly formatted</span> commit message,
+write tests that fail before your change and pass afterward, run all the
+<span class="xref std std-ref">tests locally</span>. Be sure to document any
+changed behavior in docstrings, keeping to the NumPy docstring
+<span class="xref std std-ref">standard</span>.</p></li>
+</ul>
+</li>
+<li><p>To submit your contribution:</p>
+<ul>
+<li><p>Push your changes back to your fork on GitHub:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">push</span> <span class="n">origin</span> <span class="n">linspace</span><span class="o">-</span><span class="n">speedups</span>
+</pre></div>
+</div>
+</li>
+<li><p>Enter your GitHub username and password (repeat contributors or advanced
+users can remove this step by connecting to GitHub with
+<span class="xref std std-ref">SSH</span>).</p></li>
+<li><p>Go to GitHub. The new branch will show up with a green Pull Request
+button. Make sure the title and message are clear, concise, and self-
+explanatory. Then click the button to submit it.</p></li>
+<li><p>If your commit introduces a new feature or changes functionality, post on
+the <a href="#id2"><span class="problematic" id="id3">`mailing list`_</span></a> to explain your changes. For bug fixes, documentation
+updates, etc., this is generally not necessary, though if you do not get
+any reaction, do feel free to ask for review.</p></li>
+</ul>
+</li>
+<li><p>Review process:</p>
+<ul class="simple">
+<li><p>Reviewers (the other developers and interested community members) will
+write inline and/or general comments on your Pull Request (PR) to help
+you improve its implementation, documentation and style.  Every single
+developer working on the project has their code reviewed, and we’ve come
+to see it as friendly conversation from which we all learn and the
+overall code quality benefits.  Therefore, please don’t let the review
+discourage you from contributing: its only aim is to improve the quality
+of project, not to criticize (we are, after all, very grateful for the
+time you’re donating!). See our <span class="xref std std-ref">Reviewer Guidelines</span> for more information.</p></li>
+<li><p>To update your PR, make your changes on your local repository, commit,
+<strong>run tests, and only if they succeed</strong> push to your fork. As soon as
+those changes are pushed up (to the same branch as before) the PR will
+update automatically. If you have no idea how to fix the test failures,
+you may push your changes anyway and ask for help in a PR comment.</p></li>
+<li><p>Various continuous integration (CI) services are triggered after each PR
+update to build the code, run unit tests, measure code coverage and check
+coding style of your branch. The CI tests must pass before your PR can be
+merged. If CI fails, you can find out why by clicking on the “failed”
+icon (red cross) and inspecting the build and test log. To avoid overuse
+and waste of this resource,
+<span class="xref std std-ref">test your work</span> locally before
+committing.</p></li>
+<li><p>A PR must be <strong>approved</strong> by at least one core team member before merging.
+Approval means the core team member has carefully reviewed the changes,
+and the PR is ready for merging.</p></li>
+</ul>
+</li>
+<li><p>Document changes</p>
+<p>Beyond changes to a functions docstring and possible description in the
+general documentation, if your change introduces any user-facing
+modifications they may need to be mentioned in the release notes.
+To add your change to the release notes, you need to create a short file
+with a summary and place it in <code class="docutils literal notranslate"><span class="pre">doc/release/upcoming_changes</span></code>.
+The file <code class="docutils literal notranslate"><span class="pre">doc/release/upcoming_changes/README.rst</span></code> details the format and
+filename conventions.</p>
+<p>If your change introduces a deprecation, make sure to discuss this first on
+GitHub or the mailing list first. If agreement on the deprecation is
+reached, follow <span class="xref std std-ref">NEP 23 deprecation policy</span>  to add the deprecation.</p>
+</li>
+<li><p>Cross referencing issues</p>
+<p>If the PR relates to any issues, you can add the text <code class="docutils literal notranslate"><span class="pre">xref</span> <span class="pre">gh-xxxx</span></code> where
+<code class="docutils literal notranslate"><span class="pre">xxxx</span></code> is the number of the issue to github comments. Likewise, if the PR
+solves an issue, replace the <code class="docutils literal notranslate"><span class="pre">xref</span></code> with <code class="docutils literal notranslate"><span class="pre">closes</span></code>, <code class="docutils literal notranslate"><span class="pre">fixes</span></code> or any of
+the other flavors <a class="reference external" href="https://help.github.com/en/articles/closing-issues-using-keywords">github accepts</a>.</p>
+<p>In the source code, be sure to preface any issue or PR reference with
+<code class="docutils literal notranslate"><span class="pre">gh-xxxx</span></code>.</p>
+</li>
+</ol>
+<p>For a more detailed discussion, read on and follow the links at the bottom of
+this page.</p>
+</div>
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/dev/index.html b/doc/_build/html/source/dev/index.html
new file mode 100644
index 00000000..898520cc
--- /dev/null
+++ b/doc/_build/html/source/dev/index.html
@@ -0,0 +1,121 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+</ul>
+</li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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+            <a href="../../_sources/source/dev/index.rst.txt" rel="nofollow"> View page source</a>
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+  <hr/>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="development">
+<h1>Development<a class="headerlink" href="#development" title="Permalink to this heading"></a></h1>
+<div class="toctree-wrapper compound">
+<ul>
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+        <a href="../reference/generated/slycot._wrapper.tb01pd.html" class="btn btn-neutral float-left" title="slycot._wrapper.tb01pd" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+  <div role="contentinfo">
+    <p>&#169; Copyright 2023, Slycot Developers.</p>
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diff --git a/doc/_build/html/source/dev/inspect_slycot.html b/doc/_build/html/source/dev/inspect_slycot.html
new file mode 100644
index 00000000..84208c72
--- /dev/null
+++ b/doc/_build/html/source/dev/inspect_slycot.html
@@ -0,0 +1,313 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Inspect Slycot &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
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+    <script src="../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../genindex.html" />
+    <link rel="search" title="Search" href="../../search.html" />
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+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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+        <div class="wy-side-nav-search" >
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+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../../intro.html">Introduction</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../reference/index.html">Slycot reference</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="index.html">Development</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="basic.html">Contributing to Slycot</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Inspect Slycot</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#Inspect-Wrapper-function">Inspect Wrapper function</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#Outer-wrapper">Outer wrapper</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#Inner-wrapper">Inner wrapper</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#Generate-Sets-for-the-Venn-Diagramm">Generate Sets for the Venn-Diagramm</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../../index.html">Slycot</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="index.html">Development</a></li>
+      <li class="breadcrumb-item active">Inspect Slycot</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../_sources/source/dev/inspect_slycot.ipynb.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="Inspect-Slycot">
+<h1>Inspect Slycot<a class="headerlink" href="#Inspect-Slycot" title="Permalink to this heading"></a></h1>
+<p>This notebook shows how to inspect the slycot module. The result gives us a first insight which slicot procedures are implemented. In addition we get some insight about the orginisation of the module.</p>
+<div class="nbinput docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[23]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">slycot</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">slycot</span><span class="o">.</span><span class="n">__version__</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+<div class="nboutput nblast docutils container">
+<div class="prompt empty docutils container">
+</div>
+<div class="output_area docutils container">
+<div class="highlight"><pre>
+0.5.5.dev0+g294eae0.d20230726
+</pre></div></div>
+</div>
+<div class="section" id="Inspect-Wrapper-function">
+<h2>Inspect Wrapper function<a class="headerlink" href="#Inspect-Wrapper-function" title="Permalink to this heading"></a></h2>
+<div class="nbinput nblast docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[24]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">get_slycot_method</span><span class="p">(</span><span class="n">sly</span><span class="p">):</span>
+    <span class="n">all_attributes</span> <span class="o">=</span> <span class="nb">dir</span><span class="p">(</span><span class="n">sly</span><span class="p">)</span>
+    <span class="n">r</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">compile</span><span class="p">(</span><span class="s2">&quot;[a-z][a-z][0-9][0-9a-z][a-z][a-z]&quot;</span><span class="p">)</span>
+    <span class="n">matched_attributes</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">filter</span><span class="p">(</span><span class="n">r</span><span class="o">.</span><span class="n">match</span><span class="p">,</span> <span class="n">all_attributes</span><span class="p">))</span> <span class="c1"># Read Note below</span>
+    <span class="k">return</span> <span class="n">matched_attributes</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="Outer-wrapper">
+<h3>Outer wrapper<a class="headerlink" href="#Outer-wrapper" title="Permalink to this heading"></a></h3>
+<div class="nbinput docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[25]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">slycot_wrapper</span> <span class="o">=</span> <span class="n">get_slycot_method</span><span class="p">(</span><span class="n">slycot</span><span class="p">)</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)</span>
+<br/></pre></div>
+</div>
+</div>
+<div class="nboutput nblast docutils container">
+<div class="prompt empty docutils container">
+</div>
+<div class="output_area docutils container">
+<div class="highlight"><pre>
+Currently there are 50 methods implemented.
+------
+[&#39;ab01nd&#39;, &#39;ab04md&#39;, &#39;ab05md&#39;, &#39;ab05nd&#39;, &#39;ab07nd&#39;, &#39;ab08nd&#39;, &#39;ab08nz&#39;, &#39;ab09ad&#39;, &#39;ab09ax&#39;, &#39;ab09bd&#39;, &#39;ab09md&#39;, &#39;ab09nd&#39;, &#39;ab13bd&#39;, &#39;ab13dd&#39;, &#39;ab13ed&#39;, &#39;ab13fd&#39;, &#39;ab13md&#39;, &#39;mb03rd&#39;, &#39;mb03vd&#39;, &#39;mb03vy&#39;, &#39;mb03wd&#39;, &#39;mb05md&#39;, &#39;mb05nd&#39;, &#39;mc01td&#39;, &#39;sb01bd&#39;, &#39;sb02md&#39;, &#39;sb02mt&#39;, &#39;sb02od&#39;, &#39;sb03md&#39;, &#39;sb03md57&#39;, &#39;sb03od&#39;, &#39;sb04md&#39;, &#39;sb04qd&#39;, &#39;sb10ad&#39;, &#39;sb10dd&#39;, &#39;sb10fd&#39;, &#39;sb10hd&#39;, &#39;sg02ad&#39;, &#39;sg03ad&#39;, &#39;sg03bd&#39;, &#39;tb01id&#39;, &#39;tb01pd&#39;, &#39;tb03ad&#39;, &#39;tb04ad&#39;, &#39;tb05ad&#39;, &#39;tc01od&#39;, &#39;tc04ad&#39;, &#39;td04ad&#39;, &#39;tf01md&#39;, &#39;tf01rd&#39;]
+</pre></div></div>
+</div>
+</div>
+<div class="section" id="Inner-wrapper">
+<h3>Inner wrapper<a class="headerlink" href="#Inner-wrapper" title="Permalink to this heading"></a></h3>
+<div class="nbinput docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[26]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">slycot_f2py_wrapper</span> <span class="o">=</span> <span class="n">get_slycot_method</span><span class="p">(</span><span class="n">slycot</span><span class="o">.</span><span class="n">_wrapper</span><span class="p">)</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+<div class="nboutput nblast docutils container">
+<div class="prompt empty docutils container">
+</div>
+<div class="output_area docutils container">
+<div class="highlight"><pre>
+Currently there are 72 methods implemented.
+------
+[&#39;ab01nd&#39;, &#39;ab04md&#39;, &#39;ab05md&#39;, &#39;ab05nd&#39;, &#39;ab07nd&#39;, &#39;ab08nd&#39;, &#39;ab08nz&#39;, &#39;ab09ad&#39;, &#39;ab09ax&#39;, &#39;ab09bd&#39;, &#39;ab09md&#39;, &#39;ab09nd&#39;, &#39;ab13bd&#39;, &#39;ab13dd&#39;, &#39;ab13ed&#39;, &#39;ab13fd&#39;, &#39;ab13md&#39;, &#39;ag08bd&#39;, &#39;mb03rd&#39;, &#39;mb03vd&#39;, &#39;mb03vy&#39;, &#39;mb03wd&#39;, &#39;mb05md&#39;, &#39;mb05nd&#39;, &#39;mc01td&#39;, &#39;sb01bd&#39;, &#39;sb02md&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_cl&#39;, &#39;sb02mt_n&#39;, &#39;sb02mt_nl&#39;, &#39;sb02od_b&#39;, &#39;sb02od_c&#39;, &#39;sb02od_d&#39;, &#39;sb02od_n&#39;, &#39;sb03md&#39;, &#39;sb03od&#39;, &#39;sb04md&#39;, &#39;sb04qd&#39;, &#39;sb10ad&#39;, &#39;sb10dd&#39;, &#39;sb10fd&#39;, &#39;sb10hd&#39;, &#39;sb10jd&#39;, &#39;sg02ad_bb&#39;, &#39;sg02ad_bc&#39;, &#39;sg02ad_bd&#39;, &#39;sg02ad_bn&#39;, &#39;sg02ad_g&#39;, &#39;sg03ad&#39;, &#39;sg03bd&#39;, &#39;tb01id&#39;, &#39;tb01pd&#39;, &#39;tb03ad_l&#39;, &#39;tb03ad_r&#39;, &#39;tb04ad_c&#39;, &#39;tb04ad_r&#39;, &#39;tb05ad_ag&#39;, &#39;tb05ad_ng&#39;, &#39;tb05ad_nh&#39;, &#39;tc01od_l&#39;, &#39;tc01od_r&#39;, &#39;tc04ad_l&#39;, &#39;tc04ad_r&#39;, &#39;td04ad_c&#39;, &#39;td04ad_r&#39;, &#39;tf01md&#39;, &#39;tf01rd&#39;, &#39;tg01ad&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tg01fd_uu&#39;]
+</pre></div></div>
+</div>
+</div>
+</div>
+<div class="section" id="Generate-Sets-for-the-Venn-Diagramm">
+<h2>Generate Sets for the Venn-Diagramm<a class="headerlink" href="#Generate-Sets-for-the-Venn-Diagramm" title="Permalink to this heading"></a></h2>
+<div class="nbinput nblast docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[27]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
+<span class="kn">from</span> <span class="nn">matplotlib_venn</span> <span class="kn">import</span> <span class="n">venn2</span>
+</pre></div>
+</div>
+</div>
+<div class="nbinput docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[32]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">difference1</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)</span> <span class="o">-</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">))</span>
+<span class="n">difference1</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">difference1</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">difference1</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+
+<span class="n">difference2</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">-</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
+<span class="n">difference2</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">difference2</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">difference2</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+
+<span class="n">difference3</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">^</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
+<span class="n">difference3</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">difference3</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">difference3</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+
+<span class="n">intersection</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">&amp;</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
+<span class="n">intersection</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">intersection</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">intersection</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+
+<span class="n">union</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">|</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
+
+<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">union</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">union</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+<div class="nboutput nblast docutils container">
+<div class="prompt empty docutils container">
+</div>
+<div class="output_area docutils container">
+<div class="highlight"><pre>
+Currently there are 10 methods implemented.
+------
+[&#39;tb05ad&#39;, &#39;sb02od&#39;, &#39;tb04ad&#39;, &#39;tc01od&#39;, &#39;td04ad&#39;, &#39;sg02ad&#39;, &#39;tc04ad&#39;, &#39;sb02mt&#39;, &#39;tb03ad&#39;, &#39;sb03md57&#39;]
+
+
+Currently there are 32 methods implemented.
+------
+[&#39;td04ad_c&#39;, &#39;tc04ad_r&#39;, &#39;tb04ad_c&#39;, &#39;sg02ad_bn&#39;, &#39;sb02od_b&#39;, &#39;tc01od_r&#39;, &#39;sb02mt_nl&#39;, &#39;tb05ad_nh&#39;, &#39;sg02ad_g&#39;, &#39;sb02od_c&#39;, &#39;tb04ad_r&#39;, &#39;td04ad_r&#39;, &#39;tc04ad_l&#39;, &#39;tc01od_l&#39;, &#39;tg01fd_uu&#39;, &#39;tg01ad&#39;, &#39;sb02od_n&#39;, &#39;sb02od_d&#39;, &#39;ag08bd&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_cl&#39;, &#39;sb02mt_n&#39;, &#39;tb05ad_ag&#39;, &#39;sg02ad_bb&#39;, &#39;sg02ad_bd&#39;, &#39;tb05ad_ng&#39;, &#39;sg02ad_bc&#39;, &#39;tb03ad_r&#39;, &#39;sb10jd&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tb03ad_l&#39;]
+
+
+Currently there are 42 methods implemented.
+------
+[&#39;td04ad_c&#39;, &#39;tc04ad_r&#39;, &#39;tb04ad_c&#39;, &#39;sg02ad_bn&#39;, &#39;tc01od_r&#39;, &#39;sb02mt&#39;, &#39;td04ad&#39;, &#39;sb02od_b&#39;, &#39;sb02mt_nl&#39;, &#39;sb03md57&#39;, &#39;tb05ad_nh&#39;, &#39;sg02ad_g&#39;, &#39;tb04ad&#39;, &#39;sb02od_c&#39;, &#39;tb04ad_r&#39;, &#39;td04ad_r&#39;, &#39;tc04ad_l&#39;, &#39;tc01od_l&#39;, &#39;tg01fd_uu&#39;, &#39;tb05ad&#39;, &#39;tg01ad&#39;, &#39;tc01od&#39;, &#39;sg02ad&#39;, &#39;sb02od_n&#39;, &#39;sb02od_d&#39;, &#39;ag08bd&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_cl&#39;, &#39;sb02mt_n&#39;, &#39;tb05ad_ag&#39;, &#39;sg02ad_bb&#39;, &#39;sb02od&#39;, &#39;sg02ad_bd&#39;, &#39;tb05ad_ng&#39;, &#39;tc04ad&#39;, &#39;tb03ad&#39;, &#39;sg02ad_bc&#39;, &#39;tb03ad_r&#39;, &#39;sb10jd&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tb03ad_l&#39;]
+
+
+Currently there are 40 methods implemented.
+------
+[&#39;ab09md&#39;, &#39;tf01rd&#39;, &#39;ab09nd&#39;, &#39;ab13dd&#39;, &#39;ab13md&#39;, &#39;mb03rd&#39;, &#39;sb03md&#39;, &#39;sb01bd&#39;, &#39;sb10dd&#39;, &#39;ab08nz&#39;, &#39;tb01pd&#39;, &#39;mb03wd&#39;, &#39;ab05md&#39;, &#39;sg03bd&#39;, &#39;ab04md&#39;, &#39;ab09ax&#39;, &#39;ab13bd&#39;, &#39;sb10ad&#39;, &#39;tb01id&#39;, &#39;ab13ed&#39;, &#39;sg03ad&#39;, &#39;ab07nd&#39;, &#39;sb10fd&#39;, &#39;sb04qd&#39;, &#39;ab01nd&#39;, &#39;mb03vd&#39;, &#39;mc01td&#39;, &#39;sb10hd&#39;, &#39;ab09bd&#39;, &#39;tf01md&#39;, &#39;ab05nd&#39;, &#39;ab08nd&#39;, &#39;mb03vy&#39;, &#39;sb02md&#39;, &#39;sb04md&#39;, &#39;ab09ad&#39;, &#39;mb05md&#39;, &#39;ab13fd&#39;, &#39;sb03od&#39;, &#39;mb05nd&#39;]
+
+
+Currently there are 82 methods implemented.
+------
+[&#39;td04ad_c&#39;, &#39;ab09md&#39;, &#39;ab09nd&#39;, &#39;ab13dd&#39;, &#39;ab13md&#39;, &#39;mb03rd&#39;, &#39;td04ad&#39;, &#39;sb02od_b&#39;, &#39;ab08nz&#39;, &#39;tb01pd&#39;, &#39;sb02mt&#39;, &#39;sb02mt_nl&#39;, &#39;sb03md57&#39;, &#39;tb05ad_nh&#39;, &#39;sg03bd&#39;, &#39;sb10ad&#39;, &#39;tb04ad_r&#39;, &#39;td04ad_r&#39;, &#39;tc04ad_l&#39;, &#39;sg03ad&#39;, &#39;ab07nd&#39;, &#39;sb10fd&#39;, &#39;sb02od_n&#39;, &#39;sb04qd&#39;, &#39;sg02ad&#39;, &#39;ab01nd&#39;, &#39;sb02mt_cl&#39;, &#39;mb03vd&#39;, &#39;tb05ad_ag&#39;, &#39;sg02ad_bb&#39;, &#39;ab09bd&#39;, &#39;tf01md&#39;, &#39;sb02od&#39;, &#39;ab05nd&#39;, &#39;tc04ad&#39;, &#39;ab08nd&#39;, &#39;tb03ad&#39;, &#39;mb03vy&#39;, &#39;sb04md&#39;, &#39;tb03ad_r&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tb03ad_l&#39;, &#39;tc04ad_r&#39;, &#39;tf01rd&#39;, &#39;sb03md&#39;, &#39;tb04ad_c&#39;, &#39;sb10dd&#39;, &#39;sb01bd&#39;, &#39;sg02ad_bn&#39;, &#39;tc01od_r&#39;, &#39;mb03wd&#39;, &#39;ab05md&#39;, &#39;sg02ad_g&#39;, &#39;ab04md&#39;, &#39;tb04ad&#39;, &#39;ab09ax&#39;, &#39;ab13bd&#39;, &#39;sb02od_c&#39;, &#39;tb01id&#39;, &#39;ab13ed&#39;, &#39;tc01od_l&#39;, &#39;tg01fd_uu&#39;, &#39;tg01ad&#39;, &#39;tb05ad&#39;, &#39;tc01od&#39;, &#39;sb02od_d&#39;, &#39;ag08bd&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_n&#39;, &#39;mc01td&#39;, &#39;sb10hd&#39;, &#39;sg02ad_bd&#39;, &#39;tb05ad_ng&#39;, &#39;sb02md&#39;, &#39;sg02ad_bc&#39;, &#39;sb10jd&#39;, &#39;ab09ad&#39;, &#39;mb05md&#39;, &#39;ab13fd&#39;, &#39;sb03od&#39;, &#39;mb05nd&#39;]
+
+
+</pre></div></div>
+</div>
+<div class="nbinput docutils container">
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[33]:
+</pre></div>
+</div>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">venn2</span><span class="p">(</span><span class="n">subsets</span> <span class="o">=</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)),</span>
+                 <span class="nb">len</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)),</span>
+                 <span class="nb">len</span><span class="p">(</span><span class="n">intersection</span><span class="p">)),</span> <span class="n">set_labels</span> <span class="o">=</span> <span class="p">(</span><span class="s1">&#39;slycot_wrapper&#39;</span><span class="p">,</span> <span class="s1">&#39;slycot_f2py_wrapper&#39;</span><span class="p">))</span>
+<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+<div class="nboutput nblast docutils container">
+<div class="prompt empty docutils container">
+</div>
+<div class="output_area docutils container">
+<img alt="../../_images/source_dev_inspect_slycot_13_0.png" src="../../_images/source_dev_inspect_slycot_13_0.png" />
+</div>
+</div>
+</div>
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="basic.html" class="btn btn-neutral float-left" title="Contributing to Slycot" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
+
+</footer>
+        </div>
+      </div>
+    </section>
+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
\ No newline at end of file
diff --git a/doc/_build/html/source/dev/inspect_slycot.ipynb b/doc/_build/html/source/dev/inspect_slycot.ipynb
new file mode 100644
index 00000000..fbde5af2
--- /dev/null
+++ b/doc/_build/html/source/dev/inspect_slycot.ipynb
@@ -0,0 +1,262 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inspect Slycot"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook shows how to inspect the slycot module.\n",
+    "The result gives us a first insight which slicot procedures are implemented.\n",
+    "In addition we get some insight about the orginisation of the module."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "0.5.5.dev0+g294eae0.d20230726\n"
+     ]
+    }
+   ],
+   "source": [
+    "import slycot\n",
+    "print(slycot.__version__)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect Wrapper function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_method(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Outer wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 50 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_wrapper = get_slycot_method(slycot)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_wrapper)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Inner wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 72 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_f2py_wrapper)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Generate Sets for the Venn-Diagramm"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 27,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "from matplotlib_venn import venn2"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 32,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 10 methods implemented.\n",
+      "------\n",
+      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
+      "\n",
+      "\n",
+      "Currently there are 32 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 42 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 40 methods implemented.\n",
+      "------\n",
+      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n",
+      "Currently there are 82 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
+    "difference1\n",
+    "\n",
+    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference1)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
+    "difference2\n",
+    "\n",
+    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference2)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
+    "difference3\n",
+    "\n",
+    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference3)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(intersection)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
+    "\n",
+    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(union)\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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h4pBdBuncoc5D2Hxos+wyUg7DwMnU1nJRIZ1oL7EjCI4HSaRSdze3PibpNh7ciKauJtllpBSGgRNpbo7uQEia58u0wmNm90AyTOgMwQGj7DJIxyIignV71iEU4WJiPRgGjsfrBd56CwjxyaJ1EZMBLTmcKposxnAY030mDigkqdp97Vyu+AgMA8ciRHRRoc5O2ZVQErQWW7nccJI5fH5MCnNAIclV3VSNQ52HZJeREhgGjmXLlugqg6R5vkwrukzcjVCGwk4vSriHAUlWVV+FiOCaIgwDR2tqAjZskF0FJYFQgNYcvgjINK4zCKfg+AGSp83Xhs8Ofya7DOkYBo4UDEa7ByJ8g9ADT6GDswck6xk/wBcikmnTwU1w+92yy5CKf4NHWr8ecOv7CaEXYasRHXauJpkK7H4/Joe4/gDJE4qE8MG+D2SXIRXDQI+6OmAn163Wi7YCM/ceSCHDOrtRAK4/QPLs7diLvR36XVyOYQCIzhp47z3ZVVCSRAcNslUg1UzoinBDI5Lqg30fIBzR5zRjhgEgurBQgBvT6AEHDaYuczCIydy/gCRy+926HUzIMLBrF3DggOwqKEk4aDC15bG7gCT716F/oSvQJbuMpNN3GPD7gQ8/lF0FJUnEZOCgQRUY3xXR+QsTyRSKhLDp4CbZZSSdvv/mPv4Y8PHNQS86Cm0cNKgClmAQlWHOLiB5vmj5Ah6/R3YZSaXfMHDoELBjh+wqKEnCViM8Fq40qBaFnd3IhFl2GaRTERHBxoMbZZeRVPoMA5EIZw/oTHuBBQLcGUc1BDDZq8+XJ0oNu1p2od3XLruMpNHnX9vmzUB7u+wqKEmCdhP3H1Ahu9+PsghnF5AcAgIbG/TTOqC/MODxAP/6l+wqKIk68k1sE1Cp8u6gDl+kKFXUttWi1dsqu4yk0N/f2SefAGF9LiqhR9FWAQ4SVStTKIRxEQ4mJHk+PfCp7BKSQl9hoLERqK2VXQUlUccwDkJTu+JOH6xCXy9VlDrqO+rR1NUku4yE09df2Ecfya6AkihkM6HbyLECameIRDAhbJNdBunYpw3abx3QTxior49OJyTd8ORZOFZAI/K7upEmTLLLIJ3a796Plu4W2WUklD7CgBDAp9pPdvSliFFBp4VjBTRDABOD7PIhebY2bpVdQkLpIwzs2gW06mNEKEV15tu52qDGZHR7kQ+L7DJIp2paa+ALafcDhvbDQCQCbNTPXFECBACPg7tQatFYH7c4JjnCIozqpmrZZSSM9sNATU10bQHSje5cO0IIyS6DEsDh87N1gKSpbqpGRGizxVH7YWDzZtkVUJJ50rmOhJaN8mv/ZYtSU3ewG3VtdbLLSAht/1XV13PZYZ3xZ1jhV9hFoGXpXh8yBAcTkhxaHUio7TDAVgHd8WRp+ylNURUhTjMkORq7GtHY1Si7jCGn3VfOQ4eAw4dlV0FJFDEZ0G3U7mhf+lJ2tw92YZRdBumUFlsHtBsGtmyRXQElWVeuldsU64QiBMaEOZCQ5Khrq4M3qK3VTbUZBtraouMFSFe6HBw4qCf53X6YBacaUvJFRAS1bdra50abYeCzz2RXQEkWdJg5cFBnDJEIRke4ZwHJUdNaI7uEIaW9MBAIcGdCHerM5oAyPSryBqGwZ4gkaOxqhNvvll3GkNFeGKipAUJccEZPBIAuK1sF9MgUCqFQWGWXQTqlpdYB7YWBHTtkV0BJ5su2IQyOF9Cr0pD2XsZIHRgGUlVLC9DcLLsKSrLOdA4i07MMnw8Wjb2UkTq0+9rR3K2N9xxt/QWxVUB3hEGBl2sL6JoSERgZYVcByaGV1gHthIFwOLpVMemKL5NrCxBQ6Gc3EclR01oDIdT/GqSdMFBXF51JQLrSncYuAgJs/gAywf0KKPm6g9042HlQdhmDpp0wsHOn7AooyQQAr4kBkKJGhhgGSA4t7GSojTDg8wENDbKroCQLZFg5i4Bicr1+rjlAUux375ddwqBpIwzU1wMa6LOh/ulO50Y19CVjOIwicEVCSj633636BYi0EQZ275ZdAUngtQRll0AppjDEMSQkx76OfbJLGBT1h4FgEDhwQHYVlGRBhxlBMAxQvAw/nxMkxz43w4Bce/dGpxWSrngzOViMejOFQsjmrAKSoMHTgIiIyC5jwNQfBthFoEs+q3r/6CixCsPctIqSLxQJ4aBHvVMM1R0GwmFgn7qbZqj/BAC/gVMK6dhyAgyKJIeaZxWoOwwcOBAdM0C6EkyzIAK+4NOx2f1+2FT+0kbqpOZxA+r+i+HaArrkc7EZmE6sOGKRXQLpUKu3Fd3BbtllDAjDAKmO38ZWATqxPE4xJEkaPOp8X1JvGPD7o1sWk+74DewaohNL8/lV/OJGatbU1SS7hAFR79/LwYNcdVCHAi4zlyCmkzJEIsgFuwoo+Zq6GQaSi10EuuTneAHqo+wInyuUfM3dzarc0phhgFTFz6XnqY8yQ+p7QSb1C0VCaPO1yS6j39QZBnw+oLVVdhUkQcAYkl0CqYTDz7UoSA41jhtQZxg4qN5VnmjghEFBiPsRUB+Zw2E4wJ0tKfnUOG5AnWGgSX0PNA1e0GkGG36pP/IE9ymg5GvsapRdQr+pMwxwSqEuBezqfLqSPJlhrjdAydfqbUU4oq5ZT+p8dWUY0KWgVZ1PV5InPcgFqij5IiKCFq+63qfU9+rq9QLd6lzukQYnYFZX0ib57MGACl/kSAtauhkGEoutAroVVDiTgPpHiQhkCS4+RMnn9rtll9Av6gsDzc2yKyAJQlYjVx6kAUkXnFFAyccwkGhsGdCloIOjwmlgXIKDCCn5GAYSjWFAl8IWvqDTwDjCnJBKyccwkEhCAG51PcA0NEJmhgEaGFuY3UuUfMFIEN6gV3YZfaauMNDVBUQ4VUiPQiZ+uqOBsQQ58JTkUFPrgLrCgMcjuwKSJGRgCKSBMUQisHLcAEnAMJAoDAO6FVbY1EsDl6FwAColX4e/Q3YJfcYwQClPKEAIbOqlgUuLcHohJR9bBhKFYUCXwlaT7BJI5ZzsJiAJPH71vGepKwx0dsqugCQIWfmpjgbHzumFJIE/7JddQp+pKwywZUCXwhZ1PU0p9ZgiDAOUfL6QT3YJfaauV9muLtkVkATs7qXBMgnORqHkC4QDskvoM/WEgWCQawzoVMTA/l4aHCNfO0iCiIggGA7KLqNP1BMGAupJWDS02DJAg2UMMwyQHGoZN6CeMOBXxwNKQy+isL+XBscQiYBPI5LBH1LHe5d6wgBbBnRLqOdZSinMqvCJRMnHloGhxjCgW2wZoKFgFexvouRjy8BQYzeBbjEM0FCwKhyISsnHloGhxjCgWxGFg79o8KzsbyIJ1NIyoJ51XjXeTbDy73/HPf/3f3HHxg4bhh333gsA8AWDuHP1arywYQP8oRDOmzABv7vySgxLT5dRblIJsGXgaL97/g088OT/4vqvnYUVy/4DAOALBHHf46vx93UbEAiGMG/GBPz01iuRl6X950hfmIQCsHHguH508Y/QcrCl1/H5l8/HJTdegr/9/m/Y/tF2tB5uhSvThalnTsUl370EdpddQrXqERbq2GRNPWFAB/OEJxYVYe1tt8W+Nxm/7OO8/aWX8Ornn2P1t7+NDLsdNz//PL72+ONYf9ddEipNLoaBeFt27MFfXn0P48pL4o7/9HcvYd3Hn+N3P/k20px2/OQ3z+PGlY/j5V9r/znSF+wlOLEfPv1DRI6YgtlQ24CHb3oY08+ejvamdnQ0deCy2y5DUXkRWg624Ln/fg4dTR34zgPfkVh16ouoZMEr9bSb6SAMmAwGFGRkxC65LhcAoMPrxZPr1+Ohyy/HWePGYfqIEfjj0qX4oLYWH9XVSa46GRgGenR5fbjtv5/Ez2+/BhkuR+y4u9OLl95Yjx9/93LMOmUcJo0ZgQeXL8XGbbXYVK2H58jJcejJiaVlpSEjNyN2+ez9z5BXkocx08egeHQxbnzwRkyZNwV5JXkYd+o4XLrsUnxW9RnCIXV88pVFCHU88dQTBnRgV2Mjiu66C+V3342rnnwSe1tbAQAb6+sRDIdxzvjxsXPHFRRgeHY2PtRFGOBHuh7/9cjzWDBzEuZMHx93fOuuegRDYcye9uXx0cMLUJyfzTDwb2wZ6LtQMISPX/sYsxbNgnKcB87b6YXNaYPRxFkaJ6KWlk31hAGNtwzMLCvDn5YuxRu33ILHrrwSu5ubMffBB+Hx+XDI7YbFZEKmwxH3M8PS03Goo0NSxckjoO3/+77627pPsW3XXtz1za/2uq6p1Q2L2RTXWgAAuVnpaGrT/nOkL9gy0Heb390Mb6cXsy6edczrO9s78er/vIq5X52b5MrURy0tA+oZM6BxF1RWxv49uaQEM8vKMOKHP8RLGzbAbrFIrCwVKNB7V0FDYyvu/e2LeOaB22CzmGWXQxq3/q/rMXHWRGTmZfa6ztvpxW9u/Q0Kywtx8XcuTn5xlBDqCQMG9TRiDIVMhwNjhg1DTVMTzh0/HoFQCO3d3XGtA4fdbhRkZEisMjkUdhPg81170dzuwUU33hc7Fo5E8Mnnu/D0K+/i6Z/fgkAwhI7O7rjWgeY2N/KytP8coaHTcrAF2z/ZjhsfuLHXdb4uHx655RHYnDZ898HvsougD47XzZJq1BMGdKbT50NtUxOuOf10TB8xAmajEe/s2IHLpk0DAHxx6BD2trbijPJyyZUmg75bBQBg9inj8OYffhJ3bPmDf8ao4QW48T/OQ2FeNswmIz7YtAMXzIs+R2r3HcKBxlZMm6CH58jJCXW8Jkv3wd8+QFpWGibNmRR33Nvpxa+/92uYzWbc9NBNMFvZQtUXavkwo54woPGWge+vWYOLJ0/GiOxsNHR0YMXf/w6jwYCvn3oqMux23DB7Nu5YvRrZTifSbTZ874UXcEZ5OU7XRRhQxx9TIrkcNowtK447ZrdZkZnujB1fcv5s/Ozx1chIdyLNYcOKR1/AtAnlDAP/xpEnJxeJRPDB3z/AGRedEfep39vpxa9v/jUCvgBu+OkN8HZ64e30AojOQjAYtf36PBhsGRhqGg8D+9va8PX/+R+0dHUhz+XCnNGj8dF//ify0tIAAKuWLIFBUXDZ44/HLTqkD+r4Y5Ltv5YtgcGg4Lv3PP7lokO36OU5cnJCgE+lk9jxyQ60HmrF7EWz447v3bEXu7fuBgD8+NIfx11339/uQ25RbtJqVBuDSjbIUoRahjpu3Qp88IHsKkiChlFmBBGUXQap3PYMG/YqPtllkM6cVnwaphZMlV3GSakjsgCA7kfU65eBnb00BPzsKCAJrEar7BL6RD1hwKqOB5SGnsINZmgI+LnQAElgNanjvUs9r7JsGdAtA1/DaQj4wGVzKfnYMjDU2DKgW+wmoKHgV8mGMaQtbBkYamwZ0C1DhGGABidiMHCdAZKCLQNDjWFAtwz8QEeDFNb41GRKXWwZGGoWC7cd0ylDmIMGaHAYBkgGBQosRnV8kFXXX8hRu/aRPhg47osGiWGAZFBLqwCgtjDw79X4SF+MQfYT0OAEDWxVpORTy3gBgGGAVMDoZ9MADY6fYYAkYMtAojAM6JLJF5JdAqlcFxerIAnSLOp5z1JXGHC5ZFdAEigCMKpoTy1KPR5OSSEJ0q3pskvoM3WFAbYM6JZJGE9+EtFxdAi2LlHyMQwkCsOAbpki6nqqUuqIGAzwKhx3QsnHMJAoLhfXGtApY5j/7zQwQRO7mEgOhoFEMRjYOqBTpiAHgNHAeE3qepkjbTAZTHBanLLL6DP1/ZXk5MiugCQwBRgGaGC8RvW9zJH6qWkmAcAwQCph9nIAGA1Mp8KZBJR8auoiABgGSCVM3hAMKny6knwehgGSgGEg0XJzZVdAkpiFWXYJpDICQAsCsssgHWIYSDSnE7DZZFdBElhC6nu6klx+qwURTkQhCXIc6mrFVuerK7sKdMns5yBC6h+PmdMKKfkUKMh1qKsVm2GAVMPiZd8v9U8rlyEmCbLsWTAZ1BVE1RkGOG5Al8ydQdklkMo0GzgLhZIvz5Enu4R+U2cYKCqSXQFJYIgImMFBhNQ3YaMRnWAYoOTLczIMJIfDAWRkyK6CJDCH1dX0RvJ0WRgcSY58Z77sEvpNnWEAYOuATlkDHBpOfePmMsQkgVExItueLbuMflPvXwvDgC7ZPGz2pb5pMXKnQkq+HEcODIr63lrVV3EPhgFdMnsCXImQTkoYFDQJLjZEyafGwYOAmsOA3Q5kZsqugpJMAWCNWGSXQSmu02JBWOG6FJR8ahw8CKg5DABsHdApq1/dT1tKvGYLnyMkR6GrUHYJA6Luv5jiYtkVkAS2To4boBM7oLCLgJIvw5qBNKu6ti7uoe4wUFICGI2yq6Aks3gCUMBZBXRsPosZXQoHD1LylWaUyi5hwNQdBsxmtg7okCIAq7DKLoNSVJuV6wuQHCXpJbJLGDB1hwEAKCuTXQFJYOO4ATqOQ0Z2I1HyGRUjitLUO45N/a+oI0YABvXfDeofewdf8Km3sNGIRnC8ACVfgatAdZsTHUn976I2G1BQILsKSjJLZwAmqPcPjxKjg10EJImaxwsAWggDALsKdMoe5HoDFK+RWYAkUfN4AYBhgFTM7uaIcfpSxGDAfvhll0E65DQ7VbkfwZG0EQYcDmDYMNlVUJLZOvxcmphiWu1WrjpIUqi9VQDQShgAgIoK2RVQkikCsIc5xZCi6s1sKSI5yrLU3zqtnTAwejRg4oAyvbF3yq6AUoHfYkEzZxGQBDaTjS0DKcViAcrLZVdBSWZv83E1QsJhK1ciJTnKs8pVuWXx0dR/D440bpzsCijJDGEBW4RdBbqmAHsMbBUgOUZnj5ZdwpDQVhgoKOC2xjrk9LBlQM/cNiu83IuAJHBZXChwaWOdG22FAYCtAzrkaPVxVoGONVgYBkkOrbQKAFoMA2PGcHlinVEiAs4guwr0KGw0Yp/ik10G6RTDQCqz2YCRI2VXQUnmamMzsR41OqyIyC6CdCnbnq36hYaOpL0wAACTJ8uugJLM4gnADC5PrCfCoGCnka0CJIeWWgUArYaB/HygsFB2FZRkLi/XmdCTZrsNPrYLkAQKFIYB1Zg6VXYFlGTOZj9XHNCRXaag7BJIp0ozSuGyuGSXMaS0GwZKS4Fs7fTn0MkZA2HYIjbZZVAStDts8Cgh2WWQTk3KnyS7hCGn3TAAAFOmyK6AkiytXXYFlAy1FnYPkBxZtiwUpxfLLmPIaTsMjBoFuLTVlEMnZm/zwQxuaq9lnTYr9yEgaSrzK2WXkBDaDgMGA2cW6FC6h+vUa9luThohSaxGKypytLlDrrbDABBdkdBul10FJZGz2Q8jGAi0yG+xoMHgl10G6dT4vPEwGbQ5a0n7YcBkAk45RXYVlERKRCDNxxUJtWiXXfsvWZSaFCiYkDdBdhkJo4+/rAkTgLQ02VVQErkaubWx1nTZbDjApYdJkrKsMs1NJzySPsKAwQBMny67CkoiYzACZ4jTDLWk2sYlp0kerQ4c7KGPMAAAFRVcd0Bn0ps4D10rWh12tIKLDJEc+c58zWxVfDz6CQOKApx+uuwqKInM3UE4uAiR6gmDgm0WTiUkeU4tOlV2CQmnnzAAACUl0QvpRkYTF6dRu0NOO7rBLgKSoyitSJOLDB1NX2EAiLYOKBxYpheWzgAcYbYOqFXYaMR2g1d2GaRjM4pmyC4hKfQXBrKzgUptDwSheBnN/FSpVnsdFgQVIbsM0qmS9BLNjxXoob8wAAAzZnCZYh2xdAbhDHPhKbXxWyzYxVYBkkgPYwV66DMMmM3A7Nmyq6AkymgMcdUBlal2AIL/aSTJyMyRyHPmyS4jafQZBgBgxAhg5EjZVVCSmLuDcAbZOqAWTS4HGrkZEUmiQNHNWIEe+g0DQLR1wMwd7vQi83CAqxKqQMhkwudGdg+QPOVZ5ci262tdGn2HAacTOFU/fUJ6Z/SHke5n60Cq2+U0cdAgSWNQDLprFQD0HgYAYOJEIE8//UJ6l97ghQna3HVMC9odduzl/gMkUWV+JTJsGbLLSDqGAUUBzjwTMHLLWz0wRASyOhgGUlHYaMRmM7cnJnkcZgemF+pzHxuGAQDIyuJSxTriaPbBxmWKU84XLjP8CleMJHlmFs+E2ajPcWQMAz0mTgSGD5ddBSVJ9uEwhxKmkDanHfvYPUASDXMOQ0VOhewypGEYONKZZwIOh+wqKAnM3UGk+/l/nQoCZjM2mRkESB6DYsCc4XNklyEVw8CRbLZoICBd4GBC+YRBwWYHEAJnD5A8lfmVyHHkyC5DKoaBo5WUAJMmya6CksAQEchqZxiQqdZlQ5sSlF0G6ZjL4tLlVMKjMQwcy8yZQI6+U6JeOFp8sHMwoRStTjtqufcASTZn+ByYDPxQwDBwLAYDcO65gNUquxJKgpyGIIzg1NJk8lss2GTiOAGSqzyrHMMzOHAcYBg4vvR04JxzousQkKYZ/WFkdVhkl6EbEYMBmxwRhLnKIEnkMDswd/hc2WWkDIaBEyku5voDOuFs9nKb4yTZlWaBGyHZZZDOnTnyTFhNbP3twTBwMpMmAWPGyK6CkiDrgJ/dBQnW6HJgD9cTIMkm5U9CSXqJ7DJSCsNAX8ydC+Tny66CEswYjCCnTZ+rjyWD227DZmO37DJI57Lt2Tit+DTZZaQchoG+MBqBr3yFCxLpgL3VB1eQ3QVDzWu14hOLH4JDcEgio2LEWWVnwWhgC+DRGAb6yuEAzjsPMHEKitZl7fdxMaIhFDSb8Yk9yAGDJN2pxaci254tu4yUxDDQH3l50RYCAx82LTNEBPIaDVC4e8GghY1GbHAK+MANiEiu4rRiTB42WXYZKYvvav1VUgIsWMAphxpn8QSQ3cnFiAZDGBRscRk5c4CksxqtOHPkmbLLSGkMAwMxahQwe7bsKijBXIe9cIU4fmCgtqdZ0aQEZJdBOqdAwVllZ8FpccouJaUxDAzUhAnADK5nrXXZ+3ywgAsS9dfudG5JTKnhtOLTUJpRKruMlMcwMBjTpgGVlbKroARSIgJ5DREY+KfSZ3vTHNjJPQcoBYzOHo0pBVNkl6EKfIUbrFmzuCiRxpm8IeS2sXWgL+rTHdjOtQQoBeQ6cjFvxDzZZagGw8BQmD8fGDdOdhWUQPZWHzJ9XGfiRPak27HDwCBA8tlNdnxl1Fe4G2E/MAwMBUUB5s1jl4HGZRzohoP7FxxTXbodX7BrgFKAQTHg3FHnwmVxyS5FVRgGhtKsWcDUqbKroATK3euDVXBzkyPVpduxi0GAUsTs0tkocBXILkN1GAaG2mmncZaBhikRgbx9QZjBPQwAoIZBgFLI+NzxGJ83XnYZqsQwkAjTpgFnnCG7CkoQYzCC/Aah7x0OFWBXhh21DAKUIoZnDMfs4Vz/ZaAYBhJl0qToOAIuXaxJJm8IeU1GXS5ZHDEY8Hm6FXUKgwClhkJXIc4tPxcGha+3A6UIIbh7SCLt3w+sXQsEuBKbFnmzbWjM0s/iOkGzCZucCtoRlF0KEYDoFMKLxlwEi5HTfweDYSAZ2tqAN94APB7ZlVACeArsaHVq/1Oy12rFJ/YgNx2ilJFpy8SisYtgM3EfkcFiGEgWnw946y3g0CHZlVACuIscaLNrd459u8OODWYftyGmlOGyuHDJ2Eu458AQYRhIpnAYeO89YNcu2ZVQAnQUOdCuwUBwMM2Bz7iqIKUQu8mORWMXIcOWIbsUzWAYkGHTJmDDBtlVUAJ0FDvQbtPGG6dQFNSk2zhQkFKKxWjBxWMuRo4jR3YpmsIwIMvevcC770a7D0hTtBAIQiYTPncZ0AgOfKXUYTaYcUHFBVxUKAEYBmTq6gLeeYfjCDSovdiODps6P1F3OOzYZPEjwIGClEKsRisuqLgA+c582aVoEsOAbJFItMtg82bZldAQay9xoMOqnhYCYVCw22XjioKUchxmBxZWLESWPUt2KZrFMJAq9u8H1q0DvHwh1hK1BAK/xYItdoE2hesHUGpJs6Rh4ZiFSLemyy5F0xgGUkl3N/CPfwANDbIroSGU6usQNDvt2GL2IQS+FFBqybJlYeGYhXCYuX14ojEMpBohgM8/Bz79NDoVkTShO8eG5kw/RAq94UYMBuxKs2IPZwtQCspz5OGCigu4oFCSMAykqvZ24J//BA4fll0JDRF/hhWNuUFEUmBgnttuwxZrEN1g4KTUU+gqxPmjz4fZyN1Bk4VhIJX1tBJs2ACEQrKroSEQdJjRWCgQgpz/z5DJhF1OE/YqnNJKqWlExgicU34OjAYd7woqAcOAGng8QFVVdJAhqV7YasThEiOCSZ7D3+Ry4HOjF0EuKUwpamrBVJxadCoURX+7gcrGMKAmNTXAhx9yxoEGREwGNJVa4DMk/hO632LBVgfQzAWEKEWZDCbMHzEfo7JHyS5FtxgG1CYYBP71r2j3AQcYqpoA0F7qgNuSmKmHwqBgn9OOHYZuCH7QohTlsrjwlVFfQa4jV3YpusYwoFYeD/DJJ0BtrexKaJC6cu1ozfAP6cDCVocd2y1BdEoam0DUFwWuApxbfi7sZrvsUnSPYUDtDh+Odh00NsquhAYh4DSjuQAIYnCL/rjtNmy3htE+yNshSrRxueMwZ/gcGBSD7FIIDAPaUVMTbSno7JRdCQ1QxGRAc6kF3gGMI+i2WfGFTXBjIUp5BsWA00tOR2V+pexS6AgMA1oSiQBffBHd58DjkV0NDVB/dj30WyzYZTfgAKcKkgq4LC4sGLkAhWmFskuhozAMaFEkEm0p+Ne/gI4O2dXQAHizbGjJDiJ8nEWBgmYzdttN2M1NhUglRmWNwtwRc2ExWmSXQsfAMKBlQkQHGP7rX0Bbm+xqqJ/CZgNaSuK7DXxWC+ptBtTDxxkCpAoWowWzS2ejIqdCdil0AgwDerF7N/DZZ1zeWIU8BXbsyzOgxhLCIfhll0PUZwWuAiwYuQBp1jTZpdBJMAzoTUsLUF0N7NrFJY5TncUCjBkDVFai3RLBu3veRWMXZ41Q6jMoBkwrnIZTCk7haoIqwTCgV4FANBBUV7MLIdXk5ADjxkWDgPnLjVqEENh8aDM2HtyIiJC/2RHRsaRb03FW2VnId+bLLoX6gWGAgIMHo6Fgzx6uaiiLwwGMHh0NANnZJzy1pbsF6/asQ6u3NUnFEZ2cAgWV+ZWYUTSDuw2qEMMAfSkQAOrro4MO9++PzkqgxDEagZEjgYoKoLQU6EdzakREsK1xGzYe3IhAmGsLkFzDnMMwZ/gc5DhyZJdCA8QwQMfm90cHHdbWAg0N0ZkJNHhGI1BUBJSVAeXl0XEBg9Ad7MZH+z9CTWvNEBVI1HdWoxUzS2ZiXO442aXQIDEM0Ml5vdFgUF8f7VLgwMP+sduB4cOBESOA4uK4cQBD5aDnIN7f+z7afBz/QckxNmcsZpbMhM1kk10KDQGGAeqfcBg4dCjajbB/f3R2AvWWnR198x8xAsjL61cXwEBFRARbG7diY8NGBCPcm4ASI9uejTnD56DAVSC7FBpCDAM0OF4vcOBANBgcPKjPZZANBiA3Fygo+PJik/dpiV0HlAgWowXTCqehMr+SmwtpEMMADS2fD2hqil4aG6NfvRpbMtdqjX7a73njz88HTCbZVfVyqPMQNjRsQIOnQXYppGJGxYjK/EpMLZgKq8kquxxKEIYBSrzOzmgoaG6O7pXgdke/BlO8KdtiAbKyopfs7C//7XDIrqxfGjwN+PTApzjcxdUnqe8UKBiTMwYzimbAaXHKLocSjGGA5Onu/jIY9ISErq5oS0J3d+IHKtpsgNN57EtmJuByJfb3J9m+jn3Y0LABTd1NskuhFKZAwajsUZhWOA2ZtkzZ5VCSMAxQ6gqFosHA7//yEghE1z+IRKLTHXv+feQxozHabG82H/ur1Rr9dG80yr6HUtS312NDwwa0eDn4k+KVZ5VjeuF0ZNmzZJdCScYwQKRTdW112NiwkdMRdc6gGFCeVY6pBVORbT/x6pekXQwDRDq3370fWxu3Ym/HXtmlUBLZTDaMzx2PifkT4TCraxwMDT2GASICALj9bmxt3IqdLTu5xLGGZduzUZlfiYrsChgN+uwqo94YBogoTjAcxM6WndjWtA3tvnbZ5dAQGZ4xHJPyJ6E4vVh2KZSCGAaI6LjYhaBuNpMNo7NHY2LeRGTYMmSXQymMYYCITqor0IWa1hrUttWiubtZdjl0AiaDCSMyRqAipwIl6SVcLZD6hGGAiPql3deOmtYa1LTWwO13yy6HEF0boDi9GKOzR6Msswxm49BvhkXaxjBARAPW1NUUazHoDnbLLkd3ch25qMiuwKjsUZwRQIPCMEBEgyaEwMHOg9jTvgf73fs58DBBTAYTitKKUJJeguEZw5FuTZddEmkEwwARDbnOQCf2u/djv3s/DrgPwB/2yy5JtTJtmShNL0VpRikKXYWcDkgJwTBARAklhEBTdxP2u/djX8c+NHY1QoAvO8djMVpQlFYUCwAui7b2yKDUxDBAREkVCAfQ2NWIpq4mNHU3obm7GZ2BTtllSWFQDMix5yDPmYd8Zz7ynfncHIikYBggIum8QS+aupviAoIWByRmWDOQ78yPvfnn2HPY7E8pgWGAiFJSV6ALbb42uP1uuP1uePye2L+DkaDs8o7LYXYgw5qBdGs6MmzRr+nWdGRYMzjlj1IWwwARqY4v5IsLCJ2BTvhCvtjFH/bDF/IhIiJD8vuMihFWkxU2kw1WozXu33azPfaGn25Nh8lgGpLfSZRMug4DS5cuxbvvvos9e/bILoWIEiAcCSMQDiAYCUa/hoMQEFCgAAAURYmd23Os5/iRAYBv8KR1fIangPvvvx8TJkzApZdeKrsUIk0xGoywG+ywwy67FKKUxkWrU8D999+PV155RXYZRESkUwwDBADo6uqSXcKg+Hw+RCJD0z9MRKQ3mg4DHo8Ht912G0aOHAmr1Yr8/Hyce+652LRpU69zhRAYOXIkLrnkkl7X+Xw+ZGRk4Dvf+U7csZUrV2LMmDGw2WwoLCzE1772NdTW1sbO6erqwp133onS0lJYrVaMHTsWv/zlL3HkMA1FUdDV1YU///nPUBQFiqJg6dKlfbp/06ZNw9e+9rW4Y5MmTYKiKPjss89ix1588UUoioLt27cDAFauXAlFUVBdXY0rr7wSWVlZmDNnDgDgs88+w9KlS1FeXg6bzYaCggJ84xvfQEtLS9zv6bmNHTt2YMmSJUhPT0dOTg5uvfVW+Hy+uHMVRcHNN9+M5557DmPHjoXNZsP06dPx3nvv9bpPBw4cwDe+8Q0MGzYMVqsVEydOxFNPPRV3zrvvvgtFUfDCCy/gxz/+MYqLi+FwOOB2c9McIqKB0PSYgRtvvBFr1qzBzTffjAkTJqClpQXvv/8+tm/fjmnTpsWdqygKrr76ajzwwANobW1FdnZ27Lq///3vcLvduPrqqwEA4XAYF110Ed555x1cccUVuPXWW+HxePD2229j69atGDVqFIQQWLRoEdatW4cbbrgBU6dOxZtvvonly5fjwIEDWLVqFQDgmWeewTe/+U2cdtpp+Pa3vw0AGDVqVJ/u39y5c/H888/Hvm9tbcW2bdtgMBhQVVWFyZMnAwCqqqqQl5eH8ePHx/385ZdfjoqKCtx///2xgPL222+jrq4O119/PQoKCrBt2zY88cQT2LZtGz766KO4AVcAsGTJEowcORL//d//jY8++giPPPII2tra8PTTT8ed989//hMvvvgibrnlFlitVvzud7/D+eefj08++QSVlZUAgMOHD+P000+PhYe8vDy8/vrruOGGG+B2u3HbbbfF3eZPf/pTWCwWfP/734ff74fFYunT40ZEREcRGpaRkSFuuumm415/3XXXiREjRsS+/+KLLwQA8dhjj8Wdt2jRIjFy5EgRiUSEEEI89dRTAoB46KGHet1mzzmvvPKKACB+9rOfxV2/ePFioSiKqKmpiR1zOp3iuuuu6+/dE6tXrxYARHV1tRBCiL/97W/CarWKRYsWif/4j/+InTd58mTx1a9+Nfb9ihUrBADx9a9/vddtdnd39zr2/PPPCwDivffe63UbixYtijt32bJlAoDYsmVL7BgAAUBs2LAhdqy+vl7YbLa4um644QZRWFgompub427ziiuuEBkZGbHa1q1bJwCI8vLyY9ZLRET9o+lugszMTHz88cdoaGjo0/ljxozBzJkz8dxzz8WOtba24vXXX8dVV10V+1T88ssvIzc3F9/73vd63UbPOa+99hqMRiNuueWWuOvvvPNOCCHw+uuvD/RuxcydOxcAYs3tVVVVOPXUU3HuueeiqqoKANDe3o6tW7fGzj3SjTfe2OuY3f7lqGufz4fm5macfvrpAHDM7pWbbrop7vuex+S1116LO37GGWdg+vTpse+HDx+OSy65BG+++SbC4TCEEHj55Zdx8cUXQwiB5ubm2OW8885DR0dHr99/3XXXxdVLREQDo+kw8MADD2Dr1q0oLS3FaaedhpUrV6Kuru6EP3Pttddi/fr1qK+vBwCsXr0awWAQ11xzTeyc2tpajB07FibT8XtZ6uvrUVRUhLS0tLjjPU31Pbc/GMOGDUNFRUXsjb+qqgpz587FvHnz0NDQgLq6Oqxfvx6RSOSYYaCsrKzXsdbWVtx6660YNmwY7HY78vLyYud1dHT0Or+ioiLu+1GjRsFgMPRau+Ho84Bo+Oru7kZTUxOamprQ3t6OJ554Anl5eXGX66+/HgDQ2Nh40vqJiKj/NB0GlixZgrq6OvzmN79BUVERHnzwQUycOPGEn8qvuOIKmM3mWOvAs88+ixkzZmDs2LHJKrtf5syZg6qqKni9XmzcuBFz585FZWUlMjMzUVVVhaqqKrhcLpxyyim9fvZYn6qXLFmCP/zhD7jxxhvx//7f/8Nbb72FN954AwD6NFr/6DEFfdVz21dffTXefvvtY15mz5590vqJiKj/ND2AEAAKCwuxbNkyLFu2DI2NjZg2bRruu+8+XHDBBcc8Pzs7GwsXLsRzzz2Hq666CuvXr8fDDz8cd86oUaPw8ccfIxgMwmw+9lrjI0aMwNq1a+HxeOJaB3bs2BG7vsdA30CBaFfBH//4R7zwwgsIh8OYNWsWDAZDLCRs374ds2bNgtF48s1Q2tra8M477+Cee+7BT37yk9jxXbt2Hfdndu3aFfcJvaamBpFIBCNHjux13tF27twJh8OBvLw8AEBaWhrC4TDOOeeck9ZKRERDR7MtA+FwuFezdn5+PoqKiuD3+0/4s9dccw2qq6uxfPlyGI1GXHHFFXHXX3bZZWhubsajjz7a62fFv0flX3jhhQiHw73OWbVqFRRFiQsjTqcT7e3t/bl7MT3N/7/4xS8wefJkZGRkxI6/88472LBhwzG7CI6lJzCIo1aoPjoMHem3v/1t3Pe/+c1vAKBX2Prwww/j+vz37duHv/71r/jKV74Co9EIo9GIyy67DC+//DK2bt3a6/c0NTX16T4QEVH/abZlwOPxoKSkBIsXL8aUKVPgcrmwdu1afPrpp/jVr351wp9duHAhcnJysHr1alxwwQXIz8+Pu/7aa6/F008/jTvuuAOffPIJ5s6di66uLqxduxbLli3DJZdcgosvvhgLFizA3XffjT179mDKlCl466238Ne//hW33XZb3PTB6dOnY+3atXjooYdQVFSEsrIyzJw5s0/3c/To0SgoKMAXX3wRN6Bx3rx5+MEPfgAAfQ4D6enpmDdvHh544AEEg0EUFxfjrbfewu7du4/7M7t378aiRYtw/vnn48MPP8Szzz6LK6+8ElOmTIk7r7KyEuedd17c1EIAuOeee2Ln/PznP8e6deswc+ZMfOtb38KECRPQ2tqKTZs2Ye3atWhtbe3T/SAion6SOpchgfx+v1i+fLmYMmWKSEtLE06nU0yZMkX87ne/i51z9NTCI/VMkfvLX/5yzOu7u7vF3XffLcrKyoTZbBYFBQVi8eLFora2NnaOx+MRt99+uygqKhJms1lUVFSIBx98MDb9sMeOHTvEvHnzhN1uFwD6Pc3w8ssvFwDEiy++GDsWCASEw+EQFotFeL3euPN7pgU2NTX1uq39+/eLr371qyIzM1NkZGSIyy+/XDQ0NAgAYsWKFb1uo7q6WixevFikpaWJrKwscfPNN/f6fQDETTfdJJ599llRUVEhrFarOOWUU8S6det6/f7Dhw+Lm266SZSWlsYe17PPPls88cQTsXN6phauXr26X48TEREdm653LTyR22+/HU8++SQOHToEh8Mhu5yUs3LlStxzzz1oampCbm7uCc9VFAU33XTTMbtViIhIPs2OGRgMn8+HZ599FpdddhmDABERaR7DwBEaGxvxl7/8BVdeeSVaWlpw6623SqkjHA7j0KFDJ7x0dnZKqY1Ir5YuXdprlozadHZ24pvf/CYKCgqgKEqvJb5JvzQ7gHAgqqurcdVVVyE/Px+PPPIIpk6dKqWOffv2nXRBnRUrVmDlypXJKYiIUsb999+PCRMm4NJLLx3Qz/7pT3/Cf/3Xf2HUqFEYP3489u3bh6eeegqvvvoqdu3aBaPRiMrKSvz4xz/mNF8d4ZiBFOTz+fD++++f8Jzy8nKUl5cnqSIiWrp0Kd59991eq2smm8vlwuLFi/GnP/2p3z97+umnw2Qyxb2+PProo7jrrrtw6aWXYvbs2QiFQnj66aexadMmPPXUU7EVQEnb2DKQgmw2GxM5EQ25xsZGTJgwIe7YggULsHfv3riBwDfeeCOmTp2Kn/zkJ5oJAz6fDxaLBQaDOnvHI5EIAoEAbDZbQm5fnY8KEdEQ83g8uO222zBy5EhYrVbk5+fj3HPPPeYGXUIIjBw5Epdcckmv63w+HzIyMvCd73wn7tjKlSsxZswY2Gw2FBYW4mtf+xpqa2tj53R1deHOO+9EaWkprFYrxo4di1/+8pdxi4ApioKuri78+c9/hqIoUBQFS5cuPel9e/fdd6EoCnbv3o1XX3019rN79uzBxIkTe80IslqtuPDCC7F//354PJ7Y8aVLl8LlcqGurg7nnXcenE4nioqKcO+998bq7O9jcyJ33HEHcnJy4h6D733ve1AUBY888kjs2OHDh6EoCh577LG4+/vCCy/gxz/+MYqLi+FwOOB2u9Ha2orvf//7mDRpElwuF9LT03HBBRdgy5Ytx3zMXnzxRfzoRz9CQUEBnE4nFi1ahH379sWde+aZZ6KyshIbN27ErFmzYLfbUVZWhscff7zXffL7/VixYgVGjx4Nq9WK0tJS3HXXXb0Ww+vZyv25557DxIkTYbVaY0vDJwJbBoiIEP00vGbNGtx8882YMGECWlpa8P7772P79u2YNm1a3LmKouDqq6/GAw88gNbWVmRnZ8eu+/vf/w63242rr74aQHRA8EUXXYR33nkHV1xxBW699VZ4PB68/fbb2Lp1K0aNGgUhBBYtWoR169bhhhtuwNSpU/Hmm29i+fLlOHDgAFatWgUAeOaZZ/DNb34Tp512Gr797W8DQNwCZsczfvx4PPPMM7j99ttRUlKCO++8EwBiS4EfS8+06qNnVIXDYZx//vk4/fTT8cADD+CNN97AihUrEAqFcO+99/brsTmZuXPnYtWqVdi2bRsqKysBRDdkMxgMqKqqiu0K27NZ27x58+J+/qc//SksFgu+//3vw+/3w2KxoLq6Gq+88gouv/xylJWV4fDhw/j973+P+fPno7q6GkVFRXG3cd9990FRFPzgBz9AY2MjHn74YZxzzjnYvHlz3P4obW1tuPDCC7FkyRJ8/etfx0svvYTvfve7sFgs+MY3vgEg+ul+0aJFeP/99/Htb38b48ePx+eff45Vq1Zh586deOWVV+J+9z/+8Q+89NJLuPnmm5Gbm5vYAayyFjggIkolGRkZ4qabbjru9UcvUvbFF18IAOKxxx6LO2/RokVi5MiRscXFnnrqKQFAPPTQQ71us+ecV155RQAQP/vZz+KuX7x4sVAURdTU1MSOOZ3Ofi9M1mPEiBFi4cKFJz1v165dwmaziWuuuSbu+HXXXScAiO9973tx92HhwoXCYrHEFjLr62NzMo2NjQJAbLG49vZ2YTAYxOWXXy6GDRsWO++WW24R2dnZsdvtWZisvLxcdHd3x92mz+cT4XA47tju3buF1WoV9957b+xYz20UFxcLt9sdO/7SSy8JAOLXv/517Nj8+fMFAPGrX/0qdszv94upU6eK/Px8EQgEhBBCPPPMM8JgMIiqqqq43//4448LAGL9+vWxYwCEwWAQ27Zt69NjNVjsJiAiApCZmYmPP/4YDQ0NfTp/zJgxmDlzZmyHUyC6Bfjrr7+Oq666KrYB2csvv4zc3Ny45cJ79Jzz2muvwWg0xj7p9rjzzjshhDjhTqtDrbu7G5dffjnsdjt+/vOfH/Ocm2++OfbvnubsQCCAtWvXAuj7Y3MyeXl5GDduHN577z0AwPr162E0GrF8+XIcPnw4tgFaVVUV5syZ0+t2r7vuul67m1qt1ti4gXA4jJaWFrhcLowdO/aYXULXXntt3GZzixcvRmFhIV577bW480wmU1z3h8ViwXe+8x00NjZi48aNAIDVq1dj/PjxGDduHJqbm2OXs846CwCwbt26uNucP39+rzEeicIwQEQE4IEHHsDWrVtRWlqK0047DStXrkRdXd0Jf+baa6/F+vXrUV9fDyD6Yh8MBnHNNdfEzqmtrcXYsWNhMh2/V7a+vh5FRUVxbzpAtHm/5/pkCIfDuOKKK1BdXY01a9b0ajIHAIPB0Gsm05gxYwAgbqZFXx6bvpg7d26sG6CqqgozZszAjBkzkJ2djaqqKrjdbmzZsuWYe7Aca4p2JBLBqlWrUFFRAavVitzcXOTl5eGzzz7rtbkdAFRUVMR9rygKRo8e3WtWSVFREZxOZ9yxox+XXbt2Ydu2bcjLy4u79JzX2Nh40voThWGAiAjAkiVLUFdXh9/85jcoKirCgw8+iIkTJ57wU/kVV1wBs9kc+wT87LPPYsaMGRg7dmyyyh5S3/rWt/B///d/+NOf/hT7tDpQQ/XYzJkzBwcOHEBdXR2qqqowd+5cKIoS26b9gw8+QCQSOWYYOLpVAIiutXDHHXdg3rx5ePbZZ/Hmm2/i7bffxsSJExGJRAZ2Z/soEolg0qRJePvtt495WbZs2UnrTxQOICQi+rfCwkIsW7YMy5YtQ2NjI6ZNm4b77ruv15bcPbKzs7Fw4UI899xzuOqqq7B+/fpeW36PGjUKH3/8MYLBIMxm8zFvZ8SIEVi7di08Hk9c68COHTti1/foaxN7fy1fvhx//OMf8fDDD+PrX//6cc+LRCKoq6uLfZoFgJ07dwJA3AC3vjw2fdHzJv/222/j008/xX/+538CiA4WfOyxx2KfyKdPn96n21uzZg0WLFiAJ598Mu54e3v7MfdZ6emK6CGEQE1NDSZPnhx3vKGhAV1dXXGtA0c/LqNGjcKWLVtw9tlnJ+z/caDYMkBEuhcOh3s1Eefn56OoqKjXlK+jXXPNNaiursby5cthNBpxxRVXxF1/2WWXobm5+ZgbdYl/T5m78MILEQ6He52zatUqKIoSF0acTifa29v7c/dO6sEHH8Qvf/lL/OhHP+rTMuxH1imEwKOPPgqz2Yyzzz477ryTPTZ9UVZWhuLiYqxatQrBYBCzZ88GEA0JtbW1WLNmTWwxpb4wGo1xUxWBaBfGgQMHjnn+008/HTe9cs2aNTh48GCvgBgKhfD73/8+9n0gEMDvf/975OXlxYLKkiVLcODAAfzhD3/o9Xu8Xi+6urr6dB8SgS0DRKR7Ho8HJSUlWLx4MaZMmQKXy4W1a9fi008/xa9+9asT/uzChQuRk5OD1atX44ILLkB+fn7c9ddeey2efvpp3HHHHfjkk08wd+5cdHV1Ye3atVi2bBkuueQSXHzxxViwYAHuvvtu7NmzB1OmTMFbb72Fv/71r7jtttvipg9Onz4da9euxUMPPYSioiKUlZVh5syZA77v//u//4u77roLFRUVGD9+PJ599tm4688991wMGzYs9r3NZsMbb7yB6667DjNnzsTrr7+OV199FT/60Y96TVU82WPTV3PnzsULL7yASZMmISsrCwAwbdo0OJ1O7Ny5E1deeWWfb+uiiy7Cvffei+uvvx6zZs3C559/jueee+64K7pmZ2djzpw5uP7663H48GE8/PDDGD16NL71rW/FnVdUVIRf/OIX2LNnD8aMGYMXX3wRmzdvxhNPPBFrEbrmmmvw0ksv4cYbb8S6deswe/ZshMNh7NixAy+99BLefPNNzJgxY0CP0aAlZc4CEVEK8/v9Yvny5WLKlCkiLS1NOJ1OMWXKlNiUNiF6Ty080rJlywQA8Ze//OWY13d3d4u7775blJWVCbPZLAoKCsTixYtFbW1t7ByPxyNuv/12UVRUJMxms6ioqBAPPvhgr2l4O3bsEPPmzRN2u10A6Nc0w2NNLVyxYoUAcNzLunXr4h4Dp9MpamtrxVe+8hXhcDjEsGHDxIoVK3pN1+vrY9MXv/3tbwUA8d3vfjfu+DnnnCMAiHfeeSfueM+0wNWrV/e6LZ/PJ+68805RWFgo7Ha7mD17tvjwww/F/Pnzxfz583vdxvPPPy9++MMfivz8fGG328XChQtFfX193G3Onz9fTJw4UWzYsEGcccYZwmaziREjRohHH3201+8PBALiF7/4hZg4caKwWq0iKytLTJ8+Xdxzzz2io6Mjdh6AE051HWrcm4CIaJBuv/12PPnkk7GFerRq6dKlWLNmTb92TVXrY/Puu+9iwYIFWL16NRYvXnzCc88880w0Nzdj69atSapu6HHMABHRIPh8Pjz77LO47LLLVPVmlwx8bNSDYwaIiAagsbERa9euxZo1a9DS0tKngXeJEA6H0dTUdMJzXC4XXC5Xkirq22PT1NSEcDh83NuwWCxxSxlTYjEMEBENQHV1Na666irk5+fjkUcewdSpU6XUsW/fvpMuTrNixQqsXLkyOQWhb4/NqaeeesLFlObPn4933303cUVSHI4ZICJSMZ/Ph/fff/+E55SXlx93tLws69evh9frPe71WVlZfV47gAaPYYCIiEjnOICQiIhI5xgGiIiIdI5hgIiISOcYBoiIiHSOYYCIiEjnGAaIiIh0jmGAiIhI5/4/SicxFsMsSvoAAAAASUVORK5CYII=",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "venn2(subsets = (len(set(slycot_wrapper)), \n",
+    "                 len(set(slycot_f2py_wrapper)), \n",
+    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.6"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab01nd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab01nd.html
new file mode 100644
index 00000000..aa709b3d
--- /dev/null
+++ b/doc/_build/html/source/reference/generated/slycot._wrapper.ab01nd.html
@@ -0,0 +1,174 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>slycot._wrapper.ab01nd &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
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+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.ab01nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab04md.html">slycot._wrapper.ab04md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab05md.html">slycot._wrapper.ab05md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab05nd.html">slycot._wrapper.ab05nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab07nd.html">slycot._wrapper.ab07nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab08nd.html">slycot._wrapper.ab08nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab08nz.html">slycot._wrapper.ab08nz</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09ad.html">slycot._wrapper.ab09ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09ax.html">slycot._wrapper.ab09ax</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09bd.html">slycot._wrapper.ab09bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09md.html">slycot._wrapper.ab09md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09nd.html">slycot._wrapper.ab09nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13bd.html">slycot._wrapper.ab13bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13dd.html">slycot._wrapper.ab13dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13ed.html">slycot._wrapper.ab13ed</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13fd.html">slycot._wrapper.ab13fd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13md.html">slycot._wrapper.ab13md</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
+</ul>
+</li>
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+      <li class="breadcrumb-item active">slycot._wrapper.ab01nd</li>
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+            <a href="../../../_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt" rel="nofollow"> View page source</a>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-ab01nd">
+<h1>slycot._wrapper.ab01nd<a class="headerlink" href="#slycot-wrapper-ab01nd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab01nd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab01nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">jobz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab01nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab01nd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab01nd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>jobz</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(n,3*m)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>ncont</strong> (<em>int</em>)</p></li>
+<li><p><strong>indcon</strong> (<em>int</em>)</p></li>
+<li><p><strong>nblk</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (ldz,n)</em>)</p></li>
+<li><p><strong>tau</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../slycot_inner.html" class="btn btn-neutral float-left" title="Inner function reference" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="slycot._wrapper.ab04md.html" class="btn btn-neutral float-right" title="slycot._wrapper.ab04md" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
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+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab04md.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab04md.html
new file mode 100644
index 00000000..b3220581
--- /dev/null
+++ b/doc/_build/html/source/reference/generated/slycot._wrapper.ab04md.html
@@ -0,0 +1,179 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>slycot._wrapper.ab04md &mdash; Slycot 0.6 documentation</title>
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+<li class="toctree-l2"><a class="reference internal" href="../slycot_outer.html">Outer function reference</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab01nd.html">slycot._wrapper.ab01nd</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.ab04md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab05md.html">slycot._wrapper.ab05md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab05nd.html">slycot._wrapper.ab05nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab07nd.html">slycot._wrapper.ab07nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab08nd.html">slycot._wrapper.ab08nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab08nz.html">slycot._wrapper.ab08nz</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09ad.html">slycot._wrapper.ab09ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09ax.html">slycot._wrapper.ab09ax</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09bd.html">slycot._wrapper.ab09bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09md.html">slycot._wrapper.ab09md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09nd.html">slycot._wrapper.ab09nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13bd.html">slycot._wrapper.ab13bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13dd.html">slycot._wrapper.ab13dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13ed.html">slycot._wrapper.ab13ed</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13fd.html">slycot._wrapper.ab13fd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13md.html">slycot._wrapper.ab13md</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
+</ul>
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+          <li class="breadcrumb-item"><a href="../slycot_inner.html">Inner function reference</a></li>
+      <li class="breadcrumb-item active">slycot._wrapper.ab04md</li>
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+            <a href="../../../_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt" rel="nofollow"> View page source</a>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-ab04md">
+<h1>slycot._wrapper.ab04md<a class="headerlink" href="#slycot-wrapper-ab04md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab04md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab04md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">type_bn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">beta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab04md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab04md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab04md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>type_bn</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>beta</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p,m)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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new file mode 100644
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+</ul>
+</li>
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+  <div class="section" id="slycot-wrapper-ab05md">
+<h1>slycot._wrapper.ab05md<a class="headerlink" href="#slycot-wrapper-ab05md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab05md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab05md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab05md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n1</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m1</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p1</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>n2</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p2</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
+<li><p><strong>b1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
+<li><p><strong>c1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
+<li><p><strong>d1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
+<li><p><strong>a2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
+<li><p><strong>b2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
+<li><p><strong>c2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p2</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
+<li><p><strong>d2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p2</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
+<li><p><strong>uplo</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘U’</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 1</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,n1 + n2)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,m1)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p2,n1 + n2)</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p2,m1)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab05nd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab05nd.html
new file mode 100644
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--- /dev/null
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+  <title>slycot._wrapper.ab05nd &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
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+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab01nd.html">slycot._wrapper.ab01nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab04md.html">slycot._wrapper.ab04md</a></li>
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+  <div class="section" id="slycot-wrapper-ab05nd">
+<h1>slycot._wrapper.ab05nd<a class="headerlink" href="#slycot-wrapper-ab05nd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab05nd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab05nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab05nd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05nd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n1</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m1</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p1</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>n2</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
+<li><p><strong>b1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
+<li><p><strong>c1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
+<li><p><strong>d1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
+<li><p><strong>a2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
+<li><p><strong>b2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
+<li><p><strong>c2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m1</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
+<li><p><strong>d2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m1</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(p1*p1,max(m1*m1,n1*p1))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,n1 + n2)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,m1)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-3 array(‘d’) with bounds (p1,n1,n2)</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p1,m1)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+  <div class="section" id="slycot-wrapper-ab07nd">
+<h1>slycot._wrapper.ab07nd<a class="headerlink" href="#slycot-wrapper-ab07nd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab07nd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab07nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab07nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab07nd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab07nd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 4*m</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (m,n)</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
+<li><p><strong>rcond</strong> (<em>float</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
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+
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+
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+  <div class="section" id="slycot-wrapper-ab08nd">
+<h1>slycot._wrapper.ab08nd<a class="headerlink" href="#slycot-wrapper-ab08nd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab08nd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab08nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab08nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab08nd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldb</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldc</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldd</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: n+3*max(m,p)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nu</strong> (<em>int</em>)</p></li>
+<li><p><strong>rank_bn</strong> (<em>int</em>)</p></li>
+<li><p><strong>dinfz</strong> (<em>int</em>)</p></li>
+<li><p><strong>nkror</strong> (<em>int</em>)</p></li>
+<li><p><strong>nkrol</strong> (<em>int</em>)</p></li>
+<li><p><strong>infz</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
+<li><p><strong>kronr</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, m))</em>)</p></li>
+<li><p><strong>kronl</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, p))</em>)</p></li>
+<li><p><strong>af</strong> (<em>rank-2 array(‘d’) with bounds (max(1, m + n),n + min(p, m))</em>)</p></li>
+<li><p><strong>bf</strong> (<em>rank-2 array(‘d’) with bounds (max(1, n + p),m + n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+  <div class="section" id="slycot-wrapper-ab08nz">
+<h1>slycot._wrapper.ab08nz<a class="headerlink" href="#slycot-wrapper-ab08nz" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab08nz">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab08nz</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lzwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab08nz&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab08nz" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nz</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>ldb</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>ldc</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>ldd</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>lzwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(min(p,m)+max(3*m-1,n), max(min(p,n)+max(3*p-1,max(n+p,n+m)), min(m,n)+max(3*m-1,n+m)))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nu</strong> (<em>int</em>)</p></li>
+<li><p><strong>rank_bn</strong> (<em>int</em>)</p></li>
+<li><p><strong>dinfz</strong> (<em>int</em>)</p></li>
+<li><p><strong>nkror</strong> (<em>int</em>)</p></li>
+<li><p><strong>nkrol</strong> (<em>int</em>)</p></li>
+<li><p><strong>infz</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
+<li><p><strong>kronr</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, m))</em>)</p></li>
+<li><p><strong>kronl</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, p))</em>)</p></li>
+<li><p><strong>af</strong> (<em>rank-2 array(‘D’) with bounds (max(1, m + n),n + min(p, m))</em>)</p></li>
+<li><p><strong>bf</strong> (<em>rank-2 array(‘D’) with bounds (max(1, n + p),m + n)</em>)</p></li>
+<li><p><strong>zwork</strong> (<em>rank-1 array(‘D’) with bounds (lzwork)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+  <div class="section" id="slycot-wrapper-ab09ad">
+<h1>slycot._wrapper.ab09ad<a class="headerlink" href="#slycot-wrapper-ab09ad" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab09ad">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09ad&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09ad" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09ad</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nr</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+
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+  <div class="section" id="slycot-wrapper-ab09ax">
+<h1>slycot._wrapper.ab09ax<a class="headerlink" href="#slycot-wrapper-ab09ax" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab09ax">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09ax</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09ax&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09ax" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09ax</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nr</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>t</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>ti</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+
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+  <div class="section" id="slycot-wrapper-ab09bd">
+<h1>slycot._wrapper.ab09bd<a class="headerlink" href="#slycot-wrapper-ab09bd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab09bd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09bd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09bd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol1</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>tol2</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nr</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p,m)</em>)</p></li>
+<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
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+  <div class="section" id="slycot-wrapper-ab09md">
+<h1>slycot._wrapper.ab09md<a class="headerlink" href="#slycot-wrapper-ab09md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab09md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nr</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>ns</strong> (<em>int</em>)</p></li>
+<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-ab09nd">
+<h1>slycot._wrapper.ab09nd<a class="headerlink" href="#slycot-wrapper-ab09nd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab09nd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09nd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09nd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol1</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>tol2</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nr</strong> (<em>int</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p,m)</em>)</p></li>
+<li><p><strong>ns</strong> (<em>int</em>)</p></li>
+<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot._wrapper.ab09md.html" class="btn btn-neutral float-left" title="slycot._wrapper.ab09md" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab13bd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab13bd.html
new file mode 100644
index 00000000..26714d9c
--- /dev/null
+++ b/doc/_build/html/source/reference/generated/slycot._wrapper.ab13bd.html
@@ -0,0 +1,173 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>slycot._wrapper.ab13bd &mdash; Slycot 0.6 documentation</title>
+      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
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+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Slycot reference</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../slycot_outer.html">Outer function reference</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab01nd.html">slycot._wrapper.ab01nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab04md.html">slycot._wrapper.ab04md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab05md.html">slycot._wrapper.ab05md</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab07nd.html">slycot._wrapper.ab07nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab08nd.html">slycot._wrapper.ab08nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab08nz.html">slycot._wrapper.ab08nz</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09ad.html">slycot._wrapper.ab09ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09ax.html">slycot._wrapper.ab09ax</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09bd.html">slycot._wrapper.ab09bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09md.html">slycot._wrapper.ab09md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09nd.html">slycot._wrapper.ab09nd</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.ab13bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13dd.html">slycot._wrapper.ab13dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13ed.html">slycot._wrapper.ab13ed</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13fd.html">slycot._wrapper.ab13fd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13md.html">slycot._wrapper.ab13md</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
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+      <li class="breadcrumb-item active">slycot._wrapper.ab13bd</li>
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+            <a href="../../../_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt" rel="nofollow"> View page source</a>
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+  <div class="section" id="slycot-wrapper-ab13bd">
+<h1>slycot._wrapper.ab13bd<a class="headerlink" href="#slycot-wrapper-ab13bd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab13bd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">ab13bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13bd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13bd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>jobn</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>ab13bd</strong> (<em>float</em>)</p></li>
+<li><p><strong>nq</strong> (<em>int</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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new file mode 100644
index 00000000..b3be0b04
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+  <div class="section" id="slycot-wrapper-ab13dd">
+<h1>slycot._wrapper.ab13dd<a class="headerlink" href="#slycot-wrapper-ab13dd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab13dd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobe</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobd</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fpeak</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">e</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13dd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13dd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13dd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>jobe</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>jobd</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>fpeak</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>2</em><em>)</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>e</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>fpeak</strong> (<em>rank-1 array(‘d’) with bounds (2)</em>)</p></li>
+<li><p><strong>gpeak</strong> (<em>rank-1 array(‘d’) with bounds (2)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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new file mode 100644
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+             
+  <div class="section" id="slycot-wrapper-ab13ed">
+<h1>slycot._wrapper.ab13ed<a class="headerlink" href="#slycot-wrapper-ab13ed" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab13ed">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13ed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13ed&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13ed" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13ed</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 9</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>low</strong> (<em>float</em>)</p></li>
+<li><p><strong>high</strong> (<em>float</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+
+
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new file mode 100644
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-ab13fd">
+<h1>slycot._wrapper.ab13fd<a class="headerlink" href="#slycot-wrapper-ab13fd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab13fd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13fd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13fd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13fd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>beta</strong> (<em>float</em>)</p></li>
+<li><p><strong>omega</strong> (<em>float</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab13md.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab13md.html
new file mode 100644
index 00000000..2b544115
--- /dev/null
+++ b/doc/_build/html/source/reference/generated/slycot._wrapper.ab13md.html
@@ -0,0 +1,169 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09md.html">slycot._wrapper.ab09md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab09nd.html">slycot._wrapper.ab09nd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.ab13bd.html">slycot._wrapper.ab13bd</a></li>
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+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
+</ul>
+</li>
+</ul>
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+      <li class="breadcrumb-item active">slycot._wrapper.ab13md</li>
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+            <a href="../../../_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt" rel="nofollow"> View page source</a>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-ab13md">
+<h1>slycot._wrapper.ab13md<a class="headerlink" href="#slycot-wrapper-ab13md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.ab13md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nblock</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">itype</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>fact</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>z</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>nblock</strong> (<em>input rank-1 array</em><em>(</em><em>'i'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>itype</strong> (<em>input rank-1 array</em><em>(</em><em>'i'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>x</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>-1 + 2 * m</em><em>)</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>x</strong> (<em>rank-1 array(‘d’) with bounds (-1 + 2 * m)</em>)</p></li>
+<li><p><strong>bound</strong> (<em>float</em>)</p></li>
+<li><p><strong>d</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>g</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot._wrapper.ab13fd.html" class="btn btn-neutral float-left" title="slycot._wrapper.ab13fd" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.mb03rd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.mb03rd.html
new file mode 100644
index 00000000..ed4aca7a
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@@ -0,0 +1,165 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>slycot._wrapper.mb03rd &mdash; Slycot 0.6 documentation</title>
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+  <div class="section" id="slycot-wrapper-mb03rd">
+<h1>slycot._wrapper.mb03rd<a class="headerlink" href="#slycot-wrapper-mb03rd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mb03rd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">jobx</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pmax</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_x</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03rd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03rd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03rd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>jobx</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>sort</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>pmax</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>x</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldx</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_x</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (lda,n)</em>)</p></li>
+<li><p><strong>x</strong> (<em>rank-2 array(‘d’) with bounds (ldx,n)</em>)</p></li>
+<li><p><strong>nblcks</strong> (<em>int</em>)</p></li>
+<li><p><strong>blsize</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
+<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.mb03vd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.mb03vd.html
new file mode 100644
index 00000000..42a2e5eb
--- /dev/null
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+  <div class="section" id="slycot-wrapper-mb03vd">
+<h1>slycot._wrapper.mb03vd<a class="headerlink" href="#slycot-wrapper-mb03vd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mb03vd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03vd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03vd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03vd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03vd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ilo</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ihi</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda1</em><em>,</em><em>lda2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-3 array(‘d’) with bounds (lda1,lda2,p)</em>)</p></li>
+<li><p><strong>tau</strong> (<em>rank-2 array(‘d’) with bounds (max(1, -1 + n),p)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.mb03vy.html b/doc/_build/html/source/reference/generated/slycot._wrapper.mb03vy.html
new file mode 100644
index 00000000..42ee378a
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+  <div class="section" id="slycot-wrapper-mb03vy">
+<h1>slycot._wrapper.mb03vy<a class="headerlink" href="#slycot-wrapper-mb03vy" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mb03vy">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03vy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tau</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03vy&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03vy" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03vy</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ilo</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ihi</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda1</em><em>,</em><em>lda2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
+<li><p><strong>tau</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldtau</em><em>,</em><em>p</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-3 array(‘d’) with bounds (lda1,lda2,p)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.mb03wd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.mb03wd.html
new file mode 100644
index 00000000..73bc47b3
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+  <div class="section" id="slycot-wrapper-mb03wd">
+<h1>slycot._wrapper.mb03wd<a class="headerlink" href="#slycot-wrapper-mb03wd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mb03wd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03wd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">compz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">iloz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihiz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">h</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_h</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_z</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03wd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03wd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03wd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>compz</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ilo</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ihi</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>iloz</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ihiz</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>h</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldh1</em><em>,</em><em>ldh2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
+<li><p><strong>z</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldz1</em><em>,</em><em>ldz2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_h</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_z</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,ihi-ilo+p-1)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>h</strong> (<em>rank-3 array(‘d’) with bounds (ldh1,ldh2,p)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-3 array(‘d’) with bounds (ldz1,ldz2,p)</em>)</p></li>
+<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+      <li class="breadcrumb-item active">slycot._wrapper.mb05md</li>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-mb05md">
+<h1>slycot._wrapper.mb05md<a class="headerlink" href="#slycot-wrapper-mb05md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mb05md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">balanc</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb05md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb05md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>balanc</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>delta</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>*</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (lda,</em>)*)</p></li>
+<li><p><strong>v</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>y</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>valr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>vali</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.mb05nd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.mb05nd.html
new file mode 100644
index 00000000..b888e5c7
--- /dev/null
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@@ -0,0 +1,158 @@
+<!DOCTYPE html>
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+             
+  <div class="section" id="slycot-wrapper-mb05nd">
+<h1>slycot._wrapper.mb05nd<a class="headerlink" href="#slycot-wrapper-mb05nd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mb05nd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_ex</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_exint</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb05nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb05nd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05nd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>delta</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>overwrite_ex</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_exint</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>ex</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>exint</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.mc01td.html b/doc/_build/html/source/reference/generated/slycot._wrapper.mc01td.html
new file mode 100644
index 00000000..b20e6c10
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+<!DOCTYPE html>
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+      </li>
+  </ul>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-mc01td">
+<h1>slycot._wrapper.mc01td<a class="headerlink" href="#slycot-wrapper-mc01td" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.mc01td">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mc01td</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dp</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mc01td&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mc01td" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mc01td</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>dp</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>1 + dp</em><em>)</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>dp</strong> (<em>int</em>)</p></li>
+<li><p><strong>stable</strong> (<em>int</em>)</p></li>
+<li><p><strong>nz</strong> (<em>int</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.sb01bd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.sb01bd.html
new file mode 100644
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@@ -0,0 +1,178 @@
+<!DOCTYPE html>
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+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.sb01bd</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04qd.html">slycot._wrapper.sb04qd</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sg03ad.html">slycot._wrapper.sg03ad</a></li>
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+</ul>
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
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+      <li class="breadcrumb-item active">slycot._wrapper.sb01bd</li>
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+            <a href="../../../_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt" rel="nofollow"> View page source</a>
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+             
+  <div class="section" id="slycot-wrapper-sb01bd">
+<h1>slycot._wrapper.sb01bd<a class="headerlink" href="#slycot-wrapper-sb01bd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb01bd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb01bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wi</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_wr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_wi</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb01bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb01bd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb01bd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>wr</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>)</em>) – </p></li>
+<li><p><strong>wi</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_wr</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_wi</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(5*n,2*n+5*m)+1</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (np)</em>)</p></li>
+<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (np)</em>)</p></li>
+<li><p><strong>nfp</strong> (<em>int</em>)</p></li>
+<li><p><strong>nap</strong> (<em>int</em>)</p></li>
+<li><p><strong>nup</strong> (<em>int</em>)</p></li>
+<li><p><strong>f</strong> (<em>rank-2 array(‘d’) with bounds (m,n)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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new file mode 100644
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
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+  <div class="section" id="slycot-wrapper-sb02md">
+<h1>slycot._wrapper.sb02md<a class="headerlink" href="#slycot-wrapper-sb02md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb02md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb02md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">g</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">hinv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scal</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb02md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb02md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb02md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>g</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>hinv</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘D’</p></li>
+<li><p><strong>uplo</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘U’</p></li>
+<li><p><strong>scal</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>sort</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘S’</p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(3,6*n)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>q</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>rcond</strong> (<em>float</em>)</p></li>
+<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (2 * n)</em>)</p></li>
+<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (2 * n)</em>)</p></li>
+<li><p><strong>s</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,2 * n)</em>)</p></li>
+<li><p><strong>u</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,2 * n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.sb03md.html b/doc/_build/html/source/reference/generated/slycot._wrapper.sb03md.html
new file mode 100644
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+             
+  <div class="section" id="slycot-wrapper-sb03md">
+<h1>slycot._wrapper.sb03md<a class="headerlink" href="#slycot-wrapper-sb03md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb03md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb03md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trana</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb03md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb03md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb03md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>u</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘X’</p></li>
+<li><p><strong>fact</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>trana</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_u</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(2*n*n,3*n)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>u</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>scale</strong> (<em>float</em>)</p></li>
+<li><p><strong>sep</strong> (<em>float</em>)</p></li>
+<li><p><strong>ferr</strong> (<em>float</em>)</p></li>
+<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
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+  <div class="section" id="slycot-wrapper-sb03od">
+<h1>slycot._wrapper.sb03od<a class="headerlink" href="#slycot-wrapper-sb03od" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb03od">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb03od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb03od&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb03od" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb03od</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>fact</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>trans</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,4*n)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>scale</strong> (<em>float</em>)</p></li>
+<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot._wrapper.sb03md.html" class="btn btn-neutral float-left" title="slycot._wrapper.sb03md" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.sb04md.html b/doc/_build/html/source/reference/generated/slycot._wrapper.sb04md.html
new file mode 100644
index 00000000..98e63a01
--- /dev/null
+++ b/doc/_build/html/source/reference/generated/slycot._wrapper.sb04md.html
@@ -0,0 +1,168 @@
+<!DOCTYPE html>
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
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+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.sb04md</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sg03ad.html">slycot._wrapper.sg03ad</a></li>
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+</ul>
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+            <a href="../../../_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt" rel="nofollow"> View page source</a>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-wrapper-sb04md">
+<h1>slycot._wrapper.sb04md<a class="headerlink" href="#slycot-wrapper-sb04md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb04md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb04md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb04md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb04md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb04md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(2*n*n+8*n,max(5*m,n+m))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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new file mode 100644
index 00000000..c7988522
--- /dev/null
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+  <div class="section" id="slycot-wrapper-sb04qd">
+<h1>slycot._wrapper.sb04qd<a class="headerlink" href="#slycot-wrapper-sb04qd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb04qd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb04qd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb04qd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb04qd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb04qd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(2*n*n+9*n,max(5*m,n+m))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
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new file mode 100644
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+  <div class="section" id="slycot-wrapper-sb10ad">
+<h1>slycot._wrapper.sb10ad<a class="headerlink" href="#slycot-wrapper-sb10ad" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb10ad">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">gtol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">liwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10ad&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10ad" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10ad</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>job</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>gamma</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>gtol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>actol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>liwork</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>gamma</strong> (<em>float</em>)</p></li>
+<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
+<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
+<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
+<li><p><strong>ac</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,2 * n)</em>)</p></li>
+<li><p><strong>bc</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,m - ncon)</em>)</p></li>
+<li><p><strong>cc</strong> (<em>rank-2 array(‘d’) with bounds (-nmeas + np,2 * n)</em>)</p></li>
+<li><p><strong>dc</strong> (<em>rank-2 array(‘d’) with bounds (-nmeas + np,m - ncon)</em>)</p></li>
+<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (4)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+
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new file mode 100644
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
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+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.sb10dd</a></li>
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+  <div class="section" id="slycot-wrapper-sb10dd">
+<h1>slycot._wrapper.sb10dd<a class="headerlink" href="#slycot-wrapper-sb10dd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb10dd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10dd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10dd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10dd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>gamma</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>gamma</strong> (<em>float</em>)</p></li>
+<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
+<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
+<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
+<li><p><strong>x</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (8)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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new file mode 100644
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb03md.html">slycot._wrapper.sb03md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb03od.html">slycot._wrapper.sb03od</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
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+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.sb10fd</a></li>
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+  <div class="section" id="slycot-wrapper-sb10fd">
+<h1>slycot._wrapper.sb10fd<a class="headerlink" href="#slycot-wrapper-sb10fd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb10fd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10fd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10fd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10fd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>gamma</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
+<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
+<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
+<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (4)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot._wrapper.sb10dd.html" class="btn btn-neutral float-left" title="slycot._wrapper.sb10dd" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.sb10hd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.sb10hd.html
new file mode 100644
index 00000000..dbe5de45
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+<!DOCTYPE html>
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+      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb01bd.html">slycot._wrapper.sb01bd</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb03md.html">slycot._wrapper.sb03md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb03od.html">slycot._wrapper.sb03od</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10ad.html">slycot._wrapper.sb10ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10dd.html">slycot._wrapper.sb10dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10fd.html">slycot._wrapper.sb10fd</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.sb10hd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sg03ad.html">slycot._wrapper.sg03ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sg03bd.html">slycot._wrapper.sg03bd</a></li>
+</ul>
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
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+             
+  <div class="section" id="slycot-wrapper-sb10hd">
+<h1>slycot._wrapper.sb10hd<a class="headerlink" href="#slycot-wrapper-sb10hd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sb10hd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10hd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10hd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10hd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10hd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
+<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
+<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
+<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (4)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot._wrapper.sb10fd.html" class="btn btn-neutral float-left" title="slycot._wrapper.sb10fd" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
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+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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new file mode 100644
index 00000000..3a47ebfc
--- /dev/null
+++ b/doc/_build/html/source/reference/generated/slycot._wrapper.sg03ad.html
@@ -0,0 +1,178 @@
+<!DOCTYPE html>
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+<li class="toctree-l2"><a class="reference internal" href="../slycot_outer.html">Outer function reference</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../slycot_inner.html">Inner function reference</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#mathematical-routines">Mathematical routines</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb01bd.html">slycot._wrapper.sb01bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb02md.html">slycot._wrapper.sb02md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb03md.html">slycot._wrapper.sb03md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb03od.html">slycot._wrapper.sb03od</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb04qd.html">slycot._wrapper.sb04qd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10ad.html">slycot._wrapper.sb10ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10dd.html">slycot._wrapper.sb10dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10fd.html">slycot._wrapper.sb10fd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sb10hd.html">slycot._wrapper.sb10hd</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.sg03ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.sg03bd.html">slycot._wrapper.sg03bd</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a></li>
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+  <div class="section" id="slycot-wrapper-sg03ad">
+<h1>slycot._wrapper.sg03ad<a class="headerlink" href="#slycot-wrapper-sg03ad" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sg03ad">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sg03ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">e</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sg03ad&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sg03ad" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sg03ad</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>fact</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>trans</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>uplo</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>e</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>z</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>x</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,max(2*n*n,8*n+16))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>e</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>q</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>x</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>scale</strong> (<em>float</em>)</p></li>
+<li><p><strong>sep</strong> (<em>float</em>)</p></li>
+<li><p><strong>ferr</strong> (<em>float</em>)</p></li>
+<li><p><strong>alphar</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>alphai</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>beta</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-wrapper-sg03bd">
+<h1>slycot._wrapper.sg03bd<a class="headerlink" href="#slycot-wrapper-sg03bd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.sg03bd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sg03bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">e</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sg03bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sg03bd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sg03bd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>e</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>z</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>max</em><em>(</em><em>m</em><em>, </em><em>n</em><em>)</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>fact</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>trans</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(4*n,6*n-6)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (max(m, n),n)</em>)</p></li>
+<li><p><strong>scale</strong> (<em>float</em>)</p></li>
+<li><p><strong>alphar</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>alphai</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>beta</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.tb01id</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.tf01md.html">slycot._wrapper.tf01md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="slycot._wrapper.tf01rd.html">slycot._wrapper.tf01rd</a></li>
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+  <div class="section" id="slycot-wrapper-tb01id">
+<h1>slycot._wrapper.tb01id<a class="headerlink" href="#slycot-wrapper-tb01id" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.tb01id">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tb01id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">maxred</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tb01id&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tb01id" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01id</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>maxred</strong> (<em>input float</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘A’</p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>maxred</strong> (<em>float</em>)</p></li>
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
+<li><p><strong>scale</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.tb01pd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.tb01pd.html
new file mode 100644
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--- /dev/null
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#analysis">Analysis</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_inner.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a><ul class="current">
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+<li class="toctree-l4 current"><a class="current reference internal" href="#">slycot._wrapper.tb01pd</a></li>
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+  <div class="section" id="slycot-wrapper-tb01pd">
+<h1>slycot._wrapper.tb01pd<a class="headerlink" href="#slycot-wrapper-tb01pd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.tb01pd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tb01pd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tb01pd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tb01pd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01pd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>max</em><em>(</em><em>m</em><em>, </em><em>p</em><em>)</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>max</em><em>(</em><em>p</em><em>, </em><em>m</em><em>)</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>job</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘M’</p></li>
+<li><p><strong>equil</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘S’</p></li>
+<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n+max(n,max(3*m,3*p)))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
+<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,max(m, p))</em>)</p></li>
+<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (max(p, m),n)</em>)</p></li>
+<li><p><strong>nr</strong> (<em>int</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_inner.html#transformation-routines">Transformation Routines</a><ul class="current">
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+  <div class="section" id="slycot-wrapper-tf01md">
+<h1>slycot._wrapper.tf01md<a class="headerlink" href="#slycot-wrapper-tf01md" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.tf01md">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tf01md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ny</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_x</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tf01md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tf01md" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tf01md</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>ny</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
+<li><p><strong>u</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>ny</em><em>)</em>) – </p></li>
+<li><p><strong>x</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>)</em>) – </p></li>
+<li><p><strong>overwrite_x</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>x</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
+<li><p><strong>y</strong> (<em>rank-2 array(‘d’) with bounds (ldy,ny)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.tf01rd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.tf01rd.html
new file mode 100644
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+  <div class="section" id="slycot-wrapper-tf01rd">
+<h1>slycot._wrapper.tf01rd<a class="headerlink" href="#slycot-wrapper-tf01rd" title="Permalink to this heading"></a></h1>
+<dl class="py data">
+<dt class="sig sig-object py" id="slycot._wrapper.tf01rd">
+<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tf01rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">na</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nb</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nc</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tf01rd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tf01rd" title="Permalink to this definition"></a></dt>
+<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tf01rd</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>na</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nb</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>nc</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
+<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>na</em><em>,</em><em>na</em><em>)</em>) – </p></li>
+<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>na</em><em>,</em><em>nb</em><em>)</em>) – </p></li>
+<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>nc</em><em>,</em><em>na</em><em>)</em>) – </p></li>
+<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 2*na*nc</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>h</strong> (<em>rank-2 array(‘d’) with bounds (nc,n * nb)</em>)</p></li>
+<li><p><strong>info</strong> (<em>int</em>)</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+  <div class="section" id="slycot-ab01nd">
+<h1>slycot.ab01nd<a class="headerlink" href="#slycot-ab01nd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab01nd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab01nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">jobz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab01nd" title="Permalink to this definition"></a></dt>
+<dd><p>To find a controllable realization for the linear time-invariant
+multi-input system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">dX</span><span class="o">/</span><span class="n">dt</span> <span class="o">=</span> <span class="n">A</span> <span class="o">*</span> <span class="n">X</span> <span class="o">+</span> <span class="n">B</span> <span class="o">*</span> <span class="n">U</span><span class="p">,</span>
+</pre></div>
+</div>
+<p>where A and B are N-by-N and N-by-M matrices, respectively,
+which are reduced by this routine to orthogonal canonical form
+using (and optionally accumulating) orthogonal similarity
+transformations.  Specifically, the pair <code class="docutils literal notranslate"><span class="pre">(A,</span> <span class="pre">B)</span></code> is reduced to
+the pair <code class="docutils literal notranslate"><span class="pre">(Ac,</span> <span class="pre">Bc),</span>&#160; <span class="pre">Ac</span> <span class="pre">=</span> <span class="pre">Z'</span> <span class="pre">*</span> <span class="pre">A</span> <span class="pre">*</span> <span class="pre">Z,</span>&#160; <span class="pre">Bc</span> <span class="pre">=</span> <span class="pre">Z'</span> <span class="pre">*</span> <span class="pre">B</span></code>,  given by</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">[</span> <span class="n">Acont</span>     <span class="o">*</span>    <span class="p">]</span>         <span class="p">[</span> <span class="n">Bcont</span> <span class="p">]</span>
+<span class="n">Ac</span> <span class="o">=</span> <span class="p">[</span>                <span class="p">],</span>   <span class="n">Bc</span> <span class="o">=</span> <span class="p">[</span>       <span class="p">],</span>
+     <span class="p">[</span>   <span class="mi">0</span>    <span class="n">Auncont</span> <span class="p">]</span>         <span class="p">[</span>   <span class="mi">0</span>   <span class="p">]</span>
+
+<span class="ow">and</span>
+
+        <span class="p">[</span> <span class="n">A11</span> <span class="n">A12</span>  <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">A1</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">A1p</span> <span class="p">]</span>         <span class="p">[</span> <span class="n">B1</span> <span class="p">]</span>
+        <span class="p">[</span> <span class="n">A21</span> <span class="n">A22</span>  <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">A2</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">A2p</span> <span class="p">]</span>         <span class="p">[</span> <span class="mi">0</span>  <span class="p">]</span>
+        <span class="p">[</span>  <span class="mi">0</span>  <span class="n">A32</span>  <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">A3</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">A3p</span> <span class="p">]</span>         <span class="p">[</span> <span class="mi">0</span>  <span class="p">]</span>
+<span class="n">Acont</span> <span class="o">=</span> <span class="p">[</span>  <span class="o">.</span>   <span class="o">.</span>   <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>    <span class="o">.</span>     <span class="o">.</span>  <span class="p">],</span>   <span class="n">Bc</span> <span class="o">=</span> <span class="p">[</span> <span class="o">.</span>  <span class="p">],</span>
+        <span class="p">[</span>  <span class="o">.</span>   <span class="o">.</span>     <span class="o">.</span> <span class="o">.</span>    <span class="o">.</span>     <span class="o">.</span>  <span class="p">]</span>         <span class="p">[</span> <span class="o">.</span>  <span class="p">]</span>
+        <span class="p">[</span>  <span class="o">.</span>   <span class="o">.</span>       <span class="o">.</span>    <span class="o">.</span>     <span class="o">.</span>  <span class="p">]</span>         <span class="p">[</span> <span class="o">.</span>  <span class="p">]</span>
+        <span class="p">[</span>  <span class="mi">0</span>   <span class="mi">0</span>   <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">Ap</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">App</span> <span class="p">]</span>         <span class="p">[</span> <span class="mi">0</span>  <span class="p">]</span>
+</pre></div>
+</div>
+<p>where the blocks <code class="docutils literal notranslate"><span class="pre">B1,</span> <span class="pre">A21,</span> <span class="pre">...,</span> <span class="pre">Ap,p-1</span></code> have full row ranks and
+<cite>p</cite> is the controllability index of the pair.  The size of the
+block <cite>Auncont</cite> is equal to the dimension of the uncontrollable
+subspace of the pair <code class="docutils literal notranslate"><span class="pre">(A,</span> <span class="pre">B)</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the original state-space representation, i.e.
+the order of the matrix A.  <code class="docutils literal notranslate"><span class="pre">n</span> <span class="pre">&gt;</span> <span class="pre">0</span></code>.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The number of system inputs, or of columns of B.  <code class="docutils literal notranslate"><span class="pre">m</span> <span class="pre">&gt;</span> <span class="pre">0</span></code>.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>array_like</em>) – The original state dynamics matrix A.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>,</em><em>m</em><em>) </em><em>array_like</em>) – The input matrix B.</p></li>
+<li><p><strong>jobz</strong> (<em>{'N'</em><em>, </em><em>'F'</em><em>, </em><em>'I'}</em><em>, </em><em>optional</em>) – <p>Indicates whether the user wishes to accumulate in a matrix Z
+the orthogonal similarity transformations for reducing the system,
+as follows:</p>
+<dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Do not form Z and do not store the orthogonal transformations;
+(default)</p>
+</dd>
+<dt class="field-even">= ‘F’</dt>
+<dd class="field-even"><p>Do not form Z, but store the orthogonal transformations in
+the factored form;</p>
+</dd>
+<dt class="field-odd">= ‘I’</dt>
+<dd class="field-odd"><p>Z is initialized to the unit matrix and the orthogonal
+transformation matrix Z is returned.</p>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The tolerance to be used in rank determination when transforming
+<code class="docutils literal notranslate"><span class="pre">(A,</span> <span class="pre">B)</span></code>. If <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">&lt;=</span> <span class="pre">0</span></code> a default value is used.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. <code class="docutils literal notranslate"><span class="pre">ldwork</span> <span class="pre">&gt;=</span> <span class="pre">max(n,</span> <span class="pre">3*m)</span></code>.
+For optimum performance it should be larger.
+default: <code class="docutils literal notranslate"><span class="pre">ldwork</span> <span class="pre">=</span> <span class="pre">max(n,</span> <span class="pre">3*m)</span></code></p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>Ac</strong> (<em>(n,n) ndarray</em>) – The leading ncont-by-ncont part contains the upper block
+Hessenberg state dynamics matrix Acont in Ac, given by Z’<a href="#id1"><span class="problematic" id="id2">*</span></a>A*Z,
+of a controllable realization for the original system. The
+elements below the first block-subdiagonal are set to zero.</p></li>
+<li><p><strong>Bc</strong> (<em>(n,m) ndarray</em>) – The leading ncont-by-m part of this array contains the transformed
+input matrix Bcont in Bc, given by <code class="docutils literal notranslate"><span class="pre">Z'*B</span></code>, with all elements but the
+first block set to zero.</p></li>
+<li><p><strong>ncont</strong> (<em>int</em>) – The order of the controllable state-space representation.</p></li>
+<li><p><strong>indcon</strong> (<em>int</em>) – The controllability index of the controllable part of the system
+representation.</p></li>
+<li><p><strong>nblk</strong> (<em>(n,) int ndarray</em>) – The leading indcon elements of this array contain the the orders of
+the diagonal blocks of Acont.</p></li>
+<li><p><strong>Z</strong> (<em>(n,n) ndarray</em>) –</p>
+<ul>
+<li><p>If jobz = ‘I’, then the leading N-by-N part of this array contains
+the matrix of accumulated orthogonal similarity transformations
+which reduces the given system to orthogonal canonical form.</p></li>
+<li><p>If jobz = ‘F’, the elements below the diagonal, with the array tau,
+represent the orthogonal transformation matrix as a product of
+elementary reflectors. The transformation matrix can then be
+obtained by calling the LAPACK Library routine DORGQR.</p></li>
+<li><p>If jobz = ‘N’, the array Z is <cite>None</cite>.</p></li>
+</ul>
+</li>
+<li><p><strong>tau</strong> (<em>(n, ) ndarray</em>) – The elements of tau contain the scalar factors of the
+elementary reflectors used in the reduction of B and A.</p></li>
+</ul>
+</p>
+</dd>
+</dl>
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+  <div class="section" id="slycot-ab04md">
+<h1>slycot.ab04md<a class="headerlink" href="#slycot-ab04md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab04md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab04md</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab04md" title="Permalink to this definition"></a></dt>
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+             
+  <div class="section" id="slycot-ab05md">
+<h1>slycot.ab05md<a class="headerlink" href="#slycot-ab05md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab05md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab05md" title="Permalink to this definition"></a></dt>
+<dd><p>To obtain the state-space model (A,B,C,D) for the cascaded
+inter-connection of two systems, each given in state-space form.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n1<span class="classifier">input int</span></dt><dd><p>The number of state variables in the first system, i.e. the order
+of the matrix A1.  n1 &gt; 0.</p>
+</dd>
+<dt>m1<span class="classifier">input int</span></dt><dd><p>The number of input variables for the first system. m1 &gt; 0.</p>
+</dd>
+<dt>p1<span class="classifier">input int</span></dt><dd><p>The number of output variables from the first system and the number
+of input variables for the second system. p1 &gt; 0.</p>
+</dd>
+<dt>n2<span class="classifier">input int</span></dt><dd><p>The number of state variables in the second system, i.e. the order
+of the matrix A2.  n2 &gt; 0.</p>
+</dd>
+<dt>p2<span class="classifier">input int</span></dt><dd><p>The number of output variables from the second system. p2 &gt; 0.</p>
+</dd>
+<dt>A1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,n1)</span></dt><dd><p>The leading n1-by-n1 part of this array must contain the state
+transition matrix A1 for the first system.</p>
+</dd>
+<dt>B1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,m1)</span></dt><dd><p>The leading n1-by-m1 part of this array must contain the input/state
+matrix B1 for the first system.</p>
+</dd>
+<dt>C1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,n1)</span></dt><dd><p>The leading p1-by-n1 part of this array must contain the state/output
+matrix C1 for the first system.</p>
+</dd>
+<dt>D1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,m1)</span></dt><dd><p>The leading p1-by-m1 part of this array must contain the input/output
+matrix D1 for the first system.</p>
+</dd>
+<dt>A2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,n2)</span></dt><dd><p>The leading n2-by-n2 part of this array must contain the state
+transition matrix A2 for the second system.</p>
+</dd>
+<dt>B2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,p1)</span></dt><dd><p>The leading n2-by-p1 part of this array must contain the input/state
+matrix B2 for the second system.</p>
+</dd>
+<dt>C2<span class="classifier">input rank-2 array(‘d’) with bounds (p2,n2)</span></dt><dd><p>The leading p2-by-n2 part of this array must contain the state/output
+matrix C2 for the second system.</p>
+</dd>
+<dt>D2<span class="classifier">input rank-2 array(‘d’) with bounds (p2,p1)</span></dt><dd><p>The leading p2-by-p1 part of this array must contain the input/output
+matrix D2 for the second system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl>
+<dt>uplo := ‘U’ input string(len=1)</dt><dd><p>Indicates whether the user wishes to obtain the matrix A in
+the upper or lower block diagonal form, as follows:</p>
+<blockquote>
+<div><p>= ‘U’:  Obtain A in the upper block diagonal form;
+= ‘L’:  Obtain A in the lower block diagonal form.</p>
+</div></blockquote>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">int</span></dt><dd><p>The number of state variables (n1 + n2) in the resulting system,
+i.e. the order of the matrix A, the number of rows of B and
+the number of columns of C.</p>
+</dd>
+<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,n1+n2)</span></dt><dd><p>The leading N-by-N part of this array contains the state transition
+matrix A for the cascaded system.</p>
+</dd>
+<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,m1)</span></dt><dd><p>The leading n-by-m1 part of this array contains the input/state
+matrix B for the cascaded system.</p>
+</dd>
+<dt>C<span class="classifier">rank-2 array(‘d’) with bounds (p2,n1+n2)</span></dt><dd><p>The leading p2-by-n part of this array contains the state/output
+matrix C for the cascaded system.</p>
+</dd>
+<dt>D<span class="classifier">rank-2 array(‘d’) with bounds (p2,m1)</span></dt><dd><p>The leading p2-by-m1 part of this array contains the input/output
+matrix D for the cascaded system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<p class="rubric">Notes</p>
+<p>The implemented methods rely on accuracy enhancing square-root or
+balancing-free square-root techniques.
+The algorithms require less than 30N^3  floating point operations.</p>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_outer.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_outer.html#transformation-routines">Transformation Routines</a></li>
+</ul>
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+  <div class="section" id="slycot-ab05nd">
+<h1>slycot.ab05nd<a class="headerlink" href="#slycot-ab05nd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab05nd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab05nd" title="Permalink to this definition"></a></dt>
+<dd><p>To obtain the state-space model (A,B,C,D) for the feedback inter-connection
+of two systems, each given in state-space form.</p>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n1<span class="classifier">input int</span></dt><dd><p>The number of state variables in the first system, i.e. the order
+of the matrix A1.  n1 &gt; 0.</p>
+</dd>
+<dt>m1<span class="classifier">input int</span></dt><dd><p>The number of input variables for the first system and the number
+of output variables from the second system. m1 &gt; 0.</p>
+</dd>
+<dt>p1<span class="classifier">input int</span></dt><dd><p>The number of output variables from the first system and the number
+of input variables for the second system. p1 &gt; 0.</p>
+</dd>
+<dt>n2<span class="classifier">input int</span></dt><dd><p>The number of state variables in the second system, i.e. the order
+of the matrix A2.  n2 &gt; 0.</p>
+</dd>
+<dt>A1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,n1)</span></dt><dd><p>The leading n1-by-n1 part of this array must contain the state
+transition matrix A1 for the first system.</p>
+</dd>
+<dt>B1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,m1)</span></dt><dd><p>The leading n1-by-m1 part of this array must contain the input/state
+matrix B1 for the first system.</p>
+</dd>
+<dt>C1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,n1)</span></dt><dd><p>The leading p1-by-n1 part of this array must contain the state/output
+matrix C1 for the first system.</p>
+</dd>
+<dt>D1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,m1)</span></dt><dd><p>The leading p1-by-m1 part of this array must contain the input/output
+matrix D1 for the first system.</p>
+</dd>
+<dt>A2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,n2)</span></dt><dd><p>The leading n2-by-n2 part of this array must contain the state
+transition matrix A2 for the second system.</p>
+</dd>
+<dt>B2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,p1)</span></dt><dd><p>The leading n2-by-p1 part of this array must contain the input/state
+matrix B2 for the second system.</p>
+</dd>
+<dt>C2<span class="classifier">input rank-2 array(‘d’) with bounds (m1,n2)</span></dt><dd><p>The leading m1-by-n2 part of this array must contain the state/output
+matrix C2 for the second system.</p>
+</dd>
+<dt>D2<span class="classifier">input rank-2 array(‘d’) with bounds (m1,p1)</span></dt><dd><p>The leading m1-by-p1 part of this array must contain the input/output
+matrix D2 for the second system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>alpha := 1.0 input float</dt><dd><p>A coefficient multiplying the transfer-function matrix (or the
+output equation) of the second system. i.e alpha = +1 corresponds
+to positive feedback, and alpha = -1 corresponds to negative
+feedback.</p>
+</dd>
+<dt>ldwork := max(p1*p1,m1*m1,n1*p1) input int</dt><dd><p>The length of the cache array. ldwork &gt;= max(p1*p1,m1*m1,n1*p1).</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">int</span></dt><dd><p>The number of state variables (n1 + n2) in the connected system, i.e.
+the order of the matrix A, the number of rows of B and the number of
+columns of C.</p>
+</dd>
+<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,n1+n2)</span></dt><dd><p>The leading n-by-n part of this array contains the state transition
+matrix A for the connected system.</p>
+</dd>
+<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,m1)</span></dt><dd><p>The leading n-by-m1 part of this array contains the input/state
+matrix B for the connected system.</p>
+</dd>
+<dt>C<span class="classifier">rank-3 array(‘d’) with bounds (p1,n1,n2)</span></dt><dd><p>The leading p1-by-n part of this array contains the state/output
+matrix C for the connected system.</p>
+</dd>
+<dt>D<span class="classifier">rank-2 array(‘d’) with bounds (p1,m1)</span></dt><dd><p>The leading p1-by-m1 part of this array contains the input/output
+matrix D for the connected system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">1 &lt;= info &lt;= p1</dt>
+<dd class="field-odd"><p></p></dd>
+</dl>
+<p>the system is not completely controllable. That is, the matrix
+<code class="docutils literal notranslate"><span class="pre">(I</span> <span class="pre">+</span> <span class="pre">ALPHA*D1*D2)</span></code> is exactly singular (the element
+<code class="docutils literal notranslate"><span class="pre">U(i,i)``</span></code> of the upper triangular factor of <code class="docutils literal notranslate"><span class="pre">LU`</span></code>
+factorization is exactly zero), possibly due to
+rounding errors.</p>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-ab07nd">
+<h1>slycot.ab07nd<a class="headerlink" href="#slycot-ab07nd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab07nd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab07nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab07nd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the inverse (A_i,B_i,C_i,D_i) of a given system (A,B,C,D).</p>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the state matrix A.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs and outputs.  m &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state matrix
+A of the original system.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input matrix
+B of the original system.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (m,n)</span></dt><dd><p>The leading m-by-n part of this array must contain the output matrix
+C of the original system.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (m,m)</span></dt><dd><p>The leading m-by-m part of this array must contain the feedthrough
+matrix D of the original system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is max(1,4*m),
+for better performance should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>A_i<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array contains the state matrix A_i
+of the inverse system.</p>
+</dd>
+<dt>B_i<span class="classifier">rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array contains the input matrix B_i
+of the inverse system.</p>
+</dd>
+<dt>C_i<span class="classifier">rank-2 array(‘d’) with bounds (m,n)</span></dt><dd><p>The leading m-by-n part of this array contains the output matrix C_i
+of the inverse system.</p>
+</dd>
+<dt>D_i<span class="classifier">rank-2 array(‘d’) with bounds (m,m)</span></dt><dd><p>The leading m-by-m part of this array contains the feedthrough
+matrix D_i of the inverse system.</p>
+</dd>
+<dt>rcond<span class="classifier">float</span></dt><dd><p>The estimated reciprocal condition number of the feedthrough matrix
+D of the original system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">1 &lt;= info &lt;= m</dt>
+<dd class="field-odd"><p>the matrix <cite>D</cite> is exactly singular; the ({info},{info})
+diagonal element is zero, <cite>RCOND</cite> was set to zero;</p>
+</dd>
+<dt class="field-even">info == m+1</dt>
+<dd class="field-even"><p>the matrix <cite>D</cite> is numerically singular, i.e., <cite>RCOND</cite>
+is less than the relative machine precision, <cite>EPS</cite>
+(see LAPACK Library routine DLAMCH). The
+calculations have been completed, but the results
+could be very inaccurate.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
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+  <div class="section" id="slycot-ab08nd">
+<h1>slycot.ab08nd<a class="headerlink" href="#slycot-ab08nd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab08nd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab08nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab08nd" title="Permalink to this definition"></a></dt>
+<dd><p>To construct for a linear multivariable system described by a state-space
+model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant
+zeros of the system as generalized eigenvalues.
+The routine also computes the orders of the infinite zeros and the
+right and left Kronecker indices of the system (A,B,C,D).</p>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
+dynamics matrix A of the system.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
+matrix B of the system.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the state/output
+matrix C of the system.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>The leading p-by-m part of this array must contain the direct
+transmission matrix D of the system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>equil := ‘N’ input string(len=1)</dt><dd><p>Specifies whether the user wishes to balance the compound matrix
+as follows:
+= ‘S’:  Perform balancing (scaling);
+= ‘N’:  Do not perform balancing.</p>
+</dd>
+<dt>tol := 0.0 input float</dt><dd><p>A tolerance used in rank decisions to determine the effective rank,
+which is defined as the order of the largest leading (or trailing)
+triangular submatrix in the QR (or RQ) factorization with column
+(or row) pivoting whose estimated condition number is less than 1/tol.</p>
+</dd>
+<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is n + 3*max(m,p),
+for better performance should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>nu<span class="classifier">int</span></dt><dd><p>The number of (finite) invariant zeros.</p>
+</dd>
+<dt>rank<span class="classifier">int</span></dt><dd><p>The normal rank of the transfer function matrix.</p>
+</dd>
+<dt>dinfz<span class="classifier">int</span></dt><dd><p>The maximum degree of infinite elementary divisors.</p>
+</dd>
+<dt>nkror<span class="classifier">int</span></dt><dd><p>The number of right Kronecker indices.</p>
+</dd>
+<dt>nkrol<span class="classifier">int</span></dt><dd><p>The number of left Kronecker indices.</p>
+</dd>
+<dt>infz<span class="classifier">rank-1 array(‘i’) with bounds (n)</span></dt><dd><p>The leading dinfz elements of infz contain information on the
+infinite elementary divisors as follows: the system has infz(i)
+infinite elementary divisors of degree i, where i = 1,2,…,dinfz.</p>
+</dd>
+<dt>kronr<span class="classifier">rank-1 array(‘i’) with bounds (max(n,m)+1)</span></dt><dd><p>the leading nkror elements of this array contain the right kronecker
+(column) indices.</p>
+</dd>
+<dt>kronl<span class="classifier">rank-1 array(‘i’) with bounds (max(n,p)+1)</span></dt><dd><p>the leading nkrol elements of this array contain the left kronecker
+(row) indices.</p>
+</dd>
+<dt>Af<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+m),n+min(p,m))</span></dt><dd><p>the leading nu-by-nu part of this array contains the coefficient
+matrix Af of the reduced pencil. the remainder of the leading
+(n+m)-by-(n+min(p,m)) part is used as internal workspace.</p>
+</dd>
+<dt>Bf<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+p),n+m)</span></dt><dd><p>The leading nu-by-nu part of this array contains the coefficient
+matrix Bf of the reduced pencil. the remainder of the leading
+(n+p)-by-(n+m) part is used as internal workspace.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+  <div class="section" id="slycot-ab08nz">
+<h1>slycot.ab08nz<a class="headerlink" href="#slycot-ab08nz" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab08nz">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab08nz</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lzwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab08nz" title="Permalink to this definition"></a></dt>
+<dd><p>To construct for a linear multivariable system described by a state-space
+model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant
+zeros of the system as generalized eigenvalues.
+The routine also computes the orders of the infinite zeros and the
+right and left Kronecker indices of the system (A,B,C,D).</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
+dynamics matrix A of the system.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
+matrix B of the system.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the state/output
+matrix C of the system.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>The leading p-by-m part of this array must contain the direct
+transmission matrix D of the system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl>
+<dt>equil := ‘N’ input string(len=1)</dt><dd><p>Specifies whether the user wishes to balance the compound matrix
+as follows:
+= ‘S’:  Perform balancing (scaling);
+= ‘N’:  Do not perform balancing.</p>
+</dd>
+<dt>tol := 0.0 input float</dt><dd><p>A tolerance used in rank decisions to determine the effective rank,
+which is defined as the order of the largest leading (or trailing)
+triangular submatrix in the QR (or RQ) factorization with column
+(or row) pivoting whose estimated condition number is less than 1/tol.
+If tol is set to less than SQRT((N+P)*(N+M))*EPS
+then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+where EPS is the machine precision (see LAPACK Library
+Routine DLAMCH).</p>
+</dd>
+<dt>lzwork := None input int</dt><dd><p>The length of the internal cache array ZWORK. The default value is
+calculated to</p>
+<blockquote>
+<div><dl class="simple">
+<dt>MAX( 1,</dt><dd><p>MIN(P,M) + MAX(3*M-1,N),
+MIN(P,N) + MAX(3*P-1,N+P,N+M),
+MIN(M,N) + MAX(3*M-1,N+M) )</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>For optimum performance lzwork should be larger.
+If lzwork = -1, then a workspace query is assumed;
+the routine only calculates the optimal size of the
+ZWORK array, and returns this value in lzwork_opt</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>nu<span class="classifier">int</span></dt><dd><p>The number of (finite) invariant zeros.</p>
+</dd>
+<dt>rank<span class="classifier">int</span></dt><dd><p>The normal rank of the transfer function matrix.</p>
+</dd>
+<dt>dinfz<span class="classifier">int</span></dt><dd><p>The maximum degree of infinite elementary divisors.</p>
+</dd>
+<dt>nkror<span class="classifier">int</span></dt><dd><p>The number of right Kronecker indices.</p>
+</dd>
+<dt>nkrol<span class="classifier">int</span></dt><dd><p>The number of left Kronecker indices.</p>
+</dd>
+<dt>infz<span class="classifier">rank-1 array(‘i’) with bounds (n)</span></dt><dd><p>The leading dinfz elements of infz contain information on the
+infinite elementary divisors as follows: the system has infz(i)
+infinite elementary divisors of degree i, where i = 1,2,…,dinfz.</p>
+</dd>
+<dt>kronr<span class="classifier">rank-1 array(‘i’) with bounds (max(n,m)+1)</span></dt><dd><p>the leading nkror elements of this array contain the right kronecker
+(column) indices.</p>
+</dd>
+<dt>kronl<span class="classifier">rank-1 array(‘i’) with bounds (max(n,p)+1)</span></dt><dd><p>the leading nkrol elements of this array contain the left kronecker
+(row) indices.</p>
+</dd>
+<dt>Af<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+m),n+min(p,m))</span></dt><dd><p>the leading nu-by-nu part of this array contains the coefficient
+matrix Af of the reduced pencil. the remainder of the leading
+(n+m)-by-(n+min(p,m)) part is used as internal workspace.</p>
+</dd>
+<dt>Bf<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+p),n+m)</span></dt><dd><p>The leading nu-by-nu part of this array contains the coefficient
+matrix Bf of the reduced pencil. the remainder of the leading
+(n+p)-by-(n+m) part is used as internal workspace.</p>
+</dd>
+<dt>lzwork_opt<span class="classifier">int</span></dt><dd><p>The optimal value of lzwork.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+             
+  <div class="section" id="slycot-ab09ad">
+<h1>slycot.ab09ad<a class="headerlink" href="#slycot-ab09ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab09ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09ad" title="Permalink to this definition"></a></dt>
+<dd><p>Compute reduced order State-Space-Model (Ar, Br, Cr) for a stable system
+(A, B, C) by using either the square-root or the balancing-free square-
+root Balance &amp; truncate (B &amp; T) model reduction method.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>dico<span class="classifier">{‘D’, ‘C’} input string(len=1)</span></dt><dd><p>Indicate whether the system is discrete <cite>D</cite> or continuous <cite>C</cite></p>
+</dd>
+<dt>job<span class="classifier">{‘B’, ‘N’} input string(len=1)</span></dt><dd><p>Balance <cite>B</cite> or not <cite>N</cite></p>
+</dd>
+<dt>equil<span class="classifier">{‘S’, ‘N’} input string(len=1)</span></dt><dd><p>Scale <cite>S</cite> or not <cite>N</cite></p>
+</dd>
+<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
+dynamics matrix A of the system.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
+matrix B of the system.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the
+state/output matrix C of the system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>nr := None input int</dt><dd><p><cite>nr</cite> is the desired order of the resulting reduced order
+system.  <code class="docutils literal notranslate"><span class="pre">0</span> <span class="pre">&lt;=</span> <span class="pre">nr</span> <span class="pre">&lt;=</span> <span class="pre">n</span></code>. Automatically determined by <cite>tol</cite> if
+<code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code> and returned. See return object <cite>nr</cite>.</p>
+</dd>
+<dt>tol := 0 input double precision</dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>tol`contains the tolerance for determining the
+order of the reduced system. For model reduction, th recommended
+value is ``tol = c * HNORM(A, B, C)`</cite>, where <cite>c</cite> is a constan in the
+interval <code class="docutils literal notranslate"><span class="pre">[0.00001,</span> <span class="pre">0.001]</span></code> and <code class="docutils literal notranslate"><span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code> is the
+Hankel-Norm of the given sysstem (computed in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>). For
+computing a minimal realization, the recommended value is
+<code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">=</span> <span class="pre">n</span> <span class="pre">*</span> <span class="pre">eps</span> <span class="pre">*</span> <span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code>, where <cite>eps</cite> is the machine
+precision (see LAPACK Library Routine <cite>DLAMCH</cite>). This value is
+used by default if <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">&lt;=</span> <span class="pre">0</span></code> on entry. If <cite>nr</cite> is specified,
+the value of <cite>tol</cite> is ignored.</p>
+</dd>
+<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is
+<code class="docutils literal notranslate"><span class="pre">n*(2*n+max(n,m,p)+5)</span> <span class="pre">+</span> <span class="pre">n*(n+1)/2</span> <span class="pre">~=</span> <span class="pre">3.5*n**2</span> <span class="pre">+</span> <span class="pre">5*n</span></code>,
+a larger value should lead to better performance.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects :</dt><dd><dl>
+<dt>nr<span class="classifier">output int</span></dt><dd><p><cite>nr</cite> is the order of the resulting reduced order model.
+<cite>nr</cite> is set as follows:
+If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">not</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to <code class="docutils literal notranslate"><span class="pre">MIN(nr,NMIN)</span></code>,
+where <cite>nr</cite> is the desired order on entry and <cite>NMIN</cite> is the order
+of a minimal realization of the given system; <cite>NMIN</cite> is
+determined as the number of Hankel singular values greater
+than <code class="docutils literal notranslate"><span class="pre">n*eps*HNORM(A,B,C)</span></code>, where <cite>eps</cite> is the machine
+precision (see LAPACK Library Routine DLAMCH) and
+<code class="docutils literal notranslate"><span class="pre">HNORM(A,B,C)</span></code> is the Hankel norm of the system (computed
+in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>);
+If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to the number of Hankel
+singular values greater than <code class="docutils literal notranslate"><span class="pre">MAX(tol,n*eps*HNORM(A,B,C))</span></code>.</p>
+</dd>
+<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,nr)</span></code></span></dt><dd><p>This array contains the state dynamics matrix <cite>Ar</cite> of the reduced
+order system.</p>
+</dd>
+<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,m)</span></code></span></dt><dd><p>Tthis array contains the input/state matrix <cite>Br</cite> of the reduced
+order system.</p>
+</dd>
+<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(p,nr)</span></code></span></dt><dd><p>This array contains the state/output matrix <cite>Cr</cite> of the reduced
+order system.</p>
+</dd>
+<dt>hsv<span class="classifier">output double precision array, dimension <code class="docutils literal notranslate"><span class="pre">(n)</span></code></span></dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">INFO</span> <span class="pre">=</span> <span class="pre">0</span></code>, it contains the Hankel singular values of
+the original system ordered decreasingly. <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code> is the
+Hankel norm of the system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1</dt>
+<dd class="field-odd"><p>The reduction of A to the real Schur form failed</p>
+</dd>
+<dt class="field-even">info == 2 and dico == ‘C’</dt>
+<dd class="field-even"><p>The state matrix A is not stable</p>
+</dd>
+<dt class="field-odd">info == 2 and dico == ‘D’</dt>
+<dd class="field-odd"><p>The state matrix A is not convergent</p>
+</dd>
+<dt class="field-even">info == 3</dt>
+<dd class="field-even"><p>The computation of Hankel singular values failed</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn == 1</dt>
+<dd class="field-odd"><p>The selected order {nr} is greater
+than the order of a minimal realization of the
+given system. <cite>nr</cite> was set automatically to {Nr}
+corresponding to the order of a minimal realization
+of the system</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
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+  <div class="section" id="slycot-ab09ax">
+<h1>slycot.ab09ax<a class="headerlink" href="#slycot-ab09ax" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab09ax">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09ax</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09ax" title="Permalink to this definition"></a></dt>
+<dd><p><code class="docutils literal notranslate"><span class="pre">nr,Ar,Br,Cr,hsv,T,Ti</span> <span class="pre">=</span> <span class="pre">ab09ad(dico,job,equil,n,m,p,nr,A,B,C,[nr,tol,ldwork])</span></code></p>
+<p>To compute a reduced order model <code class="docutils literal notranslate"><span class="pre">(Ar,Br,Cr)</span></code> for a stable original
+state-space representation <code class="docutils literal notranslate"><span class="pre">(A,B,C)</span></code> by using either the square-root
+or the balancing-free square-root Balance &amp; Truncate model
+reduction method. The state dynamics matrix <cite>A</cite> of the original
+system is an upper quasi-triangular matrix in <em>real Schur canonical
+form.</em> The matrices of the reduced order system are computed using
+the truncation formulas:</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">Ar</span> <span class="pre">=</span> <span class="pre">TI</span> <span class="pre">*</span> <span class="pre">A</span> <span class="pre">*</span> <span class="pre">T</span> <span class="pre">,</span>&#160; <span class="pre">Br</span> <span class="pre">=</span> <span class="pre">TI</span> <span class="pre">*</span> <span class="pre">B</span> <span class="pre">,</span>&#160; <span class="pre">Cr</span> <span class="pre">=</span> <span class="pre">C</span> <span class="pre">*</span> <span class="pre">T</span></code> .</p>
+</div></blockquote>
+<dl>
+<dt>Required arguments :</dt><dd><dl class="simple">
+<dt>dico<span class="classifier">{‘D’, ‘C’} input string(len=1)</span></dt><dd><p>Indicate whether the system is discrete <cite>D</cite> or continuous <cite>C</cite></p>
+</dd>
+<dt>job<span class="classifier">{‘B’, ‘N’} input string(len=1)</span></dt><dd><p>Balance <cite>B</cite> or not <cite>N</cite></p>
+</dd>
+<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
+dynamics matrix A of the system <em>in real Schur form.</em></p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
+matrix B of the system.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the
+state/output matrix C of the system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>nr := None input int</dt><dd><p><cite>nr</cite> is the desired order of the resulting reduced order
+system.  <code class="docutils literal notranslate"><span class="pre">0</span> <span class="pre">&lt;=</span> <span class="pre">nr</span> <span class="pre">&lt;=</span> <span class="pre">n</span></code>. Automatically determined by <cite>tol</cite> if
+<code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code> and returned. See return object <cite>nr</cite>.</p>
+</dd>
+<dt>tol := 0 input double precision</dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>tol`contains the tolerance for determining the
+order of the reduced system. For model reduction, the recommended
+value is ``tol = c * HNORM(A, B, C)`</cite>, where <cite>c</cite> is a constant in
+the interval <code class="docutils literal notranslate"><span class="pre">[0.00001,</span> <span class="pre">0.001]</span></code> and <code class="docutils literal notranslate"><span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code> is
+the Hankel-Norm of the given sysstem (computed in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>). For
+computing a minimal realization, the recommended value is
+<code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">=</span> <span class="pre">n</span> <span class="pre">*</span> <span class="pre">eps</span> <span class="pre">*</span> <span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code>, where <cite>eps</cite> is the machine
+precision (see LAPACK Library Routine <cite>DLAMCH</cite>). This value is
+used by default if <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">&lt;=</span> <span class="pre">0</span></code> on entry. If <cite>nr</cite> is specified,
+the value of <cite>tol</cite> is ignored.</p>
+</dd>
+<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is
+<code class="docutils literal notranslate"><span class="pre">n*(2*n+max(n,m,p)+5)</span> <span class="pre">+</span> <span class="pre">n*(n+1)/2</span> <span class="pre">~=</span> <span class="pre">3.5*n**2</span> <span class="pre">+</span> <span class="pre">5*n</span></code>,
+a larger value should lead to better performance.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects :</dt><dd><dl>
+<dt>nr<span class="classifier">output int</span></dt><dd><p><cite>nr</cite> is the order of the resulting reduced order model.
+<cite>nr</cite> is set as follows:
+If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">not</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to <code class="docutils literal notranslate"><span class="pre">MIN(nr,NMIN)</span></code>,
+where <cite>nr</cite> is the desired order on entry and <cite>NMIN</cite> is the order
+of a minimal realization of the given system; <cite>NMIN</cite> is
+determined as the number of Hankel singular values greater
+than <code class="docutils literal notranslate"><span class="pre">n*eps*HNORM(A,B,C)</span></code>, where <cite>eps</cite> is the machine
+precision (see LAPACK Library Routine DLAMCH) and
+<code class="docutils literal notranslate"><span class="pre">HNORM(A,B,C)</span></code> is the Hankel norm of the system (computed
+in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>);
+If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to the number of Hankel
+singular values greater than <code class="docutils literal notranslate"><span class="pre">MAX(tol,n*eps*HNORM(A,B,C))</span></code>.</p>
+</dd>
+<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,nr)</span></code></span></dt><dd><p>This array contains the state dynamics matrix <cite>Ar</cite> of the reduced
+order system.</p>
+</dd>
+<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,m)</span></code></span></dt><dd><p>Tthis array contains the input/state matrix <cite>Br</cite> of the reduced
+order system.</p>
+</dd>
+<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(p,nr)</span></code></span></dt><dd><p>This array contains the state/output matrix <cite>Cr</cite> of the reduced
+order system.</p>
+</dd>
+<dt>hsv<span class="classifier">output double precision array, dimension <code class="docutils literal notranslate"><span class="pre">(n)</span></code></span></dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">INFO</span> <span class="pre">=</span> <span class="pre">0</span></code>, it contains the Hankel singular values of
+the original system ordered decreasingly. <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code> is the
+Hankel norm of the system.</p>
+</dd>
+<dt>T<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(n,nr)</span></code></span></dt><dd><p>This array contains the right truncation matrix <cite>T</cite> of the reduced
+order system.</p>
+</dd>
+<dt>Ti<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,n)</span></code></span></dt><dd><p>This array contains the left truncation matrix <cite>Ti</cite> of the reduced
+order system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1 and dico == ‘C’</dt>
+<dd class="field-odd"><p>The state matrix A is not stable</p>
+</dd>
+<dt class="field-even">info == 1 and dico == ‘D’</dt>
+<dd class="field-even"><p>The state matrix A is not convergent</p>
+</dd>
+<dt class="field-odd">info == 2</dt>
+<dd class="field-odd"><p>The computation of Hankel singular values failed</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn == 1</dt>
+<dd class="field-odd"><p>The selected order {nr} is greater
+than the order of a minimal realization of the
+given system. <cite>nr</cite> was set automatically to {Nr}
+corresponding to the order of a minimal realization
+of the system</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-ab09bd">
+<h1>slycot.ab09bd<a class="headerlink" href="#slycot-ab09bd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab09bd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09bd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+original state-space representation (A,B,C,D) by using either the
+square-root or the balancing-free square-root Singular
+Perturbation Approximation (SPA) model reduction method.
+Must supply either nr or tolerance values.</p>
+<dl class="simple">
+<dt>Arguments</dt><dd><dl class="simple">
+<dt>Mode Parameters</dt><dd><dl class="simple">
+<dt>dico</dt><dd><p>Specifies the type of the original system as follows:
+= ‘C’:  continuous-time system;
+= ‘D’:  discrete-time system.</p>
+</dd>
+<dt>job</dt><dd><p>Specifies the model reduction approach to be used
+as follows:
+= ‘B’:  use the square-root SPA method;
+= ‘N’:  use the balancing-free square-root SPA method.</p>
+</dd>
+<dt>equil</dt><dd><p>Specifies whether the user wishes to preliminarily
+equilibrate the triplet (A,B,C) as follows:
+= ‘S’:  perform equilibration (scaling);
+= ‘N’:  do not perform equilibration.</p>
+</dd>
+</dl>
+</dd>
+<dt>Required arguments</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the original state-space representation, i.e.
+the order of the matrix A.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>On entry, the leading n-by-n part of this array must
+contain the state dynamics matrix A.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>On entry, the leading n-by-m part of this array must
+contain the original input/state matrix B.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>On entry, the leading p-by-n part of this array must
+contain the original state/output matrix C.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>On entry, the leading p-by-m part of this array must
+contain the original input/output matrix D.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments :</dt><dd><dl class="simple">
+<dt>nr :=None input int</dt><dd><p>nr is the desired order of
+the resulting reduced order system.  0 &lt;= nr &lt;= n.</p>
+</dd>
+<dt>tol1 :=0 input double precision</dt><dd><p>If ordsel = ‘A’, tol1 contains the tolerance for
+determining the order of reduced system.
+For model reduction, the recommended value is
+tol1 = c*hnorm(A,B,C), where c is a constant in the
+interval [0.00001,0.001], and hnorm(A,B,C) is the
+Hankel-norm of the given system (computed in hsv(1)).
+For computing a minimal realization, the recommended
+value is tol1 = n*eps*hnorm(A,B,C), where eps is the
+machine precision (see LAPACK Library Routine DLAMCH).
+This value is used by default if tol1 &lt;= 0 on entry.
+If ordsel = ‘F’, the value of tol1 is ignored.</p>
+</dd>
+<dt>tol2 :=0 input double precision</dt><dd><p>The tolerance for determining the order of a minimal
+realization of the given system. The recommended value is
+tol2 = n*eps*hnorm(A,B,C). This value is used by default
+if tol2 &lt;= 0 on entry.
+If tol2 &gt; 0, then tol2 &lt;= tol1.</p>
+</dd>
+<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is n + 3*max(m,p),
+for better performance should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects</dt><dd><dl class="simple">
+<dt>nr<span class="classifier">output int</span></dt><dd><p>nr is the order of the resulting reduced order model.
+nr is set as follows:
+if ordsel = ‘F’, nr is equal to min(nr,nmin), where nr
+is the desired order on entry and nmin is the order of a
+minimal realization of the given system; nmin is
+determined as the number of Hankel singular values greater
+than n*eps*hnorm(A,B,C), where eps is the machine
+precision (see LAPACK Library Routine DLAMCH) and
+hnorm(A,B,C) is the Hankel norm of the system (computed
+in hsv(1));
+if ordsel = ‘A’, nr is equal to the number of Hankel
+singular values greater than max(tol1,n*eps*hnorm(A,B,C)).</p>
+</dd>
+<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>the leading nr-by-nr part of this array contains the
+state dynamics matrix Ar of the reduced order system.</p>
+</dd>
+<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>the leading nr-by-m part of this array contains the
+input/state matrix Br of the reduced order system.</p>
+</dd>
+<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds (p,nr)</span></dt><dd><p>the leading p-by-nr part of this array contains the
+state/output matrix Cr of the reduced order system.</p>
+</dd>
+<dt>Dr<span class="classifier">rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>the leading p-by-m part of this array contains the
+input/output matrix Dr of the reduced order system.</p>
+</dd>
+<dt>hsv<span class="classifier">output double precision array, dimension (n)</span></dt><dd><p>If info = 0, it contains the Hankel singular values of
+the original system ordered decreasingly. hsv(1) is the
+Hankel norm of the system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1</dt>
+<dd class="field-odd"><p>The reduction of A to the real Schur form failed</p>
+</dd>
+<dt class="field-even">info == 2 and dico == ‘C’</dt>
+<dd class="field-even"><p>The state matrix A is not stable</p>
+</dd>
+<dt class="field-odd">info == 2 and dico == ‘D’</dt>
+<dd class="field-odd"><p>The state matrix A is not convergent</p>
+</dd>
+<dt class="field-even">info == 3</dt>
+<dd class="field-even"><p>The computation of Hankel singular values failed</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn == 1</dt>
+<dd class="field-odd"><p>The selected order {nr} is greater
+than the order of a minimal realization of the
+given system. <cite>nr</cite> was set automatically to {Nr}
+corresponding to the order of a minimal realization
+of the system</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+  <div class="section" id="slycot-ab09md">
+<h1>slycot.ab09md<a class="headerlink" href="#slycot-ab09md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab09md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09md" title="Permalink to this definition"></a></dt>
+<dd><p>To compute a reduced order model (Ar,Br,Cr) for an original
+state-space representation (A,B,C) by using either the square-root
+or the balancing-free square-root Balance &amp; Truncate (B &amp; T)
+model reduction method for the ALPHA-stable part of the system.</p>
+<dl>
+<dt>Arguments</dt><dd><dl>
+<dt>Mode Parameters</dt><dd><dl>
+<dt>dico</dt><dd><p>Specifies the type of the original system as follows:
+= ‘C’:  continuous-time system;
+= ‘D’:  discrete-time system.</p>
+</dd>
+<dt>job</dt><dd><p>Specifies the model reduction approach to be used
+as follows:
+= ‘B’:  use the square-root Balance &amp; Truncate method;
+= ‘N’:  use the balancing-free square-root</p>
+<blockquote>
+<div><p>Balance &amp; Truncate method.</p>
+</div></blockquote>
+</dd>
+<dt>equil</dt><dd><p>Specifies whether the user wishes to preliminarily
+equilibrate the triplet (A,B,C) as follows:
+= ‘S’:  perform equilibration (scaling);
+= ‘N’:  do not perform equilibration.</p>
+</dd>
+</dl>
+</dd>
+<dt>Required arguments</dt><dd><blockquote>
+<div><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the original state-space representation, i.e.
+the order of the matrix A.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’), dimension (n,n)</span></dt><dd><p>On entry, the leading N-by-N part of this array must
+contain the state dynamics matrix A.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’), dimension (n,m)</span></dt><dd><p>On entry, the leading N-by-M part of this array must
+contain the original input/state matrix B.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’), dimension (p,n)</span></dt><dd><p>On entry, the leading P-by-N part of this array must
+contain the original state/output matrix C.</p>
+</dd>
+</dl>
+</div></blockquote>
+<dl class="simple">
+<dt>Optional arguments</dt><dd><dl class="simple">
+<dt>alpha :=None input double precision</dt><dd><p>Specifies the alpha-stability boundary for the eigenvalues
+of the state dynamics matrix A. For a continuous-time
+system (dico = ‘C’), alpha &lt;= 0 is the boundary value for
+the real parts of eigenvalues, while for a discrete-time
+system (dico = ‘D’), 0 &lt;= alpha &lt;= 1 represents the
+boundary value for the moduli of eigenvalues.
+The alpha-stability domain does not include the boundary.</p>
+</dd>
+<dt>nr := None input int</dt><dd><p>On entry with ordsel = ‘F’, nr is the desired order of the
+resulting reduced order system.  0 &lt;= nr &lt;= n.</p>
+</dd>
+<dt>tol :=0 input double precision</dt><dd><p>If ordsel = ‘A’, tol contains the tolerance for
+determining the order of reduced system.
+For model reduction, the recommended value is
+tol = c*hnorm(As,Bs,Cs), where c is a constant in the
+interval [0.00001,0.001], and hnorm(As,Bs,Cs) is the
+Hankel-norm of the alpha-stable part of the given system
+(computed in hsv(1)).
+If tol &lt;= 0 on entry, the used default value is
+tol = ns*eps*hnorm(As,Bs,Cs), where ns is the number of
+alpha-stable eigenvalues of A and eps is the machine
+precision (see LAPACK Library Routine DLAMCH).
+This value is appropriate to compute a minimal realization
+of the alpha-stable part.
+If ordsel = ‘F’, the value of tol is ignored.</p>
+</dd>
+<dt>ldwork :=None input int</dt><dd><p>The length of the array dwork.
+ldwork &gt;= max(1,n*(2*n+max(n,m,p)+5) + n*(n+1)/2).
+For optimum performance ldwork should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects</dt><dd><dl class="simple">
+<dt>nr<span class="classifier">output int</span></dt><dd><p>On exit, if info = 0, nr is the order of the resulting
+reduced order model. For a system with nu alpha-unstable
+eigenvalues and ns alpha-stable eigenvalues (nu+ns = n),
+nr is set as follows: if ordsel = ‘F’, nr is equal to
+nu+min(max(0,nr-nu),nmin), where nr is the desired order
+on entry, and nmin is the order of a minimal realization
+of the alpha-stable part of the given system; nmin is
+determined as the number of Hankel singular values greater
+than ns*eps*hnorm(As,Bs,Cs), where eps is the machine
+precision (see LAPACK Library Routine DLAMCH) and
+hnorm(As,Bs,Cs) is the Hankel norm of the alpha-stable
+part of the given system (computed in hsv(1));
+if ordsel = ‘A’, nr is the sum of nu and the number of
+Hankel singular values greater than
+max(tol,ns*eps*hnorm(As,Bs,Cs)).</p>
+</dd>
+<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>On exit, if info = 0, the leading nr-by-nr part of this
+array contains the state dynamics matrix Ar of the reduced
+order system.
+The resulting A has a block-diagonal form with two blocks.
+For a system with nu alpha-unstable eigenvalues and
+ns alpha-stable eigenvalues (nu+ns = n), the leading
+nu-by-nu block contains the unreduced part of A
+corresponding to alpha-unstable eigenvalues in an
+upper real Schur form.
+The trailing (nr+ns-n)-by-(nr+ns-n) block contains
+the reduced part of A corresponding to alpha-stable
+eigenvalues.</p>
+</dd>
+<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>On exit, if info = 0, the leading nr-by-m part of this
+array contains the input/state matrix Br of the reduced
+order system.</p>
+</dd>
+<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds (p,nr)</span></dt><dd><p>On exit, if info = 0, the leading p-by-nr part of this
+array contains the state/output matrix Cr of the reduced
+order system.</p>
+</dd>
+<dt>ns<span class="classifier">output int</span></dt><dd><p>The dimension of the alpha-stable subsystem.</p>
+</dd>
+<dt>hsv<span class="classifier">output double precision array, dimension (n)</span></dt><dd><p>If info = 0, the leading ns elements of hsv contain the
+Hankel singular values of the alpha-stable part of the
+original system ordered decreasingly.
+hsv(1) is the Hankel norm of the alpha-stable subsystem.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd>
+<dt>:raises SlycotArithmeticError<span class="classifier">e: :info == 1:</span></dt><dd><blockquote>
+<div><p>The computation of the ordered real Schur form of A failed</p>
+</div></blockquote>
+<dl class="field-list simple">
+<dt class="field-odd">info == 2</dt>
+<dd class="field-odd"><p>The separation of the {alpha}-stable/unstable diagonal
+blocks failed because of very close eigenvalues</p>
+</dd>
+<dt class="field-even">info == 3</dt>
+<dd class="field-even"><p>The computation of Hankel singular values failed</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><p><strong>SlycotResultWarning</strong> (<em>e</em>) –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn == 1</dt>
+<dd class="field-odd"><p>The selected order {nr} is greater
+than <cite>nsmin</cite>, the sum of the order of the
+{alpha}-unstable part and the order of a minimal
+realization of the {alpha}-stable part of the given
+system. The resulting <cite>nr</cite>  is set to <cite>nsmin</cite> = {Nr}</p>
+</dd>
+<dt class="field-even">iwarn == 2</dt>
+<dd class="field-even"><p>The selected order {nr} is less
+than the order of the {alpha}-unstable part of the
+given system. In this case <cite>nr</cite> is set equal to the
+order of the {alpha}-unstable part {Nr}.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+             
+  <div class="section" id="slycot-ab09nd">
+<h1>slycot.ab09nd<a class="headerlink" href="#slycot-ab09nd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab09nd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09nd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+state-space representation (A,B,C,D) by using either the
+square-root or the balancing-free square-root Singular
+Perturbation Approximation (SPA) model reduction method for the
+alpha-stable part of the system.</p>
+<dl class="simple">
+<dt>Arguments</dt><dd><dl class="simple">
+<dt>Mode Parameters</dt><dd><dl class="simple">
+<dt>dico</dt><dd><p>Specifies the type of the original system as follows:
+= ‘C’:  continuous-time system;
+= ‘D’:  discrete-time system.</p>
+</dd>
+<dt>job</dt><dd><p>Specifies the model reduction approach to be used
+as follows:
+= ‘B’:  use the square-root SPA method;
+= ‘N’:  use the balancing-free square-root SPA method.</p>
+</dd>
+<dt>equil</dt><dd><p>Specifies whether the user wishes to preliminarily
+equilibrate the triplet (A,B,C) as follows:
+= ‘S’:  perform equilibration (scaling);
+= ‘N’:  do not perform equilibration.</p>
+</dd>
+</dl>
+</dd>
+<dt>Required arguments</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the original state-space representation, i.e.
+the order of the matrix A.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>On entry, the leading n-by-n part of this array must
+contain the state dynamics matrix A.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>On entry, the leading n-by-m part of this array must
+contain the original input/state matrix B.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>On entry, the leading p-by-n part of this array must
+contain the original state/output matrix C.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>On entry, the leading p-by-m part of this array must
+contain the original input/output matrix D.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments</dt><dd><dl class="simple">
+<dt>alpha :=None input double precision</dt><dd><p>Specifies the alpha-stability boundary for the eigenvalues
+of the state dynamics matrix A. For a continuous-time
+system (dico = ‘C’), alpha &lt;= 0 is the boundary value for
+the real parts of eigenvalues, while for a discrete-time
+system (dico = ‘D’), 0 &lt;= alpha &lt;= 1 represents the
+boundary value for the moduli of eigenvalues.
+The alpha-stability domain does not include the boundary.</p>
+</dd>
+<dt>nr :=None input int</dt><dd><p>nr is the desired order of
+the resulting reduced order system.  0 &lt;= nr &lt;= n.</p>
+</dd>
+<dt>tol1 :=0 input double precision</dt><dd><p>If ordsel = ‘A’, tol1 contains the tolerance for
+determining the order of reduced system.
+For model reduction, the recommended value is
+tol1 = c*hnorm(As,Bs,Cs), where c is a constant in the
+interval [0.00001,0.001], and hnorm(As,Bs,Cs) is the
+Hankel-norm of the alpha-stable part of the given system
+(computed in hsv(1)).
+If tol1 &lt;= 0 on entry, the used default value is
+tol1 = ns*eps*hnorm(As,Bs,Cs), where NS is the number of
+alpha-stable eigenvalues of A and eps is the machine
+precision (see LAPACK Library Routine DLAMCH).
+This value is appropriate to compute a minimal realization
+of the alpha-stable part.
+If ordsel = ‘F’, the value of tol1 is ignored.</p>
+</dd>
+<dt>tol2 :=0 input double precision</dt><dd><p>The tolerance for determining the order of a minimal
+realization of the alpha-stable part of the given system.
+The recommended value is tol2 = ns*eps*hnorm(As,Bs,Cs).
+This value is used by default if tol2 &lt;= 0 on entry.
+If tol2 &gt; 0, then tol2 &lt;= tol1.</p>
+</dd>
+<dt>ldwork := None input int</dt><dd><p>The length of the array dwork.
+ldwork &gt;= max(1,n*(2*n+max(n,m,p)+5) + n*(n+1)/2).
+For optimum performance ldwork should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects</dt><dd><dl class="simple">
+<dt>nr<span class="classifier">output int</span></dt><dd><p>nr is the order of the resulting reduced order model.
+nr is set as follows:
+if ordsel = ‘F’, nr is equal to min(nr,nmin), where nr
+is the desired order on entry and nmin is the order of a
+minimal realization of the given system; nmin is
+determined as the number of Hankel singular values greater
+than n*eps*hnorm(A,B,C), where eps is the machine
+precision (see LAPACK Library Routine DLAMCH) and
+hnorm(A,B,C) is the Hankel norm of the system (computed
+in hsv(1));
+if ordsel = ‘A’, nr is equal to the number of Hankel
+singular values greater than max(TOL1,n*eps*hnorm(A,B,C)).</p>
+</dd>
+<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>the leading nr-by-nr part of this array contains the
+state dynamics matrix Ar of the reduced order system.</p>
+</dd>
+<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>the leading nr-by-m part of this array contains the
+input/state matrix Br of the reduced order system.</p>
+</dd>
+<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds (p,nr)</span></dt><dd><p>the leading p-by-nr part of this array contains the
+state/output matrix Cr of the reduced order system.</p>
+</dd>
+<dt>Dr<span class="classifier">rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>the leading p-by-m part of this array contains the
+input/output matrix Dr of the reduced order system.</p>
+</dd>
+<dt>ns<span class="classifier">output int</span></dt><dd><p>The dimension of the alpha-stable subsystem.</p>
+</dd>
+<dt>hsv<span class="classifier">output double precision array, dimension (n)</span></dt><dd><p>If info = 0, it contains the Hankel singular values of
+the original system ordered decreasingly. hsv(1) is the
+Hankel norm of the system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1</dt>
+<dd class="field-odd"><p>The computation of the ordered real Schur form of A failed</p>
+</dd>
+<dt class="field-even">info == 2</dt>
+<dd class="field-even"><p>The separation of the {alpha}-stable/unstable diagonal
+blocks failed because of very close eigenvalues</p>
+</dd>
+<dt class="field-odd">info == 3</dt>
+<dd class="field-odd"><p>The computation of Hankel singular values failed</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn == 1</dt>
+<dd class="field-odd"><p>The selected order {nr} is greater
+than <cite>nsmin</cite>, the sum of the order of the
+{alpha}-unstable part and the order of a minimal
+realization of the {alpha}-stable part of the given
+system. The resulting <cite>nr</cite>  is set to <cite>nsmin</cite> = {Nr}</p>
+</dd>
+<dt class="field-even">iwarn == 2</dt>
+<dd class="field-even"><p>The selected order {nr} is less
+than the order of the {alpha}-unstable part of the
+given system. In this case <cite>nr</cite> is set equal to the
+order of the {alpha}-unstable part {Nr}.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+</ul>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-ab13bd">
+<h1>slycot.ab13bd<a class="headerlink" href="#slycot-ab13bd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab13bd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13bd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the H2 or L2 norm of the transfer-function matrix G
+of the system (A,B,C,D). G must not have poles on the imaginary
+axis, for a continuous-time system, or on the unit circle, for
+a discrete-time system. If the H2-norm is computed, the system
+must be stable.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>{'D'</em><em>, </em><em>'C'}</em>) – Indicate whether the system is discrete ‘D’ or continuous ‘C’.</p></li>
+<li><p><strong>jobn</strong> (<em>{'H'</em><em>, </em><em>'L'}</em>) – H2-norm ‘H’ or L2-norm ‘L’ to be computed.</p></li>
+<li><p><strong>n</strong> (<em>int</em>) – The number of state variables.  n &gt;= 0.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The number of system inputs.  m &gt;= 0.</p></li>
+<li><p><strong>p</strong> (<em>int</em>) – The number of system outputs.  p &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – The leading n-by-n part of this array must contain the state
+dynamics matrix A of the system.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>,</em><em>m</em><em>) </em><em>ndarray</em>) – The leading n-by-m part of this array must contain the input/state
+matrix B of the system.</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>p</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – The leading p-by-n part of this array must contain the state/output
+matrix C of the system.</p></li>
+<li><p><strong>D</strong> (<em>(</em><em>p</em><em>,</em><em>m</em><em>) </em><em>ndarray</em>) – The leading p-by-m part of this array must contain the direct
+transmission matrix D of the system.</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The absolute tolerance level below which the elements of
+B are considered zero (used for controllability tests).
+If the user sets tol &lt;= 0, then an implicitly computed,
+default tolerance, defined by  toldef = n*eps*norm(B),
+is used instead, where eps is the machine precision
+(see LAPACK Library routine DLAMCH) and norm(B) denotes
+the 1-norm of B.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><strong>norm</strong></p>
+</dd>
+<dt class="field-odd">Return type</dt>
+<dd class="field-odd"><p>H2 or L2 norm of the system (A,B,C,D)</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1</dt>
+<dd class="field-odd"><p>The reduction of A to a real Schur form failed</p>
+</dd>
+<dt class="field-even">info == 2</dt>
+<dd class="field-even"><p>A failure was detected during the reordering of the
+real Schur form of A, or in the iterative process for
+reordering the eigenvalues of `` Z’<a href="#id1"><span class="problematic" id="id2">*</span></a>(A + B*F)*Z`` along the
+diagonal (see SLICOT routine SB08DD)</p>
+</dd>
+<dt class="field-odd">info == 3 and dico == ‘C’</dt>
+<dd class="field-odd"><p>The matrix A has a controllable eigenvalue on the imaginary axis</p>
+</dd>
+<dt class="field-even">info == 3 and dico == ‘D’</dt>
+<dd class="field-even"><p>The matrix A has a controllable eigenvalue on the unit circle</p>
+</dd>
+<dt class="field-odd">info == 4</dt>
+<dd class="field-odd"><p>The solution of Lyapunov equation failed because the
+equation is singular</p>
+</dd>
+<dt class="field-even">info == 5</dt>
+<dd class="field-even"><p>D is a nonzero matrix</p>
+</dd>
+<dt class="field-odd">info == 6</dt>
+<dd class="field-odd"><p>The system is unstable</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn &gt; 0</dt>
+<dd class="field-odd"><p>{iwarn} violations of the numerical stability condition
+occured during the assignment of eigenvalues in
+computing the right coprime factorization with inner
+denominator of <cite>G</cite> (see the SLICOT subroutine SB08DD).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+  <div class="section" id="slycot-ab13dd">
+<h1>slycot.ab13dd<a class="headerlink" href="#slycot-ab13dd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab13dd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobe</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobd</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13dd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the L-infinity norm of a continuous-time or
+discrete-time system, either standard or in the descriptor form,</p>
+<blockquote>
+<div><blockquote>
+<div><p>-1</p>
+</div></blockquote>
+<p>G(lambda) = C*( lambda*E - A ) <a href="#id1"><span class="problematic" id="id2">*</span></a>B + D .</p>
+</div></blockquote>
+<p>The norm is finite if and only if the matrix pair (A,E) has no
+eigenvalue on the boundary of the stability domain, i.e., the
+imaginary axis, or the unit circle, respectively. It is assumed
+that the matrix E is nonsingular.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>dico<span class="classifier">{‘D’, ‘C’} input string(len=1)</span></dt><dd><p>Indicate whether the system is discrete ‘D’ or continuous ‘C’.</p>
+</dd>
+<dt>jobe<span class="classifier">{‘G’, ‘I’} input string(len=1)</span></dt><dd><p>Specifies whether E is a general square or an identity
+matrix, as follows:
+= ‘G’:  E is a general square matrix;
+= ‘I’:  E is the identity matrix.</p>
+</dd>
+<dt>equil<span class="classifier">{‘S’, ‘N’} input string(len=1)</span></dt><dd><p>Specifies whether the user wishes to preliminarily
+equilibrate the system (A,E,B,C) or (A,B,C), as follows:
+= ‘S’:  perform equilibration (scaling);
+= ‘N’:  do not perform equilibration.</p>
+</dd>
+<dt>jobd<span class="classifier">{‘D’, ‘Z’} input string(len=1)</span></dt><dd><p>Specifies whether or not a non-zero matrix D appears in
+the given state space model:
+= ‘D’:  D is present;
+= ‘Z’:  D is assumed a zero matrix.</p>
+</dd>
+<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
+dynamics matrix A of the system.</p>
+</dd>
+<dt>E<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>If jobe = ‘G’, the leading N-by-N part of this array must
+contain the descriptor matrix E of the system.
+If jobe = ‘I’, then E is assumed to be the identity
+matrix and is not referenced.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
+matrix B of the system.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the state/output
+matrix C of the system.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>The leading p-by-m part of this array must contain the direct
+transmission matrix D of the system.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>tol<span class="classifier">Tolerance used to set the accuracy in determining the</span></dt><dd><p>norm.  0 &lt;= tol &lt; 1.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl>
+<dt>gpeak<span class="classifier">float</span></dt><dd><p>The L-infinity norm of the system, i.e., the peak gain
+of the frequency response (as measured by the largest
+singular value in the MIMO case).</p>
+</dd>
+<dt>fpeak<span class="classifier">float</span></dt><dd><p>The frequency where the gain of the frequency response
+achieves its peak value gpeak, i.e.,</p>
+<blockquote>
+<div><p>|| G ( j*fpeak ) || = gpeak ,  if dico = ‘C’, or</p>
+<blockquote>
+<div><p>j*fpeak</p>
+</div></blockquote>
+<p>|| G ( e       ) || = gpeak ,  if dico = ‘D’.</p>
+</div></blockquote>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The matrix E is (numerically) singular</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The (periodic) QR (or QZ) algorithm for computing
+eigenvalues did not converge</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>The SVD algorithm for computing singular values did
+not converge</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>The tolerance is too small and the algorithm did not converge</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+             
+  <div class="section" id="slycot-ab13ed">
+<h1>slycot.ab13ed<a class="headerlink" href="#slycot-ab13ed" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab13ed">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13ed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13ed" title="Permalink to this definition"></a></dt>
+<dd><p>To estimate beta(A), the 2-norm distance from a real matrix A to
+the nearest complex matrix with an eigenvalue on the imaginary
+axis. The estimate is given as</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">low</span> <span class="pre">&lt;=</span> <span class="pre">beta(A)</span> <span class="pre">&lt;=</span> <span class="pre">high,</span></code></p>
+</div></blockquote>
+<p>where either</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">(1</span> <span class="pre">+</span> <span class="pre">tol)</span> <span class="pre">*</span> <span class="pre">low</span> <span class="pre">&gt;=</span> <span class="pre">high,</span></code></p>
+</div></blockquote>
+<p>or</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">low</span> <span class="pre">=</span> <span class="pre">0</span>&#160;&#160; <span class="pre">and</span>&#160;&#160; <span class="pre">high</span> <span class="pre">=</span> <span class="pre">delta,</span></code></p>
+</div></blockquote>
+<p>and delta is a small number approximately equal to the square root
+of machine precision times the Frobenius norm (Euclidean norm)
+of A. If A is stable in the sense that all eigenvalues of A lie
+in the open left half complex plane, then beta(A) is the distance
+to the nearest unstable complex matrix, i.e., the complex
+stability radius.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrix A.  <code class="docutils literal notranslate"><span class="pre">n</span> <span class="pre">&gt;=</span> <span class="pre">0.</span></code></p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>array_like</em>) – The leading n-by-n part of this array must contain the matrix A.</p></li>
+<li><p><strong>tol</strong> (<em>float optional</em>) – Specifies the accuracy with which low and high approximate
+beta(A). If the user sets tol to be less than sqrt(eps),
+where eps is the machine precision (see LAPACK Library
+Routine DLAMCH), then the tolerance is taken to be
+sqrt(eps).
+The recommended value is tol = 9, which gives an estimate
+of beta(A) correct to within an order of magnitude.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>low</strong> (<em>float</em>) – A lower bound for beta(A).</p></li>
+<li><p><strong>high</strong> (<em>float</em>) – An upper bound for beta(A).</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p></p></dd>
+</dl>
+<p>The QR algorithm fails to converge</p>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+             
+  <div class="section" id="slycot-ab13fd">
+<h1>slycot.ab13fd<a class="headerlink" href="#slycot-ab13fd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab13fd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13fd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute beta(A), the 2-norm distance from a real matrix A to
+the nearest complex matrix with an eigenvalue on the imaginary
+axis. If A is stable in the sense that all eigenvalues of A lie
+in the open left half complex plane, then beta(A) is the complex
+stability radius, i.e., the distance to the nearest unstable
+complex matrix. The value of beta(A) is the minimum of the
+smallest singular value of (A - jwI), taken over all real w.
+The value of w corresponding to the minimum is also computed.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the matrix A.  n &gt;= 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the matrix A.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>tol<span class="classifier">Specifies the accuracy with which beta(A) is to be</span></dt><dd><p>calculated. (See the Numerical Aspects section below.)
+If the user sets tol to be less than eps, where eps is the
+machine precision (see LAPACK Library Routine DLAMCH),
+then the tolerance is taken to be eps.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>beta<span class="classifier">float</span></dt><dd><p>The computed value of beta(A), which actually is an upper
+bound.</p>
+</dd>
+<dt>omega<span class="classifier">float</span></dt><dd><p>The value of w such that the smallest singular value of
+(A - jwI) equals beta(A).</p>
+</dd>
+</dl>
+</dd>
+<dt>Numerical Aspects:</dt><dd><p>In the presence of rounding errors, the computed function value
+beta satisfies</p>
+<blockquote>
+<div><p>beta(A) &lt;= beta + epsilon,
+beta/(1+tol) - delta &lt;= max(beta(A), sqrt(2*n*eps)*norm(A)),</p>
+</div></blockquote>
+<dl class="simple">
+<dt>where norm(A) is the Frobenius norm of A,</dt><dd><p>epsilon = p(n) * eps * norm(A),</p>
+</dd>
+<dt>and</dt><dd><p>delta   = p(n) * sqrt(eps) * norm(A),</p>
+</dd>
+</dl>
+<p>and p(n) is a low degree polynomial. It is recommended to choose
+tol greater than sqrt(eps). Although rounding errors can cause
+AB13FD to fail for smaller values of tol, nevertheless, it usually
+succeeds. Regardless of success or failure, the first inequality
+holds.</p>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 2</dt>
+<dd class="field-odd"><p></p></dd>
+</dl>
+<p>Either the QR or SVD algorithm fails to converge</p>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>Failed to compute beta(A) within the specified tolerance.
+Nevertheless, the returned value is an upper bound on beta(A);</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+            <a href="../../../_sources/source/reference/generated/slycot.ab13md.rst.txt" rel="nofollow"> View page source</a>
+      </li>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-ab13md">
+<h1>slycot.ab13md<a class="headerlink" href="#slycot-ab13md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.ab13md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">Z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nblock</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">itype</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13md" title="Permalink to this definition"></a></dt>
+<dd><p>Find an upper bound for the structured singular value of complex
+matrix Z and given block diagonal structure.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>Z</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>complex array</em>) – Matrix to find structured singular value upper bound of</p></li>
+<li><p><strong>nblock</strong> (<em>(</em><em>m</em><em>,</em><em>) </em><em>integer array</em>) – The size of the block diagonals of the uncertainty structure;
+i.e., nblock(i)=p means that the ith block is pxp.</p></li>
+<li><p><strong>itype</strong> (<em>(</em><em>m</em><em>,</em><em>) </em><em>integer array</em>) – The type of each block diagonal uncertainty defined in nblock.
+itype(i)==1 means that the ith block is real, while itype(i)==2
+means the the ith block is complex.  Real blocks must be 1x1,
+i.e., if itype(i)==1, nblock(i) must be 1.</p></li>
+<li><p><strong>x</strong> (<em>(</em><em>q</em><em>,</em><em>) </em><em>real array</em><em> or </em><em>None</em>) – <p>If not None, must be the output of a previous call to ab13md.
+The previous call must have been with the same values of n,
+nblock, and itype; and the previous call’s Z should be “close”
+to the current call’s Z.</p>
+<p>q is determined by the block structure; see SLICOT AB13MD for
+details.</p>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><strong>mubound</strong> (<em>non-negative real scalar</em>) – Upper bound on structure singular value for given arguments</p></li>
+<li><p><strong>d, g</strong> (<em>(n,) real arrays</em>) –</p>
+<dl class="simple">
+<dt>Real arrays such that if D=np.diag(g), G=np.diag(G), and ZH = Z.T.conj(), then</dt><dd><p>ZH &#64; D**2 &#64; Z + 1j * (G&#64;Z - ZH&#64;G) - mu**2 * D**2</p>
+</dd>
+</dl>
+<p>will be negative semi-definite.</p>
+</li>
+<li><p><strong>xout</strong> (<em>(q,) real array</em>) – For use as <code class="docutils literal notranslate"><span class="pre">x</span></code> argument in subsequent call to <code class="docutils literal notranslate"><span class="pre">ab13md</span></code>.</p></li>
+<li><p><em>For scalar Z and real uncertainty (ntype=1, itype=1), returns 0</em></p></li>
+<li><p><em>instead of abs(Z).</em></p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>Block sizes must be positive</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>Block sizes must sum to n</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>Real blocks must be of size 1</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>Block types must be 1 or 2</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>Error in linear equation solution</p>
+</dd>
+<dt class="field-even">info = 6</dt>
+<dd class="field-even"><p>Error in eigenvalue or singular value computation</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+<p class="rubric">Notes</p>
+<p>This wraps SLICOT routine AB13MD, which implements the upper bound
+of [1].</p>
+<p class="rubric">References</p>
+<dl class="citation">
+<dt class="label" id="r3a0a62d04083-1"><span class="brackets">1</span></dt>
+<dd><p>Fan, M.K.H., Tits, A.L., and Doyle, J.C., “Robustness in
+the presence of mixed parametric uncertainty and unmodeled
+dynamics,” IEEE Trans. Automatic Control, vol. AC-36, 1991,
+pp. 25-38.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+  <div class="section" id="slycot-mb03rd">
+<h1>slycot.mb03rd<a class="headerlink" href="#slycot-mb03rd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mb03rd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">X</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobx</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pmax</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03rd" title="Permalink to this definition"></a></dt>
+<dd><p>To reduce a matrix <cite>A</cite> in real Schur form to a block-diagonal form
+using well-conditioned non-orthogonal similarity transformations.
+The condition numbers of the transformations used for reduction
+are roughly bounded by <cite>pmax</cite>, where <cite>pmax</cite> is a given value.
+The transformations are optionally postmultiplied in a given
+matrix <cite>X</cite>. The real Schur form is optionally ordered, so that
+clustered eigenvalues are grouped in the same block.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices <cite>A</cite> and <cite>X</cite>.  <cite>n</cite> &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The matrix <cite>A</cite> to be block-diagonalized, in real Schur form.</p></li>
+<li><p><strong>X</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – A given matrix <cite>X</cite>, for accumulation of transformations (only if
+<cite>jobx`=’U’). Default value is identity matrix of order `n</cite>.</p></li>
+<li><p><strong>jobx</strong> (<em>{'N'</em><em>, </em><em>'U'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the transformations are
+accumulated, as follows:</p>
+<dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>The transformations are not accumulated</p>
+</dd>
+<dt class="field-even">= ‘U’</dt>
+<dd class="field-even"><p>The transformations are accumulated in <cite>Xr</cite> (default)</p>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>sort</strong> (<em>{'N'</em><em>, </em><em>'S'</em><em>, </em><em>'C'</em><em>, </em><em>'B'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the diagonal blocks of the real
+Schur form are reordered, as follows:</p>
+<dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>The diagonal blocks are not reordered (default);</p>
+</dd>
+<dt class="field-even">= ‘S’</dt>
+<dd class="field-even"><p>The diagonal blocks are reordered before each
+step of reduction, so that clustered eigenvalues
+appear in the same block;</p>
+</dd>
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>The diagonal blocks are not reordered, but the
+“closest-neighbour” strategy is used instead of
+the standard “closest to the mean” strategy
+(see <a href="#id4"><span class="problematic" id="id5">Notes_</span></a>);</p>
+</dd>
+<dt class="field-even">= ‘B’</dt>
+<dd class="field-even"><p>The diagonal blocks are reordered before each
+step of reduction, and the “closest-neighbour”
+strategy is used (see <a href="#id6"><span class="problematic" id="id7">Notes_</span></a>).</p>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>pmax</strong> (<em>float</em><em>, </em><em>optional</em>) – An upper bound for the infinity norm of elementary
+submatrices of the individual transformations used for
+reduction (see <a href="#id8"><span class="problematic" id="id9">Notes_</span></a>).  <cite>pmax</cite> &gt;= 1.0</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – <p>The tolerance to be used in the ordering of the diagonal
+blocks of the real Schur form matrix.
+If the user sets <cite>tol</cite> &gt; 0, then the given value of <cite>tol</cite> is
+used as an absolute tolerance: a block <cite>i</cite> and a temporarily
+fixed block 1 (the first block of the current trailing
+submatrix to be reduced) are considered to belong to the
+same cluster if their eigenvalues satisfy</p>
+<div class="math">
+<p><img src="_images/math/06a8f1b6c9ddbe9f1821a9da07839c9decbe4136.png" alt="| \lambda_1 - \lambda_i | &lt;= tol."/></p>
+</div><p>If the user sets <cite>tol</cite> &lt; 0, then the given value of tol is
+used as a relative tolerance: a block i and a temporarily
+fixed block 1 are considered to belong to the same cluster
+if their eigenvalues satisfy, for <code class="docutils literal notranslate"><span class="pre">j</span> <span class="pre">=</span> <span class="pre">1,</span> <span class="pre">...,</span> <span class="pre">n</span></code></p>
+<div class="math">
+<p><img src="_images/math/a6604bba12fd2bde0be9924269128594fa445f8d.png" alt="| \lambda_1 - \lambda_i | &lt;= | tol | * \max | \lambda_j |."/></p>
+</div><p>If the user sets <cite>tol</cite> = 0, then an implicitly computed,
+default tolerance, defined by <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">=</span> <span class="pre">SQRT(</span> <span class="pre">SQRT(</span> <span class="pre">EPS</span> <span class="pre">)</span> <span class="pre">)</span></code>
+is used instead, as a relative tolerance, where <cite>EPS</cite> is
+the machine precision (see LAPACK Library routine DLAMCH).
+If <cite>sort</cite> = ‘N’ or ‘C’, this parameter is not referenced.</p>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>Ar</strong> (<em>(n, n) ndarray</em>) – Contains the computed block-diagonal matrix, in real Schur
+canonical form. The non-diagonal blocks are set to zero.</p></li>
+<li><p><strong>Xr</strong> (<em>(n, n) ndarray or None</em>) – Contains the product of the given matrix <cite>X</cite> and the
+transformation matrix that reduced <cite>A</cite> to block-diagonal
+form. The transformation matrix is itself a product of
+non-orthogonal similarity transformations having elements
+with magnitude less than or equal to <cite>pmax</cite>.
+If <cite>jobx</cite> = ‘N’, this array is returned as None</p></li>
+<li><p><strong>blsize</strong> (<em>(n,) ndarray</em>) – The orders of the resulting diagonal blocks of the matrix <cite>Ar</cite>.</p></li>
+<li><p><strong>W</strong> (<em>(n,) complex ndarray</em>) – Contains the complex eigenvalues of the matrix <cite>A</cite>.</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+<p class="rubric">Notes</p>
+<p><strong>Method</strong></p>
+<p>Consider first that <cite>sort</cite> = ‘N’. Let</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="p">(</span> <span class="n">A</span>    <span class="n">A</span>   <span class="p">)</span>
+    <span class="p">(</span>  <span class="mi">11</span>   <span class="mi">12</span> <span class="p">)</span>
+<span class="n">A</span> <span class="o">=</span> <span class="p">(</span>          <span class="p">),</span>
+    <span class="p">(</span> <span class="mi">0</span>    <span class="n">A</span>   <span class="p">)</span>
+    <span class="p">(</span>       <span class="mi">22</span> <span class="p">)</span>
+</pre></div>
+</div>
+<p>be the given matrix in real Schur form, where initially <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/> is the
+first diagonal block of dimension 1-by-1 or 2-by-2. An attempt is
+made to compute a transformation matrix <cite>X</cite> of the form</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="p">(</span> <span class="n">I</span>   <span class="n">P</span> <span class="p">)</span>
+<span class="n">X</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">)</span>                                               <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+    <span class="p">(</span> <span class="mi">0</span>   <span class="n">I</span> <span class="p">)</span>
+</pre></div>
+</div>
+<p>(partitioned as <cite>A</cite>), so that</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>         <span class="p">(</span> <span class="n">A</span>     <span class="mi">0</span>  <span class="p">)</span>
+ <span class="o">-</span><span class="mi">1</span>      <span class="p">(</span>  <span class="mi">11</span>      <span class="p">)</span>
+<span class="n">X</span>  <span class="n">A</span> <span class="n">X</span> <span class="o">=</span> <span class="p">(</span>          <span class="p">),</span>
+         <span class="p">(</span> <span class="mi">0</span>    <span class="n">A</span>   <span class="p">)</span>
+         <span class="p">(</span>       <span class="mi">22</span> <span class="p">)</span>
+</pre></div>
+</div>
+<p>and the elements of <cite>P</cite> do not exceed the value <cite>pmax</cite> in magnitude.
+An adaptation of the standard method for solving Sylvester
+equations <a class="reference internal" href="#r6a90cebc2f55-1" id="id1">[1]</a>, which controls the magnitude of the individual
+elements of the computed solution <a class="reference internal" href="#r6a90cebc2f55-2" id="id2">[2]</a>, is used to obtain matrix <cite>P</cite>.
+When this attempt failed, an 1-by-1 (or 2-by-2) diagonal block of
+<img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>  , whose eigenvalue(s) is (are) the closest to the mean of those
+of <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/>   is selected, and moved by orthogonal similarity
+transformations in the leading position of <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>  ; the moved diagonal
+block is then added to the block <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/>  , increasing its order by 1
+(or 2). Another attempt is made to compute a suitable
+transformation matrix X with the new definitions of the blocks <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/>
+and <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>  . After a successful transformation matrix <cite>X</cite> has been
+obtained, it postmultiplies the current transformation matrix
+(if <cite>jobx</cite> = ‘U’), and the whole procedure is repeated for the
+matrix <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>.</p>
+<p>When <cite>sort</cite> = ‘S’, the diagonal blocks of the real Schur form are
+reordered before each step of the reduction, so that each cluster
+of eigenvalues, defined as specified in the definition of TOL,
+appears in adjacent blocks. The blocks for each cluster are merged
+together, and the procedure described above is applied to the
+larger blocks. Using the option <cite>sort</cite> = ‘S’ will usually provide
+better efficiency than the standard option (<cite>sort</cite> = ‘N’), proposed
+in <a class="reference internal" href="#r6a90cebc2f55-2" id="id3">[2]</a>, because there could be no or few unsuccessful attempts
+to compute individual transformation matrices <cite>X</cite> of the form (1).
+However, the resulting dimensions of the blocks are usually
+larger; this could make subsequent calculations less efficient.</p>
+<p>When <cite>sort</cite> = ‘C’ or ‘B’, the procedure is similar to that for
+<cite>sort</cite> = ‘N’ or ‘S’, respectively, but the block of <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/> whose
+eigenvalue(s) is (are) the closest to those of <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/> (not to their
+mean) is selected and moved to the leading position of <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>. This
+is called the “closest-neighbour” strategy.</p>
+<p><strong>Numerical Aspects</strong></p>
+<p>The algorithm usually requires <img class="math" src="_images/math/87d0fb13b3e293721bca2d361611091ddff991db.png" alt="\mathcal{O}(N^3)"/> operations,
+but <img class="math" src="_images/math/c682306352d61d00dba7b0849edbe8d5a0fd2e0d.png" alt="\mathcal{O}(N^4)"/> are
+possible in the worst case, when all diagonal blocks in the real
+Schur form of <cite>A</cite> are 1-by-1, and the matrix cannot be diagonalized
+by well-conditioned transformations.</p>
+<p><strong>Further Comments</strong></p>
+<p>The individual non-orthogonal transformation matrices used in the
+reduction of <cite>A</cite> to a block-diagonal form have condition numbers
+of the order <cite>pmax`*`pmax</cite>. This does not guarantee that their product
+is well-conditioned enough. The routine can be easily modified to
+provide estimates for the condition numbers of the clusters of
+eigenvalues.</p>
+<p><strong>Contributor</strong></p>
+<p>V. Sima, Katholieke Univ. Leuven, Belgium, June 1998.
+Partly based on the RASP routine BDIAG by A. Varga, German
+Aerospace Center, DLR Oberpfaffenhofen.</p>
+<p><strong>Revisions</strong></p>
+<p>V. Sima, Research Institute for Informatics, Bucharest, Apr. 2003.</p>
+<p class="rubric">References</p>
+<dl class="citation">
+<dt class="label" id="r6a90cebc2f55-1"><span class="brackets"><a class="fn-backref" href="#id1">1</a></span></dt>
+<dd><p>Bartels, R.H. and Stewart, G.W.  T
+Solution of the matrix equation A X + XB = C.
+Comm. A.C.M., 15, pp. 820-826, 1972.</p>
+</dd>
+<dt class="label" id="r6a90cebc2f55-2"><span class="brackets">2</span><span class="fn-backref">(<a href="#id2">1</a>,<a href="#id3">2</a>)</span></dt>
+<dd><p>Bavely, C. and Stewart, G.W.
+An Algorithm for Computing Reducing Subspaces by Block
+Diagonalization.
+SIAM J. Numer. Anal., 16, pp. 359-367, 1979.</p>
+</dd>
+<dt class="label" id="r6a90cebc2f55-3"><span class="brackets">3</span></dt>
+<dd><p>Demmel, J.
+The Condition Number of Equivalence Transformations that
+Block Diagonalize Matrix Pencils.
+SIAM J. Numer. Anal., 20, pp. 599-610, 1983.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-mb03vd">
+<h1>slycot.mb03vd<a class="headerlink" href="#slycot-mb03vd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mb03vd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03vd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03vd" title="Permalink to this definition"></a></dt>
+<dd><p>To reduce a product of p real general matrices A = A_1*A_2*…*A_p
+to upper Hessenberg form, H = H_1*H_2*…*H_p, where H_1 is
+upper Hessenberg, and H_2, …, H_p are upper triangular, by using
+orthogonal similarity transformations on A,</p>
+<blockquote>
+<div><p>Q_1’ * A_1 * Q_2 = H_1,
+Q_2’ * A_2 * Q_3 = H_2,</p>
+<blockquote>
+<div><p>…</p>
+</div></blockquote>
+<p>Q_p’ * A_p * Q_1 = H_p.</p>
+</div></blockquote>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the square matrices A_1, A_2, …, A_p.
+n &gt;= 0.</p></li>
+<li><p><strong>ilo</strong> (<em>int</em>) – It is assumed that all matrices A_j, j = 2, …, p, are
+already upper triangular in rows and columns [:ilo-1] and
+[ihi:n], and A_1 is upper Hessenberg in rows and columns
+[:ilo-1] and [ihi:n], with A_1[ilo-1,ilo-2] = 0 (unless
+ilo = 1), and A_1[ihi,ihi-1] = 0 (unless ihi = n).
+If this is not the case, ilo and ihi should be set to 1
+and n, respectively.
+1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
+<li><p><strong>ihi</strong> (<em>int</em>) – It is assumed that all matrices A_j, j = 2, …, p, are
+already upper triangular in rows and columns [:ilo-1] and
+[ihi:n], and A_1 is upper Hessenberg in rows and columns
+[:ilo-1] and [ihi:n], with A_1[ilo-1,ilo-2] = 0 (unless
+ilo = 1), and A_1[ihi,ihi-1] = 0 (unless ihi = n).
+If this is not the case, ilo and ihi should be set to 1
+and n, respectively.
+1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
+<li><p><strong>A</strong> (<em>ndarray</em>) – A[:n,:n,:p] must contain the matrices of factors to be reduced;
+specifically, A[:,:,j-1] must contain A_j, j = 1, …, p.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>HQ</strong> (<em>ndarray</em>) – 3D array with same shape as A. The upper triangle and the first
+subdiagonal of HQ[:n,:n,0] contain the upper Hessenberg
+matrix H_1, and the elements below the first subdiagonal,
+with the first column of the array Tau represent the
+orthogonal matrix Q_1 as a product of elementary
+reflectors. See FURTHER COMMENTS.
+For j &gt; 1, the upper triangle of HQ[:n,:n,j-1]
+contains the upper triangular matrix H_j, and the elements
+below the diagonal, with the j-th column of the array TAU
+represent the orthogonal matrix Q_j as a product of
+elementary reflectors. See FURTHER COMMENTS.</p></li>
+<li><p><strong>Tau</strong> (<em>ndarray</em>) – 2D array with shape (max(1, n-1), p).
+The leading n-1 elements in the j-th column contain the
+scalar factors of the elementary reflectors used to form
+the matrix Q_j, j = 1, …, p. See FURTHER COMMENTS.</p></li>
+<li><p><em>Further Comments</em></p></li>
+<li><p><em>—————-</em></p></li>
+<li><p><em>Each matrix Q_j is represented as a product of (ihi-ilo)</em></p></li>
+<li><p><em>elementary reflectors,</em> – Q_j = H_j(ilo) H_j(ilo+1) … H_j(ihi-1).</p></li>
+<li><p><em>Each H_j(i), i = ilo, …, ihi-1, has the form</em> – H_j(i) = I - tau_j * v_j * v_j’,</p></li>
+<li><p><em>where tau_j is a real scalar, and v_j is a real vector with</em></p></li>
+<li><p><strong>v_j(1</strong> (<em>i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)</em>)</p></li>
+<li><p><strong>is stored on exit in A_j(i+2</strong> (<em>ihi,i), and tau_j in TAU(i,j).</em>)</p></li>
+<li><p><em>The contents of A_1 are illustrated by the following example</em></p></li>
+<li><p><em>for n = 7, ilo = 2, and ihi = 6</em></p></li>
+<li><p><em>on entry                         on exit</em></p></li>
+<li><p><em>( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )</em></p></li>
+<li><p><em>( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )</em></p></li>
+<li><p><em>where a denotes an element of the original matrix A_1, h denotes</em></p></li>
+<li><p><em>a modified element of the upper Hessenberg matrix H_1, and vi</em></p></li>
+<li><p><em>denotes an element of the vector defining H_1(i).</em></p></li>
+<li><p><em>The contents of A_j, j &gt; 1, are illustrated by the following</em></p></li>
+<li><p><em>example for n = 7, ilo = 2, and ihi = 6</em></p></li>
+<li><p><em>on entry                         on exit</em></p></li>
+<li><p><em>( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )</em></p></li>
+<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )</em></p></li>
+<li><p><em>( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )</em></p></li>
+<li><p><em>where a denotes an element of the original matrix A_j, h denotes</em></p></li>
+<li><p><em>a modified element of the upper triangular matrix H_j, and vi</em></p></li>
+<li><p><em>denotes an element of the vector defining H_j(i). (The element</em></p></li>
+<li><p><em>(1,2) in A_p is also unchanged for this example.)</em></p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-mb03vy">
+<h1>slycot.mb03vy<a class="headerlink" href="#slycot-mb03vy" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mb03vy">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03vy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Tau</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03vy" title="Permalink to this definition"></a></dt>
+<dd><p>To generate the real orthogonal matrices Q_1, Q_2, …, Q_p,
+which are defined as the product of ihi-ilo elementary reflectors
+of order n, as returned by SLICOT Library routine MB03VD:</p>
+<blockquote>
+<div><p>Q_j = H_j(ilo) H_j(ilo+1) … H_j(ihi-1).</p>
+</div></blockquote>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices Q_1, Q_2, …, Q_p.  N &gt;= 0.</p></li>
+<li><p><strong>ilo</strong> (<em>int</em>) – The values of the indices ilo and ihi, respectively, used
+in the previous call of the SLICOT Library routine MB03VD.
+1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
+<li><p><strong>ihi</strong> (<em>int</em>) – The values of the indices ilo and ihi, respectively, used
+in the previous call of the SLICOT Library routine MB03VD.
+1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
+<li><p><strong>A</strong> (<em>ndarray</em>) – A[:n,:n,j-1] must contain the vectors which define the
+elementary reflectors used for reducing A_j, as returned
+by SLICOT Library routine MB03VD, j = 1, …, p.</p></li>
+<li><p><strong>Tau</strong> (<em>ndarray</em>) – The leading N-1 elements in the j-th column must contain
+the scalar factors of the elementary reflectors used to
+form the matrix Q_j, as returned by SLICOT Library routine
+MB03VD.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the internal array DWORK.  ldwork &gt;= max(1, n).
+For optimum performance ldwork should be larger.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><strong>Q</strong> – 3D array with same shape as A. Q[:n,:n,j-1] contains the
+N-by-N orthogonal matrix Q_j, j = 1, …, p.</p>
+</dd>
+<dt class="field-odd">Return type</dt>
+<dd class="field-odd"><p>ndarray</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+             
+  <div class="section" id="slycot-mb03wd">
+<h1>slycot.mb03wd<a class="headerlink" href="#slycot-mb03wd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mb03wd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03wd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">compz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">iloz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihiz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">H</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03wd" title="Permalink to this definition"></a></dt>
+<dd><blockquote>
+<div><p>To compute the Schur decomposition and the eigenvalues of a
+product of matrices, H = H_1*H_2*…*H_p, with H_1 an upper
+Hessenberg matrix and H_2, …, H_p upper triangular matrices,
+without evaluating the product. Specifically, the matrices Z_i
+are computed, such that</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Z_1</span><span class="s1">&#39; * H_1 * Z_2 = T_1,</span>
+<span class="n">Z_2</span><span class="s1">&#39; * H_2 * Z_3 = T_2,</span>
+       <span class="o">...</span>
+<span class="n">Z_p</span><span class="s1">&#39; * H_p * Z_1 = T_p,</span>
+</pre></div>
+</div>
+<p>where T_1 is in real Schur form, and T_2, …, T_p are upper
+triangular.</p>
+<p>The routine works primarily with the Hessenberg and triangular
+submatrices in rows and columns ilo to ihi, but optionally applies
+the transformations to all the rows and columns of the matrices
+H_i, i = 1,…,p. The transformations can be optionally
+accumulated.</p>
+</div></blockquote>
+<dl class="field-list">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><dl>
+<dt><strong>job</strong><span class="classifier">{‘E’, ‘S’}</span></dt><dd><p>Indicates whether the user wishes to compute the full
+Schur form or the eigenvalues only, as follows:
+= ‘E’:  Compute the eigenvalues only;
+= ‘S’:  Compute the factors T_1, …, T_p of the full</p>
+<blockquote>
+<div><p>Schur form, T = T_1*T_2*…*T_p.</p>
+</div></blockquote>
+</dd>
+<dt><strong>compz</strong><span class="classifier">{‘N’, ‘I’, ‘V’}</span></dt><dd><blockquote>
+<div><p>Indicates whether or not the user wishes to accumulate
+the matrices Z_1, …, Z_p, as follows:
+= ‘N’:  The matrices Z_1, …, Z_p are not required;
+= ‘I’:  Z_i is initialized to the unit matrix and the</p>
+<blockquote>
+<div><p>orthogonal transformation matrix Z_i is returned,
+i = 1, …, p;</p>
+</div></blockquote>
+<dl class="simple">
+<dt>= ‘V’:  Z_i must contain an orthogonal matrix Q_i on</dt><dd><p>entry, and the product Q_i*Z_i is returned,
+i = 1, …, p.</p>
+</dd>
+</dl>
+</div></blockquote>
+<dl class="simple">
+<dt>n<span class="classifier">int</span></dt><dd><p>The order of the matrix H.  n &gt;= 0</p>
+</dd>
+<dt>ilo, ihi<span class="classifier">int</span></dt><dd><p>It is assumed that all matrices H_j, j = 2, …, p, are
+already upper triangular in rows and columns [:ilo-1] and
+[ihi:n], and H_1 is upper quasi-triangular in rows and
+columns [:ilo-1] and [ihi:n], with H_1[ilo-1,ilo-2] = 0
+(unless ilo = 1), and H_1[ihi,ihi-1] = 0 (unless ihi = n).
+The routine works primarily with the Hessenberg submatrix
+in rows and columns ilo to ihi, but applies the
+transformations to all the rows and columns of the
+matrices H_i, i = 1,…,p, if JOB = ‘S’.
+1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p>
+</dd>
+<dt>iloz, ihiz<span class="classifier">int</span></dt><dd><p>Specify the rows of Z to which the transformations must be
+applied if compz = ‘I’ or compz = ‘V’.
+1 &lt;= iloz &lt;= ilo; ihi &lt;= ihiz &lt;= n.</p>
+</dd>
+<dt>H<span class="classifier">array_like</span></dt><dd><p>H[:n,:n,0] must contain the upper Hessenberg matrix H_1 and
+H[:n,:n,j-1] for j &gt; 1 must contain the upper triangular matrix
+H_j, j = 2, …, p.</p>
+</dd>
+<dt>Q<span class="classifier">array_like</span></dt><dd><p>If compz = ‘V’, Q[:n,:n,:p] must contain the current matrix Q of
+transformations accumulated by SLICOT Library routine
+MB03VY.
+If compz = ‘I’, Q is ignored</p>
+</dd>
+<dt>ldwork<span class="classifier">int, optional</span></dt><dd><p>The length of the cache array. The default value is
+ihi-ilo+p-1</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><dl class="simple">
+<dt><strong>T</strong><span class="classifier">ndarray</span></dt><dd><p>3D array with the same shape as H.
+If JOB = ‘S’, T[:n,:n,0] is upper quasi-triangular in rows
+and columns [ilo-1:ihi], with any 2-by-2 diagonal blocks
+corresponding to a pair of complex conjugated eigenvalues, and
+T[:n,:n,j-1] for j &gt; 1 contains the resulting upper
+triangular matrix T_j.
+If job = ‘E’, T is None</p>
+</dd>
+<dt><strong>Z</strong><span class="classifier">ndarray</span></dt><dd><p>3D array with the same shape as Q.
+If compz = ‘V’, or compz = ‘I’, the leading
+N-by-N-by-P part of this array contains the transformation
+matrices which produced the Schur form; the
+transformations are applied only to the submatrices
+Z[iloz-1:ihiz,ilo-1:ihi,j-1], j = 1, …, p.
+If compz = ‘N’, Z is None</p>
+</dd>
+<dt><strong>W</strong><span class="classifier">(n,) complex ndarray</span></dt><dd><p>The computed eigenvalues ilo to ihi. If two eigenvalues
+are computed as a complex conjugate pair, they are stored
+in consecutive elements of W say the i-th and
+(i+1)th, with imag(W][i]) &gt; 0 and imag(W[i+1]) &lt; 0.
+If JOB = ‘S’, the eigenvalues are stored in the same order
+as on the diagonal of the Schur form returned in H.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><dl class="simple">
+<dt>SlycotResultWarning</dt><dd><dl class="field-list simple">
+<dt class="field-odd">info &gt; 0</dt>
+<dd class="field-odd"><p>failed to compute all the eigenvalues {ilo} to {ihi}
+in a total of 30*({ihi}-{ilo}+1) iterations
+the elements Wr[{info}:{ihi}] contains those
+eigenvalues which have been successfully computed.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-mb05md">
+<h1>slycot.mb05md<a class="headerlink" href="#slycot-mb05md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mb05md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">balanc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'N'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb05md" title="Permalink to this definition"></a></dt>
+<dd><p>Matrix exponential for a real non-defective matrix</p>
+<p>To compute <code class="docutils literal notranslate"><span class="pre">exp(A*delta)</span></code> where <cite>A</cite> is a real N-by-N non-defective
+matrix with real or complex eigenvalues and delta is a scalar
+value. The routine also returns the eigenvalues and eigenvectors
+of <cite>A</cite> as well as (if all eigenvalues are real) the matrix product
+<code class="docutils literal notranslate"><span class="pre">exp(Lambda*delta)</span></code> times the inverse of the eigenvector matrix of
+<cite>A</cite>, where <cite>Lambda</cite> is the diagonal matrix of eigenvalues.
+Optionally, the routine computes a balancing transformation to
+improve the conditioning of the eigenvalues and eigenvectors.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Square matrix</p></li>
+<li><p><strong>delta</strong> (<em>float</em>) – The scalar value delta of the problem.</p></li>
+<li><p><strong>balanc</strong> (<em>{'N'</em><em>, </em><em>'S'}</em><em>, </em><em>optional</em>) – <p>Indicates how the input matrix should be diagonally scaled
+to improve the conditioning of its eigenvalues as follows:</p>
+<dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Do not diagonally scale;</p>
+</dd>
+<dt class="field-even">= ‘S’</dt>
+<dd class="field-even"><p>Diagonally scale the matrix, i.e. replace <cite>A</cite> by
+<code class="docutils literal notranslate"><span class="pre">D*A*D**(-1)</span></code>, where <cite>D</cite> is a diagonal matrix chosen
+to make the rows and columns of A more equal in
+norm. Do not permute.</p>
+</dd>
+</dl>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><strong>Ar</strong> (<em>(n, n) ndarray</em>) – Contains the solution matrix <code class="docutils literal notranslate"><span class="pre">exp(A*delta)</span></code></p></li>
+<li><p><strong>Vr</strong> (<em>(n, n) ndarray</em>) – Contains the eigenvector matrix for <cite>A</cite>.  If the <cite>k</cite>-th
+eigenvalue is real the <cite>k</cite>-th column of the eigenvector
+matrix holds the eigenvector corresponding to the <cite>k</cite>-th
+eigenvalue.  Otherwise, the <cite>k</cite>-th and <cite>(k+1)</cite>-th eigenvalues
+form a complex conjugate pair and the k-th and <cite>(k+1)</cite>-th
+columns of the eigenvector matrix hold the real and
+imaginary parts of the eigenvectors corresponding to these
+eigenvalues as follows.  If <cite>p</cite> and <cite>q</cite> denote the <cite>k</cite>-th and
+<cite>(k+1)</cite>-th columns of the eigenvector matrix, respectively,
+then the eigenvector corresponding to the complex
+eigenvalue with positive (negative) imaginary value is
+given by</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">p</span> <span class="pre">+</span> <span class="pre">q*j</span> <span class="pre">(p</span> <span class="pre">-</span> <span class="pre">q*j),</span> <span class="pre">where</span> <span class="pre">j^2</span>&#160; <span class="pre">=</span> <span class="pre">-1.</span></code></p>
+</div></blockquote>
+</li>
+<li><p><strong>Yr</strong> (<em>(n, n) ndarray</em>) – contains an intermediate result for computing the matrix
+exponential.  Specifically, <code class="docutils literal notranslate"><span class="pre">exp(A*delta)</span></code> is obtained as the
+product <code class="docutils literal notranslate"><span class="pre">V*Y</span></code>, where <cite>V</cite> is the matrix stored in the leading
+<cite>n</cite>-by-<cite>n</cite> part of the array <cite>V</cite>. If all eigenvalues of <cite>A</cite> are
+real, then the leading <cite>n</cite>-by-<cite>n</cite> part of this array contains
+the matrix product <code class="docutils literal notranslate"><span class="pre">exp(Lambda*delta)</span></code> times the inverse of
+the (right) eigenvector matrix of <cite>A</cite>, where <cite>Lambda</cite> is the
+diagonal matrix of eigenvalues.</p></li>
+<li><p><strong>w</strong> (<em>(n, ) real or complex ndarray</em>) – Contains the eigenvalues of the matrix <cite>A</cite>. The eigenvalues
+are unordered except that complex conjugate pairs of values
+appear consecutively with the eigenvalue having positive
+imaginary part first.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">0 &lt; info &lt;=n</dt>
+<dd class="field-odd"><p>the QR algorithm failed to compute all
+the eigenvalues; no eigenvectors have been computed;
+w[{info}:{n}] contains eigenvalues which have converged;</p>
+</dd>
+<dt class="field-even">info == n+1</dt>
+<dd class="field-even"><p>The inverse of the eigenvector matrix could not
+be formed due to an attempt to divide by zero, i.e.,
+the eigenvector matrix is singular;</p>
+</dd>
+<dt class="field-odd">info == n+2</dt>
+<dd class="field-odd"><p>Matrix A is defective, possibly due to rounding errors.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+  <div class="section" id="slycot-mb05nd">
+<h1>slycot.mb05nd<a class="headerlink" href="#slycot-mb05nd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mb05nd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1e-7</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb05nd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">a</span><span class="p">)</span>    <span class="n">F</span><span class="p">(</span><span class="n">delta</span><span class="p">)</span> <span class="o">=</span>  <span class="n">exp</span><span class="p">(</span><span class="n">A</span><span class="o">*</span><span class="n">delta</span><span class="p">)</span> <span class="ow">and</span>
+<span class="p">(</span><span class="n">b</span><span class="p">)</span>    <span class="n">H</span><span class="p">(</span><span class="n">delta</span><span class="p">)</span> <span class="o">=</span>  <span class="n">Int</span><span class="p">[</span><span class="n">F</span><span class="p">(</span><span class="n">s</span><span class="p">)</span> <span class="n">ds</span><span class="p">]</span> <span class="kn">from</span> <span class="nn">s</span> <span class="o">=</span> <span class="mi">0</span> <span class="n">to</span> <span class="n">s</span> <span class="o">=</span> <span class="n">delta</span><span class="p">,</span>
+</pre></div>
+</div>
+<p>where <cite>A</cite> is a real`n`-by-<cite>n</cite> matrix and <cite>delta</cite> is a scalar value.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Square matrix</p></li>
+<li><p><strong>delta</strong> (<em>float</em>) – The scalar value delta of the problem.</p></li>
+<li><p><strong>tol</strong> (<em>float</em>) – Tolerance. A good value is sqrt(eps)</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>F</strong> (<em>(n, n) ndarray</em>) – exp(A*delta)</p></li>
+<li><p><strong>H</strong> (<em>(n, n) ndarray</em>) – Int[F(s) ds] from s = 0 to s = delta,</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">1 &lt; info &lt;=n</dt>
+<dd class="field-odd"><p>the ({info},{info}) element of the denominator of
+the Pade approximation is zero, so the denominator
+is exactly singular;</p>
+</dd>
+<dt class="field-even">info == n+1</dt>
+<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">DELTA</span> <span class="pre">=</span> <span class="pre">(delta</span> <span class="pre">*</span> <span class="pre">frobenius</span> <span class="pre">norm</span> <span class="pre">of</span> <span class="pre">matrix</span> <span class="pre">A)</span></code> is
+probably too large to permit meaningful computation.
+That is, {delta} &gt; SQRT(BIG), where BIG is a
+representable number near the overflow threshold of
+the machine (see LAPACK Library Routine DLAMCH).</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
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+
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+             
+  <div class="section" id="slycot-mc01td">
+<h1>slycot.mc01td<a class="headerlink" href="#slycot-mc01td" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.mc01td">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mc01td</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dp</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mc01td" title="Permalink to this definition"></a></dt>
+<dd><p>To determine whether or not a given polynomial P(x) with real
+coefficients is stable, either in the continuous-time or discrete-
+time case.</p>
+<p>A polynomial is said to be stable in the continuous-time case
+if all its zeros lie in the left half-plane, and stable in the
+discrete-time case if all its zeros lie inside the unit circle.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <p>Indicates whether the stability test to be applied to <cite>P(x)</cite> is in
+the continuous-time or discrete-time case as follows:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">=</span> <span class="s1">&#39;C&#39;</span><span class="p">:</span>  <span class="n">continuous</span><span class="o">-</span><span class="n">time</span> <span class="n">case</span><span class="p">;</span>
+<span class="o">=</span> <span class="s1">&#39;D&#39;</span><span class="p">:</span>  <span class="n">discrete</span><span class="o">-</span><span class="n">time</span> <span class="n">case</span><span class="o">.</span>
+</pre></div>
+</div>
+</p></li>
+<li><p><strong>dp</strong> (<em>int</em>) – The degree of the polynomial <cite>P(x)</cite>.  <code class="docutils literal notranslate"><span class="pre">dp</span> <span class="pre">&gt;=</span> <span class="pre">0</span></code>.</p></li>
+<li><p><strong>p</strong> (<em>(</em><em>dp+1</em><em>, </em><em>) </em><em>array_like</em>) – This array must contain the coefficients of <cite>P(x)</cite> in increasing
+powers of <cite>x</cite>.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>dp</strong> (<em>int</em>) – If <code class="docutils literal notranslate"><span class="pre">P(dp+1)</span> <span class="pre">=</span> <span class="pre">0.0</span></code> on entry, then <cite>dp</cite> contains the index of the
+highest power of <cite>x</cite> for which <code class="docutils literal notranslate"><span class="pre">P(dp+1)</span> <span class="pre">&lt;&gt;</span> <span class="pre">0.0</span></code>.</p></li>
+<li><p><strong>stable</strong> (<em>int</em>) – Equal to 1 if <cite>P(x)</cite> is stable, 0 otherwise.</p></li>
+<li><p><strong>nz</strong> (<em>int</em>) – The number of unstable zeros.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">info == 1</dt>
+<dd class="field-odd"><p>Entry <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> is the zero polynomial.</p>
+</dd>
+<dt class="field-even">info == 2 and dico == ‘C’</dt>
+<dd class="field-even"><p>The polynomial <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> is most probably unstable,
+although it may be stable with one or more zeros
+very close to the imaginary axis.
+The number of unstable zeros (NZ) is not determined.</p>
+</dd>
+<dt class="field-odd">info == 2 and dico == ‘D’</dt>
+<dd class="field-odd"><p>The polynomial <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> is most probably unstable,
+although it may be stable with one or more zeros
+very close to the the unit circle.
+The number of unstable zeros (NZ) is not determined.</p>
+</dd>
+<dt class="field-even">iwarn &gt; 0</dt>
+<dd class="field-even"><p>The degree of the polynomial <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> has been
+reduced to <code class="docutils literal notranslate"><span class="pre">(DB</span> <span class="pre">-</span> <span class="pre">{iwarn})</span></code> because
+<code class="docutils literal notranslate"><span class="pre">P(DB+1-j)</span> <span class="pre">=</span> <span class="pre">0.0</span></code> on entry
+for <code class="docutils literal notranslate"><span class="pre">j</span> <span class="pre">=</span> <span class="pre">0,</span> <span class="pre">1,...,</span> <span class="pre">k-1</span></code> and <code class="docutils literal notranslate"><span class="pre">P(DB+1-k)</span> <span class="pre">&lt;&gt;</span> <span class="pre">0.0</span></code>.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+      <li class="breadcrumb-item active">slycot.sb01bd</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/source/reference/generated/slycot.sb01bd.rst.txt" rel="nofollow"> View page source</a>
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+             
+  <div class="section" id="slycot-sb01bd">
+<h1>slycot.sb01bd<a class="headerlink" href="#slycot-sb01bd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb01bd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb01bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">w</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb01bd" title="Permalink to this definition"></a></dt>
+<dd><p>To determine the state feedback matrix F for a given system (A,B) such that
+the closed-loop state matrix A+B*F has specified eigenvalues.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The dimension of the state vector, n &gt;= 0.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The dimension of input vector, m &gt;= 0.</p></li>
+<li><p><strong>np</strong> (<em>int</em>) – The number of given eigenvalues. At most n eigenvalues can be
+assigned.  0 &lt;= np &lt;= n.</p></li>
+<li><p><strong>alpha</strong> (<em>float</em>) – Specifies the maximum admissible value, either for real parts,
+if dico = ‘C’, or for moduli, if dico = ‘D’, of the eigenvalues of
+A which will not be modified by the eigenvalue assignment algorithm.
+alpha &gt;= 0 if dico = ‘D’.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – State dynamics matrix.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input/state matrix.</p></li>
+<li><p><strong>w</strong> (<em>(</em><em>np</em><em>, </em><em>) </em><em>complex array_like</em>) – Array of the desired eigenvalues of the closed-loop system state-matrix
+A+B*F. The eigenvalues can be unordered, except that complex conjugate
+pairs must appear consecutively.</p></li>
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
+<dt>Specifies the type of the original system as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>continuous-time system;</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>discrete-time system.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The absolute tolerance level below which the elements of A or B are
+considered zero (used for controllability tests).
+If tol &lt;= 0 the default value is used.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is
+max(1,5*m,5*n,2*n+4*m), for optimum performance it should be larger.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>A_z</strong> (<em>(n, n) ndarray</em>) – This array contains the matrix Z’<a href="#id1"><span class="problematic" id="id2">*</span></a>(A+B*F)*Z in a real Schur form.
+The diagonal block A[:nfp, :nfp] corresponds to the fixed (unmodified)
+eigenvalues having real parts less than alpha, if dico = ‘C’, or moduli
+less than alpha if dico = ‘D’.
+The diagonal block A[n-nup:, n-nup:] corresponds to the uncontrollable
+eigenvalues detected by the eigenvalue assignment algorithm.
+The elements under the first subdiagonal are set to zero.</p></li>
+<li><p><strong>w</strong> (<em>(np, ) complex ndarray</em>) – The first part w[:nap] contain the assigned eigenvalues.
+The rest w[np-nap:] contain the unassigned eigenvalues.</p></li>
+<li><p><strong>nfp</strong> (<em>int</em>) – The number of eigenvalues of A having real parts less than alpha,
+if dico = ‘C’, or moduli less than alpha, if dico = ‘D’. These
+eigenvalues are not modified by the eigenvalue assignment algorithm.</p></li>
+<li><p><strong>nap</strong> (<em>int</em>) – The number of assigned eigenvalues.</p></li>
+<li><p><strong>nup</strong> (<em>int</em>) – The number of uncontrollable eigenvalues detected by the eigenvalue
+assignment algorithm.</p></li>
+<li><p><strong>F</strong> (<em>(m, n) ndarray</em>) – The state feedback F, which assigns nap closed-loop eigenvalues and
+keeps unaltered n-nap open-loop eigenvalues.</p></li>
+<li><p><strong>Z</strong> (<em>(n, n) ndarray</em>) – The orthogonal matrix Z which reduces the closed-loop system state
+matrix A + B*F to upper real Schur form.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>the reduction of A to a real Schur form failed;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>a failure was detected during the ordering of the
+real Schur form of A, or in the iterative process
+for reordering the eigenvalues of Z’<a href="#id3"><span class="problematic" id="id4">*</span></a>(A + B*F)*Z
+along the diagonal.</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>the number of eigenvalues to be assigned is less
+than the number of possibly assignable eigenvalues;
+<a href="#id5"><span class="problematic" id="id6">`</span></a>nap`={nap} eigenvalues have been properly assigned,
+but some assignable eigenvalues remain unmodified.</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>an attempt is made to place a complex conjugate
+pair on the location of a real eigenvalue. This
+situation can only appear when <code class="docutils literal notranslate"><span class="pre">n-nfp</span></code> is odd,
+<code class="docutils literal notranslate"><span class="pre">np</span> <span class="pre">&gt;</span> <span class="pre">n-nfp-nup</span></code> is even, and for the last real
+eigenvalue to be modified there exists no available
+real eigenvalue to be assigned. However, <a href="#id7"><span class="problematic" id="id8">`</span></a>nap`={nap}
+eigenvalues have been already properly assigned.</p>
+</dd>
+<dt class="field-odd">iwarn &gt; 0</dt>
+<dd class="field-odd"><p>{iwarn} violations of the numerical stability condition
+<code class="docutils literal notranslate"><span class="pre">NORM(F)</span> <span class="pre">&lt;=</span> <span class="pre">100*NORM(A)/NORM(B)</span></code> occured during the
+assignment of eigenvalues</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<p class="rubric">Example</p>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">B</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">eig</span><span class="p">(</span><span class="n">A</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># open loop eigenvalues</span>
+<span class="go">array([ 3.11490754,  0.74589831, -0.86080585])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">w</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.4</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">sb01bd</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">A</span><span class="p">,</span> <span class="n">B</span><span class="p">,</span> <span class="n">w</span><span class="p">,</span> <span class="s1">&#39;D&#39;</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">A_fb</span> <span class="o">=</span> <span class="n">A</span> <span class="o">+</span> <span class="n">np</span><span class="o">.</span><span class="n">dot</span><span class="p">(</span><span class="n">B</span><span class="p">,</span> <span class="n">out</span><span class="p">[</span><span class="mi">5</span><span class="p">])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">eig</span><span class="p">(</span><span class="n">A_fb</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># closed loop eigenvalues</span>
+<span class="go">array([ 0.2       ,  0.40000001,  0.5       ])</span>
+</pre></div>
+</div>
+</dd></dl>
+
+</div>
+
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+             
+  <div class="section" id="slycot-sb02md">
+<h1>slycot.sb02md<a class="headerlink" href="#slycot-sb02md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb02md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb02md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">G</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">hinv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scal</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb02md" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X either the continuous-time algebraic Riccati
+equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                      <span class="o">-</span><span class="mi">1</span>
+<span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;*X + X*A - X*B*R  B&#39;</span><span class="o">*</span><span class="n">X</span> <span class="o">=</span> <span class="mi">0</span>                            <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>or the discrete-time algebraic Riccati equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                                <span class="o">-</span><span class="mi">1</span>
+<span class="n">X</span> <span class="o">=</span> <span class="n">A</span><span class="s1">&#39;*X*A - A&#39;</span><span class="o">*</span><span class="n">X</span><span class="o">*</span><span class="n">B</span><span class="o">*</span><span class="p">(</span><span class="n">R</span> <span class="o">+</span> <span class="sa">B</span><span class="s1">&#39;*X*B)  B&#39;</span><span class="o">*</span><span class="n">X</span><span class="o">*</span><span class="n">A</span> <span class="o">+</span> <span class="n">Q</span>                <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>where A, B, Q and R are n-by-n, n-by-m, n-by-n and m-by-m matrices
+respectively, with Q symmetric and R symmetric nonsingular; X is
+an n-by-n symmetric matrix.</p>
+<p>The matrix <code class="docutils literal notranslate"><span class="pre">G</span> <span class="pre">=</span> <span class="pre">B*R^{-1}*B'</span></code> must be provided on input, instead of B and
+R, that is, for instance, the continuous-time equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;*X + X*A - X*G*X = 0                                  (3)</span>
+</pre></div>
+</div>
+<p>is solved, where G is an n-by-n symmetric matrix. Slycot Library
+routine sb02mt should be used to compute G, given B and R. sb02mt
+also enables to solve Riccati equations corresponding to optimal
+problems with coupling terms.</p>
+<p>The routine also returns the computed values of the closed-loop
+spectrum of the optimal system, i.e., the stable eigenvalues
+lambda(1),…,lambda(n) of the corresponding Hamiltonian or
+symplectic matrix associated to the optimal problem.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices A, Q, G and X.  n &gt; 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – </p></li>
+<li><p><strong>G</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The upper triangular part (if uplo = ‘U’) or lower triangular
+part (if uplo = ‘L’) of this array must contain the upper
+triangular part or lower triangular part, respectively, of the
+symmetric matrix G.</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The upper triangular part (if uplo = ‘U’) or lower triangular
+part (if uplo = ‘L’) of this array must contain the upper
+triangular part or lower triangular part, respectively,
+of the symmetric matrix Q.</p></li>
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
+<dt>Specifies the type of Riccati equation to be solved as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Equation (3), continuous-time case;</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Equation (2), discrete-time case.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>hinv</strong> (<em>{'D'</em><em>, </em><em>'I'}</em><em>, </em><em>optional</em>) – <p>If dico = ‘D’, specifies which symplectic matrix is to be
+constructed, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘D’</dt>
+<dd class="field-odd"><p>The Hamiltonian or sympletic matrix H is constructed;</p>
+</dd>
+<dt class="field-even">= ‘I’</dt>
+<dd class="field-even"><p>The inverse of the matrix H is constructed.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘D’. hinv is not used if DICO = ‘C’.</p>
+</p></li>
+<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em><em>, </em><em>optional</em>) – <p>Specifies which triangle of the matrices G and Q is stored,
+as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘U’</dt>
+<dd class="field-odd"><p>Upper triangle is stored;</p>
+</dd>
+<dt class="field-even">= ‘L’</dt>
+<dd class="field-even"><p>Lower triangle is stored.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘U’.</p>
+</p></li>
+<li><p><strong>scal</strong> (<em>{'N'</em><em>, </em><em>'G'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not a scaling strategy should be used,
+as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘G’</dt>
+<dd class="field-odd"><p>General scaling should be used;</p>
+</dd>
+<dt class="field-even">= ‘N’</dt>
+<dd class="field-even"><p>No scaling should be used.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘N’.</p>
+</p></li>
+<li><p><strong>sort</strong> (<em>{'S'</em><em>, </em><em>'U'}</em><em>, </em><em>optional</em>) – <p>Specifies which eigenvalues should be obtained in the top of
+the Schur form, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘S’</dt>
+<dd class="field-odd"><p>Stable   eigenvalues come first;</p>
+</dd>
+<dt class="field-even">= ‘U’</dt>
+<dd class="field-even"><p>Unstable eigenvalues come first.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘S’.</p>
+</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is max(3, 6*n),
+for optimum performance it should be larger.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – The solution matrix of the problem.</p></li>
+<li><p><strong>rcond</strong> (<em>float</em>) – An estimate of the reciprocal of the condition number (in
+the 1-norm) of the n-th order system of algebraic
+equations from which the solution matrix X is obtained.</p></li>
+<li><p><strong>w</strong> (<em>(2*n, ) complex ndarray</em>) – This array contain the eigenvalues of the 2n-by-2n matrix S, ordered
+as specified by sort (except for the case hinv = ‘D’, when the order
+is opposite to that specified by sort). The leading n elements of
+this array contain the closed-loop spectrum of the system matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>              <span class="o">-</span><span class="mi">1</span>
+<span class="n">A</span> <span class="o">-</span> <span class="n">B</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="sa">B</span><span class="s1">&#39;*X, if dico = &#39;</span><span class="n">C</span><span class="s1">&#39;,</span>
+
+<span class="ow">or</span> <span class="n">of</span> <span class="n">the</span> <span class="n">matrix</span>
+
+                  <span class="o">-</span><span class="mi">1</span>
+<span class="n">A</span> <span class="o">-</span> <span class="n">B</span><span class="o">*</span><span class="p">(</span><span class="n">R</span> <span class="o">+</span> <span class="sa">B</span><span class="s1">&#39;*X*B)  B&#39;</span><span class="o">*</span><span class="n">X</span><span class="o">*</span><span class="n">A</span><span class="p">,</span> <span class="k">if</span> <span class="n">dico</span> <span class="o">=</span> <span class="s1">&#39;D&#39;</span><span class="o">.</span>
+</pre></div>
+</div>
+</li>
+<li><p><strong>S</strong> (<em>(2*n, 2*n) ndarray</em>) – This array contains the ordered real Schur form S of the Hamiltonian
+or symplectic matrix H.</p></li>
+<li><p><strong>U</strong> (<em>(2*n, 2*n) ndarray</em>) – This array contains the transformation matrix U which reduces the
+Hamiltonian or symplectic matrix H to the ordered real Schur form S.</p></li>
+<li><p><strong>A_inv</strong> (<em>(n, n) ndarray</em>) – The inverse of A if dico = ‘D’ or a copy of A itself otherwise.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>SlycotParameterError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = -i</dt>
+<dd class="field-odd"><p>the i-th argument had an illegal value;</p>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>Matrix A is (numerically) singular in discrete-
+time case;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The Hamiltonian or symplectic matrix H cannot be
+reduced to real Schur form;</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>The real Schur form of the Hamiltonian or
+symplectic matrix H cannot be appropriately ordered;</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>The Hamiltonian or symplectic matrix H has less
+than n stable eigenvalues;</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The n-th order system of linear algebraic
+equations, from which the solution matrix X would
+be obtained, is singular to working precision.</p>
+</dd>
+</dl>
+</p></li>
+</ul>
+</dd>
+</dl>
+<p class="rubric">Example</p>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">Q</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">G</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">sb02md</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="n">A</span><span class="p">,</span> <span class="n">G</span><span class="p">,</span> <span class="n">Q</span><span class="p">,</span> <span class="s1">&#39;C&#39;</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># X</span>
+<span class="go">array([[ 2.,  1.],</span>
+<span class="go">       [ 1.,  2.]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="c1"># rcond</span>
+<span class="go">0.3090169943749475</span>
+</pre></div>
+</div>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+             
+  <div class="section" id="slycot-sb02mt">
+<h1>slycot.sb02mt<a class="headerlink" href="#slycot-sb02mt" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb02mt">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb02mt</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">R</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">L</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobl</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb02mt" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the following matrices</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>       <span class="o">-</span><span class="mi">1</span>
+<span class="n">G</span> <span class="o">=</span> <span class="n">B</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="sa">B</span><span class="s1">&#39;,</span>
+
+             <span class="o">-</span><span class="mi">1</span>
+<span class="n">A_b</span> <span class="o">=</span> <span class="n">A</span> <span class="o">-</span> <span class="n">B</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="n">L</span><span class="s1">&#39;,</span>
+
+             <span class="o">-</span><span class="mi">1</span>
+<span class="n">Q_b</span> <span class="o">=</span> <span class="n">Q</span> <span class="o">-</span> <span class="n">L</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="n">L</span><span class="s1">&#39;,</span>
+</pre></div>
+</div>
+<p>where A, B, Q, R, L, and G are n-by-n, n-by-m, n-by-n, m-by-m, n-by-m,
+and n-by-n matrices, respectively, with Q, R and G symmetric matrices.</p>
+<p>When R is well-conditioned with respect to inversion, standard algorithms
+for solving linear-quadratic optimization problems will then also solve
+optimization problems with coupling weighting matrix L.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices A, Q, and G, and the number of rows of
+the matrices B and L.  n &gt;= 0.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The order of the matrix R, and the number of columns of the matrices
+B and L.  m &gt;= 0.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – </p></li>
+<li><p><strong>R</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – If fact = ‘N’, the upper/lower triangular part of this array must
+contain the upper/lower triangular part, of the symmetric input
+weighting matrix R.
+If fact = ‘C’, the upper/lower triangular part of this array must
+contain the Cholesky factor of the positive definite input weighting
+matrix R.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If jobl = ‘Z’, this matrix is not needed.</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If jobl = ‘Z’, this matrix is not needed. Otherwise the upper/lower
+triangular part of this array (depending on uplo) must contain the
+corresponding part of matrix Q.</p></li>
+<li><p><strong>L</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If jobl = ‘Z’, this matrix is not needed.</p></li>
+<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'C'}</em><em>, </em><em>optional</em>) – <dl class="simple">
+<dt>Specifies how the matrix R is given (factored or not), as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Array R contains the matrix R,</p>
+</dd>
+<dt class="field-even">= ‘C’</dt>
+<dd class="field-even"><p>Array R contains the Cholesky factor of R.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<p>The default value is ‘N’.</p>
+</p></li>
+<li><p><strong>jobl</strong> (<em>{'Z'</em><em>, </em><em>'N'}</em><em>, </em><em>optional</em>) – When equal to ‘Z’, L is considered as a zero matrix and A, Q and L are
+not needed. A, Q and L are required otherwise.The default value is ‘Z’.</p></li>
+<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em><em>, </em><em>optional</em>) – <p>Specifies which triangle of the matrices R and Q (if jobl = ‘N’)
+is stored, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘U’</dt>
+<dd class="field-odd"><p>Upper triangle is stored;</p>
+</dd>
+<dt class="field-even">= ‘L’</dt>
+<dd class="field-even"><p>Lower triangle is stored.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘U’.</p>
+</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. Whenever fact = ‘N’ the default value
+is max(2, 3*m, n*m), for optimum performance it should be larger.
+No cache is needed if fact = ‘C’, defaults at 1.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><strong>A_b</strong> (<em>(n, n) ndarray</em>) – If jobl = ‘Z’, this is None.</p></li>
+<li><p><strong>B_b</strong> (<em>(n, m) ndarray</em>) – If oufact = 1 this array contains the matrix <code class="docutils literal notranslate"><span class="pre">B*chol(R)^{-1}</span></code>.
+It is a copy of input B if oufact = 2.</p></li>
+<li><p><strong>Q_b</strong> (<em>(n, n) ndarray</em>) – If jobl = ‘Z’, this is None. Otherwise the upper/lower triangular part
+of this array contain the corresponding triangular part of matrix Q_b
+(depending on uplo).</p></li>
+<li><p><strong>R_b</strong> (<em>(m, m) ndarray</em>) – If oufact = 1, the upper/lower triangular part of this array contains
+the Cholesky factor of the given input weighting matrix.
+If oufact = 2, the upper/lower triangular part of this array contains
+the factors of the UdU’ or LdL’ factorization, respectively, of the given
+input weighting matrix.
+If fact = ‘C’ it is a copy of input R.</p></li>
+<li><p><strong>L_b</strong> (<em>(n, m) ndarray</em>) – If jobl = ‘Z’, this is None. If oufact = 1, this array contains the matrix
+<code class="docutils literal notranslate"><span class="pre">L*chol(R)^{-1}</span></code>. If oufact = 2 this contains a copy of input L.</p></li>
+<li><p><strong>ipiv</strong> (<em>(m, ) int ndarray</em>) – If oufact = 2, this array contains details of the interchanges
+performed and the block structure of the d factor in the UdU’ or
+LdL’ factorization of matrix R, as produced by LAPACK routine DSYTRF.
+Otherwise it is None.</p></li>
+<li><p><strong>oufact</strong> (<em>int</em>) – Information about the factorization finally used.
+:oufact = 1:  Cholesky factorization of R has been used;
+:oufact = 2:  UdU’ (if uplo = ‘U’) or LdL’ (if uplo = ‘L’)</p>
+<blockquote>
+<div><p>factorization of R has been used.</p>
+</div></blockquote>
+</li>
+<li><p><strong>G</strong> (<em>(n, n) ndarray</em>) – The upper/lower triangular part of this array contains the corresponding
+triangular part of the matrix G.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">1 &lt;= info &lt;= m</dt>
+<dd class="field-odd"><p>The {info}-th element of the <cite>d</cite> factor is
+exactly zero; the <code class="docutils literal notranslate"><span class="pre">UdU'</span> <span class="pre">(or</span> <span class="pre">LdL')</span></code> factorization has
+been completed, but the block diagonal matrix d is
+exactly singular;</p>
+</dd>
+<dt class="field-even">info = m+1</dt>
+<dd class="field-even"><p>The matrix R is numerically singular.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-sb02od">
+<h1>slycot.sb02od<a class="headerlink" href="#slycot-sb02od" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb02od">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb02od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">R</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">L</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb02od" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X either the continuous-time algebraic Riccati
+equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                      <span class="o">-</span><span class="mi">1</span>
+<span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;X + XA - (L+XB)R  (L+XB)&#39;</span> <span class="o">=</span> <span class="mi">0</span>                       <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>or the discrete-time algebraic Riccati equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                             <span class="o">-</span><span class="mi">1</span>
+<span class="n">X</span> <span class="o">=</span> <span class="n">A</span><span class="s1">&#39;XA - (L+A&#39;</span><span class="n">XB</span><span class="p">)(</span><span class="n">R</span> <span class="o">+</span> <span class="sa">B</span><span class="s1">&#39;XB)  (L+A&#39;</span><span class="n">XB</span><span class="p">)</span><span class="s1">&#39; + Q              (2)</span>
+</pre></div>
+</div>
+<p>where A, B, Q, R, and L are n-by-n, n-by-m, n-by-n, m-by-m and
+n-by-m matrices, respectively, such that Q = C’C, R = D’D and
+L = C’D; X is an n-by-n symmetric matrix.
+The routine also returns the computed values of the closed-loop
+spectrum of the system, i.e., the stable eigenvalues w(1),
+…, w(n) of the corresponding Hamiltonian or symplectic
+pencil, in the continuous-time case or discrete-time case,
+respectively.</p>
+<p>Optionally, Q and/or R may be given in a factored form, Q = C’C,
+R = D’D, and L may be treated as a zero matrix.</p>
+<p>The routine uses the method of deflating subspaces, based on
+reordering the eigenvalues in a generalized Schur matrix pair.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The actual state dimension, i.e. the order of the matrices A, Q,
+and X, and the number of rows of the matrices B and L.  n &gt; 0.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The number of system inputs, the order of the matrix R, and the
+number of columns of the matrix B.  m &gt; 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The state matrix of the system.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – The input matrix of the system.</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) or </em><em>(</em><em>p</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If fact = ‘N’ or ‘D’, the shape must be (n, n) and the upper/lower
+triangular part (depending on uplo) of this array must contain
+the corresponding triangular part of the symmetric state weighting
+matrix Q.
+If fact = ‘C’ or ‘B’, the shape must be (p, n) and of this array must
+contain the output matrix C of the system.</p></li>
+<li><p><strong>R</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) or </em><em>(</em><em>p</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – If fact = ‘N’ or ‘C’, the shape must be (m, m) and the upper/lower
+triangular part (depending on uplo) of this array must contain the
+corresponding triangular part of the symmetric input weighting matrix R.
+If FACT = ‘D’ or ‘B’, the shape must be (p, m) and this array must
+contain the direct transmission matrix D of the system.</p></li>
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
+<dt>Specifies the type of Riccati equation to be solved as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Equation (2), discrete-time case.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>p</strong> (<em>int</em><em>, </em><em>optional</em>) – The number of system outputs. If fact = ‘C’ or ‘D’ or ‘B’,
+p is the number of rows of the matrices C and/or D. p &gt; 0.
+If fact = ‘N’ it is not needed.</p></li>
+<li><p><strong>L</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If L is not specified it will considered as a zero matrix of the
+appropriate dimensions.</p></li>
+<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'C'</em><em>, </em><em>'D'</em><em>, </em><em>'B'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the matrices Q and/or R are factored,
+as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Not factored, Q and R are given;</p>
+</dd>
+<dt class="field-even">= ‘C’</dt>
+<dd class="field-even"><p>C is given, and Q = C’C;</p>
+</dd>
+<dt class="field-odd">= ‘D’</dt>
+<dd class="field-odd"><p>D is given, and R = D’D;</p>
+</dd>
+<dt class="field-even">= ‘B’</dt>
+<dd class="field-even"><p>Both factors C and D are given, Q = C’C, R = D’D.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘N’.</p>
+</p></li>
+<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em><em>, </em><em>optional</em>) – <p>If fact = ‘N’, specifies which triangle of Q and R is stored,
+as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘U’</dt>
+<dd class="field-odd"><p>Upper triangle is stored;</p>
+</dd>
+<dt class="field-even">= ‘L’</dt>
+<dd class="field-even"><p>Lower triangle is stored.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘U’.</p>
+</p></li>
+<li><p><strong>sort</strong> (<em>{'S'</em><em>, </em><em>'U'}</em><em>, </em><em>optional</em>) – <p>Specifies which eigenvalues should be obtained in the top of
+the generalized Schur form, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘S’</dt>
+<dd class="field-odd"><p>Stable   eigenvalues come first;</p>
+</dd>
+<dt class="field-even">= ‘U’</dt>
+<dd class="field-even"><p>Unstable eigenvalues come first.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>The default value is ‘S’.</p>
+</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The tolerance to be used in rank determination of the original
+matrix pencil, specifically of the triangular factor obtained during
+the reduction process. If tol &lt;= 0 a default value is used.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is
+max(7*(2*n+1)+16, 16*n, 2*n+m, 3*m), for optimum performance it should
+be larger.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>X</strong> (<em>(n, n) array_like</em>) – The solution matrix of the problem.</p></li>
+<li><p><strong>rcond</strong> (<em>float</em>) – An estimate of the reciprocal of the condition number (in
+the 1-norm) of the n-th order system of algebraic equations
+from which the solution matrix X is obtained.</p></li>
+<li><p><strong>w</strong> (<em>(2*n, ) complex array_like</em>) – The generalized eigenvalues of the 2n-by-2n matrix pair, ordered as
+specified by sort. For instance, if sort = ‘S’, the leading n
+elements of these arrays contain the closed-loop spectrum of the
+system matrix A - BF, where F is the optimal feedback matrix computed
+based on the solution matrix X.</p></li>
+<li><p><strong>S</strong> (<em>(2*n+m, 2*n) array_like</em>) – This array contains the ordered real Schur form S of the first matrix
+in the reduced matrix pencil associated to the optimal problem, or of
+the corresponding Hamiltonian matrix</p></li>
+<li><p><strong>T</strong> (<em>(2*n+m+1, 2*n) array_like</em>) – This array contains the ordered upper triangular form T of the second
+matrix in the reduced matrix pencil associated to the optimal problem.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The computed extended matrix pencil is singular,
+possibly due to rounding errors;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The QZ (or QR) algorithm failed;</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>Reordering of the (generalized) eigenvalues failed;</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>After reordering, roundoff changed values of
+some complex eigenvalues so that leading eigenvalues
+in the (generalized) Schur form no longer satisfy
+the stability condition; this could also be caused
+due to scaling;</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The computed dimension of the solution does not
+equal n;</p>
+</dd>
+<dt class="field-even">info = 6</dt>
+<dd class="field-even"><p>A singular matrix was encountered during the
+computation of the solution matrix X.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+<p class="rubric">Example</p>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">B</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">C</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">Q</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">dot</span><span class="p">(</span><span class="n">C</span><span class="o">.</span><span class="n">T</span><span class="p">,</span> <span class="n">C</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">R</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">ones</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">sb02od</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">A</span><span class="p">,</span> <span class="n">B</span><span class="p">,</span> <span class="n">Q</span><span class="p">,</span> <span class="n">R</span><span class="p">,</span> <span class="s1">&#39;C&#39;</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># X</span>
+<span class="go">array([[ 1.73205081,  1.        ],</span>
+<span class="go">       [ 1.        ,  1.73205081]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="c1"># rcond</span>
+<span class="go">0.4713846564431681</span>
+</pre></div>
+</div>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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new file mode 100644
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_outer.html#mathematical-routines">Mathematical routines</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="slycot.sb01bd.html">slycot.sb01bd</a></li>
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+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../slycot_outer.html#transformation-routines">Transformation Routines</a></li>
+</ul>
+</li>
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+</ul>
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+            <a href="../../../_sources/source/reference/generated/slycot.sb03md.rst.txt" rel="nofollow"> View page source</a>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-sb03md">
+<h1>slycot.sb03md<a class="headerlink" href="#slycot-sb03md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb03md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb03md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">U</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trana</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb03md" title="Permalink to this definition"></a></dt>
+<dd><div class="deprecated">
+<p><span class="versionmodified deprecated">Deprecated since version 0.5: </span>This function uses a call signature of SB03MD prior to SLICOT version
+5.7. Use <cite>sb03md57</cite> instead.</p>
+</div>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-sb03md57">
+<h1>slycot.sb03md57<a class="headerlink" href="#slycot-sb03md57" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb03md57">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb03md57</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">U</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'C'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'X'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'N'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trana</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'N'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb03md57" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X either the real continuous-time Lyapunov equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X + X*op(A) = scale*C                             (1)</span>
+</pre></div>
+</div>
+<p>or the real discrete-time Lyapunov equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X*op(A) - X = scale*C                             (2)</span>
+</pre></div>
+</div>
+<p>and/or estimate an associated condition number, called separation,
+where op(A) = A or A’ (A**T) and C is symmetric (C = C’).
+(A’ denotes the transpose of the matrix A.) A is n-by-n, the right
+hand side C and the solution X are n-by-n, and scale is an output
+scale factor, set less than or equal to 1 to avoid overflow in X.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If fact = ‘F’, then A contains an upper quasi-triangular
+matrix in Schur canonical form; the elements below the upper
+Hessenberg part of the array A are not referenced.</p></li>
+<li><p><strong>U</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If fact = ‘F’, then this array must contain the orthogonal matrix U of
+the real Schur factorization of A.</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If job = ‘X’ or ‘B’, this array must contain the symmetric matrix C.
+If job = ‘S’, C is not referenced.</p></li>
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
+<dt>Specifies the equation from which X is to be determined as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Equation (2), discrete-time case.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>job</strong> (<em>{'X'</em><em>, </em><em>'S'</em><em>, </em><em>'B'}</em><em>, </em><em>optional</em>) – <dl class="simple">
+<dt>Specifies the computation to be performed, as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘X’</dt>
+<dd class="field-odd"><p>Compute the solution only; (default)</p>
+</dd>
+<dt class="field-even">= ‘S’</dt>
+<dd class="field-even"><p>Compute the separation only;</p>
+</dd>
+<dt class="field-odd">= ‘B’</dt>
+<dd class="field-odd"><p>Compute both the solution and the separation.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'F'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the real Schur factorization of the matrix
+A is supplied on entry, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘F’</dt>
+<dd class="field-odd"><p>On entry, A and U contain the factors from the real Schur
+factorization of the matrix A;</p>
+</dd>
+<dt class="field-even">= ‘N’</dt>
+<dd class="field-even"><p>The Schur factorization of A will be computed and the factors
+will be stored in A and U. (default)</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>trana</strong> (<em>{'N'</em><em>, </em><em>'T'</em><em>, </em><em>'C'}</em><em>, </em><em>optional</em>) – <dl class="simple">
+<dt>Specifies the form of op(A) to be used, as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>op(A) = A    (No transpose, default=</p>
+</dd>
+<dt class="field-even">= ‘T’</dt>
+<dd class="field-even"><p>op(A) = A**T (Transpose);</p>
+</dd>
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>op(A) = A**T (Conjugate transpose = Transpose).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is max(2*n*n, 3*n),
+for optimum performance it should be larger.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>Ar</strong> (<em>(n, n) ndarray</em>) – The leading n-by-n upper Hessenberg part of this array
+contains the upper quasi-triangular matrix in Schur canonical form
+from the Schur factorization of A. The content of array A is not
+modified if fact = ‘F’.</p></li>
+<li><p><strong>Ur</strong> (<em>(n, n) ndarray</em>) – If fact = ‘N’, this arrray contains the orthogonal n-by-n matrix
+from the real Schur factorization of A.</p></li>
+<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – If job = ‘X’ or ‘B’, the leading n-by-n part contains the symmetric
+solution matrix.</p></li>
+<li><p><strong>scale</strong> (<em>float</em>) – The scale factor, scale, set less than or equal to 1 to prevent
+the solution from overflowing.</p></li>
+<li><p><strong>sep</strong> (<em>float</em>) – If job = ‘S’ or ‘B’, sep contains the estimated separation of
+the matrices op(A) and -op(A)’, if dico = ‘C’ or of op(A) and op(A)’,
+if dico = ‘D’.</p></li>
+<li><p><strong>ferr</strong> (<em>float</em>) – If job = ‘B’, ferr contains an estimated forward error bound for
+the solution X. If X_true is the true solution, ferr bounds the
+relative error in the computed solution, measured in the Frobenius
+norm:  norm(X - X_true)/norm(X_true).</p></li>
+<li><p><strong>w</strong> (<em>(n, ) complex ndarray</em>) – If fact = ‘N’, this array contains the eigenvalues of A.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Warns</dt>
+<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">0 &lt; info &lt;=n</dt>
+<dd class="field-odd"><p>The QR algorithm failed to compute all
+the eigenvalues (see LAPACK Library routine DGEES);
+w[{info}:{n}] contains eigenvalues which have converged,
+and A contains the partially converged Shur form</p>
+</dd>
+<dt class="field-even">info == n+1 and dico == ‘C’</dt>
+<dd class="field-even"><p>The matrices <cite>A</cite> and <cite>-A’</cite> have common or very close eigenvalues</p>
+</dd>
+<dt class="field-odd">info == n+1 and dico == ‘D’</dt>
+<dd class="field-odd"><p>Matrix A has almost reciprocal eigenvalues
+(that is, <cite>‘lambda(i) = 1/lambda(j)`</cite> for
+some <cite>i</cite> and <cite>j</cite>, where <code class="docutils literal notranslate"><span class="pre">lambda(i)</span></code> and <code class="docutils literal notranslate"><span class="pre">lambda(j)</span></code> are
+eigenvalues of <cite>A</cite> and <code class="docutils literal notranslate"><span class="pre">i</span> <span class="pre">!=</span> <span class="pre">j</span></code>);  perturbed values were
+used to solve the equation (but the matrix A is unchanged).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
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+             
+  <div class="section" id="slycot-sb03od">
+<h1>slycot.sb03od<a class="headerlink" href="#slycot-sb03od" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb03od">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb03od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb03od" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X = op(U)’<a href="#id1"><span class="problematic" id="id2">*</span></a>op(U) either the stable non-negative
+definite continuous-time Lyapunov equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="mi">2</span>
+<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X + X*op(A) = -scale *op(B)&#39;</span><span class="o">*</span><span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>                   <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>or the convergent non-negative definite discrete-time Lyapunov
+equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="mi">2</span>
+<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X*op(A) - X = -scale *op(B)&#39;</span><span class="o">*</span><span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>                   <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>where op(K) = K or K’ (i.e., the transpose of the matrix K), A is
+an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
+triangular matrix containing the Cholesky factor of the solution
+matrix X, X = op(U)’<a href="#id3"><span class="problematic" id="id4">*</span></a>op(U), and scale is an output scale factor,
+set less than or equal to 1 to avoid overflow in X. If matrix B
+has full rank then the solution matrix X will be positive-definite
+and hence the Cholesky factor U will be nonsingular, but if B is
+rank deficient, then X may be only positive semi-definite and U
+will be singular.</p>
+<p>In the case of equation (1) the matrix A must be stable (that
+is, all the eigenvalues of A must have negative real parts),
+and for equation (2) the matrix A must be convergent (that is,
+all the eigenvalues of A must lie inside the unit circle).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrix A and the number of columns of
+the matrix op(B).  n &gt;= 0.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The number of rows in matrix op(B).  m &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, the leading n-by-n part of this array must
+contain the matrix A. If fact = ‘F’, then A contains
+an upper quasi-triangular matrix S in Schur canonical
+form; the elements below the upper Hessenberg part of the
+array A are then not referenced.
+On exit, the leading n-by-n upper Hessenberg part of this
+array contains the upper quasi-triangular matrix S in
+Schur canonical form from the Shur factorization of A.
+The contents of the array A is not modified if fact = ‘F’.</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n part of
+this array must contain the orthogonal matrix Q of the
+Schur factorization of A.
+Otherwise, Q need not be set on entry.
+On exit, the leading n-by-n part of this array contains
+the orthogonal matrix Q of the Schur factorization of A.
+The contents of the array Q is not modified if fact = ‘F’.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>m</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if trans = ‘N’, the leading m-by-n part of this
+array must contain the coefficient matrix B of the
+equation.
+On entry, if trans = ‘T’, the leading N-by-m part of this
+array must contain the coefficient matrix B of the
+equation.
+On exit, the leading n-by-n part of this array contains
+the upper triangular Cholesky factor U of the solution
+matrix X of the problem, X = op(U)’<a href="#id5"><span class="problematic" id="id6">*</span></a>op(U).
+If m = 0 and n &gt; 0, then U is set to zero.</p></li>
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <p>Specifies the type of Lyapunov equation to be solved as
+follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Equation (2), discrete-time case.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'F'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the real Schur factorization
+of the matrix A is supplied on entry, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘F’</dt>
+<dd class="field-odd"><p>On entry, A and Q contain the factors from the</p>
+</dd>
+</dl>
+</div></blockquote>
+<dl class="simple">
+<dt>real Schur factorization of the matrix A;</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>The Schur factorization of A will be computed</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<p>and the factors will be stored in A and Q.</p>
+</p></li>
+<li><p><strong>trans</strong> (<em>{'N'</em><em>, </em><em>'T'}</em><em>, </em><em>optional</em>) – <dl class="simple">
+<dt>Specifies the form of op(K) to be used, as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>op(K) = K    (No transpose, default);</p>
+</dd>
+<dt class="field-even">= ‘T’</dt>
+<dd class="field-even"><p>op(K) = K**T (Transpose).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the array DWORK.
+If m &gt; 0, ldwork &gt;= max(1, 4*n);
+If m = 0, ldwork &gt;= 1.
+For optimum performance ldwork should sometimes be larger.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>U</strong> (<em>(n, n) ndarray</em>) – The leading n-by-n part of this array contains
+the upper triangular Cholesky factor U of the solution
+matrix X of the problem, X = op(U)’<a href="#id7"><span class="problematic" id="id8">*</span></a>op(U).</p></li>
+<li><p><strong>scale</strong> (<em>float</em>) – The scale factor, scale, set less than or equal to 1 to
+prevent the solution overflowing.</p></li>
+<li><p><strong>w</strong> (<em>(n, ) complex ndarray</em>) – The eigenvalues of A.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 4</dt>
+<dd class="field-odd"><p>FACT = ‘F’ and the Schur factor S supplied in
+the array A has two or more consecutive non-zero
+elements on the first subdiagonal, so that there is
+a block larger than 2-by-2 on the diagonal</p>
+</dd>
+<dt class="field-even">info = 5</dt>
+<dd class="field-even"><p>FACT = ‘F’ and the Schur factor S supplied in
+the array A has a 2-by-2 diagonal block with real
+eigenvalues instead of a complex conjugate pair;</p>
+</dd>
+<dt class="field-odd">info = 6</dt>
+<dd class="field-odd"><p>FACT = ‘N’ and the LAPACK Library routine DGEES
+has failed to converge. This failure is not likely
+to occur.</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">info = 1 and dico == ‘C’</dt>
+<dd class="field-odd"><p>The Lyapunov equation is (nearly) singular.
+This means that while the matrix A
+(or the factor S) has computed eigenvalues with
+negative real parts, it is only just stable in the
+sense that small perturbations in A can make one or
+more of the eigenvalues have a non-negative real
+part;
+perturbed values were used to solve the equation;</p>
+</dd>
+<dt class="field-even">info = 1 and dico == ‘D’</dt>
+<dd class="field-even"><p>The Lyapunov equation is (nearly) singular.
+This means that while the matrix A
+(or the factor S) has computed eigenvalues inside
+the unit circle, it is nevertheless only just
+convergent, in the sense that small perturbations
+in A can make one or more of the eigenvalues lie
+outside the unit circle;
+perturbed values were used to solve the equation;</p>
+</dd>
+<dt class="field-odd">info = 2 and fact == ‘N’ and dico == ‘C’</dt>
+<dd class="field-odd"><p>The matrix A is
+not stable (that is, one or more of the eigenvalues
+of A has a non-negative real part), or DICO = ‘D’,
+but the matrix A is not convergent (that is, one or
+more of the eigenvalues of A lies outside the unit
+circle); however, A still has been factored
+and the eigenvalues of A are returned in WR and WI.</p>
+</dd>
+<dt class="field-even">info = 2 and dico == ‘D’</dt>
+<dd class="field-even"><p>The matrix A is not convergent (that is, one or
+more of the eigenvalues of A lies outside the unit
+circle); however, A still has been factored
+and the eigenvalues of A are returned in WR and WI.</p>
+</dd>
+<dt class="field-odd">info = 3 and fact == ‘F’ and dico == ‘C’</dt>
+<dd class="field-odd"><p>The Schur factor S supplied in the array A is not
+stable (that is, one or more of the eigenvalues of
+S has a non-negative real part);
+the eigenvalues of A are still returned in w.</p>
+</dd>
+<dt class="field-even">info = 3 and dico == ‘D’</dt>
+<dd class="field-even"><p>The Schur factor S supplied in the array A is not
+convergent (that is, one or more of the eigenvalues
+of S lies outside the unit circle);
+the eigenvalues of A are still returned in w.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+            <a href="../../../_sources/source/reference/generated/slycot.sb04md.rst.txt" rel="nofollow"> View page source</a>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-sb04md">
+<h1>slycot.sb04md<a class="headerlink" href="#slycot-sb04md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb04md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb04md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb04md" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X the continuous-time Sylvester equation</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">AX</span> <span class="pre">+</span> <span class="pre">XB</span> <span class="pre">=</span> <span class="pre">C</span></code></p>
+</div></blockquote>
+<p>where A, B, C and X are general n-by-n, m-by-m, n-by-m and
+n-by-m matrices respectively.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – row shape</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – column shape</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Matrix A</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix B</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix C</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><strong>X</strong> – Matrix X</p>
+</dd>
+<dt class="field-odd">Return type</dt>
+<dd class="field-odd"><p>(n, m) ndarray</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">0 &lt; info &lt;= m</dt>
+<dd class="field-odd"><p>The QR algorithm failed to compute all the eigenvalues
+of B (see LAPACK Library routine DGEES)</p>
+</dd>
+<dt class="field-even">info &gt; m</dt>
+<dd class="field-even"><p>A singular matrix was encountered whilst solving
+for the ({info}-{m})-th column of matrix X.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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new file mode 100644
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+  <div class="section" id="slycot-sb04qd">
+<h1>slycot.sb04qd<a class="headerlink" href="#slycot-sb04qd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb04qd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb04qd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb04qd" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X the discrete-time Sylvester equation</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">AXB</span> <span class="pre">+</span> <span class="pre">X</span> <span class="pre">+</span> <span class="pre">C</span> <span class="pre">=</span> <span class="pre">0,</span></code></p>
+</div></blockquote>
+<p>where A, B, C and X are general n-by-n, m-by-m, n-by-m and
+n-by-m matrices respectively. A Hessenberg-Schur method, which
+reduces A to upper Hessenberg form, H = U’AU, and B’ to real
+Schur form, S = Z’B’Z (with U, Z orthogonal matrices), is used.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – row shape</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – column shape</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Matrix A</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix B</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix C</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><strong>X</strong> – Matrix X</p>
+</dd>
+<dt class="field-odd">Return type</dt>
+<dd class="field-odd"><p>(n, m) ndarray</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">0 &lt; info &lt;= m</dt>
+<dd class="field-odd"><p>The QR algorithm failed to compute all the eigenvalues
+of B (see LAPACK Library routine DGEES)</p>
+</dd>
+<dt class="field-even">info &gt; m</dt>
+<dd class="field-even"><p>A singular matrix was encountered whilst solving
+for the ({info}-{m})-th column of matrix X.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
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+             
+  <div class="section" id="slycot-sb10ad">
+<h1>slycot.sb10ad<a class="headerlink" href="#slycot-sb10ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb10ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gtol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">liwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10ad" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the matrices of an H-infinity optimal n-state
+controller</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">Ak</span> <span class="o">|</span> <span class="n">Bk</span> <span class="o">|</span>
+<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
+    <span class="o">|</span> <span class="n">Ck</span> <span class="o">|</span> <span class="n">Dk</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>using modified Glover’s and Doyle’s 1988 formulas, for the system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
+<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span>
+    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span> <span class="n">D11</span> <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
+    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>and for the estimated minimal possible value of gamma with respect
+to gtol, where B2 has as column size the number of control inputs
+(ncon) and C2 has as row size the number of measurements (nmeas)
+being provided to the controller, and then to compute the matrices
+of the closed-loop system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AC</span> <span class="o">|</span> <span class="n">BC</span> <span class="o">|</span>
+<span class="n">G</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
+    <span class="o">|</span> <span class="n">CC</span> <span class="o">|</span> <span class="n">DC</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>if the stabilizing controller exists.</p>
+<p>It is assumed that</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">A1</span><span class="p">)</span> <span class="p">(</span><span class="n">A</span><span class="p">,</span><span class="n">B2</span><span class="p">)</span> <span class="ow">is</span> <span class="n">stabilizable</span> <span class="ow">and</span> <span class="p">(</span><span class="n">C2</span><span class="p">,</span><span class="n">A</span><span class="p">)</span> <span class="ow">is</span> <span class="n">detectable</span><span class="p">,</span>
+
+<span class="p">(</span><span class="n">A2</span><span class="p">)</span> <span class="n">D12</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="ow">and</span> <span class="n">D21</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span><span class="p">,</span>
+
+<span class="p">(</span><span class="n">A3</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span> <span class="n">has</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="p">,</span>
+     <span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
+
+<span class="p">(</span><span class="n">A4</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>  <span class="n">has</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="o">.</span>
+     <span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B.</p></li>
+<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C.</p></li>
+<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
+<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
+<li><p><strong>gamma</strong> (<em>double</em>) – The initial value of gamma on input.  It is assumed that gamma
+is sufficiently large so that the controller is admissible.  gamma &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System matrix</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input matrix</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Output matrix</p></li>
+<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Direct feed-through</p></li>
+<li><p><strong>job</strong> (<em>int</em><em>, </em><em>optional</em>) – <dl class="simple">
+<dt>Specifies the computation to be performed, as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= 1</dt>
+<dd class="field-odd"><p>Use bisection method for decreasing gamma until the closed-loop
+system leaves stability</p>
+</dd>
+<dt class="field-even">= 2</dt>
+<dd class="field-even"><p>Scan from gamma to 0 trying to find the minimal gamma for which
+the closed-loop system retains stability</p>
+</dd>
+<dt class="field-odd">= 3</dt>
+<dd class="field-odd"><p>First bisection, then scanning. (default)</p>
+</dd>
+<dt class="field-even">= 4</dt>
+<dd class="field-even"><p>Find suboptimal controller only.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>gtol</strong> (<em>double</em><em>, </em><em>optional</em>) – Tolerance used for controlling the accuracy of gamma
+and its distance to the estimated minimal possible
+value of gamma.
+If gtol &lt;= 0, then a default value equal to sqrt(eps)
+is used, where eps is the relative machine precision.</p></li>
+<li><p><strong>actol</strong> (<em>double</em><em>, </em><em>optional</em>) – Upper bound for the poles of the closed-loop system used for determining
+if it is stable.  actol &lt;= 0 for stable systems</p></li>
+<li><p><strong>liwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the integer cache array.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the double cache array.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>gamma_est</strong> (<em>double</em>) – The minimal estimated gamma.</p></li>
+<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
+<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
+<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
+<li><p><strong>Dk</strong> (<em>(ncon, nmeas) ndarray</em>) – The controller input/output matrix DK.</p></li>
+<li><p><strong>Ac</strong> (<em>(2*n, 2*n) ndarray</em>) – The closed-loop system state matrix AC.</p></li>
+<li><p><strong>Bc</strong> (<em>(2*n, m-ncon) ndarray</em>) – The closed-loop system input matrix BC.</p></li>
+<li><p><strong>Cc</strong> (<em>(np-nmeas, 2*n) ndarray</em>) – The closed-loop system output matrix CC.</p></li>
+<li><p><strong>Dc</strong> (<em>(np-nmeas, m-ncon) ndarray</em>) – The the closed-loop system input/output matrix DC.</p></li>
+<li><p><strong>rcond</strong> (<em>(4) ndarray</em>) – For the last successful step:</p>
+<ul>
+<li><p>rcond(1) contains the reciprocal condition number of the
+control transformation matrix;</p></li>
+<li><p>rcond(2) contains the reciprocal condition number of the
+measurement transformation matrix;</p></li>
+<li><p>rcond(3) contains an estimate of the reciprocal condition
+number of the X-Riccati equation;</p></li>
+<li><p>rcond(4) contains an estimate of the reciprocal condition
+number of the Y-Riccati equation.</p></li>
+</ul>
+</li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span>
+<span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>had not full column rank in respect to the tolerance eps;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>
+<span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>had not full row rank in respect to the tolerance eps;</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>The matrix D12 had not full column rank in
+respect to the tolerance SQRT(eps);</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>The matrix D21 had not full row rank in respect
+to the tolerance SQRT(eps);</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
+did not converge (when computing the SVD of one of
+the matrices</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span><span class="n">A</span>   <span class="n">B2</span> <span class="o">|</span><span class="p">,</span> <span class="o">|</span><span class="n">A</span>   <span class="n">B1</span> <span class="o">|</span><span class="p">,</span> <span class="n">D12</span> <span class="ow">or</span> <span class="n">D21</span><span class="p">);</span>
+<span class="o">|</span><span class="n">C1</span>  <span class="n">D12</span><span class="o">|</span>  <span class="o">|</span><span class="n">C2</span>  <span class="n">D21</span><span class="o">|</span>
+</pre></div>
+</div>
+</dd>
+<dt class="field-even">info = 6</dt>
+<dd class="field-even"><p>The controller is not admissible (too small value of gamma);</p>
+</dd>
+<dt class="field-odd">info = 7</dt>
+<dd class="field-odd"><p>The X-Riccati equation was not solved
+successfully (the controller is not admissible or
+there are numerical difficulties);</p>
+</dd>
+<dt class="field-even">info = 8</dt>
+<dd class="field-even"><p>The Y-Riccati equation was not solved
+successfully (the controller is not admissible or
+there are numerical difficulties);</p>
+</dd>
+<dt class="field-odd">info = 9</dt>
+<dd class="field-odd"><p>The determinant of Im2 + Tu*D11HAT*Ty*D22 is zero;</p>
+</dd>
+<dt class="field-even">info = 10</dt>
+<dd class="field-even"><p>There are numerical problems when estimating
+singular values of D1111, D1112, D1111’, D1121’;</p>
+</dd>
+<dt class="field-odd">info = 11</dt>
+<dd class="field-odd"><p>The matrices Inp2 - D22*DK or Im2 - DK*D22
+are singular to working precision;</p>
+</dd>
+<dt class="field-even">info = 12</dt>
+<dd class="field-even"><p>A stabilizing controller cannot be found.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+             
+  <div class="section" id="slycot-sb10dd">
+<h1>slycot.sb10dd<a class="headerlink" href="#slycot-sb10dd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb10dd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10dd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the matrices of an H-infinity (sub)optimal n-state
+controller</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AK</span> <span class="o">|</span> <span class="n">BK</span> <span class="o">|</span>
+<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
+    <span class="o">|</span> <span class="n">CK</span> <span class="o">|</span> <span class="n">DK</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>for the discrete-time system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
+<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span>
+    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span> <span class="n">D11</span> <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
+    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>and for a given value of gamma, where B2 has as column size the
+number of control inputs (NCON) and C2 has as row size the number
+of measurements (NMEAS) being provided to the controller.</p>
+<p>It is assumed that</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">A1</span><span class="p">)</span> <span class="p">(</span><span class="n">A</span><span class="p">,</span><span class="n">B2</span><span class="p">)</span> <span class="ow">is</span> <span class="n">stabilizable</span> <span class="ow">and</span> <span class="p">(</span><span class="n">C2</span><span class="p">,</span><span class="n">A</span><span class="p">)</span> <span class="ow">is</span> <span class="n">detectable</span><span class="p">,</span>
+
+<span class="p">(</span><span class="n">A2</span><span class="p">)</span> <span class="n">D12</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="ow">and</span> <span class="n">D21</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span><span class="p">,</span>
+
+          <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
+<span class="p">(</span><span class="n">A3</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span> <span class="n">has</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span>
+     <span class="o">|</span>    <span class="n">C1</span>         <span class="n">D12</span> <span class="o">|</span>
+
+     <span class="mi">0</span> <span class="o">&lt;=</span> <span class="n">Theta</span> <span class="o">&lt;</span> <span class="mi">2</span><span class="o">*</span><span class="n">Pi</span> <span class="p">,</span>
+
+          <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
+<span class="p">(</span><span class="n">A4</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>  <span class="n">has</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span>
+     <span class="o">|</span>    <span class="n">C2</span>         <span class="n">D21</span> <span class="o">|</span>
+
+     <span class="mi">0</span> <span class="o">&lt;=</span> <span class="n">Theta</span> <span class="o">&lt;</span> <span class="mi">2</span><span class="o">*</span><span class="n">Pi</span> <span class="o">.</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B.</p></li>
+<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C.</p></li>
+<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
+<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
+<li><p><strong>gamma</strong> (<em>double</em>) – The initial value of gamma on input.  It is assumed that gamma
+is sufficiently large so that the controller is admissible.  gamma &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System matrix</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input matrix</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Output matrix</p></li>
+<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Direct feed-through</p></li>
+<li><p><strong>tol</strong> (<em>double</em><em>, </em><em>optional</em>) – Tolerance used in neglecting the small singular values
+in rank determination. If tol &lt;= 0, then a default value
+equal to 1000*eps is used, where eps is the relative
+machine precision.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the array dwork.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>gamma_est</strong> (<em>double</em>) – The minimal estimated gamma.</p></li>
+<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
+<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
+<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
+<li><p><strong>Dk</strong> (<em>(ncon, nmeas) ndarray</em>) – The controller input/output matrix DK.</p></li>
+<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – The matrix X, solution of the X-Riccati equation.</p></li>
+<li><p><strong>Z</strong> (<em>(n, n) ndarray</em>) – The matrix Z, solution of the Z-Riccati equation.</p></li>
+<li><p><strong>rcond</strong> (<em>(8) ndarray</em>) – rcond contains estimates of the reciprocal condition
+numbers of the matrices which are to be inverted and
+estimates of the reciprocal condition numbers of the
+Riccati equations which have to be solved during the
+computation of the controller. (See the description of
+the algorithm in [2].)</p>
+<ul>
+<li><p>rcond(1) contains the reciprocal condition number of the
+matrix R3;</p></li>
+<li><p>rcond(2) contains the reciprocal condition number of the
+matrix R1 - R2’<a href="#id1"><span class="problematic" id="id2">*</span></a>inv(R3)*R2;</p></li>
+<li><p>rcond(3) contains the reciprocal condition number of the
+matrix V21;</p></li>
+<li><p>rcond(4) contains the reciprocal condition number of the
+matrix St3;</p></li>
+<li><p>rcond(5) contains the reciprocal condition number of the
+matrix V12;</p></li>
+<li><p>rcond(6) contains the reciprocal condition number of the
+matrix Im2 + dkhat*D22</p></li>
+<li><p>rcond(7) contains the reciprocal condition number of the
+X-Riccati equation;</p></li>
+<li><p>rcond(8) contains the reciprocal condition number of the
+Z-Riccati equation.</p></li>
+</ul>
+</li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
+<span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span>
+<span class="o">|</span>      <span class="n">C1</span>       <span class="n">D12</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>had not full column rank;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
+<span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>
+<span class="o">|</span>      <span class="n">C2</span>       <span class="n">D21</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>had not full row rank;</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>The matrix D12 had not full column rank;</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>The matrix D21 had not full row rank;</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The controller is not admissible (too small value of gamma);</p>
+</dd>
+<dt class="field-even">info = 6</dt>
+<dd class="field-even"><p>The X-Riccati equation was not solved
+successfully (the controller is not admissible or
+there are numerical difficulties);</p>
+</dd>
+<dt class="field-odd">info = 7</dt>
+<dd class="field-odd"><p>The Z-Riccati equation was not solved
+successfully (the controller is not admissible or
+there are numerical difficulties);</p>
+</dd>
+<dt class="field-even">info = 8</dt>
+<dd class="field-even"><p>The matrix Im2 + DKHAT*D22 is singular.</p>
+</dd>
+<dt class="field-odd">info = 9</dt>
+<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
+did not converge (when computing the SVD of one of
+the matrices</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span><span class="n">A</span>   <span class="n">B2</span> <span class="o">|</span><span class="p">,</span> <span class="o">|</span><span class="n">A</span>   <span class="n">B1</span> <span class="o">|</span><span class="p">,</span> <span class="n">D12</span> <span class="ow">or</span> <span class="n">D21</span><span class="p">)</span><span class="o">.</span>
+<span class="o">|</span><span class="n">C1</span>  <span class="n">D12</span><span class="o">|</span>  <span class="o">|</span><span class="n">C2</span>  <span class="n">D21</span><span class="o">|</span>
+</pre></div>
+</div>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-sb10fd">
+<h1>slycot.sb10fd<a class="headerlink" href="#slycot-sb10fd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb10fd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10fd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the matrices of an H-infinity (sub)optimal n-state
+controller</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AK</span> <span class="o">|</span> <span class="n">BK</span> <span class="o">|</span>
+<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
+    <span class="o">|</span> <span class="n">CK</span> <span class="o">|</span> <span class="n">DK</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>using modified Glover’s and Doyle’s 1988 formulas, for the system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
+<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span>
+    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span> <span class="n">D11</span> <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
+    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>and for a given value of gamma, where B2 has as column size the
+number of control inputs (ncon) and C2 has as row size the number
+of measurements (nmeas) being provided to the controller.</p>
+<p>It is assumed that</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">A1</span><span class="p">)</span> <span class="p">(</span><span class="n">A</span><span class="p">,</span><span class="n">B2</span><span class="p">)</span> <span class="ow">is</span> <span class="n">stabilizable</span> <span class="ow">and</span> <span class="p">(</span><span class="n">C2</span><span class="p">,</span><span class="n">A</span><span class="p">)</span> <span class="ow">is</span> <span class="n">detectable</span><span class="p">,</span>
+
+<span class="p">(</span><span class="n">A2</span><span class="p">)</span> <span class="n">D12</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="ow">and</span> <span class="n">D21</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span><span class="p">,</span>
+
+<span class="p">(</span><span class="n">A3</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span> <span class="n">has</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="p">,</span>
+     <span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
+
+<span class="p">(</span><span class="n">A4</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>  <span class="n">has</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="o">.</span>
+     <span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B</p></li>
+<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C</p></li>
+<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
+<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
+<li><p><strong>gamma</strong> (<em>float</em>) – The value of gamma. It is assumed that gamma is
+sufficiently large so that the controller is admissible.
+gamma &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System state matrix</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – System input matrix</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System output matrix</p></li>
+<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – System input/output matrix</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – Tolerance used for controlling the accuracy of the applied
+transformations for computing the normalized form in
+SLICOT Library routine SB10PD. Transformation matrices
+whose reciprocal condition numbers are less than tol are
+not allowed. If tol &lt;= 0, then a default value equal to
+sqrt(eps) is used, where eps is the relative machine
+precision.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <p>The dimension of the cache array:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ldwork</span> <span class="o">&gt;=</span> <span class="n">n</span><span class="o">*</span><span class="n">m</span> <span class="o">+</span> <span class="n">np</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m</span><span class="p">)</span> <span class="o">+</span> <span class="n">m2</span><span class="o">*</span><span class="n">m2</span> <span class="o">+</span> <span class="n">np2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span>
+          <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">lw1</span><span class="p">,</span><span class="n">lw2</span><span class="p">,</span><span class="n">lw3</span><span class="p">,</span><span class="n">lw4</span><span class="p">,</span><span class="n">lw5</span><span class="p">,</span><span class="n">lw6</span><span class="p">),</span> <span class="n">where</span>
+<span class="n">lw1</span> <span class="o">=</span> <span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np1</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m2</span><span class="p">)</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m2</span><span class="p">)</span><span class="o">+</span><span class="n">n</span><span class="o">+</span><span class="n">np1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m2</span><span class="p">)),</span>
+<span class="n">lw2</span> <span class="o">=</span> <span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np2</span><span class="p">)</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m1</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np2</span><span class="p">)</span><span class="o">+</span><span class="n">n</span><span class="o">+</span><span class="n">m1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np2</span><span class="p">)),</span>
+<span class="n">lw3</span> <span class="o">=</span> <span class="n">m2</span> <span class="o">+</span> <span class="n">np1</span><span class="o">*</span><span class="n">np1</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="n">np1</span><span class="o">*</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">m1</span><span class="p">),</span><span class="mi">3</span><span class="o">*</span><span class="n">m2</span><span class="o">+</span><span class="n">np1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="n">m2</span><span class="p">),</span>
+<span class="n">lw4</span> <span class="o">=</span> <span class="n">np2</span> <span class="o">+</span> <span class="n">m1</span><span class="o">*</span><span class="n">m1</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">np1</span><span class="p">)</span><span class="o">*</span><span class="n">m1</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">np2</span><span class="o">+</span><span class="n">m1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="n">np2</span><span class="p">),</span>
+<span class="n">lw5</span> <span class="o">=</span> <span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span> <span class="o">+</span> <span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="n">m</span><span class="o">+</span><span class="n">np</span><span class="p">)</span> <span class="o">+</span>
+      <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">m</span><span class="o">*</span><span class="n">m</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">m1</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="o">*</span><span class="n">m</span><span class="p">,</span><span class="mi">10</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">12</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">5</span><span class="p">)),</span>
+          <span class="n">np</span><span class="o">*</span><span class="n">np</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">np1</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span> <span class="o">+</span>
+                      <span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="o">*</span><span class="n">np</span><span class="p">,</span><span class="mi">10</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">12</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">5</span><span class="p">))),</span>
+<span class="n">lw6</span> <span class="o">=</span> <span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span> <span class="o">+</span> <span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="n">m</span><span class="o">+</span><span class="n">np</span><span class="p">)</span> <span class="o">+</span>
+      <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">m2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span> <span class="n">np2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span> <span class="n">m2</span><span class="o">*</span><span class="n">m2</span> <span class="o">+</span>
+          <span class="nb">max</span><span class="p">(</span><span class="n">d1</span><span class="o">*</span><span class="n">d1</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">d1</span><span class="p">,</span> <span class="p">(</span><span class="n">d1</span><span class="o">+</span><span class="n">d2</span><span class="p">)</span><span class="o">*</span><span class="n">np2</span><span class="p">),</span>
+              <span class="n">d2</span><span class="o">*</span><span class="n">d2</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">d2</span><span class="p">,</span> <span class="n">d2</span><span class="o">*</span><span class="n">m2</span><span class="p">),</span> <span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="p">,</span>
+              <span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span> <span class="n">m2</span><span class="p">)</span> <span class="o">+</span>
+              <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">m2</span><span class="p">,</span> <span class="n">m2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span>
+                  <span class="nb">max</span><span class="p">(</span><span class="n">m2</span><span class="o">*</span><span class="n">m2</span><span class="o">+</span><span class="mi">3</span><span class="o">*</span><span class="n">m2</span><span class="p">,</span> <span class="n">np2</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">np2</span><span class="o">+</span>
+                      <span class="n">m2</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">np2</span><span class="p">,</span><span class="n">n</span><span class="p">)))))),</span>
+</pre></div>
+</div>
+<p>with <cite>d1 = np1 - m2</cite>, <cite>d2 = m1 - np2</cite>,
+<cite>np1 = np - np2</cite>, <cite>m1 = m - m2</cite>.</p>
+<p>For good performance, ldwork must generally be larger.
+Denoting q = max(m1,m2,np1,np2), an upper bound is:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="mi">2</span><span class="o">*</span><span class="n">q</span><span class="o">*</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="n">q</span><span class="o">+</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="p">)</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,(</span><span class="n">n</span><span class="o">+</span><span class="n">q</span><span class="p">)</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">q</span><span class="o">+</span><span class="mi">6</span><span class="p">),</span><span class="n">q</span><span class="o">*</span><span class="p">(</span><span class="n">q</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">q</span><span class="p">,</span><span class="mi">5</span><span class="p">)</span><span class="o">+</span><span class="mi">1</span><span class="p">),</span>
+<span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="mi">2</span><span class="o">*</span><span class="n">q</span><span class="p">)</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">q</span><span class="o">*</span><span class="n">q</span><span class="o">+</span>
+                <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">q</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">q</span><span class="p">,</span><span class="mi">10</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">12</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">5</span><span class="p">)),</span>
+                <span class="n">q</span><span class="o">*</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">3</span><span class="o">*</span><span class="n">q</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">q</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">q</span><span class="p">)))))</span><span class="o">.</span>
+</pre></div>
+</div>
+<p>if the default (None) value is used, the size for good performance
+is automatically used, when ldwork is set to zero, the minimum
+cache size will be used.</p>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
+<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
+<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
+<li><p><strong>Dk</strong> (<em>(ncon, nmeas) mdarrau</em>) – The controller input/output matrix Dk.</p></li>
+<li><p><strong>rcond</strong> (<em>(4, ) ndarray</em>) –</p>
+<dl class="simple">
+<dt>rcond[0]</dt><dd><p>contains the reciprocal condition number of the
+control transformation matrix</p>
+</dd>
+<dt>rcond[1]</dt><dd><p>contains the reciprocal condition number of the
+measurement transformation matrix</p>
+</dd>
+<dt>rcond[2]</dt><dd><p>contains an estimate of the reciprocal condition
+number of the X-Riccati equation</p>
+</dd>
+<dt>rcond[3]</dt><dd><p>contains an estimate of the reciprocal condition
+number of the Y-Riccati equation</p>
+</dd>
+</dl>
+</li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>SlycotParameterError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = -27</dt>
+<dd class="field-odd"><p></p></dd>
+</dl>
+<p>The dimension ldwork of the cache array is too small.
+Use ldwork=0 for the minimum size or ldwork=None for automatic
+sizing.</p>
+</p></li>
+<li><p><strong>SlycotArithmeticError</strong> – <dl class="field-list">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span>
+<span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>had no full column rank in respect to the tolerance eps</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The matrix</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>
+<span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>had not full row rank in respect to the tolerance EPS</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>The matrix D12 has no full column rank in
+respect to the tolerance tol</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>The matrix D21 had no full row rank in respect
+to the tolerance tol</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
+did not converge (when computing the SVD of one of
+the matrices</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span><span class="n">A</span>   <span class="n">B2</span> <span class="o">|</span><span class="p">,</span> <span class="o">|</span><span class="n">A</span>   <span class="n">B1</span> <span class="o">|</span><span class="p">,</span> <span class="n">D12</span> <span class="ow">or</span> <span class="n">D21</span><span class="p">)</span><span class="o">.</span>
+<span class="o">|</span><span class="n">C1</span>  <span class="n">D12</span><span class="o">|</span>  <span class="o">|</span><span class="n">C2</span>  <span class="n">D21</span><span class="o">|</span>
+</pre></div>
+</div>
+</dd>
+<dt class="field-even">info = 6</dt>
+<dd class="field-even"><p>The controller is not admissible (too small value
+of gamma)</p>
+</dd>
+<dt class="field-odd">info = 7</dt>
+<dd class="field-odd"><p>The X-Riccati equation was not solved
+successfully (the controller is not admissible or
+there are numerical difficulties)</p>
+</dd>
+<dt class="field-even">info = 8</dt>
+<dd class="field-even"><p>The Y-Riccati equation was not solved
+successfully (the controller is not admissible or
+there are numerical difficulties)</p>
+</dd>
+<dt class="field-odd">info = 9</dt>
+<dd class="field-odd"><p>The determinant of <code class="docutils literal notranslate"><span class="pre">Im2</span> <span class="pre">+</span> <span class="pre">Tu*D11HAT*Ty*D22</span></code> is zero
+<a class="reference internal" href="#rb961752f270c-3" id="id1">[3]</a>.</p>
+</dd>
+</dl>
+</p></li>
+</ul>
+</dd>
+</dl>
+<p class="rubric">Notes</p>
+<dl class="simple">
+<dt>Method</dt><dd><p>The routine implements the Glover’s and Doyle’s 1988 formulas <a class="reference internal" href="#rb961752f270c-1" id="id2">[1]</a>,
+<a class="reference internal" href="#rb961752f270c-2" id="id3">[2]</a> modified to improve the efficiency as described in <a class="reference internal" href="#rb961752f270c-3" id="id4">[3]</a>.</p>
+</dd>
+<dt>Numerical Aspects</dt><dd><p>The accuracy of the result depends on the condition numbers of the
+input and output transformations and on the condition numbers of
+the two Riccati equations, as given by the values of <cite>rcond[0:4]</cite></p>
+</dd>
+</dl>
+<p class="rubric">References</p>
+<dl class="citation">
+<dt class="label" id="rb961752f270c-1"><span class="brackets"><a class="fn-backref" href="#id2">1</a></span></dt>
+<dd><p>Glover, K. and Doyle, J.C.,
+State-space formulae for all stabilizing controllers that
+satisfy an Hinf norm bound and relations to risk sensitivity.
+Systems and Control Letters, vol. 11, pp. 167-172, 1988.</p>
+</dd>
+<dt class="label" id="rb961752f270c-2"><span class="brackets"><a class="fn-backref" href="#id3">2</a></span></dt>
+<dd><p>Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+Smith, R.,
+mu-Analysis and Synthesis Toolbox.
+The MathWorks Inc., Natick, Mass., 1995.</p>
+</dd>
+<dt class="label" id="rb961752f270c-3"><span class="brackets">3</span><span class="fn-backref">(<a href="#id1">1</a>,<a href="#id4">2</a>)</span></dt>
+<dd><p>Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.,
+Fortran 77 routines for Hinf and H2 design of continuous-time
+linear control systems.
+Rep. 98-14, Department of Engineering, Leicester University,
+Leicester, U.K., 1998.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+             
+  <div class="section" id="slycot-sb10hd">
+<h1>slycot.sb10hd<a class="headerlink" href="#slycot-sb10hd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sb10hd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10hd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10hd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the matrices of the H2 optimal n-state controller</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AK</span> <span class="o">|</span> <span class="n">BK</span> <span class="o">|</span>
+<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span>
+    <span class="o">|</span> <span class="n">CK</span> <span class="o">|</span> <span class="n">DK</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>for the system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
+<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span> <span class="p">,</span>
+    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span>  <span class="mi">0</span>  <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
+    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
+</pre></div>
+</div>
+<p>where B2 has as column size the number of control inputs (ncon)
+and C2 has as row size the number of measurements (nmeas) being
+provided to the controller.</p>
+<p>It is assumed that</p>
+<ul class="simple">
+<li><p>(A1) (A,B2) is stabilizable and (C2,A) is detectable,</p></li>
+<li><p>(A2) The block D11 of D is zero,</p></li>
+<li><p>(A3) D12 is full column rank and D21 is full row rank.</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B</p></li>
+<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C</p></li>
+<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
+<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System Matrix</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input Matrix</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Output Matrix</p></li>
+<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Throughput Matrix</p></li>
+<li><p><strong>tol</strong> (<em>double</em><em>, </em><em>optional</em>) – Tolerance used for controlling the accuracy of the applied
+transformations for computing the normalized form in
+SLICOT Library routine SB10UD. Transformation matrices
+whose reciprocal condition numbers are less than tol are
+not allowed. If tol &lt;= 0, then a default value equal to
+sqrt(eps) is used, where eps is the relative machine
+precision.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the cache array.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
+<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
+<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
+<li><p><strong>Dk</strong> (<em>(ncon, nmeas) ndarray</em>) – The controller input/output matrix Dk.</p></li>
+<li><p><strong>rcond</strong> (<em>(4) ndarray</em>) – For the last successful step:</p>
+<ul>
+<li><p>rcond(1) contains the reciprocal condition number of the
+control transformation matrix;</p></li>
+<li><p>rcond(2) contains the reciprocal condition number of the
+measurement transformation matrix;</p></li>
+<li><p>rcond(3) contains an estimate of the reciprocal condition
+number of the X-Riccati equation;</p></li>
+<li><p>rcond(4) contains an estimate of the reciprocal condition
+number of the Y-Riccati equation.</p></li>
+</ul>
+</li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The matrix D12 had not full column rank in
+respect to the tolerance tol;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The matrix D21 had not full row rank in respect
+to the tolerance tol;</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
+did not converge (when computing the SVD of one of
+the matrices D12 or D21).</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>The X-Riccati equation was not solved successfully;</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The Y-Riccati equation was not solved successfully.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+  <div class="section" id="slycot-sg02ad">
+<h1>slycot.sg02ad<a class="headerlink" href="#slycot-sg02ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sg02ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sg02ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobb</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobl</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scal</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">acc</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">M</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">P</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">R</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">L</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol=-1</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sg02ad" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X either the continuous-time algebraic Riccati
+equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="o">-</span><span class="mi">1</span>
+<span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;XE + E&#39;</span><span class="n">XA</span> <span class="o">-</span> <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">E</span><span class="s1">&#39;XB)R  (L+E&#39;</span><span class="n">XB</span><span class="p">)</span><span class="s1">&#39; = 0 ,              (1)</span>
+</pre></div>
+</div>
+<p>or the discrete-time algebraic Riccati equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                                <span class="o">-</span><span class="mi">1</span>
+<span class="n">E</span><span class="s1">&#39;XE = A&#39;</span><span class="n">XA</span> <span class="o">-</span> <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">A</span><span class="s1">&#39;XB)(R + B&#39;</span><span class="n">XB</span><span class="p">)</span>  <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">A</span><span class="s1">&#39;XB)&#39;</span> <span class="o">+</span> <span class="n">Q</span> <span class="p">,</span>         <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>where A, E, B, Q, R, and L are N-by-N, N-by-N, N-by-M, N-by-N,
+M-by-M and N-by-M matrices, respectively, such that Q = C’C,
+R = D’D and L = C’D; X is an N-by-N symmetric matrix.
+The routine also returns the computed values of the closed-loop
+spectrum of the system, i.e., the stable eigenvalues
+lambda(1),…,lambda(N) of the pencil (A - BF,E), where F is
+the optimal gain matrix,</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="o">-</span><span class="mi">1</span>
+<span class="n">F</span> <span class="o">=</span> <span class="n">R</span>  <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">E</span><span class="s1">&#39;XB)&#39;</span> <span class="p">,</span>        <span class="k">for</span> <span class="p">(</span><span class="mi">1</span><span class="p">),</span>
+</pre></div>
+</div>
+<p>and</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>            <span class="o">-</span><span class="mi">1</span>
+<span class="n">F</span> <span class="o">=</span> <span class="p">(</span><span class="n">R</span><span class="o">+</span><span class="sa">B</span><span class="s1">&#39;XB)  (L+A&#39;</span><span class="n">XB</span><span class="p">)</span><span class="s1">&#39; , for (2).</span>
+                  <span class="o">-</span><span class="mi">1</span>
+</pre></div>
+</div>
+<p>Optionally, matrix G = BR  B’ may be given instead of B and R.
+Other options include the case with Q and/or R given in a
+factored form, Q = C’C, R = D’D, and with L a zero matrix.</p>
+<p>The routine uses the method of deflating subspaces, based on
+reordering the eigenvalues in a generalized Schur matrix pair.</p>
+<p>It is assumed that E is nonsingular, but this condition is not
+checked. Note that the definition (1) of the continuous-time
+algebraic Riccati equation, and the formula for the corresponding
+optimal gain matrix, require R to be nonsingular, but the
+associated linear quadratic optimal problem could have a unique
+solution even when matrix R is singular, under mild assumptions
+(see METHOD). The routine SG02AD works accordingly in this case.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <p>Specifies the type of Riccati equation to be solved as
+follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Equation (2), discrete-time case.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>jobb</strong> (<em>{'B'</em><em>, </em><em>'G'}</em>) – <p>Specifies whether or not the matrix G is given, instead
+of the matrices B and R, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘B’</dt>
+<dd class="field-odd"><p>B and R are given;</p>
+</dd>
+<dt class="field-even">= ‘G’</dt>
+<dd class="field-even"><p>G is given.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'C'</em><em>, </em><em>'D'</em><em>, </em><em>'B'}</em>) – <p>Specifies whether or not the matrices Q and/or R (if
+JOBB = ‘B’) are factored, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Not factored, Q and R are given;</p>
+</dd>
+<dt class="field-even">= ‘C’</dt>
+<dd class="field-even"><p>C is given, and Q = C’C;</p>
+</dd>
+<dt class="field-odd">= ‘D’</dt>
+<dd class="field-odd"><p>D is given, and R = D’D;</p>
+</dd>
+<dt class="field-even">= ‘B’</dt>
+<dd class="field-even"><p>Both factors C and D are given, Q = C’C, R = D’D.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em>) – <p>If JOBB = ‘G’, or FACT = ‘N’, specifies which triangle of
+the matrices G, or Q and R, is stored, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘U’</dt>
+<dd class="field-odd"><p>Upper triangle is stored;</p>
+</dd>
+<dt class="field-even">= ‘L’</dt>
+<dd class="field-even"><p>Lower triangle is stored.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>jobl</strong> (<em>{'Z'</em><em>, </em><em>'N'}</em>) – <dl class="simple">
+<dt>Specifies whether or not the matrix L is zero, as follows:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘Z’</dt>
+<dd class="field-odd"><p>L is zero;</p>
+</dd>
+<dt class="field-even">= ‘N’</dt>
+<dd class="field-even"><p>L is nonzero.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<p>JOBL is not used if JOBB = ‘G’ and JOBL = ‘Z’ is assumed.
+SLICOT Library routine SB02MT should be called just before
+SG02AD, for obtaining the results when JOBB = ‘G’ and
+JOBL = ‘N’.</p>
+</p></li>
+<li><p><strong>scal</strong> (<em>{'G'</em><em>, </em><em>'N'}</em>) – <p>If JOBB = ‘B’, specifies whether or not a scaling strategy
+should be used to scale Q, R, and L, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘G’</dt>
+<dd class="field-odd"><p>General scaling should be used;</p>
+</dd>
+<dt class="field-even">= ‘N’</dt>
+<dd class="field-even"><p>No scaling should be used.</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>SCAL is not used if JOBB = ‘G’.</p>
+</p></li>
+<li><p><strong>sort</strong> (<em>{'S'</em><em>, </em><em>'U'}</em>) – <p>Specifies which eigenvalues should be obtained in the top
+of the generalized Schur form, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘S’</dt>
+<dd class="field-odd"><p>Stable   eigenvalues come first;</p>
+</dd>
+<dt class="field-even">= ‘U’</dt>
+<dd class="field-even"><p>Unstable eigenvalues come first.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>acc</strong> (<em>{'R'</em><em>, </em><em>'N'}</em>) – <p>Specifies whether or not iterative refinement should be
+used to solve the system of algebraic equations giving
+the solution matrix X, as follows:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘R’</dt>
+<dd class="field-odd"><p>Use iterative refinement;</p>
+</dd>
+<dt class="field-even">= ‘N’</dt>
+<dd class="field-even"><p>Do not use iterative refinement.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>N</strong> (<em>int</em>) – The actual state dimension, i.e., the order of the
+matrices A, E, Q, and X, and the number of rows of the
+matrices B and L.  N &gt; 0.</p></li>
+<li><p><strong>M</strong> (<em>int</em>) – The number of system inputs. If JOBB = ‘B’, M is the
+order of the matrix R, and the number of columns of the
+matrix B.  M &gt;= 0.
+M is not used if JOBB = ‘G’.</p></li>
+<li><p><strong>P</strong> (<em>int</em>) – The number of system outputs. If FACT = ‘C’ or ‘D’ or ‘B’,
+P is the number of rows of the matrices C and/or D.
+P &gt;= 0.
+Otherwise, P is not used.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>max</em><em>(</em><em>1</em><em>, </em><em>N</em><em>)</em><em>, </em><em>N</em><em>) </em><em>array_like</em>) – The leading N-by-N part of this array must contain the
+state matrix A of the descriptor system.</p></li>
+<li><p><strong>E</strong> (<em>(</em><em>max</em><em>(</em><em>1</em><em>, </em><em>N</em><em>)</em><em>, </em><em>N</em><em>) </em><em>array_like</em>) – The leading N-by-N part of this array must contain the
+matrix E of the descriptor system.</p></li>
+<li><p><strong>B</strong> ((max(1, N), <a href="#id1"><span class="problematic" id="id2">*</span></a>) array_like) – If JOBB = ‘B’, the leading N-by-M part of this array must
+contain the input matrix B of the system.
+If JOBB = ‘G’, the leading N-by-N upper triangular part
+(if UPLO = ‘U’) or lower triangular part (if UPLO = ‘L’)
+of this array must contain the upper triangular part or
+lower triangular part, respectively, of the matrix
+<code class="docutils literal notranslate"><span class="pre">G</span> <span class="pre">=</span> <span class="pre">BR{^-1}B'</span></code>. The stricly lower triangular part (if
+UPLO = ‘U’) or stricly upper triangular part (if
+UPLO = ‘L’) is not referenced.</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>ldq</em><em>, </em><em>N</em><em>) </em><em>array_like</em>) – <p>If FACT = ‘N’ or ‘D’, the leading N-by-N upper triangular
+part (if UPLO = ‘U’) or lower triangular part (if UPLO =
+‘L’) of this array must contain the upper triangular part
+or lower triangular part, respectively, of the symmetric
+state weighting matrix Q. The stricly lower triangular
+part (if UPLO = ‘U’) or stricly upper triangular part (if
+UPLO = ‘L’) is not referenced.
+If FACT = ‘C’ or ‘B’, the leading P-by-N part of this
+array must contain the output matrix C of the system.
+If JOBB = ‘B’ and SCAL = ‘G’, then Q is modified
+internally, but is restored on exit.
+The leading dimension of array Q:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">LDQ</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">N</span><span class="p">)</span> <span class="k">if</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;N&#39;</span> <span class="ow">or</span> <span class="s1">&#39;D&#39;</span><span class="p">;</span>
+<span class="n">LDQ</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">P</span><span class="p">)</span> <span class="k">if</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;C&#39;</span> <span class="ow">or</span> <span class="s1">&#39;B&#39;</span><span class="o">.</span>
+</pre></div>
+</div>
+</p></li>
+<li><p><strong>R</strong> (<em>(</em><em>ldr</em><em>, </em><em>M</em><em>) </em><em>array_like</em>) – <p>If FACT = ‘N’ or ‘C’, the leading M-by-M upper triangular
+part (if UPLO = ‘U’) or lower triangular part (if UPLO =
+‘L’) of this array must contain the upper triangular part
+or lower triangular part, respectively, of the symmetric
+input weighting matrix R. The stricly lower triangular
+part (if UPLO = ‘U’) or stricly upper triangular part (if
+UPLO = ‘L’) is not referenced.
+If FACT = ‘D’ or ‘B’, the leading P-by-M part of this
+array must contain the direct transmission matrix D of the
+system.
+If JOBB = ‘B’ and SCAL = ‘G’, then R is modified
+internally, but is restored on exit.
+If JOBB = ‘G’, this array is not referenced.
+The leading dimension of array R:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">LDR</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">M</span><span class="p">)</span> <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;B&#39;</span> <span class="ow">and</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;N&#39;</span> <span class="ow">or</span> <span class="s1">&#39;C&#39;</span><span class="p">;</span>
+<span class="n">LDR</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">P</span><span class="p">)</span> <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;B&#39;</span> <span class="ow">and</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;D&#39;</span> <span class="ow">or</span> <span class="s1">&#39;B&#39;</span><span class="p">;</span>
+<span class="n">LDR</span> <span class="o">&gt;=</span> <span class="mi">1</span>        <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;G&#39;</span><span class="o">.</span>
+</pre></div>
+</div>
+</p></li>
+<li><p><strong>L</strong> (<em>(</em><em>n</em><em>, </em><em>M</em><em>) </em><em>array_like</em>) – If JOBL = ‘N’ and JOBB = ‘B’, the leading N-by-M part of
+this array must contain the cross weighting matrix L.
+If JOBB = ‘B’ and SCAL = ‘G’, then L is modified
+internally, but is restored on exit.
+If JOBL = ‘Z’ or JOBB = ‘G’, this array is not referenced.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <p>The length of the array DWORK:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">LDWORK</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">7</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span><span class="o">+</span><span class="mi">16</span><span class="p">,</span><span class="mi">16</span><span class="o">*</span><span class="n">N</span><span class="p">),</span>           <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;G&#39;</span><span class="p">;</span>
+<span class="n">LDWORK</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">7</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span><span class="o">+</span><span class="mi">16</span><span class="p">,</span><span class="mi">16</span><span class="o">*</span><span class="n">N</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">+</span><span class="n">M</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">M</span><span class="p">),</span> <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;B&#39;</span><span class="o">.</span>
+</pre></div>
+</div>
+<p>For optimum performance LDWORK should be larger.
+Default:  <code class="docutils literal notranslate"><span class="pre">max(7*(2*n+1)+16,16*n)</span></code></p>
+</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The tolerance to be used to test for near singularity of
+the original matrix pencil, specifically of the triangular
+M-by-M factor obtained during the reduction process. If
+the user sets TOL &gt; 0, then the given value of TOL is used
+as a lower bound for the reciprocal condition number of
+that matrix; a matrix whose estimated condition number is
+less than 1/TOL is considered to be nonsingular. If the
+user sets TOL &lt;= 0, then a default tolerance, defined by
+TOLDEF = EPS, is used instead, where EPS is the machine
+precision (see LAPACK Library routine DLAMCH).
+This parameter is not referenced if JOBB = ‘G’.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><strong>rcondu</strong> (<em>float</em>) – If N &gt; 0 and INFO = 0 or INFO = 7, an estimate of the
+reciprocal of the condition number (in the 1-norm) of
+the N-th order system of algebraic equations from which
+the solution matrix X is obtained.</p></li>
+<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – If INFO = 0, the leading N-by-N part of this array
+contains the solution matrix X of the problem.</p></li>
+<li><p><strong>alfar, alfai, beta</strong> (<em>(2*n, ) ndarray</em>) – The generalized eigenvalues of the 2N-by-2N matrix pair,
+ordered as specified by SORT (if INFO = 0, or INFO &gt;= 5).
+For instance, if SORT = ‘S’, the leading N elements of
+these arrays contain the closed-loop spectrum of the
+system. Specifically,</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="k">lambda</span><span class="p">(</span><span class="n">k</span><span class="p">)</span> <span class="o">=</span> <span class="p">[</span><span class="n">ALFAR</span><span class="p">(</span><span class="n">k</span><span class="p">)</span><span class="o">+</span><span class="n">j</span><span class="o">*</span><span class="n">ALFAI</span><span class="p">(</span><span class="n">k</span><span class="p">)]</span><span class="o">/</span><span class="n">BETA</span><span class="p">(</span><span class="n">k</span><span class="p">)</span> <span class="k">for</span> <span class="n">k</span> <span class="o">=</span> <span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="o">...</span><span class="p">,</span><span class="n">N</span><span class="o">.</span>
+</pre></div>
+</div>
+</li>
+<li><p><strong>S</strong> (<em>(2*n, 2*n) ndarray</em>) – The leading 2N-by-2N part of this array contains the
+ordered real Schur form S of the first matrix in the
+reduced matrix pencil associated to the optimal problem,
+corresponding to the scaled Q, R, and L, if JOBB = ‘B’
+and SCAL = ‘G’. That is,</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">(</span><span class="n">S</span>   <span class="n">S</span>  <span class="p">)</span>
+     <span class="p">(</span> <span class="mi">11</span>  <span class="mi">12</span><span class="p">)</span>
+ <span class="n">S</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">),</span>
+     <span class="p">(</span><span class="mi">0</span>   <span class="n">S</span>  <span class="p">)</span>
+     <span class="p">(</span>     <span class="mi">22</span><span class="p">)</span>
+
+<span class="n">where</span> <span class="n">S</span>  <span class="p">,</span> <span class="n">S</span>   <span class="ow">and</span> <span class="n">S</span>   <span class="n">are</span> <span class="n">N</span><span class="o">-</span><span class="n">by</span><span class="o">-</span><span class="n">N</span> <span class="n">matrices</span><span class="o">.</span>
+       <span class="mi">11</span>   <span class="mi">12</span>      <span class="mi">22</span>
+</pre></div>
+</div>
+<p>Array S must have 2*N+M columns if JOBB = ‘B’, and 2*N
+columns, otherwise.</p>
+</li>
+<li><p><strong>T</strong> (<em>(2*n, 2*n) ndarray</em>) – The leading 2N-by-2N part of this array contains the
+ordered upper triangular form T of the second matrix in
+the reduced matrix pencil associated to the optimal
+problem, corresponding to the scaled Q, R, and L, if
+JOBB = ‘B’ and SCAL = ‘G’. That is,</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">(</span><span class="n">T</span>   <span class="n">T</span>  <span class="p">)</span>
+     <span class="p">(</span> <span class="mi">11</span>  <span class="mi">12</span><span class="p">)</span>
+ <span class="n">T</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">),</span>
+     <span class="p">(</span><span class="mi">0</span>   <span class="n">T</span>  <span class="p">)</span>
+     <span class="p">(</span>     <span class="mi">22</span><span class="p">)</span>
+
+<span class="n">where</span> <span class="n">T</span>  <span class="p">,</span> <span class="n">T</span>   <span class="ow">and</span> <span class="n">T</span>   <span class="n">are</span> <span class="n">N</span><span class="o">-</span><span class="n">by</span><span class="o">-</span><span class="n">N</span> <span class="n">matrices</span><span class="o">.</span>
+       <span class="mi">11</span>   <span class="mi">12</span>      <span class="mi">22</span>
+</pre></div>
+</div>
+</li>
+<li><p><strong>U</strong> (<em>(2*n, 2*n) ndarray</em>) – The leading 2N-by-2N part of this array contains the right
+transformation matrix U which reduces the 2N-by-2N matrix
+pencil to the ordered generalized real Schur form (S, T).
+That is,</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">(</span><span class="n">U</span>   <span class="n">U</span>  <span class="p">)</span>
+     <span class="p">(</span> <span class="mi">11</span>  <span class="mi">12</span><span class="p">)</span>
+ <span class="n">U</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">),</span>
+     <span class="p">(</span><span class="n">U</span>   <span class="n">U</span>  <span class="p">)</span>
+     <span class="p">(</span> <span class="mi">21</span>  <span class="mi">22</span><span class="p">)</span>
+
+<span class="n">where</span> <span class="n">U</span>  <span class="p">,</span> <span class="n">U</span>  <span class="p">,</span> <span class="n">U</span>   <span class="ow">and</span> <span class="n">U</span>   <span class="n">are</span> <span class="n">N</span><span class="o">-</span><span class="n">by</span><span class="o">-</span><span class="n">N</span> <span class="n">matrices</span><span class="o">.</span>
+       <span class="mi">11</span>   <span class="mi">12</span>   <span class="mi">21</span>      <span class="mi">22</span>
+</pre></div>
+</div>
+<p>If JOBB = ‘B’ and SCAL = ‘G’, then U corresponds to the
+scaled pencil. If a basis for the stable deflating
+subspace of the original problem is needed, then the
+submatrix U_21   must be multiplied by the scaling factor
+contained in DWORK(4).</p>
+</li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>The computed extended matrix pencil is singular,
+possibly due to rounding errors</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>The QZ algorithm failed</p>
+</dd>
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>Reordering of the generalized eigenvalues failed</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>After reordering, roundoff changed values of
+some complex eigenvalues so that leading eigenvalues
+in the generalized Schur form no longer satisfy the
+stability condition; this could also be caused due
+to scaling</p>
+</dd>
+<dt class="field-odd">info = 5</dt>
+<dd class="field-odd"><p>The computed dimension of the solution does not
+equal N</p>
+</dd>
+<dt class="field-even">info = 6</dt>
+<dd class="field-even"><p>The spectrum is too close to the boundary of
+the stability domain</p>
+</dd>
+<dt class="field-odd">info = 7</dt>
+<dd class="field-odd"><p>A singular matrix was encountered during the
+computation of the solution matrix X</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">iwarn = 1 and dico == ‘C’</dt>
+<dd class="field-odd"><p>The computed solution may be inaccurate due to poor
+scaling or eigenvalues too close to the boundary of
+the  imaginary axis.</p>
+</dd>
+<dt class="field-even">iwarn = 1 and dico == ‘D’</dt>
+<dd class="field-even"><p>The computed solution may be inaccurate due to poor
+scaling or eigenvalues too close to the boundary of
+the unit circle.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
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+  <div class="section" id="slycot-sg03ad">
+<h1>slycot.sg03ad<a class="headerlink" href="#slycot-sg03ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sg03ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sg03ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">X</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sg03ad" title="Permalink to this definition"></a></dt>
+<dd><p>To solve for X either the generalized continuous-time Lyapunov
+equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                <span class="n">T</span>
+<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span> <span class="o">+</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span> <span class="o">=</span> <span class="n">SCALE</span> <span class="o">*</span> <span class="n">Y</span><span class="p">,</span>                <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>or the generalized discrete-time Lyapunov equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                <span class="n">T</span>
+<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span> <span class="o">-</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span> <span class="o">=</span> <span class="n">SCALE</span> <span class="o">*</span> <span class="n">Y</span><span class="p">,</span>                <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>where op(M) is either M or M**T for M = A, E and the right hand
+side Y is symmetric. A, E, Y, and the solution X are N-by-N
+matrices. SCALE is an output scale factor, set to avoid overflow
+in X.</p>
+<p>Estimates of the separation and the relative forward error norm
+are provided.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
+<dt>Specifies which type of the equation is considered:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Continuous-time equation (1);</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Discrete-time equation (2).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>job</strong> (<em>{'X'</em><em>, </em><em>'S'</em><em>, </em><em>'B'}</em>) – <p>Specifies if the solution is to be computed and if the
+separation is to be estimated:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘X’</dt>
+<dd class="field-odd"><p>Compute the solution only;</p>
+</dd>
+<dt class="field-even">= ‘S’</dt>
+<dd class="field-even"><p>Estimate the separation only;</p>
+</dd>
+<dt class="field-odd">= ‘B’</dt>
+<dd class="field-odd"><p>Compute the solution and estimate the separation.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>fact</strong> (<em>{'F'</em><em>, </em><em>'F'}</em>) – <p>Specifies whether the generalized real Schur
+factorization of the pencil A - lambda * E is supplied
+on entry or not:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Factorization is not supplied;</p>
+</dd>
+<dt class="field-even">= ‘F’</dt>
+<dd class="field-even"><p>Factorization is supplied.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>trans</strong> (<em>{'N'</em><em>, </em><em>'T'}</em>) – <p>Specifies whether the transposed equation is to be solved
+or not:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>op(A) = A,    op(E) = E;</p>
+</dd>
+<dt class="field-even">= ‘T’</dt>
+<dd class="field-even"><p>op(A) = A**T, op(E) = E**T.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>uplo</strong> (<em>{'L'</em><em>, </em><em>'U'}</em>) – <p>Specifies whether the lower or the upper triangle of the
+array X is needed on input:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘L’</dt>
+<dd class="field-odd"><p>Only the lower triangle is needed on input;</p>
+</dd>
+<dt class="field-even">= ‘U’</dt>
+<dd class="field-even"><p>Only the upper triangle is needed on input.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>N</strong> (<em>int</em>) – The order of the matrix A.  N &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N upper
+Hessenberg part of this array must contain the
+generalized Schur factor A_s of the matrix A (see
+definition (3) in section METHOD). A_s must be an upper
+quasitriangular matrix. The elements below the upper
+Hessenberg part of the array A are not referenced.
+If FACT = ‘N’, then the leading N-by-N part of this
+array must contain the matrix A.
+On exit, the leading N-by-N part of this array contains
+the generalized Schur factor A_s of the matrix A. (A_s is
+an upper quasitriangular matrix.)</p></li>
+<li><p><strong>E</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N upper
+triangular part of this array must contain the
+generalized Schur factor E_s of the matrix E (see
+definition (4) in section METHOD). The elements below the
+upper triangular part of the array E are not referenced.
+If FACT = ‘N’, then the leading N-by-N part of this
+array must contain the coefficient matrix E of the
+equation.
+On exit, the leading N-by-N part of this array contains
+the generalized Schur factor E_s of the matrix E. (E_s is
+an upper triangular matrix.)</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N part of
+this array must contain the orthogonal matrix Q from
+the generalized Schur factorization (see definitions (3)
+and (4) in section METHOD).
+If FACT = ‘N’, Q need not be set on entry.
+On exit, the leading N-by-N part of this array contains
+the orthogonal matrix Q from the generalized Schur
+factorization.</p></li>
+<li><p><strong>Z</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N part of
+this array must contain the orthogonal matrix Z from
+the generalized Schur factorization (see definitions (3)
+and (4) in section METHOD).
+If FACT = ‘N’, Z need not be set on entry.
+On exit, the leading N-by-N part of this array contains
+the orthogonal matrix Z from the generalized Schur
+factorization.</p></li>
+<li><p><strong>X</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if JOB = ‘B’ or ‘X’, then the leading N-by-N
+part of this array must contain the right hand side matrix
+Y of the equation. Either the lower or the upper
+triangular part of this array is needed (see mode
+parameter UPLO).
+If JOB = ‘S’, X is not referenced.
+On exit, if JOB = ‘B’ or ‘X’, and INFO = 0, 3, or 4, then
+the leading N-by-N part of this array contains the
+solution matrix X of the equation.
+If JOB = ‘S’, X is not referenced.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <dl>
+<dt>The length of the array DWORK. The following table</dt><dd><p>contains the minimal work space requirements depending
+on the choice of JOB and FACT.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">JOB</span>        <span class="n">FACT</span>    <span class="o">|</span>  <span class="n">LDWORK</span>
+<span class="o">-------------------+-------------------</span>
+<span class="s1">&#39;X&#39;</span>        <span class="s1">&#39;F&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">N</span><span class="p">)</span>
+<span class="s1">&#39;X&#39;</span>        <span class="s1">&#39;N&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">N</span><span class="p">)</span>
+<span class="s1">&#39;B&#39;</span><span class="p">,</span> <span class="s1">&#39;S&#39;</span>   <span class="s1">&#39;F&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">**</span><span class="mi">2</span><span class="p">)</span>
+<span class="s1">&#39;B&#39;</span><span class="p">,</span> <span class="s1">&#39;S&#39;</span>   <span class="s1">&#39;N&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">**</span><span class="mi">2</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">N</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>For optimum performance, LDWORK should be larger.
+Default: max(1,max(2*n*n,4*n))</p>
+</dd>
+</dl>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>A</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
+the generalized Schur factor A_s of the matrix A. (A_s is
+an upper quasitriangular matrix.)</p></li>
+<li><p><strong>E</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
+the generalized Schur factor E_s of the matrix E. (E_s is
+an upper triangular matrix.)</p></li>
+<li><p><strong>Q</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
+the orthogonal matrix Q from the generalized Schur
+factorization.</p></li>
+<li><p><strong>Z</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
+the orthogonal matrix Z from the generalized Schur
+factorization.</p></li>
+<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – On exit, if JOB = ‘B’ or ‘X’, and INFO = 0, 3, or 4, then
+the leading N-by-N part of this array contains the
+solution matrix X of the equation.
+If JOB = ‘S’, X is not referenced.</p></li>
+<li><p><strong>scale</strong> (<em>float</em>) – The scale factor set to avoid overflow in X.
+(0 &lt; SCALE &lt;= 1)</p></li>
+<li><p><strong>sep</strong> (<em>float</em>) – If JOB = ‘S’ or JOB = ‘B’, and INFO = 0, 3, or 4, then
+SEP contains an estimate of the separation of the
+Lyapunov operator.</p></li>
+<li><p><strong>ferr</strong> (<em>float</em>) – If JOB = ‘B’, and INFO = 0, 3, or 4, then FERR contains an
+estimated forward error bound for the solution X. If XTRUE
+is the true solution, FERR estimates the relative error
+in the computed solution, measured in the Frobenius norm:
+norm(X - XTRUE) / norm(XTRUE)</p></li>
+<li><p><strong>alphar, alphai, beta</strong> (<em>(n, ) ndarray</em>) – If FACT = ‘N’ and INFO = 0, 3, or 4, then
+(ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,…,N, are the
+eigenvalues of the matrix pencil A - lambda * E.
+If FACT = ‘F’, ALPHAR, ALPHAI, and BETA are not
+referenced.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>FACT = ‘F’ and the matrix contained in the upper
+Hessenberg part of the array A is not in upper
+quasitriangular form;</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>FACT = ‘N’ and the pencil A - lambda * E cannot be
+reduced to generalized Schur form: LAPACK routine
+DGEGS has failed to converge;</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">info = 3</dt>
+<dd class="field-odd"><p>DICO = ‘D’ and the pencil A - lambda * E has a
+pair of reciprocal eigenvalues. That is, lambda_i =
+1/lambda_j for some i and j, where lambda_i and
+lambda_j are eigenvalues of A - lambda * E. Hence,
+equation (2) is singular;  perturbed values were
+used to solve the equation (but the matrices A and
+E are unchanged);</p>
+</dd>
+<dt class="field-even">info = 4</dt>
+<dd class="field-even"><p>DICO = ‘C’ and the pencil A - lambda * E has a
+degenerate pair of eigenvalues. That is, lambda_i =
+-lambda_j for some i and j, where lambda_i and
+lambda_j are eigenvalues of A - lambda * E. Hence,
+equation (1) is singular;  perturbed values were
+used to solve the equation (but the matrices A and
+E are unchanged).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+  <div class="section" id="slycot-sg03bd">
+<h1>slycot.sg03bd<a class="headerlink" href="#slycot-sg03bd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.sg03bd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sg03bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sg03bd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the Cholesky factor U of the matrix X,</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>         <span class="n">T</span>
+<span class="n">X</span> <span class="o">=</span> <span class="n">op</span><span class="p">(</span><span class="n">U</span><span class="p">)</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">U</span><span class="p">),</span>
+</pre></div>
+</div>
+<p>which is the solution of either the generalized
+c-stable continuous-time Lyapunov equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                    <span class="n">T</span>
+<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span> <span class="o">+</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>
+
+         <span class="mi">2</span>        <span class="n">T</span>
+<span class="o">=</span> <span class="o">-</span> <span class="n">SCALE</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">),</span>                                <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>or the generalized d-stable discrete-time Lyapunov equation</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                    <span class="n">T</span>
+<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span> <span class="o">-</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>
+
+         <span class="mi">2</span>        <span class="n">T</span>
+<span class="o">=</span> <span class="o">-</span> <span class="n">SCALE</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">),</span>                                <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>without first finding X and without the need to form the matrix
+op(B)**T * op(B).</p>
+<p>op(K) is either K or K**T for K = A, B, E, U. A and E are N-by-N
+matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
+N-by-N upper triangular matrix with non-negative entries on its
+main diagonal. SCALE is an output scale factor set to avoid
+overflow in U.</p>
+<p>In the continuous-time case (1) the pencil A - lambda * E must be
+c-stable (that is, all eigenvalues must have negative real parts).
+In the discrete-time case (2) the pencil A - lambda * E must be
+d-stable (that is, the moduli of all eigenvalues must be smaller
+than one).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The order of the matrix A.  n &gt;= 0.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The number of rows in the matrix op(B).  m &gt;= 0.</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n upper
+Hessenberg part of this array must contain the
+generalized Schur factor A_s of the matrix A (see
+definition (3) in section METHOD). A_s must be an upper
+quasitriangular matrix. The elements below the upper
+Hessenberg part of the array A are not referenced.
+If fact = ‘N’, then the leading n-by-n part of this
+array must contain the matrix A.</p></li>
+<li><p><strong>E</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n upper
+triangular part of this array must contain the
+generalized Schur factor E_s of the matrix E (see
+definition (4) in section METHOD). The elements below the
+upper triangular part of the array E are not referenced.
+If fact = ‘N’, then the leading n-by-n part of this
+array must contain the coefficient matrix E of the
+equation.
+On exit, the leading n-by-n part of this array contains
+the generalized Schur factor E_s of the matrix E. (E_s is
+an upper triangular matrix.)</p></li>
+<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n part of
+this array must contain the orthogonal matrix Q from
+the generalized Schur factorization (see definitions (3)
+and (4) in section METHOD).
+If fact = ‘N’, Q need not be set on entry.
+On exit, the leading n-by-n part of this array contains
+the orthogonal matrix Q from the generalized Schur
+factorization.</p></li>
+<li><p><strong>Z</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n part of
+this array must contain the orthogonal matrix Z from
+the generalized Schur factorization (see definitions (3)
+and (4) in section METHOD).
+If fact = ‘N’, Z need not be set on entry.
+On exit, the leading n-by-n part of this array contains
+the orthogonal matrix Z from the generalized Schur
+factorization.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>n1</em><em>) </em><em>array_like</em>) – On entry, if trans = ‘T’, the leading n-by-m part of this
+array must contain the matrix B and n1 &gt;= max(m, n).
+If trans = ‘N’, the leading m-by-n part of this array
+must contain the matrix B and n1 &gt;= n.
+On exit, the leading n-by-n part of this array contains
+the Cholesky factor U of the solution matrix X of the
+problem, X = op(U)**T * op(U).
+If m = 0 and n &gt; 0, then U is set to zero.</p></li>
+<li><p><strong>dico</strong> (<em>{C</em><em>, </em><em>D}</em>) – <dl class="simple">
+<dt>Specifies which type of the equation is considered:</dt><dd><dl class="field-list simple">
+<dt class="field-odd">= ‘C’</dt>
+<dd class="field-odd"><p>Continuous-time equation (1);</p>
+</dd>
+<dt class="field-even">= ‘D’</dt>
+<dd class="field-even"><p>Discrete-time equation (2).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</p></li>
+<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'F'}</em><em>, </em><em>optional</em>) – <p>Specifies whether the generalized real Schur
+factorization of the pencil A - lambda * E is supplied
+on entry or not:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>Factorization is not supplied;</p>
+</dd>
+<dt class="field-even">= ‘F’</dt>
+<dd class="field-even"><p>Factorization is supplied.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>trans</strong> (<em>{'N'</em><em>, </em><em>'T'}</em><em>, </em><em>optional</em>) – <p>Specifies whether the transposed equation is to be solved
+or not:</p>
+<blockquote>
+<div><dl class="field-list simple">
+<dt class="field-odd">= ‘N’</dt>
+<dd class="field-odd"><p>op(A) = A,    op(E) = E;</p>
+</dd>
+<dt class="field-even">= ‘T’</dt>
+<dd class="field-even"><p>op(A) = A**T, op(E) = E**T.</p>
+</dd>
+</dl>
+</div></blockquote>
+</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <p>The dimension of the array dwork:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ldwork</span> <span class="o">&gt;=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">n</span><span class="p">,</span><span class="mi">6</span><span class="o">*</span><span class="n">n</span><span class="o">-</span><span class="mi">6</span><span class="p">),</span>  <span class="k">if</span> <span class="n">fact</span> <span class="o">=</span> <span class="s1">&#39;N&#39;</span><span class="p">;</span>
+<span class="n">ldwork</span> <span class="o">&gt;=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="p">,</span><span class="mi">6</span><span class="o">*</span><span class="n">n</span><span class="o">-</span><span class="mi">6</span><span class="p">),</span>  <span class="k">if</span> <span class="n">fact</span> <span class="o">=</span> <span class="s1">&#39;F&#39;</span><span class="o">.</span>
+</pre></div>
+</div>
+<p>For good performance, ldwork should be larger.</p>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>U</strong> (<em>(n, n) ndarray</em>) – The leading n-by-b part of this array contains
+the Cholesky factor U of the solution matrix X of the
+problem, X = op(U)**T * op(U).
+If m = 0 and m &gt; 0, then U is set to zero.</p></li>
+<li><p><strong>scale</strong> (<em>float</em>) – The scale factor set to avoid overflow in U.
+0 &lt; scale &lt;= 1.</p></li>
+<li><p><strong>lambda</strong> (<em>(n, ) complex ndarray</em>) – If INFO = 0, 3, 5, 6, or 7, then
+((j), j=1,…,n, are the
+eigenvalues of the matrix pencil A - lambda * E.</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 2</dt>
+<dd class="field-odd"><p>fact = ‘F’ and the matrix contained in the upper
+Hessenberg part of the array A is not in upper
+quasitriangular form;</p>
+</dd>
+<dt class="field-even">info = 3</dt>
+<dd class="field-even"><p>fact = ‘F’ and there is a 2-by-2 block on the main
+diagonal of the pencil A_s - lambda * E_s whose
+eigenvalues are not conjugate complex;</p>
+</dd>
+<dt class="field-odd">info = 4</dt>
+<dd class="field-odd"><p>fact = ‘N’ and the pencil A - lambda * E cannot be
+reduced to generalized Schur form: LAPACK routine
+DGEGS (or DGGES) has failed to converge;</p>
+</dd>
+<dt class="field-even">info = 5</dt>
+<dd class="field-even"><p>dico = ‘C’ and the pencil A - lambda * E is not
+c-stable;</p>
+</dd>
+<dt class="field-odd">info = 6</dt>
+<dd class="field-odd"><p>dico = ‘D’ and the pencil A - lambda * E is not
+d-stable;</p>
+</dd>
+<dt class="field-even">info = 7</dt>
+<dd class="field-even"><p>the LAPACK routine DSYEVX utilized to factorize M3
+failed to converge in the discrete-time case (see
+section METHOD for SLICOT Library routine SG03BU).
+This error is unlikely to occur.</p>
+</dd>
+</dl>
+</p>
+</dd>
+<dt class="field-even">Warns</dt>
+<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
+<dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>the pencil A - lambda * E is (nearly) singular;
+perturbed values were used to solve the equation
+(but the reduced (quasi)triangular matrices A and E
+are unchanged);</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-tb01id">
+<h1>slycot.tb01id<a class="headerlink" href="#slycot-tb01id" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tb01id">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb01id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">maxred</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb01id" title="Permalink to this definition"></a></dt>
+<dd><p>To reduce the 1-norm of a system matrix</p>
+<blockquote>
+<div><dl class="simple">
+<dt>S =  ( A  B )</dt><dd><p>( C  0 )</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>corresponding to the triple (A,B,C), by balancing. This involves
+a diagonal similarity transformation inv(D)*A*D applied
+iteratively to A to make the rows and columns of</p>
+<blockquote>
+<div><blockquote>
+<div><p>-1</p>
+</div></blockquote>
+<p>diag(D,I)  * S * diag(D,I)</p>
+</div></blockquote>
+<p>as close in norm as possible.</p>
+<p>The balancing can be performed optionally on the following
+particular system matrices</p>
+<blockquote>
+<div><dl class="simple">
+<dt>S = A,    S = ( A  B )    or    S = ( A )</dt><dd><p>( C )</p>
+</dd>
+</dl>
+</div></blockquote>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the matrix A, the number of rows of matrix B and
+the number of columns of matrix C. It represents the dimension of
+the state vector.  n &gt; 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of columns of matrix B. It represents the dimension of
+the input vector.  m &gt; 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of rows of matrix C. It represents the dimension of
+the output vector.  p &gt; 0.</p>
+</dd>
+<dt>maxred<span class="classifier">input float</span></dt><dd><p>The maximum allowed reduction in the 1-norm of S  (in an iteration)
+if zero rows or columns are encountered.
+If maxred &gt; 0.0, maxred must be larger than one (to enable the norm
+reduction).
+If maxred &lt;= 0.0, then the value 10.0 for maxred is used.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the system state
+matrix A.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the system input
+matrix B.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the system output
+matrix C.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>job := ‘A’ input string(len=1)</dt><dd><p>Indicates which matrices are involved in balancing, as follows:
+= ‘A’:  All matrices are involved in balancing;
+= ‘B’:  B and A matrices are involved in balancing;
+= ‘C’:  C and A matrices are involved in balancing;
+= ‘N’:  B and C matrices are not involved in balancing.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>s_norm<span class="classifier">float</span></dt><dd><p>The 1-norm of the given matrix S is non-zero, the ratio between
+the 1-norm of the given matrix and the 1-norm of the balanced matrix.</p>
+</dd>
+<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array contains the balanced matrix
+inv(D)*A*D.</p>
+</dd>
+<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array contains the balanced matrix
+inv(D)*B.</p>
+</dd>
+<dt>C<span class="classifier">rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array contains the balanced matrix C*D.</p>
+</dd>
+<dt>scale<span class="classifier">rank-1 array(‘d’) with bounds (n)</span></dt><dd><p>The scaling factors applied to S.  If D(j) is the scaling factor
+applied to row and column j, then scale(j) = D(j), for j = 1,…,n.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot.sg03bd.html" class="btn btn-neutral float-left" title="slycot.sg03bd" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    </div>
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_outer.html#transformation-routines">Transformation Routines</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot.tb01id.html">slycot.tb01id</a></li>
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+</li>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-tb01pd">
+<h1>slycot.tb01pd<a class="headerlink" href="#slycot-tb01pd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tb01pd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb01pd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb01pd" title="Permalink to this definition"></a></dt>
+<dd><p>To find a reduced (controllable, observable, or minimal) state-
+space representation (Ar,Br,Cr) for any original state-space
+representation (A,B,C). The matrix Ar is in upper block
+Hessenberg form.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>Order of the State-space representation.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>Number of inputs.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>Number of outputs.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>State dynamics matrix.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading n-by-m part of this array must contain the original
+input/state matrix B; the remainder of the leading n-by-max(m,p)
+part is used as internal workspace.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the original
+state/output matrix C; the remainder of the leading max(1,m,p)-by-n
+part is used as internal workspace.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl>
+<dt>job<span class="classifier">input char*1</span></dt><dd><p>Indicates whether the user wishes to remove the
+uncontrollable and/or unobservable parts as follows:
+= ‘M’:  Remove both the uncontrollable and unobservable</p>
+<blockquote>
+<div><p>parts to get a minimal state-space representation;</p>
+</div></blockquote>
+<dl class="simple">
+<dt>= ‘C’:  Remove the uncontrollable part only to get a</dt><dd><p>controllable state-space representation;</p>
+</dd>
+<dt>= ‘O’:  Remove the unobservable part only to get an</dt><dd><p>observable state-space representation.</p>
+</dd>
+</dl>
+</dd>
+<dt>equil<span class="classifier">input char*1</span></dt><dd><p>Specifies whether the user wishes to preliminarily balance
+the triplet (A,B,C) as follows:
+= ‘S’:  Perform balancing (scaling);
+= ‘N’:  Do not perform balancing.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>Ar<span class="classifier">output rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>Contains the upper block Hessenberg state dynamics matrix
+Ar of a minimal, controllable, or observable realization
+for the original system, depending on the value of JOB,
+JOB = ‘M’, JOB = ‘C’, or JOB = ‘O’, respectively.</p>
+</dd>
+<dt>Br<span class="classifier">output rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>Contains the transformed input/state matrix Br of a
+minimal, controllable, or observable realization for the
+original system, depending on the value of JOB, JOB = ‘M’,
+JOB = ‘C’, or JOB = ‘O’, respectively.  If JOB = ‘C’, only
+the first IWORK(1) rows of B are nonzero.</p>
+</dd>
+</dl>
+<p>Cr : output rank-2 array(‘d’) with bounds (p,nr)</p>
+<blockquote>
+<div><p>Contains the transformed state/output matrix Cr of a
+minimal, C controllable, or observable realization for the
+original C system, depending on the value of JOB, JOB =
+‘M’, C JOB = ‘C’, or JOB = ‘O’, respectively.  C If JOB =
+‘M’, or JOB = ‘O’, only the last IWORK(1) columns C (in
+the first NR columns) of C are nonzero.</p>
+</div></blockquote>
+<dl class="simple">
+<dt>nr<span class="classifier">output int</span></dt><dd><p>The order of the reduced state-space representation
+(Ar,Br,Cr) of a minimal, controllable, or observable
+realization for the original system, depending on
+JOB = ‘M’, JOB = ‘C’, or JOB = ‘O’.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_outer.html#analysis">Analysis</a></li>
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_outer.html#transformation-routines">Transformation Routines</a><ul class="current">
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+             
+  <div class="section" id="slycot-tb03ad">
+<h1>slycot.tb03ad<a class="headerlink" href="#slycot-tb03ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tb03ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb03ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">leri</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb03ad" title="Permalink to this definition"></a></dt>
+<dd><p>To find a relatively prime left or right polynomial matrix representation
+with the same transfer matrix as that of a given state-space representation,
+i.e. if leri = ‘L’</p>
+<blockquote>
+<div><p>inv(P(s))*Q(s) = C*inv(s*I-A)*B + D</p>
+</div></blockquote>
+<p>or, if leri = ‘R’</p>
+<blockquote>
+<div><p>Q(s)*inv(P(s)) = C*inv(s*I-A)*B + D.</p>
+</div></blockquote>
+<p>Additionally a minimal realization (A_min,B_min,C_min) of the original
+system (A,B,C) is returned.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the state-space representation, i.e. the order of
+the original state dynamics matrix A.  n &gt; 0.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt; 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt; 0.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the original
+state dynamics matrix A.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading n-by-m part of this array must contain the original
+input/state matrix B; the remainder of the leading n-by-max(m,p)
+part is used as internal workspace.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (max(m,p),n)</span></dt><dd><p>The leading p-by-n part of this array must contain the original
+state/output matrix C; the remainder of the leading max(m,p)-by-n
+part is used as internal workspace.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (max(m,p),max(m,p))</span></dt><dd><p>The leading p-by-m part of this array must contain the original
+direct transmission matrix D; the remainder of the leading
+max(m,p)-by-max(m,p) part is used as internal workspace.</p>
+</dd>
+<dt>leri<span class="classifier">input string(len=1)</span></dt><dd><p>Indicates whether the left polynomial matrix representation or
+the right polynomial matrix representation is required.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl>
+<dt>equil := ‘N’ input string(len=1)</dt><dd><p>Specifies whether the user wishes to balance the triplet (A,B,C),
+before computing a minimal state-space representation, as follows:
+= ‘S’:  Perform balancing (scaling);
+= ‘N’:  Do not perform balancing.</p>
+</dd>
+<dt>tol := 0.0 input float</dt><dd><p>The tolerance to be used in rank determination when transforming
+(A, B). If tol &lt;= 0 a default value is used.</p>
+</dd>
+<dt>ldwork := max(2*n+3*max(m,p), p*(p+2)) input int</dt><dd><p>The length of the cache array.
+ldwork &gt;= max( n + max(n, 3*m, 3*p), pm*(pm + 2))
+where pm = p, if leri = ‘L’;</p>
+<blockquote>
+<div><p>pm = m, if leri = ‘R’.</p>
+</div></blockquote>
+<p>For optimum performance it should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>A_min<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading nr-by-nr part of this array contains the upper block
+Hessenberg state dynamics matrix A_min of a minimal realization for
+the original system.</p>
+</dd>
+<dt>B_min<span class="classifier">rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading nr-by-m part of this array contains the transformed
+input/state matrix B_min.</p>
+</dd>
+<dt>C_min<span class="classifier">rank-2 array(‘d’) with bounds (max(m,p),n)</span></dt><dd><p>The leading p-by-nr part of this array contains the transformed
+state/output matrix C_min.</p>
+</dd>
+<dt>nr<span class="classifier">int</span></dt><dd><p>The order of the minimal state-space representation
+(A_min,B_min,C_min).</p>
+</dd>
+<dt>index<span class="classifier">rank-1 array(‘i’) with bounds either (p) or (m)</span></dt><dd><p>If leri = ‘L’, index(i), i = 1,2,…,p, contains the maximum degree
+of the polynomials in the i-th row of the denominator matrix P(s)
+of the left polynomial matrix representation. These elements are
+ordered so that index(1) &gt;= index(2) &gt;= … &gt;= index(p).
+If leri = ‘R’, index(i), i = 1,2,…,m, contains the maximum degree
+of the polynomials in the i-th column of the denominator matrix P(s)
+of the right polynomial matrix representation. These elements are
+ordered so that index(1) &gt;= index(2) &gt;= … &gt;= index(m).</p>
+</dd>
+<dt>pcoeff<span class="classifier">rank-3 array(‘d’) with bounds either (p,p,n+1) or (m,m,n+1)</span></dt><dd><p>If leri = ‘L’ then porm = p, otherwise porm = m.
+The leading porm-by-porm-by-kpcoef part of this array contains
+the coefficients of the denominator matrix P(s), where
+kpcoef = max(index) + 1.
+pcoeff(i,j,k) is the coefficient in s**(index(iorj)-k+1) of
+polynomial (i,j) of P(s), where k = 1,2,…,kpcoef; if leri = ‘L’
+then iorj = I, otherwise iorj = J. Thus for leri = ‘L’,
+P(s) = diag(s**index)*(pcoeff(.,.,1)+pcoeff(.,.,2)/s+…).</p>
+</dd>
+<dt>qcoeff<span class="classifier">rank-3 array(‘d’) with bounds (p,m,n + 1) or (max(m,p),max(m,p))</span></dt><dd><p>If leri = ‘L’ then porp = m, otherwise porp = p.
+If leri = ‘L’, the leading porm-by-porp-by-kpcoef part of this array
+contains the coefficients of the numerator matrix Q(s).
+If leri = ‘R’, the leading porp-by-porm-by-kpcoef part of this array
+contains the coefficients of the numerator matrix Q(s).
+qcoeff(i,j,k) is defined as for pcoeff(i,j,k).</p>
+</dd>
+<dt>vcoeff<span class="classifier">rank-3 array(‘d’) with bounds (p,n,n+1) or (m,n,n+1)</span></dt><dd><p>The leading porm-by-nr-by-kpcoef part of this array contains
+the coefficients of the intermediate matrix V(s).
+vcoeff(i,j,k) is defined as for pcoeff(i,j,k).</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1</dt>
+<dd class="field-odd"><p>A singular matrix was encountered during the
+computation of V(s);</p>
+</dd>
+<dt class="field-even">info == 2</dt>
+<dd class="field-even"><p>A singular matrix was encountered during the
+computation of P(s).</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
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+<li class="toctree-l3"><a class="reference internal" href="../slycot_outer.html#synthesis">Synthesis</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_outer.html#transformation-routines">Transformation Routines</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="slycot.tb01id.html">slycot.tb01id</a></li>
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+             
+  <div class="section" id="slycot-tb04ad">
+<h1>slycot.tb04ad<a class="headerlink" href="#slycot-tb04ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tb04ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb04ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb04ad" title="Permalink to this definition"></a></dt>
+<dd><p>Convert a state-space system to a tranfer function or matrix of transfer functions.
+The transfer function is given as rows over common denominators.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><dl class="simple">
+<dt><strong>nr</strong><span class="classifier">int</span></dt><dd><p>state dimension of the controllable subsystem</p>
+</dd>
+<dt><strong>Ar</strong><span class="classifier">rank-2 array, shape(nr,nr)</span></dt><dd><p>state dynamics matrix of the controllable subsystem</p>
+</dd>
+<dt><strong>Br</strong><span class="classifier">rank-2 array, shape (nr,m)</span></dt><dd><p>input matrix of the controllable subsystem</p>
+</dd>
+<dt><strong>Cr</strong><span class="classifier">rank-2 array, shape (p,nr)</span></dt><dd><p>output matri of the controllable subsystem</p>
+</dd>
+<dt><strong>index</strong><span class="classifier">rank-1 array, shape (p)</span></dt><dd><p>array of orders of the denominator polynomials</p>
+</dd>
+<dt><strong>dcoeff</strong><span class="classifier">rank-2 array, shape (p,max(index)+1)</span></dt><dd><p>array of denominator coefficients</p>
+</dd>
+<dt><strong>ucoeff</strong><span class="classifier">rank-3 array, shape (p,m,max(index)+1)</span></dt><dd><p>array of numerator coefficients</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
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+  <div class="section" id="slycot-tb05ad">
+<h1>slycot.tb05ad<a class="headerlink" href="#slycot-tb05ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tb05ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb05ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jomega</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'NG'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb05ad" title="Permalink to this definition"></a></dt>
+<dd><p>To find the complex frequency response matrix (transfer matrix)
+G(freq) of the state-space representation (A,B,C) given by</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="o">-</span><span class="mi">1</span>
+<span class="n">G</span><span class="p">(</span><span class="n">freq</span><span class="p">)</span> <span class="o">=</span> <span class="n">C</span> <span class="o">*</span> <span class="p">((</span><span class="n">freq</span><span class="o">*</span><span class="n">I</span> <span class="o">-</span> <span class="n">A</span><span class="p">)</span>  <span class="p">)</span> <span class="o">*</span> <span class="n">B</span>
+</pre></div>
+</div>
+<p>where A, B and C are real N-by-N, N-by-M and P-by-N matrices
+respectively and freq is a complex scalar.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>n</strong> (<em>int</em>) – The number of states, i.e. the order of the state
+transition matrix A.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – The number of inputs, i.e. the number of columns in the
+matrix B.</p></li>
+<li><p><strong>p</strong> (<em>int</em>) – The number of outputs, i.e. the number of rows in the
+matrix C.</p></li>
+<li><p><strong>jomega</strong> (<em>complex float</em>) – The frequency at which the frequency response matrix
+(transfer matrix) is to be evaluated. For continuous time
+systems, this is j*omega, where omega is the frequency to
+be evaluated. For discrete time systems,
+freq = exp(j*omega*Ts)</p></li>
+<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – On entry, this array must contain the state transition
+matrix A.</p></li>
+<li><p><strong>B</strong> (<em>(</em><em>n</em><em>,</em><em>m</em><em>) </em><em>ndarray</em>) – On entry, this array must contain the input/state matrix B.</p></li>
+<li><p><strong>C</strong> (<em>(</em><em>p</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – On entry, of this array must contain the state/output matrix C.</p></li>
+<li><p><strong>job</strong> (<em>{'AG'</em><em>, </em><em>'NG'</em><em>, </em><em>'NH'}</em>) – <p>If job = ‘AG’ (i.e., ‘all’, ‘general matrix’), the A matrix is
+first balanced. The balancing transformation
+is then appropriately applied to matrices B and C. The A matrix
+is (again) transformed to an upper Hessenberg representation and
+the B and C matrices are also transformed. In addition,
+the condition number of the problem is calculated as well as the
+eigenvalues of A.</p>
+<p>If job=’NG’ (i.e., ‘none’, ‘general matrix’), no balancing is done.
+Neither the condition number nor the eigenvalues are calculated.
+The routine still transforms A into upper Hessenberg form. The
+matrices B and C are also appropriately transformed.</p>
+<p>If job = ‘NH’ (i.e., ‘none’, ‘hessenberg matrix’), the function
+assumes the matrices have already been transformed into Hessenberg
+form, i.e., by a previous function call tb05ad. If this not the
+case, the routine will return a wrong result without warning.</p>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul>
+<li><p><em>if job = ‘AG’</em></p></li>
+<li><p><em>————–</em> –</p>
+<dl>
+<dt>At:  The A matrix which has been both balanced and</dt><dd><p>transformed to upper Hessenberg form. The balancing
+transforms A according to</p>
+<blockquote>
+<div><p>A1 =   P^-1 * A * P.</p>
+</div></blockquote>
+<dl class="simple">
+<dt>The transformation to upper Hessenberg form then yields</dt><dd><p>At = Q^T * (P^-1 * A * P ) * Q.</p>
+</dd>
+</dl>
+<p>Note that the lower triangle of At is in general not zero.
+Rather, it contains information on the orthogonal matrix Q
+used to transform A1 to Hessenberg form. See docs for lappack
+DGEHRD():
+<a class="reference external" href="http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html">http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html</a>
+However, it does not apparently contain information on P, the
+matrix used in the balancing procedure.</p>
+</dd>
+<dt>Bt:  The matrix B transformed according to</dt><dd><p>Bt = Q^T * P^-1 * B.</p>
+</dd>
+<dt>Ct:  The matrix C transformed according to</dt><dd><p>Ct = C * P * Q</p>
+</dd>
+<dt>rcond: RCOND contains an estimate of the reciprocal of the</dt><dd><dl class="simple">
+<dt>condition number of matrix H with respect to inversion, where</dt><dd><p>H = (j*freq * I - A)</p>
+</dd>
+</dl>
+</dd>
+<dt>g_jw: complex p-by-m array, which contains the frequency response</dt><dd><p>matrix G(freq).</p>
+</dd>
+</dl>
+<p>ev:   Eigenvalues of the matrix A.</p>
+<dl>
+<dt>hinvb<span class="classifier">complex n-by-m array, which  contains the product</span></dt><dd><blockquote>
+<div><p>-1</p>
+</div></blockquote>
+<p>H  B.</p>
+</dd>
+</dl>
+</li>
+<li><p><em>if job = ‘NG’</em></p></li>
+<li><p><em>————–</em> –</p>
+<dl>
+<dt>At:    The matrix A transformed to upper Hessenberg form according</dt><dd><dl class="simple">
+<dt>to</dt><dd><p>At = Q^T  * A  * Q.</p>
+</dd>
+</dl>
+<p>The lower triangle is not zero. It containts info on the
+orthoganal transformation. See docs for linpack DGEHRD()
+<a class="reference external" href="http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html">http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html</a></p>
+</dd>
+<dt>Bt:    The matrix B transformed according to</dt><dd><p>Bt = Q^T * B.</p>
+</dd>
+<dt>Ct:    The matrix C transformed according to</dt><dd><p>Ct = C * Q</p>
+</dd>
+<dt>g_jw:  complex array with dim p-by-m which contains the frequency</dt><dd><p>response matrix G(freq).</p>
+</dd>
+<dt>hinvb<span class="classifier">complex array with dimension p-by-m.</span></dt><dd><blockquote>
+<div><dl class="simple">
+<dt>This array contains the</dt><dd><p>-1</p>
+</dd>
+</dl>
+</div></blockquote>
+<p>product H  B.</p>
+</dd>
+</dl>
+</li>
+<li><p><em>if job = ‘NH’</em></p></li>
+<li><p><em>————–</em> –</p>
+<dl>
+<dt>g_jw:  complex p-by-m array which contains the frequency</dt><dd><p>response matrix G(freq).</p>
+</dd>
+<dt>hinvb<span class="classifier">complex p-by-m array which contains the</span></dt><dd><blockquote>
+<div><p>-1</p>
+</div></blockquote>
+<p>product H  B.</p>
+</dd>
+</dl>
+</li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info = 1</dt>
+<dd class="field-odd"><p>More than {n30} (30*`n`) iterations were required to isolate the
+eigenvalues of A. The computations are continued.</p>
+</dd>
+<dt class="field-even">info = 2</dt>
+<dd class="field-even"><p>Either <cite>freq`={jomega} is too near to an eigenvalue of A,
+or `rcond</cite> is less than the machine precision EPS.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+<p class="rubric">Example</p>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">],</span>
+<span class="go">            [-100.0,   -20.1]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">B</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">0.</span><span class="p">],[</span><span class="mi">100</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">C</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">1.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">n</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">shape</span><span class="p">(</span><span class="n">A</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">m</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">shape</span><span class="p">(</span><span class="n">B</span><span class="p">)[</span><span class="mi">1</span><span class="p">]</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">p</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">shape</span><span class="p">(</span><span class="n">C</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">jw_s</span> <span class="o">=</span> <span class="p">[</span><span class="mi">1</span><span class="n">j</span><span class="o">*</span><span class="mi">10</span><span class="p">,</span> <span class="mi">1</span><span class="n">j</span><span class="o">*</span><span class="mi">15</span><span class="p">]</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">at</span><span class="p">,</span> <span class="n">bt</span><span class="p">,</span> <span class="n">ct</span><span class="p">,</span> <span class="n">g_1</span><span class="p">,</span> <span class="n">hinvb</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">tb05ad</span><span class="p">(</span><span class="n">n</span><span class="p">,</span> <span class="n">m</span><span class="p">,</span> <span class="n">p</span><span class="p">,</span> <span class="n">jw_s</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
+<span class="go">                                                A, B, C, job=&#39;NG&#39;)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">g_2</span><span class="p">,</span> <span class="n">hinv2</span><span class="p">,</span><span class="n">info</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">tb05ad</span><span class="p">(</span><span class="n">n</span><span class="p">,</span> <span class="n">m</span><span class="p">,</span> <span class="n">p</span><span class="p">,</span> <span class="n">jw_s</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">at</span><span class="p">,</span> <span class="n">bt</span><span class="p">,</span> <span class="n">ct</span><span class="p">,</span> <span class="n">job</span><span class="o">=</span><span class="s1">&#39;NH&#39;</span><span class="p">)</span>
+</pre></div>
+</div>
+</dd></dl>
+
+</div>
+
+
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+             
+  <div class="section" id="slycot-tc01od">
+<h1>slycot.tc01od<a class="headerlink" href="#slycot-tc01od" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tc01od">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tc01od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">indlim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">leri</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tc01od" title="Permalink to this definition"></a></dt>
+<dd><p>To find the dual right (left) polynomial matrix representation of a given
+left (right) polynomial matrix representation, where the right and left
+polynomial matrix representations are of the form Q(s)*inv(P(s)) and
+inv(P(s))*Q(s) respectively.</p>
+<dl>
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt; 0.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt; 0.</p>
+</dd>
+<dt>indlim<span class="classifier">input int</span></dt><dd><p>The highest value of k for which pcoeff(.,.,k) and qcoeff(.,.,k)
+are to be transposed.
+k = kpcoef + 1, where kpcoef is the maximum degree of the polynomials
+in P(s).  indlim &gt; 0.</p>
+</dd>
+<dt>pcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (p,p,indlim) or (m,m,indlim)</span></dt><dd><p>If leri = ‘L’ then porm = p, otherwise porm = m.
+On entry, the leading porm-by-porm-by-indlim part of this array
+must contain the coefficients of the denominator matrix P(s).
+pcoeff(i,j,k) is the coefficient in s**(indlim-k) of polynomial
+(i,j) of P(s), where k = 1,2,…,indlim.</p>
+</dd>
+<dt>qcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (max(m,p),max(m,p),indlim)</span></dt><dd><p>On entry, the leading p-by-m-by-indlim part of this array must
+contain the coefficients of the numerator matrix Q(s).
+qcoeff(i,j,k) is the coefficient in s**(indlim-k) of polynomial
+(i,j) of Q(s), where k = 1,2,…,indlim.</p>
+</dd>
+</dl>
+<p>leri : input string(len=1)</p>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>pcoeff<span class="classifier">rank-3 array(‘d’) with bounds (p,p,indlim)</span></dt><dd><p>On exit, the leading porm-by-porm-by-indlim part of this array
+contains the coefficients of the denominator matrix P’(s) of
+the dual system.</p>
+</dd>
+<dt>qcoeff<span class="classifier">rank-3 array(‘d’) with bounds (max(m,p),max(m,p),indlim)</span></dt><dd><p>On exit, the leading m-by-p-by-indlim part of the array contains
+the coefficients of the numerator matrix Q’(s) of the dual system.</p>
+</dd>
+<dt>info<span class="classifier">int</span></dt><dd><p>= 0:  successful exit;
+&lt; 0:  if info = -i, the i-th argument had an illegal value.</p>
+</dd>
+</dl>
+</dd>
+</dl>
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+
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+             
+  <div class="section" id="slycot-tc04ad">
+<h1>slycot.tc04ad<a class="headerlink" href="#slycot-tc04ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tc04ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tc04ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">index</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">leri</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tc04ad" title="Permalink to this definition"></a></dt>
+<dd><p>To find a state-space representation (A,B,C,D) with the same
+transfer matrix as that of a given left or right polynomial
+matrix representation, i.e.</p>
+<blockquote>
+<div><p>C*inv(sI-A)*B + D = inv(P(s))*Q(s)</p>
+</div></blockquote>
+<p>or</p>
+<blockquote>
+<div><p>C*inv(sI-A)*B + D = Q(s)*inv(P(s))</p>
+</div></blockquote>
+<p>respectively.</p>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt; 0.</p>
+</dd>
+<dt>p := len(index) input int</dt><dd><p>The number of system outputs.  p &gt; 0.</p>
+</dd>
+<dt>index<span class="classifier">input rank-1 array(‘i’) with bounds (p) or (m)</span></dt><dd><p>If leri = ‘L’, index(i), i = 1,2,…,p, must contain the maximum
+degree of the polynomials in the I-th row of the denominator matrix
+P(s) of the given left polynomial matrix representation.
+If leri = ‘R’, index(i), i = 1,2,…,m, must contain the maximum
+degree of the polynomials in the I-th column of the denominator
+matrix P(s) of the given right polynomial matrix representation.</p>
+</dd>
+<dt>pcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (p,p,*) or (m,m,*)</span></dt><dd><p>If leri = ‘L’ then porm = p, otherwise porm = m. The leading
+porm-by-porm-by-kpcoef part of this array must contain
+the coefficients of the denominator matrix P(s). pcoeff(i,j,k) is
+the coefficient in s**(index(iorj)-K+1) of polynomial (I,J) of P(s),
+where k = 1,2,…,kpcoef and kpcoef = max(index) + 1; if leri = ‘L’
+then iorj = i, otherwise iorj = j. Thus for leri = ‘L’,
+P(s) = diag(s**index)*(pcoeff(.,.,1)+pcoeff(.,.,2)/s+…).
+If leri = ‘R’, pcoeff is modified by the routine but restored on exit.</p>
+</dd>
+<dt>qcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (p,m,*) or (max(m,p),max(m,p),*)</span></dt><dd><p>If leri = ‘L’ then porp = m, otherwise porp = p. The leading
+porm-by-porp-by-kpcoef part of this array must contain
+the coefficients of the numerator matrix Q(s).
+qcoeff(i,j,k) is defined as for pcoeff(i,j,k).
+If leri = ‘R’, qcoeff is modified by the routine but restored on exit.</p>
+</dd>
+<dt>leri<span class="classifier">input string(len=1)</span></dt><dd><p>Indicates whether a left polynomial matrix representation or a right
+polynomial matrix representation is input as follows:
+= ‘L’:  A left matrix fraction is input;
+= ‘R’:  A right matrix fraction is input.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><dl class="simple">
+<dt>ldwork := max(m,p)*(max(m,p)+4) input int</dt><dd><p>The length of the cache array. ldwork &gt;= max(m,p)*(max(m,p)+4)
+For optimum performance it should be larger.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">int</span></dt><dd><p>The order of the resulting state-space representation.
+That is, n = sum(index).</p>
+</dd>
+<dt>rcond<span class="classifier">float</span></dt><dd><p>The estimated reciprocal of the condition number of the leading row
+(if leri = ‘L’) or the leading column (if leri = ‘R’) coefficient
+matrix of P(s).
+If rcond is nearly zero, P(s) is nearly row or column non-proper.</p>
+</dd>
+<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array contains the state dynamics matrix A.</p>
+</dd>
+<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading n-by-n part of this array contains the input/state matrix B;
+the remainder of the leading n-by-max(m,p) part is used as internal
+workspace.</p>
+</dd>
+<dt>C<span class="classifier">rank-2 array(‘d’) with bounds (max(m,p),n)</span></dt><dd><p>The leading p-by-n part of this array contains the state/output matrix C;
+the remainder of the leading max(m,p)-by-n part is used as internal
+workspace.</p>
+</dd>
+<dt>D<span class="classifier">rank-2 array(‘d’) with bounds (max(m,p),max(m,p))</span></dt><dd><p>The leading p-by-m part of this array contains the direct transmission
+matrix D; the remainder of the leading max(m,p)-by-max(m,p) part is
+used as internal workspace.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info == 1 and leri = ‘L’</dt>
+<dd class="field-odd"><p>P(s) is not row proper</p>
+</dd>
+<dt class="field-even">info == 1 and leri = ‘R’</dt>
+<dd class="field-even"><p>P(s) is not column proper</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+             
+  <div class="section" id="slycot-td04ad">
+<h1>slycot.td04ad<a class="headerlink" href="#slycot-td04ad" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.td04ad">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">td04ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rowcol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">index</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ucoeff</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.td04ad" title="Permalink to this definition"></a></dt>
+<dd><p>Convert a transfer function or matrix of transfer functions to
+a minimum state space realization.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>rowcol</strong> (<em>{R'</em><em>, </em><em>'C'}</em>) – indicates whether the transfer matrix T(s) is given
+as rows (‘R’) or colums (‘C’) over common denominators.</p></li>
+<li><p><strong>m</strong> (<em>int</em>) – input dimension</p></li>
+<li><p><strong>p</strong> (<em>int</em>) – output dimension</p></li>
+<li><p><strong>index</strong> (<em>(</em><em>p</em><em>,</em><em>) or </em><em>(</em><em>m</em><em>,</em><em>) </em><em>array_like</em>) – array of orders of the denominator polynomials. Different
+shapes corresponding to rowcol==’R’ and rowcol==’C’
+respectively.</p></li>
+<li><p><strong>dcoeff</strong> (<em>(</em><em>p</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) or </em><em>(</em><em>m</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) </em><em>ndarray</em>) – array of denominator coefficients. Different shapes
+corresponding to rowcol==’R’ and rowcol==’C’ respectively.</p></li>
+<li><p><strong>ucoeff</strong> (<em>(</em><em>p</em><em>,</em><em>m</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) or </em><em>(</em><em>max</em><em>(</em><em>p</em><em>,</em><em>m</em><em>)</em><em>,</em><em>max</em><em>(</em><em>p</em><em>,</em><em>m</em><em>)</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) </em><em>ndarray</em>) – array of numerator coefficients. Different shapes
+corresponding to rowcol==’R’ and rowcol==’C’ respectively.</p></li>
+<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – tolerance in determining the state space system,
+when set to 0, a default value is used.</p></li>
+<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default values is
+max(1,sum(index)+max(sum(index),max(3*m,3*p)))</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><ul class="simple">
+<li><p><strong>nr</strong> (<em>int</em>) – minimal state dimension</p></li>
+<li><p><strong>A</strong> (<em>(nr,nr) ndarray</em>) – state dynamics matrix.</p></li>
+<li><p><strong>B</strong> (<em>(nr,m) ndarray</em>) – input matrix</p></li>
+<li><p><strong>C</strong> (<em>(p,nr) ndarray</em>) – output matrix</p></li>
+<li><p><strong>D</strong> (<em>(p,m) ndarray</em>) – direct transmission matrix</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises</dt>
+<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
+<dt class="field-odd">info &gt; 0</dt>
+<dd class="field-odd"><p></p></dd>
+</dl>
+<p>i={info} is the first index of <cite>dcoeff</cite> for which
+<code class="docutils literal notranslate"><span class="pre">abs(</span> <span class="pre">dcoeff(i,1)</span> <span class="pre">)</span></code> is so small that the calculations
+would overflow (see SLICOT Library routine TD03AY);
+that is, the leading coefficient of a polynomial is
+nearly zero;</p>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
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+<li class="toctree-l3 current"><a class="reference internal" href="../slycot_outer.html#transformation-routines">Transformation Routines</a><ul class="current">
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+  <div class="section" id="slycot-tf01md">
+<h1>slycot.tf01md<a class="headerlink" href="#slycot-tf01md" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tf01md">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tf01md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x0</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tf01md" title="Permalink to this definition"></a></dt>
+<dd><p>To compute the output sequence of a linear time-invariant
+open-loop system given by its discrete-time state-space model</p>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>Order of the State-space representation.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>Number of inputs.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>Number of outputs.</p>
+</dd>
+<dt>N<span class="classifier">input int</span></dt><dd><p>Number of output samples to be computed.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>State dynamics matrix.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>Input/state matrix.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>State/output matrix.</p>
+</dd>
+<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>Direct transmission matrix.</p>
+</dd>
+<dt>u<span class="classifier">input rank-2 array(‘d’) with bounds (m,N)</span></dt><dd><p>Input signal.</p>
+</dd>
+<dt>x0<span class="classifier">input rank-1 array(‘d’) with bounds (n)</span></dt><dd><p>Initial state, at time 0.</p>
+</dd>
+</dl>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>xf<span class="classifier">rank-1 array(‘d’) with bounds (n)</span></dt><dd><p>Final state, at time N+1.</p>
+</dd>
+<dt>y<span class="classifier">rank-2 array(‘d’) with bounds (p,N)</span></dt><dd><p>Output signal.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
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new file mode 100644
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+             
+  <div class="section" id="slycot-tf01rd">
+<h1>slycot.tf01rd<a class="headerlink" href="#slycot-tf01rd" title="Permalink to this heading"></a></h1>
+<dl class="py function">
+<dt class="sig sig-object py" id="slycot.tf01rd">
+<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tf01rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tf01rd" title="Permalink to this definition"></a></dt>
+<dd><p>To compute N Markov parameters M_1, M_2,…, M_N from the
+parameters (A,B,C) of a linear time-invariant system, where each
+M_k is an p-by-m matrix and k = 1,2,…,N.</p>
+<p>All matrices are treated as dense, and hence TF01RD is not
+intended for large sparse problems.</p>
+<dl class="simple">
+<dt>Required arguments:</dt><dd><dl class="simple">
+<dt>n<span class="classifier">input int</span></dt><dd><p>Order of the State-space representation.</p>
+</dd>
+<dt>m<span class="classifier">input int</span></dt><dd><p>Number of inputs.</p>
+</dd>
+<dt>p<span class="classifier">input int</span></dt><dd><p>Number of outputs.</p>
+</dd>
+<dt>N<span class="classifier">input int</span></dt><dd><p>Number of Markov parameters to be computed.</p>
+</dd>
+<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>State dynamics matrix.</p>
+</dd>
+<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>Input/state matrix.</p>
+</dd>
+<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>State/output matrix.</p>
+</dd>
+</dl>
+</dd>
+<dt>Optional arguments:</dt><dd><p>ldwork := 2*na*nc input int</p>
+</dd>
+<dt>Return objects:</dt><dd><dl class="simple">
+<dt>H<span class="classifier">rank-2 array(‘d’) with bounds (p,N*m)</span></dt><dd><p>H[:,(k-1)*m : k*m] contains the k-th Markov parameter,
+for k = 1,2…N.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="slycot.tf01md.html" class="btn btn-neutral float-left" title="slycot.tf01md" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+           <div itemprop="articleBody">
+             
+  <div class="section" id="slycot-reference">
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+<ul>
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+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13bd.html">slycot._wrapper.ab13bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13dd.html">slycot._wrapper.ab13dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13ed.html">slycot._wrapper.ab13ed</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13fd.html">slycot._wrapper.ab13fd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13md.html">slycot._wrapper.ab13md</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#mathematical-routines">Mathematical routines</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mc01td.html">slycot._wrapper.mc01td</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03rd.html">slycot._wrapper.mb03rd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03vd.html">slycot._wrapper.mb03vd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03vy.html">slycot._wrapper.mb03vy</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03wd.html">slycot._wrapper.mb03wd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb05md.html">slycot._wrapper.mb05md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb05nd.html">slycot._wrapper.mb05nd</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#synthesis">Synthesis</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb01bd.html">slycot._wrapper.sb01bd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb02md.html">slycot._wrapper.sb02md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb03md.html">slycot._wrapper.sb03md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb03od.html">slycot._wrapper.sb03od</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb04qd.html">slycot._wrapper.sb04qd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10ad.html">slycot._wrapper.sb10ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10dd.html">slycot._wrapper.sb10dd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10fd.html">slycot._wrapper.sb10fd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10hd.html">slycot._wrapper.sb10hd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sg03ad.html">slycot._wrapper.sg03ad</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sg03bd.html">slycot._wrapper.sg03bd</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#transformation-routines">Transformation Routines</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tb01id.html">slycot._wrapper.tb01id</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tf01md.html">slycot._wrapper.tf01md</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tf01rd.html">slycot._wrapper.tf01rd</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tb01pd.html">slycot._wrapper.tb01pd</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../dev/index.html">Development</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../../index.html">Slycot</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="index.html">Slycot reference</a></li>
+      <li class="breadcrumb-item active">Inner function reference</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../_sources/source/reference/slycot_inner.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="inner-function-reference">
+<span id="inner-function-ref"></span><h1>Inner function reference<a class="headerlink" href="#inner-function-reference" title="Permalink to this heading"></a></h1>
+<span class="target" id="module-slycot"></span><div class="section" id="analysis">
+<h2>Analysis<a class="headerlink" href="#analysis" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab01nd.html#slycot._wrapper.ab01nd" title="slycot._wrapper.ab01nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab01nd</span></code></a>(jobz,n,m,a,b,[tol,ldwork])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab01nd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab04md.html#slycot._wrapper.ab04md" title="slycot._wrapper.ab04md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab04md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab04md</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab05md.html#slycot._wrapper.ab05md" title="slycot._wrapper.ab05md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab05md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05md</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab05nd.html#slycot._wrapper.ab05nd" title="slycot._wrapper.ab05nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab05nd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05nd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab07nd.html#slycot._wrapper.ab07nd" title="slycot._wrapper.ab07nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab07nd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab07nd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab08nd.html#slycot._wrapper.ab08nd" title="slycot._wrapper.ab08nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab08nd</span></code></a>(n,m,p,a,b,c,d,[equil,tol,ldwork])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab08nz.html#slycot._wrapper.ab08nz" title="slycot._wrapper.ab08nz"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab08nz</span></code></a>(n,m,p,a,b,c,d,[equil,tol,lzwork])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nz</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab09ad.html#slycot._wrapper.ab09ad" title="slycot._wrapper.ab09ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab09ad</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09ad</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab09ax.html#slycot._wrapper.ab09ax" title="slycot._wrapper.ab09ax"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab09ax</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09ax</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab09bd.html#slycot._wrapper.ab09bd" title="slycot._wrapper.ab09bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab09bd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09bd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab09md.html#slycot._wrapper.ab09md" title="slycot._wrapper.ab09md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab09md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09md</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab09nd.html#slycot._wrapper.ab09nd" title="slycot._wrapper.ab09nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab09nd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09nd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab13bd.html#slycot._wrapper.ab13bd" title="slycot._wrapper.ab13bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab13bd</span></code></a>(dico, jobn, n, m, p, a, b, ...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13bd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab13dd.html#slycot._wrapper.ab13dd" title="slycot._wrapper.ab13dd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab13dd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13dd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab13ed.html#slycot._wrapper.ab13ed" title="slycot._wrapper.ab13ed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab13ed</span></code></a>(n,a,[tol])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13ed</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab13fd.html#slycot._wrapper.ab13fd" title="slycot._wrapper.ab13fd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab13fd</span></code></a>(n,a,[tol])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13fd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.ab13md.html#slycot._wrapper.ab13md" title="slycot._wrapper.ab13md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.ab13md</span></code></a>(fact, z, nblock, itype, x)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13md</span></code>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="mathematical-routines">
+<h2>Mathematical routines<a class="headerlink" href="#mathematical-routines" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.mc01td.html#slycot._wrapper.mc01td" title="slycot._wrapper.mc01td"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mc01td</span></code></a>(dico, dp, p)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mc01td</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.mb03rd.html#slycot._wrapper.mb03rd" title="slycot._wrapper.mb03rd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mb03rd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03rd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.mb03vd.html#slycot._wrapper.mb03vd" title="slycot._wrapper.mb03vd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mb03vd</span></code></a>(n,ilo,ihi,a,[overwrite_a])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03vd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.mb03vy.html#slycot._wrapper.mb03vy" title="slycot._wrapper.mb03vy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mb03vy</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03vy</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.mb03wd.html#slycot._wrapper.mb03wd" title="slycot._wrapper.mb03wd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mb03wd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03wd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.mb05md.html#slycot._wrapper.mb05md" title="slycot._wrapper.mb05md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mb05md</span></code></a>(balanc,n,delta,a,[overwrite_a])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05md</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.mb05nd.html#slycot._wrapper.mb05nd" title="slycot._wrapper.mb05nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.mb05nd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05nd</span></code>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="synthesis">
+<h2>Synthesis<a class="headerlink" href="#synthesis" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb01bd.html#slycot._wrapper.sb01bd" title="slycot._wrapper.sb01bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb01bd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb01bd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb02md.html#slycot._wrapper.sb02md" title="slycot._wrapper.sb02md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb02md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb02md</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb03md.html#slycot._wrapper.sb03md" title="slycot._wrapper.sb03md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb03md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb03md</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb03od.html#slycot._wrapper.sb03od" title="slycot._wrapper.sb03od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb03od</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb03od</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb04md.html#slycot._wrapper.sb04md" title="slycot._wrapper.sb04md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb04md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb04md</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb04qd.html#slycot._wrapper.sb04qd" title="slycot._wrapper.sb04qd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb04qd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb04qd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb10ad.html#slycot._wrapper.sb10ad" title="slycot._wrapper.sb10ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb10ad</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10ad</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb10dd.html#slycot._wrapper.sb10dd" title="slycot._wrapper.sb10dd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb10dd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10dd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb10fd.html#slycot._wrapper.sb10fd" title="slycot._wrapper.sb10fd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb10fd</span></code></a>(n, m, np, ncon, nmeas, ...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10fd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.sb10hd.html#slycot._wrapper.sb10hd" title="slycot._wrapper.sb10hd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sb10hd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10hd</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.sg03ad.html#slycot._wrapper.sg03ad" title="slycot._wrapper.sg03ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sg03ad</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sg03ad</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.sg03bd.html#slycot._wrapper.sg03bd" title="slycot._wrapper.sg03bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.sg03bd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sg03bd</span></code>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="transformation-routines">
+<h2>Transformation Routines<a class="headerlink" href="#transformation-routines" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.tb01id.html#slycot._wrapper.tb01id" title="slycot._wrapper.tb01id"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.tb01id</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01id</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.tf01md.html#slycot._wrapper.tf01md" title="slycot._wrapper.tf01md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.tf01md</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tf01md</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot._wrapper.tf01rd.html#slycot._wrapper.tf01rd" title="slycot._wrapper.tf01rd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.tf01rd</span></code></a>(na,nb,nc,n,a,b,c,[ldwork])</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tf01rd</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot._wrapper.tb01pd.html#slycot._wrapper.tb01pd" title="slycot._wrapper.tb01pd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">_wrapper.tb01pd</span></code></a>(...)</p></td>
+<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01pd</span></code>.</p></td>
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+<li class="toctree-l3"><a class="reference internal" href="#transformation-routines">Transformation Routines</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot.tb01id.html">slycot.tb01id</a></li>
+<li class="toctree-l4"><a class="reference internal" href="generated/slycot.tb03ad.html">slycot.tb03ad</a></li>
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+             
+  <div class="section" id="outer-function-reference">
+<span id="function-ref"></span><h1>Outer function reference<a class="headerlink" href="#outer-function-reference" title="Permalink to this heading"></a></h1>
+<span class="target" id="module-slycot"></span><div class="section" id="analysis">
+<h2>Analysis<a class="headerlink" href="#analysis" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab01nd.html#slycot.ab01nd" title="slycot.ab01nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab01nd</span></code></a>(n,m,A,B,[jobz,tol,ldwork])</p></td>
+<td><p>To find a controllable realization for the linear time-invariant multi-input system</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab04md.html#slycot.ab04md" title="slycot.ab04md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab04md</span></code></a>()</p></td>
+<td><p></p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab05md.html#slycot.ab05md" title="slycot.ab05md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab05md</span></code></a>(...)</p></td>
+<td><p>To obtain the state-space model (A,B,C,D) for the cascaded inter-connection of two systems, each given in state-space form.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab05nd.html#slycot.ab05nd" title="slycot.ab05nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab05nd</span></code></a>(...)</p></td>
+<td><p>To obtain the state-space model (A,B,C,D) for the feedback inter-connection of two systems, each given in state-space form.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab07nd.html#slycot.ab07nd" title="slycot.ab07nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab07nd</span></code></a>(n,m,A,B,C,D,[ldwork])</p></td>
+<td><p>To compute the inverse (A_i,B_i,C_i,D_i) of a given system (A,B,C,D).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab08nd.html#slycot.ab08nd" title="slycot.ab08nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab08nd</span></code></a>(n,m,p,A,B,C,D,[equil,tol,ldwork])</p></td>
+<td><p>To construct for a linear multivariable system described by a state-space model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant zeros of the system as generalized eigenvalues.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab08nz.html#slycot.ab08nz" title="slycot.ab08nz"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab08nz</span></code></a>(n,m,p,A,B,C,D,[equil,tol,lzwork])</p></td>
+<td><p>To construct for a linear multivariable system described by a state-space model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant zeros of the system as generalized eigenvalues.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab09ad.html#slycot.ab09ad" title="slycot.ab09ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09ad</span></code></a>(...)</p></td>
+<td><p>Compute reduced order State-Space-Model (Ar, Br, Cr) for a stable system (A, B, C) by using either the square-root or the balancing-free square- root Balance &amp; truncate (B &amp; T) model reduction method.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab09ax.html#slycot.ab09ax" title="slycot.ab09ax"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09ax</span></code></a>(dico, job, n, m, p, A, B, C[, nr, ...])</p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">nr,Ar,Br,Cr,hsv,T,Ti</span> <span class="pre">=</span> <span class="pre">ab09ad(dico,job,equil,n,m,p,nr,A,B,C,[nr,tol,ldwork])</span></code></p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab09bd.html#slycot.ab09bd" title="slycot.ab09bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09bd</span></code></a>(...)</p></td>
+<td><p>To compute a reduced order model (Ar,Br,Cr,Dr) for a stable original state-space representation (A,B,C,D) by using either the square-root or the balancing-free square-root Singular Perturbation Approximation (SPA) model reduction method.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab09md.html#slycot.ab09md" title="slycot.ab09md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09md</span></code></a>(...)</p></td>
+<td><p>To compute a reduced order model (Ar,Br,Cr) for an original state-space representation (A,B,C) by using either the square-root or the balancing-free square-root Balance &amp; Truncate (B &amp; T) model reduction method for the ALPHA-stable part of the system.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab09nd.html#slycot.ab09nd" title="slycot.ab09nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09nd</span></code></a>(...)</p></td>
+<td><p>To compute a reduced order model (Ar,Br,Cr,Dr) for an original state-space representation (A,B,C,D) by using either the square-root or the balancing-free square-root Singular Perturbation Approximation (SPA) model reduction method for the alpha-stable part of the system.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab13bd.html#slycot.ab13bd" title="slycot.ab13bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13bd</span></code></a>(dico, jobn, n, m, p, A, B, C, D, [tol])</p></td>
+<td><p>To compute the H2 or L2 norm of the transfer-function matrix G of the system (A,B,C,D).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab13dd.html#slycot.ab13dd" title="slycot.ab13dd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13dd</span></code></a>(dico, jobe, equil, jobd, n, m, p, A, ...)</p></td>
+<td><p>To compute the L-infinity norm of a continuous-time or discrete-time system, either standard or in the descriptor form,</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab13ed.html#slycot.ab13ed" title="slycot.ab13ed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13ed</span></code></a>(n, A, [tol])</p></td>
+<td><p>To estimate beta(A), the 2-norm distance from a real matrix A to the nearest complex matrix with an eigenvalue on the imaginary axis.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab13fd.html#slycot.ab13fd" title="slycot.ab13fd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13fd</span></code></a>(n, A, [tol])</p></td>
+<td><p>To compute beta(A), the 2-norm distance from a real matrix A to the nearest complex matrix with an eigenvalue on the imaginary axis.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab13md.html#slycot.ab13md" title="slycot.ab13md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13md</span></code></a>(Z, nblock, itype, [x])</p></td>
+<td><p>Find an upper bound for the structured singular value of complex matrix Z and given block diagonal structure.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="mathematical-routines">
+<h2>Mathematical routines<a class="headerlink" href="#mathematical-routines" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mc01td.html#slycot.mc01td" title="slycot.mc01td"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mc01td</span></code></a>(dico, dp, p)</p></td>
+<td><p>To determine whether or not a given polynomial P(x) with real coefficients is stable, either in the continuous-time or discrete- time case.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.mb03rd.html#slycot.mb03rd" title="slycot.mb03rd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03rd</span></code></a>(n, A, [X, jobx, sort, pmax, tol])</p></td>
+<td><p>To reduce a matrix <cite>A</cite> in real Schur form to a block-diagonal form using well-conditioned non-orthogonal similarity transformations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mb03vd.html#slycot.mb03vd" title="slycot.mb03vd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03vd</span></code></a>(n, ilo, ihi, A)</p></td>
+<td><p>To reduce a product of p real general matrices A = A_1*A_2*...*A_p to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is upper Hessenberg, and H_2, ..., H_p are upper triangular, by using orthogonal similarity transformations on A,</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.mb03vy.html#slycot.mb03vy" title="slycot.mb03vy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03vy</span></code></a>(n, ilo, ihi, A, Tau, [ldwork])</p></td>
+<td><p>To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p, which are defined as the product of ihi-ilo elementary reflectors of order n, as returned by SLICOT Library routine MB03VD:</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mb03wd.html#slycot.mb03wd" title="slycot.mb03wd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03wd</span></code></a>(job, compz, n, ilo, ihi, iloz, ihiz, ...)</p></td>
+<td><p>To compute the Schur decomposition and the eigenvalues of a</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.mb05md.html#slycot.mb05md" title="slycot.mb05md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb05md</span></code></a>(a, delta[, balanc])</p></td>
+<td><p>Matrix exponential for a real non-defective matrix</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mb05nd.html#slycot.mb05nd" title="slycot.mb05nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb05nd</span></code></a>(n, a, delta[, tol])</p></td>
+<td><p>To compute</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="synthesis">
+<h2>Synthesis<a class="headerlink" href="#synthesis" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb01bd.html#slycot.sb01bd" title="slycot.sb01bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb01bd</span></code></a>(n,m,np,alpha,A,B,w,dico,[tol,ldwork])</p></td>
+<td><p>To determine the state feedback matrix F for a given system (A,B) such that the closed-loop state matrix A+B*F has specified eigenvalues.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb02md.html#slycot.sb02md" title="slycot.sb02md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb02md</span></code></a>(dico,n,A,G,Q,[hinv,uplo,scal,sort,ldwork])</p></td>
+<td><p>To solve for X either the continuous-time algebraic Riccati equation</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb02mt.html#slycot.sb02mt" title="slycot.sb02mt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb02mt</span></code></a>(n,m,B,R,[A,Q,L,fact,jobl,uplo,ldwork])</p></td>
+<td><p>To compute the following matrices</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb02od.html#slycot.sb02od" title="slycot.sb02od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb02od</span></code></a>(...)</p></td>
+<td><p>To solve for X either the continuous-time algebraic Riccati equation</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb03md.html#slycot.sb03md" title="slycot.sb03md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb03md</span></code></a>(n,C,A,U,dico,[job,fact,trana,ldwork])</p></td>
+<td><p><div class="deprecated">
+<p><span class="versionmodified deprecated">Deprecated since version 0.5.</span></p>
+</div>
+</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb03md57.html#slycot.sb03md57" title="slycot.sb03md57"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb03md57</span></code></a>(A[, U, C, dico, job, fact, trana, ...])</p></td>
+<td><p>To solve for X either the real continuous-time Lyapunov equation</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb03od.html#slycot.sb03od" title="slycot.sb03od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb03od</span></code></a>(dico,n,m,A,Q,B,[fact,trans,ldwork])</p></td>
+<td><p>To solve for X = op(U)'<a href="#id1"><span class="problematic" id="id2">*</span></a>op(U) either the stable non-negative definite continuous-time Lyapunov equation</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb04md.html#slycot.sb04md" title="slycot.sb04md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb04md</span></code></a>(n,m,A,B,C[,ldwork])</p></td>
+<td><p>To solve for X the continuous-time Sylvester equation</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb04qd.html#slycot.sb04qd" title="slycot.sb04qd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb04qd</span></code></a>(n,m,A,B,C[,ldwork])</p></td>
+<td><p>To solve for X the discrete-time Sylvester equation</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb10ad.html#slycot.sb10ad" title="slycot.sb10ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10ad</span></code></a>(...)</p></td>
+<td><p>To compute the matrices of an H-infinity optimal n-state controller</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb10dd.html#slycot.sb10dd" title="slycot.sb10dd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10dd</span></code></a>(...)</p></td>
+<td><p>To compute the matrices of an H-infinity (sub)optimal n-state controller</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb10fd.html#slycot.sb10fd" title="slycot.sb10fd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10fd</span></code></a>(...)</p></td>
+<td><p>To compute the matrices of an H-infinity (sub)optimal n-state controller</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb10hd.html#slycot.sb10hd" title="slycot.sb10hd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10hd</span></code></a>(n,m,np,ncon,nmeas,a,b,c,d,[tol,ldwork])</p></td>
+<td><p>To compute the matrices of the H2 optimal n-state controller</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sg02ad.html#slycot.sg02ad" title="slycot.sg02ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sg02ad</span></code></a>(...)</p></td>
+<td><p>To solve for X either the continuous-time algebraic Riccati equation</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sg03ad.html#slycot.sg03ad" title="slycot.sg03ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sg03ad</span></code></a>(...)</p></td>
+<td><p>To solve for X either the generalized continuous-time Lyapunov equation</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sg03bd.html#slycot.sg03bd" title="slycot.sg03bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sg03bd</span></code></a>(dico,n,m,A,E,Q,Z,B,[fact,trans,ldwork])</p></td>
+<td><p>To compute the Cholesky factor U of the matrix X,</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="transformation-routines">
+<h2>Transformation Routines<a class="headerlink" href="#transformation-routines" title="Permalink to this heading"></a></h2>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tb01id.html#slycot.tb01id" title="slycot.tb01id"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb01id</span></code></a>(n,m,p,maxred,A,B,C,[job])</p></td>
+<td><p>To reduce the 1-norm of a system matrix</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tb03ad.html#slycot.tb03ad" title="slycot.tb03ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb03ad</span></code></a>(n,m,p,A,B,C,D,leri,[equil,tol,ldwork])</p></td>
+<td><p>To find a relatively prime left or right polynomial matrix representation with the same transfer matrix as that of a given state-space representation, i.e. if leri = 'L'.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tb04ad.html#slycot.tb04ad" title="slycot.tb04ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb04ad</span></code></a>(n,m,p,A,B,C,D,[tol1,tol2,ldwork])</p></td>
+<td><p>Convert a state-space system to a tranfer function or matrix of transfer functions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tb05ad.html#slycot.tb05ad" title="slycot.tb05ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb05ad</span></code></a>(n, m, p, jomega, A, B, C[, job])</p></td>
+<td><p>To find the complex frequency response matrix (transfer matrix) G(freq) of the state-space representation (A,B,C) given by</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tc04ad.html#slycot.tc04ad" title="slycot.tc04ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tc04ad</span></code></a>(m,p,index,pcoeff,qcoeff,leri,[ldwork])</p></td>
+<td><p>To find a state-space representation (A,B,C,D) with the same transfer matrix as that of a given left or right polynomial matrix representation, i.e.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tc01od.html#slycot.tc01od" title="slycot.tc01od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tc01od</span></code></a>(m, p, indlim, pcoeff, qcoeff, leri)</p></td>
+<td><p>To find the dual right (left) polynomial matrix representation of a given left (right) polynomial matrix representation, where the right and left polynomial matrix representations are of the form Q(s)*inv(P(s)) and inv(P(s))*Q(s) respectively.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tf01md.html#slycot.tf01md" title="slycot.tf01md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tf01md</span></code></a>(n, m, p, N, A, B, C, D, u, x0)</p></td>
+<td><p>To compute the output sequence of a linear time-invariant open-loop system given by its discrete-time state-space model</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tf01rd.html#slycot.tf01rd" title="slycot.tf01rd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tf01rd</span></code></a>(n,m,p,N,A,B,C,[ldwork])</p></td>
+<td><p>To compute N Markov parameters M_1, M_2,..., M_N from the parameters (A,B,C) of a linear time-invariant system, where each M_k is an p-by-m matrix and k = 1,2,...,N.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.td04ad.html#slycot.td04ad" title="slycot.td04ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">td04ad</span></code></a>(...)</p></td>
+<td><p>Convert a transfer function or matrix of transfer functions to a minimum state space realization.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tb01pd.html#slycot.tb01pd" title="slycot.tb01pd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb01pd</span></code></a>(n,m,p,A,B,C,[job,equil,tol,ldwork])</p></td>
+<td><p>To find a reduced (controllable, observable, or minimal) state- space representation (Ar,Br,Cr) for any original state-space representation (A,B,C).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</div>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="index.html" class="btn btn-neutral float-left" title="Slycot reference" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="generated/slycot.ab01nd.html" class="btn btn-neutral float-right" title="slycot.ab01nd" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
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+  <hr/>
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+    <p>&#169; Copyright 2023, Slycot Developers.</p>
+  </div>
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\ No newline at end of file
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+<HTML>
+<HEAD><TITLE>AB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB01MD">AB01MD</A></H2>
+<H3>
+Controllable realization for single-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  single-input system
+
+          dX/dt = A * X + B * U,
+
+  where A is an N-by-N matrix and B is an N element vector which
+  are reduced by this routine to orthogonal canonical form using
+  (and optionally accumulating) orthogonal similarity
+  transformations.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INFO, LDA, LDZ, LDWORK, N, NCONT
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), TAU(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT upper Hessenberg
+          part of this array contains the canonical form of the
+          state dynamics matrix, given by Z' * A * Z, of a
+          controllable realization for the original system. The
+          elements below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, the original input/state vector B.
+          On exit, the leading NCONT elements of this array contain
+          canonical form of the input/state vector, given by Z' * B,
+          with all elements but B(1) set to zero.
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this array
+          contains the matrix of accumulated orthogonal similarity
+          transformations which reduces the given system to
+          orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of (A,B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as an absolute tolerance;
+          elements with absolute value less than TOL are considered
+          neglijible. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by
+          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder matrix which reduces all but the first element
+  of vector B to zero is found and this orthogonal similarity
+  transformation is applied to the matrix A. The resulting A is then
+  reduced to upper Hessenberg form by a sequence of Householder
+  transformations. Finally, the order of the controllable state-
+  space representation (NCONT) is determined by finding the position
+  of the first sub-diagonal element of A which is below an
+  appropriate zero threshold, either TOL or TOLDEF (see parameter
+  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
+  zero, and no computations for reducing the system to orthogonal
+  canonical form are performed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Hammarling, S.J.
+      Notes on the use of orthogonal similarity transformations in
+      control.
+      NPL Report DITC 8/82, August 1982.
+
+  [3] Paige, C.C
+      Properties of numerical algorithms related to computing
+      controllability.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDZ
+      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), TAU(NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB01MD, DORGQR
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
+*        Find a controllable realization for the given system.
+         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
+     $                DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) NCONT
+            DO 20 I = 1, NCONT
+               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
+            IF ( LSAME( JOBZ, 'F' ) )
+     $         CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK, INFO )
+            IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01MD = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
+     $       'ble realization is ')
+99996 FORMAT (/' The input/state vector B of a controllable realizatio',
+     $       'n is ',/(1X,F8.4))
+99995 FORMAT (/' The similarity transformation matrix Z is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB01MD EXAMPLE PROGRAM DATA
+   3     0.0     I
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB01MD EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  3
+
+ The state dynamics matrix A of a controllable realization is 
+   1.0000   1.4142   0.0000
+   2.8284  -1.0000   2.8284
+   0.0000   1.4142   1.0000
+
+ The input/state vector B of a controllable realization is 
+  -1.4142
+   0.0000
+   0.0000
+
+ The similarity transformation matrix Z is 
+  -0.7071   0.0000  -0.7071
+   0.0000  -1.0000   0.0000
+  -0.7071   0.0000   0.7071
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB01ND.html b/doc/_static/doc/AB01ND.html
new file mode 100644
index 00000000..f85f2dd9
--- /dev/null
+++ b/doc/_static/doc/AB01ND.html
@@ -0,0 +1,368 @@
+<HTML>
+<HEAD><TITLE>AB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB01ND">AB01ND</A></H2>
+<H3>
+Controllable realization for multi-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  multi-input system
+
+          dX/dt = A * X + B * U,
+
+  where A and B are N-by-N and N-by-M matrices, respectively,
+  which are reduced by this routine to orthogonal canonical form
+  using (and optionally accumulating) orthogonal similarity
+  transformations.  Specifically, the pair (A, B) is reduced to
+  the pair (Ac, Bc),  Ac = Z' * A * Z,  Bc = Z' * B,  given by
+
+          [ Acont     *    ]         [ Bcont ]
+     Ac = [                ],   Bc = [       ],
+          [   0    Auncont ]         [   0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
+             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
+             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
+     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
+             [  .   .     . .    .     .  ]         [ .  ]
+             [  .   .       .    .     .  ]         [ .  ]
+             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
+
+  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
+  p is the controllability index of the pair.  The size of the
+  block  Auncont is equal to the dimension of the uncontrollable
+  subspace of the pair (A, B).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
+     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INDCON, INFO, LDA, LDB, LDWORK, LDZ, M, N, NCONT
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), Z(LDZ,*)
+      INTEGER           IWORK(*), NBLK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT part contains the
+          upper block Hessenberg state dynamics matrix Acont in Ac,
+          given by Z' * A * Z, of a controllable realization for
+          the original system. The elements below the first block-
+          subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading NCONT-by-M part of this array
+          contains the transformed input matrix Bcont in Bc, given
+          by Z' * B, with all elements but the first block set to
+          zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  INDCON  (output) INTEGER
+          The controllability index of the controllable part of the
+          system representation.
+
+  NBLK    (output) INTEGER array, dimension (N)
+          The leading INDCON elements of this array contain the
+          the orders of the diagonal blocks of Acont.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this
+          array contains the matrix of accumulated orthogonal
+          similarity transformations which reduces the given system
+          to orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N, 3*M).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix B is first QR-decomposed and the appropriate orthogonal
+  similarity transformation applied to the matrix A. Leaving the
+  first rank(B) states unchanged, the remaining lower left block
+  of A is then QR-decomposed and the new orthogonal matrix, Q1,
+  is also applied to the right of A to complete the similarity
+  transformation. By continuing in this manner, a completely
+  controllable state-space pair (Acont, Bcont) is found for the
+  given (A, B), where Acont is upper block Hessenberg with each
+  subdiagonal block of full row rank, and Bcont is zero apart from
+  its (independent) first rank(B) rows.
+  NOTE that the system controllability indices are easily
+  calculated from the dimensions of the blocks of Acont.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Paige, C.C.
+      Properties of numerical algorithms related to computing
+      controllablity.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
+      Postlethwaite, I.
+      Optimal Pole Assignment Design of Linear Multi-Input Systems.
+      Leicester University, Report 99-11, May 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, INDCON, J, M, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
+     $                 TAU(NMAX), Z(LDZ,NMAX)
+      INTEGER          IWORK(LIWORK), NBLK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB01ND, DORGQR
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+*           Find a controllable ssr for the given system.
+            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
+     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NCONT
+               WRITE ( NOUT, FMT = 99996 )
+               DO 20 I = 1, NCONT
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
+               WRITE ( NOUT, FMT = 99993 )
+               DO 40 I = 1, NCONT
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99992 ) INDCON
+               IF ( LSAME( JOBZ, 'F' ) )
+     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                         INFO )
+               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01ND = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
+     $       'le realization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
+     $       /20(1X,I2))
+99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
+     $       'e realization is ')
+99992 FORMAT (/' The controllability index of the transformed system r',
+     $       'epresentation = ',I2)
+99991 FORMAT (/' The similarity transformation matrix Z is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB01ND EXAMPLE PROGRAM DATA
+   3     2     0.0     I
+  -1.0   0.0   0.0
+  -2.0  -2.0  -2.0
+  -1.0   0.0  -3.0
+   1.0   0.0   0.0
+   0.0   2.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB01ND EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  2
+
+ The transformed state dynamics matrix of a controllable realization is 
+  -3.0000   2.2361
+   0.0000  -1.0000
+
+ and the dimensions of its diagonal blocks are 
+  2
+
+ The transformed input/state matrix B of a controllable realization is 
+   0.0000  -2.2361
+   1.0000   0.0000
+
+ The controllability index of the transformed system representation =  1
+
+ The similarity transformation matrix Z is 
+   0.0000   1.0000   0.0000
+  -0.8944   0.0000  -0.4472
+  -0.4472   0.0000   0.8944
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB01OD.html b/doc/_static/doc/AB01OD.html
new file mode 100644
index 00000000..18c4edff
--- /dev/null
+++ b/doc/_static/doc/AB01OD.html
@@ -0,0 +1,404 @@
+<HTML>
+<HEAD><TITLE>AB01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB01OD">AB01OD</A></H2>
+<H3>
+Staircase form for multi-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices A and B using (and optionally accumulating)
+  state-space and input-space transformations U and V respectively,
+  such that the pair of matrices
+
+     Ac = U' * A * U,    Bc = U' * B * V
+
+  are in upper "staircase" form. Specifically,
+
+          [ Acont     *    ]         [ Bcont ]
+     Ac = [                ],   Bc = [       ],
+          [   0    Auncont ]         [   0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
+             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
+             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
+     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
+             [  .   .     . .    .     .  ]         [ .  ]
+             [  .   .       .    .     .  ]         [ .  ]
+             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
+
+  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
+  p is the controllability index of the pair.  The size of the
+  block Auncont is equal to the dimension of the uncontrollable
+  subspace of the pair (A, B).  The first stage of the reduction,
+  the "forward" stage, accomplishes the reduction to the orthogonal
+  canonical form (see SLICOT library routine AB01ND). The blocks
+  B1, A21, ..., Ap,p-1 are further reduced in a second, "backward"
+  stage to upper triangular form using RQ factorization. Each of
+  these stages is optional.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
+     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV, STAGES
+      INTEGER           INDCON, INFO, LDA, LDB, LDU, LDV, LDWORK, M, N,
+     $                  NCONT
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*), KSTAIR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STAGES  CHARACTER*1
+          Specifies the reduction stages to be performed as follows:
+          = 'F':  Perform the forward stage only;
+          = 'B':  Perform the backward stage only;
+          = 'A':  Perform both (all) stages.
+
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the state-space transformations as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is internally initialized to the unit matrix (if
+                  STAGES &lt;&gt; 'B'), or updated (if STAGES = 'B'), and
+                  the orthogonal transformation matrix U is
+                  returned.
+
+  JOBV    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix V the input-space transformations as follows:
+          = 'N':  Do not form V;
+          = 'I':  V is initialized to the unit matrix and the
+                  orthogonal transformation matrix V is returned.
+          JOBV is not referenced if STAGES = 'F'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The actual input dimension.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A to be transformed.
+          If STAGES = 'B', A should be in the orthogonal canonical
+          form, as returned by SLICOT library routine AB01ND.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state transition matrix U' * A * U.
+          The leading NCONT-by-NCONT part contains the upper block
+          Hessenberg state matrix Acont in Ac, given by U' * A * U,
+          of a controllable realization for the original system.
+          The elements below the first block-subdiagonal are set to
+          zero.  If STAGES &lt;&gt; 'F', the subdiagonal blocks of A are
+          triangularized by RQ factorization, and the annihilated
+          elements are explicitly zeroed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B to be transformed.
+          If STAGES = 'B', B should be in the orthogonal canonical
+          form, as returned by SLICOT library routine AB01ND.
+          On exit with STAGES = 'F', the leading N-by-M part of
+          this array contains the transformed input matrix U' * B,
+          with all elements but the first block set to zero.
+          On exit with STAGES &lt;&gt; 'F', the leading N-by-M part of
+          this array contains the transformed input matrix
+          U' * B * V, with all elements but the first block set to
+          zero and the first block in upper triangular form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          If STAGES &lt;&gt; 'B' or JOBU = 'N', then U need not be set
+          on entry.
+          If STAGES = 'B' and JOBU = 'I', then, on entry, the
+          leading N-by-N part of this array must contain the
+          transformation matrix U that reduced the pair to the
+          orthogonal canonical form.
+          On exit, if JOBU = 'I', the leading N-by-N part of this
+          array contains the transformation matrix U that performed
+          the specified reduction.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          If JOBU = 'I', LDU &gt;= MAX(1,N);  if JOBU = 'N', LDU &gt;= 1.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
+          If JOBV = 'I', then the leading M-by-M part of this array
+          contains the transformation matrix V.
+          If STAGES = 'F', or JOBV = 'N', the array V is not
+          referenced and can be supplied as a dummy array (i.e. set
+          parameter  LDV = 1 and declare this array to be V(1,1) in
+          the calling program).
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          If STAGES &lt;&gt; 'F' and JOBV = 'I', LDV &gt;= MAX(1,M);
+          if STAGES = 'F' or JOBV = 'N', LDV &gt;= 1.
+
+  NCONT   (input/output) INTEGER
+          The order of the controllable state-space representation.
+          NCONT is input only if STAGES = 'B'.
+
+  INDCON  (input/output) INTEGER
+          The number of stairs in the staircase form (also, the
+          controllability index of the controllable part of the
+          system representation).
+          INDCON is input only if STAGES = 'B'.
+
+  KSTAIR  (input/output) INTEGER array, dimension (N)
+          The leading INDCON elements of this array contain the
+          dimensions of the stairs, or, also, the orders of the
+          diagonal blocks of Acont.
+          KSTAIR is input if STAGES = 'B', and output otherwise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+          TOL is not referenced if STAGES = 'B'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          IWORK is not referenced if STAGES = 'B'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If STAGES &lt;&gt; 'B', LDWORK &gt;= MAX(1, N + MAX(N,3*M));
+          If STAGES =  'B', LDWORK &gt;= MAX(1, M + MAX(N,M)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Staircase reduction of the pencil [B|sI - A] is used. Orthogonal
+  transformations U and V are constructed such that
+
+                     |B |sI-A      *  . . .  *      *       |
+                     | 1|    11       .      .      .       |
+                     |  |  A    sI-A    .    .      .       |
+                     |  |   21      22    .  .      .       |
+                     |  |        .     .     *      *       |
+  [U'BV|sI - U'AU] = |0 |     0    .     .                  |
+                     |  |            A     sI-A     *       |
+                     |  |             p,p-1    pp           |
+                     |  |                                   |
+                     |0 |         0          0   sI-A       |
+                     |  |                            p+1,p+1|
+
+  where the i-th diagonal block of U'AU has dimension KSTAIR(i),
+  for i = 1,...,p. The value of p is returned in INDCON. The last
+  block contains the uncontrollable modes of the (A,B)-pair which
+  are also the generalized eigenvalues of the above pencil.
+
+  The complete reduction is performed in two stages. The first,
+  forward stage accomplishes the reduction to the orthogonal
+  canonical form. The second, backward stage consists in further
+  reduction to triangular form by applying left and right orthogonal
+  transformations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      The generalized eigenvalue problem in linear system theory.
+      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
+
+  [2] Miminis, G. and Paige, C.
+      An algorithm for pole assignment of time-invariant multi-input
+      linear systems.
+      Proc. 21st IEEE CDC, Orlando, Florida, 1, pp. 62-67, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + M) x N**2) operations and is
+  backward stable (see [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDU, LDV
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
+     $                   LDV = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INDCON, INFO, J, M, N, NCONT
+      CHARACTER*1      JOBU, JOBV, STAGES
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
+     $                 U(LDU,NMAX), V(LDV,MMAX)
+      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB01OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, STAGES, JOBU, JOBV
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+*           Reduce the matrices A and B to upper "staircase" form.
+            CALL AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
+     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99994 ) INDCON
+               WRITE ( NOUT, FMT = 99993 ) ( KSTAIR(I), I = 1,INDCON )
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01OD = ',I2)
+99997 FORMAT (' The transformed state transition matrix is ')
+99996 FORMAT (/' The transformed input matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The number of stairs in the staircase form = ',I3,/)
+99993 FORMAT (' The dimensions of the stairs are ',/(20(I3,2X)))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB01OD EXAMPLE PROGRAM DATA
+   5     2     0.0     F     N     N
+   17.0   24.0    1.0    8.0   15.0
+   23.0    5.0    7.0   14.0   16.0
+    4.0    6.0   13.0   20.0   22.0
+   10.0   12.0   19.0   21.0    3.0
+   11.0   18.0   25.0    2.0    9.0
+   -1.0   -4.0
+    4.0    9.0
+   -9.0  -16.0
+   16.0   25.0
+  -25.0  -36.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB01OD EXAMPLE PROGRAM RESULTS
+
+ The transformed state transition matrix is 
+  12.8848   3.2345  11.8211   3.3758  -0.8982
+   4.4741 -12.5544   5.3509   5.9403   1.4360
+  14.4576   7.6855  23.1452  26.3872 -29.9557
+   0.0000   1.4805  27.4668  22.6564  -0.0072
+   0.0000   0.0000 -30.4822   0.6745  18.8680
+
+ The transformed input matrix is 
+  31.1199  47.6865
+   3.2480   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The number of stairs in the staircase form =   3
+
+ The dimensions of the stairs are 
+  2    2    1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB04MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB04MD">AB04MD</A></H2>
+<H3>
+Discrete-time <--> continuous-time systems conversion by a bilinear transformation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a transformation on the parameters (A,B,C,D) of a
+  system, which is equivalent to a bilinear transformation of the
+  corresponding transfer function matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPE
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          Indicates the type of the original system and the
+          transformation to be performed as follows:
+          = 'D':  discrete-time   -&gt; continuous-time;
+          = 'C':  continuous-time -&gt; discrete-time.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  ALPHA,  (input) DOUBLE PRECISION
+  BETA    Parameters specifying the bilinear transformation.
+          Recommended values for stable systems: ALPHA = 1,
+          BETA = 1.  ALPHA &lt;&gt; 0, BETA &lt;&gt; 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A of the original system.
+          On exit, the leading N-by-N part of this array contains
+                           _
+          the state matrix A of the transformed system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the original system.
+          On exit, the leading N-by-M part of this array contains
+                           _
+          the input matrix B of the transformed system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C of the original system.
+          On exit, the leading P-by-N part of this array contains
+                            _
+          the output matrix C of the transformed system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix D for the original system.
+          On exit, the leading P-by-M part of this array contains
+                                  _
+          the input/output matrix D of the transformed system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK &gt;= MAX(1,N*NB), where NB
+          is the optimal blocksize.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix (ALPHA*I + A) is exactly singular;
+          = 2:  if the matrix  (BETA*I - A) is exactly singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The parameters of the discrete-time system are transformed into
+  the parameters of the continuous-time system (TYPE = 'D'), or
+  vice-versa (TYPE = 'C') by the transformation:
+
+  1.  Discrete -&gt; continuous
+      _                     -1
+      A = beta*(alpha*I + A)  * (A - alpha*I)
+      _                                     -1
+      B = sqrt(2*alpha*beta) * (alpha*I + A)  * B
+      _                                         -1
+      C = sqrt(2*alpha*beta) * C * (alpha*I + A)
+      _                        -1
+      D = D - C * (alpha*I + A)  * B
+
+  which is equivalent to the bilinear transformation
+
+                    z - alpha
+      z -&gt; s = beta ---------  .
+                    z + alpha
+
+  of one transfer matrix onto the other.
+
+  2.  Continuous -&gt; discrete
+      _                     -1
+      A = alpha*(beta*I - A)  * (beta*I + A)
+      _                                    -1
+      B = sqrt(2*alpha*beta) * (beta*I - A)  * B
+      _                                        -1
+      C = sqrt(2*alpha*beta) * C * (beta*I - A)
+      _                       -1
+      D = D + C * (beta*I - A)  * B
+
+  which is equivalent to the bilinear transformation
+
+                   beta + s
+    s -&gt; z = alpha -------- .
+                   beta - s
+
+  of one transfer matrix onto the other.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Al-Saggaf, U.M. and Franklin, G.F.
+      Model reduction via balanced realizations: a extension and
+      frequency weighting techniques.
+      IEEE Trans. Autom. Contr., AC-33, pp. 687-692, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                   3
+  The time taken is approximately proportional to N .
+  The accuracy depends mainly on the condition number of the matrix
+  to be inverted.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB04MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, BETA
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER*1      TYPE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB04MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TYPE, ALPHA, BETA
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
+               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
+*              Transform the parameters (A,B,C,D).
+               CALL AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB,
+     $                      C, LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB04MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB04MD = ',I2)
+99997 FORMAT (' The transformed state matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed input matrix is ')
+99994 FORMAT (/' The transformed output matrix is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+99990 FORMAT (/' The transformed input/output matrix is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB04MD EXAMPLE PROGRAM DATA
+   2     2     2     C     1.0D0     1.0D0
+   1.0  0.5
+   0.5  1.0
+   0.0 -1.0
+   1.0  0.0
+  -1.0  0.0
+   0.0  1.0
+   1.0  0.0
+   0.0 -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB04MD EXAMPLE PROGRAM RESULTS
+
+ The transformed state matrix is 
+  -1.0000  -4.0000
+  -4.0000  -1.0000
+
+ The transformed input matrix is 
+   2.8284   0.0000
+   0.0000  -2.8284
+
+ The transformed output matrix is 
+   0.0000   2.8284
+  -2.8284   0.0000
+
+ The transformed input/output matrix is 
+  -1.0000   0.0000
+   0.0000  -3.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB05MD.html b/doc/_static/doc/AB05MD.html
new file mode 100644
index 00000000..e1db4e19
--- /dev/null
+++ b/doc/_static/doc/AB05MD.html
@@ -0,0 +1,455 @@
+<HTML>
+<HEAD><TITLE>AB05MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05MD">AB05MD</A></H2>
+<H3>
+Cascade inter-connection of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To obtain the state-space model (A,B,C,D) for the cascaded
+  inter-connection of two systems, each given in state-space form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER, UPLO
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
+     $                  N2, P1, P2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
+     $                  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes to obtain the matrix A
+          in the upper or lower block diagonal form, as follows:
+          = 'U':  Obtain A in the upper block diagonal form;
+          = 'L':  Obtain A in the lower block diagonal form.
+
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D (for UPLO = 'L'), or A2
+                  and A, B2 and B, C2 and C, and D2 and D (for
+                  UPLO = 'U'), i.e. the same name is effectively
+                  used for each pair (for all pairs) in the routine
+                  call.  In this case, setting LDA1 = LDA,
+                  LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD, or
+                  LDA2 = LDA, LDB2 = LDB, LDC2 = LDC, and LDD2 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables for the first system.
+          M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables from the first system and
+          the number of input variables for the second system.
+          P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2.  N2 &gt;= 0.
+
+  P2      (input) INTEGER
+          The number of output variables from the second system.
+          P2 &gt;= 0.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
+          The leading N2-by-P1 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P2-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
+          The leading P2-by-P1 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the resulting
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the cascaded system.
+          If OVER = 'O', the array A can overlap A1, if UPLO = 'L',
+          or A2, if UPLO = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
+          The leading N-by-M1 part of this array contains the
+          input/state matrix B for the cascaded system.
+          If OVER = 'O', the array B can overlap B1, if UPLO = 'L',
+          or B2, if UPLO = 'U'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P2-by-N part of this array contains the
+          state/output matrix C for the cascaded system.
+          If OVER = 'O', the array C can overlap C1, if UPLO = 'L',
+          or C2, if UPLO = 'U'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P2) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
+          The leading P2-by-M1 part of this array contains the
+          input/output matrix D for the cascaded system.
+          If OVER = 'O', the array D can overlap D1, if UPLO = 'L',
+          or D2, if UPLO = 'U'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P2).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          The array DWORK is not referenced if OVER = 'N'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, P1*MAX(N1, M1, N2, P2) ) if OVER = 'O'.
+          LDWORK &gt;= 1 if OVER = 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After cascaded inter-connection of the two systems
+
+  X1'     = A1*X1 + B1*U
+  V       = C1*X1 + D1*U
+
+  X2'     = A2*X2 + B2*V
+  Y       = C2*X2 + D2*V
+
+  (where  '  denotes differentiation with respect to time)
+
+  the following state-space model will be obtained:
+
+  X'      = A*X + B*U
+  Y       = C*X + D*U
+
+  where matrix  A  has the form   ( A1     0 ),
+                                  ( B2*C1  A2)
+
+        matrix  B  has the form  (  B1   ),
+                                 ( B2*D1 )
+
+        matrix  C  has the form  ( D2*C1  C2 ) and
+
+        matrix  D  has the form  ( D2*D1 ).
+
+  This form is returned by the routine when UPLO = 'L'.  Note that
+  when A1 and A2 are block lower triangular, the resulting state
+  matrix is also block lower triangular.
+
+  By applying a similarity transformation to the system above,
+  using the matrix  ( 0  I ),  where  I  is the identity matrix of
+                    ( J  0 )
+  order  N2,  and  J  is the identity matrix of order  N1,  the
+  system matrices become
+
+        A = ( A2  B2*C1 ),
+            ( 0     A1  )
+
+        B = ( B2*D1 ),
+            (  B1   )
+
+        C = ( C2  D2*C1 ) and
+
+        D = ( D2*D1 ).
+
+  This form is returned by the routine when UPLO = 'U'.  Note that
+  when A1 and A2 are block upper triangular (for instance, in the
+  real Schur form), the resulting state matrix is also block upper
+  triangular.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires P1*(N1+M1)*(N2+P2) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX, P2MAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, P1MAX = 20, P2MAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2, LDWORK
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX,LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = P2MAX, LDC1 = P1MAX, LDC2 = P2MAX,
+     $                   LDD = P2MAX, LDD1 = P1MAX, LDD2 = P2MAX,
+     $                   LDWORK = P1MAX*N1MAX )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER, UPLO
+      INTEGER          I, INFO, J, M1, N, N1, N2, P1, P2
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB05MD
+*     .. Executable Statements ..
+*
+      UPLO = 'Lower'
+      OVER = 'N'
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2, P2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
+                  IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
+                     WRITE ( NOUT, FMT = 99988 ) P2
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
+                     READ ( NIN, FMT = * )
+     $                    ( ( D2(I,J), J = 1,P1 ), I = 1,P2 )
+*                    Find the state-space model (A,B,C,D).
+                     CALL AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1,
+     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
+     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
+     $                            LDD2, N, A, LDA, B, LDB, C, LDC, D,
+     $                            LDD, DWORK, LDWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99997 )
+                        DO 20 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( A(I,J), J = 1,N )
+   20                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( B(I,J), J = 1,M1 )
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99994 )
+                        DO 60 I = 1, P2
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( C(I,J), J = 1,N )
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99993 )
+                        DO 80 I = 1, P2
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( D(I,J), J = 1,M1 )
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05MD = ',I2)
+99997 FORMAT (' The state transition matrix of the cascaded system is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the cascaded system is ')
+99994 FORMAT (/' The state/output matrix of the cascaded system is ')
+99993 FORMAT (/' The input/output matrix of the cascaded system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+99988 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05MD EXAMPLE PROGRAM DATA
+   3     2     2     3     2
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05MD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the cascaded system is 
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000  -3.0000   0.0000   0.0000
+  -3.0000   2.0000  -1.0000   1.0000   0.0000   1.0000
+   0.0000   2.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the cascaded system is 
+   1.0000   2.0000
+   1.0000   0.0000
+   0.0000   1.0000
+   0.0000   1.0000
+  -1.0000   0.0000
+   0.0000   2.0000
+
+ The state/output matrix of the cascaded system is 
+   3.0000  -1.0000   1.0000   1.0000   1.0000   0.0000
+   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the cascaded system is 
+   1.0000   1.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB05ND.html b/doc/_static/doc/AB05ND.html
new file mode 100644
index 00000000..bb3e74fe
--- /dev/null
+++ b/doc/_static/doc/AB05ND.html
@@ -0,0 +1,445 @@
+<HTML>
+<HEAD><TITLE>AB05ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05ND">AB05ND</A></H2>
+<H3>
+Feedback inter-connection of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To obtain the state-space model (A,B,C,D) for the feedback
+  inter-connection of two systems, each given in state-space form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
+     $                  N2, P1
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
+     $                  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables for the first system and the
+          number of output variables from the second system.
+          M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables from the first system and
+          the number of input variables for the second system.
+          P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2.  N2 &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          A coefficient multiplying the transfer-function matrix
+          (or the output equation) of the second system.
+          ALPHA = +1 corresponds to positive feedback, and
+          ALPHA = -1 corresponds to negative feedback.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
+          The leading N2-by-P1 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading M1-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,M1) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
+          The leading M1-by-P1 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,M1).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the connected
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the connected system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
+          The leading N-by-M1 part of this array contains the
+          input/state matrix B for the connected system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P1-by-N part of this array contains the
+          state/output matrix C for the connected system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
+          The leading P1-by-M1 part of this array contains the
+          input/output matrix D for the connected system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.             If OVER = 'N',
+          LDWORK &gt;= MAX(1, P1*P1, M1*M1, N1*P1), and if OVER = 'O',
+          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*M1, N1*P1) ),
+                                                     if M1 &lt;= N*N2;
+          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*(M1+1), N1*P1) ),
+                                                     if M1 &gt;  N*N2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= P1, the system is not
+                completely controllable. That is, the matrix
+                (I + ALPHA*D1*D2) is exactly singular (the element
+                U(i,i) of the upper triangular factor of LU
+                factorization is exactly zero), possibly due to
+                rounding errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After feedback inter-connection of the two systems,
+
+  X1'     = A1*X1 + B1*U1
+  Y1      = C1*X1 + D1*U1
+
+  X2'     = A2*X2 + B2*U2
+  Y2      = C2*X2 + D2*U2
+
+  (where  '  denotes differentiation with respect to time)
+
+  the following state-space model will be obtained:
+
+  X'      = A*X  +  B*U
+  Y       = C*X  +  D*U
+
+  where       U = U1 + alpha*Y2,    X  =  ( X1 ),
+              Y = Y1 = U2,                ( X2 )
+
+  matrix  A  has the form
+
+  ( A1  -  alpha*B1*E12*D2*C1       -  alpha*B1*E12*C2    ),
+  (        B2*E21*C1            A2  -  alpha*B2*E21*D1*C2 )
+
+  matrix  B  has the form
+
+  (  B1*E12    ),
+  (  B2*E21*D1 )
+
+  matrix  C  has the form
+
+  (  E21*C1     -  alpha*E21*D1*C2 ),
+
+  matrix D  has the form
+
+  (  E21*D1 ),
+
+  E21  =  ( I + alpha*D1*D2 )-INVERSE and
+  E12  =  ( I + alpha*D2*D1 )-INVERSE = I - alpha*D2*E21*D1.
+
+  Taking N1 = 0 and/or N2 = 0 on the routine call will solve the
+  constant plant and/or constant feedback cases.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, P1MAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = M1MAX,
+     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = M1MAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = P1MAX*P1MAX )
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE=1.0D0 )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M1, N, N1, N2, P1
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      INTEGER          IWORK(P1MAX)
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB05ND
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      ALPHA = ONE
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,M1 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( D2(I,J), J = 1,P1 ), I = 1,M1 )
+*                 Find the state-space model (A,B,C,D).
+                  CALL AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1,
+     $                         B1, LDB1, C1, LDC1, D1, LDD1, A2, LDA2,
+     $                         B2, LDB2, C2, LDC2, D2, LDD2, N, A, LDA,
+     $                         B, LDB, C, LDC, D, LDD, IWORK, DWORK,
+     $                         LDWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 20 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M1 )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 60 I = 1, P1
+                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 80 I = 1, P1
+                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M1 )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05ND = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05ND EXAMPLE PROGRAM DATA
+   3     2     2     3
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05ND EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+  -0.5000  -0.2500  -1.5000  -1.2500  -1.2500   0.7500
+  -1.5000  -0.2500   0.5000  -0.2500  -0.2500  -0.2500
+   1.0000   0.5000   2.0000  -0.5000  -0.5000   0.5000
+   0.0000   0.5000   0.0000  -3.5000  -0.5000   0.5000
+  -1.5000   1.2500  -0.5000   1.2500   0.2500   1.2500
+   0.0000   1.0000   0.0000  -1.0000  -2.0000   3.0000
+
+ The input/state matrix of the connected system is 
+   0.5000   0.7500
+   0.5000  -0.2500
+   0.0000   0.5000
+   0.0000   0.5000
+  -0.5000   0.2500
+   0.0000   1.0000
+
+ The state/output matrix of the connected system is 
+   1.5000  -1.2500   0.5000  -0.2500  -0.2500  -0.2500
+   0.0000   0.5000   0.0000  -0.5000  -0.5000   0.5000
+
+ The input/output matrix of the connected system is 
+   0.5000  -0.2500
+   0.0000   0.5000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB05OD.html b/doc/_static/doc/AB05OD.html
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+<HTML>
+<HEAD><TITLE>AB05OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05OD">AB05OD</A></H2>
+<H3>
+Rowwise concatenation of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To obtain the state-space model (A,B,C,D) for rowwise
+  concatenation (parallel inter-connection on outputs, with separate
+  inputs) of two systems, each given in state-space form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, M, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
+     $                  N2, P1
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables for the first system.
+          M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables from each system.  P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2.  N2 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of input variables for the second system.
+          M2 &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          A coefficient multiplying the transfer-function matrix
+          (or the output equation) of the second system.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
+          The leading N2-by-M2 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P1-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P1) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
+          The leading P1-by-M2 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P1).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the connected
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  M       (output) INTEGER
+          The number of input variables (M1 + M2) for the connected
+          system, i.e. the number of columns of B and D.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the connected system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
+          The leading N-by-M part of this array contains the
+          input/state matrix B for the connected system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P1-by-N part of this array contains the
+          state/output matrix C for the connected system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
+          The leading P1-by-M part of this array contains the
+          input/output matrix D for the connected system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After rowwise concatenation (parallel inter-connection with
+  separate inputs) of the two systems,
+
+  X1'     = A1*X1 + B1*U
+  Y1      = C1*X1 + D1*U
+
+  X2'     = A2*X2 + B2*V
+  Y2      = C2*X2 + D2*V
+
+  (where  '  denotes differentiation with respect to time),
+
+  with the output equation for the second system multiplied by a
+  scalar alpha, the following state-space model will be obtained:
+
+  X'      = A*X + B*(U)
+                    (V)
+
+  Y       = C*X + D*(U)
+                    (V)
+
+  where matrix  A  has the form    ( A1   0  ),
+                                   ( 0    A2 )
+
+        matrix  B  has the form    ( B1   0  ),
+                                   ( 0    B2 )
+
+        matrix  C  has the form    ( C1   alpha*C2 ) and
+
+        matrix  D  has the form    ( D1   alpha*D2 ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
+     $                   P1MAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = P1MAX,
+     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = P1MAX )
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE=1.0D0 )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P1
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB05OD
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      ALPHA = ONE
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
+                     WRITE ( NOUT, FMT = 99989 ) M2
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
+                     READ ( NIN, FMT = * )
+     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P1 )
+                     READ ( NIN, FMT = * )
+     $                    ( ( D2(I,J), J = 1,M2 ), I = 1,P1 )
+*                       Find the state-space model (A,B,C,D).
+                     CALL AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1,
+     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
+     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
+     $                            LDD2, N, M, A, LDA, B, LDB, C, LDC,
+     $                            D, LDD, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99997 )
+                        DO 20 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( A(I,J), J = 1,N )
+   20                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( B(I,J), J = 1,M )
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99994 )
+                        DO 60 I = 1, P1
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( C(I,J), J = 1,N )
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99993 )
+                        DO 80 I = 1, P1
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( D(I,J), J = 1,M )
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05OD = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05OD EXAMPLE PROGRAM DATA
+   3     2     2     3     2
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05OD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the connected system is 
+   1.0000   2.0000   0.0000   0.0000
+   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000
+   0.0000   0.0000  -1.0000   0.0000
+   0.0000   0.0000   0.0000   2.0000
+
+ The state/output matrix of the connected system is 
+   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
+   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the connected system is 
+   1.0000   0.0000   1.0000   1.0000
+   0.0000   1.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB05PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05PD">AB05PD</A></H2>
+<H3>
+Parallel inter-connection of two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the state-space model G = (A,B,C,D) corresponding to
+  the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and
+  G2 = (A2,B2,C2,D2).  G, G1, and G2 are the transfer-function
+  matrices of the corresponding state-space models.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1,
+     $                   C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2,
+     $                   LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1, the number of rows of B1 and
+          the number of columns of C1.  N1 &gt;= 0.
+
+  M       (input) INTEGER
+          The number of input variables of the two systems, i.e. the
+          number of columns of matrices B1, D1, B2 and D2.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of output variables of the two systems, i.e.
+          the number of rows of matrices C1, D1, C2 and D2.  P &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2, the number of rows of B2 and
+          the number of columns of C2.  N2 &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The coefficient multiplying G2.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M)
+          The leading N1-by-M part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M)
+          The leading N2-by-M part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the resulting
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the resulting system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the
+          input/state matrix B for the resulting system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P-by-N part of this array contains the
+          state/output matrix C for the resulting system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          input/output matrix D for the resulting system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the resulting systems are determined as:
+
+        ( A1   0  )             ( B1 )
+    A = (         ) ,       B = (    ) ,
+        ( 0    A2 )             ( B2 )
+
+    C = ( C1  alpha*C2 ) ,  D = D1 + alpha*D2 .
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, MMAX, PMAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = PMAX, LDC1 = PMAX,  LDC2 = PMAX,
+     $                   LDD = PMAX, LDD1 = PMAX,  LDD2 = PMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M, N, N1, N2, P
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,MMAX), B1(LDB1,MMAX), B2(LDB2,MMAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,MMAX), D1(LDD1,MMAX), D2(LDD2,MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB05PD
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M, P, N2, ALPHA
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M ), I = 1,P )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  READ ( NIN, FMT = * )
+     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,M )
+                  READ ( NIN, FMT = * )
+     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,P )
+                  READ ( NIN, FMT = * )
+     $                 ( ( D2(I,J), J = 1,M ), I = 1,P )
+*                    Find the state-space model (A,B,C,D).
+                  CALL AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1,
+     $                         LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2,
+     $                         LDB2, C2, LDC2, D2, LDD2, N, A, LDA, B,
+     $                         LDB, C, LDC, D, LDD, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 20 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( A(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( B(I,J), J = 1,M )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 60 I = 1, P
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( C(I,J), J = 1,N )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 80 I = 1, P
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( D(I,J), J = 1,M )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05PD = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05PD EXAMPLE PROGRAM DATA
+   3     2     2     3     1.0D0
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05PD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the connected system is 
+   1.0000   2.0000
+   1.0000   0.0000
+   0.0000   1.0000
+   0.0000   1.0000
+  -1.0000   0.0000
+   0.0000   2.0000
+
+ The state/output matrix of the connected system is 
+   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
+   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the connected system is 
+   2.0000   1.0000
+   0.0000   2.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB05QD.html b/doc/_static/doc/AB05QD.html
new file mode 100644
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+++ b/doc/_static/doc/AB05QD.html
@@ -0,0 +1,416 @@
+<HTML>
+<HEAD><TITLE>AB05QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05QD">AB05QD</A></H2>
+<H3>
+Appending two systems in state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To append two systems G1 and G2 in state-space form together.
+  If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the state-space
+  models of the given two systems having the transfer-function
+  matrices G1 and G2, respectively, this subroutine constructs the
+  state-space model G = (A,B,C,D) which corresponds to the
+  transfer-function matrix
+
+                        ( G1 0  )
+                    G = (       )
+                        ( 0  G2 )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1,
+     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+     $                   C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OVER
+      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
+     $                  N2, P, P1, P2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  OVER    CHARACTER*1
+          Indicates whether the user wishes to overlap pairs of
+          arrays, as follows:
+          = 'N':  Do not overlap;
+          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
+                  C1 and C, and D1 and D, i.e. the same name is
+                  effectively used for each pair (for all pairs)
+                  in the routine call.  In this case, setting
+                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+                  will give maximum efficiency.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The number of state variables in the first system, i.e.
+          the order of the matrix A1, the number of rows of B1 and
+          the number of columns of C1.  N1 &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of input variables in the first system, i.e.
+          the number of columns of matrices B1 and D1.  M1 &gt;= 0.
+
+  P1      (input) INTEGER
+          The number of output variables in the first system, i.e.
+          the number of rows of matrices C1 and D1.  P1 &gt;= 0.
+
+  N2      (input) INTEGER
+          The number of state variables in the second system, i.e.
+          the order of the matrix A2, the number of rows of B2 and
+          the number of columns of C2.  N2 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of input variables in the second system, i.e.
+          the number of columns of matrices B2 and D2.  M2 &gt;= 0.
+
+  P2      (input) INTEGER
+          The number of output variables in the second system, i.e.
+          the number of rows of matrices C2 and D2.  P2 &gt;= 0.
+
+  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+          The leading N1-by-N1 part of this array must contain the
+          state transition matrix A1 for the first system.
+
+  LDA1    INTEGER
+          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
+
+  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+          The leading N1-by-M1 part of this array must contain the
+          input/state matrix B1 for the first system.
+
+  LDB1    INTEGER
+          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
+
+  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+          The leading P1-by-N1 part of this array must contain the
+          state/output matrix C1 for the first system.
+
+  LDC1    INTEGER
+          The leading dimension of array C1.
+          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
+          LDC1 &gt;= 1 if N1 = 0.
+
+  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+          The leading P1-by-M1 part of this array must contain the
+          input/output matrix D1 for the first system.
+
+  LDD1    INTEGER
+          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
+
+  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+          The leading N2-by-N2 part of this array must contain the
+          state transition matrix A2 for the second system.
+
+  LDA2    INTEGER
+          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
+
+  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
+          The leading N2-by-M2 part of this array must contain the
+          input/state matrix B2 for the second system.
+
+  LDB2    INTEGER
+          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
+
+  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+          The leading P2-by-N2 part of this array must contain the
+          state/output matrix C2 for the second system.
+
+  LDC2    INTEGER
+          The leading dimension of array C2.
+          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
+          LDC2 &gt;= 1 if N2 = 0.
+
+  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
+          The leading P2-by-M2 part of this array must contain the
+          input/output matrix D2 for the second system.
+
+  LDD2    INTEGER
+          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
+
+  N       (output) INTEGER
+          The number of state variables (N1 + N2) in the resulting
+          system, i.e. the order of the matrix A, the number of rows
+          of B and the number of columns of C.
+
+  M       (output) INTEGER
+          The number of input variables (M1 + M2) in the resulting
+          system, i.e. the number of columns of B and D.
+
+  P       (output) INTEGER
+          The number of output variables (P1 + P2) of the resulting
+          system, i.e. the number of rows of C and D.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+          The leading N-by-N part of this array contains the state
+          transition matrix A for the resulting system.
+          The array A can overlap A1 if OVER = 'O'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
+          The leading N-by-M part of this array contains the
+          input/state matrix B for the resulting system.
+          The array B can overlap B1 if OVER = 'O'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+          The leading P-by-N part of this array contains the
+          state/output matrix C for the resulting system.
+          The array C can overlap C1 if OVER = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P1+P2) if N1+N2 &gt; 0.
+          LDC &gt;= 1 if N1+N2 = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
+          The leading P-by-M part of this array contains the
+          input/output matrix D for the resulting system.
+          The array D can overlap D1 if OVER = 'O'.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P1+P2).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the resulting systems are determined as:
+
+        ( A1   0  )         ( B1  0  )
+    A = (         ) ,   B = (        ) ,
+        ( 0    A2 )         ( 0   B2 )
+
+        ( C1   0  )         ( D1  0  )
+    C = (         ) ,   D = (        ) .
+        ( 0    C2 )         ( 0   D2 )
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX,
+     $                 P2MAX, PMAX
+      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
+     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
+     $                   P1MAX = 20, P2MAX = 20, PMAX = P1MAX+P2MAX )
+      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
+     $                 LDC2, LDD, LDD1, LDD2
+      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
+     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
+     $                   LDC = PMAX, LDC1 = P1MAX, LDC2 = P1MAX,
+     $                   LDD = PMAX, LDD1 = P1MAX, LDD2 = P1MAX )
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE=1.0D0 )
+*     .. Local Scalars ..
+      CHARACTER*1      OVER
+      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P, P1, P2
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
+     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
+     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
+     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB05QD
+*     .. Executable Statements ..
+*
+      OVER = 'N'
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2, P2
+      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N1
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
+         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M1
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
+            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P1
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
+               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
+               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N2
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
+                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
+                     WRITE ( NOUT, FMT = 99988 ) M2
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
+                     IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
+                        WRITE ( NOUT, FMT = 99987 ) P2
+                     ELSE
+                        READ ( NIN, FMT = * )
+     $                       ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
+                        READ ( NIN, FMT = * )
+     $                       ( ( D2(I,J), J = 1,M2 ), I = 1,P2 )
+*                          Find the state-space model (A,B,C,D).
+                        CALL AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1,
+     $                               LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
+     $                               A2, LDA2, B2, LDB2, C2, LDC2, D2,
+     $                               LDD2, N, M, P, A, LDA, B, LDB, C,
+     $                               LDC, D, LDD, INFO )
+*
+                        IF ( INFO.NE.0 ) THEN
+                           WRITE ( NOUT, FMT = 99998 ) INFO
+                        ELSE
+                           WRITE ( NOUT, FMT = 99997 )
+                           DO 20 I = 1, N
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( A(I,J), J = 1,N )
+   20                      CONTINUE
+                           WRITE ( NOUT, FMT = 99995 )
+                           DO 40 I = 1, N
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( B(I,J), J = 1,M )
+   40                      CONTINUE
+                           WRITE ( NOUT, FMT = 99994 )
+                           DO 60 I = 1, P
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( C(I,J), J = 1,N )
+   60                      CONTINUE
+                           WRITE ( NOUT, FMT = 99993 )
+                           DO 80 I = 1, P
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( D(I,J), J = 1,M )
+   80                      CONTINUE
+                        END IF
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05QD = ',I2)
+99997 FORMAT (' The state transition matrix of the connected system is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the connected system is ')
+99994 FORMAT (/' The state/output matrix of the connected system is ')
+99993 FORMAT (/' The input/output matrix of the connected system is ')
+99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
+99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
+99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
+99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
+99988 FORMAT (/' M2 is out of range.',/' M2 = ',I5)
+99987 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05QD EXAMPLE PROGRAM DATA
+   3     2     2     3     2     2
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+  -3.0   0.0   0.0
+   1.0   0.0   1.0
+   0.0  -1.0   2.0
+   0.0  -1.0   0.0
+   1.0   0.0   2.0
+   1.0   1.0   0.0
+   1.0   1.0  -1.0
+   1.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05QD EXAMPLE PROGRAM RESULTS
+
+ The state transition matrix of the connected system is
+   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
+   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
+
+ The input/state matrix of the connected system is 
+   1.0000   2.0000   0.0000   0.0000
+   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000
+   0.0000   0.0000  -1.0000   0.0000
+   0.0000   0.0000   0.0000   2.0000
+
+ The state/output matrix of the connected system is 
+   3.0000  -2.0000   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   1.0000  -1.0000
+
+ The input/output matrix of the connected system is 
+   1.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   1.0000   1.0000
+   0.0000   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB05RD.html b/doc/_static/doc/AB05RD.html
new file mode 100644
index 00000000..3094ad5b
--- /dev/null
+++ b/doc/_static/doc/AB05RD.html
@@ -0,0 +1,446 @@
+<HTML>
+<HEAD><TITLE>AB05RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05RD">AB05RD</A></H2>
+<H3>
+Closed-loop system for a mixed output and state feedback control law
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a given state space system (A,B,C,D) the closed-
+  loop system (Ac,Bc,Cc,Dc) corresponding to the mixed output and
+  state feedback control law
+
+       u = alpha*F*y + beta*K*x + G*v
+       z = H*y.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA, BETA, A,
+     $                   LDA, B, LDB, C, LDC, D, LDD, F, LDF, K, LDK,
+     $                   G, LDG, H, LDH, RCOND, BC, LDBC, CC, LDCC,
+     $                   DC, LDDC, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FBTYPE, JOBD
+      INTEGER           INFO, LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC,
+     $                  LDF, LDG, LDH, LDK, LDWORK, M, MV, N, P, PZ
+      DOUBLE PRECISION  ALPHA, BETA, RCOND
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BC(LDBC,*), C(LDC,*),
+     $                  CC(LDCC,*), D(LDD,*), DC(LDDC,*), DWORK(*),
+     $                  F(LDF,*), G(LDG,*), H(LDH,*), K(LDK,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FBTYPE  CHARACTER*1
+          Specifies the type of the feedback law as follows:
+          = 'I':  Unitary output feedback (F = I);
+          = 'O':  General output feedback.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears
+          in the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of state vector x, i.e. the order of the
+          matrix A, the number of rows of B and the number of
+          columns of C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector u, i.e. the number of
+          columns of matrices B and D, and the number of rows of F.
+          M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector y, i.e. the number of rows
+          of matrices C and D, and the number of columns of F.
+          P &gt;= 0 and P = M if FBTYPE = 'I'.
+
+  MV      (input) INTEGER
+          The dimension of the new input vector v, i.e. the number
+          of columns of matrix G.  MV &gt;= 0.
+
+  PZ      (input) INTEGER.
+          The dimension of the new output vector z, i.e. the number
+          of rows of matrix H.  PZ &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The coefficient alpha in the output feedback law.
+
+  BETA    (input) DOUBLE PRECISION.
+          The coefficient beta in the state feedback law.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state transition matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the state matrix Ac of the closed-loop system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the intermediary input matrix B1 (see METHOD).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the intermediary output matrix C1+BETA*D1*K (see METHOD).
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P) if N &gt; 0.
+          LDC &gt;= 1 if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the system direct input/output
+          transmission matrix D.
+          On exit, the leading P-by-M part of this array contains
+          the intermediary direct input/output transmission matrix
+          D1 (see METHOD).
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P) if JOBD = 'D'.
+          LDD &gt;= 1 if JOBD = 'Z'.
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
+          If FBTYPE = 'O', the leading M-by-P part of this array
+          must contain the output feedback matrix F.
+          If FBTYPE = 'I', then the feedback matrix is assumed to be
+          an M x M order identity matrix.
+          The array F is not referenced if FBTYPE = 'I'  or
+          ALPHA = 0.
+
+  LDF     INTEGER
+          The leading dimension of array F.
+          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
+          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
+
+  K       (input) DOUBLE PRECISION array, dimension (LDK,N)
+          The leading M-by-N part of this array must contain the
+          state feedback matrix K.
+          The array K is not referenced if BETA = 0.
+
+  LDK     INTEGER
+          The leading dimension of the array K.
+          LDK &gt;= MAX(1,M) if BETA &lt;&gt; 0.
+          LDK &gt;= 1 if BETA = 0.
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,MV)
+          The leading M-by-MV part of this array must contain the
+          system input scaling matrix G.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,M).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,P)
+          The leading PZ-by-P part of this array must contain the
+          system output scaling matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,PZ).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal condition number of the matrix
+          I - alpha*D*F.
+
+  BC      (output) DOUBLE PRECISION array, dimension (LDBC,MV)
+          The leading N-by-MV part of this array contains the input
+          matrix Bc of the closed-loop system.
+
+  LDBC    INTEGER
+          The leading dimension of array BC.  LDBC &gt;= MAX(1,N).
+
+  CC      (output) DOUBLE PRECISION array, dimension (LDCC,N)
+          The leading PZ-by-N part of this array contains the
+          system output matrix Cc of the closed-loop system.
+
+  LDCC    INTEGER
+          The leading dimension of array CC.
+          LDCC &gt;= MAX(1,PZ) if N &gt; 0.
+          LDCC &gt;= 1 if N = 0.
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,MV)
+          If JOBD = 'D', the leading PZ-by-MV part of this array
+          contains the direct input/output transmission matrix Dc
+          of the closed-loop system.
+          The array DC is not referenced if JOBD = 'Z'.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.
+          LDDC &gt;= MAX(1,PZ) if JOBD = 'D'.
+          LDDC &gt;= 1 if JOBD = 'Z'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
+          LIWORK &gt;= 1 if JOBD = 'Z'.
+          IWORK is not referenced if JOBD = 'Z'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= wspace, where
+                wspace = MAX( 1, M, P*MV, P*P + 4*P ) if JOBD = 'D',
+                wspace = MAX( 1, M ) if JOBD = 'Z'.
+          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix I - alpha*D*F is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the closed-loop system have the expressions:
+
+  Ac = A1 + beta*B1*K,      Bc = B1*G,
+  Cc = H*(C1 + beta*D1*K),  Dc = H*D1*G,
+
+  where
+
+  A1 = A + alpha*B*F*E*C,   B1 = B + alpha*B*F*E*D,
+  C1 = E*C,                 D1 = E*D,
+
+  with E = (I - alpha*D*F)**-1.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of computations basically depends on the conditioning
+  of the matrix I - alpha*D*F. If RCOND is very small, it is likely
+  that the computed results are inaccurate.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB05RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, MVMAX, PMAX, PZMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, MVMAX = 20,
+     $                   PMAX = 20, PZMAX = 20 )
+      INTEGER          LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC, LDF, LDG,
+     $                 LDH, LDK, LDWORK, LIWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBC = NMAX,
+     $                   LDC = PMAX, LDCC = PZMAX,
+     $                   LDD = PMAX, LDDC = PZMAX, LDF = MMAX,
+     $                   LDG = MMAX, LDH  = PZMAX, LDK = MMAX,
+     $                   LDWORK = MAX( MMAX, PMAX*MVMAX,
+     $                   PMAX*PMAX + 4*PMAX ), LIWORK = 2*PMAX )
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+*     .. Local Scalars ..
+      LOGICAL          LJOBD, OUTPF
+      CHARACTER*1      FBTYPE, JOBD
+      INTEGER          I, INFO, J, M, MV, N, P, PZ
+      DOUBLE PRECISION ALPHA, BETA, RCOND
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), BC(LDBC,MVMAX),
+     $                 C(LDC,NMAX), CC(LDCC,NMAX),
+     $                 D(LDD,MMAX), DC(LDDC,MVMAX),  DWORK(LDWORK),
+     $                 F(LDF,PMAX), G(LDG,MVMAX), H(LDH,PMAX),
+     $                 K(LDK,NMAX)
+*     .. External functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB05RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, MV, PZ, ALPHA, BETA, FBTYPE, JOBD
+      OUTPF = LSAME( FBTYPE, 'O' )
+      LJOBD = LSAME( JOBD, 'D' )
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( BETA.NE.ZERO )
+     $         READ ( NIN, FMT = * ) ( ( K(I,J), J = 1,N ), I = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LJOBD )
+     $            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF ( OUTPF.AND.ALPHA.NE.ZERO )
+     $            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,P ), I = 1,M )
+               IF ( MV.LE.0 .OR. MV.GT.MVMAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) MV
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( G(I,J), J = 1,MV ), I = 1,M )
+                  IF ( PZ.LE.0 .OR. PZ.GT.PZMAX ) THEN
+                     WRITE ( NOUT, FMT = 99988 ) PZ
+                  ELSE
+                     READ ( NIN, FMT = * )
+     $                    ( ( H(I,J), J = 1,P ), I = 1,PZ )
+*                       Find the state-space model (A,B,C,D).
+                     CALL AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA,
+     $                            BETA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                            F, LDF, K, LDK, G, LDG, H, LDH, RCOND,
+     $                            BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
+     $                            DWORK, LDWORK, INFO )
+*
+                     WRITE ( NOUT, FMT = 99987 ) RCOND
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99997 )
+                        DO 20 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( A(I,J), J = 1,N )
+   20                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( BC(I,J), J = 1,MV )
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99994 )
+                        DO 60 I = 1, PZ
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( CC(I,J), J = 1,N )
+   60                   CONTINUE
+                        IF ( LJOBD ) THEN
+                           WRITE ( NOUT, FMT = 99993 )
+                           DO 80 I = 1, PZ
+                              WRITE ( NOUT, FMT = 99996 )
+     $                              ( DC(I,J), J = 1,MV )
+   80                      CONTINUE
+                        END IF
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB05RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB05RD = ',I2)
+99997 FORMAT (' The state transition matrix of the closed-loop system is
+     $')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the closed-loop system is ')
+99994 FORMAT (/' The state/output matrix of the closed-loop system is ')
+99993 FORMAT (/' The input/output matrix of the closed-loop system is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+99989 FORMAT (/' MV is out of range.',/' MV = ',I5)
+99988 FORMAT (/' PZ is out of range.',/' PZ = ',I5)
+99987 FORMAT ( ' The reciprocal condition number of the matrix ',
+     $         ' I - alpha*D*F is',F8.4,/1X)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB05RD EXAMPLE PROGRAM DATA
+   3     2     2     2     2   1.0   1.0    O     D
+   1.0   0.0  -1.0
+   0.0  -1.0   1.0
+   1.0   1.0   2.0
+   1.0   1.0   0.0
+   2.0   0.0   1.0
+   2.0   1.0   0.0
+   1.0   0.0   1.0
+   3.0  -2.0   1.0
+   0.0   1.0   0.0
+   1.0   0.0
+   0.0   1.0
+   1.0   2.0
+   3.0   4.0
+   1.0   1.0
+   0.0   1.0
+   4.0   3.0
+   2.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB05RD EXAMPLE PROGRAM RESULTS
+
+ The reciprocal condition number of the matrix  I - alpha*D*F is  0.2000
+
+ The state transition matrix of the closed-loop system is
+  -4.8333   0.1667  -2.8333
+  -0.8333   0.1667   0.1667
+  -1.5000   0.5000   1.5000
+
+ The input/state matrix of the closed-loop system is 
+  -0.5000  -0.8333
+   0.5000   0.1667
+  -0.5000  -0.5000
+
+ The state/output matrix of the closed-loop system is 
+   1.1667  -1.8333  -0.8333
+   1.8333  -1.1667  -0.1667
+
+ The input/output matrix of the closed-loop system is 
+   0.5000  -0.8333
+   0.5000  -0.1667
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB05SD.html b/doc/_static/doc/AB05SD.html
new file mode 100644
index 00000000..0bf13817
--- /dev/null
+++ b/doc/_static/doc/AB05SD.html
@@ -0,0 +1,206 @@
+<HTML>
+<HEAD><TITLE>AB05SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB05SD">AB05SD</A></H2>
+<H3>
+Closed-loop system for an output feedback control law
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a given state space system (A,B,C,D) the closed-
+  loop system (Ac,Bc,Cc,Dc) corresponding to the output feedback
+  control law
+
+       u = alpha*F*y + v.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB05SD( FBTYPE, JOBD, N, M, P, ALPHA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, F, LDF, RCOND, IWORK, DWORK,
+     $                   LDWORK, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         FBTYPE, JOBD
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDF, LDWORK, M, N, P
+      DOUBLE PRECISION  ALPHA, RCOND
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), F(LDF,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FBTYPE  CHARACTER*1
+          Specifies the type of the feedback law as follows:
+          = 'I':  Unitary output feedback (F = I);
+          = 'O':  General output feedback.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e. the order of the
+          matrix A, the number of rows of B and the number of
+          columns of C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of input variables, i.e. the number of columns
+          of matrices B and D, and the number of rows of F.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of output variables, i.e. the number of rows of
+          matrices C and D, and the number of columns of F.  P &gt;= 0
+          and P = M if FBTYPE = 'I'.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The coefficient alpha in the output feedback law.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state transition matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the state matrix Ac of the closed-loop system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the input matrix Bc of the closed-loop system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the output matrix Cc of the closed-loop system.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P) if N &gt; 0.
+          LDC &gt;= 1 if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the system direct input/output transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading P-by-M part of this
+          array contains the direct input/output transmission
+          matrix Dc of the closed-loop system.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P) if JOBD = 'D'.
+          LDD &gt;= 1 if JOBD = 'Z'.
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
+          If FBTYPE = 'O', the leading M-by-P part of this array
+          must contain the output feedback matrix F.
+          If FBTYPE = 'I', then the feedback matrix is assumed to be
+          an M x M order identity matrix.
+          The array F is not referenced if FBTYPE = 'I' or
+          ALPHA = 0.
+
+  LDF     INTEGER
+          The leading dimension of array F.
+          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
+          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal condition number of the matrix
+          I - alpha*D*F.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
+          LIWORK &gt;= 1 if JOBD = 'Z'.
+          IWORK is not referenced if JOBD = 'Z'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= wspace, where
+                    wspace = MAX( 1, M, P*P + 4*P ) if JOBD = 'D',
+                    wspace = MAX( 1, M ) if JOBD = 'Z'.
+          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix I - alpha*D*F is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the closed-loop system have the expressions:
+
+  Ac = A + alpha*B*F*E*C,  Bc = B + alpha*B*F*E*D,
+  Cc = E*C,                Dc = E*D,
+
+  where E = (I - alpha*D*F)**-1.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of computations basically depends on the conditioning
+  of the matrix I - alpha*D*F.  If RCOND is very small, it is likely
+  that the computed results are inaccurate.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB07MD.html b/doc/_static/doc/AB07MD.html
new file mode 100644
index 00000000..523e6b4a
--- /dev/null
+++ b/doc/_static/doc/AB07MD.html
@@ -0,0 +1,259 @@
+<HTML>
+<HEAD><TITLE>AB07MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB07MD">AB07MD</A></H2>
+<H3>
+Dual of a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the dual of a given state-space representation.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBD
+      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the dual state dynamics matrix A'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-P part of this array contains
+          the dual input/state matrix C'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the dual state/output matrix B'.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1 if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (LDD,MAX(M,P))
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the original direct transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading M-by-P part of this
+          array contains the dual direct transmission matrix D'.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
+          LDD &gt;= 1 if JOBD = 'Z'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the given state-space representation is the M-input/P-output
+  (A,B,C,D), its dual is simply the P-input/M-output (A',C',B',D').
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB07MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBD
+      INTEGER          I, INFO, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP)
+*     .. External functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB07MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBD
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the dual of the ssr (A,B,C,D).
+               CALL AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,P )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  IF ( LSAME( JOBD, 'D' ) ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 80 I = 1, M
+                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,P )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB07MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB07MD = ',I2)
+99997 FORMAT (' The dual state dynamics matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The dual input/state matrix is ')
+99994 FORMAT (/' The dual state/output matrix is ')
+99993 FORMAT (/' The dual direct transmission matrix is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB07MD EXAMPLE PROGRAM DATA
+   3     1     2     D
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB07MD EXAMPLE PROGRAM RESULTS
+
+ The dual state dynamics matrix is 
+   1.0000   4.0000   0.0000
+   2.0000  -1.0000   0.0000
+   0.0000   0.0000   1.0000
+
+ The dual input/state matrix is 
+   0.0000   0.0000
+   1.0000   0.0000
+  -1.0000   1.0000
+
+ The dual state/output matrix is 
+   1.0000   0.0000   1.0000
+
+ The dual direct transmission matrix is 
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB07ND.html b/doc/_static/doc/AB07ND.html
new file mode 100644
index 00000000..cb00ceac
--- /dev/null
+++ b/doc/_static/doc/AB07ND.html
@@ -0,0 +1,264 @@
+<HTML>
+<HEAD><TITLE>AB07ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB07ND">AB07ND</A></H2>
+<H3>
+Inverse of a given linear system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   RCOND
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                   DWORK(*)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs and outputs.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A of the original system.
+          On exit, the leading N-by-N part of this array contains
+          the state matrix Ai of the inverse system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the original system.
+          On exit, the leading N-by-M part of this array contains
+          the input matrix Bi of the inverse system.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the output matrix C of the original system.
+          On exit, the leading M-by-N part of this array contains
+          the output matrix Ci of the inverse system.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading M-by-M part of this array must
+          contain the feedthrough matrix D of the original system.
+          On exit, the leading M-by-M part of this array contains
+          the feedthrough matrix Di of the inverse system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimated reciprocal condition number of the
+          feedthrough matrix D of the original system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,4*M).
+          For good performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  the matrix D is exactly singular; the (i,i) diagonal
+                element is zero, i &lt;= M; RCOND was set to zero;
+          = M+1:  the matrix D is numerically singular, i.e., RCOND
+                is less than the relative machine precision, EPS
+                (see LAPACK Library routine DLAMCH). The
+                calculations have been completed, but the results
+                could be very inaccurate.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the inverse system are computed with the formulas:
+                -1              -1         -1           -1
+    Ai = A - B*D  *C,  Bi = -B*D  ,  Ci = D  *C,  Di = D  .
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy depends mainly on the condition number of the matrix
+  D to be inverted. The estimated reciprocal condition number is
+  returned in RCOND.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB07ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MMAX,
+     $                   LDD = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      DOUBLE PRECISION RCOND
+*     .. Local Arrays ..
+      INTEGER          IWORK(2*MMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB07ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
+*           Find the inverse of the ssr (A,B,C,D).
+            CALL AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
+     $                   IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 60 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 80 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+   80          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB07ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB07ND = ',I2)
+99997 FORMAT (' The state dynamics matrix of the inverse system is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix of the inverse system is ')
+99994 FORMAT (/' The state/output matrix of the inverse system is ')
+99993 FORMAT (/' The feedthrough matrix of the inverse system is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB07ND EXAMPLE PROGRAM DATA
+   3     2
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0
+   0.0   1.0
+   1.0   0.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+   4.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB07ND EXAMPLE PROGRAM RESULTS
+
+ The state dynamics matrix of the inverse system is 
+   1.0000   1.7500   0.2500
+   4.0000  -1.0000  -1.0000
+   0.0000  -0.2500   1.2500
+
+ The input/state matrix of the inverse system is 
+  -0.2500   0.0000
+   0.0000  -1.0000
+  -0.2500   0.0000
+
+ The state/output matrix of the inverse system is 
+   0.0000   0.2500  -0.2500
+   0.0000   0.0000   1.0000
+
+ The feedthrough matrix of the inverse system is 
+   0.2500   0.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB08MD.html b/doc/_static/doc/AB08MD.html
new file mode 100644
index 00000000..806edf12
--- /dev/null
+++ b/doc/_static/doc/AB08MD.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>AB08MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08MD">AB08MD</A></H2>
+<H3>
+Normal rank of the transfer-function matrix of a state space model
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the normal rank of the transfer-function matrix of a
+  state-space model (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08MD( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   RANK, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer-function matrix.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (N+P)*(N+M) +
+                    MAX( MIN(P,M) + MAX(3*M-1,N), 1,
+                         MIN(P,N) + MAX(3*P-1,N+P,N+M) )
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
+                                                         (D  C)
+
+  to one with the same invariant zeros and with D of full row rank.
+  The normal rank of the transfer-function matrix is the rank of D.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB08MZ.html b/doc/_static/doc/AB08MZ.html
new file mode 100644
index 00000000..e7ea0407
--- /dev/null
+++ b/doc/_static/doc/AB08MZ.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>AB08MZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08MZ">AB08MZ</A></H2>
+<H3>
+Normal rank of the transfer-function matrix of a state space model (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the normal rank of the transfer-function matrix of a
+  state-space model (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08MZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   RANK, TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LZWORK, M, N, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) COMPLEX*16 array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) COMPLEX*16 array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) COMPLEX*16 array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer-function matrix.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= (N+P)*(N+M) + MAX(MIN(P,M) + MAX(3*M-1,N), 1,
+                                      MIN(P,N) + MAX(3*P-1,N+P,N+M))
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
+                                                         (D  C)
+
+  to one with the same invariant zeros and with D of full row rank.
+  The normal rank of the transfer-function matrix is the rank of D.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB08ND.html b/doc/_static/doc/AB08ND.html
new file mode 100644
index 00000000..64e80e4b
--- /dev/null
+++ b/doc/_static/doc/AB08ND.html
@@ -0,0 +1,532 @@
+<HTML>
+<HEAD><TITLE>AB08ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08ND">AB08ND</A></H2>
+<H3>
+Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a linear multivariable system described by a
+  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
+                                                 f          f
+  has the invariant zeros of the system as generalized eigenvalues.
+  The routine also computes the orders of the infinite zeros and the
+  right and left Kronecker indices of the system (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
+     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
+     $                  LDWORK, M, N, NKROL, NKROR, NU, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
+     $                  C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NU      (output) INTEGER
+          The number of (finite) invariant zeros.
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer function matrix.
+
+  DINFZ   (output) INTEGER
+          The maximum degree of infinite elementary divisors.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors
+          of degree i, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+  AF      (output) DOUBLE PRECISION array, dimension
+          (LDAF,N+MIN(P,M))
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix A  of the reduced pencil. The remainder
+                              f
+          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
+          internal workspace.
+
+  LDAF    INTEGER
+          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
+
+  BF      (output) DOUBLE PRECISION array, dimension (LDBF,N+M)
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix B  of the reduced pencil. The
+                              f
+          remainder of the leading (N+P)-by-(N+M) part is used as
+          internal workspace.
+
+  LDBF    INTEGER
+          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
+                            MIN(M,N) + MAX(3*M-1,N+M) ).
+          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
+          s = MAX(M,P).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a state-space
+  system (A,B,C,D) a regular pencil A - lambda*B  which has the
+                                     f          f
+  invariant zeros of the system as generalized eigenvalues as
+  follows:
+
+     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
+                                                      (D  C)
+
+     (b) reduce the above system to one with the same invariant
+         zeros and with D of full row rank;
+
+     (c) pertranspose the system;
+
+     (d) reduce the system to one with the same invariant zeros and
+         with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+         (A - lambda*I  B) in order to reduce it to
+         (      C       D)
+
+         (A  - lambda*B   X)
+         ( f           f   ), with Y and B  square invertible;
+         (      0         Y)              f
+
+     (f) compute the right and left Kronecker indices of the system
+         (A,B,C,D), which together with the orders of the infinite
+         zeros (determined by steps (a) - (e)) constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the invariant zeros of the system explicitly,
+  a call to this routine may be followed by a call to the LAPACK
+  Library routine DGGEV with A = A , B = B  and N = NU.
+                                  f       f
+  If RANK = 0, the routine DGEEV can be used (since B = I).
+                                                     f
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB08ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
+     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( MAX( MPMAX+1, NMAX ) +
+     $                                 MAX( 3*(MPMAX+1), NMAX+MPMAX ),
+     $                                 8*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
+     $                 NU, P, RANK
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALFI(NMAX),
+     $                 ALFR(NMAX), B(LDB,MMAX), BETA(NMAX),
+     $                 BF(LDBF,MMAX+NMAX), C(LDC,NMAX), D(LDD,MMAX),
+     $                 DWORK(LDWORK), Q(LDQ,1), Z(LDZ,1)
+      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
+     $                 KRONR(NMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AB08ND, DGEGV
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AB08ND( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) N - NU
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   20                CONTINUE
+                  END IF
+               END IF
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AB08ND( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99987 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99986 ) N - NU
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 40 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   40                CONTINUE
+                  END IF
+               END IF
+*              Compute the structural invariants of the given system.
+               CALL AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99984 ) NU
+                  IF ( NU.GT.0 ) THEN
+*                    Compute the invariant zeros of the given system.
+*                    Workspace: need 8*NU.
+                     WRITE ( NOUT, FMT = 99983 )
+                     CALL DGEGV( 'No vectors', 'No vectors', NU, AF,
+     $                           LDAF, BF, LDBF, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 60 I = 1, NU
+                           IF ( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99982 )
+                     END IF
+                  END IF
+                  NINFZ = 0
+                  DO 80 I = 1, DINFZ
+                     IF ( INFZ(I).GT.0 ) THEN
+                        NINFZ = NINFZ + INFZ(I)*I
+                     END IF
+   80             CONTINUE
+                  WRITE ( NOUT, FMT = 99978 ) NINFZ
+                  IF ( NINFZ.GT.0 ) THEN
+                     DO 100 I = 1, DINFZ
+                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  100                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                      ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                      ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AB08ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB08ND = ',I2)
+99997 FORMAT (' INFO on exit from DGEGV = ',I2)
+99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
+99993 FORMAT (/' The system (A,C) is completely observable ')
+99992 FORMAT (/' The dimension of the observable subspace = ',I3)
+99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
+     $       'e matrix AF. ')
+99990 FORMAT (/' The matrix AF is ')
+99989 FORMAT (20(1X,F8.4))
+99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
+     $       ))
+99987 FORMAT (/' The system (A,B) is completely controllable ')
+99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' matrix AF. ')
+99984 FORMAT (//' The number of finite invariant zeros = ',I3)
+99983 FORMAT (/' The finite invariant zeros are ')
+99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
+     $       'ambda*BF - AF).')
+99981 FORMAT (/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4)
+99979 FORMAT (1X,F9.4,6X,F9.4)
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08ND EXAMPLE PROGRAM DATA
+   6     2     3     0.0     N
+   1.0   0.0   0.0   0.0   0.0   0.0
+   0.0   1.0   0.0   0.0   0.0   0.0
+   0.0   0.0   3.0   0.0   0.0   0.0
+   0.0   0.0   0.0  -4.0   0.0   0.0
+   0.0   0.0   0.0   0.0  -1.0   0.0
+   0.0   0.0   0.0   0.0   0.0   3.0
+   0.0  -1.0
+  -1.0   0.0
+   1.0  -1.0
+   0.0   0.0
+   0.0   1.0
+  -1.0  -1.0
+   1.0   0.0   0.0   1.0   0.0   0.0
+   0.0   1.0   0.0   1.0   0.0   1.0
+   0.0   0.0   1.0   0.0   0.0   1.0
+   0.0   0.0
+   0.0   0.0
+   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB08ND EXAMPLE PROGRAM RESULTS
+
+ The left Kronecker indices of (A,C) are 
+  1    2    2
+
+ The dimension of the observable subspace =   5
+
+ The output decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -1.0000
+
+
+ The right Kronecker indices of (A,B) are 
+  2    3
+
+ The dimension of the controllable subspace =   5
+
+ The input decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -4.0000
+
+
+ The number of finite invariant zeros =   2
+
+ The finite invariant zeros are 
+
+ real  part     imag  part 
+    2.0000
+   -1.0000
+
+ which correspond to the generalized eigenvalues of (lambda*BF - AF).
+
+
+ The number of infinite zeros =   2
+
+ The orders of the infinite zeros are 
+  1    1
+
+ The number of right Kronecker indices =   0
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker (row) indices of (A,B,C,D) are 
+  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB08NW.html b/doc/_static/doc/AB08NW.html
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+<HTML>
+<HEAD><TITLE>AB08NW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NW">AB08NW</A></H2>
+<H3>
+Construction of a regular pencil such that its generalized eigenvalues are finite Smith zeros of a system (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the system pencil
+
+                    ( A-lambda*I B )
+        S(lambda) = (              )
+                    (      C     D )
+
+  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
+  S(lambda) as generalized eigenvalues. The routine also computes
+  the orders of the infinite Smith zeros and determines the singular
+  and infinite Kronecker structure of the system pencil, i.e., the
+  right and left Kronecker indices, and the multiplicities of the
+  infinite eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE, NKROL,
+     $                   INFZ, KRONR, INFE, KRONL, E, LDE, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFE(*),  INFZ(*),  IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the system
+          matrix as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER.
+          The order of the square matrix A, the number of rows of
+          the matrix B, and number of columns of the matrix C.
+          N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Af of the reduced pencil.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 1, and
+          LDB &gt;= MAX(1,N), if M &gt; 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  NFZ     (output) INTEGER
+          The number of finite zeros.
+
+  NRANK   (output) INTEGER
+          The normal rank of the system pencil.
+
+  NIZ     (output) INTEGER
+          The number of infinite zeros.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite Smith zeros.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NINFE   (output) INTEGER
+          The number of elementary infinite blocks.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N+1)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors in
+          the Smith form of degree i, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (N+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  INFE    (output) INTEGER array, dimension (N+1)
+          The leading NINFE elements of INFE contain the
+          multiplicities of infinite eigenvalues.
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading NFZ-by-NFZ part of this array contains the
+          matrix Ef of the reduced pencil.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance  TOLDEF = MAX(N+P,N+M)**2*EPS,  is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MAX(N,M,P) = 0; otherwise,
+          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
+                         MIN(P,N) + MAX(N + MAX(P,M), 3*P - 1 ) ) +
+                         MAX(P+N,M+N)*MAX(P+N,M+N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a state space
+  system, (A-lambda*I,B,C,D), a regular pencil Af-lambda*Ef, which
+  has the finite zeros of the system as generalized eigenvalues.
+  The procedure has the following main computational steps:
+
+     (a) construct the (N+P)-by-(M+N) system pencil
+
+          S(lambda) = (B  A)-lambda*( 0  I );
+                      (D  C)        ( 0  0 )
+
+     (b) reduce S(lambda) to S1(lambda) with the same finite zeros
+         and right Kronecker structure, but with D of full row rank;
+
+     (c) reduce the pencil S1(lambda) to S2(lambda) with the same
+         finite zeros and with D square invertible;
+
+     (d) perform a unitary transformation on the columns of
+         S2(lambda) = (A-lambda*I   B), in order to reduce it to
+                      (     C       D)
+
+         (Af-lambda*Ef   X), with Y and Ef square invertible;
+         (     0         Y)
+
+     (e) compute the right and left Kronecker indices of the system
+         matrix, which, together with the multiplicities of the
+         finite and infinite eigenvalues, constitute the complete
+         set of structural invariants under strict equivalence
+         transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of the
+      Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the finite Smith zeros of the system
+  explicitly, a call to this routine may be followed by a call to
+  the LAPACK Library routine DGGEV.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB08NW EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = NMAX, LDQ = 1, LDZ = 1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( MAX( MIN( PMAX, MMAX ) + MMAX +
+     $                                      MAX( 2*MMAX, NMAX ) - 1,
+     $                                      MIN( PMAX, NMAX ) +
+     $                                      MAX( NMAX + MPMAX,
+     $                                           3*PMAX - 1 ) ) +
+     $                                 ( NMAX + MPMAX )**2, 8*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, M, N, NFZ, NINFE, NIZ, NKROL,
+     $                 NKROR, NRANK, P
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
+     $                 AS(LDA,NMAX), B(LDB,MMAX), BS(LDB,MMAX),
+     $                 BETA(NMAX), C(LDC,NMAX), CS(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 Q(LDQ,1), Z(LDZ,1)
+      INTEGER          INFE(NMAX+1), INFZ(NMAX+1), IWORK(MPMAX),
+     $                 KRONL(NMAX+1), KRONR(NMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AB08NW, DLACPY, DGEGV
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Save the matrices A, B, and C.
+               CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
+               CALL DLACPY( 'Full', N, M, B, LDB, BS, LDB )
+               CALL DLACPY( 'Full', P, N, C, LDC, CS, LDC )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AB08NW( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
+     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
+                  IF ( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) N - NFZ
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   20                CONTINUE
+                  END IF
+               END IF
+*              Restore the matrices A and C.
+               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
+               CALL DLACPY( 'Full', P, N, CS, LDC, C, LDC )
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AB08NW( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
+     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
+                  IF ( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99987 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99986 ) N - NFZ
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 40 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   40                CONTINUE
+                  END IF
+               END IF
+*              Restore the matrices A and B.
+               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
+               CALL DLACPY( 'Full', N, M, BS, LDB, B, LDB )
+*              Compute the structural invariants of the given system.
+               CALL AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
+     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99984 ) NFZ
+                  IF ( NFZ.GT.0 ) THEN
+*                    Compute the invariant zeros of the given system.
+*                    Workspace: need 8*NFZ.
+                     WRITE ( NOUT, FMT = 99983 )
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 60 I = 1, NFZ
+                           IF ( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99982 )
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99978 ) NIZ
+                  IF ( NIZ.GT.0 ) THEN
+                     DO 100 I = 1, DINFZ
+                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  100                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                      ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                      ( KRONL(I), I = 1,NKROL )
+                  IF ( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99969 )
+     $                                      ( INFE(I), I = 1,NINFE )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AB08NW EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB08NW = ',I2)
+99997 FORMAT (' INFO on exit from DGEGV = ',I2)
+99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
+99993 FORMAT (/' The system (A,C) is completely observable ')
+99992 FORMAT (/' The dimension of the observable subspace = ',I3)
+99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
+     $       'e matrix AF. ')
+99990 FORMAT (/' The matrix AF is ')
+99989 FORMAT (20(1X,F8.4))
+99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
+     $       ))
+99987 FORMAT (/' The system (A,B) is completely controllable ')
+99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' matrix AF. ')
+99984 FORMAT (//' The number of finite invariant zeros = ',I3)
+99983 FORMAT (/' The finite invariant zeros are ')
+99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
+     $       'ambda*EF - AF).')
+99981 FORMAT (/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4)
+99979 FORMAT (1X,F9.4,6X,F9.4)
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+99969 FORMAT (/' Multiplicities of infinite eigenvalues',/(20(I3,2X))) 
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08NW EXAMPLE PROGRAM DATA
+   6     2     3     0.0     N
+   1.0   0.0   0.0   0.0   0.0   0.0
+   0.0   1.0   0.0   0.0   0.0   0.0
+   0.0   0.0   3.0   0.0   0.0   0.0
+   0.0   0.0   0.0  -4.0   0.0   0.0
+   0.0   0.0   0.0   0.0  -1.0   0.0
+   0.0   0.0   0.0   0.0   0.0   3.0
+   0.0  -1.0
+  -1.0   0.0
+   1.0  -1.0
+   0.0   0.0
+   0.0   1.0
+  -1.0  -1.0
+   1.0   0.0   0.0   1.0   0.0   0.0
+   0.0   1.0   0.0   1.0   0.0   1.0
+   0.0   0.0   1.0   0.0   0.0   1.0
+   0.0   0.0
+   0.0   0.0
+   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB08NW EXAMPLE PROGRAM RESULTS
+
+ The left Kronecker indices of (A,C) are 
+  1    2    2
+
+ The dimension of the observable subspace =   5
+
+ The output decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -1.0000
+
+
+ The right Kronecker indices of (A,B) are 
+  2    3
+
+ The dimension of the controllable subspace =   5
+
+ The input decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+  -4.0000
+
+
+ The number of finite invariant zeros =   2
+
+ The finite invariant zeros are 
+
+ real  part     imag  part 
+    2.0000
+   -1.0000
+
+ which correspond to the generalized eigenvalues of (lambda*EF - AF).
+
+
+ The number of infinite zeros =   2
+   2 infinite zero(s) of order   1
+
+ The number of right Kronecker indices =   0
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker (row) indices of (A,B,C,D) are 
+  2
+
+ Multiplicities of infinite eigenvalues
+  2    2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB08NX.html b/doc/_static/doc/AB08NX.html
new file mode 100644
index 00000000..9b840294
--- /dev/null
+++ b/doc/_static/doc/AB08NX.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>AB08NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NX">AB08NX</A></H2>
+<H3>
+Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) system
+               ( B  A )
+               ( D  C )
+  an (NU+MU)-by-(M+NU) "reduced" system
+               ( B' A')
+               ( D' C')
+  having the same transmission zeros but with D' of full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NX( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
+     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDABCD, LDWORK, M, MU, N, NINFZ, NKROL,
+     $                  NU, P, RO, SIGMA
+      DOUBLE PRECISION  SVLMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*)
+      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  RO      (input/output) INTEGER
+          On entry,
+          = P     for the original system;
+          = MAX(P-M, 0) for the pertransposed system.
+          On exit, RO contains the last computed rank.
+
+  SIGMA   (input/output) INTEGER
+          On entry,
+          = 0  for the original system;
+          = M  for the pertransposed system.
+          On exit, SIGMA contains the last computed value sigma in
+          the algorithm.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) DOUBLE PRECISION array, dimension
+          (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound input matrix of the system.
+          On exit, the leading (NU+MU)-by-(M+NU) part of this array
+          contains the reduced compound input matrix of the system.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  NINFZ   (input/output) INTEGER
+          On entry, the currently computed number of infinite zeros.
+          It should be initialized to zero on the first call.
+          NINFZ &gt;= 0.
+          On exit, the number of infinite zeros.
+
+  INFZ    (input/output) INTEGER array, dimension (N)
+          On entry, INFZ(i) must contain the current number of
+          infinite zeros of degree i, where i = 1,2,...,N, found in
+          the previous call(s) of the routine. It should be
+          initialized to zero on the first call.
+          On exit, INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,N.
+
+  KRONL   (input/output) INTEGER array, dimension (N+1)
+          On entry, this array must contain the currently computed
+          left Kronecker (row) indices found in the previous call(s)
+          of the routine. It should be initialized to zero on the
+          first call.
+          On exit, the leading NKROL elements of this array contain
+          the left Kronecker (row) indices.
+
+  MU      (output) INTEGER
+          The normal rank of the transfer function matrix of the
+          original system.
+
+  NU      (output) INTEGER
+          The dimension of the reduced system matrix and the number
+          of (finite) invariant zeros if D' is invertible.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB08NY.html b/doc/_static/doc/AB08NY.html
new file mode 100644
index 00000000..e7672a0d
--- /dev/null
+++ b/doc/_static/doc/AB08NY.html
@@ -0,0 +1,244 @@
+<HTML>
+<HEAD><TITLE>AB08NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NY">AB08NY</A></H2>
+<H3>
+Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) system pencil
+               ( B  A-lambda*I )
+               ( D      C      )
+  an (NR+PR)-by-(M+NR) "reduced" system pencil,
+               ( Br Ar-lambda*I ),
+               ( Dr     Cr      )
+  having the same transmission zeros, but with Dr of full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, NINFZ,
+     $                   NR, PR, DINFZ, NKRONL, INFZ, KRONL, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           FIRST
+      INTEGER           DINFZ, INFO, LDABCD, LDWORK, M, N, NINFZ,
+     $                  NKRONL, NR, P, PR
+      DOUBLE PRECISION  SVLMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*)
+      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FIRST   LOGICAL
+          Specifies if AB08NY is called first time, or it is called
+          for an already reduced system, with D of full column rank,
+          with the last M rows in upper triangular form:
+          FIRST = .TRUE.  :  first time called;
+          FIRST = .FALSE. :  not first time called.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C, and the order of the square matrix A.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and D.  M &gt;= 0.
+          M &lt;= P, if FIRST = .FALSE.
+
+  P       (input) INTEGER
+          The number of rows of the matrices C and D.  P &gt;= 0.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          An estimate of the largest singular value of the original
+          matrix ABCD (for instance, the Frobenius norm of ABCD).
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) DOUBLE PRECISION array, dimension
+          (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound matrix
+                   (  B   A  ),
+                   (  D   C  )
+          where A is an N-by-N matrix, B is an N-by-M matrix,
+          C is a P-by-N matrix, and D is a P-by-M matrix.
+          If FIRST = .FALSE., then D must be a full column rank
+          matrix, with the last M rows in an upper triangular form.
+          On exit, the leading (NR+PR)-by-(M+NR) part of this array
+          contains the reduced compound matrix
+                    (  Br  Ar ),
+                    (  Dr  Cr )
+          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
+          Cr is a PR-by-NR matrix, and Dr is a PR-by-M full row rank
+          left upper-trapezoidal matrix, with the first PR columns
+          in an upper triangular form.
+
+  LDABCD  INTEGER
+          The leading dimension of the array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  NINFZ   (input/output) INTEGER
+          On entry, the currently computed number of infinite zeros.
+          It should be initialized to zero on the first call.
+          NINFZ &gt;= 0.
+          If FIRST = .FALSE., then NINFZ is not modified.
+          On exit, the number of infinite zeros.
+
+  NR      (output) INTEGER
+          The order of the reduced matrix Ar; also, the number of
+          rows of the reduced matrix Br and the number of columns of
+          the reduced matrix Cr.
+          If Dr is invertible, NR is also the number of finite Smith
+          zeros.
+
+  PR      (output) INTEGER
+          The normal rank of the transfer-function matrix of the
+          original system; also, the number of rows of the reduced
+          matrices Cr and Dr.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite zeros.
+          DINFZ = 0 if FIRST = .FALSE. .
+
+  NKRONL  (output) INTEGER
+          The maximal dimension of left elementary Kronecker blocks.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          INFZ(i) contains the number of infinite zeros of degree i,
+          where i = 1,2,...,DINFZ.
+          INFZ is not referenced if FIRST = .FALSE. .
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          KRONL(i) contains the number of left elementary Kronecker
+          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).
+          If the user sets TOL to be less than or equal to zero,
+          then the tolerance is taken as (N+P)*(N+M)*EPS, where EPS
+          is the machine precision (see LAPACK Library Routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MIN(P, MAX(N,M)) = 0; otherwise,
+          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
+                         MIN(P,N) + MAX(N + MAX( P, M), 3*P - 1 ) ).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of the
+      Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( (P+N)*(M+N)*N )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite zeros is computed (if FIRST = .TRUE.) as
+
+                DINFZ
+     NINFZ =     Sum  (INFZ(i)*i .
+                 i=1
+
+  Note that each infinite zero of multiplicity k corresponds to an
+  infinite eigenvalue of multiplicity k+1.
+  The multiplicities of the infinite eigenvalues can be determined
+  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
+
+                  DINFZ
+  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
+                   i=1
+
+  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
+    for i = 1, ..., DINFZ.
+
+  The left Kronecker indices are:
+
+  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
+  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB08NZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB08NZ">AB08NZ</A></H2>
+<H3>
+Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct for a linear multivariable system described by a
+  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
+                                                 f          f
+  has the invariant zeros of the system as generalized eigenvalues.
+  The routine also computes the orders of the infinite zeros and the
+  right and left Kronecker indices of the system (A,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
+     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
+     $                  LZWORK, M, N, NKROL, NKROR, NU, P, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      COMPLEX*16        A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
+     $                  C(LDC,*), D(LDD,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the compound
+          matrix (see METHOD) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) COMPLEX*16 array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) COMPLEX*16 array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) COMPLEX*16 array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NU      (output) INTEGER
+          The number of (finite) invariant zeros.
+
+  RANK    (output) INTEGER
+          The normal rank of the transfer function matrix.
+
+  DINFZ   (output) INTEGER
+          The maximum degree of infinite elementary divisors.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors
+          of degree i, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+  AF      (output) COMPLEX*16 array, dimension (LDAF,N+MIN(P,M))
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix A  of the reduced pencil. The remainder
+                              f
+          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
+          internal workspace.
+
+  LDAF    INTEGER
+          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
+
+  BF      (output) COMPLEX*16 array, dimension (LDBF,N+M)
+          The leading NU-by-NU part of this array contains the
+          coefficient matrix B  of the reduced pencil. The
+                              f
+          remainder of the leading (N+P)-by-(N+M) part is used as
+          internal workspace.
+
+  LDBF    INTEGER
+          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
+          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*MAX(P,M)))
+
+  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
+                            MIN(M,N) + MAX(3*M-1,N+M) ).
+          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
+          s = MAX(M,P).
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a state-space
+  system (A,B,C,D) a regular pencil A - lambda*B  which has the
+                                     f          f
+  invariant zeros of the system as generalized eigenvalues as
+  follows:
+
+     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
+                                                      (D  C)
+
+     (b) reduce the above system to one with the same invariant
+         zeros and with D of full row rank;
+
+     (c) pertranspose the system;
+
+     (d) reduce the system to one with the same invariant zeros and
+         with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+         (A - lambda*I  B) in order to reduce it to
+         (      C       D)
+
+         (A  - lambda*B   X)
+         ( f           f   ), with Y and B  square invertible;
+         (     0          Y)              f
+
+     (f) compute the right and left Kronecker indices of the system
+         (A,B,C,D), which together with the orders of the infinite
+         zeros (determined by steps (a) - (e)) constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [2] and [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the invariant zeros of the system explicitly,
+  a call to this routine may be followed by a call to the LAPACK
+  Library routine ZGGEV with A = A , B = B  and N = NU.
+                                  f       f
+  If RANK = 0, the routine ZGEEV can be used (since B = I).
+                                                     f
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB08NZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
+     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK =
+     $                   MAX( MIN( PMAX, MMAX ) +
+     $                        MAX( 3*MMAX - 1, NMAX ),
+     $                        MIN( PMAX, NMAX ) +
+     $                        MAX( 3*PMAX, NMAX+PMAX, NMAX+MMAX ),
+     $                        MIN( MMAX, NMAX ) +
+     $                        MAX( 3*MMAX, NMAX+MMAX ), 1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
+     $                 NU, P, RANK
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALPHA(NMAX),
+     $                 B(LDB,MMAX), BETA(NMAX), BF(LDBF,MMAX+NMAX),
+     $                 C(LDC,NMAX), D(LDD,MMAX), Q(LDQ,1), Z(LDZ,1),
+     $                 ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK)
+      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
+     $                 KRONR(NMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AB08NZ, ZGEGV
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AB08NZ( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99993 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) N - NU
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   20                CONTINUE
+                  END IF
+               END IF
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AB08NZ( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
+                  IF ( NU.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99987 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99986 ) N - NU
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 40 I = 1, NU
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( AF(I,J), J = 1,NU )
+   40                CONTINUE
+                  END IF
+               END IF
+*              Compute the structural invariants of the given system.
+               CALL AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
+     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
+     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99984 ) NU
+                  IF ( NU.GT.0 ) THEN
+*                    Compute the invariant zeros of the given system.
+*                    Complex Workspace: need 2*NU.
+*                    Real Workspace:    need 8*NU.
+                     WRITE ( NOUT, FMT = 99983 )
+                     CALL ZGEGV( 'No vectors', 'No vectors', NU, AF,
+     $                           LDAF, BF, LDBF, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF ( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 60 I = 1, NU
+                           WRITE ( NOUT, FMT = 99980 ) ALPHA(I)/BETA(I)
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99982 )
+                     END IF
+                  END IF
+                  NINFZ = 0
+                  DO 80 I = 1, DINFZ
+                     IF ( INFZ(I).GT.0 ) THEN
+                        NINFZ = NINFZ + INFZ(I)*I
+                     END IF
+   80             CONTINUE
+                  WRITE ( NOUT, FMT = 99978 ) NINFZ
+                  IF ( NINFZ.GT.0 ) THEN
+                     DO 100 I = 1, DINFZ
+                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  100                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                      ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                      ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AB08NZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB08NZ = ',I2)
+99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
+99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
+99993 FORMAT (/' The system (A,C) is completely observable ')
+99992 FORMAT (/' The dimension of the observable subspace = ',I3)
+99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
+     $       'e matrix AF. ')
+99990 FORMAT (/' The matrix AF is ')
+99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
+     $       ))
+99987 FORMAT (/' The system (A,B) is completely controllable ')
+99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' matrix AF. ')
+99984 FORMAT (//' The number of finite invariant zeros = ',I3)
+99983 FORMAT (/' The finite invariant zeros are ')
+99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
+     $       'ambda*BF - AF).')
+99981 FORMAT (/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
+     $       /(20(I3,2X)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08NZ EXAMPLE PROGRAM DATA
+   6     2     3    0.0    N
+  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-4.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-1.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)
+  (0.0,0.0) (-1.0,0.0)
+ (-1.0,0.0)  (0.0,0.0)
+  (1.0,0.0) (-1.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (1.0,0.0)
+ (-1.0,0.0) (-1.0,0.0)
+  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)
+  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+  (0.0,0.0)  (0.0,0.0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB08NZ EXAMPLE PROGRAM RESULTS
+
+ The left Kronecker indices of (A,C) are 
+  1    2    2
+
+ The dimension of the observable subspace =   5
+
+ The output decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+   -1.0000  +0.0000i 
+
+
+ The right Kronecker indices of (A,B) are 
+  2    3
+
+ The dimension of the controllable subspace =   5
+
+ The input decoupling zeros are the eigenvalues of the matrix AF. 
+
+ The matrix AF is 
+   -4.0000  +0.0000i 
+
+
+ The number of finite invariant zeros =   2
+
+ The finite invariant zeros are 
+
+ real  part     imag  part 
+    2.0000  +0.0000i 
+   -1.0000  +0.0000i 
+
+ which correspond to the generalized eigenvalues of (lambda*BF - AF).
+
+
+ The number of infinite zeros =   2
+
+ The orders of the infinite zeros are 
+  1    1
+
+ The number of right Kronecker indices =   0
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker (row) indices of (A,B,C,D) are 
+  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09AD.html b/doc/_static/doc/AB09AD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/AB09AD.html
@@ -0,0 +1,395 @@
+<HTML>
+<HEAD><TITLE>AB09AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09AD">AB09AD</A></H2>
+<H3>
+Balance & Truncate model reduction for stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for a stable original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate (B & T)
+  model reduction method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
+     $                   B, LDB, C, LDC, HSV, TOL, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0, if JOB = 'B';
+          LIWORK = N, if JOB = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to the real Schur form failed;
+          = 2:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09AD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the square-root Balance & Truncate method of [1]
+  is used and, for DICO = 'C', the resulting model is balanced.
+  By setting TOL &lt;= 0, the routine can be used to compute balanced
+  minimal state-space realizations of stable systems.
+
+  If JOB = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used.
+  By setting TOL &lt;= 0, the routine can be used to compute minimal
+  state-space realizations of stable systems.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
+     $                            MAX( NMAX, MMAX, PMAX ) ) +
+     $                          ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NR, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, TOL, DICO, JOB, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      A, LDA, B, LDB, C, LDC, HSV, TOL, IWORK,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09AD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values HSV are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09AD EXAMPLE PROGRAM DATA (Continuous system)
+  7     2     3     0   1.E-1      C     N     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09AD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values HSV are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+
+ The reduced state dynamics matrix Ar is 
+   1.3451   5.0399   0.0000   0.0000   4.5315
+  -4.0214  -3.6604   0.0000   0.0000  -0.9056
+   0.0000   0.0000   0.5124   1.7910   0.0000
+   0.0000   0.0000  -4.2167  -2.9900   0.0000
+   1.2402   1.6416   0.0000   0.0000  -0.0586
+
+ The reduced input/state matrix Br is 
+  -0.3857   0.3857
+  -3.1753   3.1753
+  -0.7447  -0.7447
+  -3.6872  -3.6872
+   1.8197  -1.8197
+
+ The reduced state/output matrix Cr is 
+  -0.6704   0.1828  -0.6582   0.2222  -0.0104
+   0.1089   0.4867   0.0000   0.0000   0.8651
+   0.6704  -0.1828  -0.6582   0.2222   0.0104
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09AX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09AX">AB09AX</A></H2>
+<H3>
+Balance & Truncate model reduction for stable systems with state matrix in real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for a stable original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate model
+  reduction method. The state dynamics matrix A of the original
+  system is an upper quasi-triangular matrix in real Schur canonical
+  form. The matrices of the reduced order system are computed using
+  the truncation formulas:
+
+       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09AX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, HSV, T, LDT, TI, LDTI, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDT, LDTI, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*),
+     $                  T(LDT,*), TI(LDTI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
+          array contains the right truncation matrix T.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
+          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
+          array contains the left truncation matrix TI.
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0, if JOB = 'B', or
+          LIWORK = N, if JOB = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09AX determines for
+  the given system (1), the matrices of a reduced NR order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the square-root Balance & Truncate method of [1]
+  is used and, for DICO = 'C', the resulting model is balanced.
+  By setting TOL &lt;= 0, the routine can be used to compute balanced
+  minimal state-space realizations of stable systems.
+
+  If JOB = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used.
+  By setting TOL &lt;= 0, the routine can be used to compute minimal
+  state-space realizations of stable systems.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09BD.html b/doc/_static/doc/AB09BD.html
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+<HTML>
+<HEAD><TITLE>AB09BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09BD">AB09BD</A></H2>
+<H3>
+Singular Perturbation Approximation based model reduction for stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root Singular
+  Perturbation Approximation (SPA) model reduction method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
+     $                   B, LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root SPA method;
+          = 'N':  use the balancing-free square-root SPA method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to the real Schur form failed;
+          = 2:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09BD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the balancing-based square-root SPA method of [1]
+  is used and the resulting model is balanced.
+
+  If JOB = 'N', the balancing-free square-root SPA method of [2]
+  is used.
+  By setting TOL1 = TOL2, the routine can be used to compute
+  Balance & Truncate approximations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems,
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
+     $                            MAX( NMAX, MMAX, PMAX ) ) +
+     $                          ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, JOB, EQUIL,
+     $                      ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
+     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09BD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09BD EXAMPLE PROGRAM DATA (Continuous system)
+  7     2     3     0   1.E-1  1.E-14      C     N     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09BD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+
+ The reduced state dynamics matrix Ar is 
+   1.3960   5.1248   0.0000   0.0000   4.4331
+  -4.1411  -3.8605   0.0000   0.0000  -0.6738
+   0.0000   0.0000   0.5847   1.9230   0.0000
+   0.0000   0.0000  -4.3823  -3.2922   0.0000
+   1.3261   1.7851   0.0000   0.0000  -0.2249
+
+ The reduced input/state matrix Br is 
+  -0.2901   0.2901
+  -3.4004   3.4004
+  -0.6379  -0.6379
+  -3.9315  -3.9315
+   1.9813  -1.9813
+
+ The reduced state/output matrix Cr is 
+  -0.6570   0.2053  -0.6416   0.2526  -0.0364
+   0.1094   0.4875   0.0000   0.0000   0.8641
+   0.6570  -0.2053  -0.6416   0.2526   0.0364
+
+ The reduced input/output matrix Dr is 
+   0.0498  -0.0007
+   0.0010  -0.0010
+  -0.0007   0.0498
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09BX.html b/doc/_static/doc/AB09BX.html
new file mode 100644
index 00000000..9f0df127
--- /dev/null
+++ b/doc/_static/doc/AB09BX.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>AB09BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09BX">AB09BX</A></H2>
+<H3>
+Singular Perturbation Approximation based model reduction for stable systems with state matrix in real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root
+  Singular Perturbation Approximation (SPA) model reduction method.
+  The state dynamics matrix A of the original system is an upper
+  quasi-triangular matrix in real Schur canonical form. The matrices
+  of a minimal realization are computed using the truncation
+  formulas:
+
+       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .      (1)
+
+  Am, Bm, Cm and D serve further for computing the SPA of the given
+  system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09BX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
+     $                  LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root SPA method;
+          = 'N':  use the balancing-free square-root SPA method.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
+          array contains the right truncation matrix T in (1).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
+          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
+          array contains the left truncation matrix TI in (1).
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                              (2)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09BX determines for
+  the given system (1), the matrices of a reduced NR order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                          (3)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the balancing-based square-root SPA method of [1]
+  is used and the resulting model is balanced.
+
+  If JOB = 'N', the balancing-free square-root SPA method of [2]
+  is used.
+  By setting TOL1 = TOL2, the routine can be also used to compute
+  Balance & Truncate approximations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems,
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09CD.html b/doc/_static/doc/AB09CD.html
new file mode 100644
index 00000000..5fa878df
--- /dev/null
+++ b/doc/_static/doc/AB09CD.html
@@ -0,0 +1,427 @@
+<HTML>
+<HEAD><TITLE>AB09CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09CD">AB09CD</A></H2>
+<H3>
+Optimal Hankel-norm approximation based model reduction for stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using the
+  optimal Hankel-norm approximation method in conjunction with
+  square-root balancing.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
+          where KR is the multiplicity of the Hankel singular value
+          HSV(NR+1), NR is the desired order on entry, and NMIN is
+          the order of a minimal realization of the given system;
+          NMIN is determined as the number of Hankel singular values
+          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M),   if DICO = 'C';
+          LIWORK = MAX(1,N,M), if DICO = 'D'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2 ), where
+          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
+          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is set
+                automatically to a value corresponding to the order
+                of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to the real Schur form failed;
+          = 2:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed;
+          = 4:  the computation of stable projection failed;
+          = 5:  the order of computed stable projection differs
+                from the order of Hankel-norm approximation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09CD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The optimal Hankel-norm approximation method of [1], based on the
+  square-root balancing projection formulas of [2], is employed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [2] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
+     $                                 MAX( NMAX, MMAX, PMAX ) + 5 ) +
+     $                               ( NMAX*( NMAX + 1 ) )/2,
+     $                            NMAX*( MMAX + PMAX + 2 ) +
+     $                            2*MMAX*PMAX +
+     $                            MIN( NMAX, MMAX ) + MAX( 3*MMAX + 1,
+     $                            MIN( NMAX, MMAX ) + PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, P
+      CHARACTER*1      DICO, EQUIL, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR,
+     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
+     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09CD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09CD EXAMPLE PROGRAM DATA (Continuous system)
+  7     2     3     0   1.E-1  1.E-14      C     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09CD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5038  -5.3070  -3.2250   0.0000   0.0000
+   1.8355  -0.5038  -2.6289   0.0000   0.0000
+   0.0000   0.0000  -1.5171   0.0000   0.0000
+   0.0000   0.0000   0.0000  -1.2925  -9.0718
+   0.0000   0.0000   0.0000   0.5047  -1.2925
+
+ The reduced input/state matrix Br is 
+  -1.5343   1.5343
+  -0.3614   0.3614
+  -1.1096   1.1096
+  -4.5325  -4.5325
+  -0.7396  -0.7396
+
+ The reduced state/output matrix Cr is 
+   1.8971  -0.3055  -2.1124   0.4421  -2.1023
+  -0.0394   1.1112  -0.3119   0.0000   0.0000
+  -1.8971   0.3055   2.1124   0.4421  -2.1023
+
+ The reduced input/output matrix Dr is 
+   0.0126  -0.0126
+   0.0005  -0.0005
+  -0.0126   0.0126
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09CX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09CX">AB09CX</A></H2>
+<H3>
+Optimal Hankel-norm approximation based model reduction for stable systems with state matrix in real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
+  original state-space representation (A,B,C,D) by using the optimal
+  Hankel-norm approximation method in conjunction with square-root
+  balancing. The state dynamics matrix A of the original system is
+  an upper quasi-triangular matrix in real Schur canonical form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09CX( DICO, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
+          where KR is the multiplicity of the Hankel singular value
+          HSV(NR+1), NR is the desired order on entry, and NMIN is
+          the order of a minimal realization of the given system;
+          NMIN is determined as the number of Hankel singular values
+          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(A,B,C) is the Hankel norm of the system (computed
+          in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values of
+          the original system ordered decreasingly. HSV(1) is the
+          Hankel norm of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(A,B,C), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(A,B,C) is the
+          Hankel-norm of the given system (computed in HSV(1)).
+          For computing a minimal realization, the recommended
+          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH).
+          This value is used by default if TOL1 &lt;= 0 on entry.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the given system. The recommended value is
+          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
+          if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M),   if DICO = 'C';
+          LIWORK = MAX(1,N,M), if DICO = 'D'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1,LDW2 ), where
+          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
+          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is set
+                automatically to a value corresponding to the order
+                of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed;
+          = 3:  the computation of stable projection failed;
+          = 4:  the order of computed stable projection differs
+                from the order of Hankel-norm approximation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09CX determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The optimal Hankel-norm approximation method of [1], based on the
+  square-root balancing projection formulas of [2], is employed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [2] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09DD.html b/doc/_static/doc/AB09DD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>AB09DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09DD">AB09DD</A></H2>
+<H3>
+Computation of a reduced order model using singular perturbation approximation formulas
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model by using singular perturbation
+  approximation formulas.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, RCOND, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, NR, P
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A; also the number of rows of matrix B and the
+          number of columns of the matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows of
+          matrices C and D.  P &gt;= 0.
+
+  NR      (input) INTEGER
+          The order of the reduced order system.  N &gt;= NR &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix of the original system.
+          On exit, the leading NR-by-NR part of this array contains
+          the state dynamics matrix Ar of the reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix of the original system.
+          On exit, the leading NR-by-M part of this array contains
+          the input/state matrix Br of the reduced order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix of the original system.
+          On exit, the leading P-by-NR part of this array contains
+          the state/output matrix Cr of the reduced order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix of the original system.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix Dr of the reduced order system.
+          If NR = 0 and the given system is stable, then D contains
+          the steady state gain of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal condition number of the matrix A22-g*I
+          (see METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*(N-NR))
+
+  DWORK   DOUBLE PRECISION array, dimension (4*(N-NR))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1: if the matrix A22-g*I (see METHOD) is numerically
+               singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the system (A,B,C,D), partition the system matrices as
+
+         ( A11 A12 )        ( B1 )
+     A = (         ) ,  B = (    ) ,  C = ( C1  C2 ),
+         ( A21 A22 )        ( B2 )
+
+  where A11 is NR-by-NR, B1 is NR-by-M, C1 is P-by-NR, and the other
+  submatrices have appropriate dimensions.
+
+  The matrices of the reduced order system (Ar,Br,Cr,Dr) are
+  computed according to the following residualization formulas:
+                             -1                               -1
+     Ar = A11 + A12*(g*I-A22)  *A21 ,  Br = B1 + A12*(g*I-A22)  *B2
+                           -1                               -1
+     Cr = C1 + C2*(g*I-A22)  *A21   ,  Dr = D + C2*(g*I-A22)  *B2
+
+  where g = 0 if DICO = 'C' and g = 1 if DICO = 'D'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, M, N, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09DD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, RCOND, IWORK, DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) RCOND
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09DD = ',I2)
+99997 FORMAT (' The computed reciprocal condition number = ',1PD12.5)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09DD EXAMPLE PROGRAM DATA  (Continuous system)
+  7     2     3     5      C
+  -0.04165    4.9200   -4.9200         0         0         0         0
+         0   -3.3300         0         0         0    3.3300         0
+    0.5450         0         0   -0.5450         0         0         0
+         0         0    4.9200  -0.04165    4.9200         0         0
+         0         0         0         0   -3.3300         0    3.3300
+   -5.2100         0         0         0         0  -12.5000         0
+         0         0         0   -5.2100         0         0  -12.5000
+         0         0   
+         0         0   
+         0         0   
+         0         0   
+         0         0   
+   12.5000         0   
+         0   12.5000   
+     1     0     0     0     0     0     0
+     0     0     1     0     0     0     0
+     0     0     0     1     0     0     0
+     0     0     
+     0     0     
+     0     0     
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09DD EXAMPLE PROGRAM RESULTS
+
+ The computed reciprocal condition number =  1.00000D+00
+
+ The reduced state dynamics matrix Ar is 
+  -0.0416   4.9200  -4.9200   0.0000   0.0000
+  -1.3879  -3.3300   0.0000   0.0000   0.0000
+   0.5450   0.0000   0.0000  -0.5450   0.0000
+   0.0000   0.0000   4.9200  -0.0416   4.9200
+   0.0000   0.0000   0.0000  -1.3879  -3.3300
+
+ The reduced input/state matrix Br is 
+   0.0000   0.0000
+   3.3300   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   3.3300
+
+ The reduced state/output matrix Cr is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000
+
+ The reduced input/output matrix Dr is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09ED.html b/doc/_static/doc/AB09ED.html
new file mode 100644
index 00000000..cf85fac7
--- /dev/null
+++ b/doc/_static/doc/AB09ED.html
@@ -0,0 +1,488 @@
+<HTML>
+<HEAD><TITLE>AB09ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09ED">AB09ED</A></H2>
+<H3>
+Optimal Hankel-norm approximation based model reduction for unstable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the optimal
+  Hankel-norm approximation method in conjunction with square-root
+  balancing for the ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, NS, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
+          multiplicity of the Hankel singular value HSV(NR-NU+1),
+          NR is the desired order on entry, and NMIN is the order
+          of a minimal realization of the ALPHA-stable part of the
+          given system; NMIN is determined as the number of Hankel
+          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
+          ALPHA-stable part of the given system (computed in
+          HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the given system
+          (computed in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          This value is appropriate to compute a minimal realization
+          of the ALPHA-stable part.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M),   if DICO = 'C';
+          LIWORK = MAX(1,N,M), if DICO = 'D'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2 ), where
+          LDW1 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
+          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computed ALPHA-stable part is just stable,
+                having stable eigenvalues very near to the imaginary
+                axis (if DICO = 'C') or to the unit circle
+                (if DICO = 'D');
+          = 4:  the computation of Hankel singular values failed;
+          = 5:  the computation of stable projection in the
+                Hankel-norm approximation algorithm failed;
+          = 6:  the order of computed stable projection in the
+                Hankel-norm approximation algorithm differs
+                from the order of Hankel-norm approximation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09ED determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1.
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the ALPHA-stable part G1, the optimal Hankel-norm
+  approximation method of [1], based on the square-root
+  balancing projection formulas of [2], is employed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [2] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
+     $                                        MAX( NMAX, MMAX, PMAX ) +
+     $                                 5 ) + ( NMAX*( NMAX + 1 ) )/2,
+     $                                 NMAX*( MMAX + PMAX + 2 ) +
+     $                                 2*MMAX*PMAX + MIN( NMAX, MMAX ) +
+     $                                 MAX( 3*MMAX + 1,
+     $                                      MIN( NMAX, MMAX ) +
+     $                                      PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
+     $                      DICO, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                      A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
+     $                      TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09ED = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09ED EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   -0.6D0 1.E-1  1.E-14 C  N  A  
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000  0.0000
+  0.0000  0.0000
+  0.0000  0.0000
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09ED EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of ALPHA-stable part are
+   1.9178   0.8621   0.7666   0.0336   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5181  -1.1084   0.0000   0.0000   0.0000
+   8.8157  -0.5181   0.0000   0.0000   0.0000
+   0.0000   0.0000  -1.2769   7.3264   0.0000
+   0.0000   0.0000  -0.6203  -1.2769   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.5496
+
+ The reduced input/state matrix Br is 
+  -1.2837   1.2837
+  -0.7522   0.7522
+   3.2016   3.2016
+  -0.7640  -0.7640
+   1.3415  -1.3415
+
+ The reduced state/output matrix Cr is 
+  -0.1380  -0.6445  -0.6247  -2.0857  -0.8964
+   0.6246   0.0196   0.0000   0.0000   0.6131
+   0.1380   0.6445  -0.6247  -2.0857   0.8964
+
+ The reduced input/output matrix Dr is 
+   0.0168  -0.0168
+   0.0008  -0.0008
+  -0.0168   0.0168
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09FD">AB09FD</A></H2>
+<H3>
+Balance & Truncate model reduction for unstable systems in conjunction with coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for an original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate (B & T)
+  model reduction method in conjunction with stable coprime
+  factorization techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
+     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, NQ, HSV,
+     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NQ,
+     $                  NR, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization is
+          to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  FACT    CHARACTER*1
+          Specifies the type of coprime factorization to be computed
+          as follows:
+          = 'S':  compute a coprime factorization with prescribed
+                  stability degree ALPHA;
+          = 'I':  compute a coprime factorization with inner
+                  denominator.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
+          is the desired order on entry, NQ is the order of the
+          computed coprime factorization of the given system, and
+          NMIN is the order of a minimal realization of the extended
+          system (see METHOD); NMIN is determined as the number of
+          Hankel singular values greater than NQ*EPS*HNORM(Ge),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
+          extended system (computed in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          If FACT = 'S', the desired stability degree for the
+          factors of the coprime factorization (see SLICOT Library
+          routines SB08ED/SB08FD).
+          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
+          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
+          If FACT = 'I', ALPHA is not used.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the computed extended system Ge (see METHOD).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the NQ Hankel singular values of
+          the extended system Ge ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced extended system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(Ge), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(Ge) is the
+          Hankel-norm of the extended system (computed in HSV(1)).
+          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
+          TOL1 &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B or C are considered zero (used for controllability or
+          observability tests).
+          If the user sets TOL2 &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF is used:
+          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
+          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
+          where EPS is the machine precision, and NORM(.) denotes
+          the 1-norm of a matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = PM,        if JOBMR = 'B',
+          LIWORK = MAX(N,PM), if JOBMR = 'N', where
+          PM = P, if JOBCF = 'L',
+          PM = M, if JOBCF = 'R'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
+          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
+          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
+          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
+          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
+          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
+          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 10*K+I:
+            I = 1:  with ORDSEL = 'F', the selected order NR is
+                    greater than the order of the computed coprime
+                    factorization of the given system. In this case,
+                    the resulting NR is set automatically to a value
+                    corresponding to the order of a minimal
+                    realization of the system;
+            K &gt; 0:  K violations of the numerical stability
+                    condition occured when computing the coprime
+                    factorization using pole assignment (see SLICOT
+                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
+                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
+          = 3:  the matrix A has an observable or controllable
+                eigenvalue on the imaginary axis if DICO = 'C' or
+                on the unit circle if DICO = 'D';
+          = 4:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The subroutine AB09FD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  with the transfer-function matrix Gr, by using the
+  balanced-truncation model reduction method in conjunction with
+  a left coprime factorization (LCF) or a right coprime
+  factorization (RCF) technique:
+
+  1. Compute the appropriate stable coprime factorization of G:
+                  -1                   -1
+             G = R  *Q (LCF) or G = Q*R   (RCF).
+
+  2. Perform the model reduction algorithm on the extended system
+                                        ( Q )
+             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
+
+     to obtain a reduced extended system with reduced factors
+                                            ( Qr )
+             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
+
+  3. Recover the reduced system from the reduced factors as
+                    -1                       -1
+             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
+
+  The approximation error for the extended system satisfies
+
+     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
+
+  where INFNORM(G) is the infinity-norm of G.
+
+  If JOBMR = 'B', the square-root Balance & Truncate method of [1]
+  is used for model reduction.
+  If JOBMR = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used for model reduction.
+
+  If FACT = 'S', the stable coprime factorization with prescribed
+  stability degree ALPHA is computed by using the algorithm of [3].
+  If FACT = 'I', the stable coprime factorization with inner
+  denominator is computed by using the algorithm of [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
+      pp. 42-46, 1991.
+
+  [3] Varga A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+  [4] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX, MMAX, PMAX ) )
+*     The formula below uses that NMAX = MMAX = PMAX.
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09FD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
+     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
+     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                      NQ, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09FD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of coprime factors are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08FD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3  0 -1.e-1  .1 1.E-10 C L I B S A
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09FD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of coprime factors are
+  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
+
+ The reduced state dynamics matrix Ar is 
+   0.0520  -0.1491   0.0037  -0.0232   0.0168
+   0.2340   0.2618   0.0010  -0.0153  -0.0318
+   0.1197   0.0075  -0.5752   2.0119  -0.7779
+   0.1571  -0.2019  -2.1282  -2.1192  -0.3618
+   0.0368  -0.4810   0.8395  -0.2790  -2.8796
+
+ The reduced input/state matrix Br is 
+   1.0454   0.5860
+  -0.0489  -1.9194
+  -1.4282   0.0541
+  -1.6144  -0.7533
+   0.5916  -1.9242
+
+ The reduced state/output matrix Cr is 
+   0.4368   0.1122  -1.2917   1.5888  -0.6354
+   1.1170   0.3963   0.6115   0.1249  -0.0859
+   0.0756  -1.8904   0.0144   0.7964   1.9085
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09GD">AB09GD</A></H2>
+<H3>
+Singular Perturbation Approximation based model reduction for unstable systems in conjunction with coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root Singular
+  Perturbation Approximation (SPA) model reduction method in
+  conjunction with stable coprime factorization techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
+     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NQ, HSV, TOL1, TOL2, TOL3, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M, N,
+     $                  NQ, NR, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2, TOL3
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization is
+          to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  FACT    CHARACTER*1
+          Specifies the type of coprime factorization to be computed
+          as follows:
+          = 'S':  compute a coprime factorization with prescribed
+                  stability degree ALPHA;
+          = 'I':  compute a coprime factorization with inner
+                  denominator.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
+          is the desired order on entry, NQ is the order of the
+          computed coprime factorization of the given system, and
+          NMIN is the order of a minimal realization of the extended
+          system (see METHOD); NMIN is determined as the number of
+          Hankel singular values greater than NQ*EPS*HNORM(Ge),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
+          extended system (computed in HSV(1));
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          If FACT = 'S', the desired stability degree for the
+          factors of the coprime factorization (see SLICOT Library
+          routines SB08ED/SB08FD).
+          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
+          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
+          If FACT = 'I', ALPHA is not used.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the computed extended system Ge (see METHOD).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the NQ Hankel singular values of
+          the extended system Ge ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced extended system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(Ge), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(Ge) is the
+          Hankel-norm of the extended system (computed in HSV(1)).
+          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
+          TOL1 &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the extended system Ge (see METHOD).
+          The recommended value is TOL2 = NQ*EPS*HNORM(Ge).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+  TOL3    DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B or C are considered zero (used for controllability or
+          observability tests by the coprime factorization method).
+          If the user sets TOL3 &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF is used:
+          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
+          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
+          where EPS is the machine precision, and NORM(.) denotes
+          the 1-norm of a matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N,PM))
+          where  PM = P, if JOBCF = 'L',
+                 PM = M, if JOBCF = 'R'.
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
+          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
+          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
+          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
+          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
+                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
+          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
+          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
+          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 10*K+I:
+            I = 1:  with ORDSEL = 'F', the selected order NR is
+                    greater than the order of the computed coprime
+                    factorization of the given system. In this case,
+                    the resulting NR is set automatically to a value
+                    corresponding to the order of a minimal
+                    realization of the system;
+            K &gt; 0:  K violations of the numerical stability
+                    condition occured when computing the coprime
+                    factorization using pole assignment (see SLICOT
+                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
+                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
+          = 3:  the matrix A has an observable or controllable
+                eigenvalue on the imaginary axis if DICO = 'C' or
+                on the unit circle if DICO = 'D';
+          = 4:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                       (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The subroutine AB09GD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                   (2)
+
+  with the transfer-function matrix Gr, by using the
+  singular perturbation approximation (SPA) method in conjunction
+  with a left coprime factorization (LCF) or a right coprime
+  factorization (RCF) technique:
+
+  1. Compute the appropriate stable coprime factorization of G:
+                  -1                   -1
+             G = R  *Q (LCF) or G = Q*R   (RCF).
+
+  2. Perform the model reduction algorithm on the extended system
+                                        ( Q )
+             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
+
+     to obtain a reduced extended system with reduced factors
+                                            ( Qr )
+             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
+
+  3. Recover the reduced system from the reduced factors as
+                    -1                       -1
+             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
+
+  The approximation error for the extended system satisfies
+
+     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
+
+  where INFNORM(G) is the infinity-norm of G.
+
+  If JOBMR = 'B', the balancing-based square-root SPA method of [1]
+  is used for model reduction.
+  If JOBMR = 'N', the balancing-free square-root SPA method of [2]
+  is used for model reduction.
+  By setting TOL1 = TOL2, the routine can be used to compute
+  Balance & Truncate approximations.
+
+  If FACT = 'S', the stable coprime factorization with prescribed
+  stability degree ALPHA is computed by using the algorithm of [3].
+  If FACT = 'I', the stable coprime factorization with inner
+  denominator is computed by using the algorithm of [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems.
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991, Vol. 2,
+      pp. 1062-1065.
+
+  [3] Varga A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+  [4] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, MMAX, PMAX ) )
+*     The formula below uses that NMAX = MMAX = PMAX.
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2, TOL3
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09GD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2, TOL3,
+     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
+     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, NQ, HSV, TOL1, TOL2, TOL3, IWORK,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09GD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of coprime factors are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB08GD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3  0 -1.e-1  .1 1.E-10 1.E-10 C L I B S A
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09GD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of coprime factors are
+  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
+
+ The reduced state dynamics matrix Ar is 
+   0.0521  -0.1491   0.0032  -0.0242   0.0181
+   0.2341   0.2615   0.0009  -0.0171  -0.0362
+   0.1170   0.0076  -0.5471   2.0904  -0.8098
+   0.1675  -0.2122  -2.2113  -2.4097  -0.4139
+   0.0390  -0.5061   0.8787  -0.3166  -3.2955
+
+ The reduced input/state matrix Br is 
+   1.0449   0.5863
+  -0.0490  -1.9210
+  -1.3930   0.0540
+  -1.7206  -0.8039
+   0.6358  -2.0542
+
+ The reduced state/output matrix Cr is 
+   0.4331   0.1125  -1.2534   1.6965  -0.6773
+   1.1171   0.3963   0.6102   0.1213  -0.0841
+   0.0736  -1.8815   0.0134   0.8457   2.0413
+
+ The reduced input/output matrix Dr is 
+   0.0480   0.0003
+  -0.0017   0.0001
+   0.0005   0.0460
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09HD">AB09HD</A></H2>
+<H3>
+Stochastic balancing based model reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the stochastic
+  balancing approach in conjunction with the square-root or
+  the balancing-free square-root Balance & Truncate (B&T)
+  or Singular Perturbation Approximation (SPA) model reduction
+  methods for the ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   BETA, A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
+     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, NS, P
+      DOUBLE PRECISION  ALPHA, BETA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+      LOGICAL           BWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'F':  use the balancing-free square-root
+                  Balance & Truncate method;
+          = 'S':  use the square-root Singular Perturbation
+                  Approximation method;
+          = 'P':  use the balancing-free square-root
+                  Singular Perturbation Approximation method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+          P &lt;= M if BETA = 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, and NMIN is the order of a minimal realization
+          of the ALPHA-stable part of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than NS*EPS, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH);
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than MAX(TOL1,NS*EPS);
+          NR can be further reduced to ensure that
+          HSV(NR-NU) &gt; HSV(NR+1-NU).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  BETA    (input) DOUBLE PRECISION
+          BETA &gt; 0 specifies the absolute/relative error weighting
+          parameter. A large positive value of BETA favours the
+          minimization of the absolute approximation error, while a
+          small value of BETA is appropriate for the minimization
+          of the relative error.
+          BETA = 0 means a pure relative error method and can be
+          used only if rank(D) = P.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues in an
+          upper real Schur form.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the phase system corresponding
+          to the ALPHA-stable part of the original system.
+          The Hankel singular values are ordered decreasingly.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value of TOL1 lies
+          in the interval [0.00001,0.001].
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS, where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+          TOL1 &lt; 1.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the phase system (see METHOD) corresponding
+          to the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+          TOL2 &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains RCOND, the reciprocal
+          condition number of the U11 matrix from the expression
+          used to compute the solution X = U21*inv(U11) of the
+          Riccati equation for spectral factorization.
+          A small value RCOND indicates possible ill-conditioning
+          of the respective Riccati equation.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N*N + MB*(N+P) + MAX( 2, N*(MAX(N,MB,P)+5),
+                                 2*N*P+MAX(P*(MB+2),10*N*(N+1) ) ),
+          where MB = M if BETA = 0 and MB = M+P if BETA &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension 2*N
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system; in this case, the resulting NR is set equal
+                to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NR corresponds
+                to repeated singular values for the ALPHA-stable
+                part, which are neither all included nor all
+                excluded from the reduced model; in this case, the
+                resulting NR is automatically decreased to exclude
+                all repeated singular values;
+          = 3:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system; in this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the reduction of the Hamiltonian matrix to real
+                Schur form failed;
+          = 3:  the reordering of the real Schur form of the
+                Hamiltonian matrix failed;
+          = 4:  the Hamiltonian matrix has less than N stable
+                eigenvalues;
+          = 5:  the coefficient matrix U11 in the linear system
+                X*U11 = U21 to determine X is singular to working
+                precision;
+          = 6:  BETA = 0 and D has not a maximal row rank;
+          = 7:  the computation of Hankel singular values failed;
+          = 8:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 9:  the resulting order of reduced stable part is less
+                than the number of unstable zeros of the stable
+                part.
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                      (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09HD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                  (2)
+
+  such that
+
+       INFNORM[inv(conj(W))*(G-Gr)] &lt;=
+                    (1+HSV(NR+NS-N+1)) / (1-HSV(NR+NS-N+1)) + ...
+                    + (1+HSV(NS)) / (1-HSV(NS)) - 1,
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, W is the right, minimum
+  phase spectral factor satisfying
+
+      G1*conj(G1) = conj(W)* W,                      (3)
+
+  G1 is the NS-order ALPHA-stable part of G, and INFNORM(G) is the
+  infinity-norm of G. HSV(1), ... , HSV(NS) are the Hankel-singular
+  values of the stable part of the phase system (Ap,Bp,Cp)
+  with the transfer-function matrix
+
+       P = inv(conj(W))*G1.
+
+  If BETA &gt; 0, then the model reduction is performed on [G BETA*I]
+  instead of G. This is the recommended approach to be used when D
+  has not a maximal row rank or when a certain balance between
+  relative and absolute approximation errors is desired. For
+  increasingly large values of BETA, the obtained reduced system
+  assymptotically approaches that computed by using the
+  Balance & Truncate or Singular Perturbation Approximation methods.
+
+  Note: conj(G)  denotes either G'(-s) for a continuous-time system
+        or G'(1/z) for a discrete-time system.
+        inv(G) is the inverse of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2,
+
+     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1 using the balancing stochastic method
+     in conjunction with either the B&T [1,2] or SPA methods [3].
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  Note: The employed stochastic truncation algorithm [2,3] has the
+  property that right half plane zeros of G1 remain as right half
+  plane zeros of G1r. Thus, the order can not be chosen smaller than
+  the sum of the number of unstable poles of G and the number of
+  unstable zeros of G1.
+
+  The reduction of the ALPHA-stable part G1 is done as follows.
+
+  If JOB = 'B', the square-root stochastic Balance & Truncate
+  method of [1] is used.
+  For an ALPHA-stable continuous-time system (DICO = 'C'),
+  the resulting reduced model is stochastically balanced.
+
+  If JOB = 'F', the balancing-free square-root version of the
+  stochastic Balance & Truncate method [1] is used to reduce
+  the ALPHA-stable part G1.
+
+  If JOB = 'S', the stochastic balancing method is used to reduce
+  the ALPHA-stable part G1, in conjunction with the square-root
+  version of the Singular Perturbation Approximation method [3,4].
+
+  If JOB = 'P', the stochastic balancing method is used to reduce
+  the ALPHA-stable part G1, in conjunction with the balancing-free
+  square-root version of the Singular Perturbation Approximation
+  method [3,4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A. and Fasol K.H.
+      A new square-root balancing-free stochastic truncation model
+      reduction algorithm.
+      Proc. 12th IFAC World Congress, Sydney, 1993.
+
+  [2] Safonov M. G. and Chiang R. Y.
+      Model reduction for robust control: a Schur relative error
+      method.
+      Int. J. Adapt. Contr. Sign. Proc., vol. 2, pp. 259-272, 1988.
+
+  [3] Green M. and Anderson B. D. O.
+      Generalized balanced stochastic truncation.
+      Proc. 29-th CDC, Honolulu, Hawaii, pp. 476-481, 1990.
+
+  [4] Varga A.
+      Balancing-free square-root algorithm for computing
+      singular perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques. The effectiveness of the
+  accuracy enhancing technique depends on the accuracy of the
+  solution of a Riccati equation. An ill-conditioned Riccati
+  solution typically results when [D BETA*I] is nearly
+  rank deficient.
+                                   3
+  The algorithm requires about 100N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                 LDD = PMAX )
+      INTEGER          LBWORK, LIWORK
+      PARAMETER        ( LBWORK = 2*NMAX, LIWORK = 2*NMAX )
+      INTEGER          LDWORK, MBMAX
+      PARAMETER        ( MBMAX = MMAX + PMAX )
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + MBMAX*(NMAX+PMAX) +
+     $                      MAX( NMAX*(MAX( NMAX, MMAX, PMAX) + 5),
+     $                     2*NMAX*PMAX + MAX( PMAX*(MBMAX+2),
+     $                                        10*NMAX*(NMAX+1) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, BETA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      LOGICAL          BWORK(LBWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, BETA, TOL1, TOL2,
+     $                      DICO, JOB, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      ALPHA, BETA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      BWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09HD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The stochastic Hankel singular values of ALPHA-stable'
+     $        ,' part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09HD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   0.0   1.0  0.1E0  0.0    C     F     N     A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09HD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The stochastic Hankel singular values of ALPHA-stable part are
+   0.8803   0.8506   0.8038   0.4494   0.3973   0.0214   0.0209
+
+ The reduced state dynamics matrix Ar is 
+   1.2729   0.0000   6.5947   0.0000  -3.4229
+   0.0000   0.8169   0.0000   2.4821   0.0000
+  -2.9889   0.0000  -2.9028   0.0000  -0.3692
+   0.0000  -3.3921   0.0000  -3.1126   0.0000
+  -1.4767   0.0000  -2.0339   0.0000  -0.6107
+
+ The reduced input/state matrix Br is 
+   0.1331  -0.1331
+  -0.0862  -0.0862
+  -2.6777   2.6777
+  -3.5767  -3.5767
+  -2.3033   2.3033
+
+ The reduced state/output matrix Cr is 
+  -0.6907  -0.6882   0.0779   0.0958  -0.0038
+   0.0676   0.0000   0.6532   0.0000  -0.7522
+   0.6907  -0.6882  -0.0779   0.0958   0.0038
+
+ The reduced input/output matrix Dr is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09HX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09HX">AB09HX</A></H2>
+<H3>
+Stochastic balancing model reduction of stable systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  stable state-space representation (A,B,C,D) by using the
+  stochastic balancing approach in conjunction with the square-root
+  or the balancing-free square-root Balance & Truncate (B&T) or
+  Singular Perturbation Approximation (SPA) model reduction methods.
+  The state dynamics matrix A of the original system is an upper
+  quasi-triangular matrix in real Schur canonical form and D must be
+  full row rank.
+
+  For the B&T approach, the matrices of the reduced order system
+  are computed using the truncation formulas:
+
+       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
+
+  For the SPA approach, the matrices of a minimal realization
+  (Am,Bm,Cm) are computed using the truncation formulas:
+
+       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
+
+  Am, Bm, Cm and D serve further for computing the SPA of the given
+  system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09HX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
+     $                  LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
+      LOGICAL           BWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'F':  use the balancing-free square-root
+                  Balance & Truncate method;
+          = 'S':  use the square-root Singular Perturbation
+                  Approximation method;
+          = 'P':  use the balancing-free square-root
+                  Singular Perturbation Approximation method.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  M &gt;= P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+          is the desired order on entry and NMIN is the order of a
+          minimal realization of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than N*EPS, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH);
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in a real Schur
+          canonical form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values,
+          ordered decreasingly, of the phase system. All singular
+          values are less than or equal to 1.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
+          array contains the right truncation matrix T in (1), for
+          the B&T approach, or in (2), for the SPA approach.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
+          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
+          array contains the left truncation matrix TI in (1), for
+          the B&T approach, or in (2), for the SPA approach.
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value lies in the
+          interval [0.00001,0.001].
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = N*EPS, where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the phase system (see METHOD) corresponding
+          to the given system.
+          The recommended value is TOL2 = N*EPS.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit with INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains RCOND, the reciprocal
+          condition number of the U11 matrix from the expression
+          used to compute the solution X = U21*inv(U11) of the
+          Riccati equation for spectral factorization.
+          A small value RCOND indicates possible ill-conditioning
+          of the respective Riccati equation.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
+                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension 2*N
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than the order of a minimal realization of the
+                given system. In this case, the resulting NR is
+                set automatically to a value corresponding to the
+                order of a minimal realization of the system.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D'), or it is not in
+                a real Schur form;
+          = 2:  the reduction of Hamiltonian matrix to real
+                Schur form failed;
+          = 3:  the reordering of the real Schur form of the
+                Hamiltonian matrix failed;
+          = 4:  the Hamiltonian matrix has less than N stable
+                eigenvalues;
+          = 5:  the coefficient matrix U11 in the linear system
+                X*U11 = U21, used to determine X, is singular to
+                working precision;
+          = 6:  the feedthrough matrix D has not a full row rank P;
+          = 7:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (3)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09HX determines for
+  the given system (3), the matrices of a reduced NR-rder system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
+
+  such that
+
+        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  If JOB = 'B', the square-root stochastic Balance & Truncate
+  method of [1] is used and the resulting model is balanced.
+
+  If JOB = 'F', the balancing-free square-root version of the
+  stochastic Balance & Truncate method [1] is used.
+
+  If JOB = 'S', the stochastic balancing method, in conjunction
+  with the square-root version of the Singular Perturbation
+  Approximation method [2,3] is used.
+
+  If JOB = 'P', the stochastic balancing method, in conjunction
+  with the balancing-free square-root version of the Singular
+  Perturbation Approximation method [2,3] is used.
+
+  By setting TOL1 = TOL2, the routine can be also used to compute
+  Balance & Truncate approximations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A. and Fasol K.H.
+      A new square-root balancing-free stochastic truncation
+      model reduction algorithm.
+      Proc. of 12th IFAC World Congress, Sydney, 1993.
+
+  [2] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of balanced systems.
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [3] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on accuracy enhancing square-root
+  or balancing-free square-root methods. The effectiveness of the
+  accuracy enhancing technique depends on the accuracy of the
+  solution of a Riccati equation. Ill-conditioned Riccati solution
+  typically results when D is nearly rank deficient.
+                                   3
+  The algorithm requires about 100N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09HY.html b/doc/_static/doc/AB09HY.html
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+<HTML>
+<HEAD><TITLE>AB09HY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09HY">AB09HY</A></H2>
+<H3>
+Cholesky factors of the controllability and observability Grammians
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factors Su and Ru of the controllability
+  Grammian P = Su*Su' and observability Grammian Q = Ru'*Ru,
+  respectively, satisfying
+
+         A*P  + P*A' +  scalec^2*B*B'   = 0,       (1)
+
+         A'*Q + Q*A  +  scaleo^2*Cw'*Cw = 0,       (2)
+
+  where
+         Cw = Hw - Bw'*X,
+         Hw = inv(Dw)*C,
+         Bw = (B*D' + P*C')*inv(Dw'),
+         D*D' = Dw*Dw' (Dw upper triangular),
+
+  and, with Aw = A - Bw*Hw, X is the stabilizing solution of the
+  Riccati equation
+
+         Aw'*X + X*Aw + Hw'*Hw + X*Bw*Bw'*X = 0.   (3)
+
+  The P-by-M matrix D must have full row rank. Matrix A must be
+  stable and in a real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09HY( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   SCALEC, SCALEO, S, LDS, R, LDR, IWORK,
+     $                   DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDD, LDR, LDS, LDWORK, M, N,
+     $                 P
+      DOUBLE PRECISION SCALEC, SCALEO
+C     .. Array Arguments ..
+      INTEGER          IWORK(*)
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                 DWORK(*), R(LDR,*), S(LDS,*)
+      LOGICAL          BWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of state-space representation, i.e.,
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  M &gt;= P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          stable state dynamics matrix A in a real Schur canonical
+          form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B, corresponding to the Schur matrix A.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C, corresponding to the Schur
+          matrix A.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must
+          contain the full row rank input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian in (1).
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian in (2).
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Su of the cotrollability
+          Grammian P = Su*Su' satisfying (1).
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Ru of the observability
+          Grammian Q = Ru'*Ru satisfying (2).
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains RCOND, the reciprocal
+          condition number of the U11 matrix from the expression
+          used to compute X = U21*inv(U11). A small value RCOND
+          indicates possible ill-conditioning of the Riccati
+          equation (3).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
+                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension 2*N
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable or is not in a
+                real Schur form;
+          = 2:  the reduction of Hamiltonian matrix to real Schur
+                form failed;
+          = 3:  the reordering of the real Schur form of the
+                Hamiltonian matrix failed;
+          = 4:  the Hamiltonian matrix has less than N stable
+                eigenvalues;
+          = 5:  the coefficient matrix U11 in the linear system
+                X*U11 = U21, used to determine X, is singular to
+                working precision;
+          = 6:  the feedthrough matrix D has not a full row rank P.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09ID.html b/doc/_static/doc/AB09ID.html
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+<HTML>
+<HEAD><TITLE>AB09ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09ID">AB09ID</A></H2>
+<H3>
+Frequency-weighted model reduction based on balancing techniques
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the frequency
+  weighted square-root or balancing-free square-root
+  Balance & Truncate (B&T) or Singular Perturbation Approximation
+  (SPA) model reduction methods. The algorithm tries to minimize
+  the norm of the frequency-weighted error
+
+        ||V*(G-Gr)*W||
+
+  where G and Gr are the transfer-function matrices of the original
+  and reduced order models, respectively, and V and W are
+  frequency-weighting transfer-function matrices. V and W must not
+  have poles on the imaginary axis for a continuous-time
+  system or on the unit circle for a discrete-time system.
+  If G is unstable, only the ALPHA-stable part of G is reduced.
+  In case of possible pole-zero cancellations in V*G and/or G*W,
+  the absolute values of parameters ALPHAO and/or ALPHAC must be
+  different from 1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL, ORDSEL,
+     $                   N, M, P, NV, PV, NW, MW, NR, ALPHA, ALPHAC,
+     $                   ALPHAO, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
+      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, MW,
+     $                  N, NR, NS, NV, NW, P, PV
+      DOUBLE PRECISION  ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
+     $                  HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'F':  use the balancing-free square-root
+                  Balance & Truncate method;
+          = 'S':  use the square-root Singular Perturbation
+                  Approximation method;
+          = 'P':  use the balancing-free square-root
+                  Singular Perturbation Approximation method.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the matrix AV. Also the number of rows of
+          the matrix BV and the number of columns of the matrix CV.
+          NV represents the dimension of the state vector of the
+          system with the transfer-function matrix V.  NV &gt;= 0.
+
+  PV      (input) INTEGER
+          The number of rows of the matrices CV and DV.  PV &gt;= 0.
+          PV represents the dimension of the output vector of the
+          system with the transfer-function matrix V.
+
+  NW      (input) INTEGER
+          The order of the matrix AW. Also the number of rows of
+          the matrix BW and the number of columns of the matrix CW.
+          NW represents the dimension of the state vector of the
+          system with the transfer-function matrix W.  NW &gt;= 0.
+
+  MW      (input) INTEGER
+          The number of columns of the matrices BW and DW.  MW &gt;= 0.
+          MW represents the dimension of the input vector of the
+          system with the transfer-function matrix W.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, NMIN is the number of frequency-weighted Hankel
+          singular values greater than NS*EPS*S1, EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH)
+          and S1 is the largest Hankel singular value (computed
+          in HSV(1)); NR can be further reduced to ensure
+          HSV(NR-NU) &gt; HSV(NR+1-NU);
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than MAX(TOL1,NS*EPS*S1).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  ALPHAC  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted controllability Grammian (see METHOD);
+          ABS(ALPHAC) &lt;= 1.
+
+  ALPHAO  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted observability Grammian (see METHOD);
+          ABS(ALPHAO) &lt;= 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
+          part of this array must contain the state matrix AV of
+          the system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NVR-by-NVR part of this array
+          contains the state matrix of a minimal realization of V
+          in a real Schur form. NVR is returned in IWORK(2).
+          AV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDAV    INTEGER
+          The leading dimension of array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
+          of this array must contain the input matrix BV of the
+          system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NVR-by-P part of this array contains
+          the input matrix of a minimal realization of V.
+          BV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDBV    INTEGER
+          The leading dimension of array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading PV-by-NV
+          part of this array must contain the output matrix CV of
+          the system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading PV-by-NVR part of this array
+          contains the output matrix of a minimal realization of V.
+          CV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDCV    INTEGER
+          The leading dimension of array CV.
+          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
+          array must contain the feedthrough matrix DV of the system
+          with the transfer-function matrix V.
+          DV is not referenced if WEIGHT = 'R' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDDV    INTEGER
+          The leading dimension of array DV.
+          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
+          part of this array must contain the state matrix AW of
+          the system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NWR-by-NWR part of this array
+          contains the state matrix of a minimal realization of W
+          in a real Schur form. NWR is returned in IWORK(3).
+          AW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDAW    INTEGER
+          The leading dimension of array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,MW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-MW
+          part of this array must contain the input matrix BW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading NWR-by-MW part of this array
+          contains the input matrix of a minimal realization of W.
+          BW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDBW    INTEGER
+          The leading dimension of array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
+          of this array must contain the output matrix CW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
+          INFO = 0, the leading M-by-NWR part of this array contains
+          the output matrix of a minimal realization of W.
+          CW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDCW    INTEGER
+          The leading dimension of array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
+          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
+          array must contain the feedthrough matrix DW of the system
+          with the transfer-function matrix W.
+          DW is not referenced if WEIGHT = 'L' or 'N',
+          or MIN(N,M,P) = 0.
+
+  LDDW    INTEGER
+          The leading dimension of array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of this array contain
+          the frequency-weighted Hankel singular values, ordered
+          decreasingly, of the ALPHA-stable part of the original
+          system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*S1, where c is a constant in the
+          interval [0.00001,0.001], and S1 is the largest
+          frequency-weighted Hankel singular value of the
+          ALPHA-stable part of the original system (computed
+          in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*S1, where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*S1.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension
+          ( MAX( 3, LIWRK1, LIWRK2, LIWRK3 ) ), where
+          LIWRK1 = 0,             if JOB = 'B';
+          LIWRK1 = N,             if JOB = 'F';
+          LIWRK1 = 2*N,           if JOB = 'S' or 'P';
+          LIWRK2 = 0,             if WEIGHT = 'R' or 'N' or  NV = 0;
+          LIWRK2 = NV+MAX(P,PV),  if WEIGHT = 'L' or 'B' and NV &gt; 0;
+          LIWRK3 = 0,             if WEIGHT = 'L' or 'N' or  NW = 0;
+          LIWRK3 = NW+MAX(M,MW),  if WEIGHT = 'R' or 'B' and NW &gt; 0.
+          On exit, if INFO = 0, IWORK(1) contains the order of a
+          minimal realization of the stable part of the system,
+          IWORK(2) and IWORK(3) contain the actual orders
+          of the state space realizations of V and W, respectively.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LMINL, LMINR, LRCF,
+                         2*N*N + MAX( 1, LLEFT, LRIGHT, 2*N*N+5*N,
+                                      N*MAX(M,P) ) ),
+          where
+          LMINL  = 0, if WEIGHT = 'R' or 'N' or NV = 0; otherwise,
+          LMINL  = MAX(LLCF,NV+MAX(NV,3*P))           if P =  PV;
+          LMINL  = MAX(P,PV)*(2*NV+MAX(P,PV))+
+                   MAX(LLCF,NV+MAX(NV,3*P,3*PV))      if P &lt;&gt; PV;
+          LRCF   = 0, and
+          LMINR  = 0, if WEIGHT = 'L' or 'N' or NW = 0; otherwise,
+          LMINR  = NW+MAX(NW,3*M)                     if M =  MW;
+          LMINR  = 2*NW*MAX(M,MW)+NW+MAX(NW,3*M,3*MW) if M &lt;&gt; MW;
+          LLCF   = PV*(NV+PV)+PV*NV+MAX(NV*(NV+5), PV*(PV+2),
+                                        4*PV, 4*P);
+          LRCF   = MW*(NW+MW)+MAX(NW*(NW+5),MW*(MW+2),4*MW,4*M)
+          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
+                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
+          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
+          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
+                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
+          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system; in this case, the resulting NR is set equal
+                to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NR corresponds
+                to repeated singular values for the ALPHA-stable
+                part, which are neither all included nor all
+                excluded from the reduced model; in this case, the
+                resulting NR is automatically decreased to exclude
+                all repeated singular values;
+          = 3:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system; in this case NR is set equal to the
+                order of the ALPHA-unstable part.
+          = 10+K:  K violations of the numerical stability condition
+                occured during the assignment of eigenvalues in the
+                SLICOT Library routines SB08CD and/or SB08DD.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable
+                diagonal blocks failed because of very close
+                eigenvalues;
+          = 3:  the reduction to a real Schur form of the state
+                matrix of a minimal realization of V failed;
+          = 4:  a failure was detected during the ordering of the
+                real Schur form of the state matrix of a minimal
+                realization of V or in the iterative process to
+                compute a left coprime factorization with inner
+                denominator;
+          = 5:  if DICO = 'C' and the matrix AV has an observable
+                eigenvalue on the imaginary axis, or DICO = 'D' and
+                AV has an observable eigenvalue on the unit circle;
+          = 6:  the reduction to a real Schur form of the state
+                matrix of a minimal realization of W failed;
+          = 7:  a failure was detected during the ordering of the
+                real Schur form of the state matrix of a minimal
+                realization of W or in the iterative process to
+                compute a right coprime factorization with inner
+                denominator;
+          = 8:  if DICO = 'C' and the matrix AW has a controllable
+                eigenvalue on the imaginary axis, or DICO = 'D' and
+                AW has a controllable eigenvalue on the unit circle;
+          = 9:  the computation of eigenvalues failed;
+          = 10: the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let G be the transfer-function matrix of the original
+  linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                          (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09ID determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
+
+  such that the corresponding transfer-function matrix Gr minimizes
+  the norm of the frequency-weighted error
+
+          V*(G-Gr)*W,                                    (3)
+
+  where V and W are transfer-function matrices without poles on the
+  imaginary axis in continuous-time case or on the unit circle in
+  discrete-time case.
+
+  The following procedure is used to reduce G:
+
+  1) Decompose additively G, of order N, as
+
+       G = G1 + G2,
+
+     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
+     G2 = (A2,B2,C2,0), of order NU, has only ALPHA-unstable poles.
+
+  2) Compute for G1 a B&T or SPA frequency-weighted approximation
+     G1r of order NR-NU using the combination method or the
+     modified combination method of [4].
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  For the frequency-weighted reduction of the ALPHA-stable part,
+  several methods described in [4] can be employed in conjunction
+  with the combination method and modified combination method
+  proposed in [4].
+
+  If JOB = 'B', the square-root B&T method is used.
+  If JOB = 'F', the balancing-free square-root version of the
+  B&T method is used.
+  If JOB = 'S', the square-root version of the SPA method is used.
+  If JOB = 'P', the balancing-free square-root version of the
+  SPA method is used.
+
+  For each of these methods, left and right truncation matrices
+  are determined using the Cholesky factors of an input
+  frequency-weighted controllability Grammian P and an output
+  frequency-weighted observability Grammian Q.
+  P and Q are computed from the controllability Grammian Pi of G*W
+  and the observability Grammian Qo of V*G. Using special
+  realizations of G*W and V*G, Pi and Qo are computed in the
+  partitioned forms
+
+        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
+             ( P12' P22 )               ( Q12' Q22 )
+
+  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
+  respectively. Let P0 and Q0 be non-negative definite matrices
+  defined below
+                                     -1
+         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
+                                     -1
+         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
+
+  The frequency-weighted controllability and observability
+  Grammians, P and Q, respectively, are defined as follows:
+  P = P0 if JOBC = 'S' (standard combination method [4]);
+  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
+  Grammian defined to enforce stability for a modified combination
+  method of [4];
+  Q = Q0 if JOBO = 'S' (standard combination method [4]);
+  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
+  Grammian defined to enforce stability for a modified combination
+  method of [4].
+
+  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
+  Grammians corresponds to the method of Enns [1], while if
+  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds
+  to the method of Lin and Chiu [2,3].
+
+  If JOBC = 'S' and ALPHAC = 1, no pole-zero cancellations must
+  occur in G*W. If JOBO = 'S' and ALPHAO = 1, no pole-zero
+  cancellations must occur in V*G. The presence of pole-zero
+  cancellations leads to meaningless results and must be avoided.
+
+  The frequency-weighted Hankel singular values HSV(1), ....,
+  HSV(N) are computed as the square roots of the eigenvalues
+  of the product P*Q.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Lin, C.-A. and Chiu, T.-Y.
+      Model reduction via frequency-weighted balanced realization.
+      Control Theory and Advanced Technology, vol. 8,
+      pp. 341-351, 1992.
+
+  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
+      New results on frequency weighted balanced reduction
+      technique.
+      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
+
+  [4] Varga, A. and Anderson, B.D.O.
+      Square-root balancing-free methods for the frequency-weighted
+      balancing related model reduction.
+      (report in preparation)
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root
+  techniques.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, MWMAX, NMAX, NVMAX, NWMAX, PMAX, PVMAX
+      PARAMETER        ( MMAX = 20, MWMAX = 20,
+     $                   NMAX = 20, NVMAX = 20, NWMAX = 20,
+     $                   PMAX = 20, PVMAX = 20 )
+      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
+      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
+     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
+     $                   LDC = PMAX, LDCV = PVMAX, LDCW = MMAX,
+     $                   LDD = PMAX, LDDV = PVMAX, LDDW = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX,
+     $                                 NVMAX + MAX( PMAX, PVMAX ),
+     $                                 NWMAX + MAX( MMAX, MWMAX ) ) )
+      INTEGER          LDW1, LDW2, LDW3, LDW4, LDW5, LDW6, LDW7, LDW8,
+     $                 LDWORK
+      PARAMETER        ( LDW1 = NMAX + NVMAX, LDW2 = NMAX + NWMAX,
+     $                   LDW3 = MAX( LDW1*( LDW1 + MAX( LDW1, PVMAX ) +
+     $                               5 ), NMAX*( PMAX + 5 ) ),
+     $                   LDW4 = MAX( LDW2*( LDW2 + MAX( LDW2, MWMAX ) +
+     $                               5 ), NMAX*( MMAX + 5 ) ),
+     $                   LDW5 = PVMAX*( NVMAX + PVMAX ) + PVMAX*NVMAX +
+     $                          MAX( NVMAX*( NVMAX + 5 ), 4*PVMAX,
+     $                               PVMAX*( PVMAX + 2 ), 4*PMAX ),
+     $                   LDW6 = MAX( PMAX, PVMAX )*( 2*NVMAX +
+     $                               MAX( PMAX, PVMAX ) ) +
+     $                               MAX( LDW5, NVMAX +
+     $                                    MAX( NVMAX, 3*PMAX, 3*PVMAX )
+     $                                       ),
+     $                   LDW7 = MAX( NWMAX + MAX( NWMAX, 3*MMAX ),
+     $                               2*NWMAX*MAX( MMAX, MWMAX ) +
+     $                               NWMAX + MAX( NWMAX, 3*MMAX,
+     $                                                   3*MWMAX ) ),
+     $                   LDW8 = MWMAX*( NWMAX + MWMAX ) +
+     $                          MAX( NWMAX*( NWMAX + 5 ), 4*MWMAX,
+     $                               MWMAX*( MWMAX + 2 ), 4*MMAX ) )
+      PARAMETER        ( LDWORK = MAX( LDW6, LDW7, LDW8,
+     $                                 2*NMAX*NMAX +
+     $                                   MAX( 1, LDW3, LDW4,
+     $                                        2*NMAX*NMAX + 5*NMAX,
+     $                                        NMAX*MAX( MMAX, PMAX ) ) )
+     $                  )
+*     .. Local Scalars ..
+      LOGICAL          LEFTW, RIGHTW
+      DOUBLE PRECISION ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, MW, N, NR, NS, NV, NW, P,
+     $                 PV
+      CHARACTER*1      DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
+     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MWMAX),
+     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
+     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MWMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB09ID
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NV, PV, NW, MW, NR,
+     $                      ALPHA, ALPHAC, ALPHAO, TOL1, TOL2,
+     $                      DICO, JOBC, JOBO, JOB, WEIGHT,
+     $                      EQUIL, ORDSEL
+      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
+      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( LEFTW ) THEN
+                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
+                     WRITE ( NOUT, FMT = 99986 ) NV
+                  ELSE
+                     IF( NV.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                    ( ( BV(I,J), J = 1,P ),  I = 1,NV )
+                        IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
+                           WRITE ( NOUT, FMT = 99985 ) PV
+                        ELSE
+                           READ ( NIN, FMT = * )
+     $                       ( ( CV(I,J), J = 1,NV ), I = 1,PV )
+                        END IF
+                     END IF
+                     IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
+                        WRITE ( NOUT, FMT = 99985 ) PV
+                     ELSE
+                        READ ( NIN, FMT = * )
+     $                    ( ( DV(I,J), J = 1,P ), I = 1,PV )
+                     END IF
+                  END IF
+               END IF
+               IF( RIGHTW ) THEN
+                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
+                     WRITE ( NOUT, FMT = 99984 ) NW
+                  ELSE
+                     IF( NW.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
+                        IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
+                           WRITE ( NOUT, FMT = 99983 ) MW
+                        ELSE
+                           READ ( NIN, FMT = * )
+     $                       ( ( BW(I,J), J = 1,MW ), I = 1,NW )
+                        END IF
+                        READ ( NIN, FMT = * )
+     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
+                     END IF
+                     IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
+                        WRITE ( NOUT, FMT = 99983 ) MW
+                     ELSE
+                        READ ( NIN, FMT = * )
+     $                     ( ( DW(I,J), J = 1,MW ), I = 1,M )
+                     END IF
+                  END IF
+               END IF
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL,
+     $                      ORDSEL, N, M, P, NV, PV, NW, MW, NR, ALPHA,
+     $                      ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                      AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99982 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09ID = ',I2)
+99997 FORMAT (/' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
+99985 FORMAT (/' PV is out of range.',/' PV = ',I5)
+99984 FORMAT (/' NW is out of range.',/' NW = ',I5)
+99983 FORMAT (/' MW is out of range.',/' MW = ',I5)
+99982 FORMAT (' IWARN on exit from AB09ID = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09ID EXAMPLE PROGRAM DATA (Continuous system)
+  3  1  1   6  1  0  0   2   0.0  0.0  0.0 0.1E0  0.0    C   S  S   F   L  S  F 
+  -26.4000    6.4023    4.3868
+   32.0000         0         0
+         0    8.0000         0
+    16
+     0
+     0
+    9.2994    1.1624    0.1090
+     0
+   -1.0000         0    4.0000   -9.2994   -1.1624   -0.1090
+         0    2.0000         0   -9.2994   -1.1624   -0.1090
+         0         0   -3.0000   -9.2994   -1.1624   -0.1090
+   16.0000   16.0000   16.0000  -26.4000    6.4023    4.3868
+         0         0         0   32.0000         0         0
+         0         0         0         0    8.0000         0
+     1
+     1
+     1
+     0
+     0
+     0
+     1     1     1     0     0     0
+     0
+
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09ID EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  2
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   3.8253   0.2005
+
+ The reduced state dynamics matrix Ar is 
+   9.1900   0.0000
+   0.0000 -34.5297
+
+ The reduced input/state matrix Br is 
+  11.9593
+  16.9329
+
+ The reduced state/output matrix Cr is 
+   2.8955   6.9152
+
+ The reduced input/output matrix Dr is 
+   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09IX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09IX">AB09IX</A></H2>
+<H3>
+Accuracy enhanced balancing related model reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the square-root or
+  balancing-free square-root Balance & Truncate (B&T) or
+  Singular Perturbation Approximation (SPA) model reduction methods.
+  The computation of truncation matrices TI and T is based on
+  the Cholesky factor S of a controllability Grammian P = S*S'
+  and the Cholesky factor R of an observability Grammian Q = R'*R,
+  where S and R are given upper triangular matrices.
+
+  For the B&T approach, the matrices of the reduced order system
+  are computed using the truncation formulas:
+
+       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
+
+  For the SPA approach, the matrices of a minimal realization
+  (Am,Bm,Cm) are computed using the truncation formulas:
+
+       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
+
+  Am, Bm, Cm and D serve further for computing the SPA of the given
+  system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09IX( DICO, JOB, FACT, ORDSEL, N, M, P, NR,
+     $                   SCALEC, SCALEO, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   TI, LDTI, T, LDT, NMINR, HSV, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
+     $                  LDWORK, M, N, NMINR, NR, P
+      DOUBLE PRECISION  SCALEC, SCALEO, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method;
+          = 'S':  use the square-root SPA method;
+          = 'P':  use the balancing-free square-root SPA method.
+
+  FACT    CHARACTER*1
+          Specifies whether or not, on entry, the matrix A is in a
+          real Schur form, as follows:
+          = 'S':  A is in a real Schur form;
+          = 'N':  A is a general dense square matrix.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. NR is set as follows:
+          if ORDSEL = 'F', NR is equal to MIN(NR,NMINR), where NR
+          is the desired order on entry and NMINR is the number of
+          the Hankel singular values greater than N*EPS*S1, where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and S1 is the largest Hankel singular value
+          (computed in HSV(1));
+          NR can be further reduced to ensure HSV(NR) &gt; HSV(NR+1);
+          if ORDSEL = 'A', NR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*S1).
+
+  SCALEC  (input) DOUBLE PRECISION
+          Scaling factor for the Cholesky factor S of the
+          controllability Grammian, i.e., S/SCALEC is used to
+          compute the Hankel singular values.  SCALEC &gt; 0.
+
+  SCALEO  (input) DOUBLE PRECISION
+          Scaling factor for the Cholesky factor R of the
+          observability Grammian, i.e., R/SCALEO is used to
+          compute the Hankel singular values.  SCALEO &gt; 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A. If FACT = 'S',
+          A is in a real Schur form.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOB = 'S' or JOB = 'P', the leading P-by-M
+          part of this array must contain the original input/output
+          matrix D.
+          On exit, if INFO = 0 and JOB = 'S' or JOB = 'P', the
+          leading P-by-M part of this array contains the
+          input/output matrix Dr of the reduced order system.
+          If JOB = 'B' or JOB = 'F', this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= 1,        if JOB = 'B' or JOB = 'F';
+          LDD &gt;= MAX(1,P), if JOB = 'S' or JOB = 'P'.
+
+  TI      (input/output) DOUBLE PRECISION array, dimension (LDTI,N)
+          On entry, the leading N-by-N upper triangular part of
+          this array must contain the Cholesky factor S of a
+          controllability Grammian P = S*S'.
+          On exit, if INFO = 0, and NR &gt; 0, the leading NMINR-by-N
+          part of this array contains the left truncation matrix
+          TI in (1), for the B&T approach, or in (2), for the
+          SPA approach.
+
+  LDTI    INTEGER
+          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
+
+  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
+          On entry, the leading N-by-N upper triangular part of
+          this array must contain the Cholesky factor R of an
+          observability Grammian Q = R'*R.
+          On exit, if INFO = 0, and NR &gt; 0, the leading N-by-NMINR
+          part of this array contains the right truncation matrix
+          T in (1), for the B&T approach, or in (2), for the
+          SPA approach.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  NMINR   (output) INTEGER
+          The number of Hankel singular values greater than
+          MAX(TOL2,N*EPS*S1).
+          Note: If S and R are the Cholesky factors of the
+          controllability and observability Grammians of the
+          original system (A,B,C,D), respectively, then NMINR is
+          the order of a minimal realization of the original system.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the Hankel singular values,
+          ordered decreasingly. The Hankel singular values are
+          singular values of the product R*S.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of the reduced system.
+          For model reduction, the recommended value lies in the
+          interval [0.00001,0.001].
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = N*EPS*S1, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH) and S1 is the largest
+          Hankel singular value (computed in HSV(1)).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the system.
+          The recommended value is TOL2 = N*EPS*S1.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = 0,   if JOB = 'B';
+          LIWORK = N,   if JOB = 'F';
+          LIWORK = 2*N, if JOB = 'S' or 'P'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 2*N*N + 5*N, N*MAX(M,P) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NMINR, the order of a minimal realization of
+                the given system; in this case, the resulting NR is
+                set automatically to NMINR;
+          = 2:  with ORDSEL = 'F', the selected order NR corresponds
+                to repeated singular values, which are neither all
+                included nor all excluded from the reduced model;
+                in this case, the resulting NR is set automatically
+                to the largest value such that HSV(NR) &gt; HSV(NR+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (3)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09IX determines for
+  the given system (3), the matrices of a reduced NR order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
+
+  by using the square-root or balancing-free square-root
+  Balance & Truncate (B&T) or Singular Perturbation Approximation
+  (SPA) model reduction methods.
+
+  The projection matrices TI and T are determined using the
+  Cholesky factors S and R of a controllability Grammian P and an
+  observability Grammian Q.
+  The Hankel singular values HSV(1), ...., HSV(N) are computed as
+  singular values of the product R*S.
+
+  If JOB = 'B', the square-root Balance & Truncate technique
+  of [1] is used.
+
+  If JOB = 'F', the balancing-free square-root version of the
+  Balance & Truncate technique [2] is used.
+
+  If JOB = 'S', the square-root version of the Singular Perturbation
+  Approximation method [3,4] is used.
+
+  If JOB = 'P', the balancing-free square-root version of the
+  Singular Perturbation Approximation method [3,4] is used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudni, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+  [3] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of balanced systems.
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [4] Varga A.
+      Balancing-free square-root algorithm for computing singular
+      perturbation approximations.
+      Proc. 30-th CDC, Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on accuracy enhancing square-root
+  or balancing-free square-root methods.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09IY.html b/doc/_static/doc/AB09IY.html
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+<HTML>
+<HEAD><TITLE>AB09IY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09IY">AB09IY</A></H2>
+<H3>
+Cholesky factors of the frequency-weighted controllability and observability Grammians
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for given state-space representations
+  (A,B,C,0), (AV,BV,CV,DV), and (AW,BW,CW,DW) of the
+  transfer-function matrices G, V and W, respectively,
+  the Cholesky factors of the frequency-weighted
+  controllability and observability Grammians corresponding
+  to a frequency-weighted model reduction problem.
+  G, V and W must be stable transfer-function matrices with
+  the state matrices A, AV, and AW in real Schur form.
+  It is assumed that the state space realizations (AV,BV,CV,DV)
+  and (AW,BW,CW,DW) are minimal. In case of possible pole-zero
+  cancellations in forming V*G and/or G*W, the parameters for the
+  choice of frequency-weighted Grammians ALPHAO and/or ALPHAC,
+  respectively, must be different from 1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09IY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NV, PV,
+     $                   NW, MW, ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   SCALEC, SCALEO, S, LDS, R, LDR,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBC, JOBO, WEIGHT
+      INTEGER          INFO, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDDV, LDDW, LDR, LDS, LDWORK,
+     $                 M, MW, N, NV, NW, P, PV
+      DOUBLE PRECISION ALPHAC, ALPHAO, SCALEC, SCALEO
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                 B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                 C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                           DV(LDDV,*), DW(LDDW,*),
+     $                 DWORK(*), R(LDR,*),   S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G, V and W are continuous-time systems;
+          = 'D':  G, V and W are discrete-time systems.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to a combination method [4]
+                 of the approaches of Enns [1] and Lin-Chiu [2,3];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [4].
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation of G, i.e.,
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B and
+          the number of rows of the matrices CW and DW.  M &gt;= 0.
+          M represents the dimension of the input vector of the
+          system with the transfer-function matrix G and
+          also the dimension of the output vector of the system
+          with the transfer-function matrix W.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C and the
+          number of columns of the matrices BV and DV.  P &gt;= 0.
+          P represents the dimension of the output vector of the
+          system with the transfer-function matrix G and
+          also the dimension of the input vector of the system
+          with the transfer-function matrix V.
+
+  NV      (input) INTEGER
+          The order of the matrix AV. Also the number of rows of
+          the matrix BV and the number of columns of the matrix CV.
+          NV represents the dimension of the state vector of the
+          system with the transfer-function matrix V.  NV &gt;= 0.
+
+  PV      (input) INTEGER
+          The number of rows of the matrices CV and DV.  PV &gt;= 0.
+          PV represents the dimension of the output vector of the
+          system with the transfer-function matrix V.
+
+  NW      (input) INTEGER
+          The order of the matrix AW. Also the number of rows of
+          the matrix BW and the number of columns of the matrix CW.
+          NW represents the dimension of the state vector of the
+          system with the transfer-function matrix W.  NW &gt;= 0.
+
+  MW      (input) INTEGER
+          The number of columns of the matrices BW and DW.  MW &gt;= 0.
+          MW represents the dimension of the input vector of the
+          system with the transfer-function matrix W.
+
+  ALPHAC  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted controllability Grammian (see METHOD);
+          ABS(ALPHAC) &lt;= 1.
+
+  ALPHAO  (input) DOUBLE PRECISION
+          Combination method parameter for defining the
+          frequency-weighted observability Grammian (see METHOD);
+          ABS(ALPHAO) &lt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must
+          contain the state matrix A (of the system with the
+          transfer-function matrix G) in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  AV      (input) DOUBLE PRECISION array, dimension (LDAV,NV)
+          If WEIGHT = 'L' or 'B', the leading NV-by-NV part of this
+          array must contain the state matrix AV (of the system with
+          the transfer-function matrix V) in a real Schur form.
+          AV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input) DOUBLE PRECISION array, dimension (LDBV,P)
+          If WEIGHT = 'L' or 'B', the leading NV-by-P part of this
+          array must contain the input matrix BV of the system with
+          the transfer-function matrix V.
+          BV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input) DOUBLE PRECISION array, dimension (LDCV,NV)
+          If WEIGHT = 'L' or 'B', the leading PV-by-NV part of this
+          array must contain the output matrix CV of the system with
+          the transfer-function matrix V.
+          CV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of array CV.
+          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
+          array must contain the feedthrough matrix DV of the system
+          with the transfer-function matrix V.
+          DV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of array DV.
+          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  AW      (input) DOUBLE PRECISION array, dimension (LDAW,NW)
+          If WEIGHT = 'R' or 'B', the leading NW-by-NW part of this
+          array must contain the state matrix AW (of the system with
+          the transfer-function matrix W) in a real Schur form.
+          AW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input) DOUBLE PRECISION array, dimension (LDBW,MW)
+          If WEIGHT = 'R' or 'B', the leading NW-by-MW part of this
+          array must contain the input matrix BW of the system with
+          the transfer-function matrix W.
+          BW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input) DOUBLE PRECISION array, dimension (LDCW,NW)
+          If WEIGHT = 'R' or 'B', the leading M-by-NW part of this
+          array must contain the output matrix CW of the system with
+          the transfer-function matrix W.
+          CW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
+          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
+          array must contain the feedthrough matrix DW of the system
+          with the transfer-function matrix W.
+          DW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian in (1)
+          or (3). See METHOD.
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian in (2)
+          or (4). See METHOD.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor S of the frequency-weighted
+          cotrollability Grammian P = S*S'. See METHOD.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor R of the frequency-weighted
+          observability Grammian Q = R'*R. See METHOD.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, LLEFT, LRIGHT ),
+          where
+          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
+                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
+          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
+          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
+                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
+          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the state matrices A and/or AV are not stable or
+                not in a real Schur form;
+          = 2:  if the state matrices A and/or AW are not stable or
+                not in a real Schur form;
+          = 3:  eigenvalues computation failure.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let Pi = Si*Si' and Qo = Ro'*Ro be the Cholesky factored
+  controllability and observability Grammians satisfying
+  in the continuous-time case
+
+         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0,       (1)
+
+         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0,       (2)
+
+  and in the discrete-time case
+
+         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,       (3)
+
+         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,       (4)
+
+  where
+
+        Ai = ( A  B*Cw ) ,   Bi = ( B*Dw ) ,
+             ( 0   Aw  )          (  Bw  )
+
+        Ao = (  A   0  ) ,   Co = ( Dv*C  Cv ) .
+             ( Bv*C Av )
+
+  Consider the partitioned Grammians
+
+        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
+             ( P12' P22 )               ( Q12' Q22 )
+
+  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
+  respectively, and let P0 and Q0 be non-negative definite matrices
+  defined in the combination method [4]
+                                     -1
+         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
+                                     -1
+         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
+
+  The frequency-weighted controllability and observability
+  Grammians, P and Q, respectively, are defined as follows:
+  P = P0 if JOBC = 'S' (standard combination method [4]);
+  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
+  Grammian defined to enforce stability for a modified combination
+  method of [4];
+  Q = Q0 if JOBO = 'S' (standard combination method [4]);
+  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
+  Grammian defined to enforce stability for a modified combination
+  method of [4].
+
+  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
+  Grammians corresponds to the method of Enns [1], while if
+  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds to the
+  method of Lin and Chiu [2,3].
+
+  The routine computes directly the Cholesky factors S and R
+  such that P = S*S' and Q = R'*R according to formulas
+  developed in [4]. No matrix inversions are involved.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Lin, C.-A. and Chiu, T.-Y.
+      Model reduction via frequency-weighted balanced realization.
+      Control Theory and Advanced Technology, vol. 8,
+      pp. 341-351, 1992.
+
+  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
+      New results on frequency weighted balanced reduction
+      technique.
+      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
+
+  [4] Varga, A. and Anderson, B.D.O.
+      Square-root balancing-free methods for the frequency-weighted
+      balancing related model reduction.
+      (report in preparation)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JD">AB09JD</A></H2>
+<H3>
+Frequency-weighted Hankel norm approximation with invertible weights
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the frequency
+  weighted optimal Hankel-norm approximation method.
+  The Hankel norm of the weighted error
+
+        op(V)*(G-Gr)*op(W)
+
+  is minimized, where G and Gr are the transfer-function matrices
+  of the original and reduced systems, respectively, V and W are
+  invertible transfer-function matrices representing the left and
+  right frequency weights, and op(X) denotes X, inv(X), conj(X) or
+  conj(inv(X)). V and W are specified by their state space
+  realizations (AV,BV,CV,DV) and (AW,BW,CW,DW), respectively.
+  When minimizing ||V*(G-Gr)*W||, V and W must be antistable.
+  When minimizing inv(V)*(G-Gr)*inv(W), V and W must have only
+  antistable zeros.
+  When minimizing conj(V)*(G-Gr)*conj(W), V and W must be stable.
+  When minimizing conj(inv(V))*(G-Gr)*conj(inv(W)), V and W must
+  be minimum-phase.
+  If the original system is unstable, then the frequency weighted
+  Hankel-norm approximation is computed only for the
+  ALPHA-stable part of the system.
+
+  For a transfer-function matrix G, conj(G) denotes the conjugate
+  of G given by G'(-s) for a continuous-time system or G'(1/z)
+  for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL,
+     $                   N, NV, NW, M, P, NR, ALPHA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AV, LDAV, BV, LDBV,
+     $                   CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
+     $                   CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
+     $                  NR, NS, NV, NW, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
+     $                  HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBV    CHARACTER*1
+          Specifies the left frequency-weighting as follows:
+          = 'N':  V = I;
+          = 'V':  op(V) = V;
+          = 'I':  op(V) = inv(V);
+          = 'C':  op(V) = conj(V);
+          = 'R':  op(V) = conj(inv(V)).
+
+  JOBW    CHARACTER*1
+          Specifies the right frequency-weighting as follows:
+          = 'N':  W = I;
+          = 'W':  op(W) = W;
+          = 'I':  op(W) = inv(W);
+          = 'C':  op(W) = conj(W);
+          = 'R':  op(W) = conj(inv(W)).
+
+  JOBINV  CHARACTER*1
+          Specifies the computational approach to be used as
+          follows:
+          = 'N':  use the inverse free descriptor system approach;
+          = 'I':  use the inversion based standard approach;
+          = 'A':  switch automatically to the inverse free
+                  descriptor approach in case of badly conditioned
+                  feedthrough matrices in V or W (see METHOD).
+
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the realization of the left frequency
+          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
+
+  NW      (input) INTEGER
+          The order of the realization of the right frequency
+          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
+          multiplicity of the Hankel singular value HSV(NR-NU+1),
+          NR is the desired order on entry, and NMIN is the order
+          of a minimal realization of the ALPHA-stable part of the
+          given system; NMIN is determined as the number of Hankel
+          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
+          ALPHA-stable part of the weighted system (computed in
+          HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-NV part of
+          this array must contain the state matrix AV of a state
+          space realization of the left frequency weighting V.
+          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
+          NV-by-NV part of this array contains the real Schur form
+          of AV.
+          AV is not referenced if JOBV = 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.
+          LDAV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
+          LDAV &gt;= 1,         if JOBV =  'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-P part of
+          this array must contain the input matrix BV of a state
+          space realization of the left frequency weighting V.
+          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
+          NV-by-P part of this array contains the transformed
+          input matrix BV corresponding to the transformed AV.
+          BV is not referenced if JOBV = 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.
+          LDBV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
+          LDBV &gt;= 1,         if JOBV =  'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if JOBV &lt;&gt; 'N', the leading P-by-NV part of
+          this array must contain the output matrix CV of a state
+          space realization of the left frequency weighting V.
+          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
+          P-by-NV part of this array contains the transformed output
+          matrix CV corresponding to the transformed AV.
+          CV is not referenced if JOBV = 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
+          LDCV &gt;= 1,        if JOBV =  'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If JOBV &lt;&gt; 'N', the leading P-by-P part of this array
+          must contain the feedthrough matrix DV of a state space
+          realization of the left frequency weighting V.
+          DV is not referenced if JOBV = 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
+          LDDV &gt;= 1,        if JOBV =  'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-NW part of
+          this array must contain the state matrix AW of a state
+          space realization of the right frequency weighting W.
+          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
+          NW-by-NW part of this array contains the real Schur form
+          of AW.
+          AW is not referenced if JOBW = 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.
+          LDAW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
+          LDAW &gt;= 1,         if JOBW =  'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
+          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-M part of
+          this array must contain the input matrix BW of a state
+          space realization of the right frequency weighting W.
+          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
+          NW-by-M part of this array contains the transformed
+          input matrix BW corresponding to the transformed AW.
+          BW is not referenced if JOBW = 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.
+          LDBW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
+          LDBW &gt;= 1,         if JOBW =  'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if JOBW &lt;&gt; 'N', the leading M-by-NW part of
+          this array must contain the output matrix CW of a state
+          space realization of the right frequency weighting W.
+          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
+          M-by-NW part of this array contains the transformed output
+          matrix CW corresponding to the transformed AW.
+          CW is not referenced if JOBW = 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
+          LDCW &gt;= 1,        if JOBW =  'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
+          If JOBW &lt;&gt; 'N', the leading M-by-M part of this array
+          must contain the feedthrough matrix DW of a state space
+          realization of the right frequency weighting W.
+          DW is not referenced if JOBW = 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of the array DW.
+          LDDW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
+          LDDW &gt;= 1,        if JOBW =  'N'.
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of this array contain
+          the Hankel singular values, ordered decreasingly, of the
+          projection G1s of op(V)*G1*op(W) (see METHOD), where G1
+          is the ALPHA-stable part of the original system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(G1s), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(G1s) is the
+          Hankel-norm of the projection G1s of op(V)*G1*op(W)
+          (see METHOD), computed in HSV(1).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(G1s), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+          TOL1 &lt; 1.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(G1s).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+          TOL2 &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M,c,d),    if DICO = 'C',
+          LIWORK = MAX(1,N,M,c,d),  if DICO = 'D', where
+             c = 0,                          if JOBV =  'N',
+             c = MAX(2*P,NV+P+N+6,2*NV+P+2), if JOBV &lt;&gt; 'N',
+             d = 0,                          if JOBW =  'N',
+             d = MAX(2*M,NW+M+N+6,2*NW+M+2), if JOBW &lt;&gt; 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
+          for NVP = NV+P and NWM = NW+M we have
+          LDW1 = 0 if JOBV =  'N' and
+          LDW1 = 2*NVP*(NVP+P) + P*P +
+                 MAX( 2*NVP*NVP + MAX( 11*NVP+16, P*NVP ),
+                       NVP*N + MAX( NVP*N+N*N, P*N, P*M ) )
+                   if JOBV &lt;&gt; 'N',
+          LDW2 = 0 if JOBW =  'N' and
+          LDW2 = 2*NWM*(NWM+M) + M*M +
+                 MAX( 2*NWM*NWM + MAX( 11*NWM+16, M*NWM ),
+                       NWM*N + MAX( NWM*N+N*N, M*N, P*M ) )
+                   if JOBW &lt;&gt; 'N',
+          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
+          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the computation of the ordered real Schur form of A
+                 failed;
+          =  2:  the separation of the ALPHA-stable/unstable
+                 diagonal blocks failed because of very close
+                 eigenvalues;
+          =  3:  the reduction of AV to a real Schur form failed;
+          =  4:  the reduction of AW to a real Schur form failed;
+          =  5:  the reduction to generalized Schur form of the
+                 descriptor pair corresponding to the inverse of V
+                 failed;
+          =  6:  the reduction to generalized Schur form of the
+                 descriptor pair corresponding to the inverse of W
+                 failed;
+          =  7:  the computation of Hankel singular values failed;
+          =  8:  the computation of stable projection in the
+                 Hankel-norm approximation algorithm failed;
+          =  9:  the order of computed stable projection in the
+                 Hankel-norm approximation algorithm differs
+                 from the order of Hankel-norm approximation;
+          = 10:  the reduction of AV-BV*inv(DV)*CV to a
+                 real Schur form failed;
+          = 11:  the reduction of AW-BW*inv(DW)*CW to a
+                 real Schur form failed;
+          = 12:  the solution of the Sylvester equation failed
+                 because the poles of V (if JOBV = 'V') or of
+                 conj(V) (if JOBV = 'C') are not distinct from
+                 the poles of G1 (see METHOD);
+          = 13:  the solution of the Sylvester equation failed
+                 because the poles of W (if JOBW = 'W') or of
+                 conj(W) (if JOBW = 'C') are not distinct from
+                 the poles of G1 (see METHOD);
+          = 14:  the solution of the Sylvester equation failed
+                 because the zeros of V (if JOBV = 'I') or of
+                 conj(V) (if JOBV = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 15:  the solution of the Sylvester equation failed
+                 because the zeros of W (if JOBW = 'I') or of
+                 conj(W) (if JOBW = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 16:  the solution of the generalized Sylvester system
+                 failed because the zeros of V (if JOBV = 'I') or
+                 of conj(V) (if JOBV = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 17:  the solution of the generalized Sylvester system
+                 failed because the zeros of W (if JOBW = 'I') or
+                 of conj(W) (if JOBW = 'R') are not distinct from
+                 the poles of G1sr (see METHOD);
+          = 18:  op(V) is not antistable;
+          = 19:  op(W) is not antistable;
+          = 20:  V is not invertible;
+          = 21:  W is not invertible.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let G be the transfer-function matrix of the original
+  linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                          (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09JD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
+
+  such that the corresponding transfer-function matrix Gr minimizes
+  the Hankel-norm of the frequency-weighted error
+
+          op(V)*(G-Gr)*op(W).                            (3)
+
+  For minimizing (3) with op(V) = V and op(W) = W, V and W are
+  assumed to have poles distinct from those of G, while with
+  op(V) = conj(V) and op(W) = conj(W), conj(V) and conj(W) are
+  assumed to have poles distinct from those of G. For minimizing (3)
+  with op(V) = inv(V) and op(W) = inv(W), V and W are assumed to
+  have zeros distinct from the poles of G, while with
+  op(V) = conj(inv(V)) and op(W) = conj(inv(W)), conj(V) and conj(W)
+  are assumed to have zeros distinct from the poles of G.
+
+  Note: conj(G) = G'(-s) for a continuous-time system and
+        conj(G) = G'(1/z) for a discrete-time system.
+
+  The following procedure is used to reduce G (see [1]):
+
+  1) Decompose additively G as
+
+       G = G1 + G2,
+
+     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
+     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
+
+  2) Compute G1s, the projection of op(V)*G1*op(W) containing the
+     poles of G1, using explicit formulas [4] or the inverse-free
+     descriptor system formulas of [5].
+
+  3) Determine G1sr, the optimal Hankel-norm approximation of G1s,
+     of order r.
+
+  4) Compute G1r, the projection of inv(op(V))*G1sr*inv(op(W))
+     containing the poles of G1sr, using explicit formulas [4]
+     or the inverse-free descriptor system formulas of [5].
+
+  5) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the weighted ALPHA-stable part G1s at step 3, the
+  optimal Hankel-norm approximation method of [2], based on the
+  square-root balancing projection formulas of [3], is employed.
+
+  The optimal weighted approximation error satisfies
+
+       HNORM[op(V)*(G-Gr)*op(W)] &gt;= S(r+1),
+
+  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
+  transfer-function matrix computed at step 2 of the above
+  procedure, and HNORM(.) denotes the Hankel-norm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Latham, G.A. and Anderson, B.D.O.
+      Frequency-weighted optimal Hankel-norm approximation of stable
+      transfer functions.
+      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
+
+  [2] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [3] Tombs, M.S. and Postlethwaite, I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [4] Varga, A.
+      Explicit formulas for an efficient implementation
+      of the frequency-weighting model reduction approach.
+      Proc. 1993 European Control Conference, Groningen, NL,
+      pp. 693-696, 1993.
+
+  [5] Varga, A.
+      Efficient and numerically reliable implementation of the
+      frequency-weighted Hankel-norm approximation model reduction
+      approach.
+      Proc. 2001 ECC, Porto, Portugal, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09JD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, NVMAX, NVPMAX, NWMAX, NWMMAX, PMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
+     $                   PMAX = 20, NVPMAX = NVMAX + PMAX,
+     $                   NWMMAX = NWMAX + MMAX )
+      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
+      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
+     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
+     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
+     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
+      INTEGER          LIW1, LIW2, LIW3, LIWORK
+      PARAMETER        ( LIW1 = 2*MAX( MMAX, PMAX ),
+     $                   LIW2 = MAX( NVPMAX, NWMMAX ) + NMAX + 6,
+     $                   LIW3 = MAX( 2*NVMAX + PMAX + 2,
+     $                               2*NWMAX + MMAX + 2 ) )
+      PARAMETER        ( LIWORK = MAX( LIW1, LIW2, LIW3 ) )
+      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
+      PARAMETER        ( LDW1 = 2*NVPMAX*( NVPMAX + PMAX ) + PMAX*PMAX +
+     $                          MAX( 2*NVPMAX*NVPMAX +
+     $                               MAX( 11*NVPMAX + 16, PMAX*NVPMAX ),
+     $                               NVPMAX*NMAX +
+     $                               MAX( NVPMAX*NMAX + NMAX*NMAX,
+     $                                    PMAX*NMAX, PMAX*MMAX ) ) )
+      PARAMETER        ( LDW2 = 2*NWMMAX*( NWMMAX + MMAX ) + MMAX*MMAX +
+     $                          MAX( 2*NWMMAX*NWMMAX +
+     $                               MAX( 11*NWMMAX + 16, MMAX*NWMMAX ),
+     $                               NWMMAX*NMAX +
+     $                               MAX( NWMMAX*NMAX + NMAX*NMAX,
+     $                                    MMAX*NMAX, PMAX*MMAX ) ) )
+      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
+     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
+      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
+     $                          MIN( NMAX, MMAX ) +
+     $                          MAX( 3*MMAX + 1,
+     $                               MIN( NMAX, MMAX ) + PMAX ) )
+      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
+*     .. Local Scalars ..
+      LOGICAL          LEFTW, RIGHTW
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
+      CHARACTER*1      DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
+     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
+     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
+     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB09JD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
+     $                      JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL
+      LEFTW  = .NOT.LSAME( JOBV, 'N' )
+      RIGHTW = .NOT.LSAME( JOBW, 'N' )
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( LEFTW ) THEN
+                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
+                     WRITE ( NOUT, FMT = 99986 ) NV
+                  ELSE
+                     IF( NV.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                     ( ( AV(I,J), J = 1,NV ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                     ( ( BV(I,J), J = 1,P  ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                     ( ( CV(I,J), J = 1,NV ), I = 1,P )
+                     END IF
+                     IF( LEFTW )
+     $                  READ ( NIN, FMT = * )
+     $                     ( ( DV(I,J), J = 1,P ), I = 1,P )
+                  END IF
+               END IF
+               IF( RIGHTW ) THEN
+                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
+                     WRITE ( NOUT, FMT = 99985 ) NW
+                  ELSE
+                     IF( NW.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                     ( ( AW(I,J), J = 1,NW ), I = 1,NW )
+                        READ ( NIN, FMT = * )
+     $                     ( ( BW(I,J), J = 1,M  ), I = 1,NW )
+                        READ ( NIN, FMT = * )
+     $                     ( ( CW(I,J), J = 1,NW ), I = 1,M )
+                     END IF
+                     READ ( NIN, FMT = * )
+     $                     ( ( DW(I,J), J = 1,M  ), I = 1,M )
+                  END IF
+               END IF
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL, N,
+     $                      NV, NW, M, P, NR, ALPHA,  A, LDA, B, LDB,
+     $                      C, LDC, D, LDD, AV, LDAV, BV, LDBV,
+     $                      CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
+     $                      CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
+     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, NR
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 40 I = 1, NR
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 60 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60                CONTINUE
+                  END IF
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09JD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09JD = ',I2)
+99997 FORMAT (/' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' IWARN on exit from AB09JD = ',I2)
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
+99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09JD EXAMPLE PROGRAM DATA (Continuous system)
+  6     1     1     2   0     0   0.0  1.E-1  1.E-14    V   N   I   C    S   A
+   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
+    1.0000         0         0         0         0         0
+         0    1.0000         0         0         0         0
+         0         0    1.0000         0         0         0
+         0         0         0    1.0000         0         0
+         0         0         0         0    1.0000         0
+         1
+         0
+         0
+         0
+         0
+         0
+         0         0         0         0         0         1
+         0
+    0.2000   -1.0000
+    1.0000         0
+     1
+     0
+   -1.8000         0
+     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09JD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  4
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
+
+ The reduced state dynamics matrix Ar is 
+  -0.2391   0.3072   1.1630   1.1967
+  -2.9709  -0.2391   2.6270   3.1027
+   0.0000   0.0000  -0.5137  -1.2842
+   0.0000   0.0000   0.1519  -0.5137
+
+ The reduced input/state matrix Br is 
+  -1.0497
+  -3.7052
+   0.8223
+   0.7435
+
+ The reduced state/output matrix Cr is 
+  -0.4466   0.0143  -0.4780  -0.2013
+
+ The reduced input/output matrix Dr is 
+   0.0219
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09JV.html b/doc/_static/doc/AB09JV.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/AB09JV.html
@@ -0,0 +1,365 @@
+<HTML>
+<HEAD><TITLE>AB09JV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JV">AB09JV</A></H2>
+<H3>
+State-space representation of a projection of a left weighted transfer-function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a state-space representation (A,BS,CS,DS) of the
+  projection of V*G or conj(V)*G containing the poles of G, from the
+  state-space representations (A,B,C,D) and (AV-lambda*EV,BV,CV,DV),
+  of the transfer-function matrices G and V, respectively.
+  G is assumed to be a stable transfer-function matrix and
+  the state matrix A must be in a real Schur form.
+  When computing the stable projection of V*G, it is assumed
+  that G and V have completely distinct poles.
+  When computing the stable projection of conj(V)*G, it is assumed
+  that G and conj(V) have completely distinct poles.
+
+  Note: For a transfer-function matrix G, conj(G) denotes the
+  conjugate of G given by G'(-s) for a continuous-time system or
+  G'(1/z) for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JV( JOB, DICO, JOBEV, STBCHK, N, M, P, NV, PV,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, AV, LDAV,
+     $                   EV, LDEV, BV, LDBV, CV, LDCV, DV, LDDV, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, JOBEV, STBCHK
+      INTEGER           INFO, LDA, LDAV, LDB, LDBV, LDC, LDCV,
+     $                  LDD, LDDV, LDEV, LDWORK, M, N, NV, P, PV
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), B(LDB,*), BV(LDBV,*),
+     $                  C(LDC,*), CV(LDCV,*), D(LDD,*), DV(LDDV,*),
+     $                  DWORK(*), EV(LDEV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the projection to be computed as follows:
+          = 'V':  compute the projection of V*G containing
+                  the poles of G;
+          = 'C':  compute the projection of conj(V)*G containing
+                  the poles of G.
+
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G and V are continuous-time systems;
+          = 'D':  G and V are discrete-time systems.
+
+  JOBEV   CHARACTER*1
+          Specifies whether EV is a general square or an identity
+          matrix as follows:
+          = 'G':  EV is a general square matrix;
+          = 'I':  EV is the identity matrix.
+
+  STBCHK  CHARACTER*1
+          Specifies whether stability/antistability of V is to be
+          checked as follows:
+          = 'C':  check stability if JOB = 'C' or antistability if
+                  JOB = 'V';
+          = 'N':  do not check stability or antistability.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector of the system with
+          the transfer-function matrix G.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of the input vector of the system with
+          the transfer-function matrix G.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of the output vector of the system with the
+          transfer-function matrix G, and also the dimension of
+          the input vector if JOB = 'V', or of the output vector
+          if JOB = 'C', of the system with the transfer-function
+          matrix V.  P &gt;= 0.
+
+  NV      (input) INTEGER
+          The dimension of the state vector of the system with
+          the transfer-function matrix V.  NV &gt;= 0.
+
+  PV      (input) INTEGER
+          The dimension of the output vector, if JOB = 'V', or
+          of the input vector, if JOB = 'C', of the system with
+          the transfer-function matrix V.  PV &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system with the transfer-function
+          matrix G in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain
+          the input/state matrix B of the system with the
+          transfer-function matrix G. The matrix BS is equal to B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading PV-by-N part of this
+          array contains the output matrix CS of the projection of
+          V*G, if JOB = 'V', or of conj(V)*G, if JOB = 'C'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P,PV).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the feedthrough matrix D of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading PV-by-M part of
+          this array contains the feedthrough matrix DS of the
+          projection of V*G, if JOB = 'V', or of conj(V)*G,
+          if JOB = 'C'.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P,PV).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, the leading NV-by-NV part of this array must
+          contain the state matrix AV of the system with the
+          transfer-function matrix V.
+          On exit, if INFO = 0, the leading NV-by-NV part of this
+          array contains a condensed matrix as follows:
+          if JOBEV = 'I', it contains the real Schur form of AV;
+          if JOBEV = 'G' and JOB = 'V', it contains a quasi-upper
+          triangular matrix representing the real Schur matrix
+          in the real generalized Schur form of the pair (AV,EV);
+          if JOBEV = 'G', JOB = 'C' and DICO = 'C', it contains a
+          quasi-upper triangular matrix corresponding to the
+          generalized real Schur form of the pair (AV',EV');
+          if JOBEV = 'G', JOB = 'C' and DICO = 'D', it contains an
+          upper triangular matrix corresponding to the generalized
+          real Schur form of the pair (EV',AV').
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.  LDAV &gt;= MAX(1,NV).
+
+  EV      (input/output) DOUBLE PRECISION array, dimension (LDEV,NV)
+          On entry, if JOBEV = 'G', the leading NV-by-NV part of
+          this array must contain the descriptor matrix EV of the
+          system with the transfer-function matrix V.
+          If JOBEV = 'I', EV is assumed to be an identity matrix
+          and is not referenced.
+          On exit, if INFO = 0 and JOBEV = 'G', the leading NV-by-NV
+          part of this array contains a condensed matrix as follows:
+          if JOB = 'V', it contains an upper triangular matrix
+          corresponding to the real generalized Schur form of the
+          pair (AV,EV);
+          if JOB = 'C' and DICO = 'C', it contains an upper
+          triangular matrix corresponding to the generalized real
+          Schur form of the pair (AV',EV');
+          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
+          triangular matrix corresponding to the generalized
+          real Schur form of the pair (EV',AV').
+
+  LDEV    INTEGER
+          The leading dimension of the array EV.
+          LDEV &gt;= MAX(1,NV), if JOBEV = 'G';
+          LDEV &gt;= 1,         if JOBEV = 'I'.
+
+  BV      (input/output) DOUBLE PRECISION array,
+          dimension (LDBV,MBV), where MBV = P, if JOB = 'V', and
+          MBV = PV, if JOB = 'C'.
+          On entry, the leading NV-by-MBV part of this array must
+          contain the input matrix BV of the system with the
+          transfer-function matrix V.
+          On exit, if INFO = 0, the leading NV-by-MBV part of this
+          array contains Q'*BV, where Q is the orthogonal matrix
+          that reduces AV to the real Schur form or the left
+          orthogonal matrix used to reduce the pair (AV,EV),
+          (AV',EV') or (EV',AV') to the generalized real Schur form.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.  LDBV &gt;= MAX(1,NV).
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, the leading PCV-by-NV part of this array must
+          contain the output matrix CV of the system with the
+          transfer-function matrix V, where PCV = PV, if JOB = 'V',
+          or PCV = P, if JOB = 'C'.
+          On exit, if INFO = 0, the leading PCV-by-NV part of this
+          array contains CV*Q, where Q is the orthogonal matrix that
+          reduces AV to the real Schur form, or CV*Z, where Z is the
+          right orthogonal matrix used to reduce the pair (AV,EV),
+          (AV',EV') or (EV',AV') to the generalized real Schur form.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,PV) if JOB = 'V';
+          LDCV &gt;= MAX(1,P)  if JOB = 'C'.
+
+  DV      (input) DOUBLE PRECISION array,
+          dimension (LDDV,MBV), where MBV = P, if JOB = 'V', and
+          MBV = PV, if JOB = 'C'.
+          The leading PCV-by-MBV part of this array must contain
+          the feedthrough matrix DV of the system with the
+          transfer-function matrix V, where PCV = PV, if JOB = 'V',
+          or PCV = P, if JOB = 'C'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,PV) if JOB = 'V';
+          LDDV &gt;= MAX(1,P)  if JOB = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK =   0,    if JOBEV = 'I';
+          LIWORK = NV+N+6, if JOBEV = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= LW1, if JOBEV = 'I',
+          LDWORK &gt;= LW2, if JOBEV = 'G', where
+            LW1 = MAX( 1, NV*(NV+5), NV*N + MAX( a, PV*N, PV*M ) )
+                  a = 0,    if DICO = 'C' or  JOB = 'V',
+                  a = 2*NV, if DICO = 'D' and JOB = 'C';
+            LW2 = MAX( 2*NV*NV + MAX( 11*NV+16, P*NV, PV*NV ),
+                       NV*N + MAX( NV*N+N*N, PV*N, PV*M ) ).
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the reduction of the pair (AV,EV) to the real
+                 generalized Schur form failed (JOBEV = 'G'),
+                 or the reduction of the matrix AV to the real
+                 Schur form failed (JOBEV = 'I);
+          =  2:  the solution of the Sylvester equation failed
+                 because the matrix A and the pencil AV-lambda*EV
+                 have common eigenvalues (if JOB = 'V'), or the
+                 pencil -AV-lambda*EV and A have common eigenvalues
+                 (if JOB = 'C' and DICO = 'C'), or the pencil
+                 AV-lambda*EV has an eigenvalue which is the
+                 reciprocal of one of eigenvalues of A
+                 (if JOB = 'C' and DICO = 'D');
+          =  3:  the solution of the Sylvester equation failed
+                 because the matrices A and AV have common
+                 eigenvalues (if JOB = 'V'), or the matrices A
+                 and -AV have common eigenvalues (if JOB = 'C' and
+                 DICO = 'C'), or the matrix A has an eigenvalue
+                 which is the reciprocal of one of eigenvalues of AV
+                 (if JOB = 'C' and DICO = 'D');
+          =  4:  JOB = 'V' and the pair (AV,EV) has not completely
+                 unstable generalized eigenvalues, or JOB = 'C' and
+                 the pair (AV,EV) has not completely stable
+                 generalized eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOB = 'V', the matrices of the stable projection of V*G are
+  computed as
+
+    BS = B,  CS = CV*X + DV*C,  DS = DV*D,
+
+  where X satisfies the generalized Sylvester equation
+
+    AV*X - EV*X*A + BV*C = 0.
+
+  If JOB = 'C', the matrices of the stable projection of conj(V)*G
+  are computed using the following formulas:
+
+  - for a continuous-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B,  CS = BV'*X + DV'*C,  DS = DV'*D,
+
+    where X satisfies the generalized Sylvester equation
+
+      AV'*X + EV'*X*A + CV'*C = 0.
+
+  - for a discrete-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B,  CS = BV'*X*A + DV'*C,  DS = DV'*D + BV'*X*B,
+
+    where X satisfies the generalized Sylvester equation
+
+      EV'*X - AV'*X*A = CV'*C.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Efficient and numerically reliable implementation of the
+      frequency-weighted Hankel-norm approximation model reduction
+      approach.
+      Proc. 2001 ECC, Porto, Portugal, 2001.
+
+  [2] Zhou, K.
+      Frequency-weighted H-infinity norm and optimal Hankel norm
+      model reduction.
+      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on numerically stable algorithms.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09JW.html b/doc/_static/doc/AB09JW.html
new file mode 100644
index 00000000..a6cf8bc8
--- /dev/null
+++ b/doc/_static/doc/AB09JW.html
@@ -0,0 +1,366 @@
+<HTML>
+<HEAD><TITLE>AB09JW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JW">AB09JW</A></H2>
+<H3>
+State-space representation of a projection of a right weighted transfer-function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a state-space representation (A,BS,CS,DS) of the
+  projection of G*W or G*conj(W) containing the poles of G, from the
+  state-space representations (A,B,C,D) and (AW-lambda*EW,BW,CW,DW),
+  of the transfer-function matrices G and W, respectively.
+  G is assumed to be a stable transfer-function matrix and
+  the state matrix A must be in a real Schur form.
+  When computing the stable projection of G*W, it is assumed
+  that G and W have completely distinct poles.
+  When computing the stable projection of G*conj(W), it is assumed
+  that G and conj(W) have completely distinct poles.
+
+  Note: For a transfer-function matrix G, conj(G) denotes the
+  conjugate of G given by G'(-s) for a continuous-time system or
+  G'(1/z) for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JW( JOB, DICO, JOBEW, STBCHK, N, M, P, NW, MW,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, AW, LDAW,
+     $                   EW, LDEW, BW, LDBW, CW, LDCW, DW, LDDW, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, JOBEW, STBCHK
+      INTEGER           INFO, LDA, LDAW, LDB, LDBW, LDC, LDCW,
+     $                  LDD, LDDW, LDEW, LDWORK, M, MW, N, NW, P
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AW(LDAW,*), B(LDB,*), BW(LDBW,*),
+     $                  C(LDC,*), CW(LDCW,*), D(LDD,*), DW(LDDW,*),
+     $                  DWORK(*), EW(LDEW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the projection to be computed as follows:
+          = 'W':  compute the projection of G*W containing
+                  the poles of G;
+          = 'C':  compute the projection of G*conj(W) containing
+                  the poles of G.
+
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G and W are continuous-time systems;
+          = 'D':  G and W are discrete-time systems.
+
+  JOBEW   CHARACTER*1
+          Specifies whether EW is a general square or an identity
+          matrix as follows:
+          = 'G':  EW is a general square matrix;
+          = 'I':  EW is the identity matrix.
+
+  STBCHK  CHARACTER*1
+          Specifies whether stability/antistability of W is to be
+          checked as follows:
+          = 'C':  check stability if JOB = 'C' or antistability if
+                  JOB = 'W';
+          = 'N':  do not check stability or antistability.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector of the system with
+          the transfer-function matrix G.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of the input vector of the system with
+          the transfer-function matrix G, and also the dimension
+          of the output vector if JOB = 'W', or of the input vector
+          if JOB = 'C', of the system with the transfer-function
+          matrix W.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of the output vector of the system with the
+          transfer-function matrix G.  P &gt;= 0.
+
+  NW      (input) INTEGER
+          The dimension of the state vector of the system with the
+          transfer-function matrix W.  NW &gt;= 0.
+
+  MW      (input) INTEGER
+          The dimension of the input vector, if JOB = 'W', or of
+          the output vector, if JOB = 'C', of the system with the
+          transfer-function matrix W.  MW &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system with the transfer-function
+          matrix G in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array,
+          dimension (LDB,MAX(M,MW))
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading N-by-MW part of this
+          array contains the input matrix BS of the projection of
+          G*W, if JOB = 'W', or of G*conj(W), if JOB = 'C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain
+          the output/state matrix C of the system with the
+          transfer-function matrix G. The matrix CS is equal to C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array,
+          dimension (LDB,MAX(M,MW))
+          On entry, the leading P-by-M part of this array must
+          contain the feedthrough matrix D of the system with
+          the transfer-function matrix G.
+          On exit, if INFO = 0, the leading P-by-MW part of
+          this array contains the feedthrough matrix DS of the
+          projection of G*W, if JOB = 'W', or of G*conj(W),
+          if JOB = 'C'.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, the leading NW-by-NW part of this array must
+          contain the state matrix AW of the system with the
+          transfer-function matrix W.
+          On exit, if INFO = 0, the leading NW-by-NW part of this
+          array contains a condensed matrix as follows:
+          if JOBEW = 'I', it contains the real Schur form of AW;
+          if JOBEW = 'G' and JOB = 'W', it contains a quasi-upper
+          triangular matrix representing the real Schur matrix
+          in the real generalized Schur form of the pair (AW,EW);
+          if JOBEW = 'G', JOB = 'C' and DICO = 'C', it contains a
+          quasi-upper triangular matrix corresponding to the
+          generalized real Schur form of the pair (AW',EW');
+          if JOBEW = 'G', JOB = 'C' and DICO = 'D', it contains an
+          upper triangular matrix corresponding to the generalized
+          real Schur form of the pair (EW',AW').
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.  LDAW &gt;= MAX(1,NW).
+
+  EW      (input/output) DOUBLE PRECISION array, dimension (LDEW,NW)
+          On entry, if JOBEW = 'G', the leading NW-by-NW part of
+          this array must contain the descriptor matrix EW of the
+          system with the transfer-function matrix W.
+          If JOBEW = 'I', EW is assumed to be an identity matrix
+          and is not referenced.
+          On exit, if INFO = 0 and JOBEW = 'G', the leading NW-by-NW
+          part of this array contains a condensed matrix as follows:
+          if JOB = 'W', it contains an upper triangular matrix
+          corresponding to the real generalized Schur form of the
+          pair (AW,EW);
+          if JOB = 'C' and DICO = 'C', it contains an upper
+          triangular matrix corresponding to the generalized real
+          Schur form of the pair (AW',EW');
+          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
+          triangular matrix corresponding to the generalized
+          real Schur form of the pair (EW',AW').
+
+  LDEW    INTEGER
+          The leading dimension of the array EW.
+          LDEW &gt;= MAX(1,NW), if JOBEW = 'G';
+          LDEW &gt;= 1,         if JOBEW = 'I'.
+
+  BW      (input/output) DOUBLE PRECISION array,
+          dimension (LDBW,MBW), where MBW = MW, if JOB = 'W', and
+          MBW = M, if JOB = 'C'.
+          On entry, the leading NW-by-MBW part of this array must
+          contain the input matrix BW of the system with the
+          transfer-function matrix W.
+          On exit, if INFO = 0, the leading NW-by-MBW part of this
+          array contains Q'*BW, where Q is the orthogonal matrix
+          that reduces AW to the real Schur form or the left
+          orthogonal matrix used to reduce the pair (AW,EW),
+          (AW',EW') or (EW',AW') to the generalized real Schur form.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.  LDBW &gt;= MAX(1,NW).
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, the leading PCW-by-NW part of this array must
+          contain the output matrix CW of the system with the
+          transfer-function matrix W, where PCW = M if JOB = 'W' or
+          PCW = MW if JOB = 'C'.
+          On exit, if INFO = 0, the leading PCW-by-NW part of this
+          array contains CW*Q, where Q is the orthogonal matrix that
+          reduces AW to the real Schur form, or CW*Z, where Z is the
+          right orthogonal matrix used to reduce the pair (AW,EW),
+          (AW',EW') or (EW',AW') to the generalized real Schur form.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
+          PCW = MW if JOB = 'C'.
+
+  DW      (input) DOUBLE PRECISION array,
+          dimension (LDDW,MBW), where MBW = MW if JOB = 'W', and
+          MBW = M if JOB = 'C'.
+          The leading PCW-by-MBW part of this array must contain
+          the feedthrough matrix DW of the system with the
+          transfer-function matrix W, where PCW = M if JOB = 'W',
+          or PCW = MW if JOB = 'C'.
+
+  LDDW    INTEGER
+          LDDW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
+          PCW = MW if JOB = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK =   0,    if JOBEW = 'I';
+          LIWORK = NW+N+6, if JOBEW = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= LW1, if JOBEW = 'I',
+          LDWORK &gt;= LW2, if JOBEW = 'G', where
+            LW1 = MAX( 1, NW*(NW+5), NW*N + MAX( a, N*MW, P*MW ) )
+                  a = 0,    if DICO = 'C' or  JOB = 'W',
+                  a = 2*NW, if DICO = 'D' and JOB = 'C';
+            LW2 = MAX( 2*NW*NW + MAX( 11*NW+16, NW*M, MW*NW ),
+                       NW*N + MAX( NW*N+N*N, MW*N, P*MW ) ).
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the reduction of the pair (AW,EW) to the real
+                 generalized Schur form failed (JOBEW = 'G'),
+                 or the reduction of the matrix AW to the real
+                 Schur form failed (JOBEW = 'I);
+          =  2:  the solution of the Sylvester equation failed
+                 because the matrix A and the pencil AW-lambda*EW
+                 have common eigenvalues (if JOB = 'W'), or the
+                 pencil -AW-lambda*EW and A have common eigenvalues
+                 (if JOB = 'C' and DICO = 'C'), or the pencil
+                 AW-lambda*EW has an eigenvalue which is the
+                 reciprocal of one of eigenvalues of A
+                 (if JOB = 'C' and DICO = 'D');
+          =  3:  the solution of the Sylvester equation failed
+                 because the matrices A and AW have common
+                 eigenvalues (if JOB = 'W'), or the matrices A
+                 and -AW have common eigenvalues (if JOB = 'C' and
+                 DICO = 'C'), or the matrix A has an eigenvalue
+                 which is the reciprocal of one of eigenvalues of AW
+                 (if JOB = 'C' and DICO = 'D');
+          =  4:  JOB = 'W' and the pair (AW,EW) has not completely
+                 unstable generalized eigenvalues, or JOB = 'C' and
+                 the pair (AW,EW) has not completely stable
+                 generalized eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOB = 'W', the matrices of the stable projection of G*W are
+  computed as
+
+    BS = B*DW + Y*BW,  CS = C,  DS = D*DW,
+
+  where Y satisfies the generalized Sylvester equation
+
+    -A*Y*EW + Y*AW + B*CW = 0.
+
+  If JOB = 'C', the matrices of the stable projection of G*conj(W)
+  are computed using the following formulas:
+
+  - for a continuous-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B*DW' + Y*CW',  CS = C,  DS = D*DW',
+
+    where Y satisfies the generalized Sylvester equation
+
+      A*Y*EW' + Y*AW' + B*BW' = 0.
+
+  - for a discrete-time system, the matrices BS, CS and DS of
+    the stable projection are computed as
+
+      BS = B*DW' + A*Y*CW',  CS = C,  DS = D*DW' + C*Y*CW',
+
+    where Y satisfies the generalized Sylvester equation
+
+      Y*EW' - A*Y*AW' = B*BW'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Efficient and numerically reliable implementation of the
+      frequency-weighted Hankel-norm approximation model reduction
+      approach.
+      Proc. 2001 ECC, Porto, Portugal, 2001.
+
+  [2] Zhou, K.
+      Frequency-weighted H-infinity norm and optimal Hankel norm
+      model reduction.
+      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on numerically stable algorithms.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09JX.html b/doc/_static/doc/AB09JX.html
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+<HTML>
+<HEAD><TITLE>AB09JX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09JX">AB09JX</A></H2>
+<H3>
+Check stability/antistability of finite eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check stability/antistability of finite eigenvalues with
+  respect to a given stability domain.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09JX( DICO, STDOM, EVTYPE, N, ALPHA, ER, EI, ED,
+     $                   TOLINF, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, EVTYPE, STDOM
+      INTEGER          INFO, N
+      DOUBLE PRECISION ALPHA, TOLINF
+C     .. Array Arguments ..
+      DOUBLE PRECISION ED(*), EI(*), ER(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the stability domain as follows:
+          = 'C':  for a continuous-time system;
+          = 'D':  for a discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  EVTYPE  CHARACTER*1
+          Specifies whether the eigenvalues arise from a standard
+          or a generalized eigenvalue problem as follows:
+          = 'S':  standard eigenvalue problem;
+          = 'G':  generalized eigenvalue problem;
+          = 'R':  reciprocal generalized eigenvalue problem.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of vectors ER, EI and ED.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the boundary of the domain of interest for the
+          eigenvalues. For a continuous-time system
+          (DICO = 'C'), ALPHA is the boundary value for the real
+          parts of eigenvalues, while for a discrete-time system
+          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
+          the moduli of eigenvalues.
+
+  ER, EI, (input) DOUBLE PRECISION arrays, dimension (N)
+  ED      If EVTYPE = 'S', ER(j) + EI(j)*i, j = 1,...,N, are
+          the eigenvalues of a real matrix.
+          ED is not referenced and is implicitly considered as
+          a vector having all elements equal to one.
+          If EVTYPE = 'G' or EVTYPE = 'R', (ER(j) + EI(j)*i)/ED(j),
+          j = 1,...,N, are the generalized eigenvalues of a pair of
+          real matrices. If ED(j) is zero, then the j-th generalized
+          eigenvalue is infinite.
+          Complex conjugate pairs of eigenvalues must appear
+          consecutively.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOLINF  DOUBLE PRECISION
+          If EVTYPE = 'G' or 'R', TOLINF contains the tolerance for
+          detecting infinite generalized eigenvalues.
+          0 &lt;= TOLINF &lt; 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit, i.e., all eigenvalues lie within
+                 the domain of interest defined by DICO, STDOM
+                 and ALPHA;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  some eigenvalues lie outside the domain of interest
+                 defined by DICO, STDOM and ALPHA.
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The domain of interest for an eigenvalue lambda is defined by the
+  parameters ALPHA, DICO and STDOM as follows:
+     - for a continuous-time system (DICO = 'C'):
+            Real(lambda) &lt; ALPHA if STDOM = 'S';
+            Real(lambda) &gt; ALPHA if STDOM = 'U';
+     - for a discrete-time system (DICO = 'D'):
+            Abs(lambda) &lt; ALPHA if STDOM = 'S';
+            Abs(lambda) &gt; ALPHA if STDOM = 'U'.
+  If EVTYPE = 'R', the same conditions apply for 1/lambda.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09KD.html b/doc/_static/doc/AB09KD.html
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+<HTML>
+<HEAD><TITLE>AB09KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09KD">AB09KD</A></H2>
+<H3>
+Frequency-weighted Hankel-norm approximation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using the frequency
+  weighted optimal Hankel-norm approximation method.
+  The Hankel norm of the weighted error
+
+        V*(G-Gr)*W    or    conj(V)*(G-Gr)*conj(W)
+
+  is minimized, where G and Gr are the transfer-function matrices
+  of the original and reduced systems, respectively, and V and W
+  are the transfer-function matrices of the left and right frequency
+  weights, specified by their state space realizations (AV,BV,CV,DV)
+  and (AW,BW,CW,DW), respectively. When minimizing the weighted
+  error V*(G-Gr)*W, V and W must be antistable transfer-function
+  matrices. When minimizing conj(V)*(G-Gr)*conj(W), V and W must be
+  stable transfer-function matrices.
+  Additionally, V and W must be invertible transfer-function
+  matrices, with the feedthrough matrices DV and DW invertible.
+  If the original system is unstable, then the frequency weighted
+  Hankel-norm approximation is computed only for the
+  ALPHA-stable part of the system.
+
+  For a transfer-function matrix G, conj(G) denotes the conjugate
+  of G given by G'(-s) for a continuous-time system or G'(1/z)
+  for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW, M,
+     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL, WEIGHT
+      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
+     $                  NR, NS, NV, NW, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
+     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
+     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
+     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
+     $                  HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the frequency-weighting problem as follows:
+          = 'N':  solve min||V*(G-Gr)*W||_H;
+          = 'C':  solve min||conj(V)*(G-Gr)*conj(W)||_H.
+
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the realization of the left frequency
+          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
+
+  NW      (input) INTEGER
+          The order of the realization of the right frequency
+          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of
+          the resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
+          multiplicity of the Hankel singular value HSV(NR-NU+1),
+          NR is the desired order on entry, and NMIN is the order
+          of a minimal realization of the ALPHA-stable part of the
+          given system; NMIN is determined as the number of Hankel
+          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
+          EPS is the machine precision (see LAPACK Library Routine
+          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
+          ALPHA-stable part of the weighted system (computed in
+          HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the
+          reduced order system in a real Schur form.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
+          part of this array must contain the state matrix AV of a
+          state space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-NV part of this array contains a real Schur form
+          of the state matrix of a state space realization of the
+          inverse of V.
+          AV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
+          of this array must contain the input matrix BV of a state
+          space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-P part of this array contains the input matrix of a
+          state space realization of the inverse of V.
+          BV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
+          of this array must contain the output matrix CV of a state
+          space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          P-by-NV part of this array contains the output matrix of a
+          state space realization of the inverse of V.
+          CV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  DV      (input/output) DOUBLE PRECISION array, dimension (LDDV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading P-by-P part
+          of this array must contain the feedthrough matrix DV of a
+          state space realization of the left frequency weighting V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          P-by-P part of this array contains the feedthrough matrix
+          of a state space realization of the inverse of V.
+          DV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
+          part of this array must contain the state matrix AW of
+          a state space realization of the right frequency
+          weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-NW part of this array contains a real Schur form of
+          the state matrix of a state space realization of the
+          inverse of W.
+          AW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
+          of this array must contain the input matrix BW of a state
+          space realization of the right frequency weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-M part of this array contains the input matrix of a
+          state space realization of the inverse of W.
+          BW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
+          of this array must contain the output matrix CW of a state
+          space realization of the right frequency weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          M-by-NW part of this array contains the output matrix of a
+          state space realization of the inverse of W.
+          CW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input/output) DOUBLE PRECISION array, dimension (LDDW,M)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-M part
+          of this array must contain the feedthrough matrix DW of
+          a state space realization of the right frequency
+          weighting W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          M-by-M part of this array contains the feedthrough matrix
+          of a state space realization of the inverse of W.
+          DW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of the array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of this array contain
+          the Hankel singular values, ordered decreasingly, of the
+          ALPHA-stable part of the weighted original system.
+          HSV(1) is the Hankel norm of the ALPHA-stable weighted
+          subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the weighted
+          original system (computed in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = MAX(1,M,c),      if DICO = 'C',
+          LIWORK = MAX(1,N,M,c),    if DICO = 'D',
+          where  c = 0,             if WEIGHT = 'N',
+                 c = 2*P,           if WEIGHT = 'L',
+                 c = 2*M,           if WEIGHT = 'R',
+                 c = MAX(2*M,2*P),  if WEIGHT = 'B'.
+          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
+          the computed minimal realization.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
+          LDW1 = 0 if WEIGHT = 'R' or 'N' and
+          LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
+                 if WEIGHT = 'L' or WEIGHT = 'B',
+          LDW2 = 0 if WEIGHT = 'L' or 'N' and
+          LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
+                 if WEIGHT = 'R' or WEIGHT = 'B', with
+             a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
+             a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C';
+          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
+          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
+                 MAX( 3*M+1, MIN(N,M)+P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system; in this case, the resulting NR is set equal
+                to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system; in this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the computation of the ordered real Schur form of A
+                 failed;
+          =  2:  the separation of the ALPHA-stable/unstable
+                 diagonal blocks failed because of very close
+                 eigenvalues;
+          =  3:  the reduction of AV or AV-BV*inv(DV)*CV to a
+                 real Schur form failed;
+          =  4:  the reduction of AW or AW-BW*inv(DW)*CW to a
+                 real Schur form failed;
+          =  5:  JOB = 'N' and AV is not antistable, or
+                 JOB = 'C' and AV is not stable;
+          =  6:  JOB = 'N' and AW is not antistable, or
+                 JOB = 'C' and AW is not stable;
+          =  7:  the computation of Hankel singular values failed;
+          =  8:  the computation of stable projection in the
+                 Hankel-norm approximation algorithm failed;
+          =  9:  the order of computed stable projection in the
+                 Hankel-norm approximation algorithm differs
+                 from the order of Hankel-norm approximation;
+          = 10:  DV is singular;
+          = 11:  DW is singular;
+          = 12:  the solution of the Sylvester equation failed
+                 because the zeros of V (if JOB = 'N') or of conj(V)
+                 (if JOB = 'C') are not distinct from the poles
+                 of G1sr (see METHOD);
+          = 13:  the solution of the Sylvester equation failed
+                 because the zeros of W (if JOB = 'N') or of conj(W)
+                 (if JOB = 'C') are not distinct from the poles
+                 of G1sr (see METHOD).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let G be the transfer-function matrix of the original
+  linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                          (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09KD determines
+  the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
+
+  such that the corresponding transfer-function matrix Gr minimizes
+  the Hankel-norm of the frequency-weighted error
+
+          V*(G-Gr)*W,                                    (3)
+  or
+          conj(V)*(G-Gr)*conj(W).                        (4)
+
+  For minimizing (3), V and W are assumed to be antistable, while
+  for minimizing (4), V and W are assumed to be stable transfer-
+  function matrices.
+
+  Note: conj(G) = G'(-s) for a continuous-time system and
+        conj(G) = G'(1/z) for a discrete-time system.
+
+  The following procedure is used to reduce G (see [1]):
+
+  1) Decompose additively G as
+
+       G = G1 + G2,
+
+     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
+     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
+
+  2) Compute G1s, the stable projection of V*G1*W or
+     conj(V)*G1*conj(W), using explicit formulas [4].
+
+  3) Determine G1sr, the optimal Hankel-norm approximation of G1s
+     of order r.
+
+  4) Compute G1r, the stable projection of either inv(V)*G1sr*inv(W)
+     or conj(inv(V))*G1sr*conj(inv(W)), using explicit formulas [4].
+
+  5) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the weighted ALPHA-stable part G1s at step 3, the
+  optimal Hankel-norm approximation method of [2], based on the
+  square-root balancing projection formulas of [3], is employed.
+
+  The optimal weighted approximation error satisfies
+
+       HNORM[V*(G-Gr)*W] = S(r+1),
+  or
+       HNORM[conj(V)*(G-Gr)*conj(W)] = S(r+1),
+
+  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
+  transfer-function matrix computed at step 2 of the above
+  procedure, and HNORM(.) denotes the Hankel-norm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Latham, G.A. and Anderson, B.D.O.
+      Frequency-weighted optimal Hankel-norm approximation of stable
+      transfer functions.
+      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
+
+  [2] Glover, K.
+      All optimal Hankel norm approximation of linear
+      multivariable systems and their L-infinity error bounds.
+      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
+
+  [3] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [4] Varga A.
+      Explicit formulas for an efficient implementation
+      of the frequency-weighting model reduction approach.
+      Proc. 1993 European Control Conference, Groningen, NL,
+      pp. 693-696, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on an accuracy enhancing square-root
+  technique.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, NVMAX, NWMAX, PMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
+     $                   PMAX = 20 )
+      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
+      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
+     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
+     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
+     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( MMAX, PMAX ) )
+      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
+      PARAMETER        ( LDW1 = MAX( NVMAX*( NVMAX + 5 ), NVMAX*NMAX +
+     $                          MAX( 2*NVMAX, PMAX*NMAX, PMAX*MMAX ) ))
+      PARAMETER        ( LDW2 = MAX( NWMAX*( NWMAX + 5 ), NWMAX*NMAX +
+     $                          MAX( 2*NWMAX, MMAX*NMAX, PMAX*MMAX ) ))
+      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
+     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
+      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
+     $                          MIN( NMAX, MMAX ) +
+     $                          MAX( 3*MMAX + 1,
+     $                               MIN( NMAX, MMAX ) + PMAX ) )
+      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
+*     .. Local Scalars ..
+      LOGICAL          LEFTW, RIGHTW
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL, WEIGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
+     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
+     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
+     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB09KD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
+     $                      JOB, DICO, WEIGHT, EQUIL, ORDSEL
+      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
+      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF( P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( LEFTW .OR. NV.GT.0 ) THEN
+                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
+                     WRITE ( NOUT, FMT = 99986 ) NV
+                  ELSE
+                     IF( NV.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
+                        READ ( NIN, FMT = * )
+     $                    ( ( BV(I,J), J = 1,P ), I = 1, NV )
+                        READ ( NIN, FMT = * )
+     $                    ( ( CV(I,J), J = 1,NV ), I = 1,P )
+                     END IF
+                     IF( LEFTW )  READ ( NIN, FMT = * )
+     $                    ( ( DV(I,J), J = 1,P ), I = 1,P )
+                  END IF
+               END IF
+               IF( RIGHTW ) THEN
+                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
+                     WRITE ( NOUT, FMT = 99985 ) NW
+                  ELSE
+                     IF( NW.GT.0 ) THEN
+                        READ ( NIN, FMT = * )
+     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
+                        READ ( NIN, FMT = * )
+     $                    ( ( BW(I,J), J = 1,M ), I = 1, NW )
+                        READ ( NIN, FMT = * )
+     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
+                     END IF
+                     READ ( NIN, FMT = * )
+     $                    ( ( DW(I,J), J = 1,M ), I = 1,M )
+                  END IF
+               END IF
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW,
+     $                      M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, AV, LDAV, BV, LDBV, CV, LDCV,
+     $                      DV, LDDV, AW, LDAW, BW, LDBW, CW, LDCW,
+     $                      DW, LDDW, NS, HSV, TOL1, TOL2, IWORK,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09KD = ',I2)
+99997 FORMAT (/' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
+99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
+99984 FORMAT (' IWARN on exit from AB09KD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09KD EXAMPLE PROGRAM DATA (Continuous system)
+  6     1     1     2   0   0   0.0  1.E-1  1.E-14    N   C    L    S     A
+   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
+    1.0000         0         0         0         0         0
+         0    1.0000         0         0         0         0
+         0         0    1.0000         0         0         0
+         0         0         0    1.0000         0         0
+         0         0         0         0    1.0000         0
+         1
+         0
+         0
+         0
+         0
+         0
+         0         0         0         0         0         1
+         0
+    0.2000   -1.0000
+    1.0000         0
+     1
+     0
+   -1.8000         0
+     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09KD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  4
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
+
+ The reduced state dynamics matrix Ar is 
+  -0.2391   0.3072   1.1630   1.1967
+  -2.9709  -0.2391   2.6270   3.1027
+   0.0000   0.0000  -0.5137  -1.2842
+   0.0000   0.0000   0.1519  -0.5137
+
+ The reduced input/state matrix Br is 
+  -1.0497
+  -3.7052
+   0.8223
+   0.7435
+
+ The reduced state/output matrix Cr is 
+  -0.4466   0.0143  -0.4780  -0.2013
+
+ The reduced input/output matrix Dr is 
+   0.0219
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09KX.html b/doc/_static/doc/AB09KX.html
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+<HTML>
+<HEAD><TITLE>AB09KX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09KX">AB09KX</A></H2>
+<H3>
+Stable projection of V G W or conj(V) G conj(W)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a state-space representation (A,BS,CS,DS) of the
+  stable projection of V*G*W or conj(V)*G*conj(W) from the
+  state-space representations (A,B,C,D), (AV,BV,CV,DV), and
+  (AW,BW,CW,DW) of the transfer-function matrices G, V and W,
+  respectively. G is assumed to be a stable transfer-function
+  matrix and the state matrix A must be in a real Schur form.
+  When computing the stable projection of V*G*W, V and W are assumed
+  to be completely unstable transfer-function matrices.
+  When computing the stable projection of conj(V)*G*conj(W),
+  V and W are assumed to be stable transfer-function matrices.
+
+  For a transfer-function matrix G, conj(G) denotes the conjugate
+  of G given by G'(-s) for a continuous-time system or G'(1/z)
+  for a discrete-time system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09KX( JOB, DICO, WEIGHT, N, NV, NW, M, P,
+     $                   A,  LDA,  B,  LDB,  C,  LDC,  D,  LDD,
+     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
+     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOB, WEIGHT
+      INTEGER          INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
+     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
+     $                 NV, NW, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*),   B(LDB,*),   C(LDC,*),   D(LDD,*),
+     $                 AV(LDAV,*), BV(LDBV,*), CV(LDCV,*), DV(LDDV,*),
+     $                 AW(LDAW,*), BW(LDBW,*), CW(LDCW,*), DW(LDDW,*),
+     $                 DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies which projection to be computed as follows:
+          = 'N':  compute the stable projection of V*G*W;
+          = 'C':  compute the stable projection of
+                  conj(V)*G*conj(W).
+
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G, V and W are continuous-time systems;
+          = 'D':  G, V and W are discrete-time systems.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'L':  only left weighting V is used (W = I);
+          = 'R':  only right weighting W is used (V = I);
+          = 'B':  both left and right weightings V and W are used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. Also the number of rows of
+          the matrix B and the number of columns of the matrix C.
+          N represents the dimension of the state vector of the
+          system with the transfer-function matrix G.  N &gt;= 0.
+
+  NV      (input) INTEGER
+          The order of the matrix AV. Also the number of rows of
+          the matrix BV and the number of columns of the matrix CV.
+          NV represents the dimension of the state vector of the
+          system with the transfer-function matrix V.  NV &gt;= 0.
+
+  NW      (input) INTEGER
+          The order of the matrix AW. Also the number of rows of
+          the matrix BW and the number of columns of the matrix CW.
+          NW represents the dimension of the state vector of the
+          system with the transfer-function matrix W.  NW &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B, D, BW and DW
+          and number of rows of the matrices CW and DW.  M &gt;= 0.
+          M represents the dimension of input vectors of the
+          systems with the transfer-function matrices G and W and
+          also the dimension of the output vector of the system
+          with the transfer-function matrix W.
+
+  P       (input) INTEGER
+          The number of rows of the matrices C, D, CV and DV and the
+          number of columns of the matrices BV and DV.  P &gt;= 0.
+          P represents the dimension of output vectors of the
+          systems with the transfer-function matrices G and V and
+          also the dimension of the input vector of the system
+          with the transfer-function matrix V.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must
+          contain the state matrix A of the system with the
+          transfer-function matrix G in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the input matrix BS of the stable
+          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
+          if JOB = 'C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading P-by-N part of this
+          array contains the output matrix CS of the stable
+          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
+          if JOB = 'C'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the feedthrough matrix D of the system with the
+          transfer-function matrix G.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the feedthrough matrix DS of the stable
+          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
+          if JOB = 'C'.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
+          part of this array must contain the state matrix AV of
+          the system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-NV part of this array contains a real Schur form
+          of AV.
+          AV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDAV    INTEGER
+          The leading dimension of the array AV.
+          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
+          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
+          of this array must contain the input matrix BV of the
+          system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          NV-by-P part of this array contains the transformed input
+          matrix BV.
+          BV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDBV    INTEGER
+          The leading dimension of the array BV.
+          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
+          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
+
+  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
+          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
+          of this array must contain the output matrix CV of the
+          system with the transfer-function matrix V.
+          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
+          P-by-NV part of this array contains the transformed output
+          matrix CV.
+          CV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDCV    INTEGER
+          The leading dimension of the array CV.
+          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
+          If WEIGHT = 'L' or 'B', the leading P-by-P part of this
+          array must contain the feedthrough matrix DV of the system
+          with the transfer-function matrix V.
+          DV is not referenced if WEIGHT = 'R' or 'N'.
+
+  LDDV    INTEGER
+          The leading dimension of the array DV.
+          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
+          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
+
+  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
+          part of this array must contain the state matrix AW of
+          the system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-NW part of this array contains a real Schur form
+          of AW.
+          AW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDAW    INTEGER
+          The leading dimension of the array AW.
+          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
+          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
+          of this array must contain the input matrix BW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          NW-by-M part of this array contains the transformed input
+          matrix BW.
+          BW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDBW    INTEGER
+          The leading dimension of the array BW.
+          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
+          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
+
+  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
+          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
+          of this array must contain the output matrix CW of the
+          system with the transfer-function matrix W.
+          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
+          M-by-NW part of this array contains the transformed output
+          matrix CW.
+          CW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDCW    INTEGER
+          The leading dimension of the array CW.
+          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
+          If WEIGHT = 'R' or 'B', the leading M-by-M part of this
+          array must contain the feedthrough matrix DW of the system
+          with the transfer-function matrix W.
+          DW is not referenced if WEIGHT = 'L' or 'N'.
+
+  LDDW    INTEGER
+          The leading dimension of the array DW.
+          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
+          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, LDW1, LDW2 ), where
+            LDW1 = 0 if WEIGHT = 'R' or 'N' and
+            LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
+                   if WEIGHT = 'L' or WEIGHT = 'B',
+            LDW2 = 0 if WEIGHT = 'L' or 'N' and
+            LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
+                   if WEIGHT = 'R' or WEIGHT = 'B',
+            a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
+            a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C'.
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          =  0:  no warning;
+          =  1:  JOB = 'N' and AV is not completely unstable, or
+                 JOB = 'C' and AV is not stable;
+          =  2:  JOB = 'N' and AW is not completely unstable, or
+                 JOB = 'C' and AW is not stable;
+          =  3:  both above conditions appear.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the reduction of AV to a real Schur form failed;
+          =  2:  the reduction of AW to a real Schur form failed;
+          =  3:  the solution of the Sylvester equation failed
+                 because the matrices A and AV have common
+                 eigenvalues (if JOB = 'N'), or -AV and A have
+                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
+                 or AV has an eigenvalue which is the reciprocal of
+                 one of the eigenvalues of A (if JOB = 'C' and
+                 DICO = 'D');
+          =  4:  the solution of the Sylvester equation failed
+                 because the matrices A and AW have common
+                 eigenvalues (if JOB = 'N'), or -AW and A have
+                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
+                 or AW has an eigenvalue which is the reciprocal of
+                 one of the eigenvalues of A (if JOB = 'C' and
+                 DICO = 'D').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the stable projection of V*G*W are computed as
+
+    BS = B*DW + Y*BW,  CS = CV*X + DV*C,  DS = DV*D*DW,
+
+  where X and Y satisfy the continuous-time Sylvester equations
+
+    AV*X - X*A  + BV*C = 0,
+    -A*Y + Y*AW + B*CW = 0.
+
+  The matrices of the stable projection of conj(V)*G*conj(W) are
+  computed using the explicit formulas established in [1].
+
+  For a continuous-time system, the matrices BS, CS and DS of
+  the stable projection are computed as
+
+    BS = B*DW' + Y*CW',  CS = BV'*X + DV'*C,  DS = DV'*D*DW',
+
+  where X and Y satisfy the continuous-time Sylvester equations
+
+    AV'*X + X*A   + CV'*C = 0,
+      A*Y + Y*AW' + B*BW' = 0.
+
+  For a discrete-time system, the matrices BS, CS and DS of
+  the stable projection are computed as
+
+    BS = B*DW' + A*Y*CW',  CS = BV'*X*A + DV'*C,
+    DS = DV'*D*DW' + BV'*X*B*DW' + DV'*C*Y*CW' + BV'*X*A*Y*CW',
+
+  where X and Y satisfy the discrete-time Sylvester equations
+
+    AV'*X*A + CV'*C = X,
+    A*Y*AW' + B*BW' = Y.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Explicit formulas for an efficient implementation
+      of the frequency-weighting model reduction approach.
+      Proc. 1993 European Control Conference, Groningen, NL,
+      pp. 693-696, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on numerically stable algorithms.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The matrix A must be stable, but its stability is not checked by
+  this routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB09MD.html b/doc/_static/doc/AB09MD.html
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--- /dev/null
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@@ -0,0 +1,449 @@
+<HTML>
+<HEAD><TITLE>AB09MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09MD">AB09MD</A></H2>
+<H3>
+Balance & Truncate model reduction for the stable part of a system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr) for an original
+  state-space representation (A,B,C) by using either the square-root
+  or the balancing-free square-root Balance & Truncate (B & T)
+  model reduction method for the ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   A, LDA, B, LDB, C, LDC, NS, HSV, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR,
+     $                  NS, P
+      DOUBLE PRECISION  ALPHA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root Balance & Truncate method;
+          = 'N':  use the balancing-free square-root
+                  Balance & Truncate method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, and NMIN is the order of a minimal realization
+          of the ALPHA-stable part of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
+          part of the given system (computed in HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues in an
+          upper real Schur form.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the given system
+          (computed in HSV(1)).
+          If TOL &lt;= 0 on entry, the used default value is
+          TOL = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          This value is appropriate to compute a minimal realization
+          of the ALPHA-stable part.
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0, if JOB = 'B';
+          LIWORK = N, if JOB = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09MD determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t)                             (2)
+
+  such that
+
+  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1.
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
+  Balance & Truncate method of [1] is used, and for an ALPHA-stable
+  continuous-time system (DICO = 'C'), the resulting reduced model
+  is balanced. For ALPHA-stable systems, setting TOL &lt; 0, the
+  routine can be used to compute balanced minimal state-space
+  realizations.
+
+  If JOB = 'N', the balancing-free square-root version of the
+  Balance & Truncate method [2] is used to reduce the ALPHA-stable
+  part G1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+      Vol. 2, pp. 42-46.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
+     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
+     $                            ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL, DICO, JOB, EQUIL,
+     $                      ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a reduced ssr for (A,B,C).
+               CALL AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      ALPHA, A, LDA, B, LDB, C, LDC, NS, HSV,
+     $                      TOL, IWORK, DWORK, LDWORK, IWARN, INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09MD = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09MD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   -.6D0 1.D-1  C  N  N  A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09MD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of ALPHA-stable part are
+   1.9178   0.8621   0.7666   0.0336   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5181  -1.1084   0.0000   0.0000   0.0000
+   8.8157  -0.5181   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.5124   0.0000   1.7910
+   0.0000   0.0000   0.0000  -1.4460   0.0000
+   0.0000   0.0000  -4.2167   0.0000  -2.9900
+
+ The reduced input/state matrix Br is 
+  -1.2837   1.2837
+  -0.7522   0.7522
+  -0.7447  -0.7447
+   1.9275  -1.9275
+  -3.6872  -3.6872
+
+ The reduced state/output matrix Cr is 
+  -0.1380  -0.6445  -0.6582  -0.5771   0.2222
+   0.6246   0.0196   0.0000   0.4131   0.0000
+   0.1380   0.6445  -0.6582   0.5771   0.2222
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB09ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB09ND">AB09ND</A></H2>
+<H3>
+Singular perturbation approximation based model reduction for the stable part of a system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
+  state-space representation (A,B,C,D) by using either the
+  square-root or the balancing-free square-root Singular
+  Perturbation Approximation (SPA) model reduction method for the
+  ALPHA-stable part of the system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
+     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOB, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
+     $                  M, N, NR, NS, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOB     CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root SPA method;
+          = 'N':  use the balancing-free square-root SPA method.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NR is fixed;
+          = 'A':  the resulting order NR is automatically determined
+                  on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NR      (input/output) INTEGER
+          On entry with ORDSEL = 'F', NR is the desired order of the
+          resulting reduced order system.  0 &lt;= NR &lt;= N.
+          On exit, if INFO = 0, NR is the order of the resulting
+          reduced order model. For a system with NU ALPHA-unstable
+          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
+          NR is set as follows: if ORDSEL = 'F', NR is equal to
+          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
+          on entry, and NMIN is the order of a minimal realization
+          of the ALPHA-stable part of the given system; NMIN is
+          determined as the number of Hankel singular values greater
+          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH) and
+          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
+          part of the given system (computed in HSV(1));
+          if ORDSEL = 'A', NR is the sum of NU and the number of
+          Hankel singular values greater than
+          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading NR-by-NR part of this
+          array contains the state dynamics matrix Ar of the reduced
+          order system.
+          The resulting A has a block-diagonal form with two blocks.
+          For a system with NU ALPHA-unstable eigenvalues and
+          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
+          NU-by-NU block contains the unreduced part of A
+          corresponding to ALPHA-unstable eigenvalues in an
+          upper real Schur form.
+          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
+          the reduced part of A corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading NR-by-M part of this
+          array contains the input/state matrix Br of the reduced
+          order system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-NR part of this
+          array contains the state/output matrix Cr of the reduced
+          order system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original input/output matrix D.
+          On exit, if INFO = 0, the leading P-by-M part of this
+          array contains the input/output matrix Dr of the reduced
+          order system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of reduced system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
+          Hankel-norm of the ALPHA-stable part of the given system
+          (computed in HSV(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
+          ALPHA-stable eigenvalues of A and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          This value is appropriate to compute a minimal realization
+          of the ALPHA-stable part.
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given system.
+          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,2*N))
+          On exit, if INFO = 0, IWORK(1) contains the order of the
+          minimal realization of the ALPHA-stable part of the
+          system.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                system. In this case, the resulting NR is set equal
+                to NSMIN.
+          = 2:  with ORDSEL = 'F', the selected order NR is less
+                than the order of the ALPHA-unstable part of the
+                given system. In this case NR is set equal to the
+                order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t)                           (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system. The subroutine AB09ND determines for
+  the given system (1), the matrices of a reduced order system
+
+       d[z(t)] = Ar*z(t) + Br*u(t)
+       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
+
+  such that
+
+  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
+
+  where G and Gr are transfer-function matrices of the systems
+  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
+  infinity-norm of G.
+
+  The following procedure is used to reduce a given G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
+
+  2) Determine G1r, a reduced order approximation of the
+     ALPHA-stable part G1.
+
+  3) Assemble the reduced model Gr as
+
+        Gr = G1r + G2.
+
+  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
+  balancing-based SPA method of [1] is used, and for an ALPHA-stable
+  system, the resulting reduced model is balanced.
+
+  If JOB = 'N', the balancing-free square-root SPA method of [2]
+  is used to reduce the ALPHA-stable part G1.
+  By setting TOL1 = TOL2, the routine can be used to compute
+  Balance & Truncate approximations as well.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu Y. and Anderson B.D.O.
+      Singular Perturbation Approximation of Balanced Systems,
+      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
+
+  [2] Varga A.
+      Balancing-free square-root algorithm for computing
+      singular perturbation approximations.
+      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
+      Vol. 2, pp. 1062-1065.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB09ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                 LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
+     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
+     $                            ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
+      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB09ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
+     $                      DICO, JOB, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
+     $                      ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB09ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB09ND = ',I2)
+99997 FORMAT (' The order of reduced model = ',I2)
+99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' The reduced input/output matrix Dr is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB09ND EXAMPLE PROGRAM DATA (Continuous system)
+  7  2   3   0   -.6D0 1.D-1  1.E-14  C  N  N  A
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB09ND EXAMPLE PROGRAM RESULTS
+
+ The order of reduced model =  5
+
+ The Hankel singular values of ALPHA-stable part are
+   1.9178   0.8621   0.7666   0.0336   0.0246
+
+ The reduced state dynamics matrix Ar is 
+  -0.5181  -1.1084   0.0000   0.0000   0.0000
+   8.8157  -0.5181   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.5847   0.0000   1.9230
+   0.0000   0.0000   0.0000  -1.6606   0.0000
+   0.0000   0.0000  -4.3823   0.0000  -3.2922
+
+ The reduced input/state matrix Br is 
+  -1.2837   1.2837
+  -0.7522   0.7522
+  -0.6379  -0.6379
+   2.0656  -2.0656
+  -3.9315  -3.9315
+
+ The reduced state/output matrix Cr is 
+  -0.1380  -0.6445  -0.6416  -0.6293   0.2526
+   0.6246   0.0196   0.0000   0.4107   0.0000
+   0.1380   0.6445  -0.6416   0.6293   0.2526
+
+ The reduced input/output matrix Dr is 
+   0.0582  -0.0090
+   0.0015  -0.0015
+  -0.0090   0.0582
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13AD.html b/doc/_static/doc/AB13AD.html
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+<HTML>
+<HEAD><TITLE>AB13AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13AD">AB13AD</A></H2>
+<H3>
+Hankel-norm of a stable projection
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Hankel-norm of the ALPHA-stable projection of the
+  transfer-function matrix G of the state-space system (A,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13AD( DICO, EQUIL, N, M, P, ALPHA, A,
+     $                                  LDA, B, LDB, C, LDC, NS, HSV,
+     $                                  DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NS, P
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13AD  DOUBLE PRECISION
+          The Hankel-norm of the ALPHA-stable projection of G
+          (if INFO = 0).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix A. For a continuous-time
+          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
+          the real parts of eigenvalues, while for a discrete-time
+          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary
+          (see the Note below).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the state dynamics matrix A in a block
+          diagonal real Schur form with its eigenvalues reordered
+          and separated. The resulting A has two diagonal blocks.
+          The leading NS-by-NS part of A has eigenvalues in the
+          ALPHA-stability domain and the trailing (N-NS) x (N-NS)
+          part has eigenvalues outside the ALPHA-stability domain.
+          Note: The ALPHA-stability domain is defined either
+                as the open half complex plane left to ALPHA,
+                for a continous-time system (DICO = 'C'), or the
+                interior of the ALPHA-radius circle centered in the
+                origin, for a discrete-time system (DICO = 'D').
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the input/state matrix B of the transformed
+          system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, if INFO = 0, the leading P-by-N part of this
+          array contains the state/output matrix C of the
+          transformed system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NS      (output) INTEGER
+          The dimension of the ALPHA-stable subsystem.
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, the leading NS elements of HSV contain the
+          Hankel singular values of the ALPHA-stable part of the
+          original system ordered decreasingly.
+          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the computation of the ordered real Schur form of A
+                failed;
+          = 2:  the separation of the ALPHA-stable/unstable diagonal
+                blocks failed because of very close eigenvalues;
+          = 3:  the computed ALPHA-stable part is just stable,
+                having stable eigenvalues very near to the imaginary
+                axis (if DICO = 'C') or to the unit circle
+                (if DICO = 'D');
+          = 4:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the following linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The following procedure is used to
+  compute the Hankel-norm of the ALPHA-stable projection of G:
+
+  1) Decompose additively G as
+
+       G = G1 + G2
+
+     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
+     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
+     For the computation of the additive decomposition, the
+     algorithm presented in [1] is used.
+
+  2) Compute the Hankel-norm of ALPHA-stable projection G1 as the
+     the maximum Hankel singular value of the system (As,Bs,Cs).
+     The computation of the Hankel singular values is performed
+     by using the square-root method of [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Safonov, M.G., Jonckheere, E.A., Verma, M. and Limebeer, D.J.
+      Synthesis of positive real multivariable feedback systems,
+      Int. J. Control, Vol. 45, pp. 817-842, 1987.
+
+  [2] Tombs, M.S. and Postlethwaite, I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on a square-root technique.
+                                  3
+  The algorithms require about 17N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( MAX( NMAX, MMAX, PMAX ) + 5 )
+     $                        + ( NMAX*( NMAX + 1 ) )/2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, SHNORM
+      INTEGER          I, INFO, J, M, N, NS, P
+      CHARACTER*1      DICO, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), HSV(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION AB13AD
+      EXTERNAL         AB13AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Compute the Hankel-norm of the ALPHA-stable projection of
+*              (A,B,C).
+               SHNORM = AB13AD( DICO, EQUIL, N, M, P, ALPHA, A, LDA, B,
+     $                          LDB, C, LDC, NS, HSV, DWORK, LDWORK,
+     $                          INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) SHNORM
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13AD = ',I2)
+99997 FORMAT (' The Hankel-norm of the ALPHA-projection = ',1PD14.5)
+99995 FORMAT (20(1X,F8.4))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of ALPHA-projection are')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13AD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   0.0  C  N
+ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13AD EXAMPLE PROGRAM RESULTS
+
+ The Hankel-norm of the ALPHA-projection =    2.51388D+00
+
+ The Hankel singular values of ALPHA-projection are
+   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13AX.html b/doc/_static/doc/AB13AX.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>AB13AX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13AX">AB13AX</A></H2>
+<H3>
+Hankel-norm of a stable system with the state dynamics matrix in real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Hankel-norm of the transfer-function matrix G of
+  a stable state-space system (A,B,C). The state dynamics matrix A
+  of the given system is an upper quasi-triangular matrix in
+  real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13AX( DICO, N, M, P, A, LDA, B, LDB,
+     $                                  C, LDC, HSV, DWORK, LDWORK,
+     $                                  INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13AX  DOUBLE PRECISION
+          The Hankel-norm of G (if INFO = 0).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A in a real Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, this array contains the Hankel singular
+          values of the given system ordered decreasingly.
+          HSV(1) is the Hankel norm of the given system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the state matrix A is not stable (if DICO = 'C')
+                or not convergent (if DICO = 'D');
+          = 2:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the stable linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t)                               (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let G be the corresponding
+  transfer-function matrix. The Hankel-norm of G is computed as the
+  the maximum Hankel singular value of the system (A,B,C).
+  The computation of the Hankel singular values is performed
+  by using the square-root method of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method relies on a square-root technique.
+                                  3
+  The algorithms require about 17N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13BD.html b/doc/_static/doc/AB13BD.html
new file mode 100644
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@@ -0,0 +1,358 @@
+<HTML>
+<HEAD><TITLE>AB13BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13BD">AB13BD</A></H2>
+<H3>
+H2 or L2 norm of a system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the H2 or L2 norm of the transfer-function matrix G
+  of the system (A,B,C,D). G must not have poles on the imaginary
+  axis, for a continuous-time system, or on the unit circle, for
+  a discrete-time system. If the H2-norm is computed, the system
+  must be stable.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13BD( DICO, JOBN, N, M, P, A, LDA,
+     $                                  B, LDB, C, LDC, D, LDD, NQ, TOL,
+     $                                  DWORK, LDWORK, IWARN, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOBN
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M,
+     $                  N, NQ, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13BD   DOUBLE PRECISION
+           The H2-norm of G, if JOBN = 'H', or the L2-norm of G,
+           if JOBN = 'L' (if INFO = 0).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBN    CHARACTER*1
+          Specifies the norm to be computed as follows:
+          = 'H':  the H2-norm;
+          = 'L':  the L2-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of the
+          matrix B, and the number of columns of the matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and D.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices C and D.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix of the system.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the state dynamics matrix (in a real Schur form) of the
+          numerator factor Q of the right coprime factorization with
+          inner denominator of G (see METHOD).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix of the system.
+          On exit, the leading NQ-by-M part of this array contains
+          the input/state matrix of the numerator factor Q of the
+          right coprime factorization with inner denominator of G
+          (see METHOD).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix of the system.
+          On exit, the leading P-by-NQ part of this array contains
+          the state/output matrix of the numerator factor Q of the
+          right coprime factorization with inner denominator of G
+          (see METHOD).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix of the system.
+          If DICO = 'C', D must be a null matrix.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix of the numerator factor Q of
+          the right coprime factorization with inner denominator
+          of G (see METHOD).
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting numerator Q of the right
+          coprime factorization with inner denominator of G (see
+          METHOD).
+          Generally, NQ = N - NS, where NS is the number of
+          uncontrollable unstable eigenvalues.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
+          the 1-norm of B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, M*(N+M) + MAX( N*(N+5), M*(M+2), 4*P ),
+                            N*( MAX( N, P ) + 4 ) + MIN( N, P ) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                occured during the assignment of eigenvalues in
+                computing the right coprime factorization with inner
+                denominator of G (see the SLICOT subroutine SB08DD).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the reordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal (see SLICOT routine SB08DD);
+          = 3:  if DICO = 'C' and the matrix A has a controllable
+                eigenvalue on the imaginary axis, or DICO = 'D'
+                and A has a controllable eigenvalue on the unit
+                circle;
+          = 4:  the solution of Lyapunov equation failed because
+                the equation is singular;
+          = 5:  if DICO = 'C' and D is a nonzero matrix;
+          = 6:  if JOBN = 'H' and the system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the algorithms proposed in [1] and [2].
+
+  If the given transfer-function matrix G is unstable, then a right
+  coprime factorization with inner denominator of G is first
+  computed
+            -1
+     G = Q*R  ,
+
+  where Q and R are stable transfer-function matrices and R is
+  inner. If G is stable, then Q = G and R = I.
+  Let (AQ,BQ,CQ,DQ) be the state-space representation of Q.
+
+  If DICO = 'C', then the L2-norm of G is computed as
+
+     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ)),
+
+  where X satisfies the continuous-time Lyapunov equation
+
+     AQ'*X + X*AQ + CQ'*CQ = 0.
+
+  If DICO = 'D', then the l2-norm of G is computed as
+
+     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ+DQ'*DQ)),
+
+  where X satisfies the discrete-time Lyapunov equation
+
+     AQ'*X*AQ - X + CQ'*CQ = 0.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      On computing 2-norms of transfer-function matrices.
+      Proc. 1992 ACC, Chicago, June 1992.
+
+  [2] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( MMAX*( NMAX + MMAX ) +
+     $                                 MAX( NMAX*( NMAX + 5 ),
+     $                                      MMAX*( MMAX + 2 ), 4*PMAX ),
+     $                                 NMAX*( MAX( NMAX, PMAX ) + 4 ) +
+     $                                 MIN( NMAX, PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION S2NORM, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, P
+      CHARACTER*1      DICO, JOBN
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION AB13BD
+      EXTERNAL         AB13BD, LSAME
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Compute the H2 or L2 norm of (A,B,C,D).
+               S2NORM = AB13BD( DICO, JOBN, N, M, P, A, LDA, B, LDB,
+     *                          C, LDC, D, LDD, NQ, TOL, DWORK, LDWORK,
+     *                          IWARN, INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( LSAME( JOBN, 'H' ) ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) S2NORM
+                  ELSE
+                     WRITE ( NOUT, FMT = 99996 ) S2NORM
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13BD = ',I2)
+99997 FORMAT (' The H2-norm of the system = ',1PD14.5)
+99996 FORMAT (' The L2-norm of the system = ',1PD14.5)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13BD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   1.E-10 C L
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13BD EXAMPLE PROGRAM RESULTS
+
+ The L2-norm of the system =    7.93948D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13CD.html b/doc/_static/doc/AB13CD.html
new file mode 100644
index 00000000..af8d8679
--- /dev/null
+++ b/doc/_static/doc/AB13CD.html
@@ -0,0 +1,294 @@
+<HTML>
+<HEAD><TITLE>AB13CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13CD">AB13CD</A></H2>
+<H3>
+H-infinity norm of a continuous-time stable system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the H-infinity norm of the continuous-time stable
+  system
+
+                       | A | B |
+                G(s) = |---|---| .
+                       | C | D |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13CD( N, M, NP, A, LDA, B, LDB, C,
+     $                                  LDC, D, LDD, TOL, IWORK, DWORK,
+     $                                  LDWORK, CWORK, LCWORK, BWORK,
+     $                                  INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LCWORK, LDD, LDWORK, M, N,
+     $                   NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      COMPLEX*16         CWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13CD  DOUBLE PRECISION
+          If INFO = 0, the H-infinity norm of the system, HNORM,
+          i.e., the peak gain of the frequency response (as measured
+          by the largest singular value in the MIMO case).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used to set the accuracy in determining the
+          norm.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK, and DWORK(2) contains the frequency where the
+          gain of the frequency response achieves its peak value
+          HNORM.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(2,4*N*N+2*M*M+3*M*N+M*NP+2*(N+NP)*NP+10*N+
+                          6*max(M,NP)).
+          For good performance, LDWORK must generally be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) contains the optimal value
+          of LCWORK.
+
+  LCWORK  INTEGER
+          The dimension of the array CWORK.
+          LCWORK &gt;= max(1,(N+M)*(N+NP)+3*max(M,NP)).
+          For good performance, LCWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the system is unstable;
+          = 2:  the tolerance is too small (the algorithm for
+                computing the H-infinity norm did not converge);
+          = 3:  errors in computing the eigenvalues of A or of the
+                Hamiltonian matrix (the QR algorithm did not
+                converge);
+          = 4:  errors in computing singular values.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bruinsma, N.A. and Steinbuch, M.
+      A fast algorithm to compute the Hinfinity-norm of a transfer
+      function matrix.
+      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If the algorithm does not converge (INFO = 2), the tolerance must
+  be increased.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LCWORK
+      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
+     $                              3*MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX*NMAX + 2*MMAX*MMAX +
+     $                            2*PMAX*PMAX + 3*NMAX*MMAX +
+     $                            2*NMAX*PMAX + MMAX*PMAX + 10*NMAX +
+     $                            6*MAX( MMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FPEAK, HNORM, TOL
+      INTEGER          I, INFO, J, M, N, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK)
+      COMPLEX*16       CWORK( LCWORK )
+*     .. External Functions ..
+      DOUBLE PRECISION AB13CD
+      EXTERNAL         AB13CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) TOL
+*        Computing the Hinf norm
+         HNORM = AB13CD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, TOL,
+     $                   IWORK, DWORK, LDWORK, CWORK, LCWORK, BWORK,
+     $                   INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99991 ) HNORM
+            FPEAK = DWORK(2)
+            WRITE ( NOUT, FMT = 99996 )
+            WRITE ( NOUT, FMT = 99991 ) FPEAK
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from AB13CD =',I2)
+99997 FORMAT (/' The H_infty norm of the system is'/)
+99996 FORMAT (/' The peak frequency is'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT (D17.10)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13CD EXAMPLE PROGRAM DATA
+   6     1     1   
+   0.0  1.0     0.0   0.0      0.0  0.0
+  -0.5 -0.0002  0.0   0.0      0.0  0.0
+   0.0  0.0     0.0   1.0      0.0  0.0
+   0.0  0.0    -1.0  -0.00002  0.0  0.0
+   0.0  0.0     0.0   0.0      0.0  1.0
+   0.0  0.0     0.0   0.0     -2.0 -0.000002
+   1.0 
+   0.0  
+   1.0 
+   0.0 
+   1.0 
+   0.0
+   1.0  0.0  1.0  0.0  1.0  0.0
+   0.0
+ 0.000000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13CD EXAMPLE PROGRAM RESULTS
+
+
+ The H_infty norm of the system is
+
+ 0.5000000006D+06
+
+ The peak frequency is
+
+ 0.1414213562D+01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB13DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13DD">AB13DD</A></H2>
+<H3>
+L-infinity norm of a state space system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the L-infinity norm of a continuous-time or
+  discrete-time system, either standard or in the descriptor form,
+
+                                  -1
+     G(lambda) = C*( lambda*E - A ) *B + D .
+
+  The norm is finite if and only if the matrix pair (A,E) has no
+  eigenvalue on the boundary of the stability domain, i.e., the
+  imaginary axis, or the unit circle, respectively. It is assumed
+  that the matrix E is nonsingular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK,
+     $                   A, LDA, E, LDE, B, LDB, C, LDC, D, LDD, GPEAK,
+     $                   TOL, IWORK, DWORK, LDWORK, CWORK, LCWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DICO, EQUIL, JOBD, JOBE
+      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                   M, N, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         CWORK(  * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK(  * ), E( LDE, * ),
+     $                   FPEAK(  2 ), GPEAK(  2 )
+      INTEGER            IWORK(  * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system, as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general square or an identity
+          matrix, as follows:
+          = 'G':  E is a general square matrix;
+          = 'I':  E is the identity matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the system (A,E,B,C) or (A,B,C), as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The row size of the matrix C.  P &gt;= 0.
+
+  FPEAK   (input/output) DOUBLE PRECISION array, dimension (2)
+          On entry, this parameter must contain an estimate of the
+          frequency where the gain of the frequency response would
+          achieve its peak value. Setting FPEAK(2) = 0 indicates an
+          infinite frequency. An accurate estimate could reduce the
+          number of iterations of the iterative algorithm. If no
+          estimate is available, set FPEAK(1) = 0, and FPEAK(2) = 1.
+          FPEAK(1) &gt;= 0, FPEAK(2) &gt;= 0.
+          On exit, if INFO = 0, this array contains the frequency
+          OMEGA, where the gain of the frequency response achieves
+          its peak value GPEAK, i.e.,
+
+              || G ( j*OMEGA ) || = GPEAK ,  if DICO = 'C', or
+
+                      j*OMEGA
+              || G ( e       ) || = GPEAK ,  if DICO = 'D',
+
+          where OMEGA = FPEAK(1), if FPEAK(2) &gt; 0, and OMEGA is
+          infinite, if FPEAK(2) = 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'G', the leading N-by-N part of this array must
+          contain the descriptor matrix E of the system.
+          If JOBE = 'I', then E is assumed to be the identity
+          matrix and is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this array must
+          contain the direct transmission matrix D.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  GPEAK   (output) DOUBLE PRECISION array, dimension (2)
+          The L-infinity norm of the system, i.e., the peak gain
+          of the frequency response (as measured by the largest
+          singular value in the MIMO case), coded in the same way
+          as FPEAK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used to set the accuracy in determining the
+          norm.  0 &lt;= TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= K, where K can be computed using the following
+          pseudo-code (or the Fortran code included in the routine)
+
+             d = 6*MIN(P,M);
+             c = MAX( 4*MIN(P,M) + MAX(P,M), d );
+             if ( MIN(P,M) = 0 ) then
+                K = 1;
+             else if( N = 0 or B = 0 or C = 0 ) then
+                if( JOBD = 'D' ) then
+                   K = P*M + c;
+                else
+                   K = 1;
+                end
+             else
+                if ( DICO = 'D' ) then
+                   b = 0;  e = d;
+                else
+                   b = N*(N+M);  e = c;
+                   if ( JOBD = Z' ) then  b = b + P*M;  end
+                end
+                if ( JOBD = 'D' ) then
+                   r = P*M;
+                   if ( JOBE = 'I', DICO = 'C',
+                        N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0 ) then
+                      K = P*P + M*M;
+                      r = r + N*(P+M);
+                   else
+                      K = 0;
+                   end
+                   K = K + r + c;  r = r + MIN(P,M);
+                else
+                   r = 0;  K = 0;
+                end
+                r = r + N*(N+P+M);
+                if ( JOBE = 'G' ) then
+                   r = r + N*N;
+                   if ( EQUIL = 'S' ) then
+                      K = MAX( K, r + 9*N );
+                   end
+                   K = MAX( K, r + 4*N + MAX( M, 2*N*N, N+b+e ) );
+                else
+                   K = MAX( K, r + N +
+                               MAX( M, P, N*N+2*N, 3*N+b+e ) );
+                end
+                w = 0;
+                if ( JOBE = 'I', DICO = 'C' ) then
+                   w = r + 4*N*N + 11*N;
+                   if ( JOBD = 'D' ) then
+                      w = w + MAX(M,P) + N*(P+M);
+                   end
+                end
+                if ( JOBE = 'E' or DICO = 'D' or JOBD = 'D' ) then
+                   w = MAX( w, r + 6*N + (2*N+P+M)*(2*N+P+M) +
+                            MAX( 2*(N+P+M), 8*N*N + 16*N ) );
+                end
+                K = MAX( 1, K, w, r + 2*N + e );
+             end
+
+          For good performance, LDWORK must generally be larger.
+
+          An easily computable upper bound is
+
+          K = MAX( 1, 15*N*N + P*P + M*M + (6*N+3)*(P+M) + 4*P*M +
+                      N*M + 22*N + 7*MIN(P,M) ).
+
+          The smallest workspace is obtained for DICO = 'C',
+          JOBE = 'I', and JOBD = 'Z', namely
+
+          K = MAX( 1, N*N + N*P + N*M + N +
+                      MAX( N*N + N*M + P*M + 3*N + c,
+                           4*N*N + 10*N ) ).
+
+          for which an upper bound is
+
+          K = MAX( 1, 6*N*N + N*P + 2*N*M + P*M + 11*N + MAX(P,M) +
+                      6*MIN(P,M) ).
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) contains the optimal
+          LCWORK.
+
+  LCWORK  INTEGER
+          The dimension of the array CWORK.
+          LCWORK &gt;= 1,  if N = 0, or B = 0, or C = 0;
+          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
+                        otherwise.
+          For good performance, LCWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix E is (numerically) singular;
+          = 2:  the (periodic) QR (or QZ) algorithm for computing
+                eigenvalues did not converge;
+          = 3:  the SVD algorithm for computing singular values did
+                not converge;
+          = 4:  the tolerance is too small and the algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1], with
+  extensions and refinements for improving numerical robustness and
+  efficiency. Structure-exploiting eigenvalue computations for
+  Hamiltonian matrices are used if JOBE = 'I', DICO = 'C', and the
+  symmetric matrices to be implicitly inverted are not too ill-
+  conditioned. Otherwise, generalized eigenvalue computations are
+  used in the iterative algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bruinsma, N.A. and Steinbuch, M.
+      A fast algorithm to compute the Hinfinity-norm of a transfer
+      function matrix.
+      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If the algorithm does not converge in MAXIT = 30 iterations
+  (INFO = 4), the tolerance must be increased.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the matrix E is singular, other SLICOT Library routines
+  could be used before calling AB13DD, for removing the singular
+  part of the system.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LCWORK
+      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
+     $                             2*MIN( PMAX, MMAX ) +
+     $                             MAX( PMAX, MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 15*NMAX*NMAX + PMAX*PMAX + MMAX*MMAX +
+     $                            ( 6*NMAX + 3 )*( PMAX + MMAX ) +
+     $                            4*PMAX*MMAX + NMAX*MMAX + 22*NMAX +
+     $                            7*MIN( PMAX, MMAX ) )
+      DOUBLE PRECISION   ZERO
+      PARAMETER          ( ZERO = 0.0D+0 )
+
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER        DICO, EQUIL, JOBD, JOBE
+*     .. Local Arrays ..
+      INTEGER          IWORK( LIWORK )
+      DOUBLE PRECISION A( LDA, NMAX ), B( LDB, MMAX ),  C( LDC, NMAX ),
+     $                 D( LDD, MMAX ), DWORK( LDWORK ), E( LDE, NMAX ),
+     $                 FPEAK( 2 ), GPEAK( 2 )
+      COMPLEX*16       CWORK( LCWORK )
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB13DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, FPEAK, TOL, DICO, JOBE, EQUIL, JOBD
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) P
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOBE, 'G' ) )
+     $      READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+         IF ( LSAME( JOBD, 'D' ) )
+     $      READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*        Computing the Linf norm.
+         CALL AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK, A, LDA,
+     $                E, LDE, B, LDB, C, LDC, D, LDD, GPEAK, TOL, IWORK,
+     $                DWORK, LDWORK, CWORK, LCWORK, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            IF ( GPEAK( 2 ).EQ.ZERO ) THEN
+               WRITE ( NOUT, FMT = 99991 )
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               WRITE ( NOUT, FMT = 99995 ) GPEAK( 1 )
+            END IF
+            IF ( FPEAK( 2 ).EQ.ZERO ) THEN
+               WRITE ( NOUT, FMT = 99990 )
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               WRITE ( NOUT, FMT = 99995 ) FPEAK( 1 )
+            END IF
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from AB13DD =',I2)
+99997 FORMAT (/' The L_infty norm of the system is'/)
+99996 FORMAT (/' The peak frequency is'/)
+99995 FORMAT (D17.10)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' The L_infty norm of the system is infinite')
+99990 FORMAT (/' The peak frequency is infinite'/)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13CD EXAMPLE PROGRAM DATA
+   6     1     1     0.0     1.0   0.000000001     C     I     N     D   
+   0.0  1.0     0.0   0.0      0.0  0.0
+  -0.5 -0.0002  0.0   0.0      0.0  0.0
+   0.0  0.0     0.0   1.0      0.0  0.0
+   0.0  0.0    -1.0  -0.00002  0.0  0.0
+   0.0  0.0     0.0   0.0      0.0  1.0
+   0.0  0.0     0.0   0.0     -2.0 -0.000002
+   1.0 
+   0.0  
+   1.0 
+   0.0 
+   1.0 
+   0.0
+   1.0  0.0  1.0  0.0  1.0  0.0
+   0.0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13DD EXAMPLE PROGRAM RESULTS
+
+
+ The L_infty norm of the system is
+
+ 0.5000000001D+06
+
+ The peak frequency is
+
+ 0.1414213562D+01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13DX.html b/doc/_static/doc/AB13DX.html
new file mode 100644
index 00000000..26f861c7
--- /dev/null
+++ b/doc/_static/doc/AB13DX.html
@@ -0,0 +1,250 @@
+<HTML>
+<HEAD><TITLE>AB13DX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13DX">AB13DX</A></H2>
+<H3>
+Maximum singular value of a transfer-function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the maximum singular value of a given continuous-time
+  or discrete-time transfer-function matrix, either standard or in
+  the descriptor form,
+
+                                  -1
+     G(lambda) = C*( lambda*E - A ) *B + D ,
+
+  for a given complex value lambda, where lambda = j*omega, in the
+  continuous-time case, and lambda = exp(j*omega), in the
+  discrete-time case. The matrices A, E, B, C, and D are real
+  matrices of appropriate dimensions. Matrix A must be in an upper
+  Hessenberg form, and if JOBE ='G', the matrix E must be upper
+  triangular. The matrices B and C must correspond to the system
+  in (generalized) Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION AB13DX( DICO, JOBE, JOBD, N, M, P,
+     $                                  OMEGA, A, LDA, E, LDE, B, LDB,
+     $                                  C, LDC, D, LDD, IWORK, DWORK,
+     $                                  LDWORK, CWORK, LCWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DICO, JOBD, JOBE
+      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                   M, N, P
+      DOUBLE PRECISION   OMEGA
+C     .. Array Arguments ..
+      COMPLEX*16         CWORK(  * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK(  * ), E( LDE, * )
+      INTEGER            IWORK(  * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13DX   DOUBLE PRECISION
+           The maximum singular value of G(lambda).
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system, as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'G':  E is a general upper triangular matrix;
+          = 'I':  E is the identity matrix.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The row size of the matrix C.  P &gt;= 0.
+
+  OMEGA   (input) DOUBLE PRECISION
+          The frequency value for which the calculations should be
+          done.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the state dynamics matrix A in upper
+          Hessenberg form. The elements below the subdiagonal are
+          not referenced.
+          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
+          and C &lt;&gt; 0, the leading N-by-N upper Hessenberg part of
+          this array contains the factors L and U from the LU
+          factorization of A (A = P*L*U); the unit diagonal elements
+          of L are not stored, L is lower bidiagonal, and P is
+          stored in IWORK (see SLICOT Library routine MB02SD).
+          Otherwise, this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'G', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular descriptor
+          matrix E of the system. The elements of the strict lower
+          triangular part of this array are not referenced.
+          If JOBE = 'I', then E is assumed to be the identity
+          matrix and is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
+          C &lt;&gt; 0, and INFO = 0 or N+1, the leading N-by-M part of
+          this array contains the solution of the system A*X = B.
+          Otherwise, this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the direct transmission matrix D.
+          On exit, if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
+          or (OMEGA = 0, DICO = 'C', JOBD = 'D', and INFO = 0 or
+          N+1), the contents of this array is destroyed.
+          Otherwise, this array is unchanged on exit.
+          This array is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = N, if N &gt; 0, M &gt; 0, P &gt; 0, B &lt;&gt; 0, and C &lt;&gt; 0;
+          LIWORK = 0, otherwise.
+          This array contains the pivot indices in the LU
+          factorization of the matrix lambda*E - A; for 1 &lt;= i &lt;= N,
+          row i of the matrix was interchanged with row IWORK(i).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK, and DWORK(2), ..., DWORK(MIN(P,M)) contain the
+          singular values of G(lambda), except for the first one,
+          which is returned in the function value AB13DX.
+          If (N = 0, or B = 0, or C = 0) and JOBD = 'Z', the last
+          MIN(P,M)-1 zero singular values of G(lambda) are not
+          stored in DWORK(2), ..., DWORK(MIN(P,M)).
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1, LDW1 + LDW2 ),
+          LDW1 = P*M, if N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0,
+                         DICO = 'C', and JOBD = 'Z';
+          LDW1 = 0,   otherwise;
+          LDW2 = MIN(P,M) + MAX(3*MIN(P,M) + MAX(P,M), 5*MIN(P,M)),
+                      if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
+                      or (N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0, and
+                          DICO = 'C');
+          LDW2 = 0,   if (N = 0, or B = 0, or C = 0) and JOBD = 'Z',
+                      or MIN(P,M) = 0;
+          LDW2 = 6*MIN(P,M), otherwise.
+          For good performance, LDWORK must generally be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) contains the optimal
+          LCWORK.
+
+  LCWORK  INTEGER
+          The dimension of the array CWORK.
+          LCWORK &gt;= 1, if N = 0, or B = 0, or C = 0, or (OMEGA = 0
+                          and DICO = 'C') or MIN(P,M) = 0;
+          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
+                       otherwise.
+          For good performance, LCWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero; the LU
+                factorization of the matrix lambda*E - A has been
+                completed, but the factor U is exactly singular,
+                i.e., the matrix lambda*E - A is exactly singular;
+          = N+1:  the SVD algorithm for computing singular values
+                did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements standard linear algebra calculations,
+  taking problem structure into account. LAPACK Library routines
+  DGESVD and ZGESVD are used for finding the singular values.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13ED.html b/doc/_static/doc/AB13ED.html
new file mode 100644
index 00000000..4d1940ca
--- /dev/null
+++ b/doc/_static/doc/AB13ED.html
@@ -0,0 +1,256 @@
+<HTML>
+<HEAD><TITLE>AB13ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13ED">AB13ED</A></H2>
+<H3>
+Estimating the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using bisection
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate beta(A), the 2-norm distance from a real matrix A to
+  the nearest complex matrix with an eigenvalue on the imaginary
+  axis. The estimate is given as
+
+         LOW &lt;= beta(A) &lt;= HIGH,
+
+  where either
+
+         (1 + TOL) * LOW &gt;= HIGH,
+
+  or
+
+         LOW = 0   and   HIGH = delta,
+
+  and delta is a small number approximately equal to the square root
+  of machine precision times the Frobenius norm (Euclidean norm)
+  of A. If A is stable in the sense that all eigenvalues of A lie
+  in the open left half complex plane, then beta(A) is the distance
+  to the nearest unstable complex matrix, i.e., the complex
+  stability radius.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  HIGH, LOW, TOL
+      INTEGER           INFO, LDA, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  LOW     (output) DOUBLE PRECISION
+          A lower bound for beta(A).
+
+  HIGH    (output) DOUBLE PRECISION
+          An upper bound for beta(A).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Specifies the accuracy with which LOW and HIGH approximate
+          beta(A). If the user sets TOL to be less than SQRT(EPS),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH), then the tolerance is taken to be
+          SQRT(EPS).
+          The recommended value is TOL = 9, which gives an estimate
+          of beta(A) correct to within an order of magnitude.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 3*N*(N+1) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QR algorithm (LAPACK Library routine DHSEQR)
+                fails to converge; this error is very rare.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let beta(A) be the 2-norm distance from a real matrix A to the
+  nearest complex matrix with an eigenvalue on the imaginary axis.
+  It is known that beta(A) = minimum of the smallest singular
+  value of (A - jwI), where I is the identity matrix and j**2 = -1,
+  and the minimum is taken over all real w.
+  The algorithm computes a lower bound LOW and an upper bound HIGH
+  for beta(A) by a bisection method in the following way. Given a
+  non-negative real number sigma, the Hamiltonian matrix H(sigma)
+  is constructed:
+
+                    |   A      -sigma*I |     | A   G  |
+        H(sigma) =  |                   | :=  |        | .
+                    | sigma*I    -A'    |     | F  -A' |
+
+  It can be shown [1] that H(sigma) has an eigenvalue whose real
+  part is zero if and only if sigma &gt;= beta. Any lower and upper
+  bounds on beta(A) can be improved by choosing a number between
+  them and checking to see if H(sigma) has an eigenvalue with zero
+  real part.  This decision is made by computing the eigenvalues of
+  H(sigma) using the square reduced algorithm of Van Loan [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Byers, R.
+      A bisection method for measuring the distance of a stable
+      matrix to the unstable matrices.
+      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
+
+  [2] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of a
+      Hamiltonian matrix.
+      Linear Algebra and its Applications, Vol 61, 233-251, 1984.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Due to rounding errors the computed values of LOW and HIGH can be
+  proven to satisfy
+
+         LOW - p(n) * sqrt(e) * norm(A) &lt;= beta(A)
+  and
+         beta(A) &lt;= HIGH + p(n) * sqrt(e) * norm(A),
+
+  where p(n) is a modest polynomial of degree 3, e is the machine
+  precision and norm(A) is the Frobenius norm of A, see [1].
+  The recommended value for TOL is 9 which gives an estimate of
+  beta(A) correct to within an order of magnitude.
+  AB13ED requires approximately 38*N**3 flops for TOL = 9.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 1 ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION HIGH, LOW, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB13ED, UD01MD
+*     ..
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+*     Read N, TOL and next A (row wise).
+      READ ( NIN, FMT = * ) N, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         DO 10 I = 1, N
+            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
+   10    CONTINUE
+*
+         WRITE ( NOUT, FMT = 99998 ) N, TOL
+         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'Matrix A', INFO )
+*
+         CALL AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) LOW, HIGH
+         ELSE
+            WRITE ( NOUT, FMT = 99996 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13ED EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' N =', I4, 2X, 'TOL =', D10.3)
+99997 FORMAT (' LOW  =', D18.11, /' HIGH =', D18.11)
+99996 FORMAT (' INFO on exit from AB13ED = ', I2)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+AB13ED EXAMPLE PROGRAM DATA
+5, 9.0D0
+1.0D-01  1.0D-00  0.0D-00  0.0D-00  0.0D-00
+0.0D-00  1.0D-01  1.0D-00  0.0D-00  0.0D-00
+0.0D-00  0.0D-00  1.0D-01  1.0D-00  0.0D-00
+0.0D-00  0.0D-00  0.0D-00  1.0D-01  1.0D-00
+0.0D-00  0.0D-00  0.0D-00  0.0D-00  1.0D-01
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13ED EXAMPLE PROGRAM RESULTS
+
+ N =   5  TOL = 0.900D+01
+ Matrix A ( 5X 5)
+
+            1              2              3              4              5
+  1    0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01
+  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00
+ 
+ LOW  = 0.20929379255D-05
+ HIGH = 0.20793050504D-04
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13FD.html b/doc/_static/doc/AB13FD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>AB13FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13FD">AB13FD</A></H2>
+<H3>
+Computing the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using SVD
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute beta(A), the 2-norm distance from a real matrix A to
+  the nearest complex matrix with an eigenvalue on the imaginary
+  axis. If A is stable in the sense that all eigenvalues of A lie
+  in the open left half complex plane, then beta(A) is the complex
+  stability radius, i.e., the distance to the nearest unstable
+  complex matrix. The value of beta(A) is the minimum of the
+  smallest singular value of (A - jwI), taken over all real w.
+  The value of w corresponding to the minimum is also computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK,
+     $                   CWORK, LCWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LCWORK, LDA, LDWORK, N
+      DOUBLE PRECISION  BETA, OMEGA, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*)
+      COMPLEX*16        CWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  BETA    (output) DOUBLE PRECISION
+          The computed value of beta(A), which actually is an upper
+          bound.
+
+  OMEGA   (output) DOUBLE PRECISION
+          The value of w such that the smallest singular value of
+          (A - jwI) equals beta(A).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Specifies the accuracy with which beta(A) is to be
+          calculated. (See the Numerical Aspects section below.)
+          If the user sets TOL to be less than EPS, where EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH),
+          then the tolerance is taken to be EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          If DWORK(1) is not needed, the first 2*N*N entries of
+          DWORK may overlay CWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 3*N*(N+2) ).
+          For optimum performance LDWORK should be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0, CWORK(1) returns the optimal value
+          of LCWORK.
+          If CWORK(1) is not needed, the first N*N entries of
+          CWORK may overlay DWORK.
+
+  LCWORK  INTEGER
+          The length of the array CWORK.
+          LCWORK &gt;= MAX( 1, N*(N+3) ).
+          For optimum performance LCWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the routine fails to compute beta(A) within the
+                specified tolerance. Nevertheless, the returned
+                value is an upper bound on beta(A);
+          = 2:  either the QR or SVD algorithm (LAPACK Library
+                routines DHSEQR, DGESVD or ZGESVD) fails to
+                converge; this error is very rare.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  AB13FD combines the methods of [1] and [2] into a provably
+  reliable, quadratically convergent algorithm. It uses the simple
+  bisection strategy of [1] to find an interval which contains
+  beta(A), and then switches to the modified bisection strategy of
+  [2] which converges quadratically to a minimizer. Note that the
+  efficiency of the strategy degrades if there are several local
+  minima that are near or equal the global minimum.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Byers, R.
+      A bisection method for measuring the distance of a stable
+      matrix to the unstable matrices.
+      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
+
+  [2] Boyd, S. and Balakrishnan, K.
+      A regularity result for the singular values of a transfer
+      matrix and a quadratically convergent algorithm for computing
+      its L-infinity norm.
+      Systems and Control Letters, Vol. 15, pp. 1-7, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  In the presence of rounding errors, the computed function value
+  BETA  satisfies
+
+        beta(A) &lt;= BETA + epsilon,
+
+        BETA/(1+TOL) - delta &lt;= MAX(beta(A), SQRT(2*N*EPS)*norm(A)),
+
+  where norm(A) is the Frobenius norm of A,
+
+        epsilon = p(N) * EPS * norm(A),
+  and
+        delta   = p(N) * SQRT(EPS) * norm(A),
+
+  and p(N) is a low degree polynomial. It is recommended to choose
+  TOL greater than SQRT(EPS). Although rounding errors can cause
+  AB13FD to fail for smaller values of TOL, nevertheless, it usually
+  succeeds. Regardless of success or failure, the first inequality
+  holds.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 2 ) )
+      INTEGER          LCWORK
+      PARAMETER        ( LCWORK = NMAX*( NMAX + 3 ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION BETA, OMEGA, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
+      COMPLEX*16       CWORK(LCWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB13FD, UD01MD
+*     ..
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+*     Read N, TOL and next A (row wise).
+      READ ( NIN, FMT = * ) N, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         DO 10 I = 1, N
+            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
+   10    CONTINUE
+*
+         WRITE ( NOUT, FMT = 99998 ) N, TOL
+         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'A', INFO )
+*
+         CALL AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK, CWORK,
+     $                LCWORK, INFO )
+*
+         IF ( INFO.NE.0 )
+     $      WRITE ( NOUT, FMT = 99996 ) INFO
+         WRITE ( NOUT, FMT = 99997 ) BETA, OMEGA
+      END IF
+*
+99999 FORMAT (' AB13FD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' N =', I2, 3X, 'TOL =', D10.3)
+99997 FORMAT (' Stability radius :', D18.11, /
+     *        ' Minimizing omega :', D18.11)
+99996 FORMAT (' INFO on exit from AB13FD = ', I2)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+AB13FD EXAMPLE PROGRAM DATA
+4   0.0D-00   0.0D-00
+     246.500        242.500        202.500       -197.500
+    -252.500       -248.500       -207.500        202.500
+    -302.500       -297.500       -248.500        242.500
+    -307.500       -302.500       -252.500        246.500
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13FD EXAMPLE PROGRAM RESULTS
+
+ N = 4   TOL = 0.000D+00
+ A ( 4X 4)
+
+            1              2              3              4
+  1    0.2465000D+03  0.2425000D+03  0.2025000D+03 -0.1975000D+03
+  2   -0.2525000D+03 -0.2485000D+03 -0.2075000D+03  0.2025000D+03
+  3   -0.3025000D+03 -0.2975000D+03 -0.2485000D+03  0.2425000D+03
+  4   -0.3075000D+03 -0.3025000D+03 -0.2525000D+03  0.2465000D+03
+ 
+ Stability radius : 0.39196472317D-02
+ Minimizing omega : 0.98966520430D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB13ID.html b/doc/_static/doc/AB13ID.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>AB13ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13ID">AB13ID</A></H2>
+<H3>
+Testing properness of the transfer function matrix of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check whether the transfer function
+
+                                  -1
+    G(lambda) := C*( lambda*E - A ) *B
+
+  of a given linear time-invariant descriptor system with
+  generalized state space realization (lambda*E-A,B,C) is proper.
+  Optionally, if JOBEIG = 'A', the system (lambda*E-A,B,C) is
+  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) with only
+  controllable and observable eigenvalues in order to use it for a
+  subsequent L_inf-norm computation; if JOBEIG = 'I', the system is
+  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) without
+  uncontrollable and unobservable infinite eigenvalues. In this
+  case, intended mainly for checking the properness, the returned
+  system is not fully reduced, unless UPDATE = 'U'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      LOGICAL FUNCTION AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
+     $                         UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                         C, LDC, NR, RANKE, TOL, IWORK, DWORK,
+     $                         LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
+      INTEGER            INFO, IWARN, LDA, LDB, LDC, LDE, LDWORK, M, N,
+     $                   NR, P, RANKE
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), TOL( * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  AB13ID  LOGICAL
+          Indicates whether the transfer function is proper.
+          If AB13ID = .TRUE., the transfer function is proper;
+          otherwise, it is improper.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBSYS  CHARACTER*1
+          Indicates whether the system (lambda*E-A,B,C) is already
+          in the reduced form which is obtained as stated in
+          JOBEIG, as follows.
+          = 'R': The system is not in a reduced form, the reduction
+                 step is performed;
+          = 'N': The system is in a reduced form; the reduction step
+                 is omitted.
+
+  JOBEIG  CHARACTER*1
+          Indicates which kind of eigenvalues of the matrix pencil
+          lambda*E-A should be removed if JOBSYS = 'R', as follows:
+          = 'A': All uncontrollable and unobservable eigenvalues
+                 are removed; the reduced system is returned in
+                 the arrays A, E, B, C;
+          = 'I': Only all uncontrollable and unobservable infinite
+                 eigenvalues are removed; the returned system is not
+                 fully reduced if UPDATE = 'N'.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily scale
+          the system (lambda*E-A,B,C) as follows:
+          = 'S': Perform scaling;
+          = 'N': Do not perform scaling.
+
+  CKSING  CHARACTER*1
+          Specifies whether the user wishes to check if the pencil
+          (lambda*E-A) is singular as follows:
+          = 'C':  Check singularity;
+          = 'N':  Do not check singularity.
+          If the pencil is singular, the reduced system computed for
+          CKSING = 'N' may have completely different eigenvalues
+          than the given system.
+          The test is performed only if JOBSYS = 'R'.
+
+  RESTOR  CHARACTER*1
+          Specifies whether the user wishes to save the system
+          matrices before each reduction phase (if JOBSYS = 'R') and
+          restore them if no order reduction took place as follows:
+          = 'R':  Save and restore;
+          = 'N':  Do not save the matrices.
+          This option is ineffective if JOBSYS = 'N'.
+
+  UPDATE  CHARACTER*1
+          Specifies whether the user wishes to update the matrices
+          A, B, and C if JOBEIG = 'I' as follows:
+          = 'U':  Update the matrices A, B and C;
+          = 'N':  Do not update the matrices A, B and C when
+                  performing URV decomposition of the matrix E
+                  (see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of the descriptor system input vector; also
+          the number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of the descriptor system output vector; also
+          the number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          NR-by-NR part of this array contains the reduced order
+          state matrix Ar of a fully controllable and observable
+          realization for the original system. If JOBSYS = 'R' and
+          JOBEIG = 'I', the leading NR-by-NR part of this array
+          contains the reduced order state matrix Ar of a
+          transformed system without uncontrollable and unobservable
+          infinite poles. In this case, the matrix Ar does not
+          correspond to the returned matrix Er (obtained after a
+          URV decomposition), unless UPDATE = 'U' or RANKE &lt; NR.
+          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or UPDATE = 'U'
+          or RANKE &lt; N), the leading N-by-N part of this array
+          contains the transformed matrix A corresponding to the
+          URV decomposition of E (see (2) in METHOD), and if
+          JOBEIG = 'I' and UPDATE = 'N', the submatrix A22 in (2) is
+          further transformed to estimate its rank.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          NR-by-NR part of this array contains the reduced order
+          descriptor matrix Er of a completely controllable and
+          observable realization for the original system. The
+          reduced matrix Er is in upper triangular form.
+          If JOBSYS = 'R' and JOBEIG = 'I', the leading NR-by-NR
+          part of this array contains the reduced order descriptor
+          matrix Er of a transformed system without uncontrollable
+          and unobservable infinite poles. The reduced matrix Er is
+          upper triangular. In both cases, or if JOBSYS = 'N', the
+          matrix Er results from a URV decomposition of the matrix E
+          (see METHOD).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B; the remainder of the leading
+          N-by-MAX(M,P) part is used as internal workspace.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          NR-by-M part of this array contains the reduced input
+          matrix Br of a completely controllable and observable
+          realization for the original system. If JOBSYS = 'R' and
+          JOBEIG = 'I', the leading NR-by-M part of this array
+          contains the transformed input matrix Br obtained after
+          removing the uncontrollable and unobservable infinite
+          poles; the transformations for the URV decomposition of
+          the matrix E are not applied if UPDATE = 'N'.
+          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
+          UPDATE = 'U'), the leading N-by-M part of this array
+          contains the transformed matrix B corresponding to the
+          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
+          and UPDATE = 'N', the array B is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C; the remainder of the leading
+          MAX(M,P)-by-N part is used as internal workspace.
+          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
+          P-by-NR part of this array contains the transformed output
+          matrix Cr of a completely controllable and observable
+          realization for the original system. If JOBSYS = 'R' and
+          JOBEIG = 'I', the leading P-by-NR part of this array
+          contains the transformed output matrix Cr obtained after
+          removing the uncontrollable and unobservable infinite
+          poles; the transformations for the URV decomposition of
+          the matrix E are not applied if UPDATE = 'N'.
+          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
+          UPDATE = 'U'), the leading P-by-N part of this array
+          contains the transformed matrix C corresponding to the
+          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
+          and UPDATE = 'N', the array C is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0;
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced generalized state space
+          representation (lambda*Er-Ar,Br,Cr) as stated in JOBEIG.
+          If JOBEIG = 'A', NR denotes the order of a reduced system
+          without any uncontrollable or unobservable eigenvalues; if
+          JOBEIG = 'I', NR denotes the order of the reduced system
+          without any uncontrollable or unobservable infinite
+          eigenvalues. If JOBSYS = 'N', then NR = N.
+
+  RANKE   (output) INTEGER
+          The effective (estimated) rank of the reduced matrix Er.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension 3
+          TOL(1) is the tolerance to be used in rank determinations
+          when transforming (lambda*E-A,B,C). If the user sets
+          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
+          lower bound for reciprocal condition numbers in rank
+          determinations; a (sub)matrix whose estimated condition
+          number is less than 1/TOL(1) is considered to be of full
+          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
+          is used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
+          TOL(2) is the tolerance to be used for checking pencil
+          singularity when CKSING = 'C', or singularity of the
+          matrices A and E when CKSING = 'N'. If the user sets
+          TOL(2) &gt; 0, then the given value of TOL(2) is used.
+          If the user sets TOL(2) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
+          is used instead.  TOL(2) &lt; 1.
+          TOL(3) is the threshold value for magnitude of the matrix
+          elements, if EQUIL = 'S': elements with magnitude less
+          than or equal to TOL(3) are ignored for scaling. If the
+          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
+          used. If the user sets TOL(3) &lt; 0, then an implicitly
+          computed, default threshold, defined by  THRESH = c*EPS,
+          where c = MAX(norm_1(A,E,B,C)) is used instead.
+          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
+          TOL(3) is not used if EQUIL = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          If JOBSYS = 'R',  LIWORK &gt;= 2*N+MAX(M,P)+7;
+          If JOBSYS = 'N',  LIWORK &gt;= N.
+          If JOBSYS = 'R', the first 7 elements of IWORK contain
+          information on performed reduction and on structure of
+          resulting system matrices after removing the specified
+          eigenvalues (see the description of the parameter INFRED
+          of the SLICOT Library routine TG01JY).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If JOBSYS = 'R', and EQUIL = 'S',
+             LDWORK &gt;= MAX(w+4*N+4,8*N,x,y),
+          where w = N*N,                  if JOBEIG = 'A',
+                w = 0,                    if JOBEIG = 'I',
+                x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
+                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
+                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
+                y = 0,                    if CKSING = 'N',
+                z = 2*N*N+N*M+N*P;
+          if JOBSYS = 'R', and EQUIL = 'N',
+             LDWORK &gt;= MAX(w+4*N+4,x,y);
+          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
+                           and EQUIL  = 'S',
+             LDWORK &gt;= MAX(N*N+4*N+4,8*N,N+M,N+P);
+          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
+                           and EQUIL  = 'N',
+             LDWORK &gt;= MAX(N*N+4*N+4,N+M,N+P);
+          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
+                           and EQUIL  = 'S',
+             LDWORK &gt;= MAX(4*N+4,8*N);
+          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
+                           and EQUIL  = 'N',
+             LDWORK &gt;= 4*N+4.
+          If JOBSYS = 'R' and ( RESTOR = 'R' or
+          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1) ),
+          then more accurate results are to be expected by
+          considering only those reduction phases in the SLICOT
+          Library routine TG01JY, where effective order reduction
+          occurs. This is achieved by saving the system matrices
+          before each phase (after orthogonally triangularizing the
+          matrix A or the matrix E, if RESTOR = 'N') and restoring
+          them if no order reduction took place. However, higher
+          global accuracy is not guaranteed.
+          For good performance, LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA. The optimal workspace includes the
+          extra space for improving the accuracy.
+
+  Error/Warning Indicator
+
+  IWARN   INTEGER
+          = 0: When determining the rank of a matrix, the distance
+               between the tolerance TOL(1) and the estimated
+               singular values is sufficiently large. The rank can
+               be safely determined;
+          = 1: When determining the rank of a matrix, there exist
+               estimated singular values which are very close to the
+               tolerance TOL(1). The computed rank is possibly
+               incorrect.
+
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the given pencil A - lambda*E is numerically
+               singular and the reduced system is not computed.
+               However, the system is considered improper, and
+               AB13ID is set to .FALSE.
+               This error can be returned only if CKSING = 'C'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOBSYS = 'R', the routine first removes uncontrollable and
+  unobservable infinite eigenvalues of the pencil lambda*E-A. If, in
+  addition, JOBEIG = 'A', uncontrollable and unobservable zero
+  eigenvalues are also removed. Then, or if JOBSYS = 'N', a
+  URV decomposition of the matrix E is performed, i.e., orthogonal
+  matrices U and V are computed, such that
+
+            ( T  0 )
+    U*E*V = (      ) with a full-rank matrix T.                  (1)
+            ( 0  0 )
+
+  Then the matrix A (or a copy of A if JOBEIG = 'A' or UPDATE = 'U')
+  is updated and partioned as in (1), i.e.,
+
+            ( A11  A12 )
+    U*A*V = (          ) ,                                       (2)
+            ( A21  A22 )
+
+  and the rank of A22 is computed. If A22 is invertible, the
+  transfer function is proper, otherwise it is improper. If
+  required (i.e., JOBEIG = 'A' or UPDATE = 'U'), the matrices B and
+  C are updated as well in order to obtain an equivalent reduced
+  system with the same transfer function. See also Chapter 3 in [1],
+  [2] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Voigt, M.
+      L_inf-Norm Computation for Descriptor Systems.
+      Diploma Thesis, Chemnitz University of Technology, Department
+      of Mathematics, Germany, July 2010.
+
+  [2] Benner, P., Sima, V., Voigt, M.
+      L_infinity-norm computation for continuous-time descriptor
+      systems using structured matrix pencils.
+      IEEE Trans. Automat. Contr., vol. 57, pp. 233-238, 2012.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations. During
+  the algorithm it is necessary to determine the rank of certain
+  matrices. Therefore it is crucial to use an appropriate tolerance
+  TOL(1) to make correct rank decisions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX,
+     $                   LDC = MAX( MMAX, PMAX ), LDE = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
+     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
+     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
+     $                                 10*NMAX + MAX( NMAX, 23 ) ),
+     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) + 7 )
+*     .. Local Scalars ..
+      LOGICAL          LISPRP
+      CHARACTER        CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
+      INTEGER          I, INFO, IWARN, J, M, N, NO, NR, P, RANKE
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAX(MMAX,PMAX)), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
+
+*     .. External Functions ..
+      LOGICAL          AB13ID, LSAME
+      EXTERNAL         AB13ID, LSAME
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOBSYS,
+     $                      JOBEIG, EQUIL, CKSING, RESTOR, UPDATE
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Check whether the transfer function of the descriptor
+*              system is proper.
+               LISPRP = AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
+     $                          UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                          C, LDC, NR, RANKE, TOL, IWORK, DWORK,
+     $                          LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( LISPRP ) THEN
+                     WRITE ( NOUT, FMT = 99991 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99990 )
+                  END IF
+                  WRITE ( NOUT, FMT = 99994 ) NR
+                  WRITE ( NOUT, FMT = 99989 ) RANKE
+                  IF ( LSAME( JOBSYS, 'N' ).AND.( LSAME( JOBEIG, 'A' )
+     $             .OR.LSAME( UPDATE, 'U' ) ) ) THEN
+                     NO = N
+                  ELSE
+                     NO = NR
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, NO
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NO )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   20             CONTINUE
+                  IF ( LSAME( JOBSYS, 'N' ).AND.LSAME( JOBEIG, 'I' )
+     $                                     .AND.LSAME( EQUIL,  'S' )
+     $                                     .AND.LSAME( UPDATE, 'N' ) )
+     $               NO = N
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   40             CONTINUE
+                  IF ( IWARN.NE.0 )
+     $               WRITE ( NOUT, FMT = 99998 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13ID = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99996 FORMAT (/' The reduced descriptor matrix Er is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Order of reduced system =', I5 )
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT ( ' The system is proper')
+99990 FORMAT ( ' The system is improper')
+99989 FORMAT (' Rank of matrix E =', I5 )
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+AB13ID EXAMPLE PROGRAM DATA
+  9    2    2     0.0    0.0    0.0    R  I  N  N  N  U
+    -2    -3     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     0    -2    -3     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     1     0
+     0     0
+     0     1
+     0     0
+    -1     0
+     0     0
+     0    -1
+     0     0
+     0     0
+     1     0     1    -3     0     1     0     2     0
+     0     1     1     3     0     1     0     0     1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13ID EXAMPLE PROGRAM RESULTS
+
+ The system is improper
+
+ Order of reduced system =    7
+ Rank of matrix E =    5
+
+ The reduced state dynamics matrix Ar is 
+   0.2202   0.4554  -0.6171  -0.3695  -1.3751   0.8121   0.1953
+   0.6175   0.1352  -0.8444  -0.0262  -1.3999  -0.4013   0.3339
+  -0.6362  -1.1518   0.6708  -0.2221   0.8680  -0.0430   0.1827
+   0.1430  -0.0480  -0.3290  -0.1625  -0.6986   0.0008  -0.9031
+   0.0986  -0.8665   0.4541   0.6647   1.4067   0.4214  -0.0381
+  -0.6979  -0.0079  -0.1915   0.6588  -0.2054   0.0000   0.0000
+  -0.1861  -0.0021  -0.8313  -0.3063   0.4248   0.0000   0.0000
+
+ The reduced descriptor matrix Er is 
+  -1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+
+ The reduced input/state matrix Br is 
+  -0.2140  -0.3805
+  -0.2558  -0.2539
+   0.1844   0.4001
+  -0.1115  -0.1176
+   0.1879   0.5325
+  -0.9954  -0.0961
+   0.0961  -0.9954
+
+ The reduced state/output matrix Cr is 
+   0.0439  -3.8727   0.0000   0.0000   0.0000   0.6508   0.7593
+   0.1184   2.0671  -0.8971  -0.8236  -2.2869   1.4100   0.1085
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>AB13MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB13MD">AB13MD</A></H2>
+<H3>
+Upper bound on the structured singular value for a square complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an upper bound on the structured singular value for a
+  given square complex matrix and a given block structure of the
+  uncertainty.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB13MD( FACT, N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D,
+     $                   G, IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT
+      INTEGER            INFO, LDWORK, LDZ, LZWORK, M, N
+      DOUBLE PRECISION   BOUND
+C     .. Array Arguments ..
+      INTEGER            ITYPE( * ), IWORK( * ), NBLOCK( * )
+      COMPLEX*16         Z( LDZ, * ), ZWORK( * )
+      DOUBLE PRECISION   D( * ), DWORK( * ), G( * ), X( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FACT    CHARACTER*1
+          Specifies whether or not an information from the
+          previous call is supplied in the vector X.
+          = 'F':  On entry, X contains information from the
+                  previous call.
+          = 'N':  On entry, X does not contain an information from
+                  the previous call.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix Z.  N &gt;= 0.
+
+  Z       (input) COMPLEX*16 array, dimension (LDZ,N)
+          The leading N-by-N part of this array must contain the
+          complex matrix Z for which the upper bound on the
+          structured singular value is to be computed.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
+
+  M       (input) INTEGER
+          The number of diagonal blocks in the block structure of
+          the uncertainty.  M &gt;= 1.
+
+  NBLOCK  (input) INTEGER array, dimension (M)
+          The vector of length M containing the block structure
+          of the uncertainty. NBLOCK(I), I = 1:M, is the size of
+          each block.
+
+  ITYPE   (input) INTEGER array, dimension (M)
+          The vector of length M indicating the type of each block.
+          For I = 1:M,
+          ITYPE(I) = 1 indicates that the corresponding block is a
+                       real block, and
+          ITYPE(I) = 2 indicates that the corresponding block is a
+                       complex block.
+          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          ( M + MR - 1 ), where MR is the number of the real blocks.
+          On entry, if FACT = 'F' and NBLOCK(1) &lt; N, this array
+          must contain information from the previous call to AB13MD.
+          If NBLOCK(1) = N, this array is not used.
+          On exit, if NBLOCK(1) &lt; N, this array contains information
+          that can be used in the next call to AB13MD for a matrix
+          close to Z.
+
+  BOUND   (output) DOUBLE PRECISION
+          The upper bound on the structured singular value.
+
+  D, G    (output) DOUBLE PRECISION arrays, dimension (N)
+          The vectors of length N containing the diagonal entries
+          of the diagonal N-by-N matrices D and G, respectively,
+          such that the matrix
+          Z'*D^2*Z + sqrt(-1)*(G*Z-Z'*G) - BOUND^2*D^2
+          is negative semidefinite.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(4*M-2,N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 11*N + 33*M - 11.
+          For best performance
+          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 6*N + 33*M - 11 +
+                    MAX( 5*N,2*N*NB )
+          where NB is the optimal blocksize returned by ILAENV.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) contains the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 6*N - 3.
+          For best performance
+          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 3*N - 3 +
+                    MAX( 3*N,N*NB )
+          where NB is the optimal blocksize returned by ILAENV.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the block sizes must be positive integers;
+          = 2:  the sum of block sizes must be equal to N;
+          = 3:  the size of a real block must be equal to 1;
+          = 4:  the block type must be either 1 or 2;
+          = 5:  errors in solving linear equations or in matrix
+                inversion;
+          = 6:  errors in computing eigenvalues or singular values.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the upper bound proposed in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Fan, M.K.H., Tits, A.L., and Doyle, J.C.
+      Robustness in the presence of mixed parametric uncertainty
+      and unmodeled dynamics.
+      IEEE Trans. Automatic Control, vol. AC-36, 1991, pp. 25-38.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy and speed of computation depend on the value of
+  the internal threshold TOL.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AB13MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDZ
+      PARAMETER        ( LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 4*MMAX-2, NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX*MMAX - NMAX*NMAX +
+     $                            9*MMAX*MMAX + NMAX*MMAX + 11*NMAX +
+     $                            33*MMAX - 11 )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = 6*NMAX*NMAX*MMAX + 12*NMAX*NMAX +
+     $                            6*MMAX + 6*NMAX - 3 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      DOUBLE PRECISION BOUND
+*     .. Local Arrays ..
+      INTEGER          ITYPE(MMAX), IWORK(LIWORK), NBLOCK(MMAX)
+      DOUBLE PRECISION D(NMAX), DWORK(LDWORK), G(NMAX), X(2*MMAX-1)
+      COMPLEX*16       Z(LDZ,NMAX), ZWORK(LZWORK)
+*     .. External Subroutines ..
+      EXTERNAL         AB13MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( NBLOCK(I), I = 1, M )
+         READ ( NIN, FMT = * ) ( ITYPE(I), I = 1, M )
+         READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+*        Computing mu.
+         CALL AB13MD( 'N', N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D, G,
+     $               IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99991 ) BOUND
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' AB13MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB13MD =',I2)
+99997 FORMAT (' The value of the structured singular value is'/)
+99991 FORMAT (D17.10)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AB13MD EXAMPLE PROGRAM DATA
+   6     5
+   1     1     2     1     1
+   1     1     2     2     2
+   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
+   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
+   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
+   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
+   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
+   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
+   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
+   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
+   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
+   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
+   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
+   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AB13MD EXAMPLE PROGRAM RESULTS
+
+ The value of the structured singular value is
+
+ 0.4174753408D+02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AB8NXZ.html b/doc/_static/doc/AB8NXZ.html
new file mode 100644
index 00000000..3fb41924
--- /dev/null
+++ b/doc/_static/doc/AB8NXZ.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>AB8NXZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AB8NXZ">AB8NXZ</A></H2>
+<H3>
+Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) system
+               ( B  A )
+               ( D  C )
+  an (NU+MU)-by-(M+NU) "reduced" system
+               ( B' A')
+               ( D' C')
+  having the same transmission zeros but with D' of full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AB8NXZ( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
+     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
+     $                   DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDABCD, LZWORK, M, MU, N, NINFZ, NKROL,
+     $                  NU, P, RO, SIGMA
+      DOUBLE PRECISION  SVLMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           INFZ(*), IWORK(*), KRONL(*)
+      COMPLEX*16        ABCD(LDABCD,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of state variables.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  RO      (input/output) INTEGER
+          On entry,
+          = P     for the original system;
+          = MAX(P-M, 0) for the pertransposed system.
+          On exit, RO contains the last computed rank.
+
+  SIGMA   (input/output) INTEGER
+          On entry,
+          = 0  for the original system;
+          = M  for the pertransposed system.
+          On exit, SIGMA contains the last computed value sigma in
+          the algorithm.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound input matrix of the system.
+          On exit, the leading (NU+MU)-by-(M+NU) part of this array
+          contains the reduced compound input matrix of the system.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  NINFZ   (input/output) INTEGER
+          On entry, the currently computed number of infinite zeros.
+          It should be initialized to zero on the first call.
+          NINFZ &gt;= 0.
+          On exit, the number of infinite zeros.
+
+  INFZ    (input/output) INTEGER array, dimension (N)
+          On entry, INFZ(i) must contain the current number of
+          infinite zeros of degree i, where i = 1,2,...,N, found in
+          the previous call(s) of the routine. It should be
+          initialized to zero on the first call.
+          On exit, INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,N.
+
+  KRONL   (input/output) INTEGER array, dimension (N+1)
+          On entry, this array must contain the currently computed
+          left Kronecker (row) indices found in the previous call(s)
+          of the routine. It should be initialized to zero on the
+          first call.
+          On exit, the leading NKROL elements of this array contain
+          the left Kronecker (row) indices.
+
+  MU      (output) INTEGER
+          The normal rank of the transfer function matrix of the
+          original system.
+
+  NU      (output) INTEGER
+          The dimension of the reduced system matrix and the number
+          of (finite) invariant zeros if D' is invertible.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
+                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Svaricek, F.
+      Computation of the Structural Invariants of Linear
+      Multivariable Systems with an Extended Version of
+      the Program ZEROS.
+      System & Control Letters, 6, pp. 261-266, 1985.
+
+  [2] Emami-Naeini, A. and Van Dooren, P.
+      Computation of Zeros of Linear Multivariable Systems.
+      Automatica, 18, pp. 415-430, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AG07BD.html b/doc/_static/doc/AG07BD.html
new file mode 100644
index 00000000..c8df4b03
--- /dev/null
+++ b/doc/_static/doc/AG07BD.html
@@ -0,0 +1,194 @@
+<HTML>
+<HEAD><TITLE>AG07BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG07BD">AG07BD</A></H2>
+<H3>
+Descriptor inverse of a state-space or descriptor representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the inverse (Ai-lambda*Ei,Bi,Ci,Di) of a given
+  descriptor system (A-lambda*E,B,C,D).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG07BD( JOBE, N, M, A, LDA, E, LDE, B, LDB, C, LDC,
+     $                   D, LDD, AI, LDAI, EI, LDEI, BI, LDBI, CI, LDCI,
+     $                   DI, LDDI, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBE
+      INTEGER            INFO, LDA, LDAI, LDB, LDBI, LDC, LDCI,
+     $                   LDD, LDDI, LDE, LDEI, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), AI(LDAI,*), B(LDB,*), BI(LDBI,*),
+     $                   C(LDC,*), CI(LDCI,*), D(LDD,*), DI(LDDI,*),
+     $                   E(LDE,*), EI(LDEI,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general square or an identity
+          matrix as follows:
+          = 'G':  E is a general square matrix;
+          = 'I':  E is the identity matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrices A and E;
+          also the number of rows of matrix B and the number of
+          columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs and outputs, i.e., the number
+          of columns of matrices B and D and the number of rows of
+          matrices C and D.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the original system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'G', the leading N-by-N part of this array must
+          contain the descriptor matrix E of the original system.
+          If JOBE = 'I', then E is assumed to be the identity
+          matrix and is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the original system.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading M-by-N part of this array must contain the
+          output matrix C of the original system.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading M-by-M part of this array must contain the
+          feedthrough matrix D of the original system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
+
+  AI      (output) DOUBLE PRECISION array, dimension (LDAI,N+M)
+          The leading (N+M)-by-(N+M) part of this array contains
+          the state matrix Ai of the inverse system.
+          If LDAI = LDA &gt;= N+M, then AI and A can share the same
+          storage locations.
+
+  LDAI    INTEGER
+          The leading dimension of the array AI.
+          LDAI &gt;= MAX(1,N+M).
+
+  EI      (output) DOUBLE PRECISION array, dimension (LDEI,N+M)
+          The leading (N+M)-by-(N+M) part of this array contains
+          the descriptor matrix Ei of the inverse system.
+          If LDEI = LDE &gt;= N+M, then EI and E can share the same
+          storage locations.
+
+  LDEI    INTEGER
+          The leading dimension of the array EI.
+          LDEI &gt;= MAX(1,N+M).
+
+  BI      (output) DOUBLE PRECISION array, dimension (LDBI,M)
+          The leading (N+M)-by-M part of this array contains
+          the input matrix Bi of the inverse system.
+          If LDBI = LDB &gt;= N+M, then BI and B can share the same
+          storage locations.
+
+  LDBI    INTEGER
+          The leading dimension of the array BI.
+          LDBI &gt;= MAX(1,N+M).
+
+  CI      (output) DOUBLE PRECISION array, dimension (LDCI,N+M)
+          The leading M-by-(N+M) part of this array contains
+          the output matrix Ci of the inverse system.
+          If LDCI = LDC, CI and C can share the same storage
+          locations.
+
+  LDCI    INTEGER
+          The leading dimension of the array CI.  LDCI &gt;= MAX(1,M).
+
+  DI      (output) DOUBLE PRECISION array, dimension (LDDI,M)
+          The leading M-by-M part of this array contains
+          the feedthrough matrix Di = 0 of the inverse system.
+          DI and D can share the same storage locations.
+
+  LDDI    INTEGER
+          The leading dimension of the array DI.  LDDI &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices of the inverse system are computed with the formulas
+
+             ( E  0 )        ( A  B )         (  0 )
+        Ei = (      ) , Ai = (      ) ,  Bi = (    ),
+             ( 0  0 )        ( C  D )         ( -I )
+
+        Ci = ( 0  I ),  Di = 0.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The routine does not perform an invertibility test. This check can
+  be performed by using the SLICOT routines AB08NX or AG08BY.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AG08BD.html b/doc/_static/doc/AG08BD.html
new file mode 100644
index 00000000..46104083
--- /dev/null
+++ b/doc/_static/doc/AG08BD.html
@@ -0,0 +1,754 @@
+<HTML>
+<HEAD><TITLE>AG08BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG08BD">AG08BD</A></H2>
+<H3>
+Zeros and Kronecker structure of a descriptor system pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the system pencil
+
+                    ( A-lambda*E B )
+        S(lambda) = (              )
+                    (      C     D )
+
+  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
+  S(lambda) as generalized eigenvalues. The routine also computes
+  the orders of the infinite Smith zeros and determines the singular
+  and infinite Kronecker structure of system pencil, i.e., the right
+  and left Kronecker indices, and the multiplicities of infinite
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
+     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LDWORK,
+     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the system
+          matrix as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Af of the reduced pencil.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Ef of the reduced pencil.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0;
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NFZ     (output) INTEGER
+          The number of finite zeros.
+
+  NRANK   (output) INTEGER
+          The normal rank of the system pencil.
+
+  NIZ     (output) INTEGER
+          The number of infinite zeros.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite Smith zeros.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NINFE   (output) INTEGER
+          The number of elementary infinite blocks.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N+1)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors of
+          degree i in the Smith form, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (N+M+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
+          The leading NINFE elements of INFE contain the
+          multiplicities of infinite eigenvalues.
+
+  KRONL   (output) INTEGER array, dimension (L+P+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then default tolerances are
+          used instead, as follows: TOLDEF = L*N*EPS in TG01FD
+          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
+          in the rest, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+max(1,M))
+          On output, IWORK(1) contains the normal rank of the
+          transfer function matrix.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 4*(L+N), LDW ), if EQUIL = 'S',
+          LDWORK &gt;= LDW,                 if EQUIL = 'N', where
+          LDW = max(L+P,M+N)*(M+N) + max(1,5*max(L+P,M+N)).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a descriptor
+  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
+  has the finite zeros of the system as generalized eigenvalues.
+  The procedure has the following main computational steps:
+
+     (a) construct the (L+P)-by-(N+M) system pencil
+
+          S(lambda) = ( B  A )-lambda*( 0  E );
+                      ( D  C )        ( 0  0 )
+
+     (b) reduce S(lambda) to S1(lambda) with the same finite
+         zeros and right Kronecker structure but with E
+         upper triangular and nonsingular;
+
+     (c) reduce S1(lambda) to S2(lambda) with the same finite
+         zeros and right Kronecker structure but with D of
+         full row rank;
+
+     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
+         and with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+
+         S3(lambda) = (A-lambda*E   B) in order to reduce it to
+                      (     C       D)
+
+         (Af-lambda*Ef   X), with Y and Ef square invertible;
+         (     0         Y)
+
+     (f) compute the right and left Kronecker indices of the system
+         matrix, which together with the multiplicities of the
+         finite and infinite eigenvalues constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the finite Smith zeros of the system
+  explicitly, a call to this routine may be followed by a
+  call to the LAPACK Library routines DGEGV or DGGEV.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AG08BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, MMAX, NMAX, PMAX
+      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
+     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ),  8*NMAX,
+     $                                 LDAEMX*LDAEMX +
+     $                                 MAX( 1, 5*LDAEMX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
+     $                 NKROL, NKROR, NRANK, P
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
+     $                 ASAVE(LDA,NMAX), B(LDB,MMAX), BETA(NMAX),
+     $                 BSAVE(LDB,MMAX), C(LDC,NMAX), CSAVE(LDC,NMAX),
+     $                 D(LDD,MMAX), DSAVE(LDD,MMAX), DWORK(LDWORK),
+     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1)
+      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
+     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
+     $                 KRONR(NMAX+MMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AG08BD, DGEGV, DLACPY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
+      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
+     $   THEN
+         WRITE ( NOUT, FMT = 99972 ) L, N
+      ELSE
+         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               CALL DLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
+               CALL DLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
+               CALL DLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
+               CALL DLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
+               CALL DLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
+*              Compute poles (call the routine with M = 0, P = 0).
+               CALL AG08BD( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99968 ) NIZ
+                  DO 10 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
+     $                                      ( INFE(I), I = 1,NINFE )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99965 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99966 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 30 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   30                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 40 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   40                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AG08BD( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99964 ) NIZ
+                  DO 50 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99957 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 70 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   70                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 80 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AG08BD( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99963 ) NIZ
+                  DO 90  I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   90             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99956 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 100 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  100                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 110 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  110                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99982 )
+                        DO 120 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+  120                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL DLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
+               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+               CALL DLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
+*              Compute the structural invariants of the given system.
+               CALL AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( L.EQ.N ) THEN
+                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
+                  ELSE
+                     WRITE ( NOUT, FMT = 99955 ) NRANK
+                  END IF
+                  WRITE ( NOUT, FMT = 99984 ) NFZ
+                  IF( NFZ.GT.0 ) THEN
+*                    Compute the finite zeros of the given system.
+*                    Workspace: need 8*NFZ.
+                     WRITE ( NOUT, FMT = 99983 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 130 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  130                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 140 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  140                CONTINUE
+                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
+     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 150 I = 1, NFZ
+                           IF( ALFI(I).EQ.ZERO ) THEN
+                              WRITE ( NOUT, FMT = 99980 )
+     $                                ALFR(I)/BETA(I)
+                           ELSE
+                              WRITE ( NOUT, FMT = 99979 )
+     $                                ALFR(I)/BETA(I),
+     $                                ALFI(I)/BETA(I)
+                           END IF
+  150                   CONTINUE
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99978 ) NIZ
+                  DO 160 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  160             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                     ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                     ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AG08BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AG08BD = ',I2)
+99997 FORMAT (' INFO on exit from DGEGV = ',I2)
+99996 FORMAT (/'Unobservable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99995 FORMAT (/' The matrix Ef is ')
+99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
+     $          /(20(I3,2X)))
+99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
+99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
+     $       ,' of the pair (Af,Ef). ')
+99990 FORMAT (/' The matrix Af is ')
+99989 FORMAT (20(1X,F8.4))
+99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
+     $        /( 20(I3,2X) ) )
+99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $       ' pair (Af,Ef). ')
+99984 FORMAT (/' The number of finite zeros = ',I3)
+99983 FORMAT (/' The finite zeros are the eigenvalues ',
+     $         'of the pair (Af,Ef)')
+99982 FORMAT (/'Uncontrollable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99981 FORMAT (/'Finite zeros'/' real  part     imag  part ')
+99980 FORMAT (1X,F9.4)
+99979 FORMAT (1X,F9.4,6X,F9.4)
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ', /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ',  /(20(I3,2X)))
+99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
+99968 FORMAT (//' The number of infinite poles = ',I3)
+99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
+99966 FORMAT (/' The finite poles are the eigenvalues',
+     $       ' of the pair (Af,Ef). ')
+99965 FORMAT (/' The system has no finite poles ')
+99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
+99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
+99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
+99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
+99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
+99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
+99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
+     $         ,' are ', /(20(I3,2X)))
+99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
+     $         ' decoupling zeros ')
+99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
+     $         ' decoupling zeros ')
+99955 FORMAT (/' Normal rank  of system pencil = ',I3)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AG08BD EXAMPLE PROGRAM DATA
+   9    9    3     3     1.e-7     N
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     0     0     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+    -1     0     0
+     0     0     0
+     0     0     0
+     0    -1     0
+     0     0     0
+     0     0     0
+     0     0    -1
+     0     0     0
+     0     0     0
+     0     1     1     0     3     4     0     0     2
+     0     1     0     0     4     0     0     2     0
+     0     0     1     0    -1     4     0    -2     2
+     1     2    -2
+     0    -1    -2
+     0     0     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AG08BD EXAMPLE PROGRAM RESULTS
+
+
+
+ The number of infinite poles =   6
+   0 infinite pole(s) of order   1
+   3 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of A-lambda*E are 
+  3    3    3
+
+ The system has no finite poles 
+
+
+ The number of unobservable infinite poles =   4
+   0 infinite pole(s) of order   1
+   2 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
+  1    3    3
+
+ The left Kronecker indices of [A-lambda*E;C] are 
+  0    1    1
+
+ The system (A-lambda*E,C) has no finite output decoupling zeros 
+
+
+ The number of uncontrollable infinite poles =   0
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
+  1    1    1
+
+ The right Kronecker indices of [A-lambda*E,B] are 
+  2    2    2
+
+ The system (A-lambda*E,B) has no finite input decoupling zeros 
+
+ Normal rank  of transfer function matrix =   2
+
+ The number of finite zeros =   1
+
+ The finite zeros are the eigenvalues of the pair (Af,Ef)
+
+ The matrix Af is 
+   0.7705
+
+ The matrix Ef is 
+   0.7705
+
+Finite zeros
+ real  part     imag  part 
+    1.0000
+
+
+ The number of infinite zeros =   2
+   0 infinite zero(s) of order   1
+   1 infinite zero(s) of order   2
+
+ The number of infinite Kronecker blocks =   5
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
+  1    1    1    1    3
+
+ The number of right Kronecker indices =   1
+
+ Right Kronecker indices of [A-lambda*E,B;C,D] are 
+  2
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker indices of [A-lambda*E,B;C,D] are 
+  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AG08BY.html b/doc/_static/doc/AG08BY.html
new file mode 100644
index 00000000..9bc112e4
--- /dev/null
+++ b/doc/_static/doc/AG08BY.html
@@ -0,0 +1,261 @@
+<HTML>
+<HEAD><TITLE>AG08BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG08BY">AG08BY</A></H2>
+<H3>
+Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) descriptor system pencil
+
+     S(lambda) = ( B   A - lambda*E  )
+                 ( D        C        )
+
+  with E nonsingular and upper triangular a
+  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
+
+                        ( Br  Ar-lambda*Er )
+           Sr(lambda) = (                  )
+                        ( Dr     Cr        )
+
+  having the same finite Smith zeros as the pencil
+  S(lambda) but with Dr, a PR-by-M full row rank
+  left upper trapezoidal matrix, and Er, an NR-by-NR
+  upper triangular nonsingular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG08BY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
+     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DINFZ, INFO, LDABCD, LDE, LDWORK, M, N, NINFZ,
+     $                   NKRONL, NR, P, PR
+      DOUBLE PRECISION   SVLMAX, TOL
+      LOGICAL            FIRST
+C     .. Array Arguments ..
+      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
+      DOUBLE PRECISION   ABCD( LDABCD, * ), DWORK( * ), E( LDE, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FIRST   LOGICAL
+          Specifies if AG08BY is called first time or it is called
+          for an already reduced system, with D full column rank
+          with the last M rows in upper triangular form:
+          FIRST = .TRUE.,  first time called;
+          FIRST = .FALSE., not first time called.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of matrix B, the number of columns of
+          matrix C and the order of square matrices A and E.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrices B and D.  M &gt;= 0.
+          M &lt;= P if FIRST = .FALSE. .
+
+  P       (input) INTEGER
+          The number of rows of matrices C and D.  P &gt;= 0.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) DOUBLE PRECISION array, dimension
+          (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound matrix
+                   (  B   A  ) ,
+                   (  D   C  )
+          where A is an N-by-N matrix, B is an N-by-M matrix,
+          C is a P-by-N matrix and D is a P-by-M matrix.
+          If FIRST = .FALSE., then D must be a full column
+          rank matrix with the last M rows in upper triangular form.
+          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
+          contains the reduced compound matrix
+                    (  Br  Ar ) ,
+                    (  Dr  Cr )
+          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
+          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
+          left upper trapezoidal matrix with the first PR columns
+          in upper triangular form.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular nonsingular matrix E.
+          On exit, the leading NR-by-NR part contains the reduced
+          upper triangular nonsingular matrix Er.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ar and Er; also the
+          number of rows of the reduced matrix Br and the number
+          of columns of the reduced matrix Cr.
+          If Dr is invertible, NR is also the number of finite
+          Smith zeros.
+
+  PR      (output) INTEGER
+          The rank of the resulting matrix Dr; also the number of
+          rows of reduced matrices Cr and Dr.
+
+  NINFZ   (output) INTEGER
+          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite zeros.
+          DINFZ = 0 if FIRST = .FALSE. .
+
+  NKRONL  (output) INTEGER
+          The maximal dimension of left elementary Kronecker blocks.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,DINFZ.
+          INFZ is not referenced if FIRST = .FALSE. .
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          KRONL(i) contains the number of left elementary Kronecker
+          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
+          instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FIRST = .FALSE., IWORK is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if P = 0; otherwise
+          LDWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 5*P ),
+                                          if FIRST = .TRUE.;
+          LDWORK &gt;= MAX( 1, N+M-1, 5*P ), if FIRST = .FALSE. .
+          The second term is not needed if M = 0.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( (P+N)*(M+N)*N )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite zeros is computed as
+
+                DINFZ
+     NINFZ =     Sum  (INFZ(i)*i) .
+                 i=1
+  Note that each infinite zero of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+  The multiplicities of the infinite eigenvalues can be determined
+  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
+
+                  DINFZ
+  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
+                   i=1
+
+  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
+    for i = 1, ..., DINFZ.
+
+  The left Kronecker indices are:
+
+  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
+  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AG08BZ.html b/doc/_static/doc/AG08BZ.html
new file mode 100644
index 00000000..87d7c3a9
--- /dev/null
+++ b/doc/_static/doc/AG08BZ.html
@@ -0,0 +1,739 @@
+<HTML>
+<HEAD><TITLE>AG08BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG08BZ">AG08BZ</A></H2>
+<H3>
+Zeros and Kronecker structure of a descriptor system pencil (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the system pencil
+
+                    ( A-lambda*E B )
+        S(lambda) = (              )
+                    (      C     D )
+
+  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
+  S(lambda) as generalized eigenvalues. The routine also computes
+  the orders of the infinite Smith zeros and determines the singular
+  and infinite Kronecker structure of system pencil, i.e., the right
+  and left Kronecker indices, and the multiplicities of infinite
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
+     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
+     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL
+      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LZWORK,
+     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the system
+          matrix as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Af of the reduced pencil.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E of the system.
+          On exit, the leading NFZ-by-NFZ part of this array
+          contains the matrix Ef of the reduced pencil.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0;
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the system.
+          On exit, this matrix does not contain useful information.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) COMPLEX*16 array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct transmission matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NFZ     (output) INTEGER
+          The number of finite zeros.
+
+  NRANK   (output) INTEGER
+          The normal rank of the system pencil.
+
+  NIZ     (output) INTEGER
+          The number of infinite zeros.
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite Smith zeros.
+
+  NKROR   (output) INTEGER
+          The number of right Kronecker indices.
+
+  NINFE   (output) INTEGER
+          The number of elementary infinite blocks.
+
+  NKROL   (output) INTEGER
+          The number of left Kronecker indices.
+
+  INFZ    (output) INTEGER array, dimension (N+1)
+          The leading DINFZ elements of INFZ contain information
+          on the infinite elementary divisors as follows:
+          the system has INFZ(i) infinite elementary divisors of
+          degree i in the Smith form, where i = 1,2,...,DINFZ.
+
+  KRONR   (output) INTEGER array, dimension (N+M+1)
+          The leading NKROR elements of this array contain the
+          right Kronecker (column) indices.
+
+  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
+          The leading NINFE elements of INFE contain the
+          multiplicities of infinite eigenvalues.
+
+  KRONL   (output) INTEGER array, dimension (L+P+1)
+          The leading NKROL elements of this array contain the
+          left Kronecker (row) indices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then default tolerances are
+          used instead, as follows: TOLDEF = L*N*EPS in TG01FZ
+          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
+          in the rest, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+max(1,M))
+          On output, IWORK(1) contains the normal rank of the
+          transfer function matrix.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          LDWORK &gt;= max(4*(L+N), 2*max(L+P,M+N))), if EQUIL = 'S',
+          LDWORK &gt;= 2*max(L+P,M+N)),               if EQUIL = 'N'.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= max( max(L+P,M+N)*(M+N) +
+                         max(min(L+P,M+N) + max(min(L,N),3*(M+N)-1),
+                             3*(L+P), 1))
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine extracts from the system matrix of a descriptor
+  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
+  has the finite zeros of the system as generalized eigenvalues.
+  The procedure has the following main computational steps:
+
+     (a) construct the (L+P)-by-(N+M) system pencil
+
+          S(lambda) = ( B  A )-lambda*( 0  E );
+                      ( D  C )        ( 0  0 )
+
+     (b) reduce S(lambda) to S1(lambda) with the same finite
+         zeros and right Kronecker structure but with E
+         upper triangular and nonsingular;
+
+     (c) reduce S1(lambda) to S2(lambda) with the same finite
+         zeros and right Kronecker structure but with D of
+         full row rank;
+
+     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
+         and with D square invertible;
+
+     (e) perform a unitary transformation on the columns of
+
+         S3(lambda) = (A-lambda*E   B) in order to reduce it to
+                      (     C       D)
+
+         (Af-lambda*Ef   X), with Y and Ef square invertible;
+         (     0         Y)
+
+     (f) compute the right and left Kronecker indices of the system
+         matrix, which together with the multiplicities of the
+         finite and infinite eigenvalues constitute the
+         complete set of structural invariants under strict
+         equivalence transformations of a linear system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable (see [1]).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order to compute the finite Smith zeros of the system
+  explicitly, a call to this routine may be followed by a
+  call to the LAPACK Library routines ZGEGV or ZGGEV.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     AG08BZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, MMAX, NMAX, PMAX
+      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
+     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ), 2*LDAEMX,
+     $                                 8*NMAX ) )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = MAX( 1, LDAEMX*LDAEMX +
+     $                                 MAX( MIN( LMAX+PMAX, MMAX+NMAX )+
+     $                                      MAX( MIN( LMAX, NMAX ),
+     $                                           3*( MMAX+NMAX )-1 ),
+     $                                      3*( LMAX+PMAX ) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
+     $                 NKROL, NKROR, NRANK, P
+      CHARACTER*1      EQUIL
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), ALPHA(NMAX), ASAVE(LDA,NMAX),
+     $                 B(LDB,MMAX),  BETA(NMAX), BSAVE(LDB,MMAX),
+     $                 C(LDC,NMAX), CSAVE(LDC,NMAX),
+     $                 D(LDD,MMAX), DSAVE(LDD,MMAX),
+     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1),
+     $                 ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK)
+      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
+     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
+     $                 KRONR(NMAX+MMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         AG08BZ, ZGEGV, ZLACPY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
+      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
+     $   THEN
+         WRITE ( NOUT, FMT = 99972 ) L, N
+      ELSE
+         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99970 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               CALL ZLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
+               CALL ZLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
+               CALL ZLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
+               CALL ZLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
+               CALL ZLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
+*              Compute poles (call the routine with M = 0, P = 0).
+               CALL AG08BZ( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99968 ) NIZ
+                  DO 10 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
+     $                                      ( INFE(I), I = 1,NINFE )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99965 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99966 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 20 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 30 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   30                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 40 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+   40                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+*              Check the observability and compute the ordered set of
+*              the observability indices (call the routine with M = 0).
+               CALL AG08BZ( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99964 ) NIZ
+                  DO 50 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99957 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+   60                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 70 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+   70                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99996 )
+                        DO 80 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+*              Check the controllability and compute the ordered set of
+*              the controllability indices (call the routine with P = 0)
+               CALL AG08BZ( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99963 ) NIZ
+                  DO 90  I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
+   90             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
+                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
+                  IF( NFZ.EQ.0 ) THEN
+                     WRITE ( NOUT, FMT = 99956 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99985 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 100 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  100                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 110 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  110                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99982 )
+                        DO 120 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+  120                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
+               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
+               CALL ZLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
+               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
+               CALL ZLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
+*              Compute the structural invariants of the given system.
+               CALL AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
+     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
+     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
+     $                      INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( L.EQ.N ) THEN
+                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
+                  ELSE
+                     WRITE ( NOUT, FMT = 99955 ) NRANK
+                  END IF
+                  WRITE ( NOUT, FMT = 99984 ) NFZ
+                  IF( NFZ.GT.0 ) THEN
+*                    Compute the finite zeros of the given system.
+*                    Workspace: need 8*NFZ.
+                     WRITE ( NOUT, FMT = 99983 )
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 130 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( A(I,J), J = 1,NFZ )
+  130                CONTINUE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 140 I = 1, NFZ
+                        WRITE ( NOUT, FMT = 99989 )
+     $                        ( E(I,J), J = 1,NFZ )
+  140                CONTINUE
+                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
+     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
+     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
+*
+                     IF( INFO.NE.0 ) THEN
+                        WRITE ( NOUT, FMT = 99997 ) INFO
+                     ELSE
+                        WRITE ( NOUT, FMT = 99981 )
+                        DO 150 I = 1, NFZ
+                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
+  150                   CONTINUE
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99978 ) NIZ
+                  DO 160 I = 1, DINFZ
+                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
+  160             CONTINUE
+                  WRITE ( NOUT, FMT = 99962 ) NINFE
+                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
+     $                                     ( INFE(I), I = 1,NINFE )
+                  WRITE ( NOUT, FMT = 99976 ) NKROR
+                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
+     $                                     ( KRONR(I), I = 1,NKROR )
+                  WRITE ( NOUT, FMT = 99974 ) NKROL
+                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
+     $                                     ( KRONL(I), I = 1,NKROL )
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' AG08BZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AG08BZ = ',I2)
+99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
+99996 FORMAT (/' Unobservable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99995 FORMAT (/' The matrix Ef is ')
+99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
+     $          /(20(I3,2X)))
+99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
+99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
+     $       , ' of the pair (Af,Ef). ')
+99990 FORMAT (/' The matrix Af is ')
+99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
+     $        /( 20(I3,2X) ) )
+99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
+99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
+     $         ' pair (Af,Ef). ')
+99984 FORMAT (/' The number of finite zeros = ',I3)
+99983 FORMAT (/' The finite zeros are the eigenvalues ',
+     $         'of the pair (Af,Ef)')
+99982 FORMAT (/' Uncontrollable finite eigenvalues'/
+     $         ' real  part     imag  part ')
+99981 FORMAT (/' Finite zeros'/' real  part     imag  part ')
+99979 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+99978 FORMAT (//' The number of infinite zeros = ',I3)
+99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
+99976 FORMAT (/' The number of right Kronecker indices = ',I3)
+99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ', /(20(I3,2X)))
+99974 FORMAT (/' The number of left Kronecker indices = ',I3)
+99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
+     $         ,' are ',  /(20(I3,2X)))
+99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+99970 FORMAT (/' P is out of range.',/' P = ',I5)
+99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
+99968 FORMAT (//' The number of infinite poles = ',I3)
+99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
+99966 FORMAT (/' The finite poles are the eigenvalues',
+     $         ' of the pair (Af,Ef). ')
+99965 FORMAT (/' The system has no finite poles ')
+99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
+99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
+99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
+99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
+99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
+99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
+     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
+99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
+     $         ,' are ', /(20(I3,2X)))
+99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
+     $         ' decoupling zeros ')
+99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
+     $         ' decoupling zeros ')
+99955 FORMAT (/' Normal rank  of system pencil = ',I3)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ AG08BZ EXAMPLE PROGRAM DATA
+   9    9    3     3     1.e-7     N
+    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
+   (-1,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)  (-1,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)  (-1,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (0,0)   (0,0)
+    (0,0)   (1,0)   (1,0)   (0,0)   (3,0)    (4,0)    (0,0)   (0,0)    (2,0)
+    (0,0)   (1,0)   (0,0)   (0,0)   (4,0)    (0,0)    (0,0)   (2,0)    (0,0)
+    (0,0)   (0,0)   (1,0)   (0,0)  (-1,0)    (4,0)    (0,0)  (-2,0)    (2,0)
+    (1,0)   (2,0)  (-2,0)
+    (0,0)  (-1,0)  (-2,0)
+    (0,0)   (0,0)   (0,0)
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ AG08BZ EXAMPLE PROGRAM RESULTS
+
+
+
+ The number of infinite poles =   6
+   0 infinite pole(s) of order   1
+   3 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of A-lambda*E are 
+  3    3    3
+
+ The system has no finite poles 
+
+
+ The number of unobservable infinite poles =   4
+   0 infinite pole(s) of order   1
+   2 infinite pole(s) of order   2
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
+  1    3    3
+
+ The left Kronecker indices of [A-lambda*E;C] are 
+  0    1    1
+
+ The system (A-lambda*E,C) has no finite output decoupling zeros 
+
+
+ The number of uncontrollable infinite poles =   0
+
+ The number of infinite Kronecker blocks =   3
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
+  1    1    1
+
+ The right Kronecker indices of [A-lambda*E,B] are 
+  2    2    2
+
+ The system (A-lambda*E,B) has no finite input decoupling zeros 
+
+ Normal rank  of transfer function matrix =   2
+
+ The number of finite zeros =   1
+
+ The finite zeros are the eigenvalues of the pair (Af,Ef)
+
+ The matrix Af is 
+   -0.7705  +0.0000i 
+
+ The matrix Ef is 
+   -0.7705  +0.0000i 
+
+Finite zeros
+ real  part     imag  part 
+    1.0000  +0.0000i 
+
+
+ The number of infinite zeros =   2
+   0 infinite zero(s) of order   1
+   1 infinite zero(s) of order   2
+
+ The number of infinite Kronecker blocks =   5
+
+ Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
+  1    1    1    1    3
+
+ The number of right Kronecker indices =   1
+
+ Right Kronecker indices of [A-lambda*E,B;C,D] are 
+  2
+
+ The number of left Kronecker indices =   1
+
+ The left Kronecker indices of [A-lambda*E,B;C,D] are 
+  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/AG8BYZ.html b/doc/_static/doc/AG8BYZ.html
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+<HTML>
+<HEAD><TITLE>AG8BYZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="AG8BYZ">AG8BYZ</A></H2>
+<H3>
+Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To extract from the (N+P)-by-(M+N) descriptor system pencil
+
+     S(lambda) = ( B   A - lambda*E  )
+                 ( D        C        )
+
+  with E nonsingular and upper triangular a
+  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
+
+                        ( Br  Ar-lambda*Er )
+           Sr(lambda) = (                  )
+                        ( Dr     Cr        )
+
+  having the same finite Smith zeros as the pencil
+  S(lambda) but with Dr, a PR-by-M full row rank
+  left upper trapezoidal matrix, and Er, an NR-by-NR
+  upper triangular nonsingular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE AG8BYZ( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
+     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
+     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DINFZ, INFO, LDABCD, LDE, LZWORK, M, N, NINFZ,
+     $                   NKRONL, NR, P, PR
+      DOUBLE PRECISION   SVLMAX, TOL
+      LOGICAL            FIRST
+C     .. Array Arguments ..
+      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
+      DOUBLE PRECISION   DWORK( * )
+      COMPLEX*16         ABCD( LDABCD, * ), E( LDE, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FIRST   LOGICAL
+          Specifies if AG8BYZ is called first time or it is called
+          for an already reduced system, with D full column rank
+          with the last M rows in upper triangular form:
+          FIRST = .TRUE.,  first time called;
+          FIRST = .FALSE., not first time called.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of matrix B, the number of columns of
+          matrix C and the order of square matrices A and E.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrices B and D.  M &gt;= 0.
+          M &lt;= P if FIRST = .FALSE. .
+
+  P       (input) INTEGER
+          The number of rows of matrices C and D.  P &gt;= 0.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          During each reduction step, the rank-revealing QR
+          factorization of a matrix stops when the estimated minimum
+          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
+          where EMSV is the estimated maximum singular value.
+          SVLMAX &gt;= 0.
+
+  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
+          On entry, the leading (N+P)-by-(M+N) part of this array
+          must contain the compound matrix
+                   (  B   A  ) ,
+                   (  D   C  )
+          where A is an N-by-N matrix, B is an N-by-M matrix,
+          C is a P-by-N matrix and D is a P-by-M matrix.
+          If FIRST = .FALSE., then D must be a full column
+          rank matrix with the last M rows in upper triangular form.
+          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
+          contains the reduced compound matrix
+                    (  Br  Ar ) ,
+                    (  Dr  Cr )
+          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
+          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
+          left upper trapezoidal matrix with the first PR columns
+          in upper triangular form.
+
+  LDABCD  INTEGER
+          The leading dimension of array ABCD.
+          LDABCD &gt;= MAX(1,N+P).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular nonsingular matrix E.
+          On exit, the leading NR-by-NR part contains the reduced
+          upper triangular nonsingular matrix Er.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ar and Er; also the
+          number of rows of the reduced matrix Br and the number
+          of columns of the reduced matrix Cr.
+          If Dr is invertible, NR is also the number of finite
+          Smith zeros.
+
+  PR      (output) INTEGER
+          The rank of the resulting matrix Dr; also the number of
+          rows of reduced matrices Cr and Dr.
+
+  NINFZ   (output) INTEGER
+          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
+
+  DINFZ   (output) INTEGER
+          The maximal multiplicity of infinite zeros.
+          DINFZ = 0 if FIRST = .FALSE. .
+
+  NKRONL  (output) INTEGER
+          The maximal dimension of left elementary Kronecker blocks.
+
+  INFZ    (output) INTEGER array, dimension (N)
+          INFZ(i) contains the number of infinite zeros of
+          degree i, where i = 1,2,...,DINFZ.
+          INFZ is not referenced if FIRST = .FALSE. .
+
+  KRONL   (output) INTEGER array, dimension (N+1)
+          KRONL(i) contains the number of left elementary Kronecker
+          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR (or RQ) factorization with column (or row) pivoting
+          whose estimated condition number is less than 1/TOL.
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
+          instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
+          less than those defined above (see SVLMAX).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FIRST = .FALSE., IWORK is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          LDWORK &gt;= 2*MAX(M,P), if FIRST = .TRUE.;
+          LDWORK &gt;= 2*P,        if FIRST = .FALSE. .
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= 1, if P = 0; otherwise
+          LZWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 3*P ),
+                                          if FIRST = .TRUE.;
+          LZWORK &gt;= MAX( 1, N+M-1, 3*P ), if FIRST = .FALSE. .
+          The second term is not needed if M = 0.
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] P. Misra, P. Van Dooren and A. Varga.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( (P+N)*(M+N)*N )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite zeros is computed as
+
+                DINFZ
+     NINFZ =     Sum  (INFZ(i)*i) .
+                 i=1
+  Note that each infinite zero of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+  The multiplicities of the infinite eigenvalues can be determined
+  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
+
+                  DINFZ
+  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
+                   i=1
+
+  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
+    for i = 1, ..., DINFZ.
+
+  The left Kronecker indices are:
+
+  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
+  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/BB01AD.html b/doc/_static/doc/BB01AD.html
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+<HTML>
+<HEAD><TITLE>BB01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB01AD">BB01AD</A></H2>
+<H3>
+Benchmark examples for continuous-time algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate the benchmark examples for the numerical solution of
+  continuous-time algebraic Riccati equations (CAREs) of the form
+
+    0 = Q + A'X + XA - XGX
+
+  corresponding to the Hamiltonian matrix
+
+         (  A   G  )
+     H = (       T ).
+         (  Q  -A  )
+
+  A,G,Q,X are real N-by-N matrices, Q and G are symmetric and may
+  be given in factored form
+
+                -1 T                         T
+   (I)   G = B R  B  ,           (II)   Q = C W C .
+
+  Here, C is P-by-N, W P-by-P, B N-by-M, and R M-by-M, where W
+  and R are symmetric. In linear-quadratic optimal control problems,
+  usually W is positive semidefinite and R positive definite.  The
+  factorized form can be used if the CARE is solved using the
+  deflating subspaces of the extended Hamiltonian pencil
+
+               (  A   0   B  )       (  I   0   0  )
+               (       T     )       (             )
+     H - s K = (  Q   A   0  )  -  s (  0  -I   0  ) ,
+               (       T     )       (             )
+               (  0   B   R  )       (  0   0   0  )
+
+  where I and 0 denote the identity and zero matrix, respectively,
+  of appropriate dimensions.
+
+  NOTE: the formulation of the CARE and the related matrix (pencils)
+        used here does not include CAREs as they arise in robust
+        control (H_infinity optimization).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB01AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
+     1                  A, LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX,
+     2                  DWORK, LDWORK, INFO)
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDG, LDQ, LDWORK, LDX, M, N,
+     $                 P
+      CHARACTER        DEF
+C     .. Array Arguments ..
+      INTEGER          IPAR(4), NR(2)
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
+     1                 G(*), Q(*), X(LDX,*)
+      CHARACTER        CHPAR*(*)
+      LOGICAL          BPAR(6), VEC(9)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER
+          This parameter specifies if the default parameters are
+          to be used or not.
+          = 'N' or 'n' : The parameters given in the input vectors
+                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
+          = 'D' or 'd' : The default parameters for the example
+                         are used.
+          This parameter is not meaningful if NR(1) = 1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          This array determines the example for which CAREX returns
+          data. NR(1) is the group of examples.
+          NR(1) = 1 : parameter-free problems of fixed size.
+          NR(1) = 2 : parameter-dependent problems of fixed size.
+          NR(1) = 3 : parameter-free problems of scalable size.
+          NR(1) = 4 : parameter-dependent problems of scalable size.
+          NR(2) is the number of the example in group NR(1).
+          Let NEXi be the number of examples in group i. Currently,
+          NEX1 = 6, NEX2 = 9, NEX3 = 2, NEX4 = 4.
+          1 &lt;= NR(1) &lt;= 4;
+          1 &lt;= NR(2) &lt;= NEXi , where i = NR(1).
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
+          Double precision parameter vector. For explanation of the
+          parameters see [1].
+          DPAR(1)           : defines the parameters
+                              'delta' for NR(1) = 3,
+                              'q' for NR(1).NR(2) = 4.1,
+                              'a' for NR(1).NR(2) = 4.2, and
+                              'mu' for NR(1).NR(2) = 4.3.
+          DPAR(2)           : defines parameters
+                              'r' for NR(1).NR(2) = 4.1,
+                              'b' for NR(1).NR(2) = 4.2, and
+                              'delta' for NR(1).NR(2) = 4.3.
+          DPAR(3)           : defines parameters
+                              'c' for NR(1).NR(2) = 4.2 and
+                              'kappa' for NR(1).NR(2) = 4.3.
+          DPAR(j), j=4,5,6,7: These arguments are only used to
+                              generate Example 4.2 and define in
+                              consecutive order the intervals
+                              ['beta_1', 'beta_2'],
+                              ['gamma_1', 'gamma_2'].
+          NOTE that if DEF = 'D' or 'd', the values of DPAR entries
+          on input are ignored and, on output, they are overwritten
+          with the default parameters.
+
+  IPAR    (input/output) INTEGER array, dimension (4)
+          On input, IPAR(1) determines the actual state dimension,
+          i.e., the order of the matrix A as follows, where
+          NO = NR(1).NR(2).
+          NR(1) = 1 or 2.1-2.8: IPAR(1) is ignored.
+          NO = 2.9            : IPAR(1) = 1 generates the CARE for
+                                optimal state feedback (default);
+                                IPAR(1) = 2 generates the Kalman
+                                filter CARE.
+          NO = 3.1            : IPAR(1) is the number of vehicles
+                                (parameter 'l' in the description
+                                 in [1]).
+          NO = 3.2, 4.1 or 4.2: IPAR(1) is the order of the matrix
+                                A.
+          NO = 4.3 or 4.4     : IPAR(1) determines the dimension of
+                                the second-order system, i.e., the
+                                order of the stiffness matrix for
+                                Examples 4.3 and 4.4 (parameter 'l'
+                                in the description in [1]).
+
+          The order of the output matrix A is N = 2*IPAR(1) for
+          Example 4.3 and N = 2*IPAR(1)-1 for Examples 3.1 and 4.4.
+          NOTE that IPAR(1) is overwritten for Examples 1.1-2.8. For
+          the other examples, IPAR(1) is overwritten if the default
+          parameters are to be used.
+          On output, IPAR(1) contains the order of the matrix A.
+
+          On input, IPAR(2) is the number of colums in the matrix B
+          in (I) (in control problems, the number of inputs of the
+          system). Currently, IPAR(2) is fixed or determined by
+          IPAR(1) for all examples and thus is not referenced on
+          input.
+          On output, IPAR(2) is the number of columns of the
+          matrix B from (I).
+          NOTE that currently IPAR(2) is overwritten and that
+          rank(G) &lt;= IPAR(2).
+
+          On input, IPAR(3) is the number of rows in the matrix C
+          in (II) (in control problems, the number of outputs of the
+          system). Currently, IPAR(3) is fixed or determined by
+          IPAR(1) for all examples and thus is not referenced on
+          input.
+          On output, IPAR(3) contains the number of rows of the
+          matrix C in (II).
+          NOTE that currently IPAR(3) is overwritten and that
+          rank(Q) &lt;= IPAR(3).
+
+          On input, if NR(1) = NR(2) = 4, and other data file than
+          that used by default is desired, then IPAR(4) is the
+          length of the character string in CHPAR specifying the
+          file name.
+
+  BPAR    (input) BOOLEAN array, dimension (6)
+          This array defines the form of the output of the examples
+          and the storage mode of the matrices G and Q.
+          BPAR(1) = .TRUE.  : G is returned.
+          BPAR(1) = .FALSE. : G is returned in factored form, i.e.,
+                              B and R from (I) are returned.
+          BPAR(2) = .TRUE.  : The matrix returned in array G (i.e.,
+                              G if BPAR(1) = .TRUE. and R if
+                              BPAR(1) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(2) = .FALSE. : The matrix returned in array G is
+                              provided in packed storage mode.
+          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
+                              returned in array G is stored in upper
+                              packed mode, i.e., the upper triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              G(i,j) is stored in the array entry
+                              G(i+j*(j-1)/2) for i &lt;= j.
+                              Otherwise, this entry is ignored.
+          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
+                              returned in array G is stored in lower
+                              packed mode, i.e., the lower triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              G(i,j) is stored in the array entry
+                              G(i+(2*n-j)*(j-1)/2) for j &lt;= i.
+                              Otherwise, this entry is ignored.
+          BPAR(4) = .TRUE.  : Q is returned.
+          BPAR(4) = .FALSE. : Q is returned in factored form, i.e.,
+                              C and W from (II) are returned.
+          BPAR(5) = .TRUE.  : The matrix returned in array Q (i.e.,
+                              Q if BPAR(4) = .TRUE. and W if
+                              BPAR(4) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(5) = .FALSE. : The matrix returned in array Q is
+                              provided in packed storage mode.
+          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
+                              returned in array Q is stored in upper
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
+                              returned in array Q is stored in lower
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          NOTE that there are no default values for BPAR.  If all
+          entries are declared to be .TRUE., then matrices G and Q
+          are returned in conventional storage mode, i.e., as
+          N-by-N arrays where the array element Z(I,J) contains the
+          matrix entry Z_{i,j}.
+
+  CHPAR   (input/output) CHARACTER*255
+          On input, this is the name of a data file supplied by the
+          user.
+          In the current version, only Example 4.4 allows a
+          user-defined data file. This file must contain
+          consecutively DOUBLE PRECISION vectors mu, delta, gamma,
+          and kappa. The length of these vectors is determined by
+          the input value for IPAR(1).
+          If on entry, IPAR(1) = L, then mu and delta must each
+          contain L DOUBLE PRECISION values, and gamma and kappa
+          must each contain L-1 DOUBLE PRECISION values.
+          On output, this string contains short information about
+          the chosen example.
+
+  VEC     (output) LOGICAL array, dimension (9)
+          Flag vector which displays the availability of the output
+          data:
+          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
+          are always .TRUE.
+          VEC(4) refers to A and is always .TRUE.
+          VEC(5) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors B
+          and R from (I) are returned.
+          VEC(6) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors C
+          and W from (II) are returned.
+          VEC(7) refers to G and is always .TRUE.
+          VEC(8) refers to Q and is always .TRUE.
+          VEC(9) refers to X and is .TRUE. if the exact solution
+          matrix is available.
+          NOTE that VEC(i) = .FALSE. for i = 1 to 9 if on exit
+          INFO .NE. 0.
+
+  N       (output) INTEGER
+          The order of the matrices A, X, G if BPAR(1) = .TRUE., and
+          Q if BPAR(4) = .TRUE.
+
+  M       (output) INTEGER
+          The number of columns in the matrix B (or the dimension of
+          the control input space of the underlying dynamical
+          system).
+
+  P       (output) INTEGER
+          The number of rows in the matrix C (or the dimension of
+          the output space of the underlying dynamical system).
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          coefficient matrix A of the CARE.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If (BPAR(1) = .FALSE.), then the leading N-by-M part of
+          this array contains the matrix B of the factored form (I)
+          of G. Otherwise, B is used as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          If (BPAR(4) = .FALSE.), then the leading P-by-N part of
+          this array contains the matrix C of the factored form (II)
+          of Q. Otherwise, C is used as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= P, where P is the number of rows of the matrix C,
+          i.e., the output value of IPAR(3). (For all examples,
+          P &lt;= N, where N equals the output value of the argument
+          IPAR(1), i.e., LDC &gt;= LDA is always safe.)
+
+  G       (output) DOUBLE PRECISION array, dimension (NG)
+          If (BPAR(2) = .TRUE.)  then NG = LDG*N.
+          If (BPAR(2) = .FALSE.) then NG = N*(N+1)/2.
+          If (BPAR(1) = .TRUE.), then array G contains the
+          coefficient matrix G of the CARE.
+          If (BPAR(1) = .FALSE.), then array G contains the 'control
+          weighting matrix' R of G's factored form as in (I). (For
+          all examples, M &lt;= N.) The symmetric matrix contained in
+          array G is stored according to BPAR(2) and BPAR(3).
+
+  LDG     INTEGER
+          If conventional storage mode is used for G, i.e.,
+          BPAR(2) = .TRUE., then G is stored like a 2-dimensional
+          array with leading dimension LDG. If packed symmetric
+          storage mode is used, then LDG is not referenced.
+          LDG &gt;= N if BPAR(2) = .TRUE..
+
+  Q       (output) DOUBLE PRECISION array, dimension (NQ)
+          If (BPAR(5) = .TRUE.)  then NQ = LDQ*N.
+          If (BPAR(5) = .FALSE.) then NQ = N*(N+1)/2.
+          If (BPAR(4) = .TRUE.), then array Q contains the
+          coefficient matrix Q of the CARE.
+          If (BPAR(4) = .FALSE.), then array Q contains the 'output
+          weighting matrix' W of Q's factored form as in (II).
+          The symmetric matrix contained in array Q is stored
+          according to BPAR(5) and BPAR(6).
+
+  LDQ     INTEGER
+          If conventional storage mode is used for Q, i.e.,
+          BPAR(5) = .TRUE., then Q is stored like a 2-dimensional
+          array with leading dimension LDQ. If packed symmetric
+          storage mode is used, then LDQ is not referenced.
+          LDQ &gt;= N if BPAR(5) = .TRUE..
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,IPAR(1))
+          If an exact solution is available (NR = 1.1, 1.2, 2.1,
+          2.3-2.6, 3.2), then the leading N-by-N part of this array
+          contains the solution matrix X in conventional storage
+          mode. Otherwise, X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 1, and
+          LDX &gt;= N if NR = 1.1, 1.2, 2.1, 2.3-2.6, 3.2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= N*MAX(4,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0 : successful exit;
+          &lt; 0 : if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : data file could not be opened or had wrong format;
+          = 2 : division by zero;
+          = 3 : G can not be computed as in (I) due to a singular R
+                matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Abels, J. and Benner, P.
+      CAREX - A Collection of Benchmark Examples for Continuous-Time
+      Algebraic Riccati Equations (Version 2.0).
+      SLICOT Working Note 1999-14, November 1999. Available from
+      http://www.win.tue.nl/niconet/NIC2/reports.html.
+
+  This is an updated and extended version of
+
+  [2] Benner, P., Laub, A.J., and Mehrmann, V.
+      A Collection of Benchmark Examples for the Numerical Solution
+      of Algebraic Riccati Equations I: Continuous-Time Case.
+      Technical Report SPC 95_22, Fak. f. Mathematik,
+      TU Chemnitz-Zwickau (Germany), October 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If the original data as taken from the literature is given via
+  matrices G and Q, but factored forms are requested as output, then
+  these factors are obtained from Cholesky or LDL' decompositions of
+  G and Q, i.e., the output data will be corrupted by roundoff
+  errors.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Some benchmark examples read data from the data files provided
+  with the collection.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     BB01AD EXAMPLE PROGRAM TEXT
+*
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
+      INTEGER          LDA, LDB, LDC, LDG, LDQ, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDG = NMAX, LDQ = NMAX, LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*MAX( 4, NMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
+     $                 DPAR(7), DWORK(LDWORK), G(LDG, NMAX),
+     $                 Q(LDQ, NMAX), X(LDX, NMAX)
+      INTEGER          IPAR(4), NR(2)
+      LOGICAL          BPAR(6), VEC(9)
+      CHARACTER        CHPAR*255
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         BB01AD, MA02DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ( NIN, FMT = '()' )
+      READ( NIN, FMT = * ) DEF
+      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
+      IF( LSAME( DEF, 'N' ) ) THEN
+        READ( NIN, FMT = * ) LBPAR
+        IF( LBPAR.GT.0 )  READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
+        READ( NIN, FMT = * ) LDPAR
+        IF( LDPAR.GT.0 )  READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
+        READ( NIN, FMT = * ) LIPAR
+        IF( LIPAR.GT.0 )  READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
+      END IF
+*     Generate benchmark example
+      CALL BB01AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
+     $             LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX, DWORK,
+     $             LDWORK, INFO )
+*
+      IF( INFO.NE.0 ) THEN
+        WRITE( NOUT, FMT = 99998 ) INFO
+      ELSE
+        WRITE( NOUT, FMT = * ) CHPAR(1:70)
+        WRITE( NOUT, FMT = 99997 ) N
+        WRITE( NOUT, FMT = 99996 ) M
+        WRITE( NOUT, FMT = 99995 ) P
+        WRITE( NOUT, FMT = 99994 )
+        DO 10  I = 1, N
+          WRITE( NOUT, FMT = 99979 ) ( A(I,J), J = 1, N )
+   10   CONTINUE
+        IF( VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99993 )
+          DO 20  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( B(I,J), J = 1, M )
+   20     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99992 )
+        END IF
+        IF( VEC(6) ) THEN
+          WRITE( NOUT,FMT = 99991 )
+          DO 30  I = 1, P
+            WRITE( NOUT, FMT = 99979 ) ( C(I,J), J = 1, N )
+   30     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99990 )
+        END IF
+        IF( .NOT.VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99989 )
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, G, LDG, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, G, LDG, DWORK )
+            END IF
+          END IF
+          DO 40  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
+   40     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99988 )
+        END IF
+        IF( .NOT.VEC(6) ) THEN
+          IF( .NOT. BPAR(5) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99987 )
+          DO 50  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
+   50     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99986 )
+        END IF
+        IF( VEC(6) ) THEN
+          IF( .NOT.BPAR(5) ) THEN
+            ISYMM = ( P * ( P + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99985 )
+          DO 60  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
+   60     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99984 )
+        END IF
+        IF( VEC(5) ) THEN
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( M * ( M + 1 ) ) / 2
+            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', M, G, LDG, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', M, G, LDG, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99983 )
+          DO 70  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
+   70     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99982 )
+        END IF
+        IF( VEC(9) ) THEN
+          WRITE( NOUT, FMT = 99981 )
+          DO 80  I = 1, N
+            WRITE( NOUT, FMT = 99979 ) ( X(I,J), J = 1, N )
+   80     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99980 )
+        END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' BB01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB03AD = ', I3)
+99997 FORMAT (/' Order of matrix A:              N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
+99994 FORMAT (' A  = ')
+99993 FORMAT (' B  = ')
+99992 FORMAT (' B is not provided.')
+99991 FORMAT (' C  = ')
+99990 FORMAT (' C is not provided.')
+99989 FORMAT (' G  = ')
+99988 FORMAT (' G is not provided.')
+99987 FORMAT (' Q  = ')
+99986 FORMAT (' Q is not provided.')
+99985 FORMAT (' W  = ')
+99984 FORMAT (' W is not provided.')
+99983 FORMAT (' R  = ')
+99982 FORMAT (' R is not provided.')
+99981 FORMAT (' X  = ')
+99980 FORMAT (' X is not provided.')
+99979 FORMAT (20(1X,F8.4))
+*
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB01AD EXAMPLE PROGRAM DATA
+N
+2 3
+6
+.T. .T. .T. .F. .F. .T.
+1
+.1234
+0
+
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB01AD EXAMPLE PROGRAM RESULTS
+
+ Kenney/Laub/Wette 1989, Ex.2: ARE ill conditioned for EPS -> oo       
+
+ Order of matrix A:              N  =   2
+ Number of columns in matrix B:  M  =   1
+ Number of rows in matrix C:     P  =   2
+ A  = 
+   0.0000   0.1234
+   0.0000   0.0000
+ B is not provided.
+ C  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ G  = 
+   0.0000   0.0000
+   0.0000   1.0000
+ Q is not provided.
+ W  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ R is not provided.
+ X  = 
+   9.0486   1.0000
+   1.0000   1.1166
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/BB02AD.html b/doc/_static/doc/BB02AD.html
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+<HTML>
+<HEAD><TITLE>BB02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB02AD">BB02AD</A></H2>
+<H3>
+Benchmark examples for discrete-time algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate the benchmark examples for the numerical solution of
+  discrete-time algebraic Riccati equations (DAREs) of the form
+
+         T                T               T    -1  T       T
+  0  =  A X A  -  X  -  (A X B + S) (R + B X B)  (B X A + S )  +  Q
+
+  as presented in [1]. Here, A,Q,X are real N-by-N matrices, B,S are
+  N-by-M, and R is M-by-M. The matrices Q and R are symmetric and Q
+  may be given in factored form
+
+                T
+  (I)    Q  =  C Q0 C .
+
+  Here, C is P-by-N and Q0 is P-by-P. If R is nonsingular and S = 0,
+  the DARE can be rewritten equivalently as
+
+               T             -1
+  0  =  X  -  A X (I_n + G X)  A  -  Q,
+
+  where I_n is the N-by-N identity matrix and
+
+                -1  T
+  (II)   G = B R   B .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB02AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
+     1                  A, LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS,
+     2                  X, LDX, DWORK, LDWORK, INFO)
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDQ, LDR, LDS, LDWORK, LDX,
+     $                 M, N, P
+      CHARACTER        DEF
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
+     1                 Q(*), R(*), S(LDS,*), X(LDX,*)
+      INTEGER          IPAR(3), NR(2)
+      CHARACTER        CHPAR*255
+      LOGICAL          BPAR(7), VEC(10)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER
+          This parameter specifies if the default parameters are
+          to be used or not.
+          = 'N' or 'n' : The parameters given in the input vectors
+                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
+          = 'D' or 'd' : The default parameters for the example
+                         are used.
+          This parameter is not meaningful if NR(1) = 1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          This array determines the example for which DAREX returns
+          data. NR(1) is the group of examples.
+          NR(1) = 1 : parameter-free problems of fixed size.
+          NR(1) = 2 : parameter-dependent problems of fixed size.
+          NR(1) = 3 : parameter-free problems of scalable size.
+          NR(1) = 4 : parameter-dependent problems of scalable size.
+          NR(2) is the number of the example in group NR(1).
+          Let NEXi be the number of examples in group i. Currently,
+          NEX1 = 13, NEX2 = 5, NEX3 = 0, NEX4 = 1.
+          1 &lt;= NR(1) &lt;= 4;
+          0 &lt;= NR(2) &lt;= NEXi, where i = NR(1).
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (4)
+          Double precision parameter vector. For explanation of the
+          parameters see [1].
+          DPAR(1) defines the parameter 'epsilon' for
+          examples NR = 2.2,2.3,2.4, the parameter 'tau'
+          for NR = 2.5, and the 1-by-1 matrix R for NR = 2.1,4.1.
+          For Example 2.5, DPAR(2) - DPAR(4) define in
+          consecutive order 'D', 'K', and 'r'.
+          NOTE that DPAR is overwritten with default values
+          if DEF = 'D' or 'd'.
+
+  IPAR    (input/output) INTEGER array, dimension (3)
+          On input, IPAR(1) determines the actual state dimension,
+          i.e., the order of the matrix A as follows:
+          NR(1) = 1, NR(1) = 2   : IPAR(1) is ignored.
+          NR = NR(1).NR(2) = 4.1 : IPAR(1) determines the order of
+                                   the output matrix A.
+          NOTE that IPAR(1) is overwritten for Examples 1.1-2.3. For
+          the other examples, IPAR(1) is overwritten if the default
+          parameters are to be used.
+          On output, IPAR(1) contains the order of the matrix A.
+
+          On input, IPAR(2) is the number of colums in the matrix B
+          and the order of the matrix R (in control problems, the
+          number of inputs of the system). Currently, IPAR(2) is
+          fixed for all examples and thus is not referenced on
+          input.
+          On output, IPAR(2) is the number of columns of the
+          matrix B from (I).
+
+          On input, IPAR(3) is the number of rows in the matrix C
+          (in control problems, the number of outputs of the
+          system). Currently, IPAR(3) is fixed for all examples
+          and thus is not referenced on input.
+          On output, IPAR(3) is the number of rows of the matrix C
+          from (I).
+
+          NOTE that IPAR(2) and IPAR(3) are overwritten and
+          IPAR(2) &lt;= IPAR(1) and IPAR(3) &lt;= IPAR(1) for all
+          examples.
+
+  BPAR    (input) LOGICAL array, dimension (7)
+          This array defines the form of the output of the examples
+          and the storage mode of the matrices Q, G or R.
+          BPAR(1) = .TRUE.  : Q is returned.
+          BPAR(1) = .FALSE. : Q is returned in factored form, i.e.,
+                              Q0 and C from (I) are returned.
+          BPAR(2) = .TRUE.  : The matrix returned in array Q (i.e.,
+                              Q if BPAR(1) = .TRUE. and Q0 if
+                              BPAR(1) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(2) = .FALSE. : The matrix returned in array Q is
+                              provided in packed storage mode.
+          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
+                              returned in array Q is stored in upper
+                              packed mode, i.e., the upper triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              Q(i,j) is stored in the array entry
+                              Q(i+j*(j-1)/2) for i &lt;= j.
+                              Otherwise, this entry is ignored.
+          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
+                              returned in array Q is stored in lower
+                              packed mode, i.e., the lower triangle
+                              of a symmetric n-by-n matrix is stored
+                              by columns, e.g., the matrix entry
+                              Q(i,j) is stored in the array entry
+                              Q(i+(2*n-j)*(j-1)/2) for j &lt;= i.
+                              Otherwise, this entry is ignored.
+          BPAR(4) = .TRUE.  : The product G in (II) is returned.
+          BPAR(4) = .FALSE. : G is returned in factored form, i.e.,
+                              B and R from (II) are returned.
+          BPAR(5) = .TRUE.  : The matrix returned in array R (i.e.,
+                              G if BPAR(4) = .TRUE. and R if
+                              BPAR(4) = .FALSE.) is stored as full
+                              matrix.
+          BPAR(5) = .FALSE. : The matrix returned in array R is
+                              provided in packed storage mode.
+          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
+                              returned in array R is stored in upper
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
+                              returned in array R is stored in lower
+                              packed mode (see above).
+                              Otherwise, this entry is ignored.
+          BPAR(7) = .TRUE.  : The coefficient matrix S of the DARE
+                              is returned in array S.
+          BPAR(7) = .FALSE. : The coefficient matrix S of the DARE
+                              is not returned.
+          NOTE that there are no default values for BPAR.  If all
+          entries are declared to be .TRUE., then matrices Q, G or R
+          are returned in conventional storage mode, i.e., as
+          N-by-N or M-by-M arrays where the array element Z(I,J)
+          contains the matrix entry Z_{i,j}.
+
+  CHPAR   (output) CHARACTER*255
+          On output, this string contains short information about
+          the chosen example.
+
+  VEC     (output) LOGICAL array, dimension (10)
+          Flag vector which displays the availability of the output
+          data:
+          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
+          are always .TRUE.
+          VEC(4) refers to A and is always .TRUE.
+          VEC(5) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors B
+          and R from (II) are returned.
+          VEC(6) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors C
+          and Q0 from (I) are returned.
+          VEC(7) refers to Q and is always .TRUE.
+          VEC(8) refers to R and is always .TRUE.
+          VEC(9) is .TRUE. if BPAR(7) = .TRUE., i.e., the matrix S
+          is returned.
+          VEC(10) refers to X and is .TRUE. if the exact solution
+          matrix is available.
+          NOTE that VEC(i) = .FALSE. for i = 1 to 10 if on exit
+          INFO .NE. 0.
+
+  N       (output) INTEGER
+          The order of the matrices A, X, G if BPAR(4) = .TRUE., and
+          Q if BPAR(1) = .TRUE.
+
+  M       (output) INTEGER
+          The number of columns in the matrix B (or the dimension of
+          the control input space of the underlying dynamical
+          system).
+
+  P       (output) INTEGER
+          The number of rows in the matrix C (or the dimension of
+          the output space of the underlying dynamical system).
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          coefficient matrix A of the DARE.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If (BPAR(4) = .FALSE.), then the leading N-by-M part
+          of this array contains the coefficient matrix B of
+          the DARE.  Otherwise, B is used as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          If (BPAR(1) = .FALSE.), then the leading P-by-N part
+          of this array contains the matrix C of the factored
+          form (I) of Q.  Otherwise, C is used as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= P.
+
+  Q       (output) DOUBLE PRECISION array, dimension (NQ)
+          If (BPAR(1) = .TRUE.) and (BPAR(2) = .TRUE.), then
+          NQ = LDQ*N.
+          IF (BPAR(1) = .TRUE.) and (BPAR(2) = .FALSE.), then
+          NQ = N*(N+1)/2.
+          If (BPAR(1) = .FALSE.) and (BPAR(2) = .TRUE.), then
+          NQ = LDQ*P.
+          IF (BPAR(1) = .FALSE.) and (BPAR(2) = .FALSE.), then
+          NQ = P*(P+1)/2.
+          The symmetric matrix contained in array Q is stored
+          according to BPAR(2) and BPAR(3).
+
+  LDQ     INTEGER
+          If conventional storage mode is used for Q, i.e.,
+          BPAR(2) = .TRUE., then Q is stored like a 2-dimensional
+          array with leading dimension LDQ. If packed symmetric
+          storage mode is used, then LDQ is irrelevant.
+          LDQ &gt;= N if BPAR(1) = .TRUE.;
+          LDQ &gt;= P if BPAR(1) = .FALSE..
+
+  R       (output) DOUBLE PRECISION array, dimension (MR)
+          If (BPAR(4) = .TRUE.) and (BPAR(5) = .TRUE.), then
+          MR = LDR*N.
+          IF (BPAR(4) = .TRUE.) and (BPAR(5) = .FALSE.), then
+          MR = N*(N+1)/2.
+          If (BPAR(4) = .FALSE.) and (BPAR(5) = .TRUE.), then
+          MR = LDR*M.
+          IF (BPAR(4) = .FALSE.) and (BPAR(5) = .FALSE.), then
+          MR = M*(M+1)/2.
+          The symmetric matrix contained in array R is stored
+          according to BPAR(5) and BPAR(6).
+
+  LDR     INTEGER
+          If conventional storage mode is used for R, i.e.,
+          BPAR(5) = .TRUE., then R is stored like a 2-dimensional
+          array with leading dimension LDR. If packed symmetric
+          storage mode is used, then LDR is irrelevant.
+          LDR &gt;= N  if BPAR(4) =  .TRUE.;
+          LDR &gt;= M  if BPAR(4) = .FALSE..
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,M)
+          If (BPAR(7) = .TRUE.), then the leading N-by-M part of
+          this array contains the coefficient matrix S of the DARE.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= 1, and
+          LDS &gt;= N if BPAR(7) = .TRUE..
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,NX)
+          If an exact solution is available (NR = 1.1,1.3,1.4,2.1,
+          2.3,2.4,2.5,4.1), then NX = N and the leading N-by-N part
+          of this array contains the solution matrix X.
+          Otherwise, X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 1, and
+          LDX &gt;= N if an exact solution is available.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= N*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0 : successful exit;
+          &lt; 0 : if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : data file could not be opened or had wrong format;
+          = 2 : division by zero;
+          = 3 : G can not be computed as in (II) due to a singular R
+                matrix. This error can only occur if
+                BPAR(4) = .TRUE..
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Abels, J. and Benner, P.
+      DAREX - A Collection of Benchmark Examples for Discrete-Time
+      Algebraic Riccati Equations (Version 2.0).
+      SLICOT Working Note 1999-16, November 1999. Available from
+      http://www.win.tue.nl/niconet/NIC2/reports.html.
+
+  This is an updated and extended version of
+
+  [2] Benner, P., Laub, A.J., and Mehrmann, V.
+      A Collection of Benchmark Examples for the Numerical Solution
+      of Algebraic Riccati Equations II: Discrete-Time Case.
+      Technical Report SPC 95_23, Fak. f. Mathematik,
+      TU Chemnitz-Zwickau (Germany), December 1995.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Some benchmark examples read data from the data files provided
+  with the collection.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     BB02AD EXAMPLE PROGRAM TEXT
+*
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
+      INTEGER          LDA, LDB, LDC, LDQ, LDR, LDS, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDQ = NMAX, LDR = NMAX, LDS = NMAX,
+     $                   LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*NMAX )
+*     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
+     $                 DPAR(4), DWORK(LDWORK), Q(LDQ, NMAX),
+     $                 R(LDR, NMAX), S(LDS, NMAX), X(LDX, NMAX)
+      INTEGER          IPAR(3), NR(2)
+      LOGICAL          BPAR(7), VEC(10)
+      CHARACTER        CHPAR(255)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         BB02AD, MA02DD
+*     .. Executable Statements ..
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ( NIN, FMT = '()' )
+      READ( NIN, FMT = * ) DEF
+      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
+      IF( LSAME( DEF, 'N' ) ) THEN
+        READ( NIN, FMT = * ) LBPAR
+        IF( LBPAR.GT.0 ) READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
+        READ( NIN, FMT = * ) LDPAR
+        IF( LDPAR.GT.0 ) READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
+        READ( NIN, FMT = * ) LIPAR
+        IF( LIPAR.GT.0 ) READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
+      END IF
+*     Generate benchmark example
+      CALL BB02AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
+     $             LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS, X, LDX,
+     $             DWORK, LDWORK, INFO )
+*
+      IF( INFO.NE.0 ) THEN
+        WRITE( NOUT, FMT = 99998 ) INFO
+      ELSE
+        WRITE( NOUT, FMT = * ) CHPAR(1:70)
+        WRITE( NOUT, FMT = 99997 ) N
+        WRITE( NOUT, FMT = 99996 ) M
+        WRITE( NOUT, FMT = 99995 ) P
+        WRITE( NOUT, FMT = 99994 )
+        DO 10  I = 1, N
+          WRITE( NOUT, FMT = 99977 ) ( A(I,J), J = 1, N )
+   10   CONTINUE
+        IF( VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99993 )
+          DO 20  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( B(I,J), J = 1, M )
+   20     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99992 )
+        END IF
+        IF( VEC(6) ) THEN
+          WRITE( NOUT,FMT = 99991 )
+          DO 30  I = 1, P
+            WRITE( NOUT, FMT = 99977 ) ( C(I,J), J = 1, N )
+   30     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99990 )
+        END IF
+        IF( .NOT.VEC(5) ) THEN
+          WRITE( NOUT, FMT = 99989 )
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, R, LDR, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, R, LDR, DWORK )
+            END IF
+          END IF
+          DO 40  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, N )
+   40     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99988 )
+        END IF
+        IF( .NOT.VEC(6) ) THEN
+          IF( .NOT.BPAR(5) ) THEN
+            ISYMM = ( N * ( N + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99987 )
+          DO 50  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, N )
+   50     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99986 )
+        END IF
+        IF( VEC(6) ) THEN
+          IF( .NOT.BPAR(5) ) THEN
+            ISYMM = ( P * ( P + 1 ) ) / 2
+            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
+            IF( BPAR(6) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99985 )
+          DO 60  I = 1, P
+            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, P )
+   60     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99984 )
+        END IF
+        IF( VEC(5) ) THEN
+          IF( .NOT.BPAR(2) ) THEN
+            ISYMM = ( M * ( M + 1 ) ) / 2
+            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
+            IF( BPAR(3) ) THEN
+              CALL MA02DD( 'Unpack', 'Upper', M, R, LDR, DWORK )
+            ELSE
+              CALL MA02DD( 'Unpack', 'Lower', M, R, LDR, DWORK )
+            END IF
+          END IF
+          WRITE( NOUT, FMT = 99983 )
+          DO 70  I = 1, M
+            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, M )
+   70     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99982 )
+        END IF
+        IF( VEC(9) ) THEN
+          WRITE( NOUT, FMT = 99981 )
+          DO 80  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( S(I,J), J = 1, M )
+   80     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99980 )
+        END IF
+        IF( VEC(10) ) THEN
+          WRITE( NOUT, FMT = 99979 )
+          DO 90  I = 1, N
+            WRITE( NOUT, FMT = 99977 ) ( X(I,J), J = 1, N )
+   90     CONTINUE
+        ELSE
+          WRITE( NOUT, FMT = 99978 )
+        END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' BB02AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB02AD = ', I3)
+99997 FORMAT (/' Order of matrix A:              N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
+99994 FORMAT (' A  = ')
+99993 FORMAT (' B  = ')
+99992 FORMAT (' B is not provided.')
+99991 FORMAT (' C  = ')
+99990 FORMAT (' C is not provided.')
+99989 FORMAT (' G  = ')
+99988 FORMAT (' G is not provided.')
+99987 FORMAT (' Q  = ')
+99986 FORMAT (' Q is not provided.')
+99985 FORMAT (' Q0  = ')
+99984 FORMAT (' Q0 is not provided.')
+99983 FORMAT (' R  = ')
+99982 FORMAT (' R is not provided.')
+99981 FORMAT (' S  = ')
+99980 FORMAT (' S is not provided.')
+99979 FORMAT (' X  = ')
+99978 FORMAT (' X is not provided.')
+99977 FORMAT (20(1X,F8.4))
+*
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB02AD EXAMPLE PROGRAM DATA
+N
+2 3
+7
+.T. .T. .T. .F. .F. .T. .T.
+1
+.1234
+0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB02AD EXAMPLE PROGRAM RESULTS
+
+ increasingly bad scaled system as eps -> oo                           
+
+ Order of matrix A:              N  =   2
+ Number of columns in matrix B:  M  =   1
+ Number of rows in matrix C:     P  =   2
+ A  = 
+   0.0000   0.1234
+   0.0000   0.0000
+ B  = 
+   0.0000
+   1.0000
+ C is not provided.
+ G is not provided.
+ Q  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ Q0 is not provided.
+ R  = 
+   1.0000
+ S  = 
+   0.0000
+   0.0000
+ X  = 
+   1.0000   0.0000
+   0.0000   1.0152
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/BB03AD.html b/doc/_static/doc/BB03AD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>BB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB03AD">BB03AD</A></H2>
+<H3>
+Benchmark examples of (generalized) continuous-time Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples of (generalized) continuous-time
+  Lyapunov equations
+
+     T           T
+    A  X  E  +  E  X A  =  Y .
+
+  In some examples, the right hand side has the form
+
+             T
+    Y  =  - B  B
+
+  and the solution can be represented as a product of Cholesky
+  factors
+
+           T
+    X  =  U  U .
+
+  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
+  that E can be the identity matrix. For some examples, B, X, or U
+  are not provided.
+
+  This routine is an implementation of the benchmark library
+  CTLEX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
+     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
+     2                  LDWORK, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
+     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          DEF = 'D' or 'd': Default values are used.
+          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension 2
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on real parameters, then the array DPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
+          respectively.
+          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
+          's', respectively.
+          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
+          't'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on real parameters, then the array DPAR is
+          overwritten by the default values given in [1].
+
+  IPAR    (input/output) INTEGER array of DIMENSION at least 1
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on integer parameters, then the array IPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
+          For Example 4.4, IPAR(1) defines 'q'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on integer parameters, then the array IPAR is
+          overwritten by the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension 8
+          Flag vector which displays the availability of the output
+          data:
+          VEC(1) and VEC(2) refer to N and M, respectively, and are
+          always .TRUE.
+          VEC(3) is .TRUE. iff E is NOT the identity matrix.
+          VEC(4) and VEC(5) refer to A and Y, respectively, and are
+          always .TRUE.
+          VEC(6) is .TRUE. iff B is provided.
+          VEC(7) is .TRUE. iff the solution matrix X is provided.
+          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of rows in the matrix B. If B is not provided
+          for the desired example, M = 0 is returned.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(3) = .FALSE.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the
+          matrix Y.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading M-by-N part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= M.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the
+          matrix X.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= N.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          matrix U.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
+          required.
+          For the other examples, no workspace is needed, i.e.,
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
+       CTLEX - a Collection of Benchmark Examples for Continuous-
+       Time Lyapunov Equations.
+       SLICOT Working Note 1999-6, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BB03AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX
+      PARAMETER        (NMAX = 100, MMAX = 100)
+      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
+      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
+     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
+     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
+     2                 DPAR(2), DWORK(LDWORK)
+      INTEGER          NR(2), IPAR(1)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BB03AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
+     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
+     2            INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        IF (VEC(3)) THEN
+          WRITE (NOUT, FMT = 99995)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99994)
+        END IF
+        WRITE (NOUT,FMT = 99993)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
+20      CONTINUE
+        IF (VEC(6)) THEN
+          WRITE (NOUT,FMT = 99992)
+          DO 30  I = 1, M
+            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
+30        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99991)
+        END IF
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, N
+          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(7)) THEN
+          WRITE (NOUT, FMT = 99989)
+          DO 50  I = 1, N
+            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+        IF (VEC(8)) THEN
+          WRITE (NOUT, FMT = 99987)
+          DO 60  I = 1, N
+            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
+60        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99986)
+        END IF
+      END IF
+C
+99999 FORMAT (' BB03AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB03AD = ', I3)
+99997 FORMAT (/' Order of matrix A:            N  = ', I3)
+99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
+99995 FORMAT (/' E  = ')
+99994 FORMAT (/' E is the identity matrix.')
+99993 FORMAT (' A  = ')
+99992 FORMAT (' B  = ')
+99991 FORMAT (' B is not provided.')
+99990 FORMAT (' Y  = ')
+99989 FORMAT (' X  = ')
+99988 FORMAT (' X is not provided.')
+99987 FORMAT (' U  = ')
+99986 FORMAT (' U is not provided.')
+99985 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB03AD EXAMPLE PROGRAM DATA
+N
+4 1
+2
+.15D1
+.15D1
+1
+5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB03AD EXAMPLE PROGRAM RESULTS
+
+ CTLEX: Example 4.1                                                    
+
+ Order of matrix A:            N  =   5
+ Number of rows in matrix B:   M  =   1
+
+ E is the identity matrix.
+ A  = 
+  -3.6360  -0.6921  -1.1933  -0.8137   0.3507
+   0.1406  -2.9375   0.9063   0.1562   0.3438
+  -2.5735  -1.4421  -2.8183  -1.1887   1.2257
+  -0.3779   0.0810   0.5544  -1.5891   0.0660
+   0.8961   1.1586   1.6279   0.5631  -2.2066
+ B  = 
+  -3.6914  -3.9753  -0.0247  -1.9012   1.1111
+ Y  = 
+ -13.6261 -14.6743  -0.0911  -7.0181   4.1015
+ -14.6743 -15.8031  -0.0982  -7.5580   4.4170
+  -0.0911  -0.0982  -0.0006  -0.0469   0.0274
+  -7.0181  -7.5580  -0.0469  -3.6147   2.1125
+   4.1015   4.4170   0.0274   2.1125  -1.2346
+ X  = 
+   1.7737   1.9307  -0.0703   1.0497  -0.4681
+   1.9307   2.1036  -0.0752   1.1489  -0.5069
+  -0.0703  -0.0752   0.0076  -0.0428   0.0178
+   1.0497   1.1489  -0.0428   0.6509  -0.2651
+  -0.4681  -0.5069   0.0178  -0.2651   0.1284
+ U is not provided.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/BB04AD.html b/doc/_static/doc/BB04AD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>BB04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BB04AD">BB04AD</A></H2>
+<H3>
+Benchmark examples of (generalized) discrete-time Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples of (generalized) discrete-time
+  Lyapunov equations
+
+     T           T
+    A  X  A  -  E  X E  =  Y .
+
+  In some examples, the right hand side has the form
+
+             T
+    Y  =  - B  B
+
+  and the solution can be represented as a product of Cholesky
+  factors
+
+           T
+    X  =  U  U .
+
+  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
+  that E can be the identity matrix. For some examples, B, X, or U
+  are not provided.
+
+  This routine is an implementation of the benchmark library
+  DTLEX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
+     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
+     2                  LDWORK, INFO)
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
+     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          DEF = 'D' or 'd': Default values are used.
+          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension 2
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on real parameters, then the array DPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
+          respectively.
+          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
+          's', respectively.
+          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
+          't'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on real parameters, then the array DPAR is
+          overwritten by the default values given in [1].
+
+  IPAR    (input/output) INTEGER array of DIMENSION at least 1
+          On entry, if DEF = 'N' or 'n' and the desired example
+          depends on integer parameters, then the array IPAR must
+          contain the values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
+          For Example 4.4, IPAR(1) defines 'q'.
+          On exit, if DEF = 'D' or 'd' and the desired example
+          depends on integer parameters, then the array IPAR is
+          overwritten by the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension 8
+          Flag vector which displays the availability of the output
+          data:
+          VEC(1) and VEC(2) refer to N and M, respectively, and are
+          always .TRUE.
+          VEC(3) is .TRUE. iff E is NOT the identity matrix.
+          VEC(4) and VEC(5) refer to A and Y, respectively, and are
+          always .TRUE.
+          VEC(6) is .TRUE. iff B is provided.
+          VEC(7) is .TRUE. iff the solution matrix X is provided.
+          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of rows in the matrix B. If B is not provided
+          for the desired example, M = 0 is returned.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(3) = .FALSE.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the
+          matrix Y.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading M-by-N part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= M.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the
+          matrix X.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= N.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          matrix U.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
+          required.
+          For the other examples, no workspace is needed, i.e.,
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
+       DTLEX - a Collection of Benchmark Examples for Discrete-
+       Time Lyapunov Equations.
+       SLICOT Working Note 1999-7, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BB04AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX
+      PARAMETER        (NMAX = 100, MMAX = 100)
+      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
+      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
+     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
+     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
+     2                 DPAR(2), DWORK(LDWORK)
+      INTEGER          NR(2), IPAR(1)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BB04AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
+     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
+     2            INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        IF (VEC(3)) THEN
+          WRITE (NOUT, FMT = 99995)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99994)
+        END IF
+        WRITE (NOUT,FMT = 99993)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
+20      CONTINUE
+        IF (VEC(6)) THEN
+          WRITE (NOUT,FMT = 99992)
+          DO 30  I = 1, M
+            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
+30        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99991)
+        END IF
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, N
+          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(7)) THEN
+          WRITE (NOUT, FMT = 99989)
+          DO 50  I = 1, N
+            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+        IF (VEC(8)) THEN
+          WRITE (NOUT, FMT = 99987)
+          DO 60  I = 1, N
+            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
+60        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99986)
+        END IF
+      END IF
+C
+99999 FORMAT (' BB04AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BB04AD = ', I3)
+99997 FORMAT (/' Order of matrix A:            N  = ', I3)
+99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
+99995 FORMAT (/' E  = ')
+99994 FORMAT (/' E is the identity matrix.')
+99993 FORMAT (' A  = ')
+99992 FORMAT (' B  = ')
+99991 FORMAT (' B is not provided.')
+99990 FORMAT (' Y  = ')
+99989 FORMAT (' X  = ')
+99988 FORMAT (' X is not provided.')
+99987 FORMAT (' U  = ')
+99986 FORMAT (' U is not provided.')
+99985 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BB04AD EXAMPLE PROGRAM DATA
+N
+4 1
+2
+.15D1
+.15D1
+1
+5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BB04AD EXAMPLE PROGRAM RESULTS
+
+ DTLEX: Example 4.1                                                    
+
+ Order of matrix A:            N  =   5
+ Number of rows in matrix B:   M  =   1
+
+ E is the identity matrix.
+ A  = 
+   0.4562   0.0308   0.1990   0.0861   0.0217
+   0.0637   0.5142  -0.1828   0.0096  -0.1148
+   0.3139   0.1287   0.3484   0.1653  -0.1975
+   0.1500   0.0053  -0.1838   0.2501  -0.0687
+   0.0568  -0.1006  -0.3735  -0.0202   0.2285
+ B  = 
+   0.3086   0.0247  -0.4691   0.1728  -0.3704
+ Y  = 
+  -0.0953  -0.0076   0.1448  -0.0533   0.1143
+  -0.0076  -0.0006   0.0116  -0.0043   0.0091
+   0.1448   0.0116  -0.2201   0.0811  -0.1738
+  -0.0533  -0.0043   0.0811  -0.0299   0.0640
+   0.1143   0.0091  -0.1738   0.0640  -0.1372
+ X  = 
+   0.0953   0.0076  -0.1448   0.0533  -0.1143
+   0.0076   0.0006  -0.0116   0.0043  -0.0091
+  -0.1448  -0.0116   0.2201  -0.0811   0.1738
+   0.0533   0.0043  -0.0811   0.0299  -0.0640
+  -0.1143  -0.0091   0.1738  -0.0640   0.1372
+ U is not provided.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/BD01AD.html b/doc/_static/doc/BD01AD.html
new file mode 100644
index 00000000..2268c1a8
--- /dev/null
+++ b/doc/_static/doc/BD01AD.html
@@ -0,0 +1,352 @@
+<HTML>
+<HEAD><TITLE>BD01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BD01AD">BD01AD</A></H2>
+<H3>
+Benchmark examples for time-invariant continuous-time dynamical systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples for time-invariant,
+  continuous-time dynamical systems
+
+      .
+    E x(t) = A x(t) + B u(t)
+
+      y(t) = C x(t) + D u(t)
+
+  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
+  D is P-by-M. In many examples, E is the identity matrix and D is
+  the zero matrix.
+
+  This routine is an implementation of the benchmark library
+  CTDSX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BD01AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
+     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
+     2                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
+     1                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          = 'D':  Default values defined in [1] are used;
+          = 'N':  Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
+          On entry, if DEF = 'N' and the desired example depends on
+          real parameters, then the array DPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 2.1 and 2.2, DPAR(1) defines the parameter
+          'epsilon'.
+          For Example 2.4, DPAR(1), ..., DPAR(7) define 'b', 'mu',
+          'r', 'r_c', 'k_l', 'sigma', 'a', respectively.
+          For Example 2.7, DPAR(1) and DPAR(2) define 'mu' and 'nu',
+          respectively.
+          For Example 4.1, DPAR(1), ..., DPAR(7) define 'a', 'b',
+          'c', 'beta_1', 'beta_2', 'gamma_1', 'gamma_2',
+          respectively.
+          For Example 4.2, DPAR(1), ..., DPAR(3) define 'mu',
+          'delta', 'kappa', respectively.
+          On exit, if DEF = 'D' and the desired example depends on
+          real parameters, then the array DPAR is overwritten by the
+          default values given in [1].
+
+  IPAR    (input/output) INTEGER array, dimension (1)
+          On entry, if DEF = 'N' and the desired example depends on
+          integer parameters, then the array IPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Examples 2.3, 2.5, and 2.6, IPAR(1) defines the
+          parameter 's'.
+          For Example 3.1, IPAR(1) defines 'q'.
+          For Examples 3.2 and 3.3, IPAR(1) defines 'n'.
+          For Example 3.4, IPAR(1) defines 'l'.
+          For Example 4.1, IPAR(1) defines 'n'.
+          For Example 4.2, IPAR(1) defines 'l'.
+          On exit, if DEF = 'D' and the desired example depends on
+          integer parameters, then the array IPAR is overwritten by
+          the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension (8)
+          Flag vector which displays the availabilty of the output
+          data:
+          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
+          and are always .TRUE..
+          VEC(4) is .TRUE. iff E is NOT the identity matrix.
+          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
+          and are always .TRUE..
+          VEC(8) is .TRUE. iff D is NOT the zero matrix.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of columns in the matrices B and D.
+
+  P       (output) INTEGER
+          The number of rows in the matrices C and D.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(4) = .FALSE..
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= P.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          matrix D.
+          NOTE that this array is overwritten (by the zero
+          matrix), if VEC(8) = .FALSE..
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= P.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          For Example 3.4, LDWORK &gt;= 4*IPAR(1) is required.
+          For the other examples, no workspace is needed, i.e.,
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value;
+          = 1:  data file can not be opened or has wrong format.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
+       CTDSX - a Collection of Benchmark Examples for State-Space
+       Realizations of Continuous-Time Dynamical Systems.
+       SLICOT Working Note 1998-9. 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BD01AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
+      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     1                  LDE = NMAX, LDWORK = 4*NMAX)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
+      INTEGER          NR(2), IPAR(7)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BD01AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BD01AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
+     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        WRITE (NOUT, FMT = 99995) P
+        IF (VEC(4)) THEN
+          WRITE (NOUT, FMT = 99994)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99993)
+        END IF
+        WRITE (NOUT,FMT = 99992)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
+20      CONTINUE
+        WRITE (NOUT,FMT = 99991)
+        DO 30  I = 1, N
+          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
+30      CONTINUE
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, P
+          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(8)) THEN
+          WRITE (NOUT,FMT = 99989)
+          DO 50  I = 1, P
+            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+      END IF
+C
+99999 FORMAT (' BD01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BD01AD = ', I3)
+99997 FORMAT (/' Order of matrix A:               N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
+99994 FORMAT (/' E  = ')
+99993 FORMAT (/' E is the identity matrix.')
+99992 FORMAT (' A  = ')
+99991 FORMAT (' B  = ')
+99990 FORMAT (' C  = ')
+99989 FORMAT (' D  = ')
+99988 FORMAT (' D is of zeros.')
+99987 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BD01AD EXAMPLE PROGRAM DATA
+D
+1 1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BD01AD EXAMPLE PROGRAM RESULTS
+
+ Laub 1979, Ex.1                                                       
+
+ Order of matrix A:               N  =   2
+ Number of columns in matrix B:   M  =   1
+ Number of rows in matrix C:      P  =   2
+
+ E is the identity matrix.
+ A  = 
+   0.0000   1.0000
+   0.0000   0.0000
+ B  = 
+   0.0000
+   1.0000
+ C  = 
+   1.0000   0.0000
+   0.0000   1.0000
+ D is of zeros.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/BD02AD.html b/doc/_static/doc/BD02AD.html
new file mode 100644
index 00000000..1e67379d
--- /dev/null
+++ b/doc/_static/doc/BD02AD.html
@@ -0,0 +1,334 @@
+<HTML>
+<HEAD><TITLE>BD02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="BD02AD">BD02AD</A></H2>
+<H3>
+Benchmark examples for time-invariant discrete-time dynamical systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate benchmark examples for time-invariant,
+  discrete-time dynamical systems
+
+    E x_k+1 = A x_k + B u_k
+
+        y_k = C x_k + D u_k
+
+  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
+  D is P-by-M. In many examples, E is the identity matrix and D is
+  the zero matrix.
+
+  This routine is an implementation of the benchmark library
+  DTDSX (Version 1.0) described in [1].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE BD02AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
+     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
+     2                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DEF
+      CHARACTER*70      NOTE
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
+C     .. Array Arguments ..
+      LOGICAL           VEC(8)
+      INTEGER           IPAR(*), NR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
+     1                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DEF     CHARACTER*1
+          Specifies the kind of values used as parameters when
+          generating parameter-dependent and scalable examples
+          (i.e., examples with NR(1) = 2, 3, or 4):
+          = 'D':  Default values defined in [1] are used;
+          = 'N':  Values set in DPAR and IPAR are used.
+          This parameter is not referenced if NR(1) = 1.
+          Note that the scaling parameter of examples with
+          NR(1) = 3 or 4 is considered as a regular parameter in
+          this context.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NR      (input) INTEGER array, dimension (2)
+          Specifies the index of the desired example according
+          to [1].
+          NR(1) defines the group:
+                1 : parameter-free problems of fixed size
+                2 : parameter-dependent problems of fixed size
+                3 : parameter-free problems of scalable size
+                4 : parameter-dependent problems of scalable size
+          NR(2) defines the number of the benchmark example
+          within a certain group according to [1].
+
+  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
+          On entry, if DEF = 'N' and the desired example depends on
+          real parameters, then the array DPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 2.1, DPAR(1), ..., DPAR(3) define the
+          parameters 'tau', 'delta', 'K', respectively.
+          On exit, if DEF = 'D' and the desired example depends on
+          real parameters, then the array DPAR is overwritten by the
+          default values given in [1].
+
+  IPAR    (input/output) INTEGER array, dimension (1)
+          On entry, if DEF = 'N' and the desired example depends on
+          integer parameters, then the array IPAR must contain the
+          values for these parameters.
+          For an explanation of the parameters see [1].
+          For Example 3.1, IPAR(1) defines the parameter 'n'.
+          On exit, if DEF = 'D' and the desired example depends on
+          integer parameters, then the array IPAR is overwritten by
+          the default values given in [1].
+
+  VEC     (output) LOGICAL array, dimension (8)
+          Flag vector which displays the availabilty of the output
+          data:
+          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
+          and are always .TRUE..
+          VEC(4) is .TRUE. iff E is NOT the identity matrix.
+          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
+          and are always .TRUE..
+          VEC(8) is .TRUE. iff D is NOT the zero matrix.
+
+  N       (output) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices E and A.
+
+  M       (output) INTEGER
+          The number of columns in the matrices B and D.
+
+  P       (output) INTEGER
+          The number of rows in the matrices C and D.
+
+  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array contains the
+          matrix E.
+          NOTE that this array is overwritten (by the identity
+          matrix), if VEC(4) = .FALSE..
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= N.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= P.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          matrix D.
+          NOTE that this array is overwritten (by the zero
+          matrix), if VEC(8) = .FALSE..
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= P.
+
+  NOTE    (output) CHARACTER*70
+          String containing short information about the chosen
+          example.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          NOTE that DWORK is not used in the current version
+          of BD02AD.
+
+  LDWORK  INTEGER
+          LDWORK &gt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; in particular, INFO = -3 or -4 indicates
+                that at least one of the parameters in DPAR or
+                IPAR, respectively, has an illegal value;
+          = 1:  data file can not be opened or has wrong format.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
+       DTDSX - a Collection of Benchmark Examples for State-Space
+       Realizations of Discrete-Time Dynamical Systems.
+       SLICOT Working Note 1998-10. 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+C     BD02AD EXAMPLE PROGRAM TEXT
+C
+C     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        (NIN = 5, NOUT = 6)
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
+      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     1                  LDE = NMAX, LDWORK = 1)
+C     .. Local Scalars ..
+      CHARACTER        DEF
+      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
+      CHARACTER*70     NOTE
+C     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
+      INTEGER          NR(2), IPAR(7)
+      LOGICAL          VEC(8)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+C     .. External Subroutines ..
+      EXTERNAL         BD02AD
+C     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999)
+C     Skip the heading in the data file and read the data.
+      READ (NIN, FMT = '()')
+      READ (NIN, FMT = *) DEF
+      READ (NIN, FMT = *) (NR(I), I = 1, 2)
+      IF (LSAME(DEF,'N')) THEN
+        READ (NIN, FMT = *) LDPAR
+        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
+        READ (NIN, FMT = *) LIPAR
+        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
+      END IF
+C     Generate benchmark example
+      CALL BD02AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
+     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
+C
+      IF (INFO .NE. 0) THEN
+        WRITE (NOUT, FMT = 99998) INFO
+      ELSE
+        WRITE (NOUT, FMT = *) NOTE
+        WRITE (NOUT, FMT = 99997) N
+        WRITE (NOUT, FMT = 99996) M
+        WRITE (NOUT, FMT = 99995) P
+        IF (VEC(4)) THEN
+          WRITE (NOUT, FMT = 99994)
+          DO 10  I = 1, N
+            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
+10        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99993)
+        END IF
+        WRITE (NOUT,FMT = 99992)
+        DO 20  I = 1, N
+          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
+20      CONTINUE
+        WRITE (NOUT,FMT = 99991)
+        DO 30  I = 1, N
+          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
+30      CONTINUE
+        WRITE (NOUT,FMT = 99990)
+        DO 40  I = 1, P
+          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
+40      CONTINUE
+        IF (VEC(8)) THEN
+          WRITE (NOUT,FMT = 99989)
+          DO 50  I = 1, P
+            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
+50        CONTINUE
+        ELSE
+          WRITE (NOUT, FMT = 99988)
+        END IF
+      END IF
+C
+99999 FORMAT (' BD02AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from BD02AD = ', I3)
+99997 FORMAT (/' Order of matrix A:               N  = ', I3)
+99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
+99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
+99994 FORMAT (/' E  = ')
+99993 FORMAT (/' E is the identity matrix.')
+99992 FORMAT (' A  = ')
+99991 FORMAT (' B  = ')
+99990 FORMAT (' C  = ')
+99989 FORMAT (' D  = ')
+99988 FORMAT (' D is of zeros.')
+99987 FORMAT (20(1X,F8.4))
+C
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+BD02AD EXAMPLE PROGRAM DATA
+D
+1 1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ BD02AD EXAMPLE PROGRAM RESULTS
+
+ Laub 1979, Ex. 2: uncontrollable-unobservable data                    
+
+ Order of matrix A:               N  =   2
+ Number of columns in matrix B:   M  =   1
+ Number of rows in matrix C:      P  =   1
+
+ E is the identity matrix.
+ A  = 
+   4.0000   3.0000
+  -4.5000  -3.5000
+ B  = 
+   1.0000
+  -1.0000
+ C  = 
+   3.0000   2.0000
+ D is of zeros.
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DAESolver.html b/doc/_static/doc/DAESolver.html
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+<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
+<html>
+<head>
+   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
+   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
+   <title>DAESolver - SLICOT Library Routine Documentation</title>
+</head>
+<body>
+
+<h2>
+<a NAME="DAESolver"></a>DAESolver</h2>
+
+<h3>
+Solver for Algebraic Differential Equations (driver)</h3>
+<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
+<p><b><font size=+1>Purpose</font></b>
+<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
+&nbsp; defining Differential Algebraic Equations using several packages.</pre>
+
+<pre>&nbsp; The equations follow the form (CASE A):
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t) = 0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
+
+&nbsp; for the most general model which can only be solved by DASSL and
+&nbsp; DASSPK.
+
+&nbsp; A restricted case can be solved with RADAU5, LSODI, LSOIBT, if
+&nbsp; the system is expressed as (CASE B):
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(x(t), u(t), p, t)*dx(t)/dt = A(x(t), u(t), p, t)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
+
+&nbsp; And finally, the GELDA package is able to solve DAEs with the&nbsp;
+&nbsp; expression (CASE C):
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(u(t), p, t)*dx(t)/dt = A(u(t), p, t)*x(t) + E(u(t), p, t)
+
+&nbsp; The user must define the subroutines:
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDF:&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t)&nbsp; for CASES: A, B and C
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDA:&nbsp;&nbsp;&nbsp; A(x(t), u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: B and C
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDE:&nbsp;&nbsp;&nbsp; E(u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: C
+&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT:&nbsp;&nbsp; g(dx(t)/dx, x(t), u(t), p, t)
+&nbsp; and the Jacobians (JACFX, JACFU, JACFP) if used. The interface&nbsp;
+&nbsp; adapts the structure to fit all the codes</pre>
+<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAESolver(ISOLVER,CDAEDF_,CDAEDA_,CDAEDE_,CDAEOUT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_,CJACFU_,CJACFP_,CJACFXDOT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP, TINI, TOUT,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X, XDOTI, Y, U, P,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, RPAR, RTOL, ATOL,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)&nbsp;
+&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
+&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; TINI, TOUT
+&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF_, CDAEDA_,CDAEDE_, CDAEOUT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_, CJACFU_, CJACFP_, CJACFXDOT_,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF, CDAEDA,CDAEDE, CDAEOUT,
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX, CJACFU, CJACFP, CJACFXDOT
+&nbsp;&nbsp;&nbsp; .. Array Arguments ..
+&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; DWORK(LDWORK), RPAR(*), ATOL(*), RTOL(*)
+&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), XDOTI(NX), Y(NY), U(NU), P(NP)
+&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)</pre>
+<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
+<p><b>Mode Parameters</b>
+<pre>&nbsp;&nbsp; ISOLVER INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver packages to be used
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODI,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSOIBT,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: RADAU5,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: DASSL,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASPK,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DGELDA.</pre>
+<b>Input/Output Parameters</b>
+<br>&nbsp;
+<pre><tt>&nbsp;&nbsp;&nbsp;&nbsp; DAEDF&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the F(dx(t)/dt, x(t), u(t), p, t).
+
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDA&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the A(x(t), u(t), p, t).
+
+&nbsp;&nbsp;&nbsp;&nbsp; DAEDE&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the E(u(t), p, t).
+
+&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.
+
+&nbsp;&nbsp;&nbsp;&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.
+
+&nbsp;&nbsp;&nbsp;&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.
+
+&nbsp;&nbsp;&nbsp;&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the parameter vector.
+
+&nbsp;&nbsp;&nbsp;&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.
+
+&nbsp;&nbsp;&nbsp;&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; XDOTI&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NX)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing dx(t)/dt at initial point.
+
+&nbsp;&nbsp;&nbsp;&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.
+
+&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NP)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the parameter variables.
+&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (201)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
+&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both rtol and atol are scalars
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : rtol is a scalar and atol is a vector
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both rtol and atol are vectors
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values only at TOUT (and not
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; at the intermediate step). (1:Yes, 0:No)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mfjac, Method flag for jacobian
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (Note: IPAR(6) and IPAR(7) are obligatories only if the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian matrix is banded)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of residual evaluations.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for RADAU5, ODEPACK and DGELDA:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9), mfmass, Method flag for mass-matrix
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No mass-matrix used (non-stiff method).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full mass-matrix (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded mass-matrix (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : Identity mass-matrix is used (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(10), mlmass, lower half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(11), mumass, upper half-bandwithds of the banded
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12), Maximum number of steps allowed during one
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(13), Maximum order to be allowed.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default values : 12 if meth = 1
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; In DASSL, DASPK and DGELDA : (1 .LE. MAXORD .LE. 5)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK package:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs, must be 0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBIT
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(24), mb, block size.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (mb .GE. 1) and mb*IPAR(28) = NX
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(25), nb, number of blocks in the main diagonal.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (nb .ge. 4) and nb*IPAR(27) = NX
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to Hessenberg
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; form.(Only if IPAR(9)=1 and IPAR(3)=1 or 10)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations in
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; each step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .EQ. 0 -> is taken the extrapolated collocation
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .NE. 0 -> zero values are used.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables( >0 ).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1 (default 0).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2 (default(M2=M1).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL, DASPK and DGELDA solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity constraints:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforze nonnegativity in X during the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (dense or band)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp; (iterative)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac (iterative)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38) > 0:&nbsp;&nbsp;&nbsp; 0: Yes
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; variables:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0:Yes
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Extra printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, no printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, for minimal printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2, for full printing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(44), maximum number of iterations in the SPIGMR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (.LE. NX)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(45), number of vectors on which orthogonalization
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; is done in the SPIGMR algorithm. (.LE. IPAR(44))
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(46), maximum number of restarts of the SPIGMR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm per nonlinear iteration. (.GE. 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(47), maximum number of Newton iterations per
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Jacobian or preconditioner evaluation. (> 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(48), maximum number of Jacobian or preconditioner
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; evaluations. (> 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(49), maximum number of values of the artificial
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; stepsize parameter H to be tried if IPAR(38) = 1.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (> 0).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(50), flag to turn off the linesearch algorithm.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : ON
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : OFF (default)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DGELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(51), contains the strangeness index.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(52), number of differential components
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(53), number of algebraic components
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(54), number of undetermined components
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(55), method used:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 1 then uses the BDF solver
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 then uses the Runge-Kutta solver
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(56), E(t) and A(t) are: 1&nbsp; time dependent
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0&nbsp; constants
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(57), Maximum index of the problem. ( .GE. 0 )
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(58), Step size strategy:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, Mod. predictive controlled of Gustafsson(safer)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, classical step size control(faster)
+
+&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (201)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1), Initial step size guess.Obligatory in RADAU5.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(2), Maximum absolute step size allowed.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(111), Step size in t last used (successfully).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(112), Step size to be attempted on the next step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(113), Current value of the independent variable
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(16), Critical value of t which the solver is not
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(17), Minimum absolute step size allowed.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(18), Tolerance scale factor, greater than 1.0.
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(26), The rounding unit, default 1E-16.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(27), The safety factor in step size prediction,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(28), Decides whether the jacobian should be
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Increase when jacobian evaluations are costly
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; For small systems should be smaller.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(29), Stopping criterion for Newton's method,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(30), RPAR(31): This saves, together with a
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large RPAR(28), LU-decompositions and computing
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Small systems: RPAR(30)=1.D0, RPAR(31)=1.2D0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Large full systems: RPAR(30)=0.99D0, RPAR(31)=2.D0
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; might be good.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(32), RPAR(33), Parameters for step size
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.Condition: RPAR(32)&lt;=HNEW/HOLD&lt;=RPAR(33)
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL, DASPK and DGELDA solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(36), Stopping point (Tstop)
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(37), convergence test constant in SPIGMR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (0 .LT. RPAR(37) .LT. 1.0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(38), minimum scaled step in linesearch algorithm.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; The default is&nbsp; = (unit roundoff)**(2/3). (> 0)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(39), swing factor in the Newton iteration
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; convergence test. (default 0.1) (> 0)
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(40), safety factor used in step size prediction.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(41) and RPAR(42) restric the relation between the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; new and old stepsize in step size selection.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1/RPAR(41) .LE. Hnew/Hold .LE. 1/RPAR(42)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(43), RPAR(44) QUOT1 and QUOT2 repectively.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If QUOT1 &lt; Hnew/Hold &lt; QUOT2 and A and E are
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; constants, the work can be saved by setting
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hnew=Hold and using the system matrix of the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; previous step.</tt></pre>
+<b>Tolerances</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.
+
+&nbsp;&nbsp;&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
+<b>Workspace</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)
+
+&nbsp;&nbsp;&nbsp;&nbsp; LIWORK&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Minimum size of DWORK, depending on solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI, LSOIBT, DASSL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + NX
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3*N+20
+
+&nbsp;&nbsp;&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PRECISION array, dimension (LDWORK)
+
+&nbsp;&nbsp;&nbsp;&nbsp; LDWORK&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 +&nbsp; 9*NX + NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , IPAR(3) = 1 or 10
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 + 10*NX + (2*ML + MU)*NX&nbsp;&nbsp;&nbsp; , IPAR(3) = 2 or 11
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBT
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + nyh*(maxord + 1) + 3*NX + lenw&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nyh&nbsp;&nbsp;&nbsp; = Initial value of NX
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; maxord = Maximum order allowed(default or IPAR(13)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lenw&nbsp;&nbsp; = 3*mb*mb*nb + 2&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; N*(LJAC+LMAS+3*LE+12)+20
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp; LJAC=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (full jacobian)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LJAC=MLJAC+MUJAC+1&nbsp;&nbsp; if (banded jacobian)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LMAS=0&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 10 or 11)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=MLMAS+MUMAS+1&nbsp;&nbsp; if (IPAR(9) = 2)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LE=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1 or 10)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LE=2*MLJAC+MUJAC+1&nbsp;&nbsp; if (IPAR(9) = 2 or 11)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
+<b>Warning Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; LSODI/LSOIBT/RADAU5 do not use the input vector as argument;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; LSODI/LSOIBT do not use the param vector as argument;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; RTOL and ATOL are used as scalars;</pre>
+<b>Error Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Method (IPAR(9)) is not allowed for ODEPACK/RADAU5;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) is not allowed for LSODE/RADAU5/DASSL;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Option not allowed for IPAR(37);
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(38);
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: RADAU5 returned -ERROR;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: DASSL returned -ERROR;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DASPK returned -ERROR;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DGELDA returned -ERROR.</pre>
+<a NAME="Method"></a><b><font size=+1>Method</font></b>
+<pre><tt><font color="#000000">Since the package integrates 8 different solvers, it is possible to solve differential&nbsp;
+equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
+iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
+equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
+the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
+and efficient integrated package.</font></tt></pre>
+<a NAME="References"></a><b><font size=+1>References</font></b>
+<pre>&nbsp; [1]&nbsp; A.C. Hindmarsh, Brief Description of ODEPACK: A Systematized Collection&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of ODE Solvers, http://www.netlib.org/odepack/doc&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [2]&nbsp; L.R. Petzold DASSL Library Documentation, http://www.netlib.org/ode/&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algebraic equations with variable coe&AElig;cients., J. Comput. Appl.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Math., 56:225{259, 1994.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [13] Working Group on Software (WGS), SLICOT Implementation and Documentation
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Standards, WGS-Report 96-1, Eindhoven University of Technology, updated:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Feb. 1998, ../../REPORTS/rep96-1.ps.Z.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [14] A. Varga, Standarization of Interface for Nonlinear Systems Software&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; in SLICOT, Deutsches Zentrum ur Luft un Raumfahrt, DLR. SLICOT-Working&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Note 1998-4, 1998, Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN1998-4.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [15] D. Kirk, Optimal Control Theory: An Introduction, Prentice-Hall.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Englewood Cli, NJ, 1970.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [16] F.L. Lewis and V.L. Syrmos, Optimal Control, Addison-Wesley.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; New York, 1995.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [17] W.M.Lioen, J.J.B de Swart, Test Set for Initial Value Problem Solvers,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Technical Report NM-R9615, CWI, Amsterdam, 1996.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; http://www.cwi.nl/cwi/projects/IVPTestset/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [18] V.Hernandez, I.Blanquer, E.Arias, and P.Ruiz,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Definition and Implementation of a SLICOT Standard Interface and the&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; associated MATLAB Gateway for the Solution of Nonlinear Control Systems
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; by using ODE and DAE Packages}, Universidad Politecnica de Valencia,&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DSIC. SLICOT Working Note 2000-3: July 2000. Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN2000-3.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [19] J.J.B. de Swart, W.M. Lioen, W.A. van der Veen, SIDE, November 25,&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1998. Available at http://www.cwi.nl/cwi/projects/PSIDE/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [20] Kim, H.Young, F.L.Lewis, D.M.Dawson, Intelligent optimal control of&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; robotic manipulators using neural networks.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [21] J.C.Fernandez, E.Arias, V.Hernandez, L.Penalver, High Performance&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
+<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
+<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
+&nbsp; different packages integrated. Several packages are more robust
+&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
+&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
+&nbsp; of each method is recommended to check the references above.</pre>
+<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
+<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
+&nbsp; The interface checks the suitability of the methods to the&nbsp;
+&nbsp; parameters and show a warning message if problems could arise.</pre>
+<a NAME="Example"></a><b><font size=+1>Example</font></b>
+<p><b>Program Text</b>
+<br>&nbsp;
+<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DAESOLVER EXAMPLE PROGRAM TEXT FOR LSODIX
+PROBLEM</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
+Error: ',NAME(1:8),' &lt;solver>'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
+: LSODI, LSOIBT, RADAU5, DASSL, DASPK, GELD</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;A'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
+LSODIX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
+'LSODI') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODI_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'LSOIBT') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSOIBT_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'RADAU5') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'GELDA') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(GELDA_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASSL') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASPK') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
+'Error: Solver: ', SOLVER,' unknown'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>*</tt>
+<br><tt>99999 FORMAT (' DAESOLVER EXAMPLE PROGRAM RESULTS FOR LSODIX PROBLEM'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,/1X)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine DAESolver</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Indicates the nonlinear solver package to be used:</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 1: LSODI,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 2: LSOIBT,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 3: RADAU5,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 4: DASSL,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 5: DASPK,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 6: DGELDA.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MD, ND, LPAR, LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( MD = 400, ND = 100, LPAR = 201,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+LWORK = 10000 )</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER2</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER2</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWARN, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL, RTOL, NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NUMJAC, NUMMAS, CONSIS</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 CDAEDF,CDAEDA,CDAEDE,CDAEOUT,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CJACFX,CJACFU,CJACFP,CJACFXDOT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
+DWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
+Y(MD), U(MD), P(MD), SOLU(MD)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DNRM2</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+PLSODIX, ILSODIX, SLSODIX</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DAXPY</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER2 = ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; P(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL=1D-6</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12)= 10000</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. LSODI_ .OR. ISOLVER
+.EQ. RADAU5_) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16)=1</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (ISOLVER
+.EQ. DASSL_ .OR. ISOLVER .EQ. DASPK_)</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36)=0</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37)=0</tt>
+<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODIX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODIX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(1) = 1.0d0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(2) = 0.0d0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(3) = 0.0d0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(1) = -0.04D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(2) =&nbsp; 0.04D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(3) =&nbsp; 0.0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODIX(NEQN,T(1),SOLU)</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'DAE' ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99998 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDA=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDE=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEOUT=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFP=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFXDOT=''</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL DAESolver(
+ISOLVER, CDAEDF, CDAEDA, CDAEDE, CDAEOUT,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CJACFX, CJACFU, CJACFP, CJACFXDOT,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NEQN, NEQN, NEQN, T(0), T(1),</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+X, XPRIME, Y, U, P,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR, RPAR, RTOL, ATOL,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
+) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99996 ) INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( IWARN.NE.0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NEQN .LE. 30 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99994 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DO 80 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99993 ) I, X(I), SOLU(I)</tt>
+<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,SOLU,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NORM.EQ.0D0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=1D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CALL DAXPY(NEQN,-1D0,X,1,SOLU,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,SOLU,1)/NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99992 ) NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>*</tt>
+<br><tt>99998 FORMAT (' ERROR: This test is only intended for DAE problems')</tt>
+<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
+<br><tt>99996 FORMAT (' INFO on exit from DAESolver = ',I3)</tt>
+<br><tt>99995 FORMAT (' IWARN on exit from DAESolver = ',I3)</tt>
+<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
+<br><tt>99993 FORMAT (I,F,F)</tt>
+<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,E,/1X)</tt>
+<br><tt>* *** Last line of TEST ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDA_( RPAR, NRP, IPAR,
+NIP, X, NX, U, NU, P, NP,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+F, LDF, T, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
+the problem function FEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array, dimension (NRP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array, dimension (NIP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The resulting function value f(T,X).</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of F.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the function is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns values of error from FEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDF, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
+U(NU), P(NP),</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+FLSODIX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODIX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of DAEDA_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDF_( RPAR, NRP, IPAR,
+NIP, X, XPRIME, NX,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+U, NU, P, NP, T, F, LDF, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
+the problem function MEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array, dimension (NRP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and MEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array, dimension (NIP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and MEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
+array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables derivative.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the function is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The resulting function value f(T,X).</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of F.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns values of error from MEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDF, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
+XPRIME(NX), U(NU), P(NP),</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+I</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MLSODIX, RLSODIX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. DASSL_ .OR. ISOLVER
+.EQ. DASPK_) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL RLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL MLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>* *** Last line of DAEDF_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NRP, NIP,
+RPAR, IPAR, NX, NU,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NP, X, U, P, T, FX, LDFX,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
+the problem function JEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and JEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and JEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the derivative is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The array with the resulting Jacobian matrix.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of the array FX.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns values of error from JEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDFX, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), P(NP),
+RPAR(NRP), FX(LDFX,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+JLSODIX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODIX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of JACFX_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE JACFXDOT_( NRP, NIP, RPAR,
+IPAR,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NX, NU, NP, XPRIME, U, P, T, J, LDJ, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; MATJACFXDOT routine for TRANSAMP problem</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of RPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of IPAR array.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication with the driver.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication with the driver.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the parameter vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
+array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the derivative of the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NP)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the parameter values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the derivative is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; J&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDJ,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The array with the resulting derivative matrix.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDJ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of the array J.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Returns 1 in case a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
+DASSL_, DASPK_, GELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
+= 2)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
+= 4, DASPK_&nbsp; = 5)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NRP, NIP, NX, NU, NP, LDJ, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(NIP)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION XPRIME(NX), U(NU),
+P(NP), RPAR(NRP), J(LDJ,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JDOTLSODIX(LDJ,NX,T,XPRIME,XPRIME,J,INFO,RPAR,IPAR)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>* *** Last line of JACFXDOT_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br><tt></tt>&nbsp;
+<p><b>Program Data</b>
+<pre>No data required</pre>
+<b>Program Results</b>
+<pre>&nbsp;DAESOLVER EXAMPLE PROGRAM RESULTS
+&nbsp;
+&nbsp;Problem: LSODIX&nbsp;&nbsp; Solver: LSODI&nbsp;&nbsp;
+&nbsp;lsodix&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (lsodix&nbsp;&nbsp; , DAE) with SOLVER&nbsp; 1
+&nbsp;IWARN on exit from DAESolver =&nbsp;&nbsp; 2
+&nbsp;Solution: (calculated) (reference)
+&nbsp;6.462112224297606E-07
+&nbsp;1.255974374648338E-10
+&nbsp;6.117680951077711E-07
+&nbsp;Relative error comparing with the reference solution:&nbsp;&nbsp;&nbsp; .8898590685949503E-06</pre>
+
+<hr>
+<p><!--Click <b><a href="../../SLICOT/arc/DAESolver.tgz">here</a></b> to get a compressed (gzip)
+tar file containing the source code of the routine, the example program,
+data, documentation, and related files.-->
+<br><b><a href="..\libindex.html">Return to index</a></b>
+</body>
+</html>
diff --git a/doc/_static/doc/DE01OD.html b/doc/_static/doc/DE01OD.html
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+<HTML>
+<HEAD><TITLE>DE01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DE01OD">DE01OD</A></H2>
+<H3>
+Convolution or deconvolution of two real signals
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the convolution or deconvolution of two real signals
+  A and B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DE01OD( CONV, N, A, B, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CONV
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CONV    CHARACTER*1
+          Indicates whether convolution or deconvolution is to be
+          performed as follows:
+          = 'C':  Convolution;
+          = 'D':  Deconvolution.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N must be a power of 2.  N &gt;= 2.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the first signal.
+          On exit, this array contains the convolution (if
+          CONV = 'C') or deconvolution (if CONV = 'D') of the two
+          signals.
+
+  B       (input) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the second signal.
+          NOTE that this array is overwritten.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine computes the convolution or deconvolution of two real
+  signals A and B using an FFT algorithm (SLICOT Library routine
+  DG01MD).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DE01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      CONV
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), B(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DE01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, CONV
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
+*        Perform convolution on A and B.
+         CALL DE01OD( CONV, N, A, B, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( CONV, 'C' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+            END IF
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DE01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DE01OD = ',I2)
+99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
+99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
+99995 FORMAT (I4,1X,F8.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DE01OD EXAMPLE PROGRAM DATA
+   8     C
+   0.4862   0.2288
+   0.1948   0.3671
+   0.5788   0.6417
+  -0.5861   0.3875
+   0.8254   0.2380
+   0.1815   0.4682
+   0.2904   0.5312
+  -0.3599   0.6116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DE01OD EXAMPLE PROGRAM RESULTS
+
+   Convolution 
+
+   i    A(i)
+
+   1   0.5844
+   2   0.5769
+   3   0.6106
+   4   1.0433
+   5   0.6331
+   6   0.4531
+   7   0.7027
+   8   0.9929
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DE01PD.html b/doc/_static/doc/DE01PD.html
new file mode 100644
index 00000000..d5a23237
--- /dev/null
+++ b/doc/_static/doc/DE01PD.html
@@ -0,0 +1,203 @@
+<HTML>
+<HEAD><TITLE>DE01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DE01PD">DE01PD</A></H2>
+<H3>
+Convolution or deconvolution of two real signals using Hartley transform
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the convolution or deconvolution of two real signals
+  A and B using the Hartley transform.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DE01PD( CONV, WGHT, N, A, B, W, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CONV, WGHT
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*), W(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CONV    CHARACTER*1
+          Indicates whether convolution or deconvolution is to be
+          performed as follows:
+          = 'C':  Convolution;
+          = 'D':  Deconvolution.
+
+  WGHT    CHARACTER*1
+          Indicates whether the precomputed weights are available
+          or not, as follows:
+          = 'A':  available;
+          = 'N':  not available.
+          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
+          set to 'A' on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N must be a power of 2.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the first signal.
+          On exit, this array contains the convolution (if
+          CONV = 'C') or deconvolution (if CONV = 'D') of the two
+          signals.
+
+  B       (input) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the second signal.
+          NOTE that this array is overwritten.
+
+  W       (input/output) DOUBLE PRECISION array,
+                         dimension (N - LOG2(N))
+          On entry with WGHT = 'A', this array must contain the long
+          weight vector computed by a previous call of this routine
+          or of the SLICOT Library routine DG01OD.f, with the same
+          value of N. If WGHT = 'N', the contents of this array on
+          entry is ignored.
+          On exit, this array contains the long weight vector.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine computes the convolution or deconvolution of two
+  real signals A and B using three scrambled Hartley transforms
+  (SLICOT Library routine DG01OD).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, Charles.
+      Computational frameworks for the fast Fourier transform.
+      SIAM, 1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N log(N)) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DE01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      CONV, WGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), B(NMAX), W(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DE01PD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, CONV, WGHT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
+*        Perform convolution on A and B.
+         CALL DE01PD( CONV, WGHT, N, A, B, W, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( CONV, 'C' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+            END IF
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DE01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DE01PD = ',I2)
+99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
+99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
+99995 FORMAT (I4,1X,F8.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DE01PD EXAMPLE PROGRAM DATA
+   8     C     N
+   0.4862   0.2288
+   0.1948   0.3671
+   0.5788   0.6417
+  -0.5861   0.3875
+   0.8254   0.2380
+   0.1815   0.4682
+   0.2904   0.5312
+  -0.3599   0.6116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DE01PD EXAMPLE PROGRAM RESULTS
+
+   Convolution 
+
+   i    A(i)
+
+   1   0.5844
+   2   0.5769
+   3   0.6106
+   4   1.0433
+   5   0.6331
+   6   0.4531
+   7   0.7027
+   8   0.9929
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DF01MD.html b/doc/_static/doc/DF01MD.html
new file mode 100644
index 00000000..62fa6629
--- /dev/null
+++ b/doc/_static/doc/DF01MD.html
@@ -0,0 +1,282 @@
+<HTML>
+<HEAD><TITLE>DF01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DF01MD">DF01MD</A></H2>
+<H3>
+Sine transform or cosine transform of a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the sine transform or cosine transform of a real
+  signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DF01MD( SICO, N, DT, A, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SICO
+      INTEGER           INFO, N
+      DOUBLE PRECISION  DT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SICO    CHARACTER*1
+          Indicates whether the sine transform or cosine transform
+          is to be computed as follows:
+          = 'S':  The sine transform is computed;
+          = 'C':  The cosine transform is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N must be a power of 2 plus 1.
+          N &gt;= 5.
+
+  DT      (input) DOUBLE PRECISION
+          The sampling time of the signal.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the signal to be
+          processed.
+          On exit, this array contains either the sine transform, if
+          SICO = 'S', or the cosine transform, if SICO = 'C', of the
+          given signal.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N+1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A(1), A(2),..., A(N) be a real signal of N samples.
+
+  If SICO = 'S', the routine computes the sine transform of A as
+  follows. First, transform A(i), i = 1,2,...,N, into the complex
+  signal B(i), i = 1,2,...,(N+1)/2, where
+
+     B(1) = -2*A(2),
+     B(i) = {A(2i-2) - A(2i)} - j*A(2i-1) for i = 2,3,...,(N-1)/2,
+     B((N+1)/2) = 2*A(N-1) and j**2 = -1.
+
+  Next, perform a discrete inverse Fourier transform on B(i) by
+  calling SLICOT Library Routine DG01ND, to give the complex signal
+  Z(i), i = 1,2,...,(N-1)/2, from which the real signal C(i) may be
+  obtained as follows:
+
+     C(2i-1) = Re(Z(i)),  C(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
+
+  Finally, compute the sine transform coefficients S ,S ,...,S
+                                                    1  2      N
+  given by
+
+     S  = 0,
+      1
+             {                     [C(k) + C(N+1-k)]     }
+     S  = DT*{[C(k) - C(N+1-k)] - -----------------------},
+      k      {                    [2*sin(pi*(k-1)/(N-1))]}
+
+        for k = 2,3,...,N-1, and
+
+     S = 0.
+      N
+
+  If SICO = 'C', the routine computes the cosine transform of A as
+  follows. First, transform A(i), i = 1,2,...,N, into the complex
+  signal B(i), i = 1,2,...,(N+1)/2, where
+
+     B(1) = 2*A(1),
+     B(i) = 2*A(2i-1) + 2*j*{[A(2i-2) - A(2i)]}
+     for i = 2,3,...,(N-1)/2 and B((N+1)/2) = 2*A(N).
+
+  Next, perform a discrete inverse Fourier transform on B(i) by
+  calling SLICOT Library Routine DG01ND, to give the complex signal
+  Z(i), i = 1,2,...,(N-1)/2, from which the real signal D(i) may be
+  obtained as follows:
+
+     D(2i-1) = Re(Z(i)),  D(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
+
+  Finally, compute the cosine transform coefficients S ,S ,...,S
+                                                      1  2      N
+  given by
+
+     S  = 2*DT*[D(1) + A0],
+      1
+             {                     [D(k) - D(N+1-k)]     }
+     S  = DT*{[D(k) + D(N+1-k)] - -----------------------},
+      k      {                    [2*sin(pi*(k-1)/(N-1))]}
+
+        for k = 2,3,...,N-1, and
+
+     S  = 2*DT*[D(1) - A0],
+      N
+              (N-1)/2
+  where A0 = 2*SUM   A(2i).
+               i=1
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+  [2] Oppenheim, A.V. and Schafer, R.W.
+      Discrete-Time Signal Processing.
+      Prentice-Hall Signal Processing Series, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DF01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 129 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DT
+      INTEGER          I, INFO, N
+      CHARACTER*1      SICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), DWORK(NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DF01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DT, SICO
+      IF ( N.LE.1 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
+*        Compute the sine/cosine transform of the given real signal.
+         CALL DF01MD( SICO, N, DT, A, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( SICO, 'S' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   20          CONTINUE
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' DF01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DF01MD = ',I2)
+99997 FORMAT (' Components of sine transform are',//'   i',6X,'A(i)',/)
+99996 FORMAT (' Components of cosine transform are',//'   i',6X,'A(i)',
+     $       /)
+99995 FORMAT (I4,3X,F8.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DF01MD EXAMPLE PROGRAM DATA
+  17     1.0     C
+  -0.1862
+   0.1288
+   0.3948
+   0.0671
+   0.6788
+  -0.2417
+   0.1861
+   0.8875
+   0.7254
+   0.9380
+   0.5815
+  -0.2682
+   0.4904
+   0.9312
+  -0.9599
+  -0.3116
+   0.8743
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DF01MD EXAMPLE PROGRAM RESULTS
+
+ Components of cosine transform are
+
+   i      A(i)
+
+   1    28.0536
+   2     3.3726
+   3   -20.8158
+   4     6.0566
+   5     5.7317
+   6    -3.9347
+   7   -12.8074
+   8    -6.8780
+   9    16.2892
+  10   -17.0788
+  11    21.7836
+  12   -20.8203
+  13    -7.3277
+  14    -2.5325
+  15    -0.3636
+  16     7.8792
+  17    11.0048
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DG01MD.html b/doc/_static/doc/DG01MD.html
new file mode 100644
index 00000000..f5293c6f
--- /dev/null
+++ b/doc/_static/doc/DG01MD.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>DG01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DG01MD">DG01MD</A></H2>
+<H3>
+Discrete Fourier transform, or inverse transform, of a complex signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the discrete Fourier transform, or inverse transform,
+  of a complex signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DG01MD( INDI, N, XR, XI, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         INDI
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  XI(*), XR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INDI    CHARACTER*1
+          Indicates whether a Fourier transform or inverse Fourier
+          transform is to be performed as follows:
+          = 'D':  (Direct) Fourier transform;
+          = 'I':  Inverse Fourier transform.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of complex samples.  N must be a power of 2.
+          N &gt;= 2.
+
+  XR      (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the real part of either
+          the complex signal z if INDI = 'D', or f(z) if INDI = 'I'.
+          On exit, this array contains either the real part of the
+          computed Fourier transform f(z) if INDI = 'D', or the
+          inverse Fourier transform z of f(z) if INDI = 'I'.
+
+  XI      (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the imaginary part of
+          either z if INDI = 'D', or f(z) if INDI = 'I'.
+          On exit, this array contains either the imaginary part of
+          f(z) if INDI = 'D', or z if INDI = 'I'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INDI = 'D', then the routine performs a discrete Fourier
+  transform on the complex signal Z(i), i = 1,2,...,N. If the result
+  is denoted by FZ(k), k = 1,2,...,N, then the relationship between
+  Z and FZ is given by the formula:
+
+                  N            ((k-1)*(i-1))
+         FZ(k) = SUM ( Z(i) * V              ),
+                 i=1
+                                  2
+  where V = exp( -2*pi*j/N ) and j  = -1.
+
+  If INDI = 'I', then the routine performs an inverse discrete
+  Fourier transform on the complex signal FZ(k), k = 1,2,...,N. If
+  the result is denoted by Z(i), i = 1,2,...,N, then the
+  relationship between Z and FZ is given by the formula:
+
+                 N             ((k-1)*(i-1))
+         Z(i) = SUM ( FZ(k) * W              ),
+                k=1
+
+  where W = exp( 2*pi*j/N ).
+
+  Note that a discrete Fourier transform, followed by an inverse
+  discrete Fourier transform, will result in a signal which is a
+  factor N larger than the original input signal.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DG01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      INDI
+*     .. Local Arrays ..
+      DOUBLE PRECISION XI(NMAX), XR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DG01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, INDI
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( XR(I), XI(I), I = 1,N )
+*        Find the Fourier transform of the given complex signal.
+         CALL DG01MD( INDI, N, XR, XI, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DG01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DG01MD = ',I2)
+99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
+     $       'XR(i)',6X,'XI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DG01MD EXAMPLE PROGRAM DATA
+   8     D
+  -0.1862   0.1288
+   0.3948   0.0671
+   0.6788  -0.2417
+   0.1861   0.8875
+   0.7254   0.9380
+   0.5815  -0.2682
+   0.4904   0.9312
+  -0.9599  -0.3116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DG01MD EXAMPLE PROGRAM RESULTS
+
+ Components of Fourier transform are
+
+   i      XR(i)      XI(i)
+
+   1     1.9109     2.1311
+   2    -1.9419    -2.2867
+   3    -1.4070    -1.3728
+   4     2.2886    -0.6883
+   5     1.5059     1.3815
+   6    -2.2271     0.2915
+   7     0.1470     2.1274
+   8    -1.7660    -0.5533
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DG01ND.html b/doc/_static/doc/DG01ND.html
new file mode 100644
index 00000000..cf67b29d
--- /dev/null
+++ b/doc/_static/doc/DG01ND.html
@@ -0,0 +1,296 @@
+<HTML>
+<HEAD><TITLE>DG01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DG01ND">DG01ND</A></H2>
+<H3>
+Discrete Fourier transform, or inverse Fourier transform, of a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the discrete Fourier transform, or inverse Fourier
+  transform, of a real signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DG01ND( INDI, N, XR, XI, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         INDI
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  XI(*), XR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INDI    CHARACTER*1
+          Indicates whether a Fourier transform or inverse Fourier
+          transform is to be performed as follows:
+          = 'D':  (Direct) Fourier transform;
+          = 'I':  Inverse Fourier transform.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Half the number of real samples.  N must be a power of 2.
+          N &gt;= 2.
+
+  XR      (input/output) DOUBLE PRECISION array, dimension (N+1)
+          On entry with INDI = 'D', the first N elements of this
+          array must contain the odd part of the input signal; for
+          example, XR(I) = A(2*I-1) for I = 1,2,...,N.
+          On entry with INDI = 'I', the first N+1 elements of this
+          array must contain the the real part of the input discrete
+          Fourier transform (computed, for instance, by a previous
+          call of the routine).
+          On exit with INDI = 'D', the first N+1 elements of this
+          array contain the real part of the output signal, that is
+          of the computed discrete Fourier transform.
+          On exit with INDI = 'I', the first N elements of this
+          array contain the odd part of the output signal, that is
+          of the computed inverse discrete Fourier transform.
+
+  XI      (input/output) DOUBLE PRECISION array, dimension (N+1)
+          On entry with INDI = 'D', the first N elements of this
+          array must contain the even part of the input signal; for
+          example, XI(I) = A(2*I) for I = 1,2,...,N.
+          On entry with INDI = 'I', the first N+1 elements of this
+          array must contain the the imaginary part of the input
+          discrete Fourier transform (computed, for instance, by a
+          previous call of the routine).
+          On exit with INDI = 'D', the first N+1 elements of this
+          array contain the imaginary part of the output signal,
+          that is of the computed discrete Fourier transform.
+          On exit with INDI = 'I', the first N elements of this
+          array contain the even part of the output signal, that is
+          of the computed inverse discrete Fourier transform.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A(1),....,A(2*N) be a real signal of 2*N samples. Then the
+  first N+1 samples of the discrete Fourier transform of this signal
+  are given by the formula:
+
+               2*N           ((m-1)*(i-1))
+       FA(m) = SUM ( A(i) * W              ),
+               i=1
+                                               2
+  where m = 1,2,...,N+1, W = exp(-pi*j/N) and j = -1.
+
+  This transform can be computed as follows. First, transform A(i),
+  i = 1,2,...,2*N, into the complex signal Z(i) = (X(i),Y(i)),
+  i = 1,2,...,N. That is, X(i) = A(2*i-1) and Y(i) = A(2*i). Next,
+  perform a discrete Fourier transform on Z(i) by calling SLICOT
+  Library routine DG01MD. This gives a new complex signal FZ(k),
+  such that
+
+                N            ((k-1)*(i-1))
+       FZ(k) = SUM ( Z(i) * V              ),
+               i=1
+
+  where k = 1,2,...,N, V = exp(-2*pi*j/N).  Using the values of
+  FZ(k), the components of the discrete Fourier transform FA can be
+  computed by simple linear relations, implemented in the DG01NY
+  subroutine.
+
+  Finally, let
+
+       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)),   k = 1,2,...,N,
+
+  be the contents of the arrays XR and XI on entry to DG01NY with
+  INDI = 'D', then on exit XR and XI contain the real and imaginary
+  parts of the Fourier transform of the original real signal A.
+  That is,
+
+       XR(m) = Re(FA(m)),  XI(m) = Im(FA(m)),
+
+  where m = 1,2,...,N+1.
+
+  If INDI = 'I', then the routine evaluates the inverse Fourier
+  transform of a complex signal which may itself be the discrete
+  Fourier transform of a real signal.
+
+  Let FA(m), m = 1,2,...,2*N, denote the full discrete Fourier
+  transform of a real signal A(i), i=1,2,...,2*N. The relationship
+  between FA and A is given by the formula:
+
+              2*N            ((m-1)*(i-1))
+       A(i) = SUM ( FA(m) * W              ),
+              m=1
+
+  where W = exp(pi*j/N).
+
+  Let
+
+       XR(m) = Re(FA(m)) and XI(m) = Im(FA(m)) for m = 1,2,...,N+1,
+
+  be the contents of the arrays XR and XI on entry to the routine
+  DG01NY with INDI = 'I', then on exit the first N samples of the
+  complex signal FZ are returned in XR and XI such that
+
+       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)) and k = 1,2,...,N.
+
+  Next, an inverse Fourier transform is performed on FZ (e.g. by
+  calling SLICOT Library routine DG01MD), to give the complex signal
+  Z, whose i-th component is given by the formula:
+
+               N             ((k-1)*(i-1))
+       Z(i) = SUM ( FZ(k) * V              ),
+              k=1
+
+  where i = 1,2,...,N and V = exp(2*pi*j/N).
+
+  Finally, the 2*N samples of the real signal A can then be obtained
+  directly from Z. That is,
+
+       A(2*i-1) = Re(Z(i)) and A(2*i) = Im(Z(i)), for i = 1,2,...N.
+
+  Note that a discrete Fourier transform, followed by an inverse
+  transform will result in a signal which is a factor 2*N larger
+  than the original input signal.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N*log(N) ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DG01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, IEND, INFO, N
+      CHARACTER*1      INDI
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(2*NMAX), XI(NMAX+1), XR(NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DG01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, INDI
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,2*N )
+*        Copy the odd and even parts of A into XR and XI respectively.
+         DO 20 I = 1, N
+            XR(I) = A(2*I-1)
+            XI(I) = A(2*I)
+   20    CONTINUE
+*        Find the Fourier transform of the given real signal.
+         CALL DG01ND( INDI, N, XR, XI, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            IEND = N
+            IF ( LSAME( INDI, 'D' ) ) IEND = N + 1
+            DO 40 I = 1, IEND
+               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
+   40       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DG01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DG01ND = ',I2)
+99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
+     $       'XR(i)',6X,'XI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DG01ND EXAMPLE PROGRAM DATA
+   8     D
+  -0.1862
+   0.1288
+   0.3948
+   0.0671
+   0.6788
+  -0.2417
+   0.1861
+   0.8875
+   0.7254
+   0.9380
+   0.5815
+  -0.2682
+   0.4904
+   0.9312
+  -0.9599
+  -0.3116
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DG01ND EXAMPLE PROGRAM RESULTS
+
+ Components of Fourier transform are
+
+   i      XR(i)      XI(i)
+
+   1     4.0420     0.0000
+   2    -3.1322    -0.2421
+   3     0.1862    -1.4675
+   4    -2.1312    -1.1707
+   5     1.5059    -1.3815
+   6     2.1927    -0.1908
+   7    -1.4462     2.0327
+   8    -0.5757     1.4914
+   9    -0.2202     0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DG01OD.html b/doc/_static/doc/DG01OD.html
new file mode 100644
index 00000000..df0f089d
--- /dev/null
+++ b/doc/_static/doc/DG01OD.html
@@ -0,0 +1,211 @@
+<HTML>
+<HEAD><TITLE>DG01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DG01OD">DG01OD</A></H2>
+<H3>
+Scrambled discrete Hartley transform of a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the (scrambled) discrete Hartley transform of
+  a real signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DG01OD( SCR, WGHT, N, A, W, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SCR, WGHT
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), W(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SCR     CHARACTER*1
+          Indicates whether the signal is scrambled on input or
+          on output as follows:
+          = 'N':  the signal is not scrambled at all;
+          = 'I':  the input signal is bit-reversed;
+          = 'O':  the output transform is bit-reversed.
+
+  WGHT    CHARACTER*1
+          Indicates whether the precomputed weights are available
+          or not, as follows:
+          = 'A':  available;
+          = 'N':  not available.
+          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
+          set to 'A' on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Number of real samples. N must be a power of 2.
+          N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry with SCR = 'N' or SCR = 'O', this array must
+          contain the input signal.
+          On entry with SCR = 'I', this array must contain the
+          bit-reversed input signal.
+          On exit with SCR = 'N' or SCR = 'I', this array contains
+          the Hartley transform of the input signal.
+          On exit with SCR = 'O', this array contains the
+          bit-reversed Hartley transform.
+
+  W       (input/output) DOUBLE PRECISION array,
+                         dimension (N - LOG2(N))
+          On entry with WGHT = 'A', this array must contain the long
+          weight vector computed by a previous call of this routine
+          with the same value of N. If WGHT = 'N', the contents of
+          this array on entry is ignored.
+          On exit, this array contains the long weight vector.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine uses a Hartley butterfly algorithm as described
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, Charles.
+      Computational frameworks for the fast Fourier transform.
+      SIAM, 1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable and requires O(N log(N))
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DG01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 128 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, N
+      CHARACTER*1      SCR, WGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX), W(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DG01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, SCR, WGHT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
+*        Compute the Hartley transform.
+         CALL DG01OD( SCR, WGHT, N, A, W, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, A(I)
+   10       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DG01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DG01OD = ',I2)
+99997 FORMAT ('   Hartley transform ',//'   i    A(i)',/)
+99996 FORMAT (I4,1X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DG01OD EXAMPLE
+  16      N      N
+ 1.0
+ 2.0
+ 3.0
+ 4.0
+ 5.0
+ 6.0
+ 7.0
+ 8.0
+ 9.0
+10.0
+11.0
+12.0
+13.0
+14.0
+15.0
+16.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DG01OD EXAMPLE PROGRAM RESULTS
+
+   Hartley transform 
+
+   i    A(i)
+
+   1 136.0000
+   2 -48.2187
+   3 -27.3137
+   4 -19.9728
+   5 -16.0000
+   6 -13.3454
+   7 -11.3137
+   8  -9.5913
+   9  -8.0000
+  10  -6.4087
+  11  -4.6863
+  12  -2.6546
+  13   0.0000
+  14   3.9728
+  15  11.3137
+  16  32.2187
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/DK01MD.html b/doc/_static/doc/DK01MD.html
new file mode 100644
index 00000000..1c4310b0
--- /dev/null
+++ b/doc/_static/doc/DK01MD.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>DK01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="DK01MD">DK01MD</A></H2>
+<H3>
+Anti-aliasing window applied to a real signal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply an anti-aliasing window to a real signal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE DK01MD( TYPE, N, A, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPE
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          Indicates the type of window to be applied to the signal
+          as follows:
+          = 'M':  Hamming window;
+          = 'N':  Hann window;
+          = 'Q':  Quadratic window.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of samples.  N &gt;= 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the signal to be
+          processed.
+          On exit, this array contains the windowing function.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If TYPE = 'M', then a Hamming window is applied to A(1),...,A(N),
+  which yields
+    _
+    A(i) = (0.54 + 0.46*cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
+
+  If TYPE = 'N', then a Hann window is applied to A(1),...,A(N),
+  which yields
+    _
+    A(i) = 0.5*(1 + cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
+
+  If TYPE = 'Q', then a quadratic window is applied to A(1),...,
+  A(N), which yields
+    _
+    A(i) = (1 - 2*((i-1)/(N-1))**2)*(1 - (i-1)/(N-1))*A(i),
+                                          i = 1,2,...,(N-1)/2+1;
+    _
+    A(i) = 2*(1 - ((i-1)/(N-1))**3)*A(i), i = (N-1)/2+2,...,N.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Rabiner, L.R. and Rader, C.M.
+      Digital Signal Processing.
+      IEEE Press, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0( N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     DK01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+*     .. Local Scalars ..
+      CHARACTER*1      TYPE
+      INTEGER          I, INFO, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DK01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, TYPE
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
+*        Apply a Hamming window to the given signal.
+         CALL DK01MD( TYPE, N, A, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, A(I)
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' DK01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DK01MD = ',I2)
+99997 FORMAT (' Components of the windowing function are',//'   k     ',
+     $       ' A(k)',/)
+99996 FORMAT (I4,3X,F8.4)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ DK01MD EXAMPLE PROGRAM DATA
+   8     M
+   0.3262
+   0.8723
+  -0.7972
+   0.6673
+  -0.1722
+   0.3237
+   0.5263
+  -0.3275
+</PRE>
+<B>Program Results</B>
+<PRE>
+ DK01MD EXAMPLE PROGRAM RESULTS
+
+ Components of the windowing function are
+
+   k      A(k)
+
+   1     0.3262
+   2     0.8326
+   3    -0.6591
+   4     0.4286
+   5    -0.0754
+   6     0.0820
+   7     0.0661
+   8    -0.0262
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/FB01QD.html b/doc/_static/doc/FB01QD.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>FB01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01QD">FB01QD</A></H2>
+<H3>
+Time-varying square root covariance Kalman filter (dense matrices)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-varying Kalman filter. This update is given
+  for the square root covariance filter, using dense matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
+     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBK, MULTBQ
+      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
+     $                  M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBK    CHARACTER*1
+          Indicates whether the user wishes to compute the Kalman
+          filter gain matrix K  as follows:
+                              i
+          = 'K':  K  is computed and stored in array K;
+                   i
+          = 'N':  K  is not required.
+                   i
+
+  MULTBQ  CHARACTER*1                    1/2
+          Indicates how matrices B  and Q    are to be passed to
+                                  i      i
+          the routine as follows:
+          = 'P':  Array Q is not used and the array B must contain
+                                 1/2
+                  the product B Q   ;
+                               i i
+          = 'N':  Arrays B and Q must contain the matrices as
+                  described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices S    and A .  N &gt;= 0.
+                    i-1      i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           1/2
+          Q   .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           1/2
+          R   .  P &gt;= 0.
+           i
+
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
+          On entry, the leading N-by-N lower triangular part of this
+          array must contain S   , the square root (left Cholesky
+                              i-1
+          factor) of the state covariance matrix at instant (i-1).
+          On exit, the leading N-by-N lower triangular part of this
+          array contains S , the square root (left Cholesky factor)
+                          i
+          of the state covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain A ,
+                                                              i
+          the state transition matrix of the discrete system at
+          instant i.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                     1/2      i
+          the input weight matrix (or the product B Q    if
+                                                   i i
+          MULTBQ = 'P') of the discrete system at instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
+          If MULTBQ = 'N', then the leading M-by-M lower triangular
+                                           1/2
+          part of this array must contain Q   , the square root
+                                           i
+          (left Cholesky factor) of the input (process) noise
+          covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+          If MULTBQ = 'P', Q is not referenced and can be supplied
+          as a dummy array (i.e., set parameter LDQ = 1 and declare
+          this array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
+          LDQ &gt;= 1        if MULTBQ = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C , the
+                                                              i
+          output weight matrix of the discrete system at instant i.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
+          On entry, the leading P-by-P lower triangular part of this
+                              1/2
+          array must contain R   , the square root (left Cholesky
+                              i
+          factor) of the output (measurement) noise covariance
+          matrix at instant i.
+          On exit, the leading P-by-P lower triangular part of this
+                                 1/2
+          array contains (RINOV )   , the square root (left Cholesky
+                               i
+          factor) of the covariance matrix of the innovations at
+          instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,P).
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
+          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
+          of this array contains K , the Kalman filter gain matrix
+                                  i
+          at instant i.
+          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
+          leading N-by-P part of this array contains AK , a matrix
+                                                       i
+          related to the Kalman filter gain matrix at instant i (see
+                                                         -1/2
+          METHOD). Specifically, AK  = A P     C'(RINOV')    .
+                                   i    i i|i-1 i      i
+
+  LDK     INTEGER
+          The leading dimension of array K.   LDK &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBK = 'K', then TOL is used to test for near
+                                            1/2
+          singularity of the matrix (RINOV )   . If the user sets
+                                          i
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK),
+          where LIWORK = P if JOBK = 'K',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                                     1/2
+          (in the 1-norm) of (RINOV )   .
+                                   i
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(P+N)+2*P,N*(N+M+2)),     if JOBK = 'N';
+          LDWORK &gt;= MAX(2,N*(P+N)+2*P,N*(N+M+2),3*P), if JOBK = 'K'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                                     1/2
+          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
+                                                   i           1/2
+                i.e., the condition number estimate of (RINOV )
+                                                             i
+                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
+                            1/2                                   i
+                and (RINOV )    have been computed.
+                          i
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root covariance
+  filter algorithm, summarized as follows:
+
+   |  1/2                      |     |         1/2          |
+   | R      C x S      0       |     | (RINOV )     0     0 |
+   |  i      i   i-1           |     |       i              |
+   |                      1/2  | T = |                      |
+   | 0      A x S    B x Q     |     |     AK       S     0 |
+   |         i   i-1  i   i    |     |       i       i      |
+
+       (Pre-array)                      (Post-array)
+
+  where T is an orthogonal transformation triangularizing the
+  pre-array.
+
+  The state covariance matrix P    is factorized as
+                               i|i-1
+     P     = S  S'
+      i|i-1   i  i
+
+  and one combined time and measurement update for the state X
+                                                              i|i-1
+  is given by
+
+     X     = A X      + K (Y - C X     ),
+      i+1|i   i i|i-1    i  i   i i|i-1
+
+                       -1/2
+  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
+         i    i      i                                            i
+  is the observed output of the system.
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires
+
+        3    2                               2   2
+  (7/6)N  + N  x (5/2 x P + M) + N x (1/2 x M + P )
+
+  operations and is backward stable (see [2]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDK = NMAX, LDQ = MMAX, LDR = PMAX,
+     $                   LDS = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX)+2*PMAX,
+     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBK, MULTBQ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
+     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
+      INTEGER          IWORK(PMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = *)
+     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
+*              Save the strict lower triangle of R in its strict upper
+*              triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, P
+                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
+   10          CONTINUE
+               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter recursion
+*              (in square root covariance form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
+     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
+     $                         TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the lower triangle of R.
+                     DO 30 I = 2, P
+                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
+   30                CONTINUE
+                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBK, 'K' ) ) THEN
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01QD = ',I2)
+99997 FORMAT (' The square root of the state covariance matrix is ')
+99996 FORMAT (/' The Kalman gain matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01QD EXAMPLE PROGRAM DATA
+   4     2     2     K     0.0     N
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.2113  0.8497  0.7263  0.8833
+   0.7560  0.6857  0.1985  0.6525
+   0.0002  0.8782  0.5442  0.3076
+   0.3303  0.0683  0.2320  0.9329
+   0.5618  0.5042
+   0.5896  0.3493
+   0.6853  0.3873
+   0.8906  0.9222
+   1.0000  0.0000
+   0.0000  1.0000
+   0.3616  0.5664  0.5015  0.2693
+   0.2922  0.4826  0.4368  0.6325
+   0.9488  0.0000
+   0.3760  0.7340
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01QD EXAMPLE PROGRAM RESULTS
+
+ The square root of the state covariance matrix is 
+  -1.2936   0.0000   0.0000   0.0000
+  -1.1382  -0.2579   0.0000   0.0000
+  -0.9622  -0.1529   0.2974   0.0000
+  -1.3076   0.0936   0.4508  -0.4897
+
+ The Kalman gain matrix is 
+   0.3638   0.9469
+   0.3532   0.8179
+   0.2471   0.5542
+   0.1982   0.6471
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/FB01RD.html b/doc/_static/doc/FB01RD.html
new file mode 100644
index 00000000..5bc4d5e4
--- /dev/null
+++ b/doc/_static/doc/FB01RD.html
@@ -0,0 +1,481 @@
+<HTML>
+<HEAD><TITLE>FB01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01RD">FB01RD</A></H2>
+<H3>
+Time-invariant square root covariance Kalman filter (observer Hessenberg form)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-invariant Kalman filter. This update is
+  given for the square root covariance filter, using the condensed
+  observer Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
+     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBK, MULTBQ
+      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
+     $                  M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBK    CHARACTER*1
+          Indicates whether the user wishes to compute the Kalman
+          filter gain matrix K  as follows:
+                              i
+          = 'K':  K  is computed and stored in array K;
+                   i
+          = 'N':  K  is not required.
+                   i
+
+  MULTBQ  CHARACTER*1                    1/2
+          Indicates how matrices B  and Q    are to be passed to
+                                  i      i
+          the routine as follows:
+          = 'P':  Array Q is not used and the array B must contain
+                                 1/2
+                  the product B Q   ;
+                               i i
+          = 'N':  Arrays B and Q must contain the matrices as
+                  described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices S    and A.  N &gt;= 0.
+                    i-1
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           1/2
+          Q   .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           1/2
+          R   .  P &gt;= 0.
+           i
+
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
+          On entry, the leading N-by-N lower triangular part of this
+          array must contain S   , the square root (left Cholesky
+                              i-1
+          factor) of the state covariance matrix at instant (i-1).
+          On exit, the leading N-by-N lower triangular part of this
+          array contains S , the square root (left Cholesky factor)
+                          i
+          of the state covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain A,
+          the state transition matrix of the discrete system in
+          lower observer Hessenberg form (e.g., as produced by
+          SLICOT Library Routine TB01ND).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                     1/2      i
+          the input weight matrix (or the product B Q    if
+                                                   i i
+          MULTBQ = 'P') of the discrete system at instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
+          If MULTBQ = 'N', then the leading M-by-M lower triangular
+                                           1/2
+          part of this array must contain Q   , the square root
+                                           i
+          (left Cholesky factor) of the input (process) noise
+          covariance matrix at instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+          Otherwise, Q is not referenced and can be supplied as a
+          dummy array (i.e., set parameter LDQ = 1 and declare this
+          array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
+          LDQ &gt;= 1        if MULTBQ = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C,
+          the output weight matrix of the discrete system in lower
+          observer Hessenberg form (e.g., as produced by SLICOT
+          Library routine TB01ND).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
+          On entry, the leading P-by-P lower triangular part of this
+                              1/2
+          array must contain R   , the square root (left Cholesky
+                              i
+          factor) of the output (measurement) noise covariance
+          matrix at instant i.
+          On exit, the leading P-by-P lower triangular part of this
+                                 1/2
+          array contains (RINOV )   , the square root (left Cholesky
+                               i
+          factor) of the covariance matrix of the innovations at
+          instant i.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,P).
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
+          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
+          of this array contains K , the Kalman filter gain matrix
+                                  i
+          at instant i.
+          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
+          leading N-by-P part of this array contains AK ,  a matrix
+                                                       i
+          related to the Kalman filter gain matrix at instant i (see
+                                                         -1/2
+          METHOD). Specifically, AK  = A P     C'(RINOV')    .
+                                   i      i|i-1        i
+
+  LDK     INTEGER
+          The leading dimension of array K.  LDK &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBK = 'K', then TOL is used to test for near
+                                            1/2
+          singularity of the matrix (RINOV )   . If the user sets
+                                          i
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          where LIWORK = P if JOBK = 'K',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                                     1/2
+          (in the 1-norm) of (RINOV )   .
+                                   i
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2)),
+                        if JOBK = 'N';
+          LDWORK &gt;= MAX(2,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2),3*P),
+                        if JOBK = 'K'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                                     1/2
+          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
+                                                   i           1/2
+                i.e., the condition number estimate of (RINOV )
+                                                             i
+                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
+                            1/2                                   i
+                and (RINOV )    have been computed.
+                          i
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root covariance
+  filter algorithm, summarized as follows:
+
+   |  1/2                     |     |         1/2          |
+   | R      0        C x S    |     | (RINOV )     0     0 |
+   |  i                   i-1 |     |       i              |
+   |             1/2          | T = |                      |
+   | 0      B x Q    A x S    |     |     AK       S     0 |
+   |         i   i        i-1 |     |       i       i      |
+
+        (Pre-array)                      (Post-array)
+
+  where T is unitary and (A,C) is in lower observer Hessenberg form.
+
+  An example of the pre-array is given below (where N = 6, P = 2
+  and M = 3):
+
+       |x   |      | x          |
+       |x x |      | x x        |
+       |____|______|____________|
+       |    | x x x| x x x      |
+       |    | x x x| x x x x    |
+       |    | x x x| x x x x x  |
+       |    | x x x| x x x x x x|
+       |    | x x x| x x x x x x|
+       |    | x x x| x x x x x x|
+
+  The corresponding state covariance matrix P      is then
+                                             i|i-1
+  factorized as
+
+      P     = S  S'
+       i|i-1   i  i
+
+  and one combined time and measurement update for the state X
+                                                              i|i-1
+  is given by
+
+      X     = A X      + K (Y - C X     )
+       i+1|i     i|i-1    i  i     i|i-1
+
+                       -1/2
+  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
+         i    i      i                                            i
+  is the observed output of the system.
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Van Dooren, P. and Verhaegen, M.H.G.
+      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
+      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
+
+  [3] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires
+
+         3    2                           2         3
+  1/6 x N  + N x (3/2 x P + M) + 2 x N x P + 2/3 x P
+
+  operations and is backward stable (see [3]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDK = NMAX,
+     $                   LDQ = MMAX, LDR = PMAX, LDS = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX+1),
+     $                                 NMAX*(PMAX+NMAX)+2*PMAX,
+     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBK, MULTBQ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
+     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
+      INTEGER          IWORK(PMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = * )
+     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
+*              Save the strict lower triangle of R in its strict upper
+*              triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, P
+                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
+   10          CONTINUE
+               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter recursion
+*              (in square root covariance form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
+     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
+     $                         TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the lower triangle of R.
+                     DO 30 I = 2, P
+                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
+   30                CONTINUE
+                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBK, 'K' ) ) THEN
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01QD = ',I2)
+99997 FORMAT (' The square root of the state covariance matrix is ')
+99996 FORMAT (/' The Kalman gain matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01RD EXAMPLE PROGRAM DATA
+   4     2     2     K     0.0     N
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.0000  0.0000  0.0000  0.0000
+   0.2113  0.8497  0.7263  0.0000
+   0.7560  0.6857  0.1985  0.6525
+   0.0002  0.8782  0.5442  0.3076
+   0.3303  0.0683  0.2320  0.9329
+   0.5618  0.5042
+   0.5896  0.3493
+   0.6853  0.3873
+   0.8906  0.9222
+   1.0000  0.0000
+   0.0000  1.0000
+   0.3616  0.0000  0.0000  0.0000
+   0.2922  0.4826  0.0000  0.0000
+   0.9488  0.0000
+   0.3760  0.7340
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01RD EXAMPLE PROGRAM RESULTS
+
+ The square root of the state covariance matrix is 
+  -1.7223   0.0000   0.0000   0.0000
+  -2.1073   0.5467   0.0000   0.0000
+  -1.7649   0.1412  -0.1710   0.0000
+  -1.8291   0.2058  -0.1497   0.7760
+
+ The Kalman gain matrix is 
+  -0.2135   1.6649
+  -0.2345   2.1442
+  -0.2147   1.7069
+  -0.1345   1.4777
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/FB01SD.html b/doc/_static/doc/FB01SD.html
new file mode 100644
index 00000000..edfd76fe
--- /dev/null
+++ b/doc/_static/doc/FB01SD.html
@@ -0,0 +1,528 @@
+<HTML>
+<HEAD><TITLE>FB01SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01SD">FB01SD</A></H2>
+<H3>
+Time-varying square root information Kalman filter (dense matrices)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-varying Kalman filter. This update is given
+  for the square root information filter, using dense matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV, LDSINV,
+     $                   AINV, LDAINV, B, LDB, RINV, LDRINV, C, LDC,
+     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBX, MULTAB, MULTRC
+      INTEGER           INFO, LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV,
+     $                  LDWORK, M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  AINV(LDAINV,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  E(*), QINV(LDQINV,*), RINV(LDRINV,*), RINVY(*),
+     $                  SINV(LDSINV,*), X(*), Z(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Indicates whether X    is to be computed as follows:
+                             i+1
+          = 'X':  X    is computed and stored in array X;
+                   i+1
+          = 'N':  X    is not required.
+                   i+1
+
+  MULTAB  CHARACTER*1             -1
+          Indicates how matrices A   and B  are to be passed to
+                                  i       i
+          the routine as follows:                       -1
+          = 'P':  Array AINV must contain the matrix   A    and the
+                                                    -1  i
+                  array B must contain the product A  B ;
+                                                    i  i
+          = 'N':  Arrays AINV and B must contain the matrices
+                  as described below.
+
+  MULTRC  CHARACTER*1             -1/2
+          Indicates how matrices R     and C    are to be passed to
+                                  i+1       i+1
+          the routine as follows:
+          = 'P':  Array RINV is not used and the array C must
+                                       -1/2
+                  contain the product R    C   ;
+                                       i+1  i+1
+          = 'N':  Arrays RINV and C must contain the matrices
+                  as described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+                    -1      -1
+          matrices S   and A  .  N &gt;= 0.
+                    i       i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           -1/2
+          Q    .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           -1/2
+          R    .  P &gt;= 0.
+           i+1
+
+  SINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDSINV,N)
+          On entry, the leading N-by-N upper triangular part of this
+                              -1
+          array must contain S  , the inverse of the square root
+                              i
+          (right Cholesky factor) of the state covariance matrix
+          P    (hence the information square root) at instant i.
+           i|i
+          On exit, the leading N-by-N upper triangular part of this
+                          -1
+          array contains S   , the inverse of the square root (right
+                          i+1
+          Cholesky factor) of the state covariance matrix P
+                                                           i+1|i+1
+          (hence the information square root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDSINV  INTEGER
+          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
+
+  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
+                                                              -1
+          The leading N-by-N part of this array must contain A  ,
+                                                              i
+          the inverse of the state transition matrix of the discrete
+          system at instant i.
+
+  LDAINV  INTEGER
+          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                   -1         i
+          the input weight matrix (or the product A  B  if
+                                                   i  i
+          MULTAB = 'P') of the discrete system at instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
+          If MULTRC = 'N', then the leading P-by-P upper triangular
+                                           -1/2
+          part of this array must contain R    , the inverse of the
+                                           i+1
+          covariance square root (right Cholesky factor) of the
+          output (measurement) noise (hence the information square
+          root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+          Otherwise, RINV is not referenced and can be supplied as a
+          dummy array (i.e., set parameter LDRINV = 1 and declare
+          this array to be RINV(1,1) in the calling program).
+
+  LDRINV  INTEGER
+          The leading dimension of array RINV.
+          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
+          LDRINV &gt;= 1        if MULTRC = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C   ,
+                                                    -1/2      i+1
+          the output weight matrix (or the product R    C    if
+                                                    i+1  i+1
+          MULTRC = 'P') of the discrete system at instant i+1.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  QINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDQINV,M)
+          On entry, the leading M-by-M upper triangular part of this
+                              -1/2
+          array must contain Q    , the inverse of the covariance
+                              i
+          square root (right Cholesky factor) of the input (process)
+          noise (hence the information square root) at instant i.
+          On exit, the leading M-by-M upper triangular part of this
+                                 -1/2
+          array contains (QINOV )    , the inverse of the covariance
+                               i
+          square root (right Cholesky factor) of the process noise
+          innovation (hence the information square root) at
+          instant i.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDQINV  INTEGER
+          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain X , the estimated
+                                             i
+          filtered state at instant i.
+          On exit, if JOBX = 'X', and INFO = 0, then this array
+          contains X   , the estimated filtered state at
+                    i+1
+          instant i+1.
+          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
+                               -1
+          this array contains S   X   .
+                               i+1 i+1
+
+  RINVY   (input) DOUBLE PRECISION array, dimension (P)
+                                   -1/2
+          This array must contain R    Y   , the product of the
+                                   i+1  i+1
+                                   -1/2
+          upper triangular matrix R     and the measured output
+                                   i+1
+          vector Y    at instant i+1.
+                  i+1
+
+  Z       (input) DOUBLE PRECISION array, dimension (M)
+          This array must contain Z , the mean value of the state
+                                   i
+          process noise at instant i.
+
+  E       (output) DOUBLE PRECISION array, dimension (P)
+          This array contains E   , the estimated error at instant
+                               i+1
+          i+1.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBX = 'X', then TOL is used to test for near
+                                     -1
+          singularity of the matrix S   . If the user sets
+                                     i+1
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          where LIWORK = N if JOBX = 'X',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                              -1
+          (in the 1-norm) of S   .
+                              i+1
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N),
+                        if JOBX = 'N';
+          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N,3*N),
+                        if JOBX = 'X'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;                        -1
+          = 1:  if JOBX = 'X' and the matrix S   is singular,
+                                              i+1       -1
+                i.e., the condition number estimate of S    (in the
+                                                        i+1
+                                                      -1    -1/2
+                1-norm) exceeds 1/TOL.  The matrices S   , Q
+                                                      i+1   i
+                and E have been computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root information
+  filter algorithm, summarized as follows:
+
+    |    -1/2             -1/2    |     |         -1/2             |
+    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
+    |    i                i    i  |     |       i                  |
+    |                             |     |                          |
+    |  -1 -1     -1 -1    -1      |     |             -1    -1     |
+  T | S  A  B   S  A     S  X     |  =  |    0       S     S   X   |
+    |  i  i  i   i  i     i  i    |     |             i+1   i+1 i+1|
+    |                             |     |                          |
+    |           -1/2      -1/2    |     |                          |
+    |    0     R    C    R    Y   |     |    0         0     E     |
+    |           i+1  i+1  i+1  i+1|     |                     i+1  |
+
+               (Pre-array)                      (Post-array)
+
+  where T is an orthogonal transformation triangularizing the
+                     -1/2
+  pre-array, (QINOV )     is the inverse of the covariance square
+                   i
+  root (right Cholesky factor) of the process noise innovation
+  (hence the information square root) at instant i, and E    is the
+                                                         i+1
+  estimated error at instant i+1.
+
+  The inverse of the corresponding state covariance matrix P
+                                                            i+1|i+1
+  (hence the information matrix I) is then factorized as
+
+                -1         -1     -1
+     I       = P       = (S   )' S
+      i+1|i+1   i+1|i+1    i+1    i+1
+
+  and one combined time and measurement update for the state is
+  given by X   .
+            i+1
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+        3    2                              2   2
+  (7/6)N  + N x (7/2 x M + P) + N x (1/2 x P + M )
+
+  operations and is backward stable (see [2]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV
+      PARAMETER        ( LDAINV = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
+     $                                (NMAX + PMAX)*(NMAX + 1) + 2*NMAX,
+     $                                 3*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBX, MULTAB, MULTRC
+*     .. Local Arrays ..
+      DOUBLE PRECISION AINV(LDAINV,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DIAG(MMAX), DWORK(LDWORK), E(PMAX),
+     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
+     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01SD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTAB, MULTRC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
+     $                               ( ( RINV(I,J), J = 1,P ), I = 1,P )
+            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
+               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
+               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
+*              Save the strict upper triangle of QINV in its strict
+*              lower triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, M
+                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
+   10          CONTINUE
+               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter recursion
+*              (in square root information form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV,
+     $                         LDSINV, AINV, LDAINV, B, LDB, RINV,
+     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
+     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the upper triangle of QINV.
+                     DO 30 I = 2, M
+                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
+   30                CONTINUE
+                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBX, 'X' ) ) THEN
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 50 I = 1, N
+                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
+   50                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01SD = ',I2)
+99997 FORMAT (' The inverse of the square root of the state covariance',
+     $       ' matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The components of the estimated filtered state are ',
+     $       //'   k       X(k)',/)
+99994 FORMAT (I4,3X,F8.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01SD EXAMPLE PROGRAM DATA
+   4     2     2     X     0.0     P     N
+   0.2113  0.7560  0.0002  0.3303
+   0.8497  0.6857  0.8782  0.0683
+   0.7263  0.1985  0.5442  0.2320
+   0.8833  0.6525  0.3076  0.9329
+   0.3616  0.5664  0.5015  0.2693
+   0.2922  0.4826  0.4368  0.6325
+   1.0000  0.0000
+   0.0000  1.0000
+  -0.8805  1.3257
+   2.1039  0.5207
+  -0.6075  1.0386
+  -0.8531  1.1688
+   1.1159  0.2305
+   0.0000  0.6597
+   1.0000  0.0000  0.0000  0.0000
+   0.0000  1.0000  0.0000  0.0000
+   0.0000  0.0000  1.0000  0.0000
+   0.0000  0.0000  0.0000  1.0000
+   0.0019
+   0.5075
+   0.4076
+   0.8408
+   0.5017
+   0.9128
+   0.2129
+   0.5591
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01SD EXAMPLE PROGRAM RESULTS
+
+ The inverse of the square root of the state covariance matrix is 
+   0.6897   0.7721   0.7079   0.6102
+   0.0000  -0.3363  -0.2252  -0.2642
+   0.0000   0.0000  -0.1650   0.0319
+   0.0000   0.0000   0.0000   0.3708
+
+ The components of the estimated filtered state are 
+
+   k       X(k)
+
+   1    -0.7125
+   2    -1.8324
+   3     1.7500
+   4     1.5854
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>FB01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01TD">FB01TD</A></H2>
+<H3>
+Time-invariant square root information Kalman filter (controller Hessenberg form)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a combined measurement and time update of one
+  iteration of the time-invariant Kalman filter. This update is
+  given for the square root information filter, using the condensed
+  controller Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV, AINV,
+     $                   LDAINV, AINVB, LDAINB, RINV, LDRINV, C, LDC,
+     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBX, MULTRC
+      INTEGER           INFO, LDAINB, LDAINV, LDC, LDQINV, LDRINV,
+     $                  LDSINV, LDWORK, M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  AINV(LDAINV,*), AINVB(LDAINB,*), C(LDC,*),
+     $                  DWORK(*), E(*), QINV(LDQINV,*), RINV(LDRINV,*),
+     $                  RINVY(*), SINV(LDSINV,*), X(*), Z(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Indicates whether X    is to be computed as follows:
+                             i+1
+          = 'X':  X    is computed and stored in array X;
+                   i+1
+          = 'N':  X    is not required.
+                   i+1
+
+  MULTRC  CHARACTER*1             -1/2
+          Indicates how matrices R     and C    are to be passed to
+                                  i+1       i+1
+          the routine as follows:
+          = 'P':  Array RINV is not used and the array C must
+                                       -1/2
+                  contain the product R    C   ;
+                                       i+1  i+1
+          = 'N':  Arrays RINV and C must contain the matrices
+                  as described below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+                    -1      -1
+          matrices S   and A  .  N &gt;= 0.
+                    i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+           -1/2
+          Q    .  M &gt;= 0.
+           i
+
+  P       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+           -1/2
+          R    .  P &gt;= 0.
+           i+1
+
+  SINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDSINV,N)
+          On entry, the leading N-by-N upper triangular part of this
+                              -1
+          array must contain S  , the inverse of the square root
+                              i
+          (right Cholesky factor) of the state covariance matrix
+          P    (hence the information square root) at instant i.
+           i|i
+          On exit, the leading N-by-N upper triangular part of this
+                          -1
+          array contains S   , the inverse of the square root (right
+                          i+1
+          Cholesky factor) of the state covariance matrix P
+                                                           i+1|i+1
+          (hence the information square root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDSINV  INTEGER
+          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
+
+  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
+                                                              -1
+          The leading N-by-N part of this array must contain A  ,
+          the inverse of the state transition matrix of the discrete
+          system in controller Hessenberg form (e.g., as produced by
+          SLICOT Library Routine TB01MD).
+
+  LDAINV  INTEGER
+          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
+
+  AINVB   (input) DOUBLE PRECISION array, dimension (LDAINB,M)
+                                                               -1
+          The leading N-by-M part of this array must contain  A  B,
+                          -1
+          the product of A   and the input weight matrix B of the
+          discrete system, in upper controller Hessenberg form
+          (e.g., as produced by SLICOT Library Routine TB01MD).
+
+  LDAINB  INTEGER
+          The leading dimension of array AINVB.  LDAINB &gt;= MAX(1,N).
+
+  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
+          If MULTRC = 'N', then the leading P-by-P upper triangular
+                                           -1/2
+          part of this array must contain R    , the inverse of the
+                                           i+1
+          covariance square root (right Cholesky factor) of the
+          output (measurement) noise (hence the information square
+          root) at instant i+1.
+          The strict lower triangular part of this array is not
+          referenced.
+          Otherwise, RINV is not referenced and can be supplied as a
+          dummy array (i.e., set parameter LDRINV = 1 and declare
+          this array to be RINV(1,1) in the calling program).
+
+  LDRINV  INTEGER
+          The leading dimension of array RINV.
+          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
+          LDRINV &gt;= 1        if MULTRC = 'P'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain C   ,
+                                                    -1/2      i+1
+          the output weight matrix (or the product R    C    if
+                                                    i+1  i+1
+          MULTRC = 'P') of the discrete system at instant i+1.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  QINV    (input/output) DOUBLE PRECISION array, dimension
+          (LDQINV,M)
+          On entry, the leading M-by-M upper triangular part of this
+                              -1/2
+          array must contain Q    , the inverse of the covariance
+                              i
+          square root (right Cholesky factor) of the input (process)
+          noise (hence the information square root) at instant i.
+          On exit, the leading M-by-M upper triangular part of this
+                                 -1/2
+          array contains (QINOV )    , the inverse of the covariance
+                               i
+          square root (right Cholesky factor) of the process noise
+          innovation (hence the information square root) at
+          instant i.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDQINV  INTEGER
+          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain X , the estimated
+                                             i
+          filtered state at instant i.
+          On exit, if JOBX = 'X', and INFO = 0, then this array
+          contains X   , the estimated filtered state at
+                    i+1
+          instant i+1.
+          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
+                               -1
+          this array contains S   X   .
+                               i+1 i+1
+
+  RINVY   (input) DOUBLE PRECISION array, dimension (P)
+                                   -1/2
+          This array must contain R    Y   , the product of the
+                                   i+1  i+1
+                                   -1/2
+          upper triangular matrix R     and the measured output
+                                   i+1
+          vector Y    at instant i+1.
+                  i+1
+
+  Z       (input) DOUBLE PRECISION array, dimension (M)
+          This array must contain Z , the mean value of the state
+                                   i
+          process noise at instant i.
+
+  E       (output) DOUBLE PRECISION array, dimension (P)
+          This array contains E   , the estimated error at instant
+                               i+1
+          i+1.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If JOBX = 'X', then TOL is used to test for near
+                                     -1
+          singularity of the matrix S   . If the user sets
+                                     i+1
+          TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+          Otherwise, TOL is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          where LIWORK = N if JOBX = 'X',
+          and   LIWORK = 1 otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
+          an estimate of the reciprocal of the condition number
+                              -1
+          (in the 1-norm) of S   .
+                              i+1
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1)),
+                              if JOBX = 'N';
+          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1),
+                        3*N), if JOBX = 'X'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;                        -1
+          = 1:  if JOBX = 'X' and the matrix S    is singular,
+                                              i+1       -1
+                i.e., the condition number estimate of S    (in the
+                                                        i+1
+                                                      -1    -1/2
+                1-norm) exceeds 1/TOL.  The matrices S   , Q
+                                                      i+1   i
+                and E have been computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs one recursion of the square root information
+  filter algorithm, summarized as follows:
+
+    |    -1/2             -1/2    |     |         -1/2             |
+    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
+    |    i                i    i  |     |       i                  |
+    |                             |     |                          |
+    |           -1/2      -1/2    |     |             -1    -1     |
+  T |    0     R    C    R    Y   |  =  |    0       S     S   X   |
+    |           i+1  i+1  i+1  i+1|     |             i+1   i+1 i+1|
+    |                             |     |                          |
+    |  -1 -1     -1 -1    -1      |     |                          |
+    | S  A  B   S  A     S  X     |     |    0         0     E     |
+    |  i         i        i  i    |     |                     i+1  |
+
+                (Pre-array)                      (Post-array)
+
+  where T is an orthogonal transformation triangularizing the
+                     -1/2
+  pre-array, (QINOV )     is the inverse of the covariance square
+                   i
+  root (right Cholesky factor) of the process noise innovation
+                                                         -1  -1
+  (hence the information square root) at instant i and (A  ,A  B) is
+  in upper controller Hessenberg form.
+
+  An example of the pre-array is given below (where N = 6, M = 2,
+  and P = 3):
+
+      |x x |             | x|
+      |  x |             | x|
+      _______________________
+      |    | x x x x x x | x|
+      |    | x x x x x x | x|
+      |    | x x x x x x | x|
+      _______________________
+      |x x | x x x x x x | x|
+      |  x | x x x x x x | x|
+      |    | x x x x x x | x|
+      |    |   x x x x x | x|
+      |    |     x x x x | x|
+      |    |       x x x | x|
+
+  The inverse of the corresponding state covariance matrix P
+                                                            i+1|i+1
+  (hence the information matrix I) is then factorized as
+
+                 -1         -1     -1
+      I       = P       = (S   )' S
+       i+1|i+1   i+1|i+1    i+1    i+1
+
+  and one combined time and measurement update for the state is
+  given by X   .
+            i+1
+
+  The triangularization is done entirely via Householder
+  transformations exploiting the zero pattern of the pre-array.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Van Dooren, P. and Verhaegen, M.H.G.
+      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
+      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
+
+  [3] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
+
+  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
+      Algorithm 675: FORTRAN Subroutines for Computing the Square
+      Root Covariance Filter and Square Root Information Filter in
+      Dense or Hessenberg Forms.
+      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+        3    2                           2          3
+  (1/6)N  + N x (3/2 x M + P) + 2 x N x M  + 2/3 x M
+
+  operations and is backward stable (see [3]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDAINB, LDAINV, LDC, LDQINV, LDRINV, LDSINV
+      PARAMETER        ( LDAINB = NMAX, LDAINV = NMAX, LDC = PMAX,
+     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
+     $                                (NMAX + PMAX)*(NMAX + 1) + NMAX +
+     $                                 MAX( NMAX - 1, MMAX + 1 ),
+     $                                 3*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, ISTEP, J, M, N, P
+      CHARACTER*1      JOBX, MULTRC
+*     .. Local Arrays ..
+      DOUBLE PRECISION AINV(LDAINV,NMAX), AINVB(LDAINB,MMAX),
+     $                 C(LDC,NMAX), DIAG(MMAX), DWORK(LDWORK), E(PMAX),
+     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
+     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01TD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTRC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
+     $                         ( ( RINV(I,J), J = 1,P ), I = 1,P )
+            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) M
+            ELSE
+               READ ( NIN, FMT = * )
+     $                              ( ( AINVB(I,J), J = 1,M ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
+               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
+               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
+*              Save the strict upper triangle of QINV in its strict
+*              lower triangle and the diagonal in the array DIAG.
+               DO 10 I = 2, M
+                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
+   10          CONTINUE
+               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
+*              Perform three iterations of the (Kalman) filter
+*              recursion (in square root information form).
+               ISTEP = 1
+   20          CONTINUE
+                  CALL FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV,
+     $                         AINV, LDAINV, AINVB, LDAINB, RINV,
+     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
+     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
+                  ISTEP = ISTEP + 1
+                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
+*                    Restore the upper triangle of QINV.
+                     DO 30 I = 2, M
+                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
+   30                CONTINUE
+                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
+                     GO TO 20
+                  END IF
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
+   40             CONTINUE
+                  IF ( LSAME( JOBX, 'X' ) ) THEN
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 50 I = 1, N
+                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
+   50                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01TD = ',I2)
+99997 FORMAT (' The inverse of the square root of the state covariance',
+     $       ' matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The components of the estimated filtered state are ',
+     $       //'   k       X(k)',/)
+99994 FORMAT (I4,3X,F8.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01TD EXAMPLE PROGRAM DATA
+   4     2     2     X     0.0     N
+   0.2113  0.7560  0.0002  0.3303
+   0.8497  0.6857  0.8782  0.0683
+   0.7263  0.1985  0.5442  0.2320
+   0.0000  0.6525  0.3076  0.9329
+   0.3616  0.5664  0.5015  0.2693
+   0.2922  0.4826  0.4368  0.6325
+   1.0000  0.0000
+   0.0000  1.0000
+  -0.8805  1.3257
+   0.0000  0.5207
+   0.0000  0.0000
+   0.0000  0.0000
+   1.1159  0.2305
+   0.0000  0.6597
+   1.0000  0.0000  0.0000  0.0000
+   0.0000  1.0000  0.0000  0.0000
+   0.0000  0.0000  1.0000  0.0000
+   0.0000  0.0000  0.0000  1.0000
+   0.0019
+   0.5075
+   0.4076
+   0.8408
+   0.5017
+   0.9128
+   0.2129
+   0.5591
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01TD EXAMPLE PROGRAM RESULTS
+
+ The inverse of the square root of the state covariance matrix is 
+  -0.8731  -1.1461  -1.0260  -0.8901
+   0.0000  -0.2763  -0.1929  -0.3763
+   0.0000   0.0000  -0.1110  -0.1051
+   0.0000   0.0000   0.0000   0.3120
+
+ The components of the estimated filtered state are 
+
+   k       X(k)
+
+   1    -2.0688
+   2    -0.7814
+   3     2.2181
+   4     0.9298
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/FB01VD.html b/doc/_static/doc/FB01VD.html
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+<HTML>
+<HEAD><TITLE>FB01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FB01VD">FB01VD</A></H2>
+<H3>
+One recursion of the conventional Kalman filter
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one recursion of the conventional Kalman filter
+  equations. This is one update of the Riccati difference equation
+  and the Kalman filter gain.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC, Q,
+     $                   LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LDC, LDK, LDP, LDQ, LDR,
+     $                  LDWORK, M, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  K(LDK,*), P(LDP,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices P      and A .  N &gt;= 0.
+                    i|i-1      i
+
+  M       (input) INTEGER
+          The actual input dimension, i.e., the order of the matrix
+          Q .  M &gt;= 0.
+           i
+
+  L       (input) INTEGER
+          The actual output dimension, i.e., the order of the matrix
+          R .  L &gt;= 0.
+           i
+
+  P       (input/output) DOUBLE PRECISION array, dimension (LDP,N)
+          On entry, the leading N-by-N part of this array must
+          contain P     , the state covariance matrix at instant
+                   i|i-1
+          (i-1). The upper triangular part only is needed.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains P     , the state covariance matrix at
+                          i+1|i
+          instant i. The strictly lower triangular part is not set.
+          Otherwise, the leading N-by-N part of this array contains
+          P     , its input value.
+           i|i-1
+
+  LDP     INTEGER
+          The leading dimension of array P.  LDP &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain A ,
+                                                              i
+          the state transition matrix of the discrete system at
+          instant i.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain B ,
+                                                              i
+          the input weight matrix of the discrete system at
+          instant i.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array must contain C ,
+                                                              i
+          the output weight matrix of the discrete system at
+          instant i.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,L).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,M)
+          The leading M-by-M part of this array must contain Q ,
+                                                              i
+          the input (process) noise covariance matrix at instant i.
+          The diagonal elements of this array are modified by the
+          routine, but are restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,M).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
+          On entry, the leading L-by-L part of this array must
+          contain R , the output (measurement) noise covariance
+                   i
+          matrix at instant i.
+          On exit, if INFO = 0, or INFO = L+1, the leading L-by-L
+                                                               1/2
+          upper triangular part of this array contains (RINOV )   ,
+                                                             i
+          the square root (left Cholesky factor) of the covariance
+          matrix of the innovations at instant i.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,L).
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,L)
+          If INFO = 0, the leading N-by-L part of this array
+          contains K , the Kalman filter gain matrix at instant i.
+                    i
+          If INFO &gt; 0, the leading N-by-L part of this array
+          contains the matrix product P     C'.
+                                       i|i-1 i
+
+  LDK     INTEGER
+          The leading dimension of array K.  LDK &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the matrix RINOV . If the user sets TOL &gt; 0, then the
+                          i
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number of that matrix; a matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be nonsingular. If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = L*L*EPS, is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (L)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, or INFO = L+1, DWORK(1) returns an
+          estimate of the reciprocal of the condition number (in the
+          1-norm) of the matrix RINOV .
+                                     i
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,L*N+3*L,N*N,N*M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value;
+          = k:  if INFO = k, 1 &lt;= k &lt;= L, the leading minor of order
+                k of the matrix RINOV  is not positive-definite, and
+                                     i
+                its Cholesky factorization could not be completed;
+          = L+1: the matrix RINOV  is singular, i.e., the condition
+                                 i
+                number estimate of RINOV  (in the 1-norm) exceeds
+                                        i
+                1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The conventional Kalman filter gain used at the i-th recursion
+  step is of the form
+
+                         -1
+     K  = P     C'  RINOV  ,
+      i    i|i-1 i       i
+
+  where RINOV  = C P     C' + R , and the state covariance matrix
+             i    i i|i-1 i    i
+
+  P      is updated by the discrete-time difference Riccati equation
+   i|i-1
+
+     P      = A  (P      - K C P     ) A'  + B Q B'.
+      i+1|i    i   i|i-1    i i i|i-1   i     i i i
+
+  Using these two updates, the combined time and measurement update
+  of the state X      is given by
+                i|i-1
+
+     X      = A X      + A K (Y  - C X     ),
+      i+1|i    i i|i-1    i i  i    i i|i-1
+
+  where Y  is the new observation at step i.
+         i
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, B.D.O. and Moore, J.B.
+      Optimal Filtering,
+      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
+
+  [2] Verhaegen, M.H.G. and Van Dooren, P.
+      Numerical Aspects of Different Kalman Filter Implementations.
+      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, 1986.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+          3   2
+   3/2 x N + N  x (3 x L + M/2)
+
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FB01VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, LMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, LMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDK, LDP, LDQ, LDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = LMAX, LDK = NMAX,
+     $                   LDP = NMAX, LDQ = MMAX, LDR = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( LMAX*NMAX + 3*LMAX, NMAX*NMAX,
+     $                                 MMAX*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, L, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), K(LDK,LMAX), P(LDP,NMAX),
+     $                 Q(LDQ,MMAX), R(LDR,LMAX)
+      INTEGER          IWORK(LMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, FB01VD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, L, TOL
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( P(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,M ), I = 1,M )
+            IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) L
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,L )
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,L ), I = 1,L )
+*              Perform one iteration of the (Kalman) filter recursion.
+               CALL FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC,
+     $                      Q, LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     CALL DCOPY( I-1, P(1,I), 1, P(I,1), LDP )
+                     WRITE ( NOUT, FMT = 99994 ) ( P(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( K(I,J), J = 1,L )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, L
+                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1,L )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FB01VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from FB01VD = ',I3)
+99997 FORMAT (' The state covariance matrix is ')
+99996 FORMAT (/' The Kalman filter gain matrix is ')
+99995 FORMAT (/' The square root of the covariance matrix of the innov',
+     $          'ations is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' L is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FB01VD EXAMPLE PROGRAM DATA
+   4     3     2     0.0
+   0.5015  0.4368  0.2693  0.6325
+   0.4368  0.4818  0.2639  0.4148
+   0.2693  0.2639  0.1121  0.6856
+   0.6325  0.4148  0.6856  0.8906
+   0.2113  0.8497  0.7263  0.8833
+   0.7560  0.6857  0.1985  0.6525
+   0.0002  0.8782  0.5442  0.3076
+   0.3303  0.0683  0.2320  0.9329
+   0.0437  0.7783  0.5618
+   0.4818  0.2119  0.5896
+   0.2639  0.1121  0.6853
+   0.4148  0.6856  0.8906
+   0.9329  0.2146  0.3126
+   0.2146  0.2922  0.5664
+   0.3126  0.5664  0.5935
+   0.3873  0.9488  0.3760  0.0881
+   0.9222  0.3435  0.7340  0.4498
+   1.0000  0.0000
+   0.0000  1.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FB01VD EXAMPLE PROGRAM RESULTS
+
+ The state covariance matrix is 
+   1.6007   1.3283   1.1153   1.7177
+   1.3283   1.2763   1.0132   1.5137
+   1.1153   1.0132   0.8222   1.2722
+   1.7177   1.5137   1.2722   2.1562
+
+ The Kalman filter gain matrix is 
+   0.1648   0.2241
+   0.2115   0.1610
+   0.0728   0.1673
+   0.1304   0.3892
+
+ The square root of the covariance matrix of the innovations is 
+   1.5091   1.1543
+   0.0000   1.5072
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>FD01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FD01AD">FD01AD</A></H2>
+<H3>
+Fast recursive least-squares filtering
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the least-squares filtering problem recursively in time.
+  Each subroutine call implements one time update of the solution.
+  The algorithm uses a fast QR-decomposition based approach.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
+     $                   CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JP
+      INTEGER           INFO, IWARN, L
+      DOUBLE PRECISION  EFOR, EOUT, EPOS, LAMBDA, XIN, YIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CTETA(*), EPSBCK(*), SALPH(*), STETA(*), XF(*),
+     $                  YQ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JP      CHARACTER*1
+          Indicates whether the user wishes to apply both prediction
+          and filtering parts, as follows:
+          = 'B':  Both prediction and filtering parts are to be
+                  applied;
+          = 'P':  Only the prediction section is to be applied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The length of the impulse response of the equivalent
+          transversal filter model.  L &gt;= 1.
+
+  LAMBDA  (input) DOUBLE PRECISION
+          Square root of the forgetting factor.
+          For tracking capabilities and exponentially stable error
+          propagation, LAMBDA &lt; 1.0 (strict inequality) should
+          be used.  0.0 &lt; LAMBDA &lt;= 1.0.
+
+  XIN     (input) DOUBLE PRECISION
+          The input sample at instant n.
+          (The situation just before and just after the call of
+          the routine are denoted by instant (n-1) and instant n,
+          respectively.)
+
+  YIN     (input) DOUBLE PRECISION
+          If JP = 'B', then YIN must contain the reference sample
+          at instant n.
+          Otherwise, YIN is not referenced.
+
+  EFOR    (input/output) DOUBLE PRECISION
+          On entry, this parameter must contain the square root of
+          exponentially weighted forward prediction error energy
+          at instant (n-1).  EFOR &gt;= 0.0.
+          On exit, this parameter contains the square root of the
+          exponentially weighted forward prediction error energy
+          at instant n.
+
+  XF      (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, this array must contain the transformed forward
+          prediction variables at instant (n-1).
+          On exit, this array contains the transformed forward
+          prediction variables at instant n.
+
+  EPSBCK  (input/output) DOUBLE PRECISION array, dimension (L+1)
+          On entry, the leading L elements of this array must
+          contain the normalized a posteriori backward prediction
+          error residuals of orders zero through L-1, respectively,
+          at instant (n-1), and EPSBCK(L+1) must contain the
+          square-root of the so-called "conversion factor" at
+          instant (n-1).
+          On exit, this array contains the normalized a posteriori
+          backward prediction error residuals, plus the square root
+          of the conversion factor at instant n.
+
+  CTETA   (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, this array must contain the cosines of the
+          rotation angles used in time updates, at instant (n-1).
+          On exit, this array contains the cosines of the rotation
+          angles at instant n.
+
+  STETA   (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, this array must contain the sines of the
+          rotation angles used in time updates, at instant (n-1).
+          On exit, this array contains the sines of the rotation
+          angles at instant n.
+
+  YQ      (input/output) DOUBLE PRECISION array, dimension (L)
+          On entry, if JP = 'B', then this array must contain the
+          orthogonally transformed reference vector at instant
+          (n-1). These elements are also the tap multipliers of an
+          equivalent normalized lattice least-squares filter.
+          Otherwise, YQ is not referenced and can be supplied as
+          a dummy array (i.e., declare this array to be YQ(1) in
+          the calling program).
+          On exit, if JP = 'B', then this array contains the
+          orthogonally transformed reference vector at instant n.
+
+  EPOS    (output) DOUBLE PRECISION
+          The a posteriori forward prediction error residual.
+
+  EOUT    (output) DOUBLE PRECISION
+          If JP = 'B', then EOUT contains the a posteriori output
+          error residual from the least-squares filter at instant n.
+
+  SALPH   (output) DOUBLE PRECISION array, dimension (L)
+          The element SALPH(i), i=1,...,L, contains the opposite of
+          the i-(th) reflection coefficient for the least-squares
+          normalized lattice predictor (whose value is -SALPH(i)).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  an element to be annihilated by a rotation is less
+                than the machine precision (see LAPACK Library
+                routine DLAMCH).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The output error EOUT at instant n, denoted by EOUT(n), is the
+  reference sample minus a linear combination of L successive input
+  samples:
+
+                        L-1
+     EOUT(n) = YIN(n) - SUM h_i * XIN(n-i),
+                        i=0
+
+  where YIN(n) and XIN(n) are the scalar samples at instant n.
+  A least-squares filter uses those h_0,...,h_{L-1} which minimize
+  an exponentially weighted sum of successive output errors squared:
+
+      n
+     SUM [LAMBDA**(2(n-k)) * EOUT(k)**2].
+     k=1
+
+  Each subroutine call performs a time update of the least-squares
+  filter using a fast least-squares algorithm derived from a
+  QR decomposition, as described in references [1] and [2] (the
+  notation from [2] is followed in the naming of the arrays).
+  The algorithm does not compute the parameters h_0,...,h_{L-1} from
+  the above formula, but instead furnishes the parameters of an
+  equivalent normalized least-squares lattice filter, which are
+  available from the arrays SALPH (reflection coefficients) and YQ
+  (tap multipliers), as well as the exponentially weighted input
+  signal energy
+
+      n                                              L
+     SUM [LAMBDA**(2(n-k)) * XIN(k)**2] = EFOR**2 + SUM XF(i)**2.
+     k=1                                            i=1
+
+  For more details on reflection coefficients and tap multipliers,
+  references [2] and [4] are recommended.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1]  Proudler, I. K., McWhirter, J. G., and Shepherd, T. J.
+       Fast QRD based algorithms for least-squares linear
+       prediction.
+       Proceedings IMA Conf. Mathematics in Signal Processing
+       Warwick, UK, December 1988.
+
+  [2]  Regalia, P. A., and Bellanger, M. G.
+       On the duality between QR methods and lattice methods in
+       least-squares adaptive filtering.
+       IEEE Trans. Signal Processing, SP-39, pp. 879-891,
+       April 1991.
+
+  [3]  Regalia, P. A.
+       Numerical stability properties of a QR-based fast
+       least-squares algorithm.
+       IEEE Trans. Signal Processing, SP-41, June 1993.
+
+  [4]  Lev-Ari, H., Kailath, T., and Cioffi, J.
+       Least-squares adaptive lattice and transversal filters:
+       A unified geometric theory.
+       IEEE Trans. Information Theory, IT-30, pp. 222-236,
+       March 1984.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(L) operations for each subroutine call.
+  It is backward consistent for all input sequences XIN, and
+  backward stable for persistently exciting input sequences,
+  assuming LAMBDA &lt; 1.0 (see [3]).
+  If the condition of the signal is very poor (IWARN = 1), then the
+  results are not guaranteed to be reliable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  1.  For tracking capabilities and exponentially stable error
+      propagation, LAMBDA &lt; 1.0 should be used.  LAMBDA is typically
+      chosen slightly less than 1.0 so that "past" data are
+      exponentially forgotten.
+  2.  Prior to the first subroutine call, the variables must be
+      initialized. The following initial values are recommended:
+
+      XF(i) = 0.0,        i=1,...,L
+      EPSBCK(i) = 0.0     i=1,...,L
+      EPSBCK(L+1) = 1.0
+      CTETA(i) = 1.0      i=1,...,L
+      STETA(i) = 0.0      i=1,...,L
+      YQ(i) = 0.0         i=1,...,L
+
+      EFOR = 0.0          (exact start)
+      EFOR = "small positive constant" (soft start).
+
+      Soft starts are numerically more reliable, but result in a
+      biased least-squares solution during the first few iterations.
+      This bias decays exponentially fast provided LAMBDA &lt; 1.0.
+      If sigma is the standard deviation of the input sequence
+      XIN, then initializing EFOR = sigma*1.0E-02 usually works
+      well.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     FD01AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT, NOUT1
+      PARAMETER        ( NIN = 5, NOUT = 6, NOUT1 = 7 )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          IMAX, LMAX
+      PARAMETER        ( IMAX = 500, LMAX = 10 )
+      DOUBLE PRECISION LAMBDA
+      PARAMETER        ( LAMBDA = 0.99D0 )
+*     .. Local Scalars ..
+      CHARACTER        JP
+      INTEGER          I, INFO, IWARN, L
+      DOUBLE PRECISION DELTA, EFOR, EOUT, EPOS, XIN, YIN
+*     .. Local Arrays ..
+      DOUBLE PRECISION CTETA(LMAX), EPSBCK(LMAX+1), SALPH(LMAX),
+     $                 STETA(LMAX), XF(LMAX), YQ(LMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION XFCN, YFCN
+      EXTERNAL         XFCN, YFCN
+*     NOTE: XFCN() generates at each iteration the next sample of the
+*           input sequence. YFCN() generates at each iteration the next
+*           sample of the reference sequence. These functions are user
+*           defined (obtained from data acquisition devices, for
+*           example).
+*     .. External Subroutines ..
+      EXTERNAL         FD01AD
+*
+*     .. File for the output error sequence ..
+      OPEN ( UNIT = NOUT1, FILE = 'ERR.OUT', STATUS = 'REPLACE' )
+*     ..  Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, DELTA, JP
+      IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) L
+      ELSE
+         IF ( DELTA.LT.ZERO ) THEN
+            WRITE ( NOUT, FMT = 99991 )
+         ELSE
+*
+            DO 10 I = 1, L
+               CTETA(I)  = ONE
+               STETA(I)  = ZERO
+               EPSBCK(I) = ZERO
+               XF(I) = ZERO
+               YQ(I) = ZERO
+   10       CONTINUE
+            EPSBCK(L+1) = ONE
+            EFOR = DELTA
+*           .. Run least squares filter.
+            DO 20 I = 1, IMAX
+               XIN = XFCN(I)
+               YIN = YFCN(I)
+               CALL FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
+     $                      CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
+     $                      INFO)
+               WRITE(NOUT1,*) EOUT
+   20       CONTINUE
+            CLOSE(NOUT1)
+*           NOTE:  File 'ERR.OUT' now contains the output error
+*                  sequence.
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 30 I = 1, L
+                  WRITE ( NOUT, FMT = 99996 ) I, XF(I), YQ(I), EPSBCK(I)
+   30          CONTINUE
+               WRITE ( NOUT, FMT = 99995 ) L+1, EPSBCK(L+1)
+               WRITE ( NOUT, FMT = 99994 ) EFOR
+               IF ( IWARN.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99993 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' FD01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from FD01AD = ', I2)
+99997 FORMAT ('  i', 7X, 'XF(i)', 7X, 'YQ(i)', 6X, 'EPSBCK(i)', /1X)
+99996 FORMAT ( I3, 2X, 3(2X, F10.6))
+99995 FORMAT ( I3, 28X, F10.6, /1X)
+99994 FORMAT (' EFOR = ', D10.3)
+99993 FORMAT (' IWARN on exit from FD01AD = ', I2)
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' The exponentially weighted forward prediction error',
+     $         '  energy must be non-negative.' )
+*
+      END
+*
+*     .. Example functions ..
+*
+      DOUBLE PRECISION FUNCTION XFCN( I )
+*     .. Intrinsic Functions ..
+      INTRINSIC        DBLE, SIN
+*     .. Local Scalar ..
+      INTEGER          I
+*     .. Executable Statements ..
+      XFCN = SIN( 0.3D0*DBLE( I ) )
+* *** Last line of XFCN ***
+      END
+*
+      DOUBLE PRECISION FUNCTION YFCN( I )
+*     .. Intrinsic Functions ..
+      INTRINSIC        DBLE, SIN
+*     .. Local Scalar ..
+      INTEGER          I
+*     .. Executable Statements ..
+      YFCN = 0.5D0 * SIN( 0.3D0*DBLE( I ) ) +
+     $       2.0D0 * SIN( 0.3D0*DBLE( I-1 ) )
+* *** Last line of YFCN ***
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ FD01AD EXAMPLE PROGRAM DATA
+   2    1.0D-2     B
+</PRE>
+<B>Program Results</B>
+<PRE>
+ FD01AD EXAMPLE PROGRAM RESULTS
+
+  i       XF(i)       YQ(i)      EPSBCK(i)
+
+  1      4.880088   12.307615   -0.140367
+  2     -1.456881    2.914057   -0.140367
+  3                              0.980099
+
+ EFOR =  0.197D-02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/FSQP.html b/doc/_static/doc/FSQP.html
new file mode 100644
index 00000000..b78b4858
--- /dev/null
+++ b/doc/_static/doc/FSQP.html
@@ -0,0 +1,438 @@
+<HTML>
+<HEAD><TITLE>FSQP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="FSQP">FSQP</A></H2>
+<H3>
+Minimization of the maximum of a set of smooth objective functions
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the minimization of the maximum of a set of smooth
+  objective functions (possibly a single one or none at all) subject
+  to nonlinear equality and inequality constraints, linear equality
+  and inequality constraints, and simple bounds on the variables.
+  Specifically, the problem to solve is of the form
+
+                           min max{f (x)}
+                                i   i
+
+                                            n
+  where 1 &lt;= i &lt;= NF, and x is a vector in R  subject to the
+  following constraints
+
+   bl &lt;= x &lt;= bu
+
+   g (x)&lt;=0,    j = 1 ... NINEQN
+    j
+   g (x)&lt;=0,    j = NINEQN+1 ... NINEQ
+    j
+   h (x)=0,     j = 1 ... NEQN
+    j
+   h (x)=0,     j = NEQN+1 ... NEQ
+    j
+
+                                  n
+  where bl and bu are vectors in R , and
+
+       n
+  f : R -&gt; R,   j = 1 ... NF,           smooth
+   j    
+       n
+  g : R -&gt; R,   j = 1 ... NINEQN,       nonlinear and smooth 
+   j 
+       n
+  g : R -&gt; R,   j = NINEQN+1 ... NINEQ, linear
+   j 
+       n
+  h : R -&gt; R,   j = 1 ... NEQN,         nonlinear and smooth 
+   j 
+       n
+  h : R -&gt; R,   j = NEQN+1 ... NEQ,     linear
+   j 
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE FSQP( MODE, IPRINT, OBJ, CONSTR, GRADOB, GRADCN,
+     &                 NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MITER,
+     &                 UDELTA, BIGBND, BL, BU, X, F, G, TOL1, TOL2,
+     &                 IWORK, LIWORK, DWORK, LDWORK, INFO)
+C     .. Scalar Arguments ..
+      INTEGER           NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MODE,
+     &                  IPRINT, MITER, INFO, LIWORK, LDWORK
+      DOUBLE PRECISION  BIGBND, TOL1, TOL2, UDELTA
+C     .. Array Arguments ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  BL(*), BU(*), X(*), F(*), G(*), DWORK(LDWORK)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  MODE    (input) INTEGER
+          mode = CBA (a 3-digit number) with the following meaning
+          (see [1] for more details):
+
+          A specifies the problem to be solved:
+          A = 0: The problem is that described above.
+          A = 1: In the problem described above, the function to
+                 minimize is replaced by
+                           min max{ABS(f (x))}
+                                i       i
+                 i.e., absolute values of the objective functions
+                 are taken.
+
+          B indicates the method to be used:
+          B = 0: Algorithm FFSQP-AL is selected (see METHOD below).
+          B = 1: Algorithm FFSQP-NL is selected (see METHOD below).
+
+          C indicates the order of evaluation of objective
+          functions and constraints during the line search:
+          C = 1: The function that caused the previous value of t
+                 to be rejected is checked first and all functions
+                 of the same type ("objective" or "constraint") as
+                 the latter will then be checked first (recommended
+                 for most users).
+          C = 2: Constraints will be always checked first at each
+                 trial point during the line search. If it is a
+                 contraint that caused the previous value of t to
+                 be rejected, that constraint will be checked first
+                 (useful when objective functions are not defined or
+                 are difficult to evaluate outside of the feasible
+                 region).
+
+  IPRINT  (input) INTEGER
+          Parameter indicating the desired output (see [1] for a
+          more complete description of the output).
+          IPRINT = 0: No information except for user-input errors
+             is displayed. This value is imposed during phase 1.
+          IPRINT = 1: Objective and constraint values at the
+             initial feasible point are displayed. At the end of
+             execution, status (INFO), iterate, objective values,
+             constraint values, number of evaluations of objectives
+             and nonlinear constraints, norm of the Kuhn-Tucker
+             vector, and sum of feasibility violation are
+             displayed.
+          IPRINT = 2: At the end of each iteration, the same
+             information as with IPRINT = 1 is displayed.
+          IPRINT = 3: At each iteration, the same information as
+             with IPRINT = 2,including detailed information on the
+             search direction computation, on the line search, and
+             on the update, is displayed.
+          IPRINT = 10*N +M: N any positive integer, M=2 or 3.
+             Information corresponding to IPRINT=M is displayed at
+             every (10*N)th iteration and at the last iteration.
+
+</PRE>
+<B>User-supplied Subroutines</B>
+<PRE>
+  OBJ     SUBROUTINE
+          Computes the value of the objective functions. If NF = 0,
+          a (dummy) subroutine must be provided anyway. The 
+          specification of OBJ is
+
+          SUBROUTINE OBJ(NPARAM,J,X,FJ)
+          INTEGER NPARAM, J
+          DOUBLE PRECISION X(NPARAM),FJ
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of the objective to be computed.
+          X (Input) Current iterate.
+          FJ (Output) Value of the jth objective function at X.
+
+  CONSTR  SUBROUTINE
+          Computes the value of the constraints. If there are no
+          constraints, a (dummy) subroutine must be provided anyway.
+          The specification of CONSTR is as follows.
+
+          SUBROUTINE CONSTR(NPARAM,J,X,GJ)
+          INTEGER NPARAM,J
+          DOUBLE PRECISION X(NPARAM),GJ
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of the constraint to be computed.
+          X (Input) Current iterate.
+          GJ (Output) Value of the jth constraint at X.
+
+          The order of the constraints must be as follows. First
+          the NINEQN (possibly zero) nonlinear inequality
+          constraints. Then the NINEQ-NINEQN (possibly zero) linear
+          inequality constraints. Finally, the NEQN (possibly zero)
+          nonlinear equality constraints followed by the NEQ-NEQN
+          (possibly zero) linear equality constraints.
+
+  GRADOB  SUBROUTINE
+          Computes the gradients of the objective functions. The
+          user must pass the subroutine name GROBFD, if he/she
+          wishes that FSQP evaluate these gradients automatically,
+          by forward finite differences. The specification of GRADOB
+          is as follows.
+
+          SUBROUTINE GRADOB(NPARAM,J,X,GRADFJ,DUMMY)
+          INTEGER NPARAM,J
+          DOUBLE PRECISION X(NPARAM),GRADFJ(NPARAM)
+          DOUBLE PRECISION DUMMY
+          EXTERNAL DUMMY
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of objective for which gradient is to be
+                computed.
+          X (Input) Current iterate.
+          GRADFJ (Output) Gradient of the jth objective function at
+                X.
+          DUMMY (Input) Used by GROBFD (internally assigned the 
+                name of the objective function subroutine by FFSQP).
+
+          Note that DUMMY is passed as argument to GRADOB to allow
+          for forward finite difference computation of the gradient.
+
+  GRADCN  SUBROUTINE
+          Computes the gradients of the constraints. The
+          user must pass the subroutine name GRCNFD, if he/she
+          wishes that FSQP evaluate these gradients automatically,
+          by forward finite differences. The specification of GRADCN
+          is as follows
+
+          SUBROUTINE GRADCN (NPARAM,J,X,GRADGJ,DUMMY)
+          INTEGER NPARAM,J
+          DOUBLE PRECISION X(NPARAM),GRADGJ(NPARAM)
+          DOUBLE PRECISION DUMMY
+          EXTERNAL DUMMY
+
+          Arguments:
+          NPARAM (Input) Dimension of X.
+          J (Input) Number of constraint for which gradient is to
+                be computed.
+          X (Input) Current iterate.
+          GRADGJ (Output) Gradient of the jth constraint evaluated
+                at X.
+          DUMMY (Input) Used by GRCNFD (internally assigned the
+                name of the constraint function subroutine by
+                FFSQP).
+
+          Note that DUMMY is passed as argument to GRADCN to allow
+          for forward finite difference computation of the gradients.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NPARAM  (input) INTEGER
+          Number of free variables, i.e., the dimension of X.
+
+  NF      (input) INTEGER
+          Number of objective functions (possibly zero).
+
+  NINEQN  (input) INTEGER
+          Number (possibly zero) of nonlinear inequality 
+          constraints.
+
+  NINEQ   (input) INTEGER
+          Total number (possibly equal to nineqn) of inequality
+          constraints.
+
+  NEQN    (input) INTEGER
+          Number (possibly zero) of nonlinear equality constraints.
+
+  NEQ     (input) INTEGER
+          Total number (possibly equal to neqn) of equality
+          constraints.
+
+  MITER   (input) INTEGER
+          Maximum number of iterations allowed by the user before
+          termination of execution.
+
+  UDELTA  (input) DOUBLE PRECISION
+          The perturbation size the user suggests to use in 
+          approximating gradients by finite difference. UDELTA 
+          should be set to zero if the user has no idea how to 
+          choose it. See [1] for details.
+
+  BIGBND  (input) DOUBLE PRECISION
+          It plays the role of Infinite Bound (see also BL and BU
+          below). 
+
+  BL      (input) DOUBLE PRECISION array, dimension (NPARAM)
+          Lower bounds for the components of X. To specify a non-
+          existent lower bound for some j, the value used must
+          satisfy BL(j) &lt;= -BIGBND.
+
+  BU      (input) DOUBLE PRECISION array, dimension (NPARAM)
+          Upper bounds for the components of X. To specify a non-
+          existent upper bound for some j, the value used must
+          satisfy BU(j) &gt;= BIGBND.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (NPARAM)
+          On entry, this is the initial guess.
+          On exit, this is the iterate at the end of execution.
+
+  F       (output) DOUBLE PRECISION array, dimension ( MAX(1,NF) )
+          Value of functions f_i, i = 1, ..., NF, at X at the end
+          of execution.
+
+  G       (output) DOUBLE PRECISION array, dimension 
+          ( MAX(1,NINEQ+NEQ) )
+          Value of constraint functions at X at the end of
+          execution.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          Corresponds to argument EPS in [1].
+          Final norm requirement for the Newton direction (see [1],
+          argument EPS). It must be bigger than the machine 
+          precision epsmac (computed by FSQP). If the user does
+          not have a good feeling of what value should be chosen,
+          a very small number could be provided and IPRINT = 2 be
+          selected so that the user would be able to keep track of
+          the process of optimization and terminate FSQP at
+          appropriate time.
+
+  TOL2    DOUBLE PRECISION
+          Corresponds to argument EPSEQN in [1].
+          Maximum violation of nonlinear equality constraints
+          allowed by the user at an optimal point. It is in effect
+          only if NEQN &gt; 0 and must be bigger than the machine
+          precision epsmac (computed by FSQP).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          Corresponds to argument IW in [1].
+
+  LIWORK  INTEGER
+          Corresponds to argument IWSIZE in [1].
+          The length of array IWORK. It must be at least as big as 
+          6*NPARAM + 8*max(1,NINEQ+NEQ) + 7*max(1,NF) + 30. This
+          estimate is usually very conservative and the smallest
+          suitable value will be displayed if the user-supplied
+          value is too small.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          Corresponds to argument W in [1].
+          On exit, it will contain estimates of Lagrange
+          multipliers at the end of execution. These multipliers
+          will be placed in the first NPARAM + NINEQ + NEQ + NFF
+          entries; where NFF = 0 if (in mode) A = 0 and NF = 1, and
+          NFF = NF otherwise. See [1] for details.
+
+  LDWORK  INTEGER
+          Corresponds to argument NWSIZE in [1].
+          The length of array DWORK. It must be at least as big as
+          4*SQR(NPARAM) + 5*MAX(1,NINEQ+NEQ)*NPARAM + 
+          3*MAX(1,NF)*NPARAM + 26*(NPARAM+MAX(1,NF)) + 
+          45*MAX(1,NINEQ+NEQ) + 100.
+          This estimate is usually very conservative and the 
+          smallest suitable value will be displayed if the user-
+          supplied value is too small.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          Corresponds to argument INFORM in [1].
+          INFO = 0: Normal termination of execution.
+          INFO = 1: The user-provided initial guess is infeasible
+             for linear constraints and FFSQP is unable to generate
+             a point satisfying all these constraints.
+          INFO = 2: The user-provided initial guess is infeasible
+             for nonlinear inequality constraints and linear
+             constraints; and FFSQP is unable to generate a point
+             satisfying all these constraints.
+          INFO = 3: The maximum number miter of iterations has
+             been reached before a solution is obtained.
+          INFO = 4: The line search fails to find a new iterate
+             (trial step size being smaller than the machine
+             precision epsmac computed by FFSQP).
+          INFO = 5: Failure of the QP solver in attempting to
+             construct d0. A more robust QP solver may succeed.
+          INFO = 6: Failure of the QP solver in attempting to
+             construct d1 . A more robust QP solver may succeed.
+          INFO = 7: Input data are not consistent (with printout
+             indicating the error).
+          INFO = 8: Two consecutive iterates are numerically
+             equivalent before a stopping criterion is satisfied.
+          INFO = 9: One of the penalty parameters exceeded
+             BIGBND. The algorithm is having trouble satisfying a
+             nonlinear equality constraint.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the initial guess provided by the user is infeasible for
+  nonlinear inequality constraints and linear constraints, FFSQP
+  first generates a point satisfying all these constraints by
+  iterating on the problem of minimizing the maximum of these
+  constraints.
+
+  Then, using Mayne-Polak's scheme, nonlinear equality
+  constraints are turned into nonlinear inequality constraints
+  and the original objective function is replaced by a modified
+  objective function.
+
+  After obtaining feasibility, either (i) an Armijo-type line
+  search may be used (algorithm FFSQP-AL), yielding a monotone
+  decrease of the objective function at each iteration; or (ii) a
+  nonmonotone line search may be selected (algorithm FFSQP-NL),
+  forcing a decrease of the objective function within at most four
+  iterations.
+  
+  See [1] for further details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] J. L. Zhou, A. L. Tits and C. T. Lawrence
+      User's Guide for FFSQP Version 3.7 : A Fortran Code for
+      Solving Optimization Programs, Possibly Minimax, with General
+      Inequality Constraints and Linear Equality Constraints,
+      Generating Feasible Iterates
+      Institute for Systems Research, University of Maryland,
+      Technical Report SRC-TR-92-107r5, 1997.
+      (Available at http://gachinese.com/aemdesign/FSQPframe.htm)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
+of the routine and related files.-->
+</p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01AD.html b/doc/_static/doc/IB01AD.html
new file mode 100644
index 00000000..3502b5c0
--- /dev/null
+++ b/doc/_static/doc/IB01AD.html
@@ -0,0 +1,2615 @@
+<HTML>
+<HEAD><TITLE>IB01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01AD">IB01AD</A></H2>
+<H3>
+Upper triangular factor in the QR factorization of the block-Hankel matrix (driver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To preprocess the input-output data for estimating the matrices
+  of a linear time-invariant dynamical system and to find an
+  estimate of the system order. The input-output data can,
+  optionally, be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U, LDU, Y, LDY, N, R, LDR, SV, RCOND,
+     $                   TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   RCOND, TOL
+      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, N,
+     $                   NOBR, NSMP
+      CHARACTER          ALG, BATCH, CONCT, CTRL, JOBD, METH
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*), U(LDU, *),
+     $                   Y(LDY, *)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  ALG     CHARACTER*1
+          Specifies the algorithm for computing the triangular
+          factor R, as follows:
+          = 'C':  Cholesky algorithm applied to the correlation
+                  matrix of the input-output data;
+          = 'F':  Fast QR algorithm;
+          = 'Q':  QR algorithm applied to the concatenated block
+                  Hankel matrices.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not the matrices B and D should later
+          be computed using the MOESP approach, as follows:
+          = 'M':  the matrices B and D should later be computed
+                  using the MOESP approach;
+          = 'N':  the matrices B and D should not be computed using
+                  the MOESP approach.
+          This parameter is not relevant for METH = 'N'.
+
+  BATCH   CHARACTER*1
+          Specifies whether or not sequential data processing is to
+          be used, and, for sequential processing, whether or not
+          the current data block is the first block, an intermediate
+          block, or the last block, as follows:
+          = 'F':  the first block in sequential data processing;
+          = 'I':  an intermediate block in sequential data
+                  processing;
+          = 'L':  the last block in sequential data processing;
+          = 'O':  one block only (non-sequential data processing).
+          NOTE that when  100  cycles of sequential data processing
+               are completed for  BATCH = 'I',  a warning is
+               issued, to prevent for an infinite loop.
+
+  CONCT   CHARACTER*1
+          Specifies whether or not the successive data blocks in
+          sequential data processing belong to a single experiment,
+          as follows:
+          = 'C':  the current data block is a continuation of the
+                  previous data block and/or it will be continued
+                  by the next data block;
+          = 'N':  there is no connection between the current data
+                  block and the previous and/or the next ones.
+          This parameter is not used if BATCH = 'O'.
+
+  CTRL    CHARACTER*1
+          Specifies whether or not the user's confirmation of the
+          system order estimate is desired, as follows:
+          = 'C':  user's confirmation;
+          = 'N':  no confirmation.
+          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
+          is indirectly called (by SLICOT Library routine IB01OD),
+          and, after inspecting the singular values and system order
+          estimate,  n,  the user may accept  n  or set a new value.
+          IB01OY  is not called if CTRL = 'N'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices to be processed.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+          When M = 0, no system inputs are processed.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t). (When sequential data processing is used,
+          NSMP  is the number of samples of the current data
+          block.)
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
+                                       processing;
+          NSMP &gt;= 2*NOBR,  for sequential processing.
+          The total number of samples when calling the routine with
+          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
+          The  NSMP  argument may vary from a cycle to another in
+          sequential data processing, but  NOBR, M,  and  L  should
+          be kept constant. For efficiency, it is advisable to use
+          NSMP  as large as possible.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NSMP-by-M part of this array must contain the
+          t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= NSMP, if M &gt; 0;
+          LDU &gt;= 1,    if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= NSMP.
+
+  N       (output) INTEGER
+          The estimated order of the system.
+          If  CTRL = 'C',  the estimated order has been reset to a
+          value specified by the user.
+
+  R       (output or input/output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the current upper triangular part of the
+          correlation matrix in sequential data processing.
+          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
+          referenced.
+          On exit, if INFO = 0, ALG = 'Q', and BATCH = 'F' or 'I',
+          the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular
+          part of this array contains the current upper triangular
+          factor R from the QR factorization of the concatenated
+          block Hankel matrices. Denote  R_ij, i,j = 1:4,  the
+          ij submatrix of  R,  partitioned by M*NOBR,  M*NOBR,
+          L*NOBR,  and  L*NOBR  rows and columns.
+          On exit, if INFO = 0 and BATCH = 'L' or 'O', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
+          this array contains the matrix S, the processed upper
+          triangular factor R from the QR factorization of the
+          concatenated block Hankel matrices, as required by other
+          subroutines. Specifically, let  S_ij, i,j = 1:4,  be the
+          ij submatrix of  S,  partitioned by M*NOBR,  L*NOBR,
+          M*NOBR,  and  L*NOBR  rows and columns. The submatrix
+          S_22  contains the matrix of left singular vectors needed
+          subsequently. Useful information is stored in  S_11  and
+          in the block-column  S_14 : S_44.  For METH = 'M' and
+          JOBD = 'M', the upper triangular part of  S_31  contains
+          the upper triangular factor in the QR factorization of the
+          matrix  R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12
+          contains the corresponding leading part of the transformed
+          matrix  R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',
+          the subarray  S_41 : S_43  contains the transpose of the
+          matrix contained in  S_14 : S_34.
+          The details of the contents of R need not be known if this
+          routine is followed by SLICOT Library routine IB01BD.
+          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
+          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
+          triangular part of this array must contain the upper
+          triangular matrix R computed at the previous call of this
+          routine in sequential data processing. The array R need
+          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
+                               for METH = 'M' and JOBD = 'M';
+          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
+                               for METH = 'N'.
+
+  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
+          The singular values used to estimate the system order.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  RCOND   DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  RCOND &gt; 0,  the given value
+          of  RCOND  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/RCOND  is considered to
+          be of full rank.  If the user sets  RCOND &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          RCONDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not used for  METH = 'M'.
+
+  TOL     DOUBLE PRECISION
+          Absolute tolerance used for determining an estimate of
+          the system order. If  TOL &gt;= 0,  the estimate is
+          indicated by the index of the last singular value greater
+          than or equal to  TOL.  (Singular values less than  TOL
+          are considered as zero.) When  TOL = 0,  an internally
+          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
+          where  SV(1)  is the maximal singular value, and  EPS  is
+          the relative machine precision (see LAPACK Library routine
+          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
+          index of the singular value that has the largest
+          logarithmic gap to its successor.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(3,(M+L)*NOBR), if METH = 'N';
+          LIWORK &gt;= MAX(3,M+L), if METH = 'M' and ALG = 'F';
+          LIWORK &gt;= 3,   if METH = 'M' and ALG = 'C' or 'Q'.
+          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
+          must contain the values of ICYCLE, MAXWRK, and NSMPSM
+          set by the previous call of this routine.
+          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
+          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
+          used by the next call of the routine.
+          ICYCLE  counts the cycles for  BATCH = 'I'.
+          MAXWRK  stores the current optimal workspace.
+          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
+          The first three elements of  IWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and, for  METH = 'N',  and  BATCH = 'L'  or
+          'O',  DWORK(2)  and  DWORK(3)  contain the reciprocal
+          condition numbers of the triangular factors of the
+          matrices  U_f  and  r_1  [6].
+          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          Let
+          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
+          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
+          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
+          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
+          The first (M+L)*k elements of  DWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  'I',  till the final call with  BATCH = 'L'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH = 'F' or
+                          'I' and CONCT = 'C';
+          LDWORK &gt;= 1, if ALG = 'C', BATCH = 'F' or 'I' and
+                          CONCT = 'N';
+          LDWORK &gt;= max((4*NOBR-2)*(M+L), 5*L*NOBR), if METH = 'M',
+                          ALG = 'C', BATCH = 'L' and CONCT = 'C';
+          LDWORK &gt;= max((2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR),
+                          if METH = 'M', JOBD = 'M', ALG = 'C',
+                           BATCH = 'O', or
+                          (BATCH = 'L' and CONCT = 'N');
+          LDWORK &gt;= 5*L*NOBR, if METH = 'M', JOBD = 'N', ALG = 'C',
+                           BATCH = 'O', or
+                          (BATCH = 'L' and CONCT = 'N');
+          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'C', and
+                          BATCH = 'L' or 'O';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
+                          BATCH &lt;&gt; 'O' and CONCT = 'C';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
+                          BATCH = 'F', 'I' and CONCT = 'N';
+          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
+                          BATCH = 'L' and CONCT = 'N', or
+                          BATCH = 'O';
+          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F', and
+                          LDR &gt;= NS = NSMP - 2*NOBR + 1;
+          LDWORK &gt;= max(4*(M+L)*NOBR, 5*L*NOBR), if METH = 'M',
+                          ALG = 'Q', BATCH = 'O', and LDR &gt;= NS;
+          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'Q',
+                          BATCH = 'O', and LDR &gt;= NS;
+          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', (BATCH = 'F' or 'O',
+                          and LDR &lt; NS), or (BATCH = 'I' or
+                          'L' and CONCT = 'N');
+          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
+                          or 'L' and CONCT = 'C'.
+          The workspace used for ALG = 'Q' is
+                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
+          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
+          value LDRWRK = NS, assuming a large enough cache size.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the number of 100 cycles in sequential data
+                processing has been exhausted without signaling
+                that the last block of data was get; the cycle
+                counter was reinitialized;
+          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
+                but it failed, and the QR algorithm was then used
+                (non-sequential data processing);
+          = 3:  all singular values were exactly zero, hence  N = 0
+                (both input and output were identically zero);
+          = 4:  the least squares problems with coefficient matrix
+                U_f,  used for computing the weighted oblique
+                projection (for METH = 'N'), have a rank-deficient
+                coefficient matrix;
+          = 5:  the least squares problem with coefficient matrix
+                r_1  [6], used for computing the weighted oblique
+                projection (for METH = 'N'), has a rank-deficient
+                coefficient matrix.
+          NOTE: the values 4 and 5 of IWARN have no significance
+                for the identification problem.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
+                in sequential data processing, but it failed; the
+                routine can be repeatedly called again using the
+                standard QR algorithm;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The procedure consists in three main steps, the first step being
+  performed by one of the three algorithms included.
+
+  1.a) For non-sequential data processing using QR algorithm, a
+  t x 2(m+l)s  matrix H is constructed, where
+
+       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
+               s+1,2s,t    1,s,t   1,2s,t
+
+       H = [ U'       Y'      ],              for METH = 'N',
+              1,2s,t   1,2s,t
+
+  and  Up     , Uf        , U      , and  Y        are block Hankel
+         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
+  matrices defined in terms of the input and output data [3].
+  A QR factorization is used to compress the data.
+  The fast QR algorithm uses a QR factorization which exploits
+  the block-Hankel structure. Actually, the Cholesky factor of H'*H
+  is computed.
+
+  1.b) For sequential data processing using QR algorithm, the QR
+  decomposition is done sequentially, by updating the upper
+  triangular factor  R.  This is also performed internally if the
+  workspace is not large enough to accommodate an entire batch.
+
+  1.c) For non-sequential or sequential data processing using
+  Cholesky algorithm, the correlation matrix of input-output data is
+  computed (sequentially, if requested), taking advantage of the
+  block Hankel structure [7].  Then, the Cholesky factor of the
+  correlation matrix is found, if possible.
+
+  2) A singular value decomposition (SVD) of a certain matrix is
+  then computed, which reveals the order  n  of the system as the
+  number of "non-zero" singular values. For the MOESP approach, this
+  matrix is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
+  where  R  is the upper triangular factor  R  constructed by SLICOT
+  Library routine  IB01MD.  For the N4SID approach, a weighted
+  oblique projection is computed from the upper triangular factor  R
+  and its SVD is then found.
+
+  3) The singular values are compared to the given, or default TOL,
+  and the estimated order  n  is returned, possibly after user's
+  confirmation.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Peternell, K., Scherrer, W. and Deistler, M.
+      Statistical Analysis of Novel Subspace Identification Methods.
+      Signal Processing, 52, pp. 161-177, 1996.
+
+  [6] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+  [7] Sima, V.
+      Cholesky or QR Factorization for Data Compression in
+      Subspace-based Identification ?
+      Proceedings of the Second NICONET Workshop on ``Numerical
+      Control Software: SLICOT, a Useful Tool in Industry'',
+      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable (when QR algorithm is
+  used), reliable and efficient. The fast Cholesky or QR algorithms
+  are more efficient, but the accuracy could diminish by forming the
+  correlation matrix.
+  The most time-consuming computational step is step 1:
+                                     2
+  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
+                                        2              3
+  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
+  point operations.
+                                       2           3 2
+  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
+  point operations.
+                                             3
+  Step 2 of the algorithm requires 0(((m+l)s) ) floating point
+  operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
+  calculations could be rather inefficient if only minimal workspace
+  (see argument LDWORK) is provided. It is advisable to provide as
+  much workspace as possible. Almost optimal efficiency can be
+  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+  cache size is large enough to accommodate R, U, Y, and DWORK.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB01AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LDR, LDU, LDWORK, LDY, LIWORK, LMAX, MMAX,
+     $                 NOBRMX, NSMPMX
+      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
+     $                   LDR = MAX( 2*( MMAX + LMAX )*NOBRMX,
+     $                              3*MMAX*NOBRMX ), LDU = NSMPMX,
+     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
+     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
+     $                                 ( MMAX + LMAX + 1 ) + 2*NOBRMX ),
+     $                                 ( MMAX + LMAX )*4*NOBRMX*
+     $                                 ( NOBRMX + 1 ) ),
+     $                   LDY = NSMPMX, LIWORK = ( MMAX + LMAX )*NOBRMX )
+*     .. Local Scalars ..
+      LOGICAL          NGIVEN
+      CHARACTER        ALG, BATCH, CONCT, CTRL, JOBD, METH
+      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
+     $                 NGIV, NOBR, NSAMPL, NSMP
+      DOUBLE PRECISION RCOND, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
+     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), Y(LDY, LMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         IB01AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     If the value of N is positive, it will be taken as system order.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL, METH, ALG,
+     $                      JOBD, BATCH, CONCT, CTRL
+      IF ( LSAME( BATCH, 'F' ) ) THEN
+         READ ( NIN, FMT = * ) NCYCLE
+      ELSE
+         NCYCLE = 1
+      END IF
+      NSAMPL = NCYCLE*NSMP
+*
+      NGIVEN = N.GT.0
+      IF( NGIVEN )
+     $   NGIV = N
+      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) NOBR
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) L
+      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
+     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'O' ) ) .OR.
+     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'L' ) ) .OR.
+     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
+     $                                 LSAME( BATCH, 'I' ) ) ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NSMP
+      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NCYCLE
+      ELSE
+*        Read the matrices U and Y from the input file.
+         IF ( M.GT.0 )
+     $      READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
+         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
+*        Compute the  R  factor from a QR (or Cholesky) factorization
+*        of the Hankel-like matrix (or correlation matrix).
+         DO 10 ICYCLE = 1, NCYCLE
+            II = ( ICYCLE - 1 )*NSMP + 1
+            IF ( NCYCLE.GT.1 ) THEN
+               IF ( ICYCLE.GT.1 )      BATCH = 'I'
+               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
+            END IF
+            CALL IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
+     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+   10    CONTINUE
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99990 ) IWARN
+            IF( NGIVEN )
+     $         N = NGIV
+            WRITE ( NOUT, FMT = 99992 ) N
+            WRITE ( NOUT, FMT = 99991 ) ( SV(I), I = 1,L*NOBR )
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( ' IB01AD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
+99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
+99996 FORMAT (/' M is out of range.',/' M = ', I5)
+99995 FORMAT (/' L is out of range.',/' L = ', I5)
+99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
+99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
+99992 FORMAT ( ' The order of the system is ', I5)
+99991 FORMAT ( ' The singular values are ',/ (8(1X,F8.4)))
+99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB01AD EXAMPLE PROGRAM DATA
+  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
+   6.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   3.41
+   3.41
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+   4.458409
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+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB01AD EXAMPLE PROGRAM RESULTS
+
+ The order of the system is     4
+ The singular values are 
+  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
+   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01BD">IB01BD</A></H2>
+<H3>
+Estimating system matrices, Kalman gain, and covariances (driver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the system matrices A, C, B, and D, the noise
+  covariance matrices Q, Ry, and S, and the Kalman gain matrix K
+  of a linear time-invariant state space model, using the
+  processed triangular factor R of the concatenated block Hankel
+  matrices, provided by SLICOT Library routine IB01AD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMPL, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
+     $                   RY, LDRY, S, LDS, K, LDK, TOL, IWORK, DWORK,
+     $                   LDWORK, BWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDK, LDQ,
+     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
+      CHARACTER          JOB, JOBCK, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  K(LDK, *), Q(LDQ, *), R(LDR, *),
+     $                   RY(LDRY, *), S(LDS, *)
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm;
+          = 'C':  combined method:  MOESP  algorithm for finding the
+                  matrices A and C, and  N4SID  algorithm for
+                  finding the matrices B and D.
+
+  JOB     CHARACTER*1
+          Specifies which matrices should be computed, as follows:
+          = 'A':  compute all system matrices, A, B, C, and D;
+          = 'C':  compute the matrices A and C only;
+          = 'B':  compute the matrix B only;
+          = 'D':  compute the matrices B and D only.
+
+  JOBCK   CHARACTER*1
+          Specifies whether or not the covariance matrices and the
+          Kalman gain matrix are to be computed, as follows:
+          = 'C':  the covariance matrices only should be computed;
+          = 'K':  the covariance matrices and the Kalman gain
+                  matrix should be computed;
+          = 'N':  the covariance matrices and the Kalman gain matrix
+                  should not be computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMPL   (input) INTEGER
+          If  JOBCK = 'C' or 'K',  the total number of samples used
+          for calculating the covariance matrices.
+          NSMPL &gt;= 2*(M+L)*NOBR.
+          This parameter is not meaningful if  JOBCK = 'N'.
+
+  R       (input/workspace) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
+          of this array must contain the relevant data for the MOESP
+          or N4SID algorithms, as constructed by SLICOT Library
+          routine IB01AD. Let  R_ij,  i,j = 1:4,  be the
+          ij submatrix of  R  (denoted  S  in IB01AD),  partitioned
+          by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR  rows and
+          columns. The submatrix  R_22  contains the matrix of left
+          singular vectors used. Also needed, for  METH = 'N'  or
+          JOBCK &lt;&gt; 'N',  are the submatrices  R_11,  R_14 : R_44,
+          and, for  METH = 'M' or 'C'  and  JOB &lt;&gt; 'C', the
+          submatrices  R_31  and  R_12,  containing the processed
+          matrices  R_1c  and  R_2c,  respectively, as returned by
+          SLICOT Library routine IB01AD.
+          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
+          block-row  R_41 : R_43  must contain the transpose of the
+          block-column  R_14 : R_34  as returned by SLICOT Library
+          routine IB01AD.
+          The remaining part of  R  is used as workspace.
+          On exit, part of this array is overwritten. Specifically,
+          if  METH = 'M',  R_22  and  R_31  are overwritten if
+              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
+              and possibly  R_11  are overwritten if  JOBCK &lt;&gt; 'N';
+          if  METH = 'N',  all needed submatrices are overwritten.
+          The details of the contents of  R  need not be known if
+          this routine is called once just after calling the SLICOT
+          Library routine IB01AD.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+  A       (input or output) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
+          the leading N-by-N part of this array must contain the
+          system state matrix.
+          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
+          or 'C'),  this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
+          leading N-by-N part of this array contains the system
+          state matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
+                         and  JOB = 'B' or 'D';
+          LDA &gt;= 1,  otherwise.
+
+  C       (input or output) DOUBLE PRECISION array, dimension
+          (LDC,N)
+          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
+          the leading L-by-N part of this array must contain the
+          system output matrix.
+          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
+          or 'C'),  this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
+          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
+          L-by-N part of this array contains the system output
+          matrix.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
+                         and  JOB = 'B' or 'D';
+          LDC &gt;= 1,  otherwise.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
+          leading N-by-M part of this array contains the system
+          input matrix. If  M = 0  or  JOB = 'C',  this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
+          not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
+          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If  JOBCK = 'C' or 'K',  the leading N-by-N part of this
+          array contains the positive semidefinite state covariance
+          matrix. If  JOBCK = 'K',  this matrix has been used as
+          state weighting matrix for computing the Kalman gain.
+          This parameter is not referenced if JOBCK = 'N'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= N,  if JOBCK = 'C' or 'K';
+          LDQ &gt;= 1,  if JOBCK = 'N'.
+
+  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
+          If  JOBCK = 'C' or 'K',  the leading L-by-L part of this
+          array contains the positive (semi)definite output
+          covariance matrix. If  JOBCK = 'K',  this matrix has been
+          used as output weighting matrix for computing the Kalman
+          gain.
+          This parameter is not referenced if JOBCK = 'N'.
+
+  LDRY    INTEGER
+          The leading dimension of the array RY.
+          LDRY &gt;= L,  if JOBCK = 'C' or 'K';
+          LDRY &gt;= 1,  if JOBCK = 'N'.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
+          If  JOBCK = 'C' or 'K',  the leading N-by-L part of this
+          array contains the state-output cross-covariance matrix.
+          If  JOBCK = 'K',  this matrix has been used as state-
+          output weighting matrix for computing the Kalman gain.
+          This parameter is not referenced if JOBCK = 'N'.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= N,  if JOBCK = 'C' or 'K';
+          LDS &gt;= 1,  if JOBCK = 'N'.
+
+  K       (output) DOUBLE PRECISION array, dimension ( LDK,L )
+          If  JOBCK = 'K',  the leading  N-by-L  part of this array
+          contains the estimated Kalman gain matrix.
+          If  JOBCK = 'C' or 'N',  this array is not referenced.
+
+  LDK     INTEGER
+          The leading dimension of the array  K.
+          LDK &gt;= N,  if JOBCK = 'K';
+          LDK &gt;= 1,  if JOBCK = 'C' or 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= max(LIW1,LIW2), where
+          LIW1 = N,                     if METH &lt;&gt; 'N' and M = 0
+                                     or JOB = 'C' and JOBCK = 'N';
+          LIW1 = M*NOBR+N,              if METH &lt;&gt; 'N', JOB = 'C',
+                                        and JOBCK &lt;&gt; 'N';
+          LIW1 = max(L*NOBR,M*NOBR),    if METH = 'M', JOB &lt;&gt; 'C',
+                                        and JOBCK = 'N';
+          LIW1 = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
+                                        and JOBCK = 'C' or 'K';
+          LIW1 = max(M*NOBR+N,M*(N+L)), if METH = 'N', or METH = 'C'
+                                        and JOB  &lt;&gt; 'C';
+          LIW2 = 0,                     if JOBCK &lt;&gt; 'K';
+          LIW2 = N*N,                   if JOBCK =  'K'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
+          DWORK(5)  contain the reciprocal condition numbers of the
+          triangular factors of the following matrices (defined in
+          SLICOT Library routine IB01PD and in the lower level
+          routines):
+             GaL  (GaL = Un(1:(s-1)*L,1:n)),
+             R_1c (if  METH = 'M' or 'C'),
+             M    (if  JOBCK = 'C' or 'K'  or  METH = 'N'),  and
+             Q or T  (see SLICOT Library routine IB01PY or IB01PX),
+          respectively.
+          If  METH = 'N',  DWORK(3)  is set to one without any
+          calculations. Similarly, if  METH = 'M'  and  JOBCK = 'N',
+          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
+          DWORK(3)  and  DWORK(5)  are set to one.
+          If  JOBCK = 'K'  and  INFO = 0,  DWORK(6)  to  DWORK(13)
+          contain information about the accuracy of the results when
+          computing the Kalman gain matrix, as follows:
+             DWORK(6)  - reciprocal condition number of the matrix
+                         U11  of the Nth order system of algebraic
+                         equations from which the solution matrix  X
+                         of the Riccati equation is obtained;
+             DWORK(7)  - reciprocal pivot growth factor for the LU
+                         factorization of the matrix  U11;
+             DWORK(8)  - reciprocal condition number of the matrix
+                         As = A - S*inv(Ry)*C,  which is inverted by
+                         the standard Riccati solver;
+             DWORK(9)  - reciprocal pivot growth factor for the LU
+                         factorization of the matrix  As;
+             DWORK(10) - reciprocal condition number of the matrix
+                         Ry;
+             DWORK(11) - reciprocal condition number of the matrix
+                         Ry + C*X*C';
+             DWORK(12) - reciprocal condition number for the Riccati
+                         equation solution;
+             DWORK(13) - forward error bound for the Riccati
+                         equation solution.
+          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( LDW1,LDW2,LDW3 ), where, if METH = 'M',
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
+                  if JOB = 'C' or JOB = 'A' and M = 0;
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
+                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
+                       max( L+M*NOBR, L*NOBR +
+                                      max( 3*L*NOBR+1, M ) ) ),
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDW2 &gt;= 0,                          if JOBCK = 'N';
+          LDW2 &gt;= L*NOBR*N+
+                  max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
+                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
+                                              if JOBCK = 'C' or 'K',
+          where Aw = N+N*N, if M = 0 or JOB = 'C';
+                Aw = 0,     otherwise;
+          if METH = 'N',
+          LDW1 &gt;= L*NOBR*N+max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
+                                2*(L*NOBR-L)*N+N*N+8*N,
+                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L );
+          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
+          LDW2 &gt;= L*NOBR*N+M*NOBR*(N+L)*(M*(N+L)+1)+
+                             max( (N+L)**2, 4*M*(N+L)+1 ),
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          and, if METH = 'C', LDW1 as
+          max( LDW1 for METH = 'M', JOB = 'C', LDW1 for METH = 'N'),
+          and LDW2 for METH = 'N' are used;
+          LDW3 &gt;= 0,                     if JOBCK &lt;&gt; 'K';
+          LDW3 &gt;= max(  4*N*N+2*N*L+L*L+max( 3*L,N*L ),
+                       14*N*N+12*N+5 ),  if JOBCK =  'K'.
+          For good performance,  LDWORK  should be larger.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK = 2*N, if JOBCK =  'K';
+          LBWORK = 0,   if JOBCK &lt;&gt; 'K'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  a least squares problem to be solved has a
+                rank-deficient coefficient matrix;
+          = 5:  the computed covariance matrices are too small.
+                The problem seems to be a deterministic one; the
+                gain matrix is set to zero.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge;
+          = 3:  a singular upper triangular matrix was found;
+          = 3+i:  if  JOBCK = 'K'  and the associated Riccati
+                equation could not be solved, where i = 1,...,6;
+                (see the description of the parameter INFO for the
+                SLICOT Library routine SB02RD for the meaning of
+                the i values);
+          = 10: the QR algorithm did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In the MOESP approach, the matrices  A  and  C  are first
+  computed from an estimated extended observability matrix [1],
+  and then, the matrices  B  and  D  are obtained by solving an
+  extended linear system in a least squares sense.
+  In the N4SID approach, besides the estimated extended
+  observability matrix, the solutions of two least squares problems
+  are used to build another least squares problem, whose solution
+  is needed to compute the system matrices  A,  C,  B,  and  D.  The
+  solutions of the two least squares problems are also optionally
+  used by both approaches to find the covariance matrices.
+  The Kalman gain matrix is obtained by solving a discrete-time
+  algebraic Riccati equation.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+  [4] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method consists in numerically stable steps.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The covariance matrices are computed using the N4SID approach.
+  Therefore, for efficiency reasons, it is advisable to set
+  METH = 'N',  if the Kalman gain matrix or covariance matrices
+  are needed  (JOBCK = 'K', or 'C').  When  JOBCK = 'N',  it could
+  be more efficient to use the combined method,  METH = 'C'.
+  Often, this combination will also provide better accuracy than
+  MOESP algorithm.
+  In some applications, it is useful to compute the system matrices
+  using two calls to this routine, the first one with  JOB = 'C',
+  and the second one with  JOB = 'B' or 'D'.  This is slightly less
+  efficient than using a single call with  JOB = 'A',  because some
+  calculations are repeated. If  METH = 'N',  all the calculations
+  at the first call are performed again at the second call;
+  moreover, it is required to save the needed submatrices of  R
+  before the first call and restore them before the second call.
+  If the covariance matrices and/or the Kalman gain are desired,
+  JOBCK  should be set to  'C'  or  'K'  at the second call.
+  If  B  and  D  are both needed, they should be computed at once.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB01BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LDA, LDB, LDC, LDD, LDK, LDQ, LDR, LDRY, LDS,
+     $                 LDU, LDW1, LDW2, LDW3, LDWORK, LDY, LIWORK, LMAX,
+     $                 MMAX, NMAX, NOBRMX, NSMPMX
+      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
+     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
+     $                   LDC  = LMAX, LDD  = LMAX, LDK = NMAX,
+     $                   LDQ  = NMAX, LDRY = LMAX, LDS = NMAX,
+     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
+     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
+     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
+     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
+     $                               LMAX*NOBRMX*NMAX +
+     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    3*NMAX + LMAX +
+     $                                    ( 2*MMAX + LMAX )*NOBRMX,
+     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    NMAX*NMAX + 8*NMAX,
+     $                                    NMAX +
+     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
+     $                   LDW2 = LMAX*NOBRMX*NMAX +
+     $                          MMAX*NOBRMX*( NMAX + LMAX )*
+     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                          MAX( ( NMAX + LMAX )**2,
+     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                   LDW3 = MAX( 4*NMAX*NMAX + 2*NMAX*LMAX +
+     $                               LMAX*LMAX +
+     $                               MAX( 3*LMAX, NMAX*LMAX ),
+     $                               14*NMAX*NMAX + 12*NMAX + 5 ),
+     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
+     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
+     $                                 ( MMAX + LMAX + 2 ) - 2 ),
+     $                                 ( MMAX + LMAX )*4*NOBRMX*
+     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
+     $                                 LDW3 ),
+     $                   LDY = NSMPMX,
+     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
+     $                                 MMAX*NOBRMX + NMAX, LMAX*NOBRMX,
+     $                                 MMAX*( NMAX + LMAX ), NMAX*NMAX )
+     $                 )
+*     .. Local Scalars ..
+      LOGICAL          NGIVEN
+      CHARACTER        ALG, BATCH, CONCT, CTRL, JOB, JOBCK, JOBD, JOBDA,
+     $                 METH, METHA
+      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
+     $                 NGIV, NOBR, NSAMPL, NSMP
+      DOUBLE PRECISION RCOND, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
+     $                 D(LDD, MMAX), DWORK(LDWORK), K(LDK, LMAX),
+     $                 Q(LDQ, NMAX), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
+     $                 RY(LDRY, LMAX), S(LDS, LMAX), SV(LMAX*NOBRMX),
+     $                 U(LDU, MMAX), Y(LDY, LMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(2*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         IB01AD, IB01BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     If the value of N is positive, it will be taken as system order.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
+      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
+     $                      JOBCK
+      IF ( LSAME( BATCH, 'F' ) ) THEN
+         READ ( NIN, FMT = * ) NCYCLE
+      ELSE
+         NCYCLE = 1
+      END IF
+      NSAMPL = NCYCLE*NSMP
+*
+      NGIVEN = N.GT.0
+      IF( NGIVEN )
+     $   NGIV = N
+      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) NOBR
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) L
+      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
+     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'O' ) ) .OR.
+     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'L' ) ) .OR.
+     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
+     $                                 LSAME( BATCH, 'I' ) ) ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NSMP
+      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NCYCLE
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99980 ) N
+      ELSE
+*        Read the matrices U and Y from the input file.
+         IF ( M.GT.0 )
+     $      READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
+         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
+*        Read A and C matrices, if METH <> 'M' and JOB = 'B' or 'D'.
+         IF ( .NOT.LSAME( METH, 'M' ) .AND.
+     $           ( LSAME( JOB,  'B' ) .OR. LSAME( JOB, 'D' ) ) ) THEN
+            DO 10 I = 1, N
+               READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
+   10       CONTINUE
+            DO 20 I = 1, L
+               READ ( NIN, FMT = * ) ( C(I,J), J = 1, N )
+   20       CONTINUE
+         END IF
+*        Force some options for IB01AD, depending on the specifications.
+         IF ( LSAME( METH, 'C' ) ) THEN
+            METHA = 'M'
+            JOBDA = 'N'
+         ELSE
+            METHA = METH
+            JOBDA = JOBD
+         END IF
+*        Compute the  R  factor from a QR (or Cholesky) factorization
+*        of the Hankel-like matrix (or correlation matrix).
+         DO 30 ICYCLE = 1, NCYCLE
+            II = ( ICYCLE - 1 )*NSMP + 1
+            IF ( NCYCLE.GT.1 ) THEN
+               IF ( ICYCLE.GT.1 )      BATCH = 'I'
+               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
+            END IF
+            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
+     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+   30    CONTINUE
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99990 ) IWARN
+            IF( NGIVEN )
+     $         N = NGIV
+*           Compute the system matrices.
+            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
+     $                   RY, LDRY, S, LDS, K, LDK, RCOND, IWORK, DWORK,
+     $                   LDWORK, BWORK, IWARN, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99992 ) INFO
+            ELSE
+               IF ( IWARN.NE.0 )
+     $            WRITE ( NOUT, FMT = 99991 ) IWARN
+               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99987 )
+                  DO 50 I = 1, L
+                     WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
+   50             CONTINUE
+               END IF
+               IF ( .NOT.LSAME( JOB, 'C' ) ) THEN
+                  WRITE ( NOUT, FMT = 99986 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+               END IF
+               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'D' ) ) THEN
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, L
+                     WRITE ( NOUT, FMT = 99988 ) ( D(I,J), J = 1,M )
+   70             CONTINUE
+               END IF
+               IF ( LSAME( JOBCK, 'K' ) ) THEN
+                  WRITE ( NOUT, FMT = 99984 )
+                  DO 80 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( K(I,J), J = 1,L )
+   80             CONTINUE
+               END IF
+               IF ( .NOT.LSAME( JOBCK, 'N' ) ) THEN
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 90 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( Q(I,J), J = 1,N )
+   90             CONTINUE
+                  WRITE ( NOUT, FMT = 99982 )
+                  DO 100 I = 1, L
+                     WRITE ( NOUT, FMT = 99988 ) ( RY(I,J), J = 1,L )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99981 )
+                  DO 110 I = 1, N
+                     WRITE ( NOUT, FMT = 99988 ) ( S(I,J), J = 1,L )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( ' IB01BD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
+99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
+99996 FORMAT (/' M is out of range.',/' M = ', I5)
+99995 FORMAT (/' L is out of range.',/' L = ', I5)
+99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
+99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
+99992 FORMAT ( ' INFO on exit from IB01BD = ',I2)
+99991 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
+99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
+99989 FORMAT (/' The system state matrix A is ')
+99988 FORMAT (20(1X,F8.4))
+99987 FORMAT (/' The system output matrix C is ')
+99986 FORMAT (/' The system input matrix B is ')
+99985 FORMAT (/' The system input-output matrix D is ')
+99984 FORMAT (/' The Kalman gain matrix K is ')
+99983 FORMAT (/' The state covariance matrix Q is ')
+99982 FORMAT (/' The output covariance matrix Ry is ')
+99981 FORMAT (/' The state-output cross-covariance matrix S is ')
+99980 FORMAT (/' N is out of range.',/' N = ', I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB01BD EXAMPLE PROGRAM DATA
+  15     0     1     1  1000    0.0   -1.0
+   C     C     N     O     N     N     A     K
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+   5.371719
+   5.486489
+   5.567079
+   5.821049
+   5.913839
+   5.994429
+   6.011519
+   5.999309
+   6.018849
+   5.821049
+   5.728249
+   5.740459
+   5.764879
+   5.882099
+   5.926049
+   5.750229
+   5.415679
+   4.995649
+   4.861339
+   4.902859
+   5.103099
+   5.364389
+   5.596379
+   5.752669
+   5.845469
+   5.928499
+   6.006639
+   5.840579
+   5.518239
+   5.173919
+   4.739239
+   4.458409
+   4.426669
+   4.602489
+   4.822269
+   5.183689
+   5.430329
+   5.652549
+   5.821049
+   5.706269
+   5.369279
+   5.027399
+   4.705049
+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB01BD EXAMPLE PROGRAM RESULTS
+
+
+ The system state matrix A is 
+   0.8924   0.3887   0.1285   0.1716
+  -0.0837   0.6186  -0.6273  -0.4582
+   0.0052   0.1307   0.6685  -0.6755
+   0.0055   0.0734  -0.2148   0.4788
+
+ The system output matrix C is 
+  -0.4442   0.6663   0.3961   0.4102
+
+ The system input matrix B is 
+  -0.2142
+  -0.1968
+   0.0525
+   0.0361
+
+ The system input-output matrix D is 
+  -0.0041
+
+ The Kalman gain matrix K is 
+  -1.9513
+  -0.1867
+   0.6348
+  -0.3486
+
+ The state covariance matrix Q is 
+   0.0052   0.0005  -0.0017   0.0009
+   0.0005   0.0000  -0.0002   0.0001
+  -0.0017  -0.0002   0.0006  -0.0003
+   0.0009   0.0001  -0.0003   0.0002
+
+ The output covariance matrix Ry is 
+   0.0012
+
+ The state-output cross-covariance matrix S is 
+  -0.0025
+  -0.0002
+   0.0008
+  -0.0005
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01CD">IB01CD</A></H2>
+<H3>
+Estimating the initial state and system matrices B and D using A, B, and input-output data (driver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the initial state and, optionally, the system matrices
+  B  and  D  of a linear time-invariant (LTI) discrete-time system,
+  given the system matrices  (A,B,C,D),  or (when  B  and  D  are
+  estimated) only the matrix pair  (A,C),  and the input and output
+  trajectories of the system. The model structure is :
+
+        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
+        y(k)   = Cx(k) + Du(k),
+
+  where  x(k)  is the  n-dimensional state vector (at time k),
+         u(k)  is the  m-dimensional input vector,
+         y(k)  is the  l-dimensional output vector,
+  and  A, B, C, and D  are real matrices of appropriate dimensions.
+  The input-output data can internally be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01CD( JOBX0, COMUSE, JOB, N, M, L, NSMP, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0, V,
+     $                   LDV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU, LDV,
+     $                   LDWORK, LDY, M, N, NSMP
+      CHARACTER          COMUSE, JOB, JOBX0
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  U(LDU, *), V(LDV, *), X0(*),
+     $                   Y(LDY, *)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX0   CHARACTER*1
+          Specifies whether or not the initial state should be
+          computed, as follows:
+          = 'X':  compute the initial state x(0);
+          = 'N':  do not compute the initial state (possibly,
+                  because x(0) is known to be zero).
+
+  COMUSE  CHARACTER*1
+          Specifies whether the system matrices B and D should be
+          computed or used, as follows:
+          = 'C':  compute the system matrices B and D, as specified
+                  by JOB;
+          = 'U':  use the system matrices B and D, as specified by
+                  JOB;
+          = 'N':  do not compute/use the matrices B and D.
+          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'N',  then  x(0)  is set
+          to zero.
+          If  JOBX0 = 'N'  and  COMUSE =  'N',  then  x(0)  is
+          neither computed nor set to zero.
+
+  JOB     CHARACTER*1
+          If  COMUSE = 'C'  or  'U',  specifies which of the system
+          matrices  B and D  should be computed or used, as follows:
+          = 'B':  compute/use the matrix B only (D is known to be
+                  zero);
+          = 'D':  compute/use the matrices B and D.
+          The value of  JOB  is irrelevant if  COMUSE = 'N'  or if
+          JOBX0 = 'N'  and  COMUSE = 'U'.
+          The combinations of options, the data used, and the
+          returned results, are given in the table below, where
+          '*'  denotes an irrelevant value.
+
+           JOBX0   COMUSE    JOB     Data used    Returned results
+          ----------------------------------------------------------
+             X       C        B       A,C,u,y          x,B
+             X       C        D       A,C,u,y          x,B,D
+             N       C        B       A,C,u,y          x=0,B
+             N       C        D       A,C,u,y          x=0,B,D
+          ----------------------------------------------------------
+             X       U        B      A,B,C,u,y            x
+             X       U        D      A,B,C,D,u,y          x
+             N       U        *          -               x=0
+          ----------------------------------------------------------
+             X       N        *        A,C,y              x
+             N       N        *          -                -
+          ----------------------------------------------------------
+
+          For  JOBX0 = 'N'  and  COMUSE = 'N',  the routine just
+          sets  DWORK(1)  to 2 and  DWORK(2)  to 1, and returns
+          (see the parameter DWORK).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t).
+          NSMP &gt;= 0,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
+          NSMP &gt;= N,            if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
+          NSMP &gt;= N*M + a + e,  if  COMUSE = 'C',
+          where   a = 0,  if  JOBX0 = 'N';
+                  a = N,  if  JOBX0 = 'X';
+                  e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
+                  e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
+                  e = M,  if  JOB   = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading N-by-N
+          part of this array must contain the system state matrix A.
+          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
+          array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C';
+          LDA &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+  B       (input or output) DOUBLE PRECISION array, dimension
+          (LDB,M)
+          If  JOBX0 = 'X'  and  COMUSE = 'U',  B  is an input
+          parameter and, on entry, the leading N-by-M part of this
+          array must contain the system input matrix  B.
+          If  COMUSE = 'C',  B  is an output parameter and, on exit,
+          if  INFO = 0,  the leading N-by-M part of this array
+          contains the estimated system input matrix  B.
+          If  min(N,M) = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
+          or  COMUSE = 'N',  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N),  if  M &gt; 0,  COMUSE = 'U',  JOBX0 = 'X',
+                            or  M &gt; 0,  COMUSE = 'C';
+          LDB &gt;= 1,         if  min(N,M) = 0,  or  COMUSE = 'N',
+                            or  JOBX0  = 'N'  and  COMUSE = 'U'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading L-by-N
+          part of this array must contain the system output
+          matrix  C.
+          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
+          array is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= L,  if  N &gt; 0, and  JOBX0 = 'X'  or  COMUSE = 'C';
+          LDC &gt;= 1,  if  N = 0, or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+  D       (input or output) DOUBLE PRECISION array, dimension
+          (LDD,M)
+          If  JOBX0 = 'X',  COMUSE = 'U',  and  JOB = 'D',  D  is an
+          input parameter and, on entry, the leading L-by-M part of
+          this array must contain the system input-output matrix  D.
+          If  COMUSE = 'C'  and  JOB = 'D',  D  is an output
+          parameter and, on exit, if  INFO = 0,  the leading
+          L-by-M part of this array contains the estimated system
+          input-output matrix  D.
+          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
+          COMUSE = 'N',  or  JOB = 'B',  this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if  M &gt; 0,   JOBX0 = 'X',  COMUSE = 'U',  and
+                                                JOB = 'D',  or
+                     if  M &gt; 0,  COMUSE = 'C',  and  JOB = 'D';
+          LDD &gt;= 1,  if  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
+                     or  COMUSE = 'N',  or  JOB = 'B'.
+
+  U       (input or input/output) DOUBLE PRECISION array, dimension
+          (LDU,M)
+          On entry, if  COMUSE = 'C',  or  JOBX0 = 'X'  and
+          COMUSE = 'U',  the leading NSMP-by-M part of this array
+          must contain the t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          On exit, if  COMUSE = 'C'  and  JOB = 'D',  the leading
+          NSMP-by-M part of this array contains details of the
+          QR factorization of the t-by-m matrix  U,  possibly
+          computed sequentially (see METHOD).
+          If  COMUSE = 'C'  and  JOB = 'B',  or  COMUSE = 'U',  this
+          array is unchanged on exit.
+          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
+          COMUSE = 'N',  this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,NSMP),  if  M &gt; 0    and  COMUSE = 'C'  or
+                               JOBX0 = 'X'  and  COMUSE = 'U;
+          LDU &gt;= 1,            if  M = 0,   or   COMUSE = 'N',  or
+                               JOBX0 = 'N'  and  COMUSE = 'U'.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          On entry, if  JOBX0 = 'X'  or  COMUSE = 'C',  the leading
+          NSMP-by-L part of this array must contain the t-by-l
+          output-data sequence matrix  Y,  Y = [y_1 y_2 ... y_l].
+          Column  j  of  Y  contains the  NSMP  values of the j-th
+          output component for consecutive time increments.
+          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
+          referenced.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.
+          LDY &gt;= MAX(1,NSMP),  if  JOBX0 = 'X'  or   COMUSE = 'C;
+          LDY &gt;= 1,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          If  INFO = 0  and  JOBX0 = 'X',  this array contains the
+          estimated initial state of the system,  x(0).
+          If  JOBX0 = 'N'  and  COMUSE = 'C',  this array is used as
+          workspace and finally it is set to zero.
+          If  JOBX0 = 'N'  and  COMUSE = 'U',  then  x(0)  is set to
+          zero without any calculations.
+          If  JOBX0 = 'N'  and  COMUSE = 'N',  this array is not
+          referenced.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
+          On exit, if  INFO = 0  or 2,  JOBX0 = 'X'  or
+          COMUSE = 'C',  the leading N-by-N part of this array
+          contains the orthogonal matrix V of a real Schur
+          factorization of the matrix  A.
+          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
+          referenced.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C;
+          LDV &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  a matrix whose estimated condition
+          number is less than  1/TOL  is considered to be of full
+          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
+          instead, where  EPS  is the relative machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= 0,          if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
+          LIWORK &gt;= N,          if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
+          LIWORK &gt;= N*M + a,        if COMUSE = 'C' and JOB = 'B',
+          LIWORK &gt;= max(N*M + a,M), if COMUSE = 'C' and JOB = 'D',
+          with  a = 0,  if  JOBX0 = 'N';
+                a = N,  if  JOBX0 = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK;  DWORK(2)  contains the reciprocal condition
+          number of the triangular factor of the QR factorization of
+          the matrix  W2,  if  COMUSE = 'C',  or of the matrix
+          Gamma,  if  COMUSE = 'U'  (see METHOD); if  JOBX0 = 'N'
+          and  COMUSE &lt;&gt; 'C',  DWORK(2)  is set to one;
+          if  COMUSE = 'C',  M &gt; 0,  and  JOB = 'D',   DWORK(3)
+          contains the reciprocal condition number of the triangular
+          factor of the QR factorization of  U;  denoting
+             g = 2,  if  JOBX0  = 'X'  and  COMUSE &lt;&gt; 'C'  or
+                         COMUSE = 'C'  and  M = 0  or   JOB = 'B',
+             g = 3,  if  COMUSE = 'C'  and  M &gt; 0  and  JOB = 'D',
+          then  DWORK(i), i = g+1:g+N*N,
+                DWORK(j), j = g+1+N*N:g+N*N+L*N,  and
+                DWORK(k), k = g+1+N*N+L*N:g+N*N+L*N+N*M,
+          contain the transformed system matrices  At, Ct, and Bt,
+          respectively, corresponding to the real Schur form of the
+          given system state matrix  A,  i.e.,
+             At = V'*A*V,  Bt = V'*B,  Ct = C*V.
+          The matrices  At, Ct, Bt  are not computed if  JOBX0 = 'N'
+          and  COMUSE &lt;&gt; 'C'.
+          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2,  if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  or
+                        if  max( N, M ) = 0.
+          Otherwise,
+          LDWORK &gt;= LDW1 + N*( N + M + L ) +
+                           max( 5*N, LDW1, min( LDW2, LDW3 ) ),
+          where, if  COMUSE = 'C',  then
+          LDW1 = 2,          if  M = 0  or   JOB = 'B',
+          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
+          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
+          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
+          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+          LDWb = (b + r)*(r + 1) +
+                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
+          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
+          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+             r = N*M + a,
+             a = 0,                  if  JOBX0 = 'N',
+             a = N,                  if  JOBX0 = 'X';
+             b = 0,                  if  JOB   = 'B',
+             b = L*M,                if  JOB   = 'D';
+             c = 0,                  if  JOBX0 = 'N',
+             c = L*N,                if  JOBX0 = 'X';
+             d = 0,                  if  JOBX0 = 'N',
+             d = 2*N*N + N,          if  JOBX0 = 'X';
+             f = 2*r,                if  JOB   = 'B'   or  M = 0,
+             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
+             q = b + r*L;
+          and, if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  then
+          LDW1 = 2,
+          LDW2 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
+          LDW3 = N*(N + 1) + 2*N + max( q*(N + 1) + 2*N*N + L*N,
+                                        4*N ),
+             q = N*L.
+          For good performance,  LDWORK  should be larger.
+          If  LDWORK &gt;= LDW2,  or if  COMUSE = 'C'  and
+              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
+                        max( d, f ),
+          then standard QR factorizations of the matrices  U  and/or
+          W2,  if  COMUSE = 'C',  or of the matrix  Gamma,  if
+          JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C'  (see METHOD), are used.
+          Otherwise, the QR factorizations are computed sequentially
+          by performing  NCYCLE  cycles, each cycle (except possibly
+          the last one) processing  s &lt; t  samples, where  s  is
+          chosen by equating  LDWORK  to the first term of  LDWb,
+          if  COMUSE = 'C',  or of  LDW3,  if  COMUSE &lt;&gt; 'C',  for
+          q  replaced by  s*L.  (s  is larger than or equal to the
+          minimum value of  NSMP.)  The computational effort may
+          increase and the accuracy may slightly decrease with the
+          decrease of  s.  Recommended value is  LDWORK = LDW2,
+          assuming a large enough cache size, to also accommodate
+          A,  (B,)  C,  (D,)  U,  and  Y.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix;
+          = 6:  the matrix  A  is unstable;  the estimated  x(0)
+                and/or  B and D  could be inaccurate.
+          NOTE: the value 4 of  IWARN  has no significance for the
+                identification problem.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the QR algorithm failed to compute all the
+                eigenvalues of the matrix A (see LAPACK Library
+                routine DGEES); the locations  DWORK(i),  for
+                i = g+1:g+N*N,  contain the partially converged
+                Schur form;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix  A  is initially reduced to a real Schur form, A = V*At*V',
+  and the given system matrices are transformed accordingly. For the
+  reduced system, an extension and refinement of the method in [1,2]
+  is used. Specifically, for  JOBX0 = 'X',  COMUSE = 'C',  and
+  JOB = 'D',  denoting
+
+        X = [ vec(D')' vec(B)' x0' ]',
+
+  where  vec(M)  is the vector obtained by stacking the columns of
+  the matrix  M,  then  X  is the least squares solution of the
+  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
+  defined by
+
+        ( U         |     | ... |     |     | ... |     |         )
+        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
+    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
+        (       :   |     | ... |     |     | ... |     |         )
+        (         U |     | ... |     |     | ... |     |         )
+                                                                  ij
+  diag(U)  having  L  block rows and columns.  In this formula,  y
+  are the outputs of the system for zero initial state computed
+  using the following model, for j = 1:m, and for i = 1:n,
+         ij          ij                    ij
+        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
+
+         ij          ij
+        y  (k)   = Cx  (k),
+
+  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
+  given by
+
+             (     C     )
+             (    C*A    )
+     Gamma = (   C*A^2   ),
+             (     :     )
+             ( C*A^(t-1) )
+
+  and  P  is a permutation matrix that groups together the rows of
+  Gamma  depending on the same row of  C,  namely
+  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
+  The first block column,  diag(U),  is not explicitly constructed,
+  but its structure is exploited. The last block column is evaluated
+  using powers of A with exponents 2^k. No interchanges are applied.
+  A special QR decomposition of the matrix  S  is computed. Let
+  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
+  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
+  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
+  matrix  S  becomes
+
+     ( diag(r)  W1 )
+     (    0     W2 ),
+
+  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
+  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
+  The intermediate results and the QR decomposition of  U  are
+  needed to find  D.  If a triangular factor is too ill conditioned,
+  then singular value decomposition (SVD) is employed. SVD is not
+  generally needed if the input sequence is sufficiently
+  persistently exciting and  NSMP  is large enough.
+  If the matrix  W  cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
+  computed sequentially.
+  For  JOBX0 = 'N'  and  COMUSE = 'C',  or  JOB = 'B',  a simpler
+  problem is solved efficiently.
+
+  For  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  a simpler method is used.
+  Specifically, the output y0(k) of the system for zero initial
+  state is computed for k = 0, 1, ...,  t-1 using the given model.
+  Then the following least squares problem is solved for x(0)
+
+                      (   y(0) - y0(0)   )
+                      (   y(1) - y0(1)   )
+     Gamma * x(0)  =  (        :         ).
+                      (        :         )
+                      ( y(t-1) - y0(t-1) )
+
+  The coefficient matrix  Gamma  is evaluated using powers of A with
+  exponents 2^k. The QR decomposition of this matrix is computed.
+  If its triangular factor  R  is too ill conditioned, then singular
+  value decomposition of  R  is used.
+  If the coefficient matrix cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW2),  the QR decomposition is computed sequentially.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Varga, A.
+      Some Experience with the MOESP Class of Subspace Model
+      Identification Methods in Identifying the BO105 Helicopter.
+      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
+
+  [2] Sima, V., and Varga, A.
+      RASP-IDENT : Subspace Model Identification Programs.
+      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
+      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The algorithm for computing the system matrices  B  and  D  is
+  less efficient than the MOESP or N4SID algorithms implemented in
+  SLICOT Library routines IB01BD/IB01PD, because a large least
+  squares problem has to be solved, but the accuracy is better, as
+  the computed matrices  B  and  D  are fitted to the input and
+  output trajectories. However, if matrix  A  is unstable, the
+  computed matrices  B  and  D  could be inaccurate.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB01CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LDA, LDB, LDC, LDD, LDR, LDU, LDV, LDW1, LDW2,
+     $                 LDW4, LDW5, LDWORK, LDY, LIWORK, LMAX, MMAX,
+     $                 NMAX, NOBRMX, NSMPMX
+      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
+     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
+     $                   LDC  = LMAX, LDD = LMAX, LDV = NMAX,
+     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
+     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
+     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
+     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
+     $                               LMAX*NOBRMX*NMAX +
+     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    3*NMAX + LMAX +
+     $                                    ( 2*MMAX + LMAX )*NOBRMX,
+     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
+     $                                    NMAX*NMAX + 8*NMAX,
+     $                                    NMAX +
+     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
+     $                   LDW2 = LMAX*NOBRMX*NMAX +
+     $                          MMAX*NOBRMX*( NMAX + LMAX )*
+     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                          MAX( ( NMAX + LMAX )**2,
+     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                   LDW4 = NSMPMX*LMAX*NMAX*( MMAX + 1 ) +
+     $                          MAX( NMAX +
+     $                               MAX( 2*NMAX*NMAX + NMAX,
+     $                                    MMAX +
+     $                                    MAX( 2*NMAX*( MMAX + 1 ),
+     $                                         MMAX ),
+     $                                    6*NMAX*( MMAX + 1 ) ),
+     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
+     $                   LDW5 = ( LMAX*MMAX + NMAX*( MMAX + 1 ) )*
+     $                          NMAX*( MMAX + 1 ) +
+     $                          MAX( ( LMAX*MMAX +
+     $                               LMAX*NMAX*( MMAX + 1 ) )*
+     $                               NMAX*( MMAX + 1 ) +
+     $                               NMAX*NMAX*MMAX + LMAX*NMAX +
+     $                               MAX( 2*NMAX*NMAX + NMAX,
+     $                                    MMAX +
+     $                                    MAX( 2*NMAX*( MMAX + 1 ),
+     $                                         MMAX ),
+     $                                    6*NMAX*( MMAX + 1 ) ),
+     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
+     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
+     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
+     $                                 ( MMAX + LMAX + 2 ) - 2 ),
+     $                                 ( MMAX + LMAX )*4*NOBRMX*
+     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
+     $                                 3 + ( NMAX + MMAX + LMAX )*NMAX +
+     $                                 MAX( 5*NMAX, 3,
+     $                                      MIN( LDW4, LDW5 ) ) ),
+     $                   LDY = NSMPMX,
+     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
+     $                                 MMAX*NOBRMX + NMAX,
+     $                                 MMAX*( NMAX + LMAX ),
+     $                                 NMAX*MMAX + NMAX, MMAX )
+     $                 )
+*     .. Local Scalars ..
+      LOGICAL          NGIVEN
+      CHARACTER        ALG, BATCH, COMUSE, CONCT, CTRL, JOB, JOBBD,
+     $                 JOBCK, JOBD, JOBDA, JOBX0, METH, METHA
+      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
+     $                 NGIV, NOBR, NSAMPL, NSMP
+      DOUBLE PRECISION RCOND, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
+     $                 D(LDD, MMAX), DUM(1), DWORK(LDWORK),
+     $                 R(LDR, 2*(MMAX+LMAX)*NOBRMX),
+     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), V(LDV, NMAX),
+     $                 X0(NMAX), Y(LDY, LMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         IB01AD, IB01BD, IB01CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     If the value of N is positive, it will be taken as system order.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
+      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
+     $                      COMUSE, JOBX0
+      IF ( LSAME( BATCH, 'F' ) ) THEN
+         READ ( NIN, FMT = * ) NCYCLE
+      ELSE
+         NCYCLE = 1
+      END IF
+      NSAMPL = NCYCLE*NSMP
+*
+      NGIVEN = N.GT.0
+      IF( NGIVEN )
+     $   NGIV = N
+      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) NOBR
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) L
+      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
+     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'O' ) ) .OR.
+     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
+     $          LSAME( BATCH, 'L' ) ) .OR.
+     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
+     $                                 LSAME( BATCH, 'I' ) ) ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NSMP
+      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NCYCLE
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) N
+      ELSE
+*        Read the matrices U and Y from the input file.
+         IF ( M.GT.0 )
+     $      READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
+         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
+*        Force some options, depending on the specifications.
+         IF ( LSAME( METH, 'C' ) ) THEN
+            METHA = 'M'
+            JOBDA = 'N'
+         ELSE
+            METHA = METH
+            JOBDA = JOBD
+         END IF
+*        The covariances and Kalman gain matrix are not computed.
+         JOBCK = 'N'
+         IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
+            JOBBD = 'D'
+         ELSE
+            JOBBD = JOB
+         END IF
+         IF ( LSAME( COMUSE, 'C' ) ) THEN
+            JOB = 'C'
+         ELSE IF ( LSAME( COMUSE, 'U' ) ) THEN
+            JOB = 'A'
+         END IF
+*        Compute the  R  factor from a QR (or Cholesky) factorization
+*        of the Hankel-like matrix (or correlation matrix).
+         DO 10 ICYCLE = 1, NCYCLE
+            II = ( ICYCLE - 1 )*NSMP + 1
+            IF ( NCYCLE.GT.1 ) THEN
+               IF ( ICYCLE.GT.1 )      BATCH = 'I'
+               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
+            END IF
+            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
+     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
+     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+   10    CONTINUE
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99990 ) IWARN
+            IF( NGIVEN )
+     $         N = NGIV
+*           Compute the system matrices and x0.
+            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, DUM, 1,
+     $                   DUM, 1, DUM, 1, DUM, 1, RCOND, IWORK, DWORK,
+     $                   LDWORK, BWORK, IWARN, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99982 ) INFO
+            ELSE
+               IF ( IWARN.NE.0 )
+     $            WRITE ( NOUT, FMT = 99981 ) IWARN
+               CALL IB01CD( JOBX0, COMUSE, JOBBD, N, M, L, NSMP, A, LDA,
+     $                      B, LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0,
+     $                      V, LDV, RCOND, IWORK, DWORK, LDWORK, IWARN,
+     $                      INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) INFO
+               ELSE
+                  IF ( IWARN.NE.0 )
+     $               WRITE ( NOUT, FMT = 99991 ) IWARN
+                  IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
+                     WRITE ( NOUT, FMT = 99989 )
+                     DO 20 I = 1, N
+                        WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99987 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
+   30                CONTINUE
+                  END IF
+                  IF ( LSAME( COMUSE, 'C' ) ) THEN
+                     WRITE ( NOUT, FMT = 99986 )
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
+   40                CONTINUE
+                     IF ( LSAME( JOBBD, 'D' ) ) THEN
+                        WRITE ( NOUT, FMT = 99985 )
+                        DO 50 I = 1, L
+                           WRITE ( NOUT, FMT = 99988 )
+     $                           ( D(I,J), J = 1,M )
+   50                   CONTINUE
+                     END IF
+                  END IF
+                  IF ( LSAME( JOBX0, 'X' ) ) THEN
+                     WRITE ( NOUT, FMT = 99984 )
+                     WRITE ( NOUT, FMT = 99988 ) ( X0(I), I = 1,N )
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( ' IB01CD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
+99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
+99996 FORMAT (/' M is out of range.',/' M = ', I5)
+99995 FORMAT (/' L is out of range.',/' L = ', I5)
+99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
+99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
+99992 FORMAT ( ' INFO on exit from IB01CD = ',I2)
+99991 FORMAT ( ' IWARN on exit from IB01CD = ',I2)
+99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
+99989 FORMAT (/' The system state matrix A is ')
+99988 FORMAT (20(1X,F8.4))
+99987 FORMAT (/' The system output matrix C is ')
+99986 FORMAT (/' The system input matrix B is ')
+99985 FORMAT (/' The system input-output matrix D is ')
+99984 FORMAT (/' The initial state vector x0 is ')
+99983 FORMAT (/' N is out of range.',/' N = ', I5)
+99982 FORMAT ( ' INFO on exit from IB01BD = ',I2)
+99981 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB01CD EXAMPLE PROGRAM DATA
+  15     0     1     1  1000    0.0   -1.0
+   C     C     N     O     N     N     A     C     X
+   6.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
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+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB01CD EXAMPLE PROGRAM RESULTS
+
+
+ The system state matrix A is 
+   0.8924   0.3887   0.1285   0.1716
+  -0.0837   0.6186  -0.6273  -0.4582
+   0.0052   0.1307   0.6685  -0.6755
+   0.0055   0.0734  -0.2148   0.4788
+
+ The system output matrix C is 
+  -0.4442   0.6663   0.3961   0.4102
+
+ The system input matrix B is 
+  -0.2150
+  -0.1962
+   0.0511
+   0.0373
+
+ The system input-output matrix D is 
+  -0.0018
+
+ The initial state vector x0 is 
+ -11.4329  -0.6767   0.0472   0.3600
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01MD">IB01MD</A></H2>
+<H3>
+Upper triangular factor in the QR factorization of the block-Hankel matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct an upper triangular factor  R  of the concatenated
+  block Hankel matrices using input-output data.  The input-output
+  data can, optionally, be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01MD( METH, ALG, BATCH, CONCT, NOBR, M, L, NSMP, U,
+     $                   LDU, Y, LDY, R, LDR, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
+     $                   NSMP
+      CHARACTER          ALG, BATCH, CONCT, METH
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  ALG     CHARACTER*1
+          Specifies the algorithm for computing the triangular
+          factor R, as follows:
+          = 'C':  Cholesky algorithm applied to the correlation
+                  matrix of the input-output data;
+          = 'F':  Fast QR algorithm;
+          = 'Q':  QR algorithm applied to the concatenated block
+                  Hankel matrices.
+
+  BATCH   CHARACTER*1
+          Specifies whether or not sequential data processing is to
+          be used, and, for sequential processing, whether or not
+          the current data block is the first block, an intermediate
+          block, or the last block, as follows:
+          = 'F':  the first block in sequential data processing;
+          = 'I':  an intermediate block in sequential data
+                  processing;
+          = 'L':  the last block in sequential data processing;
+          = 'O':  one block only (non-sequential data processing).
+          NOTE that when  100  cycles of sequential data processing
+               are completed for  BATCH = 'I',  a warning is
+               issued, to prevent for an infinite loop.
+
+  CONCT   CHARACTER*1
+          Specifies whether or not the successive data blocks in
+          sequential data processing belong to a single experiment,
+          as follows:
+          = 'C':  the current data block is a continuation of the
+                  previous data block and/or it will be continued
+                  by the next data block;
+          = 'N':  there is no connection between the current data
+                  block and the previous and/or the next ones.
+          This parameter is not used if BATCH = 'O'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices to be processed.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+          When M = 0, no system inputs are processed.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t). (When sequential data processing is used,
+          NSMP  is the number of samples of the current data
+          block.)
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
+                                       processing;
+          NSMP &gt;= 2*NOBR,  for sequential processing.
+          The total number of samples when calling the routine with
+          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
+          The  NSMP  argument may vary from a cycle to another in
+          sequential data processing, but  NOBR, M,  and  L  should
+          be kept constant. For efficiency, it is advisable to use
+          NSMP  as large as possible.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NSMP-by-M part of this array must contain the
+          t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= NSMP, if M &gt; 0;
+          LDU &gt;= 1,    if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= NSMP.
+
+  R       (output or input/output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On exit, if INFO = 0 and ALG = 'Q', or (ALG = 'C' or 'F',
+          and BATCH = 'L' or 'O'), the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
+          this array contains the (current) upper triangular factor
+          R from the QR factorization of the concatenated block
+          Hankel matrices. The diagonal elements of R are positive
+          when the Cholesky algorithm was successfully used.
+          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the current upper triangular part of the
+          correlation matrix in sequential data processing.
+          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
+          referenced.
+          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
+          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
+          triangular part of this array must contain the upper
+          triangular matrix R computed at the previous call of this
+          routine in sequential data processing. The array R need
+          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(3,M+L), if ALG = 'F';
+          LIWORK &gt;= 3,          if ALG = 'C' or 'Q'.
+          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
+          must contain the values of ICYCLE, MAXWRK, and NSMPSM
+          set by the previous call of this routine.
+          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
+          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
+          used by the next call of the routine.
+          ICYCLE  counts the cycles for  BATCH = 'I'.
+          MAXWRK  stores the current optimal workspace.
+          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
+          The first three elements of  IWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          Let
+          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
+          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
+          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
+          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
+          The first (M+L)*k elements of  DWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  'I',  till the final call with  BATCH = 'L'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH &lt;&gt; 'O' and
+                                  CONCT = 'C';
+          LDWORK &gt;= 1,            if ALG = 'C', BATCH = 'O' or
+                                  CONCT = 'N';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
+                                  BATCH &lt;&gt; 'O' and CONCT = 'C';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
+                                  BATCH = 'F', 'I' and CONCT = 'N';
+          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
+                                  BATCH = 'L' and CONCT = 'N', or
+                                  BATCH = 'O';
+          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
+                                  and LDR &gt;= NS = NSMP - 2*NOBR + 1;
+          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
+                                  and LDR &lt; NS, or BATCH = 'I' or
+                                  'L' and CONCT = 'N';
+          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
+                                  or 'L' and CONCT = 'C'.
+          The workspace used for ALG = 'Q' is
+                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
+          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
+          value LDRWRK = NS, assuming a large enough cache size.
+          For good performance,  LDWORK  should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the number of 100 cycles in sequential data
+                processing has been exhausted without signaling
+                that the last block of data was get; the cycle
+                counter was reinitialized;
+          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
+                but it failed, and the QR algorithm was then used
+                (non-sequential data processing).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
+                in sequential data processing, but it failed. The
+                routine can be repeatedly called again using the
+                standard QR algorithm.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  1) For non-sequential data processing using QR algorithm, a
+  t x 2(m+l)s  matrix H is constructed, where
+
+       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
+               s+1,2s,t    1,s,t   1,2s,t
+
+       H = [ U'       Y'      ],              for METH = 'N',
+              1,2s,t   1,2s,t
+
+  and  Up     , Uf        , U      , and  Y        are block Hankel
+         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
+  matrices defined in terms of the input and output data [3].
+  A QR factorization is used to compress the data.
+  The fast QR algorithm uses a QR factorization which exploits
+  the block-Hankel structure. Actually, the Cholesky factor of H'*H
+  is computed.
+
+  2) For sequential data processing using QR algorithm, the QR
+  decomposition is done sequentially, by updating the upper
+  triangular factor  R.  This is also performed internally if the
+  workspace is not large enough to accommodate an entire batch.
+
+  3) For non-sequential or sequential data processing using
+  Cholesky algorithm, the correlation matrix of input-output data is
+  computed (sequentially, if requested), taking advantage of the
+  block Hankel structure [7].  Then, the Cholesky factor of the
+  correlation matrix is found, if possible.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Peternell, K., Scherrer, W. and Deistler, M.
+      Statistical Analysis of Novel Subspace Identification Methods.
+      Signal Processing, 52, pp. 161-177, 1996.
+
+  [6] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+  [7] Sima, V.
+      Cholesky or QR Factorization for Data Compression in
+      Subspace-based Identification ?
+      Proceedings of the Second NICONET Workshop on ``Numerical
+      Control Software: SLICOT, a Useful Tool in Industry'',
+      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable (when QR algorithm is
+  used), reliable and efficient. The fast Cholesky or QR algorithms
+  are more efficient, but the accuracy could diminish by forming the
+  correlation matrix.
+                                     2
+  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
+                                        2              3
+  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
+  point operations.
+                                       2           3 2
+  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
+  point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
+  calculations could be rather inefficient if only minimal workspace
+  (see argument LDWORK) is provided. It is advisable to provide as
+  much workspace as possible. Almost optimal efficiency can be
+  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+  cache size is large enough to accommodate R, U, Y, and DWORK.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01MY">IB01MY</A></H2>
+<H3>
+Upper triangular factor in the QR factorization of the block Hankel matrix, using a fast QR algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct an upper triangular factor  R  of the concatenated
+  block Hankel matrices using input-output data, via a fast QR
+  algorithm based on displacement rank.  The input-output data can,
+  optionally, be processed sequentially.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01MY( METH, BATCH, CONCT, NOBR, M, L, NSMP, U, LDU,
+     $                   Y, LDY, R, LDR, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
+     $                   NSMP
+      CHARACTER          BATCH, CONCT, METH
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  BATCH   CHARACTER*1
+          Specifies whether or not sequential data processing is to
+          be used, and, for sequential processing, whether or not
+          the current data block is the first block, an intermediate
+          block, or the last block, as follows:
+          = 'F':  the first block in sequential data processing;
+          = 'I':  an intermediate block in sequential data
+                  processing;
+          = 'L':  the last block in sequential data processing;
+          = 'O':  one block only (non-sequential data processing).
+          NOTE that when  100  cycles of sequential data processing
+               are completed for  BATCH = 'I',  a warning is
+               issued, to prevent for an infinite loop.
+
+  CONCT   CHARACTER*1
+          Specifies whether or not the successive data blocks in
+          sequential data processing belong to a single experiment,
+          as follows:
+          = 'C':  the current data block is a continuation of the
+                  previous data block and/or it will be continued
+                  by the next data block;
+          = 'N':  there is no connection between the current data
+                  block and the previous and/or the next ones.
+          This parameter is not used if BATCH = 'O'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices to be processed.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n, the
+          estimated dimension of state vector.)
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+          When M = 0, no system inputs are processed.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t). (When sequential data processing is used,
+          NSMP  is the number of samples of the current data
+          block.)
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
+                                       processing;
+          NSMP &gt;= 2*NOBR,  for sequential processing.
+          The total number of samples when calling the routine with
+          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
+          The  NSMP  argument may vary from a cycle to another in
+          sequential data processing, but  NOBR, M,  and  L  should
+          be kept constant. For efficiency, it is advisable to use
+          NSMP  as large as possible.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NSMP-by-M part of this array must contain the
+          t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= NSMP, if M &gt; 0;
+          LDU &gt;= 1,    if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= NSMP.
+
+  R       (output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          If INFO = 0 and BATCH = 'L' or 'O', the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the upper triangular factor R from the
+          QR factorization of the concatenated block Hankel
+          matrices.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension MAX(3,M+L)
+          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
+          must contain the values of ICYCLE, MAXWRK, and NSMPSM
+          set by the previous call of this routine.
+          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
+          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
+          used by the next call of the routine.
+          ICYCLE  counts the cycles for  BATCH = 'I'.
+          MAXWRK  stores the current optimal workspace.
+          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
+          The first three elements of  IWORK  should be preserved
+          during successive calls of the routine with  BATCH = 'F'
+          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          The first (M+L)*2*NOBR*(M+L+c) elements of  DWORK  should
+          be preserved during successive calls of the routine
+          with  BATCH = 'F'  or  'I',  till the final call with
+          BATCH = 'L',  where
+          c = 1,  if the successive data blocks do not belong to a
+                  single experiment  (CONCT = 'N');
+          c = 2,  if the successive data blocks belong to a single
+                  experiment  (CONCT = 'C').
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3),
+                           if BATCH &lt;&gt; 'O' and CONCT = 'C';
+          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1),
+                           if BATCH = 'F' or 'I' and CONCT = 'N';
+          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR,
+                           if BATCH = 'L' and CONCT = 'N',
+                           or BATCH = 'O'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA. The workspace query should be done
+          for BATCH = 'L' or BATCH = 'O'. To get it in advance, use
+          BATCH = 'O'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the number of 100 cycles in sequential data
+                processing has been exhausted without signaling
+                that the last block of data was get.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the fast QR factorization algorithm failed. The
+                matrix H'*H is not (numerically) positive definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Consider the  t x 2(m+l)s  matrix H of concatenated block Hankel
+  matrices
+
+       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
+               s+1,2s,t    1,s,t   1,2s,t
+
+       H = [ U'       Y'      ],              for METH = 'N',
+              1,2s,t   1,2s,t
+
+  where  Up     , Uf        , U      , and  Y        are block
+           1,s,t    s+1,2s,t   1,2s,t        1,2s,t
+  Hankel matrices defined in terms of the input and output data [3].
+  The fast QR algorithm uses a factorization of H'*H which exploits
+  the block-Hankel structure, via a displacement rank technique [5].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Kressner, D., Mastronardi, N., Sima, V., Van Dooren, P., and
+      Van Huffel, S.
+      A Fast Algorithm for Subspace State-space System
+      Identification via Exploitation of the Displacement Structure.
+      J. Comput. Appl. Math., Vol.132, No.1, pp. 71-81, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is reliable and efficient. Numerical
+  difficulties are possible when the matrix H'*H is nearly rank
+  defficient. The method cannot be used if the matrix H'*H is not
+  numerically positive definite.
+                                  2           3 2
+  The algorithm requires 0(2t(m+l) s)+0(4(m+l) s ) floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01ND.html b/doc/_static/doc/IB01ND.html
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+<HTML>
+<HEAD><TITLE>IB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01ND">IB01ND</A></H2>
+<H3>
+Singular value decomposition giving the system order
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the singular value decomposition (SVD) giving the system
+  order, using the triangular factor of the concatenated block
+  Hankel matrices. Related preliminary calculations needed for
+  computing the system matrices are also performed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01ND( METH, JOBD, NOBR, M, L, R, LDR, SV, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDR, LDWORK, M, NOBR
+      CHARACTER          JOBD, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not the matrices B and D should later
+          be computed using the MOESP approach, as follows:
+          = 'M':  the matrices B and D should later be computed
+                  using the MOESP approach;
+          = 'N':  the matrices B and D should not be computed using
+                  the MOESP approach.
+          This parameter is not relevant for METH = 'N'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          block Hankel matrices.  NOBR &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On entry, the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper
+          triangular part of this array must contain the upper
+          triangular factor R from the QR factorization of the
+          concatenated block Hankel matrices. Denote  R_ij,
+          i,j = 1:4,  the ij submatrix of  R,  partitioned by
+          M*NOBR,  M*NOBR,  L*NOBR,  and  L*NOBR  rows and columns.
+          On exit, if INFO = 0, the leading
+          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
+          array contains the matrix S, the processed upper
+          triangular factor R, as required by other subroutines.
+          Specifically, let  S_ij, i,j = 1:4,  be the ij submatrix
+          of  S,  partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and
+          L*NOBR  rows and columns. The submatrix  S_22  contains
+          the matrix of left singular vectors needed subsequently.
+          Useful information is stored in  S_11  and in the
+          block-column  S_14 : S_44.  For METH = 'M' and JOBD = 'M',
+          the upper triangular part of  S_31  contains the upper
+          triangular factor in the QR factorization of the matrix
+          R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12  contains the
+          corresponding leading part of the transformed matrix
+          R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',  the
+          subarray  S_41 : S_43  contains the transpose of the
+          matrix contained in  S_14 : S_34.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
+                               for METH = 'M' and JOBD = 'M';
+          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
+                               for METH = 'N'.
+
+  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
+          The singular values of the relevant part of the triangular
+          factor from the QR factorization of the concatenated block
+          Hankel matrices.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not used for  METH = 'M'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ((M+L)*NOBR)
+          This parameter is not referenced for METH = 'M'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and, for  METH = 'N',  DWORK(2)  and  DWORK(3)
+          contain the reciprocal condition numbers of the
+          triangular factors of the matrices  U_f  and  r_1  [6].
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( (2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR ),
+                                      if METH = 'M' and JOBD = 'M';
+          LDWORK &gt;=  5*L*NOBR,        if METH = 'M' and JOBD = 'N';
+          LDWORK &gt;=  5*(M+L)*NOBR+1,  if METH = 'N'.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problems with coefficient matrix
+                U_f,  used for computing the weighted oblique
+                projection (for METH = 'N'), have a rank-deficient
+                coefficient matrix;
+          = 5:  the least squares problem with coefficient matrix
+                r_1  [6], used for computing the weighted oblique
+                projection (for METH = 'N'), has a rank-deficient
+                coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A singular value decomposition (SVD) of a certain matrix is
+  computed, which reveals the order  n  of the system as the number
+  of "non-zero" singular values. For the MOESP approach, this matrix
+  is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
+  where  R  is the upper triangular factor  R  constructed by SLICOT
+  Library routine  IB01MD.  For the N4SID approach, a weighted
+  oblique projection is computed from the upper triangular factor  R
+  and its SVD is then found.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Verhaegen M.
+      Subspace Model Identification. Part 3: Analysis of the
+      ordinary output-error state-space model identification
+      algorithm.
+      Int. J. Control, 58, pp. 555-586, 1993.
+
+  [3] Verhaegen M.
+      Identification of the deterministic part of MIMO state space
+      models given in innovations form from input-output data.
+      Automatica, Vol.30, No.1, pp.61-74, 1994.
+
+  [4] Van Overschee, P., and De Moor, B.
+      N4SID: Subspace Algorithms for the Identification of
+      Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [5] Van Overschee, P., and De Moor, B.
+      Subspace Identification for Linear Systems: Theory -
+      Implementation - Applications.
+      Kluwer Academic Publishers, Boston/London/Dordrecht, 1996.
+
+  [6] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                                   3
+  The algorithm requires 0(((m+l)s) ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01OD.html b/doc/_static/doc/IB01OD.html
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+<HTML>
+<HEAD><TITLE>IB01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01OD">IB01OD</A></H2>
+<H3>
+Estimating the system order
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the system order, based on the singular values of the
+  relevant part of the triangular factor of the concatenated block
+  Hankel matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01OD( CTRL, NOBR, L, SV, N, TOL, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, N, NOBR
+      CHARACTER          CTRL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CTRL    CHARACTER*1
+          Specifies whether or not the user's confirmation of the
+          system order estimate is desired, as follows:
+          = 'C':  user's confirmation;
+          = 'N':  no confirmation.
+          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
+          is called, and, after inspecting the singular values and
+          system order estimate,  n,  the user may accept  n  or set
+          a new value.
+          IB01OY  is not called by the routine if CTRL = 'N'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the processed input and
+          output block Hankel matrices.  NOBR &gt; 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  SV      (input) DOUBLE PRECISION array, dimension ( L*NOBR )
+          The singular values of the relevant part of the triangular
+          factor from the QR factorization of the concatenated block
+          Hankel matrices.
+
+  N       (output) INTEGER
+          The estimated order of the system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Absolute tolerance used for determining an estimate of
+          the system order. If  TOL &gt;= 0,  the estimate is
+          indicated by the index of the last singular value greater
+          than or equal to  TOL.  (Singular values less than  TOL
+          are considered as zero.) When  TOL = 0,  an internally
+          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
+          where  SV(1)  is the maximal singular value, and  EPS  is
+          the relative machine precision (see LAPACK Library routine
+          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
+          index of the singular value that has the largest
+          logarithmic gap to its successor.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 3:  all singular values were exactly zero, hence  N = 0.
+                (Both input and output were identically zero.)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The singular values are compared to the given, or default TOL, and
+  the estimated order  n  is returned, possibly after user's
+  confirmation.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01OY.html b/doc/_static/doc/IB01OY.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>IB01OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01OY">IB01OY</A></H2>
+<H3>
+User's confirmation of the system order
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To ask for user's confirmation of the system order found by
+  SLICOT Library routine IB01OD. This routine may be modified,
+  but its interface must be preserved.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01OY( NS, NMAX, N, SV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, N, NMAX, NS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   SV( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NS      (input) INTEGER
+          The number of singular values.  NS &gt; 0.
+
+  NMAX    (input) INTEGER
+          The maximum value of the system order.  0 &lt;= NMAX &lt;= NS.
+
+  N       (input/output) INTEGER
+          On entry, the estimate of the system order computed by
+          IB01OD routine.  0 &lt;= N &lt;= NS.
+          On exit, the user's estimate of the system order, which
+          could be identical with the input value of  N.
+          Note that the output value of  N  should be less than
+          or equal to  NMAX.
+
+  SV      (input) DOUBLE PRECISION array, dimension ( NS )
+          The singular values, in descending order, used for
+          determining the system order.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01PD.html b/doc/_static/doc/IB01PD.html
new file mode 100644
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@@ -0,0 +1,406 @@
+<HTML>
+<HEAD><TITLE>IB01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01PD">IB01PD</A></H2>
+<H3>
+Estimating system matrices and covariances
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the matrices A, C, B, and D of a linear time-invariant
+  (LTI) state space model, using the singular value decomposition
+  information provided by other routines. Optionally, the system and
+  noise covariance matrices, needed for the Kalman gain, are also
+  determined.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01PD( METH, JOB, JOBCV, NOBR, N, M, L, NSMPL, R,
+     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
+     $                   RY, LDRY, S, LDS, O, LDO, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDO, LDQ,
+     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
+      CHARACTER          JOB, JOBCV, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  O(LDO, *), Q(LDQ, *), R(LDR, *),
+     $                   RY(LDRY, *), S(LDS, *)
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  JOB     CHARACTER*1
+          Specifies which matrices should be computed, as follows:
+          = 'A':  compute all system matrices, A, B, C, and D;
+          = 'C':  compute the matrices A and C only;
+          = 'B':  compute the matrix B only;
+          = 'D':  compute the matrices B and D only.
+
+  JOBCV   CHARACTER*1
+          Specifies whether or not the covariance matrices are to
+          be computed, as follows:
+          = 'C':  the covariance matrices should be computed;
+          = 'N':  the covariance matrices should not be computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMPL   (input) INTEGER
+          If JOBCV = 'C', the total number of samples used for
+          calculating the covariance matrices.
+          NSMPL &gt;= 2*(M+L)*NOBR.
+          This parameter is not meaningful if  JOBCV = 'N'.
+
+  R       (input/workspace) DOUBLE PRECISION array, dimension
+          ( LDR,2*(M+L)*NOBR )
+          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
+          of this array must contain the relevant data for the MOESP
+          or N4SID algorithms, as constructed by SLICOT Library
+          routines IB01AD or IB01ND. Let  R_ij,  i,j = 1:4,  be the
+          ij submatrix of  R  (denoted  S  in IB01AD and IB01ND),
+          partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR
+          rows and columns. The submatrix  R_22  contains the matrix
+          of left singular vectors used. Also needed, for
+          METH = 'N'  or  JOBCV = 'C',  are the submatrices  R_11,
+          R_14 : R_44,  and, for  METH = 'M'  and  JOB &lt;&gt; 'C',  the
+          submatrices  R_31  and  R_12,  containing the processed
+          matrices  R_1c  and  R_2c,  respectively, as returned by
+          SLICOT Library routines IB01AD or IB01ND.
+          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
+          block-row  R_41 : R_43  must contain the transpose of the
+          block-column  R_14 : R_34  as returned by SLICOT Library
+          routines IB01AD or IB01ND.
+          The remaining part of  R  is used as workspace.
+          On exit, part of this array is overwritten. Specifically,
+          if  METH = 'M',  R_22  and  R_31  are overwritten if
+              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
+              and possibly  R_11  are overwritten if  JOBCV = 'C';
+          if  METH = 'N',  all needed submatrices are overwritten.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= 2*(M+L)*NOBR.
+
+  A       (input or output) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
+          leading N-by-N part of this array must contain the system
+          state matrix.
+          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
+          this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
+          leading N-by-N part of this array contains the system
+          state matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
+                         JOB = 'B' or 'D';
+          LDA &gt;= 1,  otherwise.
+
+  C       (input or output) DOUBLE PRECISION array, dimension
+          (LDC,N)
+          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
+          leading L-by-N part of this array must contain the system
+          output matrix.
+          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
+          this array need not be set on input.
+          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
+          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
+          L-by-N part of this array contains the system output
+          matrix.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
+                         JOB = 'B' or 'D';
+          LDC &gt;= 1,  otherwise.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
+          leading N-by-M part of this array contains the system
+          input matrix. If  M = 0  or  JOB = 'C',  this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
+          not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
+          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If JOBCV = 'C', the leading N-by-N part of this array
+          contains the positive semidefinite state covariance matrix
+          to be used as state weighting matrix when computing the
+          Kalman gain.
+          This parameter is not referenced if JOBCV = 'N'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= N,  if JOBCV = 'C';
+          LDQ &gt;= 1,  if JOBCV = 'N'.
+
+  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
+          If JOBCV = 'C', the leading L-by-L part of this array
+          contains the positive (semi)definite output covariance
+          matrix to be used as output weighting matrix when
+          computing the Kalman gain.
+          This parameter is not referenced if JOBCV = 'N'.
+
+  LDRY    INTEGER
+          The leading dimension of the array RY.
+          LDRY &gt;= L,  if JOBCV = 'C';
+          LDRY &gt;= 1,  if JOBCV = 'N'.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
+          If JOBCV = 'C', the leading N-by-L part of this array
+          contains the state-output cross-covariance matrix to be
+          used as cross-weighting matrix when computing the Kalman
+          gain.
+          This parameter is not referenced if JOBCV = 'N'.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= N,  if JOBCV = 'C';
+          LDS &gt;= 1,  if JOBCV = 'N'.
+
+  O       (output) DOUBLE PRECISION array, dimension ( LDO,N )
+          If  METH = 'M'  and  JOBCV = 'C',  or  METH = 'N',
+          the leading  L*NOBR-by-N  part of this array contains
+          the estimated extended observability matrix, i.e., the
+          first  N  columns of the relevant singular vectors.
+          If  METH = 'M'  and  JOBCV = 'N',  this array is not
+          referenced.
+
+  LDO     INTEGER
+          The leading dimension of the array  O.
+          LDO &gt;= L*NOBR,  if  JOBCV = 'C'  or  METH = 'N';
+          LDO &gt;= 1,       otherwise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = N,                   if METH = 'M' and M = 0
+                                     or JOB = 'C' and JOBCV = 'N';
+          LIWORK = M*NOBR+N,            if METH = 'M', JOB = 'C',
+                                        and JOBCV = 'C';
+          LIWORK = max(L*NOBR,M*NOBR),  if METH = 'M', JOB &lt;&gt; 'C',
+                                        and JOBCV = 'N';
+          LIWORK = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
+                                          and JOBCV = 'C';
+          LIWORK = max(M*NOBR+N,M*(N+L)), if METH = 'N'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
+          DWORK(5)  contain the reciprocal condition numbers of the
+          triangular factors of the matrices, defined in the code,
+          GaL  (GaL = Un(1:(s-1)*L,1:n)),  R_1c  (if  METH = 'M'),
+          M  (if  JOBCV = 'C'  or  METH = 'N'),  and  Q  or  T  (see
+          SLICOT Library routines IB01PY or IB01PX),  respectively.
+          If  METH = 'N',  DWORK(3)  is set to one without any
+          calculations. Similarly, if  METH = 'M'  and  JOBCV = 'N',
+          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
+          DWORK(3)  and  DWORK(5)  are set to one.
+          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( LDW1,LDW2 ), where, if METH = 'M',
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
+                  if JOB = 'C' or JOB = 'A' and M = 0;
+          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
+                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
+                       max( L+M*NOBR, L*NOBR +
+                                      max( 3*L*NOBR+1, M ) ) )
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
+          LDW2 &gt;= 0,                                 if JOBCV = 'N';
+          LDW2 &gt;= max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
+                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
+                                                     if JOBCV = 'C',
+          where Aw = N+N*N, if M = 0 or JOB = 'C';
+                Aw = 0,     otherwise;
+          and, if METH = 'N',
+          LDW1 &gt;= max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
+                       2*(L*NOBR-L)*N+N*N+8*N, N+4*(M*NOBR+N)+1,
+                       M*NOBR+3*N+L );
+          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
+          LDW2 &gt;= M*NOBR*(N+L)*(M*(N+L)+1)+
+                  max( (N+L)**2, 4*M*(N+L)+1 ),
+                  if M &gt; 0 and JOB = 'A', 'B', or 'D'.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  a least squares problem to be solved has a
+                rank-deficient coefficient matrix;
+          = 5:  the computed covariance matrices are too small.
+                The problem seems to be a deterministic one.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge;
+          = 3:  a singular upper triangular matrix was found.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In the MOESP approach, the matrices  A  and  C  are first
+  computed from an estimated extended observability matrix [1],
+  and then, the matrices  B  and  D  are obtained by solving an
+  extended linear system in a least squares sense.
+  In the N4SID approach, besides the estimated extended
+  observability matrix, the solutions of two least squares problems
+  are used to build another least squares problem, whose solution
+  is needed to compute the system matrices  A,  C,  B,  and  D.  The
+  solutions of the two least squares problems are also optionally
+  used by both approaches to find the covariance matrices.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error state-
+      space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+  [4] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In some applications, it is useful to compute the system matrices
+  using two calls to this routine, the first one with  JOB = 'C',
+  and the second one with  JOB = 'B' or 'D'.  This is slightly less
+  efficient than using a single call with  JOB = 'A',  because some
+  calculations are repeated. If  METH = 'N',  all the calculations
+  at the first call are performed again at the second call;
+  moreover, it is required to save the needed submatrices of  R
+  before the first call and restore them before the second call.
+  If the covariance matrices are desired,  JOBCV  should be set
+  to  'C'  at the second call. If  B  and  D  are both needed, they
+  should be computed at once.
+  It is possible to compute the matrices A and C using the MOESP
+  algorithm (METH = 'M'), and the matrices B and D using the N4SID
+  algorithm (METH = 'N'). This combination could be slightly more
+  efficient than N4SID algorithm alone and it could be more accurate
+  than MOESP algorithm. No saving/restoring is needed in such a
+  combination, provided  JOBCV  is set to  'N'  at the first call.
+  Recommended usage:  either one call with  JOB = 'A',  or
+     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
+     second call with  METH = 'M',  JOB = 'D',  JOBCV = 'C',  or
+     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
+     second call with  METH = 'N',  JOB = 'D',  JOBCV = 'C'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01PX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01PX">IB01PX</A></H2>
+<H3>
+Estimating system matrices B and D using Kronecker products
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To build and solve the least squares problem  T*X = Kv,  and
+  estimate the matrices B and D of a linear time-invariant (LTI)
+  state space model, using the solution  X,  and the singular
+  value decomposition information and other intermediate results,
+  provided by other routines.
+
+  The matrix  T  is computed as a sum of Kronecker products,
+
+     T = T + kron(Uf(:,(i-1)*m+1:i*m),N_i),  for i = 1 : s,
+
+  (with  T  initialized by zero), where  Uf  is the triangular
+  factor of the QR factorization of the future input part (see
+  SLICOT Library routine IB01ND),  N_i  is given by the i-th block
+  row of the matrix
+
+         [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ]   [ I_L  0  ]
+         [ Q_12  Q_13  ...  Q_1,s-1    Q_1s    0   ]   [         ]
+     N = [ Q_13  Q_14  ...    Q_1s      0      0   ] * [         ],
+         [  :     :            :        :      :   ]   [         ]
+         [ Q_1s   0    ...     0        0      0   ]   [  0  GaL ]
+
+  and where
+
+            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
+     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
+            [ I_L - L_2|1 ]          [     -L_2|i    ]
+
+  are  (n+L)-by-L  matrices, and  GaL  is built from the first  n
+  relevant singular vectors,  GaL = Un(1:L(s-1),1:n),  computed
+  by IB01ND.
+
+  The vector  Kv  is vec(K), with the matrix  K  defined by
+
+     K = [ K_1  K_2  K_3  ...  K_s ],
+
+  where  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
+  The given matrices are  Uf,  GaL,  and
+
+         [ L_1|1  ...  L_1|s ]
+     L = [                   ],   (n+L)-by-L*s,
+         [ L_2|1  ...  L_2|s ]
+
+     M = [ M_1  ...  M_s-1 ],      n-by-L*(s-1),  and
+     K,                            (n+L)-by-m*s.
+
+  Matrix  M  is the pseudoinverse of the matrix  GaL,  computed by
+  SLICOT Library routine IB01PD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01PX( JOB, NOBR, N, M, L, UF, LDUF, UN, LDUN, UL,
+     $                   LDUL, PGAL, LDPGAL, K, LDK, R, LDR, X, B, LDB,
+     $                   D, LDD, TOL, IWORK, DWORK, LDWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDB, LDD, LDK, LDPGAL, LDR,
+     $                   LDUF, LDUL, LDUN, LDWORK, M, N, NOBR
+      CHARACTER          JOB
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), K(LDK, *),
+     $                   PGAL(LDPGAL, *), R(LDR, *), UF(LDUF, *),
+     $                   UL(LDUL, *), UN(LDUN, *), X(*)
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies which of the matrices B and D should be
+          computed, as follows:
+          = 'B':  compute the matrix B, but not the matrix D;
+          = 'D':  compute both matrices B and D.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  UF      (input/output) DOUBLE PRECISION array, dimension
+          ( LDUF,M*NOBR )
+          On entry, the leading  M*NOBR-by-M*NOBR  upper triangular
+          part of this array must contain the upper triangular
+          factor of the QR factorization of the future input part,
+          as computed by SLICOT Library routine IB01ND.
+          The strict lower triangle need not be set to zero.
+          On exit, the leading  M*NOBR-by-M*NOBR  upper triangular
+          part of this array is unchanged, and the strict lower
+          triangle is set to zero.
+
+  LDUF    INTEGER
+          The leading dimension of the array  UF.
+          LDUF &gt;= MAX( 1, M*NOBR ).
+
+  UN      (input) DOUBLE PRECISION array, dimension ( LDUN,N )
+          The leading  L*(NOBR-1)-by-N  part of this array must
+          contain the matrix  GaL,  i.e., the leading part of the
+          first  N  columns of the matrix  Un  of relevant singular
+          vectors.
+
+  LDUN    INTEGER
+          The leading dimension of the array  UN.
+          LDUN &gt;= L*(NOBR-1).
+
+  UL      (input/output) DOUBLE PRECISION array, dimension
+          ( LDUL,L*NOBR )
+          On entry, the leading  (N+L)-by-L*NOBR  part of this array
+          must contain the given matrix  L.
+          On exit, if  M &gt; 0,  the leading  (N+L)-by-L*NOBR  part of
+          this array is overwritten by the matrix
+          [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ].
+
+  LDUL    INTEGER
+          The leading dimension of the array  UL.  LDUL &gt;= N+L.
+
+  PGAL    (input) DOUBLE PRECISION array, dimension
+          ( LDPGAL,L*(NOBR-1) )
+          The leading  N-by-L*(NOBR-1)  part of this array must
+          contain the pseudoinverse of the matrix  GaL,  computed by
+          SLICOT Library routine IB01PD.
+
+  LDPGAL  INTEGER
+          The leading dimension of the array  PGAL.  LDPGAL &gt;= N.
+
+  K       (input) DOUBLE PRECISION array, dimension ( LDK,M*NOBR )
+          The leading  (N+L)-by-M*NOBR  part of this array must
+          contain the given matrix  K.
+
+  LDK     INTEGER
+          The leading dimension of the array  K.  LDK &gt;= N+L.
+
+  R       (output) DOUBLE PRECISION array, dimension ( LDR,M*(N+L) )
+          The leading  (N+L)*M*NOBR-by-M*(N+L)  part of this array
+          contains details of the complete orthogonal factorization
+          of the coefficient matrix  T  of the least squares problem
+          which is solved for getting the system matrices B and D.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.
+          LDR &gt;= MAX( 1, (N+L)*M*NOBR ).
+
+  X       (output) DOUBLE PRECISION array, dimension
+          ( (N+L)*M*NOBR )
+          The leading  M*(N+L)  elements of this array contain the
+          least squares solution of the system  T*X = Kv.
+          The remaining elements are used as workspace (to store the
+          corresponding part of the vector Kv = vec(K)).
+
+  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
+          The leading N-by-M part of this array contains the system
+          input matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
+          If  JOB = 'D',  the leading L-by-M part of this array
+          contains the system input-output matrix.
+          If  JOB = 'B',  this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L, if  JOB = 'D';
+          LDD &gt;= 1, if  JOB = 'B'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ( M*(N+L) )
+
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK,  and, if  M &gt; 0,  DWORK(2)  contains the
+          reciprocal condition number of the triangular factor of
+          the matrix  T.
+          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( (N+L)*(N+L), 4*M*(N+L)+1 ).
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix  T  is computed, evaluating the sum of Kronecker
+  products, and then the linear system  T*X = Kv  is solved in a
+  least squares sense. The matrices  B  and  D  are then directly
+  obtained from the least squares solution.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01PY.html b/doc/_static/doc/IB01PY.html
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+<HTML>
+<HEAD><TITLE>IB01PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01PY">IB01PY</A></H2>
+<H3>
+Estimating system matrices B and D using a structure exploiting QR factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  1. To compute the triangular  (QR)  factor of the  p-by-L*s
+  structured matrix  Q,
+
+      [ Q_1s  Q_1,s-1  Q_1,s-2  ...  Q_12  Q_11 ]
+      [  0      Q_1s   Q_1,s-1  ...  Q_13  Q_12 ]
+  Q = [  0       0       Q_1s   ...  Q_14  Q_13 ],
+      [  :       :        :           :     :   ]
+      [  0       0        0     ...   0    Q_1s ]
+
+  and apply the transformations to the p-by-m matrix  Kexpand,
+
+            [ K_1 ]
+            [ K_2 ]
+  Kexpand = [ K_3 ],
+            [  :  ]
+            [ K_s ]
+
+  where, for MOESP approach (METH = 'M'), p = s*(L*s-n), and
+  Q_1i = u2(L*(i-1)+1:L*i,:)'  is  (Ls-n)-by-L,  for  i = 1:s,
+  u2 = Un(1:L*s,n+1:L*s),  K_i = K(:,(i-1)*m+1:i*m)  (i = 1:s)
+  is  (Ls-n)-by-m, and for N4SID approach (METH = 'N'), p = s*(n+L),
+  and
+
+            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
+     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
+            [ I_L - L_2|1 ]          [     -L_2|i    ]
+
+  are  (n+L)-by-L  matrices, and
+  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
+  The given matrices are:
+  For  METH = 'M',  u2 = Un(1:L*s,n+1:L*s),
+                    K(1:Ls-n,1:m*s);
+
+                        [ L_1|1  ...  L_1|s ]
+  For  METH = 'N',  L = [                   ],   (n+L)-by-L*s,
+                        [ L_2|1  ...  L_2|s ]
+
+                    M = [ M_1  ...  M_s-1 ],  n-by-L*(s-1),  and
+                    K,                        (n+L)-by-m*s.
+                    Matrix M is the pseudoinverse of the matrix GaL,
+                    built from the first  n  relevant singular
+                    vectors,  GaL = Un(1:L(s-1),1:n),  and computed
+                    by SLICOT Library routine IB01PD for METH = 'N'.
+
+  Matrix  Q  is triangularized  (in  R),  exploiting its structure,
+  and the transformations are applied from the left to  Kexpand.
+
+  2. To estimate the matrices B and D of a linear time-invariant
+  (LTI) state space model, using the factor  R,  transformed matrix
+  Kexpand, and the singular value decomposition information provided
+  by other routines.
+
+  IB01PY  routine is intended for speed and efficient use of the
+  memory space. It is generally not recommended for  METH = 'N',  as
+  IB01PX  routine can produce more accurate results.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01PY( METH, JOB, NOBR, N, M, L, RANKR1, UL, LDUL,
+     $                   R1, LDR1, TAU1, PGAL, LDPGAL, K, LDK, R, LDR,
+     $                   H, LDH, B, LDB, D, LDD, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDB, LDD, LDH, LDK, LDPGAL,
+     $                   LDR, LDR1, LDUL, LDWORK, M, N, NOBR, RANKR1
+      CHARACTER          JOB, METH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), H(LDH, *),
+     $                   K(LDK, *), PGAL(LDPGAL, *), R(LDR, *),
+     $                   R1(LDR1, *), TAU1(*), UL(LDUL, *)
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  METH    CHARACTER*1
+          Specifies the subspace identification method to be used,
+          as follows:
+          = 'M':  MOESP  algorithm with past inputs and outputs;
+          = 'N':  N4SID  algorithm.
+
+  JOB     CHARACTER*1
+          Specifies whether or not the matrices B and D should be
+          computed, as follows:
+          = 'B':  compute the matrix B, but not the matrix D;
+          = 'D':  compute both matrices B and D;
+          = 'N':  do not compute the matrices B and D, but only the
+                  R  factor of  Q  and the transformed Kexpand.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          The number of block rows,  s,  in the input and output
+          Hankel matrices processed by other routines.  NOBR &gt; 1.
+
+  N       (input) INTEGER
+          The order of the system.  NOBR &gt; N &gt; 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  RANKR1  (input) INTEGER
+          The effective rank of the upper triangular matrix  r1,
+          i.e., the triangular QR factor of the matrix  GaL,
+          computed by SLICOT Library routine IB01PD. It is also
+          the effective rank of the matrix  GaL.  0 &lt;= RANKR1 &lt;= N.
+          If  JOB = 'N',  or  M = 0,  or  METH = 'N',  this
+          parameter is not used.
+
+  UL      (input/workspace) DOUBLE PRECISION array, dimension
+          ( LDUL,L*NOBR )
+          On entry, if  METH = 'M',  the leading  L*NOBR-by-L*NOBR
+          part of this array must contain the matrix  Un  of
+          relevant singular vectors. The first  N  columns of  UN
+          need not be specified for this routine.
+          On entry, if  METH = 'N',  the leading  (N+L)-by-L*NOBR
+          part of this array must contain the given matrix  L.
+          On exit, the leading  LDF-by-L*(NOBR-1) part of this array
+          is overwritten by the matrix  F  of the algorithm in [4],
+          where  LDF = MAX( 1, L*NOBR-N-L ), if  METH = 'M';
+                 LDF = N,                    if  METH = 'N'.
+
+  LDUL    INTEGER
+          The leading dimension of the array  UL.
+          LDUL &gt;= L*NOBR, if  METH = 'M';
+          LDUL &gt;= N+L,    if  METH = 'N'.
+
+  R1      (input) DOUBLE PRECISION array, dimension ( LDR1,N )
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
+          the leading  L*(NOBR-1)-by-N  part of this array must
+          contain details of the QR factorization of the matrix
+          GaL,  as computed by SLICOT Library routine IB01PD.
+          Specifically, the leading N-by-N upper triangular part
+          must contain the upper triangular factor  r1  of  GaL,
+          and the lower  L*(NOBR-1)-by-N  trapezoidal part, together
+          with array TAU1, must contain the factored form of the
+          orthogonal matrix  Q1  in the QR factorization of  GaL.
+          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
+          and  RANKR1 &lt; N,  this array is not referenced.
+
+  LDR1    INTEGER
+          The leading dimension of the array  R1.
+          LDR1 &gt;= L*(NOBR-1), if  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',
+                              and  RANKR1 = N;
+          LDR1 &gt;= 1,          otherwise.
+
+  TAU1    (input) DOUBLE PRECISION array, dimension ( N )
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
+          this array must contain the scalar factors of the
+          elementary reflectors used in the QR factorization of the
+          matrix  GaL,  computed by SLICOT Library routine IB01PD.
+          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
+          and  RANKR1 &lt; N,  this array is not referenced.
+
+  PGAL    (input) DOUBLE PRECISION array, dimension
+          ( LDPGAL,L*(NOBR-1) )
+          If  METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and
+          RANKR1 &lt; N,  the leading  N-by-L*(NOBR-1)  part of this
+          array must contain the pseudoinverse of the matrix  GaL,
+          as computed by SLICOT Library routine IB01PD.
+          If  METH = 'M'  and  JOB = 'N',  or  M = 0,  or
+          RANKR1 = N,  this array is not referenced.
+
+  LDPGAL  INTEGER
+          The leading dimension of the array  PGAL.
+          LDPGAL &gt;= N,  if   METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,
+                        and  METH = 'M'  and RANKR1 &lt; N;
+          LDPGAL &gt;= 1,  otherwise.
+
+  K       (input/output) DOUBLE PRECISION array, dimension
+          ( LDK,M*NOBR )
+          On entry, the leading  (p/s)-by-M*NOBR  part of this array
+          must contain the given matrix  K  defined above.
+          On exit, the leading  (p/s)-by-M*NOBR  part of this array
+          contains the transformed matrix  K.
+
+  LDK     INTEGER
+          The leading dimension of the array  K.  LDK &gt;= p/s.
+
+  R       (output) DOUBLE PRECISION array, dimension ( LDR,L*NOBR )
+          If  JOB = 'N',  or  M = 0,  or  Q  has full rank, the
+          leading  L*NOBR-by-L*NOBR  upper triangular part of this
+          array contains the  R  factor of the QR factorization of
+          the matrix  Q.
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  Q  has not a full rank, the
+          leading  L*NOBR-by-L*NOBR  upper trapezoidal part of this
+          array contains details of the complete orhogonal
+          factorization of the matrix  Q,  as constructed by SLICOT
+          Library routines MB03OD and MB02QY.
+
+  LDR     INTEGER
+          The leading dimension of the array  R.  LDR &gt;= L*NOBR.
+
+  H       (output) DOUBLE PRECISION array, dimension ( LDH,M )
+          If  JOB = 'N'  or  M = 0,  the leading  L*NOBR-by-M  part
+          of this array contains the updated part of the matrix
+          Kexpand  corresponding to the upper triangular factor  R
+          in the QR factorization of the matrix  Q.
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  METH = 'N'  or  METH = 'M'
+          and  RANKR1 &lt; N,  the leading  L*NOBR-by-M  part of this
+          array contains the minimum norm least squares solution of
+          the linear system  Q*X = Kexpand,  from which the matrices
+          B  and  D  are found. The first  NOBR-1  row blocks of  X
+          appear in the reverse order in  H.
+          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and  RANKR1 = N,  the
+          leading  L*(NOBR-1)-by-M  part of this array contains the
+          matrix product  Q1'*X,  and the subarray
+          L*(NOBR-1)+1:L*NOBR-by-M  contains the  corresponding
+          submatrix of  X,  with  X  defined in the phrase above.
+
+  LDH     INTEGER
+          The leading dimension of the array  H.  LDH &gt;= L*NOBR.
+
+  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
+          If  M &gt; 0,  JOB = 'B' or 'D'  and  INFO = 0,  the leading
+          N-by-M part of this array contains the system input
+          matrix.
+          If  M = 0  or  JOB = 'N',  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N, if  M &gt; 0 and JOB = 'B' or 'D';
+          LDB &gt;= 1, if  M = 0 or  JOB = 'N'.
+
+  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
+          If  M &gt; 0,  JOB = 'D'  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix.
+          If  M = 0  or  JOB = 'B'  or  'N',  this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L, if  M &gt; 0 and JOB = 'D';
+          LDD &gt;= 1, if  M = 0 or  JOB = 'B' or 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  an m-by-n matrix whose estimated
+          condition number is less than  1/TOL  is considered to
+          be of full rank.  If the user sets  TOL &lt;= 0,  then an
+          implicitly computed, default tolerance, defined by
+          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
+          relative machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not used if  M = 0  or  JOB = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ( LIWORK )
+          where  LIWORK &gt;= 0,       if  JOB =  'N',  or   M = 0;
+                 LIWORK &gt;= L*NOBR,  if  JOB &lt;&gt; 'N',  and  M &gt; 0.
+
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of  LDWORK,  and, if  JOB &lt;&gt; 'N',  and  M &gt; 0,  DWORK(2)
+          contains the reciprocal condition number of the triangular
+          factor of the matrix  R.
+          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 2*L, L*NOBR, L+M*NOBR ),
+                                      if  JOB = 'N',  or  M = 0;
+          LDWORK &gt;= MAX( L+M*NOBR, L*NOBR + MAX( 3*L*NOBR+1, M ) ),
+                                      if  JOB &lt;&gt; 'N',  and  M &gt; 0.
+          For good performance,  LDWORK  should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  a singular upper triangular matrix was found.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The QR factorization is computed exploiting the structure,
+  as described in [4].
+  The matrices  B  and  D  are then obtained by solving certain
+  linear systems in a least squares sense.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Dewilde, P.
+      Subspace Model Identification. Part 1: The output-error
+      state-space model identification class of algorithms.
+      Int. J. Control, 56, pp. 1187-1210, 1992.
+
+  [2] Van Overschee, P., and De Moor, B.
+      N4SID: Two Subspace Algorithms for the Identification
+      of Combined Deterministic-Stochastic Systems.
+      Automatica, Vol.30, No.1, pp. 75-93, 1994.
+
+  [3] Van Overschee, P.
+      Subspace Identification : Theory - Implementation -
+      Applications.
+      Ph. D. Thesis, Department of Electrical Engineering,
+      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
+
+  [4] Sima, V.
+      Subspace-based Algorithms for Multivariable System
+      Identification.
+      Studies in Informatics and Control, 5, pp. 335-344, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method for computing the triangular factor and
+  updating Kexpand is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The computed matrices B and D are not the least squares solutions
+  delivered by either MOESP or N4SID algorithms, except for the
+  special case n = s - 1, L = 1. However, the computed B and D are
+  frequently good enough estimates, especially for  METH = 'M'.
+  Better estimates could be obtained by calling SLICOT Library
+  routine IB01PX, but it is less efficient, and requires much more
+  workspace.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/IB01QD.html b/doc/_static/doc/IB01QD.html
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@@ -0,0 +1,367 @@
+<HTML>
+<HEAD><TITLE>IB01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01QD">IB01QD</A></H2>
+<H3>
+Estimating initial state and system matrices B and D, given A, C, and input-output trajectories
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the initial state and the system matrices  B  and  D
+  of a linear time-invariant (LTI) discrete-time system, given the
+  matrix pair  (A,C)  and the input and output trajectories of the
+  system. The model structure is :
+
+        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
+        y(k)   = Cx(k) + Du(k),
+
+  where  x(k)  is the  n-dimensional state vector (at time k),
+         u(k)  is the  m-dimensional input vector,
+         y(k)  is the  l-dimensional output vector,
+  and  A, B, C, and D  are real matrices of appropriate dimensions.
+  Matrix  A  is assumed to be in a real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01QD( JOBX0, JOB, N, M, L, NSMP, A, LDA, C, LDC, U,
+     $                   LDU, Y, LDY, X0, B, LDB, D, LDD, TOL, IWORK,
+     $                   DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
+     $                   LDWORK, LDY, M, N, NSMP
+      CHARACTER          JOB, JOBX0
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX0   CHARACTER*1
+          Specifies whether or not the initial state should be
+          computed, as follows:
+          = 'X':  compute the initial state x(0);
+          = 'N':  do not compute the initial state (x(0) is known
+                  to be zero).
+
+  JOB     CHARACTER*1
+          Specifies which matrices should be computed, as follows:
+          = 'B':  compute the matrix B only (D is known to be zero);
+          = 'D':  compute the matrices B and D.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples,  t).
+          NSMP &gt;= N*M + a + e,  where
+          a = 0,  if  JOBX0 = 'N';
+          a = N,  if  JOBX0 = 'X';
+          e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
+          e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
+          e = M,  if  JOB   = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix  A  in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array must contain the
+          system output matrix  C  (corresponding to the real Schur
+          form of  A).
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= L.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,M)
+          On entry, the leading NSMP-by-M part of this array must
+          contain the t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          On exit, if  JOB = 'D',  the leading NSMP-by-M part of
+          this array contains details of the QR factorization of
+          the t-by-m matrix  U, possibly computed sequentially
+          (see METHOD).
+          If  JOB = 'B',  this array is unchanged on exit.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
+          LDU &gt;= 1,            if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          If  JOBX0 = 'X',  the estimated initial state of the
+          system,  x(0).
+          If  JOBX0 = 'N',  x(0)  is set to zero without any
+          calculations.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          If  N &gt; 0,  M &gt; 0,  and  INFO = 0,  the leading N-by-M
+          part of this array contains the system input matrix  B
+          in the coordinates corresponding to the real Schur form
+          of  A.
+          If  N = 0  or  M = 0,  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
+          LDB &gt;= 1,  if  N = 0  or   M = 0.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          If  M &gt; 0,  JOB = 'D',  and  INFO = 0,  the leading
+          L-by-M part of this array contains the system input-output
+          matrix  D.
+          If  M = 0  or  JOB = 'B',  this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'D';
+          LDD &gt;= 1,  if  M = 0  or   JOB = 'B'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  a matrix whose estimated condition
+          number is less than  1/TOL  is considered to be of full
+          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
+          instead, where  EPS  is the relative machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= N*M + a,            if  JOB = 'B',
+          LIWORK &gt;= max( N*M + a, M ),  if  JOB = 'D',
+          with  a = 0,  if  JOBX0 = 'N';
+                a = N,  if  JOBX0 = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK;  DWORK(2)  contains the reciprocal condition
+          number of the triangular factor of the QR factorization of
+          the matrix  W2  (see METHOD); if  M &gt; 0  and  JOB = 'D',
+          DWORK(3)  contains the reciprocal condition number of the
+          triangular factor of the QR factorization of  U.
+          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( LDW1, min( LDW2, LDW3 ) ),  where
+          LDW1 = 2,          if  M = 0  or   JOB = 'B',
+          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
+          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
+          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
+          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+          LDWb = (b + r)*(r + 1) +
+                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
+          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
+          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
+                             if  M &gt; 0  and JOB = 'D',
+             r = N*M + a,
+             a = 0,                  if  JOBX0 = 'N',
+             a = N,                  if  JOBX0 = 'X';
+             b = 0,                  if  JOB   = 'B',
+             b = L*M,                if  JOB   = 'D';
+             c = 0,                  if  JOBX0 = 'N',
+             c = L*N,                if  JOBX0 = 'X';
+             d = 0,                  if  JOBX0 = 'N',
+             d = 2*N*N + N,          if  JOBX0 = 'X';
+             f = 2*r,                if  JOB   = 'B'   or  M = 0,
+             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
+             q = b + r*L.
+          For good performance,  LDWORK  should be larger.
+          If  LDWORK &gt;= LDW2  or
+              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
+                        max( d, f ),
+          then standard QR factorizations of the matrices  U  and/or
+          W2  (see METHOD) are used.
+          Otherwise, the QR factorizations are computed sequentially
+          by performing  NCYCLE  cycles, each cycle (except possibly
+          the last one) processing  s &lt; t  samples, where  s  is
+          chosen from the equation
+            LDWORK = s*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
+                     max( d, f ).
+          (s  is at least  N*M+a+e,  the minimum value of  NSMP.)
+          The computational effort may increase and the accuracy may
+          decrease with the decrease of  s.  Recommended value is
+          LDWORK = LDW2,  assuming a large enough cache size, to
+          also accommodate  A,  C,  U,  and  Y.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension and refinement of the method in [1,2] is used.
+  Specifically, denoting
+
+        X = [ vec(D')' vec(B)' x0' ]',
+
+  where  vec(M)  is the vector obtained by stacking the columns of
+  the matrix  M,  then  X  is the least squares solution of the
+  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
+  defined by
+
+        ( U         |     | ... |     |     | ... |     |         )
+        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
+    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
+        (       :   |     | ... |     |     | ... |     |         )
+        (         U |     | ... |     |     | ... |     |         )
+                                                                  ij
+  diag(U)  having  L  block rows and columns.  In this formula,  y
+  are the outputs of the system for zero initial state computed
+  using the following model, for j = 1:m, and for i = 1:n,
+         ij          ij                    ij
+        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
+
+         ij          ij
+        y  (k)   = Cx  (k),
+
+  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
+  given by
+
+             (     C     )
+             (    C*A    )
+     Gamma = (   C*A^2   ),
+             (     :     )
+             ( C*A^(t-1) )
+
+  and  P  is a permutation matrix that groups together the rows of
+  Gamma  depending on the same row of  C,  namely
+  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
+  The first block column,  diag(U),  is not explicitly constructed,
+  but its structure is exploited. The last block column is evaluated
+  using powers of A with exponents 2^k. No interchanges are applied.
+  A special QR decomposition of the matrix  S  is computed. Let
+  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
+  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
+  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
+  matrix  S  becomes
+
+     ( diag(r)  W1 )
+     (    0     W2 ),
+
+  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
+  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
+  The intermediate results and the QR decomposition of  U  are
+  needed to find  D.  If a triangular factor is too ill conditioned,
+  then singular value decomposition (SVD) is employed. SVD is not
+  generally needed if the input sequence is sufficiently
+  persistently exciting and  NSMP  is large enough.
+  If the matrix  W  cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
+  computed sequentially.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Varga, A.
+      Some Experience with the MOESP Class of Subspace Model
+      Identification Methods in Identifying the BO105 Helicopter.
+      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
+
+  [2] Sima, V., and Varga, A.
+      RASP-IDENT : Subspace Model Identification Programs.
+      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
+      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The algorithm for computing the system matrices  B  and  D  is
+  less efficient than the MOESP or N4SID algorithms implemented in
+  SLICOT Library routine IB01PD, because a large least squares
+  problem has to be solved, but the accuracy is better, as the
+  computed matrices  B  and  D  are fitted to the input and output
+  trajectories. However, if matrix  A  is unstable, the computed
+  matrices  B  and  D  could be inaccurate.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB01RD">IB01RD</A></H2>
+<H3>
+Estimating initial state, given A, B, C, D, and input-output trajectories
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the initial state of a linear time-invariant (LTI)
+  discrete-time system, given the system matrices  (A,B,C,D)  and
+  the input and output trajectories of the system. The model
+  structure is :
+
+        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
+        y(k)   = Cx(k) + Du(k),
+
+  where  x(k)  is the  n-dimensional state vector (at time k),
+         u(k)  is the  m-dimensional input vector,
+         y(k)  is the  l-dimensional output vector,
+  and  A, B, C, and D  are real matrices of appropriate dimensions.
+  Matrix  A  is assumed to be in a real Schur form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB01RD( JOB, N, M, L, NSMP, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, U, LDU, Y, LDY, X0, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
+     $                   LDWORK, LDY, M, N, NSMP
+      CHARACTER          JOB
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
+     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether or not the matrix D is zero, as follows:
+          = 'Z':  the matrix  D  is zero;
+          = 'N':  the matrix  D  is not zero.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt; 0.
+
+  NSMP    (input) INTEGER
+          The number of rows of matrices  U  and  Y  (number of
+          samples used,  t).  NSMP &gt;= N.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix  A  in a real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix  B  (corresponding to the real Schur
+          form of  A).
+          If  N = 0  or  M = 0,  this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
+          LDB &gt;= 1,  if  N = 0  or   M = 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array must contain the
+          system output matrix  C  (corresponding to the real Schur
+          form of  A).
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= L.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading L-by-M part of this array must contain the
+          system input-output matrix.
+          If  M = 0  or  JOB = 'Z',  this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'N';
+          LDD &gt;= 1,  if  M = 0  or   JOB = 'Z'.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          If  M &gt; 0,  the leading NSMP-by-M part of this array must
+          contain the t-by-m input-data sequence matrix  U,
+          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
+          NSMP  values of the j-th input component for consecutive
+          time increments.
+          If M = 0, this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
+          LDU &gt;= 1,            if M = 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
+          The leading NSMP-by-L part of this array must contain the
+          t-by-l output-data sequence matrix  Y,
+          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
+          NSMP  values of the j-th output component for consecutive
+          time increments.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          The estimated initial state of the system,  x(0).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for estimating the rank of
+          matrices. If the user sets  TOL &gt; 0,  then the given value
+          of  TOL  is used as a lower bound for the reciprocal
+          condition number;  a matrix whose estimated condition
+          number is less than  1/TOL  is considered to be of full
+          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
+          instead, where  EPS  is the relative machine precision
+          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK and  DWORK(2)  contains the reciprocal condition
+          number of the triangular factor of the QR factorization of
+          the matrix  Gamma  (see METHOD).
+          On exit, if  INFO = -22,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 2, min( LDW1, LDW2 ) ),  where
+          LDW1 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
+          LDW2 =   N*(N + 1) + 2*N +
+                   max( q*(N + 1) + 2*N*N + L*N, 4*N ),
+             q = N*L.
+          For good performance,  LDWORK  should be larger.
+          If  LDWORK &gt;= LDW1,  then standard QR factorization of
+          the matrix  Gamma  (see METHOD) is used. Otherwise, the
+          QR factorization is computed sequentially by performing
+          NCYCLE  cycles, each cycle (except possibly the last one)
+          processing  s  samples, where  s  is chosen by equating
+          LDWORK  to  LDW2,  for  q  replaced by  s*L.
+          The computational effort may increase and the accuracy may
+          decrease with the decrease of  s.  Recommended value is
+          LDRWRK = LDW1,  assuming a large enough cache size, to
+          also accommodate  A, B, C, D, U,  and  Y.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 4:  the least squares problem to be solved has a
+                rank-deficient coefficient matrix.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  the singular value decomposition (SVD) algorithm did
+                not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension and refinement of the method in [1] is used.
+  Specifically, the output y0(k) of the system for zero initial
+  state is computed for k = 0, 1, ...,  t-1 using the given model.
+  Then the following least squares problem is solved for x(0)
+
+                      (     C     )            (   y(0) - y0(0)   )
+                      (    C*A    )            (   y(1) - y0(1)   )
+     Gamma * x(0)  =  (     :     ) * x(0)  =  (        :         ).
+                      (     :     )            (        :         )
+                      ( C*A^(t-1) )            ( y(t-1) - y0(t-1) )
+
+  The coefficient matrix  Gamma  is evaluated using powers of A with
+  exponents 2^k. The QR decomposition of this matrix is computed.
+  If its triangular factor  R  is too ill conditioned, then singular
+  value decomposition of  R  is used.
+
+  If the coefficient matrix cannot be stored in the workspace (i.e.,
+  LDWORK &lt; LDW1),  the QR decomposition is computed sequentially.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Verhaegen M., and Varga, A.
+      Some Experience with the MOESP Class of Subspace Model
+      Identification Methods in Identifying the BO105 Helicopter.
+      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB03AD">IB03AD</A></H2>
+<H3>
+Estimating parameters of a Wiener system using Levenberg-Marquardt algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a set of parameters for approximating a Wiener system
+  in a least-squares sense, using a neural network approach and a
+  Levenberg-Marquardt algorithm. Conjugate gradients (CG) or
+  Cholesky algorithms are used to solve linear systems of equations.
+  The Wiener system is represented as
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t)   = f(z(t),wb(1:L)),
+
+  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
+  evaluated by the SLICOT Library routine NF01AY. The parameter
+  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
+  where wb(i), i = 1 : L, correspond to the nonlinear part, and
+  theta corresponds to the linear part. See SLICOT Library routine
+  NF01AD for further details.
+
+  The sum of squares of the error functions, defined by
+
+     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
+
+  is minimized, where Y(t) is the measured output vector. The
+  functions and their Jacobian matrices are evaluated by SLICOT
+  Library routine NF01BB (the FCN routine in the call of MD03AD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
+     $                   ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX,
+     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ALG, INIT, STOR
+      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
+     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INIT    CHARACTER*1
+          Specifies which parts have to be initialized, as follows:
+          = 'L' : initialize the linear part only, X already
+                  contains an initial approximation of the
+                  nonlinearity;
+          = 'S' : initialize the static nonlinearity only, X
+                  already contains an initial approximation of the
+                  linear part;
+          = 'B' : initialize both linear and nonlinear parts;
+          = 'N' : do not initialize anything, X already contains
+                  an initial approximation.
+          If INIT = 'S' or 'B', the error functions for the
+          nonlinear part, and their Jacobian matrices, are evaluated
+          by SLICOT Library routine NF01BA (used as a second FCN
+          routine in the MD03AD call for the initialization step,
+          see METHOD).
+
+  ALG     CHARACTER*1
+          Specifies the algorithm used for solving the linear
+          systems involving a Jacobian matrix J, as follows:
+          = 'D' :  a direct algorithm, which computes the Cholesky
+                   factor of the matrix J'*J + par*I is used, where
+                   par is the Levenberg factor;
+          = 'I' :  an iterative Conjugate Gradients algorithm, which
+                   only needs the matrix J, is used.
+          In both cases, matrix J is stored in a compressed form.
+
+  STOR    CHARACTER*1
+          If ALG = 'D', specifies the storage scheme for the
+          symmetric matrix J'*J, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+          The option STOR = 'F' usually ensures a faster execution.
+          This parameter is not relevant if ALG = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
+          in the input and output block Hankel matrices to be
+          processed for estimating the linear part.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+          This parameter is ignored if INIT is 'S' or 'N'.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
+          INIT = 'L' or 'B'.
+
+  NSMP    (input) INTEGER
+          The number of input and output samples, t.  NSMP &gt;= 0, and
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
+
+  N       (input/output) INTEGER
+          The order of the linear part.
+          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
+          assumed unknown and it will be found by the routine.
+          Otherwise, the input value will be used. If INIT = 'S'
+          or 'N', N must be non-negative. The values N &gt;= NOBR,
+          or N = 0, are not acceptable if INIT = 'L' or 'B'.
+
+  NN      (input) INTEGER
+          The number of neurons which shall be used to approximate
+          the nonlinear part.  NN &gt;= 0.
+
+  ITMAX1  (input) INTEGER
+          The maximum number of iterations for the initialization of
+          the static nonlinearity.
+          This parameter is ignored if INIT is 'N' or 'L'.
+          Otherwise, ITMAX1 &gt;= 0.
+
+  ITMAX2  (input) INTEGER
+          The maximum number of iterations.  ITMAX2 &gt;= 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          and the current error norm is printed. Other intermediate
+          results could be printed by modifying the corresponding
+          FCN routine (NF01BA and/or NF01BB). If NPRINT &lt;= 0, no
+          special calls of FCN with IFLAG = 0 are made.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array must contain the
+          set of output samples,
+          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X       (input/output) DOUBLE PRECISION array dimension (LX)
+          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
+          of this array must contain the initial parameters for
+          the nonlinear part of the system.
+          On entry, if INIT = 'S', the elements lin1 : lin2 of this
+          array must contain the initial parameters for the linear
+          part of the system, corresponding to the output normal
+          form, computed by SLICOT Library routine TB01VD, where
+             lin1 = (NN*(L+2) + 1)*L + 1;
+             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
+          On entry, if INIT = 'N', the elements 1 : lin2 of this
+          array must contain the initial parameters for the
+          nonlinear part followed by the initial parameters for the
+          linear part of the system, as specified above.
+          This array need not be set on entry if INIT = 'B'.
+          On exit, the elements 1 : lin2 of this array contain the
+          optimal parameters for the nonlinear part followed by the
+          optimal parameters for the linear part of the system, as
+          specified above.
+
+  LX      (input/output) INTEGER
+          On entry, this parameter must contain the intended length
+          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
+          If N is unknown (N &lt; 0 on entry), a large enough estimate
+          of N should be used in the formula of lin2.
+          On exit, if N &lt; 0 on entry, but LX is not large enough,
+          then this parameter contains the actual length of X,
+          corresponding to the computed N. Otherwise, its value
+          is unchanged.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
+          which measures the relative error desired in the sum of
+          squares, for the initialization step of nonlinear part.
+          Termination occurs when the actual relative reduction in
+          the sum of squares is at most TOL1. In addition, if
+          ALG = 'I', TOL1 also measures the relative residual of
+          the solutions computed by the CG algorithm (for the
+          initialization step). Termination of a CG process occurs
+          when the relative residual is at most TOL1.
+          If the user sets  TOL1 &lt; 0,  then  SQRT(EPS)  is used
+          instead TOL1, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+          This parameter is ignored if INIT is 'N' or 'L'.
+
+  TOL2    DOUBLE PRECISION
+          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
+          relative error desired in the sum of squares, for the
+          whole optimization process. Termination occurs when the
+          actual relative reduction in the sum of squares is at
+          most TOL2.
+          If ALG = 'I', TOL2 also measures the relative residual of
+          the solutions computed by the CG algorithm (for the whole
+          optimization). Termination of a CG process occurs when the
+          relative residual is at most TOL2.
+          If the user sets  TOL2 &lt; 0,  then  SQRT(EPS)  is used
+          instead TOL2. This default value could require many
+          iterations, especially if TOL1 is larger. If INIT = 'S'
+          or 'B', it is advisable that TOL2 be larger than TOL1,
+          and spend more time with cheaper iterations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX( 3, LIW1, LIW2 )), where
+          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
+          LIW1 = M+L;
+          LIW2 = MAX(M*NOBR+N,M*(N+L)).
+          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
+          (total) number of function and Jacobian evaluations,
+          respectively (including the initialization step, if it was
+          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
+          specifies how many locations of DWORK contain reciprocal
+          condition number estimates (see below); otherwise,
+          IWORK(3) = 0.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On entry, if desired, and if INIT = 'S' or 'B', the
+          entries DWORK(1:4) are set to initialize the random
+          numbers generator for the nonlinear part parameters (see
+          the description of the argument XINIT of SLICOT Library
+          routine MD03AD); this enables to obtain reproducible
+          results. The same seed is used for all outputs.
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, DWORK(4) returns the number of conjugate
+          gradients iterations performed, and DWORK(5) returns the
+          final Levenberg factor, for optimizing the parameters of
+          both the linear part and the static nonlinearity part.
+          If INIT = 'S' or INIT = 'B' and INFO = 0, then the
+          elements DWORK(6) to DWORK(10) contain the corresponding
+          five values for the initialization step (see METHOD).
+          (If L &gt; 1, DWORK(10) contains the maximum of the Levenberg
+          factors for all outputs.) If INIT = 'L' or INIT = 'B', and
+          INFO = 0, DWORK(11) to DWORK(10+IWORK(3)) contain
+          reciprocal condition number estimates set by SLICOT
+          Library routines IB01AD, IB01BD, and IB01CD.
+          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          In the formulas below, N should be taken not larger than
+          NOBR - 1, if N &lt; 0 on entry.
+          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
+          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
+          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
+                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
+                     MAX( LDW1, LDW2 ),
+                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
+                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
+              where,
+              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
+                           L*NOBR*N +
+                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
+                                2*(L*NOBR-L)*N+N*N+8*N,
+                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
+              LDW2 &gt;= 0,                                  if M = 0;
+              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
+                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
+              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
+              LDW4 = N*(N+1) + 2*N +
+                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
+              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
+              LDW6 = NSMP*L + (N+L)*(N+M) + N +
+                     MAX(1, N*N*L + N*L + N, N*N +
+                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
+                             N*M));
+          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
+          LW2 = NSMP*L +
+                MAX( 5, NSMP + 2*BSN + NSMP*BSN +
+                        MAX( 2*NN + BSN, LDW7 ) );
+              LDW7 = BSN*BSN,       if ALG = 'D' and STOR = 'F';
+              LDW7 = BSN*(BSN+1)/2, if ALG = 'D' and STOR = 'P';
+              LDW7 = 3*BSN + NSMP,  if ALG = 'I';
+          LW3 = MAX( LDW8, NSMP*L + (N+L)*(2*N+M) + 2*N );
+              LDW8 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
+              LDW8 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
+          LW4 = MAX( 5, NSMP*L + 2*NX + NSMP*L*( BSN + LTHS ) +
+                        MAX( L1 + NX, NSMP*L + L1, L2 ) ),
+               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
+               L0 = MAX( N*(N+L), L ),        if M = 0;
+               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
+               L2 = NX*NX,          if ALG = 'D' and STOR = 'F';
+               L2 = NX*(NX+1)/2,    if ALG = 'D' and STOR = 'P';
+               L2 = 3*NX + NSMP*L,  if ALG = 'I',
+               with BSN  = NN*( L + 2 ) + 1,
+                    LTHS = N*( L + M + 1 ) + L*M.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          &lt; 0:  the user set IFLAG = IWARN in (one of) the
+                subroutine(s) FCN, i.e., NF01BA, if INIT = 'S'
+                or 'B', and/or NF01BB; this value cannot be returned
+                without changing the FCN routine(s);
+                otherwise, IWARN has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning (where TOL* denotes TOL1 or TOL2,
+                and similarly for ITMAX*):
+          = 1:  the number of iterations has reached ITMAX* without
+                satisfying the convergence condition;
+          = 2:  if alg = 'I' and in an iteration of the Levenberg-
+                Marquardt algorithm, the CG algorithm finished
+                after 3*NX iterations (or 3*(lin1-1) iterations, for
+                the initialization phase), without achieving the
+                precision required in the call;
+          = 3:  the cosine of the angle between the vector of error
+                function values and any column of the Jacobian is at
+                most FACTOR*EPS in absolute value (FACTOR = 100);
+          = 4:  TOL* is too small: no further reduction in the sum
+                of squares is possible.
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 6 (see IB01AD, IB01BD
+          and IB01CD). In all these cases, the entries DWORK(1:5),
+          DWORK(6:10) (if INIT = 'S' or 'B'), and
+          DWORK(11:10+IWORK(3)) (if INIT = 'L' or 'B'), are set as
+          described above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                otherwise, INFO has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning:
+          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 1;
+          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 2;
+          = 3:  ALG = 'D' and SLICOT Library routines MB02XD or
+                NF01BU (or NF01BV, if INIT = 'S' or 'B') or
+                ALG = 'I' and SLICOT Library routines MB02WD or
+                NF01BW (or NF01BX, if INIT = 'S' or 'B') returned
+                with INFO &lt;&gt; 0.
+          In addition, if INIT = 'L' or 'B', i could also be
+          = 4:  if a Lyapunov equation could not be solved;
+          = 5:  if the identified linear system is unstable;
+          = 6:  if the QR algorithm failed on the state matrix
+                of the identified linear system.
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INIT = 'L' or 'B', the linear part of the system is
+  approximated using the combined MOESP and N4SID algorithm. If
+  necessary, this algorithm can also choose the order, but it is
+  advantageous if the order is already known.
+
+  If INIT = 'S' or 'B', the output of the approximated linear part
+  is computed and used to calculate an approximation of the static
+  nonlinearity using the Levenberg-Marquardt algorithm [1].
+  This step is referred to as the (nonlinear) initialization step.
+
+  As last step, the Levenberg-Marquardt algorithm is used again to
+  optimize the parameters of the linear part and the static
+  nonlinearity as a whole. Therefore, it is necessary to parametrise
+  the matrices of the linear part. The output normal form [2]
+  parameterisation is used.
+
+  The Jacobian is computed analytically, for the nonlinear part, and
+  numerically, for the linear part.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kelley, C.T.
+      Iterative Methods for Optimization.
+      Society for Industrial and Applied Mathematics (SIAM),
+      Philadelphia (Pa.), 1999.
+
+  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
+      Balanced realizations of discrete-time stable all-pass
+      systems and the tangential Schur algorithm.
+      Proceedings of the European Control Conference,
+      31 August - 3 September 1999, Karlsruhe, Germany.
+      Session CP-6, Discrete-time Systems, 1999.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           LDU, LDY, LIWORK, LMAX, MMAX, NMAX, NNMAX,
+     $                  NOBRMX, NSMPMX
+      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
+     $                    NMAX = 4, NSMPMX = 1024,
+     $                    LDU  = NSMPMX, LDY = NSMPMX,
+     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
+     $                                  MMAX*( NMAX + LMAX ) ) )
+      INTEGER           BSNM, L0, L1M, L2M, LDW1, LDW2, LDW3, LDW4,
+     $                  LDW5, LDW6, LDW7, LDW8, LDWORK, LTHS, LW1, LW2,
+     $                  LW3, LW4, LXM
+      PARAMETER         ( BSNM = NNMAX*( LMAX + 2 ) + 1,
+     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
+     $                    L0   = MAX( NMAX*( NMAX + LMAX ),
+     $                                NMAX + MMAX + LMAX ),
+     $                    L1M  = NSMPMX*LMAX +
+     $                           MAX( 2*NNMAX,
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                2*NMAX + L0 ),
+     $                    LXM  = BSNM*LMAX + LTHS,
+     $                    L2M  = MAX( LXM*LXM, 3*LXM + NSMPMX*LMAX ),
+     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                2*NMAX,
+     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                NMAX*NMAX + 7*NMAX,
+     $                                LMAX*NOBRMX*NMAX +
+     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                     2*NMAX + LMAX +
+     $                                     ( 2*MMAX + LMAX )*NOBRMX,
+     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
+     $                                   + NMAX*NMAX + 8*NMAX,
+     $                                     NMAX + 4*( MMAX*NOBRMX +
+     $                                                NMAX ) + 1,
+     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
+     $                              ),
+     $                    LDW2 = LMAX*NOBRMX*NMAX +
+     $                           MMAX*NOBRMX*( NMAX + LMAX )*
+     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                           MAX( ( NMAX + LMAX )**2,
+     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
+     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
+     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
+     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + NMAX +
+     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
+     $                                NMAX, NMAX*NMAX +
+     $                                MAX( NMAX*NMAX +
+     $                                     NMAX*MAX( NMAX, LMAX ) +
+     $                                     6*NMAX + MIN( NMAX, LMAX ),
+     $                                     NMAX*MMAX ) ),
+     $                    LDW7 = MAX( BSNM*BSNM, 3*BSNM + NSMPMX ),
+     $                    LDW8 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
+     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
+     $                                  + 3 ) + LMAX*NOBRMX,
+     $                                4*( MMAX + LMAX )*NOBRMX*
+     $                                ( MMAX + LMAX )*NOBRMX +
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                MAX( LDW1, LDW2 ),
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                NMAX + NMAX*NMAX + 2 +
+     $                                NMAX*( NMAX + MMAX + LMAX ) +
+     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
+     $                                     LDW5, LDW6 ) ),
+     $                    LW2  = NSMPMX*LMAX +
+     $                           MAX( 5, NSMPMX + 2*BSNM + NSMPMX*BSNM +
+     $                                   MAX( 2*NNMAX + BSNM, LDW7 ) ),
+     $                    LW3  = MAX( LDW8, NSMPMX*LMAX +
+     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
+     $                                2*NMAX ),
+     $                    LW4  = MAX( 5, NSMPMX*LMAX + 2*LXM +
+     $                                NSMPMX*LMAX*( BSNM + LTHS ) +
+     $                                MAX( L1M + LXM, NSMPMX*LMAX + L1M,
+     $                                     L2M ) ),
+     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
+*     .. Local Scalars ..
+      LOGICAL           INIT1, INITB, INITL, INITN, INITS
+      CHARACTER*1       ALG, INIT, STOR
+      INTEGER           BSN, I, INFO, INI, ITER, ITERCG, ITMAX1, ITMAX2,
+     $                  IWARN, J, L, L1, L2, LPAR, LX, M, N, NN, NOBR,
+     $                  NPRINT, NS, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+*     .. Array Arguments ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          IB03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
+     $                      NPRINT, TOL1, TOL2, INIT, ALG, STOR
+      INITL = LSAME( INIT, 'L' )
+      INITS = LSAME( INIT, 'S' )
+      INITB = LSAME( INIT, 'B' )
+      INITN = LSAME( INIT, 'N' )
+      INIT1 = INITL .OR. INITB
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) L
+         ELSE
+            NS = N
+            IF( INIT1 ) THEN
+               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NOBR
+                  STOP
+               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+               IF ( N.LT.0 )
+     $            N = NOBR - 1
+            ELSE
+               IF( NSMP.LT.0 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+            END IF
+            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) NN
+            ELSE
+               BSN = NN*( L + 2 ) + 1
+               L1  = BSN*L
+               L2  = N*( L + M + 1 ) + L*M
+               LX  = L1 + L2
+               INI = 1
+               IF ( INITL ) THEN
+                  LPAR = L1
+               ELSEIF ( INITS ) THEN
+                  INI  = L1 + 1
+                  LPAR = L2
+               ELSEIF ( INITN ) THEN
+                  LPAR = LX
+               END IF
+               IF( INIT1 )
+     $            N = NS
+*              Read the input-output data, initial parameters, and seed.
+               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
+               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
+               IF ( .NOT.INITB )
+     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
+               IF ( INITS .OR. INITB )
+     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
+*              Solve a Wiener system identification problem.
+               CALL IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
+     $                      ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY,
+     $                      X, LX, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
+                  ITER   = DWORK(3)
+                  ITERCG = DWORK(4)
+                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+                  WRITE ( NOUT, FMT = 99996 ) ITER, ITERCG,
+     $                                        IWORK(1), IWORK(2)
+*                 Recompute LX is necessary.
+                  IF ( INIT1 .AND. NS.LT.0 )
+     $               LX = L1 + N*( L + M + 1 ) + L*M
+                  WRITE ( NOUT, FMT = 99994 )
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' IB03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from IB03AD = ',I4)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' Number of iterations                     = ', I7,
+     $        /' Number of conjugate gradients iterations = ', I7,
+     $        /' Number of function evaluations           = ', I7,
+     $        /' Number of Jacobian evaluations           = ', I7)
+99995 FORMAT (10(1X,F8.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
+99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
+99989 FORMAT (/' N is out of range.',/' N = ',I5)
+99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
+99987 FORMAT (' IWARN on exit from IB03AD = ',I4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB03AD EXAMPLE PROGRAM DATA
+ 10     1     1  1024    4   12   500  1000     0  .00001  .00001   B   D   F
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+   1.2531404e-01
+   3.3620966e-02
+  -8.3194568e-02
+  -1.6716420e-01
+ 1998.   1999.   2000.   2001.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB03AD EXAMPLE PROGRAM RESULTS
+
+
+ Final 2-norm of the residuals =   0.2970365D+00
+
+ Number of iterations                     =      87
+ Number of conjugate gradients iterations =       0
+ Number of function evaluations           =    1322
+ Number of Jacobian evaluations           =     105
+
+ Final approximate solution is 
+  -0.9728   0.6465  -1.2888  -0.4296  -0.8530   0.3181   0.9778   0.4570  -0.1420   0.8984
+  -0.6031   0.0697  -1.0822   0.4465   0.6036   0.3792   0.2532  -0.0285   0.4129   0.4833
+   0.1746   0.5626   0.2150  -0.3343   0.4013  -0.3679   0.5653   0.8092  -0.2363  -0.6361
+  -0.6818   0.6110  -0.5506   0.9914   0.0352   0.1968  -0.2502   7.0067 -10.7378   2.6900
+ -59.8756  -0.9898  -0.8296   2.3429   1.3456  -0.2531  -1.1265   0.0326   0.5617   0.1045
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>IB03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="IB03BD">IB03BD</A></H2>
+<H3>
+Wiener system identification using a MINPACK-like Levenberg-Marquardt algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a set of parameters for approximating a Wiener system
+  in a least-squares sense, using a neural network approach and a
+  MINPACK-like Levenberg-Marquardt algorithm. The Wiener system
+  consists of a linear part and a static nonlinearity, and it is
+  represented as
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t)   = f(z(t),wb(1:L)),
+
+  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
+  evaluated by the SLICOT Library routine NF01AY. The parameter
+  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
+  where theta corresponds to the linear part, and wb(i), i = 1 : L,
+  correspond to the nonlinear part. See SLICOT Library routine
+  NF01AD for further details.
+
+  The sum of squares of the error functions, defined by
+
+     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
+
+  is minimized, where Y(t) is the measured output vector. The
+  functions and their Jacobian matrices are evaluated by SLICOT
+  Library routine NF01BF (the FCN routine in the call of MD03BD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
+     $                   NPRINT, U, LDU, Y, LDY, X, LX, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         INIT
+      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
+     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  INIT    CHARACTER*1
+          Specifies which parts have to be initialized, as follows:
+          = 'L' : initialize the linear part only, X already
+                  contains an initial approximation of the
+                  nonlinearity;
+          = 'S' : initialize the static nonlinearity only, X
+                  already contains an initial approximation of the
+                  linear part;
+          = 'B' : initialize both linear and nonlinear parts;
+          = 'N' : do not initialize anything, X already contains
+                  an initial approximation.
+          If INIT = 'S' or 'B', the error functions for the
+          nonlinear part, and their Jacobian matrices, are evaluated
+          by SLICOT Library routine NF01BE (used as a second FCN
+          routine in the MD03BD call for the initialization step,
+          see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NOBR    (input) INTEGER
+          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
+          in the input and output block Hankel matrices to be
+          processed for estimating the linear part.  NOBR &gt; 0.
+          (In the MOESP theory,  NOBR  should be larger than  n,
+          the estimated dimension of state vector.)
+          This parameter is ignored if INIT is 'S' or 'N'.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
+          INIT = 'L' or 'B'.
+
+  NSMP    (input) INTEGER
+          The number of input and output samples, t.  NSMP &gt;= 0, and
+          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
+
+  N       (input/output) INTEGER
+          The order of the linear part.
+          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
+          assumed unknown and it will be found by the routine.
+          Otherwise, the input value will be used. If INIT = 'S'
+          or 'N', N must be non-negative. The values N &gt;= NOBR,
+          or N = 0, are not acceptable if INIT = 'L' or 'B'.
+
+  NN      (input) INTEGER
+          The number of neurons which shall be used to approximate
+          the nonlinear part.  NN &gt;= 0.
+
+  ITMAX1  (input) INTEGER
+          The maximum number of iterations for the initialization of
+          the static nonlinearity.
+          This parameter is ignored if INIT is 'N' or 'L'.
+          Otherwise, ITMAX1 &gt;= 0.
+
+  ITMAX2  (input) INTEGER
+          The maximum number of iterations.  ITMAX2 &gt;= 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          and the current error norm is printed. Other intermediate
+          results could be printed by modifying the corresponding
+          FCN routine (NF01BE and/or NF01BF). If NPRINT &lt;= 0, no
+          special calls of FCN with IFLAG = 0 are made.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array must contain the
+          set of output samples,
+          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
+
+  X       (input/output) DOUBLE PRECISION array dimension (LX)
+          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
+          of this array must contain the initial parameters for
+          the nonlinear part of the system.
+          On entry, if INIT = 'S', the elements lin1 : lin2 of this
+          array must contain the initial parameters for the linear
+          part of the system, corresponding to the output normal
+          form, computed by SLICOT Library routine TB01VD, where
+             lin1 = (NN*(L+2) + 1)*L + 1;
+             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
+          On entry, if INIT = 'N', the elements 1 : lin2 of this
+          array must contain the initial parameters for the
+          nonlinear part followed by the initial parameters for the
+          linear part of the system, as specified above.
+          This array need not be set on entry if INIT = 'B'.
+          On exit, the elements 1 : lin2 of this array contain the
+          optimal parameters for the nonlinear part followed by the
+          optimal parameters for the linear part of the system, as
+          specified above.
+
+  LX      (input/output) INTEGER
+          On entry, this parameter must contain the intended length
+          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
+          If N is unknown (N &lt; 0 on entry), a large enough estimate
+          of N should be used in the formula of lin2.
+          On exit, if N &lt; 0 on entry, but LX is not large enough,
+          then this parameter contains the actual length of X,
+          corresponding to the computed N. Otherwise, its value
+          is unchanged.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
+          which measures the relative error desired in the sum of
+          squares, as well as the relative error desired in the
+          approximate solution, for the initialization step of
+          nonlinear part. Termination occurs when either both the
+          actual and predicted relative reductions in the sum of
+          squares, or the relative error between two consecutive
+          iterates are at most TOL1. If the user sets  TOL1 &lt; 0,
+          then  SQRT(EPS)  is used instead TOL1, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          This parameter is ignored if INIT is 'N' or 'L'.
+
+  TOL2    DOUBLE PRECISION
+          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
+          relative error desired in the sum of squares, as well as
+          the relative error desired in the approximate solution,
+          for the whole optimization process. Termination occurs
+          when either both the actual and predicted relative
+          reductions in the sum of squares, or the relative error
+          between two consecutive iterates are at most TOL2. If the
+          user sets TOL2 &lt; 0, then  SQRT(EPS)  is used instead TOL2.
+          This default value could require many iterations,
+          especially if TOL1 is larger. If INIT = 'S' or 'B', it is
+          advisable that TOL2 be larger than TOL1, and spend more
+          time with cheaper iterations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX( LIW1, LIW2, LIW3 )), where
+          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
+          LIW1 = M+L;
+          LIW2 = MAX(M*NOBR+N,M*(N+L));
+          LIW3 = 3+MAX(NN*(L+2)+2,NX+L), if INIT = 'S' or 'B';
+          LIW3 = 3+NX+L,                 if INIT = 'L' or 'N'.
+          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
+          (total) number of function and Jacobian evaluations,
+          respectively (including the initialization step, if it was
+          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
+          specifies how many locations of DWORK contain reciprocal
+          condition number estimates (see below); otherwise,
+          IWORK(3) = 0. If INFO = 0, the entries 4 to 3+NX of IWORK
+          define a permutation matrix P such that J*P = Q*R, where
+          J is the final calculated Jacobian, Q is an orthogonal
+          matrix (not stored), and R is upper triangular with
+          diagonal elements of nonincreasing magnitude (possibly
+          for each block column of J). Column j of P is column
+          IWORK(3+j) of the identity matrix. Moreover, the entries
+          4+NX:3+NX+L of this array contain the ranks of the final
+          submatrices S_k (see description of LMPARM in MD03BD).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On entry, if desired, and if INIT = 'S' or 'B', the
+          entries DWORK(1:4) are set to initialize the random
+          numbers generator for the nonlinear part parameters (see
+          the description of the argument XINIT of SLICOT Library
+          routine MD03BD); this enables to obtain reproducible
+          results. The same seed is used for all outputs.
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, and DWORK(4) returns the final Levenberg
+          factor, for optimizing the parameters of both the linear
+          part and the static nonlinearity part. If INIT = 'S' or
+          INIT = 'B' and INFO = 0, then the elements DWORK(5) to
+          DWORK(8) contain the corresponding four values for the
+          initialization step (see METHOD). (If L &gt; 1, DWORK(8)
+          contains the maximum of the Levenberg factors for all
+          outputs.) If INIT = 'L' or INIT = 'B', and INFO = 0,
+          DWORK(9) to DWORK(8+IWORK(3)) contain reciprocal condition
+          number estimates set by SLICOT Library routines IB01AD,
+          IB01BD, and IB01CD.
+          On exit, if  INFO = -21,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          In the formulas below, N should be taken not larger than
+          NOBR - 1, if N &lt; 0 on entry.
+          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
+          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
+          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
+                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
+                     MAX( LDW1, LDW2 ),
+                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
+                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
+              where,
+              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
+                           L*NOBR*N +
+                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
+                                2*(L*NOBR-L)*N+N*N+8*N,
+                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
+              LDW2 &gt;= 0,                                  if M = 0;
+              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
+                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
+              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
+              LDW4 = N*(N+1) + 2*N +
+                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
+              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
+              LDW6 = NSMP*L + (N+L)*(N+M) + N +
+                     MAX(1, N*N*L + N*L + N, N*N +
+                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
+                             N*M));
+          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
+          LW2 = NSMP*L + BSN +
+                MAX( 4, NSMP +
+                        MAX( NSMP*BSN + MAX( 2*NN, 5*BSN + 1 ),
+                             BSN**2 + BSN +
+                             MAX( NSMP + 2*NN, 5*BSN ) ) );
+          LW3 = MAX( LDW7, NSMP*L + (N+L)*(2*N+M) + 2*N );
+              LDW7 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
+              LDW7 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
+          LW4 = NSMP*L + NX +
+                MAX( 4, NSMP*L +
+                        MAX( NSMP*L*( BSN + LTHS ) +
+                             MAX( NSMP*L + L1, L2 + NX ),
+                                  NX*( BSN + LTHS ) + NX +
+                                  MAX( NSMP*L + L1, NX + L3 ) ) ),
+               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
+               L0 = MAX( N*(N+L), L ),        if M = 0;
+               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
+               L2 = 4*NX + 1,  if L &lt;= 1 or BSN = 0; otherwise,
+               L2 = BSN + MAX(3*BSN+1,LTHS);
+               L2 = MAX(L2,4*LTHS+1),         if NSMP &gt; BSN;
+               L2 = MAX(L2,(NSMP-BSN)*(L-1)), if BSN &lt; NSMP &lt; 2*BSN;
+               L3 = 4*NX,                     if L &lt;= 1 or BSN = 0;
+               L3 = LTHS*BSN + 2*NX + 2*MAX(BSN,LTHS),
+                                              if L &gt; 1 and BSN &gt; 0,
+               with BSN  = NN*( L + 2 ) + 1,
+                    LTHS = N*( L + M + 1 ) + L*M.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          &lt; 0:  the user set IFLAG = IWARN in (one of) the
+                subroutine(s) FCN, i.e., NF01BE, if INIT = 'S'
+                or 'B', and/or NF01BF; this value cannot be returned
+                without changing the FCN routine(s);
+                otherwise, IWARN has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning (where TOL* denotes TOL1 or TOL2,
+                and similarly for ITMAX*):
+          = 1:  both actual and predicted relative reductions in
+                the sum of squares are at most TOL*;
+          = 2:  relative error between two consecutive iterates is
+                at most TOL*;
+          = 3:  conditions for i or j = 1 and i or j = 2 both hold;
+          = 4:  the cosine of the angle between the vector of error
+                function values and any column of the Jacobian is at
+                most EPS in absolute value;
+          = 5:  the number of iterations has reached ITMAX* without
+                satisfying any convergence condition;
+          = 6:  TOL* is too small: no further reduction in the sum
+                of squares is possible;
+          = 7:  TOL* is too small: no further improvement in the
+                approximate solution X is possible;
+          = 8:  the vector of function values e is orthogonal to the
+                columns of the Jacobian to machine precision.
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 6 (see IB01AD, IB01BD
+          and IB01CD). In all these cases, the entries DWORK(1:4),
+          DWORK(5:8) (if INIT = 'S' or 'B'), and DWORK(9:8+IWORK(3))
+          (if INIT = 'L' or 'B'), are set as described above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                otherwise, INFO has the value k*100 + j*10 + i,
+                where k is defined below, i refers to the whole
+                optimization process, and j refers to the
+                initialization step (j = 0, if INIT = 'L' or 'N'),
+                and the possible values for i and j have the
+                following meaning:
+          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 1;
+          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
+                IFLAG = 2;
+          = 3:  the routine QRFACT returned with INFO &lt;&gt; 0;
+          = 4:  the routine LMPARM returned with INFO &lt;&gt; 0.
+          In addition, if INIT = 'L' or 'B', i could also be
+          = 5:  if a Lyapunov equation could not be solved;
+          = 6:  if the identified linear system is unstable;
+          = 7:  if the QR algorithm failed on the state matrix
+                of the identified linear system.
+          QRFACT and LMPARM are generic names for SLICOT Library
+          routines NF01BS and NF01BP, respectively, for the whole
+          optimization process, and MD03BA and MD03BB, respectively,
+          for the initialization step (if INIT = 'S' or 'B').
+          The digit k is normally 0, but if INIT = 'L' or 'B', it
+          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INIT = 'L' or 'B', the linear part of the system is
+  approximated using the combined MOESP and N4SID algorithm. If
+  necessary, this algorithm can also choose the order, but it is
+  advantageous if the order is already known.
+
+  If INIT = 'S' or 'B', the output of the approximated linear part
+  is computed and used to calculate an approximation of the static
+  nonlinearity using the Levenberg-Marquardt algorithm [1,3].
+  This step is referred to as the (nonlinear) initialization step.
+
+  As last step, the Levenberg-Marquardt algorithm is used again to
+  optimize the parameters of the linear part and the static
+  nonlinearity as a whole. Therefore, it is necessary to parametrise
+  the matrices of the linear part. The output normal form [2]
+  parameterisation is used.
+
+  The Jacobian is computed analytically, for the nonlinear part, and
+  numerically, for the linear part.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
+      Balanced realizations of discrete-time stable all-pass
+      systems and the tangential Schur algorithm.
+      Proceedings of the European Control Conference,
+      31 August - 3 September 1999, Karlsruhe, Germany.
+      Session CP-6, Discrete-time Systems, 1999.
+
+  [3] More, J.J.
+      The Levenberg-Marquardt algorithm: implementation and theory.
+      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
+      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
+      and New York, pp. 105-116, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The Levenberg-Marquardt algorithm described in [3] is scaling
+  invariant and globally convergent to (maybe local) minima.
+  The convergence rate near a local minimum is quadratic, if the
+  Jacobian is computed analytically, and linear, if the Jacobian
+  is computed numerically.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     IB03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           BSNM, LDU, LDY, LIWORK, LMAX, LTHS, LXM, MMAX,
+     $                  NMAX, NNMAX, NOBRMX, NSMPMX
+      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
+     $                    NMAX = 4, NSMPMX = 1024,
+     $                    BSNM = NNMAX*( LMAX + 2 ) + 1,
+     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
+     $                    LDU  = NSMPMX, LDY = NSMPMX,
+     $                    LXM  = BSNM*LMAX + LTHS,
+     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
+     $                                  MMAX*( NMAX + LMAX ), 3 +
+     $                                  MAX( BSNM + 1, LXM + LMAX ) ) )
+      INTEGER           L0, L1M, L2M, L3M, LDW1, LDW2, LDW3, LDW4, LDW5,
+     $                  LDW6, LDW7, LDWORK, LW1, LW2, LW3, LW4
+      PARAMETER         ( L0   = MAX( NMAX*( NMAX + LMAX ),
+     $                                NMAX + MMAX + LMAX ),
+     $                    L1M  = NSMPMX*LMAX +
+     $                           MAX( 2*NNMAX,
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                2*NMAX + L0 ),
+     $                    L2M  = MAX( 4*LXM + 1, BSNM +
+     $                                MAX( 3*BSNM + 1, LTHS ),
+     $                                     NSMPMX*( LMAX - 1 ) ),
+     $                    L3M  = MAX( 4*LXM, LTHS*BSNM + 2*LXM +
+     $                                2*MAX( BSNM, LTHS ) ),
+     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                2*NMAX,
+     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                NMAX*NMAX + 7*NMAX,
+     $                                LMAX*NOBRMX*NMAX +
+     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
+     $                                     2*NMAX + LMAX +
+     $                                     ( 2*MMAX + LMAX )*NOBRMX,
+     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
+     $                                   + NMAX*NMAX + 8*NMAX,
+     $                                     NMAX + 4*( MMAX*NOBRMX +
+     $                                                NMAX ) + 1,
+     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
+     $                              ),
+     $                    LDW2 = LMAX*NOBRMX*NMAX +
+     $                           MMAX*NOBRMX*( NMAX + LMAX )*
+     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
+     $                           MAX( ( NMAX + LMAX )**2,
+     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
+     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
+     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
+     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
+     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
+     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + NMAX +
+     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
+     $                                NMAX, NMAX*NMAX +
+     $                                MAX( NMAX*NMAX +
+     $                                     NMAX*MAX( NMAX, LMAX ) +
+     $                                     6*NMAX + MIN( NMAX, LMAX ),
+     $                                     NMAX*MMAX ) ),
+     $                    LDW7 = NSMPMX*LMAX + ( NMAX + LMAX )*
+     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
+     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
+     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
+     $                                  + 3 ) + LMAX*NOBRMX,
+     $                                4*( MMAX + LMAX )*NOBRMX*
+     $                                ( MMAX + LMAX )*NOBRMX +
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                MAX( LDW1, LDW2 ),
+     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
+     $                                NMAX + NMAX*NMAX + 2 +
+     $                                NMAX*( NMAX + MMAX + LMAX ) +
+     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
+     $                                     LDW5, LDW6 ) ),
+     $                    LW2  = NSMPMX*LMAX + BSNM +
+     $                           MAX( 4, NSMPMX +
+     $                                MAX( NSMPMX*BSNM +
+     $                                     MAX( 2*NNMAX, 5*BSNM + 1 ),
+     $                                     BSNM**2 + BSNM +
+     $                                     MAX( NSMPMX + 2*NNMAX,
+     $                                          5*BSNM ) ) ),
+     $                    LW3  = MAX( LDW7, NSMPMX*LMAX +
+     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
+     $                                2*NMAX ),
+     $                    LW4  = NSMPMX*LMAX + LXM +
+     $                           MAX( 4, NSMPMX*LMAX +
+     $                                MAX( NSMPMX*LMAX*( BSNM + LTHS ) +
+     $                                     MAX( NSMPMX*LMAX + L1M,
+     $                                          L2M + LXM ),
+     $                                          LXM*( BSNM + LTHS ) +
+     $                                          LXM +
+     $                                          MAX( NSMPMX*LMAX + L1M,
+     $                                               LXM + L3M ) ) ),
+     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
+*     .. Local Scalars ..
+      LOGICAL           INIT1, INITB, INITL, INITN, INITS
+      CHARACTER*1       INIT
+      INTEGER           BSN, I, INFO, INI, ITER, ITMAX1, ITMAX2, IWARN,
+     $                  J, L, L1, L2, LPAR, LX, M, N, NN, NOBR, NPRINT,
+     $                  NS, NSMP
+      DOUBLE PRECISION  TOL1, TOL2
+*     .. Array Arguments ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          IB03BD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
+     $                      NPRINT, TOL1, TOL2, INIT
+      INITL = LSAME( INIT, 'L' )
+      INITS = LSAME( INIT, 'S' )
+      INITB = LSAME( INIT, 'B' )
+      INITN = LSAME( INIT, 'N' )
+      INIT1 = INITL .OR. INITB
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) L
+         ELSE
+            NS = N
+            IF( INIT1 ) THEN
+               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NOBR
+                  STOP
+               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+               IF ( N.LT.0 )
+     $            N = NOBR - 1
+            ELSE
+               IF( NSMP.LT.0 ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) NSMP
+                  STOP
+               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) N
+                  STOP
+               END IF
+            END IF
+            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) NN
+            ELSE
+               BSN = NN*( L + 2 ) + 1
+               L1  = BSN*L
+               L2  = N*( L + M + 1 ) + L*M
+               LX  = L1 + L2
+               INI = 1
+               IF ( INITL ) THEN
+                  LPAR = L1
+               ELSEIF ( INITS ) THEN
+                  INI  = L1 + 1
+                  LPAR = L2
+               ELSEIF ( INITN ) THEN
+                  LPAR = LX
+               END IF
+               IF( INIT1 )
+     $            N = NS
+*              Read the input-output data, initial parameters, and seed.
+               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
+               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
+               IF ( .NOT.INITB )
+     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
+               IF ( INITS .OR. INITB )
+     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
+*              Solve a Wiener system identification problem.
+               CALL IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1,
+     $                      ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX, TOL1,
+     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
+                  ITER = DWORK(3)
+                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+                  WRITE ( NOUT, FMT = 99996 ) ITER, IWORK(1), IWORK(2)
+*                 Recompute LX is necessary.
+                  IF ( INIT1 .AND. NS.LT.0 )
+     $               LX = L1 + N*( L + M + 1 ) + L*M
+                  WRITE ( NOUT, FMT = 99994 )
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' IB03BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from IB03BD = ',I4)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' Number of iterations                     = ', I7,
+     $        /' Number of function evaluations           = ', I7,
+     $        /' Number of Jacobian evaluations           = ', I7)
+99995 FORMAT (10(1X,F9.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
+99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
+99989 FORMAT (/' N is out of range.',/' N = ',I5)
+99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
+99987 FORMAT (' IWARN on exit from IB03BD = ',I4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ IB03BD EXAMPLE PROGRAM DATA
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+  -4.4698128e-03
+   1.2208903e-01
+   1.8963074e-01
+   1.6384408e-01
+   6.0799128e-02
+  -5.7339158e-02
+  -1.1860919e-01
+  -9.0086196e-02
+  -4.5798607e-03
+   6.0280807e-02
+   4.1676388e-02
+  -5.5180320e-02
+  -1.5518201e-01
+  -1.6828578e-01
+  -6.2049884e-02
+   1.0561621e-01
+   2.2337555e-01
+   2.0643187e-01
+   5.9839911e-02
+  -1.2043322e-01
+  -2.1083864e-01
+  -1.4415945e-01
+   4.3538937e-02
+   2.3203364e-01
+   2.9044234e-01
+   1.6171416e-01
+  -9.5674666e-02
+  -3.3749265e-01
+  -4.1795872e-01
+  -2.7746809e-01
+   2.0648626e-02
+   3.2603206e-01
+   4.8410918e-01
+   4.1672303e-01
+   1.5905611e-01
+  -1.6318595e-01
+  -3.9931562e-01
+  -4.4568803e-01
+  -2.9169291e-01
+  -2.0960934e-02
+   2.3175866e-01
+   3.4693819e-01
+   2.7877641e-01
+   7.7125945e-02
+  -1.4069530e-01
+  -2.5367798e-01
+  -2.0150506e-01
+  -1.6778161e-02
+   1.9116819e-01
+   2.9409556e-01
+   2.1593628e-01
+  -1.9610708e-02
+  -2.9401135e-01
+  -4.5512990e-01
+  -4.0311941e-01
+  -1.5075705e-01
+   1.7921653e-01
+   4.2153577e-01
+   4.6143206e-01
+   2.9688389e-01
+   3.5275834e-02
+  -1.7206796e-01
+  -2.2040717e-01
+  -1.1280250e-01
+   4.6014479e-02
+   1.2005000e-01
+   3.5297082e-02
+  -1.6459920e-01
+  -3.4121448e-01
+  -3.5130088e-01
+  -1.4787707e-01
+   1.7615712e-01
+   4.3972643e-01
+   4.8949447e-01
+   2.9899548e-01
+  -1.6059656e-02
+  -2.7414987e-01
+  -3.4124596e-01
+  -2.0476598e-01
+   3.1287353e-02
+   2.1535118e-01
+   2.3693813e-01
+   8.7039128e-02
+  -1.3914592e-01
+  -2.9731202e-01
+  -2.8057123e-01
+  -8.9244625e-02
+   1.6445576e-01
+   3.2621002e-01
+   2.9949560e-01
+   1.0678193e-01
+  -1.3016725e-01
+  -2.7225661e-01
+  -2.4687907e-01
+  -8.3173776e-02
+   1.1381888e-01
+   2.2819642e-01
+   1.9830143e-01
+   4.8505476e-02
+  -1.2763594e-01
+  -2.2560309e-01
+  -1.9560311e-01
+  -7.1212054e-02
+   6.0380807e-02
+   1.2445307e-01
+   1.0835168e-01
+   5.5609724e-02
+   1.7269294e-02
+   9.3997346e-03
+   1.1223045e-02
+  -4.3543819e-03
+  -4.2668837e-02
+  -8.5657964e-02
+  -1.0909342e-01
+  -9.7154374e-02
+  -4.6781850e-02
+   3.1101930e-02
+   1.0973840e-01
+   1.5122945e-01
+   1.2531404e-01
+   3.3620966e-02
+  -8.3194568e-02
+  -1.6716420e-01
+ 1998.   1999.   2000.   2001.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ IB03BD EXAMPLE PROGRAM RESULTS
+
+ IWARN on exit from IB03BD =   12
+
+ Final 2-norm of the residuals =   0.2995840D+00
+
+ Number of iterations                     =      42
+ Number of function evaluations           =     898
+ Number of Jacobian evaluations           =     295
+
+ Final approximate solution is 
+   14.1294    1.1232    6.4322  -11.2418    7.6380  -33.4730  -64.7203  747.1515   -0.4623  -92.6092
+    6.1682   -0.7672    0.1194    0.3558    0.9091    0.2948    1.3465    0.0093    0.0560   -0.0035
+   -0.4179   -0.0455   -2.0871   -0.9196    1.0777    0.9213    0.5373    1.0412   -0.3978    7.6832
+   -6.8614  -31.6119   -0.1092   -9.8984    0.1257    0.4056    0.0472    7.5819  -13.3969    2.4869
+  -66.0727   -0.8411   -0.7040    1.9641    1.3059   -0.2046   -0.9326    0.0040    0.4032    0.1479
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>KINSOL - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="KINSOL">KINSOL</A></H2>
+<H3>
+Solving a nonlinear system of equations using Krylov Inexact Newton techniques
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a nonlinear system of equations F(u)=0, where F(u) is
+                             n    n
+  a nonlinear function from R to R , using Krylov Inexact Newton
+  techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE KINSOL (GSTRAT, LINSU, NEQ, OPTIN, MAXL, MAXLRST,
+     &                   MSBPRE, UU, USCALE, FSCALE, CONSTR,
+     &                   IOPT, ROPT, TOL1, TOL2, INFO)
+C     .. Scalar Arguments ..
+      LOGICAL           OPTIN
+      INTEGER           INFO, GSTRAT, MAXL, MAXLRST, MSBPRE, NEQ
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IOPT(40)
+      DOUBLE PRECISION  CONSTR(NEQ), FSCALE(NEQ), ROPT(40), USCALE(NEQ),
+     $                  UU(NEQ)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+ 
+<B>Input/Output Parameters</B>
+<PRE>
+  GSTRAT  (input) INTEGER
+          Indicates the global strategy to apply the computed
+          increment delta in the solution UU.  Choices are:
+          0 - Inexact Newton.
+          1 - Linesearch.
+
+  LINSU   SUBROUTINE
+          Linear Solver Set-up Routine. This is the KINSOL routine
+          to be called to set-up the linear solver. The user should
+          specify here one of the 6 different Fortran-callable
+          routines provided by KINSOL for this purpose. The choice
+          to be used depends on which of the optional user-defined
+          routines are provided by the user (see User-defined
+          routines below).
+          LINSU can be one of the following routines: FKINSPGMR00,
+          FKINSPGMR01, FKINSPGMR10, FKINSPGMR11, FKINSPGMR20, and
+          FKINSPGMR21, where the first digit in the name of the
+          function is: 0 if neither KPSOL nor KPRECO routines are
+          provided; 1 if only the preconditioner solve routine
+          (KPSOL) is provided; and 2 if both the preconditioner
+          solve (KPSOL) and setup (KPRECO) routines are provided.
+          The second digit is: 0 if a function FATIMES is not
+          provided; and 1 if a function FATIMES is provided.
+
+  NEQ     (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system.
+
+  OPTIN   (input) LOGICAL
+          Flag indicating whether optional inputs from the user in
+          the arrays IOPT and ROPT are to be used.
+          Pass FALSE to ignore all optional inputs and TRUE to use
+          all optional inputs that are present. Either choice does
+          NOT affect outputs in other positions of IOPT or ROPT.
+
+  MAXL    (input) INTEGER
+          Maximum Krylov dimension for the Linear Solver. Pass 0
+          to use the default value MIN(Neq, 10). 
+
+  MAXLRST (input) INTEGER
+          Maximum number of linear solver restarts allowed. Values
+          outside the range 0 to 2*NEQ/MAXL will be restricted to
+          that range. 0, meaning no restarts, is a safe starting
+          value.
+
+  MSBPRE  (input) INTEGER
+          Maximum number of steps calling the solver KPSOL
+          without calling the preconditioner KPRECO. (The default is
+          10).
+
+  UU      (input/output) DOUBLE PRECISION array, dimension (NEQ)
+          On entry, UU is the initial guess.
+          On exit, if no errors ocurr, UU is the solution of
+          the system KFUN(UU) = 0.
+
+  USCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
+          Array of diagonal elements of the scaling matrix for UU.
+          The elements of USCALE must be positive values. The
+          scaling matrix USCALE should be chosen so that 
+          USCALE * UU (as a matrix multiplication) should have all
+          its components with roughly the same magnitude when UU is
+          close to a root of KFUN.
+
+  FSCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
+          Array of diagonal elements of the scaling matrix for
+          KFUN. The elements of FSCALE must be positive values.
+          The scaling matrix FSCALE should be chosen so that
+          FSCALE * KFUN(UU) (as a matrix multiplication) should
+          have all its components with roughly the same magnitude
+          when UU is NOT too near a root of KFUN.
+
+  CONSTR  (input) DOUBLE PRECISION array, dimension (NEQ)
+          Constraints on UU.
+          A positive value in CONSTR(I) implies that the Ith
+          component of UU is to be constrained &gt; 0.
+          A negative value in CONSTR(I) implies that the Ith
+          component of UU is to be constrained &lt; 0.
+          A zero value in CONSTR(I) implies there is no constraint
+          on UU(I). 
+
+  IOPT    (input/output) INTEGER array, dimension (40)
+          Array of optional integer inputs and outputs.
+          If OPTIN is TRUE, the user should preset to 0 those
+          locations for which default values are to be used.
+          See Optional Inputs and Outputs, below. 
+
+  ROPT    (input/output) DOUBLE PRECISION array, dimension (40)
+          Array of optional double precision inputs and outputs.
+          If OPTIN is TRUE, the user should preset to 0 those
+          locations for which default values are to be used.
+          See Optional Inputs and Outputs, below. 
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          Stopping tolerance on maxnorm( FSCALE * KFUN(UU) ).
+          If TOL1 is input as 0., then a default value of
+          (uround) to the 1/3 power will be used. uround is the
+          unit roundoff for the machine in use for the calculation.
+
+  TOL2    DOUBLE PRECISION
+          Stopping tolerance on the maximum scaled step 
+          UU(K) - UU(K-1). 
+          If TOL2 is input as 0., then a default value of (uround)
+          to the 2/3 power will be used. uround is the unit 
+          roundoff for the machine in use for the calculation.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          See Termination Codes below.
+
+  ---------------------------------------------------------------
+
+  Termination Codes
+
+  (Note: in this documentation we use named constants for 
+  certain integer constant values. To see the values of these
+  symbols see Named constants below.)
+
+  The termination values KINS_***** are now given. These are the
+  values of the INFO argument.
+
+  SUCCESS :    means maxnorm(FSCALE*KFUN(UU) &lt;= TOL1, where
+               maxnorm() is the maximum norm function N_VMaxNorm.
+               Therefore, UU is probably an approximate root of
+               KFUN.
+
+  INITIAL_GUESS_OK: means the initial guess UU has been found
+               to already satisfy the system to the desired
+               accuracy. No calculation was performed other
+               than testing UU.
+
+  STEP_LT_STPTOL:  means the scaled distance between the last
+               two steps is less than TOL2.  UU may be an
+               approximate root of KFUN, but it is also possible
+               that the algorithm is making very slow progress
+               and is not near a root or that TOL2 is too
+               large
+
+  LNSRCH_NONCONV: means the LineSearch module failed to reduce
+               norm(KFUN) sufficiently on the last global step.
+               Either UU is close to a root of F and no more
+               accuracy is possible, or the finite-difference
+               approximation to J*v is inaccurate, or TOL2
+               is too large. Check the outputs NCFL and NNI: if
+               NCFL is close to NNI, it may be the case that the
+               Krylov iteration is converging very slowly. In
+               this case, the user may want to use precondition-
+               ing and/or increase the MAXL argument (that is,
+               increase the max dimension of the Krylov subspace)
+               by setting MAXL to nonzero (thus not using the
+               default value of KINSPGMR_MAXL) or if MAXL is being
+               set, increase its value.
+
+  MAXITER_REACHED: means that the maximum allowable number of
+               nonlinear iterations has been reached. This is by
+               default 200, but may be changed through optional
+               input IOPT(MXITER).
+
+  MXNEWT_5X_EXCEEDED: means 5 consecutive steps of length mxnewt
+               (maximum Newton stepsize limit) have been taken.
+               Either norm(F) asymptotes from above to a finite
+               value in some direction, or mxnewt is too small.
+               Mxnewt is computed internally (by default) as
+               mxnewt = 1000*max(norm(USCALE*UU0),1), where
+               UU0 is the initial guess for UU, and norm() is
+               the Euclidean norm. Mxnewt can be  set by the
+               user through optional input ROPT(MXNEWTSTEP).
+
+  LINESEARCH_BCFAIL: means that more than the allowed maximum
+               number of failures (MXNBCF) occurred when trying
+               to satisfy the beta condition in the linesearch
+               algorithm. It is likely that the iteration is
+               making poor progress.
+
+  KRYLOV_FAILURE: means there was a failure of the Krylov
+               iteration process to converge.
+
+  PRECONDSET_FAILURE: means there was a nonrecoverable
+               error in PrecondSet causing the iteration to halt.
+
+  PRECONDSOLVE_FAILURE: means there was a nonrecoverable
+            error in PrecondSolve causing the iteration to halt.
+
+  NO_MEM:    the KINSol memory pointer received was NULL.
+
+  INPUT_ERROR: one or more input parameters or arrays was in
+               error. See the program output for further info.
+
+  LSOLV_NO_MEM: The linear solver memory pointer (lmem) was
+             received as NULL. The return value from the linear
+             solver needs to be checked and the cause found.
+
+  ---------------------------------------------------------------
+
+</PRE>
+<B>Optional inputs and outputs</B>
+<PRE>
+  (Note: in this documentation we use named constants for 
+  certain integer constant values. To see the values of these
+  symbols see Named constants below.)
+
+  The user should declare two arrays for optional input and
+  output, an IOPT array for optional integer input and output
+  and an ROPT array for optional real input and output. These
+  arrays should both be of size OPT_SIZE.
+  So the user's declaration should look like:
+
+  INTEGER          IOPT(OPT_SIZE)
+  DOUBLE PRECISION ROPT(OPT_SIZE)
+
+  The following definitions are indices into the IOPT and ROPT
+  arrays. A brief description of the contents of these positions
+  follows.
+
+  IOPT(PRINTFL)  (input)  Allows user to select from 4 levels
+                 of output.
+                 =0 no statistics printed   (DEFAULT)
+                 =1 output the nonlinear iteration count, the
+                    scaled norm of KFUN(UU), and number of
+                    KFUN calls.
+                 =2 same as 1 with the addition of global
+                    strategy statistics:
+                    f1 = 0.5*norm(FSCALE*KFUN(UU))**2   and
+                    f1new = 0.5*norm(FSCALE*KFUN(unew))**2 .
+                 =3 same as 2 with the addition of further
+                    Krylov iteration statistics.
+
+  IOPT(MXITER)   (input) Maximum allowable number of nonlinear
+                  iterations. The default is MXITER_DEFAULT.
+
+  IOPT(PRECOND_NO_INIT) (input) Set to 1 to prevent the initial
+                   call to the routine KPRECO upon a given
+                   call to KINSol. Set to 0 or leave unset to
+                   force the initial call to KPRECO.
+                   Use the choice of 1 only after beginning the
+                   first of a series of calls with a 0 value.
+                   If a value other than 0 or 1 is encountered,
+                   the default, 0, is set in this element of
+                   IOPT and thus the routine KPRECO will
+                   be called upon every call to KINSol, unless
+                   IOPT(PRECOND_NO_INIT) is changed by the user.
+
+  IOPT(ETACHOICE) (input) A flag indicating which of three
+                   methods to use for computing eta, the
+                   coefficient in the linear solver
+                   convergence tolerance eps, given by
+                     eps = (eta+u_round)*norm(KFUN(UU)).
+                   Here, all norms are  the scaled L2 norm.
+                   The linear solver attempts to produce a step
+                   p such that norm(KFUN(UU)+J(UU)*p) &lt;= eps.
+                   Two of the methods for computing eta
+                   calculate a value based on the convergence
+                   process in the routine KINForcingTerm.
+                   The third method does not require
+                   calculation; a constant eta is selected.
+
+                   The default if IOPT(ETACHOICE) is  not
+                   specified is ETACHOICE1, (see below).
+
+                   The allowed values (methods)  are:
+              ETACONSTANT  constant eta, default of 0.1 or user
+                 supplied choice, for which see ROPT(ETACONST),
+
+              ETACHOICE1 (default) which uses choice 1 of
+                 Eisenstat and Walker's paper of SIAM J. Sci.
+                 Comput.,17 (1996), pp 16-32 wherein eta is:
+                         eta(k) =
+  ABS( norm(KFUN(UU(k))) - norm(KFUN(UU(k-1))+J(UU(k-1))*p) )
+                      / norm(KFUN(UU(k-1))),
+
+              ETACHOICE2   which uses choice 2 of
+                 Eisenstat and Walker wherein eta is:
+                 eta(k) = egamma *
+             ( norm(KFUN(UU(k))) / norm(KFUN(u(k-1))) )^ealpha
+
+                 egamma and ealpha for choice 2, both required,
+                 are from either defaults (egamma = 0.9 ,
+                 ealpha = 2)  or from  user input,
+                 see ROPT(ETAALPHA) and ROPT(ETAGAMMA), below.
+
+                 For eta(k) determined by either Choice 1 or
+                 Choice 2, a value eta_safe is determined, and
+                 the safeguard   eta(k) &lt;- max(eta_safe,eta(k))
+                 is applied to prevent eta(k) from becoming too
+                 small too quickly.
+                  For Choice 1,
+                    eta_safe = eta(k-1)^((1.+sqrt(5.))/2.)
+           and    for Choice 2,
+                    eta_safe = egamma*eta(k-1)^ealpha.
+                 (These safeguards are turned off if they drop
+                 below 0.1 . Also, eta is never allowed to be
+                 less than eta_min = 1.e-4).
+
+  IOPT(NO_MIN_EPS) (input) Set to 1 or greater to remove
+                 protection agains eps becoming too small.
+                 This option is useful for debugging linear
+                 and nonlinear solver interactions. Set to 0
+                 for standard eps minimum value testing.
+
+  IOPT(NNI)      (output) Total number of nonlinear iterations.
+
+  IOPT(NFE)      (output) Total number of calls to the user-
+                  supplied system function KFUN.
+
+  IOPT(NBCF)     (output) Total number of times the beta
+                  condition could not be met in the linesearch
+                  algorithm. The nonlinear iteration is halted
+                  if this value ever exceeds MXNBCF (10).
+
+  IOPT(NBKTRK)   (output) Total number of backtracks in the
+                  linesearch algorithm.
+
+  IOPT(SPGMR_NLI) (output) Number of linear iterations.
+
+  IOPT(SPGMR_NPE) (output) Number of preconditioner evaluations.
+
+  IOPT(SPGMR_NPS) (output) Number of calls made to user's psolve
+                  function.
+
+  IOPT(SPGMR_NCFL) (output) Number of linear convergence failures.
+
+  ROPT(MXNEWTSTEP) (input) Maximum allowable length of a Newton
+                  step. The default value is calculated from
+                  1000*max(norm(USCALE*UU(0),norm(USCALE)).
+
+  ROPT(RELFUNC)  (input) Relative error in computing KFUN(UU)
+                  if known. Default is the machine epsilon.
+
+  ROPT(RELU)     (input) A scalar constraint which restricts
+                  the update of UU to  del(UU)/UU &lt; ROPT(RELU)
+                  The default is no constraint on the relative
+                  step in UU.
+
+  ROPT(ETAGAMMA) (input) The coefficient egamma in the eta
+                  computation. See routine KINForcingTerm
+           (SEE IOPT(ETACHOICE) above for additional info).
+
+  ROPT(ETAALPHA) (input) The coefficient ealpha in the eta
+                  computation. See routine KINForcingTerm
+           (SEE IOPT(ETACHOICE) above for additional info).
+
+  ROPT(ETACONST) (input) A user specified constant value for
+                   eta, used in lieu of that computed by
+                       routine KINForcingTerm
+           (SEE IOPT(ETACHOICE) above for additional info).
+
+  ROPT(FNORM)    (output) The scaled norm at a given iteration:
+                  norm(FSCALE(KFUN(UU)).
+
+  ROPT(STEPL)    (output) Last step length in the global
+                  strategy routine:
+                  KINLineSearch or KINInexactNewton.
+
+  ---------------------------------------------------------------
+
+</PRE>
+<B>User-defined routines</B>
+<PRE>
+  In order to use this routine, some user-defined routines have to
+  be provided. One of them is required, while the others are
+  optional. These routines are described next.
+
+  KFUN    Required
+
+          SUBROUTINE KFUN (NEQ, UU, FVAL)
+          INTEGER           NEQ
+          DOUBLE PRECISION  UU(NEQ), FVAL(NEQ)
+
+          PURPOSE
+
+          Evaluates the KFUN function which defines the system
+          to be solved:
+                            KFUN(UU)=0
+
+          ARGUMENTS
+
+          NEQ
+          (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          independent variable vector
+
+          FVAL
+          (output) DOUBLE PRECISION array, dimension (NEQ)
+          Result of KFUN(UU)
+
+  KPRECO  Optional
+
+          SUBROUTINE KPRECO (NEQ, UU, USCALE, FVAL, FSCALE,
+                             VTEMP1, VTEMP2, UROUND, NFE, IER)
+          INTEGER           NEQ, NFE, IER
+          DOUBLE PRECISION  UROUND
+          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
+                            FSCALE(NEQ), VTEMP1(NEQ), VTEMP2(NEQ)
+
+          PURPOSE
+
+          The user-supplied preconditioner setup function KPRECO and
+          the user-supplied preconditioner solve function KPSOL
+          together must define the right preconditoner matrix P
+          chosen so as to provide an easier system for the Krylov
+          solver to solve. KPRECO is called to provide any matrix
+          data required by the subsequent call(s) to KPSOL. The
+          data is expected to be stored in variables within a
+          COMMON block and the definition of those variables is up
+          to the user. More specifically, the user-supplied
+          preconditioner setup function KPRECO is to evaluate and
+          preprocess any Jacobian-related data needed by the
+          preconditioner solve function KPSOL. This might include
+          forming a crude approximate Jacobian, and performing an
+          LU factorization on the resulting approximation to J.
+          This function will not be called in advance of every call
+          to KPSOL, but instead will be called only as often as
+          necessary to achieve convergence within the Newton
+          iteration in KINSol.  If the KPSOL function needs no
+          preparation, the KPRECO function need not be provided.
+
+          KPRECO should not modify the contents of the arrays
+          UU or FVAL as those arrays are used elsewhere in the
+          iteration process.
+
+          Each call to the KPRECO function is preceded by a call to
+          the system function KFUN. Thus the KPRECO function can use
+          any auxiliary data that is computed by the KFUN function
+          and saved in a way accessible to KPRECO.
+
+          The two scaling arrays, FSCALE and USCALE, and unit
+          roundoff UROUND are provided to the KPRECO function for
+          possible use in approximating Jacobian data, e.g. by
+          difference quotients. These arrays should also not be
+          altered
+
+          ARGUMENTS
+
+          NEQ
+          (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system.
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Independent variable vector.
+
+          USCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See USCALE above.
+
+          FVAL
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Current value of KFUN(UU).
+
+          FSCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See FSCALE above.
+
+          VTEMP1
+          DOUBLE PRECISION array, dimension (NEQ)
+          Temporary work array.
+
+          VTEMP2
+          DOUBLE PRECISION array, dimension (NEQ)
+          Temporary work array.
+
+          UROUND
+          (input) DOUBLE PRECISION
+          Machine unit roundoff.
+
+          NFE
+          (input/output) INTEGER
+          Number of calls to KFUN made by the package. The KPRECO
+          routine should update this counter by adding on the
+          number of KFUN calls made in order to approximate the
+          Jacobian, if any.  For example, if the routine calls
+          KFUN a total of W times, then the update is 
+          NFE = NFE + W.
+
+          IER
+          (output) INTEGER
+          Error indicator. 
+          0 if successful,
+          1 if failure, in which case KINSOL stops.
+
+  KPSOL   Optional
+
+          SUBROUTINE KPSOL (NEQ, UU, USCALE, FVAL, FSCALE, VTEM,
+                            FTEM, UROUND, NFE, IER)
+          INTEGER           NEQ, NFE, IER
+          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
+                            FSCALE(NEQ), VTEM(NEQ), FTEM(NEQ)
+
+          PURPOSE
+
+          The user-supplied preconditioner solve function KPSOL
+          is to solve a linear system P x = r in which the matrix
+          P is the (right) preconditioner matrix P.
+
+          KPSOL should not modify the contents of the iterate
+          array UU  or the current function value array  FVAL as
+          those are used elsewhere in the iteration process.
+
+          ARGUMENTS
+
+          NEQ
+          (input) INTEGER
+          Number of equations (and unknowns) in the algebraic
+          system.
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Independent variable vector.
+
+          USCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See USCALE above.
+
+          FVAL
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Current value of KFUN(UU).
+
+          FSCALE
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          See FSCALE above.
+
+          VTEM
+          (input/output) DOUBLE PRECISION array, dimension (NEQ)
+          On entry, holds the RHS vector r.
+          On exit, holds the result x.
+
+          FTEM
+          DOUBLE PRECISION array, dimension (NEQ)
+          Temporary work array.
+
+          UROUND
+          (input) DOUBLE PRECISION
+          Machine unit roundoff.
+
+          NFE
+          (input/output) INTEGER
+          Number of calls to KFUN made by the package. The KPRECO
+          routine should update this counter by adding on the
+          number of KFUN calls made in order to carry out the
+          solution, if any.  For example, if the routine calls
+          KFUN a total of W times, then the update is 
+          NFE = NFE + W.
+
+          IER
+          (output) INTEGER
+          Error indicator. 
+          0 if successful,
+          1 if failure, in which case KINSOL stops.
+
+  FATIMES Optional
+
+          SUBROUTINE FATIMES(V, Z, NEWU, UU, IER)
+          INTEGER           NEWU, IER
+          DOUBLE PRECISION  V(:), Z(:), UU(:)
+
+          PURPOSE
+
+          The user-supplied A times V routine (optional) where
+          A is the Jacobian matrix dF/du, or an approximation to
+          it, and V is a given  vector.  This routine computes the
+          product Z = J V.
+
+          ARGUMENTS
+
+          V
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Vector to be multiplied by J
+          (preconditioned and unscaled as received).
+
+          Z
+          (output) DOUBLE PRECISION array, dimension (NEQ)
+          Vector resulting from the application of J to V.
+
+          NEW_UU
+          (input) INTEGER
+          Flag indicating whether or not the UU vector has been
+          changed since the last call to this function (0 means
+          FALSE, 1 TRUE).
+          If this function computes and saves Jacobian data, then
+          this computation can be skipped if NEW_UU = FALSE.
+
+          UU
+          (input) DOUBLE PRECISION array, dimension (NEQ)
+          Current iterate u.
+
+          IER
+          (output) INTEGER
+          Error indicator. 
+          0 if successful,
+          1 if failure, in which case KINSOL stops.
+
+  ---------------------------------------------------------------
+
+</PRE>
+<B>Named constants</B>
+<PRE>
+  Here we specify the value of the named integer constants used
+  in this documentation. We use Fortran code for the specification,
+  so that the user can copy and paste these lines in order to
+  use the named constants in his/her programs.
+
+   KINSOL return values
+   Note that the value of these constants differ from those of
+   the KINSOL package. This is due to the adaptation to the 
+   SLICOT standards.
+   INTEGER KINS_NO_MEM, KINS_INPUT_ERROR, KINS_LSOLV_NO_MEM, 
+  &        KINS_SUCCESS, KINS_INITIAL_GUESS_OK,KINS_STEP_LT_STPTOL,
+  &        KINS_LNSRCH_NONCONV, KINS_MAXITER_REACHED, 
+  &        KINS_MXNEWT_5X_EXCEEDED, KINS_LINESEARCH_BCFAIL,
+  &        KINS_KRYLOV_FAILURE, KINS_PRECONDSET_FAILURE, 
+  &        KINS_PRECONDSOLVE_FAILURE}
+
+   PARAMETER(KINS_NO_MEM=101)
+   PARAMETER(KINS_INPUT_ERROR=102)
+   PARAMETER(KINS_LSOLV_NO_MEM=103)
+   PARAMETER(KINS_SUCCESS=0)
+   PARAMETER(KINS_INITIAL_GUESS_OK=2)
+   PARAMETER(KINS_STEP_LT_STPTOL=3)
+   PARAMETER(KINS_LNSRCH_NONCONV=4)
+   PARAMETER(KINS_MAXITER_REACHED=5)
+   PARAMETER(KINS_MXNEWT_5X_EXCEEDED=6)
+   PARAMETER(KINS_LINESEARCH_BCFAIL=7)
+   PARAMETER(KINS_KRYLOV_FAILURE = 8)
+   PARAMETER(KINS_PRECONDSET_FAILURE=9)
+   PARAMETER(KINS_PRECONDSOLVE_FAILURE=10)
+
+   Size of IOPT, ROPT
+   INTEGER OPT_SIZE
+   PARAMETER(OPT_SIZE=40)
+
+   IOPT indices
+   INTEGER PRINTFL, MXITER, PRECOND_NO_INIT, NNI ,NFE ,NBCF, NBKTRK,
+  &        ETACHOICE, NO_MIN_EPS
+   INTEGER SPGMR_NLI, SPGMR_NPE, SPGMR_NPS, SPGMR_NCFL
+
+   PARAMETER(PRINTFL=1)
+   PARAMETER(MXITER=2)
+   PARAMETER(PRECOND_NO_INIT=3)
+   PARAMETER(NNI=4)
+   PARAMETER(NFE=5)
+   PARAMETER(NBCF=6)
+   PARAMETER(NBKTRK=7)
+   PARAMETER(ETACHOICE=8)
+   PARAMETER(NO_MIN_EPS=9)
+   PARAMETER(SPGMR_NLI=11)
+   PARAMETER(SPGMR_NPE=12)
+   PARAMETER(SPGMR_NPS=13)
+   PARAMETER(SPGMR_NCFL=14)
+
+   ROPT indices
+   INTEGER MXNEWTSTEP , RELFUNC , RELU , FNORM , STEPL,
+  &        ETACONST, ETAGAMMA, ETAALPHA
+
+   PARAMETER(MXNEWTSTEP=1)
+   PARAMETER(RELFUNC=2)
+   PARAMETER(RELU=3)
+   PARAMETER(FNORM=4)
+   PARAMETER(STEPL=5)
+   PARAMETER(ETACONST=6)
+   PARAMETER(ETAGAMMA=7)
+   PARAMETER(ETAALPHA=8)
+
+   Values for IOPT(ETACHOICE)
+   INTEGER ETACHOICE1, ETACHOICE2, ETACONSTANT
+
+   PARAMETER(ETACHOICE1=0)
+   PARAMETER(ETACHOICE2=1)
+   PARAMETER(ETACONSTANT=2)
+   
+  ---------------------------------------------------------------
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  KINSOL (Krylov Inexact Newton SOLver) is a general purpose
+  solver for nonlinear systems of equations. Its most notable
+  feature is that it uses Krylov Inexact Newton techniques in the
+  system's approximate solution. 
+  The Newton method used results in the solution of linear systems
+  of the form
+                          J(u)*x = b
+  where J(u) is the Jacobian of F at u. The solution of these
+  systems by a Krylov method requires products of the form J(u)*v,
+  which are approximated by a difference quotient of the form
+                       F(u+sigma*v)-F(u)
+                       -----------------
+                            sigma
+  Thus, the Jacobian need not be formed explicitly.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Allan G. Taylor and Alan C. Hindmarsh, "User Documentation
+      for KINSOL, a Nonlinear Solver for Sequential and Parallel
+      Computers", Center for Applied Scientific Computing, L-561,
+      LLNL, Livermore, CA 94551.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
+of the routine and related files.-->
+</p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA01AD.html b/doc/_static/doc/MA01AD.html
new file mode 100644
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@@ -0,0 +1,83 @@
+<HTML>
+<HEAD><TITLE>MA01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01AD">MA01AD</A></H2>
+<H3>
+Complex square root of a complex number in real arithmetic
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the complex square root YR + i*YI of a complex number
+  XR + i*XI  in real arithmetic.  The returned result is so that
+  YR &gt;= 0.0  and  SIGN(YI) = SIGN(XI).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA01AD( XR, XI, YR, YI )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  XR, XI, YR, YI
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  XR      (input) DOUBLE PRECISION
+  XI      (input) DOUBLE PRECISION
+          These scalars define the real and imaginary part of the
+          complex number of which the square root is sought.
+
+  YR      (output) DOUBLE PRECISION
+  YI      (output) DOUBLE PRECISION
+          These scalars define the real and imaginary part of the
+          complex square root.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The complex square root YR + i*YI of the complex number XR + i*XI
+  is computed in real arithmetic, taking care to avoid overflow.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  Adapted from EISPACK subroutine CSROOT.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA01BD.html b/doc/_static/doc/MA01BD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/MA01BD.html
@@ -0,0 +1,97 @@
+<HTML>
+<HEAD><TITLE>MA01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01BD">MA01BD</A></H2>
+<H3>
+Safely computing the general product of K real scalars
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the general product of K real scalars without over-
+  or underflow.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA01BD( BASE, LGBAS, K, S, A, INCA, ALPHA, BETA, SCAL )
+C     .. Scalar Arguments ..
+      INTEGER           INCA, K, SCAL
+      DOUBLE PRECISION  ALPHA, BASE, BETA, LGBAS
+C     .. Array Arguments ..
+      INTEGER           S(*)
+      DOUBLE PRECISION  A(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  BASE    (input)  DOUBLE PRECISION
+          Machine base.
+
+  LGBAS   (input)  DOUBLE PRECISION
+          Logarithm of BASE.
+
+  K       (input)  INTEGER
+          The number of scalars.  K &gt;= 1.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  A       (input)  DOUBLE PRECISION array, dimension (K)
+          Vector of real scalars.
+
+  INCA    (input)  INTEGER
+          Increment for the array A. INCA &lt;&gt; 0.
+
+  ALPHA   (output)  DOUBLE PRECISION
+          ALPHA is a real scalar such that
+
+             ALPHA / BETA * BASE**(SCAL)
+
+          is the general product of the scalars in the array A.
+
+  BETA    (output)  DOUBLE PRECISION
+          BETA is either 0.0 or 1.0.
+          See also the description of ALPHA.
+
+  SCAL    (output)  INTEGER
+          Scaling factor exponent, see ALPHA.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA01BZ.html b/doc/_static/doc/MA01BZ.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/MA01BZ.html
@@ -0,0 +1,96 @@
+<HTML>
+<HEAD><TITLE>MA01BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01BZ">MA01BZ</A></H2>
+<H3>
+Safely computing the general product of K complex scalars
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the general product of K complex scalars trying to
+  avoid over- and underflow.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA01BZ( BASE, K, S, A, INCA, ALPHA, BETA, SCAL )
+C     .. Scalar Arguments ..
+      INTEGER           INCA, K, SCAL
+      DOUBLE PRECISION  BASE
+      COMPLEX*16        ALPHA, BETA
+C     .. Array Arguments ..
+      INTEGER           S(*)
+      COMPLEX*16        A(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  BASE    (input)  DOUBLE PRECISION
+          Machine base.
+
+  K       (input)  INTEGER
+          The number of scalars.  K &gt;= 1.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  A       (input)  COMPLEX*16 array, dimension (K)
+          Vector of complex scalars.
+
+  INCA    (input)  INTEGER
+          Increment for the array A. INCA &lt;&gt; 0.
+
+  ALPHA   (output)  COMPLEX*16
+          ALPHA is a complex scalar with ABS(ALPHA) = 0, or
+          1.0 &lt;= ABS(ALPHA) &lt; BASE, such that
+
+             ALPHA / BETA * BASE**(SCAL)
+
+          is the general product of the scalars in the array A.
+
+  BETA    (output)  COMPLEX*16
+          BETA is either 0.0 or 1.0.
+          See also the description of ALPHA.
+
+  SCAL    (output)  INTEGER
+          Scaling factor exponent, see ALPHA.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA01CD.html b/doc/_static/doc/MA01CD.html
new file mode 100644
index 00000000..1b009d37
--- /dev/null
+++ b/doc/_static/doc/MA01CD.html
@@ -0,0 +1,89 @@
+<HTML>
+<HEAD><TITLE>MA01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA01CD">MA01CD</A></H2>
+<H3>
+Safely computing the sign of a sum of two real numbers represented using integer powers of a base
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, without over- or underflow, the sign of the sum of two
+  real numbers represented using integer powers of a base (usually,
+  the machine base). Any base can be used, but it should the same
+  for both numbers. The result is an integer with value 1, 0, or -1,
+  depending on the sum being found as positive, zero, or negative,
+  respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MA01CD( A, IA, B, IB )
+C     .. Scalar Arguments ..
+      INTEGER           IA, IB
+      DOUBLE PRECISION  A, B
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA01CD  INTEGER
+          The sign of the sum of the two numbers, which is usually
+          either 1, or -1. If both numbers are 0, or if they have
+          the same exponent and their sum is 0, the returned value
+          is 0.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input)  DOUBLE PRECISION
+          The first real scalar.
+
+  IA      (input)  INTEGER
+          Exponent of the base for the first real scalar. The scalar
+          is represented as A * BASE**(IA).
+
+  B       (input)  DOUBLE PRECISION
+          The first real scalar.
+
+  IB      (input)  INTEGER
+          Exponent of the base for the first real scalar. The scalar
+          is represented as B * BASE**(IB).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02AD.html b/doc/_static/doc/MA02AD.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,93 @@
+<HTML>
+<HEAD><TITLE>MA02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02AD">MA02AD</A></H2>
+<H3>
+Matrix transposition
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To transpose all or part of a two-dimensional matrix A into
+  another matrix B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02AD( JOB, M, N, A, LDA, B, LDB )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            LDA, LDB, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be transposed into B
+          as follows:
+          = 'U': Upper triangular part;
+          = 'L': Lower triangular part;
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
+         The m-by-n matrix A.  If JOB = 'U', only the upper
+         triangle or trapezoid is accessed; if JOB = 'L', only the
+         lower triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B      (output) DOUBLE PRECISION array, dimension (LDB,M)
+         B = A' in the locations specified by JOB.
+
+  LDB    INTEGER
+         The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02AZ.html b/doc/_static/doc/MA02AZ.html
new file mode 100644
index 00000000..647c9d33
--- /dev/null
+++ b/doc/_static/doc/MA02AZ.html
@@ -0,0 +1,101 @@
+<HTML>
+<HEAD><TITLE>MA02AZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02AZ">MA02AZ</A></H2>
+<H3>
+Complex matrix (conjugate) transposition
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To (conjugate) transpose all or part of a two-dimensional complex
+  matrix A into another matrix B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02AZ( TRANS, JOB, M, N, A, LDA, B, LDB )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, TRANS
+      INTEGER            LDA, LDB, M, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*), B(LDB,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies if a transpose or conjugate transpose operation
+          should be performed as follows:
+          = 'T':  transpose operation;
+          = 'C':  conjugate transpose operation.
+
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be transposed into B
+          as follows:
+          = 'U': Upper triangular part;
+          = 'L': Lower triangular part;
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  A      (input) COMPLEX*16 array, dimension (LDA,N)
+         The m-by-n matrix A.  If JOB = 'U', only the upper
+         triangle or trapezoid is accessed; if JOB = 'L', only the
+         lower triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B      (output) COMPLEX*16 array, dimension (LDB,M)
+         B = A' in the locations specified by JOB, where ' denotes
+         the transpose or conjugate transpose operation, as
+         as specified by TRANS.
+
+  LDB    INTEGER
+         The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02BD.html b/doc/_static/doc/MA02BD.html
new file mode 100644
index 00000000..64b5c840
--- /dev/null
+++ b/doc/_static/doc/MA02BD.html
@@ -0,0 +1,95 @@
+<HTML>
+<HEAD><TITLE>MA02BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02BD">MA02BD</A></H2>
+<H3>
+Reversing the order of rows and/or columns of a matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reverse the order of rows and/or columns of a given matrix A
+  by pre-multiplying and/or post-multiplying it, respectively, with
+  a permutation matrix P, where P is a square matrix of appropriate
+  order, with ones down the secondary diagonal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02BD( SIDE, M, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SIDE
+      INTEGER            LDA, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies the operation to be performed, as follows:
+          = 'L': the order of rows of A is to be reversed by
+                 pre-multiplying A with P;
+          = 'R': the order of columns of A is to be reversed by
+                 post-multiplying A with P;
+          = 'B': both the order of rows and the order of columns
+                 of A is to be reversed by pre-multiplying and
+                 post-multiplying A with P.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix whose rows and/or columns are to
+          be permuted.
+          On exit, the leading M-by-N part of this array contains
+          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
+          P*A*P if SIDE = 'B'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02BZ.html b/doc/_static/doc/MA02BZ.html
new file mode 100644
index 00000000..578d3ad1
--- /dev/null
+++ b/doc/_static/doc/MA02BZ.html
@@ -0,0 +1,95 @@
+<HTML>
+<HEAD><TITLE>MA02BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02BZ">MA02BZ</A></H2>
+<H3>
+Reversing the order of rows and/or columns of a matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reverse the order of rows and/or columns of a given matrix A
+  by pre-multiplying and/or post-multiplying it, respectively, with
+  a permutation matrix P, where P is a square matrix of appropriate
+  order, with ones down the secondary diagonal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02BZ( SIDE, M, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SIDE
+      INTEGER            LDA, M, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies the operation to be performed, as follows:
+          = 'L': the order of rows of A is to be reversed by
+                 pre-multiplying A with P;
+          = 'R': the order of columns of A is to be reversed by
+                 post-multiplying A with P;
+          = 'B': both the order of rows and the order of columns
+                 of A is to be reversed by pre-multiplying and
+                 post-multiplying A with P.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix whose rows and/or columns are to
+          be permuted.
+          On exit, the leading M-by-N part of this array contains
+          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
+          P*A*P if SIDE = 'B'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02CD.html b/doc/_static/doc/MA02CD.html
new file mode 100644
index 00000000..dd3650b9
--- /dev/null
+++ b/doc/_static/doc/MA02CD.html
@@ -0,0 +1,90 @@
+<HTML>
+<HEAD><TITLE>MA02CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02CD">MA02CD</A></H2>
+<H3>
+Pertransposing the central band of a square matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the pertranspose of a central band of a square matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02CD( N, KL, KU, A, LDA )
+C     .. Scalar Arguments ..
+      INTEGER          KL, KU, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrix A.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be pertransposed.
+          0 &lt;= KL &lt;= N-1.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be pertransposed.
+          0 &lt;= KU &lt;= N-1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a square matrix whose central band formed from
+          the KL subdiagonals, the main diagonal and the KU
+          superdiagonals will be pertransposed.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A with its central band (the KL subdiagonals,
+          the main diagonal and the KU superdiagonals) pertransposed
+          (that is the elements of each antidiagonal appear in
+          reversed order). This is equivalent to forming P*B'*P,
+          where B is the matrix formed from the central band of A
+          and P is a permutation matrix with ones down the secondary
+          diagonal.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02CZ.html b/doc/_static/doc/MA02CZ.html
new file mode 100644
index 00000000..63c0dfde
--- /dev/null
+++ b/doc/_static/doc/MA02CZ.html
@@ -0,0 +1,90 @@
+<HTML>
+<HEAD><TITLE>MA02CZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02CZ">MA02CZ</A></H2>
+<H3>
+Pertransposing the central band of a square matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the pertranspose of a central band of a square matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02CZ( N, KL, KU, A, LDA )
+C     .. Scalar Arguments ..
+      INTEGER          KL, KU, LDA, N
+C     .. Array Arguments ..
+      COMPLEX*16       A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrix A.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be pertransposed.
+          0 &lt;= KL &lt;= N-1.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be pertransposed.
+          0 &lt;= KU &lt;= N-1.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a square matrix whose central band formed from
+          the KL subdiagonals, the main diagonal and the KU
+          superdiagonals will be pertransposed.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A with its central band (the KL subdiagonals,
+          the main diagonal and the KU superdiagonals) pertransposed
+          (that is the elements of each antidiagonal appear in
+          reversed order). This is equivalent to forming P*B'*P,
+          where B is the matrix formed from the central band of A
+          and P is a permutation matrix with ones down the secondary
+          diagonal.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02DD.html b/doc/_static/doc/MA02DD.html
new file mode 100644
index 00000000..25b613e3
--- /dev/null
+++ b/doc/_static/doc/MA02DD.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>MA02DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02DD">MA02DD</A></H2>
+<H3>
+Pack/unpack the upper or lower triangle of a symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To pack/unpack the upper or lower triangle of a symmetric matrix.
+  The packed matrix is stored column-wise in the one-dimensional
+  array AP.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02DD( JOB, UPLO, N, A, LDA, AP )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), AP(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether the matrix should be packed or unpacked,
+          as follows:
+          = 'P':  The matrix should be packed;
+          = 'U':  The matrix should be unpacked.
+
+  UPLO    CHARACTER*1
+          Specifies the part of the matrix to be packed/unpacked,
+          as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input or output) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          This array is an input parameter if JOB = 'P', and an
+          output parameter if JOB = 'U'.
+          On entry, if JOB = 'P', the leading N-by-N upper
+          triangular part (if UPLO = 'U'), or lower triangular part
+          (if UPLO = 'L'), of this array must contain the
+          corresponding upper or lower triangle of the symmetric
+          matrix A, and the other strictly triangular part is not
+          referenced.
+          On exit, if JOB = 'U', the leading N-by-N upper triangular
+          part (if UPLO = 'U'), or lower triangular part (if
+          UPLO = 'L'), of this array contains the corresponding
+          upper or lower triangle of the symmetric matrix A; the
+          other strictly triangular part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  AP      (output or input) DOUBLE PRECISION array, dimension
+          (N*(N+1)/2)
+          This array is an output parameter if JOB = 'P', and an
+          input parameter if JOB = 'U'.
+          On entry, if JOB = 'U', the leading N*(N+1)/2 elements of
+          this array must contain the upper (if UPLO = 'U') or lower
+          (if UPLO = 'L') triangle of the symmetric matrix A, packed
+          column-wise. That is, the elements are stored in the order
+          11, 12, 22, ..., 1n, 2n, 3n, ..., nn,      if UPLO = 'U';
+          11, 21, 31, ..., n1, 22, 32, ..., n2, ..., if UPLO = 'L'.
+          On exit, if JOB = 'P', the leading N*(N+1)/2 elements of
+          this array contain the upper (if UPLO = 'U') or lower
+          (if UPLO = 'L') triangle of the symmetric matrix A, packed
+          column-wise, as described above.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02ED.html b/doc/_static/doc/MA02ED.html
new file mode 100644
index 00000000..288dfeeb
--- /dev/null
+++ b/doc/_static/doc/MA02ED.html
@@ -0,0 +1,86 @@
+<HTML>
+<HEAD><TITLE>MA02ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02ED">MA02ED</A></H2>
+<H3>
+Store by symmetry the upper or lower triangle of a symmetric matrix, given the other triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To store by symmetry the upper or lower triangle of a symmetric
+  matrix, given the other triangle.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02ED( UPLO, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix is given as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+          For all other values, the array A is not referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the symmetric matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the symmetric matrix A with all elements stored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02ES.html b/doc/_static/doc/MA02ES.html
new file mode 100644
index 00000000..daf1f72c
--- /dev/null
+++ b/doc/_static/doc/MA02ES.html
@@ -0,0 +1,87 @@
+<HTML>
+<HEAD><TITLE>MA02ES - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02ES">MA02ES</A></H2>
+<H3>
+Store by skew-symmetry the upper or lower triangle of a skew-symmetric real matrix, given the other triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To store by skew-symmetry the upper or lower triangle of a
+  skew-symmetric matrix, given the other triangle. The diagonal
+  entries are set to zero.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02ES( UPLO, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix is given as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+          For all other values, the array A is not referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the skew-symmetric matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the skew-symmetric matrix A with all elements stored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02EZ.html b/doc/_static/doc/MA02EZ.html
new file mode 100644
index 00000000..cf547f0f
--- /dev/null
+++ b/doc/_static/doc/MA02EZ.html
@@ -0,0 +1,105 @@
+<HTML>
+<HEAD><TITLE>MA02EZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02EZ">MA02EZ</A></H2>
+<H3>
+Store by (skew-)symmetry the upper or lower triangle of a (skew-)symmetric/Hermitian complex matrix, given the other triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To store by (skew-)symmetry the upper or lower triangle of a
+  (skew-)symmetric/Hermitian complex matrix, given the other
+  triangle. The option SKEW = 'G' allows to suitably deal with the
+  diagonal of a general square triangular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02EZ( UPLO, TRANS, SKEW, N, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW, TRANS, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix is given as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+          For all other values, the array A is not referenced.
+
+  TRANS   CHARACTER*1
+          Specifies whether to use transposition or conjugate
+          transposition as follows:
+          = 'T':  Use transposition;
+          = 'C':  Use conjugate transposition.
+
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is symmetric/Hermitian or
+          skew-symmetric/Hermitian as follows:
+          = 'G':  The matrix is not symmetric/Hermitian (general);
+          = 'N':  The matrix is symmetric/Hermitian;
+          = 'S':  The matrix is skew-symmetric/Hermitian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the (skew-)symmetric/Hermitian matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the (skew-)symmetric/Hermitian matrix A with all elements
+          stored. If the resulted matrix should be Hermitian, the
+          imaginary parts of the diagonal entries are set to zero.
+          If the resulted matrix should be skew-Hermitian, the real
+          parts of the diagonal entries are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02FD.html b/doc/_static/doc/MA02FD.html
new file mode 100644
index 00000000..1fe6b300
--- /dev/null
+++ b/doc/_static/doc/MA02FD.html
@@ -0,0 +1,90 @@
+<HTML>
+<HEAD><TITLE>MA02FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02FD">MA02FD</A></H2>
+<H3>
+Hyperbolic plane rotation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients c and s (c^2 + s^2 = 1) for a modified
+  hyperbolic plane rotation, such that,
+
+      y1 := 1/c * x1 - s/c * x2 = sqrt(x1^2 - x2^2),
+      y2 :=  -s * y1 +  c  * x2 = 0,
+
+  given two real numbers x1 and x2, satisfying either x1 = x2 = 0,
+  or abs(x2) &lt; abs(x1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02FD( X1, X2, C, S, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  X1, X2, C, S
+      INTEGER           INFO
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  X1      (input/output) DOUBLE PRECISION
+          On entry, the real number x1.
+          On exit, the real number y1.
+
+  X2      (input) DOUBLE PRECISION
+          The real number x2.
+          The values x1 and x2 should satisfy either x1 = x2 = 0, or
+          abs(x2) &lt; abs(x1).
+
+  C       (output) DOUBLE PRECISION
+          The cosines c of the modified hyperbolic plane rotation.
+
+  S       (output) DOUBLE PRECISION
+          The sines s of the modified hyperbolic plane rotation.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  succesful exit;
+          = 1:  if abs(x2) &gt;= abs(x1) and either x1 &lt;&gt; 0 or x2 &lt;&gt; 0.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02GD.html b/doc/_static/doc/MA02GD.html
new file mode 100644
index 00000000..0455a4aa
--- /dev/null
+++ b/doc/_static/doc/MA02GD.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MA02GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02GD">MA02GD</A></H2>
+<H3>
+Column interchanges in a matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a series of column interchanges on the matrix A.
+  One column interchange is initiated for each of columns K1 through
+  K2 of A. This is useful for solving linear systems X*A = B, when
+  the matrix A has already been factored by LAPACK Library routine
+  DGETRF.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02GD( N, A, LDA, K1, K2, IPIV, INCX )
+C     .. Scalar Arguments ..
+      INTEGER            INCX, K1, K2, LDA, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,*)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A to which the column interchanges will
+          be applied, where M is the largest element of IPIV(K), for
+          K = K1, ..., K2.
+          On exit, the leading N-by-M part of this array contains
+          the permuted matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  K1      (input) INTEGER
+          The first element of IPIV for which a column interchange
+          will be done.
+
+  K2      (input) INTEGER
+          The last element of IPIV for which a column interchange
+          will be done.
+
+  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
+          The vector of interchanging (pivot) indices.  Only the
+          elements in positions K1 through K2 of IPIV are accessed.
+          IPIV(K) = L implies columns K and L are to be
+          interchanged.
+
+  INCX    (input) INTEGER
+          The increment between successive values of IPIV.
+          If INCX is negative, the interchanges are applied in
+          reverse order.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
+  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is the column-oriented counterpart of the LAPACK
+  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
+  be used in this context. To solve the system X*A = B, where A and
+  B are N-by-N and M-by-N, respectively, the following statements
+  can be used:
+
+      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
+      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
+      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
+      CALL MA02GD( M, B, LDB, 1, N, IPIV, -1 )
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02GZ.html b/doc/_static/doc/MA02GZ.html
new file mode 100644
index 00000000..c49d09e6
--- /dev/null
+++ b/doc/_static/doc/MA02GZ.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MA02GZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02GZ">MA02GZ</A></H2>
+<H3>
+Column interchanges in a complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a series of column interchanges on the matrix A.
+  One column interchange is initiated for each of columns K1 through
+  K2 of A. This is useful for solving linear systems X*A = B, when
+  the matrix A has already been factored by LAPACK Library routine
+  DGETRF.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02GZ( N, A, LDA, K1, K2, IPIV, INCX )
+C     .. Scalar Arguments ..
+      INTEGER            INCX, K1, K2, LDA, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      COMPLEX*16         A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,*)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A to which the column interchanges will
+          be applied, where M is the largest element of IPIV(K), for
+          K = K1, ..., K2.
+          On exit, the leading N-by-M part of this array contains
+          the permuted matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  K1      (input) INTEGER
+          The first element of IPIV for which a column interchange
+          will be done.
+
+  K2      (input) INTEGER
+          The last element of IPIV for which a column interchange
+          will be done.
+
+  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
+          The vector of interchanging (pivot) indices.  Only the
+          elements in positions K1 through K2 of IPIV are accessed.
+          IPIV(K) = L implies columns K and L are to be
+          interchanged.
+
+  INCX    (input) INTEGER
+          The increment between successive values of IPIV.
+          If INCX is negative, the interchanges are applied in
+          reverse order.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
+  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is the column-oriented counterpart of the LAPACK
+  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
+  be used in this context. To solve the system X*A = B, where A and
+  B are N-by-N and M-by-N, respectively, the following statements
+  can be used:
+
+      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
+      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
+      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
+      CALL MA02GZ( M, B, LDB, 1, N, IPIV, -1 )
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02HD.html b/doc/_static/doc/MA02HD.html
new file mode 100644
index 00000000..c92a0501
--- /dev/null
+++ b/doc/_static/doc/MA02HD.html
@@ -0,0 +1,106 @@
+<HTML>
+<HEAD><TITLE>MA02HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02HD">MA02HD</A></H2>
+<H3>
+Check if a matrix is a scalar multiple of an identity-like matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
+  the diagonal and zeros elsewhere.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      LOGICAL FUNCTION MA02HD( JOB, M, N, DIAG, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            LDA, M, N
+      DOUBLE PRECISION   DIAG
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02HD  LOGICAL
+          The function value is set to .TRUE. if A = DIAG*I, and to
+          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be checked out,
+          as follows:
+          = 'U': Upper triangular/trapezoidal part;
+          = 'L': Lower triangular/trapezoidal part.
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  DIAG   (input) DOUBLE PRECISION
+         The scalar DIAG.
+
+  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
+         The leading M-by-N part of this array must contain the
+         matrix A.  If JOB = 'U', only the upper triangle or
+         trapezoid is accessed; if JOB = 'L', only the lower
+         triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine returns immediately after detecting a diagonal element
+  which differs from DIAG, or a nonzero off-diagonal element in the
+  searched part of A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02HZ.html b/doc/_static/doc/MA02HZ.html
new file mode 100644
index 00000000..c4ab8f40
--- /dev/null
+++ b/doc/_static/doc/MA02HZ.html
@@ -0,0 +1,107 @@
+<HTML>
+<HEAD><TITLE>MA02HZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02HZ">MA02HZ</A></H2>
+<H3>
+Check if a matrix is a scalar multiple of an identity-like matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
+  the diagonal and zeros elsewhere, A is a complex matrix and DIAG
+  is a complex scalar.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      LOGICAL FUNCTION MA02HZ( JOB, M, N, DIAG, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            LDA, M, N
+      COMPLEX*16         DIAG
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02HZ  LOGICAL
+          The function value is set to .TRUE. if A = DIAG*I, and to
+          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the part of the matrix A to be checked out,
+          as follows:
+          = 'U': Upper triangular/trapezoidal part;
+          = 'L': Lower triangular/trapezoidal part.
+          Otherwise:  All of the matrix A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix A.  M &gt;= 0.
+
+  N      (input) INTEGER
+         The number of columns of the matrix A.  N &gt;= 0.
+
+  DIAG   (input) COMPLEX*16
+         The scalar DIAG.
+
+  A      (input) COMPLEX*16 array, dimension (LDA,N)
+         The leading M-by-N part of this array must contain the
+         matrix A.  If JOB = 'U', only the upper triangle or
+         trapezoid is accessed; if JOB = 'L', only the lower
+         triangle or trapezoid is accessed.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine returns immediately after detecting a diagonal element
+  which differs from DIAG, or a nonzero off-diagonal element in the
+  searched part of A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02ID.html b/doc/_static/doc/MA02ID.html
new file mode 100644
index 00000000..ed25e609
--- /dev/null
+++ b/doc/_static/doc/MA02ID.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>MA02ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02ID">MA02ID</A></H2>
+<H3>
+Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a real skew-Hamiltonian matrix
+
+                [  A   G  ]          T         T
+          X  =  [       T ],   G = -G,   Q = -Q,
+                [  Q   A  ]
+
+  or of a real Hamiltonian matrix
+
+                [  A   G  ]          T         T
+          X  =  [       T ],   G =  G,   Q =  Q,
+                [  Q  -A  ]
+
+  where A, G and Q are real n-by-n matrices.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02ID( TYP, NORM, N, A, LDA, QG,
+     $                                  LDQG, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, TYP
+      INTEGER            LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02ID  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYP     CHARACTER*1
+          Specifies the type of the input matrix X:
+          = 'S':         X is skew-Hamiltonian;
+          = 'H':         X is Hamiltonian.
+
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02ID:
+          = '1' or 'O':  one norm of X;
+          = 'F' or 'E':  Frobenius norm of X;
+          = 'I':         infinity norm of X;
+          = 'M':         max(abs(X(i,j)).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G. If TYP = 'S', the parts containing the
+          diagonal and the first supdiagonal of this array are not
+          referenced.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
+          NORM = 'O'; otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02IZ.html b/doc/_static/doc/MA02IZ.html
new file mode 100644
index 00000000..3f808c7e
--- /dev/null
+++ b/doc/_static/doc/MA02IZ.html
@@ -0,0 +1,134 @@
+<HTML>
+<HEAD><TITLE>MA02IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02IZ">MA02IZ</A></H2>
+<H3>
+Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a complex skew-Hamiltonian matrix
+
+                [  A   G  ]          H         H
+          X  =  [       H ],   G = -G,   Q = -Q,
+                [  Q   A  ]
+
+  or of a complex Hamiltonian matrix
+
+                [  A   G  ]          H         H
+          X  =  [       H ],   G =  G,   Q =  Q,
+                [  Q  -A  ]
+
+  where A, G and Q are complex n-by-n matrices.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02IZ( TYP, NORM, N, A, LDA, QG,
+     $                                  LDQG, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, TYP
+      INTEGER            LDA, LDQG, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*), QG(LDQG,*)
+      DOUBLE PRECISION   DWORK(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02IZ  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYP     CHARACTER*1
+          Specifies the type of the input matrix X:
+          = 'S':         X is skew-Hamiltonian;
+          = 'H':         X is Hamiltonian.
+
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02IZ:
+          = '1' or 'O':  one norm of X;
+          = 'F' or 'E':  Frobenius norm of X;
+          = 'I':         infinity norm of X;
+          = 'M':         max(abs(X(i,j)).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input) COMPLEX*16 array, dimension (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G. If TYP = 'S', the real parts of the
+          entries on the diagonal and the first superdiagonal of
+          this array, which should be zero, need not be set, since
+          they are not used. Similarly, if TYP = 'H', the imaginary
+          parts of the entries on the diagonal and the first
+          superdiagonal of this array, which should be zero, need
+          not be set.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
+          NORM = 'O'; otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02JD.html b/doc/_static/doc/MA02JD.html
new file mode 100644
index 00000000..3b6e862d
--- /dev/null
+++ b/doc/_static/doc/MA02JD.html
@@ -0,0 +1,119 @@
+<HTML>
+<HEAD><TITLE>MA02JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02JD">MA02JD</A></H2>
+<H3>
+Test if a matrix is an orthogonal symplectic matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute || Q^T Q - I ||_F for a matrix of the form
+
+                    [  op( Q1 )  op( Q2 ) ]
+               Q =  [                     ],
+                    [ -op( Q2 )  op( Q1 ) ]
+
+  where Q1 and Q2 are N-by-N matrices. This residual can be used to
+  test wether Q is numerically an orthogonal symplectic matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02JD( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
+     $                                  LDQ2, RES, LDRES )
+C     .. Scalar Arguments ..
+      LOGICAL           LTRAN1, LTRAN2
+      INTEGER           LDQ1, LDQ2, LDRES, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02JD  DOUBLE PRECISION
+          The computed residual.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN1  LOGICAL
+          Specifies the form of op( Q1 ) as follows:
+          = .FALSE.:  op( Q1 ) = Q1;
+          = .TRUE. :  op( Q1 ) = Q1'.
+
+  LTRAN2  LOGICAL
+          Specifies the form of op( Q2 ) as follows:
+          = .FALSE.:  op( Q2 ) = Q2;
+          = .TRUE. :  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices Q1 and Q2.  N &gt;= 0.
+
+  Q1      (input) DOUBLE PRECISION array, dimension (LDQ1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q1 ).
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
+
+  Q2      (input) DOUBLE PRECISION array, dimension (LDQ2,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q2 ).
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  RES     DOUBLE PRECISION array, dimension (LDRES,N)
+
+  LDRES   INTEGER
+          The leading dimension of the array RES.  LDRES &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the residual by simple elementary operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02JZ.html b/doc/_static/doc/MA02JZ.html
new file mode 100644
index 00000000..1e021ca5
--- /dev/null
+++ b/doc/_static/doc/MA02JZ.html
@@ -0,0 +1,120 @@
+<HTML>
+<HEAD><TITLE>MA02JZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02JZ">MA02JZ</A></H2>
+<H3>
+Test if a matrix is a unitary symplectic matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute || Q^H Q - I ||_F for a complex matrix of the form
+
+                    [  op( Q1 )  op( Q2 ) ]
+               Q =  [                     ],
+                    [ -op( Q2 )  op( Q1 ) ]
+
+  where Q1 and Q2 are N-by-N matrices. This residual can be used to
+  test wether Q is numerically a unitary symplectic matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02JZ( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
+     $                                  LDQ2, RES, LDRES )
+C     .. Scalar Arguments ..
+      LOGICAL           LTRAN1, LTRAN2
+      INTEGER           LDQ1, LDQ2, LDRES, N
+C     .. Array Arguments ..
+      COMPLEX*16        Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02JZ  DOUBLE PRECISION
+          The computed residual.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN1  LOGICAL
+          Specifies the form of op( Q1 ) as follows:
+          = .FALSE.:  op( Q1 ) = Q1;
+          = .TRUE. :  op( Q1 ) = Q1'.
+
+  LTRAN2  LOGICAL
+          Specifies the form of op( Q2 ) as follows:
+          = .FALSE.:  op( Q2 ) = Q2;
+          = .TRUE. :  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices Q1 and Q2.  N &gt;= 0.
+
+  Q1      (input) COMPLEX*16 array, dimension (LDQ1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q1 ).
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
+
+  Q2      (input) COMPLEX*16 array, dimension (LDQ2,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix op( Q2 ).
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  RES     DOUBLE PRECISION array, dimension (LDRES,N)
+
+  LDRES   INTEGER
+          The leading dimension of the array RES.
+          LDRES &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the residual by simple elementary operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02MD.html b/doc/_static/doc/MA02MD.html
new file mode 100644
index 00000000..6326a1b8
--- /dev/null
+++ b/doc/_static/doc/MA02MD.html
@@ -0,0 +1,114 @@
+<HTML>
+<HEAD><TITLE>MA02MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02MD">MA02MD</A></H2>
+<H3>
+Compute norms of a real skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a real skew-symmetric matrix.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02MD( NORM, UPLO, N, A, LDA, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02MD  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02MD:
+          = '1' or 'O':  one norm of A;
+          = 'F' or 'E':  Frobenius norm of A;
+          = 'I':         infinity norm of A;
+          = 'M':         max(abs(A(i,j)).
+
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the skew-symmetric matrix A is to be referenced.
+          = 'U':  Upper triangular part of A is referenced;
+          = 'L':  Lower triangular part of A is referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MD is
+          set to zero.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The skew-symmetric matrix A.  If UPLO = 'U', the leading
+          N-by-N strictly upper triangular part of A contains the
+          strictly upper triangular part of the matrix A, and the
+          lower triangular part of A is not referenced.
+          If UPLO = 'L', the leading N-by-N strictly lower
+          triangular part of A contains the strictly lower
+          triangular part of the matrix A, and the upper triangular
+          part of A is not referenced.
+          The diagonal of A need not be set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
+          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
+          otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02MZ.html b/doc/_static/doc/MA02MZ.html
new file mode 100644
index 00000000..e7de44a9
--- /dev/null
+++ b/doc/_static/doc/MA02MZ.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MA02MZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02MZ">MA02MZ</A></H2>
+<H3>
+Compute norms of a complex skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the one norm, or the Frobenius norm, or
+  the infinity norm, or the element of largest absolute value
+  of a complex skew-Hermitian matrix.
+
+  Note that for this kind of matrices the infinity norm is equal
+  to the one norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MA02MZ( NORM, UPLO, N, A, LDA, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK( * )
+      COMPLEX*16         A( LDA, * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02MZ  DOUBLE PRECISION
+          The computed norm.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies the value to be returned in MA02MZ:
+          = '1' or 'O':  one norm of A;
+          = 'F' or 'E':  Frobenius norm of A;
+          = 'I':         infinity norm of A;
+          = 'M':         max(abs(A(i,j)).
+
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the skew-Hermitian matrix A is to be referenced.
+          = 'U':  Upper triangular part of A is referenced;
+          = 'L':  Lower triangular part of A is referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MZ is
+          set to zero.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The skew-Hermitian matrix A.  If UPLO = 'U', the leading
+          N-by-N upper triangular part of A contains the upper
+          triangular part of the matrix A, and the strictly lower
+          triangular part of A is not referenced. If UPLO = 'L', the
+          leading N-by-N lower triangular part of A contains the
+          lower triangular part of the matrix A, and the strictly
+          upper triangular part of A is not referenced.
+          The real parts of the diagonal elements of A need not be
+          set and are assumed to be zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
+          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
+          otherwise, DWORK is not referenced.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02NZ.html b/doc/_static/doc/MA02NZ.html
new file mode 100644
index 00000000..3ec660f1
--- /dev/null
+++ b/doc/_static/doc/MA02NZ.html
@@ -0,0 +1,112 @@
+<HTML>
+<HEAD><TITLE>MA02NZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02NZ">MA02NZ</A></H2>
+<H3>
+Permute two rows and corresponding columns of a (skew-)symmetric/Hermitian complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To permute two specified rows and corresponding columns of a
+  (skew-)symmetric/Hermitian complex matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02NZ( UPLO, TRANS, SKEW, N, K, L, A, LDA )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW, TRANS, UPLO
+      INTEGER            K, L, LDA, N
+C     .. Array Arguments ..
+      COMPLEX*16         A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the (skew-)symmetric/Hermitian matrix A is to be
+          referenced, as follows:
+          = 'U':  Upper triangular part of A is referenced;
+          = 'L':  Lower triangular part of A is referenced.
+
+  TRANS   CHARACTER*1
+          Specifies whether to use transposition or conjugate
+          transposition as follows:
+          = 'T':  Use transposition;
+          = 'C':  Use conjugate transposition.
+
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is symmetric/Hermitian or
+          skew-symmetric/Hermitian as follows:
+          = 'N':  The matrix is symmetric/Hermitian;
+          = 'S':  The matrix is skew-symmetric/skew-Hermitian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The smaller index of the pair of rows and columns to be
+          permuted.  0 &lt;= K &lt;= L. If K = 0, the routine returns.
+
+  L       (input) INTEGER
+          The larger index of the pair of rows and columns to be
+          permuted.  K &lt;= L &lt;= N.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+          of this array must contain the corresponding upper or
+          lower triangle of the (skew-)symmetric/Hermitian matrix A.
+          On exit, the leading N-by-N upper or lower triangular part
+          of this array (depending on UPLO) contains the
+          corresponding part of the permuted matrix A.
+          Note that a Hermitian matrix has the imaginary parts of
+          the diagonal entries zero. Similarly, a skew-Hermitian
+          matrix has the real parts of the diagonal entries zero.
+          The routine does not check out this conditions.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(N,1).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02OD.html b/doc/_static/doc/MA02OD.html
new file mode 100644
index 00000000..ee30c419
--- /dev/null
+++ b/doc/_static/doc/MA02OD.html
@@ -0,0 +1,105 @@
+<HTML>
+<HEAD><TITLE>MA02OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02OD">MA02OD</A></H2>
+<H3>
+Compute the number of zero rows (and zero columns) of a real (skew-)Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows (and zero columns) of a real
+  (skew-)Hamiltonian matrix,
+
+        (  A    D   )
+    H = (           ).
+        (  E  +/-A' )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MA02OD( SKEW, M, A, LDA, DE, LDDE )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW
+      INTEGER            LDA, LDDE, M
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), DE( LDDE, * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02OD  INTEGER
+          The number of zero rows.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is Hamiltonian or skew-
+          Hamiltonian as follows:
+          = 'H':  The matrix is Hamiltonian;
+          = 'S':  The matrix is skew-Hamiltonian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A, D, and E.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  DE      (input) DOUBLE PRECISION array, dimension (LDDE,M+1)
+          The leading M-by-M lower triangular part of this array
+          must contain the lower triangular part of the (skew-)
+          symmetric matrix E, and the M-by-M upper triangular
+          part of the submatrix in the columns 2 to M+1 of this
+          array must contain the upper triangular part of the
+          (skew-)symmetric matrix D. If S is skew-Hamiltonian, the
+          parts containing the diagonal and the first superdiagonal
+          of this array, which should be zero, are not referenced.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02OZ.html b/doc/_static/doc/MA02OZ.html
new file mode 100644
index 00000000..c86b4812
--- /dev/null
+++ b/doc/_static/doc/MA02OZ.html
@@ -0,0 +1,108 @@
+<HTML>
+<HEAD><TITLE>MA02OZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02OZ">MA02OZ</A></H2>
+<H3>
+Compute the number of zero rows (and zero columns) of a complex (skew-)Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows (and zero columns) of a complex
+  (skew-)Hamiltonian matrix,
+
+        (  A    D   )
+    H = (           ).
+        (  E  +/-A' )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MA02OZ( SKEW, M, A, LDA, DE, LDDE )
+C     .. Scalar Arguments ..
+      CHARACTER          SKEW
+      INTEGER            LDA, LDDE, M
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), DE( LDDE, * )
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MA02OZ  INTEGER
+          The number of zero rows.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SKEW    CHARACTER*1
+          Specifies whether the matrix is Hamiltonian or skew-
+          Hamiltonian as follows:
+          = 'H':  The matrix is Hamiltonian;
+          = 'S':  The matrix is skew-Hamiltonian.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A, D, and E.  M &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  DE      (input) COMPLEX*16 array, dimension (LDDE,M+1)
+          The leading M-by-M lower triangular part of this array
+          must contain the lower triangular part of the (skew-)
+          Hermitian matrix E, and the M-by-M upper triangular
+          part of the submatrix in the columns 2 to M+1 of this
+          array must contain the upper triangular part of the
+          (skew-)Hermitian matrix D. If S is skew-Hamiltonian, the
+          real parts of the entries on the diagonal and the first
+          superdiagonal of this array, which should be zero, are
+          not used. If S is Hamiltonian, the imaginary parts of the
+          entries on the diagonal and the first superdiagonal of
+          this array, which should be zero, are not used.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02PD.html b/doc/_static/doc/MA02PD.html
new file mode 100644
index 00000000..091ca812
--- /dev/null
+++ b/doc/_static/doc/MA02PD.html
@@ -0,0 +1,82 @@
+<HTML>
+<HEAD><TITLE>MA02PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02PD">MA02PD</A></H2>
+<H3>
+Compute the number of zero rows and zero columns of a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows and zero columns of a real
+  matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02PD( M, N, A, LDA, NZR, NZC )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, M, N, NZC, NZR
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  NZR     (output) INTEGER
+          The number of zero rows of the matrix A.
+
+  NZC     (output) INTEGER
+          The number of zero columns of the matrix A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MA02PZ.html b/doc/_static/doc/MA02PZ.html
new file mode 100644
index 00000000..3876910c
--- /dev/null
+++ b/doc/_static/doc/MA02PZ.html
@@ -0,0 +1,82 @@
+<HTML>
+<HEAD><TITLE>MA02PZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MA02PZ">MA02PZ</A></H2>
+<H3>
+Compute the number of zero rows and zero columns of a complex matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the number of zero rows and zero columns of a complex
+  matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MA02PZ( M, N, A, LDA, NZR, NZC )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, M, N, NZC, NZR
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  NZR     (output) INTEGER
+          The number of zero rows of the matrix A.
+
+  NZC     (output) INTEGER
+          The number of zero columns of the matrix A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01KD.html b/doc/_static/doc/MB01KD.html
new file mode 100644
index 00000000..f1d07457
--- /dev/null
+++ b/doc/_static/doc/MB01KD.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MB01KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01KD">MB01KD</A></H2>
+<H3>
+Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C, with A and C skew-symmetric matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform one of the skew-symmetric rank 2k operations
+
+      C := alpha*A*B' - alpha*B*A' + beta*C,
+
+  or
+
+      C := alpha*A'*B - alpha*B'*A + beta*C,
+
+  where alpha and beta are scalars, C is a real N-by-N skew-
+  symmetric matrix and A, B are N-by-K matrices in the first case
+  and K-by-N matrices in the second case.
+
+  This is a modified version of the vanilla implemented BLAS
+  routine DSYR2K written by Jack Dongarra, Iain Duff,
+  Jeremy Du Croz and Sven Hammarling.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01KD( UPLO, TRANS, N, K, ALPHA, A, LDA, B, LDB, BETA,
+     $                   C, LDC, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO, TRANS
+      INTEGER           INFO, K, LDA, LDB, LDC, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the array C is to be referenced, as follows:
+          = 'U':  only the strictly upper triangular part of C is to
+                  be referenced;
+          = 'L':  only the striclty lower triangular part of C is to
+                  be referenced.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed, as follows:
+          = 'N':         C := alpha*A*B' - alpha*B*A' + beta*C;
+          = 'T' or 'C':  C := alpha*A'*B - alpha*B'*A + beta*C.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix C.  N &gt;= 0.
+
+  K       (input) INTEGER
+          If TRANS = 'N' the number of columns of A and B; and if
+          TRANS = 'T' or TRANS = 'C' the number of rows of A and B.
+          K &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. If alpha is zero, or N &lt;= 1, or K = 0,
+          A and B are not referenced.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA,KA),
+          where KA is K when TRANS = 'N', and is N otherwise.
+          On entry with TRANS = 'N', the leading N-by-K part of
+          of this array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          K-by-N part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N),  if TRANS = 'N';
+          LDA &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
+
+  B       (input)  DOUBLE PRECISION array, dimension (LDB,KB),
+          where KB is K when TRANS = 'N', and is N otherwise.
+          On entry with TRANS = 'N', the leading N-by-K part of
+          of this array must contain the matrix B.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          K-by-N part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N),  if TRANS = 'N';
+          LDB &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. If beta is zero C need not be set before
+          entry.
+
+  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with UPLO = 'U', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the matrix C. The lower triangular part of this array is
+          not referenced.
+          On entry with UPLO = 'L', the leading N-by-N part of this
+          array must contain the strictly lower triangular part of
+          the matrix C. The upper triangular part of this array is
+          not referenced.
+          On exit with UPLO = 'U', the leading N-by-N part of this
+          array contains the strictly upper triangular part of the
+          updated matrix C.
+          On exit with UPLO = 'L', the leading N-by-N part of this
+          array contains the strictly lower triangular part of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Though being almost identical with the vanilla implementation
+  of the BLAS routine DSYR2K the performance of this routine could
+  be significantly lower in the case of vendor supplied, highly
+  optimized BLAS.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01LD.html b/doc/_static/doc/MB01LD.html
new file mode 100644
index 00000000..a12ac34b
--- /dev/null
+++ b/doc/_static/doc/MB01LD.html
@@ -0,0 +1,209 @@
+<HTML>
+<HEAD><TITLE>MB01LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01LD">MB01LD</A></H2>
+<H3>
+Computation of matrix expression alpha*R + beta*A*X*trans(A) with skew-symmetric matrices R and X
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+     _
+     R = alpha*R + beta*op( A )*X*op( A )',
+                                              _
+  where alpha and beta are scalars, R, X, and R are skew-symmetric
+  matrices, A is a general matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01LD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the skew-symmetric matrices R
+          and X are given, as follows:
+          = 'U':  the strictly upper triangular part is given;
+          = 'L':  the strictly lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R and the number of rows
+          of the matrix op( A ).  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix X and the number of columns of the
+          matrix op( A ).  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero or N &lt;= 1, or M &lt;= 1,
+          then A and X are not referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M strictly
+          upper triangular part of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix R. The lower triangle is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M strictly
+          lower triangular part of this array must contain the
+          strictly lower triangular part of the skew-symmetric
+          matrix R. The upper triangle is not referenced.
+          On exit, the leading M-by-M strictly upper triangular part
+          (if UPLO = 'U'), or strictly lower triangular part
+          (if UPLO = 'L'), of this array contains the corresponding
+                                                          _
+          strictly triangular part of the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
+          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+          TRANS = 'C'.
+          On entry with TRANS = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,k),
+          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
+          TRANS = 'C'.
+
+  X       (input or input/output) DOUBLE PRECISION array, dimension
+          (LDX,K), where K = N, if UPLO = 'U' or  LDWORK &gt;= M*(N-1),
+               or K = MAX(N,M), if UPLO = 'L' and LDWORK &lt;  M*(N-1).
+          On entry, if UPLO = 'U', the leading N-by-N strictly upper
+          triangular part of this array must contain the strictly
+          upper triangular part of the skew-symmetric matrix X and
+          the lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N strictly lower
+          triangular part of this array must contain the strictly
+          lower triangular part of the skew-symmetric matrix X and
+          the upper triangular part of the array is not referenced.
+          If LDWORK &lt; M*(N-1), this array is overwritten with the
+          matrix op(A)*X, if UPLO = 'U', or X*op(A)', if UPLO = 'L'.
+
+  LDX     INTEGER
+          The leading dimension of the array X.
+          LDX &gt;= MAX(1,N),   if UPLO = 'L' or  LDWORK &gt;= M*(N-1);
+          LDX &gt;= MAX(1,N,M), if UPLO = 'U' and LDWORK &lt;  M*(N-1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or M &lt;= 1, or
+          N &lt;= 1.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N, if  beta &lt;&gt; 0, and M &gt; 0, and N &gt;  1;
+          LDWORK &gt;= 0, if  beta =  0, or  M = 0, or  N &lt;= 1.
+          For optimum performance, LDWORK &gt;= M*(N-1), if  beta &lt;&gt; 0,
+          M &gt; 1, and N &gt; 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the skew-
+  symmetry into account. If LDWORK &gt;= M*(N-1), a BLAS 3 like
+  implementation is used. Specifically, let X = T - T', with T a
+  strictly upper or strictly lower triangular matrix, defined by
+
+     T = striu( X ),  if UPLO = 'U',
+     T = stril( X ),  if UPLO = 'L',
+
+  where striu and stril denote the strictly upper triangular part
+  and strictly lower triangular part of X, respectively. Then,
+
+     A*X*A' = ( A*T )*A' - A*( A*T )',  for TRANS = 'N',
+     A'*X*A = A'*( T*A ) - ( T*A )'*A,  for TRANS = 'T', or 'C',
+
+  which involve BLAS 3 operations DTRMM and the skew-symmetric
+  correspondent of DSYR2K (with a Fortran implementation available
+  in the SLICOT Library routine MB01KD).
+  If LDWORK &lt; M*(N-1), a BLAS 2 implementation is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+                2         2
+     3/2 x M x N + 1/2 x M
+
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01MD.html b/doc/_static/doc/MB01MD.html
new file mode 100644
index 00000000..85246208
--- /dev/null
+++ b/doc/_static/doc/MB01MD.html
@@ -0,0 +1,136 @@
+<HTML>
+<HEAD><TITLE>MB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01MD">MB01MD</A></H2>
+<H3>
+Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the matrix-vector operation
+
+     y := alpha*A*x + beta*y,
+
+  where alpha and beta are scalars, x and y are vectors of length
+  n and A is an n-by-n skew-symmetric matrix.
+
+  This is a modified version of the vanilla implemented BLAS
+  routine DSYMV written by Jack Dongarra, Jeremy Du Croz,
+  Sven Hammarling, and Richard Hanson.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01MD( UPLO, N, ALPHA, A, LDA, X, INCX, BETA, Y,
+     $                   INCY )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   ALPHA, BETA
+      INTEGER            INCX, INCY, LDA, N
+      CHARACTER          UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), X(*), Y(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the array A is to be referenced as follows:
+          = 'U':  only the strictly upper triangular part of A is to
+                  be referenced;
+          = 'L':  only the strictly lower triangular part of A is to
+                  be referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. If alpha is zero the array A is not
+          referenced.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry with UPLO = 'U', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the matrix A. The lower triangular part of this array is
+          not referenced.
+          On entry with UPLO = 'L', the leading N-by-N part of this
+          array must contain the strictly lower triangular part of
+          the matrix A. The upper triangular part of this array is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
+
+  X       (input) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCX ) ).
+          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
+          this array must contain the elements of the vector X.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X. IF INCX &lt; 0 then the
+          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. If beta is zero then Y need not be set on
+          input.
+
+  Y       (input/output) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCY ) ).
+          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
+          this array must contain the elements of the vector Y.
+          On exit, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
+          this array contain the updated elements of the vector Y.
+
+  INCY    (input) INTEGER
+          The increment for the elements of Y. IF INCY &lt; 0 then the
+          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Though being almost identical with the vanilla implementation
+  of the BLAS routine DSYMV the performance of this routine could
+  be significantly lower in the case of vendor supplied, highly
+  optimized BLAS.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01ND.html b/doc/_static/doc/MB01ND.html
new file mode 100644
index 00000000..14e758ba
--- /dev/null
+++ b/doc/_static/doc/MB01ND.html
@@ -0,0 +1,135 @@
+<HTML>
+<HEAD><TITLE>MB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01ND">MB01ND</A></H2>
+<H3>
+Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a skew-symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the skew-symmetric rank 2 operation
+
+       A := alpha*x*y' - alpha*y*x' + A,
+
+  where alpha is a scalar, x and y are vectors of length n and A is
+  an n-by-n skew-symmetric matrix.
+
+  This is a modified version of the vanilla implemented BLAS
+  routine DSYR2 written by Jack Dongarra, Jeremy Du Croz,
+  Sven Hammarling, and Richard Hanson.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01ND( UPLO, N, ALPHA, X, INCX, Y, INCY, A, LDA )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   ALPHA
+      INTEGER            INCX, INCY, LDA, N
+      CHARACTER          UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), X( * ), Y( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangular part of
+          the array A is to be referenced as follows:
+          = 'U':  only the strictly upper triangular part of A is to
+                  be referenced;
+          = 'L':  only the strictly lower triangular part of A is to
+                  be referenced.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. If alpha is zero X and Y are not
+          referenced.
+
+  X       (input) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCX ) ).
+          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
+          this array must contain the elements of the vector X.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X. IF INCX &lt; 0 then the
+          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
+
+  Y       (input) DOUBLE PRECISION array, dimension
+          ( 1 + ( N - 1 )*abs( INCY ) ).
+          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
+          this array must contain the elements of the vector Y.
+
+  INCY    (input) INTEGER
+          The increment for the elements of Y. IF INCY &lt; 0 then the
+          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry with UPLO = 'U', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the matrix A. The lower triangular part of this array is
+          not referenced.
+          On entry with UPLO = 'L', the leading N-by-N part of this
+          array must contain the strictly lower triangular part of
+          the matrix A. The upper triangular part of this array is
+          not referenced.
+          On exit with UPLO = 'U', the leading N-by-N part of this
+          array contains the strictly upper triangular part of the
+          updated matrix A.
+          On exit with UPLO = 'L', the leading N-by-N part of this
+          array contains the strictly lower triangular part of the
+          updated matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Though being almost identical with the vanilla implementation
+  of the BLAS routine DSYR2 the performance of this routine could
+  be significantly lower in the case of vendor supplied, highly
+  optimized BLAS.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OC.html b/doc/_static/doc/MB01OC.html
new file mode 100644
index 00000000..6aac163b
--- /dev/null
+++ b/doc/_static/doc/MB01OC.html
@@ -0,0 +1,155 @@
+<HTML>
+<HEAD><TITLE>MB01OC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OC">MB01OC</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) with R, X symmetric and H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform one of the special symmetric rank 2k operations
+
+     R := alpha*R + beta*H*X + beta*X*H',
+  or
+     R := alpha*R + beta*H'*X + beta*X*H,
+
+  where alpha and beta are scalars, R and X are N-by-N symmetric
+  matrices, and H is an N-by-N upper Hessenberg matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OC( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, X,
+     $                   LDX, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDH, LDR, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed as follows:
+          = 'N':         R := alpha*R + beta*H*X  + beta*X*H';
+          = 'T' or 'C':  R := alpha*R + beta*H'*X + beta*X*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, H, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  structure into account, and using inline code and BLAS1 routines.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine acts as a specialization of BLAS Library routine
+  DSYR2K.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OD.html b/doc/_static/doc/MB01OD.html
new file mode 100644
index 00000000..15863783
--- /dev/null
+++ b/doc/_static/doc/MB01OD.html
@@ -0,0 +1,206 @@
+<HTML>
+<HEAD><TITLE>MB01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OD">MB01OD</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' ) with R, X symmetric, H upper Hessenberg, and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+
+    R := alpha*R + beta*( op( H )*X*op( E )' + op( E )*X*op( H )' ),
+
+  where alpha and beta are scalars, R and X are symmetric matrices,
+  H is an upper Hessenberg matrix, E is an upper triangular matrix,
+  and op( M ) is one of
+
+    op( M ) = M   or   op( M ) = M'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OD( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
+     $                   X, LDX, E, LDE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDE, LDH, LDR, LDWORK, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(LDE,*), H(LDH,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( M ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( M ) = M;
+          = 'T':  op( M ) = M';
+          = 'C':  op( M ) = M'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, H, E, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          If TRANS = 'N', the entries 3, 4,..., N of the first
+          column are modified internally, but are restored on exit.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = U + L, with U and L upper and
+  lower triangular matrices, defined by
+
+     U = triu( X ) - (1/2)*diag( X ),
+     L = tril( X ) - (1/2)*diag( X ),
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+  if UPLO = 'U',
+
+    H*X*E' + E*X*H' = (H*U)*E' + E*(H*U)' + H*(E*U)' + (E*U)*H',
+                      for TRANS = 'N',
+    H'*X*E + E'*X*H = H'*(U*E) + (U*E)'*H + (U*H)'*E + E'*(U*H),
+                      for TRANS = 'T', or 'C',
+
+  and if UPLO = 'L',
+
+    H*X*E' + E*X*H' = (H*L')*E' + E*(H*L')' + H*(E*L')' + (E*L')*H',
+                      for TRANS = 'N',
+    H'*X*E + E'*X*H = H'*(L'*E) + (L'*E)'*H + (L'*H)'*E + E'*(L'*H),
+                      for TRANS = 'T', or 'C',
+
+  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
+  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
+  are upper Hessenberg, and E*U, U*E, E*L', or L'*E are upper
+  triangular.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OE.html b/doc/_static/doc/MB01OE.html
new file mode 100644
index 00000000..5fc57a69
--- /dev/null
+++ b/doc/_static/doc/MB01OE.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01OE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OE">MB01OE</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' ) with R symmetric, H upper Hessenberg, and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the symmetric rank 2k operations
+
+     R := alpha*R + beta*H*E' + beta*E*H',
+
+  or
+
+     R := alpha*R + beta*H'*E + beta*E'*H,
+
+  where alpha and beta are scalars, R, E, and H are N-by-N matrices,
+  with H upper Hessenberg and E upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OE( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, E,
+     $                   LDE )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  ALPHA, BETA
+      INTEGER           LDE, LDH, LDR, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(LDE,*), H(LDH,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix R is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of H to be used in the matrix
+          multiplication as follows:
+          = 'N':  R := alpha*R + beta*H*E' + beta*E*H';
+          = 'T':  R := alpha*R + beta*H'*E + beta*E'*H;
+          = 'C':  R := alpha*R + beta*H'*E + beta*E'*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, E, and H.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then E and H are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  E particularization of the algorithm used in the BLAS 3 routine
+  DSYR2K is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OH.html b/doc/_static/doc/MB01OH.html
new file mode 100644
index 00000000..4c8303bd
--- /dev/null
+++ b/doc/_static/doc/MB01OH.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01OH - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OH">MB01OH</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) with R symmetric, and A, H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the symmetric rank 2k operations
+
+     R := alpha*R + beta*H*A' + beta*A*H',
+
+  or
+
+     R := alpha*R + beta*H'*A + beta*A'*H,
+
+  where alpha and beta are scalars, R, A, and H are N-by-N matrices,
+  with A and H upper Hessenberg.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, A,
+     $                   LDA )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  ALPHA, BETA
+      INTEGER           LDA, LDH, LDR, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), H(LDH,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix R is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of H to be used in the matrix
+          multiplication as follows:
+          = 'N':  R := alpha*R + beta*H*A' + beta*A*H';
+          = 'T':  R := alpha*R + beta*H'*A + beta*A'*H;
+          = 'C':  R := alpha*R + beta*H'*A + beta*A'*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, A, and H.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and H are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N)
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix A.
+          The remaining part of this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A particularization of the algorithm used in the BLAS 3 routine
+  DSYR2K is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OO.html b/doc/_static/doc/MB01OO.html
new file mode 100644
index 00000000..7051494a
--- /dev/null
+++ b/doc/_static/doc/MB01OO.html
@@ -0,0 +1,145 @@
+<HTML>
+<HEAD><TITLE>MB01OO - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OO">MB01OO</A></H2>
+<H3>
+Computation of P or P' with P = op(H) X op(E)' with X symmetric, H upper Hessenberg, and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either P or P', with P defined by the matrix formula
+
+     P = op( H )*X*op( E )',
+
+  where H is an upper Hessenberg matrix, X is a symmetric matrix,
+  E is an upper triangular matrix, and op( M ) is one of
+
+     op( M ) = M   or   op( M ) = M'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OO( UPLO, TRANS, N, H, LDH, X, LDX, E, LDE, P, LDP,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDE, LDH, LDP, LDX, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(LDE,*), H(LDH,*), P(LDP,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix X is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed as follows:
+          = 'N':         compute P  = H*X*E';
+          = 'T' or 'C':  compute P' = E'*X*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices H, X, E, and P.  N &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
+          On exit, the leading N-by-N part of this array contains
+          the computed matrix P  = H*X*E', if TRANS = 'N', or
+          the computed matrix P' = E'*X*H, if TRANS = 'T'.
+
+  LDP     INTEGER
+          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  structure into account, and using BLAS and SLICOT routines.
+  Let W = H*X, or W = X*H, computed using SLICOT Library routine
+  MB01OS. The result is then obtained calling BLAS 3 routine DTRMM.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OS.html b/doc/_static/doc/MB01OS.html
new file mode 100644
index 00000000..5ff250b6
--- /dev/null
+++ b/doc/_static/doc/MB01OS.html
@@ -0,0 +1,135 @@
+<HTML>
+<HEAD><TITLE>MB01OS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OS">MB01OS</A></H2>
+<H3>
+Computation of matrix expression P = H X or P = X H, with X symmetric and H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute P = H*X or P = X*H, where H is an upper Hessenberg
+  matrix and X is a symmetric matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OS( UPLO, TRANS, N, H, LDH, X, LDX, P, LDP, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDH, LDP, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), P(LDP,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix X is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the operation to be performed as follows:
+          = 'N':         compute P = H*X;
+          = 'T' or 'C':  compute P = X*H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices H, X, and P.  N &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
+          On exit, the leading N-by-N part of this array contains
+          the computed matrix P.
+
+  LDP     INTEGER
+          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  structure into account, and using inline code and BLAS routines.
+  Let X = U + sL, where U is upper triangular and sL is strictly
+  lower triangular. Then, P = H*X = H*U + H*sL = H*U + H*sU', where
+  sU is the strictly upper triangular part of X.
+  Similarly, P = X*H = L'*H + sL*H, where L is lower triangular, and
+  X = L + sL'. Note that H*U and L'*H are both upper Hessenberg.
+  However, when UPLO = 'L' and TRANS = 'N', or when UPLO = 'U' and
+  TRANS = 'T', then the matrix P is full. The computations are done
+  similarly.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01OT.html b/doc/_static/doc/MB01OT.html
new file mode 100644
index 00000000..c7e431c6
--- /dev/null
+++ b/doc/_static/doc/MB01OT.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01OT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01OT">MB01OT</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) with R symmetric and E, T upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the symmetric rank 2k operations
+
+     R := alpha*R + beta*E*T' + beta*T*E',
+
+  or
+
+     R := alpha*R + beta*E'*T + beta*T'*E,
+
+  where alpha and beta are scalars, R, T, and E are N-by-N matrices,
+  with T and E upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01OT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE, T,
+     $                   LDT )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  ALPHA, BETA
+      INTEGER           LDE, LDR, LDT, N
+      CHARACTER         TRANS, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(LDE,*), R(LDR,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix R is
+          given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of E to be used in the matrix
+          multiplication as follows:
+          = 'N':  R := alpha*R + beta*E*T' + beta*T*E';
+          = 'T':  R := alpha*R + beta*E'*T + beta*T'*E;
+          = 'C':  R := alpha*R + beta*E'*T + beta*T'*E.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, T, and E.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then T and E are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix T.
+          The remaining part of this array is not referenced.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A particularization of the algorithm used in the BLAS 3 routine
+  DSYR2K is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/3 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01PD.html b/doc/_static/doc/MB01PD.html
new file mode 100644
index 00000000..0a3bb43b
--- /dev/null
+++ b/doc/_static/doc/MB01PD.html
@@ -0,0 +1,155 @@
+<HTML>
+<HEAD><TITLE>MB01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01PD">MB01PD</A></H2>
+<H3>
+Matrix scaling (higher level routine)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale a matrix or undo scaling.  Scaling is performed, if
+  necessary, so that the matrix norm will be in a safe range of
+  representable numbers.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01PD( SCUN, TYPE, M, N, KL, KU, ANRM, NBL, NROWS, A,
+     $                   LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          SCUN, TYPE
+      INTEGER            INFO, KL, KU, LDA, M, MN, N, NBL
+      DOUBLE PRECISION   ANRM
+C     .. Array Arguments ..
+      INTEGER            NROWS ( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SCUN    CHARACTER*1
+          SCUN indicates the operation to be performed.
+          = 'S':  scale the matrix.
+          = 'U':  undo scaling of the matrix.
+
+  TYPE    CHARACTER*1
+          TYPE indicates the storage type of the input matrix.
+          = 'G':  A is a full matrix.
+          = 'L':  A is a (block) lower triangular matrix.
+          = 'U':  A is an (block) upper triangular matrix.
+          = 'H':  A is an (block) upper Hessenberg matrix.
+          = 'B':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  lower half stored.
+          = 'Q':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  upper half stored.
+          = 'Z':  A is a band matrix with lower bandwidth KL and
+                  upper bandwidth KU.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A. N &gt;= 0.
+
+  KL      (input) INTEGER
+          The lower bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  KU      (input) INTEGER
+          The upper bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  ANRM    (input) DOUBLE PRECISION
+          The norm of the initial matrix A.  ANRM &gt;= 0.
+          When  ANRM = 0  then an immediate return is effected.
+          ANRM should be preserved between the call of the routine
+          with SCUN = 'S' and the corresponding one with SCUN = 'U'.
+
+  NBL     (input) INTEGER
+          The number of diagonal blocks of the matrix A, if it has a
+          block structure.  To specify that matrix A has no block
+          structure, set NBL = 0.  NBL &gt;= 0.
+
+  NROWS   (input) INTEGER array, dimension max(1,NBL)
+          NROWS(i) contains the number of rows and columns of the
+          i-th diagonal block of matrix A.  The sum of the values
+          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
+          The elements of the array  NROWS  are not referenced if
+          NBL = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M by N part of this array must
+          contain the matrix to be scaled/unscaled.
+          On exit, the leading M by N part of A will contain
+          the modified matrix.
+          The storage mode of A is specified by TYPE.
+
+  LDA     (input) INTEGER
+          The leading dimension of the array A.  LDA  &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Denote by ANRM the norm of the matrix, and by SMLNUM and BIGNUM,
+  two positive numbers near the smallest and largest safely
+  representable numbers, respectively.  The matrix is scaled, if
+  needed, such that the norm of the result is in the range
+  [SMLNUM, BIGNUM].  The scaling factor is represented as a ratio
+  of two numbers, one of them being ANRM, and the other one either
+  SMLNUM or BIGNUM, depending on ANRM being less than SMLNUM or
+  larger than BIGNUM, respectively.  For undoing the scaling, the
+  norm is again compared with SMLNUM or BIGNUM, and the reciprocal
+  of the previous scaling factor is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01QD.html b/doc/_static/doc/MB01QD.html
new file mode 100644
index 00000000..316df71d
--- /dev/null
+++ b/doc/_static/doc/MB01QD.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01QD">MB01QD</A></H2>
+<H3>
+Matrix scaling (lower level routine)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To multiply the M by N real matrix A by the real scalar CTO/CFROM.
+  This is done without over/underflow as long as the final result
+  CTO*A(I,J)/CFROM does not over/underflow. TYPE specifies that
+  A may be full, (block) upper triangular, (block) lower triangular,
+  (block) upper Hessenberg, or banded.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01QD( TYPE, M, N, KL, KU, CFROM, CTO, NBL, NROWS, A,
+     $                   LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TYPE
+      INTEGER            INFO, KL, KU, LDA, M, N, NBL
+      DOUBLE PRECISION   CFROM, CTO
+C     .. Array Arguments ..
+      INTEGER            NROWS ( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          TYPE indices the storage type of the input matrix.
+          = 'G':  A is a full matrix.
+          = 'L':  A is a (block) lower triangular matrix.
+          = 'U':  A is a (block) upper triangular matrix.
+          = 'H':  A is a (block) upper Hessenberg matrix.
+          = 'B':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  lower half stored.
+          = 'Q':  A is a symmetric band matrix with lower bandwidth
+                  KL and upper bandwidth KU and with the only the
+                  upper half stored.
+          = 'Z':  A is a band matrix with lower bandwidth KL and
+                  upper bandwidth KU.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The lower bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  KU      (input) INTEGER
+          The upper bandwidth of A.  Referenced only if TYPE = 'B',
+          'Q' or 'Z'.
+
+  CFROM   (input) DOUBLE PRECISION
+  CTO     (input) DOUBLE PRECISION
+          The matrix A is multiplied by CTO/CFROM. A(I,J) is
+          computed without over/underflow if the final result
+          CTO*A(I,J)/CFROM can be represented without over/
+          underflow.  CFROM must be nonzero.
+
+  NBL     (input) INTEGER
+          The number of diagonal blocks of the matrix A, if it has a
+          block structure.  To specify that matrix A has no block
+          structure, set NBL = 0.  NBL &gt;= 0.
+
+  NROWS   (input) INTEGER array, dimension max(1,NBL)
+          NROWS(i) contains the number of rows and columns of the
+          i-th diagonal block of matrix A.  The sum of the values
+          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
+          The array  NROWS  is not referenced if NBL = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          The matrix to be multiplied by CTO/CFROM.  See TYPE for
+          the storage type.
+
+  LDA     (input) INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          Not used in this implementation.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is multiplied by the real scalar CTO/CFROM, taking into
+  account the specified storage mode of the matrix.
+  MB01QD is a version of the LAPACK routine DLASCL, modified for
+  dealing with block triangular, or block Hessenberg matrices.
+  For efficiency, no tests of the input scalar parameters are
+  performed.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RB.html b/doc/_static/doc/MB01RB.html
new file mode 100644
index 00000000..a2e1c9f0
--- /dev/null
+++ b/doc/_static/doc/MB01RB.html
@@ -0,0 +1,194 @@
+<HTML>
+<HEAD><TITLE>MB01RB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RB">MB01RB</A></H2>
+<H3>
+Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either the upper or lower triangular part of one of the
+  matrix formulas
+     _
+     R = alpha*R + beta*op( A )*B,                               (1)
+     _
+     R = alpha*R + beta*B*op( A ),                               (2)
+                                          _
+  where alpha and beta are scalars, R and R are m-by-m matrices,
+  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
+  and m-by-n matrices for (2), respectively, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A',  the transpose of A.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RB( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
+     $                   A, LDA, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDR, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the matrix A appears on the left or
+          right in the matrix product as follows:
+                  _
+          = 'L':  R = alpha*R + beta*op( A )*B;
+                  _
+          = 'R':  R = alpha*R + beta*B*op( A ).
+
+  UPLO    CHARACTER*1                               _
+          Specifies which triangles of the matrices R and R are
+          computed and given, respectively, as follows:
+          = 'U':  the upper triangular part;
+          = 'L':  the lower triangular part.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R, the number of rows of
+          the matrix op( A ) and the number of columns of the
+          matrix B, for SIDE = 'L', or the number of rows of the
+          matrix B and the number of columns of the matrix op( A ),
+          for SIDE = 'R'.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix B and the number of
+          columns of the matrix op( A ), for SIDE = 'L', or the
+          number of rows of the matrix op( A ) and the number of
+          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and B are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix R; the strictly lower
+          triangular part of the array is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix R; the strictly upper
+          triangular part of the array is not referenced.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
+          k = N  when  SIDE = 'L', and TRANS =  'N', or
+                       SIDE = 'R', and TRANS &lt;&gt; 'T';
+          k = M  when  SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
+          On entry, if SIDE = 'L', and TRANS =  'N', or
+                       SIDE = 'R', and TRANS &lt;&gt; 'T',
+          the leading M-by-N part of this array must contain the
+          matrix A.
+          On entry, if SIDE = 'R', and TRANS =  'N', or
+                       SIDE = 'L', and TRANS &lt;&gt; 'T',
+          the leading N-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
+          l = M  when  SIDE = 'L', and TRANS =  'N', or
+                       SIDE = 'R', and TRANS &lt;&gt; 'T';
+          l = N  when  SIDE = 'R', and TRANS =  'N', or
+                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
+          p = M  when  SIDE = 'L';
+          p = N  when  SIDE = 'R'.
+          On entry, the leading N-by-M part, if SIDE = 'L', or
+          M-by-N part, if SIDE = 'R', of this array must contain the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N), if SIDE = 'L';
+          LDB &gt;= MAX(1,M), if SIDE = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is evaluated taking the triangular
+  structure into account. A block algorithm is used.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The main application of this routine is when the result should
+  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
+  B = op( A )'*X, for (2), where B is already available and X = X'.
+  The required triangle only is computed and overwritten, contrary
+  to a general matrix multiplication operation.
+
+  This is a BLAS 3 version of the SLICOT Library routine MB01RX.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RD.html b/doc/_static/doc/MB01RD.html
new file mode 100644
index 00000000..6a85bc75
--- /dev/null
+++ b/doc/_static/doc/MB01RD.html
@@ -0,0 +1,219 @@
+<HTML>
+<HEAD><TITLE>MB01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RD">MB01RD</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+     _
+     R = alpha*R + beta*op( A )*X*op( A )',
+                                              _
+  where alpha and beta are scalars, R, X, and R are symmetric
+  matrices, A is a general matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1                                         _
+          Specifies which triangles of the symmetric matrices R, R,
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R and the number of rows
+          of the matrix op( A ).  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix X and the number of columns of the
+          the matrix op( A ).  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call (which is possible only in this case).
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R; the strictly
+          lower triangular part of the array is used as workspace.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R; the strictly
+          upper triangular part of the array is used as workspace.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R. If beta &lt;&gt; 0, the remaining
+          strictly triangular part of this array contains the
+          corresponding part of the matrix expression
+          beta*op( A )*T*op( A )', where T is the triangular matrix
+          defined in the Method section.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
+          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+          TRANS = 'C'.
+          On entry with TRANS = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,l),
+          where l is M when TRANS = 'N' and is N when TRANS = 'T' or
+          TRANS = 'C'.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          On exit, each diagonal element of this array has half its
+          input value, but the other elements are not modified.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array (with the leading dimension MAX(1,M)) returns the
+          matrix product beta*op( A )*T, where T is the triangular
+          matrix defined in the Method section.
+          This array is not referenced when beta = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,M*N), if  beta &lt;&gt; 0;
+          LDWORK &gt;= 1,          if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = T + T', with T an upper or
+  lower triangular matrix, defined by
+
+     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
+     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+
+     op( A )*X*op( A )' = B + B',
+
+  where B := op( A )*T*op( A )'. Matrix B is not symmetric, but it
+  can be written as tri( B ) + stri( B ), where tri denotes the
+  triangular part specified by UPLO, and stri denotes the remaining
+  strictly triangular part. Let R = V + V', with V defined as T
+  above. Then, the required triangular part of the result can be
+  written as
+
+     alpha*V + beta*tri( B )  + beta*(stri( B ))' +
+              alpha*diag( V ) + beta*diag( tri( B ) ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+      2             2
+     M x N + 1/2 x N x M
+
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RH.html b/doc/_static/doc/MB01RH.html
new file mode 100644
index 00000000..38ad03c9
--- /dev/null
+++ b/doc/_static/doc/MB01RH.html
@@ -0,0 +1,192 @@
+<HTML>
+<HEAD><TITLE>MB01RH - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RH">MB01RH</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta op(H) X op(H)' with R, X symmetric and H upper Hessenberg
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+
+     R := alpha*R + beta*op( H )*X*op( H )',
+
+  where alpha and beta are scalars, R and X are symmetric matrices,
+  H is an upper Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDH, LDR, LDWORK, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), H(LDH,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, H, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R. 
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the leading N-by-N upper Hessenberg part of this
+          array must contain the upper Hessenberg matrix H.
+          If TRANS = 'N', the entries 3, 4,..., N of the first
+          column are modified internally, but are restored on exit.
+          The remaining part of this array is not referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = U + L, with U and L upper and
+  lower triangular matrices, defined by
+
+     U = triu( X ) - (1/2)*diag( X ),
+     L = tril( X ) - (1/2)*diag( X ),
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+  if UPLO = 'U',
+
+     H*X*H' = ( H*U )*H' + H*( H*U )',  for TRANS = 'N',
+     H'*X*H = H'*( U*H ) + ( U*H )'*H,  for TRANS = 'T', or 'C',
+
+  and if UPLO = 'L',
+
+     H*X*H' = ( H*L' )*H' + H*( H*L' )',  for TRANS = 'N',
+     H'*X*H = H'*( L'*H ) + ( L'*H )'*H,  for TRANS = 'T', or 'C',
+
+  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
+  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
+  are upper Hessenberg.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RT.html b/doc/_static/doc/MB01RT.html
new file mode 100644
index 00000000..d8f60d68
--- /dev/null
+++ b/doc/_static/doc/MB01RT.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB01RT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RT">MB01RT</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta op(E) X op(E)' with R, X symmetric and E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+
+     R := alpha*R + beta*op( E )*X*op( E )',
+
+  where alpha and beta are scalars, R and X are symmetric matrices,
+  E is an upper triangular matrix, and op( E ) is one of
+
+     op( E ) = E   or   op( E ) = E'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDE, LDR, LDWORK, LDX, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(LDE,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( E ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( E ) = E;
+          = 'T':  op( E ) = E';
+          = 'C':  op( E ) = E'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, E, and X.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then E and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          In both cases, the other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix E.
+          The remaining part of this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = U + L, with U and L upper and
+  lower triangular matrices, defined by
+
+     U = triu( X ) - (1/2)*diag( X ),
+     L = tril( X ) - (1/2)*diag( X ),
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+  if UPLO = 'U',
+
+     E*X*E' = ( E*U )*E' + E*( E*U )',  for TRANS = 'N',
+     E'*X*E = E'*( U*E ) + ( U*E )'*E,  for TRANS = 'T', or 'C',
+
+  and if UPLO = 'L',
+
+     E*X*E' = ( E*L' )*E' + E*( E*L' )',  for TRANS = 'N',
+     E'*X*E = E'*( L'*E ) + ( L'*E )'*E,  for TRANS = 'T', or 'C',
+
+  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
+  This approach ensures that the matrices E*U, U*E, E*L', or L'*E
+  are upper triangular.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately N**3/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RU.html b/doc/_static/doc/MB01RU.html
new file mode 100644
index 00000000..0a94bafd
--- /dev/null
+++ b/doc/_static/doc/MB01RU.html
@@ -0,0 +1,198 @@
+<HTML>
+<HEAD><TITLE>MB01RU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RU">MB01RU</A></H2>
+<H3>
+Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric (MB01RD variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+     _
+     R = alpha*R + beta*op( A )*X*op( A )',
+                                              _
+  where alpha and beta are scalars, R, X, and R are symmetric
+  matrices, A is a general matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RU( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+     $                   X, LDX, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R
+          and X are given as follows:
+          = 'U':  the upper triangular part is given;
+          = 'L':  the lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R and the number of rows
+          of the matrix op( A ).  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix X and the number of columns of the
+          the matrix op( A ).  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry, except when R is identified with X in
+          the call.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and X are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R. When R is identified with X in
+          the call, after exit, the diagonal entries of R must be
+          divided by 2.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
+          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+          TRANS = 'C'.
+          On entry with TRANS = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,k),
+          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
+          TRANS = 'C'.
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          The diagonal elements of this array are modified
+          internally, but are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This array is not referenced when beta = 0, or M*N = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= M*N, if  beta &lt;&gt; 0;
+          LDWORK &gt;= 0,   if  beta =  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the symmetry
+  into account. Specifically, let X = T + T', with T an upper or
+  lower triangular matrix, defined by
+
+     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
+     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
+
+  where triu, tril, and diag denote the upper triangular part, lower
+  triangular part, and diagonal part of X, respectively. Then,
+
+     A*X*A' = ( A*T )*A' + A*( A*T )',  for TRANS = 'N',
+     A'*X*A = A'*( T*A ) + ( T*A )'*A,  for TRANS = 'T', or 'C',
+
+  which involve BLAS 3 operations (DTRMM and DSYR2K).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+
+      2             2
+     M x N + 1/2 x N x M
+
+  operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This is a simpler version for MB01RD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RW.html b/doc/_static/doc/MB01RW.html
new file mode 100644
index 00000000..c1693b7e
--- /dev/null
+++ b/doc/_static/doc/MB01RW.html
@@ -0,0 +1,130 @@
+<HTML>
+<HEAD><TITLE>MB01RW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RW">MB01RW</A></H2>
+<H3>
+Computation of matrix expression alpha A X trans(A), X symmetric (BLAS 2 version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transformation of the symmetric matrix A by the
+  matrix Z in the form
+
+     A := op(Z)*A*op(Z)',
+
+  where op(Z) is either Z or its transpose, Z'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RW( UPLO, TRANS, M, N, A, LDA, Z, LDZ, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS, UPLO
+      INTEGER           INFO, LDA, LDZ, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies whether the upper or lower triangle of A
+          is stored:
+          = 'U':  Upper triangle of A is stored;
+          = 'L':  Lower triangle of A is stored.
+
+  TRANS   CHARACTER*1
+          Specifies whether op(Z) is Z or its transpose Z':
+          = 'N':  op(Z) = Z;
+          = 'T':  op(Z) = Z'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the resulting symmetric matrix op(Z)*A*op(Z)'
+          and the number of rows of the matrix Z, if TRANS = 'N',
+          or the number of columns of the matrix Z, if TRANS = 'T'.
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the symmetric matrix A and the number of
+          columns of the matrix Z, if TRANS = 'N', or the number of
+          rows of the matrix Z, if TRANS = 'T'.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA,MAX(M,N))
+          On entry, the leading N-by-N upper or lower triangular
+          part of this array must contain the upper (UPLO = 'U')
+          or lower (UPLO = 'L') triangular part of the symmetric
+          matrix A.
+          On exit, the leading M-by-M upper or lower triangular
+          part of this array contains the upper (UPLO = 'U') or
+          lower (UPLO = 'L') triangular part of the symmetric
+          matrix op(Z)*A*op(Z)'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M,N).
+
+  Z       (input) DOUBLE PRECISION array, dimension (LDQ,K)
+          where K = N if TRANS = 'N' and K = M if TRANS = 'T'.
+          The leading M-by-N part, if TRANS = 'N', or N-by-M part,
+          if TRANS = 'T', of this array contains the matrix Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= MAX(1,M) if TRANS = 'N' and
+          LDZ &gt;= MAX(1,N) if TRANS = 'T'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This is a simpler, BLAS 2 version for MB01RD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RX.html b/doc/_static/doc/MB01RX.html
new file mode 100644
index 00000000..04c6c921
--- /dev/null
+++ b/doc/_static/doc/MB01RX.html
@@ -0,0 +1,192 @@
+<HTML>
+<HEAD><TITLE>MB01RX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RX">MB01RX</A></H2>
+<H3>
+Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either the upper or lower triangular part of one of the
+  matrix formulas
+     _
+     R = alpha*R + beta*op( A )*B,                               (1)
+     _
+     R = alpha*R + beta*B*op( A ),                               (2)
+                                          _
+  where alpha and beta are scalars, R and R are m-by-m matrices,
+  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
+  and m-by-n matrices for (2), respectively, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A',  the transpose of A.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RX( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
+     $                   A, LDA, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDR, M, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the matrix A appears on the left or
+          right in the matrix product as follows:
+                  _
+          = 'L':  R = alpha*R + beta*op( A )*B;
+                  _
+          = 'R':  R = alpha*R + beta*B*op( A ).
+
+  UPLO    CHARACTER*1                               _
+          Specifies which triangles of the matrices R and R are
+          computed and given, respectively, as follows:
+          = 'U':  the upper triangular part;
+          = 'L':  the lower triangular part.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R and R, the number of rows of
+          the matrix op( A ) and the number of columns of the
+          matrix B, for SIDE = 'L', or the number of rows of the
+          matrix B and the number of columns of the matrix op( A ),
+          for SIDE = 'R'.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix B and the number of
+          columns of the matrix op( A ), for SIDE = 'L', or the
+          number of rows of the matrix op( A ) and the number of
+          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then A and B are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix R; the strictly lower
+          triangular part of the array is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix R; the strictly upper
+          triangular part of the array is not referenced.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
+          k = N  when  SIDE = 'L', and TRANS = 'N', or
+                       SIDE = 'R', and TRANS = 'T';
+          k = M  when  SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS = 'T'.
+          On entry, if SIDE = 'L', and TRANS = 'N', or
+                       SIDE = 'R', and TRANS = 'T',
+          the leading M-by-N part of this array must contain the
+          matrix A.
+          On entry, if SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS = 'T',
+          the leading N-by-M part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
+          l = M  when  SIDE = 'L', and TRANS = 'N', or
+                       SIDE = 'R', and TRANS = 'T';
+          l = N  when  SIDE = 'R', and TRANS = 'N', or
+                       SIDE = 'L', and TRANS = 'T'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
+          p = M  when  SIDE = 'L';
+          p = N  when  SIDE = 'R'.
+          On entry, the leading N-by-M part, if SIDE = 'L', or
+          M-by-N part, if SIDE = 'R', of this array must contain the
+          matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N), if SIDE = 'L';
+          LDB &gt;= MAX(1,M), if SIDE = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is evaluated taking the triangular
+  structure into account. BLAS 2 operations are used. A block
+  algorithm can be easily constructed; it can use BLAS 3 GEMM
+  operations for most computations, and calls of this BLAS 2
+  algorithm for computing the triangles.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The main application of this routine is when the result should
+  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
+  B = op( A )'*X, for (2), where B is already available and X = X'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01RY.html b/doc/_static/doc/MB01RY.html
new file mode 100644
index 00000000..1ae0683d
--- /dev/null
+++ b/doc/_static/doc/MB01RY.html
@@ -0,0 +1,174 @@
+<HTML>
+<HEAD><TITLE>MB01RY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01RY">MB01RY</A></H2>
+<H3>
+Computation of a triangle of matrix expression alpha R + beta H B or alpha R + beta B H, H upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute either the upper or lower triangular part of one of the
+  matrix formulas
+     _
+     R = alpha*R + beta*op( H )*B,                               (1)
+     _
+     R = alpha*R + beta*B*op( H ),                               (2)
+                                                 _
+  where alpha and beta are scalars, H, B, R, and R are m-by-m
+  matrices, H is an upper Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H',  the transpose of H.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01RY( SIDE, UPLO, TRANS, M, ALPHA, BETA, R, LDR, H,
+     $                   LDH, B, LDB, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDB, LDH, LDR, M
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), DWORK(*), H(LDH,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the Hessenberg matrix H appears on the
+          left or right in the matrix product as follows:
+                  _
+          = 'L':  R = alpha*R + beta*op( H )*B;
+                  _
+          = 'R':  R = alpha*R + beta*B*op( H ).
+
+  UPLO    CHARACTER*1                               _
+          Specifies which triangles of the matrices R and R are
+          computed and given, respectively, as follows:
+          = 'U':  the upper triangular part;
+          = 'L':  the lower triangular part.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER           _
+          The order of the matrices R, R, H and B.  M &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then R need not be
+          set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then H and B are not
+          referenced.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry with UPLO = 'U', the leading M-by-M upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix R; the strictly lower
+          triangular part of the array is not referenced.
+          On entry with UPLO = 'L', the leading M-by-M lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix R; the strictly upper
+          triangular part of the array is not referenced.
+          On exit, the leading M-by-M upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,M)
+          On entry, the leading M-by-M upper Hessenberg part of
+          this array must contain the upper Hessenberg part of the
+          matrix H.
+          The elements below the subdiagonal are not referenced,
+          except possibly for those in the first column, which
+          could be overwritten, but are restored on exit.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading M-by-M part of this array must
+          contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          LDWORK &gt;= M, if  beta &lt;&gt; 0 and SIDE = 'L';
+          LDWORK &gt;= 0, if  beta =  0 or  SIDE = 'R'.
+          This array is not referenced when beta = 0 or SIDE = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression is efficiently evaluated taking the
+  Hessenberg/triangular structure into account. BLAS 2 operations
+  are used. A block algorithm can be constructed; it can use BLAS 3
+  GEMM operations for most computations, and calls of this BLAS 2
+  algorithm for computing the triangles.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The main application of this routine is when the result should
+  be a symmetric matrix, e.g., when B = X*op( H )', for (1), or
+  B = op( H )'*X, for (2), where B is already available and X = X'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01SD.html b/doc/_static/doc/MB01SD.html
new file mode 100644
index 00000000..63b45d63
--- /dev/null
+++ b/doc/_static/doc/MB01SD.html
@@ -0,0 +1,97 @@
+<HTML>
+<HEAD><TITLE>MB01SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01SD">MB01SD</A></H2>
+<H3>
+Scaling a rectangular matrix using given row and column scaling factors
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale a general M-by-N matrix A using the row and column
+  scaling factors in the vectors R and C.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01SD( JOBS, M, N, A, LDA, R, C )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBS
+      INTEGER            LDA, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), C(*), R(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBS    CHARACTER*1
+          Specifies the scaling operation to be done, as follows:
+          = 'R':  row scaling, i.e., A will be premultiplied
+                  by diag(R);
+          = 'C':  column scaling, i.e., A will be postmultiplied
+                  by diag(C);
+          = 'B':  both row and column scaling, i.e., A will be
+                  replaced by diag(R) * A * diag(C).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the M-by-N matrix A.
+          On exit, the scaled matrix.  See JOBS for the form of the
+          scaled matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  R       (input) DOUBLE PRECISION array, dimension (M)
+          The row scale factors for A.
+          R is not referenced if JOBS = 'C'.
+
+  C       (input) DOUBLE PRECISION array, dimension (N)
+          The column scale factors for A.
+          C is not referenced if JOBS = 'R'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01SS.html b/doc/_static/doc/MB01SS.html
new file mode 100644
index 00000000..1b5534c9
--- /dev/null
+++ b/doc/_static/doc/MB01SS.html
@@ -0,0 +1,103 @@
+<HTML>
+<HEAD><TITLE>MB01SS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01SS">MB01SS</A></H2>
+<H3>
+Symmetric scaling of a symmetric matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale a symmetric N-by-N matrix A using the row and column
+  scaling factors stored in the vector D.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01SS( JOBS, UPLO, N, A, LDA, D )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBS, UPLO
+      INTEGER            LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBS    CHARACTER*1
+          Specifies the scaling operation to be done, as follows:
+          = 'D':  row and column scaling with D, i.e., A will be
+                  transformed to diag(D)*A*diag(D);
+          = 'I':  row and column scaling with inv(D), i.e., A will
+                  be transformed to inv(diag(D))*A*inv(diag(D)).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrix A is stored, as
+          follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the symmetric
+          matrix A.
+          On exit, the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array contains the corresponding triangular part
+          of the matrix diag(D)*A*diag(D), if JOBS = 'D', or of the
+          matrix inv(diag(D))*A*inv(diag(D)), JOBS = 'I'.
+          The stricly lower triangular part (if UPLO = 'U') or
+          stricly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (N)
+          The diagonal elements of the diagonal matrix D.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01TD.html b/doc/_static/doc/MB01TD.html
new file mode 100644
index 00000000..40f38c3d
--- /dev/null
+++ b/doc/_static/doc/MB01TD.html
@@ -0,0 +1,176 @@
+<HTML>
+<HEAD><TITLE>MB01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01TD">MB01TD</A></H2>
+<H3>
+Computation of A B in B, with A and B upper quasi-triangular matrices with the same structure
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product A * B, where A and B are upper
+  quasi-triangular matrices (that is, block upper triangular with
+  1-by-1 or 2-by-2 diagonal blocks) with the same structure.
+  The result is returned in the array B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix A. The elements below the
+          subdiagonal are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix B, with the same
+          structure as matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the computed product A * B, with the same structure as
+          on entry.
+          The elements below the subdiagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N-1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrices A and B have not the same structure,
+                and/or A and B are not upper quasi-triangular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product A * B is computed column by column, using
+  BLAS 2 and BLAS 1 operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine can be used, for instance, for computing powers of
+  a real Schur form matrix.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB01TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX-1 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         MB01TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+*        Compute the matrix product A*B.
+         CALL MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB01TD = ',I2)
+99997 FORMAT (' The matrix product A*B is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB01TD EXAMPLE PROGRAM DATA
+   5
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   0.    0.    1.    5.    1.
+   0.    0.    0.    0.   -4.
+   0.    0.    0.   20.    4.
+   5.    5.    1.    5.    1.
+  -2.    1.    3.    0.   -4.
+   0.    0.    4.   20.    4.
+   0.    0.    0.    3.    5.
+   0.    0.    0.    1.   -2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB01TD EXAMPLE PROGRAM RESULTS
+
+ The matrix product A*B is 
+   1.0000   7.0000  31.0000 139.0000  22.0000
+  -8.0000 -11.0000  -9.0000 -32.0000   2.0000
+   0.0000   0.0000   4.0000  36.0000  27.0000
+   0.0000   0.0000   0.0000  -4.0000   8.0000
+   0.0000   0.0000   0.0000  64.0000  92.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01UD.html b/doc/_static/doc/MB01UD.html
new file mode 100644
index 00000000..7dcd7c4e
--- /dev/null
+++ b/doc/_static/doc/MB01UD.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MB01UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UD">MB01UD</A></H2>
+<H3>
+Computation of matrix expressions alpha H A or alpha A H, H Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+     B = alpha*op( H ) * A, or B = alpha*A * op( H ),
+
+  where alpha is a scalar, A and B are m-by-n matrices, H is an
+  upper Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H',  the transpose of H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UD( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA, B,
+     $                   LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS
+      INTEGER           INFO, LDA, LDB, LDH, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the Hessenberg matrix H appears on the
+          left or right in the matrix product as follows:
+          = 'L':  B = alpha*op( H ) * A;
+          = 'R':  B = alpha*A * op( H ).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices A and B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices A and B.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then H is not
+          referenced and A need not be set before entry.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with SIDE = 'L', the leading M-by-M upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          On entry with SIDE = 'R', the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          The elements below the subdiagonal are not referenced,
+          except possibly for those in the first column, which
+          could be overwritten, but are restored on exit.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading M-by-N part of this array contains the
+          computed product.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The required matrix product is computed in two steps. In the first
+  step, the upper triangle of H is used; in the second step, the
+  contribution of the subdiagonal is added. A fast BLAS 3 DTRMM
+  operation is used in the first step.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01UW.html b/doc/_static/doc/MB01UW.html
new file mode 100644
index 00000000..b010a40e
--- /dev/null
+++ b/doc/_static/doc/MB01UW.html
@@ -0,0 +1,154 @@
+<HTML>
+<HEAD><TITLE>MB01UW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UW">MB01UW</A></H2>
+<H3>
+Computation of matrix expressions alpha H A or alpha A H, over A, H Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+     A : = alpha*op( H ) * A, or A : = alpha*A * op( H ),
+
+  where alpha is a scalar, A is an m-by-n matrix, H is an upper
+  Hessenberg matrix, and op( H ) is one of
+
+     op( H ) = H   or   op( H ) = H',  the transpose of H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UW( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS
+      INTEGER           INFO, LDA, LDH, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the Hessenberg matrix H appears on the
+          left or right in the matrix product as follows:
+          = 'L':  A := alpha*op( H ) * A;
+          = 'R':  A := alpha*A * op( H ).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( H ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( H ) = H;
+          = 'T':  op( H ) = H';
+          = 'C':  op( H ) = H'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then H is not
+          referenced and A need not be set before entry.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with SIDE = 'L', the leading M-by-M upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          On entry with SIDE = 'R', the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg matrix H.
+          The elements below the subdiagonal are not referenced,
+          except possibly for those in the first column, which
+          could be overwritten, but are restored on exit.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the computed product.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, alpha &lt;&gt; 0, and LDWORK &gt;= M*N &gt; 0,
+          DWORK contains a copy of the matrix A, having the leading
+          dimension M.
+          This array is not referenced when alpha = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= 0,   if  alpha =  0 or MIN(M,N) = 0;
+          LDWORK &gt;= M-1, if  SIDE  = 'L';
+          LDWORK &gt;= N-1, if  SIDE  = 'R'.
+          For maximal efficiency LDWORK should be at least M*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The required matrix product is computed in two steps. In the first
+  step, the upper triangle of H is used; in the second step, the
+  contribution of the subdiagonal is added. If the workspace can
+  accomodate a copy of A, a fast BLAS 3 DTRMM operation is used in
+  the first step.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01UX.html b/doc/_static/doc/MB01UX.html
new file mode 100644
index 00000000..2ed581ae
--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB01UX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UX">MB01UX</A></H2>
+<H3>
+Computation of matrix expressions alpha T A or alpha A T, over A, T quasi-triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+    A : = alpha*op( T ) * A, or A : = alpha*A * op( T ),
+
+  where alpha is a scalar, A is an m-by-n matrix, T is a quasi-
+  triangular matrix, and op( T ) is one of
+
+     op( T ) = T   or   op( T ) = T',  the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UX( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDT, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the upper quasi-triangular matrix H
+          appears on the left or right in the matrix product as
+          follows:
+          = 'L':  A := alpha*op( T ) * A;
+          = 'R':  A := alpha*A * op( T ).
+
+  UPLO    CHARACTER*1.
+          Specifies whether the matrix T is an upper or lower
+          quasi-triangular matrix as follows:
+          = 'U':  T is an upper quasi-triangular matrix;
+          = 'L':  T is a lower quasi-triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then T is not
+          referenced and A need not be set before entry.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,k)
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with UPLO = 'U', the leading k-by-k upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T. The elements below the
+          subdiagonal are not referenced.
+          On entry with UPLO = 'L', the leading k-by-k lower
+          Hessenberg part of this array must contain the lower
+          quasi-triangular matrix T. The elements above the
+          supdiagonal are not referenced.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the computed product.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 and ALPHA&lt;&gt;0,  DWORK(1)  returns the
+          optimal value of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          This array is not referenced when alpha = 0.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= 1,       if alpha =  0 or MIN(M,N) = 0;
+          LDWORK &gt;= 2*(M-1), if SIDE  = 'L';
+          LDWORK &gt;= 2*(N-1), if SIDE  = 'R'.
+          For maximal efficiency LDWORK should be at least
+          NOFF*N + M - 1,    if SIDE  = 'L';
+          NOFF*M + N - 1,    if SIDE  = 'R';
+          where NOFF is the number of nonzero elements on the
+          subdiagonal (if UPLO = 'U') or supdiagonal (if UPLO = 'L')
+          of T.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The technique used in this routine is similiar to the technique
+  used in the SLICOT [1] subroutine MB01UW developed by Vasile Sima.
+  The required matrix product is computed in two steps. In the first
+  step, the triangle of T specified by UPLO is used; in the second
+  step, the contribution of the sub-/supdiagonal is added. If the
+  workspace can accommodate parts of A, a fast BLAS 3 DTRMM
+  operation is used in the first step.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., Sima, V., Van Huffel, S., and
+      Varga, A.
+      SLICOT - A subroutine library in systems and control theory.
+      In: Applied and computational control, signals, and circuits,
+      Vol. 1, pp. 499-539, Birkhauser, Boston, 1999.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01UY.html b/doc/_static/doc/MB01UY.html
new file mode 100644
index 00000000..6b676cdc
--- /dev/null
+++ b/doc/_static/doc/MB01UY.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>MB01UY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UY">MB01UY</A></H2>
+<H3>
+Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
+
+  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
+  matrix, and op( T ) is one of
+
+     op( T ) = T   or   op( T ) = T',  the transpose of T.
+
+  A block-row/column algorithm is used, if possible. The result
+  overwrites the array T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UY( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDT, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the triangular matrix T appears on the
+          left or right in the matrix product, as follows:
+          = 'L':  T := alpha*op( T ) * A;
+          = 'R':  T := alpha*A * op( T ).
+
+  UPLO    CHARACTER*1.
+          Specifies whether the matrix T is an upper or lower
+          triangular matrix, as follows:
+          = 'U':  T is an upper triangular matrix;
+          = 'L':  T is a lower triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then T and A need not
+          be set before entry.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,max(K,N)), when SIDE = 'L', and
+          (LDT,K),        when SIDE = 'R',
+          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
+          On entry with UPLO = 'U', the leading K-by-K upper
+          triangular part of this array must contain the upper
+          triangular matrix T. The elements below the diagonal
+          do not need to be zero.
+          On entry with UPLO = 'L', the leading K-by-K lower
+          triangular part of this array must contain the lower
+          triangular matrix T. The elements above the diagonal
+          do not need to be zero.
+          On exit, the leading M-by-N part of this array contains
+          the corresponding product defined by SIDE, UPLO, and
+          TRANS.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= max(1,M),    if SIDE = 'L';
+          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
+          LDWORK &gt;= M, if SIDE = 'L';
+          LDWORK &gt;= N, if SIDE = 'R'.
+          For good performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A block-row/column size is found based on the available workspace.
+  BLAS 3 gemm and trmm are used if possible.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01UZ.html b/doc/_static/doc/MB01UZ.html
new file mode 100644
index 00000000..e737b56a
--- /dev/null
+++ b/doc/_static/doc/MB01UZ.html
@@ -0,0 +1,171 @@
+<HTML>
+<HEAD><TITLE>MB01UZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01UZ">MB01UZ</A></H2>
+<H3>
+Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular (complex version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute one of the matrix products
+
+    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
+
+  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
+  matrix, and op( T ) is one of
+
+     op( T ) = T,  or  op( T ) = T',  the transpose of T, or
+     op( T ) = conj(T'),              the conjugate transpose of T.
+
+  A block-row/column algorithm is used, if possible. The result
+  overwrites the array T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01UZ( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         SIDE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDT, LZWORK, M, N
+      COMPLEX*16        ALPHA
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), T(LDT,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the triangular matrix T appears on the
+          left or right in the matrix product, as follows:
+          = 'L':  T := alpha * op( T ) * A;
+          = 'R':  T := alpha * A * op( T ).
+
+  UPLO    CHARACTER*1.
+          Specifies whether the matrix T is an upper or lower
+          triangular matrix, as follows:
+          = 'U':  T is an upper triangular matrix;
+          = 'L':  T is a lower triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = conj(T').
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  ALPHA   (input) COMPLEX*16
+          The scalar alpha. When alpha is zero then T and A need not
+          be set before entry.
+
+  T       (input/output) COMPLEX*16 array, dimension
+          (LDT,max(K,N)), when SIDE = 'L', and
+          (LDT,K),        when SIDE = 'R',
+          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
+          On entry with UPLO = 'U', the leading K-by-K upper
+          triangular part of this array must contain the upper
+          triangular matrix T. The elements below the diagonal
+          do not need to be zero.
+          On entry with UPLO = 'L', the leading K-by-K lower
+          triangular part of this array must contain the lower
+          triangular matrix T. The elements above the diagonal
+          do not need to be zero.
+          On exit, the leading M-by-N part of this array contains
+          the corresponding product defined by SIDE, UPLO, and
+          TRANS.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= max(1,M),    if SIDE = 'L';
+          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0,  ZWORK(1)  returns the optimal value
+          of LZWORK.
+          On exit, if  INFO = -12,  ZWORK(1)  returns the minimum
+          value of LZWORK.
+
+  LZWORK  The length of the array ZWORK.
+          LZWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
+          LZWORK &gt;= M, if SIDE  = 'L';
+          LZWORK &gt;= N, if SIDE  = 'R'.
+          For good performance, LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A block-row/column size is found based on the available workspace.
+  BLAS 3 gemm and trmm are used if possible.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01VD.html b/doc/_static/doc/MB01VD.html
new file mode 100644
index 00000000..2e4840db
--- /dev/null
+++ b/doc/_static/doc/MB01VD.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>MB01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01VD">MB01VD</A></H2>
+<H3>
+Kronecker product of two matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the following matrix operation
+
+     C = alpha*kron( op(A), op(B) ) + beta*C,
+
+  where alpha and beta are real scalars, op(M) is either matrix M or
+  its transpose, M', and kron( X, Y ) denotes the Kronecker product
+  of the matrices X and Y.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01VD( TRANA, TRANB, MA, NA, MB, NB, ALPHA, BETA,
+     $                   A, LDA, B, LDB, C, LDC, MC, NC, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANA, TRANB
+      INTEGER           INFO, LDA, LDB, LDC, MA, MB, MC, NA, NB, NC
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used as follows:
+          = 'N':  op(A) = A;
+          = 'T':  op(A) = A';
+          = 'C':  op(A) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op(B) to be used as follows:
+          = 'N':  op(B) = B;
+          = 'T':  op(B) = B';
+          = 'C':  op(B) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MA      (input) INTEGER
+          The number of rows of the matrix op(A).  MA &gt;= 0.
+
+  NA      (input) INTEGER
+          The number of columns of the matrix op(A).  NA &gt;= 0.
+
+  MB      (input) INTEGER
+          The number of rows of the matrix op(B).  MB &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns of the matrix op(B).  NB &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then A and B need not
+          be set before entry.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then C need not be
+          set before entry.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,ka),
+          where ka is NA when TRANA = 'N', and is MA otherwise.
+          If TRANA = 'N', the leading MA-by-NA part of this array
+          must contain the matrix A; otherwise, the leading NA-by-MA
+          part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= max(1,MA), if TRANA = 'N';
+          LDA &gt;= max(1,NA), if TRANA = 'T' or 'C'.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,kb)
+          where kb is NB when TRANB = 'N', and is MB otherwise.
+          If TRANB = 'N', the leading MB-by-NB part of this array
+          must contain the matrix B; otherwise, the leading NB-by-MB
+          part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= max(1,MB), if TRANB = 'N';
+          LDB &gt;= max(1,NB), if TRANB = 'T' or 'C'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
+          On entry, if beta is nonzero, the leading MC-by-NC part of
+          this array must contain the given matric C, where
+          MC = MA*MB and NC = NA*NB.
+          On exit, the leading MC-by-NC part of this array contains
+          the computed matrix expression
+          C = alpha*kron( op(A), op(B) ) + beta*C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= max(1,MC).
+
+  MC      (output) INTEGER
+          The number of rows of the matrix C.  MC = MA*MB.
+
+  NC      (output) INTEGER
+          The number of columns of the matrix C.  NC = NA*NB.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Kronecker product of the matrices op(A) and op(B) is computed
+  column by column.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The multiplications by zero elements in A are avoided, if the
+  matrix A is considered to be sparse, i.e., if
+  (number of zeros in A)/(MA*NA) &gt;= SPARST = 0.8. The code makes
+  NB+1 passes through the matrix A, and MA*NA passes through the
+  matrix B. If LDA and/or LDB are very large, and op(A) = A' and/or
+  op(B) = B', it could be more efficient to transpose A and/or B
+  before calling this routine, and use the 'N' values for TRANA
+  and/or TRANB.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01WD.html b/doc/_static/doc/MB01WD.html
new file mode 100644
index 00000000..442ec939
--- /dev/null
+++ b/doc/_static/doc/MB01WD.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01WD">MB01WD</A></H2>
+<H3>
+Residuals of Lyapunov or Stein equations for Cholesky factored solutions
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix formula
+  _
+  R = alpha*( op( A )'*op( T )'*op( T ) + op( T )'*op( T )*op( A ) )
+      + beta*R,                                                  (1)
+
+  if DICO = 'C', or
+  _
+  R = alpha*( op( A )'*op( T )'*op( T )*op( A ) -  op( T )'*op( T ))
+      + beta*R,                                                  (2)
+                                                          _
+  if DICO = 'D', where alpha and beta are scalars, R, and R are
+  symmetric matrices, T is a triangular matrix, A is a general or
+  Hessenberg matrix, and op( M ) is one of
+
+     op( M ) = M   or   op( M ) = M'.
+
+  The result is overwritten on R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01WD( DICO, UPLO, TRANS, HESS, N, ALPHA, BETA, R,
+     $                   LDR, A, LDA, T, LDT, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HESS, TRANS, UPLO
+      INTEGER           INFO, LDA, LDR, LDT, N
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), R(LDR,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the formula to be evaluated, as follows:
+          = 'C':  formula (1), "continuous-time" case;
+          = 'D':  formula (2), "discrete-time" case.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrix R and
+          triangular matrix T are given, as follows:
+          = 'U':  the upper triangular parts of R and T are given;
+          = 'L':  the lower triangular parts of R and T are given;
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( M ) to be used, as follows:
+          = 'N':  op( M ) = M;
+          = 'T':  op( M ) = M';
+          = 'C':  op( M ) = M'.
+
+  HESS    CHARACTER*1
+          Specifies the form of the matrix A, as follows:
+          = 'F':  matrix A is full;
+          = 'H':  matrix A is Hessenberg (or Schur), either upper
+                  (if UPLO = 'U'), or lower (if UPLO = 'L').
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices R, A, and T.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then the arrays A
+          and T are not referenced.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then the array R need
+          not be set before entry.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix R.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix R.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+                              _
+          the computed matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If HESS = 'H' the elements below the
+          first subdiagonal, if UPLO = 'U', or above the first
+          superdiagonal, if UPLO = 'L', need not be set to zero,
+          and are not referenced if DICO = 'D'.
+          On exit, the leading N-by-N part of this array contains
+          the following matrix product
+             alpha*T'*T*A, if TRANS = 'N', or
+             alpha*A*T*T', otherwise,
+          if DICO = 'C', or
+             T*A, if TRANS = 'N', or
+             A*T, otherwise,
+          if DICO = 'D' (and in this case, these products have a
+          Hessenberg form, if HESS = 'H').
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular matrix T and
+          the strictly lower triangular part need not be set to zero
+          (and it is not referenced).
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular matrix T and
+          the strictly upper triangular part need not be set to zero
+          (and it is not referenced).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expression (1) or (2) is efficiently evaluated taking
+  the structure into account. BLAS 3 operations (DTRMM, DSYRK and
+  their specializations) are used throughout.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If A is a full matrix, the algorithm requires approximately
+   3
+  N  operations, if DICO = 'C';
+         3
+  7/6 x N  operations, if DICO = 'D'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01XD.html b/doc/_static/doc/MB01XD.html
new file mode 100644
index 00000000..cbbd339c
--- /dev/null
+++ b/doc/_static/doc/MB01XD.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>MB01XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01XD">MB01XD</A></H2>
+<H3>
+Computing U' U or L L', with U and L upper and lower triangular matrices (block algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product U' * U or L * L', where U and L are
+  upper and lower triangular matrices, respectively, stored in the
+  corresponding upper or lower triangular part of the array A.
+
+  If UPLO = 'U' then the upper triangle of the result is stored,
+  overwriting the matrix U in A.
+  If UPLO = 'L' then the lower triangle of the result is stored,
+  overwriting the matrix L in A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01XD( UPLO, N, A, LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle (U or L) is given in the array A,
+          as follows:
+          = 'U':  the upper triangular part U is given;
+          = 'L':  the lower triangular part L is given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the triangular matrices U or L.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular matrix U.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular matrix L.
+          On exit, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the product U' * U. The strictly lower
+          triangular part is not referenced.
+          On exit, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array contains the lower
+          triangular part of the product L * L'. The strictly upper
+          triangular part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product U' * U or L * L' is computed using BLAS 3
+  operations as much as possible (a block algorithm).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a counterpart of LAPACK Library routine DLAUUM,
+  which computes the matrix product U * U' or L' * L.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01XY.html b/doc/_static/doc/MB01XY.html
new file mode 100644
index 00000000..ce736900
--- /dev/null
+++ b/doc/_static/doc/MB01XY.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MB01XY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01XY">MB01XY</A></H2>
+<H3>
+Computing U' U or L L', with U and L upper and lower triangular matrices (unblock algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product U' * U or L * L', where U and L are
+  upper and lower triangular matrices, respectively, stored in the
+  corresponding upper or lower triangular part of the array A.
+
+  If UPLO = 'U' then the upper triangle of the result is stored,
+  overwriting the matrix U in A.
+  If UPLO = 'L' then the lower triangle of the result is stored,
+  overwriting the matrix L in A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01XY( UPLO, N, A, LDA, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle (U or L) is given in the array A,
+          as follows:
+          = 'U':  the upper triangular part U is given;
+          = 'L':  the lower triangular part L is given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the triangular matrices U or L.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular matrix U.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular matrix L.
+          On exit, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the product U' * U. The strictly lower
+          triangular part is not referenced.
+          On exit, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array contains the lower
+          triangular part of the product L * L'. The strictly upper
+          triangular part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product U' * U or L * L' is computed using BLAS 2 and
+  BLAS 1 operations (an unblocked algorithm).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a counterpart of LAPACK Library routine DLAUU2,
+  which computes the matrix product U * U' or L' * L.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01YD.html b/doc/_static/doc/MB01YD.html
new file mode 100644
index 00000000..82d1d351
--- /dev/null
+++ b/doc/_static/doc/MB01YD.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>MB01YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01YD">MB01YD</A></H2>
+<H3>
+Symmetric rank k operation C := alpha op( A ) op( A )' + beta C, C symmetric
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the symmetric rank k operations
+
+     C := alpha*op( A )*op( A )' + beta*C,
+
+  where alpha and beta are scalars, C is an n-by-n symmetric matrix,
+  op( A ) is an n-by-k matrix, and op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  The matrix A has l nonzero codiagonals, either upper or lower.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01YD( UPLO, TRANS, N, K, L, ALPHA, BETA, A, LDA, C,
+     $                   LDC, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS, UPLO
+      INTEGER            INFO, LDA, LDC, K, L, N
+      DOUBLE PRECISION   ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies which triangle of the symmetric matrix C
+          is given and computed, as follows:
+          = 'U':  the upper triangular part is given/computed;
+          = 'L':  the lower triangular part is given/computed.
+          UPLO also defines the pattern of the matrix A (see below).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used, as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix C.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of columns of the matrix op( A ).  K &gt;= 0.
+
+  L       (input) INTEGER
+          If UPLO = 'U', matrix A has L nonzero subdiagonals.
+          If UPLO = 'L', matrix A has L nonzero superdiagonals.
+          MAX(0,NR-1) &gt;= L &gt;= 0, if UPLO = 'U',
+          MAX(0,NC-1) &gt;= L &gt;= 0, if UPLO = 'L',
+          where NR and NC are the numbers of rows and columns of the
+          matrix A, respectively.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then the array A is
+          not referenced.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then the array C need
+          not be set before entry.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,NC), where
+          NC is K when TRANS = 'N', and is N otherwise.
+          If TRANS = 'N', the leading N-by-K part of this array must
+          contain the matrix A, otherwise the leading K-by-N part of
+          this array must contain the matrix A.
+          If UPLO = 'U', only the upper triangular part and the
+          first L subdiagonals are referenced, and the remaining
+          subdiagonals are assumed to be zero.
+          If UPLO = 'L', only the lower triangular part and the
+          first L superdiagonals are referenced, and the remaining
+          superdiagonals are assumed to be zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,NR),
+          where NR = N, if TRANS = 'N', and NR = K, otherwise.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix C.
+          On entry with UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix C.
+          On exit, the leading N-by-N upper triangular part (if
+          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+          this array contains the corresponding triangular part of
+          the updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The calculations are efficiently performed taking the symmetry
+  and structure into account.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The matrix A may have the following patterns, when n = 7, k = 5,
+  and l = 2 are used for illustration:
+
+  UPLO = 'U', TRANS = 'N'         UPLO = 'L', TRANS = 'N'
+
+         [ x x x x x ]                   [ x x x 0 0 ]
+         [ x x x x x ]                   [ x x x x 0 ]
+         [ x x x x x ]                   [ x x x x x ]
+     A = [ 0 x x x x ],              A = [ x x x x x ],
+         [ 0 0 x x x ]                   [ x x x x x ]
+         [ 0 0 0 x x ]                   [ x x x x x ]
+         [ 0 0 0 0 x ]                   [ x x x x x ]
+
+  UPLO = 'U', TRANS = 'T'         UPLO = 'L', TRANS = 'T'
+
+         [ x x x x x x x ]               [ x x x 0 0 0 0 ]
+         [ x x x x x x x ]               [ x x x x 0 0 0 ]
+     A = [ x x x x x x x ],          A = [ x x x x x 0 0 ].
+         [ 0 x x x x x x ]               [ x x x x x x 0 ]
+         [ 0 0 x x x x x ]               [ x x x x x x x ]
+
+  If N = K, the matrix A is upper or lower triangular, for L = 0,
+  and upper or lower Hessenberg, for L = 1.
+
+  This routine is a specialization of the BLAS 3 routine DSYRK.
+  BLAS 1 calls are used when appropriate, instead of in-line code,
+  in order to increase the efficiency. If the matrix A is full, or
+  its zero triangle has small order, an optimized DSYRK code could
+  be faster than MB01YD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB01ZD.html b/doc/_static/doc/MB01ZD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB01ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB01ZD">MB01ZD</A></H2>
+<H3>
+Computing H := alpha op( T ) H, or H := alpha H op( T ), with H Hessenberg-like, T triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product
+
+     H := alpha*op( T )*H,   or   H := alpha*H*op( T ),
+
+  where alpha is a scalar, H is an m-by-n upper or lower
+  Hessenberg-like matrix (with l nonzero subdiagonals or
+  superdiagonals, respectively), T is a unit, or non-unit,
+  upper or lower triangular matrix, and op( T ) is one of
+
+     op( T ) = T   or   op( T ) = T'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB01ZD( SIDE, UPLO, TRANST, DIAG, M, N, L, ALPHA, T,
+     $                   LDT, H, LDH, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DIAG, SIDE, TRANST, UPLO
+      INTEGER            INFO, L, LDH, LDT, M, N
+      DOUBLE PRECISION   ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION   H( LDH, * ), T( LDT, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether the triangular matrix T appears on the
+          left or right in the matrix product, as follows:
+          = 'L':  the product alpha*op( T )*H is computed;
+          = 'R':  the product alpha*H*op( T ) is computed.
+
+  UPLO    CHARACTER*1
+          Specifies the form of the matrices T and H, as follows:
+          = 'U':  the matrix T is upper triangular and the matrix H
+                  is upper Hessenberg-like;
+          = 'L':  the matrix T is lower triangular and the matrix H
+                  is lower Hessenberg-like.
+
+  TRANST  CHARACTER*1
+          Specifies the form of op( T ) to be used, as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+  DIAG    CHARACTER*1.
+          Specifies whether or not T is unit triangular, as follows:
+          = 'U':  the matrix T is assumed to be unit triangular;
+          = 'N':  the matrix T is not assumed to be unit triangular.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of H.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of H.  N &gt;= 0.
+
+  L       (input) INTEGER
+          If UPLO = 'U', matrix H has L nonzero subdiagonals.
+          If UPLO = 'L', matrix H has L nonzero superdiagonals.
+          MAX(0,M-1) &gt;= L &gt;= 0, if UPLO = 'U';
+          MAX(0,N-1) &gt;= L &gt;= 0, if UPLO = 'L'.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then T is not
+          referenced and H need not be set before entry.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,k), where
+          k is m when SIDE = 'L' and is n when SIDE = 'R'.
+          If UPLO = 'U', the leading k-by-k upper triangular part
+          of this array must contain the upper triangular matrix T
+          and the strictly lower triangular part is not referenced.
+          If UPLO = 'L', the leading k-by-k lower triangular part
+          of this array must contain the lower triangular matrix T
+          and the strictly upper triangular part is not referenced.
+          Note that when DIAG = 'U', the diagonal elements of T are
+          not referenced either, but are assumed to be unity.
+
+  LDT     INTEGER
+          The leading dimension of array T.
+          LDT &gt;= MAX(1,M), if SIDE = 'L';
+          LDT &gt;= MAX(1,N), if SIDE = 'R'.
+
+  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, if UPLO = 'U', the leading M-by-N upper
+          Hessenberg part of this array must contain the upper
+          Hessenberg-like matrix H.
+          On entry, if UPLO = 'L', the leading M-by-N lower
+          Hessenberg part of this array must contain the lower
+          Hessenberg-like matrix H.
+          On exit, the leading M-by-N part of this array contains
+          the matrix product alpha*op( T )*H, if SIDE = 'L',
+          or alpha*H*op( T ), if SIDE = 'R'. If TRANST = 'N', this
+          product has the same pattern as the given matrix H;
+          the elements below the L-th subdiagonal (if UPLO = 'U'),
+          or above the L-th superdiagonal (if UPLO = 'L'), are not
+          referenced in this case. If TRANST = 'T', the elements
+          below the (N+L)-th row (if UPLO = 'U', SIDE = 'R', and
+          M &gt; N+L), or at the right of the (M+L)-th column
+          (if UPLO = 'L', SIDE = 'L', and N &gt; M+L), are not set to
+          zero nor referenced.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= max(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The calculations are efficiently performed taking the problem
+  structure into account.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The matrix H may have the following patterns, when m = 7, n = 6,
+  and l = 2 are used for illustration:
+
+            UPLO = 'U'                    UPLO = 'L'
+
+         [ x x x x x x ]               [ x x x 0 0 0 ]
+         [ x x x x x x ]               [ x x x x 0 0 ]
+         [ x x x x x x ]               [ x x x x x 0 ]
+     H = [ 0 x x x x x ],          H = [ x x x x x x ].
+         [ 0 0 x x x x ]               [ x x x x x x ]
+         [ 0 0 0 x x x ]               [ x x x x x x ]
+         [ 0 0 0 0 x x ]               [ x x x x x x ]
+
+  The products T*H or H*T have the same pattern as H, but the
+  products T'*H or H*T' may be full matrices.
+
+  If m = n, the matrix H is upper or lower triangular, for l = 0,
+  and upper or lower Hessenberg, for l = 1.
+
+  This routine is a specialization of the BLAS 3 routine DTRMM.
+  BLAS 1 calls are used when appropriate, instead of in-line code,
+  in order to increase the efficiency. If the matrix H is full, or
+  its zero triangle has small order, an optimized DTRMM code could
+  be faster than MB01ZD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02CD.html b/doc/_static/doc/MB02CD.html
new file mode 100644
index 00000000..e9a3202f
--- /dev/null
+++ b/doc/_static/doc/MB02CD.html
@@ -0,0 +1,337 @@
+<HTML>
+<HEAD><TITLE>MB02CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CD">MB02CD</A></H2>
+<H3>
+Cholesky factorization of a positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor and the generator and/or the
+  Cholesky factor of the inverse of a symmetric positive definite
+  (s.p.d.) block Toeplitz matrix T, defined by either its first
+  block row, or its first block column, depending on the routine
+  parameter TYPET. Transformation information is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
+     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, TYPET
+      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
+     $                  T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine, as follows:
+          = 'G':  only computes the generator G of the inverse;
+          = 'R':  computes the generator G of the inverse and the
+                  Cholesky factor R of T, i.e., if TYPET = 'R',
+                  then R'*R = T, and if TYPET = 'C', then R*R' = T;
+          = 'L':  computes the generator G and the Cholesky factor L
+                  of the inverse, i.e., if TYPET = 'R', then
+                  L'*L = inv(T), and if TYPET = 'C', then
+                  L*L' = inv(T);
+          = 'A':  computes the generator G, the Cholesky factor L
+                  of the inverse and the Cholesky factor R of T;
+          = 'O':  only computes the Cholesky factor R of T.
+
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix; if demanded, the Cholesky factors
+                  R and L are upper and lower triangular,
+                  respectively, and G contains the transposed
+                  generator of the inverse;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix; if demanded, the Cholesky
+                  factors R and L are lower and upper triangular,
+                  respectively, and G contains the generator of the
+                  inverse. This choice results in a column oriented
+                  algorithm which is usually faster.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,N*K) / (LDT,K)
+          On entry, the leading K-by-N*K / N*K-by-K part of this
+          array must contain the first block row / column of an
+          s.p.d. block Toeplitz matrix.
+          On exit, if INFO = 0, then the leading K-by-N*K / N*K-by-K
+          part of this array contains, in the first K-by-K block,
+          the upper / lower Cholesky factor of T(1:K,1:K), and in
+          the remaining part, the Householder transformations
+          applied during the process.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),    if TYPET = 'R';
+          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
+
+  G       (output)  DOUBLE PRECISION array, dimension
+          (LDG,N*K) / (LDG,2*K)
+          If INFO = 0 and JOB = 'G', 'R', 'L', or 'A', the leading
+          2*K-by-N*K / N*K-by-2*K part of this array contains, in
+          the first K-by-K block of the second block row / column,
+          the lower right block of L (necessary for updating
+          factorizations in SLICOT Library routine MB02DD), and
+          in the remaining part, the generator of the inverse of T.
+          Actually, to obtain a generator one has to set
+              G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
+              G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
+
+  LDG     INTEGER
+          The leading dimension of the array G.
+          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and
+                                 JOB = 'G', 'R', 'L', or 'A';
+          LDG &gt;= MAX(1,N*K),  if TYPET = 'C' and
+                                 JOB = 'G', 'R', 'L', or 'A';
+          LDG &gt;= 1,           if JOB = 'O'.
+
+  R       (output)  DOUBLE PRECISION array, dimension (LDR,N*K)
+          If INFO = 0 and JOB = 'R', 'A', or 'O', then the leading
+          N*K-by-N*K part of this array contains the upper / lower
+          Cholesky factor of T.
+          The elements in the strictly lower / upper triangular part
+          are not referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,N*K),  if JOB = 'R', 'A', or 'O';
+          LDR &gt;= 1,           if JOB = 'G', or 'L'.
+
+  L       (output)  DOUBLE PRECISION array, dimension (LDL,N*K)
+          If INFO = 0 and JOB = 'L', or 'A', then the leading
+          N*K-by-N*K part of this array contains the lower / upper
+          Cholesky factor of the inverse of T.
+          The elements in the strictly upper / lower triangular part
+          are not referenced.
+
+  LDL     INTEGER
+          The leading dimension of the array L.
+          LDL &gt;= MAX(1,N*K),  if JOB = 'L', or 'A';
+          LDL &gt;= 1,           if JOB = 'G', 'R', or 'O'.
+
+  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
+          If INFO = 0, then the leading 3*(N-1)*K part of this
+          array contains information about the hyperbolic rotations
+          and Householder transformations applied during the
+          process. This information is needed for updating the
+          factorizations in SLICOT Library routine MB02DD.
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 3*(N-1)*K.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N-1)*K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                            3 2
+  The algorithm requires 0(K N ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, NMAX
+      PARAMETER        ( KMAX = 20, NMAX = 20 )
+      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
+      PARAMETER        ( LDG = 2*KMAX, LDL = NMAX*KMAX, LDR = NMAX*KMAX,
+     $                   LDT = KMAX, LDWORK = ( NMAX - 1 )*KMAX )
+      PARAMETER        ( LCS = 3*LDWORK )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N
+      CHARACTER        JOB, TYPET
+*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
+      DOUBLE PRECISION CS(LCS), DWORK(LDWORK), G(LDG, NMAX*KMAX),
+     $                 L(LDL, NMAX*KMAX), R(LDR, NMAX*KMAX),
+     $                 T(LDT, NMAX*KMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLASET, MB02CD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, JOB
+      TYPET = 'R'
+      M = N*K
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) K
+         ELSE
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+*           Compute the Cholesky factor(s) and/or the generator.
+            CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
+     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF ( LSAME( JOB, 'G' ) .OR. LSAME( JOB, 'A' ) .OR.
+     $              LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'R' ) ) THEN
+                  WRITE ( NOUT, FMT = 99997 )
+                  CALL DLASET( 'Full', K, K, ZERO, ZERO, G(K+1,1), LDG )
+                  DO 10  I = 1, 2*K
+                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1, M )
+   10             CONTINUE
+               END IF
+               IF ( LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'A' ) ) THEN
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20  I = 1, M
+                     WRITE ( NOUT, FMT = 99994 ) ( L(I,J), J = 1, M )
+   20             CONTINUE
+               END IF
+               IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' )
+     $                                .OR. LSAME( JOB, 'O' ) ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 30  I = 1, M
+                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
+   30             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02CD = ',I2)
+99997 FORMAT (' The generator of the inverse of block Toeplitz matrix',
+     $        ' is ')
+99996 FORMAT (/' The lower Cholesky factor of the inverse is ')
+99995 FORMAT (/' The upper Cholesky factor of block Toeplitz matrix is '
+     $       )
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02CD EXAMPLE PROGRAM DATA
+  3    2     A
+  3.0000    1.0000    0.1000    0.1000    0.2000    0.0500
+  1.0000    4.0000    0.4000    0.1000    0.0400    0.2000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02CD EXAMPLE PROGRAM RESULTS
+
+ The generator of the inverse of block Toeplitz matrix is 
+  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
+  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
+   0.0000   0.0000  -0.0387   0.0052   0.0003  -0.0575
+   0.0000   0.0000   0.0119  -0.0265  -0.0110   0.0076
+
+ The lower Cholesky factor of the inverse is 
+   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
+  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
+  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
+   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
+
+ The upper Cholesky factor of block Toeplitz matrix is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
+   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02CU.html b/doc/_static/doc/MB02CU.html
new file mode 100644
index 00000000..5ff2d3f4
--- /dev/null
+++ b/doc/_static/doc/MB02CU.html
@@ -0,0 +1,253 @@
+<HTML>
+<HEAD><TITLE>MB02CU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CU">MB02CU</A></H2>
+<H3>
+Bringing the first blocks of a generator in proper form (extended version of MB02CX)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To bring the first blocks of a generator to proper form.
+  The positive part of the generator is contained in the arrays A1
+  and A2. The negative part of the generator is contained in B.
+  Transformation information will be stored and can be applied
+  via SLICOT Library routine MB02CV.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CU( TYPEG, K, P, Q, NB, A1, LDA1, A2, LDA2, B, LDB,
+     $                   RNK, IPVT, CS, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TYPEG
+      INTEGER            INFO, K, LDA1, LDA2, LDB, LDWORK, NB, P, Q, RNK
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IPVT(*)
+      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
+     $                   DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPEG   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'D':  generator is column oriented and rank
+                  deficiencies are expected;
+          = 'C':  generator is column oriented and rank
+                  deficiencies are not expected;
+          = 'R':  generator is row oriented and rank
+                  deficiencies are not expected.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in A1 to be processed.  K &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of columns of the positive generator.  P &gt;= K.
+
+  Q       (input)  INTEGER
+          The number of columns in B containing the negative
+          generators.
+          If TYPEG = 'D',        Q &gt;= K;
+          If TYPEG = 'C' or 'R', Q &gt;= 0.
+
+  NB      (input)  INTEGER
+          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
+          the block size to be used in the blocked parts of the
+          algorithm. If NB &lt;= 0, an unblocked algorithm is used.
+
+  A1      (input/output)  DOUBLE PRECISION array, dimension
+          (LDA1, K)
+          On entry, the leading K-by-K part of this array must
+          contain the leading submatrix of the positive part of the
+          generator. If TYPEG = 'C', A1 is assumed to be lower
+          triangular and the strictly upper triangular part is not
+          referenced. If TYPEG = 'R', A1 is assumed to be upper
+          triangular and the strictly lower triangular part is not
+          referenced.
+          On exit, if TYPEG = 'D', the leading K-by-RNK part of this
+          array contains the lower trapezoidal part of the proper
+          generator and information for the Householder
+          transformations applied during the reduction process.
+          On exit, if TYPEG = 'C', the leading K-by-K part of this
+          array contains the leading lower triangular part of the
+          proper generator.
+          On exit, if TYPEG = 'R', the leading K-by-K part of this
+          array contains the leading upper triangular part of the
+          proper generator.
+
+  LDA1    INTEGER
+          The leading dimension of the array A1.  LDA1 &gt;= MAX(1,K).
+
+  A2      (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
+          if TYPEG = 'R',                   dimension (LDA2, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-(P-K) part of this array must contain the (K+1)-st
+          to P-th columns of the positive part of the generator.
+          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
+          this array must contain the (K+1)-st to P-th rows of the
+          positive part of the generator.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-(P-K) part of this array contains information for
+          Householder transformations.
+          On exit, if TYPEG = 'R', the leading (P-K)-by-K part of
+          this array contains information for Householder
+          transformations.
+
+  LDA2    INTEGER
+          The leading dimension of the array A2.
+          If P = K,                   LDA2 &gt;= 1;
+          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
+                                      LDA2 &gt;= MAX(1,K);
+          if P &gt; K and TYPEG = 'R',   LDA2 &gt;= P-K.
+
+  B       (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
+          if TYPEG = 'R',                   dimension (LDB, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-Q part of this array must contain the negative part
+          of the generator.
+          On entry, if TYPEG = 'R', the leading Q-by-K part of this
+          array must contain the negative part of the generator.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-Q part of this array contains information for
+          Householder transformations.
+          On exit, if TYPEG = 'R', the leading Q-by-K part of this
+          array contains information for Householder transformations.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If Q = 0,                  LDB &gt;= 1;
+          if Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDB &gt;= MAX(1,K);
+          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
+
+  RNK     (output)  INTEGER
+          If TYPEG = 'D', the number of columns in the reduced
+          generator which are found to be linearly independent.
+          If TYPEG = 'C' or TYPEG = 'R', then RNK is not set.
+
+  IPVT    (output)  INTEGER array, dimension (K)
+          If TYPEG = 'D', then if IPVT(i) = k, the k-th row of the
+          proper generator is the reduced i-th row of the input
+          generator.
+          If TYPEG = 'C' or TYPEG = 'R', this array is not
+          referenced.
+
+  CS      (output)  DOUBLE PRECISION array, dimension (x)
+          If TYPEG = 'D' and P = K,                   x = 3*K;
+          if TYPEG = 'D' and P &gt; K,                   x = 5*K;
+          if (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
+          if (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
+          On exit, the first x elements of this array contain
+          necessary information for the SLICOT library routine
+          MB02CV (Givens and modified hyperbolic rotation
+          parameters, scalar factors of the Householder
+          transformations).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If TYPEG = 'D', this number specifies the used tolerance
+          for handling deficiencies. If the hyperbolic norm
+          of two diagonal elements in the positive and negative
+          generators appears to be less than or equal to TOL, then
+          the corresponding columns are not reduced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -17,  DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,4*K),         if TYPEG = 'D';
+          LDWORK &gt;= MAX(1,MAX(NB,1)*K), if TYPEG = 'C' or 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if TYPEG = 'D', the generator represents a
+                (numerically) indefinite matrix; and if TYPEG = 'C'
+                or TYPEG = 'R', the generator represents a
+                (numerically) semidefinite matrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If TYPEG = 'C' or TYPEG = 'R', blocked Householder transformations
+  and modified hyperbolic rotations are used to downdate the
+  matrix [ A1  A2  sqrt(-1)*B ], cf. [1], [2].
+  If TYPEG = 'D', then an algorithm with row pivoting is used. In
+  the first stage it maximizes the hyperbolic norm of the active
+  row. As soon as the hyperbolic norm is below the threshold TOL,
+  the strategy is changed. Now, in the second stage, the algorithm
+  applies an LQ decomposition with row pivoting on B such that
+  the Euclidean norm of the active row is maximized.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(K *( P + Q )) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02CV.html b/doc/_static/doc/MB02CV.html
new file mode 100644
index 00000000..bb994065
--- /dev/null
+++ b/doc/_static/doc/MB02CV.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>MB02CV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CV">MB02CV</A></H2>
+<H3>
+Applying the MB02CU transformations on other columns / rows of the generator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the transformations created by the SLICOT Library routine
+  MB02CU on other columns / rows of the generator, contained in the
+  arrays F1, F2 and G.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CV( TYPEG, STRUCG, K, N, P, Q, NB, RNK, A1, LDA1,
+     $                   A2, LDA2, B, LDB, F1, LDF1, F2, LDF2, G, LDG,
+     $                   CS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          STRUCG, TYPEG
+      INTEGER            INFO, K, LDA1, LDA2, LDB, LDF1, LDF2, LDG,
+     $                   LDWORK, N, NB, P, Q, RNK
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
+     $                   DWORK(*), F1(LDF1,*), F2(LDF2,*), G(LDG,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPEG   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'D':  generator is column oriented and rank
+                  deficient;
+          = 'C':  generator is column oriented and not rank
+                  deficient;
+          = 'R':  generator is row oriented and not rank
+                  deficient.
+          Note that this parameter must be equivalent with the
+          used TYPEG in the call of MB02CU.
+
+  STRUCG  CHARACTER*1
+          Information about the structure of the generators,
+          as follows:
+          = 'T':  the trailing block of the positive generator
+                  is upper / lower triangular, and the trailing
+                  block of the negative generator is zero;
+          = 'N':  no special structure to mention.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in A1 to be processed.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          If TYPEG = 'D'  or  TYPEG = 'C', the number of rows in F1;
+          if TYPEG = 'R', the number of columns in F1.  N &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of columns of the positive generator.  P &gt;= K.
+
+  Q       (input)  INTEGER
+          The number of columns in B.
+          If TYPEG = 'D',        Q &gt;= K;
+          If TYPEG = 'C' or 'R', Q &gt;= 0.
+
+  NB      (input)  INTEGER
+          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
+          the block size to be used in the blocked parts of the
+          algorithm. NB must be equivalent with the used block size
+          in the routine MB02CU.
+
+  RNK     (input)  INTEGER
+          If TYPEG = 'D', the number of linearly independent columns
+          in the generator as returned by MB02CU.  0 &lt;= RNK &lt;= K.
+          If TYPEG = 'C' or 'R', the value of this parameter is
+          irrelevant.
+
+  A1      (input)  DOUBLE PRECISION array, dimension
+          (LDA1, K)
+          On entry, if TYPEG = 'D', the leading K-by-K part of this
+          array must contain the matrix A1 as returned by MB02CU.
+          If TYPEG = 'C' or 'R', this array is not referenced.
+
+  LDA1    INTEGER
+          The leading dimension of the array A1.
+          If TYPEG = 'D',                   LDA1 &gt;= MAX(1,K);
+          if TYPEG = 'C'  or  TYPEG = 'R',  LDA1 &gt;= 1.
+
+  A2      (input)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
+          if TYPEG = 'R',                   dimension (LDA2, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-(P-K) part of this array must contain the matrix
+          A2 as returned by MB02CU.
+          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
+          this array must contain the matrix A2 as returned by
+          MB02CU.
+
+  LDA2    INTEGER
+          The leading dimension of the array A2.
+          If P = K,                  LDA2 &gt;= 1;
+          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDA2 &gt;= MAX(1,K);
+          if P &gt; K and TYPEG = 'R',  LDA2 &gt;= P-K.
+
+  B       (input)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
+          if TYPEG = 'R',                   dimension (LDB, K).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          K-by-Q part of this array must contain the matrix B as
+          returned by MB02CU.
+          On entry, if TYPEG = 'R', the leading Q-by-K part of this
+          array must contain the matrix B as returned by MB02CU.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If Q = 0,                  LDB &gt;= 1;
+          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDB &gt;= MAX(1,K);
+          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
+
+  F1      (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF1, K);
+          if TYPEG = 'R',                   dimension (LDF1, N).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-K part of this array must contain the first part
+          of the positive generator to be processed.
+          On entry, if TYPEG = 'R', the leading K-by-N part of this
+          array must contain the first part of the positive
+          generator to be processed.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-K part of this array contains the first part of the
+          transformed positive generator.
+          On exit, if TYPEG = 'R', the leading K-by-N part of this
+          array contains the first part of the transformed positive
+          generator.
+
+  LDF1    INTEGER
+          The leading dimension of the array F1.
+          If TYPEG = 'D'  or  TYPEG = 'C',   LDF1 &gt;= MAX(1,N);
+          if TYPEG = 'R',                    LDF1 &gt;= MAX(1,K).
+
+  F2      (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF2, P-K);
+          if TYPEG = 'R',                   dimension (LDF2, N).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-(P-K) part of this array must contain the second part
+          of the positive generator to be processed.
+          On entry, if TYPEG = 'R', the leading (P-K)-by-N part of
+          this array must contain the second part of the positive
+          generator to be processed.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-(P-K) part of this array contains the second part of
+          the transformed positive generator.
+          On exit, if TYPEG = 'R', the leading (P-K)-by-N part of
+          this array contains the second part of the transformed
+          positive generator.
+
+  LDF2    INTEGER
+          The leading dimension of the array F2.
+          If P = K,                  LDF2 &gt;= 1;
+          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDF2 &gt;= MAX(1,N);
+          if P &gt; K and TYPEG = 'R',  LDF2 &gt;= P-K.
+
+  G       (input/output)  DOUBLE PRECISION array,
+          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDG, Q);
+          if TYPEG = 'R',                   dimension (LDG, N).
+          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-Q part of this array must contain the negative part
+          of the generator to be processed.
+          On entry, if TYPEG = 'R', the leading Q-by-N part of this
+          array must contain the negative part of the generator to
+          be processed.
+          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
+          N-by-Q part of this array contains the transformed
+          negative generator.
+          On exit, if TYPEG = 'R', the leading Q-by-N part of this
+          array contains the transformed negative generator.
+
+  LDG     INTEGER
+          The leading dimension of the array G.
+          If Q = 0,                  LDG &gt;= 1;
+          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
+                                     LDG &gt;= MAX(1,N);
+          if Q &gt; 0 and TYPEG = 'R',  LDG &gt;= Q.
+
+  CS      (input)  DOUBLE PRECISION array, dimension (x)
+          If TYPEG = 'D' and P = K,                   x = 3*K;
+          If TYPEG = 'D' and P &gt; K,                   x = 5*K;
+          If (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
+          If (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
+          On entry, the first x elements of this array must contain
+          Givens and modified hyperbolic rotation parameters, and
+          scalar factors of the Householder transformations as
+          returned by MB02CU.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -23,  DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          TYPEG = 'D':               LDWORK &gt;= MAX(1,N);
+          (TYPEG = 'C' or TYPEG = 'R')  and  NB &lt;= 0:
+                                     LDWORK &gt;= MAX(1,N);
+          (TYPEG = 'C' or TYPEG = 'R')  and  NB &gt;= 1:
+                                     LDWORK &gt;= MAX(1,( N + K )*NB).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N*K*( P + Q )) floating point operations.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder transformations and modified hyperbolic rotations
+  computed by SLICOT Library routine MB02CU are applied to the
+  corresponding parts of the matrices F1, F2 and G.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02CX.html b/doc/_static/doc/MB02CX.html
new file mode 100644
index 00000000..c413f111
--- /dev/null
+++ b/doc/_static/doc/MB02CX.html
@@ -0,0 +1,173 @@
+<HTML>
+<HEAD><TITLE>MB02CX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CX">MB02CX</A></H2>
+<H3>
+Bringing the first blocks of a generator in proper form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To bring the first blocks of a generator in proper form.
+  The columns / rows of the positive and negative generators
+  are contained in the arrays A and B, respectively.
+  Transformation information will be stored and can be applied
+  via SLICOT Library routine MB02CY.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CX( TYPET, P, Q, K, A, LDA, B, LDB, CS, LCS,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPET
+      INTEGER           INFO, K, LDA, LDB, LCS, LDWORK, P, Q
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'R':  A and B are the first blocks of the rows of the
+                  positive and negative generators;
+          = 'C':  A and B are the first blocks of the columns of the
+                  positive and negative generators.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input)  INTEGER
+          The number of rows / columns in A containing the positive
+          generators.  P &gt;= 0.
+
+  Q       (input)  INTEGER
+          The number of rows / columns in B containing the negative
+          generators.  Q &gt;= 0.
+
+  K       (input)  INTEGER
+          The number of columns / rows in A and B to be processed.
+          Normally, the size of the first block.  P &gt;= K &gt;= 0.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+          (LDA, K) / (LDA, P)
+          On entry, the leading P-by-K upper / K-by-P lower
+          triangular part of this array must contain the rows /
+          columns of the positive part in the first block of the
+          generator.
+          On exit, the leading P-by-K upper / K-by-P lower
+          triangular part of this array contains the rows / columns
+          of the positive part in the first block of the proper
+          generator.
+          The lower / upper trapezoidal part is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,P),    if TYPET = 'R';
+          LDA &gt;= MAX(1,K),    if TYPET = 'C'.
+
+  B       (input/output)  DOUBLE PRECISION array, dimension
+          (LDB, K) / (LDB, Q)
+          On entry, the leading Q-by-K / K-by-Q part of this array
+          must contain the rows / columns of the negative part in
+          the first block of the generator.
+          On exit, the leading Q-by-K / K-by-Q part of this array
+          contains part of the necessary information for the
+          Householder transformations.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
+          LDB &gt;= MAX(1,K),    if TYPET = 'C'.
+
+  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
+          On exit, the leading 2*K + MIN(K,Q) part of this array
+          contains necessary information for the SLICOT Library
+          routine MB02CY (modified hyperbolic rotation parameters
+          and scalar factors of the Householder transformations).
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  succesful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The matrix
+                associated with the generator is not (numerically)
+                positive definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If  TYPET = 'R',  a QR decomposition of B is first computed.
+  Then, the elements below the first row of each column i of B
+  are annihilated by a Householder transformation modifying the
+  first element in that column. This first element, in turn, is
+  then annihilated by a modified hyperbolic rotation, acting also
+  on the i-th row of A.
+
+  If  TYPET = 'C',  an LQ decomposition of B is first computed.
+  Then, the elements on the right of the first column of each row i
+  of B are annihilated by a Householder transformation modifying the
+  first element in that row. This first element, in turn, is
+  then annihilated by a modified hyperbolic rotation, acting also
+  on the i-th column of A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02CY.html b/doc/_static/doc/MB02CY.html
new file mode 100644
index 00000000..72bd1e06
--- /dev/null
+++ b/doc/_static/doc/MB02CY.html
@@ -0,0 +1,173 @@
+<HTML>
+<HEAD><TITLE>MB02CY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02CY">MB02CY</A></H2>
+<H3>
+Applying the MB02CX transformations on other columns / rows of the generator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the transformations created by the SLICOT Library
+  routine MB02CX on other columns / rows of the generator,
+  contained in the arrays A and B of positive and negative
+  generators, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02CY( TYPET, STRUCG, P, Q, N, K, A, LDA, B, LDB, H,
+     $                   LDH, CS, LCS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K, LDA, LDB, LCS, LDH, LDWORK, N, P, Q
+      CHARACTER         STRUCG, TYPET
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of the generator, as follows:
+          = 'R':  A and B are additional columns of the generator;
+          = 'C':  A and B are additional rows of the generator.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+  STRUCG  CHARACTER*1
+          Information about the structure of the two generators,
+          as follows:
+          = 'T':  the trailing block of the positive generator
+                  is lower / upper triangular, and the trailing
+                  block of the negative generator is zero;
+          = 'N':  no special structure to mention.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input)  INTEGER
+          The number of rows / columns in A containing the positive
+          generators.  P &gt;= 0.
+
+  Q       (input)  INTEGER
+          The number of rows / columns in B containing the negative
+          generators.  Q &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of columns / rows in A and B to be processed.
+          N &gt;= 0.
+
+  K       (input)  INTEGER
+          The number of columns / rows in H.  P &gt;= K &gt;= 0.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+          (LDA, N) / (LDA, P)
+          On entry, the leading P-by-N / N-by-P part of this array
+          must contain the positive part of the generator.
+          On exit, the leading P-by-N / N-by-P part of this array
+          contains the transformed positive part of the generator.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,P),    if TYPET = 'R';
+          LDA &gt;= MAX(1,N),    if TYPET = 'C'.
+
+  B       (input/output)  DOUBLE PRECISION array, dimension
+          (LDB, N) / (LDB, Q)
+          On entry, the leading Q-by-N / N-by-Q part of this array
+          must contain the negative part of the generator.
+          On exit, the leading Q-by-N / N-by-Q part of this array
+          contains the transformed negative part of the generator.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
+          LDB &gt;= MAX(1,N),    if TYPET = 'C'.
+
+  H       (input)  DOUBLE PRECISION array, dimension
+          (LDH, K) / (LDH, Q)
+          The leading Q-by-K / K-by-Q part of this array must
+          contain part of the necessary information for the
+          Householder transformations computed by SLICOT Library
+          routine MB02CX.
+
+  LDH     INTEGER
+          The leading dimension of the array H.
+          LDH &gt;= MAX(1,Q),    if TYPET = 'R';
+          LDH &gt;= MAX(1,K),    if TYPET = 'C'.
+
+  CS      (input)  DOUBLE PRECISION array, dimension (LCS)
+          The leading 2*K + MIN(K,Q) part of this array must
+          contain the necessary information for modified hyperbolic
+          rotations and the scalar factors of the Householder
+          transformations computed by SLICOT Library routine MB02CX.
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  succesful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder transformations and modified hyperbolic rotations
+  computed by SLICOT Library routine MB02CX are applied to the
+  corresponding parts of the matrices A and B.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02DD.html b/doc/_static/doc/MB02DD.html
new file mode 100644
index 00000000..51646be9
--- /dev/null
+++ b/doc/_static/doc/MB02DD.html
@@ -0,0 +1,477 @@
+<HTML>
+<HEAD><TITLE>MB02DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02DD">MB02DD</A></H2>
+<H3>
+Updating Cholesky factorization of a positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To update the Cholesky factor and the generator and/or the
+  Cholesky factor of the inverse of a symmetric positive definite
+  (s.p.d.) block Toeplitz matrix T, given the information from
+  a previous factorization and additional blocks in TA of its first
+  block row, or its first block column, depending on the routine
+  parameter TYPET. Transformation information is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02DD( JOB, TYPET, K, M, N, TA, LDTA, T, LDT, G,
+     $                   LDG, R, LDR, L, LDL, CS, LCS, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, TYPET
+      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDTA, LDWORK,
+     $                  M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
+     $                  T(LDT,*), TA(LDTA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine, as follows:
+          = 'R':  updates the generator G of the inverse and
+                  computes the new columns / rows for the Cholesky
+                  factor R of T;
+          = 'A':  updates the generator G, computes the new
+                  columns / rows for the Cholesky factor R of T and
+                  the new rows / columns for the Cholesky factor L
+                  of the inverse;
+          = 'O':  only computes the new columns / rows for the
+                  Cholesky factor R of T.
+
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  the first block row of an s.p.d. block Toeplitz
+                  matrix was/is defined; if demanded, the Cholesky
+                  factors R and L are upper and lower triangular,
+                  respectively, and G contains the transposed
+                  generator of the inverse;
+          = 'C':  the first block column of an s.p.d. block Toeplitz
+                  matrix was/is defined; if demanded, the Cholesky
+                  factors R and L are lower and upper triangular,
+                  respectively, and G contains the generator of the
+                  inverse. This choice results in a column oriented
+                  algorithm which is usually faster.
+          Note:   in this routine, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  M       (input)  INTEGER
+          The number of blocks in TA.  M &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  TA      (input/output)  DOUBLE PRECISION array, dimension
+          (LDTA,M*K) / (LDTA,K)
+          On entry, the leading K-by-M*K / M*K-by-K part of this
+          array must contain the (N+1)-th to (N+M)-th blocks in the
+          first block row / column of an s.p.d. block Toeplitz
+          matrix.
+          On exit, if INFO = 0, the leading K-by-M*K / M*K-by-K part
+          of this array contains information on the Householder
+          transformations used, such that the array
+
+                     [ T  TA ]    /    [ T  ]
+                                       [ TA ]
+
+          serves as the new transformation matrix T for further
+          applications of this routine.
+
+  LDTA    INTEGER
+          The leading dimension of the array TA.
+          LDTA &gt;= MAX(1,K),   if TYPET = 'R';
+          LDTA &gt;= MAX(1,M*K), if TYPET = 'C'.
+
+  T       (input)  DOUBLE PRECISION array, dimension (LDT,N*K) /
+          (LDT,K)
+          The leading K-by-N*K / N*K-by-K part of this array must
+          contain transformation information generated by the SLICOT
+          Library routine MB02CD, i.e., in the first K-by-K block,
+          the upper / lower Cholesky factor of T(1:K,1:K), and in
+          the remaining part, the Householder transformations
+          applied during the initial factorization process.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),    if TYPET = 'R';
+          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
+
+  G       (input/output)  DOUBLE PRECISION array, dimension
+          (LDG,( N + M )*K) / (LDG,2*K)
+          On entry, if JOB = 'R', or 'A', then the leading
+          2*K-by-N*K / N*K-by-2*K part of this array must contain,
+          in the first K-by-K block of the second block row /
+          column, the lower right block of the Cholesky factor of
+          the inverse of T, and in the remaining part, the generator
+          of the inverse of T.
+          On exit, if INFO = 0 and JOB = 'R', or 'A', then the
+          leading 2*K-by-( N + M )*K / ( N + M )*K-by-2*K part of
+          this array contains the same information as on entry, now
+          for the updated Toeplitz matrix. Actually, to obtain a
+          generator of the inverse one has to set
+            G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
+            G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
+
+  LDG     INTEGER
+          The leading dimension of the array G.
+          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and JOB = 'R', or 'A';
+          LDG &gt;= MAX(1,( N + M )*K),
+                              if TYPET = 'C' and JOB = 'R', or 'A';
+          LDG &gt;= 1,           if JOB = 'O'.
+
+  R       (input/output)  DOUBLE PRECISION array, dimension
+          (LDR,M*K) / (LDR,( N + M )*K)
+          On input, the leading N*K-by-K part of R(K+1,1) /
+          K-by-N*K part of R(1,K+1) contains the last block column /
+          row of the previous Cholesky factor R.
+          On exit, if INFO = 0, then the leading
+          ( N + M )*K-by-M*K / M*K-by-( N + M )*K part of this
+          array contains the last M*K columns / rows of the upper /
+          lower Cholesky factor of T. The elements in the strictly
+          lower / upper triangular part are not referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1, ( N + M )*K), if TYPET = 'R';
+          LDR &gt;= MAX(1, M*K),         if TYPET = 'C'.
+
+  L       (output)  DOUBLE PRECISION array, dimension
+          (LDL,( N + M )*K) / (LDL,M*K)
+          If INFO = 0 and JOB = 'A', then the leading
+          M*K-by-( N + M )*K / ( N + M )*K-by-M*K part of this
+          array contains the last M*K rows / columns of the lower /
+          upper Cholesky factor of the inverse of T. The elements
+          in the strictly upper / lower triangular part are not
+          referenced.
+
+  LDL     INTEGER
+          The leading dimension of the array L.
+          LDL &gt;= MAX(1, M*K),         if TYPET = 'R' and JOB = 'A';
+          LDL &gt;= MAX(1, ( N + M )*K), if TYPET = 'C' and JOB = 'A';
+          LDL &gt;= 1,                   if JOB = 'R', or 'O'.
+
+  CS      (input/output)  DOUBLE PRECISION array, dimension (LCS)
+          On input, the leading 3*(N-1)*K part of this array must
+          contain the necessary information about the hyperbolic
+          rotations and Householder transformations applied
+          previously by SLICOT Library routine MB02CD.
+          On exit, if INFO = 0, then the leading 3*(N+M-1)*K part of
+          this array contains information about all the hyperbolic
+          rotations and Householder transformations applied during
+          the whole process.
+
+  LCS     INTEGER
+          The length of the array CS.  LCS &gt;= 3*(N+M-1)*K.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N+M-1)*K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The block Toeplitz
+                matrix associated with [ T  TA ] / [ T'  TA' ]' is
+                not (numerically) positive definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                            3         2
+  The algorithm requires 0(K ( N M + M ) ) floating point
+  operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For min(K,N,M) = 0, the routine sets DWORK(1) = 1 and returns.
+  Although the calculations could still be performed when N = 0,
+  but min(K,M) &gt; 0, this case is not considered as an "update".
+  SLICOT Library routine MB02CD should be called with the argument
+  M instead of N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, MMAX, NMAX
+      PARAMETER        ( KMAX = 20, MMAX = 20, NMAX = 20 )
+      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
+      PARAMETER        ( LDG = KMAX*( MMAX + NMAX ),
+     $                   LDL = KMAX*( MMAX + NMAX ),
+     $                   LDR = KMAX*( MMAX + NMAX ),
+     $                   LDT = KMAX*( MMAX + NMAX ),
+     $                   LDWORK = ( MMAX + NMAX - 1 )*KMAX )
+      PARAMETER        ( LCS = 3*LDWORK )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N, S
+      CHARACTER        JOB, TYPET
+*     .. Local Arrays ..
+*     The arrays are dimensioned for both TYPET = 'R' and TYPET = 'C'.
+*     Arrays G and T could be smaller.
+*     For array G, it is assumed that MMAX + NMAX >= 2.
+*     The matrix TA is also stored in the array T.
+      DOUBLE PRECISION CS(LCS), DWORK(LDWORK),
+     $                 G(LDG, KMAX*( MMAX + NMAX )),
+     $                 L(LDL, KMAX*( MMAX + NMAX )),
+     $                 R(LDR, KMAX*( MMAX + NMAX )),
+     $                 T(LDT, KMAX*( MMAX + NMAX ))
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLACPY, MB02CD, MB02DD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, M, JOB, TYPET
+      S = ( N + M )*K
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) N
+      ELSE
+         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) K
+         ELSE
+            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               IF ( LSAME( TYPET, 'R' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,S ), I = 1,K )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,S )
+               END IF
+*              Compute the Cholesky factors.
+               CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
+     $                      LDL, CS, LCS, DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 10  I = 1, N*K
+                     WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, N*K )
+   10             CONTINUE
+                  IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) ) THEN
+                     WRITE ( NOUT, FMT = 99995 )
+                     IF ( LSAME( TYPET, 'R' ) ) THEN
+                        DO 20  I = 1, 2*K
+                           WRITE ( NOUT, FMT = 99990 )
+     $                           ( G(I,J), J = 1, N*K )
+   20                   CONTINUE
+                     ELSE
+                        DO 30  I = 1, N*K
+                           WRITE ( NOUT, FMT = 99990 )
+     $                           ( G(I,J), J = 1, 2*K )
+   30                   CONTINUE
+                     END IF
+                  END IF
+                  IF ( LSAME( JOB, 'A' ) ) THEN
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 40  I = 1, N*K
+                        WRITE ( NOUT, FMT = 99990 )
+     $                        ( L(I,J), J = 1, N*K )
+   40                CONTINUE
+                  END IF
+*                 Update the Cholesky factors.
+                  IF ( LSAME( TYPET, 'R' ) ) THEN
+*                    Copy the last block column of R.
+                     CALL DLACPY( 'All', N*K, K, R(1,(N-1)*K+1), LDR,
+     $                            R(K+1,N*K+1), LDR )
+                     CALL MB02DD( JOB, TYPET, K, M, N, T(1,N*K+1), LDT,
+     $                            T, LDT, G, LDG, R(1,N*K+1), LDR,
+     $                            L(N*K+1,1), LDL, CS, LCS, DWORK,
+     $                            LDWORK, INFO )
+                  ELSE
+*                    Copy the last block row of R.
+                     CALL DLACPY( 'All', K, N*K, R((N-1)*K+1,1), LDR,
+     $                            R(N*K+1,K+1), LDR )
+                     CALL MB02DD( JOB, TYPET, K, M, N, T(N*K+1,1), LDT,
+     $                            T, LDT, G, LDG, R(N*K+1,1), LDR,
+     $                            L(1,N*K+1), LDL, CS, LCS, DWORK,
+     $                            LDWORK, INFO )
+                  END IF
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 50  I = 1, S
+                        WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, S )
+   50                CONTINUE
+                     IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) )
+     $                       THEN
+                        WRITE ( NOUT, FMT = 99992 )
+                        IF ( LSAME( TYPET, 'R' ) ) THEN
+                           DO 60  I = 1, 2*K
+                              WRITE ( NOUT, FMT = 99990 )
+     $                              ( G(I,J), J = 1, S )
+   60                      CONTINUE
+                        ELSE
+                           DO 70  I = 1, S
+                              WRITE ( NOUT, FMT = 99990 )
+     $                              ( G(I,J), J = 1, 2*K )
+   70                      CONTINUE
+                        END IF
+                     END IF
+                     IF ( LSAME( JOB, 'A' ) ) THEN
+                        WRITE ( NOUT, FMT = 99991 )
+                        DO 80  I = 1, S
+                           WRITE ( NOUT, FMT = 99990 )
+     $                           ( L(I,J), J = 1, S )
+   80                   CONTINUE
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( ' MB02DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT ( ' INFO on exit from MB02CD = ',I2)
+99997 FORMAT ( ' INFO on exit from MB02DD = ',I2)
+99996 FORMAT ( ' The Cholesky factor is ')
+99995 FORMAT (/' The inverse generator is ')
+99994 FORMAT (/' The inverse Cholesky factor is ')
+99993 FORMAT (/' The updated Cholesky factor is ')
+99992 FORMAT (/' The updated inverse generator is ')
+99991 FORMAT (/' The updated inverse Cholesky factor is ')
+99990 FORMAT (20(1X,F8.4))
+99989 FORMAT (/' N is out of range.',/' N = ',I5)
+99988 FORMAT (/' K is out of range.',/' K = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02DD EXAMPLE PROGRAM DATA
+        3       2       2       A       R
+    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500    0.1000    0.0400    0.01   0.02
+    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000    0.0300    0.0200    0.03   0.01
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02DD EXAMPLE PROGRAM RESULTS
+
+ The Cholesky factor is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
+   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
+
+ The inverse generator is 
+  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
+  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
+   0.5825   0.0000  -0.0387   0.0052   0.0003  -0.0575
+  -0.1754   0.5231   0.0119  -0.0265  -0.0110   0.0076
+
+ The inverse Cholesky factor is 
+   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
+  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
+  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
+   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
+
+ The updated Cholesky factor is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.0577   0.0231   0.0058   0.0115
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957  -0.0017   0.0035   0.0139   0.0017
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1145   0.0279   0.0564   0.0227
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0152   0.0953  -0.0017   0.0033
+   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759   0.0523   0.0453   0.1146   0.0273
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1902   0.0357  -0.0157   0.0955
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757   0.0526   0.0450
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1901   0.0357
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9117
+
+ The updated inverse generator is 
+  -0.5599   0.3310  -0.0305   0.0098   0.0392  -0.0209   0.0191  -0.0010  -0.0045   0.0035
+  -0.2289  -0.4091   0.0612  -0.0012   0.0125   0.0182   0.0042   0.0017   0.0014   0.0000
+   0.5828   0.0000   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580
+  -0.1755   0.5231  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077
+
+ The updated inverse Cholesky factor is 
+   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231   0.0000   0.0000   0.0000   0.0000
+  -0.0199   0.0073  -0.0391   0.0056   0.0017  -0.0580   0.5828   0.0000   0.0000   0.0000
+   0.0007  -0.0023   0.0122  -0.0265  -0.0110   0.0077  -0.1755   0.5231   0.0000   0.0000
+   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580   0.5828   0.0000
+  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077  -0.1755   0.5231
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02ED.html b/doc/_static/doc/MB02ED.html
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+<HTML>
+<HEAD><TITLE>MB02ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02ED">MB02ED</A></H2>
+<H3>
+Solution of T X = B or X T = B with a positive definite block Toeplitz matrix T
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of linear equations  T*X = B  or  X*T = B  with
+  a symmetric positive definite (s.p.d.) block Toeplitz matrix T.
+  T is defined either by its first block row or its first block
+  column, depending on the parameter TYPET.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPET
+      INTEGER           INFO, K, LDB, LDT, LDWORK, N, NRHS
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), DWORK(*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix, and the system X*T = B is solved;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix, and the system T*X = B is
+                  solved.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  NRHS    (input)  INTEGER
+          The number of right hand sides.  NRHS &gt;= 0.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,N*K) / (LDT,K)
+          On entry, the leading K-by-N*K / N*K-by-K part of this
+          array must contain the first block row / column of an
+          s.p.d. block Toeplitz matrix.
+          On exit, if  INFO = 0  and  NRHS &gt; 0,  then the leading
+          K-by-N*K / N*K-by-K part of this array contains the last
+          row / column of the Cholesky factor of inv(T).
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),    if TYPET = 'R';
+          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,N*K) / (LDB,NRHS)
+          On entry, the leading NRHS-by-N*K / N*K-by-NRHS part of
+          this array must contain the right hand side matrix B.
+          On exit, the leading NRHS-by-N*K / N*K-by-NRHS part of
+          this array contains the solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,NRHS),  if TYPET = 'R';
+          LDB &gt;= MAX(1,N*K),   if TYPET = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N*K*K+(N+2)*K).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations, modified hyperbolic rotations and
+  block Gaussian eliminations are used in the Schur algorithm [1],
+  [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically equivalent with forming
+  the Cholesky factor R and the inverse Cholesky factor of T, using
+  the generalized Schur algorithm, and solving the systems of
+  equations  R*X = L*B  or  X*R = B*L by a blocked backward
+  substitution algorithm.
+                            3 2    2 2
+  The algorithm requires 0(K N  + K N NRHS) floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, NMAX
+      PARAMETER        ( KMAX = 20, NMAX = 20 )
+      INTEGER          LDB, LDT, LDWORK
+      PARAMETER        ( LDB = KMAX*NMAX, LDT = KMAX*NMAX,
+     $                   LDWORK = NMAX*KMAX*KMAX + ( NMAX+2 )*KMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N, NRHS
+      CHARACTER        TYPET
+*     .. Local Arrays ..
+*     The arrays B and T are dimensioned for both TYPET = 'R' and
+*     TYPET = 'C'.
+*     NRHS is assumed to be not larger than KMAX*NMAX.
+      DOUBLE PRECISION B(LDB, KMAX*NMAX), DWORK(LDWORK),
+     $                 T(LDT, KMAX*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02ED
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, NRHS, TYPET
+      M = N*K
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) K
+         ELSE
+            IF ( NRHS.LE.0 .OR. NRHS.GT.KMAX*NMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) NRHS
+            ELSE
+               IF ( LSAME( TYPET, 'R' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,M )
+               END IF
+               IF ( LSAME( TYPET, 'R' ) ) THEN
+                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,
+     $                                   NRHS )
+               ELSE
+                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,
+     $                                   M )
+               END IF
+*              Compute the solution of X T = B or T X = B.
+               CALL MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
+     $                      LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( LSAME( TYPET, 'R' ) ) THEN
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10  I = 1, NRHS
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   10                CONTINUE
+                  ELSE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20  I = 1, M
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,
+     $                                                NRHS )
+   20                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02ED = ',I2)
+99997 FORMAT (' The solution of X*T = B is ')
+99996 FORMAT (' The solution of T*X = B is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' K is out of range.',/' K = ',I5)
+99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02ED EXAMPLE PROGRAM DATA
+  3    3    2     C
+    3.0000    1.0000    0.2000
+    1.0000    4.0000    0.4000
+    0.2000    0.4000    5.0000
+    0.1000    0.1000    0.2000
+    0.2000    0.0400    0.0300
+    0.0500    0.2000    0.1000
+    0.1000    0.0300    0.1000
+    0.0400    0.0200    0.2000
+    0.0100    0.0300    0.0200
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+    1.0000    2.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02ED EXAMPLE PROGRAM RESULTS
+
+ The solution of T*X = B is 
+   0.2408   0.4816
+   0.1558   0.3116
+   0.1534   0.3068
+   0.2302   0.4603
+   0.1467   0.2934
+   0.1537   0.3075
+   0.2349   0.4698
+   0.1498   0.2995
+   0.1653   0.3307
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02FD.html b/doc/_static/doc/MB02FD.html
new file mode 100644
index 00000000..bb98c7e0
--- /dev/null
+++ b/doc/_static/doc/MB02FD.html
@@ -0,0 +1,362 @@
+<HTML>
+<HEAD><TITLE>MB02FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02FD">MB02FD</A></H2>
+<H3>
+Incomplete Cholesky factor of a positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the incomplete Cholesky (ICC) factor of a symmetric
+  positive definite (s.p.d.) block Toeplitz matrix T, defined by
+  either its first block row, or its first block column, depending
+  on the routine parameter TYPET.
+
+  By subsequent calls of this routine, further rows / columns of
+  the Cholesky factor can be added.
+  Furthermore, the generator of the Schur complement of the leading
+  (P+S)*K-by-(P+S)*K block in T is available, which can be used,
+  e.g., for measuring the quality of the ICC factorization.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02FD( TYPET, K, N, P, S, T, LDT, R, LDR, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TYPET
+      INTEGER           INFO, K, LDR, LDT, LDWORK, N, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), R(LDR,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix; the ICC factor R is upper
+                  trapezoidal;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix; the ICC factor R is lower
+                  trapezoidal; this choice leads to better
+                  localized memory references and hence a faster
+                  algorithm.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of previously computed block rows / columns
+          of R.  0 &lt;= P &lt;= N.
+
+  S       (input)  INTEGER
+          The number of block rows / columns of R to compute.
+          0 &lt;= S &lt;= N-P.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,(N-P)*K) / (LDT,K)
+          On entry, if P = 0, then the leading K-by-N*K / N*K-by-K
+          part of this array must contain the first block row /
+          column of an s.p.d. block Toeplitz matrix.
+          If P &gt; 0, the leading K-by-(N-P)*K / (N-P)*K-by-K must
+          contain the negative generator of the Schur complement of
+          the leading P*K-by-P*K part in T, computed from previous
+          calls of this routine.
+          On exit, if INFO = 0, then the leading K-by-(N-P)*K /
+          (N-P)*K-by-K part of this array contains, in the first
+          K-by-K block, the upper / lower Cholesky factor of
+          T(1:K,1:K), in the following S-1 K-by-K blocks, the
+          Householder transformations applied during the process,
+          and in the remaining part, the negative generator of the
+          Schur complement of the leading (P+S)*K-by(P+S)*K part
+          in T.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K),        if TYPET = 'R';
+          LDT &gt;= MAX(1,(N-P)*K),  if TYPET = 'C'.
+
+  R       (input/output)  DOUBLE PRECISION array, dimension
+          (LDR, N*K)       / (LDR, S*K )     if P = 0;
+          (LDR, (N-P+1)*K) / (LDR, (S+1)*K ) if P &gt; 0.
+          On entry, if P &gt; 0, then the leading K-by-(N-P+1)*K /
+          (N-P+1)*K-by-K part of this array must contain the
+          nonzero blocks of the last block row / column in the
+          ICC factor from a previous call of this routine. Note that
+          this part is identical with the positive generator of
+          the Schur complement of the leading P*K-by-P*K part in T.
+          If P = 0, then R is only an output parameter.
+          On exit, if INFO = 0 and P = 0, then the leading
+          S*K-by-N*K / N*K-by-S*K part of this array contains the
+          upper / lower trapezoidal ICC factor.
+          On exit, if INFO = 0 and P &gt; 0, then the leading
+          (S+1)*K-by-(N-P+1)*K / (N-P+1)*K-by-(S+1)*K part of this
+          array contains the upper / lower trapezoidal part of the
+          P-th to (P+S)-th block rows / columns of the ICC factor.
+          The elements in the strictly lower / upper trapezoidal
+          part are not referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1, S*K ),        if TYPET = 'R' and P = 0;
+          LDR &gt;= MAX(1, (S+1)*K ),    if TYPET = 'R' and P &gt; 0;
+          LDR &gt;= MAX(1, N*K ),        if TYPET = 'C' and P = 0;
+          LDR &gt;= MAX(1, (N-P+1)*K ),  if TYPET = 'C' and P &gt; 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -11,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N+1)*K,4*K),   if P = 0;
+          LDWORK &gt;= MAX(1,(N-P+2)*K,4*K), if P &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed; the Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite in its leading (P+S)*K-by-(P+S)*K part.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                            3
+  The algorithm requires 0(K S (N-P)) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          ITMAX, KMAX, NMAX
+      PARAMETER        ( ITMAX = 10, KMAX = 20, NMAX = 20 )
+      INTEGER          LDR, LDT, LDWORK
+      PARAMETER        ( LDR = NMAX*KMAX, LDT = KMAX,
+     $                   LDWORK = ( NMAX + 1 )*KMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, IT, J, K, LEN, M, N, P, PIT, POS, POSR,
+     $                 S1, SCIT
+      CHARACTER        TYPET
+      DOUBLE PRECISION NNRM
+*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
+      INTEGER          S(ITMAX)
+      DOUBLE PRECISION DWORK(LDWORK), R(LDR, NMAX*KMAX),
+     $                 T(LDT, NMAX*KMAX), V(NMAX*KMAX), W(NMAX*KMAX),
+     $                 Z(NMAX*KMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DNRM2
+      EXTERNAL         DNRM2, LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DAXPY, DCOPY, DGEMV, DLASET, DSCAL, DTRMV, MB02FD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, K, IT
+      TYPET = 'R'
+      M = N*K
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) K
+      ELSE IF( IT.LE.0 .OR. IT.GT.ITMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) IT
+      ELSE
+         READ ( NIN, FMT = * ) ( S(I), I = 1, IT )
+         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+         P   = 0
+         POS = 1
+         WRITE ( NOUT, FMT = 99997 )
+         DO 90  SCIT = 1, IT
+            CALL MB02FD( TYPET, K, N, P, S(SCIT), T(1,POS), LDT,
+     $                   R(POS,POS), LDR, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+               STOP
+            END IF
+            S1 = S(SCIT) + P
+            IF ( S1.EQ.0 ) THEN
+*              Estimate the 2-norm of the Toeplitz matrix with 5 power
+*              iterations.
+               LEN = N*K
+               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
+               DO 30  PIT = 1, 5
+                  DO 10  I = 1, N
+                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE, T,
+     $                           LDT, V((I-1)*K+1), 1, ZERO,
+     $                           W((I-1)*K+1), 1 )
+   10             CONTINUE
+                  DO 20 I = 1, N-1
+                     CALL DGEMV( 'Transpose', K, (N-I)*K, ONE,
+     $                           T(1,K+1), LDT, V((I-1)*K+1), 1,
+     $                           ONE, W(I*K+1), 1 )
+   20             CONTINUE
+                  CALL DCOPY( LEN, W, 1, V, 1 )
+                  NNRM = DNRM2( LEN, V, 1 )
+                  CALL DSCAL( LEN, ONE/NNRM, V, 1 )
+   30          CONTINUE
+            ELSE
+*              Estimate the 2-norm of the Schur complement with 5 power
+*              iterations.
+               LEN = ( N - S1 )*K
+               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
+               DO 80  PIT = 1, 5
+                  POSR = ( S1 - 1 )*K + 1
+                  DO 40  I = 1, N - S1
+                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE,
+     $                           T(1,POSR+K), LDT, V((I-1)*K+1), 1,
+     $                           ZERO, W((I-1)*K+1), 1 )
+   40             CONTINUE
+                  DO 50  I = 1, N - S1
+                     CALL DTRMV( 'Upper', 'NoTranspose', 'NonUnit', K,
+     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
+                     CALL DGEMV( 'NoTranspose', K, LEN-I*K, ONE,
+     $                           R(POSR,POSR+K), LDR, V(I*K+1), 1, ONE,
+     $                           V((I-1)*K+1), 1 )
+   50             CONTINUE
+                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, Z, 1 )
+                  DO 60  I = 1, N - S1
+                     CALL DGEMV( 'Transpose', K, LEN-I*K, ONE,
+     $                           R(POSR,POSR+K), LDR, V((I-1)*K+1), 1,
+     $                           ONE, Z(I*K+1), 1 )
+                     CALL DTRMV( 'Upper', 'Transpose', 'NonUnit', K,
+     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
+                     CALL DAXPY( K, ONE, V((I-1)*K+1), 1, Z((I-1)*K+1),
+     $                           1 )
+   60             CONTINUE
+                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, V, 1 )
+                  DO 70  I = 1, N - S1
+                     CALL DGEMV( 'Transpose', K, LEN-(I-1)*K, ONE,
+     $                           T(1,POSR+K), LDT, W((I-1)*K+1), 1,
+     $                           ONE, V((I-1)*K+1), 1 )
+   70             CONTINUE
+                  CALL DAXPY( LEN, -ONE, Z, 1, V, 1 )
+                  NNRM = DNRM2( LEN, V, 1 )
+                  CALL DSCAL( LEN, -ONE/NNRM, V, 1 )
+   80          CONTINUE
+               POS = ( S1 - 1 )*K + 1
+               P   = S1
+            END IF
+            WRITE ( NOUT, FMT = 99995 ) P*K, NNRM
+   90    CONTINUE
+         WRITE ( NOUT, FMT = 99996 )
+         DO 100  I = 1, P*K
+            WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
+  100    CONTINUE
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02FD = ',I2)
+99997 FORMAT ('   Incomplete Cholesky factorization ',
+     $         //'   rows    norm(Schur complement)',/)
+99996 FORMAT (/' The upper ICC factor of the block Toeplitz matrix is '
+     $       )
+99995 FORMAT (I4,5X,F8.4)
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' K is out of range.',/' K = ',I5)
+99991 FORMAT (/' IT is out of range.',/' IT = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02FD EXAMPLE
+4 2 3
+0 1 1
+    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500   0.2000   0.3000
+    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000   0.1000   0.2000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02FD EXAMPLE PROGRAM RESULTS
+
+   Incomplete Cholesky factorization 
+
+   rows    norm(Schur complement)
+
+   0       5.5509
+   2       5.1590
+   4       4.8766
+
+ The upper ICC factor of the block Toeplitz matrix is 
+   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.1155   0.1732
+   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957   0.0174   0.0522
+   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1104   0.0174
+   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0161   0.0931
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02GD.html b/doc/_static/doc/MB02GD.html
new file mode 100644
index 00000000..32cfdac3
--- /dev/null
+++ b/doc/_static/doc/MB02GD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>MB02GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02GD">MB02GD</A></H2>
+<H3>
+Cholesky factorization of a banded symmetric positive definite block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor of a banded symmetric positive
+  definite (s.p.d.) block Toeplitz matrix, defined by either its
+  first block row, or its first block column, depending on the
+  routine parameter TYPET.
+
+  By subsequent calls of this routine the Cholesky factor can be
+  computed block column by block column.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02GD( TYPET, TRIU, K, N, NL, P, S, T, LDT, RB, LDRB,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRIU, TYPET
+      INTEGER           INFO, K, LDRB, LDT, LDWORK, N, NL, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPET   CHARACTER*1
+          Specifies the type of T, as follows:
+          = 'R':  T contains the first block row of an s.p.d. block
+                  Toeplitz matrix; the Cholesky factor is upper
+                  triangular;
+          = 'C':  T contains the first block column of an s.p.d.
+                  block Toeplitz matrix; the Cholesky factor is
+                  lower triangular. This choice results in a column
+                  oriented algorithm which is usually faster.
+          Note:   in the sequel, the notation x / y means that
+                  x corresponds to TYPET = 'R' and y corresponds to
+                  TYPET = 'C'.
+
+  TRIU    CHARACTER*1
+          Specifies the structure of the last block in T, as
+          follows:
+          = 'N':  the last block has no special structure;
+          = 'T':  the last block is lower / upper triangular.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows / columns in T, which should be equal
+          to the blocksize.  K &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in T.  N &gt;= 1.
+          If TRIU = 'N',   N &gt;= 1;
+          if TRIU = 'T',   N &gt;= 2.
+
+  NL      (input)  INTEGER
+          The lower block bandwidth, i.e., NL + 1 is the number of
+          nonzero blocks in the first block column of the block
+          Toeplitz matrix.
+          If TRIU = 'N',   0 &lt;= NL &lt; N;
+          if TRIU = 'T',   1 &lt;= NL &lt; N.
+
+  P       (input)  INTEGER
+          The number of previously computed block rows / columns of
+          the Cholesky factor.  0 &lt;= P &lt;= N.
+
+  S       (input)  INTEGER
+          The number of block rows / columns of the Cholesky factor
+          to compute.  0 &lt;= S &lt;= N - P.
+
+  T       (input/output)  DOUBLE PRECISION array, dimension
+          (LDT,(NL+1)*K) / (LDT,K)
+          On entry, if P = 0, the leading K-by-(NL+1)*K /
+          (NL+1)*K-by-K part of this array must contain the first
+          block row / column of an s.p.d. block Toeplitz matrix.
+          On entry, if P &gt; 0, the leading K-by-(NL+1)*K /
+          (NL+1)*K-by-K part of this array must contain the P-th
+          block row / column of the Cholesky factor.
+          On exit, if INFO = 0, then the leading K-by-(NL+1)*K /
+          (NL+1)*K-by-K part of this array contains the (P+S)-th
+          block row / column of the Cholesky factor.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= MAX(1,K) / MAX(1,(NL+1)*K).
+
+  RB      (input/output)  DOUBLE PRECISION array, dimension
+          (LDRB,MIN(P+NL+S,N)*K) / (LDRB,MIN(P+S,N)*K)
+          On entry, if TYPET = 'R'  and  TRIU = 'N'  and  P &gt; 0,
+          the leading (NL+1)*K-by-MIN(NL,N-P)*K part of this array
+          must contain the (P*K+1)-st to ((P+NL)*K)-th columns
+          of the upper Cholesky factor in banded format from a
+          previous call of this routine.
+          On entry, if TYPET = 'R'  and  TRIU = 'T'  and  P &gt; 0,
+          the leading (NL*K+1)-by-MIN(NL,N-P)*K part of this array
+          must contain the (P*K+1)-st to (MIN(P+NL,N)*K)-th columns
+          of the upper Cholesky factor in banded format from a
+          previous call of this routine.
+          On exit, if TYPET = 'R'  and  TRIU = 'N', the leading
+          (NL+1)*K-by-MIN(NL+S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
+          upper Cholesky factor in banded format.
+          On exit, if TYPET = 'R'  and  TRIU = 'T', the leading
+          (NL*K+1)-by-MIN(NL+S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
+          upper Cholesky factor in banded format.
+          On exit, if TYPET = 'C'  and  TRIU = 'N', the leading
+          (NL+1)*K-by-MIN(S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
+          Cholesky factor in banded format.
+          On exit, if TYPET = 'C'  and  TRIU = 'T', the leading
+          (NL*K+1)-by-MIN(S,N-P)*K part of this array contains
+          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
+          Cholesky factor in banded format.
+          For further details regarding the band storage scheme see
+          the documentation of the LAPACK routine DPBTF2.
+
+  LDRB    INTEGER
+          The leading dimension of the array RB.
+          If TRIU = 'N',   LDRB &gt;= MAX( (NL+1)*K,1 );
+          if TRIU = 'T',   LDRB &gt;= NL*K+1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          The first 1 + ( NL + 1 )*K*K elements of DWORK should be
+          preserved during successive calls of the routine.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1 + ( NL + 1 )*K*K + NL*K.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is not (numerically) positive
+                definite.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+                             3
+  The algorithm requires O( K *N*NL ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, NMAX, NLMAX
+      PARAMETER        ( KMAX = 20, NMAX = 20, NLMAX = 20 )
+      INTEGER          LDRB, LDT, LDWORK
+      PARAMETER        ( LDRB = ( NLMAX + 1 )*KMAX, LDT = KMAX*NMAX,
+     $                   LDWORK = ( NLMAX + 1 )*KMAX*KMAX +
+     $                            ( 3 + NLMAX )*KMAX )
+*     .. Local Scalars ..
+      INTEGER          I, J, INFO, K, M, N, NL, SIZR
+      CHARACTER        TRIU, TYPET
+*     .. Local Arrays dimensioned for TYPET = 'R' ..
+      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB, NMAX*KMAX),
+     $                 T(LDT, NMAX*KMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02GD
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, N, NL, TRIU
+      TYPET = 'R'
+      M = ( NL + 1 )*K
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE IF( NL.LE.0 .OR. NL.GT.NLMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NL
+      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) K
+      ELSE
+         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
+*        Compute the banded Cholesky factor.
+         CALL MB02GD( TYPET, TRIU, K, N, NL, 0, N, T, LDT, RB, LDRB,
+     $                DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            IF ( LSAME( TRIU, 'T' ) ) THEN
+               SIZR = NL*K + 1
+            ELSE
+               SIZR = ( NL + 1 )*K
+            END IF
+            DO 10  I = 1, SIZR
+               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1, N*K )
+   10       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02GD = ',I2)
+99997 FORMAT (/' The upper Cholesky factor in banded storage format ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' NL is out of range.',/' NL = ',I5)
+99993 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02GD EXAMPLE PROGRAM DATA
+  2    4    2    T
+  3.0000    1.0000    0.1000    0.4000    0.2000    0.0000
+  0.0000    4.0000    0.1000    0.1000    0.0500    0.2000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02GD EXAMPLE PROGRAM RESULTS
+
+
+ The upper Cholesky factor in banded storage format 
+   0.0000   0.0000   0.0000   0.0000   0.1155   0.1044   0.1156   0.1051
+   0.0000   0.0000   0.0000   0.2309  -0.0087   0.2290  -0.0084   0.2302
+   0.0000   0.0000   0.0577  -0.0174   0.0541  -0.0151   0.0544  -0.0159
+   0.0000   0.5774   0.0348   0.5704   0.0222   0.5725   0.0223   0.5724
+   1.7321   1.9149   1.7307   1.9029   1.7272   1.8996   1.7272   1.8995
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02HD.html b/doc/_static/doc/MB02HD.html
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+<HTML>
+<HEAD><TITLE>MB02HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02HD">MB02HD</A></H2>
+<H3>
+Cholesky factorization of the matrix T' T, with T a banded block Toeplitz matrix of full rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a banded K*M-by-L*N block Toeplitz matrix T with
+  block size (K,L), specified by the nonzero blocks of its first
+  block column TC and row TR, a LOWER triangular matrix R (in band
+  storage scheme) such that
+                       T          T
+                      T  T  =  R R .                             (1)
+
+  It is assumed that the first MIN(M*K, N*L) columns of T are
+  linearly independent.
+
+  By subsequent calls of this routine, the matrix R can be computed
+  block column by block column.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02HD( TRIU, K, L, M, ML, N, NU, P, S, TC, LDTC, TR,
+     $                   LDTR, RB, LDRB, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRIU
+      INTEGER           INFO, K, L, LDRB, LDTC, LDTR, LDWORK, M, ML, N,
+     $                  NU, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRIU    CHARACTER*1
+          Specifies the structure, if any, of the last blocks in TC
+          and TR, as follows:
+          = 'N':  TC and TR have no special structure;
+          = 'T':  TC and TR are upper and lower triangular,
+                  respectively. Depending on the block sizes, two
+                  different shapes of the last blocks in TC and TR
+                  are possible, as illustrated below:
+
+                  1)    TC       TR     2)   TC         TR
+
+                       x x x    x 0 0      x x x x    x 0 0 0
+                       0 x x    x x 0      0 x x x    x x 0 0
+                       0 0 x    x x x      0 0 x x    x x x 0
+                       0 0 0    x x x
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of rows in the blocks of T.  K &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the blocks of T.  L &gt;= 0.
+
+  M       (input) INTEGER
+          The number of blocks in the first block column of T.
+          M &gt;= 1.
+
+  ML      (input) INTEGER
+          The lower block bandwidth, i.e., ML + 1 is the number of
+          nonzero blocks in the first block column of T.
+          0 &lt;= ML &lt; M and (ML + 1)*K &gt;= L and
+          if ( M*K &lt;= N*L ),  ML &gt;= M - INT( ( M*K - 1 )/L ) - 1;
+                              ML &gt;= M - INT( M*K/L ) or
+                              MOD( M*K, L ) &gt;= K;
+          if ( M*K &gt;= N*L ),  ML*K &gt;= N*( L - K ).
+
+  N       (input) INTEGER
+          The number of blocks in the first block row of T.
+          N &gt;= 1.
+
+  NU      (input) INTEGER
+          The upper block bandwidth, i.e., NU + 1 is the number of
+          nonzero blocks in the first block row of T.
+          If TRIU = 'N',   0 &lt;= NU &lt; N and
+                           (M + NU)*L &gt;= MIN( M*K, N*L );
+          if TRIU = 'T',   MAX(1-ML,0) &lt;= NU &lt; N and
+                           (M + NU)*L &gt;= MIN( M*K, N*L ).
+
+  P       (input)  INTEGER
+          The number of previously computed block columns of R.
+          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
+
+  S       (input)  INTEGER
+          The number of block columns of R to compute.
+          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
+
+  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
+          On entry, if P = 0, the leading (ML+1)*K-by-L part of this
+          array must contain the nonzero blocks in the first block
+          column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,(ML+1)*K),  if P = 0.
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,NU*L)
+          On entry, if P = 0, the leading K-by-NU*L part of this
+          array must contain the 2nd to the (NU+1)-st blocks of
+          the first block row of T.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.
+          LDTR &gt;= MAX(1,K),  if P = 0.
+
+  RB      (output)  DOUBLE PRECISION array, dimension
+          (LDRB,MIN( S*L,MIN( M*K,N*L )-P*L ))
+          On exit, if INFO = 0 and TRIU = 'N', the leading
+          MIN( ML+NU+1,N )*L-by-MIN( S*L,MIN( M*K,N*L )-P*L ) part
+          of this array contains the (P+1)-th to (P+S)-th block
+          column of the lower R factor (1) in band storage format.
+          On exit, if INFO = 0 and TRIU = 'T', the leading
+          MIN( (ML+NU)*L+1,N*L )-by-MIN( S*L,MIN( M*K,N*L )-P*L )
+          part of this array contains the (P+1)-th to (P+S)-th block
+          column of the lower R factor (1) in band storage format.
+          For further details regarding the band storage scheme see
+          the documentation of the LAPACK routine DPBTF2.
+
+  LDRB    INTEGER
+          The leading dimension of the array RB.
+          LDRB &gt;= MAX( MIN( ML+NU+1,N )*L,1 ),      if TRIU = 'N';
+          LDRB &gt;= MAX( MIN( (ML+NU)*L+1,N*L ),1 ),  if TRIU = 'T'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
+          value of LDWORK.
+          The first 1 + 2*MIN( ML+NU+1,N )*L*(K+L) elements of DWORK
+          should be preserved during successive calls of the routine.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          Let x = MIN( ML+NU+1,N ), then
+          LDWORK &gt;= 1 + MAX( x*L*L + (2*NU+1)*L*K,
+                             2*x*L*(K+L) + (6+x)*L ),  if P = 0;
+          LDWORK &gt;= 1 + 2*x*L*(K+L) + (6+x)*L,         if P &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the full rank condition for the first MIN(M*K, N*L)
+                columns of T is (numerically) violated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method yields a factor R which has comparable
+  accuracy with the Cholesky factor of T^T * T.
+  The algorithm requires
+            2                                  2
+        O( L *K*N*( ML + NU ) + N*( ML + NU )*L *( L + K ) )
+
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, MLMAX, NMAX, NUMAX
+      PARAMETER        ( KMAX = 20, LMAX  = 20, MMAX = 20, MLMAX = 10,
+     $                   NMAX = 20, NUMAX = 10 )
+      INTEGER          LDRB, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDRB = ( MLMAX + NUMAX + 1 )*LMAX,
+     $                   LDTC = ( MLMAX + 1 )*KMAX, LDTR = KMAX )
+      PARAMETER        ( LDWORK = LDRB*LMAX + ( 2*NUMAX + 1 )*LMAX*KMAX
+     $                            + 2*LDRB*( KMAX + LMAX ) + LDRB
+     $                            + 6*LMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, LENR, M, ML, N, NU, S
+      CHARACTER        TRIU
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB,NMAX*LMAX),
+     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, L, M, ML, N, NU, TRIU
+      IF( K.LT.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) K
+      ELSE IF( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( ML.LT.0 .OR. ML.GT.MLMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) ML
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF( NU.LT.0 .OR. NU.GT.NUMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NU
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,(ML+1)*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,NU*L ), I = 1,K )
+         S = ( MIN( M*K, N*L ) + L - 1 ) / L
+*        Compute the banded R factor.
+         CALL MB02HD( TRIU, K, L, M, ML, N, NU, 0, S, TC, LDTC, TR,
+     $                LDTR, RB, LDRB, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            LENR = ( ML + NU + 1 )*L
+            IF ( LSAME( TRIU, 'T' ) )  LENR = ( ML + NU )*L + 1
+            LENR = MIN( LENR, N*L )
+            DO 10  I = 1, LENR
+               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1,
+     $                                       MIN( N*L, M*K ) )
+   10       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02HD = ',I2)
+99997 FORMAT (/' The lower triangular factor R in banded storage ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' NU is out of range.',/' NU = ',I5)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ML is out of range.',/' ML = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' L is out of range.',/' L = ',I5)
+99990 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02HD EXAMPLE PROGRAM DATA
+   2  2  6  2  5   1  N
+     4.0     4.0
+     1.0     3.0
+     2.0     1.0
+     2.0     2.0
+     4.0     4.0
+     3.0     4.0
+     1.0     3.0   
+     2.0     1.0     
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02HD EXAMPLE PROGRAM RESULTS
+
+
+ The lower triangular factor R in banded storage 
+  -7.0711  -2.4125   6.0822   2.9967   5.9732   2.8593   5.8497   2.7914   2.7298   1.9557
+  -7.4953  -0.0829   5.8986  -0.5571   5.5329   0.2059   5.6797   0.3414   0.9565   0.0000
+  -4.2426   0.9202   2.4747  -1.6425   2.9472  -1.0052   2.4396  -0.7785   0.0000   0.0000
+  -5.2326   0.6218   2.8391  -0.0820   3.2670   0.6327   2.7067   0.0000   0.0000   0.0000
+  -3.5355   0.8207   3.1160  -0.4451   3.5758   0.5701   0.0000   0.0000   0.0000   0.0000
+  -4.6669  -0.5803   3.9454   0.7682   4.5481   0.0000   0.0000   0.0000   0.0000   0.0000
+  -1.4142  -0.0415   1.6441   0.4848   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -2.1213   0.0000   2.4662   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02ID.html b/doc/_static/doc/MB02ID.html
new file mode 100644
index 00000000..50146327
--- /dev/null
+++ b/doc/_static/doc/MB02ID.html
@@ -0,0 +1,367 @@
+<HTML>
+<HEAD><TITLE>MB02ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02ID">MB02ID</A></H2>
+<H3>
+Solution of over- or underdetermined linear systems with a full rank block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the overdetermined or underdetermined real linear systems
+  involving an M*K-by-N*L block Toeplitz matrix T that is specified
+  by its first block column and row. It is assumed that T has full
+  rank.
+  The following options are provided:
+
+  1. If JOB = 'O' or JOB = 'A' :  find the least squares solution of
+     an overdetermined system, i.e., solve the least squares problem
+
+               minimize || B - T*X ||.                           (1)
+
+  2. If JOB = 'U' or JOB = 'A' :  find the minimum norm solution of
+     the undetermined system
+                T
+               T * X = C.                                        (2)
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
+     $                   LDB, C, LDC, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
+     $                  RB, RC
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(LDWORK), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the problem to be solved as follows
+          = 'O':  solve the overdetermined system (1);
+          = 'U':  solve the underdetermined system (2);
+          = 'A':  solve (1) and (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of rows in the blocks of T.  K &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the blocks of T.  L &gt;= 0.
+
+  M       (input) INTEGER
+          The number of blocks in the first block column of T.
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of blocks in the first block row of T.
+          0 &lt;= N &lt;= M*K / L.
+
+  RB      (input) INTEGER
+          If JOB = 'O' or 'A', the number of columns in B.  RB &gt;= 0.
+
+  RC      (input) INTEGER
+          If JOB = 'U' or 'A', the number of columns in C.  RC &gt;= 0.
+
+  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
+          On entry, the leading M*K-by-L part of this array must
+          contain the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.  LDTC &gt;= MAX(1,M*K)
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
+          On entry, the leading K-by-(N-1)*L part of this array must
+          contain the 2nd to the N-th blocks of the first block row
+          of T.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
+
+  B       (input/output)  DOUBLE PRECISION array, dimension (LDB,RB)
+          On entry, if JOB = 'O' or JOB = 'A', the leading M*K-by-RB
+          part of this array must contain the right hand side
+          matrix B of the overdetermined system (1).
+          On exit, if JOB = 'O' or JOB = 'A', the leading N*L-by-RB
+          part of this array contains the solution of the
+          overdetermined system (1).
+          This array is not referenced if JOB = 'U'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,M*K),  if JOB = 'O'  or  JOB = 'A';
+          LDB &gt;= 1,           if JOB = 'U'.
+
+  C       (input)  DOUBLE PRECISION array, dimension (LDC,RC)
+          On entry, if JOB = 'U' or JOB = 'A', the leading N*L-by-RC
+          part of this array must contain the right hand side
+          matrix C of the underdetermined system (2).
+          On exit, if JOB = 'U' or JOB = 'A', the leading M*K-by-RC
+          part of this array contains the solution of the
+          underdetermined system (2).
+          This array is not referenced if JOB = 'O'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDB &gt;= 1,           if JOB = 'O';
+          LDB &gt;= MAX(1,M*K),  if JOB = 'U'  or  JOB = 'A'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          Let x = MAX( 2*N*L*(L+K) + (6+N)*L,(N*L+M*K+1)*L + M*K )
+          and y = N*M*K*L + N*L, then
+          if MIN( M,N ) = 1 and JOB = 'O',
+                      LDWORK &gt;= MAX( y + MAX( M*K,RB ),1 );
+          if MIN( M,N ) = 1 and JOB = 'U',
+                      LDWORK &gt;= MAX( y + MAX( M*K,RC ),1 );
+          if MIN( M,N ) = 1 and JOB = 'A',
+                      LDWORK &gt;= MAX( y +MAX( M*K,MAX( RB,RC ),1 );
+          if MIN( M,N ) &gt; 1 and JOB = 'O',
+                      LDWORK &gt;= MAX( x,N*L*RB + 1 );
+          if MIN( M,N ) &gt; 1 and JOB = 'U',
+                      LDWORK &gt;= MAX( x,N*L*RC + 1 );
+          if MIN( M,N ) &gt; 1 and JOB = 'A',
+                      LDWORK &gt;= MAX( x,N*L*MAX( RB,RC ) + 1 ).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction algorithm failed. The Toeplitz matrix
+                associated with T is (numerically) not of full rank.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O( L*L*K*(N+M)*log(N+M) + N*N*L*L*(L+K) )
+  and additionally
+
+  if JOB = 'O' or JOB = 'A',
+               O( (K*L+RB*L+K*RB)*(N+M)*log(N+M) + N*N*L*L*RB );
+  if JOB = 'U' or JOB = 'A',
+               O( (K*L+RC*L+K*RC)*(N+M)*log(N+M) + N*N*L*L*RC );
+
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX, RBMAX, RCMAX
+      PARAMETER        ( KMAX  = 20, LMAX  = 20, MMAX = 20, NMAX = 20,
+     $                   RBMAX = 20, RCMAX = 20 )
+      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDB  = KMAX*MMAX, LDC  = KMAX*MMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = 2*NMAX*LMAX*( LMAX + KMAX ) +
+     $                            ( 6 + NMAX )*LMAX +
+     $                            MMAX*KMAX*( LMAX + 1 ) +
+     $                            RBMAX + RCMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, M, N, RB, RC
+      CHARACTER        JOB
+      DOUBLE PRECISION B(LDB,RBMAX),  C(LDC,RCMAX), DWORK(LDWORK),
+     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02ID
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  K, L, M, N, RB, RC, JOB
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF ( ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) )
+     $          .AND. ( ( RB.LE.0 ) .OR. ( RB.GT.RBMAX ) ) ) THEN
+         WRITE ( NOUT, FMT = 99990 ) RB
+      ELSE IF ( ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) )
+     $          .AND. ( ( RC.LE.0 ) .OR. ( RC.GT.RCMAX ) ) ) THEN
+         WRITE ( NOUT, FMT = 99989 ) RC
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ), I = 1,K )
+         IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,RB ), I = 1,M*K )
+         END IF
+         IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,RC ), I = 1,N*L )
+         END IF
+         CALL MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
+     $                LDB, C, LDC, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, N*L
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, RB )
+   10          CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 20  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, RC )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02ID = ',I2)
+99997 FORMAT (' The least squares solution of T * X = B is ')
+99996 FORMAT (' The minimum norm solution of T^T * X = C is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' K is out of range.',/' K = ',I5)
+99993 FORMAT (/' L is out of range.',/' L = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' RB is out of range.',/' RB = ',I5)
+99989 FORMAT (/' RC is out of range.',/' RC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02ID EXAMPLE PROGRAM DATA
+   3   2   4   3   1   1   A
+     5.0     2.0
+     1.0     2.0
+     4.0     3.0
+     4.0     0.0
+     2.0     2.0
+     3.0     3.0
+     5.0     1.0
+     3.0     3.0
+     1.0     1.0
+     2.0     3.0
+     1.0     3.0
+     2.0     2.0
+     1.0     4.0     2.0     3.0
+     2.0     2.0     2.0     4.0
+     3.0     1.0     0.0     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+     1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02ID EXAMPLE PROGRAM RESULTS
+
+ The least squares solution of T * X = B is 
+   0.0379
+   0.1677
+   0.0485
+  -0.0038
+   0.0429
+   0.1365
+ The minimum norm solution of T^T * X = C is 
+   0.0509
+   0.0547
+   0.0218
+   0.0008
+   0.0436
+   0.0404
+   0.0031
+   0.0451
+   0.0421
+   0.0243
+   0.0556
+   0.0472
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02JD.html b/doc/_static/doc/MB02JD.html
new file mode 100644
index 00000000..229049d2
--- /dev/null
+++ b/doc/_static/doc/MB02JD.html
@@ -0,0 +1,338 @@
+<HTML>
+<HEAD><TITLE>MB02JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02JD">MB02JD</A></H2>
+<H3>
+Full QR factorization of a block Toeplitz matrix of full rank
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a lower triangular matrix R and a matrix Q with
+  Q^T Q = I such that
+                                 T
+                        T  =  Q R ,
+
+  where T is a K*M-by-L*N block Toeplitz matrix with blocks of size
+  (K,L). The first column of T will be denoted by TC and the first
+  row by TR. It is assumed that the first MIN(M*K, N*L) columns of T
+  have full rank.
+
+  By subsequent calls of this routine the factors Q and R can be
+  computed block column by block column.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02JD( JOB, K, L, M, N, P, S, TC, LDTC, TR, LDTR, Q,
+     $                   LDQ, R, LDR, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK,
+     $                  M, N, P, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine as follows:
+          = 'Q':  computes Q and R;
+          = 'R':  only computes R.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in one block of T.  K &gt;= 0.
+
+  L       (input)  INTEGER
+          The number of columns in one block of T.  L &gt;= 0.
+
+  M       (input)  INTEGER
+          The number of blocks in one block column of T.  M &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in one block row of T.  N &gt;= 0.
+
+  P       (input)  INTEGER
+          The number of previously computed block columns of R.
+          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
+
+  S       (input)  INTEGER
+          The number of block columns of R to compute.
+          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
+
+  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
+          On entry, if P = 0, the leading M*K-by-L part of this
+          array must contain the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,M*K).
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
+          On entry, if P = 0, the leading K-by-(N-1)*L part of this
+          array must contain the first block row of T without the
+          leading K-by-L block.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.
+          LDTR &gt;= MAX(1,K).
+
+  Q       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDQ,MIN( S*L, MIN( M*K,N*L )-P*L ))
+          On entry, if JOB = 'Q'  and  P &gt; 0, the leading M*K-by-L
+          part of this array must contain the last block column of Q
+          from a previous call of this routine.
+          On exit, if JOB = 'Q'  and  INFO = 0, the leading
+          M*K-by-MIN( S*L, MIN( M*K,N*L )-P*L ) part of this array
+          contains the P-th to (P+S)-th block columns of the factor
+          Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= MAX(1,M*K), if JOB = 'Q';
+          LDQ &gt;= 1,          if JOB = 'R'.
+
+  R       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDR,MIN( S*L, MIN( M*K,N*L )-P*L ))
+          On entry, if P &gt; 0, the leading (N-P+1)*L-by-L
+          part of this array must contain the nozero part of the
+          last block column of R from a previous call of this
+          routine.
+          One exit, if INFO = 0, the leading
+          MIN( N, N-P+1 )*L-by-MIN( S*L, MIN( M*K,N*L )-P*L )
+          part of this array contains the nonzero parts of the P-th
+          to (P+S)-th block columns of the lower triangular
+          factor R.
+          Note that elements in the strictly upper triangular part
+          will not be referenced.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX( 1, MIN( N, N-P+1 )*L )
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -17,  DWORK(1) returns the minimum
+          value of LDWORK.
+          If JOB = 'Q', the first 1 + ( (N-1)*L + M*K )*( 2*K + L )
+          elements of DWORK should be preserved during successive
+          calls of the routine.
+          If JOB = 'R', the first 1 + (N-1)*L*( 2*K + L ) elements
+          of DWORK should be preserved during successive calls of
+          the routine.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          JOB = 'Q':
+             LDWORK &gt;= 1 + ( M*K + ( N - 1 )*L )*( L + 2*K ) + 6*L
+                         + MAX( M*K,( N - MAX( 1,P )*L ) );
+          JOB = 'R':
+             If P = 0,
+                LDWORK &gt;= MAX( 1 + ( N - 1 )*L*( L + 2*K ) + 6*L
+                                 + (N-1)*L, M*K*( L + 1 ) + L );
+             If P &gt; 0,
+                LDWORK &gt;= 1 + (N-1)*L*( L + 2*K ) + 6*L + (N-P)*L.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the full rank condition for the first MIN(M*K, N*L)
+                columns of T is (numerically) violated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Block Householder transformations and modified hyperbolic
+  rotations are used in the Schur algorithm [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method yields a factor R which has comparable
+  accuracy with the Cholesky factor of T^T * T. Q is implicitly
+  computed from the formula Q = T * inv(R^T R) * R, i.e., for ill
+  conditioned problems this factor is of very limited value.
+                              2
+  The algorithm requires 0(K*L *M*N) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02JD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX
+      PARAMETER        ( KMAX = 10, LMAX = 10, MMAX = 20, NMAX = 20 )
+      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
+     $                            *( LMAX + 2*KMAX ) + 6*LMAX
+     $                            + MMAX*KMAX + NMAX*LMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, M, N, S
+      CHARACTER        JOB
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
+     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
+     $                 TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02JD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, L, M, N, JOB
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
+     $                             I = 1,K )
+         S = ( MIN( M*K, N*L ) + L - 1 ) / L
+*        Compute the required part of the QR factorization.
+         CALL MB02JD( JOB, K, L, M, N, 0, S, TC, LDTC, TR, LDTR, Q, LDQ,
+     $                R, LDR, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( JOB, 'Q' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99995 )
+     $                  ( Q(I,J), J = 1, MIN( N*L, M*K ) )
+   10          CONTINUE
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N*L
+               WRITE ( NOUT, FMT = 99995 )
+     $               ( R(I,J), J = 1, MIN( N*L, M*K ) )
+   20       CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB02JD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02JD = ',I2)
+99997 FORMAT (/' The factor Q is ')
+99996 FORMAT (/' The factor R is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' K is out of range.',/' K = ',I5)
+99993 FORMAT (/' L is out of range.',/' L = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02JD EXAMPLE PROGRAM DATA
+    2   3    4    3    Q
+     1.0     4.0     0.0
+     4.0     1.0     2.0
+     4.0     2.0     2.0
+     5.0     3.0     2.0
+     2.0     4.0     4.0
+     5.0     3.0     4.0
+     2.0     2.0     5.0
+     4.0     2.0     3.0
+     3.0     4.0     2.0     5.0     0.0     4.0
+     5.0     1.0     1.0     2.0     4.0     1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02JD EXAMPLE PROGRAM RESULTS
+
+
+ The factor Q is 
+  -0.0967   0.7166  -0.4651   0.1272   0.4357   0.0435   0.2201   0.0673
+  -0.3867  -0.3108  -0.0534   0.5251   0.0963  -0.3894   0.1466   0.5412
+  -0.3867  -0.0990  -0.1443  -0.7021   0.3056  -0.3367  -0.3233   0.1249
+  -0.4834  -0.0178  -0.3368  -0.1763  -0.5446   0.5100   0.1503   0.2054
+  -0.1933   0.5859   0.3214   0.1156  -0.4670  -0.3199  -0.4185   0.0842
+  -0.4834  -0.0178   0.1072   0.0357  -0.0575  -0.2859   0.4339  -0.6928
+  -0.1933   0.1623   0.7251  -0.1966   0.2736   0.3058   0.3398   0.2968
+  -0.3867  -0.0990   0.0777   0.3615   0.3386   0.4421  -0.5693  -0.2641
+
+ The factor R is 
+ -10.3441   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -6.3805   4.7212   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -7.3472   1.9320   4.5040   0.0000   0.0000   0.0000   0.0000   0.0000
+ -10.0541   2.5101   0.5065   3.6550   0.0000   0.0000   0.0000   0.0000
+  -6.5738   3.6127   1.2702  -1.3146   3.5202   0.0000   0.0000   0.0000
+  -5.2204   2.4764   2.4113   1.3890   1.2780   2.4976   0.0000   0.0000
+  -9.6674   3.2445  -0.5099  -0.0224   2.6548   2.9491   1.0049   0.0000
+  -6.3805   0.6968   1.9483   0.3050   0.7002  -2.0220  -2.8246   2.3147
+  -4.1570   2.4309  -0.7190  -0.1455   3.0149   0.5454   0.9394  -0.0548
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02JX.html b/doc/_static/doc/MB02JX.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/MB02JX.html
@@ -0,0 +1,361 @@
+<HTML>
+<HEAD><TITLE>MB02JX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02JX">MB02JX</A></H2>
+<H3>
+Low rank QR factorization with column pivoting of a block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a low rank QR factorization with column pivoting of a
+  K*M-by-L*N block Toeplitz matrix T with blocks of size (K,L);
+  specifically,
+                                  T
+                        T P =  Q R ,
+
+  where R is lower trapezoidal, P is a block permutation matrix
+  and Q^T Q = I. The number of columns in R is equivalent to the
+  numerical rank of T with respect to the given tolerance TOL1.
+  Note that the pivoting scheme is local, i.e., only columns
+  belonging to the same block in T are permuted.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q,
+     $                   LDQ, R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK, M, N,
+     $                  RNK
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+      INTEGER           JPVT(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the output of the routine as follows:
+          = 'Q':  computes Q and R;
+          = 'R':  only computes R.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of rows in one block of T.  K &gt;= 0.
+
+  L       (input)  INTEGER
+          The number of columns in one block of T.  L &gt;= 0.
+
+  M       (input)  INTEGER
+          The number of blocks in one block column of T.  M &gt;= 0.
+
+  N       (input)  INTEGER
+          The number of blocks in one block row of T.  N &gt;= 0.
+
+  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
+          The leading M*K-by-L part of this array must contain
+          the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,M*K).
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
+          The leading K-by-(N-1)*L part of this array must contain
+          the first block row of T without the leading K-by-L
+          block.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
+
+  RNK     (output)  INTEGER
+          The number of columns in R, which is equivalent to the
+          numerical rank of T.
+
+  Q       (output)  DOUBLE PRECISION array, dimension (LDQ,RNK)
+          If JOB = 'Q', then the leading M*K-by-RNK part of this
+          array contains the factor Q.
+          If JOB = 'R', then this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= MAX(1,M*K),  if JOB = 'Q';
+          LDQ &gt;= 1,           if JOB = 'R'.
+
+  R       (output)  DOUBLE PRECISION array, dimension (LDR,RNK)
+          The leading N*L-by-RNK part of this array contains the
+          lower trapezoidal factor R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,N*L)
+
+  JPVT    (output)  INTEGER array, dimension (MIN(M*K,N*L))
+          This array records the column pivoting performed.
+          If JPVT(j) = k, then the j-th column of T*P was
+          the k-th column of T.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If TOL1 &gt;= 0.0, the user supplied diagonal tolerance;
+          if TOL1 &lt; 0.0, a default diagonal tolerance is used.
+
+  TOL2    DOUBLE PRECISION
+          If TOL2 &gt;= 0.0, the user supplied offdiagonal tolerance;
+          if TOL2 &lt; 0.0, a default offdiagonal tolerance is used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK;  DWORK(2) and DWORK(3) return the used values
+          for TOL1 and TOL2, respectively.
+          On exit, if INFO = -19,  DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 3, ( M*K + ( N - 1 )*L )*( L + 2*K ) + 9*L
+                              + MAX(M*K,(N-1)*L) ),    if JOB = 'Q';
+          LDWORK &gt;= MAX( 3, ( N - 1 )*L*( L + 2*K + 1 ) + 9*L,
+                              M*K*( L + 1 ) + L ),     if JOB = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  due to perturbations induced by roundoff errors, or
+                removal of nearly linearly dependent columns of the
+                generator, the Schur algorithm encountered a
+                situation where a diagonal element in the negative
+                generator is larger in magnitude than the
+                corresponding diagonal element in the positive
+                generator (modulo TOL1);
+          = 2:  due to perturbations induced by roundoff errors, or
+                removal of nearly linearly dependent columns of the
+                generator, the Schur algorithm encountered a
+                situation where diagonal elements in the positive
+                and negative generator are equal in magnitude
+                (modulo TOL1), but the offdiagonal elements suggest
+                that these columns are not linearly dependent
+                (modulo TOL2*ABS(diagonal element)).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and modified hyperbolic rotations
+  are used in the Schur algorithm [1], [2].
+  If, during the process, the hyperbolic norm of a row in the
+  leading part of the generator is found to be less than or equal
+  to TOL1, then this row is not reduced. If the difference of the
+  corresponding columns has a norm less than or equal to TOL2 times
+  the magnitude of the leading element, then this column is removed
+  from the generator, as well as from R. Otherwise, the algorithm
+  breaks down. TOL1 is set to norm(TC)*sqrt(eps) and TOL2 is set
+  to N*L*sqrt(eps) by default.
+  If M*K &gt; L, the columns of T are permuted so that the diagonal
+  elements in one block column of R have decreasing magnitudes.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kailath, T. and Sayed, A.
+      Fast Reliable Algorithms for Matrices with Structure.
+      SIAM Publications, Philadelphia, 1999.
+
+  [2] Kressner, D. and Van Dooren, P.
+      Factorizations and linear system solvers for matrices with
+      Toeplitz structure.
+      SLICOT Working Note 2000-2, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(K*RNK*L*M*N) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02JX EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX
+      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20 )
+      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
+     $                            *( LMAX + 2*KMAX ) + 5*LMAX
+     $                            + MMAX*KMAX + NMAX*LMAX )
+*     .. Local Scalars ..
+      CHARACTER        JOB
+      INTEGER          I, INFO, J, K, L, M, N, RNK
+      DOUBLE PRECISION TOL1, TOL2
+*     .. Local Arrays ..
+      INTEGER          JPVT(NMAX*LMAX)
+      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
+     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
+     $                 TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02JX
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K, L, M, N, TOL1, TOL2, JOB
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
+     $                             I = 1,K )
+*        Compute the required part of the QR factorization.
+         CALL MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q, LDQ,
+     $                R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99994 ) RNK
+            IF ( LSAME( JOB, 'Q' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99993 ) ( Q(I,J), J = 1, RNK )
+   10          CONTINUE
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N*L
+               WRITE ( NOUT, FMT = 99993 ) ( R(I,J), J = 1, RNK )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            WRITE ( NOUT, FMT = 99992 ) ( JPVT(I),
+     $                                    I = 1, MIN( M*K, N*L ) )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02JX EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02JX = ',I2)
+99997 FORMAT (/' The factor Q is ')
+99996 FORMAT (/' The factor R is ')
+99995 FORMAT (/' The column permutation is ')
+99994 FORMAT (/' Numerical rank ',/' RNK = ',I5)
+99993 FORMAT (20(1X,F8.4))
+99992 FORMAT (20(1X,I4))
+99991 FORMAT (/' K is out of range.',/' K = ',I5)
+99990 FORMAT (/' L is out of range.',/' L = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02JX EXAMPLE PROGRAM DATA
+   3   3   4   4  -1.0D0  -1.0D0   Q
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     2.0     3.0
+     1.0     0.0     1.0
+     1.0     1.0     0.0
+     2.0     2.0     0.0
+     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     1.0
+     1.0     2.0     3.0     1.0     2.0     3.0     1.0     2.0     1.0
+     1.0     2.0     3.0     1.0     2.0     3.0     1.0     1.0     1.0
+     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02JX EXAMPLE PROGRAM RESULTS
+
+
+ Numerical rank 
+ RNK =     7
+
+ The factor Q is 
+  -0.3313  -0.0105  -0.0353   0.0000  -0.4714  -0.8165   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082   0.7071
+  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082  -0.7071
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
+  -0.1104   0.2824   0.9529   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.4288  -0.1271   0.8944   0.0000   0.0000   0.0000
+   0.0000   0.8576  -0.2541  -0.4472   0.0000   0.0000   0.0000
+
+ The factor R is 
+  -9.0554   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -3.0921   2.3322   0.0000   0.0000   0.0000   0.0000   0.0000
+  -5.9633   1.9557  -1.2706   0.0000   0.0000   0.0000   0.0000
+  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
+  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
+  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
+  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
+  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
+  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
+  -7.2885   4.4866   0.9741   1.3416   2.8284   0.0000   0.0000
+  -2.7608   1.4851   0.2894   0.4472   0.4714   0.8165   0.0000
+  -5.5216   2.9701   0.5788   0.8944   0.9428   0.4082   0.7071
+
+ The column permutation is 
+    3    1    2    6    5    4    9    8    7   12   10   11
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02KD.html b/doc/_static/doc/MB02KD.html
new file mode 100644
index 00000000..5cf32bab
--- /dev/null
+++ b/doc/_static/doc/MB02KD.html
@@ -0,0 +1,346 @@
+<HTML>
+<HEAD><TITLE>MB02KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02KD">MB02KD</A></H2>
+<H3>
+Computation of the product C = alpha op( T ) B + beta C, with T a block Toeplitz matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix product
+
+            C = alpha*op( T )*B + beta*C,
+
+  where alpha and beta are scalars and T is a block Toeplitz matrix
+  specified by its first block column TC and first block row TR;
+  B and C are general matrices of appropriate dimensions.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA,
+     $                   TC, LDTC, TR, LDTR, B, LDB, C, LDC, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LDBLK, TRANS
+      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
+     $                  R
+      DOUBLE PRECISION  ALPHA, BETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(*), TC(LDTC,*),
+     $                  TR(LDTR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LDBLK   CHARACTER*1
+          Specifies where the (1,1)-block of T is stored, as
+          follows:
+          = 'C':  in the first block of TC;
+          = 'R':  in the first block of TR.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( T ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( T ) = T;
+          = 'T':  op( T ) = T';
+          = 'C':  op( T ) = T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of rows in the blocks of T.  K &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the blocks of T.  L &gt;= 0.
+
+  M       (input) INTEGER
+          The number of blocks in the first block column of T.
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of blocks in the first block row of T.  N &gt;= 0.
+
+  R       (input) INTEGER
+          The number of columns in B and C.  R &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then TC, TR and B
+          are not referenced.
+
+  BETA    (input) DOUBLE PRECISION
+          The scalar beta. When beta is zero then C need not be set
+          before entry.
+
+  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
+          On entry with LDBLK = 'C', the leading M*K-by-L part of
+          this array must contain the first block column of T.
+          On entry with LDBLK = 'R', the leading (M-1)*K-by-L part
+          of this array must contain the 2nd to the M-th blocks of
+          the first block column of T.
+
+  LDTC    INTEGER
+          The leading dimension of the array TC.
+          LDTC &gt;= MAX(1,M*K),      if LDBLK = 'C';
+          LDTC &gt;= MAX(1,(M-1)*K),  if LDBLK = 'R'.
+
+  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,k)
+          where k is (N-1)*L when LDBLK = 'C' and is N*L when
+          LDBLK = 'R'.
+          On entry with LDBLK = 'C', the leading K-by-(N-1)*L part
+          of this array must contain the 2nd to the N-th blocks of
+          the first block row of T.
+          On entry with LDBLK = 'R', the leading K-by-N*L part of
+          this array must contain the first block row of T.
+
+  LDTR    INTEGER
+          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
+
+  B       (input)  DOUBLE PRECISION array, dimension (LDB,R)
+          On entry with TRANS = 'N', the leading N*L-by-R part of
+          this array must contain the matrix B.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          M*K-by-R part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N*L),  if TRANS = 'N';
+          LDB &gt;= MAX(1,M*K),  if TRANS = 'T' or TRANS = 'C'.
+
+  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,R)
+          On entry with TRANS = 'N', the leading M*K-by-R part of
+          this array must contain the matrix C.
+          On entry with TRANS = 'T' or TRANS = 'C', the leading
+          N*L-by-R part of this array must contain the matrix C.
+          On exit with TRANS = 'N', the leading M*K-by-R part of
+          this array contains the updated matrix C.
+          On exit with TRANS = 'T' or TRANS = 'C', the leading
+          N*L-by-R part of this array contains the updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M*K),  if TRANS = 'N';
+          LDC &gt;= MAX(1,N*L),  if TRANS = 'T' or TRANS = 'C'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For point Toeplitz matrices or sufficiently large block Toeplitz
+  matrices, this algorithm uses convolution algorithms based on
+  the fast Hartley transforms [1]. Otherwise, TC is copied in
+  reversed order into the workspace such that C can be computed from
+  barely M matrix-by-matrix multiplications.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, Charles.
+      Computational frameworks for the fast Fourier transform.
+      SIAM, 1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O( (K*L+R*L+K*R)*(N+M)*log(N+M) + K*L*R )
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX, LMAX, MMAX, NMAX, RMAX
+      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20,
+     $                   RMAX = 20 )
+      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
+      PARAMETER        ( LDB  = LMAX*NMAX, LDC  = KMAX*MMAX,
+     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
+     $                   LDWORK = 2*( KMAX*LMAX + KMAX*RMAX
+     $                            + LMAX*RMAX + 1 )*( MMAX + NMAX ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, M, N, R
+      CHARACTER        LDBLK, TRANS
+      DOUBLE PRECISION ALPHA, BETA
+*     .. Local Arrays .. (Dimensioned for TRANS = 'N'.)
+      DOUBLE PRECISION B(LDB,RMAX), C(LDC,RMAX), DWORK(LDWORK),
+     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02KD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  K, L, M, N, R, LDBLK, TRANS
+      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) K
+      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) L
+      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF( R.LE.0 .OR. R.GT.RMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         IF ( LSAME( LDBLK, 'R' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ),
+     $                              I = 1,(M-1)*K )
+            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,N*L ), I = 1,K )
+         ELSE
+            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
+            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ),
+     $                              I = 1,K )
+         END IF
+         IF ( LSAME( TRANS, 'N' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,N*L )
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,M*K )
+         END IF
+         ALPHA = ONE
+         BETA  = ZERO
+         CALL MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA, TC,
+     $                LDTC, TR, LDTR, B, LDB, C, LDC, DWORK, LDWORK,
+     $                INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( TRANS, 'N' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, M*K
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
+   10          CONTINUE
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 20  I = 1, N*L
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02KD = ',I2)
+99997 FORMAT (' The product C = T * B is ')
+99996 FORMAT (' The product C = T^T * B is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' K is out of range.',/' K = ',I5)
+99993 FORMAT (/' L is out of range.',/' L = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' R is out of range.',/' R = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB02KD EXAMPLE PROGRAM DATA
+   3    2   4    5    1    C    N
+     4.0     1.0
+     3.0     5.0
+     2.0     1.0
+     4.0     1.0
+     3.0     4.0
+     2.0     4.0
+     3.0     1.0
+     3.0     0.0
+     4.0     4.0
+     5.0     1.0
+     3.0     1.0
+     4.0     3.0
+     5.0     2.0     2.0     2.0     2.0     1.0     1.0     3.0
+     4.0     1.0     5.0     4.0     5.0     4.0     1.0     2.0
+     2.0     3.0     4.0     1.0     3.0     3.0     3.0     3.0
+     0.0
+     2.0
+     2.0
+     2.0
+     1.0
+     3.0
+     3.0
+     4.0
+     2.0
+     3.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02KD EXAMPLE PROGRAM RESULTS
+
+ The product C = T * B is 
+  45.0000
+  76.0000
+  55.0000
+  44.0000
+  84.0000
+  56.0000
+  52.0000
+  70.0000
+  54.0000
+  49.0000
+  63.0000
+  59.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02MD.html b/doc/_static/doc/MB02MD.html
new file mode 100644
index 00000000..acdfc343
--- /dev/null
+++ b/doc/_static/doc/MB02MD.html
@@ -0,0 +1,462 @@
+<HTML>
+<HEAD><TITLE>MB02MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02MD">MB02MD</A></H2>
+<H3>
+Solution of Total Least-Squares problem using a SVD approach
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Total Least Squares (TLS) problem using a Singular
+  Value Decomposition (SVD) approach.
+  The TLS problem assumes an overdetermined set of linear equations
+  AX = B, where both the data matrix A as well as the observation
+  matrix B are inaccurate. The routine also solves determined and
+  underdetermined sets of equations by computing the minimum norm
+  solution.
+  It is assumed that all preprocessing measures (scaling, coordinate
+  transformations, whitening, ... ) of the data have been performed
+  in advance.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  C(LDC,*), DWORK(*), S(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Determines whether the values of the parameters RANK and
+          TOL are to be specified by the user or computed by the
+          routine as follows:
+          = 'R':  Compute RANK only;
+          = 'T':  Compute TOL only;
+          = 'B':  Compute both RANK and TOL;
+          = 'N':  Compute neither RANK nor TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the data matrix A and the
+          observation matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the data matrix A.  N &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the observation matrix B.
+          L &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if JOB = 'T' or JOB = 'N', then RANK must
+          specify r, the rank of the TLS approximation [A+DA|B+DB].
+          RANK &lt;= min(M,N).
+          Otherwise, r is computed by the routine.
+          On exit, if JOB = 'R' or JOB = 'B', and INFO = 0, then
+          RANK contains the computed (effective) rank of the TLS
+          approximation [A+DA|B+DB].
+          Otherwise, the user-supplied value of RANK may be
+          changed by the routine on exit if the RANK-th and the
+          (RANK+1)-th singular values of C = [A|B] are considered
+          to be equal, or if the upper triangular matrix F (as
+          defined in METHOD) is (numerically) singular.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
+          On entry, the leading M-by-(N+L) part of this array must
+          contain the matrices A and B. Specifically, the first N
+          columns must contain the data matrix A and the last L
+          columns the observation matrix B (right-hand sides).
+          On exit, the leading (N+L)-by-(N+L) part of this array
+          contains the (transformed) right singular vectors,
+          including null space vectors, if any, of C = [A|B].
+          Specifically, the leading (N+L)-by-RANK part of this array
+          always contains the first RANK right singular vectors,
+          corresponding to the largest singular values of C. If
+          L = 0, or if RANK = 0 and IWARN &lt;&gt; 2, the remaining
+          (N+L)-by-(N+L-RANK) top-right part of this array contains
+          the remaining N+L-RANK right singular vectors. Otherwise,
+          this part contains the matrix V2 transformed as described
+          in Step 3 of the TLS algorithm (see METHOD).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
+
+  S       (output) DOUBLE PRECISION array, dimension (min(M,N+L))
+          If INFO = 0, the singular values of matrix C, ordered
+          such that S(1) &gt;= S(2) &gt;= ... &gt;= S(p-1) &gt;= S(p) &gt;= 0,
+          where p = min(M,N+L).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
+          If INFO = 0, the leading N-by-L part of this array
+          contains the solution X to the TLS problem specified
+          by A and B.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= max(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used to determine the rank of the TLS
+          approximation [A+DA|B+DB] and to check the multiplicity
+          of the singular values of matrix C. Specifically, S(i)
+          and S(j) (i &lt; j) are considered to be equal if
+          SQRT(S(i)**2 - S(j)**2) &lt;= TOL, and the TLS approximation
+          [A+DA|B+DB] has rank r if S(i) &gt; TOL*S(1) (or S(i) &gt; TOL,
+          if TOL specifies sdev (see below)), for i = 1,2,...,r.
+          TOL is also used to check the singularity of the upper
+          triangular matrix F (as defined in METHOD).
+          If JOB = 'R' or JOB = 'N', then TOL must specify the
+          desired tolerance. If the user sets TOL to be less than or
+          equal to 0, the tolerance is taken as EPS, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH).
+          Otherwise, the tolerance is computed by the routine and
+          the user must supply the non-negative value sdev, i.e. the
+          estimated standard deviation of the error on each element
+          of the matrix C, as input value of TOL.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (L)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2) returns the reciprocal of the
+          condition number of the matrix F.
+          If INFO &gt; 0, DWORK(1:min(M,N+L)-1) contain the unconverged
+          non-diagonal elements of the bidiagonal matrix whose
+          diagonal is in S (see LAPACK Library routine DGESVD).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max(2, 3*(N+L) + M, 5*(N+L)),       if M &gt;= N+L;
+          LDWORK = max(2, M*(N+L) + max( 3M+N+L, 5*M), 3*L),
+                                                       if M &lt;  N+L.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 1:  if the rank of matrix C has been lowered because a
+                singular value of multiplicity greater than 1 was
+                found;
+          = 2:  if the rank of matrix C has been lowered because the
+                upper triangular matrix F is (numerically) singular.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if the SVD algorithm (in LAPACK Library routine
+                DBDSQR) has failed to converge. In this case, S(1),
+                S(2), ..., S(INFO) may not have been found
+                correctly and the remaining singular values may
+                not be the smallest. This failure is not likely
+                to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is an extension (see [3,4,5]) of the classical
+  TLS algorithm proposed by Golub and Van Loan [1].
+
+  Let [A|B] denote the matrix formed by adjoining the columns of B
+  to the columns of A on the right.
+
+  Total Least Squares (TLS) definition:
+  -------------------------------------
+
+    Given matrices A and B, find a matrix X satisfying
+
+         (A + DA) X = B + DB,
+
+    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
+    and X is an N-by-L matrix.
+    The solution X must be such that the Frobenius norm of [DA|DB]
+    is a minimum and each column of B + DB is in the range of
+    A + DA. Whenever the solution is not unique, the routine singles
+    out the minimum norm solution X.
+
+  Define matrix C = [A|B] and s(i) as its i-th singular value for
+  i = 1,2,...,min(M,NL), where NL = N + L. If M &lt; NL, then s(j) = 0
+  for j = M+1,...,NL.
+
+  The Classical TLS algorithm proceeds as follows (see [3,4,5]):
+
+  Step 1: Compute part of the singular value decomposition (SVD)
+          USV' of C = [A|B], namely compute S and V'. (An initial
+          QR factorization of C is used when M is larger enough
+          than NL.)
+
+  Step 2: If not fixed by the user, compute the rank r0 of the data
+          [A|B] based on TOL as follows: if JOB = 'R' or JOB = 'N',
+
+             s(1) &gt;= ... &gt;= s(r0) &gt; TOL*s(1) &gt;= ... &gt;= s(NL).
+
+          Otherwise, using [2], TOL can be computed from the
+          standard deviation sdev of the errors on [A|B]:
+
+             TOL = SQRT(2 * max(M,NL)) * sdev,
+
+          and the rank r0 is determined (if JOB = 'R' or 'B') using
+
+             s(1) &gt;= ... &gt;= s(r0) &gt; TOL &gt;= ... &gt;= s(NL).
+
+          The rank r of the approximation [A+DA|B+DB] is then equal
+          to the minimum of N and r0.
+
+  Step 3: Let V2 be the matrix of the columns of V corresponding to
+          the (NL - r) smallest singular values of C, i.e. the last
+          (NL - r) columns of V.
+          Compute with Householder transformations the orthogonal
+          matrix Q such that:
+
+                    |VH   Y|
+           V2 x Q = |      |
+                    |0    F|
+
+          where VH is an N-by-(N - r) matrix, Y is an N-by-L matrix
+          and F is an L-by-L upper triangular matrix.
+          If F is singular, then lower the rank r with the
+          multiplicity of s(r) and repeat this step.
+
+  Step 4: If F is nonsingular then the solution X is obtained by
+          solving the following equations by forward elimination:
+
+             X F = -Y.
+
+  Notes :
+  The TLS solution is unique if r = N, F is nonsingular and
+  s(N) &gt; s(N+1).
+  If F is singular, however, then the computed solution is infinite
+  and hence does not satisfy the second TLS criterion (see TLS
+  definition). For these cases, Golub and Van Loan [1] claim that
+  the TLS problem has no solution. The properties of these so-called
+  nongeneric problems are described in [4] and the TLS computations
+  are generalized in order to solve them. As proven in [4], the
+  proposed generalization satisfies the TLS criteria for any
+  number L of observation vectors in B provided that, in addition,
+  the solution | X| is constrained to be orthogonal to all vectors
+               |-I|
+  of the form |w| which belong to the space generated by the columns
+              |0|
+  of the submatrix |Y|.
+                   |F|
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      An Analysis of the Total Least-Squares Problem.
+      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
+
+  [2] Staar, J., Vandewalle, J. and Wemans, M.
+      Realization of Truncated Impulse Response Sequences with
+      Prescribed Uncertainty.
+      Proc. 8th IFAC World Congress, Kyoto, I, pp. 7-12, 1981.
+
+  [3] Van Huffel, S.
+      Analysis of the Total Least Squares Problem and its Use in
+      Parameter Estimation.
+      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
+      Universiteit Leuven, Belgium, June 1987.
+
+  [4] Van Huffel, S. and Vandewalle, J.
+      Analysis and Solution of the Nongeneric Total Least Squares
+      Problem.
+      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
+
+  [5] Van Huffel, S. and Vandewalle, J.
+      The Total Least Squares Problem: Computational Aspects and
+      Analysis.
+      Series "Frontiers in Applied Mathematics", Vol. 9,
+      SIAM, Philadelphia, 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm consists in (backward) stable steps.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, LMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
+      INTEGER          LDC, LDX
+      PARAMETER        ( LDC = MAX( MMAX,NMAX+LMAX ), LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MMAX*(NMAX+LMAX) +
+     $                            MAX( 3*MIN(MMAX,NMAX+LMAX) +
+     $                                   MAX(MMAX,NMAX+LMAX),
+     $                                 5*MIN(MMAX,NMAX+LMAX),
+     $                                 3*LMAX ) )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = LMAX )
+      INTEGER          LENGS
+      PARAMETER        ( LENGS = MIN( MMAX, NMAX+LMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SDEV, TOL
+      INTEGER          I, INFO, IWARN, J, L, M, N, RANK
+      CHARACTER*1      JOB
+*     .. Local Arrays ..
+      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK), S(LENGS),
+     $                 X(LDX,LMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, L, JOB
+*
+      IF ( LSAME( JOB, 'R' ) ) THEN
+         READ ( NIN, FMT = * ) TOL
+      ELSE IF ( LSAME( JOB, 'T' ) ) THEN
+         READ ( NIN, FMT = * ) RANK, SDEV
+         TOL = SDEV
+      ELSE IF ( LSAME( JOB, 'N' ) ) THEN
+         READ ( NIN, FMT = * ) RANK, TOL
+      ELSE
+         READ ( NIN, FMT = * ) SDEV
+         TOL = SDEV
+      END IF
+*
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
+*        Compute the solution to the TLS problem Ax = b.
+         CALL MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL, IWORK,
+     $                DWORK, LDWORK, IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) RANK
+            ELSE
+               IF ( ( LSAME( JOB, 'R' ) ) .OR. ( LSAME( JOB, 'B' ) ) )
+     $            WRITE ( NOUT, FMT = 99996 ) RANK
+            END IF
+            WRITE ( NOUT, FMT = 99995 )
+            DO 40 J = 1, L
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) X(I,J)
+   20          CONTINUE
+               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99993 )
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99992 ) ( S(J),J = 1, MIN( M, N+L ) )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02MD = ',I2)
+99997 FORMAT (' IWARN on exit from MB02MD = ',I2,/)
+99996 FORMAT (' The computed rank of the TLS approximation = ',I3,/)
+99995 FORMAT (' The solution X to the TLS problem is ',/)
+99994 FORMAT (1X,F8.4)
+99993 FORMAT (' ')
+99992 FORMAT (/' The singular values of C are ',//(1X,F8.4))
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02MD EXAMPLE PROGRAM DATA
+   6     3     1     B
+   0.0
+   0.80010  0.39985  0.60005  0.89999
+   0.29996  0.69990  0.39997  0.82997
+   0.49994  0.60003  0.20012  0.79011
+   0.90013  0.20016  0.79995  0.85002
+   0.39998  0.80006  0.49985  0.99016
+   0.20002  0.90007  0.70009  1.02994
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02MD EXAMPLE PROGRAM RESULTS
+
+ The computed rank of the TLS approximation =   3
+
+ The solution X to the TLS problem is 
+
+   0.5003
+   0.8003
+   0.2995
+
+ The singular values of C are 
+
+   3.2281
+   0.8716
+   0.3697
+   0.0001
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB02ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02ND">MB02ND</A></H2>
+<H3>
+Solution of Total Least-Squares problem using a partial SVD approach
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Total Least Squares (TLS) problem using a Partial
+  Singular Value Decomposition (PSVD) approach.
+  The TLS problem assumes an overdetermined set of linear equations
+  AX = B, where both the data matrix A as well as the observation
+  matrix B are inaccurate. The routine also solves determined and
+  underdetermined sets of equations by computing the minimum norm
+  solution.
+  It is assumed that all preprocessing measures (scaling, coordinate
+  transformations, whitening, ... ) of the data have been performed
+  in advance.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
+     $                   TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
+      DOUBLE PRECISION  RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*), INUL(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  C(LDC,*), DWORK(*), Q(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the data matrix A and the
+          observation matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the data matrix A.  N &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns in the observation matrix B.
+          L &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if RANK &lt; 0, then the rank of the TLS
+          approximation [A+DA|B+DB] (r say) is computed by the
+          routine.
+          Otherwise, RANK must specify the value of r.
+          RANK &lt;= min(M,N).
+          On exit, if RANK &lt; 0 on entry and INFO = 0, then RANK
+          contains the computed rank of the TLS approximation
+          [A+DA|B+DB].
+          Otherwise, the user-supplied value of RANK may be
+          changed by the routine on exit if the RANK-th and the
+          (RANK+1)-th singular values of C = [A|B] are considered
+          to be equal, or if the upper triangular matrix F (as
+          defined in METHOD) is (numerically) singular.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, if RANK &lt; 0, then the rank of the TLS
+          approximation [A+DA|B+DB] is computed using THETA as
+          (min(M,N+L) - d), where d is the number of singular
+          values of [A|B] &lt;= THETA. THETA &gt;= 0.0.
+          Otherwise, THETA is an initial estimate (t say) for
+          computing a lower bound on the RANK largest singular
+          values of [A|B]. If THETA &lt; 0.0 on entry however, then
+          t is computed by the routine.
+          On exit, if RANK &gt;= 0 on entry, then THETA contains the
+          computed bound such that precisely RANK singular values
+          of C = [A|B] are greater than THETA + TOL.
+          Otherwise, THETA is unchanged.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
+          On entry, the leading M-by-(N+L) part of this array must
+          contain the matrices A and B. Specifically, the first N
+          columns must contain the data matrix A and the last L
+          columns the observation matrix B (right-hand sides).
+          On exit, if INFO = 0, the first N+L components of the
+          columns of this array whose index i corresponds with
+          INUL(i) = .TRUE., are the possibly transformed (N+L-RANK)
+          base vectors of the right singular subspace corresponding
+          to the singular values of C = [A|B] which are less than or
+          equal to THETA. Specifically, if L = 0, or if RANK = 0 and
+          IWARN &lt;&gt; 2, these vectors are indeed the base vectors
+          above. Otherwise, these vectors form the matrix V2,
+          transformed as described in Step 4 of the PTLS algorithm
+          (see METHOD). The TLS solution is computed from these
+          vectors. The other columns of array C contain no useful
+          information.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
+          If INFO = 0, the leading N-by-L part of this array
+          contains the solution X to the TLS problem specified by
+          A and B.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= max(1,N).
+
+  Q       (output) DOUBLE PRECISION array, dimension
+          (max(1,2*min(M,N+L)-1))
+          This array contains the partially diagonalized bidiagonal
+          matrix J computed from C, at the moment that the desired
+          singular subspace has been found. Specifically, the
+          leading p = min(M,N+L) entries of Q contain the diagonal
+          elements q(1),q(2),...,q(p) and the entries Q(p+1),Q(p+2),
+          ...,Q(2*p-1) contain the superdiagonal elements e(1),e(2),
+          ...,e(p-1) of J.
+
+  INUL    (output) LOGICAL array, dimension (N+L)
+          The indices of the elements of this array with value
+          .TRUE. indicate the columns in C containing the base
+          vectors of the right singular subspace of C from which
+          the TLS solution has been computed.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width. TOL is also taken
+          as an absolute tolerance for negligible elements in the
+          QR/QL iterations. If the user sets TOL to be less than or
+          equal to 0, then the tolerance is taken as specified in
+          SLICOT Library routine MB04YD document.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged. If the user sets RELTOL to be less than
+          BASE * EPS, where BASE is machine radix and EPS is machine
+          precision (see LAPACK Library routine DLAMCH), then the
+          tolerance is taken as BASE * EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+2*L)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2) returns the reciprocal of the
+          condition number of the matrix F.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max(2, max(M,N+L) + 2*min(M,N+L),
+                       min(M,N+L) + LW + max(6*(N+L)-5,
+                                             L*L+max(N+L,3*L)),
+          where
+          LW = (N+L)*(N+L-1)/2,  if M &gt;= N+L,
+          LW = M*(N+L-(M-1)/2),  if M &lt;  N+L.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N+L)
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 1:  if the rank of matrix C has been lowered because a
+                singular value of multiplicity greater than 1 was
+                found;
+          = 2:  if the rank of matrix C has been lowered because the
+                upper triangular matrix F is (numerically) singular.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the maximum number of QR/QL iteration steps
+                (30*MIN(M,N)) has been exceeded;
+          = 2:  if the computed rank of the TLS approximation
+                [A+DA|B+DB] exceeds MIN(M,N). Try increasing the
+                value of THETA or set the value of RANK to min(M,N).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Partial Total Least Squares (PTLS) approach
+  proposed by Van Huffel and Vandewalle [5].
+
+  Let C = [A|B] denote the matrix formed by adjoining the columns of
+  B to the columns of A on the right.
+
+  Total Least Squares (TLS) definition:
+  -------------------------------------
+
+    Given matrices A and B, find a matrix X satisfying
+
+         (A + DA) X = B + DB,
+
+    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
+    and X is an N-by-L matrix.
+    The solution X must be such that the Frobenius norm of [DA|DB]
+    is a minimum and each column of B + DB is in the range of
+    A + DA. Whenever the solution is not unique, the routine singles
+    out the minimum norm solution X.
+
+  Let V denote the right singular subspace of C. Since the TLS
+  solution can be computed from any orthogonal basis of the subspace
+  of V corresponding to the smallest singular values of C, the
+  Partial Singular Value Decomposition (PSVD) can be used instead of
+  the classical SVD. The dimension of this subspace of V may be
+  determined by the rank of C or by an upper bound for those
+  smallest singular values.
+
+  The PTLS algorithm proceeds as follows (see [2 - 5]):
+
+  Step 1: Bidiagonalization phase
+          -----------------------
+   (a) If M is large enough than N + L, transform C into upper
+       triangular form R by Householder transformations.
+   (b) Transform C (or R) into upper bidiagonal form
+       (p = min(M,N+L)):
+
+                  |q(1) e(1)  0   ...  0   |
+             (0)  | 0   q(2) e(2)      .   |
+            J   = | .                  .   |
+                  | .                e(p-1)|
+                  | 0             ... q(p) |
+
+       if M &gt;= N + L, or lower bidiagonal form:
+
+                  |q(1)  0    0   ...  0     0   |
+             (0)  |e(1) q(2)  0        .     .   |
+            J   = | .                  .     .   |
+                  | .                 q(p)   .   |
+                  | 0             ... e(p-1) q(p)|
+
+       if M &lt; N + L, using Householder transformations.
+       In the second case, transform the matrix to the upper
+       bidiagonal form by applying Givens rotations.
+   (c) Initialize the right singular base matrix with the identity
+       matrix.
+
+  Step 2: Partial diagonalization phase
+          -----------------------------
+  If the upper bound THETA is not given, then compute THETA such
+  that precisely p - RANK singular values (p=min(M,N+L)) of the
+  bidiagonal matrix are less than or equal to THETA, using a
+  bisection method [5]. Diagonalize the given bidiagonal matrix J
+  partially, using either QL iterations (if the upper left diagonal
+  element of the considered bidiagonal submatrix is smaller than the
+  lower right diagonal element) or QR iterations, such that J is
+  split into unreduced bidiagonal submatrices whose singular values
+  are either all larger than THETA or are all less than or equal
+  to THETA. Accumulate the Givens rotations in V.
+
+  Step 3: Back transformation phase
+          -------------------------
+  Apply the Householder transformations of Step 1(b) onto the base
+  vectors of V associated with the bidiagonal submatrices with all
+  singular values less than or equal to THETA.
+
+  Step 4: Computation of F and Y
+          ----------------------
+  Let V2 be the matrix of the columns of V corresponding to the
+  (N + L - RANK) smallest singular values of C.
+  Compute with Householder transformations the matrices F and Y
+  such that:
+
+                    |VH   Y|
+           V2 x Q = |      |
+                    |0    F|
+
+  where Q is an orthogonal matrix, VH is an N-by-(N-RANK) matrix,
+  Y is an N-by-L matrix and F is an L-by-L upper triangular matrix.
+  If F is singular, then reduce the value of RANK by one and repeat
+  Steps 2, 3 and 4.
+
+  Step 5: Computation of the TLS solution
+          -------------------------------
+  If F is non-singular then the solution X is obtained by solving
+  the following equations by forward elimination:
+
+           X F = -Y.
+
+  Notes:
+  If RANK is lowered in Step 4, some additional base vectors must
+  be computed in Step 2. The additional computations are kept to
+  a minimum.
+  If RANK is lowered in Step 4 but the multiplicity of the RANK-th
+  singular value is larger than 1, then the value of RANK is further
+  lowered with its multiplicity defined by the parameter TOL. This
+  is done at the beginning of Step 2 by calling SLICOT Library
+  routine MB03MD (from MB04YD), which estimates THETA using a
+  bisection method. If F in Step 4 is singular, then the computed
+  solution is infinite and hence does not satisfy the second TLS
+  criterion (see TLS definition). For these cases, Golub and
+  Van Loan [1] claim that the TLS problem has no solution. The
+  properties of these so-called nongeneric problems are described
+  in [6] and the TLS computations are generalized in order to solve
+  them. As proven in [6], the proposed generalization satisfies the
+  TLS criteria for any number L of observation vectors in B provided
+  that, in addition, the solution | X| is constrained to be
+                                  |-I|
+  orthogonal to all vectors of the form |w| which belong to the
+                                        |0|
+  space generated by the columns of the submatrix |Y|.
+                                                  |F|
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      An Analysis of the Total Least-Squares Problem.
+      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
+
+  [2] Van Huffel, S., Vandewalle, J. and Haegemans, A.
+      An Efficient and Reliable Algorithm for Computing the
+      Singular Subspace of a Matrix Associated with its Smallest
+      Singular Values.
+      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
+
+  [3] Van Huffel, S.
+      Analysis of the Total Least Squares Problem and its Use in
+      Parameter Estimation.
+      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
+      Universiteit Leuven, Belgium, June 1987.
+
+  [4] Chan, T.F.
+      An Improved Algorithm for Computing the Singular Value
+      Decomposition.
+      ACM TOMS, 8, pp. 72-83, 1982.
+
+  [5] Van Huffel, S. and Vandewalle, J.
+      The Partial Total Least Squares Algorithm.
+      J. Comput. Appl. Math., 21, pp. 333-341, 1988.
+
+  [6] Van Huffel, S. and Vandewalle, J.
+      Analysis and Solution of the Nongeneric Total Least Squares
+      Problem.
+      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The computational efficiency of the PTLS algorithm compared with
+  the classical TLS algorithm (see [2 - 5]) is obtained by making
+  use of PSVD (see [1]) instead of performing the entire SVD.
+  Depending on the gap between the RANK-th and the (RANK+1)-th
+  singular values of C, the number (N + L - RANK) of base vectors to
+  be computed with respect to the column dimension (N + L) of C and
+  the desired accuracy RELTOL, the algorithm used by this routine is
+  approximately twice as fast as the classical TLS algorithm at the
+  expense of extra storage requirements, namely:
+    (N + L) x (N + L - 1)/2  if M &gt;= N + L or
+    M x (N + L - (M - 1)/2)  if M &lt;  N + L.
+  This is because the Householder transformations performed on the
+  rows of C in the bidiagonalization phase (see Step 1) must be kept
+  until the end (Step 5).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, LMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
+      INTEGER          LDC, LDX
+      PARAMETER        ( LDC = MAX( MMAX, NMAX+LMAX ), LDX = NMAX )
+      INTEGER          LENGQ
+      PARAMETER        ( LENGQ = 2*MIN(MMAX,NMAX+LMAX)-1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX+2*LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(2, MAX( MMAX, NMAX+LMAX ) +
+     $                            2*MIN( MMAX, NMAX+LMAX ),
+     $                            MIN( MMAX, NMAX+LMAX ) +
+     $                            MAX( ( NMAX+LMAX )*( NMAX+LMAX-1 )/2,
+     $                              MMAX*( NMAX+LMAX-( MMAX-1 )/2 ) ) +
+     $                            MAX( 6*(NMAX+LMAX)-5, LMAX*LMAX +
+     $                                 MAX( NMAX+LMAX, 3*LMAX ) ) ) )
+      INTEGER          LBWORK
+      PARAMETER        ( LBWORK = NMAX+LMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
+      INTEGER          I, INFO, IWARN, J, K, L, LOOP, M, MINMNL, N,
+     $                 RANK, RANK1
+*     .. Local Arrays ..
+      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK),
+     $                 Q(LENGQ), X(LDX,LMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LBWORK), INUL(NMAX+LMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB02ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, L, RANK, THETA, TOL, RELTOL
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99982 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) N
+      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99981 ) L
+      ELSE IF ( RANK.GT.MIN( MMAX, NMAX ) ) THEN
+         WRITE ( NOUT, FMT = 99980 ) RANK
+      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
+         WRITE ( NOUT, FMT = 99979 ) THETA
+      ELSE
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
+         RANK1 = RANK
+         THETA1 = THETA
+*        Compute the solution to the TLS problem Ax = b.
+         CALL MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
+     $                TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK, IWARN,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) RANK
+            ELSE
+               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
+            END IF
+            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
+            WRITE ( NOUT, FMT = 99994 )
+            MINMNL = MIN( M, N+L )
+            LOOP = MINMNL - 1
+            DO 20 I = 1, LOOP
+               K = I + MINMNL
+               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99992 ) MINMNL, MINMNL, Q(MINMNL)
+            WRITE ( NOUT, FMT = 99991 )
+            DO 60 J = 1, L
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) X(I,J)
+   40          CONTINUE
+               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99989 )
+   60       CONTINUE
+            WRITE ( NOUT, FMT = 99987 ) N + L, N + L
+            WRITE ( NOUT, FMT = 99985 )
+            DO 80 I = 1, MAX( M, N + L )
+               WRITE ( NOUT, FMT = 99984 ) ( C(I,J), J = 1,N+L )
+   80       CONTINUE
+            WRITE ( NOUT, FMT = 99986 )
+            DO 100 J = 1, N + L
+               WRITE ( NOUT, FMT = 99988 ) J, INUL(J)
+  100       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02ND = ',I2)
+99997 FORMAT (' IWARN on exit from MB02ND = ',I2,/)
+99996 FORMAT (' The computed rank of the TLS approximation  = ',I3,/)
+99995 FORMAT (' The computed value of THETA = ',F7.4,/)
+99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
+     $       'matrix are',/)
+99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
+99991 FORMAT (' The solution X to the TLS problem is ',/)
+99990 FORMAT (1X,F8.4)
+99989 FORMAT (' ')
+99988 FORMAT (I3,L8)
+99987 FORMAT (/' Right singular subspace corresponds to the first ',I2,
+     $       ' components of the j-th ',/' column of C for which INUL(',
+     $       'j) = .TRUE., j = 1,...,',I2,/)
+99986 FORMAT (/'  j    INUL(j)',/)
+99985 FORMAT (' Matrix C',/)
+99984 FORMAT (20(1X,F8.4))
+99983 FORMAT (/' N is out of range.',/' N = ',I5)
+99982 FORMAT (/' M is out of range.',/' M = ',I5)
+99981 FORMAT (/' L is out of range.',/' L = ',I5)
+99980 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
+99979 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02ND EXAMPLE PROGRAM DATA
+   6     3     1     -1     0.001     0.0     0.0
+   0.80010  0.39985  0.60005  0.89999
+   0.29996  0.69990  0.39997  0.82997
+   0.49994  0.60003  0.20012  0.79011
+   0.90013  0.20016  0.79995  0.85002
+   0.39998  0.80006  0.49985  0.99016
+   0.20002  0.90007  0.70009  1.02994
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02ND EXAMPLE PROGRAM RESULTS
+
+ The computed rank of the TLS approximation  =   3
+
+ The elements of the partially diagonalized bidiagonal matrix are
+
+ (1,1) =  3.2280   (1,2) = -0.0287
+ (2,2) =  0.8714   (2,3) =  0.0168
+ (3,3) =  0.3698   (3,4) =  0.0000
+ (4,4) =  0.0001
+
+ The solution X to the TLS problem is 
+
+   0.5003
+   0.8003
+   0.2995
+
+ Right singular subspace corresponds to the first  4 components of the j-th 
+ column of C for which INUL(j) = .TRUE., j = 1,..., 4
+
+ Matrix C
+
+  -0.3967  -0.7096   0.4612  -0.3555
+   0.9150  -0.2557   0.2414  -0.5687
+  -0.0728   0.6526   0.5215  -0.2128
+   0.0000   0.0720   0.6761   0.7106
+   0.1809   0.3209   0.0247  -0.4139
+   0.0905   0.4609  -0.3528   0.5128
+
+  j    INUL(j)
+
+  1       F
+  2       F
+  3       F
+  4       T
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02NY.html b/doc/_static/doc/MB02NY.html
new file mode 100644
index 00000000..2de98dd8
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+<HTML>
+<HEAD><TITLE>MB02NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02NY">MB02NY</A></H2>
+<H3>
+Separation of a zero singular value of a bidiagonal submatrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To separate a zero singular value of a bidiagonal submatrix of
+  order k, k &lt;= p, of the bidiagonal matrix
+
+            |Q(1) E(1)  0    ...   0   |
+            | 0   Q(2) E(2)        .   |
+        J = | .                    .   |
+            | .                  E(p-1)|
+            | 0   ...  ...   ...  Q(p) |
+
+  with p = MIN(M,N), by annihilating one or two superdiagonal
+  elements E(i-1) (if i &gt; 1) and/or E(i) (if i &lt; k).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02NY( UPDATU, UPDATV, M, N, I, K, Q, E, U, LDU, V,
+     $                   LDV, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           UPDATU, UPDATV
+      INTEGER           I, K, LDU, LDV, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPDATU  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix U the left-hand Givens rotations S, as follows:
+          = .FALSE.:  Do not form U;
+          = .TRUE. :  The given matrix U is updated (postmultiplied)
+                      by the left-hand Givens rotations S.
+
+  UPDATV  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix V the right-hand Givens rotations T, as follows:
+          = .FALSE.:  Do not form V;
+          = .TRUE. :  The given matrix V is updated (postmultiplied)
+                      by the right-hand Givens rotations T.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix U.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix V.  N &gt;= 0.
+
+  I       (input) INTEGER
+          The index of the negligible diagonal entry Q(I) of the
+          bidiagonal matrix J, I &lt;= p.
+
+  K       (input) INTEGER
+          The index of the last diagonal entry of the considered
+          bidiagonal submatrix of J, i.e., E(K-1) is considered
+          negligible, K &lt;= p.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (p)
+          where p = MIN(M,N).
+          On entry, Q must contain the diagonal entries of the
+          bidiagonal matrix J.
+          On exit, Q contains the diagonal entries of the
+          transformed bidiagonal matrix S' J T.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
+          On entry, E must contain the superdiagonal entries of J.
+          On exit, E contains the superdiagonal entries of the
+          transformed bidiagonal matrix S' J T.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
+          On entry, if UPDATU = .TRUE., U must contain the M-by-p
+          left transformation matrix.
+          On exit, if UPDATU = .TRUE., the Givens rotations S on the
+          left, annihilating E(i) if i &lt; k, have been postmultiplied
+          into U.
+          U is not referenced if UPDATU = .FALSE..
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
+          LDU &gt;= 1        if UPDATU = .FALSE..
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
+          On entry, if UPDATV = .TRUE., V must contain the N-by-p
+          right transformation matrix.
+          On exit, if UPDATV = .TRUE., the Givens rotations T on the
+          right, annihilating E(i-1) if i &gt; 1,  have been
+          postmultiplied into V.
+          V is not referenced if UPDATV = .FALSE..
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
+          LDV &gt;= 1        if UPDATV = .FALSE..
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
+          LDWORK &gt;= 2*MAX(K-I,I-1),  if UPDATV = UPDATU = .TRUE.;
+          LDWORK &gt;= 2*(K-I), if UPDATU = .TRUE., UPDATV = .FALSE.;
+          LDWORK &gt;= 2*(I-1), if UPDATV = .TRUE., UPDATU = .FALSE.;
+          LDWORK &gt;= 1,       if UPDATU = UPDATV = .FALSE..
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let the considered bidiagonal submatrix be
+
+            |Q(1) E(1)  0                    ...   0   |
+            | 0   Q(2) E(2)                        .   |
+            | .                                    .   |
+            | .           Q(i-1) E(i-1)            .   |
+       Jk = | .                   Q(i) E(i)        .   |.
+            | .                       Q(i+1) .     .   |
+            | .                              ..    .   |
+            | .                                  E(k-1)|
+            | 0    ...                       ...  Q(k) |
+
+  A zero singular value of Jk manifests itself by a zero diagonal
+  entry Q(i) or in practice, a negligible value of Q(i).
+  When a negligible diagonal element Q(i) in Jk is present, the
+  bidiagonal submatrix Jk is split by the routine into 2 or 3
+  unreduced bidiagonal submatrices by annihilating E(i) (if i &lt; k)
+  using Givens rotations S on the left and by annihilating E(i-1)
+  (if i &gt; 1) using Givens rotations T on the right until Jk is
+  reduced to the form:
+
+            |Q(1) E(1)  0                ...   0   |
+            | 0         .                ...   .   |
+            | .                          ...   .   |
+            | .       Q(i-1) 0                 .   |
+  S' Jk T = | .              0   0             .   |.
+            | .                 Q(i+1)   .     .   |
+            | .                          ..    .   |
+            | .                              E(k-1)|
+            | 0    ...                   ...  Q(k) |
+
+  For more details, see [1, pp.11.12-11.14].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Dongarra, J.J., Bunch, J.R., Moler C.B. and Stewart, G.W.
+      LINPACK User's Guide.
+      SIAM, Philadelphia, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02OD.html b/doc/_static/doc/MB02OD.html
new file mode 100644
index 00000000..f6b323c6
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+<HTML>
+<HEAD><TITLE>MB02OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02OD">MB02OD</A></H2>
+<H3>
+Solution of matrix equations A X = alpha B, or X A = alpha B, A triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve (if well-conditioned) one of the matrix equations
+
+     op( A )*X = alpha*B,   or   X*op( A ) = alpha*B,
+
+  where alpha is a scalar, X and B are m-by-n matrices, A is a unit,
+  or non-unit, upper or lower triangular matrix and op( A ) is one
+  of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  An estimate of the reciprocal of the condition number of the
+  triangular matrix A, in either the 1-norm or the infinity-norm, is
+  also computed as
+
+     RCOND = 1 / ( norm(A) * norm(inv(A)) ).
+
+  and the specified matrix equation is solved only if RCOND is
+  larger than a given tolerance TOL.  In that case, the matrix X is
+  overwritten on B.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02OD( SIDE, UPLO, TRANS, DIAG, NORM, M, N, ALPHA, A,
+     $                   LDA, B, LDB, RCOND, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DIAG, NORM, SIDE, TRANS, UPLO
+      INTEGER            INFO, LDA, LDB, M, N
+      DOUBLE PRECISION   ALPHA, RCOND, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specifies whether op( A ) appears on the left or right
+          of X as follows:
+          = 'L':  op( A )*X = alpha*B;
+          = 'R':  X*op( A ) = alpha*B.
+
+  UPLO    CHARACTER*1
+          Specifies whether the matrix A is an upper or lower
+          triangular matrix as follows:
+          = 'U':  A is an upper triangular matrix;
+          = 'L':  A is a lower triangular matrix.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op( A ) to be used in the matrix
+          multiplication as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+  DIAG    CHARACTER*1
+          Specifies whether or not A is unit triangular as follows:
+          = 'U':  A is assumed to be unit triangular;
+          = 'N':  A is not assumed to be unit triangular.
+
+  NORM    CHARACTER*1
+          Specifies whether the 1-norm condition number or the
+          infinity-norm condition number is required:
+          = '1' or 'O':  1-norm;
+          = 'I':         Infinity-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of B.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar  alpha. When alpha is zero then A is not
+          referenced and B need not be set before entry.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,k),
+          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
+          On entry with UPLO = 'U', the leading k-by-k upper
+          triangular part of this array must contain the upper
+          triangular matrix and the strictly lower triangular part
+          of A is not referenced.
+          On entry with UPLO = 'L', the leading k-by-k lower
+          triangular part of this array must contain the lower
+          triangular matrix and the strictly upper triangular part
+          of A is not referenced.
+          Note that when DIAG = 'U', the diagonal elements of A are
+          not referenced either, but are assumed to be unity.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= max(1,M) when SIDE = 'L';
+          LDA &gt;= max(1,N) when SIDE = 'R'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand side matrix B.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X.
+          Otherwise, this array is not modified by the routine.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal of the condition number of the matrix A,
+          computed as RCOND = 1/(norm(A) * norm(inv(A))).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the matrix A. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the reciprocal
+          condition number of that matrix; a matrix whose estimated
+          condition number is less than 1/TOL is considered to be
+          nonsingular. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF = k*k*EPS,
+          is used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (k)
+
+  DWORK   DOUBLE PRECISION array, dimension (3*k)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix A is numerically singular, i.e. the
+                condition number estimate of A (in the specified
+                norm) exceeds 1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An estimate of the reciprocal of the condition number of the
+  triangular matrix A (in the specified norm) is computed, and if
+  this estimate is larger then the given (or default) tolerance,
+  the specified matrix equation is solved using Level 3 BLAS
+  routine DTRSM.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                          2
+  The algorithm requires k N/2 operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02PD.html b/doc/_static/doc/MB02PD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB02PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02PD">MB02PD</A></H2>
+<H3>
+Solution of matrix equation op(A) X = B, with error bounds and condition estimates
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve (if well-conditioned) the matrix equations
+
+     op( A )*X = B,
+
+  where X and B are N-by-NRHS matrices, A is an N-by-N matrix and
+  op( A ) is one of
+
+     op( A ) = A   or   op( A ) = A'.
+
+  Error bounds on the solution and a condition estimate are also
+  provided.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02PD( FACT, TRANS, N, NRHS, A, LDA, AF, LDAF, IPIV,
+     $                   EQUED, R, C, B, LDB, X, LDX, RCOND, FERR, BERR,
+     $                   IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUED, FACT, TRANS
+      INTEGER           INFO, LDA, LDAF, LDB, LDX, N, NRHS
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      INTEGER           IPIV( * ), IWORK( * )
+      DOUBLE PRECISION  A( LDA, * ), AF( LDAF, * ), B( LDB, * ),
+     $                  BERR( * ), C( * ), DWORK( * ), FERR( * ),
+     $                  R( * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FACT    CHARACTER*1
+          Specifies whether or not the factored form of the matrix A
+          is supplied on entry, and if not, whether the matrix A
+          should be equilibrated before it is factored.
+          = 'F':  On entry, AF and IPIV contain the factored form
+                  of A. If EQUED is not 'N', the matrix A has been
+                  equilibrated with scaling factors given by R
+                  and C. A, AF, and IPIV are not modified.
+          = 'N':  The matrix A will be copied to AF and factored.
+          = 'E':  The matrix A will be equilibrated if necessary,
+                  then copied to AF and factored.
+
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations as follows:
+          = 'N':  A * X = B     (No transpose);
+          = 'T':  A**T * X = B  (Transpose);
+          = 'C':  A**H * X = B  (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of linear equations, i.e., the order of the
+          matrix A.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrices B and X.  NRHS &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.  If FACT = 'F' and EQUED is not 'N',
+          then A must have been equilibrated by the scaling factors
+          in R and/or C.  A is not modified if FACT = 'F' or 'N',
+          or if FACT = 'E' and EQUED = 'N' on exit.
+          On exit, if EQUED .NE. 'N', the leading N-by-N part of
+          this array contains the matrix A scaled as follows:
+          EQUED = 'R':  A := diag(R) * A;
+          EQUED = 'C':  A := A * diag(C);
+          EQUED = 'B':  A := diag(R) * A * diag(C).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  AF      (input or output) DOUBLE PRECISION array, dimension
+          (LDAF,N)
+          If FACT = 'F', then AF is an input argument and on entry
+          the leading N-by-N part of this array must contain the
+          factors L and U from the factorization A = P*L*U as
+          computed by DGETRF.  If EQUED .NE. 'N', then AF is the
+          factored form of the equilibrated matrix A.
+          If FACT = 'N', then AF is an output argument and on exit
+          the leading N-by-N part of this array contains the factors
+          L and U from the factorization A = P*L*U of the original
+          matrix A.
+          If FACT = 'E', then AF is an output argument and on exit
+          the leading N-by-N part of this array contains the factors
+          L and U from the factorization A = P*L*U of the
+          equilibrated matrix A (see the description of A for the
+          form of the equilibrated matrix).
+
+  LDAF    (input) INTEGER
+          The leading dimension of the array AF.  LDAF &gt;= max(1,N).
+
+  IPIV    (input or output) INTEGER array, dimension (N)
+          If FACT = 'F', then IPIV is an input argument and on entry
+          it must contain the pivot indices from the factorization
+          A = P*L*U as computed by DGETRF; row i of the matrix was
+          interchanged with row IPIV(i).
+          If FACT = 'N', then IPIV is an output argument and on exit
+          it contains the pivot indices from the factorization
+          A = P*L*U of the original matrix A.
+          If FACT = 'E', then IPIV is an output argument and on exit
+          it contains the pivot indices from the factorization
+          A = P*L*U of the equilibrated matrix A.
+
+  EQUED   (input or output) CHARACTER*1
+          Specifies the form of equilibration that was done as
+          follows:
+          = 'N':  No equilibration (always true if FACT = 'N');
+          = 'R':  Row equilibration, i.e., A has been premultiplied
+                  by diag(R);
+          = 'C':  Column equilibration, i.e., A has been
+                  postmultiplied by diag(C);
+          = 'B':  Both row and column equilibration, i.e., A has
+                  been replaced by diag(R) * A * diag(C).
+          EQUED is an input argument if FACT = 'F'; otherwise, it is
+          an output argument.
+
+  R       (input or output) DOUBLE PRECISION array, dimension (N)
+          The row scale factors for A.  If EQUED = 'R' or 'B', A is
+          multiplied on the left by diag(R); if EQUED = 'N' or 'C',
+          R is not accessed.  R is an input argument if FACT = 'F';
+          otherwise, R is an output argument.  If FACT = 'F' and
+          EQUED = 'R' or 'B', each element of R must be positive.
+
+  C       (input or output) DOUBLE PRECISION array, dimension (N)
+          The column scale factors for A.  If EQUED = 'C' or 'B',
+          A is multiplied on the right by diag(C); if EQUED = 'N'
+          or 'R', C is not accessed.  C is an input argument if
+          FACT = 'F'; otherwise, C is an output argument.  If
+          FACT = 'F' and EQUED = 'C' or 'B', each element of C must
+          be positive.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,NRHS)
+          On entry, the leading N-by-NRHS part of this array must
+          contain the right-hand side matrix B.
+          On exit,
+          if EQUED = 'N', B is not modified;
+          if TRANS = 'N' and EQUED = 'R' or 'B', the leading
+          N-by-NRHS part of this array contains diag(R)*B;
+          if TRANS = 'T' or 'C' and EQUED = 'C' or 'B', the leading
+          N-by-NRHS part of this array contains diag(C)*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,NRHS)
+          If INFO = 0 or INFO = N+1, the leading N-by-NRHS part of
+          this array contains the solution matrix X to the original
+          system of equations.  Note that A and B are modified on
+          exit if EQUED .NE. 'N', and the solution to the
+          equilibrated system is inv(diag(C))*X if TRANS = 'N' and
+          EQUED = 'C' or 'B', or inv(diag(R))*X if TRANS = 'T' or
+          'C' and EQUED = 'R' or 'B'.
+
+  LDX     (input) INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimate of the reciprocal condition number of the
+          matrix A after equilibration (if done).  If RCOND is less
+          than the machine precision (in particular, if RCOND = 0),
+          the matrix is singular to working precision.  This
+          condition is indicated by a return code of INFO &gt; 0.
+          For efficiency reasons, RCOND is computed only when the
+          matrix A is factored, i.e., for FACT = 'N' or 'E'.  For
+          FACT = 'F', RCOND is not used, but it is assumed that it
+          has been computed and checked before the routine call.
+
+  FERR    (output) DOUBLE PRECISION array, dimension (NRHS)
+          The estimated forward error bound for each solution vector
+          X(j) (the j-th column of the solution matrix X).
+          If XTRUE is the true solution corresponding to X(j),
+          FERR(j) is an estimated upper bound for the magnitude of
+          the largest element in (X(j) - XTRUE) divided by the
+          magnitude of the largest element in X(j).  The estimate
+          is as reliable as the estimate for RCOND, and is almost
+          always a slight overestimate of the true error.
+
+  BERR    (output) DOUBLE PRECISION array, dimension (NRHS)
+          The componentwise relative backward error of each solution
+          vector X(j) (i.e., the smallest relative change in
+          any element of A or B that makes X(j) an exact solution).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (4*N)
+          On entry, if FACT = 'F', DWORK(1) contains the reciprocal
+          pivot growth factor norm(A)/norm(U), computed previously
+          by this routine, with FACT &lt;&gt; 'N', for the same matrix A.
+          On exit, DWORK(1) contains the reciprocal pivot growth
+          factor norm(A)/norm(U). The "max absolute element" norm is
+          used. If DWORK(1) is much less than 1, then the stability
+          of the LU factorization of the (equilibrated) matrix A
+          could be poor. This also means that the solution X,
+          condition estimator RCOND, and forward error bound FERR
+          could be unreliable. If factorization fails with
+          0 &lt; INFO &lt;= N, then DWORK(1) contains the reciprocal pivot
+          growth factor for the leading INFO columns of A.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, and i is
+                &lt;= N:  U(i,i) is exactly zero.  The factorization
+                       has been completed, but the factor U is
+                       exactly singular, so the solution and error
+                       bounds could not be computed. RCOND = 0 is
+                       returned.
+                = N+1: U is nonsingular, but RCOND is less than
+                       machine precision, meaning that the matrix is
+                       singular to working precision.  Nevertheless,
+                       the solution and error bounds are computed
+                       because there are a number of situations
+                       where the computed solution can be more
+                       accurate than the value of RCOND would
+                       suggest.
+          The positive values for INFO are set only when the
+          matrix A is factored, i.e., for FACT = 'N' or 'E'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The following steps are performed:
+
+  1. If FACT = 'E', real scaling factors are computed to equilibrate
+     the system:
+
+     TRANS = 'N':  diag(R)*A*diag(C)     *inv(diag(C))*X = diag(R)*B
+     TRANS = 'T': (diag(R)*A*diag(C))**T *inv(diag(R))*X = diag(C)*B
+     TRANS = 'C': (diag(R)*A*diag(C))**H *inv(diag(R))*X = diag(C)*B
+
+     Whether or not the system will be equilibrated depends on the
+     scaling of the matrix A, but if equilibration is used, A is
+     overwritten by diag(R)*A*diag(C) and B by diag(R)*B
+     (if TRANS='N') or diag(C)*B (if TRANS = 'T' or 'C').
+
+  2. If FACT = 'N' or 'E', the LU decomposition is used to factor
+     the matrix A (after equilibration if FACT = 'E') as
+        A = P * L * U,
+     where P is a permutation matrix, L is a unit lower triangular
+     matrix, and U is upper triangular.
+
+  3. If some U(i,i)=0, so that U is exactly singular, then the
+     routine returns with INFO = i. Otherwise, the factored form
+     of A is used to estimate the condition number of the matrix A.
+     If the reciprocal of the condition number is less than machine
+     precision, INFO = N+1 is returned as a warning, but the routine
+     still goes on to solve for X and compute error bounds as
+     described below.
+
+  4. The system of equations is solved for X using the factored form
+     of A.
+
+  5. Iterative refinement is applied to improve the computed
+     solution matrix and calculate error bounds and backward error
+     estimates for it.
+
+  6. If equilibration was used, the matrix X is premultiplied by
+     diag(C) (if TRANS = 'N') or diag(R) (if TRANS = 'T' or 'C') so
+     that it solves the original system before equilibration.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., Sorensen, D.
+      LAPACK Users' Guide: Second Edition, SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This is a simplified version of the LAPACK Library routine DGESVX,
+  useful when several sets of matrix equations with the same
+  coefficient matrix  A and/or A'  should be solved.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02QD.html b/doc/_static/doc/MB02QD.html
new file mode 100644
index 00000000..06c2bdab
--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB02QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02QD">MB02QD</A></H2>
+<H3>
+Solution of a linear least squares problem corresponding to specified free elements
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a solution, optionally corresponding to specified free
+  elements, to a real linear least squares problem:
+
+      minimize || A * X - B ||
+
+  using a complete orthogonal factorization of the M-by-N matrix A,
+  which may be rank-deficient.
+
+  Several right hand side vectors b and solution vectors x can be
+  handled in a single call; they are stored as the columns of the
+  M-by-NRHS right hand side matrix B and the N-by-NRHS solution
+  matrix X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A, LDA,
+     $                   B, LDB, Y, JPVT, RANK, SVAL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          INIPER, JOB
+      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   SVAL( 3 ), Y ( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether or not a standard least squares solution
+          must be computed, as follows:
+          = 'L':  Compute a standard least squares solution (Y = 0);
+          = 'F':  Compute a solution with specified free elements
+                  (given in Y).
+
+  INIPER  CHARACTER*1
+          Specifies whether an initial column permutation, defined
+          by JPVT, must be performed, as follows:
+          = 'P':  Perform an initial column permutation;
+          = 'N':  Do not perform an initial column permutation.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrices B and X.  NRHS &gt;= 0.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix C, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of C
+          (for instance, the Frobenius norm of C).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading M-by-N part of this array contains
+          details of its complete orthogonal factorization:
+          the leading RANK-by-RANK upper triangular part contains
+          the upper triangular factor T11 (see METHOD);
+          the elements below the diagonal, with the entries 2 to
+          min(M,N)+1 of the array DWORK, represent the orthogonal
+          matrix Q as a product of min(M,N) elementary reflectors
+          (see METHOD);
+          the elements of the subarray A(1:RANK,RANK+1:N), with the
+          next RANK entries of the array DWORK, represent the
+          orthogonal matrix Z as a product of RANK elementary
+          reflectors (see METHOD).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,NRHS)
+          On entry, the leading M-by-NRHS part of this array must
+          contain the right hand side matrix B.
+          On exit, the leading N-by-NRHS part of this array contains
+          the solution matrix X.
+          If M &gt;= N and RANK = N, the residual sum-of-squares for
+          the solution in the i-th column is given by the sum of
+          squares of elements N+1:M in that column.
+          If NRHS = 0, this array is not referenced, and the routine
+          returns the effective rank of A, and its QR factorization.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,M,N).
+
+  Y       (input) DOUBLE PRECISION array, dimension ( N*NRHS )
+          If JOB = 'F', the elements Y(1:(N-RANK)*NRHS) are used as
+          free elements in computing the solution (see METHOD).
+          The remaining elements are not referenced.
+          If JOB = 'L', or NRHS = 0, this array is not referenced.
+
+  JPVT    (input/output) INTEGER array, dimension (N)
+          On entry with INIPER = 'P', if JPVT(i) &lt;&gt; 0, the i-th
+          column of A is an initial column, otherwise it is a free
+          column.  Before the QR factorization of A, all initial
+          columns are permuted to the leading positions; only the
+          remaining free columns are moved as a result of column
+          pivoting during the factorization.
+          If INIPER = 'N', JPVT need not be set on entry.
+          On exit, if JPVT(i) = k, then the i-th column of A*P
+          was the k-th column of A.
+
+  RANK    (output) INTEGER
+          The effective rank of A, i.e., the order of the submatrix
+          R11.  This is the same as the order of the submatrix T11
+          in the complete orthogonal factorization of A.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R11:
+          SVAL(1): largest singular value of  R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and the entries 2 to min(M,N) + RANK + 1
+          contain the scalar factors of the elementary reflectors
+          used in the complete orthogonal factorization of A.
+          Among the entries 2 to min(M,N) + 1, only the first RANK
+          elements are useful, if INIPER = 'N'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( min(M,N)+3*N+1, 2*min(M,N)+NRHS )
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If INIPER = 'P', the routine first computes a QR factorization
+  with column pivoting:
+      A * P = Q * [ R11 R12 ]
+                  [  0  R22 ]
+  with R11 defined as the largest leading submatrix whose estimated
+  condition number is less than 1/RCOND.  The order of R11, RANK,
+  is the effective rank of A.
+  If INIPER = 'N', the effective rank is estimated during a
+  truncated QR factorization (with column pivoting) process, and
+  the submatrix R22 is not upper triangular, but full and of small
+  norm. (See SLICOT Library routines MB03OD or MB03OY, respectively,
+  for further details.)
+
+  Then, R22 is considered to be negligible, and R12 is annihilated
+  by orthogonal transformations from the right, arriving at the
+  complete orthogonal factorization:
+     A * P = Q * [ T11 0 ] * Z
+                 [  0  0 ]
+  The solution is then
+     X = P * Z' [ inv(T11)*Q1'*B ]
+                [        Y       ]
+  where Q1 consists of the first RANK columns of Q, and Y contains
+  free elements (if JOB = 'F'), or is zero (if JOB = 'L').
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Significant gain in efficiency is possible for small-rank problems
+  using truncated QR factorization (option INIPER = 'N').
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, NRHSMX
+      PARAMETER        ( NMAX = 20, MMAX = 20, NRHSMX = 20 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = MMAX, LDB = MAX( MMAX, NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(   MIN( MMAX, NMAX) + 3*NMAX + 1,
+     $                                 2*MIN( MMAX, NMAX) + NRHSMX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND, SVLMAX
+      INTEGER          I, INFO, J, M, N, NRHS, RANK
+      CHARACTER*1      INIPER, JOB
+*     .. Local Arrays ..
+      INTEGER          JPVT(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NRHSMX), DWORK(LDWORK),
+     $                 SVAL(3), Y(NMAX*NRHSMX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB02QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, NRHS, RCOND, SVLMAX, JOB, INIPER
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) N
+         ELSE
+            IF ( NRHS.LT.0 .OR. NRHS.GT.NRHSMX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) NRHS
+            ELSE
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,M )
+               IF ( LSAME( JOB, 'F' ) )
+     $            READ ( NIN, FMT = * ) ( Y(I),  I = 1,N*NRHS )
+               IF ( LSAME( INIPER, 'P' ) )
+     $            READ ( NIN, FMT = * ) ( JPVT(I),  I = 1,N )
+*              Find the least squares solution.
+               CALL MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A,
+     $                      LDA, B, LDB, Y, JPVT, RANK, SVAL, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) RANK, SVAL
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,NRHS )
+   10             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02QD =',I2)
+99997 FORMAT (' The effective rank of A =',I2,/
+     $        ' Estimates of the singular values SVAL = '/3(1X,F8.4))
+99996 FORMAT (' The least squares solution is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02QD EXAMPLE PROGRAM DATA
+   4   3   2 2.3D-16     0.0     L     N
+   2.0  2.0 -3.0 
+   3.0  3.0 -1.0 
+   4.0  4.0 -5.0 
+  -1.0 -1.0 -2.0 
+   1.0  0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02QD EXAMPLE PROGRAM RESULTS
+
+ The effective rank of A = 2
+ Estimates of the singular values SVAL = 
+   7.8659   2.6698   0.0000
+ The least squares solution is
+  -0.0034  -0.1054
+  -0.0034  -0.1054
+  -0.0816  -0.1973
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02QY.html b/doc/_static/doc/MB02QY.html
new file mode 100644
index 00000000..3e56a7cb
--- /dev/null
+++ b/doc/_static/doc/MB02QY.html
@@ -0,0 +1,190 @@
+<HTML>
+<HEAD><TITLE>MB02QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02QY">MB02QY</A></H2>
+<H3>
+Minimum-norm solution to a linear least squares problem, given a rank-revealing QR factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine the minimum-norm solution to a real linear least
+  squares problem:
+
+      minimize || A * X - B ||,
+
+  using the rank-revealing QR factorization of a real general
+  M-by-N matrix  A,  computed by SLICOT Library routine  MB03OD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02QY( M, N, NRHS, RANK, A, LDA, JPVT, B, LDB, TAU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices A and B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of columns of the matrix B.  NRHS &gt;= 0.
+
+  RANK    (input) INTEGER
+          The effective rank of  A,  as returned by SLICOT Library
+          routine  MB03OD.  min(M,N) &gt;= RANK &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry, the leading min(M,N)-by-N upper trapezoidal
+          part of this array contains the triangular factor  R,  as
+          returned by SLICOT Library routine  MB03OD.  The strict
+          lower trapezoidal part of  A  is not referenced.
+          On exit, if  RANK &lt; N,  the leading  RANK-by-RANK  upper
+          triangular part of this array contains the upper
+          triangular matrix  R  of the complete orthogonal
+          factorization of  A,  and the submatrix  (1:RANK,RANK+1:N)
+          of this array, with the array  TAU,  represent the
+          orthogonal matrix  Z  (of the complete orthogonal
+          factorization of  A),  as a product of  RANK  elementary
+          reflectors.
+          On exit, if  RANK = N,  this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  JPVT    (input) INTEGER array, dimension ( N )
+          The recorded permutations performed by SLICOT Library
+          routine  MB03OD;  if  JPVT(i) = k,  then the i-th column
+          of  A*P  was the k-th column of the original matrix  A.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          ( LDB, NRHS )
+          On entry, if  NRHS &gt; 0,  the leading M-by-NRHS part of
+          this array must contain the matrix  B  (corresponding to
+          the transformed matrix  A,  returned by SLICOT Library
+          routine  MB03OD).
+          On exit, if  NRHS &gt; 0,  the leading N-by-NRHS part of this
+          array contains the solution matrix X.
+          If  M &gt;= N  and  RANK = N,  the residual sum-of-squares
+          for the solution in the i-th column is given by the sum
+          of squares of elements  N+1:M  in that column.
+          If  NRHS = 0,  the array  B  is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= max(1,M,N),  if  NRHS &gt; 0.
+          LDB &gt;= 1,           if  NRHS = 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( min(M,N) )
+          The scalar factors of the elementary reflectors.
+          If  RANK = N,  the array  TAU  is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 1, N, NRHS ).
+          For good performance,  LDWORK  should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses a QR factorization with column pivoting:
+
+     A * P = Q * R = Q * [ R11 R12 ],
+                         [  0  R22 ]
+
+  where  R11  is an upper triangular submatrix of estimated rank
+  RANK,  the effective rank of  A.  The submatrix  R22  can be
+  considered as negligible.
+
+  If  RANK &lt; N,  then  R12  is annihilated by orthogonal
+  transformations from the right, arriving at the complete
+  orthogonal factorization:
+
+     A * P = Q * [ T11 0 ] * Z.
+                 [  0  0 ]
+
+  The minimum-norm solution is then
+
+     X = P * Z' [ inv(T11)*Q1'*B ],
+                [        0       ]
+
+  where Q1 consists of the first  RANK  columns of Q.
+
+  The input data for  MB02QY  are the transformed matrices  Q' * A
+  (returned by SLICOT Library routine  MB03OD)  and  Q' * B.
+  Matrix  Q  is not needed.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02RD.html b/doc/_static/doc/MB02RD.html
new file mode 100644
index 00000000..a40219dc
--- /dev/null
+++ b/doc/_static/doc/MB02RD.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>MB02RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02RD">MB02RD</A></H2>
+<H3>
+Solution of a system of linear equations with upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of linear equations
+     H * X = B  or  H' * X = B
+  with an upper Hessenberg N-by-N matrix H using the LU
+  factorization computed by MB02SD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS
+      INTEGER            INFO, LDB, LDH, N, NRHS
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      DOUBLE PRECISION   B( LDB, * ), H( LDH, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations:
+          = 'N':  H * X = B  (No transpose)
+          = 'T':  H'* X = B  (Transpose)
+          = 'C':  H'* X = B  (Conjugate transpose = Transpose)
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrix B.  NRHS &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SD.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices from MB02SD; for 1&lt;=i&lt;=N, row i of the
+          matrix was interchanged with row IPIV(i).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,NRHS)
+          On entry, the right hand side matrix B.
+          On exit, the solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses the factorization
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N x NRHS ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02RZ.html b/doc/_static/doc/MB02RZ.html
new file mode 100644
index 00000000..0515435e
--- /dev/null
+++ b/doc/_static/doc/MB02RZ.html
@@ -0,0 +1,125 @@
+<HTML>
+<HEAD><TITLE>MB02RZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02RZ">MB02RZ</A></H2>
+<H3>
+Solution of a system of linear equations with complex upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of linear equations
+     H * X = B,  H' * X = B  or  H**H * X = B
+  with a complex upper Hessenberg N-by-N matrix H using the LU
+  factorization computed by MB02SZ.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02RZ( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS
+      INTEGER            INFO, LDB, LDH, N, NRHS
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      COMPLEX*16         B( LDB, * ), H( LDH, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations:
+          = 'N':  H * X = B  (No transpose)
+          = 'T':  H'* X = B  (Transpose)
+          = 'C':  H**H * X = B  (Conjugate transpose)
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of right hand sides, i.e., the number of
+          columns of the matrix B.  NRHS &gt;= 0.
+
+  H       (input) COMPLEX*16 array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SZ.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices from MB02SZ; for 1&lt;=i&lt;=N, row i of the
+          matrix was interchanged with row IPIV(i).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,NRHS)
+          On entry, the right hand side matrix B.
+          On exit, the solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  INFO    (output) INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses the factorization
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N x NRHS ) complex operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02SD.html b/doc/_static/doc/MB02SD.html
new file mode 100644
index 00000000..26145134
--- /dev/null
+++ b/doc/_static/doc/MB02SD.html
@@ -0,0 +1,208 @@
+<HTML>
+<HEAD><TITLE>MB02SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02SD">MB02SD</A></H2>
+<H3>
+LU factorization of an upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LU factorization of an n-by-n upper Hessenberg
+  matrix H using partial pivoting with row interchanges.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02SD( N, H, LDH, IPIV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, N
+C     .. Array Arguments ..
+      INTEGER           IPIV(*)
+      DOUBLE PRECISION  H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
+          On entry, the n-by-n upper Hessenberg matrix to be
+          factored.
+          On exit, the factors L and U from the factorization
+          H = P*L*U; the unit diagonal elements of L are not stored,
+          and L is lower bidiagonal.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
+                factorization has been completed, but the factor U
+                is exactly singular, and division by zero will occur
+                if it is used to solve a system of equations.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The factorization has the form
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+  This is the right-looking Level 1 BLAS version of the algorithm
+  (adapted after DGETF2).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NRHMAX
+      PARAMETER        ( NMAX = 20, NRHMAX = 20 )
+      INTEGER          LDB, LDH
+      PARAMETER        ( LDB = NMAX, LDH = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION HNORM, RCOND
+      INTEGER          I, INFO, INFO1, J, N, NRHS
+      CHARACTER*1      NORM, TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION H(LDH,NMAX), B(LDB,NRHMAX), DWORK(LDWORK)
+      INTEGER          IPIV(NMAX), IWORK(LIWORK)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAMCH, DLANHS
+      EXTERNAL         DLAMCH, DLANHS
+*     .. External Subroutines ..
+      EXTERNAL         DLASET, MB02RD, MB02SD, MB02TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NRHS, NORM, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( H(I,J), J = 1,N ), I = 1,N )
+         IF ( NRHS.LT.0 .OR. NRHS.GT.NRHMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) NRHS
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,N )
+            IF ( N.GT.2 )
+     $         CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, H(3,1), LDH )
+*           Compute the LU factorization of the upper Hessenberg matrix.
+            CALL MB02SD( N, H, LDH, IPIV, INFO )
+*           Estimate the reciprocal condition number of the matrix.
+            HNORM = DLANHS( NORM, N, H, LDH, DWORK )
+            CALL MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
+     $                   DWORK, INFO1 )
+            IF ( INFO.EQ.0 .AND. RCOND.GT.DLAMCH( 'Epsilon' ) ) THEN
+*              Solve the linear system.
+               CALL MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+*
+               WRITE ( NOUT, FMT = 99997 )
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,NRHS )
+   10          CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) RCOND
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02SD = ',I2)
+99997 FORMAT (' The solution matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' Reciprocal condition number = ',D12.4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02SD EXAMPLE PROGRAM DATA
+   5    4      O      N
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   0.    3.    1.    5.    1.
+   0.    0.    2.    0.   -4.
+   0.    0.    0.    1.    4.
+   5.    5.    1.    5.
+  -2.    1.    3.    1.
+   0.    0.    4.    5.
+   2.    1.    1.    3.
+  -1.    3.    3.    1.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02SD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix is 
+   0.0435   1.2029   1.6377   1.1014
+   1.0870  -4.4275  -5.5580  -2.9638
+   0.9130   0.7609  -0.1087   0.6304
+  -0.8261   2.4783   4.2174   2.7391
+  -0.0435   0.1304  -0.3043  -0.4348
+
+ Reciprocal condition number =   0.1554D-01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02SZ.html b/doc/_static/doc/MB02SZ.html
new file mode 100644
index 00000000..32c44b1a
--- /dev/null
+++ b/doc/_static/doc/MB02SZ.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>MB02SZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02SZ">MB02SZ</A></H2>
+<H3>
+LU factorization of a complex upper Hessenberg matrix H
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LU factorization of a complex n-by-n upper
+  Hessenberg matrix H using partial pivoting with row interchanges.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02SZ( N, H, LDH, IPIV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, N
+C     .. Array Arguments ..
+      INTEGER           IPIV(*)
+      COMPLEX*16        H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  H       (input/output) COMPLEX*16 array, dimension (LDH,N)
+          On entry, the n-by-n upper Hessenberg matrix to be
+          factored.
+          On exit, the factors L and U from the factorization
+          H = P*L*U; the unit diagonal elements of L are not stored,
+          and L is lower bidiagonal.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
+                factorization has been completed, but the factor U
+                is exactly singular, and division by zero will occur
+                if it is used to solve a system of equations.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The factorization has the form
+     H = P * L * U
+  where P is a permutation matrix, L is lower triangular with unit
+  diagonal elements (and one nonzero subdiagonal), and U is upper
+  triangular.
+
+  This is the right-looking Level 2 BLAS version of the algorithm
+  (adapted after ZGETF2).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) complex operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02TD.html b/doc/_static/doc/MB02TD.html
new file mode 100644
index 00000000..26c90ad0
--- /dev/null
+++ b/doc/_static/doc/MB02TD.html
@@ -0,0 +1,131 @@
+<HTML>
+<HEAD><TITLE>MB02TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02TD">MB02TD</A></H2>
+<H3>
+Estimation of the reciprocal condition number of an upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the reciprocal of the condition number of an upper
+  Hessenberg matrix H, in either the 1-norm or the infinity-norm,
+  using the LU factorization computed by MB02SD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM
+      INTEGER            INFO, LDH, N
+      DOUBLE PRECISION   HNORM, RCOND
+C     .. Array Arguments ..
+      INTEGER            IPIV( * ), IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), H( LDH, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies whether the 1-norm condition number or the
+          infinity-norm condition number is required:
+          = '1' or 'O':  1-norm;
+          = 'I':         Infinity-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  HNORM   (input) DOUBLE PRECISION
+          If NORM = '1' or 'O', the 1-norm of the original matrix H.
+          If NORM = 'I', the infinity-norm of the original matrix H.
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SD.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal of the condition number of the matrix H,
+          computed as RCOND = 1/(norm(H) * norm(inv(H))).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (3*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An estimate is obtained for norm(inv(H)), and the reciprocal of
+  the condition number is computed as
+     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02TZ.html b/doc/_static/doc/MB02TZ.html
new file mode 100644
index 00000000..6c99885e
--- /dev/null
+++ b/doc/_static/doc/MB02TZ.html
@@ -0,0 +1,132 @@
+<HTML>
+<HEAD><TITLE>MB02TZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02TZ">MB02TZ</A></H2>
+<H3>
+Estimation of the reciprocal condition number of a complex upper Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the reciprocal of the condition number of a complex
+  upper Hessenberg matrix H, in either the 1-norm or the
+  infinity-norm, using the LU factorization computed by MB02SZ.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02TZ( NORM, N, HNORM, H, LDH, IPIV, RCOND, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          NORM
+      INTEGER            INFO, LDH, N
+      DOUBLE PRECISION   HNORM, RCOND
+C     .. Array Arguments ..
+      INTEGER            IPIV(*)
+      DOUBLE PRECISION   DWORK( * )
+      COMPLEX*16         H( LDH, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  NORM    CHARACTER*1
+          Specifies whether the 1-norm condition number or the
+          infinity-norm condition number is required:
+          = '1' or 'O':  1-norm;
+          = 'I':         Infinity-norm.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  HNORM   (input) DOUBLE PRECISION
+          If NORM = '1' or 'O', the 1-norm of the original matrix H.
+          If NORM = 'I', the infinity-norm of the original matrix H.
+
+  H       (input) COMPLEX*16 array, dimension (LDH,N)
+          The factors L and U from the factorization H = P*L*U
+          as computed by MB02SZ.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
+          was interchanged with row IPIV(i).
+
+  RCOND   (output) DOUBLE PRECISION
+          The reciprocal of the condition number of the matrix H,
+          computed as RCOND = 1/(norm(H) * norm(inv(H))).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+  ZWORK   COMPLEX*16 array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An estimate is obtained for norm(inv(H)), and the reciprocal of
+  the condition number is computed as
+     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  -
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                             2
+  The algorithm requires 0( N ) complex operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02UD.html b/doc/_static/doc/MB02UD.html
new file mode 100644
index 00000000..1f09cfe9
--- /dev/null
+++ b/doc/_static/doc/MB02UD.html
@@ -0,0 +1,251 @@
+<HTML>
+<HEAD><TITLE>MB02UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UD">MB02UD</A></H2>
+<H3>
+Minimum norm least squares solution of op(R) X = alpha B, or X op(R) = alpha B, with R upper triangular, using singular value decomposition
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the minimum norm least squares solution of one of the
+  following linear systems
+
+     op(R)*X = alpha*B,                                          (1)
+     X*op(R) = alpha*B,                                          (2)
+
+  where alpha is a real scalar, op(R) is either R or its transpose,
+  R', R is an L-by-L real upper triangular matrix, B is an M-by-N
+  real matrix, and L = M for (1), or L = N for (2). Singular value
+  decomposition, R = Q*S*P', is used, assuming that R is rank
+  deficient.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UD( FACT, SIDE, TRANS, JOBP, M, N, ALPHA, RCOND,
+     $                   RANK, R, LDR, Q, LDQ, SV, B, LDB, RP, LDRP,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FACT, JOBP, SIDE, TRANS
+      INTEGER           INFO, LDB, LDQ, LDR, LDRP, LDWORK, M, N, RANK
+      DOUBLE PRECISION  ALPHA, RCOND
+C     .. Array Arguments ..
+      DOUBLE PRECISION  B(LDB,*), DWORK(*), Q(LDQ,*), R(LDR,*),
+     $                  RP(LDRP,*), SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FACT    CHARACTER*1
+          Specifies whether R has been previously factored or not,
+          as follows:
+          = 'F':  R has been factored and its rank and singular
+                  value decomposition, R = Q*S*P', are available;
+          = 'N':  R has not been factored and its singular value
+                  decomposition, R = Q*S*P', should be computed.
+
+  SIDE    CHARACTER*1
+          Specifies whether op(R) appears on the left or right
+          of X as follows:
+          = 'L':  Solve op(R)*X = alpha*B  (op(R) is on the left);
+          = 'R':  Solve X*op(R) = alpha*B  (op(R) is on the right).
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(R) to be used as follows:
+          = 'N':  op(R) = R;
+          = 'T':  op(R) = R';
+          = 'C':  op(R) = R'.
+
+  JOBP    CHARACTER*1
+          Specifies whether or not the pseudoinverse of R is to be
+          computed or it is available as follows:
+          = 'P':  Compute pinv(R), if FACT = 'N', or
+                  use pinv(R),     if FACT = 'F';
+          = 'N':  Do not compute or use pinv(R).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix B.  N &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar alpha. When alpha is zero then B need not be
+          set before entry.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of R.
+          Singular values of R satisfying Sv(i) &lt;= RCOND*Sv(1) are
+          treated as zero. If RCOND &lt;= 0, then EPS is used instead,
+          where EPS is the relative machine precision (see LAPACK
+          Library routine DLAMCH).  RCOND &lt;= 1.
+          RCOND is not used if FACT = 'F'.
+
+  RANK    (input or output) INTEGER
+          The rank of matrix R.
+          RANK is an input parameter when FACT = 'F', and an output
+          parameter when FACT = 'N'.  L &gt;= RANK &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
+          On entry, if FACT = 'F', the leading L-by-L part of this
+          array must contain the L-by-L orthogonal matrix P' from
+          singular value decomposition, R = Q*S*P', of the matrix R;
+          if JOBP = 'P', the first RANK rows of P' are assumed to be
+          scaled by inv(S(1:RANK,1:RANK)).
+          On entry, if FACT = 'N', the leading L-by-L upper
+          triangular part of this array must contain the upper
+          triangular matrix R.
+          On exit, if INFO = 0, the leading L-by-L part of this
+          array contains the L-by-L orthogonal matrix P', with its
+          first RANK rows scaled by inv(S(1:RANK,1:RANK)), when
+          JOBP = 'P'.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,L).
+
+  Q       (input or output) DOUBLE PRECISION array, dimension
+          (LDQ,L)
+          On entry, if FACT = 'F', the leading L-by-L part of this
+          array must contain the L-by-L orthogonal matrix Q from
+          singular value decomposition, R = Q*S*P', of the matrix R.
+          If FACT = 'N', this array need not be set on entry, and
+          on exit, if INFO = 0, the leading L-by-L part of this
+          array contains the orthogonal matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
+
+  SV      (input or output) DOUBLE PRECISION array, dimension (L)
+          On entry, if FACT = 'F', the first RANK entries of this
+          array must contain the reciprocal of the largest RANK
+          singular values of the matrix R, and the last L-RANK
+          entries of this array must contain the remaining singular
+          values of R sorted in descending order.
+          If FACT = 'N', this array need not be set on input, and
+          on exit, if INFO = 0, the first RANK entries of this array
+          contain the reciprocal of the largest RANK singular values
+          of the matrix R, and the last L-RANK entries of this array
+          contain the remaining singular values of R sorted in
+          descending order.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, if ALPHA &lt;&gt; 0, the leading M-by-N part of this
+          array must contain the matrix B.
+          On exit, if INFO = 0 and RANK &gt; 0, the leading M-by-N part
+          of this array contains the M-by-N solution matrix X.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  RP      (input or output) DOUBLE PRECISION array, dimension
+          (LDRP,L)
+          On entry, if FACT = 'F', JOBP = 'P', and RANK &gt; 0, the
+          leading L-by-L part of this array must contain the L-by-L
+          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
+          On exit, if FACT = 'N', JOBP = 'P', and RANK &gt; 0, the
+          leading L-by-L part of this array contains the L-by-L
+          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
+          If JOBP = 'N', this array is not referenced.
+
+  LDRP    INTEGER
+          The leading dimension of array RP.
+          LDRP &gt;= MAX(1,L), if JOBP = 'P'.
+          LDRP &gt;= 1,        if JOBP = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          if INFO = i, 1 &lt;= i &lt;= L, then DWORK(2:L) contain the
+          unconverged superdiagonal elements of an upper bidiagonal
+          matrix D whose diagonal is in SV (not necessarily sorted).
+          D satisfies R = Q*D*P', so it has the same singular
+          values as R, and singular vectors related by Q and P'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,L),   if FACT = 'F';
+          LDWORK &gt;= MAX(1,5*L), if FACT = 'N'.
+          For optimum performance LDWORK should be larger than
+          MAX(1,L,M*N),   if FACT = 'F';
+          MAX(1,5*L,M*N), if FACT = 'N'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i = 1:L, the SVD algorithm has failed
+                to converge. In this case INFO specifies how many
+                superdiagonals did not converge (see the description
+                of DWORK); this failure is not likely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The L-by-L upper triangular matrix R is factored as  R = Q*S*P',
+  if FACT = 'N', using SLICOT Library routine MB03UD, where Q and P
+  are L-by-L orthogonal matrices and S is an L-by-L diagonal matrix
+  with non-negative diagonal elements, SV(1), SV(2), ..., SV(L),
+  ordered decreasingly. Then, the effective rank of R is estimated,
+  and matrix (or matrix-vector) products and scalings are used to
+  compute X. If FACT = 'F', only matrix (or matrix-vector) products
+  and scalings are performed.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Option JOBP = 'P' should be used only if the pseudoinverse is
+  really needed. Usually, it is possible to avoid the use of
+  pseudoinverse, by computing least squares solutions.
+  The routine uses BLAS 3 calculations if LDWORK &gt;= M*N, and BLAS 2
+  calculations, otherwise. No advantage of any additional workspace
+  larger than L is taken for matrix products, but the routine can
+  be called repeatedly for chunks of columns of B, if LDWORK &lt; M*N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02UU.html b/doc/_static/doc/MB02UU.html
new file mode 100644
index 00000000..a9e90e06
--- /dev/null
+++ b/doc/_static/doc/MB02UU.html
@@ -0,0 +1,98 @@
+<HTML>
+<HEAD><TITLE>MB02UU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UU">MB02UU</A></H2>
+<H3>
+Solution of a system of linear equations using LU factorization with complete pivoting
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for x in A * x = scale * RHS, using the LU factorization
+  of the N-by-N matrix A computed by SLICOT Library routine MB02UV.
+  The factorization has the form A = P * L * U * Q, where P and Q
+  are permutation matrices, L is unit lower triangular and U is
+  upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UU( N, A, LDA, RHS, IPIV, JPIV, SCALE )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      INTEGER            IPIV( * ), JPIV( * )
+      DOUBLE PRECISION   A( LDA, * ), RHS( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
+          The leading N-by-N part of this array must contain
+          the LU part of the factorization of the matrix A computed
+          by SLICOT Library routine MB02UV:  A = P * L * U * Q.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1, N).
+
+  RHS     (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the right hand side
+          of the system.
+          On exit, this array contains the solution of the system.
+
+  IPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
+          matrix has been interchanged with row IPIV(i).
+
+  JPIV    (input) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
+          matrix has been interchanged with column JPIV(j).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, chosen 0 &lt; SCALE &lt;= 1 to prevent
+          overflow in the solution.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interest of speed, this routine does not check the input
+  for errors. It should only be used if the order of the matrix A
+  is very small.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02UV.html b/doc/_static/doc/MB02UV.html
new file mode 100644
index 00000000..5d3759ec
--- /dev/null
+++ b/doc/_static/doc/MB02UV.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB02UV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UV">MB02UV</A></H2>
+<H3>
+LU factorization with complete pivoting of a general matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LU factorization, using complete pivoting, of the
+  N-by-N matrix A. The factorization has the form A = P * L * U * Q,
+  where P and Q are permutation matrices, L is lower triangular with
+  unit diagonal elements and U is upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UV( N, A, LDA, IPIV, JPIV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * ), JPIV( * )
+      DOUBLE PRECISION   A( LDA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A to be factored.
+          On exit, the leading N-by-N part of this array contains
+          the factors L and U from the factorization A = P*L*U*Q;
+          the unit diagonal elements of L are not stored. If U(k, k)
+          appears to be less than SMIN, U(k, k) is given the value
+          of SMIN, giving a nonsingular perturbed system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1, N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
+          matrix has been interchanged with row IPIV(i).
+
+  JPIV    (output) INTEGER array, dimension (N)
+          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
+          matrix has been interchanged with column JPIV(j).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = k:  U(k, k) is likely to produce owerflow if one tries
+                to solve for x in Ax = b. So U is perturbed to get
+                a nonsingular system. This is a warning.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interests of speed, this routine does not check the input
+  for errors. It should only be used to factorize matrices A of
+  very small order.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02UW.html b/doc/_static/doc/MB02UW.html
new file mode 100644
index 00000000..27bcbd9c
--- /dev/null
+++ b/doc/_static/doc/MB02UW.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB02UW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02UW">MB02UW</A></H2>
+<H3>
+Solving a set of linear systems of order at most 2 with possible scaling and perturbation of system matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of the form  A X = s B  or  A' X = s B  with
+  possible scaling ("s") and perturbation of A.  (A' means
+  A-transpose.)  A is an N-by-N real matrix, and X and B are
+  N-by-M matrices.  N may be 1 or 2.  The scalar "s" is a scaling
+  factor (.LE. 1), computed by this subroutine, which is so chosen
+  that X can be computed without overflow.  X is further scaled if
+  necessary to assure that norm(A)*norm(X) is less than overflow.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02UW( LTRANS, N, M, PAR, A, LDA, B, LDB, SCALE,
+     $                   IWARN )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRANS
+      INTEGER            IWARN, LDA, LDB, N, M
+      DOUBLE PRECISION   SCALE, SMIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), PAR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRANS  LOGICAL
+          Specifies if A or A-transpose is to be used, as follows:
+          =.TRUE. :  A-transpose will be used;
+          =.FALSE.:  A will be used (not transposed).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  It may (only) be 1 or 2.
+
+  M       (input) INTEGER
+          The number of right hand size vectors.
+
+  PAR     (input) DOUBLE PRECISION array, dimension (3)
+          Machine related parameters:
+          PAR(1) =: PREC  (machine precision)*base, DLAMCH( 'P' );
+          PAR(2) =: SFMIN safe minimum,             DLAMCH( 'S' );
+          PAR(3) =: SMIN  The desired lower bound on the singular
+                          values of A.  This should be a safe
+                          distance away from underflow or overflow,
+                          say, between (underflow/machine precision)
+                          and (machine precision * overflow).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B (right-hand side).
+          On exit, the leading N-by-M part of this array contains
+          the N-by-M matrix X (unknowns).
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor that B must be multiplied by to insure
+          that overflow does not occur when computing X.  Thus,
+          A X  will be SCALE*B, not B (ignoring perturbations of A).
+          SCALE will be at most 1.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings (A did not have to be perturbed);
+          = 1:  A had to be perturbed to make its smallest (or only)
+                singular value greater than SMIN (see below).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with complete pivoting is used. The matrix A
+  is slightly perturbed if it is (close to being) singular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If both singular values of A are less than SMIN, SMIN*identity
+  will be used instead of A.  If only one singular value is less
+  than SMIN, one element of A will be perturbed enough to make the
+  smallest singular value roughly SMIN.  If both singular values
+  are at least SMIN, A will not be perturbed.  In any case, the
+  perturbation will be at most some small multiple of
+  max( SMIN, EPS*norm(A) ), where EPS is the machine precision
+  (see LAPACK Library routine DLAMCH).  The singular values are
+  computed by infinity-norm approximations, and thus will only be
+  correct to a factor of 2 or so.
+
+  Note: all input quantities are assumed to be smaller than overflow
+  by a reasonable factor.  (See BIGNUM.)  In the interests of speed,
+  this routine does not check the inputs for errors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02VD.html b/doc/_static/doc/MB02VD.html
new file mode 100644
index 00000000..43141218
--- /dev/null
+++ b/doc/_static/doc/MB02VD.html
@@ -0,0 +1,198 @@
+<HTML>
+<HEAD><TITLE>MB02VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02VD">MB02VD</A></H2>
+<H3>
+Solution of linear equations X op(A) = B
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the solution to a real system of linear equations
+     X * op(A) = B,
+  where op(A) is either A or its transpose, A is an N-by-N matrix,
+  and X and B are M-by-N matrices.
+  The LU decomposition with partial pivoting and row interchanges,
+  A = P * L * U, is used, where P is a permutation matrix, L is unit
+  lower triangular, and U is upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANS
+      INTEGER            INFO, LDA, LDB, M, N
+C     .. Array Arguments ..
+      INTEGER            IPIV( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies the form of op(A) to be used as follows:
+          = 'N':  op(A) = A;
+          = 'T':  op(A) = A';
+          = 'C':  op(A) = A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix B, and the order of
+          the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the factors L and U from the factorization A = P*L*U;
+          the unit diagonal elements of L are not stored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  IPIV    (output) INTEGER array, dimension (N)
+          The pivot indices that define the permutation matrix P;
+          row i of the matrix was interchanged with row IPIV(i).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix B.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X.
+
+  LDB     (input) INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,M).
+
+  INFO    (output) INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, U(i,i) is exactly zero.  The
+                factorization has been completed, but the factor U
+                is exactly singular, so the solution could not be
+                computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The LU decomposition with partial pivoting and row interchanges is
+  used to factor A as
+     A = P * L * U,
+  where P is a permutation matrix, L is unit lower triangular, and
+  U is upper triangular.  The factored form of A is then used to
+  solve the system of equations X * A = B or X * A' = B.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine enables to solve the system X * A = B or X * A' = B
+  as easily and efficiently as possible; it is similar to the LAPACK
+  Library routine DGESV, which solves A * X = B.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB02VD EXAMPLE PROGRAM TEXT
+*
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX)
+      INTEGER          IPIV(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB02VD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
+*           Solve the linear system using the LU factorization.
+            CALL MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
+*
+            IF ( INFO.EQ.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
+   10          CONTINUE
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB02VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB02VD = ',I2)
+99997 FORMAT (' The solution matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB02VD EXAMPLE PROGRAM DATA
+   5    4      N
+   1.    2.    6.    3.
+  -2.   -1.   -1.    0.
+   2.    3.    1.    5.
+   1.   -1.    2.    0.
+   0.    0.    0.    1.
+   5.    5.    1.    5.
+  -2.    1.    3.    1.
+   0.    0.    4.    5.
+   2.    1.    1.    3.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB02VD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix is 
+  -0.0690   0.3333   0.2414   0.2529
+  -0.1724  -1.6667   1.1034  -0.3678
+   0.9655   0.6667  -0.3793  -0.8736
+   0.3448   1.6667   0.7931   1.4023
+  -0.2069   0.0000   0.7241   0.7586
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02WD.html b/doc/_static/doc/MB02WD.html
new file mode 100644
index 00000000..8f838678
--- /dev/null
+++ b/doc/_static/doc/MB02WD.html
@@ -0,0 +1,308 @@
+<HTML>
+<HEAD><TITLE>MB02WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02WD">MB02WD</A></H2>
+<H3>
+Solution of Ax = b or f(A, x) = b, for a positive definite linear mapping, using conjugate gradients
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the system of linear equations Ax = b, with A symmetric,
+  positive definite, or, in the implicit form, f(A, x) = b, where
+  y = f(A, x) is a symmetric positive definite linear mapping
+  from x to y, using the conjugate gradient (CG) algorithm without
+  preconditioning.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02WD( FORM, F, N, IPAR, LIPAR, DPAR, LDPAR, ITMAX,
+     $                   A, LDA, B, INCB, X, INCX, TOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FORM
+      INTEGER           INCB, INCX, INFO, ITMAX, IWARN, LDA, LDPAR,
+     $                  LDWORK, LIPAR, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), DPAR(*), DWORK(*), X(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FORM     CHARACTER*1
+           Specifies the form of the system of equations, as
+           follows:
+           = 'U' :  Ax = b, the upper triagular part of A is used;
+           = 'L' :  Ax = b, the lower triagular part of A is used;
+           = 'F' :  the implicit, function form, f(A, x) = b.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  F       EXTERNAL
+          If FORM = 'F', then F is a subroutine which calculates the
+          value of f(A, x), for given A and x.
+          If FORM &lt;&gt; 'F', then F is not called.
+
+          F must have the following interface:
+
+          SUBROUTINE F( N, IPAR, LIPAR, DPAR, LDPAR, A, LDA, X,
+         $              INCX, DWORK, LDWORK, INFO )
+
+          where
+
+          N       (input) INTEGER
+                  The dimension of the vector x.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the matrix A.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+                  The real parameters needed for solving the
+                  problem.
+
+          LDPAR   (input) INTEGER
+                  The length of the array DPAR.  LDPAR &gt;= 0.
+
+          A       (input) DOUBLE PRECISION array, dimension
+                  (LDA, NC), where NC is the number of columns.
+                  The leading NR-by-NC part of this array must
+                  contain the (compressed) representation of the
+                  matrix A, where NR is the number of rows of A
+                  (function of IPAR entries).
+
+          LDA     (input) INTEGER
+                  The leading dimension of the array A.
+                  LDA &gt;= MAX(1,NR).
+
+          X       (input/output) DOUBLE PRECISION array, dimension
+                  (1+(N-1)*INCX)
+                  On entry, this incremented array must contain the
+                  vector x.
+                  On exit, this incremented array contains the value
+                  of the function f, y = f(A, x).
+
+          INCX    (input) INTEGER
+                  The increment for the elements of X.  INCX &gt; 0.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine F.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine F).
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input scalar argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine F. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the vector x.  N &gt;= 0.
+          If FORM = 'U' or FORM = 'L', N is also the number of rows
+          and columns of the matrix A.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          If FORM = 'F', the integer parameters describing the
+          structure of the matrix A.
+          This parameter is ignored if FORM = 'U' or FORM = 'L'.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 0.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          If FORM = 'F', the real parameters needed for solving
+          the problem.
+          This parameter is ignored if FORM = 'U' or FORM = 'L'.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 0.
+
+  ITMAX   (input) INTEGER
+          The maximal number of iterations to do.  ITMAX &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array,
+                  dimension (LDA, NC), if FORM = 'F',
+                  dimension (LDA, N),  otherwise.
+          If FORM = 'F', the leading NR-by-NC part of this array
+          must contain the (compressed) representation of the
+          matrix A, where NR and NC are the number of rows and
+          columns, respectively, of the matrix A. The array A is
+          not referenced by this routine itself, except in the
+          calls to the routine F.
+          If FORM &lt;&gt; 'F', the leading N-by-N part of this array
+          must contain the matrix A, assumed to be symmetric;
+          only the triangular part specified by FORM is referenced.
+
+  LDA     (input) INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,NR), if FORM = 'F';
+          LDA &gt;= MAX(1,N),  if FORM = 'U' or FORM = 'L'.
+
+  B       (input) DOUBLE PRECISION array, dimension (1+(N-1)*INCB)
+          The incremented vector b.
+
+  INCB    (input) INTEGER
+          The increment for the elements of B.  INCB &gt; 0.
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          (1+(N-1)*INCX)
+          On entry, this incremented array must contain an initial
+          approximation of the solution. If an approximation is not
+          known, setting all elements of x to zero is recommended.
+          On exit, this incremented array contains the computed
+          solution x of the system of linear equations.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X.  INCX &gt; 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If TOL &gt; 0, absolute tolerance for the iterative process.
+          The algorithm will stop if || Ax - b ||_2 &lt;= TOL. Since
+          it is advisable to use a relative tolerance, say TOLER,
+          TOL should be chosen as TOLER*|| b ||_2.
+          If TOL &lt;= 0, a default relative tolerance,
+          TOLDEF = N*EPS*|| b ||_2,  is used, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the number of
+          iterations performed and DWORK(2) returns the remaining
+          residual, || Ax - b ||_2.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(2,3*N + DWORK(F)),  if FORM = 'F',
+                    where DWORK(F) is the workspace needed by F;
+          LDWORK &gt;= MAX(2,3*N),       if FORM = 'U' or FORM = 'L'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the algorithm finished after ITMAX &gt; 0 iterations,
+                without achieving the desired precision TOL;
+          = 2:  ITMAX is zero; in this case, DWORK(2) is not set.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then F returned with INFO = i.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The following CG iteration is used for solving Ax = b:
+
+  Start: q(0) = r(0) = Ax - b
+
+                &lt; q(k),  r(k) &gt;
+  ALPHA(k) = - ----------------
+                &lt; q(k), Aq(k) &gt;
+  x(k+1)   = x(k) - ALPHA(k) * q(k)
+  r(k+1)   = r(k) - ALPHA(k) * Aq(k)
+              &lt; r(k+1), r(k+1) &gt;
+  BETA(k)  = --------------------
+              &lt; r(k)  , r(k)   &gt;
+  q(k+1)   = r(k+1) + BETA(k) * q(k)
+
+  where &lt;.,.&gt; denotes the scalar product.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
+      1996.
+
+  [2] Luenberger, G.
+      Introduction to Linear and Nonlinear Programming.
+      Addison-Wesley, Reading, MA, p.187, York, 1973.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Since the residuals are orthogonal in the scalar product
+  &lt;x, y&gt; = y'Ax, the algorithm is theoretically finite. But rounding
+  errors cause a loss of orthogonality, so a finite termination
+  cannot be guaranteed. However, one can prove [2] that
+
+     || x-x_k ||_A := sqrt( (x-x_k)' * A * (x-x_k) )
+
+                                          sqrt( kappa_2(A) ) - 1
+                   &lt;=  2 || x-x_0 ||_A * ------------------------ ,
+                                          sqrt( kappa_2(A) ) + 1
+
+  where kappa_2 is the condition number.
+
+  The approximate number of floating point operations is
+     (k*(N**2 + 15*N) + N**2 + 3*N)/2, if FORM &lt;&gt; 'F',
+     k*(f + 7*N) + f,                  if FORM =  'F',
+  where k is the number of CG iterations performed, and f is the
+  number of floating point operations required by the subroutine F.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02XD.html b/doc/_static/doc/MB02XD.html
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+<HTML>
+<HEAD><TITLE>MB02XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02XD">MB02XD</A></H2>
+<H3>
+Solution of A' A X = B, or f(A) X = B, using symmetric Gaussian elimination
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a set of systems of linear equations, A'*A*X = B, or,
+  in the implicit form, f(A)*X = B, with A'*A or f(A) positive
+  definite, using symmetric Gaussian elimination.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02XD( FORM, STOR, UPLO, F, M, N, NRHS, IPAR, LIPAR,
+     $                   DPAR, LDPAR, A, LDA, B, LDB, ATA, LDATA, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FORM, STOR, UPLO
+      INTEGER           INFO, LDA, LDATA, LDB, LDPAR, LDWORK, LIPAR, M,
+     $                  N, NRHS
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ATA(*), B(LDB,*), DPAR(*), DWORK(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  FORM    CHARACTER*1
+          Specifies the form in which the matrix A is provided, as
+          follows:
+          = 'S' :  standard form, the matrix A is given;
+          = 'F' :  the implicit, function form f(A) is provided.
+          If FORM = 'F', then the routine F is called to compute the
+          matrix A'*A.
+
+  STOR    CHARACTER*1
+          Specifies the storage scheme for the symmetric
+          matrix A'*A, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix A'*A is stored, as
+          follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  F       EXTERNAL
+          If FORM = 'F', then F is a subroutine which calculates the
+          value of f(A) = A'*A, for given A.
+          If FORM = 'S', then F is not called.
+
+          F must have the following interface:
+
+          SUBROUTINE F( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, A,
+         $              LDA, ATA, LDATA, DWORK, LDWORK, INFO )
+
+          where
+
+          STOR    (input) CHARACTER*1
+                  Specifies the storage scheme for the symmetric
+                  matrix A'*A, as follows:
+                  = 'F' :  full storage is used;
+                  = 'P' :  packed storage is used.
+
+          UPLO    (input) CHARACTER*1
+                  Specifies which part of the matrix A'*A is stored,
+                  as follows:
+                  = 'U' :  the upper triagular part is stored;
+                  = 'L' :  the lower triagular part is stored.
+
+          N       (input) INTEGER
+                  The order of the matrix A'*A.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the matrix A.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+                  The real parameters needed for solving the
+                  problem.
+
+          LDPAR   (input) INTEGER
+                  The length of the array DPAR.  LDPAR &gt;= 0.
+
+          A       (input) DOUBLE PRECISION array, dimension
+                  (LDA, NC), where NC is the number of columns.
+                  The leading NR-by-NC part of this array must
+                  contain the (compressed) representation of the
+                  matrix A, where NR is the number of rows of A
+                  (function of IPAR entries).
+
+          LDA     (input) INTEGER
+                  The leading dimension of the array A.
+                  LDA &gt;= MAX(1,NR).
+
+          ATA     (output) DOUBLE PRECISION array,
+                           dimension (LDATA,N),    if STOR = 'F',
+                           dimension (N*(N+1)/2),  if STOR = 'P'.
+                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
+                  (if STOR = 'P') part of this array contains the
+                  upper or lower triangle of the matrix A'*A,
+                  depending on UPLO = 'U', or UPLO = 'L',
+                  respectively, stored either as a two-dimensional,
+                  or one-dimensional array, depending on STOR.
+
+          LDATA   (input) INTEGER
+                  The leading dimension of the array ATA.
+                  LDATA &gt;= MAX(1,N), if STOR = 'F'.
+                  LDATA &gt;= 1,        if STOR = 'P'.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine F.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine F).
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input scalar argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine F. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix A'*A, the number of columns of the
+          matrix A, and the number of rows of the matrix X.  N &gt;= 0.
+
+  NRHS    (input) INTEGER
+          The number of columns of the matrices B and X.  NRHS &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          If FORM = 'F', the integer parameters describing the
+          structure of the matrix A.
+          This parameter is ignored if FORM = 'S'.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 0.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          If FORM = 'F', the real parameters needed for solving
+          the problem.
+          This parameter is ignored if FORM = 'S'.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array,
+                  dimension (LDA, N),  if FORM = 'S',
+                  dimension (LDA, NC), if FORM = 'F', where NC is
+                  the number of columns.
+          If FORM = 'S', the leading M-by-N part of this array
+          must contain the matrix A.
+          If FORM = 'F', the leading NR-by-NC part of this array
+          must contain an appropriate representation of matrix A,
+          where NR is the number of rows.
+          If FORM = 'F', this array is not referenced by this
+          routine itself, except in the call to the routine F.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,M),  if FORM = 'S';
+          LDA &gt;= MAX(1,NR), if FORM = 'F'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB, NRHS)
+          On entry, the leading N-by-NRHS part of this array must
+          contain the right hand side matrix B.
+          On exit, if INFO = 0 and M (or NR) is nonzero, the leading
+          N-by-NRHS part of this array contains the solution X of
+          the set of systems of linear equations A'*A*X = B or
+          f(A)*X = B. If M (or NR) is zero, then B is unchanged.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  ATA     (output) DOUBLE PRECISION array,
+                   dimension (LDATA,N),    if STOR = 'F',
+                   dimension (N*(N+1)/2),  if STOR = 'P'.
+          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
+          STOR = 'P') part of this array contains the upper or lower
+          triangular Cholesky factor of the matrix A'*A, depending
+          on UPLO = 'U', or UPLO = 'L', respectively, stored either
+          as a two-dimensional, or one-dimensional array, depending
+          on STOR.
+
+  LDATA   INTEGER
+          The leading dimension of the array ATA.
+          LDATA &gt;= MAX(1,N), if STOR = 'F'.
+          LDATA &gt;= 1,        if STOR = 'P'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then the (i,i) element of the
+                triangular factor of the matrix A'*A is exactly
+                zero (the matrix A'*A is exactly singular);
+                if INFO = j &gt; n, then F returned with INFO = j-n.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A'*A is built either directly (if FORM = 'S'), or
+  implicitly, by calling the routine F. Then, A'*A is Cholesky
+  factored and its factor is used to solve the set of systems of
+  linear equations, A'*A*X = B.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, 1996.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Blackford, Demmel, J.,
+      Dongarra, J., Du Croz, J., Greenbaum, A., Hammarling, S.,
+      McKenney, A., Sorensen, D.
+      LAPACK Users' Guide: Third Edition, SIAM, Philadelphia, 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  For speed, this routine does not check for near singularity of the
+  matrix A'*A. If the matrix A is nearly rank deficient, then the
+  computed X could be inaccurate. Estimates of the reciprocal
+  condition numbers of the matrices A and A'*A can be obtained
+  using LAPACK routines DGECON and DPOCON (DPPCON), respectively.
+
+  The approximate number of floating point operations is
+     (M+3)*N**2/2 + N**3/6 + NRHS*N**2, if FORM = 'S',
+     f + N**3/6 + NRHS*N**2,            if FORM = 'F',
+  where M is the number of rows of A, and f is the number of
+  floating point operations required by the subroutine F.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB02YD.html b/doc/_static/doc/MB02YD.html
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+<HTML>
+<HEAD><TITLE>MB02YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB02YD">MB02YD</A></H2>
+<H3>
+Solving the linear system A x = b, D x = 0, D diagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a vector x which solves the system of linear
+  equations
+
+        A*x = b ,     D*x = 0 ,
+
+  in the least squares sense, where A is an m-by-n matrix,
+  D is an n-by-n diagonal matrix, and b is an m-vector.
+  It is assumed that a QR factorization, with column pivoting, of A
+  is available, that is, A*P = Q*R, where P is a permutation matrix,
+  Q has orthogonal columns, and R is an upper triangular matrix
+  with diagonal elements of nonincreasing magnitude.
+  The routine needs the full upper triangle of R, the permutation
+  matrix P, and the first n components of Q'*b (' denotes the
+  transpose). The system A*x = b, D*x = 0, is then equivalent to
+
+        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
+
+  where x = P*z. If this system does not have full rank, then a
+  least squares solution is obtained. On output, MB02YD also
+  provides an upper triangular matrix S such that
+
+        P'*(A'*A + D*D)*P = S'*S .
+
+  The system (1) is equivalent to S*z = c , where c contains the
+  first n components of the vector obtained by applying to
+  [ (Q'*b)'  0 ]' the transformations which triangularized
+  [ R'  P'*D*P ]', getting S.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB02YD( COND, N, R, LDR, IPVT, DIAG, QTB, RANK, X, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, N, RANK
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IPVT(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the matrix S should be
+          estimated, as follows:
+          = 'E' :  use incremental condition estimation and store
+                   the numerical rank of S in RANK;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of S for zero values;
+          = 'U' :  use the rank already stored in RANK.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the full upper triangle is unaltered, and the
+          strict lower triangle contains the strict upper triangle
+          (transposed) of the upper triangular matrix S.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          A*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  RANK    (input or output) INTEGER
+          On entry, if COND = 'U', this parameter must contain the
+          (numerical) rank of the matrix S.
+          On exit, if COND = 'E' or 'N', this parameter contains
+          the numerical rank of the matrix S, estimated according
+          to the value of COND.
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system A*x = b, D*x = 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          rank of the matrix S. If the user sets TOL &gt; 0, then the
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S, and
+          the next N elements contain the solution z.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 4*N, if COND =  'E';
+          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Standard plane rotations are used to annihilate the elements of
+  the diagonal matrix D, updating the upper triangular matrix R
+  and the first n elements of the vector Q'*b. A basic least squares
+  solution is computed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a LAPACK-based modification of QRSOLV from the
+  MINPACK package [1], and with optional condition estimation.
+  The option COND = 'U' is useful when dealing with several
+  right-hand side vectors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AB.html b/doc/_static/doc/MB03AB.html
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+<HTML>
+<HEAD><TITLE>MB03AB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AB">MB03AB</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with explicit shifts) 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is needed for the real
+  Wilkinson single shift polynomial (see the SLICOT Library routines
+  MB03BE or MB03BF). The shifts are defined based on the eigenvalues
+  (computed externally by the SLICOT Library routine MB03BB) of the
+  trailing 2-by-2 submatrix of the matrix product. See the
+  definitions of the arguments W1 and W2.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AB( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, W1,
+     $                   W2, C1, S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2, W1, W2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number and type of shifts employed by the
+          shift polynomial, as follows:
+          = 'C':  two complex conjugate shifts;
+          = 'D':  two real identical shifts;
+          = 'R':  two real shifts;
+          = 'S':  one real shift.
+          When the eigenvalues are complex conjugate, this argument
+          must be set to 'C'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors in the array A.
+          N &gt;= 2, for a single shift polynomial;
+          N &gt;= 3, for a double shift polynomial.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix, defined
+          by A(:,:,AMAP(1)).
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain an
+          n-by-n product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  W1      (input)  DOUBLE PRECISION
+          The real part of the first eigenvalue.
+          If SHFT = 'S', this argument is not used.
+
+  W2      (input)  DOUBLE PRECISION
+          The second eigenvalue, if both eigenvalues are real, else
+          the imaginary part of the complex conjugate pair.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, C2 and S2 contain the parameters for the second
+          Givens rotation. If SHFT = 'S', C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are properly computed and applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AD.html b/doc/_static/doc/MB03AD.html
new file mode 100644
index 00000000..248509ef
--- /dev/null
+++ b/doc/_static/doc/MB03AD.html
@@ -0,0 +1,133 @@
+<HTML>
+<HEAD><TITLE>MB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AD">MB03AD</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routine
+  MB03BE).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AD( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors in the array A.
+          N &gt;= 2, for a single shift polynomial;
+          N &gt;= 3, for a double shift polynomial.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
+          parameters for the second Givens rotation. Otherwise,
+          C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Two Givens rotations are properly computed and applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AE.html b/doc/_static/doc/MB03AE.html
new file mode 100644
index 00000000..3c95c503
--- /dev/null
+++ b/doc/_static/doc/MB03AE.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>MB03AE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AE">MB03AE</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the first one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
+  submatrix and the five nonzero elements in the first two columns
+  of the matrix product are evaluated when a double shift is used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AE( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
+          parameters for the second Givens rotation. Otherwise,
+          C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double/single shift
+  polynomial are computed, and suitable Givens rotations are found.
+  For numerical reasons, this routine should be called when
+  convergence difficulties are encountered.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AF.html b/doc/_static/doc/MB03AF.html
new file mode 100644
index 00000000..7dad33cb
--- /dev/null
+++ b/doc/_static/doc/MB03AF.html
@@ -0,0 +1,134 @@
+<HTML>
+<HEAD><TITLE>MB03AF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AF">MB03AF</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant, Hessenberg factor is the last one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AF( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two real shifts;
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors in the array A.
+          N &gt;= 2, for a single shift polynomial;
+          N &gt;= 3, for a double shift polynomial.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(K) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+          S(K) is not used, but assumed to be 1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array must
+          contain a n-by-n product (implicitly represented by its K
+          factors) in periodic upper Hessenberg form. The Hessenberg
+          matrix is assumed to be the last one in the product.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D', C2 and S2 contain the parameters
+          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are properly computed and applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AG.html b/doc/_static/doc/MB03AG.html
new file mode 100644
index 00000000..2b3d9e9b
--- /dev/null
+++ b/doc/_static/doc/MB03AG.html
@@ -0,0 +1,146 @@
+<HTML>
+<HEAD><TITLE>MB03AG - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AG">MB03AG</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the first one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The matrix product
+  is evaluated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AG( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2, IWORK, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), IWORK(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(1) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D', C2 and S2 contain the parameters
+          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (2*N*N)
+          On exit, DWORK(N*N+1:N*N+N) and DWORK(N*N+N+1:N*N+2*N)
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of the matrix product.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double shift
+  polynomial are computed, and suitable Givens rotations are
+  found. For numerical reasons, this routine should be called
+  when convergence difficulties are encountered for small order
+  matrices and small K, e.g., N, K &lt;= 6.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AH.html b/doc/_static/doc/MB03AH.html
new file mode 100644
index 00000000..a00c044d
--- /dev/null
+++ b/doc/_static/doc/MB03AH.html
@@ -0,0 +1,143 @@
+<HTML>
+<HEAD><TITLE>MB03AH - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AH">MB03AH</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the last one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
+  orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
+  submatrix and the five nonzero elements in the first two columns
+  of the matrix product are evaluated when a double shift is used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AH( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2 )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(K) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
+          parameters for the second Givens rotation. Otherwise,
+          C2 = 1, S2 = 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double/single shift
+  polynomial are computed, and suitable Givens rotations are found.
+  For numerical reasons, this routine should be called when
+  convergence difficulties are encountered. For a double shift, if
+  there are two real eigenvalues of the trailing 2-by-2 part of the
+  product, both shifts are chosen equal to the eigenvalue with
+  minimum modulus. The trailing element of the product is used as a
+  single shift. If SINV is negative, the shift(s) correspond to the
+  reciprocals of the eigenvalues of the product, as required by the
+  SLICOT Library routine MB03BD.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03AI.html b/doc/_static/doc/MB03AI.html
new file mode 100644
index 00000000..5dfcde8e
--- /dev/null
+++ b/doc/_static/doc/MB03AI.html
@@ -0,0 +1,141 @@
+<HTML>
+<HEAD><TITLE>MB03AI - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03AI">MB03AI</A></H2>
+<H3>
+Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the last one)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute two Givens rotations (C1,S1) and (C2,S2)
+  such that the orthogonal matrix
+
+            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
+        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
+            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
+
+  makes the first column of the real Wilkinson double shift
+  polynomial of the product of matrices in periodic upper Hessenberg
+  form, stored in the array A, parallel to the first unit vector.
+  Only the rotation defined by C1 and S1 is used for the real
+  Wilkinson single shift polynomial (see SLICOT Library routines
+  MB03BE or MB03BF). All factors whose exponents differ from that of 
+  the Hessenberg factor are assumed nonsingular. The matrix product
+  is evaluated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03AI( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
+     $                   S1, C2, S2, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         SHFT
+      INTEGER           K, LDA1, LDA2, N, SINV
+      DOUBLE PRECISION  C1, C2, S1, S2
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SHFT    CHARACTER*1
+          Specifies the number of shifts employed by the shift
+          polynomial, as follows:
+          = 'D':  two shifts (assumes N &gt; 2);
+          = 'S':  one real shift.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of the factors.  N &gt;= 2.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+          AMAP(K) is the pointer to the Hessenberg matrix.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          The leading N-by-N-by-K part of this array must contain
+          the product (implicitly represented by its K factors)
+          in periodic upper Hessenberg form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= N.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= N.
+
+  C1      (output)  DOUBLE PRECISION
+  S1      (output)  DOUBLE PRECISION
+          On exit, C1 and S1 contain the parameters for the first
+          Givens rotation.
+
+  C2      (output)  DOUBLE PRECISION
+  S2      (output)  DOUBLE PRECISION
+          On exit, if SHFT = 'D', C2 and S2 contain the parameters
+          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N*(N+2))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The necessary elements of the real Wilkinson double shift
+  polynomial are computed, and suitable Givens rotations are 
+  found. For numerical reasons, this routine should be called
+  when convergence difficulties are encountered for small order
+  matrices and small K, e.g., N, K &lt;= 6. 
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BA.html b/doc/_static/doc/MB03BA.html
new file mode 100644
index 00000000..9203ca6e
--- /dev/null
+++ b/doc/_static/doc/MB03BA.html
@@ -0,0 +1,87 @@
+<HTML>
+<HEAD><TITLE>MB03BA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BA">MB03BA</A></H2>
+<H3>
+Computing maps for Hessenberg index and signature array
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the suitable maps for Hessenberg index H and
+  signature array S. Auxiliary routine for the periodic QZ
+  algorithms.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BA( K, H, S, SMULT, AMAP, QMAP )
+C     .. Scalar Arguments ..
+      INTEGER           K, H, SMULT
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), QMAP(*), S(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  H       (input)  INTEGER
+          Index which corresponds to A_1.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SMULT   (output)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SMULT.
+
+  AMAP    (output)  INTEGER array, dimension (K)
+          The map for accessing the factors, that is,
+          if AMAP(I) = J, then the factor A_I is stored at the J-th
+          position in A.
+
+  QMAP    (output)  INTEGER array, dimension (K)
+          The map for accessing the orthognal transformation
+          matrices, that is, if QMAP(I) = J, then the matrix Q_I is
+          stored at the J-th position in Q.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BB.html b/doc/_static/doc/MB03BB.html
new file mode 100644
index 00000000..0195f613
--- /dev/null
+++ b/doc/_static/doc/MB03BB.html
@@ -0,0 +1,140 @@
+<HTML>
+<HEAD><TITLE>MB03BB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BB">MB03BB</A></H2>
+<H3>
+Eigenvalues of a 2-by-2 matrix product via a complex single shifted periodic QZ algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a general 2-by-2 matrix product via
+  a complex single shifted periodic QZ algorithm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BB( BASE, LGBAS, ULP, K, AMAP, S, SINV, A, LDA1,
+     $                   LDA2, ALPHAR, ALPHAI, BETA, SCAL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K, LDA1, LDA2, SINV
+      DOUBLE PRECISION  BASE, LGBAS, ULP
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(2), ALPHAR(2), BETA(2),
+     $                  DWORK(*)
+      INTEGER           AMAP(*), S(*), SCAL(2)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  BASE    (input)  DOUBLE PRECISION
+          Machine base.
+
+  LGBAS   (input)  DOUBLE PRECISION
+          Logarithm of BASE.
+
+  ULP     (input)  DOUBLE PRECISION
+          Machine precision.
+
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg-triangular form.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+  ALPHAR  (output)  DOUBLE PRECISION array, dimension (2)
+          On exit, this array contains the scaled real part of the
+          two eigenvalues. If BETA(I) &lt;&gt; 0, then the I-th eigenvalue
+          (I = 1 : 2) is given by
+              (ALPHAR(I) + ALPHAI(I)*SQRT(-1) ) * (BASE)**SCAL(I).
+
+  ALPHAI  (output)  DOUBLE PRECISION array, dimension (2)
+          On exit, this array contains the scaled imaginary part of
+          the two eigenvalues. ALPHAI(1) &gt;= 0.
+
+  BETA    (output)  DOUBLE PRECISION array, dimension (2)
+          On exit, this array contains information about infinite
+          eigenvalues. If BETA(I) = 0, then the I-th eigenvalue is
+          infinite. Otherwise, BETA(I) = 1.0.
+
+  SCAL    (output)  INTEGER array, dimension (2)
+          On exit, this array contains the scaling exponents for the
+          two eigenvalues.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (8*K)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  the periodic QZ algorithm did not converge;
+          = 2:  the computed eigenvalues might be inaccurate.
+                Both values might be taken as warnings, since
+                approximations of eigenvalues are returned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A complex single shifted periodic QZ iteration is applied.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BC.html b/doc/_static/doc/MB03BC.html
new file mode 100644
index 00000000..6543cd0e
--- /dev/null
+++ b/doc/_static/doc/MB03BC.html
@@ -0,0 +1,151 @@
+<HTML>
+<HEAD><TITLE>MB03BC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BC">MB03BC</A></H2>
+<H3>
+Product singular value decomposition of K-1 triangular factors of order 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the product singular value decomposition of the K-1
+  triangular factors corresponding to a 2-by-2 product of K
+  factors in upper Hessenberg-triangular form.
+  For a general product of 2-by-2 triangular matrices
+
+                     S(2)        S(3)            S(K)
+         A = A(:,:,2)    A(:,:,3)    ... A(:,:,K),
+
+  Givens rotations are computed so that
+                                                       S(i)
+    [  CV(i-1) SV(i-1) ] [ A(1,1,i)(in)  A(1,2,i)(in) ]
+    [ -SV(i-1) CV(i-1) ] [     0         A(2,2,i)(in) ]
+                                   S(i)
+    [ A(1,1,i)(out) A(1,2,i)(out) ]    [  CV(i) SV(i) ]
+  = [     0         A(2,2,i)(out) ]    [ -SV(i) CV(i) ]
+
+  stays upper triangular and
+
+    [  CV(1) SV(1) ]       [ CV(K) -SV(K) ]
+    [ -SV(1) CV(1) ] * A * [ SV(K)  CV(K) ]
+
+  is diagonal.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BC( K, AMAP, S, SINV, A, LDA1, LDA2, MACPAR, CV,
+     $                   SV, DWORK )
+C     .. Scalar Arguments ..
+      INTEGER           K, LDA1, LDA2, SINV
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), CV(*), DWORK(*), MACPAR(*),
+     $                  SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input) INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input) INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg-triangular form.
+          On exit, the leading 2-by-2-by-K part of this array
+          contains modified triangular factors such that their
+          product is diagonal.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+  MACPAR  (input)  DOUBLE PRECISION array, dimension (5)
+          Machine parameters:
+          MACPAR(1)  overflow threshold,         DLAMCH( 'O' );
+          MACPAR(2)  underflow threshold,        DLAMCH( 'U' );
+          MACPAR(3)  safe minimum,               DLAMCH( 'S' );
+          MACPAR(4)  relative machine precision, DLAMCH( 'E' );
+          MACPAR(5)  base of the machine,        DLAMCH( 'B' ).
+
+  CV      (output)  DOUBLE PRECISION array, dimension (K)
+          On exit, the first K elements of this array contain the
+          cosines of the Givens rotations.
+
+  SV      (output)  DOUBLE PRECISION array, dimension (K)
+          On exit, the first K elements of this array contain the
+          sines of the Givens rotations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*(K-1))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The product singular value decomposition of the K-1
+  triangular factors are computed as described in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A. and Van Dooren, P.
+      On propagating orthogonal transformations in a product of 2x2
+      triangular matrices.
+      In Reichel, Ruttan and Varga: 'Numerical Linear Algebra',
+      pp. 1-9, 1993.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BD.html b/doc/_static/doc/MB03BD.html
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+<HTML>
+<HEAD><TITLE>MB03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BD">MB03BD</A></H2>
+<H3>
+Finding eigenvalues of a generalized matrix product in Hessenberg-triangular form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the eigenvalues of the generalized matrix product
+
+               S(1)           S(2)                 S(K)
+       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
+
+  where A(:,:,H) is upper Hessenberg and A(:,:,i), i &lt;&gt; H, is upper
+  triangular, using a double-shift version of the periodic
+  QZ method. In addition, A may be reduced to periodic Schur form:
+  A(:,:,H) is upper quasi-triangular and all the other factors
+  A(:,:,I) are upper triangular. Optionally, the 2-by-2 triangular
+  matrices corresponding to 2-by-2 diagonal blocks in A(:,:,H)
+  are so reduced that their product is a 2-by-2 diagonal matrix.
+
+  If COMPQ = 'U' or COMPQ = 'I', then the orthogonal factors are
+  computed and stored in the array Q so that for S(I) = 1,
+
+                      T
+          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
+                                                              T  (1)
+      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
+
+  and for S(I) = -1,
+
+                               T
+          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
+                                                              T  (2)
+      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
+
+  A partial generation of the orthogonal factors can be realized
+  via the array QIND.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S,
+     $                   A, LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI,
+     $                   BETA, SCAL, IWORK, LIWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPQ, DEFL, JOB
+      INTEGER           H, IHI, ILO, INFO, IWARN, K, LDA1, LDA2, LDQ1,
+     $                  LDQ2, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*), QIND(*), S(*), SCAL(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(*), ALPHAR(*), BETA(*),
+     $                  DWORK(*), Q(LDQ1,LDQ2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; A will not
+                 necessarily be put into periodic Schur form;
+          = 'S': put A into periodic Schur form, and return the
+                 eigenvalues in ALPHAR, ALPHAI, BETA, and SCAL;
+          = 'T': as JOB = 'S', but A is put into standardized
+                 periodic Schur form, that is, the general product
+                 of the 2-by-2 triangular matrices corresponding to
+                 a complex eigenvalue is diagonal.
+
+  DEFL    CHARACTER*1
+          Specifies the deflation strategy to be used, as follows:
+          = 'C': apply a careful deflation strategy, that is,
+                 the criteria are based on the magnitudes of
+                 neighboring elements and infinite eigenvalues are
+                 only deflated at the top; this is the recommended
+                 option;
+          = 'A': apply a more aggressive strategy, that is,
+                 elements on the subdiagonal or diagonal are set
+                 to zero as soon as they become smaller in magnitude
+                 than eps times the norm of the corresponding
+                 factor; this option is only recommended if
+                 balancing is applied beforehand and convergence
+                 problems are observed.
+
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N': do not modify Q;
+          = 'U': modify (update) the array Q by the orthogonal
+                 transformations that are applied to the matrices in
+                 the array A to reduce them to periodic Schur form;
+          = 'I': like COMPQ = 'U', except that each matrix in the
+                 array Q will be first initialized to the identity
+                 matrix;
+          = 'P': use the parameters as encoded in QIND.
+
+  QIND    INTEGER array, dimension (K)
+          If COMPQ = 'P', then this array describes the generation
+          of the orthogonal factors as follows:
+             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
+          modified by the transformations corresponding to the
+          i-th orthogonal factor in (1) and (2).
+             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
+          initialized to the identity and modified by the
+          transformations corresponding to the i-th orthogonal
+          factor in (1) and (2).
+             If QIND(I) = 0, then the transformations corresponding
+          to the i-th orthogonal factor in (1), (2) are not applied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of each factor in the array A.  N &gt;= 0.
+
+  H       (input)  INTEGER
+          Hessenberg index. The factor A(:,:,H) is on entry in upper
+          Hessenberg form.  1 &lt;= H &lt;= K.
+
+  ILO     (input)  INTEGER
+  IHI     (input)  INTEGER
+          It is assumed that each factor in A is already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
+          ILO = 1 and IHI  = 0, if N = 0.
+
+  S       (input)  INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array
+          must contain the factors in upper Hessenberg-triangular
+          form, that is, A(:,:,H) is upper Hessenberg and the other
+          factors are upper triangular.
+          On exit, if JOB = 'S' and INFO = 0, the leading
+          N-by-N-by-K part of this array contains the factors of
+          A in periodic Schur form, that is, A(:,:,H) is upper quasi
+          triangular and the other factors are upper triangular.
+          On exit, if JOB = 'T' and INFO = 0, the leading
+          N-by-N-by-K part of this array contains the factors of
+          A as for the option JOB = 'S', but the product of the
+          triangular factors corresponding to a 2-by-2 block in
+          A(:,:,H) is diagonal.
+          On exit, if JOB = 'E', then the leading N-by-N-by-K part
+          of this array contains meaningless elements in the off-
+          diagonal blocks. Consequently, the formulas (1) and (2)
+          do not hold for the returned A and Q (if COMPQ &lt;&gt; 'N')
+          in this case.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= MAX(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= MAX(1,N).
+
+  Q       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDQ1,LDQ2,K)
+          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
+          of this array must contain the initial orthogonal factors
+          as described in (1) and (2).
+          On entry, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part of this array must contain some
+          orthogonal factors as described by the parameters QIND.
+          If COMPQ = 'I', this array should not be set on entry.
+          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
+          N-by-N-by-K part of this array contains the modified
+          orthogonal factors as described in (1) and (2).
+          On exit, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part contain some modified orthogonal factors
+          as described by the parameters QIND.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ1    INTEGER
+          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
+
+  LDQ2    INTEGER
+          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain the scaled real parts of the eigenvalues of the
+          matrix product A. The i-th eigenvalue of A is given by
+
+          (ALPHAR(I) + ALPHAI(I)*SQRT(-1))/BETA(I) * BASE**SCAL(I),
+
+          where BASE is the machine base (often 2.0). Complex
+          conjugate eigenvalues appear in consecutive locations.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain the scaled imaginary parts of the eigenvalues
+          of A.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain indicators for infinite eigenvalues. That is, if
+          BETA(I) = 0.0, then the i-th eigenvalue is infinite.
+          Otherwise BETA(I) is set to 1.0.
+
+  SCAL    (output) INTEGER array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this array
+          contain the scaling parameters for the eigenvalues of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 0, IWORK(1) returns the optimal LIWORK,
+          and if IWARN &gt; N, the nonzero absolute values in IWORK(2),
+          ..., IWORK(N+1) are indices of the possibly inaccurate
+          eigenvalues, as well as of the corresponding 1-by-1 or
+          2-by-2 diagonal blocks of the factors in the array A.
+          The 2-by-2 blocks correspond to negative values in IWORK.
+          One negative value is stored for each such eigenvalue
+          pair. Its modulus indicates the starting index of a
+          2-by-2 block. This is also done for any value of IWARN,
+          if a 2-by-2 block is found to have two real eigenvalues.
+          On exit, if INFO = -22, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The length of the array IWORK.  LIWORK  &gt;= 2*K+N.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK,
+          and DWORK(2), ..., DWORK(1+K) contain the Frobenius norms
+          of the factors of the formal matrix product used by the
+          algorithm.
+          On exit, if INFO = -24, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= K + MAX( 2*N, 8*K ).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0        :  no warnings;
+          = 1,..,N-1 :  A is in periodic Schur form, but the
+                        algorithm was not able to reveal information
+                        about the eigenvalues from the 2-by-2
+                        blocks.
+                        ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i),
+                        can be incorrect for i = 1, ..., IWARN+1;
+          = N        :  some eigenvalues might be inaccurate;
+          = N+1      :  some eigenvalues might be inaccurate, and
+                        details can be found in IWORK.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0      :  succesful exit;
+          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
+                      value;
+          = 1,..,N :  the periodic QZ iteration did not converge.
+                      A is not in periodic Schur form, but
+                      ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i), for
+                      i = INFO+1,...,N should be correct.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A modified version of the periodic QZ algorithm is used [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
+      2001), Como (Italy), August 27-28 2001. Periodic Control
+      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+                              3
+  The algorithm requires 0(K N ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            KMAX, NMAX
+      PARAMETER          ( KMAX = 6, NMAX = 50 )
+      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
+      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                     LDQ2 = NMAX,
+     $                     LDWORK = KMAX + MAX( 2*NMAX, 8*KMAX ),
+     $                     LIWORK = 2*KMAX + NMAX )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, DEFL, JOB
+      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK ), QIND( KMAX ), S( KMAX ),
+     $                   SCAL( NMAX )
+      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
+     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
+     $                   Q( LDQ1, LDQ2, KMAX )
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03BD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, K, N, H, ILO, IHI
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
+         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
+     $                                I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'U' ) )
+     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
+     $                                   I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'P' ) ) THEN
+            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
+            DO 10 L = 1, K
+               IF( QIND( L ).GT.0 )
+     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
+     $                                    J = 1, N ), I = 1, N )
+   10       CONTINUE
+         END IF
+*        Compute the eigenvalues and the transformed matrices, if
+*        required.
+         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
+     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
+     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE IF( IWARN.EQ.0 ) THEN
+            IF( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 30 L = 1, K
+                  WRITE( NOUT, FMT = 99988 ) L
+                  DO 20 I = 1, N
+                     WRITE( NOUT, FMT = 99995 ) ( A( I, J, L ), J = 1, N
+     $                                          )
+   20             CONTINUE
+   30          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99994 )
+               DO 50 L = 1, K
+                  WRITE( NOUT, FMT = 99988 ) L
+                  DO 40 I = 1, N
+                     WRITE( NOUT, FMT = 99995 ) ( Q( I, J, L ), J = 1, N
+     $                                          )
+   40             CONTINUE
+   50          CONTINUE
+            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
+               WRITE( NOUT, FMT = 99994 )
+               DO 70 L = 1, K
+                  IF( QIND( L ).GT.0 ) THEN
+                     WRITE( NOUT, FMT = 99988 ) QIND( L )
+                     DO 60 I = 1, N
+                        WRITE( NOUT, FMT = 99995 )
+     $                       ( Q( I, J, QIND( L ) ), J = 1, N )
+   60                CONTINUE
+                  END IF
+   70          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) (   SCAL( I ), I = 1, N )
+         ELSE
+            WRITE( NOUT, FMT = 99987 ) IWARN
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03BD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
+99996 FORMAT( 'The matrix A on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix Q on exit is ' )
+99993 FORMAT( 'The vector ALPHAR is ' )
+99992 FORMAT( 'The vector ALPHAI is ' )
+99991 FORMAT( 'The vector BETA is ' )
+99990 FORMAT( 'The vector SCAL is ' )
+99989 FORMAT( 50( 1X, I8 ) )
+99988 FORMAT( 'The factor ', I2, ' is ' )
+99987 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03BD EXAMPLE PROGRAM DATA
+   S   C   I   3   3   2   1   3
+  -1     1    -1
+   2.0   0.0   1.0
+   0.0  -2.0  -1.0
+   0.0   0.0   3.0
+   1.0   2.0   0.0
+   4.0  -1.0   3.0
+   0.0   3.0   1.0
+   1.0   0.0   1.0
+   0.0   4.0  -1.0
+   0.0   0.0  -2.0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03BD EXAMPLE PROGRAM RESULTS
+The matrix A on exit is 
+The factor  1 is 
+  -2.1306   0.8205   0.7462
+   0.0000   2.8786   1.0564
+   0.0000   0.0000   1.9566
+The factor  2 is 
+  -4.0763  -1.0376  -2.6948
+  -1.9525   1.8283   2.2987
+   0.0000   0.0000   1.8990
+The factor  3 is 
+   3.3463  -2.3239  -0.5623
+   0.0000   1.0778  -0.0646
+   0.0000   0.0000  -2.2180
+The matrix Q on exit is 
+The factor  1 is 
+   0.2594   0.7715  -0.5809
+  -0.9552   0.1162  -0.2723
+  -0.1426   0.6255   0.7671
+The factor  2 is 
+  -0.1766   0.8037  -0.5683
+  -0.9636  -0.0234   0.2664
+   0.2008   0.5946   0.7785
+The factor  3 is 
+   0.6295   0.7315   0.2619
+  -0.7394   0.4605   0.4911
+   0.2386  -0.5028   0.8308
+The vector ALPHAR is 
+   0.3230   0.3230  -0.8752
+The vector ALPHAI is 
+   0.5694  -0.5694   0.0000
+The vector BETA is 
+   1.0000   1.0000   1.0000
+The vector SCAL is 
+        0        0       -1
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BE.html b/doc/_static/doc/MB03BE.html
new file mode 100644
index 00000000..62a7410c
--- /dev/null
+++ b/doc/_static/doc/MB03BE.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB03BE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BE">MB03BE</A></H2>
+<H3>
+Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply at most 20 iterations of a real single shifted
+  periodic QZ algorithm to the 2-by-2 product of matrices stored
+  in the array A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BE( K, AMAP, S, SINV, A, LDA1, LDA2 )
+C     .. Scalar Arguments ..
+      INTEGER           K, LDA1, LDA2, SINV
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg form.
+          On exit, the leading 2-by-2-by-K part of this array
+          contains the product after at most 20 iterations of a real
+          shifted periodic QZ algorithm.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Ten iterations of a real single shifted periodic QZ algorithm are
+  applied to the 2-by-2 matrix product A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BF.html b/doc/_static/doc/MB03BF.html
new file mode 100644
index 00000000..74850311
--- /dev/null
+++ b/doc/_static/doc/MB03BF.html
@@ -0,0 +1,106 @@
+<HTML>
+<HEAD><TITLE>MB03BF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BF">MB03BF</A></H2>
+<H3>
+Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product, with Hessenberg factor the last one
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply at most 20 iterations of a real single shifted
+  periodic QZ algorithm to the 2-by-2 product of matrices stored
+  in the array A. The Hessenberg matrix is the last one of the
+  formal matrix product.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BF( K, AMAP, S, SINV, A, LDA1, LDA2, ULP )
+C     .. Scalar Arguments ..
+      INTEGER           K, LDA1, LDA2, SINV
+      DOUBLE PRECISION  ULP
+C     .. Array Arguments ..
+      INTEGER           AMAP(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  AMAP    (input)  INTEGER array, dimension (K)
+          The map for accessing the factors, i.e., if AMAP(I) = J,
+          then the factor A_I is stored at the J-th position in A.
+
+  S       (input)  INTEGER array, dimension (K)
+          The signature array. Each entry of S must be 1 or -1.
+
+  SINV    (input)  INTEGER
+          Signature multiplier. Entries of S are virtually
+          multiplied by SINV.
+
+  A       (input/output)  DOUBLE PRECISION array, dimension
+                          (LDA1,LDA2,K)
+          On entry, the leading 2-by-2-by-K part of this array must
+          contain a 2-by-2 product (implicitly represented by its K
+          factors) in upper Hessenberg form. The Hessenberg matrix
+          is the last one of the formal matrix product.
+          On exit, the leading 2-by-2-by-K part of this array
+          contains the product after at most 20 iterations of a real
+          shifted periodic QZ algorithm.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.  LDA1 &gt;= 2.
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.  LDA2 &gt;= 2.
+
+  ULP     INTEGER
+          The machine relation precision.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Twenty iterations of a real single shifted periodic QZ algorithm
+  are applied to the 2-by-2 matrix product A.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03BZ.html b/doc/_static/doc/MB03BZ.html
new file mode 100644
index 00000000..588a1c59
--- /dev/null
+++ b/doc/_static/doc/MB03BZ.html
@@ -0,0 +1,396 @@
+<HTML>
+<HEAD><TITLE>MB03BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03BZ">MB03BZ</A></H2>
+<H3>
+Finding eigenvalues of a complex generalized matrix product in Hessenberg-triangular form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the eigenvalues of the complex generalized matrix product
+
+               S(1)           S(2)                 S(K)
+       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)    ,  S(1) = 1,
+
+  where A(:,:,1) is upper Hessenberg and A(:,:,i) is upper
+  triangular, i = 2, ..., K, using a single-shift version of the
+  periodic QZ method. In addition, A may be reduced to periodic
+  Schur form by unitary transformations: all factors A(:,:,i) become
+  upper triangular.
+
+  If COMPQ = 'V' or COMPQ = 'I', then the unitary factors are
+  computed and stored in the array Q so that for S(I) = 1,
+
+                      H
+          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
+                       H                                        (1)
+      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
+
+  and for S(I) = -1,
+
+                               H
+          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
+                                H                               (2)
+      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
+     $                   Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK,
+     $                   LDWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPQ, JOB
+      INTEGER           IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
+     $                  LDWORK, LZWORK, N
+C     .. Array Arguments ..
+      INTEGER           S(*), SCAL(*)
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA1, LDA2, *), ALPHA(*), BETA(*),
+     $                  Q(LDQ1, LDQ2, *), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; A will not
+                 necessarily be put into periodic Schur form;
+          = 'S': put A into periodic Schur form, and return the
+                 eigenvalues in ALPHA, BETA, and SCAL.
+
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N': do not modify Q;
+          = 'V': modify the array Q by the unitary transformations
+                 that are applied to the matrices in the array A to
+                 reduce them to periodic Schur form;
+          = 'I': like COMPQ = 'V', except that each matrix in the
+                 array Q will be first initialized to the identity
+                 matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input)  INTEGER
+          The number of factors.  K &gt;= 1.
+
+  N       (input)  INTEGER
+          The order of each factor in the array A.  N &gt;= 0.
+
+  ILO     (input)  INTEGER
+  IHI     (input)  INTEGER
+          It is assumed that each factor in A is already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
+          ILO = 1 and IHI  = 0, if N = 0.
+
+  S       (input)  INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1. By definition, S(1) must be set to 1.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array
+          must contain the factors in upper Hessenberg-triangular
+          form, that is, A(:,:,1) is upper Hessenberg and the other
+          factors are upper triangular.
+          On exit, if JOB = 'S' and INFO = 0, the leading
+          N-by-N-by-K part of this array contains the factors of
+          A in periodic Schur form. All factors are reduced to
+          upper triangular form and, moreover, A(:,:,2), ...,
+          A(:,:,K) are normalized so that their diagonals contain
+          nonnegative real numbers.
+          On exit, if JOB = 'E', then the leading N-by-N-by-K part
+          of this array contains meaningless elements.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= MAX(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= MAX(1,N).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ1,LDQ2,K)
+          On entry, if COMPQ = 'V', the leading N-by-N-by-K part
+          of this array must contain the initial unitary factors
+          as described in (1) and (2).
+          On exit, if COMPQ = 'V' or COMPQ = 'I', the leading
+          N-by-N-by-K part of this array contains the modified
+          unitary factors as described in (1) and (2).
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ1    INTEGER
+          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
+
+  LDQ2    INTEGER
+          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
+
+  ALPHA   (output) COMPLEX*16 array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this
+          array contain the scaled eigenvalues of the matrix
+          product A. The i-th eigenvalue of A is given by
+
+          ALPHA(I) / BETA(I) * BASE**(SCAL(I)),
+
+          where ABS(ALPHA(I)) = 0.0 or 1.0 &lt;= ABS(ALPHA(I)) &lt; BASE,
+          and BASE is the machine base (normally 2.0).
+
+  BETA    (output) COMPLEX*16 array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this
+          array contain indicators for infinite eigenvalues. That
+          is, if BETA(I) = 0.0, then the i-th eigenvalue is
+          infinite. Otherwise BETA(I) is set to 1.0.
+
+  SCAL    (output) INTEGER array, dimension (N)
+          On exit, if INFO = 0, the leading N elements of this
+          array contain the scaling parameters for the eigenvalues
+          of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the minimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the minimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.  LZWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0      :  succesful exit;
+          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
+                      value;
+          = 1,..,N :  the periodic QZ iteration did not converge.
+                      A is not in periodic Schur form, but
+                      ALPHA(I), BETA(I), and SCAL(I), for
+                      I = INFO+1,...,N should be correct.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A slightly modified version of the periodic QZ algorithm is
+  used. For more details, see [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
+      2001), Como (Italy), August 27-28 2001. Periodic Control
+      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+                              3
+  The algorithm requires 0(K N ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03BZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            KMAX, NMAX
+      PARAMETER          ( KMAX = 6, NMAX = 50 )
+      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LZWORK
+      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                     LDQ2 = NMAX, LDWORK = NMAX, LZWORK = NMAX )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            I, IHI, ILO, INFO, J, K, L, N
+*
+*     .. Local Arrays ..
+      COMPLEX*16         A( LDA1, LDA2, KMAX ), ALPHA( NMAX ),
+     $                   BETA( NMAX ), Q( LDQ1, LDQ2, KMAX ),
+     $                   ZWORK( LZWORK )
+      DOUBLE PRECISION   DWORK( LDWORK)
+      INTEGER            S( KMAX ), SCAL( NMAX )
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03BZ
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, K, N, ILO, IHI
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
+         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
+     $                                I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'V' ) )
+     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
+     $                                   I = 1, N ), L = 1, K )
+*        Compute the eigenvalues and the transformed matrices, if
+*        required.
+         CALL MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
+     $                Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK, LDWORK,
+     $                ZWORK, LZWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( JOB, 'S' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 20 L = 1, K
+                  WRITE( NOUT, FMT = 99995 ) L
+                  DO 10 I = 1, N
+                     WRITE( NOUT, FMT = 99994 ) ( A( I, J, L ), J = 1, N
+     $                                          )
+   10             CONTINUE
+   20          CONTINUE
+            END IF
+            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99993 )
+               DO 40 L = 1, K
+                  WRITE( NOUT, FMT = 99995 ) L
+                  DO 30 I = 1, N
+                     WRITE( NOUT, FMT = 99994 ) ( Q( I, J, L ), J = 1, N
+     $                                          )
+   30             CONTINUE
+   40          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99994 ) ( ALPHA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99994 ) (  BETA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) (  SCAL( I ), I = 1, N )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03BZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03BZ = ', I2 )
+99996 FORMAT(/'The matrix A on exit is ' )
+99995 FORMAT( 'The factor ', I2, ' is ' )
+99994 FORMAT( 50( 1X, F9.4, SP, F9.4, S, 'i ') )
+99993 FORMAT(/'The matrix Q on exit is ' )
+99992 FORMAT(/'The vector ALPHA is ' )
+99991 FORMAT( 'The vector BETA is ' )
+99990 FORMAT( 'The vector SCAL is ' )
+99989 FORMAT( 50( 1X, I8 ) )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03BZ EXAMPLE PROGRAM DATA
+	S	I	3	4	1	4
+	1	-1	1
+   (0.8637,0.9326)   (0.8819,0.4850)   (0.5920,0.8826)   (0.8991,0.9040)
+   (0.6994,0.8588)   (0.9527,0.2672)   (0.5087,0.0621)   (0.9653,0.5715)
+        0            (0.1561,0.1898)   (0.9514,0.9266)   (0.6582,0.3102)
+        0                  0           (0.8649,0.1265)   (0.1701,0.0013)
+   (0.5113,0.7375)   (0.6869,0.7692)   (0.7812,0.1467)   (0.7216,0.9498)
+        0            (0.1319,0.9137)   (0.5879,0.0201)   (0.9834,0.0549)
+        0                  0           (0.7711,0.2422)   (0.9468,0.3280)
+        0                  0                  0          (0.2219,0.3971)
+   (0.0158,0.4042)   (0.0082,0.2033)   (0.1028,0.9913)   (0.6954,0.1987)
+        0            (0.5066,0.4587)   (0.1060,0.6949)   (0.5402,0.0970)
+        0                  0           (0.4494,0.3700)   (0.8492,0.4882)
+        0                  0                  0          (0.2110,0.5824)
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03BZ EXAMPLE PROGRAM RESULTS
+
+The matrix A on exit is 
+The factor  1 is 
+    0.6053  +1.0311i    -1.7227  -0.5753i     1.2428  -1.2632i     0.9445  -0.4317i 
+    0.0000  +0.0000i    -0.2596  +1.0235i     0.4673  -0.2403i    -0.5579  -1.1564i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.3336  -0.3367i     0.0687  +0.0261i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.2014  +0.0057i 
+The factor  2 is 
+    1.1118  +0.0000i    -1.4173  +1.1607i     0.3271  -0.5800i     0.5291  -0.6341i 
+    0.0000  +0.0000i     0.9051  +0.0000i     0.1710  +0.1014i    -0.2696  -0.3549i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.3599  +0.0000i     0.0231  -0.5865i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8410  +0.0000i 
+The factor  3 is 
+    1.1554  +0.0000i    -0.7577  +0.0825i     0.1284  -0.0063i     1.1175  -0.0778i 
+    0.0000  +0.0000i     0.5216  +0.0000i    -0.5761  +0.2972i    -0.3534  -0.3595i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.2750  +0.0000i     0.2587  -0.1664i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6015  +0.0000i 
+
+The matrix Q on exit is 
+The factor  1 is 
+    0.6033  -0.4021i     0.3478  -0.1834i    -0.0029  -0.4458i    -0.3157  +0.1462i 
+    0.1519  -0.3002i     0.6010  +0.1411i     0.0134  +0.5692i     0.4223  -0.0574i 
+    0.1002  -0.5387i    -0.4199  +0.3933i     0.1148  +0.2694i    -0.3713  -0.3810i 
+   -0.0599  -0.2395i    -0.0968  +0.3521i     0.2342  -0.5801i     0.6247  -0.1555i 
+The factor  2 is 
+    0.3325  +0.6289i     0.0930  +0.3421i    -0.1849  -0.1715i    -0.5470  -0.0734i 
+    0.3247  -0.4396i     0.1766  -0.1691i     0.2307  -0.3746i    -0.2617  -0.6160i 
+    0.2180  -0.2074i    -0.3853  +0.1978i    -0.6852  +0.2781i     0.1492  -0.3909i 
+   -0.0268  -0.3223i    -0.0623  +0.7893i     0.0957  -0.4323i     0.1716  +0.2072i 
+The factor  3 is 
+    0.6791  +0.1138i     0.0183  +0.2703i     0.3289  -0.2770i    -0.2355  -0.4605i 
+    0.5111  -0.1775i     0.3990  +0.1941i    -0.0851  +0.4779i     0.4563  +0.2580i 
+    0.2687  -0.3788i    -0.7974  -0.0691i    -0.2836  +0.1192i     0.1765  -0.1340i 
+    0.1098  -0.0739i    -0.2845  -0.0903i     0.6651  +0.2062i    -0.2810  +0.5741i 
+
+The vector ALPHA is 
+    0.6290  +1.0715i    -0.2992  +1.1797i    -1.0195  -1.0290i    -1.1523  +0.0326i 
+The vector BETA is 
+    1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i 
+The vector SCAL is 
+        0       -1       -2       -3
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03CD.html b/doc/_static/doc/MB03CD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB03CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03CD">MB03CD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2,
+  3-by-3, or 4-by-4 regular block upper triangular pencil
+
+                 ( A11 A12 ) ( B11 B12 )     ( D11 D12 )
+    aAB - bD = a (         ) (         ) - b (         ),        (1)
+                 (  0  A22 ) (  0  B22 )     (  0  D22 )
+
+  such that the pencil a(Q3' A Q2 )(Q2' B Q1 ) - b(Q3' D Q1) is
+  still in block upper triangular form, but the eigenvalues in
+  Spec(A11 B11, D11), Spec(A22 B22, D22) are exchanged, where
+  Spec(X,Y) denotes the spectrum of the matrix pencil (X,Y), and M'
+  denotes the transpose of the matrix M.
+
+  Optionally, to upper triangularize the real regular pencil in
+  block lower triangular form
+
+               ( A11  0  ) ( B11  0  )     ( D11  0  )
+  aAB - bD = a (         ) (         ) - b (         ),          (2)
+               ( A21 A22 ) ( B21 B22 )     ( D21 D22 )
+
+  while keeping the eigenvalues in the same diagonal position.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03CD( UPLO, N1, N2, PREC, A, LDA, B, LDB, D, LDD, Q1,
+     $                   LDQ1, Q2, LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
+     $                   N1, N2
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   Q3( LDQ3, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies if the pencil is in lower or upper block
+          triangular form on entry, as follows:
+          = 'U': Upper block triangular, eigenvalues are exchanged
+                 on exit;
+          = 'L': Lower block triangular, eigenvalues are not
+                 exchanged on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input/output) INTEGER
+          Size of the upper left block, N1 &lt;= 2.
+          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
+          N1 and N2 are exchanged on exit; otherwise, N1 is
+          unchanged on exit.
+
+  N2      (input/output) INTEGER
+          Size of the lower right block, N2 &lt;= 2.
+          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
+          N1 and N2 are exchanged on exit; otherwise, N2 is
+          unchanged on exit.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input or input/output) DOUBLE PRECISION array, dimension
+             (LDA, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix A of the pencil aAB - bD.
+          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
+          UPLO = 'L', need not be set to zero.
+          On exit, if N1 = N2 = 1, this array contains the matrix
+                            [  0 1 ]
+          J' A J, where J = [ -1 0 ]; otherwise, this array is
+          unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N1+N2.
+
+  B       (input or input/output) DOUBLE PRECISION array, dimension
+             (LDB, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix B of the pencil aAB - bD.
+          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
+          UPLO = 'L', need not be set to zero.
+          On exit, if N1 = N2 = 1, this array contains the matrix
+          J' B J; otherwise, this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N1+N2.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+             (LDD, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix D of the pencil aAB - bD.
+          On exit, if N1 = 2 or N2 = 2, the leading
+          (N1+N2)-by-(N1+N2) part of this array contains the
+          transformed matrix D in real Schur form. If N1 = 1 and
+          N2 = 1, this array contains the matrix J' D J.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= N1+N2.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the first orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the second orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
+
+  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the third orthogonal transformation matrix.
+
+  LDQ3    INTEGER
+          The leading dimension of the array Q3.  LDQ3 &gt;= N1+N2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N1+N2 = 2 then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N1+N2 = 2, then LDWORK = 0; otherwise,
+          LDWORK &gt;= 16*N1 + 10*N2 + 23, UPLO = 'U';
+          LDWORK &gt;= 10*N1 + 16*N2 + 23, UPLO = 'L'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the QZ iteration failed in the LAPACK routine DGGEV;
+          = 2: another error occured while executing a routine in
+               DGGEV;
+          = 3: the QZ iteration failed in the LAPACK routine DGGES;
+          = 4: another error occured during execution of DGGES;
+          = 5: reordering of aA*B - bD in the LAPACK routine DTGSEN
+               failed because the transformed matrix pencil
+               aA*B - bD would be too far from generalized Schur
+               form; the problem is very ill-conditioned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described in [2]
+  (page 21). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
+  always acts on an upper block triangular pencil.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03CZ.html b/doc/_static/doc/MB03CZ.html
new file mode 100644
index 00000000..6abdc2b6
--- /dev/null
+++ b/doc/_static/doc/MB03CZ.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>MB03CZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03CZ">MB03CZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute unitary matrices Q1, Q2, and Q3 for a complex 2-by-2
+  regular pencil aAB - bD, with A, B, D upper triangular, such that
+  Q3' A Q2, Q2' B Q1, Q3' D Q1 are still upper triangular, but the
+  eigenvalues are in reversed order. The matrices Q1, Q2, and Q3 are
+  represented by
+
+       (  CO1  SI1  )       (  CO2  SI2  )       (  CO3  SI3  )
+  Q1 = (            ), Q2 = (            ), Q3 = (            ).
+       ( -SI1' CO1  )       ( -SI2' CO2  )       ( -SI3' CO3  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03CZ( A, LDA, B, LDB, D, LDD, CO1, SI1, CO2, SI2,
+     $                   CO3, SI3 )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, LDB, LDD
+      DOUBLE PRECISION   CO1, CO2, CO3
+      COMPLEX*16         SI1, SI2, SI3
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) COMPLEX*16 array, dimension (LDA, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix A of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  B       (input) COMPLEX*16 array, dimension (LDB, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix B of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  D       (input) COMPLEX*16 array, dimension (LDD, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix D of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= 2.
+
+  CO1     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q1.
+
+  SI1     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q1.
+
+  CO2     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q2.
+
+  SI2     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q2.
+
+  CO3     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q3.
+
+  SI3     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q3.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary transformations as described on page 37
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03DD.html b/doc/_static/doc/MB03DD.html
new file mode 100644
index 00000000..b598a467
--- /dev/null
+++ b/doc/_static/doc/MB03DD.html
@@ -0,0 +1,208 @@
+<HTML>
+<HEAD><TITLE>MB03DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03DD">MB03DD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2,
+  3-by-3, or 4-by-4 regular block upper triangular pencil
+
+                 ( A11 A12 )     ( B11 B12 )
+    aA - bB =  a (         ) - b (         ),                    (1)
+                 (  0  A22 )     (  0  B22 )
+
+  such that the pencil a(Q2' A Q1) - b(Q2' B Q1) is still in block
+  upper triangular form, but the eigenvalues in Spec(A11, B11),
+  Spec(A22, B22) are exchanged, where Spec(X,Y) denotes the spectrum
+  of the matrix pencil (X,Y) and the notation M' denotes the
+  transpose of the matrix M.
+
+  Optionally, to upper triangularize the real regular pencil in
+  block lower triangular form
+
+                ( A11  0  )     ( B11  0  )
+    aA - bB = a (         ) - b (         ),                     (2)
+                ( A21 A22 )     ( B21 B22 )
+
+  while keeping the eigenvalues in the same diagonal position.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03DD( UPLO, N1, N2, PREC, A, LDA, B, LDB, Q1, LDQ1,
+     $                   Q2, LDQ2, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          UPLO
+      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N1, N2
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Specifies if the pencil is in lower or upper block
+          triangular form on entry, as follows:
+          = 'U': Upper block triangular, eigenvalues are exchanged
+                 on exit;
+          = 'T': Upper block triangular, B triangular, eigenvalues
+                 are exchanged on exit;
+          = 'L': Lower block triangular, eigenvalues are not
+                 exchanged on exit.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input/output) INTEGER
+          Size of the upper left block, N1 &lt;= 2.
+          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
+          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
+          N1 is unchanged on exit.
+
+  N2      (input/output) INTEGER
+          Size of the lower right block, N2 &lt;= 2.
+          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
+          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
+          N2 is unchanged on exit.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+             (LDA, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix A of the pencil aA - bB.
+          On exit, if N1 = N2 = 1, this array is unchanged, if
+          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
+                                       [  0 1 ]
+          the matrix J' A J, where J = [ -1 0 ]; otherwise, this
+          array contains the transformed quasi-triangular matrix in
+          generalized real Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N1+N2.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+             (LDB, N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix B of the pencil aA - bB.
+          On exit, if N1 = N2 = 1, this array is unchanged, if
+          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
+          the matrix J' B J; otherwise, this array contains the
+          transformed upper triangular matrix in generalized real
+          Schur form.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N1+N2.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the first orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
+          The leading (N1+N2)-by-(N1+N2) part of this array contains
+          the second orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N1+N2 = 2 then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N1+N2 = 2, then LDWORK = 0; otherwise,
+          LDWORK &gt;= 16*N1 + 10*N2 + 23, if UPLO = 'U';
+          LDWORK &gt;=  7*N1 +  7*N2 + 16, if UPLO = 'T';
+          LDWORK &gt;= 10*N1 + 16*N2 + 23, if UPLO = 'L'.
+          For good performance LDWORK should be generally larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 3: the QZ iteration failed in the LAPACK routine DGGES
+               (if UPLO &lt;&gt; 'T') or DHGEQZ (if UPLO = 'T');
+          = 4: another error occured during execution of DHGEQZ;
+          = 5: reordering of aA - bB in the LAPACK routine DTGSEN
+               failed because the transformed matrix pencil aA - bB
+               would be too far from generalized Schur form;
+               the problem is very ill-conditioned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described in [2]
+  (page 30). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
+  always acts on an upper block triangular pencil.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03DZ.html b/doc/_static/doc/MB03DZ.html
new file mode 100644
index 00000000..c4c89395
--- /dev/null
+++ b/doc/_static/doc/MB03DZ.html
@@ -0,0 +1,121 @@
+<HTML>
+<HEAD><TITLE>MB03DZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03DZ">MB03DZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute unitary matrices Q1 and Q2 for a complex 2-by-2 regular
+  pencil aA - bB with A, B upper triangular, such that
+  Q2' (aA - bB) Q1 is still upper triangular but the eigenvalues are
+  in reversed order. The matrices Q1 and Q2 are represented by
+
+       (  CO1  SI1  )       (  CO2  SI2  )
+  Q1 = (            ), Q2 = (            ).
+       ( -SI1' CO1  )       ( -SI2' CO2  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03DZ( A, LDA, B, LDB, CO1, SI1, CO2, SI2 )
+C     .. Scalar Arguments ..
+      INTEGER            LDA, LDB
+      DOUBLE PRECISION   CO1, CO2
+      COMPLEX*16         SI1, SI2
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) COMPLEX*16 array, dimension (LDA, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix A of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  B       (input) COMPLEX*16 array, dimension (LDB, 2)
+          On entry, the leading 2-by-2 upper triangular part of
+          this array must contain the matrix B of the pencil.
+          The (2,1) entry is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  CO1     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q1.
+
+  SI1     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q1.
+
+  CO2     (output) DOUBLE PRECISION
+          The upper left element of the unitary matrix Q2.
+
+  SI2     (output) COMPLEX*16
+          The upper right element of the unitary matrix Q2.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary transformations as described on page 42
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03ED.html b/doc/_static/doc/MB03ED.html
new file mode 100644
index 00000000..ff2b697e
--- /dev/null
+++ b/doc/_static/doc/MB03ED.html
@@ -0,0 +1,183 @@
+<HTML>
+<HEAD><TITLE>MB03ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ED">MB03ED</A></H2>
+<H3>
+Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2 or
+  4-by-4 regular pencil
+
+                 ( A11  0  ) ( B11  0  )     (  0  D12 )
+    aAB - bD = a (         ) (         ) - b (         ),        (1)
+                 (  0  A22 ) (  0  B22 )     ( D21  0  )
+
+  such that Q3' A Q2 and Q2' B Q1 are upper triangular, Q3' D Q1 is
+  upper quasi-triangular, and the eigenvalues with negative real
+  parts (if there are any) are allocated on the top. The notation M'
+  denotes the transpose of the matrix M. The submatrices A11, A22,
+  B11, B22 and D12 are upper triangular. If D21 is 2-by-2, then all
+  other blocks are nonsingular and the product
+     -1        -1    -1        -1
+  A22   D21 B11   A11   D12 B22   has a pair of complex conjugate
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ED( N, PREC, A, LDA, B, LDB, D, LDD, Q1, LDQ1, Q2,
+     $                   LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
+     $                   N
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   Q3( LDQ3, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the input pencil, N = 2 or N = 4.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
+          The leading N-by-N upper triangular part of this array
+          must contain the upper triangular matrix A of the pencil
+          aAB - bD. The strictly lower triangular part and the
+          entries of the (1,2) block are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
+          The leading N-by-N upper triangular part of this array
+          must contain the upper triangular matrix B of the pencil
+          aAB - bD. The strictly lower triangular part and the
+          entries of the (1,2) block are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix D of the pencil aAB - bD.
+          On exit, if N = 4, the leading N-by-N part of this array
+          contains the transformed matrix D in real Schur form.
+          If N = 2, this array is unchanged on exit.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= N.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          The leading N-by-N part of this array contains the first
+          orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          The leading N-by-N part of this array contains the second
+          orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N.
+
+  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N)
+          The leading N-by-N part of this array contains the third
+          orthogonal transformation matrix.
+
+  LDQ3    INTEGER
+          The leading dimension of the array Q3.  LDQ3 &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N = 2, then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N = 4, then LDWORK &gt;= 79. For good performance LDWORK
+          should be generally larger.
+          If N = 2, then LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the QZ iteration failed in the LAPACK routine DGGES;
+          = 2: another error occured during execution of DGGES.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  20 in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03FD.html b/doc/_static/doc/MB03FD.html
new file mode 100644
index 00000000..d278e9f3
--- /dev/null
+++ b/doc/_static/doc/MB03FD.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MB03FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03FD">MB03FD</A></H2>
+<H3>
+Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2 or
+  4-by-4 regular pencil
+
+                ( A11  0  )     (  0  B12 )
+    aA - bB = a (         ) - b (         ),                     (1)
+                (  0  A22 )     ( B21  0  )
+
+  such that Q2' A Q1 is upper triangular, Q2' B Q1 is upper quasi-
+  triangular, and the eigenvalues with negative real parts (if there
+  are any) are allocated on the top. The notation M' denotes the
+  transpose of the matrix M. The submatrices A11, A22, and B12 are
+  upper triangular. If B21 is 2-by-2, then all the other blocks are
+                                 -1        -1
+  nonsingular and the product A11   B12 A22   B21 has a pair of
+  complex conjugate eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03FD( N, PREC, A, LDA, B, LDB, Q1, LDQ1, Q2, LDQ2,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N
+      DOUBLE PRECISION   PREC
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the input pencil, N = 2 or N = 4.
+
+  PREC    (input) DOUBLE PRECISION
+          The machine precision, (relative machine precision)*base.
+          See the LAPACK Library routine DLAMCH.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A of the pencil aA - bB.
+          If N = 2, the diagonal elements only are referenced.
+          On exit, if N = 4, the leading N-by-N part of this array
+          contains the transformed upper triangular matrix of the
+          generalized real Schur form of the pencil aA - bB.
+          If N = 2, this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B of the pencil aA - bB.
+          If N = 2, the anti-diagonal elements only are referenced.
+          On exit, if N = 4, the leading N-by-N part of this array
+          contains the transformed real Schur matrix of the
+          generalized real Schur form of the pencil aA - bB.
+          If N = 2, this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          The leading N-by-N part of this array contains the first
+          orthogonal transformation matrix.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= N.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          The leading N-by-N part of this array contains the second
+          orthogonal transformation matrix.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N = 2, then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If N = 4, then LDWORK &gt;= 63. For good performance LDWORK
+          should be generally larger.
+          If N = 2, then LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the QZ iteration failed in the LAPACK routine DGGES;
+          = 2: another error occured during execution of DGGES.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  29 in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03FZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03FZ">MB03FZ</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+                          (  B  F  )      (  Z11  Z12  )
+    S = J Z' J' Z and H = (        ), Z = (            ),
+                          (  G -B' )      (  Z21  Z22  )
+                                                                (1)
+        (  0  I  )
+    J = (        ).
+        ( -I  0  )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+                                                         
+  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z' J' B_Z,
+
+          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
+          (                     |                     )
+          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
+          (                     |                     )
+    B_Z = (---------------------+---------------------) ,
+          (                     |                     )
+          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
+          (                     |                     )
+          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |                 )
+          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
+          (                 |                 )
+          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
+
+  is determined and used to compute the eigenvalues. Optionally, if
+  COMPQ = 'C', an orthonormal basis of the right deflating subspace,
+  Def_-(S, H), of the pencil aS - bH in (1), corresponding to the
+  eigenvalues with strictly negative real part, is computed. Namely,
+  after transforming aB_S - bB_H, in the factored form, by unitary
+  matrices, we have B_Sout = J B_Zout' J' B_Zout,
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Zout = (         ) and B_Hout = (         ),               (3)
+             (  0  BC  )              (  0 -BB' )
+
+  and the eigenvalues with strictly negative real part of the
+  complex pencil aB_Sout - bB_Hout are moved to the top. The 
+  notation M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPU = 'C', an orthonormal basis of the companion
+  subspace, range(P_U) [1], which corresponds to the eigenvalues
+  with negative real part, is computed. The embedding doubles the
+  multiplicities of the eigenvalues of the pencil aS - bH.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
+     $                   LDFG, NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU,
+     $                   ALPHAR, ALPHAI, BETA, IWORK, LIWORK, DWORK,
+     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
+     $                   LDZ, LIWORK, LZWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
+     $                   Z( LDZ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the deflating subspace;
+          = 'C': compute the deflating subspace and store it in the
+                 leading subarray of Q.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the companion subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the companion subspace;
+          = 'C': compute the companion subspace and store it in the
+                 leading subarray of U.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C' or COMPU = 'C', specifies the technique for
+          computing the orthonormal bases of the deflating subspace
+          and companion subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
+          used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the non-trivial factor Z in the factorization
+          S = J Z' J' Z of the skew-Hamiltonian matrix S.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the upper triangular
+          matrix BA in (3) (see also METHOD). The strictly lower
+          triangular part is not zeroed.
+          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
+          on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the upper triangular
+          matrix BB in (3) (see also METHOD). The strictly lower
+          triangular part is not zeroed. 
+          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
+          on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the Hermitian matrix
+          BF in (3) (see also METHOD). The strictly lower triangular
+          part of the input matrix is preserved. The diagonal
+          elements might have tiny imaginary parts.
+          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
+          on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
+          in aS - bH with strictly negative real part.
+
+  D       (output) COMPLEX*16 array, dimension (LDD, N)
+          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
+          this array contains the matrix BD in (3) (see METHOD).
+          If COMPQ = 'N' and COMPU = 'N', this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
+          LDD &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
+
+  C       (output) COMPLEX*16 array, dimension (LDC, N)
+          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
+          this array contains the lower triangular matrix BC in (3)
+          (see also METHOD). The strictly upper triangular part is
+          not zeroed. 
+          If COMPQ = 'N' and COMPU = 'N', this array is not
+          referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
+          LDC &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the right
+          deflating subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part.
+          The remaining entries are meaningless.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
+          On exit, if COMPU = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the companion
+          subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part. The
+          remaining entries are meaningless.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,         if COMPU = 'N';
+          LDU &gt;= MAX(1, N), if COMPU = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -26, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
+                    c = 18, if                 COMPU = 'C';
+                    c = 16, if COMPQ = 'C' and COMPU = 'N';
+                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -28, ZWORK(1) returns the minimum
+          value of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 8*N + 28, if COMPQ = 'C';
+          LZWORK &gt;= 6*N + 28, if COMPQ = 'N' and COMPU = 'C';
+          LZWORK &gt;= 1,        if COMPQ = 'N' and COMPU = 'N'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0, if COMPQ = 'N' and COMPU = 'N';
+          LBWORK &gt;= N, if COMPQ = 'C' or  COMPU = 'C'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the algorithm was not able to reveal information
+               about the eigenvalues from the 2-by-2 blocks in the
+               SLICOT Library routine MB03BD (called by MB04ED);
+          = 2: periodic QZ iteration failed in the SLICOT Library
+               routines MB03BD or MB03BZ when trying to
+               triangularize the 2-by-2 blocks;
+          = 3: the singular value decomposition failed in the LAPACK
+               routine ZGESVD (for ORTH = 'S').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT 
+  Library routine MB04ED is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~                (  BZ11  BZ12  )
+  B_Z = U' B_Z Q = (              ) and
+                   (    0   BZ22  )
+
+  ~                     (  T11  T12  )
+  B_T = J Q' J' B_T Q = (            ),
+                        (   0   T11' )
+
+  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
+  BZ22' are upper triangular and T11 is upper quasi-triangular.
+
+  Second, the SLICOT Library routine MB03IZ is applied, to compute a
+                 ~                                 ~
+  unitary matrix Q and a unitary symplectic matrix U, such that
+
+                ~    ~
+  ~  ~   ~   (  Z11  Z12  )
+  U' B_Z Q = (       ~    ) =: B_Zout,
+             (   0   Z22  )
+
+    ~        ~    ~   (  H11  H12  )
+  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
+                      (   0  -H11' )
+       ~    ~   
+  with Z11, Z22', H11 upper triangular, and such that the spectrum
+
+           ~       ~       ~
+  Spec_-(J B_Z' J' B_Z, -i*B_T) is contained in the spectrum of the
+                                                ~    ~
+  2*NEIG-by-2*NEIG leading principal subpencil aZ22'*Z11 - bH11.
+
+  Finally, the right deflating subspace and the companion subspace
+  are computed. See also page 21 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03FZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
+     $                   LIWORK, LZWORK
+      PARAMETER          ( LDB  = NMAX, LDC =   NMAX, LDD = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
+     $                     LDWORK = 18*NMAX*NMAX + NMAX + 3 +
+     $                              MAX( 2*NMAX, 24 ), LDZ  = NMAX,
+     $                     LIWORK = 2*NMAX + 9, LZWORK = 8*NMAX + 28 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            I, INFO, J, M, N, NEIG
+*
+*     .. Local Arrays ..
+      COMPLEX*16         B( LDB, NMAX ), C( LDC, NMAX ), D( LDD, NMAX ),
+     $                   FG( LDFG, NMAX ), Q( LDQ, 2*NMAX ),
+     $                   U( LDU, 2*NMAX ), Z( LDZ, NMAX ),
+     $                   ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ),  ALPHAR( NMAX ), BETA( NMAX ),
+     $                   DWORK( LDWORK )
+      INTEGER            IWORK( LIWORK )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03FZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues and orthogonal bases of the right
+*        deflating subspace and companion subspace of a complex
+*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
+*        eigenvalues with strictly negative real part.
+         CALL MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
+     $                ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
+     $                LZWORK, BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
+   10       CONTINUE
+            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( D( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( C( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
+   40          CONTINUE
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99987 )
+            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99986 )
+               DO 60 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   60          CONTINUE
+            END IF
+            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99985 )
+               DO 70 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
+   70          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
+     $         WRITE( NOUT, FMT = 99984 ) NEIG
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( 'MB03FZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB03FZ = ', I2 )
+99996 FORMAT (/'The matrix Z on exit is ' )
+99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
+99994 FORMAT (/'The matrix D is ' )
+99993 FORMAT (/'The matrix C is ' )
+99992 FORMAT (/'The matrix B on exit is ' )
+99991 FORMAT (/'The matrix F on exit is ' )
+99990 FORMAT (/'The vector ALPHAR is ' )
+99989 FORMAT ( 50( 1X, F8.4 ) )
+99988 FORMAT (/'The vector ALPHAI is ' )
+99987 FORMAT (/'The vector BETA is ' )
+99986 FORMAT (/'The deflating subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99985 FORMAT (/'The companion subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99984 FORMAT (/'The number of eigenvalues in the initial pencil with ',
+     $         'negative real part is ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03FZ EXAMPLE PROGRAM DATA
+	C	C	P	4
+   (0.0328,0.9611)   (0.6428,0.2585)   (0.7033,0.4254)   (0.2552,0.7053)
+   (0.0501,0.2510)   (0.2827,0.8865)   (0.4719,0.5387)   (0.0389,0.5676)
+   (0.5551,0.4242)   (0.0643,0.2716)   (0.1165,0.7875)   (0.9144,0.3891)
+   (0.0539,0.7931)   (0.0408,0.2654)   (0.9912,0.0989)   (0.0991,0.6585)
+   (0.0547,0.8726)   (0.4008,0.8722)
+   (0.7423,0.6166)   (0.2631,0.5872)
+    0.8740            0.3697           (0.9178,0.6418)
+   (0.7748,0.5358)    0.1652            0.2441          
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03FZ EXAMPLE PROGRAM RESULTS
+
+The matrix Z on exit is 
+    1.1347  -0.1694i     0.0920  -0.0894i     0.5253  +0.0280i    -0.0597  +0.1098i 
+    0.0000  +0.0000i    -0.9874  -0.6015i     0.2523  -0.0600i     0.3178  -0.0902i 
+    0.5551  +0.4242i     0.0643  +0.2716i     0.7553  -0.3356i     0.4772  -0.3177i 
+    0.0539  +0.7931i     0.0408  +0.2654i     0.9912  +0.0989i     0.9064  -0.1055i 
+
+The matrix D is 
+   -0.7634  -0.2773i    -0.8466  -0.9586i    -0.0308  -0.0175i    -0.2754  -0.0715i 
+    1.2612  -0.2643i    -0.7291  -0.3165i     0.0282  -0.1748i     0.4091  +0.0233i 
+    0.3773  -0.1536i    -0.3937  -0.0480i    -0.1635  +0.1617i    -0.1775  +0.1277i 
+    0.7540  -0.0280i    -0.6860  -0.8306i    -0.2446  +0.0943i    -0.0722  +0.0517i 
+
+The matrix C is 
+    0.5063  +0.1548i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -0.0046  +0.1049i     0.3884  +0.3420i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -1.1206  +0.1313i    -0.2270  -0.1753i     0.4300  -0.6107i     0.0000  +0.0000i 
+   -0.6127  -0.1939i    -0.5713  -0.7913i     0.3739  -0.2943i    -1.1501  -0.0850i 
+
+The matrix B on exit is 
+    0.3322  +1.9093i    -0.1216  -0.1193i    -0.0030  +0.0330i     0.0405  +0.0592i 
+    0.0000  +0.0000i     0.1863  -1.8998i     0.2983  +0.2974i     0.6636  +0.5916i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.4459  -0.7452i    -0.0625  +0.2197i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1418  +0.7392i 
+
+The matrix F on exit is 
+    0.0258  +0.0000i    -0.0878  +0.1090i     0.3547  +0.5306i    -0.0138  -0.8770i 
+    0.7748  +0.5358i     0.0864  +0.0000i    -0.3788  -0.2829i    -0.3303  -0.0415i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0184  +0.0000i     0.1077  -0.0795i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0938  +0.0000i 
+
+The vector ALPHAR is 
+   0.4295  -0.4295   0.0000   0.0000
+
+The vector ALPHAI is 
+   1.5363   1.5363  -1.4069  -0.7153
+
+The vector BETA is 
+   0.5000   0.5000   1.0000   1.0000
+
+The deflating subspace corresponding to the eigenvalues with negative real part is 
+   -0.2249  +0.4158i 
+   -0.1984  -0.3100i 
+    0.7286  -0.0427i 
+    0.3282  -0.0251i 
+
+The companion subspace corresponding to the eigenvalues with negative real part is 
+   -0.1542  -0.0712i 
+   -0.4162  -0.3021i 
+   -0.0806  -0.6946i 
+   -0.4580  -0.0889i 
+
+The number of eigenvalues in the initial pencil with negative real part is  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03GD.html b/doc/_static/doc/MB03GD.html
new file mode 100644
index 00000000..7448ccef
--- /dev/null
+++ b/doc/_static/doc/MB03GD.html
@@ -0,0 +1,152 @@
+<HTML>
+<HEAD><TITLE>MB03GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03GD">MB03GD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an orthogonal matrix Q and an orthogonal symplectic
+  matrix U for a real regular 2-by-2 or 4-by-4 skew-Hamiltonian/
+  Hamiltonian pencil a J B' J' B - b D with
+
+        ( B11  B12 )      (  D11  D12  )      (  0  I  )
+    B = (          ), D = (            ), J = (        ),
+        (  0   B22 )      (   0  -D11' )      ( -I  0  )
+
+  such that J Q' J' D Q and U' B Q keep block triangular form, but
+  the eigenvalues are reordered. The notation M' denotes the
+  transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03GD( N, B, LDB, D, LDD, MACPAR, Q, LDQ, U, LDU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDB, LDD, LDQ, LDU, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), D( LDD, * ), DWORK( * ),
+     $                   MACPAR( * ), Q( LDQ, * ), U( LDU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil a J B' J' B - b D. N = 2 or N = 4.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
+          The leading N-by-N part of this array must contain the
+          non-trivial factor of the decomposition of the
+          skew-Hamiltonian input matrix J B' J' B. The (2,1) block
+          is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD, N)
+          The leading N/2-by-N part of this array must contain the
+          first block row of the second matrix of a J B' J' B - b D.
+          The matrix D has to be Hamiltonian. The strict lower
+          triangle of the (1,2) block is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= N/2.
+
+  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
+          Machine parameters:
+          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
+          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
+          This argument is not used for N = 2.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= N.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU, N)
+          The leading N-by-N part of this array contains the
+          orthogonal symplectic transformation matrix U.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          If N = 2 then DWORK is not referenced.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If N = 2 then LDWORK &gt;= 0; if N = 4 then LDWORK &gt;= 12.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: B11 or B22 is a (numerically) singular matrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  22 in [1], but with an improved implementation.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03GZ.html b/doc/_static/doc/MB03GZ.html
new file mode 100644
index 00000000..1cc5aee6
--- /dev/null
+++ b/doc/_static/doc/MB03GZ.html
@@ -0,0 +1,127 @@
+<HTML>
+<HEAD><TITLE>MB03GZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03GZ">MB03GZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a unitary matrix Q and a unitary symplectic matrix U
+  for a complex regular 2-by-2 skew-Hamiltonian/Hamiltonian pencil
+  aS - bH with S = J Z' J' Z, where
+
+         (  Z11  Z12  )         (  H11  H12  )
+     Z = (            ) and H = (            ),
+         (   0   Z22  )         (   0  -H11' )
+
+  such that U' Z Q, (J Q J' )' H Q are both upper triangular, but the  
+  eigenvalues of (J Q J')' ( aS - bH ) Q are in reversed order.
+  The matrices Q and U are represented by
+
+         (  CO1  SI1  )         (  CO2  SI2  )
+     Q = (            ) and U = (            ), respectively.
+         ( -SI1' CO1  )         ( -SI2' CO2  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03GZ( Z11, Z12, Z22, H11, H12, CO1, SI1, CO2, SI2 )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   CO1, CO2
+      COMPLEX*16         H11, H12, SI1, SI2, Z11, Z12, Z22
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  Z11     (input) COMPLEX*16
+          Upper left element of the non-trivial factor Z in the
+          factorization of S.
+
+  Z12     (input) COMPLEX*16
+          Upper right element of the non-trivial factor Z in the
+          factorization of S.
+
+  Z22     (input) COMPLEX*16
+          Lower right element of the non-trivial factor Z in the
+          factorization of S.
+
+  H11     (input) COMPLEX*16
+          Upper left element of the Hamiltonian matrix H.
+
+  H12     (input) COMPLEX*16
+          Upper right element of the Hamiltonian matrix H.
+
+  CO1     (output) DOUBLE PRECISION
+          Upper left element of Q.
+
+  SI1     (output) COMPLEX*16
+          Upper right element of Q.
+
+  CO2     (output) DOUBLE PRECISION
+          Upper left element of U.
+
+  SI2     (output) COMPLEX*16
+          Upper right element of U.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary and unitary symplectic transformations
+  as described on page 37 in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03HD.html b/doc/_static/doc/MB03HD.html
new file mode 100644
index 00000000..704d7b67
--- /dev/null
+++ b/doc/_static/doc/MB03HD.html
@@ -0,0 +1,149 @@
+<HTML>
+<HEAD><TITLE>MB03HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03HD">MB03HD</A></H2>
+<H3>
+Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine an orthogonal matrix Q, for a real regular 2-by-2 or
+  4-by-4 skew-Hamiltonian/Hamiltonian pencil
+
+                  ( A11 A12  )     ( B11  B12  )
+      aA - bB = a (          ) - b (           )
+                  (  0  A11' )     (  0  -B11' )
+
+  in structured Schur form, such that  J Q' J' (aA - bB) Q  is still
+  in structured Schur form but the eigenvalues are exchanged. The
+  notation M' denotes the transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03HD( N, A, LDA, B, LDB, MACPAR, Q, LDQ, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDQ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   MACPAR( * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aA - bB.  N = 2 or N = 4.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
+          If N = 4, the leading N/2-by-N upper trapezoidal part of
+          this array must contain the first block row of the skew-
+          Hamiltonian matrix A of the pencil aA - bB in structured
+          Schur form. Only the entries (1,1), (1,2), (1,4), and
+          (2,2) are referenced.
+          If N = 2, this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N/2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
+          The leading N/2-by-N part of this array must contain the
+          first block row of the Hamiltonian matrix B of the
+          pencil aA - bB in structured Schur form. The entry (2,3)
+          is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= N/2.
+
+  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
+          Machine parameters:
+          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
+          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
+          This argument is not used for N = 2.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (24)
+          If N = 2, then DWORK is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          = 1: the leading N/2-by-N/2 block of the matrix B is
+               numerically singular, but slightly perturbed values
+               have been used. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses orthogonal transformations as described on page
+  31 in [2]. The structure is exploited.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical computation of deflating subspaces of skew-
+      Hamiltonian/Hamiltonian pencils.
+      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
+
+  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03HZ.html b/doc/_static/doc/MB03HZ.html
new file mode 100644
index 00000000..0e3ea013
--- /dev/null
+++ b/doc/_static/doc/MB03HZ.html
@@ -0,0 +1,113 @@
+<HTML>
+<HEAD><TITLE>MB03HZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03HZ">MB03HZ</A></H2>
+<H3>
+Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a unitary matrix Q for a complex regular 2-by-2 
+  skew-Hamiltonian/Hamiltonian pencil aS - bH with
+
+      (  S11  S12  )        (  H11  H12  )
+  S = (            ),   H = (            ),
+      (   0   S11' )        (   0  -H11' )
+
+  such that J Q' J' (aS - bH) Q is upper triangular but the
+  eigenvalues are in reversed order. The matrix Q is represented by
+
+      (  CO  SI  )
+  Q = (          ).
+      ( -SI' CO  )
+
+  The notation M' denotes the conjugate transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03HZ( S11, S12, H11, H12, CO, SI )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   CO
+      COMPLEX*16         H11, H12, S11, S12, SI
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  S11     (input) COMPLEX*16
+          Upper left element of the skew-Hamiltonian matrix S.
+
+  S12     (input) COMPLEX*16
+          Upper right element of the skew-Hamiltonian matrix S.
+
+  H11     (input) COMPLEX*16
+          Upper left element of the Hamiltonian matrix H.
+
+  H12     (input) COMPLEX*16
+          Upper right element of the Hamiltonian matrix H.
+
+  CO      (output) DOUBLE PRECISION
+          Upper left element of Q.
+
+  SI      (output) COMPLEX*16
+          Upper right element of Q.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses unitary transformations as described on page 43
+  in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03ID.html b/doc/_static/doc/MB03ID.html
new file mode 100644
index 00000000..8d67226b
--- /dev/null
+++ b/doc/_static/doc/MB03ID.html
@@ -0,0 +1,321 @@
+<HTML>
+<HEAD><TITLE>MB03ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ID">MB03ID</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form, with
+
+                       (  0  I  )      (  A  D  )      (  B  F  )
+    S = J Z' J' Z, J = (        ), Z = (        ), H = (        ),
+                       ( -I  0  )      (  0  C  )      (  0 -B' )
+
+  to the leading principal subpencil, while keeping the triangular
+  form. Above, A is upper triangular, B is upper quasi-triangular,
+  and C is lower triangular.
+  The matrices Z and H are transformed by an orthogonal symplectic
+  matrix U and an orthogonal matrix Q such that
+
+                    (  Aout  Dout  )
+    Zout = U' Z Q = (              ), and
+                    (    0   Cout  )
+                                                                 (1)
+                         (  Bout  Fout  )
+    Hout = J Q' J' H Q = (              ),
+                         (    0  -Bout' )
+
+  where Aout, Bout and Cout remain in triangular form. The notation
+  M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
+  that fulfills (1) is computed.
+  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
+  symplectic matrix
+
+        (  U1  U2  )
+    U = (          )
+        ( -U2  U1  )
+
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ID( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
+     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
+     $                   IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
+     $                   LDWORK, LIWORK, N, NEIG
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( *  ), F( LDF, * ),
+     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+  COMPU   CHARACTER*1
+          Specifies whether or not the orthogonal symplectic
+          transformations should be accumulated in the arrays U1 and
+          U2, as follows:
+          = 'N':  U1 and U2 are not computed;
+          = 'I':  the arrays U1 and U2 are initialized internally,
+                  and the submatrices U1 and U2 defining the
+                  orthogonal symplectic matrix U are returned;
+          = 'U':  the arrays U1 and U2 contain the corresponding
+                  submatrices of an orthogonal symplectic matrix U0
+                  on entry, and the updated submatrices U1 and U2
+                  of the matrix product U0*U are returned, where U
+                  is the product of the orthogonal symplectic
+                  transformations that are applied to the pencil
+                  aS - bH to reorder the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A. The elements of the
+          strictly lower triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                         (LDC, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the lower triangular matrix C. The elements of the
+          strictly upper triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Cout.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                         (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper quasi-triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper quasi-triangular part of
+          the matrix Bout.
+          The part below the first subdiagonal of this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) DOUBLE PRECISION array, dimension
+                         (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the symmetric matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced, except for the element F(N/2,N/2-1), but its
+          initial value is preserved.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices Z and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU1, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper left block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U1 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U1 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= 1,           if COMPU = 'N';
+          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU2, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper right block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U2 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U2 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= 1,           if COMPU = 'N';
+          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= N+1.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If COMPQ = 'N',
+             LDWORK &gt;= MAX(2*N+48,171);
+          if COMPQ = 'I' or COMPQ = 'U',
+             LDWORK &gt;= MAX(4*N+48,171).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm did not converge in SLICOT
+               Library routine MB03BB;
+          = 2: an error occured during the execution of MB03CD;
+          = 3: an error occured during the execution of MB03GD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts in the pencil aS - bH.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aC'*A - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues of the R-th block to the (MM+1)-th
+          block, where R denotes the number of upper quasi-
+          triangular blocks in aC'*A - bB and MM denotes the current
+          number of blocks in aC'*A - bB with eigenvalues with
+          negative real parts.
+
+  The algorithm uses a sequence of orthogonal transformations as
+  described on page 25 in [1]. To achieve those transformations the
+  elementary subroutines MB03CD and MB03GD are called for the
+  corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03IZ.html b/doc/_static/doc/MB03IZ.html
new file mode 100644
index 00000000..95dbad4e
--- /dev/null
+++ b/doc/_static/doc/MB03IZ.html
@@ -0,0 +1,305 @@
+<HTML>
+<HEAD><TITLE>MB03IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03IZ">MB03IZ</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form, with
+
+                             (  0  I  )
+    S = J Z' J' Z, where J = (        ),
+                             ( -I  0  )
+
+  to the leading principal subpencil, while keeping the triangular
+  form. On entry, we have
+
+        (  A  D  )      (  B  F  )
+    Z = (        ), H = (        ),
+        (  0  C  )      (  0 -B' )
+
+  where A and B are upper triangular and C is lower triangular.
+  Z and H are transformed by a unitary symplectic matrix U and a
+  unitary matrix Q such that
+
+                    (  Aout  Dout  )
+    Zout = U' Z Q = (              ), and
+                    (    0   Cout  )
+                                                                 (1)
+                         (  Bout  Fout  )
+    Hout = J Q' J' H Q = (              ), 
+                         (    0  -Bout' )
+
+  where Aout, Bout and Cout remain in triangular form. The notation
+  M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
+  that fulfills (1) is computed.
+  Optionally, if COMPU = 'I' or COMPU = 'U', the unitary symplectic
+  matrix 
+
+        (  U1  U2  )
+    U = (          )
+        ( -U2  U1  )   
+
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03IZ( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
+     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
+     $                   TOL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
+     $                   N, NEIG
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), F( LDF, * ), Q( LDQ, * ),
+     $                   U1( LDU1, * ), U2( LDU2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the unitary matrix Q is returned;
+          = 'U':  the array Q contains a unitary matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the unitary transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+  COMPU   CHARACTER*1
+          Specifies whether or not the unitary symplectic
+          transformations should be accumulated in the arrays U1 and
+          U2, as follows:
+          = 'N':  U1 and U2 are not computed;
+          = 'I':  the arrays U1 and U2 are initialized internally,
+                  and the submatrices U1 and U2 defining the
+                  unitary symplectic matrix U are returned;
+          = 'U':  the arrays U1 and U2 contain the corresponding
+                  submatrices of a unitary symplectic matrix U0
+                  on entry, and the updated submatrices U1 and U2
+                  of the matrix product U0*U are returned, where U
+                  is the product of the unitary symplectic
+                  transformations that are applied to the pencil
+                  aS - bH to reorder the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the lower triangular matrix C.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Cout.
+          The strictly upper triangular part of this array is not
+          referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Bout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the Hermitian matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the unitary transformation matrix Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  U1      (input/output) COMPLEX*16 array, dimension (LDU1, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper left block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U1 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices S and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U1 of the
+          unitary symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= 1,           if COMPU = 'N';
+          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  U2      (input/output) COMPLEX*16 array, dimension (LDU2, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper right block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U2 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices S and H.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U2 of the
+          unitary symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= 1,           if COMPU = 'N';
+          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance used to decide the sign of the eigenvalues.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by MIN(N,10)*EPS, is
+          used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH). A larger value might be
+          needed for pencils with multiple eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+                                                     
+  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aC'*A - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
+          place, where MM denotes the current number of eigenvalues
+          with negative real parts in aC'*A - bB.
+
+  The algorithm uses a sequence of unitary transformations as
+  described on page 38 in [1]. To achieve those transformations the
+  elementary SLICOT Library subroutines MB03CZ and MB03GZ are called
+  for the corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03JD.html b/doc/_static/doc/MB03JD.html
new file mode 100644
index 00000000..2c23d6f5
--- /dev/null
+++ b/doc/_static/doc/MB03JD.html
@@ -0,0 +1,250 @@
+<HTML>
+<HEAD><TITLE>MB03JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03JD">MB03JD</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form,
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  with A upper triangular and B upper quasi-triangular, to the
+  leading principal subpencil, while keeping the triangular form.
+  The notation M' denotes the transpose of the matrix M.
+  The matrices S and H are transformed by an orthogonal matrix Q
+  such that
+
+                         (  Aout  Dout  )  
+    Sout = J Q' J' S Q = (              ),
+                         (    0   Aout' )  
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (  0    -Bout' )           ( -I  0  )
+
+  where Aout is upper triangular and Bout is upper quasi-triangular.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
+  that fulfills (1), is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03JD( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
+     $                   N, NEIG
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A. The elements of the
+          strictly lower triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                        (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-symmetric
+          matrix D. The diagonal need not be set to zero.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Dout.
+          The strictly lower triangular part of this array is
+          not referenced, except for the element D(N/2,N/2-1), but
+          its initial value is preserved.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper quasi-triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper quasi-triangular part of
+          the matrix Bout.
+          The part below the first subdiagonal of this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) DOUBLE PRECISION array, dimension
+                        (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the symmetric matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced, except for the element F(N/2,N/2-1), but its
+          initial value is preserved.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= N+1.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If COMPQ = 'N',
+             LDWORK &gt;= MAX(2*N+32,108);
+          if COMPQ = 'I' or COMPQ = 'U',
+             LDWORK &gt;= MAX(4*N+32,108).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: error occured during execution of MB03DD;
+          = 2: error occured during execution of MB03HD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts in the pencil aS - bH.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues of the R-th block to the (MM+1)-th
+          block, where R denotes the number of upper quasi-
+          triangular blocks in aA - bB and MM denotes the current
+          number of blocks in aA - bB with eigenvalues with negative
+          real parts.
+
+  The algorithm uses a sequence of orthogonal transformations as
+  described on page 33 in [1]. To achieve those transformations the
+  elementary subroutines MB03DD and MB03HD are called for the
+  corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03JP.html b/doc/_static/doc/MB03JP.html
new file mode 100644
index 00000000..0806d945
--- /dev/null
+++ b/doc/_static/doc/MB03JP.html
@@ -0,0 +1,253 @@
+<HTML>
+<HEAD><TITLE>MB03JP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03JP">MB03JP</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form,
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  with A upper triangular and B upper quasi-triangular, to the
+  leading principal subpencil, while keeping the triangular form.
+  The notation M' denotes the transpose of the matrix M.
+  The matrices S and H are transformed by an orthogonal matrix Q
+  such that
+
+                         (  Aout  Dout  )  
+    Sout = J Q' J' S Q = (              ),
+                         (    0   Aout' )  
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (  0    -Bout' )           ( -I  0  )
+
+  where Aout is upper triangular and Bout is upper quasi-triangular.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
+  that fulfills (1), is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03JP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
+     $                   N, NEIG
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A. The elements of the
+          strictly lower triangular part of this array are not used.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                        (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-symmetric
+          matrix D. The diagonal need not be set to zero.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Dout.
+          The strictly lower triangular part of this array is
+          not referenced, except for the element D(N/2,N/2-1), but
+          its initial value is preserved.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper quasi-triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper quasi-triangular part of
+          the matrix Bout.
+          The part below the first subdiagonal of this array is
+          not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) DOUBLE PRECISION array, dimension
+                        (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the symmetric matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed upper triangular part of the
+          matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced, except for the element F(N/2,N/2-1), but its
+          initial value is preserved.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= 3*N-3.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If COMPQ = 'N',
+             LDWORK &gt;= MAX(2*N+32,108)+5*N/2;
+          if COMPQ = 'I' or COMPQ = 'U',
+             LDWORK &gt;= MAX(4*N+32,108)+5*N/2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: error occured during execution of MB03DD;
+          = 2: error occured during execution of MB03HD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real
+          parts in the pencil aS - bH.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues of the R-th block to the (MM+1)-th
+          block, where R denotes the number of upper quasi-
+          triangular blocks in aA - bB and MM denotes the current
+          number of blocks in aA - bB with eigenvalues with negative
+          real parts.
+
+  The algorithm uses a sequence of orthogonal transformations as
+  described on page 33 in [1]. To achieve those transformations the
+  elementary subroutines MB03DD and MB03HD are called for the
+  corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03JZ.html b/doc/_static/doc/MB03JZ.html
new file mode 100644
index 00000000..e04bc525
--- /dev/null
+++ b/doc/_static/doc/MB03JZ.html
@@ -0,0 +1,228 @@
+<HTML>
+<HEAD><TITLE>MB03JZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03JZ">MB03JZ</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form to the leading principal subpencil, while
+  keeping the triangular form. On entry, we have
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  where A and B are upper triangular.
+  S and H are transformed by a unitary matrix Q such that
+
+                         (  Aout  Dout  )
+    Sout = J Q' J' S Q = (              ), and
+                         (    0   Aout' )
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (    0  -Bout' )           ( -I  0  )
+
+  where Aout and Bout remain in upper triangular form. The notation
+  M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03JZ( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, TOL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   F( LDF, * ), Q( LDQ, * ) 
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the unitary matrix Q is returned;
+          = 'U':  the array Q contains a unitary matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the unitary transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-Hermitian
+          matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Bout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the Hermitian matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the unitary transformation matrix Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance used to decide the sign of the eigenvalues.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by MIN(N,10)*EPS, is
+          used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH). A larger value might be
+          needed for pencils with multiple eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real parts.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
+          place, where MM denotes the current number of eigenvalues
+          with negative real parts in aA - bB.
+
+  The algorithm uses a sequence of unitary transformations as
+  described on page 43 in [1]. To achieve those transformations the
+  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
+  for the corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03KA.html b/doc/_static/doc/MB03KA.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB03KA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KA">MB03KA</A></H2>
+<H3>
+Moving diagonal blocks at a specified position in a formal matrix product to another position
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the formal matrix product
+
+     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
+
+  of length K, in the generalized periodic Schur form
+
+           [  T11_k  T12_k  T13_k  ]
+     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
+           [    0      0    T33_k  ]
+
+  where
+
+  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
+    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
+    infinite eigenvalues,
+  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
+    which are generically neither zero nor infinite,
+  - the submatrices T33_k contain dimension-induced zero
+    eigenvalues,
+
+  such that the block with starting row index IFST in (1) is moved
+  to row index ILST. The indices refer to the T22_k submatrices.
+
+  Optionally, the transformation matrices Q_1,...,Q_K from the
+  reduction into generalized periodic Schur form are updated with
+  respect to the performed reordering.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KA( COMPQ, WHICHQ, WS, K, NC, KSCHUR, IFST, ILST,
+     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      LOGICAL            WS
+      INTEGER            IFST, ILST, INFO, K, KSCHUR, LDWORK, NC
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
+     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
+      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N': do not compute any of the matrices Q_k;
+          = 'U': each coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the products Q1_k*Q_k are
+                 returned, where Q_k, k = 1, ..., K, performed the
+                 reordering;
+          = 'W': the computation of each Q_k is specified
+                 individually in the array WHICHQ.
+
+  WHICHQ  INTEGER array, dimension (K)
+          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
+          as follows:
+          = 0:   do not compute Q_k;
+          &gt; 0:   the kth coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the product Q1_k*Q_k is
+                 returned.
+          This array is not referenced if COMPQ &lt;&gt; 'W'.
+
+  WS      LOGICAL
+          = .FALSE. : do not perform the strong stability tests;
+          = .TRUE.  : perform the strong stability tests; often,
+                      this is not needed, and omitting them can save
+                      some computations.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences T and Q (the
+          number of factors in the matrix product).  K &gt;= 2.
+          (For K = 1, a standard eigenvalue reordering problem is
+          obtained.)
+
+  NC      (input) INTEGER
+          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
+
+  KSCHUR  (input) INTEGER
+          The index for which the matrix T22_kschur is upper quasi-
+          triangular. All other T22 matrices are upper triangular.
+
+  IFST    (input/output) INTEGER
+  ILST    (input/output) INTEGER
+          Specify the reordering of the diagonal blocks, as follows:
+          The block with starting row index IFST in (1) is moved to
+          row index ILST by a sequence of direct swaps between adjacent
+          blocks in the product.
+          On exit, if IFST pointed on entry to the second row of a
+          2-by-2 block in the product, it is changed to point to the
+          first row; ILST always points to the first row of the block
+          in its final position in the product (which may differ from
+          its input value by +1 or -1).
+          1 &lt;= IFST &lt;= NC, 1 &lt;= ILST &lt;= NC.
+
+  N       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the formal matrix product T,
+          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
+          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
+          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
+
+  NI      (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the matrix sequence T11_k.
+          N(k) &gt;= NI(k) + NC &gt;= 0.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequence. Each entry in S must be either 1 or -1;
+          the value S(k) = -1 corresponds to using the inverse of
+          the factor T_k.
+
+  T       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXT(k) the
+          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
+          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
+          Schur form.
+          On exit, the matrices T_k are overwritten by the reordered
+          periodic Schur form.
+
+  LDT     INTEGER array, dimension (K)
+          The leading dimensions of the matrices T_k in the one-
+          dimensional array T.
+          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
+          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
+
+  IXT     INTEGER array, dimension (K)
+          Start indices of the matrices T_k in the one-dimensional
+          array T.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXQ(k) a
+          matrix Q_k of size at least N(k)-by-N(k), provided that
+          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
+          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
+          Q_k is post-multiplied with the orthogonal matrix that
+          performed the reordering.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ     INTEGER array, dimension (K)
+          The leading dimensions of the matrices Q_k in the one-
+          dimensional array Q.
+          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
+                                                    WHICHQ(k) &gt; 0;
+          This array is not referenced if COMPQ = 'N'.
+
+  IXQ     INTEGER array, dimension (K)
+          Start indices of the matrices Q_k in the one-dimensional
+          array Q.
+          This array is not referenced if COMPQ = 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension (3)
+          This array contains tolerance parameters. The weak and
+          strong stability tests use a threshold computed by the
+          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
+          NRM is the Frobenius norm of the current matrix formed by
+          concatenating K pairs of adjacent diagonal blocks of sizes
+          1 and/or 2 in the T22_k submatrices from (2), which are
+          swapped, and EPS and SMLNUM are the machine precision and
+          safe minimum divided by EPS, respectively (see LAPACK
+          Library routine DLAMCH). The norm NRM is computed by this
+          routine; the other values are stored in the array TOL.
+          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
+          respectively. TOL(1) should normally be at least 10.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*K)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 10*K + MN, if all blocks between IFST and ILST
+                               have order 1;
+          LDWORK &gt;= 25*K + MN, if there is at least a block of
+                               order 2, but no adjacent blocks of
+                               order 2 can appear between IFST and
+                               ILST during reordering;
+          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if at least a pair of
+                               adjacent blocks of order 2 can appear
+                               between IFST and ILST during
+                               reordering;
+          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
+          MXN = MAX(N(k),k=1,...,K).
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -21, the LDWORK argument was too small;
+          = 1:  the reordering of T failed because some eigenvalues
+                are too close to separate (the problem is very ill-
+                conditioned); T may have been partially reordered.
+                The returned value of ILST is the index where this
+                was detected.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An adaptation of the LAPACK Library routine DTGEXC is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03KB.html b/doc/_static/doc/MB03KB.html
new file mode 100644
index 00000000..b6143337
--- /dev/null
+++ b/doc/_static/doc/MB03KB.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>MB03KB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KB">MB03KB</A></H2>
+<H3>
+Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in a formal matrix product
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the formal matrix product
+
+     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1)              (1)
+
+  of length K in the generalized periodic Schur form
+
+           [  T11_k  T12_k  T13_k  ]
+     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
+           [    0      0    T33_k  ]
+
+  where
+
+  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
+    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
+    infinite eigenvalues,
+  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
+    which are generically neither zero nor infinite,
+  - the submatrices T33_k contain dimension-induced zero
+    eigenvalues,
+
+  such that pairs of adjacent diagonal blocks of sizes 1 and/or 2 in
+  the product (1) are swapped.
+
+  Optionally, the transformation matrices Q_1,...,Q_K from the
+  reduction into generalized periodic Schur form are updated with
+  respect to the performed reordering.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KB( COMPQ, WHICHQ, WS, K, NC, KSCHUR, J1, N1, N2,
+     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      LOGICAL            WS
+      INTEGER            INFO, J1, K, KSCHUR, LDWORK, N1, N2, NC
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
+     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
+      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N': do not compute any of the matrices Q_k;
+          = 'U': each coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the products Q1_k*Q_k are
+                 returned, where Q_k, k = 1, ..., K, performed the
+                 reordering;
+          = 'W': the computation of each Q_k is specified
+                 individually in the array WHICHQ.
+
+  WHICHQ  INTEGER array, dimension (K)
+          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
+          as follows:
+          = 0:   do not compute Q_k;
+          &gt; 0:   the kth coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the product Q1_k*Q_k is
+                 returned.
+          This array is not referenced if COMPQ &lt;&gt; 'W'.
+
+  WS      LOGICAL
+          = .FALSE. : do not perform the strong stability tests;
+          = .TRUE.  : perform the strong stability tests; often,
+                      this is not needed, and omitting them can save
+                      some computations.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences T and Q (the
+          number of factors in the matrix product).  K &gt;= 2.
+          (For K = 1, a standard eigenvalue reordering problem is
+          obtained.)
+
+  NC      (input) INTEGER
+          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
+
+  KSCHUR  (input) INTEGER
+          The index for which the matrix T22_kschur is upper quasi-
+          triangular.
+
+  J1      (input) INTEGER
+          The index of the first row and column of the first block
+          to swap in T22_k.
+          1 &lt;= J1 &lt;= NC-N1-N2+1.
+
+  N1      (input) INTEGER
+          The order of the first block to swap.   N1 = 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of the second block to swap.  N2 = 0, 1 or 2.
+
+  N       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the formal matrix product T,
+          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
+          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
+          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
+
+  NI      (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the matrix sequence T11_k.
+          N(k) &gt;= NI(k) + NC &gt;= 0.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequence. Each entry in S must be either 1 or -1;
+          the value S(k) = -1 corresponds to using the inverse of
+          the factor T_k.
+
+  T       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXT(k) the
+          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
+          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
+          Schur form.
+          On exit, the matrices T_k are overwritten by the reordered
+          periodic Schur form.
+
+  LDT     INTEGER array, dimension (K)
+          The leading dimensions of the matrices T_k in the one-
+          dimensional array T.
+          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
+          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
+
+  IXT     INTEGER array, dimension (K)
+          Start indices of the matrices T_k in the one-dimensional
+          array T.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXQ(k) a
+          matrix Q_k of size at least N(k)-by-N(k), provided that
+          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
+          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
+          Q_k is post-multiplied with the orthogonal matrix that
+          performed the reordering.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ     INTEGER array, dimension (K)
+          The leading dimensions of the matrices Q_k in the one-
+          dimensional array Q.  LDQ(k) &gt;= 1, and
+          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
+                                                    WHICHQ(k) &gt; 0;
+          This array is not referenced if COMPQ = 'N'.
+
+  IXQ     INTEGER array, dimension (K)
+          Start indices of the matrices Q_k in the one-dimensional
+          array Q.
+          This array is not referenced if COMPQ = 'N'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension (3)
+          This array contains tolerance parameters. The weak and
+          strong stability tests use a threshold computed by the
+          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
+          NRM is the Frobenius norm of the matrix formed by
+          concatenating K pairs of adjacent diagonal blocks of sizes
+          1 and/or 2 in the T22_k submatrices from (2), which are
+          swapped, and EPS and SMLNUM are the machine precision and
+          safe minimum divided by EPS, respectively (see LAPACK
+          Library routine DLAMCH). The norm NRM is computed by this
+          routine; the other values are stored in the array TOL.
+          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
+          respectively. TOL(1) should normally be at least 10.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*K)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 10*K + MN,                 if N1 = 1, N2 = 1;
+          LDWORK &gt;= 25*K + MN,                 if N1 = 1, N2 = 2;
+          LDWORK &gt;= MAX(23*K + MN, 25*K - 12), if N1 = 2, N2 = 1;
+          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if N1 = 2, N2 = 2;
+          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
+          MXN = MAX(N(k),k=1,...,K).
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -22, then LDWORK is too small; appropriate
+                value for LDWORK is returned in DWORK(1); the other
+                arguments are not tested, for efficiency;
+          = 1:  the swap was rejected from stability reasons; the
+                blocks are not swapped and T and Q are unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm described in [1] is used. Both weak and strong
+  stability tests are performed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Granat, R., Kagstrom, B. and Kressner, D.
+      Computing periodic deflating subspaces associated with a
+      specified set of eigenvalues.
+      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+                               3
+  The algorithm requires 0(K NC ) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03KC.html b/doc/_static/doc/MB03KC.html
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+<HTML>
+<HEAD><TITLE>MB03KC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KC">MB03KC</A></H2>
+<H3>
+Reducing a 2-by-2 formal matrix product to periodic Hessenberg-triangular form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a 2-by-2 general, formal matrix product A of length K,
+
+     A_K^s(K) * A_K-1^s(K-1) * ... * A_1^s(1),
+
+  to the periodic Hessenberg-triangular form using a K-periodic
+  sequence of elementary reflectors (Householder matrices). The
+  matrices A_k, k = 1, ..., K, are stored in the N-by-N-by-K array A
+  starting in the R-th row and column, and N can be 3 or 4.
+
+  Each elementary reflector H_k is represented as
+
+     H_k = I - tau_k * v_k * v_k',                               (1)
+
+  where I is the 2-by-2 identity, tau_k is a real scalar, and v_k is
+  a vector of length 2, k = 1,...,K, and it is constructed such that
+  the following holds for k = 1,...,K:
+
+         H_{k+1} * A_k * H_k = T_k, if s(k) = 1,
+                                                                 (2)
+         H_k * A_k * H_{k+1} = T_k, if s(k) = -1,
+
+  with H_{K+1} = H_1 and all T_k upper triangular except for
+  T_{khess} which is full. Clearly,
+
+     T_K^s(K) *...* T_1^s(1) = H_1 * A_K^s(K) *...* A_1^s(1) * H_1.
+
+  The reflectors are suitably applied to the whole, extended N-by-N
+  matrices Ae_k, not only to the submatrices A_k, k = 1, ..., K.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KC( K, KHESS, N, R, S, A, LDA, V, TAU )
+C     .. Scalar Arguments ..
+      INTEGER            K, KHESS, LDA, N, R
+C     .. Array Arguments ..
+      INTEGER            S( * )
+      DOUBLE PRECISION   A( * ), TAU( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of matrices in the sequence A_k.  K &gt;= 2.
+
+  KHESS   (input) INTEGER
+          The index for which the returned matrix A_khess should be
+          in the Hessenberg form on output.  1 &lt;= KHESS &lt;= K.
+
+  N       (input) INTEGER
+          The order of the extended matrices.  N = 3 or N = 4.
+
+  R       (input) INTEGER
+          The starting row and column index for the
+          2-by-2 submatrices.  R = 1, or R = N-1.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1; the value S(k) = -1 corresponds to using the
+          inverse of the factor A_k.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXA(k) =
+          (k-1)*N*LDA+1 the N-by-N matrix Ae_k stored with leading
+          dimension LDA.
+          On exit, this array contains at position IXA(k) the
+          N-by-N matrix Te_k stored with leading dimension LDA.
+
+  LDA     INTEGER
+          Leading dimension of the matrices Ae_k and Te_k in the
+          one-dimensional array A.  LDA &gt;= N.
+
+  V       (output) DOUBLE PRECISION array, dimension (2*K)
+          On exit, this array contains the K vectors v_k,
+          k = 1,...,K, defining the elementary reflectors H_k as
+          in (1). The k-th reflector is stored in V(2*k-1:2*k).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (K)
+          On exit, this array contains the K values of tau_k,
+          k = 1,...,K, defining the elementary reflectors H_k
+          as in (1).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A K-periodic sequence of elementary reflectors (Householder
+  matrices) is used. The computations start for k = khess with the
+  left reflector in (1), which is the identity matrix.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03KD.html b/doc/_static/doc/MB03KD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB03KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KD">MB03KD</A></H2>
+<H3>
+Reordering the diagonal blocks of a formal matrix product using periodic QZ algorithm
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the formal matrix product
+
+     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
+
+  of length K, in the generalized periodic Schur form,
+
+           [  T11_k  T12_k  T13_k  ]
+     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
+           [    0      0    T33_k  ]
+
+  where
+
+  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
+    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
+    infinite eigenvalues,
+  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
+    which are generically neither zero nor infinite,
+  - the submatrices T33_k contain dimension-induced zero
+    eigenvalues,
+
+  such that the M selected eigenvalues pointed to by the logical
+  vector SELECT end up in the leading part of the matrix sequence
+  T22_k.
+
+  Given that N(k) = N(k+1) for all k where S(k) = -1, the T11_k are
+  void and the first M columns of the updated orthogonal
+  transformation matrix sequence Q_1, ..., Q_K span a periodic
+  deflating subspace corresponding to the same eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KD( COMPQ, WHICHQ, STRONG, K, NC, KSCHUR, N, NI, S,
+     $                   SELECT, T, LDT, IXT, Q, LDQ, IXQ, M, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, STRONG
+      INTEGER            INFO, K, KSCHUR, LDWORK, M, NC
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      LOGICAL            SELECT( * )
+      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
+     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
+      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrices Q_k, as follows:
+          = 'N': do not compute any of the matrices Q_k;
+          = 'I': each coefficient of Q is initialized internally to
+                 the identity matrix, and the orthogonal matrices
+                 Q_k are returned, where Q_k, k = 1, ..., K,
+                 performed the reordering;
+          = 'U': each coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the products Q1_k*Q_k are
+                 returned;
+          = 'W': the computation of each Q_k is specified
+                 individually in the array WHICHQ.
+
+  WHICHQ  INTEGER array, dimension (K)
+          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
+          as follows:
+          = 0:   do not compute Q_k;
+          = 1:   the kth coefficient of Q is initialized to the
+                 identity matrix, and the orthogonal matrix Q_k is
+                 returned;
+          = 2:   the kth coefficient of Q must contain an orthogonal
+                 matrix Q1_k on entry, and the product Q1_k*Q_k is
+                 returned.
+          This array is not referenced if COMPQ &lt;&gt; 'W'.
+
+  STRONG  CHARACTER*1
+          Specifies whether to perform the strong stability tests,
+          as follows:
+          = 'N': do not perform the strong stability tests;
+          = 'S': perform the strong stability tests; often, this is
+                 not needed, and omitting them can save some
+                 computations.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences T and Q (the
+          number of factors in the matrix product).  K &gt;= 2.
+          (For K = 1, a standard eigenvalue reordering problem is
+          obtained.)
+
+  NC      (input) INTEGER
+          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
+
+  KSCHUR  (input) INTEGER
+          The index for which the matrix T22_kschur is upper quasi-
+          triangular. All other T22 matrices are upper triangular.
+
+  N       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the formal matrix product T,
+          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
+          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
+          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
+
+  NI      (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          dimensions of the factors of the matrix sequence T11_k.
+          N(k) &gt;= NI(k) + NC &gt;= 0.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequence. Each entry in S must be either 1 or -1;
+          the value S(k) = -1 corresponds to using the inverse of
+          the factor T_k.
+
+  SELECT  (input) LOGICAL array, dimension (NC)
+          SELECT specifies the eigenvalues in the selected cluster.
+          To select a real eigenvalue w(j), SELECT(j) must be set to
+          .TRUE.. To select a complex conjugate pair of eigenvalues
+          w(j) and w(j+1), corresponding to a 2-by-2 diagonal block,
+          either SELECT(j) or SELECT(j+1) or both must be set to
+          .TRUE.; a complex conjugate pair of eigenvalues must be
+          either both included in the cluster or both excluded.
+
+  T       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXT(k) the
+          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
+          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
+          Schur form.
+          On exit, the matrices T_k are overwritten by the reordered
+          periodic Schur form.
+
+  LDT     INTEGER array, dimension (K)
+          The leading dimensions of the matrices T_k in the one-
+          dimensional array T.
+          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
+          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
+
+  IXT     INTEGER array, dimension (K)
+          Start indices of the matrices T_k in the one-dimensional
+          array T.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (*)
+          On entry, this array must contain at position IXQ(k) a
+          matrix Q_k of size at least N(k)-by-N(k), provided that
+          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) = 2.
+          On exit, if COMPQ = 'I' or COMPQ = 'W' and WHICHQ(k) = 1,
+          Q_k contains the orthogonal matrix that performed the
+          reordering. If COMPQ = 'U', or COMPQ = 'W' and
+          WHICHQ(k) = 2, Q_k is post-multiplied with the orthogonal
+          matrix that performed the reordering.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ     INTEGER array, dimension (K)
+          The leading dimensions of the matrices Q_k in the one-
+          dimensional array Q.
+          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'I', or COMPQ = 'U', or
+                                    COMPQ = 'W' and WHICHQ(k) &gt; 0;
+          This array is not referenced if COMPQ = 'N'.
+
+  IXQ     INTEGER array, dimension (K)
+          Start indices of the matrices Q_k in the one-dimensional
+          array Q.
+          This array is not referenced if COMPQ = 'N'.
+
+  M       (output) INTEGER
+          The number of selected core eigenvalues which were
+          reordered to the top of T22_k.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance parameter c. The weak and strong stability
+          tests performed for checking the reordering use a
+          threshold computed by the formula  MAX(c*EPS*NRM, SMLNUM),
+          where NRM is the varying Frobenius norm of the matrices
+          formed by concatenating K pairs of adjacent diagonal
+          blocks of sizes 1 and/or 2 in the T22_k submatrices from
+          (2), which are swapped, and EPS and SMLNUM are the machine
+          precision and safe minimum divided by EPS, respectively
+          (see LAPACK Library routine DLAMCH). The value c should
+          normally be at least 10.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*K)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 10*K + MN, if all blocks involved in reordering
+                               have order 1;
+          LDWORK &gt;= 25*K + MN, if there is at least a block of
+                               order 2, but no adjacent blocks of
+                               order 2 are involved in reordering;
+          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if there is at least
+                               a pair of adjacent blocks of order 2
+                               involved in reordering;
+          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
+          MXN = MAX(N(k),k=1,...,K).
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reordering of T failed because some eigenvalues
+                are too close to separate (the problem is very ill-
+                conditioned); T may have been partially reordered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An adaptation of the LAPACK Library routine DTGSEN is used.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            KMAX, NMAX
+      PARAMETER          ( KMAX = 6, NMAX = 50 )
+      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
+      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                     LDQ2 = NMAX,
+     $                     LDWORK = MAX( 42*KMAX + NMAX, 80*KMAX - 48,
+     $                                   KMAX + MAX( 2*NMAX, 8*KMAX ) ),
+     $                     LIWORK = MAX( 4*KMAX, 2*KMAX + NMAX ) )
+      DOUBLE PRECISION   HUND, ZERO
+      PARAMETER          ( HUND = 1.0D2, ZERO = 0.0D0 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, DEFL, JOB, STRONG
+      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, M, N, P
+      DOUBLE PRECISION   TOL
+*
+*     .. Local Arrays ..
+      LOGICAL            SELECT( NMAX )
+      INTEGER            IWORK( LIWORK ), IXQ( KMAX ), IXT( KMAX ),
+     $                   LDQ( KMAX ), LDT( KMAX ), ND( KMAX ),
+     $                   NI( KMAX ), QIND( KMAX ), S( KMAX ),
+     $                   SCAL( NMAX )
+      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
+     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
+     $                   Q( LDQ1, LDQ2, KMAX ), QK( NMAX*NMAX*KMAX ),
+     $                   T( NMAX*NMAX*KMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           DLACPY, MB03BD, MB03KD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          INT, MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, STRONG, K, N, H, ILO, IHI
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         TOL = HUND
+         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
+         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
+     $                                I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'U' ) )
+     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
+     $                                   I = 1, N ), L = 1, K )
+         IF( LSAME( COMPQ, 'P' ) ) THEN
+            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
+            DO 10 L = 1, K
+               IF( QIND( L ).GT.0 )
+     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
+     $                                    J = 1, N ), I = 1, N )
+   10       CONTINUE
+         END IF
+         IF( LSAME( JOB, 'E' ) )
+     $      JOB = 'S'
+*        Compute the eigenvalues and the transformed matrices.
+         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
+     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
+     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE IF( IWARN.EQ.0 ) THEN
+*           Prepare the data for calling MB03KD, which uses different
+*           data structures and reverse ordering of the factors.
+            DO 20 L = 1, K
+               ND(  L ) = MAX( 1, N )
+               NI(  L ) = 0
+               LDT( L ) = MAX( 1, N )
+               IXT( L ) = ( L - 1 )*LDT( L )*N + 1
+               LDQ( L ) = MAX( 1, N )
+               IXQ( L ) = IXT( L )
+               IF( L.LE.INT( K/2 ) ) THEN
+                  I = S( K - L + 1 )
+                  S( K - L + 1 ) = S( L )
+                  S( L ) = I
+               END IF
+   20       CONTINUE
+            DO 30 L = 1, K
+               CALL DLACPY( 'Full', N, N, A( 1, 1, K-L+1 ), LDA1,
+     $                      T( IXT( L ) ), LDT( L ) )
+   30       CONTINUE
+            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
+               COMPQ = 'U'
+               DO 40 L = 1, K
+                  CALL DLACPY( 'Full', N, N, Q( 1, 1, K-L+1 ), LDQ1,
+     $                         QK( IXQ( L ) ), LDQ( L ) )
+   40          CONTINUE
+            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
+               COMPQ = 'W'
+               DO 50 L = 1, K
+                  IF( QIND( L ).LT.0 )
+     $                QIND( L ) = 2
+                  P = QIND( L )
+                  IF( P.NE.0 )
+     $               CALL DLACPY( 'Full', N, N, Q( 1, 1, K-P+1 ), LDQ1,
+     $                            QK( IXQ( P ) ), LDQ( P ) )
+   50          CONTINUE
+            END IF
+*           Select eigenvalues with negative real part.
+            DO 60 I = 1, N
+               SELECT( I ) = ALPHAR( I ).LT.ZERO
+   60       CONTINUE
+            WRITE( NOUT, FMT = 99996 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99994 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99991 ) (   SCAL( I ), I = 1, N )
+*           Compute the transformed matrices, after reordering the
+*           eigenvalues.
+            CALL MB03KD( COMPQ, QIND, STRONG, K, N, H, ND, NI, S,
+     $                   SELECT, T, LDT, IXT, QK, LDQ, IXQ, M, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+            IF( INFO.NE.0 ) THEN
+               WRITE( NOUT, FMT = 99990 ) INFO
+            ELSE
+               WRITE( NOUT, FMT = 99989 )
+               DO 80 L = 1, K
+                  P = K - L + 1
+                  WRITE( NOUT, FMT = 99988 ) L
+                  DO 70 I = 1, N
+                     WRITE( NOUT, FMT = 99995 )
+     $                    ( T( IXT( P ) + I - 1 + ( J - 1 )*LDT( P ) ),
+     $                       J = 1, N )
+   70             CONTINUE
+   80          CONTINUE
+               IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
+                  WRITE( NOUT, FMT = 99987 )
+                  DO 100 L = 1, K
+                     P = K - L + 1
+                     WRITE( NOUT, FMT = 99988 ) L
+                     DO 90 I = 1, N
+                        WRITE( NOUT, FMT = 99995 )
+     $                       ( QK( IXQ( P ) + I - 1 +
+     $                           ( J - 1 )*LDQ( P ) ), J = 1, N )
+   90                CONTINUE
+  100             CONTINUE
+               ELSE IF( LSAME( COMPQ, 'W' ) ) THEN
+                  WRITE( NOUT, FMT = 99987 )
+                  DO 120 L = 1, K
+                     IF( QIND( L ).GT.0 ) THEN
+                        P = K - QIND( L ) + 1
+                        WRITE( NOUT, FMT = 99988 ) QIND( L )
+                        DO 110 I = 1, N
+                           WRITE( NOUT, FMT = 99995 )
+     $                          ( QK( IXQ( P ) + I - 1 +
+     $                              ( J - 1 )*LDQ( P ) ), J = 1, N )
+  110                   CONTINUE
+                     END IF
+  120             CONTINUE
+               END IF
+            END IF
+         ELSE
+            WRITE( NOUT, FMT = 99979 ) IWARN
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03KD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
+99996 FORMAT( 'The vector ALPHAR is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The vector ALPHAI is ' )
+99993 FORMAT( 'The vector BETA is ' )
+99992 FORMAT( 'The vector SCAL is ' )
+99991 FORMAT( 50( 1X, I5 ) )
+99990 FORMAT( 'INFO on exit from MB03KD = ', I2 )
+99989 FORMAT( 'The matrix A on exit is ' )
+99988 FORMAT( 'The factor ', I2, ' is ' )
+99987 FORMAT( 'The matrix Q on exit is ' )
+99986 FORMAT( 'LDT', 3I5 )
+99985 FORMAT( 'IXT', 3I5 )
+99984 FORMAT( 'LDQ', 3I5 )
+99983 FORMAT( 'IXQ', 3I5 )
+99982 FORMAT( 'ND' , 3I5 )
+99981 FORMAT( 'NI' , 3I5)
+99980 FORMAT( 'SELECT', 3L5 )
+99979 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03KD EXAMPLE PROGRAM DATA
+   S   C   I   N   3   3   2   1   3
+  -1     1    -1
+   2.0   0.0   1.0
+   0.0  -2.0  -1.0
+   0.0   0.0   3.0
+   1.0   2.0   0.0
+   4.0  -1.0   3.0
+   0.0   3.0   1.0
+   1.0   0.0   1.0
+   0.0   4.0  -1.0
+   0.0   0.0  -2.0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03KD EXAMPLE PROGRAM RESULTS
+The vector ALPHAR is 
+   0.3230   0.3230  -0.8752
+The vector ALPHAI is 
+   0.5694  -0.5694   0.0000
+The vector BETA is 
+   1.0000   1.0000   1.0000
+The vector SCAL is 
+     0     0    -1
+The matrix A on exit is 
+The factor  1 is 
+   2.5997  -0.0087   1.6898
+   0.0000   1.9846   0.1942
+   0.0000   0.0000   2.3259
+The factor  2 is 
+  -2.0990  -1.0831  -2.5601
+   0.0000   3.4838   0.2950
+   0.0000   3.4552  -2.1690
+The factor  3 is 
+   1.8451   0.9260   1.2717
+   0.0000   1.3976  -2.3544
+   0.0000   0.0000  -3.1023
+The matrix Q on exit is 
+The factor  1 is 
+  -0.2052   0.4647  -0.8614
+   0.2033   0.8811   0.4270
+  -0.9574   0.0875   0.2753
+The factor  2 is 
+  -0.7743  -0.1384   0.6176
+   0.6070  -0.4386   0.6627
+   0.1791   0.8880   0.4236
+The factor  3 is 
+  -0.6714   0.7225  -0.1651
+  -0.3658  -0.5168  -0.7740
+  -0.6446  -0.4593   0.6112
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03KE.html b/doc/_static/doc/MB03KE.html
new file mode 100644
index 00000000..d288c475
--- /dev/null
+++ b/doc/_static/doc/MB03KE.html
@@ -0,0 +1,191 @@
+<HTML>
+<HEAD><TITLE>MB03KE - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03KE">MB03KE</A></H2>
+<H3>
+Solving periodic Sylvester-like equations with matrices of order at most 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve small periodic Sylvester-like equations (PSLE)
+
+   op(A(i))*X( i ) + isgn*X(i+1)*op(B(i)) = -scale*C(i), S(i) =  1,
+   op(A(i))*X(i+1) + isgn*X( i )*op(B(i)) = -scale*C(i), S(i) = -1.
+
+  i = 1, ..., K, where op(A) means A or A**T, for the K-periodic
+  matrix sequence X(i) = X(i+K), where A, B and C are K-periodic
+  matrix sequences and A and B are in periodic real Schur form. The
+  matrices A(i) are M-by-M and B(i) are N-by-N, with 1 &lt;= M, N &lt;= 2.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03KE( TRANA, TRANB, ISGN, K, M, N, PREC, SMIN, S, A,
+     $                   B, C, SCALE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            TRANA, TRANB
+      INTEGER            INFO, ISGN, K, LDWORK, M, N
+      DOUBLE PRECISION   PREC, SCALE, SMIN
+C     .. Array Arguments ..
+      INTEGER            S( * )
+      DOUBLE PRECISION   A( * ), B( * ), C( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   LOGICAL
+          Specifies the form of op(A) to be used, as follows:
+          = .FALSE.:  op(A) = A,
+          = .TRUE. :  op(A) = A**T.
+
+  TRANB   LOGICAL
+          Specifies the form of op(B) to be used, as follows:
+          = .FALSE.:  op(B) = B,
+          = .TRUE. :  op(B) = B**T.
+
+  ISGN    INTEGER
+          Specifies which sign variant of the equations to solve.
+          ISGN = 1 or ISGN = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The period of the periodic matrix sequences A, B, C and X.
+          K &gt;= 2. (For K = 1, a standard Sylvester equation is
+          obtained.)
+
+  M       (input) INTEGER
+          The order of the matrices A(i) and the number of rows of
+          the matrices C(i) and X(i), i = 1, ..., K.  1 &lt;= M &lt;= 2.
+
+  N       (input) INTEGER
+          The order of the matrices B(i) and the number of columns
+          of the matrices C(i) and X(i), i = 1, ..., K.
+          1 &lt;= N &lt;= 2.
+
+  PREC    (input) DOUBLE PRECISION
+          The relative machine precision. See the LAPACK Library
+          routine DLAMCH.
+
+  SMIN    (input) DOUBLE PRECISION
+          The machine safe minimum divided by PREC.
+
+  S       (input) INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures (exponents) of the factors in the K-periodic
+          matrix sequences for A and B. Each entry in S must be
+          either 1 or -1. Notice that it is assumed that the same
+          exponents are tied to both A and B on reduction to the
+          periodic Schur form.
+
+  A       (input) DOUBLE PRECISION array, dimension (M*M*K)
+          On entry, this array must contain the M-by-M matrices
+          A(i), for i = 1, ..., K, stored with the leading dimension
+          M. Matrix A(i) is stored starting at position M*M*(i-1)+1.
+
+  B       (input) DOUBLE PRECISION array, dimension (N*N*K)
+          On entry, this array must contain the N-by-N matrices
+          B(i), for i = 1, ..., K, stored with the leading dimension
+          N. Matrix B(i) is stored starting at position N*N*(i-1)+1.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (M*N*K)
+          On entry, this array must contain the M-by-N matrices
+          C(i), for i = 1, ..., K, stored with the leading dimension
+          M. Matrix C(i) is stored starting at position M*N*(i-1)+1.
+          On exit, the matrices C(i) are overwritten by the solution
+          sequence X(i).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          avoid overflow in X.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= (4*K-3) * (M*N)**2 + K * M*N.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -21, then LDWORK is too small; appropriate
+                value for LDWORK is returned in DWORK(1); the other
+                arguments are not tested, for efficiency;
+          = 1:  the solution would overflow with scale = 1, so
+                SCALE was set less than 1. This is a warning, not
+                an error.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A version of the algorithm described in [1] is used. The routine
+  uses a sparse Kronecker product representation Z of the PSLE and
+  solves for X(i) from an associated linear system Z*x = c using
+  structured (overlapping) variants of QR factorization and backward
+  substitution.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Granat, R., Kagstrom, B. and Kressner, D.
+      Computing periodic deflating subspaces associated with a
+      specified set of eigenvalues.
+      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03LD.html b/doc/_static/doc/MB03LD.html
new file mode 100644
index 00000000..bf084b90
--- /dev/null
+++ b/doc/_static/doc/MB03LD.html
@@ -0,0 +1,491 @@
+<HTML>
+<HEAD><TITLE>MB03LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LD">MB03LD</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the relevant eigenvalues of a real N-by-N skew-
+  Hamiltonian/Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ),                           (1)
+        (  E  A' )         (  G -B' )
+
+  where the notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'C', an orthogonal basis of the right
+  deflating subspace of aS - bH corresponding to the eigenvalues
+  with strictly negative real part is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LIWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N':  do not compute the deflating subspace;
+          = 'C':  compute the deflating subspace and store it in the
+                  leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthogonal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix Aout
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix A obtained just before the application of the
+          periodic QZ algorithm (see SLICOT Library routine MB04BD).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-symmetric matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of the
+          skew-symmetric matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper quasi-triangular matrix C2out (see
+          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
+          of the submatrix in the columns 3 to N/2+1 of this array
+          contains the strictly upper triangular part of the
+          skew-symmetric matrix Dout (see METHOD), without the main
+          diagonal, which is zero.
+          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper Hessenberg matrix C2, and the
+          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
+          in the columns 3 to N/2+1 of this array contains the
+          strictly upper triangular part of the skew-symmetric
+          matrix D (without the main diagonal) just before the
+          application of the periodic QZ algorithm.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix C1out
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix C1 obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix F.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          the submatrix in the columns 2 to N/2+1 of this array
+          contains the matrix Vout (see METHOD); otherwise, it
+          contains the matrix V obtained just before the application
+          of the periodic QZ algorithm.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the right
+          deflating subspace corresponding to the eigenvalues of
+          aA - bB with strictly negative real part. The remaining
+          part of this array is used as workspace.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = -19, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
+          LIWORK &gt;= MAX( N + 12, 2*N + 3 ),     if COMPQ = 'N',
+          LIWORK &gt;= MAX( 32, 2*N + 3 ),         if COMPQ = 'C'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
+          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
+                                                     if COMPQ = 'N',
+          where     L = 4*N + 4, if N/2 is even, and
+                    L = 4*N    , if N/2 is odd; 
+          LDWORK &gt;= 8*N**2 + MAX( 8*N + 32, 272 ),   if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: periodic QZ iteration failed in the SLICOT Library
+               routines MB04BD or MB04HD (QZ iteration did not
+               converge or computation of the shifts failed);
+          = 2: standard QZ iteration failed in the SLICOT Library
+               routines MB04HD or MB03DD (called by MB03JD);
+          = 3: a numerically singular matrix was found in the SLICOT
+               Library routine MB03HD (called by MB03JD);
+          = 4: the singular value decomposition failed in the LAPACK
+               routine DGESVD (for ORTH = 'S');
+          = 5: some eigenvalues might be inaccurate. This is a
+               warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the decompositions of S and H are computed via orthogonal
+  transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        ),
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric.
+
+  Then, orthogonal matrices Q3 and Q4 are found, for the extended
+  matrices
+
+         (  Aout   0  )          (    0   C1out )
+    Se = (            ) and He = (              ),
+         (   0   Bout )          ( -C2out   0   )
+
+  such that S11 := Q4' Se Q3 is upper triangular and
+  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
+  are computed:
+
+               (  Dout   0  )                   (   0   Vout )
+    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
+               (   0   Fout )                   ( Vout'   0  )
+
+  Then, an orthogonal matrix Q is found such that the eigenvalues
+  with strictly negative real parts of the pencil
+
+      (  S11  S12  )     (  H11  H12  )
+    a (            ) - b (            )
+      (   0   S11' )     (   0  -H11' )
+
+  are moved to the top of this pencil.
+
+  Finally, an orthogonal basis of the right deflating subspace
+  corresponding to the eigenvalues with strictly negative real part
+  is computed. See also page 12 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03LD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LIWORK
+      PARAMETER          (  LDA = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
+     $                     LDFG = NMAX/2, LDQ = 2*NMAX,
+     $                     LDWORK = 8*NMAX*NMAX +
+     $                              MAX( 8*NMAX + 32, NMAX/2 + 168,
+     $                                   272 ),
+     $                     LIWORK = MAX( 32, NMAX + 12, NMAX*2 + 3 ) )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            I, INFO, J, M, N, NEIG
+*
+*     .. Local Arrays ..
+      LOGICAL            BWORK( NMAX/2 )
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
+     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
+     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
+     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, 2*NMAX )
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03LD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, ORTH, N
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues and an orthogonal basis of the right
+*        deflating subspace of a real skew-Hamiltonian/Hamiltonian
+*        pencil, corresponding to the eigenvalues with strictly negative
+*        real part.
+         CALL MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                LIWORK, DWORK, LDWORK, BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, M+1 )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
+   30       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            DO 40 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 2, M+1 )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99989 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99988 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   50          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB03LD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB03LD = ', I2 )
+99996 FORMAT( 'The matrix A on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix DE on exit is ' )
+99993 FORMAT( 'The matrix C1 on exit is ' )
+99992 FORMAT( 'The matrix V on exit is ' )
+99991 FORMAT( 'The vector ALPHAR is ' )
+99990 FORMAT( 'The vector ALPHAI is ' )
+99989 FORMAT( 'The vector BETA is ' )
+99988 FORMAT( 'The matrix Q is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03LD EXAMPLE PROGRAM DATA
+   C   P   8
+   3.1472   1.3236   4.5751   4.5717
+   4.0579  -4.0246   4.6489  -0.1462
+  -3.7301  -2.2150  -3.4239   3.0028
+   4.1338   0.4688   4.7059  -3.5811
+   0.0000   0.0000  -1.5510  -4.5974  -2.5127
+   3.5071   0.0000   0.0000   1.5961   2.4490  
+  -3.1428   2.5648   0.0000   0.0000  -0.0596 
+   3.0340   2.4892  -1.1604   0.0000   0.0000
+   0.6882  -3.3782  -3.3435   1.8921
+  -0.3061   2.9428   1.0198   2.4815
+  -4.8810  -1.8878  -2.3703  -0.4946
+  -1.6288   0.2853   1.5408  -4.1618
+  -2.4013  -2.7102   0.3834  -3.9335   3.1730
+  -3.1815  -2.3620   4.9613   4.6190   3.6869
+   3.6929   0.7970   0.4986  -4.9537  -4.1556
+   3.5303   1.2206  -1.4905   0.1325  -1.0022
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03LD EXAMPLE PROGRAM RESULTS
+The matrix A on exit is 
+  -4.7460   4.1855   3.2696  -0.2244
+   0.0000   6.4157   2.8287   1.4553
+   0.0000   0.0000   7.4626   1.5726
+   0.0000   0.0000   0.0000   8.8702
+The matrix DE on exit is 
+  -5.4562   2.5550  -1.3137  -6.3615  -0.8940
+  -2.1348  -7.9616   0.0000   1.0704  -0.0659
+   4.9694   1.1516   4.8504   0.0000  -0.6922
+  -2.2744   3.4912   0.5046   4.4394   0.0000
+The matrix C1 on exit is 
+   6.9525  -4.9881   2.3661   4.2188
+   0.0000   8.5009   0.7182   5.5533
+   0.0000   0.0000  -4.6650  -2.8177
+   0.0000   0.0000   0.0000   1.5124
+The matrix V on exit is 
+   0.9136   4.1106  -0.0079   3.5789
+  -1.1553  -1.4785  -1.5155  -0.8018
+  -2.2167   4.8029   1.3645   2.5202
+  -1.0994  -0.6144   0.3970   2.0730
+The vector ALPHAR is 
+   0.8314  -0.8314   0.8131   0.0000
+The vector ALPHAI is 
+   0.4372   0.4372   0.0000   0.9164
+The vector BETA is 
+   0.7071   0.7071   1.4142   2.8284
+The matrix Q is 
+  -0.5844  -0.2949   0.1692
+   0.5470  -0.2324  -0.4524
+   0.0382   0.4673  -0.3092
+  -0.0378   0.0904  -0.4451
+  -0.0255   0.1497  -0.1929
+  -0.1286  -0.6067  -0.2275
+  -0.2260   0.4901   0.0951
+   0.5367  -0.0430   0.6123
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03LF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LF">MB03LF</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the relevant eigenvalues of a real N-by-N skew-
+  Hamiltonian/Hamiltonian pencil aS - bH, with
+
+                                (  B  F  )      (  0  I  )
+    S = T Z = J Z' J' Z and H = (        ), J = (        ),      (1)
+                                (  G -B' )      ( -I  0  )
+
+  where the notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'C', an orthogonal basis of the right
+  deflating subspace of aS - bH corresponding to the eigenvalues
+  with strictly negative real part is computed. Optionally, if
+  COMPU = 'C', an orthonormal basis of the companion subspace,
+  range(P_U) [1], which corresponds to the eigenvalues with strictly
+  negative real part, is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
+     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, BWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            INFO, IWARN, LDB, LDFG, LDQ, LDU, LDWORK, LDZ,
+     $                   LIWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
+     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
+     $                   Q( LDQ, * ), U( LDU, * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N':  do not compute the deflating subspace;
+          = 'C':  compute the deflating subspace and store it in the
+                  leading subarray of Q.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the companion subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the companion subspace;
+          = 'C': compute the companion subspace and store it in the
+                 leading subarray of U.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C' and/or COMPU = 'C', specifies the technique
+          for computing the orthogonal basis of the deflating
+          subspace, and/or of the companion subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
+          used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the non-trivial factor Z in the factorization
+          S = J Z' J' Z of the skew-Hamiltonian matrix S.
+          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
+          N-by-N part of this array contains the transformed upper
+                            ~
+          triangular matrix Z11 (see METHOD), after moving the
+          eigenvalues with strictly negative real part to the top
+          of the pencil (3). The strictly lower triangular part is
+          not zeroed.
+          If COMPQ = 'N' and COMPU = 'N', the leading N-by-N part of
+          this array contains the matrix Z obtained by the SLICOT
+          Library routine MB04AD just before the application of the
+          periodic QZ algorithm. The elements of the (2,1) block,
+          i.e., in the rows N/2+1 to N and in the columns 1 to N/2
+          are not set to zero, but are unchanged on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input) DOUBLE PRECISION array, dimension (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix F.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
+          in aS - bH with strictly negative real part.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the right
+          deflating subspace corresponding to the eigenvalues of
+          aS - bH with strictly negative real part. The remaining
+          part of this array is used as workspace.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU, 2*N)
+          On exit, if COMPU = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the companion
+          subspace corresponding to the eigenvalues of aS - bH with
+          strictly negative real part. The remaining part of this
+          array is used as workspace.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,         if COMPU = 'N';
+          LDU &gt;= MAX(1, N), if COMPU = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = -20, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= N + 18,      if COMPQ = 'N' and COMPU = 'N';
+          LIWORK &gt;= MAX( 2*N+1, 48 ), otherwise.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -22, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= b*N*N + 3*N*N/2 + MAX( 6*N, 54 ),
+                                    if COMPQ = 'N' and COMPU = 'N';
+          LDWORK &gt;= d*N*N + MAX( N/2+252, 432 ), otherwise, where
+                    b = a,   d = c,   if COMPU = 'N',
+                    b = a+1, d = c+1, if COMPU = 'C', and
+                    a = 2,   c = 7,   if COMPQ = 'N',
+                    a = 4,   c = 10,  if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0: no warning;
+          = 1: some eigenvalues might be unreliable. More details
+               can be obtained by running the SLICOT routine MB04AD.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: periodic QZ iteration failed in the SLICOT Library
+               routines MB04AD, MB04CD or MB03BB (QZ iteration did
+               not converge or computation of the shifts failed);
+          = 2: standard QZ iteration failed in the SLICOT Library
+               routines MB04CD or MB03CD (called by MB03ID);
+          = 3: a numerically singular matrix was found in the SLICOT
+               Library routine MB03GD (called by MB03ID);
+          = 4: the singular value decomposition failed in the LAPACK
+               routine DGESVD (for ORTH = 'S').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the decompositions of S and H are computed via orthogonal
+  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2,
+  such that
+
+                                ( T11  T12 )
+    Q1' T U1 = Q1' J Z' J' U1 = (          ),
+                                (  0   T22 )
+
+               ( Z11  Z12 )
+    U2' Z Q2 = (          ),                                     (2)
+               (  0   Z22 )
+
+               ( H11  H12 )
+    Q1' H Q2 = (          ),
+               (  0   H22 )
+
+  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
+  upper quasi-triangular.
+
+  Then, orthogonal matrices Q3, Q4 and U3 are found, for the
+  matrices
+
+    ~     ( T22'  0  )  ~     ( T11'  0  )  ~   (   0   H11 )
+    Z11 = (          ), Z22 = (          ), H = (           ),
+          (  0   Z11 )        (  0   Z22 )      ( -H22'  0  )
+
+            ~          ~       ~          ~
+  such that Z11 := U3' Z11 Q4, Z22 := U3' Z22 Q3 are upper
+                 ~          ~
+  triangular and H11 := Q3' H Q4 is upper quasi-triangular. The
+  following matrices are computed:
+
+    ~          ( -T12'  0  )        ~          (  0   H12 )
+    Z12 := U3' (           ) Q3 and H12 := Q3' (          ) Q3.
+               (  0    Z12 )                   ( H12'  0  )
+
+  Then, an orthogonal matrix Q and an orthogonal symplectic matrix U
+  are found such that the eigenvalues with strictly negative real
+  parts of the pencil
+
+          ~    ~          ~    ~           ~    ~
+        ( Z11  Z12 )'   ( Z11  Z12 )     ( H11  H12  )
+    a J (      ~   ) J' (      ~   ) - b (      ~    )           (3)
+        (  0   Z22 )    (  0   Z22 )     (  0  -H11' )
+
+  are moved to the top of this pencil.
+
+  Finally, an orthogonal basis of the right deflating subspace
+  and an orthogonal basis of the companion subspace corresponding to
+  the eigenvalues with strictly negative real part are computed.
+  See also page 11 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03LF EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDB, LDFG, LDQ, LDU, LDWORK, LDZ, LIWORK
+      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2, LDQ = 2*NMAX,
+     $                     LDU = NMAX,   LDZ  = NMAX,
+     $                     LDWORK = 10*NMAX*NMAX +
+     $                              MAX( NMAX*NMAX +
+     $                                   MAX( NMAX/2 + 252, 432 ),
+     $                                   MAX( 8*NMAX +  48, 171 ) ),
+     $                     LIWORK = MAX( NMAX + 18, NMAX/2 + 48,
+     $                                   5*NMAX/2 + 1 ) )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, ORTH
+      INTEGER            I, INFO, IWARN, J, M, N, NEIG
+*
+*     .. Local Arrays ..
+      LOGICAL            BWORK( NMAX/2 )
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX/2 ),  ALPHAR( NMAX/2 ),
+     $                   B( LDB, NMAX/2 ),    BETA( NMAX/2 ),
+     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
+     $                   Z( LDZ, NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03LF
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues and orthogonal bases of the right
+*        deflating subspace and companion subspace of a real
+*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
+*        eigenvalues with strictly negative real part.
+         CALL MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI, BETA, IWORK,
+     $                LIWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   20          CONTINUE
+            END IF
+            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
+   30          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
+     $         WRITE( NOUT, FMT = 99989 ) NEIG
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( 'MB03LF EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB03LF = ', I2 )
+99996 FORMAT (/'The matrix Z on exit is ' )
+99995 FORMAT ( 50( 1X, F8.4 ) )
+99994 FORMAT (/'The vector ALPHAR is ' )
+99993 FORMAT (/'The vector ALPHAI is ' )
+99992 FORMAT (/'The vector BETA is ' )
+99991 FORMAT (/'The deflating subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99990 FORMAT (/'The companion subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99989 FORMAT (/'The number of eigenvalues in the initial pencil with ',
+     $         'negative real part is ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03LF EXAMPLE PROGRAM DATA
+   C   C   P   8
+   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
+   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
+  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
+   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
+   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
+  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
+  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
+   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
+   0.6882  -3.3782  -3.3435   1.8921
+  -0.3061   2.9428   1.0198   2.4815
+  -4.8810  -1.8878  -2.3703  -0.4946
+  -1.6288   0.2853   1.5408  -4.1618
+  -2.4013  -2.7102   0.3834  -3.9335   3.1730
+  -3.1815  -2.3620   4.9613   4.6190   3.6869
+   3.6929   0.7970   0.4986  -4.9537  -4.1556
+   3.5303   1.2206  -1.4905   0.1325  -1.0022
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03LF EXAMPLE PROGRAM RESULTS
+
+The matrix Z on exit is 
+   4.4128   0.1059  -1.8709   1.2963  -4.3448   2.7633   2.3580   2.1931
+   0.0000  10.0337  -1.9797   1.8052  -1.0112   1.1335   1.2374   0.3107
+   0.0000   0.0000   8.9476   1.8523  -1.8578  -0.5807  -1.4157   1.3007
+   0.0000   0.0000   0.0000  -7.0889  -2.1193  -2.1634  -2.4393   0.1148
+   0.0765   1.0139   0.0000  -1.5390  -8.3187  -5.0172   0.7738  -2.8626
+   1.1884  -0.9225   0.0000   0.2905   0.0000   6.4090   2.1994  -2.5933
+  -0.5931   0.1981   0.0000  -0.5280   0.0000   0.0000   4.7155   2.3817
+   1.8591  -1.8416   0.0000  -0.0807   0.0000   0.0000   0.0000  -5.3153
+
+The vector ALPHAR is 
+   0.7353   0.0000   0.5168  -0.5168
+
+The vector ALPHAI is 
+   0.0000   0.7190   0.5610   0.5610
+
+The vector BETA is 
+   2.0000   2.8284  11.3137  11.3137
+
+The deflating subspace corresponding to the eigenvalues with negative real part is 
+  -0.2509   0.3670   0.0416
+  -0.3267  -0.7968  -0.1019
+   0.0263   0.0338  -0.5795
+  -0.0139  -0.0491  -0.5217
+  -0.4637   0.2992  -0.4403
+  -0.1345   0.3071  -0.0917
+  -0.1364   0.2013   0.3447
+  -0.7601  -0.0495   0.2426
+
+The companion subspace corresponding to the eigenvalues with negative real part is 
+  -0.3219   0.6590   0.1693
+  -0.5216  -0.1829  -0.0689
+  -0.0413  -0.4664  -0.1359
+   0.1310  -0.1702   0.4543
+  -0.3598   0.2660   0.3355
+  -0.5082  -0.0512  -0.6035
+  -0.3582  -0.4513   0.4649
+   0.2991   0.0932  -0.2207
+
+The number of eigenvalues in the initial pencil with negative real part is  3
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03LP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LP">MB03LP</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the relevant eigenvalues of a real N-by-N skew-
+  Hamiltonian/Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ),                           (1)
+        (  E  A' )         (  G -B' )
+
+  where the notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'C', an orthogonal basis of the right
+  deflating subspace of aS - bH corresponding to the eigenvalues
+  with strictly negative real part is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LIWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the right deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N':  do not compute the deflating subspace;
+          = 'C':  compute the deflating subspace and store it in the
+                  leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthogonal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix Aout
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix A obtained just before the application of the
+          periodic QZ algorithm (see SLICOT Library routine MB04BP).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-symmetric matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of the
+          skew-symmetric matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper quasi-triangular matrix C2out (see
+          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
+          of the submatrix in the columns 3 to N/2+1 of this array
+          contains the strictly upper triangular part of the
+          skew-symmetric matrix Dout (see METHOD), without the main
+          diagonal, which is zero.
+          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
+          triangular part and the first superdiagonal contain the
+          transpose of the upper Hessenberg matrix C2, and the
+          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
+          in the columns 3 to N/2+1 of this array contains the
+          strictly upper triangular part of the skew-symmetric
+          matrix D (without the main diagonal) just before the
+          application of the periodic QZ algorithm.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          this array contains the upper triangular matrix C1out
+          (see METHOD); otherwise, it contains the upper triangular
+          matrix C1 obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix F.
+          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
+          the submatrix in the columns 2 to N/2+1 of this array
+          contains the matrix Vout (see METHOD); otherwise, it
+          contains the matrix V obtained just before the application
+          of the periodic QZ algorithm.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthogonal basis of the right
+          deflating subspace corresponding to the eigenvalues of
+          aA - bB with strictly negative real part. The remaining
+          part of this array is used as workspace.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = -19, IWORK(1) returns the minimum value
+          of LIWORK.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
+          LIWORK &gt;= MAX( N + 12, 2*N + 3 ), if COMPQ = 'N',
+          LIWORK &gt;= MAX( 32, 6*N - 3 ),     if COMPQ = 'C'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
+          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
+                                                     if COMPQ = 'N',
+          where     L = 4*N + 4, if N/2 is even, and
+                    L = 4*N    , if N/2 is odd; 
+          LDWORK &gt;= 8*N**2 + MAX( 13*N + 32, 272 ),  if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: periodic QZ iteration failed in the SLICOT Library
+               routines MB04BP or MB04HD (QZ iteration did not
+               converge or computation of the shifts failed);
+          = 2: standard QZ iteration failed in the SLICOT Library
+               routines MB04HD or MB03DD (called by MB03JP);
+          = 3: a numerically singular matrix was found in the SLICOT
+               Library routine MB03HD (called by MB03JP);
+          = 4: the singular value decomposition failed in the LAPACK
+               routine DGESVD (for ORTH = 'S');
+          = 5: some eigenvalues might be inaccurate. This is a
+               warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the decompositions of S and H are computed via orthogonal
+  transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        ),
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric.
+
+  Then, orthogonal matrices Q3 and Q4 are found, for the extended
+  matrices
+
+         (  Aout   0  )          (    0   C1out )
+    Se = (            ) and He = (              ),
+         (   0   Bout )          ( -C2out   0   )
+
+  such that S11 := Q4' Se Q3 is upper triangular and
+  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
+  are computed:
+
+               (  Dout   0  )                   (   0   Vout )
+    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
+               (   0   Fout )                   ( Vout'   0  )
+
+  Then, an orthogonal matrix Q is found such that the eigenvalues
+  with strictly negative real parts of the pencil
+
+      (  S11  S12  )     (  H11  H12  )
+    a (            ) - b (            )
+      (   0   S11' )     (   0  -H11' )
+
+  are moved to the top of this pencil.
+
+  Finally, an orthogonal basis of the right deflating subspace
+  corresponding to the eigenvalues with strictly negative real part
+  is computed. See also page 12 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03LZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03LZ">MB03LZ</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  G -B' )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+  skew-Hamiltonian pencil aB_S - bB_T, defined as
+
+          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
+          (                 |                 )
+          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
+          (                 |                 )
+    B_S = (-----------------+-----------------) , and
+          (                 |                 )
+          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
+          (                 |                 )
+          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |                 )
+          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
+          (                 |                 )
+          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
+
+  is determined and used to compute the eigenvalues. The notation M'
+  denotes the conjugate transpose of the matrix M. Optionally,
+  if COMPQ = 'C', an orthonormal basis of the right deflating
+  subspace of the pencil aS - bH, corresponding to the eigenvalues
+  with strictly negative real part, is computed. Namely, after
+  transforming aB_S - bB_H by unitary matrices, we have
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Sout = (         ) and B_Hout = (         ),               (3)
+             (  0  BA' )              (  0 -BB' )
+
+  and the eigenvalues with strictly negative real part of the
+  complex pencil aB_Sout - bB_Hout are moved to the top. The
+  embedding doubles the multiplicities of the eigenvalues of the
+  pencil aS - bH.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LZWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the deflating subspace; compute the
+                 eigenvalues only;
+          = 'C': compute the deflating subspace and store it in the
+                 leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthonormal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; it is preserved in the leading N/2-by-N/2 part.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of
+          the skew-Hermitian matrix D.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the skew-Hermitian matrix BD in (3) (see
+          also METHOD). The strictly lower triangular part of the
+          input matrix is preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; the elements below the first subdiagonal of the
+          input matrix are preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the right
+          deflating subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part.
+          The remaining entries are meaningless.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -20, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
+          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -22, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,       if COMPQ = 'N';
+          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0,     if COMPQ = 'N';
+          LBWORK &gt;= N - 1, if COMPQ = 'C'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the SLICOT Library routine
+               MB04FD (QZ iteration did not converge or computation
+               of the shifts failed);
+          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
+               trying to triangularize the 2-by-2 blocks;
+          = 3: the singular value decomposition failed in the LAPACK
+               routine ZGESVD (for ORTH = 'S');
+          = 4: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04FD is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~                     (  S11  S12  )
+  B_S = J Q' J' B_S Q = (            ) and
+                        (   0   S11' )
+
+  ~                     (  T11  T12  )           (  0  I  )
+  B_T = J Q' J' B_T Q = (            ), with J = (        ),
+                        (   0   T11' )           ( -I  0  )
+
+  where Q is real orthogonal, S11 is upper triangular, and T11 is
+  upper quasi-triangular.
+
+  Second, the SLICOT Library routine MB03JZ is applied, to compute a
+                 ~
+  unitary matrix Q, such that
+
+                     ~    ~
+    ~     ~   ~   (  S11  S12  )
+  J Q' J' B_S Q = (       ~    ) =: B_Sout,
+                  (   0   S11' )
+
+    ~        ~    ~   (  H11  H12  )
+  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
+                      (   0  -H11' )
+       ~                                               ~       ~
+  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
+  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
+                       ~
+  principal subpencil aS11 - bH11.
+
+  Finally, the right deflating subspace is computed.
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03LZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
+      PARAMETER          ( LDA = NMAX, LDB = NMAX, LDDE = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX,
+     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
+     $                     LZWORK =  8*NMAX + 4 )
+*
+*     .. Local Scalars ..
+      CHARACTER*1        COMPQ, ORTH
+      INTEGER            I, INFO, J, N, NEIG
+*
+*     .. Local Arrays ..
+      COMPLEX*16         A( LDA, NMAX ), B( LDB, NMAX ),
+     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
+     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ), BETA( NMAX ),
+     $                   DWORK( LDWORK )
+      INTEGER            IWORK( NMAX + 1 )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB03LZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MOD
+*
+*     .. Executable statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*
+*     Skip first line in data file.
+*
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) COMPQ, ORTH, N
+      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+*        Compute the eigenvalues and an orthogonal basis of the right
+*        deflating subspace of a complex skew-Hamiltonian/Hamiltonian
+*        pencil, corresponding to the eigenvalues with strictly negative
+*        real part.
+         CALL MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( COMPQ, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
+   10          CONTINUE
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   40          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99991 )
+            WRITE( NOUT, FMT = 99990 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99989 )
+            WRITE( NOUT, FMT = 99990 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99990 ) (   BETA( I ), I = 1, N )
+            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
+               WRITE( NOUT, FMT = 99987 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
+   50          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) )
+     $         WRITE( NOUT, FMT = 99986 ) NEIG
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( 'MB03LZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB03LZ = ', I2 )
+99996 FORMAT (/'The matrix A on exit is ' )
+99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
+99994 FORMAT (/'The matrix D on exit is ' )
+99993 FORMAT (/'The matrix B on exit is ' )
+99992 FORMAT (/'The matrix F on exit is ' )
+99991 FORMAT ( 'The vector ALPHAR is ' )
+99990 FORMAT ( 50( 1X, F8.4 ) )
+99989 FORMAT (/'The vector ALPHAI is ' )
+99988 FORMAT (/'The vector BETA is ' )
+99987 FORMAT (/'The deflating subspace corresponding to the ',
+     $         'eigenvalues with negative real part is ' )
+99986 FORMAT (/'The number of eigenvalues in the initial pencil with ',
+     $         'negative real part is ', I2 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03LZ EXAMPLE PROGRAM DATA
+   C   P   4
+   (0.0604,0.6568)   (0.5268,0.2919)
+   (0.3992,0.6279)   (0.4167,0.4316)
+        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
+   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
+   (0.2691,0.4177)   (0.5478,0.3014)
+   (0.4228,0.9830)   (0.9427,0.7010)
+    0.6663            0.6981           (0.1781,0.8818)
+   (0.5391,0.1711)    0.6665            0.1280         
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03LZ EXAMPLE PROGRAM RESULTS
+
+The matrix A on exit is 
+    0.7430  +0.0000i    -0.1431  -0.1304i    -0.4169  -0.0495i     0.0650  -0.0262i 
+    0.3992  +0.6279i     0.7398  -1.2647i    -0.0861  -0.1075i     0.2826  +0.7725i 
+    0.0000  +0.0000i     0.0000  +0.0000i     1.4799  +0.1442i    -0.1094  -0.1061i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6816  +0.2278i 
+
+The matrix D on exit is 
+    0.0000  -0.6858i    -0.3122  -0.1018i    -0.7813  -0.4163i    -0.1343  +0.3259i 
+    0.9840  +0.3394i     0.0000  +0.1465i    -0.1678  +0.2971i    -0.0728  -0.6524i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0000  +0.2979i    -0.0728  +0.3971i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2414i 
+
+The matrix B on exit is 
+   -1.5832  +0.5069i    -0.0819  -0.1073i     0.7749  -0.0519i     0.0635  -0.0052i 
+    0.0000  +0.0000i    -0.1916  -0.0106i    -0.0074  +0.0165i    -0.1546  -0.6817i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0716  -0.1811i     0.3146  +0.1558i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -1.6078  -0.0203i 
+
+The matrix F on exit is 
+    0.3382   0.0000i    -0.0622  +0.8488i     0.0042  +0.9053i    -0.1584  +0.0726i 
+    0.5391  +0.1711i    -0.5888  +0.0000i     0.4089  +0.2018i    -0.6913  -0.5011i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.2712  +0.0000i     0.5114  +0.3726i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5218  +0.0000i 
+The vector ALPHAR is 
+  -1.5832   1.5832  -0.0842   0.0842
+
+The vector ALPHAI is 
+   0.5069   0.5069  -0.1642  -0.1642
+
+The vector BETA is 
+   0.7430   0.7430   1.4085   1.4085
+
+The deflating subspace corresponding to the eigenvalues with negative real part is 
+   -0.0793  -0.1949i     0.4845  -0.5472i 
+    0.4349  +0.1710i    -0.2878  +0.0952i 
+   -0.1266  +0.1505i     0.1364  -0.4776i 
+   -0.5035  +0.6671i     0.1628  +0.3174i 
+
+The number of eigenvalues in the initial pencil with negative real part is  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03MD.html b/doc/_static/doc/MB03MD.html
new file mode 100644
index 00000000..4ee71a9c
--- /dev/null
+++ b/doc/_static/doc/MB03MD.html
@@ -0,0 +1,319 @@
+<HTML>
+<HEAD><TITLE>MB03MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03MD">MB03MD</A></H2>
+<H3>
+Upper bound for L singular values of a bidiagonal matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an upper bound THETA using a bisection method such that
+  the bidiagonal matrix
+
+           |q(1) e(1)  0    ...   0   |
+           | 0   q(2) e(2)        .   |
+       J = | .                    .   |
+           | .                  e(N-1)|
+           | 0   ...        ...  q(N) |
+
+  has precisely L singular values less than or equal to THETA plus
+  a given tolerance TOL.
+
+  This routine is mainly intended to be called only by other SLICOT
+  routines.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IWARN, L, N
+      DOUBLE PRECISION  PIVMIN, RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E(*), E2(*), Q(*), Q2(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the bidiagonal matrix J.  N &gt;= 0.
+
+  L       (input/output) INTEGER
+          On entry, L must contain the number of singular values
+          of J which must be less than or equal to the upper bound
+          computed by the routine.  0 &lt;= L &lt;= N.
+          On exit, L may be increased if the L-th smallest singular
+          value of J has multiplicity greater than 1. In this case,
+          L is increased by the number of singular values of J which
+          are larger than its L-th smallest one and approach the
+          L-th smallest singular value of J within a distance less
+          than TOL.
+          If L has been increased, then the routine returns with
+          IWARN set to 1.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, THETA must contain an initial estimate for the
+          upper bound to be computed. If THETA &lt; 0.0 on entry, then
+          one of the following default values is used.
+          If L = 0, THETA is set to 0.0 irrespective of the input
+          value of THETA; if L = 1, then THETA is taken as
+          MIN(ABS(Q(i))), for i = 1,2,...,N; otherwise, THETA is
+          taken as ABS(Q(N-L+1)).
+          On exit, THETA contains the computed upper bound such that
+          the bidiagonal matrix J has precisely L singular values
+          less than or equal to THETA + TOL.
+
+  Q       (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements q(1),
+          q(2),...,q(N) of the bidiagonal matrix J. That is,
+          Q(i) = J(i,i) for i = 1,2,...,N.
+
+  E       (input) DOUBLE PRECISION array, dimension (N-1)
+          This array must contain the superdiagonal elements
+          e(1),e(2),...,e(N-1) of the bidiagonal matrix J. That is,
+          E(k) = J(k,k+1) for k = 1,2,...,N-1.
+
+  Q2      (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the squares of the diagonal
+          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
+          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
+
+  E2      (input) DOUBLE PRECISION array, dimension (N-1)
+          This array must contain the squares of the superdiagonal
+          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
+          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
+
+  PIVMIN  (input) DOUBLE PRECISION
+          The minimum absolute value of a "pivot" in the Sturm
+          sequence loop.
+          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
+          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
+          least the smallest number that can divide one without
+          overflow (see LAPACK Library routine DLAMCH).
+          Note that this condition is not checked by the routine.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width.  TOL &gt;= 0.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged.
+          RELTOL &gt;= BASE * EPS, where BASE is machine radix and EPS
+          is machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 1:  if the value of L has been increased as the L-th
+                smallest singular value of J coincides with the
+                (L+1)-th smallest one.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let s(i), i = 1,2,...,N, be the N non-negative singular values of
+  the bidiagonal matrix J arranged so that s(1) &gt;= ... &gt;= s(N) &gt;= 0.
+  The routine then computes an upper bound T such that s(N-L) &gt; T &gt;=
+  s(N-L+1) as follows (see [2]).
+  First, if the initial estimate of THETA is not specified by the
+  user then the routine initialises THETA to be an estimate which
+  is close to the requested value of THETA if s(N-L) &gt;&gt; s(N-L+1).
+  Second, a bisection method (see [1, 8.5]) is used which generates
+  a sequence of shrinking intervals [Y,Z] such that either THETA in
+  [Y,Z] was found (so that J has L singular values less than or
+  equal to THETA), or
+
+     (number of s(i) &lt;= Y) &lt; L &lt; (number of s(i) &lt;= Z).
+
+  This bisection method is applied to an associated 2N-by-2N
+  symmetric tridiagonal matrix T" whose eigenvalues (see [1]) are
+  given by s(1),s(2),...,s(N),-s(1),-s(2),...,-s(N). One of the
+  starting values for the bisection method is the initial value of
+  THETA. If this value is an upper bound, then the initial lower
+  bound is set to zero, else the initial upper bound is computed
+  from the Gershgorin Circle Theorem [1, Theorem 7.2-1], applied to
+  T". The computation of the "number of s(i) &lt;= Y (or Z)" is
+  achieved by calling SLICOT Library routine MB03ND, which applies
+  Sylvester's Law of Inertia or equivalently Sturm sequences
+  [1, 8.5] to the associated matrix T". If
+
+     Z - Y &lt;= MAX( TOL, PIVMIN, RELTOL*MAX( ABS( Y ), ABS( Z ) ) )
+
+  at some stage of the bisection method, then at least two singular
+  values of J lie in the interval [Y,Z] within a distance less than
+  TOL from each other. In this case, s(N-L) and s(N-L+1) are assumed
+  to coincide, the upper bound T is set to the value of Z, the value
+  of L is increased and IWARN is set to 1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      Matrix Computations.
+      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
+
+  [2] Van Huffel, S. and Vandewalle, J.
+      The Partial Total Least Squares Algorithm.
+      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION PIVMIN, RELTOL, SAFMIN, THETA, TOL
+      INTEGER          I, INFO, IWARN, L, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAMCH
+      EXTERNAL         DLAMCH
+*     .. External Subroutines ..
+      EXTERNAL         MB03MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, THETA, L, TOL, RELTOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE IF ( L.LT.0 .OR. L.GT.N ) THEN
+         WRITE ( NOUT, FMT = 99990 ) L
+      ELSE
+         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
+*        Print out the bidiagonal matrix J.
+         WRITE ( NOUT, FMT = 99997 )
+         DO 20 I = 1, N - 1
+            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
+   20    CONTINUE
+         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
+*        Compute Q**2, E**2, and PIVMIN.
+         Q2(N) = Q(N)**2
+         PIVMIN = Q2(N)
+         DO 40 I = 1, N - 1
+            Q2(I) = Q(I)**2
+            E2(I) = E(I)**2
+            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
+   40    CONTINUE
+         SAFMIN = DLAMCH( 'Safe minimum' )
+         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
+         TOL = MAX( TOL, ZERO )
+         IF ( RELTOL.LE.ZERO )
+     $      RELTOL = DLAMCH( 'Base' )*DLAMCH( 'Epsilon' )
+*        Compute an upper bound THETA such that J has 3 singular values
+*        < =  THETA.
+         CALL MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
+     $                IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
+            WRITE ( NOUT, FMT = 99993 ) THETA
+            WRITE ( NOUT, FMT = 99992 ) L
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB03MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03MD = ',I2)
+99997 FORMAT (' The Bidiagonal Matrix J is',/)
+99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
+99994 FORMAT (' IWARN on exit from MB03MD = ',I2,/)
+99993 FORMAT (/' The computed value of THETA is ',F7.4)
+99992 FORMAT (/' J has ',I2,' singular values < =  THETA')
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' L is out of range.',/' L = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03MD EXAMPLE PROGRAM DATA
+   5     -3.0     3     0.0     0.0
+   1.0  2.0  3.0  4.0  5.0
+   2.0  3.0  4.0  5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03MD EXAMPLE PROGRAM RESULTS
+
+ The Bidiagonal Matrix J is
+
+ (1,1) =  1.0000   (1,2) =  2.0000
+ (2,2) =  2.0000   (2,3) =  3.0000
+ (3,3) =  3.0000   (3,4) =  4.0000
+ (4,4) =  4.0000   (4,5) =  5.0000
+ (5,5) =  5.0000
+
+ The computed value of THETA is  4.7500
+
+ J has  3 singular values < =  THETA
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03ND.html b/doc/_static/doc/MB03ND.html
new file mode 100644
index 00000000..da02281c
--- /dev/null
+++ b/doc/_static/doc/MB03ND.html
@@ -0,0 +1,261 @@
+<HTML>
+<HEAD><TITLE>MB03ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ND">MB03ND</A></H2>
+<H3>
+Number of singular values of a bidiagonal matrix less than a bound
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the number of singular values of the bidiagonal matrix
+
+           |q(1) e(1)  .    ...    0   |
+           | 0   q(2) e(2)         .   |
+       J = | .                     .   |
+           | .                   e(N-1)|
+           | 0   ...     ...   0  q(N) |
+
+  which are less than or equal to a given bound THETA.
+
+  This routine is intended to be called only by other SLICOT
+  routines.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, N
+      DOUBLE PRECISION  PIVMIN, THETA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  E2(*), Q2(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the bidiagonal matrix J.  N &gt;= 0.
+
+  THETA   (input) DOUBLE PRECISION
+          Given bound.
+          Note: If THETA &lt; 0.0 on entry, then MB03ND is set to 0
+                as the singular values of J are non-negative.
+
+  Q2      (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the squares of the diagonal
+          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
+          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
+
+  E2      (input) DOUBLE PRECISION array, dimension (N-1)
+          This array must contain the squares of the superdiagonal
+          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
+          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
+
+  PIVMIN  (input) DOUBLE PRECISION
+          The minimum absolute value of a "pivot" in the Sturm
+          sequence loop.
+          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
+          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
+          least the smallest number that can divide one without
+          overflow (see LAPACK Library routine DLAMCH).
+          Note that this condition is not checked by the routine.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The computation of the number of singular values s(i) of J which
+  are less than or equal to THETA is based on applying Sylvester's
+  Law of Inertia, or equivalently, Sturm sequences [1,p.52] to the
+  unreduced symmetric tridiagonal matrices associated with J as
+  follows. Let T be the following 2N-by-2N symmetric matrix
+  associated with J:
+
+            | 0   J'|
+       T =  |       |.
+            | J   0 |
+
+  (The eigenvalues of T are given by s(1),s(2),...,s(N),-s(1),-s(2),
+  ...,-s(N)). Then, by permuting the rows and columns of T into the
+  order 1, N+1, 2, N+2, ..., N, 2N it follows that T is orthogonally
+  similar to the tridiagonal matrix T" with zeros on its diagonal
+  and q(1), e(1), q(2), e(2), ..., e(N-1), q(N) on its offdiagonals
+  [3,4]. If q(1),q(2),...,q(N) and e(1),e(2),...,e(N-1) are nonzero,
+  Sylvester's Law of Inertia may be applied directly to T".
+  Otherwise, T" is block diagonal and each diagonal block (which is
+  then unreduced) must be analysed separately by applying
+  Sylvester's Law of Inertia.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Parlett, B.N.
+      The Symmetric Eigenvalue Problem.
+      Prentice Hall, Englewood Cliffs, New Jersey, 1980.
+
+  [2] Demmel, J. and Kahan, W.
+      Computing Small Singular Values of Bidiagonal Matrices with
+      Guaranteed High Relative Accuracy.
+      Technical Report, Courant Inst., New York, March 1988.
+
+  [3] Van Huffel, S. and Vandewalle, J.
+      The Partial Total Least-Squares Algorithm.
+      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
+
+  [4] Golub, G.H. and Kahan, W.
+      Calculating the Singular Values and Pseudo-inverse of a
+      Matrix.
+      SIAM J. Numer. Anal., Ser. B, 2, pp. 205-224, 1965.
+
+  [5] Demmel, J.W., Dhillon, I. and Ren, H.
+      On the Correctness of Parallel Bisection in Floating Point.
+      Computer Science Division Technical Report UCB//CSD-94-805,
+      University of California, Berkeley, CA 94720, March 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The singular values s(i) could also be obtained with the use of
+  the symmetric tridiagonal matrix T = J'J, whose eigenvalues are
+  the squared singular values of J [4,p.213]. However, the method
+  actually used by the routine is more accurate and equally
+  efficient (see [2]).
+
+  To avoid overflow, matrix J should be scaled so that its largest
+  element is no greater than  overflow**(1/2) * underflow**(1/4)
+  in absolute value (and not much smaller than that, for maximal
+  accuracy).
+
+  With respect to accuracy the following condition holds (see [2]):
+
+  If the established value is denoted by p, then at least p
+  singular values of J are less than or equal to
+  THETA/(1 - (3 x N - 1.5) x EPS) and no more than p singular values
+  are less than or equal to
+  THETA x (1 - (6 x N-2) x EPS)/(1 - (3 x N - 1.5) x EPS).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION PIVMIN, SAFMIN, THETA
+      INTEGER          I, INFO, N, NUMSV
+*     .. Local Arrays ..
+      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAMCH
+      EXTERNAL         DLAMCH
+*     .. External Functions ..
+      INTEGER          MB03ND
+      EXTERNAL         MB03ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, THETA
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
+*        Print out the bidiagonal matrix J.
+         WRITE ( NOUT, FMT = 99997 )
+         DO 20 I = 1, N - 1
+            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
+   20    CONTINUE
+         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
+*        Compute Q**2, E**2, and PIVMIN.
+         Q2(N) = Q(N)**2
+         PIVMIN = Q2(N)
+         DO 40 I = 1, N - 1
+            Q2(I) = Q(I)**2
+            E2(I) = E(I)**2
+            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
+   40    CONTINUE
+         SAFMIN = DLAMCH( 'Safe minimum' )
+         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
+*        Compute the number of singular values of J < =  THETA.
+         NUMSV = MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99994 ) NUMSV, THETA
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB03ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03ND = ',I2)
+99997 FORMAT (' The Bidiagonal Matrix J is',/)
+99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
+99994 FORMAT (/' J has ',I2,' singular values < =  ',F7.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03ND EXAMPLE PROGRAM DATA
+   5     5.0     0.0     0.0
+   1.0  2.0  3.0  4.0  5.0
+   2.0  3.0  4.0  5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03ND EXAMPLE PROGRAM RESULTS
+
+ The Bidiagonal Matrix J is
+
+ (1,1) =  1.0000   (1,2) =  2.0000
+ (2,2) =  2.0000   (2,3) =  3.0000
+ (3,3) =  3.0000   (3,4) =  4.0000
+ (4,4) =  4.0000   (4,5) =  5.0000
+ (5,5) =  5.0000
+
+ J has  3 singular values < =   5.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03NY.html b/doc/_static/doc/MB03NY.html
new file mode 100644
index 00000000..6439978e
--- /dev/null
+++ b/doc/_static/doc/MB03NY.html
@@ -0,0 +1,132 @@
+<HTML>
+<HEAD><TITLE>MB03NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03NY">MB03NY</A></H2>
+<H3>
+Computing the smallest singular value of A - jwI
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the smallest singular value of A - jwI.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      DOUBLE PRECISION FUNCTION MB03NY( N, OMEGA, A, LDA, S, DWORK,
+     $                                  LDWORK, CWORK, LCWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER                INFO, LCWORK, LDA, LDWORK, N
+      DOUBLE PRECISION       OMEGA
+C     .. Array Arguments ..
+      DOUBLE PRECISION       A(LDA,*), DWORK(*), S(*)
+      COMPLEX*16             CWORK(*)
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  MB03NY  DOUBLE PRECISION
+          The smallest singular value of A - jwI (if INFO = 0).
+          If N = 0, the function value is set to zero.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the the matrix A.  N &gt;= 0.
+
+  OMEGA   (input) DOUBLE PRECISION
+          The constant factor of A - jwI.
+
+  A       (input/workspace) DOUBLE PRECISION array, dimension
+          (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, if OMEGA = 0, the contents of this array are
+          destroyed. Otherwise, this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  S       (output) DOUBLE PRECISION array, dimension (N)
+          The singular values of A - jwI in decreasing order.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX( 1, 5*N ).
+          For optimum performance LDWORK should be larger.
+
+  CWORK   COMPLEX*16 array, dimension (LCWORK)
+          On exit, if INFO = 0 and OMEGA &lt;&gt; 0, CWORK(1) returns the
+          optimal value of LCWORK.
+          If OMEGA is zero, this array is not referenced.
+
+  LCWORK  INTEGER
+          The length of the array CWORK.
+          LCWORK &gt;= 1,                 if OMEGA =  0;
+          LCWORK &gt;= MAX( 1, N*N+3*N ), if OMEGA &lt;&gt; 0.
+          For optimum performance LCWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  The SVD algorithm (in either LAPACK Library routine
+                DGESVD or ZGESVD) fails to converge; this error is
+                very rare.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This procedure simply constructs the matrix A - jwI, and calls
+  ZGESVD if w is not zero, or DGESVD if w = 0.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is not very efficient because it computes all
+  singular values, but it is very accurate. The routine is intended
+  to be called only from the SLICOT Library routine AB13FD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03OD.html b/doc/_static/doc/MB03OD.html
new file mode 100644
index 00000000..40a12f94
--- /dev/null
+++ b/doc/_static/doc/MB03OD.html
@@ -0,0 +1,288 @@
+<HTML>
+<HEAD><TITLE>MB03OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03OD">MB03OD</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute (optionally) a rank-revealing QR factorization of a
+  real general M-by-N matrix  A,  which may be rank-deficient,
+  and estimate its effective rank using incremental condition
+  estimation.
+
+  The routine uses a QR factorization with column pivoting:
+     A * P = Q * R,  where  R = [ R11 R12 ],
+                                [  0  R22 ]
+  with R11 defined as the largest leading submatrix whose estimated
+  condition number is less than 1/RCOND.  The order of R11, RANK,
+  is the effective rank of A.
+
+  MB03OD  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBQR
+      INTEGER            INFO, LDA, LDWORK, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBQR   CHARACTER*1
+          = 'Q':  Perform a QR factorization with column pivoting;
+          = 'N':  Do not perform the QR factorization (but assume
+                  that it has been done outside).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry with JOBQR = 'Q', the leading M by N part of this
+          array must contain the given matrix A.
+          On exit with JOBQR = 'Q', the leading min(M,N) by N upper
+          triangular part of A contains the triangular factor R,
+          and the elements below the diagonal, with the array TAU,
+          represent the orthogonal matrix Q as a product of
+          min(M,N) elementary reflectors.
+          On entry and on exit with JOBQR = 'N', the leading
+          min(M,N) by N upper triangular part of A contains the
+          triangular factor R, as determined by the QR factorization
+          with pivoting.  The elements below the diagonal of A are
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  JPVT    (input/output) INTEGER array, dimension ( N )
+          On entry with JOBQR = 'Q', if JPVT(i) &lt;&gt; 0, the i-th
+          column of A is an initial column, otherwise it is a free
+          column. Before the QR factorization of A, all initial
+          columns are permuted to the leading positions; only the
+          remaining free columns are moved as a result of column
+          pivoting during the factorization.  For rank determination
+          it is preferable that all columns be free.
+          On exit with JOBQR = 'Q', if JPVT(i) = k, then the i-th
+          column of A*P was the k-th column of A.
+          Array JPVT is not referenced when JOBQR = 'N'.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          RCOND &gt;= 0.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          On exit with JOBQR = 'Q', the leading min(M,N) elements of
+          TAU contain the scalar factors of the elementary
+          reflectors.
+          Array TAU is not referenced when JOBQR = 'N'.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e. the order of
+          the submatrix R11.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 3*N + 1,                 if JOBQR = 'Q';
+          LDWORK &gt;= max( 1, 2*min( M, N ) ), if JOBQR = 'N'.
+          For good performance when JOBQR = 'Q', LDWORK should be
+          larger. Specifically, LDWORK &gt;= 2*N + ( N + 1 )*NB, where
+          NB is the optimal block size for the LAPACK Library
+          routine DGEQP3.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes or uses a QR factorization with column
+  pivoting of A,  A * P = Q * R,  with  R  defined above, and then
+  finds the largest leading submatrix whose estimated condition
+  number is less than 1/RCOND, taking the possible positive value of
+  SVLMAX into account.  This is performed using the LAPACK
+  incremental condition estimation scheme and a slightly modified
+  rank decision test.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDTAU
+      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX + 1 )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBQR
+      INTEGER          I, INFO, J, M, N, RANK
+      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
+*     ..
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
+      INTEGER          JPVT(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB03OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, JOBQR, RCOND, SVLMAX
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+*           QR with column pivoting.
+            DO 10 I = 1, N
+               JPVT(I) = 0
+   10       CONTINUE
+            CALL MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99995 ) RANK
+               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,N )
+               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03OD = ',I2)
+99995 FORMAT (' The rank is ',I5)
+99994 FORMAT (' Column permutations are ',/(20(I3,2X)))
+99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03OD EXAMPLE PROGRAM DATA
+   6     5     Q  5.D-16     0.0
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   5.    5.    1.    5.    1.
+  -2.   -1.   -1.    0.   -2.
+   4.    8.    4.   20.    4.
+  -2.   -1.   -1.    0.   -2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03OD EXAMPLE PROGRAM RESULTS
+
+ The rank is     4
+ Column permutations are 
+  4    3    1    5    2
+ SVAL vector is 
+    22.7257     1.4330     0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03OY.html b/doc/_static/doc/MB03OY.html
new file mode 100644
index 00000000..e2d9e478
--- /dev/null
+++ b/doc/_static/doc/MB03OY.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>MB03OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03OY">MB03OY</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing QR factorization of a real general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated QR factorization with column pivoting
+                                [ R11 R12 ]
+     A * P = Q * R,  where  R = [         ],
+                                [  0  R22 ]
+  with R11 defined as the largest leading upper triangular submatrix
+  whose estimated condition number is less than 1/RCOND.  The order
+  of R11, RANK, is the effective rank of A.  Condition estimation is
+  performed during the QR factorization process.  Matrix R22 is full
+  (but of small norm), or empty.
+
+  MB03OY  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03OY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading RANK-by-RANK upper triangular part
+          of A contains the triangular factor R11, and the elements
+          below the diagonal in the first  RANK  columns, with the
+          array TAU, represent the orthogonal matrix Q as a product
+          of  RANK  elementary reflectors.
+          The remaining  N-RANK  columns contain the result of the
+          QR factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R11.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+  JPVT    (output) INTEGER array, dimension ( N )
+          If JPVT(i) = k, then the i-th column of A*P was the k-th
+          column of A.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          The leading  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 3*N-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
+  during this process, finds the largest leading submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using the LAPACK incremental condition estimation scheme and a
+  slightly modified rank decision test.  The factorization process
+  stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
+  A(i+1:m,i), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth column of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For a matrix with a small norm, the rank is set to zero if the
+  largest column Euclidean norm is smaller than or equal to RCOND.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03PD.html b/doc/_static/doc/MB03PD.html
new file mode 100644
index 00000000..91e23de6
--- /dev/null
+++ b/doc/_static/doc/MB03PD.html
@@ -0,0 +1,318 @@
+<HTML>
+<HEAD><TITLE>MB03PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03PD">MB03PD</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation (row pivoting)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute (optionally) a rank-revealing RQ factorization of a
+  real general M-by-N matrix  A,  which may be rank-deficient,
+  and estimate its effective rank using incremental condition
+  estimation.
+
+  The routine uses an RQ factorization with row pivoting:
+     P * A = R * Q,  where  R = [ R11 R12 ],
+                                [  0  R22 ]
+  with R22 defined as the largest trailing submatrix whose estimated
+  condition number is less than 1/RCOND.  The order of R22, RANK,
+  is the effective rank of A.
+
+  MB03PD  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBRQ
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBRQ   CHARACTER*1
+          = 'R':  Perform an RQ factorization with row pivoting;
+          = 'N':  Do not perform the RQ factorization (but assume
+                  that it has been done outside).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry with JOBRQ = 'R', the leading M-by-N part of this
+          array must contain the given matrix A.
+          On exit with JOBRQ = 'R',
+          if M &lt;= N, the upper triangle of the subarray
+          A(1:M,N-M+1:N) contains the M-by-M upper triangular
+          matrix R;
+          if M &gt;= N, the elements on and above the (M-N)-th
+          subdiagonal contain the M-by-N upper trapezoidal matrix R;
+          the remaining elements, with the array TAU, represent the
+          orthogonal matrix Q as a product of min(M,N) elementary
+          reflectors (see METHOD).
+          On entry and on exit with JOBRQ = 'N',
+          if M &lt;= N, the upper triangle of the subarray
+          A(1:M,N-M+1:N) must contain the M-by-M upper triangular
+          matrix R;
+          if M &gt;= N, the elements on and above the (M-N)-th
+          subdiagonal must contain the M-by-N upper trapezoidal
+          matrix R;
+          the remaining elements are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  JPVT    (input/output) INTEGER array, dimension ( M )
+          On entry with JOBRQ = 'R', if JPVT(i) &lt;&gt; 0, the i-th row
+          of A is a final row, otherwise it is a free row. Before
+          the RQ factorization of A, all final rows are permuted
+          to the trailing positions; only the remaining free rows
+          are moved as a result of row pivoting during the
+          factorization.  For rank determination it is preferable
+          that all rows be free.
+          On exit with JOBRQ = 'R', if JPVT(i) = k, then the i-th
+          row of P*A was the k-th row of A.
+          Array JPVT is not referenced when JOBRQ = 'N'.
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest trailing triangular
+          submatrix R22 in the RQ factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          RCOND &gt;= 0.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          On exit with JOBRQ = 'R', the leading min(M,N) elements of
+          TAU contain the scalar factors of the elementary
+          reflectors.
+          Array TAU is not referenced when JOBRQ = 'N'.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e. the order of
+          the submatrix R22.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(2): smallest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
+                   if RANK &lt; MIN( M, N ), or of
+                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the trailing rows were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(M-RANK+1:M,N-RANK+1:N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
+          where LDWORK = max( 1, 3*M ),           if JOBRQ = 'R';
+                LDWORK = max( 1, 3*min( M, N ) ), if JOBRQ = 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes or uses an RQ factorization with row
+  pivoting of A,  P * A = R * Q,  with  R  defined above, and then
+  finds the largest trailing submatrix whose estimated condition
+  number is less than 1/RCOND, taking the possible positive value of
+  SVLMAX into account.  This is performed using an adaptation of the
+  LAPACK incremental condition estimation scheme and a slightly
+  modified rank decision test.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
+  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          LDTAU
+      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*MMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBRQ
+      INTEGER          I, INFO, J, M, N, RANK
+      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
+*     ..
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
+      INTEGER          JPVT(MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB03PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, JOBRQ, RCOND, SVLMAX
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+*           RQ with row pivoting.
+            DO 10 I = 1, M
+               JPVT(I) = 0
+   10       CONTINUE
+            CALL MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
+     $                   RANK, SVAL, DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99995 ) RANK
+               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
+               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03PD = ',I2)
+99995 FORMAT (' The rank is ',I5)
+99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
+99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03PD EXAMPLE PROGRAM DATA
+   6     5     R  5.D-16     0.0
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   5.    5.    1.    5.    1.
+  -2.   -1.   -1.    0.   -2.
+   4.    8.    4.   20.    4.
+  -2.   -1.   -1.    0.   -2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03PD EXAMPLE PROGRAM RESULTS
+
+ The rank is     4
+ Row permutations are 
+  2    4    6    3    1    5
+ SVAL vector is 
+    24.5744     0.9580     0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03PY.html b/doc/_static/doc/MB03PY.html
new file mode 100644
index 00000000..95f34355
--- /dev/null
+++ b/doc/_static/doc/MB03PY.html
@@ -0,0 +1,211 @@
+<HTML>
+<HEAD><TITLE>MB03PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03PY">MB03PY</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing RQ factorization of a real general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated RQ factorization with row pivoting:
+                                [ R11 R12 ]
+     P * A = R * Q,  where  R = [         ],
+                                [  0  R22 ]
+  with R22 defined as the largest trailing upper triangular
+  submatrix whose estimated condition number is less than 1/RCOND.
+  The order of R22, RANK, is the effective rank of A.  Condition
+  estimation is performed during the RQ factorization process.
+  Matrix R11 is full (but of small norm), or empty.
+
+  MB03PY  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03PY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the upper triangle of the subarray
+          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
+          triangular matrix R22;  the remaining elements in the last
+          RANK  rows, with the array TAU, represent the orthogonal
+          matrix Q as a product of  RANK  elementary reflectors
+          (see METHOD).  The first  M-RANK  rows contain the result
+          of the RQ factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest trailing triangular
+          submatrix R22 in the RQ factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R22.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(2): smallest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
+                   if RANK &lt; MIN( M, N ), or of
+                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the trailing rows were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(M-RANK+1:M,N-RANK+1:N).
+
+  JPVT    (output) INTEGER array, dimension ( M )
+          If JPVT(i) = k, then the i-th row of P*A was the k-th row
+          of A.
+
+  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
+          The trailing  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 3*M-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated RQ factorization with row
+  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
+  during this process, finds the largest trailing submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using an adaptation of the LAPACK incremental condition estimation
+  scheme and a slightly modified rank decision test.  The
+  factorization process stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(k-rank+1) H(k-rank+2) . . . H(k), where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
+  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03QD.html b/doc/_static/doc/MB03QD.html
new file mode 100644
index 00000000..05a684e4
--- /dev/null
+++ b/doc/_static/doc/MB03QD.html
@@ -0,0 +1,301 @@
+<HTML>
+<HEAD><TITLE>MB03QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QD">MB03QD</A></H2>
+<H3>
+Reordering the diagonal blocks of a principal submatrix of an upper quasi-triangular matrix to have eigenvalues in a specified domain
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of a principal submatrix of an
+  upper quasi-triangular matrix A together with their eigenvalues by
+  constructing an orthogonal similarity transformation UT.
+  After reordering, the leading block of the selected submatrix of A
+  has eigenvalues in a suitably defined domain of interest, usually
+  related to stability/instability in a continuous- or discrete-time
+  sense.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBU, STDOM
+      INTEGER          INFO, LDA, LDU, N, NDIM, NLOW, NSUP
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the spectrum separation to be
+          performed as follows:
+          = 'C':  continuous-time sense;
+          = 'D':  discrete-time sense.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBU    CHARACTER*1
+          Indicates how the performed orthogonal transformations UT
+          are accumulated, as follows:
+          = 'I':  U is initialized to the unit matrix and the matrix
+                  UT is returned in U;
+          = 'U':  the given matrix U is updated and the matrix U*UT
+                  is returned in U.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and U.  N &gt;= 1.
+
+  NLOW,   (input) INTEGER
+  NSUP    NLOW and NSUP specify the boundary indices for the rows
+          and columns of the principal submatrix of A whose diagonal
+          blocks are to be reordered.  1 &lt;= NLOW &lt;= NSUP &lt;= N.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the eigenvalues
+          of A. If DICO = 'C', ALPHA is the boundary value for the
+          real parts of eigenvalues, while for DICO = 'D',
+          ALPHA &gt;= 0 represents the boundary value for the moduli of
+          eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a matrix in a real Schur form whose 1-by-1 and
+          2-by-2 diagonal blocks between positions NLOW and NSUP
+          are to be reordered.
+          On exit, the leading N-by-N part contains the ordered
+          real Schur matrix UT' * A * UT with the elements below the
+          first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal submatrix
+          D = A(NLOW:NSUP,NLOW:NSUP) has eigenvalues in the domain
+          of interest and the trailing part of this submatrix has
+          eigenvalues outside the domain of interest.
+          The domain of interest for lambda(D), the eigenvalues of
+          D, is defined by the parameters ALPHA, DICO and STDOM as
+          follows:
+            For DICO = 'C':
+               Real(lambda(D)) &lt; ALPHA if STDOM = 'S';
+               Real(lambda(D)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(lambda(D)) &lt; ALPHA if STDOM = 'S';
+               Abs(lambda(D)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry with JOBU = 'U', the leading N-by-N part of this
+          array must contain a transformation matrix (e.g. from a
+          previous call to this routine).
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the product of the input matrix U and the
+          orthogonal matrix UT used to reorder the diagonal blocks
+          of A.
+          On exit, if JOBU = 'I', the leading N-by-N part of this
+          array contains the matrix UT of the performed orthogonal
+          transformations.
+          Array U need not be set on entry if JOBU = 'I'.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  NDIM    (output) INTEGER
+          The number of eigenvalues of the selected principal
+          submatrix lying inside the domain of interest.
+          If NLOW = 1, NDIM is also the dimension of the invariant
+          subspace corresponding to the eigenvalues of the leading
+          NDIM-by-NDIM submatrix. In this case, if U is the
+          orthogonal transformation matrix used to compute and
+          reorder the real Schur form of A, its first NDIM columns
+          form an orthonormal basis for the above invariant
+          subspace.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  A(NLOW,NLOW-1) is nonzero, i.e. A(NLOW,NLOW) is not
+                the leading element of a 1-by-1 or 2-by-2 diagonal
+                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.
+                A(NSUP,NSUP) is not the bottom element of a 1-by-1
+                or 2-by-2 diagonal block of A;
+          = 2:  two adjacent blocks are too close to swap (the
+                problem is very ill-conditioned).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an upper quasi-triangular matrix A with 1-by-1 or 2-by-2
+  diagonal blocks, the routine reorders its diagonal blocks along
+  with its eigenvalues by performing an orthogonal similarity
+  transformation UT' * A * UT. The column transformation UT is also
+  performed on the given (initial) transformation U (resulted from
+  a possible previous step or initialized as the identity matrix).
+  After reordering, the eigenvalues inside the region specified by
+  the parameters ALPHA, DICO and STDOM appear at the top of
+  the selected diagonal block between positions NLOW and NSUP.
+  In other words, lambda(A(NLOW:NSUP,NLOW:NSUP)) are ordered such
+  that lambda(A(NLOW:NLOW+NDIM-1,NLOW:NLOW+NDIM-1)) are inside and
+  lambda(A(NLOW+NDIM:NSUP,NLOW+NDIM:NSUP)) are outside the domain
+  of interest. If NLOW = 1, the first NDIM columns of U*UT span the
+  corresponding invariant subspace of A.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Stewart, G.W.
+      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
+      ordering the eigenvalues of a real upper Hessenberg matrix.
+      ACM TOMS, 2, pp. 275-280, 1976.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3
+  The algorithm requires less than 4*N  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDU
+      PARAMETER        ( LDA = NMAX, LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBU, STDOM
+      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), U(LDU,NMAX),
+     $                 WI(NMAX), WR(NMAX)
+      LOGICAL          BWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, MB03QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Compute Schur form, eigenvalues and Schur vectors.
+         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, NDIM,
+     $               WR, WI, U, LDU, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+*           Block reordering.
+            CALL MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99996 ) NDIM
+               WRITE ( NOUT, FMT = 99994 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DGEES  = ',I2)
+99997 FORMAT (' INFO on exit from MB03QD = ',I2)
+99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' The ordered Schur form matrix is ')
+99993 FORMAT (/' The transformation matrix is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03QD EXAMPLE PROGRAM DATA
+   4     1     4      0.0      C      S      U
+  -1.0  37.0 -12.0 -12.0
+  -1.0 -10.0   0.0   4.0
+   2.0  -4.0   7.0  -6.0
+   2.0   2.0   7.0  -9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03QD EXAMPLE PROGRAM RESULTS
+
+ The number of eigenvalues in the domain is     4
+
+ The ordered Schur form matrix is 
+          -3.1300 -26.5066  27.2262 -16.2009
+           0.9070  -3.1300  13.6254   8.9206
+           0.0000   0.0000  -3.3700   0.3419
+           0.0000   0.0000  -1.7879  -3.3700
+
+ The transformation matrix is 
+           0.9611   0.1784   0.2064  -0.0440
+          -0.1468  -0.2704   0.8116  -0.4965
+          -0.2224   0.7675   0.4555   0.3924
+          -0.0733   0.5531  -0.3018  -0.7730
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03QG.html b/doc/_static/doc/MB03QG.html
new file mode 100644
index 00000000..f56ef619
--- /dev/null
+++ b/doc/_static/doc/MB03QG.html
@@ -0,0 +1,394 @@
+<HTML>
+<HEAD><TITLE>MB03QG - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QG">MB03QG</A></H2>
+<H3>
+Reorder diagonal blocks of a principal subpencil of an upper quasi-triangular matrix pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of a principal subpencil of an
+  upper quasi-triangular matrix pencil A-lambda*E together with
+  their generalized eigenvalues, by constructing orthogonal
+  similarity transformations UT and VT.
+  After reordering, the leading block of the selected subpencil of
+  A-lambda*E has generalized eigenvalues in a suitably defined
+  domain of interest, usually related to stability/instability in a
+  continuous- or discrete-time sense.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBU, JOBV, STDOM
+      INTEGER          INFO, LDA, LDE, LDU, LDV, LDWORK, N, NDIM, NLOW,
+     $                 NSUP
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), DWORK(*), E(LDE,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the spectrum separation to be
+          performed, as follows:
+          = 'C':  continuous-time sense;
+          = 'D':  discrete-time sense.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle), as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBU    CHARACTER*1
+          Indicates how the performed orthogonal transformations UT
+          are accumulated, as follows:
+          = 'I':  U is initialized to the unit matrix and the matrix
+                  UT is returned in U;
+          = 'U':  the given matrix U is updated and the matrix U*UT
+                  is returned in U.
+
+  JOBV    CHARACTER*1
+          Indicates how the performed orthogonal transformations VT
+          are accumulated, as follows:
+          = 'I':  V is initialized to the unit matrix and the matrix
+                  VT is returned in V;
+          = 'U':  the given matrix V is updated and the matrix V*VT
+                  is returned in V.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, U, and V.  N &gt;= 0.
+
+  NLOW,   (input) INTEGER
+  NSUP    (input) INTEGER
+          NLOW and NSUP specify the boundary indices for the rows
+          and columns of the principal subpencil  of A - lambda*E
+          whose diagonal blocks are to be reordered.
+          0 &lt;= NLOW &lt;= NSUP &lt;= N.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the eigenvalues
+          of A. If DICO = 'C', ALPHA is the boundary value for the
+          real parts of the generalized eigenvalues, while for
+          DICO = 'D', ALPHA &gt;= 0 represents the boundary value for
+          the moduli of the generalized eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain a matrix in a real Schur form whose 1-by-1 and
+          2-by-2 diagonal blocks between positions NLOW and NSUP
+          are to be reordered.
+          On exit, the leading N-by-N part of this array contains
+          a real Schur matrix UT' * A * VT, with the elements below
+          the first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP),
+          C := E(NLOW:NSUP,NLOW:NSUP), has generalized eigenvalues
+          in the domain of interest and the trailing part of this
+          subpencil has generalized eigenvalues outside the domain
+          of interest.
+          The domain of interest for eig(B,C), the generalized
+          eigenvalues of the pair (B,C), is defined by the
+          parameters ALPHA, DICO and STDOM as follows:
+            For DICO = 'C':
+               Real(eig(B,C)) &lt; ALPHA if STDOM = 'S';
+               Real(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(eig(B,C)) &lt; ALPHA if STDOM = 'S';
+               Abs(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain a matrix in an upper triangular form.
+          On exit, the leading N-by-N part of this array contains an
+          upper triangular matrix UT' * E * VT, with the elements
+          below the diagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP)
+          C := E(NLOW:NSUP,NLOW:NSUP) has generalized eigenvalues
+          in the domain of interest and the trailing part of this
+          subpencil has generalized eigenvalues outside the domain
+          of interest (see description of A).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry with JOBU = 'U', the leading N-by-N part of this
+          array must contain a transformation matrix (e.g., from a
+          previous call to this routine).
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the product of the input matrix U and the
+          orthogonal matrix UT used to reorder the diagonal blocks
+          of A - lambda*E.
+          On exit, if JOBU = 'I', the leading N-by-N part of this
+          array contains the matrix UT of the performed orthogonal
+          transformations.
+          Array U need not be set on entry if JOBU = 'I'.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= MAX(1,N).
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
+          On entry with JOBV = 'U', the leading N-by-N part of this
+          array must contain a transformation matrix (e.g., from a
+          previous call to this routine).
+          On exit, if JOBV = 'U', the leading N-by-N part of this
+          array contains the product of the input matrix V and the
+          orthogonal matrix VT used to reorder the diagonal blocks
+          of A - lambda*E.
+          On exit, if JOBV = 'I', the leading N-by-N part of this
+          array contains the matrix VT of the performed orthogonal
+          transformations.
+          Array V need not be set on entry if JOBV = 'I'.
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= MAX(1,N).
+
+  NDIM    (output) INTEGER
+          The number of generalized eigenvalues of the selected
+          principal subpencil lying inside the domain of interest.
+          If NLOW = 1, NDIM is also the dimension of the deflating
+          subspace corresponding to the generalized eigenvalues of
+          the leading NDIM-by-NDIM subpencil. In this case, if U and
+          V are the orthogonal transformation matrices used to
+          compute and reorder the generalized real Schur form of the
+          pair (A,E), then the first NDIM columns of V form an
+          orthonormal basis for the above deflating subspace.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 1,
+          LDWORK &gt;= 4*N + 16.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  A(NLOW,NLOW-1) is nonzero, i.e., A(NLOW,NLOW) is not
+                the leading element of a 1-by-1 or 2-by-2 diagonal
+                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.,
+                A(NSUP,NSUP) is not the bottom element of a 1-by-1
+                or 2-by-2 diagonal block of A;
+          = 2:  two adjacent blocks are too close to swap (the
+                problem is very ill-conditioned).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an upper quasi-triangular matrix pencil A - lambda*E with
+  1-by-1 or 2-by-2 diagonal blocks, the routine reorders its
+  diagonal blocks along with its eigenvalues by performing an
+  orthogonal equivalence transformation UT'*(A - lambda*E)* VT.
+  The column transformations UT and VT are also performed on the
+  given (initial) transformations U and V (resulted from a
+  possible previous step or initialized as identity matrices).
+  After reordering, the generalized eigenvalues inside the region
+  specified by the parameters ALPHA, DICO and STDOM appear at the
+  top of the selected diagonal subpencil between positions NLOW and
+  NSUP. In other words, lambda(A(Select,Select),E(Select,Select))
+  are ordered such that lambda(A(Inside,Inside),E(Inside,Inside))
+  are inside, and lambda(A(Outside,Outside),E(Outside,Outside)) are
+  outside the domain of interest, where Select = NLOW:NSUP,
+  Inside = NLOW:NLOW+NDIM-1, and Outside = NLOW+NDIM:NSUP.
+  If NLOW = 1, the first NDIM columns of V*VT span the corresponding
+  right deflating subspace of (A,E).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Stewart, G.W.
+      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
+      ordering the eigenvalues of a real upper Hessenberg matrix.
+      ACM TOMS, 2, pp. 275-280, 1976.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3
+  The algorithm requires less than 4*N  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03QG EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDE, LDU, LDV
+      PARAMETER        ( LDA = NMAX, LDE = NMAX, LDU = NMAX, LDV = NMAX)
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX + 16 )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBU, JOBV, STDOM
+      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
+     $                 E(LDE,NMAX), U(LDU,NMAX), V(LDV,NMAX), WI(NMAX),
+     $                 WR(NMAX)
+      LOGICAL          BWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          DELCTG
+*     .. External Subroutines ..
+      EXTERNAL         DGGES, MB03QG
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU,
+     $                      JOBV
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+*        Compute Schur form, eigenvalues and Schur vectors.
+         CALL DGGES( 'Vectors', 'Vectors', 'Not sorted', DELCTG, N,
+     $               A, LDA, E, LDE, NDIM, WR, WI, BETA, U, LDU, V, LDV,
+     $               DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+*           Block reordering.
+            CALL MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
+     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99996 ) NDIM
+               WRITE ( NOUT, FMT = 99994 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99992 )
+               DO 30 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   30          CONTINUE
+               WRITE ( NOUT, FMT = 99991 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( V(I,J), J = 1,N )
+   40          CONTINUE
+           END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03QG EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DGEES  = ',I2)
+99997 FORMAT (' INFO on exit from MB03QG = ',I2)
+99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' The ordered Schur form matrix is ')
+99993 FORMAT (/' The ordered triangular matrix is ')
+99992 FORMAT (/' The transformation matrix U is ')
+99991 FORMAT (/' The transformation matrix V is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03QG EXAMPLE PROGRAM DATA
+   4     1     4      0.0      C      S      U      U
+  -1.0  37.0 -12.0 -12.0
+  -1.0 -10.0   0.0   4.0
+   2.0  -4.0   7.0  -6.0
+   2.0   2.0   7.0  -9.0
+   1.0   3.0   2.0  -1.0
+  -2.0   5.0   3.0   2.0
+   2.0   4.0   5.0   6.0
+   3.0   7.0   6.0   9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03QG EXAMPLE PROGRAM RESULTS
+
+ The number of eigenvalues in the domain is     2
+
+ The ordered Schur form matrix is 
+          -1.4394   2.5550 -12.5655  -4.0714
+           2.8887  -1.1242   9.2819  -2.6724
+           0.0000   0.0000 -19.7785  36.4447
+           0.0000   0.0000   0.0000   3.5537
+
+ The ordered triangular matrix is 
+         -16.0178   0.0000   2.3850   4.7645
+           0.0000   3.2809  -1.5640   1.9954
+           0.0000   0.0000  -3.0652   0.3039
+           0.0000   0.0000   0.0000   1.1671
+
+ The transformation matrix U is 
+          -0.1518  -0.0737  -0.9856   0.0140
+          -0.2865  -0.9466   0.1136  -0.0947
+          -0.5442   0.0924   0.0887   0.8292
+          -0.7738   0.3000   0.0890  -0.5508
+
+ The transformation matrix V is 
+           0.2799   0.9041   0.2685   0.1794
+           0.4009  -0.0714   0.3780  -0.8315
+           0.7206  -0.4006   0.2628   0.5012
+           0.4917   0.1306  -0.8462  -0.1588
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03QV.html b/doc/_static/doc/MB03QV.html
new file mode 100644
index 00000000..028c50d8
--- /dev/null
+++ b/doc/_static/doc/MB03QV.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB03QV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QV">MB03QV</A></H2>
+<H3>
+Compute eigenvalues of an upper quasi-triangular matrix pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of an upper quasi-triangular matrix
+  pencil.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QV( N, S, LDS, T, LDT, ALPHAR, ALPHAI, BETA, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDS, LDT, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*), S(LDS,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S and T.  N &gt;= 0.
+
+  S       (input) DOUBLE PRECISION array, dimension(LDS,N)
+          The upper quasi-triangular matrix S.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= max(1,N).
+
+  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
+          The upper triangular matrix T.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
+          are the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and  BETA(j),j=1,...,N, are the
+          diagonals of the complex Schur form (S,T) that would
+          result if the 2-by-2 diagonal blocks of the real Schur
+          form of (A,B) were further reduced to triangular form
+          using 2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03QW.html b/doc/_static/doc/MB03QW.html
new file mode 100644
index 00000000..a01f408c
--- /dev/null
+++ b/doc/_static/doc/MB03QW.html
@@ -0,0 +1,153 @@
+<HTML>
+<HEAD><TITLE>MB03QW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QW">MB03QW</A></H2>
+<H3>
+Reduce a 2-by-2 diagonal block pair of an upper quasi-triangular pencil to standard form and compute eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a selected 2-by-2 diagonal block
+  pair of an upper quasi-triangular pencil, to reduce the selected
+  block pair to the standard form and to split it in the case of
+  real eigenvalues, by constructing orthogonal matrices UT and VT.
+  The transformations UT and VT are applied to the pair (A,E) by
+  computing (UT'*A*VT, UT'*E*VT ), to the matrices U and V,
+  by computing U*UT and V*VT.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QW( N, L, A, LDA, E, LDE, U, LDU, V, LDV,
+     $                   ALPHAR, ALPHAI, BETA, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, L, LDA, LDE, LDU, LDV, N
+      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*)
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), E(LDE,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, UT and VT.  N &gt;= 2.
+
+  L       (input) INTEGER
+          Specifies the position of the block.  1 &lt;= L &lt; N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A whose
+          selected 2-by-2 diagonal block is to be processed.
+          On exit, the leading N-by-N part of this array contains
+          the upper quasi-triangular matrix A after its selected
+          block has been split and/or put in the LAPACK standard
+          form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= N.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix E whose selected
+          2-by-2 diagonal block is to be processed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix E (in the LAPACK
+          standard form).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= N.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain a transformation matrix U.
+          On exit, the leading N-by-N part of this array contains
+          U*UT, where UT is the transformation matrix used to
+          split and/or standardize the selected block pair.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= N.
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
+          On entry, the leading N-by-N part of this array must
+          contain a transformation matrix V.
+          On exit, the leading N-by-N part of this array contains
+          V*VT, where VT is the transformation matrix used to
+          split and/or standardize the selected block pair.
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= N.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
+  BETA    (output) DOUBLE PRECISION array, dimension (2)
+          (ALPHAR(k)+i*ALPHAI(k))/BETA(k) are the eigenvalues of the
+          block pair of the pencil (A,B), k=1,2, i = sqrt(-1).
+          Note that BETA(k) may be zero.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A1 = ( A(L,L)    A(L,L+1)   ), E1 = ( E(L,L)    E(L,L+1)   ),
+           ( A(L+1,L)  A(L+1,L+1) )       ( E(L+1,L)  E(L+1,L+1) )
+  be the specified 2-by-2 diagonal block pair of the pencil (A,B).
+  If the eigenvalues of (A1,E1) are complex, then they are computed
+  and stored in ER and EI, where the real part is stored in ER and
+  the positive imaginary part in EI. The 2-by-2 block pair is
+  reduced if necessary to the standard form, such that
+  A(L,L) = A(L+1,L+1), and A(L,L+1) and A(L+1,L) have oposite signs.
+  If the eigenvalues are real, the 2-by-2 block pair is reduced to
+  upper triangular form such that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
+  In both cases, an orthogonal rotation U1' is constructed such that
+  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
+  to an N-by-N orthogonal matrix, using identity submatrices. Then A
+  and E are replaced by UT'*A*UT and UT'*E*UT, and the contents of
+  the arrays U and V are U * UT and V * VT, respectively.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03QX.html b/doc/_static/doc/MB03QX.html
new file mode 100644
index 00000000..d173240a
--- /dev/null
+++ b/doc/_static/doc/MB03QX.html
@@ -0,0 +1,86 @@
+<HTML>
+<HEAD><TITLE>MB03QX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QX">MB03QX</A></H2>
+<H3>
+Eigenvalues of an upper quasi-triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of an upper quasi-triangular matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QX( N, T, LDT, WR, WI, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDT, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION T(LDT, *), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix T.  N &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
+          The upper quasi-triangular matrix T.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of T. The eigenvalues are stored in the same
+          order as on the diagonal of T. If T(i:i+1,i:i+1) is a
+          2-by-2 diagonal block with complex conjugated eigenvalues
+          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03QY.html b/doc/_static/doc/MB03QY.html
new file mode 100644
index 00000000..ba00b01e
--- /dev/null
+++ b/doc/_static/doc/MB03QY.html
@@ -0,0 +1,127 @@
+<HTML>
+<HEAD><TITLE>MB03QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03QY">MB03QY</A></H2>
+<H3>
+Transformation to the Schur canonical form of a selected 2-by-2 diagonal block of an upper quasi-triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a selected 2-by-2 diagonal block
+  of an upper quasi-triangular matrix, to reduce the selected block
+  to the standard form and to split the block in the case of real
+  eigenvalues by constructing an orthogonal transformation UT.
+  This transformation is applied to A (by similarity) and to
+  another matrix U from the right.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03QY( N, L, A, LDA, U, LDU, E1, E2, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, L, LDA, LDU, N
+      DOUBLE PRECISION E1, E2
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and UT.  N &gt;= 2.
+
+  L       (input) INTEGER
+          Specifies the position of the block.  1 &lt;= L &lt; N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A whose
+          selected 2-by-2 diagonal block is to be processed.
+          On exit, the leading N-by-N part of this array contains
+          the upper quasi-triangular matrix A after its selected
+          block has been splitt and/or put in the LAPACK standard
+          form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain a transformation matrix U.
+          On exit, the leading N-by-N part of this array contains
+          U*UT, where UT is the transformation matrix used to
+          split and/or standardize the selected block.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= N.
+
+  E1, E2  (output) DOUBLE PRECISION
+          E1 and E2 contain either the real eigenvalues or the real
+          and positive imaginary parts, respectively, of the complex
+          eigenvalues of the selected 2-by-2 diagonal block of A.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let A1 = ( A(L,L)    A(L,L+1)   )
+           ( A(L+1,L)  A(L+1,L+1) )
+  be the specified 2-by-2 diagonal block of matrix A.
+  If the eigenvalues of A1 are complex, then they are computed and
+  stored in E1 and E2, where the real part is stored in E1 and the
+  positive imaginary part in E2. The 2-by-2 block is reduced if
+  necessary to the standard form, such that A(L,L) = A(L+1,L+1), and
+  A(L,L+1) and A(L+1,L) have oposite signs. If the eigenvalues are
+  real, the 2-by-2 block is reduced to an upper triangular form such
+  that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
+  In both cases, an orthogonal rotation U1' is constructed such that
+  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
+  to an N-by-N orthogonal matrix, using identity submatrices. Then A
+  is replaced by UT'*A*UT and the contents of array U is U * UT.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03RD.html b/doc/_static/doc/MB03RD.html
new file mode 100644
index 00000000..14b86481
--- /dev/null
+++ b/doc/_static/doc/MB03RD.html
@@ -0,0 +1,387 @@
+<HTML>
+<HEAD><TITLE>MB03RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RD">MB03RD</A></H2>
+<H3>
+Reduction of a real Schur form matrix to a block-diagonal form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a matrix A in real Schur form to a block-diagonal form
+  using well-conditioned non-orthogonal similarity transformations.
+  The condition numbers of the transformations used for reduction
+  are roughly bounded by PMAX, where PMAX is a given value.
+  The transformations are optionally postmultiplied in a given
+  matrix X. The real Schur form is optionally ordered, so that
+  clustered eigenvalues are grouped in the same block.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
+     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBX, SORT
+      INTEGER           INFO, LDA, LDX, N, NBLCKS
+      DOUBLE PRECISION  PMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           BLSIZE(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Specifies whether or not the transformations are
+          accumulated, as follows:
+          = 'N':  The transformations are not accumulated;
+          = 'U':  The transformations are accumulated in X (the
+                  given matrix X is updated).
+
+  SORT    CHARACTER*1
+          Specifies whether or not the diagonal blocks of the real
+          Schur form are reordered, as follows:
+          = 'N':  The diagonal blocks are not reordered;
+          = 'S':  The diagonal blocks are reordered before each
+                  step of reduction, so that clustered eigenvalues
+                  appear in the same block;
+          = 'C':  The diagonal blocks are not reordered, but the
+                  "closest-neighbour" strategy is used instead of
+                  the standard "closest to the mean" strategy
+                  (see METHOD);
+          = 'B':  The diagonal blocks are reordered before each
+                  step of reduction, and the "closest-neighbour"
+                  strategy is used (see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the infinity norm of elementary
+          submatrices of the individual transformations used for
+          reduction (see METHOD).  PMAX &gt;= 1.0D0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A to be block-diagonalized, in real
+          Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the computed block-diagonal matrix, in real Schur
+          canonical form. The non-diagonal blocks are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if JOBX = 'U', the leading N-by-N part of this
+          array must contain a given matrix X.
+          On exit, if JOBX = 'U', the leading N-by-N part of this
+          array contains the product of the given matrix X and the
+          transformation matrix that reduced A to block-diagonal
+          form. The transformation matrix is itself a product of
+          non-orthogonal similarity transformations having elements
+          with magnitude less than or equal to PMAX.
+          If JOBX = 'N', this array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOBX = 'N';
+          LDX &gt;= MAX(1,N), if JOBX = 'U'.
+
+  NBLCKS  (output) INTEGER
+          The number of diagonal blocks of the matrix A.
+
+  BLSIZE  (output) INTEGER array, dimension (N)
+          The first NBLCKS elements of this array contain the orders
+          of the resulting diagonal blocks of the matrix A.
+
+  WR,     (output) DOUBLE PRECISION arrays, dimension (N)
+  WI      These arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the matrix A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in the ordering of the diagonal
+          blocks of the real Schur form matrix.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used as an absolute tolerance: a block i and a temporarily
+          fixed block 1 (the first block of the current trailing
+          submatrix to be reduced) are considered to belong to the
+          same cluster if their eigenvalues satisfy
+
+            | lambda_1 - lambda_i | &lt;= TOL.
+
+          If the user sets TOL &lt; 0, then the given value of TOL is
+          used as a relative tolerance: a block i and a temporarily
+          fixed block 1 are considered to belong to the same cluster
+          if their eigenvalues satisfy, for j = 1, ..., N,
+
+            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
+
+          If the user sets TOL = 0, then an implicitly computed,
+          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
+          is used instead, as a relative tolerance, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH).
+          If SORT = 'N' or 'C', this parameter is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Consider first that SORT = 'N'. Let
+
+         ( A    A   )
+         (  11   12 )
+     A = (          ),
+         ( 0    A   )
+         (       22 )
+
+  be the given matrix in real Schur form, where initially A   is the
+                                                           11
+  first diagonal block of dimension 1-by-1 or 2-by-2. An attempt is
+  made to compute a transformation matrix X of the form
+
+         ( I   P )
+     X = (       )                                               (1)
+         ( 0   I )
+
+  (partitioned as A), so that
+
+              ( A     0  )
+      -1      (  11      )
+     X  A X = (          ),
+              ( 0    A   )
+              (       22 )
+
+  and the elements of P do not exceed the value PMAX in magnitude.
+  An adaptation of the standard method for solving Sylvester
+  equations [1], which controls the magnitude of the individual
+  elements of the computed solution [2], is used to obtain matrix P.
+  When this attempt failed, an 1-by-1 (or 2-by-2) diagonal block of
+  A  , whose eigenvalue(s) is (are) the closest to the mean of those
+   22
+  of A   is selected, and moved by orthogonal similarity
+      11
+  transformations in the leading position of A  ; the moved diagonal
+                                              22
+  block is then added to the block A  , increasing its order by 1
+                                    11
+  (or 2). Another attempt is made to compute a suitable
+  transformation matrix X with the new definitions of the blocks A
+                                                                  11
+  and A  . After a successful transformation matrix X has been
+       22
+  obtained, it postmultiplies the current transformation matrix
+  (if JOBX = 'U'), and the whole procedure is repeated for the
+  matrix A  .
+          22
+
+  When SORT = 'S', the diagonal blocks of the real Schur form are
+  reordered before each step of the reduction, so that each cluster
+  of eigenvalues, defined as specified in the definition of TOL,
+  appears in adjacent blocks. The blocks for each cluster are merged
+  together, and the procedure described above is applied to the
+  larger blocks. Using the option SORT = 'S' will usually provide
+  better efficiency than the standard option (SORT = 'N'), proposed
+  in [2], because there could be no or few unsuccessful attempts
+  to compute individual transformation matrices X of the form (1).
+  However, the resulting dimensions of the blocks are usually
+  larger; this could make subsequent calculations less efficient.
+
+  When SORT = 'C' or 'B', the procedure is similar to that for
+  SORT = 'N' or 'S', respectively, but the block of A   whose
+                                                     22
+  eigenvalue(s) is (are) the closest to those of A   (not to their
+                                                  11
+  mean) is selected and moved to the leading position of A  . This
+                                                          22
+  is called the "closest-neighbour" strategy.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+  [3] Demmel, J.
+      The Condition Number of Equivalence Transformations that
+      Block Diagonalize Matrix Pencils.
+      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                    3                     4
+  The algorithm usually requires 0(N ) operations, but 0(N ) are
+  possible in the worst case, when all diagonal blocks in the real
+  Schur form of A are 1-by-1, and the matrix cannot be diagonalized
+  by well-conditioned transformations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The individual non-orthogonal transformation matrices used in the
+  reduction of A to a block-diagonal form have condition numbers
+  of the order PMAX. This does not guarantee that their product
+  is well-conditioned enough. The routine can be easily modified to
+  provide estimates for the condition numbers of the clusters of
+  eigenvalues.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDX
+      PARAMETER        ( LDA = NMAX, LDX = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBX, SORT
+      INTEGER          I, INFO, J, N, NBLCKS, SDIM
+      DOUBLE PRECISION PMAX, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), WI(NMAX), WR(NMAX),
+     $                 X(LDX,NMAX)
+      INTEGER          BLSIZE(NMAX)
+      LOGICAL          BWORK(NMAX)
+*     .. External Functions ..
+      LOGICAL          SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, MB03RD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, PMAX, TOL, JOBX, SORT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Compute Schur form, eigenvalues and Schur vectors.
+         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, SDIM,
+     $               WR, WI, X, LDX, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+*           Block-diagonalization.
+            CALL MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
+     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99995 ) NBLCKS
+               WRITE ( NOUT, FMT = 99994 ) ( BLSIZE(I), I = 1,NBLCKS )
+               WRITE ( NOUT, FMT = 99993 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99991 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99992 ) ( X(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from DGEES  = ',I2)
+99997 FORMAT (' INFO on exit from MB03RD = ',I2)
+99995 FORMAT (' The number of blocks is ',I5)
+99994 FORMAT (' The orders of blocks are ',/(20(I3,2X)))
+99993 FORMAT (' The block-diagonal matrix is ')
+99992 FORMAT (8X,20(1X,F8.4))
+99991 FORMAT (' The transformation matrix is ')
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03RD EXAMPLE PROGRAM DATA
+   8   1.D03   1.D-2     U     S
+   1.   -1.    1.    2.    3.    1.    2.    3.
+   1.    1.    3.    4.    2.    3.    4.    2.
+   0.    0.    1.   -1.    1.    5.    4.    1.
+   0.    0.    0.    1.   -1.    3.    1.    2.
+   0.    0.    0.    1.    1.    2.    3.   -1.
+   0.    0.    0.    0.    0.    1.    5.    1.
+   0.    0.    0.    0.    0.    0.    0.99999999   -0.99999999
+   0.    0.    0.    0.    0.    0.    0.99999999    0.99999999
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03RD EXAMPLE PROGRAM RESULTS
+
+ The number of blocks is     2
+ The orders of blocks are 
+  6    2
+ The block-diagonal matrix is 
+           1.0000  -1.0000  -1.2247  -0.7071  -3.4186   1.4577   0.0000   0.0000
+           1.0000   1.0000   0.0000   1.4142  -5.1390   3.1637   0.0000   0.0000
+           0.0000   0.0000   1.0000  -1.7321  -0.0016   2.0701   0.0000   0.0000
+           0.0000   0.0000   0.5774   1.0000   0.7516   1.1379   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   1.0000  -5.8606   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   0.1706   1.0000   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000  -0.8850
+           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+ The transformation matrix is 
+           1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.9045   0.1957
+           0.0000   1.0000   0.0000   0.0000   0.0000   0.0000  -0.3015   0.9755
+           0.0000   0.0000   0.8165   0.0000  -0.5768  -0.0156  -0.3015   0.0148
+           0.0000   0.0000  -0.4082   0.7071  -0.5768  -0.0156   0.0000  -0.0534
+           0.0000   0.0000  -0.4082  -0.7071  -0.5768  -0.0156   0.0000   0.0801
+           0.0000   0.0000   0.0000   0.0000  -0.0276   0.9805   0.0000   0.0267
+           0.0000   0.0000   0.0000   0.0000   0.0332  -0.0066   0.0000   0.0000
+           0.0000   0.0000   0.0000   0.0000   0.0011   0.1948   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03RW.html b/doc/_static/doc/MB03RW.html
new file mode 100644
index 00000000..dbd26a89
--- /dev/null
+++ b/doc/_static/doc/MB03RW.html
@@ -0,0 +1,176 @@
+<HTML>
+<HEAD><TITLE>MB03RW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RW">MB03RW</A></H2>
+<H3>
+Solution of a Sylvester equation -AX + XB = C, with A and B in complex Schur form, aborting the computations when the norm of X is too large
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Sylvester equation -AX + XB = C, where A and B are
+  complex M-by-M and N-by-N matrices, respectively, in Schur form.
+
+  This routine is intended to be called only by SLICOT Library
+  routine MB03RZ. For efficiency purposes, the computations are
+  aborted when the absolute value of an element of X is greater than
+  a given value PMAX.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RW( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, M, N
+      DOUBLE PRECISION  PMAX
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A and the number of rows of the
+          matrices C and X.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B and the number of columns of the
+          matrices C and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the absolute value of the elements of X
+          (see METHOD).
+
+  A       (input) COMPLEX*16 array, dimension (LDA,M)
+          The leading M-by-M upper triangular part of this array
+          must contain the matrix A of the Sylvester equation.
+          The elements below the diagonal are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) COMPLEX*16 array, dimension (LDB,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the matrix B of the Sylvester equation.
+          The elements below the diagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix C of the Sylvester equation.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X of the Sylvester
+          equation, and each element of X (see METHOD) has the
+          absolute value less than or equal to PMAX.
+          On exit, if INFO = 1, the solution matrix X has not been
+          computed completely, because an element of X had the
+          absolute value greater than PMAX. Part of the matrix C has
+          possibly been overwritten with the corresponding part
+          of X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  an element of X had the absolute value greater than
+                the given value PMAX.
+          = 2:  A and B have common or very close eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrices A and B are unchanged). This is a
+                warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses an adaptation of the standard method for solving
+  Sylvester equations [1], which controls the magnitude of the
+  individual elements of the computed solution [2]. The equation
+  -AX + XB = C can be rewritten as
+                               m            l-1
+    -A  X   + X  B   = C   +  sum  A  X   - sum  X  B
+      kk kl    kl ll    kl   i=k+1  ki il   j=1   kj jl
+
+  for l = 1:n, and k = m:-1:1, where A  , B  , C  , and X  , are the
+                                      kk   ll   kl       kl
+  elements defined by the partitioning induced by the Schur form
+  of A and B. So, the elements of X are found column by column,
+  starting from the bottom. If any such element has the absolute
+  value greater than the given value PMAX, the calculations are
+  ended.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2      2
+  The algorithm requires 0(M N + MN ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Let
+
+         ( A   C )       ( I   X )
+     M = (       ),  Y = (       ).
+         ( 0   B )       ( 0   I )
+
+  Then
+
+      -1      ( A   0 )
+     Y  M Y = (       ),
+              ( 0   B )
+
+  hence Y is a non-unitary transformation matrix which performs the
+  reduction of M to a block-diagonal form. Bounding a norm of X is
+  equivalent to setting an upper bound to the condition number of
+  the transformation matrix Y.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03RX.html b/doc/_static/doc/MB03RX.html
new file mode 100644
index 00000000..cb031e95
--- /dev/null
+++ b/doc/_static/doc/MB03RX.html
@@ -0,0 +1,167 @@
+<HTML>
+<HEAD><TITLE>MB03RX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RX">MB03RX</A></H2>
+<H3>
+Reordering the diagonal blocks of a principal submatrix of a real Schur form matrix (the last block is moved in the leading position)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder the diagonal blocks of the principal submatrix between
+  the indices KL and KU (KU &gt;= KL) of a real Schur form matrix A
+  together with their eigenvalues, using orthogonal similarity
+  transformations, such that the block specified by KU is moved in
+  the position KL. The transformations are optionally postmultiplied
+  in a given matrix X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RX( JOBV, N, KL, KU, A, LDA, X, LDX, WR, WI,
+     $                   DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBV
+      INTEGER           KL, KU, LDA, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBV    CHARACTER*1
+          Specifies whether or not the transformations are
+          accumulated, as follows:
+          = 'N':  The transformations are not accumulated;
+          = 'V':  The transformations are accumulated in X (the
+                  given matrix X is updated).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  KL      (input) INTEGER
+          The lower boundary index for the rows and columns of the
+          principal submatrix of A whose diagonal blocks are to be
+          reordered, and also the target position for the block to
+          be moved.  1 &lt;= KL &lt;= KU &lt;= N.
+
+  KU      (input/output) INTEGER
+          On entry, KU specifies the upper boundary index for the
+          rows and columns of the principal submatrix of A whose
+          diagonal blocks are to be reordered, and also the original
+          position for the block to be moved.  1 &lt;= KL &lt;= KU &lt;= N.
+          On exit, KU specifies the upper boundary index for the
+          rows and columns of the principal submatrix of A whose
+          diagonal blocks have been reordered. The given value will
+          be increased by 1 if the moved block was 2-by-2 and it has
+          been replaced by two 1-by-1 blocks. Otherwise, its input
+          value is preserved.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A in real Schur canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the ordered real Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if JOBV = 'V', the leading N-by-N part of this
+          array must contain a given matrix X.
+          On exit, if JOBV = 'V', the leading N-by-N part of this
+          array contains the product of the given matrix X and the
+          transformation matrix that performed the reordering of A.
+          If JOBV = 'N', this array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOBV = 'N';
+          LDX &gt;= MAX(1,N), if JOBV = 'V'.
+
+  WR,     (input/output) DOUBLE PRECISION arrays, dimension (N)
+  WI      On entry, these arrays must contain the real and imaginary
+          parts, respectively, of the eigenvalues of the matrix A.
+          On exit, these arrays contain the real and imaginary
+          parts, respectively, of the eigenvalues of the matrix A,
+          possibly reordered.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An attempt is made to move the block in the position (KU,KU) to
+  the position (KL,KL) by a sequence of orthogonal similarity
+  transformations, each swapping two consecutive blocks. The
+  standard algorithm [1], [2] usually succeeds to perform this
+  reordering. A failure of this algorithm means that two consecutive
+  blocks (one of them being the desired block possibly moved) are
+  too close to swap. In such a case, the leading block of the two
+  is tried to be moved in the position (KL,KL) and the procedure is
+  repeated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Stewart, G.W.
+      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
+      ordering the eigenvalues of a real upper Hessenberg matrix.
+      ACM TOMS, 2, pp. 275-280, 1976.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable. If some eigenvalues are
+  ill-conditioned, their returned values could differ much from
+  their input values.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03RY.html b/doc/_static/doc/MB03RY.html
new file mode 100644
index 00000000..62357d1a
--- /dev/null
+++ b/doc/_static/doc/MB03RY.html
@@ -0,0 +1,173 @@
+<HTML>
+<HEAD><TITLE>MB03RY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RY">MB03RY</A></H2>
+<H3>
+Solution of a Sylvester equation -AX + XB = C, with A and B in real Schur form, aborting the computations when the norm of X is too large
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the Sylvester equation -AX + XB = C, where A and B are
+  M-by-M and N-by-N matrices, respectively, in real Schur form.
+
+  This routine is intended to be called only by SLICOT Library
+  routine MB03RD. For efficiency purposes, the computations are
+  aborted when the infinity norm of an elementary submatrix of X is
+  greater than a given value PMAX.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RY( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, M, N
+      DOUBLE PRECISION  PMAX
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A and the number of rows of the
+          matrices C and X.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B and the number of columns of the
+          matrices C and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the infinity norm of an elementary
+          submatrix of X (see METHOD).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          matrix A of the Sylvester equation, in real Schur form.
+          The elements below the real Schur form are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain the
+          matrix B of the Sylvester equation, in real Schur form.
+          The elements below the real Schur form are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix C of the Sylvester equation.
+          On exit, if INFO = 0, the leading M-by-N part of this
+          array contains the solution matrix X of the Sylvester
+          equation, and each elementary submatrix of X (see METHOD)
+          has the infinity norm less than or equal to PMAX.
+          On exit, if INFO = 1, the solution matrix X has not been
+          computed completely, because an elementary submatrix of X
+          had the infinity norm greater than PMAX. Part of the
+          matrix C has possibly been overwritten with the
+          corresponding part of X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  an elementary submatrix of X had the infinity norm
+                greater than the given value PMAX.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses an adaptation of the standard method for solving
+  Sylvester equations [1], which controls the magnitude of the
+  individual elements of the computed solution [2]. The equation
+  -AX + XB = C can be rewritten as
+                              p            l-1
+    -A  X   + X  B   = C   + sum  A  X   - sum  X  B
+      kk kl    kl ll    kl  i=k+1  ki il   j=1   kj jl
+
+  for l = 1:q, and k = p:-1:1, where A  , B  , C  , and X  , are
+                                      kk   ll   kl       kl
+  block submatrices defined by the partitioning induced by the Schur
+  form of A and B, and p and q are the numbers of the diagonal
+  blocks of A and B, respectively. So, the elementary submatrices of
+  X are found block column by block column, starting from the
+  bottom. If any such elementary submatrix has the infinity norm
+  greater than the given value PMAX, the calculations are ended.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2      2
+  The algorithm requires 0(M N + MN ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Let
+
+         ( A   C )       ( I   X )
+     M = (       ),  Y = (       ).
+         ( 0   B )       ( 0   I )
+
+  Then
+
+      -1      ( A   0 )
+     Y  M Y = (       ),
+              ( 0   B )
+
+  hence Y is an non-orthogonal transformation matrix which performs
+  the reduction of M to a block-diagonal form. Bounding a norm of
+  X is equivalent to setting an upper bound to the condition number
+  of the transformation matrix Y.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03RZ.html b/doc/_static/doc/MB03RZ.html
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+<HTML>
+<HEAD><TITLE>MB03RZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03RZ">MB03RZ</A></H2>
+<H3>
+Reduction of a complex Schur form matrix to a block-diagonal form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce an upper triangular complex matrix A (Schur form) to a
+  block-diagonal form using well-conditioned non-unitary similarity
+  transformations. The condition numbers of the transformations used
+  for reduction are roughly bounded by PMAX, where PMAX is a given
+  value. The transformations are optionally postmultiplied in a
+  given matrix X. The Schur form is optionally ordered, so that
+  clustered eigenvalues are grouped in the same block.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03RZ( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
+     $                   BLSIZE, W, TOL, INFO )C     .. Scalar Arguments ..
+      CHARACTER         JOBX, SORT
+      INTEGER           INFO, LDA, LDX, N, NBLCKS
+      DOUBLE PRECISION  PMAX, TOL
+C     .. Array Arguments ..
+      INTEGER           BLSIZE(*)
+      COMPLEX*16        A(LDA,*), W(*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBX    CHARACTER*1
+          Specifies whether or not the transformations are
+          accumulated, as follows:
+          = 'N':  The transformations are not accumulated;
+          = 'U':  The transformations are accumulated in X (the
+                  given matrix X is updated).
+
+  SORT    CHARACTER*1
+          Specifies whether or not the diagonal elements of the
+          Schur form are reordered, as follows:
+          = 'N':  The diagonal elements are not reordered;
+          = 'S':  The diagonal elements are reordered before each
+                  step of reduction, so that clustered eigenvalues
+                  appear in the same block;
+          = 'C':  The diagonal elements are not reordered, but the
+                  "closest-neighbour" strategy is used instead of
+                  the standard "closest to the mean" strategy (see
+                  METHOD);
+          = 'B':  The diagonal elements are reordered before each
+                  step of reduction, and the "closest-neighbour"
+                  strategy is used (see METHOD).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  PMAX    (input) DOUBLE PRECISION
+          An upper bound for the absolute value of the elements of
+          the individual transformations used for reduction
+          (see METHOD). PMAX &gt;= 1.0D0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix A to be
+          block-diagonalized.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the computed block-diagonal matrix, in
+          Schur form.
+          The strictly lower triangular part is used as workspace,
+          but it is set to zero before exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  X       (input/output) COMPLEX*16 array, dimension (LDX,*)
+          On entry, if JOBX = 'U', the leading N-by-N part of this
+          array must contain a given matrix X.
+          On exit, if JOBX = 'U', the leading N-by-N part of this
+          array contains the product of the given matrix X and the
+          transformation matrix that reduced A to block-diagonal
+          form. The transformation matrix is itself a product of
+          non-unitary similarity transformations having elements
+          with magnitude less than or equal to PMAX.
+          If JOBX = 'N', this array is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOBX = 'N';
+          LDX &gt;= MAX(1,N), if JOBX = 'U'.
+
+  NBLCKS  (output) INTEGER
+          The number of diagonal blocks of the matrix A.
+
+  BLSIZE  (output) INTEGER array, dimension (N)
+          The first NBLCKS elements of this array contain the orders
+          of the resulting diagonal blocks of the matrix A.
+
+  W       (output) COMPLEX*16 array, dimension (N)
+          This array contains the eigenvalues of the matrix A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in the ordering of the diagonal
+          elements of the upper triangular matrix.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used as an absolute tolerance: an eigenvalue i and a
+          temporarily fixed eigenvalue 1 (the first element of the
+          current trailing submatrix to be reduced) are considered
+          to belong to the same cluster if they satisfy
+
+            | lambda_1 - lambda_i | &lt;= TOL.
+
+          If the user sets TOL &lt; 0, then the given value of TOL is
+          used as a relative tolerance: an eigenvalue i and a
+          temporarily fixed eigenvalue 1 are considered to belong to
+          the same cluster if they satisfy, for j = 1, ..., N,
+
+            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
+
+          If the user sets TOL = 0, then an implicitly computed,
+          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
+          is used instead, as a relative tolerance, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH).
+          If SORT = 'N' or 'C', this parameter is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Consider first that SORT = 'N'. Let
+
+         ( A    A   )
+         (  11   12 )
+     A = (          ),
+         ( 0    A   )
+         (       22 )
+
+  be the given matrix in Schur form, where initially A   is the
+                                                      11
+  first diagonal element. An attempt is made to compute a
+  transformation matrix X of the form
+
+         ( I   P )
+     X = (       )                                               (1)
+         ( 0   I )
+
+  (partitioned as A), so that
+
+              ( A     0  )
+      -1      (  11      )
+     X  A X = (          ),
+              ( 0    A   )
+              (       22 )
+
+  and the elements of P do not exceed the value PMAX in magnitude.
+  An adaptation of the standard method for solving Sylvester
+  equations [1], which controls the magnitude of the individual
+  elements of the computed solution [2], is used to obtain matrix P.
+  When this attempt failed, a diagonal element of A  , closest to
+                                                   22
+  the mean of those of A   is selected, and moved by unitary
+                        11
+  similarity transformations in the leading position of A  ; the
+                                                         22
+  moved diagonal element is then added to the block A  , increasing
+                                                     11
+  its order by 1. Another attempt is made to compute a suitable
+  transformation matrix X with the new definitions of the blocks A
+                                                                  11
+  and A  . After a successful transformation matrix X has been
+       22
+  obtained, it postmultiplies the current transformation matrix
+  (if JOBX = 'U'), and the whole procedure is repeated for the
+  block A  .
+         22
+
+  When SORT = 'S', the diagonal elements of the Schur form are
+  reordered before each step of the reduction, so that each cluster
+  of eigenvalues, defined as specified in the definition of TOL,
+  appears in adjacent elements. The elements for each cluster are
+  merged together, and the procedure described above is applied to
+  the larger blocks. Using the option SORT = 'S' will usually
+  provide better efficiency than the standard option (SORT = 'N'),
+  proposed in [2], because there could be no or few unsuccessful
+  attempts to compute individual transformation matrices X of the
+  form (1). However, the resulting dimensions of the blocks are
+  usually larger; this could make subsequent calculations less
+  efficient.
+
+  When SORT = 'C' or 'B', the procedure is similar to that for
+  SORT = 'N' or 'S', respectively, but the block of A   whose
+                                                     22
+  eigenvalue(s) is (are) the closest to those of A   (not to their
+                                                  11
+  mean) is selected and moved to the leading position of A  . This
+                                                          22
+  is called the "closest-neighbour" strategy.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Bavely, C. and Stewart, G.W.
+      An Algorithm for Computing Reducing Subspaces by Block
+      Diagonalization.
+      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
+
+  [3] Demmel, J.
+      The Condition Number of Equivalence Transformations that
+      Block Diagonalize Matrix Pencils.
+      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                    3                     4
+  The algorithm usually requires 0(N ) operations, but 0(N ) are
+  possible in the worst case, when the matrix cannot be diagonalized
+  by well-conditioned transformations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The individual non-unitary transformation matrices used in the
+  reduction of A to a block-diagonal form have condition numbers of
+  the order PMAX. This does not guarantee that their product is
+  well-conditioned enough. The routine can be easily modified to
+  provide estimates for the condition numbers of the clusters of
+  eigenvalues.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03SD.html b/doc/_static/doc/MB03SD.html
new file mode 100644
index 00000000..3ca3ef82
--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB03SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03SD">MB03SD</A></H2>
+<H3>
+Eigenvalues of a square-reduced Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of an N-by-N square-reduced Hamiltonian
+  matrix
+
+             ( A'   G'  )
+      H'  =  (        T ).                                       (1)
+             ( Q'  -A'  )
+
+  Here, A' is an N-by-N matrix, and G' and Q' are symmetric N-by-N
+  matrices.  It is assumed without a check that H' is square-
+  reduced, i.e., that
+
+        2    ( A''   G'' )
+      H'  =  (         T )    with A'' upper Hessenberg.         (2)
+             ( 0    A''  )
+
+                         T                2
+  (Equivalently, Q'A'- A' Q' = 0, A'' = A' + G'Q', and for i &gt; j+1,
+   A''(i,j) = 0.)  Ordinarily, H' is the output from SLICOT Library
+  routine MB04ZD. The eigenvalues of H' are computed as the square
+  roots of the eigenvalues of A''.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDQG, LDWORK, N
+      CHARACTER         JOBSCL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBSCL  CHARACTER*1
+          Specifies whether or not balancing operations should
+          be performed by the LAPACK subroutine DGEBAL on the
+          Hessenberg matrix A'' in (2), as follows:
+          = 'N':  do not use balancing;
+          = 'S':  do scaling in order to equilibrate the rows
+                  and columns of A''.
+          See LAPACK subroutine DGEBAL and Section METHOD below.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper left block A' of the square-reduced Hamiltonian
+          matrix H' in (1), as produced by SLICOT Library routine
+          MB04ZD.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
+          The leading N-by-N lower triangular part of this array
+          must contain the lower triangle of the lower left
+          symmetric block Q' of the square-reduced Hamiltonian
+          matrix H' in (1), and the N-by-N upper triangular part of
+          the submatrix in the columns 2 to N+1 of this array must
+          contain the upper triangle of the upper right symmetric
+          block G' of the square-reduced Hamiltonian matrix H'
+          in (1), as produced by SLICOT Library routine MB04ZD.
+          So, if i &gt;= j, then Q'(i,j) is stored in QG(i,j) and
+          G'(i,j) is stored in QG(j,i+1).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The arrays WR and WI contain the real and imaginary parts,
+          respectively, of the N eigenvalues of H' with non-negative
+          real part.  The remaining N eigenvalues are the negatives
+          of these eigenvalues.
+          Eigenvalues are stored in WR and WI in decreasing order of
+          magnitude of the real parts, i.e., WR(I) &gt;= WR(I+1).
+          (In particular, an eigenvalue closest to the imaginary
+           axis is WR(N)+WI(N)i.)
+          In addition, eigenvalues with zero real part are sorted in
+          decreasing order of magnitude of imaginary parts.  Note
+          that non-real eigenvalues with non-zero real part appear
+          in complex conjugate pairs, but eigenvalues with zero real
+          part do not, in general, appear in complex conjugate
+          pairs.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1,N*(N+1)).
+          For good performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO =  i, i &lt;= N, then LAPACK subroutine DHSEQR
+                failed to converge while computing the i-th
+                eigenvalue.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine forms the upper Hessenberg matrix A'' in (2) and calls
+  LAPACK subroutines to calculate its eigenvalues.  The eigenvalues
+  of H' are the square roots of the eigenvalues of A''.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C. F.
+      A Symplectic Method for Approximating All the Eigenvalues of
+      a Hamiltonian Matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Byers, R.
+      Hamiltonian and Symplectic Algorithms for the Algebraic
+      Riccati Equation.
+      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
+
+  [3] Benner, P., Byers, R., and Barth, E.
+      Fortran 77 Subroutines for Computing the Eigenvalues of
+      Hamiltonian Matrices. I: The Square-Reduced Method.
+      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires (32/3)*N**3 + O(N**2) floating point
+  operations.
+  Eigenvalues computed by this subroutine are exact eigenvalues
+  of a perturbed Hamiltonian matrix  H' + E  where
+
+              || E || &lt;= c sqrt(eps) || H' ||,
+
+  c is a modest constant depending on the dimension N and eps is the
+  machine precision. Moreover, if the norm of H' and an eigenvalue
+  are of roughly the same magnitude, the computed eigenvalue is
+  essentially as accurate as the computed eigenvalue obtained by
+  traditional methods. See [1] or [2].
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03SD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX+1 ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      JOBSCL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
+     $                 WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB03SD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+*     NOTE: input must define a square-reduced Hamiltonian matrix.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOBSCL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99998 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
+*        Compute the eigenvalues.
+         CALL MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
+     $                LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+*           Show the computed eigenvalues.
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99995 )  WR(I), ' + (',  WI(I), ')i'
+10          CONTINUE
+            DO 20 I = N, 1, -1
+               WRITE ( NOUT, FMT = 99995 ) -WR(I), ' + (', -WI(I), ')i'
+20          CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB03SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' N is out of range.',/' N = ',I5)
+99997 FORMAT (' INFO on exit from MB03SD = ',I2)
+99996 FORMAT (/' The eigenvalues are ')
+99995 FORMAT (1X,F8.4,A,F8.4,A)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03SD EXAMPLE PROGRAM DATA
+ 3 S
+  2.0  0.0  0.0
+  0.0  1.0  2.0
+  0.0 -1.0  3.0
+  1.0  0.0  0.0  2.0  3.0  4.0
+ -2.0  0.0  0.0  0.0  0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03SD EXAMPLE PROGRAM RESULTS
+
+
+ The eigenvalues are 
+   2.0000 + (  1.0000)i
+   2.0000 + ( -1.0000)i
+   1.4142 + (  0.0000)i
+  -1.4142 + (  0.0000)i
+  -2.0000 + (  1.0000)i
+  -2.0000 + ( -1.0000)i
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03TD.html b/doc/_static/doc/MB03TD.html
new file mode 100644
index 00000000..210bcc3d
--- /dev/null
+++ b/doc/_static/doc/MB03TD.html
@@ -0,0 +1,393 @@
+<HTML>
+<HEAD><TITLE>MB03TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03TD">MB03TD</A></H2>
+<H3>
+Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reorder a matrix X in skew-Hamiltonian Schur form:
+
+                [  A   G  ]          T
+          X  =  [       T ],   G = -G,
+                [  0   A  ]
+
+  or in Hamiltonian Schur form:
+
+                [  A   G  ]          T
+          X  =  [       T ],   G =  G,
+                [  0  -A  ]
+
+  where A is in upper quasi-triangular form, so that a selected
+  cluster of eigenvalues appears in the leading diagonal blocks
+  of the matrix A (in X) and the leading columns of [ U1; -U2 ] form
+  an orthonormal basis for the corresponding right invariant
+  subspace.
+
+  If X is skew-Hamiltonian, then each eigenvalue appears twice; one
+  copy corresponds to the j-th diagonal element and the other to the
+  (n+j)-th diagonal element of X. The logical array LOWER controls
+  which copy is to be reordered to the leading part of A.
+
+  If X is Hamiltonian then the eigenvalues appear in pairs
+  (lambda,-lambda); lambda corresponds to the j-th diagonal
+  element and -lambda to the (n+j)-th diagonal element of X.
+  The logical array LOWER controls whether lambda or -lambda is to
+  be reordered to the leading part of A.
+
+  The matrix A must be in Schur canonical form (as returned by the
+  LAPACK routine DHSEQR), that is, block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG,
+     $                   U1, LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPU, TYP
+      INTEGER           INFO, LDA, LDG, LDU1, LDU2, LDWORK, M, N
+C     .. Array Arguments ..
+      LOGICAL           LOWER(*), SELECT(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
+     $                  U2(LDU2,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYP     CHARACTER*1
+          Specifies the type of the input matrix X:
+          = 'S': X is skew-Hamiltonian;
+          = 'H': X is Hamiltonian.
+
+  COMPU   CHARACTER*1
+          = 'U': update the matrices U1 and U2 containing the
+                 Schur vectors;
+          = 'N': do not update U1 and U2.
+
+  SELECT  (input/output) LOGICAL array, dimension (N)
+          SELECT specifies the eigenvalues in the selected cluster.
+          To select a real eigenvalue w(j), SELECT(j) must be set
+          to .TRUE.. To select a complex conjugate pair of
+          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
+          diagonal block, both SELECT(j) and SELECT(j+1) must be set
+          to .TRUE.; a complex conjugate pair of eigenvalues must be
+          either both included in the cluster or both excluded.
+
+  LOWER   (input/output) LOGICAL array, dimension (N)
+          LOWER controls which copy of a selected eigenvalue is
+          included in the cluster. If SELECT(j) is set to .TRUE.
+          for a real eigenvalue w(j); then LOWER(j) must be set to
+          .TRUE. if the eigenvalue corresponding to the (n+j)-th
+          diagonal element of X is to be reordered to the leading
+          part; and LOWER(j) must be set to .FALSE. if the
+          eigenvalue corresponding to the j-th diagonal element of
+          X is to be reordered to the leading part. Similarly, for
+          a complex conjugate pair of eigenvalues w(j) and w(j+1),
+          both LOWER(j) and LOWER(j+1) must be set to .TRUE. if the
+          eigenvalues corresponding to the (n+j:n+j+1,n+j:n+j+1)
+          diagonal block of X are to be reordered to the leading
+          part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A in Schur
+          canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the reordered matrix A, again in Schur canonical form,
+          with the selected eigenvalues in the diagonal blocks.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, if TYP = 'S', the leading N-by-N part of this
+          array must contain the strictly upper triangular part of
+          the skew-symmetric matrix G. The rest of this array is not
+          referenced.
+          On entry, if TYP = 'H', the leading N-by-N part of this
+          array must contain the upper triangular part of the
+          symmetric matrix G. The rest of this array is not
+          referenced.
+          On exit, if TYP = 'S', the leading N-by-N part of this
+          array contains the strictly upper triangular part of the
+          skew-symmetric matrix G, updated by the orthogonal
+          symplectic transformation which reorders X.
+          On exit, if TYP = 'H', the leading N-by-N part of this
+          array contains the upper triangular part of the symmetric
+          matrix G, updated by the orthogonal symplectic
+          transformation which reorders X.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, if COMPU = 'U', the leading N-by-N part of this
+          array must contain U1, the (1,1) block of an orthogonal
+          symplectic matrix U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U', the leading N-by-N part of this
+          array contains the (1,1) block of the matrix U,
+          postmultiplied by the orthogonal symplectic transformation
+          which reorders X. The leading M columns of U form an
+          orthonormal basis for the specified invariant subspace.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= MAX(1,N),  if COMPU = 'U';
+          LDU1 &gt;= 1,         otherwise.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, if COMPU = 'U', the leading N-by-N part of this
+          array must contain U2, the (1,2) block of an orthogonal
+          symplectic matrix U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U', the leading N-by-N part of this
+          array contains the (1,2) block of the matrix U,
+          postmultiplied by the orthogonal symplectic transformation
+          which reorders X.
+          If COMPU = 'N', this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= MAX(1,N),  if COMPU = 'U';
+          LDU2 &gt;= 1,         otherwise.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The real and imaginary parts, respectively, of the
+          reordered eigenvalues of A. The eigenvalues are stored
+          in the same order as on the diagonal of A, with
+          WR(i) = A(i,i) and, if A(i:i+1,i:i+1) is a 2-by-2 diagonal
+          block, WI(i) &gt; 0 and WI(i+1) = -WI(i). Note that if an
+          eigenvalue is sufficiently ill-conditioned, then its value
+          may differ significantly from its value before reordering.
+
+  M       (output) INTEGER
+          The dimension of the specified invariant subspace.
+          0 &lt;= M &lt;= N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          = 1:  reordering of X failed because some eigenvalue pairs
+                are too close to separate (the problem is very
+                ill-conditioned); X may have been partially
+                reordered, and WR and WI contain the eigenvalues in
+                the same order as in X.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bai, Z. and Demmel, J.W.
+      On Swapping Diagonal Blocks in Real Schur Form.
+      Linear Algebra Appl., 186, pp. 73-95, 1993.
+
+  [2] Benner, P., Kressner, D., and Mehrmann, V.
+      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
+      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDG, LDRES, LDU1, LDU2, LDWORK
+      PARAMETER        ( LDA  = NMAX, LDG  = NMAX, LDRES  = NMAX,
+     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 8*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPU, TYP
+      INTEGER          I, INFO, J, N, M
+*     .. Local Arrays ..
+      LOGICAL          LOWER(NMAX), SELECT(NMAX)
+      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), G(LDG, NMAX),
+     $                 RES(LDRES,NMAX), U1(LDU1,NMAX), U2(LDU2,NMAX),
+     $                 WR(NMAX), WI(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION MA02JD
+      EXTERNAL         LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         MB03TD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, TYP, COMPU
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( SELECT(J), J = 1,N )
+         READ ( NIN, FMT = * ) ( LOWER(J), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( COMPU, 'U' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
+         END IF
+         CALL MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG, U1,
+     $                LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( COMPU, 'U' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 10  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10             CONTINUE
+               DO 20  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20             CONTINUE
+               WRITE ( NOUT, FMT = 99992 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+            END IF
+*
+            WRITE ( NOUT, FMT = 99996 )
+            DO 30  I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
+30          CONTINUE
+*
+            WRITE ( NOUT, FMT = 99995 )
+            IF ( LSAME( TYP, 'S' ) ) THEN
+               DO 40  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $               ( -G(J,I), J = 1,I-1 ), ZERO, ( G(I,J), J = I+1,N )
+40             CONTINUE
+            ELSE
+               DO 50  I = 1, N
+                  WRITE ( NOUT, FMT = 99994 )
+     $               ( G(J,I), J = 1,I-1 ), ( G(I,J), J = I,N )
+50             CONTINUE
+           END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03TD = ',I2)
+99997 FORMAT (' The orthogonal symplectic factor U is ')
+99996 FORMAT (/' The matrix A in reordered Schur canonical form is ')
+99995 FORMAT (/' The matrix G is ')
+99994 FORMAT (20(1X,F9.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03TD EXAMPLE PROGRAM DATA
+	5	S	U
+	.F. .T. .T. .F. .F.
+	.F. .T. .T. .F. .F.
+    0.9501    0.7621    0.6154    0.4057    0.0579
+         0    0.4565    0.7919    0.9355    0.3529
+         0   -0.6822    0.4565    0.9169    0.8132
+         0         0         0    0.4103    0.0099
+         0         0         0         0    0.1389
+         0   -0.1834   -0.1851    0.5659    0.3040
+         0         0    0.4011   -0.9122    0.2435
+         0         0         0    0.4786   -0.2432
+         0         0         0         0   -0.5272
+         0         0         0         0         0
+     1     0     0     0     0
+     0     1     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+     0     0     0     0     1
+     0     0     0     0     0
+     0     0     0     0     0
+     0     0     0     0     0
+     0     0     0     0     0
+     0     0     0     0     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03TD EXAMPLE PROGRAM RESULTS
+
+The orthogonal symplectic factor U is 
+   0.0407    0.4847    0.8737    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+   0.1245   -0.3866    0.2087    0.4509   -0.1047    0.3229    0.1248   -0.0843    0.1967    0.6415
+  -0.0933    0.4089   -0.2225   -0.4085    0.0709   -0.2171    0.2156   -0.1095    0.4348    0.5551
+  -0.1059   -0.5250    0.2962   -0.0295    0.2207   -0.6789    0.1133   -0.0312    0.2979   -0.1112
+   0.3937    0.3071   -0.1887    0.5332   -0.4351   -0.4423    0.0600   -0.0127    0.1679   -0.1179
+   0.0000    0.0000    0.0000    0.0000    0.0000    0.0407    0.4847    0.8737    0.0000    0.0000
+  -0.3229   -0.1248    0.0843   -0.1967   -0.6415    0.1245   -0.3866    0.2087    0.4509   -0.1047
+   0.2171   -0.2156    0.1095   -0.4348   -0.5551   -0.0933    0.4089   -0.2225   -0.4085    0.0709
+   0.6789   -0.1133    0.0312   -0.2979    0.1112   -0.1059   -0.5250    0.2962   -0.0295    0.2207
+   0.4423   -0.0600    0.0127   -0.1679    0.1179    0.3937    0.3071   -0.1887    0.5332   -0.4351
+
+Orthogonality of U: || U'*U - I ||_F = .21E-14
+
+The matrix A in reordered Schur canonical form is 
+   0.4565   -0.4554    0.2756   -0.8651   -1.2050
+   1.1863    0.4565    0.2186   -0.0233    0.8293
+   0.0000    0.0000    0.9501    0.0625   -0.0064
+   0.0000    0.0000    0.0000    0.4103    0.5597
+   0.0000    0.0000    0.0000    0.0000    0.1389
+
+The matrix G is 
+   0.0000    0.3298   -0.0292   -0.1571    0.1751
+  -0.3298    0.0000   -0.0633   -0.2951    0.2396
+   0.0292    0.0633    0.0000    0.9567    0.7485
+   0.1571    0.2951   -0.9567    0.0000    0.2960
+  -0.1751   -0.2396   -0.7485   -0.2960    0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03TS.html b/doc/_static/doc/MB03TS.html
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+<HTML>
+<HEAD><TITLE>MB03TS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03TS">MB03TS</A></H2>
+<H3>
+Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian canonical Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To swap diagonal blocks A11 and A22 of order 1 or 2 in the upper
+  quasi-triangular matrix A contained in a skew-Hamiltonian matrix
+
+                [  A   G  ]          T
+          X  =  [       T ],   G = -G,
+                [  0   A  ]
+
+  or in a Hamiltonian matrix
+
+                [  A   G  ]          T
+          X  =  [       T ],   G =  G.
+                [  0  -A  ]
+
+  This routine is a modified version of the LAPACK subroutine
+  DLAEX2.
+
+  The matrix A must be in Schur canonical form (as returned by the
+  LAPACK routine DHSEQR), that is, block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03TS( ISHAM, WANTU, N, A, LDA, G, LDG, U1, LDU1, U2,
+     $                   LDU2, J1, N1, N2, DWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            ISHAM, WANTU
+      INTEGER            INFO, J1, LDA, LDG, LDU1, LDU2, N, N1, N2
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
+     $                   U2(LDU2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ISHAM   LOGIGAL
+          Specifies the type of X:
+          = .TRUE.:   X is a Hamiltonian matrix;
+          = .FALSE.:  X is a skew-Hamiltonian matrix.
+
+  WANTU   LOGIGAL
+          = .TRUE.:   update the matrices U1 and U2 containing the
+                      Schur vectors;
+          = .FALSE.:  do not update U1 and U2.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A, in Schur
+          canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the reordered matrix A, again in Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular part of the symmetric
+          matrix G, if ISHAM = .TRUE., or the strictly upper
+          triangular part of the skew-symmetric matrix G, otherwise.
+          The rest of this array is not referenced.
+          On exit, the leading N-by-N part of this array contains
+          the upper or strictly upper triangular part of the
+          symmetric or skew-symmetric matrix G, respectively,
+          updated by the orthogonal transformation which reorders A.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, if WANTU = .TRUE., the leading N-by-N part of
+          this array must contain the matrix U1.
+          On exit, if WANTU = .TRUE., the leading N-by-N part of
+          this array contains U1, postmultiplied by the orthogonal
+          transformation which reorders A. See the description in
+          the SLICOT subroutine MB03TD for further details.
+          If WANTU = .FALSE., this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= MAX(1,N),  if WANTU = .TRUE.;
+          LDU1 &gt;= 1,         otherwise.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, if WANTU = .TRUE., the leading N-by-N part of
+          this array must contain the matrix U2.
+          On exit, if WANTU = .TRUE., the leading N-by-N part of
+          this array contains U2, postmultiplied by the orthogonal
+          transformation which reorders A.
+          If WANTU = .FALSE., this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= MAX(1,N),  if WANTU = .TRUE.;
+          LDU2 &gt;= 1,         otherwise.
+
+  J1      (input) INTEGER
+          The index of the first row of the first block A11.
+          If J1+N1 &lt; N, then A11 is swapped with the block starting
+          at (J1+N1+1)-th diagonal element.
+          If J1+N1 &gt; N, then A11 is the last block in A and swapped
+          with -A11', if ISHAM = .TRUE.,
+          or    A11', if ISHAM = .FALSE..
+
+  N1      (input) INTEGER
+          The order of the first block A11. N1 = 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of the second block A22. N2 = 0, 1 or 2.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  the transformed matrix A would be too far from Schur
+                form; the blocks are not swapped and A, G, U1 and
+                U2 are unchanged.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bai, Z., and Demmel, J.W.
+     On swapping diagonal blocks in real Schur form.
+     Linear Algebra Appl., 186, pp. 73-95, 1993.
+
+  [2] Benner, P., Kressner, D., and Mehrmann, V.
+      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
+      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03UD.html b/doc/_static/doc/MB03UD.html
new file mode 100644
index 00000000..2d635a59
--- /dev/null
+++ b/doc/_static/doc/MB03UD.html
@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>MB03UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03UD">MB03UD</A></H2>
+<H3>
+Computation of the singular value decomposition of a real upper triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute all, or part, of the singular value decomposition of a
+  real upper triangular matrix.
+
+  The N-by-N upper triangular matrix A is factored as  A = Q*S*P',
+  where Q and P are N-by-N orthogonal matrices and S is an
+  N-by-N diagonal matrix with non-negative diagonal elements,
+  SV(1), SV(2), ..., SV(N), ordered such that
+
+     SV(1) &gt;= SV(2) &gt;= ... &gt;= SV(N) &gt;= 0.
+
+  The columns of Q are the left singular vectors of A, the diagonal
+  elements of S are the singular values of A and the columns of P
+  are the right singular vectors of A.
+
+  Either or both of Q and P' may be requested.
+  When P' is computed, it is returned in A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBP, JOBQ
+      INTEGER           INFO, LDA, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(LDQ,*), SV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBQ    CHARACTER*1
+          Specifies whether the user wishes to compute the matrix Q
+          of left singular vectors as follows:
+          = 'V':  Left singular vectors are computed;
+          = 'N':  No left singular vectors are computed.
+
+  JOBP    CHARACTER*1
+          Specifies whether the user wishes to compute the matrix P'
+          of right singular vectors as follows:
+          = 'V':  Right singular vectors are computed;
+          = 'N':  No right singular vectors are computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix A.
+          On exit, if JOBP = 'V', the leading N-by-N part of this
+          array contains the N-by-N orthogonal matrix  P'; otherwise
+          the N-by-N upper triangular part of A is used as internal
+          workspace. The strictly lower triangular part of A is set
+          internally to zero before the reduction to bidiagonal form
+          is performed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If JOBQ = 'V', the leading N-by-N part of this array
+          contains the orthogonal matrix Q.
+          If JOBQ = 'N', Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,  and when JOBQ = 'V',  LDQ &gt;= MAX(1,N).
+
+  SV      (output) DOUBLE PRECISION array, dimension (N)
+          The N singular values of the matrix A, sorted in
+          descending order.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          if INFO &gt; 0, DWORK(2:N) contains the unconverged
+          superdiagonal elements of an upper bidiagonal matrix B
+          whose diagonal is in SV (not necessarily sorted).
+          B satisfies A = Q*B*P', so it has the same singular
+          values as A, and singular vectors related by Q and P'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,5*N).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  the QR algorithm has failed to converge. In this
+                case INFO specifies how many superdiagonals did not
+                converge (see the description of DWORK).
+                This failure is not likely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine reduces A to bidiagonal form by means of elementary
+  reflectors and then uses the QR algorithm on the bidiagonal form.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDQ
+      PARAMETER        ( LDA = NMAX, LDQ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 5*NMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBQ, JOBP
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LDQ,NMAX),
+     $                 SV(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB03UD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOBQ, JOBP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Compute the singular values and vectors.
+         CALL MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
+     $                LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99995 ) ( SV(I), I = 1,N )
+            IF ( LSAME( JOBP, 'V' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10          CONTINUE
+            END IF
+            IF ( LSAME( JOBQ, 'V' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03UD = ',I2)
+99997 FORMAT (' Singular values are ',I5)
+99996 FORMAT (/' The transpose of the right singular vectors matrix is '
+     $       )
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' The left singular vectors matrix is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB03UD EXAMPLE PROGRAM DATA
+   4     V      V
+  -1.0  37.0 -12.0 -12.0
+   0.0 -10.0   0.0   4.0
+   0.0   0.0   7.0  -6.0
+   0.0   0.0   0.0  -9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03UD EXAMPLE PROGRAM RESULTS
+
+ Singular values are 
+          42.0909  11.7764   5.4420   0.2336
+
+ The transpose of the right singular vectors matrix is 
+           0.0230  -0.9084   0.2759   0.3132
+           0.0075  -0.1272   0.5312  -0.8376
+           0.0092   0.3978   0.8009   0.4476
+           0.9997   0.0182  -0.0177  -0.0050
+
+ The left singular vectors matrix is 
+          -0.9671  -0.0882  -0.0501  -0.2335
+           0.2456  -0.1765  -0.4020  -0.8643
+           0.0012   0.7425   0.5367  -0.4008
+          -0.0670   0.6401  -0.7402   0.1945
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03VD.html b/doc/_static/doc/MB03VD.html
new file mode 100644
index 00000000..40d00e15
--- /dev/null
+++ b/doc/_static/doc/MB03VD.html
@@ -0,0 +1,372 @@
+<HTML>
+<HEAD><TITLE>MB03VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03VD">MB03VD</A></H2>
+<H3>
+Periodic Hessenberg form of a product of p matrices using orthogonal similarity transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a product of p real general matrices A = A_1*A_2*...*A_p
+  to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is
+  upper Hessenberg, and H_2, ..., H_p are upper triangular, by using
+  orthogonal similarity transformations on A,
+
+          Q_1' * A_1 * Q_2 = H_1,
+          Q_2' * A_2 * Q_3 = H_2,
+                 ...
+          Q_p' * A_p * Q_1 = H_p.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the square matrices A_1, A_2, ..., A_p.
+          N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of matrices in the product A_1*A_2*...*A_p.
+          P &gt;= 1.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that all matrices A_j, j = 2, ..., p, are
+          already upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N, and A_1 is upper Hessenberg in rows and columns
+          1:ILO-1 and IHI+1:N, with A_1(ILO,ILO-1) = 0 (unless
+          ILO = 1), and A_1(IHI+1,IHI) = 0 (unless IHI = N).
+          If this is not the case, ILO and IHI should be set to 1
+          and N, respectively.
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA1,LDA2,P)
+          On entry, the leading N-by-N-by-P part of this array must
+          contain the matrices of factors to be reduced;
+          specifically, A(*,*,j) must contain A_j, j = 1, ..., p.
+          On exit, the leading N-by-N upper triangle and the first
+          subdiagonal of A(*,*,1) contain the upper Hessenberg
+          matrix H_1, and the elements below the first subdiagonal,
+          with the first column of the array TAU represent the
+          orthogonal matrix Q_1 as a product of elementary
+          reflectors. See FURTHER COMMENTS.
+          For j &gt; 1, the leading N-by-N upper triangle of A(*,*,j)
+          contains the upper triangular matrix H_j, and the elements
+          below the diagonal, with the j-th column of the array TAU
+          represent the orthogonal matrix Q_j as a product of
+          elementary reflectors. See FURTHER COMMENTS.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= max(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= max(1,N).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (LDTAU,P)
+          The leading N-1 elements in the j-th column contain the
+          scalar factors of the elementary reflectors used to form
+          the matrix Q_j, j = 1, ..., P. See FURTHER COMMENTS.
+
+  LDTAU   INTEGER
+          The leading dimension of the array TAU.
+          LDTAU &gt;= max(1,N-1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm consists in ihi-ilo major steps. In each such
+  step i, ilo &lt;= i &lt;= ihi-1, the subdiagonal elements in the i-th
+  column of A_j are annihilated using a Householder transformation
+  from the left, which is also applied to A_(j-1) from the right,
+  for j = p:-1:2. Then, the elements below the subdiagonal of the
+  i-th column of A_1 are annihilated, and the Householder
+  transformation is also applied to A_p from the right.
+  See FURTHER COMMENTS.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      Periodic Schur form and some matrix equations.
+      Proc. of the Symposium on the Mathematical Theory of Networks
+      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
+      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Each matrix Q_j is represented as a product of (ihi-ilo)
+  elementary reflectors,
+
+     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
+
+  Each H_j(i), i = ilo, ..., ihi-1, has the form
+
+     H_j(i) = I - tau_j * v_j * v_j',
+
+  where tau_j is a real scalar, and v_j is a real vector with
+  v_j(1:i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)
+  is stored on exit in A_j(i+2:ihi,i), and tau_j in TAU(i,j).
+
+  The contents of A_1 are illustrated by the following example
+  for n = 7, ilo = 2, and ihi = 6:
+
+  on entry                         on exit
+
+  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
+  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )
+  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
+  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
+
+  where a denotes an element of the original matrix A_1, h denotes
+  a modified element of the upper Hessenberg matrix H_1, and vi
+  denotes an element of the vector defining H_1(i).
+
+  The contents of A_j, j &gt; 1, are illustrated by the following
+  example for n = 7, ilo = 2, and ihi = 6:
+
+  on entry                         on exit
+
+  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
+  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
+  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )
+  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
+
+  where a denotes an element of the original matrix A_j, h denotes
+  a modified element of the upper triangular matrix H_j, and vi
+  denotes an element of the vector defining H_j(i). (The element
+  (1,2) in A_p is also unchanged for this example.)
+
+  Note that for P = 1, the LAPACK Library routine DGEHRD could be
+  more efficient on some computer architectures than this routine
+  (a BLAS 2 version).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA1, LDA2, LDQ1, LDQ2, LDTAU
+      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
+     $                   LDQ2 = NMAX, LDTAU = NMAX-1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SSQ
+      INTEGER          I, IHI, ILO, INFO, J, K, KP1, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
+     $                 DWORK(LDWORK), Q(LDQ1,LDQ2,PMAX),
+     $                 QTA(LDQ1,NMAX), TAU(LDTAU,PMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE, DLAPY2
+      EXTERNAL         DLANGE, DLAPY2
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, MB03VD, MB03VY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, ILO, IHI
+      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) P
+         ELSE
+*           Read matrices A_1, ..., A_p from the input file.
+            DO 10 K = 1, P
+               READ ( NIN, FMT = * )
+     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
+               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
+   10       CONTINUE
+*           Reduce to the periodic Hessenberg form.
+            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 30 K = 1, P
+                  CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Q(1,1,K),
+     $                         LDQ1 )
+                  IF ( N.GT.1 ) THEN
+                     IF ( N.GT.2 .AND. K.EQ.1 ) THEN
+                        CALL DLASET( 'L', N-2, N-2, ZERO, ZERO,
+     $                               A(3,1,K), LDA1 )
+                     ELSE IF ( K.GT.1 ) THEN
+                        CALL DLASET( 'L', N-1, N-1, ZERO, ZERO,
+     $                               A(2,1,K), LDA1 )
+                     END IF
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 ) K
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( A(I,J,K), J = 1, N )
+   20             CONTINUE
+   30          CONTINUE
+*              Accumulate the transformations.
+               CALL MB03VY( N, P, ILO, IHI, Q, LDQ1, LDQ2, TAU, LDTAU,
+     $                      DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 50 K = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) K
+                     DO 40 I = 1, N
+                        WRITE ( NOUT, FMT = 99994 )
+     $                        ( Q(I,J,K), J = 1, N )
+   40                CONTINUE
+   50             CONTINUE
+*                 Compute error.
+                  SSQ = ZERO
+                  DO 60 K = 1, P
+                     KP1 = K+1
+                     IF( KP1.GT.P ) KP1 = 1
+*                    Compute NORM (Z' * A * Z - Aout)
+                     CALL DGEMM( 'T', 'N', N, N, N, ONE, Q(1,1,K), LDQ1,
+     $                           AS(1,1,K), LDA1, ZERO, QTA, LDQ1 )
+                     CALL DGEMM( 'N', 'N', N, N, N, ONE, QTA, LDQ1,
+     $                           Q(1,1,KP1), LDQ1, -ONE, A(1,1,K),
+     $                           LDA1 )
+                     SSQ = DLAPY2( SSQ,
+     $                             DLANGE( 'Frobenius', N, N, A(1,1,K),
+     $                                     LDA1, DWORK ) )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 ) SSQ
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT (' MB03VD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from MB03VD = ', I2)
+99997 FORMAT (' INFO on exit from MB03VY = ', I2)
+99996 FORMAT (' Reduced matrices')
+99995 FORMAT (/' K = ', I5)
+99994 FORMAT (8F8.4)
+99993 FORMAT (/' Transformation matrices')
+99992 FORMAT (/,' NORM (Q''*A*Q - Aout) = ', 1PD12.5)
+99991 FORMAT (/, ' N is out of range.',/' N = ', I5)
+99990 FORMAT (/, ' P is out of range.',/' P = ', I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03VD EXAMPLE PROGRAM DATA
+4 2 1 4
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03VD EXAMPLE PROGRAM RESULTS
+
+ Reduced matrices
+
+ K =     1
+ -2.3926  2.7042 -0.9598 -1.2335
+  4.1417 -1.7046  1.3001 -1.3120
+  0.0000 -1.6247 -0.2534  1.6453
+  0.0000  0.0000 -0.0169 -0.4451
+
+ K =     2
+ -2.5495  2.3402  4.7021  0.2329
+  0.0000  1.9725 -0.2483 -2.3493
+  0.0000  0.0000 -0.6290 -0.5975
+  0.0000  0.0000  0.0000 -0.4426
+
+ Transformation matrices
+
+ K =     1
+  1.0000  0.0000  0.0000  0.0000
+  0.0000 -0.7103  0.5504 -0.4388
+  0.0000 -0.4735 -0.8349 -0.2807
+  0.0000 -0.5209  0.0084  0.8536
+
+ K =     2
+ -0.5883  0.2947  0.7528 -0.0145
+ -0.3922 -0.8070  0.0009 -0.4415
+ -0.5883  0.4292 -0.6329 -0.2630
+ -0.3922 -0.2788 -0.1809  0.8577
+
+ NORM (Q'*A*Q - Aout) =  2.93760D-15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03VW.html b/doc/_static/doc/MB03VW.html
new file mode 100644
index 00000000..9887916f
--- /dev/null
+++ b/doc/_static/doc/MB03VW.html
@@ -0,0 +1,233 @@
+<HTML>
+<HEAD><TITLE>MB03VW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03VW">MB03VW</A></H2>
+<H3>
+Periodic Hessenberg form of a formal product of p matrices using orthogonal similarity transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the generalized matrix product
+
+               S(1)           S(2)                 S(K)
+       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
+
+  to upper Hessenberg-triangular form, where A is N-by-N-by-K and S
+  is the signature array with values 1 or -1. The H-th matrix of A
+  is reduced to upper Hessenberg form while the other matrices are
+  triangularized. Unblocked version.
+
+  If COMPQ = 'U' or COMPZ = 'I', then the orthogonal factors are
+  computed and stored in the array Q so that for S(I) = 1,
+                                                           T
+        Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
+                                                            T    (1)
+     =  Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out) ,
+
+  and for S(I) = -1,
+                                                           T
+        Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
+                                                            T    (2)
+     =  Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out) .
+
+  A partial generation of the orthogonal factors can be realized via
+  the array QIND.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03VW( COMPQ, QIND, TRIU, N, K, H, ILO, IHI, S, A,
+     $                   LDA1, LDA2, Q, LDQ1, LDQ2, IWORK, LIWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPQ, TRIU
+      INTEGER           H, IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
+     $                  LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*), QIND(*), S(*)
+      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(LDWORK), Q(LDQ1,LDQ2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the orthogonal transformations
+          should be accumulated in the array Q, as follows:
+          = 'N': do not modify Q;
+          = 'U': modify (update) the array Q by the orthogonal
+                 transformations that are applied to the matrices in
+                 the array A to reduce them to periodic Hessenberg-
+                 triangular form;
+          = 'I': like COMPQ = 'U', except that each matrix in the
+                 array Q will be first initialized to the identity
+                 matrix;
+          = 'P': use the parameters as encoded in QIND.
+
+  QIND    INTEGER array, dimension (K)
+          If COMPQ = 'P', then this array describes the generation
+          of the orthogonal factors as follows:
+             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
+          modified by the transformations corresponding to the
+          i-th orthogonal factor in (1) and (2).
+             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
+          initialized to the identity and modified by the
+          transformations corresponding to the i-th orthogonal
+          factor in (1) and (2).
+             If QIND(I) = 0, then the transformations corresponding
+          to the i-th orthogonal factor in (1), (2) are not applied.
+
+  TRIU    CHARACTER*1
+          Indicates how many matrices are reduced to upper
+          triangular form in the first stage of the algorithm,
+          as follows
+          = 'N':  only matrices with negative signature;
+          = 'A':  all possible N - 1 matrices.
+          The first choice minimizes the computational costs of the
+          algorithm, whereas the second is more cache efficient and
+          therefore faster on modern architectures.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input)  INTEGER
+          The order of each factor in the array A.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of factors.  K &gt;= 0.
+
+  H       (input/output) INTEGER
+          On entry, if H is in the interval [1,K] then the H-th
+          factor of A will be transformed to upper Hessenberg form.
+          Otherwise the most efficient H is chosen.
+          On exit, H indicates the factor of A which is in upper
+          Hessenberg form.
+
+  ILO     (input)  INTEGER
+  IHI     (input)  INTEGER
+          It is assumed that each factor in A is already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
+          ILO = 1 and IHI  = 0, if N = 0.
+          If ILO = IHI, all factors are upper triangular.
+
+  S       (input)  INTEGER array, dimension (K)
+          The leading K elements of this array must contain the
+          signatures of the factors. Each entry in S must be either
+          1 or -1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA1,LDA2,K)
+          On entry, the leading N-by-N-by-K part of this array must
+          contain the factors of the general product to be reduced.
+          On exit, A(:,:,H) is overwritten by an upper Hessenberg
+          matrix and each A(:,:,I), for I not equal to H, is
+          overwritten by an upper triangular matrix.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= MAX(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension
+                         (LDQ1,LDQ2,K)
+          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
+          of this array must contain the initial orthogonal factors
+          as described in (1) and (2).
+          On entry, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part of this array must contain some
+          orthogonal factors as described by the parameters QIND.
+          If COMPQ = 'I', this array should not be set on entry.
+          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
+          N-by-N-by-K part of this array contains the modified
+          orthogonal factors as described in (1) and (2).
+          On exit, if COMPQ = 'P', only parts of the leading
+          N-by-N-by-K part contain some modified orthogonal factors
+          as described by the parameters QIND.
+          This array is not referenced if COMPQ = 'N'.
+
+  LDQ1    INTEGER
+          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
+
+  LDQ2    INTEGER
+          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
+          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if  INFO = -17,  IWORK(1)  returns the needed
+          value of LIWORK.
+
+  LIWORK  INTEGER
+          The length of the array IWORK.  LIWORK &gt;= MAX(1,3*K).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LIWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. 
+          LDWORK &gt;= 1, if MIN(N,K) = 0, or N = 1 or ILO = IHI;
+          LDWORK &gt;= M+MAX(IHI,N-ILO+1)), otherwise, where
+                    M = IHI-ILO+1.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03VY.html b/doc/_static/doc/MB03VY.html
new file mode 100644
index 00000000..6cea7cec
--- /dev/null
+++ b/doc/_static/doc/MB03VY.html
@@ -0,0 +1,157 @@
+<HTML>
+<HEAD><TITLE>MB03VY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03VY">MB03VY</A></H2>
+<H3>
+Orthogonal matrices for reduction to periodic Hessenberg form of a product of matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p,
+  which are defined as the product of ihi-ilo elementary reflectors
+  of order n, as returned by SLICOT Library routine MB03VD:
+
+     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03VY( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, LDWORK, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices Q_1, Q_2, ..., Q_p.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number p of transformation matrices.  P &gt;= 1.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          The values of the indices ilo and ihi, respectively, used
+          in the previous call of the SLICOT Library routine MB03VD.
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA1,LDA2,N)
+          On entry, the leading N-by-N strictly lower triangular
+          part of A(*,*,j) must contain the vectors which define the
+          elementary reflectors used for reducing A_j, as returned
+          by SLICOT Library routine MB03VD, j = 1, ..., p.
+          On exit, the leading N-by-N part of A(*,*,j) contains the
+          N-by-N orthogonal matrix Q_j, j = 1, ..., p.
+
+  LDA1    INTEGER
+          The first leading dimension of the array A.
+          LDA1 &gt;= max(1,N).
+
+  LDA2    INTEGER
+          The second leading dimension of the array A.
+          LDA2 &gt;= max(1,N).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (LDTAU,P)
+          The leading N-1 elements in the j-th column must contain
+          the scalar factors of the elementary reflectors used to
+          form the matrix Q_j, as returned by SLICOT Library routine
+          MB03VD.
+
+  LDTAU   INTEGER
+          The leading dimension of the array TAU.
+          LDTAU &gt;= max(1,N-1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Each matrix Q_j is generated as the product of the elementary
+  reflectors used for reducing A_j. Standard LAPACK routines for
+  Hessenberg and QR decompositions are used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      Periodic Schur form and some matrix equations.
+      Proc. of the Symposium on the Mathematical Theory of Networks
+      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
+      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03WA.html b/doc/_static/doc/MB03WA.html
new file mode 100644
index 00000000..977ee3f8
--- /dev/null
+++ b/doc/_static/doc/MB03WA.html
@@ -0,0 +1,180 @@
+<HTML>
+<HEAD><TITLE>MB03WA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03WA">MB03WA</A></H2>
+<H3>
+Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To swap adjacent diagonal blocks A11*B11 and A22*B22 of size
+  1-by-1 or 2-by-2 in an upper (quasi) triangular matrix product
+  A*B by an orthogonal equivalence transformation.
+
+  (A, B) must be in periodic real Schur canonical form (as returned
+  by SLICOT Library routine MB03XP), i.e., A is block upper
+  triangular with 1-by-1 and 2-by-2 diagonal blocks, and B is upper
+  triangular.
+
+  Optionally, the matrices Q and Z of generalized Schur vectors are
+  updated.
+
+      Q(in) * A(in) * Z(in)' = Q(out) * A(out) * Z(out)',
+      Z(in) * B(in) * Q(in)' = Z(out) * B(out) * Q(out)'.
+
+  This routine is largely based on the LAPACK routine DTGEX2
+  developed by Bo Kagstrom and Peter Poromaa.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03WA( WANTQ, WANTZ, N1, N2, A, LDA, B, LDB, Q, LDQ,
+     $                   Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            WANTQ, WANTZ
+      INTEGER            INFO, LDA, LDB, LDQ, LDZ, N1, N2
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WANTQ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = .TRUE. :  The matrix Q is updated;
+          = .FALSE.:  the matrix Q is not required.
+
+  WANTZ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = .TRUE. :  The matrix Z is updated;
+          = .FALSE.:  the matrix Z is not required.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The order of the first block A11*B11. N1 = 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of the second block A22*B22. N2 = 0, 1 or 2.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA,N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix A.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the matrix A of the reordered pair.
+
+  LDA     INTEGER
+          The leading dimension of the array A. LDA &gt;= MAX(1,N1+N2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,N1+N2)
+          On entry, the leading (N1+N2)-by-(N1+N2) part of this
+          array must contain the matrix B.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the matrix B of the reordered pair.
+
+  LDB     INTEGER
+          The leading dimension of the array B. LDB &gt;= MAX(1,N1+N2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension
+          (LDQ,N1+N2)
+          On entry, if WANTQ = .TRUE., the leading
+          (N1+N2)-by-(N1+N2) part of this array must contain the
+          orthogonal matrix Q.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the updated matrix Q. Q will be a rotation
+          matrix for N1=N2=1.
+          This array is not referenced if WANTQ = .FALSE..
+
+  LDQ     INTEGER
+          The leading dimension of the array Q. LDQ &gt;= 1.
+          If WANTQ = .TRUE., LDQ &gt;= N1+N2.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension
+          (LDZ,N1+N2)
+          On entry, if WANTZ = .TRUE., the leading
+          (N1+N2)-by-(N1+N2) part of this array must contain the
+          orthogonal matrix Z.
+          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
+          contains the updated matrix Z. Z will be a rotation
+          matrix for N1=N2=1.
+          This array is not referenced if WANTZ = .FALSE..
+
+  LDZ     INTEGER
+          The leading dimension of the array Z. LDZ &gt;= 1.
+          If WANTZ = .TRUE., LDZ &gt;= N1+N2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  the transformed matrix (A, B) would be
+                too far from periodic Schur form; the blocks are
+                not swapped and (A,B) and (Q,Z) are unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In the current code both weak and strong stability tests are
+  performed. The user can omit the strong stability test by changing
+  the internal logical parameter WANDS to .FALSE.. See ref. [2] for
+  details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B.
+      A direct method for reordering eigenvalues in the generalized
+      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
+      et al (eds.), Linear Algebra for Large Scale and Real-Time
+      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
+
+  [2] Kagstrom, B., and Poromaa, P.
+      Computing eigenspaces with specified eigenvalues of a regular
+      matrix pair (A, B) and condition estimation: Theory,
+      algorithms and software, Numer. Algorithms, 1996, vol. 12,
+      pp. 369-407.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03WD.html b/doc/_static/doc/MB03WD.html
new file mode 100644
index 00000000..0a047a30
--- /dev/null
+++ b/doc/_static/doc/MB03WD.html
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+<HTML>
+<HEAD><TITLE>MB03WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03WD">MB03WD</A></H2>
+<H3>
+Schur decomposition and eigenvalues of a product of matrices in periodic Hessenberg form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Schur decomposition and the eigenvalues of a
+  product of matrices, H = H_1*H_2*...*H_p, with H_1 an upper
+  Hessenberg matrix and H_2, ..., H_p upper triangular matrices,
+  without evaluating the product. Specifically, the matrices Z_i
+  are computed, such that
+
+          Z_1' * H_1 * Z_2 = T_1,
+          Z_2' * H_2 * Z_3 = T_2,
+                 ...
+          Z_p' * H_p * Z_1 = T_p,
+
+  where T_1 is in real Schur form, and T_2, ..., T_p are upper
+  triangular.
+
+  The routine works primarily with the Hessenberg and triangular
+  submatrices in rows and columns ILO to IHI, but optionally applies
+  the transformations to all the rows and columns of the matrices
+  H_i, i = 1,...,p. The transformations can be optionally
+  accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ, IHIZ, H,
+     $                   LDH1, LDH2, Z, LDZ1, LDZ2, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPZ, JOB
+      INTEGER           IHI, IHIZ, ILO, ILOZ, INFO, LDH1, LDH2, LDWORK,
+     $                  LDZ1, LDZ2, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK( * ), H( LDH1, LDH2, * ), WI( * ),
+     $                  WR( * ), Z( LDZ1, LDZ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = 'E':  Compute the eigenvalues only;
+          = 'S':  Compute the factors T_1, ..., T_p of the full
+                  Schur form, T = T_1*T_2*...*T_p.
+
+  COMPZ   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrices Z_1, ..., Z_p, as follows:
+          = 'N':  The matrices Z_1, ..., Z_p are not required;
+          = 'I':  Z_i is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z_i is returned,
+                  i = 1, ..., p;
+          = 'V':  Z_i must contain an orthogonal matrix Q_i on
+                  entry, and the product Q_i*Z_i is returned,
+                  i = 1, ..., p.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix H.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of matrices in the product H_1*H_2*...*H_p.
+          P &gt;= 1.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that all matrices H_j, j = 2, ..., p, are
+          already upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N, and H_1 is upper quasi-triangular in rows and
+          columns 1:ILO-1 and IHI+1:N, with H_1(ILO,ILO-1) = 0
+          (unless ILO = 1), and H_1(IHI+1,IHI) = 0 (unless IHI = N).
+          The routine works primarily with the Hessenberg submatrix
+          in rows and columns ILO to IHI, but applies the
+          transformations to all the rows and columns of the
+          matrices H_i, i = 1,...,p, if JOB = 'S'.
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  ILOZ    (input) INTEGER
+  IHIZ    (input) INTEGER
+          Specify the rows of Z to which the transformations must be
+          applied if COMPZ = 'I' or COMPZ = 'V'.
+          1 &lt;= ILOZ &lt;= ILO; IHI &lt;= IHIZ &lt;= N.
+
+  H       (input/output) DOUBLE PRECISION array, dimension
+          (LDH1,LDH2,P)
+          On entry, the leading N-by-N part of H(*,*,1) must contain
+          the upper Hessenberg matrix H_1 and the leading N-by-N
+          part of H(*,*,j) for j &gt; 1 must contain the upper
+          triangular matrix H_j, j = 2, ..., p.
+          On exit, if JOB = 'S', the leading N-by-N part of H(*,*,1)
+          is upper quasi-triangular in rows and columns ILO:IHI,
+          with any 2-by-2 diagonal blocks corresponding to a pair of
+          complex conjugated eigenvalues, and the leading N-by-N
+          part of H(*,*,j) for j &gt; 1 contains the resulting upper
+          triangular matrix T_j.
+          If JOB = 'E', the contents of H are unspecified on exit.
+
+  LDH1    INTEGER
+          The first leading dimension of the array H.
+          LDH1 &gt;= max(1,N).
+
+  LDH2    INTEGER
+          The second leading dimension of the array H.
+          LDH2 &gt;= max(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension
+          (LDZ1,LDZ2,P)
+          On entry, if COMPZ = 'V', the leading N-by-N-by-P part of
+          this array must contain the current matrix Q of
+          transformations accumulated by SLICOT Library routine
+          MB03VY.
+          If COMPZ = 'I', Z need not be set on entry.
+          On exit, if COMPZ = 'V', or COMPZ = 'I', the leading
+          N-by-N-by-P part of this array contains the transformation
+          matrices which produced the Schur form; the
+          transformations are applied only to the submatrices
+          Z_j(ILOZ:IHIZ,ILO:IHI), j = 1, ..., P.
+          If COMPZ = 'N', Z is not referenced.
+
+  LDZ1    INTEGER
+          The first leading dimension of the array Z.
+          LDZ1 &gt;= 1,        if COMPZ = 'N';
+          LDZ1 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
+
+  LDZ2    INTEGER
+          The second leading dimension of the array Z.
+          LDZ2 &gt;= 1,        if COMPZ = 'N';
+          LDZ2 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The real and imaginary parts, respectively, of the
+          computed eigenvalues ILO to IHI are stored in the
+          corresponding elements of WR and WI. If two eigenvalues
+          are computed as a complex conjugate pair, they are stored
+          in consecutive elements of WR and WI, say the i-th and
+          (i+1)th, with WI(i) &gt; 0 and WI(i+1) &lt; 0. If JOB = 'S', the
+          eigenvalues are stored in the same order as on the
+          diagonal of the Schur form returned in H.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= IHI-ILO+P-1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, ILO &lt;= i &lt;= IHI, the QR algorithm
+                failed to compute all the eigenvalues ILO to IHI
+                in a total of 30*(IHI-ILO+1) iterations;
+                the elements i+1:IHI of WR and WI contain those
+                eigenvalues which have been successfully computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A refined version of the QR algorithm proposed in [1] and [2] is
+  used. The elements of the subdiagonal, diagonal, and the first
+  supradiagonal of current principal submatrix of H are computed
+  in the process.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      Periodic Schur form and some matrix equations.
+      Proc. of the Symposium on the Mathematical Theory of Networks
+      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
+      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Note that for P = 1, the LAPACK Library routine DHSEQR could be
+  more efficient on some computer architectures than this routine,
+  because DHSEQR uses a block multishift QR algorithm.
+  When P is large and JOB = 'S', it could be more efficient to
+  compute the product matrix H, and use the LAPACK Library routines.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03WD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA1, LDA2, LDTAU, LDZ1, LDZ2, LDZTA
+      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDTAU = NMAX-1,
+     $                   LDZ1 = NMAX, LDZ2 = NMAX, LDZTA = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, NMAX + PMAX - 2 ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SSQ
+      INTEGER          I, IHI, IHIZ, ILO, ILOZ, INFO, J, K, KP1, N, P
+      CHARACTER        COMPZ, JOB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
+     $                 DWORK(LDWORK), TAU(LDTAU,PMAX), WI(NMAX),
+     $                 WR(NMAX), Z(LDZ1,LDZ2,PMAX), ZTA(LDZTA,NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE, DLAPY2
+      LOGICAL          LSAME
+      EXTERNAL         DLANGE, DLAPY2, LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, MB03VD, MB03VY, MB03WD, MB03WX
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+      WRITE (NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, ILO, IHI, ILOZ, IHIZ, JOB, COMPZ
+      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) P
+         ELSE
+*           Read matrices A_1, ..., A_p from the input file.
+            DO 10 K = 1, P
+               READ ( NIN, FMT = * )
+     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
+               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
+   10       CONTINUE
+*           Reduce to the periodic Hessenberg form.
+            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
+     $                   DWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               IF ( LSAME( COMPZ, 'V' ) ) THEN
+                  DO 20 K = 1, P
+                     CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Z(1,1,K),
+     $                            LDZ1 )
+   20             CONTINUE
+*                 Accumulate the transformations.
+                  CALL MB03VY( N, P, ILO, IHI, Z, LDZ1, LDZ2, TAU,
+     $                         LDTAU, DWORK, LDWORK, INFO )
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99996 ) INFO
+                     STOP
+                  ELSE
+*                    Reduce to the periodic Schur form.
+                     CALL MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ,
+     $                            IHIZ, A, LDA1, LDA2, Z, LDZ1, LDZ2,
+     $                            WR, WI, DWORK, LDWORK, INFO )
+                     IF ( INFO.GT.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                        WRITE ( NOUT, FMT = 99991 )
+                        DO 30 I = MAX( ILO, INFO + 1 ), IHI
+                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
+   30                   CONTINUE
+                        STOP
+                     END IF
+                     IF ( INFO.LT.0 ) THEN
+                        WRITE ( NOUT, FMT = 99998 ) INFO
+                     ELSE
+*                       Store the isolated eigenvalues.
+                        CALL MB03WX( ILO-1, P, A, LDA1, LDA2, WR, WI,
+     $                               INFO )
+                        IF ( IHI.LT.N )
+     $                     CALL MB03WX( N-IHI, P, A(IHI+1,IHI+1,1),
+     $                                  LDA1, LDA2, WR(IHI+1),
+     $                                  WI(IHI+1), INFO )
+                        WRITE ( NOUT, FMT = 99991 )
+                        DO 40 I = 1, N
+                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
+   40                   CONTINUE
+                        WRITE ( NOUT, FMT = 99995 )
+                        DO 60 K = 1, P
+                           WRITE ( NOUT, FMT = 99994 ) K
+                           DO 50 I = 1, N
+                              WRITE ( NOUT, FMT = 99993 )
+     $                              ( A(I,J,K), J = 1, N )
+   50                      CONTINUE
+   60                   CONTINUE
+                        WRITE ( NOUT, FMT = 99992 )
+                        DO 80 K = 1, P
+                           WRITE ( NOUT, FMT = 99994 ) K
+                           DO 70 I = 1, N
+                              WRITE ( NOUT, FMT = 99993 )
+     $                              ( Z(I,J,K), J = 1, N )
+   70                      CONTINUE
+   80                   CONTINUE
+*                       Compute error.
+                        SSQ = ZERO
+                        DO 90 K = 1, P
+                           KP1 = K+1
+                           IF( KP1.GT.P ) KP1 = 1
+*                          Compute NORM (Z' * A * Z - Aout)
+                           CALL DGEMM( 'T', 'N', N, N, N, ONE, Z(1,1,K),
+     $                                 LDZ1, AS(1,1,K), LDA1, ZERO, ZTA,
+     $                                 LDZTA )
+                           CALL DGEMM( 'N', 'N', N, N, N, ONE, ZTA,
+     $                                 LDZTA, Z(1,1,KP1), LDZ1, -ONE,
+     $                                 A(1,1,K), LDA1 )
+                           SSQ = DLAPY2( SSQ,
+     $                                   DLANGE( 'Frobenius', N, N,
+     $                                           A(1,1,K), LDA1,
+     $                                           DWORK ) )
+   90                   CONTINUE
+                        WRITE ( NOUT, FMT = 99989 ) SSQ
+                     END IF
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT (' MB03WD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from MB03WD = ', I2)
+99997 FORMAT (' INFO on exit from MB03VD = ', I2)
+99996 FORMAT (' INFO on exit from MB03VY = ', I2)
+99995 FORMAT (/' Reduced matrices')
+99994 FORMAT (/' K = ', I5)
+99993 FORMAT (8F8.4)
+99992 FORMAT (/' Transformation matrices')
+99991 FORMAT ( ' Computed eigenvalues'/)
+99990 FORMAT (4X,'( ', F17.6,' ,', F17.6,' )')
+99989 FORMAT (/,' NORM (Z''*A*Z - Aout) = ', 1PD12.5)
+99988 FORMAT (/, ' N is out of range.',/' N = ', I5)
+99987 FORMAT (/, ' P is out of range.',/' P = ', I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03WD EXAMPLE PROGRAM DATA
+4 2 1 4 1 4 S V
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+1.5 -.7 3.5 -.7 
+1.  0.  2.  3. 
+1.5 -.7 2.5 -.3 
+1.  0.  2.  1. 
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03WD EXAMPLE PROGRAM RESULTS
+
+ Computed eigenvalues
+
+    (          6.449861 ,         7.817717 )
+    (          6.449861 ,        -7.817717 )
+    (          0.091315 ,         0.000000 )
+    (          0.208964 ,         0.000000 )
+
+ Reduced matrices
+
+ K =     1
+  2.2112  4.3718 -2.3362  0.8907
+ -0.9179  2.7688 -0.6570 -2.2426
+  0.0000  0.0000  0.3022  0.1932
+  0.0000  0.0000  0.0000 -0.4571
+
+ K =     2
+  2.9169  3.4539  2.2016  1.2367
+  0.0000  3.4745  1.0209 -2.0720
+  0.0000  0.0000  0.3022 -0.1932
+  0.0000  0.0000  0.0000 -0.4571
+
+ Transformation matrices
+
+ K =     1
+  0.3493  0.6751 -0.6490  0.0327
+  0.7483 -0.4863 -0.1249 -0.4336
+  0.2939  0.5504  0.7148 -0.3158
+  0.4813 -0.0700  0.2286  0.8433
+
+ K =     2
+  0.2372  0.7221  0.6490  0.0327
+  0.8163 -0.3608  0.1249 -0.4336
+  0.2025  0.5902 -0.7148 -0.3158
+  0.4863  0.0076 -0.2286  0.8433
+
+ NORM (Z'*A*Z - Aout) =  7.18432D-15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03WX.html b/doc/_static/doc/MB03WX.html
new file mode 100644
index 00000000..3df87c44
--- /dev/null
+++ b/doc/_static/doc/MB03WX.html
@@ -0,0 +1,103 @@
+<HTML>
+<HEAD><TITLE>MB03WX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03WX">MB03WX</A></H2>
+<H3>
+Eigenvalues of a product of matrices in periodic Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a product of matrices,
+  T = T_1*T_2*...*T_p, where T_1 is an upper quasi-triangular
+  matrix and T_2, ..., T_p are upper triangular matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03WX( N, P, T, LDT1, LDT2, WR, WI, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDT1, LDT2, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION T( LDT1, LDT2, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix T.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of matrices in the product T_1*T_2*...*T_p.
+          P &gt;= 1.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT1,LDT2,P)
+          The leading N-by-N part of T(*,*,1) must contain the upper
+          quasi-triangular matrix T_1 and the leading N-by-N part of
+          T(*,*,j) for j &gt; 1 must contain the upper-triangular
+          matrix T_j, j = 2, ..., p.
+          The elements below the subdiagonal of T(*,*,1) and below
+          the diagonal of T(*,*,j), j = 2, ..., p, are not
+          referenced.
+
+  LDT1    INTEGER
+          The first leading dimension of the array T.
+          LDT1 &gt;= max(1,N).
+
+  LDT2    INTEGER
+          The second leading dimension of the array T.
+          LDT2 &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of T. The eigenvalues are stored in the same
+          order as on the diagonal of T_1. If T(i:i+1,i:i+1,1) is a
+          2-by-2 diagonal block with complex conjugated eigenvalues
+          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03XD.html b/doc/_static/doc/MB03XD.html
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+<HTML>
+<HEAD><TITLE>MB03XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XD">MB03XD</A></H2>
+<H3>
+Computing the eigenvalues of a Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a Hamiltonian matrix,
+
+                [  A   G  ]         T        T
+          H  =  [       T ],   G = G,   Q = Q,                  (1)
+                [  Q  -A  ]
+
+  where A, G and Q are real n-by-n matrices.
+
+  Due to the structure of H all eigenvalues appear in pairs
+  (lambda,-lambda). This routine computes the eigenvalues of H
+  using an algorithm based on the symplectic URV and the periodic
+  Schur decompositions as described in [1],
+
+        T       [  T   G  ]
+       U H V =  [       T ],                                    (2)
+                [  0   S  ]
+
+  where U and V are 2n-by-2n orthogonal symplectic matrices,
+  S is in real Schur form and T is upper triangular.
+
+  The algorithm is backward stable and preserves the eigenvalue
+  pairings in finite precision arithmetic.
+
+  Optionally, a symplectic balancing transformation to improve the
+  conditioning of eigenvalues is computed (see MB04DD). In this
+  case, the matrix H in decomposition (2) must be replaced by the
+  balanced matrix.
+
+  The SLICOT Library routine MB03ZD can be used to compute invariant
+  subspaces of H from the output of this routine.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
+     $                   T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
+     $                   WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          BALANC, JOB, JOBU, JOBV
+      INTEGER            ILO, INFO, LDA, LDQG, LDT, LDU1, LDU2, LDV1,
+     $                   LDV2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*), SCALE(*),
+     $                   T(LDT,*), U1(LDU1,*), U2(LDU2,*), V1(LDV1,*),
+     $                   V2(LDV2,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how H should be diagonally scaled and/or
+          permuted to reduce its norm.
+          = 'N': Do not diagonally scale or permute;
+          = 'P': Perform symplectic permutations to make the matrix
+                 closer to Hamiltonian Schur form. Do not diagonally
+                 scale;
+          = 'S': Diagonally scale the matrix, i.e., replace A, G and
+                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
+                 D is a diagonal matrix chosen to make the rows and
+                 columns of H more equal in norm. Do not permute;
+          = 'B': Both diagonally scale and permute A, G and Q.
+          Permuting does not change the norm of H, but scaling does.
+
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          decomposition (2) or the eigenvalues only, as follows:
+          = 'E': compute the eigenvalues only;
+          = 'S': compute matrices T and S of (2);
+          = 'G': compute matrices T, S and G of (2).
+
+  JOBU    CHARACTER*1
+          Indicates whether or not the user wishes to compute the
+          orthogonal symplectic matrix U of (2) as follows:
+          = 'N': the matrix U is not computed;
+          = 'U': the matrix U is computed.
+
+  JOBV    CHARACTER*1
+          Indicates whether or not the user wishes to compute the
+          orthogonal symplectic matrix V of (2) as follows:
+          = 'N': the matrix V is not computed;
+          = 'V': the matrix V is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, this array is overwritten. If JOB = 'S' or
+          JOB = 'G', the leading N-by-N part of this array contains
+          the matrix S in real Schur form of decomposition (2).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G.
+          On exit, this array is overwritten. If JOB = 'G', the
+          leading N-by-N+1 part of this array contains in columns
+          2:N+1 the matrix G of decomposition (2).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= max(1,N).
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
+          On exit, if JOB = 'S' or JOB = 'G', the leading N-by-N
+          part of this array contains the upper triangular matrix T
+          of the decomposition (2). Otherwise, this array is used as
+          workspace.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the (1,1) block of the orthogonal
+          symplectic matrix U of decomposition (2).
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= 1.
+          LDU1 &gt;= N,    if JOBU = 'U'.
+
+  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the (2,1) block of the orthogonal
+          symplectic matrix U of decomposition (2).
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= 1.
+          LDU2 &gt;= N,    if JOBU = 'U'.
+
+  V1      (output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On exit, if JOBV = 'V', the leading N-by-N part of this
+          array contains the (1,1) block of the orthogonal
+          symplectic matrix V of decomposition (2).
+
+  LDV1    INTEGER
+          The leading dimension of the array V1.  LDV1 &gt;= 1.
+          LDV1 &gt;= N,    if JOBV = 'V'.
+
+  V2      (output) DOUBLE PRECISION array, dimension (LDV2,N)
+          On exit, if JOBV = 'V', the leading N-by-N part of this
+          array contains the (2,1) block of the orthogonal
+          symplectic matrix V of decomposition (2).
+
+  LDV2    INTEGER
+          The leading dimension of the array V2.  LDV2 &gt;= 1.
+          LDV2 &gt;= N,    if JOBV = 'V'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          On exit, the leading N elements of WR and WI contain the
+          real and imaginary parts, respectively, of N eigenvalues
+          that have nonnegative imaginary part. Their complex
+          conjugate eigenvalues are not stored. If imaginary parts
+          are zero (i.e., for real eigenvalues), only positive
+          eigenvalues are stored.
+
+  ILO     (output) INTEGER
+          ILO is an integer value determined when H was balanced.
+          The balanced A(i,j) = 0 if I &gt; J and J = 1,...,ILO-1.
+          The balanced Q(i,j) = 0 if J = 1,...,ILO-1 or
+          I = 1,...,ILO-1.
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
+          array contain details of the permutation and/or scaling
+          factors applied when balancing H, see MB04DD.
+          This array is not referenced if BALANC = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
+          scaled (if BALANC = 'S' or 'B') Hamiltonian matrix.
+          On exit, if  INFO = -25,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  (input) INTEGER
+          The dimension of the array DWORK. LDWORK &gt;= max( 2, 8*N ).
+          Moreover:
+          If JOB = 'E' or 'S' and JOBU = 'N' and JOBV = 'N',
+             LDWORK &gt;= 7*N+N*N.
+          If JOB = 'G' and JOBU = 'N' and JOBV = 'N',
+             LDWORK &gt;= max( 7*N+N*N, 2*N+3*N*N ).
+          If JOB = 'G' and JOBU = 'U' and JOBV = 'N',
+             LDWORK &gt;= 7*N+2*N*N.
+          If JOB = 'G' and JOBU = 'N' and JOBV = 'V',
+             LDWORK &gt;= 7*N+2*N*N.
+          If JOB = 'G' and JOBU = 'U' and JOBV = 'V',
+             LDWORK &gt;= 7*N+N*N.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO     (output) INTEGER
+           = 0:  successful exit;
+           &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+           &gt; 0:  if INFO = i, the periodic QR algorithm failed to
+                 compute all the eigenvalues, elements i+1:N of WR
+                 and WI contain eigenvalues which have converged.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils.
+      Numer. Math., Vol. 78(3), pp. 329-358, 1998.
+
+  [2] Benner, P., Mehrmann, V., and Xu, H.
+      A new method for computing the stable invariant subspace of a
+      real Hamiltonian matrix,  J. Comput. Appl. Math., vol. 86,
+      pp. 17-43, 1997.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03XD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG, LDRES, LDT, LDU1, LDU2, LDV1, LDV2,
+     $                 LDWORK
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDRES = NMAX,
+     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDV1 = NMAX, LDV2 = NMAX,
+     $                   LDWORK = 3*NMAX*NMAX + 7*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      BALANC, JOB, JOBU, JOBV
+      INTEGER          I, ILO, INFO, J, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), QG(LDQG, NMAX+1),
+     $                 RES(LDRES,3*NMAX+1), SCALE(NMAX), T(LDT,NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), V1(LDV1,NMAX),
+     $                 V2(LDV2, NMAX), WI(NMAX), WR(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
+      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, MB03XD, MB04DD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU, JOBV
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
+         INFO = 0
+         CALL MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
+     $                T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
+     $                WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
+20          CONTINUE
+            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) ( A(I,J), J = 1,N )
+30             CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 40  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) ( T(I,J), J = 1,N )
+40             CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99993 )
+               DO 50  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 ) ( QG(I,J+1), J = 1,N )
+50             CONTINUE
+            END IF
+C
+            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ).AND.
+     $           LSAME( JOBV, 'V' ) ) THEN
+               CALL MB04DD( BALANC, N, RES(1,N+1), LDRES, RES(1,2*N+1),
+     $                      LDRES, I, DWORK, INFO )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     RES(1,N+1), LDRES, V1, LDV1, ZERO, RES,
+     $                     LDRES )
+               CALL DSYMM ( 'Left', 'Upper', N, N, -ONE, RES(1,2*N+2),
+     $                      LDRES, V2, LDV2, ONE, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                     -ONE, U1, LDU1, T, LDT, ONE, RES, LDRES )
+               TEMP = DLANGE( 'Frobenius', N, N, RES, LDRES, DWORK )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     RES(1,N+1), LDRES, V2, LDV2, ZERO, RES,
+     $                     LDRES )
+               CALL DSYMM( 'Left', 'Upper', N, N, ONE, RES(1,2*N+2),
+     $                     LDRES, V1, LDV1, ONE, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                     -ONE, U1, LDU1, QG(1,2), LDQG, ONE, RES,
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                     -ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
+     $                                      LDRES, DWORK ) )
+               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
+     $                     LDRES, V1, LDV1, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE,
+     $                     RES(1,N+1), LDRES, V2, LDV2, ONE, RES,
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, T, LDT, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
+     $                                      LDRES, DWORK ) )
+
+
+               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
+     $                     LDRES, V2, LDV2, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, -ONE,
+     $                     RES(1,N+1), LDRES, V1, LDV1, ONE, RES,
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, QG(1,2), LDQG, ONE, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
+     $                                      LDRES, DWORK ) )
+               WRITE ( NOUT, FMT = 99987 ) TEMP
+            END IF
+C
+            IF ( LSAME( JOBU, 'U' ) ) THEN
+               WRITE ( NOUT, FMT = 99992 )
+               DO 60  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+60             CONTINUE
+               DO 70  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+70             CONTINUE
+               WRITE ( NOUT, FMT = 99986 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+            END IF
+            IF ( LSAME( JOBV, 'V' ) ) THEN
+               WRITE ( NOUT, FMT = 99991 )
+               DO 80  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( V1(I,J), J = 1,N ), ( V2(I,J), J = 1,N )
+80             CONTINUE
+               DO 90  I = 1, N
+                  WRITE ( NOUT, FMT = 99990 )
+     $               ( -V2(I,J), J = 1,N ), ( V1(I,J), J = 1,N )
+90             CONTINUE
+               WRITE ( NOUT, FMT = 99985 ) MA02JD( .FALSE., .FALSE., N,
+     $                 V1, LDV1, V2, LDV2, RES, LDRES )
+            END IF
+            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99989 )
+               DO 100  I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
+100            CONTINUE
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03XD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03XD = ',I2)
+99997 FORMAT (' The eigenvalues are',//'   i',6X,
+     $        'WR(i)',6X,'WI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' The matrix S of the reduced matrix is')
+99994 FORMAT (/' The matrix T of the reduced matrix is')
+99993 FORMAT (/' The matrix G of the reduced matrix is')
+99992 FORMAT (/' The orthogonal symplectic factor U is')
+99991 FORMAT (/' The orthogonal symplectic factor V is')
+99990 FORMAT (20(1X,F19.16))
+99989 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
+     $        'SCALE(i)',/)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
+99986 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
+99985 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03XD EXAMPLE PROGRAM DATA
+	5	N	G	U	V
+  3.7588548168313685e-001  9.1995720669587144e-001  1.9389317998466821e-001  5.4878212553858818e-001  6.2731478808399666e-001
+  9.8764628987858052e-003  8.4472150190817474e-001  9.0481233416635698e-001  9.3158335257969060e-001  6.9908013774533750e-001
+  4.1985780631021896e-001  3.6775288246828447e-001  5.6920574967174709e-001  3.3519743020639464e-001  3.9718395379261456e-001
+  7.5366962581358721e-001  6.2080133182114383e-001  6.3178992922175603e-001  6.5553105501201447e-001  4.1362889533818031e-001
+  7.9387177473231862e-001  7.3127726446634478e-001  2.3441295540825388e-001  3.9190420688900335e-001  6.5521294635567051e-001
+  1.8015558545989005e-001  4.1879254941592853e-001  2.7203760737317784e-001  2.8147214090719214e-001  1.7731904815580199e-001  3.4718672159409536e-001
+  2.7989257702981651e-001  3.5042861661866559e-001  2.5565572408444881e-001  4.3977750345993827e-001  2.8855026075967616e-001  2.1496327083014577e-001
+  1.7341073886969158e-001  3.9913855375815932e-001  4.0151317011596516e-001  4.0331887464437133e-001  2.6723538667317948e-001  3.7110275606849241e-001
+  3.7832182695699140e-001  3.3812641389556752e-001  8.4360396433341395e-002  4.3672540277019672e-001  7.0022228267365608e-002  3.8210230186291916e-001
+  1.9548216143135175e-001  2.9055490787446736e-001  4.7670819669167425e-001  1.4636498713707141e-001  2.7670398401519275e-001  2.9431082727794898e-002
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03XD EXAMPLE PROGRAM RESULTS
+
+ The eigenvalues are
+
+   i      WR(i)      WI(i)
+
+   1     3.1941     0.0000
+   2     0.1350     0.3179
+   3    -0.1350     0.3179
+   4     0.0595     0.2793
+   5    -0.0595     0.2793
+
+ The matrix S of the reduced matrix is
+ -3.1844761777714723  0.1612357243439330 -0.0628592203751083  0.2449004200921966  0.1974400149992633
+  0.0000000000000000 -0.1510667773167795  0.4260444411622876 -0.1775026035208666  0.3447278421198404
+  0.0000000000000000 -0.1386140422054281 -0.3006779624777419  0.2944143257134117  0.3456440339120381
+  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740589  0.0933189808067083
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359630  0.2004347508746724
+
+ The matrix T of the reduced matrix is
+  3.2038208121776366  0.1805955192510636  0.2466389119377562 -0.2539149302433404 -0.0359238844381174
+  0.0000000000000000 -0.7196686433290822  0.0000000000000000  0.2428659121580382 -0.0594190100670709
+  0.0000000000000000  0.0000000000000000 -0.1891741194498124 -0.3309578443491325 -0.0303520731950498
+  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961496  0.0000000000000000
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
+
+ The matrix G of the reduced matrix is
+ -0.0370982242678458  0.0917788436945730 -0.0560402416315236  0.1345152517579191  0.0256668227276665
+  0.0652183678916926 -0.0700457231988328  0.0350041175858816 -0.2233868768749277 -0.1171980260782820
+ -0.0626428681377074  0.2327575351902838 -0.1251515732208133 -0.0177816046663209  0.3696921118421109
+  0.0746042309265569 -0.0828007611045243  0.0217427473546003 -0.1157775118548850 -0.3161183681200607
+  0.1374372236164838  0.1002727885506978  0.4021556774753987 -0.0431072263235625  0.1067394572547804
+
+ Residual: || H*V - U*R ||_F = .38E-14
+
+ The orthogonal symplectic factor U is
+  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499 -0.1795922007470744  0.1908329820840935  0.0868799433942041  0.3114741142062469 -0.2579907627915116
+  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881 -0.2447897730222852 -0.1028403314750053 -0.1157840914576285 -0.1873268885694422  0.1700708002861556
+  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478 -0.2243335325285329  0.3180998613802498  0.3315380214794935  0.1977859924739816  0.5072476567310036
+  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014 -0.2128397588651423 -0.2740560593051884  0.1941418870268831 -0.3096684962457407 -0.0581576193198820
+  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056 -0.2002027567371933 -0.0040094115506845 -0.3979373387545256  0.1520881534833996 -0.2010804514091296
+  0.1795922007470744 -0.1908329820840935 -0.0868799433942041 -0.3114741142062469  0.2579907627915116  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499
+  0.2447897730222852  0.1028403314750053  0.1157840914576285  0.1873268885694422 -0.1700708002861556  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881
+  0.2243335325285329 -0.3180998613802498 -0.3315380214794935 -0.1977859924739816 -0.5072476567310036  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478
+  0.2128397588651423  0.2740560593051884 -0.1941418870268831  0.3096684962457407  0.0581576193198820  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014
+  0.2002027567371933  0.0040094115506845  0.3979373387545256 -0.1520881534833996  0.2010804514091296  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056
+
+ Orthogonality of U: || U^T U - I ||_F = .28E-14
+
+ The orthogonal symplectic factor V is
+  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
+  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576  0.0299719306696789 -0.2322624725320732 -0.0280846899680330 -0.3044255686880015 -0.1077641482535463
+  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027 -0.0069083614679702  0.3351358347080169 -0.4922707032978909  0.4293545450291777  0.4372821269061838
+  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154  0.0167847133528844  0.2843629278945263  0.5958979805231206  0.3097336757510830 -0.2086733033047175
+  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708  0.0248567764822071 -0.2810759958040465 -0.1653113624869875 -0.3528780198620394 -0.0254898556119200
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695
+ -0.0299719306696789  0.2322624725320732  0.0280846899680330  0.3044255686880015  0.1077641482535463  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576
+  0.0069083614679702 -0.3351358347080169  0.4922707032978909 -0.4293545450291777 -0.4372821269061838  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027
+ -0.0167847133528844 -0.2843629278945263 -0.5958979805231206 -0.3097336757510830  0.2086733033047175  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154
+ -0.0248567764822071  0.2810759958040465  0.1653113624869875  0.3528780198620394  0.0254898556119200  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708
+
+ Orthogonality of V: || V^T V - I ||_F = .25E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03XP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XP">MB03XP</A></H2>
+<H3>
+Computing periodic Schur decomposition and eigenvalues of a matrix product A B, with A upper Hessenberg and B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the periodic Schur decomposition and the eigenvalues of
+  a product of matrices, H = A*B, with A upper Hessenberg and B
+  upper triangular without evaluating any part of the product.
+  Specifically, the matrices Q and Z are computed, so that
+
+       Q' * A * Z = S,    Z' * B * Q = T
+
+  where S is in real Schur form, and T is upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XP( JOB, COMPQ, COMPZ, N, ILO, IHI, A, LDA, B, LDB,
+     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOB
+      INTEGER            IHI, ILO, INFO, LDA, LDB, LDQ, LDWORK, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = 'E':  Compute the eigenvalues only;
+          = 'S':  compute the factors S and T of the full
+                  Schur form.
+
+  COMPQ   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = 'N':  The matrix Q is not required;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'V':  Q must contain an orthogonal matrix U on entry,
+                  and the product U*Q is returned.
+
+  COMPZ   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = 'N':  The matrix Z is not required;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'V':  Z must contain an orthogonal matrix U on entry,
+                  and the product U*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B. N &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that the matrices A and B are already upper
+          triangular in rows and columns 1:ILO-1 and IHI+1:N.
+          The routine works primarily with the submatrices in rows
+          and columns ILO to IHI, but applies the transformations to
+          all the rows and columns of the matrices A and B, if
+          JOB = 'S'.
+          1 &lt;= ILO &lt;= max(1,N+1); min(ILO,N) &lt;= IHI &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array A must
+          contain the upper Hessenberg matrix A.
+          On exit, if JOB = 'S', the leading N-by-N part of this
+          array is upper quasi-triangular with any 2-by-2 diagonal
+          blocks corresponding to a pair of complex conjugated
+          eigenvalues.
+          If JOB = 'E', the diagonal elements and 2-by-2 diagonal
+          blocks of A will be correct, but the remaining parts of A
+          are unspecified on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array B must
+          contain the upper triangular matrix B.
+          On exit, if JOB = 'S', the leading N-by-N part of this
+          array contains the transformed upper triangular matrix.
+          2-by-2 blocks in B corresponding to 2-by-2 blocks in A
+          will be reduced to positive diagonal form. (I.e., if
+          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
+          and B(j+1,j+1) will be positive.)
+          If JOB = 'E', the elements corresponding to diagonal
+          elements and 2-by-2 diagonal blocks in A will be correct,
+          but the remaining parts of B are unspecified on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if COMPQ = 'V', then the leading N-by-N part of
+          this array must contain a matrix Q which is assumed to be
+          equal to the unit matrix except for the submatrix
+          Q(ILO:IHI,ILO:IHI).
+          If COMPQ = 'I', Q need not be set on entry.
+          On exit, if COMPQ = 'V' or COMPQ = 'I' the leading N-by-N
+          part of this array contains the transformation matrix
+          which produced the Schur form.
+          If COMPQ = 'N', Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= 1.
+          If COMPQ &lt;&gt; 'N', LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if COMPZ = 'V', then the leading N-by-N part of
+          this array must contain a matrix Z which is assumed to be
+          equal to the unit matrix except for the submatrix
+          Z(ILO:IHI,ILO:IHI).
+          If COMPZ = 'I', Z need not be set on entry.
+          On exit, if COMPZ = 'V' or COMPZ = 'I' the leading N-by-N
+          part of this array contains the transformation matrix
+          which produced the Schur form.
+          If COMPZ = 'N', Z is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= 1.
+          If COMPZ &lt;&gt; 'N', LDZ &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The i-th (1 &lt;= i &lt;= N) computed eigenvalue is given by
+          BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
+          eigenvalues are computed as a complex conjugate pair,
+          they are stored in consecutive elements of ALPHAR, ALPHAI
+          and BETA. If JOB = 'S', the eigenvalues are stored in the
+          same order as on the diagonales of the Schur forms of A
+          and B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then MB03XP failed to compute the Schur
+                form in a total of 30*(IHI-ILO+1) iterations;
+                elements 1:ilo-1 and i+1:n of ALPHAR, ALPHAI and
+                BETA contain successfully computed eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm is a multi-shift version of the periodic
+  QR algorithm described in [1,3] with some minor modifications
+  proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
+      The periodic Schur decomposition: Algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. Proc. of the IFAC Workshop on Periodic Control
+      Systems, pp. 187-192, 2001.
+
+  [3] Van Loan, C.
+      Generalized Singular Values with Algorithms and Applications.
+      Ph. D. Thesis, University of Michigan, 1973.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03XP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 200 )
+      INTEGER          LDA, LDB, LDQ, LDRES, LDZ, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDQ = NMAX,
+     $                   LDRES = NMAX, LDWORK = NMAX, LDZ = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, IHI, ILO, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
+     $                 Q(LDQ,NMAX), RES(LDRES,3*NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE
+      EXTERNAL         DLANGE
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, MB03XP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, ILO, IHI
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, B, LDB, RES(1,2*N+1), LDRES )
+         CALL MB03XP( 'S', 'I', 'I', N, ILO, IHI, A, LDA, B, LDB, Q,
+     $                LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK, LDWORK,
+     $                INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( A(I,J), J = 1,N )
+10          CONTINUE
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                  RES(1,N+1), LDRES, Z, LDZ, ZERO, RES, LDRES )
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
+     $                  Q, LDQ, A, LDA, ONE, RES, LDRES )
+            WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99995 )
+            DO 20  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( B(I,J), J = 1,N )
+20          CONTINUE
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                  RES(1,2*N+1), LDRES, Q, LDQ, ZERO, RES, LDRES )
+            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
+     $                  Z, LDZ, B, LDB, ONE, RES, LDRES )
+            WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99994 )
+            DO 30  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( Q(I,J), J = 1,N )
+30          CONTINUE
+            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Q,
+     $                  LDQ, Q, LDQ, ONE, RES, LDRES )
+            DO 40  I = 1, N
+               RES(I,I) = RES(I,I) - ONE
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99987 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99993 )
+            DO 50  I = 1, N
+               WRITE (NOUT, FMT = 99991) ( Z(I,J), J = 1,N )
+50          CONTINUE
+            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Z,
+     $                  LDZ, Z, LDZ, ONE, RES, LDRES )
+            DO 60 I = 1, N
+               RES(I,I) = RES(I,I) - ONE
+60          CONTINUE
+            WRITE ( NOUT, FMT = 99986 ) DLANGE( 'Frobenius', N, N, RES,
+     $                                          LDRES, DWORK )
+            WRITE ( NOUT, FMT = 99992 )
+            DO 70  I = 1, N
+               WRITE ( NOUT, FMT = 99991 )
+     $                 ALPHAR(I), ALPHAI(I), BETA(I)
+70          CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB03XP EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03XP = ',I2)
+99996 FORMAT (' The reduced matrix A is ')
+99995 FORMAT (/' The reduced matrix B is ')
+99994 FORMAT (/' The orthogonal factor Q is ')
+99993 FORMAT (/' The orthogonal factor Z is ')
+99992 FORMAT (/4X,'ALPHAR',4X,'ALPHAI',4X,'BETA')
+99991 FORMAT (1000(1X,F9.4))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' Residual: || A*Z - Q*S ||_F = ',G7.2)
+99988 FORMAT (/' Residual: || B*Q - Z*T ||_F = ',G7.2)
+99987 FORMAT (/' Orthogonality of Q: || Q''*Q - I ||_F = ',G7.2)
+99986 FORMAT (/' Orthogonality of Z: || Z''*Z - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03XP EXAMPLE PROGRAM DATA
+        8       1       8
+    0.9708   -1.1156   -0.0884   -0.2684    0.2152    0.0402    0.0333    0.5141
+   -1.6142    2.8635    1.0420   -0.2295   -0.3560    0.4885    0.1026   -0.0164
+         0    1.1138    0.3509   -0.0963    0.0875    0.2158    0.2444   -0.2838
+         0         0   -0.5975    0.1021   -0.1026   -0.0062   -0.2646   -0.0745
+         0         0         0    0.6181    0.1986    0.3612   -0.1750    0.3332
+         0         0         0         0   -0.7387   -0.5201    0.0713    0.0501
+         0         0         0         0         0   -0.2677   -0.4918   -0.2838
+         0         0         0         0         0         0    0.3011    0.3389
+    0.9084    0.1739    0.5915    0.8729    0.8188    0.1911    0.4122    0.5527
+         0    0.1708    0.1197    0.2379    0.4302    0.4225    0.9016    0.4001
+         0         0    0.0381    0.6458    0.8903    0.8560    0.0056    0.1988
+         0         0         0    0.9669    0.7349    0.4902    0.2974    0.6252
+         0         0         0         0    0.6873    0.8159    0.0492    0.7334
+         0         0         0         0         0    0.4608    0.6932    0.3759
+         0         0         0         0         0         0    0.6501    0.0099
+         0         0         0         0         0         0         0    0.4199
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03XP EXAMPLE PROGRAM RESULTS
+
+ The reduced matrix A is 
+   -0.6290   -0.1397   -0.0509    0.1603   -0.3248    0.2381    0.0694    0.0103
+    1.5112   -3.4273   -0.4485   -0.4357   -0.3456    0.4619    0.5998    0.5654
+    0.0000    0.0000    0.0547   -0.4360    0.1714   -0.2103   -0.0900   -0.4011
+    0.0000    0.0000    0.6623    0.2038    0.2796   -0.2629    0.3837    0.2382
+    0.0000    0.0000    0.0000    0.0000   -0.6315    0.2071   -0.0174   -0.3538
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.5850   -0.1813    0.2435
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000   -0.7884    0.1535
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.2832
+
+ Residual: || A*Z - Q*S ||_F = .60E-14
+
+ The reduced matrix B is 
+   -0.9231    0.0000   -0.9834    0.1805    0.4428    0.3655   -0.4300    0.8498
+    0.0000   -0.1837   -0.1873    0.0681    0.8412   -0.0556    0.0538    0.6113
+    0.0000    0.0000   -1.8997    0.0000    0.5651   -0.2785    0.2882    1.0458
+    0.0000    0.0000    0.0000   -0.2602    0.3527   -0.0020   -0.3396    0.2739
+    0.0000    0.0000    0.0000    0.0000    0.8521   -0.0164    0.2115    0.5446
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0283   -0.5128    0.0153
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.4153    0.4587
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.5894
+
+ Residual: || B*Q - Z*T ||_F = .55E-14
+
+ The orthogonal factor Q is 
+   -0.5333    0.3661   -0.1179    0.0264    0.0026    0.7527    0.0018    0.0189
+    0.0583   -0.8833   -0.0666   -0.0007    0.0017    0.4603    0.0050    0.0092
+   -0.8414   -0.2927    0.0347    0.0452   -0.0005   -0.4498   -0.0269    0.0001
+    0.0077    0.0046   -0.5687   -0.4810    0.0227   -0.0708   -0.6500    0.1312
+    0.0598    0.0059   -0.6128    0.7656    0.1348   -0.0863    0.0038    0.0954
+   -0.0242   -0.0016   -0.4295   -0.4163    0.3871   -0.0709    0.6964   -0.0417
+    0.0027    0.0001    0.3109    0.0620    0.8615    0.0378   -0.2267    0.3231
+    0.0012    0.0000    0.0188   -0.0514   -0.2987   -0.0172    0.2010    0.9312
+
+ Orthogonality of Q: || Q'*Q - I ||_F = .63E-14
+
+ The orthogonal factor Z is 
+    0.9957   -0.0786    0.0397   -0.0032    0.0006    0.0227    0.0104    0.0123
+    0.0764    0.9956    0.0200    0.0073   -0.0009    0.0389    0.0263    0.0193
+   -0.0062    0.0235    0.6714   -0.0229    0.0271   -0.4461   -0.5354   -0.2486
+   -0.0445   -0.0437    0.6098    0.4197   -0.0656    0.6125    0.1248    0.2302
+   -0.0242   -0.0148    0.4049   -0.6041    0.2808   -0.1328    0.5972    0.1311
+    0.0096    0.0037   -0.0183    0.6539    0.5114   -0.4136    0.3620   -0.0913
+   -0.0019   -0.0004   -0.1055   -0.1544    0.7891    0.2944   -0.4436    0.2426
+   -0.0005    0.0000   -0.0039    0.0826   -0.1786   -0.3853   -0.1119    0.8946
+
+ Orthogonality of Z: || Z'*Z - I ||_F = .78E-14
+
+    ALPHAR    ALPHAI    BETA
+    0.4723    0.1464    1.2811
+    0.4723   -0.1464    1.2811
+   -0.0318    0.1527    2.4691
+   -0.0318   -0.1527    2.4691
+   -0.6315    0.0000    0.8521
+   -0.5850    0.0000    0.0283
+   -0.7884    0.0000    0.4153
+    0.2832    0.0000    0.5894
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03XS.html b/doc/_static/doc/MB03XS.html
new file mode 100644
index 00000000..035e9c3e
--- /dev/null
+++ b/doc/_static/doc/MB03XS.html
@@ -0,0 +1,225 @@
+<HTML>
+<HEAD><TITLE>MB03XS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XS">MB03XS</A></H2>
+<H3>
+Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues and real skew-Hamiltonian Schur form of
+  a skew-Hamiltonian matrix,
+
+                [  A   G  ]
+          W  =  [       T ],
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices. Specifically, an orthogonal symplectic matrix U is
+  computed so that
+
+            T       [  Aout  Gout  ]
+           U W U =  [            T ] ,
+                    [    0   Aout  ]
+
+  where Aout is in Schur canonical form (as returned by the LAPACK
+  routine DHSEQR). That is, Aout is block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+  Optionally, the matrix U is returned in terms of its first N/2
+  rows
+
+                   [  U1   U2 ]
+               U = [          ].
+                   [ -U2   U1 ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XS( JOBU, N, A, LDA, QG, LDQG, U1, LDU1, U2, LDU2,
+     $                   WR, WI, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU
+      INTEGER           INFO, LDA, LDQG, LDU1, LDU2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U1(LDU1,*),
+     $                  U2(LDU2,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Specifies whether matrix U is computed or not, as follows:
+          = 'N': transformation matrix U is not computed;
+          = 'U': transformation matrix U is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout in Schur canonical form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          in columns 2:N+1 the strictly upper triangular part of the
+          skew-symmetric matrix Gout. The part which contained the
+          matrix Q is set to zero.
+          Note that the parts containing the diagonal and the first
+          superdiagonal of this array are not overwritten by zeros
+          only if JOBU = 'U' or LDWORK &gt;= 2*N*N - N.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the matrix U1.
+          If JOBU = 'N', this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= MAX(1,N),  if JOBU = 'U';
+          LDU1 &gt;= 1,         if JOBU = 'N'.
+
+  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On exit, if JOBU = 'U', the leading N-by-N part of this
+          array contains the matrix U2.
+          If JOBU = 'N', this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= MAX(1,N),  if JOBU = 'U';
+          LDU2 &gt;= 1,         if JOBU = 'N'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of Aout, which are half of the eigenvalues
+          of W. The eigenvalues are stored in the same order as on
+          the diagonal of Aout, with WR(i) = Aout(i,i) and, if
+          Aout(i:i+1,i:i+1) is a 2-by-2 diagonal block, WI(i) &gt; 0
+          and WI(i+1) = -WI(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -14,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,(N+5)*N),      if JOBU = 'U';
+          LDWORK &gt;= MAX(1,5*N,(N+1)*N),  if JOBU = 'N'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, DHSEQR failed to compute all of the
+                eigenvalues.  Elements 1:ILO-1 and i+1:N of WR
+                and WI contain those eigenvalues which have been
+                successfully computed. The matrix A (and QG) has
+                been partially reduced; namely, A is upper
+                Hessenberg in the rows and columns ILO through i.
+                (See DHSEQR for details.)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, using the SLICOT Library routine MB04RB, an orthogonal
+  symplectic matrix UP is computed so that
+
+             T      [  AP  GP  ]
+         UP W UP =  [        T ]
+                    [  0   AP  ]
+
+  is in Paige/Van Loan form. Next, the LAPACK routine DHSEQR is
+  applied to the matrix AP to compute an orthogonal matrix V so
+  that Aout = V'*AP*V is in Schur canonical form.
+  Finally, the transformations
+
+                    [ V  0 ]
+          U =  UP * [      ],     Gout = V'*G*V,
+                    [ 0  V ]
+
+  using the SLICOT Library routine MB01LD for the latter, are
+  performed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03XU.html b/doc/_static/doc/MB03XU.html
new file mode 100644
index 00000000..fbfa7a51
--- /dev/null
+++ b/doc/_static/doc/MB03XU.html
@@ -0,0 +1,304 @@
+<HTML>
+<HEAD><TITLE>MB03XU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XU">MB03XU</A></H2>
+<H3>
+Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by orthogonal symplectic transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce 2*nb columns and rows of a real (k+2n)-by-(k+2n)
+  matrix H:
+
+          [ op(A)   G   ]
+      H = [             ],
+          [  Q    op(B) ]
+
+  so that elements in the first nb columns below the k-th
+  subdiagonal of the (k+n)-by-n matrix op(A), in the first nb
+  columns and rows of the n-by-n matrix Q and in the first nb rows
+  above the diagonal of the n-by-(k+n) matrix op(B) are zero.
+  The reduction is performed by orthogonal symplectic
+  transformations UU'*H*VV and matrices U, V, YA, YB, YG, YQ, XA,
+  XB, XG, and XQ are returned so that
+
+                 [ op(Aout)+U*YA'+XA*V'     G+U*YG'+XG*V'    ]
+      UU' H VV = [                                           ].
+                 [   Qout+U*YQ'+XQ*V'   op(Bout)+U*YB'+XB*V' ]
+
+  This is an auxiliary routine called by MB04TB.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XU( LTRA, LTRB, N, K, NB, A, LDA, B, LDB, G, LDG,
+     $                   Q, LDQ, XA, LDXA, XB, LDXB, XG, LDXG, XQ, LDXQ,
+     $                   YA, LDYA, YB, LDYB, YG, LDYG, YQ, LDYQ, CSL,
+     $                   CSR, TAUL, TAUR, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           LTRA, LTRB
+      INTEGER           K, LDA, LDB, LDG, LDQ, LDXA, LDXB, LDXG, LDXQ,
+     $                  LDYA, LDYB, LDYG, LDYQ, N, NB
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
+     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*),
+     $                  XA(LDXA,*), XB(LDXB,*), XG(LDXG,*), XQ(LDXQ,*),
+     $                  YA(LDYA,*), YB(LDYB,*), YG(LDYG,*), YQ(LDYQ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRA    LOGICAL
+          Specifies the form of op( A ) as follows:
+          = .FALSE.:  op( A ) = A;
+          = .TRUE.:   op( A ) = A'.
+
+  LTRB    LOGICAL
+          Specifies the form of op( B ) as follows:
+          = .FALSE.:  op( B ) = B;
+          = .TRUE.:   op( B ) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix Q. N &gt;= 0.
+
+  K       (input) INTEGER
+          The offset of the reduction. Elements below the K-th
+          subdiagonal in the first NB columns of op(A) are
+          reduced to zero. K &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns/rows to be reduced. N &gt; NB &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                  (LDA,N)     if LTRA = .FALSE.
+                  (LDA,K+N)   if LTRA = .TRUE.
+          On entry with LTRA = .FALSE., the leading (K+N)-by-N part
+          of this array must contain the matrix A.
+          On entry with LTRA = .TRUE., the leading N-by-(K+N) part
+          of this array must contain the matrix A.
+          On exit with LTRA = .FALSE., the leading (K+N)-by-N part
+          of this array contains the matrix Aout and, in the zero
+          parts, information about the elementary reflectors used to
+          compute the reduction.
+          On exit with LTRA = .TRUE., the leading N-by-(K+N) part of
+          this array contains the matrix Aout and in the zero parts
+          information about the elementary reflectors.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,K+N),  if LTRA = .FALSE.;
+          LDA &gt;= MAX(1,N),    if LTRA = .TRUE..
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                  (LDB,K+N)   if LTRB = .FALSE.
+                  (LDB,N)     if LTRB = .TRUE.
+          On entry with LTRB = .FALSE., the leading N-by-(K+N) part
+          of this array must contain the matrix B.
+          On entry with LTRB = .TRUE., the leading (K+N)-by-N part
+          of this array must contain the matrix B.
+          On exit with LTRB = .FALSE., the leading N-by-(K+N) part
+          of this array contains the matrix Bout and, in the zero
+          parts, information about the elementary reflectors used to
+          compute the reduction.
+          On exit with LTRB = .TRUE., the leading (K+N)-by-N part of
+          this array contains the matrix Bout and in the zero parts
+          information about the elementary reflectors.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N),    if LTRB = .FALSE.;
+          LDB &gt;= MAX(1,K+N),  if LTRB = .TRUE..
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix G.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Gout.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Q.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Qout and in the zero parts information about
+          the elementary reflectors used to compute the reduction.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XA.
+
+  LDXA    INTEGER
+          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
+
+  XB      (output) DOUBLE PRECISION array, dimension (LDXB,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix XB.
+
+  LDXB    INTEGER
+          The leading dimension of the array XB. LDXB &gt;= MAX(1,K+N).
+
+  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix XG.
+
+  LDXG    INTEGER
+          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
+
+  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XQ.
+
+  LDXQ    INTEGER
+          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
+
+  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix YA.
+
+  LDYA    INTEGER
+          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
+
+  YB      (output) DOUBLE PRECISION array, dimension (LDYB,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix YB.
+
+  LDYB    INTEGER
+          The leading dimension of the array YB.  LDYB &gt;= MAX(1,N).
+
+  YG      (output) DOUBLE PRECISION array, dimension (LDYG,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix YG.
+
+  LDYG    INTEGER
+          The leading dimension of the array YG. LDYG &gt;= MAX(1,K+N).
+
+  YQ      (output) DOUBLE PRECISION array, dimension (LDYQ,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix YQ.
+
+  LDYQ    INTEGER
+          The leading dimension of the array YQ.  LDYQ &gt;= MAX(1,N).
+
+  CSL     (output) DOUBLE PRECISION array, dimension (2*NB)
+          On exit, the first 2NB elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the left-hand side used to compute the
+          reduction.
+
+  CSR     (output) DOUBLE PRECISION array, dimension (2*NB)
+          On exit, the first 2NB-2 elements of this array contain
+          the cosines and sines of the symplectic Givens rotations
+          applied from the right-hand side used to compute the
+          reduction.
+
+  TAUL    (output) DOUBLE PRECISION array, dimension (NB)
+          On exit, the first NB elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the left-hand side.
+
+  TAUR    (output) DOUBLE PRECISION array, dimension (NB)
+          On exit, the first NB-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (5*NB)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For details regarding the representation of the orthogonal
+  symplectic matrices UU and VV within the arrays A, B, CSL, CSR, Q,
+  TAUL and TAUR see the description of MB04TB.
+
+  The contents of A, B, G and Q on exit are illustrated by the
+  following example with op(A) = A, op(B) = B, n = 5, k = 2 and
+  nb = 2:
+
+       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( r  r  r  r  r  )       ( r  r  r  r  r  r  r  )
+   A = ( u2 r  r  r  r  ),  G = ( r  r  r  r  r  r  r  ),
+       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
+       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
+
+       ( t  t  v1 v1 v1 )       ( r  r  r  r  r  v2 v2 )
+       ( u1 t  t  v1 v1 )       ( r  r  r  r  r  r  v2 )
+   Q = ( u1 u1 r  q  q  ),  B = ( b  b  b  r  r  b  b  ).
+       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
+       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
+
+  where a, b, g and q denote elements of the original matrices, r
+  denotes a modified element, t denotes a scalar factor of an
+  applied elementary reflector, ui and vi denote elements of the
+  matrices U and V, respectively.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires ( 16*K + 32*N + 42 )*N*NB +
+  ( 16*K + 112*N - 208/3*NB - 69 )*NB*NB - 29/3*NB floating point
+  operations and is numerically backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils.
+      Numer. Math., Vol. 78 (3), pp. 329-358, 1998.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT Numerical Mathematics, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB03XZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03XZ">MB03XZ</A></H2>
+<H3>
+Eigenvalues of a complex Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a Hamiltonian matrix,
+
+                [  A   G  ]         H        H
+          H  =  [       H ],   G = G ,  Q = Q ,                  (1)
+                [  Q  -A  ]
+
+  where A, G and Q are complex n-by-n matrices.
+
+  Due to the structure of H, if lambda is an eigenvalue, then
+  -conjugate(lambda) is also an eigenvalue. This does not mean that
+  purely imaginary eigenvalues are necessarily multiple. The routine
+  computes the eigenvalues of H using an embedding to a real skew-
+  Hamiltonian matrix He,
+
+                 [  Ae   Ge  ]            T            T
+          He  =  [         T ],   Ge = -Ge ,   Qe = -Qe ,        (2)
+                 [  Qe   Ae  ]
+
+  where Ae, Ge, and Qe are real 2*n-by-2*n matrices, defined by
+
+                 [   Im(A)   Re(A)  ]
+          Ae  =  [                  ],
+                 [  -Re(A)   Im(A)  ]
+
+                 [  triu(Im(G))     Re(G)     ]
+     triu(Ge) =  [                            ],
+                 [       0       triu(Im(G))  ]
+
+                 [  tril(Im(Q))       0       ]
+     tril(Qe) =  [                            ], 
+                 [     -Re(Q)    tril(Im(Q))  ]
+
+  and triu and tril denote the upper and lower triangle,
+  respectively. Then, an orthogonal symplectic matrix Ue is used to
+  reduce He to the structured real Schur form
+
+        T          [  Se   De ]            T
+       Ue He Ue =  [        T ],   De = -De ,                    (3)
+                   [  0    Se ]
+
+  where Ue is a 4n-by-4n real symplectic matrix, and Se is upper
+  quasi-triangular (real Schur form).
+
+  Optionally, if JOB = 'S', or JOB = 'G', the matrix i*He is further
+  transformed to the structured complex Schur form
+
+        H            [  Sc  Gc ]           H
+       U (i*He) U =  [       H ],   Gc = Gc ,                    (4)
+                     [  0  -Sc ]
+
+  where U is a 4n-by-4n unitary symplectic matrix, and Sc is upper
+  triangular (Schur form).
+
+  The algorithm is backward stable and preserves the spectrum
+  structure in finite precision arithmetic.
+
+  Optionally, a symplectic balancing transformation to improve the
+  conditioning of eigenvalues is computed (see the SLICOT Library
+  routine MB04DZ). In this case, the matrix He in decompositions (3)
+  and (4) must be replaced by the balanced matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1,
+     $                   LDU1, U2, LDU2, WR, WI, ILO, SCALE, DWORK,
+     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          BALANC, JOB, JOBU
+      INTEGER            ILO, INFO, LDA, LDQG, LDU1, LDU2, LDWORK,
+     $                   LZWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   DWORK( * ), SCALE( * ), WI( * ), WR( * )
+      COMPLEX*16         A( LDA, * ), QG( LDQG, * ), U1( LDU1, * ),
+     $                   U2( LDU2, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how H should be diagonally scaled and/or
+          permuted to reduce its norm.
+          = 'N': Do not diagonally scale or permute;
+          = 'P': Perform symplectic permutations to make the matrix
+                 closer to skew-Hamiltonian Schur form. Do not
+                 diagonally scale;
+          = 'S': Diagonally scale the matrix, i.e., replace A, G and
+                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
+                 D is a diagonal matrix chosen to make the rows and
+                 columns of H more equal in norm. Do not permute;
+          = 'B': Both diagonally scale and permute A, G and Q.
+          Permuting does not change the norm of H, but scaling does.
+
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to compute the full
+          decomposition (4) or the eigenvalues only, as follows:
+          = 'E': compute the eigenvalues only;
+          = 'S': compute the matrix Sc of (4);
+          = 'G': compute the matrices Sc and Gc of (4).
+
+  JOBU    CHARACTER*1
+          Indicates whether or not the user wishes to compute the
+          symplectic matrix Ue of (3), if JOB = 'E', or U of (4),
+          if JOB = 'S' or JOB = 'G', as follows:
+          = 'N': the matrix Ue or U is not computed;
+          = 'U': the matrix Ue or U is computed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,K)
+          where K = N, if JOB = 'E', and K = 2*N, if JOB &lt;&gt; 'E'.
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'E', the leading N-by-N part of this
+          array is unchanged, if BALANC = 'N', or it contains the
+          balanced (permuted and/or scaled) matrix A, if
+          BALANC &lt;&gt; 'N'.
+          On exit, if JOB = 'S' or JOB = 'G', the leading 2*N-by-2*N
+          upper triangular part of this array contains the matrix Sc
+          (complex Schur form) of decomposition (4).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,K).
+
+  QG      (input/output) COMPLEX*16 array, dimension
+                         (LDQG,min(K+1,2*N))
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the lower triangular part of the
+          matrix Q and in columns 2:N+1 the upper triangular part
+          of the matrix G.
+          On exit, if JOB &lt;&gt; 'G', the leading N-by-N+1 part of this
+          array is unchanged, if BALANC = 'N', or it contains the
+          balanced (permuted and/or scaled) parts of the matrices
+          Q and G (as above), if BALANC &lt;&gt; 'N'.
+          On exit, JOB = 'G', the leading 2*N-by-2*N upper
+          triangular part of this array contains the upper
+          triangular part of the matrix Gc in the decomposition (4).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= max(1,K).
+
+  U1      (output) COMPLEX*16 array, dimension (LDU1,2*N)
+          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
+          leading 2*N-by-2*N part of this array contains the (1,1)
+          block of the unitary symplectic matrix U of the
+          decomposition (4).
+          If JOB = 'E' or JOBU = 'N', this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= 1.
+          LDU1 &gt;= 2*N,    if JOBU = 'U'.
+
+  U2      (output) COMPLEX*16 array, dimension (LDU2,2*N)
+          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
+          leading 2*N-by-2*N part of this array contains the (1,2)
+          block of the unitary symplectic matrix U of the
+          decomposition (4).
+          If JOB = 'E' or JOBU = 'N', this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= 1.
+          LDU2 &gt;= 2*N,    if JOBU = 'U'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (2*N)
+  WI      (output) DOUBLE PRECISION array, dimension (2*N)
+          On exit, the leading 2*N elements of WR and WI contain the
+          real and imaginary parts, respectively, of the eigenvalues
+          of the Hamiltonian matrix H.
+
+  ILO     (output) INTEGER
+          ILO is an integer value determined when H was balanced.
+          The balanced A(I,J) = 0 if I &gt; J and J = 1,...,ILO-1.
+          The balanced Q(I,J) = 0 if J = 1,...,ILO-1 or
+          I = 1,...,ILO-1.
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
+          array contain details of the permutation and/or scaling
+          factors applied when balancing H, see MB04DZ.
+          This array is not referenced if BALANC = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
+          (scaled, if BALANC = 'S' or 'B') Hamiltonian matrix.
+          Moreover, the next locations of this array have the
+          following content:
+          - The leading 2*N-by-2*N upper Hessenberg part in the
+          locations 3:2+4*N*N contains the upper Hessenberg part of
+          the real Schur matrix Se in the decomposition (3);
+          - the leading 2*N-by-2*N upper triangular part in the
+          locations 3+4*N*N+2*N:2+8*N*N+2*N contains the upper
+          triangular part of the skew-symmetric matrix De in the
+          decomposition (3).
+          - If JOBU = 'U', the leading 2*N-by-2*N part in the
+          locations 3+8*N*N+2*N:2+12*N*N+2*N contains the (1,1)
+          block of the orthogonal symplectic matrix Ue of
+          decomposition (3).
+          - the leading 2*N-by-2*N part in the locations
+          3+12*N*N+2*N:2+16*N*N+2*N contains the (2,1) block of the
+          orthogonal symplectic matrix Ue.
+          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( 12*N**2 + 4*N, 8*N**2 + 12*N ) + 2,
+                                 if JOB = 'E' and JOBU = 'N';
+          LDWORK &gt;= MAX( 2, 12*N**2 + 4*N, 8*N**2 + 12*N ),
+                                 if JOB = 'S' or 'G' and JOBU = 'N';
+          LDWORK &gt;= 20*N**2 + 12*N + 2,
+                                 if JOB = 'E' and JOBU = 'U';
+          LDWORK &gt;= MAX( 2, 20*N**2 + 12*N ),
+                                 if JOB = 'S' or 'G' and JOBU = 'U'.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0,  ZWORK(1)  returns the optimal
+          value of LZWORK.
+          On exit, if  INFO = -20,  ZWORK(1)  returns the minimum
+          value of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,                  if JOB = 'E';
+          LZWORK &gt;= MAX( 1, 12*N - 6 ), if JOB = 'S' and JOBU = 'N';
+          LZWORK &gt;= MAX( 1, 12*N - 2 ), if JOB = 'G' or  JOBU = 'U'.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0,     if JOB = 'E';
+          LBWORK &gt;= 2*N-1, if JOB = 'S' or JOB = 'G'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO     INTEGER
+           = 0:  successful exit;
+           &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+           &gt; 0:  if INFO = i, the QR algorithm failed to compute
+                 all the eigenvalues; elements i+1:2*N of WR and
+                 WI contain eigenvalues which have converged;
+           = 2*N+1:  the QR algorithm failed to compute the
+                 eigenvalues of a 2-by-2 real block.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the extended matrix He in (2) is built. Then, the
+  structured real Schur form in (3) is computed, using the SLICOT
+  Library routine MB03XS. The eigenvalues of Se immediately give
+  the eigenvalues of H. Finally, if required, Se is further
+  transformed by using the complex QR algorithm to triangularize
+  its 2-by-2 blocks, and Ge and U are updated, to obtain (4).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V. and Xu, H.
+      A note on the numerical solution of complex Hamiltonian and
+      skew-Hamiltonian eigenvalue problems.
+      Electr. Trans. Num. Anal., 8, pp. 115-126, 1999.
+
+  [2] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03XZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZER
+      PARAMETER        ( ZER = 0.0D0 )
+      COMPLEX*16       ZERO, ONE
+      PARAMETER        ( ZERO = (0.0D0,0.0D0), ONE = (1.0D0,0.0D0) )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDAE, LDAS, LDGE, LDQG, LDQGE, LDQGS, LDRES,
+     $                 LDU1, LDU2, LDWORK, LZWORK
+      PARAMETER        ( LDA   = 2*NMAX, LDAE  = 2*NMAX, LDAS  = NMAX,
+     $                   LDGE  = 2*NMAX, LDQG  = 2*NMAX, LDQGE = 2*NMAX,
+     $                   LDQGS  = NMAX,  LDRES = 2*NMAX, LDU1  = 2*NMAX,
+     $                   LDU2   = 2*NMAX,
+     $                   LDWORK = 20*NMAX*NMAX + 12*NMAX + 2,
+     $                   LZWORK = 12*NMAX - 2 )
+*     .. Local Scalars ..
+      CHARACTER*1      BALANC, JOB, JOBU
+      INTEGER          I, ILO, INFO, J, M, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, 2*NMAX), AE(LDAE, 2*NMAX), AS(LDAS, NMAX),
+     $                 GE(LDGE, 2*NMAX), QG(LDQG, 2*NMAX+1),
+     $                 QGE(LDQGE, 2*NMAX+1), QGS(LDQGS, NMAX+1),
+     $                 RES(LDRES,2*NMAX), U1(LDU1,2*NMAX),
+     $                 U2(LDU2,  2*NMAX), ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK), SCALE(NMAX), WI(2*NMAX),
+     $                 WR(2*NMAX)
+      LOGICAL          BWORK(2*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLAPY2, MA02JZ, ZLANGE
+      EXTERNAL         DLAPY2, LSAME, MA02JZ, ZLANGE
+*     .. External Subroutines ..
+      EXTERNAL         MA02EZ, MB03XZ, MB04DZ, ZCOPY, ZGEMM, ZLACPY,
+     $                 ZLASET
+*     ..Intrinsic Functions..
+      INTRINSIC        DBLE, DCMPLX, DIMAG
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         M = 2*N
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL ZLACPY( 'All', N, N, A, LDA, AS, LDAS )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL ZLACPY( 'All', N, N+1, QG, LDQG, QGS, LDQGS )
+*        Compute the eigenvalues and the transformed Hamiltonian matrix.
+         CALL MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1, LDU1,
+     $                U2, LDU2, WR, WI, ILO, SCALE, DWORK, LDWORK,
+     $                ZWORK, LZWORK, BWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, M
+               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
+   10       CONTINUE
+            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 20  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,M )
+   20          CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'G' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 )
+               DO 30  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 ) ( QG(I,J), J = 1,M )
+   30          CONTINUE
+            END IF
+*
+            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ) ) THEN
+*              Compute the residual of the formula (4) in MB03XZ.
+               CALL MB04DZ( BALANC, N, AS, LDAS, QGS, LDQGS, I, DWORK,
+     $                      INFO )
+               CALL ZLASET( 'Lower', M-1, M-1, ZERO, ZERO, A(2,1), LDA )
+               CALL MA02EZ( 'Upper', 'Conjugate', 'Not skew', M, QG,
+     $                      LDQG )
+*              Compute Ae, Ge, and Qe.
+               DO 60  J = 1, N
+                  DO 40  I = 1, N
+                     AE(I,J) = DCMPLX( ZER, DIMAG( AS(I,J) ) )
+   40             CONTINUE
+                  DO 50  I = 1, N
+                     AE(I+N,J) = -DCMPLX( ZER, DBLE( AS(I,J) ) )
+   50             CONTINUE
+   60          CONTINUE
+*
+               DO 90  J = 1, N
+                  DO 70  I = 1, N
+                     AE(I,J+N) = -AE(I+N,J)
+   70             CONTINUE
+                  DO 80  I = 1, N
+                     AE(I+N,J+N) = AE(I,J)
+   80             CONTINUE
+   90          CONTINUE
+*
+               DO 120  J = 1, N+1
+                  DO 100  I = 1, N
+                     QGE(I,J) = DCMPLX( ZER, DIMAG( QGS(I,J) ) )
+  100             CONTINUE
+                  DO 110  I = J, N
+                     QGE(I+N,J) = -DCMPLX( ZER, DBLE( QGS(I,J) ) )
+  110             CONTINUE
+  120          CONTINUE
+*
+               DO 150  J = 1, N
+                  DO 130  I = 1, J
+                     QGE(I,J+N+1) = DCMPLX( ZER, DBLE( QGS(I,J+1) ) )
+  130             CONTINUE
+                  DO 140  I = 1, N
+                     QGE(I+N,J+N+1) = QGE(I,J+1)
+  140             CONTINUE
+  150          CONTINUE
+               CALL ZCOPY( N, QGE, 1, QGE(N+1,N+1), 1 )
+               CALL MA02EZ( 'Lower', 'Transpose', 'Not Skew', N,
+     $                      QGE(N+1,1), LDQGE )
+               CALL MA02EZ( 'Upper', 'Transpose', 'Not Skew', N,
+     $                      QGE(1,N+2), LDQGE )
+*
+               CALL ZLACPY( 'Upper', M, M, QGE(1,2), LDQGE, GE, LDGE )
+               CALL MA02EZ( 'Upper', 'Transpose', 'Skew', M, GE, LDGE )
+               CALL MA02EZ( 'Lower', 'Transpose', 'Skew', M, QGE,
+     $                      LDQGE )
+*              Compute the residual of the (1,1) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     AE, LDAE, U1, LDU1, ZERO, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, GE, LDGE, U2, LDU2, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
+               TEMP = ZLANGE( 'Frobenius', M, M, RES, LDRES, DWORK )
+*              Compute the residual of the (1,2) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     AE, LDAE, U2, LDU2, ZERO, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     GE, LDGE, U1, LDU1, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, U1, LDU1, QG, LDQG, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
+     $                     ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
+     $                                      LDRES, DWORK ) )
+*              Compute the residual of the (2,1) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     QGE, LDQGE, U1, LDU1, ZERO, RES, LDRES )
+               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M,
+     $                     -ONE, AE, LDAE, U2, LDU2, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     U2, LDU2, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
+     $                                      LDRES, DWORK ) )
+*              Compute the residual of the (2,2) block in (4).
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     QGE, LDQGE, U2, LDU2, ZERO, RES, LDRES )
+               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M, ONE,
+     $                     AE, LDAE, U1, LDU1, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
+     $                     U2, LDU2, QG, LDQG, ONE, RES, LDRES )
+               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
+     $                     ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
+               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
+     $                                      LDRES, DWORK ) )
+               WRITE ( NOUT, FMT = 99989 ) TEMP
+            END IF
+*
+            IF ( .NOT.LSAME( JOB, 'E' ).AND.LSAME( JOBU, 'U' ) ) THEN
+               WRITE ( NOUT, FMT = 99993 )
+               DO 160  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 )
+     $               ( U1(I,J), J = 1,M ), ( U2(I,J), J = 1,M )
+  160          CONTINUE
+               DO 170  I = 1, M
+                  WRITE ( NOUT, FMT = 99992 )
+     $               ( -U2(I,J), J = 1,M ), ( U1(I,J), J = 1,M )
+  170          CONTINUE
+               WRITE ( NOUT, FMT = 99988 ) MA02JZ( .FALSE., .FALSE., M,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+            END IF
+            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99991 )
+               DO 180  I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
+  180          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03XZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03XZ = ',I2)
+99997 FORMAT (' The eigenvalues are',//'   i',6X,
+     $        'WR(i)',6X,'WI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' The transformed matrix S is')
+99994 FORMAT (/' The transformed matrix G is')
+99993 FORMAT (/' The unitary symplectic factor U is')
+99992 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99991 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
+     $        'SCALE(i)',/)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' Residual: || i*He*U - U*Hc ||_F = ',G9.2)
+99988 FORMAT (/' Orthogonality of U: || U^H U - I ||_F = ',G9.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03XZ EXAMPLE PROGRAM DATA
+	4	N	G	U
+   (0.8147,0.4217)   (0.6323,0.6557)   (0.9575,0.6787)   (0.9571,0.6554)
+   (0.9057,0.9157)   (0.0975,0.0357)   (0.9648,0.7577)   (0.4853,0.1711)
+   (0.1269,0.7922)   (0.2784,0.8491)   (0.1576,0.7431)   (0.8002,0.7060)
+   (0.9133,0.9594)   (0.5468,0.9339)   (0.9705,0.3922)   (0.1418,0.0318)
+    0.2769            0.6948           (0.4387,0.7513)   (0.1869,0.8909)   (0.7094,0.1493)
+   (0.0462,0.1626)    0.3171            0.3816           (0.4898,0.9593)   (0.7547,0.2575)
+   (0.0971,0.1190)   (0.9502,0.5853)    0.7655            0.4456           (0.2760,0.8407)         
+   (0.8235,0.4984)   (0.0344,0.2238)   (0.7952,0.6991)    0.6463            0.6797
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB03XZ EXAMPLE PROGRAM RESULTS
+
+ The eigenvalues are
+
+   i      WR(i)      WI(i)
+
+   1     3.0844     2.7519
+   2    -3.0844     2.7519
+   3     0.5241    -1.3026
+   4    -0.5241    -1.3026
+   5     0.8824    -0.6918
+   6    -0.8824    -0.6918
+   7     0.4459     0.4748
+   8    -0.4459     0.4748
+
+ The transformed matrix S is
+    3.0844  +2.7519i     0.0618  +0.0000i    -0.1952  +0.1977i     0.0439  +0.0628i     0.0599  -0.0344i    -0.1543  -0.7126i    -0.3906  +0.3615i     0.2877  +0.5766i 
+    0.0000  +0.0000i    -3.0844  +2.7519i    -0.0458  -0.0727i    -0.2607  +0.0867i     0.1505  -0.7137i    -0.0717  +0.0066i    -0.4008  +0.4356i     0.2819  +0.5317i 
+    0.1269  +0.7922i     0.0000  +0.0000i     0.5241  -1.3026i    -0.0175  +0.0350i    -0.0676  +0.1183i     0.3695  -0.0335i    -0.3138  -0.4268i     0.2973  -0.0042i 
+    0.9133  +0.9594i     0.5468  +0.9339i     0.0000  +0.0000i    -0.5241  -1.3026i     0.1453  +0.3375i     0.0590  -0.1483i     0.2795  +0.3002i    -0.4594  -0.0099i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8824  -0.6918i    -0.1193  +0.0000i    -0.1672  -0.0189i    -0.1008  -0.2026i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8824  -0.6918i     0.0539  -0.1852i     0.1978  -0.0688i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.4459  +0.4748i     0.2987  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.4459  +0.4748i 
+
+ The transformed matrix G is
+   -0.2169  +0.0000i    -0.0022  +0.0000i    -0.2082  -0.0281i     0.0691  +0.0092i     0.0362  -0.0426i    -0.2374  +0.4904i    -0.2678  -0.5870i    -0.2567  +0.3258i 
+    0.0462  +0.1626i     0.2169  +0.0000i     0.0128  -0.0651i    -0.0654  +0.2006i     0.2348  +0.4861i    -0.0545  -0.0706i     0.1557  +0.4895i     0.3329  -0.4499i 
+    0.0971  +0.1190i     0.9502  +0.5853i     0.1341  +0.0000i    -0.0022  +0.0045i    -0.0232  +0.0320i     0.3395  -0.3847i    -0.0646  -0.2900i    -0.0920  -0.1605i 
+    0.8235  +0.4984i     0.0344  +0.2238i     0.7952  +0.6991i    -0.1341  +0.0000i    -0.1893  +0.4728i     0.0127  -0.0720i    -0.0923  -0.0258i    -0.3361  +0.0706i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.5145  +0.0000i     0.0348  +0.0000i    -0.0662  -0.2049i     0.2987  -0.0488i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5145  +0.0000i    -0.3004  +0.0327i    -0.0524  -0.2070i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0241  +0.0000i     0.0081  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0241  +0.0000i 
+
+ Residual: || i*He*U - U*Hc ||_F = .11E-13
+
+ The unitary symplectic factor U is
+   -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i     0.0570  -0.0194i     0.0576  +0.0192i    -0.1622  +0.3576i     0.3834  +0.0034i     0.0436  +0.0676i     0.0408  -0.0723i    -0.2802  +0.1272i    -0.3893  -0.0915i 
+   -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i     0.0887  -0.0452i     0.0896  +0.0448i     0.0357  +0.0168i    -0.0021  +0.0404i    -0.0614  +0.0720i    -0.0574  -0.0770i     0.2713  -0.1920i     0.3769  +0.1382i 
+   -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i     0.1763  -0.0047i     0.1781  +0.0046i     0.1017  -0.2162i    -0.2335  +0.0013i     0.1817  +0.0174i     0.1699  -0.0186i     0.0902  +0.1296i     0.1253  -0.0933i 
+    0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i    -0.0148  -0.0576i    -0.0150  +0.0570i     0.0145  -0.2255i    -0.2011  -0.0837i     0.0523  +0.0093i     0.0488  -0.0099i     0.0689  +0.2345i     0.0957  -0.1688i 
+    0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i    -0.0226  -0.1038i    -0.0228  +0.1027i     0.1693  +0.2699i     0.1539  +0.2735i    -0.1978  -0.0842i    -0.1849  +0.0901i     0.0400  -0.1732i     0.0556  +0.1246i 
+   -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i    -0.0669  -0.1453i    -0.0676  +0.1439i     0.1604  +0.0320i    -0.0469  +0.1627i    -0.0078  -0.1319i    -0.0073  +0.1411i    -0.0086  -0.4118i    -0.0120  +0.2963i 
+    0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i    -0.0318  -0.2136i    -0.0321  +0.2115i    -0.1467  +0.0498i     0.1110  -0.1148i    -0.0279  +0.2616i    -0.0261  -0.2799i     0.0611  +0.3196i     0.0849  -0.2300i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i 
+   -0.0570  +0.0194i    -0.0576  -0.0192i     0.1622  -0.3576i    -0.3834  -0.0034i    -0.0436  -0.0676i    -0.0408  +0.0723i     0.2802  -0.1272i     0.3893  +0.0915i    -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i 
+   -0.0887  +0.0452i    -0.0896  -0.0448i    -0.0357  -0.0168i     0.0021  -0.0404i     0.0614  -0.0720i     0.0574  +0.0770i    -0.2713  +0.1920i    -0.3769  -0.1382i    -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i 
+   -0.1763  +0.0047i    -0.1781  -0.0046i    -0.1017  +0.2162i     0.2335  -0.0013i    -0.1817  -0.0174i    -0.1699  +0.0186i    -0.0902  -0.1296i    -0.1253  +0.0933i    -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i 
+    0.0148  +0.0576i     0.0150  -0.0570i    -0.0145  +0.2255i     0.2011  +0.0837i    -0.0523  -0.0093i    -0.0488  +0.0099i    -0.0689  -0.2345i    -0.0957  +0.1688i     0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i 
+    0.0226  +0.1038i     0.0228  -0.1027i    -0.1693  -0.2699i    -0.1539  -0.2735i     0.1978  +0.0842i     0.1849  -0.0901i    -0.0400  +0.1732i    -0.0556  -0.1246i     0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i 
+    0.0669  +0.1453i     0.0676  -0.1439i    -0.1604  -0.0320i     0.0469  -0.1627i     0.0078  +0.1319i     0.0073  -0.1411i     0.0086  +0.4118i     0.0120  -0.2963i    -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i 
+    0.0318  +0.2136i     0.0321  -0.2115i     0.1467  -0.0498i    -0.1110  +0.1148i     0.0279  -0.2616i     0.0261  +0.2799i    -0.0611  -0.3196i    -0.0849  +0.2300i     0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i 
+
+ Orthogonality of U: || U^H U - I ||_F = .39E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03YA.html b/doc/_static/doc/MB03YA.html
new file mode 100644
index 00000000..1dcd88ed
--- /dev/null
+++ b/doc/_static/doc/MB03YA.html
@@ -0,0 +1,213 @@
+<HTML>
+<HEAD><TITLE>MB03YA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03YA">MB03YA</A></H2>
+<H3>
+Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix corresponding to zero elements on the diagonal of a triangular matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To annihilate one or two entries on the subdiagonal of the
+  Hessenberg matrix A for dealing with zero elements on the diagonal
+  of the triangular matrix B.
+
+  MB03YA is an auxiliary routine called by SLICOT Library routines
+  MB03XP and MB03YD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03YA( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
+     $                   POS, A, LDA, B, LDB, Q, LDQ, Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            WANTQ, WANTT, WANTZ
+      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ, LDZ,
+     $                   N, POS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WANTT   LOGICAL
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = .TRUE. :  Compute the full Schur form;
+          = .FALSE.:  compute the eigenvalues only.
+
+  WANTQ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = .TRUE. :  The matrix Q is updated;
+          = .FALSE.:  the matrix Q is not required.
+
+  WANTZ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = .TRUE. :  The matrix Z is updated;
+          = .FALSE.:  the matrix Z is not required.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B. N &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that the matrices A and B are already
+          (quasi) upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N. The routine works primarily with the submatrices
+          in rows and columns ILO to IHI, but applies the
+          transformations to all the rows and columns of the
+          matrices A and B, if WANTT = .TRUE..
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  ILOQ    (input) INTEGER
+  IHIQ    (input) INTEGER
+          Specify the rows of Q and Z to which transformations
+          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
+          respectively.
+          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
+
+  POS     (input) INTEGER
+          The position of the zero element on the diagonal of B.
+          ILO &lt;= POS &lt;= IHI.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper Hessenberg matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the updated matrix A where A(POS,POS-1) = 0, if POS &gt; ILO,
+          and A(POS+1,POS) = 0, if POS &lt; IHI.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain an upper triangular matrix B with B(POS,POS) = 0.
+          On exit, the leading N-by-N part of this array contains
+          the updated upper triangular matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Q of
+          transformations accumulated by MB03XP.
+          On exit, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Q updated in the
+          submatrix Q(ILOQ:IHIQ,ILO:IHI).
+          If WANTQ = .FALSE., Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= 1.
+          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Z of
+          transformations accumulated by MB03XP.
+          On exit, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Z updated in the
+          submatrix Z(ILOQ:IHIQ,ILO:IHI).
+          If WANTZ = .FALSE., Z is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= 1.
+          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method is illustrated by Wilkinson diagrams for N = 5,
+  POS = 3:
+
+        [ x x x x x ]       [ x x x x x ]
+        [ x x x x x ]       [ o x x x x ]
+    A = [ o x x x x ],  B = [ o o o x x ].
+        [ o o x x x ]       [ o o o x x ]
+        [ o o o x x ]       [ o o o o x ]
+
+  First, a QR factorization is applied to A(1:3,1:3) and the
+  resulting nonzero in the updated matrix B is immediately
+  annihilated by a Givens rotation acting on columns 1 and 2:
+
+        [ x x x x x ]       [ x x x x x ]
+        [ x x x x x ]       [ o x x x x ]
+    A = [ o o x x x ],  B = [ o o o x x ].
+        [ o o x x x ]       [ o o o x x ]
+        [ o o o x x ]       [ o o o o x ]
+
+  Secondly, an RQ factorization is applied to A(4:5,4:5) and the
+  resulting nonzero in the updated matrix B is immediately
+  annihilated by a Givens rotation acting on rows 4 and 5:
+
+        [ x x x x x ]       [ x x x x x ]
+        [ x x x x x ]       [ o x x x x ]
+    A = [ o o x x x ],  B = [ o o o x x ].
+        [ o o o x x ]       [ o o o x x ]
+        [ o o o x x ]       [ o o o o x ]
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
+      The periodic Schur decomposition: Algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**2) floating point operations and is
+  backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03YD.html b/doc/_static/doc/MB03YD.html
new file mode 100644
index 00000000..e81d27e3
--- /dev/null
+++ b/doc/_static/doc/MB03YD.html
@@ -0,0 +1,230 @@
+<HTML>
+<HEAD><TITLE>MB03YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03YD">MB03YD</A></H2>
+<H3>
+Periodic QR iteration
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To deal with small subtasks of the product eigenvalue problem.
+
+  MB03YD is an auxiliary routine called by SLICOT Library routine
+  MB03XP.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03YD( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
+     $                   A, LDA, B, LDB, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI,
+     $                   BETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            WANTQ, WANTT, WANTZ
+      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ,
+     $                   LDWORK, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WANTT   LOGICAL
+          Indicates whether the user wishes to compute the full
+          Schur form or the eigenvalues only, as follows:
+          = .TRUE. :  Compute the full Schur form;
+          = .FALSE.:  compute the eigenvalues only.
+
+  WANTQ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Q as follows:
+          = .TRUE. :  The matrix Q is updated;
+          = .FALSE.:  the matrix Q is not required.
+
+  WANTZ   LOGICAL
+          Indicates whether or not the user wishes to accumulate
+          the matrix Z as follows:
+          = .TRUE. :  The matrix Z is updated;
+          = .FALSE.:  the matrix Z is not required.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and B. N &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that the matrices A and B are already
+          (quasi) upper triangular in rows and columns 1:ILO-1 and
+          IHI+1:N. The routine works primarily with the submatrices
+          in rows and columns ILO to IHI, but applies the
+          transformations to all the rows and columns of the
+          matrices A and B, if WANTT = .TRUE..
+          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
+
+  ILOQ    (input) INTEGER
+  IHIQ    (input) INTEGER
+          Specify the rows of Q and Z to which transformations
+          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
+          respectively.
+          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper Hessenberg matrix A.
+          On exit, if WANTT = .TRUE., the leading N-by-N part of
+          this array is upper quasi-triangular in rows and columns
+          ILO:IHI.
+          If WANTT = .FALSE., the diagonal elements and 2-by-2
+          diagonal blocks of A will be correct, but the remaining
+          parts of A are unspecified on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix B.
+          On exit, if WANTT = .TRUE., the leading N-by-N part of
+          this array contains the transformed upper triangular
+          matrix. 2-by-2 blocks in B corresponding to 2-by-2 blocks
+          in A will be reduced to positive diagonal form. (I.e., if
+          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
+          and B(j+1,j+1) will be positive.)
+          If WANTT = .FALSE., the elements corresponding to diagonal
+          elements and 2-by-2 diagonal blocks in A will be correct,
+          but the remaining parts of B are unspecified on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Q of
+          transformations accumulated by MB03XP.
+          On exit, if WANTQ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Q updated in the
+          submatrix Q(ILOQ:IHIQ,ILO:IHI).
+          If WANTQ = .FALSE., Q is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= 1.
+          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array must contain the current matrix Z of
+          transformations accumulated by MB03XP.
+          On exit, if WANTZ = .TRUE., then the leading N-by-N part
+          of this array contains the matrix Z updated in the
+          submatrix Z(ILOQ:IHIQ,ILO:IHI).
+          If WANTZ = .FALSE., Z is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= 1.
+          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The i-th (ILO &lt;= i &lt;= IHI) computed eigenvalue is given
+          by BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
+          eigenvalues are computed as a complex conjugate pair,
+          they are stored in consecutive elements of ALPHAR, ALPHAI
+          and BETA. If WANTT = .TRUE., the eigenvalues are stored in
+          the same order as on the diagonals of the Schur forms of
+          A and B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then MB03YD failed to compute the Schur
+                form in a total of 30*(IHI-ILO+1) iterations;
+                elements i+1:n of ALPHAR, ALPHAI and BETA contain
+                successfully computed eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm is a double-shift version of the
+  periodic QR algorithm described in [1,3] with some minor
+  modifications [2]. The eigenvalues are computed via an implicit
+  complex single shift algorithm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
+      The periodic Schur decomposition: Algorithms and applications.
+      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
+      1992.
+
+  [2] Kressner, D.
+      An efficient and reliable implementation of the periodic QZ
+      algorithm. Proc. of the IFAC Workshop on Periodic Control
+      Systems, pp. 187-192, 2001.
+
+  [3] Van Loan, C.
+      Generalized Singular Values with Algorithms and Applications.
+      Ph. D. Thesis, University of Michigan, 1973.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03YT.html b/doc/_static/doc/MB03YT.html
new file mode 100644
index 00000000..db0d80a3
--- /dev/null
+++ b/doc/_static/doc/MB03YT.html
@@ -0,0 +1,132 @@
+<HTML>
+<HEAD><TITLE>MB03YT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03YT">MB03YT</A></H2>
+<H3>
+Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) with B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the periodic Schur factorization of a real 2-by-2
+  matrix pair (A,B) where B is upper triangular. This routine
+  computes orthogonal (rotation) matrices given by CSL, SNL and CSR,
+  SNR such that
+
+  1) if the pair (A,B) has two real eigenvalues, then
+
+     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
+     [  0  a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
+
+     [ b11 b12 ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
+     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ],
+
+  2) if the pair (A,B) has a pair of complex conjugate eigenvalues,
+     then
+
+     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
+     [ a21 a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
+
+     [ b11  0  ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
+     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ].
+
+  This is a modified version of the LAPACK routine DLAGV2 for
+  computing the real, generalized Schur decomposition of a
+  two-by-two matrix pencil.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03YT( A, LDA, B, LDB, ALPHAR, ALPHAI, BETA, CSL, SNL,
+     $                   CSR, SNR )
+C     .. Scalar Arguments ..
+      INTEGER           LDA, LDB
+      DOUBLE PRECISION  CSL, CSR, SNL, SNR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(2), ALPHAR(2), B(LDB,*),
+     $                  BETA(2)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,2)
+          On entry, the leading 2-by-2 part of this array must
+          contain the matrix A.
+          On exit, the leading 2-by-2 part of this array contains
+          the matrix A of the pair in periodic Schur form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,2)
+          On entry, the leading 2-by-2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading 2-by-2 part of this array contains
+          the matrix B of the pair in periodic Schur form.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
+  BETA    (output) DOUBLE PRECISION array, dimension (2)
+          (ALPHAR(k)+i*ALPHAI(k))*BETA(k) are the eigenvalues of the
+          pair (A,B), k=1,2, i = sqrt(-1). ALPHAI(1) &gt;= 0.
+
+  CSL     (output) DOUBLE PRECISION
+          The cosine of the first rotation matrix.
+
+  SNL     (output) DOUBLE PRECISION
+          The sine of the first rotation matrix.
+
+  CSR     (output) DOUBLE PRECISION
+          The cosine of the second rotation matrix.
+
+  SNR     (output) DOUBLE PRECISION
+          The sine of the second rotation matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.
+      Generalized Singular Values with Algorithms and Applications.
+      Ph. D. Thesis, University of Michigan, 1973.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03ZA.html b/doc/_static/doc/MB03ZA.html
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+<HTML>
+<HEAD><TITLE>MB03ZA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ZA">MB03ZA</A></H2>
+<H3>
+Reordering a selected cluster of eigenvalues of a given matrix pair in periodic Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  1. To compute, for a given matrix pair (A,B) in periodic Schur
+     form, orthogonal matrices Ur and Vr so that
+
+         T           [ A11  A12 ]     T           [ B11  B12 ]
+       Vr * A * Ur = [          ],  Ur * B * Vr = [          ], (1)
+                     [  0   A22 ]                 [  0   B22 ]
+
+     is in periodic Schur form, and the eigenvalues of A11*B11
+     form a selected cluster of eigenvalues.
+
+  2. To compute an orthogonal matrix W so that
+
+                T  [  0  -A11 ]       [  R11   R12 ]
+               W * [          ] * W = [            ],           (2)
+                   [ B11   0  ]       [   0    R22 ]
+
+     where the eigenvalues of R11 and -R22 coincide and have
+     positive real part.
+
+  Optionally, the matrix C is overwritten by Ur'*C*Vr.
+
+  All eigenvalues of A11*B11 must either be complex or real and
+  negative.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ZA( COMPC, COMPU, COMPV, COMPW, WHICH, SELECT, N,
+     $                   A, LDA, B, LDB, C, LDC, U1, LDU1, U2, LDU2, V1,
+     $                   LDV1, V2, LDV2, W, LDW, WR, WI, M, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPC, COMPU, COMPV, COMPW, WHICH
+      INTEGER           INFO, LDA, LDB, LDC, LDU1, LDU2, LDV1, LDV2,
+     $                  LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      LOGICAL           SELECT(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  U1(LDU1,*), U2(LDU2,*), V1(LDV1,*), V2(LDV2,*),
+     $                  W(LDW,*), WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPC   CHARACTER*1
+          = 'U':  update the matrix C;
+          = 'N':  do not update C.
+
+  COMPU   CHARACTER*1
+          = 'U':  update the matrices U1 and U2;
+          = 'N':  do not update U1 and U2.
+          See the description of U1 and U2.
+
+  COMPV   CHARACTER*1
+          = 'U':  update the matrices V1 and V2;
+          = 'N':  do not update V1 and V2.
+          See the description of V1 and V2.
+
+  COMPW   CHARACTER*1
+          Indicates whether or not the user wishes to accumulate
+          the matrix W as follows:
+          = 'N':  the matrix W is not required;
+          = 'I':  W is initialized to the unit matrix and the
+                  orthogonal transformation matrix W is returned;
+          = 'V':  W must contain an orthogonal matrix Q on entry,
+                  and the product Q*W is returned.
+
+  WHICH   CHARACTER*1
+          = 'A':  select all eigenvalues, this effectively means
+                  that Ur and Vr are identity matrices and A11 = A,
+                  B11 = B;
+          = 'S':  select a cluster of eigenvalues specified by
+                  SELECT.
+
+  SELECT  LOGICAL array, dimension (N)
+          If WHICH = 'S', then SELECT specifies the eigenvalues of
+          A*B in the selected cluster. To select a real eigenvalue
+          w(j), SELECT(j) must be set to .TRUE.. To select a complex
+          conjugate pair of eigenvalues w(j) and w(j+1),
+          corresponding to a 2-by-2 diagonal block in A, both
+          SELECT(j) and SELECT(j+1) must be set to .TRUE.; a complex
+          conjugate pair of eigenvalues must be either both included
+          in the cluster or both excluded.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi-triangular matrix A of the matrix
+          pair (A,B) in periodic Schur form.
+          On exit, the leading M-by-M part of this array contains
+          the matrix R22 in (2).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix B of the matrix pair
+          (A,B) in periodic Schur form.
+          On exit, the leading N-by-N part of this array is
+          overwritten.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, if COMPC = 'U', the leading N-by-N part of this
+          array must contain a general matrix C.
+          On exit, if COMPC = 'U', the leading N-by-N part of this
+          array contains the updated matrix Ur'*C*Vr.
+          If COMPC = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= 1.
+          LDC &gt;= N,  if COMPC = 'U' and WHICH = 'S'.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain U1, the (1,1)
+          block of an orthogonal symplectic matrix
+          U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains U1*Ur.
+          If COMPU = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= 1.
+          LDU1 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain U2, the (1,2)
+          block of an orthogonal symplectic matrix
+          U = [ U1, U2; -U2, U1 ].
+          On exit, if COMPU = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains U2*Ur.
+          If COMPU = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= 1.
+          LDU2 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On entry, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain V1, the (1,1)
+          block of an orthogonal symplectic matrix
+          V = [ V1, V2; -V2, V1 ].
+          On exit, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains V1*Vr.
+          If COMPV = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1.  LDV1 &gt;= 1.
+          LDV1 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,N)
+          On entry, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array must contain V2, the (1,2)
+          block of an orthogonal symplectic matrix
+          V = [ V1, V2; -V2, V1 ].
+          On exit, if COMPV = 'U' and WHICH = 'S', the leading
+          N-by-N part of this array contains V2*Vr.
+          If COMPV = 'N' or WHICH = 'A', this array is not
+          referenced.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2.  LDV2 &gt;= 1.
+          LDV2 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
+
+  W       (input/output) DOUBLE PRECISION array, dimension (LDW,2*M)
+          On entry, if COMPW = 'V', then the leading 2*M-by-2*M part
+          of this array must contain a matrix W.
+          If COMPW = 'I', then W need not be set on entry, W is set
+          to the identity matrix.
+          On exit, if COMPW = 'I' or 'V' the leading 2*M-by-2*M part
+          of this array is post-multiplied by the transformation
+          matrix that produced (2).
+          If COMPW = 'N', this array is not referenced.
+
+  LDW     INTEGER
+          The leading dimension of the array W.  LDW &gt;= 1.
+          LDW &gt;= 2*M,  if COMPW = 'I' or COMPW = 'V'.
+
+  WR      (output) DOUBLE PRECISION array, dimension (M)
+  WI      (output) DOUBLE PRECISION array, dimension (M)
+          The real and imaginary parts, respectively, of the
+          eigenvalues of R11. The eigenvalues are stored in the same
+          order as on the diagonal of R22, with
+          WR(i) = -R22(i,i) and, if R22(i:i+1,i:i+1) is a 2-by-2
+          diagonal block, WI(i) &gt; 0 and WI(i+1) = -WI(i).
+          In exact arithmetic, these eigenvalue are the positive
+          square roots of the selected eigenvalues of the product
+          A*B. However, if an eigenvalue is sufficiently
+          ill-conditioned, then its value may differ significantly.
+
+  M       (output) INTEGER
+          The number of selected eigenvalues.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, 4*N, 8*M ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  reordering of the product A*B in Step 1 failed
+                because some eigenvalues are too close to separate;
+          = 2:  reordering of some submatrix in Step 2 failed
+                because some eigenvalues are too close to separate;
+          = 3:  the QR algorithm failed to compute the Schur form
+                of some submatrix in Step 2;
+          = 4:  the condition that all eigenvalues of A11*B11 must
+                either be complex or real and negative is
+                numerically violated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Step 1 is performed using a reordering technique analogous to the
+  LAPACK routine DTGSEN for reordering matrix pencils [1,2]. Step 2
+  is an implementation of Algorithm 2 in [3]. It requires O(M*N*N)
+  floating point operations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B.
+      A direct method for reordering eigenvalues in the generalized
+      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
+      et al (eds), Linear Algebra for Large Scale and Real-Time
+      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
+
+  [2] Kagstrom, B. and Poromaa P.:
+      Computing eigenspaces with specified eigenvalues of a regular
+      matrix pair (A, B) and condition estimation: Theory,
+      algorithms and software, Numer. Algorithms, 1996, vol. 12,
+      pp. 369-407.
+
+  [3] Benner, P., Mehrmann, V., and Xu, H.
+      A new method for computing the stable invariant subspace of a
+      real Hamiltonian matrix,  J. Comput. Appl. Math., 86,
+      pp. 17-43, 1997.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB03ZD.html b/doc/_static/doc/MB03ZD.html
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+<HTML>
+<HEAD><TITLE>MB03ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB03ZD">MB03ZD</A></H2>
+<H3>
+Computing the stable and unstable invariant subspaces for a Hamiltonian matrix with no eigenvalues on the imaginary axis
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the stable and unstable invariant subspaces for a
+  Hamiltonian matrix with no eigenvalues on the imaginary axis,
+  using the output of the SLICOT Library routine MB03XD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N,
+     $                   MM, ILO, SCALE, S, LDS, T, LDT, G, LDG, U1,
+     $                   LDU1, U2, LDU2, V1, LDV1, V2, LDV2, M, WR, WI,
+     $                   US, LDUS, UU, LDUU, LWORK, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC, METH, ORTBAL, STAB, WHICH
+      INTEGER           ILO, INFO, LDG, LDS, LDT, LDU1, LDU2, LDUS,
+     $                  LDUU, LDV1, LDV2, LDWORK, M, MM, N
+C     .. Array Arguments ..
+      LOGICAL           LWORK(*), SELECT(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  DWORK(*), G(LDG,*), S(LDS,*), SCALE(*),
+     $                  T(LDT,*), U1(LDU1,*), U2(LDU2,*), US(LDUS,*),
+     $                  UU(LDUU,*), V1(LDV1,*), V2(LDV2,*), WI(*),
+     $                  WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  WHICH   CHARACTER*1
+          Specifies the cluster of eigenvalues for which the
+          invariant subspaces are computed:
+          = 'A':  select all n eigenvalues;
+          = 'S':  select a cluster of eigenvalues specified by
+                  SELECT.
+
+  METH    CHARACTER*1
+          If WHICH = 'A' this parameter specifies the method to be
+          used for computing bases of the invariant subspaces:
+          = 'S':  compute the n-dimensional basis from a set of
+                  n vectors;
+          = 'L':  compute the n-dimensional basis from a set of
+                  2*n vectors;
+          = 'Q':  quick return of the set of n vectors;
+          = 'R':  quick return of the set of 2*n vectors.
+          When in doubt, use METH = 'S'. In some cases, METH = 'L'
+          may result in more accurately computed invariant
+          subspaces, see [1].
+          Options METH = 'Q' or METH = 'R' return the range vectors
+          Y = [ Y1; Y2 ], where Y1 and Y2 have 2*n rows and n or 2*n
+          columns, respectively, which can be directly used, e.g.,
+          for finding the (stabilizing) solution of a Riccati
+          equation, by solving X*Y1 = Y2. Note that Y1 might be
+          singular when METH = 'Q'.
+
+  STAB    CHARACTER*1
+          Specifies the type of invariant subspaces to be computed:
+          = 'S':  compute the stable invariant subspace, i.e., the
+                  invariant subspace belonging to those selected
+                  eigenvalues that have negative real part;
+          = 'U':  compute the unstable invariant subspace, i.e.,
+                  the invariant subspace belonging to those
+                  selected eigenvalues that have positive real
+                  part;
+          = 'B':  compute both the stable and unstable invariant
+                  subspaces.
+
+  BALANC  CHARACTER*1
+          Specifies the type of inverse balancing transformation
+          required:
+          = 'N':  do nothing;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          BALANC must be the same as the argument BALANC supplied to
+          MB03XD. Note that if the data is further post-processed,
+          e.g., for solving an algebraic Riccati equation, it is
+          recommended to delay inverse balancing (in particular the
+          scaling part) and apply it to the final result only,
+          see [2]. Inverse balancing is not used by this routine
+          if METH = 'Q' or METH = 'R'.
+
+  ORTBAL  CHARACTER*1
+          If BALANC &lt;&gt; 'N', this option specifies how inverse
+          balancing is applied to the computed invariant subspaces:
+          = 'B':  apply inverse balancing before orthogonal bases
+                  for the invariant subspaces are computed;
+          = 'A':  apply inverse balancing after orthogonal bases
+                  for the invariant subspaces have been computed;
+                  this may yield non-orthogonal bases if
+                  BALANC = 'S' or BALANC = 'B'.
+
+  SELECT  (input) LOGICAL array, dimension (N)
+          If WHICH = 'S', SELECT specifies the eigenvalues
+          corresponding to the positive and negative square
+          roots of the eigenvalues of S*T in the selected cluster.
+          To select a real eigenvalue w(j), SELECT(j) must be set
+          to .TRUE.. To select a complex conjugate pair of
+          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
+          diagonal block, both SELECT(j) and SELECT(j+1) must be set
+          to .TRUE.; a complex conjugate pair of eigenvalues must be
+          either both included in the cluster or both excluded.
+          This array is not referenced if WHICH = 'A'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S, T and G. N &gt;= 0.
+
+  MM      (input) INTEGER
+          The number of columns in the arrays US and/or UU.
+          If WHICH = 'A' and (METH = 'S' or METH = 'Q'),  MM =   N;
+          if WHICH = 'A' and (METH = 'L' or METH = 'R'),  MM = 2*N;
+          if WHICH = 'S',                                 MM =   M.
+          The values above for MM give the numbers of vectors to be
+          returned, if METH = 'Q' or METH = 'R', or the numbers of
+          vectors to be used for computing a basis for the invariant
+          subspace(s), if METH = 'S' or METH = 'L', or WHICH = 'S'.
+
+  ILO     (input) INTEGER
+          If BALANC &lt;&gt; 'N', then ILO is the integer returned by
+          MB03XD.  1 &lt;= ILO &lt;= N+1.
+
+  SCALE   (input) DOUBLE PRECISION array, dimension (N)
+          If BALANC &lt;&gt; 'N', the leading N elements of this array
+          must contain details of the permutation and scaling
+          factors, as returned by MB03XD.
+          This array is not referenced if BALANC = 'N'.
+
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix S in real Schur form.
+          On exit, the leading N-by-N part of this array is
+          overwritten.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= max(1,N).
+
+  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix T.
+          On exit, the leading N-by-N part of this array is
+          overwritten.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, if METH = 'L' or METH = 'R', the leading N-by-N
+          part of this array must contain a general matrix G.
+          On exit, if METH = 'L' or METH = 'R', the leading N-by-N
+          part of this array is overwritten.
+          This array is not referenced if METH = 'S' or METH = 'Q'.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= 1.
+          LDG &gt;= max(1,N) if METH = 'L' or METH = 'R'.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (1,1) block of an orthogonal symplectic
+          matrix U.
+          On exit, this array is overwritten.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (2,1) block of an orthogonal symplectic
+          matrix U.
+          On exit, this array is overwritten.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (1,1) block of an orthogonal symplectic
+          matrix V.
+          On exit, this array is overwritten.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1.  LDV1 &gt;= MAX(1,N).
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (2,1) block of an orthogonal symplectic
+          matrix V.
+          On exit, this array is overwritten.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2.  LDV2 &gt;= MAX(1,N).
+
+  M       (output) INTEGER
+          The number of selected eigenvalues.
+
+  WR      (output) DOUBLE PRECISION array, dimension (M)
+  WI      (output) DOUBLE PRECISION array, dimension (M)
+          On exit, the leading M elements of WR and WI contain the
+          real and imaginary parts, respectively, of the selected
+          eigenvalues that have nonpositive real part. Complex
+          conjugate pairs of eigenvalues with real part not equal
+          to zero will appear consecutively with the eigenvalue
+          having the positive imaginary part first. Note that, due
+          to roundoff errors, these numbers may differ from the
+          eigenvalues computed by MB03XD.
+
+  US      (output) DOUBLE PRECISION array, dimension (LDUS,MM)
+          On exit, if STAB = 'S' or STAB = 'B', the leading
+          2*N-by-MM part of this array contains a basis for the
+          stable invariant subspace belonging to the selected
+          eigenvalues, if METH = 'S' or METH = 'L', or the range
+          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
+          METH). This basis is orthogonal unless ORTBAL = 'A'.
+
+  LDUS    INTEGER
+          The leading dimension of the array US.  LDUS &gt;= 1.
+          If STAB = 'S' or STAB = 'B',  LDUS &gt;= 2*N.
+
+  UU      (output) DOUBLE PRECISION array, dimension (LDUU,MM)
+          On exit, if STAB = 'U' or STAB = 'B', the leading
+          2*N-by-MM part of this array contains a basis for the
+          unstable invariant subspace belonging to the selected
+          eigenvalues, if METH = 'S' or METH = 'L', or the range
+          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
+          METH). This basis is orthogonal unless ORTBAL = 'A'.
+
+  LDUU    INTEGER
+          The leading dimension of the array UU.  LDUU &gt;= 1.
+          If STAB = 'U' or STAB = 'B',  LDUU &gt;= 2*N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  LWORK   LOGICAL array, dimension (2*N)
+          This array is only referenced if WHICH = 'A' and
+          (METH = 'L' or METH = 'R').
+
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 2*N, if WHICH = 'A' and METH = 'L';
+          LIWORK = N,   if WHICH = 'A' and METH = 'S';
+          LIWORK = 0,   if WHICH = 'A' and METH = 'Q' or METH = 'R';
+          LIWORK = M,   if WHICH = 'S'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -35,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If WHICH = 'S' or METH = 'S' or METH = 'Q':
+             LDWORK &gt;= MAX( 1, 4*M*M + MAX( 8*M, 4*N ) ).
+          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
+             ( STAB = 'U' or STAB = 'S' ):
+             LDWORK &gt;= MAX( 1, 2*N*N + 2*N, 8*N ).
+          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
+             STAB = 'B':
+             LDWORK &gt;= 8*N + 1.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  some of the selected eigenvalues are on or too close
+                to the imaginary axis;
+          = 2:  reordering of the product S*T in routine MB03ZA
+                failed because some eigenvalues are too close to
+                separate;
+          = 3:  the QR algorithm failed to compute some Schur form
+                in MB03ZA;
+          = 4:  reordering of the Hamiltonian Schur form in routine
+                MB03TD failed because some eigenvalues are too close
+                to separate;
+          = 5:  the computed stable invariant subspace for
+                METH = 'S' is inaccurate. This may be taken as a
+                warning and a suggestion to try METH = 'L';
+          = 6:  the computed unstable invariant subspace for
+                METH = 'S' is inaccurate. This may be taken as a
+                warning and a suggestion to try METH = 'L'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This is an implementation of Algorithm 1 in [1].
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The method is strongly backward stable for an embedded
+  (skew-)Hamiltonian matrix, see [1]. Although good results have
+  been reported if the eigenvalues are not too close to the
+  imaginary axis, the method is not backward stable for the original
+  Hamiltonian matrix itself.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A new method for computing the stable invariant subspace of a
+      real Hamiltonian matrix, J. Comput. Appl. Math., 86,
+      pp. 17-43, 1997.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB03ZD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 200 )
+      INTEGER          LDG, LDRES, LDS, LDT, LDU1, LDU2, LDUS, LDUU,
+     $                 LDV1, LDV2, LDWORK
+      PARAMETER        ( LDG = NMAX, LDRES = 2*NMAX, LDS = NMAX,
+     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDUS = 2*NMAX, LDUU = 2*NMAX, LDV1 = NMAX,
+     $                   LDV2 = NMAX, LDWORK = 3*NMAX*NMAX + 7*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      BALANC, METH, ORTBAL, STAB, WHICH
+      INTEGER          I, ILO, INFO, J, M, N
+*     .. Local Arrays ..
+      LOGICAL          LWORK(2*NMAX), SELECT(NMAX)
+      INTEGER          IWORK(2*NMAX)
+      DOUBLE PRECISION DWORK(LDWORK), G(LDG, NMAX), RES(LDRES,NMAX),
+     $                 S(LDS, NMAX), SCALE(NMAX), T(LDT,NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), US(LDUS,2*NMAX),
+     $                 UU(LDUU,2*NMAX), V1(LDV1,NMAX), V2(LDV2, NMAX),
+     $                 WI(NMAX), WR(NMAX)
+*     .. External Functions ..
+      EXTERNAL         DLANGE, LSAME
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE
+*     .. External Subroutines ..
+      EXTERNAL         MB03ZD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, ILO, WHICH, METH, STAB, BALANC, ORTBAL
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+*
+         IF ( LSAME( WHICH, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( SELECT(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( WHICH, 'A' ).AND.LSAME( METH, 'L' ) )
+     $      READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( BALANC, 'P' ).OR.LSAME( BALANC, 'S' ).OR.
+     $        LSAME( BALANC, 'B' ) )
+     $      READ ( NIN, FMT = * ) ( SCALE(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( V1(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( V2(I,J), J = 1,N ), I = 1,N )
+*
+         CALL MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N, 2*N,
+     $                ILO, SCALE, S, LDS, T, LDT, G, LDG, U1, LDU1, U2,
+     $                LDU2, V1, LDV1, V2, LDV2, M, WR, WI, US, LDUS,
+     $                UU, LDUU, LWORK, IWORK, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
+20          CONTINUE
+*
+            IF ( LSAME( STAB, 'S' ).OR.LSAME( STAB, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, 2*N
+                  WRITE ( NOUT, FMT = 99993 ) ( US(I,J), J = 1,M )
+30             CONTINUE
+               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
+     $            LSAME( BALANC, 'P' ) ) THEN
+                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
+     $                        ONE, US, LDUS, US, LDUS, ZERO, RES,
+     $                        LDRES )
+                  DO 40  I = 1, M
+                     RES(I,I) = RES(I,I) - ONE
+40                CONTINUE
+                  WRITE ( NOUT, FMT = 99991 ) DLANGE( 'Frobenius', M, M,
+     $                    RES, LDRES, DWORK )
+               END IF
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
+     $                     US, LDUS, US(N+1,1), LDUS, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
+     $                     US(N+1,1), LDUS, US, LDUS, ONE, RES, LDRES )
+               WRITE ( NOUT, FMT = 99990 ) DLANGE( 'Frobenius', M, M,
+     $                 RES, LDRES, DWORK )
+            END IF
+*
+            IF ( LSAME( STAB, 'U' ).OR.LSAME( STAB, 'B' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 )
+               DO 50  I = 1, 2*N
+                  WRITE ( NOUT, FMT = 99993 ) ( UU(I,J), J = 1,M )
+50             CONTINUE
+               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
+     $            LSAME( BALANC, 'P' ) ) THEN
+                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
+     $                        ONE, UU, LDUU, UU, LDUU, ZERO, RES,
+     $                        LDRES )
+                  DO 60  I = 1, M
+                     RES(I,I) = RES(I,I) - ONE
+60                CONTINUE
+                  WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', M, M,
+     $                    RES, LDRES, DWORK )
+               END IF
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
+     $                     UU, LDUU, UU(N+1,1), LDUU, ZERO, RES, LDRES )
+               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
+     $                     UU(N+1,1), LDUU, UU, LDUU, ONE, RES, LDRES )
+               WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', M, M,
+     $                 RES, LDRES, DWORK )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB03ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB03ZD = ',I2)
+99997 FORMAT (' The stable eigenvalues are',//'   i',6X,
+     $        'WR(i)',6X,'WI(i)',/)
+99996 FORMAT (I4,3X,F8.4,3X,F8.4)
+99995 FORMAT (/' A basis for the stable invariant subspace is')
+99994 FORMAT (/' A basis for the unstable invariant subspace is')
+99993 FORMAT (20(1X,F9.3))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of US: || US''*US - I ||_F = ',G7.2)
+99990 FORMAT (/' Symplecticity of US: || US''*J*US   ||_F = ',G7.2)
+99989 FORMAT (/' Orthogonality of UU: || UU''*UU - I ||_F = ',G7.2)
+99988 FORMAT (/' Symplecticity of UU: || UU''*J*UU   ||_F = ',G7.2)
+
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB03ZD EXAMPLE PROGRAM DATA
+	5	1	A	L	B	N	B
+ -3.1844761777714732  0.1612357243439331 -0.0628592203751138  0.2449004200921981  0.1974400149992579
+  0.0000000000000000 -0.1510667773167784  0.4260444411622838 -0.1775026035208615  0.3447278421198472
+  0.0000000000000000 -0.1386140422054264 -0.3006779624777515  0.2944143257134196  0.3456440339120323
+  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740570  0.0933189808067138
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359603  0.2004347508746697
+  3.2038208121776366  0.1805955192510651  0.2466389119377561 -0.2539149302433368 -0.0359238844381195
+  0.0000000000000000 -0.7196686433290816  0.0000000000000000  0.2428659121580384 -0.0594190100670832
+  0.0000000000000000  0.0000000000000000 -0.1891741194498107 -0.3309578443491266 -0.0303520731950515
+  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961550  0.0000000000000000
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
+ -0.0370982242678464  0.0917788436945724 -0.0560402416315252  0.1345152517579192  0.0256668227276700
+  0.0652183678916931 -0.0700457231988297  0.0350041175858839 -0.2233868768749268 -0.1171980260782843
+ -0.0626428681377119  0.2327575351902772 -0.1251515732208170 -0.0177816046663201  0.3696921118421182
+  0.0746042309265599 -0.0828007611045140  0.0217427473546043 -0.1157775118548851 -0.3161183681200527
+  0.1374372236164812  0.1002727885506992  0.4021556774753973 -0.0431072263235579  0.1067394572547867
+  0.3806883009357247 -0.0347810363019649 -0.5014665065895758  0.5389691288472394  0.2685446895251367
+  0.4642712665555326 -0.5942766860716395  0.4781179763952615  0.2334370556238151  0.0166790369048933
+  0.2772789197782788 -0.0130145392695876 -0.2123817030594055 -0.2550292626960107 -0.5049268366774490
+  0.4209268575081796  0.1499593172661228 -0.1925590746592156 -0.5472292877802402  0.4543329704184054
+  0.3969669479129449  0.6321903535930828  0.3329156356041961  0.0163533225344433 -0.2638879466190024
+ -0.1795922007470742  0.1908329820840911  0.0868799433942070  0.3114741142062388 -0.2579907627915167
+ -0.2447897730222852 -0.1028403314750045 -0.1157840914576285 -0.1873268885694406  0.1700708002861580
+ -0.2243335325285328  0.3180998613802520  0.3315380214794822  0.1977859924739963  0.5072476567310013
+ -0.2128397588651423 -0.2740560593051881  0.1941418870268881 -0.3096684962457369 -0.0581576193198714
+ -0.2002027567371932 -0.0040094115506855 -0.3979373387545264  0.1520881534833910 -0.2010804514091372
+  0.4447147692018334 -0.6830166755147440 -0.0002576861753487  0.5781954611783305 -0.0375091627893805
+  0.5121756358795817  0.0297197140254773  0.4332229148788766 -0.3240527006890552  0.5330850295256511
+  0.3664711365265602  0.3288511296455119  0.0588396016404451  0.1134221597062257  0.1047567336850078
+  0.4535357098437908  0.1062866148880792 -0.3964092656837774 -0.2211800890450674  0.0350667323996222
+  0.4450432900616097  0.2950206358263853 -0.1617837757183893 -0.0376369332204927 -0.6746752660482623
+  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
+  0.0299719306696789 -0.2322624725320701 -0.0280846899680325 -0.3044255686880000 -0.1077641482535519
+ -0.0069083614679702  0.3351358347080056 -0.4922707032978891  0.4293545450291714  0.4372821269062001
+  0.0167847133528843  0.2843629278945327  0.5958979805231146  0.3097336757510886 -0.2086733033047188
+  0.0248567764822071 -0.2810759958040470 -0.1653113624869834 -0.3528780198620412 -0.0254898556119252
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB03ZD EXAMPLE PROGRAM RESULTS
+
+The stable eigenvalues are
+
+  i      WR(i)      WI(i)
+
+  1    -3.1941     0.0000
+  2    -0.1350     0.3179
+  3    -0.1350    -0.3179
+  4    -0.0595     0.2793
+  5    -0.0595    -0.2793
+
+A basis for the stable invariant subspace is
+   -0.102    -0.116     0.627     0.118    -0.605
+   -0.100    -0.510    -0.266     0.504     0.124
+   -0.179     0.015    -0.112    -0.142     0.413
+   -0.055     0.252     0.182    -0.134     0.100
+   -0.078     0.576    -0.271    -0.252    -0.177
+    0.340    -0.135     0.053    -0.234    -0.110
+    0.528     0.108    -0.205     0.219    -0.096
+    0.397    -0.429     0.161    -0.598     0.199
+    0.444     0.342     0.447     0.406     0.440
+    0.434     0.014    -0.383     0.072    -0.391
+
+Orthogonality of US: || US'*US - I ||_F = .62E-15
+
+Symplecticity of US: || US'*J*US   ||_F = .23E-14
+
+A basis for the unstable invariant subspace is
+   -0.428     0.383     0.048     0.105     0.187
+   -0.506    -0.100     0.541     0.245     0.223
+   -0.334    -0.524    -0.044    -0.153     0.126
+   -0.453     0.076     0.103    -0.525    -0.268
+   -0.436     0.098    -0.752     0.209    -0.251
+   -0.093    -0.089     0.258    -0.114    -0.725
+   -0.112    -0.196    -0.186    -0.302     0.394
+   -0.120    -0.286     0.027     0.680    -0.119
+   -0.102     0.630     0.079     0.040     0.127
+   -0.091    -0.171    -0.136    -0.136     0.231
+
+Orthogonality of UU: || UU'*UU - I ||_F = .69E-15
+
+Symplecticity of UU: || UU'*J*UU   ||_F = .10E-13
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04AD">MB04AD</A></H2>
+<H3>
+Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH with
+
+                                   (  0  I  )
+    S = T Z = J Z' J' Z, where J = (        ),                   (1)
+                                   ( -I  0  )
+
+  via generalized symplectic URV decomposition. That is, orthogonal
+  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2
+  are computed such that
+
+                                ( T11  T12 )
+    Q1' T U1 = Q1' J Z' J' U1 = (          ) = Tout,
+                                (  0   T22 )
+
+               ( Z11  Z12 )
+    U2' Z Q2 = (          ) = Zout,                              (2)
+               (  0   Z22 )
+
+               ( H11  H12 )
+    Q1' H Q2 = (          ) = Hout,
+               (  0   H22 )
+
+  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
+  upper quasi-triangular. The notation M' denotes the transpose of
+  the matrix M.
+  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', the orthogonal
+  transformation matrix Q1 will be computed.
+  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', the orthogonal
+  transformation matrix Q2 will be computed.
+  Optionally, if COMPU1 = 'I' or COMPU1 = 'U', the orthogonal
+  symplectic transformation matrix
+
+         (  U11  U12  )
+    U1 = (            )
+         ( -U12  U11  )
+
+  will be computed.
+  Optionally, if COMPU2 = 'I' or COMPU2 = 'U', the orthogonal
+  symplectic transformation matrix
+
+         (  U21  U22  )
+    U2 = (            )
+         ( -U22  U21  )
+
+  will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ,
+     $                   H, LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12,
+     $                   LDU12, U21, LDU21, U22, LDU22, T, LDT, ALPHAR,
+     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
+      INTEGER            INFO, LDH, LDQ1, LDQ2, LDT, LDU11, LDU12,
+     $                   LDU21, LDU22, LDWORK, LDZ, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ),
+     $                   DWORK( * ), H( LDH, * ), Q1( LDQ1, * ),
+     $                   Q2( LDQ2, * ), T( LDT, * ), U11( LDU11, * ),
+     $                   U12( LDU12, * ), U21( LDU21, * ),
+     $                   U22( LDU22, * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; Z, T, and H will not
+                 necessarily be put into the forms in (2); H22' is
+                 upper Hessenberg;
+          = 'T': put Z, T, and H into the forms in (2), and return
+                 the eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N': Q1 is not computed;
+          = 'I': the array Q1 is initialized internally to the unit
+                 matrix, and the orthogonal matrix Q1 is returned;
+          = 'U': the array Q1 contains an orthogonal matrix Q01 on
+                 entry, and the product Q01*Q1 is returned, where Q1
+                 is the product of the orthogonal transformations
+                 that are applied to the pencil aT*Z - bH on the
+                 left to reduce T, Z, and H to the forms in (2),
+                 for COMPQ1 = 'I'.
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N': Q2 is not computed;
+          = 'I': the array Q2 is initialized internally to the unit
+                 matrix, and the orthogonal matrix Q2 is returned;
+          = 'U': the array Q2 contains an orthogonal matrix Q02 on
+                 entry, and the product Q02*Q2 is returned, where Q2
+                 is the product of the orthogonal transformations
+                 that are applied to the pencil aT*Z - bH on the
+                 right to reduce T, Z, and H to the forms in (2),
+                 for COMPQ2 = 'I'.
+
+  COMPU1  CHARACTER*1
+          Specifies whether to compute the orthogonal symplectic
+          transformation matrix U1, as follows:
+          = 'N': U1 is not computed;
+          = 'I': the arrays U11 and U12 are initialized internally
+                 to the unit and zero matrices, respectively, and
+                 the corresponding submatrices of the orthogonal
+                 symplectic matrix U1 are returned;
+          = 'U': the arrays U11 and U12 contain the corresponding
+                 submatrices of an orthogonal symplectic matrix U01
+                 on entry, and the updated submatrices U11 and U12
+                 of the matrix product U01*U1 are returned, where U1
+                 is the product of the orthogonal symplectic
+                 transformations that are applied to the pencil
+                 aT*Z - bH to reduce T, Z, and H to the forms in
+                 (2), for COMPU1 = 'I'.
+
+  COMPU2  CHARACTER*1
+          Specifies whether to compute the orthogonal symplectic
+          transformation matrix U2, as follows:
+          = 'N': U2 is not computed;
+          = 'I': the arrays U21 and U22 are initialized internally
+                 to the unit and zero matrices, respectively, and
+                 the corresponding submatrices of the orthogonal
+                 symplectic matrix U2 are returned;
+          = 'U': the arrays U21 and U22 contain the corresponding
+                 submatrices of an orthogonal symplectic matrix U02
+                 on entry, and the updated submatrices U21 and U22
+                 of the matrix product U02*U2 are returned, where U2
+                 is the product of the orthogonal symplectic
+                 transformations that are applied to the pencil
+                 aT*Z - bH to reduce T, Z, and H to the forms in
+                 (2), for COMPU2 = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Z.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the matrix Zout; otherwise, it contains the
+          matrix Z obtained just before the application of the
+          periodic QZ algorithm.
+          The elements of the (2,1) block, i.e., in the rows N/2+1
+          to N and in the columns 1 to N/2 are not set to zero, but
+          are unchanged on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  H       (input/output) DOUBLE PRECISION array, dimension (LDH, N)
+          On entry, the leading N-by-N part of this array must
+          contain the Hamiltonian matrix H (H22 = -H11', H12 = H12',
+          H21 = H21').
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the matrix Hout; otherwise, it contains the
+          matrix H obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= MAX(1, N).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q01, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q01 and the transformation matrix Q1
+          used to transform the matrices Z, T and H.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N', this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q02, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q02 and the transformation matrix Q2
+          used to transform the matrices Z, T and H.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N', this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  U11     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU11, N/2)
+          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper left block of a
+          given matrix U01, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U11 of
+          the product of the input matrix U01 and the transformation
+          matrix U1 used to transform the matrices Z, T, and H.
+          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U11 of the
+          orthogonal symplectic transformation matrix U1.
+          If COMPU1 = 'N' this array is not referenced.
+
+  LDU11   INTEGER
+          The leading dimension of the array U11.
+          LDU11 &gt;= 1,           if COMPU1 = 'N';
+          LDU11 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
+
+  U12     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU12, N/2)
+          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper right block of a
+          given matrix U01, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U12
+          of the product of the input matrix U01 and the
+          transformation matrix U1 used to transform the matrices
+          Z, T, and H.
+          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U12 of the
+          orthogonal symplectic transformation matrix U1.
+          If COMPU1 = 'N' this array is not referenced.
+
+  LDU12   INTEGER
+          The leading dimension of the array U12.
+          LDU12 &gt;= 1,           if COMPU1 = 'N';
+          LDU12 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
+
+  U21     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU21, N/2)
+          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper left block of a
+          given matrix U02, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U21 of
+          the product of the input matrix U02 and the transformation
+          matrix U2 used to transform the matrices Z, T, and H.
+          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U21 of the
+          orthogonal symplectic transformation matrix U2.
+          If COMPU2 = 'N' this array is not referenced.
+
+  LDU21   INTEGER
+          The leading dimension of the array U21.
+          LDU21 &gt;= 1,           if COMPU2 = 'N';
+          LDU21 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
+
+  U22     (input/output) DOUBLE PRECISION array, dimension
+                         (LDU22, N/2)
+          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
+          part of this array must contain the upper right block of a
+          given matrix U02, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U22
+          of the product of the input matrix U02 and the
+          transformation matrix U2 used to transform the matrices
+          Z, T, and H.
+          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U22 of the
+          orthogonal symplectic transformation matrix U2.
+          If COMPU2 = 'N' this array is not referenced.
+
+  LDU22   INTEGER
+          The leading dimension of the array U22.
+          LDU22 &gt;= 1,           if COMPU2 = 'N';
+          LDU22 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT, N)
+          If JOB = 'T', the leading N-by-N part of this array
+          contains the matrix Tout; otherwise, it contains the
+          matrix T obtained just before the application of the
+          periodic QZ algorithm.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1, N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta defining the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th quadruple of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.   LIWORK &gt;= N+18.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(7) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(8), ...,
+          DWORK(7+6*s) contain the s sextuple values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained from
+          -i*sqrt((a1/a2/a3)*(a4/a5/a6)), but always taking a
+          positive sign, where a1, ..., a6 are the corresponding
+          sextuple values.
+          Moreover, DWORK(8+6*s), ..., DWORK(7+6*s+24*t) contain the
+          t groups of sextuple 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
+          positive imaginary parts, where ev are the eigenvalues of
+          the product A1*inv(A2)*inv(A3)*A4*inv(A5)*inv(A6), where
+          A1, ..., A6 define the corresponding 2-by-2 matrix
+          sextuple.
+          On exit, if INFO = -31, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N' and
+          COMPU1 = 'N' and COMPU2 = 'N', then
+                LDWORK &gt;= 3/2*N**2 + MAX(6*N,54);
+          else, LDWORK &gt;=   3*N**2 + MAX(6*N,54).
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm was not able to reveal
+               information about the eigenvalues from the 2-by-2
+               blocks in the SLICOT Library routine MB03BD;
+          = 2: the periodic QZ algorithm did not converge in the
+               SLICOT Library routine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in T, Z, and H such that T11, T22', Z11, Z22',
+  and H11 are upper triangular and H22' is upper Hessenberg. Finally
+  the periodic QZ algorithm is applied to transform H22' to upper
+  quasi-triangular form while T11, T22', Z11, Z22', and H11 stay in
+  upper triangular form.
+  See also page 17 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDH, LDQ1, LDQ2, LDT, LDU11, LDU12, LDU21,
+     $                   LDU22, LDWORK, LDZ, LIWORK
+      PARAMETER          ( LDH = NMAX, LDQ1  = NMAX,   LDQ2 = NMAX,
+     $                     LDT = NMAX, LDU11 = NMAX/2, LDU12 = NMAX/2,
+     $                     LDU21  = NMAX/2, LDU22 = NMAX/2,
+     $                     LDWORK = 3*NMAX*NMAX + MAX( NMAX, 48 ) + 6,
+     $                     LDZ = NMAX,  LIWORK = NMAX + 18 )
+      DOUBLE PRECISION  ZERO
+      PARAMETER         ( ZERO = 0.0D0 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX/2 ), ALPHAR( NMAX/2 ),
+     $                   BETA( NMAX/2 ), DWORK( LDWORK ),
+     $                   H( LDH, NMAX ), Q1( LDQ1, NMAX ),
+     $                   Q2( LDQ2, NMAX ), T( LDT, NMAX ),
+     $                   U11( LDU11, NMAX/2 ), U12( LDU12, NMAX/2 ),
+     $                   U21( LDU21, NMAX/2 ), U22( LDU22, NMAX/2 ),
+     $                   Z( LDZ, NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           DLASET, MB04AD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( ( Z( I, J ), J = 1, N ), I = 1, N )
+         READ( NIN, FMT = * ) ( ( H( I, J ), J = 1, N ), I = 1, N )
+*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
+*        pencil (factored version).
+         CALL MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ, H,
+     $                LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12, LDU12,
+     $                U21, LDU21, U22, LDU22, T, LDT, ALPHAR, ALPHAI,
+     $                BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            M = N/2
+            CALL DLASET( 'Full', M, M, ZERO, ZERO, Z( M+1, 1 ), LDZ )
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( T( I, J ), J = 1, N )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( H( I, J ), J = 1, N )
+   30       CONTINUE
+            IF( LSAME( COMPQ1, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
+   40          CONTINUE
+            END IF
+            IF( LSAME( COMPQ2, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            IF( LSAME( COMPU1, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 60 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U11( I, J ), J = 1, M )
+   60          CONTINUE
+               WRITE( NOUT, FMT = 99989 )
+               DO 70 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U12( I, J ), J = 1, M )
+   70          CONTINUE
+            END IF
+            IF( LSAME( COMPU2, 'I' ) ) THEN
+               WRITE( NOUT, FMT = 99988 )
+               DO 80 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U21( I, J ), J = 1, M )
+   80          CONTINUE
+               WRITE( NOUT, FMT = 99987 )
+               DO 90 I = 1, M
+                  WRITE( NOUT, FMT = 99995 ) ( U22( I, J ), J = 1, M )
+   90          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99986 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99985 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99984 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+         END IF
+      END IF
+      STOP
+* 
+99999 FORMAT( 'MB04AD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB04AD = ', I2 )
+99996 FORMAT( 'The matrix T on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix Z on exit is ' )
+99993 FORMAT( 'The matrix H is ' )
+99992 FORMAT( 'The matrix Q1 is ' )
+99991 FORMAT( 'The matrix Q2 is ' )
+99990 FORMAT( 'The upper left block of the matrix U1 is ' )
+99989 FORMAT( 'The upper right block of the matrix U1 is ' )
+99988 FORMAT( 'The upper left block of the matrix U2 is ' )
+99987 FORMAT( 'The upper right block of the matrix U2 is ' )
+99986 FORMAT( 'The vector ALPHAR is ' )
+99985 FORMAT( 'The vector ALPHAI is ' )
+99984 FORMAT( 'The vector BETA is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04AD EXAMPLE PROGRAM DATA
+   T   I   I   I   I   8
+   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
+   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
+  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
+   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
+   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
+  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
+  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
+   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
+   3.9090   -3.5071    3.1428   -3.0340   -1.4834    3.7401   -0.1715    0.4026
+   4.5929   -2.4249   -2.5648   -2.4892    3.7401   -2.1416    1.6251    2.6645
+   0.4722    3.4072    4.2926    1.1604   -0.1715    1.6251   -4.2415   -0.0602
+  -3.6138   -2.4572   -1.5002   -0.2671    0.4026    2.6645   -0.0602   -3.7009
+   0.6882   -1.8421   -4.1122    0.1317   -3.9090   -4.5929   -0.4722    3.6138
+  -1.8421    2.9428   -0.4340    1.3834    3.5071    2.4249   -3.4072    2.4572
+  -4.1122   -0.4340   -2.3703    0.5231   -3.1428    2.5648   -4.2926    1.5002
+   0.1317    1.3834    0.5231   -4.1618    3.0340    2.4892   -1.1604    0.2671
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04AD EXAMPLE PROGRAM RESULTS
+The matrix T on exit is 
+  -3.9699   3.7658   5.5815  -1.7750  -0.8818  -0.0511  -4.2158   1.9054
+   0.0000   5.3686  -5.9166   4.9163   1.3839   0.8870   3.9458  -4.9167
+   0.0000   0.0000   5.9641   1.9432  -2.0680   2.4402  -1.4091   5.8512
+   0.0000   0.0000   0.0000   5.9983  -3.8172   4.0147  -2.0739  -1.2570
+   0.0000   0.0000   0.0000   0.0000   8.2005   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   1.5732   8.0098   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.6017   2.4397   5.9751   0.0000
+   0.0000   0.0000   0.0000   0.0000  -2.5869   0.5598   0.2544   5.2129
+The matrix Z on exit is 
+  -6.4705  -2.5511  -4.0551  -1.9895  -2.7642   0.7532  -4.1047  -2.2046
+   0.0000   7.3589  -4.4480  -2.7491  -1.5465  -1.4345  -0.9272   1.3121
+   0.0000   0.0000   4.9125  -0.4968   5.3574   3.8579   5.2547  -1.7324
+   0.0000   0.0000   0.0000   9.0822   0.0460  -0.3382   3.9302   3.1084
+   0.0000   0.0000   0.0000   0.0000   6.1869   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   5.5573   6.6549   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   2.7456  -3.5789   4.3432   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.1549   3.5335   3.1346   4.1062
+The matrix H is 
+  -7.4834   0.4404   2.3558   1.6724  -0.4630   1.9533   1.5724  -2.7254
+   0.0000  -7.3500   3.7414   3.7466   0.2837   0.6849   0.7727  -4.2140
+   0.0000   0.0000  -2.3493  -3.7994  -0.6872   1.1773  -2.6901  -5.1494
+   0.0000   0.0000   0.0000  -3.4719   5.3322   0.4182   1.9779   1.5175
+   0.0000   0.0000   0.0000   0.0000  -6.1880   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000  -3.3324   9.0833   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8703   0.0799  -2.8180   0.0000
+   0.0000   0.0000   0.0000   0.0000  -2.3477   3.3110   0.6561   0.7281
+The matrix Q1 is 
+  -0.2489  -0.1409   0.3615   0.6458   0.0113   0.6063  -0.0470   0.0238
+  -0.2436   0.1294  -0.0874  -0.4103   0.3408   0.3628  -0.3267   0.6272
+  -0.4316  -0.2352   0.5553  -0.2811  -0.2198  -0.2880  -0.4564  -0.1773
+   0.1992  -0.2176  -0.5198   0.1561  -0.1523   0.1299  -0.7281  -0.2197
+   0.0161   0.7390   0.1125  -0.2226  -0.1003   0.3608  -0.1118  -0.4886
+  -0.5824   0.0984  -0.3052   0.1996   0.5889  -0.2442   0.0060  -0.3341
+  -0.3246   0.4661  -0.1835   0.3523  -0.5153  -0.3034  -0.0865   0.3931
+  -0.4559  -0.2961  -0.3790  -0.3127  -0.4356   0.3452   0.3642  -0.1467
+The matrix Q2 is 
+   0.0288  -0.1842  -0.6791  -0.2115  -0.4790   0.4212  -0.0417  -0.2253
+  -0.0666  -0.0787  -0.3711   0.1737  -0.0482  -0.5770  -0.6785   0.1607
+   0.1506   0.6328   0.0518  -0.6266   0.0652  -0.0790  -0.2854  -0.2994
+  -0.2900  -0.2737  -0.0076  -0.3671  -0.2017  -0.6241   0.4521  -0.2675
+   0.3353   0.4107   0.0326   0.1400  -0.6447  -0.2043   0.2561   0.4187
+   0.0905  -0.1648  -0.2363  -0.5323   0.3180   0.0286   0.1252   0.7126
+  -0.7246   0.0468   0.3328  -0.1794  -0.3639   0.2257  -0.2623   0.2786
+   0.4922  -0.5353   0.4803  -0.2501  -0.2723   0.0199  -0.3194  -0.0371
+The upper left block of the matrix U1 is 
+   0.4144   0.2249   0.6015  -0.1964
+  -0.0198   0.5131  -0.2823  -0.3058
+  -0.6620   0.1508   0.2237   0.0240
+  -0.0743  -0.4323  -0.0332  -0.7263
+The upper right block of the matrix U1 is 
+  -0.3474   0.1306  -0.3391  -0.3530
+  -0.3760   0.1550   0.6087  -0.1646
+   0.1707   0.6553  -0.1262  -0.1177
+   0.3048  -0.0773   0.0767  -0.4173
+The upper left block of the matrix U2 is 
+   0.1403  -0.6447  -0.6536  -0.3707
+   0.7069   0.2609  -0.0091  -0.1702
+  -0.1218  -0.1120   0.3766  -0.5154
+   0.0773   0.6349  -0.5070  -0.1810
+The upper right block of the matrix U2 is 
+   0.0000   0.0000   0.0000   0.0000
+   0.1182   0.1587   0.1930  -0.5716
+   0.6051  -0.2720   0.3364   0.1089
+   0.2823  -0.0386  -0.1529   0.4434
+The vector ALPHAR is 
+   0.0000   0.7122   0.0000   0.7450
+The vector ALPHAI is 
+   0.7540   0.0000   0.7465   0.0000
+The vector BETA is 
+   4.0000   4.0000   8.0000  16.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04AZ.html b/doc/_static/doc/MB04AZ.html
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+<HTML>
+<HEAD><TITLE>MB04AZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04AZ">MB04AZ</A></H2>
+<H3>
+Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+           H  T           (  B  F  )       (  Z11  Z12  )
+    S = J Z  J  Z and H = (      H ), Z =: (            ).       (1)
+                          (  G -B  )       (  Z21  Z22  )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+                                                        H  T
+  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z  J  B_Z,
+
+          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
+          (                     |                     )
+          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
+          (                     |                     )
+    B_Z = (---------------------+---------------------) ,
+          (                     |                     )
+          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
+          (                     |                     )
+          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |      T       T  )
+          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
+          (                 |      T       T  )
+          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
+
+  is determined and used to compute the eigenvalues. Optionally,
+  if JOB = 'T', the pencil aB_S - bB_H is transformed by a unitary
+  matrix Q and a unitary symplectic matrix U to the structured Schur
+                                                H  T
+  form aB_Sout - bB_Hout, with B_Sout = J B_Zout  J  B_Zout,
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Zout = (         ) and B_Hout = (       H ),               (3)
+             (  0  BC  )              (  0 -BB  )
+
+  where BA and BB are upper triangular, BC is lower triangular,
+  and BF is Hermitian. B_H above is defined as B_H = -i*B_T.
+  The embedding doubles the multiplicities of the eigenvalues of
+  the pencil aS - bH.
+  Optionally, if COMPQ = 'C', the unitary matrix Q is computed.
+  Optionally, if COMPU = 'C', the unitary symplectic matrix U is
+  computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG,
+     $                   LDFG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
+     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
+     $                   ZWORK, LZWORK, BWORK, INFO )C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
+     $                   LDZ, LIWORK, LZWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
+     $                   Z( LDZ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (3).
+          = 'T': put S and H into the forms in (3) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the unitary transformation
+          matrix Q, as follows:
+          = 'N': do not compute the unitary matrix Q;
+          = 'C': the array Q is initialized internally to the unit
+                 matrix, and the unitary matrix Q is returned.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the unitary symplectic
+          transformation matrix U, as follows:
+          = 'N': do not compute the unitary symplectic matrix U;
+          = 'C': the array U is initialized internally to the unit
+                 matrix, and the unitary symplectic matrix U is
+                 returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aS - bH.  N &gt;= 0, even.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the non-trivial factor Z in the factorization
+                 H  T
+          S = J Z  J  Z of the skew-Hamiltonian matrix S.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3)
+          (see also METHOD). The strictly lower triangular part is
+          not zeroed. The submatrix in the rows N/2+1 to N and the
+          first N/2 columns is unchanged, except possibly for the
+          entry (N/2+1,N/2), which might be set to zero.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, K), where
+          K = N, if JOB = 'T', and K = M, if JOB = 'E'.
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3)
+          (see also METHOD).
+          The strictly lower triangular part is not zeroed.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1, M), if JOB = 'E';
+          LDB &gt;= MAX(1, N), if JOB = 'T'.
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, P),
+          where P = MAX(M+1,N), if JOB = 'T', and
+                P = M+1,        if JOB = 'E'.
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F. Accidental nonzero imaginary parts on
+          the main diagonals of F and G do not perturb the results.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts, since they have not been annihilated.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, M), if JOB = 'E';
+          LDFG &gt;= MAX(1, N), if JOB = 'T'.
+
+  D       (output) COMPLEX*16 array, dimension (LDD, N)
+          If JOB = 'T', the leading N-by-N part of this array
+          contains the matrix BD in (3) (see also METHOD).
+          If JOB = 'E', this array is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= 1,         if JOB = 'E';
+          LDD &gt;= MAX(1, N), if JOB = 'T'.
+
+  C       (output) COMPLEX*16 array, dimension (LDC, N)
+          If JOB = 'T', the leading N-by-N part of this array
+          contains the lower triangular matrix BC in (3) (see also
+          METHOD). The part over the first superdiagonal is not set.
+          If JOB = 'E', this array is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,         if JOB = 'E';
+          LDC &gt;= MAX(1, N), if JOB = 'T'.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C' and JOB = 'T', then the leading
+          2*N-by-2*N part of this array contains the unitary
+          transformation matrix Q.
+          If COMPQ = 'C' and JOB = 'E', this array contains the
+          orthogonal transformation which reduced B_Z and B_T
+          in the first step of the algorithm (see METHOD).
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
+          On exit, if COMPU = 'C' and JOB = 'T', then the leading
+          N-by-2*N part of this array contains the leading N-by-2*N
+          part of the unitary symplectic transformation matrix U.
+          If COMPU = 'C' and JOB = 'E', this array contains the
+          first N rows of the transformation U which reduced B_Z
+          and B_T in the first step of the algorithm (see METHOD).
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,         if COMPU = 'N';
+          LDU &gt;= MAX(1, N), if COMPU = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue. The blocks are those in B_T and B_S.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th triplet of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(5), ...,
+          DWORK(4+3*s) contain the s triplet values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained as -a1/a2/a3*i,
+          where a1, ..., a3 are the corresponding triplet values,
+          and i is the purely imaginary unit.
+          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
+          t groups of triplet 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is given by imag( ev ) - real( ev )*i,
+          where ev is the spectrum of the matrix product
+          A1*inv(A2)*inv(A3), and A1, ..., A3 define the
+          corresponding 2-by-2 matrix triplet.
+          On exit, if INFO = -25, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
+                    c = 18, if                 COMPU = 'C';
+                    c = 16, if COMPQ = 'C' and COMPU = 'N';
+                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -27, ZWORK(1) returns the minimum
+          value of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 8*N + 28, if JOB = 'T' and COMPQ = 'C';
+          LZWORK &gt;= 6*N + 28, if JOB = 'T' and COMPQ = 'N';
+          LZWORK &gt;= 1,        if JOB = 'E'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0, if JOB = 'E';
+          LBWORK &gt;= N, if JOB = 'T'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the algorithm was not able to reveal information
+               about the eigenvalues from the 2-by-2 blocks in the
+               SLICOT Library routine MB03BD (called by MB04ED);
+          = 2: periodic QZ iteration failed in the SLICOT Library
+               routines MB03BD or MB03BZ when trying to
+               triangularize the 2-by-2 blocks;
+          = 3: some eigenvalues might be inaccurate. This is a
+               warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04ED is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~      T         (  BZ11  BZ12  )
+  B_Z = U  B_Z Q = (              ) and
+                   (    0   BZ22  )
+
+  ~        T  T         (  T11  T12  )
+  B_T = J Q  J  B_T Q = (          T ),
+                        (   0   T11  )
+
+  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
+  BZ22' are upper triangular and T11 is upper quasi-triangular.
+  If JOB = 'T', the 2-by-2 blocks are triangularized using the
+  periodic QZ algorithm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04AZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
+     $                   LIWORK, LZWORK
+      PARAMETER          ( LDB = NMAX,  LDC =   NMAX, LDD = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
+     $                     LDWORK = 18*NMAX*NMAX + NMAX + MAX( 2*NMAX,
+     $                                                         24 ) + 3,
+     $                     LDZ = NMAX, LIWORK = 2*NMAX + 9,
+     $                     LZWORK = 8*NMAX + 28 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      COMPLEX*16         B( LDB,   NMAX ),  C( LDC,   NMAX ),
+     $                   D( LDD,   NMAX ), FG( LDFG,  NMAX ),
+     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
+     $                   Z( LDZ,   NMAX ), ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
+     $                   BETA(   NMAX ), DWORK(LDWORK )
+      INTEGER            IWORK( LIWORK )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04AZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I=1, N )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I=1, N/2 )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I=1, N/2 )
+*        Compute the eigenvalues of a complex skew-Hamiltonian/
+*        Hamiltonian pencil (factored version).
+         CALL MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
+     $                BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK, LZWORK,
+     $                BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            M = N/2
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  Z( I, J ), J = 1, N )
+   10          CONTINUE
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  B( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  D( I, J ), J = 1, N )
+   40          CONTINUE
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) (  C( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 60 I = 1, 2*N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
+   60          CONTINUE
+            END IF
+            IF( LSAME( COMPU, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99989 )
+               DO 70 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, 2*N )
+   70          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99987 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99986 )
+            WRITE( NOUT, FMT = 99987 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99985 )
+            WRITE( NOUT, FMT = 99987 ) (   BETA( I ), I = 1, N )
+         END IF
+      END IF
+      STOP
+* 
+99999 FORMAT ( 'MB04AZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04AZ = ', I2 )
+99996 FORMAT (/' The transformed matrix Z is' )
+99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99994 FORMAT (/' The transformed matrix B is' )
+99993 FORMAT (/' The transformed matrix FG is' )
+99992 FORMAT (/' The matrix D is' )
+99991 FORMAT (/' The matrix C is' )
+99990 FORMAT (/' The matrix Q is' )
+99989 FORMAT (/' The upper part of the matrix U is' )
+99988 FORMAT (/' The vector ALPHAR is ' )
+99987 FORMAT ( 50( 1X, F8.4 ) )
+99986 FORMAT (/' The vector ALPHAI is ' )
+99985 FORMAT (/' The vector BETA is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04AZ EXAMPLE PROGRAM DATA
+	T	C	C	4
+   (0.4941,0.8054)   (0.8909,0.8865)   (0.0305,0.9786)   (0.9047,0.0596)
+   (0.7790,0.5767)   (0.3341,0.0286)   (0.7440,0.7126)   (0.6098,0.6819)
+   (0.7150,0.1829)   (0.6987,0.4899)   (0.5000,0.5004)   (0.6176,0.0424)
+   (0.9037,0.2399)   (0.1978,0.1679)   (0.4799,0.4710)   (0.8594,0.0714)
+   (0.5216,0.7224)   (0.8181,0.6596)
+   (0.0967,0.1498)   (0.8175,0.5185)
+    0.9729            0.8003           (0.4323,0.8313)
+   (0.6489,0.1331)    0.4537            0.8253          
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04AZ EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix Z is
+    0.4545  +0.0000i     0.7904  +0.0000i    -0.1601  +0.0000i    -0.2691  +0.0000i 
+    0.7790  +0.5767i     0.4273  +0.0000i     0.1459  +0.0000i     0.1298  +0.0000i 
+    0.7150  +0.1829i     0.6987  +0.4899i     0.6715  +0.0000i    -0.3001  +0.0000i 
+    0.9037  +0.2399i     0.1978  +0.1679i     0.4799  +0.4710i     0.7924  +0.0000i 
+
+ The transformed matrix B is
+    0.0000  -1.7219i     0.0000  +0.7762i     0.0000  +0.5342i     0.0000  +0.0845i 
+    0.0000  +0.0000i     0.0000  +0.8862i     0.0000  +0.5186i     0.0000  -0.1429i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +1.1122i     0.0000  +0.2898i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.4889i 
+
+ The transformed matrix FG is
+    0.0000  +0.0000i     0.0000  +0.4145i     0.0000  -0.7921i     0.0000  +0.5630i 
+    0.6489  +0.1331i     0.0000  +0.0000i     0.0000  +1.5982i     0.0000  +0.5818i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.5819i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+
+ The matrix D is
+    2.2139  +0.0000i     0.0402  +0.0000i    -0.2787  +0.0000i     1.0465  +0.0000i 
+   -0.5021  +0.0000i     0.5502  +0.0000i    -0.2771  +0.0000i    -0.4521  +0.0000i 
+   -0.0398  +0.0000i     0.4046  +0.0000i     0.0149  +0.0000i     0.7577  +0.0000i 
+   -0.1550  +0.0000i     2.0660  +0.0000i     1.6075  +0.0000i     0.5836  +0.0000i 
+
+ The matrix C is
+    0.3159  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.7819  +0.0000i    -0.7575  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+   -0.3494  +0.0000i     0.8622  +0.0000i     0.7539  +0.0000i     0.0000  +0.0000i 
+    1.1178  +0.0000i     0.3133  +0.0000i     0.4638  +0.0000i     1.2348  +0.0000i 
+
+ The matrix Q is
+   -0.4983  +0.0000i     0.3694  +0.0000i    -0.4754  +0.0000i     0.2791  +0.0000i     0.1950  +0.0000i     0.2416  +0.0000i     0.1869  +0.0000i     0.4242  +0.0000i 
+   -0.1045  +0.0000i     0.3309  +0.0000i     0.5730  +0.0000i    -0.5566  +0.0000i     0.0877  +0.0000i     0.3543  +0.0000i     0.1761  +0.0000i     0.2779  +0.0000i 
+   -0.2586  +0.0000i    -0.4457  +0.0000i    -0.2838  +0.0000i    -0.5436  +0.0000i     0.5524  +0.0000i    -0.1064  +0.0000i    -0.2040  +0.0000i     0.0205  +0.0000i 
+   -0.0040  +0.0000i     0.3845  +0.0000i     0.2469  +0.0000i     0.2965  +0.0000i     0.5799  +0.0000i     0.0840  +0.0000i    -0.4788  +0.0000i    -0.3614  +0.0000i 
+    0.7958  +0.0000i     0.1597  +0.0000i    -0.3420  +0.0000i    -0.1047  +0.0000i     0.3370  +0.0000i     0.1813  +0.0000i     0.2275  +0.0000i     0.1229  +0.0000i 
+   -0.0600  +0.0000i    -0.4599  +0.0000i     0.3487  +0.0000i     0.3910  +0.0000i     0.4005  +0.0000i     0.1010  +0.0000i     0.5819  +0.0000i    -0.0345  +0.0000i 
+   -0.0539  +0.0000i     0.3817  +0.0000i     0.0501  +0.0000i    -0.1114  +0.0000i     0.1751  +0.0000i    -0.8212  +0.0000i     0.3606  +0.0000i    -0.0380  +0.0000i 
+    0.1846  +0.0000i    -0.1577  +0.0000i     0.2510  +0.0000i     0.2293  +0.0000i     0.0911  +0.0000i    -0.2834  +0.0000i    -0.3779  +0.0000i     0.7708  +0.0000i 
+
+ The upper part of the matrix U is
+   -0.2544  +0.0000i    -0.1844  +0.0000i     0.7632  +0.0000i     0.5646  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.4272  +0.0000i    -0.0454  +0.0000i    -0.2918  +0.0000i     0.5721  +0.0000i     0.1446  +0.0000i    -0.1611  +0.0000i     0.3609  +0.0000i    -0.4752  +0.0000i 
+    0.6936  +0.0000i     0.3812  +0.0000i     0.2606  +0.0000i     0.0848  +0.0000i    -0.3359  +0.0000i    -0.1592  +0.0000i    -0.3242  +0.0000i     0.2348  +0.0000i 
+    0.2320  +0.0000i    -0.4483  +0.0000i    -0.1629  +0.0000i     0.1784  +0.0000i    -0.2898  +0.0000i     0.7525  +0.0000i    -0.0511  +0.0000i     0.1841  +0.0000i 
+
+ The vector ALPHAR is 
+   0.0000   0.0000   0.0000   0.0000
+
+ The vector ALPHAI is 
+  -1.4991  -1.3690   1.0985   0.9993
+
+ The vector BETA is 
+   0.1250   0.5000   0.5000   2.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04BD">MB04BD</A></H2>
+<H3>
+Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  W -C' )
+
+  Optionally, if JOB = 'T', decompositions of S and H will be
+  computed via orthogonal transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        )
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric. The notation M'
+  denotes the transpose of the matrix M.
+  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
+  transformation matrix Q1 will be computed.
+  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
+  transformation matrix Q2 will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
+     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
+     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, JOB
+      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
+     $                   LDQ2, LDVW, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
+     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
+     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   VW( LDVW, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (2).
+          = 'T': put S and H into the forms in (2) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q on
+                  entry, and the product Q*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reduce
+                  S and H to the forms in (2), for COMPQ1 = 'I'.
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  on exit, the array Q2 contains the orthogonal
+                  matrix Q2;
+          = 'U':  on exit, the array Q2 contains the matrix product
+                  J*Q*J'*Q2, where Q2 is the product of the
+                  orthogonal transformations that are applied to
+                  the pencil aS - bH to reduce S and H to the forms
+                  in (2), for COMPQ2 = 'I'.
+                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains the
+          upper triangular matrix A obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N/2+1 of this array contains the strictly upper triangular
+          part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the periodic QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  C1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDC1, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix C1 = C.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C1out; otherwise, it contains
+          the upper triangular matrix C1 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC1    INTEGER
+          The leading dimension of the array C1.
+          LDC1 &gt;= MAX(1, N/2).
+
+  VW      (input/output) DOUBLE PRECISION array, dimension
+                         (LDVW, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix W, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix V.
+          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
+          2 to N/2+1 of this array contains the matrix Vout.
+          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
+          N/2+1 of this array contains the matrix V just before the
+          application of the periodic QZ algorithm.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.
+          LDVW &gt;= MAX(1, N/2).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q and the transformation matrix Q1
+          used to transform the matrices S and H.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N', this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array contains the product of the matrix J*Q*J' and
+          the transformation matrix Q2 used to transform the
+          matrices S and H.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N', this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains the
+          upper triangular matrix B obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of this array contains the strictly
+          upper triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix F just before
+          the application of the periodic QZ algorithm.
+          The entries on the leading N/2-by-N/2 lower triangular
+          part of this array are not referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C2out; otherwise, it contains
+          the upper Hessenberg matrix C2 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC2    INTEGER
+          The leading dimension of the array C2.
+          LDC2 &gt;= MAX(1, N/2).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the (i-q-1)-th quadruple
+          of 1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= N+12.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(6), ...,
+          DWORK(5+4*s) contain the s quadruple values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained from
+          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
+          where a1, ..., a4 are the corresponding quadruple values.
+          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
+          t groups of quadruple 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
+          positive imaginary parts, where ev are the eigenvalues of
+          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
+          define the corresponding 2-by-2 matrix quadruple.
+          On exit, if INFO = -27, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
+             LDWORK &gt;= N**2 + MAX(L,36);
+          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
+             LDWORK &gt;= 2*N**2 + MAX(L,36);
+          where
+             L = 4*N + 4, if N/2 is even, and
+             L = 4*N,     if N/2 is odd.
+          For good performance LDWORK should generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: problem during computation of the eigenvalues;
+          = 2: periodic QZ algorithm did not converge in the SLICOT
+               Library subroutine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S, T, and H such that A, B, and C1 are
+  upper triangular and C2 is upper Hessenberg. Finally, the periodic
+  QZ algorithm is applied to transform C2 to upper quasi-triangular
+  form while A, B, and C1 stay in upper triangular form.
+  See also page 27 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1, LDQ2,
+     $                   LDVW, LDWORK, LIWORK
+      PARAMETER          (  LDA = NMAX/2,  LDB = NMAX/2, LDC1 = NMAX/2,
+     $                     LDC2 = NMAX/2, LDDE = NMAX/2,  LDF = NMAX/2,
+     $                     LDQ1 = NMAX, LDQ2 = NMAX, LDVW = NMAX/2,
+     $                     LDWORK = 2*NMAX*NMAX + MAX( 4*NMAX, 36 ),
+     $                     LIWORK = MAX( NMAX + 12, 2*NMAX + 3 ) )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ1, COMPQ2, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   A( LDA, NMAX/2 ), ALPHAI( NMAX/2 ),
+     $                   ALPHAR( NMAX/2 ), B( LDB, NMAX/2 ),
+     $                   BETA( NMAX/2 ), C1( LDC1, NMAX/2 ),
+     $                   C2( LDC2, NMAX/2 ), DE( LDDE, NMAX/2+1 ),
+     $                   DWORK( LDWORK ),  F( LDF, NMAX/2 ),
+     $                   Q1( LDQ1, NMAX ), Q2( LDQ2, NMAX ),
+     $                   VW( LDVW, NMAX/2+1 )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04BD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, N
+      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( C1( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( VW( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
+*        pencil.
+         CALL MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
+     $                LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
+     $                LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
+     $                LIWORK, DWORK, LDWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 2, M+1 )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
+   30       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            DO 40 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( F( I, J ), J = 1, M )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99991 )
+            DO 50 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( C1( I, J ), J = 1, M )
+   50       CONTINUE
+            WRITE( NOUT, FMT = 99990 )
+            DO 60 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( C2( I, J ), J = 1, M )
+   60       CONTINUE
+            WRITE( NOUT, FMT = 99989 )
+            DO 70 I = 1, M
+               WRITE( NOUT, FMT = 99995 ) ( VW( I, J ), J = 2, M+1 )
+   70       CONTINUE
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99987 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99986 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
+            WRITE( NOUT, FMT = 99985 )
+            IF( .NOT.LSAME( COMPQ1, 'N' ) ) THEN
+               DO 80 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
+   80          CONTINUE
+            END IF
+            IF( .NOT.LSAME( COMPQ2, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99984 )
+               DO 90 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
+   90          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT( 'MB04BD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT( 'INFO on exit from MB04BD = ', I2 )
+99996 FORMAT( 'The matrix A on exit is ' )
+99995 FORMAT( 50( 1X, F8.4 ) )
+99994 FORMAT( 'The matrix D on exit is ' )
+99993 FORMAT( 'The matrix B on exit is ' )
+99992 FORMAT( 'The matrix F on exit is ' )
+99991 FORMAT( 'The matrix C1 on exit is ' )
+99990 FORMAT( 'The matrix C2 on exit is ' )
+99989 FORMAT( 'The matrix V on exit is ' )
+99988 FORMAT( 'The vector ALPHAR is ' )
+99987 FORMAT( 'The vector ALPHAI is ' )
+99986 FORMAT( 'The vector BETA is ' )
+99985 FORMAT( 'The matrix Q1 is ' )
+99984 FORMAT( 'The matrix Q2 is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04BD EXAMPLE PROGRAM DATA
+   T   I   I   8
+   3.1472   1.3236   4.5751   4.5717
+   4.0579  -4.0246   4.6489  -0.1462
+  -3.7301  -2.2150  -3.4239   3.0028
+   4.1338   0.4688   4.7059  -3.5811
+   0.0000   0.0000  -1.5510  -4.5974  -2.5127
+   3.5071   0.0000   0.0000   1.5961   2.4490  
+  -3.1428   2.5648   0.0000   0.0000  -0.0596 
+   3.0340   2.4892  -1.1604   0.0000   0.0000
+   0.6882  -3.3782  -3.3435   1.8921
+  -0.3061   2.9428   1.0198   2.4815
+  -4.8810  -1.8878  -2.3703  -0.4946
+  -1.6288   0.2853   1.5408  -4.1618
+  -2.4013  -2.7102   0.3834  -3.9335   3.1730
+  -3.1815  -2.3620   4.9613   4.6190   3.6869
+   3.6929   0.7970   0.4986  -4.9537  -4.1556
+   3.5303   1.2206  -1.4905   0.1325  -1.0022
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04BD EXAMPLE PROGRAM RESULTS
+The matrix A on exit is 
+  -4.7460   4.1855   3.2696  -0.2244
+   0.0000   6.4157   2.8287   1.4553
+   0.0000   0.0000   7.4626   1.5726
+   0.0000   0.0000   0.0000   8.8702
+The matrix D on exit is 
+   0.0000  -1.3137  -6.3615  -0.8940
+   0.0000   0.0000   1.0704  -0.0659
+   4.4324   0.0000   0.0000  -0.6922
+   0.5254   1.6653   0.0000   0.0000
+The matrix B on exit is 
+  -6.4937  -2.1982  -1.3881   1.3477
+   0.0000   4.6929   0.6650  -4.1191
+   0.0000   0.0000   9.1725   3.4721
+   0.0000   0.0000   0.0000   7.2106
+The matrix F on exit is 
+   0.0000  -1.1367   2.2966  -1.0744
+   0.0000   0.0000   3.7875   0.9427
+   0.0000   0.0000   0.0000  -4.7136
+   0.0000   0.0000   0.0000   0.0000
+The matrix C1 on exit is 
+   6.9525  -4.9881   2.3661   4.2188
+   0.0000   8.5009   0.7182   5.5533
+   0.0000   0.0000  -4.6650  -2.8177
+   0.0000   0.0000   0.0000   1.5124
+The matrix C2 on exit is 
+  -5.4562  -2.1348   4.9694  -2.2744
+   2.5550  -7.9616   1.1516   3.4912
+   0.0000   0.0000   4.8504   0.5046
+   0.0000   0.0000   0.0000   4.4394
+The matrix V on exit is 
+   0.9136   4.1106  -0.0079   3.5789
+  -1.1553  -1.4785  -1.5155  -0.8018
+  -2.2167   4.8029   1.3645   2.5202
+  -1.0994  -0.6144   0.3970   2.0730
+The vector ALPHAR is 
+   0.8314  -0.8314   0.8131   0.0000
+The vector ALPHAI is 
+   0.4372   0.4372   0.0000   0.9164
+The vector BETA is 
+   0.7071   0.7071   1.4142   2.8284
+The matrix Q1 is 
+  -0.0098   0.1978   0.2402   0.5274   0.1105  -0.0149  -0.1028   0.7759
+  -0.6398   0.2356   0.2765  -0.1301  -0.5351  -0.3078   0.2435   0.0373
+   0.1766  -0.4781   0.2657  -0.5415   0.0968  -0.4663  -0.0983   0.3741
+   0.3207  -0.1980   0.1141   0.0240  -0.1712   0.2630   0.8513   0.1451
+  -0.6551  -0.2956  -0.0288  -0.1169   0.5593   0.3381   0.1753   0.1055
+  -0.0246  -0.2759   0.2470  -0.1408  -0.4837   0.6567  -0.4042   0.1172
+  -0.0772  -0.0121  -0.8394  -0.1852  -0.2673   0.0046   0.0159   0.4282
+   0.1442   0.6884   0.1257  -0.5860   0.2110   0.2699   0.0363   0.1657
+The matrix Q2 is 
+  -0.2891   0.3096   0.6312   0.6498   0.0000   0.0000   0.0000   0.0000
+   0.1887   0.1936  -0.3857   0.3664   0.5660   0.1238  -0.2080  -0.5148
+  -0.2492  -0.2877  -0.0874   0.1110  -0.1081  -0.2999   0.6800  -0.5207
+  -0.7430  -0.0646  -0.4689   0.1556  -0.2401   0.0181  -0.3724   0.0562
+  -0.0999  -0.2026  -0.0355   0.0866   0.5587  -0.6625  -0.0114   0.4349
+  -0.4357   0.1209   0.0489  -0.2990   0.5094   0.5191   0.3837   0.1661
+  -0.2429   0.4131   0.2549  -0.5525   0.0749  -0.3829  -0.2690  -0.4190
+   0.0889   0.7439  -0.3960   0.0697  -0.1821  -0.1988   0.3687   0.2616
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04BP.html b/doc/_static/doc/MB04BP.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB04BP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04BP">MB04BP</A></H2>
+<H3>
+Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  W -C' )
+
+  Optionally, if JOB = 'T', decompositions of S and H will be
+  computed via orthogonal transformations Q1 and Q2 as follows:
+
+                    (  Aout  Dout  )
+    Q1' S J Q1 J' = (              ),
+                    (   0    Aout' )
+
+                    (  Bout  Fout  )
+    J' Q2' J S Q2 = (              ) =: T,                       (2)
+                    (   0    Bout' )
+
+               (  C1out  Vout  )            (  0  I  )
+    Q1' H Q2 = (               ), where J = (        )
+               (  0     C2out' )            ( -I  0  )
+
+  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
+  triangular and Dout and Fout are skew-symmetric. The notation M'
+  denotes the transpose of the matrix M.
+  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
+  transformation matrix Q1 will be computed.
+  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
+  transformation matrix Q2 will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04BP( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
+     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
+     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, JOB
+      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
+     $                   LDQ2, LDVW, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
+     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
+     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   VW( LDVW, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (2).
+          = 'T': put S and H into the forms in (2) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q on
+                  entry, and the product Q*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bH to reduce
+                  S and H to the forms in (2), for COMPQ1 = 'I'.
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  on exit, the array Q2 contains the orthogonal
+                  matrix Q2;
+          = 'U':  on exit, the array Q2 contains the matrix product
+                  J*Q*J'*Q2, where Q2 is the product of the
+                  orthogonal transformations that are applied to
+                  the pencil aS - bH to reduce S and H to the forms
+                  in (2), for COMPQ2 = 'I'.
+                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains the
+          upper triangular matrix A obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N/2+1 of this array contains the strictly upper triangular
+          part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the periodic QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  C1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDC1, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix C1 = C.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C1out; otherwise, it contains
+          the upper triangular matrix C1 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC1    INTEGER
+          The leading dimension of the array C1.
+          LDC1 &gt;= MAX(1, N/2).
+
+  VW      (input/output) DOUBLE PRECISION array, dimension
+                         (LDVW, N/2+1)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix W, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix V.
+          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
+          2 to N/2+1 of this array contains the matrix Vout.
+          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
+          N/2+1 of this array contains the matrix V just before the
+          application of the periodic QZ algorithm.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.
+          LDVW &gt;= MAX(1, N/2).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q and the transformation matrix Q1
+          used to transform the matrices S and H.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N', this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array contains the product of the matrix J*Q*J' and
+          the transformation matrix Q2 used to transform the
+          matrices S and H.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N', this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains the
+          upper triangular matrix B obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of this array contains the strictly
+          upper triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix F just before
+          the application of the periodic QZ algorithm.
+          The entries on the leading N/2-by-N/2 lower triangular
+          part of this array are not referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix C2out; otherwise, it contains
+          the upper Hessenberg matrix C2 obtained just before the
+          application of the periodic QZ algorithm.
+
+  LDC2    INTEGER
+          The leading dimension of the array C2.
+          LDC2 &gt;= MAX(1, N/2).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/Hamiltonian structure of the
+          pencil, for every eigenvalue lambda, -lambda is also an
+          eigenvalue, and thus it has only to be saved once in
+          ALPHAR, ALPHAI and BETA.
+          Specifically, only eigenvalues with imaginary parts
+          greater than or equal to zero are stored; their conjugate
+          eigenvalues are not stored. If imaginary parts are zero
+          (i.e., for real eigenvalues), only positive eigenvalues
+          are stored. The remaining eigenvalues have opposite signs.
+          As a consequence, pairs of complex eigenvalues, stored in
+          consecutive locations, are not complex conjugate.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th quadruple of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= N+12.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(6), ...,
+          DWORK(5+4*s) contain the s quadruple values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained from
+          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
+          where a1, ..., a4 are the corresponding quadruple values.
+          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
+          t groups of quadruple 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
+          positive imaginary parts, where ev are the eigenvalues of
+          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
+          define the corresponding 2-by-2 matrix quadruple.
+          On exit, if INFO = -27, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
+             LDWORK &gt;= N**2 + MAX(L,36);
+          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
+             LDWORK &gt;= 2*N**2 + MAX(L,36);
+          where
+             L = 4*N + 4, if N/2 is even, and
+             L = 4*N,     if N/2 is odd.
+          For good performance LDWORK should generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: problem during computation of the eigenvalues;
+          = 2: periodic QZ algorithm did not converge in the SLICOT
+               Library subroutine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S, T, and H such that A, B, and C1 are
+  upper triangular and C2 is upper Hessenberg. Finally, the periodic
+  QZ algorithm is applied to transform C2 to upper quasi-triangular
+  form while A, B, and C1 stay in upper triangular form.
+  See also page 27 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations
+  for reducing T on panels of columns. The user may specify in INFO
+  the desired number of columns. If on entry INFO &lt; 0, then the
+  routine estimates a suitable value of this number. If INFO = 0,
+  the routine MB04BD is directly called.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04BZ.html b/doc/_static/doc/MB04BZ.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB04BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04BZ">MB04BZ</A></H2>
+<H3>
+Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (      H ) and H = (      H ).                           (1)
+        (  E  A  )         (  G -B  )
+
+  This routine computes the eigenvalues using an embedding to a real
+  skew-Hamiltonian/skew-Hamiltonian pencil aB_S - bB_T, defined as
+
+          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
+          (                 |                 )
+          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
+          (                 |                 )
+    B_S = (-----------------+-----------------) , and
+          (                 |      T       T  )
+          (  Re(E)  -Im(E)  |  Re(A )  Im(A ) )
+          (                 |      T       T  )
+          (  Im(E)   Re(E)  | -Im(A )  Re(A ) )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H.
+          (                 |      T       T  )
+          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
+          (                 |      T       T  )
+          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
+
+  Optionally, if JOB = 'T', the pencil aB_S - bB_H (B_H = -i*B_T) is
+  transformed by a unitary matrix Q to the structured Schur form
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Sout = (       H ) and B_Hout = (       H ),               (3)
+             (  0  BA  )              (  0 -BB  )
+
+  where BA and BB are upper triangular, BD is skew-Hermitian, and
+  BF is Hermitian. The embedding doubles the multiplicities of the
+  eigenvalues of the pencil aS - bH. Optionally, if COMPQ = 'C', the
+  unitary matrix Q is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LZWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E': compute the eigenvalues only; S and H will not
+                 necessarily be transformed as in (3).
+          = 'T': put S and H into the forms in (3) and return the
+                 eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the unitary transformation
+          matrix Q, as follows:
+          = 'N':  Q is not computed;
+          = 'C':  compute the unitary transformation matrix Q.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, K)
+          where K = N/2, if JOB = 'E', and K = N, if JOB = 'T'.
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed, but it is preserved.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, K).
+
+  DE      (input/output) COMPLEX*16 array, dimension
+                         (LDDE, MIN(K+1,N))
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of
+          the skew-Hermitian matrix D.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the skew-Hermitian matrix BD in (3) (see
+          also METHOD). The strictly lower triangular part of the
+          input matrix is preserved.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, K).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, K)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; the elements below the first subdiagonal of the
+          input matrix are preserved.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, K).
+
+  FG      (input/output) COMPLEX*16 array, dimension
+                         (LDFG, MIN(K+1,N))
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts.
+          If JOB = 'E', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, K).
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading 2*N-by-2*N part of
+          this array contains the unitary transformation matrix Q
+          that reduced the matrices B_S and B_H to the form in (3).
+          However, if JOB = 'E', the reduction was possibly not
+          completed: the matrix B_H may have 2-by-2 diagonal blocks,
+          and the array Q returns the orthogonal matrix that
+          performed the partial reduction.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+4)
+          On exit, IWORK(1) contains the number, q, of unreliable,
+          possibly inaccurate (pairs of) eigenvalues, and the
+          absolute values in IWORK(2), ..., IWORK(q+1) are their
+          indices, as well as of the corresponding 1-by-1 and 2-by-2
+          diagonal blocks of the arrays B and A on exit, if
+          JOB = 'T'. Specifically, a positive value is an index of
+          a real or purely imaginary eigenvalue, corresponding to a
+          1-by-1 block, while the absolute value of a negative entry
+          in IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. Moreover, IWORK(q+2),..., IWORK(2*q+1)
+          contain pointers to the starting elements in DWORK where
+          each block pair is stored. Specifically, if IWORK(i+1) &gt; 0
+          then DWORK(r) and DWORK(r+1) store corresponding diagonal
+          elements of T11 and S11, respectively, and if
+          IWORK(i+1) &lt; 0, then DWORK(r:r+3) and DWORK(r+4:r+7) store
+          the elements of the block in T11 and S11, respectively
+          (see Section METHOD), where r = IWORK(q+1+i). Moreover,
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2) and DWORK(3) contain the
+          Frobenius norms of the matrices B_S and B_T. These norms
+          are used in the tests to decide that some eigenvalues are
+          considered as numerically unreliable. Moreover, DWORK(4),
+          ..., DWORK(3+2*s) contain the s pairs of values of the
+          1-by-1 diagonal elements of T11 and S11. The eigenvalue of
+          such a block pair is obtained from -i*T11(i,i)/S11(i,i).
+          Similarly, DWORK(4+2*s), ..., DWORK(3+2*s+8*t) contain the
+          t groups of pairs of 2-by-2 diagonal submatrices of T11
+          and S11, stored column-wise. The spectrum of such a block
+          pair is obtained from -i*ev, where ev are the eigenvalues
+          of (T11(i:i+1,i:i+1),S11(i:i+1,i:i+1)).
+          On exit, if INFO = -19, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK. If COMPQ = 'N',
+          LDWORK &gt;= MAX( 3,  4*N*N + 3*N ), if   JOB = 'E';
+          LDWORK &gt;= MAX( 3,  5*N*N + 3*N ), if   JOB = 'T';
+          LDWORK &gt;= MAX( 3, 11*N*N + 2*N ), if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -21, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,       if JOB = 'E'; otherwise,
+          LZWORK &gt;= 6*N + 4, if COMPQ = 'N';
+          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0, if JOB = 'E';
+          LBWORK &gt;= N, if JOB = 'T'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the SLICOT Library routine
+               MB04FD (QZ iteration did not converge or computation
+               of the shifts failed);
+          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
+               trying to triangularize the 2-by-2 blocks;
+          = 3: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04FD is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~        T  T         (  S11  S12  )
+  B_S = J Q  J  B_S Q = (          T ) and
+                        (   0   S11  )
+
+  ~        T  T         (  T11  T12  )
+  B_T = J Q  J  B_T Q = (          T ),
+                        (   0   T11  )
+
+  where Q is real orthogonal, S11 is upper triangular, and T11 is
+  upper quasi-triangular. If JOB = 'T', then the matrices above are
+                                                     ~
+  further transformed so that the 2-by-2 blocks in i*B_T are split
+  into 1-by-1 blocks.  If COMPQ = 'C', the transformations are
+  accumulated in the unitary matrix Q.
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The returned eigenvalues are those of the pencil (-i*T11,S11),
+  where i is the purely imaginary unit.
+
+  If JOB = 'E', the returned matrix T11 is quasi-triangular. Note
+  that the off-diagonal elements of the 2-by-2 blocks of S11 are
+  zero by construction.
+
+  If JOB = 'T', the returned eigenvalues correspond to the diagonal
+  elements of BB and BA.
+
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04BZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
+      PARAMETER          ( LDA  = NMAX, LDB = NMAX, LDDE = NMAX,
+     $                     LDFG = NMAX, LDQ = 2*NMAX,
+     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
+     $                     LZWORK = 8*NMAX + 4 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            I, INFO, J, M, N
+*
+*     .. Local Arrays ..
+      COMPLEX*16         A(  LDA,  NMAX ), B(  LDB,  NMAX ),
+     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
+     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
+     $                   BETA(   NMAX ), DWORK( LDWORK )
+      INTEGER            IWORK( 2*NMAX+3 )
+      LOGICAL            BWORK( NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04BZ
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MOD
+*
+*     .. Executable Statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, N
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+         M = N/2
+         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
+         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
+         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
+*        Compute the eigenvalues of a complex skew-Hamiltonian/
+*        Hamiltonian pencil.
+         CALL MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
+     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
+     $                LDWORK, ZWORK, LZWORK, BWORK, INFO )
+*
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
+   10          CONTINUE
+               WRITE( NOUT, FMT = 99994 )
+               DO 20 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
+   20          CONTINUE
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
+   30          CONTINUE
+               WRITE( NOUT, FMT = 99992 )
+               DO 40 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
+   40          CONTINUE
+            END IF
+            IF( LSAME( COMPQ, 'C' ) ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, 2*N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
+   50          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99988 )
+            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
+            WRITE( NOUT, FMT = 99987 )
+            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT ( 'MB04BZ EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04BZ = ', I2 )
+99996 FORMAT (/'The matrix A on exit is ' )
+99995 FORMAT (20( 1X, F9.4, SP, F9.4, S, 'i ') )
+99994 FORMAT (/'The matrix D on exit is ' )
+99993 FORMAT (/'The matrix B on exit is ' )
+99992 FORMAT (/'The matrix F on exit is ' )
+99991 FORMAT (/'The matrix Q is ' )
+99990 FORMAT (/'The vector ALPHAR is ' )
+99989 FORMAT ( 50( 1X, F8.4 ) )
+99988 FORMAT (/'The vector ALPHAI is ' )
+99987 FORMAT (/'The vector BETA is ' )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04BZ EXAMPLE PROGRAM DATA
+	T	C	4
+   (0.0604,0.6568)   (0.5268,0.2919)
+   (0.3992,0.6279)   (0.4167,0.4316)
+        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
+   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
+   (0.2691,0.4177)   (0.5478,0.3014)
+   (0.4228,0.9830)   (0.9427,0.7010)
+    0.6663            0.6981           (0.1781,0.8818)
+   (0.5391,0.1711)    0.6665            0.1280          
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04BZ EXAMPLE PROGRAM RESULTS
+
+The matrix A on exit is 
+    0.7430  +0.0000i     0.0389  -0.4330i    -0.1155  -0.1366i    -0.6586  -0.3210i 
+    0.3992  +0.6279i     0.7548  +0.0000i     0.6099  -0.2308i     0.2140  +0.1260i 
+    0.0000  +0.0000i     0.0000  +0.0000i     1.4085  +0.0000i     0.0848  +0.4972i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.4725  +0.0000i 
+
+The matrix D on exit is 
+    0.0000  -0.6858i     0.1839  -0.0474i    -0.4428  -0.1290i     0.4759  +0.0380i 
+    0.9840  +0.3394i     0.0000  +0.6858i    -0.6339  +0.1358i     0.4204  -0.2140i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  -0.2110i    -0.0159  -0.0338i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2110i 
+
+The matrix B on exit is 
+   -1.5832  +0.5069i    -0.0097  +0.0866i     0.1032  -0.1431i    -0.0426  +0.7942i 
+    0.0000  +0.0000i     1.6085  +0.5150i    -0.1342  -0.8180i     0.5143  +0.0178i 
+    0.0000  +0.0000i     0.0000  +0.0000i    -0.0842  -0.1642i     0.0246  -0.0264i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0880  -0.1716i 
+
+The matrix F on exit is 
+    0.3382   0.0000i     0.0234  +0.0907i    -0.1619  +0.9033i    -0.8227  +0.0204i 
+    0.5391  +0.1711i    -0.3382  +0.0000i    -0.6525  +0.2455i    -0.3532  -0.6409i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0120   0.0000i     0.0019  -0.0009i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0120  +0.0000i 
+
+The matrix Q is 
+    0.1422  +0.5446i    -0.3877  -0.1273i    -0.4363  +0.1705i     0.0348  -0.5440i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.1594  -0.2382i     0.1967  -0.2467i    -0.1376  -0.0961i    -0.1070  -0.2058i    -0.1273  +0.0585i    -0.0852  +0.1020i     0.6125  -0.1059i    -0.0172  +0.5589i 
+   -0.3659  -0.0211i    -0.0291  +0.4967i    -0.0729  +0.4236i     0.3169  -0.0008i     0.2947  -0.1080i     0.1614  -0.2342i     0.2867  -0.0578i    -0.0170  +0.2603i 
+    0.1846  +0.4089i    -0.2815  -0.2018i     0.3220  -0.1600i    -0.0526  +0.3937i     0.2747  -0.0655i     0.1045  -0.2159i     0.2085  -0.3104i    -0.3052  +0.1463i 
+   -0.0201  -0.2898i     0.2131  -0.0081i    -0.2165  -0.1055i    -0.1324  -0.3133i     0.1660  -0.1635i     0.2250  -0.1390i    -0.1590  -0.4634i    -0.5310  -0.2239i 
+    0.1342  -0.1295i     0.1128  -0.1990i    -0.0712  -0.1686i    -0.1490  -0.1336i     0.6198  +0.0113i     0.0281  -0.4762i    -0.0462  +0.3244i     0.3464  +0.0086i 
+    0.2305  -0.1358i     0.1292  -0.3311i    -0.0106  +0.4992i     0.3906  +0.0997i     0.1429  +0.3376i    -0.4310  -0.0866i    -0.0894  -0.1336i    -0.1601  -0.1055i 
+   -0.2601  +0.0835i    -0.0940  +0.3652i    -0.0213  -0.3116i    -0.2502  -0.0995i     0.1361  +0.4589i    -0.5898  -0.0730i     0.0294  -0.1192i    -0.1253  +0.0085i 
+
+The vector ALPHAR is 
+  -1.5832   1.5832  -0.0842   0.0842
+
+The vector ALPHAI is 
+   0.5069   0.5069  -0.1642  -0.1642
+
+The vector BETA is 
+   0.7430   0.7430   1.4085   1.4085
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04CD.html b/doc/_static/doc/MB04CD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB04CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04CD">MB04CD</A></H2>
+<H3>
+Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil in factored form to generalized Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transformed matrices A, B and D, using orthogonal
+  matrices Q1, Q2 and Q3 for a real N-by-N regular pencil
+
+                  ( A11   0  ) ( B11   0  )     (  0   D12 )
+    aA*B - bD = a (          ) (          ) - b (          ),    (1)
+                  (  0   A22 ) (  0   B22 )     ( D21   0  )
+
+  where A11, A22, B11, B22 and D12 are upper triangular, D21 is
+  upper quasi-triangular and the generalized matrix product 
+     -1        -1    -1        -1
+  A11   D12 B22   A22   D21 B11   is upper quasi-triangular, such
+  that Q3' A Q2, Q2' B Q1 are upper triangular, Q3' D Q1 is upper
+  quasi-triangular and the transformed pencil
+  a(Q3' A B Q1) - b(Q3' D Q1) is in generalized Schur form. The
+  notation M' denotes the transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04CD( COMPQ1, COMPQ2, COMPQ3, N, A, LDA, B, LDB, D,
+     $                   LDD, Q1, LDQ1, Q2, LDQ2, Q3, LDQ3, IWORK,
+     $                   LIWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2, COMPQ3
+      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
+     $                   LIWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
+     $                   Q3( LDQ3, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
+                  entry, and the matrix Q01*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied on the right to the pencil
+                  aA*B - bD in (1).
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  the array Q2 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q2 is returned;
+          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
+                  entry, and the matrix Q02*Q2 is returned, where Q2
+                  is the product of the orthogonal transformations
+                  that are applied on the left to the pencil
+                  aA*B - bD in (1).
+
+  COMPQ3  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q3, as follows:
+          = 'N':  Q3 is not computed;
+          = 'I':  the array Q3 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q3 is returned;
+          = 'U':  the array Q3 contains an orthogonal matrix Q01 on
+                  entry, and the matrix Q03*Q3 is returned, where Q3
+                  is the product of the orthogonal transformations
+                  that are applied on the right to the pencil
+                  aA*B - bD in (1).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aA*B - bD.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N block diagonal part of this
+          array must contain the matrix A in (1). The off-diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N block diagonal part of this
+          array must contain the matrix B in (1). The off-diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
+          On entry, the leading N-by-N block anti-diagonal part of
+          this array must contain the matrix D in (1). The diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper quasi-triangular matrix.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q01, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q01 and the transformation matrix Q1
+          used to transform the matrices A, B, and D.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N' this array is not referenced.
+
+  LDQ1    INTEGER
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q02, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q02 and the transformation matrix Q2
+          used to transform the matrices A, B, and D.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N' this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+  Q3      (input/output) DOUBLE PRECISION array, dimension (LDQ3, N)
+          On entry, if COMPQ3 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q03, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q03 and the transformation matrix Q3
+          used to transform the matrices A, B and D.
+          On exit, if COMPQ3 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q3.
+          If COMPQ3 = 'N' this array is not referenced.
+
+  LDQ3    INTEGER
+          The leading dimension of the array Q3.
+          LDQ3 &gt;= 1,         if COMPQ3 = 'N';
+          LDQ3 &gt;= MAX(1, N), if COMPQ3 = 'I' or COMPQ3 = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= MAX( N/2+1, 48 ).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -20, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 3*N*N + MAX( N/2 + 252, 432 ).
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the 
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA. 
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm failed to reorder the
+               eigenvalues (the problem is very ill-conditioned) in
+               the SLICOT Library routine MB03KD;
+          = 2: the standard QZ algorithm failed in the LAPACK
+               routine DGGEV, called by the SLICOT routine MB03CD;
+          = 3: the standard QZ algorithm failed in the LAPACK
+               routines DGGES, called by the SLICOT routines MB03CD
+               or MB03ED;
+          = 4: the standard QZ algorithm failed to reorder the
+               eigenvalues in the LAPACK routine DTGSEN, called by
+               the SLICOT routine MB03CD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the periodic QZ algorithm (see also [2] and [3]) is applied
+                                  -1        -1    -1        -1
+  to the formal matrix product A11   D12 B22   A22   D21 B11   to
+  reorder the eigenvalues, i.e., orthogonal matrices V1, V2, V3, V4,
+  V5 and V6 are computed such that V2' A11 V1, V2' D12 V3,
+  V4' B22 V3, V5' A22 V4, V5' D21 V6 and V1' B11 V6 keep the
+  triangular form, but they can be partitioned into 2-by-2 block
+  forms and the last diagonal blocks correspond to all nonpositive
+  real eigenvalues of the formal product, and the first diagonal
+  blocks correspond to the remaining eigenvalues.
+
+  Second, Q1 = diag(V6, V3), Q2 = diag(V1, V4), Q3 = diag(V2, V5)
+  and
+
+                   ( AA11 AA12   0    0  )
+                   (                     )
+                   (   0  AA22   0    0  )
+  A := Q3' A Q2 =: (                     ),
+                   (   0    0  AA33 AA34 )
+                   (                     )
+                   (   0    0    0  AA44 )
+
+                   ( BB11 BB12   0    0  )
+                   (                     )
+                   (   0  BB22   0    0  )
+  B := Q2' B Q1 =: (                     ),
+                   (   0    0  BB33 BB34 )
+                   (                     )
+                   (   0    0    0  BB44 )
+
+                   (   0    0  DD13 DD14 )
+                   (                     )
+                   (   0    0    0  DD24 )
+  D := Q3' D Q1 =: (                     ),
+                   ( DD31 DD32   0    0  )
+                   (                     )
+                   (   0  DD42   0    0  )
+
+                         -1          -1     -1          -1
+  are set, such that AA22   DD24 BB44   AA44   DD42 BB22   has only
+  nonpositive real eigenvalues.
+
+  Third, the permutation matrix
+
+      (  I  0  0  0  )
+      (              )
+      (  0  0  I  0  )
+  P = (              ),
+      (  0  I  0  0  )
+      (              )
+      (  0  0  0  I  )
+
+  where I denotes the identity matrix of appropriate size is used to
+  transform aA*B - bD to block upper triangular form
+
+                ( AA11   0  | AA12   0  )
+                (           |           )
+                (   0  AA33 |   0  AA34 )   ( AA1  *  )
+  A := P' A P = (-----------+-----------) = (         ),
+                (   0    0  | AA22   0  )   (  0  AA2 )
+                (           |           )
+                (   0    0  |   0  AA44 )
+
+                ( BB11   0  | BB12   0  )
+                (           |           )
+                (   0  BB33 |   0  BB34 )   ( BB1  *  )
+  B := P' B P = (-----------+-----------) = (         ),
+                (   0    0  | BB22   0  )   (  0  BB2 )
+                (           |           )
+                (   0    0  |   0  BB44 )
+
+                (   0  DD13 |   0  DD14 )
+                (           |           )
+                ( DD31   0  | DD32   0  )   ( DD1  *  )
+  D := P' D P = (-----------+-----------) = (         ).
+                (   0    0  |   0  DD24 )   (  0  DD2 )
+                (           |           )
+                (   0    0  | DD42   0  )
+
+  Then, further orthogonal transformations that are provided by the
+  SLICOT Library routines MB03ED and MB03CD are used to
+  triangularize the subpencil aAA1 BB1 - bDD1.
+
+  Finally, the subpencil aAA2 BB2 - bDD2 is triangularized by
+  applying a special permutation matrix.
+
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [3] Hench, J. J. and Laub, A. J.
+      Numerical Solution of the discrete-time periodic Riccati
+      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DB.html b/doc/_static/doc/MB04DB.html
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB04DB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DB">MB04DB</A></H2>
+<H3>
+Inverse of a balancing transformation for a real skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply from the left the inverse of a balancing transformation,
+  computed by the SLICOT Library routine MB04DP, to the matrix
+
+            [   V1   ]
+            [        ],
+            [ sgn*V2 ]
+
+  where sgn is either +1 or -1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DB( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
+     $                   V2, LDV2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, SGN
+      INTEGER           ILO, INFO, LDV1, LDV2, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  LSCALE(*), RSCALE(*), V1(LDV1,*), V2(LDV2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of inverse transformation required:
+          = 'N':  do nothing, return immediately;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          JOB must be the same as the argument JOB supplied to
+          MB04DP.
+
+  SGN     CHARACTER*1
+          Specifies the sign to use for V2:
+          = 'P':  sgn = +1;
+          = 'N':  sgn = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrices V1 and V2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          The integer ILO determined by MB04DP.
+          1 &lt;= ILO &lt;= N+1.
+
+  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the left, as returned by MB04DP.
+
+  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the right, as returned by MB04DP.
+
+  M       (input) INTEGER
+          The number of columns of the matrices V1 and V2.  M &gt;= 0.
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V1.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V1 of the transformed
+          matrix.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V2.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V2 of the transformed
+          matrix.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DD.html b/doc/_static/doc/MB04DD.html
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB04DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DD">MB04DD</A></H2>
+<H3>
+Balancing a real Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a real Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       T ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N symmetric
+  matrices. This involves, first, permuting H by a symplectic
+  similarity transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A; and second, applying a
+  diagonal similarity transformation to rows and columns
+  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
+  as possible. Both steps are optional.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           ILO, INFO, LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on H:
+          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced Hamiltonian. In particular,
+          the strictly lower triangular part of the first ILO-1
+          columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the lower and upper triangular parts of the matrices Q and
+          G, respectively, of the balanced Hamiltonian. In
+          particular, the lower triangular part of the first ILO-1
+          columns of QG is zero.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced Hamiltonian matrix.
+
+  SCALE   (output) DOUBLE PRECISION array of dimension (N)
+          Details of the permutations and scaling factors applied to
+          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
+          then rows and columns P(j) and P(j)+N are interchanged
+          with rows and columns j and j+N, respectively. If
+          P(j) &gt; N, then row and column P(j)-N are interchanged with
+          row and column j+N by a generalized symplectic
+          permutation. For j = ILO,...,N the j-th element of SCALE
+          contains the factor of the scaling applied to row and
+          column j.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
+     $                 SCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANTR, DLAPY2
+      EXTERNAL         DLANTR, DLAPY2
+*     .. External Subroutines ..
+      EXTERNAL         MB04DD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 30  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE (NOUT, FMT = 99993)  ILO
+            IF ( ILO.GT.1 ) THEN
+                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
+     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
+     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
+     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DD = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix QG is ')
+99995 FORMAT (20(1X,F12.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ILO = ',I4)
+99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DD EXAMPLE PROGRAM DATA
+       6       B
+         0         0         0         0         0         0
+    0.0994         0         0         0         0    0.9696
+    0.3248         0         0         0    0.4372    0.8308
+         0         0         0    0.0717         0         0
+         0         0         0         0         0    0.1976
+         0         0         0         0         0         0
+         0         0         0         0         0         0         0
+         0         0         0         0    0.0651         0         0
+         0         0         0         0         0         0         0
+         0         0    0.0444         0         0    0.1957         0
+    0.8144         0         0         0    0.3652         0    0.9121
+    0.9023         0         0         0         0         0    1.0945
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DD EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.9696
+       0.0000       0.0000       0.0000       0.0000      -0.8144      -0.9023
+       0.0000       0.0000       0.0000       0.0000       0.1093       0.2077
+       0.0000       0.0000       0.0000       0.0717       0.0000       0.0000
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.1976
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
+
+ The balanced matrix QG is 
+       0.0000       0.0000       0.0994       0.0000       0.0651       0.0000       0.0000
+       0.0000       0.0000       0.0000       0.0812       0.0000       0.0000       0.0000
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
+       0.0000       0.0000       0.1776       0.0000       0.0000       0.1957       0.0000
+       0.0000       0.0000       0.0000       0.0000       0.3652       0.0000       0.9121
+       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       1.0945
+
+ ILO =    3
+
+ Norm of subdiagonal blocks: 0.0    
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DI.html b/doc/_static/doc/MB04DI.html
new file mode 100644
index 00000000..9376f7b5
--- /dev/null
+++ b/doc/_static/doc/MB04DI.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>MB04DI - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DI">MB04DI</A></H2>
+<H3>
+Applying the inverse of a balancing transformation for a real Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the inverse of a balancing transformation, computed by
+  the SLICOT Library routines MB04DD or MB04DS, to a 2*N-by-M matrix
+
+            [   V1   ]
+            [        ],
+            [ sgn*V2 ]
+
+  where sgn is either +1 or -1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DI( JOB, SGN, N, ILO, SCALE, M, V1, LDV1, V2, LDV2,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, SGN
+      INTEGER           ILO, INFO, LDV1, LDV2, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  SCALE(*), V1(LDV1,*), V2(LDV2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of inverse transformation required:
+          = 'N':  do nothing, return immediately;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          JOB must be the same as the argument JOB supplied to
+          MB04DD or MB04DS.
+
+  SGN     CHARACTER*1
+          Specifies the sign to use for V2:
+          = 'P':  sgn = +1;
+          = 'N':  sgn = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrices V1 and V2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          The integer ILO determined by MB04DD or MB04DS.
+          1 &lt;= ILO &lt;= N+1.
+
+  SCALE   (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors, as
+          returned by MB04DD or MB04DS.
+
+  M       (input) INTEGER
+          The number of columns of the matrices V1 and V2.  M &gt;= 0.
+
+  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V1.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V1 of the transformed
+          matrix.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
+
+  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V2.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V2 of the transformed
+          matrix.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DL.html b/doc/_static/doc/MB04DL.html
new file mode 100644
index 00000000..7e483173
--- /dev/null
+++ b/doc/_static/doc/MB04DL.html
@@ -0,0 +1,374 @@
+<HTML>
+<HEAD><TITLE>MB04DL - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DL">MB04DL</A></H2>
+<H3>
+Balancing a real pencil, optionally avoiding large norms for the scaled (sub)matrices 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a pair of N-by-N real matrices (A,B). This involves,
+  first, permuting A and B by equivalence transformations to isolate
+  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
+  on the diagonal of A and B; and second, applying a diagonal
+  equivalence transformation to rows and columns ILO to IHI to make
+  the rows and columns as close in 1-norm as possible. Both steps
+  are optional. Balancing may reduce the 1-norms of the matrices,
+  and improve the accuracy of the computed eigenvalues and/or
+  eigenvectors in the generalized eigenvalue problem
+  A*x = lambda*B*x.
+
+  This routine may optionally improve the conditioning of the
+  scaling transformation compared to the LAPACK routine DGGBAL.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
+     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*), LSCALE(*),
+     $                   RSCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on A and B:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for I = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A and B.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(A(s,s),1)/norm(B(s,s),1),
+                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where A(s,s) and B(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in LSCALE(s) and RSCALE(s), will be
+          at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix A.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix B.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of B is zero.
+          If JOB = 'N', the arrays A and B are not referenced.
+
+  LDB    INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+  IHI     (output) INTEGER
+          ILO and IHI are set to integers such that on exit
+          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
+          j = 1,...,ILO-1 or i = IHI+1,...,N.
+          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the left side of A and B.  If P(j) is the index of the
+          row interchanged with row j, and D(j) is the scaling
+          factor applied to row j, then
+            LSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the right side of A and B.  If P(j) is the index of the
+          column interchanged with column j, and D(j) is the scaling
+          factor applied to column j, then
+            RSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of A(s,s) and B(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = IHI).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying an equivalence transformation
+  to isolate eigenvalues and/or to make the 1-norms of the rows
+  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
+  a search is performed to find those scaling factors giving the
+  smallest norm ratio or product defined above (see the description
+  of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+     Dl*A*Dr and Dl*B*Dr.
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than DGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  No rounding errors appear if JOB = 'P'.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DL EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), DWORK(8*NMAX),
+     $                 LSCALE(NMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04DL
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
+     $                RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )  ILO
+            WRITE ( NOUT, FMT = 99993 )  IHI
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99995 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DL EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DL = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix B is ')
+99995 FORMAT (20(1X,G12.4))
+99994 FORMAT (/' ILO = ',I4)
+99993 FORMAT (/' IHI = ',I4)
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB04DL = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DL EXAMPLE PROGRAM DATA
+       4       B      -3
+         1         0    -1e-12         0
+         0        -2         0         0
+        -1        -1        -1         0
+        -1        -1         0         2
+         1         0         0         0
+         0         1         0         0
+         0         0         1         0
+         0         0         0         1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DL EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    2.000       -1.000        0.000       -1.000    
+    0.000        1.000      -0.1000E-11    0.000    
+    0.000       -1.000       -1.000       -1.000    
+    0.000        0.000        0.000       -2.000    
+
+ The balanced matrix B is 
+    1.000        0.000        0.000        0.000    
+    0.000        1.000        0.000        0.000    
+    0.000        0.000        1.000        0.000    
+    0.000        0.000        0.000        1.000    
+
+ ILO =    2
+
+ IHI =    3
+
+ The permutations and left scaling factors are 
+    2.000        1.000        1.000        2.000    
+
+ The permutations and right scaling factors are 
+    2.000        1.000        1.000        2.000    
+
+ The initial 1-norms of the (sub)matrices are 
+    2.000        1.000    
+
+ The final 1-norms of the (sub)matrices are 
+    2.000        1.000    
+
+ The threshold value finally used is 
+   0.2500E-12
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04DP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DP">MB04DP</A></H2>
+<H3>
+Balancing a real skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the 2*N-by-2*N skew-Hamiltonian/Hamiltonian pencil
+  aS - bH, with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ),  A, C N-by-N,             (1)
+        (  E  A' )         (  W -C' )
+
+  where D and E are skew-symmetric, and V and W are symmetric
+  matrices. This involves, first, permuting aS - bH by a symplectic
+  equivalence transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A and C; and second, applying
+  a diagonal equivalence transformation to make the pairs of rows
+  and columns ILO:N and N+ILO:2*N as close in 1-norm as possible.
+  Both steps are optional. Balancing may reduce the 1-norms of the
+  matrices S and H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), C(LDC,*), DE(LDDE,*), DWORK(*),
+     $                   LSCALE(*), RSCALE(*), VW(LDVW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on S and H:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for i = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(H(s,s),1)/norm(S(s,s),1),
+                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where S(s,s) and H(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
+          will be at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced skew-Hamiltonian matrix S.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N+1)
+          On entry, the leading N-by-N strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N-by-N strictly upper triangular part of the submatrix
+          in the columns 2 to N+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array need not be set, but are assumed to be zero.
+          On exit, the leading N-by-N strictly lower triangular
+          part of this array contains the strictly lower triangular
+          part of the balanced matrix E, and the N-by-N strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N+1 of this array contains the strictly upper triangular
+          part of the balanced matrix D. In particular, the strictly
+          lower triangular part of the first ILO-1 columns of DE is
+          zero.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix C.
+          On exit, the leading N-by-N part of this array contains
+          the matrix C of the balanced Hamiltonian matrix H.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of C is zero.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
+
+  VW      (input/output) DOUBLE PRECISION array, dimension
+                         (LDVW, N+1)
+          On entry, the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          symmetric matrix W, and the N-by-N upper triangular
+          part of the submatrix in the columns 2 to N+1 of this
+          array must contain the upper triangular part of the
+          symmetric matrix V.
+          On exit, the leading N-by-N lower triangular part of this
+          array contains the lower triangular part of the balanced
+          matrix W, and the N-by-N upper triangular part of the
+          submatrix in the columns 2 to N+1 of this array contains
+          the upper triangular part of the balanced matrix V. In
+          particular, the lower triangular part of the first ILO-1
+          columns of VW is zero.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
+          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
+          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of LSCALE contains the factor of the scaling applied to
+          row j of the matrices A, D, C, and V.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
+          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of RSCALE contains the factor of the scaling applied to
+          column j of the matrices A, E, C, and W.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of S(s,s) and H(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = N).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a (symplectic) equivalence
+  transformation to isolate eigenvalues and/or to make the 1-norms
+  of each pair of rows and columns indexed by s of S and H nearly
+  equal. If THRESH &lt; 0, a search is performed to find those scaling
+  factors giving the smallest norm ratio or product defined above
+  (see the description of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
+    (       ) (       ) (       ),  (       ) (       ) (       ).
+    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than DGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The transformations used preserve the skew-Hamiltonian/Hamiltonian
+  structure and do not introduce significant rounding errors.
+  No rounding errors appear if JOB = 'P'. If T is the global
+  transformation matrix applied to the right, then J'*T*J is the
+  global transformation matrix applied to the left, where
+  J = [ 0 I; -I 0 ], with blocks of order N.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDC, LDDE, LDVW
+      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
+     $                   LDVW = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DWORK(8*NMAX), C(LDC, NMAX),
+     $                 DE(LDDE, NMAX+1), LSCALE(NMAX), RSCALE(NMAX),
+     $                 VW(LDVW, NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04DP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
+20          CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99992 )  ILO
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99993 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99993 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DP EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DP = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix DE is ')
+99995 FORMAT (' The balanced matrix C is ')
+99994 FORMAT (/' The balanced matrix VW is ')
+99993 FORMAT (20(1X,G12.4))
+99992 FORMAT (/' ILO = ',I4)
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB04DP = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DP EXAMPLE PROGRAM DATA
+       2       B      -3
+         1         0
+         0         1
+         0         0         0
+         0         0         0
+         1         0
+         0        -2
+        -1  -1.0e-12         0
+        -1        -1         0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DP EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    1.000        0.000    
+    0.000        1.000    
+
+ The balanced matrix DE is 
+    0.000        0.000        0.000    
+    0.000        0.000        0.000    
+ The balanced matrix C is 
+    2.000        1.000    
+    0.000        1.000    
+
+ The balanced matrix VW is 
+    0.000        1.000        0.000    
+    0.000       -1.000      -0.1000E-11
+
+ ILO =    2
+
+ The permutations and left scaling factors are 
+    4.000        1.000    
+
+ The permutations and right scaling factors are 
+    4.000        1.000    
+
+ The initial 1-norms of the (sub)matrices are 
+    1.000        2.000    
+
+ The final 1-norms of the (sub)matrices are 
+    1.000        2.000    
+
+ The threshold value finally used is 
+   -3.000    
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DS.html b/doc/_static/doc/MB04DS.html
new file mode 100644
index 00000000..ee0037df
--- /dev/null
+++ b/doc/_static/doc/MB04DS.html
@@ -0,0 +1,238 @@
+<HTML>
+<HEAD><TITLE>MB04DS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DS">MB04DS</A></H2>
+<H3>
+Balancing a real skew-Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a real skew-Hamiltonian matrix
+
+                [  A   G  ]
+           S =  [       T ] ,
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices. This involves, first, permuting S by a symplectic
+  similarity transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A; and second, applying a
+  diagonal similarity transformation to rows and columns
+  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
+  as possible. Both steps are optional.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           ILO, INFO, LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on S:
+          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced skew-Hamiltonian. In
+          particular, the strictly lower triangular part of the
+          first ILO-1 columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G. The parts containing the
+          diagonal and the first supdiagonal of this array are not
+          referenced.
+          On exit, the leading N-by-N+1 part of this array contains
+          the strictly lower and strictly upper triangular parts of
+          the matrices Q and G, respectively, of the balanced
+          skew-Hamiltonian. In particular, the strictly lower
+          triangular part of the first ILO-1 columns of QG is zero.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced skew-Hamiltonian matrix.
+
+  SCALE   (output) DOUBLE PRECISION array of dimension (N)
+          Details of the permutations and scaling factors applied to
+          S.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
+          then rows and columns P(j) and P(j)+N are interchanged
+          with rows and columns j and j+N, respectively. If
+          P(j) &gt; N, then row and column P(j)-N are interchanged with
+          row and column j+N by a generalized symplectic
+          permutation. For j = ILO,...,N the j-th element of SCALE
+          contains the factor of the scaling applied to row and
+          column j.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DS EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
+     $                 SCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANTR, DLAPY2
+      EXTERNAL         DLANTR, DLAPY2
+*     .. External Subroutines ..
+      EXTERNAL         MB04DS
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 30  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE (NOUT, FMT = 99993)  ILO
+            IF ( ILO.GT.1 ) THEN
+                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
+     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
+     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
+     $                 N-1, ILO-1, QG(2,1), LDQG, DUMMY ) )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DS EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DS = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix QG is ')
+99995 FORMAT (20(1X,F9.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ILO = ',I4)
+99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DS EXAMPLE PROGRAM DATA
+       6       B
+    0.0576         0    0.5208         0    0.7275   -0.7839
+    0.1901    0.0439    0.1663    0.0928    0.6756   -0.5030
+    0.5962         0    0.4418         0   -0.5955    0.7176
+    0.5869         0    0.3939    0.0353    0.6992   -0.0147
+    0.2222         0   -0.3663         0    0.5548   -0.4608
+         0         0         0         0         0    0.1338
+         0         0   -0.9862   -0.4544   -0.4733    0.4435         0
+         0         0         0   -0.6927    0.6641    0.4453         0
+   -0.3676         0         0         0    0.0841    0.3533         0
+         0         0         0         0         0    0.0877         0
+    0.9561         0    0.4784         0         0         0         0
+   -0.0164   -0.4514   -0.8289   -0.6831   -0.1536         0         0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DS EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    0.1338    0.4514    0.6831    0.8289    0.1536    0.0164
+    0.0000    0.0439    0.0928    0.1663    0.6756    0.1901
+    0.0000    0.0000    0.0353    0.3939    0.6992    0.5869
+    0.0000    0.0000    0.0000    0.4418   -0.5955    0.5962
+    0.0000    0.0000    0.0000   -0.3663    0.5548    0.2222
+    0.0000    0.0000    0.0000    0.5208    0.7275    0.0576
+
+ The balanced matrix QG is 
+    0.0000    0.0000    0.5030    0.0147   -0.7176    0.4608    0.7839
+    0.0000    0.0000    0.0000    0.6641   -0.6927    0.4453    0.9862
+    0.0000    0.0000    0.0000    0.0000   -0.0841    0.0877    0.4733
+    0.0000    0.0000    0.0000    0.0000    0.0000    0.3533    0.4544
+    0.0000    0.0000    0.0000    0.4784    0.0000    0.0000   -0.4435
+    0.0000    0.0000    0.0000    0.3676   -0.9561    0.0000    0.0000
+
+ ILO =    4
+
+ Norm of subdiagonal blocks: 0.0    
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DY.html b/doc/_static/doc/MB04DY.html
new file mode 100644
index 00000000..6b2d9b9e
--- /dev/null
+++ b/doc/_static/doc/MB04DY.html
@@ -0,0 +1,301 @@
+<HTML>
+<HEAD><TITLE>MB04DY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DY">MB04DY</A></H2>
+<H3>
+Symplectic scaling of a Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform a symplectic scaling on the Hamiltonian matrix
+
+           ( A    G  )
+       H = (       T ),                                          (1)
+           ( Q   -A  )
+
+  i.e., perform either the symplectic scaling transformation
+
+                                -1
+              ( A'   G'  )   ( D   0 ) ( A   G  ) ( D  0   )
+       H' &lt;-- (        T ) = (       ) (      T ) (     -1 ),    (2)
+              ( Q'  -A'  )   ( 0   D ) ( Q  -A  ) ( 0  D   )
+
+  where D is a diagonal scaling matrix, or the symplectic norm
+  scaling transformation
+
+               ( A''   G''  )    1  (   A   G/tau )
+       H'' &lt;-- (          T ) = --- (           T ),             (3)
+               ( Q''  -A''  )   tau ( tau Q   -A  )
+
+  where tau is a real scalar.  Note that if tau is not equal to 1,
+  then (3) is NOT a similarity transformation.  The eigenvalues
+  of H are then tau times the eigenvalues of H''.
+
+  For symplectic scaling (2), D is chosen to give the rows and
+  columns of A' approximately equal 1-norms and to give Q' and G'
+  approximately equal norms.  (See METHOD below for details.) For
+  norm scaling, tau = MAX(1, ||A||, ||G||, ||Q||) where ||.||
+  denotes the 1-norm (column sum norm).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDQG, N
+      CHARACTER         JOBSCL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(*), QG(LDQG,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBSCL  CHARACTER*1
+          Indicates which scaling strategy is used, as follows:
+          = 'S'       :  do the symplectic scaling (2);
+          = '1' or 'O':  do the 1-norm scaling (3);
+          = 'N'       :  do nothing; set INFO and return.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
+          this array must contain the upper left block A of the
+          Hamiltonian matrix H in (1).
+          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
+          this array contains the leading N-by-N part of the scaled
+          Hamiltonian matrix H' in (2) or H'' in (3), depending on
+          the setting of JOBSCL.
+          If JOBSCL = 'N', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
+          LDA &gt;= 1,        if JOBSCL =  'N'.
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+          (LDQG,N+1)
+          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangle of the lower left symmetric block Q of the
+          Hamiltonian matrix H in (1), and the N-by-N upper
+          triangular part of the submatrix in the columns 2 to N+1
+          of this array must contain the upper triangle of the upper
+          right symmetric block G of H in (1).
+          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
+          and G(i,j) = G(j,i) is stored in QG(j,i+1).
+          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
+          triangular part of this array contains the lower triangle
+          of the lower left symmetric block Q' or Q'', and the
+          N-by-N upper triangular part of the submatrix in the
+          columns 2 to N+1 of this array contains the upper triangle
+          of the upper right symmetric block G' or G'' of the scaled
+          Hamiltonian matrix H' in (2) or H'' in (3), depending on
+          the setting of JOBSCL.
+          If JOBSCL = 'N', this array is not referenced.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.
+          LDQG &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
+          LDQG &gt;= 1,        if JOBSCL =  'N'.
+
+  D       (output) DOUBLE PRECISION array, dimension (nd)
+          If JOBSCL = 'S', then nd = N and D contains the diagonal
+          elements of the diagonal scaling matrix in (2).
+          If JOBSCL = '1' or 'O', then nd = 1 and D(1) is set to tau
+          from (3). In this case, no other elements of D are
+          referenced.
+          If JOBSCL = 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+          If JOBSCL = 'N', this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  1. Symplectic scaling (JOBSCL = 'S'):
+
+  First, LAPACK subroutine DGEBAL is used to equilibrate the 1-norms
+  of the rows and columns of A using a diagonal scaling matrix D_A.
+  Then, H is similarily transformed by the symplectic diagonal
+  matrix D1 = diag(D_A,D_A**(-1)).  Next, the off-diagonal blocks of
+  the resulting Hamiltonian matrix are equilibrated in the 1-norm
+  using the symplectic diagonal matrix D2 of the form
+
+              ( I/rho    0   )
+         D2 = (              )
+              (   0    rho*I )
+
+  where rho is a real scalar. Thus, in (2), D = D1*D2.
+
+  2. Norm scaling (JOBSCL = '1' or 'O'):
+
+  The norm of the matrices A and G of (1) is reduced by setting
+  A := A/tau  and  G := G/(tau**2) where tau is the power of the
+  base of the arithmetic closest to MAX(1, ||A||, ||G||, ||Q||) and
+  ||.|| denotes the 1-norm.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., and Barth, E.
+      Fortran 77 Subroutines for Computing the Eigenvalues of
+      Hamiltonian Matrices. I: The Square-Reduced Method.
+      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  For symplectic scaling, the complexity of the used algorithms is
+  hard to estimate and depends upon how well the rows and columns of
+  A in (1) are equilibrated.  In one sweep, each row/column of A is
+  scaled once, i.e., the cost of one sweep is N**2 multiplications.
+  Usually, 3-6 sweeps are enough to equilibrate the norms of the
+  rows and columns of a matrix.  Roundoff errors are possible as
+  LAPACK routine DGEBAL does NOT use powers of the machine base for
+  scaling. The second stage (equilibrating ||G|| and ||Q||) requires
+  N**2 multiplications.
+  For norm scaling, 3*N**2 + O(N) multiplications are required and
+  NO rounding errors occur as all multiplications are performed with
+  powers of the machine base.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DY EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      JOBSCL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), D(NMAX), DWORK(LDWORK),
+     $                 QG(LDQG,NMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04DY
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOBSCL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99998 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
+*        Scale the Hamiltonian matrix.
+         CALL MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+*           Show the scaled Hamiltonian matrix.
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+              WRITE ( NOUT, FMT = 99993 )  ( A(I,J),    J = 1,N ),
+     $           ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
+10          CONTINUE
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) (  QG(I,J), J = 1,I-1 ),
+     $               ( QG(J,I), J = I,N ), ( -A(J,I),  J = 1,N )
+20          CONTINUE
+*           Show the scaling factors.
+            IF ( LSAME( JOBSCL, 'S' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+               WRITE ( NOUT, FMT = 99993 ) ( D(I), I = 1,N )
+            ELSE IF ( LSAME( JOBSCL, '1' ) .OR. LSAME( JOBSCL, 'O' ) )
+     $            THEN
+               WRITE ( NOUT, FMT = 99994 )
+               WRITE ( NOUT, FMT = 99993 ) D(1)
+            END IF
+         ENDIF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04DY EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' N is out of range.',/' N = ',I5)
+99997 FORMAT (' INFO on exit from MB04DY = ',I2)
+99996 FORMAT (/' The scaled Hamiltonian is ')
+99995 format (/' The scaling factors are ')
+99994 format (/' The scaling factor tau is ')
+99993 FORMAT (1X,8(F10.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DY EXAMPLE PROGRAM DATA
+3 S
+-0.4   0.05  0.0007   
+-4.7   0.8   0.025   
+81.0  29.0  -0.9        
+0.0034  0.0014  0.00077 -0.005  0.0004  0.003
+-18.0 -12.0  43.0  99.0  420.0  -200.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DY EXAMPLE PROGRAM RESULTS
+
+
+ The scaled Hamiltonian is 
+    -0.4000    0.4000    0.3584  418.4403   21.5374    0.1851
+    -0.5875    0.8000    1.6000   21.5374   -9.6149    0.0120
+     0.1582    0.4531   -0.9000    0.1851    0.0120    0.0014
+    -0.0001   -0.0008    0.1789    0.4000    0.5875   -0.1582
+    -0.0008    0.0515   13.9783   -0.4000   -0.8000   -0.4531
+     0.1789   13.9783 -426.0056   -0.3584   -1.6000    0.9000
+
+ The scaling factors are 
+     0.0029    0.0228    1.4595
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04DZ.html b/doc/_static/doc/MB04DZ.html
new file mode 100644
index 00000000..c9c21863
--- /dev/null
+++ b/doc/_static/doc/MB04DZ.html
@@ -0,0 +1,242 @@
+<HTML>
+<HEAD><TITLE>MB04DZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04DZ">MB04DZ</A></H2>
+<H3>
+Balancing a complex Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a complex Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       H ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N Hermitian
+  matrices. This involves, first, permuting H by a symplectic
+  similarity transformation to isolate eigenvalues in the first
+  1:ILO-1 elements on the diagonal of A; and second, applying a
+  diagonal similarity transformation to rows and columns
+  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
+  as possible. Both steps are optional. Assuming ILO = 1, let D be a
+  diagonal matrix of order N with the scaling factors on the
+  diagonal. The scaled Hamiltonian is defined by
+
+                 [  D**-1*A*D   D**-1*G*D**-1  ]
+           Hs =  [                   H         ] .
+                 [    D*Q*D      -D*A *D**-1   ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           ILO, INFO, LDA, LDQG, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  SCALE(*)
+      COMPLEX*16        A(LDA,*), QG(LDQG,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on H:
+          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced Hamiltonian. In particular,
+          the strictly lower triangular part of the first ILO-1
+          columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) COMPLEX*16 array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the lower and upper triangular parts of the matrices Q and
+          G, respectively, of the balanced Hamiltonian. In
+          particular, the lower triangular part of the first ILO-1
+          columns of QG is zero.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced Hamiltonian matrix.
+
+  SCALE   (output) DOUBLE PRECISION array of dimension (N)
+          Details of the permutations and scaling factors applied to
+          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
+          then rows and columns P(j) and P(j)+N are interchanged
+          with rows and columns j and j+N, respectively. If
+          P(j) &gt; N, then row and column P(j)-N are interchanged with
+          row and column j+N by a generalized symplectic
+          permutation. For j = ILO,...,N the j-th element of SCALE
+          contains the factor of the scaling applied to row and
+          column j.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04DZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, J, N
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, NMAX), QG(LDQG, NMAX+1)
+      DOUBLE PRECISION DUMMY(1), SCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLAPY2, ZLANTR
+      EXTERNAL         DLAPY2, ZLANTR
+*     .. External Subroutines ..
+      EXTERNAL         MB04DZ
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N
+               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
+   20       CONTINUE
+            WRITE (NOUT, FMT = 99993)  ILO
+            IF ( ILO.GT.1 ) THEN
+                WRITE (NOUT, FMT = 99992) DLAPY2( ZLANTR( 'Frobenius',
+     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
+     $                 DUMMY ), ZLANTR( 'Frobenius', 'Lower', 'No Unit',
+     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB04DZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04DZ = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix QG is ')
+99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' ILO = ',I4)
+99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04DZ EXAMPLE PROGRAM DATA
+       6       B
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+  (.0994,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.9696,0)
+  (.3248,0)  (0,0)      (0,0)      (0,0)  (.4372,0)  (.8308,0)
+      (0,0)  (0,0)      (0,0)  (.0717,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.1976,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)  (.0651,0)      (0,0)      (0,0)
+      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
+      (0,0)  (0,0)  (.0444,0)      (0,0)      (0,0)  (.1957,0)      (0,0)
+  (.8144,0)  (0,0)      (0,0)      (0,0)  (.3652,0)      (0,0)  (.9121,0)
+  (.9023,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)  1.0945,0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04DZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.9696  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8144  +0.0000i    -0.9023  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1093  +0.0000i     0.2077  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0717  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1976  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+
+ The balanced matrix QG is 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0994  +0.0000i     0.0000  +0.0000i     0.0651  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0812  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.1776  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1957  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3652  +0.0000i     0.0000  +0.0000i     0.9121  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.0945  +0.0000i 
+
+ ILO =    3
+
+ Norm of subdiagonal blocks: 0.0    
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04ED.html b/doc/_static/doc/MB04ED.html
new file mode 100644
index 00000000..fcdbb864
--- /dev/null
+++ b/doc/_static/doc/MB04ED.html
@@ -0,0 +1,543 @@
+<HTML>
+<HEAD><TITLE>MB04ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ED">MB04ED</A></H2>
+<H3>
+Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil in factored form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  skew-Hamiltonian pencil aS - bT with
+
+                          (  B  F  )            (  0  I  )
+    S = J Z' J' Z and T = (        ), where J = (        ).      (1)
+                          (  G  B' )            ( -I  0  )
+
+  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
+  to the structured Schur form: an orthogonal transformation matrix
+  Q and an orthogonal symplectic transformation matrix U are
+  computed, such that
+
+             (  Z11  Z12  )
+    U' Z Q = (            ) = Zout, and
+             (   0   Z22  )
+                                                                 (2)
+                  (  Bout  Fout  )
+    J Q' J' T Q = (              ),
+                  (   0    Bout' )
+
+  where Z11 and Z22' are upper triangular and Bout is upper quasi-
+  triangular. The notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I', the orthogonal transformation matrix Q
+  will be computed.
+  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
+  symplectic transformation matrix
+
+        (  U1  U2  )
+    U = (          )
+        ( -U2  U1  )
+
+  will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
+     $                   Q, LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI,
+     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            INFO, LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
+     $                   LIWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
+     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
+     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E':  compute the eigenvalues only; Z and T will not
+                  necessarily be put into the forms in (2);
+          = 'T':  put Z and T into the forms in (2), and return the
+                  eigenvalues in ALPHAR, ALPHAI and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned.
+
+  COMPU   CHARACTER*1
+          Specifies whether to compute the orthogonal symplectic
+          transformation matrix U as follows:
+          = 'N':  U is not computed;
+          = 'I':  the array U is initialized internally to the unit
+                  matrix, and the orthogonal matrix U is returned;
+          = 'U':  the arrays U1 and U2 contain the corresponding
+                  submatrices of an orthogonal symplectic matrix U0
+                  on entry, and the updated submatrices U1 and U2
+                  of the matrix product U0*U are returned, where U
+                  is the product of the orthogonal symplectic
+                  transformations that are applied to the pencil
+                  aS - bT to reduce Z and T to the forms in (2), for
+                  COMPU = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bT.  N &gt;= 0, even.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Z.
+          On exit, if JOB = 'T', the leading N-by-N part of this
+          array contains the matrix Zout; otherwise, it contains the
+          matrix Z just before the application of the periodic QZ
+          algorithm. The entries in the rows N/2+1 to N and the
+          first N/2 columns are unchanged.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains the
+          matrix B just before the application of the periodic QZ
+          algorithm.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix G, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix F.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns 2 to
+          N/2+1 of this array contains the strictly upper triangular
+          part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix F just before the application
+          of the QZ algorithm.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          Moreover, the diagonal and the first subdiagonal of this
+          array on exit coincide to the corresponding diagonals of
+          this array on entry.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On exit, if COMPQ = 'I', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix Q.
+          On exit, if COMPQ = 'N', the leading N-by-N part of this
+          array contains the orthogonal matrix Q1, such that
+
+                   (  Z11  Z12  )
+            Z*Q1 = (            ),
+                   (   0   Z22  )
+
+          where Z11 and Z22' are upper triangular (the first step
+          of the algorithm).
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1, N).
+
+  U1      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU1, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper left block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper left block U1 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and T.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper left block U1 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.
+          LDU1 &gt;= 1,           if COMPU = 'N';
+          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  U2      (input/output) DOUBLE PRECISION array, dimension
+                         (LDU2, N/2)
+          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
+          of this array must contain the upper right block of a
+          given matrix U0, and on exit, the leading N/2-by-N/2 part
+          of this array contains the updated upper right block U2 of
+          the product of the input matrix U0 and the transformation
+          matrix U used to transform the matrices Z and T.
+          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
+          of this array contains the upper right block U2 of the
+          orthogonal symplectic transformation matrix U.
+          If COMPU = 'N' this array is not referenced.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.
+          LDU2 &gt;= 1,           if COMPU = 'N';
+          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bT.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bT.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) = -ALPHAI(j).
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bT.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bT, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
+          the pencil, every eigenvalue occurs twice and thus it has
+          only to be saved once in ALPHAR, ALPHAI and BETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          On exit, if INFO = 3, IWORK(1) contains the number of
+          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
+          IWORK(2), ..., IWORK(q+1) indicate their indices.
+          Specifically, a positive value is an index of a real or
+          purely imaginary eigenvalue, corresponding to a 1-by-1
+          block, while the absolute value of a negative entry in
+          IWORK is an index to the first eigenvalue in a pair of
+          consecutively stored eigenvalues, corresponding to a
+          2-by-2 block. A 2-by-2 block may have two complex, two
+          real, two purely imaginary, or one real and one purely
+          imaginary eigenvalue.
+          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
+          the starting location in DWORK of the i-th triplet of
+          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
+          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
+          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
+          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
+          corresponding to unreliable eigenvalues. IWORK(2*q+4)
+          contains the total number t of the 2-by-2 blocks.
+          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.  LIWORK &gt;= N+9.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
+          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
+          Frobenius norms of the factors of the formal matrix
+          product used by the algorithm. In addition, DWORK(5), ...,
+          DWORK(4+3*s) contain the s triplet values corresponding
+          to the 1-by-1 blocks. Their eigenvalues are real or purely
+          imaginary. Such an eigenvalue is obtained as a1/a2/a3,
+          where a1, ..., a3 are the corresponding triplet values.
+          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
+          t groups of triplet 2-by-2 matrices corresponding to the
+          2-by-2 blocks. Their eigenvalue pairs are either complex,
+          or placed on the real and imaginary axes. Such an
+          eigenvalue pair is the spectrum of the matrix product
+          A1*inv(A2)*inv(A3), where A1, ..., A3 define the
+          corresponding 2-by-2 matrix triplet.
+          On exit, if INFO = -23, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'E' and COMPQ = 'N' and COMPU = 'N',
+                LDWORK &gt;= 3/4*N**2+MAX(3*N, 27);
+          else, LDWORK &gt;= 3/2*N**2+MAX(3*N, 27).
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: problem during computation of the eigenvalues;
+          = 2: periodic QZ algorithm did not converge in the SLICOT
+               Library subroutine MB03BD;
+          = 3: some eigenvalues might be inaccurate, and details can
+               be found in IWORK and DWORK. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in Z and T such that Z is in a special block
+  triangular form and T is in skew-Hamiltonian Hessenberg form:
+
+      (  Z11  Z12  )      (  B1  F1  )
+  Z = (            ), T = (          ),
+      (   0   Z22  )      (   0  B1' )
+
+  with Z11 and Z22' upper triangular and B1 upper Hessenberg.
+  Subsequently, the periodic QZ algorithm is applied to the pencil
+  aZ22' Z11 - bB1 to determine orthogonal matrices Q1, Q2 and U such
+  that U' Z11 Q1, Q2' Z22' U are upper triangular and Q2' B1 Q1 is
+  upper quasi-triangular. See also page 35 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 60 )
+      INTEGER            LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
+     $                   LIWORK
+      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2,
+     $                     LDQ = NMAX,   LDU1 = NMAX/2, LDU2 = NMAX/2,
+     $                     LDWORK = 3*NMAX**2/2 + MAX( NMAX, 24 ) + 3,
+     $                     LDZ = NMAX, LIWORK = NMAX + 9 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, COMPU, JOB
+      INTEGER            I, INFO, J, N
+*
+*     .. Local Arrays ..
+      INTEGER            IWORK( LIWORK )
+      DOUBLE PRECISION   ALPHAI( NMAX/2 ),   ALPHAR( NMAX/2 ),
+     $                   B( LDB, NMAX/2 ),     BETA( NMAX/2 ),
+     $                   DWORK( LDWORK ),  FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, NMAX ),   U1( LDU1, NMAX/2 ),
+     $                   U2( LDU2, NMAX/2 ), Z( LDZ, NMAX )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04ED
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MAX, MOD
+*
+*     .. Executable statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*
+*     Skip first line in data file.
+*
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
+      READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I = 1, N )
+      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      IF( LSAME( COMPU, 'U' ) ) THEN
+         READ( NIN, FMT = * ) ( ( U1( I, J ), J = 1, N/2 ), I = 1, N/2 )
+         READ( NIN, FMT = * ) ( ( U2( I, J ), J = 1, N/2 ), I = 1, N/2 )
+      END IF
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+*
+*        Test of MB04ED.
+*
+         CALL MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG, Q,
+     $                LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI, BETA,
+     $                IWORK, LIWORK, DWORK, LDWORK, INFO )
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Z(I,J), J = 1, N )
+   10       CONTINUE
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( B(I,J), J = 1, N/2 )
+   20       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            DO 30 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( FG(I,J), J = 1, N/2+1 )
+   30       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99991 )
+            DO 40 I = 1, N
+               WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
+   40       CONTINUE
+            IF ( .NOT.LSAME( COMPU, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99990 )
+               DO 50 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( U1( I, J ), J = 1, N/2 )
+   50          CONTINUE
+               WRITE( NOUT, FMT = 99989 )
+               DO 60 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( U2( I, J ), J = 1, N/2 )
+   60          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( 'MB04ED EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04ED = ', I2 )
+99996 FORMAT (/' The transformed matrix Z is' )
+99995 FORMAT ( 60( 1X, F8.4 ) )
+99994 FORMAT (/' The transformed matrix B is' )
+99993 FORMAT (/' The transformed matrix FG is' )
+99992 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
+     $       )
+99991 FORMAT (/' The matrix Q is ' )
+99990 FORMAT (/' The upper left block of the matrix U is ' )
+99989 FORMAT (/' The upper right block of the matrix U is ' )
+      END
+ 
+ 
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04ED EXAMPLE PROGRAM DATA
+   T   I   I   8
+   0.0949    3.3613   -4.7663   -0.5534    0.6408   -3.2793    3.4253    2.9654
+   0.1138   -1.5903    2.1837   -4.1648   -4.3775   -1.7454    0.1744    2.3262
+   2.7505    4.4048    4.4183    3.0478    2.7728    2.3048   -0.6451   -1.2045
+   3.6091   -4.1716    3.4461    3.6880   -0.0985    3.8458    0.2528   -1.3859
+   0.4352   -3.2829    3.7246    0.4794   -0.3690   -1.5562   -3.4817   -2.2902
+   1.3080   -3.9881   -3.5497    3.5020    2.2582    4.4764   -4.4080   -1.6818
+   1.1308   -1.5087    2.4730    2.1553   -1.7129   -4.8669   -2.4102    4.2274
+   4.7933   -4.3671   -0.0473   -2.0092    1.2439   -4.7385    3.4242   -0.2764
+   2.0936    1.5510    4.5974    2.5127
+   2.5469   -3.3739   -1.5961   -2.4490
+  -2.2397   -3.8100    0.8527    0.0596
+   1.7970   -0.0164   -2.7619    1.9908
+   1.0000    2.0000   -4.0500    1.3353    0.2899
+  -0.4318    2.0000    2.0000   -2.9860   -0.0160
+   1.0241    0.9469    2.0000    2.0000    1.3303
+   0.0946   -0.1272   -4.4003    2.0000    2.0000
+ 
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04ED EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix Z is
+  -2.5678  -2.9888   0.4304  -2.8719   2.7331   1.3072   1.7565   2.8246
+   0.0000  -3.8520  -6.0992   6.2935  -3.0386  -5.5317  -1.2189   3.9973
+   0.0000   0.0000   4.4560   4.4602   0.6080  -4.4326   3.7959  -0.6297
+   0.0000   0.0000   0.0000   7.0155   1.5557   2.1441   3.6649  -2.3864
+   0.4352  -3.2829   3.7246   0.4794  -5.3205   0.0000   0.0000   0.0000
+   1.3080  -3.9881  -3.5497   3.5020   2.2466   6.9633   0.0000   0.0000
+   1.1308  -1.5087   2.4730   2.1553  -1.7204  -0.8164   8.1468   0.0000
+   4.7933  -4.3671  -0.0473  -2.0092  -3.9547   0.2664   1.0382   5.5977
+
+ The transformed matrix B is
+   3.8629  -1.3266   0.1253   2.1882
+   0.0000   3.7258  -3.5913  -2.4583
+   0.0000  -3.6551  -2.5063  -0.8378
+   0.0000   0.0000   0.0000  -6.7384
+
+ The transformed matrix FG is
+   1.0000   2.0000  -0.7448  -1.2359  -1.3653
+   0.0158   2.0000   2.0000   3.4030   3.2344
+  -1.1665   2.5791   2.0000   2.0000  -0.4096
+   3.3823  -1.2344   3.9016   2.0000   2.0000
+
+ The real, imaginary, and beta parts of eigenvalues are
+   1.1310  -0.0697  -0.0697  -0.6864
+   0.0000   0.6035  -0.6035   0.0000
+   4.0000   4.0000   4.0000   4.0000
+
+ The matrix Q is 
+  -0.6042  -0.4139  -0.4742   0.1400  -0.2947   0.3462  -0.0980   0.0534
+  -0.3706   0.1367   0.4442  -0.1381  -0.1210   0.2913   0.7248  -0.0524
+   0.1325  -0.2735  -0.0515  -0.5084  -0.3163  -0.2855   0.1638   0.6619
+   0.2373   0.5514  -0.4988   0.3373  -0.3852  -0.0007   0.3329   0.1339
+   0.4777  -0.4517   0.2739   0.5172  -0.0775   0.3874   0.1088   0.2395
+  -0.0116  -0.4372  -0.1843   0.2474   0.1236  -0.6052   0.4772  -0.3228
+   0.1237  -0.0310  -0.4300  -0.2090   0.7209   0.3408   0.2898   0.1883
+   0.4245  -0.1871  -0.1803  -0.4655  -0.3304   0.2849   0.0623  -0.5843
+
+ The upper left block of the matrix U is 
+   0.0154  -0.5058  -0.5272   0.6826
+   0.4829  -0.1519  -0.2921  -0.3491
+   0.4981   0.1532   0.1019   0.1810
+  -0.0188   0.6270  -0.5260   0.0587
+
+ The upper right block of the matrix U is 
+   0.0000   0.0000   0.0000   0.0000
+   0.3179  -0.4312  -0.1802  -0.4659
+   0.5644   0.0873   0.4480   0.3979
+  -0.3137  -0.3330   0.3413   0.0239
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04FD.html b/doc/_static/doc/MB04FD.html
new file mode 100644
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@@ -0,0 +1,472 @@
+<HTML>
+<HEAD><TITLE>MB04FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04FD">MB04FD</A></H2>
+<H3>
+Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  skew-Hamiltonian pencil aS - bT with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and T = (        ).                           (1)
+        (  E  A' )         (  G  B' )
+
+  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
+  to the structured Schur form: an orthogonal transformation matrix
+  Q is computed such that
+
+                  (  Aout  Dout  )
+    J Q' J' S Q = (              ), and
+                  (   0    Aout' )
+                                                                 (2)
+                  (  Bout  Fout  )            (  0  I  )
+    J Q' J' T Q = (              ), where J = (        ),
+                  (   0    Bout' )            ( -I  0  )
+
+  Aout is upper triangular, and Bout is upper quasi-triangular. The
+  notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
+  transformation matrix Q will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E':  compute the eigenvalues only; S and T will not
+                  necessarily be put into skew-Hamiltonian
+                  triangular form (2);
+          = 'T':  put S and T into skew-Hamiltonian triangular form
+                  (2), and return the eigenvalues in ALPHAR, ALPHAI
+                  and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the product Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bT to reduce
+                  S and T to the forms in (2), for COMPQ = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bT.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains
+          meaningless elements, except for the diagonal blocks,
+          which are correctly set.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains
+          meaningless elements, except for the diagonal 1-by-1 and
+          2-by-2 blocks, which are correctly set.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix G, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix F.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix F just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and T.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bT.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bT.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bT.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bT, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
+          the pencil, every eigenvalue occurs twice and thus it has
+          only to be saved once in ALPHAR, ALPHAI and BETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N/2+1)
+          On exit, IWORK(1) contains the number of (pairs of)
+          possibly inaccurate eigenvalues, q &lt;= N/2, and the
+          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
+          indices of the possibly inaccurate eigenvalues, as well as
+          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
+          the arrays A and B on exit. The 2-by-2 blocks correspond
+          to negative values in IWORK. One negative value is stored
+          for each such eigenvalue pair. Its modulus indicates the
+          starting index of a 2-by-2 block.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          DWORK(2) and DWORK(3) contain the Frobenius norms of the
+          matrices S and T on entry. These norms are used in the
+          tests to decide that some eigenvalues are considered as
+          unreliable.
+          On exit, if INFO = -19, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(3,N/2),        if JOB = 'E' and COMPQ = 'N';
+          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
+          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the LAPACK Library routine
+               DHGEQZ. (QZ iteration did not converge or computation
+               of the shifts failed.)
+          = 2: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S and T such that S is in skew-Hamiltonian
+  triangular form and T is in skew-Hamiltonian Hessenberg form:
+
+      (  A1  D1  )      (  B1  F1  )
+  S = (          ), T = (          ),
+      (   0  A1' )      (   0  B1' )
+
+  where A1 is upper triangular and B1 is upper Hessenberg.
+  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
+  to determine orthogonal matrices Q1 and Q2 such that
+  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
+  triangular.
+  See also page 40 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  real floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER            NIN, NOUT
+      PARAMETER          ( NIN = 5, NOUT = 6 )
+      INTEGER            NMAX
+      PARAMETER          ( NMAX = 50 )
+      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK
+      PARAMETER          ( LDA  = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
+     $                     LDFG = NMAX/2, LDQ = NMAX, LDWORK =
+     $                     3*NMAX*NMAX/4 )
+*
+*     .. Local Scalars ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            I, INFO, J, N
+*
+*     .. Local Arrays ..
+      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
+     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
+     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
+     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
+     $                   Q( LDQ, NMAX )
+      INTEGER            IWORK( NMAX/2+1 )
+*
+*     .. External Functions ..
+      LOGICAL            LSAME
+      EXTERNAL           LSAME
+*
+*     .. External Subroutines ..
+      EXTERNAL           MB04FD
+*
+*     .. Intrinsic Functions ..
+      INTRINSIC          MOD
+*
+*     .. Executable statements ..
+*
+      WRITE( NOUT, FMT = 99999 )
+*
+*     Skip first line in data file.
+*
+      READ( NIN, FMT = * )
+      READ( NIN, FMT = * ) JOB, COMPQ, N
+      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
+      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
+      IF( LSAME( COMPQ, 'U' ) )
+     $   READ( NIN, FMT = * ) ( ( Q( I, J ), J = 1, N ), I = 1, N )
+      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
+         WRITE( NOUT, FMT = 99998 ) N
+      ELSE
+*
+*        Test of MB04FD.
+*
+         CALL MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
+     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
+     $                LDWORK, INFO )
+         IF( INFO.NE.0 ) THEN
+            WRITE( NOUT, FMT = 99997 ) INFO
+         ELSE
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99996 )
+               DO 10 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N/2 )
+   10          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99994 )
+            DO 20 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N/2+1 )
+   20       CONTINUE
+            IF( LSAME( JOB, 'T' ) ) THEN
+               WRITE( NOUT, FMT = 99993 )
+               DO 30 I = 1, N/2
+                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N/2 )
+   30          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99992 )
+            DO 40 I = 1, N/2
+               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N/2+1 )
+   40       CONTINUE
+            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
+               WRITE( NOUT, FMT = 99991 )
+               DO 50 I = 1, N
+                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
+   50          CONTINUE
+            END IF
+            WRITE( NOUT, FMT = 99990 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
+            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
+         END IF
+      END IF
+      STOP
+99999 FORMAT ( 'MB04FD EXAMPLE PROGRAM RESULTS', 1X )
+99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
+99997 FORMAT ( 'INFO on exit from MB04FD = ', I2 )
+99996 FORMAT (/' The transformed matrix A is' )
+99995 FORMAT ( 51( 1X, F8.4 ) )
+99994 FORMAT (/' The transformed matrix DE is' )
+99993 FORMAT (/' The transformed matrix B is' )
+99992 FORMAT (/' The transformed matrix FG is' )
+99991 FORMAT (/' The transformed matrix Q is ' )
+99990 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
+     $       )
+      END
+ 
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04FD EXAMPLE PROGRAM DATA
+   T   I  8
+    0.8147    0.6323    0.9575    0.9571
+    0.9057    0.0975    0.9648    0.4853
+    0.1269    0.2784    0.1576    0.8002
+    0.9133    0.5468    0.9705    0.1418
+    0.4217    0.6557    0.6787    0.6554    0.2769
+    0.9157    0.0357    0.7577    0.1711    0.0461
+    0.7922    0.8491    0.7431    0.7060    0.0971
+    0.9594    0.9339    0.3922    0.0318    0.8234
+    0.6948    0.4387    0.1868    0.7093
+    0.3170    0.3815    0.4897    0.7546
+    0.9502    0.7655    0.4455    0.2760
+    0.0344    0.7951    0.6463    0.6797
+    0.6550    0.9597    0.7512    0.8909    0.1492
+    0.1626    0.3403    0.2550    0.9592    0.2575
+    0.1189    0.5852    0.5059    0.5472    0.8407
+    0.4983    0.2238    0.6990    0.1386    0.2542
+</PRE>
+<B>Program Results</B>
+<PRE>
+MB04FD EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix A is
+   0.0550  -0.3064   0.1543   0.2170
+   0.0000   1.2189   0.3267  -1.3622
+   0.0000   0.0000   0.7734  -0.6215
+   0.0000   0.0000   0.0000   2.5172
+
+ The transformed matrix DE is
+   0.4217   0.6557   0.4277  -0.2877  -0.3980
+  -1.5448   0.0357   0.7577  -0.2582  -0.4775
+   0.3220   1.1004   0.7431   0.7060  -1.1102
+   0.3899   0.3463   0.4843   0.0318   0.8234
+
+ The transformed matrix B is
+   0.8482  -0.4425  -0.3643   0.8333
+   0.0000  -0.5919  -0.0987  -0.7923
+   0.0000   0.0000   1.1021   0.1926
+   0.0000   0.0000   0.0000   1.9788
+
+ The transformed matrix FG is
+   0.6550   0.9597   0.3266  -0.6059  -0.9618
+  -0.3151   0.3403   0.2550  -0.4771  -0.3005
+   0.1987  -0.0141   0.5059   0.5472  -0.4172
+   0.7914   0.0371   0.0000   0.1386   0.2542
+
+ The transformed matrix Q is 
+   0.0762   0.7824  -0.2771  -0.5526   0.0000   0.0000   0.0000   0.0000
+   0.1786  -0.2450   0.4261  -0.5360   0.1843  -0.5857   0.2437  -0.0522
+  -0.2452   0.1425   0.4831  -0.0742  -0.1834  -0.0856  -0.6529   0.4620
+  -0.2123  -0.3870  -0.6431  -0.2548   0.3061  -0.1791  -0.2518   0.3707
+  -0.4085   0.0154   0.0784  -0.0738   0.3908   0.0160  -0.3950  -0.7157
+   0.6418  -0.2868   0.0258  -0.3305  -0.0286   0.4768  -0.3901  -0.1253
+  -0.0077  -0.1340  -0.2740  -0.0534  -0.7708  -0.3910  -0.1981  -0.3432
+  -0.5275  -0.2394   0.1131  -0.4684  -0.3018   0.4869   0.3216   0.0252
+
+ The real, imaginary, and beta parts of eigenvalues are
+   0.8482  -0.5919   1.1021   1.9788
+   0.0000   0.0000   0.0000   0.0000
+   0.0550   1.2189   0.7734   2.5172
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04FP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04FP">MB04FP</A></H2>
+<H3>
+Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
+  skew-Hamiltonian pencil aS - bT with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and T = (        ).                           (1)
+        (  E  A' )         (  G  B' )
+
+  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
+  to the structured Schur form: an orthogonal transformation matrix
+  Q is computed such that
+
+                  (  Aout  Dout  )
+    J Q' J' S Q = (              ), and
+                  (   0    Aout' )
+                                                                 (2)
+                  (  Bout  Fout  )            (  0  I  )
+    J Q' J' T Q = (              ), where J = (        ),
+                  (   0    Bout' )            ( -I  0  )
+
+  Aout is upper triangular, and Bout is upper quasi-triangular. The
+  notation M' denotes the transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
+  transformation matrix Q will be computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04FP( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, JOB
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
+     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
+     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
+      INTEGER            IWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'E':  compute the eigenvalues only; S and T will not
+                  necessarily be put into skew-Hamiltonian
+                  triangular form (2);
+          = 'T':  put S and T into skew-Hamiltonian triangular form
+                  (2), and return the eigenvalues in ALPHAR, ALPHAI
+                  and BETA.
+
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q is returned;
+          = 'U':  the array Q contains an orthogonal matrix Q0 on
+                  entry, and the product Q0*Q is returned, where Q
+                  is the product of the orthogonal transformations
+                  that are applied to the pencil aS - bT to reduce
+                  S and T to the forms in (2), for COMPQ = 'I'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bT.  N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                         (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Aout; otherwise, it contains
+          meaningless elements, except for the diagonal blocks,
+          which are correctly set.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  DE      (input/output) DOUBLE PRECISION array, dimension
+                         (LDDE, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix E, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix D.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Dout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix D just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.
+          LDDE &gt;= MAX(1, N/2).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                         (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
+          array contains the matrix Bout; otherwise, it contains
+          meaningless elements, except for the diagonal 1-by-1 and
+          2-by-2 blocks, which are correctly set.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  FG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDFG, N/2+1)
+          On entry, the leading N/2-by-N/2 strictly lower triangular
+          part of this array must contain the strictly lower
+          triangular part of the skew-symmetric matrix G, and the
+          N/2-by-N/2 strictly upper triangular part of the submatrix
+          in the columns 2 to N/2+1 of this array must contain the
+          strictly upper triangular part of the skew-symmetric
+          matrix F.
+          The entries on the diagonal and the first superdiagonal of
+          this array are not referenced, but are assumed to be zero.
+          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
+          upper triangular part of the submatrix in the columns
+          2 to N/2+1 of this array contains the strictly upper
+          triangular part of the skew-symmetric matrix Fout.
+          If JOB = 'E', the leading N/2-by-N/2 strictly upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array contains the strictly upper triangular part
+          of the skew-symmetric matrix F just before the application
+          of the QZ algorithm. The remaining entries are
+          meaningless.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.
+          LDFG &gt;= MAX(1, N/2).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and T.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bT.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bT.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
+          positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bT.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bT, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
+          the pencil, every eigenvalue occurs twice and thus it has
+          only to be saved once in ALPHAR, ALPHAI and BETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N/2+1)
+          On exit, IWORK(1) contains the number of (pairs of)
+          possibly inaccurate eigenvalues, q &lt;= N/2, and the
+          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
+          indices of the possibly inaccurate eigenvalues, as well as
+          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
+          the arrays A and B on exit. The 2-by-2 blocks correspond
+          to negative values in IWORK. One negative value is stored
+          for each such eigenvalue pair. Its modulus indicates the
+          starting index of a 2-by-2 block.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
+          DWORK(2) and DWORK(3) contain the Frobenius norms of the
+          matrices S and T on entry. These norms are used in the
+          tests to decide that some eigenvalues are considered as
+          unreliable.
+          On exit, if INFO = -19, DWORK(1) returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(3,N/2,2*N-6),  if JOB = 'E' and COMPQ = 'N';
+          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
+          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
+          For good performance LDWORK should generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the LAPACK Library routine
+               DHGEQZ. (QZ iteration did not converge or computation
+               of the shifts failed.)
+          = 2: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses Givens rotations and Householder reflections to
+  annihilate elements in S and T such that S is in skew-Hamiltonian
+  triangular form and T is in skew-Hamiltonian Hessenberg form:
+
+      (  A1  D1  )      (  B1  F1  )
+  S = (          ), T = (          ),
+      (   0  A1' )      (   0  B1' )
+
+  where A1 is upper triangular and B1 is upper Hessenberg.
+  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
+  to determine orthogonal matrices Q1 and Q2 such that
+  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
+  triangular.
+  See also page 40 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  real floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations
+  for reducing T on panels of columns. The user may specify in INFO
+  the desired number of columns. If on entry INFO &lt;= 0, then the
+  routine estimates a suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04GD.html b/doc/_static/doc/MB04GD.html
new file mode 100644
index 00000000..c649241f
--- /dev/null
+++ b/doc/_static/doc/MB04GD.html
@@ -0,0 +1,232 @@
+<HTML>
+<HEAD><TITLE>MB04GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04GD">MB04GD</A></H2>
+<H3>
+RQ factorization with row pivoting of a matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an RQ factorization with row pivoting of a
+  real m-by-n matrix A: P*A = R*Q.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the m-by-n matrix A.
+          On exit,
+          if m &lt;= n, the upper triangle of the subarray
+          A(1:m,n-m+1:n) contains the m-by-m upper triangular
+          matrix R;
+          if m &gt;= n, the elements on and above the (m-n)-th
+          subdiagonal contain the m-by-n upper trapezoidal matrix R;
+          the remaining elements, with the array TAU, represent the
+          orthogonal matrix Q as a product of min(m,n) elementary
+          reflectors (see METHOD).
+
+  LDA     INTEGER
+          The leading dimension of the array A. LDA &gt;= max(1,M).
+
+  JPVT    (input/output) INTEGER array, dimension (M)
+          On entry, if JPVT(i) .ne. 0, the i-th row of A is permuted
+          to the bottom of P*A (a trailing row); if JPVT(i) = 0,
+          the i-th row of A is a free row.
+          On exit, if JPVT(i) = k, then the i-th row of P*A
+          was the k-th row of A.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
+          The scalar factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
+  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = MMAX )
+      INTEGER          LDTAU
+      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
+      INTEGER          JPVT(MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DLASET, MB04GD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99972 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99971 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+            READ ( NIN, FMT = * ) ( JPVT(I), I = 1,M )
+*           RQ with row pivoting.
+            CALL MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
+               WRITE ( NOUT, FMT = 99990 )
+               IF ( M.GE.N ) THEN
+                  IF ( N.GT.1 )
+     $               CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
+     $                            A(M-N+2,1), LDA )
+                ELSE
+                   CALL DLASET( 'Full', M, N-M-1, ZERO, ZERO, A, LDA )
+                   CALL DLASET( 'Lower', M, M, ZERO, ZERO, A(1,N-M),
+     $                          LDA )
+               END IF
+               DO 20 I = 1, M
+                  WRITE ( NOUT, FMT = 99989 ) ( A(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB04GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04GD = ',I2)
+99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
+99990 FORMAT (/' The matrix A is ')
+99989 FORMAT (20(1X,F8.4))
+99972 FORMAT (/' N is out of range.',/' N = ',I5)
+99971 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04GD EXAMPLE PROGRAM DATA
+   6     5 
+   1.    2.    6.    3.    5.
+  -2.   -1.   -1.    0.   -2.
+   5.    5.    1.    5.    1.
+  -2.   -1.   -1.    0.   -2.
+   4.    8.    4.   20.    4.
+  -2.   -1.   -1.    0.   -2.
+   0     0     0     0     0     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04GD EXAMPLE PROGRAM RESULTS
+
+ Row permutations are 
+  2    4    6    3    1    5
+
+ The matrix A is 
+   0.0000  -1.0517  -1.8646  -1.9712   1.2374
+   0.0000  -1.0517  -1.8646  -1.9712   1.2374
+   0.0000  -1.0517  -1.8646  -1.9712   1.2374
+   0.0000   0.0000   4.6768   0.0466  -7.4246
+   0.0000   0.0000   0.0000   6.7059  -5.4801
+   0.0000   0.0000   0.0000   0.0000 -22.6274
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04HD.html b/doc/_static/doc/MB04HD.html
new file mode 100644
index 00000000..620254b3
--- /dev/null
+++ b/doc/_static/doc/MB04HD.html
@@ -0,0 +1,305 @@
+<HTML>
+<HEAD><TITLE>MB04HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04HD">MB04HD</A></H2>
+<H3>
+Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transformed matrices A and B, using orthogonal
+  matrices Q1 and Q2 for a real N-by-N regular pencil
+
+                ( A11   0  )     (  0   B12 )
+    aA - bB = a (          ) - b (          ),                   (1)
+                (  0   A22 )     ( B21   0  )
+
+  where A11, A22 and B12 are upper triangular, B21 is upper
+  quasi-triangular and the generalized matrix product
+     -1        -1
+  A11   B12 A22   B21 is in periodic Schur form, such that the
+  matrix Q2' A Q1 is upper triangular, Q2' B Q1 is upper
+  quasi-triangular and the transformed pencil
+  a(Q2' A Q1) - b(Q2' B Q1) is in generalized Schur form. The
+  notation M' denotes the transpose of the matrix M.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04HD( COMPQ1, COMPQ2, N, A, LDA, B, LDB, Q1, LDQ1,
+     $                   Q2, LDQ2, IWORK, LIWORK, DWORK, LDWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ1, COMPQ2
+      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, LIWORK, N
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ1  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q1, as follows:
+          = 'N':  Q1 is not computed;
+          = 'I':  the array Q1 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q1 is returned;
+          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
+                  entry, and the matrix Q01*Q1 is returned, where Q1
+                  is the product of the orthogonal transformations
+                  that are applied on the right to the pencil
+                  aA - bB in (1).
+
+  COMPQ2  CHARACTER*1
+          Specifies whether to compute the orthogonal transformation
+          matrix Q2, as follows:
+          = 'N':  Q2 is not computed;
+          = 'I':  the array Q2 is initialized internally to the unit
+                  matrix, and the orthogonal matrix Q2 is returned;
+          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
+                  entry, and the matrix Q02*Q2 is returned, where Q2
+                  is the product of the orthogonal transformations
+                  that are applied on the left to the pencil aA - bB
+                  in (1).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          Order of the pencil aA - bB, N &gt;= 0, even.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
+          On entry, the leading N-by-N block diagonal part of this
+          array must contain the matrix A in (1). The off-diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper triangular matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
+          On entry, the leading N-by-N block anti-diagonal part of
+          this array must contain the matrix B in (1). The diagonal
+          blocks need not be set to zero.
+          On exit, the leading N-by-N part of this array contains
+          the transformed upper quasi-triangular matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
+          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q01, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q01 and the transformation matrix Q1
+          used to transform the matrices A and B.
+          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q1.
+          If COMPQ1 = 'N' this array is not referenced.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
+          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
+          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q02, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q02 and the transformation matrix Q2
+          used to transform the matrices A and B.
+          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
+          this array contains the orthogonal transformation matrix
+          Q2.
+          If COMPQ2 = 'N' this array is not referenced.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
+          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= MAX( N/2+1, 32 ).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -16, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 2*N*N + MAX( N/2 + 168, 272 ).
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1  a workspace query is assumed; the 
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA. 
+
+  BWORK   LOGICAL array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the periodic QZ algorithm failed to reorder the
+               eigenvalues (the problem is very ill-conditioned) in
+               the SLICOT Library routine MB03KD;
+          = 2: the standard QZ algorithm failed in the LAPACK
+               routines DGGES or DHGEQZ, called by the SLICOT
+               routines MB03DD or MB03FD;
+          = 3: the eigenvalue reordering failed in the LAPACK
+               routine DTGEX2, called by the SLICOT routine MB03FD;
+          = 4: the standard QZ algorithm failed to reorder the
+               eigenvalues in the LAPACK routine DTGSEN, called by
+               the SLICOT routine MB03DD.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the periodic QZ algorithm (see also [2] and [3]) is applied
+                                  -1        -1
+  to the formal matrix product A11   B12 A22   B21 to reorder the
+  eigenvalues, i.e., orthogonal matrices V1, V2, V3 and V4 are
+  computed such that V2' A11 V1, V2' B12 V3, V4' A22 V3 and
+  V4' B21 V1 keep the triangular form, but they can be partitioned
+  into 2-by-2 block forms and the last diagonal blocks correspond to
+  all nonpositive real eigenvalues of the formal product, and the
+  first diagonal blocks correspond to the remaining eigenvalues.
+
+  Second, Q1 = diag(V1, V3), Q2 = diag(V2, V4) and
+
+                   ( AA11 AA12   0    0  )
+                   (                     )
+                   (   0  AA22   0    0  )
+  A := Q2' A Q1 =: (                     ),
+                   (   0    0  AA33 AA34 )
+                   (                     )
+                   (   0    0    0  AA44 )
+
+                   (   0    0  BB13 BB14 )
+                   (                     )
+                   (   0    0    0  BB24 )
+  B := Q2' B Q1 =: (                     ),
+                   ( BB31 BB32   0    0  )
+                   (                     )
+                   (   0  BB42   0    0  )
+
+                         -1          -1
+  are set, such that AA22   BB24 AA44   BB42 has only nonpositive
+  real eigenvalues.
+
+  Third, the permutation matrix
+
+      (  I  0  0  0  )
+      (              )
+      (  0  0  I  0  )
+  P = (              ),
+      (  0  I  0  0  )
+      (              )
+      (  0  0  0  I  )
+
+  where I denotes the identity matrix of appropriate size, is used
+  to transform aA - bB to block upper triangular form
+
+                ( AA11   0  | AA12   0  )
+                (           |           )
+                (   0  AA33 |   0  AA34 )   ( AA1  *  )
+  A := P' A P = (-----------+-----------) = (         ),
+                (   0    0  | AA22   0  )   (  0  AA2 )
+                (           |           )
+                (   0    0  |   0  AA44 )
+
+                (   0  BB13 |   0  BB14 )
+                (           |           )
+                ( BB31   0  | BB32   0  )   ( BB1  *  )
+  B := P' B P = (-----------+-----------) = (         ).
+                (   0    0  |   0  BB24 )   (  0  BB2 )
+                (           |           )
+                (   0    0  | BB42   0  )
+
+  Then, further orthogonal transformations that are provided by
+  MB03FD and MB03DD are used to triangularize the subpencil
+  aAA1 - bBB1.
+
+  Finally, the subpencil aAA2 - bBB2 is triangularized by applying a
+  special permutation matrix.
+
+  See also page 31 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
+      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
+      Eigenproblems.
+      Tech. Rep., Technical University Chemnitz, Germany,
+      Nov. 2007.
+
+  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
+      The periodic Schur decomposition: algorithms and applications.
+      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
+      Architectures, and Implementations III, Proc. SPIE Conference,
+      vol. 1770, pp. 31-42, 1992.
+
+  [3] Hench, J. J. and Laub, A. J.
+      Numerical Solution of the discrete-time periodic Riccati
+      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N ) real
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04ID.html b/doc/_static/doc/MB04ID.html
new file mode 100644
index 00000000..baa29bbf
--- /dev/null
+++ b/doc/_static/doc/MB04ID.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>MB04ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ID">MB04ID</A></H2>
+<H3>
+QR factorization of a matrix with a lower left-hand side zero triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
+  having a p-by-min(p,m) zero triangle in the lower left-hand side
+  corner, as shown below, for n = 8, m = 7, and p = 2:
+
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+     A = [ x x x x x x x ],
+         [ x x x x x x x ]
+         [ 0 x x x x x x ]
+         [ 0 0 x x x x x ]
+
+  and optionally apply the transformations to an n-by-l matrix B
+  (from the left). The problem structure is exploited. This
+  computation is useful, for instance, in combined measurement and
+  time update of one iteration of the time-invariant Kalman filter
+  (square root information filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ID( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix A.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The order of the zero triagle.  P &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns of the matrix B.  L &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A. The elements corresponding to the
+          zero P-by-MIN(P,M) lower trapezoidal/triangular part
+          (if P &gt; 0) are not referenced.
+          On exit, the elements on and above the diagonal of this
+          array contain the MIN(N,M)-by-M upper trapezoidal matrix
+          R (R is upper triangular, if N &gt;= M) of the QR
+          factorization, and the relevant elements below the
+          diagonal contain the trailing components (the vectors v,
+          see Method) of the elementary reflectors used in the
+          factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,L)
+          On entry, the leading N-by-L part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-L part of this array contains
+          the updated matrix B.
+          If L = 0, this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if L &gt; 0;
+          LDB &gt;= 1        if L = 0.
+
+  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,M-1,M-P,L).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses min(N,M) Householder transformations exploiting
+  the zero pattern of the matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an (N-P+I-2)-vector.  The components of v  are stored
+         i                                             i
+  in the i-th column of A, beginning from the location i+1, and
+  tau  is stored in TAU(i).
+     i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04IY.html b/doc/_static/doc/MB04IY.html
new file mode 100644
index 00000000..8efa1a98
--- /dev/null
+++ b/doc/_static/doc/MB04IY.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MB04IY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04IY">MB04IY</A></H2>
+<H3>
+Applying the product of elementary reflectors used for QR factorization of a matrix having a lower left zero triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To overwrite the real n-by-m matrix  C  with  Q' * C,  Q * C,
+  C * Q',  or  C * Q,  according to the following table
+
+                  SIDE = 'L'     SIDE = 'R'
+  TRANS = 'N':      Q * C          C * Q
+  TRANS = 'T':      Q'* C          C * Q'
+
+  where  Q  is a real orthogonal matrix defined as the product of
+  k elementary reflectors
+
+     Q = H(1) H(2) . . . H(k)
+
+  as returned by SLICOT Library routine MB04ID.  Q  is of order n
+  if  SIDE = 'L'  and of order m if  SIDE = 'R'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04IY( SIDE, TRANS, N, M, K, P, A, LDA, TAU, C, LDC,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, K, LDA, LDC, LDWORK, M, N, P
+      CHARACTER          SIDE, TRANS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ), TAU( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Specify if  Q  or  Q'  is applied from the left or right,
+          as follows:
+          = 'L':  apply  Q  or  Q'  from the left;
+          = 'R':  apply  Q  or  Q'  from the right.
+
+  TRANS   CHARACTER*1
+          Specify if  Q  or  Q'  is to be applied, as follows:
+          = 'N':  apply  Q   (No transpose);
+          = 'T':  apply  Q'  (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix C.  M &gt;= 0.
+
+  K       (input) INTEGER
+          The number of elementary reflectors whose product defines
+          the matrix Q.
+          N &gt;= K &gt;= 0,  if  SIDE = 'L';
+          M &gt;= K &gt;= 0,  if  SIDE = 'R'.
+
+  P       (input) INTEGER
+          The order of the zero triagle (or the number of rows of
+          the zero trapezoid) in the matrix triangularized by SLICOT
+          Library routine MB04ID.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,K)
+          On input, the elements in the rows  i+1:min(n,n-p-1+i)  of
+          the  i-th  column, and  TAU(i),  represent the orthogonal
+          reflector  H(i),  so that matrix  Q  is the product of
+          elementary reflectors:  Q = H(1) H(2) . . . H(k).
+          A is modified by the routine but restored on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array  A.
+          LDA &gt;= max(1,N),  if  SIDE = 'L';
+          LDA &gt;= max(1,M),  if  SIDE = 'R'.
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          The scalar factors of the elementary reflectors.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix  C.
+          On exit, the leading N-by-M part of this array contains
+          the updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array  C.  LDC &gt;= max(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,M),  if  SIDE = 'L';
+          LDWORK &gt;= MAX(1,N),  if  SIDE = 'R'.
+          For optimum performance LDWORK &gt;= M*NB if SIDE = 'L',
+          or LDWORK &gt;= N*NB if SIDE = 'R', where NB is the optimal
+          block size.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If  SIDE = 'L',  each elementary reflector  H(i)  modifies
+  n-p  elements of each column of  C,  for  i = 1:p+1,  and
+  n-i+1  elements, for  i = p+2:k.
+  If  SIDE = 'R',  each elementary reflector  H(i)  modifies
+  m-p  elements of each row of  C,  for  i = 1:p+1,  and
+  m-i+1  elements, for  i = p+2:k.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented method is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04IZ.html b/doc/_static/doc/MB04IZ.html
new file mode 100644
index 00000000..77845f86
--- /dev/null
+++ b/doc/_static/doc/MB04IZ.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>MB04IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04IZ">MB04IZ</A></H2>
+<H3>
+QR factorization of a matrix with a lower left-hand side zero triangle (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
+  having a p-by-min(p,m) zero triangle in the lower left-hand side
+  corner, as shown below, for n = 8, m = 7, and p = 2:
+
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+     A = [ x x x x x x x ],
+         [ x x x x x x x ]
+         [ 0 x x x x x x ]
+         [ 0 0 x x x x x ]
+
+  and optionally apply the transformations to an n-by-l matrix B
+  (from the left). The problem structure is exploited. This
+  computation is useful, for instance, in combined measurement and
+  time update of one iteration of the time-invariant Kalman filter
+  (square root information filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04IZ( N, M, P, L, A, LDA, B, LDB, TAU, ZWORK, LZWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LZWORK, M, N, P
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(LDB,*), TAU(*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix A.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The order of the zero triagle.  P &gt;= 0.
+
+  L       (input) INTEGER
+          The number of columns of the matrix B.  L &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A. The elements corresponding to the
+          zero P-by-MIN(P,M) lower trapezoidal/triangular part
+          (if P &gt; 0) are not referenced.
+          On exit, the elements on and above the diagonal of this
+          array contain the MIN(N,M)-by-M upper trapezoidal matrix
+          R (R is upper triangular, if N &gt;= M) of the QR
+          factorization, and the relevant elements below the
+          diagonal contain the trailing components (the vectors v,
+          see Method) of the elementary reflectors used in the
+          factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,L)
+          On entry, the leading N-by-L part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-L part of this array contains
+          the updated matrix B.
+          If L = 0, this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if L &gt; 0;
+          LDB &gt;= 1        if L = 0.
+
+  TAU     (output) COMPLEX*16 array, dimension MIN(N,M)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  The length of the array ZWORK.
+          LZWORK &gt;= MAX(1,M-1,M-P,L).
+          For optimum performance LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses min(N,M) Householder transformations exploiting
+  the zero pattern of the matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an (N-P+I-2)-vector.  The components of v  are stored
+         i                                             i
+  in the i-th column of A, beginning from the location i+1, and
+  tau  is stored in TAU(i).
+     i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04JD.html b/doc/_static/doc/MB04JD.html
new file mode 100644
index 00000000..d4b3ec1a
--- /dev/null
+++ b/doc/_static/doc/MB04JD.html
@@ -0,0 +1,162 @@
+<HTML>
+<HEAD><TITLE>MB04JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04JD">MB04JD</A></H2>
+<H3>
+LQ factorization of a matrix with an upper right-hand side zero triangle
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an LQ factorization of an n-by-m matrix A (A = L * Q),
+  having a min(n,p)-by-p zero triangle in the upper right-hand side
+  corner, as shown below, for n = 8, m = 7, and p = 2:
+
+         [ x x x x x 0 0 ]
+         [ x x x x x x 0 ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+     A = [ x x x x x x x ],
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+         [ x x x x x x x ]
+
+  and optionally apply the transformations to an l-by-m matrix B
+  (from the right). The problem structure is exploited. This
+  computation is useful, for instance, in combined measurement and
+  time update of one iteration of the time-invariant Kalman filter
+  (square root covariance filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04JD( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix A.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The order of the zero triagle.  P &gt;= 0.
+
+  L       (input) INTEGER
+          The number of rows of the matrix B.  L &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix A. The elements corresponding to the
+          zero MIN(N,P)-by-P upper trapezoidal/triangular part
+          (if P &gt; 0) are not referenced.
+          On exit, the elements on and below the diagonal of this
+          array contain the N-by-MIN(N,M) lower trapezoidal matrix
+          L (L is lower triangular, if N &lt;= M) of the LQ
+          factorization, and the relevant elements above the
+          diagonal contain the trailing components (the vectors v,
+          see Method) of the elementary reflectors used in the
+          factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the updated matrix B.
+          If L = 0, this array is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,L).
+
+  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N-1,N-P,L).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses min(N,M) Householder transformations exploiting
+  the zero pattern of the matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an (M-P+I-2)-vector.  The components of v  are stored
+         i                                             i
+  in the i-th row of A, beginning from the location i+1, and tau
+                                                                i
+  is stored in TAU(i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04KD.html b/doc/_static/doc/MB04KD.html
new file mode 100644
index 00000000..c3628c8e
--- /dev/null
+++ b/doc/_static/doc/MB04KD.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>MB04KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04KD">MB04KD</A></H2>
+<H3>
+QR factorization of a special structured block matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a QR factorization of the first block column and
+  apply the orthogonal transformations (from the left) also to the
+  second block column of a structured matrix, as follows
+                       _
+         [ R   0 ]   [ R   C ]
+    Q' * [       ] = [       ]
+         [ A   B ]   [ 0   D ]
+              _
+  where R and R are upper triangular. The matrix A can be full or
+  upper trapezoidal/triangular. The problem structure is exploited.
+  This computation is useful, for instance, in combined measurement
+  and time update of one iteration of the Kalman filter (square
+  root information filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04KD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  R(LDR,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'U':  Matrix A is upper trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices R and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B, C and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices A, B and D.  P &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+                                                     _
+          array contains the upper triangular matrix R.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'F', the leading P-by-N part of this
+          array must contain the matrix A. If UPLO = 'U', the
+          leading MIN(P,N)-by-N part of this array must contain the
+          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
+          and the elements below the diagonal are not referenced.
+          On exit, the leading P-by-N part (upper trapezoidal or
+          triangular, if UPLO = 'U') of this array contains the
+          trailing components (the vectors v, see Method) of the
+          elementary reflectors used in the factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,P).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading P-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading P-by-M part of this array contains
+          the computed matrix D.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,P).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array contains the
+          computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is a P-vector, if UPLO = 'F', or an min(i,P)-vector, if
+         i
+  UPLO = 'U'.  The components of v  are stored in the i-th column
+                                  i
+  of A, and tau  is stored in TAU(i).
+               i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04LD.html b/doc/_static/doc/MB04LD.html
new file mode 100644
index 00000000..2d7b8f5d
--- /dev/null
+++ b/doc/_static/doc/MB04LD.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>MB04LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04LD">MB04LD</A></H2>
+<H3>
+LQ factorization of a special structured block matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate an LQ factorization of the first block row and apply
+  the orthogonal transformations (from the right) also to the second
+  block row of a structured matrix, as follows
+                     _
+     [ L   A ]     [ L   0 ]
+     [       ]*Q = [       ]
+     [ 0   B ]     [ C   D ]
+              _
+  where L and L are lower triangular. The matrix A can be full or
+  lower trapezoidal/triangular. The problem structure is exploited.
+  This computation is useful, for instance, in combined measurement
+  and time update of one iteration of the Kalman filter (square
+  root covariance filter).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04LD( UPLO, N, M, P, L, LDL, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDL, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  L(LDL,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'L':  Matrix A is lower trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices L and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices A, B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices B, C and D.  P &gt;= 0.
+
+  L       (input/output) DOUBLE PRECISION array, dimension (LDL,N)
+          On entry, the leading N-by-N lower triangular part of this
+          array must contain the lower triangular matrix L.
+          On exit, the leading N-by-N lower triangular part of this
+                                                     _
+          array contains the lower triangular matrix L.
+          The strict upper triangular part of this array is not
+          referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.  LDL &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, if UPLO = 'F', the leading N-by-M part of this
+          array must contain the matrix A. If UPLO = 'L', the
+          leading N-by-MIN(N,M) part of this array must contain the
+          lower trapezoidal (lower triangular if N &lt;= M) matrix A,
+          and the elements above the diagonal are not referenced.
+          On exit, the leading N-by-M part (lower trapezoidal or
+          triangular, if UPLO = 'L') of this array contains the
+          trailing components (the vectors v, see Method) of the
+          elementary reflectors used in the factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading P-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading P-by-M part of this array contains
+          the computed matrix D.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,P).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 ),
+     H  = I - tau *u *u',    u  = ( v )
+      i          i  i  i      i   (  i)
+
+  where v  is an M-vector, if UPLO = 'F', or an min(i,M)-vector, if
+         i
+  UPLO = 'L'.  The components of v  are stored in the i-th row of A,
+                                  i
+  and tau  is stored in TAU(i).
+         i
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04MD.html b/doc/_static/doc/MB04MD.html
new file mode 100644
index 00000000..e2e703e3
--- /dev/null
+++ b/doc/_static/doc/MB04MD.html
@@ -0,0 +1,197 @@
+<HTML>
+<HEAD><TITLE>MB04MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04MD">MB04MD</A></H2>
+<H3>
+Balancing a general real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the 1-norm of a general real matrix A by balancing.
+  This involves diagonal similarity transformations applied
+  iteratively to A to make the rows and columns as close in norm as
+  possible.
+
+  This routine can be used instead LAPACK Library routine DGEBAL,
+  when no reduction of the 1-norm of the matrix is possible with
+  DGEBAL, as for upper triangular matrices. LAPACK Library routine
+  DGEBAK, with parameters ILO = 1, IHI = N, and JOB = 'S', should
+  be used to apply the backward transformation.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, N
+      DOUBLE PRECISION   MAXRED
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  MAXRED  (input/output) DOUBLE PRECISION
+          On entry, the maximum allowed reduction in the 1-norm of
+          A (in an iteration) if zero rows or columns are
+          encountered.
+          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
+          the norm reduction).
+          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
+          used.
+          On exit, if the 1-norm of the given matrix A is non-zero,
+          the ratio between the 1-norm of the given matrix and the
+          1-norm of the balanced matrix. Usually, this ratio will be
+          larger than one, but it can sometimes be one, or even less
+          than one (for instance, for some companion matrices).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the input matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to A.  If D(j) is the scaling
+          factor applied to row and column j, then SCALE(j) = D(j),
+          for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation inv(D) * A * D to make the 1-norms of each row
+  of A and its corresponding column nearly equal.
+
+  Information about the diagonal matrix D is returned in the vector
+  SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04MD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION MAXRED
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), SCALE(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB04MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, MAXRED
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Balance matrix A.
+         CALL MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) ( SCALE(I), I = 1,N )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04MD = ',I2)
+99997 FORMAT (' The balanced matrix is ')
+99996 FORMAT (20(1X,F10.4))
+99994 FORMAT (/' SCALE is ',/20(1X,F10.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04MD EXAMPLE PROGRAM DATA
+   4    0.0
+   1.0   0.0   0.0   0.0
+ 300.0 400.0 500.0 600.0
+   1.0   2.0   0.0   0.0
+   1.0   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04MD EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix is 
+     1.0000     0.0000     0.0000     0.0000
+    30.0000   400.0000    50.0000    60.0000
+     1.0000    20.0000     0.0000     0.0000
+     1.0000    10.0000     1.0000     1.0000
+
+ SCALE is 
+     1.0000    10.0000     1.0000     1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04ND.html b/doc/_static/doc/MB04ND.html
new file mode 100644
index 00000000..2f7c8656
--- /dev/null
+++ b/doc/_static/doc/MB04ND.html
@@ -0,0 +1,175 @@
+<HTML>
+<HEAD><TITLE>MB04ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ND">MB04ND</A></H2>
+<H3>
+RQ factorization of a special structured block matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate an RQ factorization of the first block row and
+  apply the orthogonal transformations (from the right) also to the
+  second block row of a structured matrix, as follows
+                           _
+    [ A   R ]        [ 0   R ]
+    [       ] * Q' = [ _   _ ]
+    [ C   B ]        [ C   B ]
+              _
+  where R and R are upper triangular. The matrix A can be full or
+  upper trapezoidal/triangular. The problem structure is exploited.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ND( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  R(LDR,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'U':  Matrix A is upper trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices R and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows of the matrices B and C.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of columns of the matrices A and C.  P &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+                                                     _
+          array contains the upper triangular matrix R.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,P)
+          On entry, if UPLO = 'F', the leading N-by-P part of this
+          array must contain the matrix A. For UPLO = 'U', if
+          N &lt;= P, the upper triangle of the subarray A(1:N,P-N+1:P)
+          must contain the N-by-N upper triangular matrix A, and if
+          N &gt;= P, the elements on and above the (N-P)-th subdiagonal
+          must contain the N-by-P upper trapezoidal matrix A.
+          On exit, if UPLO = 'F', the leading N-by-P part of this
+          array contains the trailing components (the vectors v, see
+          METHOD) of the elementary reflectors used in the
+          factorization. If UPLO = 'U', the upper triangle of the
+          subarray A(1:N,P-N+1:P) (if N &lt;= P), or the elements on
+          and above the (N-P)-th subdiagonal (if N &gt;= P), contain
+          the trailing components (the vectors v, see METHOD) of the
+          elementary reflectors used in the factorization.
+          The remaining elements are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+                              _
+          the computed matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,P)
+          On entry, the leading M-by-P part of this array must
+          contain the matrix C.
+          On exit, the leading M-by-P part of this array contains
+                              _
+          the computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 )
+     H  = I - tau *u *u',    u  = ( v ),
+      i          i  i  i      i   (  i)
+
+  where v  is a P-vector, if UPLO = 'F', or a min(N-i+1,P)-vector,
+         i
+  if UPLO = 'U'.  The components of v  are stored in the i-th row
+                                     i
+  of A, and tau  is stored in TAU(i), i = N,N-1,...,1.
+               i
+  In-line code for applying Householder transformations is used
+  whenever possible (see MB04NY routine).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04NY.html b/doc/_static/doc/MB04NY.html
new file mode 100644
index 00000000..f57683d3
--- /dev/null
+++ b/doc/_static/doc/MB04NY.html
@@ -0,0 +1,124 @@
+<HTML>
+<HEAD><TITLE>MB04NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04NY">MB04NY</A></H2>
+<H3>
+Applying an elementary reflector (using in-line code for a low order) to a matrix C = ( A B ), from the right, where A has one column
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a real elementary reflector H to a real m-by-(n+1)
+  matrix C = [ A  B ], from the right, where A has one column. H is
+  represented in the form
+                                     ( 1 )
+        H = I - tau * u *u',    u  = (   ),
+                                     ( v )
+  where tau is a real scalar and v is a real n-vector.
+
+  If tau = 0, then H is taken to be the unit matrix.
+
+  In-line code is used if H has order &lt; 11.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04NY( M, N, V, INCV, TAU, A, LDA, B, LDB, DWORK )
+C     .. Scalar Arguments ..
+      INTEGER           INCV, LDA, LDB, M, N
+      DOUBLE PRECISION  TAU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices A and B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix B.  N &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+          (1+(N-1)*ABS( INCV ))
+          The vector v in the representation of H.
+
+  INCV    (input) INTEGER
+          The increment between the elements of v.  INCV &lt;&gt; 0.
+
+  TAU     (input) DOUBLE PRECISION
+          The scalar factor of the elementary reflector H.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,1)
+          On entry, the leading M-by-1 part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-1 part of this array contains
+          the updated matrix A (the first column of C * H).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+          the updated matrix B (the last n columns of C * H).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (M)
+          DWORK is not referenced if H has order less than 11.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine applies the elementary reflector H, taking the special
+  structure of C into account.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04OD.html b/doc/_static/doc/MB04OD.html
new file mode 100644
index 00000000..7d9b325f
--- /dev/null
+++ b/doc/_static/doc/MB04OD.html
@@ -0,0 +1,271 @@
+<HTML>
+<HEAD><TITLE>MB04OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OD">MB04OD</A></H2>
+<H3>
+QR factorization of a special structured block matrix (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate a QR factorization of the first block column and
+  apply the orthogonal transformations (from the left) also to the
+  second block column of a structured matrix, as follows
+                       _   _
+         [ R   B ]   [ R   B ]
+    Q' * [       ] = [     _ ]
+         [ A   C ]   [ 0   C ]
+              _
+  where R and R are upper triangular. The matrix A can be full or
+  upper trapezoidal/triangular. The problem structure is exploited.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
+     $                   TAU, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           LDA, LDB, LDC, LDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  R(LDR,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates if the matrix A is or not triangular as follows:
+          = 'U':  Matrix A is upper trapezoidal/triangular;
+          = 'F':  Matrix A is full.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER                 _
+          The order of the matrices R and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and C.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrices A and C.  P &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+                                                     _
+          array contains the upper triangular matrix R.
+          The strict lower triangular part of this array is not
+          referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if UPLO = 'F', the leading P-by-N part of this
+          array must contain the matrix A. If UPLO = 'U', the
+          leading MIN(P,N)-by-N part of this array must contain the
+          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
+          and the elements below the diagonal are not referenced.
+          On exit, the leading P-by-N part (upper trapezoidal or
+          triangular, if UPLO = 'U') of this array contains the
+          trailing components (the vectors v, see Method) of the
+          elementary reflectors used in the factorization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,P).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-M part of this array contains
+                              _
+          the computed matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading P-by-M part of this array must
+          contain the matrix C.
+          On exit, the leading P-by-M part of this array contains
+                              _
+          the computed matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The scalar factors of the elementary reflectors used.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses N Householder transformations exploiting the zero
+  pattern of the block matrix.  A Householder matrix has the form
+
+                                  ( 1 )
+     H  = I - tau *u *u',    u  = ( v ),
+      i          i  i  i      i   (  i)
+
+  where v  is a P-vector, if UPLO = 'F', or a min(i,P)-vector, if
+         i
+  UPLO = 'U'.  The components of v  are stored in the i-th column
+                                  i
+  of A, and tau  is stored in TAU(i).
+               i
+  In-line code for applying Householder transformations is used
+  whenever possible (see MB04OY routine).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04OD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        (ZERO  = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDR
+      PARAMETER        ( LDA = PMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDR = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX-1,MMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      UPLO
+      INTEGER          I, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK), R(LDR,NMAX), TAU(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB04OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,N ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,P )
+*              Compute and apply QR factorization.
+               CALL MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C,
+     $                      LDC,  TAU, DWORK )
+*
+               WRITE ( NOUT, FMT = 99997 )
+               DO 40 I = 1, N
+                  DO 20 J = 1, I-1
+                     R(I,J) = ZERO
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 ) ( R(I,J), J = 1,N )
+   40          CONTINUE
+               IF ( M.GT.0 ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+                  IF ( P.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99994 )
+                     DO 80 I = 1, P
+                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04OD EXAMPLE PROGRAM RESULTS',/1X)
+99997 FORMAT (' The updated matrix R is ')
+99996 FORMAT (20(1X,F10.4))
+99995 FORMAT (' The updated matrix B is ')
+99994 FORMAT (' The updated matrix C is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04OD EXAMPLE PROGRAM DATA
+   3     2     2     F
+   3.    2.    1.
+   0.    2.    1.
+   0.    0.    1.
+   2.    3.    1.
+   4.    6.    5.
+   3.    2.
+   1.    3.
+   3.    2.
+   1.    3.
+   3.    2.
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04OD EXAMPLE PROGRAM RESULTS
+
+ The updated matrix R is 
+    -5.3852    -6.6850    -4.6424
+     0.0000    -2.8828    -2.0694
+     0.0000     0.0000    -1.7793
+ The updated matrix B is 
+    -4.2710    -3.7139
+    -0.1555    -2.1411
+    -1.6021     0.9398
+ The updated matrix C is 
+     0.5850     1.0141
+    -2.7974    -3.1162
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04OW.html b/doc/_static/doc/MB04OW.html
new file mode 100644
index 00000000..2ac7b7c2
--- /dev/null
+++ b/doc/_static/doc/MB04OW.html
@@ -0,0 +1,168 @@
+<HTML>
+<HEAD><TITLE>MB04OW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OW">MB04OW</A></H2>
+<H3>
+Rank-one update of a Cholesky factorization (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the QR factorization
+
+     ( U  ) = Q*( R ),  where  U = ( U1  U2 ),  R = ( R1  R2 ),
+     ( x' )     ( 0 )              ( 0   T  )       ( 0   R3 )
+
+  where U and R are (m+n)-by-(m+n) upper triangular matrices, x is
+  an m+n element vector, U1 is m-by-m, T is n-by-n, stored
+  separately, and Q is an (m+n+1)-by-(m+n+1) orthogonal matrix.
+
+  The matrix ( U1 U2 ) must be supplied in the m-by-(m+n) upper
+  trapezoidal part of the array A and this is overwritten by the
+  corresponding part ( R1 R2 ) of R. The remaining upper triangular
+  part of R, R3, is overwritten on the array T.
+
+  The transformations performed are also applied to the (m+n+1)-by-p
+  matrix ( B' C' d )' (' denotes transposition), where B, C, and d'
+  are m-by-p, n-by-p, and 1-by-p matrices, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OW( M, N, P, A, LDA, T, LDT, X, INCX, B, LDB,
+     $                   C, LDC, D, INCD )
+C     .. Scalar Arguments ..
+      INTEGER            INCD, INCX, LDA, LDB, LDC, LDT, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(*), T(LDT,*),
+     $                   X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M      (input) INTEGER
+         The number of rows of the matrix ( U1  U2 ).  M &gt;= 0.
+
+  N      (input) INTEGER
+         The order of the matrix T.  N &gt;= 0.
+
+  P      (input) INTEGER
+         The number of columns of the matrices B and C.  P &gt;= 0.
+
+  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+         On entry, the leading M-by-(M+N) upper trapezoidal part of
+         this array must contain the upper trapezoidal matrix
+         ( U1 U2 ).
+         On exit, the leading M-by-(M+N) upper trapezoidal part of
+         this array contains the upper trapezoidal matrix ( R1 R2 ).
+         The strict lower triangle of A is not referenced.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  T      (input/output) DOUBLE PRECISION array, dimension (LDT,N)
+         On entry, the leading N-by-N upper triangular part of this
+         array must contain the upper triangular matrix T.
+         On exit, the leading N-by-N upper triangular part of this
+         array contains the upper triangular matrix R3.
+         The strict lower triangle of T is not referenced.
+
+  LDT    INTEGER
+         The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  X      (input/output) DOUBLE PRECISION array, dimension
+         (1+(M+N-1)*INCX), if M+N &gt; 0, or dimension (0), if M+N = 0.
+         On entry, the incremented array X must contain the
+         vector x. On exit, the content of X is changed.
+
+  INCX   (input) INTEGER
+         Specifies the increment for the elements of X.  INCX &gt; 0.
+
+  B      (input/output) DOUBLE PRECISION array, dimension (LDB,P)
+         On entry, the leading M-by-P part of this array must
+         contain the matrix B.
+         On exit, the leading M-by-P part of this array contains
+         the transformed matrix B.
+         If M = 0 or P = 0, this array is not referenced.
+
+  LDB    INTEGER
+         The leading dimension of the array B.
+         LDB &gt;= max(1,M), if P &gt; 0;
+         LDB &gt;= 1,        if P = 0.
+
+  C      (input/output) DOUBLE PRECISION array, dimension (LDC,P)
+         On entry, the leading N-by-P part of this array must
+         contain the matrix C.
+         On exit, the leading N-by-P part of this array contains
+         the transformed matrix C.
+         If N = 0 or P = 0, this array is not referenced.
+
+  LDC    INTEGER
+         The leading dimension of the array C.
+         LDC &gt;= max(1,N), if P &gt; 0;
+         LDC &gt;= 1,        if P = 0.
+
+  D      (input/output) DOUBLE PRECISION array, dimension
+         (1+(P-1)*INCD), if P &gt; 0, or dimension (0), if P = 0.
+         On entry, the incremented array D must contain the
+         vector d.
+         On exit, this incremented array contains the transformed
+         vector d.
+         If P = 0, this array is not referenced.
+
+  INCD   (input) INTEGER
+         Specifies the increment for the elements of D.  INCD &gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let q = m+n. The matrix Q is formed as a sequence of plane
+  rotations in planes (1, q+1), (2, q+1), ..., (q, q+1), the
+  rotation in the (j, q+1)th plane, Q(j), being chosen to
+  annihilate the jth element of x.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0((M+N)*(M+N+P)) operations and is backward
+  stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For P = 0, this routine produces the same result as SLICOT Library
+  routine MB04OX, but matrix T may not be stored in the array A.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04OX.html b/doc/_static/doc/MB04OX.html
new file mode 100644
index 00000000..14e36012
--- /dev/null
+++ b/doc/_static/doc/MB04OX.html
@@ -0,0 +1,100 @@
+<HTML>
+<HEAD><TITLE>MB04OX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OX">MB04OX</A></H2>
+<H3>
+Rank-one update of a Cholesky factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the QR factorization
+
+     (U ) = Q*(R),
+     (x')     (0)
+
+  where U and R are n-by-n upper triangular matrices, x is an
+  n element vector and Q is an (n+1)-by-(n+1) orthogonal matrix.
+
+  U must be supplied in the n-by-n upper triangular part of the
+  array A and this is overwritten by R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OX( N, A, LDA, X, INCX )
+C     .. Scalar Arguments ..
+      INTEGER            INCX, LDA, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N      (input) INTEGER
+         The number of elements of X and the order of the square
+         matrix A.  N &gt;= 0.
+
+  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+         On entry, the leading N-by-N upper triangular part of this
+         array must contain the upper triangular matrix U.
+         On exit, the leading N-by-N upper triangular part of this
+         array contains the upper triangular matrix R.
+         The strict lower triangle of A is not referenced.
+
+  LDA    INTEGER
+         The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  X      (input/output) DOUBLE PRECISION array, dimension
+         (1+(N-1)*INCX)
+         On entry, the incremented array X must contain the
+         vector x. On exit, the content of X is changed.
+
+  INCX   (input) INTEGER.
+         Specifies the increment for the elements of X.  INCX &gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix Q is formed as a sequence of plane rotations in planes
+  (1, n+1), (2, n+1), ..., (n, n+1), the rotation in the (j, n+1)th
+  plane, Q(j), being chosen to annihilate the jth element of x.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04OY.html b/doc/_static/doc/MB04OY.html
new file mode 100644
index 00000000..89aac245
--- /dev/null
+++ b/doc/_static/doc/MB04OY.html
@@ -0,0 +1,121 @@
+<HTML>
+<HEAD><TITLE>MB04OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04OY">MB04OY</A></H2>
+<H3>
+Applying an elementary reflector (using in-line code for a low order) to a matrix C = trans( trans(A) trans(B) ), from the left, where A has one row
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a real elementary reflector H to a real (m+1)-by-n
+  matrix C = [ A ], from the left, where A has one row. H is
+             [ B ]
+  represented in the form
+                                     ( 1 )
+        H = I - tau * u *u',    u  = (   ),
+                                     ( v )
+  where tau is a real scalar and v is a real m-vector.
+
+  If tau = 0, then H is taken to be the unit matrix.
+
+  In-line code is used if H has order &lt; 11.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04OY( M, N, V, TAU, A, LDA, B, LDB, DWORK )
+C     .. Scalar Arguments ..
+      INTEGER           LDA, LDB, M, N
+      DOUBLE PRECISION  TAU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix B.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices A and B.  N &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension (M)
+          The vector v in the representation of H.
+
+  TAU     (input) DOUBLE PRECISION
+          The scalar factor of the elementary reflector H.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading 1-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading 1-by-N part of this array contains
+          the updated matrix A (the first row of H * C).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= 1.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+          the updated matrix B (the last m rows of H * C).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+          DWORK is not referenced if H has order less than 11.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine applies the elementary reflector H, taking the special
+  structure of C into account.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04PA.html b/doc/_static/doc/MB04PA.html
new file mode 100644
index 00000000..42c3ac25
--- /dev/null
+++ b/doc/_static/doc/MB04PA.html
@@ -0,0 +1,218 @@
+<HTML>
+<HEAD><TITLE>MB04PA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PA">MB04PA</A></H2>
+<H3>
+Special reduction of a (skew-)Hamiltonian like matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a Hamiltonian like matrix
+
+                [  A   G  ]           T          T
+           H =  [       T ] ,    G = G ,    Q = Q,
+                [  Q  -A  ]
+
+  or a skew-Hamiltonian like matrix
+
+                [  A   G  ]            T          T
+           W =  [       T ] ,    G = -G ,   Q = -Q,
+                [  Q   A  ]
+
+  so that elements below the (k+1)-th subdiagonal in the first nb
+  columns of the (k+n)-by-n matrix A, and offdiagonal elements
+  in the first nb columns and rows of the n-by-n matrix Q are zero.
+
+  The reduction is performed by an orthogonal symplectic
+  transformation UU'*H*UU and matrices U, XA, XG, XQ, and YA are
+  returned so that
+
+                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'+ XG*U' ]
+      UU'*H*UU = [                                           ].
+                 [ Qout + U*XQ'+ XQ*U'  -Aout'- XA*U'- U*YA' ]
+
+  Similarly,
+
+                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'- XG*U' ]
+      UU'*W*UU = [                                           ].
+                 [ Qout + U*XQ'- XQ*U'   Aout'+ XA*U'+ U*YA' ]
+
+  This is an auxiliary routine called by MB04PB.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PA( LHAM, N, K, NB, A, LDA, QG, LDQG, XA, LDXA,
+     $                   XG, LDXG, XQ, LDXQ, YA, LDYA, CS, TAU, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           LHAM
+      INTEGER           K, LDA, LDQG, LDXA, LDXG, LDXQ, LDYA, N, NB
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*),
+     $                  XA(LDXA,*), XG(LDXG,*), XQ(LDXQ,*), YA(LDYA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LHAM    LOGICAL
+          Specifies the type of matrix to be reduced:
+          = .FALSE. :  skew-Hamiltonian like W;
+          = .TRUE.  :  Hamiltonian like H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  K       (input) INTEGER
+          The offset of the reduction. Elements below the (K+1)-th
+          subdiagonal in the first NB columns of A are reduced
+          to zero.  K &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns/rows to be reduced.  N &gt; NB &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading (K+N)-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading (K+N)-by-N part of this array
+          contains the matrix Aout and in the zero part
+          information about the elementary reflectors used to
+          compute the reduction.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,K+N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N+K-by-N+1 part of this array must
+          contain in the bottom left part the lower triangular part
+          of the N-by-N matrix Q and in the remainder the upper
+          trapezoidal part of the last N columns of the N+K-by-N+K
+          matrix G.
+          On exit, the leading N+K-by-N+1 part of this array
+          contains parts of the matrices Q and G in the same fashion
+          as on entry only that the zero parts of Q contain
+          information about the elementary reflectors used to
+          compute the reduction. Note that if LHAM = .FALSE. then
+          the (K-1)-th and K-th subdiagonals are not referenced.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG. LDQG &gt;= MAX(1,N+K).
+
+  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XA.
+
+  LDXA    INTEGER
+          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
+
+  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix XG.
+
+  LDXG    INTEGER
+          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
+
+  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
+          On exit, the leading N-by-(2*NB) part of this array
+          contains the matrix XQ.
+
+  LDXQ    INTEGER
+          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
+
+  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
+          On exit, the leading (K+N)-by-(2*NB) part of this array
+          contains the matrix YA.
+
+  LDYA    INTEGER
+          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2*NB)
+          On exit, the first 2*NB elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the reduction.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (NB)
+          On exit, the first NB elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*NB)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For details regarding the representation of the orthogonal
+  symplectic matrix UU within the arrays A, QG, CS, TAU see the
+  description of MB04PU.
+
+  The contents of A and QG on exit are illustrated by the following
+  example with n = 5, k = 2 and nb = 2:
+
+        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
+        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
+        ( a  r  r  a  a  )         ( q  g  r  r  g  g  )
+    A = ( r  r  r  r  r  ),   QG = ( t  r  r  r  r  r  ),
+        ( u2 r  r  r  r  )         ( u1 t  r  r  r  r  )
+        ( u2 u2 r  a  a  )         ( u1 u1 r  q  g  g  )
+        ( u2 u2 r  a  a  )         ( u1 u1 r  q  q  g  )
+
+  where a, g and q denote elements of the original matrices, r
+  denotes a modified element, t denotes a scalar factor of an
+  applied elementary reflector and ui denote elements of the
+  matrix U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] D. KRESSNER:
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04PB.html b/doc/_static/doc/MB04PB.html
new file mode 100644
index 00000000..ac11f5b7
--- /dev/null
+++ b/doc/_static/doc/MB04PB.html
@@ -0,0 +1,384 @@
+<HTML>
+<HEAD><TITLE>MB04PB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PB">MB04PB</A></H2>
+<H3>
+Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (block algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       T ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
+  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
+  is computed so that
+
+            T       [  Aout   Gout  ]
+           U H U =  [             T ] ,
+                    [  Qout  -Aout  ]
+
+  where Aout is upper Hessenberg and Qout is diagonal.
+  Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the diagonal of the matrix Qout, the upper triangular part
+          of the matrix Gout and, in the zero parts of Qout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
+          block size determined by the function UE01MD.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  QG(i+2:n,i), and tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  A(i+2:n,i), and nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
+  where the cosine is stored in CS(2*i-1) and the sine in
+  CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] D. KRESSNER:
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04PB/MB04WP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE, TWO
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NBMAX
+      PARAMETER        ( NMAX = 7, NBMAX = 3 )
+      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
+      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES = NMAX,
+     $                   LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDWORK = 8*NBMAX*NMAX + 3*NBMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
+     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION MA02ID, MA02JD
+      EXTERNAL         MA02ID, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
+     $                 DSYR2K, DTRMM, MB04PB, MB04WP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
+         CALL MB04PB( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
+     $                INFO )
+         INFO = 0
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
+            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               IF ( N.GT.2 )
+     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
+     $                         LDA )
+               IF ( N.GT.1 )
+     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
+     $                         LDQG )
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10             CONTINUE
+               DO 20  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20             CONTINUE
+               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
+30             CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 40  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
+40             CONTINUE
+C
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
+     $                      U1, LDU1, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
+               DO 50 I = 1, N
+                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
+50             CONTINUE
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
+               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
+               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
+               DO 60  I = 1, N
+                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
+     $                       RES(1,2*N+1), LDRES )
+60             CONTINUE
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
+               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
+               DO 70  I = 1, N
+                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
+     $                       RES(1,2*N+2), LDRES )
+70             CONTINUE
+C
+               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
+     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
+     $                LDRES, DWORK )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' TMB04PB EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04PB = ',I2)
+99997 FORMAT (' INFO on exit from MB04WP = ',I2)
+99996 FORMAT (' The symplectic orthogonal factor U is ')
+99995 FORMAT (/' The reduced matrix A is ')
+99994 FORMAT (/' The reduced matrix QG is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04PB EXAMPLE PROGRAM DATA
+        5
+    0.9501    0.7621    0.6154    0.4057    0.0579
+    0.2311    0.4565    0.7919    0.9355    0.3529
+    0.6068    0.0185    0.9218    0.9169    0.8132
+    0.4860    0.8214    0.7382    0.4103    0.0099
+    0.8913    0.4447    0.1763    0.8936    0.1389
+    0.3869    0.4055    0.2140    1.0224    1.1103    0.7016
+    1.3801    0.7567    1.4936    1.2913    0.9515    1.1755
+    0.7993    1.7598    1.6433    1.0503    0.8839    1.1010
+    1.2019    1.1956    0.9346    0.6824    0.7590    1.1364
+    0.8780    0.9029    1.6565    1.1022    0.7408    0.3793
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TMB04PB EXAMPLE PROGRAM RESULTS
+
+ The symplectic orthogonal factor U is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.0927    0.2098    0.5594   -0.0226    0.0000    0.5538    0.3184    0.2519   -0.4031
+    0.0000   -0.2435    0.4745   -0.6362   -0.2542    0.0000    0.3207   -0.2455    0.0595   -0.2819
+    0.0000   -0.1950   -0.1770   -0.1519   -0.2857    0.0000    0.4823    0.4122   -0.2060    0.6173
+    0.0000   -0.3576   -0.0480    0.2302    0.4512    0.0000    0.3523   -0.6047   -0.3110    0.1635
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.5538   -0.3184   -0.2519    0.4031    0.0000   -0.0927    0.2098    0.5594   -0.0226
+    0.0000   -0.3207    0.2455   -0.0595    0.2819    0.0000   -0.2435    0.4745   -0.6362   -0.2542
+    0.0000   -0.4823   -0.4122    0.2060   -0.6173    0.0000   -0.1950   -0.1770   -0.1519   -0.2857
+    0.0000   -0.3523    0.6047    0.3110   -0.1635    0.0000   -0.3576   -0.0480    0.2302    0.4512
+
+ Orthogonality of U: || U'*U - I ||_F = .77E-15
+
+ The reduced matrix A is 
+    0.9501   -1.5494    0.5268    0.3187   -0.6890
+   -2.4922    2.0907   -1.3598    0.5682    0.5618
+    0.0000   -1.7723    0.3960   -0.2624   -0.3709
+    0.0000    0.0000   -0.2648    0.2136   -0.3226
+    0.0000    0.0000    0.0000   -0.2308    0.2319
+
+ The reduced matrix QG is 
+    0.3869    0.4055    0.0992    0.5237   -0.4110   -0.4861
+    0.0000   -3.7784   -4.1609    0.3614    0.3606   -0.0696
+    0.0000    0.0000    1.2192   -0.0848    0.2007    0.3735
+    0.0000    0.0000    0.0000   -0.8646    0.1538   -0.1970
+    0.0000    0.0000    0.0000    0.0000   -0.4527    0.0743
+
+ Residual: || H - U*R*U' ||_F = .33E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04PU.html b/doc/_static/doc/MB04PU.html
new file mode 100644
index 00000000..972a83ac
--- /dev/null
+++ b/doc/_static/doc/MB04PU.html
@@ -0,0 +1,371 @@
+<HTML>
+<HEAD><TITLE>MB04PU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PU">MB04PU</A></H2>
+<H3>
+Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (unblocked algorithm)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a Hamiltonian matrix,
+
+                [  A   G  ]
+           H =  [       T ] ,
+                [  Q  -A  ]
+
+  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
+  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
+  is computed so that
+
+            T       [  Aout   Gout  ]
+           U H U =  [             T ] ,
+                    [  Qout  -Aout  ]
+
+  where Aout is upper Hessenberg and Qout is diagonal.
+  Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain the lower triangular part of the matrix Q and
+          the upper triangular part of the matrix G.
+          On exit, the leading N-by-N+1 part of this array contains
+          the diagonal of the matrix Qout, the upper triangular part
+          of the matrix Gout and, in the zero parts of Qout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  QG(i+2:n,i), and tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  A(i+2:n,i), and nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
+  where the cosine is stored in CS(2*i-1) and the sine in
+  CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 40/3 N**3 + O(N) floating point operations
+  and is strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04PU/MB04WP EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE, TWO
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 100 )
+      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
+      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES  = NMAX,
+     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 2*NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
+     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
+     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION MA02ID, MA02JD
+      EXTERNAL         MA02ID, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
+     $                 DSYR2K, DTRMM, MB04PU, MB04WP
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
+         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
+         CALL MB04PU( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
+     $                INFO )
+         INFO = 0
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
+            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               IF ( N.GT.2 )
+     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
+     $                         LDA )
+               IF ( N.GT.1 )
+     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
+     $                         LDQG )
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10             CONTINUE
+               DO 20  I = 1, N
+                  WRITE (NOUT, FMT = 99993)
+     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20             CONTINUE
+               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
+     $                 U1, LDU1, U2, LDU2, RES, LDRES )
+               WRITE ( NOUT, FMT = 99995 )
+               DO 30  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
+30             CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 40  I = 1, N
+                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
+40             CONTINUE
+C
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
+     $                      U1, LDU1, ZERO, RES, LDRES )
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
+               DO 50 I = 1, N
+                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
+50             CONTINUE
+               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
+     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
+     $                     LDRES )
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
+               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
+               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
+               DO 60  I = 1, N
+                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
+     $                       RES(1,2*N+1), LDRES )
+60             CONTINUE
+               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
+     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
+     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
+               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
+               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
+     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
+     $                       RES, LDRES )
+               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
+     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
+               DO 70  I = 1, N
+                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
+     $                       RES(1,2*N+2), LDRES )
+70             CONTINUE
+C
+               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
+     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
+     $                LDRES, DWORK )
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' TMB04PU EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04PU = ',I2)
+99997 FORMAT (' INFO on exit from MB04WP = ',I2)
+99996 FORMAT (' The symplectic orthogonal factor U is ')
+99995 FORMAT (/' The reduced matrix A is ')
+99994 FORMAT (/' The reduced matrix QG is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04PU EXAMPLE PROGRAM DATA
+        5
+    0.9501    0.7621    0.6154    0.4057    0.0579
+    0.2311    0.4565    0.7919    0.9355    0.3529
+    0.6068    0.0185    0.9218    0.9169    0.8132
+    0.4860    0.8214    0.7382    0.4103    0.0099
+    0.8913    0.4447    0.1763    0.8936    0.1389
+    0.4055    0.3869    1.3801    0.7993    1.2019    0.8780
+    0.2140    1.4936    0.7567    1.7598    1.1956    0.9029
+    1.0224    1.2913    1.0503    1.6433    0.9346    1.6565
+    1.1103    0.9515    0.8839    0.7590    0.6824    1.1022
+    0.7016    1.1755    1.1010    1.1364    0.3793    0.7408
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TMB04PU EXAMPLE PROGRAM RESULTS
+
+ The symplectic orthogonal factor U is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.1119    0.7763   -0.2005   -0.0001    0.0000    0.1036   -0.2783   -0.2583    0.4356
+    0.0000   -0.2937    0.2320    0.4014    0.5541    0.0000    0.4949    0.1187   -0.0294   -0.3632
+    0.0000   -0.2352   -0.2243   -0.7056   -0.0500    0.0000    0.5374    0.3102   -0.0893    0.0318
+    0.0000   -0.4314   -0.0354    0.2658   -0.6061    0.0000    0.3396   -0.3230    0.3931    0.0207
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.1036    0.2783    0.2583   -0.4356    0.0000   -0.1119    0.7763   -0.2005   -0.0001
+    0.0000   -0.4949   -0.1187    0.0294    0.3632    0.0000   -0.2937    0.2320    0.4014    0.5541
+    0.0000   -0.5374   -0.3102    0.0893   -0.0318    0.0000   -0.2352   -0.2243   -0.7056   -0.0500
+    0.0000   -0.3396    0.3230   -0.3931   -0.0207    0.0000   -0.4314   -0.0354    0.2658   -0.6061
+
+ Orthogonality of U: || U'*U - I ||_F = .16E-14
+
+ The reduced matrix A is 
+    0.9501   -1.8690    0.8413   -0.0344   -0.0817
+   -2.0660    2.7118   -1.6646    0.7606   -0.0285
+    0.0000   -2.4884    0.4115   -0.4021    0.3964
+    0.0000    0.0000   -0.5222    0.1767   -0.3081
+    0.0000    0.0000    0.0000    0.1915   -0.3426
+
+ The reduced matrix QG is 
+    0.4055    0.3869   -0.4295    0.9242   -0.7990   -0.0268
+    0.0000   -3.0834   -2.5926    0.0804    0.1386   -0.1630
+    0.0000    0.0000    1.3375    0.9618   -0.0263    0.1829
+    0.0000    0.0000    0.0000   -0.3556    0.6662    0.2123
+    0.0000    0.0000    0.0000    0.0000    0.1337   -0.8622
+
+ Residual: || H - U*R*U' ||_F = .60E-14
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04PY.html b/doc/_static/doc/MB04PY.html
new file mode 100644
index 00000000..d2896830
--- /dev/null
+++ b/doc/_static/doc/MB04PY.html
@@ -0,0 +1,123 @@
+<HTML>
+<HEAD><TITLE>MB04PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04PY">MB04PY</A></H2>
+<H3>
+Applying an elementary reflector (using in-line code for a low order) to a matrix, from either the left or the right
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a real elementary reflector H to a real m-by-n matrix
+  C, from either the left or the right. H is represented in the form
+                                     ( 1 )
+        H = I - tau * u *u',    u  = (   ),
+                                     ( v )
+  where tau is a real scalar and v is a real vector.
+
+  If tau = 0, then H is taken to be the unit matrix.
+
+  In-line code is used if H has order &lt; 11.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04PY( SIDE, M, N, V, TAU, C, LDC, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER          SIDE
+      INTEGER            LDC, M, N
+      DOUBLE PRECISION   TAU
+C     .. Array Arguments ..
+      DOUBLE PRECISION   C( LDC, * ), DWORK( * ), V( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  SIDE    CHARACTER*1
+          Indicates whether the elementary reflector should be
+          applied from the left or from the right, as follows:
+          = 'L':  Compute H * C;
+          = 'R':  Compute C * H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix C.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix C.  N &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+          (M-1), if SIDE = 'L', or
+          (N-1), if SIDE = 'R'.
+          The vector v in the representation of H.
+
+  TAU     (input) DOUBLE PRECISION
+          The scalar factor of the elementary reflector H.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the matrix H * C, if SIDE = 'L', or C * H, if SIDE = 'R'.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N), if SIDE = 'L', or
+                                            (M), if SIDE = 'R'.
+          DWORK is not referenced if H has order less than 11.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine applies the elementary reflector H, taking its special
+  structure into account. The multiplications by the first component
+  of u (which is 1) are avoided, to increase the efficiency.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04QB.html b/doc/_static/doc/MB04QB.html
new file mode 100644
index 00000000..e1caa590
--- /dev/null
+++ b/doc/_static/doc/MB04QB.html
@@ -0,0 +1,238 @@
+<HTML>
+<HEAD><TITLE>MB04QB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QB">MB04QB</A></H2>
+<H3>
+Applying a product of symplectic reflectors and Givens rotations to two general real matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To overwrite general real m-by-n matrices C and D, or their
+  transposes, with
+
+            [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'N', or
+            [ op(D) ]
+
+       T    [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'T',
+            [ op(D) ]
+
+  where Q is defined as the product of symplectic reflectors and
+  Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QB( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
+     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
+      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
+     $                  V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANC   CHARACTER*1
+          Specifies the form of op( C ) as follows:
+          = 'N':  op( C ) = C;
+          = 'T':  op( C ) = C';
+          = 'C':  op( C ) = C'.
+
+  TRAND   CHARACTER*1
+          Specifies the form of op( D ) as follows:
+          = 'N':  op( D ) = D;
+          = 'T':  op( D ) = D';
+          = 'C':  op( D ) = D'.
+
+  TRANQ   CHARACTER*1
+          = 'N':  apply Q;
+          = 'T':  apply Q'.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in V are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in W are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(C) and op(D).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(C) and op(D).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of elementary reflectors whose product defines
+          the matrix Q.  M &gt;= K &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,M) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors F(i).
+          On entry with STOREV = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors F(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M),  if STOREV = 'C';
+          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,M) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors H(i).
+          On entry with STOREW = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors H(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,M),  if STOREW = 'C';
+          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                  (LDC,N) if TRANC = 'N',
+                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
+          On entry with TRANC = 'N', the leading M-by-N part of
+          this array must contain the matrix C.
+          On entry with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix C.
+          On exit with TRANC = 'N', the leading M-by-N part of
+          this array contains the updated matrix C.
+          On exit with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M),  if TRANC = 'N';
+          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                  (LDD,N) if TRAND = 'N',
+                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
+          On entry with TRAND = 'N', the leading M-by-N part of
+          this array must contain the matrix D.
+          On entry with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix D.
+          On exit with TRAND = 'N', the leading M-by-N part of
+          this array contains the updated matrix D.
+          On exit with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= MAX(1,M),  if TRAND = 'N';
+          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04QC.html b/doc/_static/doc/MB04QC.html
new file mode 100644
index 00000000..28c7cdf6
--- /dev/null
+++ b/doc/_static/doc/MB04QC.html
@@ -0,0 +1,230 @@
+<HTML>
+<HEAD><TITLE>MB04QC - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QC">MB04QC</A></H2>
+<H3>
+Premultiplying a real matrix with an orthogonal symplectic block reflector
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the orthogonal symplectic block reflector
+
+           [  I+V*T*V'  V*R*S*V'  ]
+      Q =  [                      ]
+           [ -V*R*S*V'  I+V*T*V'  ]
+
+  or its transpose to a real 2m-by-n matrix [ op(A); op(B) ] from
+  the left.
+  The k-by-k upper triangular blocks of the matrices
+
+                              [ S1 ]       [ T11 T12 T13 ]
+      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
+                              [ S3 ]       [ T31 T32 T33 ]
+
+  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
+  are stored rowwise in the arrays RS and T, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QC( STRAB, TRANA, TRANB, TRANQ, DIRECT, STOREV,
+     $                   STOREW, M, N, K, V, LDV, W, LDW, RS, LDRS, T,
+     $                   LDT, A, LDA, B, LDB, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         DIRECT, STOREV, STOREW, STRAB, TRANA, TRANB,
+     $                  TRANQ
+      INTEGER           K, LDA, LDB, LDRS, LDT, LDV, LDW, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), RS(LDRS,*),
+     $                  T(LDT,*), V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STRAB   CHARACTER*1
+          Specifies the structure of the first blocks of A and B:
+          = 'Z':  the leading K-by-N submatrices of op(A) and op(B)
+                  are (implicitly) assumed to be zero;
+          = 'N';  no structure to mention.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op( A ) as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op( B ) as follows:
+          = 'N':  op( B ) = B;
+          = 'T':  op( B ) = B';
+          = 'C':  op( B ) = B'.
+
+  DIRECT  CHARACTER*1
+          This is a dummy argument, which is reserved for future
+          extensions of this subroutine. Not referenced.
+
+  TRANQ   CHARACTER*1
+          = 'N':  apply Q;
+          = 'T':  apply Q'.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in V are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in W are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(A) and op(B).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(A) and op(B).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The order of the triangular matrices defining R, S and T.
+          M &gt;= K &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,M) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflector used to form parts of Q.
+          On entry with STOREV = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflector used to form parts of Q.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M),  if STOREV = 'C';
+          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,M) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflector used to form parts of Q.
+          On entry with STOREW = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflector used to form parts of Q.
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,M),  if STOREW = 'C';
+          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
+
+  RS      (input) DOUBLE PRECISION array, dimension (K,6*K)
+          On entry, the leading K-by-6*K part of this array must
+          contain the upper triangular matrices defining the factors
+          R and S of the symplectic block reflector Q. The
+          (strictly) lower portions of this array are not
+          referenced.
+
+  LDRS    INTEGER
+          The leading dimension of the array RS.  LDRS &gt;= MAX(1,K).
+
+  T       (input) DOUBLE PRECISION array, dimension (K,9*K)
+          On entry, the leading K-by-9*K part of this array must
+          contain the upper triangular matrices defining the factor
+          T of the symplectic block reflector Q. The (strictly)
+          lower portions of this array are not referenced.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,K).
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+                  (LDA,N) if TRANA = 'N',
+                  (LDA,M) if TRANA = 'C' or TRANA = 'T'
+          On entry with TRANA = 'N', the leading M-by-N part of this
+          array must contain the matrix A.
+          On entry with TRANA = 'T' or TRANA = 'C', the leading
+          N-by-M part of this array must contain the matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,M),  if TRANA = 'N';
+          LDA &gt;= MAX(1,N),  if TRANA = 'C' or TRANA = 'T'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+                  (LDB,N) if TRANB = 'N',
+                  (LDB,M) if TRANB = 'C' or TRANB = 'T'
+          On entry with TRANB = 'N', the leading M-by-N part of this
+          array must contain the matrix B.
+          On entry with TRANB = 'T' or TRANB = 'C', the leading
+          N-by-M part of this array must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,M),  if TRANB = 'N';
+          LDB &gt;= MAX(1,N),  if TRANB = 'C' or TRANB = 'T'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
+          LDWORK &gt;= 8*N*K,   if STRAB = 'Z',
+          LDWORK &gt;= 9*N*K,   if STRAB = 'N'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 16*( M - K )*N + ( 26*K - 4 )*K*N floating
+  point operations if STRAB = 'Z' and additional ( 12*K + 2 )*K*N
+  floating point operations if STRAB = 'N'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04QF.html b/doc/_static/doc/MB04QF.html
new file mode 100644
index 00000000..1a1605b0
--- /dev/null
+++ b/doc/_static/doc/MB04QF.html
@@ -0,0 +1,182 @@
+<HTML>
+<HEAD><TITLE>MB04QF - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QF">MB04QF</A></H2>
+<H3>
+Forming the triangular block factors of a symplectic block reflector
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To form the triangular block factors R, S and T of a symplectic
+  block reflector SH, which is defined as a product of 2k
+  concatenated Householder reflectors and k Givens rotations,
+
+      SH = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+           diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                             ....
+           diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  The upper triangular blocks of the matrices
+
+                              [ S1 ]       [ T11 T12 T13 ]
+      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
+                              [ S3 ]       [ T31 T32 T33 ]
+
+  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
+  are stored rowwise in the arrays RS and T, respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QF( DIRECT, STOREV, STOREW, N, K, V, LDV, W, LDW,
+     $                   CS, TAU, RS, LDRS, T, LDT, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         DIRECT, STOREV, STOREW
+      INTEGER           K, LDRS, LDT, LDV, LDW, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), RS(LDRS,*), T(LDT,*),
+     $                  TAU(*), V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DIRECT  CHARACTER*1
+          This is a dummy argument, which is reserved for future
+          extensions of this subroutine. Not referenced.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder F(i) reflectors are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder H(i) reflectors are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the Householder reflectors F(i) and H(i).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of Givens rotations.  K &gt;= 1.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,N) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading N-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector F(i).
+          On entry with STOREV = 'R', the leading K-by-N part of
+          this array must contain in its i-th row the vector
+          which defines the elementary reflector F(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,N),  if STOREV = 'C';
+          LDV &gt;= K,         if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,N) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading N-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector H(i).
+          On entry with STOREV = 'R', the leading K-by-N part of
+          this array must contain in its i-th row the vector
+          which defines the elementary reflector H(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,N),  if STOREW = 'C';
+          LDW &gt;= K,         if STOREW = 'R'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+  RS      (output) DOUBLE PRECISION array, dimension (K,6*K)
+          On exit, the leading K-by-6*K part of this array contains
+          the upper triangular matrices defining the factors R and
+          S of the symplectic block reflector SH. The (strictly)
+          lower portions of this array are not used.
+
+  LDRS    INTEGER
+          The leading dimension of the array RS.  LDRS &gt;= K.
+
+  T       (output) DOUBLE PRECISION array, dimension (K,9*K)
+          On exit, the leading K-by-9*K part of this array contains
+          the upper triangular matrices defining the factor T of the
+          symplectic block reflector SH. The (strictly) lower
+          portions of this array are not used.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= K.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*K)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires ( 4*K - 2 )*K*N + 19/3*K*K*K + 1/2*K*K
+  + 43/6*K - 4 floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04QS.html b/doc/_static/doc/MB04QS.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>MB04QS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QS">MB04QS</A></H2>
+<H3>
+Multiplication with a product of symplectic reflectors and Givens rotations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Overwrites general real m-by-n/n-by-m matrices C and D with
+
+            [ op(C) ]
+      U  *  [       ]   if TRANU = 'N', or
+            [ op(D) ]
+
+       T    [ op(C) ]
+      U  *  [       ]   if TRANU = 'T',
+            [ op(D) ]
+
+  where U is defined as the product of symplectic reflectors and
+  Givens rotations,
+
+      U = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
+
+  with k = m-1, as returned by the SLICOT Library routines MB04PU
+  or MB04RU.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QS( TRANC, TRAND, TRANU, M, N, ILO, V, LDV, W, LDW,
+     $                   C, LDC, D, LDD, CS, TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANC, TRAND, TRANU
+      INTEGER           ILO, INFO, LDC, LDD, LDV, LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
+     $                  V(LDV,*), W(LDW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANC   CHARACTER*1
+          Specifies the form of op( C ) as follows:
+          = 'N':  op( C ) = C; 
+          = 'T':  op( C ) = C';
+          = 'C':  op( C ) = C'.
+
+  TRAND   CHARACTER*1
+          Specifies the form of op( D ) as follows:
+          = 'N':  op( D ) = D; 
+          = 'T':  op( D ) = D';
+          = 'C':  op( D ) = D'.
+
+  TRANU   CHARACTER*1
+          Specifies whether U or U' is applied as follows:
+          = 'N':  apply U;
+          = 'T':  apply U'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(C) and op(D).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(C) and op(D).
+          N &gt;= 0.
+
+  ILO     (input) INTEGER
+          ILO must have the same value as in the previous call of
+          MB04PU or MB04RU. U is equal to the unit matrix except in
+          the submatrix
+          U([ilo+1:m m+ilo+1:2*m], [ilo+1:m m+ilo+1:2*m]).
+          1 &lt;= ILO &lt;= M+1.
+
+  V       (input) DOUBLE PRECISION array, dimension (LDV,M)
+          On entry, the leading M-by-M part of this array must
+          contain in its columns the vectors which define the
+          elementary reflectors H(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= MAX(1,M).
+
+  W       (input) DOUBLE PRECISION array, dimension (LDW,M)
+          On entry, the leading M-by-M part of this array must
+          contain in its columns the vectors which define the
+          elementary reflectors F(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.  LDW &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                  (LDC,N) if TRANC = 'N',
+                  (LDC,M) if TRANC = 'T' or TRANC = 'C'.
+          On entry with TRANC = 'N', the leading M-by-N part of this
+          array must contain the matrix C.
+          On entry with TRANC = 'T' or TRANC = 'C', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix C.
+          On exit with TRANC = 'N', the leading M-by-N part of this
+          array contains the updated matrix C.
+          On exit with TRANC = 'T' or TRANC = 'C', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M),  if TRANC = 'N';
+          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                  (LDD,N) if TRAND = 'N',
+                  (LDD,M) if TRAND = 'T' or TRAND = 'C'.
+          On entry with TRAND = 'N', the leading M-by-N part of this
+          array must contain the matrix D.
+          On entry with TRAND = 'T' or TRAND = 'C', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix D.
+          On exit with TRAND = 'N', the leading M-by-N part of this
+          array contains the updated matrix D.
+          On exit with TRAND = 'T' or TRAND = 'C', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= MAX(1,M),  if TRAND = 'N';
+          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*N-2)
+          On entry, the first 2*N-2 elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i), as returned by MB04PU or MB04RU.
+
+  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
+          On entry, the first N-1 elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i), as returned by MB04PU or MB04RU.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04QU.html b/doc/_static/doc/MB04QU.html
new file mode 100644
index 00000000..b2e64de5
--- /dev/null
+++ b/doc/_static/doc/MB04QU.html
@@ -0,0 +1,225 @@
+<HTML>
+<HEAD><TITLE>MB04QU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04QU">MB04QU</A></H2>
+<H3>
+Applying a product of symplectic reflectors and Givens rotations to two general real matrices (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To overwrite general real m-by-n matrices C and D, or their
+  transposes, with
+
+            [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'N', or
+            [ op(D) ]
+
+       T    [ op(C) ]
+      Q  *  [       ]   if TRANQ = 'T',
+            [ op(D) ]
+
+  where Q is defined as the product of symplectic reflectors and
+  Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04QU( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
+     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
+      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), C(LDC,*), D(LDD,*), V(LDV,*),
+     $                  W(LDW,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANC   CHARACTER*1
+          Specifies the form of op( C ) as follows:
+          = 'N':  op( C ) = C;
+          = 'T':  op( C ) = C';
+          = 'C':  op( C ) = C'.
+
+  STOREV  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in V are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  STOREW  CHARACTER*1
+          Specifies how the vectors which define the concatenated
+          Householder reflectors contained in W are stored:
+          = 'C':  columnwise;
+          = 'R':  rowwise.
+
+  TRAND   CHARACTER*1
+          Specifies the form of op( D ) as follows:
+          = 'N':  op( D ) = D;
+          = 'T':  op( D ) = D';
+          = 'C':  op( D ) = D'.
+
+  TRANQ   CHARACTER*1
+          = 'N':  apply Q;
+          = 'T':  apply Q'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices op(C) and op(D).
+          M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices op(C) and op(D).
+          N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of elementary reflectors whose product defines
+          the matrix Q.  M &gt;= K &gt;= 0.
+
+  V       (input) DOUBLE PRECISION array, dimension
+                  (LDV,K) if STOREV = 'C',
+                  (LDV,M) if STOREV = 'R'
+          On entry with STOREV = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors F(i).
+          On entry with STOREV = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors F(i).
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M),  if STOREV = 'C';
+          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
+
+  W       (input) DOUBLE PRECISION array, dimension
+                  (LDW,K) if STOREW = 'C',
+                  (LDW,M) if STOREW = 'R'
+          On entry with STOREW = 'C', the leading M-by-K part of
+          this array must contain in its columns the vectors which
+          define the elementary reflectors H(i).
+          On entry with STOREW = 'R', the leading K-by-M part of
+          this array must contain in its rows the vectors which
+          define the elementary reflectors H(i).
+
+  LDW     INTEGER
+          The leading dimension of the array W.
+          LDW &gt;= MAX(1,M),  if STOREW = 'C';
+          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+                  (LDC,N) if TRANC = 'N',
+                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
+          On entry with TRANC = 'N', the leading M-by-N part of
+          this array must contain the matrix C.
+          On entry with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix C.
+          On exit with TRANC = 'N', the leading M-by-N part of
+          this array contains the updated matrix C.
+          On exit with TRANC = 'C' or TRANC = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M),  if TRANC = 'N';
+          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+                  (LDD,N) if TRAND = 'N',
+                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
+          On entry with TRAND = 'N', the leading M-by-N part of
+          this array must contain the matrix D.
+          On entry with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array must contain the transpose of
+          the matrix D.
+          On exit with TRAND = 'N', the leading M-by-N part of
+          this array contains the updated matrix D.
+          On exit with TRAND = 'C' or TRAND = 'T', the leading
+          N-by-M part of this array contains the transpose of the
+          updated matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.
+          LDD &gt;= MAX(1,M),  if TRAND = 'N';
+          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04RB.html b/doc/_static/doc/MB04RB.html
new file mode 100644
index 00000000..a9d8f984
--- /dev/null
+++ b/doc/_static/doc/MB04RB.html
@@ -0,0 +1,203 @@
+<HTML>
+<HEAD><TITLE>MB04RB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04RB">MB04RB</A></H2>
+<H3>
+Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (blocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a skew-Hamiltonian matrix,
+
+                [  A   G  ]
+          W  =  [       T ] ,
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
+  symplectic matrix U is computed so that
+
+            T       [  Aout  Gout  ]
+           U W U =  [            T ] ,
+                    [    0   Aout  ]
+
+  where Aout is in upper Hessenberg form.
+  Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04RB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to the SLICOT Library routine MB04DS;
+          otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout,
+          information about the elementary reflectors used to
+          compute the PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G. The parts containing the
+          diagonal and the first superdiagonal of this array are not
+          referenced.
+          On exit, the leading N-by-N+1 part of this array contains
+          in its first N-1 columns information about the elementary
+          reflectors used to compute the PVL factorization and in
+          its last N columns the strictly upper triangular part of
+          the matrix Gout.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
+          block size.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An algorithm similar to the block algorithm for the symplectic
+  URV factorization described in [2] is used.
+
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with v(1:i) = 0
+  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
+  tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with w(1:i) = 0
+  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
+  nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
+  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43(4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04RU.html b/doc/_static/doc/MB04RU.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/MB04RU.html
@@ -0,0 +1,189 @@
+<HTML>
+<HEAD><TITLE>MB04RU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04RU">MB04RU</A></H2>
+<H3>
+Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a skew-Hamiltonian matrix,
+
+                [  A   G  ]
+          W  =  [       T ] ,
+                [  Q   A  ]
+
+  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
+  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
+  symplectic matrix U is computed so that
+
+            T       [  Aout  Gout  ]
+           U W U =  [            T ] ,
+                    [    0   Aout  ]
+
+  where Aout is in upper Hessenberg form.
+  Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04RU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that A is already upper triangular and Q is
+          zero in rows and columns 1:ILO-1. ILO is normally set by a
+          previous call to the SLICOT Library routine MB04DS;
+          otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Aout and, in the zero part of Aout, information
+          about the elementary reflectors used to compute the
+          PVL factorization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+                         (LDQG,N+1)
+          On entry, the leading N-by-N+1 part of this array must
+          contain in columns 1:N the strictly lower triangular part
+          of the matrix Q and in columns 2:N+1 the strictly upper
+          triangular part of the matrix G. The parts containing the
+          diagonal and the first superdiagonal of this array are not
+          referenced.
+          On exit, the leading N-by-N+1 part of this array contains
+          in its first N-1 columns information about the elementary
+          reflectors used to compute the PVL factorization and in
+          its last N columns the strictly upper triangular part of
+          the matrix Gout.
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations used
+          to compute the PVL factorization.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix U is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
+      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with v(1:i) = 0
+  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
+  tau in QG(i+1,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with w(1:i) = 0
+  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
+  nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
+  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 40/3 N**3 + O(N) floating point operations
+  and is strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C.F.
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04SU.html b/doc/_static/doc/MB04SU.html
new file mode 100644
index 00000000..d0bea471
--- /dev/null
+++ b/doc/_static/doc/MB04SU.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>MB04SU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04SU">MB04SU</A></H2>
+<H3>
+Symplectic QR decomposition of a real 2M-by-N matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a symplectic QR decomposition of a real 2M-by-N matrix
+  [A; B],
+
+            [ A ]             [ R11  R12 ]
+            [   ] = Q * R = Q [          ],
+            [ B ]             [ R21  R22 ]
+
+  where Q is a symplectic orthogonal matrix, R11 is upper triangular
+  and R21 is strictly upper triangular.
+  If [A; B] is symplectic then, theoretically, R21 = 0 and
+  R22 = inv(R11)^T. Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04SU( M, N, A, LDA, B, LDB, CS, TAU, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CS(*), DWORK(*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of A and B. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of A and B. N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the matrix [ R11  R12 ] and, in the zero parts of R,
+          information about the elementary reflectors used to
+          compute the symplectic QR decomposition.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading M-by-N part of this array contains
+          the matrix [ R21  R22 ] and, in the zero parts of B,
+          information about the elementary reflectors used to
+          compute the symplectic QR decomposition.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,M).
+
+  CS      (output) DOUBLE PRECISION array, dimension (2 * min(M,N))
+          On exit, the first 2*min(M,N) elements of this array
+          contain the cosines and sines of the symplectic Givens
+          rotations used to compute the symplectic QR decomposition.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
+          On exit, the first min(M,N) elements of this array
+          contain the scalar factors of some of the elementary
+          reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix Q is represented as a product of symplectic reflectors
+  and Givens rotations
+
+  Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+      diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                        ....
+      diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
+
+  where k = min(m,n).
+
+  Each H(i) has the form
+
+        H(i) = I - tau * w * w'
+
+  where tau is a real scalar, and w is a real vector with
+  w(1:i-1) = 0 and w(i) = 1; w(i+1:m) is stored on exit in
+  B(i+1:m,i), and tau in B(i,i).
+
+  Each F(i) has the form
+
+        F(i) = I - nu * v * v'
+
+  where nu is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
+  A(i+1:m,i), and nu in TAU(i).
+
+  Each G(i) is a Givens rotation acting on rows i of A and B,
+  where the cosine is stored in CS(2*i-1) and the sine in
+  CS(2*i).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bunse-Gerstner, A.
+      Matrix factorizations for symplectic QR-like methods.
+      Linear Algebra Appl., 83, pp. 49-77, 1986.
+
+  [2] Byers, R.
+      Hamiltonian and Symplectic Algorithms for the Algebraic
+      Riccati Equation.
+      Ph.D. Dissertation, Center for Applied Mathematics,
+      Cornell University, Ithaca, NY, 1983.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires
+     8*M*N*N - 8/3*N*N*N +  2*M*N + 6*N*N + 8/3*N,  if M &gt;= N,
+     8*M*M*N - 8/3*M*M*M + 14*M*N - 6*M*M + 8/3*N,  if M &lt;= N,
+  floating point operations and is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04TB.html b/doc/_static/doc/MB04TB.html
new file mode 100644
index 00000000..b4021124
--- /dev/null
+++ b/doc/_static/doc/MB04TB.html
@@ -0,0 +1,559 @@
+<HTML>
+<HEAD><TITLE>MB04TB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04TB">MB04TB</A></H2>
+<H3>
+Symplectic URV decomposition of a real 2N-by-2N matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a symplectic URV (SURV) decomposition of a real
+  2N-by-2N matrix H,
+
+         [ op(A)   G   ]                 [ op(R11)   R12   ]
+     H = [             ] = U R V'  = U * [                 ] * V' ,
+         [  Q    op(B) ]                 [   0     op(R22) ]
+
+  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
+  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
+  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
+  matrices. Blocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04TB( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
+     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANA, TRANB
+      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
+     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op( A ) as follows:
+          = 'N':  op( A ) = A;
+          = 'T':  op( A ) = A';
+          = 'C':  op( A ) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op( B ) as follows:
+          = 'N':  op( B ) = B;
+          = 'T':  op( B ) = B';
+          = 'C':  op( B ) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that op(A) is already upper triangular,
+          op(B) is lower triangular and Q is zero in rows and
+          columns 1:ILO-1. ILO is normally set by a previous call
+          to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the triangular matrix R11, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the Hessenberg matrix R22, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix G.
+          On exit, the leading N-by-N part of this array contains
+          the matrix R12.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Q.
+          On exit, the leading N-by-N part of this array contains
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  CSL     (output) DOUBLE PRECISION array, dimension (2N)
+          On exit, the first 2N elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the left-hand side used to compute the SURV
+          decomposition.
+
+  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the right-hand side used to compute the SURV
+          decomposition.
+
+  TAUL    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, the first N elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the left-hand side.
+
+  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied form the right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, (16*N + 5)*NB, where NB is the optimal
+          block size determined by the function UE01MD.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices U and V are represented as products of symplectic
+  reflectors and Givens rotations
+
+  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
+      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
+                           ....
+      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
+
+  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
+      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
+                                ....
+      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
+
+  Each HU(i) has the form
+
+        HU(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
+  Q(i+1:n,i), and tau in Q(i,i).
+
+  Each FU(i) has the form
+
+        FU(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
+  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
+  scalar nu is stored in TAUL(i).
+
+  Each GU(i) is a Givens rotation acting on rows i and n+i,
+  where the cosine is stored in CSL(2*i-1) and the sine in
+  CSL(2*i).
+
+  Each HV(i) has the form
+
+        HV(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  Q(i,i+2:n), and tau in Q(i,i+1).
+
+  Each FV(i) has the form
+
+        FV(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
+  The scalar nu is stored in TAUR(i).
+
+  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
+  where the cosine is stored in CSR(2*i-1) and the sine in
+  CSR(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 80/3*N**3 + ( 64*NB + 77 )*N**2 +
+  ( -16*NB + 48 )*NB*N + O(N) floating point operations, where
+  NB is the used block size, and is numerically backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04TB/MB04WR EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NBMAX, NMAX
+      PARAMETER        ( NBMAX = 64, NMAX = 421 )
+      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
+     $                 LDV2, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDV1 = NMAX, LDV2 = NMAX,
+     $                   LDWORK = NBMAX*( 16*NMAX + 1 ) )
+*     .. Local Scalars ..
+      CHARACTER*1      TRANA, TRANB, TRANV1
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
+     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG, NMAX),
+     $                 Q(LDQ, NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
+     $                 TAUR(NMAX), U1(LDU1, NMAX), U2(LDU2, NMAX),
+     $                 V1(LDV1, NMAX), V2(LDV2, NMAX)
+*     .. External Functions ..
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
+      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TB, MB04WR
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, TRANA, TRANB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
+         CALL MB04TB( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
+     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
+            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
+     $                   TAUL, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
+               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
+               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
+     $                      CSR, TAUR, DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     DO 10  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10                   CONTINUE
+                     DO 20  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 30  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
+30                   CONTINUE
+                     DO 40  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
+40                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 )
+                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
+     $                            A(2,1), LDA )
+                     DO 50  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
+50                   CONTINUE
+                  ELSE
+                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
+     $                            A(1,2), LDA )
+                     DO 60  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
+60                   CONTINUE
+                  END IF
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     IF ( N.GT.1 ) THEN
+                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
+     $                               B(1,3), LDB )
+                     END IF
+                     DO 70  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
+70                   CONTINUE
+                  ELSE
+                     IF ( N.GT.1 ) THEN
+C                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
+C     $                               B(3,1), LDB )
+                     END IF
+                     DO 80  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
+80                   CONTINUE
+                  END IF
+C
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     TRANV1 = 'T'
+                  ELSE
+                     TRANV1 = 'N'
+                  END IF
+                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
+     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
+     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
+     $                           LDRES, DWORK )
+                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
+     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
+     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
+     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
+     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
+     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
+     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
+     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  WRITE ( NOUT, FMT = 99990 ) TEMP
+C
+                  WRITE ( NOUT, FMT = 99994 )
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     DO 90  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
+90                   CONTINUE
+                     DO 100  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
+100                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 110  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
+110                  CONTINUE
+                     DO 120  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
+120                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB04TB EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04TB = ',I2)
+99997 FORMAT (' INFO on exit from MB04WR = ',I2)
+99996 FORMAT (' The orthogonal symplectic factor U is ')
+99995 FORMAT (/' The factor R is ')
+99994 FORMAT (/' The orthogonal symplectic factor V is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
+99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04TB EXAMPLE PROGRAM DATA
+        5       N       N
+    0.4643    0.3655    0.6853    0.5090    0.3718
+    0.3688    0.6460    0.4227    0.6798    0.5135
+    0.7458    0.5043    0.9419    0.9717    0.9990
+    0.7140    0.4941    0.7802    0.5272    0.1220
+    0.7418    0.0339    0.7441    0.0436    0.6564
+   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
+   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
+   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
+   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
+   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
+    0.7933    1.5765    1.0711    1.0794    0.8481
+    1.5765    0.1167    1.5685    0.8756    0.5037
+    1.0711    1.5685    0.9902    0.3858    0.2109
+    1.0794    0.8756    0.3858    1.8834    1.4338
+    0.8481    0.5037    0.2109    1.4338    0.1439
+    1.0786    1.5264    1.1721    1.5343    0.4756
+    1.5264    0.8644    0.6872    1.1379    0.6499
+    1.1721    0.6872    1.5194    1.1197    1.0158
+    1.5343    1.1379    1.1197    0.6612    0.2004
+    0.4756    0.6499    1.0158    0.2004    1.2188
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04TB EXAMPLE PROGRAM RESULTS
+
+ The orthogonal symplectic factor U is 
+   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
+   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
+   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
+   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
+   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
+   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
+   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
+   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
+   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
+   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
+
+ Orthogonality of U: || U^T U - I ||_F = .17E-14
+
+ The factor R is 
+   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
+    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
+    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
+    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
+    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
+    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
+
+ Residual: || H*V - U*R ||_F = .76E-14
+
+ The orthogonal symplectic factor V is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
+    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
+    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
+    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
+    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
+    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
+    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
+
+ Orthogonality of V: || V^T V - I ||_F = .17E-14
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04TS.html b/doc/_static/doc/MB04TS.html
new file mode 100644
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+++ b/doc/_static/doc/MB04TS.html
@@ -0,0 +1,544 @@
+<HTML>
+<HEAD><TITLE>MB04TS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04TS">MB04TS</A></H2>
+<H3>
+Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a symplectic URV (SURV) decomposition of a real
+  2N-by-2N matrix H:
+
+          [ op(A)   G   ]        T       [ op(R11)   R12   ]    T
+      H = [             ] = U R V  = U * [                 ] * V ,
+          [  Q    op(B) ]                [   0     op(R22) ]
+
+  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
+  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
+  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
+  matrices. Unblocked version.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04TS( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
+     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANA, TRANB
+      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
+     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op( A ) as follows:
+          = 'N': op( A ) = A;
+          = 'T': op( A ) = A';
+          = 'C': op( A ) = A'.
+
+  TRANB   CHARACTER*1
+          Specifies the form of op( B ) as follows:
+          = 'N': op( B ) = B;
+          = 'T': op( B ) = B';
+          = 'C': op( B ) = B'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          It is assumed that op(A) is already upper triangular,
+          op(B) is lower triangular and Q is zero in rows and
+          columns 1:ILO-1. ILO is normally set by a previous call
+          to MB04DD; otherwise it should be set to 1.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO=1, if N=0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the triangular matrix R11, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the Hessenberg matrix R22, and in the zero part
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix G.
+          On exit, the leading N-by-N part of this array contains
+          the matrix R12.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix Q.
+          On exit, the leading N-by-N part of this array contains
+          information about the elementary reflectors used to
+          compute the SURV decomposition.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDG &gt;= MAX(1,N).
+
+  CSL     (output) DOUBLE PRECISION array, dimension (2N)
+          On exit, the first 2N elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the left-hand side used to compute the SURV
+          decomposition.
+
+  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
+          On exit, the first 2N-2 elements of this array contain the
+          cosines and sines of the symplectic Givens rotations
+          applied from the right-hand side used to compute the SURV
+          decomposition.
+
+  TAUL    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, the first N elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied from the left-hand side.
+
+  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
+          On exit, the first N-1 elements of this array contain the
+          scalar factors of some of the elementary reflectors
+          applied from the right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices U and V are represented as products of symplectic
+  reflectors and Givens rotations
+
+  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
+      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
+                           ....
+      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
+
+  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
+      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
+                                ....
+      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
+
+  Each HU(i) has the form
+
+        HU(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
+  Q(i+1:n,i), and tau in Q(i,i).
+
+  Each FU(i) has the form
+
+        FU(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
+  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
+  scalar nu is stored in TAUL(i).
+
+  Each GU(i) is a Givens rotation acting on rows i and n+i,
+  where the cosine is stored in CSL(2*i-1) and the sine in
+  CSL(2*i).
+
+  Each HV(i) has the form
+
+        HV(i) = I - tau * v * v'
+
+  where tau is a real scalar, and v is a real vector with
+  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
+  Q(i,i+2:n), and tau in Q(i,i+1).
+
+  Each FV(i) has the form
+
+        FV(i) = I - nu * w * w'
+
+  where nu is a real scalar, and w is a real vector with
+  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
+  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
+  The scalar nu is stored in TAUR(i).
+
+  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
+  where the cosine is stored in CSR(2*i-1) and the sine in
+  CSR(2*i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 80/3 N**3 + 20 N**2 + O(N) floating point
+  operations and is numerically backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04TS/MB04WR EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 200 )
+      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
+     $                 LDV2, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
+     $                   LDV1 = NMAX, LDV2 = NMAX, LDWORK = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      TRANA, TRANB, TRANV1
+      INTEGER          I, INFO, J, N
+      DOUBLE PRECISION TEMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
+     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
+     $                 TAUR(NMAX), U1(LDU1,NMAX), U2(LDU2, NMAX),
+     $                 V1(LDV1, NMAX), V2(LDV2,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
+      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TS, MB04WR
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, TRANA, TRANB
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
+         CALL MB04TS( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
+     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
+            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
+            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
+     $                   TAUL, DWORK, LDWORK, INFO )
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO
+            ELSE
+               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
+               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
+               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
+     $                      CSR, TAUR, DWORK, LDWORK, INFO )
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     DO 10  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
+10                   CONTINUE
+                     DO 20  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
+20                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 30  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
+30                   CONTINUE
+                     DO 40  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
+40                   CONTINUE
+                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
+     $                       .FALSE., N, U1, LDU1, U2, LDU2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 )
+                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
+                  IF ( LSAME( TRANA, 'N' ) ) THEN
+                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
+     $                            A(2,1), LDA )
+                     DO 50  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
+50                   CONTINUE
+                  ELSE
+                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
+     $                            A(1,2), LDA )
+                     DO 60  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
+60                   CONTINUE
+                  END IF
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     IF ( N.GT.1 ) THEN
+                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
+     $                               B(1,3), LDB )
+                     END IF
+                     DO 70  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
+70                   CONTINUE
+                  ELSE
+                     IF ( N.GT.1 ) THEN
+                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
+     $                               B(3,1), LDB )
+                     END IF
+                     DO 80  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
+80                   CONTINUE
+                  END IF
+C
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     TRANV1 = 'T'
+                  ELSE
+                     TRANV1 = 'N'
+                  END IF
+                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
+     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
+     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
+     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
+     $                           LDRES, DWORK )
+                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
+     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
+     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
+     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
+     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
+     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
+     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
+     $                        RES(1,4*N+1), LDRES )
+                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
+     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
+     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
+     $                        LDRES )
+                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
+     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
+                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
+     $                                 RES(1,4*N+1), LDRES, DWORK ) )
+                  WRITE ( NOUT, FMT = 99990 ) TEMP
+C
+                  WRITE ( NOUT, FMT = 99994 )
+                  IF ( LSAME( TRANB, 'N' ) ) THEN
+                     DO 90  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
+90                   CONTINUE
+                     DO 100  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
+100                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  ELSE
+                     DO 110  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
+110                  CONTINUE
+                     DO 120  I = 1, N
+                        WRITE (NOUT, FMT = 99993)
+     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
+120                  CONTINUE
+                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
+     $                       .TRUE., N, V1, LDV1, V2, LDV2,
+     $                       RES(1,4*N+1), LDRES )
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MB04TS EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04TS = ',I2)
+99997 FORMAT (' INFO on exit from MB04WR = ',I2)
+99996 FORMAT (' The orthogonal symplectic factor U is ')
+99995 FORMAT (/' The factor R is ')
+99994 FORMAT (/' The orthogonal symplectic factor V is ')
+99993 FORMAT (20(1X,F9.4))
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
+99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
+99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04TB EXAMPLE PROGRAM DATA
+        5       N       N
+    0.4643    0.3655    0.6853    0.5090    0.3718
+    0.3688    0.6460    0.4227    0.6798    0.5135
+    0.7458    0.5043    0.9419    0.9717    0.9990
+    0.7140    0.4941    0.7802    0.5272    0.1220
+    0.7418    0.0339    0.7441    0.0436    0.6564
+   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
+   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
+   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
+   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
+   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
+    0.7933    1.5765    1.0711    1.0794    0.8481
+    1.5765    0.1167    1.5685    0.8756    0.5037
+    1.0711    1.5685    0.9902    0.3858    0.2109
+    1.0794    0.8756    0.3858    1.8834    1.4338
+    0.8481    0.5037    0.2109    1.4338    0.1439
+    1.0786    1.5264    1.1721    1.5343    0.4756
+    1.5264    0.8644    0.6872    1.1379    0.6499
+    1.1721    0.6872    1.5194    1.1197    1.0158
+    1.5343    1.1379    1.1197    0.6612    0.2004
+    0.4756    0.6499    1.0158    0.2004    1.2188
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04TS EXAMPLE PROGRAM RESULTS
+
+ The orthogonal symplectic factor U is 
+   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
+   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
+   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
+   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
+   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
+   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
+   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
+   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
+   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
+   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
+
+ Orthogonality of U: || U^T U - I ||_F = .24E-14
+
+ The factor R is 
+   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
+    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
+    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
+    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
+    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
+    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
+    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
+
+ Residual: || H*V - U*R ||_F = .87E-14
+
+ The orthogonal symplectic factor V is 
+    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
+    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
+    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
+    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
+    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
+    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
+    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
+    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
+    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
+
+ Orthogonality of V: || V^T V - I ||_F = .14E-14
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04TU.html b/doc/_static/doc/MB04TU.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/MB04TU.html
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+<HTML>
+<HEAD><TITLE>MB04TU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04TU">MB04TU</A></H2>
+<H3>
+Applying a row-permuted Givens transformation to two row vectors
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the Givens transformation, defined by C (cos) and S
+  (sin), and interchange the vectors involved, i.e.
+
+     |X(i)|    | 0   1 |   | C   S |   |X(i)|
+     |    | := |       | x |       | x |    |, i = 1,...N.
+     |Y(i)|    | 1   0 |   |-S   C |   |Y(i)|
+
+  REMARK. This routine is a modification of DROT from BLAS.
+          This routine is called only by the SLICOT routines MB04TX
+          and MB04VX.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04TU( N, X, INCX, Y, INCY, C, S )
+C     .. Scalar Arguments ..
+      INTEGER           INCX, INCY, N
+      DOUBLE PRECISION  C, S
+C     .. Array Arguments ..
+      DOUBLE PRECISION  X(*), Y(*)
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04UD.html b/doc/_static/doc/MB04UD.html
new file mode 100644
index 00000000..cb27d657
--- /dev/null
+++ b/doc/_static/doc/MB04UD.html
@@ -0,0 +1,310 @@
+<HTML>
+<HEAD><TITLE>MB04UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04UD">MB04UD</A></H2>
+<H3>
+Column echelon form by unitary transformations for a rectangular matrix (added functionality)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformations Q and Z such that the
+  transformed pencil Q'(sE-A)Z has the E matrix in column echelon
+  form, where E and A are M-by-N matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ,
+     $                   Z, LDZ, RANKE, ISTAIR, TOL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBQ, JOBZ
+      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, RANKE
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           ISTAIR(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBQ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the unitary row permutations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  unitary row permutation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the unitary
+                  row permutations used in the reduction.
+
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the unitary column transformations, as follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  unitary transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the unitary
+                  transformations used in the reduction.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the matrices A, E and the order of
+          the matrix Q.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the matrices A, E and the order
+          of the matrix Z.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the A matrix of the pencil sE-A.
+          On exit, the leading M-by-N part of this array contains
+          the unitary transformed matrix Q' * A * Z.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading M-by-N part of this array must
+          contain the E matrix of the pencil sE-A, to be reduced to
+          column echelon form.
+          On exit, the leading M-by-N part of this array contains
+          the unitary transformed matrix Q' * E * Z, which is in
+          column echelon form.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,M).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
+          On entry, if JOBQ = 'U', then the leading M-by-M part of
+          this array must contain a given matrix Q (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading M-by-M part of this array contains the product of
+          the input matrix Q and the row permutation matrix used to
+          transform the rows of matrix E.
+          On exit, if JOBQ = 'I', then the leading M-by-M part of
+          this array contains the matrix of accumulated unitary
+          row transformations performed.
+          If JOBQ = 'N', the array Q is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDQ = 1 and
+          declare this array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q. If JOBQ = 'U' or
+          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          On entry, if JOBZ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Z (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix Z and the column transformation matrix
+          used to transform the columns of matrix E.
+          On exit, if JOBZ = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated unitary
+          column transformations performed.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'U' or
+          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  RANKE   (output) INTEGER
+          The computed rank of the unitary transformed matrix E.
+
+  ISTAIR  (output) INTEGER array, dimension (M)
+          This array contains information on the column echelon form
+          of the unitary transformed matrix E. Specifically,
+          ISTAIR(i) = +j if the first non-zero element E(i,j)
+          is a corner point and -j otherwise, for i = 1,2,...,M.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance below which matrix elements are considered
+          to be zero. If the user sets TOL to be less than (or
+          equal to) zero then the tolerance is taken as
+          EPS * MAX(ABS(E(I,J))), where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH),
+          I = 1,2,...,M and J = 1,2,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(M,N))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an M-by-N matrix pencil sE-A with E not necessarily regular,
+  the routine computes a unitary transformed pencil Q'(sE-A)Z such
+  that the matrix Q' * E * Z is in column echelon form (trapezoidal
+  form).  Further details can be found in [1].
+
+  [An M-by-N matrix E with rank(E) = r is said to be in column
+  echelon form if the following conditions are satisfied:
+  (a) the first (N - r) columns contain only zero elements; and
+  (b) if E(i(k),k) is the last nonzero element in column k for
+      k = N-r+1,...,N, i.e. E(i(k),k) &lt;&gt; 0 and E(j,k) = 0 for
+      j &gt; i(k), then 1 &lt;= i(N-r+1) &lt; i(N-r+2) &lt; ... &lt; i(N) &lt;= M.]
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Beelen, Th. and Van Dooren, P.
+      An improved algorithm for the computation of Kronecker's
+      canonical form of a singular pencil.
+      Linear Algebra and Applications, 105, pp. 9-65, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  It is shown in [1] that the algorithm is numerically backward
+  stable. The operations count is proportional to (MAX(M,N))**3.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = MMAX, LDE = MMAX, LDQ = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
+*     PARAMETER        ( LDWORK = NMAX+MMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, RANKE
+      CHARACTER*1      JOBQ, JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
+      INTEGER          ISTAIR(MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB04UD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, TOL
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
+         JOBQ = 'N'
+         JOBZ = 'N'
+*        Reduce E to column echelon form and compute Q'*A*Z.
+         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
+     $                RANKE, ISTAIR, TOL, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99991 )
+            DO 10 I = 1, M
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 100 I = 1, M
+               WRITE ( NOUT, FMT = 99996 ) ( E(I,J), J = 1,N )
+  100       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) RANKE
+            WRITE ( NOUT, FMT = 99994 ) ( ISTAIR(I), I = 1,M )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04UD = ',I2)
+99997 FORMAT (' The transformed matrix E is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The computed rank of E = ',I2)
+99994 FORMAT (/' ISTAIR is ',/20(1X,I5))
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (' The transformed matrix A is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04UD EXAMPLE PROGRAM DATA
+   4     4     0.0
+   2.0  0.0  2.0 -2.0
+   0.0 -2.0  0.0  2.0
+   2.0  0.0 -2.0  0.0
+   2.0 -2.0  0.0  2.0
+   1.0  0.0  1.0 -1.0
+   0.0 -1.0  0.0  1.0
+   1.0  0.0 -1.0  0.0
+   1.0 -1.0  0.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04UD EXAMPLE PROGRAM RESULTS
+
+ The transformed matrix A is 
+   0.5164   1.0328   1.1547  -2.3094
+   0.0000  -2.5820   0.0000  -1.1547
+   0.0000   0.0000  -3.4641   0.0000
+   0.0000   0.0000   0.0000  -3.4641
+ The transformed matrix E is 
+   0.2582   0.5164   0.5774  -1.1547
+   0.0000  -1.2910   0.0000  -0.5774
+   0.0000   0.0000  -1.7321   0.0000
+   0.0000   0.0000   0.0000  -1.7321
+
+ The computed rank of E =  4
+
+ ISTAIR is 
+     1     2     3     4
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04VD.html b/doc/_static/doc/MB04VD.html
new file mode 100644
index 00000000..231c4db8
--- /dev/null
+++ b/doc/_static/doc/MB04VD.html
@@ -0,0 +1,504 @@
+<HTML>
+<HEAD><TITLE>MB04VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04VD">MB04VD</A></H2>
+<H3>
+Upper block triangular form for a rectangular pencil sE-A, with E in column echelon form (added functionality)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformations Q and Z such that the
+  transformed pencil Q'(sE-A)Z is in upper block triangular form,
+  where E is an M-by-N matrix in column echelon form (see SLICOT
+  Library routine MB04UD) and A is an M-by-N matrix.
+
+  If MODE = 'B', then the matrices A and E are transformed into the
+  following generalized Schur form by unitary transformations Q1
+  and Z1 :
+
+                   | sE(eps,inf)-A(eps,inf) |      X     |
+     Q1'(sE-A)Z1 = |------------------------|------------|.   (1)
+                   |            O           | sE(r)-A(r) |
+
+  The pencil sE(eps,inf)-A(eps,inf) is in staircase form, and it
+  contains all Kronecker column indices and infinite elementary
+  divisors of the pencil sE-A. The pencil sE(r)-A(r) contains all
+  Kronecker row indices and elementary divisors of sE-A.
+  Note: X is a pencil.
+
+  If MODE = 'T', then the submatrices having full row and column
+  rank in the pencil sE(eps,inf)-A(eps,inf) in (1) are
+  triangularized by applying unitary transformations Q2 and Z2 to
+  Q1'*(sE-A)*Z1.
+
+  If MODE = 'S', then the pencil sE(eps,inf)-A(eps,inf) in (1) is
+  separated into sE(eps)-A(eps) and sE(inf)-A(inf) by applying
+  unitary transformations Q3 and Z3 to Q2'*Q1'*(sE-A)*Z1*Z2.
+
+  This gives
+
+             | sE(eps)-A(eps) |        X       |      X     |
+             |----------------|----------------|------------|
+             |        O       | sE(inf)-A(inf) |      X     |
+  Q'(sE-A)Z =|=================================|============| (2)
+             |                                 |            |
+             |                O                | sE(r)-A(r) |
+
+  where Q = Q1*Q2*Q3 and Z = Z1*Z2*Z3.
+  Note: the pencil sE(r)-A(r) is not reduced further.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
+     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
+     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBQ, JOBZ, MODE
+      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, NBLCKI, NBLCKS,
+     $                  RANKE
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IMUK(*), IMUK0(*), INUK(*), ISTAIR(*), IWORK(*),
+     $                  MNEI(*)
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  MODE    CHARACTER*1
+          Specifies the desired structure of the transformed
+          pencil Q'(sE-A)Z to be computed as follows:
+          = 'B':  Basic reduction given by (1);
+          = 'T':  Further reduction of (1) to triangular form;
+          = 'S':  Further separation of sE(eps,inf)-A(eps,inf)
+                  in (1) into the two pencils in (2).
+
+  JOBQ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the orthogonal row transformations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the orthogonal
+                  row transformations used in the reduction.
+
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal column transformations, as
+          follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the orthogonal
+                  transformations used in the reduction.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in the matrices A, E and the order of
+          the matrix Q.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in the matrices A, E and the order
+          of the matrix Z.  N &gt;= 0.
+
+  RANKE   (input) INTEGER
+          The rank of the matrix E in column echelon form.
+          RANKE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix to be row compressed.
+          On exit, the leading M-by-N part of this array contains
+          the matrix that has been row compressed while keeping
+          matrix E in column echelon form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading M-by-N part of this array must
+          contain the matrix in column echelon form to be
+          transformed equivalent to matrix A.
+          On exit, the leading M-by-N part of this array contains
+          the matrix that has been transformed equivalent to matrix
+          A.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,M).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
+          On entry, if JOBQ = 'U', then the leading M-by-M part of
+          this array must contain a given matrix Q (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading M-by-M part of this array contains the product of
+          the input matrix Q and the row transformation matrix used
+          to transform the rows of matrices A and E.
+          On exit, if JOBQ = 'I', then the leading M-by-M part of
+          this array contains the matrix of accumulated orthogonal
+          row transformations performed.
+          If JOBQ = 'N', the array Q is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDQ = 1 and
+          declare this array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q. If JOBQ = 'U' or
+          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          On entry, if JOBZ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Z (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix Z and the column transformation matrix
+          used to transform the columns of matrices A and E.
+          On exit, if JOBZ = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated orthogonal
+          column transformations performed.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'U' or
+          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  ISTAIR  (input/output) INTEGER array, dimension (M)
+          On entry, this array must contain information on the
+          column echelon form of the unitary transformed matrix E.
+          Specifically, ISTAIR(i) must be set to +j if the first
+          non-zero element E(i,j) is a corner point and -j
+          otherwise, for i = 1,2,...,M.
+          On exit, this array contains no useful information.
+
+  NBLCKS  (output) INTEGER
+          The number of submatrices having full row rank greater
+          than or equal to 0 detected in matrix A in the pencil
+          sE(x)-A(x),
+             where  x = eps,inf  if MODE = 'B' or 'T',
+             or     x = eps      if MODE = 'S'.
+
+  NBLCKI  (output) INTEGER
+          If MODE = 'S', the number of diagonal submatrices in the
+          pencil sE(inf)-A(inf). If MODE = 'B' or 'T' then
+          NBLCKI = 0.
+
+  IMUK    (output) INTEGER array, dimension (MAX(N,M+1))
+          The leading NBLCKS elements of this array contain the
+          column dimensions mu(1),...,mu(NBLCKS) of the submatrices
+          having full column rank in the pencil sE(x)-A(x),
+             where  x = eps,inf  if MODE = 'B' or 'T',
+             or     x = eps      if MODE = 'S'.
+
+  INUK    (output) INTEGER array, dimension (MAX(N,M+1))
+          The leading NBLCKS elements of this array contain the
+          row dimensions nu(1),...,nu(NBLCKS) of the submatrices
+          having full row rank in the pencil sE(x)-A(x),
+             where  x = eps,inf  if MODE = 'B' or 'T',
+             or     x = eps      if MODE = 'S'.
+
+  IMUK0   (output) INTEGER array, dimension (limuk0),
+          where limuk0 = N if MODE = 'S' and 1, otherwise.
+          If MODE = 'S', then the leading NBLCKI elements of this
+          array contain the dimensions mu0(1),...,mu0(NBLCKI)
+          of the square diagonal submatrices in the pencil
+          sE(inf)-A(inf).
+          Otherwise, IMUK0 is not referenced and can be supplied
+          as a dummy array.
+
+  MNEI    (output) INTEGER array, dimension (3)
+          If MODE = 'B' or 'T' then
+          MNEI(1) contains the row dimension of
+                  sE(eps,inf)-A(eps,inf);
+          MNEI(2) contains the column dimension of
+                  sE(eps,inf)-A(eps,inf);
+          MNEI(3) = 0.
+          If MODE = 'S', then
+          MNEI(1) contains the row    dimension of sE(eps)-A(eps);
+          MNEI(2) contains the column dimension of sE(eps)-A(eps);
+          MNEI(3) contains the order of the regular pencil
+                  sE(inf)-A(inf).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance below which matrix elements are considered
+          to be zero. If the user sets TOL to be less than (or
+          equal to) zero then the tolerance is taken as
+          EPS * MAX( ABS(A(I,J)), ABS(E(I,J)) ), where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH),
+          I = 1,2,...,M and J = 1,2,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          &gt; 0:  if incorrect rank decisions were revealed during the
+                triangularization phase. This failure is not likely
+                to occur. The possible values are:
+          = 1:  if incorrect dimensions of a full column rank
+                submatrix;
+          = 2:  if incorrect dimensions of a full row rank
+                submatrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let sE - A be an arbitrary pencil. Prior to calling the routine,
+  this pencil must be transformed into a pencil with E in column
+  echelon form. This may be accomplished by calling the SLICOT
+  Library routine MB04UD. Depending on the value of MODE,
+  submatrices of A and E are then reduced to one of the forms
+  described above. Further details can be found in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Beelen, Th. and Van Dooren, P.
+      An improved algorithm for the computation of Kronecker's
+      canonical form of a singular pencil.
+      Linear Algebra and Applications, 105, pp. 9-65, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  It is shown in [1] that the algorithm is numerically backward
+  stable. The operations count is proportional to (MAX(M,N))**3.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The difference mu(k)-nu(k), for k = 1,2,...,NBLCKS, is the number
+  of elementary Kronecker blocks of size k x (k+1).
+
+  If MODE = 'B' or 'T' on entry, then the difference nu(k)-mu(k+1),
+  for k = 1,2,...,NBLCKS, is the number of infinite elementary
+  divisors of degree k (with mu(NBLCKS+1) = 0).
+
+  If MODE = 'S' on entry, then the difference mu0(k)-mu0(k+1),
+  for k = 1,2,...,NBLCKI, is the number of infinite elementary
+  divisors of degree k (with mu0(NBLCKI+1) = 0).
+  In the pencil sE(r)-A(r), the pencils sE(f)-A(f) and
+  sE(eta)-A(eta) can be separated by pertransposing the pencil
+  sE(r)-A(r) and calling the routine with MODE set to 'B'. The
+  result has got to be pertransposed again. (For more details see
+  [1]).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDE, LDQ, LDZ
+      PARAMETER        ( LDA  = MMAX, LDE = MMAX, LDQ = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LINUK
+      PARAMETER        ( LINUK = MAX( NMAX,MMAX+1 ) )
+*     PARAMETER        ( LINUK = NMAX+MMAX+1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
+*     PARAMETER        ( LDWORK = NMAX+MMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NBLCKI, NBLCKS, RANKE
+      CHARACTER*1      JOBQ, JOBZ, MODE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
+      INTEGER          IMUK(LINUK), IMUK0(NMAX), INUK(LINUK),
+     $                 ISTAIR(MMAX), IWORK(LIWORK), MNEI(3)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04UD, MB04VD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, TOL, MODE
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99984 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
+         JOBQ = 'I'
+         JOBZ = 'I'
+*        Reduce E to column echelon form and compute Q'*A*Z.
+         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
+     $                RANKE, ISTAIR, TOL, DWORK, INFO )
+         JOBQ = 'U'
+         JOBZ = 'U'
+*
+         IF ( INFO.EQ.0 ) THEN
+*           Compute a unitary transformed pencil Q'*(s*E-A)*Z.
+            CALL MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
+     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
+     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
+*
+            IF ( INFO.EQ.0 ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               WRITE ( NOUT, FMT = 99995 )
+               DO 140 I = 1, M
+                  WRITE ( NOUT, FMT = 99994 ) ( Q(I,J), J = 1,M )
+  140          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 160 I = 1, M
+                  WRITE ( NOUT, FMT = 99994 ) ( E(I,J), J = 1,N )
+  160          CONTINUE
+               WRITE ( NOUT, FMT = 99992 )
+               DO 180 I = 1, M
+                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
+  180          CONTINUE
+               WRITE ( NOUT, FMT = 99991 )
+               DO 200 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
+  200          CONTINUE
+               WRITE ( NOUT, FMT = 99990 ) NBLCKS
+               IF ( .NOT. LSAME( MODE, 'S' ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 ) ( IMUK(I),  I = 1,NBLCKS )
+                  WRITE ( NOUT, FMT = 99988 ) ( INUK(I),  I = 1,NBLCKS )
+               ELSE
+                  WRITE ( NOUT, FMT = 99987 ) ( IMUK(I),  I = 1,NBLCKS )
+                  WRITE ( NOUT, FMT = 99986 ) ( INUK(I),  I = 1,NBLCKS )
+                  WRITE ( NOUT, FMT = 99982 ) ( IMUK0(I), I = 1,NBLCKI )
+                  WRITE ( NOUT, FMT = 99985 ) ( MNEI(I),  I = 1,3 )
+               END IF
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04VD = ',I2)
+99997 FORMAT (' INFO on exit from MB04UD = ',I2)
+99996 FORMAT (' The unitary transformed pencil is Q''*(s*E-A)*Z, where',
+     $          /)
+99995 FORMAT (' Matrix Q',/)
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' Matrix E',/)
+99992 FORMAT (/' Matrix A',/)
+99991 FORMAT (/' Matrix Z',/)
+99990 FORMAT (/' The number of submatrices having full row rank detect',
+     $       'ed in matrix A = ',I3)
+99989 FORMAT (/' The column dimensions of the submatrices having full ',
+     $       'column rank in the pencil',/' sE(eps,inf) - A(eps,inf) a',
+     $       're',/20(1X,I5))
+99988 FORMAT (/' The row dimensions of the submatrices having full row',
+     $       ' rank in the pencil',/' sE(eps,inf) - A(eps,inf) are',
+     $       /20(1X,I5))
+99987 FORMAT (/' The column dimensions of the submatrices having full ',
+     $       'column rank in the pencil',/' sE(eps) - A(eps) are',
+     $       /20(1X,I5))
+99986 FORMAT (/' The row dimensions of the submatrices having full row',
+     $       ' rank in the pencil',/' sE(eps) - A(eps) are',/20(1X,I5))
+99985 FORMAT (/' MNEI is ',/20(1X,I5))
+99984 FORMAT (/' M is out of range.',/' M = ',I5)
+99983 FORMAT (/' N is out of range.',/' N = ',I5)
+99982 FORMAT (/' The orders of the diagonal submatrices in the pencil ',
+     $       'sE(inf) - A(inf) are',/20(1X,I5))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04VD EXAMPLE PROGRAM DATA
+   2     4     0.0     S
+   1.0  0.0 -1.0  0.0
+   1.0  1.0  0.0 -1.0
+   0.0 -1.0  0.0  0.0
+   0.0 -1.0  0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04VD EXAMPLE PROGRAM RESULTS
+
+ The unitary transformed pencil is Q'*(s*E-A)*Z, where
+
+ Matrix Q
+
+   0.7071  -0.7071
+   0.7071   0.7071
+
+ Matrix E
+
+   0.0000   0.0000  -1.1547   0.8165
+   0.0000   0.0000   0.0000   0.0000
+
+ Matrix A
+
+   0.0000   1.7321   0.5774  -0.4082
+   0.0000   0.0000   0.0000  -1.2247
+
+ Matrix Z
+
+   0.5774   0.8165   0.0000   0.0000
+   0.0000   0.0000   0.8165  -0.5774
+   0.5774  -0.4082  -0.4082  -0.5774
+   0.5774  -0.4082   0.4082   0.5774
+
+ The number of submatrices having full row rank detected in matrix A =   2
+
+ The column dimensions of the submatrices having full column rank in the pencil
+ sE(eps) - A(eps) are
+     2     1
+
+ The row dimensions of the submatrices having full row rank in the pencil
+ sE(eps) - A(eps) are
+     1     0
+
+ The orders of the diagonal submatrices in the pencil sE(inf) - A(inf) are
+     1
+
+ MNEI is 
+     1     3     1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04WD.html b/doc/_static/doc/MB04WD.html
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+<HTML>
+<HEAD><TITLE>MB04WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WD">MB04WD</A></H2>
+<H3>
+Generating an orthogonal basis spanning an isotropic subspace
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate a matrix Q with orthogonal columns (spanning an
+  isotropic subspace), which is defined as the first n columns
+  of a product of symplectic reflectors and Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  The matrix Q is returned in terms of its first 2*M rows
+
+                   [  op( Q1 )   op( Q2 ) ]
+               Q = [                      ].
+                   [ -op( Q2 )   op( Q1 ) ]
+
+  Blocked version of the SLICOT Library routine MB04WU.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WD( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
+     $                   CS, TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANQ1, TRANQ2
+      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANQ1  CHARACTER*1
+          Specifies the form of op( Q1 ) as follows:
+          = 'N':  op( Q1 ) = Q1;
+          = 'T':  op( Q1 ) = Q1';
+          = 'C':  op( Q1 ) = Q1'.
+
+  TRANQ2  CHARACTER*1
+          Specifies the form of op( Q2 ) as follows:
+          = 'N':  op( Q2 ) = Q2;
+          = 'T':  op( Q2 ) = Q2';
+          = 'C':  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices Q1 and Q2.
+          M &gt;= N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of symplectic Givens rotations whose product
+          partly defines the matrix Q. N &gt;= K &gt;= 0.
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ1,N) if TRANQ1 = 'N',
+                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
+          On entry with TRANQ1 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector F(i).
+          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row
+          the vector which defines the elementary reflector F(i).
+          On exit with TRANQ1 = 'N', the leading M-by-N part of this
+          array contains the matrix Q1.
+          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          N-by-M part of this array contains the matrix Q1'.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
+          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ2,N) if TRANQ2 = 'N',
+                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
+          On entry with TRANQ2 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector H(i) and, on the
+          diagonal, the scalar factor of H(i).
+          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row the
+          vector which defines the elementary reflector H(i) and, on
+          the diagonal, the scalar factor of H(i).
+          On exit with TRANQ2 = 'N', the leading M-by-N part of this
+          array contains the matrix Q2.
+          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          N-by-M part of this array contains the matrix Q2'.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
+          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK, MAX(M+N,8*N*NB + 15*NB*NB), where NB is
+          the optimal block size determined by the function UE01MD.
+          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04WP.html b/doc/_static/doc/MB04WP.html
new file mode 100644
index 00000000..3f64f325
--- /dev/null
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@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>MB04WP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WP">MB04WP</A></H2>
+<H3>
+Generating an orthogonal symplectic matrix which performed the reduction in MB04PU
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate an orthogonal symplectic matrix U, which is defined as
+  a product of symplectic reflectors and Givens rotations
+
+  U = diag( H(1),H(1) )      G(1)  diag( F(1),F(1) )
+      diag( H(2),H(2) )      G(2)  diag( F(2),F(2) )
+                             ....
+      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
+
+  as returned by MB04PU. The matrix U is returned in terms of its
+  first N rows
+
+                   [  U1   U2 ]
+               U = [          ].
+                   [ -U2   U1 ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WP( N, ILO, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           ILO, INFO, LDU1, LDU2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), U1(LDU1,*), U2(LDU2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices U1 and U2.  N &gt;= 0.
+
+  ILO     (input) INTEGER
+          ILO must have the same value as in the previous call of
+          MB04PU. U is equal to the unit matrix except in the
+          submatrix
+          U([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]).
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
+          On entry, the leading N-by-N part of this array must
+          contain in its i-th column the vector which defines the
+          elementary reflector F(i).
+          On exit, the leading N-by-N part of this array contains
+          the matrix U1.
+
+  LDU1    INTEGER
+          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
+
+  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
+          On entry, the leading N-by-N part of this array must
+          contain in its i-th column the vector which defines the
+          elementary reflector H(i) and, on the subdiagonal, the
+          scalar factor of H(i).
+          On exit, the leading N-by-N part of this array contains
+          the matrix U2.
+
+  LDU2    INTEGER
+          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
+
+  CS      (input) DOUBLE PRECISION array, dimension (2N-2)
+          On entry, the first 2N-2 elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
+          On entry, the first N-1 elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,2*(N-ILO)).
+          For optimum performance LDWORK should be larger. (See
+          SLICOT Library routine MB04WD).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O(N**3) floating point operations and is
+  strongly backward stable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] C. F. VAN LOAN:
+      A symplectic method for approximating all the eigenvalues of
+      a Hamiltonian matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] D. KRESSNER:
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04WR.html b/doc/_static/doc/MB04WR.html
new file mode 100644
index 00000000..9e876c32
--- /dev/null
+++ b/doc/_static/doc/MB04WR.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>MB04WR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WR">MB04WR</A></H2>
+<H3>
+Generating orthogonal symplectic matrices defined as products of symplectic reflectors and Givens rotations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate orthogonal symplectic matrices U or V, defined as
+  products of symplectic reflectors and Givens rotations
+
+  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
+      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
+                           ....
+      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
+
+  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
+      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
+                                ....
+      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ),
+
+  as returned by the SLICOT Library routines MB04TS or MB04TB. The
+  matrices U and V are returned in terms of their first N/2 rows:
+
+              [  U1   U2 ]           [  V1   V2 ]
+          U = [          ],      V = [          ].
+              [ -U2   U1 ]           [ -V2   V1 ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WR( JOB, TRANS, N, ILO, Q1, LDQ1, Q2, LDQ2, CS,
+     $                   TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, TRANS
+      INTEGER           ILO, INFO, LDQ1, LDQ2, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies whether the matrix U or the matrix V is
+          required:
+          = 'U':  generate U;
+          = 'V':  generate V.
+
+  TRANS   CHARACTER*1
+          If  JOB = 'U'  then TRANS must have the same value as
+          the argument TRANA in the previous call of MB04TS or
+          MB04TB.
+          If  JOB = 'V'  then TRANS must have the same value as
+          the argument TRANB in the previous call of MB04TS or
+          MB04TB.
+
+  N       (input) INTEGER
+          The order of the matrices Q1 and Q2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          ILO must have the same value as in the previous call of
+          MB04TS or MB04TB. U and V are equal to the unit matrix
+          except in the submatrices
+          U([ilo:n n+ilo:2*n], [ilo:n n+ilo:2*n]) and
+          V([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]),
+          respectively.
+          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1,N)
+          On entry, if  JOB = 'U'  and  TRANS = 'N'  then the
+          leading N-by-N part of this array must contain in its i-th
+          column the vector which defines the elementary reflector
+          FU(i).
+          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array must contain in its i-th
+          row the vector which defines the elementary reflector
+          FU(i).
+          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
+          part of this array must contain in its i-th row the vector
+          which defines the elementary reflector FV(i).
+          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array must contain in its i-th
+          column the vector which defines the elementary reflector
+          FV(i).
+          On exit, if  JOB = 'U'  and  TRANS = 'N'  then the leading
+          N-by-N part of this array contains the matrix U1.
+          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array contains the matrix
+          U1**T.
+          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
+          part of this array contains the matrix V1**T.
+          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
+          leading N-by-N part of this array contains the matrix V1.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2,N)
+          On entry, if  JOB = 'U'  then the leading N-by-N part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector HU(i).
+          If  JOB = 'V'  then the leading N-by-N part of this array
+          must contain in its i-th row the vector which defines the
+          elementary reflector HV(i).
+          On exit, if  JOB = 'U'  then the leading N-by-N part of
+          this array contains the matrix U2.
+          If  JOB = 'V'  then the leading N-by-N part of this array
+          contains the matrix V2**T.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
+
+  CS      (input) DOUBLE PRECISION array, dimension (2N)
+          On entry, if  JOB = 'U'  then the first 2N elements of
+          this array must contain the cosines and sines of the
+          symplectic Givens rotations GU(i).
+          If  JOB = 'V'  then the first 2N-2 elements of this array
+          must contain the cosines and sines of the symplectic
+          Givens rotations GV(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (N)
+          On entry, if  JOB = 'U'  then the first N elements of
+          this array must contain the scalar factors of the
+          elementary reflectors FU(i).
+          If  JOB = 'V'  then the first N-1 elements of this array
+          must contain the scalar factors of the elementary
+          reflectors FV(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,2*(N-ILO+1)).
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Mehrmann, V., and Xu, H.
+      A numerically stable, structure preserving method for
+      computing the eigenvalues of real Hamiltonian or symplectic
+      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
+
+  [2] Kressner, D.
+      Block algorithms for orthogonal symplectic factorizations.
+      BIT, 43 (4), pp. 775-790, 2003.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04WU.html b/doc/_static/doc/MB04WU.html
new file mode 100644
index 00000000..e058126b
--- /dev/null
+++ b/doc/_static/doc/MB04WU.html
@@ -0,0 +1,179 @@
+<HTML>
+<HEAD><TITLE>MB04WU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04WU">MB04WU</A></H2>
+<H3>
+Generating an orthogonal basis spanning an isotropic subspace (unblocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To generate a matrix Q with orthogonal columns (spanning an
+  isotropic subspace), which is defined as the first n columns
+  of a product of symplectic reflectors and Givens rotations,
+
+      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
+          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
+                            ....
+          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
+
+  The matrix Q is returned in terms of its first 2*M rows
+
+                   [  op( Q1 )   op( Q2 ) ]
+               Q = [                      ].
+                   [ -op( Q2 )   op( Q1 ) ]
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04WU( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
+     $                   CS, TAU, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANQ1, TRANQ2
+      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANQ1  CHARACTER*1
+          Specifies the form of op( Q1 ) as follows:
+          = 'N':  op( Q1 ) = Q1;
+          = 'T':  op( Q1 ) = Q1';
+          = 'C':  op( Q1 ) = Q1'.
+
+  TRANQ2  CHARACTER*1
+          Specifies the form of op( Q2 ) as follows:
+          = 'N':  op( Q2 ) = Q2;
+          = 'T':  op( Q2 ) = Q2';
+          = 'C':  op( Q2 ) = Q2'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices Q1 and Q2.
+          M &gt;= N &gt;= 0.
+
+  K       (input) INTEGER
+          The number of symplectic Givens rotations whose product
+          partly defines the matrix Q. N &gt;= K &gt;= 0.
+
+  Q1      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ1,N) if TRANQ1 = 'N',
+                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
+          On entry with TRANQ1 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector F(i).
+          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row
+          the vector which defines the elementary reflector F(i).
+          On exit with TRANQ1 = 'N', the leading M-by-N part of this
+          array contains the matrix Q1.
+          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
+          N-by-M part of this array contains the matrix Q1'.
+
+  LDQ1    INTEGER
+          The leading dimension of the array Q1.
+          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
+          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
+
+  Q2      (input/output) DOUBLE PRECISION array, dimension
+                  (LDQ2,N) if TRANQ2 = 'N',
+                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
+          On entry with TRANQ2 = 'N', the leading M-by-K part of
+          this array must contain in its i-th column the vector
+          which defines the elementary reflector H(i) and, on the
+          diagonal, the scalar factor of H(i).
+          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          K-by-M part of this array must contain in its i-th row the
+          vector which defines the elementary reflector H(i) and, on
+          the diagonal, the scalar factor of H(i).
+          On exit with TRANQ2 = 'N', the leading M-by-N part of this
+          array contains the matrix Q2.
+          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
+          N-by-M part of this array contains the matrix Q2'.
+
+  LDQ2    INTEGER
+          The leading dimension of the array Q2.
+          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
+          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
+
+  CS      (input) DOUBLE PRECISION array, dimension (2*K)
+          On entry, the first 2*K elements of this array must
+          contain the cosines and sines of the symplectic Givens
+          rotations G(i).
+
+  TAU     (input) DOUBLE PRECISION array, dimension (K)
+          On entry, the first K elements of this array must
+          contain the scalar factors of the elementary reflectors
+          F(i).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0,  DWORK(1)  returns the optimal
+          value of LDWORK.
+          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bunse-Gerstner, A.
+      Matrix factorizations for symplectic QR-like methods.
+      Linear Algebra Appl., 83, pp. 49-77, 1986.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MB04XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04XD">MB04XD</A></H2>
+<H3>
+Basis for left/right singular subspace of a matrix corresponding to its smallest singular values
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a basis for the left and/or right singular subspace of
+  an M-by-N matrix A corresponding to its smallest singular values.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU,
+     $                   V, LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV
+      INTEGER           INFO, IWARN, LDA, LDU, LDV, LDWORK, M, N, RANK
+      DOUBLE PRECISION  RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      LOGICAL           INUL(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Specifies whether to compute the left singular subspace
+          as follows:
+          = 'N':  Do not compute the left singular subspace;
+          = 'A':  Return the (M - RANK) base vectors of the desired
+                  left singular subspace in U;
+          = 'S':  Return the first (min(M,N) - RANK) base vectors
+                  of the desired left singular subspace in U.
+
+  JOBV    CHARACTER*1
+          Specifies whether to compute the right singular subspace
+          as follows:
+          = 'N':  Do not compute the right singular subspace;
+          = 'A':  Return the (N - RANK) base vectors of the desired
+                  right singular subspace in V;
+          = 'S':  Return the first (min(M,N) - RANK) base vectors
+                  of the desired right singular subspace in V.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns in matrix A.  N &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if RANK &lt; 0, then the rank of matrix A is
+          computed by the routine as the number of singular values
+          greater than THETA.
+          Otherwise, RANK must specify the rank of matrix A.
+          RANK &lt;= min(M,N).
+          On exit, if RANK &lt; 0 on entry, then RANK contains the
+          computed rank of matrix A. That is, the number of singular
+          values of A greater than THETA.
+          Otherwise, the user-supplied value of RANK may be changed
+          by the routine on exit if the RANK-th and the (RANK+1)-th
+          singular values of A are considered to be equal.
+          See also the description of parameter TOL below.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, if RANK &lt; 0, then THETA must specify an upper
+          bound on the smallest singular values of A corresponding
+          to the singular subspace to be computed.  THETA &gt;= 0.0.
+          Otherwise, THETA must specify an initial estimate (t say)
+          for computing an upper bound on the (min(M,N) - RANK)
+          smallest singular values of A. If THETA &lt; 0.0, then t is
+          computed by the routine.
+          On exit, if RANK &gt;= 0 on entry, then THETA contains the
+          computed upper bound such that precisely RANK singular
+          values of A are greater than THETA + TOL.
+          Otherwise, THETA is unchanged.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix A from which the basis of a desired singular
+          subspace is to be computed.
+          NOTE that this array is destroyed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,M).
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
+          If JOBU = 'A', then the leading M-by-M part of this array
+          contains the (M - RANK) M-dimensional base vectors of the
+          desired left singular subspace of A corresponding to its
+          singular values less than or equal to THETA. These vectors
+          are stored in the i-th column(s) of U for which
+          INUL(i) = .TRUE., where i = 1,2,...,M.
+
+          If JOBU = 'S', then the leading M-by-min(M,N) part of this
+          array contains the first (min(M,N) - RANK) M-dimensional
+          base vectors of the desired left singular subspace of A
+          corresponding to its singular values less than or equal to
+          THETA. These vectors are stored in the i-th column(s) of U
+          for which INUL(i) = .TRUE., where i = 1,2,..., min(M,N).
+
+          Otherwise, U is not referenced (since JOBU = 'N') and can
+          be supplied as a dummy array (i.e. set parameter LDU = 1
+          and declare this array to be U(1,1) in the calling
+          program).
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= max(1,M) if JOBU = 'A' or JOBU = 'S',
+          LDU &gt;= 1        if JOBU = 'N'.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
+          If JOBV = 'A', then the leading N-by-N part of this array
+          contains the (N - RANK) N-dimensional base vectors of the
+          desired right singular subspace of A corresponding to its
+          singular values less than or equal to THETA. These vectors
+          are stored in the i-th column(s) of V for which
+          INUL(i) = .TRUE., where i = 1,2,...,N.
+
+          If JOBV = 'S', then the leading N-by-min(M,N) part of this
+          array contains the first (min(M,N) - RANK) N-dimensional
+          base vectors of the desired right singular subspace of A
+          corresponding to its singular values less than or equal to
+          THETA. These vectors are stored in the i-th column(s) of V
+          for which INUL(i) = .TRUE., where i = 1,2,...,MIN( M,N).
+
+          Otherwise, V is not referenced (since JOBV = 'N') and can
+          be supplied as a dummy array (i.e. set parameter LDV = 1
+          and declare this array to be V(1,1) in the calling
+          program).
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          LDV &gt;= max(1,N) if JOBV = 'A' or JOBV = 'S',
+          LDV &gt;= 1        if JOBV = 'N'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (2*min(M,N)-1)
+          This array contains the partially diagonalized bidiagonal
+          matrix J computed from A, at the moment that the desired
+          singular subspace has been found. Specifically, the
+          leading p = min(M,N) entries of Q contain the diagonal
+          elements q(1),q(2),...,q(p) and the entries Q(p+1),
+          Q(p+2),...,Q(2*p-1) contain the superdiagonal elements
+          e(1),e(2),...,e(p-1) of J.
+
+  INUL    (output) LOGICAL array, dimension (max(M,N))
+          If JOBU &lt;&gt; 'N' or JOBV &lt;&gt; 'N', then the indices of the
+          elements of this array with value .TRUE. indicate the
+          columns in U and/or V containing the base vectors of the
+          desired left and/or right singular subspace of A. They
+          also equal the indices of the diagonal elements of the
+          bidiagonal submatrices in the array Q, which correspond
+          to the computed singular subspaces.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width. TOL is also taken
+          as an absolute tolerance for negligible elements in the
+          QR/QL iterations. If the user sets TOL to be less than or
+          equal to 0, then the tolerance is taken as specified in
+          SLICOT Library routine MB04YD document.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged. If the user sets RELTOL to be less than
+          BASE * EPS, where BASE is machine radix and EPS is machine
+          precision (see LAPACK Library routine DLAMCH), then the
+          tolerance is taken as BASE * EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max(1, LDW + max(2*P + max(M,N), LDY)), where
+               P = min(M,N);
+             LDW = max(2*N, N*(N+1)/2), if JOBU &lt;&gt; 'N' and M large
+                                                     enough than N;
+             LDW = 0,                   otherwise;
+             LDY = 8*P - 5, if JOBU &lt;&gt; 'N' or  JOBV &lt;&gt; 'N';
+             LDY = 6*P - 3, if JOBU =  'N' and JOBV =  'N'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  if the rank of matrix A (as specified by the user)
+                has been lowered because a singular value of
+                multiplicity greater than 1 was found.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the maximum number of QR/QL iteration steps
+                (30*MIN(M,N)) has been exceeded.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Partial Singular Value Decomposition (PSVD)
+  approach proposed by Van Huffel, Vandewalle and Haegemans, which
+  is an efficient technique (see [1]) for computing the singular
+  subspace of a matrix corresponding to its smallest singular
+  values. It differs from the classical SVD algorithm [3] at three
+  points, which results in high efficiency. Firstly, the Householder
+  transformations of the bidiagonalization need only to be applied
+  on the base vectors of the desired singular subspaces; secondly,
+  the bidiagonal matrix need only be partially diagonalized; and
+  thirdly, the convergence rate of the iterative diagonalization can
+  be improved by an appropriate choice between QL and QR iterations.
+  (Note, however, that LAPACK Library routine DGESVD, for computing
+  SVD, also uses either QL and QR iterations.) Depending on the gap,
+  the desired numerical accuracy and the dimension of the desired
+  singular subspace, the PSVD can be up to three times faster than
+  the classical SVD algorithm.
+
+  The PSVD algorithm [1-2] for an M-by-N matrix A proceeds as
+  follows:
+
+  Step 1: Bidiagonalization phase
+          -----------------------
+   (a) If M is large enough than N, transform A into upper
+       triangular form R.
+
+   (b) Transform A (or R) into bidiagonal form:
+
+             |q(1) e(1)  0   ...  0   |
+        (0)  | 0   q(2) e(2)      .   |
+       J   = | .                  .   |
+             | .                e(N-1)|
+             | 0            ...  q(N) |
+
+  if M &gt;= N, or
+
+             |q(1)  0    0   ...  0     0   |
+        (0)  |e(1) q(2)  0        .     .   |
+       J   = | .                  .     .   |
+             | .                 q(M-1) .   |
+             | 0             ... e(M-1) q(M)|
+
+  if M &lt; N, using Householder transformations.
+  In the second case, transform the matrix to the upper bidiagonal
+  form by applying Givens rotations.
+
+   (c) If U is requested, initialize U with the identity matrix.
+       If V is requested, initialize V with the identity matrix.
+
+  Step 2: Partial diagonalization phase
+          -----------------------------
+  If the upper bound THETA is not given, then compute THETA such
+  that precisely (min(M,N) - RANK) singular values of the bidiagonal
+  matrix are less than or equal to THETA, using a bisection method
+  [4]. Diagonalize the given bidiagonal matrix J partially, using
+  either QR iterations (if the upper left diagonal element of the
+  considered bidiagonal submatrix is larger than the lower right
+  diagonal element) or QL iterations, such that J is split into
+  unreduced bidiagonal submatrices whose singular values are either
+  all larger than THETA or all less than or equal to THETA.
+  Accumulate the Givens rotations in U and/or V (if desired).
+
+  Step 3: Back transformation phase
+          -------------------------
+   (a) Apply the Householder transformations of Step 1(b) onto the
+       columns of U and/or V associated with the bidiagonal
+       submatrices with all singular values less than or equal to
+       THETA (if U and/or V is desired).
+
+   (b) If M is large enough than N, and U is desired, then apply the
+       Householder transformations of Step 1(a) onto each computed
+       column of U in Step 3(a).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
+      An efficient and reliable algorithm for computing the singular
+      subspace of a matrix associated with its smallest singular
+      values.
+      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
+
+  [2] Van Huffel, S.
+      Analysis of the total least squares problem and its use in
+      parameter estimation.
+      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
+      Universiteit Leuven, Belgium, June 1987.
+
+  [3] Chan, T.F.
+      An improved algorithm for computing the singular value
+      decomposition.
+      ACM TOMS, 8, pp. 72-83, 1982.
+
+  [4] Van Huffel, S. and Vandewalle, J.
+      The partial total least squares algorithm.
+      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Using the PSVD a large reduction in computation time can be
+  gained in total least squares applications (cf [2 - 4]), in the
+  computation of the null space of a matrix and in solving
+  (non)homogeneous linear equations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04XD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDU, LDV
+      PARAMETER        ( LDA = MMAX, LDU = MMAX, LDV = NMAX )
+      INTEGER          MAXMN, MNMIN
+      PARAMETER        ( MAXMN = MAX( MMAX, NMAX ),
+     $                   MNMIN = MIN( MMAX, NMAX ) )
+      INTEGER          LENGQ
+      PARAMETER        ( LENGQ = 2*MNMIN-1 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 2*NMAX, NMAX*( NMAX+1 )/2 )
+     $                          + MAX( 2*MNMIN + MAXMN, 8*MNMIN - 5 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
+      INTEGER          I, INFO, IWARN, J, K, LOOP, M, MINMN, N, NCOLU,
+     $                 NCOLV, RANK, RANK1
+      CHARACTER*1      JOBU, JOBV
+      LOGICAL          LJOBUA, LJOBUS, LJOBVA, LJOBVS, WANTU, WANTV
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LENGQ),
+     $                 U(LDU,MMAX), V(LDV,NMAX)
+      LOGICAL          INUL(MAXMN)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04XD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, RANK, THETA, TOL, RELTOL, JOBU, JOBV
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99982 ) N
+      ELSE IF ( RANK.GT.MNMIN ) THEN
+         WRITE ( NOUT, FMT = 99981 ) RANK
+      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
+         WRITE ( NOUT, FMT = 99980 ) THETA
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+         RANK1 = RANK
+         THETA1 = THETA
+*        Compute a basis for the left and right singular subspace of A.
+         CALL MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU, V,
+     $                LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) RANK
+            ELSE
+               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
+            END IF
+            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
+            LJOBUA = LSAME( JOBU, 'A' )
+            LJOBUS = LSAME( JOBU, 'S' )
+            LJOBVA = LSAME( JOBV, 'A' )
+            LJOBVS = LSAME( JOBV, 'S' )
+            WANTU = LJOBUA.OR.LJOBUS
+            WANTV = LJOBVA.OR.LJOBVS
+            WRITE ( NOUT, FMT = 99994 )
+            MINMN = MIN( M, N )
+            LOOP = MINMN - 1
+            DO 20 I = 1, LOOP
+               K = I + MINMN
+               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99992 ) MINMN, MINMN, Q(MINMN)
+            IF ( WANTU ) THEN
+               NCOLU = M
+               IF ( LJOBUS ) NCOLU = MINMN
+               WRITE ( NOUT, FMT = 99986 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99985 ) ( U(I,J), J = 1,NCOLU )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99991 ) NCOLU
+               WRITE ( NOUT, FMT = 99990 )
+               DO 60 I = 1, NCOLU
+                  WRITE ( NOUT, FMT = 99989 ) I, INUL(I)
+   60          CONTINUE
+            END IF
+            IF ( WANTV ) THEN
+               NCOLV = N
+               IF ( LJOBVS ) NCOLV = MINMN
+               WRITE ( NOUT, FMT = 99984 )
+               DO 80 I = 1, N
+                  WRITE ( NOUT, FMT = 99985 ) ( V(I,J), J = 1,NCOLV )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99988 ) NCOLV
+               WRITE ( NOUT, FMT = 99987 )
+               DO 100 J = 1, NCOLV
+                  WRITE ( NOUT, FMT = 99989 ) J, INUL(J)
+  100          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04XD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04XD = ',I2)
+99997 FORMAT (' IWARN on exit from MB04XD = ',I2,/)
+99996 FORMAT (' The computed rank of matrix A = ',I3,/)
+99995 FORMAT (' The computed value of THETA = ',F7.4,/)
+99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
+     $       'matrix are',/)
+99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
+99991 FORMAT (/' Left singular subspace corresponds to the i-th column',
+     $       '(s) of U for which ',/' INUL(i) = .TRUE., i = 1,...,',I1,
+     $       /)
+99990 FORMAT ('  i    INUL(i)',/)
+99989 FORMAT (I3,L8)
+99988 FORMAT (/' Right singular subspace corresponds to the j-th colum',
+     $       'n(s) of V for which ',/' INUL(j) = .TRUE., j = 1,...,',I1,
+     $       /)
+99987 FORMAT ('  j    INUL(j)',/)
+99986 FORMAT (' Matrix U',/)
+99985 FORMAT (20(1X,F8.4))
+99984 FORMAT (/' Matrix V',/)
+99983 FORMAT (/' M is out of range.',/' M = ',I5)
+99982 FORMAT (/' N is out of range.',/' N = ',I5)
+99981 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
+99980 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04XD EXAMPLE PROGRAM DATA
+   6     4     -1     0.001     0.0     0.0     A     A
+   0.80010  0.39985  0.60005  0.89999
+   0.29996  0.69990  0.39997  0.82997
+   0.49994  0.60003  0.20012  0.79011
+   0.90013  0.20016  0.79995  0.85002
+   0.39998  0.80006  0.49985  0.99016
+   0.20002  0.90007  0.70009  1.02994
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04XD EXAMPLE PROGRAM RESULTS
+
+ The computed rank of matrix A =   3
+
+ The elements of the partially diagonalized bidiagonal matrix are
+
+ (1,1) =  3.2280   (1,2) = -0.0287
+ (2,2) =  0.8714   (2,3) =  0.0168
+ (3,3) =  0.3698   (3,4) =  0.0000
+ (4,4) =  0.0001
+
+ Matrix U
+
+   0.8933   0.4328  -0.1209   0.2499  -0.5812   0.4913
+  -0.4493   0.8555  -0.2572   0.1617  -0.4608  -0.7379
+  -0.0079   0.2841   0.9588  -0.5352   0.1892   0.0525
+   0.0000   0.0000   0.0003  -0.1741   0.3389  -0.3397
+   0.0000   0.0000   0.0000   0.6482   0.5428   0.1284
+   0.0000   0.0000   0.0000  -0.4176  -0.0674   0.2819
+
+ Left singular subspace corresponds to the i-th column(s) of U for which 
+ INUL(i) = .TRUE., i = 1,...,6
+
+  i    INUL(i)
+
+  1       F
+  2       F
+  3       F
+  4       T
+  5       T
+  6       T
+
+ Matrix V
+
+  -0.3967  -0.7096   0.4612  -0.3555
+   0.9150  -0.2557   0.2414  -0.5687
+  -0.0728   0.6526   0.5215  -0.2128
+   0.0000   0.0720   0.6761   0.7106
+
+ Right singular subspace corresponds to the j-th column(s) of V for which 
+ INUL(j) = .TRUE., j = 1,...,4
+
+  j    INUL(j)
+
+  1       F
+  2       F
+  3       F
+  4       T
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04XY.html b/doc/_static/doc/MB04XY.html
new file mode 100644
index 00000000..3eaade2c
--- /dev/null
+++ b/doc/_static/doc/MB04XY.html
@@ -0,0 +1,162 @@
+<HTML>
+<HEAD><TITLE>MB04XY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04XY">MB04XY</A></H2>
+<H3>
+Applying the Householder transformations for bidiagonalization (stored in factored form) to specified one or two matrices, from the left
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply the Householder transformations Pj stored in factored
+  form into the columns of the array X, to the desired columns of
+  the matrix U by premultiplication, and/or the Householder
+  transformations Qj stored in factored form into the rows of the
+  array X, to the desired columns of the matrix V by
+  premultiplication. The Householder transformations Pj and Qj
+  are stored as produced by LAPACK Library routine DGEBRD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04XY( JOBU, JOBV, M, N, X, LDX, TAUP, TAUQ, U,
+     $                   LDU, V, LDV, INUL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV
+      INTEGER           INFO, LDU, LDV, LDX, M, N
+C     .. Array Arguments ..
+      LOGICAL           INUL(*)
+      DOUBLE PRECISION  TAUP(*), TAUQ(*), U(LDU,*), V(LDV,*),
+     $                  X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Specifies whether to transform the columns in U as
+          follows:
+          = 'N':  Do not transform the columns in U;
+          = 'A':  Transform the columns in U (U has M columns);
+          = 'S':  Transform the columns in U (U has min(M,N)
+                  columns).
+
+  JOBV    CHARACTER*1
+          Specifies whether to transform the columns in V as
+          follows:
+          = 'N':  Do not transform the columns in V;
+          = 'A':  Transform the columns in V (V has N columns);
+          = 'S':  Transform the columns in V (V has min(M,N)
+                  columns).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix X.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix X.  N &gt;= 0.
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading M-by-N part contains in the columns of its
+          lower triangle the Householder transformations Pj, and
+          in the rows of its upper triangle the Householder
+          transformations Qj in factored form.
+          X is modified by the routine but restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of the array X.   LDX &gt;= MAX(1,M).
+
+  TAUP    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
+          The scalar factors of the Householder transformations Pj.
+
+  TAUQ    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
+          The scalar factors of the Householder transformations Qj.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, U contains the M-by-M (if JOBU = 'A') or
+          M-by-min(M,N) (if JOBU = 'S') matrix U.
+          On exit, the Householder transformations Pj have been
+          applied to each column i of U corresponding to a parameter
+          INUL(i) = .TRUE.
+          NOTE that U is not referenced if JOBU = 'N'.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,M), if JOBU = 'A' or JOBU = 'S';
+          LDU &gt;= 1,        if JOBU = 'N'.
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
+          On entry, V contains the N-by-N (if JOBV = 'A') or
+          N-by-min(M,N) (if JOBV = 'S') matrix V.
+          On exit, the Householder transformations Qj have been
+          applied to each column i of V corresponding to a parameter
+          INUL(i) = .TRUE.
+          NOTE that V is not referenced if JOBV = 'N'.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= MAX(1,M), if JOBV = 'A' or JOBV = 'S';
+          LDV &gt;= 1,        if JOBV = 'N'.
+
+  INUL    (input) LOGICAL array, dimension (MAX(M,N))
+          INUL(i) = .TRUE. if the i-th column of U and/or V is to be
+          transformed, and INUL(i) = .FALSE., otherwise.
+          (1 &lt;= i &lt;= MAX(M,N)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder transformations Pj or Qj are applied to the
+  columns of U or V indexed by I for which INUL(I) = .TRUE..
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04YD.html b/doc/_static/doc/MB04YD.html
new file mode 100644
index 00000000..a1cb0bee
--- /dev/null
+++ b/doc/_static/doc/MB04YD.html
@@ -0,0 +1,444 @@
+<HTML>
+<HEAD><TITLE>MB04YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04YD">MB04YD</A></H2>
+<H3>
+Partial diagonalization of a bidiagonal matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To partially diagonalize the bidiagonal matrix
+
+            |q(1) e(1)  0    ...       0      |
+            | 0   q(2) e(2)            .      |
+        J = | .                        .      |                  (1)
+            | .                  e(MIN(M,N)-1)|
+            | 0   ...        ...  q(MIN(M,N)) |
+
+  using QR or QL iterations in such a way that J is split into
+  unreduced bidiagonal submatrices whose singular values are either
+  all larger than a given bound or are all smaller than (or equal
+  to) this bound. The left- and right-hand Givens rotations
+  performed on J (corresponding to each QR or QL iteration step) may
+  be optionally accumulated in the arrays U and V.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
+     $                   LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, JOBV
+      INTEGER           INFO, IWARN, LDU, LDV, LDWORK, M, N, RANK
+      DOUBLE PRECISION  RELTOL, THETA, TOL
+C     .. Array Arguments ..
+      LOGICAL           INUL(*)
+      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the left-hand Givens rotations, as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is initialized to the M-by-MIN(M,N) submatrix of
+                  the unit matrix and the left-hand Givens rotations
+                  are accumulated in U;
+          = 'U':  The given matrix U is updated by the left-hand
+                  Givens rotations used in the calculation.
+
+  JOBV    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix V the right-hand Givens rotations, as follows:
+          = 'N':  Do not form V;
+          = 'I':  V is initialized to the N-by-MIN(M,N) submatrix of
+                  the unit matrix and the right-hand Givens
+                  rotations are accumulated in V;
+          = 'U':  The given matrix V is updated by the right-hand
+                  Givens rotations used in the calculation.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows in matrix U.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows in matrix V.  N &gt;= 0.
+
+  RANK    (input/output) INTEGER
+          On entry, if RANK &lt; 0, then the rank of matrix J is
+          computed by the routine as the number of singular values
+          larger than THETA.
+          Otherwise, RANK must specify the rank of matrix J.
+          RANK &lt;= MIN(M,N).
+          On exit, if RANK &lt; 0 on entry, then RANK contains the
+          computed rank of J. That is, the number of singular
+          values of J larger than THETA.
+          Otherwise, the user-supplied value of RANK may be
+          changed by the routine on exit if the RANK-th and the
+          (RANK+1)-th singular values of J are considered to be
+          equal. See also the parameter TOL.
+
+  THETA   (input/output) DOUBLE PRECISION
+          On entry, if RANK &lt; 0, then THETA must specify an upper
+          bound on the smallest singular values of J. THETA &gt;= 0.0.
+          Otherwise, THETA must specify an initial estimate (t say)
+          for computing an upper bound such that precisely RANK
+          singular values are greater than this bound.
+          If THETA &lt; 0.0, then t is computed by the routine.
+          On exit, if RANK &gt;= 0 on entry, then THETA contains the
+          computed upper bound such that precisely RANK singular
+          values of J are greater than THETA + TOL.
+          Otherwise, THETA is unchanged.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension
+          (MIN(M,N))
+          On entry, this array must contain the diagonal elements
+          q(1),q(2),...,q(MIN(M,N)) of the bidiagonal matrix J. That
+          is, Q(i) = J(i,i) for i = 1,2,...,MIN(M,N).
+          On exit, this array contains the leading diagonal of the
+          transformed bidiagonal matrix J.
+
+  E       (input/output) DOUBLE PRECISION array, dimension
+          (MIN(M,N)-1)
+          On entry, this array must contain the superdiagonal
+          elements e(1),e(2),...,e(MIN(M,N)-1) of the bidiagonal
+          matrix J. That is, E(k) = J(k,k+1) for k = 1,2,...,
+          MIN(M,N)-1.
+          On exit, this array contains the superdiagonal of the
+          transformed bidiagonal matrix J.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if JOBU = 'U', the leading M-by-MIN(M,N) part
+          of this array must contain a left transformation matrix
+          applied to the original matrix of the problem, and
+          on exit, the leading M-by-MIN(M,N) part of this array
+          contains the product of the input matrix U and the
+          left-hand Givens rotations.
+          On exit, if JOBU = 'I', then the leading M-by-MIN(M,N)
+          part of this array contains the matrix of accumulated
+          left-hand Givens rotations used.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U. If JOBU = 'U' or
+          JOBU = 'I', LDU &gt;= MAX(1,M); if JOBU = 'N', LDU &gt;= 1.
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
+          On entry, if JOBV = 'U', the leading N-by-MIN(M,N) part
+          of this array must contain a right transformation matrix
+          applied to the original matrix of the problem, and
+          on exit, the leading N-by-MIN(M,N) part of this array
+          contains the product of the input matrix V and the
+          right-hand Givens rotations.
+          On exit, if JOBV = 'I', then the leading N-by-MIN(M,N)
+          part of this array contains the matrix of accumulated
+          right-hand Givens rotations used.
+          If JOBV = 'N', the array V is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDV = 1 and
+          declare this array to be V(1,1) in the calling program).
+
+  LDV     INTEGER
+          The leading dimension of array V. If JOBV = 'U' or
+          JOBV = 'I', LDV &gt;= MAX(1,N); if JOBV = 'N', LDV &gt;= 1.
+
+  INUL    (input/output) LOGICAL array, dimension (MIN(M,N))
+          On entry, the leading MIN(M,N) elements of this array must
+          be set to .FALSE. unless the i-th columns of U (if JOBU =
+          'U') and V (if JOBV = 'U') already contain a computed base
+          vector of the desired singular subspace of the original
+          matrix, in which case INUL(i) must be set to .TRUE.
+          for 1 &lt;= i &lt;= MIN(M,N).
+          On exit, the indices of the elements of this array with
+          value .TRUE. indicate the indices of the diagonal entries
+          of J which belong to those bidiagonal submatrices whose
+          singular values are all less than or equal to THETA.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          This parameter defines the multiplicity of singular values
+          by considering all singular values within an interval of
+          length TOL as coinciding. TOL is used in checking how many
+          singular values are less than or equal to THETA. Also in
+          computing an appropriate upper bound THETA by a bisection
+          method, TOL is used as a stopping criterion defining the
+          minimum (absolute) subinterval width. TOL is also taken
+          as an absolute tolerance for negligible elements in the
+          QR/QL iterations. If the user sets TOL to be less than or
+          equal to 0, then the tolerance is taken as
+          EPS * MAX(ABS(Q(i)), ABS(E(k))), where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH),
+          i = 1,2,...,MIN(M,N) and k = 1,2,...,MIN(M,N)-1.
+
+  RELTOL  DOUBLE PRECISION
+          This parameter specifies the minimum relative width of an
+          interval. When an interval is narrower than TOL, or than
+          RELTOL times the larger (in magnitude) endpoint, then it
+          is considered to be sufficiently small and bisection has
+          converged. If the user sets RELTOL to be less than
+          BASE * EPS, where BASE is machine radix and EPS is machine
+          precision (see LAPACK Library routine DLAMCH), then the
+          tolerance is taken as BASE * EPS.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,6*MIN(M,N)-5), if JOBU = 'I' or 'U', or
+                                            JOBV = 'I' or 'U';
+          LDWORK &gt;= MAX(1,4*MIN(M,N)-3), if JOBU = 'N' and
+                                            JOBV = 'N'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  if the rank of the bidiagonal matrix J (as specified
+                by the user) has been lowered because a singular
+                value of multiplicity larger than 1 was found.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value; this includes values like RANK &gt; MIN(M,N), or
+                THETA &lt; 0.0 and RANK &lt; 0;
+          = 1:  if the maximum number of QR/QL iteration steps
+                (30*MIN(M,N)) has been exceeded.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the upper bound THETA is not specified by the user, then it is
+  computed by the routine (using a bisection method) such that
+  precisely (MIN(M,N) - RANK) singular values of J are less than or
+  equal to THETA + TOL.
+
+  The method used by the routine (see [1]) then proceeds as follows.
+
+  The unreduced bidiagonal submatrices of J(j), where J(j) is the
+  transformed bidiagonal matrix after the j-th iteration step, are
+  classified into the following three classes:
+
+  - C1 contains the bidiagonal submatrices with all singular values
+    &gt; THETA,
+  - C2 contains the bidiagonal submatrices with all singular values
+    &lt;= THETA and
+  - C3 contains the bidiagonal submatrices with singular values
+    &gt; THETA and also singular values &lt;= THETA.
+
+  If C3 is empty, then the partial diagonalization is complete, and
+  RANK is the sum of the dimensions of the bidiagonal submatrices of
+  C1.
+  Otherwise, QR or QL iterations are performed on each bidiagonal
+  submatrix of C3, until this bidiagonal submatrix has been split
+  into two bidiagonal submatrices. These two submatrices are then
+  classified and the iterations are restarted.
+  If the upper left diagonal element of the bidiagonal submatrix is
+  larger than its lower right diagonal element, then QR iterations
+  are performed, else QL iterations are used. The shift is taken as
+  the smallest diagonal element of the bidiagonal submatrix (in
+  magnitude) unless its value exceeds THETA, in which case it is
+  taken as zero.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
+      An efficient and reliable algorithm for computing the
+      singular subspace of a matrix associated with its smallest
+      singular values.
+      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+  To avoid overflow, matrix J is scaled so that its largest element
+  is no greater than  overflow**(1/2) * underflow**(1/4) in absolute
+  value (and not much smaller than that, for maximal accuracy).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04YD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          MNMIN
+      PARAMETER        ( MNMIN = MIN( MMAX, NMAX ) )
+      INTEGER          LDU, LDV
+      PARAMETER        ( LDU = MMAX, LDV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 6*MNMIN - 5 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RELTOL, THETA, TOL
+      INTEGER          I, INFO, IWARN, J, M, MINMN, N, RANK, RANK1
+      CHARACTER*1      JOBU, JOBV
+      LOGICAL          LJOBUU, LJOBVU
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), E(MNMIN-1), Q(MNMIN),
+     $                 U(LDU,MNMIN), V(LDV,MNMIN)
+      LOGICAL          INUL(MNMIN)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB04YD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, THETA, RANK, TOL, RELTOL, JOBU, JOBV
+      MINMN = MIN( M, N )
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) N
+      ELSE IF ( RANK.GT.MINMN ) THEN
+         WRITE ( NOUT, FMT = 99986 ) RANK
+      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
+         WRITE ( NOUT, FMT = 99985 ) THETA
+      ELSE
+         READ ( NIN, FMT = * ) ( Q(I), I = 1,MINMN )
+         READ ( NIN, FMT = * ) ( E(I), I = 1,MINMN-1 )
+         RANK1 = RANK
+         LJOBUU = LSAME( JOBU, 'U' )
+         LJOBVU = LSAME( JOBV, 'U' )
+         IF ( LJOBUU ) READ ( NIN, FMT = * )
+     $                      ( ( U(I,J), J = 1,MINMN ), I = 1,M )
+         IF ( LJOBVU ) READ ( NIN, FMT = * )
+     $                      ( ( V(I,J), J = 1,MINMN ), I = 1,N )
+*        Initialise the array INUL.
+         DO 20 I = 1, MINMN
+            INUL(I) = .FALSE.
+   20    CONTINUE
+         IF ( LJOBUU.OR.LJOBVU ) READ ( NIN, FMT = * )
+     $                                ( INUL(I), I = 1,MINMN )
+*        Compute the number of singular values of J > THETA.
+         CALL MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
+     $                LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99993 ) IWARN
+               WRITE ( NOUT, FMT = 99984 ) RANK
+            END IF
+            WRITE ( NOUT, FMT = 99997 )
+            DO 160 I = 1, MINMN - 1
+               WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
+  160       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) MINMN, MINMN, Q(MINMN)
+            IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99994 ) RANK, THETA
+            IF ( .NOT.LSAME( JOBV, 'N' ) ) THEN
+               WRITE ( NOUT, FMT = 99992 )
+               DO 180 I = 1, N
+                  WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,MINMN )
+  180          CONTINUE
+            END IF
+            IF ( ( .NOT.LSAME( JOBU, 'N' ) ) .AND.
+     $           ( .NOT.LSAME( JOBV, 'N' ) ) )
+     $           WRITE ( NOUT, FMT = 99990 )
+            IF ( .NOT.LSAME( JOBU, 'N' ) ) THEN
+               WRITE ( NOUT, FMT = 99989 )
+               DO 200 I = 1, M
+                  WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,MINMN )
+  200          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04YD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB04YD = ',I2)
+99997 FORMAT (' The transformed bidiagonal matrix J is',/)
+99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
+99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
+99994 FORMAT (/' J has ',I2,' singular values >',F7.4,/)
+99993 FORMAT (' IWARN on exit from MB04YD = ',I2,/)
+99992 FORMAT (' The product of the right-hand Givens rotation matrices',
+     $       ' equals ')
+99991 FORMAT (20(1X,F8.4))
+99990 FORMAT (' ')
+99989 FORMAT (' The product of the left-hand Givens rotation matrices ',
+     $       'equals ')
+99988 FORMAT (/' M is out of range.',/' M = ',I5)
+99987 FORMAT (/' N is out of range.',/' N = ',I5)
+99986 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
+99985 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
+99984 FORMAT (/' The computed rank of matrix J = ',I3,/)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB04YD EXAMPLE PROGRAM DATA
+   5     5     2.0     -1     0.0     0.0     N     N
+   1.0  2.0  3.0  4.0  5.0
+   2.0  3.0  4.0  5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04YD EXAMPLE PROGRAM RESULTS
+
+ The transformed bidiagonal matrix J is
+
+ (1,1) =  0.4045   (1,2) =  0.0000
+ (2,2) =  1.9839   (2,3) =  0.0000
+ (3,3) =  3.4815   (3,4) =  0.0128
+ (4,4) =  5.3723   (4,5) =  0.0273
+ (5,5) =  7.9948
+
+ J has  3 singular values > 2.0000
+
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04YW.html b/doc/_static/doc/MB04YW.html
new file mode 100644
index 00000000..791622b4
--- /dev/null
+++ b/doc/_static/doc/MB04YW.html
@@ -0,0 +1,214 @@
+<HTML>
+<HEAD><TITLE>MB04YW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04YW">MB04YW</A></H2>
+<H3>
+Performing either one QR or QL iteration step onto an unreduced bidiagonal submatrix of a bidiagonal matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform either one QR or QL iteration step onto the unreduced
+  bidiagonal submatrix Jk:
+
+           |D(l) E(l)    0  ...    0   |
+           | 0   D(l+1) E(l+1)     .   |
+      Jk = | .                     .   |
+           | .                     .   |
+           | .                   E(k-1)|
+           | 0   ...        ...   D(k) |
+
+  with k &lt;= p and l &gt;= 1, p = MIN(M,N), of the bidiagonal matrix J:
+
+           |D(1) E(1)  0    ...   0   |
+           | 0   D(2) E(2)        .   |
+       J = | .                    .   |.
+           | .                    .   |
+           | .                  E(p-1)|
+           | 0   ...        ...  D(p) |
+
+  Hereby, Jk is transformed to  S' Jk T with S and T products of
+  Givens rotations. These Givens rotations S (respectively, T) are
+  postmultiplied into U (respectively, V), if UPDATU (respectively,
+  UPDATV) is .TRUE..
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04YW( QRIT, UPDATU, UPDATV, M, N, L, K, SHIFT, D, E,
+     $                   U, LDU, V, LDV, DWORK )
+C     .. Scalar Arguments ..
+      LOGICAL           QRIT, UPDATU, UPDATV
+      INTEGER           K, L, LDU, LDV, M, N
+      DOUBLE PRECISION  SHIFT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  D( * ), DWORK( * ), E( * ), U( LDU, * ),
+     $                  V( LDV, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  QRIT    LOGICAL
+          Indicates whether a QR or QL iteration step is to be
+          taken (from larger end diagonal element towards smaller),
+          as follows:
+          = .TRUE. :  QR iteration step (chase bulge from top to
+                      bottom);
+          = .FALSE.:  QL iteration step (chase bulge from bottom to
+                      top).
+
+  UPDATU  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix U the left-hand Givens rotations S, as follows:
+          = .FALSE.:  Do not form U;
+          = .TRUE. :  The given matrix U is updated (postmultiplied)
+                      by the left-hand Givens rotations S.
+
+  UPDATV  LOGICAL
+          Indicates whether the user wishes to accumulate in a
+          matrix V the right-hand Givens rotations S, as follows:
+          = .FALSE.:  Do not form V;
+          = .TRUE. :  The given matrix V is updated (postmultiplied)
+                      by the right-hand Givens rotations T.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix U.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of rows of the matrix V.  N &gt;= 0.
+
+  L       (input) INTEGER
+          The index of the first diagonal entry of the considered
+          unreduced bidiagonal submatrix Jk of J.
+
+  K       (input) INTEGER
+          The index of the last diagonal entry of the considered
+          unreduced bidiagonal submatrix Jk of J.
+
+  SHIFT   (input) DOUBLE PRECISION
+          Value of the shift used in the QR or QL iteration step.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (p)
+          where p = MIN(M,N)
+          On entry, D must contain the diagonal entries of the
+          bidiagonal matrix J.
+          On exit, D contains the diagonal entries of the
+          transformed bidiagonal matrix S' J T.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
+          On entry, E must contain the superdiagonal entries of J.
+          On exit, E contains the superdiagonal entries of the
+          transformed matrix S' J T.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
+          On entry, if UPDATU = .TRUE., U must contain the M-by-p
+          left transformation matrix.
+          On exit, if UPDATU = .TRUE., the Givens rotations S on the
+          left have been postmultiplied into U, i.e., U * S is
+          returned.
+          U is not referenced if UPDATU = .FALSE..
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
+          LDU &gt;= 1        if UPDATU = .FALSE..
+
+  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
+          On entry, if UPDATV = .TRUE., V must contain the N-by-p
+          right transformation matrix.
+          On exit, if UPDATV = .TRUE., the Givens rotations T on the
+          right have been postmultiplied into V, i.e., V * T is
+          returned.
+          V is not referenced if UPDATV = .FALSE..
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
+          LDV &gt;= 1        if UPDATV = .FALSE..
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
+          LDWORK &gt;= 4*MIN(M,N)-4, if UPDATU = UPDATV = .TRUE.;
+          LDWORK &gt;= 2*MIN(M,N)-2, if
+                          UPDATU = .TRUE. and UPDATV = .FALSE. or
+                          UPDATV = .TRUE. and UPDATU = .FALSE.;
+          LDWORK &gt;= 1, if UPDATU = UPDATV = .FALSE..
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  QR iterations diagonalize the bidiagonal matrix by zeroing the
+  super-diagonal elements of Jk from bottom to top.
+  QL iterations diagonalize the bidiagonal matrix by zeroing the
+  super-diagonal elements of Jk from top to bottom.
+  The routine overwrites Jk with the bidiagonal matrix S' Jk T,
+  where S and T are products of Givens rotations.
+  T is essentially the orthogonal matrix that would be obtained by
+  applying one implicit symmetric shift QR (QL) step onto the matrix
+  Jk'Jk. This step factors the matrix (Jk'Jk - shift*I) into a
+  product of an orthogonal matrix T and a upper (lower) triangular
+  matrix. See [1,Sec.8.2-8.3] and [2] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and Van Loan, C.F.
+      Matrix Computations.
+      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
+
+  [2] Bowdler, H., Martin, R.S. and Wilkinson, J.H.
+      The QR and QL algorithms for symmetric matrices.
+      Numer. Math., 11, pp. 293-306, 1968.
+
+  [3] Demmel, J. and Kahan, W.
+      Computing small singular values of bidiagonal matrices with
+      guaranteed high relative accuracy.
+      SIAM J. Sci. Statist. Comput., 11, pp. 873-912, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB04ZD.html b/doc/_static/doc/MB04ZD.html
new file mode 100644
index 00000000..f7357fe6
--- /dev/null
+++ b/doc/_static/doc/MB04ZD.html
@@ -0,0 +1,355 @@
+<HTML>
+<HEAD><TITLE>MB04ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB04ZD">MB04ZD</A></H2>
+<H3>
+Transforming a Hamiltonian matrix into a square-reduced Hamiltonian matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To transform a Hamiltonian matrix
+
+            ( A   G  )
+        H = (      T )                                           (1)
+            ( Q  -A  )
+
+  into a square-reduced Hamiltonian matrix
+
+             ( A'  G'  )
+        H' = (       T )                                         (2)
+             ( Q' -A'  )
+                                                              T
+  by an orthogonal symplectic similarity transformation H' = U H U,
+  where
+            (  U1   U2 )
+        U = (          ).                                        (3)
+            ( -U2   U1 )
+                                                           T
+  The square-reduced Hamiltonian matrix satisfies Q'A' - A' Q' = 0,
+  and
+
+        2       T     2     ( A''   G''  )
+      H'  :=  (U  H U)   =  (          T ).
+                            ( 0     A''  )
+
+  In addition, A'' is upper Hessenberg and G'' is skew symmetric.
+  The square roots of the eigenvalues of A'' = A'*A' + G'*Q' are the
+  eigenvalues of H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO
+     $                 )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDQG, LDU, N
+      CHARACTER         COMPU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPU   CHARACTER*1
+          Indicates whether the orthogonal symplectic similarity
+          transformation matrix U in (3) is returned or
+          accumulated into an orthogonal symplectic matrix, or if
+          the transformation matrix is not required, as follows:
+          = 'N':         U is not required;
+          = 'I' or 'F':  on entry, U need not be set;
+                         on exit, U contains the orthogonal
+                         symplectic matrix U from (3);
+          = 'V' or 'A':  the orthogonal symplectic similarity
+                         transformations are accumulated into U;
+                         on input, U must contain an orthogonal
+                         symplectic matrix S;
+                         on exit, U contains S*U with U from (3).
+          See the description of U below for details.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On input, the leading N-by-N part of this array must
+          contain the upper left block A of the Hamiltonian matrix H
+          in (1).
+          On output, the leading N-by-N part of this array contains
+          the upper left block A' of the square-reduced Hamiltonian
+          matrix H' in (2).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  QG      (input/output) DOUBLE PRECISION array, dimension
+          (LDQG,N+1)
+          On input, the leading N-by-N lower triangular part of this
+          array must contain the lower triangle of the lower left
+          symmetric block Q of the Hamiltonian matrix H in (1), and
+          the N-by-N upper triangular part of the submatrix in the
+          columns 2 to N+1 of this array must contain the upper
+          triangle of the upper right symmetric block G of H in (1).
+          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
+          and G(i,j) = G(j,i) is stored in QG(j,i+1).
+          On output, the leading N-by-N lower triangular part of
+          this array contains the lower triangle of the lower left
+          symmetric block Q', and the N-by-N upper triangular part
+          of the submatrix in the columns 2 to N+1 of this array
+          contains the upper triangle of the upper right symmetric
+          block G' of the square-reduced Hamiltonian matrix H'
+          in (2).
+
+  LDQG    INTEGER
+          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          If COMPU = 'N', then this array is not referenced.
+          If COMPU = 'I' or 'F', then the input contents of this
+          array are not specified.  On output, the leading
+          N-by-(2*N) part of this array contains the first N rows
+          of the orthogonal symplectic matrix U in (3).
+          If COMPU = 'V' or 'A', then, on input, the leading
+          N-by-(2*N) part of this array must contain the first N
+          rows of an orthogonal symplectic matrix S. On output, the
+          leading N-by-(2*N) part of this array contains the first N
+          rows of the product S*U where U is the orthogonal
+          symplectic matrix from (3).
+          The storage scheme implied by (3) is used for orthogonal
+          symplectic matrices, i.e., only the first N rows are
+          stored, as they contain all relevant information.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= MAX(1,N), if COMPU &lt;&gt; 'N';
+          LDU &gt;= 1,        if COMPU =  'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Hamiltonian matrix H is transformed into a square-reduced
+  Hamiltonian matrix H' using the implicit version of Van Loan's
+  method as proposed in [1,2,3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Loan, C. F.
+      A Symplectic Method for Approximating All the Eigenvalues of
+      a Hamiltonian Matrix.
+      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
+
+  [2] Byers, R.
+      Hamiltonian and Symplectic Algorithms for the Algebraic
+      Riccati Equation.
+      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
+
+  [3] Benner, P., Byers, R., and Barth, E.
+      Fortran 77 Subroutines for Computing the Eigenvalues of
+      Hamiltonian Matrices. I: The Square-Reduced Method.
+      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  This algorithm requires approximately 20*N**3 flops for
+  transforming H into square-reduced form. If the transformations
+  are required, this adds another 8*N**3 flops. The method is
+  strongly backward stable in the sense that if H' and U are the
+  computed square-reduced Hamiltonian and computed orthogonal
+  symplectic similarity transformation, then there is an orthogonal
+  symplectic matrix T and a Hamiltonian matrix M such that
+
+               H T  =  T M
+
+     || T - U ||   &lt;=  c1 * eps
+
+     || H' - M ||  &lt;=  c2 * eps * || H ||
+
+  where c1, c2 are modest constants depending on the dimension N and
+  eps is the machine precision.
+
+  Eigenvalues computed by explicitly forming the upper Hessenberg
+  matrix  A'' = A'A' + G'Q', with A', G', and Q' as in (2), and
+  applying the Hessenberg QR iteration to A'' are exactly
+  eigenvalues of a perturbed Hamiltonian matrix H + E,  where
+
+     || E ||  &lt;=  c3 * sqrt(eps) * || H ||,
+
+  and c3 is a modest constant depending on the dimension N and eps
+  is the machine precision.  Moreover, if the norm of H and an
+  eigenvalue lambda are of roughly the same magnitude, the computed
+  eigenvalue is essentially as accurate as the computed eigenvalue
+  from traditional methods.  See [1] or [2].
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB04ZD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDQG, LDU
+      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = ( NMAX+NMAX )*( NMAX+NMAX+1 ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, IJ, J, JI, N, POS, WPOS
+      CHARACTER*1      COMPU
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
+     $                 U(LDU,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         DCOPY, DGEMM, DSYMV, MB04ZD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, COMPU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99998 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
+         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
+*        Square-reduce by symplectic orthogonal similarity.
+         CALL MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+*           Show the square-reduced Hamiltonian.
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99994 )  ( A(I,J),    J = 1,N ),
+     $            ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
+10          CONTINUE
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( QG(I,J), J = 1,I-1 ),
+     $               ( QG(J,I), J = I,N ), ( -A(J,I), J = 1,N )
+20          CONTINUE
+*           Show the square of H.
+            WRITE ( NOUT, FMT = 99995 )
+            WPOS = ( NMAX+NMAX )*( NMAX+NMAX )
+*                                                    T
+*           Compute N11 = A*A + G*Q and set N22 = N11 .
+            CALL DGEMM( 'N', 'N', N, N, N, ONE, A, LDA, A, LDA, ZERO,
+     $                  DWORK, N+N )
+            DO 30 I = 1, N
+               CALL DCOPY( N-I+1, QG(I,I), 1, DWORK(WPOS+I), 1 )
+               CALL DCOPY( I-1, QG(I,1), LDQG, DWORK(WPOS+1), 1 )
+               CALL DSYMV( 'U', N, ONE, QG(1,2), LDQG, DWORK(WPOS+1), 1,
+     $                     ONE, DWORK((I-1)*(N+N)+1), 1 )
+               POS = N*( N+N ) + N + I
+               CALL DCOPY( N, DWORK((I-1)*(N+N)+1), 1, DWORK(POS), N+N )
+30          CONTINUE
+            DO 40 I = 1, N
+               CALL DSYMV( 'U', N, -ONE, QG(1,2), LDQG, A(I,1), LDA,
+     $                     ZERO, DWORK((N+I-1)*(N+N)+1), 1 )
+               CALL DSYMV( 'L', N, ONE, QG, LDQG, A(1,I), 1, ZERO,
+     $                     DWORK((I-1)*(N+N)+N+1), 1 )
+40          CONTINUE
+            DO 60 J = 1, N
+               DO 50 I = J, N
+                  IJ = ( N+J-1 )*( N+N ) + I
+                  JI = ( N+I-1 )*( N+N ) + J
+                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
+                  DWORK(JI) = -DWORK(IJ)
+                  IJ = N + I + ( J-1 )*( N+N )
+                  JI = N + J + ( I-1 )*( N+N )
+                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
+                  DWORK(JI) = -DWORK(IJ)
+50             CONTINUE
+60          CONTINUE
+            DO 70 I = 1, N+N
+               WRITE ( NOUT, FMT = 99994 )
+     $               ( DWORK(I+(J-1)*(N+N) ), J = 1,N+N )
+70          CONTINUE
+         ENDIF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB04ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' N is out of range.',/' N = ',I5)
+99997 FORMAT (' INFO on exit from MB04ZD = ',I2)
+99996 FORMAT (/' The square-reduced Hamiltonian is ')
+99995 FORMAT (/' The square of the square-reduced Hamiltonian is ')
+99994 FORMAT (1X,8(F10.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB04ZD EXAMPLE PROGRAM DATA
+3 N
+1.0 2.0 3.0 
+4.0 5.0 6.0
+7.0 8.0 9.0
+1.0 1.0 1.0 2.0 2.0 3.0
+7.0 6.0 5.0 8.0 4.0 9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB04ZD EXAMPLE PROGRAM RESULTS
+
+
+ The square-reduced Hamiltonian is 
+     1.0000    3.3485    0.3436    1.0000    1.9126   -0.1072
+     6.7566   11.0750   -0.3014    1.9126    8.4479   -1.0790
+     2.3478    1.6899   -2.3868   -0.1072   -1.0790   -2.9871
+     7.0000    8.6275   -0.6352   -1.0000   -6.7566   -2.3478
+     8.6275   16.2238   -0.1403   -3.3485  -11.0750   -1.6899
+    -0.6352   -0.1403    1.2371   -0.3436    0.3014    2.3868
+
+ The square of the square-reduced Hamiltonian is 
+    48.0000   80.6858   -2.5217    0.0000    1.8590  -10.5824
+   167.8362  298.4815   -4.0310   -1.8590    0.0000  -33.1160
+     0.0000    4.5325    2.5185   10.5824   33.1160    0.0000
+     0.0000    0.0000    0.0000   48.0000  167.8362    0.0000
+     0.0000    0.0000    0.0000   80.6858  298.4815    4.5325
+     0.0000    0.0000    0.0000   -2.5217   -4.0310    2.5185
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB05MD.html b/doc/_static/doc/MB05MD.html
new file mode 100644
index 00000000..f522e9a7
--- /dev/null
+++ b/doc/_static/doc/MB05MD.html
@@ -0,0 +1,298 @@
+<HTML>
+<HEAD><TITLE>MB05MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05MD">MB05MD</A></H2>
+<H3>
+Matrix exponential for a real non-defective matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute exp(A*delta) where A is a real N-by-N non-defective
+  matrix with real or complex eigenvalues and delta is a scalar
+  value. The routine also returns the eigenvalues and eigenvectors
+  of A as well as (if all eigenvalues are real) the matrix product
+  exp(Lambda*delta) times the inverse of the eigenvector matrix
+  of A, where Lambda is the diagonal matrix of eigenvalues.
+  Optionally, the routine computes a balancing transformation to
+  improve the conditioning of the eigenvalues and eigenvectors.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
+     $                   VALI, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC
+      INTEGER           INFO, LDA, LDV, LDWORK, LDY, N
+      DOUBLE PRECISION  DELTA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), V(LDV,*), VALI(*), VALR(*),
+     $                  Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how the input matrix should be diagonally scaled
+          to improve the conditioning of its eigenvalues as follows:
+          = 'N':  Do not diagonally scale;
+          = 'S':  Diagonally scale the matrix, i.e. replace A by
+                  D*A*D**(-1), where D is a diagonal matrix chosen
+                  to make the rows and columns of A more equal in
+                  norm. Do not permute.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  DELTA   (input) DOUBLE PRECISION
+          The scalar value delta of the problem.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A of the problem.
+          On exit, the leading N-by-N part of this array contains
+          the solution matrix exp(A*delta).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
+          The leading N-by-N part of this array contains the
+          eigenvector matrix for A.
+          If the k-th eigenvalue is real the k-th column of the
+          eigenvector matrix holds the eigenvector corresponding
+          to the k-th eigenvalue.
+          Otherwise, the k-th and (k+1)-th eigenvalues form a
+          complex conjugate pair and the k-th and (k+1)-th columns
+          of the eigenvector matrix hold the real and imaginary
+          parts of the eigenvectors corresponding to these
+          eigenvalues as follows.
+          If p and q denote the k-th and (k+1)-th columns of the
+          eigenvector matrix, respectively, then the eigenvector
+          corresponding to the complex eigenvalue with positive
+          (negative) imaginary value is given by
+                                    2
+          p + q*j (p - q*j), where j  = -1.
+
+  LDV     INTEGER
+          The leading dimension of array V.  LDV &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains an
+          intermediate result for computing the matrix exponential.
+          Specifically, exp(A*delta) is obtained as the product V*Y,
+          where V is the matrix stored in the leading N-by-N part of
+          the array V. If all eigenvalues of A are real, then the
+          leading N-by-N part of this array contains the matrix
+          product exp(Lambda*delta) times the inverse of the (right)
+          eigenvector matrix of A, where Lambda is the diagonal
+          matrix of eigenvalues.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= max(1,N).
+
+  VALR    (output) DOUBLE PRECISION array, dimension (N)
+  VALI    (output) DOUBLE PRECISION array, dimension (N)
+          These arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the matrix A. The
+          eigenvalues are unordered except that complex conjugate
+          pairs of values appear consecutively with the eigenvalue
+          having positive imaginary part first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and if N &gt; 0, DWORK(2) returns the reciprocal
+          condition number of the triangular matrix used to obtain
+          the inverse of the eigenvector matrix.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
+          For good performance, LDWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues; no eigenvectors have been computed;
+                elements i+1:N of VALR and VALI contain eigenvalues
+                which have converged;
+          = N+1:  if the inverse of the eigenvector matrix could not
+                be formed due to an attempt to divide by zero, i.e.,
+                the eigenvector matrix is singular;
+          = N+2:  if the matrix A is defective, possibly due to
+                rounding errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine is an implementation of "Method 15" of the set of
+  methods described in reference [1], which uses an eigenvalue/
+  eigenvector decomposition technique. A modification of LAPACK
+  Library routine DGEEV is used for obtaining the right eigenvector
+  matrix. A condition estimate is then employed to determine if the
+  matrix A is near defective and hence the exponential solution is
+  inaccurate. In this case the routine returns with the Error
+  Indicator (INFO) set to N+2, and SLICOT Library routines MB05ND or
+  MB05OD are the preferred alternative routines to be used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Moler, C.B. and Van Loan, C.F.
+      Nineteen dubious ways to compute the exponential of a matrix.
+      SIAM Review, 20, pp. 801-836, 1978.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB05MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDV, LDY
+      PARAMETER        ( LDA = NMAX, LDV = NMAX, LDY = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DELTA
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      BALANC
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), V(LDV,NMAX),
+     $                 VALI(NMAX), VALR(NMAX), Y(LDY,NMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB05MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      BALANC = 'N'
+      READ ( NIN, FMT = * ) N, DELTA
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Find the exponential of the real non-defective matrix A*DELTA.
+         CALL MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
+     $                VALI, IWORK, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) ( VALR(I), VALI(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99993 )
+            DO 60 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( Y(I,J), J = 1,N )
+   60       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB05MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB05MD = ',I2)
+99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The eigenvalues of A are ',/20(2F5.1,'*j  '))
+99994 FORMAT (/' The eigenvector matrix for A is ')
+99993 FORMAT (/' The inverse eigenvector matrix for A (premultiplied by'
+     $        ,' exp(Lambda*DELTA)) is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB05MD EXAMPLE PROGRAM DATA
+   4     1.0
+   0.5   0.0   2.3  -2.6
+   0.0   0.5  -1.4  -0.7
+   2.3  -1.4   0.5   0.0
+  -2.6  -0.7   0.0   0.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB05MD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix exp(A*DELTA) is 
+  26.8551  -3.2824  18.7409 -19.4430
+  -3.2824   4.3474  -5.1848   0.2700
+  18.7409  -5.1848  15.6012 -11.7228
+ -19.4430   0.2700 -11.7228  15.6012
+
+ The eigenvalues of A are 
+ -3.0  0.0*j    4.0  0.0*j   -1.0  0.0*j    2.0  0.0*j  
+
+ The eigenvector matrix for A is 
+  -0.7000   0.7000   0.1000  -0.1000
+   0.1000  -0.1000   0.7000  -0.7000
+   0.5000   0.5000   0.5000   0.5000
+  -0.5000  -0.5000   0.5000   0.5000
+
+ The inverse eigenvector matrix for A (premultiplied by exp(Lambda*DELTA)) is 
+  -0.0349   0.0050   0.0249  -0.0249
+  38.2187  -5.4598  27.2991 -27.2991
+   0.0368   0.2575   0.1839   0.1839
+  -0.7389  -5.1723   3.6945   3.6945
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB05MY.html b/doc/_static/doc/MB05MY.html
new file mode 100644
index 00000000..ec3da91c
--- /dev/null
+++ b/doc/_static/doc/MB05MY.html
@@ -0,0 +1,178 @@
+<HTML>
+<HEAD><TITLE>MB05MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05MY">MB05MY</A></H2>
+<H3>
+Computation of the orthogonal matrix reducing a given matrix to real Schur form T, of the eigenvalues, and of the upper triangular matrix of right eigenvectors of T
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for an N-by-N real nonsymmetric matrix A, the
+  orthogonal matrix Q reducing it to real Schur form T, the
+  eigenvalues, and the right eigenvectors of T.
+
+  The right eigenvector r(j) of T satisfies
+                   T * r(j) = lambda(j) * r(j)
+  where lambda(j) is its eigenvalue.
+
+  The matrix of right eigenvectors R is upper triangular, by
+  construction.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05MY( BALANC, N, A, LDA, WR, WI, R, LDR, Q, LDQ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC
+      INTEGER           INFO, LDA, LDQ, LDR, LDWORK, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A( LDA, * ), DWORK( * ), Q( LDQ, * ),
+     $                  R( LDR, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Indicates how the input matrix should be diagonally scaled
+          to improve the conditioning of its eigenvalues as follows:
+          = 'N':  Do not diagonally scale;
+          = 'S':  Diagonally scale the matrix, i.e. replace A by
+                  D*A*D**(-1), where D is a diagonal matrix chosen
+                  to make the rows and columns of A more equal in
+                  norm. Do not permute.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading N-by-N upper quasi-triangular part of
+          this array contains the real Schur canonical form of A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues. Complex
+          conjugate pairs of eigenvalues appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the matrix of right eigenvectors R, in the same
+          order as their eigenvalues. The real and imaginary parts
+          of a complex eigenvector corresponding to an eigenvalue
+          with positive imaginary part are stored in consecutive
+          columns. (The corresponding conjugate eigenvector is not
+          stored.) The eigenvectors are not backward transformed
+          for balancing (when BALANC = 'S').
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= max(1,N).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Q which has reduced A to real Schur
+          form.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          If BALANC = 'S' and LDWORK &gt; 0, DWORK(2),...,DWORK(N+1)
+          return the scaling factors used for balancing.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues, and no eigenvectors have been
+                computed; elements i+1:N of WR and WI contain
+                eigenvalues which have converged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine uses the QR algorithm to obtain the real Schur form
+  T of matrix A. Then, the right eigenvectors of T are computed,
+  but they are not backtransformed into the eigenvectors of A.
+  MB05MY is a modification of the LAPACK driver routine DGEEV.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB05ND.html b/doc/_static/doc/MB05ND.html
new file mode 100644
index 00000000..1732b164
--- /dev/null
+++ b/doc/_static/doc/MB05ND.html
@@ -0,0 +1,246 @@
+<HTML>
+<HEAD><TITLE>MB05ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05ND">MB05ND</A></H2>
+<H3>
+Matrix exponential and integral for a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute
+
+  (a)    F(delta) =  exp(A*delta) and
+
+  (b)    H(delta) =  Int[F(s) ds] from s = 0 to s = delta,
+
+  where A is a real N-by-N matrix and delta is a scalar value.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDEX, LDEXIN, LDWORK, N
+      DOUBLE PRECISION  DELTA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), EX(LDEX,*), EXINT(LDEXIN,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  DELTA   (input) DOUBLE PRECISION
+          The scalar value delta of the problem.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A of the problem. (Array A need not be set if
+          DELTA = 0.)
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,N).
+
+  EX      (output) DOUBLE PRECISION array, dimension (LDEX,N)
+          The leading N-by-N part of this array contains an
+          approximation to F(delta).
+
+  LDEX    INTEGER
+          The leading dimension of array EX.  LDEX &gt;= MAX(1,N).
+
+  EXINT   (output) DOUBLE PRECISION array, dimension (LDEXIN,N)
+          The leading N-by-N part of this array contains an
+          approximation to H(delta).
+
+  LDEXIN  INTEGER
+          The leading dimension of array EXINT.  LDEXIN &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the order of the
+          Pade approximation to H(t), where t is a scale factor
+          determined by the routine. A reasonable value for TOL may
+          be SQRT(EPS), where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,N*(N+1)).
+          For optimum performance LDWORK should be larger (2*N*N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the (i,i) element of the denominator of
+                the Pade approximation is zero, so the denominator
+                is exactly singular;
+          = N+1:  if DELTA = (delta * frobenius norm of matrix A) is
+                probably too large to permit meaningful computation.
+                That is, DELTA &gt; SQRT(BIG), where BIG is a
+                representable number near the overflow threshold of
+                the machine (see LAPACK Library Routine DLAMCH).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  This routine uses a Pade approximation to H(t) for some small
+  value of t (where 0 &lt; t &lt;= delta) and then calculates F(t) from
+  H(t). Finally, the results are re-scaled to give F(delta) and
+  H(delta). For a detailed description of the implementation of this
+  algorithm see [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benson, C.J.
+      The numerical evaluation of the matrix exponential and its
+      integral.
+      Report 82/03, Control Systems Research Group,
+      School of Electronic Engineering and Computer
+      Science, Kingston Polytechnic, January 1982.
+
+  [2] Ward, R.C.
+      Numerical computation of the matrix exponential with accuracy
+      estimate.
+      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
+
+  [3] Moler, C.B. and Van Loan, C.F.
+      Nineteen Dubious Ways to Compute the Exponential of a Matrix.
+      SIAM Rev., 20, pp. 801-836, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB05ND EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDEX, LDEXIN, LDWORK
+      PARAMETER        ( LDA = NMAX, LDEX = NMAX, LDEXIN = NMAX,
+     $                   LDWORK = NMAX*( NMAX+1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DELTA, TOL
+      INTEGER          I, INFO, J, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), EX(LDEX,NMAX),
+     $                 EXINT(LDEXIN,NMAX)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB05ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DELTA, TOL
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Find the matrix exponential of A*DELTA and its integral.
+         CALL MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN, TOL,
+     $                IWORK, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( EX(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 40 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( EXINT(I,J), J = 1,N )
+   40       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB05ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB05ND = ',I2)
+99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' and its integral is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB05ND EXAMPLE PROGRAM DATA
+   5     0.1     0.0001
+   5.0   4.0   3.0   2.0   1.0
+   1.0   6.0   0.0   4.0   3.0
+   2.0   0.0   7.0   6.0   5.0
+   1.0   3.0   1.0   8.0   7.0
+   2.0   5.0   7.0   1.0   9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB05ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix exp(A*DELTA) is 
+   1.8391   0.9476   0.7920   0.8216   0.7811
+   0.3359   2.2262   0.4013   1.0078   1.0957
+   0.6335   0.6776   2.6933   1.6155   1.8502
+   0.4804   1.1561   0.9110   2.7461   2.0854
+   0.7105   1.4244   1.8835   1.0966   3.4134
+
+ and its integral is 
+   0.1347   0.0352   0.0284   0.0272   0.0231
+   0.0114   0.1477   0.0104   0.0369   0.0368
+   0.0218   0.0178   0.1624   0.0580   0.0619
+   0.0152   0.0385   0.0267   0.1660   0.0732
+   0.0240   0.0503   0.0679   0.0317   0.1863
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB05OD.html b/doc/_static/doc/MB05OD.html
new file mode 100644
index 00000000..1db8b15f
--- /dev/null
+++ b/doc/_static/doc/MB05OD.html
@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>MB05OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05OD">MB05OD</A></H2>
+<H3>
+Matrix exponential for a real matrix, with accuracy estimate
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute exp(A*delta) where A is a real N-by-N matrix and delta
+  is a scalar value. The routine also returns the minimal number of
+  accurate digits in the 1-norm of exp(A*delta) and the number of
+  accurate digits in the 1-norm of exp(A*delta) at 95% confidence
+  level.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALANC
+      INTEGER           IDIG, INFO, IWARN, LDA, LDWORK, MDIG, N,
+     $                  NDIAG
+      DOUBLE PRECISION  DELTA
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALANC  CHARACTER*1
+          Specifies whether or not a balancing transformation (done
+          by SLICOT Library routine MB04MD) is required, as follows:
+          = 'N', do not use balancing;
+          = 'S', use balancing (scaling).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  NDIAG   (input) INTEGER
+          The specified order of the diagonal Pade approximant.
+          In the absence of further information NDIAG should
+          be set to 9.  NDIAG should not exceed 15.  NDIAG &gt;= 1.
+
+  DELTA   (input) DOUBLE PRECISION
+          The scalar value delta of the problem.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On input, the leading N-by-N part of this array must
+          contain the matrix A of the problem. (This is not needed
+          if DELTA = 0.)
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the solution matrix exp(A*delta).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  MDIG    (output) INTEGER
+          The minimal number of accurate digits in the 1-norm of
+          exp(A*delta).
+
+  IDIG    (output) INTEGER
+          The number of accurate digits in the 1-norm of
+          exp(A*delta) at 95% confidence level.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= N*(2*N+NDIAG+1)+NDIAG, if N &gt;  1.
+          LDWORK &gt;= 1,                     if N &lt;= 1.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  if MDIG = 0 and IDIG &gt; 0, warning for possible
+                inaccuracy (the exponential has been computed);
+          = 2:  if MDIG = 0 and IDIG = 0, warning for severe
+                inaccuracy (the exponential has been computed);
+          = 3:  if balancing has been requested, but it failed to
+                reduce the matrix norm and was not actually used.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the norm of matrix A*delta (after a possible
+                balancing) is too large to obtain an accurate
+                result;
+          = 2:  if the coefficient matrix (the denominator of the
+                Pade approximant) is exactly singular; try a
+                different value of NDIAG;
+          = 3:  if the solution exponential would overflow, possibly
+                due to a too large value DELTA; the calculations
+                stopped prematurely. This error is not likely to
+                appear.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The exponential of the matrix A is evaluated from a diagonal Pade
+  approximant. This routine is a modification of the subroutine
+  PADE, described in reference [1]. The routine implements an
+  algorithm which exploits the identity
+
+      (exp[(2**-m)*A]) ** (2**m) = exp(A),
+
+  where m is an integer determined by the algorithm, to improve the
+  accuracy for matrices with large norms.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Ward, R.C.
+      Numerical computation of the matrix exponential with accuracy
+      estimate.
+      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB05OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+      INTEGER          NDIAG
+      PARAMETER        ( NDIAG = 9 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( 2*NMAX+NDIAG+1 )+NDIAG )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DELTA
+      INTEGER          I, IDIG, INFO, IWARN, J, MDIG, N
+      CHARACTER*1      BALANC
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
+      INTEGER          IWORK(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MB05OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DELTA, BALANC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+*        Find the exponential of the real defective matrix A*DELTA.
+         CALL MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
+     $                IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 )
+     $         WRITE ( NOUT, FMT = 99993 ) IWARN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) MDIG, IDIG
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MB05OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB05OD = ',I2)
+99997 FORMAT (' The solution matrix E = exp(A*DELTA) is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' Minimal number of accurate digits in the norm of E =',
+     $       I4,/' Number of accurate digits in the norm of E',/'     ',
+     $       '            at 95 per cent confidence interval =',I4)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (' IWARN on exit from MB05OD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MB05OD EXAMPLE PROGRAM DATA
+   3     1.0     S
+   2.0   1.0   1.0
+   0.0   3.0   2.0
+   1.0   0.0   4.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB05OD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix E = exp(A*DELTA) is 
+  22.5984  17.2073  53.8144
+  24.4047  27.6033  83.2241
+  29.4097  12.2024  81.4177
+
+ Minimal number of accurate digits in the norm of E =  12
+ Number of accurate digits in the norm of E
+                 at 95 per cent confidence interval =  15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB05OY.html b/doc/_static/doc/MB05OY.html
new file mode 100644
index 00000000..39c94ff8
--- /dev/null
+++ b/doc/_static/doc/MB05OY.html
@@ -0,0 +1,128 @@
+<HTML>
+<HEAD><TITLE>MB05OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB05OY">MB05OY</A></H2>
+<H3>
+Restoring a matrix after balancing transformations (permutations and scalings)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To restore a matrix after it has been transformed by applying
+  balancing transformations (permutations and scalings), as
+  determined by LAPACK Library routine DGEBAL.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB05OY( JOB, N, LOW, IGH, A, LDA, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB
+      INTEGER           IGH, INFO, LDA, LOW, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), SCALE(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of backward transformation required,
+          as follows:
+          = 'N', do nothing, return immediately;
+          = 'P', do backward transformation for permutation only;
+          = 'S', do backward transformation for scaling only;
+          = 'B', do backward transformations for both permutation
+                 and scaling.
+          JOB must be the same as the argument JOB supplied
+          to DGEBAL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  LOW     (input) INTEGER
+  IGH     (input) INTEGER
+          The integers LOW and IGH determined by DGEBAL.
+          1 &lt;= LOW &lt;= IGH &lt;= N, if N &gt; 0; LOW=1 and IGH=0, if N=0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix to be back-transformed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  SCALE   (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors, as
+          returned by DGEBAL.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let P be a permutation matrix, and D a diagonal matrix of scaling
+  factors, both of order N. The routine computes
+                  -1
+     A &lt;-- P D A D  P'.
+
+  where the permutation and scaling factors are encoded in the
+  array SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires O(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB3JZP.html b/doc/_static/doc/MB3JZP.html
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+<HTML>
+<HEAD><TITLE>MB3JZP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3JZP">MB3JZP</A></H2>
+<H3>
+Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To move the eigenvalues with strictly negative real parts of an
+  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
+  structured Schur form to the leading principal subpencil, while
+  keeping the triangular form. On entry, we have
+
+        (  A  D  )      (  B  F  )
+    S = (        ), H = (        ),
+        (  0  A' )      (  0 -B' )
+
+  where A and B are upper triangular.
+  S and H are transformed by a unitary matrix Q such that
+
+                         (  Aout  Dout  )
+    Sout = J Q' J' S Q = (              ), and
+                         (    0   Aout' )
+                                                                 (1)
+                         (  Bout  Fout  )           (  0  I  )
+    Hout = J Q' J' H Q = (              ), with J = (        ),
+                         (    0  -Bout' )           ( -I  0  )
+
+  where Aout and Bout remain in upper triangular form. The notation
+  M' denotes the conjugate transpose of the matrix M.
+  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
+  that fulfills (1) is computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3JZP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
+     $                   LDQ, NEIG, TOL, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
+     $                   F( LDF, * ), Q( LDQ, * ), ZWORK( * ) 
+      DOUBLE PRECISION   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether or not the unitary transformations
+          should be accumulated in the array Q, as follows:
+          = 'N':  Q is not computed;
+          = 'I':  the array Q is initialized internally to the unit
+                  matrix, and the unitary matrix Q is returned;
+          = 'U':  the array Q contains a unitary matrix Q0 on
+                  entry, and the matrix Q0*Q is returned, where Q
+                  is the product of the unitary transformations
+                  that are applied to the pencil aS - bH to reorder
+                  the eigenvalues.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix A.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Aout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the skew-Hermitian
+          matrix D.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Dout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular matrix B.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Bout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
+
+  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the upper triangular part of the Hermitian matrix
+          F.
+          On exit, the leading  N/2-by-N/2 part of this array
+          contains the transformed matrix Fout.
+          The strictly lower triangular part of this array is not
+          referenced.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
+          On entry, if COMPQ = 'U', then the leading N-by-N part of
+          this array must contain a given matrix Q0, and on exit,
+          the leading N-by-N part of this array contains the product
+          of the input matrix Q0 and the transformation matrix Q
+          used to transform the matrices S and H.
+          On exit, if COMPQ = 'I', then the leading N-by-N part of
+          this array contains the unitary transformation matrix Q.
+          If COMPQ = 'N' this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,         if COMPQ = 'N';
+          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
+
+  NEIG    (output) INTEGER
+          The number of eigenvalues in aS - bH with strictly
+          negative real part.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance used to decide the sign of the eigenvalues.
+          If the user sets TOL &gt; 0, then the given value of TOL is
+          used. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by MIN(N,10)*EPS, is
+          used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH). A larger value might be
+          needed for pencils with multiple eigenvalues.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N/2)
+
+  ZWORK   COMPLEX*16 array, dimension (N/2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm reorders the eigenvalues like the following scheme:
+
+  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
+       I. Reorder the eigenvalues with negative real parts to the
+          top.
+      II. Reorder the eigenvalues with positive real parts to the
+          bottom.
+
+  Step 2: Reorder the remaining eigenvalues with negative real parts.
+       I. Exchange the eigenvalues between the last diagonal block
+          in aA - bB and the last diagonal block in aS - bH.
+      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
+          place, where MM denotes the current number of eigenvalues
+          with negative real parts in aA - bB.
+
+  The algorithm uses a sequence of unitary transformations as
+  described on page 43 in [1]. To achieve those transformations the
+  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
+  for the corresponding matrix structures.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB3LZP.html b/doc/_static/doc/MB3LZP.html
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+<HTML>
+<HEAD><TITLE>MB3LZP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3LZP">MB3LZP</A></H2>
+<H3>
+Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
+  Hamiltonian pencil aS - bH, with
+
+        (  A  D  )         (  B  F  )
+    S = (        ) and H = (        ).                           (1)
+        (  E  A' )         (  G -B' )
+
+  The structured Schur form of the embedded real skew-Hamiltonian/
+  skew-Hamiltonian pencil aB_S - bB_T, defined as
+
+          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
+          (                 |                 )
+          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
+          (                 |                 )
+    B_S = (-----------------+-----------------) , and
+          (                 |                 )
+          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
+          (                 |                 )
+          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
+                                                                 (2)
+          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
+          (                 |                 )
+          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
+          (                 |                 )
+    B_T = (-----------------+-----------------) ,  T = i*H,
+          (                 |                 )
+          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
+          (                 |                 )
+          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
+
+  is determined and used to compute the eigenvalues. The notation M'
+  denotes the conjugate transpose of the matrix M. Optionally,
+  if COMPQ = 'C', an orthonormal basis of the right deflating
+  subspace of the pencil aS - bH, corresponding to the eigenvalues
+  with strictly negative real part, is computed. Namely, after
+  transforming aB_S - bB_H by unitary matrices, we have
+
+             ( BA  BD  )              ( BB  BF  )
+    B_Sout = (         ) and B_Hout = (         ),               (3)
+             (  0  BA' )              (  0 -BB' )
+
+  and the eigenvalues with strictly negative real part of the
+  complex pencil aB_Sout - bB_Hout are moved to the top. The
+  embedding doubles the multiplicities of the eigenvalues of the
+  pencil aS - bH.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3LZP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
+     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
+     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, ORTH
+      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
+     $                   LZWORK, N, NEIG
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
+     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          Specifies whether to compute the deflating subspace
+          corresponding to the eigenvalues of aS - bH with strictly
+          negative real part.
+          = 'N': do not compute the deflating subspace; compute the
+                 eigenvalues only;
+          = 'C': compute the deflating subspace and store it in the
+                 leading subarray of Q.
+
+  ORTH    CHARACTER*1
+          If COMPQ = 'C', specifies the technique for computing an
+          orthonormal basis of the deflating subspace, as follows:
+          = 'P':  QR factorization with column pivoting;
+          = 'S':  singular value decomposition.
+          If COMPQ = 'N', the ORTH value is not used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the pencil aS - bH.  N &gt;= 0, even.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix A.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BA in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; it is preserved in the leading N/2-by-N/2 part.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
+
+  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N/2-by-N/2 upper
+          triangular part of the submatrix in the columns 2 to N/2+1
+          of this array must contain the upper triangular part of
+          the skew-Hermitian matrix D.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the skew-Hermitian matrix BD in (3) (see
+          also METHOD). The strictly lower triangular part of the
+          input matrix is preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N/2-by-N/2 part of this array must
+          contain the matrix B.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the upper triangular matrix BB in (3) (see
+          also METHOD). The strictly lower triangular part is not
+          zeroed; the elements below the first subdiagonal of the
+          input matrix are preserved.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
+          On entry, the leading N/2-by-N/2 lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix G, and the N/2-by-N/2 upper triangular
+          part of the submatrix in the columns 2 to N/2+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix F.
+          On exit, if COMPQ = 'C', the leading N-by-N part of this
+          array contains the Hermitian matrix BF in (3) (see also
+          METHOD). The strictly lower triangular part of the input
+          matrix is preserved. The diagonal elements might have tiny
+          imaginary parts.
+          If COMPQ = 'N', this array is unchanged on exit.
+
+  LDFG    INTEGER
+          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
+
+  NEIG    (output) INTEGER
+          If COMPQ = 'C', the number of eigenvalues in aS - bH with
+          strictly negative real part.
+
+  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
+          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
+          this array contains an orthonormal basis of the right
+          deflating subspace corresponding to the eigenvalues of the
+          pencil aS - bH with strictly negative real part.
+          The remaining entries are meaningless.
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,           if COMPQ = 'N';
+          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          The real parts of each scalar alpha defining an eigenvalue
+          of the pencil aS - bH.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          The imaginary parts of each scalar alpha defining an
+          eigenvalue of the pencil aS - bH.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          The scalars beta that define the eigenvalues of the pencil
+          aS - bH.
+          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
+          beta = BETA(j) represent the j-th eigenvalue of the pencil
+          aS - bH, in the form lambda = alpha/beta. Since lambda may
+          overflow, the ratios should not, in general, be computed.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+1)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+          On exit, if INFO = -20, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
+          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
+          For good performance LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
+          On exit, if INFO = -22, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= 1,       if COMPQ = 'N';
+          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
+          For good performance LZWORK should be generally larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 0,     if COMPQ = 'N';
+          LBWORK &gt;= N - 1, if COMPQ = 'C'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: succesful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: QZ iteration failed in the SLICOT Library routine
+               MB04FP (QZ iteration did not converge or computation
+               of the shifts failed);
+          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
+               trying to triangularize the 2-by-2 blocks;
+          = 3: the singular value decomposition failed in the LAPACK
+               routine ZGESVD (for ORTH = 'S');
+          = 4: warning: the pencil is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
+  matrices S and T, are determined and, subsequently, the SLICOT
+  Library routine MB04FP is applied to compute the structured Schur
+  form, i.e., the factorizations
+
+  ~                     (  S11  S12  )
+  B_S = J Q' J' B_S Q = (            ) and
+                        (   0   S11' )
+
+  ~                     (  T11  T12  )           (  0  I  )
+  B_T = J Q' J' B_T Q = (            ), with J = (        ),
+                        (   0   T11' )           ( -I  0  )
+
+  where Q is real orthogonal, S11 is upper triangular, and T11 is
+  upper quasi-triangular.
+
+  Second, the SLICOT Library routine MB3JZP is applied, to compute a
+                 ~
+  unitary matrix Q, such that
+
+                     ~    ~
+    ~     ~   ~   (  S11  S12  )
+  J Q' J' B_S Q = (       ~    ) =: B_Sout,
+                  (   0   S11' )
+
+    ~        ~    ~   (  H11  H12  )
+  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
+                      (   0  -H11' )
+       ~                                               ~       ~
+  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
+  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
+                       ~
+  principal subpencil aS11 - bH11.
+
+  Finally, the right deflating subspace is computed.
+  See also page 22 in [1] for more details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
+      Numerical Computation of Deflating Subspaces of Embedded
+      Hamiltonian Pencils.
+      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
+      Germany, June 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                                            3
+  The algorithm is numerically backward stable and needs O(N )
+  complex floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine does not perform any scaling of the matrices. Scaling
+  might sometimes be useful, and it should be done externally.
+  For large values of N, the routine applies the transformations on
+  panels of columns. The user may specify in INFO the desired number
+  of columns. If on entry INFO &lt;= 0, then the routine estimates a
+  suitable value of this number.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB3OYZ.html b/doc/_static/doc/MB3OYZ.html
new file mode 100644
index 00000000..299f1963
--- /dev/null
+++ b/doc/_static/doc/MB3OYZ.html
@@ -0,0 +1,211 @@
+<HTML>
+<HEAD><TITLE>MB3OYZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3OYZ">MB3OYZ</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing QR factorization of a complex general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated QR factorization with column pivoting
+                                [ R11 R12 ]
+     A * P = Q * R,  where  R = [         ],
+                                [  0  R22 ]
+  with R11 defined as the largest leading upper triangular submatrix
+  whose estimated condition number is less than 1/RCOND.  The order
+  of R11, RANK, is the effective rank of A.  Condition estimation is
+  performed during the QR factorization process.  Matrix R22 is full
+  (but of small norm), or empty.
+
+  MB3OYZ  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3OYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
+      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the leading RANK-by-RANK upper triangular part
+          of A contains the triangular factor R11, and the elements
+          below the diagonal in the first  RANK  columns, with the
+          array TAU, represent the unitary matrix Q as a product
+          of  RANK  elementary reflectors.
+          The remaining  N-RANK  columns contain the result of the
+          QR factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest leading triangular
+          submatrix R11 in the QR factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R11.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of R(1:RANK,1:RANK);
+          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
+          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
+                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
+                   otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the leading columns were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(1:RANK,1:RANK).
+
+  JPVT    (output) INTEGER array, dimension ( N )
+          If JPVT(i) = k, then the i-th column of A*P was the k-th
+          column of A.
+
+  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
+          The leading  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 2*N )
+
+  ZWORK   COMPLEX*16 array, dimension ( 3*N-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
+  during this process, finds the largest leading submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using the LAPACK incremental condition estimation scheme and a
+  slightly modified rank decision test.  The factorization process
+  stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a complex scalar, and v is a complex vector with
+  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
+  A(i+1:m,i), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth column of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB3PYZ.html b/doc/_static/doc/MB3PYZ.html
new file mode 100644
index 00000000..f81c89ae
--- /dev/null
+++ b/doc/_static/doc/MB3PYZ.html
@@ -0,0 +1,213 @@
+<HTML>
+<HEAD><TITLE>MB3PYZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB3PYZ">MB3PYZ</A></H2>
+<H3>
+Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting, complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a rank-revealing RQ factorization of a complex general
+  M-by-N matrix  A,  which may be rank-deficient, and estimate its
+  effective rank using incremental condition estimation.
+
+  The routine uses a truncated RQ factorization with row pivoting:
+                                [ R11 R12 ]
+     P * A = R * Q,  where  R = [         ],
+                                [  0  R22 ]
+  with R22 defined as the largest trailing upper triangular
+  submatrix whose estimated condition number is less than 1/RCOND.
+  The order of R22, RANK, is the effective rank of A.  Condition
+  estimation is performed during the RQ factorization process.
+  Matrix R11 is full (but of small norm), or empty.
+
+  MB3PYZ  does not perform any scaling of the matrix A.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB3PYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
+     $                   TAU, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, M, N, RANK
+      DOUBLE PRECISION   RCOND, SVLMAX
+C     .. Array Arguments ..
+      INTEGER            JPVT( * )
+      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
+      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
+          On entry, the leading M-by-N part of this array must
+          contain the given matrix A.
+          On exit, the upper triangle of the subarray
+          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
+          triangular matrix R22;  the remaining elements in the last
+          RANK  rows, with the array TAU, represent the unitary
+          matrix Q as a product of  RANK  elementary reflectors
+          (see METHOD).  The first  M-RANK  rows contain the result
+          of the RQ factorization process used.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,M).
+
+  RCOND   (input) DOUBLE PRECISION
+          RCOND is used to determine the effective rank of A, which
+          is defined as the order of the largest trailing triangular
+          submatrix R22 in the RQ factorization with pivoting of A,
+          whose estimated condition number is less than 1/RCOND.
+          0 &lt;= RCOND &lt;= 1.
+          NOTE that when SVLMAX &gt; 0, the estimated rank could be
+          less than that defined above (see SVLMAX).
+
+  SVLMAX  (input) DOUBLE PRECISION
+          If A is a submatrix of another matrix B, and the rank
+          decision should be related to that matrix, then SVLMAX
+          should be an estimate of the largest singular value of B
+          (for instance, the Frobenius norm of B).  If this is not
+          the case, the input value SVLMAX = 0 should work.
+          SVLMAX &gt;= 0.
+
+  RANK    (output) INTEGER
+          The effective (estimated) rank of A, i.e., the order of
+          the submatrix R22.
+
+  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
+          The estimates of some of the singular values of the
+          triangular factor R:
+          SVAL(1): largest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(2): smallest singular value of
+                   R(M-RANK+1:M,N-RANK+1:N);
+          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
+                   if RANK &lt; MIN( M, N ), or of
+                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
+          If the triangular factorization is a rank-revealing one
+          (which will be the case if the trailing rows were well-
+          conditioned), then SVAL(1) will also be an estimate for
+          the largest singular value of A, and SVAL(2) and SVAL(3)
+          will be estimates for the RANK-th and (RANK+1)-st singular
+          values of A, respectively.
+          By examining these values, one can confirm that the rank
+          is well defined with respect to the chosen value of RCOND.
+          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
+          number of R(M-RANK+1:M,N-RANK+1:N).
+
+  JPVT    (output) INTEGER array, dimension ( M )
+          If JPVT(i) = k, then the i-th row of P*A was the k-th row
+          of A.
+
+  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
+          The trailing  RANK  elements of TAU contain the scalar
+          factors of the elementary reflectors.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension ( 2*M )
+
+  ZWORK   COMPLEX*16 array, dimension ( 3*M-1 )
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated RQ factorization with row
+  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
+  during this process, finds the largest trailing submatrix whose
+  estimated condition number is less than 1/RCOND, taking the
+  possible positive value of SVLMAX into account.  This is performed
+  using an adaptation of the LAPACK incremental condition estimation
+  scheme and a slightly modified rank decision test.  The
+  factorization process stops when  RANK  has been determined.
+
+  The matrix Q is represented as a product of elementary reflectors
+
+     Q = H(k-rank+1)' H(k-rank+2)' . . . H(k)', where k = min(m,n).
+
+  Each H(i) has the form
+
+     H = I - tau * v * v'
+
+  where tau is a complex scalar, and v is a complex vector with
+  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; conjg(v(1:n-k+i-1)) is stored
+  on exit in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
+
+  The matrix P is represented in jpvt as follows: If
+     jpvt(j) = i
+  then the jth row of P is the ith canonical unit vector.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bischof, C.H. and P. Tang.
+      Generalizing Incremental Condition Estimation.
+      LAPACK Working Notes 32, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-132,
+      May 1991.
+
+  [2] Bischof, C.H. and P. Tang.
+      Robust Incremental Condition Estimation.
+      LAPACK Working Notes 33, Mathematics and Computer Science
+      Division, Argonne National Laboratory, UT, CS-91-133,
+      May 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB4DBZ.html b/doc/_static/doc/MB4DBZ.html
new file mode 100644
index 00000000..160b78da
--- /dev/null
+++ b/doc/_static/doc/MB4DBZ.html
@@ -0,0 +1,149 @@
+<HTML>
+<HEAD><TITLE>MB4DBZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB4DBZ">MB4DBZ</A></H2>
+<H3>
+Inverse of a balancing transformation for a complex skew-Hamiltonian/Hamiltonian pencil
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply from the left the inverse of a balancing transformation,
+  computed by the SLICOT Library routine MB4DPZ, to the complex
+  matrix
+
+            [   V1   ]
+            [        ],
+            [ sgn*V2 ]
+
+  where sgn is either +1 or -1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB4DBZ( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
+     $                   V2, LDV2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOB, SGN
+      INTEGER           ILO, INFO, LDV1, LDV2, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  LSCALE(*), RSCALE(*)
+      COMPLEX*16        V1(LDV1,*), V2(LDV2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the type of inverse transformation required:
+          = 'N':  do nothing, return immediately;
+          = 'P':  do inverse transformation for permutation only;
+          = 'S':  do inverse transformation for scaling only;
+          = 'B':  do inverse transformations for both permutation
+                  and scaling.
+          JOB must be the same as the argument JOB supplied to
+          MB4DPZ.
+
+  SGN     CHARACTER*1
+          Specifies the sign to use for V2:
+          = 'P':  sgn = +1;
+          = 'N':  sgn = -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrices V1 and V2. N &gt;= 0.
+
+  ILO     (input) INTEGER
+          The integer ILO determined by MB4DPZ.
+          1 &lt;= ILO &lt;= N+1.
+
+  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the left, as returned by MB4DPZ.
+
+  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
+          Details of the permutation and scaling factors applied
+          from the right, as returned by MB4DPZ.
+
+  M       (input) INTEGER
+          The number of columns of the matrices V1 and V2.  M &gt;= 0.
+
+  V1      (input/output) COMPLEX*16 array, dimension (LDV1,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V1.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V1 of the transformed
+          matrix.
+
+  LDV1    INTEGER
+          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
+
+  V2      (input/output) COMPLEX*16 array, dimension (LDV2,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix V2.
+          On exit, the leading N-by-M part of this array is
+          overwritten by the updated matrix V2 of the transformed
+          matrix.
+
+  LDV2    INTEGER
+          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB4DLZ.html b/doc/_static/doc/MB4DLZ.html
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+<HTML>
+<HEAD><TITLE>MB4DLZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB4DLZ">MB4DLZ</A></H2>
+<H3>
+Balancing a complex pencil, optionally avoiding large norms for the scaled (sub)matrices 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance a pair of N-by-N complex matrices (A,B). This involves,
+  first, permuting A and B by equivalence transformations to isolate
+  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
+  on the diagonal of A and B; and second, applying a diagonal
+  equivalence transformation to rows and columns ILO to IHI to make
+  the rows and columns as close in 1-norm as possible. Both steps
+  are optional. Balancing may reduce the 1-norms of the matrices,
+  and improve the accuracy of the computed eigenvalues and/or
+  eigenvectors in the generalized eigenvalue problem
+  A*x = lambda*B*x.
+
+  This routine may optionally improve the conditioning of the
+  scaling transformation compared to the LAPACK routine ZGGBAL.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
+     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
+      COMPLEX*16         A(LDA,*), B(LDB,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on A and B:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for I = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A and B.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(A(s,s),1)/norm(B(s,s),1),
+                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where A(s,s) and B(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in LSCALE(s) and RSCALE(s), will be
+          at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix A.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix B.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns and the last N-IHI rows of B is zero.
+          If JOB = 'N', the arrays A and B are not referenced.
+
+  LDB    INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+  IHI     (output) INTEGER
+          ILO and IHI are set to integers such that on exit
+          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
+          j = 1,...,ILO-1 or i = IHI+1,...,N.
+          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the left side of A and B.  If P(j) is the index of the
+          row interchanged with row j, and D(j) is the scaling
+          factor applied to row j, then
+            LSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations and scaling factors applied
+          to the right side of A and B.  If P(j) is the index of the
+          column interchanged with column j, and D(j) is the scaling
+          factor applied to column j, then
+            RSCALE(j) = P(j)    for j = 1,...,ILO-1
+                      = D(j)    for j = ILO,...,IHI
+                      = P(j)    for j = IHI+1,...,N.
+          The order in which the interchanges are made is N to
+          IHI+1, then 1 to ILO-1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of A(s,s) and B(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = IHI).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying an equivalence transformation
+  to isolate eigenvalues and/or to make the 1-norms of the rows
+  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
+  a search is performed to find those scaling factors giving the
+  smallest norm ratio or product defined above (see the description
+  of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+     Dl*A*Dr and Dl*B*Dr.
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than ZGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  No rounding errors appear if JOB = 'P'.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB4DLZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDB
+      PARAMETER        ( LDA = NMAX, LDB = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, NMAX ), B( LDB, NMAX )
+      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB4DLZ
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+         CALL MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
+     $                RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )  ILO
+            WRITE ( NOUT, FMT = 99993 )  IHI
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99992 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99992 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB4DLZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB4DLZ = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix B is ')
+99995 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
+99994 FORMAT (/' ILO = ',I4)
+99993 FORMAT (/' IHI = ',I4)
+99992 FORMAT (20(1X,G11.4))
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB4DLZ = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB4DLZ EXAMPLE PROGRAM DATA
+       4       B      -3
+   (1,0.5)         0    -1e-12         0
+         0   (-2,-1)         0         0
+         1 (-1,-0.5)  (-1,0.5)         0
+  (-1,0.5)        -1         0    (2,-1)
+   (1,0.5)         0         0         0
+         0   (1,0.5)         0         0
+         0         0  (1,-0.5)         0
+         0         0         0  (1,-0.5)
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB4DLZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+   2.000       -1.000i   -1.000       +0.500i    0.000       +0.000i   -1.000       +0.000i 
+   0.000       +0.000i    1.000       +0.500i  -0.1000E-11   +0.000i    0.000       +0.000i 
+   0.000       +0.000i    1.000       +0.000i   -1.000       +0.500i   -1.000       -0.500i 
+   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i   -2.000       -1.000i 
+
+ The balanced matrix B is 
+   1.000       -0.500i    0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
+   0.000       +0.000i    1.000       +0.500i    0.000       +0.000i    0.000       +0.000i 
+   0.000       +0.000i    0.000       +0.000i    1.000       -0.500i    0.000       +0.000i 
+   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i    1.000       +0.500i 
+
+ ILO =    2
+
+ IHI =    3
+
+ The permutations and left scaling factors are 
+   2.000       1.000       1.000       2.000    
+
+ The permutations and right scaling factors are 
+   2.000       1.000       1.000       2.000    
+
+ The initial 1-norms of the (sub)matrices are 
+   2.118       1.118    
+
+ The final 1-norms of the (sub)matrices are 
+   2.118       1.118    
+
+ The threshold value finally used is 
+  0.2229E-12
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MB4DPZ.html b/doc/_static/doc/MB4DPZ.html
new file mode 100644
index 00000000..1a1b62c9
--- /dev/null
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+<HTML>
+<HEAD><TITLE>MB4DPZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MB4DPZ">MB4DPZ</A></H2>
+<H3>
+Balancing a complex skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the 2*N-by-2*N complex skew-Hamiltonian/Hamiltonian
+  pencil aS - bH, with
+
+        (  A  D  )         (  C  V  )
+    S = (        ) and H = (        ),  A, C N-by-N,             (1)
+        (  E  A' )         (  W -C' )
+
+  where D and E are skew-Hermitian, V and W are Hermitian matrices,
+  and ' denotes conjugate transpose. This involves, first, permuting
+  aS - bH by a symplectic equivalence transformation to isolate
+  eigenvalues in the first 1:ILO-1 elements on the diagonal of A
+  and C; and second, applying a diagonal equivalence transformation
+  to make the pairs of rows and columns ILO:N and N+ILO:2*N as close
+  in 1-norm as possible. Both steps are optional. Balancing may
+  reduce the 1-norms of the matrices S and H.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
+      COMPLEX*16         A(LDA,*), C(LDC,*), DE(LDDE,*), VW(LDVW,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the operations to be performed on S and H:
+          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
+                  RSCALE(I) = 1.0 for i = 1,...,N.
+          = 'P':  permute only;
+          = 'S':  scale only;
+          = 'B':  both permute and scale.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
+          value for magnitude of the elements to be considered in
+          the scaling process: elements with magnitude less than or
+          equal to THRESH*MXNORM are ignored for scaling, where
+          MXNORM is the maximum of the 1-norms of the original
+          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
+          If THRESH &lt; 0, the subroutine finds the scaling factors
+          for which some conditions, detailed below, are fulfilled.
+          A sequence of increasing strictly positive threshold
+          values is used.
+          If THRESH = -1, the condition is that
+             max( norm(H(s,s),1)/norm(S(s,s),1),
+                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
+          has the smallest value, for the threshold values used,
+          where S(s,s) and H(s,s) are the scaled submatrices.
+          If THRESH = -2, the norm ratio reduction (1) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, if this seems suitable. See the description
+          of the argument IWARN and FURTHER COMMENTS.
+          If THRESH = -3, the condition is that
+             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
+          has the smallest value for the scaled submatrices.
+          If THRESH = -4, the norm reduction in (2) is tried, but
+          the subroutine may return IWARN = 1 and reset the scaling
+          factors to 1, as for THRESH = -2 above.
+          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
+          numbers of the left and right scaling transformations will
+          be bounded by VALUE, i.e., the ratios between the largest
+          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
+          will be at most VALUE. VALUE should be a power of 10.
+          If JOB = 'N' or JOB = 'P', the value of THRESH is
+          irrelevant.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix A of the balanced skew-Hamiltonian matrix S.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of A is zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N+1)
+          On entry, the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          skew-Hermitian matrix E, and the N-by-N upper triangular
+          part of the submatrix in the columns 2 to N+1 of this
+          array must contain the upper triangular part of the
+          skew-Hermitian matrix D. The real parts of the entries on
+          the diagonal and the first superdiagonal of this array
+          should be zero.
+          On exit, the leading N-by-N lower triangular part of this
+          array contains the lower triangular part of the balanced
+          matrix E, and the N-by-N upper triangular part of the 
+          submatrix in the columns 2 to N+1 of this array contains
+          the upper triangular part of the balanced matrix D.
+          In particular, the lower triangular part of the first
+          ILO-1 columns of DE is zero.
+
+  LDDE    INTEGER
+          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC, N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix C.
+          On exit, the leading N-by-N part of this array contains
+          the matrix C of the balanced Hamiltonian matrix H.
+          In particular, the strictly lower triangular part of the
+          first ILO-1 columns of C is zero.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
+
+  VW      (input/output) COMPLEX*16 array, dimension (LDVW, N+1)
+          On entry, the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          Hermitian matrix W, and the N-by-N upper triangular
+          part of the submatrix in the columns 2 to N+1 of this
+          array must contain the upper triangular part of the
+          Hermitian matrix V. The imaginary parts of the entries on
+          the diagonal and the first superdiagonal of this array
+          should be zero.
+          On exit, the leading N-by-N lower triangular part of this
+          array contains the lower triangular part of the balanced
+          matrix W, and the N-by-N upper triangular part of the
+          submatrix in the columns 2 to N+1 of this array contains
+          the upper triangular part of the balanced matrix V. In
+          particular, the lower triangular part of the first ILO-1
+          columns of VW is zero.
+
+  LDVW    INTEGER
+          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
+
+  ILO     (output) INTEGER
+          ILO-1 is the number of deflated eigenvalues in the
+          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
+          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
+          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of LSCALE contains the factor of the scaling applied to
+          row j of the matrices A, D, C, and V.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          Details of the permutations of S and H and scaling applied
+          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
+          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
+          and P(j)+N are interchanged with rows and columns j and
+          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
+          are interchanged with row and column j+N by a generalized
+          symplectic permutation. For j = ILO,...,N the j-th element
+          of RSCALE contains the factor of the scaling applied to
+          column j of the matrices A, E, C, and W.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
+          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
+          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
+          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
+          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
+          contain the initial 1-norms of S(s,s) and H(s,s), and
+          DWORK(3) and DWORK(4) contain their final 1-norms,
+          respectively. Moreover, DWORK(5) contains the THRESH value
+          used (irrelevant if IWARN = 1 or ILO = N).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  scaling has been requested, for THRESH = -2 or
+                THRESH = -4, but it most probably would not improve
+                the accuracy of the computed solution for a related
+                eigenproblem (since maximum norm increased
+                significantly compared to the original pencil
+                matrices and (very) high and/or small scaling
+                factors occurred). The returned scaling factors have
+                been reset to 1, but information about permutations,
+                if requested, has been preserved.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a (symplectic) equivalence
+  transformation to isolate eigenvalues and/or to make the 1-norms
+  of each pair of rows and columns indexed by s of S and H nearly
+  equal. If THRESH &lt; 0, a search is performed to find those scaling
+  factors giving the smallest norm ratio or product defined above
+  (see the description of the parameter THRESH).
+
+  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
+  the vectors LSCALE and RSCALE, respectively. The returned matrices
+  are obtained using the equivalence transformation
+
+    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
+    (       ) (       ) (       ),  (       ) (       ) (       ).
+    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
+
+  For THRESH = 0, the routine returns essentially the same results
+  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
+  gives better results than ZGGBAL for badly scaled matrix pencils.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] Benner, P.
+      Symplectic balancing of Hamiltonian matrices.
+      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The transformations used preserve the skew-Hamiltonian/Hamiltonian
+  structure and do not introduce significant rounding errors.
+  No rounding errors appear if JOB = 'P'. If T is the global
+  transformation matrix applied to the right, then J'*T*J is the
+  global transformation matrix applied to the left, where
+  J = [ 0 I; -I 0 ], with blocks of order N.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If THRESH = -2, the increase of the maximum norm of the scaled
+  submatrices, compared to the maximum norm of the initial
+  submatrices, is bounded by MXGAIN = 100.
+  If THRESH = -2, or THRESH = -4, the maximum condition number of
+  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
+  where EPS is the machine precision (see LAPACK Library routine
+  DLAMCH).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MB4DPZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 10 )
+      INTEGER          LDA, LDC, LDDE, LDVW
+      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
+     $                   LDVW = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, ILO, INFO, IWARN, J, N
+      DOUBLE PRECISION THRESH
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA, NMAX ), C( LDC, NMAX ), DE(LDDE, NMAX),
+     $                 VW(LDVW, NMAX)
+      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MB4DPZ
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * )  N, JOB, THRESH
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
+         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
+         CALL MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
+     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
+10          CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
+20          CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
+30          CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40  I = 1, N
+               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
+40          CONTINUE
+            WRITE ( NOUT, FMT = 99992 )  ILO
+            WRITE ( NOUT, FMT = 99991 )
+            WRITE ( NOUT, FMT = 99984 ) ( LSCALE(I), I = 1,N )
+            WRITE ( NOUT, FMT = 99990 )
+            WRITE ( NOUT, FMT = 99984 ) ( RSCALE(I), I = 1,N )
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
+               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
+                  WRITE ( NOUT, FMT = 99989 )
+                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 1,2 )
+                  WRITE ( NOUT, FMT = 99988 )
+                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 3,4 )
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(5) )
+               ELSE
+                  WRITE ( NOUT, FMT = 99986 ) IWARN
+               END IF
+            END IF
+         END IF
+      END IF
+*
+99999 FORMAT (' MB4DPZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MB4DPZ = ',I2)
+99997 FORMAT (' The balanced matrix A is ')
+99996 FORMAT (/' The balanced matrix DE is ')
+99995 FORMAT (' The balanced matrix C is ')
+99994 FORMAT (/' The balanced matrix VW is ')
+99993 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
+99992 FORMAT (/' ILO = ',I4)
+99991 FORMAT (/' The permutations and left scaling factors are ')
+99990 FORMAT (/' The permutations and right scaling factors are ')
+99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
+99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
+99987 FORMAT (/' The threshold value finally used is ')
+99986 FORMAT (/' IWARN on exit from MB4DPZ = ',I2)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+99984 FORMAT (20(1X,G11.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+MB4DPZ EXAMPLE PROGRAM DATA
+       2       B      -3
+   (1,0.5)         0
+         0   (1,0.5)
+         0         0         0
+         0         0         0
+   (1,0.5)         0
+         0   (-2,-1)
+         1   -1.e-12         0
+  (-1,0.5)        -1         0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MB4DPZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A is 
+   1.000       -0.500i    0.000        0.000i 
+   0.000        0.000i    1.000       +0.500i 
+
+ The balanced matrix DE is 
+   0.000        0.000i    0.000       +0.000i    0.000       +0.000i 
+   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
+ The balanced matrix C is 
+   2.000       -1.000i    1.000       -0.500i 
+   0.000        0.000i    1.000       +0.500i 
+
+ The balanced matrix VW is 
+   0.000        0.000i    1.000       +0.000i    0.000        0.000i 
+   0.000        0.000i    1.000       +0.000i  -0.1000E-11   +0.000i 
+
+ ILO =    2
+
+ The permutations and left scaling factors are 
+   4.000       1.000    
+
+ The permutations and right scaling factors are 
+   4.000       1.000    
+
+ The initial 1-norms of the (sub)matrices are 
+   1.118       2.118    
+
+ The final 1-norms of the (sub)matrices are 
+   1.118       2.118    
+
+ The threshold value finally used is 
+  -3.000    
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01MD.html b/doc/_static/doc/MC01MD.html
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+<HTML>
+<HEAD><TITLE>MC01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01MD">MC01MD</A></H2>
+<H3>
+The leading coefficients of the shifted polynomial for a given real polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate, for a given real polynomial P(x) and a real scalar
+  alpha, the leading K coefficients of the shifted polynomial
+                                                            K-1
+     P(x) = q(1) + q(2) * (x-alpha) + ... + q(K) * (x-alpha)   + ...
+
+  using Horner's algorithm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01MD( DP, ALPHA, K, P, Q, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, K
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(*), Q(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar value alpha of the problem.
+
+  K       (input) INTEGER
+          The number of coefficients of the shifted polynomial to be
+          computed.  1 &lt;= K &lt;= DP+1.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of P(x) in
+          increasing powers of x.
+
+  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
+          The leading K elements of this array contain the first
+          K coefficients of the shifted polynomial in increasing
+          powers of (x - alpha), and the next (DP-K+1) elements
+          are used as internal workspace.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the real polynomial
+                                      2                    DP
+     P(x) = p(1) + p(2) * x + p(3) * x  + ... + p(DP+1) * x  ,
+
+  the routine computes the leading K coefficients of the shifted
+  polynomial
+                                                                K-1
+     P(x) = q(1) + q(2) * (x - alpha) + ... + q(K) * (x - alpha)
+
+  as follows.
+
+  Applying Horner's algorithm (see [1]) to P(x), i.e. dividing P(x)
+  by (x-alpha), yields
+
+     P(x) = q(1) + (x-alpha) * D(x),
+
+  where q(1) is the value of the constant term of the shifted
+  polynomial and D(x) is the quotient polynomial of degree (DP-1)
+  given by
+                                      2                     DP-1
+     D(x) = d(2) + d(3) * x + d(4) * x  + ... +  d(DP+1) * x    .
+
+  Applying Horner's algorithm to D(x) and subsequent quotient
+  polynomials yields q(2) and q(3), q(4), ..., q(K) respectively.
+
+  It follows immediately that q(1) = P(alpha), and in general
+             (i-1)
+     q(i) = P     (alpha) / (i - 1)! for i = 1, 2, ..., K.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] STOER, J. and BULIRSCH, R.
+      Introduction to Numerical Analysis.
+      Springer-Verlag. 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA
+      INTEGER          DP, I, INFO, K
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01MD
+*     .. Executable Statements ..
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP, ALPHA, K
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Compute the leading K coefficients of the shifted polynomial.
+         CALL MC01MD( DP, ALPHA, K, P, Q, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) ALPHA
+            DO 20 I = 1, K
+               WRITE ( NOUT, FMT = 99996 ) I - 1, Q(I)
+   20       CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01MD = ',I2)
+99997 FORMAT (' ALPHA = ',F8.4,//' The coefficients of the shifted pol',
+     $       'ynomial are ',//' power of (x-ALPHA)     coefficient ')
+99996 FORMAT (5X,I5,15X,F9.4)
+99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01MD EXAMPLE PROGRAM DATA
+   5     2.0     6
+   6.0  5.0  4.0  3.0  2.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01MD EXAMPLE PROGRAM RESULTS
+
+ ALPHA =   2.0000
+
+ The coefficients of the shifted polynomial are 
+
+ power of (x-ALPHA)     coefficient 
+         0                120.0000
+         1                201.0000
+         2                150.0000
+         3                 59.0000
+         4                 12.0000
+         5                  1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01ND.html b/doc/_static/doc/MC01ND.html
new file mode 100644
index 00000000..2dd56456
--- /dev/null
+++ b/doc/_static/doc/MC01ND.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>MC01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01ND">MC01ND</A></H2>
+<H3>
+Value of a real polynomial at a given complex point
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the value of the real polynomial P(x) at a given
+  complex point x = x0 using Horner's algorithm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01ND( DP, XR, XI, P, VR, VI, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO
+      DOUBLE PRECISION  VI, VR, XI, XR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  XR      (input) DOUBLE PRECISION
+  XI      (input) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of x0.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of the polynomial
+          P(x) in increasing powers of x.
+
+  VR      (output) DOUBLE PRECISION
+  VI      (output) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of P(x0).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the real polynomial
+                                      2                   DP
+     P(x) = p(1) + p(2) * x + p(3) * x + ... + p(DP+1) * x  ,
+
+  the routine computes the value of P(x0) using the recursion
+
+     q(DP+1) = p(DP+1),
+     q(i) = x0*q(i+1) + p(i) for i = DP, DP-1, ..., 1,
+
+  which is known as Horner's algorithm (see [1]). Then q(1) = P(x0).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] STOER, J and BULIRSCH, R.
+      Introduction to Numerical Analysis.
+      Springer-Verlag. 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires DP operations for real arguments and 4*DP
+  for complex arguments.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION VI, VR, XI, XR
+      INTEGER          DP, I, INFO
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(DPMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP, XR, XI
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Evaluate the polynomial at the given (complex) point.
+         CALL MC01ND( DP, XR, XI, P, VR, VI, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) XR, XI, VR
+            WRITE ( NOUT, FMT = 99996 ) XR, XI, VI
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01ND = ',I2)
+99997 FORMAT (' Real      part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
+99996 FORMAT (/' Imaginary part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
+99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01ND EXAMPLE PROGRAM DATA
+   4     -1.56     0.29
+   5.0  3.0  -1.0  2.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01ND EXAMPLE PROGRAM RESULTS
+
+ Real      part of P( -1.56 +0.29*j ) =  -4.1337
+
+ Imaginary part of P( -1.56 +0.29*j ) =   1.7088
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01OD.html b/doc/_static/doc/MC01OD.html
new file mode 100644
index 00000000..272a1052
--- /dev/null
+++ b/doc/_static/doc/MC01OD.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>MC01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01OD">MC01OD</A></H2>
+<H3>
+Coefficients of a complex polynomial, given its zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a complex polynomial P(x) from its
+  zeros.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMP(*), IMZ(*), REP(*), REZ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of zeros (and hence the degree) of P(x).
+          K &gt;= 0.
+
+  REZ     (input) DOUBLE PRECISION array, dimension (K)
+  IMZ     (input) DOUBLE PRECISION array, dimension (K)
+          The real and imaginary parts of the i-th zero of P(x)
+          must be stored in REZ(i) and IMZ(i), respectively, where
+          i = 1, 2, ..., K. The zeros may be supplied in any order.
+
+  REP     (output) DOUBLE PRECISION array, dimension (K+1)
+  IMP     (output) DOUBLE PRECISION array, dimension (K+1)
+          These arrays contain the real and imaginary parts,
+          respectively, of the coefficients of P(x) in increasing
+          powers of x. If K = 0, then REP(1) is set to one and
+          IMP(1) is set to zero.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*K+2)
+          If K = 0, this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the coefficients of the complex K-th degree
+  polynomial P(x) as
+
+     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+
+  where r(i) = (REZ(i),IMZ(i)), using real arithmetic.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX
+      PARAMETER        ( KMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, K
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(2*KMAX+2), IMP(KMAX+1), IMZ(KMAX),
+     $                 REP(KMAX+1), REZ(KMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MC01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K
+      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) K
+      ELSE
+         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
+*        Compute the coefficients of P(x) from the given zeros.
+         CALL MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99996 )
+     $            ( I, REP(I+1), IMP(I+1), I = 0,K )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01OD = ',I2)
+99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
+     $       'r of x     real part     imag part ')
+99996 FORMAT (2X,I5,8X,F9.4,5X,F9.4)
+99995 FORMAT (/' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01OD EXAMPLE PROGRAM DATA
+   5
+   1.1   0.9
+   0.6  -0.7
+  -2.0   0.3
+  -0.8   2.5
+  -0.3  -0.4
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01OD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial P(x) are 
+
+ power of x     real part     imag part 
+      0           2.7494       -2.1300
+      1          -1.7590       -5.4205
+      2           0.0290        2.8290
+      3          -1.6500       -1.7300
+      4           1.4000       -2.6000
+      5           1.0000        0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01PD.html b/doc/_static/doc/MC01PD.html
new file mode 100644
index 00000000..7aefe569
--- /dev/null
+++ b/doc/_static/doc/MC01PD.html
@@ -0,0 +1,172 @@
+<HTML>
+<HEAD><TITLE>MC01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01PD">MC01PD</A></H2>
+<H3>
+Coefficients of a real polynomial, given its zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a real polynomial P(x) from its
+  zeros.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01PD( K, REZ, IMZ, P, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of zeros (and hence the degree) of P(x).
+          K &gt;= 0.
+
+  REZ     (input) DOUBLE PRECISION array, dimension (K)
+  IMZ     (input) DOUBLE PRECISION array, dimension (K)
+          The real and imaginary parts of the i-th zero of P(x)
+          must be stored in REZ(i) and IMZ(i), respectively, where
+          i = 1, 2, ..., K. The zeros may be supplied in any order,
+          except that complex conjugate zeros must appear
+          consecutively.
+
+  P       (output) DOUBLE PRECISION array, dimension (K+1)
+          This array contains the coefficients of P(x) in increasing
+          powers of x. If K = 0, then P(1) is set to one.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (K+1)
+          If K = 0, this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+                (REZ(i-1),IMZ(i-1)) is not its conjugate.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the coefficients of the real K-th degree
+  polynomial P(x) as
+
+     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+
+  where r(i) = (REZ(i),IMZ(i)).
+
+  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
+  if r(i) is real.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          KMAX
+      PARAMETER        ( KMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, K
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(KMAX+1), IMZ(KMAX), P(KMAX+1), REZ(KMAX)
+*     .. External Subroutines ..
+      EXTERNAL         MC01PD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) K
+      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) K
+      ELSE
+         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
+*        Compute the coefficients of P(x) from the given zeros.
+         CALL MC01PD( K, REZ, IMZ, P, DWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            WRITE ( NOUT, FMT = 99996 ) ( I, P(I+1), I = 0,K )
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01PD = ',I2)
+99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
+     $       'r of x     coefficient ')
+99996 FORMAT (2X,I5,9X,F9.4)
+99995 FORMAT (' K is out of range.',/' K = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01PD EXAMPLE PROGRAM DATA
+   5
+   0.0   1.0
+   0.0  -1.0
+   2.0   0.0
+   1.0   3.0
+   1.0  -3.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01PD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial P(x) are 
+
+ power of x     coefficient 
+      0          -20.0000
+      1           14.0000
+      2          -24.0000
+      3           15.0000
+      4           -4.0000
+      5            1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01PY.html b/doc/_static/doc/MC01PY.html
new file mode 100644
index 00000000..8a26d2e6
--- /dev/null
+++ b/doc/_static/doc/MC01PY.html
@@ -0,0 +1,115 @@
+<HTML>
+<HEAD><TITLE>MC01PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01PY">MC01PY</A></H2>
+<H3>
+Coefficients of a real polynomial, stored in decreasing order, given its zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a real polynomial P(x) from its
+  zeros. The coefficients are stored in decreasing order of the
+  powers of x.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01PY( K, REZ, IMZ, P, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  K       (input) INTEGER
+          The number of zeros (and hence the degree) of P(x).
+          K &gt;= 0.
+
+  REZ     (input) DOUBLE PRECISION array, dimension (K)
+  IMZ     (input) DOUBLE PRECISION array, dimension (K)
+          The real and imaginary parts of the i-th zero of P(x)
+          must be stored in REZ(i) and IMZ(i), respectively, where
+          i = 1, 2, ..., K. The zeros may be supplied in any order,
+          except that complex conjugate zeros must appear
+          consecutively.
+
+  P       (output) DOUBLE PRECISION array, dimension (K+1)
+          This array contains the coefficients of P(x) in decreasing
+          powers of x.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (K)
+          If K = 0, this array is not referenced.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+                (REZ(i-1),IMZ(i-1)) is not its conjugate.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the coefficients of the real K-th degree
+  polynomial P(x) as
+
+     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+
+  where r(i) = (REZ(i),IMZ(i)).
+
+  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
+  if r(i) is real.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01QD.html b/doc/_static/doc/MC01QD.html
new file mode 100644
index 00000000..b0faa8b2
--- /dev/null
+++ b/doc/_static/doc/MC01QD.html
@@ -0,0 +1,249 @@
+<HTML>
+<HEAD><TITLE>MC01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01QD">MC01QD</A></H2>
+<H3>
+Quotient and remainder polynomials for polynomial division
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for two given real polynomials A(x) and B(x), the
+  quotient polynomial Q(x) and the remainder polynomial R(x) of
+  A(x) divided by B(x).
+
+  The polynomials Q(x) and R(x) satisfy the relationship
+
+     A(x) = B(x) * Q(x) + R(x),
+
+  where the degree of R(x) is less than the degree of B(x).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DA, DB, INFO, IWARN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*), RQ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DA      (input) INTEGER
+          The degree of the numerator polynomial A(x).  DA &gt;= -1.
+
+  DB      (input/output) INTEGER
+          On entry, the degree of the denominator polynomial B(x).
+          DB &gt;= 0.
+          On exit, if B(DB+1) = 0.0 on entry, then DB contains the
+          index of the highest power of x for which B(DB+1) &lt;&gt; 0.0.
+
+  A       (input) DOUBLE PRECISION array, dimension (DA+1)
+          This array must contain the coefficients of the
+          numerator polynomial A(x) in increasing powers of x
+          unless DA = -1 on entry, in which case A(x) is taken
+          to be the zero polynomial.
+
+  B       (input) DOUBLE PRECISION array, dimension (DB+1)
+          This array must contain the coefficients of the
+          denominator polynomial B(x) in increasing powers of x.
+
+  RQ      (output) DOUBLE PRECISION array, dimension (DA+1)
+          If DA &lt; DB on exit, then this array contains the
+          coefficients of the remainder polynomial R(x) in
+          increasing powers of x; Q(x) is the zero polynomial.
+          Otherwise, the leading DB elements of this array contain
+          the coefficients of R(x) in increasing powers of x, and
+          the next (DA-DB+1) elements contain the coefficients of
+          Q(x) in increasing powers of x.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = k:  if the degree of the denominator polynomial B(x) has
+                been reduced to (DB - k) because B(DB+1-j) = 0.0 on
+                entry for j = 0, 1, ..., k-1 and B(DB+1-k) &lt;&gt; 0.0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, DB &gt;= 0 and B(i) = 0.0, where
+                i = 1, 2, ..., DB+1.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given real polynomials
+                                               DA
+     A(x) = a(1) + a(2) * x + ... + a(DA+1) * x
+
+  and
+                                               DB
+     B(x) = b(1) + b(2) * x + ... + b(DB+1) * x
+
+  where b(DB+1) is non-zero, the routine computes the coeffcients of
+  the quotient polynomial
+                                                  DA-DB
+     Q(x) = q(1) + q(2) * x + ... + q(DA-DB+1) * x
+
+  and the remainder polynomial
+                                             DB-1
+     R(x) = r(1) + r(2) * x + ... + r(DB) * x
+
+  such that A(x) = B(x) * Q(x) + R(x).
+
+  The algorithm used is synthetic division of polynomials (see [1]),
+  which involves the following steps:
+
+     (a) compute q(k+1) = a(DB+k+1) / b(DB+1)
+
+  and
+
+     (b) set a(j) = a(j) - q(k+1) * b(j-k) for j = k+1, ..., DB+k.
+
+  Steps (a) and (b) are performed for k = DA-DB, DA-DB-1, ..., 0 and
+  the algorithm terminates with r(i) = a(i) for i = 1, 2, ..., DB.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Knuth, D.E.
+      The Art of Computer Programming, (Vol. 2, Seminumerical
+      Algorithms).
+      Addison-Wesley, Reading, Massachusetts (2nd Edition), 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DAMAX, DBMAX
+      PARAMETER        ( DAMAX = 10, DBMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          DA, DB, DBB, DQ, DR, I, IMAX, INFO, IWARN
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(DAMAX+1), B(DBMAX+1), RQ(DAMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DA
+      IF ( DA.LE.-2 .OR. DA.GT.DAMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) DA
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
+         READ ( NIN, FMT = * ) DB
+         DBB = DB
+         IF ( DB.LE.-1 .OR. DB.GT.DBMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) DB
+         ELSE
+            READ ( NIN, FMT = * ) ( B(I), I = 1,DB+1 )
+*           Compute Q(x) and R(x) from the given A(x) and B(x).
+            CALL MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF ( IWARN.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) IWARN
+                  WRITE ( NOUT, FMT = 99996 ) DBB, DB
+               END IF
+               WRITE ( NOUT, FMT = 99995 )
+               DQ = DA - DB
+               DR = DB - 1
+               IMAX = DQ
+               IF ( DR.GT.IMAX ) IMAX = DR
+               DO 20 I = 0, IMAX
+                  IF ( I.LE.DQ .AND. I.LE.DR ) THEN
+                     WRITE ( NOUT, FMT = 99994 ) I, RQ(DB+I+1), RQ(I+1)
+                  ELSE IF ( I.LE.DQ ) THEN
+                     WRITE ( NOUT, FMT = 99993 ) I, RQ(DB+I+1)
+                  ELSE
+                     WRITE ( NOUT, FMT = 99992 ) I, RQ(I+1)
+                  END IF
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01QD = ',I2)
+99997 FORMAT (' IWARN on exit from MC01QD = ',I2,/)
+99996 FORMAT (' The degree of the denominator polynomial B(x) has been',
+     $       ' reduced from ',I2,' to ',I2,/)
+99995 FORMAT (' The coefficients of the polynomials Q(x) and R(x) are ',
+     $       //'                    Q(x)            R(x) ',/' power of',
+     $       ' x     coefficient     coefficient ')
+99994 FORMAT (2X,I5,9X,F9.4,7X,F9.4)
+99993 FORMAT (2X,I5,9X,F9.4)
+99992 FORMAT (2X,I5,25X,F9.4)
+99991 FORMAT (/' DA is out of range.',/' DA = ',I5)
+99990 FORMAT (/' DB is out of range.',/' DB = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01QD EXAMPLE PROGRAM DATA
+   4
+   2.0  2.0  -1.0  2.0  1.0
+   2
+   1.0  -1.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01QD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomials Q(x) and R(x) are 
+
+                    Q(x)            R(x) 
+ power of x     coefficient     coefficient 
+      0            1.0000          1.0000
+      1            3.0000          0.0000
+      2            1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01RD.html b/doc/_static/doc/MC01RD.html
new file mode 100644
index 00000000..d66a8409
--- /dev/null
+++ b/doc/_static/doc/MC01RD.html
@@ -0,0 +1,251 @@
+<HTML>
+<HEAD><TITLE>MC01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01RD">MC01RD</A></H2>
+<H3>
+Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of the polynomial
+
+     P(x) = P1(x) * P2(x) + alpha * P3(x),
+
+  where P1(x), P2(x) and P3(x) are given real polynomials and alpha
+  is a real scalar.
+
+  Each of the polynomials P1(x), P2(x) and P3(x) may be the zero
+  polynomial.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP1, DP2, DP3, INFO
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P1(*), P2(*), P3(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP1     (input) INTEGER
+          The degree of the polynomial P1(x).  DP1 &gt;= -1.
+
+  DP2     (input) INTEGER
+          The degree of the polynomial P2(x).  DP2 &gt;= -1.
+
+  DP3     (input/output) INTEGER
+          On entry, the degree of the polynomial P3(x).  DP3 &gt;= -1.
+          On exit, the degree of the polynomial P(x).
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar value alpha of the problem.
+
+  P1      (input) DOUBLE PRECISION array, dimension (lenp1)
+          where lenp1 = DP1 + 1 if DP1 &gt;= 0 and 1 otherwise.
+          If DP1 &gt;= 0, then this array must contain the
+          coefficients of P1(x) in increasing powers of x.
+          If DP1 = -1, then P1(x) is taken to be the zero
+          polynomial, P1 is not referenced and can be supplied
+          as a dummy array.
+
+  P2      (input) DOUBLE PRECISION array, dimension (lenp2)
+          where lenp2 = DP2 + 1 if DP2 &gt;= 0 and 1 otherwise.
+          If DP2 &gt;= 0, then this array must contain the
+          coefficients of P2(x) in increasing powers of x.
+          If DP2 = -1, then P2(x) is taken to be the zero
+          polynomial, P2 is not referenced and can be supplied
+          as a dummy array.
+
+  P3      (input/output) DOUBLE PRECISION array, dimension (lenp3)
+          where lenp3 = MAX(DP1+DP2,DP3,0) + 1.
+          On entry, if DP3 &gt;= 0, then this array must contain the
+          coefficients of P3(x) in increasing powers of x.
+          On entry, if DP3 = -1, then P3(x) is taken to be the zero
+          polynomial.
+          On exit, the leading (DP3+1) elements of this array
+          contain the coefficients of P(x) in increasing powers of x
+          unless DP3 = -1 on exit, in which case the coefficients of
+          P(x) (the zero polynomial) are not stored in the array.
+          This is the case, for instance, when ALPHA = 0.0 and
+          P1(x) or P2(x) is the zero polynomial.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given real polynomials
+
+             DP1           i           DP2           i
+     P1(x) = SUM a(i+1) * x ,  P2(x) = SUM b(i+1) * x  and
+             i=0                       i=0
+
+             DP3           i
+     P3(x) = SUM c(i+1) * x ,
+             i=0
+
+  the routine computes the coefficents of P(x) = P1(x) * P2(x) +
+                  DP3            i
+  alpha * P3(x) = SUM  d(i+1) * x  as follows.
+                  i=0
+
+  Let e(i) = c(i) for 1 &lt;= i &lt;= DP3+1 and e(i) = 0 for i &gt; DP3+1.
+  Then if DP1 &gt;= DP2,
+
+             i
+     d(i) = SUM a(k) * b(i-k+1) + f(i), for i = 1, ..., DP2+1,
+            k=1
+
+              i
+     d(i)  = SUM a(k) * b(i-k+1) + f(i), for i = DP2+2, ..., DP1+1
+            k=i-DP2
+
+  and
+             DP1+1
+     d(i)  = SUM a(k) * b(i-k+1) + f(i) for i = DP1+2,...,DP1+DP2+1,
+            k=i-DP2
+
+  where f(i) = alpha * e(i).
+
+  Similar formulas hold for the case DP1 &lt; DP2.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DP1MAX, DP2MAX, DP3MAX
+      PARAMETER        ( DP1MAX = 10, DP2MAX = 10, DP3MAX = 10 )
+      INTEGER          LENP3
+      PARAMETER        ( LENP3 = MAX(DP1MAX+DP2MAX,DP3MAX)+1 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA
+      INTEGER          DP1, DP2, DP3, I, INFO
+*     .. Local Arrays ..
+      DOUBLE PRECISION P1(DP1MAX+1), P2(DP2MAX+1), P3(LENP3)
+*    $                 P3(DP1MAX+DP2MAX+DP3MAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP1
+      IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) DP1
+      ELSE
+         READ ( NIN, FMT = * ) ( P1(I), I = 1,DP1+1 )
+         READ ( NIN, FMT = * ) DP2
+         IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) DP2
+         ELSE
+            READ ( NIN, FMT = * ) ( P2(I), I = 1,DP2+1 )
+            READ ( NIN, FMT = * ) DP3
+            IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) DP3
+            ELSE
+               READ ( NIN, FMT = * ) ( P3(I), I = 1,DP3+1 )
+            END IF
+            READ ( NIN, FMT = * ) ALPHA
+*           Compute the coefficients of the polynomial P(x).
+            CALL MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) DP3
+               IF ( DP3.GE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 0, DP3
+                     WRITE ( NOUT, FMT = 99995 ) I, P3(I+1)
+   20             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01RD = ',I2)
+99997 FORMAT (' Degree of the resulting polynomial P(x) = ',I2)
+99996 FORMAT (/' The coefficients of P(x) are ',//' power of x     coe',
+     $       'fficient ')
+99995 FORMAT (2X,I5,9X,F9.4)
+99994 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
+99993 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
+99992 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01RD EXAMPLE PROGRAM DATA
+   1
+   1.00  2.50
+   2
+   1.00  0.10  -0.40
+   1
+   1.15  1.50
+  -2.20
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01RD EXAMPLE PROGRAM RESULTS
+
+ Degree of the resulting polynomial P(x) =  3
+
+ The coefficients of P(x) are 
+
+ power of x     coefficient 
+      0           -1.5300
+      1           -0.7000
+      2           -0.1500
+      3           -1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01SD.html b/doc/_static/doc/MC01SD.html
new file mode 100644
index 00000000..f6ed2ca8
--- /dev/null
+++ b/doc/_static/doc/MC01SD.html
@@ -0,0 +1,229 @@
+<HTML>
+<HEAD><TITLE>MC01SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01SD">MC01SD</A></H2>
+<H3>
+Scaling coefficients of a real polynomial for having minimal variation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To scale the coefficients of the real polynomial P(x) such that
+  the coefficients of the scaled polynomial Q(x) = sP(tx) have
+  minimal variation, where s and t are real scalars.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, S, T
+C     .. Array Arguments ..
+      INTEGER           E(*), IWORK(*)
+      DOUBLE PRECISION  MANT(*), P(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  P       (input/output) DOUBLE PRECISION array, dimension (DP+1)
+          On entry, this array must contain the coefficients of P(x)
+          in increasing powers of x.
+          On exit, this array contains the coefficients of the
+          scaled polynomial Q(x) in increasing powers of x.
+
+  S       (output) INTEGER
+          The exponent of the floating-point representation of the
+          scaling factor s = BASE**S, where BASE is the base of the
+          machine representation of floating-point numbers (see
+          LAPACK Library Routine DLAMCH).
+
+  T       (output) INTEGER
+          The exponent of the floating-point representation of the
+          scaling factor t = BASE**T.
+
+  MANT    (output) DOUBLE PRECISION array, dimension (DP+1)
+          This array contains the mantissas of the standard
+          floating-point representation of the coefficients of the
+          scaled polynomial Q(x) in increasing powers of x.
+
+  E       (output) INTEGER array, dimension (DP+1)
+          This array contains the exponents of the standard
+          floating-point representation of the coefficients of the
+          scaled polynomial Q(x) in increasing powers of x.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (DP+1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, P(x) is the zero polynomial.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Define the variation of the coefficients of the real polynomial
+
+                                      2                DP
+     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
+
+  whose non-zero coefficients can be represented as
+                       e(i)
+     p(i) = m(i) * BASE     (where 1 &lt;= ABS(m(i)) &lt; BASE)
+
+  by
+
+     V = max(e(i)) - min(e(i)),
+
+  where max and min are taken over the indices i for which p(i) is
+  non-zero.
+                                     DP         i    i
+  For the scaled polynomial P(cx) = SUM p(i) * c  * x  with
+                                    i=0
+             j
+  c  = (BASE) , the variation V(j) is given by
+
+    V(j) = max(e(i) + j * i) - min(e(i) + j * i).
+
+  Using the fact that V(j) is a convex function of j, the routine
+  determines scaling factors s = (BASE)**S and t = (BASE)**T such
+  that the coefficients of the scaled polynomial Q(x) = sP(tx)
+  satisfy the following conditions:
+
+    (a) 1 &lt;= q(0) &lt; BASE and
+
+    (b) the variation of the coefficients of Q(x) is minimal.
+
+  Further details can be found in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Dunaway, D.K.
+      Calculation of Zeros of a Real Polynomial through
+      Factorization using Euclid's Algorithm.
+      SIAM J. Numer. Anal., 11, pp. 1087-1104, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  Since the scaling is performed on the exponents of the floating-
+  point representation of the coefficients of P(x), no rounding
+  errors occur during the computation of the coefficients of Q(x).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The scaling factors s and t are BASE dependent.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          BETA, DP, I, INFO, S, T
+*     .. Local Arrays ..
+      DOUBLE PRECISION MANT(DPMAX+1), P(DPMAX+1)
+      INTEGER          E(DPMAX+1), IWORK(DPMAX+1)
+C     .. External Functions ..
+      DOUBLE PRECISION DLAMCH
+      EXTERNAL         DLAMCH
+*     .. External Subroutines ..
+      EXTERNAL         MC01SD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Compute the coefficients of the scaled polynomial Q(x).
+         CALL MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            BETA = DLAMCH( 'Base' )
+            WRITE ( NOUT, FMT = 99995 ) BETA, S, T
+            WRITE ( NOUT,FMT = 99997 )
+            DO 20 I = 0, DP
+               WRITE ( NOUT, FMT = 99996 ) I, P(I+1)
+   20       CONTINUE
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01SD = ',I2)
+99997 FORMAT (/' The coefficients of the scaled polynomial Q(x) = s*P(',
+     $       'tx) are ',//' power of x     coefficient ')
+99996 FORMAT (2X,I5,9X,F9.4)
+99995 FORMAT (' The base of the machine (BETA) = ',I2,//' The scaling ',
+     $       'factors are s = BETA**(',I3,') and t = BETA**(',I3,')')
+99994 FORMAT (/' DP is out of range.',/' DP =',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01SD EXAMPLE PROGRAM DATA
+   5
+  10.0  -40.5  159.5  0.0  2560.0  -10236.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01SD EXAMPLE PROGRAM RESULTS
+
+ The base of the machine (BETA) =  2
+
+ The scaling factors are s = BETA**( -3) and t = BETA**( -2)
+
+ The coefficients of the scaled polynomial Q(x) = s*P(tx) are 
+
+ power of x     coefficient 
+      0            1.2500
+      1           -1.2656
+      2            1.2461
+      3            0.0000
+      4            1.2500
+      5           -1.2496
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01TD.html b/doc/_static/doc/MC01TD.html
new file mode 100644
index 00000000..a5224f76
--- /dev/null
+++ b/doc/_static/doc/MC01TD.html
@@ -0,0 +1,253 @@
+<HTML>
+<HEAD><TITLE>MC01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01TD">MC01TD</A></H2>
+<H3>
+Checking stability of a given real polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine whether or not a given polynomial P(x) with real
+  coefficients is stable, either in the continuous-time or discrete-
+  time case.
+
+  A polynomial is said to be stable in the continuous-time case
+  if all its zeros lie in the left half-plane, and stable in the
+  discrete-time case if all its zeros lie inside the unit circle.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      LOGICAL           STABLE
+      INTEGER           DP, INFO, IWARN, NZ
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), P(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Indicates whether the stability test to be applied to
+          P(x) is in the continuous-time or discrete-time case as
+          follows:
+          = 'C':  Continuous-time case;
+          = 'D':  Discrete-time case.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input/output) INTEGER
+          On entry, the degree of the polynomial P(x).  DP &gt;= 0.
+          On exit, if P(DP+1) = 0.0 on entry, then DP contains the
+          index of the highest power of x for which P(DP+1) &lt;&gt; 0.0.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of P(x) in
+          increasing powers of x.
+
+  STABLE  (output) LOGICAL
+          Contains the value .TRUE. if P(x) is stable and the value
+          .FALSE. otherwise (see also NUMERICAL ASPECTS).
+
+  NZ      (output) INTEGER
+          If INFO = 0, contains the number of unstable zeros - that
+          is, the number of zeros of P(x) in the right half-plane if
+          DICO = 'C' or the number of zeros of P(x) outside the unit
+          circle if DICO = 'D' (see also NUMERICAL ASPECTS).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*DP+2)
+          The leading (DP+1) elements of DWORK contain the Routh
+          coefficients, if DICO = 'C', or the constant terms of
+          the Schur-Cohn transforms, if DICO = 'D'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = k:  if the degree of the polynomial P(x) has been
+                reduced to (DB - k) because P(DB+1-j) = 0.0 on entry
+                for j = 0, 1,..., k-1 and P(DB+1-k) &lt;&gt; 0.0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, P(x) is the zero polynomial;
+          = 2:  if the polynomial P(x) is most probably unstable,
+                although it may be stable with one or more zeros
+                very close to either the imaginary axis if
+                DICO = 'C' or the unit circle if DICO = 'D'.
+                The number of unstable zeros (NZ) is not determined.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The stability of the real polynomial
+                                      2                DP
+     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
+
+  is determined as follows.
+
+  In the continuous-time case (DICO = 'C') the Routh algorithm
+  (see [1]) is used. The routine computes the Routh coefficients and
+  if they are non-zero then the number of sign changes in the
+  sequence of the coefficients is equal to the number of zeros with
+  positive imaginary part.
+
+  In the discrete-time case (DICO = 'D') the Schur-Cohn
+  algorithm (see [2] and [3]) is applied to the reciprocal
+  polynomial
+                                             2               DP
+     Q(x) = p(DP) + p(DP-1) * x + p(DP-2) * x  + ... + p(0) x  .
+
+  The routine computes the constant terms of the Schur transforms
+  and if all of them are non-zero then the number of zeros of P(x)
+  with modulus greater than unity is obtained from the sequence of
+  constant terms.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Gantmacher, F.R.
+      Applications of the Theory of Matrices.
+      Interscience Publishers, New York, 1959.
+
+  [2] Kucera, V.
+      Discrete Linear Control. The Algorithmic Approach.
+      John Wiley & Sons, Chichester, 1979.
+
+  [3] Henrici, P.
+      Applied and Computational Complex Analysis (Vol. 1).
+      John Wiley & Sons, New York, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm used by the routine is numerically stable.
+
+  Note that if some of the Routh coefficients (DICO = 'C') or
+  some of the constant terms of the Schur-Cohn transforms (DICO =
+  'D') are small relative to EPS (the machine precision), then
+  the number of unstable zeros (and hence the value of STABLE) may
+  be incorrect.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 10 )
+*     .. Local Scalars ..
+      INTEGER          DP, DPP, I, INFO, IWARN, NZ
+      LOGICAL          STABLE
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(2*DPMAX+2), P(DPMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         MC01TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = * )
+      READ ( NIN, FMT = * ) DP, DICO
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+         DPP = DP
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+*        Determine whether or not the given polynomial P(x) is stable.
+         CALL MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( IWARN.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) IWARN
+               WRITE ( NOUT, FMT = 99996 ) DPP, DP
+            END IF
+            IF ( STABLE ) THEN
+               WRITE ( NOUT, FMT = 99995 )
+            ELSE
+               WRITE ( NOUT, FMT = 99994 )
+               IF ( LSAME( DICO, 'D' ) ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) NZ
+               ELSE
+                  WRITE ( NOUT, FMT = 99991 ) NZ
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01TD = ',I2)
+99997 FORMAT (' IWARN on exit from MC01TD = ',I2,/)
+99996 FORMAT (' The degree of the polynomial P(x) has been reduced fro',
+     $       'm ',I2,' to ',I2,/)
+99995 FORMAT (' The polynomial P(x) is stable ')
+99994 FORMAT (' The polynomial P(x) is unstable ')
+99993 FORMAT (/' DP is out of range. ',/' DP = ',I5)
+99992 FORMAT (/' The number of zeros of P(x) outside the unit ',
+     $       'circle = ',I2)
+99991 FORMAT (/' The number of zeros of P(x) in the right ',
+     $       'half-plane = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01TD EXAMPLE PROGRAM DATA
+   4     C
+   2.0  0.0  1.0  -1.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01TD EXAMPLE PROGRAM RESULTS
+
+ The polynomial P(x) is unstable 
+
+ The number of zeros of P(x) in the right half-plane =  2
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01VD.html b/doc/_static/doc/MC01VD.html
new file mode 100644
index 00000000..e6838f9e
--- /dev/null
+++ b/doc/_static/doc/MC01VD.html
@@ -0,0 +1,168 @@
+<HTML>
+<HEAD><TITLE>MC01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01VD">MC01VD</A></H2>
+<H3>
+Roots of a quadratic equation with real coefficients
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the roots of a quadratic equation with real
+  coefficients.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO
+      DOUBLE PRECISION  A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) DOUBLE PRECISION
+          The value of the coefficient of the quadratic term.
+
+  B       (input) DOUBLE PRECISION
+          The value of the coefficient of the linear term.
+
+  C       (input) DOUBLE PRECISION
+          The value of the coefficient of the constant term.
+
+  Z1RE    (output) DOUBLE PRECISION
+  Z1IM    (output) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of the largest
+          root in magnitude.
+
+  Z2RE    (output) DOUBLE PRECISION
+  Z2IM    (output) DOUBLE PRECISION
+          The real and imaginary parts, respectively, of the
+          smallest root in magnitude.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if on entry, either A = B = 0.0 or A = 0.0 and the
+                root -C/B overflows; in this case Z1RE, Z1IM, Z2RE
+                and Z2IM are unassigned;
+          = 2:  if on entry, A = 0.0; in this case Z1RE contains
+                BIG and Z1IM contains zero, where BIG is a
+                representable number near the overflow threshold
+                of the machine (see LAPACK Library Routine DLAMCH);
+          = 3:  if on entry, either C = 0.0 and the root -B/A
+                overflows or A, B and C are non-zero and the largest
+                real root in magnitude cannot be computed without
+                overflow; in this case Z1RE contains BIG and Z1IM
+                contains zero;
+          = 4:  if the roots cannot be computed without overflow; in
+                this case Z1RE, Z1IM, Z2RE and Z2IM are unassigned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the roots (r1 and r2) of the real quadratic
+  equation
+          2
+     a * x  + b * x + c = 0
+
+  as
+          - b - SIGN(b) * SQRT(b * b - 4 * a * c)             c
+     r1 = ---------------------------------------  and r2 = ------
+                           2 * a                            a * r1
+
+  unless a = 0, in which case
+
+          -c
+     r1 = --.
+           b
+
+  Precautions are taken to avoid overflow and underflow wherever
+  possible.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01VD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
+      INTEGER          INFO
+*     .. External Subroutines ..
+      EXTERNAL         MC01VD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) A, B, C
+*     Solve the quadratic equation A*x**2 + B*x + C = 0.
+      CALL MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
+*
+      IF ( INFO.NE.0 ) THEN
+         WRITE ( NOUT, FMT = 99998 ) INFO
+      ELSE
+         WRITE ( NOUT, FMT = 99997 )
+         WRITE ( NOUT, FMT = 99996 ) Z1RE, Z1IM, Z2RE, Z2IM
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01VD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01VD = ',I2)
+99997 FORMAT (' The roots of the quadratic equation are ')
+99996 FORMAT (/' x = ',F8.4,2X,SP,F8.4,'*j',SS,/' x = ',F8.4,2X,SP,F8.4,
+     $       '*j')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01VD EXAMPLE PROGRAM DATA
+   0.5  -1.0  2.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01VD EXAMPLE PROGRAM RESULTS
+
+ The roots of the quadratic equation are 
+
+ x =   1.0000   +1.7321*j
+ x =   1.0000   -1.7321*j
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01WD.html b/doc/_static/doc/MC01WD.html
new file mode 100644
index 00000000..0f0c0fe7
--- /dev/null
+++ b/doc/_static/doc/MC01WD.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>MC01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01WD">MC01WD</A></H2>
+<H3>
+Quotient and remainder polynomials for a quadratic denominator polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given real polynomial P(x) and a quadratic
+  polynomial B(x), the quotient polynomial Q(x) and the linear
+  remainder polynomial R(x) such that
+
+     P(x) = B(x) * Q(x) + R(x),
+
+                              2
+  where B(x) = u1 + u2 * x + x , R(x) = q(1) + q(2) * (u2 + x)
+  and u1, u2, q(1) and q(2) are real scalars.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01WD( DP, P, U1, U2, Q, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO
+      DOUBLE PRECISION  U1, U2
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(*), Q(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DP      (input) INTEGER
+          The degree of the polynomial P(x).  DP &gt;= 0.
+
+  P       (input) DOUBLE PRECISION array, dimension (DP+1)
+          This array must contain the coefficients of P(x) in
+          increasing powers of x.
+
+  U1      (input) DOUBLE PRECISION
+          The value of the constant term of the quadratic
+          polynomial B(x).
+
+  U2      (input) DOUBLE PRECISION
+          The value of the coefficient of x of the quadratic
+          polynomial B(x).
+
+  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
+          If DP &gt;= 1 on entry, then elements Q(1) and Q(2) contain
+          the coefficients q(1) and q(2), respectively, of the
+          remainder polynomial R(x), and the next (DP-1) elements
+          of this array contain the coefficients of the quotient
+          polynomial Q(x) in increasing powers of x.
+          If DP = 0 on entry, then element Q(1) contains the
+          coefficient q(1) of the remainder polynomial R(x) = q(1);
+          Q(x) is the zero polynomial.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given the real polynomials
+
+             DP           i                           2
+     P(x) = SUM p(i+1) * x  and B(x) = u1 + u2 * x + x
+            i=0
+
+  the routine uses the recurrence relationships
+
+     q(DP+1) = p(DP+1),
+
+     q(DP) = p(DP) - u2 * q(DP+1) and
+
+     q(i)  = p(i) - u2 * q(i+1) - u1 * q(i+2) for i = DP-1, ..., 1
+
+  to determine the coefficients of the quotient polynomial
+
+            DP-2          i
+     Q(x) = SUM q(i+3) * x
+            i=0
+
+  and the remainder polynomial
+
+     R(x) = q(1) + q(2) * (u2 + x).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01WD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX
+      PARAMETER        ( DPMAX = 10 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION U1, U2
+      INTEGER          DP, I, INFO
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC01WD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT,FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) DP
+      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) DP
+      ELSE
+         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
+         READ ( NIN, FMT = * ) U1, U2
+*        Compute Q(x) and R(x) from P(x) = (x**2+U2*x+U1) * Q(x) + R(x).
+         CALL MC01WD( DP, P, U1, U2, Q, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 0, DP - 2
+               WRITE ( NOUT, FMT = 99996 ) I, Q(I+3)
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 ) Q(1) + Q(2)*U2, Q(2)
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC01WD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01WD = ',I2)
+99997 FORMAT (' The coefficients of the quotient polynomial Q(x) are ',
+     $       //' power of x     coefficient ')
+99996 FORMAT (2X,I5,9X,F9.4)
+99995 FORMAT (/' The coefficients of the remainder polynomial R(x) are '
+     $       ,//' power of x     coefficient ',/'      0         ',F9.4,
+     $       /'      1         ',F9.4)
+99994 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01WD EXAMPLE PROGRAM DATA
+   6
+   0.62  1.10  1.64  1.88  2.12  1.70  1.00
+   0.60  0.80
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01WD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the quotient polynomial Q(x) are 
+
+ power of x     coefficient 
+      0            0.6000
+      1            0.7000
+      2            0.8000
+      3            0.9000
+      4            1.0000
+
+ The coefficients of the remainder polynomial R(x) are 
+
+ power of x     coefficient 
+      0            0.2600
+      1            0.2000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC01XD.html b/doc/_static/doc/MC01XD.html
new file mode 100644
index 00000000..4a09722c
--- /dev/null
+++ b/doc/_static/doc/MC01XD.html
@@ -0,0 +1,200 @@
+<HTML>
+<HEAD><TITLE>MC01XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC01XD">MC01XD</A></H2>
+<H3>
+The roots of a third order polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the roots of the polynomial
+
+      P(t) = ALPHA + BETA*t + GAMMA*t^2 + DELTA*t^3 .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDWORK
+      DOUBLE PRECISION  ALPHA, BETA, DELTA, GAMMA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), EVI(3), EVQ(3), EVR(3)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  ALPHA   (input) DOUBLE PRECISION
+  BETA    (input) DOUBLE PRECISION
+  GAMMA   (input) DOUBLE PRECISION
+  DELTA   (input) DOUBLE PRECISION
+          The coefficients of the polynomial P.
+
+  EVR     (output) DOUBLE PRECISION array, DIMENSION at least 3
+  EVI     (output) DOUBLE PRECISION array, DIMENSION at least 3
+  EVQ     (output) DOUBLE PRECISION array, DIMENSION at least 3
+          On output, the kth root of P will be equal to
+          (EVR(K) + i*EVI(K))/EVQ(K) if EVQ(K) .NE. ZERO. Note that
+          the quotient may over- or underflow. If P has a degree d
+          less than 3, then 3-d computed roots will be infinite.
+          EVQ(K) &gt;= 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, DIMENSION (LDWORK)
+          On exit, if LDWORK = -1 on input, then DWORK(1) returns
+          the optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.  LDWORK &gt;= 42.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = j, 1 &lt;= j &lt;= 6, an error occurred during
+                the call to one of the LAPACK Library routines DGGEV
+                or DGEEV (1 &lt;= j &lt;= 3). If INFO &lt; 3, the values
+                returned in EVR(K), EVI(K), and EVQ(K) should be
+                correct for K = INFO+1,...,3.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A matrix pencil is built, whose eigenvalues are the roots of the
+  given polynomial, and they are computed using the QZ algorithm.
+  However, when the ratio between the largest and smallest (in
+  magnitude) polynomial coefficients is relatively big, and either
+  ALPHA or DELTA has the largest magnitude, then a standard
+  eigenproblem is solved using the QR algorithm, and EVQ(I) are set
+  to 1, for I = 1,2,3.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC01XD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NEV
+      PARAMETER        ( NEV = 3 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 42 )
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J
+      DOUBLE PRECISION ALPHA, BETA, DELTA, GAMMA
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), EVI(NEV), EVQ(NEV), EVR(NEV),
+     $                 RT(2)
+*     .. External Subroutines ..
+      EXTERNAL         MC01XD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) ALPHA, BETA, GAMMA, DELTA
+*     Compute the roots of the polynomial.
+      CALL MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
+     $             DWORK, LDWORK, INFO )
+*
+      IF ( INFO.NE.0 ) THEN
+         WRITE ( NOUT, FMT = 99998 ) INFO
+      ELSE
+         WRITE ( NOUT, FMT = 99995 )
+         WRITE ( NOUT, FMT = 99996 ) ( EVR(J), J = 1, 3 )
+*
+         WRITE ( NOUT, FMT = 99994 )
+         WRITE ( NOUT, FMT = 99996 ) ( EVI(J), J = 1, 3 )
+*
+         WRITE ( NOUT, FMT = 99993 )
+         WRITE ( NOUT, FMT = 99996 ) ( EVQ(J), J = 1, 3 )
+*
+         WRITE ( NOUT, FMT = 99992 )
+         DO 20 I = 1, 3
+            IF ( EVQ(I).NE.ZERO ) THEN
+               RT(1) = EVR(I)/EVQ(I)
+               RT(2) = EVI(I)/EVQ(I)
+               WRITE ( NOUT, FMT = 99996 ) ( RT(J), J = 1, 2 )
+            END IF
+   20    CONTINUE
+*
+      END IF
+      STOP
+*
+99999 FORMAT (' MC01XD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC01XD = ',I2)
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (' Real part of the numerators of the roots')
+99994 FORMAT (' Imaginary part of the numerators of the roots')
+99993 FORMAT (' Denominators of the roots')
+99992 FORMAT (' Roots of the polynomial',/1X)
+      END
+
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC01XD EXAMPLE PROGRAM DATA
+   -3098110792.0746     4649783048.0746     -2327508384.0000     388574551.8120
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC01XD EXAMPLE PROGRAM RESULTS
+
+ Real part of the numerators of the roots
+   1.0185   1.1048   0.5911
+ Imaginary part of the numerators of the roots
+   0.0000   0.0455  -0.0244
+ Denominators of the roots
+   0.5110   0.5528   0.2958
+ Roots of the polynomial
+
+   1.9931   0.0000
+   1.9984   0.0823
+   1.9984  -0.0823
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC03MD.html b/doc/_static/doc/MC03MD.html
new file mode 100644
index 00000000..83f281f0
--- /dev/null
+++ b/doc/_static/doc/MC03MD.html
@@ -0,0 +1,358 @@
+<HTML>
+<HEAD><TITLE>MC03MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC03MD">MC03MD</A></H2>
+<H3>
+Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of the real polynomial matrix
+
+     P(x) = P1(x) * P2(x) + alpha * P3(x),
+
+  where P1(x), P2(x) and P3(x) are given real polynomial matrices
+  and alpha is a real scalar.
+
+  Each of the polynomial matrices P1(x), P2(x) and P3(x) may be the
+  zero matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
+     $                   LDP11, LDP12, P2, LDP21, LDP22, P3, LDP31,
+     $                   LDP32, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           CP1, CP2, DP1, DP2, DP3, INFO, LDP11, LDP12,
+     $                  LDP21, LDP22, LDP31, LDP32, RP1
+      DOUBLE PRECISION  ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), P1(LDP11,LDP12,*), P2(LDP21,LDP22,*),
+     $                  P3(LDP31,LDP32,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  RP1     (input) INTEGER
+          The number of rows of the matrices P1(x) and P3(x).
+          RP1 &gt;= 0.
+
+  CP1     (input) INTEGER
+          The number of columns of matrix P1(x) and the number of
+          rows of matrix P2(x).  CP1 &gt;= 0.
+
+  CP2     (input) INTEGER
+          The number of columns of the matrices P2(x) and P3(x).
+          CP2 &gt;= 0.
+
+  DP1     (input) INTEGER
+          The degree of the polynomial matrix P1(x).  DP1 &gt;= -1.
+
+  DP2     (input) INTEGER
+          The degree of the polynomial matrix P2(x).  DP2 &gt;= -1.
+
+  DP3     (input/output) INTEGER
+          On entry, the degree of the polynomial matrix P3(x).
+          DP3 &gt;= -1.
+          On exit, the degree of the polynomial matrix P(x).
+
+  ALPHA   (input) DOUBLE PRECISION
+          The scalar value alpha of the problem.
+
+  P1      (input) DOUBLE PRECISION array, dimension (LDP11,LDP12,*)
+          If DP1 &gt;= 0, then the leading RP1-by-CP1-by-(DP1+1) part
+          of this array must contain the coefficients of the
+          polynomial matrix P1(x). Specifically, P1(i,j,k) must
+          contain the coefficient of x**(k-1) of the polynomial
+          which is the (i,j)-th element of P1(x), where i = 1,2,...,
+          RP1, j = 1,2,...,CP1 and k = 1,2,...,DP1+1.
+          If DP1 = -1, then P1(x) is taken to be the zero polynomial
+          matrix, P1 is not referenced and can be supplied as a
+          dummy array (i.e. set the parameters LDP11 = LDP12 = 1 and
+          declare this array to be P1(1,1,1) in the calling
+          program).
+
+  LDP11   INTEGER
+          The leading dimension of array P1.
+          LDP11 &gt;= MAX(1,RP1) if DP1 &gt;= 0,
+          LDP11 &gt;= 1          if DP1 = -1.
+
+  LDP12   INTEGER
+          The second dimension of array P1.
+          LDP12 &gt;= MAX(1,CP1) if DP1 &gt;= 0,
+          LDP12 &gt;= 1          if DP1 = -1.
+
+  P2      (input) DOUBLE PRECISION array, dimension (LDP21,LDP22,*)
+          If DP2 &gt;= 0, then the leading CP1-by-CP2-by-(DP2+1) part
+          of this array must contain the coefficients of the
+          polynomial matrix P2(x). Specifically, P2(i,j,k) must
+          contain the coefficient of x**(k-1) of the polynomial
+          which is the (i,j)-th element of P2(x), where i = 1,2,...,
+          CP1, j = 1,2,...,CP2 and k = 1,2,...,DP2+1.
+          If DP2 = -1, then P2(x) is taken to be the zero polynomial
+          matrix, P2 is not referenced and can be supplied as a
+          dummy array (i.e. set the parameters LDP21 = LDP22 = 1 and
+          declare this array to be P2(1,1,1) in the calling
+          program).
+
+  LDP21   INTEGER
+          The leading dimension of array P2.
+          LDP21 &gt;= MAX(1,CP1) if DP2 &gt;= 0,
+          LDP21 &gt;= 1          if DP2 = -1.
+
+  LDP22   INTEGER
+          The second dimension of array P2.
+          LDP22 &gt;= MAX(1,CP2) if DP2 &gt;= 0,
+          LDP22 &gt;= 1          if DP2 = -1.
+
+  P3      (input/output) DOUBLE PRECISION array, dimension
+          (LDP31,LDP32,n), where n = MAX(DP1+DP2,DP3,0)+1.
+          On entry, if DP3 &gt;= 0, then the leading
+          RP1-by-CP2-by-(DP3+1) part of this array must contain the
+          coefficients of the polynomial matrix P3(x). Specifically,
+          P3(i,j,k) must contain the coefficient of x**(k-1) of the
+          polynomial which is the (i,j)-th element of P3(x), where
+          i = 1,2,...,RP1, j = 1,2,...,CP2 and k = 1,2,...,DP3+1.
+          If DP3 = -1, then P3(x) is taken to be the zero polynomial
+          matrix.
+          On exit, if DP3 &gt;= 0 on exit (ALPHA &lt;&gt; 0.0 and DP3 &lt;&gt; -1,
+          on entry, or DP1 &lt;&gt; -1 and DP2 &lt;&gt; -1), then the leading
+          RP1-by-CP2-by-(DP3+1) part of this array contains the
+          coefficients of P(x). Specifically, P3(i,j,k) contains the
+          coefficient of x**(k-1) of the polynomial which is the
+          (i,j)-th element of P(x), where i = 1,2,...,RP1, j = 1,2,
+          ...,CP2 and k = 1,2,...,DP3+1.
+          If DP3 = -1 on exit, then the coefficients of P(x) (the
+          zero polynomial matrix) are not stored in the array.
+
+  LDP31   INTEGER
+          The leading dimension of array P3.  LDP31 &gt;= MAX(1,RP1).
+
+  LDP32   INTEGER
+          The second dimension of array P3.   LDP32 &gt;= MAX(1,CP2).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (CP1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given real polynomial matrices
+
+             DP1            i
+     P1(x) = SUM (A(i+1) * x ),
+             i=0
+
+             DP2            i
+     P2(x) = SUM (B(i+1) * x ),
+             i=0
+
+             DP3            i
+     P3(x) = SUM (C(i+1) * x )
+             i=0
+
+  and a real scalar alpha, the routine computes the coefficients
+  d ,d ,..., of the polynomial matrix
+   1  2
+
+     P(x) = P1(x) * P2(x) + alpha * P3(x)
+
+  from the formula
+
+              s
+     d    =  SUM (A(k+1) * B(i-k+1)) + alpha * C(i+1),
+      i+1    k=r
+
+  where i = 0,1,...,DP1+DP2 and r and s depend on the value of i
+  (e.g. if i &lt;= DP1 and i &lt;= DP2, then r = 0 and s = i).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Other elementary operations involving polynomial matrices can
+  easily be obtained by calling the appropriate BLAS routine(s).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC03MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          CP1MAX, CP2MAX, DP1MAX, DP2MAX, DP3MAX, RP1MAX
+      PARAMETER        ( CP1MAX = 10, CP2MAX = 10, DP1MAX = 10,
+     $                   DP2MAX = 10, DP3MAX = 20, RP1MAX = 10 )
+      INTEGER          LDP11, LDP12, LDP21, LDP22, LDP31, LDP32
+      PARAMETER        ( LDP11 = RP1MAX, LDP12 = CP1MAX,
+     $                   LDP21 = CP1MAX, LDP22 = CP2MAX,
+     $                   LDP31 = RP1MAX, LDP32 = CP2MAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA
+      INTEGER          CP1, CP2, DP1, DP2, DP3, I, INFO, J, K, RP1
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(CP1MAX),
+     $                 P1(LDP11,LDP12,DP1MAX+1),
+     $                 P2(LDP21,LDP22,DP2MAX+1),
+     $                 P3(LDP31,LDP32,DP3MAX+1)
+*     .. External Subroutines ..
+      EXTERNAL         MC03MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) RP1, CP1, CP2
+      IF ( RP1.LT.0 .OR. RP1.GT.RP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) RP1
+      ELSE IF ( CP1.LT.0 .OR. CP1.GT.CP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) CP1
+      ELSE IF ( CP2.LT.0 .OR. CP2.GT.CP2MAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) CP2
+      ELSE
+         READ ( NIN, FMT = * ) DP1
+         IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) DP1
+         ELSE
+            DO 40 K = 1, DP1 + 1
+               DO 20 J = 1, CP1
+                  READ ( NIN, FMT = * ) ( P1(I,J,K), I = 1,RP1 )
+   20          CONTINUE
+   40       CONTINUE
+            READ ( NIN, FMT = * ) DP2
+            IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) DP2
+            ELSE
+               DO 80 K = 1, DP2 + 1
+                  DO 60 J = 1, CP2
+                     READ ( NIN, FMT = * ) ( P2(I,J,K), I = 1,CP1 )
+   60             CONTINUE
+   80          CONTINUE
+               READ ( NIN, FMT = * ) DP3
+               IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
+                  WRITE ( NOUT, FMT = 99990 ) DP3
+               ELSE
+                  DO 120 K = 1, DP3 + 1
+                     DO 100 J = 1, CP2
+                        READ ( NIN, FMT = * ) ( P3(I,J,K), I = 1,RP1 )
+  100                CONTINUE
+  120             CONTINUE
+                  READ ( NIN, FMT = * ) ALPHA
+*                 Compute the coefficients of the polynomial matrix P(x)
+                  CALL MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
+     $                         LDP11, LDP12, P2, LDP21, LDP22, P3,
+     $                         LDP31, LDP32, DWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 ) DP3,
+     $                     ( I-1, I = 1,DP3+1 )
+                     DO 160 I = 1, RP1
+                        DO 140 J = 1, CP2
+                           WRITE ( NOUT, FMT = 99996 ) I, J,
+     $                       ( P3(I,J,K), K = 1,DP3+1 )
+  140                   CONTINUE
+  160                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' MC03MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC03MD = ',I2)
+99997 FORMAT (' The polynomial matrix P(x) (of degree ',I2,') is ',
+     $       //' power of x         ',20I8)
+99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
+99995 FORMAT (/' RP1 is out of range.',/' RP1 = ',I5)
+99994 FORMAT (/' CP1 is out of range.',/' CP1 = ',I5)
+99993 FORMAT (/' CP2 is out of range.',/' CP2 = ',I5)
+99992 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
+99991 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
+99990 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC03MD EXAMPLE PROGRAM DATA
+   3     2     2
+   2
+   1.0   0.0   3.0
+   2.0  -1.0   2.0
+  -2.0   4.0   9.0
+   3.0   7.0  -2.0
+   6.0   2.0  -3.0
+   1.0   2.0   4.0
+   1
+   6.0   1.0
+   1.0   7.0
+  -9.0  -6.0
+   7.0   8.0
+   1
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+  -1.0   1.0   1.0
+  -1.0  -1.0   1.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC03MD EXAMPLE PROGRAM RESULTS
+
+ The polynomial matrix P(x) (of degree  3) is 
+
+ power of x                0       1       2       3
+
+ element ( 1, 1) is     9.00  -31.00   37.00  -60.00
+
+ element ( 1, 2) is    15.00   41.00   23.00   50.00
+
+ element ( 2, 1) is     0.00   38.00  -64.00  -30.00
+
+ element ( 2, 2) is    -6.00   44.00  100.00   30.00
+
+ element ( 3, 1) is    20.00   14.00  -83.00    3.00
+
+ element ( 3, 2) is    18.00   33.00   72.00   11.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC03ND.html b/doc/_static/doc/MC03ND.html
new file mode 100644
index 00000000..e839ee2a
--- /dev/null
+++ b/doc/_static/doc/MC03ND.html
@@ -0,0 +1,424 @@
+<HTML>
+<HEAD><TITLE>MC03ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC03ND">MC03ND</A></H2>
+<H3>
+Minimal polynomial basis for the right nullspace of a polynomial matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the coefficients of a minimal polynomial basis
+                                              DK
+      K(s) = K(0) + K(1) * s + ... + K(DK) * s
+
+  for the right nullspace of the MP-by-NP polynomial matrix of
+  degree DP, given by
+                                              DP
+      P(s) = P(0) + P(1) * s + ... + P(DP) * s  ,
+
+  which corresponds to solving the polynomial matrix equation
+  P(s) * K(s) = 0.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
+     $                   LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DK, DP, INFO, LDKER1, LDKER2, LDNULL, LDP1,
+     $                  LDP2, LDWORK, MP, NP
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           GAM(*), IWORK(*)
+      DOUBLE PRECISION  DWORK(*), KER(LDKER1,LDKER2,*),
+     $                  NULLSP(LDNULL,*), P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the polynomial matrix P(s).
+          MP &gt;= 0.
+
+  NP      (input) INTEGER
+          The number of columns of the polynomial matrix P(s).
+          NP &gt;= 0.
+
+  DP      (input) INTEGER
+          The degree of the polynomial matrix P(s).  DP &gt;= 1.
+
+  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array must
+          contain the coefficients of the polynomial matrix P(s).
+          Specifically, P(i,j,k) must contain the (i,j)-th element
+          of P(k-1), which is the cofficient of s**(k-1) of P(s),
+          where i = 1,2,...,MP, j = 1,2,...,NP and k = 1,2,...,DP+1.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
+
+  LDP2    INTEGER
+          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
+
+  DK      (output) INTEGER
+          The degree of the minimal polynomial basis K(s) for the
+          right nullspace of P(s) unless DK = -1, in which case
+          there is no right nullspace.
+
+  GAM     (output) INTEGER array, dimension (DP*MP+1)
+          The leading (DK+1) elements of this array contain
+          information about the ordering of the right nullspace
+          vectors stored in array NULLSP.
+
+  NULLSP  (output) DOUBLE PRECISION array, dimension
+          (LDNULL,(DP*MP+1)*NP)
+          The leading NP-by-SUM(i*GAM(i)) part of this array
+          contains the right nullspace vectors of P(s) in condensed
+          form (as defined in METHOD), where i = 1,2,...,DK+1.
+
+  LDNULL  INTEGER
+          The leading dimension of array NULLSP.
+          LDNULL &gt;= MAX(1,NP).
+
+  KER     (output) DOUBLE PRECISION array, dimension
+          (LDKER1,LDKER2,DP*MP+1)
+          The leading NP-by-nk-by-(DK+1) part of this array contains
+          the coefficients of the minimal polynomial basis K(s),
+          where nk = SUM(GAM(i)) and i = 1,2,...,DK+1. Specifically,
+          KER(i,j,m) contains the (i,j)-th element of K(m-1), which
+          is the coefficient of s**(m-1) of K(s), where i = 1,2,...,
+          NP, j = 1,2,...,nk and m = 1,2,...,DK+1.
+
+  LDKER1  INTEGER
+          The leading dimension of array KER.  LDKER1 &gt;= MAX(1,NP).
+
+  LDKER2  INTEGER
+          The second dimension of array KER.   LDKER2 &gt;= MAX(1,NP).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance below which matrix elements are considered
+          to be zero. If the user sets TOL to be less than
+          10 * EPS * MAX( ||A|| , ||E|| ), then the tolerance is
+                               F       F
+          taken as 10 * EPS * MAX( ||A|| , ||E|| ), where EPS is the
+                                        F       F
+          machine precision (see LAPACK Library Routine DLAMCH) and
+          A and E are matrices (as defined in METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (m+2*MAX(n,m+1)+n),
+          where m = DP*MP and n = (DP-1)*MP + NP.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= m*n*n + 2*m*n + 2*n*n.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+          &gt; 0:  if incorrect rank decisions were taken during the
+                computations. This failure is not likely to occur.
+                The possible values are:
+                  k, 1 &lt;= k &lt;= DK+1, the k-th diagonal submatrix had
+                        not a full row rank;
+                  DK+2, if incorrect dimensions of a full column
+                        rank submatrix;
+                  DK+3, if incorrect dimensions of a full row rank
+                        submatrix.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The computation of the right nullspace of the MP-by-NP polynomial
+  matrix P(s) of degree DP given by
+                                               DP-1            DP
+     P(s) = P(0) + P(1) * s + ... + P(DP-1) * s     + P(DP) * s
+
+  is performed via the pencil s*E - A, associated with P(s), where
+
+         | I              |           | 0         -P(DP) |
+         |   .            |           | I .          .   |
+     A = |     .          |  and  E = |   . .        .   |.      (1)
+         |       .        |           |     . 0      .   |
+         |         I      |           |       I 0 -P(2)  |
+         |           P(0) |           |         I -P(1)  |
+
+  The pencil s*E - A is transformed by unitary matrices Q and Z such
+  that
+
+                  | sE(eps)-A(eps) |        X       |      X     |
+                  |----------------|----------------|------------|
+                  |        0       | sE(inf)-A(inf) |      X     |
+     Q'(s*E-A)Z = |=================================|============|.
+                  |                                 |            |
+                  |                0                | sE(r)-A(r) |
+
+  Since s*E(inf)-A(inf) and s*E(r)-A(r) have full column rank, the
+  minimal polynomial basis for the right nullspace of Q'(s*E-A)Z
+  (and consequently the basis for the right nullspace of s*E - A) is
+  completely determined by s*E(eps)-A(eps).
+
+  Let Veps(s) be a minimal polynomial basis for the right nullspace
+  of s*E(eps)-A(eps). Then
+
+                | Veps(s) |
+     V(s) = Z * |---------|
+                |    0    |
+
+  is a minimal polynomial basis for the right nullspace of s*E - A.
+  From the structure of s*E - A it can be shown that if V(s) is
+  partitioned as
+
+            | Vo(s) | (DP-1)*MP
+     V(s) = |------ |
+            | Ve(s) | NP
+
+  then the columns of Ve(s) form a minimal polynomial basis for the
+  right nullspace of P(s).
+
+  The vectors of Ve(s) are computed and stored in array NULLSP in
+  the following condensed form:
+
+     ||      ||      |      ||      |      |      ||      |     |
+     || U1,0 || U2,0 | U2,1 || U3,0 | U3,1 | U3,2 || U4,0 | ... |,
+     ||      ||      |      ||      |      |      ||      |     |
+
+  where Ui,j is an NP-by-GAM(i) matrix which contains the i-th block
+  of columns of K(j), the j-th coefficient of the polynomial matrix
+  representation for the right nullspace
+                                               DK
+     K(s) = K(0) + K(1) * s + . . . + K(DK) * s  .
+
+  The coefficients K(0), K(1), ..., K(DK) are NP-by-nk matrices
+  given by
+
+     K(0)  = | U1,0 | U2,0 | U3,0 | . . .          | U(DK+1,0) |
+
+     K(1)  = |  0   | U2,1 | U3,1 | . . .          | U(DK+1,1) |
+
+     K(2)  = |  0   |  0   | U3,2 | . . .          | U(DK+1,2) |
+
+       .     .     .     .     .     .     .     .     .     .
+
+     K(DK) = |  0   |  0   |  0   | . . .    |  0  | U(DK+1,DK)|.
+
+  Note that the degree of K(s) satisfies the inequality DK &lt;=
+  DP * MIN(MP,NP) and that the dimension of K(s) satisfies the
+  inequality (NP-MP) &lt;= nk &lt;= NP.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Beelen, Th.G.J.
+      New Algorithms for Computing the Kronecker structure of a
+      Pencil with Applications to Systems and Control Theory.
+      Ph.D.Thesis, Eindhoven University of Technology, 1987.
+
+  [2] Van Den Hurk, G.J.H.H.
+      New Algorithms for Solving Polynomial Matrix Problems.
+      Master's Thesis, Eindhoven University of Technology, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm used by the routine involves the construction of a
+  special block echelon form with pivots considered to be non-zero
+  when they are larger than TOL. These pivots are then inverted in
+  order to construct the columns of the kernel of the polynomial
+  matrix. If TOL is chosen to be too small then these inversions may
+  be sensitive whereas increasing TOL will make the inversions more
+  robust but will affect the block echelon form (and hence the
+  column degrees of the polynomial kernel). Furthermore, if the
+  elements of the computed polynomial kernel are large relative to
+  the polynomial matrix, then the user should consider trying
+  several values of TOL.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  It also possible to compute a minimal polynomial basis for the
+  right nullspace of a pencil, since a pencil is a polynomial matrix
+  of degree 1. Thus for the pencil (s*E - A), the required input is
+  P(1)  = E and P(0) = -A.
+
+  The routine can also be used to compute a minimal polynomial
+  basis for the left nullspace of a polynomial matrix by simply
+  transposing P(s).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MC03ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DPMAX, MPMAX, NPMAX
+*     PARAMETER        ( DPMAX = 5, MPMAX = 5, NPMAX = 5 )
+      PARAMETER        ( DPMAX = 2, MPMAX = 5, NPMAX = 4 )
+      INTEGER          LDP1, LDP2, LDNULL, LDKER1, LDKER2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX, LDNULL = NPMAX,
+     $                   LDKER1 = NPMAX, LDKER2 = NPMAX )
+      INTEGER          M, N
+      PARAMETER        ( M = DPMAX*MPMAX, N = ( DPMAX-1 )*MPMAX+NPMAX )
+      INTEGER          LIWORK, LDWORK
+*     PARAMETER        ( LIWORK = 3*( N+M )+2,
+      PARAMETER        ( LIWORK = M+2*MAX( N,M+1 )+N,
+     $                   LDWORK = M*N**2+2*M*N+2*N**2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          DK, DP, I, INFO, J, K, M1, MP, NK, NP
+*     .. Local Arrays ..
+      DOUBLE PRECISION DWORK(LDWORK), KER(LDKER1,LDKER2,M+1),
+     $                 NULLSP(LDNULL,(M+1)*NPMAX), P(LDP1,LDP2,DPMAX+1)
+      INTEGER          GAM(M+1), IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         MC03ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP, TOL
+      IF ( MP.LT.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) MP
+      ELSE IF ( NP.LT.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) NP
+      ELSE IF ( DP.LE.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) DP
+      ELSE
+         DO 40 K = 1, DP + 1
+            DO 20 I = 1, MP
+               READ ( NIN, FMT = * ) ( P(I,J,K), J = 1,NP )
+   20       CONTINUE
+   40    CONTINUE
+*        Compute a minimal polynomial basis K(s) of the given P(s).
+         CALL MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
+     $                LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
+     $                LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE IF ( DK.LT.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+         ELSE
+            NK = 0
+            M1 = 0
+            DO 60 I = 1, DK + 1
+               NK = NK + GAM(I)
+               M1 = M1 + GAM(I)*I
+   60       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 80 I = 1, NP
+               WRITE ( NOUT, FMT = 99995 ) ( NULLSP(I,J), J = 1,M1 )
+   80       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) DK, ( I-1, I = 1,DK+1 )
+            DO 120 I = 1, NP
+               DO 100 J = 1, NK
+                  WRITE ( NOUT, FMT = 99993 )
+     $                  I, J, ( KER(I,J,K), K = 1,DK+1 )
+  100          CONTINUE
+  120       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MC03ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MC03ND = ',I2)
+99997 FORMAT (' The polynomial matrix P(s) has no right nullspace')
+99996 FORMAT (' The right nullspace vectors of P(s) are ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The minimal polynomial basis K(s) (of degree ',I2,') ',
+     $       'for the right nullspace is ',//' power of s         ',
+     $       20I8)
+99993 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
+99992 FORMAT (/' DP is out of range.',/' DP = ',I5)
+99991 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99990 FORMAT (/' MP is out of range.',/' MP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MC03ND EXAMPLE PROGRAM DATA
+   5     4     2     0.0
+   2.0   2.0   0.0   3.0
+   0.0   4.0   0.0   6.0
+   8.0   8.0   0.0  12.0
+   0.0   0.0   0.0   0.0
+   2.0   2.0   0.0   3.0
+   1.0   0.0   1.0   0.0
+   0.0   0.0   2.0   0.0
+   4.0   0.0   4.0   0.0
+   2.0   2.0   0.0   3.0
+   3.0   2.0   1.0   3.0
+   0.0   0.0   0.0   0.0
+   1.0   0.0   0.0   0.0
+   0.0   0.0   0.0   0.0
+   1.0   0.0   1.0   0.0
+   1.0   0.0   1.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MC03ND EXAMPLE PROGRAM RESULTS
+
+ The right nullspace vectors of P(s) are 
+   0.0000   0.0000   0.0000
+  -0.8321   0.0000   0.1538
+   0.0000  -1.0000   0.0000
+   0.5547   0.0000   0.2308
+
+ The minimal polynomial basis K(s) (of degree  1) for the right nullspace is 
+
+ power of s                0       1
+
+ element ( 1, 1) is     0.00    0.00
+
+ element ( 1, 2) is     0.00    0.00
+
+ element ( 2, 1) is    -0.83    0.00
+
+ element ( 2, 2) is     0.00    0.15
+
+ element ( 3, 1) is     0.00    0.00
+
+ element ( 3, 2) is    -1.00    0.00
+
+ element ( 4, 1) is     0.55    0.00
+
+ element ( 4, 2) is     0.00    0.23
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MC03NX.html b/doc/_static/doc/MC03NX.html
new file mode 100644
index 00000000..0ed169df
--- /dev/null
+++ b/doc/_static/doc/MC03NX.html
@@ -0,0 +1,121 @@
+<HTML>
+<HEAD><TITLE>MC03NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MC03NX">MC03NX</A></H2>
+<H3>
+Construction of a pencil sE-A related to a given polynomial matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given an MP-by-NP polynomial matrix of degree dp
+                                 dp-1            dp
+  P(s) = P(0) + ... + P(dp-1) * s     + P(dp) * s            (1)
+
+  the routine composes the related pencil s*E-A where
+
+      | I              |           | O          -P(dp) |
+      |   .            |           | I .           .   |
+  A = |     .          |  and  E = |   . .         .   |.    (2)
+      |       .        |           |     . O       .   |
+      |         I      |           |       I  O -P(2)  |
+      |           P(0) |           |          I -P(1)  |
+
+  ==================================================================
+  REMARK: This routine is intended to be called only from the SLICOT
+          routine MC03ND.
+  ==================================================================
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MC03NX( MP, NP, DP, P, LDP1, LDP2, A, LDA, E, LDE )
+C     .. Scalar Arguments ..
+      INTEGER           DP, LDA, LDE, LDP1, LDP2, MP, NP
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the polynomial matrix P(s).
+          MP &gt;= 0.
+
+  NP      (input) INTEGER
+          The number of columns of the polynomial matrix P(s).
+          NP &gt;= 0.
+
+  DP      (input) INTEGER
+          The degree of the polynomial matrix P(s).  DP &gt;= 1.
+
+  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array must
+          contain the coefficients of the polynomial matrix P(s)
+          in (1) in increasing powers of s.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
+
+  LDP2    INTEGER
+          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
+
+  A       (output) DOUBLE PRECISION array, dimension
+          (LDA,(DP-1)*MP+NP)
+          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
+          contains the matrix A as described in (2).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,DP*MP).
+
+  E       (output) DOUBLE PRECISION array, dimension
+          (LDE,(DP-1)*MP+NP)
+          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
+          contains the matrix E as described in (2).
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,DP*MP).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MD03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03AD">MD03AD</A></H2>
+<H3>
+Solution of a standard nonlinear least squares problem (Cholesky-based or conjugate gradients solver)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To minimize the sum of the squares of m nonlinear functions, e, in
+  n variables, x, by a modification of the Levenberg-Marquardt
+  algorithm, using either a Cholesky-based or a conjugate gradients
+  solver. The user must provide a subroutine FCN which calculates
+  the functions and the Jacobian J (possibly by finite differences),
+  and another subroutine JPJ, which computes either J'*J + par*I
+  (if ALG = 'D'), or (J'*J + par*I)*x (if ALG = 'I'), where par is
+  the Levenberg factor, exploiting the possible structure of the
+  Jacobian matrix. Template implementations of these routines are
+  included in the SLICOT Library.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03AD( XINIT, ALG, STOR, UPLO, FCN, JPJ, M, N, ITMAX,
+     $                   NPRINT, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
+     $                   LDPAR2, X, NFEV, NJEV, TOL, CGTOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ALG, STOR, UPLO, XINIT
+      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
+     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  CGTOL, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DPAR1(LDPAR1,*), DPAR2(LDPAR2,*), DWORK(*), X(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  XINIT   CHARACTER*1
+          Specifies how the variables x are initialized, as follows:
+          = 'R' :  the array X is initialized to random values; the
+                   entries DWORK(1:4) are used to initialize the
+                   random number generator: the first three values
+                   are converted to integers between 0 and 4095, and
+                   the last one is converted to an odd integer
+                   between 1 and 4095;
+          = 'G' :  the given entries of X are used as initial values
+                   of variables.
+
+  ALG     CHARACTER*1
+          Specifies the algorithm used for solving the linear
+          systems involving a Jacobian matrix J, as follows:
+          = 'D' :  a direct algorithm, which computes the Cholesky
+                   factor of the matrix J'*J + par*I is used;
+          = 'I' :  an iterative Conjugate Gradients algorithm, which
+                   only needs the matrix J, is used.
+          In both cases, matrix J is stored in a compressed form.
+
+  STOR    CHARACTER*1
+          If ALG = 'D', specifies the storage scheme for the
+          symmetric matrix J'*J, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+          The option STOR = 'F' usually ensures a faster execution.
+          This parameter is not relevant if ALG = 'I'.
+
+  UPLO    CHARACTER*1
+          If ALG = 'D', specifies which part of the matrix J'*J
+          is stored, as follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+          The option UPLO = 'U' usually ensures a faster execution.
+          This parameter is not relevant if ALG = 'I'.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  FCN     EXTERNAL
+          Subroutine which evaluates the functions and the Jacobian.
+          FCN must be declared in an external statement in the user
+          calling program, and must have the following interface:
+
+          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
+         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, JTE,
+         $                DWORK, LDWORK, INFO )
+
+          where
+
+          IFLAG   (input/output) INTEGER
+                  On entry, this parameter must contain a value
+                  defining the computations to be performed:
+                  = 0 :  Optionally, print the current iterate X,
+                         function values E, and Jacobian matrix J,
+                         or other results defined in terms of these
+                         values. See the argument NPRINT of MD03AD.
+                         Do not alter E and J.
+                  = 1 :  Calculate the functions at X and return
+                         this vector in E. Do not alter J.
+                  = 2 :  Calculate the Jacobian at X and return
+                         this matrix in J. Also return J'*e in JTE
+                         and NFEVL (see below). Do not alter E.
+                  = 3 :  Do not compute neither the functions nor
+                         the Jacobian, but return in LDJ and
+                         IPAR/DPAR1,DPAR2 (some of) the integer/real
+                         parameters needed.
+                  On exit, the value of this parameter should not be
+                  changed by FCN unless the user wants to terminate
+                  execution of MD03AD, in which case IFLAG must be
+                  set to a negative integer.
+
+          M       (input) INTEGER
+                  The number of functions.  M &gt;= 0.
+
+          N       (input) INTEGER
+                  The number of variables.  M &gt;= N &gt;= 0.
+
+          IPAR    (input/output) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix or needed for problem solving.
+                  IPAR is an input parameter, except for IFLAG = 3
+                  on entry, when it is also an output parameter.
+                  On exit, if IFLAG = 3, IPAR(1) contains the length
+                  of the array J, for storing the Jacobian matrix,
+                  and the entries IPAR(2:5) contain the workspace
+                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
+                  JPJ for ALG = 'D', and JPJ for ALG = 'I',
+                  respectively.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 5.
+
+          DPAR1   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR1,*) or (LDPAR1)
+                  A first set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR1 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR1 could
+                  store the input trajectory of a system.
+
+          LDPAR1  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
+                  if leading dimension.)
+
+          DPAR2   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR2,*) or (LDPAR2)
+                  A second set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR2 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR2 could
+                  store the output trajectory of a system.
+
+          LDPAR2  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
+                  if leading dimension.)
+
+          X       (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the value of the
+                  variables x where the functions or the Jacobian
+                  must be evaluated.
+
+          NFEVL   (input/output) INTEGER
+                  The number of function evaluations needed to
+                  compute the Jacobian by a finite difference
+                  approximation.
+                  NFEVL is an input parameter if IFLAG = 0, or an
+                  output parameter if IFLAG = 2. If the Jacobian is
+                  computed analytically, NFEVL should be set to a
+                  non-positive value.
+
+          E       (input/output) DOUBLE PRECISION array,
+                  dimension (M)
+                  This array contains the value of the (error)
+                  functions e evaluated at X.
+                  E is an input parameter if IFLAG = 0 or 2, or an
+                  output parameter if IFLAG = 1.
+
+          J       (input/output) DOUBLE PRECISION array, dimension
+                  (LDJ,NC), where NC is the number of columns
+                  needed.
+                  This array contains a possibly compressed
+                  representation of the Jacobian matrix evaluated
+                  at X. If full Jacobian is stored, then NC = N.
+                  J is an input parameter if IFLAG = 0, or an output
+                  parameter if IFLAG = 2.
+
+          LDJ     (input/output) INTEGER
+                  The leading dimension of array J.  LDJ &gt;= 1.
+                  LDJ is essentially used inside the routines FCN
+                  and JPJ.
+                  LDJ is an input parameter, except for IFLAG = 3
+                  on entry, when it is an output parameter.
+                  It is assumed in MD03AD that LDJ is not larger
+                  than needed.
+
+          JTE     (output) DOUBLE PRECISION array, dimension (N)
+                  If IFLAG = 2, the matrix-vector product J'*e.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine FCN.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine FCN).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine FCN. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+  JPJ     EXTERNAL
+          Subroutine which computes J'*J + par*I, if ALG = 'D', and
+          J'*J*x + par*x, if ALG = 'I', where J is the Jacobian as
+          described above.
+
+          JPJ must have the following interface:
+
+          SUBROUTINE JPJ( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR,
+         $                J, LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
+
+          if ALG = 'D', and
+
+          SUBROUTINE JPJ( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X,
+         $                INCX, DWORK, LDWORK, INFO )
+
+          if ALG = 'I', where
+
+          STOR    (input) CHARACTER*1
+                  Specifies the storage scheme for the symmetric
+                  matrix J'*J, as follows:
+                  = 'F' :  full storage is used;
+                  = 'P' :  packed storage is used.
+
+          UPLO    (input) CHARACTER*1
+                  Specifies which part of the matrix J'*J is stored,
+                  as follows:
+                  = 'U' :  the upper triagular part is stored;
+                  = 'L' :  the lower triagular part is stored.
+
+          N       (input) INTEGER
+                  The number of columns of the matrix J.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+                  DPAR(1) must contain an initial estimate of the
+                  Levenberg-Marquardt parameter, par.  DPAR(1) &gt;= 0.
+
+          LDPAR   (input) INTEGER
+                  The length of the array DPAR.  LDPAR &gt;= 1.
+
+          J       (input) DOUBLE PRECISION array, dimension
+                  (LDJ, NC), where NC is the number of columns.
+                  The leading NR-by-NC part of this array must
+                  contain the (compressed) representation of the
+                  Jacobian matrix J, where NR is the number of rows
+                  of J (function of IPAR entries).
+
+          LDJ     (input) INTEGER
+                  The leading dimension of array J.
+                  LDJ &gt;= MAX(1,NR).
+
+          JTJ     (output) DOUBLE PRECISION array,
+                           dimension (LDJTJ,N),    if STOR = 'F',
+                           dimension (N*(N+1)/2),  if STOR = 'P'.
+                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
+                  (if STOR = 'P') part of this array contains the
+                  upper or lower triangle of the matrix J'*J+par*I,
+                  depending on UPLO = 'U', or UPLO = 'L',
+                  respectively, stored either as a two-dimensional,
+                  or one-dimensional array, depending on STOR.
+
+          LDJTJ   (input) INTEGER
+                  The leading dimension of the array JTJ.
+                  LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
+                  LDJTJ &gt;= 1,        if STOR = 'P'.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine JPJ.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine JPJ).
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine JPJ. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO
+                  values. INFO must be zero if the subroutine
+                  finished successfully.
+
+          If ALG = 'I', the parameters in common with those for
+          ALG = 'D', have the same meaning, and the additional
+          parameters are:
+
+          X       (input/output) DOUBLE PRECISION array, dimension
+                  (1+(N-1)*INCX)
+                  On entry, this incremented array must contain the
+                  vector x.
+                  On exit, this incremented array contains the value
+                  of the matrix-vector product (J'*J + par)*x.
+
+          INCX    (input) INTEGER
+                  The increment for the elements of X.  INCX &gt; 0.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of functions.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of variables.  M &gt;= N &gt;= 0.
+
+  ITMAX   (input) INTEGER
+          The maximum number of iterations.  ITMAX &gt;= 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          with X, E, and J available for printing. If NPRINT is not
+          positive, no special calls of FCN with IFLAG = 0 are made.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed, for instance, for
+          describing the structure of the Jacobian matrix, which
+          are handed over to the routines FCN and JPJ.
+          The first five entries of this array are modified
+          internally by a call to FCN (with IFLAG = 3), but are
+          restored on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 5.
+
+  DPAR1   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR1,*) or (LDPAR1)
+          A first set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03AD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR1  (input) INTEGER
+          The leading dimension or the length of the array DPAR1, as
+          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
+          dimension.)
+
+  DPAR2   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR2,*) or (LDPAR2)
+          A second set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03AD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR2  (input) INTEGER
+          The leading dimension or the length of the array DPAR2, as
+          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
+          dimension.)
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if XINIT = 'G', this array must contain the
+          vector of initial variables x to be optimized.
+          If XINIT = 'R', this array need not be set before entry,
+          and random values will be used to initialize x.
+          On exit, if INFO = 0, this array contains the vector of
+          values that (approximately) minimize the sum of squares of
+          error functions. The values returned in IWARN and
+          DWORK(1:5) give details on the iterative process.
+
+  NFEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 1. If FCN is
+          properly implemented, this includes the function
+          evaluations needed for finite difference approximation
+          of the Jacobian.
+
+  NJEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 2.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If TOL &gt;= 0, the tolerance which measures the relative
+          error desired in the sum of squares. Termination occurs
+          when the actual relative reduction in the sum of squares
+          is at most TOL. If the user sets  TOL &lt; 0, then  SQRT(EPS)
+          is used instead TOL, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH).
+
+  CGTOL   DOUBLE PRECISION
+          If ALG = 'I' and CGTOL &gt; 0, the tolerance which measures
+          the relative residual of the solutions computed by the
+          conjugate gradients (CG) algorithm. Termination of a
+          CG process occurs when the relative residual is at
+          most CGTOL. If the user sets  CGTOL &lt;= 0, then  SQRT(EPS)
+          is used instead CGTOL.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, DWORK(4) returns the total number of conjugate
+          gradients iterations performed (zero, if ALG = 'D'), and
+          DWORK(5) returns the final Levenberg factor.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 5, M + 2*N + size(J) +
+                         max( DW( FCN|IFLAG = 1 ) + N,
+                              DW( FCN|IFLAG = 2 ),
+                              DW( sol ) ) ),
+          where size(J) is the size of the Jacobian (provided by FCN
+          in IPAR(1), for IFLAG = 3), DW( f ) is the workspace
+          needed by the routine f, where f is FCN or JPJ (provided
+          by FCN in IPAR(2:5), for IFLAG = 3), and DW( sol ) is the
+          workspace needed for solving linear systems,
+          DW( sol ) = N*N + DW( JPJ ),  if ALG = 'D', STOR = 'F';
+          DW( sol ) = N*(N+1)/2 + DW( JPJ ),
+                                        if ALG = 'D', STOR = 'P';
+          DW( sol ) = 3*N + DW( JPJ ),  if ALG = 'I'.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
+          = 0:  no warning;
+          = 1:  if the iterative process did not converge in ITMAX
+                iterations with tolerance TOL;
+          = 2:  if ALG = 'I', and in one or more iterations of the
+                Levenberg-Marquardt algorithm, the conjugate
+                gradient algorithm did not finish after 3*N
+                iterations, with the accuracy required in the
+                call;
+          = 3:  the cosine of the angle between e and any column of
+                the Jacobian is at most FACTOR*EPS in absolute
+                value, where FACTOR = 100 is defined in a PARAMETER
+                statement;
+          = 4:  TOL is too small: no further reduction in the sum
+                of squares is possible.
+                In all these cases, DWORK(1:5) are set as described
+                above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 1;
+          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 2;
+          = 3:  SLICOT Library routine MB02XD, if ALG = 'D', or
+                SLICOT Library routine MB02WD, if ALG = 'I' (or
+                user-defined routine JPJ), returned with INFO &lt;&gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If XINIT = 'R', the initial value for X is set to a vector of
+  pseudo-random values uniformly distributed in [-1,1].
+
+  The Levenberg-Marquardt algorithm (described in [1]) is used for
+  optimizing the parameters. This algorithm needs the Jacobian
+  matrix J, which is provided by the subroutine FCN. The algorithm
+  tries to update x by the formula
+
+      x = x - p,
+
+  using the solution of the system of linear equations
+
+      (J'*J + PAR*I)*p = J'*e,
+
+  where I is the identity matrix, and e the error function vector.
+  The Levenberg factor PAR is decreased after each successfull step
+  and increased in the other case.
+
+  If ALG = 'D', a direct method, which evaluates the matrix product
+  J'*J + par*I and then factors it using Cholesky algorithm,
+  implemented in the SLICOT Libray routine MB02XD, is used for
+  solving the linear system above.
+
+  If ALG = 'I', the Conjugate Gradients method, described in [2],
+  and implemented in the SLICOT Libray routine MB02WD, is used for
+  solving the linear system above. The main advantage of this method
+  is that in most cases the solution of the system can be computed
+  in less time than the time needed to compute the matrix J'*J
+  This is, however, problem dependent.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kelley, C.T.
+      Iterative Methods for Optimization.
+      Society for Industrial and Applied Mathematics (SIAM),
+      Philadelphia (Pa.), 1999.
+
+  [2] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
+      1996.
+
+  [3] More, J.J.
+      The Levenberg-Marquardt algorithm: implementation and theory.
+      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
+      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
+      and New York, pp. 105-116, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The Levenberg-Marquardt algorithm described in [3] is scaling
+  invariant and globally convergent to (maybe local) minima.
+  According to [1], the convergence rate near a local minimum is
+  quadratic, if the Jacobian is computed analytically, and linear,
+  if the Jacobian is computed numerically.
+
+  Whether or not the direct algorithm is faster than the iterative
+  Conjugate Gradients algorithm for solving the linear systems
+  involved depends on several factors, including the conditioning
+  of the Jacobian matrix, and the ratio between its dimensions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MD03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           MMAX, NMAX
+      PARAMETER         ( MMAX = 20, NMAX = 20 )
+      INTEGER           LDWORK
+      PARAMETER         ( LDWORK = MMAX + 2*NMAX + MMAX*NMAX +
+     $                             MAX( NMAX*NMAX, 3*NMAX + MMAX ) )
+*     .. The lengths of DPAR1, DPAR2, IPAR are set to 1, 1, and 5 ..
+      INTEGER           LDPAR1, LDPAR2, LIPAR
+      PARAMETER         ( LDPAR1 = 1, LDPAR2 = 1, LIPAR = 5 )
+*     .. Local Scalars ..
+      CHARACTER*1       ALG, STOR, UPLO, XINIT
+      INTEGER           I, INFO, ITMAX, IWARN, M, N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  CGTOL, TOL
+*     .. Array Arguments ..
+      INTEGER           IPAR(LIPAR)
+      DOUBLE PRECISION  DPAR1(LDPAR1), DPAR2(LDPAR2), DWORK(LDWORK),
+     $                  X(NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          MD03AD, MD03AF, NF01BV, NF01BX
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, ITMAX, NPRINT, TOL, CGTOL, XINIT,
+     $                      ALG, STOR, UPLO
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) N
+         ELSE
+            IF ( LSAME( XINIT, 'G' ) )
+     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+*           Solve a standard nonlinear least squares problem.
+            IPAR(1) = M
+            IF ( LSAME( ALG, 'D' ) ) THEN
+               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BV, M,
+     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
+     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
+     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
+            ELSE
+               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BX, M,
+     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
+     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
+     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
+            END IF
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
+               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
+               WRITE ( NOUT, FMT = 99994 )
+               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MD03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MD03AD = ',I2)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' The number of function and Jacobian evaluations = ',
+     $           2I7)
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (' IWARN on exit from MD03AD = ',I2)
+      END
+C
+      SUBROUTINE MD03AF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
+     $                   LDPAR2, X, NFEVL, E, J, LDJ, JTE, DWORK,
+     $                   LDWORK, INFO )
+C
+C     This is the FCN routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03AD. See the
+C     argument FCN in the routine MD03AD for the description of
+C     parameters.
+C
+C     The example programmed in this routine is adapted from that
+C     accompanying the MINPACK routine LMDER.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+C     .. NOUT is the unit number for printing intermediate results ..
+      INTEGER           NOUT
+      PARAMETER         ( NOUT = 6 )
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
+     $                  M, N, NFEVL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
+     $                  JTE(*), X(*)
+C     .. Local Scalars ..
+      INTEGER           I
+      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
+C     .. External Functions ..
+      DOUBLE PRECISION  DNRM2
+      EXTERNAL          DNRM2
+C     .. External Subroutines ..
+      EXTERNAL          DGEMV
+C     .. DATA Statements ..
+      DOUBLE PRECISION  Y(15)
+      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
+     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
+     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
+     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
+     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
+C
+C     .. Executable Statements ..
+C
+      INFO = 0
+      IF ( IFLAG.EQ.1 ) THEN
+C
+C        Compute the error function values, e.
+C
+         DO 10 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
+   10    CONTINUE
+C
+      ELSE IF ( IFLAG.EQ.2 ) THEN
+C
+C        Compute the Jacobian.
+C
+         DO 30 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
+            J(I,1) = -ONE
+            J(I,2) = TMP1*TMP2/TMP4
+            J(I,3) = TMP1*TMP3/TMP4
+   30    CONTINUE
+C
+C        Compute the product J'*e (the error e was computed in array E).
+C
+         CALL DGEMV( 'Transpose', M, N, ONE, J, LDJ, E, 1, ZERO, JTE,
+     $               1 )
+C
+         NFEVL = 0
+C
+      ELSE IF ( IFLAG.EQ.3 ) THEN
+C
+C        Set the parameter LDJ, the length of the array J, and the sizes
+C        of the workspace for MD03AF (IFLAG = 1 or 2), NF01BV and
+C        NF01BX.
+C
+         LDJ = M
+         IPAR(1) = M*N
+         IPAR(2) = 0
+         IPAR(3) = 0
+         IPAR(4) = M
+      ELSE IF ( IFLAG.EQ.0 ) THEN
+C
+C        Special call for printing intermediate results.
+C
+         ERR = DNRM2( M, E, 1 )
+         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
+C
+      END IF
+C
+      DWORK(1) = ZERO
+      RETURN
+C
+C *** Last line of MD03AF ***
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MD03AD EXAMPLE PROGRAM DATA
+ 15     3   100     0   -1.   -1.    G     D     F    U
+   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MD03AD EXAMPLE PROGRAM RESULTS
+
+
+ Final 2-norm of the residuals =   0.9063596D-01
+
+ The number of function and Jacobian evaluations =      13     12
+
+ Final approximate solution is 
+   0.0824   1.1330   2.3437
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>MD03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03BD">MD03BD</A></H2>
+<H3>
+Solution of a standard nonlinear least squares problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To minimize the sum of the squares of m nonlinear functions, e, in
+  n variables, x, by a modification of the Levenberg-Marquardt
+  algorithm. The user must provide a subroutine FCN which calculates
+  the functions and the Jacobian (possibly by finite differences).
+  In addition, specialized subroutines QRFACT, for QR factorization
+  with pivoting of the Jacobian, and LMPARM, for the computation of
+  Levenberg-Marquardt parameter, exploiting the possible structure
+  of the Jacobian matrix, should be provided. Template
+  implementations of these routines are included in SLICOT Library.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03BD( XINIT, SCALE, COND, FCN, QRFACT, LMPARM, M, N,
+     $                   ITMAX, FACTOR, NPRINT, IPAR, LIPAR, DPAR1,
+     $                   LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV, NJEV,
+     $                   FTOL, XTOL, GTOL, TOL, IWORK, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND, SCALE, XINIT
+      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
+     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IWORK(*)
+      DOUBLE PRECISION  DIAG(*), DPAR1(*), DPAR2(*), DWORK(*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  XINIT   CHARACTER*1
+          Specifies how the variables x are initialized, as follows:
+          = 'R' :  the array X is initialized to random values; the
+                   entries DWORK(1:4) are used to initialize the
+                   random number generator: the first three values
+                   are converted to integers between 0 and 4095, and
+                   the last one is converted to an odd integer
+                   between 1 and 4095;
+          = 'G' :  the given entries of X are used as initial values
+                   of variables.
+
+  SCALE   CHARACTER*1
+          Specifies how the variables will be scaled, as follows:
+          = 'I' :  use internal scaling;
+          = 'S' :  use specified scaling factors, given in DIAG.
+
+  COND    CHARACTER*1
+          Specifies whether the condition of the linear systems
+          involved should be estimated, as follows:
+          = 'E' :  use incremental condition estimation to find the
+                   numerical rank;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of matrices for zero values.
+
+</PRE>
+<B>Function Parameters</B>
+<PRE>
+  FCN     EXTERNAL
+          Subroutine which evaluates the functions and the Jacobian.
+          FCN must be declared in an external statement in the user
+          calling program, and must have the following interface:
+
+          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
+         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, DWORK,
+         $                LDWORK, INFO )
+
+          where
+
+          IFLAG   (input/output) INTEGER
+                  On entry, this parameter must contain a value
+                  defining the computations to be performed:
+                  = 0 :  Optionally, print the current iterate X,
+                         function values E, and Jacobian matrix J,
+                         or other results defined in terms of these
+                         values. See the argument NPRINT of MD03BD.
+                         Do not alter E and J.
+                  = 1 :  Calculate the functions at X and return
+                         this vector in E. Do not alter J.
+                  = 2 :  Calculate the Jacobian at X and return
+                         this matrix in J. Also return NFEVL
+                         (see below). Do not alter E.
+                  = 3 :  Do not compute neither the functions nor
+                         the Jacobian, but return in LDJ and
+                         IPAR/DPAR1,DPAR2 (some of) the integer/real
+                         parameters needed.
+                  On exit, the value of this parameter should not be
+                  changed by FCN unless the user wants to terminate
+                  execution of MD03BD, in which case IFLAG must be
+                  set to a negative integer.
+
+          M       (input) INTEGER
+                  The number of functions.  M &gt;= 0.
+
+          N       (input) INTEGER
+                  The number of variables.  M &gt;= N &gt;= 0.
+
+          IPAR    (input/output) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix or needed for problem solving.
+                  IPAR is an input parameter, except for IFLAG = 3
+                  on entry, when it is also an output parameter.
+                  On exit, if IFLAG = 3, IPAR(1) contains the length
+                  of the array J, for storing the Jacobian matrix,
+                  and the entries IPAR(2:5) contain the workspace
+                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
+                  QRFACT, and LMPARM, respectively.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 5.
+
+          DPAR1   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR1,*) or (LDPAR1)
+                  A first set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR1 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR1 could
+                  store the input trajectory of a system.
+
+          LDPAR1  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
+                  if leading dimension.)
+
+          DPAR2   (input/output) DOUBLE PRECISION array, dimension
+                  (LDPAR2,*) or (LDPAR2)
+                  A second set of real parameters needed for
+                  describing or solving the problem.
+                  DPAR2 can also be used as an additional array for
+                  intermediate results when computing the functions
+                  or the Jacobian. For control problems, DPAR2 could
+                  store the output trajectory of a system.
+
+          LDPAR2  (input) INTEGER
+                  The leading dimension or the length of the array
+                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
+                  if leading dimension.)
+
+          X       (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the value of the
+                  variables x where the functions or the Jacobian
+                  must be evaluated.
+
+          NFEVL   (input/output) INTEGER
+                  The number of function evaluations needed to
+                  compute the Jacobian by a finite difference
+                  approximation.
+                  NFEVL is an input parameter if IFLAG = 0, or an
+                  output parameter if IFLAG = 2. If the Jacobian is
+                  computed analytically, NFEVL should be set to a
+                  non-positive value.
+
+          E       (input/output) DOUBLE PRECISION array,
+                  dimension (M)
+                  This array contains the value of the (error)
+                  functions e evaluated at X.
+                  E is an input parameter if IFLAG = 0 or 2, or an
+                  output parameter if IFLAG = 1.
+
+          J       (input/output) DOUBLE PRECISION array, dimension
+                  (LDJ,NC), where NC is the number of columns
+                  needed.
+                  This array contains a possibly compressed
+                  representation of the Jacobian matrix evaluated
+                  at X. If full Jacobian is stored, then NC = N.
+                  J is an input parameter if IFLAG = 0, or an output
+                  parameter if IFLAG = 2.
+
+          LDJ     (input/output) INTEGER
+                  The leading dimension of array J.  LDJ &gt;= 1.
+                  LDJ is essentially used inside the routines FCN,
+                  QRFACT and LMPARM.
+                  LDJ is an input parameter, except for IFLAG = 3
+                  on entry, when it is an output parameter.
+                  It is assumed in MD03BD that LDJ is not larger
+                  than needed.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine FCN.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine FCN).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine FCN. The LAPACK Library routine XERBLA
+                  should be used in conjunction with negative INFO.
+                  INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+  QRFACT  EXTERNAL
+          Subroutine which computes the QR factorization with
+          (block) column pivoting of the Jacobian matrix, J*P = Q*R.
+          QRFACT must be declared in an external statement in the
+          calling program, and must have the following interface:
+
+          SUBROUTINE QRFACT( N, IPAR, LIPAR, FNORM, J, LDJ, E,
+         $                   JNORMS, GNORM, IPVT, DWORK, LDWORK,
+         $                   INFO )
+
+          where
+
+          N       (input) INTEGER
+                  The number of columns of the Jacobian matrix J.
+                  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          FNORM   (input) DOUBLE PRECISION
+                  The Euclidean norm of the vector e.  FNORM &gt;= 0.
+
+          J       (input/output) DOUBLE PRECISION array, dimension
+                  (LDJ, NC), where NC is the number of columns.
+                  On entry, the leading NR-by-NC part of this array
+                  must contain the (compressed) representation
+                  of the Jacobian matrix J, where NR is the number
+                  of rows of J (function of IPAR entries).
+                  On exit, the leading N-by-NC part of this array
+                  contains a (compressed) representation of the
+                  upper triangular factor R of the Jacobian matrix.
+                  For efficiency of the later calculations, the
+                  matrix R is delivered with the leading dimension
+                  MAX(1,N), possibly much smaller than the value
+                  of LDJ on entry.
+
+          LDJ     (input/output) INTEGER
+                  The leading dimension of array J.
+                  On entry, LDJ &gt;= MAX(1,NR).
+                  On exit,  LDJ &gt;= MAX(1,N).
+
+          E       (input/output) DOUBLE PRECISION array, dimension
+                  (NR)
+                  On entry, this array contains the error vector e.
+                  On exit, this array contains the updated vector
+                  Z*Q'*e, where Z is a block row permutation matrix
+                  (possibly identity) used in the QR factorization
+                  of J. (See, for example, the SLICOT Library
+                  routine NF01BS, Section METHOD.)
+
+          JNORMS  (output) DOUBLE PRECISION array, dimension (N)
+                  This array contains the Euclidean norms of the
+                  columns of the Jacobian matrix (in the original
+                  order).
+
+          GNORM   (output) DOUBLE PRECISION
+                  If FNORM &gt; 0, the 1-norm of the scaled vector
+                  J'*e/FNORM, with each element i further divided
+                  by JNORMS(i) (if JNORMS(i) is nonzero).
+                  If FNORM = 0, the returned value of GNORM is 0.
+
+          IPVT    (output) INTEGER array, dimension (N)
+                  This array defines the permutation matrix P such
+                  that J*P = Q*R. Column j of P is column IPVT(j) of
+                  the identity matrix.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine QRFACT.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine QRFACT).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine QRFACT. The LAPACK Library routine
+                  XERBLA should be used in conjunction with negative
+                  INFO. INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+  LMPARM  EXTERNAL
+          Subroutine which determines a value for the Levenberg-
+          Marquardt parameter PAR such that if x solves the system
+
+                J*x = b ,     sqrt(PAR)*D*x = 0 ,
+
+          in the least squares sense, where J is an m-by-n matrix,
+          D is an n-by-n nonsingular diagonal matrix, and b is an
+          m-vector, and if DELTA is a positive number, DXNORM is
+          the Euclidean norm of D*x, then either PAR is zero and
+
+                ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
+
+          or PAR is positive and
+
+                ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
+
+          It is assumed that a block QR factorization, with column
+          pivoting, of J is available, that is, J*P = Q*R, where P
+          is a permutation matrix, Q has orthogonal columns, and
+          R is an upper triangular matrix (possibly stored in a
+          compressed form), with diagonal elements of nonincreasing
+          magnitude for each block. On output, LMPARM also provides
+          a (compressed) representation of an upper triangular
+          matrix S, such that
+
+                P'*(J'*J + PAR*D*D)*P = S'*S .
+
+          LMPARM must be declared in an external statement in the
+          calling program, and must have the following interface:
+
+          SUBROUTINE LMPARM( COND, N, IPAR, LIPAR, R, LDR, IPVT,
+         $                   DIAG, QTB, DELTA, PAR, RANKS, X, RX,
+         $                   TOL, DWORK, LDWORK, INFO )
+
+          where
+
+          COND    CHARACTER*1
+                  Specifies whether the condition of the linear
+                  systems involved should be estimated, as follows:
+                  = 'E' :  use incremental condition estimation
+                           to find the numerical rank;
+                  = 'N' :  do not use condition estimation, but
+                           check the diagonal entries for zero
+                           values;
+                  = 'U' :  use the ranks already stored in RANKS
+                           (for R).
+
+          N       (input) INTEGER
+                  The order of the matrix R.  N &gt;= 0.
+
+          IPAR    (input) INTEGER array, dimension (LIPAR)
+                  The integer parameters describing the structure of
+                  the Jacobian matrix.
+
+          LIPAR   (input) INTEGER
+                  The length of the array IPAR.  LIPAR &gt;= 0.
+
+          R       (input/output) DOUBLE PRECISION array, dimension
+                  (LDR, NC), where NC is the number of columns.
+                  On entry, the leading N-by-NC part of this array
+                  must contain the (compressed) representation (Rc)
+                  of the upper triangular matrix R.
+                  On exit, the full upper triangular part of R
+                  (in representation Rc), is unaltered, and the
+                  remaining part contains (part of) the (compressed)
+                  representation of the transpose of the upper
+                  triangular matrix S.
+
+          LDR     (input) INTEGER
+                  The leading dimension of array R.
+                  LDR &gt;= MAX(1,N).
+
+          IPVT    (input) INTEGER array, dimension (N)
+                  This array must define the permutation matrix P
+                  such that J*P = Q*R. Column j of P is column
+                  IPVT(j) of the identity matrix.
+
+          DIAG    (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the diagonal elements of
+                  the matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
+
+          QTB     (input) DOUBLE PRECISION array, dimension (N)
+                  This array must contain the first n elements of
+                  the vector Q'*b.
+
+          DELTA   (input) DOUBLE PRECISION
+                  An upper bound on the Euclidean norm of D*x.
+                  DELTA &gt; 0.
+
+          PAR     (input/output) DOUBLE PRECISION
+                  On entry, PAR must contain an initial estimate of
+                  the Levenberg-Marquardt parameter.  PAR &gt;= 0.
+                  On exit, it contains the final estimate of this
+                  parameter.
+
+          RANKS   (input or output) INTEGER array, dimension (r),
+                  where r is the number of diagonal blocks R_k in R,
+                  corresponding to the block column structure of J.
+                  On entry, if COND = 'U' and N &gt; 0, this array must
+                  contain the numerical ranks of the submatrices
+                  R_k, k = 1:r. The number r is defined in terms of
+                  the entries of IPAR.
+                  On exit, if N &gt; 0, this array contains the
+                  numerical ranks of the submatrices S_k, k = 1:r.
+
+          X       (output) DOUBLE PRECISION array, dimension (N)
+                  This array contains the least squares solution of
+                  the system J*x = b, sqrt(PAR)*D*x = 0.
+
+          RX      (output) DOUBLE PRECISION array, dimension (N)
+                  This array contains the matrix-vector product
+                  -R*P'*x.
+
+          TOL     (input) DOUBLE PRECISION
+                  If COND = 'E', the tolerance to be used for
+                  finding the ranks of the submatrices R_k and S_k.
+                  If the user sets TOL &gt; 0, then the given value of
+                  TOL is used as a lower bound for the reciprocal
+                  condition number;  a (sub)matrix whose estimated
+                  condition number is less than 1/TOL is considered
+                  to be of full rank.  If the user sets TOL &lt;= 0,
+                  then an implicitly computed, default tolerance,
+                  defined by TOLDEF = N*EPS,  is used instead,
+                  where EPS is the machine precision (see LAPACK
+                  Library routine DLAMCH).
+                  This parameter is not relevant if COND = 'U'
+                  or 'N'.
+
+          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+                  The workspace array for subroutine LMPARM.
+                  On exit, if INFO = 0, DWORK(1) returns the optimal
+                  value of LDWORK.
+
+          LDWORK  (input) INTEGER
+                  The size of the array DWORK (as large as needed
+                  in the subroutine LMPARM).  LDWORK &gt;= 1.
+
+          INFO    INTEGER
+                  Error indicator, set to a negative value if an
+                  input (scalar) argument is erroneous, and to
+                  positive values for other possible errors in the
+                  subroutine LMPARM. The LAPACK Library routine
+                  XERBLA should be used in conjunction with negative
+                  INFO. INFO must be zero if the subroutine finished
+                  successfully.
+
+          Parameters marked with "(input)" must not be changed.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of functions.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of variables.  M &gt;= N &gt;= 0.
+
+  ITMAX   (input) INTEGER
+          The maximum number of iterations.  ITMAX &gt;= 0.
+
+  FACTOR  (input) DOUBLE PRECISION
+          The value used in determining the initial step bound. This
+          bound is set to the product of FACTOR and the Euclidean
+          norm of DIAG*X if nonzero, or else to FACTOR itself.
+          In most cases FACTOR should lie in the interval (.1,100).
+          A generally recommended value is 100.  FACTOR &gt; 0.
+
+  NPRINT  (input) INTEGER
+          This parameter enables controlled printing of iterates if
+          it is positive. In this case, FCN is called with IFLAG = 0
+          at the beginning of the first iteration and every NPRINT
+          iterations thereafter and immediately prior to return,
+          with X, E, and J available for printing. Note that when
+          called immediately prior to return, J normally contains
+          the result returned by QRFACT and LMPARM (the compressed
+          R and S factors). If NPRINT is not positive, no special
+          calls of FCN with IFLAG = 0 are made.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed, for instance, for
+          describing the structure of the Jacobian matrix, which
+          are handed over to the routines FCN, QRFACT and LMPARM.
+          The first five entries of this array are modified
+          internally by a call to FCN (with IFLAG = 3), but are
+          restored on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 5.
+
+  DPAR1   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR1,*) or (LDPAR1)
+          A first set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03BD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR1  (input) INTEGER
+          The leading dimension or the length of the array DPAR1, as
+          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
+          dimension.)
+
+  DPAR2   (input/output) DOUBLE PRECISION array, dimension
+          (LDPAR2,*) or (LDPAR2)
+          A second set of real parameters needed for describing or
+          solving the problem. This argument is not used by MD03BD
+          routine, but it is passed to the routine FCN.
+
+  LDPAR2  (input) INTEGER
+          The leading dimension or the length of the array DPAR2, as
+          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
+          dimension.)
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if XINIT = 'G', this array must contain the
+          vector of initial variables x to be optimized.
+          If XINIT = 'R', this array need not be set before entry,
+          and random values will be used to initialize x.
+          On exit, if INFO = 0, this array contains the vector of
+          values that (approximately) minimize the sum of squares of
+          error functions. The values returned in IWARN and
+          DWORK(1:4) give details on the iterative process.
+
+  DIAG    (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if SCALE = 'S', this array must contain some
+          positive entries that serve as multiplicative scale
+          factors for the variables x.  DIAG(I) &gt; 0, I = 1,...,N.
+          If SCALE = 'I', DIAG is internally set.
+          On exit, this array contains the scale factors used
+          (or finally used, if SCALE = 'I').
+
+  NFEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 1. If FCN is
+          properly implemented, this includes the function
+          evaluations needed for finite difference approximation
+          of the Jacobian.
+
+  NJEV    (output) INTEGER
+          The number of calls to FCN with IFLAG = 2.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  FTOL    DOUBLE PRECISION
+          If FTOL &gt;= 0, the tolerance which measures the relative
+          error desired in the sum of squares. Termination occurs
+          when both the actual and predicted relative reductions in
+          the sum of squares are at most FTOL. If the user sets
+          FTOL &lt; 0,  then  SQRT(EPS)  is used instead FTOL, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+  XTOL    DOUBLE PRECISION
+          If XTOL &gt;= 0, the tolerance which measures the relative
+          error desired in the approximate solution. Termination
+          occurs when the relative error between two consecutive
+          iterates is at most XTOL. If the user sets  XTOL &lt; 0,
+          then  SQRT(EPS)  is used instead XTOL.
+
+  GTOL    DOUBLE PRECISION
+          If GTOL &gt;= 0, the tolerance which measures the
+          orthogonality desired between the function vector e and
+          the columns of the Jacobian J. Termination occurs when
+          the cosine of the angle between e and any column of the
+          Jacobian J is at most GTOL in absolute value. If the user
+          sets  GTOL &lt; 0,  then  EPS  is used instead GTOL.
+
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the matrices of linear systems to be solved. If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as a lower bound for the reciprocal condition number;  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*EPS,  is used instead.
+          This parameter is not relevant if COND = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+r), where r is the number
+          of diagonal blocks R_k in R (see description of LMPARM).
+          On output, if INFO = 0, the first N entries of this array
+          define a permutation matrix P such that J*P = Q*R, where
+          J is the final calculated Jacobian, Q is an orthogonal
+          matrix (not stored), and R is upper triangular with
+          diagonal elements of nonincreasing magnitude (possibly
+          for each block column of J). Column j of P is column
+          IWORK(j) of the identity matrix. If INFO = 0, the entries
+          N+1:N+r of this array contain the ranks of the final
+          submatrices S_k (see description of LMPARM).
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the residual error norm (the
+          sum of squares), DWORK(3) returns the number of iterations
+          performed, and DWORK(4) returns the final Levenberg
+          factor. If INFO = 0, N &gt; 0, and IWARN &gt;= 0, the elements
+          DWORK(5) to DWORK(4+M) contain the final matrix-vector
+          product Z*Q'*e, and the elements DWORK(5+M) to
+          DWORK(4+M+N*NC) contain the (compressed) representation of
+          final upper triangular matrices R and S (if IWARN &lt;&gt; 4).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max( 4, M + max( size(J) +
+                                     max( DW( FCN|IFLAG = 1 ),
+                                          DW( FCN|IFLAG = 2 ),
+                                          DW( QRFACT ) + N ),
+                                     N*NC + N +
+                                     max( M + DW( FCN|IFLAG = 1 ),
+                                          N + DW( LMPARM ) ) ) ),
+          where size(J) is the size of the Jacobian (provided by FCN
+          in IPAR(1), for IFLAG = 3), and DW( f ) is the workspace
+          needed by the routine f, where f is FCN, QRFACT, or LMPARM
+          (provided by FCN in IPAR(2:5), for IFLAG = 3).
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
+          = 1:  both actual and predicted relative reductions in
+                the sum of squares are at most FTOL;
+          = 2:  relative error between two consecutive iterates is
+                at most XTOL;
+          = 3:  conditions for IWARN = 1 and IWARN = 2 both hold;
+          = 4:  the cosine of the angle between e and any column of
+                the Jacobian is at most GTOL in absolute value;
+          = 5:  the number of iterations has reached ITMAX without
+                satisfying any convergence condition;
+          = 6:  FTOL is too small: no further reduction in the sum
+                of squares is possible;
+          = 7:  XTOL is too small: no further improvement in the
+                approximate solution x is possible;
+          = 8:  GTOL is too small: e is orthogonal to the columns of
+                the Jacobian to machine precision.
+          In all these cases, DWORK(1:4) are set as described above.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 1;
+          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
+                for IFLAG = 2;
+          = 3:  user-defined routine QRFACT returned with INFO &lt;&gt; 0;
+          = 4:  user-defined routine LMPARM returned with INFO &lt;&gt; 0.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If XINIT = 'R', the initial value for x is set to a vector of
+  pseudo-random values uniformly distributed in (-1,1).
+
+  The Levenberg-Marquardt algorithm (described in [1,3]) is used for
+  optimizing the variables x. This algorithm needs the Jacobian
+  matrix J, which is provided by the subroutine FCN. A trust region
+  method is used. The algorithm tries to update x by the formula
+
+      x = x - p,
+
+  using an approximate solution of the system of linear equations
+
+      (J'*J + PAR*D*D)*p = J'*e,
+
+  with e the error function vector, and D a diagonal nonsingular
+  matrix, where either PAR = 0 and
+
+      ( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA ,
+
+  or PAR &gt; 0 and
+
+      ABS( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA .
+
+  DELTA is the radius of the trust region. If the Gauss-Newton
+  direction is not acceptable, then an iterative algorithm obtains
+  improved lower and upper bounds for the Levenberg-Marquardt
+  parameter PAR. Only a few iterations are generally needed for
+  convergence of the algorithm. The trust region radius DELTA
+  and the Levenberg factor PAR are updated based on the ratio
+  between the actual and predicted reduction in the sum of squares.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+  [2] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
+      1996.
+
+  [3] More, J.J.
+      The Levenberg-Marquardt algorithm: implementation and theory.
+      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
+      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
+      and New York, pp. 105-116, 1978.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The Levenberg-Marquardt algorithm described in [3] is scaling
+  invariant and globally convergent to (maybe local) minima.
+  The convergence rate near a local minimum is quadratic, if the
+  Jacobian is computed analytically, and linear, if the Jacobian
+  is computed numerically.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a more general version of the subroutines LMDER
+  and LMDER1 from the MINPACK package [1], which enables to exploit
+  the structure of the problem, and optionally use condition
+  estimation. Unstructured problems could be solved as well.
+
+  Template SLICOT Library implementations for FCN, QRFACT and
+  LMPARM routines are:
+  MD03BF, MD03BA, and MD03BB, respectively, for standard problems;
+  NF01BF, NF01BS, and NF01BP, respectively, for optimizing the
+  parameters of Wiener systems (structured problems).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     MD03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           MMAX, NMAX
+      PARAMETER         ( MMAX = 20, NMAX = 20 )
+      INTEGER           LDWORK
+      PARAMETER         ( LDWORK = MMAX +
+     $                             MAX( MMAX*NMAX + 5*NMAX + 1,
+     $                                  NMAX*NMAX + NMAX +
+     $                                  MAX( MMAX, 5*NMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1       COND, SCALE, XINIT
+      INTEGER           I, INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LIPAR, M,
+     $                  N, NFEV, NJEV, NPRINT
+      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
+*     .. Array Arguments ..
+      INTEGER           IPAR(5), IWORK(NMAX+1)
+      DOUBLE PRECISION  DIAG(NMAX), DPAR1(1), DPAR2(1), DWORK(LDWORK),
+     $                  X(NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          MD03BA, MD03BB, MD03BD, MD03BF
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, ITMAX, LIPAR, LDPAR1, LDPAR2, FACTOR,
+     $                      NPRINT, FTOL, XTOL, GTOL, TOL, XINIT, SCALE,
+     $                      COND
+      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) M
+      ELSE
+         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) N
+         ELSE
+            IF ( LSAME( SCALE, 'S' ) )
+     $         READ ( NIN, FMT = * ) ( DIAG(I), I = 1,N )
+            IF ( LSAME( XINIT, 'G' ) )
+     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+*           Solve a standard nonlinear least squares problem.
+            IPAR(1) = M
+            CALL MD03BD( XINIT, SCALE, COND, MD03BF, MD03BA, MD03BB,
+     $                   M, N, ITMAX, FACTOR, NPRINT, IPAR, LIPAR,
+     $                   DPAR1, LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV,
+     $                   NJEV, FTOL, XTOL, GTOL, TOL, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99991 ) IWARN
+               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
+               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
+               WRITE ( NOUT, FMT = 99994 )
+               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' MD03BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from MD03BD = ',I2)
+99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
+99996 FORMAT (/' The number of function and Jacobian evaluations = ',
+     $           2I7)
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Final approximate solution is ' )
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (' IWARN on exit from MD03BD = ',I2)
+      END
+C
+      SUBROUTINE MD03BF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
+     $                   LDPAR2, X, NFEVL, E, J, LDJ, DWORK, LDWORK,
+     $                   INFO )
+C
+C     This is the FCN routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03BD. See the
+C     argument FCN in the routine MD03BD for the description of
+C     parameters.
+C
+C     The example programmed in this routine is adapted from that
+C     accompanying the MINPACK routine LMDER.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+C     .. NOUT is the unit number for printing intermediate results ..
+      INTEGER           NOUT
+      PARAMETER         ( NOUT = 6 )
+      DOUBLE PRECISION  ONE
+      PARAMETER         ( ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
+     $                  M, N, NFEVL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
+     $                  X(*)
+C     .. Local Scalars ..
+      INTEGER           I
+      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
+C     .. External Functions ..
+      DOUBLE PRECISION  DNRM2
+      EXTERNAL          DNRM2
+C     .. External Subroutines ..
+      EXTERNAL          MD03BA, MD03BB
+C     .. DATA Statements ..
+      DOUBLE PRECISION  Y(15)
+      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
+     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
+     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
+     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
+     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
+C
+C     .. Executable Statements ..
+C
+      INFO = 0
+      IF ( IFLAG.EQ.1 ) THEN
+C
+C        Compute the error function values.
+C
+         DO 10 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
+   10    CONTINUE
+C
+      ELSE IF ( IFLAG.EQ.2 ) THEN
+C
+C        Compute the Jacobian.
+C
+         DO 30 I = 1, 15
+            TMP1 = I
+            TMP2 = 16 - I
+            IF ( I.GT.8 ) THEN
+               TMP3 = TMP2
+            ELSE
+               TMP3 = TMP1
+            END IF
+            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
+            J(I,1) = -ONE
+            J(I,2) = TMP1*TMP2/TMP4
+            J(I,3) = TMP1*TMP3/TMP4
+   30    CONTINUE
+C
+         NFEVL = 0
+C
+      ELSE IF ( IFLAG.EQ.3 ) THEN
+C
+C        Set the parameter LDJ, the length of the array J, and the sizes
+C        of the workspace for MD03BF (IFLAG = 1 or 2), MD03BA and MD03BB.
+C
+         LDJ = M
+         IPAR(1) = M*N
+         IPAR(2) = 0
+         IPAR(3) = 0
+         IPAR(4) = 4*N + 1
+         IPAR(5) = 4*N
+      ELSE IF ( IFLAG.EQ.0 ) THEN
+C
+C        Special call for printing intermediate results.
+C
+         ERR = DNRM2( M, E, 1 )
+         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
+C
+      END IF
+C
+      RETURN
+C
+C *** Last line of MD03BF ***
+      END
+C
+      SUBROUTINE MD03BA( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
+     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
+C
+C     This is the QRFACT routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03BD. See the
+C     argument QRFACT in the routine MD03BD for the description of
+C     parameters.
+C
+C     For efficiency, the arguments are not checked. This is done in
+C     the routine MD03BX (except for LIPAR).
+C
+C     ******************************************************************
+C
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
+      DOUBLE PRECISION  FNORM, GNORM
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JNORMS(*)
+C     .. External Subroutines ..
+      EXTERNAL          MD03BX
+C     ..
+C     .. Executable Statements ..
+C
+      CALL MD03BX( IPAR(1), N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
+     $             DWORK, LDWORK, INFO )
+      RETURN
+C
+C *** Last line of MD03BA ***
+      END
+C
+      SUBROUTINE MD03BB( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
+     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
+     $                   INFO )
+C
+C     This is the LMPARM routine for solving a standard nonlinear least
+C     squares problem using SLICOT Library routine MD03BD. See the
+C     argument LMPARM in the routine MD03BD for the description of
+C     parameters.
+C
+C     For efficiency, the arguments are not checked. This is done in
+C     the routine MD03BY (except for LIPAR).
+C
+C     ******************************************************************
+C
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, LIPAR, N
+      DOUBLE PRECISION  DELTA, PAR, TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*), RANKS(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
+C     .. External Subroutines ..
+      EXTERNAL          MD03BY
+C     ..
+C     .. Executable Statements ..
+C
+      CALL MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
+     $             RANKS(1), X, RX, TOL, DWORK, LDWORK, INFO )
+      RETURN
+C
+C *** Last line of MD03BB ***
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ MD03BD EXAMPLE PROGRAM DATA
+ 15     3   100     5     0     0   1.D2     0   -1.   -1.   -1.   -1.     G     I     E
+   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ MD03BD EXAMPLE PROGRAM RESULTS
+
+ IWARN on exit from MD03BD =  1
+
+ Final 2-norm of the residuals =   0.9063596D-01
+
+ The number of function and Jacobian evaluations =       6      5
+
+ Final approximate solution is 
+   0.0824   1.1330   2.3437
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MD03BX.html b/doc/_static/doc/MD03BX.html
new file mode 100644
index 00000000..6eee1e6d
--- /dev/null
+++ b/doc/_static/doc/MD03BX.html
@@ -0,0 +1,144 @@
+<HTML>
+<HEAD><TITLE>MD03BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03BX">MD03BX</A></H2>
+<H3>
+QR factorization with column pivoting for a standard nonlinear least squares problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the QR factorization with column pivoting of an
+  m-by-n matrix J (m &gt;= n), that is, J*P = Q*R, where Q is a matrix
+  with orthogonal columns, P a permutation matrix, and R an upper
+  trapezoidal matrix with diagonal elements of nonincreasing
+  magnitude, and to apply the transformation Q' on the error
+  vector e (in-situ). The 1-norm of the scaled gradient is also
+  returned. The matrix J could be the Jacobian of a nonlinear least
+  squares problem.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03BX( M, N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDJ, LDWORK, M, N
+      DOUBLE PRECISION  FNORM, GNORM
+C     .. Array Arguments ..
+      INTEGER           IPVT(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the Jacobian matrix J.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.
+          M &gt;= N &gt;= 0.
+
+  FNORM   (input) DOUBLE PRECISION
+          The Euclidean norm of the vector e.  FNORM &gt;= 0.
+
+  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, N)
+          On entry, the leading M-by-N part of this array must
+          contain the Jacobian matrix J.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangular factor R of the
+          Jacobian matrix. Note that for efficiency of the later
+          calculations, the matrix R is delivered with the leading
+          dimension MAX(1,N), possibly much smaller than the value
+          of LDJ on entry.
+
+  LDJ     (input/output) INTEGER
+          The leading dimension of array J.
+          On entry, LDJ &gt;= MAX(1,M).
+          On exit,  LDJ &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (M)
+          On entry, this array must contain the error vector e.
+          On exit, this array contains the updated vector Q'*e.
+
+  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the Euclidean norms of the columns of
+          the Jacobian matrix, considered in the initial order.
+
+  GNORM   (output) DOUBLE PRECISION
+          If FNORM &gt; 0, the 1-norm of the scaled vector
+          J'*Q'*e/FNORM, with each element i further divided by
+          JNORMS(i) (if JNORMS(i) is nonzero).
+          If FNORM = 0, the returned value of GNORM is 0.
+
+  IPVT    (output) INTEGER array, dimension (N)
+          This array defines the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1,      if N = 0 or M = 1;
+          LDWORK &gt;= 4*N+1,  if N &gt; 1.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm uses QR factorization with column pivoting of the
+  matrix J, J*P = Q*R, and applies the orthogonal matrix Q' to the
+  vector e.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/MD03BY.html b/doc/_static/doc/MD03BY.html
new file mode 100644
index 00000000..57ce4f8a
--- /dev/null
+++ b/doc/_static/doc/MD03BY.html
@@ -0,0 +1,217 @@
+<HTML>
+<HEAD><TITLE>MD03BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="MD03BY">MD03BY</A></H2>
+<H3>
+Levenberg-Marquardt parameter for a standard nonlinear least squares problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a value for the parameter PAR such that if x solves
+  the system
+
+        A*x = b ,     sqrt(PAR)*D*x = 0 ,
+
+  in the least squares sense, where A is an m-by-n matrix, D is an
+  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
+  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
+  then either PAR is zero and
+
+        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
+
+  or PAR is positive and
+
+        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
+
+  It is assumed that a QR factorization, with column pivoting, of A
+  is available, that is, A*P = Q*R, where P is a permutation matrix,
+  Q has orthogonal columns, and R is an upper triangular matrix
+  with diagonal elements of nonincreasing magnitude.
+  The routine needs the full upper triangle of R, the permutation
+  matrix P, and the first n components of Q'*b (' denotes the
+  transpose). On output, MD03BY also provides an upper triangular
+  matrix S such that
+
+        P'*(A'*A + PAR*D*D)*P = S'*S .
+
+  Matrix S is used in the solution process.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
+     $                   RANK, X, RX, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, N, RANK
+      DOUBLE PRECISION  DELTA, PAR, TOL
+C     .. Array Arguments ..
+      INTEGER           IPVT(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the matrices R and S
+          should be estimated, as follows:
+          = 'E' :  use incremental condition estimation for R and S;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of R and S for zero values;
+          = 'U' :  use the rank already stored in RANK (for R).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N &gt;= 0.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the full upper triangle is unaltered, and the
+          strict lower triangle contains the strict upper triangle
+          (transposed) of the upper triangular matrix S.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          A*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  DELTA   (input) DOUBLE PRECISION
+          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
+
+  PAR     (input/output) DOUBLE PRECISION
+          On entry, PAR must contain an initial estimate of the
+          Levenberg-Marquardt parameter.  PAR &gt;= 0.
+          On exit, it contains the final estimate of this parameter.
+
+  RANK    (input or output) INTEGER
+          On entry, if COND = 'U', this parameter must contain the
+          (numerical) rank of the matrix R.
+          On exit, this parameter contains the numerical rank of
+          the matrix S.
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system A*x = b, sqrt(PAR)*D*x = 0.
+
+  RX      (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the matrix-vector product -R*P'*x.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          rank of the matrices R and S. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          the reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 4*N, if COND =  'E';
+          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm computes the Gauss-Newton direction. A least squares
+  solution is found if the Jacobian is rank deficient. If the Gauss-
+  Newton direction is not acceptable, then an iterative algorithm
+  obtains improved lower and upper bounds for the parameter PAR.
+  Only a few iterations are generally needed for convergence of the
+  algorithm. If, however, the limit of ITMAX = 10 iterations is
+  reached, then the output PAR will contain the best value obtained
+  so far. If the Gauss-Newton step is acceptable, it is stored in x,
+  and PAR is set to zero, hence S = R.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a LAPACK-based modification of LMPAR from the
+  MINPACK package [1], and with optional condition estimation.
+  The option COND = 'U' is useful when dealing with several
+  right-hand side vectors, but RANK should be reset.
+  If COND = 'E', but the matrix S is guaranteed to be nonsingular
+  and well conditioned relative to TOL, i.e., rank(R) = N, and
+  min(DIAG) &gt; 0, then its condition is not estimated.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01AD.html b/doc/_static/doc/NF01AD.html
new file mode 100644
index 00000000..e73d3301
--- /dev/null
+++ b/doc/_static/doc/NF01AD.html
@@ -0,0 +1,155 @@
+<HTML>
+<HEAD><TITLE>NF01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01AD">NF01AD</A></H2>
+<H3>
+Computing the output of a Wiener system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate the output y of the Wiener system
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t)   = f(z(t),wb(1:L)),
+
+  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
+  evaluated by the SLICOT Library routine NF01AY. The parameter
+  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
+  where wb(i), i = 1:L, correspond to the nonlinear part, theta
+  corresponds to the linear part, and the notation is fully
+  described below.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01AD( NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU, Y, LDY,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDU, LDWORK, LDY, LX, LIPAR, M, NSMP
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  M       (input) INTEGER
+          The length of each input sample.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.  L &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed.
+          IPAR(1)  must contain the order of the linear part,
+                   referred to as N below.  N &gt;= 0.
+          IPAR(2)  must contain the number of neurons for the
+                   nonlinear part, referred to as NN below.
+                   NN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of IPAR.  LIPAR &gt;= 2.
+
+  X       (input) DOUBLE PRECISION array, dimension (LX)
+          The parameter vector, partitioned as
+          X = (wb(1), ..., wb(L), theta), where the vectors
+          wb(i), of length NN*(L+2)+1, are parameters for the
+          static nonlinearity, which is simulated by the
+          SLICOT Library routine NF01AY. See the documentation of
+          NF01AY for further details. The vector theta, of length
+          N*(M + L + 1) + L*M, represents the matrices A, B, C,
+          D and x(1), and it can be retrieved from these matrices
+          by SLICOT Library routine TB01VD and retranslated by
+          TB01VY.
+
+  LX      (input) INTEGER
+          The length of the array X.
+          LX &gt;= ( NN*(L+2)+1 )*L + N*(M + L + 1) + L*M.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= MAX(1,NSMP).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array contains the
+          simulated output.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
+                                  MAX( N*(N + L), N + M + L ) )
+                                                           if M &gt; 0;
+          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
+                                  MAX( N*(N + L), L ) ),   if M = 0.
+          A larger value of LDWORK could improve the efficiency.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  BLAS routines are used for the matrix-vector multiplications and
+  the routine NF01AY is called for the calculation of the nonlinear
+  function.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01AY.html b/doc/_static/doc/NF01AY.html
new file mode 100644
index 00000000..73a12897
--- /dev/null
+++ b/doc/_static/doc/NF01AY.html
@@ -0,0 +1,148 @@
+<HTML>
+<HEAD><TITLE>NF01AY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01AY">NF01AY</A></H2>
+<H3>
+Computing the output of a set of neural networks
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate the output of a set of neural networks with the
+  structure
+
+          - tanh(w1'*z+b1) -
+        /      :             \
+      z ---    :           --- sum(ws(i)*...)+ b(n+1)  --- y,
+        \      :             /
+          - tanh(wn'*z+bn) -
+
+  given the input z and the parameter vectors wi, ws, and b,
+  where z, w1, ..., wn are vectors of length NZ, ws is a vector
+  of length n, b(1), ..., b(n+1) are scalars, and n is called the
+  number of neurons in the hidden layer, or just number of neurons.
+  Such a network is used for each L output variables.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01AY( NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z, LDZ,
+     $                   Y, LDY, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDWORK, LDY, LDZ, LIPAR, LWB, NSMP, NZ
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), WB(*), Y(LDY,*), Z(LDZ,*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  NZ      (input) INTEGER
+          The length of each input sample.  NZ &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.  L &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters needed.
+          IPAR(1) must contain the number of neurons, n, per output
+          variable, denoted NN in the sequel.  NN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the vector IPAR.  LIPAR &gt;= 1.
+
+  WB      (input) DOUBLE PRECISION array, dimension (LWB)
+          The leading (NN*(NZ+2)+1)*L part of this array must
+          contain the weights and biases of the network. This vector
+          is partitioned into L vectors of length NN*(NZ+2)+1,
+          WB = [ wb(1), ..., wb(L) ]. Each wb(k), k = 1, ..., L,
+          corresponds to one output variable, and has the structure
+          wb(k) = [ w1(1), ..., w1(NZ), ..., wn(1), ..., wn(NZ),
+                    ws(1), ..., ws(n), b(1), ..., b(n+1) ],
+          where wi(j) are the weights of the hidden layer,
+          ws(i) are the weights of the linear output layer, and
+          b(i) are the biases, as in the scheme above.
+
+  LWB     (input) INTEGER
+          The length of the array WB.
+          LWB &gt;= ( NN*(NZ + 2) + 1 )*L.
+
+  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
+          The leading NSMP-by-NZ part of this array must contain the
+          set of input samples,
+          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,NSMP).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
+          The leading NSMP-by-L part of this array contains the set
+          of output samples,
+          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 2*NN.
+          For better performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  BLAS routines are used to compute the matrix-vector products.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BD.html b/doc/_static/doc/NF01BD.html
new file mode 100644
index 00000000..02334836
--- /dev/null
+++ b/doc/_static/doc/NF01BD.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>NF01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BD">NF01BD</A></H2>
+<H3>
+Computing the Jacobian of a Wiener system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To calculate the Jacobian dy/dX of the Wiener system
+
+     x(t+1) = A*x(t) + B*u(t)
+     z(t)   = C*x(t) + D*u(t),
+
+     y(t,i) = sum( ws(k, i)*f(w(k, i)*z(t) + b(k,i)) ) + b(k+1,i),
+
+  where t = 1, 2, ...,  NSMP,
+        i = 1, 2, ...,  L,
+        k = 1, 2, ...,  NN.
+
+  NN is arbitrary eligible and has to be provided in IPAR(2), and
+  X = ( wb(1), ..., wb(L), theta ) is described below.
+
+  Denoting y(j) = y(1:NSMP,j), the Jacobian J has the block form
+
+    dy(1)/dwb(1)       0         .....       0         dy(1)/dtheta
+         0        dy(2)/dwb(2)   .....       0         dy(2)/dtheta
+       .....         .....       .....     .....          .....
+         0           .....         0    dy(L)/dwb(L)   dy(L)/dtheta
+
+  but it will be returned without the zero blocks, in the form
+
+  dy(1)/dwb(1)    dy(1)/dtheta
+               ...
+  dy(L)/dwb(L)    dy(L)/dtheta.
+
+  dy(i)/dwb(i) depends on f and is calculated by the routine NF01BY;
+  dy(i)/dtheta is computed by a forward-difference approximation.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BD( CJTE, NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU,
+     $                   E, J, LDJ, JTE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CJTE
+      INTEGER           INFO, L, LDJ, LDU, LDWORK, LX, LIPAR, M, NSMP
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ, *), JTE(*), U(LDU,*),
+     $                  X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CJTE    CHARACTER*1
+          Specifies whether the matrix-vector product J'*e should be
+          computed or not, as follows:
+          = 'C' :  compute J'*e;
+          = 'N' :  do not compute J'*e.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  M       (input) INTEGER
+          The length of each input sample.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.  L &gt;= 0.
+
+  IPAR    (input/output) INTEGER array, dimension (LIPAR)
+          On entry, the first entries of this array must contain
+          the integer parameters needed; specifically,
+          IPAR(1)  must contain the order of the linear part, N;
+                   actually, N = abs(IPAR(1)), since setting
+                   IPAR(1) &lt; 0 has a special meaning (see below);
+          IPAR(2)  must contain the number of neurons for the
+                   nonlinear part, NN, NN &gt;= 0.
+          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
+          performed, except the needed tests on input parameters,
+          but the following values are returned:
+          IPAR(1) contains the length of the array J, LJ;
+          LDJ     contains the leading dimension of array J.
+          Otherwise, IPAR(1) and LDJ are unchanged on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 2.
+
+  X       (input) DOUBLE PRECISION array, dimension (LX)
+          The leading LPAR entries of this array must contain the
+          set of system parameters, where
+             LPAR = (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
+          X has the form (wb(1), ..., wb(L), theta), where the
+          vectors wb(i) have the structure
+           (w(1,1), ..., w(1,L), ..., w(NN,1), ..., w(NN,L),
+             ws(1), ..., ws(NN), b(1), ..., b(NN+1) ),
+          and the vector theta represents the matrices A, B, C, D
+          and x(1), and it can be retrieved from these matrices
+          by SLICOT Library routine TB01VD and retranslated by
+          TB01VY.
+
+  LX      (input) INTEGER
+          The length of X.
+          LX &gt;= (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
+          The leading NSMP-by-M part of this array must contain the
+          set of input samples,
+          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
+
+  E       (input) DOUBLE PRECISION array, dimension (NSMP*L)
+          If CJTE = 'C', this array must contain a vector e, which
+          will be premultiplied with J', e = vec( Y - y ), where
+          Y is set of output samples, and vec denotes the
+          concatenation of the columns of a matrix.
+          If CJTE = 'N', this array is not referenced.
+
+  J       (output) DOUBLE PRECISION array, dimension (LDJ, *)
+          The leading NSMP*L-by-NCOLJ part of this array contains
+          the Jacobian of the error function stored in a compressed
+          form, as described above, where
+          NCOLJ = NN*(L + 2) + 1 + N*(M + L + 1) + L*M.
+
+  LDJ     INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP*L).
+          Note that LDJ is an input parameter, except for
+          IPAR(1) &lt; 0 on entry, when it is an output parameter.
+
+  JTE     (output) DOUBLE PRECISION array, dimension (LPAR)
+          If CJTE = 'C', this array contains the matrix-vector
+          product J'*e.
+          If CJTE = 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
+                                    MAX( N*(N + L), N + M + L ) )
+                                                           if M &gt; 0;
+          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
+                                    MAX( N*(N + L), L ) ), if M = 0.
+          A larger value of LDWORK could improve the efficiency.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  BLAS routines are used for the matrix-vector multiplications, and
+  the SLICOT Library routine TB01VY is called for the conversion of
+  the output normal form parameters to an LTI-system; the routine
+  NF01AD is then used for the simulation of the system with given
+  parameters, and the routine NF01BY is called for the (analytically
+  performed) calculation of the parts referring to the parameters
+  of the static nonlinearity.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BP.html b/doc/_static/doc/NF01BP.html
new file mode 100644
index 00000000..9e90977a
--- /dev/null
+++ b/doc/_static/doc/NF01BP.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>NF01BP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BP">NF01BP</A></H2>
+<H3>
+Levenberg-Marquardt parameter for Wiener system identification
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a value for the Levenberg-Marquardt parameter PAR
+  such that if x solves the system
+
+        J*x = b ,     sqrt(PAR)*D*x = 0 ,
+
+  in the least squares sense, where J is an m-by-n matrix, D is an
+  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
+  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
+  then either PAR is zero and
+
+        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
+
+  or PAR is positive and
+
+        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
+
+  The matrix J is the current Jacobian matrix of a nonlinear least
+  squares problem, provided in a compressed form by SLICOT Library
+  routine NF01BD. It is assumed that a block QR factorization, with
+  column pivoting, of J is available, that is, J*P = Q*R, where P is
+  a permutation matrix, Q has orthogonal columns, and R is an upper
+  triangular matrix with diagonal elements of nonincreasing
+  magnitude for each block, as returned by SLICOT Library
+  routine NF01BS. The routine NF01BP needs the upper triangle of R
+  in compressed form, the permutation matrix P, and the first
+  n components of Q'*b (' denotes the transpose). On output,
+  NF01BP also provides a compressed representation of an upper
+  triangular matrix S, such that
+
+        P'*(J'*J + PAR*D*D)*P = S'*S .
+
+  Matrix S is used in the solution process. The matrix R has the
+  following structure
+
+      /   R_1    0    ..   0   |   L_1   \
+      |    0    R_2   ..   0   |   L_2   |
+      |    :     :    ..   :   |    :    | ,
+      |    0     0    ..  R_l  |   L_l   |
+      \    0     0    ..   0   |  R_l+1  /
+
+  where the submatrices R_k, k = 1:l, have the same order BSN,
+  and R_k, k = 1:l+1, are square and upper triangular. This matrix
+  is stored in the compressed form
+
+           /   R_1  |   L_1   \
+           |   R_2  |   L_2   |
+    Rc =   |    :   |    :    | ,
+           |   R_l  |   L_l   |
+           \    X   |  R_l+1  /
+
+  where the submatrix X is irrelevant. The matrix S has the same
+  structure as R, and its diagonal blocks are denoted by S_k,
+  k = 1:l+1.
+
+  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BP( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
+     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, LIPAR, N
+      DOUBLE PRECISION  DELTA, PAR, TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*), RANKS(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the diagonal blocks R_k
+          and S_k of the matrices R and S should be estimated,
+          as follows:
+          = 'E' :  use incremental condition estimation for each
+                   diagonal block of R_k and S_k to find its
+                   numerical rank;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of R_k and S_k for zero values;
+          = 'U' :  use the ranks already stored in RANKS (for R).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
+          (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix R, as follows:
+          IPAR(1) must contain ST, the number of columns of the
+                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, l, in the
+                  block diagonal part of R.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  R_k, k = 1:l.  BSM &gt;= 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks R_k, k = 1:l.  BSN &gt;= 0.
+          BSM is not used by this routine, but assumed equal to BSN.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          On entry, the leading N-by-NC part of this array must
+          contain the (compressed) representation (Rc) of the upper
+          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
+          not referenced. The zero strict lower triangles of R_k,
+          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
+          the full upper triangle of R must be stored.
+          On exit, the full upper triangles of R_k, k = 1:l+1, and
+          L_k, k = 1:l, are unaltered, and the strict lower
+          triangles of R_k, k = 1:l+1, contain the corresponding
+          strict upper triangles (transposed) of the upper
+          triangular matrix S.
+          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
+          upper triangle of S is stored in the strict lower triangle
+          of R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  DELTA   (input) DOUBLE PRECISION
+          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
+
+  PAR     (input/output) DOUBLE PRECISION
+          On entry, PAR must contain an initial estimate of the
+          Levenberg-Marquardt parameter.  PAR &gt;= 0.
+          On exit, it contains the final estimate of this parameter.
+
+  RANKS   (input or output) INTEGER array, dimension (r), where
+          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
+          r = BN,      if ST = 0 and BSN &gt; 0;
+          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
+          r = 0,       if ST = 0 and BSN = 0.
+          On entry, if COND = 'U' and N &gt; 0, this array must contain
+          the numerical ranks of the submatrices R_k, k = 1:l(+1).
+          On exit, if N &gt; 0, this array contains the numerical ranks
+          of the submatrices S_k, k = 1:l(+1).
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system J*x = b, sqrt(PAR)*D*x = 0.
+
+  RX      (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the matrix-vector product -R*P'*x.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the submatrices R_k and S_k. If the user sets
+          TOL &gt; 0, then the given value of TOL is used as a lower
+          bound for the reciprocal condition number;  a (sub)matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S.
+          If BN &gt; 1 and BSN &gt; 0, the elements N+1 : N+ST*(N-ST)
+          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
+          matrix S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND =  'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
+                                      if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND =  'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The algorithm computes the Gauss-Newton direction. An approximate
+  basic least squares solution is found if the Jacobian is rank
+  deficient. The computations exploit the special structure and
+  storage scheme of the matrix R. If one or more of the submatrices
+  R_k or S_k, k = 1:l+1, is singular, then the computed result is
+  not the basic least squares solution for the whole problem, but a
+  concatenation of (least squares) solutions of the individual
+  subproblems involving R_k or S_k, k = 1:l+1 (with adapted right
+  hand sides).
+
+  If the Gauss-Newton direction is not acceptable, then an iterative
+  algorithm obtains improved lower and upper bounds for the
+  Levenberg-Marquardt parameter PAR. Only a few iterations are
+  generally needed for convergence of the algorithm. If, however,
+  the limit of ITMAX = 10 iterations is reached, then the output PAR
+  will contain the best value obtained so far. If the Gauss-Newton
+  step is acceptable, it is stored in x, and PAR is set to zero,
+  hence S = R.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N*(BSN+ST)) operations and is backward
+  stable, if R is nonsingular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a structure-exploiting, LAPACK-based modification
+  of LMPAR from the MINPACK package [1], and with optional condition
+  estimation. The option COND = 'U' is useful when dealing with
+  several right-hand side vectors, but RANKS array should be reset.
+  If COND = 'E', but the matrix S is guaranteed to be nonsingular
+  and well conditioned relative to TOL, i.e., rank(R) = N, and
+  min(DIAG) &gt; 0, then its condition is not estimated.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BQ.html b/doc/_static/doc/NF01BQ.html
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+<HTML>
+<HEAD><TITLE>NF01BQ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BQ">NF01BQ</A></H2>
+<H3>
+Solving the linear system J x = b, D x = 0, D diagonal, for Wiener system identification
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine a vector x which solves the system of linear
+  equations
+
+        J*x = b ,     D*x = 0 ,
+
+  in the least squares sense, where J is an m-by-n matrix,
+  D is an n-by-n diagonal matrix, and b is an m-vector. The matrix J
+  is the current Jacobian of a nonlinear least squares problem,
+  provided in a compressed form by SLICOT Library routine NF01BD.
+  It is assumed that a block QR factorization, with column pivoting,
+  of J is available, that is, J*P = Q*R, where P is a permutation
+  matrix, Q has orthogonal columns, and R is an upper triangular
+  matrix with diagonal elements of nonincreasing magnitude for each
+  block, as returned by SLICOT Library routine NF01BS. The routine
+  NF01BQ needs the upper triangle of R in compressed form, the
+  permutation matrix P, and the first n components of Q'*b
+  (' denotes the transpose). The system J*x = b, D*x = 0, is then
+  equivalent to
+
+        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
+
+  where x = P*z. If this system does not have full rank, then an
+  approximate least squares solution is obtained (see METHOD).
+  On output, NF01BQ also provides an upper triangular matrix S
+  such that
+
+        P'*(J'*J + D*D)*P = S'*S .
+
+  The system (1) is equivalent to S*z = c , where c contains the
+  first n components of the vector obtained by applying to
+  [ (Q'*b)'  0 ]' the transformations which triangularized
+  [ R'  P'*D*P ]', getting S.
+
+  The matrix R has the following structure
+
+      /   R_1    0    ..   0   |   L_1   \
+      |    0    R_2   ..   0   |   L_2   |
+      |    :     :    ..   :   |    :    | ,
+      |    0     0    ..  R_l  |   L_l   |
+      \    0     0    ..   0   |  R_l+1  /
+
+  where the submatrices R_k, k = 1:l, have the same order BSN,
+  and R_k, k = 1:l+1, are square and upper triangular. This matrix
+  is stored in the compressed form
+
+           /   R_1  |   L_1   \
+           |   R_2  |   L_2   |
+    Rc =   |    :   |    :    | ,
+           |   R_l  |   L_l   |
+           \    X   |  R_l+1  /
+
+  where the submatrix X is irrelevant. The matrix S has the same
+  structure as R, and its diagonal blocks are denoted by S_k,
+  k = 1:l+1.
+
+  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BQ( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
+     $                   RANKS, X, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND
+      INTEGER           INFO, LDR, LDWORK, LIPAR, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*), RANKS(*)
+      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of the matrices S_k should
+          be estimated, as follows:
+          = 'E' :  use incremental condition estimation and store
+                   the numerical rank of S_k in the array entry
+                   RANKS(k), for k = 1:l+1;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of S_k for zero values;
+          = 'U' :  use the ranks already stored in RANKS(1:l+1).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
+          (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix R, as follows:
+          IPAR(1) must contain ST, the number of columns of the
+                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, l, in the
+                  block diagonal part of R.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  R_k, k = 1:l.  BSM &gt;= 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks R_k, k = 1:l.  BSN &gt;= 0.
+          BSM is not used by this routine, but assumed equal to BSN.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          On entry, the leading N-by-NC part of this array must
+          contain the (compressed) representation (Rc) of the upper
+          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
+          not referenced. The zero strict lower triangles of R_k,
+          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
+          the full upper triangle of R must be stored.
+          On exit, the full upper triangles of R_k, k = 1:l+1, and
+          L_k, k = 1:l, are unaltered, and the strict lower
+          triangles of R_k, k = 1:l+1, contain the corresponding
+          strict upper triangles (transposed) of the upper
+          triangular matrix S.
+          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
+          upper triangle of S is stored in the strict lower triangle
+          of R.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+  IPVT    (input) INTEGER array, dimension (N)
+          This array must define the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+  DIAG    (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the diagonal elements of the
+          matrix D.
+
+  QTB     (input) DOUBLE PRECISION array, dimension (N)
+          This array must contain the first n elements of the
+          vector Q'*b.
+
+  RANKS   (input or output) INTEGER array, dimension (r), where
+          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
+          r = BN,      if ST = 0 and BSN &gt; 0;
+          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
+          r = 0,       if ST = 0 and BSN = 0.
+          On entry, if COND = 'U' and N &gt; 0, this array must contain
+          the numerical ranks of the submatrices S_k, k = 1:l(+1).
+          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
+          contains the numerical ranks of the submatrices S_k,
+          k = 1:l(+1), estimated according to the value of COND.
+
+  X       (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the least squares solution of the
+          system J*x = b, D*x = 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the submatrices S_k. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          the reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank.  If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, the first N elements of this array contain the
+          diagonal elements of the upper triangular matrix S, and
+          the next N elements contain the solution z.
+          If BN &gt; 1 and BSN &gt; 0, the elements 2*N+1 : 2*N+ST*(N-ST)
+          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
+          matrix S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
+                                                     COND =  'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND &lt;&gt; 'E';
+          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
+                                      if BN &gt;  1 and BSN &gt; 0 and
+                                                     COND = 'E'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Standard plane rotations are used to annihilate the elements of
+  the diagonal matrix D, updating the upper triangular matrix R
+  and the first n elements of the vector Q'*b. A basic least squares
+  solution is computed. The computations exploit the special
+  structure and storage scheme of the matrix R. If one or more of
+  the submatrices S_k, k = 1:l+1, is singular, then the computed
+  result is not the basic least squares solution for the whole
+  problem, but a concatenation of (least squares) solutions of the
+  individual subproblems involving R_k, k = 1:l+1 (with adapted
+  right hand sides).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
+      User's Guide for MINPACK-1.
+      Applied Math. Division, Argonne National Laboratory, Argonne,
+      Illinois, Report ANL-80-74, 1980.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N*(BSN+ST)) operations and is backward
+  stable, if R is nonsingular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a structure-exploiting, LAPACK-based modification
+  of QRSOLV from the MINPACK package [1], and with optional
+  condition estimation.
+  The option COND = 'U' is useful when dealing with several
+  right-hand side vectors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BR.html b/doc/_static/doc/NF01BR.html
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+<HTML>
+<HEAD><TITLE>NF01BR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BR">NF01BR</A></H2>
+<H3>
+Solving linear systems R x = b, or R' x = b, in the least squares sense
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve one of the systems of linear equations
+
+        R*x = b ,  or  R'*x = b ,
+
+  in the least squares sense, where R is an n-by-n block upper
+  triangular matrix, with the structure
+
+      /   R_1    0    ..   0   |   L_1   \
+      |    0    R_2   ..   0   |   L_2   |
+      |    :     :    ..   :   |    :    | ,
+      |    0     0    ..  R_l  |   L_l   |
+      \    0     0    ..   0   |  R_l+1  /
+
+  with the upper triangular submatrices R_k, k = 1:l+1, square, and
+  the first l of the same order, BSN. The diagonal elements of each
+  block R_k have nonincreasing magnitude. The matrix R is stored in
+  the compressed form, as returned by SLICOT Library routine NF01BS,
+
+           /   R_1  |   L_1   \
+           |   R_2  |   L_2   |
+    Rc =   |    :   |    :    | ,
+           |   R_l  |   L_l   |
+           \    X   |  R_l+1  /
+
+  where the submatrix X is irrelevant. If the matrix R does not have
+  full rank, then a least squares solution is obtained. If l &lt;= 1,
+  then R is an upper triangular matrix and its full upper triangle
+  is stored.
+
+  Optionally, the transpose of the matrix R can be stored in the
+  strict lower triangles of the submatrices R_k, k = 1:l+1, and in
+  the arrays SDIAG and S, as described at the parameter UPLO below.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BR( COND, UPLO, TRANS, N, IPAR, LIPAR, R, LDR,
+     $                   SDIAG, S, LDS, B, RANKS, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COND, TRANS, UPLO
+      INTEGER           INFO, LDR, LDS, LDWORK, LIPAR, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), RANKS(*)
+      DOUBLE PRECISION  B(*), DWORK(*), R(LDR,*), S(LDS,*), SDIAG(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COND    CHARACTER*1
+          Specifies whether the condition of submatrices R_k should
+          be estimated, as follows:
+          = 'E' :  use incremental condition estimation and store
+                   the numerical rank of R_k in the array entry
+                   RANKS(k), for k = 1:l+1;
+          = 'N' :  do not use condition estimation, but check the
+                   diagonal entries of R_k for zero values;
+          = 'U' :  use the ranks already stored in RANKS(1:l+1).
+
+  UPLO    CHARACTER*1
+          Specifies the storage scheme for the matrix R, as follows:
+          = 'U' :  the upper triangular part is stored as in Rc;
+          = 'L' :  the lower triangular part is stored, namely,
+                   - the transpose of the strict upper triangle of
+                     R_k is stored in the strict lower triangle of
+                     R_k, for k = 1:l+1;
+                   - the diagonal elements of R_k, k = 1:l+1, are
+                     stored in the array SDIAG;
+                   - the transpose of the last block column in R
+                     (without R_l+1) is stored in the array S.
+
+  TRANS   CHARACTER*1
+          Specifies the form of the system of equations, as follows:
+          = 'N':  R*x  = b  (No transpose);
+          = 'T':  R'*x = b  (Transpose);
+          = 'C':  R'*x = b  (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
+          (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix R, as follows:
+          IPAR(1) must contain ST, the number of columns of the
+                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, l, in the
+                  block diagonal part of R.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  R_k, k = 1:l.  BSM &gt;= 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks R_k, k = 1:l.  BSN &gt;= 0.
+          BSM is not used by this routine, but assumed equal to BSN.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          If UPLO = 'U', the leading N-by-NC part of this array must
+          contain the (compressed) representation (Rc) of the upper
+          triangular matrix R. The submatrix X in Rc and the strict
+          lower triangular parts of the diagonal blocks R_k,
+          k = 1:l+1, are not referenced. If BN &lt;= 1 or BSN = 0, then
+          the full upper triangle of R must be stored.
+          If UPLO = 'L', BN &gt; 1 and BSN &gt; 0, the leading
+          (N-ST)-by-BSN part of this array must contain the
+          transposes of the strict upper triangles of R_k, k = 1:l,
+          stored in the strict lower triangles of R_k, and the
+          strict lower triangle of R_l+1 must contain the transpose
+          of the strict upper triangle of R_l+1. The submatrix X
+          in Rc is not referenced. The diagonal elements of R_k,
+          and, if COND = 'E', the upper triangular parts of R_k,
+          k = 1:l+1, are modified internally, but are restored
+          on exit.
+          If UPLO = 'L' and BN &lt;= 1 or BSN = 0, the leading N-by-N
+          strict lower triangular part of this array must contain
+          the transpose of the strict upper triangular part of R.
+          The diagonal elements and, if COND = 'E', the upper
+          triangular elements are modified internally, but are
+          restored on exit.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+  SDIAG   (input) DOUBLE PRECISION array, dimension (N)
+          If UPLO = 'L', this array must contain the diagonal
+          entries of R_k, k = 1:l+1. This array is modified
+          internally, but is restored on exit.
+          This parameter is not referenced if UPLO = 'U'.
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,N-ST)
+          If UPLO = 'L', BN &gt; 1, and BSN &gt; 0, the leading
+          ST-by-(N-ST) part of this array must contain the transpose
+          of the rectangular part of the last block column in R,
+          that is [ L_1' L_2' ... L_l' ] . If COND = 'E', S is
+          modified internally, but is restored on exit.
+          This parameter is not referenced if UPLO = 'U', or
+          BN &lt;= 1, or BSN = 0.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= 1,         if UPLO = 'U', or BN &lt;= 1, or BSN = 0;
+          LDS &gt;= MAX(1,ST), if UPLO = 'L', BN &gt; 1, and BSN &gt; 0.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the right hand side
+          vector b.
+          On exit, this array contains the (least squares) solution
+          of the system R*x = b or R'*x = b.
+
+  RANKS   (input or output) INTEGER array, dimension (r), where
+          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
+          r = BN,      if ST = 0 and BSN &gt; 0;
+          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
+          r = 0,       if ST = 0 and BSN = 0.
+          On entry, if COND = 'U' and N &gt; 0, this array must contain
+          the numerical ranks of the submatrices R_k, k = 1:l(+1).
+          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
+          contains the numerical ranks of the submatrices R_k,
+          k = 1:l(+1), estimated according to the value of COND.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If COND = 'E', the tolerance to be used for finding the
+          ranks of the submatrices R_k. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          the reciprocal condition number;  a (sub)matrix whose
+          estimated condition number is less than 1/TOL is
+          considered to be of full rank. If the user sets TOL &lt;= 0,
+          then an implicitly computed, default tolerance, defined by
+          TOLDEF = N*EPS,  is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not relevant if COND = 'U' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          Denote Full = ( BN &lt;= 1 or  BSN = 0 );
+                 Comp = ( BN &gt;  1 and BSN &gt; 0 ).
+          LDWORK &gt;= 2*N,           if Full and COND = 'E';
+          LDWORK &gt;= 2*MAX(BSN,ST), if Comp and COND = 'E';
+          LDWORK &gt;= 0,   in the remaining cases.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Block back or forward substitution is used (depending on TRANS
+  and UPLO), exploiting the special structure and storage scheme of
+  the matrix R. If a submatrix R_k, k = 1:l+1, is singular, a local
+  basic least squares solution is computed. Therefore, the returned
+  result is not the basic least squares solution for the whole
+  problem, but a concatenation of (least squares) solutions of the
+  individual subproblems involving R_k, k = 1:l+1 (with adapted
+  right hand sides).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                 2    2
+  The algorithm requires 0(BN*BSN + ST + N*ST) operations and is
+  backward stable, if R is nonsingular.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BS.html b/doc/_static/doc/NF01BS.html
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+<HTML>
+<HEAD><TITLE>NF01BS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BS">NF01BS</A></H2>
+<H3>
+QR factorization with column pivoting for Wiener system identification
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the QR factorization of the Jacobian matrix J, as
+  received in compressed form from SLICOT Library routine NF01BD,
+
+         /  dy(1)/dwb(1)  |  dy(1)/ dtheta  \
+    Jc = |       :        |       :         | ,
+         \  dy(L)/dwb(L)  |  dy(L)/ dtheta  /
+
+  and to apply the transformation Q on the error vector e (in-situ).
+  The factorization is J*P = Q*R, where Q is a matrix with
+  orthogonal columns, P a permutation matrix, and R an upper
+  trapezoidal matrix with diagonal elements of nonincreasing
+  magnitude for each block column (see below). The 1-norm of the
+  scaled gradient is also returned.
+
+  Actually, the Jacobian J has the block form
+
+    dy(1)/dwb(1)       0         .....       0        dy(1)/dtheta
+         0        dy(2)/dwb(2)   .....       0        dy(2)/dtheta
+       .....         .....       .....     .....         .....
+         0           .....         0    dy(L)/dwb(L)  dy(L)/dtheta
+
+  but the zero blocks are omitted. The diagonal blocks have the
+  same size and correspond to the nonlinear part. The last block
+  column corresponds to the linear part. It is assumed that the
+  Jacobian matrix has at least as many rows as columns. The linear
+  or nonlinear parts can be empty. If L &lt;= 1, the Jacobian is
+  represented as a full matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BS( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
+     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
+      DOUBLE PRECISION  FNORM, GNORM
+C     .. Array Arguments ..
+      INTEGER           IPAR(*), IPVT(*)
+      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.
+          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain ST, the number of parameters
+                  corresponding to the linear part.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, BN = L,
+                  for the parameters corresponding to the nonlinear
+                  part.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
+                  number of rows of the matrix J, if BN &lt;= 1.
+                  BN*BSM &gt;= N, if BN &gt; 0;
+                  BSM &gt;= N,    if BN = 0.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  FNORM   (input) DOUBLE PRECISION
+          The Euclidean norm of the vector e.  FNORM &gt;= 0.
+
+  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          On entry, the leading NR-by-NC part of this array must
+          contain the (compressed) representation (Jc) of the
+          Jacobian matrix J, where NR = BSM if BN &lt;= 1, and
+          NR = BN*BSM, if BN &gt; 1.
+          On exit, the leading N-by-NC part of this array contains
+          a (compressed) representation of the upper triangular
+          factor R of the Jacobian matrix. The matrix R has the same
+          structure as the Jacobian matrix J, but with an additional
+          diagonal block. Note that for efficiency of the later
+          calculations, the matrix R is delivered with the leading
+          dimension MAX(1,N), possibly much smaller than the value
+          of LDJ on entry.
+
+  LDJ     (input/output) INTEGER
+          The leading dimension of array J.
+          On entry, LDJ &gt;= MAX(1,NR).
+          On exit,  LDJ &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (NR)
+          On entry, this array contains the vector e,
+          e = vec( Y - y ), where Y is set of output samples, and
+          vec denotes the concatenation of the columns of a matrix.
+          On exit, this array contains the updated vector Z*Q'*e,
+          where Z is the block row permutation matrix used in the
+          QR factorization of J (see METHOD).
+
+  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the Euclidean norms of the columns
+          of the Jacobian matrix, considered in the initial order.
+
+  GNORM   (output) DOUBLE PRECISION
+          If FNORM &gt; 0, the 1-norm of the scaled vector J'*e/FNORM,
+          with each element i further divided by JNORMS(i) (if
+          JNORMS(i) is nonzero).
+          If FNORM = 0, the returned value of GNORM is 0.
+
+  IPVT    (output) INTEGER array, dimension (N)
+          This array defines the permutation matrix P such that
+          J*P = Q*R. Column j of P is column IPVT(j) of the identity
+          matrix.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1,      if N = 0 or BN &lt;= 1 and BSM = N = 1;
+                            otherwise,
+          LDWORK &gt;= 4*N+1,  if BN &lt;= 1 or  BSN = 0;
+          LDWORK &gt;= JWORK,  if BN &gt;  1 and BSN &gt; 0, where JWORK is
+                            given by the following procedure:
+           JWORK  = BSN + MAX(3*BSN+1,ST);
+           JWORK  = MAX(JWORK,4*ST+1),         if BSM &gt; BSN;
+           JWORK  = MAX(JWORK,(BSM-BSN)*(BN-1)),
+                                               if BSN &lt; BSM &lt; 2*BSN.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A QR factorization with column pivoting of the matrix J is
+  computed, J*P = Q*R.
+
+  If l = L &gt; 1, the R factor of the QR factorization has the same
+  structure as the Jacobian, but with an additional diagonal block.
+  Denote
+
+      /   J_1    0    ..   0   |  L_1  \
+      |    0    J_2   ..   0   |  L_2  |
+  J = |    :     :    ..   :   |   :   | .
+      |    :     :    ..   :   |   :   |
+      \    0     0    ..  J_l  |  L_l  /
+
+  The algorithm consists in two phases. In the first phase, the
+  algorithm uses QR factorizations with column pivoting for each
+  block J_k, k = 1:l, and applies the orthogonal matrix Q'_k to the
+  corresponding part of the last block column and of e. After all
+  block rows have been processed, the block rows are interchanged
+  so that the zeroed submatrices in the first l block columns are
+  moved to the bottom part. The same block row permutation Z is
+  also applied to the vector e. At the end of the first phase,
+  the structure of the processed matrix J is
+
+      /   R_1    0    ..   0   |  L^1_1  \
+      |    0    R_2   ..   0   |  L^1_2  |
+      |    :     :    ..   :   |    :    | .
+      |    :     :    ..   :   |    :    |
+      |    0     0    ..  R_l  |  L^1_l  |
+      |    0     0    ..   0   |  L^2_1  |
+      |    :     :    ..   :   |    :    |
+      \    0     0    ..   0   |  L^2_l  /
+
+  In the second phase, the submatrix L^2_1:l is triangularized
+  using an additional QR factorization with pivoting. (The columns
+  of L^1_1:l are also permuted accordingly.) Therefore, the column
+  pivoting is restricted to each such local block column.
+
+  If l &lt;= 1, the matrix J is triangularized in one phase, by one
+  QR factorization with pivoting. In this case, the column
+  pivoting is global.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BU.html b/doc/_static/doc/NF01BU.html
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+<HTML>
+<HEAD><TITLE>NF01BU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BU">NF01BU</A></H2>
+<H3>
+Computation of the matrix J' J + c I, for the Jacobian J given in a compressed form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix J'*J + c*I, for the Jacobian J as received
+  from SLICOT Library routine NF01BD:
+
+       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
+  Jc = |       :        |       :        | .
+       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
+
+  This is a compressed representation of the actual structure
+
+      /   J_1    0    ..   0   |  L_1  \
+      |    0    J_2   ..   0   |  L_2  |
+  J = |    :     :    ..   :   |   :   | .
+      |    :     :    ..   :   |   :   |
+      \    0     0    ..  J_L  |  L_L  /
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BU( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
+     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOR, UPLO
+      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STOR    CHARACTER*1
+          Specifies the storage scheme for the symmetric
+          matrix J'*J + c*I, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix J'*J + c*I is stored,
+          as follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix J'*J + c*I.
+          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain ST, the number of parameters
+                  corresponding to the linear part.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, BN = L,
+                  for the parameters corresponding to the nonlinear
+                  part.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
+                  number of rows of the matrix J, if BN &lt;= 1.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          The leading NR-by-NC part of this array must contain
+          the (compressed) representation (Jc) of the Jacobian
+          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
+          if BN &gt; 1.
+
+  LDJ     (input) INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
+
+  JTJ     (output) DOUBLE PRECISION array,
+                   dimension (LDJTJ,N),    if STOR = 'F',
+                   dimension (N*(N+1)/2),  if STOR = 'P'.
+          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
+          STOR = 'P') part of this array contains the upper or
+          lower triangle of the matrix J'*J + c*I, depending on
+          UPLO = 'U', or UPLO = 'L', respectively, stored either as
+          a two-dimensional, or one-dimensional array, depending
+          on STOR.
+
+  LDJTJ   INTEGER
+          The leading dimension of the array JTJ.
+          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
+          LDJTJ &gt;= 1,        if STOR = 'P'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          Currently, this array is not used.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product is computed columnn-wise, exploiting the
+  symmetry. BLAS 3 routines DGEMM and DSYRK are used if STOR = 'F',
+  and BLAS 2 routine DGEMV is used if STOR = 'P'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BV.html b/doc/_static/doc/NF01BV.html
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+<HTML>
+<HEAD><TITLE>NF01BV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BV">NF01BV</A></H2>
+<H3>
+Computation of the matrix J' J + c I, for a full Jacobian J (one output variable)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix J'*J + c*I, for the Jacobian J as received
+  from SLICOT Library routine NF01BY, for one output variable.
+
+  NOTE: this routine must have the same arguments as SLICOT Library
+  routine NF01BU.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BV( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
+     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         STOR, UPLO
+      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  STOR    CHARACTER*1
+          Specifies the storage scheme for the symmetric
+          matrix J'*J + c*I, as follows:
+          = 'F' :  full storage is used;
+          = 'P' :  packed storage is used.
+
+  UPLO    CHARACTER*1
+          Specifies which part of the matrix J'*J + c*I is stored,
+          as follows:
+          = 'U' :  the upper triagular part is stored;
+          = 'L' :  the lower triagular part is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.  N &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain the number of rows M of the Jacobian
+                  matrix J.  M &gt;= 0.
+          IPAR is provided for compatibility with SLICOT Library
+          routine MD03AD.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 1.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
+          The leading M-by-N part of this array must contain the
+          Jacobian matrix J.
+
+  LDJ     INTEGER
+          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
+
+  JTJ     (output) DOUBLE PRECISION array,
+                   dimension (LDJTJ,N),    if STOR = 'F',
+                   dimension (N*(N+1)/2),  if STOR = 'P'.
+          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
+          STOR = 'P') part of this array contains the upper or
+          lower triangle of the matrix J'*J + c*I, depending on
+          UPLO = 'U', or UPLO = 'L', respectively, stored either as
+          a two-dimensional, or one-dimensional array, depending
+          on STOR.
+
+  LDJTJ   INTEGER
+          The leading dimension of the array JTJ.
+          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
+          LDJTJ &gt;= 1,        if STOR = 'P'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          Currently, this array is not used.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix product is computed columnn-wise, exploiting the
+  symmetry. BLAS 3 routine DSYRK is used if STOR = 'F', and BLAS 2
+  routine DGEMV is used if STOR = 'P'.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BW.html b/doc/_static/doc/NF01BW.html
new file mode 100644
index 00000000..5f1971aa
--- /dev/null
+++ b/doc/_static/doc/NF01BW.html
@@ -0,0 +1,147 @@
+<HTML>
+<HEAD><TITLE>NF01BW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BW">NF01BW</A></H2>
+<H3>
+Matrix-vector product x <-- (J' J + c I) x, for J in a compressed form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrix-vector product x &lt;-- (J'*J + c*I)*x, for the
+  Jacobian J as received from SLICOT Library routine NF01BD:
+
+       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
+  Jc = |       :        |       :        | .
+       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
+
+  This is a compressed representation of the actual structure
+
+      /   J_1    0    ..   0   |  L_1  \
+      |    0    J_2   ..   0   |  L_2  |
+  J = |    :     :    ..   :   |   :   | .
+      |    :     :    ..   :   |   :   |
+      \    0     0    ..  J_L  |  L_L  /
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BW( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the vector x.
+          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain ST, the number of parameters
+                  corresponding to the linear part.  ST &gt;= 0.
+          IPAR(2) must contain BN, the number of blocks, BN = L,
+                  for the parameters corresponding to the nonlinear
+                  part.  BN &gt;= 0.
+          IPAR(3) must contain BSM, the number of rows of the blocks
+                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
+                  number of rows of the matrix J, if BN &lt;= 1.
+          IPAR(4) must contain BSN, the number of columns of the
+                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 4.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
+          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
+          The leading NR-by-NC part of this array must contain
+          the (compressed) representation (Jc) of the Jacobian
+          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
+          if BN &gt; 1.
+
+  LDJ     (input) INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          (1+(N-1)*INCX)
+          On entry, this incremented array must contain the
+          vector x.
+          On exit, this incremented array contains the value of the
+          matrix-vector product (J'*J + c*I)*x.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X.  INCX &gt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= NR.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The associativity of matrix multiplications is used; the result
+  is obtained as:  x_out = J'*( J*x ) + c*x.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BX.html b/doc/_static/doc/NF01BX.html
new file mode 100644
index 00000000..61ff9d5a
--- /dev/null
+++ b/doc/_static/doc/NF01BX.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>NF01BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BX">NF01BX</A></H2>
+<H3>
+Matrix-vector product x <-- (A' A + c I) x, for a full matrix A
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute (J'*J + c*I)*x, where J is an m-by-n real matrix, c is
+  a real scalar, I is the n-by-n identity matrix, and x is a real
+  n-vector.
+
+  NOTE: this routine must have the same arguments as SLICOT Library
+  routine NF01BW.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BX( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
+C     .. Array Arguments ..
+      INTEGER           IPAR(*)
+      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of columns of the Jacobian matrix J.  N &gt;= 0.
+
+  IPAR    (input) INTEGER array, dimension (LIPAR)
+          The integer parameters describing the structure of the
+          matrix J, as follows:
+          IPAR(1) must contain the number of rows M of the Jacobian
+                  matrix J.  M &gt;= 0.
+          IPAR is provided for compatibility with SLICOT Library
+          routine MD03AD.
+
+  LIPAR   (input) INTEGER
+          The length of the array IPAR.  LIPAR &gt;= 1.
+
+  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
+          The real parameters needed for solving the problem.
+          The entry DPAR(1) must contain the real scalar c.
+
+  LDPAR   (input) INTEGER
+          The length of the array DPAR.  LDPAR &gt;= 1.
+
+  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
+          The leading M-by-N part of this array must contain the
+          Jacobian matrix J.
+
+  LDJ     INTEGER
+          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension
+          (1+(N-1)*abs(INCX))
+          On entry, this incremented array must contain the
+          vector x.
+          On exit, this incremented array contains the value of the
+          matrix-vector product (J'*J + c*I)*x.
+
+  INCX    (input) INTEGER
+          The increment for the elements of X.  INCX &lt;&gt; 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= M.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The associativity of matrix multiplications is used; the result
+  is obtained as:  x_out = J'*( J*x ) + c*x.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/NF01BY.html b/doc/_static/doc/NF01BY.html
new file mode 100644
index 00000000..0fcb68ed
--- /dev/null
+++ b/doc/_static/doc/NF01BY.html
@@ -0,0 +1,185 @@
+<HTML>
+<HEAD><TITLE>NF01BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="NF01BY">NF01BY</A></H2>
+<H3>
+Computing the Jacobian of the error function for a neural network (one output variable)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Jacobian of the error function for a neural network
+  of the structure
+
+          - tanh(w1*z+b1) -
+        /      :            \
+      z ---    :          --- sum(ws(i)*...)+ b(n+1)  --- y,
+        \      :            /
+          - tanh(wn*z+bn) -
+
+  for the single-output case. The Jacobian has the form
+
+             d e(1)  / d WB(1)   ...    d e(1)  / d WB(NWB)
+      J =            :                          :           ,
+           d e(NSMP) / d WB(1)   ...  d e(NSMP) / d WB(NWB)
+
+  where e(z) is the error function, WB is the set of weights and
+  biases of the network (for the considered output), and NWB is
+  the number of elements of this set, NWB = IPAR(1)*(NZ+2)+1
+  (see below).
+
+  In the multi-output case, this routine should be called for each
+  output.
+
+  NOTE: this routine must have the same arguments as SLICOT Library
+  routine NF01BD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE NF01BY( CJTE, NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z,
+     $                   LDZ, E, J, LDJ, JTE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CJTE
+      INTEGER           INFO, L, LDJ, LDWORK, LDZ, LIPAR, LWB, NSMP, NZ
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JTE(*), WB(*),
+     $                  Z(LDZ,*)
+      INTEGER           IPAR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  CJTE    CHARACTER*1
+          Specifies whether the matrix-vector product J'*e should be
+          computed or not, as follows:
+          = 'C' :  compute J'*e;
+          = 'N' :  do not compute J'*e.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NSMP    (input) INTEGER
+          The number of training samples.  NSMP &gt;= 0.
+
+  NZ      (input) INTEGER
+          The length of each input sample.  NZ &gt;= 0.
+
+  L       (input) INTEGER
+          The length of each output sample.
+          Currently, L must be 1.
+
+  IPAR    (input/output) INTEGER array, dimension (LIPAR)
+          The integer parameters needed.
+          On entry, the first element of this array must contain
+          a value related to the number of neurons, n; specifically,
+          n = abs(IPAR(1)), since setting IPAR(1) &lt; 0 has a special
+          meaning (see below).
+          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
+          performed, except the needed tests on input parameters,
+          but the following values are returned:
+          IPAR(1) contains the length of the array J, LJ;
+          LDJ     contains the leading dimension of array J.
+          Otherwise, IPAR(1) and LDJ are unchanged on exit.
+
+  LIPAR   (input) INTEGER
+          The length of the vector IPAR.  LIPAR &gt;= 1.
+
+  WB      (input) DOUBLE PRECISION array, dimension (LWB)
+          The leading NWB = IPAR(1)*(NZ+2)+1 part of this array
+          must contain the weights and biases of the network,
+          WB = ( w(1,1), ..., w(1,NZ), ..., w(n,1), ...,  w(n,NZ),
+                 ws(1), ..., ws(n), b(1), ..., b(n+1) ),
+          where w(i,j) are the weights of the hidden layer,
+          ws(i) are the weights of the linear output layer and
+          b(i) are the biases.
+
+  LWB     (input) INTEGER
+          The length of array WB.  LWB &gt;= NWB.
+
+  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
+          The leading NSMP-by-NZ part of this array must contain the
+          set of input samples,
+          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,NSMP).
+
+  E       (input) DOUBLE PRECISION array, dimension (NSMP)
+          If CJTE = 'C', this array must contain the error vector e.
+          If CJTE = 'N', this array is not referenced.
+
+  J       (output) DOUBLE PRECISION array, dimension (LDJ, NWB)
+          The leading NSMP-by-NWB part of this array contains the
+          Jacobian of the error function.
+
+  LDJ     INTEGER
+          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP).
+          Note that LDJ is an input parameter, except for
+          IPAR(1) &lt; 0 on entry, when it is an output parameter.
+
+  JTE     (output) DOUBLE PRECISION array, dimension (NWB)
+          If CJTE = 'C', this array contains the matrix-vector
+          product J'*e.
+          If CJTE = 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This argument is included for combatibility with SLICOT
+          Library routine NF01BD.
+
+  LDWORK  INTEGER
+          Normally, the length of the array DWORK.  LDWORK &gt;= 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Jacobian is computed analytically.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/ODESolver.html b/doc/_static/doc/ODESolver.html
new file mode 100644
index 00000000..096e593b
--- /dev/null
+++ b/doc/_static/doc/ODESolver.html
@@ -0,0 +1,991 @@
+<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
+<html>
+<head>
+   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
+   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
+   <title>ODESolver - SLICOT Library Routine Documentation</title>
+</head>
+<body>
+
+<h2>
+<a NAME="ODESolver"></a>ODESolver</h2>
+
+<h3>
+Solver for Ordinary Differential Equations (driver)</h3>
+<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
+<p><b><font size=+1>Purpose</font></b>
+<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
+&nbsp; defining Differential Algebraic Equations using several packages.
+
+
+&nbsp; The equations follow the form:
+
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; dx/dt = f(x(t), (t), p, t)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(x(t), (t), p, t)
+
+&nbsp; The user must define only the subroutines ODEDER and ODEOUT and
+&nbsp; the Jacobians (JACFX, JACFU, JACFP) if used, and the interface&nbsp;
+&nbsp; adapts the structure to fit all the codes</pre>
+<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODESolver(ISOLVER, CODEDER_, CODEOUT_, CJACFX_,&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU_, CJACFP_,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, TINI, TOUT, X, U, Y,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, DPAR, RTOL, ATOL,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; RTOL, TINI, TOUT
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO, NX, NY, NU,
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CODEDER_, CODEOUT_, CJACFX_, CJACFU_, CJACFP_
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; ATOL(*), DWORK(LDWORK), DPAR(*),&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), Y(NY), U(NU)
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)
+
+
+</pre>
+<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
+<p><b>Mode Parameters</b>
+<pre>&nbsp; ISOLVER&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver package to be used:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSODA,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: LSODES,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: RADAU5,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASSL,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DASPK,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 7: DGELDA.</pre>
+<b>Input/Output Parameters</b>
+<pre>&nbsp; ODEDER&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the right hand side f of the ODE.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; ODEOUT&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.</pre>
+
+<pre>&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (230)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both RTOL and ATOL are scalars&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : RTOL is scalar and ATOL is vector
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both RTOL and ATOL are vectors&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values, must be 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mf, Method flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(5), Maximum number of steps allowed during one&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Flag to generate extra printing at method&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switches:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 means no extra printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 for minimal printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 for full printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of f evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE and LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(19), Maximum order to be allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 if meth = 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(118), Number of nonzero elements in the jacobian&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrix, including the diagonal (miter = 1 or 2).&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(119), Number of groups of column indices, used in
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; difference quotient jacobian aproximations if&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; miter = 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(120), Number of sparse LU decompositions.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(121), Base address in rwork of the history array.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(122), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array ian.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(123), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array jan.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(124), Number of nonzero elements in the strict&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lower triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(125),&nbsp; Number of nonzero elements in the strict&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; upper triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(22), Maximum order to be allowed for the&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nonstiff method, default value is 12.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(23), Maximum order to be allowed for the stiff&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; method, default value is 5.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(116), Method indicator for the last successful&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; step&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(117), Current method indicator&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hessenberg form.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 0 then is taken the extrapolated collocation
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if not equal 0 zero values are used.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity contraints:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforce nonnegativity in X during the&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -Parameters for DASPK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (compatible with DASSL)&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(40),&nbsp; DASPK uses scalars MAXLm KMP, NRMAX and EPLI&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; when uses Krylov method.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: uses default values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: uses user values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when INFOV(11)>0&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the variables.&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(43), Use default values for initial condition heuristic&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; controls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No and provide MXNIT, MXNJ, MXNH, LSOFF, STPTOL,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EPINIT.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; DPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (202)&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common real parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(1), Initial step size guess. Optional in:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEPACK, DASSL, ..&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(2), Maximum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK and DASSL:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(111), Step size in t last used (successfully).&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(113), Current value of the independent variable&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(16), Critical value of t which the solver is not&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(17), Minimum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(112), Step size to be attempted on the next step.
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(18), Tolerance scale factor, greater than 1.0.&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(19), The element threshhold for sparsity&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; determination when moss = 1 or 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(26), The rounding unit, default 1E-16.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(27), The safety factor in step size prediction,
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(28), Decides whether the jacobian should be&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(29), Stopping criterion for Newton's method,&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(30), DPAR(31): This saves, together with a&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large DPAR(28), LU-decompositions and computing&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(32), DPAR(33), Parameters for step size&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL and DASPK solvers:
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(36), Stopping point (Tstop)</pre>
+<b>Tolerances</b>
+<pre>&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
+<b>Workspace</b>
+<pre>&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; LIWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of IWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for mf = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + neq&nbsp; for mf = 21, 22, 24, or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if mf = 24, 25, input in iwork(1),iwork(2) the lower
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and upper half-bandwidths ml,mu.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 30&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PREISION array, dimension (LDWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp; LDWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+ 9*NX+NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 21 or 22,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+10*NX+(2*IPAR(4)+IPAR(9))*NX,&nbsp; IPAR(3) = 24 or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+NX*max(16,NX+9)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , mf=10&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+(2+1./lenrat)*nnz + (11+9./lenrat)*NX, mf=121,222&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
+<b>Warning Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE/LSODA/LSODES/RADAU5 do not use
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; the input vector as argument;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Only the 1st element of RTOL is used;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) not allowed with
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/LSODES/RADAU5/DASSL/DASPK;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Only the 1st element of ATOL is used;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(37);
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6:&nbsp; Option not allowed for IPAR(38).</pre>
+<b>Error Indicator</b>
+<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Sparse storage (IPAR(4)=1) incompatible with
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/RADAU5;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Dense storage (IPAR(4)=0) incompatible with LSODES
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: ODEDER returned ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: RADAU5 returned -ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DDASSL returned -ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DDASPK returned -ERROR
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 500+ERROR: DGELDA returned -ERROR
+</pre>
+<br>
+<a NAME="Method"></a><b><font size=+1>Method</font></b>
+<pre><tt><font color="#000000">Since the package integrates 9 different solvers, it is possible to solve differential&nbsp;
+equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
+iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
+equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
+the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
+and efficient integrated package.</font></tt></pre>
+<a NAME="References"></a><b><font size=+1>References</font></b>
+<pre>&nbsp; [1]&nbsp; A.C. Hindmarsh, Brief Description of ODEPACK: A Systematized Collection&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of ODE Solvers, http://www.netlib.org/odepack/doc&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [2]&nbsp; L.R. Petzold DASSL Library Documentation, http://www.netlib.org/ode/&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [3]&nbsp; P.N. Brown, A.C. Hindmarsh, L.R. Petzold, DASPK Package 1995 Revision&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [13] Working Group on Software (WGS), SLICOT Implementation and Documentation
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Feb. 1998, ../../REPORTS/rep96-1.ps.Z.&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Note 1998-4, 1998, Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN1998-4.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Englewood Cli, NJ, 1970.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [16] F.L. Lewis and V.L. Syrmos, Optimal Control, Addison-Wesley.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; New York, 1995.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [17] W.M.Lioen, J.J.B de Swart, Test Set for Initial Value Problem Solvers,&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Technical Report NM-R9615, CWI, Amsterdam, 1996.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; http://www.cwi.nl/cwi/projects/IVPTestset/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [18] V.Hernandez, I.Blanquer, E.Arias, and P.Ruiz,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Definition and Implementation of a SLICOT Standard Interface and the&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; associated MATLAB Gateway for the Solution of Nonlinear Control Systems
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; by using ODE and DAE Packages}, Universidad Politecnica de Valencia,&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DSIC. SLICOT Working Note 2000-3: July 2000. Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN2000-3.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [19] J.J.B. de Swart, W.M. Lioen, W.A. van der Veen, SIDE, November 25,&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1998. Available at http://www.cwi.nl/cwi/projects/PSIDE/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [20] Kim, H.Young, F.L.Lewis, D.M.Dawson, Intelligent optimal control of&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; robotic manipulators using neural networks.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp; [21] J.C.Fernandez, E.Arias, V.Hernandez, L.Penalver, High Performance&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
+<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
+<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
+&nbsp; different packages integrated. Several packages are more robust
+&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
+&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
+&nbsp; of each method is recommended to check the references above.</pre>
+<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
+<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
+&nbsp; The interface checks the suitability of the methods to the&nbsp;
+&nbsp; parameters and show a warning message if problems could arise.</pre>
+<a NAME="Example"></a><b><font size=+1>Example</font></b>
+<p><b>Program Text</b>
+<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ODESOLVER EXAMPLE PROGRAM TEXT FOR LSODEX
+PROBLEM</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
+RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
+= 2, LSODES_ = 3)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
+5, DASPK_&nbsp; = 6)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
+Error: ',NAME(1:8),' &lt;solver>'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
+: LSODE, LSODA, LSODES, RADAU5, DASSL, DASP</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;K'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
+LSODEX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
+'LSODE') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODE_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'LSODA') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODA_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'LSODES') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODES_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
+.EQ. 'RADAU5') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASSL') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
+.EQ. 'DASPK') THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
+'Error: Solver: ', SOLVER,' unknown'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
+<br><tt>*</tt>
+<br><tt>99999 FORMAT (' ODESOLVER EXAMPLE PROGRAM RESULTS FOR LSODEX PROBLEM'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,/1X)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>*
+<br>*
+<br>*
+<br>*
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine ODESolver</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Indicates the nonlinear solver package to be used:</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 1: LSODE,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 2: LSODA,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 3: LSODES,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 4: RADAU5,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 5: DASSL,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 6: DASPK,</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+= 7: DGELDA.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
+RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
+= 2, LSODES_ = 3)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
+5, DASPK_&nbsp; = 6)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NIN, NOUT</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( NIN = 5, NOUT = 6 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MD, ND, LPAR, LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+( MD = 400, ND = 100, LPAR = 250,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+LWORK = 650000 )</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWARN, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL(MD), RTOL,
+NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NUMJAC, NUMMAS, CONSIS</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 ODEDER, ODEOUT, JACFX,
+JACFU, JACFP</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
+DWORK(LWORK)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
+U(MD), Y(MD)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DNRM2</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+PLSODEX,ILSODEX,SLSODEX</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DAXPY</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>*</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
+<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(1)=1D-6</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(2)=1D-10</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(3)=1D-6</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODEX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODEX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODEX(NEQN,T(1),XPRIME)</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'ODE' ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99998 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
+FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( NUMJAC )
+THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(3)=0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(3)=1</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6)=MLJAC</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7)=MUJAC</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEDER=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEOUT=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFX=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFU=''</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFP=''</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ODESolver(
+ISOLVER, ODEDER, ODEOUT, JACFX, JACFU, JACFP,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NEQN, NEQN, NEQN, T(0), T(1), X, U, Y,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR, RPAR, RTOL, ATOL,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
+) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99996 ) INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( IWARN.NE.0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+ENDIF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NEQN .LE. 10 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99994 )</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+DO 80 I=1,NEQN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99993 ) X(I), XPRIME(I)</tt>
+<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CONTINUE</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,XPRIME,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IF ( NORM.EQ.0D0 ) THEN</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=1D0</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+CALL DAXPY(NEQN,-1D0,X,1,XPRIME,1)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NORM=DNRM2(NEQN,XPRIME,1)/NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+WRITE ( NOUT, FMT = 99992 ) NORM</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
+<br><tt>*</tt>
+<br><tt>99998 FORMAT (' ERROR: This test is only intended for ODE problems')</tt>
+<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
+<br><tt>99996 FORMAT (' INFO on exit from ODESolver = ',I3)</tt>
+<br><tt>99995 FORMAT (' IWARN on exit from ODESolver = ',I3)</tt>
+<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
+<br><tt>99993 FORMAT (F,F)</tt>
+<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+,E,/1X)</tt>
+<br><tt>* *** Last line of TEST ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODEDER_( NX, NU, T, X,
+U, RPAR, IPAR, F, INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
+the problem function FEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the input vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the function is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NU)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the input values.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The resulting function value f(T,X).</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Return values of error from FEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NX, NU, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(*)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), RPAR(*),
+F(NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+FLSODEX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODEX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of ODEDER_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<br>&nbsp;
+<br>&nbsp;
+<br>&nbsp;
+<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NX, DUMMY,
+LDFX, T, X, DUMMY2, RPAR, IPAR, FX,</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+INFO )</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
+the problem function JEVAL</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Dimension of the state vector.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY&nbsp;&nbsp;&nbsp; (input) INTEGER</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
+INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The leading dimension of the array FX.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The time point where the derivative is evaluated.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(input) DOUBLE PRECISION array, dimension (NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array containing the state variables.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY2&nbsp;&nbsp; (input) DOUBLE PRECISION</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+DOUBLE PRECISION array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
+INTEGER array</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Array for communication between the driver and FEVAL.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+The array with the resulting Jacobian matrix.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+Return values of error from JEVAL or 100 in case</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+a bad problem was choosen.</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
+<br><tt>*</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
+<br><tt>*</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+NX, DUMMY, LDFX, INFO</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+IPAR(*)</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), DUMMY2(*),
+RPAR(*), FX(NX)</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+JLSODEX</tt>
+<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODEX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
+<br><tt>* *** Last line of JACFX_ ***</tt>
+<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
+<p><b>Program Data</b>
+<pre>No data required</pre>
+<b>Program Results</b>
+<pre>&nbsp;ODESOLVER EXAMPLE PROGRAM RESULTS&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;Problem: LSODEX&nbsp;&nbsp; Solver: LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;IWARN on exit from ODESolver =&nbsp;&nbsp; 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;Solution: (calculated)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;8.287534436182735E-08&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;3.329129749822125E-13&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
+&nbsp;1.118553835127275E-07</pre>
+
+<hr>
+<p><!--Click <b><a href="../../SLICOT/arc/ODESolver.tgz">here</a></b> to get a compressed (gzip)
+tar file containing the source code of the routine, the example program,
+data, documentation, and related files.-->
+<br><b><a href="..\libindex.html">Return to index</a></b>
+</body>
+</html>
diff --git a/doc/_static/doc/SB01BD.html b/doc/_static/doc/SB01BD.html
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+<HTML>
+<HEAD><TITLE>SB01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01BD">SB01BD</A></H2>
+<H3>
+Pole assignment for a given matrix pair (A,B)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine the state feedback matrix F for a given system (A,B)
+  such that the closed-loop state matrix A+B*F has specified
+  eigenvalues.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB, WR, WI,
+     $                   NFP, NAP, NUP, F, LDF, Z, LDZ, TOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO
+      INTEGER          INFO, IWARN, LDA, LDB, LDF, LDWORK, LDZ, M, N,
+     $                 NAP, NFP, NP, NUP
+      DOUBLE PRECISION ALPHA, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
+     $                 WI(*), WR(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrix B and
+          the number of columns of the matrix F.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrix B and the number of rows of the matrix F.
+          M &gt;= 0.
+
+  NP      (input) INTEGER
+          The number of given eigenvalues. At most N eigenvalues
+          can be assigned.  0 &lt;= NP.
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the maximum admissible value, either for real
+          parts, if DICO = 'C', or for moduli, if DICO = 'D',
+          of the eigenvalues of A which will not be modified by
+          the eigenvalue assignment algorithm.
+          ALPHA &gt;= 0 if DICO = 'D'.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Z'*(A+B*F)*Z in a real Schur form.
+          The leading NFP-by-NFP diagonal block of A corresponds
+          to the fixed (unmodified) eigenvalues having real parts
+          less than ALPHA, if DICO = 'C', or moduli less than ALPHA,
+          if DICO = 'D'. The trailing NUP-by-NUP diagonal block of A
+          corresponds to the uncontrollable eigenvalues detected by
+          the eigenvalue assignment algorithm. The elements under
+          the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  WR,WI   (input/output) DOUBLE PRECISION array, dimension (NP)
+          On entry, these arrays must contain the real and imaginary
+          parts, respectively, of the desired eigenvalues of the
+          closed-loop system state-matrix A+B*F. The eigenvalues
+          can be unordered, except that complex conjugate pairs
+          must appear consecutively in these arrays.
+          On exit, if INFO = 0, the leading NAP elements of these
+          arrays contain the real and imaginary parts, respectively,
+          of the assigned eigenvalues. The trailing NP-NAP elements
+          contain the unassigned eigenvalues.
+
+  NFP     (output) INTEGER
+          The number of eigenvalues of A having real parts less than
+          ALPHA, if DICO = 'C', or moduli less than ALPHA, if
+          DICO = 'D'. These eigenvalues are not modified by the
+          eigenvalue assignment algorithm.
+
+  NAP     (output) INTEGER
+          The number of assigned eigenvalues. If INFO = 0 on exit,
+          then NAP = N-NFP-NUP.
+
+  NUP     (output) INTEGER
+          The number of uncontrollable eigenvalues detected by the
+          eigenvalue assignment algorithm (see METHOD).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the state
+          feedback F, which assigns NAP closed-loop eigenvalues and
+          keeps unaltered N-NAP open-loop eigenvalues.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z which reduces the closed-loop
+          system state matrix A + B*F to upper real Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of A
+          or B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then the default tolerance
+          TOL = N * EPS * max(NORM(A),NORM(B)) is used, where EPS is
+          the machine precision (see LAPACK Library routine DLAMCH)
+          and NORM(A) denotes the 1-norm of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1,5*M,5*N,2*N+4*M ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(F) &lt;= 100*NORM(A)/NORM(B) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal.
+          = 3:  the number of eigenvalues to be assigned is less
+                than the number of possibly assignable eigenvalues;
+                NAP eigenvalues have been properly assigned,
+                but some assignable eigenvalues remain unmodified.
+          = 4:  an attempt is made to place a complex conjugate
+                pair on the location of a real eigenvalue. This
+                situation can only appear when N-NFP is odd,
+                NP &gt; N-NFP-NUP is even, and for the last real
+                eigenvalue to be modified there exists no available
+                real eigenvalue to be assigned. However, NAP
+                eigenvalues have been already properly assigned.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  SB01BD is based on the factorization algorithm of [1].
+  Given the matrices A and B of dimensions N-by-N and N-by-M,
+  respectively, this subroutine constructs an M-by-N matrix F such
+  that A + BF has eigenvalues as follows.
+  Let NFP eigenvalues of A have real parts less than ALPHA, if
+  DICO = 'C', or moduli less then ALPHA, if DICO = 'D'. Then:
+  1) If the pair (A,B) is controllable, then A + B*F has
+     NAP = MIN(NP,N-NFP) eigenvalues assigned from those specified
+     by WR + j*WI and N-NAP unmodified eigenvalues;
+  2) If the pair (A,B) is uncontrollable, then the number of
+     assigned eigenvalues NAP satifies generally the condition
+     NAP &lt;= MIN(NP,N-NFP).
+
+  At the beginning of the algorithm, F = 0 and the matrix A is
+  reduced to an ordered real Schur form by separating its spectrum
+  in two parts. The leading NFP-by-NFP part of the Schur form of
+  A corresponds to the eigenvalues which will not be modified.
+  These eigenvalues have real parts less than ALPHA, if
+  DICO = 'C', or moduli less than ALPHA, if DICO = 'D'.
+  The performed orthogonal transformations are accumulated in Z.
+  After this preliminary reduction, the algorithm proceeds
+  recursively.
+
+  Let F be the feedback matrix at the beginning of a typical step i.
+  At each step of the algorithm one real eigenvalue or two complex
+  conjugate eigenvalues are placed by a feedback Fi of rank 1 or
+  rank 2, respectively. Since the feedback Fi affects only the
+  last 1 or 2 columns of Z'*(A+B*F)*Z, the matrix Z'*(A+B*F+B*Fi)*Z
+  therefore remains in real Schur form. The assigned eigenvalue(s)
+  is (are) then moved to another diagonal position of the real
+  Schur form using reordering techniques and a new block is
+  transfered in the last diagonal position. The feedback matrix F
+  is updated as F &lt;-- F + Fi. The eigenvalue(s) to be assigned at
+  each step is (are) chosen such that the norm of each Fi is
+  minimized.
+
+  If uncontrollable eigenvalues are encountered in the last diagonal
+  position of the real Schur matrix Z'*(A+B*F)*Z, the algorithm
+  deflates them at the bottom of the real Schur form and redefines
+  accordingly the position of the "last" block.
+
+  Note: Not all uncontrollable eigenvalues of the pair (A,B) are
+  necessarily detected by the eigenvalue assignment algorithm.
+  Undetected uncontrollable eigenvalues may exist if NFP &gt; 0 and/or
+  NP &lt; N-NFP.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      A Schur method for pole assignment.
+      IEEE Trans. Autom. Control, Vol. AC-26, pp. 517-519, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations. Although no proof of numerical stability is known,
+  the algorithm has always been observed to yield reliable
+  numerical results.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB01BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDF, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDF = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 5*MMAX,5*NMAX,2*NMAX+4*MMAX ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, ANORM, NRM, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NAP, NFP, NP, NUP
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), AIN(LDA,NMAX), B(LDB,MMAX),
+     $                 DWORK(LDWORK), F(LDF,NMAX), WI(NMAX), WR(NMAX),
+     $                 Z(LDZ,NMAX), ZTA(LDZ,NMAX)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      DOUBLE PRECISION DLAMCH, DLANGE
+      EXTERNAL         DLAMCH, DLANGE, LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DGEMM, DLACPY, MB03QX, SB01BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, ALPHA, TOL, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF( NP.LT.0 .OR. NP.GT.NMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) NP
+            ELSE
+               DO 10 I = 1, NP
+                  READ ( NIN, FMT = * ) WR(I), WI(I)
+   10          CONTINUE
+*              Perform "eigenvalue assignment" to compute F.
+               CALL DLACPY( 'G', N, N, A, LDA, AIN, LDA )
+               CALL SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB,
+     $                      WR, WI, NFP, NAP, NUP, F, LDF, Z, LDZ,
+     $                      TOL, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 .AND. INFO.LT.3 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  IF ( INFO  .NE. 0 ) WRITE ( NOUT, FMT = 99997 ) INFO
+                  IF ( IWARN .NE. 0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
+                  WRITE ( NOUT, FMT = 99990 ) NAP
+                  WRITE ( NOUT, FMT = 99989 ) NFP
+                  WRITE ( NOUT, FMT = 99988 ) NUP
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
+   60             CONTINUE
+                  CALL MB03QX( N, A, LDA, WR, WI, INFO )
+                  WRITE ( NOUT, FMT = 99998 ) ( WR(I), WI(I), I = 1,N )
+*                 Compute NORM (Z*Aout*Z'-(A+B*F)) / (eps*NORM(A))
+                  ANORM = DLANGE( 'F', N, N, AIN, LDA, DWORK )
+                  CALL DGEMM( 'N', 'N', N, N, M, ONE, B, LDB, F, LDF,
+     $                        ONE, AIN, LDA )
+                  CALL DGEMM( 'N', 'N', N, N, N, ONE, Z, LDZ, A, LDA,
+     $                        ZERO, ZTA, LDZ )
+                  CALL DGEMM( 'N', 'T', N, N, N, ONE, ZTA, LDZ, Z, LDZ,
+     $                        -ONE, AIN, LDA )
+                  NRM = DLANGE( 'F', N, N, AIN, LDA, DWORK ) /
+     $                  ( DLAMCH( 'E' )*ANORM )
+                  WRITE ( NOUT, FMT = 99987 ) NRM
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB01BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/,' The eigenvalues of closed-loop matrix A+B*F',/
+     $          ( ' ( ',F8.4,',',F8.4,' )' ) )
+99997 FORMAT (' INFO on exit from SB01BD = ',I2)
+99996 FORMAT (/,' The state feedback matrix F is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99991 FORMAT (/' IWARN on exit from SB01BD = ', I2)
+99990 FORMAT ( ' Number of assigned eigenvalues: NAP = ', I2 )
+99989 FORMAT ( ' Number of fixed eigenvalues:    NFP = ', I2)
+99988 FORMAT ( ' Number of uncontrollable poles: NUP = ', I2)
+99987 FORMAT (/,' NORM(A+B*F - Z*Aout*Z'') / (eps*NORM(A)) =',1PD12.5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB01BD EXAMPLE PROGRAM DATA
+   4   2   2   -.4  1.E-8   C
+  -6.8000   0.0000  -207.0000   0.0000
+   1.0000   0.0000     0.0000   0.0000
+  43.2000   0.0000     0.0000  -4.2000
+   0.0000   0.0000     1.0000   0.0000
+   5.6400   0.0000
+   0.0000   0.0000
+   0.0000   1.1800
+   0.0000   0.0000
+  -0.5000   0.1500
+  -0.5000  -0.1500
+  -2.0000   0.0000
+  -0.4000   0.0000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB01BD EXAMPLE PROGRAM RESULTS
+
+ Number of assigned eigenvalues: NAP =  2
+ Number of fixed eigenvalues:    NFP =  2
+ Number of uncontrollable poles: NUP =  0
+
+ The state feedback matrix F is 
+  -0.0876  -4.2138   0.0837 -18.1412
+  -0.0233  18.2483  -0.4259  -4.8120
+
+ The eigenvalues of closed-loop matrix A+B*F
+ (  -3.3984, 94.5253 )
+ (  -3.3984,-94.5253 )
+ (  -0.5000,  0.1500 )
+ (  -0.5000, -0.1500 )
+
+ NORM(A+B*F - Z*Aout*Z') / (eps*NORM(A)) = 1.03505D+01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB01BX.html b/doc/_static/doc/SB01BX.html
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+<HTML>
+<HEAD><TITLE>SB01BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01BX">SB01BX</A></H2>
+<H3>
+Choosing the closest real (complex conjugate) eigenvalue(s) to a given real (complex) value
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To choose a real eigenvalue or a pair of complex conjugate
+  eigenvalues at "minimal" distance to a given real or complex
+  value.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01BX( REIG, N, XR, XI, WR, WI, S, P )
+C     .. Scalar Arguments ..
+      LOGICAL          REIG
+      INTEGER          N
+      DOUBLE PRECISION P, S, XI ,XR
+C     .. Array Arguments ..
+      DOUBLE PRECISION WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  REIG    LOGICAL
+          Specifies the type of eigenvalues as follows:
+          = .TRUE.,  a real eigenvalue is to be selected;
+          = .FALSE., a pair of complex eigenvalues is to be
+                     selected.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of eigenvalues contained in the arrays WR
+          and WI.  N &gt;= 1.
+
+  XR,XI   (input) DOUBLE PRECISION
+          If REIG = .TRUE., XR must contain the real value and XI
+          is assumed zero and therefore not referenced.
+          If REIG = .FALSE., XR must contain the real part and XI
+          the imaginary part, respectively, of the complex value.
+
+  WR,WI   (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, if REIG = .TRUE., WR must contain the real
+          eigenvalues from which an eigenvalue at minimal distance
+          to XR is to be selected. In this case, WI is considered
+          zero and therefore not referenced.
+          On entry, if REIG = .FALSE., WR and WI must contain the
+          real and imaginary parts, respectively, of the eigenvalues
+          from which a pair of complex conjugate eigenvalues at
+          minimal "distance" to XR + jXI is to be selected.
+          The eigenvalues of each pair of complex conjugate
+          eigenvalues must appear consecutively.
+          On exit, the elements of these arrays are reordered such
+          that the selected eigenvalue(s) is (are) found in the
+          last element(s) of these arrays.
+
+  S,P     (output) DOUBLE PRECISION
+          If REIG = .TRUE., S (and also P) contains the value of
+          the selected real eigenvalue.
+          If REIG = .FALSE., S and P contain the sum and product,
+          respectively, of the selected complex conjugate pair of
+          eigenvalues.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For efficiency reasons, |x| + |y| is used for a complex number
+  x + jy, instead of its modulus.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB01BY.html b/doc/_static/doc/SB01BY.html
new file mode 100644
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+++ b/doc/_static/doc/SB01BY.html
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+<HTML>
+<HEAD><TITLE>SB01BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01BY">SB01BY</A></H2>
+<H3>
+Pole placement for systems of order 1 or 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve an N-by-N pole placement problem for the simple cases
+  N = 1 or N = 2: given the N-by-N matrix A and N-by-M matrix B,
+  construct an M-by-N matrix F such that A + B*F has prescribed
+  eigenvalues. These eigenvalues are specified by their sum S and
+  product P (if N = 2). The resulting F has minimum Frobenius norm.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01BY( N, M, S, P, A, B, F, TOL, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M, N
+      DOUBLE PRECISION  P, S, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(N,*), B(N,*), DWORK(*), F(M,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and also the number of rows of
+          the matrix B and the number of columns of the matrix F.
+          N is either 1, if a single real eigenvalue is prescribed
+          or 2, if a complex conjugate pair or a set of two real
+          eigenvalues are prescribed.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B and also the number
+          of rows of the matrix F.  M &gt;= 1.
+
+  S       (input) DOUBLE PRECISION
+          The sum of the prescribed eigenvalues if N = 2 or the
+          value of prescribed eigenvalue if N = 1.
+
+  P       (input) DOUBLE PRECISION
+          The product of the prescribed eigenvalues if N = 2.
+          Not referenced if N = 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (N,N)
+          On entry, this array must contain the N-by-N state
+          dynamics matrix whose eigenvalues have to be moved to
+          prescribed locations.
+          On exit, this array contains no useful information.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N,M)
+          On entry, this array must contain the N-by-M input/state
+          matrix B.
+          On exit, this array contains no useful information.
+
+  F       (output) DOUBLE PRECISION array, dimension (M,N)
+          The state feedback matrix F which assigns one pole or two
+          poles of the closed-loop matrix A + B*F.
+          If N = 2 and the pair (A,B) is not controllable
+          (INFO = 1), then F(1,1) and F(1,2) contain the elements of
+          an orthogonal rotation which can be used to remove the
+          uncontrollable part of the pair (A,B).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of A
+          and B are considered zero (used for controllability test).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if uncontrollability of the pair (A,B) is detected.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB01DD.html b/doc/_static/doc/SB01DD.html
new file mode 100644
index 00000000..198e7c4e
--- /dev/null
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+<HTML>
+<HEAD><TITLE>SB01DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01DD">SB01DD</A></H2>
+<H3>
+Eigenstructure assignment for a multi-input system in orthogonal canonical form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a controllable matrix pair ( A, B ) a matrix G
+  such that the matrix A - B*G has the desired eigenstructure,
+  specified by desired eigenvalues and free eigenvector elements.
+
+  The pair ( A, B ) should be given in orthogonal canonical form
+  as returned by the SLICOT Library routine AB01ND.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
+     $                   Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            COUNT, INDCON, INFO, LDA, LDB, LDG, LDWORK,
+     $                   LDZ, M, N
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), NBLK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   G( LDG, * ), WI( * ), WR( * ), Y( * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of rows of the
+          matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  INDCON  (input) INTEGER
+          The controllability index of the pair ( A, B ).
+          0 &lt;= INDCON &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N matrix A in orthogonal canonical form,
+          as returned by SLICOT Library routine AB01ND.
+          On exit, the leading N-by-N part of this array contains
+          the real Schur form of the matrix A - B*G.
+          The elements below the real Schur form of A are set to
+          zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M matrix B in orthogonal canonical form,
+          as returned by SLICOT Library routine AB01ND.
+          On exit, the leading N-by-M part of this array contains
+          the transformed matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  NBLK    (input) INTEGER array, dimension (N)
+          The leading INDCON elements of this array must contain the
+          orders of the diagonal blocks in the orthogonal canonical
+          form of A, as returned by SLICOT Library routine AB01ND.
+          The values of these elements must satisfy the following
+          conditions:
+          NBLK(1) &gt;= NBLK(2) &gt;= ... &gt;= NBLK(INDCON),
+          NBLK(1) + NBLK(2) + ... + NBLK(INDCON) = N.
+
+  WR      (input) DOUBLE PRECISION array, dimension (N)
+  WI      (input) DOUBLE PRECISION array, dimension (N)
+          These arrays must contain the real and imaginary parts,
+          respectively, of the desired poles of the closed-loop
+          system, i.e., the eigenvalues of A - B*G. The poles can be
+          unordered, except that complex conjugate pairs of poles
+          must appear consecutively.
+          The elements of WI for complex eigenvalues are modified
+          internally, but restored on exit.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the orthogonal matrix Z generated by SLICOT
+          Library routine AB01ND in the reduction of ( A, B ) to
+          orthogonal canonical form.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal transformation matrix which reduces A - B*G
+          to real Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
+
+  Y       (input) DOUBLE PRECISION array, dimension (M*N)
+          Y contains elements which are used as free parameters
+          in the eigenstructure design. The values of these
+          parameters are often set by an external optimization
+          procedure.
+
+  COUNT   (output) INTEGER
+          The actual number of elements in Y used as free
+          eigenvector and feedback matrix elements in the
+          eigenstructure design.
+
+  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
+          The leading M-by-N part of this array contains the
+          feedback matrix which assigns the desired eigenstructure
+          of A - B*G.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,M).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where
+          EPS  is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(M*N,M*M+2*N+4*M+1).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the pair ( A, B ) is not controllable or the free
+                parameters are not set appropriately.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method proposed in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
+      Postlethwaite, I.
+      Optimal pole assignment design of linear multi-input systems.
+      Report 96-11, Department of Engineering, Leicester University,
+      1996.
+
+  [2] Petkov, P.Hr., Christov, N.D. and Konstantinov, M.M.
+      A computational algorithm for pole assignment of linear multi
+      input systems. IEEE Trans. Automatic Control, vol. AC-31,
+      pp. 1044-1047, 1986.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The method implemented is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The eigenvalues of the real Schur form matrix As, returned in the
+  array A, are very close to the desired eigenvalues WR+WI*i.
+  However, the eigenvalues of the closed-loop matrix A - B*G,
+  computed by the QR algorithm using the matrices A and B, given on
+  entry, may be far from WR+WI*i, although the relative error
+     norm( Z'*(A - B*G)*Z - As )/norm( As )
+  is close to machine accuracy. This may happen when the eigenvalue
+  problem for the matrix A - B*G is ill-conditioned.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB01DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDG, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = MMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 3*NMAX, MMAX*NMAX,
+     $                                 MMAX*MMAX + 2*NMAX + 4*MMAX + 1 )
+     $                 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          COUNT, I, INDCON, INFO1, INFO2, J, M, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      INTEGER          IWORK(MMAX), NBLK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX,MMAX), DWORK(LDWORK),
+     $                 G(LDG,NMAX), WI(NMAX), WR(NMAX), Y(MMAX*NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB01ND, SB01DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
+            READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
+            READ ( NIN, FMT = * ) ( Y(I),  I = 1,M*N )
+*           First reduce the given system to canonical form.
+            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
+     $                   NBLK, Z, LDZ, DWORK, TOL, IWORK, DWORK(N+1),
+     $                   LDWORK-N, INFO1 )
+*
+            IF ( INFO1.EQ.0 ) THEN
+*              Find the state feedback matrix G.
+               CALL SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
+     $                      Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO2 )
+*
+               IF ( INFO2.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO2
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 10 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,N )
+   10             CONTINUE
+               END IF
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO1
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB01DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01ND =',I2)
+99997 FORMAT (' INFO on exit from SB01DD =',I2)
+99996 FORMAT (' The state feedback matrix G is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB01DD EXAMPLE PROGRAM DATA
+   4   2     0.0     I
+  -1.0  0.0  2.0 -3.0
+   1.0 -4.0  3.0 -1.0
+   0.0  2.0  4.0 -5.0
+   0.0  0.0 -1.0 -2.0
+   1.0  0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+  -1.0 -1.0 -1.0 -1.0
+   0.0  0.0  0.0  0.0
+   1.0  2.0  2.0  1.0 -1.0 -2.0  3.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB01DD EXAMPLE PROGRAM RESULTS
+
+ The state feedback matrix G is
+  -5.2339   3.1725 -15.7885  21.7043
+  -1.6022   0.8504  -5.1914   6.2339
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB01FY.html b/doc/_static/doc/SB01FY.html
new file mode 100644
index 00000000..f5948ba5
--- /dev/null
+++ b/doc/_static/doc/SB01FY.html
@@ -0,0 +1,130 @@
+<HTML>
+<HEAD><TITLE>SB01FY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01FY">SB01FY</A></H2>
+<H3>
+Inner denominator of a right-coprime factorization of an unstable system of order 1 or 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the inner denominator of a right-coprime factorization
+  of a system of order N, where N is either 1 or 2. Specifically,
+  given the N-by-N unstable system state matrix A and the N-by-M
+  system input matrix B, an M-by-N state-feedback matrix F and
+  an M-by-M matrix V are constructed, such that the system
+  (A + B*F, B*V, F, V) is inner.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01FY( DISCR, N, M, A, LDA, B, LDB, F, LDF, V, LDV,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR
+      INTEGER           INFO, LDA, LDB, LDF, LDV, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), F(LDF,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of system as follows:
+          = .FALSE.:  continuous-time system;
+          = .TRUE. :  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and also the number of rows of
+          the matrix B and the number of columns of the matrix F.
+          N is either 1 or 2.
+
+  M       (input) INTEGER
+          The number of columns of the matrices B and V, and also
+          the number of rows of the matrix F.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A whose eigenvalues must have positive
+          real parts if DISCR = .FALSE. or moduli greater than unity
+          if DISCR = .TRUE..
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= N.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= N.
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the state-
+          feedback matrix F which assigns one eigenvalue (if N = 1)
+          or two eigenvalues (if N = 2) of the matrix A + B*F in
+          symmetric positions with respect to the imaginary axis
+          (if DISCR = .FALSE.) or the unit circle (if
+          DISCR = .TRUE.).
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
+          The leading M-by-M upper triangular part of this array
+          contains the input/output matrix V of the resulting inner
+          system in upper triangular form.
+          If DISCR = .FALSE., the resulting V is an identity matrix.
+
+  LDV     INTEGER
+          The leading dimension of array V.  LDF &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if uncontrollability of the pair (A,B) is detected;
+          = 2:  if A is stable or at the stability limit;
+          = 3:  if N = 2 and A has a pair of real eigenvalues.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB01MD.html b/doc/_static/doc/SB01MD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB01MD">SB01MD</A></H2>
+<H3>
+State feedback matrix of a linear time-invariant single-input system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To determine the one-dimensional state feedback matrix G of the
+  linear time-invariant single-input system
+
+        dX/dt = A * X + B * U,
+
+  where A is an NCONT-by-NCONT matrix and B is an NCONT element
+  vector such that the closed-loop system
+
+        dX/dt = (A - B * G) * X
+
+  has desired poles. The system must be preliminarily reduced
+  to orthogonal canonical form using the SLICOT Library routine
+  AB01MD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDZ, N, NCONT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), G(*), WI(*), WR(*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NCONT   (input) INTEGER
+          The order of the matrix A as produced by SLICOT Library
+          routine AB01MD.  NCONT &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix Z.  N &gt;= NCONT.
+
+  A       (input/output) DOUBLE PRECISION array, dimension
+          (LDA,NCONT)
+          On entry, the leading NCONT-by-NCONT part of this array
+          must contain the canonical form of the state dynamics
+          matrix A as produced by SLICOT Library routine AB01MD.
+          On exit, the leading NCONT-by-NCONT part of this array
+          contains the upper quasi-triangular form S of the closed-
+          loop system matrix (A - B * G), that is triangular except
+          for possible 2-by-2 diagonal blocks.
+          (To reconstruct the closed-loop system matrix see
+          FURTHER COMMENTS below.)
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,NCONT).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (NCONT)
+          On entry, this array must contain the canonical form of
+          the input/state vector B as produced by SLICOT Library
+          routine AB01MD.
+          On exit, this array contains the transformed vector Z * B
+          of the closed-loop system.
+
+  WR      (input) DOUBLE PRECISION array, dimension (NCONT)
+  WI      (input) DOUBLE PRECISION array, dimension (NCONT)
+          These arrays must contain the real and imaginary parts,
+          respectively, of the desired poles of the closed-loop
+          system. The poles can be unordered, except that complex
+          conjugate pairs of poles must appear consecutively.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, the leading N-by-N part of this array must
+          contain the orthogonal transformation matrix as produced
+          by SLICOT Library routine AB01MD, which reduces the system
+          to canonical form.
+          On exit, the leading NCONT-by-NCONT part of this array
+          contains the orthogonal matrix Z which reduces the closed-
+          loop system matrix (A - B * G) to upper quasi-triangular
+          form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
+
+  G       (output) DOUBLE PRECISION array, dimension (NCONT)
+          This array contains the one-dimensional state feedback
+          matrix G of the original system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*NCONT)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method is based on the orthogonal reduction of the closed-loop
+  system matrix (A - B * G) to upper quasi-triangular form S whose
+  1-by-1 and 2-by-2 diagonal blocks correspond to the desired poles.
+  That is, S = Z'*(A - B * G)*Z, where Z is an orthogonal matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Petkov, P. Hr.
+      A Computational Algorithm for Pole Assignment of Linear
+      Single Input Systems.
+      Internal Report 81/2, Control Systems Research Group, School
+      of Electronic Engineering and Computer Science, Kingston
+      Polytechnic, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                3
+  The algorithm requires 0(NCONT ) operations and is backward
+  stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If required, the closed-loop system matrix (A - B * G) can be
+  formed from the matrix product Z * S * Z' (where S and Z are the
+  matrices output in arrays A and Z respectively).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDZ
+      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO1, INFO2, J, N, NCONT
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), G(NMAX),
+     $                 WI(NMAX), WR(NMAX), Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         AB01MD, SB01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, TOL, JOBZ
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
+         READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
+*        First reduce the given system to canonical form.
+         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, DWORK, TOL,
+     $                DWORK(N+1), LDWORK-N, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+*           Find the one-dimensional state feedback matrix G.
+            CALL SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
+     $                   INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            ELSE
+               WRITE ( NOUT, FMT = 99996 ) ( G(I), I = 1,NCONT )
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01MD =',I2)
+99997 FORMAT (' INFO on exit from SB01MD =',I2)
+99996 FORMAT (' The one-dimensional state feedback matrix G is',
+     $       /20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB01MD EXAMPLE PROGRAM DATA
+   4     0.0     I
+  -1.0  0.0  2.0 -3.0
+   1.0 -4.0  3.0 -1.0
+   0.0  2.0  4.0 -5.0
+   0.0  0.0 -1.0 -2.0
+   1.0  0.0  0.0  0.0
+  -1.0 -1.0 -1.0 -1.0
+   0.0  0.0  0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB01MD EXAMPLE PROGRAM RESULTS
+
+ The one-dimensional state feedback matrix G is
+   1.0000  29.0000  93.0000 -76.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02MD.html b/doc/_static/doc/SB02MD.html
new file mode 100644
index 00000000..1f908070
--- /dev/null
+++ b/doc/_static/doc/SB02MD.html
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+<HTML>
+<HEAD><TITLE>SB02MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MD">SB02MD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations (Schur vectors method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                           -1
+     Q + A'*X + X*A - X*B*R  B'*X = 0                            (1)
+
+  or the discrete-time algebraic Riccati equation
+                                     -1
+     X = A'*X*A - A'*X*B*(R + B'*X*B)  B'*X*A + Q                (2)
+
+  where A, B, Q and R are N-by-N, N-by-M, N-by-N and M-by-M matrices
+  respectively, with Q symmetric and R symmetric nonsingular; X is
+  an N-by-N symmetric matrix.
+                    -1
+  The matrix G = B*R  B' must be provided on input, instead of B and
+  R, that is, for instance, the continuous-time equation
+
+     Q + A'*X + X*A - X*G*X = 0                                  (3)
+
+  is solved, where G is an N-by-N symmetric matrix. SLICOT Library
+  routine SB02MT should be used to compute G, given B and R. SB02MT
+  also enables to solve Riccati equations corresponding to optimal
+  problems with coupling terms.
+
+  The routine also returns the computed values of the closed-loop
+  spectrum of the optimal system, i.e., the stable eigenvalues
+  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
+  symplectic matrix associated to the optimal problem.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G,
+     $                   LDG, Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU,
+     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HINV, SCAL, SORT, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDU, LDWORK, N
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*), U(LDU,*), WR(*), WI(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved as
+          follows:
+          = 'C':  Equation (3), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  HINV    CHARACTER*1
+          If DICO = 'D', specifies which symplectic matrix is to be
+          constructed, as follows:
+          = 'D':  The matrix H in (5) (see METHOD) is constructed;
+          = 'I':  The inverse of the matrix H in (5) is constructed.
+          HINV is not used if DICO = 'C'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  SCAL    CHARACTER*1
+          Specifies whether or not a scaling strategy should be
+          used, as follows:
+          = 'G':  General scaling should be used;
+          = 'N':  No scaling should be used.
+
+  SORT    CHARACTER*1
+          Specifies which eigenvalues should be obtained in the top
+          of the Schur form, as follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, G and X.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A of the equation.
+          On exit, if DICO = 'D', and INFO = 0 or INFO &gt; 1, the
+                                                                 -1
+          leading N-by-N part of this array contains the matrix A  .
+          Otherwise, the array A is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          The leading N-by-N upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          must contain the upper triangular part or lower triangular
+          part, respectively, of the symmetric matrix G.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix Q.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          used.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the solution matrix X of the problem.
+
+  LDQ     INTEGER
+          The leading dimension of array N.  LDQ &gt;= MAX(1,N).
+
+  RCOND   (output) DOUBLE PRECISION
+          An estimate of the reciprocal of the condition number (in
+          the 1-norm) of the N-th order system of algebraic
+          equations from which the solution matrix X is obtained.
+
+  WR      (output) DOUBLE PRECISION array, dimension (2*N)
+  WI      (output) DOUBLE PRECISION array, dimension (2*N)
+          If INFO = 0 or INFO = 5, these arrays contain the real and
+          imaginary parts, respectively, of the eigenvalues of the
+          2N-by-2N matrix S, ordered as specified by SORT (except
+          for the case HINV = 'D', when the order is opposite to
+          that specified by SORT). The leading N elements of these
+          arrays contain the closed-loop spectrum of the system
+                        -1
+          matrix A - B*R  *B'*X, if DICO = 'C', or of the matrix
+                            -1
+          A - B*(R + B'*X*B)  B'*X*A, if DICO = 'D'. Specifically,
+             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
+          array contains the ordered real Schur form S of the
+          Hamiltonian or symplectic matrix H. That is,
+
+                 (S   S  )
+                 ( 11  12)
+             S = (       ),
+                 (0   S  )
+                 (     22)
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
+          array contains the transformation matrix U which reduces
+          the Hamiltonian or symplectic matrix H to the ordered real
+          Schur form S. That is,
+
+                 (U   U  )
+                 ( 11  12)
+             U = (       ),
+                 (U   U  )
+                 ( 21  22)
+
+          where U  , U  , U   and U   are N-by-N matrices.
+                 11   12   21      22
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) returns the scaling factor used
+          (set to 1 if SCAL = 'N'), also set if INFO = 5;
+          if DICO = 'D', DWORK(3) returns the reciprocal condition
+          number of the given matrix  A.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(2,6*N) if DICO = 'C';
+          LDWORK &gt;= MAX(3,6*N) if DICO = 'D'.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if matrix A is (numerically) singular in discrete-
+                time case;
+          = 2:  if the Hamiltonian or symplectic matrix H cannot be
+                reduced to real Schur form;
+          = 3:  if the real Schur form of the Hamiltonian or
+                symplectic matrix H cannot be appropriately ordered;
+          = 4:  if the Hamiltonian or symplectic matrix H has less
+                than N stable eigenvalues;
+          = 5:  if the N-th order system of linear algebraic
+                equations, from which the solution matrix X would
+                be obtained, is singular to working precision.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Schur vector approach proposed by Laub.
+  It is assumed that [A,B] is a stabilizable pair (where for (3) B
+  is any matrix such that B*B' = G with rank(B) = rank(G)), and
+  [E,A] is a detectable pair, where E is any matrix such that
+  E*E' = Q with rank(E) = rank(Q). Under these assumptions, any of
+  the algebraic Riccati equations (1)-(3) is known to have a unique
+  non-negative definite solution. See [2].
+  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
+
+              ( A   -G )
+         H =  (        ),                                    (4)
+              (-Q   -A'),
+
+  for continuous-time equation, and
+                 -1        -1
+              ( A         A  *G   )
+         H =  (   -1          -1  ),                         (5)
+              (Q*A    A' + Q*A  *G)
+                                                         -1
+  for discrete-time equation, respectively, where G = B*R  *B'.
+  The assumptions guarantee that H in (4) has no pure imaginary
+  eigenvalues, and H in (5) has no eigenvalues on the unit circle.
+  If Y is an N-by-N matrix then there exists an orthogonal matrix U
+  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
+  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
+  (corresponding to the complex conjugate eigenvalues and real
+  eigenvalues respectively) appear in any desired order. This is the
+  ordered real Schur form. Thus, we can find an orthogonal
+  similarity transformation U which puts (4) or (5) in ordered real
+  Schur form
+
+         U'*H*U = S = (S(1,1)  S(1,2))
+                      (  0     S(2,2))
+
+  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
+  have negative real parts in case of (4), or moduli greater than
+  one in case of (5). If U is conformably partitioned into four
+  N-by-N blocks
+
+            U = (U(1,1)  U(1,2))
+                (U(2,1)  U(2,2))
+
+  with respect to the assumptions we then have
+  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
+      (2), or (3) with X = X' and non-negative definite;
+  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
+      DICO = 'D') are equal to the eigenvalues of optimal system
+      (the 'closed-loop' spectrum).
+
+  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
+  is stable. [E,A] is detectable if [A',E'] is stabilizable.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Laub, A.J.
+      A Schur Method for Solving Algebraic Riccati equations.
+      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
+
+  [2] Wonham, W.M.
+      On a matrix Riccati equation of stochastic control.
+      SIAM J. Contr., 6, pp. 681-697, 1968.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
+  SORT = 'S', if HINV = 'I'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying
+      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
+      SORT = 'S' if DICO = 'D' and HINV = 'D'.
+
+  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
+  and SORT = 'U', will be faster then the other combinations [3].
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02MD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDS, LDU
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDS = 2*NMAX, LDU = 2*NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 6*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, N
+      CHARACTER        DICO, HINV, SCAL, SORT, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), U(LDU,2*NMAX),
+     $                 WI(2*NMAX), WR(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB02MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DICO, HINV, UPLO, SCAL, SORT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G, LDG,
+     $                Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU, IWORK,
+     $                DWORK, LDWORK, BWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) RCOND
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( Q(I,J), J = 1,N )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02MD = ',I2)
+99997 FORMAT (' RCOND = ',F4.2,//' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02MD EXAMPLE PROGRAM DATA
+   2     C     D     U     N     S
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02MD EXAMPLE PROGRAM RESULTS
+
+ RCOND = 0.31
+
+ The solution matrix X is 
+   2.0000   1.0000
+   1.0000   2.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02MT.html b/doc/_static/doc/SB02MT.html
new file mode 100644
index 00000000..3e11981b
--- /dev/null
+++ b/doc/_static/doc/SB02MT.html
@@ -0,0 +1,316 @@
+<HTML>
+<HEAD><TITLE>SB02MT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MT">SB02MT</A></H2>
+<H3>
+Conversion of optimal problems with coupling weighting terms to standard problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the following matrices
+
+             -1
+      G = B*R  *B',
+
+      -          -1
+      A = A - B*R  *L',
+
+      -          -1
+      Q = Q - L*R  *L',
+
+  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
+  N-by-M, and N-by-N matrices, respectively, with Q, R and G
+  symmetric matrices.
+
+  When R is well-conditioned with respect to inversion, standard
+  algorithms for solving linear-quadratic optimization problems will
+  then also solve optimization problems with coupling weighting
+  matrix L. Moreover, a gain in efficiency is possible using matrix
+  G in the deflating subspace algorithms (see SLICOT Library routine
+  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
+  SG02CD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MT( JOBG, JOBL, FACT, UPLO, N, M, A, LDA, B, LDB,
+     $                   Q, LDQ, R, LDR, L, LDL, IPIV, OUFACT, G, LDG,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FACT, JOBG, JOBL, UPLO
+      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
+     $                  N, OUFACT
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
+     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBG    CHARACTER*1
+          Specifies whether or not the matrix G is to be computed,
+          as follows:
+          = 'G':  Compute G;
+          = 'N':  Do not compute G.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the factors of the symmetric
+                  indefinite UdU' or LdL' factorization of R.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices R, Q (if
+          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, and G, and the number of
+          rows of the matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix R, and the number of columns of
+          the matrices B and L.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if JOBL = 'N', the leading N-by-N part of this
+          array must contain the matrix A.
+          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
+                                                 -          -1
+          part of this array contains the matrix A = A - B*R  L'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if JOBL = 'N';
+          LDA &gt;= 1        if JOBL = 'Z'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B.
+          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
+                                                          -1
+          part of this array contains the matrix B*chol(R)  .
+          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if JOBL = 'N', the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively, of
+          the symmetric matrix Q. The strictly lower triangular part
+          (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array contains the upper
+          triangular part or lower triangular part, respectively, of
+                               -          -1
+          the symmetric matrix Q = Q - L*R  *L'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if JOBL = 'N';
+          LDQ &gt;= 1        if JOBL = 'Z'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if FACT = 'U', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the factors of
+          the UdU' or LdL' factorization, respectively, of the
+          symmetric indefinite input weighting matrix R (as produced
+          by LAPACK routine DSYTRF).
+          If FACT = 'N', the strictly lower triangular part (if UPLO
+          = 'U') or strictly upper triangular part (if UPLO = 'L')
+          of this array is used as workspace (filled in by
+          symmetry).
+          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix.
+          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix.
+          On exit R is unchanged if FACT = 'C' or 'U'.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
+          On entry, if JOBL = 'N', the leading N-by-M part of this
+          array must contain the matrix L.
+          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
+          leading N-by-M part of this array contains the matrix
+                   -1
+          L*chol(R)  .
+          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+          L is not referenced if JOBL = 'Z'.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R,
+          as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'C'.
+
+  OUFACT  (output) INTEGER
+          Information about the factorization finally used.
+          OUFACT = 0:  no factorization of R has been used (M = 0);
+          OUFACT = 1:  Cholesky factorization of R has been used;
+          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
+                       factorization of R has been used.
+
+  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
+          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array contains the upper
+          triangular part (if UPLO = 'U') or lower triangular part
+                                                              -1
+          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
+          If JOBG = 'N', this array is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.
+          LDG &gt;= MAX(1,N) if JOBG = 'G';
+          LDG &gt;= 1        if JOBG = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FACT = 'C' or FACT = 'U', this array is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
+          as specified below, DWORK(2) contains the reciprocal
+          condition number of the given matrix R.
+          On exit, if LDWORK = -2 on input or INFO = -23, then
+          DWORK(1) returns the minimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
+                                      JOBG = 'N' and  JOBL = 'Z');
+          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
+                                                      JOBL = 'Z';
+          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
+                                                      JOBL = 'N');
+          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
+                                                      JOBL = 'N').
+          For optimum performance LDWORK should be larger than 3*M,
+          if FACT = 'N'.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
+                exactly zero; the UdU' (or LdL') factorization has
+                been completed, but the block diagonal matrix d is
+                exactly singular;
+          = M+1:  if the matrix R is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>                         -     -
+  The matrices G, and/or A and Q are evaluated using the given or
+  computed symmetric factorization of R.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine should not be used when R is ill-conditioned.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02MU.html b/doc/_static/doc/SB02MU.html
new file mode 100644
index 00000000..f5c6379a
--- /dev/null
+++ b/doc/_static/doc/SB02MU.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>SB02MU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MU">SB02MU</A></H2>
+<H3>
+Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
+  associated to the linear-quadratic optimization problem, used to
+  solve the continuous- or discrete-time algebraic Riccati equation,
+  respectively.
+
+  For a continuous-time problem, S is defined by
+
+          (  A  -G )
+      S = (        ),                                       (1)
+          ( -Q  -A')
+
+  and for a discrete-time problem by
+
+              -1       -1
+          (  A        A  *G     )
+      S = (   -1           -1   ),                          (2)
+          ( QA     A' + Q*A  *G )
+
+  or
+
+                    -T         -T
+          (  A + G*A  *Q   -G*A   )
+      S = (      -T            -T ),                        (3)
+          (    -A  *Q         A   )
+
+  where A, G, and Q are N-by-N matrices, with G and Q symmetric.
+  Matrix A must be nonsingular in the discrete-time case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MU( DICO, HINV, UPLO, N, A, LDA, G, LDG, Q, LDQ, S,
+     $                   LDS, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HINV, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  Continuous-time system;
+          = 'D':  Discrete-time system.
+
+  HINV    CHARACTER*1
+          If DICO = 'D', specifies which of the matrices (2) or (3)
+          is constructed, as follows:
+          = 'D':  The matrix S in (2) is constructed;
+          = 'I':  The (inverse) matrix S in (3) is constructed.
+          HINV is not referenced if DICO = 'C'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A.
+          On exit, if DICO = 'D', and INFO = 0, the leading N-by-N
+                                                  -1
+          part of this array contains the matrix A  .
+          Otherwise, the array A is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          The leading N-by-N upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          must contain the upper triangular part or lower triangular
+          part, respectively, of the symmetric matrix G.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          must contain the upper triangular part or lower triangular
+          part, respectively, of the symmetric matrix Q.
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') is not
+          referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If INFO = 0, the leading 2N-by-2N part of this array
+          contains the Hamiltonian or symplectic matrix of the
+          problem.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK; if DICO = 'D', DWORK(2) returns the reciprocal
+          condition number of the given matrix  A.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1          if DICO = 'C';
+          LDWORK &gt;= MAX(2,4*N) if DICO = 'D'.
+          For optimum performance LDWORK should be larger, if
+          DICO = 'D'.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
+                submatrix of A is singular in discrete-time case;
+          = N+1:  if matrix A is numerically singular in discrete-
+                time case.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
+  is constructed.
+  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
+  (3) - the inverse of the matrix in (2) - is constructed.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The discrete-time case needs the inverse of the matrix A, hence
+  the routine should not be used when A is ill-conditioned.
+                            3
+  The algorithm requires 0(n ) floating point operations in the
+  discrete-time case.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02MX.html b/doc/_static/doc/SB02MX.html
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+<HTML>
+<HEAD><TITLE>SB02MX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02MX">SB02MX</A></H2>
+<H3>
+Conversion of optimal problems with coupling weighting terms to standard problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the following matrices
+
+             -1
+      G = B*R  *B',
+
+      -               -1
+      A = A +/- op(B*R  *L'),
+
+      -            -1
+      Q = Q +/- L*R  *L',
+
+  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
+  N-by-M, and N-by-N matrices, respectively, with Q, R and G
+  symmetric matrices, and op(W) is one of
+
+      op(W) = W  or  op(W) = W'.
+
+  When R is well-conditioned with respect to inversion, standard
+  algorithms for solving linear-quadratic optimization problems will
+  then also solve optimization problems with coupling weighting
+  matrix L. Moreover, a gain in efficiency is possible using matrix
+  G in the deflating subspace algorithms (see SLICOT Library routine
+  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
+  SG02CD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02MX( JOBG, JOBL, FACT, UPLO, TRANS, FLAG, DEF, N, M,
+     $                   A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, IPIV,
+     $                   OUFACT, G, LDG, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DEF, FACT, FLAG, JOBG, JOBL, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
+     $                  N, OUFACT
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
+     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBG    CHARACTER*1
+          Specifies whether or not the matrix G is to be computed,
+          as follows:
+          = 'G':  Compute G;
+          = 'N':  Do not compute G.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the factors of the symmetric
+                  indefinite UdU' or LdL' factorization of R.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices R, Q (if
+          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+  FLAG    CHARACTER*1
+          Specifies which sign is used, as follows:
+          = 'P':  The plus  sign is used;
+          = 'M':  The minus sign is used.
+
+  DEF     CHARACTER*1
+          If FACT = 'N', specifies whether or not it is assumed that
+          matrix R is positive definite, as follows:
+          = 'D':  Matrix R is assumed positive definite;
+          = 'I':  Matrix R is assumed indefinite.
+          Both values can be used to perform the computations,
+          irrespective to the R definiteness, but using the adequate
+          value will save some computational effort (see FURTHER
+          COMMENTS).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, and G, and the number of
+          rows of the matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix R, and the number of columns of
+          the matrices B and L.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if JOBL = 'N', the leading N-by-N part of this
+          array must contain the matrix A.
+          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
+                                                 -
+          part of this array contains the matrix A.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if JOBL = 'N';
+          LDA &gt;= 1        if JOBL = 'Z'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the matrix B.
+          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
+                                                          -1
+          part of this array contains the matrix B*chol(R)  .
+          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if JOBL = 'N', the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively, of
+          the symmetric matrix Q. The strictly lower triangular part
+          (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array contains the upper
+          triangular part or lower triangular part, respectively, of
+                               -            -1
+          the symmetric matrix Q = Q +/- L*R  *L'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if JOBL = 'N';
+          LDQ &gt;= 1        if JOBL = 'Z'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if FACT = 'U', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the factors of
+          the UdU' or LdL' factorization, respectively, of the
+          symmetric indefinite input weighting matrix R (as produced
+          by LAPACK routine DSYTRF).
+          If FACT = 'N' and DEF = 'D', the strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part
+          (if UPLO = 'L') of this array is used as workspace (filled
+          in by symmetry). If FACT = 'N' and DEF = 'I', the strictly
+          lower triangular part (if UPLO = 'U') or strictly upper
+          triangular part (if UPLO = 'L') is unchanged.
+          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix.
+          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix.
+          On exit R is unchanged if FACT = 'C' or 'U'.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,M).
+
+  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
+          On entry, if JOBL = 'N', the leading N-by-M part of this
+          array must contain the matrix L.
+          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
+          leading N-by-M part of this array contains the matrix
+                   -1
+          L*chol(R)  .
+          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
+          FACT = 'U').
+          L is not referenced if JOBL = 'Z'.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R,
+          as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'C'.
+
+  OUFACT  (output) INTEGER
+          Information about the factorization finally used.
+          OUFACT = 0:  no factorization of R has been used (M = 0);
+          OUFACT = 1:  Cholesky factorization of R has been used;
+          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
+                       factorization of R has been used.
+
+  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
+          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array contains the upper
+          triangular part (if UPLO = 'U') or lower triangular part
+                                                              -1
+          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
+          If JOBG = 'N', this array is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.
+          LDG &gt;= MAX(1,N) if JOBG = 'G';
+          LDG &gt;= 1        if JOBG = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+          If FACT = 'C' or FACT = 'U', this array is not referenced.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
+          as specified below, DWORK(2) contains the reciprocal
+          condition number of the given matrix R. DWORK(2) is set to
+          zero if M = 0.
+          On exit, if LDWORK = -2 on input or INFO = -26, then
+          DWORK(1) returns the minimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
+                                      JOBG = 'N' and  JOBL = 'Z');
+          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
+                                                      JOBL = 'Z';
+          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
+                                                      JOBL = 'N');
+          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
+                                                      JOBL = 'N').
+          For optimum performance LDWORK should be larger than 3*M,
+          if FACT = 'N'.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
+                exactly zero; the UdU' (or LdL') factorization has
+                been completed, but the block diagonal matrix d is
+                exactly singular;
+          = M+1:  if the matrix R is numerically singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>                         -     -
+  The matrices G, and/or A and Q are evaluated using the given or
+  computed symmetric factorization of R.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine should not be used when R is ill-conditioned.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Using argument TRANS allows to avoid the transposition of matrix A
+  needed to solve optimal filtering/estimation problems by the same
+  routines solving optimal control problems.
+  If DEF is set to 'D', but R is indefinite, the computational
+  effort for factorization will be approximately double, since
+  Cholesky factorization, tried first, will fail, and symmetric
+  indefinite factorization will then be used.
+  If DEF is set to 'I', but R is positive definite, the
+  computational effort will be slightly higher than that when using
+  Cholesky factorization. It is recommended to use DEF = 'D' also if
+  the definiteness is not known, but M is (much) smaller than N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02ND.html b/doc/_static/doc/SB02ND.html
new file mode 100644
index 00000000..b4cc93c5
--- /dev/null
+++ b/doc/_static/doc/SB02ND.html
@@ -0,0 +1,486 @@
+<HTML>
+<HEAD><TITLE>SB02ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02ND">SB02ND</A></H2>
+<H3>
+Optimal state feedback matrix for an optimal control problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the optimal feedback matrix F for the problem of
+  optimal control given by
+
+                     -1
+       F = (R + B'XB)  (B'XA + L')                           (1)
+
+  in the discrete-time case and
+
+            -1
+       F = R  (B'X + L')                                     (2)
+
+  in the continuous-time case, where A, B and L are N-by-N, N-by-M
+  and N-by-M matrices respectively; R and X are M-by-M and N-by-N
+  symmetric matrices respectively.
+
+  Optionally, matrix R may be specified in a factored form, and L
+  may be zero.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA, B,
+     $                   LDB, R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
+     $                   LDF, OUFACT, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOBL, UPLO
+      INTEGER           INFO, LDA, LDB, LDF, LDL, LDR, LDWORK, LDX, M,
+     $                  N, P
+      DOUBLE PRECISION  RNORM
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
+     $                  L(LDL,*), R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which F is to be determined,
+          as follows:
+          = 'D':  Equation (1), discrete-time case;
+          = 'C':  Equation (2), continuous-time case.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the symmetric indefinite UdU' or
+                  LdL' factorization of R. This option is not
+                  available for DICO = 'D'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the possibly factored matrix R
+          (or R + B'XB, on exit) is or should be stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+          No computations are performed if MIN(N,M) = 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix D.
+          P &gt;= M for DICO = 'C';
+          P &gt;= 0 for DICO = 'D'.
+          This parameter must be specified only for FACT = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If DICO = 'D', the leading N-by-N part of this array must
+          contain the state matrix A of the system.
+          If DICO = 'C', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if DICO = 'D';
+          LDA &gt;= 1        if DICO = 'C'.
+
+  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
+          array is destroyed. Specifically, if, on exit,
+          OUFACT(2) = 1, this array contains chol(X)*B, and if
+          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
+          part (in the first N rows) contains the submatrix of
+          sqrt(V)*U'B corresponding to the non-negligible, positive
+          eigenvalues of X, where V and U are the matrices with the
+          eigenvalues and eigenvectors of X.
+          Otherwise, B is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'D', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array must contain the
+          factors of the UdU' or LdL' factorization, respectively,
+          of the symmetric indefinite input weighting matrix R (as
+          produced by LAPACK routine DSYTRF).
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') of this
+          array is used as workspace (filled in by symmetry with the
+          other strictly triangular part of R, of R+B'XB, or of the
+          result, if DICO = 'C', DICO = 'D', or (DICO = 'D' and
+          (FACT = 'D' or FACT = 'C') and UPLO = 'L'), respectively.
+          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D').
+          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix
+          (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D' and FACT = 'N').
+          On exit R is unchanged if FACT = 'U' or N = 0.
+
+  LDR     INTEGER.
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
+          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT(1) = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R or
+          R + B'XB, as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'D', or FACT = 'C',
+          or N = 0.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N', the leading N-by-M part of this array must
+          contain the cross weighting matrix L.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the solution matrix X of the algebraic Riccati
+          equation as produced by SLICOT Library routines SB02MD or
+          SB02OD. Matrix X is assumed non-negative definite if
+          DICO = 'D' and (FACT = 'D' or FACT = 'C').
+          The full matrix X must be given on input if LDWORK &lt; N*M
+          or if DICO = 'D' and (FACT = 'D' or FACT = 'C').
+          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
+          OUFACT(2) = 1, the N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array contains the Cholesky factor of the given
+          matrix X, which is found to be positive definite.
+          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
+          and INFO &lt; M+2 (but INFO &gt;= 0), the leading N-by-N part of
+          this array contains the matrix of orthonormal eigenvectors
+          of X.
+          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  RNORM   (input) DOUBLE PRECISION
+          If FACT = 'U', this parameter must contain the 1-norm of
+          the original matrix R (before factoring it).
+          Otherwise, this parameter is not used.
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the
+          optimal feedback matrix F.
+          This array is not referenced if DICO = 'C' and FACT = 'D'
+          and P &lt; M.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  OUFACT  (output) INTEGER array, dimension (2)
+          Information about the factorization finally used.
+          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
+                          'L') factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(2) = 1:  Cholesky factorization of X has been used;
+          OUFACT(2) = 2:  Spectral factorization of X has been used.
+          The value of OUFACT(2) is not set for DICO = 'C' or for
+          DICO = 'D' and FACT = 'N'.
+          This array is not set if N = 0 or M = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK, and for LDWORK set as specified
+          below, DWORK(2) contains the reciprocal condition number
+          of the matrix R (for DICO = 'C') or of R + B'XB (for
+          DICO = 'D'); DWORK(2) is set to 1 if N = 0.
+          On exit, if LDWORK = -2 on input or INFO = -25, then
+          DWORK(1) returns the minimal value of LDWORK.
+          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
+          DWORK(N+2) contain the eigenvalues of X, in ascending
+          order.
+
+  LDWORK  INTEGER
+          Dimension of working array DWORK.
+          LDWORK &gt;= max(2,2*M)           if FACT =  'U';
+          LDWORK &gt;= max(2,3*M)           if FACT &lt;&gt; 'U', DICO = 'C';
+          LDWORK &gt;= max(2,3*M,N)         if FACT =  'N', DICO = 'D';
+          LDWORK &gt;= max(N+3*M+2,4*N+1)   if FACT &lt;&gt; 'N', DICO = 'D'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element of the d factor is exactly zero;
+                the UdU' (or LdL') factorization has been completed,
+                but the block diagonal matrix d is exactly singular;
+          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
+                (if DICO = 'D') is numerically singular (to working
+                precision);
+          = M+2:  if one or more of the eigenvalues of X has not
+                converged;
+          = M+3:  if the matrix X is indefinite and updating the
+                triangular factorization failed.
+          If INFO &gt; M+1, call the routine again with an appropriate,
+          unfactored matrix R.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The optimal feedback matrix F is obtained as the solution to the
+  system of linear equations
+
+     (R + B'XB) * F = B'XA + L'
+
+  in the discrete-time case and
+
+     R * F = B'X + L'
+
+  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
+  If FACT = 'N', Cholesky factorization is tried first, but
+  if the coefficient matrix is not positive definite, then UdU' (or
+  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
+  of R is taken into account. The discrete-time case then involves
+  updating of a triangular factorization of R (or D'D); Cholesky or
+  symmetric spectral factorization of X is employed to avoid
+  squaring of the condition number of the matrix. When D is given,
+  its QR factorization is determined, and the triangular factor is
+  used as described above.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm consists of numerically stable steps.
+                                 3     2
+  For DICO = 'C', it requires O(m  + mn ) floating point operations
+                        2
+  if FACT = 'N' and O(mn ) floating point operations, otherwise.
+  For DICO = 'D', the operation counts are similar, but additional
+     3
+  O(n ) floating point operations may be needed in the worst case.
+  These estimates assume that M &lt;= N.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2
+      PARAMETER        ( NMAX2 = 2*NMAX )
+      INTEGER          LDA, LDB, LDC, LDL, LDR, LDS, LDT, LDU, LDX, LDF
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
+     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
+     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
+     $                   LDF = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( NMAX2,MMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
+     $                   16*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL, RCOND, RNORM
+      INTEGER          I, INFO1, INFO2, J, M, N, P
+      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
+     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), F(LDF,NMAX), L(LDL,MMAX),
+     $                 R(LDR,MMAX), S(LDS,NMAX2+MMAX), T(LDT,NMAX2),
+     $                 U(LDU,NMAX2), X(LDX,NMAX)
+      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
+      LOGICAL          BWORK(NMAX2)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02ND, SB02OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, FACT, JOBL, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
+               END IF
+*              Find the solution matrix X.
+               JOBB = 'B'
+               SORT = 'S'
+               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
+     $                      P, A, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
+     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
+     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
+     $                      BWORK, INFO1 )
+*
+               IF ( INFO1.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO1
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+*                 Compute the optimal feedback matrix F.
+                  CALL SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA,
+     $                         B, LDB, R, LDR, IPIV, L, LDL, X, LDX,
+     $                         RNORM, F, LDF, OUFACT, IWORK, DWORK,
+     $                         LDWORK, INFO2 )
+*
+                  IF ( INFO2.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) INFO2
+                  ELSE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, M
+                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
+   40                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02OD = ',I2)
+99997 FORMAT (' INFO on exit from SB02ND = ',I2)
+99996 FORMAT (' The solution matrix X is ')
+99995 FORMAT (/' The optimal feedback matrix F is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02ND EXAMPLE PROGRAM DATA
+   2     1     3     0.0     D     N     Z     U
+   2.0 -1.0
+   1.0  0.0
+   1.0
+   0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+   0.0
+   0.0
+   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The optimal feedback matrix F is 
+   2.0000  -1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02OD">SB02OD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations (generalized Schur vectors method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                           -1
+     Q + A'X + XA - (L+XB)R  (L+XB)' = 0                       (1)
+
+  or the discrete-time algebraic Riccati equation
+                                  -1
+     X = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q              (2)
+
+  where A, B, Q, R, and L are N-by-N, N-by-M, N-by-N, M-by-M and
+  N-by-M matrices, respectively, such that Q = C'C, R = D'D and
+  L = C'D; X is an N-by-N symmetric matrix.
+  The routine also returns the computed values of the closed-loop
+  spectrum of the system, i.e., the stable eigenvalues lambda(1),
+  ..., lambda(N) of the corresponding Hamiltonian or symplectic
+  pencil, in the continuous-time case or discrete-time case,
+  respectively.
+                           -1
+  Optionally, matrix G = BR  B' may be given instead of B and R.
+  Other options include the case with Q and/or R given in a
+  factored form, Q = C'C, R = D'D, and with L a zero matrix.
+
+  The routine uses the method of deflating subspaces, based on
+  reordering the eigenvalues in a generalized Schur matrix pair.
+  A standard eigenproblem is solved in the continuous-time case
+  if G is given.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P, A,
+     $                   LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, RCOND, X,
+     $                   LDX, ALFAR, ALFAI, BETA, S, LDS, T, LDT, U,
+     $                   LDU, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOBB, JOBL, SORT, UPLO
+      INTEGER           INFO, LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU,
+     $                  LDWORK, LDX, M, N, P
+      DOUBLE PRECISION  RCOND, TOL
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
+     $                  DWORK(*), L(LDL,*), Q(LDQ,*), R(LDR,*),
+     $                  S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  JOBB    CHARACTER*1
+          Specifies whether or not the matrix G is given, instead
+          of the matrices B and R, as follows:
+          = 'B':  B and R are given;
+          = 'G':  G is given.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the matrices Q and/or R (if
+          JOBB = 'B') are factored, as follows:
+          = 'N':  Not factored, Q and R are given;
+          = 'C':  C is given, and Q = C'C;
+          = 'D':  D is given, and R = D'D;
+          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
+
+  UPLO    CHARACTER*1
+          If JOBB = 'G', or FACT = 'N', specifies which triangle of
+          the matrices G and Q (if FACT = 'N'), or Q and R (if
+          JOBB = 'B'), is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
+          SLICOT Library routine SB02MT should be called just before
+          SB02OD, for obtaining the results when JOBB = 'G' and
+          JOBL = 'N'.
+
+  SORT    CHARACTER*1
+          Specifies which eigenvalues should be obtained in the top
+          of the generalized Schur form, as follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the matrices
+          A, Q, and X, and the number of rows of the matrices B
+          and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs. If JOBB = 'B', M is the
+          order of the matrix R, and the number of columns of the
+          matrix B.  M &gt;= 0.
+          M is not used if JOBB = 'G'.
+
+  P       (input) INTEGER
+          The number of system outputs. If FACT = 'C' or 'D' or 'B',
+          P is the number of rows of the matrices C and/or D.
+          P &gt;= 0.
+          Otherwise, P is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
+          If JOBB = 'B', the leading N-by-M part of this array must
+          contain the input matrix B of the system.
+          If JOBB = 'G', the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the matrix
+                -1
+          G = BR  B'. The strictly lower triangular part (if
+          UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If FACT = 'N' or 'D', the leading N-by-N upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          state weighting matrix Q. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If JOBB = 'B', the triangular part of this array defined
+          by UPLO is modified internally, but is restored on exit.
+          If FACT = 'C' or 'B', the leading P-by-N part of this
+          array must contain the output matrix C of the system.
+          If JOBB = 'B', this part is modified internally, but is
+          restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
+          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
+          If FACT = 'N' or 'C', the leading M-by-M upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          input weighting matrix R. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          The triangular part of this array defined by UPLO is
+          modified internally, but is restored on exit.
+          If FACT = 'D' or 'B', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system. This part is modified internally, but is restored
+          on exit.
+          If JOBB = 'G', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
+          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
+          LDR &gt;= 1        if JOBB = 'G'.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
+          this array must contain the cross weighting matrix L.
+          This part is modified internally, but is restored on exit.
+          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
+          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
+
+  RCOND   (output) DOUBLE PRECISION
+          An estimate of the reciprocal of the condition number (in
+          the 1-norm) of the N-th order system of algebraic
+          equations from which the solution matrix X is obtained.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the
+          solution matrix X of the problem.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
+  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
+  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
+          The generalized eigenvalues of the 2N-by-2N matrix pair,
+          ordered as specified by SORT (if INFO = 0). For instance,
+          if SORT = 'S', the leading N elements of these arrays
+          contain the closed-loop spectrum of the system matrix
+          A - BF, where F is the optimal feedback matrix computed
+          based on the solution matrix X. Specifically,
+             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
+          k = 1,2,...,N.
+          If DICO = 'C' and JOBB = 'G', the elements of BETA are
+          set to 1.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
+          The leading 2N-by-2N part of this array contains the
+          ordered real Schur form S of the first matrix in the
+          reduced matrix pencil associated to the optimal problem,
+          or of the corresponding Hamiltonian matrix, if DICO = 'C'
+          and JOBB = 'G'. That is,
+
+                 (S   S  )
+                 ( 11  12)
+             S = (       ),
+                 (0   S  )
+                 (     22)
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
+          columns, otherwise.
+
+  LDS     INTEGER
+          The leading dimension of array S.
+          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
+          If DICO = 'D' or JOBB = 'B', the leading 2N-by-2N part of
+          this array contains the ordered upper triangular form T of
+          the second matrix in the reduced matrix pencil associated
+          to the optimal problem. That is,
+
+                 (T   T  )
+                 ( 11  12)
+             T = (       ),
+                 (0   T  )
+                 (     22)
+
+          where T  , T   and T   are N-by-N matrices.
+                 11   12      22
+          If DICO = 'C' and JOBB = 'G' this array is not referenced.
+
+  LDT     INTEGER
+          The leading dimension of array T.
+          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDT &gt;= MAX(1,2*N)   if JOBB = 'G' and DICO = 'D',
+          LDT &gt;= 1            if JOBB = 'G' and DICO = 'C'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          The leading 2N-by-2N part of this array contains the right
+          transformation matrix U which reduces the 2N-by-2N matrix
+          pencil to the ordered generalized real Schur form (S,T),
+          or the Hamiltonian matrix to the ordered real Schur
+          form S, if DICO = 'C' and JOBB = 'G'. That is,
+
+                 (U   U  )
+                 ( 11  12)
+             U = (       ),
+                 (U   U  )
+                 ( 21  22)
+
+          where U  , U  , U   and U   are N-by-N matrices.
+                 11   12   21      22
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the original matrix pencil, specifically of the triangular
+          factor obtained during the reduction process. If the user
+          sets TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then a default tolerance, defined by
+          TOLDEF = EPS, is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not referenced if JOBB = 'G'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B',
+          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
+          reciprocal of the condition number of the M-by-M lower
+          triangular matrix obtained after compressing the matrix
+          pencil of order 2N+M to obtain a pencil of order 2N.
+          If INFO = 0 or INFO = 6, DWORK(3) returns the scaling
+          factor used internally, which should multiply the
+          submatrix Y2 to recover X from the first N columns of U
+          (see METHOD).
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(3,6*N),                       if JOBB = 'G',
+                                                         DICO = 'C';
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G',
+                                                         DICO = 'D';
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the computed extended matrix pencil is singular,
+                possibly due to rounding errors;
+          = 2:  if the QZ (or QR) algorithm failed;
+          = 3:  if reordering of the (generalized) eigenvalues
+                failed;
+          = 4:  if after reordering, roundoff changed values of
+                some complex eigenvalues so that leading eigenvalues
+                in the (generalized) Schur form no longer satisfy
+                the stability condition; this could also be caused
+                due to scaling;
+          = 5:  if the computed dimension of the solution does not
+                equal N;
+          = 6:  if a singular matrix was encountered during the
+                computation of the solution matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses a variant of the method of deflating subspaces
+  proposed by van Dooren [1]. See also [2], [3].
+  It is assumed that (A,B) is stabilizable and (C,A) is detectable.
+  Under these assumptions the algebraic Riccati equation is known to
+  have a unique non-negative definite solution.
+  The first step in the method of deflating subspaces is to form the
+  extended Hamiltonian matrices, dimension 2N + M given by
+
+        discrete-time                   continuous-time
+
+  |A   0   B|     |I   0   0|    |A   0   B|     |I   0   0|
+  |Q  -I   L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -I   0|.
+  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
+
+  Next, these pencils are compressed to a form (see [1])
+
+     lambda x A  - B .
+               f    f
+
+  This generalized eigenvalue problem is then solved using the QZ
+  algorithm and the stable deflating subspace Ys is determined.
+  If [Y1'|Y2']' is a basis for Ys, then the required solution is
+                    -1
+         X = Y2 x Y1  .
+  A standard eigenvalue problem is solved using the QR algorithm in
+  the continuous-time case when G is given (DICO = 'C', JOBB = 'G').
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      A Generalized Eigenvalue Approach for Solving Riccati
+      Equations.
+      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
+
+  [2] Mehrmann, V.
+      The Autonomous Linear Quadratic Control Problem. Theory and
+      Numerical Solution.
+      Lect. Notes in Control and Information Sciences, vol. 163,
+      Springer-Verlag, Berlin, 1991.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  This routine is particularly suited for systems where the matrix R
+  is ill-conditioned. Internal scaling is used.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equations set SORT = 'S'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying SORT = 'U'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2M, NMAX2
+      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX )
+      INTEGER          LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDL = NMAX,
+     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
+     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX) )
+      INTEGER          LBWORK
+      PARAMETER        ( LBWORK = NMAX2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND, TOL
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
+      LOGICAL          LJOBB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALFAI(NMAX2), ALFAR(NMAX2),
+     $                 B(LDB,MMAX), BETA(NMAX2), DWORK(LDWORK),
+     $                 L(LDL,MMAX), Q(LDQ,NMAX), R(LDR,MMAX),
+     $                 S(LDS,NMAX2M), T(LDT,NMAX2), U(LDU,NMAX2),
+     $                 X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LBWORK)
+C     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
+     $                      SORT
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            LJOBB = LSAME( JOBB, 'B' )
+            IF ( LJOBB ) THEN
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            END IF
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99993 ) P
+            ELSE
+               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
+               END IF
+               IF ( LJOBB ) THEN
+                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
+                  ELSE
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
+                  END IF
+                  IF ( LSAME( JOBL, 'N' ) )
+     $                READ ( NIN, FMT = * )
+     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
+               END IF
+*              Find the solution matrix X.
+               CALL SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P,
+     $                      A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL,
+     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
+     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
+     $                      BWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02OD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02OD EXAMPLE PROGRAM DATA
+   2     1     3     0.0     C     B     B     U     Z     S
+   0.0  1.0
+   0.0  0.0
+   0.0
+   1.0
+   1.0  0.0
+   0.0  1.0
+   0.0  0.0
+   0.0
+   0.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02OD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.7321   1.0000
+   1.0000   1.7321
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02OY">SB02OY</A></H2>
+<H3>
+Constructing the extended Hamiltonian or symplectic matrix pairs for linear-quadratic optimization problems, and compressing them to 2N-by-2N matrices
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the extended matrix pairs for the computation of the
+  solution of the algebraic matrix Riccati equations arising in the
+  problems of optimal control, both discrete and continuous-time,
+  and of spectral factorization, both discrete and continuous-time.
+  These matrix pairs, of dimension 2N + M, are given by
+
+        discrete-time                   continuous-time
+
+  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
+  |Q  -E'  L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -E'  0|.   (1)
+  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
+
+  After construction, these pencils are compressed to a form
+  (see [1])
+
+     lambda x A  - B ,
+               f    f
+
+  where A  and B  are 2N-by-2N matrices.
+         f      f
+                           -1
+  Optionally, matrix G = BR  B' may be given instead of B and R;
+  then, for L = 0, 2N-by-2N matrix pairs are directly constructed as
+
+      discrete-time            continuous-time
+
+  |A   0 |     |E   G |    |A  -G |     |E   0 |
+  |      | - z |      |,   |      | - s |      |.               (2)
+  |Q  -E'|     |0  -A'|    |Q   A'|     |0  -E'|
+
+  Similar pairs are obtained for non-zero L, if SLICOT Library
+  routine SB02MT is called before SB02OY.
+  Other options include the case with E identity matrix, L a zero
+  matrix, or Q and/or R given in a factored form, Q = C'C, R = D'D.
+  For spectral factorization problems, there are minor differences
+  (e.g., B is replaced by C').
+  The second matrix in (2) is not constructed in the continuous-time
+  case if E is specified as being an identity matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02OY( TYPE, DICO, JOBB, FACT, UPLO, JOBL, JOBE, N, M,
+     $                   P, A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, E,
+     $                   LDE, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOBB, JOBE, JOBL, TYPE, UPLO
+      INTEGER           INFO, LDA, LDAF, LDB, LDBF, LDE, LDL, LDQ, LDR,
+     $                  LDWORK, M, N, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
+     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*), R(LDR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TYPE    CHARACTER*1
+          Specifies the type of problem to be addressed as follows:
+          = 'O':  Optimal control problem;
+          = 'S':  Spectral factorization problem.
+
+  DICO    CHARACTER*1
+          Specifies the type of linear system considered as follows:
+          = 'C':  Continuous-time system;
+          = 'D':  Discrete-time system.
+
+  JOBB    CHARACTER*1
+          Specifies whether or not the matrix G is given, instead
+          of the matrices B and R, as follows:
+          = 'B':  B and R are given;
+          = 'G':  G is given.
+          For JOBB = 'G', a 2N-by-2N matrix pair is directly
+          obtained assuming L = 0 (see the description of JOBL).
+
+  FACT    CHARACTER*1
+          Specifies whether or not the matrices Q and/or R (if
+          JOBB = 'B') are factored, as follows:
+          = 'N':  Not factored, Q and R are given;
+          = 'C':  C is given, and Q = C'C;
+          = 'D':  D is given, and R = D'D (if TYPE = 'O'), or
+                  R = D + D' (if TYPE = 'S');
+          = 'B':  Both factors C and D are given, Q = C'C, R = D'D
+                  (or R = D + D').
+
+  UPLO    CHARACTER*1
+          If JOBB = 'G', or FACT = 'N', specifies which triangle of
+          the matrices G and Q (if FACT = 'N'), or Q and R (if
+          JOBB = 'B'), is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
+          Using SLICOT Library routine SB02MT to compute the
+          corresponding A and Q in this case, before calling SB02OY,
+          enables to obtain 2N-by-2N matrix pairs directly.
+
+  JOBE    CHARACTER*1
+          Specifies whether or not the matrix E is identity, as
+          follows:
+          = 'I':  E is the identity matrix;
+          = 'N':  E is a general matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, and E, and the number
+          of rows of the matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          If JOBB = 'B', M is the order of the matrix R, and the
+          number of columns of the matrix B.  M &gt;= 0.
+          M is not used if JOBB = 'G'.
+
+  P       (input) INTEGER
+          If FACT = 'C' or 'D' or 'B', or if TYPE = 'S', P is the
+          number of rows of the matrix C and/or D, respectively.
+          P &gt;= 0, and if JOBB = 'B' and TYPE = 'S', then P = M.
+          Otherwise, P is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
+          If JOBB = 'B', the leading N-by-M part of this array must
+          contain the input matrix B of the system.
+          If JOBB = 'G', the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the matrix
+                -1
+          G = BR  B'. The strictly lower triangular part (if
+          UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If FACT = 'N' or 'D', the leading N-by-N upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          output weighting matrix Q. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'C' or 'B', the leading P-by-N part of this
+          array must contain the output matrix C of the system.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
+          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
+          If FACT = 'N' or 'C', the leading M-by-M upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          input weighting matrix R. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'D' or 'B', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          If JOBB = 'G', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
+          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
+          LDR &gt;= 1        if JOBB = 'G'.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
+          this array must contain the cross weighting matrix L.
+          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z' or JOBB = 'G'.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          If JOBE = 'N', the leading N-by-N part of this array must
+          contain the matrix E of the descriptor system.
+          If JOBE = 'I', E is taken as identity and this array is
+          not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N) if JOBE = 'N';
+          LDE &gt;= 1        if JOBE = 'I'.
+
+  AF      (output) DOUBLE PRECISION array, dimension (LDAF,*)
+          The leading 2N-by-2N part of this array contains the
+          matrix A  in the matrix pencil.
+                  f
+          Array AF must have 2*N+M columns if JOBB = 'B', and 2*N
+          columns, otherwise.
+
+  LDAF    INTEGER
+          The leading dimension of array AF.
+          LDAF &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDAF &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  BF      (output) DOUBLE PRECISION array, dimension (LDBF,2*N)
+          If DICO = 'D' or JOBB = 'B' or JOBE = 'N', the leading
+          2N-by-2N part of this array contains the matrix B  in the
+                                                           f
+          matrix pencil.
+          The last M zero columns are never constructed.
+          If DICO = 'C' and JOBB = 'G' and JOBE = 'I', this array
+          is not referenced.
+
+  LDBF    INTEGER
+          The leading dimension of array BF.
+          LDBF &gt;= MAX(1,2*N+M) if JOBB = 'B',
+          LDBF &gt;= MAX(1,2*N)   if JOBB = 'G' and ( DICO = 'D' or
+                                                   JOBE = 'N' ),
+          LDBF &gt;= 1            if JOBB = 'G' and ( DICO = 'C' and
+                                                   JOBE = 'I' ).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the original matrix pencil, specifically of the triangular
+          factor obtained during the reduction process. If the user
+          sets TOL &gt; 0, then the given value of TOL is used as a
+          lower bound for the reciprocal condition number of that
+          matrix; a matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular. If the user
+          sets TOL &lt;= 0, then a default tolerance, defined by
+          TOLDEF = EPS, is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not referenced if JOBB = 'G'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= M if JOBB = 'B',
+          LIWORK &gt;= 1 if JOBB = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK. If JOBB = 'B', DWORK(2) returns the reciprocal
+          of the condition number of the M-by-M lower triangular
+          matrix obtained after compression.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1                  if JOBB = 'G',
+          LDWORK &gt;= MAX(1,2*N + M,3*M) if JOBB = 'B'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the computed extended matrix pencil is singular,
+                possibly due to rounding errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The extended matrix pairs are constructed, taking various options
+  into account. If JOBB = 'B', the problem order is reduced from
+  2N+M to 2N (see [1]).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      A Generalized Eigenvalue Approach for Solving Riccati
+      Equations.
+      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
+
+  [2] Mehrmann, V.
+      The Autonomous Linear Quadratic Control Problem. Theory and
+      Numerical Solution.
+      Lect. Notes in Control and Information Sciences, vol. 163,
+      Springer-Verlag, Berlin, 1991.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB02PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02PD">SB02PD</A></H2>
+<H3>
+Solution of continuous-time algebraic Riccati equations (matrix sign function method) with error bounds and condition estimates
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real continuous-time matrix algebraic Riccati
+  equation
+
+     op(A)'*X + X*op(A) + Q - X*G*X = 0,
+
+  where op(A) = A or A' = A**T and G, Q are symmetric (G = G**T,
+  Q = Q**T). The matrices A, G and Q are N-by-N and the solution X
+  is an N-by-N symmetric matrix.
+
+  An error bound on the solution and a condition estimate are also
+  optionally provided.
+
+  It is assumed that the matrices A, G and Q are such that the
+  corresponding Hamiltonian matrix has N eigenvalues with negative
+  real parts.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
+     $                   LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, TRANA, UPLO
+      INTEGER            INFO, LDA, LDG, LDQ, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), G( LDG, * ),
+     $                   Q( LDQ, * ), WI( * ), WR( * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'A':  Compute all: the solution, reciprocal condition
+                  number, and the error bound.
+
+  TRANA   CHARACTER*1
+          Specifies the option op(A):
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangles of G and Q are stored;
+          = 'L':  Lower triangles of G and Q are stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, Q, and X.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix G.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix G.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix Q.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          If INFO = 0, INFO = 2, or INFO = 4, the leading N-by-N
+          part of this array contains the symmetric solution matrix
+          X of the algebraic Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'A', the estimate of the reciprocal condition
+          number of the Riccati equation.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'A', the estimated forward error bound for the
+          solution X. If XTRUE is the true solution, FERR bounds the
+          magnitude of the largest entry in (X - XTRUE) divided by
+          the magnitude of the largest entry in X.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If JOB = 'A' and TRANA = 'N', WR and WI contain the real
+          and imaginary parts, respectively, of the eigenvalues of
+          the matrix A - G*X, i.e., the closed-loop system poles.
+          If JOB = 'A' and TRANA = 'T' or 'C', WR and WI contain the
+          real and imaginary parts, respectively, of the eigenvalues
+          of the matrix A - X*G, i.e., the closed-loop system poles.
+          If JOB = 'X', these arrays are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= 2*N,          if JOB = 'X';
+          LIWORK &gt;= max(2*N,N*N), if JOB = 'A'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 2, DWORK(1) contains the
+          optimal value of LDWORK. If JOB = 'A', then DWORK(2:N*N+1)
+          and DWORK(N*N+2:2*N*N+1) contain a real Schur form of the
+          closed-loop system matrix, Ac = A - G*X (if TRANA = 'N')
+          or Ac = A - X*G (if TRANA = 'T' or 'C'), and the
+          orthogonal matrix which reduced Ac to real Schur form,
+          respectively.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 4*N*N + 8*N + 1,               if JOB = 'X';
+          LDWORK &gt;= max( 4*N*N + 8*N + 1, 6*N*N ), if JOB = 'A'.
+          For good performance, LDWORK should be larger, e.g.,
+          LDWORK &gt;= 4*N*N + 6*N +( 2*N+1 )*NB,     if JOB = 'X',
+          where NB is the optimal blocksize.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the Hamiltonian matrix has eigenvalues on the
+                imaginary axis, so the solution and error bounds
+                could not be computed;
+          = 2:  the iteration for the matrix sign function failed to
+                converge after 50 iterations, but an approximate
+                solution and error bounds (if JOB = 'A') have been
+                computed;
+          = 3:  the system of linear equations for the solution is
+                singular to working precision, so the solution and
+                error bounds could not be computed;
+          = 4:  the matrix A-G*X (or A-X*G) cannot be reduced to
+                Schur canonical form and condition number estimate
+                and forward error estimate have not been computed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Riccati equation is solved by the matrix sign function
+  approach [1], [2], implementing a scaling which enhances the
+  numerical stability [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bai, Z., Demmel, J., Dongarra, J., Petitet, A., Robinson, H.,
+      and Stanley, K.
+      The spectral decomposition of nonsymmetric matrices on
+      distributed memory parallel computers.
+      SIAM J. Sci. Comput., vol. 18, pp. 1446-1461, 1997.
+
+  [2] Byers, R., He, C., and Mehrmann, V.
+      The matrix sign function method and the computation of
+      invariant subspaces.
+      SIAM J. Matrix Anal. Appl., vol. 18, pp. 615-632, 1997.
+
+  [3] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.,
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Technical
+      University Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The solution accuracy can be controlled by the output parameter
+  FERR.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The condition number of the Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W + W*op(Ac),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
+     Pi(W) = inv(Omega(X*W*X)),
+
+  and the matrix Ac (the closed-loop system matrix) is given by
+     Ac = A - G*X, if TRANA = 'N', or
+     Ac = A - X*G, if TRANA = 'T' or 'C'.
+
+  The program estimates the quantities
+
+  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [3].
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02PD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 4*NMAX*NMAX + 8*NMAX,
+     $                                 6*NMAX*NMAX ) + 1 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND
+      INTEGER          I, INFO, J, N
+      CHARACTER        JOB, TRANA, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), WI(NMAX), WR(NMAX),
+     $                 X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, TRANA, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
+     $                LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+         IF ( INFO.EQ.0 .OR. INFO.EQ.2 .OR. INFO.EQ.4 ) THEN
+             WRITE ( NOUT, FMT = 99997 )
+             DO 20 I = 1, N
+                WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20        CONTINUE
+             IF ( LSAME( JOB, 'A' ) .AND. INFO.NE.4 ) THEN
+                WRITE ( NOUT, FMT = 99994 ) RCOND
+                WRITE ( NOUT, FMT = 99993 ) FERR
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02PD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99993 FORMAT (/' Estimated error bound = ',F20.16)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02PD EXAMPLE PROGRAM DATA
+   2     A     N     U 
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02PD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   1.0000
+   1.0000   2.0000
+
+ Estimated reciprocal condition number =   0.1333
+
+ Estimated error bound =   0.0000000000000063
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02QD.html b/doc/_static/doc/SB02QD.html
new file mode 100644
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--- /dev/null
+++ b/doc/_static/doc/SB02QD.html
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+<HTML>
+<HEAD><TITLE>SB02QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02QD">SB02QD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of continuous-time Riccati equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real continuous-time matrix algebraic Riccati
+  equation
+
+      op(A)'*X + X*op(A) + Q - X*G*X = 0,                        (1)
+
+  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
+  G = G**T). The matrices A, Q and G are N-by-N and the solution X
+  is N-by-N.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
+     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization of
+          the matrix Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G
+          (if TRANA = 'T' or 'C') is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix Ac;
+          = 'N':  The Schur factorization of Ac will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrices Q and G is
+          to be used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, Q, and G.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input or output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then T is an input argument and on entry,
+          the leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of Ac (see
+          argument FACT).
+          If FACT = 'N', then T is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, the leading N-by-N upper
+          Hessenberg part of this array contains the upper quasi-
+          triangular matrix T in Schur canonical form from a Schur
+          factorization of Ac (see argument FACT).
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of Ac (see argument FACT).
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of Ac (see argument FACT).
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix G.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix G.                     _
+          Matrix G should correspond to G in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix Q.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix Q.                     _
+          Matrix Q should correspond to Q in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix of the original Riccati
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          "reduced" Riccati equation (with matrix T), if
+          LYAPUN = 'R'. See METHOD.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sep(op(Ac),-op(Ac)').
+          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the continuous-time Riccati equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          Let LWA = N*N, if LYAPUN = 'O' and JOB = 'E' or 'B';
+              LWA = 0,   otherwise.
+          If FACT = 'N', then
+             LDWORK  = MAX(1, 5*N, 2*N*N),        if JOB = 'C';
+             LDWORK  = MAX(1, LWA + 5*N, 4*N*N ), if JOB = 'E', 'B'.
+          If FACT = 'F', then
+             LDWORK  = MAX(1, 2*N*N),  if JOB = 'C';
+             LDWORK  = MAX(1, 4*N*N ), if JOB = 'E' or 'B'.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction of the matrix Ac to Schur
+                canonical form (see LAPACK Library routine DGEES);
+                on exit, the matrix T(i+1:N,i+1:N) contains the
+                partially converged Schur form, and DWORK(i+1:N) and
+                DWORK(N+i+1:2*N) contain the real and imaginary
+                parts, respectively, of the converged eigenvalues;
+                this error is unlikely to appear;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations, but the matrix T, if given
+                (for FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W + W*op(Ac),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
+     Pi(W) = inv(Omega(X*W*X)),
+
+  and Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G (if TRANA = 'T'
+  or 'C'). Note that the Riccati equation (1) is equivalent to
+             _   _         _   _ _ _
+      op(T)'*X + X*op(T) + Q + X*G*X = 0,                        (2)
+        _           _               _
+  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
+  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
+
+  The routine estimates the quantities
+
+  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Ghavimi, A.R. and Laub, A.J.
+      Backward error, sensitivity, and refinement of computed
+      solutions of algebraic Riccati equations.
+      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
+      1995.
+
+  [2] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEP is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCND, RCOND, SEP
+      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
+     $                 SDIM
+      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), T(LDT,NMAX), U(LDU,NMAX),
+     $                 X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME, SELECT
+      EXTERNAL         LSAME, SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, DLACPY, DSYMM, MA02ED, MB01RU, SB02MD,
+     $                 SB02QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
+         N2 = 2*N
+         IS = 2*N2 + 1
+         IU = IS + N2*N2
+         IW = IU + N2*N2
+*        Solve the continuous-time Riccati equation.
+         CALL SB02MD( 'continuous', 'direct', UPLO, 'no scaling',
+     $                'stable', N, A, LDA, G, LDG, X, LDX, RCND,
+     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
+     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99995 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
+               CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+               IF ( LSAME( TRANA, 'N' ) ) THEN
+*                 Compute Ac = A-G*X.
+                  CALL DSYMM( 'Left', UPLO, N, N, -ONE, G, LDG, X, LDX,
+     $                        ONE, T, LDT )
+               ELSE
+*                 Compute Ac = A-X*G.
+                  CALL DSYMM( 'Right', UPLO, N, N, -ONE, G, LDG, X, LDX,
+     $                        ONE, T, LDT )
+               END IF
+*              Compute the Schur factorization of Ac.
+               JOBS = 'V'
+               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
+     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
+     $                     LDWORK-2*N, BWORK, INFO3 )
+               IF( INFO3.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99996 ) INFO3
+                  STOP
+               END IF
+            END IF
+*
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+*
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
+     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
+     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            END IF
+            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
+               WRITE ( NOUT, FMT = 99992 ) SEP
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02MD =',I2)
+99997 FORMAT (' INFO on exit from SB02QD =',I2)
+99996 FORMAT (' INFO on exit from DGEES  =',I2)
+99995 FORMAT (' The solution matrix X is')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02QD EXAMPLE PROGRAM DATA
+   2     B     N     N     U     O
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02QD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   2.0000   1.0000
+   1.0000   2.0000
+
+ Estimated separation =   0.4000
+
+ Estimated reciprocal condition number =   0.1333
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02RD.html b/doc/_static/doc/SB02RD.html
new file mode 100644
index 00000000..34f13af1
--- /dev/null
+++ b/doc/_static/doc/SB02RD.html
@@ -0,0 +1,692 @@
+<HTML>
+<HEAD><TITLE>SB02RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02RD">SB02RD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations (increased accuracy Schur vectors method) with condition and forward error bound estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                                       -1
+     Q + op(A)'*X + X*op(A) - X*op(B)*R  op(B)'*X = 0,           (1)
+
+  or the discrete-time algebraic Riccati equation
+                                                             -1
+     X = op(A)'*X*op(A) - op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *
+                          op(B)'*X*op(A) + Q,                    (2)
+
+  where op(M) = M or M' (M**T), A, op(B), Q, and R are N-by-N,
+  N-by-M, N-by-N, and M-by-M matrices respectively, with Q symmetric
+  and R symmetric nonsingular; X is an N-by-N symmetric matrix.
+                        -1
+  The matrix G = op(B)*R  *op(B)' must be provided on input, instead
+  of B and R, that is, the continuous-time equation
+
+     Q + op(A)'*X + X*op(A) - X*G*X = 0,                         (3)
+
+  or the discrete-time equation
+                             -1
+     Q + op(A)'*X*(I_n + G*X)  *op(A) - X = 0,                   (4)
+
+  are solved, where G is an N-by-N symmetric matrix. SLICOT Library
+  routine SB02MT should be used to compute G, given B and R. SB02MT
+  also enables to solve Riccati equations corresponding to optimal
+  problems with coupling terms.
+
+  The routine also returns the computed values of the closed-loop
+  spectrum of the optimal system, i.e., the stable eigenvalues
+  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
+  symplectic matrix associated to the optimal problem. It is assumed
+  that the matrices A, G, and Q are such that the associated
+  Hamiltonian or symplectic matrix has N stable eigenvalues, i.e.,
+  with negative real parts, in the continuous-time case, and with
+  moduli less than one, in the discrete-time case.
+
+  Optionally, estimates of the conditioning and error bound on the
+  solution of the Riccati equation (3) or (4) are returned.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
+     $                   LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q,
+     $                   LDQ, X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS,
+     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT,
+     $                  TRANA, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDT, LDV, LDWORK, LDX,
+     $                  N
+      DOUBLE PRECISION  FERR, RCOND, SEP
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*), T(LDT,*), V(LDV,*), WI(*), WR(*),
+     $                  X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'A':  Compute all: the solution, reciprocal condition
+                  number, and the error bound.
+
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved or
+          analyzed, as follows:
+          = 'C':  Equation (3), continuous-time case;
+          = 'D':  Equation (4), discrete-time case.
+
+  HINV    CHARACTER*1
+          If DICO = 'D' and JOB = 'X' or JOB = 'A', specifies which
+          symplectic matrix is to be constructed, as follows:
+          = 'D':  The matrix H in (6) (see METHOD) is constructed;
+          = 'I':  The inverse of the matrix H in (6) is constructed.
+          HINV is not used if DICO = 'C', or JOB = 'C' or 'E'.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  SCAL    CHARACTER*1
+          If JOB = 'X' or JOB = 'A', specifies whether or not a
+          scaling strategy should be used, as follows:
+          = 'G':  General scaling should be used;
+          = 'N':  No scaling should be used.
+          SCAL is not used if JOB = 'C' or 'E'.
+
+  SORT    CHARACTER*1
+          If JOB = 'X' or JOB = 'A', specifies which eigenvalues
+          should be obtained in the top of the Schur form, as
+          follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+          SORT is not used if JOB = 'C' or 'E'.
+
+  FACT    CHARACTER*1
+          If JOB &lt;&gt; 'X', specifies whether or not a real Schur
+          factorization of the closed-loop system matrix Ac is
+          supplied on entry, as follows:
+          = 'F':  On entry, T and V contain the factors from a real
+                  Schur factorization of the matrix Ac;
+          = 'N':  A Schur factorization of Ac will be computed
+                  and the factors will be stored in T and V.
+          For a continuous-time system, the matrix Ac is given by
+             Ac = A - G*X, if TRANA = 'N', or
+             Ac = A - X*G, if TRANA = 'T' or 'C',
+          and for a discrete-time system, the matrix Ac is given by
+             Ac = inv(I_n + G*X)*A, if TRANA = 'N', or
+             Ac = A*inv(I_n + X*G), if TRANA = 'T' or 'C'.
+          FACT is not used if JOB = 'X'.
+
+  LYAPUN  CHARACTER*1
+          If JOB &lt;&gt; 'X', specifies whether or not the original or
+          "reduced" Lyapunov equations should be solved for
+          estimating reciprocal condition number and/or the error
+          bound, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix V, e.g., X &lt;-- V'*X*V;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+                  This means that a real Schur form T of Ac appears
+                  in the equations, instead of Ac.
+          LYAPUN is not used if JOB = 'X'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, Q, G, and X.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If JOB = 'X' or JOB = 'A' or FACT = 'N' or LYAPUN = 'O',
+          the leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+          If JOB = 'C' or 'E' and FACT = 'F' and LYAPUN = 'R', A is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if JOB  = 'X' or JOB = 'A' or
+                              FACT = 'N' or LYAPUN = 'O'.
+          LDA &gt;= 1,        otherwise.
+
+  T       (input or output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If JOB &lt;&gt; 'X' and FACT = 'F', then T is an input argument
+          and on entry, the leading N-by-N upper Hessenberg part of
+          this array must contain the upper quasi-triangular matrix
+          T in Schur canonical form from a Schur factorization of Ac
+          (see argument FACT).
+          If JOB &lt;&gt; 'X' and FACT = 'N', then T is an output argument
+          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
+          upper Hessenberg part of this array contains the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of Ac (see argument FACT).
+          If JOB = 'X', the array T is not referenced.
+
+  LDT     INTEGER
+          The leading dimension of the array T.
+          LDT &gt;= 1,        if JOB =  'X';
+          LDT &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
+
+  V       (input or output) DOUBLE PRECISION array, dimension
+          (LDV,N)
+          If JOB &lt;&gt; 'X' and FACT = 'F', then V is an input argument
+          and on entry, the leading N-by-N part of this array must
+          contain the orthogonal matrix V from a real Schur
+          factorization of Ac (see argument FACT).
+          If JOB &lt;&gt; 'X' and FACT = 'N', then V is an output argument
+          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
+          part of this array contains the orthogonal N-by-N matrix
+          from a real Schur factorization of Ac (see argument FACT).
+          If JOB = 'X', the array V is not referenced.
+
+  LDV     INTEGER
+          The leading dimension of the array V.
+          LDV &gt;= 1,        if JOB =  'X';
+          LDV &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix G.
+          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
+          LYAPUN = 'R', the leading N-by-N part of this array
+          contains the symmetric matrix G fully stored.
+          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
+          internally, but restored on exit.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix Q.
+          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
+          LYAPUN = 'R', the leading N-by-N part of this array
+          contains the symmetric matrix Q fully stored.
+          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
+          internally, but restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  X       (input or output) DOUBLE PRECISION array, dimension
+          (LDX,N)
+          If JOB = 'C' or JOB = 'E', then X is an input argument
+          and on entry, the leading N-by-N part of this array must
+          contain the symmetric solution matrix of the algebraic
+          Riccati equation. If LYAPUN = 'R', this array is modified
+          internally, but restored on exit; however, it could differ
+          from the input matrix at the round-off error level.
+          If JOB = 'X' or JOB = 'A', then X is an output argument
+          and on exit, if INFO = 0 or INFO &gt;= 6, the leading N-by-N
+          part of this array contains the symmetric solution matrix
+          X of the algebraic Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, the
+          estimated quantity
+             sep(op(Ac),-op(Ac)'), if DICO = 'C', or
+             sepd(op(Ac),op(Ac)'), if DICO = 'D'. (See METHOD.)
+          If JOB = 'C' or JOB = 'A' and X = 0, or JOB = 'E', SEP is
+          not referenced.
+          If JOB = 'X', and INFO = 0, INFO = 5 or INFO = 7,
+          SEP contains the scaling factor used, which should
+          multiply the (2,1) submatrix of U to recover X from the
+          first N columns of U (see METHOD). If SCAL = 'N', SEP is
+          set to 1.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, an
+          estimate of the reciprocal condition number of the
+          algebraic Riccati equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'X', or JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = 7, an
+          estimated forward error bound for the solution X. If XTRUE
+          is the true solution, FERR bounds the magnitude of the
+          largest entry in (X - XTRUE) divided by the magnitude of
+          the largest entry in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'X', or JOB = 'C', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (2*N)
+  WI      (output) DOUBLE PRECISION array, dimension (2*N)
+          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5,
+          these arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the 2N-by-2N matrix S,
+          ordered as specified by SORT (except for the case
+          HINV = 'D', when the order is opposite to that specified
+          by SORT). The leading N elements of these arrays contain
+          the closed-loop spectrum of the system matrix Ac (see
+          argument FACT). Specifically,
+             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
+          If JOB = 'C' or JOB = 'E', these arrays are not
+          referenced.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5, the
+          leading 2N-by-2N part of this array contains the ordered
+          real Schur form S of the (scaled, if SCAL = 'G')
+          Hamiltonian or symplectic matrix H. That is,
+
+                 ( S    S   )
+                 (  11   12 )
+             S = (          ),
+                 ( 0    S   )
+                 (       22 )
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+          If JOB = 'C' or JOB = 'E', this array is not referenced.
+
+  LDS     INTEGER
+          The leading dimension of the array S.
+          LDS &gt;= MAX(1,2*N), if JOB = 'X' or JOB = 'A';
+          LDS &gt;= 1,          if JOB = 'C' or JOB = 'E'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= 2*N,          if JOB = 'X';
+          LIWORK &gt;= N*N,          if JOB = 'C' or JOB = 'E';
+          LIWORK &gt;= MAX(2*N,N*N), if JOB = 'A'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, or INFO = 7, DWORK(1) returns the
+          optimal value of LDWORK. If INFO = 0, or INFO &gt;= 5, and
+          JOB = 'X', or JOB = 'A', then DWORK(2) returns an estimate
+          RCONDU of the reciprocal of the condition number (in the
+          1-norm) of the N-th order system of algebraic equations
+          from which the solution matrix X is obtained, and DWORK(3)
+          returns the reciprocal pivot growth factor for the LU
+          factorization of the coefficient matrix of that system
+          (see SLICOT Library routine MB02PD); if DWORK(3) is much
+          less than 1, then the computed X and RCONDU could be
+          unreliable.
+          If DICO = 'D', and JOB = 'X', or JOB = 'A', then DWORK(4)
+          returns the reciprocal condition number RCONDA of the
+          given matrix A, and DWORK(5) returns the reciprocal pivot
+          growth factor for A or for its leading columns, if A is
+          singular (see SLICOT Library routine MB02PD); if DWORK(5)
+          is much less than 1, then the computed S and RCONDA could
+          be unreliable.
+          On exit, if INFO = 0, or INFO &gt;= 4, and JOB = 'X', the
+          elements DWORK(6:5+4*N*N) contain the 2*N-by-2*N
+          transformation matrix  U  which reduced the Hamiltonian or
+          symplectic matrix  H  to the ordered real Schur form  S.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 5+MAX(1,4*N*N+8*N), if JOB = 'X' or JOB = 'A';
+          This may also be used for JOB = 'C' or JOB = 'E', but
+          exact bounds are as follows:
+          LDWORK &gt;= 5 + MAX(1,LWS,LWE) + LWN, where
+          LWS = 0,       if FACT = 'F' or  LYAPUN = 'R';
+              = 5*N,     if FACT = 'N' and LYAPUN = 'O' and
+                                           DICO = 'C' and JOB = 'C';
+              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
+                                           DICO = 'C' and JOB = 'E';
+              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
+                                           DICO = 'D';
+          LWE = 2*N*N,                if DICO = 'C' and JOB = 'C';
+              = 4*N*N,                if DICO = 'C' and JOB = 'E';
+              = MAX(3,2*N*N) + N*N,   if DICO = 'D' and JOB = 'C';
+              = MAX(3,2*N*N) + 2*N*N, if DICO = 'D' and JOB = 'E';
+          LWN = 0,   if LYAPUN = 'O' or   JOB = 'C';
+              = 2*N, if LYAPUN = 'R' and DICO = 'C' and JOB = 'E';
+              = 3*N, if LYAPUN = 'R' and DICO = 'D' and JOB = 'E'.
+          For optimum performance LDWORK should sometimes be larger.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+          LBWORK &gt;= 2*N,          if JOB = 'X' or JOB = 'A';
+          LBWORK &gt;= 1,            if JOB = 'C' or JOB = 'E', and
+                                  FACT = 'N' and LYAPUN = 'R';
+          LBWORK &gt;= 0,            otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if matrix A is (numerically) singular in discrete-
+                time case;
+          = 2:  if the Hamiltonian or symplectic matrix H cannot be
+                reduced to real Schur form;
+          = 3:  if the real Schur form of the Hamiltonian or
+                symplectic matrix H cannot be appropriately ordered;
+          = 4:  if the Hamiltonian or symplectic matrix H has less
+                than N stable eigenvalues;
+          = 5:  if the N-th order system of linear algebraic
+                equations, from which the solution matrix X would
+                be obtained, is singular to working precision;
+          = 6:  if the QR algorithm failed to complete the reduction
+                of the matrix Ac to Schur canonical form, T;
+          = 7:  if T and -T' have some almost equal eigenvalues, if
+                DICO = 'C', or T has almost reciprocal eigenvalues,
+                if DICO = 'D'; perturbed values were used to solve
+                Lyapunov equations, but the matrix T, if given (for
+                FACT = 'F'), is unchanged. (This is a warning
+                indicator.)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used is the Schur vector approach proposed by Laub [1],
+  but with an optional scaling, which enhances the numerical
+  stability [6]. It is assumed that [A,B] is a stabilizable pair
+  (where for (3) or (4), B is any matrix such that B*B' = G with
+  rank(B) = rank(G)), and [E,A] is a detectable pair, where E is any
+  matrix such that E*E' = Q with rank(E) = rank(Q). Under these
+  assumptions, any of the algebraic Riccati equations (1)-(4) is
+  known to have a unique non-negative definite solution. See [2].
+  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
+
+              ( op(A)   -G    )
+         H =  (               ),                                 (5)
+              (  -Q   -op(A)' ),
+
+  for continuous-time equation, and
+                      -1              -1
+              (  op(A)           op(A)  *G       )
+         H =  (        -1                   -1   ),              (6)
+              ( Q*op(A)     op(A)' + Q*op(A)  *G )
+
+  for discrete-time equation, respectively, where
+                    -1
+         G = op(B)*R  *op(B)'.
+  The assumptions guarantee that H in (5) has no pure imaginary
+  eigenvalues, and H in (6) has no eigenvalues on the unit circle.
+  If Y is an N-by-N matrix then there exists an orthogonal matrix U
+  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
+  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
+  (corresponding to the complex conjugate eigenvalues and real
+  eigenvalues respectively) appear in any desired order. This is the
+  ordered real Schur form. Thus, we can find an orthogonal
+  similarity transformation U which puts (5) or (6) in ordered real
+  Schur form
+
+         U'*H*U = S = (S(1,1)  S(1,2))
+                      (  0     S(2,2))
+
+  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
+  have negative real parts in case of (5), or moduli greater than
+  one in case of (6). If U is conformably partitioned into four
+  N-by-N blocks
+
+            U = (U(1,1)  U(1,2))
+                (U(2,1)  U(2,2))
+
+  with respect to the assumptions we then have
+  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
+      (2), (3), or (4) with X = X' and non-negative definite;
+  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
+      DICO = 'D') are equal to the eigenvalues of optimal system
+      (the 'closed-loop' spectrum).
+
+  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
+  is stable. [E,A] is detectable if [A',E'] is stabilizable.
+
+  The condition number of a Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W + W*op(Ac),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
+     Pi(W) = inv(Omega(X*W*X)),
+
+  in the continuous-time case, and
+
+  Omega(W) = op(Ac)'*W*op(Ac) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
+     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
+
+  in the discrete-time case, and Ac has been defined (see argument
+  FACT). Details are given in the comments of SLICOT Library
+  routines SB02QD and SB02SD.
+
+  The routine estimates the quantities
+
+  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
+  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [5].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Laub, A.J.
+      A Schur Method for Solving Algebraic Riccati equations.
+      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
+
+  [2] Wonham, W.M.
+      On a matrix Riccati equation of stochastic control.
+      SIAM J. Contr., 6, pp. 681-697, 1968.
+
+  [3] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+  [4] Ghavimi, A.R. and Laub, A.J.
+      Backward error, sensitivity, and refinement of computed
+      solutions of algebraic Riccati equations.
+      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
+      1995.
+
+  [5] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [6] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations. The solution accuracy
+  can be controlled by the output parameter FERR.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
+  SORT = 'S', if HINV = 'I'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying
+      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
+      SORT = 'S' if DICO = 'D' and HINV = 'D'.
+
+  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
+  and SORT = 'U', for stabilizing and anti-stabilizing solutions,
+  respectively, will be faster then the other combinations [3].
+
+  The option LYAPUN = 'R' may produce slightly worse or better
+  estimates, and it is faster than the option 'O'.
+
+  This routine is a functionally extended and more accurate
+  version of the SLICOT Library routine SB02MD. Transposed problems
+  can be dealt with as well. Iterative refinement is used whenever
+  useful to solve linear algebraic systems. Condition numbers and
+  error bounds on the solutions are optionally provided.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02RD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDS, LDT, LDV, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
+     $                   LDS = 2*NMAX, LDT = NMAX, LDV = NMAX,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 5 + 4*NMAX*NMAX + 8*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SEP
+      INTEGER          I, INFO, J, N
+      CHARACTER        DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT, TRANA,
+     $                 UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
+     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), T(LDT,NMAX),
+     $                 V(LDV,NMAX), WI(2*NMAX), WR(2*NMAX), X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB02RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT,
+     $                      FACT, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) .OR.
+     $        LSAME( FACT, 'N' ) .OR. LSAME( LYAPUN, 'O' ) )
+     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( .NOT.LSAME( JOB, 'X' ) .AND. LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
+         END IF
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
+     $                LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q, LDQ,
+     $                X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS, IWORK,
+     $                DWORK, LDWORK, BWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+         IF ( INFO.EQ.0 .OR. INFO.EQ.7 ) THEN
+            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99994 ) SEP
+               WRITE ( NOUT, FMT = 99993 ) RCOND
+            END IF
+            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) FERR
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02RD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' Estimated separation = ',F8.4)
+99993 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99992 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02RD EXAMPLE PROGRAM DATA
+   2     A     C     D     N     U     N     S     N     O
+   0.0   1.0
+   0.0   0.0
+   1.0   0.0
+   0.0   2.0
+   0.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02RD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   1.0000
+   1.0000   2.0000
+
+ Estimated separation =   0.4000
+
+ Estimated reciprocal condition number =   0.1333
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02RU.html b/doc/_static/doc/SB02RU.html
new file mode 100644
index 00000000..9a112d45
--- /dev/null
+++ b/doc/_static/doc/SB02RU.html
@@ -0,0 +1,219 @@
+<HTML>
+<HEAD><TITLE>SB02RU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02RU">SB02RU</A></H2>
+<H3>
+Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
+  associated to the linear-quadratic optimization problem, used to
+  solve the continuous- or discrete-time algebraic Riccati equation,
+  respectively.
+
+  For a continuous-time problem, S is defined by
+
+          ( op(A)   -G    )
+      S = (               ),                                     (1)
+          (  -Q   -op(A)' )
+
+  and for a discrete-time problem by
+
+                  -1              -1
+          (  op(A)           op(A)  *G       )
+      S = (        -1                   -1   ),                  (2)
+          ( Q*op(A)     op(A)' + Q*op(A)  *G )
+
+  or
+                           -T             -T
+          ( op(A) + G*op(A)  *Q   -G*op(A)   )
+      S = (           -T                 -T  ),                  (3)
+          (     -op(A)  *Q          op(A)    )
+
+  where op(A) = A or A' (A**T), A, G, and Q are n-by-n matrices,
+  with G and Q symmetric. Matrix A must be nonsingular in the
+  discrete-time case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02RU( DICO, HINV, TRANA, UPLO, N, A, LDA, G, LDG, Q,
+     $                   LDQ, S, LDS, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, HINV, TRANA, UPLO
+      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
+     $                  S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  Continuous-time system;
+          = 'D':  Discrete-time system.
+
+  HINV    CHARACTER*1
+          If DICO = 'D', specifies which of the matrices (2) or (3)
+          is constructed, as follows:
+          = 'D':  The matrix S in (2) is constructed;
+          = 'I':  The (inverse) matrix S in (3) is constructed.
+          HINV is not referenced if DICO = 'C'.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the matrices G and Q is
+          stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, G, and Q.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix G.
+          On exit, if DICO = 'D', the leading N-by-N part of this
+          array contains the symmetric matrix G fully stored.
+          If DICO = 'C', this array is not modified on exit, and the
+          strictly lower triangular part (if UPLO = 'U') or strictly
+          upper triangular part (if UPLO = 'L') is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N upper triangular part (if
+          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
+          this array must contain the upper triangular part or lower
+          triangular part, respectively, of the symmetric matrix Q.
+          On exit, if DICO = 'D', the leading N-by-N part of this
+          array contains the symmetric matrix Q fully stored.
+          If DICO = 'C', this array is not modified on exit, and the
+          strictly lower triangular part (if UPLO = 'U') or strictly
+          upper triangular part (if UPLO = 'L') is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
+          If INFO = 0, the leading 2N-by-2N part of this array
+          contains the Hamiltonian or symplectic matrix of the
+          problem.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK &gt;= 0,   if DICO = 'C';
+          LIWORK &gt;= 2*N, if DICO = 'D'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if DICO = 'D', DWORK(1) returns the reciprocal
+          condition number  RCOND  of the given matrix  A,  and
+          DWORK(2) returns the reciprocal pivot growth factor
+          norm(A)/norm(U) (see SLICOT Library routine MB02PD).
+          If DWORK(2) is much less than 1, then the computed  S
+          and  RCOND  could be unreliable. If 0 &lt; INFO &lt;= N, then
+          DWORK(2) contains the reciprocal pivot growth factor for
+          the leading INFO columns of  A.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,          if DICO = 'C';
+          LDWORK &gt;= MAX(2,6*N), if DICO = 'D'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
+                submatrix of A is singular in discrete-time case;
+          = N+1:  if matrix A is numerically singular in discrete-
+                time case.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
+  is constructed.
+  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
+  (3) - the inverse of the matrix in (2) - is constructed.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The discrete-time case needs the inverse of the matrix A, hence
+  the routine should not be used when A is ill-conditioned.
+                            3
+  The algorithm requires 0(n ) floating point operations in the
+  discrete-time case.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  This routine is a functionally extended and with improved accuracy
+  version of the SLICOT Library routine SB02MU. Transposed problems
+  can be dealt with as well. The LU factorization of  op(A)  (with
+  no equilibration) and iterative refinement are used for solving
+  the various linear algebraic systems involved.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB02SD.html b/doc/_static/doc/SB02SD.html
new file mode 100644
index 00000000..d9610e9f
--- /dev/null
+++ b/doc/_static/doc/SB02SD.html
@@ -0,0 +1,509 @@
+<HTML>
+<HEAD><TITLE>SB02SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB02SD">SB02SD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of discrete-time Riccati equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real discrete-time matrix algebraic Riccati
+  equation (see FURTHER COMMENTS)
+                              -1
+      X = op(A)'*X*(I_n + G*X)  *op(A) + Q,                      (1)
+
+  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
+  G = G**T). The matrices A, Q and G are N-by-N and the solution X
+  is N-by-N.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
+     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization of
+          the matrix Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
+          Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C'), is supplied
+          on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix Ac;
+          = 'N':  The Schur factorization of Ac will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrices Q and G is
+          to be used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, Q, and G.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input or output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then T is an input argument and on entry,
+          the leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of Ac (see
+          argument FACT).
+          If FACT = 'N', then T is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, the leading N-by-N upper
+          Hessenberg part of this array contains the upper quasi-
+          triangular matrix T in Schur canonical form from a Schur
+          factorization of Ac (see argument FACT).
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= max(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of Ac (see argument FACT).
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of Ac (see argument FACT).
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix G.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix G.                     _
+          Matrix G should correspond to G in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDG     INTEGER
+          The leading dimension of the array G.  LDG &gt;= max(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix Q.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix Q.                     _
+          Matrix Q should correspond to Q in the "reduced" Riccati
+          equation (with matrix T, instead of A), if LYAPUN = 'R'.
+          See METHOD.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix of the original Riccati
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          "reduced" Riccati equation (with matrix T), if
+          LYAPUN = 'R'. See METHOD.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sepd(op(Ac),op(Ac)').
+          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the discrete-time Riccati equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          Let LWA = N*N, if LYAPUN = 'O';
+              LWA = 0,   otherwise,
+          and LWN = N,   if LYAPUN = 'R' and JOB = 'E' or 'B';
+              LWN = 0,   otherwise.
+          If FACT = 'N', then
+             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + N*N),
+                                              if JOB = 'C';
+             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + 2*N*N + LWN),
+                                              if JOB = 'E' or 'B'.
+          If FACT = 'F', then
+             LDWORK  = MAX(3,2*N*N) + N*N,    if JOB = 'C';
+             LDWORK  = MAX(3,2*N*N) + 2*N*N + LWN,
+                                              if JOB = 'E' or 'B'.
+          For good performance, LDWORK must generally be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction of the matrix Ac to Schur
+                canonical form (see LAPACK Library routine DGEES);
+                on exit, the matrix T(i+1:N,i+1:N) contains the
+                partially converged Schur form, and DWORK(i+1:N) and
+                DWORK(N+i+1:2*N) contain the real and imaginary
+                parts, respectively, of the converged eigenvalues;
+                this error is unlikely to appear;
+          = N+1:  if T has almost reciprocal eigenvalues; perturbed
+                values were used to solve Lyapunov equations, but
+                the matrix T, if given (for FACT = 'F'), is
+                unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the Riccati equation is estimated as
+
+  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
+              norm(Pi)*norm(G) ) / norm(X),
+
+  where Omega, Theta and Pi are linear operators defined by
+
+  Omega(W) = op(Ac)'*W*op(Ac) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
+     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
+
+  and Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
+      Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C').
+
+  Note that the Riccati equation (1) is equivalent to
+
+      X = op(Ac)'*X*op(Ac) + op(Ac)'*X*G*X*op(Ac) + Q,           (2)
+
+  and to
+      _          _                _ _ _         _
+      X = op(T)'*X*op(T) + op(T)'*X*G*X*op(T) + Q,               (3)
+        _           _               _
+  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
+  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
+
+  The routine estimates the quantities
+
+  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
+
+  norm(Theta) and norm(Pi) using 1-norm condition estimator.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Ghavimi, A.R. and Laub, A.J.
+      Backward error, sensitivity, and refinement of computed
+      solutions of algebraic Riccati equations.
+      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
+      1995.
+
+  [2] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEPD is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+  Let B be an N-by-M matrix (if TRANA = 'N') or an M-by-N matrix
+  (if TRANA = 'T' or 'C'), let R be an M-by-M symmetric positive
+  definite matrix (R = R**T), and denote G = op(B)*inv(R)*op(B)'.
+  Then, the Riccati equation (1) is equivalent to the standard
+  discrete-time matrix algebraic Riccati equation
+
+      X = op(A)'*X*op(A) -                                       (4)
+                                             -1
+          op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *op(B)'*X*op(A) + Q.
+
+  By symmetry, the equation (1) is also equivalent to
+                            -1
+      X = op(A)'*(I_n + X*G)  *X*op(A) + Q.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB02SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCND, RCOND, SEPD
+      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
+     $                 SDIM
+      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AS(LDA,NMAX), DWORK(LDWORK),
+     $                 G(LDG,NMAX), Q(LDQ,NMAX), T(LDT,NMAX),
+     $                 U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME, SELECT
+      EXTERNAL         LSAME, SELECT
+*     .. External Subroutines ..
+      EXTERNAL         DGEES, DGESV, DLACPY, DLASET, DSWAP, DSYMM,
+     $                 MA02AD, MA02ED, MB01RU, SB02MD, SB02SD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
+         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
+         N2 = 2*N
+         IS = 2*N2 + 1
+         IU = IS + N2*N2
+         IW = IU + N2*N2
+*        Solve the discrete-time Riccati equation.
+         CALL SB02MD( 'discrete', 'direct', UPLO, 'no scaling',
+     $                'stable', N, AS, LDA, G, LDG, X, LDX, RCND,
+     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
+     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99995 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
+               CALL DLASET( 'Full', N, N, ZERO, ONE, DWORK, N )
+               CALL DSYMM( 'Left', UPLO, N, N, ONE, G, LDG, X, LDX,
+     $                     ONE, DWORK, N )
+               IF ( LSAME( TRANA, 'N' ) ) THEN
+*                 Compute Ac = inv(I_n + G*X)*A.
+                  CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
+               ELSE
+*                 Compute Ac = A*inv(I_n + X*G)
+                  CALL MA02AD( 'Full', N, N, A, LDA, T, LDT )
+                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
+                  DO 20 J = 2, N
+                     CALL DSWAP( J-1, T(1,J), 1, T(J,1), LDT )
+   20             CONTINUE
+               END IF
+*              Compute the Schur factorization of Ac.
+               JOBS = 'V'
+               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
+     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
+     $                     LDWORK-2*N, BWORK, INFO3 )
+               IF( INFO3.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99996 ) INFO3
+                  STOP
+               END IF
+            END IF
+*
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+*
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
+     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
+     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
+     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            END IF
+            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
+               WRITE ( NOUT, FMT = 99992 ) SEPD
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB02SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02MD =',I2)
+99997 FORMAT (' INFO on exit from SB02SD =',I2)
+99996 FORMAT (' INFO on exit from DGEES  =',I2)
+99995 FORMAT (' The solution matrix X is')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB02SD EXAMPLE PROGRAM DATA
+   2     B     N     N     U     O
+   2.0 -1.0
+   1.0  0.0
+   0.0  0.0
+   0.0  1.0
+   1.0  0.0
+   0.0  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB02SD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+  -0.7691   1.2496
+   1.2496  -2.3306
+
+ Estimated separation =   0.4456
+
+ Estimated reciprocal condition number =   0.1445
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03MD.html b/doc/_static/doc/SB03MD.html
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+<HTML>
+<HEAD><TITLE>SB03MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MD">SB03MD</A></H2>
+<H3>
+Solution of continuous- or discrete-time Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the real continuous-time Lyapunov equation
+
+     op(A)'*X + X*op(A) = scale*C                             (1)
+
+  or the real discrete-time Lyapunov equation
+
+     op(A)'*X*op(A) - X = scale*C                             (2)
+
+  and/or estimate an associated condition number, called separation,
+  where op(A) = A or A' (A**T) and C is symmetric (C = C').
+  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
+  hand side C and the solution X are N-by-N, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C,
+     $                   LDC, SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, TRANA
+      INTEGER           INFO, LDA, LDC, LDU, LDWORK, N
+      DOUBLE PRECISION  FERR, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER           IWORK( * )
+      DOUBLE PRECISION  A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                  U( LDU, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which X is to be determined
+          as follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'B':  Compute both the solution and the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix in Schur canonical form;
+          the elements below the upper Hessenberg part of the
+          array A are not referenced.
+          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
+          upper Hessenberg part of this array contains the upper
+          quasi-triangular matrix in Schur canonical form from the
+          Schur factorization of A. The contents of array A is not
+          modified if FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If FACT = 'F', then U is an input argument and on entry
+          the leading N-by-N part of this array must contain the
+          orthogonal matrix U of the real Schur factorization of A.
+          If FACT = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with JOB = 'X' or 'B', the leading N-by-N part of
+          this array must contain the symmetric matrix C.
+          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
+          the leading N-by-N part of C has been overwritten by the
+          symmetric solution matrix X.
+          If JOB = 'S', C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
+          contains the estimated separation of the matrices op(A)
+          and -op(A)', if DICO = 'C' or of op(A) and op(A)', if
+          DICO = 'D'.
+          If JOB = 'X', SEP is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains an
+          estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the relative
+          error in the computed solution, measured in the Frobenius
+          norm:  norm(X - XTRUE)/norm(XTRUE).
+          If JOB = 'X' or JOB = 'S', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of
+          the eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and
+          If JOB = 'X' then
+             If FACT = 'F', LDWORK &gt;= N*N,           for DICO = 'C';
+                            LDWORK &gt;= MAX(N*N, 2*N), for DICO = 'D';
+             If FACT = 'N', LDWORK &gt;= MAX(N*N, 3*N).
+          If JOB = 'S' or JOB = 'B' then
+             If FACT = 'F', LDWORK &gt;= 2*N*N,       for DICO = 'C';
+                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
+             If FACT = 'N', LDWORK &gt;= MAX(2*N*N, 3*N), DICO = 'C';
+                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues (see LAPACK Library routine DGEES);
+                elements i+1:n of WR and WI contain eigenvalues
+                which have converged, and A contains the partially
+                converged Schur form;
+          = N+1:  if DICO = 'C', and the matrices A and -A' have
+                common or very close eigenvalues, or
+                if DICO = 'D', and matrix A has almost reciprocal
+                eigenvalues (that is, lambda(i) = 1/lambda(j) for
+                some i and j, where lambda(i) and lambda(j) are
+                eigenvalues of A and i &lt;&gt; j); perturbed values were
+                used to solve the equation (but the matrix A is
+                unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Schur factorization of a square matrix  A  is given by
+
+     A = U*S*U'
+
+  where U is orthogonal and S is block upper triangular with 1-by-1
+  and 2-by-2 blocks on its diagonal, these blocks corresponding to
+  the eigenvalues of A, the 2-by-2 blocks being complex conjugate
+  pairs. This factorization is obtained by numerically stable
+  methods: first A is reduced to upper Hessenberg form (if FACT =
+  'N') by means of Householder transformations and then the
+  QR Algorithm is applied to reduce the Hessenberg form to S, the
+  transformation matrices being accumulated at each step to give U.
+  If A has already been factorized prior to calling the routine
+  however, then the factors U and S may be supplied and the initial
+  factorization omitted.
+                _            _
+  If we now put C = U'CU and X = UXU' equations (1) and (2) (see
+  PURPOSE) become (for TRANS = 'N')
+       _   _    _
+     S'X + XS = C,                                               (3)
+  and
+       _    _   _
+     S'XS - X = C,                                               (4)
+
+  respectively. Partition S, C and X as
+                         _   _         _   _
+         (s    s')      (c   c')      (x   x')
+         ( 11    )  _   ( 11   )  _   ( 11   )
+     S = (       ), C = (      ), X = (      )
+         (       )      ( _    )      ( _    )
+         ( 0   S )      ( c  C )      ( x  X )
+                1             1             1
+             _      _
+  where s  , c  and x  are either scalars or 2-by-2 matrices and s,
+         11   11     11
+  _     _
+  c and x are either (N-1) element vectors or matrices with two
+  columns. Equations (3) and (4) can then be re-written as
+        _     _        _
+     s' x   + x  s   = c                                       (3.1)
+      11 11    11 11    11
+
+       _   _           _    _
+     S'x + xs        = c - sx                                  (3.2)
+      1      11              11
+
+                             _    _
+     S'X + X S       = C - (sx' + xs')                         (3.3)
+      1 1   1 1         1
+  and
+        _       _       _
+     s' x  s  - x     = c                                      (4.1)
+      11 11 11   11      11
+
+       _     _          _    _
+     S'xs  - x        = c - sx  s                              (4.2)
+      1  11                   11 11
+
+                             _            _        _
+     S'X S - X        = C - sx  s' - [s(S'x)' + (S'x)s']       (4.3)
+      1 1 1   1          1    11         1        1
+                                               _
+  respectively. If DICO = 'C' ['D'], then once x   has been
+                                                11
+  found from equation (3.1) [(4.1)], equation (3.2) [(4.2)] can be
+                                     _
+  solved by forward substitution for x and then equation (3.3)
+  [(4.3)] is of the same form as (3) [(4)] but of the order (N-1) or
+  (N-2) depending upon whether s   is 1-by-1 or 2-by-2.
+                                11
+                          _      _
+  When s   is 2-by-2 then x  and c   will be 1-by-2 matrices and s,
+        11                 11     11
+  _     _
+  x and c are matrices with two columns. In this case, equation
+  (3.1) [(4.1)] defines the three equations in the unknown elements
+     _
+  of x   and equation (3.2) [(4.2)] can then be solved by forward
+      11                 _
+  substitution, a row of x being found at each step.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [3] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If DICO = 'C', SEP is defined as the separation of op(A) and
+  -op(A)':
+
+         sep( op(A), -op(A)' ) = sigma_min( T )
+
+  and if DICO = 'D', SEP is defined as
+
+         sep( op(A), op(A)' ) = sigma_min( T )
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+    T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) )  (DICO = 'C'),
+
+    T = kprod( op(A)', op(A)' ) - I(N**2)              (DICO = 'D').
+
+  I(x) is an x-by-x identity matrix, and kprod denotes the Kronecker
+  product. The program estimates sigma_min(T) by the reciprocal of
+  an estimate of the 1-norm of inverse(T). The true reciprocal
+  1-norm of inverse(T) cannot differ from sigma_min(T) by more
+  than a factor of N.
+
+  When SEP is small, small changes in A, C can cause large changes
+  in the solution of the equation. An approximate bound on the
+  maximum relative error in the computed solution is
+
+                   EPS * norm(A) / SEP      (DICO = 'C'),
+
+                   EPS * norm(A)**2 / SEP   (DICO = 'D'),
+
+  where EPS is the machine precision.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDU = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 3*NMAX,
+     $                   LIWORK = NMAX*NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      DICO, FACT, JOB, TRANA
+      DOUBLE PRECISION FERR, SCALE, SEP
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, DICO, FACT, JOB, TRANA
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X.
+         CALL SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
+     $                SCALE, SEP, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) SCALE
+            IF ( .NOT.LSAME( JOB, 'X' ) )
+     $         WRITE ( NOUT, FMT = 99993 ) SEP
+            IF ( LSAME( JOB, 'B' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) FERR
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03MD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' Scaling factor = ',F8.4)
+99993 FORMAT (/' Estimated separation = ',F8.4)
+99992 FORMAT (/' Estimated forward error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03MD EXAMPLE PROGRAM DATA
+   3     D     N     X     N
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03MD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   1.0000   1.0000
+   1.0000   3.0000   0.0000
+   1.0000   0.0000   4.0000
+
+ Scaling factor =   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03MU.html b/doc/_static/doc/SB03MU.html
new file mode 100644
index 00000000..0c841dd6
--- /dev/null
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@@ -0,0 +1,162 @@
+<HTML>
+<HEAD><TITLE>SB03MU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MU">SB03MU</A></H2>
+<H3>
+Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
+
+         ISGN*op(TL)*X*op(TR) - X = SCALE*B,
+
+  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
+  or -1.  op(T) = T or T', where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MU( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
+     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRANL, LTRANR
+      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRANL  LOGICAL
+          Specifies the form of op(TL) to be used, as follows:
+          = .FALSE.:  op(TL) = TL,
+          = .TRUE. :  op(TL) = TL'.
+
+  LTRANR  LOGICAL
+          Specifies the form of op(TR) to be used, as follows:
+          = .FALSE.:  op(TR) = TR,
+          = .TRUE. :  op(TR) = TR'.
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The order of matrix TL.  N1 may only be 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of matrix TR.  N2 may only be 0, 1 or 2.
+
+  TL      (input) DOUBLE PRECISION array, dimension (LDTL,2)
+          The leading N1-by-N1 part of this array must contain the
+          matrix TL.
+
+  LDTL    INTEGER
+          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
+
+  TR      (input) DOUBLE PRECISION array, dimension (LDTR,2)
+          The leading N2-by-N2 part of this array must contain the
+          matrix TR.
+
+  LDTR    INTEGER
+          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          The leading N1-by-N2 part of this array must contain the
+          right-hand side of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
+          The leading N1-by-N2 part of this array contains the
+          solution of the equation.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if TL and TR have almost reciprocal eigenvalues, so
+                TL or TR is perturbed to get a nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03MV.html b/doc/_static/doc/SB03MV.html
new file mode 100644
index 00000000..83fa27ee
--- /dev/null
+++ b/doc/_static/doc/SB03MV.html
@@ -0,0 +1,157 @@
+<HTML>
+<HEAD><TITLE>SB03MV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MV">SB03MV</A></H2>
+<H3>
+Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the 2-by-2 symmetric matrix X in
+
+         op(T)'*X*op(T) - X = SCALE*B,
+
+  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
+  where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MV( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
+     $                   XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRAN, LUPPER
+      INTEGER            INFO, LDB, LDT, LDX
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN   LOGICAL
+          Specifies the form of op(T) to be used, as follows:
+          = .FALSE.:  op(T) = T,
+          = .TRUE. :  op(T) = T'.
+
+  LUPPER  LOGICAL
+          Specifies which triangle of the matrix B is used, and
+          which triangle of the matrix X is computed, as follows:
+          = .TRUE. :  The upper triangular part;
+          = .FALSE.:  The lower triangular part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
+          The leading 2-by-2 part of this array must contain the
+          matrix T.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= 2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix B and the strictly
+          lower triangular part of B is not referenced.
+          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix B and the strictly
+          upper triangular part of B is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
+          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array contains the upper
+          triangular part of the symmetric solution matrix X and the
+          strictly lower triangular part of X is not referenced.
+          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array contains the lower
+          triangular part of the symmetric solution matrix X and the
+          strictly upper triangular part of X is not referenced.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 2.
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if T has almost reciprocal eigenvalues, so T
+                is perturbed to get a nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03MW.html b/doc/_static/doc/SB03MW.html
new file mode 100644
index 00000000..1f10bf47
--- /dev/null
+++ b/doc/_static/doc/SB03MW.html
@@ -0,0 +1,157 @@
+<HTML>
+<HEAD><TITLE>SB03MW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MW">SB03MW</A></H2>
+<H3>
+Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the 2-by-2 symmetric matrix X in
+
+         op(T)'*X + X*op(T) = SCALE*B,
+
+  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
+  where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MW( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
+     $                   XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRAN, LUPPER
+      INTEGER            INFO, LDB, LDT, LDX
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRAN   LOGICAL
+          Specifies the form of op(T) to be used, as follows:
+          = .FALSE.:  op(T) = T,
+          = .TRUE. :  op(T) = T'.
+
+  LUPPER  LOGICAL
+          Specifies which triangle of the matrix B is used, and
+          which triangle of the matrix X is computed, as follows:
+          = .TRUE. :  The upper triangular part;
+          = .FALSE.:  The lower triangular part.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
+          The leading 2-by-2 part of this array must contain the
+          matrix T.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= 2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix B and the strictly
+          lower triangular part of B is not referenced.
+          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix B and the strictly
+          upper triangular part of B is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
+          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
+          triangular part of this array contains the upper
+          triangular part of the symmetric solution matrix X and the
+          strictly lower triangular part of X is not referenced.
+          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
+          triangular part of this array contains the lower
+          triangular part of the symmetric solution matrix X and the
+          strictly upper triangular part of X is not referenced.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= 2.
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if T and -T have too close eigenvalues, so T
+                is perturbed to get a nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03MX.html b/doc/_static/doc/SB03MX.html
new file mode 100644
index 00000000..8cb755dc
--- /dev/null
+++ b/doc/_static/doc/SB03MX.html
@@ -0,0 +1,152 @@
+<HTML>
+<HEAD><TITLE>SB03MX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MX">SB03MX</A></H2>
+<H3>
+Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real discrete Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = scale*C
+
+  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
+  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
+  A is N-by-N, the right hand side C and the solution X are N-by-N,
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The solution matrix X is overwritten
+  onto C.
+
+  A must be in Schur canonical form (as returned by LAPACK routines
+  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
+  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
+  diagonal elements equal and its off-diagonal elements of opposite
+  sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MX( TRANA, N, A, LDA, C, LDC, SCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANA
+      INTEGER            INFO, LDA, LDC, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix A, in Schur canonical form.
+          The part of A below the first sub-diagonal is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading N-by-N part of this array must
+          contain the symmetric matrix C.
+          On exit, if INFO &gt;= 0, the leading N-by-N part of this
+          array contains the symmetric solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if A has almost reciprocal eigenvalues; perturbed
+                values were used to solve the equation (but the
+                matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A discrete-time version of the Bartels-Stewart algorithm is used.
+  A set of equivalent linear algebraic systems of equations of order
+  at most four are formed and solved using Gaussian elimination with
+  complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03MY.html b/doc/_static/doc/SB03MY.html
new file mode 100644
index 00000000..afc6d9fd
--- /dev/null
+++ b/doc/_static/doc/SB03MY.html
@@ -0,0 +1,142 @@
+<HTML>
+<HEAD><TITLE>SB03MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03MY">SB03MY</A></H2>
+<H3>
+Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = scale*C
+
+  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
+  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
+  A is N-by-N, the right hand side C and the solution X are N-by-N,
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The solution matrix X is overwritten
+  onto C.
+
+  A must be in Schur canonical form (as returned by LAPACK routines
+  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
+  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
+  diagonal elements equal and its off-diagonal elements of opposite
+  sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03MY( TRANA, N, A, LDA, C, LDC, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANA
+      INTEGER            INFO, LDA, LDC, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix A, in Schur canonical form.
+          The part of A below the first sub-diagonal is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading N-by-N part of this array must
+          contain the symmetric matrix C.
+          On exit, if INFO &gt;= 0, the leading N-by-N part of this
+          array contains the symmetric solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if A and -A have common or very close eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Bartels-Stewart algorithm is used. A set of equivalent linear
+  algebraic systems of equations of order at most four are formed
+  and solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OD.html b/doc/_static/doc/SB03OD.html
new file mode 100644
index 00000000..3e0987bc
--- /dev/null
+++ b/doc/_static/doc/SB03OD.html
@@ -0,0 +1,485 @@
+<HTML>
+<HEAD><TITLE>SB03OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OD">SB03OD</A></H2>
+<H3>
+Solution of stable continuous- or discrete-time Lyapunov equations (Cholesky factor)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)'*op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+                                2
+     op(A)'*X + X*op(A) = -scale *op(B)'*op(B),                  (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+                                2
+     op(A)'*X*op(A) - X = -scale *op(B)'*op(B),                  (2)
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
+  an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
+  triangular matrix containing the Cholesky factor of the solution
+  matrix X, X = op(U)'*op(U), and scale is an output scale factor,
+  set less than or equal to 1 to avoid overflow in X. If matrix B
+  has full rank then the solution matrix X will be positive definite
+  and hence the Cholesky factor U will be nonsingular, but if B is
+  rank deficient, then X may be only positive semi-definite and U
+  will be singular.
+
+  In the case of equation (1) the matrix A must be stable (that is,
+  all the eigenvalues of A must have negative real parts), and for
+  equation (2) the matrix A must be convergent (that is, all the
+  eigenvalues of A must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
+     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, TRANS
+      INTEGER           INFO, LDA, LDB, LDQ, LDWORK, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), Q(LDQ,*), WI(*),
+     $                  WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Lyapunov equation to be solved, as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and Q contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and Q.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(K) to be used, as follows:
+          = 'N':  op(K) = K    (No transpose);
+          = 'T':  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of columns of
+          the matrix op(B).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows of the matrix op(B).  M &gt;= 0.
+          If M = 0, A is unchanged on exit, and Q, WR and WI are not
+          set.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix S in Schur canonical
+          form; the elements below the upper Hessenberg part of the
+          array A are then not referenced.
+          On exit, the leading N-by-N upper Hessenberg part of this
+          array contains the upper quasi-triangular matrix S in
+          Schur canonical form from the Shur factorization of A.
+          The contents of the array A is not modified if FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  Q       (input or output) DOUBLE PRECISION array, dimension
+          (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Q of the
+          Schur factorization of A.
+          Otherwise, Q need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal matrix Q of the Schur factorization of A.
+          The contents of the array Q is not modified if FACT = 'F'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          if TRANS = 'N', and dimension (LDB,max(M,N)), if
+          TRANS = 'T'.
+          On entry, if TRANS = 'N', the leading M-by-N part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On entry, if TRANS = 'T', the leading N-by-M part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)'*op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
+          LDB &gt;= MAX(1,N),   if TRANS = 'T'.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If INFO &gt;= 0 and INFO &lt;= 3, WR and WI contain the real and
+          imaginary parts, respectively, of the eigenvalues of A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = 1, DWORK(1) returns the
+          optimal value of LDWORK.
+          On exit, if INFO = -16, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If M &gt; 0, LDWORK &gt;= MAX(1,4*N);
+          If M = 0, LDWORK &gt;= 1.
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DICO = 'C' this means that while the matrix A
+                (or the factor S) has computed eigenvalues with
+                negative real parts, it is only just stable in the
+                sense that small perturbations in A can make one or
+                more of the eigenvalues have a non-negative real
+                part;
+                if DICO = 'D' this means that while the matrix A
+                (or the factor S) has computed eigenvalues inside
+                the unit circle, it is nevertheless only just
+                convergent, in the sense that small perturbations
+                in A can make one or more of the eigenvalues lie
+                outside the unit circle;
+                perturbed values were used to solve the equation;
+          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
+                not stable (that is, one or more of the eigenvalues
+                of A has a non-negative real part), or DICO = 'D',
+                but the matrix A is not convergent (that is, one or
+                more of the eigenvalues of A lies outside the unit
+                circle); however, A will still have been factored
+                and the eigenvalues of A returned in WR and WI.
+          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
+                supplied in the array A is not stable (that is, one
+                or more of the eigenvalues of S has a non-negative
+                real part), or DICO = 'D', but the Schur factor S
+                supplied in the array A is not convergent (that is,
+                one or more of the eigenvalues of S lies outside the
+                unit circle); the eigenvalues of A are still
+                returned in WR and WI;
+          = 4:  if FACT = 'F' and the Schur factor S supplied in
+                the array A has two or more consecutive non-zero
+                elements on the first subdiagonal, so that there is
+                a block larger than 2-by-2 on the diagonal;
+          = 5:  if FACT = 'F' and the Schur factor S supplied in
+                the array A has a 2-by-2 diagonal block with real
+                eigenvalues instead of a complex conjugate pair;
+          = 6:  if FACT = 'N' and the LAPACK Library routine DGEES
+                has failed to converge. This failure is not likely
+                to occur. The matrix B will be unaltered but A will
+                be destroyed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on the Bartels and Stewart
+  method [1], except that it finds the upper triangular matrix U
+  directly without first finding X and without the need to form the
+  normal matrix op(B)'*op(B).
+
+  The Schur factorization of a square matrix A is given by
+
+     A = QSQ',
+
+  where Q is orthogonal and S is an N-by-N block upper triangular
+  matrix with 1-by-1 and 2-by-2 blocks on its diagonal (which
+  correspond to the eigenvalues of A). If A has already been
+  factored prior to calling the routine however, then the factors
+  Q and S may be supplied and the initial factorization omitted.
+
+  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
+  (QR factorization)
+         _   _
+     B = P ( R ),
+           ( 0 )
+        _                                    _
+  where P is an M-by-M orthogonal matrix and R is a square upper
+                                      _   _
+  triangular matrix. Then, the matrix B = RQ is factored as
+     _
+     B = PR.
+
+  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
+
+     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
+            ( 0 )
+
+  If TRANS = 'T' and 6*M &gt; 7*N, the matrix B is factored as
+  (RQ factorization)
+              _   _
+     B = ( 0  R ) P,
+        _                                    _
+  where P is an M-by-M orthogonal matrix and R is a square upper
+                                      _      _
+  triangular matrix. Then, the matrix B = Q' R is factored as
+     _
+     B = RP.
+
+  If TRANS = 'T' and 6*M &lt;= 7*N, the matrix Q' B is factored as
+
+                                           ( Z )
+     Q' B = ( 0  R ) P,   M &gt;= N,   Q' B = (   ) P,   M &lt; N.
+                                           ( R )
+
+  These factorizations are utilised to either transform the
+  continuous-time Lyapunov equation to the canonical form
+                                                     2
+    op(S)'*op(V)'*op(V) + op(V)'*op(V)*op(S) = -scale *op(F)'*op(F),
+
+  or the discrete-time Lyapunov equation to the canonical form
+                                                     2
+    op(S)'*op(V)'*op(V)*op(S) - op(V)'*op(V) = -scale *op(F)'*op(F),
+
+  where V and F are upper triangular, and
+
+     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
+                           ( 0  0 )
+
+     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'T'.
+                           ( 0  R )
+
+  The transformed equation is then solved for V, from which U is
+  obtained via the QR factorization of V*Q', if TRANS = 'N', or
+  via the RQ factorization of Q*V, if TRANS = 'T'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if A is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned.  A symptom of ill-conditioning
+  is "large" elements in U relative to those of A and B, or a
+  "small" value for scale. A condition estimate can be computed
+  using SLICOT Library routine SB03MD.
+
+  SB03OD routine can be also used for solving "unstable" Lyapunov
+  equations, i.e., when matrix A has all eigenvalues with positive
+  real parts, if DICO = 'C', or with moduli greater than one,
+  if DICO = 'D'. Specifically, one may solve for X = op(U)'*op(U)
+  either the continuous-time Lyapunov equation
+                               2
+     op(A)'*X + X*op(A) = scale *op(B)'*op(B),                   (3)
+
+  or the discrete-time Lyapunov equation
+                               2
+     op(A)'*X*op(A) - X = scale *op(B)'*op(B),                   (4)
+
+  provided, for equation (3), the given matrix A is replaced by -A,
+  or, for equation (4), the given matrices A and B are replaced by
+  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'T'),
+  respectively. Although the inversion generally can rise numerical
+  problems, in case of equation (4) it is expected that the matrix A
+  is enough well-conditioned, having only eigenvalues with moduli
+  greater than 1. However, if A is ill-conditioned, it could be
+  preferable to use the more general SLICOT Lyapunov solver SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDQ, LDX, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = MAX( MMAX,NMAX ),
+     $                   LDQ = NMAX, LDX = NMAX )
+      PARAMETER        ( LDWORK = 4*NMAX+MIN(MMAX,NMAX) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION SCALE, TEMP
+      INTEGER          I, INFO, J, K, M, N
+      CHARACTER*1      DICO, FACT, TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,LDB), DWORK(LDWORK),
+     $                 Q(LDQ,NMAX), WR(NMAX), WI(NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( Q(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            IF ( LSAME( TRANS, 'N' ) ) THEN
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            END IF
+*           Find the Cholesky factor U.
+            CALL SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
+     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 J = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), I = 1,J )
+   20          CONTINUE
+*              Form the solution matrix X = op(U)'*op(U).
+               IF ( LSAME( TRANS, 'N' ) ) THEN
+                  DO 80 I = 1, N
+                     DO 60 J = I, N
+                        TEMP = ZERO
+                        DO 40 K = 1, I
+                           TEMP = TEMP + B(K,I)*B(K,J)
+   40                   CONTINUE
+                        X(I,J) = TEMP
+                        X(J,I) = TEMP
+   60                CONTINUE
+   80             CONTINUE
+               ELSE
+                  DO 140 I = 1, N
+                     DO 120 J = I, N
+                        TEMP = ZERO
+                        DO 100 K = J, N
+                           TEMP = TEMP + B(I,K)*B(J,K)
+  100                   CONTINUE
+                        X(I,J) = TEMP
+                        X(J,I) = TEMP
+  120                CONTINUE
+  140             CONTINUE
+               END IF
+               WRITE ( NOUT, FMT = 99995 )
+               DO 160 J = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), I = 1,N )
+  160          CONTINUE
+               WRITE ( NOUT, FMT = 99992 ) SCALE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03OD = ',I2)
+99997 FORMAT (' The transpose of the Cholesky factor U is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The solution matrix X = op(U)''*op(U) is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' Scaling factor = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03OD EXAMPLE PROGRAM DATA
+   4     5      C      N      N
+  -1.0  37.0 -12.0 -12.0
+  -1.0 -10.0   0.0   4.0
+   2.0  -4.0   7.0  -6.0
+   2.0   2.0   7.0  -9.0
+   1.0   2.5   1.0   3.5
+   0.0   1.0   0.0   1.0
+  -1.0  -2.5  -1.0  -1.5
+   1.0   2.5   4.0  -5.5
+  -1.0  -2.5  -4.0   3.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03OD EXAMPLE PROGRAM RESULTS
+
+ The transpose of the Cholesky factor U is 
+   1.0000
+   3.0000   1.0000
+   2.0000  -1.0000   1.0000
+  -1.0000   1.0000  -2.0000   1.0000
+
+ The solution matrix X = op(U)'*op(U) is 
+   1.0000   3.0000   2.0000  -1.0000
+   3.0000  10.0000   5.0000  -2.0000
+   2.0000   5.0000   6.0000  -5.0000
+  -1.0000  -2.0000  -5.0000   7.0000
+
+ Scaling factor =   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OR.html b/doc/_static/doc/SB03OR.html
new file mode 100644
index 00000000..da6af98b
--- /dev/null
+++ b/doc/_static/doc/SB03OR.html
@@ -0,0 +1,159 @@
+<HTML>
+<HEAD><TITLE>SB03OR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OR">SB03OR</A></H2>
+<H3>
+Solving continuous- or discrete-time Sylvester equations, with matrix S quasi-triangular, for an n-by-m matrix X, 1 <= m <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the solution of the Sylvester equations
+
+     op(S)'*X + X*op(A) = scale*C, if DISCR = .FALSE.  or
+
+     op(S)'*X*op(A) - X = scale*C, if DISCR = .TRUE.
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
+  an N-by-N block upper triangular matrix with one-by-one and
+  two-by-two blocks on the diagonal, A is an M-by-M matrix (M = 1 or
+  M = 2), X and C are each N-by-M matrices, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+  The solution X is overwritten on C.
+
+  SB03OR  is a service routine for the Lyapunov solver  SB03OT.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OR( DISCR, LTRANS, N, M, S, LDS, A, LDA, C, LDC,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            DISCR, LTRANS
+      INTEGER            INFO, LDA, LDS, LDC, M, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), S( LDS, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the equation to be solved:
+          = .FALSE.:  op(S)'*X + X*op(A) = scale*C;
+          = .TRUE. :  op(S)'*X*op(A) - X = scale*C.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix  S  and also the number of rows of
+          matrices  X and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix  A  and also the number of columns
+          of matrices  X and C.  M = 1 or M = 2.
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading  N-by-N  upper Hessenberg part of the array  S
+          must contain the block upper triangular matrix. The
+          elements below the upper Hessenberg part of the array  S
+          are not referenced.  The array  S  must not contain
+          diagonal blocks larger than two-by-two and the two-by-two
+          blocks must only correspond to complex conjugate pairs of
+          eigenvalues, not to real eigenvalues.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  A       (input) DOUBLE PRECISION array, dimension (LDS,M)
+          The leading  M-by-M  part of this array must contain a
+          given matrix, where M = 1 or M = 2.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= M.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, C must contain an N-by-M matrix, where M = 1 or
+          M = 2.
+          On exit, C contains the N-by-M matrix X, the solution of
+          the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if DISCR = .FALSE., and S and -A have common
+                eigenvalues, or if DISCR = .TRUE., and S and A have
+                eigenvalues whose product is equal to unity;
+                a solution has been computed using slightly
+                perturbed values.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The LAPACK scheme for solving Sylvester equations is adapted.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            2
+  The algorithm requires 0(N M) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OS.html b/doc/_static/doc/SB03OS.html
new file mode 100644
index 00000000..500f0614
--- /dev/null
+++ b/doc/_static/doc/SB03OS.html
@@ -0,0 +1,186 @@
+<HTML>
+<HEAD><TITLE>SB03OS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OS">SB03OS</A></H2>
+<H3>
+Solving (for Cholesky factor) stable continuous- or discrete-time complex Lyapunov equations, with matrices S and R triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>                        H
+  To solve for X = op(U) *op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+          H                     2      H
+     op(S) *X + X*op(S) = -scale *op(R) *op(R),                  (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+          H                     2      H
+     op(S) *X*op(S) - X = -scale *op(R) *op(R),                  (2)
+
+  where op(K) = K or K**H (i.e., the conjugate transpose of the
+  matrix K), S and R are complex N-by-N upper triangular matrices,
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The diagonal elements of the matrix R must
+  be real non-negative.
+
+  In the case of equation (1) the matrix S must be stable (that is,
+  all the eigenvalues of S must have negative real parts), and for
+  equation (2) the matrix S must be convergent (that is, all the
+  eigenvalues of S must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OS( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDR, LDS, N
+      LOGICAL           DISCR, LTRANS
+C     .. Array Arguments ..
+      COMPLEX*16        R(LDR,*), S(LDS,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of Lyapunov equation to be solved as
+          follows:
+          = .TRUE. :  Equation (2), discrete-time case;
+          = .FALSE.:  Equation (1), continuous-time case.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**H (Conjugate transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S and R.  N &gt;= 0.
+
+  S       (input) COMPLEX*16 array of dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the upper triangular matrix.
+          The elements below the upper triangular part of the array
+          S are not referenced.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (input/output) COMPLEX*16 array of dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R, with
+          real non-negative entries on its main diagonal.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangular matrix U, with real
+          non-negative entries on its main diagonal.
+          The strictly lower triangle of R is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N-1)
+
+  ZWORK   COMPLEX*16 array, dimension (2*N-2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  if the matrix S is not stable (that is, one or more
+                of the eigenvalues of S has a non-negative real
+                part), if DISCR = .FALSE., or not convergent (that
+                is, one or more of the eigenvalues of S lies outside
+                the unit circle), if DISCR = .TRUE..
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a variant of the
+  Bartels and Stewart backward substitution method [1], that finds
+  the Cholesky factor op(U) directly without first finding X and
+  without the need to form the normal matrix op(R)'*op(R) [2].
+
+  The continuous-time Lyapunov equation in the canonical form
+         H      H              H                     2      H
+    op(S) *op(U) *op(U) + op(U) *op(U)*op(S) = -scale *op(R) *op(R),
+
+  or the discrete-time Lyapunov equation in the canonical form
+         H      H                    H               2      H
+    op(S) *op(U) *op(U)*op(S) - op(U) *op(U) = -scale *op(R) *op(R),
+
+  where U and R are upper triangular, is solved for U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular
+  if S is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned. "Large" elements in U relative
+  to those of S and R, or a "small" value for scale, is a symptom
+  of ill-conditioning. A condition estimate can be computed using
+  SLICOT Library routine SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OT.html b/doc/_static/doc/SB03OT.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,204 @@
+<HTML>
+<HEAD><TITLE>SB03OT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OT">SB03OT</A></H2>
+<H3>
+Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix S quasi-triangular and R triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)'*op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+                                2
+     op(S)'*X + X*op(S) = -scale *op(R)'*op(R)                   (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+                                2
+     op(S)'*X*op(S) - X = -scale *op(R)'*op(R)                   (2)
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
+  an N-by-N block upper triangular matrix with one-by-one or
+  two-by-two blocks on the diagonal, R is an N-by-N upper triangular
+  matrix, and scale is an output scale factor, set less than or
+  equal to 1 to avoid overflow in X.
+
+  In the case of equation (1) the matrix S must be stable (that
+  is, all the eigenvalues of S must have negative real parts),
+  and for equation (2) the matrix S must be convergent (that is,
+  all the eigenvalues of S must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OT( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR, LTRANS
+      INTEGER           INFO, LDR, LDS, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of Lyapunov equation to be solved as
+          follows:
+          = .TRUE. :  Equation (2), discrete-time case;
+          = .FALSE.:  Equation (1), continuous-time case.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices S and R.  N &gt;= 0.
+
+  S       (input) DOUBLE PRECISION array of dimension (LDS,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the block upper triangular matrix.
+          The elements below the upper Hessenberg part of the array
+          S are not referenced. The 2-by-2 blocks must only
+          correspond to complex conjugate pairs of eigenvalues (not
+          to real eigenvalues).
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array of dimension (LDR,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the upper triangular matrix R.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangular matrix U.
+          The strict lower triangle of R is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (4*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DISCR = .FALSE., this means that while the
+                matrix S has computed eigenvalues with negative real
+                parts, it is only just stable in the sense that
+                small perturbations in S can make one or more of the
+                eigenvalues have a non-negative real part;
+                if DISCR = .TRUE., this means that while the
+                matrix S has computed eigenvalues inside the unit
+                circle, it is nevertheless only just convergent, in
+                the sense that small perturbations in S can make one
+                or more of the eigenvalues lie outside the unit
+                circle;
+                perturbed values were used to solve the equation
+                (but the matrix S is unchanged);
+          = 2:  if the matrix S is not stable (that is, one or more
+                of the eigenvalues of S has a non-negative real
+                part), if DISCR = .FALSE., or not convergent (that
+                is, one or more of the eigenvalues of S lies outside
+                the unit circle), if DISCR = .TRUE.;
+          = 3:  if the matrix S has two or more consecutive non-zero
+                elements on the first sub-diagonal, so that there is
+                a block larger than 2-by-2 on the diagonal;
+          = 4:  if the matrix S has a 2-by-2 diagonal block with
+                real eigenvalues instead of a complex conjugate
+                pair.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a variant of the
+  Bartels and Stewart backward substitution method [1], that finds
+  the Cholesky factor op(U) directly without first finding X and
+  without the need to form the normal matrix op(R)'*op(R) [2].
+
+  The continuous-time Lyapunov equation in the canonical form
+                                                     2
+    op(S)'*op(U)'*op(U) + op(U)'*op(U)*op(S) = -scale *op(R)'*op(R),
+
+  or the discrete-time Lyapunov equation in the canonical form
+                                                     2
+    op(S)'*op(U)'*op(U)*op(S) - op(U)'*op(U) = -scale *op(R)'*op(R),
+
+  where U and R are upper triangular, is solved for U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular
+  if S is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned. "Large" elements in U relative
+  to those of S and R, or a "small" value for scale, is a symptom
+  of ill-conditioning. A condition estimate can be computed using
+  SLICOT Library routine SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OU.html b/doc/_static/doc/SB03OU.html
new file mode 100644
index 00000000..3ff3058a
--- /dev/null
+++ b/doc/_static/doc/SB03OU.html
@@ -0,0 +1,286 @@
+<HTML>
+<HEAD><TITLE>SB03OU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OU">SB03OU</A></H2>
+<H3>
+Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix A in real Schur form and B rectangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)'*op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+                                2
+     op(A)'*X + X*op(A) = -scale *op(B)'*op(B)                   (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+                                2
+     op(A)'*X*op(A) - X = -scale *op(B)'*op(B)                   (2)
+
+  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
+  an N-by-N matrix in real Schur form, op(B) is an M-by-N matrix,
+  U is an upper triangular matrix containing the Cholesky factor of
+  the solution matrix X, X = op(U)'*op(U), and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+  If matrix B has full rank then the solution matrix X will be
+  positive-definite and hence the Cholesky factor U will be
+  nonsingular, but if B is rank deficient then X may only be
+  positive semi-definite and U will be singular.
+
+  In the case of equation (1) the matrix A must be stable (that
+  is, all the eigenvalues of A must have negative real parts),
+  and for equation (2) the matrix A must be convergent (that is,
+  all the eigenvalues of A must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OU( DISCR, LTRANS, N, M, A, LDA, B, LDB, TAU, U,
+     $                   LDU, SCALE, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR, LTRANS
+      INTEGER           INFO, LDA, LDB, LDU, LDWORK, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the type of Lyapunov equation to be solved as
+          follows:
+          = .TRUE. :  Equation (2), discrete-time case;
+          = .FALSE.:  Equation (1), continuous-time case.
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of columns in
+          matrix op(B).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows in matrix op(B).  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain a real Schur form matrix S. The elements
+          below the upper Hessenberg part of the array A are not
+          referenced. The 2-by-2 blocks must only correspond to
+          complex conjugate pairs of eigenvalues (not to real
+          eigenvalues).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          if LTRANS = .FALSE., and dimension (LDB,M), if
+          LTRANS = .TRUE..
+          On entry, if LTRANS = .FALSE., the leading M-by-N part of
+          this array must contain the coefficient matrix B of the
+          equation.
+          On entry, if LTRANS = .TRUE., the leading N-by-M part of
+          this array must contain the coefficient matrix B of the
+          equation.
+          On exit, if LTRANS = .FALSE., the leading
+          MIN(M,N)-by-MIN(M,N) upper triangular part of this array
+          contains the upper triangular matrix R (as defined in
+          METHOD), and the M-by-MIN(M,N) strictly lower triangular
+          part together with the elements of the array TAU are
+          overwritten by details of the matrix P (also defined in
+          METHOD). When M &lt; N, columns (M+1),...,N of the array B
+          are overwritten by the matrix Z (see METHOD).
+          On exit, if LTRANS = .TRUE., the leading
+          MIN(M,N)-by-MIN(M,N) upper triangular part of
+          B(1:N,M-N+1), if M &gt;= N, or of B(N-M+1:N,1:M), if M &lt; N,
+          contains the upper triangular matrix R (as defined in
+          METHOD), and the remaining elements (below the diagonal
+          of R) together with the elements of the array TAU are
+          overwritten by details of the matrix P (also defined in
+          METHOD). When M &lt; N, rows 1,...,(N-M) of the array B
+          are overwritten by the matrix Z (see METHOD).
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,M), if LTRANS = .FALSE.,
+          LDB &gt;= MAX(1,N), if LTRANS = .TRUE..
+
+  TAU     (output) DOUBLE PRECISION array of dimension (MIN(N,M))
+          This array contains the scalar factors of the elementary
+          reflectors defining the matrix P.
+
+  U       (output) DOUBLE PRECISION array of dimension (LDU,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor of the solution matrix X of
+          the problem, X = op(U)'*op(U).
+          The array U may be identified with B in the calling
+          statement, if B is properly dimensioned, and the
+          intermediate results returned in B are not needed.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, or INFO = 1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,4*N).
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DISCR = .FALSE., this means that while the matrix
+                A has computed eigenvalues with negative real parts,
+                it is only just stable in the sense that small
+                perturbations in A can make one or more of the
+                eigenvalues have a non-negative real part;
+                if DISCR = .TRUE., this means that while the matrix
+                A has computed eigenvalues inside the unit circle,
+                it is nevertheless only just convergent, in the
+                sense that small perturbations in A can make one or
+                more of the eigenvalues lie outside the unit circle;
+                perturbed values were used to solve the equation
+                (but the matrix A is unchanged);
+          = 2:  if matrix A is not stable (that is, one or more of
+                the eigenvalues of A has a non-negative real part),
+                if DISCR = .FALSE., or not convergent (that is, one
+                or more of the eigenvalues of A lies outside the
+                unit circle), if DISCR = .TRUE.;
+          = 3:  if matrix A has two or more consecutive non-zero
+                elements on the first sub-diagonal, so that there is
+                a block larger than 2-by-2 on the diagonal;
+          = 4:  if matrix A has a 2-by-2 diagonal block with real
+                eigenvalues instead of a complex conjugate pair.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on the Bartels and
+  Stewart method [1], except that it finds the upper triangular
+  matrix U directly without first finding X and without the need
+  to form the normal matrix op(B)'*op(B) [2].
+
+  If LTRANS = .FALSE., the matrix B is factored as
+
+     B = P ( R ),  M &gt;= N,   B = P ( R  Z ),  M &lt; N,
+           ( 0 )
+
+  (QR factorization), where P is an M-by-M orthogonal matrix and
+  R is a square upper triangular matrix.
+
+  If LTRANS = .TRUE., the matrix B is factored as
+
+     B = ( 0  R ) P,  M &gt;= N,  B = ( Z ) P,  M &lt; N,
+                                   ( R )
+
+  (RQ factorization), where P is an M-by-M orthogonal matrix and
+  R is a square upper triangular matrix.
+
+  These factorizations are used to solve the continuous-time
+  Lyapunov equation in the canonical form
+                                                     2
+    op(A)'*op(U)'*op(U) + op(U)'*op(U)*op(A) = -scale *op(F)'*op(F),
+
+  or the discrete-time Lyapunov equation in the canonical form
+                                                     2
+    op(A)'*op(U)'*op(U)*op(A) - op(U)'*op(U) = -scale *op(F)'*op(F),
+
+  where U and F are N-by-N upper triangular matrices, and
+
+     F = R,                                  if M &gt;= N, or
+
+     F = ( R ),    if LTRANS = .FALSE.,  or
+         ( 0 )
+
+     F = ( 0  Z ), if LTRANS = .TRUE.,       if M &lt; N.
+         ( 0  R )
+
+  The canonical equation is solved for U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if A is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned. "Large" elements in U relative
+  to those of A and B, or a "small" value for scale, are symptoms
+  of ill-conditioning. A condition estimate can be computed using
+  SLICOT Library routine SB03MD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OV.html b/doc/_static/doc/SB03OV.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB03OV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OV">SB03OV</A></H2>
+<H3>
+Construction of a complex plane rotation to annihilate a real number, modifying a complex number
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct a complex plane rotation such that, for a complex
+  number  a  and a real number  b,
+
+     ( conjg( c )  s )*( a ) = ( d ),
+     (       -s    c ) ( b )   ( 0 )
+
+  where  d  is always real and is overwritten on  a,  so that on
+  return the imaginary part of  a  is zero.  b  is unaltered.
+
+  This routine has A and C declared as REAL, because it is intended
+  for use within a real Lyapunov solver and the REAL declarations
+  mean that a standard Fortran DOUBLE PRECISION version may be
+  readily constructed.  However A and C could safely be declared
+  COMPLEX in the calling program, although some systems may give a
+  type mismatch warning.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OV( A, B, SMALL, C, S )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  B, S, SMALL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(2), C(2)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input/output) DOUBLE PRECISION array, dimension (2)
+          On entry, A(1) and A(2) must contain the real and
+          imaginary part, respectively, of the complex number a.
+          On exit, A(1) contains the real part of d, and A(2) is
+          set to zero.
+
+  B       (input) DOUBLE PRECISION
+          The real number b.
+
+  SMALL   (input) DOUBLE PRECISION
+          A small real number. If the norm d of [ a; b ] is smaller
+          than SMALL, then the rotation is taken as a unit matrix,
+          and A(1) and A(2) are set to d and 0, respectively.
+
+  C       (output) DOUBLE PRECISION array, dimension (2)
+          C(1) and C(2) contain the real and imaginary part,
+          respectively, of the complex number c, the cosines of
+          the plane rotation.
+
+  S       (output) DOUBLE PRECISION
+          The real number s, the sines of the plane rotation.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OY.html b/doc/_static/doc/SB03OY.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SB03OY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OY">SB03OY</A></H2>
+<H3>
+Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time Lyapunov equations, with matrix A having complex conjugate eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the Cholesky factor  U  of  X,
+
+     op(U)'*op(U) = X,
+
+  where  U  is a two-by-two upper triangular matrix, either the
+  continuous-time two-by-two Lyapunov equation
+                                      2
+      op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R),
+
+  when DISCR = .FALSE., or the discrete-time two-by-two Lyapunov
+  equation
+                                      2
+      op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R),
+
+  when DISCR = .TRUE., where op(K) = K or K' (i.e., the transpose of
+  the matrix K),  S  is a two-by-two matrix with complex conjugate
+  eigenvalues,  R  is a two-by-two upper triangular matrix,
+  ISGN = -1 or 1,  and  scale  is an output scale factor, set less
+  than or equal to 1 to avoid overflow in  X.  The routine also
+  computes two matrices, B and A, so that
+                                2
+     B*U = U*S  and  A*U = scale *R,  if  LTRANS = .FALSE.,  or
+                                2
+     U*B = S*U  and  U*A = scale *R,  if  LTRANS = .TRUE.,
+  which are used by the general Lyapunov solver.
+  In the continuous-time case  ISGN*S  must be stable, so that its
+  eigenvalues must have strictly negative real parts.
+  In the discrete-time case  S  must be convergent if ISGN = 1, that
+  is, its eigenvalues must have moduli less than unity, or  S  must
+  be completely divergent if ISGN = -1, that is, its eigenvalues
+  must have moduli greater than unity.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OY( DISCR, LTRANS, ISGN, S, LDS, R, LDR, A, LDA,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL           DISCR, LTRANS
+      INTEGER           INFO, ISGN, LDA, LDR, LDS
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DISCR   LOGICAL
+          Specifies the equation to be solved:       2
+          = .FALSE.: op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R);
+                                                     2
+          = .TRUE. : op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R).
+
+  LTRANS  LOGICAL
+          Specifies the form of op(K) to be used, as follows:
+          = .FALSE.:  op(K) = K    (No transpose);
+          = .TRUE. :  op(K) = K**T (Transpose).
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  S       (input/output) DOUBLE PRECISION array, dimension (LDS,2)
+          On entry, S must contain a 2-by-2 matrix.
+          On exit, S contains a 2-by-2 matrix B such that B*U = U*S,
+          if LTRANS = .FALSE., or U*B = S*U, if LTRANS = .TRUE..
+          Notice that if U is nonsingular then
+            B = U*S*inv( U ),  if LTRANS = .FALSE.
+            B = inv( U )*S*U,  if LTRANS = .TRUE..
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= 2.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,2)
+          On entry, R must contain a 2-by-2 upper triangular matrix.
+          The element R( 2, 1 ) is not referenced.
+          On exit, R contains U, the 2-by-2 upper triangular
+          Cholesky factor of the solution X, X = op(U)'*op(U).
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= 2.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,2)
+          A contains a 2-by-2 upper triangular matrix A satisfying
+          A*U/scale = scale*R, if LTRANS = .FALSE., or
+          U*A/scale = scale*R, if LTRANS = .TRUE..
+          Notice that if U is nonsingular then
+            A = scale*scale*R*inv( U ),  if LTRANS = .FALSE.
+            A = scale*scale*inv( U )*R,  if LTRANS = .TRUE..
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DISCR = .FALSE., this means that while the
+                matrix S has computed eigenvalues with negative real
+                parts, it is only just stable in the sense that
+                small perturbations in S can make one or more of the
+                eigenvalues have a non-negative real part;
+                if DISCR = .TRUE., this means that while the
+                matrix S has computed eigenvalues inside the unit
+                circle, it is nevertheless only just convergent, in
+                the sense that small perturbations in S can make one
+                or more of the eigenvalues lie outside the unit
+                circle;
+                perturbed values were used to solve the equation
+                (but the matrix S is unchanged);
+          = 2:  if DISCR = .FALSE., and ISGN*S is not stable or
+                if DISCR = .TRUE., ISGN = 1 and S is not convergent
+                or if DISCR = .TRUE., ISGN = -1 and S is not
+                completely divergent;
+          = 4:  if S has real eigenvalues.
+
+  NOTE: In the interests of speed, this routine does not check all
+        inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The LAPACK scheme for solving 2-by-2 Sylvester equations is
+  adapted for 2-by-2 Lyapunov equations, but directly computing the
+  Cholesky factor of the solution.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling S. J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03OZ.html b/doc/_static/doc/SB03OZ.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>SB03OZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03OZ">SB03OZ</A></H2>
+<H3>
+Solution of stable continuous- or discrete-time complex Lyapunov equations (Cholesky factor)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>                        H
+  To solve for X = op(U) *op(U) either the stable non-negative
+  definite continuous-time Lyapunov equation
+          H                     2      H
+     op(A) *X + X*op(A) = -scale *op(B) *op(B),                  (1)
+
+  or the convergent non-negative definite discrete-time Lyapunov
+  equation
+          H                     2      H
+     op(A) *X*op(A) - X = -scale *op(B) *op(B),                  (2)
+
+  where op(K) = K or K**H  (i.e., the conjugate transpose of the
+  matrix K), A is an N-by-N matrix, op(B) is an M-by-N matrix, U is
+  an upper triangular matrix containing the Cholesky factor of the
+  solution matrix X, and scale is an output scale factor, set less
+  than or equal to 1 to avoid overflow in X. If matrix B has full
+  rank, then the solution matrix X will be positive definite and
+  hence the Cholesky factor U will be nonsingular, but if B is rank
+  deficient, then X may be only positive semi-definite and U will be
+  singular.
+
+  In the case of equation (1) the matrix A must be stable (that is,
+  all the eigenvalues of A must have negative real parts), and for
+  equation (2) the matrix A must be convergent (that is, all the
+  eigenvalues of A must lie inside the unit circle).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03OZ( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
+     $                   LDB, SCALE, W, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, TRANS
+      INTEGER           INFO, LDA, LDB, LDQ, LZWORK, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(LDB,*), Q(LDQ,*), W(*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Lyapunov equation to be solved, as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the Schur factorization of the
+          matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and Q contain the factors from the
+                  Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and Q.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(K) to be used, as follows:
+          = 'N':  op(K) = K    (No transpose);
+          = 'C':  op(K) = K**H (Conjugate transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A and the number of columns of
+          the matrix op(B).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows of the matrix op(B).  M &gt;= 0.
+          If M = 0, A is unchanged on exit, and Q and W are not set.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper triangular matrix S in Schur form; the elements
+          below the diagonal of the array A are then not referenced.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the upper triangle of the matrix S.
+          The contents of the array A is not modified if FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  Q       (input or output) COMPLEX*16 array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the unitary matrix Q of the Schur
+          factorization of A.
+          Otherwise, Q need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the unitary matrix Q of the Schur factorization of A.
+          The contents of the array Q is not modified if FACT = 'F'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
+          if TRANS = 'N', and dimension (LDB,max(M,N)), if
+          TRANS = 'C'.
+          On entry, if TRANS = 'N', the leading M-by-N part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On entry, if TRANS = 'C', the leading N-by-M part of this
+          array must contain the coefficient matrix B of the
+          equation.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)**H * op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
+          LDB &gt;= MAX(1,N),   if TRANS = 'C'.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  W       (output) COMPLEX*16 array, dimension (N)
+          If INFO &gt;= 0 and INFO &lt;= 3, W contains the eigenvalues of
+          the matrix A.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0 or INFO = 1, ZWORK(1) returns the
+          optimal value of LZWORK.
+          On exit, if INFO = -16, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          If M &gt; 0, LZWORK &gt;= MAX(1,2*N+MAX(MIN(N,M)-2,0));
+          If M = 0, LZWORK &gt;= 1.
+          For optimum performance LZWORK should sometimes be larger.
+
+          If LZWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the ZWORK
+          array, returns this value as the first entry of the ZWORK
+          array, and no error message related to LZWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation is (nearly) singular
+                (warning indicator);
+                if DICO = 'C' this means that while the matrix A
+                (or the factor S) has computed eigenvalues with
+                negative real parts, it is only just stable in the
+                sense that small perturbations in A can make one or
+                more of the eigenvalues have a non-negative real
+                part;
+                if DICO = 'D' this means that while the matrix A
+                (or the factor S) has computed eigenvalues inside
+                the unit circle, it is nevertheless only just
+                convergent, in the sense that small perturbations
+                in A can make one or more of the eigenvalues lie
+                outside the unit circle;
+                perturbed values were used to solve the equation;
+          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
+                not stable (that is, one or more of the eigenvalues
+                of A has a non-negative real part), or DICO = 'D',
+                but the matrix A is not convergent (that is, one or
+                more of the eigenvalues of A lies outside the unit
+                circle); however, A will still have been factored
+                and the eigenvalues of A returned in W;
+          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
+                supplied in the array A is not stable (that is, one
+                or more of the eigenvalues of S has a non-negative
+                real part), or DICO = 'D', but the Schur factor S
+                supplied in the array A is not convergent (that is,
+                one or more of the eigenvalues of S lies outside the
+                unit circle); the eigenvalues of A are still
+                returned in W;
+          = 6:  if FACT = 'N' and the LAPACK Library routine ZGEES
+                has failed to converge. This failure is not likely
+                to occur. The matrix B will be unaltered but A will
+                be destroyed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on the Bartels and Stewart
+  method [1], except that it finds the upper triangular matrix U
+  directly without first finding X and without the need to form the
+  normal matrix op(B)**H * op(B).
+
+  The Schur factorization of a square matrix A is given by
+            H
+     A = QSQ ,
+
+  where Q is unitary and S is an N-by-N upper triangular matrix.
+  If A has already been factored prior to calling the routine, then
+  the factors Q and S may be supplied and the initial factorization
+  omitted.
+
+  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
+  (QR factorization)
+         _   _
+     B = P ( R ), 
+           ( 0 )
+        _                                 _
+  where P is an M-by-M unitary matrix and R is a square upper
+                                      _   _
+  triangular matrix. Then, the matrix B = RQ is factored as
+     _
+     B = PR.
+
+  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
+
+     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
+            ( 0 ) 
+
+  If TRANS = 'C' and 6*M &gt; 7*N, the matrix B is factored as
+  (RQ factorization)
+              _   _
+     B = ( 0  R ) P,
+        _                                 _
+  where P is an M-by-M unitary matrix and R is a square upper
+                                      _    H _
+  triangular matrix. Then, the matrix B = Q  R is factored as
+     _
+     B = RP.
+                                             H
+  If TRANS = 'C' and 6*M &lt;= 7*N, the matrix Q  B is factored as
+
+      H                              H     ( Z )
+     Q  B = ( 0  R ) P,   M &gt;= N,   Q  B = (   ) P,   M &lt; N.
+                                           ( R )
+
+  These factorizations are utilised to either transform the
+  continuous-time Lyapunov equation to the canonical form
+         H      H              H                     2      H
+    op(S) *op(V) *op(V) + op(V) *op(V)*op(S) = -scale *op(F) *op(F),
+
+  or the discrete-time Lyapunov equation to the canonical form
+         H      H                    H               2      H
+    op(S) *op(V) *op(V)*op(S) - op(V) *op(V) = -scale *op(F) *op(F),
+
+  where V and F are upper triangular, and
+
+     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
+                           ( 0  0 )
+
+     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'C'.
+                           ( 0  R )
+
+  The transformed equation is then solved for V, from which U is
+  obtained via the QR factorization of V*Q**H, if TRANS = 'N', or
+  via the RQ factorization of Q*V, if TRANS = 'C'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.
+      Solution of the matrix equation  A'X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-325, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if A is only just stable (or convergent) then the Lyapunov
+  equation will be ill-conditioned.  A symptom of ill-conditioning
+  is "large" elements in U relative to those of A and B, or a
+  "small" value for scale.
+
+  SB03OZ routine can be also used for solving "unstable" Lyapunov
+  equations, i.e., when matrix A has all eigenvalues with positive
+  real parts, if DICO = 'C', or with moduli greater than one,
+  if DICO = 'D'. Specifically, one may solve for X = op(U)**H*op(U)
+  either the continuous-time Lyapunov equation
+          H                    2      H
+     op(A) *X + X*op(A) = scale *op(B) *op(B),                   (3)
+
+  or the discrete-time Lyapunov equation
+          H                    2      H
+     op(A) *X*op(A) - X = scale *op(B) *op(B),                   (4)
+
+  provided, for equation (3), the given matrix A is replaced by -A,
+  or, for equation (4), the given matrices A and B are replaced by
+  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'C'),
+  respectively. Although the inversion generally can rise numerical
+  problems, in case of equation (4) it is expected that the matrix A
+  is enough well-conditioned, having only eigenvalues with moduli
+  greater than 1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03PD.html b/doc/_static/doc/SB03PD.html
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+<HTML>
+<HEAD><TITLE>SB03PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03PD">SB03PD</A></H2>
+<H3>
+Solution of discrete-time Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real discrete Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = scale*C
+
+  and/or estimate the quantity, called separation,
+
+      sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C').
+  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
+  hand side C and the solution X are N-by-N, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03PD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
+     $                   SCALE, SEPD, FERR, WR, WI, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, TRANA
+      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, SCALE, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   U( LDU, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'B':  Compute both the solution and the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix in Schur canonical form.
+          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
+          part of this array contains the upper quasi-triangular
+          matrix in Schur canonical form from the Shur factorization
+          of A. The contents of array A is not modified if
+          FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If FACT = 'F', then U is an input argument and on entry
+          it must contain the orthogonal matrix U from the real
+          Schur factorization of A.
+          If FACT = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with JOB = 'X' or 'B', the leading N-by-N part of
+          this array must contain the symmetric matrix C.
+          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
+          the leading N-by-N part of C has been overwritten by the
+          symmetric solution matrix X.
+          If JOB = 'S', C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1,
+          SEPD contains the estimate in the 1-norm of
+          sepd(op(A),op(A)').
+          If JOB = 'X' or N = 0, SEPD is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
+          an estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the relative
+          error in the computed solution, measured in the Frobenius
+          norm:  norm(X - XTRUE)/norm(XTRUE).
+          If JOB = 'X' or JOB = 'S', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1 and
+          If JOB = 'X' then
+             If FACT = 'F', LDWORK &gt;= MAX(N*N,2*N);
+             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
+          If JOB = 'S' or JOB = 'B' then
+             LDWORK &gt;= 2*N*N + 2*N.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues (see LAPACK Library routine DGEES);
+                elements i+1:n of WR and WI contain eigenvalues
+                which have converged, and A contains the partially
+                converged Schur form;
+          = N+1:  if matrix A has almost reciprocal eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  a discrete-time version of the Bartels-Stewart algorithm is used.
+  A set of equivalent linear algebraic systems of equations of order
+  at most four are formed and solved using Gaussian elimination with
+  complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  SEPD is defined as
+
+         sepd( op(A), op(A)' ) = sigma_min( T )
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( op(A)', op(A)' ) - I(N**2).
+
+  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
+  Kronecker product. The program estimates sigma_min(T) by the
+  reciprocal of an estimate of the 1-norm of inverse(T). The true
+  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
+  more than a factor of N.
+
+  When SEPD is small, small changes in A, C can cause large changes
+  in the solution of the equation. An approximate bound on the
+  maximum relative error in the computed solution is
+
+                         EPS * norm(A)**2 / SEPD
+
+  where EPS is the machine precision.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03QD.html b/doc/_static/doc/SB03QD.html
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+<HTML>
+<HEAD><TITLE>SB03QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03QD">SB03QD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of continuous-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real continuous-time Lyapunov matrix equation
+
+      op(A)'*X + X*op(A) = scale*C
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A is N-by-N, the right hand side C and the solution X are
+  N-by-N symmetric matrices, and scale is a given scale factor.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X and C.  N &gt;= 0.
+
+  SCALE   (input) DOUBLE PRECISION
+          The scale factor, scale, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the original matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sep(op(A),-op(A)').
+          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the continuous-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          If JOB = 'C', then
+          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
+          LDWORK &gt;= MAX(1,2*N*N,5*N),     if FACT = 'N'.
+          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'O', then
+          LDWORK &gt;= MAX(1,3*N*N),         if FACT = 'F';
+          LDWORK &gt;= MAX(1,3*N*N,5*N),     if FACT = 'N'.
+          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'R', then
+          LDWORK &gt;= MAX(1,3*N*N+N-1),     if FACT = 'F';
+          LDWORK &gt;= MAX(1,3*N*N+N-1,5*N), if FACT = 'N'.
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations, but the matrix T, if given
+                (for FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the continuous-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W + W*op(A),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
+
+  The routine estimates the quantities
+
+  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEP is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1,
+     $                                    5*NMAX ) )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
+      INTEGER          I, INFO1, INFO2, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'C'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
+*        Solve the continuous-time Lyapunov matrix equation.
+         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
+     $                SCALE, SEP, FERR, DWORK(1), DWORK(N+1), IWORK,
+     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
+     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB03QD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            ELSE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+               WRITE ( NOUT, FMT = 99992 ) SEP
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03MD =',I2)
+99997 FORMAT (' INFO on exit from SB03QD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03QD EXAMPLE PROGRAM DATA
+   3     B     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03QD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   3.2604   2.7187   1.8616
+   2.7187   4.4271   0.5699
+   1.8616   0.5699   6.0461
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   4.9068
+
+ Estimated reciprocal condition number =   0.3611
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03QX.html b/doc/_static/doc/SB03QX.html
new file mode 100644
index 00000000..c6664ff9
--- /dev/null
+++ b/doc/_static/doc/SB03QX.html
@@ -0,0 +1,197 @@
+<HTML>
+<HEAD><TITLE>SB03QX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03QX">SB03QX</A></H2>
+<H3>
+Estimating a forward error bound for the solution of a continuous-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate a forward error bound for the solution X of a real
+  continuous-time Lyapunov matrix equation,
+
+         op(A)'*X + X*op(A) = C,
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A, the right hand side C, and the solution X are N-by-N.
+  An absolute residual matrix, which takes into account the rounding
+  errors in forming it, is given in the array R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03QX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
+     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, XANORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
+     $                   U( LDU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix R is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and R.  N &gt;= 0.
+
+  XANORM  (input) DOUBLE PRECISION
+          The absolute (maximal) norm of the symmetric solution
+          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On exit, the leading N-by-N part of this array contains
+          the symmetric absolute residual matrix R (with bounds on
+          rounding errors added), fully stored.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  FERR    (output) DOUBLE PRECISION
+          An estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the magnitude
+          of the largest entry in (X - XTRUE) divided by the
+          magnitude of the largest entry in X.
+          If N = 0 or XANORM = 0, FERR is set to 0, without any
+          calculations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations (but the matrix T is
+                unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1], based on the 1-norm estimator
+  in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [2] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  The routine can be also used as a final step in estimating a
+  forward error bound for the solution of a continuous-time
+  algebraic matrix Riccati equation.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03QY.html b/doc/_static/doc/SB03QY.html
new file mode 100644
index 00000000..f9eaa746
--- /dev/null
+++ b/doc/_static/doc/SB03QY.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>SB03QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03QY">SB03QY</A></H2>
+<H3>
+Estimating separation between op(A) and -op(A)' and 1-norm of Theta operator for a continuous-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the separation between the matrices op(A) and -op(A)',
+
+  sep(op(A),-op(A)') = min norm(op(A)'*X + X*op(A))/norm(X)
+                     = 1 / norm(inv(Omega))
+
+  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
+  Omega and Theta are linear operators associated to the real
+  continuous-time Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = C,
+
+  defined by
+
+  Omega(W) = op(A)'*W + W*op(A),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
+
+  The 1-norm condition estimators are used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03QY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, X, LDX,
+     $                   SEP, THNORM, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, LYAPUN, TRANA
+      INTEGER            INFO, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   SEP, THNORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'S':  Compute the separation only;
+          = 'T':  Compute the norm of Theta only;
+          = 'B':  Compute both the separation and the norm of Theta.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          solution matrix X of the Lyapunov equation (reduced
+          Lyapunov equation if LYAPUN = 'R').
+          If JOB = 'S', the array X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.
+          LDX &gt;= 1,        if JOB = 'S';
+          LDX &gt;= MAX(1,N), if JOB = 'T' or 'B'.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEP contains the
+          estimated separation of the matrices op(A) and -op(A)'.
+          If JOB = 'T' or N = 0, SEP is not referenced.
+
+  THNORM  (output) DOUBLE PRECISION
+          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
+          the estimated 1-norm of operator Theta.
+          If JOB = 'S' or N = 0, THNORM is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations (but the matrix T is
+                unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  SEP is defined as the separation of op(A) and -op(A)':
+
+         sep( op(A), -op(A)' ) = sigma_min( K )
+
+  where sigma_min(K) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     K = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
+
+  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
+  product. The routine estimates sigma_min(K) by the reciprocal of
+  an estimate of the 1-norm of inverse(K), computed as suggested in
+  [1]. This involves the solution of several continuous-time
+  Lyapunov equations, either direct or transposed. The true
+  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
+  more than a factor of N.
+  The 1-norm of Theta is estimated similarly.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  When SEP is zero, the routine returns immediately, with THNORM
+  (if requested) not set. In this case, the equation is singular.
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB03RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03RD">SB03RD</A></H2>
+<H3>
+Solution of continuous-time Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = scale*C
+
+  and/or estimate the separation between the matrices op(A) and
+  -op(A)', where op(A) = A or A' (A**T) and C is symmetric (C = C').
+  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
+  hand side C and the solution X are N-by-N, and scale is an output
+  scale factor, set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03RD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
+     $                   SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, TRANA
+      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   U( LDU, * ), WI( * ), WR( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'B':  Compute both the solution and the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix A. If FACT = 'F', then A contains
+          an upper quasi-triangular matrix in Schur canonical form.
+          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
+          part of this array contains the upper quasi-triangular
+          matrix in Schur canonical form from the Shur factorization
+          of A. The contents of array A is not modified if
+          FACT = 'F'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If FACT = 'F', then U is an input argument and on entry
+          it must contain the orthogonal matrix U from the real
+          Schur factorization of A.
+          If FACT = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO = N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry with JOB = 'X' or 'B', the leading N-by-N part of
+          this array must contain the symmetric matrix C.
+          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
+          the leading N-by-N part of C has been overwritten by the
+          symmetric solution matrix X.
+          If JOB = 'S', C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
+          contains the estimated separation of the matrices op(A)
+          and -op(A)'.
+          If JOB = 'X' or N = 0, SEP is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
+          an estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the relative
+          error in the computed solution, measured in the Frobenius
+          norm:  norm(X - XTRUE)/norm(XTRUE).
+          If JOB = 'X' or JOB = 'S', FERR is not referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1 and
+          If JOB = 'X' then
+             If FACT = 'F', LDWORK &gt;= N*N;
+             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
+          If JOB = 'S' or JOB = 'B' then
+             If FACT = 'F', LDWORK &gt;= 2*N*N;
+             If FACT = 'N', LDWORK &gt;= MAX(2*N*N,3*N).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
+                the eigenvalues (see LAPACK Library routine DGEES);
+                elements i+1:n of WR and WI contain eigenvalues
+                which have converged, and A contains the partially
+                converged Schur form;
+          = N+1:  if the matrices A and -A' have common or very
+                close eigenvalues; perturbed values were used to
+                solve the equation (but the matrix A is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  the Bartels-Stewart algorithm is used. A set of equivalent linear
+  algebraic systems of equations of order at most four are formed
+  and solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  SEP is defined as the separation of op(A) and -op(A)':
+
+         sep( op(A), -op(A)' ) = sigma_min( T )
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( I(N), op(A)' ) + kprod( op(A), I(N) ).
+
+  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
+  product. The program estimates sigma_min(T) by the reciprocal of
+  an estimate of the 1-norm of inverse(T). The true reciprocal
+  1-norm of inverse(T) cannot differ from sigma_min(T) by more
+  than a factor of N.
+
+  When SEP is small, small changes in A, C can cause large changes
+  in the solution of the equation. An approximate bound on the
+  maximum relative error in the computed solution is
+
+                         EPS * norm(A) / SEP
+
+  where EPS is the machine precision.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03SD.html b/doc/_static/doc/SB03SD.html
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+<HTML>
+<HEAD><TITLE>SB03SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03SD">SB03SD</A></H2>
+<H3>
+Estimating conditioning and forward error bound for the solution of discrete-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the conditioning and compute an error bound on the
+  solution of the real discrete-time Lyapunov matrix equation
+
+      op(A)'*X*op(A) - X = scale*C
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A is N-by-N, the right hand side C and the solution X are
+  N-by-N symmetric matrices, and scale is a given scale factor.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'B':  Compute both the reciprocal condition number and
+                  the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved in the iterative estimation process,
+          as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X and C.  N &gt;= 0.
+
+  SCALE   (input) DOUBLE PRECISION
+          The scale factor, scale, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
+          this array must contain the original matrix A.
+          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
+          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If UPLO = 'U', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+          If UPLO = 'L', the leading N-by-N lower triangular part of
+          this array must contain the lower triangular part of the
+          matrix C of the original Lyapunov equation (with
+          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
+          equation (with matrix T), if LYAPUN = 'R'.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          The array X is modified internally, but restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', the estimated quantity
+          sepd(op(A),op(A)').
+          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
+          condition number of the discrete-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'E', RCOND is not referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'B', an estimated forward error
+          bound for the solution X. If XTRUE is the true solution,
+          FERR bounds the magnitude of the largest entry in
+          (X - XTRUE) divided by the magnitude of the largest entry
+          in X.
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'C', FERR is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 1,                            if N = 0; else,
+          LDWORK &gt;= MAX(3,2*N*N) + N*N,           if JOB  = 'C',
+                                                     FACT = 'F';
+          LDWORK &gt;= MAX(MAX(3,2*N*N) + N*N, 5*N), if JOB  = 'C',
+                                                     FACT = 'N';
+          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N,     if JOB  = 'E', or
+                                                     JOB  = 'B'.
+          For optimum performance LDWORK should sometimes be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrix T has almost reciprocal eigenvalues;
+                perturbed values were used to solve Lyapunov
+                equations, but the matrix T, if given (for
+                FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The condition number of the discrete-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W*op(A) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
+
+  The routine estimates the quantities
+
+  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  When SEPD is computed and it is zero, the routine returns
+  immediately, with RCOND and FERR (if requested) set to 0 and 1,
+  respectively. In this case, the equation is singular.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03SD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
+     $                                 NMAX*NMAX + 2*NMAX )
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
+      INTEGER          I, INFO1, INFO2, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03SD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'D'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
+     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
+         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
+*        Solve the discrete-time Lyapunov matrix equation.
+         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
+     $                SCALE, SEPD, FERR, DWORK(1), DWORK(N+1), IWORK,
+     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10       CONTINUE
+            IF ( LSAME( LYAPUN, 'R' ) ) THEN
+               IF( LSAME( TRANA, 'N' )  ) THEN
+                  TRANAT = 'T'
+               ELSE
+                  TRANAT = 'N'
+               END IF
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
+     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
+               CALL MA02ED( UPLO, N, X, LDX )
+               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
+     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
+            END IF
+*           Estimate the condition and error bound on the solution.
+            CALL SB03SD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
+     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99997 ) INFO2
+            ELSE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+               WRITE ( NOUT, FMT = 99992 ) SEPD
+               WRITE ( NOUT, FMT = 99991 ) RCOND
+               WRITE ( NOUT, FMT = 99990 ) FERR
+            END IF
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03SD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03MD =',I2)
+99997 FORMAT (' INFO on exit from SB03SD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03SD EXAMPLE PROGRAM DATA
+   3     B     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03SD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   2.0000   1.0000   1.0000
+   1.0000   3.0000   0.0000
+   1.0000   0.0000   4.0000
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   5.2302
+
+ Estimated reciprocal condition number =   0.1832
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03SX.html b/doc/_static/doc/SB03SX.html
new file mode 100644
index 00000000..426ea8e1
--- /dev/null
+++ b/doc/_static/doc/SB03SX.html
@@ -0,0 +1,198 @@
+<HTML>
+<HEAD><TITLE>SB03SX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03SX">SB03SX</A></H2>
+<H3>
+Estimating a forward error bound for the solution of a discrete-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate a forward error bound for the solution X of a real
+  discrete-time Lyapunov matrix equation,
+
+         op(A)'*X*op(A) - X = C,
+
+  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
+  matrix A, the right hand side C, and the solution X are N-by-N.
+  An absolute residual matrix, which takes into account the rounding
+  errors in forming it, is given in the array R.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03SX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
+     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
+      DOUBLE PRECISION   FERR, XANORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
+     $                   U( LDU, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix R is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and R.  N &gt;= 0.
+
+  XANORM  (input) DOUBLE PRECISION
+          The absolute (maximal) norm of the symmetric solution
+          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the absolute residual matrix R, with
+          bounds on rounding errors added.
+          On exit, the leading N-by-N part of this array contains
+          the symmetric absolute residual matrix R (with bounds on
+          rounding errors added), fully stored.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  FERR    (output) DOUBLE PRECISION
+          An estimated forward error bound for the solution X.
+          If XTRUE is the true solution, FERR bounds the magnitude
+          of the largest entry in (X - XTRUE) divided by the
+          magnitude of the largest entry in X.
+          If N = 0 or XANORM = 0, FERR is set to 0, without any
+          calculations.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,            if N = 0;
+          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if T has almost reciprocal eigenvalues; perturbed
+                values were used to solve Lyapunov equations (but
+                the matrix T is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [1], based on the 1-norm estimator
+  in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+  [2] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+  The routine can be also used as a final step in estimating a
+  forward error bound for the solution of a discrete-time algebraic
+  matrix Riccati equation.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03SY.html b/doc/_static/doc/SB03SY.html
new file mode 100644
index 00000000..5f039b5b
--- /dev/null
+++ b/doc/_static/doc/SB03SY.html
@@ -0,0 +1,210 @@
+<HTML>
+<HEAD><TITLE>SB03SY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03SY">SB03SY</A></H2>
+<H3>
+Estimating separation between op(A) and op(A)' and 1-norm of Theta operator for a discrete-time Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To estimate the "separation" between the matrices op(A) and
+  op(A)',
+
+  sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
+                     = 1 / norm(inv(Omega))
+
+  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
+  Omega and Theta are linear operators associated to the real
+  discrete-time Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = C,
+
+  defined by
+
+  Omega(W) = op(A)'*W*op(A) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
+
+  The 1-norm condition estimators are used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03SY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, XA,
+     $                   LDXA, SEPD, THNORM, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, LYAPUN, TRANA
+      INTEGER            INFO, LDT, LDU, LDWORK, LDXA, N
+      DOUBLE PRECISION   SEPD, THNORM
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
+     $                   XA( LDXA, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'S':  Compute the separation only;
+          = 'T':  Compute the norm of Theta only;
+          = 'B':  Compute both the separation and the norm of Theta.
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original Lyapunov equations
+          should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+
+  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,N).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array must contain the
+          orthogonal matrix U from a real Schur factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  XA      (input) DOUBLE PRECISION array, dimension (LDXA,N)
+          The leading N-by-N part of this array must contain the
+          matrix product X*op(A), if LYAPUN = 'O', or U'*X*U*op(T),
+          if LYAPUN = 'R', in the Lyapunov equation.
+          If JOB = 'S', the array XA is not referenced.
+
+  LDXA    INTEGER
+          The leading dimension of array XA.
+          LDXA &gt;= 1,        if JOB = 'S';
+          LDXA &gt;= MAX(1,N), if JOB = 'T' or 'B'.
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEPD contains
+          the estimated quantity sepd(op(A),op(A)').
+          If JOB = 'T' or N = 0, SEPD is not referenced.
+
+  THNORM  (output) DOUBLE PRECISION
+          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
+          the estimated 1-norm of operator Theta.
+          If JOB = 'S' or N = 0, THNORM is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,            if N = 0;
+          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = N+1:  if T has (almost) reciprocal eigenvalues;
+                perturbed values were used to solve Lyapunov
+                equations (but the matrix T is unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  SEPD is defined as
+
+         sepd( op(A), op(A)' ) = sigma_min( K )
+
+  where sigma_min(K) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     K = kprod( op(A)', op(A)' ) - I(N**2).
+
+  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
+  Kronecker product. The routine estimates sigma_min(K) by the
+  reciprocal of an estimate of the 1-norm of inverse(K), computed as
+  suggested in [1]. This involves the solution of several discrete-
+  time Lyapunov equations, either direct or transposed. The true
+  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
+  more than a factor of N.
+  The 1-norm of Theta is estimated similarly.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or
+      complex matrix, with applications to condition estimation.
+      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  When SEPD is zero, the routine returns immediately, with THNORM
+  (if requested) not set. In this case, the equation is singular.
+  The option LYAPUN = 'R' may occasionally produce slightly worse
+  or better estimates, and it is much faster than the option 'O'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB03TD.html b/doc/_static/doc/SB03TD.html
new file mode 100644
index 00000000..0fe2d83b
--- /dev/null
+++ b/doc/_static/doc/SB03TD.html
@@ -0,0 +1,469 @@
+<HTML>
+<HEAD><TITLE>SB03TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03TD">SB03TD</A></H2>
+<H3>
+Solution of continuous-time Lyapunov equations and condition and error bounds estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real continuous-time Lyapunov matrix equation
+
+         op(A)'*X + X*op(A) = scale*C,
+
+  estimate the conditioning, and compute an error bound on the
+  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
+  the right hand side C and the solution X are N-by-N symmetric
+  matrices (C = C', X = X'), and scale is an output scale factor,
+  set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
+     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'A':  Compute all: the solution, separation, reciprocal
+                  condition number, and the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original or "reduced"
+          Lyapunov equations should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+                  This means that a real Schur form T of A appears
+                  in the equation, instead of A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  SCALE   (input or output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
+          the scale factor, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
+          the scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+          If JOB = 'S', this argument is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
+          leading N-by-N part of this array must contain the
+          original matrix A.
+          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
+                                            JOB &lt;&gt; 'X';
+          LDA &gt;= 1,        otherwise.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+          The contents of array T is not modified if FACT = 'F'.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          The remaining strictly triangular part of this array is
+          used as workspace.
+          If JOB = 'X', then this array may be identified with X
+          in the call of this routine.
+          If JOB = 'S', the array C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  X       (input or output) DOUBLE PRECISION array, dimension
+          (LDX,N)
+          If JOB = 'C' or 'E', then X is an input argument and on
+          entry, the leading N-by-N part of this array must contain
+          the symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB = 'X' or 'A', then X is an output argument and on
+          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
+          of this array contains the symmetric solution matrix X of
+          of the original Lyapunov equation (with matrix A), if
+          LYAPUN = 'O', or of the reduced Lyapunov equation (with
+          matrix T), if LYAPUN = 'R'.
+          If JOB = 'S', the array X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.
+          LDX &gt;= 1,        if JOB = 'S';
+          LDX &gt;= MAX(1,N), otherwise.
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
+          INFO = N+1, SEP contains the estimated separation of the
+          matrices op(A) and -op(A)', sep(op(A),-op(A)').
+          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEP is not
+          referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
+          condition number of the continuous-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
+          referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
+          FERR contains an estimated forward error bound for the
+          solution X. If XTRUE is the true solution, FERR bounds the
+          relative error in the computed solution, measured in the
+          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
+          referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If JOB = 'X', then
+          LDWORK &gt;= MAX(1,N*N),           if FACT = 'F';
+          LDWORK &gt;= MAX(1,MAX(N*N,3*N)),  if FACT = 'N'.
+          If JOB = 'S' or JOB = 'C', then
+          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
+          LDWORK &gt;= MAX(1,2*N*N,3*N),     if FACT = 'N'.
+          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'O', then
+          LDWORK &gt;= MAX(1,3*N*N);
+          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'R', then
+          LDWORK &gt;= MAX(1,3*N*N+N-1).
+          For optimum performance LDWORK should sometimes be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and the elements i+1:n of WR and WI
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrices T and -T' have common or very
+                close eigenvalues; perturbed values were used to
+                solve Lyapunov equations, but the matrix T, if given
+                (for FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  the Bartels-Stewart algorithm is used. A set of equivalent linear
+  algebraic systems of equations of order at most four are formed
+  and solved using Gaussian elimination with complete pivoting.
+
+  The condition number of the continuous-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W + W*op(A),
+  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
+
+  The routine estimates the quantities
+
+  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The separation of op(A) and -op(A)' can also be defined as
+
+         sep( op(A), -op(A)' ) = sigma_min( T ),
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
+
+  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
+  product. The routine estimates sigma_min(T) by the reciprocal of
+  an estimate of the 1-norm of inverse(T). The true reciprocal
+  1-norm of inverse(T) cannot differ from sigma_min(T) by more
+  than a factor of N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03TD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03TD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'C'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $                               READ ( NIN, FMT = * ) SCALE
+         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
+     $                             .NOT.LSAME( JOB, 'X') ) )
+     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+            IF ( LSAME( LYAPUN, 'O' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( .NOT.LSAME( JOB, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Solve the continuous-time Lyapunov matrix equation and/or
+*        estimate the condition and error bound on the solution.
+         CALL SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
+     $                T, LDT, U, LDU, C, LDC, X, LDX, SEP, RCOND, FERR,
+     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
+     $                LDWORK-2*N, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+            END IF
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
+     $                             .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) SEP
+            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99991 ) RCOND
+            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99990 ) FERR
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03TD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03TD EXAMPLE PROGRAM DATA
+   3     A     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03TD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   3.2604   2.7187   1.8616
+   2.7187   4.4271   0.5699
+   1.8616   0.5699   6.0461
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   4.9068
+
+ Estimated reciprocal condition number =   0.3611
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB03UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB03UD">SB03UD</A></H2>
+<H3>
+Solution of discrete-time Lyapunov equations and condition and error bounds estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve the real discrete-time Lyapunov matrix equation
+
+         op(A)'*X*op(A) - X = scale*C,
+
+  estimate the conditioning, and compute an error bound on the
+  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
+  the right hand side C and the solution X are N-by-N symmetric
+  matrices (C = C', X = X'), and scale is an output scale factor,
+  set less than or equal to 1 to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
+     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
+     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
+      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
+      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Specifies the computation to be performed, as follows:
+          = 'X':  Compute the solution only;
+          = 'S':  Compute the separation only;
+          = 'C':  Compute the reciprocal condition number only;
+          = 'E':  Compute the error bound only;
+          = 'A':  Compute all: the solution, separation, reciprocal
+                  condition number, and the error bound.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
+                  factors from the real Schur factorization of the
+                  matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in T and U (if
+                  LYAPUN = 'O').
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  UPLO    CHARACTER*1
+          Specifies which part of the symmetric matrix C is to be
+          used, as follows:
+          = 'U':  Upper triangular part;
+          = 'L':  Lower triangular part.
+
+  LYAPUN  CHARACTER*1
+          Specifies whether or not the original or "reduced"
+          Lyapunov equations should be solved, as follows:
+          = 'O':  Solve the original Lyapunov equations, updating
+                  the right-hand sides and solutions with the
+                  matrix U, e.g., X &lt;-- U'*X*U;
+          = 'R':  Solve reduced Lyapunov equations only, without
+                  updating the right-hand sides and solutions.
+                  This means that a real Schur form T of A appears
+                  in the equation, instead of A.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, X, and C.  N &gt;= 0.
+
+  SCALE   (input or output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
+          the scale factor, set by a Lyapunov solver.
+          0 &lt;= SCALE &lt;= 1.
+          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
+          the scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+          If JOB = 'S', this argument is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
+          leading N-by-N part of this array must contain the
+          original matrix A.
+          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
+          not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.
+          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
+                                            JOB &lt;&gt; 'X';
+          LDA &gt;= 1,        otherwise.
+
+  T       (input/output) DOUBLE PRECISION array, dimension
+          (LDT,N)
+          If FACT = 'F', then on entry the leading N-by-N upper
+          Hessenberg part of this array must contain the upper
+          quasi-triangular matrix T in Schur canonical form from a
+          Schur factorization of A.
+          If FACT = 'N', then this array need not be set on input.
+          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
+          leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix T in Schur
+          canonical form from a Schur factorization of A.
+          The contents of array T is not modified if FACT = 'F'.
+
+  LDT     INTEGER
+          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,N)
+          If LYAPUN = 'O' and FACT = 'F', then U is an input
+          argument and on entry, the leading N-by-N part of this
+          array must contain the orthogonal matrix U from a real
+          Schur factorization of A.
+          If LYAPUN = 'O' and FACT = 'N', then U is an output
+          argument and on exit, if INFO = 0 or INFO = N+1, it
+          contains the orthogonal N-by-N matrix from a real Schur
+          factorization of A.
+          If LYAPUN = 'R', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if LYAPUN = 'R';
+          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the matrix C of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          The remaining strictly triangular part of this array is
+          used as workspace.
+          If JOB = 'X', then this array may be identified with X
+          in the call of this routine.
+          If JOB = 'S', the array C is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= 1,        if JOB = 'S';
+          LDC &gt;= MAX(1,N), otherwise.
+
+  X       (input or output) DOUBLE PRECISION array, dimension
+          (LDX,N)
+          If JOB = 'C' or 'E', then X is an input argument and on
+          entry, the leading N-by-N part of this array must contain
+          the symmetric solution matrix X of the original Lyapunov
+          equation (with matrix A), if LYAPUN = 'O', or of the
+          reduced Lyapunov equation (with matrix T), if
+          LYAPUN = 'R'.
+          If JOB = 'X' or 'A', then X is an output argument and on
+          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
+          of this array contains the symmetric solution matrix X of
+          of the original Lyapunov equation (with matrix A), if
+          LYAPUN = 'O', or of the reduced Lyapunov equation (with
+          matrix T), if LYAPUN = 'R'.
+          If JOB = 'S', the array X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.
+          LDX &gt;= 1,        if JOB = 'S';
+          LDX &gt;= MAX(1,N), otherwise.
+
+  SEPD    (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
+          INFO = N+1, SEPD contains the estimated separation of the
+          matrices op(A) and op(A)', sepd(op(A),op(A)').
+          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEPD is not
+          referenced.
+
+  RCOND   (output) DOUBLE PRECISION
+          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
+          condition number of the continuous-time Lyapunov equation.
+          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
+          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
+          referenced.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
+          FERR contains an estimated forward error bound for the
+          solution X. If XTRUE is the true solution, FERR bounds the
+          relative error in the computed solution, measured in the
+          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
+          If N = 0 or X = 0, FERR is set to 0.
+          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
+          referenced.
+
+  WR      (output) DOUBLE PRECISION array, dimension (N)
+  WI      (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
+          contain the real and imaginary parts, respectively, of the
+          eigenvalues of A.
+          If FACT = 'F', WR and WI are not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N*N)
+          This array is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
+          optimal value of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If JOB = 'X', then
+          LDWORK &gt;= MAX(1,N*N,2*N),       if FACT = 'F';
+          LDWORK &gt;= MAX(1,N*N,3*N),       if FACT = 'N'.
+          If JOB = 'S', then
+          LDWORK &gt;= MAX(3,2*N*N).
+          If JOB = 'C', then
+          LDWORK &gt;= MAX(3,2*N*N) + N*N.
+          If JOB = 'E', or JOB = 'A', then
+          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N.
+          For optimum performance LDWORK should sometimes be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
+                complete the reduction to Schur canonical form (see
+                LAPACK Library routine DGEES); on exit, the matrix
+                T(i+1:N,i+1:N) contains the partially converged
+                Schur form, and the elements i+1:n of WR and WI
+                contain the real and imaginary parts, respectively,
+                of the converged eigenvalues; this error is unlikely
+                to appear;
+          = N+1:  if the matrix T has almost reciprocal eigenvalues;
+                perturbed values were used to solve Lyapunov
+                equations, but the matrix T, if given (for
+                FACT = 'F'), is unchanged.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  After reducing matrix A to real Schur canonical form (if needed),
+  a discrete-time version of the Bartels-Stewart algorithm is used.
+  A set of equivalent linear algebraic systems of equations of order
+  at most four are formed and solved using Gaussian elimination with
+  complete pivoting.
+
+  The condition number of the discrete-time Lyapunov equation is
+  estimated as
+
+  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
+
+  where Omega and Theta are linear operators defined by
+
+  Omega(W) = op(A)'*W*op(A) - W,
+  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
+
+  The routine estimates the quantities
+
+  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
+
+  and norm(Theta) using 1-norm condition estimators.
+
+  The forward error bound is estimated using a practical error bound
+  similar to the one proposed in [3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Barraud, A.Y.                   T
+      A numerical algorithm to solve A XA - X = Q.
+      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
+
+  [2] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [3] Higham, N.J.
+      Perturbation theory and backward error for AX-XB=C.
+      BIT, vol. 33, pp. 124-136, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+  The accuracy of the estimates obtained depends on the solution
+  accuracy and on the properties of the 1-norm estimator.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The "separation" sepd of op(A) and op(A)' can also be defined as
+
+         sepd( op(A), op(A)' ) = sigma_min( T ),
+
+  where sigma_min(T) is the smallest singular value of the
+  N*N-by-N*N matrix
+
+     T = kprod( op(A)', op(A)' ) - I(N**2).
+
+  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
+  Kronecker product. The routine estimates sigma_min(T) by the
+  reciprocal of an estimate of the 1-norm of inverse(T). The true
+  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
+  more than a factor of N.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB03UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX
+      PARAMETER        ( NMAX = 20 )
+      INTEGER          LDA, LDC, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
+     $                   LDU = NMAX, LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
+     $                                 NMAX*NMAX + 2*NMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
+      INTEGER          I, INFO, J, N
+      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
+*     .. Local Arrays ..
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB03UD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      DICO = 'D'
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $                               READ ( NIN, FMT = * ) SCALE
+         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
+     $                             .NOT.LSAME( JOB, 'X') ) )
+     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
+            IF ( LSAME( LYAPUN, 'O' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( .NOT.LSAME( JOB, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Solve the discrete-time Lyapunov matrix equation and/or
+*        estimate the condition and error bound on the solution.
+         CALL SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
+     $                T, LDT, U, LDU, C, LDC, X, LDX, SEPD, RCOND, FERR,
+     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
+     $                LDWORK-2*N, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99996 )
+               DO 10 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
+   10          CONTINUE
+               WRITE ( NOUT, FMT = 99993 ) SCALE
+            END IF
+            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
+     $                             .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99992 ) SEPD
+            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99991 ) RCOND
+            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
+     $         WRITE ( NOUT, FMT = 99990 ) FERR
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB03UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB03UD =',I2)
+99996 FORMAT (' The solution matrix X is')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' Scaling factor = ',F8.4)
+99992 FORMAT (/' Estimated separation = ',F8.4)
+99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
+99990 FORMAT (/' Estimated error bound = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB03UD EXAMPLE PROGRAM DATA
+   3     A     N     N     U     O
+   3.0   1.0   1.0
+   1.0   3.0   0.0
+   0.0   0.0   3.0
+  25.0  24.0  15.0
+  24.0  32.0   8.0
+  15.0   8.0  40.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB03UD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is
+   2.0000   1.0000   1.0000
+   1.0000   3.0000   0.0000
+   1.0000   0.0000   4.0000
+
+ Scaling factor =   1.0000
+
+ Estimated separation =   5.2302
+
+ Estimated reciprocal condition number =   0.1832
+
+ Estimated error bound =   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB04MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MD">SB04MD</A></H2>
+<H3>
+Solution of continuous-time Sylvester equations (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the continuous-time Sylvester equation
+
+     AX + XB = C
+
+  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
+  N-by-M matrices respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A of the equation.
+          On exit, the leading N-by-N upper Hessenberg part of this
+          array contains the matrix H, and the remainder of the
+          leading N-by-N part, together with the elements 2,3,...,N
+          of array DWORK, contain the orthogonal transformation
+          matrix U (stored in factored form).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix B of the equation.
+          On exit, the leading M-by-M part of this array contains
+          the quasi-triangular Schur factor S of the matrix B'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading N-by-M part of this array contains
+          the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
+          The leading M-by-M part of this array contains the
+          orthogonal matrix Z used to transform B' to real upper
+          Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
+          the scalar factors of the elementary reflectors used to
+          reduce A to upper Hessenberg form, as returned by LAPACK
+          Library routine DGEHRD.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = MAX(1, 2*N*N + 8*N, 5*M, N + M).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
+                compute all the eigenvalues (see LAPACK Library
+                routine DGEES);
+          &gt; M:  if a singular matrix was encountered whilst solving
+                for the (INFO-M)-th column of matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A is transformed to upper Hessenberg form H = U'AU by
+  the orthogonal transformation matrix U; matrix B' is transformed
+  to real upper Schur form S = Z'B'Z using the orthogonal
+  transformation matrix Z. The matrix C is also multiplied by the
+  transformations, F = U'CZ, and the solution matrix Y of the
+  transformed system
+
+     HY + YS' = F
+
+  is computed by back substitution. Finally, the matrix Y is then
+  multiplied by the orthogonal transformation matrices, X = UYZ', in
+  order to obtain the solution matrix X to the original problem.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3       3      2         2
+  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
+  operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
+     $                   LDZ = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 4*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+8*NMAX, 5*MMAX,
+     $                   NMAX+MMAX ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK), Z(LDZ,MMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04MD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The orthogonal matrix Z is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04MD EXAMPLE PROGRAM DATA
+   3     2
+   2.0   1.0   3.0
+   0.0   2.0   1.0
+   6.0   1.0   2.0
+   2.0   1.0
+   1.0   6.0
+   2.0   1.0
+   1.0   4.0
+   0.0   5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04MD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+  -2.7685   0.5498
+  -1.0531   0.6865
+   4.5257  -0.4389
+
+ The orthogonal matrix Z is 
+  -0.9732  -0.2298
+   0.2298  -0.9732
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04MR.html b/doc/_static/doc/SB04MR.html
new file mode 100644
index 00000000..9b9b44ac
--- /dev/null
+++ b/doc/_static/doc/SB04MR.html
@@ -0,0 +1,113 @@
+<HTML>
+<HEAD><TITLE>SB04MR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MR">SB04MR</A></H2>
+<H3>
+Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a linear algebraic system of order M whose coefficient
+  matrix has zeros below the second subdiagonal. The matrix is
+  stored compactly, row-wise.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MR( M, D, IPR, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the system.  M &gt;= 0.
+          Note that parameter M should have twice the value in the
+          original problem (see SLICOT Library routine SB04MU).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (M*(M+1)/2+3*M)
+          On entry, the first M*(M+1)/2 + 2*M elements of this array
+          must contain the coefficient matrix, stored compactly,
+          row-wise, and the next M elements must contain the right
+          hand side of the linear system, as set by SLICOT Library
+          routine SB04MU.
+          On exit, the content of this array is updated, the last M
+          elements containing the solution with components
+          interchanged (see IPR).
+
+  IPR     (output) INTEGER array, dimension (2*M)
+          The leading M elements contain information about the
+          row interchanges performed for solving the system.
+          Specifically, the i-th component of the solution is
+          specified by IPR(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with partial pivoting is used. The rows of
+  the matrix are not actually permuted, only their indices are
+  interchanged in array IPR.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04MU.html b/doc/_static/doc/SB04MU.html
new file mode 100644
index 00000000..d38ade39
--- /dev/null
+++ b/doc/_static/doc/SB04MU.html
@@ -0,0 +1,133 @@
+<HTML>
+<HEAD><TITLE>SB04MU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MU">SB04MU</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order 2*M
+  whose coefficient matrix has zeros below the second subdiagonal.
+  Such systems appear when solving continuous-time Sylvester
+  equations using the Hessenberg-Schur method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          IND and IND - 1 specify the indices of the columns in C
+          to be computed.  IND &gt; 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with columns IND-1 and IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (2*M*M+7*M)
+
+  IPR     INTEGER array, dimension (4*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order 2*M, whose coefficient
+  matrix has zeros below the second subdiagonal is constructed and
+  solved. The coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04MW.html b/doc/_static/doc/SB04MW.html
new file mode 100644
index 00000000..9388dd2c
--- /dev/null
+++ b/doc/_static/doc/SB04MW.html
@@ -0,0 +1,110 @@
+<HTML>
+<HEAD><TITLE>SB04MW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MW">SB04MW</A></H2>
+<H3>
+Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a linear algebraic system of order M whose coefficient
+  matrix is in upper Hessenberg form, stored compactly, row-wise.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MW( M, D, IPR, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the system.  M &gt;= 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (M*(M+1)/2+2*M)
+          On entry, the first M*(M+1)/2 + M elements of this array
+          must contain an upper Hessenberg matrix, stored compactly,
+          row-wise, and the next M elements must contain the right
+          hand side of the linear system, as set by SLICOT Library
+          routine SB04MY.
+          On exit, the content of this array is updated, the last M
+          elements containing the solution with components
+          interchanged (see IPR).
+
+  IPR     (output) INTEGER array, dimension (2*M)
+          The leading M elements contain information about the
+          row interchanges performed for solving the system.
+          Specifically, the i-th component of the solution is
+          specified by IPR(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with partial pivoting is used. The rows of
+  the matrix are not actually permuted, only their indices are
+  interchanged in array IPR.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04MY.html b/doc/_static/doc/SB04MY.html
new file mode 100644
index 00000000..d6b3bfa9
--- /dev/null
+++ b/doc/_static/doc/SB04MY.html
@@ -0,0 +1,132 @@
+<HTML>
+<HEAD><TITLE>SB04MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04MY">SB04MY</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order M whose
+  coefficient matrix is in upper Hessenberg form. Such systems
+  appear when solving Sylvester equations using the Hessenberg-Schur
+  method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04MY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          The index of the column in C to be computed.  IND &gt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with column IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
+
+  IPR     INTEGER array, dimension (2*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order M, with coefficient
+  matrix in upper Hessenberg form is constructed and solved. The
+  coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04ND.html b/doc/_static/doc/SB04ND.html
new file mode 100644
index 00000000..a04012d5
--- /dev/null
+++ b/doc/_static/doc/SB04ND.html
@@ -0,0 +1,286 @@
+<HTML>
+<HEAD><TITLE>SB04ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04ND">SB04ND</A></H2>
+<H3>
+Solution of continuous-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the continuous-time Sylvester equation
+
+     AX + XB = C,
+
+  with at least one of the matrices A or B in Schur form and the
+  other in Hessenberg or Schur form (both either upper or lower);
+  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
+  respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHU, ULA, ULB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHU  CHARACTER*1
+          Indicates whether A and/or B is/are in Schur or
+          Hessenberg form as follows:
+          = 'A':  A is in Schur form, B is in Hessenberg form;
+          = 'B':  B is in Schur form, A is in Hessenberg form;
+          = 'S':  Both A and B are in Schur form.
+
+  ULA     CHARACTER*1
+          Indicates whether A is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
+                  upper Schur form otherwise;
+          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
+                  lower Schur form otherwise.
+
+  ULB     CHARACTER*1
+          Indicates whether B is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
+                  upper Schur form otherwise;
+          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
+                  lower Schur form otherwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading M-by-M part of this array must contain the
+          coefficient matrix B of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity in
+          the Sylvester equation. If the user sets TOL &gt; 0, then the
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number; a matrix whose estimated
+          condition number is less than 1/TOL is considered to be
+          nonsingular. If the user sets TOL &lt;= 0, then a default
+          tolerance, defined by TOLDEF = EPS, is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*MAX(M,N))
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = 0, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
+          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if a (numerically) singular matrix T was encountered
+                during the computation of the solution matrix X.
+                That is, the estimated reciprocal condition number
+                of T is less than or equal to TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrices A and B are assumed to be in (upper or lower) Hessenberg
+  or Schur form (with at least one of them in Schur form). The
+  solution matrix X is then computed by rows or columns via the back
+  substitution scheme proposed by Golub, Nash and Van Loan (see
+  [1]), which involves the solution of triangular systems of
+  equations that are constructed recursively and which may be nearly
+  singular if A and -B have close eigenvalues. If near singularity
+  is detected, then the routine returns with the Error Indicator
+  (INFO) set to 1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         2         2
+  The algorithm requires approximately 5M N + 0.5MN  operations in
+                         2         2
+  the worst case and 2.5M N + 0.5MN  operations in the best case
+  (where M is the order of the matrix in Hessenberg form and N is
+  the order of the matrix in Schur form) and is mixed stable (see
+  [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
+     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      ABSCHU, ULA, ULB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04ND = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04ND EXAMPLE PROGRAM DATA
+   5     3     0.0     U     U     B
+  17.0  24.0   1.0   8.0  15.0
+  23.0   5.0   7.0  14.0  16.0
+   0.0   6.0  13.0  20.0  22.0
+   0.0   0.0  19.0  21.0   3.0
+   0.0   0.0   0.0   2.0   9.0
+   8.0   1.0   6.0
+   0.0   5.0   7.0
+   0.0   9.0   2.0
+  62.0 -12.0  26.0
+  59.0 -10.0  31.0
+  70.0  -6.0   9.0
+  35.0  31.0  -7.0
+  36.0 -15.0   7.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   0.0000   0.0000   1.0000
+   1.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000
+   1.0000   1.0000  -1.0000
+   2.0000  -2.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04NV.html b/doc/_static/doc/SB04NV.html
new file mode 100644
index 00000000..60c81043
--- /dev/null
+++ b/doc/_static/doc/SB04NV.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>SB04NV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NV">SB04NV</A></H2>
+<H3>
+Constructing the right-hand sides for a system of equations in Hessenberg form solved via SB04NX (case with 2 right-hand sides)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand sides D for a system of equations in
+  Hessenberg form solved via SB04NX (case with 2 right-hand sides).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation AX + XB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the first column/row of C to be used in
+          the construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          AX + XB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading 2*N or 2*M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side stored as a matrix with two rows.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04NW.html b/doc/_static/doc/SB04NW.html
new file mode 100644
index 00000000..547bf6c6
--- /dev/null
+++ b/doc/_static/doc/SB04NW.html
@@ -0,0 +1,116 @@
+<HTML>
+<HEAD><TITLE>SB04NW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NW">SB04NW</A></H2>
+<H3>
+Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04NY
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand side D for a system of equations in
+  Hessenberg form solved via SB04NY (case with 1 right-hand side).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation AX + XB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the column/row of C to be used in the
+          construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          AX + XB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading N or M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04NX.html b/doc/_static/doc/SB04NX.html
new file mode 100644
index 00000000..14ccc748
--- /dev/null
+++ b/doc/_static/doc/SB04NX.html
@@ -0,0 +1,140 @@
+<HTML>
+<HEAD><TITLE>SB04NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NX">SB04NX</A></H2>
+<H3>
+Solving a system of equations in Hessenberg form with two consecutive offdiagonals and two right-hand sides
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in Hessenberg form with two
+  consecutive offdiagonals and two right-hand sides.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
+     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBD1, (input) DOUBLE PRECISION
+  LAMBD2, These variables must contain the 2-by-2 block to be added
+  LAMBD3, to the diagonal blocks of A.
+  LAMBD4
+
+  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
+          On entry, this array must contain the two right-hand
+          side vectors of the Hessenberg system, stored row-wise.
+          On exit, if INFO = 0, this array contains the two solution
+          vectors of the Hessenberg system, stored row-wise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the Hessenberg matrix. A matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
+          The leading 2*M-by-2*M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the Hessenberg matrix. The remaining 6*M elements are
+          used as workspace for the computation of the reciprocal
+          condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.
+          LDDWOR &gt;= MAX(1,2*M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Hessenberg matrix is (numerically) singular.
+                That is, its estimated reciprocal condition number
+                is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04NY.html b/doc/_static/doc/SB04NY.html
new file mode 100644
index 00000000..1afd64be
--- /dev/null
+++ b/doc/_static/doc/SB04NY.html
@@ -0,0 +1,138 @@
+<HTML>
+<HEAD><TITLE>SB04NY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04NY">SB04NY</A></H2>
+<H3>
+Solving a system of equations in Hessenberg form with one offdiagonal and one right-hand side
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in Hessenberg form with one
+  offdiagonal and one right-hand side.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04NY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
+     $                   DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBDA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBDA  (input) DOUBLE PRECISION
+          This variable must contain the value to be added to the
+          diagonal elements of A.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (M)
+          On entry, this array must contain the right-hand side
+          vector of the Hessenberg system.
+          On exit, if INFO = 0, this array contains the solution
+          vector of the Hessenberg system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the Hessenberg matrix. A matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
+          The leading M-by-M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the Hessenberg matrix. The remaining 3*M elements are
+          used as workspace for the computation of the reciprocal
+          condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Hessenberg matrix is (numerically) singular.
+                That is, its estimated reciprocal condition number
+                is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB04OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04OD">SB04OD</A></H2>
+<H3>
+Solution of generalized Sylvester equations with separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for R and L one of the generalized Sylvester equations
+
+     A * R - L * B = scale * C )
+                               )                                 (1)
+     D * R - L * E = scale * F )
+
+  or
+
+     A' * R + D' * L = scale * C    )
+                                    )                            (2)
+     R * B' + L * E' = scale * (-F) )
+
+  where A and D are M-by-M matrices, B and E are N-by-N matrices and
+  C, F, R and L are M-by-N matrices.
+
+  The solution (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an
+  output scaling factor chosen to avoid overflow.
+
+  The routine also optionally computes a Dif estimate, which
+  measures the separation of the spectrum of the matrix pair (A,D)
+  from the spectrum of the matrix pair (B,E), Dif[(A,D),(B,E)].
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
+     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBD, REDUCE, TRANS
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ,
+     $                  LDU, LDV, LDWORK, M, N
+      DOUBLE PRECISION  DIF, SCALE
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*), F(LDF,*), P(LDP,*),
+     $                  Q(LDQ,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  REDUCE  CHARACTER*1
+          Indicates whether the matrix pairs (A,D) and/or (B,E) are
+          to be reduced to generalized Schur form as follows:
+          = 'R':  The matrix pairs (A,D) and (B,E) are to be reduced
+                  to generalized (real) Schur canonical form;
+          = 'A':  The matrix pair (A,D) only is to be reduced
+                  to generalized (real) Schur canonical form,
+                  and the matrix pair (B,E) already is in this form;
+          = 'B':  The matrix pair (B,E) only is to be reduced
+                  to generalized (real) Schur canonical form,
+                  and the matrix pair (A,D) already is in this form;
+          = 'N':  The matrix pairs (A,D) and (B,E) are already in
+                  generalized (real) Schur canonical form, as
+                  produced by LAPACK routine DGGES.
+
+  TRANS   CHARACTER*1
+          Indicates which of the equations, (1) or (2), is to be
+          solved as follows:
+          = 'N':  The generalized Sylvester equation (1) is to be
+                  solved;
+          = 'T':  The "transposed" generalized Sylvester equation
+                  (2) is to be solved.
+
+  JOBD    CHARACTER*1
+          Indicates whether the Dif estimator is to be computed as
+          follows:
+          = '1':  Only the one-norm-based Dif estimate is computed
+                  and stored in DIF;
+          = '2':  Only the Frobenius norm-based Dif estimate is
+                  computed and stored in DIF;
+          = 'D':  The equation (1) is solved and the one-norm-based
+                  Dif estimate is computed and stored in DIF;
+          = 'F':  The equation (1) is solved and the Frobenius norm-
+                  based Dif estimate is computed and stored in DIF;
+          = 'N':  The Dif estimator is not required and hence DIF is
+                  not referenced. (Solve either (1) or (2) only.)
+          JOBD is not referenced if TRANS = 'T'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A and D and the number of rows
+          of the matrices C, F, R and L.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrices B and E and the number of
+          columns of the matrices C, F, R and L.  N &gt;= 0.
+          No computations are performed if N = 0 or M = 0, but SCALE
+          and DIF (if JOB &lt;&gt; 'N') are set to 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix A of the equation; A must
+          be in upper quasi-triangular form if REDUCE = 'B' or 'N'.
+          On exit, the leading M-by-M part of this array contains
+          the upper quasi-triangular form of A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix B of the equation; B must
+          be in upper quasi-triangular form if REDUCE = 'A' or 'N'.
+          On exit, the leading N-by-N part of this array contains
+          the upper quasi-triangular form of B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand side matrix C of the first equation
+          in (1) or (2).
+          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
+          part of this array contains the solution matrix R of the
+          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
+          M-by-N part of this array contains the solution matrix R
+          achieved during the computation of the Dif estimate.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix D of the equation; D must
+          be in upper triangular form if REDUCE = 'B' or 'N'.
+          On exit, the leading M-by-M part of this array contains
+          the upper triangular form of D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix E of the equation; E must
+          be in upper triangular form if REDUCE = 'A' or 'N'.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular form of E.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand side matrix F of the second
+          equation in (1) or (2).
+          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
+          part of this array contains the solution matrix L of the
+          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
+          M-by-N part of this array contains the solution matrix L
+          achieved during the computation of the Dif estimate.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scaling factor in (1) or (2). If 0 &lt; SCALE &lt; 1, C and
+          F hold the solutions R and L, respectively, to a slightly
+          perturbed system, but the computed generalized (real)
+          Schur canonical form matrices P'*A*Q, U'*B*V, P'*D*Q and
+          U'*E*V (see METHOD), or input matrices A, B, D, and E (if
+          already reduced to these forms), have not been changed.
+          If SCALE = 0, C and F hold the solutions R and L,
+          respectively, to the homogeneous system with C = F = 0.
+          Normally, SCALE = 1.
+
+  DIF     (output) DOUBLE PRECISION
+          If TRANS = 'N' and JOBD &lt;&gt; 'N', then DIF contains the
+          value of the Dif estimator, which is an upper bound of
+                                                 -1
+          Dif[(A,D),(B,E)] = sigma_min(Z) = 1/||Z  ||, in either the
+          one-norm, or Frobenius norm, respectively (see METHOD).
+          Otherwise, DIF is not referenced.
+
+  P       (output) DOUBLE PRECISION array, dimension (LDP,*)
+          If REDUCE = 'R' or 'A', then the leading M-by-M part of
+          this array contains the (left) transformation matrix used
+          to reduce (A,D) to generalized Schur form.
+          Otherwise, P is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDP = 1 and declare this
+          array to be P(1,1) in the calling program).
+
+  LDP     INTEGER
+          The leading dimension of array P.
+          LDP &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
+          LDP &gt;= 1        if REDUCE = 'B' or 'N'.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,*)
+          If REDUCE = 'R' or 'A', then the leading M-by-M part of
+          this array contains the (right) transformation matrix used
+          to reduce (A,D) to generalized Schur form.
+          Otherwise, Q is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDQ = 1 and declare this
+          array to be Q(1,1) in the calling program).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
+          LDQ &gt;= 1        if REDUCE = 'B' or 'N'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
+          If REDUCE = 'R' or 'B', then the leading N-by-N part of
+          this array contains the (left) transformation matrix used
+          to reduce (B,E) to generalized Schur form.
+          Otherwise, U is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDU = 1 and declare this
+          array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
+          LDU &gt;= 1        if REDUCE = 'A' or 'N'.
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
+          If REDUCE = 'R' or 'B', then the leading N-by-N part of
+          this array contains the (right) transformation matrix used
+          to reduce (B,E) to generalized Schur form.
+          Otherwise, V is not referenced and can be supplied as a
+          dummy array (i.e. set parameter LDV = 1 and declare this
+          array to be V(1,1) in the calling program).
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          LDV &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
+          LDV &gt;= 1        if REDUCE = 'A' or 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M+N+6)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          If TRANS = 'N' and JOBD = 'D' or 'F', then
+             LDWORK = MAX(1,11*MN,10*MN+23,2*M*N) if REDUCE = 'R';
+             LDWORK = MAX(1,11*M, 10*M+23, 2*M*N) if REDUCE = 'A';
+             LDWORK = MAX(1,11*N, 10*N+23, 2*M*N) if REDUCE = 'B';
+             LDWORK = MAX(1,2*M*N)                if REDUCE = 'N',
+          where MN = max(M,N).
+          Otherwise, the term 2*M*N above should be omitted.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1  a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if REDUCE &lt;&gt; 'N' and either (A,D) and/or (B,E)
+                cannot be reduced to generalized Schur form;
+          = 2:  if REDUCE = 'N' and either A or B is not in
+                upper quasi-triangular form;
+          = 3:  if a singular matrix was encountered during the
+                computation of the solution matrices R and L, that
+                is (A,D) and (B,E) have common or close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the case TRANS = 'N', and REDUCE = 'R' or 'N', the algorithm
+  used by the routine consists of four steps (see [1] and [2]) as
+  follows:
+
+     (a) if REDUCE = 'R', then the matrix pairs (A,D) and (B,E) are
+         transformed to generalized Schur form, i.e. orthogonal
+         matrices P, Q, U and V are computed such that P' * A * Q
+         and U' * B * V are in upper quasi-triangular form and
+         P' * D * Q and U' * E * V are in upper triangular form;
+     (b) if REDUCE = 'R', then the matrices C and F are transformed
+         to give P' * C * V and P' * F * V respectively;
+     (c) if REDUCE = 'R', then the transformed system
+
+         P' * A * Q * R1 - L1 * U' * B * V = scale * P' * C * V
+         P' * D * Q * R1 - L1 * U' * E * V = scale * P' * F * V
+
+         is solved to give R1 and L1; otherwise, equation (1) is
+         solved to give R and L directly. The Dif estimator
+         is also computed if JOBD &lt;&gt; 'N'.
+     (d) if REDUCE = 'R', then the solution is transformed back
+         to give R = Q * R1 * V' and L = P * L1 * U'.
+
+  By using Kronecker products, equation (1) can also be written as
+  the system of linear equations Z * x = scale*y (see [1]), where
+
+         | I*A    I*D  |
+     Z = |             |.
+         |-B'*I  -E'*I |
+
+                                           -1
+  If JOBD &lt;&gt; 'N', then a lower bound on ||Z  ||, in either the one-
+  norm or Frobenius norm, is computed, which in most cases is
+  a reliable estimate of the true value. Notice that since Z is a
+  matrix of order 2 * M * N, the exact value of Dif (i.e., in the
+  Frobenius norm case, the smallest singular value of Z) may be very
+  expensive to compute.
+
+  The case TRANS = 'N', and REDUCE = 'A' or 'B', is similar, but
+  only one of the matrix pairs should be reduced and the
+  calculations simplify.
+
+  For the case TRANS = 'T', and REDUCE = 'R' or 'N', the algorithm
+  is similar, but the steps (b), (c), and (d) are as follows:
+
+     (b) if REDUCE = 'R', then the matrices C and F are transformed
+         to give Q' * C * V and P' * F * U respectively;
+     (c) if REDUCE = 'R', then the transformed system
+
+         Q' * A' * P * R1 + Q' * D' * P * L1 =  scale * Q' * C * V
+         R1 * V' * B' * U + L1 * V' * E' * U = -scale * P' * F * U
+
+         is solved to give R1 and L1; otherwise, equation (2) is
+         solved to give R and L directly.
+     (d) if REDUCE = 'R', then the solution is transformed back
+         to give R = P * R1 * V' and L = P * L1 * V'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B. and Westin, L.
+      Generalized Schur Methods with Condition Estimators for
+      Solving the Generalized Sylvester Equation.
+      IEEE Trans. Auto. Contr., 34, pp. 745-751, 1989.
+  [2] Kagstrom, B. and Westin, L.
+      GSYLV - Fortran Routines for the Generalized Schur Method with
+      Dif Estimators for Solving the Generalized Sylvester
+      Equation.
+      Report UMINF-132.86, Institute of Information Processing,
+      Univ. of Umea, Sweden, July 1987.
+  [3] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur Method for the Problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+  [4] Kagstrom, B. and Van Dooren, P.
+      Additive Decomposition of a Transfer Function with respect to
+      a Specified Region.
+      In: "Signal Processing, Scattering and Operator Theory, and
+      Numerical Methods" (Eds. M.A. Kaashoek et al.).
+      Proceedings of MTNS-89, Vol. 3, pp. 469-477, Birkhauser Boston
+      Inc., 1990.
+  [5] Kagstrom, B. and Van Dooren, P.
+      A Generalized State-space Approach for the Additive
+      Decomposition of a Transfer Matrix.
+      Report UMINF-91.12, Institute of Information Processing, Univ.
+      of Umea, Sweden, April 1991.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is backward stable. A reliable estimate for the
+  condition number of Z in the Frobenius norm, is (see [1])
+
+     K(Z) = SQRT(  ||A||**2 + ||B||**2 + ||C||**2 + ||D||**2 )/DIF.
+
+  If mu is an upper bound on the relative error of the elements of
+  the matrices A, B, C, D, E and F, then the relative error in the
+  actual solution is approximately mu * K(Z).
+
+  The relative error in the computed solution (due to rounding
+  errors) is approximately EPS * K(Z), where EPS is the machine
+  precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For applications of the generalized Sylvester equation in control
+  theory, see [4] and [5].
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ONE
+      PARAMETER        ( ONE = 1.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 10, NMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ, LDU, LDV
+      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX, LDD = MMAX,
+     $                   LDE = NMAX, LDF = MMAX, LDP = MMAX, LDQ = MMAX,
+     $                   LDU = NMAX, LDV = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = MAX(11*MAX(MMAX,NMAX),
+     $                                10*MAX(MMAX,NMAX)+23,2*MMAX*NMAX),
+     $                   LIWORK = MMAX+NMAX+6 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION DIF, SCALE
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      JOBD, REDUCE, TRANS
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                 F(LDF,NMAX), P(LDP,MMAX), Q(LDQ,MMAX),
+     $                 U(LDU,NMAX), V(LDV,NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB04OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, REDUCE, TRANS, JOBD
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
+*           Find the solution matrices L and R.
+            CALL SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
+     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
+     $                   LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, M
+                  WRITE ( NOUT, FMT = 99991 ) ( F(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99991 ) ( C(I,J), J = 1,N )
+   40          CONTINUE
+               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'A' ) ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99991 ) ( P(I,J), J = 1,M )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 80 I = 1, M
+                     WRITE ( NOUT, FMT = 99991 ) ( Q(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'B' ) ) THEN
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 100 I = 1, N
+                     WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,N )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 120 I = 1, N
+                     WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,N )
+  120             CONTINUE
+               END IF
+               IF ( SCALE.NE.ONE ) WRITE ( NOUT, FMT = 99987 ) SCALE
+               IF ( .NOT.LSAME( JOBD, 'N' ) )
+     $            WRITE ( NOUT, FMT = 99990 ) DIF
+            END IF
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' SB04OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04OD = ',I2)
+99997 FORMAT (' The solution matrix L is ')
+99996 FORMAT (/' The solution matrix R is ')
+99995 FORMAT (/' The left transformation matrix P is ')
+99994 FORMAT (/' The right transformation matrix Q is ')
+99993 FORMAT (/' The left transformation matrix U is ')
+99992 FORMAT (/' The right transformation matrix V is ')
+99991 FORMAT (20(1X,F8.4))
+99990 FORMAT (/' DIF = ',F8.4)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' SCALE = ',F8.4)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04OD EXAMPLE PROGRAM DATA
+   3     2     R     N     D
+    1.6   -3.1    1.9
+   -3.8    4.2    2.4
+    0.5    2.2   -4.5
+    1.1    0.1
+   -1.3   -3.1
+   -2.0   28.9
+   -5.7  -11.8
+   12.9  -31.7
+    2.5    0.1    1.7
+   -2.5    0.0    0.9
+    0.1    5.1   -7.3
+    6.0    2.4
+   -3.6    2.5
+    0.5   23.8
+  -11.0  -10.4
+   39.5  -74.8
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04OD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix L is 
+  -0.7538  -1.6210
+   2.1778   1.7005
+  -3.5029   2.7961
+
+ The solution matrix R is 
+   1.3064   2.7989
+   0.3698  -5.3376
+  -0.8767   6.7500
+
+ The left transformation matrix P is 
+  -0.3093  -0.9502   0.0383
+   0.9366  -0.2974   0.1851
+  -0.1645   0.0932   0.9820
+
+ The right transformation matrix Q is 
+  -0.6097  -0.7920  -0.0314
+   0.6310  -0.5090   0.5854
+   0.4796  -0.3371  -0.8102
+
+ The left transformation matrix U is 
+  -0.8121   0.5835
+   0.5835   0.8121
+
+ The right transformation matrix V is 
+  -0.9861   0.1660
+   0.1660   0.9861
+
+ DIF =   0.1147
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04OW.html b/doc/_static/doc/SB04OW.html
new file mode 100644
index 00000000..10e6b022
--- /dev/null
+++ b/doc/_static/doc/SB04OW.html
@@ -0,0 +1,188 @@
+<HTML>
+<HEAD><TITLE>SB04OW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04OW">SB04OW</A></H2>
+<H3>
+Solving a periodic Sylvester equation with matrices in periodic Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a periodic Sylvester equation
+
+           A * R - L * B = scale * C                           (1)
+           D * L - R * E = scale * F,
+
+  using Level 1 and 2 BLAS, where R and L are unknown M-by-N
+  matrices, (A, D), (B, E) and (C, F) are given matrix pairs of
+  size M-by-M, N-by-N and M-by-N, respectively, with real entries.
+  (A, D) and (B, E) must be in periodic Schur form, i.e. A, B are
+  upper quasi triangular and D, E are upper triangular. The solution
+  (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an output scaling
+  factor chosen to avoid overflow.
+
+  This routine is largely based on the LAPACK routine DTGSY2
+  developed by Bo Kagstrom and Peter Poromaa.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04OW( M, N, A, LDA, B, LDB, C, LDC, D, LDD, E, LDE,
+     $                   F, LDF, SCALE, IWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, M, N
+      DOUBLE PRECISION  SCALE
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  E(LDE,*), F(LDF,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of A and D, and the row dimension of C, F, R
+          and L.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of B and E, and the column dimension of C, F, R
+          and L.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          On entry, the leading M-by-M part of this array must
+          contain the upper quasi triangular matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper quasi triangular matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand-side of the first matrix equation
+          in (1).
+          On exit, the leading M-by-N part of this array contains
+          the solution R.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading M-by-M part of this array must
+          contain the upper triangular matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the upper triangular matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right-hand-side of the second matrix equation
+          in (1).
+          On exit, the leading M-by-N part of this array contains
+          the solution L.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          On exit, 0 &lt;= SCALE &lt;= 1. If 0 &lt; SCALE &lt; 1, the arrays
+          C and F will hold the solutions R and L, respectively, to
+          a slightly perturbed system but the input matrices A, B, D
+          and E have not been changed. If SCALE = 0, C and F will
+          hold solutions to the homogeneous system with C = F = 0.
+          Normally, SCALE = 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M+N+2)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  the matrix products A*D and B*E have common or very
+                close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In matrix notation solving equation (1) corresponds to solving
+  Z*x = scale*b, where Z is defined as
+
+      Z = [  kron(In, A)  -kron(B', Im) ]            (2)
+          [ -kron(E', Im)  kron(In, D)  ],
+
+  Ik is the identity matrix of size k and X' is the transpose of X.
+  kron(X, Y) is the Kronecker product between the matrices X and Y.
+  In the process of solving (1), we solve a number of such systems
+  where Dim(Im), Dim(In) = 1 or 2.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B.
+      A Direct Method for Reordering Eigenvalues in the Generalized
+      Real Schur Form of a Regular Matrix Pair (A,B). M.S. Moonen
+      et al (eds.), Linear Algebra for Large Scale and Real-Time
+      Applications, Kluwer Academic Publ., pp. 195-218, 1993.
+
+  [2] Sreedhar, J. and Van Dooren, P.
+      A Schur approach for solving some periodic matrix equations.
+      U. Helmke et al (eds.), Systems and Networks: Mathematical
+      Theory and Applications, Akademie Verlag, Berlin, vol. 77,
+      pp. 339-362, 1994.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04PD.html b/doc/_static/doc/SB04PD.html
new file mode 100644
index 00000000..2fdb3f34
--- /dev/null
+++ b/doc/_static/doc/SB04PD.html
@@ -0,0 +1,440 @@
+<HTML>
+<HEAD><TITLE>SB04PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04PD">SB04PD</A></H2>
+<H3>
+Solution of continuous-time or discrete-time Sylvester equations (Bartels-Stewart method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the real continuous-time Sylvester equation
+
+     op(A)*X + ISGN*X*op(B) = scale*C,                           (1)
+
+  or the real discrete-time Sylvester equation
+
+     op(A)*X*op(B) + ISGN*X = scale*C,                           (2)
+
+  where op(M) = M or M**T, and ISGN = 1 or -1. A is M-by-M and
+  B is N-by-N; the right hand side C and the solution X are M-by-N;
+  and scale is an output scale factor, set less than or equal to 1
+  to avoid overflow in X. The solution matrix X is overwritten
+  onto C.
+
+  If A and/or B are not (upper) quasi-triangular, that is, block
+  upper triangular with 1-by-1 and 2-by-2 diagonal blocks, they are
+  reduced to Schur canonical form, that is, quasi-triangular with
+  each 2-by-2 diagonal block having its diagonal elements equal and
+  its off-diagonal elements of opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
+     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          DICO, FACTA, FACTB, TRANA, TRANB
+      INTEGER            INFO, ISGN, LDA, LDB, LDC, LDU, LDV, LDWORK, M,
+     $                   N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  U( LDU, * ), V( LDV, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which X is to be determined
+          as follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  FACTA   CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix A is supplied on entry, as follows:
+          = 'F':  On entry, A and U contain the factors from the
+                  real Schur factorization of the matrix A;
+          = 'N':  The Schur factorization of A will be computed
+                  and the factors will be stored in A and U;
+          = 'S':  The matrix A is quasi-triangular (or Schur).
+
+  FACTB   CHARACTER*1
+          Specifies whether or not the real Schur factorization
+          of the matrix B is supplied on entry, as follows:
+          = 'F':  On entry, B and V contain the factors from the
+                  real Schur factorization of the matrix B;
+          = 'N':  The Schur factorization of B will be computed
+                  and the factors will be stored in B and V;
+          = 'S':  The matrix B is quasi-triangular (or Schur).
+
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  TRANB   CHARACTER*1
+          Specifies the form of op(B) to be used, as follows:
+          = 'N':  op(B) = B    (No transpose);
+          = 'T':  op(B) = B**T (Transpose);
+          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A, and the number of rows in the
+          matrices X and C.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B, and the number of columns in
+          the matrices X and C.  N &gt;= 0.
+
+  A       (input or input/output) DOUBLE PRECISION array,
+          dimension (LDA,M)
+          On entry, the leading M-by-M part of this array must
+          contain the matrix A. If FACTA = 'S', then A contains
+          a quasi-triangular matrix, and if FACTA = 'F', then A
+          is in Schur canonical form; the elements below the upper
+          Hessenberg part of the array A are not referenced.
+          On exit, if FACTA = 'N', and INFO = 0 or INFO &gt;= M+1, the
+          leading M-by-M upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix in Schur
+          canonical form from the Schur factorization of A. The
+          contents of array A is not modified if FACTA = 'F' or 'S'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  U       (input or output) DOUBLE PRECISION array, dimension
+          (LDU,M)
+          If FACTA = 'F', then U is an input argument and on entry
+          the leading M-by-M part of this array must contain the
+          orthogonal matrix U of the real Schur factorization of A.
+          If FACTA = 'N', then U is an output argument and on exit,
+          if INFO = 0 or INFO &gt;= M+1, it contains the orthogonal
+          M-by-M matrix from the real Schur factorization of A.
+          If FACTA = 'S', the array U is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of array U.
+          LDU &gt;= MAX(1,M), if FACTA = 'F' or 'N';
+          LDU &gt;= 1,        if FACTA = 'S'.
+
+  B       (input or input/output) DOUBLE PRECISION array,
+          dimension (LDB,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix B. If FACTB = 'S', then B contains
+          a quasi-triangular matrix, and if FACTB = 'F', then B
+          is in Schur canonical form; the elements below the upper
+          Hessenberg part of the array B are not referenced.
+          On exit, if FACTB = 'N', and INFO = 0 or INFO = M+N+1,
+          the leading N-by-N upper Hessenberg part of this array
+          contains the upper quasi-triangular matrix in Schur
+          canonical form from the Schur factorization of B. The
+          contents of array B is not modified if FACTB = 'F' or 'S'.
+
+  LDB     (input) INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  V       (input or output) DOUBLE PRECISION array, dimension
+          (LDV,N)
+          If FACTB = 'F', then V is an input argument and on entry
+          the leading N-by-N part of this array must contain the
+          orthogonal matrix V of the real Schur factorization of B.
+          If FACTB = 'N', then V is an output argument and on exit,
+          if INFO = 0 or INFO = M+N+1, it contains the orthogonal
+          N-by-N matrix from the real Schur factorization of B.
+          If FACTB = 'S', the array V is not referenced.
+
+  LDV     INTEGER
+          The leading dimension of array V.
+          LDV &gt;= MAX(1,N), if FACTB = 'F' or 'N';
+          LDV &gt;= 1,        if FACTB = 'S'.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix C.
+          On exit, if INFO = 0 or INFO = M+N+1, the leading M-by-N
+          part of this array contains the solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or M+N+1, then: DWORK(1) returns the
+          optimal value of LDWORK; if FACTA = 'N', DWORK(1+i) and
+          DWORK(1+M+i), i = 1,...,M, contain the real and imaginary
+          parts, respectively, of the eigenvalues of A; and, if
+          FACTB = 'N', DWORK(1+f+j) and DWORK(1+f+N+j), j = 1,...,N,
+          with f = 2*M if FACTA = 'N', and f = 0, otherwise, contain
+          the real and imaginary parts, respectively, of the
+          eigenvalues of B.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, a+MAX( c, b+d, b+e ) ),
+          where a = 1+2*M, if FACTA =  'N',
+                a = 0,     if FACTA &lt;&gt; 'N',
+                b = 2*N,   if FACTB =  'N', FACTA =  'N',
+                b = 1+2*N, if FACTB =  'N', FACTA &lt;&gt; 'N',
+                b = 0,     if FACTB &lt;&gt; 'N',
+                c = 3*M,   if FACTA =  'N',
+                c = M,     if FACTA =  'F',
+                c = 0,     if FACTA =  'S',
+                d = 3*N,   if FACTB =  'N',
+                d = N,     if FACTB =  'F',
+                d = 0,     if FACTB =  'S',
+                e = M,     if DICO  =  'C', FACTA &lt;&gt; 'S',
+                e = 0,     if DICO  =  'C', FACTA =  'S',
+                e = 2*M,   if DICO  =  'D'.
+          An upper bound is
+          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M ).
+          For good performance, LDWORK should be larger, e.g.,
+          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M, 2*N+M*N ).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if INFO = i, i = 1,...,M, the QR algorithm failed
+                to compute all the eigenvalues of the matrix A
+                (see LAPACK Library routine DGEES); the elements
+                2+i:1+M and 2+i+M:1+2*M of DWORK contain the real
+                and imaginary parts, respectively, of the
+                eigenvalues of A which have converged, and the
+                array A contains the partially converged Schur form;
+          = M+j:  if INFO = M+j, j = 1,...,N, the QR algorithm
+                failed to compute all the eigenvalues of the matrix
+                B (see LAPACK Library routine DGEES); the elements
+                2+f+j:1+f+N and 2+f+j+N:1+f+2*N of DWORK contain the
+                real and imaginary parts, respectively, of the
+                eigenvalues of B which have converged, and the
+                array B contains the partially converged Schur form;
+                as defined for the parameter DWORK,
+                f = 2*M, if FACTA =  'N',
+                f = 0,   if FACTA &lt;&gt; 'N';
+          = M+N+1:  if DICO = 'C', and the matrices A and -ISGN*B
+                have common or very close eigenvalues, or
+                if DICO = 'D', and the matrices A and -ISGN*B have
+                almost reciprocal eigenvalues (that is, if lambda(i)
+                and mu(j) are eigenvalues of A and -ISGN*B, then
+                lambda(i) = 1/mu(j) for some i and j);
+                perturbed values were used to solve the equation
+                (but the matrices A and B are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension and refinement of the algorithms in [1,2] is used.
+  If the matrices A and/or B are not quasi-triangular (see PURPOSE),
+  they are reduced to Schur canonical form
+
+     A = U*S*U',  B = V*T*V',
+
+  where U, V are orthogonal, and S, T are block upper triangular
+  with 1-by-1 and 2-by-2 blocks on their diagonal. The right hand
+  side matrix C is updated accordingly,
+
+     C = U'*C*V;
+
+  then, the solution matrix X of the "reduced" Sylvester equation
+  (with A and B in (1) or (2) replaced by S and T, respectively),
+  is computed column-wise via a back substitution scheme. A set of
+  equivalent linear algebraic systems of equations of order at most
+  four are formed and solved using Gaussian elimination with
+  complete pivoting. Finally, the solution X of the original
+  equation is obtained from the updating formula
+
+     X = U*X*V'.
+
+  If A and/or B are already quasi-triangular (or in Schur form), the
+  initial factorizations and the corresponding updating steps are
+  omitted.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since orthogonal
+  transformations and Gaussian elimination with complete pivoting
+  are used. If INFO = M+N+1, the Sylvester equation is numerically
+  singular.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU, LDV
+      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX,
+     $                   LDU = MMAX, LDV = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 1 + 2*MMAX + MAX( 3*MMAX, 5*NMAX,
+     $                                            2*( NMAX + MMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER        DICO, FACTA, FACTB, TRANA, TRANB
+      INTEGER          I, INFO, ISGN, J, M, N
+      DOUBLE PRECISION SCALE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,MMAX), V(LDV,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB04PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, ISGN, DICO, FACTA, FACTB, TRANA, TRANB
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
+         IF ( LSAME( FACTA, 'F' ) )
+     $      READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,M )
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            IF ( LSAME( FACTB, 'F' ) )
+     $         READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
+*           Find the solution matrix X.
+            CALL SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
+     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 )
+     $         WRITE ( NOUT, FMT = 99998 ) INFO
+            IF ( INFO.EQ.0 .OR. INFO.EQ.M+N+1 ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 ) SCALE
+               IF ( LSAME( FACTA, 'N' ) ) THEN
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 40 I = 1, M
+                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,M )
+   40             CONTINUE
+               END IF
+               IF ( LSAME( FACTB, 'N' ) ) THEN
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04PD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' Scaling factor = ',F8.4)
+99994 FORMAT (/' The orthogonal matrix U is ')
+99993 FORMAT (/' The orthogonal matrix V is ')
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04PD EXAMPLE PROGRAM DATA
+   3     2     1     D     N     N     N     N
+   2.0   1.0   3.0
+   0.0   2.0   1.0
+   6.0   1.0   2.0
+   2.0   1.0
+   1.0   6.0
+   2.0   1.0
+   1.0   4.0
+   0.0   5.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04PD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+  -0.3430   0.1995
+  -0.1856   0.4192
+   0.6922  -0.2952
+
+ Scaling factor =   1.0000
+
+ The orthogonal matrix U is 
+   0.5396  -0.7797   0.3178
+   0.1954  -0.2512  -0.9480
+  -0.8190  -0.5736  -0.0168
+
+ The orthogonal matrix V is 
+  -0.9732  -0.2298
+   0.2298  -0.9732
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04PX.html b/doc/_static/doc/SB04PX.html
new file mode 100644
index 00000000..c63eedc6
--- /dev/null
+++ b/doc/_static/doc/SB04PX.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>SB04PX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04PX">SB04PX</A></H2>
+<H3>
+Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
+
+         op(TL)*X*op(TR) + ISGN*X = SCALE*B,
+
+  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
+  or -1.  op(T) = T or T', where T' denotes the transpose of T.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04PX( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
+     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            LTRANL, LTRANR
+      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
+      DOUBLE PRECISION   SCALE, XNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
+     $                   X( LDX, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LTRANL  LOGICAL
+          Specifies the form of op(TL) to be used, as follows:
+          = .FALSE.:  op(TL) = TL,
+          = .TRUE. :  op(TL) = TL'.
+
+  LTRANR  LOGICAL
+          Specifies the form of op(TR) to be used, as follows:
+          = .FALSE.:  op(TR) = TR,
+          = .TRUE. :  op(TR) = TR'.
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N1      (input) INTEGER
+          The order of matrix TL.  N1 may only be 0, 1 or 2.
+
+  N2      (input) INTEGER
+          The order of matrix TR.  N2 may only be 0, 1 or 2.
+
+  TL      (input) DOUBLE PRECISION array, dimension (LDTL,N1)
+          The leading N1-by-N1 part of this array must contain the
+          matrix TL.
+
+  LDTL    INTEGER
+          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
+
+  TR      (input) DOUBLE PRECISION array, dimension (LDTR,N2)
+          The leading N2-by-N2 part of this array must contain the
+          matrix TR.
+
+  LDTR    INTEGER
+          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N2)
+          The leading N1-by-N2 part of this array must contain the
+          right-hand side of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor. SCALE is chosen less than or equal to 1
+          to prevent the solution overflowing.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
+          The leading N1-by-N2 part of this array contains the
+          solution of the equation.
+          Note that X may be identified with B in the calling
+          statement.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
+
+  XNORM   (output) DOUBLE PRECISION
+          The infinity-norm of the solution.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if TL and -ISGN*TR have almost reciprocal
+                eigenvalues, so TL or TR is perturbed to get a
+                nonsingular equation.
+
+          NOTE: In the interests of speed, this routine does not
+                check the inputs for errors.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The equivalent linear algebraic system of equations is formed and
+  solved using Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04PY.html b/doc/_static/doc/SB04PY.html
new file mode 100644
index 00000000..ca75fe1c
--- /dev/null
+++ b/doc/_static/doc/SB04PY.html
@@ -0,0 +1,182 @@
+<HTML>
+<HEAD><TITLE>SB04PY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04PY">SB04PY</A></H2>
+<H3>
+Solving discrete-time Sylvester equations with matrices in real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the discrete-time Sylvester equation
+
+     op(A)*X*op(B) + ISGN*X = scale*C,
+
+  where op(A) = A or A**T, A and B are both upper quasi-triangular,
+  and ISGN = 1 or -1. A is M-by-M and B is N-by-N; the right hand
+  side C and the solution X are M-by-N; and scale is an output scale
+  factor, set less than or equal to 1 to avoid overflow in X. The
+  solution matrix X is overwritten onto C.
+
+  A and B must be in Schur canonical form (as returned by LAPACK
+  Library routine DHSEQR), that is, block upper triangular with
+  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
+  its diagonal elements equal and its off-diagonal elements of
+  opposite sign.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04PY( TRANA, TRANB, ISGN, M, N, A, LDA, B, LDB, C,
+     $                   LDC, SCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          TRANA, TRANB
+      INTEGER            INFO, ISGN, LDA, LDB, LDC, M, N
+      DOUBLE PRECISION   SCALE
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANA   CHARACTER*1
+          Specifies the form of op(A) to be used, as follows:
+          = 'N':  op(A) = A    (No transpose);
+          = 'T':  op(A) = A**T (Transpose);
+          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
+
+  TRANB   CHARACTER*1
+          Specifies the form of op(B) to be used, as follows:
+          = 'N':  op(B) = B    (No transpose);
+          = 'T':  op(B) = B**T (Transpose);
+          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
+
+  ISGN    INTEGER
+          Specifies the sign of the equation as described before.
+          ISGN may only be 1 or -1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A, and the number of rows in the
+          matrices X and C.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrix B, and the number of columns in
+          the matrices X and C.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          upper quasi-triangular matrix A, in Schur canonical form.
+          The part of A below the first sub-diagonal is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain the
+          upper quasi-triangular matrix B, in Schur canonical form.
+          The part of B below the first sub-diagonal is not
+          referenced.
+
+  LDB     (input) INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix C.
+          On exit, if INFO &gt;= 0, the leading M-by-N part of this
+          array contains the solution matrix X.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor, scale, set less than or equal to 1 to
+          prevent the solution overflowing.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  A and -ISGN*B have almost reciprocal eigenvalues;
+                perturbed values were used to solve the equation
+                (but the matrices A and B are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The solution matrix X is computed column-wise via a back
+  substitution scheme, an extension and refinement of the algorithm
+  in [1], similar to that used in [2] for continuous-time Sylvester
+  equations. A set of equivalent linear algebraic systems of
+  equations of order at most four are formed and solved using
+  Gaussian elimination with complete pivoting.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H. and Stewart, G.W.  T
+      Solution of the matrix equation A X + XB = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is stable and reliable, since Gaussian elimination
+  with complete pivoting is used.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04QD.html b/doc/_static/doc/SB04QD.html
new file mode 100644
index 00000000..731b8aa1
--- /dev/null
+++ b/doc/_static/doc/SB04QD.html
@@ -0,0 +1,272 @@
+<HTML>
+<HEAD><TITLE>SB04QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QD">SB04QD</A></H2>
+<H3>
+Solution of discrete-time Sylvester equations (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the discrete-time Sylvester equation
+
+     X + AXB = C,
+
+  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
+  N-by-M matrices respectively. A Hessenberg-Schur method, which
+  reduces A to upper Hessenberg form, H = U'AU, and B' to real
+  Schur form, S = Z'B'Z (with U, Z orthogonal matrices), is used.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the coefficient matrix A of the equation.
+          On exit, the leading N-by-N upper Hessenberg part of this
+          array contains the matrix H, and the remainder of the
+          leading N-by-N part, together with the elements 2,3,...,N
+          of array DWORK, contain the orthogonal transformation
+          matrix U (stored in factored form).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading M-by-M part of this array must
+          contain the coefficient matrix B of the equation.
+          On exit, the leading M-by-M part of this array contains
+          the quasi-triangular Schur factor S of the matrix B'.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading N-by-M part of this array contains
+          the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
+          The leading M-by-M part of this array contains the
+          orthogonal matrix Z used to transform B' to real upper
+          Schur form.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (4*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
+          the scalar factors of the elementary reflectors used to
+          reduce A to upper Hessenberg form, as returned by LAPACK
+          Library routine DGEHRD.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = MAX(1, 2*N*N + 9*N, 5*M, N + M).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
+                compute all the eigenvalues of B (see LAPACK Library
+                routine DGEES);
+          &gt; M:  if a singular matrix was encountered whilst solving
+                for the (INFO-M)-th column of matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A is transformed to upper Hessenberg form H = U'AU by
+  the orthogonal transformation matrix U; matrix B' is transformed
+  to real upper Schur form S = Z'B'Z using the orthogonal
+  transformation matrix Z. The matrix C is also multiplied by the
+  transformations, F = U'CZ, and the solution matrix Y of the
+  transformed system
+
+     Y + HYS' = F
+
+  is computed by back substitution. Finally, the matrix Y is then
+  multiplied by the orthogonal transformation matrices, X = UYZ', in
+  order to obtain the solution matrix X to the original problem.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                      3       3      2         2
+  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
+  operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
+     $                   LDZ = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 4*NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+9*NMAX, 5*MMAX,
+     $                   NMAX+MMAX ) )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK), Z(LDZ,MMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 40 I = 1, M
+                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04QD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The orthogonal matrix Z is ')
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04QD EXAMPLE PROGRAM DATA
+   3     3
+   1.0   2.0   3.0 
+   6.0   7.0   8.0 
+   9.0   2.0   3.0 
+   7.0   2.0   3.0 
+   2.0   1.0   2.0 
+   3.0   4.0   1.0 
+   271.0   135.0   147.0
+   923.0   494.0   482.0
+   578.0   383.0   287.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04QD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   2.0000   3.0000   6.0000
+   4.0000   7.0000   1.0000
+   5.0000   3.0000   2.0000
+
+ The orthogonal matrix Z is 
+   0.8337   0.5204  -0.1845
+   0.3881  -0.7900  -0.4746
+   0.3928  -0.3241   0.8606
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04QR.html b/doc/_static/doc/SB04QR.html
new file mode 100644
index 00000000..dc869d35
--- /dev/null
+++ b/doc/_static/doc/SB04QR.html
@@ -0,0 +1,118 @@
+<HTML>
+<HEAD><TITLE>SB04QR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QR">SB04QR</A></H2>
+<H3>
+Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a linear algebraic system of order M whose coefficient
+  matrix has zeros below the third subdiagonal and zero elements on
+  the third subdiagonal with even column indices. The matrix is
+  stored compactly, row-wise.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QR( M, D, IPR, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, M
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the system.  M &gt;= 0, M even.
+          Note that parameter M should have twice the value in the
+          original problem (see SLICOT Library routine SB04QU).
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (M*M/2+4*M)
+          On entry, the first M*M/2 + 3*M elements of this array
+          must contain the coefficient matrix, stored compactly,
+          row-wise, and the next M elements must contain the right
+          hand side of the linear system, as set by SLICOT Library
+          routine SB04QU.
+          On exit, the content of this array is updated, the last M
+          elements containing the solution with components
+          interchanged (see IPR).
+
+  IPR     (output) INTEGER array, dimension (2*M)
+          The leading M elements contain information about the
+          row interchanges performed for solving the system.
+          Specifically, the i-th component of the solution is
+          specified by IPR(i).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Gaussian elimination with partial pivoting is used. The rows of
+  the matrix are not actually permuted, only their indices are
+  interchanged in array IPR.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04QU.html b/doc/_static/doc/SB04QU.html
new file mode 100644
index 00000000..acf2cfc8
--- /dev/null
+++ b/doc/_static/doc/SB04QU.html
@@ -0,0 +1,139 @@
+<HTML>
+<HEAD><TITLE>SB04QU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QU">SB04QU</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order 2*M
+  whose coefficient matrix has zeros below the third subdiagonal,
+  and zero elements on the third subdiagonal with even column
+  indices. Such systems appear when solving discrete-time Sylvester
+  equations using the Hessenberg-Schur method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          IND and IND - 1 specify the indices of the columns in C
+          to be computed.  IND &gt; 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with columns IND-1 and IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (2*M*M+8*M)
+
+  IPR     INTEGER array, dimension (4*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order 2*M, whose coefficient
+  matrix has zeros below the third subdiagonal and zero elements on
+  the third subdiagonal with even column indices, is constructed and
+  solved. The coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04QY.html b/doc/_static/doc/SB04QY.html
new file mode 100644
index 00000000..49c36298
--- /dev/null
+++ b/doc/_static/doc/SB04QY.html
@@ -0,0 +1,136 @@
+<HTML>
+<HEAD><TITLE>SB04QY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04QY">SB04QY</A></H2>
+<H3>
+Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct and solve a linear algebraic system of order M whose
+  coefficient matrix is in upper Hessenberg form. Such systems
+  appear when solving discrete-time Sylvester equations using the
+  Hessenberg-Schur method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04QY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
+C     .. Array Arguments ..
+      INTEGER           IPR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  IND     (input) INTEGER
+          The index of the column in C to be computed.  IND &gt;= 1.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain an
+          upper Hessenberg matrix.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
+          The leading N-by-N part of this array must contain a
+          matrix in real Schur form.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading M-by-N part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, the leading M-by-N part of this array contains
+          the matrix C with column IND updated.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
+
+  IPR     INTEGER array, dimension (2*M)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &gt; 0:  if INFO = IND, a singular matrix was encountered.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A special linear algebraic system of order M, with coefficient
+  matrix in upper Hessenberg form is constructed and solved. The
+  coefficient matrix is stored compactly, row-wise.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04RD.html b/doc/_static/doc/SB04RD.html
new file mode 100644
index 00000000..6a781294
--- /dev/null
+++ b/doc/_static/doc/SB04RD.html
@@ -0,0 +1,290 @@
+<HTML>
+<HEAD><TITLE>SB04RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RD">SB04RD</A></H2>
+<H3>
+Solution of discrete-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the discrete-time Sylvester equation
+
+     X + AXB = C,
+
+  with at least one of the matrices A or B in Schur form and the
+  other in Hessenberg or Schur form (both either upper or lower);
+  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
+  respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHU, ULA, ULB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHU  CHARACTER*1
+          Indicates whether A and/or B is/are in Schur or
+          Hessenberg form as follows:
+          = 'A':  A is in Schur form, B is in Hessenberg form;
+          = 'B':  B is in Schur form, A is in Hessenberg form;
+          = 'S':  Both A and B are in Schur form.
+
+  ULA     CHARACTER*1
+          Indicates whether A is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
+                  upper Schur form otherwise;
+          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
+                  lower Schur form otherwise.
+
+  ULB     CHARACTER*1
+          Indicates whether B is in upper or lower Schur form or
+          upper or lower Hessenberg form as follows:
+          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
+                  upper Schur form otherwise;
+          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
+                  lower Schur form otherwise.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          coefficient matrix A of the equation.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading M-by-M part of this array must contain the
+          coefficient matrix B of the equation.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,M).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
+          On entry, the leading N-by-M part of this array must
+          contain the coefficient matrix C of the equation.
+          On exit, if INFO = 0, the leading N-by-M part of this
+          array contains the solution matrix X of the problem.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity in
+          the Sylvester equation. If the user sets TOL &gt; 0, then the
+          given value of TOL is used as a lower bound for the
+          reciprocal condition number; a matrix whose estimated
+          condition number is less than 1/TOL is considered to be
+          nonsingular. If the user sets TOL &lt;= 0, then a default
+          tolerance, defined by TOLDEF = EPS, is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*MAX(M,N))
+          This parameter is not referenced if ABSCHU = 'S',
+          ULA = 'U', and ULB = 'U'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = 2*N, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
+          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if a (numerically) singular matrix T was encountered
+                during the computation of the solution matrix X.
+                That is, the estimated reciprocal condition number
+                of T is less than or equal to TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrices A and B are assumed to be in (upper or lower) Hessenberg
+  or Schur form (with at least one of them in Schur form). The
+  solution matrix X is then computed by rows or columns via the back
+  substitution scheme proposed by Golub, Nash and Van Loan (see
+  [1]), which involves the solution of triangular systems of
+  equations that are constructed recursively and which may be nearly
+  singular if A and -B have almost reciprocal eigenvalues. If near
+  singularity is detected, then the routine returns with the Error
+  Indicator (INFO) set to 1.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
+      A Hessenberg-Schur method for the problem AX + XB = C.
+      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
+
+  [2] Sima, V.
+      Algorithms for Linear-quadratic Optimization.
+      Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         2         2
+  The algorithm requires approximately 5M N + 0.5MN  operations in
+                         2         2
+  the worst case and 2.5M N + 0.5MN  operations in the best case
+  (where M is the order of the matrix in Hessenberg form and N is
+  the order of the matrix in Schur form) and is mixed stable (see
+  [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB04RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
+     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      ABSCHU, ULA, ULB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB04RD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
+*           Find the solution matrix X.
+            CALL SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
+     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB04RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB04RD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB04RD EXAMPLE PROGRAM DATA
+   5     5     0.0     U     U     B
+   1.0   2.0   3.0   4.0   5.0
+   6.0   7.0   8.0   9.0   1.0
+   0.0   2.0   3.0   4.0   5.0
+   0.0   0.0   6.0   7.0   8.0
+   0.0   0.0   0.0   9.0   1.0
+   1.0   2.0   3.0   4.0   5.0
+   0.0   1.0   2.0   3.0   4.0
+   0.0   0.0   1.0   2.0   3.0
+   0.0   0.0   0.0   1.0  -5.0
+   0.0   0.0   0.0   4.0   1.0
+   2.0   4.0  10.0  40.0   7.0
+   6.0  20.0  40.0  74.0  38.0
+   0.0   2.0   8.0  36.0   2.0
+   0.0   0.0   6.0  52.0  -9.0
+   0.0   0.0   0.0  13.0 -43.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB04RD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   1.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04RV.html b/doc/_static/doc/SB04RV.html
new file mode 100644
index 00000000..52dc0172
--- /dev/null
+++ b/doc/_static/doc/SB04RV.html
@@ -0,0 +1,135 @@
+<HTML>
+<HEAD><TITLE>SB04RV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RV">SB04RV</A></H2>
+<H3>
+Constructing the right-hand sides for a system of equations in quasi-Hessenberg form solved via SB04RX (case with 2 right-hand sides)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand sides D for a system of equations in
+  quasi-Hessenberg form solved via SB04RX (case with 2 right-hand
+  sides).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
+     $                   LDBA, D, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDBA, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation X + AXB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the first column/row of C to be used in
+          the construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C, the matrix not contained in AB.
+
+  LDBA    INTEGER
+          The leading dimension of array BA.
+          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading 2*N or 2*M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side stored as a matrix with two rows.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK is equal to 2*N or 2*M (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04RW.html b/doc/_static/doc/SB04RW.html
new file mode 100644
index 00000000..d6f533ff
--- /dev/null
+++ b/doc/_static/doc/SB04RW.html
@@ -0,0 +1,134 @@
+<HTML>
+<HEAD><TITLE>SB04RW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RW">SB04RW</A></H2>
+<H3>
+Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04RY
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the right-hand side D for a system of equations in
+  Hessenberg form solved via SB04RY (case with 1 right-hand side).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
+     $                   LDBA, D, DWORK )
+C     .. Scalar Arguments ..
+      CHARACTER         ABSCHR, UL
+      INTEGER           INDX, LDAB, LDBA, LDC, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ABSCHR  CHARACTER*1
+          Indicates whether AB contains A or B, as follows:
+          = 'A':  AB contains A;
+          = 'B':  AB contains B.
+
+  UL      CHARACTER*1
+          Indicates whether AB is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  AB is upper Hessenberg;
+          = 'L':  AB is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The order of the matrix B.  M &gt;= 0.
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
+          The leading N-by-M part of this array must contain both
+          the not yet modified part of the coefficient matrix C of
+          the Sylvester equation X + AXB = C, and both the currently
+          computed part of the solution of the Sylvester equation.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,N).
+
+  INDX    (input) INTEGER
+          The position of the column/row of C to be used in the
+          construction of the right-hand side D.
+
+  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C.
+
+  LDAB    INTEGER
+          The leading dimension of array AB.
+          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
+          ABSCHR = 'A' or ABSCHR = 'B', respectively).
+
+  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
+          The leading N-by-N or M-by-M part of this array must
+          contain either A or B of the Sylvester equation
+          X + AXB = C, the matrix not contained in AB.
+
+  LDBA    INTEGER
+          The leading dimension of array BA.
+          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively).
+
+  D       (output) DOUBLE PRECISION array, dimension (*)
+          The leading N or M part of this array (depending on
+          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
+          right-hand side.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          where LDWORK is equal to N or M (depending on ABSCHR = 'B'
+          or ABSCHR = 'A', respectively).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04RX.html b/doc/_static/doc/SB04RX.html
new file mode 100644
index 00000000..2be4b9b9
--- /dev/null
+++ b/doc/_static/doc/SB04RX.html
@@ -0,0 +1,142 @@
+<HTML>
+<HEAD><TITLE>SB04RX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RX">SB04RX</A></H2>
+<H3>
+Solving a system of equations in quasi-Hessenberg form with two right-hand sides
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in quasi-Hessenberg form
+  (Hessenberg form plus two consecutive offdiagonals) with two
+  right-hand sides.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
+     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether A is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  A is upper Hessenberg;
+          = 'L':  A is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBD1, (input) DOUBLE PRECISION
+  LAMBD2, These variables must contain the 2-by-2 block to be
+  LAMBD3, multiplied to the elements of A.
+  LAMBD4
+
+  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
+          On entry, this array must contain the two right-hand
+          side vectors of the quasi-Hessenberg system, stored
+          row-wise.
+          On exit, if INFO = 0, this array contains the two solution
+          vectors of the quasi-Hessenberg system, stored row-wise.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the quasi-Hessenberg matrix.
+          A matrix whose estimated condition number is less
+          than 1/TOL is considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
+          The leading 2*M-by-2*M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the quasi-Hessenberg matrix. The remaining 6*M elements
+          are used as workspace for the computation of the
+          reciprocal condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.
+          LDDWOR &gt;= MAX(1,2*M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the quasi-Hessenberg matrix is (numerically)
+                singular. That is, its estimated reciprocal
+                condition number is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB04RY.html b/doc/_static/doc/SB04RY.html
new file mode 100644
index 00000000..1eafeffb
--- /dev/null
+++ b/doc/_static/doc/SB04RY.html
@@ -0,0 +1,138 @@
+<HTML>
+<HEAD><TITLE>SB04RY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB04RY">SB04RY</A></H2>
+<H3>
+Solving a system of equations in Hessenberg form with one right-hand side
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve a system of equations in Hessenberg form with one
+  right-hand side.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB04RY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
+     $                   DWORK, LDDWOR, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         RC, UL
+      INTEGER           INFO, LDA, LDDWOR, M
+      DOUBLE PRECISION  LAMBDA, TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  RC      CHARACTER*1
+          Indicates processing by columns or rows, as follows:
+          = 'R':  Row transformations are applied;
+          = 'C':  Column transformations are applied.
+
+  UL      CHARACTER*1
+          Indicates whether A is upper or lower Hessenberg matrix,
+          as follows:
+          = 'U':  A is upper Hessenberg;
+          = 'L':  A is lower Hessenberg.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrix A.  M &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain a
+          matrix A in Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+  LAMBDA  (input) DOUBLE PRECISION
+          This variable must contain the value to be multiplied with
+          the elements of A.
+
+  D       (input/output) DOUBLE PRECISION array, dimension (M)
+          On entry, this array must contain the right-hand side
+          vector of the Hessenberg system.
+          On exit, if INFO = 0, this array contains the solution
+          vector of the Hessenberg system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the triangular factor R of the Hessenberg matrix. A matrix
+          whose estimated condition number is less than 1/TOL is
+          considered to be nonsingular.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
+          The leading M-by-M part of this array is used for
+          computing the triangular factor of the QR decomposition
+          of the Hessenberg matrix. The remaining 3*M elements are
+          used as workspace for the computation of the reciprocal
+          condition estimate.
+
+  LDDWOR  INTEGER
+          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 1:  if the Hessenberg matrix is (numerically) singular.
+                That is, its estimated reciprocal condition number
+                is less than or equal to TOL.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB06ND.html b/doc/_static/doc/SB06ND.html
new file mode 100644
index 00000000..f0463b8c
--- /dev/null
+++ b/doc/_static/doc/SB06ND.html
@@ -0,0 +1,293 @@
+<HTML>
+<HEAD><TITLE>SB06ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB06ND">SB06ND</A></H2>
+<H3>
+Minimum norm feedback matrix for "deadbeat control" of a state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the minimum norm feedback matrix F to perform
+  "deadbeat control" on a (A,B)-pair of a state-space model (which
+  must be preliminarily reduced to upper "staircase" form using
+  SLICOT Library routine AB01OD) such that the matrix R = A + BFU'
+  is nilpotent.
+  (The transformation matrix U reduces R to upper Schur form with
+  zero blocks on its diagonal (of dimension KSTAIR(i)) and
+  therefore contains bases for the i-th controllable subspaces,
+  where i = 1,...,KMAX).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU, F,
+     $                   LDF, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, KMAX, LDA, LDB, LDF, LDU, M, N
+C     .. Array Arguments ..
+      INTEGER           KSTAIR(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The actual input dimension.  M &gt;= 0.
+
+  KMAX    (input) INTEGER
+          The number of "stairs" in the staircase form as produced
+          by SLICOT Library routine AB01OD.  0 &lt;= KMAX &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the transformed state-space matrix of the
+          (A,B)-pair with triangular stairs, as produced by SLICOT
+          Library routine AB01OD (with option STAGES = 'A').
+          On exit, the leading N-by-N part of this array contains
+          the matrix U'AU + U'BF.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the transformed triangular input matrix of the
+          (A,B)-pair as produced by SLICOT Library routine AB01OD
+          (with option STAGES = 'A').
+          On exit, the leading N-by-M part of this array contains
+          the matrix U'B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  KSTAIR  (input) INTEGER array, dimension (KMAX)
+          The leading KMAX elements of this array must contain the
+          dimensions of each "stair" as produced by SLICOT Library
+          routine AB01OD.
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain either a transformation matrix (e.g. from a
+          previous call to other SLICOT routine) or be initialised
+          as the identity matrix.
+          On exit, the leading N-by-N part of this array contains
+          the product of the input matrix U and the state-space
+          transformation matrix which reduces A + BFU' to real
+          Schur form.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,N).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the
+          deadbeat feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Starting from the (A,B)-pair in "staircase form" with "triangular"
+  stairs, dimensions KSTAIR(i+1) x KSTAIR(i), (described by the
+  vector KSTAIR):
+
+                 | B | A      *  . . .  *  |
+                 |  1|  11       .      .  |
+                 |   | A     A     .    .  |
+                 |   |  21    22     .  .  |
+                 |   |    .      .     .   |
+   [ B | A ]  =  |   |      .      .    *  |
+                 |   |        .      .     |
+                 | 0 |   0                 |
+                 |   |          A      A   |
+                 |   |           r,r-1  rr |
+
+  where the i-th diagonal block of A has dimension KSTAIR(i), for
+  i = 1,2,...,r, the feedback matrix F is constructed recursively in
+  r steps (where the number of "stairs" r is given by KMAX). In each
+  step a unitary state-space transformation U and a part of F are
+  updated in order to achieve the final form:
+
+                    | 0   A      *   . . .  *   |
+                    |      12      .        .   |
+                    |                .      .   |
+                    |     0    A       .    .   |
+                    |           23       .  .   |
+                    |         .      .          |
+  [ U'AU + U'BF ] = |           .      .    *   | .
+                    |             .      .      |
+                    |                           |
+                    |                     A     |
+                    |                      r-1,r|
+                    |                           |
+                    |                       0   |
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      Deadbeat control: a special inverse eigenvalue problem.
+      BIT, 24, pp. 681-699, 1984.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + M) * N**2) operations and is mixed
+  numerical stable (see [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB06ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDU, LDV, LDF
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
+     $                   LDV = MMAX, LDF = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX + MAX(NMAX,3*MMAX) )
+*     PARAMETER        ( LDWORK = 4*NMAX)
+      DOUBLE PRECISION ZERO, ONE
+      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, KMAX, M, N, NCONT
+      CHARACTER*1      JOBU, JOBV
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
+     $                 F(LDF,NMAX), U(LDU,NMAX), V(LDV,MMAX)
+      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
+C     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         AB01OD, DLASET, SB06ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, TOL, JOBU, JOBV
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+*           First put (A,B) into staircase form with triangular pivots
+*           and determine the stairsizes.
+            CALL AB01OD( 'A', JOBU, JOBV, N, M, A, LDA, B, LDB, U,
+     $                   LDU, V, LDV, NCONT, KMAX, KSTAIR, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+*
+            IF ( INFO.EQ.0 ) THEN
+               IF( LSAME( JOBU, 'N' ) ) THEN
+*                 Initialize U as the identity matrix.
+                  CALL DLASET( 'Full', N, N, ZERO, ONE, U, LDU )
+               END IF
+*              Perform "deadbeat control" to give F.
+               CALL SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU,
+     $                      F, LDF, DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            ELSE
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB06ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from AB01OD = ',I2)
+99997 FORMAT (' INFO on exit from SB06ND = ',I2)
+99996 FORMAT (' The deadbeat feedback matrix F is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB06ND EXAMPLE PROGRAM DATA
+   5     2     0.0     N     N
+  -17.0   24.0   41.0   68.0   15.0
+   23.0  -35.0   27.0   14.0   16.0
+   34.0   26.0  -13.0   20.0   22.0
+   10.0   12.0   19.0  -21.0   63.0
+   11.0   18.0   25.0   52.0  -29.0
+  -31.0   14.0
+   74.0  -69.0
+  -59.0   16.0
+   16.0  -25.0
+  -25.0   36.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB06ND EXAMPLE PROGRAM RESULTS
+
+ The deadbeat feedback matrix F is 
+  -0.4819  -0.5782  -2.7595  -3.1093   0.0000
+   0.2121  -0.4462   0.7698  -1.5421  -0.5773
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08CD.html b/doc/_static/doc/SB08CD.html
new file mode 100644
index 00000000..3e71fe36
--- /dev/null
+++ b/doc/_static/doc/SB08CD.html
@@ -0,0 +1,445 @@
+<HTML>
+<HEAD><TITLE>SB08CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08CD">SB08CD</A></H2>
+<H3>
+Left coprime factorization with inner denominator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), an output
+  injection matrix H, an orthogonal transformation matrix Z, and a
+  gain matrix V, such that the systems
+
+       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), V*C*Z, V*D)
+  and
+       R = (Z'*(A+H*C)*Z, Z'*H, V*C*Z, V)
+
+  provide a stable left coprime factorization of G in the form
+                -1
+           G = R  * Q,
+
+  where G, Q and R are the corresponding transfer-function matrices
+  and the denominator R is co-inner, that is, R(s)*R'(-s) = I in
+  the continuous-time case, or R(z)*R'(1/z) = I in the discrete-time
+  case. The Z matrix is not explicitly computed.
+
+  Note: G must have no observable poles on the imaginary axis
+  for a continuous-time system, or on the unit circle for a
+  discrete-time system. If the given state-space representation
+  is not detectable, the undetectable part of the original
+  system is automatically deflated and the order of the systems
+  Q and R is accordingly reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrices B
+          and BR, and the number of columns of the matrix C.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C, D and DR, and the number of columns
+          of the matrices BR and DR.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A. The matrix A must not
+          have observable eigenvalues on the imaginary axis, if
+          DICO = 'C', or on the unit circle, if DICO = 'D'.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The leading NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
+          input/state matrix of the numerator factor Q.
+          The remaining part of this array is needed as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix V*C*Z, the
+          state/output matrix of the numerator factor Q.
+          The first NR columns of this array represent the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+          The remaining part of this array is needed as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P), if N &gt; 0.
+          LDC &gt;= 1,          if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (LDD,MAX(M,P))
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix.
+          On exit, the leading P-by-M part of this array contains
+          the matrix V*D representing the input/output matrix
+          of the numerator factor Q.
+          The remaining part of this array is needed as workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          unobservable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of observable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
+          The leading NQ-by-P part of this array contains the
+          leading NQ-by-P part of the output injection matrix
+          Z'*H, which reflects the eigenvalues of A lying outside
+          the stable region to values which are symmetric with
+          respect to the imaginary axis (if DICO = 'C') or the unit
+          circle (if DICO = 'D'). The first NR rows of this matrix
+          form the input/state matrix of a minimal realization of
+          the denominator factor R.
+
+  LDBR    INTEGER
+          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
+          The leading P-by-P part of this array contains the lower
+          triangular matrix V representing the input/output matrix
+          of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          C are considered zero (used for observability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
+          the infinity-norm of C.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, P*N + MAX( N*(N+5),P*(P+2),4*P,4*M ) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                along the diagonal;
+          = 3:  if DICO = 'C' and the matrix A has an observable
+                eigenvalue on the imaginary axis, or DICO = 'D' and
+                A has an observable eigenvalue on the unit circle.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine uses the right coprime factorization algorithm with
+  inner denominator of [1] applied to G'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      A Schur method for computing coprime factorizations with
+      inner denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBR = NMAX,
+     $                   LDC = MPMAX, LDD = MPMAX, LDDR = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
+     $                            PMAX*( PMAX + 2 ), 4*PMAX, 4*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMAX), BR(LDBR,PMAX),
+     $                 C(LDC,NMAX), D(LDD,MPMAX), DR(LDDR,PMAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a RCFID for (A,B,C,D).
+               CALL SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = 1, NR )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( C(I,J), J = 1, NR )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08CD = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08CD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08CD EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -0.1605   0.0523   0.9423   2.0193   0.4166   0.2518   1.6140
+  -0.4489  -0.1605   1.7955   3.8719  -0.2394   0.0491  -0.8740
+   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
+   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
+   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
+   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
+   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
+
+ The numerator input/state matrix BQ is 
+  -1.0157   0.2554
+   0.5523   0.4443
+   0.0056 -11.6989
+   0.0490   4.3728
+  11.7198  -0.0038
+  -2.8173   0.0308
+   3.1018  -0.0009
+
+ The numerator state/output matrix CQ is 
+   0.1975  -0.1063  -0.0006  -0.0083   0.1279   0.8797   0.3994
+   0.8541  -0.4513  -0.0007  -0.0041   0.0305  -0.2562   0.0122
+   0.4668   0.8826   0.0248  -0.0506   0.0000   0.0022  -0.0017
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -0.1605   0.0523
+  -0.4489  -0.1605
+
+ The denominator input/state matrix BR is 
+  -0.0158  -0.0692  -0.1688
+   0.0306   0.1281  -0.4984
+
+ The denominator state/output matrix CR is 
+   0.1975  -0.1063
+   0.8541  -0.4513
+   0.4668   0.8826
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000
+   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB08DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08DD">SB08DD</A></H2>
+<H3>
+Right coprime factorization with inner denominator
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), a feedback matrix
+  F, an orthogonal transformation matrix Z, and a gain matrix V,
+  such that the systems
+
+       Q = (Z'*(A+B*F)*Z, Z'*B*V, (C+D*F)*Z, D*V)
+  and
+       R = (Z'*(A+B*F)*Z, Z'*B*V, F*Z, V)
+
+  provide a stable right coprime factorization of G in the form
+                    -1
+           G = Q * R  ,
+
+  where G, Q and R are the corresponding transfer-function matrices
+  and the denominator R is inner, that is, R'(-s)*R(s) = I in the
+  continuous-time case, or R'(1/z)*R(z) = I in the discrete-time
+  case. The Z matrix is not explicitly computed.
+
+  Note: G must have no controllable poles on the imaginary axis
+  for a continuous-time system, or on the unit circle for a
+  discrete-time system. If the given state-space representation
+  is not stabilizable, the unstabilizable part of the original
+  system is automatically deflated and the order of the systems
+  Q and R is accordingly reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK, LDWORK,
+     $                   IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrix B and
+          the number of columns of the matrices C and CR.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B, D and DR and the number of rows of the
+          matrices CR and DR.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C and D.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A. The matrix A must not
+          have controllable eigenvalues on the imaginary axis, if
+          DICO = 'C', or on the unit circle, if DICO = 'D'.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The trailing NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*B*V, the
+          input/state matrix of the numerator factor Q. The last
+          NR rows of this matrix form the input/state matrix of
+          a minimal realization of the denominator factor R.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix (C+D*F)*Z,
+          the state/output matrix of the numerator factor Q.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix.
+          On exit, the leading P-by-M part of this array contains
+          the matrix D*V representing the input/output matrix
+          of the numerator factor Q.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          uncontrollable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of controllable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
+          The leading M-by-NQ part of this array contains the
+          leading M-by-NQ part of the feedback matrix F*Z, which
+          reflects the eigenvalues of A lying outside the stable
+          region to values which are symmetric with respect to the
+          imaginary axis (if DICO = 'C') or the unit circle (if
+          DICO = 'D').  The last NR columns of this matrix form the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+
+  LDCR    INTEGER
+          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
+          The leading M-by-M part of this array contains the upper
+          triangular matrix V of order M representing the
+          input/output matrix of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
+          the 1-norm of B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, N*(N+5), M*(M+2), 4*M, 4*P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal;
+          = 3:  if DICO = 'C' and the matrix A has a controllable
+                eigenvalue on the imaginary axis, or DICO = 'D'
+                and A has a controllable eigenvalue on the unit
+                circle.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the factorization algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      A Schur method for computing coprime factorizations with inner
+      denominators and applications in model reduction.
+      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ),
+     $                                 MMAX*( MMAX + 2 ),
+     $                                 4*NMAX, 4*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a RCFID for (A,B,C,D).
+               CALL SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL,
+     $                      DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = NQ-NR+1, NQ )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( CR(I,J), J = NQ-NR+1, NQ )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08DD = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08DD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08DD EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -4.1066  -0.2336
+   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4816   0.2196
+   0.0000   0.0000 -13.1627   0.0608  -0.0218   3.8320   0.3429
+   0.0000   0.0000   0.0000  -3.5957  -3.3373   0.0816  -4.1237
+   0.0000   0.0000   0.0000   0.0000 -12.4245  -0.3133   4.4255
+   0.0000   0.0000   0.0000   0.0000   0.0000  -0.1605  -0.0772
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.3040  -0.1605
+
+ The numerator input/state matrix BQ is 
+   5.0302  -0.0063
+   0.7078  -0.0409
+ -11.3663   0.0051
+   0.1760   0.5879
+  -0.0265  12.2119
+   1.1050   0.3215
+   0.0066  -2.5822
+
+ The numerator state/output matrix CQ is 
+  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2325   0.0265
+   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.8985   0.1406
+  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.0874  -0.5630
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -0.1605  -0.0772
+   0.3040  -0.1605
+
+ The denominator input/state matrix BR is 
+   1.1050   0.3215
+   0.0066  -2.5822
+
+ The denominator state/output matrix CR is 
+  -0.2288  -0.0259
+  -0.0070   0.1497
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08ED.html b/doc/_static/doc/SB08ED.html
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+<HTML>
+<HEAD><TITLE>SB08ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08ED">SB08ED</A></H2>
+<H3>
+Left coprime factorization with prescribed stability degree
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), an output
+  injection matrix H and an orthogonal transformation matrix Z, such
+  that the systems
+
+       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), C*Z, D)
+  and
+       R = (Z'*(A+H*C)*Z, Z'*H, C*Z, I)
+
+  provide a stable left coprime factorization of G in the form
+                -1
+           G = R  * Q,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+  The resulting state dynamics matrix of the systems Q and R has
+  eigenvalues lying inside a given stability domain.
+  The Z matrix is not explicitly computed.
+
+  Note: If the given state-space representation is not detectable,
+  the undetectable part of the original system is automatically
+  deflated and the order of the systems Q and R is accordingly
+  reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), BR(LDBR,*),
+     $                  C(LDC,*), D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrices B
+          and BR, and the number of columns of the matrix C.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C, D and DR, and the number of columns of
+          the matrices BR and DR.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
+          ALPHA(1) contains the desired stability degree to be
+          assigned for the eigenvalues of A+H*C, and ALPHA(2)
+          the stability margin. The eigenvalues outside the
+          ALPHA(2)-stability region will be assigned to have the
+          real parts equal to ALPHA(1) &lt; 0 and unmodified
+          imaginary parts for a continuous-time system
+          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
+          for a discrete-time system (DICO = 'D').
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The leading NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix of the system.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
+          input/state matrix of the numerator factor Q.
+          The remaining part of this array is needed as workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix of the system.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix C*Z, the
+          state/output matrix of the numerator factor Q.
+          The first NR columns of this array represent the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+          The remaining part of this array is needed as workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P), if N &gt; 0.
+          LDC &gt;= 1,          if N = 0.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array must contain the
+          input/output matrix. D represents also the input/output
+          matrix of the numerator factor Q.
+          This array is modified internally, but restored on exit.
+          The remaining part of this array is needed as workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          unobservable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of observable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
+          The leading NQ-by-P part of this array contains the
+          leading NQ-by-P part of the output injection matrix
+          Z'*H, which moves the eigenvalues of A lying outside
+          the ALPHA-stable region to values on the ALPHA-stability
+          boundary. The first NR rows of this matrix form the
+          input/state matrix of a minimal realization of the
+          denominator factor R.
+
+  LDBR    INTEGER
+          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
+          The leading P-by-P part of this array contains an
+          identity matrix representing the input/output matrix
+          of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          C are considered zero (used for observability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
+          the infinity-norm of C.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX( 1, N*P + MAX( N*(N+5), 5*P, 4*M ) ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + H*C)*Z
+                along the diagonal.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine uses the right coprime factorization algorithm
+  of [1] applied to G'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMAX
+      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MPMAX,
+     $                   LDD = MPMAX, LDBR = NMAX, LDDR = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
+     $                                             5*PMAX, 4*MMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MPMAX),
+     $                 BR(LDBR,PMAX), C(LDC,NMAX), D(LDD,MPMAX),
+     $                 DR(LDDR,PMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
+      ALPHA(2) = ALPHA(1)
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a LCF for (A,B,C,D).
+               CALL SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
+     $                      LDC, D, LDD, NQ, NR, BR, LDBR, DR, LDDR,
+     $                      TOL, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = 1, NR )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( C(I,J), J = 1, NR )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08ED = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08ED EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3 -1.0   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08ED EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -1.0000   0.0526  -0.1408  -0.3060   0.4199   0.2408   1.7274
+  -0.4463  -1.0000   2.0067   4.3895   0.0062   0.1813   0.0895
+   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
+   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
+   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
+   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
+   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
+
+ The numerator input/state matrix BQ is 
+  -1.1544  -0.0159
+  -0.0631   0.5122
+   0.0056 -11.6989
+   0.0490   4.3728
+  11.7198  -0.0038
+  -2.8173   0.0308
+   3.1018  -0.0009
+
+ The numerator state/output matrix CQ is 
+   0.2238   0.0132  -0.0006  -0.0083   0.1279   0.8797   0.3994
+   0.9639   0.0643  -0.0007  -0.0041   0.0305  -0.2562   0.0122
+  -0.0660   0.9962   0.0248  -0.0506   0.0000   0.0022  -0.0017
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -1.0000   0.0526
+  -0.4463  -1.0000
+
+ The denominator input/state matrix BR is 
+  -0.2623  -1.1297   0.0764
+  -0.0155  -0.0752  -1.1676
+
+ The denominator state/output matrix CR is 
+   0.2238   0.0132
+   0.9639   0.0643
+  -0.0660   0.9962
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000   0.0000
+   0.0000   1.0000   0.0000
+   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08FD.html b/doc/_static/doc/SB08FD.html
new file mode 100644
index 00000000..8468c6e8
--- /dev/null
+++ b/doc/_static/doc/SB08FD.html
@@ -0,0 +1,433 @@
+<HTML>
+<HEAD><TITLE>SB08FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08FD">SB08FD</A></H2>
+<H3>
+Right coprime factorization with prescribed stability degree
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct, for a given system G = (A,B,C,D), a feedback
+  matrix F and an orthogonal transformation matrix Z, such that
+  the systems
+
+       Q = (Z'*(A+B*F)*Z, Z'*B, (C+D*F)*Z, D)
+  and
+       R = (Z'*(A+B*F)*Z, Z'*B, F*Z, I)
+
+  provide a stable right coprime factorization of G in the form
+                    -1
+           G = Q * R  ,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+  The resulting state dynamics matrix of the systems Q and R has
+  eigenvalues lying inside a given stability domain.
+  The Z matrix is not explicitly computed.
+
+  Note: If the given state-space representation is not stabilizable,
+  the unstabilizable part of the original system is automatically
+  deflated and the order of the systems Q and R is accordingly
+  reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
+     $                  LDWORK, M, N, NQ, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), C(LDC,*),
+     $                  CR(LDCR,*), D(LDD,*), DR(LDDR,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the state vector, i.e. the order of the
+          matrix A, and also the number of rows of the matrix B and
+          the number of columns of the matrices C and CR.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B, D and DR and the number of rows of the
+          matrices CR and DR.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows
+          of the matrices C and D.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
+          ALPHA(1) contains the desired stability degree to be
+          assigned for the eigenvalues of A+B*F, and ALPHA(2)
+          the stability margin. The eigenvalues outside the
+          ALPHA(2)-stability region will be assigned to have the
+          real parts equal to ALPHA(1) &lt; 0 and unmodified
+          imaginary parts for a continuous-time system
+          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
+          for a discrete-time system (DICO = 'D').
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading NQ-by-NQ part of this array contains
+          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
+          state dynamics matrix of the numerator factor Q, in a
+          real Schur form. The trailing NR-by-NR part of this matrix
+          represents the state dynamics matrix of a minimal
+          realization of the denominator factor R.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix.
+          On exit, the leading NQ-by-M part of this array contains
+          the leading NQ-by-M part of the matrix Z'*B, the
+          input/state matrix of the numerator factor Q. The last
+          NR rows of this matrix form the input/state matrix of
+          a minimal realization of the denominator factor R.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-NQ part of this array contains
+          the leading P-by-NQ part of the matrix (C+D*F)*Z,
+          the state/output matrix of the numerator factor Q.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix. D represents also the input/output
+          matrix of the numerator factor Q.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  NQ      (output) INTEGER
+          The order of the resulting factors Q and R.
+          Generally, NQ = N - NS, where NS is the number of
+          uncontrollable eigenvalues outside the stability region.
+
+  NR      (output) INTEGER
+          The order of the minimal realization of the factor R.
+          Generally, NR is the number of controllable eigenvalues
+          of A outside the stability region (the number of modified
+          eigenvalues).
+
+  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
+          The leading M-by-NQ part of this array contains the
+          leading M-by-NQ part of the feedback matrix F*Z, which
+          moves the eigenvalues of A lying outside the ALPHA-stable
+          region to values which are on the ALPHA-stability
+          boundary.  The last NR columns of this matrix form the
+          state/output matrix of a minimal realization of the
+          denominator factor R.
+
+  LDCR    INTEGER
+          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
+
+  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
+          The leading M-by-M part of this array contains an
+          identity matrix representing the input/output matrix
+          of the denominator factor R.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The absolute tolerance level below which the elements of
+          B are considered zero (used for controllability tests).
+          If the user sets TOL &lt;= 0, then an implicitly computed,
+          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
+          is used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
+          the 1-norm of B.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LWORK &gt;= MAX( 1, N*(N+5), 5*M, 4*P ).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = K:  K violations of the numerical stability condition
+                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
+                assignment of eigenvalues.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A to a real Schur form failed;
+          = 2:  a failure was detected during the ordering of the
+                real Schur form of A, or in the iterative process
+                for reordering the eigenvalues of Z'*(A + B*F)*Z
+                along the diagonal.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the factorization algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                         3
+  The algorithm requires no more than 14N  floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ), 5*MMAX,
+     $                                 4*PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
+      CHARACTER*1      DICO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MMAX), C(LDC,NMAX),
+     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
+     $                 DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB08FD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
+      ALPHA(2) = ALPHA(1)
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
+*              Find a RCF for (A,B,C,D).
+               CALL SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
+     $                      LDC, D, LDD, NQ, NR, CR, LDCR, DR, LDDR,
+     $                      TOL, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
+   20             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   40             CONTINUE
+                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
+   70             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
+                  DO 80 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( A(I,J), J = NQ-NR+1, NQ )
+   80             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
+                  DO 90 I = NQ-NR+1, NQ
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
+   90             CONTINUE
+                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
+                  DO 100 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( CR(I,J), J = NQ-NR+1, NQ )
+  100             CONTINUE
+                  WRITE ( NOUT, FMT = 99983 )
+                  DO 110 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
+  110             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB08FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08FD = ',I2)
+99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The numerator input/state matrix BQ is ')
+99992 FORMAT (/' The numerator state/output matrix CQ is ')
+99991 FORMAT (/' The numerator input/output matrix DQ is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99986 FORMAT (/' The denominator state dynamics matrix AR is ')
+99985 FORMAT (/' The denominator input/state matrix BR is ')
+99984 FORMAT (/' The denominator state/output matrix CR is ')
+99983 FORMAT (/' The denominator input/output matrix DR is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08FD EXAMPLE PROGRAM DATA (Continuous system)
+  7  2  3 -1.0   1.E-10 C
+ -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
+ -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
+  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
+  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
+  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
+  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
+  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
+  0.0000   0.0000
+  12.500   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   0.0000
+  0.0000   12.500
+  0.0000   0.0000
+  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
+  0.0000   0.0000  
+  0.0000   0.0000  
+  0.0000   0.0000  
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08FD EXAMPLE PROGRAM RESULTS
+
+
+ The numerator state dynamics matrix AQ is 
+  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -3.2129  -3.6183
+   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4392  -0.2528
+   0.0000   0.0000 -13.1627   0.0608  -0.0218   2.3461   5.8272
+   0.0000   0.0000   0.0000  -3.5957  -3.3373   1.3622  -3.6083
+   0.0000   0.0000   0.0000   0.0000 -12.4245  -9.8634   8.1191
+   0.0000   0.0000   0.0000   0.0000   0.0000  -1.0000  -0.0135
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.7393  -1.0000
+
+ The numerator input/state matrix BQ is 
+   5.0302  -0.0063
+   0.7078  -0.0409
+ -11.3663   0.0051
+   0.1760   0.5879
+  -0.0265  12.2119
+   1.0104   1.3262
+   0.4474  -2.2388
+
+ The numerator state/output matrix CQ is 
+  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2026   0.1172
+   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.7676   0.4879
+  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.3050  -0.4812
+
+ The numerator input/output matrix DQ is 
+   0.0000   0.0000
+   0.0000   0.0000
+   0.0000   0.0000
+
+ The denominator state dynamics matrix AR is 
+  -1.0000  -0.0135
+   1.7393  -1.0000
+
+ The denominator input/state matrix BR is 
+   1.0104   1.3262
+   0.4474  -2.2388
+
+ The denominator state/output matrix CR is 
+  -0.1091  -0.4653
+  -0.7055   0.4766
+
+ The denominator input/output matrix DR is 
+   1.0000   0.0000
+   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08GD.html b/doc/_static/doc/SB08GD.html
new file mode 100644
index 00000000..e00edf87
--- /dev/null
+++ b/doc/_static/doc/SB08GD.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>SB08GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08GD">SB08GD</A></H2>
+<H3>
+State-space representation of a left coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the state-space representation for the system
+  G = (A,B,C,D) from the factors Q = (AQR,BQ,CQR,DQ) and
+  R = (AQR,BR,CQR,DR) of its left coprime factorization
+                -1
+           G = R  * Q,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08GD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, BR,
+     $                   LDBR, DR, LDDR, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDBR, LDC, LDD, LDDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. Also the number of rows of the
+          matrices B and BR and the number of columns of the matrix
+          C. N represents the order of the systems Q and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector, i.e. the number of columns
+          of the matrices B and D.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector, i.e. the number of rows of
+          the matrices C, D and DR and the number of columns of the
+          matrices BR and DR.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix AQR of the systems
+          Q and R.
+          On exit, the leading N-by-N part of this array contains
+          the state dynamics matrix of the system G.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix BQ of the system Q.
+          On exit, the leading N-by-M part of this array contains
+          the input/state matrix of the system G.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix CQR of the systems
+          Q and R.
+          On exit, the leading P-by-N part of this array contains
+          the state/output matrix of the system G.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix DQ of the system Q.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix of the system G.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  BR      (input) DOUBLE PRECISION array, dimension (LDBR,P)
+          The leading N-by-P part of this array must contain the
+          input/state matrix BR of the system R.
+
+  LDBR    INTEGER
+          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
+
+  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,P)
+          On entry, the leading P-by-P part of this array must
+          contain the input/output matrix DR of the system R.
+          On exit, the leading P-by-P part of this array contains
+          the LU factorization of the matrix DR, as computed by
+          LAPACK Library routine DGETRF.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*P))
+          On exit, DWORK(1) contains an estimate of the reciprocal
+          condition number of the matrix DR.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix DR is singular;
+          = 2:  the matrix DR is numerically singular (warning);
+                the calculations continued.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine computes the matrices of the state-space
+  representation G = (A,B,C,D) by using the formulas:
+
+                   -1              -1
+  A = AQR - BR * DR  * CQR,  C = DR  * CQR,
+                   -1              -1
+  B = BQ  - BR * DR  * DQ,   D = DR  * DQ.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08HD.html b/doc/_static/doc/SB08HD.html
new file mode 100644
index 00000000..42ddfc3f
--- /dev/null
+++ b/doc/_static/doc/SB08HD.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>SB08HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08HD">SB08HD</A></H2>
+<H3>
+State-space representation of a right coprime factorization
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the state-space representation for the system
+  G = (A,B,C,D) from the factors Q = (AQR,BQR,CQ,DQ) and
+  R = (AQR,BQR,CR,DR) of its right coprime factorization
+                    -1
+           G = Q * R  ,
+
+  where G, Q and R are the corresponding transfer-function matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08HD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, CR,
+     $                   LDCR, DR, LDDR, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDCR, LDD, LDDR, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
+     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A. Also the number of rows of the
+          matrix B and the number of columns of the matrices C and
+          CR. N represents the order of the systems Q and R.
+          N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of input vector. Also the number of columns
+          of the matrices B, D and DR and the number of rows of the
+          matrices CR and DR.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of output vector. Also the number of rows
+          of the matrices C and D.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix AQR of the systems
+          Q and R.
+          On exit, the leading N-by-N part of this array contains
+          the state dynamics matrix of the system G.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix BQR of the systems Q and R.
+          On exit, the leading N-by-M part of this array contains
+          the input/state matrix of the system G.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix CQ of the system Q.
+          On exit, the leading P-by-N part of this array contains
+          the state/output matrix of the system G.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the input/output matrix DQ of the system Q.
+          On exit, the leading P-by-M part of this array contains
+          the input/output matrix of the system G.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  CR      (input) DOUBLE PRECISION array, dimension (LDCR,N)
+          The leading M-by-N part of this array must contain the
+          state/output matrix CR of the system R.
+
+  LDCR    INTEGER
+          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
+
+  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,M)
+          On entry, the leading M-by-M part of this array must
+          contain the input/output matrix DR of the system R.
+          On exit, the leading M-by-M part of this array contains
+          the LU factorization of the matrix DR, as computed by
+          LAPACK Library routine DGETRF.
+
+  LDDR    INTEGER
+          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*M))
+          On exit, DWORK(1) contains an estimate of the reciprocal
+          condition number of the matrix DR.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the matrix DR is singular;
+          = 2:  the matrix DR is numerically singular (warning);
+                the calculations continued.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine computes the matrices of the state-space
+  representation G = (A,B,C,D) by using the formulas:
+
+                    -1                   -1
+  A = AQR - BQR * DR  * CR,  B = BQR * DR  ,
+                   -1                   -1
+  C = CQ  - DQ * DR  * CR,   D = DQ * DR  .
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga A.
+      Coprime factors model reduction method based on
+      square-root balancing-free techniques.
+      System Analysis, Modelling and Simulation,
+      vol. 11, pp. 303-311, 1993.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08MD.html b/doc/_static/doc/SB08MD.html
new file mode 100644
index 00000000..ea7a1aa3
--- /dev/null
+++ b/doc/_static/doc/SB08MD.html
@@ -0,0 +1,293 @@
+<HTML>
+<HEAD><TITLE>SB08MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08MD">SB08MD</A></H2>
+<H3>
+Spectral factorization of polynomials (continuous-time case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a real polynomial E(s) such that
+
+     (a)  E(-s) * E(s) = A(-s) * A(s) and
+     (b)  E(s) is stable - that is, all the zeros of E(s) have
+          non-positive real parts,
+
+  which corresponds to computing the spectral factorization of the
+  real polynomial A(s) arising from continuous optimality problems.
+
+  The input polynomial may be supplied either in the form
+
+     A(s) = a(0) + a(1) * s + ... + a(DA) * s**DA
+
+  or as
+
+     B(s) = A(-s) * A(s)
+          = b(0) + b(1) * s**2  + ... + b(DA) * s**(2*DA)        (1)
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ACONA
+      INTEGER           DA, INFO, LDWORK
+      DOUBLE PRECISION  RES
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), DWORK(*), E(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ACONA   CHARACTER*1
+          Indicates whether the coefficients of A(s) or B(s) =
+          A(-s) * A(s) are to be supplied as follows:
+          = 'A':  The coefficients of A(s) are to be supplied;
+          = 'B':  The coefficients of B(s) are to be supplied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DA      (input) INTEGER
+          The degree of the polynomials A(s) and E(s).  DA &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
+          On entry, this array must contain either the coefficients
+          of the polynomial A(s) in increasing powers of s if
+          ACONA = 'A', or the coefficients of the polynomial B(s) in
+          increasing powers of s**2 (see equation (1)) if ACONA =
+          'B'.
+          On exit, this array contains the coefficients of the
+          polynomial B(s) in increasing powers of s**2.
+
+  RES     (output) DOUBLE PRECISION
+          An estimate of the accuracy with which the coefficients of
+          the polynomial E(s) have been computed (see also METHOD
+          and NUMERICAL ASPECTS).
+
+  E       (output) DOUBLE PRECISION array, dimension (DA+1)
+          The coefficients of the spectral factor E(s) in increasing
+          powers of s.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if on entry, A(I) = 0.0, for I = 1,2,...,DA+1.
+          = 2:  if on entry, ACONA = 'B' but the supplied
+                coefficients of the polynomial B(s) are not the
+                coefficients of A(-s) * A(s) for some real A(s);
+                in this case, RES and E are unassigned;
+          = 3:  if the iterative process (see METHOD) has failed to
+                converge in 30 iterations;
+          = 4:  if the last computed iterate (see METHOD) is
+                unstable. If ACONA = 'B', then the supplied
+                coefficients of the polynomial B(s) may not be the
+                coefficients of A(-s) * A(s) for some real A(s).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>      _                                               _
+  Let A(s) be the conjugate polynomial of A(s), i.e., A(s) = A(-s).
+
+  The method used by the routine is based on applying the
+  Newton-Raphson iteration to the function
+            _       _
+     F(e) = A * A - e * e,
+
+  which leads to the iteration formulae (see [1]):
+
+     _(i)   (i)  _(i)   (i)     _      )
+     q   * x   + x   * q    = 2 A * A  )
+                                       )   for i = 0, 1, 2,...
+      (i+1)    (i)   (i)               )
+     q     = (q   + x   )/2            )
+
+                 (0)         DA
+  Starting from q   = (1 + s)   (which has no zeros in the closed
+                                               (1)   (2)   (3)
+  right half-plane), the sequence of iterates q   , q   , q   ,...
+  converges to a solution of F(e) = 0 which has no zeros in the
+  open right half-plane.
+
+  The iterates satisfy the following conditions:
+
+           (i)
+     (a)  q   is a stable polynomial (no zeros in the closed right
+          half-plane) and
+
+           (i)        (i-1)
+     (b)  q   (1) &lt;= q     (1).
+
+                                    (i-1)                       (i)
+  The iterative process stops with q     , (where i &lt;= 30)  if q
+  violates either (a) or (b), or if the condition
+                    _(i) (i)  _
+     (c)  RES  = ||(q   q   - A A)|| &lt; tol,
+
+  is satisfied, where || . || denotes the largest coefficient of
+                  _(i) (i)  _
+  the polynomial (q   q   - A A) and tol is an estimate of the
+                                                 _(i)  (i)
+  rounding error in the computed coefficients of q    q   . If there
+  is no convergence after 30 iterations then the routine returns
+  with the Error Indicator (INFO) set to 3, and the value of RES may
+  indicate whether or not the last computed iterate is close to the
+  solution.
+
+  If ACONA = 'B', then it is possible that the equation e(-s) *
+  e(s) = B(s) has no real solution, which will be the case if A(1)
+  &lt; 0 or if ( -1)**DA * A(DA+1) &lt; 0.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Vostry, Z.
+      New Algorithm for Polynomial Spectral Factorization with
+      Quadratic Convergence II.
+      Kybernetika, 12, pp. 248-259, 1976.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The conditioning of the problem depends upon the distance of the
+  zeros of A(s) from the imaginary axis and on their multiplicity.
+  For a well-conditioned problem the accuracy of the computed
+  coefficients of E(s) is of the order of RES. However, for problems
+  with zeros near the imaginary axis or with multiple zeros, the
+  value of RES may be an overestimate of the true accuracy.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In order for the problem e(-s) * e(s) = B(s) to have a real
+  solution e(s), it is necessary and sufficient that B(j*omega)
+  &gt;= 0 for any purely imaginary argument j*omega (see [1]).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DAMAX
+      PARAMETER        ( DAMAX = 10 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 5*DAMAX+5 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RES
+      INTEGER          DA, I, INFO
+      CHARACTER*1      ACONA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB08MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      READ ( NIN, FMT = '()' )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = * ) DA, ACONA
+      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DA
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
+*        Compute the spectral factorization of the given polynomial.
+         CALL SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( ACONA, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 0, DA
+                  WRITE ( NOUT, FMT = 99995 ) 2*I, A(I+1)
+   20          CONTINUE
+               WRITE ( NOUT, FMT = * )
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40 I = 0, DA
+               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) RES
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' SB08MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08MD = ',I2)
+99997 FORMAT (' The coefficients of the polynomial B(s) are ',//' powe',
+     $       'r of s     coefficient ')
+99996 FORMAT (' The coefficients of the spectral factor E(s) are ',
+     $       //' power of s     coefficient ')
+99995 FORMAT (2X,I5,9X,F9.4)
+99994 FORMAT (/' RES = ',1P,E8.1)
+99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08MD EXAMPLE PROGRAM DATA
+   3     A
+   8.0  -6.0  -3.0  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08MD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial B(s) are 
+
+ power of s     coefficient 
+      0           64.0000
+      2          -84.0000
+      4           21.0000
+      6           -1.0000
+ 
+ The coefficients of the spectral factor E(s) are 
+
+ power of s     coefficient 
+      0            8.0000
+      1           14.0000
+      2            7.0000
+      3            1.0000
+
+ RES =  2.7E-15
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB08ND.html b/doc/_static/doc/SB08ND.html
new file mode 100644
index 00000000..52ad4c7d
--- /dev/null
+++ b/doc/_static/doc/SB08ND.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>SB08ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB08ND">SB08ND</A></H2>
+<H3>
+Spectral factorization of polynomials (discrete-time case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a real polynomial E(z) such that
+
+     (a)  E(1/z) * E(z) = A(1/z) * A(z) and
+     (b)  E(z) is stable - that is, E(z) has no zeros with modulus
+          greater than 1,
+
+  which corresponds to computing the spectral factorization of the
+  real polynomial A(z) arising from discrete optimality problems.
+
+  The input polynomial may be supplied either in the form
+
+  A(z) = a(0) + a(1) * z + ... + a(DA) * z**DA
+
+  or as
+
+  B(z) = A(1/z) * A(z)
+       = b(0) + b(1) * (z + 1/z) + ... + b(DA) * (z**DA + 1/z**DA)
+                                                                 (1)
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ACONA
+      INTEGER           DA, INFO, LDWORK
+      DOUBLE PRECISION  RES
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), DWORK(*), E(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ACONA   CHARACTER*1
+          Indicates whether the coefficients of A(z) or B(z) =
+          A(1/z) * A(z) are to be supplied as follows:
+          = 'A':  The coefficients of A(z) are to be supplied;
+          = 'B':  The coefficients of B(z) are to be supplied.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DA      (input) INTEGER
+          The degree of the polynomials A(z) and E(z).  DA &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
+          On entry, if ACONA = 'A', this array must contain the
+          coefficients of the polynomial A(z) in increasing powers
+          of z, and if ACONA = 'B', this array must contain the
+          coefficients b ,b ,...,b   of the polynomial B(z) in
+                        0  1      DA
+          equation (1). That is, A(i) = b    for i = 1,2,...,DA+1.
+                                         i-1
+          On exit, this array contains the coefficients of the
+          polynomial B(z) in eqation (1). Specifically, A(i)
+          contains b   ,  for i = 1,2,...DA+1.
+                    i-1
+
+  RES     (output) DOUBLE PRECISION
+          An estimate of the accuracy with which the coefficients of
+          the polynomial E(z) have been computed (see also METHOD
+          and NUMERICAL ASPECTS).
+
+  E       (output) DOUBLE PRECISION array, dimension (DA+1)
+          The coefficients of the spectral factor E(z) in increasing
+          powers of z.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 2:  if on entry, ACONA = 'B' but the supplied
+                coefficients of the polynomial B(z) are not the
+                coefficients of A(1/z) * A(z) for some real A(z);
+                in this case, RES and E are unassigned;
+          = 3:  if the iterative process (see METHOD) has failed to
+                converge in 30 iterations;
+          = 4:  if the last computed iterate (see METHOD) is
+                unstable. If ACONA = 'B', then the supplied
+                coefficients of the polynomial B(z) may not be the
+                coefficients of A(1/z) * A(z) for some real A(z).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>      _                                               _
+  Let A(z) be the conjugate polynomial of A(z), i.e., A(z) = A(1/z).
+
+  The method used by the routine is based on applying the
+  Newton-Raphson iteration to the function
+            _       _
+     F(e) = A * A - e * e,
+
+  which leads to the iteration formulae (see [1] and [2])
+
+     _(i)   (i)  _(i)   (i)     _      )
+     q   * x   + x   * q    = 2 A * A  )
+                                       )   for i = 0, 1, 2,...
+      (i+1)    (i)   (i)               )
+     q     = (q   + x   )/2            )
+
+  The iteration starts from
+
+      (0)                                        DA
+     q   (z) = (b(0) + b(1) * z + ... + b(DA) * z  ) / SQRT( b(0))
+
+  which is a Hurwitz polynomial that has no zeros in the closed unit
+                                         (i)
+  circle (see [2], Theorem 3). Then lim q   = e, the convergence is
+  uniform and e is a Hurwitz polynomial.
+
+  The iterates satisfy the following conditions:
+           (i)
+     (a)  q    has no zeros in the closed unit circle,
+           (i)     (i-1)
+     (b)  q    &lt;= q     and
+           0       0
+           DA   (i) 2    DA     2
+     (c)  SUM (q   )  - SUM (A )  &gt;= 0.
+          k=0   k       k=0   k
+                                  (i)
+  The iterative process stops if q    violates (a), (b) or (c),
+  or if the condition
+                    _(i) (i)  _
+     (d)  RES  = ||(q   q   - A A)|| &lt; tol,
+
+  is satisfied, where || . || denotes the largest coefficient of
+                  _(i) (i)  _
+  the polynomial (q   q   - A A) and tol is an estimate of the
+                                                 _(i)  (i)
+  rounding error in the computed coefficients of q    q   . If
+                                         (i-1)
+  condition (a) or (b) is violated then q      is taken otherwise
+   (i)
+  q    is used. Thus the computed reciprocal polynomial E(z) = z**DA
+  * q(1/z) is stable. If there is no convergence after 30 iterations
+  then the routine returns with the Error Indicator (INFO) set to 3,
+  and the value of RES may indicate whether or not the last computed
+  iterate is close to the solution.
+                                            (0)
+  If ACONA = 'B', then it is possible that q    is not a Hurwitz
+  polynomial, in which case the equation e(1/z) * e(z) = B(z) has no
+  real solution (see [2], Theorem 3).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kucera, V.
+      Discrete Linear Control, The polynomial Approach.
+      John Wiley & Sons, Chichester, 1979.
+
+  [2] Vostry, Z.
+      New Algorithm for Polynomial Spectral Factorization with
+      Quadratic Convergence I.
+      Kybernetika, 11, pp. 415-422, 1975.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB08ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          DAMAX
+      PARAMETER        ( DAMAX = 10 )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 5*DAMAX+5 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RES
+      INTEGER          DA, I, INFO
+      CHARACTER*1      ACONA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SB08ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+      READ ( NIN, FMT = '()' )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = * ) DA, ACONA
+      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DA
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
+*        Compute the spectral factorization of the given polynomial.
+         CALL SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME( ACONA, 'A' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 )
+               DO 20 I = 0, DA
+                  WRITE ( NOUT, FMT = 99995 ) I, A(I+1)
+   20          CONTINUE
+               WRITE ( NOUT, FMT = * )
+            END IF
+            WRITE ( NOUT, FMT = 99996 )
+            DO 40 I = 0, DA
+               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99994 ) RES
+         END IF
+      END IF
+*
+      STOP
+*
+99999 FORMAT (' SB08ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB08ND = ',I2)
+99997 FORMAT (' The coefficients of the polynomial B(z) are ',//' powe',
+     $       'r of z     coefficient ')
+99996 FORMAT (' The coefficients of the spectral factor E(z) are ',
+     $       //' power of z     coefficient ')
+99995 FORMAT (2X,I5,9X,F9.4)
+99994 FORMAT (/' RES = ',1P,E8.1)
+99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB08ND EXAMPLE PROGRAM DATA
+   2     A
+   2.0  4.5  1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB08ND EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the polynomial B(z) are 
+
+ power of z     coefficient 
+      0           25.2500
+      1           13.5000
+      2            2.0000
+ 
+ The coefficients of the spectral factor E(z) are 
+
+ power of z     coefficient 
+      0            0.5000
+      1            3.0000
+      2            4.0000
+
+ RES =  4.4E-16
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB09MD.html b/doc/_static/doc/SB09MD.html
new file mode 100644
index 00000000..2e30961c
--- /dev/null
+++ b/doc/_static/doc/SB09MD.html
@@ -0,0 +1,257 @@
+<HTML>
+<HEAD><TITLE>SB09MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB09MD">SB09MD</A></H2>
+<H3>
+Evaluation of closeness of two multivariable sequences
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compare two multivariable sequences M1(k) and M2(k) for
+  k = 1,2,...,N, and evaluate their closeness. Each of the
+  parameters M1(k) and M2(k) is an NC by NB matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE,
+     $                   LDSE, PRE, LDPRE, TOL, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH1, LDH2, LDPRE, LDSE, LDSS, N, NB, NC
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H1(LDH1,*), H2(LDH2,*), PRE(LDPRE,*),
+     $                  SE(LDSE,*), SS(LDSS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of parameters.  N &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of rows in M1(k) and M2(k).  NC &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of columns in M1(k) and M2(k).  NB &gt;= 0.
+
+  H1      (input) DOUBLE PRECISION array, dimension (LDH1,N*NB)
+          The leading NC-by-N*NB part of this array must contain
+          the multivariable sequence M1(k), where k = 1,2,...,N.
+          Each parameter M1(k) is an NC-by-NB matrix, whose
+          (i,j)-th element must be stored in H1(i,(k-1)*NB+j) for
+          i = 1,2,...,NC and j = 1,2,...,NB.
+
+  LDH1    INTEGER
+          The leading dimension of array H1.  LDH1 &gt;= MAX(1,NC).
+
+  H2      (input) DOUBLE PRECISION array, dimension (LDH2,N*NB)
+          The leading NC-by-N*NB part of this array must contain
+          the multivariable sequence M2(k), where k = 1,2,...,N.
+          Each parameter M2(k) is an NC-by-NB matrix, whose
+          (i,j)-th element must be stored in H2(i,(k-1)*NB+j) for
+          i = 1,2,...,NC and j = 1,2,...,NB.
+
+  LDH2    INTEGER
+          The leading dimension of array H2.  LDH2 &gt;= MAX(1,NC).
+
+  SS      (output) DOUBLE PRECISION array, dimension (LDSS,NB)
+          The leading NC-by-NB part of this array contains the
+          matrix SS.
+
+  LDSS    INTEGER
+          The leading dimension of array SS.  LDSS &gt;= MAX(1,NC).
+
+  SE      (output) DOUBLE PRECISION array, dimension (LDSE,NB)
+          The leading NC-by-NB part of this array contains the
+          quadratic error matrix SE.
+
+  LDSE    INTEGER
+          The leading dimension of array SE.  LDSE &gt;= MAX(1,NC).
+
+  PRE     (output) DOUBLE PRECISION array, dimension (LDPRE,NB)
+          The leading NC-by-NB part of this array contains the
+          percentage relative error matrix PRE.
+
+  LDPRE   INTEGER
+          The leading dimension of array PRE.  LDPRE &gt;= MAX(1,NC).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in the computation of the error
+          matrices SE and PRE. If the user sets TOL to be less than
+          EPS then the tolerance is taken as EPS, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j)-th element of the matrix SS is defined by:
+                     N          2
+            SS    = SUM  M1  (k) .                            (1)
+              ij    k=1    ij
+
+  The (i,j)-th element of the quadratic error matrix SE is defined
+  by:
+                     N                      2
+            SE    = SUM  (M1  (k) - M2  (k)) .                (2)
+              ij    k=1     ij        ij
+
+  The (i,j)-th element of the percentage relative error matrix PRE
+  is defined by:
+
+            PRE   = 100 x SQRT( SE  / SS  ).                  (3)
+               ij                 ij    ij
+
+  The following precautions are taken by the routine to guard
+  against underflow and overflow:
+
+  (i) if ABS( M1  (k) ) &gt; 1/TOL or ABS( M1  (k) - M2  (k) ) &gt; 1/TOL,
+                ij                        ij        ij
+
+      then SE   and SS   are set to 1/TOL and PRE   is set to 1; and
+             ij       ij                         ij
+
+  (ii) if ABS( SS  ) &lt;= TOL, then PRE   is set to 100.
+                 ij                  ij
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately
+     2xNBxNCx(N+1) multiplications/divisions,
+     4xNBxNCxN     additions/subtractions and
+       NBxNC       square roots.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB09MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NCMAX, NBMAX
+      PARAMETER        ( NMAX = 20, NCMAX = 20, NBMAX = 20 )
+      INTEGER          LDH1, LDH2, LDSS, LDSE, LDPRE
+      PARAMETER        ( LDH1 = NCMAX, LDH2 = NCMAX, LDSS = NCMAX,
+     $                   LDSE = NCMAX, LDPRE = NCMAX )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, N, NB, NC
+*     .. Local Arrays ..
+      DOUBLE PRECISION H1(LDH1,NMAX*NBMAX), H2(LDH2,NMAX*NBMAX),
+     $                 PRE(LDPRE,NBMAX), SE(LDSE,NBMAX), SS(LDSS,NBMAX)
+*     .. External Subroutines ..
+      EXTERNAL         SB09MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NC, NB, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE IF ( NB.LT.0 .OR. NB.GT.NBMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NB
+      ELSE IF ( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) NC
+      ELSE
+         READ ( NIN, FMT = * ) ( ( H1(I,J), I = 1,NC ), J = 1,N*NB )
+         READ ( NIN, FMT = * ) ( ( H2(I,J), I = 1,NC ), J = 1,N*NB )
+*        Compare the given sequences and evaluate their closeness.
+         CALL SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE, LDSE,
+     $                PRE, LDPRE, TOL, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 20 I = 1, NC
+               WRITE ( NOUT, FMT = 99996 ) ( SS(I,J), J = 1,NB )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 40 I = 1, NC
+               WRITE ( NOUT, FMT = 99996 ) ( SE(I,J), J = 1,NB )
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 60 I = 1, NC
+               WRITE ( NOUT, FMT = 99996 ) ( PRE(I,J), J = 1,NB )
+   60       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB09MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB09MD = ',I2)
+99997 FORMAT (' The sum-of-squares matrix SS is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The quadratic error matrix SE is ')
+99994 FORMAT (/' The percentage relative error matrix PRE is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
+99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB09MD EXAMPLE PROGRAM DATA
+   2     2     2     0.0
+   1.3373  0.1205  0.6618 -0.3372
+  -0.4062  1.6120  0.9299  0.7429
+   1.1480 -0.1837  0.8843 -0.4947
+  -0.4616  1.4674  0.6028  0.9524
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB09MD EXAMPLE PROGRAM RESULTS
+
+ The sum-of-squares matrix SS is 
+   1.9534   1.3027
+   2.6131   0.6656
+
+ The quadratic error matrix SE is 
+   0.0389   0.1565
+   0.1134   0.0687
+
+ The percentage relative error matrix PRE is 
+  14.1125  34.6607
+  20.8363  32.1262
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10AD.html b/doc/_static/doc/SB10AD.html
new file mode 100644
index 00000000..1f7cd2d2
--- /dev/null
+++ b/doc/_static/doc/SB10AD.html
@@ -0,0 +1,404 @@
+<HTML>
+<HEAD><TITLE>SB10AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10AD">SB10AD</A></H2>
+<H3>
+H-infinity optimal controller using modified Glover's and Doyle's formulas (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity optimal n-state
+  controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  using modified Glover's and Doyle's 1988 formulas, for the system
+
+           | A  | B1  B2  |   | A | B |
+       P = |----|---------| = |---|---|
+           | C1 | D11 D12 |   | C | D |
+           | C2 | D21 D22 |
+
+  and for the estimated minimal possible value of gamma with respect
+  to GTOL, where B2 has as column size the number of control inputs
+  (NCON) and C2 has as row size the number of measurements (NMEAS)
+  being provided to the controller, and then to compute the matrices
+  of the closed-loop system
+
+           | AC | BC |
+       G = |----|----|,
+           | CC | DC |
+
+  if the stabilizing controller exists.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
+       |    C1        D12 |
+
+  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
+       |    C2        D21 |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10AD( JOB, N, M, NP, NCON, NMEAS, GAMMA, A, LDA,
+     $                   B, LDB, C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK,
+     $                   LDCK, DK, LDDK, AC, LDAC, BC, LDBC, CC, LDCC,
+     $                   DC, LDDC, RCOND, GTOL, ACTOL, IWORK, LIWORK,
+     $                   DWORK, LDWORK, BWORK, LBWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, JOB, LBWORK, LDA, LDAC, LDAK, LDB, LDBC,
+     $                   LDBK, LDC, LDCC, LDCK, LDD, LDDC, LDDK, LDWORK,
+     $                   LIWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   ACTOL, GAMMA, GTOL
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
+     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
+     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
+     $                   DWORK( * ), RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  JOB     (input) INTEGER
+          Indicates the strategy for reducing the GAMMA value, as
+          follows:
+          = 1: Use bisection method for decreasing GAMMA from GAMMA
+               to GAMMAMIN until the closed-loop system leaves
+               stability.
+          = 2: Scan from GAMMA to 0 trying to find the minimal GAMMA
+               for which the closed-loop system retains stability.
+          = 3: First bisection, then scanning.
+          = 4: Find suboptimal controller only.
+
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input/output) DOUBLE PRECISION
+          The initial value of gamma on input. It is assumed that
+          gamma is sufficiently large so that the controller is
+          admissible. GAMMA &gt;= 0.
+          On output it contains the minimal estimated gamma.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
+          The leading 2*N-by-2*N part of this array contains the
+          closed-loop system state matrix AC.
+
+  LDAC    INTEGER
+          The leading dimension of the array AC.
+          LDAC &gt;= max(1,2*N).
+
+  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
+          The leading 2*N-by-(M-NCON) part of this array contains
+          the closed-loop system input matrix BC.
+
+  LDBC    INTEGER
+          The leading dimension of the array BC.
+          LDBC &gt;= max(1,2*N).
+
+  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
+          The leading (NP-NMEAS)-by-2*N part of this array contains
+          the closed-loop system output matrix CC.
+
+  LDCC    INTEGER
+          The leading dimension of the array CC.
+          LDCC &gt;= max(1,NP-NMEAS).
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
+          The leading (NP-NMEAS)-by-(M-NCON) part of this array
+          contains the closed-loop system input/output matrix DC.
+
+  LDDC    INTEGER
+          The leading dimension of the array DC.
+          LDDC &gt;= max(1,NP-NMEAS).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+                   For the last successful step:
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  GTOL    DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of GAMMA
+          and its distance to the estimated minimal possible
+          value of GAMMA.
+          If GTOL &lt;= 0, then a default value equal to sqrt(EPS)
+          is used, where EPS is the relative machine precision.
+
+  ACTOL   DOUBLE PRECISION
+          Upper bound for the poles of the closed-loop system
+          used for determining if it is stable.
+          ACTOL &lt;= 0 for stable systems.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The dimension of the array IWORK.
+          LIWORK &gt;= max(2*max(N,M-NCON,NP-NMEAS,NCON,NMEAS),N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          value of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= LW1 + max(1,LW2,LW3,LW4,LW5 + MAX(LW6,LW7)),
+          where
+          LW1 = N*M + NP*N + NP*M + M2*M2 + NP2*NP2;
+          LW2 = max( ( N + NP1 + 1 )*( N + M2 ) +
+                       max( 3*( N + M2 ) + N + NP1, 5*( N + M2 ) ),
+                     ( N + NP2 )*( N + M1 + 1 ) +
+                       max( 3*( N + NP2 ) + N + M1, 5*( N + NP2 ) ),
+                     M2 + NP1*NP1 + max( NP1*max( N, M1 ),
+                                         3*M2 + NP1, 5*M2 ),
+                     NP2 + M1*M1 +  max( max( N, NP1 )*M1,
+                                         3*NP2 + M1, 5*NP2 ) );
+          LW3 = max( ND1*M1 + max( 4*min( ND1, M1 ) + max( ND1,M1 ),
+                                   6*min( ND1, M1 ) ),
+                     NP1*ND2 + max( 4*min( NP1, ND2 ) +
+                                                     max( NP1,ND2 ),
+                                    6*min( NP1, ND2 ) ) );
+          LW4 = 2*M*M + NP*NP + 2*M*N + M*NP + 2*N*NP;
+          LW5 = 2*N*N + M*N + N*NP;
+          LW6 = max( M*M   + max( 2*M1, 3*N*N +
+                                  max( N*M, 10*N*N + 12*N + 5 ) ),
+                     NP*NP + max( 2*NP1, 3*N*N +
+                                  max( N*NP, 10*N*N + 12*N + 5 ) ));
+          LW7 = M2*NP2 + NP2*NP2 + M2*M2 +
+                max( ND1*ND1 + max( 2*ND1, ( ND1 + ND2 )*NP2 ),
+                     ND2*ND2 + max( 2*ND2, ND2*M2 ), 3*N,
+                     N*( 2*NP2 + M2 ) +
+                     max( 2*N*M2, M2*NP2 +
+                                  max( M2*M2 + 3*M2, NP2*( 2*NP2 +
+                                       M2 + max( NP2, N ) ) ) ) );
+          M1  = M   - M2, NP1 = NP - NP2,
+          ND1 = NP1 - M2, ND2 = M1 - NP2.
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (LBWORK)
+
+  LBWORK  INTEGER
+          The dimension of the array BWORK.  LBWORK &gt;= 2*N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix | A-j*omega*I  B2  | had not full
+                              |    C1        D12 |
+                column rank in respect to the tolerance EPS;
+          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
+                              |    C2        D21 |
+                rank in respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance SQRT(EPS);
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance SQRT(EPS);
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21);
+                             |C1  D12|  |C2  D21|
+          = 6:  if the controller is not admissible (too small value
+                of gamma);
+          = 7:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 8:  if the Y-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
+                zero [3];
+          = 10: if there are numerical problems when estimating
+                singular values of D1111, D1112, D1111', D1121';
+          = 11: if the matrices Inp2 - D22*DK or Im2 - DK*D22
+                are singular to working precision;
+          = 12: if a stabilizing controller cannot be found.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's 1988 formulas [1],
+  [2], modified to improve the efficiency as described in [3].
+
+  JOB = 1: It tries with a decreasing value of GAMMA, starting with
+  the given, and with the newly obtained controller estimates of the
+  closed-loop system. If it is stable, (i.e., max(eig(AC)) &lt; ACTOL)
+  the iterations can be continued until the given tolerance between
+  GAMMA and the estimated GAMMAMIN is reached. Otherwise, in the
+  next step GAMMA is increased. The step in the all next iterations
+  is step = step/2. The closed-loop system is obtained by the
+  formulas given in [2].
+
+  JOB = 2: The same as for JOB = 1, but with non-varying step till
+  GAMMA = 0, step = max(0.1, GTOL).
+
+  JOB = 3: Combines the JOB = 1 and JOB = 2 cases for a quicker
+  procedure.
+
+  JOB = 4: Suboptimal controller for current GAMMA only.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, MA, 1995.
+
+  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of continuous-time
+      linear control systems.
+      Rep. 98-14, Department of Engineering, Leicester University,
+      Leicester, U.K., 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and on the condition numbers of
+  the two Riccati equations, as given by the values of RCOND(1),
+  RCOND(2), RCOND(3) and RCOND(4), respectively.
+  This approach by estimating the closed-loop system and checking
+  its poles seems to be reliable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10DD.html b/doc/_static/doc/SB10DD.html
new file mode 100644
index 00000000..67bca6d8
--- /dev/null
+++ b/doc/_static/doc/SB10DD.html
@@ -0,0 +1,484 @@
+<HTML>
+<HEAD><TITLE>SB10DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10DD">SB10DD</A></H2>
+<H3>
+H-infinity (sub)optimal controller for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity (sub)optimal n-state
+  controller
+
+                        | AK | BK |
+                    K = |----|----|,
+                        | CK | DK |
+
+  for the discrete-time system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  and for a given value of gamma, where B2 has as column size the
+  number of control inputs (NCON) and C2 has as row size the number
+  of measurements (NMEAS) being provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+            j*Theta
+  (A3) | A-e       *I  B2  | has full column rank for all
+       |    C1         D12 |
+
+       0 &lt;= Theta &lt; 2*Pi ,
+
+            j*Theta
+  (A4) | A-e       *I  B1  |  has full row rank for all
+       |    C2         D21 |
+
+       0 &lt;= Theta &lt; 2*Pi .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                   DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
+     $                   DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, LDX, LDZ, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( * ), X( LDX, * ), Z( LDZ, * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt; 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the matrix
+          Z, solution of the Z-Riccati equation.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (8)
+          RCOND contains estimates of the reciprocal condition
+          numbers of the matrices which are to be inverted and
+          estimates of the reciprocal condition numbers of the
+          Riccati equations which have to be solved during the
+          computation of the controller. (See the description of
+          the algorithm in [2].)
+          RCOND(1) contains the reciprocal condition number of the
+                   matrix R3;
+          RCOND(2) contains the reciprocal condition number of the
+                   matrix R1 - R2'*inv(R3)*R2;
+          RCOND(3) contains the reciprocal condition number of the
+                   matrix V21;
+          RCOND(4) contains the reciprocal condition number of the
+                   matrix St3;
+          RCOND(5) contains the reciprocal condition number of the
+                   matrix V12;
+          RCOND(6) contains the reciprocal condition number of the
+                   matrix Im2 + DKHAT*D22
+          RCOND(7) contains the reciprocal condition number of the
+                   X-Riccati equation;
+          RCOND(8) contains the reciprocal condition number of the
+                   Z-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used in neglecting the small singular values
+          in rank determination. If TOL &lt;= 0, then a default value
+          equal to 1000*EPS is used, where EPS is the relative
+          machine precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*max(M2,N),M,M2+NP2,N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(LW1,LW2,LW3,LW4), where
+          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2));
+          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2));
+          LW3 = 13*N*N + 2*M*M + N*(8*M+NP2) + M1*(M2+NP2) + 6*N +
+                max(14*N+23,16*N,2*N+M,3*M);
+          LW4 = 13*N*N + M*M + (8*N+M+M2+2*NP2)*(M2+NP2) + 6*N +
+                N*(M+NP2) + max(14*N+23,16*N,2*N+M2+NP2,3*(M2+NP2));
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          max((N+Q)*(N+Q+6),13*N*N + M*M + 2*Q*Q + N*(M+Q) +
+              max(M*(M+7*N),2*Q*(8*N+M+2*Q)) + 6*N +
+              max(14*N+23,16*N,2*N+max(M,2*Q),3*max(M,2*Q)).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                   j*Theta
+          = 1:  if the matrix | A-e       *I  B2  | had not full
+                              |      C1       D12 |
+                column rank;
+                                   j*Theta
+          = 2:  if the matrix | A-e       *I  B1  | had not full
+                              |      C2       D21 |
+                row rank;
+          = 3:  if the matrix D12 had not full column rank;
+          = 4:  if the matrix D21 had not full row rank;
+          = 5:  if the controller is not admissible (too small value
+                of gamma);
+          = 6:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 7:  if the Z-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 8:  if the matrix Im2 + DKHAT*D22 is singular.
+          = 9:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21).
+                             |C1  D12|  |C2  D21|
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Green, M. and Limebeer, D.J.N.
+      Linear Robust Control.
+      Prentice-Hall, Englewood Cliffs, NJ, 1995.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  With approaching the minimum value of gamma some of the matrices
+  which are to be inverted tend to become ill-conditioned and
+  the X- or Z-Riccati equation may also become ill-conditioned
+  which may deteriorate the accuracy of the result. (The
+  corresponding reciprocal condition numbers are given in
+  the output array RCOND.)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK, LDX,
+     $                 LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
+     $                   LDDK = PMAX, LDX = NMAX, LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*MAX( MMAX, NMAX ),
+     $                                 MMAX + PMAX, NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK =
+     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
+     $                        13*NMAX*NMAX + MMAX*MMAX + 2*MPMX*MPMX +
+     $                        NMAX*( MMAX + MPMX ) +
+     $                        MAX( MMAX*( MMAX + 7*NMAX ),
+     $                             2*MPMX*( 8*NMAX + MMAX + 2*MPMX ) )
+     $                             + 6*NMAX +
+     $                             MAX( 14*NMAX + 23, 16*NMAX,
+     $                                  2*NMAX + MAX( MMAX, 2*MPMX ),
+     $                                  3*MAX( MMAX, 2*MPMX ) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION GAMMA, TOL
+      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,PMAX), X(LDX,NMAX),
+     $                 Z(LDZ,NMAX), DWORK(LDWORK), RCOND( 8 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) GAMMA, TOL
+         CALL SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
+     $                DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 8 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10DD =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10DD EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -0.7  0.0  0.3  0.0 -0.5 -0.1
+  -0.6  0.2 -0.4 -0.3  0.0  0.0
+  -0.5  0.7 -0.1  0.0  0.0 -0.8
+  -0.7  0.0  0.0 -0.5 -1.0  0.0
+   0.0  0.3  0.6 -0.9  0.1 -0.4
+   0.5 -0.8  0.0  0.0  0.2 -0.9
+  -1.0 -2.0 -2.0  1.0  0.0
+   1.0  0.0  1.0 -2.0  1.0
+  -3.0 -4.0  0.0  2.0 -2.0
+   1.0 -2.0  1.0  0.0 -1.0
+   0.0  1.0 -2.0  0.0  3.0
+   1.0  0.0  3.0 -1.0 -2.0
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0  0.0
+   0.0  2.0  0.0 -4.0  0.0 -2.0
+   1.0 -3.0  0.0  0.0  3.0  1.0
+   0.0  1.0 -2.0  1.0  0.0 -2.0
+   1.0 -1.0 -2.0  0.0  0.0
+   0.0  1.0  0.0  1.0  0.0
+   2.0 -1.0 -3.0  0.0  1.0
+   0.0  1.0  0.0  1.0 -1.0
+   0.0  0.0  1.0  2.0  1.0
+ 111.294   0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10DD EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+ -18.0030  52.0376  26.0831  -0.4271 -40.9022  18.0857
+  18.8203 -57.6244 -29.0938   0.5870  45.3309 -19.8644
+ -26.5994  77.9693  39.0368  -1.4020 -60.1129  26.6910
+ -21.4163  62.1719  30.7507  -0.9201 -48.6221  21.8351
+  -0.8911   4.2787   2.3286  -0.2424  -3.0376   1.2169
+  -5.3286  16.1955   8.4824  -0.2489 -12.2348   5.1590
+
+ The controller input matrix BK is
+
+  16.9788  14.1648
+ -18.9215 -15.6726
+  25.2046  21.2848
+  20.1122  16.8322
+   1.4104   1.2040
+   5.3181   4.5149
+
+ The controller output matrix CK is
+
+  -9.1941  27.5165  13.7364  -0.3639 -21.5983   9.6025
+   3.6490 -10.6194  -5.2772   0.2432   8.1108  -3.6293
+
+ The controller matrix DK is
+
+   9.0317   7.5348
+  -3.4006  -2.8219
+
+ The estimated condition numbers are
+
+  0.24960D+00  0.98548D+00  0.99186D+00  0.63733D-05  0.48625D+00
+  0.29430D-01  0.56942D-02  0.12470D-01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB10ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ED">SB10ED</A></H2>
+<H3>
+H2 optimal state controller for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal n-state controller
+
+                        | AK | BK |
+                    K = |----|----|
+                        | CK | DK |
+
+  for the discrete-time system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---| ,
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+            j*Theta
+  (A3) | A-e       *I  B2  | has full column rank for all
+       |    C1         D12 |
+
+       0 &lt;= Theta &lt; 2*Pi ,
+
+            j*Theta
+  (A4) | A-e       *I  B1  |  has full row rank for all
+       |    C2         D21 |
+
+       0 &lt;= Theta &lt; 2*Pi .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input/worksp.) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+          This array is modified internally, but it is restored on
+          exit.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (7)
+          RCOND contains estimates the reciprocal condition
+          numbers of the matrices which are to be inverted and the
+          reciprocal condition numbers of the Riccati equations
+          which have to be solved during the computation of the
+          controller. (See the description of the algorithm in [2].)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix TU;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix TY;
+          RCOND(3) contains the reciprocal condition number of the
+                   matrix Im2 + B2'*X2*B2;
+          RCOND(4) contains the reciprocal condition number of the
+                   matrix Ip2 + C2*Y2*C2';
+          RCOND(5) contains the reciprocal condition number of the
+                   X-Riccati equation;
+          RCOND(6) contains the reciprocal condition number of the
+                   Y-Riccati equation;
+          RCOND(7) contains the reciprocal condition number of the
+                   matrix Im2 + DKHAT*D22 .
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the
+          transformations applied for diagonalizing D12 and D21,
+          and for checking the nonsingularity of the matrices to be
+          inverted. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*M2,2*N,N*N,NP2))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
+                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
+          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
+          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
+          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
+          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
+          LW5 = 2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),M2*(N+M2+
+                          max(3,M1)),NP2*(N+NP2+3)),
+          LW6 = max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2),
+          with M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
+                  2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),
+                            Q*(N+Q+max(Q,3)))).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+                                   j*Theta
+          = 1:  if the matrix | A-e       *I  B2  | had not full
+                              |      C1       D12 |
+                column rank in respect to the tolerance EPS;
+                                   j*Theta
+          = 2:  if the matrix | A-e       *I  B1  |  had not full
+                              |      C2       D21 |
+                row rank in respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A-I  B2 |, |A-I  B1 |, D12 or D21).
+                             |C1   D12|  |C2   D21|
+          = 6:  if the X-Riccati equation was not solved
+                successfully;
+          = 7:  if the matrix Im2 + B2'*X2*B2 is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL);
+          = 8:  if the Y-Riccati equation was not solved
+                successfully;
+          = 9:  if the matrix Ip2 + C2*Y2*C2' is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL);
+          =10:  if the matrix Im2 + DKHAT*D22 is singular, or its
+                estimated condition number is larger than or equal
+                to 1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  matrices which are to be inverted and on the condition numbers of
+  the matrix Riccati equations which are to be solved in the
+  computation of the controller. (The corresponding reciprocal
+  condition numbers are given in the output array RCOND.)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
+     $                   LDDK = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*MMAX, PMAX, 2*NMAX,
+     $                                 NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
+     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
+     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
+     $                   2*NMAX*NMAX + MAX( 14*NMAX*NMAX + 6*NMAX +
+     $                   MAX( 14*NMAX + 23, 16*NMAX ),
+     $                   MPMX*( NMAX + MPMX + MAX( MPMX, 3 ) ) ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
+     $                 RCOND( 8 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) TOL
+         CALL SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 7 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10ED =',I2)
+99997 FORMAT (' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10ED EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -0.7  0.0  0.3  0.0 -0.5 -0.1
+  -0.6  0.2 -0.4 -0.3  0.0  0.0
+  -0.5  0.7 -0.1  0.0  0.0 -0.8
+  -0.7  0.0  0.0 -0.5 -1.0  0.0
+   0.0  0.3  0.6 -0.9  0.1 -0.4
+   0.5 -0.8  0.0  0.0  0.2 -0.9
+  -1.0 -2.0 -2.0  1.0  0.0
+   1.0  0.0  1.0 -2.0  1.0
+  -3.0 -4.0  0.0  2.0 -2.0
+   1.0 -2.0  1.0  0.0 -1.0
+   0.0  1.0 -2.0  0.0  3.0
+   1.0  0.0  3.0 -1.0 -2.0
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0  0.0
+   0.0  2.0  0.0 -4.0  0.0 -2.0
+   1.0 -3.0  0.0  0.0  3.0  1.0
+   0.0  1.0 -2.0  1.0  0.0 -2.0
+   1.0 -1.0 -2.0  0.0  0.0
+   0.0  1.0  0.0  1.0  0.0
+   2.0 -1.0 -3.0  0.0  1.0
+   0.0  1.0  0.0  1.0 -1.0
+   0.0  0.0  1.0  2.0  1.0
+   0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10ED EXAMPLE PROGRAM RESULTS
+
+ The controller state matrix AK is
+
+  -0.0551  -2.1891  -0.6607  -0.2532   0.6674  -1.0044
+  -1.0379   2.3804   0.5031   0.3960  -0.6605   1.2673
+  -0.0876  -2.1320  -0.4701  -1.1461   1.2927  -1.5116
+  -0.1358  -2.1237  -0.9560  -0.7144   0.6673  -0.7957
+   0.4900   0.0895   0.2634  -0.2354   0.1623  -0.2663
+   0.1672  -0.4163   0.2871  -0.1983   0.4944  -0.6967
+
+ The controller input matrix BK is
+
+  -0.5985  -0.5464
+   0.5285   0.6087
+  -0.7600  -0.4472
+  -0.7288  -0.6090
+   0.0532   0.0658
+  -0.0663   0.0059
+
+ The controller output matrix CK is
+
+   0.2500  -1.0200  -0.3371  -0.2733   0.2747  -0.4444
+   0.0654   0.2095   0.0632   0.2089  -0.1895   0.1834
+
+ The controller matrix DK is
+
+  -0.2181  -0.2070
+   0.1094   0.1159
+
+ The estimated condition numbers are
+
+  0.10000D+01  0.10000D+01  0.25207D+00  0.83985D-01  0.48628D-02
+  0.55015D-03  0.49886D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB10FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10FD">SB10FD</A></H2>
+<H3>
+H-infinity (sub)optimal state controller for a continuous-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity (sub)optimal n-state
+  controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  using modified Glover's and Doyle's 1988 formulas, for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  and for a given value of gamma, where B2 has as column size the
+  number of control inputs (NCON) and C2 has as row size the number
+  of measurements (NMEAS) being provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank and D21 is full row rank,
+
+  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
+       |    C1        D12 |
+
+  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
+       |    C2        D21 |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                   DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                   BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA, TOL
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations for computing the normalized form in
+          SLICOT Library routine SB10PD. Transformation matrices
+          whose reciprocal condition numbers are less than TOL are
+          not allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = max(2*max(N,M-NCON,NP-NMEAS,NCON),N*N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
+                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
+          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
+          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
+          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
+          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
+          LW5 = 2*N*N + N*(M+NP) +
+                max(1,M*M + max(2*M1,3*N*N+max(N*M,10*N*N+12*N+5)),
+                    NP*NP + max(2*NP1,3*N*N +
+                                max(N*NP,10*N*N+12*N+5))),
+          LW6 = 2*N*N + N*(M+NP) +
+                max(1, M2*NP2 + NP2*NP2 + M2*M2 +
+                    max(D1*D1 + max(2*D1, (D1+D2)*NP2),
+                        D2*D2 + max(2*D2, D2*M2), 3*N,
+                        N*(2*NP2 + M2) +
+                        max(2*N*M2, M2*NP2 +
+                                    max(M2*M2+3*M2, NP2*(2*NP2+
+                                           M2+max(NP2,N)))))),
+          with D1 = NP1 - M2, D2 = M1 - NP2,
+              NP1 = NP - NP2, M1 = M - M2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
+            2*N*(N+2*Q)+max(1,4*Q*Q+
+                            max(2*Q,3*N*N+max(2*N*Q,10*N*N+12*N+5)),
+                              Q*(3*N+3*Q+max(2*N,4*Q+max(N,Q))))).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix | A-j*omega*I  B2  | had not full
+                              |    C1        D12 |
+                column rank in respect to the tolerance EPS;
+          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
+                              |    C2        D21 |
+                rank in respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21).
+                             |C1  D12|  |C2  D21|
+          = 6:  if the controller is not admissible (too small value
+                of gamma);
+          = 7:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 8:  if the Y-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
+                zero [3].
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's 1988 formulas [1],
+  [2] modified to improve the efficiency as described in [3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of continuous-time
+      linear control systems.
+      Rep. 98-14, Department of Engineering, Leicester University,
+      Leicester, U.K., 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and on the condition numbers of
+  the two Riccati equations, as given by the values of RCOND(1),
+  RCOND(2), RCOND(3) and RCOND(4), respectively.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, N2MAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10, N2MAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK,
+     $                 LDAC, LDBC, LDCC, LDDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = MMAX,
+     $                   LDDK = MMAX, LDAC = 2*NMAX, LDBC = 2*NMAX,
+     $                   LDCC = PMAX, LDDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*MAX( NMAX, MMAX, PMAX ),
+     $                            NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
+     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
+     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
+     $                   2*NMAX*( NMAX + 2*MPMX ) +
+     $                   MAX( 4*MPMX*MPMX + MAX( 2*MPMX, 3*NMAX*NMAX +
+     $                   MAX( 2*NMAX*MPMX, 10*NMAX*NMAX+12*NMAX+5 ) ),
+     $                   MPMX*( 3*NMAX + 3*MPMX +
+     $                          MAX( 2*NMAX, 4*MPMX +
+     $                               MAX( NMAX, MPMX ) ) ) ) ) )
+*     .. Local Scalars ..
+      INTEGER SDIM
+      LOGICAL SELECT
+      DOUBLE PRECISION GAMMA, TOL
+      INTEGER          I, INFO1, INFO2, INFO3, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(N2MAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDAK,NMAX), AC(LDAC,N2MAX),
+     $                 B(LDB,MMAX), BK(LDBK,PMAX), BC(LDBC,MMAX),
+     $                 C(LDC,NMAX), CK(LDCK,NMAX), CC(LDCC,N2MAX),
+     $                 D(LDD,MMAX), DK(LDDK,PMAX), DC(LDDC,MMAX),
+     $                 DWORK(LDWORK), RCOND( 4 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10FD, SB10LD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99984 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99983 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) GAMMA, TOL
+*        Compute the suboptimal controller
+         CALL SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO1 )
+*
+         IF ( INFO1.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99996 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99989 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99989 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99989 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99993 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99989 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99992 )
+            WRITE( NOUT, FMT = 99988 ) ( RCOND(I), I = 1, 4 )
+*           Compute the closed-loop matrices
+            CALL SB10LD(N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                  D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                  AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
+     $                  DWORK, LDWORK, INFO2 )
+*
+            IF ( INFO2.EQ.0 ) THEN
+*              Compute the closed-loop poles
+               CALL DGEES( 'N','N', SELECT, 2*N, AC, LDAC, SDIM,
+     $                     DWORK(1), DWORK(2*N+1), DWORK, 2*N,
+     $                     DWORK(4*N+1), LDWORK-4*N, BWORK, INFO3)
+*
+               IF( INFO3.EQ.0 ) THEN
+                  WRITE( NOUT, FMT = 99991 )
+                  WRITE( NOUT, FMT = 99988 ) (DWORK(I), I =1, 2*N)
+                  WRITE( NOUT, FMT = 99990 )
+                  WRITE( NOUT, FMT = 99988 ) (DWORK(2*N+I), I =1, 2*N)
+               ELSE
+                  WRITE( NOUT, FMT = 99996 ) INFO3
+               END IF
+            ELSE
+               WRITE( NOUT, FMT = 99997 ) INFO2
+            END IF
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO1
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10FD =',I2)
+99997 FORMAT (/' INFO on exit from SB10LD =',I2)
+99996 FORMAT (' The controller state matrix AK is'/)
+99995 FORMAT (/' The controller input matrix BK is'/)
+99994 FORMAT (/' The controller output matrix CK is'/)
+99993 FORMAT (/' The controller matrix DK is'/)
+99992 FORMAT (/' The estimated condition numbers are'/)
+99991 FORMAT (/' The real parts of the closed-loop system poles are'/)
+99990 FORMAT (/' The imaginary parts of the closed-loop system',
+     $           ' poles are'/)
+99989 FORMAT (10(1X,F8.4))
+99988 FORMAT ( 5(1X,D12.5))
+99987 FORMAT (/' N is out of range.',/' N = ',I5)
+99986 FORMAT (/' M is out of range.',/' M = ',I5)
+99985 FORMAT (/' N is out of range.',/' N = ',I5)
+99984 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99983 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10FD EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -1.0  0.0  4.0  5.0 -3.0 -2.0
+  -2.0  4.0 -7.0 -2.0  0.0  3.0
+  -6.0  9.0 -5.0  0.0  2.0 -1.0
+  -8.0  4.0  7.0 -1.0 -3.0  0.0
+   2.0  5.0  8.0 -9.0  1.0 -4.0
+   3.0 -5.0  8.0  0.0  2.0 -6.0
+  -3.0 -4.0 -2.0  1.0  0.0
+   2.0  0.0  1.0 -5.0  2.0
+  -5.0 -7.0  0.0  7.0 -2.0
+   4.0 -6.0  1.0  1.0 -2.0
+  -3.0  9.0 -8.0  0.0  5.0
+   1.0 -2.0  3.0 -6.0 -2.0
+   1.0 -1.0  2.0 -4.0  0.0 -3.0
+  -3.0  0.0  5.0 -1.0  1.0  1.0
+  -7.0  5.0  0.0 -8.0  2.0 -2.0
+   9.0 -3.0  4.0  0.0  3.0  7.0
+   0.0  1.0 -2.0  1.0 -6.0 -2.0
+   1.0 -2.0 -3.0  0.0  0.0
+   0.0  4.0  0.0  1.0  0.0
+   5.0 -3.0 -4.0  0.0  1.0
+   0.0  1.0  0.0  1.0 -3.0
+   0.0  0.0  1.0  7.0  1.0
+  15.0  0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10FD EXAMPLE PROGRAM RESULTS
+
+ The controller state matrix AK is
+
+  -2.8043  14.7367   4.6658   8.1596   0.0848   2.5290
+   4.6609   3.2756  -3.5754  -2.8941   0.2393   8.2920
+ -15.3127  23.5592  -7.1229   2.7599   5.9775  -2.0285
+ -22.0691  16.4758  12.5523 -16.3602   4.4300  -3.3168
+  30.6789  -3.9026  -1.3868  26.2357  -8.8267  10.4860
+  -5.7429   0.0577  10.8216 -11.2275   1.5074 -10.7244
+
+ The controller input matrix BK is
+
+  -0.1581  -0.0793
+  -0.9237  -0.5718
+   0.7984   0.6627
+   0.1145   0.1496
+  -0.6743  -0.2376
+   0.0196  -0.7598
+
+ The controller output matrix CK is
+
+  -0.2480  -0.1713  -0.0880   0.1534   0.5016  -0.0730
+   2.8810  -0.3658   1.3007   0.3945   1.2244   2.5690
+
+ The controller matrix DK is
+
+   0.0554   0.1334
+  -0.3195   0.0333
+
+ The estimated condition numbers are
+
+  0.10000D+01  0.10000D+01  0.11241D-01  0.80492D-03
+
+ The real parts of the closed-loop system poles are
+
+ -0.10731D+03 -0.66556D+02 -0.38269D+02 -0.38269D+02 -0.20089D+02
+ -0.62557D+01 -0.62557D+01 -0.32405D+01 -0.32405D+01 -0.17178D+01
+ -0.41466D+01 -0.76437D+01
+
+ The imaginary parts of the closed-loop system poles are
+
+  0.00000D+00  0.00000D+00  0.13114D+02 -0.13114D+02  0.00000D+00
+  0.12961D+02 -0.12961D+02  0.67998D+01 -0.67998D+01  0.00000D+00
+  0.00000D+00  0.00000D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10HD.html b/doc/_static/doc/SB10HD.html
new file mode 100644
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@@ -0,0 +1,417 @@
+<HTML>
+<HEAD><TITLE>SB10HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10HD">SB10HD</A></H2>
+<H3>
+H2 optimal state controller for a continuous-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal n-state controller
+
+           | AK | BK |
+       K = |----|----|
+           | CK | DK |
+
+  for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---| ,
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) The block D11 of D is zero,
+
+  (A3) D12 is full column rank and D21 is full row rank.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations for computing the normalized form in
+          SLICOT Library routine SB10UD. Transformation matrices
+          whose reciprocal condition numbers are less than TOL are
+          not allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*N,N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
+                    max(max(M2 + NP1*NP1 +
+                            max(NP1*N,3*M2+NP1,5*M2),
+                            NP2 + M1*M1 +
+                            max(M1*N,3*NP2+M1,5*NP2),
+                            N*M2,NP2*N,NP2*M2,1),
+                            N*(14*N+12+M2+NP2)+5),
+          where M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          2*Q*(3*Q+2*N)+max(1,Q*(Q+max(N,5)+1),N*(14*N+12+2*Q)+5).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 2:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 3:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices D12 or D21).
+          = 4:  if the X-Riccati equation was not solved
+                successfully;
+          = 5:  if the Y-Riccati equation was not solved
+                successfully.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and on the condition numbers of
+  the two Riccati equations, as given by the values of RCOND(1),
+  RCOND(2), RCOND(3) and RCOND(4), respectively.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
+     $                   LDDK = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MPMX*( 2*NMAX + 3*MPMX ) +
+     $                   MAX( MPMX*( MPMX + MAX( NMAX, 5 ) + 1 ),
+     $                   NMAX*( 14*NMAX + 12 + 2*MPMX ) + 5 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
+     $                 RCOND( 4 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) NCON
+      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) NMEAS
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) TOL
+*        Compute the optimal H2 controller
+         CALL SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO )
+*
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, NCON
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10HD =',I2)
+99997 FORMAT (' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (6(1X,F10.4))
+99991 FORMAT (5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
+99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10HD EXAMPLE PROGRAM DATA
+   6     5     5     2     2
+  -1.0  0.0  4.0  5.0 -3.0 -2.0
+  -2.0  4.0 -7.0 -2.0  0.0  3.0
+  -6.0  9.0 -5.0  0.0  2.0 -1.0
+  -8.0  4.0  7.0 -1.0 -3.0  0.0
+   2.0  5.0  8.0 -9.0  1.0 -4.0
+   3.0 -5.0  8.0  0.0  2.0 -6.0
+  -3.0 -4.0 -2.0  1.0  0.0
+   2.0  0.0  1.0 -5.0  2.0
+  -5.0 -7.0  0.0  7.0 -2.0
+   4.0 -6.0  1.0  1.0 -2.0
+  -3.0  9.0 -8.0  0.0  5.0
+   1.0 -2.0  3.0 -6.0 -2.0
+   1.0 -1.0  2.0 -4.0  0.0 -3.0
+  -3.0  0.0  5.0 -1.0  1.0  1.0
+  -7.0  5.0  0.0 -8.0  2.0 -2.0
+   9.0 -3.0  4.0  0.0  3.0  7.0
+   0.0  1.0 -2.0  1.0 -6.0 -2.0
+   0.0  0.0  0.0 -4.0 -1.0
+   0.0  0.0  0.0  1.0  0.0
+   0.0  0.0  0.0  0.0  1.0
+   3.0  1.0  0.0  1.0 -3.0
+  -2.0  0.0  1.0  7.0  1.0
+   0.00000001
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10HD EXAMPLE PROGRAM RESULTS
+
+ The controller state matrix AK is
+
+    88.0015  -145.7298   -46.2424    82.2168   -45.2996   -31.1407
+    25.7489   -31.4642   -12.4198     9.4625    -3.5182     2.7056
+    54.3008  -102.4013   -41.4968    50.8412   -20.1286   -26.7191
+   108.1006  -198.0785   -45.4333    70.3962   -25.8591   -37.2741
+  -115.8900   226.1843    47.2549   -47.8435   -12.5004    34.7474
+    59.0362  -101.8471   -20.1052    36.7834   -16.1063   -26.4309
+
+ The controller input matrix BK is
+
+     3.7345     3.4758
+    -0.3020     0.6530
+     3.4735     4.0499
+     4.3198     7.2755
+    -3.9424   -10.5942
+     2.1784     2.5048
+
+ The controller output matrix CK is
+
+    -2.3346     3.2556     0.7150    -0.9724     0.6962     0.4074
+     7.6899    -8.4558    -2.9642     7.0365    -4.2844     0.1390
+
+ The controller matrix DK is
+
+     0.0000     0.0000
+     0.0000     0.0000
+
+ The estimated condition numbers are
+
+  0.23570D+00  0.26726D+00  0.22747D-01  0.21130D-02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10ID.html b/doc/_static/doc/SB10ID.html
new file mode 100644
index 00000000..3f5c15fe
--- /dev/null
+++ b/doc/_static/doc/SB10ID.html
@@ -0,0 +1,362 @@
+<HTML>
+<HEAD><TITLE>SB10ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ID">SB10ID</A></H2>
+<H3>
+Positive feedback controller for a continuous-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the positive feedback controller
+
+           | Ak | Bk |
+       K = |----|----|
+           | Ck | Dk |
+
+  for the shaped plant
+
+           | A | B |
+       G = |---|---|
+           | C | D |
+
+  in the McFarlane/Glover Loop Shaping Design Procedure.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                   DK, LDDK, RCOND, IWORK, DWORK, LDWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NK, NP
+      DOUBLE PRECISION   FACTOR
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 2 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the plant.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A of the shaped plant.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B of the shaped plant.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C of the shaped plant.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system matrix D of the shaped plant.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  FACTOR  (input) DOUBLE PRECISION
+          = 1 implies that an optimal controller is required;
+          &gt; 1 implies that a suboptimal controller is required,
+              achieving a performance FACTOR less than optimal.
+          FACTOR &gt;= 1.
+
+  NK      (output) INTEGER
+          The order of the positive feedback controller.  NK &lt;= N.
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading NK-by-NK part of this array contains the
+          controller state matrix Ak.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
+          The leading NK-by-NP part of this array contains the
+          controller input matrix Bk.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading M-by-NK part of this array contains the
+          controller output matrix Ck.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
+          The leading M-by-NP part of this array contains the
+          controller matrix Dk.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (2)
+          RCOND(1) contains an estimate of the reciprocal condition
+                   number of the X-Riccati equation;
+          RCOND(2) contains an estimate of the reciprocal condition
+                   number of the Z-Riccati equation.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*N,N*N,M,NP))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 4*N*N + M*M + NP*NP + 2*M*N + N*NP + 4*N +
+                    max( 6*N*N + 5 + max(1,4*N*N+8*N), N*NP + 2*N ).
+          For good performance, LDWORK must generally be larger.
+          An upper bound of LDWORK in the above formula is
+          LDWORK &gt;= 10*N*N + M*M + NP*NP + 2*M*N + 2*N*NP + 4*N +
+                    5 + max(1,4*N*N+8*N).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the X-Riccati equation is not solved successfully;
+          = 2:  the Z-Riccati equation is not solved successfully;
+          = 3:  the iteration to compute eigenvalues or singular
+                values failed to converge;
+          = 4:  the matrix Ip - D*Dk is singular;
+          = 5:  the matrix Im - Dk*D is singular;
+          = 6:  the closed-loop system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] McFarlane, D. and Glover, K.
+      A loop shaping design procedure using H_infinity synthesis.
+      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
+      1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the results depends on the conditioning of the
+  two Riccati equations solved in the controller design (see the
+  output parameter RCOND).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
+      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
+     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
+     $                   LDD  = PMAX, LDDK = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX, MMAX, PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX*NMAX + MMAX*MMAX + PMAX*PMAX +
+     $                            2*MMAX*NMAX + NMAX*PMAX + 4*NMAX +
+     $                            MAX( 10*NMAX*NMAX + 8*NMAX + 5,
+     $                                    NMAX*PMAX + 2*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FACTOR
+      INTEGER          I, INFO, J, M, N, NK, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 D(LDD,MMAX), DK(LDDK,PMAX), DWORK(LDWORK),
+     $                 RCOND( 2 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10ID
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) FACTOR
+         CALL SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
+     $                DK, LDDK, RCOND, IWORK, DWORK, LDWORK,
+     $                BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, NK
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,NK )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, NK
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,NK )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 2 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10ID =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F9.4))
+99991 FORMAT ( 2(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10ID EXAMPLE PROGRAM DATA
+   6     2     3   
+  -1.0  0.0  4.0  5.0 -3.0 -2.0
+  -2.0  4.0 -7.0 -2.0  0.0  3.0
+  -6.0  9.0 -5.0  0.0  2.0 -1.0
+  -8.0  4.0  7.0 -1.0 -3.0  0.0
+   2.0  5.0  8.0 -9.0  1.0 -4.0
+   3.0 -5.0  8.0  0.0  2.0 -6.0
+  -3.0 -4.0
+   2.0  0.0
+  -5.0 -7.0
+   4.0 -6.0
+  -3.0  9.0
+   1.0 -2.0
+   1.0 -1.0  2.0 -4.0  0.0 -3.0
+  -3.0  0.0  5.0 -1.0  1.0  1.0
+  -7.0  5.0  0.0 -8.0  2.0 -2.0
+   1.0 -2.0
+   0.0  4.0
+   5.0 -3.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10ID EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+  -39.0671    9.9293   22.2322  -27.4113   43.8655
+   -6.6117    3.0006   11.0878  -11.4130   15.4269
+   33.6805   -6.6934  -23.9953   14.1438  -33.4358
+  -32.3191    9.7316   25.4033  -24.0473   42.0517
+  -44.1655   18.7767   34.8873  -42.4369   50.8437
+
+ The controller input matrix BK is
+
+  -10.2905  -16.5382  -10.9782
+   -4.3598   -8.7525   -5.1447
+    6.5962    1.8975    6.2316
+   -9.8770  -14.7041  -11.8778
+   -9.6726  -22.7309  -18.2692
+
+ The controller output matrix CK is
+
+   -0.6647   -0.0599   -1.0376    0.5619    1.7297
+   -8.4202    3.9573    7.3094   -7.6283   10.6768
+
+ The controller matrix DK is
+
+    0.8466    0.4979   -0.6993
+   -1.2226   -4.8689   -4.5056
+
+ The estimated condition numbers are
+
+  0.13861D-01  0.90541D-02
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10JD.html b/doc/_static/doc/SB10JD.html
new file mode 100644
index 00000000..4afaf649
--- /dev/null
+++ b/doc/_static/doc/SB10JD.html
@@ -0,0 +1,163 @@
+<HTML>
+<HEAD><TITLE>SB10JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10JD">SB10JD</A></H2>
+<H3>
+Converting a descriptor state-space system into regular state-space form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To convert the descriptor state-space system
+
+  E*dx/dt = A*x + B*u
+        y = C*x + D*u
+
+  into regular state-space form
+
+   dx/dt = Ad*x + Bd*u
+       y = Cd*x + Dd*u .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10JD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, E,
+     $                   LDE, NSYS, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N,
+     $                   NP, NSYS
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * ),  E( LDE, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the descriptor system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state matrix A of the descriptor system.
+          On exit, the leading NSYS-by-NSYS part of this array
+          contains the state matrix Ad of the converted system.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B of the descriptor system.
+          On exit, the leading NSYS-by-M part of this array
+          contains the input matrix Bd of the converted system.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading NP-by-N part of this array must
+          contain the output matrix C of the descriptor system.
+          On exit, the leading NP-by-NSYS part of this array
+          contains the output matrix Cd of the converted system.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading NP-by-M part of this array must
+          contain the matrix D of the descriptor system.
+          On exit, the leading NP-by-M part of this array contains
+          the matrix Dd of the converted system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the matrix E of the descriptor system.
+          On exit, this array contains no useful information.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= max(1,N).
+
+  NSYS    (output) INTEGER
+          The order of the converted state-space system.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max( 1, 2*N*N + 2*N + N*MAX( 5, N + M + NP ) ).
+          For good performance, LDWORK must generally be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the iteration for computing singular value
+                decomposition did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs the transformations described in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Chiang, R.Y. and Safonov, M.G.
+      Robust Control Toolbox User's Guide.
+      The MathWorks Inc., Natick, Mass., 1992.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10KD.html b/doc/_static/doc/SB10KD.html
new file mode 100644
index 00000000..ed69300d
--- /dev/null
+++ b/doc/_static/doc/SB10KD.html
@@ -0,0 +1,359 @@
+<HTML>
+<HEAD><TITLE>SB10KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10KD">SB10KD</A></H2>
+<H3>
+Positive feedback controller for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the positive feedback controller
+
+           | Ak | Bk |
+       K = |----|----|
+           | Ck | Dk |
+
+  for the shaped plant
+
+           | A | B |
+       G = |---|---|
+           | C | 0 |
+
+  in the Discrete-Time Loop Shaping Design Procedure.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR,
+     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
+     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK,
+     $                   LDWORK, M, N, NP
+      DOUBLE PRECISION   FACTOR
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   DK( LDDK, * ), DWORK( * ), RCOND( 4 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the plant.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A of the shaped plant.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B of the shaped plant.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C of the shaped plant.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  FACTOR  (input) DOUBLE PRECISION
+          = 1  implies that an optimal controller is required;
+          &gt; 1  implies that a suboptimal controller is required
+               achieving a performance FACTOR less than optimal.
+          FACTOR &gt;= 1.
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix Ak.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
+          The leading N-by-NP part of this array contains the
+          controller input matrix Bk.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading M-by-N part of this array contains the
+          controller output matrix Ck.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
+          The leading M-by-NP part of this array contains the
+          controller matrix Dk.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND(1) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the P-Riccati equation is
+                   obtained;
+          RCOND(2) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the Q-Riccati equation is
+                   obtained;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the X-Riccati equation is
+                   obtained;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the matrix Rx + Bx'*X*Bx (see the
+                   comments in the code).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*max(N,NP+M))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 15*N*N + 6*N +
+                    max( 14*N+23, 16*N, 2*N+NP+M, 3*(NP+M) ) +
+                    max( N*N, 11*N*NP + 2*M*M + 8*NP*NP + 8*M*N +
+                              4*M*NP + NP ).
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the P-Riccati equation is not solved successfully;
+          = 2:  the Q-Riccati equation is not solved successfully;
+          = 3:  the X-Riccati equation is not solved successfully;
+          = 4:  the iteration to compute eigenvalues failed to
+                converge;
+          = 5:  the matrix Rx + Bx'*X*Bx is singular;
+          = 6:  the closed-loop system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] McFarlane, D. and Glover, K.
+      A loop shaping design procedure using H_infinity synthesis.
+      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
+      1992.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the results depends on the conditioning of the
+  two Riccati equations solved in the controller design. For
+  better conditioning it is advised to take FACTOR &gt; 1.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK
+      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
+     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
+     $                   LDDK = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 15*NMAX*NMAX + 6*NMAX +
+     $                            MAX( 14*NMAX + 23, 16*NMAX,
+     $                                 2*NMAX+PMAX+MMAX,
+     $                                 3*(PMAX+MMAX) ) +
+     $                            MAX( NMAX*NMAX,
+     $                                 11*NMAX*PMAX + 2*MMAX*MMAX +
+     $                                 8*PMAX*PMAX + 8*MMAX*NMAX +
+     $                                 4*MMAX*PMAX + PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FACTOR
+      INTEGER          I, INFO, J, M, N, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
+     $                 DK(LDDK,PMAX), DWORK(LDWORK), RCOND(4)
+*     .. External Subroutines ..
+      EXTERNAL         SB10KD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) FACTOR
+         CALL SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR, AK,
+     $                LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
+     $                IWORK, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10KD =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10KD EXAMPLE PROGRAM DATA
+   6     2     2   
+   0.2  0.0  0.3  0.0 -0.3 -0.1
+  -0.3  0.2 -0.4 -0.3  0.0  0.0
+  -0.1  0.1 -0.1  0.0  0.0 -0.3
+   0.1  0.0  0.0 -0.1 -0.1  0.0
+   0.0  0.3  0.6  0.2  0.1 -0.4
+   0.2 -0.4  0.0  0.0  0.2 -0.2
+  -1.0 -2.0
+   1.0  3.0 
+  -3.0 -4.0 
+   1.0 -2.0 
+   0.0  1.0
+   1.0  5.0  
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0 -1.0
+   1.1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10KD EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+   0.0337   0.0222   0.0858   0.1264  -0.1872   0.1547
+   0.4457   0.0668  -0.2255  -0.3204  -0.4548  -0.0691
+  -0.2419  -0.2506  -0.0982  -0.1321  -0.0130  -0.0838
+  -0.4402   0.3654  -0.0335  -0.2444   0.6366  -0.6469
+  -0.3623   0.3854   0.4162   0.4502   0.0065   0.1261
+  -0.0121  -0.4377   0.0604   0.2265  -0.3389   0.4542
+
+ The controller input matrix BK is
+
+   0.0931  -0.0269
+  -0.0872   0.1599
+   0.0956  -0.1469
+  -0.1728   0.0129
+   0.2022  -0.1154
+   0.2419  -0.1737
+
+ The controller output matrix CK is
+
+  -0.3677   0.2188   0.0403  -0.0854   0.3564  -0.3535
+   0.1624  -0.0708   0.0058   0.0606  -0.2163   0.1802
+
+ The controller matrix DK is
+
+  -0.0857  -0.0246
+   0.0460   0.0074
+
+ The estimated condition numbers are
+
+  0.11269D-01  0.17596D-01  0.18225D+00  0.75968D-03
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10LD.html b/doc/_static/doc/SB10LD.html
new file mode 100644
index 00000000..1fd8af18
--- /dev/null
+++ b/doc/_static/doc/SB10LD.html
@@ -0,0 +1,239 @@
+<HTML>
+<HEAD><TITLE>SB10LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10LD">SB10LD</A></H2>
+<H3>
+Closed-loop system matrices for a system with robust controller
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the closed-loop system
+
+           | AC | BC |
+       G = |----|----|,
+           | CC | DC |
+
+  from the matrices of the open-loop system
+
+            | A | B |
+        P = |---|---|
+            | C | D |
+
+  and the matrices of the controller
+
+           | AK | BK |
+       K = |----|----|.
+           | CK | DK |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10LD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAC, LDAK, LDB, LDBC, LDBK, LDC,
+     $                   LDCC, LDCK, LDD, LDDC, LDDK, LDWORK, M, N,
+     $                   NCON, NMEAS, NP
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
+     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
+     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
+     $                   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (input) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array must contain the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (input) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array must contain the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (input) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array must contain the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (input) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array must contain
+          the controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
+          The leading 2*N-by-2*N part of this array contains the
+          closed-loop system state matrix AC.
+
+  LDAC    INTEGER
+          The leading dimension of the array AC.
+          LDAC &gt;= max(1,2*N).
+
+  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
+          The leading 2*N-by-(M-NCON) part of this array contains
+          the closed-loop system input matrix BC.
+
+  LDBC    INTEGER
+          The leading dimension of the array BC.
+          LDBC &gt;= max(1,2*N).
+
+  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
+          The leading (NP-NMEAS)-by-2*N part of this array contains
+          the closed-loop system output matrix CC.
+
+  LDCC    INTEGER
+          The leading dimension of the array CC.
+          LDCC &gt;= max(1,NP-NMEAS).
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
+          The leading (NP-NMEAS)-by-(M-NCON) part of this array
+          contains the closed-loop system input/output matrix DC.
+
+  LDDC    INTEGER
+          The leading dimension of the array DC.
+          LDDC &gt;= max(1,NP-NMEAS).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*max(NCON,NMEAS))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 2*M*M+NP*NP+2*M*N+M*NP+2*N*NP.
+          For good performance, LDWORK must generally be larger.
+
+  Error Indicactor
+
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix Inp2 - D22*DK is singular to working
+                precision;
+          = 2:  if the matrix Im2 - DK*D22 is singular to working
+                precision.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  matrices  Inp2 - D22*DK  and  Im2 - DK*D22.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10MD.html b/doc/_static/doc/SB10MD.html
new file mode 100644
index 00000000..ff1a6e39
--- /dev/null
+++ b/doc/_static/doc/SB10MD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>SB10MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10MD">SB10MD</A></H2>
+<H3>
+D-step in the D-K iteration for continuous-time case
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To perform the D-step in the D-K iteration. It handles
+  continuous-time case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10MD( NC, MP, LENDAT, F, ORD, MNB, NBLOCK, ITYPE,
+     $                   QUTOL, A, LDA, B, LDB, C, LDC, D, LDD, OMEGA,
+     $                   TOTORD, AD, LDAD, BD, LDBD, CD, LDCD, DD, LDDD,
+     $                   MJU, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
+     $                   LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           F, INFO, LDA, LDAD, LDB, LDBD, LDC, LDCD, LDD,
+     $                  LDDD, LDWORK, LENDAT, LIWORK, LZWORK, MNB, MP,
+     $                  NC, ORD, TOTORD
+      DOUBLE PRECISION  QUTOL
+C     .. Array Arguments ..
+      INTEGER           ITYPE(*), IWORK(*), NBLOCK(*)
+      DOUBLE PRECISION  A(LDA, *), AD(LDAD, *), B(LDB, *), BD(LDBD, *),
+     $                  C(LDC, *), CD(LDCD, *), D(LDD, *), DD(LDDD, *),
+     $                  DWORK(*), MJU(*), OMEGA(*)
+      COMPLEX*16        ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NC      (input) INTEGER
+          The order of the matrix A.  NC &gt;= 0.
+
+  MP      (input) INTEGER
+          The order of the matrix D.  MP &gt;= 0.
+
+  LENDAT  (input) INTEGER
+          The length of the vector OMEGA.  LENDAT &gt;= 2.
+
+  F       (input) INTEGER
+          The number of the measurements and controls, i.e.,
+          the size of the block I_f in the D-scaling system.
+          F &gt;= 0.
+
+  ORD     (input/output) INTEGER
+          The MAX order of EACH block in the fitting procedure.
+          ORD &lt;= LENDAT-1.
+          On exit, if ORD &lt; 1 then ORD = 1.
+
+  MNB     (input) INTEGER
+          The number of diagonal blocks in the block structure of
+          the uncertainty, and the length of the vectors NBLOCK
+          and ITYPE.  1 &lt;= MNB &lt;= MP.
+
+  NBLOCK  (input) INTEGER array, dimension (MNB)
+          The vector of length MNB containing the block structure
+          of the uncertainty. NBLOCK(I), I = 1:MNB, is the size of
+          each block.
+
+  ITYPE   (input) INTEGER array, dimension (MNB)
+          The vector of length MNB indicating the type of each
+          block.
+          For I = 1 : MNB,
+          ITYPE(I) = 1 indicates that the corresponding block is a
+          real block. IN THIS CASE ONLY MJU(JW) WILL BE ESTIMATED
+          CORRECTLY, BUT NOT D(S)!
+          ITYPE(I) = 2 indicates that the corresponding block is a
+          complex block. THIS IS THE ONLY ALLOWED VALUE NOW!
+          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
+
+  QUTOL   (input) DOUBLE PRECISION
+          The acceptable mean relative error between the D(jw) and
+          the frequency responce of the estimated block
+          [ADi,BDi;CDi,DDi]. When it is reached, the result is
+          taken as good enough.
+          A good value is QUTOL = 2.0.
+          If QUTOL &lt; 0 then only mju(jw) is being estimated,
+          not D(s).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,NC)
+          On entry, the leading NC-by-NC part of this array must
+          contain the A matrix of the closed-loop system.
+          On exit, if MP &gt; 0, the leading NC-by-NC part of this
+          array contains an upper Hessenberg matrix similar to A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,NC).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,MP)
+          On entry, the leading NC-by-MP part of this array must
+          contain the B matrix of the closed-loop system.
+          On exit, the leading NC-by-MP part of this array contains
+          the transformed B matrix corresponding to the Hessenberg
+          form of A.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,NC).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
+          On entry, the leading MP-by-NC part of this array must
+          contain the C matrix of the closed-loop system.
+          On exit, the leading MP-by-NC part of this array contains
+          the transformed C matrix corresponding to the Hessenberg
+          form of A.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,MP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,MP)
+          The leading MP-by-MP part of this array must contain the
+          D matrix of the closed-loop system.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,MP).
+
+  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The vector with the frequencies.
+
+  TOTORD  (output) INTEGER
+          The TOTAL order of the D-scaling system.
+          TOTORD is set to zero, if QUTOL &lt; 0.
+
+  AD      (output) DOUBLE PRECISION array, dimension (LDAD,MP*ORD)
+          The leading TOTORD-by-TOTORD part of this array contains
+          the A matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDAD    INTEGER
+          The leading dimension of the array AD.
+          LDAD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
+          LDAD &gt;= 1,             if QUTOL &lt;  0.
+
+  BD      (output) DOUBLE PRECISION array, dimension (LDBD,MP+F)
+          The leading TOTORD-by-(MP+F) part of this array contains
+          the B matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDBD    INTEGER
+          The leading dimension of the array BD.
+          LDBD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
+          LDBD &gt;= 1,             if QUTOL &lt;  0.
+
+  CD      (output) DOUBLE PRECISION array, dimension (LDCD,MP*ORD)
+          The leading (MP+F)-by-TOTORD part of this array contains
+          the C matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDCD    INTEGER
+          The leading dimension of the array CD.
+          LDCD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
+          LDCD &gt;= 1,           if QUTOL &lt;  0.
+
+  DD      (output) DOUBLE PRECISION array, dimension (LDDD,MP+F)
+          The leading (MP+F)-by-(MP+F) part of this array contains
+          the D matrix of the D-scaling system.
+          Not referenced if QUTOL &lt; 0.
+
+  LDDD    INTEGER
+          The leading dimension of the array DD.
+          LDDD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
+          LDDD &gt;= 1,           if QUTOL &lt;  0.
+
+  MJU     (output) DOUBLE PRECISION array, dimension (LENDAT)
+          The vector with the upper bound of the structured
+          singular value (mju) for each frequency in OMEGA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+
+  LIWORK  INTEGER
+          The length of the array IWORK.
+          LIWORK &gt;= MAX( NC, 4*MNB-2, MP, 2*ORD+1 ), if QUTOL &gt;= 0;
+          LIWORK &gt;= MAX( NC, 4*MNB-2, MP ),          if QUTOL &lt;  0.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK, DWORK(2) returns the optimal value of LZWORK,
+          and DWORK(3) returns an estimate of the minimum reciprocal
+          of the condition numbers (with respect to inversion) of
+          the generated Hessenberg matrices.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 3, LWM, LWD ), where
+          LWM = LWA + MAX( NC + MAX( NC, MP-1 ),
+                           2*MP*MP*MNB - MP*MP + 9*MNB*MNB +
+                           MP*MNB + 11*MP + 33*MNB - 11 );
+          LWD = LWB + MAX( 2, LW1, LW2, LW3, LW4, 2*ORD ),
+                           if QUTOL &gt;= 0;
+          LWD = 0,         if QUTOL &lt;  0;
+          LWA = MP*LENDAT + 2*MNB + MP - 1;
+          LWB = LENDAT*(MP + 2) + ORD*(ORD + 2) + 1;
+          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
+          LW2 =   LENDAT + 6*HNPTS;  MN  = MIN( 2*LENDAT, 2*ORD+1 );
+          LW3 = 2*LENDAT*(2*ORD + 1) + MAX( 2*LENDAT, 2*ORD + 1 ) +
+                MAX( MN + 6*ORD + 4, 2*MN + 1 );
+          LW4 = MAX( ORD*ORD + 5*ORD, 6*ORD + 1 + MIN( 1, ORD ) ).
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( LZM, LZD ), where
+          LZM = MAX( MP*MP + NC*MP + NC*NC + 2*NC,
+                     6*MP*MP*MNB + 13*MP*MP + 6*MNB + 6*MP - 3 );
+          LZD = MAX( LENDAT*(2*ORD + 3), ORD*ORD + 3*ORD + 1 ),
+                           if QUTOL &gt;= 0;
+          LZD = 0,         if QUTOL &lt;  0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  if one or more values w in OMEGA are (close to
+                 some) poles of the closed-loop system, i.e., the
+                 matrix jw*I - A is (numerically) singular;
+          =  2:  the block sizes must be positive integers;
+          =  3:  the sum of block sizes must be equal to MP;
+          =  4:  the size of a real block must be equal to 1;
+          =  5:  the block type must be either 1 or 2;
+          =  6:  errors in solving linear equations or in matrix
+                 inversion;
+          =  7:  errors in computing eigenvalues or singular values.
+          = 1i:  INFO on exit from SB10YD is i. (1i means 10 + i.)
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  I.   First, W(jw) for the given closed-loop system is being
+       estimated.
+  II.  Now, AB13MD SLICOT subroutine can obtain the D(jw) scaling
+       system with respect to NBLOCK and ITYPE, and colaterally,
+       mju(jw).
+       If QUTOL &lt; 0 then the estimations stop and the routine exits.
+  III. Now that we have D(jw), SB10YD subroutine can do block-by-
+       block fit. For each block it tries with an increasing order
+       of the fit, starting with 1 until the
+       (mean quadratic error + max quadratic error)/2
+       between the Dii(jw) and the estimated frequency responce
+       of the block becomes less than or equal to the routine
+       argument QUTOL, or the order becomes equal to ORD.
+  IV.  Arrange the obtained blocks in the AD, BD, CD and DD
+       matrices and estimate the total order of D(s), TOTORD.
+  V.   Add the system I_f to the system obtained in IV.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Balas, G., Doyle, J., Glover, K., Packard, A. and Smith, R.
+      Mu-analysis and Synthesis toolbox - User's Guide,
+      The Mathworks Inc., Natick, MA, USA, 1998.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10PD.html b/doc/_static/doc/SB10PD.html
new file mode 100644
index 00000000..8f18e3b5
--- /dev/null
+++ b/doc/_static/doc/SB10PD.html
@@ -0,0 +1,235 @@
+<HTML>
+<HEAD><TITLE>SB10PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10PD">SB10PD</A></H2>
+<H3>
+Normalization of a system for H-infinity controller design
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices D12 and D21 of the linear time-invariant
+  system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  to unit diagonal form, to transform the matrices B, C, and D11 to
+  satisfy the formulas in the computation of an H2 and H-infinity
+  (sub)optimal controllers and to check the rank conditions.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10PD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, TU, LDTU, TY, LDTY, RCOND, TOL, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDTU, LDTY, LDWORK,
+     $                   M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * ), RCOND( 2 ),
+     $                   TU( LDTU, * ), TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading NP-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading NP-by-N part of this array contains
+          the transformed system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading NP-by-M part of this array must
+          contain the system input/output matrix D. The
+          NMEAS-by-NCON trailing submatrix D22 is not referenced.
+          On exit, the leading (NP-NMEAS)-by-(M-NCON) part of this
+          array contains the transformed submatrix D11.
+          The transformed submatrices D12 = [ 0  Im2 ]' and
+          D21 = [ 0  Inp2 ] are not stored. The corresponding part
+          of this array contains no useful information.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array contains the
+          control transformation matrix TU.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array contains the
+          measurement transformation matrix TY.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (2)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix TU;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix TY.
+          RCOND is set even if INFO = 3 or INFO = 4; if INFO = 3,
+          then RCOND(2) was not computed, but it is set to 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations. Transformation matrices TU and TY whose
+          reciprocal condition numbers are less than TOL are not
+          allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1,LW1,LW2,LW3,LW4), where
+          LW1 = (N+NP1+1)*(N+M2) + MAX(3*(N+M2)+N+NP1,5*(N+M2)),
+          LW2 = (N+NP2)*(N+M1+1) + MAX(3*(N+NP2)+N+M1,5*(N+NP2)),
+          LW3 = M2 + NP1*NP1 + MAX(NP1*MAX(N,M1),3*M2+NP1,5*M2),
+          LW4 = NP2 + M1*M1 + MAX(MAX(N,NP1)*M1,3*NP2+M1,5*NP2),
+          with M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
+          MAX(1,(N+Q)*(N+Q+6),Q*(Q+MAX(N,Q,5)+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix | A   B2  | had not full column rank
+                              | C1  D12 |
+                in respect to the tolerance EPS;
+          = 2:  if the matrix | A   B1  | had not full row rank in
+                              | C2  D21 |
+                respect to the tolerance EPS;
+          = 3:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 4:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 5:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of one of
+                the matrices |A   B2 |, |A   B1 |, D12 or D21).
+                             |C1  D12|  |C2  D21|
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs the transformations described in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the transformations can be controlled by the
+  condition numbers of the matrices TU and TY as given by the
+  values of RCOND(1) and RCOND(2), respectively. An error return
+  with INFO = 3 or INFO = 4 will be obtained if the condition
+  number of TU or TY, respectively, would exceed 1/TOL.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10QD.html b/doc/_static/doc/SB10QD.html
new file mode 100644
index 00000000..db4ed6f0
--- /dev/null
+++ b/doc/_static/doc/SB10QD.html
@@ -0,0 +1,261 @@
+<HTML>
+<HEAD><TITLE>SB10QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10QD">SB10QD</A></H2>
+<H3>
+State feedback and output injection matrices for an H-infinity (sub)optimal state controller (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the state feedback and the output injection
+  matrices for an H-infinity (sub)optimal n-state controller,
+  using Glover's and Doyle's 1988 formulas, for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  and for a given value of gamma, where B2 has as column size the
+  number of control inputs (NCON) and C2 has as row size the number
+  of measurements (NMEAS) being provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank with D12 = | 0 | and D21 is
+                                          | I |
+       full row rank with D21 = | 0 I | as obtained by the
+       subroutine SB10PD,
+
+  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
+       |    C1        D12 |
+
+  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
+       |    C2        D21 |
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10QD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, F, LDF, H, LDH, X, LDX, Y, LDY,
+     $                   XYCOND, IWORK, DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDH, LDWORK,
+     $                   LDX, LDY, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * ), DWORK( * ),  F( LDF, * ),
+     $                   H( LDH, * ), X( LDX, * ), XYCOND( 2 ),
+     $                   Y( LDY, * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array contains the state
+          feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,M).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,NP)
+          The leading N-by-NP part of this array contains the output
+          injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the matrix
+          Y, solution of the Y-Riccati equation.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
+          XYCOND(1) contains an estimate of the reciprocal condition
+                    number of the X-Riccati equation;
+          XYCOND(2) contains an estimate of the reciprocal condition
+                    number of the Y-Riccati equation.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension
+          (max(2*max(N,M-NCON,NP-NMEAS),N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(1,M*M + max(2*M1,3*N*N +
+                                    max(N*M,10*N*N+12*N+5)),
+                        NP*NP + max(2*NP1,3*N*N +
+                                    max(N*NP,10*N*N+12*N+5))),
+          where M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
+          max(1,4*Q*Q+max(2*Q,3*N*N + max(2*N*Q,10*N*N+12*N+5))).
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the controller is not admissible (too small value
+                of gamma);
+          = 2:  if the X-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties);
+          = 3:  if the Y-Riccati equation was not solved
+                successfully (the controller is not admissible or
+                there are numerical difficulties).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's formulas [1],[2]
+  modified as described in [3]. The X- and Y-Riccati equations
+  are solved with condition and accuracy estimates [4].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of continuous-time
+      linear control systems.
+      Rep. 98-14, Department of Engineering, Leicester University,
+      Leicester, U.K., 1998.
+
+  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the solution of the matrix Riccati equations
+  can be controlled by the values of the condition numbers
+  XYCOND(1) and XYCOND(2) of these equations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Riccati equations are solved by the Schur approach
+  implementing condition and accuracy estimates.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10RD.html b/doc/_static/doc/SB10RD.html
new file mode 100644
index 00000000..f83bfa08
--- /dev/null
+++ b/doc/_static/doc/SB10RD.html
@@ -0,0 +1,267 @@
+<HTML>
+<HEAD><TITLE>SB10RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10RD">SB10RD</A></H2>
+<H3>
+H-infinity (sub)optimal controller matrices using state feedback and output injection matrices (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of an H-infinity (sub)optimal controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  from the state feedback matrix F and output injection matrix H as
+  determined by the SLICOT Library routine SB10QD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10RD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, F, LDF, H, LDH, TU, LDTU, TY,
+     $                   LDTY, X, LDX, Y, LDY, AK, LDAK, BK, LDBK, CK,
+     $                   LDCK, DK, LDDK, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDF, LDH, LDTU, LDTY, LDWORK, LDX, LDY,
+     $                   M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   GAMMA
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   F( LDF, * ), H( LDH, * ), TU( LDTU, * ),
+     $                   TY( LDTY, * ), X( LDX, * ), Y( LDY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  GAMMA   (input) DOUBLE PRECISION
+          The value of gamma. It is assumed that gamma is
+          sufficiently large so that the controller is admissible.
+          GAMMA &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array must contain the
+          state feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,M).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,NP)
+          The leading N-by-NP part of this array must contain the
+          output injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array must contain the
+          control transformation matrix TU, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array must contain the
+          measurement transformation matrix TY, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          matrix X, solution of the X-Riccati equation, as obtained
+          by the SLICOT Library routine SB10QD.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (input) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array must contain the
+          matrix Y, solution of the Y-Riccati equation, as obtained
+          by the SLICOT Library routine SB10QD.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK), where
+          LIWORK = max(2*(max(NP,M)-M2-NP2,M2,N),NP2)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(1, M2*NP2 + NP2*NP2 + M2*M2 +
+                        max(D1*D1 + max(2*D1, (D1+D2)*NP2),
+                            D2*D2 + max(2*D2, D2*M2), 3*N,
+                            N*(2*NP2 + M2) +
+                            max(2*N*M2, M2*NP2 +
+                                        max(M2*M2+3*M2, NP2*(2*NP2+
+                                               M2+max(NP2,N))))))
+          where D1 = NP1 - M2, D2 = M1 - NP2,
+               NP1 = NP - NP2, M1 = M - M2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
+          max( 1, Q*(3*Q + 3*N + max(2*N, 4*Q + max(Q, N)))).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the controller is not admissible (too small value
+                of gamma);
+          = 2:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is zero.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the Glover's and Doyle's formulas [1],[2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Glover, K. and Doyle, J.C.
+      State-space formulae for all stabilizing controllers that
+      satisfy an Hinf norm bound and relations to risk sensitivity.
+      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10SD.html b/doc/_static/doc/SB10SD.html
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+<HTML>
+<HEAD><TITLE>SB10SD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10SD">SB10SD</A></H2>
+<H3>
+H2 optimal controller matrices for a normalized discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  for the normalized discrete-time system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 | D11 D12 |   | C | D |
+                | C2 | D21  0  |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank with D12 = | 0 | and D21 is
+                                          | I |
+       full row rank with D21 = | 0 I | as obtained by the
+       SLICOT Library routine SB10PD,
+
+            j*Theta
+  (A3) | A-e       *I  B2  | has full column rank for all
+       |    C1         D12 |
+
+       0 &lt;= Theta &lt; 2*Pi ,
+
+            j*Theta
+  (A4) | A-e       *I  B1  | has full row rank for all
+       |    C2         D21 |
+
+       0 &lt;= Theta &lt; 2*Pi .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10SD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   X, LDX, Y, LDY, RCOND, TOL, IWORK, DWORK,
+     $                   LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, LDX, LDY, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( * ), X( LDX, * ), Y( LDY, * )
+      LOGICAL            BWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D. Only the leading
+          (NP-NP2)-by-(M-M2) submatrix D11 is used.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the matrix
+          Y, solution of the Y-Riccati equation.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (4)
+          RCOND contains estimates of the reciprocal condition
+          numbers of the matrices which are to be inverted and the
+          reciprocal condition numbers of the Riccati equations
+          which have to be solved during the computation of the
+          controller. (See the description of the algorithm in [2].)
+          RCOND(1) contains the reciprocal condition number of the
+                   matrix Im2 + B2'*X2*B2;
+          RCOND(2) contains the reciprocal condition number of the
+                   matrix Ip2 + C2*Y2*C2';
+          RCOND(3) contains the reciprocal condition number of the
+                   X-Riccati equation;
+          RCOND(4) contains the reciprocal condition number of the
+                   Y-Riccati equation.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used in determining the nonsingularity of the
+          matrices which must be inverted. If TOL &lt;= 0, then a
+          default value equal to sqrt(EPS) is used, where EPS is the
+          relative machine precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(M2,2*N,N*N,NP2))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(1, 14*N*N+6*N+max(14*N+23,16*N),
+                           M2*(N+M2+max(3,M1)), NP2*(N+NP2+3)),
+          where M1 = M - M2.
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the X-Riccati equation was not solved
+                successfully;
+          = 2:  if the matrix Im2 + B2'*X2*B2 is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL);
+          = 3:  if the Y-Riccati equation was not solved
+                successfully;
+          = 4:  if the matrix Ip2 + C2*Y2*C2' is not positive
+                definite, or it is numerically singular (with
+                respect to the tolerance TOL).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1]. The X- and
+  Y-Riccati equations are solved with condition estimates.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  matrices which are to be inverted and on the condition numbers of
+  the matrix Riccati equations which are to be solved in the
+  computation of the controller. (The corresponding reciprocal
+  condition numbers are given in the output array RCOND.)
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10TD.html b/doc/_static/doc/SB10TD.html
new file mode 100644
index 00000000..44d3ea69
--- /dev/null
+++ b/doc/_static/doc/SB10TD.html
@@ -0,0 +1,223 @@
+<HTML>
+<HEAD><TITLE>SB10TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10TD">SB10TD</A></H2>
+<H3>
+H2 optimal controller matrices for a discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal discrete-time controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  from the matrices of the controller for the normalized system,
+  as determined by the SLICOT Library routine SB10SD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10TD( N, M, NP, NCON, NMEAS, D, LDD, TU, LDTU, TY,
+     $                   LDTY, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
+     $                   RCOND, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDAK, LDBK, LDCK, LDD, LDDK, LDTU, LDTY,
+     $                   LDWORK, M, N, NCON, NMEAS, NP
+      DOUBLE PRECISION   RCOND, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   AK( LDAK, * ), BK( LDBK, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
+     $                   TU( LDTU, * ), TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D. Only the trailing
+          NMEAS-by-NCON submatrix D22 is used.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array must contain the
+          control transformation matrix TU, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array must contain the
+          measurement transformation matrix TY, as obtained by the
+          SLICOT Library routine SB10PD.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  AK      (input/output) DOUBLE PRECISION array, dimension (LDAK,N)
+          On entry, the leading N-by-N part of this array must
+          contain controller state matrix for the normalized system
+          as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading N-by-N part of this array contains
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (input/output) DOUBLE PRECISION array, dimension
+          (LDBK,NMEAS)
+          On entry, the leading N-by-NMEAS part of this array must
+          contain controller input matrix for the normalized system
+          as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading N-by-NMEAS part of this array
+          contains controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (input/output) DOUBLE PRECISION array, dimension (LDCK,N)
+          On entry, the leading NCON-by-N part of this array must
+          contain controller output matrix for the normalized
+          system as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading NCON-by-N part of this array contains
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (input/output) DOUBLE PRECISION array, dimension
+          (LDDK,NMEAS)
+          On entry, the leading NCON-by-NMEAS part of this array
+          must contain controller matrix DK for the normalized
+          system as obtained by the SLICOT Library routine SB10SD.
+          On exit, the leading NCON-by-NMEAS part of this array
+          contains controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+  RCOND   (output) DOUBLE PRECISION
+          RCOND contains an estimate of the reciprocal condition
+          number of the matrix Im2 + DKHAT*D22 which must be
+          inverted in the computation of the controller.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used in determining the nonsingularity of the
+          matrix which must be inverted. If TOL &lt;= 0, then a default
+          value equal to sqrt(EPS) is used, where EPS is the
+          relative machine precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*M2)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix Im2 + DKHAT*D22 is singular, or the
+                estimated condition number is larger than or equal
+                to 1/TOL.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
+      Fortran 77 routines for Hinf and H2 design of linear
+      discrete-time control systems.
+      Report 99-8, Department of Engineering, Leicester University,
+      April 1999.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations and of the matrix Im2 +
+  DKHAT*D22.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10UD.html b/doc/_static/doc/SB10UD.html
new file mode 100644
index 00000000..1283f2e2
--- /dev/null
+++ b/doc/_static/doc/SB10UD.html
@@ -0,0 +1,220 @@
+<HTML>
+<HEAD><TITLE>SB10UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10UD">SB10UD</A></H2>
+<H3>
+Normalization of a system for H2 controller design
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices D12 and D21 of the linear time-invariant
+  system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  to unit diagonal form, and to transform the matrices B and C to
+  satisfy the formulas in the computation of the H2 optimal
+  controller.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10UD( N, M, NP, NCON, NMEAS, B, LDB, C, LDC, D, LDD,
+     $                   TU, LDTU, TY, LDTY, RCOND, TOL, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDB, LDC, LDD, LDTU, LDTY, LDWORK, M, N,
+     $                   NCON, NMEAS, NP
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   B( LDB, * ), C( LDC, * ), D( LDD, * ),
+     $                   DWORK( * ), RCOND( 2 ), TU( LDTU, * ),
+     $                   TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading NP-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading NP-by-N part of this array contains
+          the transformed system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading NP-by-M part of this array must
+          contain the system input/output matrix D.
+          The (NP-NMEAS)-by-(M-NCON) leading submatrix D11 is not
+          referenced.
+          On exit, the trailing NMEAS-by-NCON part (in the leading
+          NP-by-M part) of this array contains the transformed
+          submatrix D22.
+          The transformed submatrices D12 = [ 0  Im2 ]' and
+          D21 = [ 0  Inp2 ] are not stored. The corresponding part
+          of this array contains no useful information.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array contains the
+          control transformation matrix TU.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array contains the
+          measurement transformation matrix TY.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (2)
+          RCOND(1) contains the reciprocal condition number of the
+                   control transformation matrix TU;
+          RCOND(2) contains the reciprocal condition number of the
+                   measurement transformation matrix TY.
+          RCOND is set even if INFO = 1 or INFO = 2; if INFO = 1,
+          then RCOND(2) was not computed, but it is set to 0.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for controlling the accuracy of the applied
+          transformations. Transformation matrices TU and TY whose
+          reciprocal condition numbers are less than TOL are not
+          allowed. If TOL &lt;= 0, then a default value equal to
+          sqrt(EPS) is used, where EPS is the relative machine
+          precision.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX( M2 + NP1*NP1 + MAX(NP1*N,3*M2+NP1,5*M2),
+                         NP2 + M1*M1  + MAX(M1*N,3*NP2+M1,5*NP2),
+                         N*M2, NP2*N, NP2*M2, 1 )
+          where M1 = M - M2 and NP1 = NP - NP2.
+          For good performance, LDWORK must generally be larger.
+          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
+          MAX(1,Q*(Q+MAX(N,5)+1)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the matrix D12 had not full column rank in
+                respect to the tolerance TOL;
+          = 2:  if the matrix D21 had not full row rank in respect
+                to the tolerance TOL;
+          = 3:  if the singular value decomposition (SVD) algorithm
+                did not converge (when computing the SVD of D12 or
+                D21).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine performs the transformations described in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the transformations can be controlled by the
+  condition numbers of the matrices TU and TY as given by the
+  values of RCOND(1) and RCOND(2), respectively. An error return
+  with INFO = 1 or INFO = 2 will be obtained if the condition
+  number of TU or TY, respectively, would exceed 1/TOL.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10VD.html b/doc/_static/doc/SB10VD.html
new file mode 100644
index 00000000..2cda995d
--- /dev/null
+++ b/doc/_static/doc/SB10VD.html
@@ -0,0 +1,223 @@
+<HTML>
+<HEAD><TITLE>SB10VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10VD">SB10VD</A></H2>
+<H3>
+State feedback and output injection matrices for an H2 optimal state controller (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the state feedback and the output injection
+  matrices for an H2 optimal n-state controller for the system
+
+                | A  | B1  B2  |   | A | B |
+            P = |----|---------| = |---|---|
+                | C1 |  0  D12 |   | C | D |
+                | C2 | D21 D22 |
+
+  where B2 has as column size the number of control inputs (NCON)
+  and C2 has as row size the number of measurements (NMEAS) being
+  provided to the controller.
+
+  It is assumed that
+
+  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
+
+  (A2) D12 is full column rank with D12 = | 0 | and D21 is
+                                          | I |
+       full row rank with D21 = | 0 I | as obtained by the
+       SLICOT Library routine SB10UD. Matrix D is not used
+       explicitly.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10VD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   F, LDF, H, LDH, X, LDX, Y, LDY, XYCOND, IWORK,
+     $                   DWORK, LDWORK, BWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, LDF, LDH, LDWORK, LDX,
+     $                   LDY, M, N, NCON, NMEAS, NP
+C     .. Array Arguments ..
+      LOGICAL            BWORK( * )
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  F( LDF, * ), H( LDH, * ),
+     $                   X( LDX, * ), XYCOND( 2 ), Y( LDY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading NCON-by-N part of this array contains the
+          state feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          output injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array contains the matrix
+          X, solution of the X-Riccati equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= max(1,N).
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
+          The leading N-by-N part of this array contains the matrix
+          Y, solution of the Y-Riccati equation.
+
+  LDY     INTEGER
+          The leading dimension of the array Y.  LDY &gt;= max(1,N).
+
+  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
+          XYCOND(1) contains an estimate of the reciprocal condition
+                    number of the X-Riccati equation;
+          XYCOND(2) contains an estimate of the reciprocal condition
+                    number of the Y-Riccati equation.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2*N,N*N))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal
+          LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 13*N*N + 12*N + 5.
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the X-Riccati equation was not solved
+                successfully;
+          = 2:  if the Y-Riccati equation was not solved
+                successfully.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1], [2]. The X-
+  and Y-Riccati equations are solved with condition and accuracy
+  estimates [3].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
+      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
+      continuous-time matrix algebraic Riccati equations with
+      condition and accuracy estimates.
+      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
+      Chemnitz, May 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The precision of the solution of the matrix Riccati equations
+  can be controlled by the values of the condition numbers
+  XYCOND(1) and XYCOND(2) of these equations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Riccati equations are solved by the Schur approach
+  implementing condition and accuracy estimates.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10WD.html b/doc/_static/doc/SB10WD.html
new file mode 100644
index 00000000..647702da
--- /dev/null
+++ b/doc/_static/doc/SB10WD.html
@@ -0,0 +1,216 @@
+<HTML>
+<HEAD><TITLE>SB10WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10WD">SB10WD</A></H2>
+<H3>
+H2 optimal controller matrices using state feedback and output injection matrices (continuous-time)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the H2 optimal controller
+
+           | AK | BK |
+       K = |----|----|,
+           | CK | DK |
+
+  from the state feedback matrix F and output injection matrix H as
+  determined by the SLICOT Library routine SB10VD.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10WD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, F, LDF, H, LDH, TU, LDTU, TY, LDTY,
+     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDF, LDH, LDTU, LDTY, M, N, NCON, NMEAS,
+     $                   NP
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
+     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
+     $                   D( LDD, * ), DK( LDDK, * ), F( LDF, * ),
+     $                   H( LDH, * ), TU( LDTU, * ), TY( LDTY, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  NCON    (input) INTEGER
+          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
+          NP-NMEAS &gt;= NCON.
+
+  NMEAS   (input) INTEGER
+          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
+          M-NCON &gt;= NMEAS.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B. Only the submatrix
+          B2 = B(:,M-M2+1:M) is used.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C. Only the submatrix
+          C2 = C(NP-NP2+1:NP,:) is used.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D. Only the submatrix
+          D22 = D(NP-NP2+1:NP,M-M2+1:M) is used.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading NCON-by-N part of this array must contain the
+          state feedback matrix F.
+
+  LDF     INTEGER
+          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
+
+  H       (input) DOUBLE PRECISION array, dimension (LDH,NMEAS)
+          The leading N-by-NMEAS part of this array must contain the
+          output injection matrix H.
+
+  LDH     INTEGER
+          The leading dimension of the array H.  LDH &gt;= max(1,N).
+
+  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
+          The leading M2-by-M2 part of this array must contain the
+          control transformation matrix TU, as obtained by the
+          SLICOT Library routine SB10UD.
+
+  LDTU    INTEGER
+          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
+
+  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
+          The leading NP2-by-NP2 part of this array must contain the
+          measurement transformation matrix TY, as obtained by the
+          SLICOT Library routine SB10UD.
+
+  LDTY    INTEGER
+          The leading dimension of the array TY.
+          LDTY &gt;= max(1,NP2).
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix AK.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
+          The leading N-by-NMEAS part of this array contains the
+          controller input matrix BK.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading NCON-by-N part of this array contains the
+          controller output matrix CK.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.
+          LDCK &gt;= max(1,NCON).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
+          The leading NCON-by-NMEAS part of this array contains the
+          controller input/output matrix DK.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.
+          LDDK &gt;= max(1,NCON).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1], [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Zhou, K., Doyle, J.C., and Glover, K.
+      Robust and Optimal Control.
+      Prentice-Hall, Upper Saddle River, NJ, 1996.
+
+  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
+      Smith, R.
+      mu-Analysis and Synthesis Toolbox.
+      The MathWorks Inc., Natick, Mass., 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the result depends on the condition numbers of the
+  input and output transformations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10YD.html b/doc/_static/doc/SB10YD.html
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+<HTML>
+<HEAD><TITLE>SB10YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10YD">SB10YD</A></H2>
+<H3>
+Fitting frequency response data with a stable, minimum phase SISO system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To fit a supplied frequency response data with a stable, minimum
+  phase SISO (single-input single-output) system represented by its
+  matrices A, B, C, D. It handles both discrete- and continuous-time
+  cases.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10YD( DISCFL, FLAG, LENDAT, RFRDAT, IFRDAT, OMEGA, N,
+     $                   A, LDA, B, C, D, TOL, IWORK, DWORK, LDWORK,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DISCFL, FLAG, INFO, LDA, LDWORK, LENDAT,
+     $                   LZWORK, N
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA, *), B(*), C(*), D(*), DWORK(*),
+     $                   IFRDAT(*), OMEGA(*), RFRDAT(*)
+      COMPLEX*16         ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DISCFL  (input) INTEGER
+          Indicates the type of the system, as follows:
+          = 0: continuous-time system;
+          = 1: discrete-time system.
+
+  FLAG    (input) INTEGER
+          If FLAG = 0, then the system zeros and poles are not
+          constrained.
+          If FLAG = 1, then the system zeros and poles will have
+          negative real parts in the continuous-time case, or moduli
+          less than 1 in the discrete-time case. Consequently, FLAG
+          must be equal to 1 in mu-synthesis routines.
+
+  LENDAT  (input) INTEGER
+          The length of the vectors RFRDAT, IFRDAT and OMEGA.
+          LENDAT &gt;= 2.
+
+  RFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The real part of the frequency data to be fitted.
+
+  IFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The imaginary part of the frequency data to be fitted.
+
+  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
+          The frequencies corresponding to RFRDAT and IFRDAT.
+          These values must be nonnegative and monotonically
+          increasing. Additionally, for discrete-time systems
+          they must be between 0 and PI.
+
+  N       (input/output) INTEGER
+          On entry, the desired order of the system to be fitted.
+          N &lt;= LENDAT-1.
+          On exit, the order of the obtained system. The value of N
+          could only be modified if N &gt; 0 and FLAG = 1.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the
+          matrix A. If FLAG = 1, then A is in an upper Hessenberg
+          form, and corresponds to a minimal realization.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (N)
+          The computed vector B.
+
+  C       (output) DOUBLE PRECISION array, dimension (N)
+          The computed vector C. If FLAG = 1, the first N-1 elements
+          are zero (for the exit value of N).
+
+  D       (output) DOUBLE PRECISION array, dimension (1)
+          The computed scalar D.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used for determining the effective
+          rank of matrices. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the reciprocal
+          condition number;  a (sub)matrix whose estimated condition
+          number is less than 1/TOL is considered to be of full
+          rank.  If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF = SIZE*EPS,
+          is used instead, where SIZE is the product of the matrix
+          dimensions, and EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2,2*N+1))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK and DWORK(2) contains the optimal value of
+          LZWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK = max( 2, LW1, LW2, LW3, LW4 ), where
+          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
+          LW2 =   LENDAT + 6*HNPTS;
+          MN  = min( 2*LENDAT, 2*N+1 )
+          LW3 = 2*LENDAT*(2*N+1) + max( 2*LENDAT, 2*N+1 ) +
+                max( MN + 6*N + 4, 2*MN + 1 ), if N &gt; 0;
+          LW3 = 4*LENDAT + 5                 , if N = 0;
+          LW4 = max( N*N + 5*N, 6*N + 1 + min( 1,N ) ), if FLAG = 1;
+          LW4 = 0,                                      if FLAG = 0.
+          For optimum performance LDWORK should be larger.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK = LENDAT*(2*N+3), if N &gt; 0;
+          LZWORK = LENDAT,         if N = 0.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the discrete --&gt; continuous transformation cannot
+                be made;
+          = 2:  if the system poles cannot be found;
+          = 3:  if the inverse system cannot be found, i.e., D is
+                (close to) zero;
+          = 4:  if the system zeros cannot be found;
+          = 5:  if the state-space representation of the new
+                transfer function T(s) cannot be found;
+          = 6:  if the continuous --&gt; discrete transformation cannot
+                be made.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, if the given frequency data are corresponding to a
+  continuous-time system, they are changed to a discrete-time
+  system using a bilinear transformation with a scaled alpha.
+  Then, the magnitude is obtained from the supplied data.
+  Then, the frequency data are linearly interpolated around
+  the unit-disc.
+  Then, Oppenheim and Schafer complex cepstrum method is applied
+  to get frequency data corresponding to a stable, minimum-
+  phase system. This is done in the following steps:
+  - Obtain LOG (magnitude)
+  - Obtain IFFT of the result (DG01MD SLICOT subroutine);
+  - halve the data at 0;
+  - Obtain FFT of the halved data (DG01MD SLICOT subroutine);
+  - Obtain EXP of the result.
+  Then, the new frequency data are interpolated back to the
+  original frequency.
+  Then, based on these newly obtained data, the system matrices
+  A, B, C, D are constructed; the very identification is
+  performed by Least Squares Method using DGELSY LAPACK subroutine.
+  If needed, a discrete-to-continuous time transformation is
+  applied on the system matrices by AB04MD SLICOT subroutine.
+  Finally, if requested, the poles and zeros of the system are
+  checked. If some of them have positive real parts in the
+  continuous-time case (or are not inside the unit disk in the
+  complex plane in the discrete-time case), they are exchanged with
+  their negatives (or reciprocals, respectively), to preserve the
+  frequency response, while getting a minimum phase and stable
+  system. This is done by SB10ZP SLICOT subroutine.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Oppenheim, A.V. and Schafer, R.W.
+      Discrete-Time Signal Processing.
+      Prentice-Hall Signal Processing Series, 1989.
+
+  [2] Balas, G., Doyle, J., Glover, K., Packard, A., and Smith, R.
+      Mu-analysis and Synthesis toolbox - User's Guide,
+      The Mathworks Inc., Natick, MA, USA, 1998.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10ZD.html b/doc/_static/doc/SB10ZD.html
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+<HTML>
+<HEAD><TITLE>SB10ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ZD">SB10ZD</A></H2>
+<H3>
+Positive feedback controller for a discrete-time system (D <> 0)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the matrices of the positive feedback controller
+
+           | Ak | Bk |
+       K = |----|----|
+           | Ck | Dk |
+
+  for the shaped plant
+
+           | A | B |
+       G = |---|---|
+           | C | D |
+
+  in the Discrete-Time Loop Shaping Design Procedure.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   FACTOR, AK, LDAK, BK, LDBK, CK, LDCK, DK,
+     $                   LDDK, RCOND, TOL, IWORK, DWORK, LDWORK, BWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
+     $                   LDDK, LDWORK, M, N, NP
+      DOUBLE PRECISION   FACTOR, TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      LOGICAL            BWORK( * )
+      DOUBLE PRECISION   A ( LDA,  * ), AK( LDAK, * ), B ( LDB,  * ),
+     $                   BK( LDBK, * ), C ( LDC,  * ), CK( LDCK, * ),
+     $                   D ( LDD,  * ), DK( LDDK, * ), DWORK( * ),
+     $                   RCOND( 6 )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the plant.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The column size of the matrix B.  M &gt;= 0.
+
+  NP      (input) INTEGER
+          The row size of the matrix C.  NP &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          system state matrix A of the shaped plant.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          system input matrix B of the shaped plant.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= max(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading NP-by-N part of this array must contain the
+          system output matrix C of the shaped plant.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= max(1,NP).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading NP-by-M part of this array must contain the
+          system input/output matrix D of the shaped plant.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= max(1,NP).
+
+  FACTOR  (input) DOUBLE PRECISION
+          = 1  implies that an optimal controller is required
+               (not recommended);
+          &gt; 1  implies that a suboptimal controller is required
+               achieving a performance FACTOR less than optimal.
+          FACTOR &gt;= 1.
+
+  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
+          The leading N-by-N part of this array contains the
+          controller state matrix Ak.
+
+  LDAK    INTEGER
+          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
+
+  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
+          The leading N-by-NP part of this array contains the
+          controller input matrix Bk.
+
+  LDBK    INTEGER
+          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
+
+  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
+          The leading M-by-N part of this array contains the
+          controller output matrix Ck.
+
+  LDCK    INTEGER
+          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
+
+  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
+          The leading M-by-NP part of this array contains the
+          controller matrix Dk.
+
+  LDDK    INTEGER
+          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
+
+  RCOND   (output) DOUBLE PRECISION array, dimension (6)
+          RCOND(1) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the P-Riccati equation is
+                   obtained;
+          RCOND(2) contains an estimate of the reciprocal condition
+                   number of the linear system of equations from
+                   which the solution of the Q-Riccati equation is
+                   obtained;
+          RCOND(3) contains an estimate of the reciprocal condition
+                   number of the matrix (gamma^2-1)*In - P*Q;
+          RCOND(4) contains an estimate of the reciprocal condition
+                   number of the matrix Rx + Bx'*X*Bx;
+          RCOND(5) contains an estimate of the reciprocal condition
+                                               ^
+                   number of the matrix Ip + D*Dk;
+          RCOND(6) contains an estimate of the reciprocal condition
+                                             ^
+                   number of the matrix Im + Dk*D.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          Tolerance used for checking the nonsingularity of the
+          matrices to be inverted. If TOL &lt;= 0, then a default value
+          equal to sqrt(EPS) is used, where EPS is the relative
+          machine precision.  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*max(N,M+NP))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 16*N*N + 5*M*M + 7*NP*NP + 6*M*N + 7*M*NP +
+                     7*N*NP + 6*N + 2*(M + NP) +
+                     max(14*N+23,16*N,2*M-1,2*NP-1).
+          For good performance, LDWORK must generally be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    (output) INTEGER
+          =  0:  successful exit;
+          &lt;  0:  if INFO = -i, the i-th argument had an illegal
+                 value;
+          =  1:  the P-Riccati equation is not solved successfully;
+          =  2:  the Q-Riccati equation is not solved successfully;
+          =  3:  the iteration to compute eigenvalues or singular
+                 values failed to converge;
+          =  4:  the matrix (gamma^2-1)*In - P*Q is singular;
+          =  5:  the matrix Rx + Bx'*X*Bx is singular;
+                                   ^
+          =  6:  the matrix Ip + D*Dk is singular;
+                                 ^
+          =  7:  the matrix Im + Dk*D is singular;
+          =  8:  the matrix Ip - D*Dk is singular;
+          =  9:  the matrix Im - Dk*D is singular;
+          = 10:  the closed-loop system is unstable.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the formulas given in [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Gu, D.-W., Petkov, P.H., and Konstantinov, M.M.
+      On discrete H-infinity loop shaping design procedure routines.
+      Technical Report 00-6, Dept. of Engineering, Univ. of
+      Leicester, UK, 2000.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The accuracy of the results depends on the conditioning of the
+  two Riccati equations solved in the controller design. For
+  better conditioning it is advised to take FACTOR &gt; 1.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB10ZD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX, PMAX
+      PARAMETER        ( MMAX = 10, NMAX = 10, PMAX = 10 )
+      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
+      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
+     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
+     $                   LDD  = PMAX, LDDK = MMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 16*NMAX*NMAX + 5*MMAX*MMAX +
+     $                            7*PMAX*PMAX + 6*MMAX*NMAX +
+     $                            7*MMAX*PMAX + 7*NMAX*PMAX + 6*NMAX +
+     $                            2*( MMAX + PMAX ) +
+     $                            MAX( 14*NMAX + 23, 16*NMAX,
+     $                                  2*MMAX - 1, 2*PMAX - 1 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION FACTOR, TOL
+      INTEGER          I, INFO, J, M, N, NP
+*     .. Local Arrays ..
+      LOGICAL          BWORK(2*NMAX)
+      INTEGER          IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX),   AK(LDAK,NMAX), B(LDB,MMAX),
+     $                 BK(LDBK,PMAX), C(LDC,NMAX),   CK(LDCK,NMAX),
+     $                 D(LDD,MMAX),   DK(LDDK,PMAX), DWORK(LDWORK),
+     $                 RCOND( 6 )
+*     .. External Subroutines ..
+      EXTERNAL         SB10ZD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, NP
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) M
+      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) NP
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
+         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
+         READ ( NIN, FMT = * ) FACTOR, TOL
+         CALL SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, FACTOR,
+     $                AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
+     $                TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, FMT = 99997 )
+            DO 10 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
+   10       CONTINUE
+            WRITE ( NOUT, FMT = 99996 )
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
+   20       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 30 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
+   30       CONTINUE
+            WRITE ( NOUT, FMT = 99994 )
+            DO 40 I = 1, M
+               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
+   40       CONTINUE
+            WRITE( NOUT, FMT = 99993 )
+            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1,6 )
+         ELSE
+            WRITE( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB10ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (/' INFO on exit from SB10ZD =',I2)
+99997 FORMAT (/' The controller state matrix AK is'/)
+99996 FORMAT (/' The controller input matrix BK is'/)
+99995 FORMAT (/' The controller output matrix CK is'/)
+99994 FORMAT (/' The controller matrix DK is'/)
+99993 FORMAT (/' The estimated condition numbers are'/)
+99992 FORMAT (10(1X,F8.4))
+99991 FORMAT ( 5(1X,D12.5))
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB10LD EXAMPLE PROGRAM DATA
+   6     2     3   
+   0.2  0.0  3.0  0.0 -0.3 -0.1
+  -3.0  0.2 -0.4 -0.3  0.0  0.0
+  -0.1  0.1 -1.0  0.0  0.0 -3.0
+   1.0  0.0  0.0 -1.0 -1.0  0.0
+   0.0  0.3  0.6  2.0  0.1 -0.4
+   0.2 -4.0  0.0  0.0  0.2 -2.0
+  -1.0 -2.0
+   1.0  3.0 
+  -3.0 -4.0 
+   1.0 -2.0 
+   0.0  1.0
+   1.0  5.0  
+   1.0 -1.0  2.0 -2.0  0.0 -3.0
+  -3.0  0.0  1.0 -1.0  1.0 -1.0
+   2.0  4.0 -3.0  0.0  5.0  1.0
+  10.0 -6.0
+  -7.0  8.0
+   2.0 -4.0
+   1.1  0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB10ZD EXAMPLE PROGRAM RESULTS
+
+
+ The controller state matrix AK is
+
+   1.0128   0.5101  -0.1546   1.1300   3.3759   0.4911
+  -2.1257  -1.4517  -0.4486   0.3493  -1.5506  -1.4296
+  -1.0930  -0.6026  -0.1344   0.2253  -1.5625  -0.6762
+   0.3207   0.1698   0.2376  -1.1781  -0.8705   0.2896
+   0.5017   0.9006   0.0668   2.3613   0.2049   0.3703
+   1.0787   0.6703   0.2783  -0.7213   0.4918   0.7435
+
+ The controller input matrix BK is
+
+   0.4132   0.3112  -0.8077
+   0.2140   0.4253   0.1811
+  -0.0710   0.0807   0.3558
+  -0.0121  -0.2019   0.0249
+   0.1047   0.1399  -0.0457
+  -0.2542  -0.3472   0.0523
+
+ The controller output matrix CK is
+
+  -0.0372  -0.0456  -0.0040   0.0962  -0.2059  -0.0571
+   0.1999   0.2994   0.1335  -0.0251  -0.3108   0.2048
+
+ The controller matrix DK is
+
+   0.0629  -0.0022   0.0363
+  -0.0228   0.0195   0.0600
+
+ The estimated condition numbers are
+
+  0.27949D-03  0.66679D-03  0.45677D-01  0.23433D-07  0.68495D-01
+  0.76854D-01
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB10ZP.html b/doc/_static/doc/SB10ZP.html
new file mode 100644
index 00000000..d552c0dd
--- /dev/null
+++ b/doc/_static/doc/SB10ZP.html
@@ -0,0 +1,156 @@
+<HTML>
+<HEAD><TITLE>SB10ZP - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB10ZP">SB10ZP</A></H2>
+<H3>
+Transforming a SISO system into a stable and minimum phase one
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To transform a SISO (single-input single-output) system [A,B;C,D]
+  by mirroring its unstable poles and zeros in the boundary of the
+  stability domain, thus preserving the frequency response of the
+  system, but making it stable and minimum phase. Specifically, for
+  a continuous-time system, the positive real parts of its poles
+  and zeros are exchanged with their negatives. Discrete-time
+  systems are first converted to continuous-time systems using a
+  bilinear transformation, and finally converted back.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB10ZP( DISCFL, N, A, LDA, B, C, D, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            DISCFL, INFO, LDA, LDWORK, N
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( * ), C( * ), D( * ), DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  DISCFL  (input) INTEGER
+          Indicates the type of the system, as follows:
+          = 0: continuous-time system;
+          = 1: discrete-time system.
+
+  N       (input/output) INTEGER
+          On entry, the order of the original system.  N &gt;= 0.
+          On exit, the order of the transformed, minimal system.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original system matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed matrix A, in an upper Hessenberg form.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the original system
+          vector B.
+          On exit, this array contains the transformed vector B.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the original system
+          vector C.
+          On exit, this array contains the transformed vector C.
+          The first N-1 elements are zero (for the exit value of N).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (1)
+          On entry, this array must contain the original system
+          scalar D.
+          On exit, this array contains the transformed scalar D.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (max(2,N+1))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= max(N*N + 5*N, 6*N + 1 + min(1,N)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the discrete --&gt; continuous transformation cannot
+                be made;
+          = 2:  if the system poles cannot be found;
+          = 3:  if the inverse system cannot be found, i.e., D is
+                (close to) zero;
+          = 4:  if the system zeros cannot be found;
+          = 5:  if the state-space representation of the new
+                transfer function T(s) cannot be found;
+          = 6:  if the continuous --&gt; discrete transformation cannot
+                be made.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, if the system is discrete-time, it is transformed to
+  continuous-time using alpha = beta = 1 in the bilinear
+  transformation implemented in the SLICOT routine AB04MD.
+  Then the eigenvalues of A, i.e., the system poles, are found.
+  Then, the inverse of the original system is found and its poles,
+  i.e., the system zeros, are evaluated.
+  The obtained system poles Pi and zeros Zi are checked and if a
+  positive real part is detected, it is exchanged by -Pi or -Zi.
+  Then the polynomial coefficients of the transfer function
+  T(s) = Q(s)/P(s) are found.
+  The state-space representation of T(s) is then obtained.
+  The system matrices B, C, D are scaled so that the transformed
+  system has the same system gain as the original system.
+  If the original system is discrete-time, then the result (which is
+  continuous-time) is converted back to discrete-time.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB16AD.html b/doc/_static/doc/SB16AD.html
new file mode 100644
index 00000000..e9b8688f
--- /dev/null
+++ b/doc/_static/doc/SB16AD.html
@@ -0,0 +1,650 @@
+<HTML>
+<HEAD><TITLE>SB16AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16AD">SB16AD</A></H2>
+<H3>
+Stability/performance enforcing frequency-weighted controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute a reduced order controller (Acr,Bcr,Ccr,Dcr) for an
+  original state-space controller representation (Ac,Bc,Cc,Dc) by
+  using the frequency-weighted square-root or balancing-free
+  square-root Balance & Truncate (B&T) or Singular Perturbation
+  Approximation (SPA) model reduction methods. The algorithm tries
+  to minimize the norm of the frequency-weighted error
+
+        ||V*(K-Kr)*W||
+
+  where K and Kr are the transfer-function matrices of the original
+  and reduced order controllers, respectively. V and W are special
+  frequency-weighting transfer-function matrices constructed
+  to enforce closed-loop stability and/or closed-loop performance.
+  If G is the transfer-function matrix of the open-loop system, then
+  the following weightings V and W can be used:
+                   -1
+   (a)   V = (I-G*K) *G, W = I - to enforce closed-loop stability;
+                           -1
+   (b)   V = I,  W = (I-G*K) *G - to enforce closed-loop stability;
+                   -1              -1
+   (c)   V = (I-G*K) *G, W = (I-G*K)  - to enforce closed-loop
+         stability and performance.
+
+  G has the state space representation (A,B,C,D).
+  If K is unstable, only the ALPHA-stable part of K is reduced.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL,
+     $                   N, M, P, NC, NCR, ALPHA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, AC, LDAC, BC, LDBC, CC, LDCC,
+     $                   DC, LDDC, NCS, HSVC, TOL1, TOL2, IWORK, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
+      INTEGER           INFO, IWARN, LDA, LDAC, LDB, LDBC, LDC, LDCC,
+     $                  LDD, LDDC, LDWORK, M, N, NC, NCR, NCS, P
+      DOUBLE PRECISION  ALPHA, TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
+     $                  C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
+     $                  DWORK(*), HSVC(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the original controller as follows:
+          = 'C':  continuous-time controller;
+          = 'D':  discrete-time controller.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified Enns' method of [2].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [2].
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method;
+          = 'S':  use the square-root SPA method;
+          = 'P':  use the balancing-free square-root SPA method.
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency-weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'O':  stability enforcing left (output) weighting
+                            -1
+                  V = (I-G*K) *G is used (W = I);
+          = 'I':  stability enforcing right (input) weighting
+                            -1
+                  W = (I-G*K) *G is used (V = I);
+          = 'P':  stability and performance enforcing weightings
+                            -1                -1
+                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplets (A,B,C) and (Ac,Bc,Cc) as
+          follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting order NCR is fixed;
+          = 'A':  the resulting order NCR is automatically
+                  determined on basis of the given tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop system state-space
+          representation, i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NC      (input) INTEGER
+          The order of the controller state-space representation,
+          i.e., the order of the matrix AC.  NC &gt;= 0.
+
+  NCR     (input/output) INTEGER
+          On entry with ORDSEL = 'F', NCR is the desired order of
+          the resulting reduced order controller.  0 &lt;= NCR &lt;= NC.
+          On exit, if INFO = 0, NCR is the order of the resulting
+          reduced order controller. For a controller with NCU
+          ALPHA-unstable eigenvalues and NCS ALPHA-stable
+          eigenvalues (NCU+NCS = NC), NCR is set as follows:
+          if ORDSEL = 'F', NCR is equal to
+          NCU+MIN(MAX(0,NCR-NCU),NCMIN), where NCR is the desired
+          order on entry, NCMIN is the number of frequency-weighted
+          Hankel singular values greater than NCS*EPS*S1, EPS is the
+          machine precision (see LAPACK Library Routine DLAMCH) and
+          S1 is the largest Hankel singular value (computed in
+          HSVC(1)); NCR can be further reduced to ensure
+          HSVC(NCR-NCU) &gt; HSVC(NCR+1-NCU);
+          if ORDSEL = 'A', NCR is the sum of NCU and the number of
+          Hankel singular values greater than MAX(TOL1,NCS*EPS*S1).
+
+  ALPHA   (input) DOUBLE PRECISION
+          Specifies the ALPHA-stability boundary for the eigenvalues
+          of the state dynamics matrix AC. For a continuous-time
+          controller (DICO = 'C'), ALPHA &lt;= 0 is the boundary value
+          for the real parts of eigenvalues; for a discrete-time
+          controller (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
+          boundary value for the moduli of eigenvalues.
+          The ALPHA-stability domain does not include the boundary.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A of the open-loop
+          system.
+          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-N
+          part of this array contains the scaled state dynamics
+          matrix of the open-loop system.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B of the open-loop system.
+          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-M
+          part of this array contains the scaled input/state matrix
+          of the open-loop system.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C of the open-loop system.
+          On exit, if INFO = 0 and EQUIL = 'S', the leading P-by-N
+          part of this array contains the scaled state/output matrix
+          of the open-loop system.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D of the open-loop system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AC      (input/output) DOUBLE PRECISION array, dimension (LDAC,NC)
+          On entry, the leading NC-by-NC part of this array must
+          contain the state dynamics matrix Ac of the original
+          controller.
+          On exit, if INFO = 0, the leading NCR-by-NCR part of this
+          array contains the state dynamics matrix Acr of the
+          reduced controller. The resulting Ac has a
+          block-diagonal form with two blocks.
+          For a system with NCU ALPHA-unstable eigenvalues and
+          NCS ALPHA-stable eigenvalues (NCU+NCS = NC), the leading
+          NCU-by-NCU block contains the unreduced part of Ac
+          corresponding to the ALPHA-unstable eigenvalues.
+          The trailing (NCR+NCS-NC)-by-(NCR+NCS-NC) block contains
+          the reduced part of Ac corresponding to ALPHA-stable
+          eigenvalues.
+
+  LDAC    INTEGER
+          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
+
+  BC      (input/output) DOUBLE PRECISION array, dimension (LDBC,P)
+          On entry, the leading NC-by-P part of this array must
+          contain the input/state matrix Bc of the original
+          controller.
+          On exit, if INFO = 0, the leading NCR-by-P part of this
+          array contains the input/state matrix Bcr of the reduced
+          controller.
+
+  LDBC    INTEGER
+          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
+
+  CC      (input/output) DOUBLE PRECISION array, dimension (LDCC,NC)
+          On entry, the leading M-by-NC part of this array must
+          contain the state/output matrix Cc of the original
+          controller.
+          On exit, if INFO = 0, the leading M-by-NCR part of this
+          array contains the state/output matrix Ccr of the reduced
+          controller.
+
+  LDCC    INTEGER
+          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
+
+  DC      (input/output) DOUBLE PRECISION array, dimension (LDDC,P)
+          On entry, the leading M-by-P part of this array must
+          contain the input/output matrix Dc of the original
+          controller.
+          On exit, if INFO = 0, the leading M-by-P part of this
+          array contains the input/output matrix Dcr of the reduced
+          controller.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
+
+  NCS     (output) INTEGER
+          The dimension of the ALPHA-stable part of the controller.
+
+  HSVC    (output) DOUBLE PRECISION array, dimension (NC)
+          If INFO = 0, the leading NCS elements of this array
+          contain the frequency-weighted Hankel singular values,
+          ordered decreasingly, of the ALPHA-stable part of the
+          controller.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of the reduced controller.
+          For model reduction, the recommended value is
+          TOL1 = c*S1, where c is a constant in the
+          interval [0.00001,0.001], and S1 is the largest
+          frequency-weighted Hankel singular value of the
+          ALPHA-stable part of the original controller
+          (computed in HSVC(1)).
+          If TOL1 &lt;= 0 on entry, the used default value is
+          TOL1 = NCS*EPS*S1, where NCS is the number of
+          ALPHA-stable eigenvalues of Ac and EPS is the machine
+          precision (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the ALPHA-stable part of the given
+          controller. The recommended value is TOL2 = NCS*EPS*S1.
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(1,LIWRK1,LIWRK2))
+          LIWRK1 = 0,       if JOBMR  = 'B';
+          LIWRK1 = NC,      if JOBMR  = 'F';
+          LIWRK1 = 2*NC,    if JOBMR  = 'S' or 'P';
+          LIWRK2 = 0,       if WEIGHT = 'N';
+          LIWRK2 = 2*(M+P), if WEIGHT = 'O', 'I', or 'P'.
+          On exit, if INFO = 0, IWORK(1) contains NCMIN, the order
+          of the computed minimal realization of the stable part of
+          the controller.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*NC*NC + MAX( 1, LFREQ, LSQRED ),
+          where
+          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
+                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
+                                   if WEIGHT = 'I' or 'O' or 'P';
+          LFREQ  = NC*(MAX(M,P)+5) if WEIGHT = 'N' and EQUIL = 'N';
+          LFREQ  = MAX(N,NC*(MAX(M,P)+5)) if WEIGHT = 'N' and
+                                             EQUIL  = 'S';
+          LSQRED = MAX( 1, 2*NC*NC+5*NC );
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NCR is greater
+                than NSMIN, the sum of the order of the
+                ALPHA-unstable part and the order of a minimal
+                realization of the ALPHA-stable part of the given
+                controller; in this case, the resulting NCR is set
+                equal to NSMIN;
+          = 2:  with ORDSEL = 'F', the selected order NCR
+                corresponds to repeated singular values for the
+                ALPHA-stable part of the controller, which are
+                neither all included nor all excluded from the
+                reduced model; in this case, the resulting NCR is
+                automatically decreased to exclude all repeated
+                singular values;
+          = 3:  with ORDSEL = 'F', the selected order NCR is less
+                than the order of the ALPHA-unstable part of the
+                given controller. In this case NCR is set equal to
+                the order of the ALPHA-unstable part.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the closed-loop system is not well-posed;
+                its feedthrough matrix is (numerically) singular;
+          = 2:  the computation of the real Schur form of the
+                closed-loop state matrix failed;
+          = 3:  the closed-loop state matrix is not stable;
+          = 4:  the solution of a symmetric eigenproblem failed;
+          = 5:  the computation of the ordered real Schur form of Ac
+                failed;
+          = 6:  the separation of the ALPHA-stable/unstable
+                diagonal blocks failed because of very close
+                eigenvalues;
+          = 7:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let K be the transfer-function matrix of the original linear
+  controller
+
+       d[xc(t)] = Ac*xc(t) + Bc*y(t)
+       u(t)     = Cc*xc(t) + Dc*y(t),                      (1)
+
+  where d[xc(t)] is dxc(t)/dt for a continuous-time system and
+  xc(t+1) for a discrete-time system. The subroutine SB16AD
+  determines the matrices of a reduced order controller
+
+       d[z(t)] = Acr*z(t) + Bcr*y(t)
+       u(t)    = Ccr*z(t) + Dcr*y(t),                      (2)
+
+  such that the corresponding transfer-function matrix Kr minimizes
+  the norm of the frequency-weighted error
+
+          V*(K-Kr)*W,                                      (3)
+
+  where V and W are special stable transfer-function matrices
+  chosen to enforce stability and/or performance of the closed-loop
+  system [3] (see description of the parameter WEIGHT).
+
+  The following procedure is used to reduce K in conjunction
+  with the frequency-weighted balancing approach of [2]
+  (see also [3]):
+
+  1) Decompose additively K, of order NC, as
+
+       K = K1 + K2,
+
+     such that K1 has only ALPHA-stable poles and K2, of order NCU,
+     has only ALPHA-unstable poles.
+
+  2) Compute for K1 a B&T or SPA frequency-weighted approximation
+     K1r of order NCR-NCU using the frequency-weighted balancing
+     approach of [1] in conjunction with accuracy enhancing
+     techniques specified by the parameter JOBMR.
+
+  3) Assemble the reduced model Kr as
+
+        Kr = K1r + K2.
+
+  For the reduction of the ALPHA-stable part, several accuracy
+  enhancing techniques can be employed (see [2] for details).
+
+  If JOBMR = 'B', the square-root B&T method of [1] is used.
+
+  If JOBMR = 'F', the balancing-free square-root version of the
+  B&T method [1] is used.
+
+  If JOBMR = 'S', the square-root version of the SPA method [2,3]
+  is used.
+
+  If JOBMR = 'P', the balancing-free square-root version of the
+  SPA method [2,3] is used.
+
+  For each of these methods, two left and right truncation matrices
+  are determined using the Cholesky factors of an input
+  frequency-weighted controllability Grammian P and an output
+  frequency-weighted observability Grammian Q.
+  P and Q are determined as the leading NC-by-NC diagonal blocks
+  of the controllability Grammian of K*W and of the
+  observability Grammian of V*K. Special techniques developed in [2]
+  are used to compute the Cholesky factors of P and Q directly
+  (see also SLICOT Library routine SB16AY).
+  The frequency-weighted Hankel singular values HSVC(1), ....,
+  HSVC(NC) are computed as the square roots of the eigenvalues
+  of the product P*Q.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Varga, A. and Anderson, B.D.O.
+      Square-root balancing-free methods for frequency-weighted
+      balancing related model reduction.
+      (report in preparation)
+
+  [3] Anderson, B.D.O and Liu, Y.
+      Controller reduction: concepts and approaches.
+      IEEE Trans. Autom. Control, Vol. 34, pp. 802-812, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root
+  techniques.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB16AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NCMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
+     $                   NCMAX = 20 )
+      INTEGER          MPMAX, NNCMAX
+      PARAMETER        ( MPMAX  = MMAX + PMAX, NNCMAX = NMAX + NCMAX )
+      INTEGER          LDA, LDB, LDC, LDD, LDAC, LDBC, LDCC, LDDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDAC = NCMAX, LDBC = NCMAX,
+     $                   LDCC = PMAX, LDDC = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAX( NCMAX, MPMAX ) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NCMAX*NCMAX +
+     $                            NNCMAX*( NNCMAX + 2*MPMAX ) +
+     $                            MAX( NNCMAX*( NNCMAX +
+     $                                 MAX( NNCMAX, MMAX, PMAX ) + 7 ),
+     $                                 MPMAX*( MPMAX + 4 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION ALPHA, TOL1, TOL2
+      INTEGER          I, INFO, IWARN, J, M, N, NCR, NCS, NC, P
+      CHARACTER*1      DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), HSVC(NMAX),
+     $                 AC(LDAC,NCMAX), BC(LDBC,PMAX), CC(LDCC,NMAX),
+     $                 DC(LDDC,PMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB16AD
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NC, NCR, ALPHA, TOL1, TOL2, DICO,
+     $                      JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL
+      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF( P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               IF( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) NC
+               ELSE
+                  IF( NC.GT.0 ) THEN
+                     READ ( NIN, FMT = * )
+     $                 ( ( AC(I,J), J = 1,NC ), I = 1,NC )
+                     READ ( NIN, FMT = * )
+     $                 ( ( BC(I,J), J = 1,P ), I = 1, NC )
+                     READ ( NIN, FMT = * )
+     $                 ( ( CC(I,J), J = 1,NC ), I = 1,M )
+                  END IF
+                  READ ( NIN, FMT = * )
+     $                 ( ( DC(I,J), J = 1,P ), I = 1,M )
+               END IF
+*              Find a reduced ssr for (AC,BC,CC,DC).
+               CALL SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL,
+     $                      ORDSEL, N, M, P, NC, NCR, ALPHA, A, LDA,
+     $                      B, LDB, C, LDC, D, LDD, AC, LDAC, BC, LDBC,
+     $                      CC, LDCC, DC, LDDC, NCS, HSVC, TOL1, TOL2,
+     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
+                  WRITE ( NOUT, FMT = 99997 ) NCR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSVC(J), J = 1, NCS )
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( AC(I,J), J = 1,NCR )
+   20             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( BC(I,J), J = 1,P )
+   40             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( CC(I,J), J = 1,NCR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,P )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB16AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB16AD = ',I2)
+99997 FORMAT (/' The order of reduced controller = ',I2)
+99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
+99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
+99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
+     $         ' part are')
+99986 FORMAT (/' NC is out of range.',/' NC = ',I5)
+99984 FORMAT (' IWARN on exit from SB16AD = ',I2)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB16AD EXAMPLE PROGRAM DATA (Continuous system)
+  3  1  1   3  2   0.0  0.1E0  0.0    C  S  S  F   I  N   F 
+  -1.  0.   4.
+   0.  2.   0.
+   0.  0.  -3.
+   1.
+   1.
+   1.
+   1.  1.   1.
+   0. 
+  -26.4000    6.4023    4.3868
+   32.0000         0         0
+         0    8.0000         0
+    -16
+     0
+     0
+    9.2994    1.1624    0.1090
+     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB16AD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced controller =  2
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   3.8253   0.2005
+
+ The reduced controller state dynamics matrix Ac is 
+   9.1900   0.0000
+   0.0000 -34.5297
+
+ The reduced controller input/state matrix Bc is 
+ -11.9593
+  86.3137
+
+ The reduced controller state/output matrix Cc is 
+   2.8955  -1.3566
+
+ The reduced controller input/output matrix Dc is 
+   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB16AY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16AY">SB16AY</A></H2>
+<H3>
+Cholesky factors of the frequency-weighted controllability and observability Grammians for controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for given state-space representations (A,B,C,D) and
+  (Ac,Bc,Cc,Dc) of the transfer-function matrices of the
+  open-loop system G and feedback controller K, respectively,
+  the Cholesky factors of the frequency-weighted
+  controllability and observability Grammians corresponding
+  to a frequency-weighted model reduction problem.
+  The controller must stabilize the closed-loop system.
+  The state matrix Ac must be in a block-diagonal real Schur form
+  Ac = diag(Ac1,Ac2), where Ac1 contains the unstable eigenvalues
+  of Ac and Ac2 contains the stable eigenvalues of Ac.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16AY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NC, NCS,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC,
+     $                   SCALEC, SCALEO, S, LDS, R, LDR,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBC, JOBO, WEIGHT
+      INTEGER          INFO, LDA, LDAC, LDB, LDBC, LDC, LDCC, LDD, LDDC,
+     $                 LDR, LDS, LDWORK, M, N, NC, NCS, P
+      DOUBLE PRECISION SCALEC, SCALEO
+C     .. Array Arguments ..
+      INTEGER          IWORK(*)
+      DOUBLE PRECISION A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
+     $                 C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
+     $                 DWORK(*), R(LDR,*),   S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the systems as follows:
+          = 'C':  G and K are continuous-time systems;
+          = 'D':  G and K are discrete-time systems.
+
+  JOBC    CHARACTER*1
+          Specifies the choice of frequency-weighted controllability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified Enns' method of [2].
+
+  JOBO    CHARACTER*1
+          Specifies the choice of frequency-weighted observability
+          Grammian as follows:
+          = 'S': choice corresponding to standard Enns' method [1];
+          = 'E': choice corresponding to the stability enhanced
+                 modified combination method of [2].
+
+  WEIGHT  CHARACTER*1
+          Specifies the type of frequency-weighting, as follows:
+          = 'N':  no weightings are used (V = I, W = I);
+          = 'O':  stability enforcing left (output) weighting
+                            -1
+                  V = (I-G*K) *G is used (W = I);
+          = 'I':  stability enforcing right (input) weighting
+                            -1
+                  W = (I-G*K) *G is used (V = I);
+          = 'P':  stability and performance enforcing weightings
+                            -1                -1
+                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop system state-space
+          representation, i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NC      (input) INTEGER
+          The order of the controller state-space representation,
+          i.e., the order of the matrix AC.  NC &gt;= 0.
+
+  NCS     (input) INTEGER
+          The dimension of the stable part of the controller, i.e.,
+          the order of matrix Ac2.  NC &gt;= NCS &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system with the transfer-function
+          matrix G.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          input/output matrix D of the open-loop system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  AC      (input) DOUBLE PRECISION array, dimension (LDAC,NC)
+          The leading NC-by-NC part of this array must contain
+          the state dynamics matrix Ac of the controller in a
+          block diagonal real Schur form Ac = diag(Ac1,Ac2), where
+          Ac1 is (NC-NCS)-by-(NC-NCS) and contains the unstable
+          eigenvalues of Ac, and Ac2 is NCS-by-NCS and contains
+          the stable eigenvalues of Ac.
+
+  LDAC    INTEGER
+          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
+
+  BC      (input) DOUBLE PRECISION array, dimension (LDBC,P)
+          The leading NC-by-P part of this array must contain
+          the input/state matrix Bc of the controller.
+
+  LDBC    INTEGER
+          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
+
+  CC      (input) DOUBLE PRECISION array, dimension (LDCC,NC)
+          The leading M-by-NC part of this array must contain
+          the state/output matrix Cc of the controller.
+
+  LDCC    INTEGER
+          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
+
+  DC      (input) DOUBLE PRECISION array, dimension (LDDC,P)
+          The leading M-by-P part of this array must contain
+          the input/output matrix Dc of the controller.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian.
+          See METHOD.
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian. See METHOD.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,NCS)
+          The leading NCS-by-NCS upper triangular part of this array
+          contains the Cholesky factor S of the frequency-weighted
+          controllability Grammian P = S*S'. See METHOD.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,NCS).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,NCS)
+          The leading NCS-by-NCS upper triangular part of this array
+          contains the Cholesky factor R of the frequency-weighted
+          observability Grammian Q = R'*R. See METHOD.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,NCS).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWRK)
+          LIWRK = 0,       if WEIGHT = 'N';
+          LIWRK = 2(M+P),  if WEIGHT = 'O', 'I', or 'P'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, LFREQ ),
+          where
+          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
+                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
+                                   if WEIGHT = 'I' or 'O' or 'P';
+          LFREQ  = NCS*(MAX(M,P)+5) if WEIGHT = 'N'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the closed-loop system is not well-posed;
+                its feedthrough matrix is (numerically) singular;
+          = 2:  the computation of the real Schur form of the
+                closed-loop state matrix failed;
+          = 3:  the closed-loop state matrix is not stable;
+          = 4:  the solution of a symmetric eigenproblem failed;
+          = 5:  the NCS-by-NCS trailing part Ac2 of the state
+                matrix Ac is not stable or not in a real Schur form.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOBC = 'S', the controllability Grammian P is determined as
+  follows:
+
+  - if WEIGHT = 'O' or 'N', P satisfies for a continuous-time
+    controller the Lyapunov equation
+
+         Ac2*P + P*Ac2' +  scalec^2*Bc*Bc' = 0
+
+    and for a discrete-time controller
+
+         Ac2*P*Ac2' - P +  scalec^2*Bc*Bc' = 0;
+
+  - if WEIGHT = 'I' or 'P', let Pi be the solution of the
+    continuous-time Lyapunov equation
+
+         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0
+
+    or of the discrete-time Lyapunov equation
+
+         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,
+
+    where Ai and Bi are the state and input matrices of a special
+    state-space realization of the input frequency weight (see [2]);
+    P results as the trailing NCS-by-NCS part of Pi partitioned as
+
+        Pi = ( *  * ).
+             ( *  P )
+
+  If JOBC = 'E', a modified controllability Grammian P1 &gt;= P is
+  determined to guarantee stability for a modified Enns' method [2].
+
+  If JOBO = 'S', the observability Grammian Q is determined as
+  follows:
+
+  - if WEIGHT = 'I' or 'N', Q satisfies for a continuous-time
+    controller the Lyapunov equation
+
+         Ac2'*Q + Q*Ac2 +  scaleo^2*Cc'*Cc = 0
+
+    and for a discrete-time controller
+
+         Ac2'*Q*Ac2 - Q +  scaleo^2*Cc'*Cc = 0;
+
+  - if WEIGHT = 'O' or 'P', let Qo be the solution of the
+    continuous-time Lyapunov equation
+
+         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0
+
+    or of the discrete-time Lyapunov equation
+
+         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,
+
+    where Ao and Co are the state and output matrices of a
+    special state-space realization of the output frequency weight
+    (see [2]); if WEIGHT = 'O', Q results as the leading NCS-by-NCS
+    part of Qo partitioned as
+
+        Qo = ( Q  * )
+             ( *  * )
+
+    while if WEIGHT = 'P', Q results as the trailing NCS-by-NCS
+    part of Qo partitioned as
+
+        Qo = ( *  * ).
+             ( *  Q )
+
+  If JOBO = 'E', a modified observability Grammian Q1 &gt;= Q is
+  determined to guarantee stability for a modified Enns' method [2].
+
+  The routine computes directly the Cholesky factors S and R
+  such that P = S*S' and Q = R'*R according to formulas
+  developed in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Enns, D.
+      Model reduction with balanced realizations: An error bound
+      and a frequency weighted generalization.
+      Proc. CDC, Las Vegas, pp. 127-132, 1984.
+
+  [2] Varga, A. and Anderson, B.D.O.
+      Frequency-weighted balancing related controller reduction.
+      Proceedings of the 15th IFAC World Congress, July 21-26, 2002,
+      Barcelona, Spain, Vol.15, Part 1, 2002-07-21.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB16BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16BD">SB16BD</A></H2>
+<H3>
+Coprime factorization based state feedback controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given open-loop model (A,B,C,D), and for
+  given state feedback gain F and full observer gain G,
+  such that A+B*F and A+G*C are stable, a reduced order
+  controller model (Ac,Bc,Cc,Dc) using a coprime factorization
+  based controller reduction approach. For reduction,
+  either the square-root or the balancing-free square-root
+  versions of the Balance & Truncate (B&T) or Singular Perturbation
+  Approximation (SPA) model reduction methods are used in
+  conjunction with stable coprime factorization techniques.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL,
+     $                   N, M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
+     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDDC,
+     $                  LDF, LDG, LDWORK, M, N, NCR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DC(LDDC,*), DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the open-loop system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears
+          in the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method;
+          = 'S':  use the square-root SPA method;
+          = 'P':  use the balancing-free square-root SPA method.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization is
+          to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to perform a
+          preliminary equilibration before performing
+          order reduction as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting controller order NCR is fixed;
+          = 'A':  the resulting controller order NCR is
+                  automatically determined on basis of the given
+                  tolerance TOL1.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+          N also represents the order of the original state-feedback
+          controller.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NCR     (input/output) INTEGER
+          On entry with ORDSEL = 'F', NCR is the desired order of
+          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
+          On exit, if INFO = 0, NCR is the order of the resulting
+          reduced order controller. NCR is set as follows:
+          if ORDSEL = 'F', NCR is equal to MIN(NCR,NMIN), where NCR
+          is the desired order on entry, and NMIN is the order of a
+          minimal realization of an extended system Ge (see METHOD);
+          NMIN is determined as the number of
+          Hankel singular values greater than N*EPS*HNORM(Ge),
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
+          extended system (computed in HSV(1));
+          if ORDSEL = 'A', NCR is equal to the number of Hankel
+          singular values greater than MAX(TOL1,N*EPS*HNORM(Ge)).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NCR-by-NCR part of this
+          array contains the state dynamics matrix Ac of the reduced
+          controller.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must
+          contain the original input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must
+          contain the original state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this
+          array must contain the system direct input/output
+          transmission matrix D.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain a stabilizing state feedback matrix.
+          On exit, if INFO = 0, the leading M-by-NCR part of this
+          array contains the state/output matrix Cc of the reduced
+          controller.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
+          On entry, the leading N-by-P part of this array must
+          contain a stabilizing observer gain matrix.
+          On exit, if INFO = 0, the leading NCR-by-P part of this
+          array contains the input/state matrix Bc of the reduced
+          controller.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  DC      (output) DOUBLE PRECISION array, dimension (LDDC,P)
+          If INFO = 0, the leading M-by-P part of this array
+          contains the input/output matrix Dc of the reduced
+          controller.
+
+  LDDC    INTEGER
+          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, it contains the N Hankel singular values
+          of the extended system ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          If ORDSEL = 'A', TOL1 contains the tolerance for
+          determining the order of the reduced extended system.
+          For model reduction, the recommended value is
+          TOL1 = c*HNORM(Ge), where c is a constant in the
+          interval [0.00001,0.001], and HNORM(Ge) is the
+          Hankel norm of the extended system (computed in HSV(1)).
+          The value TOL1 = N*EPS*HNORM(Ge) is used by default if
+          TOL1 &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL1 is ignored.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance for determining the order of a minimal
+          realization of the coprime factorization controller
+          (see METHOD). The recommended value is
+          TOL2 = N*EPS*HNORM(Ge) (see METHOD).
+          This value is used by default if TOL2 &lt;= 0 on entry.
+          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0,         if ORDSEL = 'F' and NCR = N.
+                                              Otherwise,
+          LIWORK = MAX(PM,M), if JOBCF = 'L',
+          LIWORK = MAX(PM,P), if JOBCF = 'R', where
+          PM = 0,             if JOBMR = 'B',
+          PM = N,             if JOBMR = 'F',
+          PM = MAX(1,2*N),    if JOBMR = 'S' or 'P'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= P*N, if ORDSEL = 'F' and NCR = N. Otherwise,
+          LDWORK &gt;= (N+M)*(M+P) + MAX(LWR,4*M), if JOBCF = 'L',
+          LDWORK &gt;= (N+P)*(M+P) + MAX(LWR,4*P), if JOBCF = 'R',
+          where LWR = MAX(1,N*(2*N+MAX(N,M+P)+5)+N*(N+1)/2).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NCR is
+                greater than the order of a minimal
+                realization of the controller.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the reduction of A+G*C to a real Schur form
+                failed;
+          = 2:  the matrix A+G*C is not stable (if DICO = 'C'),
+                or not convergent (if DICO = 'D');
+          = 3:  the computation of Hankel singular values failed;
+          = 4:  the reduction of A+B*F to a real Schur form
+                failed;
+          = 5:  the matrix A+B*F is not stable (if DICO = 'C'),
+                or not convergent (if DICO = 'D').
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let Go(d) be the open-loop
+  transfer-function matrix
+                        -1
+       Go(d) = C*(d*I-A) *B + D .
+
+  Let F and G be the state feedback and observer gain matrices,
+  respectively, chosen so that A+B*F and A+G*C are stable matrices.
+  The controller has a transfer-function matrix K(d) given by
+                                     -1
+       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
+
+  The closed-loop transfer-function matrix is given by
+                                  -1
+       Gcl(d) = Go(d)(I+K(d)Go(d)) .
+
+  K(d) can be expressed as a left coprime factorization (LCF),
+                       -1
+       K(d) = M_left(d) *N_left(d) ,
+
+  or as a right coprime factorization (RCF),
+                                   -1
+       K(d) = N_right(d)*M_right(d) ,
+
+  where M_left(d), N_left(d), N_right(d), and M_right(d) are
+  stable transfer-function matrices.
+
+  The subroutine SB16BD determines the matrices of a reduced
+  controller
+
+       d[z(t)] = Ac*z(t) + Bc*y(t)
+       u(t)    = Cc*z(t) + Dc*y(t),                           (2)
+
+  with the transfer-function matrix Kr as follows:
+
+  (1) If JOBCF = 'L', the extended system
+      Ge(d)  = [ N_left(d) M_left(d) ] is reduced to
+      Ger(d) = [ N_leftr(d) M_leftr(d) ] by using either the
+      B&T or SPA methods. The reduced order controller Kr(d)
+      is computed as
+                        -1
+      Kr(d) = M_leftr(d) *N_leftr(d) ;
+
+  (2) If JOBCF = 'R', the extended system
+      Ge(d) = [ N_right(d) ] is reduced to
+              [ M_right(d) ]
+      Ger(d) = [ N_rightr(d) ] by using either the
+               [ M_rightr(d) ]
+      B&T or SPA methods. The reduced order controller Kr(d)
+      is computed as
+                                      -1
+      Kr(d) = N_rightr(d)* M_rightr(d) .
+
+  If ORDSEL = 'A', the order of the controller is determined by
+  computing the number of Hankel singular values greater than
+  the given tolerance TOL1. The Hankel singular values are
+  the square roots of the eigenvalues of the product of
+  the controllability and observability Grammians of the
+  extended system Ge.
+
+  If JOBMR = 'B', the square-root B&T method of [1] is used.
+
+  If JOBMR = 'F', the balancing-free square-root version of the
+  B&T method [1] is used.
+
+  If JOBMR = 'S', the square-root version of the SPA method [2,3]
+  is used.
+
+  If JOBMR = 'P', the balancing-free square-root version of the
+  SPA method [2,3] is used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Tombs, M.S. and Postlethwaite, I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [2] Varga, A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
+      pp. 42-46, 1991.
+
+  [3] Varga, A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+  [4] Liu, Y., Anderson, B.D.O. and Ly, O.L.
+      Coprime factorization controller reduction with Bezout
+      identity induced frequency weighting.
+      Automatica, vol. 26, pp. 233-249, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB16BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
+      PARAMETER        ( LDA = NMAX, LDB  = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX
+     $                 )
+      INTEGER          LDWORK, LIWORK, MAXMP, MPMAX
+      PARAMETER        ( LIWORK = 2*NMAX, MAXMP = MAX( MMAX, PMAX ),
+     $                   MPMAX  = MMAX + PMAX )
+      PARAMETER        ( LDWORK = ( NMAX + MAXMP )*MPMAX +
+     $                            MAX ( NMAX*( 2*NMAX +
+     $                                         MAX( NMAX, MPMAX ) + 5 )
+     $                                      + ( NMAX*( NMAX + 1 ) )/2,
+     $                                  4*MAXMP ) )
+      CHARACTER        DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
+      DOUBLE PRECISION TOL1, TOL2
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DC(LDDC,PMAX), DWORK(LDWORK),
+     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB16BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NCR, TOL1, TOL2,
+     $                      DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL, N,
+     $                      M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
+     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
+   20             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
+   40             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB16BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB16BD = ',I2)
+99997 FORMAT (' The order of reduced controller = ',I2)
+99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
+99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
+99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The Hankel singular values of extended system are:')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB16BD EXAMPLE PROGRAM DATA (Continuous system)
+  8  1  1   4   0.1E0  0.0    C  D  F  L  S   F
+         0    1.0000         0         0         0         0         0        0
+         0         0         0         0         0         0         0        0
+         0         0   -0.0150    0.7650         0         0         0        0
+         0         0   -0.7650   -0.0150         0         0         0        0
+         0         0         0         0   -0.0280    1.4100         0        0
+         0         0         0         0   -1.4100   -0.0280         0        0
+         0         0         0         0         0         0   -0.0400    1.850
+         0         0         0         0         0         0   -1.8500   -0.040
+    0.0260
+   -0.2510
+    0.0330
+   -0.8860
+   -4.0170
+    0.1450
+    3.6040
+    0.2800
+  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
+  0.0
+4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002
+  4.1089e-001
+  8.6846e-002
+  3.8523e-004
+ -3.6194e-003
+ -8.8037e-003
+  8.4205e-003
+  1.2349e-003
+  4.2632e-003
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB16BD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced controller =  4
+
+ The Hankel singular values of extended system are:
+   4.9078   4.8745   3.8455   3.7811   1.2289   1.1785   0.5176   0.1148
+
+ The reduced controller state dynamics matrix Ac is 
+   0.5946  -0.7336   0.1914  -0.3368
+   0.5960  -0.0184  -0.1088   0.0207
+   1.2253   0.2043   0.1009  -1.4948
+  -0.0330  -0.0243   1.3440   0.0035
+
+ The reduced controller input/state matrix Bc is 
+   0.0015
+  -0.0202
+   0.0159
+  -0.0544
+
+ The reduced controller state/output matrix Cc is 
+   0.3534   0.0274   0.0337  -0.0320
+
+ The reduced controller input/output matrix Dc is 
+   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SB16CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16CD">SB16CD</A></H2>
+<H3>
+Coprime factorization based frequency-weighted state feedback controller reduction
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given open-loop model (A,B,C,D), and for
+  given state feedback gain F and full observer gain G,
+  such that A+B*F and A+G*C are stable, a reduced order
+  controller model (Ac,Bc,Cc) using a coprime factorization
+  based controller reduction approach. For reduction of
+  coprime factors, a stability enforcing frequency-weighted
+  model reduction is performed using either the square-root or
+  the balancing-free square-root versions of the Balance & Truncate
+  (B&T) model reduction method.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P, NCR,
+     $                   A, LDA, B, LDB, C, LDC, D, LDD, F, LDF, G, LDG,
+     $                   HSV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD,
+     $                  LDF, LDG, LDWORK, M, N, NCR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the open-loop system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears
+          in the given state space model, as follows:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+  JOBMR   CHARACTER*1
+          Specifies the model reduction approach to be used
+          as follows:
+          = 'B':  use the square-root B&T method;
+          = 'F':  use the balancing-free square-root B&T method.
+
+  JOBCF   CHARACTER*1
+          Specifies whether left or right coprime factorization
+          of the controller is to be used as follows:
+          = 'L':  use left coprime factorization;
+          = 'R':  use right coprime factorization.
+
+  ORDSEL  CHARACTER*1
+          Specifies the order selection method as follows:
+          = 'F':  the resulting controller order NCR is fixed;
+          = 'A':  the resulting controller order NCR is
+                  automatically determined on basis of the given
+                  tolerance TOL.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+          N also represents the order of the original state-feedback
+          controller.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NCR     (input/output) INTEGER
+          On entry with ORDSEL = 'F', NCR is the desired order of
+          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
+          On exit, if INFO = 0, NCR is the order of the resulting
+          reduced order controller. NCR is set as follows:
+          if ORDSEL = 'F', NCR is equal to MIN(NCR,NCRMIN), where
+          NCR is the desired order on entry, and NCRMIN is the
+          number of Hankel-singular values greater than N*EPS*S1,
+          where EPS is the machine precision (see LAPACK Library
+          Routine DLAMCH) and S1 is the largest Hankel singular
+          value (computed in HSV(1)); NCR can be further reduced
+          to ensure HSV(NCR) &gt; HSV(NCR+1);
+          if ORDSEL = 'A', NCR is equal to the number of Hankel
+          singular values greater than MAX(TOL,N*EPS*S1).
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFO = 0, the leading NCR-by-NCR part of this
+          array contains the state dynamics matrix Ac of the reduced
+          controller.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the open-loop system input/state matrix B.
+          On exit, this array is overwritten with a NCR-by-M
+          B&T approximation of the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the open-loop system state/output matrix C.
+          On exit, this array is overwritten with a P-by-NCR
+          B&T approximation of the matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the system direct input/output
+          transmission matrix D.
+          The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
+          On entry, the leading M-by-N part of this array must
+          contain a stabilizing state feedback matrix.
+          On exit, if INFO = 0, the leading M-by-NCR part of this
+          array contains the output/state matrix Cc of the reduced
+          controller.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
+          On entry, the leading N-by-P part of this array must
+          contain a stabilizing observer gain matrix.
+          On exit, if INFO = 0, the leading NCR-by-P part of this
+          array contains the input/state matrix Bc of the reduced
+          controller.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  HSV     (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, HSV contains the N frequency-weighted
+          Hankel singular values ordered decreasingly (see METHOD).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          If ORDSEL = 'A', TOL contains the tolerance for
+          determining the order of reduced controller.
+          The recommended value is TOL = c*S1, where c is a constant
+          in the interval [0.00001,0.001], and S1 is the largest
+          Hankel singular value (computed in HSV(1)).
+          The value TOL = N*EPS*S1 is used by default if
+          TOL &lt;= 0 on entry, where EPS is the machine precision
+          (see LAPACK Library Routine DLAMCH).
+          If ORDSEL = 'F', the value of TOL is ignored.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK = 0,   if JOBMR = 'B';
+          LIWORK = N,   if JOBMR = 'F'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N*N + MAX( 1, 2*N*N + 5*N, N*MAX(M,P),
+                                 N*(N + MAX(N,MP) + MIN(N,MP) + 6)),
+          where     MP = M, if JOBCF = 'L';
+                    MP = P, if JOBCF = 'R'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  with ORDSEL = 'F', the selected order NCR is
+                greater than the order of a minimal realization
+                of the controller;
+          = 2:  with ORDSEL = 'F', the selected order NCR
+                corresponds to repeated singular values, which are
+                neither all included nor all excluded from the
+                reduced controller. In this case, the resulting NCR
+                is set automatically to the largest value such that
+                HSV(NCR) &gt; HSV(NCR+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  eigenvalue computation failure;
+          = 2:  the matrix A+G*C is not stable;
+          = 3:  the matrix A+B*F is not stable;
+          = 4:  the Lyapunov equation for computing the
+                observability Grammian is (nearly) singular;
+          = 5:  the Lyapunov equation for computing the
+                controllability Grammian is (nearly) singular;
+          = 6:  the computation of Hankel singular values failed.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Let be the linear system
+
+       d[x(t)] = Ax(t) + Bu(t)
+       y(t)    = Cx(t) + Du(t),                             (1)
+
+  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+  for a discrete-time system, and let Go(d) be the open-loop
+  transfer-function matrix
+                       -1
+       Go(d) = C*(d*I-A) *B + D .
+
+  Let F and G be the state feedback and observer gain matrices,
+  respectively, chosen such that A+BF and A+GC are stable matrices.
+  The controller has a transfer-function matrix K(d) given by
+                                    -1
+       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
+
+  The closed-loop transfer function matrix is given by
+                                 -1
+       Gcl(d) = Go(d)(I+K(d)Go(d)) .
+
+  K(d) can be expressed as a left coprime factorization (LCF)
+                      -1
+       K(d) = M_left(d) *N_left(d),
+
+  or as a right coprime factorization (RCF)
+                                  -1
+       K(d) = N_right(d)*M_right(d) ,
+
+  where M_left(d), N_left(d), N_right(d), and M_right(d) are
+  stable transfer-function matrices.
+
+  The subroutine SB16CD determines the matrices of a reduced
+  controller
+
+       d[z(t)] = Ac*z(t) + Bc*y(t)
+       u(t)    = Cc*z(t),                                   (2)
+
+  with the transfer-function matrix Kr, using the following
+  stability enforcing approach proposed in [1]:
+
+  (1) If JOBCF = 'L', the frequency-weighted approximation problem
+      is solved
+
+      min||[M_left(d)-M_leftr(d)  N_left(d)-N_leftr(d)][-Y(d)]|| ,
+                                                       [ X(d)]
+      where
+                           -1
+            G(d) = Y(d)*X(d)
+
+      is a RCF of the open-loop system transfer-function matrix.
+      The B&T model reduction technique is used in conjunction
+      with the method proposed in [1].
+
+  (2) If JOBCF = 'R', the frequency-weighted approximation problem
+      is solved
+
+      min || [ -U(d) V(d) ] [ N_right(d)-N_rightr(d) ] || ,
+                            [ M_right(d)-M_rightr(d) ]
+      where
+                      -1
+            G(d) = V(d) *U(d)
+
+      is a LCF of the open-loop system transfer-function matrix.
+      The B&T model reduction technique is used in conjunction
+      with the method proposed in [1].
+
+  If ORDSEL = 'A', the order of the controller is determined by
+  computing the number of Hankel singular values greater than
+  the given tolerance TOL. The Hankel singular values are
+  the square roots of the eigenvalues of the product of
+  two frequency-weighted Grammians P and Q, defined as follows.
+
+  If JOBCF = 'L', then P is the controllability Grammian of a system
+  of the form (A+BF,B,*,*), and Q is the observability Grammian of a
+  system of the form (A+GC,*,F,*). This choice corresponds to an
+  input frequency-weighted order reduction of left coprime
+  factors [1].
+
+  If JOBCF = 'R', then P is the controllability Grammian of a system
+  of the form (A+BF,G,*,*), and Q is the observability Grammian of a
+  system of the form (A+GC,*,C,*). This choice corresponds to an
+  output frequency-weighted order reduction of right coprime
+  factors [1].
+
+  For the computation of truncation matrices, the B&T approach
+  is used in conjunction with accuracy enhancing techniques.
+  If JOBMR = 'B', the square-root B&T method of [2,4] is used.
+  If JOBMR = 'F', the balancing-free square-root version of the
+  B&T method [3,4] is used.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
+      Coprime factorization controller reduction with Bezout
+      identity induced frequency weighting.
+      Automatica, vol. 26, pp. 233-249, 1990.
+
+  [2] Tombs, M.S. and Postlethwaite I.
+      Truncated balanced realization of stable, non-minimal
+      state-space systems.
+      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+
+  [3] Varga, A.
+      Efficient minimal realization procedure based on balancing.
+      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
+      pp. 42-46, 1991.
+
+  [4] Varga, A.
+      Coprime factors model reduction method based on square-root
+      balancing-free techniques.
+      System Analysis, Modelling and Simulation, Vol. 11,
+      pp. 303-311, 1993.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The implemented methods rely on accuracy enhancing square-root or
+  balancing-free square-root techniques.
+                                      3
+  The algorithms require less than 30N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SB16CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                 LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX )
+      INTEGER          LDWORK, LIWORK, MPMAX
+      PARAMETER        ( LIWORK = 2*NMAX, MPMAX = MAX( MMAX, PMAX ) )
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX +
+     $                            MAX( 2*NMAX*NMAX + 5*NMAX,
+     $                                 NMAX*( NMAX + MAX( NMAX, MPMAX )
+     $                                      + MIN( NMAX, MPMAX ) + 6 ) )
+     $                 )
+      CHARACTER        DICO, JOBCF, JOBD, JOBMR, ORDSEL
+      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK),
+     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         SB16CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NCR, TOL,
+     $                      DICO, JOBD, JOBMR, JOBCF, ORDSEL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
+               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
+*              Find a reduced ssr for (A,B,C,D).
+               CALL SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P,
+     $                      NCR, A, LDA, B, LDB, C, LDC, D, LDD, F, LDF,
+     $                      G, LDG, HSV, TOL, IWORK, DWORK, LDWORK,
+     $                      IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCR
+                  WRITE ( NOUT, FMT = 99987 )
+                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
+   20             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCR
+                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
+   40             CONTINUE
+                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, M
+                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SB16CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB16CD = ',I2)
+99997 FORMAT (' The order of reduced controller = ',I2)
+99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
+99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The frequency-weighted Hankel singular values are:')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SB16CD EXAMPLE PROGRAM DATA (Continuous system)
+  8  1  1   2   0.1E0  C  D  F  R  F
+         0    1.0000         0         0         0         0         0        0
+         0         0         0         0         0         0         0        0
+         0         0   -0.0150    0.7650         0         0         0        0
+         0         0   -0.7650   -0.0150         0         0         0        0
+         0         0         0         0   -0.0280    1.4100         0        0
+         0         0         0         0   -1.4100   -0.0280         0        0
+         0         0         0         0         0         0   -0.0400    1.850
+         0         0         0         0         0         0   -1.8500   -0.040
+    0.0260
+   -0.2510
+    0.0330
+   -0.8860
+   -4.0170
+    0.1450
+    3.6040
+    0.2800
+  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
+  0.0
+4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002
+    4.108939884667451e-001
+    8.684600000000012e-002
+    3.852317308197148e-004
+   -3.619366874815911e-003
+   -8.803722876359955e-003
+    8.420521094001852e-003
+    1.234944428038507e-003
+    4.263205617645322e-003
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SB16CD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced controller =  2
+
+ The frequency-weighted Hankel singular values are:
+   3.3073   0.7274   0.1124   0.0784   0.0242   0.0182   0.0101   0.0094
+
+ The reduced controller state dynamics matrix Ac is 
+  -0.4334   0.4884
+  -0.1950  -0.1093
+
+ The reduced controller input/state matrix Bc is 
+  -0.4231
+  -0.1785
+
+ The reduced controller state/output matrix Cc is 
+  -0.0326  -0.2307
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SB16CY.html b/doc/_static/doc/SB16CY.html
new file mode 100644
index 00000000..89c644b2
--- /dev/null
+++ b/doc/_static/doc/SB16CY.html
@@ -0,0 +1,233 @@
+<HTML>
+<HEAD><TITLE>SB16CY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SB16CY">SB16CY</A></H2>
+<H3>
+Cholesky factors of controllability and observability Grammians of coprime factors of a state-feedback controller
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute, for a given open-loop model (A,B,C,0), and for
+  given state feedback gain F and full observer gain G,
+  such that A+B*F and A+G*C are stable, the Cholesky factors
+  Su and Ru of a controllability Grammian P = Su*Su' and of
+  an observability Grammian Q = Ru'*Ru corresponding to a
+  frequency-weighted model reduction of the left or right coprime
+  factors of the state-feedback controller.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SB16CY( DICO, JOBCF, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   F, LDF, G, LDG, SCALEC, SCALEO, S, LDS, R, LDR,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBCF
+      INTEGER          INFO, LDA, LDB, LDC, LDF, LDG, LDR, LDS, LDWORK,
+     $                 M, N, P
+      DOUBLE PRECISION SCALEC, SCALEO
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                 F(LDF,*), G(LDG,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the open-loop system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  JOBCF   CHARACTER*1
+          Specifies whether a left or right coprime factorization
+          of the state-feedback controller is to be used as follows:
+          = 'L':  use a left coprime factorization;
+          = 'R':  use a right coprime factorization.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the open-loop state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the open-loop system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input/state matrix B of the open-loop system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          state/output matrix C of the open-loop system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
+          The leading M-by-N part of this array must contain a
+          stabilizing state feedback matrix.
+
+  LDF     INTEGER
+          The leading dimension of array F.  LDF &gt;= MAX(1,M).
+
+  G       (input) DOUBLE PRECISION array, dimension (LDG,P)
+          The leading N-by-P part of this array must contain a
+          stabilizing observer gain matrix.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  SCALEC  (output) DOUBLE PRECISION
+          Scaling factor for the controllability Grammian.
+          See METHOD.
+
+  SCALEO  (output) DOUBLE PRECISION
+          Scaling factor for the observability Grammian.
+          See METHOD.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Su of frequency-weighted
+          cotrollability Grammian P = Su*Su'. See METHOD.
+
+  LDS     INTEGER
+          The leading dimension of the array S.  LDS &gt;= MAX(1,N).
+
+  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper triangular part of this array
+          contains the Cholesky factor Ru of the frequency-weighted
+          observability Grammian Q = Ru'*Ru. See METHOD.
+
+  LDR     INTEGER
+          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N + MAX(N,M) + MIN(N,M) + 6)),
+                                                    if JOBCF = 'L';
+          LDWORK &gt;= MAX(1, N*(N + MAX(N,P) + MIN(N,P) + 6)),
+                                                    if JOBCF = 'R'.
+          For optimum performance LDWORK should be larger.
+          An upper bound for both cases is
+          LDWORK &gt;= MAX(1, N*(N + MAX(N,M,P) + 7)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  eigenvalue computation failure;
+          = 2:  the matrix A+G*C is not stable;
+          = 3:  the matrix A+B*F is not stable;
+          = 4:  the Lyapunov equation for computing the
+                observability Grammian is (nearly) singular;
+          = 5:  the Lyapunov equation for computing the
+                controllability Grammian is (nearly) singular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  In accordance with the type of the coprime factorization
+  of the controller (left or right), the Cholesky factors Su and Ru
+  of the frequency-weighted controllability Grammian P = Su*Su' and
+  of the frequency-weighted observability Grammian Q = Ru'*Ru are
+  computed by solving appropriate Lyapunov or Stein equations [1].
+
+  If JOBCF = 'L' and DICO = 'C', P and Q are computed as the
+  solutions of the following Lyapunov equations:
+
+         (A+B*F)*P + P*(A+B*F)' +  scalec^2*B*B' = 0,  (1)
+
+         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*F'*F = 0.  (2)
+
+  If JOBCF = 'L' and DICO = 'D', P and Q are computed as the
+  solutions of the following Stein equations:
+
+         (A+B*F)*P*(A+B*F)' - P +  scalec^2*B*B' = 0,  (3)
+
+         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*F'*F = 0.  (4)
+
+  If JOBCF = 'R' and DICO = 'C', P and Q are computed as the
+  solutions of the following Lyapunov equations:
+
+         (A+B*F)*P + P*(A+B*F)' +  scalec^2*G*G' = 0,  (5)
+
+         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*C'*C = 0.  (6)
+
+  If JOBCF = 'R' and DICO = 'D', P and Q are computed as the
+  solutions of the following Stein equations:
+
+         (A+B*F)*P*(A+B*F)' - P +  scalec^2*G*G' = 0,  (7)
+
+         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*C'*C = 0.  (8)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
+      Coprime factorization controller reduction with Bezout
+      identity induced frequency weighting.
+      Automatica, vol. 26, pp. 233-249, 1990.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG02AD.html b/doc/_static/doc/SG02AD.html
new file mode 100644
index 00000000..12cf8cdd
--- /dev/null
+++ b/doc/_static/doc/SG02AD.html
@@ -0,0 +1,639 @@
+<HTML>
+<HEAD><TITLE>SG02AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02AD">SG02AD</A></H2>
+<H3>
+Solution of continuous- or discrete-time algebraic Riccati equations for descriptor systems
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the continuous-time algebraic Riccati
+  equation
+                                -1
+     Q + A'XE + E'XA - (L+E'XB)R  (L+E'XB)' = 0 ,              (1)
+
+  or the discrete-time algebraic Riccati equation
+                                     -1
+     E'XE = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q ,         (2)
+
+  where A, E, B, Q, R, and L are N-by-N, N-by-N, N-by-M, N-by-N,
+  M-by-M and N-by-M matrices, respectively, such that Q = C'C,
+  R = D'D and L = C'D; X is an N-by-N symmetric matrix.
+  The routine also returns the computed values of the closed-loop
+  spectrum of the system, i.e., the stable eigenvalues
+  lambda(1),...,lambda(N) of the pencil (A - BF,E), where F is
+  the optimal gain matrix,
+          -1
+     F = R  (L+E'XB)' ,        for (1),
+
+  and
+                 -1
+     F = (R+B'XB)  (L+A'XB)' , for (2).
+                           -1
+  Optionally, matrix G = BR  B' may be given instead of B and R.
+  Other options include the case with Q and/or R given in a
+  factored form, Q = C'C, R = D'D, and with L a zero matrix.
+
+  The routine uses the method of deflating subspaces, based on
+  reordering the eigenvalues in a generalized Schur matrix pair.
+
+  It is assumed that E is nonsingular, but this condition is not
+  checked. Note that the definition (1) of the continuous-time
+  algebraic Riccati equation, and the formula for the corresponding
+  optimal gain matrix, require R to be nonsingular, but the
+  associated linear quadratic optimal problem could have a unique
+  solution even when matrix R is singular, under mild assumptions
+  (see METHOD). The routine SG02AD works accordingly in this case.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT, ACC,
+     $                   N, M, P, A, LDA, E, LDE, B, LDB, Q, LDQ, R,
+     $                   LDR, L, LDL, RCONDU, X, LDX, ALFAR, ALFAI,
+     $                   BETA, S, LDS, T, LDT, U, LDU, TOL, IWORK,
+     $                   DWORK, LDWORK, BWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
+      INTEGER           INFO, IWARN, LDA, LDB, LDE, LDL, LDQ, LDR, LDS,
+     $                  LDT, LDU, LDWORK, LDX, M, N, P
+      DOUBLE PRECISION  RCONDU, TOL
+C     .. Array Arguments ..
+      LOGICAL           BWORK(*)
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
+     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*),
+     $                  R(LDR,*), S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of Riccati equation to be solved as
+          follows:
+          = 'C':  Equation (1), continuous-time case;
+          = 'D':  Equation (2), discrete-time case.
+
+  JOBB    CHARACTER*1
+          Specifies whether or not the matrix G is given, instead
+          of the matrices B and R, as follows:
+          = 'B':  B and R are given;
+          = 'G':  G is given.
+
+  FACT    CHARACTER*1
+          Specifies whether or not the matrices Q and/or R (if
+          JOBB = 'B') are factored, as follows:
+          = 'N':  Not factored, Q and R are given;
+          = 'C':  C is given, and Q = C'C;
+          = 'D':  D is given, and R = D'D;
+          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
+
+  UPLO    CHARACTER*1
+          If JOBB = 'G', or FACT = 'N', specifies which triangle of
+          the matrices G, or Q and R, is stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
+          SLICOT Library routine SB02MT should be called just before
+          SG02AD, for obtaining the results when JOBB = 'G' and
+          JOBL = 'N'.
+
+  SCAL    CHARACTER*1
+          If JOBB = 'B', specifies whether or not a scaling strategy
+          should be used to scale Q, R, and L, as follows:
+          = 'G':  General scaling should be used;
+          = 'N':  No scaling should be used.
+          SCAL is not used if JOBB = 'G'.
+
+  SORT    CHARACTER*1
+          Specifies which eigenvalues should be obtained in the top
+          of the generalized Schur form, as follows:
+          = 'S':  Stable   eigenvalues come first;
+          = 'U':  Unstable eigenvalues come first.
+
+  ACC     CHARACTER*1
+          Specifies whether or not iterative refinement should be
+          used to solve the system of algebraic equations giving
+          the solution matrix X, as follows:
+          = 'R':  Use iterative refinement;
+          = 'N':  Do not use iterative refinement.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e., the order of the
+          matrices A, E, Q, and X, and the number of rows of the
+          matrices B and L.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs. If JOBB = 'B', M is the
+          order of the matrix R, and the number of columns of the
+          matrix B.  M &gt;= 0.
+          M is not used if JOBB = 'G'.
+
+  P       (input) INTEGER
+          The number of system outputs. If FACT = 'C' or 'D' or 'B',
+          P is the number of rows of the matrices C and/or D.
+          P &gt;= 0.
+          Otherwise, P is not used.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the descriptor system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N part of this array must contain the
+          matrix E of the descriptor system.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
+          If JOBB = 'B', the leading N-by-M part of this array must
+          contain the input matrix B of the system.
+          If JOBB = 'G', the leading N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array must contain the upper triangular part or
+          lower triangular part, respectively, of the matrix
+                -1
+          G = BR  B'. The strictly lower triangular part (if
+          UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
+          If FACT = 'N' or 'D', the leading N-by-N upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          state weighting matrix Q. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'C' or 'B', the leading P-by-N part of this
+          array must contain the output matrix C of the system.
+          If JOBB = 'B' and SCAL = 'G', then Q is modified
+          internally, but is restored on exit.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D';
+          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,*)
+          If FACT = 'N' or 'C', the leading M-by-M upper triangular
+          part (if UPLO = 'U') or lower triangular part (if UPLO =
+          'L') of this array must contain the upper triangular part
+          or lower triangular part, respectively, of the symmetric
+          input weighting matrix R. The strictly lower triangular
+          part (if UPLO = 'U') or strictly upper triangular part (if
+          UPLO = 'L') is not referenced.
+          If FACT = 'D' or 'B', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          If JOBB = 'B' and SCAL = 'G', then R is modified
+          internally, but is restored on exit.
+          If JOBB = 'G', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
+          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
+          LDR &gt;= 1        if JOBB = 'G'.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,*)
+          If JOBL = 'N' and JOBB = 'B', the leading N-by-M part of
+          this array must contain the cross weighting matrix L.
+          If JOBB = 'B' and SCAL = 'G', then L is modified
+          internally, but is restored on exit.
+          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
+          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
+
+  RCONDU  (output) DOUBLE PRECISION
+          If N &gt; 0 and INFO = 0 or INFO = 7, an estimate of the
+          reciprocal of the condition number (in the 1-norm) of
+          the N-th order system of algebraic equations from which
+          the solution matrix X is obtained.
+
+  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
+          If INFO = 0, the leading N-by-N part of this array
+          contains the solution matrix X of the problem.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
+  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
+  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
+          The generalized eigenvalues of the 2N-by-2N matrix pair,
+          ordered as specified by SORT (if INFO = 0, or INFO &gt;= 5).
+          For instance, if SORT = 'S', the leading N elements of
+          these arrays contain the closed-loop spectrum of the
+          system. Specifically,
+             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
+          k = 1,2,...,N.
+
+  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
+          The leading 2N-by-2N part of this array contains the
+          ordered real Schur form S of the first matrix in the
+          reduced matrix pencil associated to the optimal problem,
+          corresponding to the scaled Q, R, and L, if JOBB = 'B'
+          and SCAL = 'G'. That is,
+
+                 (S   S  )
+                 ( 11  12)
+             S = (       ),
+                 (0   S  )
+                 (     22)
+
+          where S  , S   and S   are N-by-N matrices.
+                 11   12      22
+          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
+          columns, otherwise.
+
+  LDS     INTEGER
+          The leading dimension of array S.
+          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B';
+          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
+          The leading 2N-by-2N part of this array contains the
+          ordered upper triangular form T of the second matrix in
+          the reduced matrix pencil associated to the optimal
+          problem, corresponding to the scaled Q, R, and L, if
+          JOBB = 'B' and SCAL = 'G'. That is,
+
+                 (T   T  )
+                 ( 11  12)
+             T = (       ),
+                 (0   T  )
+                 (     22)
+
+          where T  , T   and T   are N-by-N matrices.
+                 11   12      22
+
+  LDT     INTEGER
+          The leading dimension of array T.
+          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B';
+          LDT &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
+          The leading 2N-by-2N part of this array contains the right
+          transformation matrix U which reduces the 2N-by-2N matrix
+          pencil to the ordered generalized real Schur form (S,T).
+          That is,
+
+                 (U   U  )
+                 ( 11  12)
+             U = (       ),
+                 (U   U  )
+                 ( 21  22)
+
+          where U  , U  , U   and U   are N-by-N matrices.
+                 11   12   21      22
+          If JOBB = 'B' and SCAL = 'G', then U corresponds to the
+          scaled pencil. If a basis for the stable deflating
+          subspace of the original problem is needed, then the
+          submatrix U   must be multiplied by the scaling factor
+                     21
+          contained in DWORK(4).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used to test for near singularity of
+          the original matrix pencil, specifically of the triangular
+          M-by-M factor obtained during the reduction process. If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as a lower bound for the reciprocal condition number of
+          that matrix; a matrix whose estimated condition number is
+          less than 1/TOL is considered to be nonsingular. If the
+          user sets TOL &lt;= 0, then a default tolerance, defined by
+          TOLDEF = EPS, is used instead, where EPS is the machine
+          precision (see LAPACK Library routine DLAMCH).
+          This parameter is not referenced if JOBB = 'G'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (LIWORK)
+          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B';
+          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
+          reciprocal of the condition number of the M-by-M bottom
+          right lower triangular matrix obtained while compressing
+          the matrix pencil of order 2N+M to obtain a pencil of
+          order 2N. If ACC = 'R', and INFO = 0 or INFO = 7, DWORK(3)
+          returns the reciprocal pivot growth factor (see SLICOT
+          Library routine MB02PD) for the LU factorization of the
+          coefficient matrix of the system of algebraic equations
+          giving the solution matrix X; if DWORK(3) is much
+          less than 1, then the computed X and RCONDU could be
+          unreliable. If INFO = 0 or INFO = 7, DWORK(4) returns the
+          scaling factor used to scale Q, R, and L. DWORK(4) is set
+          to 1 if JOBB = 'G' or SCAL = 'N'.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G';
+          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
+          For optimum performance LDWORK should be larger.
+
+  BWORK   LOGICAL array, dimension (2*N)
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warning;
+          = 1:  the computed solution may be inaccurate due to poor
+                scaling or eigenvalues too close to the boundary of
+                the stability domain (the imaginary axis, if
+                DICO = 'C', or the unit circle, if DICO = 'D').
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the computed extended matrix pencil is singular,
+                possibly due to rounding errors;
+          = 2:  if the QZ algorithm failed;
+          = 3:  if reordering of the generalized eigenvalues failed;
+          = 4:  if after reordering, roundoff changed values of
+                some complex eigenvalues so that leading eigenvalues
+                in the generalized Schur form no longer satisfy the
+                stability condition; this could also be caused due
+                to scaling;
+          = 5:  if the computed dimension of the solution does not
+                equal N;
+          = 6:  if the spectrum is too close to the boundary of
+                the stability domain;
+          = 7:  if a singular matrix was encountered during the
+                computation of the solution matrix X.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine uses a variant of the method of deflating subspaces
+  proposed by van Dooren [1]. See also [2], [3], [4].
+  It is assumed that E is nonsingular, the triple (E,A,B) is
+  strongly stabilizable and detectable (see [3]); if, in addition,
+
+     -    [ Q   L ]
+     R := [       ] &gt;= 0 ,
+          [ L'  R ]
+
+  then the pencils
+
+        discrete-time                   continuous-time
+
+  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
+  |Q  -E'  L| - z |0  -A'  0| ,  |Q   A'  L| - s |0  -E'  0| ,   (3)
+  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
+
+  are dichotomic, i.e., they have no eigenvalues on the boundary of
+  the stability domain. The above conditions are sufficient for
+  regularity of these pencils. A necessary condition is that
+  rank([ B'  L'  R']') = m.
+
+  Under these assumptions the algebraic Riccati equation is known to
+  have a unique non-negative definite solution.
+  The first step in the method of deflating subspaces is to form the
+  extended matrices in (3), of order 2N + M. Next, these pencils are
+  compressed to a form of order 2N (see [1])
+
+     lambda x A  - B .
+               f    f
+
+  This generalized eigenvalue problem is then solved using the QZ
+  algorithm and the stable deflating subspace Ys is determined.
+  If [Y1'|Y2']' is a basis for Ys, then the required solution is
+                    -1
+         X = Y2 x Y1  .
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      A Generalized Eigenvalue Approach for Solving Riccati
+      Equations.
+      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
+
+  [2] Arnold, III, W.F. and Laub, A.J.
+      Generalized Eigenproblem Algorithms and Software for
+      Algebraic Riccati Equations.
+      Proc. IEEE, 72, 1746-1754, 1984.
+
+  [3] Mehrmann, V.
+      The Autonomous Linear Quadratic Control Problem. Theory and
+      Numerical Solution.
+      Lect. Notes in Control and Information Sciences, vol. 163,
+      Springer-Verlag, Berlin, 1991.
+
+  [4] Sima, V.
+      Algorithms for Linear-Quadratic Optimization.
+      Pure and Applied Mathematics: A Series of Monographs and
+      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  This routine is particularly suited for systems where the matrix R
+  is ill-conditioned, or even singular.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  To obtain a stabilizing solution of the algebraic Riccati
+  equations set SORT = 'S'.
+
+  The routine can also compute the anti-stabilizing solutions of
+  the algebraic Riccati equations, by specifying SORT = 'U'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG02AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2M, NMAX2, NMMAX
+      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX,
+     $                   NMMAX  = MAX(NMAX,MMAX) )
+      INTEGER          LDA, LDB, LDE, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDE = NMAX, LDL = NMAX,
+     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
+     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
+     $                   LDX = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX,2*NMAX+MMAX,
+     $                                3*MMAX) )
+      INTEGER          LBWORK
+      PARAMETER        ( LBWORK = NMAX2 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCONDU, TOL
+      INTEGER          I, INFO, IWARN, J, M, N, P
+      CHARACTER*1      ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
+      LOGICAL          LJOBB
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX),  ALFAI(NMAX2),  ALFAR(NMAX2),
+     $                 B(LDB,NMMAX), BETA(NMAX2),   DWORK(LDWORK),
+     $                 E(LDE,NMAX),  L(LDL,MMAX),   Q(LDQ,NMAX),
+     $                 R(LDR,MMAX),  S(LDS,NMAX2M), T(LDT,NMAX2),
+     $                 U(LDU,NMAX2), X(LDX,NMAX)
+      INTEGER          IWORK(LIWORK)
+      LOGICAL          BWORK(LBWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SG02AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
+     $                      SCAL, SORT, ACC
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) M
+         ELSE
+            LJOBB = LSAME( JOBB, 'B' )
+            IF ( LJOBB ) THEN
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
+            END IF
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99993 ) P
+            ELSE
+               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
+               END IF
+               IF ( LJOBB ) THEN
+                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
+                  ELSE
+                      READ ( NIN, FMT = * )
+     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
+                  END IF
+                  IF ( LSAME( JOBL, 'N' ) )
+     $                READ ( NIN, FMT = * )
+     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
+               END IF
+*              Find the solution matrix X.
+               CALL SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT,
+     $                      ACC, N, M, P, A, LDA, E, LDE, B, LDB, Q,
+     $                      LDQ, R, LDR, L, LDL, RCONDU, X, LDX, ALFAR,
+     $                      ALFAI, BETA, S, LDS, T, LDT, U, LDU, TOL,
+     $                      IWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG02AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SG02AD = ',I2)
+99997 FORMAT (' The solution matrix X is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG02AD EXAMPLE PROGRAM DATA
+   2     1     3     0.0     C     B     B     U     Z     N     S     N
+   0.0  1.0
+   0.0  0.0
+   1.0  0.0
+   0.0  1.0
+   0.0
+   1.0
+   1.0  0.0
+   0.0  1.0
+   0.0  0.0
+   0.0
+   0.0
+   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG02AD EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.7321   1.0000
+   1.0000   1.7321
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG02CV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02CV">SG02CV</A></H2>
+<H3>
+Computation of residual matrix for a continuous-time or discrete-time reduced Lyapunov equation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the residual matrix R for a continuous-time or
+  discrete-time "reduced" Lyapunov equation, using the formulas
+
+     R = op(A)'*X + X*op(A) + Q,
+  or
+     R = op(A)'*X*op(E) + op(E)'*X*op(A) + Q,
+
+  in the continuous-time case, or the formulas
+
+     R = op(A)'*X*op(A) - X + Q,
+  or
+     R = op(A)'*X*op(A) - op(E)'*X*op(E) + Q,
+
+  in the discrete-time case, where X and Q are symmetric matrices,
+  A is in upper real Schur form, E is upper triangular, and op(W) is
+
+     op(W) = W   or   op(W) = W'.
+
+  Optionally, the Frobenius norms of the product terms defining the
+  denominator of the relative residual are also computed. The norms
+  of Q and X are not computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02CV( DICO, JOB, JOBE, UPLO, TRANS, N, A, LDA, E,
+     $                   LDE, X, LDX, R, LDR, NORMS, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, JOB, JOBE, TRANS, UPLO
+      INTEGER           INFO, LDA, LDE, LDR, LDWORK, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), NORMS(*),
+     $                  R(LDR,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the Lyapunov equation, as follows:
+          = 'C':  continuous-time Lyapunov equation;
+          = 'D':  discrete-time Lyapunov equation.
+
+  JOB     CHARACTER*1
+          Specifies which results must be computed, as follows:
+          = 'R':  The matrix R only must be computed;
+          = 'N':  The matrix R and the norms must be computed;
+          = 'B':  The matrix R and the norms must be computed.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices X and
+          Q are given, as follows:
+          = 'U':  The upper triangular part is given;
+          = 'L':  The lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the formulas
+          above, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, Q, X, and R.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper part of this array must contain
+          the upper real Schur matrix A.
+          If TRANS = 'N' and (DICO = 'D' or (JOB = 'R' and
+          JOBE = 'G')), the entries 3, 4,..., N of the first column
+          are modified internally, but are restored on exit.
+          Otherwise, the part of this array below the first
+          subdiagonal is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G', the leading N-by-N upper triangular part of
+          this array must contain the upper triangular matrix E.
+          The strictly lower triangular part of this array is not
+          referenced.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if UPLO = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the symmetric matrix X and the strictly
+          lower triangular part of the array is not referenced.
+          On entry, if UPLO = 'L', the leading N-by-N lower
+          triangular part of this array must contain the lower
+          triangular part of the symmetric matrix X and the strictly
+          upper triangular part of the array is not referenced.
+          If DICO = 'D' or (JOB = 'R' and JOBE = 'G'), the diagonal
+          elements of this array are modified internally, but they
+          are restored on exit.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
+          On entry, the leading N-by-N upper or lower triangular
+          part (depending on UPLO) of this array must contain the
+          upper or lower triangular part, respectively, of the
+          matrix Q. The other strictly triangular part is not
+          referenced.
+          On exit, the leading N-by-N upper or lower triangular
+          part (depending on UPLO) of this array contains the upper
+          or lower triangular part, respectively, of the matrix R.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
+          If JOB = 'N' or JOB = 'B', LN = 1 or 2, if (DICO = 'C' or
+          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
+          If DICO = 'C',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
+          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G'.
+          If DICO = 'D',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X*op(A);
+          if JOBE = 'G', NORMS(2) contains the Frobenius norm of the
+          matrix op(E)'*X*op(E).
+          If JOB &lt;&gt; 'N', this array is not referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -17 or if LDWORK = -2 on input, then
+          DWORK(1) returns the minimum value of LDWORK.
+          On exit, if INFO = 0, or if LDWORK = -1 on input, then
+          DWORK(1) returns the optimal value of LDWORK.
+
+  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
+          specified in the following table, where
+             a = 1, if JOBE = 'G';
+             a = 0, if JOBE = 'I'.
+
+          DICO   JOB             v
+          ----------------------------
+          'C'    'R'           a*N*N
+          'C'    'N','B'         N*N
+          ----------------------------
+          'D'    'R'             N*N
+          'D'    'N','B'       2*N*N
+          ----------------------------
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expressions are efficiently evaluated, using symmetry.
+  If JOB = 'N' or JOB = 'B', then:
+  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), are
+  efficiently computed.
+  If DICO = 'D', the matrices op(A)'*X*op(A) and op(E)'*X*op(E), if
+  JOBE = 'G', are efficiently computed. The results are used to
+  evaluate R and the norms.
+  If JOB = 'R', then the needed parts of the intermediate results
+  are obtained and used to evaluate R.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The calculations are backward stable.
+
+  The algorithm requires approximately a*N^3 operations, where ^
+  denotes the power operator, and
+
+     a = 1,      if DICO = 'C' and JOB &lt;&gt; 'R' and JOBE = 'G';
+     a = 1/2,    otherwise.
+
+  An "operation" includes a multiplication, an addition, and some
+  address calculations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG02CW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02CW">SG02CW</A></H2>
+<H3>
+Residual of continuous- or discrete-time (generalized) algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the residual matrix R for a continuous-time or
+  discrete-time Riccati equation and/or the "closed-loop system"
+  matrix op(C), using the formulas
+
+     R = op(A)'*X + X*op(A) +/- X*G*X + Q,
+     C = op(A) +/- G*X,
+  or
+     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q,
+     C = op(A) +/- G*X*op(E),
+  or
+     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- H*K + Q,
+     C = op(A) +/- B*K,
+
+  in the continuous-time case, or the formulas
+
+     R = op(A)'*X*op(A) - X +/- op(A)'*X*G*X*op(A) + Q,
+     C = op(A) +/- G*X*op(A),
+  or
+     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- op(A)'*X*G*X*op(A) + Q,
+     C = op(A) +/- G*X*op(A),
+  or
+     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- H*K + Q,
+     C = op(A) +/- B*K,
+
+  in the discrete-time case, where X, G, and Q are symmetric
+  matrices, A, E, H, K, B are general matrices, and op(W) is one of
+
+     op(W) = W   or   op(W) = W'.
+                                                  _-1
+  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
+                  _-1
+  matrix D, D = B*L  , such that G = D*D', may be given on entry.
+             _       _   _  _
+  The matrix R, with R = L'*L, is a weighting matrix of the optimal
+                                   _            _
+  problem, if DICO = 'C', or it is R = B'*X*B + Rd, if DICO = 'D',
+       _                              _                         _
+  with Rd a similar weighting matrix; L is a Cholesky factor of R,
+     _                          _
+  if R is positive definite. If R is not positive definite, which
+  may happen in the discrete-time case, a UdU' or LdL' factorization
+  is used to compute the matrices H and K. If M = 0, the residual
+  matrix of a (generalized) Lyapunov or Stein equation is computed.
+  To this end, set JOBG = 'D' and JOB = 'R' (since op(C) = A in this
+  case).
+
+  Optionally, the quadratic term in the formulas for R is specified
+  as H*K, where
+
+     H = L + op(E)'*X*B,  if DICO = 'C', or
+     H = L + op(A)'*X*B,  if DICO = 'D', and
+         _-1
+     K = R *H',
+
+  with L an N-by-M matrix. This is useful, e.g., for DICO = 'D',
+                     _                     _
+  when L &lt;&gt; 0 and/or Rd is singular, hence R might be numerically
+  indefinite; it might be indefinite in the first iterations of
+  Newton's algorithm. Depending on JOB, part or all of the matrices
+  H, K, and B should be given in such a case.
+     _
+  If R is positive definite, the quadratic term can be specified
+  as F*F', and the second term in the formulas for C is D*F', where
+           _-1
+     F = H*L .
+
+  The matrices F and/or D should be given. This option is not useful
+  when L = 0, unless F and D are available. If DICO = 'C', the
+  computational problem with L &lt;&gt; 0 is equivalent with one with
+  L = 0 after replacing
+                _-1                 _-1
+     A := A - B*R* L',   Q := Q - L*R* L'.
+                       _             _
+  These formulas, with R replaced by Rd, can also be used in the
+                         _
+  discrete-time case, if Rd is nonsingular and well-conditioned with
+  respect to inversion.
+
+  Optionally, the Frobenius norms of the product terms defining the
+  denominator of the relative residual are also computed. The norms
+  of Q and X are not computed.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02CW( DICO, JOB, JOBE, FLAG, JOBG, UPLO, TRANS, N, M,
+     $                   A, LDA, E, LDE, G, LDG, X, LDX, F, LDF, K, LDK,
+     $                   XE, LDXE, R, LDR, C, LDC, NORMS, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FLAG, JOB, JOBE, JOBG, TRANS, UPLO
+      INTEGER           INFO, LDA, LDC, LDE, LDF, LDG, LDK, LDR, LDWORK,
+     $                  LDX, LDXE, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), E(LDE,*),
+     $                  F(LDF,*), G(LDG,*), K(LDK,*), NORMS(*),
+     $                  R(LDR,*), X(LDX,*), XE(LDXE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the Riccati equation, as follows:
+          = 'C':  continuous-time algebraic Riccati equation;
+          = 'D':  discrete-time algebraic Riccati equation.
+
+  JOB     CHARACTER*1
+          Specifies which results must be computed, as follows:
+          = 'A':  Both (all) matrices R and C must be computed;
+          = 'R':  The matrix R only must be computed;
+          = 'C':  The matrix C only must be computed;
+          = 'N':  The matrices R and C and the norms must be
+                  computed;
+          = 'B':  The matrix R and the norms must be computed.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  FLAG    CHARACTER*1
+          Specifies which sign is used, as follows:
+          = 'P':  The plus sign is used;
+          = 'M':  The minus sign is used.
+
+  JOBG    CHARACTER*1
+          Specifies how the quadratic term in the formulas for R is
+          defined, as follows:
+          = 'G':  The matrix G is given;
+          = 'D':  The matrix D is given;
+          = 'F':  The matrix F is given;
+          = 'H':  The matrices H and K are given.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices X, G
+          (if JOBG = 'G'), and Q (if JOB &lt;&gt; 'C') are given, as
+          follows:
+          = 'U':  The upper triangular part is given;
+          = 'L':  The lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the formulas
+          above, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, Q, X, C and R.  N &gt;= 0.
+
+  M       (input) INTEGER
+          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
+          F, and/or B, H, and K'.  M &gt;= 0.
+          If JOBG = 'G', the value of M is meaningless.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G' and (JOB &lt;&gt; 'C' or (DICO = 'C' and
+          (JOBG = 'G' or JOBG = 'D'))), the leading N-by-N part of
+          this array must contain the matrix E.
+          If JOBE = 'I' or (JOB = 'C' and (DICO = 'D' or
+          JOBG = 'F' or JOBG = 'H')), this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOB &lt;&gt; 'C' or
+                             (DICO = 'C' and (JOBG = 'G' or
+                                              JOBG = 'D')));
+          LDE &gt;= 1,        if JOBE = 'I'  or (JOB  = 'C' and
+                             (DICO = 'D'  or  JOBG = 'F' or
+                                              JOBG = 'H')).
+
+  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
+          If JOBG = 'G', the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array must
+          contain the upper or lower triangular part, respectively,
+          of the matrix G. The other strictly triangular part is not
+          referenced. If DICO = 'D', (JOB = 'R' or JOB = 'B'), and
+          JOBG = 'G', the diagonal elements of this array are
+          modified internally, but are restored on exit.
+          If JOBG = 'D' or (JOBG = 'F' and JOB &lt;&gt; 'R' and
+          JOB &lt;&gt; 'B'), the leading N-by-M part of this array must
+          contain the matrix D, so that G = D*D'.
+          If JOBG = 'H' and JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B', the leading
+          N-by-M part of this array must contain the matrix B.
+          If (JOBG = 'F' or JOBG = 'H') and JOB = 'R' or JOB = 'B',
+          this array is not referenced.
+
+  LDG     INTEGER
+          The leading dimension of array G.
+          LDG &gt;= MAX(1,N), if  JOBG = 'G' or  JOBG = 'D' or
+                              (JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B');
+          LDG &gt;= 1,        if (JOBG = 'F' or JOBG = 'H') and
+                              (JOB  = 'R' or JOB  = 'B').
+
+  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
+          The leading N-by-N part of this array must contain the
+          symmetric matrix X, and it is unchanged on exit.
+          If DICO = 'D', JOBE = 'G' and JOB &lt;&gt; 'C', the diagonal
+          elements of this array are modified internally, but they
+          are restored on exit.
+          The full matrix X should be input if DICO = 'C',
+          JOBE = 'I', and the conditions in the lines of the table
+          below are satisfied
+
+             JOBG     JOB             LDWORK
+          ----------------------------------------------
+            'F','H'  'A','R'          LDWORK &lt;   N*N
+              'G'    'A','R','N'      LDWORK &lt; 2*N*N
+              'G'      'C'            LDWORK &lt;   N*N
+              'G'      'B'            LDWORK &lt; 3*N*N
+              'D'      'R'     (M&lt;=N, LDWORK &lt;   N*N) or
+                               (M&gt; N, LDWORK &lt; 3*N*N)
+              'D'      'A'     (M&lt;=N, LDWORK &lt;   N*N) or
+                                     (LDWORK &gt;=  N*N and
+                                      LDWORK &lt; 2*N*N)
+          ----------------------------------------------
+
+          For all the other cases, including when the optimal length
+          of the workspace array DWORK is used, only the relevant
+          upper or lower triangular part (depending on UPLO) of this
+          array must be input, and the other strictly triangular
+          part is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  F       (input) DOUBLE PRECISION array, dimension (LDF,*)
+          If JOBG = 'F', the leading N-by-M part of this array must
+          contain the matrix F.
+          If JOBG = 'H', the leading N-by-M part of this array must
+          contain the matrix H.
+          If JOBG = 'G' or JOBG = 'D', this array is not referenced.
+
+  LDF     INTEGER
+          The leading dimension of array F.
+          LDF &gt;= MAX(1,N), if JOBG = 'F' or JOBG = 'H';
+          LDF &gt;= 1,        if JOBG = 'G' or JOBG = 'D'.
+
+  K       (input) DOUBLE PRECISION array, dimension (LDK,*)
+          If JOBG = 'H', the leading M-by-N part of this array must
+          contain the matrix K.
+          If JOBG &lt;&gt; 'H', this array is not referenced.
+
+  LDK     INTEGER
+          The leading dimension of array K.
+          LDK &gt;= MAX(1,M), if JOBG =  'H';
+          LDK &gt;= 1,        if JOBG &lt;&gt; 'H'.
+
+  XE      (input) DOUBLE PRECISION array, dimension (LDXE,*)
+          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', DICO = 'C', and
+          JOBE = 'G', the leading N-by-N part of this array must
+          contain the matrix product X*E, if TRANS = 'N', or E*X, if
+          TRANS = 'T' or 'C'.
+          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', and DICO = 'D',
+          the leading N-by-N part of this array must contain the
+          matrix product X*A, if TRANS = 'N', or A*X, if TRANS = 'T'
+          or 'C'.
+          These matrix products are needed for computing F or H.
+          If JOBG = 'G' or JOBG = 'D' or JOB = 'C' or (DICO = 'C'
+          and JOBE = 'I') this array is not referenced.
+
+  LDXE    INTEGER
+          The leading dimension of array XE.
+          LDXE &gt;= MAX(1,N), if (JOBG = 'F' or JOBG = 'H'),
+                            JOB &lt;&gt; 'C', and either DICO = 'C' and
+                            JOBE = 'G', or DICO = 'D';
+          LDXE &gt;= 1,        if JOBG = 'G' or JOBG = 'D' or JOB = 'C'
+                            or (DICO = 'C' and JOBE = 'I').
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
+          On entry, if JOB &lt;&gt; 'C', the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array must
+          contain the upper or lower triangular part, respectively,
+          of the matrix Q. The other strictly triangular part is not
+          referenced.
+          On exit, if JOB &lt;&gt; 'C' and INFO = 0, the leading N-by-N
+          upper or lower triangular part (depending on UPLO) of this
+          array contains the upper or lower triangular part,
+          respectively, of the matrix R.
+          If JOB = 'C', this array is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.
+          LDR &gt;= MAX(1,N), if JOB &lt;&gt; 'C';
+          LDR &gt;= 1,        if JOB =  'C'.
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,*)
+          If JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B' and INFO = 0, the leading
+          N-by-N part of this array contains the matrix op(C).
+          If JOB = 'R' or JOB = 'B', this array is not referenced.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,N), if JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B';
+          LDC &gt;= 1,        if JOB =  'R' or  JOB =  'B'.
+
+  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
+          If JOB = 'N' or JOB = 'B', LN = 2 or 3, if (DICO = 'C' or
+          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
+          If DICO = 'C',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
+          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G';
+          NORMS(2) contains the Frobenius norm of the matrix
+          product X*G*X, if JOBE = 'I', or of the matrix product
+          V = op(E)'*X*G*X*op(E), if JOBE = 'G' (for JOBG = 'G' or
+          JOBG = 'D'), or of V = F*F', if JOBG = 'F', or of V = H*K,
+          if JOBG = 'H'.
+          If DICO = 'D',
+          NORMS(1) contains the Frobenius norm of the matrix
+          op(A)'*X*op(A);
+          NORMS(2) contains the Frobenius norm of the matrix product
+          V = op(A)'*X*G*X*op(A), if JOBG = 'G' or JOBG = 'D', or of
+          V = F*F', if JOBG = 'F', or of V = H*K, if JOBG = 'H';
+          if JOBE = 'G', NORMS(3) contains the Frobenius norm of the
+          matrix product op(E)'*X*op(E).
+          If JOB &lt;&gt; 'N' and JOB &lt;&gt; 'B', this array is not
+          referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = -30, or if LDWORK = -2 on input, then
+          DWORK(1) returns the minimum value of LDWORK.
+          On exit, if INFO = 0, or if LDWORK = -1 on input, then
+          DWORK(1) returns the optimal value of LDWORK.
+
+  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
+          specified in the following table, where
+             a = 1, if JOBE = 'G';
+             a = 0, if JOBE = 'I'.
+
+          DICO     JOBG     JOB             v
+          -----------------------------------------------
+          'C'    'F','H' 'A','C','R'         0
+          'C'    'F','H'    'N'           a*N*N
+          'C'    'F','H'    'B'             N*N
+          'C'      'G'    'A','C'         a*N*N
+          'C'      'G'    'N','R'     (a+1)*N*N
+          'C'      'G'      'B'       (a+2)*N*N
+          'C'      'D'      'A'       N*MIN(M,(a+1)*N)
+          'C'      'D'      'C'         N*MIN(N,M)
+          'C'      'D'      'N'       N*(N+MIN(a*N,M))
+          'C'      'D'      'B'     N*(N+MIN(N+a*N,M))
+          'C'      'D'      'R'     N*MIN(a*N+M,(a+2)*N)
+          -----------------------------------------------
+          'D'    'F','H'  'A','C'           0
+          'D'    'F','H'  'N','R'         a*N*N
+          'D'    'F','H'    'B'       (a+1)*N*N
+          'D'      'G'    'A','C'           N*N
+          'D'      'G'    'N','R'         2*N*N
+          'D'      'G'      'B'           3*N*N
+          'D'      'D'    'A','N'   N*MIN(MAX(N,M),2*N)
+          'D'      'D'      'B'      N*(N+MAX(N,M))
+          'D'      'D'      'C'         N*MIN(N,M)
+          'D'      'D'      'R'       N*MIN(3*N,N+M)
+          -----------------------------------------------
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+          This evaluation assumes that only the specified triangle
+          of the array X is always used, and the other strict
+          triangle is not referenced.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+          This evaluation assumes that full matrix is given in the
+          array X, when needed (see the table at the description of
+          the array X).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix expressions are efficiently evaluated, using symmetry,
+  common matrix subexpressions, and proper order of matrix
+  multiplications.
+  If JOB = 'N' or JOB = 'B', then:
+  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), and
+  V = op(E)'*X*G*X*op(E) or V = F*F' or V = H*K, are efficiently
+  computed.
+  If DICO = 'D', the matrices op(A)'*X*op(A), V = op(A)'*X*G*X*op(A)
+  or V = F*F' or V = H*K, and op(E)'*X*op(E), if JOBE = 'G', are
+  efficiently computed. The results are used to evaluate R, op(C)
+  (if JOB = 'N'), and the norms.
+  If JOB &lt;&gt; 'N', then the needed parts of the intermediate results
+  are obtained and used to evaluate R and/or op(C).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The calculations are backward stable.
+                                             3     2
+  The algorithm requires approximately (a+b)N  + cN M operations,
+  where,
+    a = 0,    if JOBE = 'I',
+    a = 1,    if JOBE = 'G' and (DICO = 'C' or
+                                (DICO = 'D' and JOB = 'C')),
+    a = 1.5,  if JOBE = 'G' and  DICO = 'D',
+  and b and c are implicitly defined below. Specifically, the effort
+  is approximately as follows (using ^ to denote the power operator)
+
+  For DICO = 'C':
+
+  JOBG                      JOB
+            C                R                 A, N, B
+  'G'  (a+1)*N^3    (a+2)*N^3              (a+2)*N^3,(a+2.5)*N^3
+  'D'  (a+2)*N^2*M  (a+1)*N^3+1.5*N^2*M    (a+1)*N^3+2.5*N^2*M
+  'F','H'    N^2*M        N^3+0.5*N^2*M        N^3+1.5*N^2*M
+
+  For DICO = 'D':
+
+  JOBG                      JOB
+            C                R                 A, N, B
+  'G'      2*N^3    (a+3  )*N^3            (a+3  )*N^3
+  'D'      3*N^2*M  (a+1.5)*N^3+1.5*N^2*M  (a+1.5)*N^3+2.5*N^2*M
+  'F','H'  N^2*M    (a+0.5)*N^3+0.5*N^2*M  (a+0.5)*N^3+1.5*N^2*M
+
+  For JOBG &lt;&gt; 'G' and JOB = 'B', the effort reduces by N^2*M in
+  both tables.
+
+  An "operation" includes a multiplication, an addition, and some
+  address calculations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG02CX.html b/doc/_static/doc/SG02CX.html
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+<HTML>
+<HEAD><TITLE>SG02CX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02CX">SG02CX</A></H2>
+<H3>
+Line search parameter minimizing the residual of (generalized) continuous- or discrete-time algebraic Riccati equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the line search parameter alpha minimizing the Frobenius
+  norm (in a MATLAB-style notation)
+
+     P(alpha) := norm(R(X+alpha*S), 'fro')
+               = norm((1-alpha)*R(X) +/- alpha^2*V, 'fro'),
+
+  where R(X) is the residual of a (generalized) continuous-time
+  algebraic Riccati equation
+
+     0 = op(A)'*X + X*op(A) +/- X*G*X + Q  =:  R(X),
+  or
+     0 = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q
+       =:  R(X),
+
+  V = op(E)'*S*G*S*op(E), and op(W) is either W or W'. The matrix S
+  is the Newton step.
+                                                  _-1
+  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
+                   -1
+  matrix D, D = B*L  , such that G = D*D', may be given on entry.
+             _  _
+  The matrix R, R = L'*L, is a weighting matrix of the optimal
+  problem, and L is its (Cholesky) factor.
+
+  Optionally, V is specified as V = H*K, or V = F*F', but F or H and
+  K must be evaluated in S. See the SLICOT Library routine SG02CW
+  description for more details.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02CX( JOBE, FLAG, JOBG, UPLO, TRANS, N, M, E, LDE, R,
+     $                   LDR, S, LDS, G, LDG, ALPHA, RNORM, DWORK,
+     $                   LDWORK, IWARN, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         FLAG, JOBE, JOBG, TRANS, UPLO
+      INTEGER           INFO, IWARN, LDE, LDG, LDR, LDS, LDWORK, M, N
+      DOUBLE PRECISION  ALPHA, RNORM
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), E(LDE,*), G(LDG,*), R(LDR,*), S(LDS,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  FLAG    CHARACTER*1
+          Specifies which sign is used, as follows:
+          = 'P':  The plus sign is used;
+          = 'M':  The minus sign is used.
+
+  JOBG    CHARACTER*1
+          Specifies how the matrix product V is defined, as follows:
+          = 'G':  The matrix G is given:  V = op(E)'*S*G*S*op(E);
+          = 'D':  The matrix D is given:  V = op(E)'*S*D*D'*S*op(E);
+          = 'F':  The matrix F is given:           V = F*F';
+          = 'H':  The matrices H and K are given:  V = H*K.
+
+  UPLO    CHARACTER*1
+          Specifies which triangles of the symmetric matrices R, G,
+          if JOBG = 'G', and S, if JOBG = 'G' or JOBG = 'D', are
+          given, as follows:
+          = 'U':  The upper triangular part is given;
+          = 'L':  The lower triangular part is given.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices E, R, and S.  N &gt;= 0.
+
+  M       (input) INTEGER
+          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
+          F, or K'.  M &gt;= 0.
+          If JOBG = 'G', the value of M is meaningless.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G' and (JOBG = 'G' or JOBG = 'D'), the leading
+          N-by-N part of this array must contain the matrix E.
+          If JOBE = 'I' or JOBG = 'F' or JOBG = 'H', this array is
+          not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOBG = 'G' or
+                                              JOBG = 'D');
+          LDE &gt;= 1,        if JOBE = 'I'  or  JOBG = 'F' or
+                                              JOBG = 'H'.
+
+  R       (input) DOUBLE PRECISION array, dimension (LDR,N)
+          The leading N-by-N upper or lower triangular part
+          (depending on UPLO) of this array must contain the upper
+          or lower triangular part, respectively, of the matrix
+          R(X), the residual of the algebraic Riccati equation.
+          The other strictly triangular part is not referenced.
+
+  LDR     INTEGER
+          The leading dimension of array R.  LDR &gt;= MAX(1,N).
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,*)
+          If JOBG = 'G' or JOBG = 'D', the leading N-by-N part of
+          this array must contain the symmetric Newton step
+          matrix S. If JOBE = 'I', the full matrix must be given.
+          Otherwise, it is sufficient to input only the triangular
+          part specified by UPLO, and the remaining strictly
+          triangular part is not referenced.
+          If JOBG = 'F', this array is not referenced.
+          If JOBG = 'H', the leading M-by-N part of this array must
+          contain the matrix K.
+
+  LDS     INTEGER
+          The leading dimension of array S.
+          LDS &gt;= MAX(1,N), if JOBG =  'G' or JOBG =  'D';
+          LDS &gt;= 1,        if JOBG =  'F';
+          LDS &gt;= MAX(1,M), if JOBG =  'H'.
+
+  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
+          If JOBG = 'G', the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array must
+          contain the upper or lower triangular part, respectively,
+          of the matrix G. The other strictly triangular part is not
+          referenced. The diagonal elements of this array are
+          modified internally, but are restored on exit.
+          If JOBG = 'D', the leading N-by-M part of this array must
+          contain the matrix D, so that G = D*D'.
+          If JOBG = 'F', the leading N-by-M part of this array must
+          contain the matrix F.
+          If JOBG = 'H', leading N-by-M part of this array must
+          contain the matrix H.
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,N).
+
+  ALPHA   (output) DOUBLE PRECISION
+          If INFO = 0, ALPHA contains the real number alpha which
+          minimizes  P(alpha) = norm(R(X+alpha*S), 'fro') in the
+          interval [0,2].
+          If INFO = 1 or IWARN = 2, ALPHA is set equal to 1.
+
+  RNORM   (output) DOUBLE PRECISION
+          On exit, if INFO &gt;= 0, RNORM contains the Frobenius norm
+          of the residual R(X+alpha*S).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if LDWORK = -1 on input, then DWORK(1) returns
+          the optimal value of LDWORK.
+          On exit, if LDWORK = -2 on input or INFO = -19, then
+          DWORK(1) returns the minimal value of LDWORK.
+          On exit, if INFO = 0, the leading N-by-N upper or lower
+          triangular part (depending on UPLO) of this array contains
+          the corresponding triangular part of the matrix V.
+
+  LDWORK  The length of the array DWORK.
+          LDWORK &gt;= N*N + MAX( 2*N*N, 51 ),
+                                    if JOBG = 'G' and JOBE = 'G';
+          LDWORK &gt;= N*N + MAX( N*N, 51 ),
+                                    if JOBG = 'G' and JOBE = 'I',
+                                    or JOBG = 'F', or JOBG = 'H';
+          LDWORK &gt;= N*N + MAX( MAX( N*N, 51 ), MIN( 2*N*N, N*M ) ),
+                                    if JOBG = 'D' and JOBE = 'G';
+          LDWORK &gt;= N*N + MAX( N*N, N*M, 51 ),
+                                    if JOBG = 'D' and JOBE = 'I'.
+          For M &lt;= N, the last two formulas simplify to
+          LDWORK &gt;= N*N + MAX( N*N, 51).
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Warning Indicator</B>
+<PRE>
+  IWARN   INTEGER
+          = 0:  no warnings;
+          = 2:  no optimal line search parameter t := alpha in [0,2]
+                was found; t = 1 was set.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -k, the k-th argument had an illegal
+                value;
+          = 1:  an error occurred during the call of the SLICOT
+                Library routine MC01XD: the eigenvalues computation
+                for the 3-by-3 (generalized) eigenproblem failed.
+                ALPHA and RNORM are set as specified above.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix V is computed with the suitable formula, and used to
+  set up a third order polynomial whose roots in [0,2], if any, are
+  candidates for the solution of the minimum residual problem.
+  The roots of the polynomial are computed by solving an equivalent
+  3-by-3 (generalized) eigenproblem.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Benner, P.
+      Contributions to the Numerical Solution of Algebraic
+      Riccati Equations and Related Eigenvalue Problems.
+      Fakultat fur Mathematik, Technische Universitat Chemnitz-
+      Zwickau, D-09107 Chemnitz, Germany, Feb. 1997.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The calculations are backward stable. The computational effort is
+  of the order of c*N**2*M operations. Here, M = N, if JOBG = 'G',
+  and the coefficient c varies between 0.5 and 2.5, depending on
+  JOBE and JOBG. (An "operation" includes a multiplication, an
+  addition, and some address calculations.)
+  The computed value of norm(R(X+alpha*S),'fro'), returned in RNORM,
+  could be inaccurate if R(X) is small, since then subtraction
+  cancellation could appear in the updating formula which is used.
+  (This can happen, e.g., when solving a Riccati equation by
+  Newton's method with line search, since then the sequence of R(.)
+  tends to zero.) In such a case, it is better to recompute the
+  residual from the data.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The routine does not ckeck if the matrix S is zero, when a quick
+  return with ALPHA = 1 is possible.
+  With suitable input arguments E and G, this routine may also be
+  used for discrete-time algebraic Riccati equations. (Matrix E
+  must be the current closed-loop matrix.)
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG02ND.html b/doc/_static/doc/SG02ND.html
new file mode 100644
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@@ -0,0 +1,619 @@
+<HTML>
+<HEAD><TITLE>SG02ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG02ND">SG02ND</A></H2>
+<H3>
+Optimal state feedback matrix for an optimal control problem
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the optimal gain matrix K for the problem of optimal
+  control given by
+
+                     -1
+       K = (R + B'XB)  (B'Xop(A) + L')                           (1)
+
+  in the discrete-time case and
+
+            -1
+       K = R  (B'Xop(E) + L')                                    (2)
+
+  in the continuous-time case, where A, E, B and L are N-by-N,
+  N-by-N, N-by-M, and N-by-M matrices, respectively; R and X are
+  M-by-M and N-by-N symmetric matrices, respectively, and op(W) is
+  either W or W'. Matrix op(K) defines the feedback gain matrix, if
+  op(W) = W, and the estimator matrix, if op(W) = W'. The formulas
+  above are also useful in Newton's algorithms for solving algebraic
+  Riccati equations, when X is the current iterate.
+
+  Optionally, matrix R may be specified in a factored form, and L
+  may be zero. If R or R + B'XB (for DICO = 'C', or DICO = 'D',
+  respectively), is positive definite, let C be its Cholesky factor
+  (denoted, e.g., C = chol(R), for DICO = 'C'). Optionally, the
+  matrix H, defined by
+
+       H = op(E)'XB + L, if DICO = 'C', or
+       H = op(A)'XB + L, if DICO = 'D',                          (3)
+
+  is returned on exit, besides K; if C exists, the matrix F, defined
+  by FC = H may be optionally returned, instead of K and H. The
+  matrix F or the pair of matrices H and K may be used for computing
+  the residual matrix for an (approximate) solution of an algebraic
+  Riccati equation (see SLICOT Library routine SG02CW).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL, TRANS,
+     $                   N, M, P, A, LDA, E, LDE, B, LDB, R, LDR, IPIV,
+     $                   L, LDL, X, LDX, RNORM, K, LDK, H, LDH, XE,
+     $                   LDXE, OUFACT, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, JOBE, JOBL, JOBX, TRANS, UPLO
+      INTEGER           INFO, LDA, LDB, LDE, LDH, LDK, LDL, LDR, LDWORK,
+     $                  LDX, LDXE, M, N, P
+      DOUBLE PRECISION  RNORM
+C     .. Array Arguments ..
+      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*),
+     $                  H(LDH,*), K(LDK,*), L(LDL,*), R(LDR,*),
+     $                  X(LDX,*), XE(LDXE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the equation from which K is to be determined,
+          as follows:
+          = 'D':  Equation (1), discrete-time case;
+          = 'C':  Equation (2), continuous-time case.
+
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is general and is given;
+          = 'I':  The matrix E is assumed identity and is not given.
+          This parameter is not relevant for DICO = 'D'.
+
+  JOB     CHARACTER*1
+          Specifies what should be computed, as follows:
+          = 'K':  Compute and return the matrix K only;
+          = 'H':  Compute and return both matrices H and K;
+          = 'F':  Compute the matrix F, if possible; otherwise,
+                  compute and return H and K;
+          = 'D':  Compute and return both matrices H and K, when
+                  B and L have previously been transformed using
+                  SLICOT Library routines SB02MT or SB02MX, which
+                  returned OUFACT = 1. This is useful for computing
+                  K in (2), since then K is the solution of CK = H'.
+                  In this case, FACT should be set to 'C', and the
+                  array R must contain the Cholesky factor of
+                  R + B'XB, if DICO = 'D';
+          = 'C':  Compute and return the matrix F, when B and L have
+                  previously been transformed using SB02MT or
+                  SB02MX, which returned OUFACT = 1. In this case,
+                  FACT should be set to 'C', and the array R must
+                  contain the Cholesky factor of R + B'XB, if
+                  DICO = 'D'.
+          JOB should not be set to 'F' if FACT = 'U'.
+
+  JOBX    CHARACTER*1
+          Specifies whether the matrix op(Xop(E)), if DICO = 'C', or
+          op(Xop(A)), if DICO = 'D', must be computed, as follows:
+          = 'C':  Compute and return the coresponding matrix;
+          = 'N':  Do not compute that matrix.
+          This parameter is not relevant for DICO = 'C' and
+          JOBE = 'I'.
+
+  FACT    CHARACTER*1
+          Specifies how the matrix R is given (factored or not), as
+          follows:
+          = 'N':  Array R contains the matrix R;
+          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
+          = 'C':  Array R contains the Cholesky factor of R;
+          = 'U':  Array R contains the symmetric indefinite UdU' or
+                  LdL' factorization of R. This option is not
+                  available for DICO = 'D'.
+
+  UPLO    CHARACTER*1
+          Specifies which triangle of the possibly factored matrix R
+          (or R + B'XB, on exit) is or should be stored, as follows:
+          = 'U':  Upper triangle is stored;
+          = 'L':  Lower triangle is stored.
+
+  JOBL    CHARACTER*1
+          Specifies whether or not the matrix L is zero, as follows:
+          = 'Z':  L is zero;
+          = 'N':  L is nonzero.
+
+  TRANS   CHARACTER*1
+          Specifies the form of op(W) to be used in the matrix
+          multiplication, as follows:
+          = 'N':  op(W) = W;
+          = 'T':  op(W) = W';
+          = 'C':  op(W) = W'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A and X.  N &gt;= 0.
+          No computations are performed if MIN(N,M) = 0.
+
+  M       (input) INTEGER
+          The order of the matrix R and the number of columns of the
+          matrices B and L.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix D.
+          P &gt;= M for DICO = 'C';
+          P &gt;= 0 for DICO = 'D'.
+          This parameter is relevant only for FACT = 'D'.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If DICO = 'D', the leading N-by-N part of this array must
+          contain the state matrix A of the system.
+          If DICO = 'C', this array is not referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.
+          LDA &gt;= MAX(1,N) if DICO = 'D';
+          LDA &gt;= 1        if DICO = 'C'.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
+          If JOBE = 'G' and DICO = 'C', the leading N-by-N part of
+          this array must contain the matrix E.
+          If JOBE = 'I' or DICO = 'D', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G' and DICO = 'C';
+          LDE &gt;= 1,        if JOBE = 'I'  or DICO = 'D'.
+
+  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system, transformed by SB02MT or
+          SB02MX, if JOB = 'D' or JOB = 'C'.
+          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
+          array is destroyed. Specifically, if, on exit,
+          OUFACT(2) = 1, this array contains chol(X)*B, and if
+          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
+          part (in the first N rows) contains the submatrix of
+          sqrt(V)*U'B corresponding to the non-negligible, positive
+          eigenvalues of X, where V and U are the matrices with the
+          eigenvalues and eigenvectors of X.
+          Otherwise, B is unchanged on exit.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+          On entry, if FACT = 'N', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the upper
+          triangular part or lower triangular part, respectively,
+          of the symmetric input weighting matrix R.
+          On entry, if FACT = 'D', the leading P-by-M part of this
+          array must contain the direct transmission matrix D of the
+          system.
+          On entry, if FACT = 'C', the leading M-by-M upper
+          triangular part (if UPLO = 'U') or lower triangular part
+          (if UPLO = 'L') of this array must contain the Cholesky
+          factor of the positive definite input weighting matrix R
+          (as produced by LAPACK routine DPOTRF).
+          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
+          upper triangular part (if UPLO = 'U') or lower triangular
+          part (if UPLO = 'L') of this array must contain the
+          factors of the UdU' or LdL' factorization, respectively,
+          of the symmetric indefinite input weighting matrix R (as
+          produced by LAPACK routine DSYTRF).
+          The strictly lower triangular part (if UPLO = 'U') or
+          strictly upper triangular part (if UPLO = 'L') of this
+          array is used as workspace (filled in by symmetry with the
+          other strictly triangular part of R, of R+B'XB, or of the
+          result, if DICO = 'C', DICO = 'D' (if FACT = 'N', in both
+          cases), or (DICO = 'D' and (FACT = 'D' or FACT = 'C') and
+          UPLO = 'L'), respectively.
+          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the Cholesky factor of the given input weighting
+          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D').
+          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
+          the leading M-by-M upper triangular part (if UPLO = 'U')
+          or lower triangular part (if UPLO = 'L') of this array
+          contains the factors of the UdU' or LdL' factorization,
+          respectively, of the given input weighting matrix
+          (for DICO = 'C'), or that of the matrix R + B'XB
+          (for DICO = 'D' and FACT = 'N').
+          On exit R is unchanged if FACT = 'U' or N = 0.
+
+  LDR     INTEGER.
+          The leading dimension of the array R.
+          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
+          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
+
+  IPIV    (input/output) INTEGER array, dimension (M)
+          On entry, if FACT = 'U', this array must contain details
+          of the interchanges performed and the block structure of
+          the d factor in the UdU' or LdL' factorization of matrix R
+          (as produced by LAPACK routine DSYTRF).
+          On exit, if OUFACT(1) = 2, this array contains details of
+          the interchanges performed and the block structure of the
+          d factor in the UdU' or LdL' factorization of matrix R or
+          R + B'XB, as produced by LAPACK routine DSYTRF.
+          This array is not referenced if FACT = 'D', or FACT = 'C',
+          or N = 0.
+
+  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
+          If JOBL = 'N', the leading N-by-M part of this array must
+          contain the cross weighting matrix L, transformed by
+          SB02MT or SB02MX, if JOB = 'D' or JOB = 'C'.
+          If JOBL = 'Z', this array is not referenced.
+
+  LDL     INTEGER
+          The leading dimension of array L.
+          LDL &gt;= MAX(1,N) if JOBL = 'N';
+          LDL &gt;= 1        if JOBL = 'Z'.
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the (approximate) solution matrix X of the
+          algebraic Riccati equation as produced by SLICOT Library
+          routines SB02MD or SB02OD (or SG02CD). Matrix X is assumed
+          non-negative definite if DICO = 'D', FACT &lt;&gt; 'N',
+          JOB &lt;&gt; 'D' and JOB &lt;&gt; 'C'. The full matrix X must be given
+          on input in this case.
+          For minimal workspace, full matrix X must also be given if
+          ((JOBX = 'C', DICO = 'D', FACT = 'N', and M &gt; N), or
+           (JOBX = 'N', ((DICO = 'C' or FACT = 'N'), (DICO = 'D' or
+            JOBE = 'I') or N &gt;= M, or LDWORK &lt; N*N) and (DICO = 'D'
+            or JOBE = 'G' or JOB = 'K'))) and LDWORK &lt; N*M.
+          (Simpler, but more demanding conditions are the following:
+          ((JOBX = 'C',  DICO = 'D', FACT = 'N', and M &gt; N), or
+           (JOBX = 'N', (DICO = 'D' or ((DICO = 'C', JOBE = 'G') or
+            JOB = 'K'))),  LDWORK &lt; N*N.)
+          For optimal workspace, full matrix X is not needed in any
+          of the cases described above for minimal workspace.
+          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
+          OUFACT(2) = 1, the N-by-N upper triangular part
+          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
+          of this array contains the Cholesky factor of the given
+          matrix X, which is found to be positive definite.
+          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
+          and INFO &lt;&gt; M+2 (but INFO &gt;= 0), the leading N-by-N part
+          of this array contains the matrix of orthonormal
+          eigenvectors of X.
+          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
+
+  LDX     INTEGER
+          The leading dimension of array X.  LDX &gt;= MAX(1,N).
+
+  RNORM   (input) DOUBLE PRECISION
+          If FACT = 'U', this parameter must contain the 1-norm of
+          the original matrix R (before factoring it).
+          Otherwise, this parameter is not used.
+
+  K       (output) DOUBLE PRECISION array, dimension (LDK,N)
+          If JOB = 'K' or JOB = 'H' or JOB = 'D' or OUFACT(1) = 2,
+          the leading M-by-N part of this array contains the gain
+          matrix K.
+
+  LDK     INTEGER
+          The leading dimension of array K.  LDK &gt;= MAX(1,M).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,*)
+          If JOB = 'H' or JOB = 'D' or (JOB = 'F' and
+          OUFACT(1) = 2), the leading N-by-M part of this array
+          contains the matrix H.
+          If JOB = 'C' or (JOB = 'F' and OUFACT(1) = 1), the leading
+          N-by-M part of this array contains the matrix F.
+          If JOB = 'K', this array is not referenced.
+
+  LDH    INTEGER
+          The leading dimension of array H.
+          LDH &gt;= MAX(1,N), if JOB &lt;&gt; 'K';
+          LDH &gt;= 1,        if JOB =  'K'.
+
+  XE      (output) DOUBLE PRECISION array, dimension (LDXE,*)
+          If JOBX = 'C', DICO = 'C', and JOBE = 'G', the leading
+          N-by-N part of this array contains the matrix product X*E,
+          if TRANS = 'N', or E*X, if TRANS = 'T' or TRANS = 'C'.
+          If JOBX = 'C' and DICO = 'D', the leading N-by-N part of
+          this array contains the matrix product X*A, if
+          TRANS = 'N', or A*X, if TRANS = 'T' or TRANS = 'C'.
+          These matrix products may be needed for computing the
+          residual matrix for an (approximate) solution of a Riccati
+          equation (see SLICOT Library routine SG02CW).
+          If JOBX = 'N' or (DICO = 'C' and JOBE = 'I'), this array
+          is not referenced.
+
+  LDXE    INTEGER
+          The leading dimension of array XE.
+          LDXE &gt;= MAX(1,N), if JOBX = 'C', and either DICO = 'C' and
+                            JOBE = 'G', or DICO = 'D';
+          LDXE &gt;= 1,        if JOBX = 'N' or (DICO = 'C' and
+                                              JOBE = 'I').
+
+  OUFACT  (output) INTEGER array, dimension (2)
+          Information about the factorization finally used.
+          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
+                          'L') factorization of R (or R + B'XB)
+                          has been used;
+          OUFACT(2) = 1:  Cholesky factorization of X has been used;
+          OUFACT(2) = 2:  Spectral factorization of X has been used.
+          The value of OUFACT(2) is not set for DICO = 'C' or for
+          DICO = 'D' and FACT = 'N'.
+          This array is not set if N = 0 or M = 0.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
+          optimal value of LDWORK, and for LDWORK set as specified
+          below, DWORK(2) contains the reciprocal condition number
+          of the matrix R (for DICO = 'C') or of R + B'XB (for
+          DICO = 'D'), if FACT = 'N' or FACT = 'U' or OUFACT(1) = 2,
+          or of its Cholesky factor, if FACT = 'C' or FACT = 'D' and
+          OUFACT(1) = 1; DWORK(2) is set to 1 if N = 0.
+          On exit, if LDWORK = -2 on input or INFO = -35, then
+          DWORK(1) returns the minimal value of LDWORK.
+          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
+          DWORK(N+2) contain the eigenvalues of X, in ascending
+          order.
+
+  LDWORK  INTEGER
+          Dimension of working array DWORK.
+          Let a = N, if JOBX = 'N' and (DICO = 'D' or JOBE = 'G');
+              a = 0, otherwise. Then
+          LDWORK &gt;= max(2,2*M,a)       if FACT =  'U';
+          LDWORK &gt;= max(2,3*M,4*N+1)   if FACT =  'D' or
+                                         (FACT =  'C' and JOB &lt;&gt; 'C'
+                                       and JOB &lt;&gt; 'D'), DICO = 'D';
+          LDWORK &gt;= max(2,3*M,a)       otherwise.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, an optimal workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+          If LDWORK = -2, a minimal workspace query is assumed; the
+          routine only calculates the minimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = i:  if the i-th element of the d factor is exactly zero;
+                the UdU' (or LdL') factorization has been completed,
+                but the block diagonal matrix d is exactly singular;
+          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
+                (if DICO = 'D') is numerically singular (to working
+                precision);
+          = M+2:  if one or more of the eigenvalues of X has not
+                converged;
+          = M+3:  if the matrix X is indefinite and updating the
+                triangular factorization failed.
+          If INFO &gt; M+1, call the routine again with an appropriate,
+          unfactored matrix R.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (optimal) gain matrix K is obtained as the solution to the
+  system of linear equations
+
+     (R + B'XB) * K = B'Xop(A) + L'
+
+  in the discrete-time case and
+
+     R * K = B'Xop(E) + L'
+
+  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
+  If FACT = 'N', Cholesky factorization is tried first, but
+  if the coefficient matrix is not positive definite, then UdU' (or
+  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
+  of R is taken into account. The discrete-time case then involves
+  updating of a triangular factorization of R (or D'D); Cholesky or
+  symmetric spectral factorization of X is employed to avoid
+  squaring of the condition number of the matrix. When D is given,
+  its QR factorization is determined, and the triangular factor is
+  used as described above.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm consists of numerically stable steps.
+                                                3     2
+  For DICO = 'C' and JOBE = 'I', it requires O(m  + mn ) floating
+                                         2
+  point operations if FACT = 'N' and O(mn ) floating point
+  operations, otherwise.
+  For DICO = 'D' or JOBE = 'G', the operation counts are similar,
+                    3
+  but additional O(n ) floating point operations may be needed in
+  the worst case.
+  These estimates assume that M &lt;= N.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG02ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          NMAX2
+      PARAMETER        ( NMAX2 = 2*NMAX )
+      INTEGER          LDA, LDB, LDC, LDF, LDH, LDL, LDR, LDS, LDT, LDU,
+     $                 LDX, LDXE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
+     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
+     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
+     $                   LDF = MMAX, LDH = NMAX, LDXE = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
+     $                   16*NMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL, RCOND, RNORM
+      INTEGER          I, INFO1, INFO2, J, M, N, P
+      CHARACTER*1      DICO, FACT, JOB, JOBB, JOBE, JOBL, JOBX, SORT,
+     $                 TRANS, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION AE(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
+     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), F(LDF,NMAX), H(LDH,MMAX),
+     $                 L(LDL,MMAX), R(LDR,MMAX), S(LDS,NMAX2+MMAX),
+     $                 T(LDT,NMAX2), U(LDU,NMAX2), X(LDX,NMAX),
+     $                 XE(LDXE,NMAX)
+      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
+      LOGICAL          BWORK(NMAX2)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         SG02ND, SB02OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBE, JOB, JOBX, FACT,
+     $                      JOBL, UPLO, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( AE(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LSAME( FACT, 'D' ) ) THEN
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
+               END IF
+               IF ( LSAME( JOBL, 'N' ) )
+     $            READ ( NIN, FMT = * ) ( ( L(I,J), J = 1,M ), I = 1,N )
+*              Find the solution matrix X.
+               JOBB = 'B'
+               SORT = 'S'
+               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
+     $                      P, AE, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
+     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
+     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
+     $                      BWORK, INFO1 )
+*
+               IF ( INFO1.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO1
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   20             CONTINUE
+*                 Compute the optimal feedback matrix F.
+                  CALL SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL,
+     $                         TRANS, N, M, P, AE, LDA, AE, LDA, B, LDB,
+     $                         R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
+     $                         LDF, H, LDH, XE, LDXE, OUFACT, IWORK,
+     $                         DWORK, LDWORK, INFO2 )
+*
+                  IF ( INFO2.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99997 ) INFO2
+                  ELSE
+                     WRITE ( NOUT, FMT = 99995 )
+                     DO 40 I = 1, M
+                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
+   40                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG02ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SB02OD = ',I2)
+99997 FORMAT (' INFO on exit from SG02ND = ',I2)
+99996 FORMAT (' The solution matrix X is ')
+99995 FORMAT (/' The optimal feedback matrix F is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG02ND EXAMPLE PROGRAM DATA
+   2     1     3     0.0     D     I     K     N     N     Z     U     N
+   2.0 -1.0
+   1.0  0.0
+   1.0
+   0.0
+   0.0  0.0
+   0.0  0.0
+   0.0  1.0
+   0.0
+   0.0
+   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG02ND EXAMPLE PROGRAM RESULTS
+
+ The solution matrix X is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The optimal feedback matrix F is 
+   2.0000  -1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03AD.html b/doc/_static/doc/SG03AD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>SG03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03AD">SG03AD</A></H2>
+<H3>
+Solution of continuous- or discrete-time generalized Lyapunov equations and separation estimation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the generalized continuous-time Lyapunov
+  equation
+
+          T                T
+     op(A)  X op(E) + op(E)  X op(A) = SCALE * Y,                (1)
+
+  or the generalized discrete-time Lyapunov equation
+
+          T                T
+     op(A)  X op(A) - op(E)  X op(E) = SCALE * Y,                (2)
+
+  where op(M) is either M or M**T for M = A, E and the right hand
+  side Y is symmetric. A, E, Y, and the solution X are N-by-N
+  matrices. SCALE is an output scale factor, set to avoid overflow
+  in X.
+
+  Estimates of the separation and the relative forward error norm
+  are provided.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E,
+     $                   LDE, Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR,
+     $                   ALPHAR, ALPHAI, BETA, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, FACT, JOB, TRANS, UPLO
+      DOUBLE PRECISION  FERR, SCALE, SEP
+      INTEGER           INFO, LDA, LDE, LDQ, LDWORK, LDX, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), BETA(*),
+     $                  DWORK(*), E(LDE,*), Q(LDQ,*), X(LDX,*),
+     $                  Z(LDZ,*)
+      INTEGER           IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies which type of the equation is considered:
+          = 'C':  Continuous-time equation (1);
+          = 'D':  Discrete-time equation (2).
+
+  JOB     CHARACTER*1
+          Specifies if the solution is to be computed and if the
+          separation is to be estimated:
+          = 'X':  Compute the solution only;
+          = 'S':  Estimate the separation only;
+          = 'B':  Compute the solution and estimate the separation.
+
+  FACT    CHARACTER*1
+          Specifies whether the generalized real Schur
+          factorization of the pencil A - lambda * E is supplied
+          on entry or not:
+          = 'N':  Factorization is not supplied;
+          = 'F':  Factorization is supplied.
+
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  op(A) = A,    op(E) = E;
+          = 'T':  op(A) = A**T, op(E) = E**T.
+
+  UPLO    CHARACTER*1
+          Specifies whether the lower or the upper triangle of the
+          array X is needed on input:
+          = 'L':  Only the lower triangle is needed on input;
+          = 'U':  Only the upper triangle is needed on input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          Hessenberg part of this array must contain the
+          generalized Schur factor A_s of the matrix A (see
+          definition (3) in section METHOD). A_s must be an upper
+          quasitriangular matrix. The elements below the upper
+          Hessenberg part of the array A are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this
+          array must contain the matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the generalized Schur factor A_s of the matrix A. (A_s is
+          an upper quasitriangular matrix.)
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the
+          generalized Schur factor E_s of the matrix E (see
+          definition (4) in section METHOD). The elements below the
+          upper triangular part of the array E are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this
+          array must contain the coefficient matrix E of the
+          equation.
+          On exit, the leading N-by-N part of this array contains
+          the generalized Schur factor E_s of the matrix E. (E_s is
+          an upper triangular matrix.)
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Q from
+          the generalized Schur factorization (see definitions (3)
+          and (4) in section METHOD).
+          If FACT = 'N', Q need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal matrix Q from the generalized Schur
+          factorization.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Z from
+          the generalized Schur factorization (see definitions (3)
+          and (4) in section METHOD).
+          If FACT = 'N', Z need not be set on entry.
+          On exit, the leading N-by-N part of this array contains
+          the orthogonal matrix Z from the generalized Schur
+          factorization.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, if JOB = 'B' or 'X', then the leading N-by-N
+          part of this array must contain the right hand side matrix
+          Y of the equation. Either the lower or the upper
+          triangular part of this array is needed (see mode
+          parameter UPLO).
+          If JOB = 'S', X is not referenced.
+          On exit, if JOB = 'B' or 'X', and INFO = 0, 3, or 4, then
+          the leading N-by-N part of this array contains the
+          solution matrix X of the equation.
+          If JOB = 'S', X is not referenced.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          (0 &lt; SCALE &lt;= 1)
+
+  SEP     (output) DOUBLE PRECISION
+          If JOB = 'S' or JOB = 'B', and INFO = 0, 3, or 4, then
+          SEP contains an estimate of the separation of the
+          Lyapunov operator.
+
+  FERR    (output) DOUBLE PRECISION
+          If JOB = 'B', and INFO = 0, 3, or 4, then FERR contains an
+          estimated forward error bound for the solution X. If XTRUE
+          is the true solution, FERR estimates the relative error
+          in the computed solution, measured in the Frobenius norm:
+          norm(X - XTRUE) / norm(XTRUE)
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          If FACT = 'N' and INFO = 0, 3, or 4, then
+          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N, are the
+          eigenvalues of the matrix pencil A - lambda * E.
+          If FACT = 'F', ALPHAR, ALPHAI, and BETA are not
+          referenced.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N**2)
+          IWORK is not referenced if JOB = 'X'.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. The following table
+          contains the minimal work space requirements depending
+          on the choice of JOB and FACT.
+
+                 JOB        FACT    |  LDWORK
+                 -------------------+-------------------
+                 'X'        'F'     |  MAX(1,N)
+                 'X'        'N'     |  MAX(1,8*N+16)
+                 'B', 'S'   'F'     |  MAX(1,2*N**2)
+                 'B', 'S'   'N'     |  MAX(1,2*N**2,8*N+16)
+
+          For optimum performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  FACT = 'F' and the matrix contained in the upper
+                Hessenberg part of the array A is not in upper
+                quasitriangular form;
+          = 2:  FACT = 'N' and the pencil A - lambda * E cannot be
+                reduced to generalized Schur form: LAPACK routine
+                DGGES has failed to converge;
+          = 3:  DICO = 'D' and the pencil A - lambda * E has a
+                pair of reciprocal eigenvalues. That is, lambda_i =
+                1/lambda_j for some i and j, where lambda_i and
+                lambda_j are eigenvalues of A - lambda * E. Hence,
+                equation (2) is singular;  perturbed values were
+                used to solve the equation (but the matrices A and
+                E are unchanged);
+          = 4:  DICO = 'C' and the pencil A - lambda * E has a
+                degenerate pair of eigenvalues. That is, lambda_i =
+                -lambda_j for some i and j, where lambda_i and
+                lambda_j are eigenvalues of A - lambda * E. Hence,
+                equation (1) is singular;  perturbed values were
+                used to solve the equation (but the matrices A and
+                E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A straightforward generalization [3] of the method proposed by
+  Bartels and Stewart [1] is utilized to solve (1) or (2).
+
+  First the pencil A - lambda * E is reduced to real generalized
+  Schur form A_s - lambda * E_s by means of orthogonal
+  transformations (QZ-algorithm):
+
+     A_s = Q**T * A * Z   (upper quasitriangular)                (3)
+
+     E_s = Q**T * E * Z   (upper triangular).                    (4)
+
+  If FACT = 'F', this step is omitted. Assuming SCALE = 1 and
+  defining
+
+           ( Z**T * Y * Z   :   TRANS = 'N'
+     Y_s = &lt;
+           ( Q**T * Y * Q   :   TRANS = 'T'
+
+           ( Q**T * X * Q    if TRANS = 'N'
+     X_s = &lt;                                                     (5)
+           ( Z**T * X * Z    if TRANS = 'T'
+
+  leads to the reduced Lyapunov equation
+
+            T                      T
+     op(A_s)  X_s op(E_s) + op(E_s)  X_s op(A_s) = Y_s,          (6)
+
+  or
+            T                      T
+     op(A_s)  X_s op(A_s) - op(E_s)  X_s op(E_s) = Y_s,          (7)
+
+  which are equivalent to (1) or (2), respectively. The solution X_s
+  of (6) or (7) is computed via block back substitution (if TRANS =
+  'N') or block forward substitution (if TRANS = 'T'), where the
+  block order is at most 2. (See [1] and [3] for details.)
+  Equation (5) yields the solution matrix X.
+
+  For fast computation the estimates of the separation and the
+  forward error are gained from (6) or (7) rather than (1) or
+  (2), respectively. We consider (6) and (7) as special cases of the
+  generalized Sylvester equation
+
+     R * X * S + U * X * V = Y,                                  (8)
+
+  whose separation is defined as follows
+
+     sep = sep(R,S,U,V) =   min   || R * X * S + U * X * V || .
+                         ||X|| = 1                           F
+                              F
+
+  Equation (8) is equivalent to the system of linear equations
+
+     K * vec(X) = (kron(S**T,R) + kron(V**T,U)) * vec(X) = vec(Y),
+
+  where kron is the Kronecker product of two matrices and vec
+  is the mapping that stacks the columns of a matrix. If K is
+  nonsingular then
+
+     sep = 1 / ||K**(-1)|| .
+                          2
+
+  We estimate ||K**(-1)|| by a method devised by Higham [2]. Note
+  that this method yields an estimation for the 1-norm but we use it
+  as an approximation for the 2-norm. Estimates for the forward
+  error norm are provided by
+
+     FERR = 2 * EPS * ||A_s||  * ||E_s||  / sep
+                             F          F
+
+  in the continuous-time case (1) and
+
+     FERR = EPS * ( ||A_s|| **2 + ||E_s|| **2 ) / sep
+                           F             F
+
+  in the discrete-time case (2).
+  The reciprocal condition number, RCOND, of the Lyapunov equation
+  can be estimated by FERR/EPS.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Higham, N.J.
+      FORTRAN codes for estimating the one-norm of a real or complex
+      matrix, with applications to condition estimation.
+      A.C.M. Trans. Math. Soft., vol. 14, no. 4, pp. 381-396, 1988.
+
+  [3] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The number of flops required by the routine is given by the
+  following table. Note that we count a single floating point
+  arithmetic operation as one flop. c is an integer number of modest
+  size (say 4 or 5).
+
+                |  FACT = 'F'            FACT = 'N'
+     -----------+------------------------------------------
+     JOB = 'B'  |  (26+8*c)/3 * N**3     (224+8*c)/3 * N**3
+     JOB = 'S'  |  8*c/3 * N**3          (198+8*c)/3 * N**3
+     JOB = 'X'  |  26/3 * N**3           224/3 * N**3
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
+  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
+  degenerate pair of eigenvalues, then the Lyapunov equation will be
+  ill-conditioned. Perturbed values were used to solve the equation.
+  Ill-conditioning can be detected by a very small value of the
+  reciprocal condition number RCOND.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           NMAX
+      PARAMETER         ( NMAX = 20 )
+      INTEGER           LDA, LDE, LDQ, LDX, LDZ
+      PARAMETER         ( LDA = NMAX, LDE = NMAX, LDQ = NMAX,
+     $                    LDX = NMAX, LDZ = NMAX )
+      INTEGER           LIWORK, LDWORK
+      PARAMETER         ( LIWORK = NMAX**2,
+     $                    LDWORK = MAX( 2*NMAX**2, 4*NMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1       DICO, FACT, JOB, TRANS, UPLO
+      DOUBLE PRECISION  FERR, SCALE, SEP
+      INTEGER           I, INFO, J, N
+*     .. Local Arrays ..
+      INTEGER           IWORK(LIWORK)
+      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
+     $                  BETA(NMAX), DWORK(LDWORK), E(LDE,NMAX),
+     $                  Q(LDQ,NMAX), X(LDX,NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          SG03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, JOB, DICO, FACT, TRANS, UPLO
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME ( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( .NOT.LSAME ( JOB, 'S' ) )
+     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
+*        Find the solution matrix X and the scalar SEP.
+         CALL SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E, LDE,
+     $                Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR, ALPHAR,
+     $                ALPHAI, BETA, IWORK, DWORK, LDWORK, INFO )
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'S' ) ) THEN
+               WRITE ( NOUT, FMT = 99997 ) SEP
+               WRITE ( NOUT, FMT = 99996 ) FERR
+            END IF
+            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'X' ) ) THEN
+               WRITE ( NOUT, FMT = 99995 ) SCALE
+               DO 20 I = 1, N
+                  WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
+   20          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SG03AD = ',I2)
+99997 FORMAT (' SEP =   ',D8.2)
+99996 FORMAT (' FERR =  ',D8.2)
+99995 FORMAT (' SCALE = ',D8.2,//' The solution matrix X is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG03AD EXAMPLE PROGRAM DATA
+  3       B       C       N       N       U
+  3.0     1.0     1.0
+  1.0     3.0     0.0
+  1.0     0.0     2.0
+  1.0     3.0     0.0
+  3.0     2.0     1.0
+  1.0     0.0     1.0
+-64.0   -73.0   -28.0
+  0.0   -70.0   -25.0
+  0.0     0.0   -18.0 
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG03AD EXAMPLE PROGRAM RESULTS
+
+ SEP =   0.29D+00
+ FERR =  0.40D-13
+ SCALE = 0.10D+01
+
+ The solution matrix X is 
+  -2.0000  -1.0000   0.0000
+  -1.0000  -3.0000  -1.0000
+   0.0000  -1.0000  -3.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03AX.html b/doc/_static/doc/SG03AX.html
new file mode 100644
index 00000000..d0cf438d
--- /dev/null
+++ b/doc/_static/doc/SG03AX.html
@@ -0,0 +1,160 @@
+<HTML>
+<HEAD><TITLE>SG03AX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03AX">SG03AX</A></H2>
+<H3>
+Solving a discrete-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the reduced generalized discrete-time
+  Lyapunov equation
+
+      T            T
+     A  * X * A - E  * X * E  =  SCALE * Y                       (1)
+
+  or
+
+              T            T
+     A * X * A  - E * X * E   =  SCALE * Y                       (2)
+
+  where the right hand side Y is symmetric. A, E, Y, and the
+  solution X are N-by-N matrices. The pencil A - lambda * E must be
+  in generalized Schur form (A upper quasitriangular, E upper
+  triangular). SCALE is an output scale factor, set to avoid
+  overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03AX( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDE, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the right hand side matrix Y of the equation. Only
+          the upper triangular part of this matrix need be given.
+          On exit, the leading N-by-N part of this array contains
+          the solution matrix X of the equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          (0 &lt; SCALE &lt;= 1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  equation is (almost) singular to working precision;
+                perturbed values were used to solve the equation
+                (but the matrices A and E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The solution X of (1) or (2) is computed via block back
+  substitution or block forward substitution, respectively. (See
+  [1] and [2] for details.)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  8/3 * N**3 flops are required by the routine. Note that we count a
+  single floating point arithmetic operation as one flop.
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03AY.html b/doc/_static/doc/SG03AY.html
new file mode 100644
index 00000000..1b21a08f
--- /dev/null
+++ b/doc/_static/doc/SG03AY.html
@@ -0,0 +1,160 @@
+<HTML>
+<HEAD><TITLE>SG03AY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03AY">SG03AY</A></H2>
+<H3>
+Solving a continuous-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X either the reduced generalized continuous-time
+  Lyapunov equation
+
+      T            T
+     A  * X * E + E  * X * A  =  SCALE * Y                       (1)
+
+  or
+
+              T            T
+     A * X * E  + E * X * A   =  SCALE * Y                       (2)
+
+  where the right hand side Y is symmetric. A, E, Y, and the
+  solution X are N-by-N matrices. The pencil A - lambda * E must be
+  in generalized Schur form (A upper quasitriangular, E upper
+  triangular). SCALE is an output scale factor, set to avoid
+  overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03AY( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDE, LDX, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading N-by-N part of this array must
+          contain the right hand side matrix Y of the equation. Only
+          the upper triangular part of this matrix need be given.
+          On exit, the leading N-by-N part of this array contains
+          the solution matrix X of the equation.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          (0 &lt; SCALE &lt;= 1)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  equation is (almost) singular to working precision;
+                perturbed values were used to solve the equation
+                (but the matrices A and E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The solution X of (1) or (2) is computed via block back
+  substitution or block forward substitution, respectively. (See
+  [1] and [2] for details.)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  8/3 * N**3 flops are required by the routine. Note that we count a
+  single floating point arithmetic operation as one flop.
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BD.html b/doc/_static/doc/SG03BD.html
new file mode 100644
index 00000000..ce0bec1d
--- /dev/null
+++ b/doc/_static/doc/SG03BD.html
@@ -0,0 +1,581 @@
+<HTML>
+<HEAD><TITLE>SG03BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BD">SG03BD</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable continuous- or discrete-time Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X,
+
+              T
+     X = op(U)  * op(U),
+
+  which is the solution of either the generalized c-stable
+  continuous-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(E) + op(E)  * X * op(A)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (1)
+
+  or the generalized d-stable discrete-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(A) - op(E)  * X * op(E)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (2)
+
+  without first finding X and without the need to form the matrix
+  op(B)**T * op(B).
+
+  op(K) is either K or K**T for K = A, B, E, U. A and E are N-by-N
+  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
+  N-by-N upper triangular matrix with non-negative entries on its
+  main diagonal. SCALE is an output scale factor set to avoid
+  overflow in U.
+
+  In the continuous-time case (1) the pencil A - lambda * E must be
+  c-stable (that is, all eigenvalues must have negative real parts).
+  In the discrete-time case (2) the pencil A - lambda * E must be
+  d-stable (that is, the moduli of all eigenvalues must be smaller
+  than one).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
+     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI,
+     $                   BETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDWORK, LDZ, M, N
+      CHARACTER         DICO, FACT, TRANS
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                  BETA(*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies which type of the equation is considered:
+          = 'C':  Continuous-time equation (1);
+          = 'D':  Discrete-time equation (2).
+
+  FACT    CHARACTER*1
+          Specifies whether the generalized real Schur
+          factorization of the pencil A - lambda * E is supplied on
+          entry or not:
+          = 'N':  Factorization is not supplied;
+          = 'F':  Factorization is supplied.
+
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  op(A) = A,    op(E) = E;
+          = 'T':  op(A) = A**T, op(E) = E**T.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows in the matrix op(B).  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          Hessenberg part of this array must contain the generalized
+          Schur factor A_s of the matrix A (see definition (3) in
+          section METHOD). A_s must be an upper quasitriangular
+          matrix. The elements below the upper Hessenberg part of
+          the array A are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the matrix A.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          Hessenberg part of this array contains the generalized
+          Schur factor A_s of the matrix A. (A_s is an upper
+          quasitriangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the generalized
+          Schur factor E_s of the matrix E (see definition (4) in
+          section METHOD). E_s must be an upper triangular matrix.
+          The elements below the upper triangular part of the array
+          E are not referenced.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the coefficient matrix E of the equation.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          triangular part of this array contains the generalized
+          Schur factor E_s of the matrix E. (E_s is an upper
+          triangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Q from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Q need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the orthogonal matrix Q from the
+          generalized Schur factorization. If FACT = 'F', this array
+          is unchanged.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the orthogonal matrix Z from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Z need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the orthogonal matrix Z from the
+          generalized Schur factorization. If FACT = 'F', this array
+          is unchanged.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N1)
+          On entry, if TRANS = 'T', the leading N-by-M part of this
+          array must contain the matrix B and N1 &gt;= MAX(M,N).
+          If TRANS = 'N', the leading M-by-N part of this array
+          must contain the matrix B and N1 &gt;= N.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)**T * op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If TRANS = 'T',  LDB &gt;= MAX(1,N).
+          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          If INFO = 0, 3, 5, 6, or 7, then
+          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ... ,N, are the
+          eigenvalues of the matrix pencil A - lambda * E.
+          All BETA(j) are non-negative numbers.
+          ALPHAR and ALPHAI will be always less than and usually
+          comparable with norm(A) in magnitude, and BETA always less
+          than and usually comparable with norm(B).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -21, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= MAX(1,8*N+16),  if FACT = 'N';
+          LDWORK &gt;= MAX(1,2*N,6*N-6),  if FACT = 'F'.
+          For good performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A - lambda * E is (nearly) singular;
+                perturbed values were used to solve the equation
+                (but the reduced (quasi)triangular matrices A and E
+                are unchanged);
+          = 2:  FACT = 'F' and the matrix contained in the upper
+                Hessenberg part of the array A is not in upper
+                quasitriangular form;
+          = 3:  FACT = 'F' and there is a 2-by-2 block on the main
+                diagonal of the pencil A_s - lambda * E_s whose
+                eigenvalues are not conjugate complex;
+          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
+                reduced to generalized Schur form: LAPACK routine
+                or DGGES has failed to converge;
+          = 5:  DICO = 'C' and the pencil A - lambda * E is not
+                c-stable;
+          = 6:  DICO = 'D' and the pencil A - lambda * E is not
+                d-stable;
+          = 7:  the LAPACK routine DSYEVX utilized to factorize M3
+                failed to converge in the discrete-time case (see
+                section METHOD for SLICOT Library routine SG03BU).
+                This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension [2] of Hammarling's method [1] to generalized
+  Lyapunov equations is utilized to solve (1) or (2).
+
+  First the pencil A - lambda * E is reduced to real generalized
+  Schur form A_s - lambda * E_s by means of orthogonal
+  transformations (QZ-algorithm):
+
+     A_s = Q**T * A * Z   (upper quasitriangular),               (3)
+
+     E_s = Q**T * E * Z   (upper triangular).                    (4)
+
+  If the pencil A - lambda * E has already been factorized prior to
+  calling the routine, however, then the factors A_s, E_s, Q and Z
+  may be supplied and the initial factorization omitted.
+
+  Depending on the parameters TRANS and M, the N-by-N upper
+  triangular matrix B_s is defined as follows. In any case Q_B is
+  an M-by-M orthogonal matrix, which need not be accumulated.
+
+  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
+     from the QR-factorization
+
+        ( Q_B  O )           ( B * Z )
+        (        ) * B_s  =  (       ),
+        (  O   I )           (   O   )
+
+     where the O's are zero matrices of proper size and I is the
+     identity matrix of order N-M.
+
+  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) QR-factorization
+
+              ( B_s )
+        Q_B * (     )  =  B * Z,
+              (  O  )
+
+     where O is the (M-N)-by-N zero matrix.
+
+  3. If TRANS = 'T' and M &lt; N, B_s is the upper triangular matrix
+     from the RQ-factorization
+
+                    ( Q_B  O )
+        (B_s  O ) * (        )  =  ( Q**T * B   O ).
+                    (  O   I )
+
+  4. If TRANS = 'T' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) RQ-factorization
+
+        ( B_s   O ) * Q_B  =  Q**T * B,
+
+     where O is the N-by-(M-N) zero matrix.
+
+  Assuming SCALE = 1, the transformation of A, E and B described
+  above leads to the reduced continuous-time equation
+
+              T        T
+       op(A_s)  op(U_s)  op(U_s) op(E_s)
+
+              T        T
+     + op(E_s)  op(U_s)  op(U_s) op(A_s)
+
+                 T
+     =  - op(B_s)  op(B_s)                                       (5)
+
+  or to the reduced discrete-time equation
+
+              T        T
+       op(A_s)  op(U_s)  op(U_s) op(A_s)
+
+              T        T
+     - op(E_s)  op(U_s)  op(U_s) op(E_s)
+
+                 T
+     =  - op(B_s)  op(B_s).                                      (6)
+
+  For brevity we restrict ourself to equation (5) and the case
+  TRANS = 'N'. The other three cases can be treated in a similar
+  fashion.
+
+  We use the following partitioning for the matrices A_s, E_s, B_s,
+  and U_s
+
+              ( A11   A12 )          ( E11   E12 )
+        A_s = (           ),   E_s = (           ),
+              (   0   A22 )          (   0   E22 )
+
+              ( B11   B12 )          ( U11   U12 )
+        B_s = (           ),   U_s = (           ).              (7)
+              (   0   B22 )          (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1 (iff A_s(2,1) = 0.0) or
+  2-by-2.
+
+  We compute U11, U12**T, and U22 in three steps.
+
+  Step I:
+
+     From (5) and (7) we get the 1-by-1 or 2-by-2 equation
+
+             T      T                   T      T
+          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
+
+                 T
+          = - B11  * B11.
+
+     For brevity, details are omitted here. See [2]. The technique
+     for computing U11 is similar to those applied to standard
+     Lyapunov equations in Hammarling's algorithm ([1], section 6).
+
+     Furthermore, the auxiliary matrices M1 and M2 defined as
+     follows
+
+                            -1      -1
+        M1 = U11 * A11 * E11   * U11
+
+                      -1      -1
+        M2 = B11 * E11   * U11
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     The generalized Sylvester equation
+
+           T      T      T      T
+        A22  * U12  + E22  * U12  * M1  =
+
+             T           T      T      T      T
+        - B12  * M2 - A12  * U11  - E12  * U11  * M1
+
+     is solved for U12**T.
+
+  Step III:
+
+     It can be shown that
+
+           T      T                  T      T
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             T              T
+        - B22  * B22 - y * y                                     (8)
+
+     holds, where y is defined as
+
+               T        T      T      T      T       T
+        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
+
+     If B22_tilde is the square triangular matrix arising from the
+     (rectangular) QR-factorization
+
+                    ( B22_tilde )     ( B22  )
+        Q_B_tilde * (           )  =  (      ),
+                    (     O     )     ( y**T )
+
+     where Q_B_tilde is an orthogonal matrix of order N, then
+
+             T              T                T
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (8) by the term
+     - B22_tilde**T * B22_tilde leads to a reduced generalized
+     Lyapunov equation of lower dimension compared to (5).
+
+  The recursive application of the steps I to III yields the
+  solution U_s of the equation (5).
+
+  It remains to compute the solution matrix U of the original
+  problem (1) or (2) from the matrix U_s. To this end we transform
+  the solution back (with respect to the transformation that led
+  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
+  (RQ-factorization). The upper triangular solution matrix U is
+  obtained by
+
+     Q_U * U  =  U_s * Q**T     (if TRANS = 'N'),
+
+  or
+
+     U * Q_U  =  Z * U_s        (if TRANS = 'T'),
+
+  where Q_U is an N-by-N orthogonal matrix. Again, the orthogonal
+  matrix Q_U need not be accumulated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The number of flops required by the routine is given by the
+  following table. Note that we count a single floating point
+  arithmetic operation as one flop.
+
+              |           FACT = 'F'                  FACT = 'N'
+     ---------+--------------------------------------------------
+      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
+              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
+              |
+       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
+  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
+  degenerate pair of eigenvalues, then the Lyapunov equation will be
+  ill-conditioned. Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+  When setting the error indicator INFO, the routine does not test
+  for near instability in the equation but only for exact
+  instability.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     SG03BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER           NIN, NOUT
+      PARAMETER         ( NIN = 5, NOUT = 6 )
+      INTEGER           NMAX
+      PARAMETER         ( NMAX = 20 )
+      INTEGER           LDA, LDB, LDE, LDQ, LDZ
+      PARAMETER         ( LDA = NMAX, LDB = NMAX, LDE = NMAX,
+     $                    LDQ = NMAX, LDZ = NMAX )
+      INTEGER           LDWORK
+      PARAMETER         ( LDWORK = MAX( 1, 4*NMAX, 6*NMAX-6 ) )
+*     .. Local Scalars ..
+      CHARACTER*1       DICO, FACT, TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           I, INFO, J, N, M
+*     .. Local Arrays ..
+      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
+     $                  B(LDB,NMAX), BETA(NMAX), DWORK(LDWORK),
+     $                  E(LDE,NMAX), Q(LDQ,NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+*     .. External Subroutines ..
+      EXTERNAL          SG03BD
+*     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE IF ( M.LT.0 .OR. M.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( LSAME( FACT, 'F' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+         END IF
+         IF ( LSAME( FACT, 'T' ) ) THEN
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
+         END IF
+*        Find the Cholesky factor U of the solution matrix.
+         CALL SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q, LDQ,
+     $                Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI, BETA,
+     $                DWORK, LDWORK, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) SCALE
+            DO 20 I = 1, N
+               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' SG03BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from SG03BD = ',I2)
+99997 FORMAT (' SCALE = ',F8.4,//' The Cholesky factor U of the solution
+     $ matrix is')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ SG03BD EXAMPLE PROGRAM DATA
+   3      1      C      N      N
+  -1.0    3.0   -4.0
+   0.0    5.0   -2.0
+  -4.0    4.0    1.0
+   2.0    1.0    3.0
+   2.0    0.0    1.0
+   4.0    5.0    1.0
+   2.0   -1.0    7.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ SG03BD EXAMPLE PROGRAM RESULTS
+
+ SCALE =   1.0000
+
+ The Cholesky factor U of the solution matrix is
+   1.6003  -0.4418  -0.1523
+   0.0000   0.6795  -0.2499
+   0.0000   0.0000   0.2041
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BR.html b/doc/_static/doc/SG03BR.html
new file mode 100644
index 00000000..162f77fb
--- /dev/null
+++ b/doc/_static/doc/SG03BR.html
@@ -0,0 +1,83 @@
+<HTML>
+<HEAD><TITLE>SG03BR - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BR">SG03BR</A></H2>
+<H3>
+Compute a complex Givens rotation in real arithmetic (SG03BY version - adaptation of LAPACK ZLARTG)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the parameters for the complex Givens rotation
+
+     (    C      SR+SI*I )   ( XR+XI*I )   ( ZR+ZI*I )
+     (                   ) * (         ) = (         )
+     ( -SR+SI*I     C    )   ( YR+YI*I )   (    0    )
+
+  where C, SR, SI, XR, XI, YR, YI, ZR, ZI are real numbers, I is the
+  imaginary unit, I = SQRT(-1), and C**2 + |SR+SI*I|**2 = 1.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BR( XR, XI, YR, YI, C, SR, SI, ZR, ZI )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  C, SI, SR, XI, XR, YI, YR, ZI, ZR
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  XR, XI, (input) DOUBLE PRECISION
+  YR, YI  (input) DOUBLE PRECISION
+          The given real scalars XR, XI, YR, YI.
+
+  C,      (output) DOUBLE PRECISION
+  SR, SI, (output) DOUBLE PRECISION
+  ZR, ZI  (output) DOUBLE PRECISION
+          The computed real scalars C, SR, SI, ZR, ZI defining the
+          complex Givens rotation and Z = ZR+ZI*I.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The subroutine avoids unnecessary overflow.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interest of speed, this routine does not check the input
+  for errors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BS.html b/doc/_static/doc/SG03BS.html
new file mode 100644
index 00000000..b9fc9055
--- /dev/null
+++ b/doc/_static/doc/SG03BS.html
@@ -0,0 +1,269 @@
+<HTML>
+<HEAD><TITLE>SG03BS - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BS">SG03BS</A></H2>
+<H3>
+Solving (for Cholesky factor) stable generalized discrete-time complex Lyapunov equations, with A, E, and B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**H * U or
+  X = U * U**H, which is the solution of the generalized d-stable
+  discrete-time Lyapunov equation
+
+      H            H                  2    H
+     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
+
+  or the conjugate transposed equation
+
+              H            H          2        H
+     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are complex N-by-N matrices.
+  The Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in complex
+  generalized Schur form (A and E are upper triangular and the
+  diagonal elements of E are non-negative real numbers). Moreover,
+  it must be d-stable, i.e., the moduli of its eigenvalues must be
+  less than one. B must be an upper triangular matrix with real
+  non-negative entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BS( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'C':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix A. The lower triangular
+          part is used as workspace, but the diagonal is restored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. If TRANS = 'N', the
+          strictly lower triangular part is used as workspace.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension LDWORK, where
+          LDWORK = 0,            if N &lt;= 1;
+          LDWORK = MAX(N-1,10),  if N &gt;  1.
+
+  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  the pencil A - lambda * E is not stable, i.e., there
+                there are eigenvalues outside the open unit circle;
+          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
+                failed to converge. This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations. The real case is
+  described in [2].
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  Since all matrices A, E, B, and U are upper triangular, we use the
+  following partitioning
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ),                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  where the size of the (1,1)-blocks is 1-by-1.
+
+  We compute U11, U12**H and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 equation
+
+           H     H                 H     H                  H
+        A11 * U11 * U11 * A11 - E11 * U11 * U11 * E11 = -B11 * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 5).
+
+     Furthermore, the auxiliary scalars M1 and M2 defined as follows
+
+        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**H the linear system of equations, with
+     scaling to prevent overflow,
+
+                  H      H      H
+        ( M1 * A22  - E22  ) U12  =
+
+                    H              H           H
+        = - M2 * B12  + U11 * ( E12  - M1 * A12  ) .
+
+  Step III:
+
+     One can show that
+
+           H      H                  H      H
+        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
+
+             H              H
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+                 H           H      H      H
+        y = ( B12   U11 * A12  + A22  * U12  ) * M3EV,
+
+     where M3EV is a matrix which fulfils
+
+             ( I - M2*M2     -M2*M1**H )              H
+        M3 = (                         ) = M3EV * M3EV .
+             (    -M1*M2  I - M1*M1**H )
+
+     M3 is positive semidefinite and its rank is equal to 1.
+     Therefore, a matrix M3EV can be found by solving the Hermitian
+     eigenvalue problem for M3 such that y consists of one column.
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**H )
+
+     then
+
+             H              H                H
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
+     equation like (1), but of dimension N-1.
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost reciprocal
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BT.html b/doc/_static/doc/SG03BT.html
new file mode 100644
index 00000000..f20348f0
--- /dev/null
+++ b/doc/_static/doc/SG03BT.html
@@ -0,0 +1,255 @@
+<HTML>
+<HEAD><TITLE>SG03BT - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BT">SG03BT</A></H2>
+<H3>
+Solving (for Cholesky factor) stable generalized continuous-time complex Lyapunov equations, with A, E, and B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**H * U or
+  X = U * U**H, which is the solution of the generalized c-stable
+  continuous-time Lyapunov equation
+
+      H            H                  2    H
+     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
+
+  or the conjugate transposed equation
+
+              H            H          2        H
+     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are complex N-by-N matrices.
+  The Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in complex
+  generalized Schur form (A and E are upper triangular and the
+  diagonal elements of E are non-negative real numbers). Moreover,
+  it must be c-stable, i.e., its eigenvalues must have negative real
+  parts. B must be an upper triangular matrix with real non-negative
+  entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BT( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*)
+      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'C':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix A. The lower triangular
+          part is used as workspace, but the diagonal is restored.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. If TRANS = 'N', the
+          strictly lower triangular part is used as workspace.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension MAX(N-1,0)
+
+  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 3:  the pencil A - lambda * E is not stable, i.e., there
+                is an eigenvalue without a negative real part.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations. The real case is
+  described in [2].
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  Since all matrices A, E, B, and U are upper triangular, we use the
+  following partitioning
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ),                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  where the size of the (1,1)-blocks is 1-by-1.
+
+  We compute U11, U12**H and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 equation
+
+           H     H                 H     H                  H
+        A11 * U11 * U11 * E11 + E11 * U11 * U11 * A11 = -B11 * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 5).
+
+     Furthermore, the auxiliary scalars M1 and M2 defined as follows
+
+        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**H the linear system of equations, with
+     scaling to prevent overflow,
+
+             H           H      H
+        ( A22  + M1 * E22  ) U12  =
+
+                    H              H           H
+        = - M2 * B12  - U11 * ( A12  + M1 * E12  ) .
+
+  Step III:
+
+     One can show that
+
+           H      H                  H      H
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             H              H
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+               H                   H      H      H
+        y = B12  - M2 * ( U11 * E12  + E22  * U12  ).
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**H )
+
+     then
+
+             H              H                H
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
+     equation like (1), but of dimension N-1.
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost degenerate
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BU.html b/doc/_static/doc/SG03BU.html
new file mode 100644
index 00000000..99e2e086
--- /dev/null
+++ b/doc/_static/doc/SG03BU.html
@@ -0,0 +1,288 @@
+<HTML>
+<HEAD><TITLE>SG03BU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BU">SG03BU</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable discrete-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**T * U or
+  X = U * U**T, which is the solution of the generalized d-stable
+  discrete-time Lyapunov equation
+
+      T            T                  2    T
+     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
+
+  or the transposed equation
+
+              T            T          2        T
+     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are real N-by-N matrices. The
+  Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in generalized Schur
+  form ( A upper quasitriangular, E upper triangular ). Moreover, it
+  must be d-stable, i.e., the moduli of its eigenvalues must be less
+  than one. B must be an upper triangular matrix with non-negative
+  entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BU( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A. The elements
+          below the upper Hessenberg part are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. The elements below
+          the main diagonal are not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U. The elements below
+          the main diagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the generalized Sylvester equation to be solved in
+                step II (see METHOD) is (nearly) singular to working
+                precision;  perturbed values were used to solve the
+                equation (but the matrices A and E are unchanged);
+          = 2:  the generalized Schur form of the pencil
+                A - lambda * E contains a 2-by-2 main diagonal block
+                whose eigenvalues are not a pair of complex
+                conjugate numbers;
+          = 3:  the pencil A - lambda * E is not d-stable, i.e.,
+                there are eigenvalues outside the open unit circle;
+          = 4:  the LAPACK routine DSYEVX utilized to factorize M3
+                failed to converge. This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method [2] used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations.
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  The matrix A is an upper quasitriangular matrix, i.e., it is a
+  block triangular matrix with square blocks on the main diagonal
+  and the block order at most 2. We use the following partitioning
+  for the matrices A, E, B and the solution matrix U
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ).                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
+  2-by-2.
+
+  We compute U11, U12**T, and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
+
+             T      T                  T      T
+          A11  * U11  * U11 * A11 - E11  * U11  * U11 * E11
+
+                 T
+          = - B11  * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 6).
+
+     Furthermore, the auxiliary matrices M1 and M2 defined as
+     follows
+
+                            -1      -1
+        M1 = U11 * A11 * E11   * U11  ,
+
+                      -1      -1
+        M2 = B11 * E11   * U11  ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**T the generalized Sylvester equation
+
+           T      T           T      T
+        A22  * U12  * M1 - E22  * U12
+
+               T           T      T      T      T
+        = - B12  * M2 + E12  * U11  - A12  * U11  * M1.
+
+  Step III:
+
+     One can show that
+
+           T      T                  T      T
+        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
+
+             T              T
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+               T      T      T      T
+        w = A12  * U11  + A22  * U12 ,
+
+                 T
+        y = ( B12   w ) * M3EV,
+
+     where M3EV is a matrix which fulfils
+
+             ( I-M2*M2**T   -M2*M1**T )              T
+        M3 = (                        ) = M3EV * M3EV .
+             (  -M1*M2**T  I-M1*M1**T )
+
+     M3 is positive semidefinite and its rank is equal to the size
+     of U11. Therefore, a matrix M3EV can be found by solving the
+     symmetric eigenvalue problem for M3 such that y consists of
+     either 1 or 2 rows.
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**T )
+
+     then
+
+             T              T                T
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
+     equation of lower dimension compared to (1).
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost reciprocal
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+  When setting the error indicator INFO, the routine does not test
+  for near instability in the equation but only for exact
+  instability.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BV.html b/doc/_static/doc/SG03BV.html
new file mode 100644
index 00000000..e4bfcd19
--- /dev/null
+++ b/doc/_static/doc/SG03BV.html
@@ -0,0 +1,274 @@
+<HTML>
+<HEAD><TITLE>SG03BV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BV">SG03BV</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable continuous-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X, X = U**T * U or
+  X = U * U**T, which is the solution of the generalized c-stable
+  continuous-time Lyapunov equation
+
+      T            T                  2    T
+     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
+
+  or the transposed equation
+
+              T            T          2        T
+     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
+
+  respectively, where A, E, B, and U are real N-by-N matrices. The
+  Cholesky factor U of the solution is computed without first
+  finding X. The pencil A - lambda * E must be in generalized Schur
+  form ( A upper quasitriangular, E upper triangular ). Moreover, it
+  must be c-stable, i.e., its eigenvalues must have negative real
+  parts. B must be an upper triangular matrix with non-negative
+  entries on its main diagonal.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BV( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether equation (1) or equation (2) is to be
+          solved:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices.  N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N upper Hessenberg part of this array
+          must contain the quasitriangular matrix A. The elements
+          below the upper Hessenberg part are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
+          The leading N-by-N upper triangular part of this array
+          must contain the triangular matrix E. The elements below
+          the main diagonal are not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
+          On entry, the leading N-by-N upper triangular part of this
+          array must contain the matrix B.
+          On exit, the leading N-by-N upper triangular part of this
+          array contains the solution matrix U. The elements below
+          the main diagonal are not referenced.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the generalized Sylvester equation to be solved in
+                step II (see METHOD) is (nearly) singular to working
+                precision;  perturbed values were used to solve the
+                equation (but the matrices A and E are unchanged);
+          = 2:  the generalized Schur form of the pencil
+                A - lambda * E contains a 2-by-2 main diagonal block
+                whose eigenvalues are not a pair of complex
+                conjugate numbers;
+          = 3:  the pencil A - lambda * E is not stable, i.e., there
+                is an eigenvalue with zero or positive real part.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method [2] used by the routine is an extension of Hammarling's
+  algorithm [1] to generalized Lyapunov equations.
+
+  We present the method for solving equation (1). Equation (2) can
+  be treated in a similar fashion. For simplicity, assume SCALE = 1.
+
+  The matrix A is an upper quasitriangular matrix, i.e., it is a
+  block triangular matrix with square blocks on the main diagonal
+  and the block order at most 2. We use the following partitioning
+  for the matrices A, E, B and the solution matrix U
+
+            ( A11   A12 )        ( E11   E12 )
+        A = (           ),   E = (           ),
+            (   0   A22 )        (   0   E22 )
+
+            ( B11   B12 )        ( U11   U12 )
+        B = (           ),   U = (           ).                  (3)
+            (   0   B22 )        (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
+  2-by-2.
+
+  We compute U11, U12**T, and U22 in three steps.
+
+  Step I:
+
+     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
+
+             T      T                  T      T
+          A11  * U11  * U11 * E11 + E11  * U11  * U11 * A11
+
+                 T
+          = - B11  * B11.
+
+     For brevity, details are omitted here. The technique for
+     computing U11 is similar to those applied to standard Lyapunov
+     equations in Hammarling's algorithm ([1], section 6).
+
+     Furthermore, the auxiliary matrices M1 and M2 defined as
+     follows
+
+                            -1      -1
+        M1 = U11 * A11 * E11   * U11  ,
+
+                      -1      -1
+        M2 = B11 * E11   * U11  ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     We solve for U12**T the generalized Sylvester equation
+
+           T      T      T      T
+        A22  * U12  + E22  * U12  * M1
+
+               T           T      T      T      T
+        = - B12  * M2 - A12  * U11  - E12  * U11  * M1.
+
+  Step III:
+
+     One can show that
+
+           T      T                  T      T
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             T              T
+        - B22  * B22 - y * y                                     (4)
+
+     holds, where y is defined as follows
+
+               T      T      T      T
+        w = E12  * U11  + E22  * U12 ,
+               T         T
+        y = B12  - w * M2 .
+
+     If B22_tilde is the square triangular matrix arising from the
+     QR-factorization
+
+            ( B22_tilde )     ( B22  )
+        Q * (           )  =  (      ),
+            (     0     )     ( y**T )
+
+     then
+
+             T              T                T
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (4) by the term
+     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
+     equation of lower dimension compared to (1).
+
+  The solution U of the equation (1) can be obtained by recursive
+  application of the steps I to III.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires 2*N**3 flops. Note that we count a single
+  floating point arithmetic operation as one flop.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if the pencil A - lambda * E has a pair of almost degenerate
+  eigenvalues, then the Lyapunov equation will be ill-conditioned.
+  Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+  When setting the error indicator INFO, the routine does not test
+  for near instability in the equation but only for exact
+  instability.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BW.html b/doc/_static/doc/SG03BW.html
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+<HTML>
+<HEAD><TITLE>SG03BW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BW">SG03BW</A></H2>
+<H3>
+Solving a generalized Sylvester equation, with A quasi-triangular, and E upper triangular, for an m-by-n matrix X, 1 <= n <= 2
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X the generalized Sylvester equation
+
+      T            T
+     A  * X * C + E  * X * D  =  SCALE * Y,                      (1)
+
+  or the transposed equation
+
+              T            T
+     A * X * C  + E * X * D   =  SCALE * Y,                      (2)
+
+  where A and E are real M-by-M matrices, C and D are real N-by-N
+  matrices, X and Y are real M-by-N matrices. N is either 1 or 2.
+  The pencil A - lambda * E must be in generalized real Schur form
+  (A upper quasitriangular, E upper triangular). SCALE is an output
+  scale factor, set to avoid overflow in X.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BW( TRANS, M, N, A, LDA, C, LDC, E, LDE, D, LDD, X,
+     $                   LDX, SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDC, LDD, LDE, LDX, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), C(LDC,*), D(LDD,*), E(LDE,*), X(LDX,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  Solve equation (1);
+          = 'T':  Solve equation (2).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The order of the matrices A and E.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The order of the matrices C and D.  N = 1 or N = 2.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
+          The leading M-by-M part of this array must contain the
+          upper quasitriangular matrix A. The elements below the
+          upper Hessenberg part are not referenced.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading N-by-N part of this array must contain the
+          matrix C.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,M)
+          The leading M-by-M part of this array must contain the
+          upper triangular matrix E. The elements below the main
+          diagonal are not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,M).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,N)
+          The leading N-by-N part of this array must contain the
+          matrix D.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,N).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
+          On entry, the leading M-by-N part of this array must
+          contain the right hand side matrix Y.
+          On exit, the leading M-by-N part of this array contains
+          the solution matrix X.
+
+  LDX     INTEGER
+          The leading dimension of the array X.  LDX &gt;= MAX(1,M).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in X.
+          0 &lt; SCALE &lt;= 1.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the generalized Sylvester equation is (nearly)
+                singular to working precision;  perturbed values
+                were used to solve the equation (but the matrices
+                A, C, D, and E are unchanged).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a generalization of the
+  algorithm due to Bartels and Stewart [1]. See also [2] and [3] for
+  details.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Bartels, R.H., Stewart, G.W.
+      Solution of the equation A X + X B = C.
+      Comm. A.C.M., 15, pp. 820-826, 1972.
+
+  [2] Gardiner, J.D., Laub, A.J., Amato, J.J., Moler, C.B.
+      Solution of the Sylvester Matrix Equation
+      A X B**T + C X D**T = E.
+      A.C.M. Trans. Math. Soft., vol. 18, no. 2, pp. 223-231, 1992.
+
+  [3] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The routine requires about 2 * N * M**2 flops. Note that we count
+  a single floating point arithmetic operation as one flop.
+
+  The algorithm is backward stable if the eigenvalues of the pencil
+  A - lambda * E are real. Otherwise, linear systems of order at
+  most 4 are involved into the computation. These systems are solved
+  by Gauss elimination with complete pivoting. The loss of stability
+  of the Gauss elimination with complete pivoting is rarely
+  encountered in practice.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  When near singularity is detected, perturbed values are used
+  to solve the equation (but the given matrices are unchanged).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BX.html b/doc/_static/doc/SG03BX.html
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+<HTML>
+<HEAD><TITLE>SG03BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BX">SG03BX</A></H2>
+<H3>
+Solving (for Cholesky factor) generalized stable 2-by-2 continuous- or discrete-time Lyapunov equations, with pencil A - lambda E having complex conjugate eigenvalues (E upper triangular)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To solve for X = op(U)**T * op(U) either the generalized c-stable
+  continuous-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(E) + op(E)  * X * op(A)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (1)
+
+  or the generalized d-stable discrete-time Lyapunov equation
+
+          T                    T
+     op(A)  * X * op(A) - op(E)  * X * op(E)
+
+              2        T
+     = - SCALE  * op(B)  * op(B),                                (2)
+
+  where op(K) is either K or K**T for K = A, B, E, U. The Cholesky
+  factor U of the solution is computed without first finding X.
+
+  Furthermore, the auxiliary matrices
+
+                                -1        -1
+     M1 := op(U) * op(A) * op(E)   * op(U)
+
+                        -1        -1
+     M2 := op(B) * op(E)   * op(U)
+
+  are computed in a numerically reliable way.
+
+  The matrices A, B, E, M1, M2, and U are real 2-by-2 matrices. The
+  pencil A - lambda * E must have a pair of complex conjugate
+  eigenvalues. The eigenvalues must be in the open right half plane
+  (in the continuous-time case) or inside the unit circle (in the
+  discrete-time case). The matrices E and B are upper triangular.
+
+  The resulting matrix U is upper triangular. The entries on its
+  main diagonal are non-negative. SCALE is an output scale factor
+  set to avoid overflow in U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BX( DICO, TRANS, A, LDA, E, LDE, B, LDB, U, LDU,
+     $                   SCALE, M1, LDM1, M2, LDM2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         DICO, TRANS
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, LDM1, LDM2, LDU
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), E(LDE,*), M1(LDM1,*),
+     $                  M2(LDM2,*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies whether the continuous-time or the discrete-time
+          equation is to be solved:
+          = 'C':  Solve continuous-time equation (1);
+          = 'D':  Solve discrete-time equation (2).
+
+  TRANS   CHARACTER*1
+          Specifies whether the transposed equation is to be solved
+          or not:
+          = 'N':  op(K) = K,     K = A, B, E, U;
+          = 'T':  op(K) = K**T,  K = A, B, E, U.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  A       (input) DOUBLE PRECISION array, dimension (LDA,2)
+          The leading 2-by-2 part of this array must contain the
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= 2.
+
+  E       (input) DOUBLE PRECISION array, dimension (LDE,2)
+          The leading 2-by-2 upper triangular part of this array
+          must contain the matrix E.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= 2.
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
+          The leading 2-by-2 upper triangular part of this array
+          must contain the matrix B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= 2.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,2)
+          The leading 2-by-2 part of this array contains the upper
+          triangular matrix U.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= 2.
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+  M1      (output) DOUBLE PRECISION array, dimension (LDM1,2)
+          The leading 2-by-2 part of this array contains the
+          matrix M1.
+
+  LDM1    INTEGER
+          The leading dimension of the array M1.  LDM1 &gt;= 2.
+
+  M2      (output) DOUBLE PRECISION array, dimension (LDM2,2)
+          The leading 2-by-2 part of this array contains the
+          matrix M2.
+
+  LDM2    INTEGER
+          The leading dimension of the array M2.  LDM2 &gt;= 2.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          = 2:  the eigenvalues of the pencil A - lambda * E are not
+                a pair of complex conjugate numbers;
+          = 3:  the eigenvalues of the pencil A - lambda * E are
+                not in the open right half plane (in the continuous-
+                time case) or inside the unit circle (in the
+                discrete-time case);
+          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
+                (see SLICOT Library routine SG03BS) failed to
+                converge. This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method used by the routine is based on a generalization of the
+  method due to Hammarling ([1], section 6) for Lyapunov equations
+  of order 2. A more detailed description is given in [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the solution matrix U is singular, the matrices M1 and M2 are
+  properly set (see [1], equation (6.21)).
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>SG03BY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BY">SG03BY</A></H2>
+<H3>
+Compute a complex Givens rotation in real arithmetic
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the parameters for the complex Givens rotation
+
+     (  CR-CI*I   SR-SI*I )   ( XR+XI*I )   ( Z )
+     (                    ) * (         ) = (   ),
+     ( -SR-SI*I   CR+CI*I )   ( YR+YI*I )   ( 0 )
+
+  where CR, CI, SR, SI, XR, XI, YR, YI are real numbers and I is the
+  imaginary unit, I = SQRT(-1). Z is a non-negative real number.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BY( XR, XI, YR, YI, CR, CI, SR, SI, Z )
+C     .. Scalar Arguments ..
+       DOUBLE PRECISION  CI, CR, SI, SR, XI, XR, YI, YR, Z
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  XR, XI, (input) DOUBLE PRECISION
+  YR, YI  (input) DOUBLE PRECISION
+          The given real scalars XR, XI, YR, YI.
+
+  CR, CI, (output) DOUBLE PRECISION
+  SR, SI, (output) DOUBLE PRECISION
+  Z       (output) DOUBLE PRECISION
+          The computed real scalars CR, CI, SR, SI, Z, defining the
+          complex Givens rotation and Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The subroutine avoids unnecessary overflow.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  In the interest of speed, this routine does not check the input
+  for errors.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/SG03BZ.html b/doc/_static/doc/SG03BZ.html
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+<HTML>
+<HEAD><TITLE>SG03BZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="SG03BZ">SG03BZ</A></H2>
+<H3>
+Solving (for Cholesky factor) stable generalized continuous- or discrete-time complex Lyapunov equations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the Cholesky factor U of the matrix X,
+
+              H
+     X = op(U)  * op(U),
+
+  which is the solution of either the generalized c-stable
+  continuous-time Lyapunov equation
+
+          H                    H
+     op(A)  * X * op(E) + op(E)  * X * op(A)
+
+              2        H
+     = - SCALE  * op(B)  * op(B),                                (1)
+
+  or the generalized d-stable discrete-time Lyapunov equation
+
+          H                    H
+     op(A)  * X * op(A) - op(E)  * X * op(E)
+
+              2        H
+     = - SCALE  * op(B)  * op(B),                                (2)
+
+  without first finding X and without the need to form the matrix
+  op(B)**H * op(B).
+
+  op(K) is either K or K**H for K = A, B, E, U. A and E are N-by-N
+  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
+  N-by-N upper triangular matrix with non-negative entries on its
+  main diagonal. SCALE is an output scale factor set to avoid
+  overflow in U.
+
+  In the continuous-time case (1) the pencil A - lambda * E must be
+  c-stable (that is, all eigenvalues must have negative real parts).
+  In the discrete-time case (2) the pencil A - lambda * E must be
+  d-stable (that is, the moduli of all eigenvalues must be smaller
+  than one).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE SG03BZ( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
+     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHA, BETA, DWORK,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION  SCALE
+      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDZ, LZWORK, M, N
+      CHARACTER         DICO, FACT, TRANS
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), ALPHA(*), B(LDB,*), BETA(*), E(LDE,*),
+     $                  Q(LDQ,*), Z(LDZ,*), ZWORK(*)
+      DOUBLE PRECISION  DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies which type of the equation is considered:
+          = 'C':  Continuous-time equation (1);
+          = 'D':  Discrete-time equation (2).
+
+  FACT    CHARACTER*1
+          Specifies whether the generalized (complex) Schur
+          factorization of the pencil A - lambda * E is supplied on
+          entry or not:
+          = 'N':  Factorization is not supplied;
+          = 'F':  Factorization is supplied.
+
+  TRANS   CHARACTER*1
+          Specifies whether the conjugate transposed equation is to
+          be solved or not:
+          = 'N':  op(A) = A,    op(E) = E;
+          = 'C':  op(A) = A**H, op(E) = E**H.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of rows in the matrix op(B).  M &gt;= 0.
+          If M = 0, A and E are unchanged on exit, and Q, Z, ALPHA
+          and BETA are not set.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the generalized
+          Schur factor A_s of the matrix A (see definition (3) in
+          section METHOD). A_s must be an upper triangular matrix.
+          The elements below the upper triangular part of the array
+          A are used as workspace.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the matrix A.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          triangular part of this array contains the generalized
+          Schur factor A_s of the matrix A. (A_s is an upper
+          triangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, if FACT = 'F', then the leading N-by-N upper
+          triangular part of this array must contain the generalized
+          Schur factor E_s of the matrix E (see definition (4) in
+          section METHOD). E_s must be an upper triangular matrix.
+          The elements below the upper triangular part of the array
+          E are used as workspace.
+          If FACT = 'N', then the leading N-by-N part of this array
+          must contain the coefficient matrix E of the equation.
+          On exit, if FACT = 'N', the leading N-by-N upper
+          triangular part of this array contains the generalized
+          Schur factor E_s of the matrix E. (E_s is an upper
+          triangular matrix.) If FACT = 'F', the leading N-by-N
+          upper triangular part of this array is unchanged.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the unitary matrix Q from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Q need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the unitary matrix Q from the generalized
+          Schur factorization. If FACT = 'F', this array is
+          unchanged.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
+          On entry, if FACT = 'F', then the leading N-by-N part of
+          this array must contain the unitary matrix Z from the
+          generalized Schur factorization (see definitions (3) and
+          (4) in section METHOD), or an identity matrix (if the
+          original equation has upper triangular matrices A and E).
+          If FACT = 'N', Z need not be set on entry.
+          On exit, if FACT = 'N', the leading N-by-N part of this
+          array contains the unitary matrix Z from the generalized
+          Schur factorization. If FACT = 'F', this array is
+          unchanged.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,N1)
+          On entry, if TRANS = 'C', the leading N-by-M part of this
+          array must contain the matrix B and N1 &gt;= MAX(M,N).
+          If TRANS = 'N', the leading M-by-N part of this array
+          must contain the matrix B and N1 &gt;= N.
+          On exit, if INFO = 0, the leading N-by-N part of this
+          array contains the Cholesky factor U of the solution
+          matrix X of the problem, X = op(U)**H * op(U).
+          If M = 0 and N &gt; 0, then U is set to zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          If TRANS = 'C',  LDB &gt;= MAX(1,N).
+          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
+
+  SCALE   (output) DOUBLE PRECISION
+          The scale factor set to avoid overflow in U.
+          0 &lt; SCALE &lt;= 1.
+
+  ALPHA   (output) COMPLEX*16 arrays, dimension (N)
+  BETA    If INFO = 0, 5, 6, or 7, then ALPHA(j)/BETA(j),
+          j = 1, ... , N, are the eigenvalues of the matrix pencil
+          A - lambda * E (the diagonals of the complex Schur form).
+          All BETA(j) are non-negative real numbers.
+          ALPHA will be always less than and usually comparable with
+          norm(A) in magnitude, and BETA always less than and
+          usually comparable with norm(B).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
+          LDWORK = 0,           if MIN(M,N) = 0 or
+                                   FACT = 'F' and N &lt;= 1; else,
+          LDWORK = N-1,         if FACT = 'F' and DICO = 'C';
+          LDWORK = MAX(N-1,10), if FACT = 'F' and DICO = 'D';
+          LDWORK = 8*N,         if FACT = 'N'.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+          On exit, if INFO = -21, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The dimension of the array ZWORK.
+          LZWORK &gt;= MAX(1,3*N-3,2*N).
+          For good performance, LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the ZWORK
+          array, returns this value as the first entry of the ZWORK
+          array, and no error message related to LZWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
+                reduced to generalized Schur form: LAPACK routine
+                ZGGES has failed to converge;
+          = 5:  DICO = 'C' and the pencil A - lambda * E is not
+                c-stable;
+          = 6:  DICO = 'D' and the pencil A - lambda * E is not
+                d-stable;
+          = 7:  the LAPACK routine ZSTEIN utilized to factorize M3
+                failed to converge in the discrete-time case (see
+                section METHOD for SLICOT Library routine SG03BS).
+                This error is unlikely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  An extension [2] of Hammarling's method [1] to generalized
+  Lyapunov equations is utilized to solve (1) or (2).
+
+  First the pencil A - lambda * E is reduced to complex generalized
+  Schur form A_s - lambda * E_s by means of unitary transformations
+  (QZ-algorithm):
+
+     A_s = Q**H * A * Z   (upper triangular),                    (3)
+
+     E_s = Q**H * E * Z   (upper triangular).                    (4)
+
+  If the pencil A - lambda * E has already been factorized prior to
+  calling the routine, however, then the factors A_s, E_s, Q and Z
+  may be supplied and the initial factorization omitted.
+
+  Depending on the parameters TRANS and M, the N-by-N upper
+  triangular matrix B_s is defined as follows. In any case Q_B is
+  an M-by-M unitary matrix, which need not be accumulated.
+
+  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
+     from the QR-factorization
+
+        ( Q_B  O )           ( B * Z )
+        (        ) * B_s  =  (       ),
+        (  O   I )           (   O   )
+
+     where the O's are zero matrices of proper size and I is the
+     identity matrix of order N-M.
+
+  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) QR-factorization
+
+              ( B_s )
+        Q_B * (     )  =  B * Z,
+              (  O  )
+
+     where O is the (M-N)-by-N zero matrix.
+
+  3. If TRANS = 'C' and M &lt; N, B_s is the upper triangular matrix
+     from the RQ-factorization
+
+                    ( Q_B  O )
+        (B_s  O ) * (        )  =  ( Q**H * B   O ).
+                    (  O   I )
+
+  4. If TRANS = 'C' and M &gt;= N, B_s is the upper triangular matrix
+     from the (rectangular) RQ-factorization
+
+        ( B_s   O ) * Q_B  =  Q**H * B,
+
+     where O is the N-by-(M-N) zero matrix.
+
+  Assuming SCALE = 1, the transformation of A, E and B described
+  above leads to the reduced continuous-time equation
+
+              H        H
+       op(A_s)  op(U_s)  op(U_s) op(E_s)
+
+              H        H
+     + op(E_s)  op(U_s)  op(U_s) op(A_s)
+
+                 H
+     =  - op(B_s)  op(B_s)                                       (5)
+
+  or to the reduced discrete-time equation
+
+              H        H
+       op(A_s)  op(U_s)  op(U_s) op(A_s)
+
+              H        H
+     - op(E_s)  op(U_s)  op(U_s) op(E_s)
+
+                 H
+     =  - op(B_s)  op(B_s).                                      (6)
+
+  For brevity we restrict ourself to equation (5) and the case
+  TRANS = 'N'. The other three cases can be treated in a similar
+  fashion.
+
+  We use the following partitioning for the matrices A_s, E_s, B_s,
+  and U_s
+
+              ( A11   A12 )          ( E11   E12 )
+        A_s = (           ),   E_s = (           ),
+              (   0   A22 )          (   0   E22 )
+
+              ( B11   B12 )          ( U11   U12 )
+        B_s = (           ),   U_s = (           ).              (7)
+              (   0   B22 )          (   0   U22 )
+
+  The size of the (1,1)-blocks is 1-by-1.
+
+  We compute U11, U12**H, and U22 in three steps.
+
+  Step I:
+
+     From (5) and (7) we get the 1-by-1 equation
+
+             H      H                   H      H
+          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
+
+                 H
+          = - B11  * B11.
+
+     For brevity, details are omitted here. See [2]. The technique
+     for computing U11 is similar to those applied to standard
+     Lyapunov equations in Hammarling's algorithm ([1], section 5).
+
+     Furthermore, the auxiliary scalars M1 and M2 defined as follows
+
+        M1 = A11 / E11 ,
+
+        M2 = B11 / E11 / U11 ,
+
+     are computed in a numerically reliable way.
+
+  Step II:
+
+     The generalized Sylvester equation
+
+           H      H      H      H
+        A22  * U12  + E22  * U12  * M1  =
+
+             H           H      H      H      H
+        - B12  * M2 - A12  * U11  - E12  * U11  * M1
+
+     is solved for U12**H, as a linear system of order N-1.
+
+  Step III:
+
+     It can be shown that
+
+           H      H                  H      H
+        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
+
+             H              H
+        - B22  * B22 - y * y                                     (8)
+
+     holds, where y is defined as
+
+               H        H      H      H      H
+        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
+
+     If B22_tilde is the square triangular matrix arising from the
+     (rectangular) QR-factorization
+
+                    ( B22_tilde )     ( B22  )
+        Q_B_tilde * (           )  =  (      ),
+                    (     O     )     ( y**H )
+
+     where Q_B_tilde is a unitary matrix of order N, then
+
+             H              H                H
+        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
+
+     Replacing the right hand side in (8) by the term
+     - B22_tilde**H * B22_tilde leads to a reduced generalized
+     Lyapunov equation like (5), but of dimension N-1.
+
+  The recursive application of the steps I to III yields the
+  solution U_s of the equation (5).
+
+  It remains to compute the solution matrix U of the original
+  problem (1) or (2) from the matrix U_s. To this end we transform
+  the solution back (with respect to the transformation that led
+  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
+  (RQ-factorization). The upper triangular solution matrix U is
+  obtained by
+
+     Q_U * U  =  U_s * Q**H     (if TRANS = 'N'),
+
+  or
+
+     U * Q_U  =  Z * U_s        (if TRANS = 'C'),
+
+  where Q_U is an N-by-N unitary matrix. Again, the unitary matrix
+  Q_U need not be accumulated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Hammarling, S.J.
+      Numerical solution of the stable, non-negative definite
+      Lyapunov equation.
+      IMA J. Num. Anal., 2, pp. 303-323, 1982.
+
+  [2] Penzl, T.
+      Numerical solution of generalized Lyapunov equations.
+      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The number of flops required by the routine is given by the
+  following table. Note that we count a single floating point
+  arithmetic operation as one flop.
+
+              |           FACT = 'F'                  FACT = 'N'
+     ---------+--------------------------------------------------
+      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
+              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
+              |
+       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The Lyapunov equation may be very ill-conditioned. In particular,
+  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
+  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
+  degenerate pair of eigenvalues, then the Lyapunov equation will be
+  ill-conditioned. Perturbed values were used to solve the equation.
+  A condition estimate can be obtained from the routine SG03AD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01ID.html b/doc/_static/doc/TB01ID.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>TB01ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ID">TB01ID</A></H2>
+<H3>
+Balancing a system matrix corresponding to a triplet (A,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the 1-norm of a system matrix
+
+          S =  ( A  B )
+               ( C  0 )
+
+  corresponding to the triple (A,B,C), by balancing. This involves
+  a diagonal similarity transformation inv(D)*A*D applied
+  iteratively to A to make the rows and columns of
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  as close in norm as possible.
+
+  The balancing can be performed optionally on the following
+  particular system matrices
+
+           S = A,    S = ( A  B )    or    S = ( A )
+                                               ( C )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, LDA, LDB, LDC, M, N, P
+      DOUBLE PRECISION   MAXRED
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B and A matrices are involved in balancing;
+          = 'C':  C and A matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  MAXRED  (input/output) DOUBLE PRECISION
+          On entry, the maximum allowed reduction in the 1-norm of
+          S (in an iteration) if zero rows or columns are
+          encountered.
+          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
+          the norm reduction).
+          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
+          used.
+          On exit, if the 1-norm of the given matrix S is non-zero,
+          the ratio between the 1-norm of the given matrix and the
+          1-norm of the balanced matrix.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix inv(D)*A*D.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, if M &gt; 0, the leading N-by-M part of this array
+          must contain the system input matrix B.
+          On exit, if M &gt; 0, the leading N-by-M part of this array
+          contains the balanced matrix inv(D)*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0.
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, if P &gt; 0, the leading P-by-N part of this array
+          must contain the system output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*D.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S.  If D(j) is the scaling
+          factor applied to row and column j, then SCALE(j) = D(j),
+          for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  to make the 1-norms of each row of the first N rows of S and its
+  corresponding column nearly equal.
+
+  Information about the diagonal matrix D is returned in the vector
+  SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01ID EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, INFO, J, M, N, P
+      DOUBLE PRECISION MAXRED
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 SCALE(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01ID, UD01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Balance system matrix S.
+               CALL TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
+     $                      LDC, SCALE, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  CALL UD01MD( N, N, 5, NOUT, A, LDA,
+     $                        'The balanced matrix A', INFO )
+                  IF ( M.GT.0 )
+     $               CALL UD01MD( N, M, 5, NOUT, B, LDB,
+     $                            'The balanced matrix B', INFO )
+                  IF ( P.GT.0 )
+     $               CALL UD01MD( P, N, 5, NOUT, C, LDC,
+     $                            'The balanced matrix C', INFO )
+                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
+     $                        'The scaling vector SCALE', INFO )
+                  WRITE ( NOUT, FMT = 99994 ) MAXRED
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ID = ',I2)
+99994 FORMAT (/' MAXRED is ',E13.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ID EXAMPLE PROGRAM DATA
+   5     2     5       A    0.0
+          0.0  1.0000e+000          0.0          0.0          0.0
+ -1.5800e+006 -1.2570e+003          0.0          0.0          0.0
+  3.5410e+014          0.0 -1.4340e+003          0.0 -5.3300e+011
+          0.0          0.0          0.0          0.0  1.0000e+000
+          0.0          0.0          0.0 -1.8630e+004 -1.4820e+000
+          0.0          0.0
+  1.1030e+002          0.0
+          0.0          0.0
+          0.0          0.0
+          0.0  8.3330e-003
+  1.0000e+000          0.0          0.0          0.0          0.0
+          0.0          0.0  1.0000e+000          0.0          0.0
+          0.0          0.0          0.0  1.0000e+000          0.0
+  6.6640e-001          0.0 -6.2000e-013          0.0          0.0
+          0.0          0.0 -1.0000e-003  1.8960e+006  1.5080e+002
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ID EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A ( 5X 5)
+
+            1              2              3              4              5
+  1    0.0000000D+00  0.1000000D+05  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2   -0.1580000D+03 -0.1257000D+04  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.3541000D+05  0.0000000D+00 -0.1434000D+04  0.0000000D+00 -0.5330000D+03
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+03
+  5    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.1863000D+03 -0.1482000D+01
+ 
+ The balanced matrix B ( 5X 2)
+
+            1              2
+  1    0.0000000D+00  0.0000000D+00
+  2    0.1103000D+04  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00
+  5    0.0000000D+00  0.8333000D+02
+ 
+ The balanced matrix C ( 5X 5)
+
+            1              2              3              4              5
+  1    0.1000000D-04  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.1000000D+06  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D-05  0.0000000D+00
+  4    0.6664000D-05  0.0000000D+00 -0.6200000D-07  0.0000000D+00  0.0000000D+00
+  5    0.0000000D+00  0.0000000D+00 -0.1000000D+03  0.1896000D+01  0.1508000D-01
+ 
+ The scaling vector SCALE ( 1X 5)
+
+            1              2              3              4              5
+  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
+ 
+
+ MAXRED is    0.3488E+10
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01IZ.html b/doc/_static/doc/TB01IZ.html
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+<HTML>
+<HEAD><TITLE>TB01IZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01IZ">TB01IZ</A></H2>
+<H3>
+Balancing a system matrix corresponding to a triplet (A,B,C) (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the 1-norm of a system matrix
+
+          S =  ( A  B )
+               ( C  0 )
+
+  corresponding to the triple (A,B,C), by balancing. This involves
+  a diagonal similarity transformation inv(D)*A*D applied
+  iteratively to A to make the rows and columns of
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  as close in norm as possible.
+
+  The balancing can be performed optionally on the following
+  particular system matrices
+
+           S = A,    S = ( A  B )    or    S = ( A )
+                                               ( C )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+     $                   SCALE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, LDA, LDB, LDC, M, N, P
+      DOUBLE PRECISION   MAXRED
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * )
+      DOUBLE PRECISION   SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B and A matrices are involved in balancing;
+          = 'C':  C and A matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  MAXRED  (input/output) DOUBLE PRECISION
+          On entry, the maximum allowed reduction in the 1-norm of
+          S (in an iteration) if zero rows or columns are
+          encountered.
+          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
+          the norm reduction).
+          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
+          used.
+          On exit, if the 1-norm of the given matrix S is non-zero,
+          the ratio between the 1-norm of the given matrix and the
+          1-norm of the balanced matrix.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced matrix inv(D)*A*D.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= max(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, if M &gt; 0, the leading N-by-M part of this array
+          must contain the system input matrix B.
+          On exit, if M &gt; 0, the leading N-by-M part of this array
+          contains the balanced matrix inv(D)*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0.
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, if P &gt; 0, the leading P-by-N part of this array
+          must contain the system output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*D.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  SCALE   (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S.  If D(j) is the scaling
+          factor applied to row and column j, then SCALE(j) = D(j),
+          for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                        -1
+               diag(D,I)  * S * diag(D,I)
+
+  to make the 1-norms of each row of the first N rows of S and its
+  corresponding column nearly equal.
+
+  Information about the diagonal matrix D is returned in the vector
+  SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01IZ EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, INFO, J, M, N, P
+      DOUBLE PRECISION MAXRED
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX)
+      DOUBLE PRECISION SCALE(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01IZ, UD01MD, UD01MZ
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Balance system matrix S.
+               CALL TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
+     $                      LDC, SCALE, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  CALL UD01MZ( N, N, 3, NOUT, A, LDA,
+     $                        'The balanced matrix A', INFO )
+                  IF ( M.GT.0 )
+     $               CALL UD01MZ( N, M, 3, NOUT, B, LDB,
+     $                            'The balanced matrix B', INFO )
+                  IF ( P.GT.0 )
+     $               CALL UD01MZ( P, N, 3, NOUT, C, LDC,
+     $                            'The balanced matrix C', INFO )
+                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
+     $                        'The scaling vector SCALE', INFO )
+                  WRITE ( NOUT, FMT = 99994 ) MAXRED
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01IZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01IZ = ',I2)
+99994 FORMAT (/' MAXRED is ',E13.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01IZ EXAMPLE PROGRAM DATA
+   5     2     5       A     0.0
+         (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
+(-1.5800e+006,0.0) (-1.2570e+003,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
+ (3.5410e+014,0.0)          (0.0,0.0) (-1.4340e+003,0.0)          (0.0,0.0) (-5.3300e+011,0.0)
+         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)
+         (0.0,0.0)          (0.0,0.0)          (0.0,0.0) (-1.8630e+004,0.0) (-1.4820e+000,0.0)
+         (0.0,0.0)          (0.0,0.0)
+ (1.1030e+002,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)  (8.3330e-003,0.0)
+ (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)
+ (6.6640e-001,0.0)          (0.0,0.0) (-6.2000e-013,0.0)          (0.0,0.0)          (0.0,0.0)
+         (0.0,0.0)          (0.0,0.0) (-1.0000e-003,0.0)  (1.8960e+006,0.0)  (1.5080e+002,0.0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01IZ EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A (    5X    5)
+
+                        1                               2                               3
+     1    0.0000000D+00 +0.0000000D+00i   0.1000000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2   -0.1580000D+03 +0.0000000D+00i  -0.1257000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.3541000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1434000D+04 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+ 
+                        4                               5
+     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.0000000D+00 +0.0000000D+00i  -0.5330000D+03 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.1000000D+03 +0.0000000D+00i 
+     5   -0.1863000D+03 +0.0000000D+00i  -0.1482000D+01 +0.0000000D+00i 
+ 
+ The balanced matrix B (    5X    2)
+
+                        1                               2
+     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.1103000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     5    0.0000000D+00 +0.0000000D+00i   0.8333000D+02 +0.0000000D+00i 
+ 
+ The balanced matrix C (    5X    5)
+
+                        1                               2                               3
+     1    0.1000000D-04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.1000000D+06 +0.0000000D+00i 
+     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     4    0.6664000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.6200000D-07 +0.0000000D+00i 
+     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1000000D+03 +0.0000000D+00i 
+ 
+                        4                               5
+     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     3    0.1000000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
+     5    0.1896000D+01 +0.0000000D+00i   0.1508000D-01 +0.0000000D+00i 
+ 
+ The scaling vector SCALE ( 1X 5)
+
+            1              2              3              4              5
+  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
+ 
+
+ MAXRED is    0.3488E+10
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01KD.html b/doc/_static/doc/TB01KD.html
new file mode 100644
index 00000000..6c9a8627
--- /dev/null
+++ b/doc/_static/doc/TB01KD.html
@@ -0,0 +1,366 @@
+<HTML>
+<HEAD><TITLE>TB01KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01KD">TB01KD</A></H2>
+<H3>
+Similarity reduction of system state-matrix to block-diagonal form with two blocks so that the leading block has eigenvalues in a specified domain
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an additive spectral decomposition of the transfer-
+  function matrix of the system (A,B,C) by reducing the system
+  state-matrix A to a block-diagonal form.
+  The system matrices are transformed as
+  A &lt;-- inv(U)*A*U, B &lt;--inv(U)*B and C &lt;-- C*U.
+  The leading diagonal block of the resulting A has eigenvalues
+  in a suitably defined domain of interest.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
+     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBA, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
+     $                 WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBA    CHARACTER*1
+          Specifies the shape of the state dynamics matrix on entry
+          as follows:
+          = 'S':  A is in an upper real Schur form;
+          = 'G':  A is a general square dense matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION.
+          Specifies the boundary of the domain of interest for the
+          eigenvalues of A. For a continuous-time system
+          (DICO = 'C'), ALPHA is the boundary value for the real
+          parts of eigenvalues, while for a discrete-time system
+          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
+          the moduli of eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the unreduced state dynamics matrix A.
+          If JOBA = 'S' then A must be a matrix in real Schur form.
+          On exit, the leading N-by-N part of this array contains a
+          block diagonal matrix inv(U) * A * U with two diagonal
+          blocks in real Schur form with the elements below the
+          first subdiagonal set to zero.
+          The leading NDIM-by-NDIM block of A has eigenvalues in the
+          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
+          block has eigenvalues outside the domain of interest.
+          The domain of interest for lambda(A), the eigenvalues
+          of A, is defined by the parameters ALPHA, DICO and STDOM
+          as follows:
+          For a continuous-time system (DICO = 'C'):
+            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
+          For a discrete-time system (DICO = 'D'):
+            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix inv(U) * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NDIM    (output) INTEGER
+          The number of eigenvalues of A lying inside the domain of
+          interest for eigenvalues.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          transformation matrix used to reduce A to the block-
+          diagonal form. The first NDIM columns of U span the
+          invariant subspace of A corresponding to the eigenvalues
+          of its leading diagonal block. The last N-NDIM columns
+          of U span the reducing subspace of A corresponding to
+          the eigenvalues of the trailing diagonal block of A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues of A. The
+          eigenvalues will be in the same order that they appear on
+          the diagonal of the output real Schur form of A. Complex
+          conjugate pairs of eigenvalues will appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
+          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: successful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal
+               value;
+          = 1: the QR algorithm failed to compute all the
+               eigenvalues of A;
+          = 2: a failure occured during the ordering of the real
+               Schur form of A;
+          = 3: the separation of the two diagonal blocks failed
+               because of very close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A similarity transformation U is determined that reduces the
+  system state-matrix A to a block-diagonal form (with two diagonal
+  blocks), so that the leading diagonal block of the resulting A has
+  eigenvalues in a specified domain of the complex plane. The
+  determined transformation is applied to the system (A,B,C) as
+    A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
+      Synthesis of positive real multivariable feedback systems.
+      Int. J. Control, pp. 817-842, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 14N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01KD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBA, STDOM
+      INTEGER          I, INFO, J, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01KD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA,
+     $                      B, LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99987 ) NDIM
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01KD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01KD = ',I2)
+99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
+99996 FORMAT (/' The transformed state dynamics matrix inv(U)*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix inv(U)*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (' The number of eigenvalues in the domain of interest =',
+     $        I5 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01KD EXAMPLE PROGRAM DATA (Continuous system)
+  5     2     3    -1.0      C     U     G
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01KD EXAMPLE PROGRAM RESULTS
+
+ The number of eigenvalues in the domain of interest =    2
+
+ The eigenvalues of state dynamics matrix A are 
+ ( -0.7483,   2.9940 )
+ ( -0.7483,  -2.9940 )
+ ( -1.6858,   2.0311 )
+ ( -1.6858,  -2.0311 )
+ ( -1.8751,   0.0000 )
+
+ The transformed state dynamics matrix inv(U)*A*U is 
+  -0.7483  -8.6406   0.0000   0.0000   0.0000
+   1.0374  -0.7483   0.0000   0.0000   0.0000
+   0.0000   0.0000  -1.6858   5.5669   0.0000
+   0.0000   0.0000  -0.7411  -1.6858   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8751
+
+ The transformed input/state matrix inv(U)*B is 
+   2.0240  -2.0240
+  -1.1309   1.1309
+  -0.8621  -0.8621
+   2.1912   2.1912
+  -1.5555   1.5555
+
+ The transformed state/output matrix C*U is 
+   0.6864  -0.0987   0.6580   0.2589   0.9650
+  -0.0471   0.6873   0.0000   0.0000  -0.5609
+  -0.6864   0.0987   0.6580   0.2589  -0.9650
+
+ The similarity transformation matrix U is 
+   0.6864  -0.0987   0.6580   0.2589   0.9650
+  -0.1665  -0.5041  -0.2589   0.6580  -0.9205
+  -0.0471   0.6873   0.0000   0.0000  -0.5609
+  -0.6864   0.0987   0.6580   0.2589  -0.9650
+   0.1665   0.5041  -0.2589   0.6580   0.9205
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01KX.html b/doc/_static/doc/TB01KX.html
new file mode 100644
index 00000000..85bd2843
--- /dev/null
+++ b/doc/_static/doc/TB01KX.html
@@ -0,0 +1,169 @@
+<HTML>
+<HEAD><TITLE>TB01KX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01KX">TB01KX</A></H2>
+<H3>
+Additive spectral decomposition of the transfer-function matrix of a standard system 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an additive spectral decomposition of the transfer-
+  function matrix of the system (A,B,C) by reducing the system
+  state-matrix A to a block-diagonal form. It is assumed that A is
+  in a real Schur form, and the leading diagonal block of order NDIM
+  has eigenvalues distinct from those of the trailing diagonal
+  block. The system matrices are transformed as
+     A &lt;-- V*A*U, B &lt;--V*B and C &lt;-- C*U, where V = inv(U),
+  preserving the spectra of the two diagonal blocks.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01KX( N, M, P, NDIM, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                   V, LDV, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDV, M, N, NDIM, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), U(LDU,*), V(LDV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e., the
+          order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  NDIM    (input) INTEGER
+          The dimension of the leading diagonal block of A having
+          eigenvalues distinct from those of the trailing diagonal
+          block.  0 &lt;= NDIM &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A in real Schur form.
+          On exit, the leading N-by-N part of this array contains a
+          block diagonal matrix inv(U) * A * U with two diagonal
+          blocks in real Schur form, with the elements below the
+          first subdiagonal set to zero. The leading block has
+          dimension NDIM-by-NDIM.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix inv(U) * B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
+          On entry, the leading N-by-N part of this array must
+          contain an initial transformation matrix U.
+          On exit, the leading N-by-N part of this array contains
+          the transformation matrix used to reduce A to the block-
+          diagonal form. The first NDIM columns of U span the
+          invariant subspace of A corresponding to the eigenvalues
+          of its leading diagonal block. The last N-NDIM columns of
+          U span the reducing subspace of A corresponding to the
+          eigenvalues of the trailing diagonal block of A.
+
+  LDU     INTEGER
+          The leading dimension of the array U.  LDU &gt;= max(1,N).
+
+  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
+          The leading N-by-N part of this array contains the
+          inverse of the transformation matrix U used to reduce A
+          to the block-diagonal form.
+
+  LDV     INTEGER
+          The leading dimension of the array V.  LDV &gt;= max(1,N).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: successful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
+          = 1: the separation of the two diagonal blocks failed
+               because of very close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  A similarity transformation U is determined that reduces the given
+  system state-matrix A to a block-diagonal form (with two diagonal
+  blocks), so that the eigenvalues of the leading diagonal block of
+  the resulting A are preserved. The determined transformation is
+  applied to the system (A,B,C) as
+     A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
+      Synthesis of positive real multivariable feedback systems.
+      Int. J. Control, pp. 817-842, 1987.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                3
+  The algorithm requires about N /2 + NDIM*(N-NDIM)*(2*N+M+P)
+  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01LD.html b/doc/_static/doc/TB01LD.html
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+<HTML>
+<HEAD><TITLE>TB01LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01LD">TB01LD</A></H2>
+<H3>
+Orthogonal similarity reduction so that the leading part of system state-matrix has eigenvalues in a specified domain
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the system state matrix A to an ordered upper real
+  Schur form by using an orthogonal similarity transformation
+  A &lt;-- U'*A*U and to apply the transformation to the matrices
+  B and C: B &lt;-- U'*B and C &lt;-- C*U.
+  The leading block of the resulting A has eigenvalues in a
+  suitably defined domain of interest.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
+     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBA, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
+     $                 WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBA    CHARACTER*1
+          Specifies the shape of the state dynamics matrix on entry
+          as follows:
+          = 'S':  A is in an upper real Schur form;
+          = 'G':  A is a general square dense matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION.
+          Specifies the boundary of the domain of interest for the
+          eigenvalues of A. For a continuous-time system
+          (DICO = 'C'), ALPHA is the boundary value for the real
+          parts of eigenvalues, while for a discrete-time system
+          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value
+          for the moduli of eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the unreduced state dynamics matrix A.
+          If JOBA = 'S' then A must be a matrix in real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the ordered real Schur matrix U' * A * U with the elements
+          below the first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of A has eigenvalues in the
+          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
+          part has eigenvalues outside the domain of interest.
+          The domain of interest for lambda(A), the eigenvalues
+          of A, is defined by the parameters ALPHA, DICO and STDOM
+          as follows:
+          For a continuous-time system (DICO = 'C'):
+            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
+          For a discrete-time system (DICO = 'D'):
+            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
+            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NDIM    (output) INTEGER
+          The number of eigenvalues of A lying inside the domain of
+          interest for eigenvalues.
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix used to reduce A to the
+          real Schur form and/or to reorder the diagonal blocks of
+          real Schur form of A. The first NDIM columns of U form
+          an orthogonal basis for the invariant subspace of A
+          corresponding to the first NDIM eigenvalues.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues of A. The
+          eigenvalues will be in the same order that they appear on
+          the diagonal of the output real Schur form of A. Complex
+          conjugate pairs of eigenvalues will appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.
+          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
+          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0: successful exit;
+          &lt; 0: if INFO = -i, the i-th argument had an illegal
+               value;
+          = 1: the QR algorithm failed to compute all the
+               eigenvalues of A;
+          = 2: a failure occured during the ordering of the real
+               Schur form of A.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is reduced to an ordered upper real Schur form using an
+  orthogonal similarity transformation A &lt;-- U'*A*U. This
+  transformation is determined so that the leading block of the
+  resulting A has eigenvalues in a suitably defined domain of
+  interest. Then, the transformation is applied to the matrices B
+  and C: B &lt;-- U'*B and C &lt;-- C*U.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 14N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01LD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBA, STDOM
+      INTEGER          I, INFO, J, M, N, NDIM, P
+      DOUBLE PRECISION ALPHA
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01LD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA,
+     $                      A, LDA, B, LDB, C, LDC, NDIM, U, LDU,
+     $                      WR, WI, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99987 ) NDIM
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01LD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01LD = ',I2)
+99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
+99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix U''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The number of eigenvalues in the domain of interest =',
+     $        I5 )
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01LD EXAMPLE PROGRAM DATA (Continuous system)
+  5     2     3    -1.0      C     U     G
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01LD EXAMPLE PROGRAM RESULTS
+
+
+ The number of eigenvalues in the domain of interest =    2
+
+ The eigenvalues of state dynamics matrix A are 
+ ( -0.7483,   2.9940 )
+ ( -0.7483,  -2.9940 )
+ ( -1.6858,   2.0311 )
+ ( -1.6858,  -2.0311 )
+ ( -1.8751,   0.0000 )
+
+ The transformed state dynamics matrix U'*A*U is 
+  -0.7483  -8.6406   0.0000   0.0000   1.1745
+   1.0374  -0.7483   0.0000   0.0000  -2.1164
+   0.0000   0.0000  -1.6858   5.5669   0.0000
+   0.0000   0.0000  -0.7411  -1.6858   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8751
+
+ The transformed input/state matrix U'*B is 
+  -0.5543   0.5543
+  -1.6786   1.6786
+  -0.8621  -0.8621
+   2.1912   2.1912
+  -1.5555   1.5555
+
+ The transformed state/output matrix C*U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+
+ The similarity transformation matrix U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+   0.1665   0.5041  -0.2589   0.6580   0.4671
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01MD.html b/doc/_static/doc/TB01MD.html
new file mode 100644
index 00000000..bb7ce97f
--- /dev/null
+++ b/doc/_static/doc/TB01MD.html
@@ -0,0 +1,299 @@
+<HTML>
+<HEAD><TITLE>TB01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01MD">TB01MD</A></H2>
+<H3>
+Upper/lower controller Hessenberg form using unitary state-space transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the pair (B,A) to upper or lower controller Hessenberg
+  form using (and optionally accumulating) unitary state-space
+  transformations.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBU, UPLO
+      INTEGER           INFO, LDA, LDB, LDU, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the unitary state-space transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is initialized to the unit matrix and the
+                  unitary transformation matrix U is returned;
+          = 'U':  The given matrix U is updated by the unitary
+                  transformations used in the reduction.
+
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes the pair (B,A) to be
+          reduced to upper or lower controller Hessenberg form as
+          follows:
+          = 'U':  Upper controller Hessenberg form;
+          = 'L':  Lower controller Hessenberg form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The actual input dimension, i.e. the number of columns of
+          the matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A to be transformed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state transition matrix U' * A * U.
+          The annihilated elements are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B to be transformed.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+          The annihilated elements are set to zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if JOBU = 'U', then the leading N-by-N part of
+          this array must contain a given matrix U (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix U and the state-space transformation
+          matrix which reduces the given pair to controller
+          Hessenberg form.
+          On exit, if JOBU = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated unitary
+          similarity transformations which reduces the given pair
+          to controller Hessenberg form.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U. If JOBU = 'U' or
+          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,M-1))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a unitary state-space transformation U, which
+  reduces the pair (B,A) to one of the following controller
+  Hessenberg forms:
+
+                 |*  . . .  *|*  . . . . . .  *|
+                 |   .      .|.               .|
+                 |     .    .|.               .|
+                 |       .  .|.               .|
+    [U'B|U'AU] = |          *|.               .| N
+                 |           |*               .|
+                 |           |   .            .|
+                 |           |     .          .|
+                 |           |       .        .|
+                 |           |         * . .  *|
+                      M               N
+
+  if UPLO = 'U', or
+
+                 |*  . . *         |           |
+                 |.        .       |           |
+                 |.          .     |           |
+                 |.            .   |           |
+    [U'AU|U'B] = |.               *|           | N
+                 |.               .|*          |
+                 |.               .|.  .       |
+                 |.               .|.    .     |
+                 |.               .|.      .   |
+                 |*  . . . . . .  *|*  . . .  *|
+                         N               M
+  if UPLO = 'L'.
+
+  If M &gt;= N, then the matrix U'B is trapezoidal and U'AU is full.
+  If M  = 0, but N &gt; 0, the array A is unchanged on exit.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P. and Verhaegen, M.H.G.
+      On the use of unitary state-space transformations.
+      In : Contemporary Mathematics on Linear Algebra and its Role
+      in Systems Theory, 47, AMS, Providence, 1985.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + M) x N**2) operations and is
+  backward stable (see [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20 )
+      INTEGER          LDA, LDB, LDU, LDWORK
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
+     $                   LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N
+      CHARACTER*1      JOBU, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), U(LDU,NMAX),
+     $                 DWORK(LDWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, JOBU, UPLO
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( LSAME( JOBU, 'U' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+*           Reduce the pair (B,A) to controller Hessenberg form.
+            CALL TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
+     $                   DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 60 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 80 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   80          CONTINUE
+               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 100 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
+  100             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01MD = ',I2)
+99997 FORMAT (' The transformed state transition matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed input matrix is ')
+99994 FORMAT (/' The transformation matrix that reduces (B,A) to contr',
+     $       'oller Hessenberg form is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01MD EXAMPLE PROGRAM DATA
+   6     3     N     U
+  35.0   1.0   6.0  26.0  19.0  24.0
+   3.0  32.0   7.0  21.0  23.0  25.0
+  31.0   9.0   2.0  22.0  27.0  20.0
+   8.0  28.0  33.0  17.0  10.0  15.0
+  30.0   5.0  34.0  12.0  14.0  16.0
+   4.0  36.0  29.0  13.0  18.0  11.0
+   1.0   5.0  11.0
+  -1.0   4.0  11.0
+  -5.0   1.0   9.0
+ -11.0  -4.0   5.0
+ -19.0 -11.0  -1.0
+ -29.0 -20.0  -9.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01MD EXAMPLE PROGRAM RESULTS
+
+ The transformed state transition matrix is 
+  60.3649  58.8853   5.0480  -5.4406   2.1382  -7.3870
+  54.5832  33.1865  36.5234   6.3272  -3.1377   8.8154
+  17.6406  21.4501 -13.5942   0.5417   1.6926   0.0786
+  -9.0567  10.7202   0.3531   1.5444  -1.2846  24.6407
+   0.0000   6.8796 -20.1372  -2.6440   2.4983 -21.8071
+   0.0000   0.0000   0.0000   0.0000   0.0000  27.0000
+
+ The transformed input matrix is 
+ -16.8819  -8.8260  13.9202
+   0.0000  13.8240  39.9205
+   0.0000   0.0000   4.1928
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01ND.html b/doc/_static/doc/TB01ND.html
new file mode 100644
index 00000000..358b4b62
--- /dev/null
+++ b/doc/_static/doc/TB01ND.html
@@ -0,0 +1,298 @@
+<HTML>
+<HEAD><TITLE>TB01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ND">TB01ND</A></H2>
+<H3>
+Upper/lower observer Hessenberg form using unitary state-space transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the pair (A,C) to lower or upper observer Hessenberg
+  form using (and optionally accumulating) unitary state-space
+  transformations.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
+     $                   DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDC, LDU, N, P
+      CHARACTER         JOBU, UPLO
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBU    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix U the unitary state-space transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form U;
+          = 'I':  U is initialized to the unit matrix and the
+                  unitary transformation matrix U is returned;
+          = 'U':  The given matrix U is updated by the unitary
+                  transformations used in the reduction.
+
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes the pair (A,C) to be
+          reduced to upper or lower observer Hessenberg form as
+          follows:
+          = 'U':  Upper observer Hessenberg form;
+          = 'L':  Lower observer Hessenberg form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The actual state dimension, i.e. the order of the
+          matrix A.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The actual output dimension, i.e. the number of rows of
+          the matrix C.  0 &lt;= P &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A to be transformed.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state transition matrix U' * A * U.
+          The annihilated elements are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C to be transformed.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+          The annihilated elements are set to zero.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if JOBU = 'U', then the leading N-by-N part of
+          this array must contain a given matrix U (e.g. from a
+          previous call to another SLICOT routine), and on exit, the
+          leading N-by-N part of this array contains the product of
+          the input matrix U and the state-space transformation
+          matrix which reduces the given pair to observer Hessenberg
+          form.
+          On exit, if JOBU = 'I', then the leading N-by-N part of
+          this array contains the matrix of accumulated unitary
+          similarity transformations which reduces the given pair
+          to observer Hessenberg form.
+          If JOBU = 'N', the array U is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDU = 1 and
+          declare this array to be U(1,1) in the calling program).
+
+  LDU     INTEGER
+          The leading dimension of array U. If JOBU = 'U' or
+          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,P-1))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a unitary state-space transformation U, which
+  reduces the pair (A,C) to one of the following observer Hessenberg
+  forms:
+
+                             N
+                    |*  . . . . . .  *|
+                    |.               .|
+                    |.               .|
+                    |.               .| N
+                    |*               .|
+         |U'AU|     |   .            .|
+         |----|  =  |     .          .|
+         |CU  |     |       * . . .  *|
+                    -------------------
+                    |         * . .  *|
+                    |           .    .| P
+                    |             .  .|
+                    |                *|
+
+      if UPLO = 'U', or
+
+                            N
+                   |*                |
+                   |.  .             |
+                   |.    .           | P
+                   |*  . . *         |
+         |CU  |    -------------------
+         |----|  = |*  . . . *       |
+         |U'AU|    |.          .     |
+                   |.            .   |
+                   |.               *|
+                   |.               .| N
+                   |.               .|
+                   |.               .|
+                   |*  . . . . . .  *|
+
+  if UPLO = 'L'.
+
+  If P &gt;= N, then the matrix CU is trapezoidal and U'AU is full.
+  If P  = 0, but N &gt; 0, the array A is unchanged on exit.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P. and Verhaegen, M.H.G.
+      On the use of unitary state-space transformations.
+      In : Contemporary Mathematics on Linear Algebra and its Role
+      in Systems Theory, 47, AMS, Providence, 1985.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires O((N + P) x N**2) operations and is
+  backward stable (see [1]).
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDC, LDU, LDWORK
+      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDU = NMAX,
+     $                   LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, N, P
+      CHARACTER*1      JOBU, UPLO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), U(LDU,NMAX),
+     $                 DWORK(LDWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, JOBU, UPLO
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+            IF ( LSAME( JOBU, 'U' ) )
+     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
+*           Reduce the pair (A,C) to observer Hessenberg form.
+            CALL TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
+     $                   DWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 )
+               DO 60 I = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
+   80          CONTINUE
+               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 100 I = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
+  100             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ND = ',I2)
+99997 FORMAT (' The transformed state transition matrix is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed output matrix is ')
+99994 FORMAT (/' The transformation matrix that reduces (A,C) to obser',
+     $       'ver Hessenberg form is ')
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ND EXAMPLE PROGRAM DATA
+   5     3     N     U
+  15.0  21.0  -3.0   3.0   9.0
+  20.0   1.0   2.0   8.0   9.0
+   4.0   1.0   7.0  13.0  14.0
+   5.0   6.0  12.0  13.0  -6.0
+   5.0  11.0  17.0  -7.0  -1.0
+   7.0  -1.0   3.0  -6.0  -3.0
+   4.0   5.0   6.0  -2.0  -3.0
+   9.0   8.0   5.0   2.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ND EXAMPLE PROGRAM RESULTS
+
+ The transformed state transition matrix is 
+   7.1637  -0.9691 -16.5046   0.2869   0.9205
+  -2.3285  11.5431  -8.7471   3.4122  -3.7118
+ -10.5440  -7.6032  -0.3215   3.6571  -0.4335
+  -3.6845   5.6449   0.5906 -15.6996  17.4267
+   0.0000  -6.4260   1.5591  14.4317  32.3143
+
+ The transformed output matrix is 
+   0.0000   0.0000   7.6585   5.2973  -4.1576
+   0.0000   0.0000   0.0000   5.8305  -7.4837
+   0.0000   0.0000   0.0000   0.0000 -13.2288
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01PD.html b/doc/_static/doc/TB01PD.html
new file mode 100644
index 00000000..be87224f
--- /dev/null
+++ b/doc/_static/doc/TB01PD.html
@@ -0,0 +1,324 @@
+<HTML>
+<HEAD><TITLE>TB01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01PD">TB01PD</A></H2>
+<H3>
+Minimal, controllable or observable block Hessenberg realization for a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or minimal) state-
+  space representation (Ar,Br,Cr) for any original state-space
+  representation (A,B,C). The matrix Ar is in upper block
+  Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   NR, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, JOB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'M':  Remove both the uncontrollable and unobservable
+                  parts to get a minimal state-space representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable state-space representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable state-space representation.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily balance
+          the triplet (A,B,C) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.   P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the upper block Hessenberg state dynamics matrix Ar of a
+          minimal, controllable, or observable realization for the
+          original system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the transformed input/state matrix Br of a minimal,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'C', only the first IWORK(1) rows of B are
+          nonzero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cr of a minimal,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'M', or JOB = 'O', only the last IWORK(1) columns
+          (in the first NR columns) of C are nonzero.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced state-space representation
+          (Ar,Br,Cr) of a minimal, controllable, or observable
+          realization for the original system, depending on
+          JOB = 'M', JOB = 'C', or JOB = 'O'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOB = 'M', the matrices A and B are operated on by orthogonal
+  similarity transformations (made up of products of Householder
+  transformations) so as to produce an upper block Hessenberg matrix
+  A1 and a matrix B1 with all but its first rank(B) rows zero; this
+  separates out the controllable part of the original system.
+  Applying the same algorithm to the dual of this subsystem,
+  therefore separates out the controllable and observable (i.e.
+  minimal) part of the original system representation, with the
+  final Ar upper block Hessenberg (after using pertransposition).
+  If JOB = 'C', or JOB = 'O', only the corresponding part of the
+  above procedure is applied.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      The Generalized Eigenstructure Problem in Linear System
+      Theory. (Algorithm 1)
+      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX+MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NR, P
+      CHARACTER        JOB, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TB01PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a minimal ssr for (A,B,C).
+               CALL TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      NR, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01PD = ',I2)
+99997 FORMAT (' The order of the minimal realization = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
+     $       'alization is ')
+99995 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
+     $       'zation is ')
+99992 FORMAT (/' The transformed state/output matrix of a minimal real',
+     $       'ization is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01PD EXAMPLE PROGRAM DATA
+   3     1     2     0.0     M     N
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01PD EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal realization =  3
+
+ The transformed state dynamics matrix of a minimal realization is 
+   1.0000  -1.4142   1.4142
+  -2.8284   0.0000   1.0000
+   2.8284   1.0000   0.0000
+
+ The transformed input/state matrix of a minimal realization is 
+  -1.0000
+   0.7071
+   0.7071
+
+ The transformed state/output matrix of a minimal realization is 
+   0.0000   0.0000  -1.4142
+   0.0000   0.7071   0.7071
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01PX.html b/doc/_static/doc/TB01PX.html
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+<HTML>
+<HEAD><TITLE>TB01PX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01PX">TB01PX</A></H2>
+<H3>
+Reduced (controllable, observable, or minimal) state-space representation of a standard system (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or minimal) state-
+  space representation (Ar,Br,Cr) for any original state-space
+  representation (A,B,C). The matrix Ar is in an upper block
+  Hessenberg staircase form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, JOB
+      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFRED(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'M':  Remove both the uncontrollable and unobservable
+                  parts to get a minimal state-space representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable state-space representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable state-space representation.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily balance
+          the triplet (A,B,C) as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation, i.e.
+          the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.   P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
+          leading NR-by-NR part of this array contains the upper
+          block Hessenberg state dynamics matrix Ar of a minimal,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'M',
+          JOB = 'C', or JOB = 'O', respectively.
+          The block structure of the resulting staircase form is
+          contained in the leading INFRED(4) elements of IWORK.
+          If INFRED(1:2) &lt; 0, then A contains the original matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
+          leading NR-by-M part of this array contains the
+          input/state matrix Br of a minimal, controllable, or
+          observable realization for the original system, depending
+          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
+          respectively. If JOB = 'C', only the first IWORK(1) rows
+          of B are nonzero.
+          If INFRED(1:2) &lt; 0, then B contains the original matrix.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; if JOB = 'M',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
+          leading P-by-NR part of this array contains the
+          state/output matrix Cr of a minimal, controllable, or
+          observable realization for the original system, depending
+          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
+          respectively. If JOB = 'M', or JOB = 'O', only the last
+          IWORK(1) columns (in the first NR columns) of C are
+          nonzero.
+          If INFRED(1:2) &lt; 0, then C contains the original matrix.
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M,P), if N &gt; 0.
+          LDC &gt;= 1,          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced state-space representation
+          (Ar,Br,Cr) of a minimal, controllable, or observable
+          realization for the original system, depending on
+          JOB = 'M', JOB = 'C', or JOB = 'O'.
+
+  INFRED  (output) INTEGER array, dimension 4
+          This array contains information on the performed reduction
+          and on structure of resulting system matrices, as follows:
+          INFRED(k) &gt;= 0 (k = 1 or 2) if Phase k of the reduction
+                         (see METHOD) has been performed. In this
+                         case, INFRED(k) is the achieved order
+                         reduction in Phase k.
+          INFRED(k) &lt; 0  (k = 1 or 2) if Phase k was not performed.
+                         This can also appear when Phase k was
+                         tried, but did not reduce the order, if
+                         enough workspace is provided for saving the
+                         system matrices (see LDWORK description).
+          INFRED(3)  -   the number of nonzero subdiagonals of A.
+          INFRED(4)  -   the number of blocks in the resulting
+                         staircase form at the last performed
+                         reduction phase. The block dimensions are
+                         contained in the first INFRED(4) elements
+                         of IWORK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (c*N+MAX(M,P)), where
+          c = 2, if JOB = 'M', and c = 1, otherwise.
+          On exit, if INFO = 0, the first INFRED(4) elements of
+          IWORK return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= N + MAX(N, 3*M, 3*P).
+          For optimum performance LDWORK should be larger.
+          If LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P) + N*(N+M+P) ),
+          then more accurate results are to be expected by accepting
+          only those reductions phases (see METHOD), where effective
+          order reduction occurs. This is achieved by saving the
+          system matrices before each phase and restoring them if
+          no order reduction took place in that phase.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The order reduction is performed in two phases:
+
+  Phase 1:
+  If JOB = 'M' or 'C', the pair (A,B) is reduced by orthogonal
+  similarity transformations to the controllability staircase form
+  (see [1]) and a controllable realization (Ac,Bc,Cc) is extracted.
+  Ac results in an upper block Hessenberg form.
+
+  Phase 2:
+  If JOB = 'M' or 'O', the same algorithm is applied to the dual
+  of the controllable realization (Ac,Bc,Cc), or to the dual of
+  the original system, respectively, to extract an observable
+  realization (Ar,Br,Cr). If JOB = 'M', the resulting realization
+  is also controllable, and thus minimal.
+  Ar results in an upper block Hessenberg form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Van Dooren, P.
+      The Generalized Eigenstructure Problem in Linear System
+      Theory. (Algorithm 1)
+      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01PX EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*NMAX+MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP +
+     $                   NMAX*( NMAX+MMAX+PMAX ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, M, N, NR, P
+      CHARACTER        JOB, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 DWORK(LDWORK)
+      INTEGER          INFRED(4), IWORK(LIWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TB01PX
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a minimal ssr for (A,B,C).
+               CALL TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO)
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 ) ( INFRED(I), I = 1,4 )
+                  IF ( INFRED(4).GT.0 )
+     $               WRITE ( NOUT, FMT = 99991 ) ( IWORK(I),
+     $                                             I = 1,INFRED(4) )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01PX EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01PX = ',I2)
+99997 FORMAT (' The order of the minimal realization = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
+     $       'alization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' Information on the performed reduction is ', 4I5)
+99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
+     $       'zation is ')
+99992 FORMAT (/' The transformed state/output matrix of a minimal real',
+     $       'ization is ')
+99991 FORMAT (/' The block dimensions are ',/ 20I5)
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01PX EXAMPLE PROGRAM DATA
+   3     1     2     0.0     M     N
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01PX EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal realization =  3
+
+ The transformed state dynamics matrix of a minimal realization is 
+   1.0000   2.0000   0.0000
+   4.0000  -1.0000   0.0000
+   0.0000   0.0000   1.0000
+
+ The transformed input/state matrix of a minimal realization is 
+   1.0000
+   0.0000
+   1.0000
+
+ The transformed state/output matrix of a minimal realization is 
+   0.0000   1.0000  -1.0000
+   0.0000   0.0000   1.0000
+
+ Information on the performed reduction is    -1   -1    2    0
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01TD.html b/doc/_static/doc/TB01TD.html
new file mode 100644
index 00000000..03317c41
--- /dev/null
+++ b/doc/_static/doc/TB01TD.html
@@ -0,0 +1,316 @@
+<HTML>
+<HEAD><TITLE>TB01TD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01TD">TB01TD</A></H2>
+<H3>
+Balancing state-space representation by permutations and scalings
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce a given state-space representation (A,B,C,D) to
+  balanced form by means of state permutations and state, input and
+  output scalings.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, LOW,
+     $                   IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           IGH, INFO, LDA, LDB, LDC, LDD, LOW, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), SCIN(*), SCOUT(*), SCSTAT(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the original state dynamics matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the balanced state dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the balanced input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the balanced state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original direct transmission matrix D.
+          On exit, the leading P-by-M part of this array contains
+          the scaled direct transmission matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  LOW     (output) INTEGER
+          The index of the lower end of the balanced submatrix of A.
+
+  IGH     (output) INTEGER
+          The index of the upper end of the balanced submatrix of A.
+
+  SCSTAT  (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the information defining the
+          similarity transformations used to permute and balance
+          the state dynamics matrix A, as returned from the LAPACK
+          library routine DGEBAL.
+
+  SCIN    (output) DOUBLE PRECISION array, dimension (M)
+          Contains the scalars used to scale the system inputs so
+          that the columns of the final matrix B have norms roughly
+          equal to the column sums of the balanced matrix A
+          (see FURTHER COMMENTS).
+          The j-th input of the balanced state-space representation
+          is SCIN(j)*(j-th column of the permuted and balanced
+          input/state matrix B).
+
+  SCOUT   (output) DOUBLE PRECISION array, dimension (P)
+          Contains the scalars used to scale the system outputs so
+          that the rows of the final matrix C have norms roughly
+          equal to the row sum of the balanced matrix A.
+          The i-th output of the balanced state-space representation
+          is SCOUT(i)*(i-th row of the permuted and balanced
+          state/ouput matrix C).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Similarity transformations are used to permute the system states
+  and balance the corresponding row and column sum norms of a
+  submatrix of the state dynamics matrix A. These operations are
+  also applied to the input/state matrix B and the system inputs
+  are then scaled (see parameter SCIN) so that the columns of the
+  final matrix B have norms roughly equal to the column sum norm of
+  the balanced matrix A (see FURTHER COMMENTS).
+  The above operations are also applied to the matrix C, and the
+  system outputs are then scaled (see parameter SCOUT) so that the
+  rows of the final matrix C have norms roughly equal to the row sum
+  norm of the balanced matrix A (see FURTHER COMMENTS).
+  Finally, the (I,J)-th element of the direct transmission matrix D
+  is scaled as
+       D(I,J) = D(I,J)*(1.0/SCIN(J))*SCOUT(I), where I = 1,2,...,P
+  and J = 1,2,...,M.
+
+  Scaling performed to balance the row/column sum norms is by
+  integer powers of the machine base so as to avoid introducing
+  rounding errors.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Wilkinson, J.H. and Reinsch, C.
+      Handbook for Automatic Computation, (Vol II, Linear Algebra).
+      Springer-Verlag, 1971, (contribution II/11).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The columns (rows) of the final matrix B (matrix C) have norms
+  'roughly' equal to the column (row) sum norm of the balanced
+  matrix A, i.e.
+     size/BASE &lt; abssum &lt;= size
+  where
+     BASE   = the base of the arithmetic used on the computer, which
+              can be obtained from the LAPACK Library routine
+              DLAMCH;
+
+     size   = column or row sum norm of the balanced matrix A;
+     abssum = column sum norm of the balanced matrix B or row sum
+              norm of the balanced matrix C.
+
+  The routine is BASE dependent.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01TD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, IGH, J, LOW, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(NMAX), SCIN(MMAX),
+     $                 SCOUT(PMAX), SCSTAT(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01TD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99989 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Balance the state-space representation (A,B,C,D).
+               CALL TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                      LOW, IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) LOW, IGH
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   80             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01TD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01TD = ',I2)
+99997 FORMAT (' LOW = ',I2,'   IGH = ',I2,/)
+99996 FORMAT (' The balanced state dynamics matrix A is ')
+99995 FORMAT (20(1X,F9.4))
+99994 FORMAT (/' The balanced input/state matrix B is ')
+99993 FORMAT (/' The balanced state/output matrix C is ')
+99992 FORMAT (/' The scaled direct transmission matrix D is ')
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01TD EXAMPLE PROGRAM DATA
+   5     2     2
+   0.0   0.0   1.0   4.0   5.0
+  50.0  10.0   1.0   0.0   0.0
+   0.0   0.0  90.0  10.0   0.0
+   0.0   1.0   1.0   1.0   1.0
+ 100.0   0.0   0.0   0.0  70.0
+   0.0   2.0   0.0   1.0   2.0
+   0.0  20.0 100.0   1.0   0.0
+   1.0   0.0   0.0   1.0   0.0
+   1.0   1.0   0.0   2.0   1.0
+   1.0   1.0   1.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01TD EXAMPLE PROGRAM RESULTS
+
+ LOW =  1   IGH =  5
+
+ The balanced state dynamics matrix A is 
+    0.0000    0.0000    1.0000    4.0000   40.0000
+    6.2500   10.0000    0.1250    0.0000    0.0000
+    0.0000    0.0000   90.0000   10.0000    0.0000
+    0.0000    8.0000    1.0000    1.0000    8.0000
+   12.5000    0.0000    0.0000    0.0000   70.0000
+
+ The balanced input/state matrix B is 
+    0.0000    0.0000
+   16.0000    2.5000
+    0.0000  100.0000
+   64.0000    1.0000
+   16.0000    0.0000
+
+ The balanced state/output matrix C is 
+   32.0000    0.0000    0.0000   32.0000    0.0000
+    4.0000   32.0000    0.0000    8.0000   32.0000
+
+ The scaled direct transmission matrix D is 
+ 2048.0000   32.0000
+  256.0000    4.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01UD.html b/doc/_static/doc/TB01UD.html
new file mode 100644
index 00000000..086fac0e
--- /dev/null
+++ b/doc/_static/doc/TB01UD.html
@@ -0,0 +1,407 @@
+<HTML>
+<HEAD><TITLE>TB01UD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01UD">TB01UD</A></H2>
+<H3>
+Controllable block Hessenberg realization for a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  multi-input system
+
+          dX/dt = A * X + B * U,
+             Y  = C * X,
+
+  where A, B, and C are N-by-N, N-by-M, and P-by-N matrices,
+  respectively, and A and B are reduced by this routine to
+  orthogonal canonical form using (and optionally accumulating)
+  orthogonal similarity transformations, which are also applied
+  to C.  Specifically, the system (A, B, C) is reduced to the
+  triplet (Ac, Bc, Cc), where Ac = Z' * A * Z, Bc = Z' * B,
+  Cc = C * Z,  with
+
+          [ Acont     *    ]         [ Bcont ]
+     Ac = [                ],   Bc = [       ],
+          [   0    Auncont ]         [   0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
+             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
+             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
+     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
+             [  .   .     . .    .     .  ]         [ .  ]
+             [  .   .       .    .     .  ]         [ .  ]
+             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
+
+  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
+  p is the controllability index of the pair.  The size of the
+  block  Auncont is equal to the dimension of the uncontrollable
+  subspace of the pair (A, B).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC, NCONT,
+     $                   INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N,
+     $                  NCONT, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
+     $                  Z(LDZ,*)
+      INTEGER           IWORK(*), NBLK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT part contains the
+          upper block Hessenberg state dynamics matrix Acont in Ac,
+          given by Z' * A * Z, of a controllable realization for
+          the original system. The elements below the first block-
+          subdiagonal are set to zero. The leading N-by-N part
+          contains the matrix Ac.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading NCONT-by-M part of this array
+          contains the transformed input matrix Bcont in Bc, given
+          by Z' * B, with all elements but the first block set to
+          zero. The leading N-by-M part contains the matrix Bc.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix Cc, given by C * Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  INDCON  (output) INTEGER
+          The controllability index of the controllable part of the
+          system representation.
+
+  NBLK    (output) INTEGER array, dimension (N)
+          The leading INDCON elements of this array contain the
+          the orders of the diagonal blocks of Acont.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this
+          array contains the matrix of accumulated orthogonal
+          similarity transformations which reduces the given system
+          to orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N, 3*M, P).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix B is first QR-decomposed and the appropriate orthogonal
+  similarity transformation applied to the matrix A. Leaving the
+  first rank(B) states unchanged, the remaining lower left block
+  of A is then QR-decomposed and the new orthogonal matrix, Q1,
+  is also applied to the right of A to complete the similarity
+  transformation. By continuing in this manner, a completely
+  controllable state-space pair (Acont, Bcont) is found for the
+  given (A, B), where Acont is upper block Hessenberg with each
+  subdiagonal block of full row rank, and Bcont is zero apart from
+  its (independent) first rank(B) rows.
+  All orthogonal transformations determined in this process are also
+  applied to the matrix C, from the right.
+  NOTE that the system controllability indices are easily
+  calculated from the dimensions of the blocks of Acont.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Paige, C.C.
+      Properties of numerical algorithms related to computing
+      controllablity.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
+      Postlethwaite, I.
+      Optimal Pole Assignment Design of Linear Multi-Input Systems.
+      Leicester University, Report 99-11, May 1996.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01UD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, INDCON, J, M, N, NCONT, P
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), TAU(NMAX), Z(LDZ,NMAX)
+      INTEGER          IWORK(LIWORK), NBLK(NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01UD, DORGQR
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a controllable ssr for the given system.
+               CALL TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCONT
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99987 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 ) INDCON
+                  IF ( LSAME( JOBZ, 'F' ) )
+     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                            INFO )
+                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 80 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01UD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01UD = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
+     $       'le realization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
+     $       /20(1X,I2))
+99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
+     $       'e realization is ')
+99992 FORMAT (/' The controllability index of the transformed system r',
+     $       'epresentation = ',I2)
+99991 FORMAT (/' The similarity transformation matrix Z is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The transformed output/state matrix C of a controlla',
+     $       'ble realization is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01UD EXAMPLE PROGRAM DATA
+   3     2     2     0.0     I
+  -1.0   0.0   0.0
+  -2.0  -2.0  -2.0
+  -1.0   0.0  -3.0
+   1.0   0.0   0.0
+   0.0   2.0   1.0
+   0.0   2.0   1.0
+   1.0   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01UD EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  2
+
+ The transformed state dynamics matrix of a controllable realization is 
+  -3.0000   2.2361
+   0.0000  -1.0000
+
+ and the dimensions of its diagonal blocks are 
+  2
+
+ The transformed input/state matrix B of a controllable realization is 
+   0.0000  -2.2361
+   1.0000   0.0000
+
+ The transformed output/state matrix C of a controllable realization is 
+  -2.2361   0.0000
+   0.0000   1.0000
+
+ The controllability index of the transformed system representation =  1
+
+ The similarity transformation matrix Z is 
+   0.0000   1.0000   0.0000
+  -0.8944   0.0000  -0.4472
+  -0.4472   0.0000   0.8944
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01UX.html b/doc/_static/doc/TB01UX.html
new file mode 100644
index 00000000..76a4f346
--- /dev/null
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@@ -0,0 +1,252 @@
+<HTML>
+<HEAD><TITLE>TB01UX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01UX">TB01UX</A></H2>
+<H3>
+Observable-unobservable decomposition of a standard system 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute an orthogonal transformation matrix Z which reduces the
+  N-th order system (A,B,C) to the form
+
+             ( Ano  * )               ( Bno )
+    Z'*A*Z = (        ) ,      Z'*B = (     ) ,
+             ( 0   Ao )               ( Bo  )
+
+       C*Z = ( 0   Co ) ,
+
+  where the NOBSV-th order system (Ao,Bo,Co) is observable.
+  The matrix Ano of order N-NOBSV contains the unobservable
+  eigenvalues of A.
+
+  The pencil ( Ao-lambda*I ) has full column rank NOBSV for all
+             (      Co     )
+  lambda, and is in a staircase form, with
+                  _      _            _      _
+                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
+                ( _      _            _      _      )
+    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,          (1)
+    ( Co )      (  :       :      ... _ :    _ :    )
+                (  0       0      ... A1,2   A1,1   )
+                (                            _      )
+                (  0       0      ... 0      A0,1   )
+        _
+  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
+  (with CTAU(0) = P).
+
+  The orthogonal transformation Z, performed to reduce the system
+  matrices, can be optionally accumulated.
+
+  The reduced order system (Ao,Bo,Co) has the same transfer-function
+  matrix as the original system (A,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01UX( COMPZ, N, M, P, A, LDA, B, LDB, C, LDC, Z, LDZ,
+     $                   NOBSV, NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPZ
+      INTEGER            INFO, LDA, LDB, LDC, LDZ, M, N, NLBLCK, NOBSV,
+     $                   P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            CTAU( * ), IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
+     $                   DWORK( * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the system state vector; also the order
+          of the square matrix A, the number of rows of the matrix B
+          and the number of columns of the matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of system input vector; also the number of
+          columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of system output vector; also the number of
+          rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Z'*A*Z,
+
+                             ( Ano  *  )
+                    Z'*A*Z = (         ) ,
+                             ( 0    Ao )
+
+          where Ao is NOBSV-by-NOBSV and Ano is
+          (N-NOBSV)-by-(N-NOBSV).
+          The matrix ( Ao ) is in the observability staircase
+                     ( Co )
+          form (1).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Z'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0;
+          LDB &gt;= 1        if M = 0 and P = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix
+
+                  C*Z = (  0   Co ) ,
+
+          where Co is P-by-NOBSV.          
+          The matrix ( Ao ) is in the observability staircase
+                     ( Co )
+          form (1).
+
+  LDC     INTEGER
+          The leading dimension of the array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0;
+          LDC &gt;= 1          if N = 0.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Z,
+                          i.e., the product of the transformations
+                          applied to A and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I'.
+
+  NOBSV   (output) INTEGER
+          The order of the reduced matrix Ao, and the number of
+          columns of the reduced matrix Co; also, the order of the
+          observable part of the pair (C, A-lambda*I).
+
+  NLBLCK  (output) INTEGER                         _
+          The number k, of full column rank blocks Ai-1,i in the
+          staircase form of the pencil (Ao-lambda*I) (see (1)).
+                                       (     Co    )
+
+  CTAU    (output) INTEGER array, dimension (N)
+          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
+                                        _
+          of the full column rank block Ai-1,i in the staircase
+          form (1).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming the pair (A,C). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P)
+
+  DWORK   DOUBLE PRECISION array, dimension (N+MAX(1, N, 3*P, M))
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the dual of the reduction
+  algorithms of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and C are badly scaled, it is
+  generally recommendable to scale them with the SLICOT routine
+  TB01ID, before calling TG01UX.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01UY.html b/doc/_static/doc/TB01UY.html
new file mode 100644
index 00000000..ad46b932
--- /dev/null
+++ b/doc/_static/doc/TB01UY.html
@@ -0,0 +1,421 @@
+<HTML>
+<HEAD><TITLE>TB01UY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01UY">TB01UY</A></H2>
+<H3>
+Controllable realization of a standard multi-input system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  multi-input system
+
+          dX/dt = A * X + B1 * U1 + B2 * U2,
+             Y  = C * X,
+
+  where A, B1, B2 and C are N-by-N, N-by-M1, N-by-M2, and P-by-N
+  matrices, respectively, and A and [B1,B2] are reduced by this
+  routine to orthogonal canonical form using (and optionally
+  accumulating) orthogonal similarity transformations, which are
+  also applied to C.  Specifically, the system (A, [B1,B2], C) is
+  reduced to the triplet (Ac, [Bc1,Bc2], Cc), where
+  Ac = Z' * A * Z, [Bc1,Bc2] = Z' * [B1,B2], Cc = C * Z,  with
+
+          [ Acont     *    ]                [ Bcont1, Bcont2 ]
+     Ac = [                ],   [Bc1,Bc1] = [                ],
+          [   0    Auncont ]                [   0        0   ]
+
+     and
+
+             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
+             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
+             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
+             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
+     Acont = [  .   .   . . .    .      .     .  ],
+             [  .   .     . .    .      .     .  ]
+             [  .   .       .    .      .     .  ]
+             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
+
+                 [ B11 B12 ]
+                 [  0  B22 ]
+                 [  0   0  ]
+                 [  0   0  ]
+     [Bc1,Bc2] = [  .   .  ],
+                 [  .   .  ]
+                 [  .   .  ]
+                 [  0   0  ]
+
+  where the blocks  B11, B22, A31, ..., Ap,p-2  have full row ranks and
+  p is the controllability index of the pair (A,[B1,B2]).  The size of the
+  block  Auncont  is equal to the dimension of the uncontrollable
+  subspace of the pair (A,[B1,B2]).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
+     $                   NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M1,
+     $                  M2, N, NCONT, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
+     $                  Z(LDZ,*)
+      INTEGER           IWORK(*), NBLK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of system inputs in U1, or of columns of B1.
+          M1 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of system inputs in U2, or of columns of B2.
+          M2 &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state dynamics matrix Ac = Z'*A*Z. The
+          leading NCONT-by-NCONT diagonal block of this matrix,
+          Acont, is the state dynamics matrix of a controllable
+          realization for the original system. The elements below
+          the second block-subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,M1+M2)
+          On entry, the leading N-by-(M1+M2) part of this array must
+          contain the compound input matrix B = [B1,B2], where B1 is
+          N-by-M1 and B2 is N-by-M2.
+          On exit, the leading N-by-(M1+M2) part of this array
+          contains the transformed compound input matrix [Bc1,Bc2] =
+          Z'*[B1,B2]. The leading NCONT-by-(M1+M2) part of this
+          array, [Bcont1, Bcont2], is the compound input matrix of
+          a controllable realization for the original system.
+          All elements below the first block-diagonal are set to
+          zero.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix Cc, given by C * Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  INDCON  (output) INTEGER
+          The controllability index of the controllable part of the
+          system representation.
+
+  NBLK    (output) INTEGER array, dimension (2*N)
+          The leading INDCON elements of this array contain the
+          orders of the diagonal blocks of Acont. INDCON is always
+          an even number, and the INDCON/2 odd and even components
+          of NBLK have decreasing values, respectively.
+          Note that some elements of NBLK can be zero.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this
+          array contains the matrix of accumulated orthogonal
+          similarity transformations which reduces the given system
+          to orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e., set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of the array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (MIN(N,M1+M2))
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of [B1,B2]
+          and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A, [B1,B2]). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (MAX(M1,M2))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and
+          LDWORK &gt;= MAX(N, 3*MAX(M1,M2), P), if MIN(N,M1+M2) &gt; 0.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm [1] represents a specialization of the
+  controllability staircase algorithm of [2] to the special structure
+  of the input matrix B = [B1,B2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Reliable algorithms for computing minimal dynamic covers.
+      Proc. CDC'2003, Hawaii, 2003.
+
+  [2] Varga, A.
+      Numerically stable algorithm for standard controllability
+      form determination.
+      Electronics Letters, vol. 17, pp. 74-75, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A and B are badly scaled, it would be
+  useful to scale them with SLICOT routine TB01ID, before calling
+  the routine.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01UY EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDZ = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = MMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, INDCON, J, M, M1, M2, N, NCONT, P
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), TAU(MIN(NMAX,MMAX)), Z(LDZ,NMAX)
+      INTEGER          IWORK(LIWORK), NBLK(2*NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         DORGQR, TB01UY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M1, M2, P, TOL, JOBZ
+      M = M1 + M2
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find a controllable ssr for the given system.
+               CALL TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
+     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NCONT
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NCONT
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99987 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 ) INDCON
+                  IF ( LSAME( JOBZ, 'F' ) )
+     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                            INFO )
+                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 80 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   80                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01UY EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01UY = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
+     $       'le realization is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
+     $       /20(1X,I2))
+99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
+     $       'e realization is ')
+99992 FORMAT (/' The controllability index of the transformed system r',
+     $       'epresentation = ',I2)
+99991 FORMAT (/' The similarity transformation matrix Z is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+99987 FORMAT (/' The transformed output/state matrix C of a controlla',
+     $       'ble realization is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01UY EXAMPLE PROGRAM DATA
+   3     1     1     2     0.0     I
+  -1.0   0.0   0.0
+  -2.0  -2.0  -2.0
+  -1.0   0.0  -3.0
+   1.0   0.0   0.0
+   0.0   2.0   1.0
+   0.0   2.0   1.0
+   1.0   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01UY EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  2
+
+ The transformed state dynamics matrix of a controllable realization is 
+  -1.0000   0.0000
+   2.2361  -3.0000
+
+ and the dimensions of its diagonal blocks are 
+  1  1
+
+ The transformed input/state matrix B of a controllable realization is 
+   1.0000   0.0000
+   0.0000  -2.2361
+
+ The transformed output/state matrix C of a controllable realization is 
+   0.0000  -2.2361
+   1.0000   0.0000
+
+ The controllability index of the transformed system representation =  2
+
+ The similarity transformation matrix Z is 
+   1.0000   0.0000   0.0000
+   0.0000  -0.8944  -0.4472
+   0.0000  -0.4472   0.8944
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01VD.html b/doc/_static/doc/TB01VD.html
new file mode 100644
index 00000000..9d8e002f
--- /dev/null
+++ b/doc/_static/doc/TB01VD.html
@@ -0,0 +1,205 @@
+<HTML>
+<HEAD><TITLE>TB01VD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01VD">TB01VD</A></H2>
+<H3>
+Conversion of a linear discrete-time system into the output normal form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To convert the linear discrete-time system given as (A, B, C, D),
+  with initial state x0, into the output normal form [1], with
+  parameter vector THETA. The matrix A is assumed to be stable.
+  The matrices A, B, C, D and the vector x0 are converted, so that
+  on exit they correspond to the system defined by THETA.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01VD( APPLY, N, M, L, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   X0, THETA, LTHETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         APPLY
+      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
+     $                  N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), THETA(*), X0(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  APPLY   CHARACTER*1
+          Specifies whether or not the parameter vector should be
+          transformed using a bijective mapping, as follows:
+          = 'A' : apply the bijective mapping to the N vectors in
+                  THETA corresponding to the matrices A and C;
+          = 'N' : do not apply the bijective mapping.
+          The transformation performed when APPLY = 'A' allows
+          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
+          A call of the SLICOT Library routine TB01VY associated to
+          a call of TB01VD must use the same value of APPLY.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A, assumed to be stable.
+          On exit, the leading N-by-N part of this array contains
+          the transformed system state matrix corresponding to the
+          output normal form with parameter vector THETA.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed system input matrix corresponding to the
+          output normal form with parameter vector THETA.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading L-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading L-by-N part of this array contains
+          the transformed system output matrix corresponding to the
+          output normal form with parameter vector THETA.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,L).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading L-by-M part of this array must contain the
+          system input/output matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,L).
+
+  X0      (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state of the
+          system, x0.
+          On exit, this array contains the transformed initial state
+          of the system, corresponding to the output normal form
+          with parameter vector THETA.
+
+  THETA   (output) DOUBLE PRECISION array, dimension (LTHETA)
+          The leading N*(L+M+1)+L*M part of this array contains the
+          parameter vector that defines a system (A, B, C, D, x0)
+          which is equivalent up to a similarity transformation to
+          the system given on entry. The parameters are:
+
+          THETA(1:N*L)                      : parameters for A, C;
+          THETA(N*L+1:N*(L+M))              : parameters for B;
+          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
+          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
+
+  LTHETA  INTEGER
+          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*N*L + N*L + N,
+                        N*N + MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
+                                  N*M)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the Lyapunov equation A'*Q*A - Q = -scale^2*C'*C
+                could only be solved with scale = 0;
+          = 2:  if matrix A is not discrete-time stable;
+          = 3:  if the QR algorithm failed to converge for
+                matrix A.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrices A and C are converted to output normal form.
+  First, the Lyapunov equation
+
+     A'*Q*A - Q = -scale^2*C'*C,
+
+  is solved in the Cholesky factor T, T'*T = Q, and then T is used
+  to get the transformation matrix.
+
+  The matrix B and the initial state x0 are transformed accordingly.
+
+  Then, the QR factorization of the transposed observability matrix
+  is computed, and the matrix Q is used to further transform the
+  system matrices. The parameters characterizing A and C are finally
+  obtained by applying a set of N orthogonal transformations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Peeters, R.L.M., Hanzon, B., and Olivi, M.
+      Balanced realizations of discrete-time stable all-pass
+      systems and the tangential Schur algorithm.
+      Proceedings of the European Control Conference,
+      31 August - 3 September 1999, Karlsruhe, Germany.
+      Session CP-6, Discrete-time Systems, 1999.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01VY.html b/doc/_static/doc/TB01VY.html
new file mode 100644
index 00000000..e44b2a84
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+++ b/doc/_static/doc/TB01VY.html
@@ -0,0 +1,164 @@
+<HTML>
+<HEAD><TITLE>TB01VY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01VY">TB01VY</A></H2>
+<H3>
+Conversion of the output normal form to a state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To convert the linear discrete-time system given as its output
+  normal form [1], with parameter vector THETA, into the state-space
+  representation (A, B, C, D), with the initial state x0.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01VY( APPLY, N, M, L, THETA, LTHETA, A, LDA, B, LDB,
+     $                   C, LDC, D, LDD, X0, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         APPLY
+      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
+     $                  N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), THETA(*), X0(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  APPLY   CHARACTER*1
+          Specifies whether or not the parameter vector should be
+          transformed using a bijective mapping, as follows:
+          = 'A' : apply the bijective mapping to the N vectors in
+                  THETA corresponding to the matrices A and C;
+          = 'N' : do not apply the bijective mapping.
+          The transformation performed when APPLY = 'A' allows
+          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
+          A call of the SLICOT Library routine TB01VD associated to
+          a call of TB01VY must use the same value of APPLY.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  L       (input) INTEGER
+          The number of system outputs.  L &gt;= 0.
+
+  THETA   (input) DOUBLE PRECISION array, dimension (LTHETA)
+          The leading N*(L+M+1)+L*M part of this array must contain
+          the parameter vector that defines a system (A, B, C, D),
+          with the initial state x0. The parameters are:
+
+          THETA(1:N*L)                      : parameters for A, C;
+          THETA(N*L+1:N*(L+M))              : parameters for B;
+          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
+          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
+
+  LTHETA  INTEGER
+          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the system
+          state matrix corresponding to the output normal form with
+          parameter vector THETA.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array contains the system
+          input matrix corresponding to the output normal form with
+          parameter vector THETA.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading L-by-N part of this array contains the system
+          output matrix corresponding to the output normal form with
+          parameter vector THETA.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,L).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading L-by-M part of this array contains the system
+          input/output matrix corresponding to the output normal
+          form with parameter vector THETA.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,L).
+
+  X0      (output) DOUBLE PRECISION array, dimension (N)
+          This array contains the initial state of the system, x0,
+          corresponding to the output normal form with parameter
+          vector THETA.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= N*(N+L+1).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The parameters characterizing A and C are used to build N
+  orthogonal transformations, which are then applied to recover
+  these matrices.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01WD.html b/doc/_static/doc/TB01WD.html
new file mode 100644
index 00000000..8db2fc6d
--- /dev/null
+++ b/doc/_static/doc/TB01WD.html
@@ -0,0 +1,297 @@
+<HTML>
+<HEAD><TITLE>TB01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01WD">TB01WD</A></H2>
+<H3>
+Orthogonal similarity transformation of system state-matrix to real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the system state matrix A to an upper real Schur form
+  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
+  to apply the transformation to the matrices B and C: B &lt;-- U'*B
+  and C &lt;-- C*U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                   WR, WI, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
+     $                 WI(*), WR(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix U' * A * U in real Schur form. The elements
+          below the first subdiagonal are set to zero.
+          Note:  A matrix is in real Schur form if it is upper
+                 quasi-triangular with 1-by-1 and 2-by-2 blocks.
+                 2-by-2 blocks are standardized in the form
+                          [  a  b  ]
+                          [  c  a  ]
+                 where b*c &lt; 0. The eigenvalues of such a block
+                 are a +- sqrt(bc).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
+          The leading N-by-N part of this array contains the
+          orthogonal transformation matrix used to reduce A to the
+          real Schur form. The columns of U are the Schur vectors of
+          matrix A.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= max(1,N).
+
+  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
+          WR and WI contain the real and imaginary parts,
+          respectively, of the computed eigenvalues of A. The
+          eigenvalues will be in the same order that they appear on
+          the diagonal of the output real Schur form of A. Complex
+          conjugate pairs of eigenvalues will appear consecutively
+          with the eigenvalue having the positive imaginary part
+          first.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.  LWORK &gt;= 3*N.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QR algorithm failed to compute
+                all the eigenvalues; elements i+1:N of WR and WI
+                contain those eigenvalues which have converged;
+                U contains the matrix which reduces A to its
+                partially converged Schur form.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is reduced to a real Schur form using an orthogonal
+  similarity transformation A &lt;- U'*A*U. Then, the transformation
+  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 10N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01WD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 3*NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01WD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                      WR, WI, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01WD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01WD = ',I2)
+99997 FORMAT (' The eigenvalues of state dynamics matrix A are ')
+99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix U''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01WD EXAMPLE PROGRAM DATA (Continuous system)
+  5  2   3    
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01WD EXAMPLE PROGRAM RESULTS
+
+ The eigenvalues of state dynamics matrix A are 
+ ( -0.7483,   2.9940 )
+ ( -0.7483,  -2.9940 )
+ ( -1.6858,   2.0311 )
+ ( -1.6858,  -2.0311 )
+ ( -1.8751,   0.0000 )
+
+ The transformed state dynamics matrix U'*A*U is 
+  -0.7483  -8.6406   0.0000   0.0000   1.1745
+   1.0374  -0.7483   0.0000   0.0000  -2.1164
+   0.0000   0.0000  -1.6858   5.5669   0.0000
+   0.0000   0.0000  -0.7411  -1.6858   0.0000
+   0.0000   0.0000   0.0000   0.0000  -1.8751
+
+ The transformed input/state matrix U'*B is 
+  -0.5543   0.5543
+  -1.6786   1.6786
+  -0.8621  -0.8621
+   2.1912   2.1912
+  -1.5555   1.5555
+
+ The transformed state/output matrix C*U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+
+ The similarity transformation matrix U is 
+   0.6864  -0.0987   0.6580   0.2589  -0.1381
+  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
+  -0.0471   0.6873   0.0000   0.0000  -0.7249
+  -0.6864   0.0987   0.6580   0.2589   0.1381
+   0.1665   0.5041  -0.2589   0.6580   0.4671
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01WX.html b/doc/_static/doc/TB01WX.html
new file mode 100644
index 00000000..b1dfe99a
--- /dev/null
+++ b/doc/_static/doc/TB01WX.html
@@ -0,0 +1,290 @@
+<HTML>
+<HEAD><TITLE>TB01WX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01WX">TB01WX</A></H2>
+<H3>
+Orthogonal similarity transformation of a standard system to one with state matrix in a Hessenberg form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the system state matrix A to an upper Hessenberg form
+  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
+  to apply the transformation to the matrices B and C: B &lt;-- U'*B
+  and C &lt;-- C*U.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        COMPU
+      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPU   CHARACTER*1
+          = 'N':  do not compute U;
+          = 'I':  U is initialized to the unit matrix, and the
+                  orthogonal matrix U is returned;
+          = 'U':  U must contain an orthogonal matrix U1 on entry,
+                  and the product U1*U is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix U' * A * U in Hessenberg form. The elements
+          below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix U' * B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * U.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
+          On entry, if COMPU = 'U', the leading N-by-N part of this
+          array must contain the given matrix U1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          to reduce A to the Hessenberg form (U1*U if COMPU = 'U').
+          If COMPU = 'N', this array is not referenced.
+
+  LDU     INTEGER
+          The leading dimension of the array U.
+          LDU &gt;= 1,        if COMPU =  'N';
+          LDU &gt;= max(1,N), if COMPU &lt;&gt; 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= N - 1 + MAX(N,M,P).
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Matrix A is reduced to the Hessenberg form using an orthogonal
+  similarity transformation A &lt;- U'*A*U. Then, the transformation
+  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                 3      2
+  The algorithm requires about 5N /3 + N (M+P) floating point
+                                           3
+  operations, if COMPU = 'N'. Otherwise, 2N /3 additional operations
+  are needed.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01WX EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDU
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDU = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX - 1 + MAX( NMAX, MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        COMPU
+      INTEGER          I, INFO, J, M, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), U(LDU,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB01WX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, COMPU
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99988 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed ssr for (A,B,C).
+               CALL TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U,
+     $                      LDU, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 60 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 70 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01WX EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01WX = ',I2)
+99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
+99993 FORMAT (/' The transformed input/state matrix U''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*U is ')
+99991 FORMAT (/' The similarity transformation matrix U is ')
+99990 FORMAT (/' N is out of range.',/' N = ',I5)
+99989 FORMAT (/' M is out of range.',/' M = ',I5)
+99988 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01WX EXAMPLE PROGRAM DATA (Continuous system)
+  5  2   3     I    
+  -0.04165    4.9200   -4.9200         0         0
+ -1.387944   -3.3300         0         0         0
+    0.5450         0         0   -0.5450         0
+         0         0    4.9200  -0.04165    4.9200
+         0         0         0 -1.387944   -3.3300
+         0         0
+    3.3300         0
+         0         0
+         0         0
+         0    3.3300
+     1     0     0     0     0
+     0     0     1     0     0
+     0     0     0     1     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01WX EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix U'*A*U is 
+  -0.0416  -6.3778   1.4826  -1.9856   1.2630
+   1.4911  -2.8851  -0.4353   0.8984  -0.5714
+   0.0000  -2.1254   1.6804  -4.9686  -1.7731
+   0.0000   0.0000   2.1880  -3.3545  -2.6069
+   0.0000   0.0000   0.0000   0.7554  -2.1424
+
+ The transformed input/state matrix U'*B is 
+   0.0000   0.0000
+  -3.0996   0.0000
+  -0.6488   0.0000
+   0.8689   1.7872
+  -0.5527   2.8098
+
+ The transformed state/output matrix C*U is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.3655  -0.4962   0.6645  -0.4227
+   0.0000   0.0000  -0.8461  -0.4498   0.2861
+
+ The similarity transformation matrix U is 
+   1.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.9308  -0.1948   0.2609  -0.1660
+   0.0000   0.3655  -0.4962   0.6645  -0.4227
+   0.0000   0.0000  -0.8461  -0.4498   0.2861
+   0.0000   0.0000   0.0000   0.5367   0.8438
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01XD.html b/doc/_static/doc/TB01XD.html
new file mode 100644
index 00000000..d8aa2c03
--- /dev/null
+++ b/doc/_static/doc/TB01XD.html
@@ -0,0 +1,168 @@
+<HTML>
+<HEAD><TITLE>TB01XD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01XD">TB01XD</A></H2>
+<H3>
+Special similarity transformation of the dual state-space system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a special transformation to a system given as a triple
+  (A,B,C),
+
+     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
+
+  where P is a matrix with 1 on the secondary diagonal, and with 0
+  in the other entries. Matrix A can be specified as a band matrix.
+  Optionally, matrix D of the system can be transposed. This
+  transformation is actually a special similarity transformation of
+  the dual system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01XD( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBD
+      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed (pertransposed) matrix P*A'*P.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-P part of this array contains
+          the dual input/state matrix P*C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
+          LDB &gt;= 1        if M = 0 and P = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the dual state/output matrix B'*P.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  D       (input/output) DOUBLE PRECISION array, dimension
+          (LDD,MAX(M,P))
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the original direct transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading M-by-P part of this
+          array contains the transposed direct transmission matrix
+          D'. The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
+          LDD &gt;= 1          if JOBD = 'Z'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The rows and/or columns of the matrices of the triplet (A,B,C)
+  and, optionally, of the matrix D are swapped in a special way.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01XZ.html b/doc/_static/doc/TB01XZ.html
new file mode 100644
index 00000000..ba8534dd
--- /dev/null
+++ b/doc/_static/doc/TB01XZ.html
@@ -0,0 +1,166 @@
+<HTML>
+<HEAD><TITLE>TB01XZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01XZ">TB01XZ</A></H2>
+<H3>
+Special similarity transformation of the dual state-space system (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a special transformation to a system given as a triple
+  (A,B,C),
+
+     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
+
+  where P is a matrix with 1 on the secondary diagonal, and with 0
+  in the other entries. Matrix A can be specified as a band matrix.
+  Optionally, matrix D of the system can be transposed. This
+  transformation is actually a special similarity transformation of
+  the dual system.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01XZ( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBD
+      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   D( LDD, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed a zero matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  KL      (input) INTEGER
+          The number of subdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
+
+  KU      (input) INTEGER
+          The number of superdiagonals of A to be transformed.
+          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed (pertransposed) matrix P*A'*P.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B.
+          On exit, the leading N-by-P part of this array contains
+          the dual input/state matrix P*C'.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
+          LDB &gt;= 1        if M = 0 and P = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C.
+          On exit, the leading M-by-N part of this array contains
+          the dual state/output matrix B'*P.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  D       (input/output) COMPLEX*16 array, dimension (LDD,MAX(M,P))
+          On entry, if JOBD = 'D', the leading P-by-M part of this
+          array must contain the original direct transmission
+          matrix D.
+          On exit, if JOBD = 'D', the leading M-by-P part of this
+          array contains the transposed direct transmission matrix
+          D'. The array D is not referenced if JOBD = 'Z'.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
+          LDD &gt;= 1          if JOBD = 'Z'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The rows and/or columns of the matrices of the triplet (A,B,C)
+  and, optionally, of the matrix D are swapped in a special way.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01YD.html b/doc/_static/doc/TB01YD.html
new file mode 100644
index 00000000..39fc712e
--- /dev/null
+++ b/doc/_static/doc/TB01YD.html
@@ -0,0 +1,129 @@
+<HTML>
+<HEAD><TITLE>TB01YD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01YD">TB01YD</A></H2>
+<H3>
+Special similarity transformation of a state-space system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To apply a special similarity transformation to a system given as
+  a triple (A,B,C),
+
+     A &lt;-- P * A * P,  B &lt;-- P * B,  C &lt;-- C * P,
+
+  where P is a matrix with 1 on the secondary diagonal, and with 0
+  in the other entries.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01YD( N, M, P, A, LDA, B, LDB, C, LDC, INFO )
+C     .. Scalar Arguments ..
+      INTEGER            INFO, LDA, LDB, LDC, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A, the number of rows of matrix B
+          and the number of columns of matrix C.
+          N represents the dimension of the state vector.  N &gt;= 0.
+
+  M       (input) INTEGER.
+          The number of columns of matrix B.
+          M represents the dimension of input vector.  M &gt;= 0.
+
+  P       (input) INTEGER.
+          The number of rows of matrix C.
+          P represents the dimension of output vector.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the system state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed matrix P*A*P.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the system input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed matrix P*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0.
+          LDB &gt;= 1        if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the system output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*P.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The rows and/or columns of the matrices of the triplet (A,B,C)
+  are swapped in a special way.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB01ZD.html b/doc/_static/doc/TB01ZD.html
new file mode 100644
index 00000000..7563f17a
--- /dev/null
+++ b/doc/_static/doc/TB01ZD.html
@@ -0,0 +1,335 @@
+<HTML>
+<HEAD><TITLE>TB01ZD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ZD">TB01ZD</A></H2>
+<H3>
+Controllable realization for single-input systems using orthogonal state and input transformations
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a controllable realization for the linear time-invariant
+  single-input system
+
+          dX/dt = A * X + B * U,
+             Y  = C * X,
+
+  where A is an N-by-N matrix, B is an N element vector, C is an
+  P-by-N matrix, and A and B are reduced by this routine to
+  orthogonal canonical form using (and optionally accumulating)
+  orthogonal similarity transformations, which are also applied
+  to C.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
+     $                   TAU, TOL, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBZ
+      INTEGER           INFO, LDA, LDC, LDWORK, LDZ, N, NCONT, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), C(LDC,*), DWORK(*), TAU(*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBZ    CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal similarity transformations for
+          reducing the system, as follows:
+          = 'N':  Do not form Z and do not store the orthogonal
+                  transformations;
+          = 'F':  Do not form Z, but store the orthogonal
+                  transformations in the factored form;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e. the order of the matrix A.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NCONT-by-NCONT upper Hessenberg
+          part of this array contains the canonical form of the
+          state dynamics matrix, given by Z' * A * Z, of a
+          controllable realization for the original system. The
+          elements below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, the original input/state vector B.
+          On exit, the leading NCONT elements of this array contain
+          canonical form of the input/state vector, given by Z' * B,
+          with all elements but B(1) set to zero.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output/state matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output/state matrix, given by C * Z, and
+          the leading P-by-NCONT part contains the output/state
+          matrix of the controllable realization.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  NCONT   (output) INTEGER
+          The order of the controllable state-space representation.
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If JOBZ = 'I', then the leading N-by-N part of this array
+          contains the matrix of accumulated orthogonal similarity
+          transformations which reduces the given system to
+          orthogonal canonical form.
+          If JOBZ = 'F', the elements below the diagonal, with the
+          array TAU, represent the orthogonal transformation matrix
+          as a product of elementary reflectors. The transformation
+          matrix can then be obtained by calling the LAPACK Library
+          routine DORGQR.
+          If JOBZ = 'N', the array Z is not referenced and can be
+          supplied as a dummy array (i.e. set parameter LDZ = 1 and
+          declare this array to be Z(1,1) in the calling program).
+
+  LDZ     INTEGER
+          The leading dimension of array Z. If JOBZ = 'I' or
+          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
+
+  TAU     (output) DOUBLE PRECISION array, dimension (N)
+          The elements of TAU contain the scalar factors of the
+          elementary reflectors used in the reduction of B and A.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of (A,B). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as an absolute tolerance;
+          elements with absolute value less than TOL are considered
+          neglijible. If the user sets TOL &lt;= 0, then an implicitly
+          computed, default tolerance, defined by
+          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
+          where EPS is the machine precision (see LAPACK Library
+          routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK. LDWORK &gt;= MAX(1,N,P).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The Householder matrix which reduces all but the first element
+  of vector B to zero is found and this orthogonal similarity
+  transformation is applied to the matrix A. The resulting A is then
+  reduced to upper Hessenberg form by a sequence of Householder
+  transformations. Finally, the order of the controllable state-
+  space representation (NCONT) is determined by finding the position
+  of the first sub-diagonal element of A which is below an
+  appropriate zero threshold, either TOL or TOLDEF (see parameter
+  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
+  zero, and no computations for reducing the system to orthogonal
+  canonical form are performed.
+  All orthogonal transformations determined in this process are also
+  applied to the matrix C, from the right.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
+      Orthogonal Invariants and Canonical Forms for Linear
+      Controllable Systems.
+      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
+
+  [2] Hammarling, S.J.
+      Notes on the use of orthogonal similarity transformations in
+      control.
+      NPL Report DITC 8/82, August 1982.
+
+  [3] Paige, C.C
+      Properties of numerical algorithms related to computing
+      controllability.
+      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations and is backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB01ZD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, PMAX
+      PARAMETER        ( NMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDC, LDZ
+      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX, PMAX ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INFO, J, N, NCONT, P
+      CHARACTER*1      JOBZ
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), C(LDC,NMAX), DWORK(LDWORK),
+     $                 TAU(NMAX), Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB01ZD, DORGQR
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read in the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, P, TOL, JOBZ
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
+         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) P
+         ELSE
+            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*           Find a controllable realization for the given system.
+            CALL TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
+     $                   TAU, TOL, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NCONT
+               DO 20 I = 1, NCONT
+                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
+   20          CONTINUE
+               WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
+               WRITE ( NOUT, FMT = 99991 )
+               DO 30 I = 1, P
+                  WRITE ( NOUT, FMT = 99994 ) ( C(I,J), J = 1,NCONT )
+   30          CONTINUE
+               IF ( LSAME( JOBZ, 'F' ) )
+     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
+     $                         INFO )
+               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB01ZD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ZD = ',I2)
+99997 FORMAT (' The order of the controllable state-space representati',
+     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
+     $       'ble realization is ')
+99996 FORMAT (/' The input/state vector B of a controllable realizatio',
+     $       'n is ',/(1X,F8.4))
+99995 FORMAT (/' The similarity transformation matrix Z is ')
+99994 FORMAT (20(1X,F8.4))
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' The output/state matrix C of a controllable realizati',
+     $       'on is ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ZD EXAMPLE PROGRAM DATA
+   3     2     0.0     I
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   2.0   1.0
+   1.0   0.0   0.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ZD EXAMPLE PROGRAM RESULTS
+
+ The order of the controllable state-space representation =  3
+
+ The state dynamics matrix A of a controllable realization is 
+   1.0000   1.4142   0.0000
+   2.8284  -1.0000   2.8284
+   0.0000   1.4142   1.0000
+
+ The input/state vector B of a controllable realization is 
+  -1.4142
+   0.0000
+   0.0000
+
+ The output/state matrix C of a controllable realization is 
+  -0.7071  -2.0000   0.7071
+  -0.7071   0.0000  -0.7071
+
+ The similarity transformation matrix Z is 
+  -0.7071   0.0000  -0.7071
+   0.0000  -1.0000   0.0000
+  -0.7071   0.0000   0.7071
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TB03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB03AD">TB03AD</A></H2>
+<H3>
+Left/right polynomial matrix representation of a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a relatively prime left polynomial matrix representation
+  inv(P(s))*Q(s) or right polynomial matrix representation
+  Q(s)*inv(P(s)) with the same transfer matrix T(s) as that of a
+  given state-space representation, i.e.
+
+     inv(P(s))*Q(s) = Q(s)*inv(P(s)) = T(s) = C*inv(s*I-A)*B + D.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
+     $                   D, LDD, NR, INDEX, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1, LDVCO2,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, LERI
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
+     $                  LDQCO1, LDQCO2, LDVCO1, LDVCO2, LDWORK, M, N,
+     $                  NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether the left polynomial matrix
+          representation or the right polynomial matrix
+          representation is required as follows:
+          = 'L':  A left matrix fraction is required;
+          = 'R':  A right matrix fraction is required.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the triplet
+          (A,B,C), before computing a minimal state-space
+          representation, as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the original state dynamics matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the upper block Hessenberg state dynamics matrix Amin of a
+          minimal realization for the original system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; the remainder
+          of the leading N-by-MAX(M,P) part is used as internal
+          workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the transformed input/state matrix Bmin.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; the remainder
+          of the leading MAX(M,P)-by-N part is used as internal
+          workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cmin.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array must contain the
+          original direct transmission matrix D; the remainder of
+          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
+          workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  NR      (output) INTEGER
+          The order of the minimal state-space representation
+          (Amin,Bmin,Cmin).
+
+  INDEX   (output) INTEGER array, dimension (P), if LERI = 'L', or
+                                  dimension (M), if LERI = 'R'.
+          If LERI = 'L', INDEX(I), I = 1,2,...,P, contains the
+          maximum degree of the polynomials in the I-th row of the
+          denominator matrix P(s) of the left polynomial matrix
+          representation.
+          These elements are ordered so that
+          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(P).
+          If LERI = 'R', INDEX(I), I = 1,2,...,M, contains the
+          maximum degree of the polynomials in the I-th column of
+          the denominator matrix P(s) of the right polynomial
+          matrix representation.
+          These elements are ordered so that
+          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(M).
+
+  PCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,N+1)
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          The leading porm-by-porm-by-kpcoef part of this array
+          contains the coefficients of the denominator matrix P(s),
+          where kpcoef = MAX(INDEX(I)) + 1.
+          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
+          LERI = 'L' then iorj = I, otherwise iorj = J.
+          Thus for LERI = 'L', P(s) =
+          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P), if LERI = 'L';
+          LDPCO1 &gt;= MAX(1,M), if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P), if LERI = 'L';
+          LDPCO2 &gt;= MAX(1,M), if LERI = 'R'.
+
+  QCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,N+1)
+          If LERI = 'L' then porp = M, otherwise porp = P.
+          If LERI = 'L', the leading porm-by-porp-by-kpcoef part
+          of this array contains the coefficients of the numerator
+          matrix Q(s).
+          If LERI = 'R', the leading porp-by-porm-by-kpcoef part
+          of this array contains the coefficients of the numerator
+          matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,P),   if LERI = 'L';
+          LDQCO1 &gt;= MAX(1,M,P), if LERI = 'R'.
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M),   if LERI = 'L';
+          LDQCO2 &gt;= MAX(1,M,P), if LERI = 'R'.
+
+  VCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDVCO1,LDVCO2,N+1)
+          The leading porm-by-NR-by-kpcoef part of this array
+          contains the coefficients of the intermediate matrix V(s).
+          VCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+
+  LDVCO1  INTEGER
+          The leading dimension of array VCOEFF.
+          LDVCO1 &gt;= MAX(1,P), if LERI = 'L';
+          LDVCO1 &gt;= MAX(1,M), if LERI = 'R'.
+
+  LDVCO2  INTEGER
+          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
+          where  PM = P, if LERI = 'L';
+                 PM = M, if LERI = 'R'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if a singular matrix was encountered during the
+                computation of V(s);
+          = 2:  if a singular matrix was encountered during the
+                computation of P(s).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for a left matrix fraction will be described here:
+  right matrix fractions are dealt with by constructing a left
+  fraction for the dual of the original system. The first step is to
+  obtain, by means of orthogonal similarity transformations, a
+  minimal state-space representation (Amin,Bmin,Cmin,D) for the
+  original system (A,B,C,D), where Amin is lower block Hessenberg
+  with all its superdiagonal blocks upper triangular and Cmin has
+  all but its first rank(C) columns zero.  The number and dimensions
+  of the blocks of Amin now immediately yield the row degrees of
+  P(s) with P(s) row proper: furthermore, the P-by-NR polynomial
+  matrix V(s) (playing a similar role to S(s) in Wolovich's
+  Structure Theorem) can be calculated a column block at a time, in
+  reverse order, from Amin. P(s) is then found as if it were the
+  O-th column block of V(s) (using Cmin as well as Amin), while
+  Q(s) = (V(s) * Bmin) + (P(s) * D). Finally, a special similarity
+  transformation is used to put Amin in an upper block Hessenberg
+  form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Williams, T.W.C.
+      An Orthogonal Structure Theorem for Linear Systems.
+      Kingston Polytechnic Control Systems Research Group,
+      Internal Report 82/2, July 1982.
+
+  [2] Patel, R.V.
+      On Computing Matrix Fraction Descriptions and Canonical
+      Forms of Linear Time-Invariant Systems.
+      UMIST Control Systems Centre Report 489, 1980.
+      (Algorithms 1 and 2, extensively modified).
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDPCO1, LDPCO2, LDQCO1,
+     $                 LDQCO2, LDVCO1, LDVCO2, NMAXP1
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP, LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP, LDVCO1 = MAXMP,
+     $                   LDVCO2 = NMAX, NMAXP1 = NMAX+1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
+     $                                 MAXMP*( MAXMP + 2 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INDBLK, INFO, J, K, KPCOEF, M, N, NR, P, PORM,
+     $                 PORP
+      CHARACTER*1      EQUIL, LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DWORK(LDWORK),
+     $                 PCOEFF(LDPCO1,LDPCO2,NMAXP1),
+     $                 QCOEFF(LDQCO1,LDQCO2,NMAXP1),
+     $                 VCOEFF(LDVCO1,LDVCO2,NMAXP1)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, LERI, EQUIL
+      LLERI = LSAME( LERI, 'L' )
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99987 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99986 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99985 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the right pmr which is equivalent to the ssr
+*              C*inv(sI-A)*B+D.
+               CALL TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C,
+     $                      LDC, D, LDD, NR, INDEX, PCOEFF, LDPCO1,
+     $                      LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF,
+     $                      LDVCO1, LDVCO2, TOL, IWORK, DWORK, LDWORK,
+     $                      INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  INDBLK = 0
+                  DO 40 I = 1, N
+                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 ) ( IWORK(I), I = 1,INDBLK )
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 60 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80             CONTINUE
+                  IF ( LLERI ) THEN
+                     PORM = P
+                     PORP = M
+                     WRITE ( NOUT, FMT = 99992 ) INDBLK
+                  ELSE
+                     PORM = M
+                     PORP = P
+                     WRITE ( NOUT, FMT = 99991 ) INDBLK
+                  END IF
+                  WRITE ( NOUT, FMT = 99990 ) ( INDEX(I), I = 1,PORM )
+                  KPCOEF = 0
+                  DO 100 I = 1, PORM
+                     KPCOEF = MAX( KPCOEF, INDEX(I) )
+  100             CONTINUE
+                  KPCOEF = KPCOEF + 1
+                  WRITE ( NOUT, FMT = 99989 )
+                  DO 140 I = 1, PORM
+                     DO 120 J = 1, PORM
+                        WRITE ( NOUT, FMT = 99996 )
+     $                        ( PCOEFF(I,J,K), K = 1,KPCOEF )
+  120                CONTINUE
+  140             CONTINUE
+                  WRITE ( NOUT, FMT = 99988 )
+                  IF ( LLERI ) THEN
+                     DO 180 I = 1, PORM
+                        DO 160 J = 1, PORP
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
+  160                   CONTINUE
+  180                CONTINUE
+                  ELSE
+                     DO 220 I = 1, PORP
+                        DO 200 J = 1, PORM
+                           WRITE ( NOUT, FMT = 99996 )
+     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
+  200                   CONTINUE
+  220                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB03AD = ',I2)
+99997 FORMAT (' The order of the minimal state-space representation = ',
+     $       I2,//' The transformed state dynamics matrix of a minimal',
+     $       ' realization is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' and the dimensions of its diagonal blocks are ',/20(I5)
+     $       )
+99994 FORMAT (/' The transformed input/state matrix of a minimal reali',
+     $       'zation is ')
+99993 FORMAT (/' The transformed state/output matrix of a minimal real',
+     $       'ization is ')
+99992 FORMAT (/' The observability index of the transformed minimal sy',
+     $       'stem representation = ',I2)
+99991 FORMAT (/' The controllability index of the transformed minimal ',
+     $       'system representation = ',I2)
+99990 FORMAT (/' INDEX is ',/20(I5))
+99989 FORMAT (/' The denominator matrix P(s) is ')
+99988 FORMAT (/' The numerator matrix Q(s) is ')
+99987 FORMAT (/' N is out of range.',/' N = ',I5)
+99986 FORMAT (/' M is out of range.',/' M = ',I5)
+99985 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB03AD EXAMPLE PROGRAM DATA
+   3     1     2     0.0     R     N
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   0.0   1.0  -1.0
+   0.0   0.0   1.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB03AD EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal state-space representation =  3
+
+ The transformed state dynamics matrix of a minimal realization is 
+   1.0000  -1.4142   0.0000
+  -2.8284  -1.0000   2.8284
+   0.0000   1.4142   1.0000
+
+ and the dimensions of its diagonal blocks are 
+    1    1    1
+
+ The transformed input/state matrix of a minimal realization is 
+  -1.4142
+   0.0000
+   0.0000
+
+ The transformed state/output matrix of a minimal realization is 
+   0.7071   1.0000   0.7071
+  -0.7071   0.0000  -0.7071
+
+ The controllability index of the transformed minimal system representation =  3
+
+ INDEX is 
+    3
+
+ The denominator matrix P(s) is 
+   0.1768  -0.1768  -1.5910   1.5910
+
+ The numerator matrix Q(s) is 
+   0.0000  -0.1768   0.7071   0.8839
+   0.1768   0.0000  -1.5910   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB04AD.html b/doc/_static/doc/TB04AD.html
new file mode 100644
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+<HTML>
+<HEAD><TITLE>TB04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04AD">TB04AD</A></H2>
+<H3>
+Transfer matrix of a given state-space representation (A,B,C,D)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the transfer matrix T(s) of a given state-space
+  representation (A,B,C,D). T(s) is expressed as either row or
+  column polynomial vectors over monic least common denominator
+  polynomials.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF, LDUCO1,
+     $                   LDUCO2, TOL1, TOL2, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
+     $                  LDUCO2, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL1, TOL2
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ROWCOL  CHARACTER*1
+          Indicates whether the transfer matrix T(s) is required
+          as rows or columns over common denominators as follows:
+          = 'R':  T(s) is required as rows over common denominators;
+          = 'C':  T(s) is required as columns over common
+                  denominators.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the state-space representation, i.e. the
+          order of the original state dynamics matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the upper block Hessenberg state dynamics matrix A of a
+          transformed representation for the original system: this
+          is completely controllable if ROWCOL = 'R', or completely
+          observable if ROWCOL = 'C'.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if ROWCOL = 'R', and (LDB,MAX(M,P)) if ROWCOL = 'C'.
+          On entry, the leading N-by-M part of this array must
+          contain the original input/state matrix B; if
+          ROWCOL = 'C', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the transformed input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original state/output matrix C; if
+          ROWCOL = 'C', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix C.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDC &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M),
+          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
+          The leading P-by-M part of this array must contain the
+          original direct transmission matrix D; if ROWCOL = 'C',
+          this array is modified internally, but restored on exit,
+          and the remainder of the leading MAX(M,P)-by-MAX(M,P)
+          part is used as internal workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  NR      (output) INTEGER
+          The order of the transformed state-space representation.
+
+  INDEX   (output) INTEGER array, dimension (porm), where porm = P,
+          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
+          The degrees of the denominator polynomials.
+
+  DCOEFF  (output) DOUBLE PRECISION array, dimension (LDDCOE,N+1)
+          The leading porm-by-kdcoef part of this array contains
+          the coefficients of each denominator polynomial, where
+          kdcoef = MAX(INDEX(I)) + 1.
+          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of
+          the I-th denominator polynomial, where K = 1,2,...,kdcoef.
+
+  LDDCOE  INTEGER
+          The leading dimension of array DCOEFF.
+          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
+          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
+
+  UCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDUCO1,LDUCO2,N+1)
+          If ROWCOL = 'R' then porp = M, otherwise porp = P.
+          The leading porm-by-porp-by-kdcoef part of this array
+          contains the coefficients of the numerator matrix U(s).
+          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
+          Thus for ROWCOL = 'R', U(s) =
+          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+
+  LDUCO1  INTEGER
+          The leading dimension of array UCOEFF.
+          LDUCO1 &gt;= MAX(1,P) if ROWCOL = 'R';
+          LDUCO1 &gt;= MAX(1,M) if ROWCOL = 'C'.
+
+  LDUCO2  INTEGER
+          The second dimension of array UCOEFF.
+          LDUCO2 &gt;= MAX(1,M) if ROWCOL = 'R';
+          LDUCO2 &gt;= MAX(1,P) if ROWCOL = 'C'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL1    DOUBLE PRECISION
+          The tolerance to be used in determining the i-th row of
+          T(s), where i = 1,2,...,porm. If the user sets TOL1 &gt; 0,
+          then the given value of TOL1 is used as an absolute
+          tolerance; elements with absolute value less than TOL1 are
+          considered neglijible. If the user sets TOL1 &lt;= 0, then
+          an implicitly computed, default tolerance, defined in
+          the SLICOT Library routine TB01ZD, is used instead.
+
+  TOL2    DOUBLE PRECISION
+          The tolerance to be used to separate out a controllable
+          subsystem of (A,B,C). If the user sets TOL2 &gt; 0, then
+          the given value of TOL2 is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL2 is considered to be of full rank.  If the user sets
+          TOL2 &lt;= 0, then an implicitly computed, default tolerance,
+          defined in the SLICOT Library routine TB01UD, is used
+          instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N + 1) + MAX(N*MP + 2*N + MAX(N,MP),
+                                    3*MP, PM)),
+          where MP = M, PM = P, if ROWCOL = 'R';
+                MP = P, PM = M, if ROWCOL = 'C'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for transfer matrices factorized by rows will be
+  described here: T(s) factorized by columns is dealt with by
+  operating on the dual of the original system.  Each row of
+  T(s) is simply a single-output relatively left prime polynomial
+  matrix representation, so can be calculated by applying a
+  simplified version of the Orthogonal Structure Theorem to a
+  minimal state-space representation for the corresponding row of
+  the given system. A minimal state-space representation is obtained
+  using the Orthogonal Canonical Form to first separate out a
+  completely controllable one for the overall system and then, for
+  each row in turn, applying it again to the resulting dual SIMO
+  (single-input multi-output) system. Note that the elements of the
+  transformed matrix A so calculated are individually scaled in a
+  way which guarantees a monic denominator polynomial.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Williams, T.W.C.
+      An Orthogonal Structure Theorem for Linear Systems.
+      Control Systems Research Group, Kingston Polytechnic,
+      Internal Report 82/2, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDUCO1, LDUCO2,
+     $                 NMAXP1
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP, LDDCOE = MAXMP, LDUCO1 = MAXMP,
+     $                   LDUCO2 = MAXMP, NMAXP1 = NMAX+1 )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX + 1 ) +
+     $                            MAX( NMAX*MAXMP + 2*NMAX +
+     $                                 MAX( NMAX, MAXMP ), 3*MAXMP ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL1, TOL2
+      INTEGER          I, II, IJ, INDBLK, INFO, J, JJ, KDCOEF, M, N,
+     $                 NR, P, PORM, PORP
+      CHARACTER*1      ROWCOL
+      CHARACTER*132    ULINE
+      LOGICAL          LROWCO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,NMAXP1),
+     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,NMAXP1)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB04AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL1, TOL2, ROWCOL
+      LROWCO = LSAME( ROWCOL, 'R' )
+      ULINE(1:20) = ' '
+      DO 20 I = 21, 132
+         ULINE(I:I) = '-'
+   20 CONTINUE
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99985 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99984 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the transfer matrix T(s) of (A,B,C,D).
+               CALL TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
+     $                      LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                      LDUCO1, LDUCO2, TOL1, TOL2, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) NR
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 I = 1, NR
+                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 80 I = 1, P
+                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80             CONTINUE
+                  INDBLK = 0
+                  DO 100 I = 1, N
+                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+  100             CONTINUE
+                  IF ( LROWCO ) THEN
+                     PORM = P
+                     PORP = M
+                     WRITE ( NOUT, FMT = 99993 ) INDBLK,
+     $                          ( IWORK(I), I = 1,INDBLK )
+                  ELSE
+                     PORM = M
+                     PORP = P
+                     WRITE ( NOUT, FMT = 99992 ) INDBLK,
+     $                          ( IWORK(I), I = 1,INDBLK )
+                  END IF
+                  WRITE ( NOUT, FMT = 99991 ) ( INDEX(I), I = 1,PORM )
+                  WRITE ( NOUT, FMT = 99990 )
+                  KDCOEF = 0
+                  DO 120 I = 1, PORM
+                     KDCOEF = MAX( KDCOEF, INDEX(I) )
+  120             CONTINUE
+                  KDCOEF = KDCOEF + 1
+                  DO 160 II = 1, PORM
+                     DO 140 JJ = 1, PORP
+                        WRITE ( NOUT, FMT = 99989 ) II, JJ,
+     $                    ( UCOEFF(II,JJ,IJ), IJ = 1,KDCOEF )
+                        WRITE ( NOUT, FMT = 99988 ) ULINE(1:7*KDCOEF+21)
+                        WRITE ( NOUT, FMT = 99987 )
+     $                        ( DCOEFF(II,IJ), IJ = 1,KDCOEF )
+  140                CONTINUE
+  160             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB04AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB04AD = ',I2)
+99997 FORMAT (' The order of the transformed state-space representatio',
+     $       'n = ',I2,//' The transformed state dynamics matrix A is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The transformed input/state matrix B is ')
+99994 FORMAT (/' The transformed state/output matrix C is ')
+99993 FORMAT (/' The controllability index of the transformed state-sp',
+     $       'ace representation = ',I2,//' The dimensions of the diag',
+     $       'onal blocks of the transformed A are ',/20(I5))
+99992 FORMAT (/' The observability index of the transformed state-spac',
+     $       'e representation = ',I2,//' The dimensions of the diagon',
+     $       'al blocks of the transformed A are ',/20(I5))
+99991 FORMAT (/' The degrees of the denominator polynomials are',/20(I5)
+     $       )
+99990 FORMAT (/' The coefficients of polynomials in the transfer matri',
+     $       'x T(s) are ')
+99989 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
+99988 FORMAT (1X,A)
+99987 FORMAT (20X,20(1X,F6.2))
+99986 FORMAT (/' N is out of range.',/' N = ',I5)
+99985 FORMAT (/' M is out of range.',/' M = ',I5)
+99984 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB04AD EXAMPLE PROGRAM DATA
+   3     2     2  0.0        0.0     R
+  -1.0   0.0   0.0
+   0.0  -2.0   0.0
+   0.0   0.0  -3.0
+   0.0   1.0  -1.0
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+   1.0   1.0   1.0
+   1.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB04AD EXAMPLE PROGRAM RESULTS
+
+ The order of the transformed state-space representation =  3
+
+ The transformed state dynamics matrix A is 
+  -2.5000  -0.2887  -0.4082
+  -0.2887  -1.5000  -0.7071
+  -0.4082  -0.7071  -2.0000
+
+ The transformed input/state matrix B is 
+  -1.4142  -0.7071
+   0.0000   1.2247
+   0.0000   0.0000
+
+ The transformed state/output matrix C is 
+   0.0000   0.8165   1.1547
+   0.0000   1.6330   0.5774
+
+ The controllability index of the transformed state-space representation =  2
+
+ The dimensions of the diagonal blocks of the transformed A are 
+    2    1
+
+ The degrees of the denominator polynomials are
+    2    3
+
+ The coefficients of polynomials in the transfer matrix T(s) are 
+
+ element ( 1, 1) is    1.00   5.00   7.00   0.00
+                     -----------------------------
+                       1.00   5.00   6.00   0.00
+
+ element ( 1, 2) is    0.00   1.00   3.00   0.00
+                     -----------------------------
+                       1.00   5.00   6.00   0.00
+
+ element ( 2, 1) is    0.00   0.00   1.00   1.00
+                     -----------------------------
+                       1.00   6.00  11.00   6.00
+
+ element ( 2, 2) is    1.00   8.00  20.00  15.00
+                     -----------------------------
+                       1.00   6.00  11.00   6.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB04BD.html b/doc/_static/doc/TB04BD.html
new file mode 100644
index 00000000..e1be5c61
--- /dev/null
+++ b/doc/_static/doc/TB04BD.html
@@ -0,0 +1,414 @@
+<HTML>
+<HEAD><TITLE>TB04BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BD">TB04BD</A></H2>
+<H3>
+Transfer matrix of a given state-space representation (A,B,C,D), using the pole-zeros method
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transfer function matrix G of a state-space
+  representation (A,B,C,D) of a linear time-invariant multivariable
+  system, using the pole-zeros method. Each element of the transfer
+  function matrix is returned in a cancelled, minimal form, with
+  numerator and denominator polynomials stored either in increasing
+  or decreasing order of the powers of the indeterminate.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
+     $                   GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          EQUIL, JOBD, ORDER
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDIGD, LDIGN, LDWORK,
+     $                   M, MD, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                   DWORK(*), GD(*), GN(*)
+      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*), IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state-space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed to be a zero matrix.
+
+  ORDER   CHARACTER*1
+          Specifies the order in which the polynomial coefficients
+          are stored, as follows:
+          = 'I':  Increasing order of powers of the indeterminate;
+          = 'D':  Decreasing order of powers of the indeterminate.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system (A,B,C,D).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  MD      (input) INTEGER
+          The maximum degree of the polynomials in G, plus 1. An
+          upper bound for MD is N+1.  MD &gt;= 1.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if EQUIL = 'S', the leading N-by-N part of this
+          array contains the balanced matrix inv(S)*A*S, as returned
+          by SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the contents of B are destroyed: all elements but
+          those in the first row are set to zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, if EQUIL = 'S', the leading P-by-N part of this
+          array contains the balanced matrix C*S, as returned by
+          SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this array must
+          contain the matrix D.
+          If JOBD = 'Z', the array D is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  IGN     (output) INTEGER array, dimension (LDIGN,M)
+          The leading P-by-M part of this array contains the degrees
+          of the numerator polynomials in the transfer function
+          matrix G. Specifically, the (i,j) element of IGN contains
+          the degree of the numerator polynomial of the transfer
+          function G(i,j) from the j-th input to the i-th output.
+
+  LDIGN   INTEGER
+          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
+
+  IGD     (output) INTEGER array, dimension (LDIGD,M)
+          The leading P-by-M part of this array contains the degrees
+          of the denominator polynomials in the transfer function
+          matrix G. Specifically, the (i,j) element of IGD contains
+          the degree of the denominator polynomial of the transfer
+          function G(i,j).
+
+  LDIGD   INTEGER
+          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
+
+  GN      (output) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array contains the coefficients of the numerator
+          polynomials, Num(i,j), of the transfer function matrix G.
+          The polynomials are stored in a column-wise order, i.e.,
+          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
+          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
+          MD memory locations are reserved for each polynomial,
+          hence, the (i,j) polynomial is stored starting from the
+          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
+          increasing or decreasing order of the powers of the
+          indeterminate, according to ORDER.
+
+  GD      (output) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array contains the coefficients of the denominator
+          polynomials, Den(i,j), of the transfer function matrix G.
+          The polynomials are stored in the same way as the
+          numerator polynomials.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of a single-input system (A,b) or (A',c'),
+          where b and c' are columns in B and C' (C transposed). If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as an absolute tolerance; elements with absolute value
+          less than TOL are considered neglijible. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH), and bc denotes the currently used
+          column in B or C' (see METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N+P) +
+                           MAX( N + MAX( N,P ), N*(2*N+5)))
+          If N &gt;= P, N &gt;= 1, the formula above can be written as
+          LDWORK &gt;= N*(3*N + P + 5).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QR algorithm failed to converge when trying to
+                compute the zeros of a transfer function;
+          = 2:  the QR algorithm failed to converge when trying to
+                compute the poles of a transfer function.
+                The errors INFO = 1 or 2 are unlikely to appear.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the pole-zero method proposed in [1].
+  This method is based on an algorithm for computing the transfer
+  function of a single-input single-output (SISO) system.
+  Let (A,b,c,d) be a SISO system. Its transfer function is computed
+  as follows:
+
+  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
+  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
+  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
+  4) Compute the zeros of (Ao,bo,co,d).
+  5) Compute the gain of (Ao,bo,co,d).
+
+  This algorithm can be implemented using only orthogonal
+  transformations [1]. However, for better efficiency, the
+  implementation in TB04BD uses one elementary transformation
+  in Step 4 and r elementary transformations in Step 5 (to reduce
+  an upper Hessenberg matrix to upper triangular form). These
+  special elementary transformations are numerically stable
+  in practice.
+
+  In the multi-input multi-output (MIMO) case, the algorithm
+  computes each element (i,j) of the transfer function matrix G,
+  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
+  is performed once for each value of j (each column of B). The
+  matrices Ac and Ao result in Hessenberg form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A. and Sima, V.
+      Numerically Stable Algorithm for Transfer Function Matrix
+      Evaluation.
+      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable in practice and requires about
+  20*N**3 floating point operations at most, but usually much less.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For maximum efficiency of index calculations, GN and GD are
+  implemented as one-dimensional arrays.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB04BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, MDMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
+     $                   MDMAX = NMAX + 1 )
+      INTEGER          PMNMAX
+      PARAMETER        ( PMNMAX = PMAX*MMAX*MDMAX )
+      INTEGER          LDA, LDB, LDC, LDD, LDIGD, LDIGN
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDIGD = PMAX, LDIGN = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
+     $                            MAX( NMAX + MAX( NMAX, PMAX ),
+     $                                 NMAX*( 2*NMAX + 5 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, IJ, INFO, J, K, M, MD, N, P
+      CHARACTER*1      JOBD, ORDER, EQUIL
+      CHARACTER*132    ULINE
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), GD(PMNMAX),
+     $                 GN(PMNMAX)
+      INTEGER          IGD(LDIGD,MMAX), IGN(LDIGN,MMAX), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB04BD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, ORDER, EQUIL
+      MD = N + 1
+      ULINE(1:20) = ' '
+      DO 20 I = 21, 132
+         ULINE(I:I) = '-'
+   20 CONTINUE
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99990 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99989 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the transfer matrix T(s) of (A,B,C,D).
+               CALL TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
+     $                      LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
+     $                      GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( LSAME( ORDER, 'I' ) ) THEN
+                     WRITE ( NOUT, FMT = 99997 )
+                  ELSE
+                     WRITE ( NOUT, FMT = 99996 )
+                  END IF
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 60 J = 1, M
+                     DO 40 I = 1, P
+                        IJ = ( (J-1)*P + I-1 )*MD + 1
+                        WRITE ( NOUT, FMT = 99994 ) I, J,
+     $                    ( GN(K), K = IJ,IJ+IGN(I,J) )
+                        WRITE ( NOUT, FMT = 99993 )
+     $                          ULINE(1:7*(IGD(I,J)+1)+21)
+                        WRITE ( NOUT, FMT = 99992 )
+     $                        ( GD(K), K = IJ,IJ+IGD(I,J) )
+   40                CONTINUE
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB04BD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB04BD = ',I2)
+99997 FORMAT (/' The polynomial coefficients appear in increasing',
+     $         ' order'/' of the powers of the indeterminate')
+99996 FORMAT (/' The polynomial coefficients appear in decreasing',
+     $         ' order'/' of the powers of the indeterminate')
+99995 FORMAT (/' The coefficients of polynomials in the transfer matri',
+     $       'x T(s) are ')
+99994 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
+99993 FORMAT (1X,A)
+99992 FORMAT (20X,20(1X,F6.2))
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB04BD EXAMPLE PROGRAM DATA
+   3     2     2  0.0         D     I     N
+  -1.0   0.0   0.0
+   0.0  -2.0   0.0
+   0.0   0.0  -3.0
+   0.0   1.0  -1.0
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+   1.0   1.0   1.0
+   1.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB04BD EXAMPLE PROGRAM RESULTS
+
+
+ The polynomial coefficients appear in increasing order
+ of the powers of the indeterminate
+
+ The coefficients of polynomials in the transfer matrix T(s) are 
+
+ element ( 1, 1) is    7.00   5.00   1.00
+                     ----------------------
+                       6.00   5.00   1.00
+
+ element ( 2, 1) is    1.00
+                     ----------------------
+                       6.00   5.00   1.00
+
+ element ( 1, 2) is    1.00
+                     ---------------
+                       2.00   1.00
+
+ element ( 2, 2) is    5.00   5.00   1.00
+                     ----------------------
+                       2.00   3.00   1.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB04BV.html b/doc/_static/doc/TB04BV.html
new file mode 100644
index 00000000..dfa8d2bf
--- /dev/null
+++ b/doc/_static/doc/TB04BV.html
@@ -0,0 +1,170 @@
+<HTML>
+<HEAD><TITLE>TB04BV - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BV">TB04BV</A></H2>
+<H3>
+Strictly proper part of a proper transfer function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To separate the strictly proper part G0 from the constant part D
+  of an P-by-M proper transfer function matrix G.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BV( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
+     $                   GD, D, LDD, TOL, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          ORDER
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
+      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ORDER   CHARACTER*1
+          Specifies the order in which the polynomial coefficients
+          of the transfer function matrix are stored, as follows:
+          = 'I':  Increasing order of powers of the indeterminate;
+          = 'D':  Decreasing order of powers of the indeterminate.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  MD      (input) INTEGER
+          The maximum degree of the polynomials in G, plus 1, i.e.,
+          MD = MAX(IGD(I,J)) + 1.
+               I,J
+
+  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
+          On entry, the leading P-by-M part of this array must
+          contain the degrees of the numerator polynomials in G:
+          the (i,j) element of IGN must contain the degree of the
+          numerator polynomial of the polynomial ratio G(i,j).
+          On exit, the leading P-by-M part of this array contains
+          the degrees of the numerator polynomials in G0.
+
+  LDIGN   INTEGER
+          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
+
+  IGD     (input) INTEGER array, dimension (LDIGD,M)
+          The leading P-by-M part of this array must contain the
+          degrees of the denominator polynomials in G (and G0):
+          the (i,j) element of IGD contains the degree of the
+          denominator polynomial of the polynomial ratio G(i,j).
+
+  LDIGD   INTEGER
+          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
+
+  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
+          On entry, this array must contain the coefficients of the
+          numerator polynomials, Num(i,j), of the transfer function
+          matrix G. The polynomials are stored in a column-wise
+          order, i.e., Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2),
+          Num(2,2), ..., Num(P,2), ..., Num(1,M), Num(2,M), ...,
+          Num(P,M); MD memory locations are reserved for each
+          polynomial, hence, the (i,j) polynomial is stored starting
+          from the location ((j-1)*P+i-1)*MD+1. The coefficients
+          appear in increasing or decreasing order of the powers
+          of the indeterminate, according to ORDER.
+          On exit, this array contains the coefficients of the
+          numerator polynomials of the strictly proper part G0 of
+          the transfer function matrix G, stored similarly.
+
+  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array must contain the coefficients of the
+          denominator polynomials, Den(i,j), of the transfer
+          function matrix G. The polynomials are stored as for the
+          numerator polynomials.
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array contains the
+          matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= max(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the degrees of
+          the numerators Num0(i,j) of the strictly proper part of
+          the transfer function matrix G. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as an absolute
+          tolerance; the leading coefficients with absolute value
+          less than TOL are considered neglijible. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by TOLDEF = IGN(i,j)*EPS*NORM( Num(i,j) ) is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH), and NORM denotes the infinity
+          norm (the maximum coefficient in absolute value).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the transfer function matrix is not proper;
+          = 2:  if a denominator polynomial is null.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j) entry of the real matrix D is zero, if the degree of
+  Num(i,j), IGN(i,j), is less than the degree of Den(i,j), IGD(i,j),
+  and it is given by the ratio of the leading coefficients of
+  Num(i,j) and Den(i,j), if IGN(i,j) is equal to IGD(i,j),
+  for i = 1 : P, and for j = 1 : M.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  For maximum efficiency of index calculations, GN and GD are
+  implemented as one-dimensional arrays.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB04BW.html b/doc/_static/doc/TB04BW.html
new file mode 100644
index 00000000..3930d97d
--- /dev/null
+++ b/doc/_static/doc/TB04BW.html
@@ -0,0 +1,159 @@
+<HTML>
+<HEAD><TITLE>TB04BW - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BW">TB04BW</A></H2>
+<H3>
+Sum of a rational matrix and a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the sum of an P-by-M rational matrix G and a real
+  P-by-M matrix D.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BW( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
+     $                   GD, D, LDD, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          ORDER
+      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
+      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ORDER   CHARACTER*1
+          Specifies the order in which the polynomial coefficients
+          of the rational matrix are stored, as follows:
+          = 'I':  Increasing order of powers of the indeterminate;
+          = 'D':  Decreasing order of powers of the indeterminate.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  MD      (input) INTEGER
+          The maximum degree of the polynomials in G, plus 1, i.e.,
+          MD = MAX(IGN(I,J),IGD(I,J)) + 1.
+               I,J
+
+  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
+          On entry, the leading P-by-M part of this array must
+          contain the degrees of the numerator polynomials in G:
+          the (i,j) element of IGN must contain the degree of the
+          numerator polynomial of the polynomial ratio G(i,j).
+          On exit, the leading P-by-M part of this array contains
+          the degrees of the numerator polynomials in G + D.
+
+  LDIGN   INTEGER
+          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
+
+  IGD     (input) INTEGER array, dimension (LDIGD,M)
+          The leading P-by-M part of this array must contain the
+          degrees of the denominator polynomials in G (and G + D):
+          the (i,j) element of IGD contains the degree of the
+          denominator polynomial of the polynomial ratio G(i,j).
+
+  LDIGD   INTEGER
+          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
+
+  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
+          On entry, this array must contain the coefficients of the
+          numerator polynomials, Num(i,j), of the rational matrix G.
+          The polynomials are stored in a column-wise order, i.e.,
+          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
+          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
+          MD memory locations are reserved for each polynomial,
+          hence, the (i,j) polynomial is stored starting from the
+          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
+          increasing or decreasing order of the powers of the
+          indeterminate, according to ORDER.
+          On exit, this array contains the coefficients of the
+          numerator polynomials of the rational matrix G + D,
+          stored similarly.
+
+  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
+          This array must contain the coefficients of the
+          denominator polynomials, Den(i,j), of the rational
+          matrix G. The polynomials are stored as for the
+          numerator polynomials.
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          matrix D.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= max(1,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j) entry of the real matrix D is added to the (i,j) entry
+  of the matrix G, g(i,j), which is a ratio of two polynomials,
+  for i = 1 : P, and for j = 1 : M. If g(i,j) = 0, it is assumed
+  that its denominator is 1.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  Often, the rational matrix G is found from a state-space
+  representation (A,B,C), and D corresponds to the direct
+  feedthrough matrix of the system. The sum G + D gives the
+  transfer function matrix of the system (A,B,C,D).
+  For maximum efficiency of index calculations, GN and GD are
+  implemented as one-dimensional arrays.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB04BX.html b/doc/_static/doc/TB04BX.html
new file mode 100644
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--- /dev/null
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+<HTML>
+<HEAD><TITLE>TB04BX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04BX">TB04BX</A></H2>
+<H3>
+Gain of a SISO linear system, given its state-space representation, poles and zeros
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the gain of a single-input single-output linear system,
+  given its state-space representation (A,b,c,d), and its poles and
+  zeros. The matrix A is assumed to be in an upper Hessenberg form.
+  The gain is computed using the formula
+
+                       -1         IP              IZ
+     g = (c*( S0*I - A ) *b + d)*Prod( S0 - Pi )/Prod( S0 - Zi ) ,
+                                  i=1             i=1            (1)
+
+  where Pi, i = 1 : IP, and Zj, j = 1 : IZ, are the poles and zeros,
+  respectively, and S0 is a real scalar different from all poles and
+  zeros.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04BX( IP, IZ, A, LDA, B, C, D, PR, PI, ZR, ZI, GAIN,
+     $                   IWORK )
+C     .. Scalar Arguments ..
+      DOUBLE PRECISION   D, GAIN
+      INTEGER            IP, IZ, LDA
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(*), C(*), PI(*), PR(*), ZI(*),
+     $                   ZR(*)
+      INTEGER            IWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  IP      (input) INTEGER
+          The number of the system poles.  IP &gt;= 0.
+
+  IZ      (input) INTEGER
+          The number of the system zeros.  IZ &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,IP)
+          On entry, the leading IP-by-IP part of this array must
+          contain the state dynamics matrix A in an upper Hessenberg
+          form. The elements below the second diagonal are not
+          referenced.
+          On exit, the leading IP-by-IP upper Hessenberg part of
+          this array contains the LU factorization of the matrix
+          A - S0*I, as computed by SLICOT Library routine MB02SD.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= max(1,IP).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (IP)
+          On entry, this array must contain the system input
+          vector b.
+          On exit, this array contains the solution of the linear
+          system ( A - S0*I )x = b .
+
+  C       (input) DOUBLE PRECISION array, dimension (IP)
+          This array must contain the system output vector c.
+
+  D       (input) DOUBLE PRECISION
+          The variable must contain the system feedthrough scalar d.
+
+  PR      (input) DOUBLE PRECISION array, dimension (IP)
+          This array must contain the real parts of the system
+          poles. Pairs of complex conjugate poles must be stored in
+          consecutive memory locations.
+
+  PI      (input) DOUBLE PRECISION array, dimension (IP)
+          This array must contain the imaginary parts of the system
+          poles.
+
+  ZR      (input) DOUBLE PRECISION array, dimension (IZ)
+          This array must contain the real parts of the system
+          zeros. Pairs of complex conjugate zeros must be stored in
+          consecutive memory locations.
+
+  ZI      (input) DOUBLE PRECISION array, dimension (IZ)
+          This array must contain the imaginary parts of the system
+          zeros.
+
+  GAIN    (output) DOUBLE PRECISION
+          The gain of the linear system (A,b,c,d), given by (1).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (IP)
+          On exit, it contains the pivot indices; for 1 &lt;= i &lt;= IP,
+          row i of the matrix A - S0*I was interchanged with
+          row IWORK(i).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the method presented in [1]. A suitable
+  value of S0 is chosen based on the system poles and zeros.
+  Then, the LU factorization of the upper Hessenberg, nonsingular
+  matrix A - S0*I is computed and used to solve the linear system
+  in (1).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A. and Sima, V.
+      Numerically Stable Algorithm for Transfer Function Matrix
+      Evaluation.
+      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable in practice and requires
+  O(IP*IP) floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TB04CD.html b/doc/_static/doc/TB04CD.html
new file mode 100644
index 00000000..be5c9891
--- /dev/null
+++ b/doc/_static/doc/TB04CD.html
@@ -0,0 +1,455 @@
+<HTML>
+<HEAD><TITLE>TB04CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB04CD">TB04CD</A></H2>
+<H3>
+Pole-zero-gain representation for a given state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the transfer function matrix G of a state-space
+  representation (A,B,C,D) of a linear time-invariant multivariable
+  system, using the pole-zeros method. The transfer function matrix
+  is returned in a minimal pole-zero-gain form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB, C,
+     $                   LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
+     $                   ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          EQUIL, JOBD
+      DOUBLE PRECISION   TOL
+      INTEGER            INFO, LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ,
+     $                   LDWORK, M, N, NPZ, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                   DWORK(*), GAINS(LDGAIN,*), POLESI(*),
+     $                   POLESR(*), ZEROSI(*), ZEROSR(*)
+      INTEGER            IWORK(*), NP(LDNP,*), NZ(LDNZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBD    CHARACTER*1
+          Specifies whether or not a non-zero matrix D appears in
+          the given state-space model:
+          = 'D':  D is present;
+          = 'Z':  D is assumed to be a zero matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily
+          equilibrate the triplet (A,B,C) as follows:
+          = 'S':  perform equilibration (scaling);
+          = 'N':  do not perform equilibration.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the system (A,B,C,D).  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of the system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of the system outputs.  P &gt;= 0.
+
+  NPZ     (input) INTEGER
+          The maximum number of poles or zeros of the single-input
+          single-output channels in the system. An upper bound
+          for NPZ is N.  NPZ &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, if EQUIL = 'S', the leading N-by-N part of this
+          array contains the balanced matrix inv(S)*A*S, as returned
+          by SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the contents of B are destroyed: all elements but
+          those in the first row are set to zero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, if EQUIL = 'S', the leading P-by-N part of this
+          array contains the balanced matrix C*S, as returned by
+          SLICOT Library routine TB01ID.
+          If EQUIL = 'N', this array is unchanged on exit.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          If JOBD = 'D', the leading P-by-M part of this array must
+          contain the matrix D.
+          If JOBD = 'Z', the array D is not referenced.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P), if JOBD = 'D';
+          LDD &gt;= 1,        if JOBD = 'Z'.
+
+  NZ      (output) INTEGER array, dimension (LDNZ,M)
+          The leading P-by-M part of this array contains the numbers
+          of zeros of the elements of the transfer function
+          matrix G. Specifically, the (i,j) element of NZ contains
+          the number of zeros of the transfer function G(i,j) from
+          the j-th input to the i-th output.
+
+  LDNZ    INTEGER
+          The leading dimension of array NZ.  LDNZ &gt;= max(1,P).
+
+  NP      (output) INTEGER array, dimension (LDNP,M)
+          The leading P-by-M part of this array contains the numbers
+          of poles of the elements of the transfer function
+          matrix G. Specifically, the (i,j) element of NP contains
+          the number of poles of the transfer function G(i,j).
+
+  LDNP    INTEGER
+          The leading dimension of array NP.  LDNP &gt;= max(1,P).
+
+  ZEROSR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the real parts of the zeros of the
+          transfer function matrix G. The real parts of the zeros
+          are stored in a column-wise order, i.e., for the transfer
+          functions (1,1), (2,1), ..., (P,1), (1,2), (2,2), ...,
+          (P,2), ..., (1,M), (2,M), ..., (P,M); NPZ memory locations
+          are reserved for each transfer function, hence, the real
+          parts of the zeros for the (i,j) transfer function
+          are stored starting from the location ((j-1)*P+i-1)*NPZ+1.
+          Pairs of complex conjugate zeros are stored in consecutive
+          memory locations. Note that only the first NZ(i,j) entries
+          are initialized for the (i,j) transfer function.
+
+  ZEROSI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the imaginary parts of the zeros of
+          the transfer function matrix G, stored in a similar way
+          as the real parts of the zeros.
+
+  POLESR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the real parts of the poles of the
+          transfer function matrix G, stored in the same way as
+          the zeros. Note that only the first NP(i,j) entries are
+          initialized for the (i,j) transfer function.
+
+  POLESI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
+          This array contains the imaginary parts of the poles of
+          the transfer function matrix G, stored in the same way as
+          the poles.
+
+  GAINS   (output) DOUBLE PRECISION array, dimension (LDGAIN,M)
+          The leading P-by-M part of this array contains the gains
+          of the transfer function matrix G. Specifically,
+          GAINS(i,j) contains the gain of the transfer function
+          G(i,j).
+
+  LDGAIN  INTEGER
+          The leading dimension of array GAINS.  LDGAIN &gt;= max(1,P).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the
+          controllability of a single-input system (A,b) or (A',c'),
+          where b and c' are columns in B and C' (C transposed). If
+          the user sets TOL &gt; 0, then the given value of TOL is used
+          as an absolute tolerance; elements with absolute value
+          less than TOL are considered neglijible. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH), and bc denotes the currently used
+          column in B or C' (see METHOD).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N*(N+P) +
+                           MAX( N + MAX( N,P ), N*(2*N+3)))
+          If N &gt;= P, N &gt;= 1, the formula above can be written as
+          LDWORK &gt;= N*(3*N + P + 3).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QR algorithm failed to converge when trying to
+                compute the zeros of a transfer function;
+          = 2:  the QR algorithm failed to converge when trying to
+                compute the poles of a transfer function.
+                The errors INFO = 1 or 2 are unlikely to appear.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine implements the pole-zero method proposed in [1].
+  This method is based on an algorithm for computing the transfer
+  function of a single-input single-output (SISO) system.
+  Let (A,b,c,d) be a SISO system. Its transfer function is computed
+  as follows:
+
+  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
+  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
+  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
+  4) Compute the zeros of (Ao,bo,co,d).
+  5) Compute the gain of (Ao,bo,co,d).
+
+  This algorithm can be implemented using only orthogonal
+  transformations [1]. However, for better efficiency, the
+  implementation in TB04CD uses one elementary transformation
+  in Step 4 and r elementary transformations in Step 5 (to reduce
+  an upper Hessenberg matrix to upper triangular form). These
+  special elementary transformations are numerically stable
+  in practice.
+
+  In the multi-input multi-output (MIMO) case, the algorithm
+  computes each element (i,j) of the transfer function matrix G,
+  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
+  is performed once for each value of j (each column of B). The
+  matrices Ac and Ao result in Hessenberg form.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A. and Sima, V.
+      Numerically Stable Algorithm for Transfer Function Matrix
+      Evaluation.
+      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically stable in practice and requires about
+  20*N**3 floating point operations at most, but usually much less.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB04CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NPZMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
+     $                   NPZMAX = NMAX )
+      INTEGER          PMNMAX
+      PARAMETER        ( PMNMAX = PMAX*MMAX*NPZMAX )
+      INTEGER          LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDGAIN = PMAX, LDNP = PMAX,
+     $                   LDNZ = PMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
+     $                            MAX( NMAX + MAX( NMAX, PMAX ),
+     $                                 NMAX*( 2*NMAX + 3 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, IJ, INFO, J, K, M, N, NPZ, P
+      CHARACTER*1      JOBD, EQUIL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), GAINS(LDGAIN,MMAX),
+     $                 POLESI(PMNMAX), POLESR(PMNMAX), ZEROSI(PMNMAX),
+     $                 ZEROSR(PMNMAX)
+      INTEGER          IWORK(LIWORK), NP(LDNP,MMAX), NZ(LDNZ,MMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TB04CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, EQUIL
+      NPZ = N
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*              Find the transfer matrix T(s) of (A,B,C,D) in the
+*              pole-zero-gain form.
+               CALL TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB,
+     $                      C, LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
+     $                      ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
+     $                      IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 60 J = 1, M
+                     DO 40 I = 1, P
+                        IJ = ( (J-1)*P + I-1 )*NPZ + 1
+                        IF ( NZ(I,J).EQ.0 ) THEN
+                           WRITE ( NOUT, FMT = 99996 ) I, J
+                        ELSE
+                           WRITE ( NOUT, FMT = 99995 ) I, J,
+     $                        ( ZEROSR(K), ZEROSI(K),
+     $                                 K = IJ,IJ+NZ(I,J)-1 )
+                        END IF
+                        WRITE ( NOUT, FMT = 99994 ) I, J,
+     $                     ( POLESR(K), POLESI(K), K = IJ,IJ+NP(I,J)-1 )
+                        WRITE ( NOUT, FMT = 99993 ) I, J, ( GAINS(I,J) )
+   40                CONTINUE
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB04CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB04CD = ',I2)
+99997 FORMAT (/' The poles, zeros and gains of the transfer matrix',
+     $         ' elements: ')
+99996 FORMAT (/' no zeros for element (',I2,',',I2,')')
+99995 FORMAT (/' zeros of element (',I2,',',I2,') are ',//
+     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
+99994 FORMAT (/' poles of element (',I2,',',I2,') are ',//
+     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
+99993 FORMAT (/' gain of element (',I2,',',I2,') is ', F9.4)
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB04CD EXAMPLE PROGRAM DATA
+   3     2     2  0.0         D     N
+  -1.0   0.0   0.0
+   0.0  -2.0   0.0
+   0.0   0.0  -3.0
+   0.0   1.0  -1.0
+   1.0   1.0   0.0
+   0.0   1.0   1.0
+   1.0   1.0   1.0
+   1.0   0.0
+   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB04CD EXAMPLE PROGRAM RESULTS
+
+
+ The poles, zeros and gains of the transfer matrix elements: 
+
+ zeros of element ( 1, 1) are 
+
+   real part     imag part 
+
+    -2.5000        0.8660
+    -2.5000       -0.8660
+
+ poles of element ( 1, 1) are 
+
+   real part     imag part 
+
+    -2.0000        0.0000
+    -3.0000        0.0000
+
+ gain of element ( 1, 1) is    1.0000
+
+ no zeros for element ( 2, 1)
+
+ poles of element ( 2, 1) are 
+
+   real part     imag part 
+
+    -2.0000        0.0000
+    -3.0000        0.0000
+
+ gain of element ( 2, 1) is    1.0000
+
+ no zeros for element ( 1, 2)
+
+ poles of element ( 1, 2) are 
+
+   real part     imag part 
+
+    -2.0000        0.0000
+
+ gain of element ( 1, 2) is    1.0000
+
+ zeros of element ( 2, 2) are 
+
+   real part     imag part 
+
+    -3.6180        0.0000
+    -1.3820        0.0000
+
+ poles of element ( 2, 2) are 
+
+   real part     imag part 
+
+    -1.0000        0.0000
+    -2.0000        0.0000
+
+ gain of element ( 2, 2) is    1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TB05AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB05AD">TB05AD</A></H2>
+<H3>
+Frequency response matrix of a given state-space representation (A,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the complex frequency response matrix (transfer matrix)
+  G(freq) of the state-space representation (A,B,C) given by
+                                -1
+     G(freq) = C * ((freq*I - A)  ) * B
+
+  where A, B and C are real N-by-N, N-by-M and P-by-N matrices
+  respectively and freq is a complex scalar.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B, LDB,
+     $                   C, LDC, RCOND, G, LDG, EVRE, EVIM, HINVB,
+     $                   LDHINV, IWORK, DWORK, LDWORK, ZWORK, LZWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         BALEIG, INITA
+      INTEGER           INFO, LDA, LDB, LDC, LDG, LDHINV, LDWORK,
+     $                  LZWORK, M, N, P
+      DOUBLE PRECISION  RCOND
+      COMPLEX*16        FREQ
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), EVIM(*),
+     $                  EVRE(*)
+      COMPLEX*16        ZWORK(*), G(LDG,*), HINVB(LDHINV,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  BALEIG  CHARACTER*1
+          Determines whether the user wishes to balance matrix A
+          and/or compute its eigenvalues and/or estimate the
+          condition number of the problem as follows:
+          = 'N':  The matrix A should not be balanced and neither
+                  the eigenvalues of A nor the condition number
+                  estimate of the problem are to be calculated;
+          = 'C':  The matrix A should not be balanced and only an
+                  estimate of the condition number of the problem
+                  is to be calculated;
+          = 'B' or 'E' and INITA = 'G':  The matrix A is to be
+                  balanced and its eigenvalues calculated;
+          = 'A' and INITA = 'G':  The matrix A is to be balanced,
+                  and its eigenvalues and an estimate of the
+                  condition number of the problem are to be
+                  calculated.
+
+  INITA   CHARACTER*1
+          Specifies whether or not the matrix A is already in upper
+          Hessenberg form as follows:
+          = 'G':  The matrix A is a general matrix;
+          = 'H':  The matrix A is in upper Hessenberg form and
+                  neither balancing nor the eigenvalues of A are
+                  required.
+          INITA must be set to 'G' for the first call to the
+          routine, unless the matrix A is already in upper
+          Hessenberg form and neither balancing nor the eigenvalues
+          of A are required. Thereafter, it must be set to 'H' for
+          all subsequent calls.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of states, i.e. the order of the state
+          transition matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of inputs, i.e. the number of columns in the
+          matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of outputs, i.e. the number of rows in the
+          matrix C.  P &gt;= 0.
+
+  FREQ    (input) COMPLEX*16
+          The frequency freq at which the frequency response matrix
+          (transfer matrix) is to be evaluated.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state transition matrix A.
+          If INITA = 'G', then, on exit, the leading N-by-N part of
+          this array contains an upper Hessenberg matrix similar to
+          (via an orthogonal matrix consisting of a sequence of
+          Householder transformations) the original state transition
+          matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B.
+          If INITA = 'G', then, on exit, the leading N-by-M part of
+          this array contains the product of the transpose of the
+          orthogonal transformation matrix used to reduce A to upper
+          Hessenberg form and the original input/state matrix B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          If INITA = 'G', then, on exit, the leading P-by-N part of
+          this array contains the product of the original output/
+          state matrix C and the orthogonal transformation matrix
+          used to reduce A to upper Hessenberg form.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  RCOND   (output) DOUBLE PRECISION
+          If BALEIG = 'C' or BALEIG = 'A', then RCOND contains an
+          estimate of the reciprocal of the condition number of
+          matrix H with respect to inversion (see METHOD).
+
+  G       (output) COMPLEX*16 array, dimension (LDG,M)
+          The leading P-by-M part of this array contains the
+          frequency response matrix G(freq).
+
+  LDG     INTEGER
+          The leading dimension of array G.  LDG &gt;= MAX(1,P).
+
+  EVRE,   (output) DOUBLE PRECISION arrays, dimension (N)
+  EVIM    If INITA = 'G' and BALEIG = 'B' or 'E' or BALEIG = 'A',
+          then these arrays contain the real and imaginary parts,
+          respectively, of the eigenvalues of the matrix A.
+          Otherwise, these arrays are not referenced.
+
+  HINVB   (output) COMPLEX*16 array, dimension (LDHINV,M)
+          The leading N-by-M part of this array contains the
+                   -1
+          product H  B.
+
+  LDHINV  INTEGER
+          The leading dimension of array HINVB.  LDHINV &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N - 1 + MAX(N,M,P)),
+                    if INITA = 'G' and BALEIG = 'N', or 'B', or 'E';
+          LDWORK &gt;= MAX(1, N + MAX(N,M-1,P-1)),
+                    if INITA = 'G' and BALEIG = 'C', or 'A';
+          LDWORK &gt;= MAX(1, 2*N),
+                    if INITA = 'H' and BALEIG = 'C', or 'A';
+          LDWORK &gt;= 1, otherwise.
+          For optimum performance when INITA = 'G' LDWORK should be
+          larger.
+
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX(1,N*N+2*N), if BALEIG = 'C', or 'A';
+          LZWORK &gt;= MAX(1,N*N),     otherwise.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if more than 30*N iterations are required to
+                isolate all the eigenvalues of the matrix A; the
+                computations are continued;
+          = 2:  if either FREQ is too near to an eigenvalue of the
+                matrix A, or RCOND is less than EPS, where EPS is
+                the machine  precision (see LAPACK Library routine
+                DLAMCH).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The matrix A is first balanced (if BALEIG = 'B' or 'E', or
+  BALEIG = 'A') and then reduced to upper Hessenberg form; the same
+  transformations are applied to the matrix B and the matrix C.
+  The complex Hessenberg matrix  H = (freq*I - A) is then used
+                    -1
+  to solve for C * H  * B.
+
+  Depending on the input values of parameters BALEIG and INITA,
+  the eigenvalues of matrix A and the condition number of
+  matrix H with respect to inversion are also calculated.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Laub, A.J.
+      Efficient Calculation of Frequency Response Matrices from
+      State-Space Models.
+      ACM TOMS, 12, pp. 26-33, 1986.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TB05AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDG, LDHINV
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDG = PMAX,
+     $                   LDHINV = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NMAX )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = NMAX*( NMAX+2 ) )
+*     .. Local Scalars ..
+      COMPLEX*16       FREQ
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, M, N, P
+      CHARACTER*1      BALEIG, INITA
+      LOGICAL          LBALBA, LBALEA, LBALEB, LBALEC, LINITA
+*     .. Local Arrays ..
+      COMPLEX*16       G(LDG,MMAX), HINVB(LDHINV,MMAX), ZWORK(LZWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), EVIM(NMAX), EVRE(NMAX)
+      INTEGER          IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TB05AD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, FREQ, INITA, BALEIG
+      LBALEC = LSAME( BALEIG, 'C' )
+      LBALEB = LSAME( BALEIG, 'B' ) .OR. LSAME( BALEIG, 'E' )
+      LBALEA = LSAME( BALEIG, 'A' )
+      LBALBA = LBALEB.OR.LBALEA
+      LINITA = LSAME( INITA,  'G' )
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the frequency response matrix of the ssr (A,B,C).
+               CALL TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B,
+     $                      LDB, C, LDC, RCOND, G, LDG, EVRE, EVIM,
+     $                      HINVB, LDHINV, IWORK, DWORK, LDWORK, ZWORK,
+     $                      LZWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  IF ( ( LBALEC ) .OR. ( LBALEA ) ) WRITE ( NOUT,
+     $                FMT = 99997 ) RCOND
+                  IF ( ( LINITA ) .AND. ( LBALBA ) )
+     $               WRITE ( NOUT, FMT = 99996 )
+     $                       ( EVRE(I), EVIM(I), I = 1,N )
+                  WRITE ( NOUT, FMT = 99995 )
+                  DO 20 I = 1, P
+                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1,M )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99994 ) ( HINVB(I,J), J = 1,M )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TB05AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB05AD = ',I2)
+99997 FORMAT (' RCOND = ',F4.2)
+99996 FORMAT (/' Eigenvalues of the state transmission matrix A are ',
+     $       /(1X,2F7.2,'*j'))
+99995 FORMAT (/' The frequency response matrix G(freq) is ')
+99994 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
+99993 FORMAT (/' H(inverse)*B is ')
+99992 FORMAT (/' N is out of range.',/' N = ',I5)
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB05AD EXAMPLE PROGRAM DATA
+   3     1     2     (0.0,0.5)     G     A
+   1.0   2.0   0.0
+   4.0  -1.0   0.0
+   0.0   0.0   1.0
+   1.0   0.0   1.0
+   1.0   0.0  -1.0
+   0.0   0.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB05AD EXAMPLE PROGRAM RESULTS
+
+ RCOND = 0.22
+
+ Eigenvalues of the state transmission matrix A are 
+    3.00   0.00*j
+   -3.00   0.00*j
+    1.00   0.00*j
+
+ The frequency response matrix G(freq) is 
+ ( 0.69, 0.35) 
+ (-0.80,-0.40) 
+
+ H(inverse)*B is 
+ (-0.11,-0.05) 
+ (-0.43, 0.00) 
+ (-0.80,-0.40) 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TC01OD.html b/doc/_static/doc/TC01OD.html
new file mode 100644
index 00000000..976af1db
--- /dev/null
+++ b/doc/_static/doc/TC01OD.html
@@ -0,0 +1,269 @@
+<HTML>
+<HEAD><TITLE>TC01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TC01OD">TC01OD</A></H2>
+<H3>
+Dual of a left/right polynomial matrix representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find the dual right (left) polynomial matrix representation of
+  a given left (right) polynomial matrix representation, where the
+  right and left polynomial matrix representations are of the form
+  Q(s)*inv(P(s)) and inv(P(s))*Q(s) respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LERI
+      INTEGER           INFO, INDLIM, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
+     $                  P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  PCOEFF(LDPCO1,LDPCO2,*), QCOEFF(LDQCO1,LDQCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether a left or right matrix fraction is input
+          as follows:
+          = 'L':  A left matrix fraction is input;
+          = 'R':  A right matrix fraction is input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDLIM  (input) INTEGER
+          The highest value of K for which PCOEFF(.,.,K) and
+          QCOEFF(.,.,K) are to be transposed.
+          K = kpcoef + 1, where kpcoef is the maximum degree of the
+          polynomials in P(s).  INDLIM &gt;= 1.
+
+  PCOEFF  (input/output) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,INDLIM)
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          On entry, the leading porm-by-porm-by-INDLIM part of this
+          array must contain the coefficients of the denominator
+          matrix P(s).
+          PCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
+          polynomial (I,J) of P(s), where K = 1,2,...,INDLIM.
+          On exit, the leading porm-by-porm-by-INDLIM part of this
+          array contains the coefficients of the denominator matrix
+          P'(s) of the dual system.
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
+
+  QCOEFF  (input/output) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,INDLIM)
+          On entry, the leading P-by-M-by-INDLIM part of this array
+          must contain the coefficients of the numerator matrix
+          Q(s).
+          QCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
+          polynomial (I,J) of Q(s), where K = 1,2,...,INDLIM.
+          On exit, the leading M-by-P-by-INDLIM part of the array
+          contains the coefficients of the numerator matrix Q'(s)
+          of the dual system.
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,M,P).
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M,P).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If the given M-input/P-output left (right) polynomial matrix
+  representation has numerator matrix Q(s) and denominator matrix
+  P(s), its dual P-input/M-output right (left) polynomial matrix
+  representation simply has numerator matrix Q'(s) and denominator
+  matrix P'(s).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TC01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, INDMAX
+      PARAMETER        ( MMAX = 20, PMAX = 20, INDMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2
+      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP )
+*     .. Local Scalars ..
+      INTEGER          I, INDLIM, INFO, J, K, M, P, PORM
+      CHARACTER*1      LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      DOUBLE PRECISION PCOEFF(LDPCO1,LDPCO2,INDMAX),
+     $                 QCOEFF(LDQCO1,LDQCO2,INDMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TC01OD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, INDLIM, LERI
+      LLERI = LSAME( LERI, 'L' )
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) P
+      ELSE IF ( INDLIM.LE.0 .OR. INDLIM.GT.INDMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) INDLIM
+      ELSE
+         PORM = P
+         IF ( .NOT.LLERI ) PORM = M
+         READ ( NIN, FMT = * )
+     $      ( ( ( PCOEFF(I,J,K), K = 1,INDLIM ), J = 1,PORM ),
+     $                           I = 1,PORM )
+         READ ( NIN, FMT = * )
+     $      ( ( ( QCOEFF(I,J,K), K = 1,INDLIM ), J = 1,M ), I = 1,P )
+*        Find the dual right pmr of the given left pmr.
+         CALL TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
+     $                QCOEFF, LDQCO1, LDQCO2, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 )
+            DO 40 I = 1, PORM
+               DO 20 J = 1, PORM
+                  WRITE ( NOUT, FMT = 99996 ) I, J,
+     $              ( PCOEFF(I,J,K), K = 1,INDLIM )
+   20          CONTINUE
+   40       CONTINUE
+            WRITE ( NOUT, FMT = 99995 )
+            DO 80 I = 1, M
+               DO 60 J = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) I, J,
+     $              ( QCOEFF(I,J,K), K = 1,INDLIM )
+   60          CONTINUE
+   80       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TC01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TC01OD = ',I2)
+99997 FORMAT (' The coefficients of the denominator matrix of the dual',
+     $       ' system are ')
+99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
+99995 FORMAT (//' The coefficients of the numerator matrix of the dual',
+     $       ' system are ')
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+99993 FORMAT (/' P is out of range.',/' P = ',I5)
+99992 FORMAT (/' INDLIM is out of range.',/' INDLIM = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TC01OD EXAMPLE PROGRAM DATA
+   2     2     3     L
+   2.0   3.0   1.0
+   4.0  -1.0  -1.0
+   5.0   7.0  -6.0
+   3.0   2.0   2.0
+   6.0  -1.0   5.0
+   1.0   7.0   5.0
+   1.0   1.0   1.0
+   4.0   1.0  -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TC01OD EXAMPLE PROGRAM RESULTS
+
+ The coefficients of the denominator matrix of the dual system are 
+
+ element ( 1, 1) is    2.00   3.00   1.00
+
+ element ( 1, 2) is    5.00   7.00  -6.00
+
+ element ( 2, 1) is    4.00  -1.00  -1.00
+
+ element ( 2, 2) is    3.00   2.00   2.00
+
+
+ The coefficients of the numerator matrix of the dual system are 
+
+ element ( 1, 1) is    6.00  -1.00   5.00
+
+ element ( 1, 2) is    1.00   1.00   1.00
+
+ element ( 2, 1) is    1.00   7.00   5.00
+
+ element ( 2, 2) is    4.00   1.00  -1.00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TC04AD.html b/doc/_static/doc/TC04AD.html
new file mode 100644
index 00000000..60fefe75
--- /dev/null
+++ b/doc/_static/doc/TC04AD.html
@@ -0,0 +1,399 @@
+<HTML>
+<HEAD><TITLE>TC04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TC04AD">TC04AD</A></H2>
+<H3>
+State-space representation for a given left/right polynomial matrix representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a state-space representation (A,B,C,D) with the same
+  transfer matrix T(s) as that of a given left or right polynomial
+  matrix representation, i.e.
+
+     C*inv(sI-A)*B + D = T(s) = inv(P(s))*Q(s) = Q(s)*inv(P(s)).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LERI
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
+     $                  LDQCO1, LDQCO2, LDWORK, M, N, P
+      DOUBLE PRECISION  RCOND
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether a left polynomial matrix representation
+          or a right polynomial matrix representation is input as
+          follows:
+          = 'L':  A left matrix fraction is input;
+          = 'R':  A right matrix fraction is input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDEX   (input) INTEGER array, dimension (MAX(M,P))
+          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
+          maximum degree of the polynomials in the I-th row of the
+          denominator matrix P(s) of the given left polynomial
+          matrix representation.
+          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
+          maximum degree of the polynomials in the I-th column of
+          the denominator matrix P(s) of the given right polynomial
+          matrix representation.
+
+  PCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          The leading porm-by-porm-by-kpcoef part of this array must
+          contain the coefficients of the denominator matrix P(s).
+          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
+          LERI = 'L' then iorj = I, otherwise iorj = J.
+          Thus for LERI = 'L', P(s) =
+          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+          If LERI = 'R', PCOEFF is modified by the routine but
+          restored on exit.
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
+
+  QCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,kpcoef)
+          If LERI = 'L' then porp = M, otherwise porp = P.
+          The leading porm-by-porp-by-kpcoef part of this array must
+          contain the coefficients of the numerator matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+          If LERI = 'R', QCOEFF is modified by the routine but
+          restored on exit.
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
+          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
+          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  N       (output) INTEGER
+          The order of the resulting state-space representation.
+                       porm
+          That is, N = SUM INDEX(I).
+                       I=1
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimated reciprocal of the condition number of the
+          leading row (if LERI = 'L') or the leading column (if
+          LERI = 'R') coefficient matrix of P(s).
+          If RCOND is nearly zero, P(s) is nearly row or column
+          non-proper.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array contains the state
+          dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+          The leading N-by-M part of this array contains the
+          input/state matrix B; the remainder of the leading
+          N-by-MAX(M,P) part is used as internal workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array contains the
+          state/output matrix C; the remainder of the leading
+          MAX(M,P)-by-N part is used as internal workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array contains the direct
+          transmission matrix D; the remainder of the leading
+          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*MAX(M,P))
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,MAX(M,P)*(MAX(M,P)+4)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if P(s) is not row (if LERI = 'L') or column
+                (if LERI = 'R') proper. Consequently, no state-space
+                representation is calculated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for a left matrix fraction will be described here;
+  right matrix fractions are dealt with by obtaining the dual left
+  polynomial matrix representation and constructing an equivalent
+  state-space representation for this. The first step is to check
+  if the denominator matrix P(s) is row proper; if it is not then
+  the routine returns with the Error Indicator (INFO) set to 1.
+  Otherwise, Wolovich's Observable  Structure Theorem is used to
+  construct a state-space representation (A,B,C,D) in observable
+  companion form. The sizes of the blocks of matrix A and matrix C
+  here are precisely the row degrees of P(s), while their
+  'non-trivial' columns are given easily from its coefficients.
+  Similarly, the matrix D is obtained from the leading coefficients
+  of P(s) and of the numerator matrix Q(s), while matrix B is given
+  by the relation Sbar(s)B = Q(s) - P(s)D, where Sbar(s) is a
+  polynomial matrix whose (j,k)(th) element is given by
+
+               j-u(k-1)-1
+            ( s           , j = u(k-1)+1,u(k-1)+2,....,u(k)
+  Sbar    = (
+     j,k    (           0 , otherwise
+
+          k
+  u(k) = SUM d , k = 1,2,...,M and d ,d ,...,d  are the
+         i=1  i                     1  2      M
+  controllability indices. For convenience in solving this, C' and B
+  are initially set up to contain the coefficients of P(s) and Q(s),
+  respectively, stored by rows.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Wolovich, W.A.
+      Linear Multivariate Systems, (Theorem 4.3.3).
+      Springer-Verlag, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TC04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KPCMAX, NMAX
+      PARAMETER        ( MMAX = 5, PMAX = 5, KPCMAX = 5, NMAX = 5 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2, LDA, LDB, LDC,
+     $                 LDD
+      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
+     $                   LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = 2*MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = ( MAXMP )*( MAXMP+4 ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, K, KPCOEF, M, N, P, PORM, PORP
+      CHARACTER*1      LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
+     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX), DWORK(LDWORK)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TC04AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, LERI
+      LLERI = LSAME( LERI, 'L' )
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) M
+      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) P
+      ELSE
+         PORM = P
+         IF ( .NOT.LLERI ) PORM = M
+         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
+         PORP = M
+         IF ( .NOT.LLERI ) PORP = P
+         KPCOEF = 0
+         DO 20 I = 1, PORM
+            KPCOEF = MAX( KPCOEF, INDEX(I) )
+   20    CONTINUE
+         KPCOEF = KPCOEF + 1
+         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
+            WRITE ( NOUT, FMT = 99989 ) KPCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
+     $                              I = 1,PORM )
+            READ ( NIN, FMT = * )
+     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
+     $                              I = 1,PORM )
+*           Find a ssr of the given left pmr.
+            CALL TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
+     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
+     $                   INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) N, RCOND
+               WRITE ( NOUT, FMT = 99996 )
+               DO 40 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 60 I = 1, N
+                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99992 )
+               DO 100 I = 1, P
+                  WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+  100          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TC04AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TC04AD = ',I2)
+99997 FORMAT (' The order of the resulting state-space representation ',
+     $       ' =  ',I2,//' RCOND = ',F4.2)
+99996 FORMAT (/' The state dynamics matrix A is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The input/state matrix B is ')
+99993 FORMAT (/' The state/output matrix C is ')
+99992 FORMAT (/' The direct transmission matrix D is ')
+99991 FORMAT (/' M is out of range.',/' M = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+99989 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TC04AD EXAMPLE PROGRAM DATA
+   2     2     L
+   2     2
+   2.0   3.0   1.0
+   4.0  -1.0  -1.0
+   5.0   7.0  -6.0
+   3.0   2.0   2.0
+   6.0  -1.0   5.0
+   1.0   7.0   5.0
+   1.0   1.0   1.0
+   4.0   1.0  -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TC04AD EXAMPLE PROGRAM RESULTS
+
+ The order of the resulting state-space representation  =   4
+
+ RCOND = 0.25
+
+ The state dynamics matrix A is 
+   0.0000   0.5714   0.0000  -0.4286
+   1.0000   1.0000   0.0000  -1.0000
+   0.0000  -2.0000   0.0000   2.0000
+   0.0000   0.7857   1.0000  -1.7143
+
+ The input/state matrix B is 
+   8.0000   3.8571
+   4.0000   4.0000
+  -9.0000   5.0000
+   4.0000  -5.0714
+
+ The state/output matrix C is 
+   0.0000  -0.2143   0.0000   0.2857
+   0.0000   0.3571   0.0000  -0.1429
+
+ The direct transmission matrix D is 
+  -1.0000   0.9286
+   2.0000  -0.2143
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TC05AD.html b/doc/_static/doc/TC05AD.html
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+<HTML>
+<HEAD><TITLE>TC05AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TC05AD">TC05AD</A></H2>
+<H3>
+Frequency response of a left/right polynomial matrix representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To evaluate the transfer matrix T(s) of a left polynomial matrix
+  representation [T(s) = inv(P(s))*Q(s)] or a right polynomial
+  matrix representation [T(s) = Q(s)*inv(P(s))] at any specified
+  complex frequency s = SVAL.
+
+  This routine will calculate the standard frequency response
+  matrix at frequency omega if SVAL is supplied as (0.0,omega).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
+     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         LERI
+      INTEGER           INFO, LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
+     $                  P
+      DOUBLE PRECISION  RCOND
+      COMPLEX*16        SVAL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*)
+      COMPLEX*16        CFREQR(LDCFRE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  LERI    CHARACTER*1
+          Indicates whether a left polynomial matrix representation
+          or a right polynomial matrix representation is to be used
+          to evaluate the transfer matrix as follows:
+          = 'L':  A left matrix fraction is input;
+          = 'R':  A right matrix fraction is input.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  SVAL    (input) COMPLEX*16
+          The frequency at which the transfer matrix or the
+          frequency respose matrix is to be evaluated.
+          For a standard frequency response set the real part
+          of SVAL to zero.
+
+  INDEX   (input) INTEGER array, dimension (MAX(M,P))
+          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
+          maximum degree of the polynomials in the I-th row of the
+          denominator matrix P(s) of the given left polynomial
+          matrix representation.
+          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
+          maximum degree of the polynomials in the I-th column of
+          the denominator matrix P(s) of the given right polynomial
+          matrix representation.
+
+  PCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
+          If LERI = 'L' then porm = P, otherwise porm = M.
+          The leading porm-by-porm-by-kpcoef part of this array must
+          contain the coefficients of the denominator matrix P(s).
+          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
+          LERI = 'L' then iorj = I, otherwise iorj = J.
+          Thus for LERI = 'L', P(s) =
+          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+          If LERI = 'R', PCOEFF is modified by the routine but
+          restored on exit.
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
+          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
+
+  QCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,kpcoef)
+          If LERI = 'L' then porp = M, otherwise porp = P.
+          The leading porm-by-porp-by-kpcoef part of this array must
+          contain the coefficients of the numerator matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+          If LERI = 'R', QCOEFF is modified by the routine but
+          restored on exit.
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
+          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
+          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
+
+  RCOND   (output) DOUBLE PRECISION
+          The estimated reciprocal of the condition number of the
+          denominator matrix P(SVAL).
+          If RCOND is nearly zero, SVAL is approximately a system
+          pole.
+
+  CFREQR  (output) COMPLEX*16 array, dimension (LDCFRE,MAX(M,P))
+          The leading porm-by-porp part of this array contains the
+          frequency response matrix T(SVAL).
+
+  LDCFRE  INTEGER
+          The leading dimension of array CFREQR.
+          LDCFRE &gt;= MAX(1,P)   if LERI = 'L',
+          LDCFRE &gt;= MAX(1,M,P) if LERI = 'R'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (liwork)
+          where liwork = P, if LERI = 'L',
+                liwork = M, if LERI = 'R'.
+
+  DWORK   DOUBLE PRECISION array, dimension (ldwork)
+          where ldwork = 2*P, if LERI = 'L',
+                ldwork = 2*M, if LERI = 'R'.
+
+  ZWORK   COMPLEX*16 array, dimension (lzwork),
+          where lzwork = P*(P+2), if LERI = 'L',
+                lzwork = M*(M+2), if LERI = 'R'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if P(SVAL) is exactly or nearly singular;
+                no frequency response is calculated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for a left matrix fraction will be described here;
+  right matrix fractions are dealt with by obtaining the dual left
+  fraction and calculating its frequency response (see SLICOT
+  Library routine TC01OD). The first step is to calculate the
+  complex value P(SVAL) of the denominator matrix P(s) at the
+  desired frequency SVAL. If P(SVAL) is approximately singular,
+  SVAL is approximately a pole of this system and so the frequency
+  response matrix T(SVAL) is not calculated; in this case, the
+  routine returns with the Error Indicator (INFO) set to 1.
+  Otherwise, the complex value Q(SVAL) of the numerator matrix Q(s)
+  at frequency SVAL is calculated in a similar way to P(SVAL), and
+  the desired response matrix T(SVAL) = inv(P(SVAL))*Q(SVAL) is
+  found by solving the corresponding system of complex linear
+  equations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TC05AD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KPCMAX
+      PARAMETER        ( MMAX = 20, PMAX = 20, KPCMAX = 20 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2
+      PARAMETER        ( LDCFRE = MAXMP, LDPCO1 = MAXMP,
+     $                   LDPCO2 = MAXMP, LDQCO1 = MAXMP,
+     $                   LDQCO2 = MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*MAXMP )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = ( MAXMP )*( MAXMP+2 ) )
+*     .. Local Scalars ..
+      COMPLEX*16       SVAL
+      DOUBLE PRECISION RCOND
+      INTEGER          I, INFO, J, K, KPCOEF, M, P, PORM, PORP
+      CHARACTER*1      LERI
+      LOGICAL          LLERI
+*     .. Local Arrays ..
+      COMPLEX*16       CFREQR(LDCFRE,MAXMP), ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
+     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX)
+      INTEGER          INDEX(MAXMP), IWORK(MAXMP)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TC05AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, SVAL, LERI
+      LLERI = LSAME( LERI, 'L' )
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) M
+      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) P
+      ELSE
+         PORM = P
+         IF ( .NOT.LLERI ) PORM = M
+         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
+         PORP = M
+         IF ( .NOT.LLERI ) PORP = P
+         KPCOEF = 0
+         DO 20 I = 1, PORM
+            KPCOEF = MAX( KPCOEF, INDEX(I) )
+   20    CONTINUE
+         KPCOEF = KPCOEF + 1
+         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) KPCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
+     $                              I = 1,PORM )
+            READ ( NIN, FMT = * )
+     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
+     $                              I = 1,PORM )
+*           Find the standard frequency response matrix of left pmr
+*           at 0.5*j.
+            CALL TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
+     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) RCOND
+               DO 40 I = 1, PORM
+                  WRITE ( NOUT, FMT = 99996 )
+     $                  ( CFREQR(I,J), J = 1,PORP )
+   40          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TC05AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TC05AD = ',I2)
+99997 FORMAT (' RCOND = ',F4.2,//' The frequency response matrix T(SVA',
+     $       'L) is ')
+99996 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
+99995 FORMAT (/' M is out of range.',/' M = ',I5)
+99994 FORMAT (/' P is out of range.',/' P = ',I5)
+99993 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TC05AD EXAMPLE PROGRAM DATA
+   2     2     (0.0,0.5)     L
+   2     2
+   2.0   3.0   1.0
+   4.0  -1.0  -1.0
+   5.0   7.0  -6.0
+   3.0   2.0   2.0
+   6.0  -1.0   5.0
+   1.0   7.0   5.0
+   1.0   1.0   1.0
+   4.0   1.0  -1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TC05AD EXAMPLE PROGRAM RESULTS
+
+ RCOND = 0.19
+
+ The frequency response matrix T(SVAL) is 
+ (-0.25,-0.33)  ( 0.26,-0.45) 
+ (-1.48, 0.35)  (-2.25,-1.11) 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TD03AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TD03AD">TD03AD</A></H2>
+<H3>
+Left/right polynomial matrix representation for a proper transfer matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a relatively prime left or right polynomial matrix
+  representation for a proper transfer matrix T(s) given as either
+  row or column polynomial vectors over common denominator
+  polynomials, possibly with uncancelled common terms.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
+     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
+     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, LERI, ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDPCO1,
+     $                  LDPCO2, LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1,
+     $                  LDVCO2, LDWORK, M, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEXD(*), INDEXP(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  PCOEFF(LDPCO1,LDPCO2,*),
+     $                  QCOEFF(LDQCO1,LDQCO2,*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ROWCOL  CHARACTER*1
+          Indicates whether T(s) is to be factorized by rows or by
+          columns as follows:
+          = 'R':  T(s) is factorized by rows;
+          = 'C':  T(s) is factorized by columns.
+
+  LERI    CHARACTER*1
+          Indicates whether a left or a right polynomial matrix
+          representation is required as follows:
+          = 'L':  A left polynomial matrix representation
+                  inv(P(s))*Q(s) is required;
+          = 'R':  A right polynomial matrix representation
+                  Q(s)*inv(P(s)) is required.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to balance the triplet
+          (A,B,C), before computing a minimal state-space
+          representation, as follows:
+          = 'S':  Perform balancing (scaling);
+          = 'N':  Do not perform balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDEXD  (input) INTEGER array, dimension (P), if ROWCOL = 'R', or
+                                 dimension (M), if ROWCOL = 'C'.
+          The leading pormd elements of this array must contain the
+          row degrees of the denominator polynomials in D(s).
+          pormd = P if the transfer matrix T(s) is given as row
+          polynomial vectors over denominator polynomials;
+          pormd = M if the transfer matrix T(s) is given as column
+          polynomial vectors over denominator polynomials.
+
+  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
+          where kdcoef = MAX(INDEXD(I)) + 1.
+          The leading pormd-by-kdcoef part of this array must
+          contain the coefficients of each denominator polynomial.
+          DCOEFF(I,K) is the coefficient in s**(INDEXD(I)-K+1) of
+          the I-th denominator polynomial in D(s), where K = 1,2,
+          ...,kdcoef.
+
+  LDDCOE  INTEGER
+          The leading dimension of array DCOEFF.
+          LDDCOE &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDDCOE &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  UCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDUCO1,LDUCO2,kdcoef)
+          The leading P-by-M-by-kdcoef part of this array must
+          contain the coefficients of the numerator matrix U(s);
+          if ROWCOL = 'C', this array is modified internally but
+          restored on exit, and the remainder of the leading
+          MAX(M,P)-by-MAX(M,P)-by-kdcoef part is used as internal
+          workspace.
+          UCOEFF(I,J,K) is the coefficient in s**(INDEXD(iorj)-K+1)
+          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+          iorj = I if T(s) is given as row polynomial vectors over
+          denominator polynomials; iorj = J if T(s) is given as
+          column polynomial vectors over denominator polynomials.
+          Thus for ROWCOL = 'R', U(s) =
+          diag(s**INDEXD(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+
+  LDUCO1  INTEGER
+          The leading dimension of array UCOEFF.
+          LDUCO1 &gt;= MAX(1,P),   if ROWCOL = 'R';
+          LDUCO1 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
+
+  LDUCO2  INTEGER
+          The second dimension of array UCOEFF.
+          LDUCO2 &gt;= MAX(1,M),   if ROWCOL = 'R';
+          LDUCO2 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
+
+  NR      (output) INTEGER
+          The order of the resulting minimal realization, i.e. the
+          order of the state dynamics matrix A.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
+                   pormd
+          where N = SUM INDEXD(I)
+                    I=1
+          The leading NR-by-NR part of this array contains the upper
+          block Hessenberg state dynamics matrix A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+          The leading NR-by-M part of this array contains the
+          input/state matrix B; the remainder of the leading
+          N-by-MAX(M,P) part is used as internal workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-NR part of this array contains the
+          state/output matrix C; the remainder of the leading
+          MAX(M,P)-by-N part is used as internal workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
+          The leading P-by-M part of this array contains the direct
+          transmission matrix D; the remainder of the leading
+          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
+
+  INDEXP  (output) INTEGER array, dimension (P), if ROWCOL = 'R', or
+                                  dimension (M), if ROWCOL = 'C'.
+          The leading pormp elements of this array contain the
+          row (column if ROWCOL = 'C') degrees of the denominator
+          matrix P(s).
+          pormp = P if a left polynomial matrix representation
+          is requested; pormp = M if a right polynomial matrix
+          representation is requested.
+          These elements are ordered so that
+          INDEXP(1) &gt;= INDEXP(2) &gt;= ... &gt;= INDEXP(pormp).
+
+  PCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDPCO1,LDPCO2,N+1)
+          The leading pormp-by-pormp-by-kpcoef part of this array
+          contains the coefficients of the denominator matrix P(s),
+          where kpcoef = MAX(INDEXP(I)) + 1.
+          PCOEFF(I,J,K) is the coefficient in s**(INDEXP(iorj)-K+1)
+          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef;
+          iorj = I if a left polynomial matrix representation is
+          requested; iorj = J if a right polynomial matrix
+          representation is requested.
+          Thus for a left polynomial matrix representation, P(s) =
+          diag(s**INDEXP(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
+
+  LDPCO1  INTEGER
+          The leading dimension of array PCOEFF.
+          LDPCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDPCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  LDPCO2  INTEGER
+          The second dimension of array PCOEFF.
+          LDPCO2 &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDPCO2 &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  QCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDQCO1,LDQCO2,N+1)
+          The leading pormp-by-pormd-by-kpcoef part of this array
+          contains the coefficients of the numerator matrix Q(s).
+          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
+
+  LDQCO1  INTEGER
+          The leading dimension of array QCOEFF.
+          If LERI = 'L', LDQCO1 &gt;= MAX(1,PM),
+                                   where PM = P, if ROWCOL = 'R';
+                                         PM = M, if ROWCOL = 'C'.
+          If LERI = 'R', LDQCO1 &gt;= MAX(1,M,P).
+
+  LDQCO2  INTEGER
+          The second dimension of array QCOEFF.
+          If LERI = 'L', LDQCO2 &gt;= MAX(1,MP),
+                                   where MP = M, if ROWCOL = 'R';
+                                         MP = P, if ROWCOL = 'C'.
+          If LERI = 'R', LDQCO2 &gt;= MAX(1,M,P).
+
+  VCOEFF  (output) DOUBLE PRECISION array, dimension
+          (LDVCO1,LDVCO2,N+1)
+          The leading pormp-by-NR-by-kpcoef part of this array
+          contains the coefficients of the intermediate matrix
+          V(s) as produced by SLICOT Library routine TB03AD.
+
+  LDVCO1  INTEGER
+          The leading dimension of array VCOEFF.
+          LDVCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
+          LDVCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
+
+  LDVCO2  INTEGER
+          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
+          where  PM = P, if ROWCOL = 'R';
+                 PM = M, if ROWCOL = 'C'.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i (i &lt;= k = pormd), then i is the first
+                integer I for which ABS( DCOEFF(I,1) ) is so small
+                that the calculations would overflow (see SLICOT
+                Library routine TD03AY); that is, the leading
+                coefficient of a polynomial is nearly zero; no
+                state-space representation or polynomial matrix
+                representation is calculated;
+          = k+1:  if a singular matrix was encountered during the
+                computation of V(s);
+          = k+2:  if a singular matrix was encountered during the
+                computation of P(s).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for transfer matrices factorized by rows will be
+  described here; T(s) factorized by columns is dealt with by
+  operating on the dual T'(s). The description for T(s) is actually
+  the left polynomial matrix representation
+
+       T(s) = inv(D(s))*U(s),
+
+  where D(s) is diagonal with its (I,I)-th polynomial element of
+  degree INDEXD(I). The first step is to check whether the leading
+  coefficient of any polynomial element of D(s) is approximately
+  zero, if so the routine returns with INFO &gt; 0. Otherwise,
+  Wolovich's Observable Structure Theorem is used to construct a
+  state-space representation in observable companion form which is
+  equivalent to the above polynomial matrix representation. The
+  method is particularly easy here due to the diagonal form of D(s).
+  This state-space representation is not necessarily controllable
+  (as D(s) and U(s) are not necessarily relatively left prime), but
+  it is in theory completely observable; however, its observability
+  matrix may be poorly conditioned, so it is treated as a general
+  state-space representation and SLICOT Library routine TB03AD is
+  used to separate out a minimal realization for T(s) from it by
+  means of orthogonal similarity transformations and then to
+  calculate a relatively prime (left or right) polynomial matrix
+  representation which is equivalent to this.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Patel, R.V.
+      On Computing Matrix Fraction Descriptions and Canonical
+      Forms of Linear Time-Invariant Systems.
+      UMIST Control Systems Centre Report 489, 1980.
+
+  [2] Wolovich, W.A.
+      Linear Multivariable Systems, (Theorem 4.3.3).
+      Springer-Verlag, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TD03AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KDCMAX, NMAX
+      PARAMETER        ( MMAX = 8, PMAX = 8, KDCMAX = 8, NMAX = 8 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDPCO1, LDPCO2,
+     $                 LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1, LDVCO2
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
+     $                   LDD = MAXMP, LDDCOE = MAXMP,
+     $                   LDPCO1 = MAXMP, LDPCO2 = MAXMP,
+     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
+     $                   LDUCO1 = MAXMP, LDUCO2 = MAXMP,
+     $                   LDVCO1 = MAXMP, LDVCO2 = NMAX )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
+     $                                 MAXMP*( MAXMP + 2 ) ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      CHARACTER*1      EQUIL, LERI, ROWCOL
+      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, MAXINP, N, NR,
+     $                 P, PORMD, PORMP
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
+     $                 DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,NMAX+1),
+     $                 QCOEFF(LDQCO1,LDQCO2,NMAX+1),
+     $                 UCOEFF(LDUCO1,LDUCO2,KDCMAX),
+     $                 VCOEFF(LDVCO1,LDVCO2,NMAX+1)
+      INTEGER          INDEXD(MAXMP), INDEXP(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TD03AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL, LERI, EQUIL
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99986 ) M
+      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99985 ) P
+      ELSE
+         PORMD = P
+         IF ( LSAME( ROWCOL, 'C' ) ) PORMD = M
+         PORMP = M
+         IF ( LSAME( LERI, 'R' ) ) PORMP = P
+         READ ( NIN, FMT = * ) ( INDEXD(I), I = 1,PORMD )
+*
+         KDCOEF = 0
+         N = 0
+         DO 20 I = 1, PORMD
+            KDCOEF = MAX( KDCOEF, INDEXD(I) )
+            N = N + INDEXD(I)
+   20    CONTINUE
+         KDCOEF = KDCOEF + 1
+*
+         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
+            WRITE ( NOUT, FMT = 99984 ) KDCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORMD )
+            READ ( NIN, FMT = * )
+     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
+*           Find a relatively prime left pmr for the given transfer
+*           function.
+            CALL TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
+     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
+     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
+     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
+     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NR
+               DO 40 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 60 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 100 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+  100          CONTINUE
+               INDBLK = 0
+               DO 120 I = 1, N
+                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+  120          CONTINUE
+               IF ( LSAME( LERI, 'L' ) ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
+     $                  ( IWORK(I), I = 1,INDBLK )
+                  WRITE ( NOUT, FMT = 99990 ) ( INDEXP(I), I = 1,P )
+               ELSE
+                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
+     $                  ( IWORK(I), I = 1,INDBLK )
+                  WRITE ( NOUT, FMT = 99989 ) ( INDEXP(I), I = 1,M )
+               END IF
+               MAXINP = 0
+               DO 140 I = 1, PORMP
+                  MAXINP = MAX( MAXINP, INDEXP(I) )
+  140          CONTINUE
+               MAXINP = MAXINP + 1
+               WRITE ( NOUT, FMT = 99988 )
+               DO 180 I = 1, PORMP
+                  DO 160 J = 1, PORMP
+                     WRITE ( NOUT, FMT = 99996 )
+     $                     ( PCOEFF(I,J,K), K = 1,MAXINP )
+  160             CONTINUE
+  180          CONTINUE
+               WRITE ( NOUT, FMT = 99987 )
+               DO 220 I = 1, PORMP
+                  DO 200 J = 1, PORMD
+                     WRITE ( NOUT, FMT = 99996 )
+     $                     ( QCOEFF(I,J,K), K = 1,MAXINP )
+  200             CONTINUE
+  220          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TD03AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TD03AD = ',I2)
+99997 FORMAT (' The order of the resulting minimal realization = ',I2,
+     $       //' The state dynamics matrix A is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix B is ')
+99994 FORMAT (/' The state/output matrix C is ')
+99993 FORMAT (/' The direct transmission matrix D is ')
+99992 FORMAT (/' The observability index of the minimal realization = ',
+     $       I2,//' The dimensions of the diagonal blocks of the state',
+     $       ' dynamics matrix are ',/20(I5))
+99991 FORMAT (/' The controllability index of the minimal realization ',
+     $       '= ',I2,//' The dimensions of the diagonal blocks of the ',
+     $       'state dynamics matrix are ',/20(I5))
+99990 FORMAT (/' The row degrees of the denominator matrix P(s) are',
+     $       /20(I5))
+99989 FORMAT (/' The column degrees of the denominator matrix P(s) are',
+     $       /20(I5))
+99988 FORMAT (/' The denominator matrix P(s) is ')
+99987 FORMAT (/' The numerator matrix Q(s) is ')
+99986 FORMAT (/' M is out of range.',/' M = ',I5)
+99985 FORMAT (/' P is out of range.',/' P = ',I5)
+99984 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TD01ND EXAMPLE PROGRAM DATA
+   2     2     0.0     R     L     N
+   3     3
+   1.0   6.0  11.0   6.0
+   1.0   6.0  11.0   6.0
+   1.0   6.0  12.0   7.0
+   0.0   1.0   4.0   3.0
+   0.0   0.0   1.0   1.0
+   1.0   8.0  20.0  15.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TD03AD EXAMPLE PROGRAM RESULTS
+
+ The order of the resulting minimal realization =  3
+
+ The state dynamics matrix A is 
+   0.5000   0.9478  10.1036
+   0.0000  -1.0000   0.0000
+  -0.8660  -0.6156  -5.5000
+
+ The input/state matrix B is 
+   2.0000  12.5000
+   0.0000  -5.6273
+   0.0000  -2.0207
+
+ The state/output matrix C is 
+   0.0000   0.0296  -0.5774
+   0.0000  -0.1481  -0.5774
+
+ The direct transmission matrix D is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The observability index of the minimal realization =  2
+
+ The dimensions of the diagonal blocks of the state dynamics matrix are 
+    2    1
+
+ The row degrees of the denominator matrix P(s) are
+    2    1
+
+ The denominator matrix P(s) is 
+   1.6667   4.3333   6.6667
+   0.3333   5.6667   5.3333
+   5.6273   5.6273   0.0000
+  -5.6273  -5.6273   0.0000
+
+ The numerator matrix Q(s) is 
+   1.6667   4.3333   8.6667
+   0.3333   8.0000  16.6667
+   5.6273   5.6273   0.0000
+  -5.6273 -11.2546   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TD04AD.html b/doc/_static/doc/TD04AD.html
new file mode 100644
index 00000000..5baa8008
--- /dev/null
+++ b/doc/_static/doc/TD04AD.html
@@ -0,0 +1,418 @@
+<HTML>
+<HEAD><TITLE>TD04AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TD04AD">TD04AD</A></H2>
+<H3>
+Minimal state-space representation for a proper transfer matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a minimal state-space representation (A,B,C,D) for a
+  proper transfer matrix T(s) given as either row or column
+  polynomial vectors over denominator polynomials, possibly with
+  uncancelled common terms.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
+     $                  LDUCO2, LDWORK, M, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  ROWCOL  CHARACTER*1
+          Indicates whether the transfer matrix T(s) is given as
+          rows or columns over common denominators as follows:
+          = 'R':  T(s) is given as rows over common denominators;
+          = 'C':  T(s) is given as columns over common denominators.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  INDEX   (input) INTEGER array, dimension (porm), where porm = P,
+          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
+          This array must contain the degrees of the denominator
+          polynomials in D(s).
+
+  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
+          where kdcoef = MAX(INDEX(I)) + 1.
+          The leading porm-by-kdcoef part of this array must contain
+          the coefficients of each denominator polynomial.
+          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of the
+          I-th denominator polynomial in D(s), where
+          K = 1,2,...,kdcoef.
+
+  LDDCOE  INTEGER
+          The leading dimension of array DCOEFF.
+          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
+          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
+
+  UCOEFF  (input) DOUBLE PRECISION array, dimension
+          (LDUCO1,LDUCO2,kdcoef)
+          The leading P-by-M-by-kdcoef part of this array must
+          contain the numerator matrix U(s); if ROWCOL = 'C', this
+          array is modified internally but restored on exit, and the
+          remainder of the leading MAX(M,P)-by-MAX(M,P)-by-kdcoef
+          part is used as internal workspace.
+          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
+          Thus for ROWCOL = 'R', U(s) =
+          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+
+  LDUCO1  INTEGER
+          The leading dimension of array UCOEFF.
+          LDUCO1 &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDUCO1 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  LDUCO2  INTEGER
+          The second dimension of array UCOEFF.
+          LDUCO2 &gt;= MAX(1,M)   if ROWCOL = 'R';
+          LDUCO2 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+  NR      (output) INTEGER
+          The order of the resulting minimal realization, i.e. the
+          order of the state dynamics matrix A.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
+                    porm
+          where N = SUM INDEX(I).
+                    I=1
+          The leading NR-by-NR part of this array contains the upper
+          block Hessenberg state dynamics matrix A of a minimal
+          realization.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+          The leading NR-by-M part of this array contains the
+          input/state matrix B of a minimal realization; the
+          remainder of the leading N-by-MAX(M,P) part is used as
+          internal workspace.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-NR part of this array contains the
+          state/output matrix C of a minimal realization; the
+          remainder of the leading MAX(M,P)-by-N part is used as
+          internal workspace.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  D       (output) DOUBLE PRECISION array, dimension (LDD,M),
+          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
+          The leading P-by-M part of this array contains the direct
+          transmission matrix D; if ROWCOL = 'C', the remainder of
+          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
+          workspace.
+
+  LDD     INTEGER
+          The leading dimension of array D.
+          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
+          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determination when
+          transforming (A, B, C). If the user sets TOL &gt; 0, then
+          the given value of TOL is used as a lower bound for the
+          reciprocal condition number (see the description of the
+          argument RCOND in the SLICOT routine MB03OD);  a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          (determined by the SLICOT routine TB01UD) is used instead.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+MAX(M,P))
+          On exit, if INFO = 0, the first nonzero elements of
+          IWORK(1:N) return the orders of the diagonal blocks of A.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, then i is the first integer for which
+                ABS( DCOEFF(I,1) ) is so small that the calculations
+                would overflow (see SLICOT Library routine TD03AY);
+                that is, the leading coefficient of a polynomial is
+                nearly zero; no state-space representation is
+                calculated.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The method for transfer matrices factorized by rows will be
+  described here: T(s) factorized by columns is dealt with by
+  operating on the dual T'(s). This description for T(s) is
+  actually the left polynomial matrix representation
+
+       T(s) = inv(D(s))*U(s),
+
+  where D(s) is diagonal with its (I,I)-th polynomial element of
+  degree INDEX(I). The first step is to check whether the leading
+  coefficient of any polynomial element of D(s) is approximately
+  zero; if so the routine returns with INFO &gt; 0. Otherwise,
+  Wolovich's Observable Structure Theorem is used to construct a
+  state-space representation in observable companion form which
+  is equivalent to the above polynomial matrix representation.
+  The method is particularly easy here due to the diagonal form
+  of D(s). This state-space representation is not necessarily
+  controllable (as D(s) and U(s) are not necessarily relatively
+  left prime), but it is in theory completely observable; however,
+  its observability matrix may be poorly conditioned, so it is
+  treated as a general state-space representation and SLICOT
+  Library routine TB01PD is then called to separate out a minimal
+  realization from this general state-space representation by means
+  of orthogonal similarity transformations.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Patel, R.V.
+      Computation of Minimal-Order State-Space Realizations and
+      Observability Indices using Orthogonal Transformations.
+      Int. J. Control, 33, pp. 227-246, 1981.
+
+  [2] Wolovich, W.A.
+      Linear Multivariable Systems, (Theorem 4.3.3).
+      Springer-Verlag, 1974.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                            3
+  The algorithm requires 0(N ) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TD04AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, PMAX, KDCMAX, NMAX
+      PARAMETER        ( MMAX = 10, PMAX = 10, KDCMAX = 10, NMAX = 10 )
+      INTEGER          MAXMP
+      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
+      INTEGER          LDDCOE, LDUCO1, LDUCO2, LDA, LDB, LDC, LDD
+      PARAMETER        ( LDDCOE = MAXMP, LDUCO1 = MAXMP,
+     $                   LDUCO2 = MAXMP, LDA = NMAX, LDB = NMAX,
+     $                   LDC = MAXMP, LDD = MAXMP )
+      INTEGER          LIWORK
+      PARAMETER        ( LIWORK = NMAX + MAXMP )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MAXMP ) )
+*     .. Local Scalars ..
+      DOUBLE PRECISION TOL
+      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, N, NR, P, PORM
+      CHARACTER*1      ROWCOL
+      LOGICAL          LROWCO
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
+     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
+     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,KDCMAX)
+      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TD04AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL
+      LROWCO = LSAME( ROWCOL, 'R' )
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99990 ) M
+      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) P
+      ELSE
+         PORM = P
+         IF ( .NOT.LROWCO ) PORM = M
+         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
+*
+         N = 0
+         KDCOEF = 0
+         DO 20 I = 1, PORM
+            N = N + INDEX(I)
+            KDCOEF = MAX( KDCOEF, INDEX(I) )
+   20    CONTINUE
+         KDCOEF = KDCOEF + 1
+*
+         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) KDCOEF
+         ELSE
+            READ ( NIN, FMT = * )
+     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORM )
+            READ ( NIN, FMT = * )
+     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
+*           Find a minimal state-space representation (A,B,C,D).
+            CALL TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) NR
+               DO 40 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
+   40          CONTINUE
+               WRITE ( NOUT, FMT = 99995 )
+               DO 60 I = 1, NR
+                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
+   60          CONTINUE
+               WRITE ( NOUT, FMT = 99994 )
+               DO 80 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
+   80          CONTINUE
+               WRITE ( NOUT, FMT = 99993 )
+               DO 100 I = 1, P
+                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
+  100          CONTINUE
+               INDBLK = 0
+               DO 120 I = 1, N
+                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
+  120          CONTINUE
+               IF ( LROWCO ) THEN
+                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
+     $                       ( IWORK(I), I = 1,INDBLK )
+               ELSE
+                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
+     $                       ( IWORK(I), I = 1,INDBLK )
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TD04AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TD04AD = ',I2)
+99997 FORMAT (' The order of the minimal realization = ',I2,//' The st',
+     $       'ate dynamics matrix A of a minimal realization is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' The input/state matrix B of a minimal realization is ')
+99994 FORMAT (/' The state/output matrix C of a minimal realization is '
+     $       )
+99993 FORMAT (/' The direct transmission matrix D is ')
+99992 FORMAT (/' The observability index of a minimal state-space repr',
+     $       'esentation = ',I2,//' The dimensions of the diagonal blo',
+     $       'cks of the state dynamics matrix are',/20(1X,I2))
+99991 FORMAT (/' The controllability index of a minimal state-space re',
+     $       'presentation = ',I2,//' The dimensions of the diagonal b',
+     $       'locks of the state dynamics matrix are',/20(1X,I2))
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+99989 FORMAT (/' P is out of range.',/' P = ',I5)
+99988 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TD04AD EXAMPLE PROGRAM DATA
+   2     2     0.0     R
+   3     3
+   1.0   6.0  11.0   6.0
+   1.0   6.0  11.0   6.0
+   1.0   6.0  12.0   7.0
+   0.0   1.0   4.0   3.0
+   0.0   0.0   1.0   1.0
+   1.0   8.0  20.0  15.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TD04AD EXAMPLE PROGRAM RESULTS
+
+ The order of the minimal realization =  3
+
+ The state dynamics matrix A of a minimal realization is 
+   0.5000  -0.8028   0.9387
+   4.4047  -2.3380   2.5076
+  -5.5541   1.6872  -4.1620
+
+ The input/state matrix B of a minimal realization is 
+  -0.2000  -1.2500
+   0.0000  -0.6097
+   0.0000   2.2217
+
+ The state/output matrix C of a minimal realization is 
+   0.0000  -0.8679   0.2119
+   0.0000   0.0000   0.9002
+
+ The direct transmission matrix D is 
+   1.0000   0.0000
+   0.0000   1.0000
+
+ The observability index of a minimal state-space representation =  2
+
+ The dimensions of the diagonal blocks of the state dynamics matrix are
+  2  1
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TD05AD.html b/doc/_static/doc/TD05AD.html
new file mode 100644
index 00000000..63603e8f
--- /dev/null
+++ b/doc/_static/doc/TD05AD.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>TD05AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TD05AD">TD05AD</A></H2>
+<H3>
+Evaluation of a transfer function G(jW) for a specified frequency
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given a complex valued rational function of frequency (transfer
+  function) G(jW) this routine will calculate its complex value or
+  its magnitude and phase for a specified frequency value.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         OUTPUT, UNITF
+      INTEGER           INFO, MP1, NP1
+      DOUBLE PRECISION  VALI, VALR, W
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(*), B(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UNITF   CHARACTER*1
+          Indicates the choice of frequency unit as follows:
+          = 'R':  Input frequency W in radians/second;
+          = 'H':  Input frequency W in hertz.
+
+  OUTPUT  CHARACTER*1
+          Indicates the choice of co-ordinates for output as folows:
+          = 'C':  Cartesian co-ordinates (output real and imaginary
+                  parts of G(jW));
+          = 'P':  Polar co-ordinates (output magnitude and phase
+                  of G(jW)).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NP1     (input) INTEGER
+          The order of the denominator + 1, i.e. N + 1.  NP1 &gt;= 1.
+
+  MP1     (input) INTEGER
+          The order of the numerator + 1, i.e. M + 1.  MP1 &gt;= 1.
+
+  W       (input) DOUBLE PRECISION
+          The frequency value W for which the transfer function is
+          to be evaluated.
+
+  A       (input) DOUBLE PRECISION array, dimension (NP1)
+          This array must contain the vector of denominator
+          coefficients in ascending order of powers. That is, A(i)
+          must contain the coefficient of (jW)**(i-1) for i = 1,
+          2,...,NP1.
+
+  B       (input) DOUBLE PRECISION array, dimension (MP1)
+          This array must contain the vector of numerator
+          coefficients in ascending order of powers. That is, B(i)
+          must contain the coefficient of (jW)**(i-1) for i = 1,
+          2,...,MP1.
+
+  VALR    (output) DOUBLE PRECISION
+          If OUTPUT = 'C', VALR contains the real part of G(jW).
+          If OUTPUT = 'P', VALR contains the magnitude of G(jW)
+                           in dBs.
+
+  VALI    (output) DOUBLE PRECISION
+          If OUTPUT = 'C', VALI contains the imaginary part of
+                           G(jW).
+          If OUTPUT = 'P', VALI contains the phase of G(jW) in
+                           degrees.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  if the frequency value W is a pole of G(jW), or all
+                the coefficients of the A polynomial are zero.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  By substituting the values of A, B and W in the following
+  formula:
+
+         B(1)+B(2)*(jW)+B(3)*(jW)**2+...+B(MP1)*(jW)**(MP1-1)
+  G(jW) = ---------------------------------------------------.
+         A(1)+A(2)*(jW)+A(3)*(jW)**2+...+A(NP1)*(jW)**(NP1-1)
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires 0(N+M) operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TD05AD EXAMPLE PROGRAM TEXT.
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NP1MAX, MP1MAX
+      PARAMETER        ( NP1MAX = 20, MP1MAX = 20 )
+*     .. Local Scalars ..
+      DOUBLE PRECISION VALI, VALR, W
+      INTEGER          I, INFO, MP1, NP1
+      CHARACTER*1      UNITF, OUTPUT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(NP1MAX), B(MP1MAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TD05AD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NP1, MP1, W, UNITF, OUTPUT
+      IF ( NP1.LE.0 .OR. NP1.GT.NP1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP1
+      ELSE
+         READ ( NIN, FMT = * ) ( A(I), I = 1,NP1 )
+         IF ( MP1.LE.0 .OR. MP1.GT.MP1MAX ) THEN
+            WRITE ( NOUT, FMT = 99994 ) MP1
+         ELSE
+            READ ( NIN, FMT = * ) ( B(I), I = 1,MP1 )
+*           Find the real and imaginary parts of G(jW), where
+*           W = 1.0 radian.
+            CALL TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
+     $                   INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               IF ( LSAME( OUTPUT, 'C' ) ) THEN
+                  WRITE ( NOUT, FMT = 99997 ) VALR, VALI
+               ELSE
+                  WRITE ( NOUT, FMT = 99996 ) VALR, VALI
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TD05AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TD05AD = ',I2)
+99997 FORMAT (' Complex value of G(jW) = ',F8.4,1X,F8.4,'*j')
+99996 FORMAT (' Magnitude of G(jW) = ',F8.4,' dBs, Phase of G(jW) = ',
+     $       F8.4,' degrees ')
+99995 FORMAT (/' NP1 is out of range.',/' NP1 = ',I5)
+99994 FORMAT (/' MP1 is out of range.',/' MP1 = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TD05AD EXAMPLE PROGRAM DATA
+   6     4     1.0     R     C
+   1.0   1.0   0.0   0.0   2.0   1.0
+   6.0   2.0   3.0   1.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TD05AD EXAMPLE PROGRAM RESULTS
+
+ Complex value of G(jW) =   0.8462  -0.2308*j
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01MD.html b/doc/_static/doc/TF01MD.html
new file mode 100644
index 00000000..647b5b7b
--- /dev/null
+++ b/doc/_static/doc/TF01MD.html
@@ -0,0 +1,294 @@
+<HTML>
+<HEAD><TITLE>TF01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01MD">TF01MD</A></H2>
+<H3>
+Output response sequence of a linear time-invariant discrete-time system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  (A,B,C,D), where A is an N-by-N general matrix.
+
+  The initial state vector x(1) must be supplied by the user.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   U, LDU, X, Y, LDY, DWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct link matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
+          The leading M-by-NY part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th column of U must contain u(k).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
+          The leading P-by-NY part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          column of Y contains y(k) (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     x(k+1) = A x(k) + B u(k)
+     y(k)   = C x(k) + D u(k),
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (N + M) x (N + P) x NY
+  multiplications and additions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NYMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
+     $                   LDU = MMAX, LDY = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, M, N, NY, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
+     $                 X(NMAX), Y(LDY,NYMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NY
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
+               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NY
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
+*                 Compute y(1),...,y(NY) of the given system.
+                  CALL TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
+     $                         LDD, U, LDU, X, Y, LDY, DWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 ) NY
+                     DO 20 K = 1, NY
+                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
+                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
+   20                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01MD = ',I2)
+99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
+99996 FORMAT (' Y(',I2,') : ',F8.4)
+99995 FORMAT (9X,F8.4,/)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01MD EXAMPLE PROGRAM DATA
+   3     2     2     10
+   0.0000 -0.0700  0.0150
+   1.0000  0.8000 -0.1500
+   0.0000  0.0000  0.5000
+   0.0000  2.0000  1.0000
+  -1.0000 -0.1000  1.0000
+   0.0000  1.0000
+   0.0000  0.0000
+   1.0000  0.0000
+   1.0000  0.5000
+   0.0000  0.5000
+   1.0000  1.0000  1.0000
+  -0.6922 -1.4934  0.3081 -2.7726  2.0039
+   0.2614 -0.9160 -0.6030  1.2556  0.2951
+  -1.5734  1.5639 -0.9942  1.8957  0.8988
+   0.4118 -1.4893 -0.9344  1.2506 -0.0701
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01MD EXAMPLE PROGRAM RESULTS
+
+ The output sequence Y(1),...,Y(10) is
+
+ Y( 1) :   0.3078
+          -0.0928
+
+ Y( 2) :  -1.5125
+           1.2611
+
+ Y( 3) :  -1.2577
+           3.4002
+
+ Y( 4) :  -0.2947
+          -0.7060
+
+ Y( 5) :  -0.5632
+           5.4532
+
+ Y( 6) :  -1.0846
+           1.1846
+
+ Y( 7) :  -1.2427
+           2.2286
+
+ Y( 8) :   1.8097
+          -1.9534
+
+ Y( 9) :   0.6685
+          -4.4965
+
+ Y(10) :  -0.0896
+           1.1654
+
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01MX.html b/doc/_static/doc/TF01MX.html
new file mode 100644
index 00000000..2eef5443
--- /dev/null
+++ b/doc/_static/doc/TF01MX.html
@@ -0,0 +1,165 @@
+<HTML>
+<HEAD><TITLE>TF01MX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01MX">TF01MX</A></H2>
+<H3>
+Output sequence of a linear time-invariant open-loop system given its system matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  with an (N+P)-by-(N+M) general system matrix S,
+
+         ( A  B )
+     S = (      ) .
+         ( C  D )
+
+  The initial state vector x(1) must be supplied by the user.
+
+  The input and output trajectories are stored as in the SLICOT
+  Library routine TF01MY.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01MX( N, M, P, NY, S, LDS, U, LDU, X, Y, LDY,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDS, LDU, LDWORK, LDY, M, N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), S(LDS,*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  S       (input) DOUBLE PRECISION array, dimension (LDS,N+M)
+          The leading (N+P)-by-(N+M) part of this array must contain
+          the system matrix S.
+
+  LDS     INTEGER
+          The leading dimension of array S.  LDS &gt;= MAX(1,N+P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NY-by-M part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th row of U must contain u(k)'.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY+1.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
+          The leading NY-by-P part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          row of Y contains y(k)' (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 0,        if MIN(N,P,NY) = 0;  otherwise,
+          LDWORK &gt;= N+P,      if M = 0;
+          LDWORK &gt;= 2*N+M+P,  if M &gt; 0.
+          For better performance, LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     ( x(k+1) )     ( x(k) )
+     (        ) = S (      ) ,
+     (  y(k)  )     ( u(k) )
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k, and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (N + M) x (N + P) x NY
+  multiplications and additions.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The implementation exploits data locality as much as possible,
+  given the workspace length.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01MY.html b/doc/_static/doc/TF01MY.html
new file mode 100644
index 00000000..7995e18e
--- /dev/null
+++ b/doc/_static/doc/TF01MY.html
@@ -0,0 +1,187 @@
+<HTML>
+<HEAD><TITLE>TF01MY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01MY">TF01MY</A></H2>
+<H3>
+Output sequence of a linear time-invariant open-loop system (variant)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  (A,B,C,D), where A is an N-by-N general matrix.
+
+  The initial state vector x(1) must be supplied by the user.
+
+  This routine differs from SLICOT Library routine TF01MD in the
+  way the input and output trajectories are stored.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01MY( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
+     $                   U, LDU, X, Y, LDY, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDWORK, LDY, M,
+     $                  N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading N-by-N part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct link matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
+          The leading NY-by-M part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th row of U must contain u(k)'.
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY+1.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
+          The leading NY-by-P part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          row of Y contains y(k)' (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
+          For better performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     x(k+1) = A x(k) + B u(k)
+     y(k)   = C x(k) + D u(k),
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (N + M) x (N + P) x NY
+  multiplications and additions.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The implementation exploits data locality and uses BLAS 3
+  operations as much as possible, given the workspace length.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01ND.html b/doc/_static/doc/TF01ND.html
new file mode 100644
index 00000000..6fb14be6
--- /dev/null
+++ b/doc/_static/doc/TF01ND.html
@@ -0,0 +1,313 @@
+<HTML>
+<HEAD><TITLE>TF01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01ND">TF01ND</A></H2>
+<H3>
+Output response sequence of a linear time-invariant discrete-time system with upper/lower Hessenberg matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute the output sequence of a linear time-invariant
+  open-loop system given by its discrete-time state-space model
+  (A,B,C,D), where A is an N-by-N upper or lower Hessenberg matrix.
+
+  The initial state vector x(1) must be supplied by the user.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, U, LDU, X, Y, LDY, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         UPLO
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  UPLO    CHARACTER*1
+          Indicates whether the user wishes to use an upper or lower
+          Hessenberg matrix as follows:
+          = 'U':  Upper Hessenberg matrix;
+          = 'L':  Lower Hessenberg matrix.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrix A.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs.  P &gt;= 0.
+
+  NY      (input) INTEGER
+          The number of output vectors y(k) to be computed.
+          NY &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          If UPLO = 'U', the leading N-by-N upper Hessenberg part
+          of this array must contain the state matrix A of the
+          system.
+          If UPLO = 'L', the leading N-by-N lower Hessenberg part
+          of this array must contain the state matrix A of the
+          system.
+          The remainder of the leading N-by-N part is not
+          referenced.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
+          The leading N-by-M part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
+          The leading P-by-N part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
+          The leading P-by-M part of this array must contain the
+          direct link matrix D of the system.
+
+  LDD     INTEGER
+          The leading dimension of array D.  LDD &gt;= MAX(1,P).
+
+  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
+          The leading M-by-NY part of this array must contain the
+          input vector sequence u(k), for k = 1,2,...,NY.
+          Specifically, the k-th column of U must contain u(k).
+
+  LDU     INTEGER
+          The leading dimension of array U.  LDU &gt;= MAX(1,M).
+
+  X       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, this array must contain the initial state vector
+          x(1) which consists of the N initial states of the system.
+          On exit, this array contains the final state vector
+          x(NY+1) of the N states of the system at instant NY.
+
+  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
+          The leading P-by-NY part of this array contains the output
+          vector sequence y(1),y(2),...,y(NY) such that the k-th
+          column of Y contains y(k) (the outputs at instant k),
+          for k = 1,2,...,NY.
+
+  LDY     INTEGER
+          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (N)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Given an initial state vector x(1), the output vector sequence
+  y(1), y(2),..., y(NY) is obtained via the formulae
+
+     x(k+1) = A x(k) + B u(k)
+     y(k)   = C x(k) + D u(k),
+
+  where each element y(k) is a vector of length P containing the
+  outputs at instant k and k = 1,2,...,NY.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately ((N+M)xP + (N/2+M)xN) x NY
+  multiplications and additions.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The processing time required by this routine will be approximately
+  half that required by the SLICOT Library routine TF01MD, which
+  treats A as a general matrix.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX, NYMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDU = MMAX, LDY = PMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      UPLO
+      INTEGER          I, INFO, J, K, M, N, NY, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
+     $                 X(NMAX), Y(LDY,NYMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, NY, UPLO
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
+         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99993 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
+            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99992 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
+               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
+               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
+               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
+                  WRITE ( NOUT, FMT = 99991 ) NY
+               ELSE
+                  READ ( NIN, FMT = * )
+     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
+*                 Compute y(1),...,y(NY) of the given system.
+                  CALL TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C,
+     $                         LDC, D, LDD, U, LDU, X, Y, LDY, DWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99997 ) NY
+                     DO 20 K = 1, NY
+                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
+                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
+   20                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01ND = ',I2)
+99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
+99996 FORMAT (' Y(',I2,') : ',F8.4)
+99995 FORMAT (9X,F8.4,/)
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' M is out of range.',/' M = ',I5)
+99992 FORMAT (/' P is out of range.',/' P = ',I5)
+99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01ND EXAMPLE PROGRAM DATA
+   3     2     2     10     U
+   0.0000 -0.0700  0.0000
+   1.0000  0.8000 -0.1500
+   0.0000  0.0000  0.5000
+   0.0000  2.0000  1.0000
+  -1.0000 -0.1000  1.0000
+   0.0000  1.0000
+   0.0000  0.0000
+   1.0000  0.0000
+   1.0000  0.5000
+   0.0000  0.5000
+   1.0000  1.0000  1.0000
+  -0.6922 -1.4934  0.3081 -2.7726  2.0039
+   0.2614 -0.9160 -0.6030  1.2556  0.2951
+  -1.5734  1.5639 -0.9942  1.8957  0.8988
+   0.4118 -1.4893 -0.9344  1.2506 -0.0701
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01ND EXAMPLE PROGRAM RESULTS
+
+ The output sequence Y(1),...,Y(10) is
+
+ Y( 1) :   0.3078
+          -0.0928
+
+ Y( 2) :  -1.5275
+           1.2611
+
+ Y( 3) :  -1.3026
+           3.4002
+
+ Y( 4) :  -0.3512
+          -0.7060
+
+ Y( 5) :  -0.5922
+           5.4532
+
+ Y( 6) :  -1.1693
+           1.1846
+
+ Y( 7) :  -1.3029
+           2.2286
+
+ Y( 8) :   1.7529
+          -1.9534
+
+ Y( 9) :   0.6793
+          -4.4965
+
+ Y(10) :  -0.0349
+           1.1654
+
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01OD.html b/doc/_static/doc/TF01OD.html
new file mode 100644
index 00000000..89de0b23
--- /dev/null
+++ b/doc/_static/doc/TF01OD.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>TF01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01OD">TF01OD</A></H2>
+<H3>
+Block Hankel expansion of a multivariable parameter sequence
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the block Hankel expansion T of a multivariable
+  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
+  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NH1     (input) INTEGER
+          The number of rows in each parameter M(k).  NH1 &gt;= 0.
+
+  NH2     (input) INTEGER
+          The number of columns in each parameter M(k).  NH2 &gt;= 0.
+
+  NR      (input) INTEGER
+          The number of parameters required in each column of the
+          block Hankel expansion matrix T.  NR &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of parameters required in each row of the
+          block Hankel expansion matrix T.  NC &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension
+          (LDH,(NR+NC-1)*NH2)
+          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
+          contain the multivariable sequence M(k), where k = 1,2,
+          ...,(NR+NC-1). Specifically, each parameter M(k) is an
+          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
+          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
+          The leading NH1*NR-by-NH2*NC part of this array contains
+          the block Hankel expansion of the multivariable sequence
+          M(k).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
+  sequence are arranged into a matrix T in Hankel form such that
+
+           | M(1)   M(2)    M(3)    . . .  M(NC)     |
+           |                                         |
+           | M(2)   M(3)    M(4)    . . .  M(NC+1)   |
+      T =  |  .      .       .              .        |.
+           |  .      .       .              .        |
+           |  .      .       .              .        |
+           |                                         |
+           | M(NR)  M(NR+1) M(NR+2) . . .  M(NR+NC-1)|
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Johvidov, J.S.
+      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
+      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
+      Birkhaeuser, Boston, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The time taken is approximately proportional to
+  NH1 x NH2 x NR x NC.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01OD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
+      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
+     $                   NCMAX = 20 )
+      INTEGER          LDH, LDT
+      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
+*     .. Local Arrays ..
+      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
+     $                 T(LDT,NH2MAX*NCMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01OD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
+      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NH1
+      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NH2
+      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NR
+      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NC
+      ELSE
+         READ ( NIN, FMT = * )
+     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
+*        Construct the NRT by NCT block Hankel expansion of M(k).
+         CALL TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            NRT = NH1*NR
+            NCT = NH2*NC
+            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
+            DO 20 I = 1, NRT
+               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01OD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01OD = ',I2)
+99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
+99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
+99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
+99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01OD EXAMPLE PROGRAM DATA
+   2     2     3     3
+   1.0647 -0.4282 -0.4922 -1.2072
+  -0.3043  0.6883 -0.0926  0.7167
+  -0.1844 -0.8507  0.4441 -0.0478
+   0.7195  0.0500 -0.3955  0.5674
+   1.3387 -0.2801  0.1073 -0.5315
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01OD EXAMPLE PROGRAM RESULTS
+
+ The  6 by  6 matrix T is 
+   1.0647  -0.4922  -0.3043  -0.0926  -0.1844   0.4441
+  -0.4282  -1.2072   0.6883   0.7167  -0.8507  -0.0478
+  -0.3043  -0.0926  -0.1844   0.4441   0.7195  -0.3955
+   0.6883   0.7167  -0.8507  -0.0478   0.0500   0.5674
+  -0.1844   0.4441   0.7195  -0.3955   1.3387   0.1073
+  -0.8507  -0.0478   0.0500   0.5674  -0.2801  -0.5315
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01PD.html b/doc/_static/doc/TF01PD.html
new file mode 100644
index 00000000..f8266f1f
--- /dev/null
+++ b/doc/_static/doc/TF01PD.html
@@ -0,0 +1,207 @@
+<HTML>
+<HEAD><TITLE>TF01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01PD">TF01PD</A></H2>
+<H3>
+Block Toeplitz expansion of a multivariable parameter sequence
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To construct the block Toeplitz expansion T of a multivariable
+  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
+  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
+C     .. Array Arguments ..
+      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NH1     (input) INTEGER
+          The number of rows in each parameter M(k).  NH1 &gt;= 0.
+
+  NH2     (input) INTEGER
+          The number of columns in each parameter M(k).  NH2 &gt;= 0.
+
+  NR      (input) INTEGER
+          The number of parameters required in each column of the
+          block Toeplitz expansion matrix T.  NR &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of parameters required in each row of the
+          block Toeplitz expansion matrix T.  NC &gt;= 0.
+
+  H       (input) DOUBLE PRECISION array, dimension
+          (LDH,(NR+NC-1)*NH2)
+          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
+          contain the multivariable sequence M(k), where k = 1,2,
+          ...,(NR+NC-1). Specifically, each parameter M(k) is an
+          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
+          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
+
+  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
+          The leading NH1*NR-by-NH2*NC part of this array contains
+          the block Toeplitz expansion of the multivariable sequence
+          M(k).
+
+  LDT     INTEGER
+          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
+  sequence are arranged into a matrix T in Toeplitz form such that
+
+             | M(NC)       M(NC-1)     M(NC-2)    . . .  M(1)  |
+             |                                                 |
+             | M(NC+1)     M(NC)       M(NC-1)    . . .  M(2)  |
+        T =  |  .           .           .                 .    |.
+             |  .           .           .                 .    |
+             |  .           .           .                 .    |
+             |                                                 |
+             | M(NR+NC-1)  M(NR+NC-2)  M(NR+NC-3) . . .  M(NR) |
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Johvidov, J.S.
+      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
+      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
+      Birkhaeuser, Boston, 1982.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The time taken is approximately proportional to
+  NH1 x NH2 x NR x NC.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
+      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
+     $                   NCMAX = 20 )
+      INTEGER          LDH, LDT
+      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
+*     .. Local Arrays ..
+      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
+     $                 T(LDT,NH2MAX*NCMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01PD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
+      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NH1
+      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) NH2
+      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NR
+      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NC
+      ELSE
+         READ ( NIN, FMT = * )
+     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
+*        Construct the NRT by NCT block Toeplitz expansion of M(k).
+         CALL TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
+*
+         IF ( INFO.NE.0 ) THEN
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            NRT = NH1*NR
+            NCT = NH2*NC
+            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
+            DO 20 I = 1, NRT
+               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
+   20       CONTINUE
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01PD = ',I2)
+99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
+99996 FORMAT (20(1X,F8.4))
+99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
+99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
+99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
+99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01PD EXAMPLE PROGRAM DATA
+   2     2     3     3
+   1.0647 -0.4282 -0.4922 -1.2072
+  -0.3043  0.6883 -0.0926  0.7167
+  -0.1844 -0.8507  0.4441 -0.0478
+   0.7195  0.0500 -0.3955  0.5674
+   1.3387 -0.2801  0.1073 -0.5315
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01PD EXAMPLE PROGRAM RESULTS
+
+ The  6 by  6 matrix T is 
+  -0.1844   0.4441  -0.3043  -0.0926   1.0647  -0.4922
+  -0.8507  -0.0478   0.6883   0.7167  -0.4282  -1.2072
+   0.7195  -0.3955  -0.1844   0.4441  -0.3043  -0.0926
+   0.0500   0.5674  -0.8507  -0.0478   0.6883   0.7167
+   1.3387   0.1073   0.7195  -0.3955  -0.1844   0.4441
+  -0.2801  -0.5315   0.0500   0.5674  -0.8507  -0.0478
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01QD.html b/doc/_static/doc/TF01QD.html
new file mode 100644
index 00000000..cbc0933a
--- /dev/null
+++ b/doc/_static/doc/TF01QD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>TF01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01QD">TF01QD</A></H2>
+<H3>
+Markov parameters of a multivariable system from its transfer function matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute N Markov parameters M(1), M(2),..., M(N) from a
+  multivariable system whose transfer function matrix G(z) is given.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDH, N, NB, NC
+C     .. Array Arguments ..
+      INTEGER           IORD(*)
+      DOUBLE PRECISION  AR(*), H(LDH,*), MA(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NC      (input) INTEGER
+          The number of system outputs, i.e. the number of rows in
+          the transfer function matrix G(z).  NC &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of system inputs, i.e. the number of columns in
+          the transfer function matrix G(z).  NB &gt;= 0.
+
+  N       (input) INTEGER
+          The number of Markov parameters M(k) to be computed.
+          N &gt;= 0.
+
+  IORD    (input) INTEGER array, dimension (NC*NB)
+          This array must contain the order r of the elements of the
+          transfer function matrix G(z), stored row by row.
+          For example, the order of the (i,j)-th element of G(z) is
+          given by IORD((i-1)xNB+j).
+
+  AR      (input) DOUBLE PRECISION array, dimension (NA), where
+          NA = IORD(1) + IORD(2) + ... + IORD(NC*NB).
+          The leading NA elements of this array must contain the
+          denominator coefficients AR(1),...,AR(r) in equation (1)
+          of the (i,j)-th element of the transfer function matrix
+          G(z), stored row by row, i.e. in the order
+          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
+          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
+          in decreasing order of powers of z; the coefficient of the
+          highest order term is assumed to be equal to 1.
+
+  MA      (input) DOUBLE PRECISION array, dimension (NA)
+          The leading NA elements of this array must contain the
+          numerator coefficients MA(1),...,MA(r) in equation (1)
+          of the (i,j)-th element of the transfer function matrix
+          G(z), stored row by row, i.e. in the order
+          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
+          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
+          in decreasing order of powers of z.
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
+          The leading NC-by-N*NB part of this array contains the
+          multivariable Markov parameter sequence M(k), where each
+          parameter M(k) is an NC-by-NB matrix and k = 1,2,...,N.
+          The Markov parameters are stored such that H(i,(k-1)xNB+j)
+          contains the (i,j)-th element of M(k) for i = 1,2,...,NC
+          and j = 1,2,...,NB.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The (i,j)-th element of G(z), defining the particular I/O transfer
+  between output i and input j, has the following form:
+
+                       -1         -2               -r
+                 MA(1)z   + MA(2)z   + ... + MA(r)z
+      G  (z) = ----------------------------------------.         (1)
+       ij                -1         -2               -r
+               1 + AR(1)z   + AR(2)z   + ... + AR(r)z
+
+  The (i,j)-th element of G(z) is defined by its order r, its r
+  moving average coefficients (= numerator) MA(1),...,MA(r) and its
+  r autoregressive coefficients (= denominator) AR(1),...,AR(r). The
+  coefficient of the constant term in the denominator is assumed to
+  be equal to 1.
+
+  The relationship between the (i,j)-th element of the Markov
+  parameters M(1),M(2),...,M(N) and the corresponding element of the
+  transfer function matrix G(z) is given by:
+
+                            -1          -2                -k
+   G  (z) = M  (0) + M  (1)z   + M  (2)z   + ... + M  (k)z  + ...(2)
+    ij       ij       ij          ij                ij
+
+  Equating (1) and (2), we find that the relationship between the
+  (i,j)-th element of the Markov parameters M(k) and the ARMA
+  parameters AR(1),...,AR(r) and MA(1),...,MA(r) of the (i,j)-th
+  element of the transfer function matrix G(z) is as follows:
+
+     M  (1)   = MA(1),
+      ij
+                        k-1
+     M  (k)   = MA(k) - SUM AR(p) x M  (k-p) for 1 &lt; k &lt;= r and
+      ij                p=1          ij
+                   r
+     M  (k+r) = - SUM AR(p) x M  (k+r-p) for k &gt; 0.
+      ij          p=1          ij
+
+  From these expressions the Markov parameters M(k) are computed
+  element by element.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Luenberger, D.G.
+      Introduction to Dynamic Systems: Theory, Models and
+      Applications.
+      John Wiley & Sons, New York, 1979.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The computation of the (i,j)-th element of M(k) requires:
+     (k-1) multiplications and k additions if k &lt;= r;
+       r   multiplications and r additions if k &gt; r.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
+      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
+      INTEGER          LDH
+      PARAMETER        ( LDH = NCMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, L, N, NA, NASUM, NB, NC, NL, NORD
+      LOGICAL          ERROR
+*     .. Local Arrays ..
+      DOUBLE PRECISION AR(NAMAX), H(LDH,NMAX*NBMAX), MA(NAMAX)
+      INTEGER          IORD(NCMAX*NBMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TF01QD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NA, NB, NC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NA
+      ELSE IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) NB
+      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+         WRITE ( NOUT, FMT = 99991 ) NC
+      ELSE
+         ERROR = .FALSE.
+         NL = 0
+         K = 1
+         NASUM = 0
+         DO 40 I = 1, NC
+            DO 20 J = 1, NB
+               READ ( NIN, FMT = * ) NORD
+               NASUM = NASUM + NORD
+               IF ( NA.GE.NASUM ) THEN
+                  READ ( NIN, FMT = * ) ( MA(NL+L), L = 1,NORD )
+                  READ ( NIN, FMT = * ) ( AR(NL+L), L = 1,NORD )
+                  IORD(K) = NORD
+                  K = K + 1
+                  NL = NL + NORD
+               ELSE
+                  WRITE ( NOUT, FMT = 99993 ) NA
+                  ERROR = .TRUE.
+               END IF
+   20       CONTINUE
+   40    CONTINUE
+         IF ( .NOT. ERROR ) THEN
+*           Compute M(1),...,M(N) from the given transfer function
+*           matrix G(z).
+            CALL TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
+*
+            IF ( INFO.NE.0 ) THEN
+               WRITE ( NOUT, FMT = 99998 ) INFO
+            ELSE
+               WRITE ( NOUT, FMT = 99997 ) N
+               DO 80 K = 1, N
+                  WRITE ( NOUT, FMT = 99996 ) K,
+     $                  ( H(1,(K-1)*NB+J), J = 1,NB )
+                  DO 60 I = 2, NC
+                     WRITE ( NOUT, FMT = 99995 )
+     $                     ( H(I,(K-1)*NB+J), J = 1,NB )
+   60             CONTINUE
+   80          CONTINUE
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01QD = ',I2)
+99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
+99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
+99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
+99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01QD EXAMPLE PROGRAM DATA
+   8    10     2     2   
+   2
+   1.0  -0.5
+   0.6  -0.2
+   1
+   1.0
+  -0.8
+   3
+   0.5  -0.4   0.3
+   0.8   0.4   0.1
+   4
+   1.0   0.5  -0.5   0.0
+  -0.8   0.6   0.0  -0.2
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01QD EXAMPLE PROGRAM RESULTS
+
+ The Markov Parameters M(1),...,M(8) are 
+
+ M(1) :    1.0000   1.0000
+           0.5000   1.0000
+
+ M(2) :   -1.1000   0.8000
+          -0.8000   1.3000
+
+ M(3) :    0.8600   0.6400
+           0.7400  -0.0600
+
+ M(4) :   -0.7360   0.5120
+          -0.3220  -0.8280
+
+ M(5) :    0.6136   0.4096
+           0.0416  -0.4264
+
+ M(6) :   -0.5154   0.3277
+           0.0215   0.4157
+
+ M(7) :    0.4319   0.2621
+          -0.0017   0.5764
+
+ M(8) :   -0.3622   0.2097
+          -0.0114   0.0461
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TF01RD.html b/doc/_static/doc/TF01RD.html
new file mode 100644
index 00000000..c3ee03b1
--- /dev/null
+++ b/doc/_static/doc/TF01RD.html
@@ -0,0 +1,263 @@
+<HTML>
+<HEAD><TITLE>TF01RD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TF01RD">TF01RD</A></H2>
+<H3>
+Markov parameters of a multivariable system from the state-space representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute N Markov parameters M(1), M(2),..., M(N) from the
+  parameters (A,B,C) of a linear time-invariant system, where each
+  M(k) is an NC-by-NB matrix and k = 1,2,...,N.
+
+  All matrices are treated as dense, and hence TF01RD is not
+  intended for large sparse problems.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H, LDH,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDH, LDWORK, N, NA, NB, NC
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), H(LDH,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  NA      (input) INTEGER
+          The order of the matrix A.  NA &gt;= 0.
+
+  NB      (input) INTEGER
+          The number of system inputs.  NB &gt;= 0.
+
+  NC      (input) INTEGER
+          The number of system outputs.  NC &gt;= 0.
+
+  N       (input) INTEGER
+          The number of Markov parameters M(k) to be computed.
+          N &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,NA)
+          The leading NA-by-NA part of this array must contain the
+          state matrix A of the system.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,NA).
+
+  B       (input) DOUBLE PRECISION array, dimension (LDB,NB)
+          The leading NA-by-NB part of this array must contain the
+          input matrix B of the system.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,NA).
+
+  C       (input) DOUBLE PRECISION array, dimension (LDC,NA)
+          The leading NC-by-NA part of this array must contain the
+          output matrix C of the system.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,NC).
+
+  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
+          The leading NC-by-N*NB part of this array contains the
+          multivariable parameters M(k), where each parameter M(k)
+          is an NC-by-NB matrix and k = 1,2,...,N. The Markov
+          parameters are stored such that H(i,(k-1)xNB+j) contains
+          the (i,j)-th element of M(k) for i = 1,2,...,NC and
+          j = 1,2,...,NB.
+
+  LDH     INTEGER
+          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, 2*NA*NC).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the linear time-invariant discrete-time system
+
+         x(k+1) = A x(k) + B u(k)
+          y(k)  = C x(k) + D u(k),
+
+  the transfer function matrix G(z) is given by
+                         -1
+           G(z) = C(zI-A)  B + D
+                          -1        -2     2   -3
+                = D + CB z   + CAB z   + CA B z   + ...          (1)
+
+  Using Markov parameters, G(z) can also be written as
+                              -1        -2        -3
+           G(z) = M(0) + M(1)z   + M(2)z   + M(3)z   + ...       (2)
+
+                                                            k-1
+  Equating (1) and (2), we find that M(0) = D and M(k) = C A    B
+  for k &gt; 0, from which the Markov parameters M(1),M(2)...,M(N) are
+  computed.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Chen, C.T.
+      Introduction to Linear System Theory.
+      H.R.W. Series in Electrical Engineering, Electronics and
+      Systems, Holt, Rinehart and Winston Inc., London, 1970.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm requires approximately (NA + NB) x NA x NC x N
+  multiplications and additions.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TF01RD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
+      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDH
+      PARAMETER        ( LDA = NAMAX, LDB = NAMAX, LDC = NCMAX,
+     $                   LDH = NCMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NAMAX*NCMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, K, N, NA, NB, NC
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NAMAX), B(LDB,NBMAX), C(LDC,NAMAX),
+     $                 H(LDH,NMAX*NBMAX), DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TF01RD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, NA, NB, NC
+      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) N
+      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) NA
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,NA ), J = 1,NA )
+         IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
+            WRITE ( NOUT, FMT = 99992 ) NB
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,NA ), J = 1,NB )
+            IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
+               WRITE ( NOUT, FMT = 99991 ) NC
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,NC ), J = 1,NA )
+*              Compute M(1),...,M(N) from the system (A,B,C).
+               CALL TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H,
+     $                      LDH, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 ) N
+                  DO 40 K = 1, N
+                     WRITE ( NOUT, FMT = 99996 ) K,
+     $                     ( H(1,(K-1)*NB+J), J = 1,NB )
+                     DO 20 I = 2, NC
+                        WRITE ( NOUT, FMT = 99995 )
+     $                        ( H(I,(K-1)*NB+J), J = 1,NB )
+   20                CONTINUE
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TF01RD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TF01RD = ',I2)
+99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
+99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
+99995 FORMAT (8X,20(1X,F8.4))
+99994 FORMAT (/' N is out of range.',/' N = ',I5)
+99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
+99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
+99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TF01RD EXAMPLE PROGRAM DATA
+   5     3     2     2
+   0.000 -0.070  0.015
+   1.000  0.800 -0.150
+   0.000  0.000  0.500
+   0.000  2.000  1.000
+  -1.000 -0.100  1.000
+   0.000  1.000  0.000
+   0.000  1.000  0.000
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TF01RD EXAMPLE PROGRAM RESULTS
+
+ The Markov Parameters M(1),...,M(5) are 
+
+ M(1) :    1.0000   1.0000
+           0.0000  -1.0000
+
+ M(2) :    0.2000   0.5000
+           2.0000  -0.1000
+
+ M(3) :   -0.1100   0.2500
+           1.6000  -0.0100
+
+ M(4) :   -0.2020   0.1250
+           1.1400  -0.0010
+
+ M(5) :   -0.2039   0.0625
+           0.8000  -0.0001
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01AD.html b/doc/_static/doc/TG01AD.html
new file mode 100644
index 00000000..d5b73452
--- /dev/null
+++ b/doc/_static/doc/TG01AD.html
@@ -0,0 +1,376 @@
+<HTML>
+<HEAD><TITLE>TG01AD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01AD">TG01AD</A></H2>
+<H3>
+Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the matrices of the system pencil
+
+          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
+               ( C  0 )          ( 0  0 )
+
+  corresponding to the descriptor triple (A-lambda E,B,C),
+  by balancing. This involves diagonal similarity transformations
+  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
+  (A-lambda E,B,C) to make the rows and columns of system pencil
+  matrices
+
+               diag(Dl,I) * S * diag(Dr,I)
+
+  as close in norm as possible. Balancing may reduce the 1-norms
+  of the matrices of the system pencil S.
+
+  The balancing can be performed optionally on the following
+  particular system pencils
+
+           S = A-lambda E,
+
+           S = ( A-lambda E  B ),    or
+
+           S = ( A-lambda E ).
+               (     C      )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01AD( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), LSCALE( * ),
+     $                   RSCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B, A and E matrices are involved in balancing;
+          = 'C':  C, A and E matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          Threshold value for magnitude of elements:
+          elements with magnitude less than or equal to
+          THRESH are ignored for balancing. THRESH &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*A*Dr.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*E*Dr.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, if M &gt; 0, the leading L-by-M part of this array
+          contains the balanced matrix Dl*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*Dr.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
+          The scaling factors applied to S from left.  If Dl(j) is
+          the scaling factor applied to row j, then
+          SCALE(j) = Dl(j), for j = 1,...,L.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S from right.  If Dr(j) is
+          the scaling factor applied to column j, then
+          SCALE(j) = Dr(j), for j = 1,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                         -1
+               diag(Dl,I)  * S * diag(Dr,I)
+
+  to make the 1-norms of each row of the first L rows of S and its
+  corresponding N columns nearly equal.
+
+  Information about the diagonal matrices Dl and Dr are returned in
+  the vectors LSCALE and RSCALE, respectively.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] R.C. Ward, R. C.
+      Balancing the generalized eigenvalue problem.
+      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01AD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBS
+      INTEGER          I, INFO, J, L, M, N, P
+      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), LSCALE(LMAX),
+     $                 RSCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION DLANGE
+      EXTERNAL         DLANGE
+*     .. External Subroutines ..
+      EXTERNAL         TG01AD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Compute norms before scaling
+                  ABCNRM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
+     $                          DLANGE( '1', L, M, B, LDB, DWORK ),
+     $                          DLANGE( '1', P, N, C, LDC, DWORK ) )
+                  ENORM = DLANGE( '1', L, N, E, LDE, DWORK )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01AD( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     SABCNM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
+     $                             DLANGE( '1', L, M, B, LDB, DWORK ),
+     $                             DLANGE( '1', P, N, C, LDC, DWORK ) )
+                     SENORM = DLANGE( '1', L, N, E, LDE, DWORK )
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,L )
+                     WRITE ( NOUT, FMT = 99990 )
+                     WRITE ( NOUT, FMT = 99995 ) ( RSCALE(J), J = 1,N )
+                     WRITE ( NOUT, FMT = 99994 )
+     $                       ABCNRM, SABCNM, ENORM, SENORM
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01AD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01AD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
+99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
+99995 FORMAT (20(1X,F9.4))
+99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
+     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
+     $         ' Norm of E                   =', 1PD10.3/
+     $         ' Norm of scaled E            =', 1PD10.3)
+99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
+99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
+99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01AD EXAMPLE PROGRAM DATA
+  4    4     2     2     A   0.0
+        -1         0         0    0.003
+         0         0    0.1000    0.02
+       100        10         0    0.4
+         0         0         0    0.0
+         1       0.2         0    0.0
+         0         1         0    0.01
+       300        90         6    0.3
+         0         0        20    0.0
+        10         0
+         0         0
+         0      1000
+     10000     10000
+      -0.1      0.0    0.001    0.0
+       0.0      0.01  -0.001    0.0001
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01AD EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix Dl*A*Dr is 
+   -1.0000    0.0000    0.0000    0.3000
+    0.0000    0.0000    1.0000    2.0000
+    1.0000    0.1000    0.0000    0.4000
+    0.0000    0.0000    0.0000    0.0000
+
+ The transformed descriptor matrix Dl*E*Dr is 
+    1.0000    0.2000    0.0000    0.0000
+    0.0000    1.0000    0.0000    1.0000
+    3.0000    0.9000    0.6000    0.3000
+    0.0000    0.0000    0.2000    0.0000
+
+ The transformed input/state matrix Dl*B is 
+  100.0000    0.0000
+    0.0000    0.0000
+    0.0000  100.0000
+  100.0000  100.0000
+
+ The transformed state/output matrix C*Dr is 
+   -0.0100    0.0000    0.0010    0.0000
+    0.0000    0.0010   -0.0010    0.0010
+
+ The diagonal of left scaling matrix Dl is 
+   10.0000   10.0000    0.1000    0.0100
+
+ The diagonal of right scaling matrix Dr is 
+    0.1000    0.1000    1.0000   10.0000
+
+ Norm of [ A B; C 0]         = 1.100D+04
+ Norm of scaled [ A B; C 0]  = 2.000D+02
+ Norm of E                   = 3.010D+02
+ Norm of scaled E            = 4.000D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01AZ.html b/doc/_static/doc/TG01AZ.html
new file mode 100644
index 00000000..c3e64f38
--- /dev/null
+++ b/doc/_static/doc/TG01AZ.html
@@ -0,0 +1,379 @@
+<HTML>
+<HEAD><TITLE>TG01AZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01AZ">TG01AZ</A></H2>
+<H3>
+Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C) (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To balance the matrices of the system pencil
+
+          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
+               ( C  0 )          ( 0  0 )
+
+  corresponding to the descriptor triple (A-lambda E,B,C),
+  by balancing. This involves diagonal similarity transformations
+  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
+  (A-lambda E,B,C) to make the rows and columns of system pencil
+  matrices
+
+               diag(Dl,I) * S * diag(Dr,I)
+
+  as close in norm as possible. Balancing may reduce the 1-norms
+  of the matrices of the system pencil S.
+
+  The balancing can be performed optionally on the following
+  particular system pencils
+
+           S = A-lambda E,
+
+           S = ( A-lambda E  B ),    or
+
+           S = ( A-lambda E ).
+               (     C      )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01AZ( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
+      DOUBLE PRECISION   THRESH
+C     .. Array Arguments ..
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   E( LDE, * )
+      DOUBLE PRECISION   DWORK( * ), LSCALE( * ), RSCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates which matrices are involved in balancing, as
+          follows:
+          = 'A':  All matrices are involved in balancing;
+          = 'B':  B, A and E matrices are involved in balancing;
+          = 'C':  C, A and E matrices are involved in balancing;
+          = 'N':  B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  THRESH  (input) DOUBLE PRECISION
+          Threshold value for magnitude of elements:
+          elements with magnitude less than or equal to
+          THRESH are ignored for balancing. THRESH &gt;= 0.
+          The magnitude is computed as the sum of the absolute
+          values of the real and imaginary parts.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*A*Dr.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the balanced matrix Dl*E*Dr.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, if M &gt; 0, the leading L-by-M part of this array
+          contains the balanced matrix Dl*B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the balanced matrix C*Dr.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
+          The scaling factors applied to S from left.  If Dl(j) is
+          the scaling factor applied to row j, then
+          SCALE(j) = Dl(j), for j = 1,...,L.
+
+  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
+          The scaling factors applied to S from right.  If Dr(j) is
+          the scaling factor applied to column j, then
+          SCALE(j) = Dr(j), for j = 1,...,N.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Balancing consists of applying a diagonal similarity
+  transformation
+                         -1
+               diag(Dl,I)  * S * diag(Dr,I)
+
+  to make the 1-norms of each row of the first L rows of S and its
+  corresponding N columns nearly equal.
+
+  Information about the diagonal matrices Dl and Dr are returned in
+  the vectors LSCALE and RSCALE, respectively.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+  [2] R.C. Ward, R. C.
+      Balancing the generalized eigenvalue problem.
+      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01AZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBS
+      INTEGER          I, INFO, J, L, M, N, P
+      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
+*     .. Local Arrays ..
+      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 E(LDE,NMAX)
+      DOUBLE PRECISION DWORK(LDWORK), LSCALE(LMAX), RSCALE(NMAX)
+*     .. External Functions ..
+      DOUBLE PRECISION ZLANGE
+      EXTERNAL         ZLANGE
+*     .. External Subroutines ..
+      EXTERNAL         TG01AZ
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Compute norms before scaling
+                  ABCNRM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
+     $                          ZLANGE( '1', L, M, B, LDB, DWORK ),
+     $                          ZLANGE( '1', P, N, C, LDC, DWORK ) )
+                  ENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01AZ( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
+     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     SABCNM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
+     $                             ZLANGE( '1', L, M, B, LDB, DWORK ),
+     $                             ZLANGE( '1', P, N, C, LDC, DWORK ) )
+                     SENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     WRITE ( NOUT, FMT = 99985 ) ( LSCALE(I), I = 1,L )
+                     WRITE ( NOUT, FMT = 99990 )
+                     WRITE ( NOUT, FMT = 99985 ) ( RSCALE(J), J = 1,N )
+                     WRITE ( NOUT, FMT = 99994 )
+     $                       ABCNRM, SABCNM, ENORM, SENORM
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01AZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01AZ = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
+99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
+99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
+99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
+     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
+     $         ' Norm of E                   =', 1PD10.3/
+     $         ' Norm of scaled E            =', 1PD10.3)
+99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
+99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
+99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (20(1X,F9.4))
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01AZ EXAMPLE PROGRAM DATA
+  4    4     2     2     A   0.0
+       (-1,0)       (0,0)       (0,0)  (0.003,0)
+        (0,0)       (0,0)  (0.1000,0)   (0.02,0)
+      (100,0)      (10,0)       (0,0)    (0.4,0)
+        (0,0)       (0,0)       (0,0)    (0.0,0)
+        (1,0)     (0.2,0)       (0,0)    (0.0,0)
+        (0,0)       (1,0)       (0,0)  ( 0.01,0)
+      (300,0)      (90,0)       (6,0)    (0.3,0)
+        (0,0)       (0,0)      (20,0)    (0.0,0)
+       (10,0)       (0,0)
+        (0,0)       (0,0)
+        (0,0)    (1000,0)
+    (10000,0)   (10000,0)
+     (-0.1,0)     (0.0,0)   (0.001,0)    (0.0,0)
+      (0.0,0)    (0.01,0)  (-0.001,0) (0.0001,0)
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01AZ EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix Dl*A*Dr is 
+   -1.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i     2.0000  +0.0000i 
+    1.0000  +0.0000i     0.1000  +0.0000i     0.0000  +0.0000i     0.4000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+
+ The transformed descriptor matrix Dl*E*Dr is 
+    1.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     1.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i 
+    3.0000  +0.0000i     0.9000  +0.0000i     0.6000  +0.0000i     0.3000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i 
+
+ The transformed input/state matrix Dl*B is 
+  100.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i   100.0000  +0.0000i 
+  100.0000  +0.0000i   100.0000  +0.0000i 
+
+ The transformed state/output matrix C*Dr is 
+   -0.0100  +0.0000i     0.0000  +0.0000i     0.0010  +0.0000i     0.0000  +0.0000i 
+    0.0000  +0.0000i     0.0010  +0.0000i    -0.0010  +0.0000i     0.0010  +0.0000i 
+
+ The diagonal of left scaling matrix Dl is 
+   10.0000   10.0000    0.1000    0.0100
+
+ The diagonal of right scaling matrix Dr is 
+    0.1000    0.1000    1.0000   10.0000
+
+ Norm of [ A B; C 0]         = 1.100D+04
+ Norm of scaled [ A B; C 0]  = 2.000D+02
+ Norm of E                   = 3.010D+02
+ Norm of scaled E            = 4.000D+00
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01BD.html b/doc/_static/doc/TG01BD.html
new file mode 100644
index 00000000..368f27ae
--- /dev/null
+++ b/doc/_static/doc/TG01BD.html
@@ -0,0 +1,260 @@
+<HTML>
+<HEAD><TITLE>TG01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01BD">TG01BD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to the generalized Hessenberg form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the matrices A and E of the system pencil
+
+          S =  ( A  B ) - lambda ( E  0 ) ,
+               ( C  0 )          ( 0  0 )
+
+  corresponding to the descriptor triple (A-lambda E,B,C),
+  to generalized upper Hessenberg form using orthogonal
+  transformations,
+
+       Q' * A * Z = H,   Q' * E * Z = T,
+
+  where H is upper Hessenberg, T is upper triangular, Q and Z
+  are orthogonal, and ' means transpose. The corresponding
+  transformations, written compactly as diag(Q',I) * S * diag(Z,I),
+  are also applied to B and C, getting Q' * B and C * Z.
+
+  The orthogonal matrices Q and Z are determined as products of
+  Givens rotations. They may either be formed explicitly, or they
+  may be postmultiplied into input matrices Q1 and Z1, so that
+
+       Q1 * A * Z1' = (Q1*Q) * H * (Z1*Z)'
+       Q1 * E * Z1' = (Q1*Q) * T * (Z1*Z)'.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01BD( JOBE, COMPQ, COMPZ, N, M, P, ILO, IHI, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBE
+      INTEGER            IHI, ILO, INFO, LDA, LDB, LDC, LDE, LDQ,
+     $                   LDWORK, LDZ, M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general square or an upper
+          triangular matrix, as follows:
+          = 'G':  E is a general square matrix;
+          = 'U':  E is an upper triangular matrix.
+
+  COMPQ   CHARACTER*1
+          Indicates what should be done with matrix Q, as follows:
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'V':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          Indicates what should be done with matrix Z, as follows:
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'V':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the matrices A, E, and the number of rows of
+          the matrix B.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  ILO     (input) INTEGER
+  IHI     (input) INTEGER
+          It is assumed that A and E are already upper triangular in
+          rows and columns 1:ILO-1 and IHI+1:N.  ILO and IHI could
+          normally be set by a previous call to LAPACK Library
+          routine DGGBAL; otherwise they should be set to 1 and N,
+          respectively.
+          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0; ILO=1 and IHI=0, if N=0.
+          If JOBE = 'U', the matrix E is assumed upper triangular.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the upper Hessenberg matrix H = Q' * A * Z. The elements
+          below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E. If JOBE = 'U', this
+          matrix is assumed upper triangular.
+          On exit, the leading N-by-N part of this array contains
+          the upper triangular matrix T = Q' * E * Z. The elements
+          below the diagonal are set to zero.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, if M &gt; 0, the leading N-by-M part of this array
+          contains the transformed matrix Q' * B.
+          The array B is not referenced if M = 0.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0;  LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, if P &gt; 0, the leading P-by-N part of this array
+          contains the transformed matrix C * Z.
+          The array C is not referenced if P = 0.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N':  Q is not referenced;
+          If COMPQ = 'I':  on entry, Q need not be set, and on exit
+                           it contains the orthogonal matrix Q,
+                           where Q' is the product of the Givens
+                           transformations which are applied to A,
+                           E, and B on the left;
+          If COMPQ = 'V':  on entry, Q must contain an orthogonal
+                           matrix Q1, and on exit this is
+                           overwritten by Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'V'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced;
+          If COMPZ = 'I':  on entry, Z need not be set, and on exit
+                           it contains the orthogonal matrix Z,
+                           which is the product of the Givens
+                           transformations applied to A, E, and C
+                           on the right;
+          If COMPZ = 'V':  on entry, Z must contain an orthogonal
+                           matrix Z1, and on exit this is
+                           overwritten by Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'V'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) contains the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of the array DWORK.
+          LDWORK &gt;= 1,                          if JOBE = 'U';
+          LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)), if JOBE = 'G', where
+          NI = N+1-ILO, if COMPQ = 'N', and NI = N, otherwise.
+          For good performance, if JOBE = 'G', LDWORK must generally
+          be larger, LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)*NB), where
+          NB is the optimal block size.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit.
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, this routine computes the QR factorization of E and applies
+  the transformations to A, B, and possibly Q. Then, the routine
+  reduces A to upper Hessenberg form, preserving E triangular, by
+  an unblocked reduction [1], using two sequences of plane rotations
+  applied alternately from the left and from the right. The
+  corresponding transformations may be accumulated and/or applied
+  to the matrices B and C. If JOBE = 'U', the initial reduction of E
+  to upper triangular form is skipped.
+
+  This routine is a modification and extension of the LAPACK Library
+  routine DGGHRD [2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Golub, G.H. and van Loan, C.F.
+      Matrix Computations. Third Edition.
+      M. D. Johns Hopkins University Press, Baltimore, 1996.
+
+  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+      Ostrouchov, S., and Sorensen, D.
+      LAPACK Users' Guide: Second Edition.
+      SIAM, Philadelphia, 1995.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01CD.html b/doc/_static/doc/TG01CD.html
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+<HTML>
+<HEAD><TITLE>TG01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01CD">TG01CD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system pair (A-lambda E,B) to the QR-coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the descriptor system pair (A-lambda E,B) to the
+  QR-coordinate form by computing an orthogonal transformation
+  matrix Q such that the transformed descriptor system pair
+  (Q'*A-lambda Q'*E, Q'*B) has the descriptor matrix Q'*E
+  in an upper trapezoidal form.
+  The left orthogonal transformations performed to reduce E
+  can be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB, Q, LDQ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ
+      INTEGER            INFO, L, LDA, LDB, LDE, LDQ, LDWORK, M, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
+     $                   E( LDE, * ), Q( LDQ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E in upper trapezoidal form,
+          i.e.
+
+                   ( E11 )
+            Q'*E = (     ) ,     if L &gt;= N ,
+                   (  0  )
+          or
+
+            Q'*E = ( E11 E12 ),  if L &lt; N ,
+
+          where E11 is an MIN(L,N)-by-MIN(L,N) upper triangular
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of Householder
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading L-by-L part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)).
+          For optimum performance
+          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)*NB),
+          where NB is the optimal blocksize.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the QR factorization of E to reduce it
+  to the upper trapezoidal form.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+      A &lt;- Q' * A ,  B &lt;- Q' * B.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20)
+      INTEGER          LDA, LDB, LDE, LDQ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX,
+     $                   LDE = LMAX, LDQ = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,MMAX) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ
+      INTEGER          I, INFO, J, L, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01CD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M
+      COMPQ = 'I'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+*              Find the transformed descriptor system pair
+*              (A-lambda E,B).
+               CALL TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB,
+     $                      Q, LDQ, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 30 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01CD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01CD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99993 FORMAT (/' The left transformation matrix Q is ')
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01CD EXAMPLE PROGRAM DATA
+  4    4     2    0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01CD EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix Q'*A is 
+  -0.6325  -0.9487   0.0000  -4.7434
+  -0.8706  -0.2176  -0.7255  -0.3627
+  -0.5203  -0.1301   0.3902   1.4307
+  -0.7559  -0.1890   0.5669   2.0788
+
+ The transformed descriptor matrix Q'*E is 
+  -3.1623  -9.1706  -5.6921  -2.8460
+   0.0000  -1.3784  -1.3059  -1.3784
+   0.0000   0.0000  -2.4279   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.3162  -0.9487
+   0.6529  -0.2176
+  -0.4336  -0.9538
+   1.1339   0.3780
+
+ The left transformation matrix Q is 
+  -0.3162   0.6529   0.3902   0.5669
+   0.0000  -0.7255   0.3902   0.5669
+  -0.9487  -0.2176  -0.1301  -0.1890
+   0.0000   0.0000  -0.8238   0.5669
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01DD.html b/doc/_static/doc/TG01DD.html
new file mode 100644
index 00000000..55661670
--- /dev/null
+++ b/doc/_static/doc/TG01DD.html
@@ -0,0 +1,302 @@
+<HTML>
+<HEAD><TITLE>TG01DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01DD">TG01DD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system pair (C,A-lambda E) to the RQ-coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the descriptor system pair (C,A-lambda E) to the
+  RQ-coordinate form by computing an orthogonal transformation
+  matrix Z such that the transformed descriptor system pair
+  (C*Z,A*Z-lambda E*Z) has the descriptor matrix E*Z in an upper
+  trapezoidal form.
+  The right orthogonal transformations performed to reduce E can
+  be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC, Z, LDZ,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPZ
+      INTEGER            INFO, L, LDA, LDC, LDE, LDWORK, LDZ, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
+     $                   E( LDE, * ), Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix A*Z.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix E*Z in upper trapezoidal form,
+          i.e.
+
+                   ( E11 )
+             E*Z = (     ) ,  if L &gt;= N ,
+                   (  R  )
+          or
+
+             E*Z = ( 0  R ),  if L &lt; N ,
+
+          where R is an MIN(L,N)-by-MIN(L,N) upper triangular
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)).
+          For optimum performance
+          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)*NB),
+          where NB is the optimal blocksize.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the RQ factorization of E to reduce it
+  the upper trapezoidal form.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+      A &lt;- A * Z,  C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*N*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, PMAX = 20)
+      INTEGER          LDA, LDC, LDE, LDZ
+      PARAMETER        ( LDA = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,PMAX) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPZ
+      INTEGER          I, INFO, J, L, N, P
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01DD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, P
+      COMPZ = 'I'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99992 ) L
+      ELSE
+         IF( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99991 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99990 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed descriptor system pair
+*              (A-lambda E,B).
+               CALL TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC,
+     $                      Z, LDZ, DWORK, LDWORK, INFO )
+*
+               IF( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, L
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99994 )
+                  DO 30 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   40             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01DD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01DD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (/' The transformed input/state matrix C*Z is ')
+99993 FORMAT (/' The right transformation matrix Z is ')
+99992 FORMAT (/' L is out of range.',/' L = ',I5)
+99991 FORMAT (/' N is out of range.',/' N = ',I5)
+99990 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01DD EXAMPLE PROGRAM DATA
+  4    4     2    0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01DD EXAMPLE PROGRAM RESULTS
+
+
+ The transformed state dynamics matrix A*Z is 
+   0.4082   3.0773   0.6030   0.0000
+   0.8165   1.7233   0.6030  -1.0000
+   2.0412   2.8311   2.4121   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed descriptor matrix E*Z is 
+   0.0000  -0.7385   2.1106   0.0000
+   0.0000   0.7385   1.2060   0.0000
+   0.0000   0.0000   9.9499  -6.0000
+   0.0000   0.0000   0.0000  -2.0000
+
+ The transformed input/state matrix C*Z is 
+  -0.8165   0.4924  -0.3015  -1.0000
+   0.0000   0.7385   1.2060   1.0000
+
+ The right transformation matrix Z is 
+   0.8165  -0.4924   0.3015   0.0000
+  -0.4082  -0.1231   0.9045   0.0000
+   0.0000   0.0000   0.0000  -1.0000
+   0.4082   0.8616   0.3015   0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01ED.html b/doc/_static/doc/TG01ED.html
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+<HTML>
+<HEAD><TITLE>TG01ED - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01ED">TG01ED</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a SVD coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for the descriptor system (A-lambda E,B,C)
+  the orthogonal transformation matrices Q and Z such that the
+  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is in an
+  SVD (singular value decomposition) coordinate form with
+  the system matrices  Q'*A*Z and Q'*E*Z in the form
+
+               ( A11  A12 )             ( Er  0 )
+      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
+               ( A21  A22 )             (  0  0 )
+
+  where Er is an invertible diagonal matrix having on the diagonal
+  the decreasingly ordered nonzero singular values of E.
+  Optionally, the A22 matrix can be further reduced to the
+  SVD form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  where Ar is an invertible diagonal matrix having on the diagonal
+  the decreasingly ordered nonzero singular values of A22.
+  The left and/or right orthogonal transformations performed
+  to reduce E and A22 are accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBA
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M, N, P, RNKA22, RANKE
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBA    CHARACTER*1
+          = 'N':  do not reduce A22;
+          = 'R':  reduce A22 to an SVD form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A*Z. If JOBA = 'R', this matrix
+          is in the form
+
+                        ( A11  *   *  )
+               Q'*A*Z = (  *   Ar  0  ) ,
+                        (  *   0   0  )
+
+          where A11 is a RANKE-by-RANKE matrix and Ar is a
+          RNKA22-by-RNKA22 invertible diagonal matrix, with
+          decresingly ordered positive diagonal elements.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E*Z.
+
+                   ( Er  0 )
+          Q'*E*Z = (       ) ,
+                   (  0  0 )
+
+          where Er is a RANKE-by-RANKE invertible diagonal matrix
+          having on the diagonal the decreasingly ordered positive
+          singular values of E.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,L)
+          The leading L-by-L part of this array contains the
+          orthogonal matrix Q, which is the accumulated product of
+          transformations applied to A, E, and B on the left.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z, which is the accumulated product of
+          transformations applied to A, E, and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
+
+  RANKE   (output) INTEGER
+          The effective rank of matrix E, and thus also the order
+          of the invertible diagonal submatrix Er.
+          RANKE is computed as the number of singular values of E
+          greater than TOL*SVEMAX, where SVEMAX is the maximum
+          singular value of E.
+
+  RNKA22  (output) INTEGER
+          If JOBA = 'R', then RNKA22 is the effective rank of
+          matrix A22, and thus also the order of the invertible
+          diagonal submatrix Ar. RNKA22 is computed as the number
+          of singular values of A22 greater than TOL*SVAMAX,
+          where SVAMAX is an estimate of the maximum singular value
+          of A.
+          If JOBA = 'N', then RNKA22 is not referenced.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the rank of E
+          and of A22. If TOL &gt; 0, then singular values less than
+          TOL*SVMAX are treated as zero, where SVMAX is the maximum
+          singular value of E or an estimate of it for A and E.
+          If TOL &lt;= 0, the default tolerance TOLDEF = EPS*L*N is
+          used instead, where EPS is the machine precision
+          (see LAPACK Library routine DLAMCH). TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,MIN(L,N) +
+                        MAX(3*MIN(L,N)+MAX(L,N), 5*MIN(L,N), M, P)).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  the QR algorithm has failed to converge when computing
+                singular value decomposition. In this case INFO
+                specifies how many superdiagonals did not converge.
+                This failure is not likely to occur.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes the singular value decomposition (SVD) of E,
+  in the form
+
+                 ( Er  0 )
+        E  = Q * (       ) * Z'
+                 (  0  0 )
+
+  and finds the largest RANKE-by-RANKE leading diagonal submatrix
+  Er whose condition number is less than 1/TOL. RANKE defines thus
+  the effective rank of matrix E.
+  If JOBA = 'R' the same reduction is performed on A22 in the
+  partitioned matrix
+
+               ( A11  A12 )
+      Q'*A*Z = (          ) ,
+               ( A21  A22 )
+
+  to obtain it in the form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an invertible diagonal matrix.
+
+  The accumulated transformations are also applied to the rest of
+  matrices
+
+       B &lt;- Q' * B,  C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01ED EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, MIN( LMAX, NMAX ) +
+     $                            MAX( MMAX, PMAX, 3*MIN( LMAX, NMAX ) +
+     $                            MAX( LMAX, NMAX ),
+     $                            5*MIN( LMAX, NMAX ) ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBA
+      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01ED
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL
+      JOBA = 'R'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                         C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
+     $                         TOL, DWORK, LDWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   50                CONTINUE
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01ED EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01ED = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Rank of matrix E   =', I5/
+     $        ' Rank of matrix A22 =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01ED EXAMPLE PROGRAM DATA
+  4    4     2     2     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01ED EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+ Rank of matrix A22 =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   2.1882  -0.8664  -3.5097  -2.1353
+  -0.4569  -0.2146   1.9802   0.3531
+  -0.5717  -0.5245  -0.4591   0.4696
+  -0.4766  -0.5846   2.1414   0.3086
+
+ The transformed descriptor matrix Q'*E*Z is 
+  11.8494   0.0000   0.0000   0.0000
+   0.0000   2.1302   0.0000   0.0000
+   0.0000   0.0000   1.0270   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.2396  -1.0668
+  -0.2656  -0.8393
+  -0.7657  -0.1213
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+  -0.2499  -1.0573   0.3912  -0.8165
+  -0.5225   1.3958   0.8825   0.0000
+
+ The left transformation matrix Q is 
+  -0.1534   0.5377  -0.6049   0.5669
+  -0.0872   0.2536   0.7789   0.5669
+  -0.9805  -0.0360   0.0395  -0.1890
+  -0.0863  -0.8033  -0.1608   0.5669
+
+ The right transformation matrix Z is 
+  -0.2612   0.2017  -0.4737   0.8165
+  -0.7780   0.4718  -0.0738  -0.4082
+  -0.5111  -0.8556  -0.0826   0.0000
+  -0.2556   0.0684   0.8737   0.4082
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01FD.html b/doc/_static/doc/TG01FD.html
new file mode 100644
index 00000000..d2d7231e
--- /dev/null
+++ b/doc/_static/doc/TG01FD.html
@@ -0,0 +1,484 @@
+<HTML>
+<HEAD><TITLE>TG01FD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01FD">TG01FD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a SVD-like coordinate form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for the descriptor system (A-lambda E,B,C)
+  the orthogonal transformation matrices Q and Z such that the
+  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
+  in a SVD-like coordinate form with
+
+               ( A11  A12 )             ( Er  0 )
+      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
+               ( A21  A22 )             (  0  0 )
+
+  where Er is an upper triangular invertible matrix.
+  Optionally, the A22 matrix can be further reduced to the form
+
+               ( Ar  X )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix, and X either a full
+  or a zero matrix.
+  The left and/or right orthogonal transformations performed
+  to reduce E and A22 can be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBA
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+  JOBA    CHARACTER*1
+          = 'N':  do not reduce A22;
+          = 'R':  reduce A22 to a SVD-like upper triangular form.
+          = 'T':  reduce A22 to an upper trapezoidal form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
+          is in the form
+
+                        ( A11  *   *  )
+               Q'*A*Z = (  *   Ar  X  ) ,
+                        (  *   0   0  )
+
+          where A11 is a RANKE-by-RANKE matrix and Ar is a
+          RNKA22-by-RNKA22 invertible upper triangular matrix.
+          If JOBA = 'R' then A has the above form with X = 0.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E*Z.
+
+                   ( Er  0 )
+          Q'*E*Z = (       ) ,
+                   (  0  0 )
+
+          where Er is a RANKE-by-RANKE upper triangular invertible
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of Householder
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading L-by-L part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading L-by-L part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  RANKE   (output) INTEGER
+          The estimated rank of matrix E, and thus also the order
+          of the invertible upper triangular submatrix Er.
+
+  RNKA22  (output) INTEGER
+          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
+          matrix A22, and thus also the order of the invertible
+          upper triangular submatrix Ar.
+          If JOBA = 'N', then RNKA22 is not referenced.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the rank of E
+          and of A22. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the
+          reciprocal condition numbers of leading submatrices
+          of R or R22 in the QR decompositions E * P = Q * R of E
+          or A22 * P22 = Q22 * R22 of A22.
+          A submatrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH). TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
+          For optimal performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of E, in the form
+
+                    ( E11 E12 )
+        E * P = Q * (         )
+                    (  0  E22 )
+
+  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
+  estimated condition number is less than 1/TOL. RANKE defines thus
+  the rank of matrix E. Further E22, being negligible, is set to
+  zero, and an orthogonal matrix Y is determined such that
+
+        ( E11 E12 ) = ( Er  0 ) * Y .
+
+  The overal transformation matrix Z results as Z = P * Y' and the
+  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
+
+                       ( Er  0 )                      ( A11  A12 )
+      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
+                       (  0  0 )                      ( A21  A22 )
+
+  where Er is an upper triangular invertible matrix.
+  If JOBA = 'R' the same reduction is performed on A22 to obtain it
+  in the form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+  If JOBA = 'T' then A22 is row compressed using the QR
+  factorization with column pivoting to the form
+
+               ( Ar  X )
+         A22 = (       )
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+       B &lt;- Q' * B, C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01FD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, PMAX,
+     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX, MMAX, LMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBA
+      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01FD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL
+      COMPQ = 'I'
+      COMPZ = 'I'
+      JOBA = 'R'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
+     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                         RANKE, RNKA22, TOL, IWORK, DWORK, LDWORK,
+     $                         INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   50                CONTINUE
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01FD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01FD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Rank of matrix E   =', I5/
+     $        ' Rank of matrix A22 =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01FD EXAMPLE PROGRAM DATA
+  4    4     2     2     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01FD EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+ Rank of matrix A22 =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   2.0278   0.1078   3.9062  -2.1571
+  -0.0980   0.2544   1.6053  -0.1269
+   0.2713   0.7760  -0.3692  -0.4853
+   0.0690  -0.5669  -2.1974   0.3086
+
+ The transformed descriptor matrix Q'*E*Z is 
+  10.1587   5.8230   1.3021   0.0000
+   0.0000  -2.4684  -0.1896   0.0000
+   0.0000   0.0000   1.0338   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.2157  -0.9705
+   0.3015   0.9516
+   0.7595   0.0991
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+   0.3651  -1.0000  -0.4472  -0.8165
+  -1.0954   1.0000  -0.8944   0.0000
+
+ The left transformation matrix Q is 
+  -0.2157  -0.5088   0.6109   0.5669
+  -0.1078  -0.2544  -0.7760   0.5669
+  -0.9705   0.1413  -0.0495  -0.1890
+   0.0000   0.8102   0.1486   0.5669
+
+ The right transformation matrix Z is 
+  -0.3651   0.0000   0.4472   0.8165
+  -0.9129   0.0000   0.0000  -0.4082
+   0.0000  -1.0000   0.0000   0.0000
+  -0.1826   0.0000  -0.8944   0.4082
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01FZ.html b/doc/_static/doc/TG01FZ.html
new file mode 100644
index 00000000..46016f0b
--- /dev/null
+++ b/doc/_static/doc/TG01FZ.html
@@ -0,0 +1,487 @@
+<HTML>
+<HEAD><TITLE>TG01FZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01FZ">TG01FZ</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a SVD-like coordinate form (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for the descriptor system (A-lambda E,B,C)
+  the unitary transformation matrices Q and Z such that the
+  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
+  in a SVD-like coordinate form with
+
+               ( A11  A12 )             ( Er  0 )
+      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
+               ( A21  A22 )             (  0  0 )
+
+  where Er is an upper triangular invertible matrix, and ' denotes
+  the conjugate transpose. Optionally, the A22 matrix can be further
+  reduced to the form
+
+               ( Ar  X )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix, and X either a full
+  or a zero matrix.
+  The left and/or right unitary transformations performed
+  to reduce E and A22 can be optionally accumulated.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
+     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBA
+      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDZ, LZWORK,
+     $                   M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   E( LDE, * ), Q( LDQ, * ), Z( LDZ, * ),
+     $                   ZWORK( * )
+      DOUBLE PRECISION   DWORK( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  unitary matrix Q is returned;
+          = 'U':  Q must contain a unitary matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  unitary matrix Z is returned;
+          = 'U':  Z must contain a unitary matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+  JOBA    CHARACTER*1
+          = 'N':  do not reduce A22;
+          = 'R':  reduce A22 to a SVD-like upper triangular form.
+          = 'T':  reduce A22 to an upper trapezoidal form.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of matrices A, B, and E.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of matrices A, E, and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
+          is in the form
+
+                        ( A11  *   *  )
+               Q'*A*Z = (  *   Ar  X  ) ,
+                        (  *   0   0  )
+
+          where A11 is a RANKE-by-RANKE matrix and Ar is a
+          RNKA22-by-RNKA22 invertible upper triangular matrix.
+          If JOBA = 'R' then A has the above form with X = 0.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading L-by-N part of this array contains
+          the transformed matrix Q'*E*Z.
+
+                   ( Er  0 )
+          Q'*E*Z = (       ) ,
+                   (  0  0 )
+
+          where Er is a RANKE-by-RANKE upper triangular invertible
+          matrix.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input/state matrix B.
+          On exit, the leading L-by-M part of this array contains
+          the transformed matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ,L)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading L-by-L part of this
+                           array contains the unitary matrix Q,
+                           where Q' is the product of Householder
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading L-by-L part of this
+                           array must contain a unitary matrix Q1;
+                           on exit, the leading L-by-L part of this
+                           array contains the unitary matrix Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the unitary matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain a unitary matrix Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the unitary matrix Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  RANKE   (output) INTEGER
+          The estimated rank of matrix E, and thus also the order
+          of the invertible upper triangular submatrix Er.
+
+  RNKA22  (output) INTEGER
+          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
+          matrix A22, and thus also the order of the invertible
+          upper triangular submatrix Ar.
+          If JOBA = 'N', then RNKA22 is not referenced.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining the rank of E
+          and of A22. If the user sets TOL &gt; 0, then the given
+          value of TOL is used as a lower bound for the
+          reciprocal condition numbers of leading submatrices
+          of R or R22 in the QR decompositions E * P = Q * R of E
+          or A22 * P22 = Q22 * R22 of A22.
+          A submatrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH). TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (2*N)
+
+  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
+          For optimal performance, LZWORK should be larger.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine computes a truncated QR factorization with column
+  pivoting of E, in the form
+
+                    ( E11 E12 )
+        E * P = Q * (         )
+                    (  0  E22 )
+
+  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
+  estimated condition number is less than 1/TOL. RANKE defines thus
+  the rank of matrix E. Further E22, being negligible, is set to
+  zero, and a unitary matrix Y is determined such that
+
+        ( E11 E12 ) = ( Er  0 ) * Y .
+
+  The overal transformation matrix Z results as Z = P * Y' and the
+  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
+
+                       ( Er  0 )                      ( A11  A12 )
+      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
+                       (  0  0 )                      ( A21  A22 )
+
+  where Er is an upper triangular invertible matrix.
+  If JOBA = 'R' the same reduction is performed on A22 to obtain it
+  in the form
+
+               ( Ar  0 )
+         A22 = (       ) ,
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+  If JOBA = 'T' then A22 is row compressed using the QR
+  factorization with column pivoting to the form
+
+               ( Ar  X )
+         A22 = (       )
+               (  0  0 )
+
+  with Ar an upper triangular invertible matrix.
+
+  The transformations are also applied to the rest of system
+  matrices
+
+       B &lt;- Q' * B, C &lt;- C * Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( L*L*N )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01FZ EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 2*NMAX )
+      INTEGER          LZWORK
+      PARAMETER        ( LZWORK = MAX( 1, NMAX+PMAX,
+     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX-1, MMAX, LMAX ) ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBA
+      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(NMAX)
+      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 E(LDE,NMAX), Q(LDQ,LMAX), Z(LDZ,NMAX),
+     $                 ZWORK(LZWORK)
+      DOUBLE PRECISION DWORK(LDWORK)
+*     .. External Subroutines ..
+      EXTERNAL         TG01FZ
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, TOL
+      COMPQ = 'I'
+      COMPZ = 'I'
+      JOBA = 'R'
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*                 Find the transformed descriptor system
+*                 (A-lambda E,B,C).
+                  CALL TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
+     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                         RANKE, RNKA22, TOL, IWORK, DWORK, ZWORK,
+     $                         LZWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, L
+                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
+   50                CONTINUE
+                     WRITE ( NOUT, FMT = 99990 )
+                     DO 60 I = 1, N
+                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01FZ EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01FZ = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4,SP,F8.4,S,'i '))
+99994 FORMAT (' Rank of matrix E   =', I5/
+     $        ' Rank of matrix A22 =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01FZ EXAMPLE PROGRAM DATA
+  4    4     2     2     0.0    
+    (-1,0)     (0,0)     (0,0)     (3,0)
+     (0,0)     (0,0)     (1,0)     (2,0)
+     (1,0)     (1,0)     (0,0)     (4,0)
+     (0,0)     (0,0)     (0,0)     (0,0)
+     (1,0)     (2,0)     (0,0)     (0,0)
+     (0,0)     (1,0)     (0,0)     (1,0)
+     (3,0)     (9,0)     (6,0)     (3,0)
+     (0,0)     (0,0)     (2,0)     (0,0)
+     (1,0)     (0,0)
+     (0,0)     (0,0)
+     (0,0)     (1,0)
+     (1,0)     (1,0)
+    (-1,0)     (0,0)     (1,0)     (0,0)
+     (0,0)     (1,0)    (-1,0)     (1,0)
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01FZ EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+ Rank of matrix A22 =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   2.0278 +0.0000i    0.1078 +0.0000i    3.9062 +0.0000i   -2.1571 +0.0000i 
+  -0.0980 +0.0000i    0.2544 +0.0000i    1.6053 +0.0000i   -0.1269 +0.0000i 
+   0.2713 +0.0000i    0.7760 +0.0000i   -0.3692 +0.0000i   -0.4853 +0.0000i 
+   0.0690 +0.0000i   -0.5669 +0.0000i   -2.1974 +0.0000i    0.3086 +0.0000i 
+
+ The transformed descriptor matrix Q'*E*Z is 
+  10.1587 +0.0000i    5.8230 +0.0000i    1.3021 +0.0000i    0.0000 +0.0000i 
+   0.0000 +0.0000i   -2.4684 +0.0000i   -0.1896 +0.0000i    0.0000 +0.0000i 
+   0.0000 +0.0000i    0.0000 +0.0000i    1.0338 +0.0000i    0.0000 +0.0000i 
+   0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
+
+ The transformed input/state matrix Q'*B is 
+  -0.2157 +0.0000i   -0.9705 +0.0000i 
+   0.3015 +0.0000i    0.9516 +0.0000i 
+   0.7595 +0.0000i    0.0991 +0.0000i 
+   1.1339 +0.0000i    0.3780 +0.0000i 
+
+ The transformed state/output matrix C*Z is 
+   0.3651 +0.0000i   -1.0000 +0.0000i   -0.4472 +0.0000i   -0.8165 +0.0000i 
+  -1.0954 +0.0000i    1.0000 +0.0000i   -0.8944 +0.0000i    0.0000 +0.0000i 
+
+ The left transformation matrix Q is 
+  -0.2157 +0.0000i   -0.5088 +0.0000i    0.6109 +0.0000i    0.5669 +0.0000i 
+  -0.1078 +0.0000i   -0.2544 +0.0000i   -0.7760 +0.0000i    0.5669 +0.0000i 
+  -0.9705 +0.0000i    0.1413 +0.0000i   -0.0495 +0.0000i   -0.1890 +0.0000i 
+   0.0000 +0.0000i    0.8102 +0.0000i    0.1486 +0.0000i    0.5669 +0.0000i 
+
+ The right transformation matrix Z is 
+  -0.3651 +0.0000i    0.0000 +0.0000i    0.4472 +0.0000i    0.8165 +0.0000i 
+  -0.9129 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i   -0.4082 +0.0000i 
+   0.0000 +0.0000i   -1.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
+  -0.1826 +0.0000i    0.0000 +0.0000i   -0.8944 +0.0000i    0.4082 +0.0000i 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01GD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01GD">TG01GD</A></H2>
+<H3>
+Reduced descriptor representation without non-dynamic modes 
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced descriptor representation (Ar-lambda*Er,Br,Cr)
+  without non-dynamic modes for a descriptor representation
+  (A-lambda*E,B,C). Optionally, the reduced descriptor system can
+  be put into a standard form with the leading diagonal block
+  of Er identity.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, D, LDD, LR, NR, RANKE, INFRED, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBS
+      INTEGER           INFO, INFRED, L, LDA, LDB, LDC, LDD, LDE,
+     $                  LDWORK, LR, M, N, NR, P, RANKE
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBS    CHARACTER*1
+          Indicates whether the user wishes to transform the leading
+          diagonal block of Er to an identity matrix, as follows:
+          = 'S':  make Er with leading diagonal identity;
+          = 'D':  keep Er unreduced or upper triangular.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of rows of the matrices A, E, and B;
+          also the number of differential equations.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrices A, E, and C;
+          also the dimension of descriptor state vector.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B;
+          also the dimension of the input vector.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.
+          also the dimension of the output vector.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, if NR &lt; N, the leading LR-by-NR part of this
+          array contains the reduced order state matrix Ar of a
+          descriptor realization without non-dynamic modes.
+          Array A contains the original state dynamics matrix if
+          INFRED &lt; 0.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, if INFRED &gt;= 0, the leading LR-by-NR part of this
+          array contains the reduced order descriptor matrix Er of a
+          descriptor realization without non-dynamic modes.
+          In this case, only the leading RANKE-by-RANKE submatrix
+          of Er is nonzero and this submatrix is nonsingular and
+          upper triangular. Array E contains the original descriptor
+          matrix if INFRED &lt; 0. If JOBS = 'S', then the leading
+          RANKE-by-RANKE submatrix results in an identity matrix.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading LR-by-M part of this array contains
+          the reduced order input matrix Br of a descriptor
+          realization without non-dynamic modes. Array B contains
+          the original input matrix if INFRED &lt; 0.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-NR part of this array contains
+          the reduced order output matrix Cr of a descriptor
+          realization without non-dynamic modes. Array C contains
+          the original output matrix if INFRED &lt; 0.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+          On entry, the leading P-by-M part of this array must
+          contain the original feedthrough matrix D.
+          On exit, the leading P-by-M part of this array contains
+          the feedthrough matrix Dr of a reduced descriptor
+          realization without non-dynamic modes.
+
+  LDD     INTEGER
+          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
+
+  LR      (output) INTEGER
+          The number of reduced differential equations.
+
+  NR      (output) INTEGER
+          The dimension of the reduced descriptor state vector.
+
+  RANKE   (output) INTEGER
+          The estimated rank of the matrix E.
+
+  INFRED  (output) INTEGER
+          This parameter contains information on performed reduction
+          and on structure of resulting system matrices, as follows:
+          INFRED &gt;= 0 the reduced system is in an SVD-like
+                      coordinate form with Er upper triangular;
+                      INFRED is the achieved order reduction.
+          INFRED  &lt; 0 no reduction achieved and the original
+                      system has been restored.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MIN(L,N) = 0; otherwise,
+          LDWORK &gt;= MAX( N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
+          If LDWORK &gt;= 2*L*N+L*M+N*P+
+                       MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ) then
+          the original matrices are restored if no order reduction
+          is possible. This is achieved by saving system matrices
+          before reduction and restoring them if no order reduction
+          took place.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA. The optimal size does not necessarily include the 
+          space needed for saving the original system matrices.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine elliminates the non-dynamics modes in two steps:
+
+  Step 1: Reduce the system to the SVD-like coordinate form
+  (Q'*A*Z-lambda*Q'*E*Z, Q'*B, C*Z) , where
+
+           ( A11 A12 A13 )           ( E11 0 0 )         ( B1 )
+  Q'*A*Z = ( A21 A22  0  ), Q'*E*Z = (  0  0 0 ), Q'*B = ( B2 ),
+           ( A31  0   0  )           (  0  0 0 )         ( B3 )
+
+     C*Z = ( C1  C2  C3 ),
+
+  where E11 and A22 are upper triangular invertible matrices.
+
+  Step 2: Compute the reduced system as (Ar-lambda*Er,Br,Cr,Dr),
+  where
+       ( A11 - A12*inv(A22)*A21, A13 )        ( E11 0 )
+  Ar = (                             ),  Er = (       ),
+       (     A31                  0  )        (  0  0 )
+
+       ( B1 - A12*inv(A22)*B2 )
+  Br = (                      ),  Cr = ( C1 - C2*inv(A22)*A21, C3 ),
+       (        B3            )
+
+  Dr = D - C2*inv(A22)*B2.
+
+  Step 3: If desired (JOBS = 'S'), reduce the descriptor system to
+  the standard form
+
+  Ar &lt;- diag(inv(E11),I)*Ar;  Br &lt;- diag(inv(E11),I)*Br;
+  Er  = diag(I,0).
+
+  If L = N and LR = NR = RANKE, then if Step 3 is performed,
+  the resulting system is a standard state space system.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  If L = N, the algorithm requires 0( N**3 ) floating point
+  operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01GD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDD, LDE
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDD = PMAX, LDE = LMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MIN( LMAX, NMAX ) +
+     $                            MAX( 3*NMAX - 1, MMAX, LMAX ) +
+     $                            2*LMAX*NMAX + LMAX*MMAX + PMAX*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOBS
+      INTEGER          I, INFO, INFRED, J, L, LR, M, N, NR, P, RANKE
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),   C(LDC,NMAX),
+     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01GD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX, MIN
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) L, N, M, P, JOBS, TOL
+      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
+         WRITE ( NOUT, FMT = 99989 ) L
+      ELSE
+         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+            WRITE ( NOUT, FMT = 99988 ) N
+         ELSE
+            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
+            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
+            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+               WRITE ( NOUT, FMT = 99987 ) M
+            ELSE
+               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
+               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+                  WRITE ( NOUT, FMT = 99986 ) P
+               ELSE
+                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+                  READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
+*                 Find the reduced descriptor system
+*                 (A-lambda E,B,C,D).
+                  CALL TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                         C, LDC, D, LDD, LR, NR, RANKE, INFRED,
+     $                         TOL, IWORK, DWORK, LDWORK, INFO )
+*
+                  IF ( INFO.NE.0 ) THEN
+                     WRITE ( NOUT, FMT = 99998 ) INFO
+                  ELSE
+                     WRITE ( NOUT, FMT = 99994 ) RANKE
+                     WRITE ( NOUT, FMT = 99997 )
+                     DO 10 I = 1, LR
+                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   10                CONTINUE
+                     WRITE ( NOUT, FMT = 99996 )
+                     DO 20 I = 1, LR
+                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   20                CONTINUE
+                     WRITE ( NOUT, FMT = 99993 )
+                     DO 30 I = 1, LR
+                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30                CONTINUE
+                     WRITE ( NOUT, FMT = 99992 )
+                     DO 40 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   40                CONTINUE
+                     WRITE ( NOUT, FMT = 99991 )
+                     DO 50 I = 1, P
+                        WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
+   50                CONTINUE
+                  END IF
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01GD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01GD = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix is ')
+99996 FORMAT (/' The reduced descriptor matrix is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Rank of matrix E   =', I5)
+99993 FORMAT (/' The reduced input/state matrix is ')
+99992 FORMAT (/' The reduced state/output matrix is ')
+99991 FORMAT (/' The transformed feedthrough matrix is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01GD EXAMPLE PROGRAM DATA
+  4    4     2     2     D     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+     1     0
+     1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01GD EXAMPLE PROGRAM RESULTS
+
+ Rank of matrix E   =    3
+
+ The reduced state dynamics matrix is 
+   2.5102  -3.8550 -11.4533
+  -0.0697   0.0212   0.7015
+   0.3798  -0.1156  -3.8250
+
+ The reduced descriptor matrix is 
+  10.1587   5.8230   1.3021
+   0.0000  -2.4684  -0.1896
+   0.0000   0.0000   1.0338
+
+ The reduced input/state matrix is 
+   7.7100   1.6714
+   0.7678   1.1070
+   2.5428   0.6935
+
+ The reduced state/output matrix is 
+   0.5477  -2.5000  -6.2610
+  -1.0954   1.0000  -0.8944
+
+ The transformed feedthrough matrix is 
+   4.0000   1.0000
+   1.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01HD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HD">TG01HD</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to the controllability staircase form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the N-th order descriptor system (A-lambda*E,B,C)
+  to the form
+
+             ( Ac  *  )             ( Ec  *  )           ( Bc )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (    ) ,
+             ( 0  Anc )             ( 0  Enc )           ( 0  )
+
+       C*Z = ( Cc Cnc ) ,
+
+  where the NCONT-th order descriptor system (Ac-lambda*Ec,Bc,Cc)
+  is a finite and/or infinite controllable. The pencil
+  Anc - lambda*Enc is regular of order N-NCONT and contains the
+  uncontrollable finite and/or infinite eigenvalues of the pencil
+  A-lambda*E.
+
+  For JOBCON = 'C' or 'I', the pencil ( Bc Ec-lambda*Ac ) has full
+  row rank NCONT for all finite lambda and is in a staircase form
+  with
+                  _      _          _        _
+                ( E1,0   E1,1  ...  E1,k-1   E1,k  )
+                (        _          _        _     )
+    ( Bc Ec ) = (  0     E2,1  ...  E2,k-1   E2,k  ) ,  (1)
+                (              ...  _        _     )
+                (  0       0   ...  Ek,k-1   Ek,k  )
+
+                  _          _        _
+                ( A1,1  ...  A1,k-1   A1,k  )
+                (            _        _     )
+      Ac      = (   0   ...  A2,k-1   A2,k  ) ,         (2)
+                (       ...           _     )
+                (   0   ...    0      Ak,k  )
+        _
+  where Ei,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
+                         _
+  (with rtau(0) = M) and Ai,i is an rtau(i)-by-rtau(i)
+  upper triangular matrix.
+
+  For JOBCON = 'F', the pencil ( Bc Ac-lambda*Ec ) has full
+  row rank NCONT for all finite lambda and is in a staircase form
+  with
+                  _     _          _        _
+                ( A1,0  A1,1  ...  A1,k-1   A1,k  )
+                (       _          _        _     )
+    ( Bc Ac ) = (  0    A2,1  ...  A2,k-1   A2,k  ) ,   (3)
+                (             ...  _        _     )
+                (  0      0   ...  Ak,k-1   Ak,k  )
+
+                  _          _        _
+                ( E1,1  ...  E1,k-1   E1,k  )
+                (            _        _     )
+      Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (4)
+                (       ...           _     )
+                (   0   ...    0      Ek,k  )
+        _
+  where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
+                         _
+  (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
+  upper triangular matrix.
+
+  For JOBCON = 'C', the (N-NCONT)-by-(N-NCONT) regular pencil
+  Anc - lambda*Enc has the form
+
+                      ( Ainc - lambda*Einc         *          )
+   Anc - lambda*Enc = (                                       ) ,
+                      (        0           Afnc - lambda*Efnc )
+
+  where:
+    1) the NIUCON-by-NIUCON regular pencil Ainc - lambda*Einc,
+       with Ainc upper triangular and nonsingular, contains the
+       uncontrollable infinite eigenvalues of A - lambda*E;
+    2) the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) regular pencil
+       Afnc - lambda*Efnc, with Efnc upper triangular and
+       nonsingular, contains the uncontrollable finite
+       eigenvalues of A - lambda*E.
+
+  Note: The significance of the two diagonal blocks can be
+        interchanged by calling the routine with the
+        arguments A and E interchanged. In this case,
+        Ainc - lambda*Einc contains the uncontrollable zero
+        eigenvalues of A - lambda*E, while Afnc - lambda*Efnc
+        contains the uncontrollable nonzero finite and infinite
+        eigenvalues of A - lambda*E.
+
+  For JOBCON = 'F', the pencil Anc - lambda*Enc has the form
+
+     Anc - lambda*Enc = Afnc - lambda*Efnc ,
+
+  where the regular pencil Afnc - lambda*Efnc, with Efnc
+  upper triangular and nonsingular, contains the uncontrollable
+  finite eigenvalues of A - lambda*E.
+
+  For JOBCON = 'I', the pencil Anc - lambda*Enc has the form
+
+     Anc - lambda*Enc = Ainc - lambda*Einc ,
+
+  where the regular pencil Ainc - lambda*Einc, with Ainc
+  upper triangular and nonsingular, contains the uncontrollable
+  nonzero finite and infinite eigenvalues of A - lambda*E.
+
+  The left and/or right orthogonal transformations Q and Z
+  performed to reduce the system matrices can be optionally
+  accumulated.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has
+  the same transfer-function matrix as the original system
+  (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HD( JOBCON, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NCONT, NIUCON,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBCON
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
+     $                   M, N, NCONT, NIUCON, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBCON  CHARACTER*1
+          = 'C':  separate both finite and infinite uncontrollable
+                  eigenvalues;
+          = 'F':  separate only finite uncontrollable eigenvalues:
+          = 'I':  separate only nonzero finite and infinite
+                  uncontrollable eigenvalues.
+
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Ac   *  )
+                    Q'*A*Z = (         ) ,
+                             ( 0   Anc )
+
+          where Ac is NCONT-by-NCONT and Anc is
+          (N-NCONT)-by-(N-NCONT).
+          If JOBCON = 'F', the matrix ( Bc Ac ) is in the
+          controllability staircase form (3).
+          If JOBCON = 'C' or 'I', the submatrix Ac is upper
+          triangular.
+          If JOBCON = 'C', the Anc matrix has the form
+
+                          ( Ainc   *  )
+                    Anc = (           ) ,
+                          (  0   Afnc )
+
+          where the NIUCON-by-NIUCON matrix Ainc is nonsingular and
+          upper triangular.
+          If JOBCON = 'I', Anc is nonsingular and upper triangular.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z,
+
+                             ( Ec   *  )
+                    Q'*E*Z = (         ) ,
+                             ( 0   Enc )
+
+          where Ec is NCONT-by-NCONT and Enc is
+          (N-NCONT)-by-(N-NCONT).
+          If JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
+          controllability staircase form (1).
+          If JOBCON = 'F', the submatrix Ec is upper triangular.
+          If JOBCON = 'C', the Enc matrix has the form
+
+                          ( Einc   *  )
+                    Enc = (           ) ,
+                          (  0   Efnc )
+
+          where the NIUCON-by-NIUCON matrix Einc is nilpotent
+          and the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) matrix Efnc
+          is nonsingular and upper triangular.
+          If JOBCON = 'F', Enc is nonsingular and upper triangular.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix
+
+                           ( Bc )
+                    Q'*B = (    ) ,
+                           ( 0  )
+
+           where Bc is NCONT-by-M.
+           For JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
+           controllability staircase form (1).
+           For JOBCON = 'F', the matrix ( Bc Ac ) is in the
+           controllability staircase form (3).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Q,
+                          where Q' is the product of transformations
+                          which are applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Qc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Qc*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Z,
+                          which is the product of transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Zc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Zc*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NCONT   (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of reduced matrix Bc; also the order of
+          the controllable part of the pair (A-lambda*E,B).
+
+  NIUCON  (output) INTEGER
+          For JOBCON = 'C', the order of the reduced matrices
+          Ainc and Einc; also the number of uncontrollable
+          infinite eigenvalues of the pencil A - lambda*E.
+          For JOBCON = 'F' or 'I', NIUCON has no significance
+          and is set to zero.
+
+  NRBLCK  (output) INTEGER
+          For JOBCON = 'C' or 'I', the number k, of full row rank
+                 _
+          blocks Ei,i in the staircase form of the pencil
+          (Bc Ec-lambda*Ac) (see (1) and (2)).
+          For JOBCON = 'F', the number k, of full row rank blocks
+          _
+          Ai,i in the staircase form of the pencil (Bc Ac-lambda*Ec)
+          (see (3) and (4)).
+
+  RTAU    (output) INTEGER array, dimension (N)
+          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
+                                  _         _
+          the full row rank block Ei,i-1 or Ai,i-1 in the staircase
+          form (1) or (3) for JOBCON = 'C' or 'I', or
+          for JOBCON = 'F', respectively.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*M))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithms of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A, E and B are badly scaled, it is
+  generally recommendable to scale them with the SLICOT routine
+  TG01AD, before calling TG01HD.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01HD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*MMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBCO
+      INTEGER          I, INFO, J, M, N, NCONT, NIUCON, NRBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(MMAX), RTAU(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01HD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBCO
+      COMPQ = 'I'
+      COMPZ = 'I'
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed descriptor system (A-lambda E,B,C).
+               CALL TG01HD( JOBCO, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                      NCONT, NIUCON, NRBLCK, RTAU, TOL, IWORK,
+     $                      DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NCONT, NIUCON
+                  WRITE ( NOUT, FMT = 99985 )
+                  WRITE ( NOUT, FMT = 99984 ) ( RTAU(I), I = 1,NRBLCK )
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01HD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01HD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Dimension of controllable part   =', I5/
+     $        ' Number of uncontrollable infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The staircase form row dimensions are ' )
+99984 FORMAT (10I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01HD EXAMPLE PROGRAM DATA
+  7    3     2     0.0    C
+     2     0     2     0    -1     3     1
+     0     1     0     0     1     0     0
+     0     0     0     1     0     0     1
+     0     0     2     0    -1     3     1
+     0     0     0     1     0     0     1
+     0     1     0     0     1     0     0
+     0     0     0     1     0     0     1
+     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0
+     0     0     0     0     0     0     1
+     0     0     0     0     0     0     1
+     0     0     0     1     0     0     0
+     0     0     1     0    -1     0     0
+     1     3     0     2     0     0     0
+     2     1     0
+     0     0     0
+     0     0     0
+     0     0     0
+     0     0     0
+     0     0     0
+     1     2     3
+     1     0     0     1     0     0     1
+     0    -1     1     0    -1     1     0
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01HD EXAMPLE PROGRAM RESULTS
+
+ Dimension of controllable part   =    3
+ Number of uncontrollable infinite eigenvalues =    1
+
+ The staircase form row dimensions are 
+    2    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   0.0000   0.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
+   0.0000   2.0000   0.0000  -3.7417  -0.8520   0.2924  -0.4342
+   0.0000   0.0000   1.7862   0.3780  -0.2651  -0.7723   0.0000
+   0.0000   0.0000   0.0000   3.7417   0.8520  -0.2924   0.4342
+   0.0000   0.0000   0.0000   0.0000  -1.5540   0.5334   0.5742
+   0.0000   0.0000   0.0000   0.0000  -0.6533   0.2242   0.2414
+   0.0000   0.0000   0.0000   0.0000  -0.5892   0.2022   0.2177
+
+ The transformed descriptor matrix Q'*E*Z is 
+  -1.8325   1.0000   2.3752   0.0000  -0.8214   0.2819   1.8016
+   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
+  -0.1728   0.0000  -0.1333  -1.1339   0.1325   0.3861   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.8520  -0.2924   0.4342
+   0.0000   0.0000   0.0000   0.0000  -1.0260  -0.1496   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.1937   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+
+ The transformed input/state matrix Q'*B is 
+   1.0000   2.0000   3.0000
+   2.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000
+
+ The transformed state/output matrix C*Z is 
+   0.0000   1.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
+   0.3665   0.0000  -0.9803  -1.6036   0.1874   0.5461   0.0000
+
+ The left transformation matrix Q is 
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.7071   0.0000   0.2740  -0.6519   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.8304   0.3491  -0.4342
+   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.4003   0.1683   0.9008
+   0.0000   0.0000   0.7071   0.0000  -0.2740   0.6519   0.0000
+   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+
+ The right transformation matrix Z is 
+   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+  -0.6108   0.0000   0.7917   0.0000   0.0000   0.0000   0.0000
+   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
+   0.0000   0.0000   0.0000   0.0000  -0.4107   0.1410   0.9008
+   0.6108   0.0000   0.4713   0.2673  -0.1874  -0.5461   0.0000
+  -0.1222   0.0000  -0.0943  -0.8018  -0.1874  -0.5461   0.0000
+   0.0000   0.0000   0.0000   0.0000  -0.8520   0.2924  -0.4342
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01HU - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HU">TG01HU</A></H2>
+<H3>
+Staircase controllability representation of a multi-input descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given the descriptor system (A-lambda*E,B,C) with the system
+  matrices A, E and B of the form
+
+         ( A1 X1 )        ( E1 Y1 )        ( B1 B2 )
+     A = (       ) ,  E = (       ) ,  B = (       ) ,
+         ( 0  X2 )        ( 0  Y2 )        ( 0  0  )
+
+  where
+       - B is an L-by-(M1+M2) matrix,
+         with B1 an N1-by-M1 submatrix, B2 an N1-by-M2 submatrix,
+       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
+       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
+           with LBE nonzero sub-diagonals,
+  this routine reduces the pair (A1-lambda*E1,[B1 B2]) to the form
+
+  Qc'*[B1 B2 A1-lambda*E1 ]*diag(I,Zc) =
+
+                           ( Bc1 Bc2 Ac-lambda*Ec      *         )
+                           (                                     ) ,
+                           (  0   0       0       Anc-lambda*Enc )
+
+  where:
+  1) the pencil ( Bc1 Bc2 Ac-lambda*Ec ) has full row rank NR for
+     all finite lambda and is in a staircase form with
+
+             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
+             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
+             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
+             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
+        Ac = [  .   .   . . .    .      .     .  ],              (1)
+             [  .   .     . .    .      .     .  ]
+             [  .   .       .    .      .     .  ]
+             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
+
+                  [ A1,-1 A1,0 ]
+                  [  0    A2,0 ]
+                  [  0     0   ]             ( E11  E12 ...  E1p  )
+                  [  0     0   ]             (  0   E22 ...  E2p  )
+      [Bc1 Bc2] = [  .     .   ],       Ec = (   .   .   .    .   ),
+                  [  .     .   ]             (   .   .   .    .   )
+                  [  .     .   ]             (   0   0  ...  Epp  )
+                  [  0     0   ]
+
+      where the block  Ai,i-2 is an rtau(i)-by-rtau(i-2) full row
+      rank matrix (with rtau(-1) = M1, rtau(0) = M2) and Ei,i is an
+      rtau(i)-by-rtau(i) upper triangular matrix.
+
+   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
+      upper triangular; this pencil contains the uncontrollable
+      finite eigenvalues of the pencil (A1-lambda*E1).
+
+  The transformations are applied to the whole matrices A, E, B
+  and C. The left and/or right orthogonal transformations Qc and Zc,
+  performed to reduce the pencil, can be optionally accumulated in
+  the matrices Q and Z, respectively.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
+  uncontrollable finite eigenvalues and has the same transfer-
+  function matrix as the original system (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HU( COMPQ, COMPZ, L, N, M1, M2, P, N1, LBE, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ
+      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M1, M2, N, N1, NR, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of descriptor state equations; also the number
+          of rows of the matrices A, E and B.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          number of columns of the matrices A, E and C.  N &gt;= 0.
+
+  M1      (input) INTEGER
+          The number of system inputs in U1, or of columns of B1.
+          M1 &gt;= 0.
+
+  M2      (input) INTEGER
+          The number of system inputs in U2, or of columns of B2.
+          M2 &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output; also the
+          number of rows of the matrix C.  P &gt;= 0.
+
+  N1      (input) INTEGER
+          The order of the subsystem (A1-lambda*E1,B1,C1) to be
+          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
+
+  LBE     (input) INTEGER
+          The number of nonzero sub-diagonals of the submatrix E1.
+          MAX(0,N1-1) &gt;= LBE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N state matrix A in the partitioned form
+
+                   ( A1 X1 )
+               A = (       ) ,
+                   ( 0  X2 )
+
+          where A1 is N1-by-N1.
+          On exit, the leading L-by-N part of this array contains
+          the transformed state matrix,
+
+                                       ( Ac  *   * )
+                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
+                                       ( 0   0   * )
+
+          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N descriptor matrix E in the partitioned
+          form
+                   ( E1 Y1 )
+               E = (       ) ,
+                   ( 0  Y2 )
+
+          where E1 is an N1-by-N1 matrix with LBE nonzero
+          sub-diagonals.
+          On exit, the leading L-by-N part of this array contains
+          the transformed descriptor matrix
+
+                                       ( Ec  *   * )
+                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
+                                       ( 0   0   * )
+
+          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
+          Both Ec and Enc are upper triangular and Enc is
+          nonsingular.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          with M = M1 + M2.
+          On entry, the leading L-by-M part of this array must
+          contain the L-by-M input matrix B in the partitioned form
+
+                   ( Bi )
+               B = (    ) ,
+                   ( 0  )
+
+          where Bi is N1-by-M.
+          On exit, the leading L-by-M part of this array contains
+          the transformed input matrix
+
+                            ( Bc )
+                    Qc'*B = (    ) ,
+                            ( 0  )
+
+          where Bc is NR-by-M.
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Zc.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix Qc,
+                          where Qc' is the product of the
+                          transformations applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading L-by-L part of this
+                          array must contain an orthogonal matrix Q;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix
+                          Q*Qc.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'I' or 'U'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Zc,
+                          i.e., the product of the transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix Z;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Z*Zc.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of the reduced matrix Bc; also the order of
+          the controllable part of the pair (B, A-lambda*E).
+
+  NRBLCK  (output) INTEGER
+          The number p, of full row rank blocks Ai,i-2 in the
+          staircase form of the pencil (Bc1 Bc2 Ac-lambda*Ec).
+
+  RTAU    (output) INTEGER array, dimension (2*N1)
+          The leading NRBLCK elements of this array contain the
+          orders of the diagonal blocks of Ac. NRBLCK is always
+          an even number, and the NRBLCK/2 odd and even components
+          of RTAU have decreasing values, respectively.
+          Note that some elements of RTAU can be zero.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if MIN(N1,M) = 0; otherwise,
+          LDWORK &gt;= MAX(N1+MAX(L,N,M),2*M), if LBE &gt; 0 and N1 &gt; 2;
+          LDWORK &gt;= MAX(1,L,N,2*M),         if LBE = 0 or N1 &lt;= 2.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The implemented algorithm [1] represents a specialization of the
+  controllability staircase algorithm of [2] to the special structure
+  of the input matrix B = [B1,B2].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Reliable algorithms for computing minimal dynamic covers for
+      descriptor systems.
+      Proc. of MTNS'04, Leuven, Belgium, 2004.
+
+  [2] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N*N1**2 )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01HX.html b/doc/_static/doc/TG01HX.html
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+<HTML>
+<HEAD><TITLE>TG01HX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HX">TG01HX</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given the descriptor system (A-lambda*E,B,C) with the system
+  matrices A, E and B of the form
+
+         ( A1 X1 )        ( E1 Y1 )        ( B1 )
+     A = (       ) ,  E = (       ) ,  B = (    ) ,
+         ( 0  X2 )        ( 0  Y2 )        ( 0  )
+
+  where
+       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix
+       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix
+       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
+           with LBE nonzero sub-diagonals,
+  this routine reduces the pair (A1-lambda*E1,B1) to the form
+
+  Qc'*[B1 A1-lambda*E1]*diag(I,Zc) =
+
+                           ( Bc Ac-lambda*Ec      *         )
+                           (                                ) ,
+                           ( 0     0         Anc-lambda*Enc )
+
+  where:
+  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
+     all finite lambda and is in a staircase form with
+                        _      _          _        _
+                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
+                      (        _          _        _     )
+          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
+                      (              ...  _        _     )
+                      (  0       0   ...  Ak,k-1   Ak,k  )
+
+                        _          _        _
+                      ( E1,1  ...  E1,k-1   E1,k  )
+                      (            _        _     )
+            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
+                      (       ...           _     )
+                      (   0   ...    0      Ek,k  )
+            _
+      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
+                                    _
+      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
+      upper triangular matrix.
+
+   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
+      upper triangular; this pencil contains the uncontrollable
+      finite eigenvalues of the pencil (A1-lambda*E1).
+
+  The transformations are applied to the whole matrices A, E, B
+  and C. The left and/or right orthogonal transformations Qc and Zc
+  performed to reduce the pencil can be optionally accumulated
+  in the matrices Q and Z, respectively.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
+  uncontrollable finite eigenvalues and has the same
+  transfer-function matrix as the original system (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HX( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ
+      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDZ, M,
+     $                   N, N1, NR, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of descriptor state equations; also the number
+          of rows of matrices A, E and B.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          number of columns of matrices A, E and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  N1      (input) INTEGER
+          The order of subsystem (A1-lambda*E1,B1,C1) to be reduced.
+          MIN(L,N) &gt;= N1 &gt;= 0.
+
+  LBE     (input) INTEGER
+          The number of nonzero sub-diagonals of submatrix E1.
+          MAX(0,N1-1) &gt;= LBE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N state matrix A in the partitioned
+          form
+                   ( A1 X1 )
+               A = (       ) ,
+                   ( 0  X2 )
+
+          where A1 is N1-by-N1.
+          On exit, the leading L-by-N part of this array contains
+          the transformed state matrix,
+
+                               ( Ac  *   * )
+                    Qc'*A*Zc = ( 0  Anc  * ) ,
+                               ( 0   0   * )
+
+          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
+          The matrix ( Bc Ac ) is in the controllability
+          staircase form (1).
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N descriptor matrix E in the partitioned
+          form
+                   ( E1 Y1 )
+               E = (       ) ,
+                   ( 0  Y2 )
+
+          where E1 is N1-by-N1 matrix with LBE nonzero
+          sub-diagonals.
+          On exit, the leading L-by-N part of this array contains
+          the transformed descriptor matrix
+
+                               ( Ec  *   * )
+                    Qc'*E*Zc = ( 0  Enc  * ) ,
+                               ( 0   0   * )
+
+          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
+          Both Ec and Enc are upper triangular and Enc is
+          nonsingular.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the L-by-M input matrix B in the partitioned
+          form
+                   ( B1 )
+               B = (    ) ,
+                   ( 0  )
+
+          where B1 is N1-by-M.
+          On exit, the leading L-by-M part of this array contains
+          the transformed input matrix
+
+                            ( Bc )
+                    Qc'*B = (    ) ,
+                            ( 0  )
+
+          where Bc is NR-by-M.
+          The matrix ( Bc Ac ) is in the controllability
+          staircase form (1).
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Zc.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix Qc,
+                          where Qc' is the product of transformations
+                          which are applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading L-by-L part of this
+                          array must contain an orthogonal matrix Q;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix
+                          Q*Qc.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Zc,
+                          which is the product of transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix Z;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Z*Zc.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of the reduced matrix Bc; also the order of
+          the controllable part of the pair (B, A-lambda*E).
+
+  NRBLCK  (output) INTEGER                      _
+          The number k, of full row rank blocks Ai,i in the
+          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
+          and (2)).
+
+  RTAU    (output) INTEGER array, dimension (N1)
+          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
+                                  _
+          the full row rank block Ai,i-1 in the staircase form (1).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,L,2*M))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N*N1**2 )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01HY.html b/doc/_static/doc/TG01HY.html
new file mode 100644
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+++ b/doc/_static/doc/TG01HY.html
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+<HTML>
+<HEAD><TITLE>TG01HY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01HY">TG01HY</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues (blocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  Given the descriptor system (A-lambda*E,B,C) with the system
+  matrices A, E and B of the form
+
+         ( A1 X1 )        ( E1 Y1 )        ( B1 )
+     A = (       ) ,  E = (       ) ,  B = (    ) ,
+         ( 0  X2 )        ( 0  Y2 )        ( 0  )
+
+  where
+       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix,
+       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
+       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
+           with LBE nonzero sub-diagonals,
+  this routine reduces the pair (A1-lambda*E1,B1) to the form
+
+  Qc'*[ B1 A1-lambda*E1 ]*diag(I,Zc) =
+
+                           ( Bc Ac-lambda*Ec      *         )
+                           (                                ) ,
+                           ( 0     0         Anc-lambda*Enc )
+
+  where:
+  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
+     all finite lambda and is in a staircase form with
+                        _      _          _        _
+                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
+                      (        _          _        _     )
+          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
+                      (              ...  _        _     )
+                      (  0       0   ...  Ak,k-1   Ak,k  )
+
+                        _          _        _
+                      ( E1,1  ...  E1,k-1   E1,k  )
+                      (            _        _     )
+            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
+                      (       ...           _     )
+                      (   0   ...    0      Ek,k  )
+            _
+      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
+                                    _
+      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
+      upper triangular matrix.
+
+   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
+      upper triangular; this pencil contains the uncontrollable
+      finite eigenvalues of the pencil (A1-lambda*E1).
+
+  The transformations are applied to the whole matrices A, E, B
+  and C. The left and/or right orthogonal transformations Qc and Zc,
+  performed to reduce the pencil, can be optionally accumulated in
+  the matrices Q and Z, respectively.
+
+  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
+  uncontrollable finite eigenvalues and has the same transfer-
+  function matrix as the original system (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01HY( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
+     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ
+      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
+     $                   LDZ, M, N, N1, NR, NRBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IWORK( * ), RTAU( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  L       (input) INTEGER
+          The number of descriptor state equations; also the number
+          of rows of the matrices A, E and B.  L &gt;= 0.
+
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          number of columns of the matrices A, E and C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output; also the
+          number of rows of the matrix C.  P &gt;= 0.
+
+  N1      (input) INTEGER
+          The order of the subsystem (A1-lambda*E1,B1,C1) to be
+          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
+
+  LBE     (input) INTEGER
+          The number of nonzero sub-diagonals of the submatrix E1.
+          MAX(0,N1-1) &gt;= LBE &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N state matrix A in the partitioned form
+
+                   ( A1 X1 )
+               A = (       ) ,
+                   ( 0  X2 )
+
+          where A1 is N1-by-N1.
+          On exit, the leading L-by-N part of this array contains
+          the transformed state matrix,
+
+                                       ( Ac  *   * )
+                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
+                                       ( 0   0   * )
+
+          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading L-by-N part of this array must
+          contain the L-by-N descriptor matrix E in the partitioned
+          form
+                   ( E1 Y1 )
+               E = (       ) ,
+                   ( 0  Y2 )
+
+          where E1 is an N1-by-N1 matrix with LBE nonzero
+          sub-diagonals.
+          On exit, the leading L-by-N part of this array contains
+          the transformed descriptor matrix
+
+                                       ( Ec  *   * )
+                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
+                                       ( 0   0   * )
+
+          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
+          Both Ec and Enc are upper triangular.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading L-by-M part of this array must
+          contain the L-by-M input matrix B in the partitioned form
+
+                   ( B1 )
+               B = (    ) ,
+                   ( 0  )
+
+          where B1 is N1-by-M.
+          On exit, the leading L-by-M part of this array contains
+          the transformed input matrix
+
+                            ( Bc )
+                    Qc'*B = (    ) ,
+                            ( 0  )
+
+          where Bc is NR-by-M.
+          The matrix ( Bc Ac ) is in the controllability staircase
+          form (1).
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Zc.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix Qc,
+                          where Qc' is the product of the
+                          transformations applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading L-by-L part of this
+                          array must contain an orthogonal matrix Q;
+                          on exit, the leading L-by-L part of this
+                          array contains the orthogonal matrix
+                          Q*Qc.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Zc,
+                          i.e., the product of the transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix Z;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Z*Zc.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NR      (output) INTEGER
+          The order of the reduced matrices Ac and Ec, and the
+          number of rows of the reduced matrix Bc; also the order of
+          the controllable part of the pair (B, A-lambda*E).
+
+  NRBLCK  (output) INTEGER                      _
+          The number k, of full row rank blocks Ai,i in the
+          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
+          and (2)).
+
+  RTAU    (output) INTEGER array, dimension (N1)
+          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
+                                  _
+          the full row rank block Ai,i-1 in the staircase form (1).
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = L*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (M)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,N,L,2*(M+N1-1))
+          For good performance, LDWORK should be generally larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+  If suitable, it uses block algorithms for the reduction of the
+  matrix E and for the corresponding updates of the matrices A, B,
+  and Q. Moreover, for large systems, the row transformations are
+  applied on panels of columns of the matrices A, B, and E.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Varga, A.
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N*N1**2 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If INFO &gt; 0 on entry, that value is used as block size for the
+  block algorithms. Otherwise, the block size is chosen internally.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01ID">TG01ID</A></H2>
+<H3>
+Orthogonal reduction of a descriptor system to the observability staircase form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the N-th order descriptor system (A-lambda*E,B,C)
+  to the form
+
+             ( Ano  * )             ( Eno  * )           ( Bno )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (     ) ,
+             ( 0   Ao )             ( 0   Eo )           ( Bo  )
+
+       C*Z = ( 0   Co ) ,
+
+  where the NOBSV-th order descriptor system (Ao-lambda*Eo,Bo,Co)
+  is a finite and/or infinite observable. The pencil
+  Ano - lambda*Eno is regular of order N-NOBSV and contains the
+  unobservable finite and/or infinite eigenvalues of the pencil
+  A-lambda*E.
+
+  For JOBOBS = 'O' or 'I', the pencil ( Eo-lambda*Ao ) has full
+                                      (      Co      )
+  column rank NOBSV for all finite lambda and is in a staircase form
+  with
+                  _      _            _      _
+                ( Ek,k   Ek,k-1   ... Ek,2   Ek,1   )
+                ( _      _            _      _      )
+    ( Eo ) =    ( Ek-1,k Ek-1,k-1 ... Ek-1,2 Ek-1,1 ) ,  (1)
+    ( Co )      (     ...         ... _      _      )
+                (  0       0      ... E1,2   E1,1   )
+                (                            _      )
+                (  0       0      ... 0      E0,1   )
+                  _          _      _
+                ( Ak,k  ...  Ak,2   Ak,1 )
+                (       ...  _      _    )
+      Ao      = (   0   ...  A2,2   A2,1 ) ,             (2)
+                (                   _    )
+                (   0   ...    0    A1,1 )
+        _
+  where Ei-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
+                         _
+  (with CTAU(0) = P) and Ai,i is a CTAU(i)-by-CTAU(i)
+  upper triangular matrix.
+
+  For JOBOBS = 'F', the pencil ( Ao-lambda*Eo ) has full
+                               (      Co      )
+  column rank NOBSV for all finite lambda and is in a staircase form
+  with
+                  _      _            _      _
+                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
+                ( _      _            _      _      )
+    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,  (3)
+    ( Co )      (     ...         ... _      _      )
+                (  0       0      ... A1,2   A1,1   )
+                (                            _      )
+                (  0       0      ... 0      A0,1   )
+                  _          _      _
+                ( Ek,k  ...  Ek,2   Ek,1 )
+                (       ...  _      _    )
+      Eo      = (   0   ...  E2,2   E2,1 ) ,             (4)
+                (                   _    )
+                (   0   ...    0    E1,1 )
+        _
+  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
+                         _
+  (with CTAU(0) = P) and Ei,i is a CTAU(i)-by-CTAU(i)
+  upper triangular matrix.
+
+  For JOBOBS = 'O', the (N-NOBSV)-by-(N-NOBSV) regular pencil
+  Ano - lambda*Eno has the form
+
+                      ( Afno - lambda*Efno         *          )
+   Ano - lambda*Eno = (                                       ) ,
+                      (        0           Aino - lambda*Eino )
+
+  where:
+    1) the NIUOBS-by-NIUOBS regular pencil Aino - lambda*Eino,
+       with Aino upper triangular and nonsingular, contains the
+       unobservable infinite eigenvalues of A - lambda*E;
+    2) the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) regular pencil
+       Afno - lambda*Efno, with Efno upper triangular and
+       nonsingular, contains the unobservable finite
+       eigenvalues of A - lambda*E.
+
+  Note: The significance of the two diagonal blocks can be
+        interchanged by calling the routine with the
+        arguments A and E interchanged. In this case,
+        Aino - lambda*Eino contains the unobservable zero
+        eigenvalues of A - lambda*E, while Afno - lambda*Efno
+        contains the unobservable nonzero finite and infinite
+        eigenvalues of A - lambda*E.
+
+  For JOBOBS = 'F', the pencil Ano - lambda*Eno has the form
+
+     Ano - lambda*Eno = Afno - lambda*Efno ,
+
+  where the regular pencil Afno - lambda*Efno, with Efno
+  upper triangular and nonsingular, contains the unobservable
+  finite eigenvalues of A - lambda*E.
+
+  For JOBOBS = 'I', the pencil Ano - lambda*Eno has the form
+
+     Ano - lambda*Eno = Aino - lambda*Eino ,
+
+  where the regular pencil Aino - lambda*Eino, with Aino
+  upper triangular and nonsingular, contains the unobservable
+  nonzero finite and infinite eigenvalues of A - lambda*E.
+
+  The left and/or right orthogonal transformations Q and Z
+  performed to reduce the system matrices can be optionally
+  accumulated.
+
+  The reduced order descriptor system (Ao-lambda*Eo,Bo,Co) has
+  the same transfer-function matrix as the original system
+  (A-lambda*E,B,C).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NOBSV, NIUOBS,
+     $                   NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOBOBS
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
+     $                   M, N, NIUOBS, NLBLCK, NOBSV, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            CTAU( * ), IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
+     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBOBS   CHARACTER*1
+          = 'O':  separate both finite and infinite unobservable
+                  eigenvalues;
+          = 'F':  separate only finite unobservable eigenvalues;
+          = 'I':  separate only nonzero finite and infinite
+                  unobservable eigenvalues.
+
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Ano  *  )
+                    Q'*A*Z = (         ) ,
+                             ( 0    Ao )
+
+          where Ao is NOBSV-by-NOBSV and Ano is
+          (N-NOBSV)-by-(N-NOBSV).
+          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
+                                      ( Co )
+          staircase form (3).
+          If JOBOBS = 'O' or 'I', the submatrix Ao is upper
+          triangular.
+          If JOBOBS = 'O', the submatrix Ano has the form
+
+                          ( Afno   *  )
+                    Ano = (           ) ,
+                          (  0   Aino )
+
+          where the NIUOBS-by-NIUOBS matrix Aino is nonsingular and
+          upper triangular.
+          If JOBOBS = 'I', Ano is nonsingular and upper triangular.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*E*Z,
+
+                             ( Eno  *  )
+                    Q'*E*Z = (         ) ,
+                             ( 0    Eo )
+
+          where Eo is NOBSV-by-NOBSV and Eno is
+          (N-NOBSV)-by-(N-NOBSV).
+          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
+                                             ( Co )
+          observability staircase form (1).
+          If JOBOBS = 'F', the submatrix Eo is upper triangular.
+          If JOBOBS = 'O', the Eno matrix has the form
+
+                          ( Efno   *  )
+                    Eno = (           ) ,
+                          (  0   Eino )
+
+          where the NIUOBS-by-NIUOBS matrix Eino is nilpotent
+          and the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) matrix Efno
+          is nonsingular and upper triangular.
+          If JOBOBS = 'F', Eno is nonsingular and upper triangular.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension
+          (LDB,MAX(M,P))
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of array B.
+          LDB &gt;= MAX(1,N) if M &gt; 0 or LDB &gt;= 1 if M = 0.
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix
+
+                  C*Z = (  0   Co ) ,
+
+          where Co is P-by-NOBSV.
+          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
+                                             ( Co )
+          observability staircase form (1).
+          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
+                                      ( Co )
+          staircase form (3).
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N': Q is not referenced.
+          If COMPQ = 'I': on entry, Q need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Q,
+                          where Q' is the product of transformations
+                          which are applied to A, E, and B on
+                          the left.
+          If COMPQ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Qc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Qc*Q.
+
+  LDQ     INTEGER
+          The leading dimension of array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N': Z is not referenced.
+          If COMPZ = 'I': on entry, Z need not be set;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix Z,
+                          which is the product of transformations
+                          applied to A, E, and C on the right.
+          If COMPZ = 'U': on entry, the leading N-by-N part of this
+                          array must contain an orthogonal matrix
+                          Zc;
+                          on exit, the leading N-by-N part of this
+                          array contains the orthogonal matrix
+                          Zc*Z.
+
+  LDZ     INTEGER
+          The leading dimension of array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
+
+  NOBSV   (output) INTEGER
+          The order of the reduced matrices Ao and Eo, and the
+          number of columns of reduced matrix Co; also the order of
+          observable part of the pair (C, A-lambda*E).
+
+  NIUOBS  (output) INTEGER
+          For JOBOBS = 'O', the order of the reduced matrices
+          Aino and Eino; also the number of unobservable
+          infinite eigenvalues of the pencil A - lambda*E.
+          For JOBOBS = 'F' or 'I', NIUOBS has no significance
+          and is set to zero.
+
+  NLBLCK  (output) INTEGER
+          For JOBOBS = 'O' or 'I', the number k, of full column rank
+                 _
+          blocks Ei-1,i in the staircase form of the pencil
+          (Eo-lambda*Ao) (see (1) and (2)).
+          (    Co      )
+          For JOBOBS = 'F', the number k, of full column rank blocks
+          _
+          Ai-1,i in the staircase form of the pencil (Ao-lambda*Eo)
+                                                     (     Co     )
+          (see (3) and (4)).
+
+  CTAU    (output) INTEGER array, dimension (N)
+          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
+                                        _         _
+          of the full column rank block Ei-1,i or Ai-1,i in the
+          staircase form (1) or (3) for JOBOBS = 'O' or 'I', or
+          for JOBOBS = 'F', respectively.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A'-lambda*E',C')'. If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
+          is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (P)
+
+  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*P))
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the dual of the reduction
+  algorithms of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the system matrices A, E and C are badly scaled, it is
+  generally recommendable to scale them with the SLICOT routine
+  TG01AD, before calling TG01ID.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01ID EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          LMAX, NMAX, MMAX, PMAX
+      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          MPMX
+      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = MAX(MMAX,PMAX),
+     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOBOBS
+      INTEGER          I, INFO, J, M, N, NOBSV, NIUOBS, NLBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IWORK(MMAX), CTAU(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01ID
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOBOBS
+      COMPQ = 'I'
+      COMPZ = 'I'
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the transformed descriptor system (A-lambda E,B,C).
+               CALL TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
+     $                      NOBSV, NIUOBS, NLBLCK, CTAU, TOL, IWORK,
+     $                      DWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NOBSV, NIUOBS
+                  WRITE ( NOUT, FMT = 99985 )
+                  WRITE ( NOUT, FMT = 99984 ) ( CTAU(I), I = 1,NLBLCK )
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01ID = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Dimension of observable part   =', I5/
+     $        ' Number of unobservable infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT (/' L is out of range.',/' L = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The staircase form column dimensions are ' )
+99984 FORMAT (10I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01ID EXAMPLE PROGRAM DATA
+  7    2     3     0.0    O
+     2     0     0     0     0     0     0
+     0     1     0     0     0     1     0
+     2     0     0     2     0     0     0
+     0     0     1     0     1     0     1
+    -1     1     0    -1     0     1     0
+     3     0     0     3     0     0     0
+     1     0     1     1     1     0     1
+     0     0     0     0     0     0     1
+     0     0     0     0     0     0     3
+     1     0     0     0     0     1     0
+     0     0     0     0     1     0     2
+     0     0     0     0     0    -1     0
+     0     1     0     0     0     0     0
+     0     0     1     1     0     0     0
+     1     0
+     0    -1
+     0     1
+     1     0
+     0    -1
+     0     1
+     1     0
+     2     0     0     0     0     0     1
+     1     0     0     0     0     0     2
+     0     0     0     0     0     0     3
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01ID EXAMPLE PROGRAM RESULTS
+
+ Dimension of observable part   =    3
+ Number of unobservable infinite eigenvalues =    1
+
+ The staircase form column dimensions are 
+    2    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   0.2177   0.2414   0.5742   0.4342   0.0000  -0.4342   0.4666
+   0.2022   0.2242   0.5334  -0.2924  -0.7723   0.2924   0.4334
+  -0.5892  -0.6533  -1.5540   0.8520  -0.2651  -0.8520  -1.2627
+   0.0000   0.0000   0.0000   3.7417   0.3780  -3.7417   0.0000
+   0.0000   0.0000   0.0000   0.0000   1.7862   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
+
+ The transformed descriptor matrix Q'*E*Z is 
+   1.0000   0.0000   0.0000   0.4342   0.0000   0.0000   1.8016
+   0.0000   1.1937  -0.1496  -0.2924   0.3861   0.5461   0.2819
+   0.0000   0.0000  -1.0260   0.8520   0.1325   0.1874  -0.8214
+   0.0000   0.0000   0.0000   0.0000  -1.1339  -0.5345   0.0000
+   0.0000   0.0000   0.0000   0.0000  -0.1333   0.3770   2.3752
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000  -0.1728   0.4887  -1.8325
+
+ The transformed input/state matrix Q'*B is 
+   0.4666   0.0000
+   0.4334   0.5461
+  -1.2627   0.1874
+   0.0000  -1.6036
+   0.0000  -0.9803
+   1.0000   0.0000
+   0.0000   0.3665
+
+ The transformed state/output matrix C*Z is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   1.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   2.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   3.0000
+
+ The left transformation matrix Q is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.7917   0.0000  -0.6108
+   0.0000   0.5461   0.1874  -0.5345   0.3770   0.0000   0.4887
+   0.9008   0.1410  -0.4107   0.0000   0.0000   0.0000   0.0000
+   0.0000  -0.5461  -0.1874   0.2673   0.4713   0.0000   0.6108
+   0.0000  -0.5461  -0.1874  -0.8018  -0.0943   0.0000  -0.1222
+  -0.4342   0.2924  -0.8520   0.0000   0.0000   0.0000   0.0000
+
+ The right transformation matrix Z is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
+   0.0000  -0.6519   0.2740   0.0000   0.7071   0.0000   0.0000
+  -0.4342   0.3491   0.8304   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
+   0.9008   0.1683   0.4003   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.6519  -0.2740   0.0000   0.7071   0.0000   0.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01JD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01JD">TG01JD</A></H2>
+<H3>
+Irreducible descriptor representation
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or irreducible)
+  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
+  descriptor representation (A-lambda*E,B,C).
+  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
+  either Ar or Er upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
+     $                   B, LDB, C, LDC, NR, INFRED, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         EQUIL, JOB, SYSTYP
+      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INFRED(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'I':  Remove both the uncontrollable and unobservable
+                  parts to get an irreducible descriptor
+                  representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable descriptor representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable descriptor representation.
+
+  SYSTYP  CHARACTER*1
+          Indicates the type of descriptor system algorithm
+          to be applied according to the assumed
+          transfer-function matrix as follows:
+          = 'R':  Rational transfer-function matrix;
+          = 'S':  Proper (standard) transfer-function matrix;
+          = 'P':  Polynomial transfer-function matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily scale
+          the system (A-lambda*E,B,C) as follows:
+          = 'S':  Perform scaling;
+          = 'N':  Do not perform scaling.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order state matrix Ar of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The matrix Ar is upper triangular if SYSTYP = 'R' or 'P'.
+          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
+          is in a controllable staircase form (see TG01HD).
+          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
+                                                           ( Cr )
+          is in an observable staircase form (see TG01HD).
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original descriptor matrix E.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order descriptor matrix Er of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The resulting Er has INFRED(6) nonzero sub-diagonals.
+          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
+          resulting Er is structured being either upper triangular
+          or block Hessenberg, in accordance to the last
+          performed order reduction phase (see METHOD).
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input matrix B; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the reduced input matrix Br of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'C', only the first IWORK(1) rows of B are
+          nonzero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original output matrix C; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cr of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
+          (in the first NR columns) of C are nonzero.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced descriptor representation
+          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
+          or observable realization for the original system,
+          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
+          respectively.
+
+  INFRED  (output) INTEGER array, dimension 7
+          This array contains information on performed reduction
+          and on structure of resulting system matrices as follows:
+          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
+                         (see METHOD) has been performed. In this
+                         case, INFRED(k) is the achieved order
+                         reduction in Phase k.
+          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
+                         performed.
+          INFRED(5)  -   the number of nonzero sub-diagonals of A.
+          INFRED(6)  -   the number of nonzero sub-diagonals of E.
+          INFRED(7)  -   the number of blocks in the resulting
+                         staircase form at last performed reduction
+                         phase. The block dimensions are contained
+                         in the first INFRED(7) elements of IWORK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in rank determinations when
+          transforming (A-lambda*E,B,C). If the user sets TOL &gt; 0,
+          then the given value of TOL is used as a lower bound for
+          reciprocal condition numbers in rank determinations; a
+          (sub)matrix whose estimated condition number is less than
+          1/TOL is considered to be of full rank.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          defined by  TOLDEF = N*N*EPS,  is used instead, where
+          EPS is the machine precision (see LAPACK Library routine
+          DLAMCH).  TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension ((c*N+MAX(M,P)), where
+          c = 2, if JOB = 'I' or SYSTYP = 'R', and c = 1, otherwise.
+          On exit, if INFO = 0, the leading INFRED(7) elements of
+          IWORK contain the orders of the diagonal blocks of
+          Ar-lambda*Er.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(8*N,2*M,2*P), if EQUIL = 'S';
+          LDWORK &gt;= MAX(N,2*M,2*P),   if EQUIL = 'N'.
+          If LDWORK &gt;= 2*N*N+N*M+N*P+MAX(N,2*M,2*P) then more
+          accurate results are to be expected by performing only
+          those reductions phases (see METHOD), where effective
+          order reduction occurs. This is achieved by saving the
+          system matrices before each phase and restoring them if no
+          order reduction took place.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithms of [1].
+  The order reduction is performed in 4 phases:
+  Phase 1: Eliminate all finite uncontrollable eigenvalues.
+           The resulting matrix ( Br Ar ) is in a controllable
+           staircase form (see SLICOT Library routine TG01HD), and
+           Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'S'.
+  Phase 2: Eliminate all infinite and finite nonzero uncontrollable
+           eigenvalues. The resulting matrix ( Br Er ) is in a
+           controllable staircase form (see TG01HD), and Ar is
+           upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'P'.
+  Phase 3: Eliminate all finite unobservable eigenvalues.
+           The resulting matrix ( Ar ) is in an observable
+                                ( Cr )
+           staircase form (see SLICOT Library routine TG01ID), and
+           Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'S'.
+  Phase 4: Eliminate all infinite and finite nonzero unobservable
+           eigenvalues. The resulting matrix ( Er ) is in an
+                                             ( Cr )
+           observable staircase form (see TG01ID), and Ar is
+           upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'P'.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the pencil (A-lambda*E) has no zero eigenvalues, then an
+  irreducible realization can be computed skipping Phases 1 and 3
+  by using the setting: JOB = 'I' and SYSTYP = 'P'.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01JD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = MAX( 8*NMAX,2*MMAX,2*PMAX ),
+     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        EQUIL, JOB, SYSTYP
+      INTEGER          I, INFO, J, M, N, NR, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          INFRED(7), IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01JD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, SYSTYP, EQUIL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
+               CALL TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
+     $                      B, LDB, C, LDC, NR, INFRED, TOL, IWORK,
+     $                      DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NR
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 10 I = 1, 4
+                     IF( INFRED(I).GE.0 )
+     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 30 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 50 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   50             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01JD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01JD = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99996 FORMAT (/' The reduced descriptor matrix Er is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5 )
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' Achieved order reductions in different phases')
+99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01JD EXAMPLE PROGRAM DATA
+  9    2    2     0.0    I  R  N 
+    -2    -3     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     0    -2    -3     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     1     0
+     0     0
+     0     1
+     0     0
+    -1     0
+     0     0
+     0    -1
+     0     0
+     0     0
+     1     0     1    -3     0     1     0     2     0
+     0     1     1     3     0     1     0     0     1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01JD EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    7
+
+ Achieved order reductions in different phases
+ Phase 1:  0 elliminated eigenvalue(s)
+ Phase 2:  0 elliminated eigenvalue(s)
+ Phase 3:  2 elliminated eigenvalue(s)
+ Phase 4:  0 elliminated eigenvalue(s)
+
+ The reduced state dynamics matrix Ar is 
+   1.0000  -0.0393  -0.0980  -0.1066   0.0781  -0.2330   0.0777
+   0.0000   1.0312   0.2717   0.2609  -0.1533   0.6758  -0.3553
+   0.0000   0.0000   1.3887   0.6699  -0.4281   1.6389  -0.7615
+   0.0000   0.0000   0.0000  -1.2147   0.2423  -0.9792   0.4788
+   0.0000   0.0000   0.0000   0.0000  -1.0545   0.5035  -0.2788
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+
+ The reduced descriptor matrix Er is 
+   0.4100   0.2590   0.5080  -0.3109   0.0705   0.1429  -0.1477
+  -0.7629  -0.3464   0.0992  -0.3007   0.0619   0.2483  -0.0152
+   0.1120  -0.2124  -0.4184  -0.1288   0.0569  -0.4213  -0.6182
+   0.0000   0.1122  -0.0039   0.2771  -0.0758   0.0975   0.3923
+   0.0000   0.0000   0.3708  -0.4290   0.1006   0.1402  -0.2699
+   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
+   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
+
+ The reduced input/state matrix Br is 
+  -0.5597   0.2363
+  -0.4843  -0.0498
+  -0.4727  -0.1491
+   0.1802   1.1574
+   0.5995   0.1556
+  -0.1729  -0.3999
+   0.0000   0.2500
+
+ The reduced state/output matrix Cr is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01JY.html b/doc/_static/doc/TG01JY.html
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+<HTML>
+<HEAD><TITLE>TG01JY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01JY">TG01JY</A></H2>
+<H3>
+Irreducible descriptor representation (blocked version)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To find a reduced (controllable, observable, or irreducible)
+  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
+  descriptor representation (A-lambda*E,B,C).
+  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
+  either Ar or Er upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P, A,
+     $                   LDA, E, LDE, B, LDB, C, LDC, NR, INFRED, TOL,
+     $                   IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         CKSING, EQUIL, JOB, RESTOR, SYSTYP
+      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
+C     .. Array Arguments ..
+      INTEGER           INFRED(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
+     $                  E(LDE,*), TOL(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          Indicates whether the user wishes to remove the
+          uncontrollable and/or unobservable parts as follows:
+          = 'I':  Remove both the uncontrollable and unobservable
+                  parts to get an irreducible descriptor
+                  representation;
+          = 'C':  Remove the uncontrollable part only to get a
+                  controllable descriptor representation;
+          = 'O':  Remove the unobservable part only to get an
+                  observable descriptor representation.
+
+  SYSTYP  CHARACTER*1
+          Indicates the type of descriptor system algorithm
+          to be applied according to the assumed
+          transfer-function matrix as follows:
+          = 'R':  Rational transfer-function matrix;
+          = 'S':  Proper (standard) transfer-function matrix;
+          = 'P':  Polynomial transfer-function matrix.
+
+  EQUIL   CHARACTER*1
+          Specifies whether the user wishes to preliminarily scale
+          the system (A-lambda*E,B,C) as follows:
+          = 'S':  Perform scaling;
+          = 'N':  Do not perform scaling.
+
+  CKSING  CHARACTER*1
+          Specifies whether the user wishes to check if the pencil
+          (A-lambda*E) is singular as follows:
+          = 'C':  Check singularity;
+          = 'N':  Do not check singularity.
+          If the pencil is singular, the reduced system computed for
+          CKSING = 'N' can be wrong.
+
+  RESTOR  CHARACTER*1
+          Specifies whether the user wishes to save the system
+          matrices before each phase and restore them if no order
+          reduction took place as follows:
+          = 'R':  Save and restore;
+          = 'N':  Do not save the matrices.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The dimension of descriptor system input vector; also the
+          number of columns of matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The dimension of descriptor system output vector; also the
+          number of rows of matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order state matrix Ar of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The matrix Ar is upper triangular if SYSTYP = 'P'.
+          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
+          is in a controllable staircase form (see SLICOT Library
+          routine TG01HD).
+          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
+                                                           ( Cr )
+          is in an observable staircase form (see TG01HD).
+          The resulting Ar has INFRED(5) nonzero sub-diagonals.
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original descriptor matrix E.
+          On exit, the leading NR-by-NR part of this array contains
+          the reduced order descriptor matrix Er of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          The resulting Er has INFRED(6) nonzero sub-diagonals.
+          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
+          resulting Er is structured being either upper triangular
+          or block Hessenberg, in accordance to the last
+          performed order reduction phase (see METHOD).
+          The block structure of staircase forms is contained
+          in the leading INFRED(7) elements of IWORK.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
+          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
+          On entry, the leading N-by-M part of this array must
+          contain the original input matrix B; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
+          part is used as internal workspace.
+          On exit, the leading NR-by-M part of this array contains
+          the reduced input matrix Br of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'C', only the first IWORK(1) rows of B are
+          nonzero.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the original output matrix C; if JOB = 'I',
+          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
+          part is used as internal workspace.
+          On exit, the leading P-by-NR part of this array contains
+          the transformed state/output matrix Cr of an irreducible,
+          controllable, or observable realization for the original
+          system, depending on the value of JOB, JOB = 'I',
+          JOB = 'C', or JOB = 'O', respectively.
+          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
+          (in the first NR columns) of C are nonzero.
+
+  LDC     INTEGER
+          The leading dimension of array C.
+          LDC &gt;= MAX(1,M,P) if N &gt; 0.
+          LDC &gt;= 1          if N = 0.
+
+  NR      (output) INTEGER
+          The order of the reduced descriptor representation
+          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
+          or observable realization for the original system,
+          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
+          respectively.
+
+  INFRED  (output) INTEGER array, dimension 7
+          This array contains information on performed reduction
+          and on structure of resulting system matrices as follows:
+          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
+                         (see METHOD) has been performed. In this
+                         case, INFRED(k) is the achieved order
+                         reduction in Phase k.
+          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
+                         performed.
+          INFRED(5)  -   the number of nonzero sub-diagonals of A.
+          INFRED(6)  -   the number of nonzero sub-diagonals of E.
+          INFRED(7)  -   the number of blocks in the resulting
+                         staircase form at last performed reduction
+                         phase. The block dimensions are contained
+                         in the first INFRED(7) elements of IWORK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION array, dimension 3
+          TOL(1) is the tolerance to be used in rank determinations
+          when transforming (A-lambda*E,B,C). If the user sets
+          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
+          lower bound for reciprocal condition numbers in rank
+          determinations; a (sub)matrix whose estimated condition
+          number is less than 1/TOL(1) is considered to be of full
+          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
+          is used instead, where EPS is the machine precision (see
+          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
+          TOL(2) is the tolerance to be used for checking pencil
+          singularity when CKSING = 'C', or singularity of the
+          matrices A and E when CKSING = 'N'. If the user sets
+          TOL(2) &gt; 0, then the given value of TOL(2) is used.
+          If the user sets TOL(2) &lt;= 0, then an implicitly
+          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
+          is used instead.  TOL(2) &lt; 1.
+          TOL(3) is the threshold value for magnitude of the matrix
+          elements, if EQUIL = 'S': elements with magnitude less
+          than or equal to TOL(3) are ignored for scaling. If the
+          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
+          used. If the user sets TOL(3) &lt; 0, then an implicitly
+          computed, default threshold, defined by  THRESH = c*EPS,
+          where c = MAX(norm_1(A,E,B,C)) is used instead.
+          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
+          TOL(3) is not used if EQUIL = 'N'.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (2*N+MAX(M,P))
+          On exit, if INFO = 0, the leading INFRED(7) elements of
+          IWORK contain the orders of the diagonal blocks of
+          Ar-lambda*Er.
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= MAX(1,x,y,8*N), if EQUIL = 'S',
+          LDWORK &gt;= MAX(1,x,y),     if EQUIL = 'N',
+          where x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
+                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
+                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
+                y = 0,                    if CKSING = 'N',
+                z = 2*N*N+N*M+N*P, if JOB  = 'I',
+                z = 0,             if JOB &lt;&gt; 'I'.
+          For good performance, LDWORK should be generally larger.
+          If RESTOR = 'R', or
+          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1),
+          more accurate results are to be expected by considering
+          only those reductions phases (see METHOD), where effective
+          order reduction occurs. This is achieved by saving the
+          system matrices before each phase and restoring them if no
+          order reduction took place. Actually, if JOB = 'I' and
+          RESTOR = 'N', then the saved matrices are those obtained
+          after orthogonally triangularizing the matrix A (if
+          SYSTYP = 'R' or 'P'), or the matrix E (if SYSTYP = 'R'
+          or 'S').
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA. The optimal workspace includes the
+          extra space for improving the accuracy.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the given pencil A - lambda*E is numerically
+                singular and the reduced system is not computed.
+                This error can be returned only if CKSING = 'C'.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithms of [1], but
+  with a different ordering of the phases.
+  The order reduction is performed in 4 phases:
+  Phase 1: Eliminate all infinite and finite nonzero uncontrollable
+           eigenvalues. The resulting matrix ( Br Er ) is in a
+           controllable staircase form (see TG01HD), and Ar is
+           upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'P'.
+  Phase 2: Eliminate all infinite and finite nonzero unobservable
+           eigenvalues. The resulting matrix ( Er ) is in an
+                                             ( Cr )
+           observable staircase form (see SLICOT Library routine
+           TG01ID), and Ar is upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'P'.
+  Phase 3: Eliminate all finite uncontrollable eigenvalues.
+           The resulting matrix ( Br Ar ) is in a controllable
+           staircase form (see TG01HD), and Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'C' and
+           SYSTYP = 'R' or 'S'.
+  Phase 4: Eliminate all finite unobservable eigenvalues.
+           The resulting matrix ( Ar ) is in an observable
+                                ( Cr )
+           staircase form (see TG01ID), and Er is upper triangular.
+           This phase is performed if JOB = 'I' or 'O' and
+           SYSTYP = 'R' or 'S'.
+  The routine checks the singularity of the matrices A and/or E
+  (depending on JOB and SYSTYP) and skips the unnecessary phases.
+  See FURTHER COMMENTS.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] A. Varga
+      Computation of Irreducible Generalized State-Space
+      Realizations.
+      Kybernetika, vol. 26, pp. 89-106, 1990.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  If the pencil A-lambda*E has no zero eigenvalues, then an
+  irreducible realization is computed skipping Phases 3 and 4
+  (equivalent to setting: JOB = 'I' and SYSTYP = 'P').
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01JY EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX )
+      INTEGER          LDWORK, LIWORK
+      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
+     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
+     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
+     $                                 10*NMAX + MAX( NMAX, 23 ) ),
+     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER        CKSING, EQUIL, JOB, RESTOR, SYSTYP
+      INTEGER          I, INFO, J, M, N, NR, P
+*     .. Local Arrays ..
+      INTEGER          INFRED(7), IWORK(LIWORK)
+      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
+
+*     .. External Subroutines ..
+      EXTERNAL         TG01JY
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOB,
+     $                      SYSTYP, EQUIL, CKSING, RESTOR
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
+               CALL TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P,
+     $                      A, LDA, E, LDE, B, LDB, C, LDC, NR, INFRED,
+     $                      TOL, IWORK, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NR
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 10 I = 1, 4
+                     IF( INFRED(I).GE.0 )
+     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 20 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 30 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 40 I = 1, NR
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 50 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
+   50             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01JY EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01JY = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
+99996 FORMAT (/' The reduced descriptor matrix Er is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5 )
+99993 FORMAT (/' The reduced input/state matrix Br is ')
+99992 FORMAT (/' The reduced state/output matrix Cr is ')
+99991 FORMAT (/' Achieved order reductions in different phases')
+99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01JY EXAMPLE PROGRAM DATA
+  9    2    2     0.0    0.0    0.0    I  R  N  N  N
+    -2    -3     0     0     0     0     0     0     0
+     1     0     0     0     0     0     0     0     0
+     0     0    -2    -3     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     1     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     0     0     0     0     0     0     0     0     1
+     1     0     0     0     0     0     0     0     0
+     0     1     0     0     0     0     0     0     0
+     0     0     1     0     0     0     0     0     0
+     0     0     0     1     0     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     1     0     0     0     0
+     0     0     0     0     0     0     0     0     0
+     0     0     0     0     0     0     1     0     0
+     0     0     0     0     0     0     0     1     0
+     1     0
+     0     0
+     0     1
+     0     0
+    -1     0
+     0     0
+     0    -1
+     0     0
+     0     0
+     1     0     1    -3     0     1     0     2     0
+     0     1     1     3     0     1     0     0     1
+
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01JY EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    7
+
+ Achieved order reductions in different phases
+ Phase 1:  0 elliminated eigenvalue(s)
+ Phase 2:  2 elliminated eigenvalue(s)
+
+ The reduced state dynamics matrix Ar is 
+   1.0000  -0.0393  -0.0980   0.1066  -0.0781   0.2330  -0.0777
+   0.0000   1.0312   0.2717  -0.2609   0.1533  -0.6758   0.3553
+   0.0000   0.0000   1.3887  -0.6699   0.4281  -1.6389   0.7615
+   0.0000   0.0000   0.0000   1.2147  -0.2423   0.9792  -0.4788
+   0.0000   0.0000   0.0000   0.0000   1.0545  -0.5035   0.2788
+   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
+
+ The reduced descriptor matrix Er is 
+   0.4100   0.2590   0.5080   0.3109  -0.0705  -0.1429   0.1477
+  -0.7629  -0.3464   0.0992   0.3007  -0.0619  -0.2483   0.0152
+   0.1120  -0.2124  -0.4184   0.1288  -0.0569   0.4213   0.6182
+   0.0000   0.1122  -0.0039  -0.2771   0.0758  -0.0975  -0.3923
+   0.0000   0.0000   0.3708   0.4290  -0.1006  -0.1402   0.2699
+   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
+   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
+
+ The reduced input/state matrix Br is 
+   0.5597  -0.2363
+   0.4843   0.0498
+   0.4727   0.1491
+  -0.1802  -1.1574
+  -0.5995  -0.1556
+  -0.1729  -0.3999
+   0.0000   0.2500
+
+ The reduced state/output matrix Cr is 
+   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
+   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01KD.html b/doc/_static/doc/TG01KD.html
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+<HTML>
+<HEAD><TITLE>TG01KD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01KD">TG01KD</A></H2>
+<H3>
+Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular (TG01OA version with more complex interface)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  (A, E, B, C), with E upper triangular, a transformed system,
+  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
+  transformation, so that Q'*B has only the first element nonzero
+  and Q'*E*Z remains upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01KD( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
+     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
+      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  COMPC   CHARACTER*1
+          Indicates whether the user wishes to transform the system
+          output matrix C, as follows:
+          = 'C':  Transform the system output matrix C;
+          = 'N':  Do not transform the system output matrix C.
+
+  COMPQ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the orthogonal row transformations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the orthogonal
+                  transformations used.
+
+  COMPZ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal column transformations, as
+          follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the orthogonal
+                  transformations used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input/output) DOUBLE PRECISION array, dimension (N)
+          On entry, the leading N part of this array must contain
+          the original input matrix B.
+          On exit, the leading N part of this array contains the
+          transformed input matrix Q'*B with all elements but the
+          first set to zero.
+
+  C       (input/output) DOUBLE PRECISION array, dimension
+          ((N-1)*INCC+1)
+          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array must contain the original
+          output vector C.
+          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array contain the transformed output
+          vector C*Z.
+          If COMPC = 'N', this array is not referenced.
+
+  INCC    INTEGER
+          If COMPC = 'C', the increment between successive values
+          of C.  INCC &gt; 0.
+          If COMPC = 'N', INCC is not used.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
+          On entry, if COMPQ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Q1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Q1*Q if COMPQ = 'U').
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ =  'N';
+          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
+          On entry, if COMPZ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Z1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Z1*Z if COMPZ = 'U').
+          If COMPZ = 'N', this array is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ =  'N';
+          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01KZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01KZ">TG01KZ</A></H2>
+<H3>
+Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular (TG01OB version with more complex interface)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  (A, E, B, C), with E upper triangular, a transformed system,
+  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
+  transformation, so that Q'*B has only the first element nonzero
+  and Q'*E*Z remains upper triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01KZ( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
+     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
+      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
+     $                  Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+  COMPC   CHARACTER*1
+          Indicates whether the user wishes to transform the system
+          output matrix C, as follows:
+          = 'C':  Transform the system output matrix C;
+          = 'N':  Do not transform the system output matrix C.
+
+  COMPQ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Q the orthogonal row transformations, as follows:
+          = 'N':  Do not form Q;
+          = 'I':  Q is initialized to the unit matrix and the
+                  orthogonal transformation matrix Q is returned;
+          = 'U':  The given matrix Q is updated by the orthogonal
+                  transformations used.
+
+  COMPZ   CHARACTER*1
+          Indicates whether the user wishes to accumulate in a
+          matrix Z the orthogonal column transformations, as
+          follows:
+          = 'N':  Do not form Z;
+          = 'I':  Z is initialized to the unit matrix and the
+                  orthogonal transformation matrix Z is returned;
+          = 'U':  The given matrix Z is updated by the orthogonal
+                  transformations used.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  B       (input/output) COMPLEX*16 array, dimension (N)
+          On entry, the leading N part of this array must contain
+          the original input matrix B.
+          On exit, the leading N part of this array contains the
+          transformed input matrix Q'*B with all elements but the
+          first set to zero.
+
+  C       (input/output) COMPLEX*16 array, dimension
+          ((N-1)*INCC+1)
+          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array must contain the original
+          output vector C.
+          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
+          (N-1)*INCC+1 of this array contain the transformed output
+          vector C*Z.
+          If COMPC = 'N', this array is not referenced.
+
+  INCC    INTEGER
+          If COMPC = 'C', the increment between successive values
+          of C.  INCC &gt; 0.
+          If COMPC = 'N', INCC is not used.
+
+  Q       (input/output) COMPLEX*16 array, dimension (LDQ,*)
+          On entry, if COMPQ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Q1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Q1*Q if COMPQ = 'U').
+          If COMPQ = 'N', this array is not referenced.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ =  'N';
+          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
+
+  Z       (input/output) COMPLEX*16 array, dimension (LDZ,*)
+          On entry, if COMPZ = 'U', the leading N-by-N part of this
+          array must contain the given matrix Z1. Otherwise, this
+          array need not be set on input.
+          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
+          array contains the orthogonal transformation matrix used
+          (Z1*Z if COMPZ = 'U').
+          If COMPZ = 'N', this array is not referenced.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ =  'N';
+          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01LD.html b/doc/_static/doc/TG01LD.html
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+<HTML>
+<HEAD><TITLE>TG01LD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01LD">TG01LD</A></H2>
+<H3>
+Finite-infinite decomposition of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the form (if JOB = 'F')
+
+             ( Af  *  )             ( Ef  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
+             ( 0   Ai )             ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+             ( Ai  *  )             ( Ei  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
+             ( 0   Af )             ( 0   Ef )
+
+  where the subpencil Af-lambda*Ef, with Ef nonsingular and upper
+  triangular, contains the finite eigenvalues, and the subpencil
+  Ai-lambda*Ei, with Ai nonsingular and upper triangular, contains
+  the infinite eigenvalues. The subpencil Ai-lambda*Ei is in a
+  staircase form (see METHOD). If JOBA = 'H', the submatrix Af
+  is further reduced to an upper Hessenberg form.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF, ND,
+     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          COMPQ, COMPZ, JOB, JOBA
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          = 'F':  perform the finite-infinite separation;
+          = 'I':  perform the infinite-finite separation.
+
+  JOBA    CHARACTER*1
+          = 'H':  reduce Af further to an upper Hessenberg form;
+          = 'N':  keep Af unreduced.
+
+  COMPQ   CHARACTER*1
+          = 'N':  do not compute Q;
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+
+  COMPZ   CHARACTER*1
+          = 'N':  do not compute Z;
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Af  *  )                 ( Ai  *  )
+                    Q'*A*Z = (        ) ,  or  Q'*A*Z = (        ) ,
+                             ( 0   Ai )                 ( 0   Af )
+
+          depending on JOB, with Af an NF-by-NF matrix, and Ai an
+          (N-NF)-by-(N-NF) nonsingular and upper triangular matrix.
+          If JOBA = 'H', Af is in an upper Hessenberg form.
+          Otherwise, Af is unreduced.
+          Ai has a block structure as in (3) or (4), where A0,0 is
+          ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
+          IBLCK(i)-by-IBLCK(i).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z,
+
+                             ( Ef  *  )                 ( Ei  *  )
+                    Q'*E*Z = (        ) ,  or  Q'*E*Z = (        ) ,
+                             ( 0   Ei )                 ( 0   Ef )
+
+          depending on JOB, with Ef an NF-by-NF nonsingular matrix,
+          and Ei an (N-NF)-by-(N-NF) nilpotent matrix in an upper
+          block triangular form, as in (3) or (4).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,K),
+          where K = M if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,K),
+          where K = P if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'N':  Q is not referenced.
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of Householder
+                           transformations applied to A, E, and B on
+                           the left.
+          If COMPQ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = 'N';
+          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'U'.
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'N':  Z is not referenced.
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of Householder
+                           transformations applied to A, E, and C on
+                           the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = 'N';
+          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
+
+  NF      (output) INTEGER.
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  ND      (output) INTEGER.
+          The number of non-dynamic infinite eigenvalues of the
+          pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (3) or (4), with i = 1,2, ..., NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= N + MAX(3*N,M,P).
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+  If JOB = 'F', the matrices Ai and Ei have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOB = 'I', the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
+  triangular matrices. A0,0 corresponds to the non-dynamic infinite
+  modes of the system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF.
+                 i=1
+
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01LD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = NMAX+MAX( 3*NMAX, MMAX, PMAX ) )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, JOB, JOBA
+      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX), IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX),   B(LDB,MMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01LD
+*     .. Intrinsic Functions ..
+      INTRINSIC        MAX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, JOBA, TOL
+      COMPQ = 'I'
+      COMPZ = 'I'
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
+     $                      ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NF, ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01LD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01LD = ',I2)
+99997 FORMAT (/' The reduced state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The reduced descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5/
+     $        ' Number of non-dynamic infinite eigenvalues =', I5)
+99993 FORMAT (/' The reduced input/state matrix Q''*B is ')
+99992 FORMAT (/' The reduced state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT ( ' Dimension of the blocks'/20I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01LD EXAMPLE PROGRAM DATA
+  4     2     2     F     N     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01LD EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    3
+ Number of non-dynamic infinite eigenvalues =    1
+ Number of infinite blocks =     1
+
+ The reduced state dynamics matrix Q'*A*Z is 
+   2.4497  -1.3995   0.2397  -4.0023
+  -0.0680  -0.0030   0.1739  -1.6225
+   0.3707   0.0161  -0.9482   0.1049
+   0.0000   0.0000   0.0000   2.2913
+
+ The reduced descriptor matrix Q'*E*Z is 
+   9.9139   4.7725  -3.4725  -2.3836
+   0.0000  -1.2024   2.0137   0.7926
+   0.0000   0.0000   0.2929  -0.9914
+   0.0000   0.0000   0.0000   0.0000
+
+ The reduced input/state matrix Q'*B is 
+  -0.2157  -0.9705
+   0.3015   0.9516
+   0.7595   0.0991
+   1.1339   0.3780
+
+ The reduced state/output matrix C*Z is 
+   0.5345  -1.1134   0.3758   0.5774
+  -1.0690   0.2784  -1.2026   0.5774
+
+ The left transformation matrix Q is 
+  -0.2157  -0.5088   0.6109   0.5669
+  -0.1078  -0.2544  -0.7760   0.5669
+  -0.9705   0.1413  -0.0495  -0.1890
+   0.0000   0.8102   0.1486   0.5669
+
+ The right transformation matrix Z is 
+  -0.5345   0.6263   0.4617  -0.3299
+  -0.8018  -0.5219  -0.2792  -0.0825
+   0.0000  -0.4871   0.8375   0.2474
+  -0.2673   0.3132  -0.0859   0.9073
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01LY.html b/doc/_static/doc/TG01LY.html
new file mode 100644
index 00000000..a831d91e
--- /dev/null
+++ b/doc/_static/doc/TG01LY.html
@@ -0,0 +1,297 @@
+<HTML>
+<HEAD><TITLE>TG01LY - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01LY">TG01LY</A></H2>
+<H3>
+Finite-infinite decomposition of a structured descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which reduce
+  the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C), with the A and E matrices in the form
+
+        ( A11 A12 A13 )             ( E11  0  0 )
+    A = ( A21 A22 A23 ) ,       E = (  0   0  0 ) ,              (1)
+        ( A31  0   0  )             (  0   0  0 )
+
+  where E11 and A22 are nonsingular and upper triangular matrices,
+  to the form
+
+             ( Af  *  )             ( Ef  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,
+             ( 0   Ai )             ( 0   Ei )
+
+  where the subpencil Af-lambda*Ef contains the finite eigenvalues
+  and the subpencil Ai-lambda*Ei contains the infinite eigenvalues.
+  The subpencil Ai-lambda*Ei is in a staircase form with the
+  matrices Ai and Ei of form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ,   (2)
+        (  :     :   ...   :  )         ( :   :   ...   :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
+  matrices.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01LY( COMPQ, COMPZ, N, M, P, RANKE, RNKA22, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
+     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      LOGICAL            COMPQ, COMPZ
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, NF, NIBLCK, P, RANKE, RNKA22
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
+     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
+     $                   Z( LDZ, * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  COMPQ   LOGICAL
+          Specify the option to accumulate or not the performed
+          left transformations:
+          COMPQ = .FALSE. : do not accumulate the transformations;
+          COMPQ = .TRUE.  : accumulate the transformations; in this
+                  case, Q must contain an orthogonal matrix Q1
+                  on entry, and the product Q1*Q is returned.
+
+  COMPZ   LOGICAL
+          Specify the option to accumulate or not the performed
+          right transformations:
+          COMPZ = .FALSE. : do not accumulate the transformations;
+          COMPZ = .TRUE.  : accumulate the transformations; in this
+                  case, Z must contain an orthogonal matrix Z1
+                  on entry, and the product Z1*Z is returned.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  RANKE   (input) INTEGER
+          The rank of the matrix E; also, the order of the upper
+          triangular matrix E11.  0 &lt;= RANKE &lt;= N. 
+
+  RNKA22  (input) DOUBLE PRECISION
+          The order of the nonsingular submatrix A22 of A.
+          0 &lt;= RNKA22 &lt;= N - RANKE. 
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A in the form (1).
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z,
+
+                             ( Af  *  )
+                    Q'*A*Z = (        ) ,
+                             ( 0   Ai )
+
+          where Af is NF-by-NF and Ai is (N-NF)-by-(N-NF).
+          The submatrix Ai is in the staircase form (2), where A0,0
+          is (N-RANKE)-by-(N-RANKE), and Ai,i , for i = 1, ...,
+          NIBLCK is IBLCK(i)-by-IBLCK(i).
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E in the form (1).
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z,
+
+                             ( Ef  *  )
+                    Q'*E*Z = (        ) ,
+                             ( 0   Ei )
+
+          where Ef is an NF-by-NF nonsingular matrix and Ei is an
+          (N-NF)-by-(N-NF) nilpotent matrix in the staircase
+          form (2).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = .FALSE., Q is not referenced.
+          If COMPQ = .TRUE., on entry, the leading N-by-N part of
+                      this array must contain an orthogonal matrix
+                      Q1; on exit, the leading N-by-N part of this
+                      array contains the orthogonal matrix Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.
+          LDQ &gt;= 1,        if COMPQ = .FALSE.;
+          LDQ &gt;= MAX(1,N), if COMPQ = .TRUE. .
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = .FALSE., Z is not referenced.
+          If COMPZ = .TRUE., on entry, the leading N-by-N part of
+                     this array must contain an orthogonal matrix
+                     Z1; on exit, the leading N-by-N part of this
+                     array contains the orthogonal matrix Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.
+          LDZ &gt;= 1,        if COMPZ = .FALSE.;
+          LDZ &gt;= MAX(1,N), if COMPZ = .TRUE. .
+
+  NF      (output) INTEGER
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  NIBLCK  (output) INTEGER
+          If RANKE &lt; N, the number of infinite blocks minus one.
+          If RANKE = N, NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (2), where i = 1, 2, ..., NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance,
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N-RANKE)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 1, if RANKE = N; otherwise,
+          LDWORK &gt;= MAX(4*(N-RANKE)-1, N-RANKE-RNKA22+MAX(N,M)).
+          For optimal performance, LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The subroutine is based on the reduction algorithm of [1].
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+         NIBLCK
+          Sum  IBLCK(i) = RANKE - NF.
+          i=1
+
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01MD.html b/doc/_static/doc/TG01MD.html
new file mode 100644
index 00000000..a139ff21
--- /dev/null
+++ b/doc/_static/doc/TG01MD.html
@@ -0,0 +1,494 @@
+<HTML>
+<HEAD><TITLE>TG01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01MD">TG01MD</A></H2>
+<H3>
+Finite-infinite generalized real Schur form decomposition of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the form (if JOB = 'F')
+
+             ( Af  *  )             ( Ef  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
+             ( 0   Ai )             ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+             ( Ai  *  )             ( Ei  *  )
+    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
+             ( 0   Af )             ( 0   Ef )
+
+  where the pair (Af,Ef) is in a generalized real Schur form, with
+  Ef nonsingular and upper triangular and Af in real Schur form.
+  The subpencil Af-lambda*Ef contains the finite eigenvalues.
+  The pair (Ai,Ei) is in a generalized real Schur form with
+  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
+  with Ai nonsingular and Ei nilpotent contains the infinite
+  eigenvalues and is in a block staircase form (see METHOD).
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
+     $                   ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ, NF, ND,
+     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                   Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          = 'F':  perform the finite-infinite separation;
+          = 'I':  perform the infinite-finite separation.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q'*A*Z in the form
+
+          ( Af  *  )                    ( Ai  *  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ai )                    ( 0   Af )
+
+          where Af is an NF-by-NF matrix in real Schur form, and Ai
+          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
+          matrix. Ai has a block structure as in (3) or (4), where
+          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
+          IBLCK(i)-by-IBLCK(i). (See METHOD.)
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q'*E*Z in the form
+
+          ( Ef  *  )                    ( Ei  *  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ei )                    ( 0   Ef )
+
+          where Ef is an NF-by-NF nonsingular and upper triangular
+          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
+          an upper triangular block form as in (3) or (4).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAR(1:NF) will be set to the real parts of the diagonal
+          elements of Af that would result from reducing A and E to
+          the Schur form, and then further reducing both of them to
+          triangular form using unitary transformations, subject to
+          having the diagonal of E positive real.  Thus, if Af(j,j)
+          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
+          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
+          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
+          the finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAI(1:NF) will be set to the imaginary parts of the
+          diagonal elements of Af that would result from reducing A
+          and E to Schur form, and then further reducing both of
+          them to triangular form using unitary transformations,
+          subject to having the diagonal of E positive real. Thus,
+          if Af(j,j) is in a 1-by-1 block (see above), then
+          ALPHAI(j) = 0. Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          BETA(1:NF) will be set to the (real) diagonal elements of
+          Ef that would result from reducing A and E to Schur form,
+          and then further reducing both of them to triangular form
+          using unitary transformations, subject to having the
+          diagonal of E positive real. Thus, if Af(j,j) is in a
+          1-by-1 block (see above), then BETA(j) = Ef(j,j).
+          Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Q, which is the accumulated product of
+          the transformations applied to A, E, and B on the left.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z, which is the accumulated product of
+          the transformations applied to A, E, and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  NF      (output) INTEGER
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  ND      (output) INTEGER
+          The number of non-dynamic infinite eigenvalues of the
+          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (3), where i = 1,2,...,NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= 4*N.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular;
+          = 2:  the QZ iteration did not converge.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the separation of infinite structure, the reduction algorithm
+  of [1] is employed.
+  If JOB = 'F', the matrices Ai and Ei have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOB = 'I' the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
+  matrices. A0,0 corresponds to the non-dynamic infinite modes of
+  the system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF.
+                 i=1
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB
+      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX),  IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01MD
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C,
+     $                      LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
+     $                      NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
+     $                      LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NF, ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, NF
+                     WRITE ( NOUT, FMT = 99984 )
+     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01MD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5/
+     $        ' Number of non-dynamic infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01MD EXAMPLE PROGRAM DATA
+  4     2     2     F     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01MD EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    3
+ Number of non-dynamic infinite eigenvalues =    1
+ Number of infinite blocks =     1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   1.2803  -2.3613  -0.9025  -3.9982
+   0.0000  -0.5796   0.8504   0.4350
+   0.0000   0.0000   0.0000   1.5770
+   0.0000   0.0000   0.0000   2.2913
+
+ The transformed descriptor matrix Q'*E*Z is 
+   9.3142  -4.1463   5.4026  -2.3944
+   0.0000   0.1594   0.1212  -1.0948
+   0.0000   0.0000   2.3524  -0.6008
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+  -0.2089  -0.9712
+   0.6948  -0.0647
+  -0.4336  -0.9538
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+  -0.0469  -0.9391  -0.8847   0.5774
+  -1.0697   0.3620   1.1795   0.5774
+
+ The left transformation matrix Q is 
+  -0.2089   0.6948   0.3902   0.5669
+  -0.1148  -0.7163   0.3902   0.5669
+  -0.9712  -0.0647  -0.1301  -0.1890
+   0.0000   0.0000  -0.8238   0.5669
+
+ The right transformation matrix Z is 
+   0.0469   0.9391  -0.0843  -0.3299
+  -0.9962   0.0189  -0.0211  -0.0825
+   0.0000  -0.0000  -0.9689   0.2474
+  -0.0735   0.3432   0.2317   0.9073
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+    0.1375  +0.0000i 
+   -3.6375  +0.0000i 
+    0.0000  +0.0000i 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01ND">TG01ND</A></H2>
+<H3>
+Finite-infinite block-diagonal decomposition of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute equivalence transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the form (if JOB = 'F')
+
+             ( Af  0  )             ( Ef  0  )
+     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
+             ( 0   Ai )             ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+             ( Ai  0  )             ( Ei  0  )
+     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (2)
+             ( 0   Af )             ( 0   Ef )
+
+  where the pair (Af,Ef) is in a generalized real Schur form, with
+  Ef nonsingular and upper triangular and Af in real Schur form.
+  The subpencil Af-lambda*Ef contains the finite eigenvalues.
+  The pair (Ai,Ei) is in a generalized real Schur form with
+  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
+  with Ai nonsingular and Ei nilpotent contains the infinite
+  eigenvalues and is in a block staircase form (see METHOD).
+  This decomposition corresponds to an additive decomposition of
+  the transfer-function matrix of the descriptor system as the
+  sum of a proper term and a polynomial term.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
+     $                   NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOB, JOBT
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
+     $                   N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION   TOL
+C     .. Array Arguments ..
+      INTEGER            IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), ALPHAR(*), ALPHAI(*), B(LDB,*),
+     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                   Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOB     CHARACTER*1
+          = 'F':  perform the finite-infinite separation;
+          = 'I':  perform the infinite-finite separation.
+
+  JOBT    CHARACTER*1
+          = 'D':  compute the direct transformation matrices;
+          = 'I':  compute the inverse transformation matrices
+                  inv(Q) and inv(Z).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q*A*Z (if JOBT = 'D') or
+          inv(Q)*A*inv(Z) (if JOBT = 'I') in the form
+
+          ( Af  0  )                    ( Ai  0  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ai )                    ( 0   Af )
+
+          where Af is an NF-by-NF matrix in real Schur form, and Ai
+          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
+          matrix. Ai has a block structure as in (3) or (4), where
+          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
+          IBLCK(i)-by-IBLCK(i). (See METHOD.)
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
+          inv(Q)*E*inv(Z) (if JOBT = 'I') in the form
+
+          ( Ef  0  )                    ( Ei  0  )
+          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
+          ( 0   Ei )                    ( 0   Ef )
+
+          where Ef is an NF-by-NF nonsingular and upper triangular
+          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
+          an upper triangular block form as in (3) or (4).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q*B (if JOBT = 'D') or
+          inv(Q)*B (if JOBT = 'I').
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
+          (if JOBT = 'I').
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAR(1:NF) will be set to the real parts of the diagonal
+          elements of Af that would result from reducing A and E to
+          the Schur form, and then further reducing both of them to
+          triangular form using unitary transformations, subject to
+          having the diagonal of E positive real. Thus, if Af(j,j)
+          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
+          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
+          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
+          the finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+          ALPHAI(1:NF) will be set to the imaginary parts of the
+          diagonal elements of Af that would result from reducing A
+          and E to Schur form, and then further reducing both of
+          them to triangular form using unitary transformations,
+          subject to having the diagonal of E positive real. Thus,
+          if Af(j,j) is in a 1-by-1 block (see above), then
+          ALPHAI(j) = 0. Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          BETA(1:NF) will be set to the (real) diagonal elements of
+          Ef that would result from reducing A and E to Schur form,
+          and then further reducing both of them to triangular form
+          using unitary transformations, subject to having the
+          diagonal of E positive real. Thus, if Af(j,j) is in a
+          1-by-1 block (see above), then BETA(j) = Ef(j,j).
+          Note that the (real or complex) values
+          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
+          finite generalized eigenvalues of the matrix pencil
+          A - lambda*E.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          left transformation matrix Q, if JOBT = 'D', or its
+          inverse inv(Q), if JOBT = 'I'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          right transformation matrix Z, if JOBT = 'D', or its
+          inverse inv(Z), if JOBT = 'I'.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  NF      (output) INTEGER
+          The order of the reduced matrices Af and Ef; also, the
+          number of finite generalized eigenvalues of the pencil
+          A-lambda*E.
+
+  ND      (output) INTEGER
+          The number of non-dynamic infinite eigenvalues of the
+          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (3), where i = 1,2,...,NIBLCK.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL. If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+6)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
+          LDWORK &gt;= 4*N.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular;
+          = 2:  the QZ iteration did not converge;
+          = 3:  (Af,Ef) and (Ai,Ei) have too close generalized
+                eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the separation of infinite structure, the reduction algorithm
+  of [1] is employed. This separation is achieved by computing
+  orthogonal matrices Q1 and Z1 such that Q1*A*Z1 and Q1*E*Z1
+  have the form (if JOB = 'F')
+
+              ( Af  Ao )              ( Ef  Eo )
+    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) ,
+              ( 0   Ai )              ( 0   Ei )
+
+  or to the form (if JOB = 'I')
+
+              ( Ai  Ao )              ( Ei  Eo )
+    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) .
+              ( 0   Af )              ( 0   Ef )
+
+  If JOB = 'F', the matrices Ai and Ei have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOB = 'I' the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
+  matrices. A0,0 corresponds to the non-dynamic infinite modes of
+  the system.
+
+  In a second step, the transformation matrices Q2 and Z2 are
+  determined, of the form
+
+          ( I -X )          ( I  Y )
+     Q2 = (      ) ,   Z2 = (      )
+          ( 0  I )          ( 0  I )
+
+  such that with Q = Q2*Q1 and Z = Z1*Z2, Q*A*Z and Q*E*Z are
+  block diagonal as in (1) (if JOB = 'F') or in (2) (if JOB = 'I').
+  X and Y are computed by solving generalized Sylvester equations.
+
+  If we partition Q*B and C*Z according to (1) or (2) in the form
+  ( Bf ) and ( Cf Ci ), if JOB = 'F', or ( Bi ) and ( Ci Cf ), if
+  ( Bi )                                 ( Bf )
+  JOB = 'I', then (Af-lambda*Ef,Bf,Cf) is the strictly proper part
+  of the original descriptor system and (Ai-lambda*Ei,Bi,Ci) is its
+  polynomial part.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF.
+                 i=1
+
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
+  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to
+  an infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX )
+*     .. Local Scalars ..
+      CHARACTER*1      JOB, JOBT
+      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
+      DOUBLE PRECISION TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX),  IWORK(NMAX+6)
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         TG01ND
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, JOB, JOBT, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z,
+     $                      LDZ, NF, ND, NIBLCK, IBLCK, TOL, IWORK,
+     $                      DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NF, ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, NF
+                     WRITE ( NOUT, FMT = 99984 )
+     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01ND EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01ND = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Order of reduced system =', I5/
+     $        ' Number of non-dynamic infinite eigenvalues =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01ND EXAMPLE PROGRAM DATA
+  4     2     2     F     D     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01ND EXAMPLE PROGRAM RESULTS
+
+ Order of reduced system =    3
+ Number of non-dynamic infinite eigenvalues =    1
+ Number of infinite blocks =     1
+
+ The transformed state dynamics matrix Q*A*Z is 
+   1.2803  -2.3613  -0.9025   0.0000
+   0.0000  -0.5796   0.8504   0.0000
+   0.0000   0.0000   0.0000   0.0000
+   0.0000   0.0000   0.0000   2.2913
+
+ The transformed descriptor matrix Q*E*Z is 
+   9.3142  -4.1463   5.4026   0.0000
+   0.0000   0.1594   0.1212   0.0000
+   0.0000   0.0000   2.3524   0.0000
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q*B is 
+   7.7328   1.6760
+   2.2870   0.4660
+  -1.2140  -1.2140
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+  -0.0469  -0.9391  -0.8847  -6.0622
+  -1.0697   0.3620   1.1795  -0.0000
+
+ The left transformation matrix Q is 
+   3.7620   3.8560  -2.2948   3.9708
+   1.4909   0.0798  -0.3301   0.7961
+  -0.0000  -0.0000   0.0000  -1.2140
+   0.5669   0.5669  -0.1890   0.5669
+
+ The right transformation matrix Z is 
+   0.0469   0.9391  -0.0843   6.0622
+  -0.9962   0.0189  -0.0211  -3.0311
+   0.0000  -0.0000  -0.9689  -0.0000
+  -0.0735   0.3432   0.2317   3.0311
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+    0.1375  +0.0000i 
+   -3.6375  +0.0000i 
+    0.0000  +0.0000i 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01NX - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01NX">TG01NX</A></H2>
+<H3>
+Block-diagonal decomposition of a descriptor system in generalized real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute equivalence transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C), with (A,E) in a generalized real Schur form, to
+  the block-diagonal form
+
+             ( A1  0  )             ( E1  0  )
+     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
+             ( 0   A2 )             ( 0   E2 )
+
+  where the pair (Q*A*Z,Q*E*Z) is in a generalized real Schur form,
+  with (A1,E1) and (A2,E2) having no common generalized eigenvalues.
+  This decomposition corresponds to an additive spectral
+  decomposition of the transfer-function matrix of the descriptor
+  system as the sum of two terms containing the generalized
+  eigenvalues of (A1,E1) and (A2,E2), respectively.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01NX( JOBT, N, M, P, NDIM, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, Q, LDQ, Z, LDZ, IWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER          JOBT
+      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ, M, N, NDIM,
+     $                   P
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), E(LDE,*),
+     $                   Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBT    CHARACTER*1
+          = 'D':  compute the direct transformation matrices;
+          = 'I':  compute the inverse transformation matrices
+                  inv(Q) and inv(Z).
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  NDIM    (input) INTEGER
+          The dimension of the leading diagonal blocks of (A,E)
+          having generalized eigenvalues distinct from those of the
+          trailing diagonal block.  0 &lt;= NDIM &lt;= N.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N state matrix A in a real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the transformed state matrix Q*A*Z (if JOBT = 'D') or
+          inv(Q)*A*inv(Z) (if JOBT = 'I'), in the form (1), where
+          A1 is a NDIM-by-NDIM matrix.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the N-by-N descriptor matrix E in upper triangular
+          form.
+          On exit, the leading N-by-N part of this array contains
+          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
+          inv(Q)*E*inv(Z) (if JOBT = 'I'), in the form (1), where
+          E1 is an NDIM-by-NDIM matrix.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the N-by-M input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q*B (if JOBT = 'D') or
+          inv(Q)*B (if JOBT = 'I').
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the state/output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
+          (if JOBT = 'I').
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          On entry, the leading N-by-N part of this array contains
+          Q1, the orthogonal left transformation matrix Q used to
+          reduce the pair (A,E) to the generalized real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the left transformation matrix Q = Q2*Q1, if JOBT = 'D',
+          or its inverse inv(Q), if JOBT = 'I'.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          On entry, the leading N-by-N part of this array contains
+          the orthogonal right transformation matrix Z1 used to
+          reduce the pair (A,E) to the generalized real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the right transformation matrix Z = Z1*Z2, if JOBT = 'D',
+          or its inverse inv(Z), if JOBT = 'I'.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N+6)
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the separation of the two diagonal blocks failed
+                because of very close eigenvalues.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For the separation, transformation matrices Q2 and Z2 of the form
+
+          ( I -X )          ( I  Y )
+     Q2 = (      ) ,   Z2 = (      )
+          ( 0  I )          ( 0  I )
+
+  are determined, such that Q2*A*Z2 and Q2*E*Z2 are block diagonal
+  as in (1). X and Y are computed by solving generalized Sylvester
+  equations.
+
+  If we partition Q2*B and C*Z2 according to (1) in the form ( B1 )
+                                                             ( B2 )
+  and ( C1 C2 ), then (A1-lambda*E1,B1,C1) and (A2-lambda*E2,B2,C2)
+  represent an additive spectral decomposition of the system
+  transfer-function matrix.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Kagstrom, B. and Van Dooren, P.
+      Additive decomposition of a transfer function with respect
+      to a specified region.
+      Proc. MTNS Symp., Brussels, 1989.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable and requires
+  0( N**3 )  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01OA.html b/doc/_static/doc/TG01OA.html
new file mode 100644
index 00000000..4cf46d36
--- /dev/null
+++ b/doc/_static/doc/TG01OA.html
@@ -0,0 +1,138 @@
+<HTML>
+<HEAD><TITLE>TG01OA - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OA">TG01OA</A></H2>
+<H3>
+Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
+  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
+  Q'*B has only the first element nonzero and Q'*E*Z remains upper
+  triangular.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OA( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDE, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DCBA(LDDCBA,*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) DOUBLE PRECISION array, dimension
+          (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (N+1)-by-(N+1) part of this array
+          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
+          replacing C, B, and A. The scalar D is unchanged.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.
+          LDDCBA &gt;= N+1.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01OB.html b/doc/_static/doc/TG01OB.html
new file mode 100644
index 00000000..1206088e
--- /dev/null
+++ b/doc/_static/doc/TG01OB.html
@@ -0,0 +1,137 @@
+<HTML>
+<HEAD><TITLE>TG01OB - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OB">TG01OB</A></H2>
+<H3>
+Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
+  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
+  Q'*B has only the first element nonzero and Q'*E*Z remains upper
+  triangular. The matrices have complex elements.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OB( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDE, N
+C     .. Array Arguments ..
+      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is an upper triangular or an identity
+          matrix, as follows:
+          = 'U':  The matrix E is an upper triangular matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (N+1)-by-(N+1) part of this array
+          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
+          replacing C, B, and A. The scalar D is unchanged.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.
+          LDDCBA &gt;= N+1.
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
+          On entry, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array must contain the upper
+          triangular part of the descriptor matrix E. The lower
+          triangular part under the first subdiagonal is not
+          referenced.
+          On exit, if JOBE = 'U', the leading N-by-N upper
+          triangular part of this array contains the upper
+          triangular part of the transformed descriptor matrix,
+          Q'*E*Z.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'U';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Givens rotations are used to annihilate the last N-1 elements of B
+  in reverse order, but preserve the form of E.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01OD.html b/doc/_static/doc/TG01OD.html
new file mode 100644
index 00000000..b9c09fac
--- /dev/null
+++ b/doc/_static/doc/TG01OD.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>TG01OD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OD">TG01OD</A></H2>
+<H3>
+Reducing a SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E nonsingular, a reduced system matrix,
+
+     [ d     c    ]
+     [ b  a - s*e ],
+
+  such that d has a "sufficiently" large magnitude.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OD( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
+     $                   DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDWORK, LDE, N, NZ
+      DOUBLE PRECISION  G, TOL
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DCBA(LDDCBA,*), DWORK(*), E(LDE,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is a general matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) DOUBLE PRECISION array, dimension
+          (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
+          contains the reduced system matrices a, b, c, and d.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
+          On entry, if JOBE = 'G', the leading N-by-N part of this
+          array must contain the nonsingular descriptor matrix E.
+          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
+          array contains the reduced descriptor matrix e.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  NZ      (output) INTEGER
+          The order of the reduced system.
+
+  G       (output) DOUBLE PRECISION
+          The gain of the reduced system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining if the transformed
+          d has a "sufficiently" large magnitude. If the user sets
+          TOL &gt; 0, then the given value of TOL is used. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = EPS**(3/4), is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+          On exit, if INFO = -11, DWORK(1) returns the minimum value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 2*N+1,  if JOBE = 'G';
+          LDWORK &gt;=   N+1,  if JOBE = 'I'.
+          For good performance when JOBE = 'G', LDWORK should be
+          larger. Specifically,
+             LDWORK &gt;= MAX( N*NB(DGEQRF), (N+1)*NB(DORMQR) ),
+          where NB(X) is the optimal block sizes for the LAPACK
+          Library routine X.
+
+          If LDWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          DWORK array, returns this value as the first entry of
+          the DWORK array, and no error message related to LDWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and Givens rotations are used to
+  process the matrices. If E is a general matrix, it is first
+  triangularized using the QR decomposition, and the triangular form
+  is preserved during the remaining computations.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01OZ.html b/doc/_static/doc/TG01OZ.html
new file mode 100644
index 00000000..a57fadc1
--- /dev/null
+++ b/doc/_static/doc/TG01OZ.html
@@ -0,0 +1,181 @@
+<HTML>
+<HEAD><TITLE>TG01OZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01OZ">TG01OZ</A></H2>
+<H3>
+Reducing a complex SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute for a single-input single-output descriptor system,
+  given by the system matrix with complex elements
+
+     [ D     C    ]
+     [ B  A - s*E ],
+
+  with E nonsingular, a reduced system matrix,
+
+     [ d     c    ]
+     [ b  a - s*e ],
+
+  such that d has a "sufficiently" large magnitude.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01OZ( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
+     $                   ZWORK, LZWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER         JOBE
+      INTEGER           INFO, LDDCBA, LDE, LZWORK, N, NZ
+      DOUBLE PRECISION  TOL
+      COMPLEX*16        G
+C     .. Array Arguments ..
+      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*), ZWORK(*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  JOBE    CHARACTER*1
+          Specifies whether E is a general or an identity matrix,
+          as follows:
+          = 'G':  The matrix E is a general matrix;
+          = 'I':  The matrix E is assumed identity and is not given.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The dimension of the descriptor state vector; also the
+          order of square matrices A and E, the number of rows of
+          matrix B, and the number of columns of matrix C.  N &gt;= 0.
+
+  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
+          On entry, the leading (N+1)-by-(N+1) part of this array
+          must contain the original system matrices A, B, C, and D,
+          stored as follows
+
+             [ D  C ]
+             [ B  A ].
+
+          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
+          contains the reduced system matrices a, b, c, and d.
+
+  LDDCBA  INTEGER
+          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
+
+  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
+          On entry, if JOBE = 'G', the leading N-by-N part of this
+          array must contain the nonsingular descriptor matrix E.
+          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
+          array contains the reduced descriptor matrix e.
+          If JOBE = 'I', this array is not referenced.
+
+  LDE     INTEGER
+          The leading dimension of the array E.
+          LDE &gt;= MAX(1,N), if JOBE = 'G';
+          LDE &gt;= 1,        if JOBE = 'I'.
+
+  NZ      (output) INTEGER
+          The order of the reduced system.
+
+  G       (output) COMPLEX*16
+          The gain of the reduced system.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          The tolerance to be used in determining if the transformed
+          d has a "sufficiently" large magnitude. If the user sets
+          TOL &gt; 0, then the given value of TOL is used. If the user
+          sets TOL &lt;= 0, then an implicitly computed, default
+          tolerance, defined by TOLDEF = EPS**(3/4), is used
+          instead, where EPS is the machine precision (see LAPACK
+          Library routine DLAMCH).
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  ZWORK   COMPLEX*16 array, dimension (LZWORK)
+          On exit, if INFO = 0, ZWORK(1) returns the optimal value
+          of LZWORK.
+          On exit, if INFO = -11, ZWORK(1) returns the minimum value
+          of LZWORK.
+
+  LZWORK  INTEGER
+          The length of the array ZWORK.
+          LZWORK &gt;= 2*N+1,  if JOBE = 'G';
+          LZWORK &gt;=   N+1,  if JOBE = 'I'.
+          For good performance when JOBE = 'G', LZWORK should be
+          larger. Specifically,
+             LZWORK &gt;= MAX( N*NB(ZGEQRF), (N+1)*NB(ZUNMQR) ),
+          where NB(X) is the optimal block sizes for the LAPACK
+          Library routine X.
+
+          If LZWORK = -1, then a workspace query is assumed;
+          the routine only calculates the optimal size of the
+          ZWORK array, returns this value as the first entry of
+          the ZWORK array, and no error message related to LZWORK
+          is issued by XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  Householder transformations and Givens rotations are used to
+  process the matrices. If E is a general matrix, it is first
+  triangularized using the QR decomposition, and the triangular form
+  is preserved during the remaining computations.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  The algorithm is numerically backward stable.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01PD.html b/doc/_static/doc/TG01PD.html
new file mode 100644
index 00000000..c4b93951
--- /dev/null
+++ b/doc/_static/doc/TG01PD.html
@@ -0,0 +1,498 @@
+<HTML>
+<HEAD><TITLE>TG01PD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01PD">TG01PD</A></H2>
+<H3>
+Bi-domain spectral splitting of a subpencil of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the generalized real Schur form with ordered
+  generalized eigenvalues. The pair (A,E) is reduced to the form
+
+             ( *  *  *  * )             ( *  *  *  * )
+             (            )             (            )
+             ( 0  A1 *  * )             ( 0  E1 *  * )
+    Q'*A*Z = (            ) ,  Q'*E*Z = (            ) ,
+             ( 0  0  A2 * )             ( 0  0  E2 * )
+             (            )             (            )
+             ( 0  0  0  * )             ( 0  0  0  * )
+
+  where the subpencil A1-lambda*E1 contains the eigenvalues which
+  belong to a suitably defined domain of interest and the subpencil
+  A2-lambda*E2 contains the eigenvalues which are outside of the
+  domain of interest.
+  If JOBAE = 'S', the pair (A,E) is assumed to be already in a
+  generalized real Schur form and the reduction is performed only
+  on the subpencil A12 - lambda*E12 defined by rows and columns
+  NLOW to NSUP of A - lambda*E.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
+     $                   NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
+     $                   C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR, ALPHAI,
+     $                   BETA, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        COMPQ, COMPZ, DICO, JOBAE, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
+     $                 NDIM, NLOW, NSUP, P
+      DOUBLE PRECISION ALPHA
+C     .. Array Arguments ..
+      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                 BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                 Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the descriptor system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies whether the domain of interest is of stability
+          type (left part of complex plane or inside of a circle)
+          or of instability type (right part of complex plane or
+          outside of a circle) as follows:
+          = 'S':  stability type domain;
+          = 'U':  instability type domain.
+
+  JOBAE   CHARACTER*1
+          Specifies the shape of the matrix pair (A,E) on entry
+          as follows:
+          = 'S':  (A,E) is in a generalized real Schur form;
+          = 'G':  A and E are general square dense matrices.
+
+  COMPQ   CHARACTER*1
+          = 'I':  Q is initialized to the unit matrix, and the
+                  orthogonal matrix Q is returned;
+          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
+                  and the product Q1*Q is returned.
+                  This option can not be used when JOBAE = 'G'.
+
+  COMPZ   CHARACTER*1
+          = 'I':  Z is initialized to the unit matrix, and the
+                  orthogonal matrix Z is returned;
+          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
+                  and the product Z1*Z is returned.
+                  This option can not be used when JOBAE = 'G'.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C, and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  NLOW,   (input) INTEGER
+  NSUP    (input) INTEGER
+          NLOW and NSUP specify the boundary indices for the rows
+          and columns of the principal subpencil of A - lambda*E
+          whose diagonal blocks are to be reordered.
+          0 &lt;= NLOW &lt;= NSUP &lt;= N,       if JOBAE = 'S'.
+          NLOW = MIN( 1, N ), NSUP = N, if JOBAE = 'G'.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the generalized
+          eigenvalues of the pair (A,E). For a continuous-time
+          system (DICO = 'C'), ALPHA is the boundary value for the
+          real parts of the generalized eigenvalues, while for a
+          discrete-time system (DICO = 'D'), ALPHA &gt;= 0 represents
+          the boundary value for the moduli of the generalized
+          eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          If JOBAE = 'S' then A must be a matrix in real Schur form.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q'*A*Z in real Schur form, with the elements
+          below the first subdiagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
+          and E12 := E(NLOW:NSUP,NLOW:NSUP), has generalized
+          eigenvalues in the domain of interest, and the trailing
+          part of this subpencil has generalized eigenvalues outside
+          the domain of interest.
+          The domain of interest for eig(A12,E12), the generalized
+          eigenvalues of the pair (A12,E12), is defined by the
+          parameters ALPHA, DICO and STDOM as follows:
+            For DICO = 'C':
+               Real(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
+               Real(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
+               Abs(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E.
+          If JOBAE = 'S', then E must be an upper triangular matrix.
+          On exit, the leading N-by-N part of this array contains an
+          upper triangular matrix Q'*E*Z, with the elements below
+          the diagonal set to zero.
+          The leading NDIM-by-NDIM part of the principal subpencil
+          A12 - lambda*E12 (see description of A) has generalized
+          eigenvalues in the domain of interest, and the trailing
+          part of this subpencil has generalized eigenvalues outside
+          the domain of interest.
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
+          If COMPQ = 'I':  on entry, Q need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Q,
+                           where Q' is the product of orthogonal
+                           transformations which are applied to A,
+                           E, and B on the left.
+          If COMPQ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Q1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Q1*Q.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q. LDQ &gt;= MAX(1,N).
+
+  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
+          If COMPZ = 'I':  on entry, Z need not be set;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix Z,
+                           which is the product of orthogonal
+                           transformations applied to A, E, and C
+                           on the right.
+          If COMPZ = 'U':  on entry, the leading N-by-N part of this
+                           array must contain an orthogonal matrix
+                           Z1;
+                           on exit, the leading N-by-N part of this
+                           array contains the orthogonal matrix
+                           Z1*Z.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z. LDZ &gt;= MAX(1,N).
+
+  NDIM    (output) INTEGER
+          The number of generalized eigenvalues of the principal
+          subpencil A12 - lambda*E12 (see description of A) lying
+          inside the domain of interest for eigenvalues.
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
+          are the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1,...,N, are the
+          diagonals of the complex Schur form (S,T) that would
+          result if the 2-by-2 diagonal blocks of the real Schur
+          form of (A,B) were further reduced to triangular form
+          using 2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
+          if positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.
+          LDWORK &gt;= 8*N+16, if JOBAE = 'G';
+          LDWORK &gt;= 4*N+16, if JOBAE = 'S'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the QZ algorithm failed to compute all generalized
+                eigenvalues of the pair (A,E);
+          = 2:  a failure occured during the ordering of the
+                generalized real Schur form of the pair (A,E).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  If JOBAE = 'G', the pair (A,E) is reduced to an ordered
+  generalized real Schur form using an orthogonal equivalence
+  transformation A &lt;-- Q'*A*Z and E &lt;-- Q'*E*Z. This transformation
+  is determined so that the leading diagonal blocks of the resulting
+  pair (A,E) have generalized eigenvalues in a suitably defined
+  domain of interest. Then, the transformations are applied to the
+  matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
+  If JOBAE = 'S', then the diagonal blocks of the subpencil
+  A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
+  and E12 := E(NLOW:NSUP,NLOW:NSUP), are reordered using orthogonal
+  equivalence transformations, such that the leading blocks have
+  generalized eigenvalues in a suitably defined domain of interest.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 25N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01PD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 8*NMAX+16 )
+*     .. Local Scalars ..
+      CHARACTER*1      COMPQ, COMPZ, DICO, JOBAE, STDOM
+      INTEGER          I, INFO, J, M, N, NDIM, NLOW, NSUP, P
+      DOUBLE PRECISION ALPHA, TOL
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TG01PD
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBAE, COMPQ, COMPZ,
+     $                      NLOW, NSUP, ALPHA, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+               IF ( LSAME( COMPQ, 'U' ) )
+     $            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
+               IF ( LSAME( COMPZ, 'U' ) )
+     $            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
+     $                      NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
+     $                      C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR,
+     $                      ALPHAI, BETA, DWORK, LDWORK, INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) NDIM
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, N
+                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     ALPHAR(I)/BETA(I)
+                     ELSE
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+                     END IF
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01PD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01PD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Number of eigenvalues in the domain =', I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01PD EXAMPLE PROGRAM DATA
+  4     2     2     C     S     G     I     I     1     4     -1.E-7     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01PD EXAMPLE PROGRAM RESULTS
+
+ Number of eigenvalues in the domain =    1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+  -1.6311   2.1641  -3.6829  -0.3369
+   0.0000   0.4550  -1.9033   0.6425
+   0.0000   0.0000   2.6950   0.6882
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed descriptor matrix Q'*E*Z is 
+   0.4484   9.6340  -1.2601  -5.6475
+   0.0000   3.3099   0.6641  -1.4869
+   0.0000   0.0000   0.0000  -1.3765
+   0.0000   0.0000   0.0000   2.0000
+
+ The transformed input/state matrix Q'*B is 
+   0.0232  -0.9413
+  -0.7251  -0.2478
+   0.6882  -0.2294
+   1.0000   1.0000
+
+ The transformed state/output matrix C*Z is 
+  -0.8621   0.3754   0.3405   1.0000
+  -0.1511  -1.1192   0.8513  -1.0000
+
+ The left transformation matrix Q is 
+   0.0232  -0.7251   0.6882   0.0000
+  -0.3369   0.6425   0.6882   0.0000
+  -0.9413  -0.2478  -0.2294   0.0000
+   0.0000   0.0000   0.0000   1.0000
+
+ The right transformation matrix Z is 
+   0.8621  -0.3754  -0.3405   0.0000
+  -0.4258  -0.9008  -0.0851   0.0000
+   0.0000   0.0000   0.0000   1.0000
+   0.2748  -0.2184   0.9364   0.0000
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+   -3.6375
+    0.1375
+  Infinity
+    0.0000
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/TG01QD.html b/doc/_static/doc/TG01QD.html
new file mode 100644
index 00000000..2d504240
--- /dev/null
+++ b/doc/_static/doc/TG01QD.html
@@ -0,0 +1,529 @@
+<HTML>
+<HEAD><TITLE>TG01QD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01QD">TG01QD</A></H2>
+<H3>
+Three-domain spectral splitting of a subpencil of a descriptor system
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To compute orthogonal transformation matrices Q and Z which
+  reduce the regular pole pencil A-lambda*E of the descriptor system
+  (A-lambda*E,B,C) to the generalized real Schur form with ordered
+  generalized eigenvalues. The pair (A,E) is reduced to the form
+
+             ( A1  *   *  )             ( E1  *   *  )
+    Q'*A*Z = ( 0   A2  *  ) ,  Q'*E*Z = ( 0   E2  *  ) ,         (1)
+             ( 0   0   A3 )             ( 0   0   E2 )
+
+  where the subpencils Ak-lambda*Ek, for k = 1, 2, 3, contain the
+  generalized eigenvalues which belong to certain domains of
+  interest.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
+     $                   E, LDE, B, LDB, C, LDC, N1, N2, N3, ND, NIBLCK,
+     $                   IBLCK, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA,
+     $                   TOL, IWORK, DWORK, LDWORK, INFO )
+C     .. Scalar Arguments ..
+      CHARACTER        DICO, JOBFI, STDOM
+      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
+     $                 N1, N2, N3, ND, NIBLCK, P
+      DOUBLE PRECISION ALPHA, TOL
+C     .. Array Arguments ..
+      INTEGER          IBLCK( * ), IWORK(*)
+      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                 BETA(*), C(LDC,*), DWORK(*), E(LDE,*), Q(LDQ,*),
+     $                 Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+  DICO    CHARACTER*1
+          Specifies the type of the descriptor system as follows:
+          = 'C':  continuous-time system;
+          = 'D':  discrete-time system.
+
+  STDOM   CHARACTER*1
+          Specifies the type of the domain of interest for the
+          generalized eigenvalues, as follows:
+          = 'S':  stability type domain (i.e., left part of complex
+                  plane or inside of a circle);
+          = 'U':  instability type domain (i.e., right part of complex
+                  plane or outside of a circle);
+          = 'N':  whole complex domain, excepting infinity.
+
+  JOBFI   CHARACTER*1
+          Specifies the type of generalized eigenvalues in the
+          leading diagonal block(s) as follows:
+          = 'F':  finite generalized eigenvalues are in the
+                  leading diagonal blocks (Af,Ef), and the resulting
+                  transformed pair has the form
+
+                           ( Af  *  )             ( Ef  *  )
+                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ;
+                           ( 0   Ai )             ( 0   Ei )
+
+          = 'I':  infinite generalized eigenvalues are in the
+                  leading diagonal blocks (Ai,Ei), and the resulting
+                  transformed pair has the form
+
+                           ( Ai  *  )             ( Ei  *  )
+                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) .
+                           ( 0   Af )             ( 0   Ef )
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The number of rows of the matrix B, the number of columns
+          of the matrix C and the order of the square matrices A
+          and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of columns of the matrix B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of rows of the matrix C.  P &gt;= 0.
+
+  ALPHA   (input) DOUBLE PRECISION
+          The boundary of the domain of interest for the finite
+          generalized eigenvalues of the pair (A,E). For a
+          continuous-time system (DICO = 'C'), ALPHA is the boundary
+          value for the real parts of the generalized eigenvalues,
+          while for a discrete-time system (DICO = 'D'), ALPHA &gt;= 0
+          represents the boundary value for the moduli of the
+          generalized eigenvalues.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q'*A*Z in real Schur form, with the elements
+          below the first subdiagonal set to zero.
+          If JOBFI = 'I', the N1-by-N1 pair (A1,E1) contains the
+          infinite spectrum, the N2-by-N2 pair (A2,E2) contains the
+          finite spectrum in the domain of interest, and the
+          N3-by-N3 pair (A3,E3) contains the finite spectrum ouside
+          of the domain of interest.
+          If JOBFI = 'F', the N1-by-N1 pair (A1,E1) contains the
+          finite spectrum in the domain of interest, the N2-by-N2
+          pair (A2,E2) contains the finite spectrum ouside of the
+          domain of interest, and the N3-by-N3 pair (A3,E3) contains
+          the infinite spectrum.
+          Ai has a block structure as in (2), where A0,0 is ND-by-ND
+          and Ai,i is IBLCK(i)-by-IBLCK(i), for i = 1, ..., NIBLCK.
+          The domain of interest for the pair (Af,Ef), containing
+          the finite generalized eigenvalues, is defined by the
+          parameters ALPHA, DICO and STDOM as follows:
+            For DICO = 'C':
+               Real(eig(Af,Ef)) &lt; ALPHA if STDOM = 'S';
+               Real(eig(Af,Ef)) &gt; ALPHA if STDOM = 'U'.
+            For DICO = 'D':
+               Abs(eig(Af,Ef))  &lt; ALPHA if STDOM = 'S';
+               Abs(eig(Af,Ef))  &gt; ALPHA if STDOM = 'U'.
+
+  LDA     INTEGER
+          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q'*E*Z in upper triangular form, with the
+          elements below the diagonal set to zero. Its structure
+          corresponds to the block structure of the matrix Q'*A*Z
+          (see description of A).
+
+  LDE     INTEGER
+          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q'*B.
+
+  LDB     INTEGER
+          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C*Z.
+
+  LDC     INTEGER
+          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
+
+  N1      (output) INTEGER
+  N2      (output) INTEGER
+  N3      (output) INTEGER
+          The number of the generalized eigenvalues of the pairs
+          (A1,E1), (A2,E2) and (A3,E3), respectively.
+
+  ND      (output) INTEGER.
+          The number of non-dynamic infinite eigenvalues of the
+          pair (A,E). Note: N-ND is the rank of the matrix E.
+
+  NIBLCK  (output) INTEGER
+          If ND &gt; 0, the number of infinite blocks minus one.
+          If ND = 0, then NIBLCK = 0.
+
+  IBLCK   (output) INTEGER array, dimension (N)
+          IBLCK(i) contains the dimension of the i-th block in the
+          staircase form (2), where i = 1,2,...,NIBLCK.
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Q, where Q' is the product of orthogonal
+          transformations applied to A, E, and B on the left.
+
+  LDQ     INTEGER
+          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the
+          orthogonal matrix Z, which is the product of orthogonal
+          transformations applied to A, E, and C on the right.
+
+  LDZ     INTEGER
+          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ..., N,
+          are the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1, ..., N, are
+          the diagonals of the complex Schur form (S,T) that would
+          result if the 2-by-2 diagonal blocks of the real Schur
+          form of (A,E) were further reduced to triangular form
+          using 2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
+          if positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Tolerances</B>
+<PRE>
+  TOL     DOUBLE PRECISION
+          A tolerance used in rank decisions to determine the
+          effective rank, which is defined as the order of the
+          largest leading (or trailing) triangular submatrix in the
+          QR factorization with column pivoting whose estimated
+          condition number is less than 1/TOL.  If the user sets
+          TOL &lt;= 0, then an implicitly computed, default tolerance
+          TOLDEF = N**2*EPS,  is used instead, where EPS is the
+          machine precision (see LAPACK Library routine DLAMCH).
+          TOL &lt; 1.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  IWORK   INTEGER array, dimension (N)
+
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The length of the array DWORK.  LDWORK &gt;= 1, and if N = 0,
+          LDWORK &gt;= 4*N,    if STDOM = 'N';
+          LDWORK &gt;= 4*N+16, if STDOM = 'S' or 'U'.
+          For optimum performance LDWORK should be larger.
+
+          If LDWORK = -1, then a workspace query is assumed; the
+          routine only calculates the optimal size of the DWORK
+          array, returns this value as the first entry of the DWORK
+          array, and no error message related to LDWORK is issued by
+          XERBLA.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1:  the pencil A-lambda*E is not regular;
+          = 2:  the QZ algorithm failed to compute all generalized
+                eigenvalues of the pair (A,E);
+          = 3:  a failure occured during the ordering of the
+                generalized real Schur form of the pair (A,E).
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The separation of the finite and infinite parts is based on the
+  reduction algorithm of [1].
+  If JOBFI = 'F', the matrices of the pair (Ai,Ei), containing the
+  infinite generalized eigenvalues, have the form
+
+        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
+   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (2)
+        (  :     :    .    :  )         ( :   :    .    :  )
+        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
+
+  if JOBFI = 'I', the matrices Ai and Ei have the form
+
+        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
+   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (3)
+        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
+        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
+
+  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
+  triangular matrices, and A0,0 corresponds to the non-dynamic
+  infinite modes of the system.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  [1] Misra, P., Van Dooren, P., and Varga, A.
+      Computation of structural invariants of generalized
+      state-space systems.
+      Automatica, 30, pp. 1921-1936, 1994.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 25N  floating point operations.
+
+</PRE>
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  The number of infinite poles is computed as
+
+                NIBLCK
+     NINFP =     Sum  IBLCK(i) = N - ND - NF,
+                 i=1
+
+  where NF is the number of finite generalized eigenvalues.
+  The multiplicities of infinite poles can be computed as follows:
+  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity k,
+  for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
+  Note that each infinite pole of multiplicity k corresponds to an
+  infinite eigenvalue of multiplicity k+1.
+
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     TG01QD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      DOUBLE PRECISION ZERO
+      PARAMETER        ( ZERO = 0.0D0 )
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          NMAX, MMAX, PMAX
+      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
+      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
+      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
+     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
+      INTEGER          LDWORK
+      PARAMETER        ( LDWORK = 4*NMAX+16 )
+*     .. Local Scalars ..
+      CHARACTER*1      DICO, JOBFI, STDOM
+      INTEGER          I, INFO, J, M, N, N1, N2, N3, ND, NIBLCK, P
+      DOUBLE PRECISION ALPHA, TOL
+*     .. Local Arrays ..
+      INTEGER          IBLCK(NMAX), IWORK(NMAX)
+      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
+     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
+     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
+     $                 Z(LDZ,NMAX)
+*     .. External Functions ..
+      LOGICAL          LSAME
+      EXTERNAL         LSAME
+*     .. External Subroutines ..
+      EXTERNAL         TG01QD
+*     .. Intrinsic Functions ..
+      INTRINSIC        DCMPLX
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBFI, ALPHA, TOL
+      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99988 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
+         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+            WRITE ( NOUT, FMT = 99987 ) M
+         ELSE
+            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
+               WRITE ( NOUT, FMT = 99986 ) P
+            ELSE
+               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+*              Find the reduced descriptor system
+*              (A-lambda E,B,C).
+               CALL TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
+     $                      E, LDE, B, LDB, C, LDC, N1, N2, N3, ND,
+     $                      NIBLCK, IBLCK, Q, LDQ, Z, LDZ, ALPHAR,
+     $                      ALPHAI, BETA, TOL, IWORK, DWORK, LDWORK,
+     $                      INFO )
+*
+               IF ( INFO.NE.0 ) THEN
+                  WRITE ( NOUT, FMT = 99998 ) INFO
+               ELSE
+                  WRITE ( NOUT, FMT = 99994 ) N1, N2, N3
+                  WRITE ( NOUT, FMT = 99983 ) ND
+                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
+                  IF ( NIBLCK.GT.0 ) THEN
+                     WRITE ( NOUT, FMT = 99985 )
+     $                     ( IBLCK(I), I = 1, NIBLCK ) 
+                  END IF
+                  WRITE ( NOUT, FMT = 99997 )
+                  DO 10 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
+   10             CONTINUE
+                  WRITE ( NOUT, FMT = 99996 )
+                  DO 20 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
+   20             CONTINUE
+                  WRITE ( NOUT, FMT = 99993 )
+                  DO 30 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
+   30             CONTINUE
+                  WRITE ( NOUT, FMT = 99992 )
+                  DO 40 I = 1, P
+                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
+   40             CONTINUE
+                  WRITE ( NOUT, FMT = 99991 )
+                  DO 50 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
+   50             CONTINUE
+                  WRITE ( NOUT, FMT = 99990 )
+                  DO 60 I = 1, N
+                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
+   60             CONTINUE
+                  WRITE ( NOUT, FMT = 99985 )
+                  DO 70 I = 1, N
+                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     ALPHAR(I)/BETA(I)
+                     ELSE
+                        WRITE ( NOUT, FMT = 99984 )
+     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
+                     END IF
+   70             CONTINUE
+               END IF
+            END IF
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' TG01QD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TG01QD = ',I2)
+99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
+99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
+99995 FORMAT (20(1X,F8.4))
+99994 FORMAT (' Number of eigenvalues of the three blocks =', 3I5)
+99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
+99992 FORMAT (/' The transformed state/output matrix C*Z is ')
+99991 FORMAT (/' The left transformation matrix Q is ')
+99990 FORMAT (/' The right transformation matrix Z is ')
+99989 FORMAT ( ' Number of infinite blocks = ',I5)
+99988 FORMAT (/' N is out of range.',/' N = ',I5)
+99987 FORMAT (/' M is out of range.',/' M = ',I5)
+99986 FORMAT (/' P is out of range.',/' P = ',I5)
+99985 FORMAT (/' The finite generalized eigenvalues are '/
+     $         ' real  part     imag  part ')
+99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
+99983 FORMAT ( ' Number of non-dynamic infinite eigenvalues = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+TG01QD EXAMPLE PROGRAM DATA
+  4     2     2     C     S     F     -1.E-7     0.0    
+    -1     0     0     3
+     0     0     1     2
+     1     1     0     4
+     0     0     0     0
+     1     2     0     0
+     0     1     0     1
+     3     9     6     3
+     0     0     2     0
+     1     0
+     0     0
+     0     1
+     1     1
+    -1     0     1     0
+     0     1    -1     1
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TG01QD EXAMPLE PROGRAM RESULTS
+
+ Number of eigenvalues of the three blocks =    1    2    1
+ Number of non-dynamic infinite eigenvalues =     1
+ Number of infinite blocks =     1
+
+ The transformed state dynamics matrix Q'*A*Z is 
+   1.6311   2.1641  -0.5848  -3.6517
+   0.0000  -0.4550   1.0935   1.6851
+   0.0000   0.0000   0.0000   1.5770
+   0.0000   0.0000   0.0000   2.2913
+
+ The transformed descriptor matrix Q'*E*Z is 
+  -0.4484   9.6340   5.1601  -2.6183
+   0.0000  -3.3099  -1.6050  -0.2756
+   0.0000   0.0000   2.3524  -0.6008
+   0.0000   0.0000   0.0000   0.0000
+
+ The transformed input/state matrix Q'*B is 
+   0.0232  -0.9413
+   0.7251   0.2478
+  -0.4336  -0.9538
+   1.1339   0.3780
+
+ The transformed state/output matrix C*Z is 
+   0.8621   0.3754  -0.8847   0.5774
+   0.1511  -1.1192   1.1795   0.5774
+
+ The left transformation matrix Q is 
+   0.0232   0.7251   0.3902   0.5669
+  -0.3369  -0.6425   0.3902   0.5669
+  -0.9413   0.2478  -0.1301  -0.1890
+   0.0000   0.0000  -0.8238   0.5669
+
+ The right transformation matrix Z is 
+  -0.8621  -0.3754  -0.0843  -0.3299
+   0.4258  -0.9008  -0.0211  -0.0825
+   0.0000   0.0000  -0.9689   0.2474
+  -0.2748  -0.2184   0.2317   0.9073
+
+ The finite generalized eigenvalues are 
+ real  part     imag  part 
+   -3.6375
+    0.1375
+    0.0000
+  Infinity
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
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+<HTML>
+<HEAD><TITLE>TG01WD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TG01WD">TG01WD</A></H2>
+<H3>
+Reduction of the descriptor dynamics matrix pair to generalized real Schur form
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To reduce the pair (A,E) to a real generalized Schur form
+  by using an orthogonal equivalence transformation
+  (A,E) &lt;-- (Q'*A*Z,Q'*E*Z) and to apply the transformation
+  to the matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE TG01WD( N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
+     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
+     $                   LDWORK, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ,
+     $                  M, N, P
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
+     $                  BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
+     $                  Q(LDQ,*), Z(LDZ,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  N       (input) INTEGER
+          The order of the original state-space representation,
+          i.e., the order of the matrices A and E.  N &gt;= 0.
+
+  M       (input) INTEGER
+          The number of system inputs, or of columns of B.  M &gt;= 0.
+
+  P       (input) INTEGER
+          The number of system outputs, or of rows of C.  P &gt;= 0.
+
+  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original state dynamics matrix A.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q' * A * Z in an upper quasi-triangular form.
+          The elements below the first subdiagonal are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,N).
+
+  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
+          On entry, the leading N-by-N part of this array must
+          contain the original descriptor matrix E.
+          On exit, the leading N-by-N part of this array contains
+          the matrix Q' * E * Z in an upper triangular form.
+          The elements below the diagonal are set to zero.
+
+  LDE     INTEGER
+          The leading dimension of array E.  LDE &gt;= MAX(1,N).
+
+  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+          On entry, the leading N-by-M part of this array must
+          contain the input matrix B.
+          On exit, the leading N-by-M part of this array contains
+          the transformed input matrix Q' * B.
+
+  LDB     INTEGER
+          The leading dimension of array B.  LDB &gt;= MAX(1,N).
+
+  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+          On entry, the leading P-by-N part of this array must
+          contain the output matrix C.
+          On exit, the leading P-by-N part of this array contains
+          the transformed output matrix C * Z.
+
+  LDC     INTEGER
+          The leading dimension of array C.  LDC &gt;= MAX(1,P).
+
+  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
+          The leading N-by-N part of this array contains the left
+          orthogonal transformation matrix used to reduce (A,E) to
+          the real generalized Schur form.
+          The columns of Q are the left generalized Schur vectors
+          of the pair (A,E).
+
+  LDQ     INTEGER
+          The leading dimension of array Q.  LDQ &gt;= max(1,N).
+
+  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
+          The leading N-by-N part of this array contains the right
+          orthogonal transformation matrix used to reduce (A,E) to
+          the real generalized Schur form.
+          The columns of Z are the right generalized Schur vectors
+          of the pair (A,E).
+
+  LDZ     INTEGER
+          The leading dimension of array Z.  LDZ &gt;= max(1,N).
+
+  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
+  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
+  BETA    (output) DOUBLE PRECISION array, dimension (N)
+          On exit, if INFO = 0, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j),
+          j=1,...,N, will be the generalized eigenvalues.
+          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j=1,...,N, are the
+          diagonals of the complex Schur form that would result if
+          the 2-by-2 diagonal blocks of the real Schur form of
+          (A,E) were further reduced to triangular form using
+          2-by-2 complex unitary transformations.
+          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
+          if positive, then the j-th and (j+1)-st eigenvalues are a
+          complex conjugate pair, with ALPHAI(j+1) negative.
+
+</PRE>
+<B>Workspace</B>
+<PRE>
+  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+          On exit, if INFO = 0, DWORK(1) returns the optimal value
+          of LDWORK.
+
+  LDWORK  INTEGER
+          The dimension of working array DWORK.  LDWORK &gt;= 8*N+16.
+          For optimum performance LDWORK should be larger.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          &gt; 0:  if INFO = i, the QZ algorithm failed to compute
+                the generalized real Schur form; elements i+1:N of
+                ALPHAR, ALPHAI, and BETA should be correct.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The pair (A,E) is reduced to a real generalized Schur form using
+  an orthogonal equivalence transformation (A,E) &lt;-- (Q'*A*Z,Q'*E*Z)
+  and the transformation is applied to the matrices B and C:
+  B &lt;-- Q'*B and C &lt;-- C*Z.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>                                  3
+  The algorithm requires about 25N  floating point operations.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UD01BD.html b/doc/_static/doc/UD01BD.html
new file mode 100644
index 00000000..96339e20
--- /dev/null
+++ b/doc/_static/doc/UD01BD.html
@@ -0,0 +1,212 @@
+<HTML>
+<HEAD><TITLE>UD01BD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01BD">UD01BD</A></H2>
+<H3>
+Reading a matrix polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To read the coefficients of a matrix polynomial
+                                                 dp-1           dp
+     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the matrix polynomial P(s).
+          MP &gt;= 1.
+
+  NP      (input) INTEGER
+          The number of columns of the matrix polynomial P(s).
+          NP &gt;= 1.
+
+  DP      (input) INTEGER
+          The degree of the matrix polynomial P(s).  DP &gt;= 0.
+
+  NIN     (input) INTEGER
+          The input channel from which the elements of P(s) are
+          read.  NIN &gt;= 0.
+
+  P       (output) DOUBLE PRECISION array, dimension
+          (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array contains
+          the coefficients of the matrix polynomial P(s).
+          Specifically, P(i,j,k) contains the coefficient of
+          s**(k-1) of the polynomial which is the (i,j)-th element
+          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
+          k = 1,2,...,DP+1.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MP.
+
+  LDP2    INTEGER
+          The second dimension of array P.  LDP2 &gt;= NP.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The coefficients P(i), i = 0, ..., DP, which are MP-by-NP
+  matrices, are read from the input file NIN row by row. Each P(i)
+  must be preceded by a text line. This text line can be used to
+  indicate the coefficient matrices.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01BD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MPMAX, NPMAX, DPMAX
+      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
+      INTEGER          LDP1, LDP2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
+*     .. Local Scalars ..
+      INTEGER          DP, INFO, L, MP, NP
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01BD, UD01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP
+      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) MP
+      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP
+      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, 99996 ) MP, NP, DP
+*           Write the coefficients of the matrix polynomial P(s).
+            L = 5
+            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
+     $                   INFO )
+            IF ( INFO.NE.0 )
+     $         WRITE ( NOUT, FMT = 99997 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99998 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01BD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01BD = ',I2)
+99997 FORMAT (' INFO on exit from UD01ND = ',I2)
+99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
+99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
+99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01BD EXAMPLE PROGRAM DATA
+   4   3   2 
+P0
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  2.0D-00  4.0D-00
+ 0.0D-00  4.0D-00  8.0D-00
+ 0.0D-00  6.0D-00  1.2D+01
+P1
+ 0.0D-00  1.0D-00  2.0D-00
+ 1.0D-00  0.0D-00  0.0D-00
+ 2.0D-00  0.0D-00  0.0D-00
+ 3.0D-00  0.0D-00  0.0D-00
+P2
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01BD EXAMPLE PROGRAM RESULTS
+
+ MP = 4   NP = 3   DP = 2
+
+  P( 0) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
+  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
+  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
+
+  P( 1) ( 4X 3)
+            1              2              3
+  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
+  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
+  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
+
+  P( 2) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UD01CD.html b/doc/_static/doc/UD01CD.html
new file mode 100644
index 00000000..15c6ece1
--- /dev/null
+++ b/doc/_static/doc/UD01CD.html
@@ -0,0 +1,224 @@
+<HTML>
+<HEAD><TITLE>UD01CD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01CD">UD01CD</A></H2>
+<H3>
+Reading a sparse matrix polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To read the elements of a sparse matrix polynomial
+                                                 dp-1           dp
+     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the matrix polynomial P(s).
+          MP &gt;= 1.
+
+  NP      (input) INTEGER
+          The number of columns of the matrix polynomial P(s).
+          NP &gt;= 1.
+
+  DP      (input) INTEGER
+          The degree of the matrix polynomial P(s).  DP &gt;= 0.
+
+  NIN     (input) INTEGER
+          The input channel from which the elements of P(s) are
+          read.  NIN &gt;= 0.
+
+  P       (output) DOUBLE PRECISION array, dimension
+          (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array contains
+          the coefficients of the matrix polynomial P(s).
+          Specifically, P(i,j,k) contains the coefficient of
+          s**(k-1) of the polynomial which is the (i,j)-th element
+          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
+          k = 1,2,...,DP+1.
+          The not assigned elements are set to zero.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MP.
+
+  LDP2    INTEGER
+          The second dimension of array P.  LDP2 &gt;= NP.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : if a row index i is read with i &lt; 1 or i &gt; MP or
+                a column index j is read with j &lt; 1 or j &gt; NP or
+                a coefficient degree d is read with d &lt; 0 or
+                d &gt; DP + 1. This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the elements P(i,j,k) with 1 &lt;= i &lt;= MP, 1 &lt;= j &lt;= NP and
+  1 &lt;= k &lt;= DP + 1 are set to zero. Next the nonzero (polynomial)
+  elements are read from the input file NIN. Each nonzero element is
+  given by the values i, j, d, P(i,j,k), k = 1, ..., d+1, where d is
+  the degree and P(i,j,k) is the coefficient of s**(k-1) in the
+  (i,j)-th element of P(s), i.e., let
+                                                           d
+      P   (s) = P   (0) + P   (1) * s + . . . + P   (d) * s
+       i,j       i,j       i,j                   i,j
+
+  be the nonzero (i,j)-th element of the matrix polynomial P(s).
+
+  Then P(i,j,k) corresponds to coefficient P   (k-1), k = 1,...,d+1.
+                                            i,j
+  For each nonzero element, the values i, j, and d are read as one
+  record of the file NIN, and the values P(i,j,k), k = 1,...,d+1,
+  are read as the following record.
+  The routine terminates after the last line has been read.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01CD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MPMAX, NPMAX, DPMAX
+      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
+      INTEGER          LDP1, LDP2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
+*     .. Local Scalars ..
+      INTEGER          DP, INFO, INFO1, L, MP, NP
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01CD, UD01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP
+      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) MP
+      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP
+      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+         IF ( INFO.GE.0 ) THEN
+            WRITE ( NOUT, 99996 ) MP, NP, DP
+*           Write the coefficients of the matrix polynomial P(s).
+            L = 5
+            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
+     $                   INFO1 )
+            IF ( INFO1.NE.0 )
+     $         WRITE ( NOUT, FMT = 99997 ) INFO1
+         END IF
+         IF ( INFO.NE.0 )
+     $      WRITE ( NOUT, FMT = 99998 ) INFO
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01CD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01CD = ',I2)
+99997 FORMAT (' INFO on exit from UD01ND = ',I2)
+99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
+99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
+99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01CD EXAMPLE PROGRAM DATA
+   4   3   2
+1  1  1
+1.0  1.0
+2  2  2
+2.0  0.0  1.0
+3  3  2
+0.0  3.0  1.0
+4  1  0
+4.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01CD EXAMPLE PROGRAM RESULTS
+
+ MP = 4   NP = 3   DP = 2
+
+  P( 0) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.2000000D+01  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  4    0.4000000D+01  0.0000000D+00  0.0000000D+00
+
+  P( 1) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.3000000D+01
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+
+  P( 2) ( 4X 3)
+            1              2              3
+  1    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.1000000D+01  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.1000000D+01
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UD01DD.html b/doc/_static/doc/UD01DD.html
new file mode 100644
index 00000000..9ccfe4f5
--- /dev/null
+++ b/doc/_static/doc/UD01DD.html
@@ -0,0 +1,176 @@
+<HTML>
+<HEAD><TITLE>UD01DD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01DD">UD01DD</A></H2>
+<H3>
+Reading a sparse real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To read the elements of a sparse matrix.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01DD( M, N, NIN, A, LDA, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, M, N, NIN
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of the matrix A.  M &gt;= 0.
+
+  N       (input) INTEGER
+          The number of columns of the matrix A.  N &gt;= 0.
+
+  NIN     (input) INTEGER
+          The input channel from which the elements of A are read.
+          NIN &gt;= 0.
+
+  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array contains the sparse
+          matrix A. The not assigned elements are set to zero.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= MAX(1,M).
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value;
+          = 1 : if a row index i is read with i &lt; 1 or i &gt; M or
+                a column index j is read with j &lt; 1 or j &gt; N.
+                This is a warning.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  First, the elements A(i,j) with 1 &lt;= i &lt;= M and 1 &lt;= j &lt;= N are
+  set to zero. Next the nonzero elements are read from the input
+  file NIN. Each line of NIN must contain consecutively the values
+  i, j, A(i,j). The routine terminates after the last line has been
+  read.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01DD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 10, NMAX = 10 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = NMAX )
+*     .. Local Scalars ..
+      INTEGER          INFO, INFO1, M, N
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01DD, UD01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N
+      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) M
+      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) N
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01DD( M, N, NIN, A, LDA, INFO )
+         IF ( INFO.GE.0 ) THEN
+*           Write the matrix A.
+            CALL UD01MD( M, N, 5, NOUT, A, LDA, ' Matrix A', INFO1 )
+            IF ( INFO1.NE.0 )
+     $         WRITE ( NOUT, FMT = 99998 ) INFO1
+         END IF
+         IF ( INFO.NE.0 )
+     $      WRITE ( NOUT, FMT = 99997 ) INFO
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01DD EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01MD = ',I2)
+99997 FORMAT (' INFO on exit from UD01DD = ',I2)
+99995 FORMAT (/' N is out of range.',/' N = ',I5)
+99994 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01DD EXAMPLE PROGRAM DATA
+6  5
+1   1   -1.1
+6   1    1.5
+2   2   -2.2
+6   2    2.5
+3   3   -3.3
+6   3    3.5
+4   4   -4.4
+6   4    4.5
+5   5   -5.5
+6   5    5.5
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01DD EXAMPLE PROGRAM RESULTS
+
+  Matrix A ( 6X 5)
+
+            1              2              3              4              5
+  1   -0.1100000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00 -0.2200000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00 -0.3300000D+01  0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.4400000D+01  0.0000000D+00
+  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.5500000D+01
+  6    0.1500000D+01  0.2500000D+01  0.3500000D+01  0.4500000D+01  0.5500000D+01
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UD01MD.html b/doc/_static/doc/UD01MD.html
new file mode 100644
index 00000000..0e5565b6
--- /dev/null
+++ b/doc/_static/doc/UD01MD.html
@@ -0,0 +1,178 @@
+<HTML>
+<HEAD><TITLE>UD01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01MD">UD01MD</A></H2>
+<H3>
+Printing a real matrix
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To print an M-by-N real matrix A row by row. The elements of A
+  are output to 7 significant figures.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, M, N, NOUT
+      CHARACTER*(*)     TEXT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of matrix A to be printed.  M &gt;= 1.
+
+  N       (input) INTEGER
+          The number of columns of matrix A to be printed.  N &gt;= 1.
+
+  L       (input) INTEGER
+          The number of elements of matrix A to be printed per line.
+          1 &lt;= L &lt;= 5.
+
+  NOUT    (input) INTEGER
+          The output channel to which the results are sent.
+          NOUT &gt;= 0.
+
+  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix to be printed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= M.
+
+  TEXT    (input) CHARACTER*72.
+          Title caption of the matrix to be printed (up to a
+          maximum of 72 characters). For example, TEXT = 'Matrix A'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine first prints the contents of TEXT as a title, followed
+  by the elements of the matrix A such that
+
+  (i)  if N &lt;= L, the leading M-by-N part is printed;
+  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
+       consecutive columns of A are printed one after another
+       followed by one M-by-p block containing the last p columns
+       of A.
+
+  Row numbers are printed on the left of each row and a column
+  number appears on top of each column.
+  The routine uses 2 + (k + 1)*(m + 1) lines and 8 + 15*c positions
+  per line where c is the actual number of columns, (i.e. c = L
+  or c = p).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01MD EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MMAX, NMAX
+      PARAMETER        ( MMAX = 20, NMAX = 20 )
+      INTEGER          LDA
+      PARAMETER        ( LDA = MMAX )
+*     .. Local Scalars ..
+      INTEGER          I, INFO, J, L, M, N
+      CHARACTER*72     TEXT
+*     .. Local Arrays ..
+      DOUBLE PRECISION A(LDA,NMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01MD
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) M, N, L, TEXT
+      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
+         WRITE ( NOUT, FMT = 99996 ) M
+      ELSE IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
+         WRITE ( NOUT, FMT = 99997 ) N
+      ELSE
+         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
+*        Print out the matrix A.
+         CALL UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
+         IF ( INFO.NE.0 ) WRITE ( NOUT, FMT = 99998 ) INFO
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01MD EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from UD01MD = ',I2)
+99997 FORMAT (/' N is out of range.',/' N = ',I5)
+99996 FORMAT (/' M is out of range.',/' M = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ UD01MD EXAMPLE PROGRAM DATA
+   4     4     4     'Matrix A'
+   1.0   2.0   3.0   4.0
+   5.0   6.0   7.0   8.0
+   9.0  10.0  11.0  12.0
+  13.0  14.0  15.0  16.0
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01MD EXAMPLE PROGRAM RESULTS
+
+ Matrix A ( 4X 4)
+
+            1              2              3              4
+  1    0.1000000D+01  0.2000000D+01  0.3000000D+01  0.4000000D+01
+  2    0.5000000D+01  0.6000000D+01  0.7000000D+01  0.8000000D+01
+  3    0.9000000D+01  0.1000000D+02  0.1100000D+02  0.1200000D+02
+  4    0.1300000D+02  0.1400000D+02  0.1500000D+02  0.1600000D+02
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UD01MZ.html b/doc/_static/doc/UD01MZ.html
new file mode 100644
index 00000000..0c773da6
--- /dev/null
+++ b/doc/_static/doc/UD01MZ.html
@@ -0,0 +1,126 @@
+<HTML>
+<HEAD><TITLE>UD01MZ - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01MZ">UD01MZ</A></H2>
+<H3>
+Printing a real matrix (complex case)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To print an M-by-N real matrix A row by row. The elements of A
+  are output to 7 significant figures.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01MZ( M, N, L, NOUT, A, LDA, TEXT, INFO )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, L, LDA, M, N, NOUT
+      CHARACTER*(*)     TEXT
+C     .. Array Arguments ..
+      COMPLEX*16        A(LDA,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  M       (input) INTEGER
+          The number of rows of matrix A to be printed.  M &gt;= 1.
+
+  N       (input) INTEGER
+          The number of columns of matrix A to be printed.  N &gt;= 1.
+
+  L       (input) INTEGER
+          The number of elements of matrix A to be printed per line.
+          1 &lt;= L &lt;= 3.
+
+  NOUT    (input) INTEGER
+          The output channel to which the results are sent.
+          NOUT &gt;= 0.
+
+  A       (input) COMPLEX*16 array, dimension (LDA,N)
+          The leading M-by-N part of this array must contain the
+          matrix to be printed.
+
+  LDA     INTEGER
+          The leading dimension of array A.  LDA &gt;= M.
+
+  TEXT    (input) CHARACTER*72.
+          Title caption of the matrix to be printed (up to a
+          maximum of 72 characters). For example, TEXT = 'Matrix A'.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  The routine first prints the contents of TEXT as a title, followed
+  by the elements of the matrix A such that
+
+  (i)  if N &lt;= L, the leading M-by-N part is printed;
+  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
+       consecutive columns of A are printed one after another
+       followed by one M-by-p block containing the last p columns
+       of A.
+
+  Row numbers are printed on the left of each row and a column
+  number appears on top of each complex column.
+  The routine uses 2 + (k + 1)*(m + 1) lines and 7 + 32*c positions
+  per line where c is the actual number of columns, (i.e. c = L
+  or c = p).
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UD01ND.html b/doc/_static/doc/UD01ND.html
new file mode 100644
index 00000000..3bf109a8
--- /dev/null
+++ b/doc/_static/doc/UD01ND.html
@@ -0,0 +1,231 @@
+<HTML>
+<HEAD><TITLE>UD01ND - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UD01ND">UD01ND</A></H2>
+<H3>
+Printing a matrix polynomial
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To print the MP-by-NP coefficient matrices of a matrix polynomial
+                                                 dp-1           dp
+     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
+
+  The elements of the matrices are output to 7 significant figures.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      SUBROUTINE UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
+     $                   INFO )
+C     .. Scalar Arguments ..
+      INTEGER           DP, INFO, L, LDP1, LDP2, MP, NP, NOUT
+      CHARACTER*(*)     TEXT
+C     .. Array Arguments ..
+      DOUBLE PRECISION  P(LDP1,LDP2,*)
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  MP      (input) INTEGER
+          The number of rows of the matrix polynomial P(s).
+          MP &gt;= 1.
+
+  NP      (input) INTEGER
+          The number of columns of the matrix polynomial P(s).
+          NP &gt;= 1.
+
+  DP      (input) INTEGER
+          The degree of the matrix polynomial P(s).  DP &gt;= 0.
+
+  L       (input) INTEGER
+          The number of elements of the coefficient matrices to be
+          printed per line.  1 &lt;= L &lt;= 5.
+
+  NOUT    (input) INTEGER
+          The output channel to which the results are sent.
+          NOUT &gt;= 0.
+
+  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
+          The leading MP-by-NP-by-(DP+1) part of this array must
+          contain the coefficients of the matrix polynomial P(s).
+          Specifically, P(i,j,k) must contain the coefficient of
+          s**(k-1) of the polynomial which is the (i,j)-th element
+          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
+          k = 1,2,...,DP+1.
+
+  LDP1    INTEGER
+          The leading dimension of array P.  LDP1 &gt;= MP.
+
+  LDP2    INTEGER
+          The second dimension of array P.  LDP2 &gt;= NP.
+
+  TEXT    (input) CHARACTER*72
+          Title caption of the coefficient matrices to be printed.
+          TEXT is followed by the degree of the coefficient matrix,
+          within brackets. If TEXT = ' ', then the coefficient
+          matrices are separated by an empty line.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+  INFO    INTEGER
+          = 0:  successful exit;
+          &lt; 0:  if INFO = -i, the i-th argument had an illegal
+                value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+  For i = 1, 2, ..., DP + 1 the routine first prints the contents of
+  TEXT followed by (i-1) as a title, followed by the elements of the
+  MP-by-NP coefficient matrix P(i) such that
+  (i)  if NP &lt; L, then the leading MP-by-NP part is printed;
+  (ii) if NP = k*L + p (where k, p &gt; 0), then k MP-by-L blocks of
+       consecutive columns of P(i) are printed one after another
+       followed by one MP-by-p block containing the last p columns
+       of P(i).
+  Row numbers are printed on the left of each row and a column
+  number on top of each column.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+  None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+*     UD01ND EXAMPLE PROGRAM TEXT
+*
+*     .. Parameters ..
+      INTEGER          NIN, NOUT
+      PARAMETER        ( NIN = 5, NOUT = 6 )
+      INTEGER          MPMAX, NPMAX, DPMAX
+      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
+      INTEGER          LDP1, LDP2
+      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
+*     .. Local Scalars ..
+      INTEGER          DP, INFO, L, MP, NP
+      CHARACTER*72     TEXT
+*     .. Local Arrays ..
+      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
+*     .. External Subroutines ..
+      EXTERNAL         UD01BD, UD01ND
+*     .. Executable Statements ..
+*
+      WRITE ( NOUT, FMT = 99999 )
+*     Skip the heading in the data file and read the data.
+      READ ( NIN, FMT = '()' )
+      READ ( NIN, FMT = * ) MP, NP, DP, L, TEXT
+      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
+         WRITE ( NOUT, FMT = 99994 ) MP
+      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
+         WRITE ( NOUT, FMT = 99995 ) NP
+      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
+         WRITE ( NOUT, FMT = 99993 ) DP
+      ELSE
+*        Read the coefficients of the matrix polynomial P(s).
+         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
+         IF ( INFO.EQ.0 ) THEN
+            WRITE ( NOUT, 99996 ) MP, NP, DP
+*           Write the coefficients of the matrix polynomial P(s).
+            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
+     $                   INFO )
+            IF ( INFO.NE.0 )
+     $         WRITE ( NOUT, FMT = 99998 ) INFO
+         ELSE
+            WRITE ( NOUT, FMT = 99997 ) INFO
+         END IF
+      END IF
+      STOP
+*
+99999 FORMAT (' UD01ND EXAMPLE PROGRAM RESULTS', /1X)
+99998 FORMAT (' INFO on exit from UD01ND = ',I2)
+99997 FORMAT (' INFO on exit from UD01BD = ',I2)
+99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
+99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
+99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
+99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
+      END
+</PRE>
+<B>Program Data</B>
+<PRE>
+UD01ND EXAMPLE PROGRAM DATA
+   4     3     2     5   P
+P0
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  2.0D-00  4.0D-00
+ 0.0D-00  4.0D-00  8.0D-00
+ 0.0D-00  6.0D-00  1.2D+01
+P1
+ 0.0D-00  1.0D-00  2.0D-00
+ 1.0D-00  0.0D-00  0.0D-00
+ 2.0D-00  0.0D-00  0.0D-00
+ 3.0D-00  0.0D-00  0.0D-00
+P2
+ 1.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+ 0.0D-00  0.0D-00  0.0D-00
+</PRE>
+<B>Program Results</B>
+<PRE>
+ UD01ND EXAMPLE PROGRAM RESULTS
+
+ MP = 4   NP = 3   DP = 2
+
+ P( 0) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
+  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
+  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
+
+ P( 1) ( 4X 3)
+            1              2              3
+  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
+  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
+  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
+
+ P( 2) ( 4X 3)
+            1              2              3
+  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
+  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
+  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
+ 
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/UE01MD.html b/doc/_static/doc/UE01MD.html
new file mode 100644
index 00000000..c1e20d09
--- /dev/null
+++ b/doc/_static/doc/UE01MD.html
@@ -0,0 +1,104 @@
+<HTML>
+<HEAD><TITLE>UE01MD - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="UE01MD">UE01MD</A></H2>
+<H3>
+Default machine-specific parameters for (skew-)Hamiltonian computation routines
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+  To provide an extension of the LAPACK routine ILAENV to
+  machine-specific parameters for SLICOT routines.
+
+  The default values in this version aim to give good performance on
+  a wide range of computers. For optimal performance, however, the
+  user is advised to modify this routine. Note that an optimized
+  BLAS is a crucial prerequisite for any speed gains. For further
+  details, see ILAENV.
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+      INTEGER FUNCTION UE01MD( ISPEC, NAME, OPTS, N1, N2, N3 )
+C     .. Scalar Arguments ..
+      CHARACTER*( * )    NAME, OPTS
+      INTEGER            ISPEC, N1, N2, N3
+
+</PRE>
+<B><FONT SIZE="+1">Function Value</FONT></B>
+<PRE>
+  UE01MD  INTEGER
+          The function value set according to ISPEC.
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+  ISPEC   (input) INTEGER
+          Specifies the parameter to be returned as the value of
+          UE01MD, as follows:
+          = 1: the optimal blocksize; if the returned value is 1, an
+               unblocked algorithm will give the best performance;
+          = 2: the minimum block size for which the block routine
+               should be used; if the usable block size is less than
+               this value, an unblocked routine should be used;
+          = 3: the crossover point (in a block routine, for N less
+               than this value, an unblocked routine should be used)
+          = 4: the number of shifts, used in the product eigenvalue
+               routine;
+          = 8: the crossover point for the multishift QR method for
+               product eigenvalue problems.
+
+  NAME    (input) CHARACTER*(*)
+          The name of the calling subroutine, in either upper case
+          or lower case.
+
+  OPTS    (input) CHARACTER*(*)
+          The character options to the subroutine NAME, concatenated
+          into a single character string.
+
+  N1      (input) INTEGER
+  N2      (input) INTEGER
+  N3      (input) INTEGER
+          Problem dimensions for the subroutine NAME; these may not
+          all be required.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+  None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+  None
+</PRE>
+<B>Program Data</B>
+<PRE>
+  None
+</PRE>
+<B>Program Results</B>
+<PRE>
+  None
+</PRE>
+
+<HR>
+<p>
+<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
+</HTML>
diff --git a/doc/_static/doc/readme b/doc/_static/doc/readme
new file mode 100644
index 00000000..2b385284
--- /dev/null
+++ b/doc/_static/doc/readme
@@ -0,0 +1,17 @@
+SLICOT Library Subdirectory doc
+-------------------------------
+
+SLICOT Library Subdirectory doc contains documentation files (*.html) for almost
+all SLICOT Library routines.  Omitted are few auxiliary routines, called by
+other SLICOT routines, but which seem to have no general use.  The documentation
+conforms to the SLICOT standards.  Besides function, arguments, and algorithm
+description, most documents for user-callable rotines include example programs,
+which could be easily modified, by copying, pasting, etc., to solve related,
+specific problems.
+
+The documentation files could be viewed individually, or via the provided index
+files: the main SLICOT Library index (libindex.html), stored in the SLICOT root
+directory, or the auxiliary, supporting routines index (support.html), stored in
+the subdirectory doc.  The second file is also accessible from the first one.
+These index files are organized according to the SLICOT Library chapters, sections,
+and subsections.
diff --git a/doc/_static/doc/support.html b/doc/_static/doc/support.html
new file mode 100644
index 00000000..d6535a12
--- /dev/null
+++ b/doc/_static/doc/support.html
@@ -0,0 +1,911 @@
+<HTML>
+<HEAD><title>On-Line SLICOT Supporting Routines Overview</title></HEAD>
+<BODY>
+
+<H1>SLICOT SUPPORTING ROUTINES INDEX</H1>
+<HR>
+To go to the beginning of a chapter click on the appropriate letter below: <p>
+<center>
+<A href="#A"><B>A</B></A> ;
+<A href="#B"><B>B</B></A> ;
+<A href="#C"><B>C</B></A> ;
+<A href="#D"><B>D</B></A> ;
+<A href="#F"><B>F</B></A> ;
+<A href="#I"><B>I</B></A> ;
+<A href="#M"><B>M</B></A> ;
+<A href="#N"><B>N</B></A> ;
+<A href="#S"><B>S</B></A> ;
+<A href="#T"><B>T</B></A> ;
+<A href="#U"><B>U</B></A> ;
+</center>
+<BR>
+or <A href="http://www.slicot.org/index.php?site=home">
+<b>Return to SLICOT homepage</b></A>
+<BR>
+or <A href="..\libindex.html">
+<b>Go to SLICOT LIBRARY INDEX</b></A>
+<p>
+<HR>
+<A NAME="A"><H2>A - Analysis Routines</H2></A>
+<h3>AB - State-Space Analysis</h3>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href="AB08NX.html">
+<B>AB08NX</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving transmission zeros
+<A href="AB08NY.html">
+<B>AB08NY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving transmission zeros (extended variant)
+<A href="AB8NXZ.html">
+<B>AB8NXZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving transmission zeros (complex case)
+</PRE>
+<h4>Model Reduction</h4>
+<PRE>
+<A href="AB09AX.html">
+<B>AB09AX</B></A>   Balance & Truncate model reduction with state matrix in real Schur form  
+<A href="AB09BX.html">
+<B>AB09BX</B></A>   Singular perturbation approximation based model reduction with state
+         matrix in real Schur form 
+<A href="AB09CX.html">
+<B>AB09CX</B></A>   Hankel norm approximation based model reduction with state matrix
+         in real Schur form 
+<A href="AB09HX.html">
+<B>AB09HX</B></A>   Stochastic balancing model reduction of stable systems
+<A href="AB09HY.html">
+<B>AB09HY</B></A>   Cholesky factors of the controllability and observability Grammians
+<A href="AB09IX.html">
+<B>AB09IX</B></A>   Accuracy enhanced balancing related model reduction
+<A href="AB09IY.html">
+<B>AB09IY</B></A>   Cholesky factors of the frequency-weighted controllability and 
+         observability Grammians
+<A href="AB09JV.html">
+<B>AB09JV</B></A>   State-space representation of a projection of a left weighted 
+         transfer-function matrix
+<A href="AB09JW.html">
+<B>AB09JW</B></A>   State-space representation of a projection of a right weighted 
+         transfer-function matrix
+<A href="AB09JX.html">
+<B>AB09JX</B></A>   Check stability/antistability of finite eigenvalues
+<A href="AB09KX.html">
+<B>AB09KX</B></A>   Stable projection of V*G*W or conj(V)*G*conj(W)
+</PRE>
+<h4>System Norms</h4>
+<PRE>
+<A href="AB13AX.html">
+<B>AB13AX</B></A>   Hankel-norm of a stable system with state matrix in real Schur form  
+<A href="AB13DX.html">
+<B>AB13DX</B></A>   Maximum singular value of a transfer-function matrix
+</PRE>
+<h3>AG - Generalized State-Space Analysis</h3>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href="AG08BY.html">
+<B>AG08BY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving the finite Smith zeros
+<A href="AG8BYZ.html">
+<B>AG8BYZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
+         row rank, preserving the finite Smith zeros (complex case)
+</PRE>
+<HR>
+<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
+<HR>
+<A NAME="C"><H2>C - Adaptive Control</H2></A>
+<HR>
+<A NAME="D"><H2>D - Data Analysis</H2></A>
+<h3>DE - Covariances</h3>
+<h3>DF - Spectra</h3>
+<h3>DG - Discrete Fourier Transforms</h3>
+<h3>DK - Windowing</h3>
+<HR>
+<A NAME="F"><H2>F - Filtering</H2></A>
+<h3>FB - Kalman Filters</h3>
+<HR>
+<A NAME="I"><H2>I - Identification</H2></A>
+<h3>IB - Subspace Identification</h3>
+<h4>Time Invariant State-space Systems</h4>
+<PRE>
+<A href="IB01MD.html">
+<B>IB01MD</B></A>   Upper triangular factor in QR factorization of a
+         block-Hankel-block matrix
+<A href="IB01MY.html">
+<B>IB01MY</B></A>   Upper triangular factor in fast QR factorization of a 
+         block-Hankel-block matrix
+<A href="IB01ND.html">
+<B>IB01ND</B></A>   Singular value decomposition giving the system order
+<A href="IB01OD.html">
+<B>IB01OD</B></A>   Estimating the system order
+<A href="IB01OY.html">
+<B>IB01OY</B></A>   User's confirmation of the system order
+<A href="IB01PD.html">
+<B>IB01PD</B></A>   Estimating the system matrices and covariances
+<A href="IB01PX.html">
+<B>IB01PX</B></A>   Estimating the matrices B and D of a system using Kronecker products
+<A href="IB01PY.html">
+<B>IB01PY</B></A>   Estimating the matrices B and D of a system exploiting the structure
+<A href="IB01QD.html">
+<B>IB01QD</B></A>   Estimating the initial state and the matrices B and D of a system
+<A href="IB01RD.html">
+<B>IB01RD</B></A>   Estimating the initial state of a system
+</PRE>
+<HR>
+<A NAME="M"><H2>M - Mathematical Routines</H2></A>
+<h3>MA - Auxiliary Routines</h3>
+<h4>Mathematical Scalar Routines</h4>
+<PRE>
+<A href="MA01AD.html">
+<B>MA01AD</B></A>   Complex square root of a complex number in real arithmetic
+<A href="MA01BD.html">
+<B>MA01BD</B></A>   Safely computing the general product of K real scalars
+<A href="MA01BZ.html">
+<B>MA01BZ</B></A>   Safely computing the general product of K complex scalars
+<A href="MA01CD.html">
+<B>MA01CD</B></A>   Safely computing the sign of a sum of two real numbers represented
+         using integer powers of a base
+</PRE>
+<h4>Mathematical Vector/Matrix Routines</h4>
+<PRE>
+<A href="MA02AD.html">
+<B>MA02AD</B></A>   Transpose of a matrix
+<A href="MA02AZ.html">
+<B>MA02AZ</B></A>   (Conjugate) transpose of a complex matrix
+<A href="MA02BD.html">
+<B>MA02BD</B></A>   Reversing the order of rows and/or columns of a matrix
+<A href="MA02BZ.html">
+<B>MA02BZ</B></A>   Reversing the order of rows and/or columns of a matrix (complex case)
+<A href="MA02CD.html">
+<B>MA02CD</B></A>   Pertranspose of the central band of a square matrix 
+<A href="MA02CZ.html">
+<B>MA02CZ</B></A>   Pertranspose of the central band of a square matrix (complex case)
+<A href="MA02DD.html">
+<B>MA02DD</B></A>   Pack/unpack the upper or lower triangle of a symmetric matrix 
+<A href="MA02ED.html">
+<B>MA02ED</B></A>   Construct a triangle of a symmetric matrix, given the other triangle 
+<A href="MA02ES.html">
+<B>MA02ES</B></A>   Construct a triangle of a skew-symmetric real matrix, given the 
+         other triangle
+<A href="MA02EZ.html">
+<B>MA02EZ</B></A>   Construct a triangle of a (skew-)symmetric/Hermitian complex matrix,
+         given the other triangle
+<A href="MA02FD.html">
+<B>MA02FD</B></A>   Hyperbolic plane rotation 
+<A href="MA02GD.html">
+<B>MA02GD</B></A>   Column interchanges on a real matrix 
+<A href="MA02GZ.html">
+<B>MA02GZ</B></A>   Column interchanges on a complex matrix 
+<A href="MA02HD.html">
+<B>MA02HD</B></A>   Check if a matrix is a scalar multiple of an identity-like matrix
+<A href="MA02HZ.html">
+<B>MA02HZ</B></A>   Check if a complex matrix is a scalar multiple of an identity-like matrix
+<A href="MA02ID.html">
+<B>MA02ID</B></A>   Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
+<A href="MA02IZ.html">
+<B>MA02IZ</B></A>   Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
+<A href="MA02JD.html">
+<B>MA02JD</B></A>   Test if a matrix is an orthogonal symplectic matrix
+<A href="MA02JZ.html">
+<B>MA02JZ</B></A>   Test if a matrix is a unitary symplectic matrix
+<A href="MA02MD.html">
+<B>MA02MD</B></A>   Norms of a real skew-symmetric matrix
+<A href="MA02MZ.html">
+<B>MA02MZ</B></A>   Norms of a complex skew-symmetric matrix
+<A href="MA02NZ.html">
+<B>MA02NZ</B></A>   Two rows and columns permutation of a (skew-)symmetric/Hermitian
+         complex matrix
+<A href="MA02OD.html">
+<B>MA02OD</B></A>   Number of zero rows of a real (skew-)Hamiltonian matrix
+<A href="MA02OZ.html">
+<B>MA02OZ</B></A>   Number of zero rows of a complex (skew-)Hamiltonian matrix
+<A href="MA02PD.html">
+<B>MA02PD</B></A>   Number of zero rows and columns of a real matrix
+<A href="MA02PZ.html">
+<B>MA02PZ</B></A>   Number of zero rows and columns of a complex matrix
+<A href="MB01KD.html">
+<B>MB01KD</B></A>   Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C,
+         with A and C skew-symmetric matrices
+<A href="MB01LD.html">
+<B>MB01LD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A) with 
+         skew-symmetric matrices R and X
+<A href="MB01MD.html">
+<B>MB01MD</B></A>   Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
+<A href="MB01ND.html">
+<B>MB01ND</B></A>   Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a 
+         skew-symmetric matrix
+<A href="MB01SD.html">
+<B>MB01SD</B></A>   Rows and/or columns scaling of a matrix 
+<A href="MB01SS.html">
+<B>MB01SS</B></A>   Symmetric scaling of a symmetric matrix 
+</PRE>
+<h3>MB - Linear Algebra</h3>
+<h4>Basic Linear Algebra Manipulations</h4>
+<PRE>
+<A href="MB01OC.html">
+<B>MB01OC</B></A>   Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) 
+         with R, X symmetric and H upper Hessenberg
+<A href="MB01OD.html">
+<B>MB01OD</B></A>   Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' )  
+         with R, X symmetric, H upper Hessenberg, and E upper triangular
+<A href="MB01OE.html">
+<B>MB01OE</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' )
+          with R symmetric, H upper Hessenberg, and E upper triangular
+<A href="MB01OH.html">
+<B>MB01OH</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) 
+         with R symmetric, and A, H upper Hessenberg
+<A href="MB01OO.html">
+<B>MB01OO</B></A>   Computation of P or P' with P = op(H) X op(E)' with X symmetric, 
+         H upper Hessenberg, and E upper triangular
+<A href="MB01OS.html">
+<B>MB01OS</B></A>   Computation of matrix expression P = H X or P = X H, with X symmetric and 
+         H upper Hessenberg
+<A href="MB01OT.html">
+<B>MB01OT</B></A>   Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) 
+         with R symmetric and E, T upper triangular
+<A href="MB01RH.html">
+<B>MB01RH</B></A>   Computation of matrix expression alpha R + beta op(H) X op(H)' 
+         with R, X symmetric and H upper Hessenberg
+<A href="MB01RT.html">
+<B>MB01RT</B></A>   Computation of matrix expression alpha R + beta op(E) X op(E)'  
+         with R, X symmetric and E upper triangular
+<A href="MB01RU.html">
+<B>MB01RU</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
+         (MB01RD variant)
+<A href="MB01RW.html">
+<B>MB01RW</B></A>   Computation of matrix expression alpha*A*X*trans(A), X symmetric (BLAS 2)
+<A href="MB01RX.html">
+<B>MB01RX</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*A*B 
+         or alpha*R + beta*B*A
+<A href="MB01RY.html">
+<B>MB01RY</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*H*B 
+         or alpha*R + beta*B*H, with H an upper Hessenberg matrix
+<A href="MB01UW.html">
+<B>MB01UW</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
+         overwritting A, with H an upper Hessenberg matrix
+<A href="MB01VD.html">
+<B>MB01VD</B></A>   Kronecker product of two matrices
+<A href="MB01XY.html">
+<B>MB01XY</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
+         lower triangular matrices (unblock algorithm)
+<A href="SB03OV.html">
+<B>SB03OV</B></A>   Construction of a complex plane rotation to annihilate a real number,
+         modifying a complex number
+<A href="SG03BY.html">
+<B>SG03BY</B></A>   Computing a complex plane rotation in real arithmetic 
+<A href="SG03BR.html">
+<B>SG03BR</B></A>   Computing a complex plane rotation in real arithmetic (SG03BY version
+         - adaptation of LAPACK ZLARTG)
+</PRE>
+<h4>Linear Equations and Least Squares</h4>
+<PRE>
+<A href="MB02CU.html">
+<B>MB02CU</B></A>   Bringing the first blocks of a generator in proper form
+         (extended version of MB02CX)
+<A href="MB02CV.html">
+<B>MB02CV</B></A>   Applying the MB02CU transformations on other columns / rows of 
+         the generator
+<A href="MB02CX.html">
+<B>MB02CX</B></A>   Bringing the first blocks of a generator in proper form
+<A href="MB02CY.html">
+<B>MB02CY</B></A>   Applying the MB02CX transformations on other columns / rows of 
+         the generator
+<A href="MB02NY.html">
+<B>MB02NY</B></A>   Separation of a zero singular value of a bidiagonal submatrix
+<A href="MB02QY.html">
+<B>MB02QY</B></A>   Minimum-norm least squares solution, given a rank-revealing
+         QR factorization
+<A href="MB02UU.html">
+<B>MB02UU</B></A>   Solution of linear equations using LU factorization with complete pivoting
+<A href="MB02UV.html">
+<B>MB02UV</B></A>   LU factorization with complete pivoting
+<A href="MB02UW.html">
+<B>MB02UW</B></A>   Solution of linear equations of order at most 2 with possible scaling 
+         and perturbation of system matrix
+<A href="MB02WD.html">
+<B>MB02WD</B></A>   Solution of a positive definite linear system A*x = b, or f(A, x) = b,
+         using conjugate gradient algorithm
+<A href="MB02XD.html">
+<B>MB02XD</B></A>   Solution of a set of positive definite linear systems, A'*A*X = B, or
+         f(A)*X = B, using Gaussian elimination
+<A href="MB02YD.html">
+<B>MB02YD</B></A>   Solution of the linear system A*x = b, D*x = 0, D diagonal
+</PRE>
+<h4>Eigenvalues and Eigenvectors</h4>
+<PRE>
+<A href="MB03AD.html">
+<B>MB03AD</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a 
+         product of matrices to the first unit vector
+<A href="MB03AB.html">
+<B>MB03AB</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with explicit shifts)
+<A href="MB03AE.html">
+<B>MB03AE</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with partial evaluation, 
+         Hessenberg factor is the first one)
+<A href="MB03AF.html">
+<B>MB03AF</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant, Hessenberg factor is the 
+         last one)
+<A href="MB03AG.html">
+<B>MB03AG</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with evaluation, 
+         Hessenberg factor is the first one)
+<A href="MB03AH.html">
+<B>MB03AH</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with partial evaluation, 
+         Hessenberg factor is the last one)
+<A href="MB03AI.html">
+<B>MB03AI</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
+         product of matrices to the first unit vector (variant with evaluation, 
+         Hessenberg factor is the last one)
+<A href="MB03BA.html">
+<B>MB03BA</B></A>   Computing maps for Hessenberg index and signature array
+<A href="MB03BB.html">
+<B>MB03BB</B></A>   Eigenvalues of a 2-by-2 matrix product via a complex single shifted 
+         periodic QZ algorithm
+<A href="MB03BC.html">
+<B>MB03BC</B></A>   Product singular value decomposition of K-1 triangular factors of 
+         order 2
+<A href="MB03BD.html">
+<B>MB03BD</B></A>   Finding eigenvalues of a generalized matrix product in 
+         Hessenberg-triangular form
+<A href="MB03BE.html">
+<B>MB03BE</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
+         to a 2-by-2 matrix product
+<A href="MB03BF.html">
+<B>MB03BF</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
+         to a 2-by-2 matrix product, with Hessenberg factor the last one
+<A href="MB03BZ.html">
+<B>MB03BZ</B></A>   Finding eigenvalues of a complex generalized matrix product in
+         Hessenberg-triangular form
+<A href="MB03CD.html">
+<B>MB03CD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
+         triangular pencil (factored version)
+<A href="MB03CZ.html">
+<B>MB03CZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil 
+         (factored version)
+<A href="MB03DD.html">
+<B>MB03DD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
+         triangular pencil
+<A href="MB03DZ.html">
+<B>MB03DZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
+<A href="MB03ED.html">
+<B>MB03ED</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
+         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
+         eigenvalues with negative real parts to the top (factored version)
+<A href="MB03FD.html">
+<B>MB03FD</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
+         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
+         eigenvalues with negative real parts to the top
+<A href="MB03GD.html">
+<B>MB03GD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper 
+         triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
+<A href="MB03GZ.html">
+<B>MB03GZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
+         Hamiltonian pencil in structured Schur form (factored version)
+<A href="MB03HD.html">
+<B>MB03HD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/
+         Hamiltonian pencil in structured Schur form
+<A href="MB03HZ.html">
+<B>MB03HZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
+         Hamiltonian pencil in structured Schur form
+<A href="MB03ID.html">
+<B>MB03ID</B></A>   Moving eigenvalues with negative real parts of a real 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (factored version)
+<A href="MB03IZ.html">
+<B>MB03IZ</B></A>   Moving eigenvalues with negative real parts of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (factored version)
+<A href="MB03JD.html">
+<B>MB03JD</B></A>   Moving eigenvalues with negative real parts of a real 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil
+<A href="MB03JP.html">
+<B>MB03JP</B></A>   Moving eigenvalues with negative real parts of a real 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (applying transformations on panels of columns)
+<A href="MB03JZ.html">
+<B>MB03JZ</B></A>   Moving eigenvalues with negative real parts of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil
+<A href="MB3JZP.html">
+<B>MB3JZP</B></A>   Moving eigenvalues with negative real parts of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
+         leading subpencil (applying transformations on panels of columns)
+<A href="MB03KA.html">
+<B>MB03KA</B></A>   Moving diagonal blocks at a specified position in a formal matrix 
+         product to another position
+<A href="MB03KB.html">
+<B>MB03KB</B></A>   Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in 
+         a formal matrix product
+<A href="MB03KC.html">
+<B>MB03KC</B></A>   Reducing a 2-by-2 formal matrix product to periodic 
+         Hessenberg-triangular form
+<A href="MB03KD.html">
+<B>MB03KD</B></A>   Reordering the diagonal blocks of a formal matrix product using 
+         periodic QZ algorithm
+<A href="MB03KE.html">
+<B>MB03KE</B></A>   Solving periodic Sylvester-like equations with matrices of order 
+         at most 2
+<A href="MB03NY.html">
+<B>MB03NY</B></A>   The smallest singular value of A - jwI
+<A href="MB03OY.html">
+<B>MB03OY</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted QR factorization process 
+<A href="MB3OYZ.html">
+<B>MB3OYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted QR factorization process (complex case) 
+<A href="MB03PY.html">
+<B>MB03PY</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted RQ factorization process (row pivoting) 
+<A href="MB3PYZ.html">
+<B>MB3PYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
+         the pivoted RQ factorization process (row pivoting, complex case) 
+<A href="MB03QV.html">
+<B>MB03QV</B></A>   Eigenvalues of an upper quasi-triangular matrix pencil
+<A href="MB03QW.html">
+<B>MB03QW</B></A>   Standardization and eigenvalues of a 2-by-2 diagonal block pair of
+         an upper quasi-triangular matrix pencil
+<A href="MB03QX.html">
+<B>MB03QX</B></A>   Eigenvalues of an upper quasi-triangular matrix
+<A href="MB03QY.html">
+<B>MB03QY</B></A>   Transformation to Schur canonical form of a selected 2-by-2 diagonal
+         block of an upper quasi-triangular matrix
+<A href="MB03RX.html">
+<B>MB03RX</B></A>   Reordering the diagonal blocks of a principal submatrix of a real Schur 
+         form matrix
+<A href="MB03RY.html">
+<B>MB03RY</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in real 
+         Schur form)
+<A href="MB03RW.html">
+<B>MB03RW</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in complex
+         Schur form)
+<A href="MB03TS.html">
+<B>MB03TS</B></A>   Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian 
+         canonical Schur form
+<A href="MB03VY.html">
+<B>MB03VY</B></A>   Generating orthogonal matrices for reduction to periodic 
+         Hessenberg form of a product of matrices
+<A href="MB03WA.html">
+<B>MB03WA</B></A>   Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
+<A href="MB03WX.html">
+<B>MB03WX</B></A>   Eigenvalues of a product of matrices, T = T_1*T_2*...*T_p,
+         with T_1 upper quasi-triangular and T_2, ..., T_p upper triangular 
+<A href="MB03XS.html">
+<B>MB03XS</B></A>   Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
+<A href="MB03XU.html">
+<B>MB03XU</B></A>   Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by 
+         orthogonal symplectic transformations
+<A href="MB03YA.html">
+<B>MB03YA</B></A>   Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix 
+         corresponding to zero elements on the diagonal of a triangular matrix
+<A href="MB03YT.html">
+<B>MB03YT</B></A>   Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) 
+         with B upper triangular
+<A href="MB03ZA.html">
+<B>MB03ZA</B></A>   Reordering a selected cluster of eigenvalues of a given matrix pair in 
+         periodic Schur form
+<A href="MB05MY.html">
+<B>MB05MY</B></A>   Computing an orthogonal matrix reducing a matrix to real Schur form T, 
+         the eigenvalues, and the upper triangular matrix of right eigenvectors 
+         of T 
+<A href="MB05OY.html">
+<B>MB05OY</B></A>   Restoring a matrix after balancing transformations
+</PRE>
+<h4>Decompositions and Transformations</h4>
+<PRE>
+<A href="MB04CD.html">
+<B>MB04CD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
+         Hamiltonian pencil in factored form to generalized Schur form
+<A href="MB04DB.html">
+<B>MB04DB</B></A>   Applying the inverse of a balancing transformation for a real 
+         skew-Hamiltonian/Hamiltonian matrix pencil
+<A href="MB4DBZ.html">
+<B>MB4DBZ</B></A>   Applying the inverse of a balancing transformation for a complex 
+         skew-Hamiltonian/Hamiltonian matrix pencil
+<A href="MB04DD.html">
+<B>MB04DD</B></A>   Balancing a real Hamiltonian matrix
+<A href="MB04DZ.html">
+<B>MB04DZ</B></A>   Balancing a complex Hamiltonian matrix
+<A href="MB04DI.html">
+<B>MB04DI</B></A>   Applying the inverse of a balancing transformation for a real Hamiltonian matrix
+<A href="MB04DS.html">
+<B>MB04DS</B></A>   Balancing a real skew-Hamiltonian matrix
+<A href="MB04DY.html">
+<B>MB04DY</B></A>   Symplectic scaling of a Hamiltonian matrix
+<A href="MB04HD.html">
+<B>MB04HD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
+         Hamiltonian pencil to generalized Schur form
+<A href="MB04IY.html">
+<B>MB04IY</B></A>   Applying the product of elementary reflectors used for QR factorization
+         of a matrix having a lower left zero triangle
+<A href="MB04NY.html">
+<B>MB04NY</B></A>   Applying an elementary reflector to a matrix C = ( A  B ), from the right, 
+         where A has one column
+<A href="MB04OY.html">
+<B>MB04OY</B></A>   Applying an elementary reflector to a matrix C = ( A'  B' )', from the 
+         left, where A has one row
+<A href="MB04OW.html">
+<B>MB04OW</B></A>   Rank-one update of a Cholesky factorization for a 2-by-2 block matrix
+<A href="MB04OX.html">
+<B>MB04OX</B></A>   Rank-one update of a Cholesky factorization
+<A href="MB04PA.html">
+<B>MB04PA</B></A>   Special reduction of a (skew-)Hamiltonian like matrix
+<A href="MB04PU.html">
+<B>MB04PU</B></A>   Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix 
+         (unblocked algorithm)
+<A href="MB04PY.html">
+<B>MB04PY</B></A>   Applying an elementary reflector to a matrix from the left or right
+<A href="MB04QB.html">
+<B>MB04QB</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
+         general real matrices
+<A href="MB04QC.html">
+<B>MB04QC</B></A>   Premultiplying a real matrix with an orthogonal symplectic block reflector
+<A href="MB04QF.html">
+<B>MB04QF</B></A>   Forming the triangular block factors of a symplectic block reflector
+<A href="MB04QS.html">
+<B>MB04QS</B></A>   Multiplication with a product of symplectic reflectors and Givens rotations
+<A href="MB04QU.html">
+<B>MB04QU</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
+         general real matrices (unblocked algorithm)
+<A href="MB04RB.html">
+<B>MB04RB</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
+         (blocked version)
+<A href="MB04RU.html">
+<B>MB04RU</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
+         (unblocked version)
+<A href="MB04SU.html">
+<B>MB04SU</B></A>   Symplectic QR decomposition of a real 2M-by-N matrix
+<A href="MB04TS.html">
+<B>MB04TS</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
+<A href="MB04TU.html">
+<B>MB04TU</B></A>   Applying a row-permuted Givens transformation to two row vectors
+<A href="MB04WD.html">
+<B>MB04WD</B></A>   Generating an orthogonal basis spanning an isotropic subspace
+<A href="MB04WP.html">
+<B>MB04WP</B></A>   Generating an orthogonal symplectic matrix which performed the reduction 
+         in MB04PU
+<A href="MB04WR.html">
+<B>MB04WR</B></A>   Generating orthogonal symplectic matrices defined as products of symplectic 
+         reflectors and Givens rotations
+<A href="MB04WU.html">
+<B>MB04WU</B></A>   Generating an orthogonal basis spanning an isotropic subspace 
+         (unblocked version)
+<A href="MB04XY.html">
+<B>MB04XY</B></A>   Applying Householder transformations for bidiagonalization (stored 
+         in factored form) to one or two matrices, from the left
+<A href="MB04YW.html">
+<B>MB04YW</B></A>   One QR or QL iteration step onto an unreduced bidiagonal submatrix 
+         of a bidiagonal matrix
+</PRE>
+<h3>MC - Polynomial and Rational Function Manipulation</h3>
+<h4>Scalar Polynomials</h4>
+<PRE>
+<A href="MC01PY.html">
+<B>MC01PY</B></A>   Coefficients of a real polynomial, stored in decreasing order, 
+         given its zeros         
+</PRE>
+<h4>Polynomial Matrices</h4>
+<PRE>
+<A href="MC03NX.html">
+<B>MC03NX</B></A>   Construction of a pencil sE-A related to a given polynomial matrix  
+</PRE>
+<h3>MD - Optimization</h3>
+<h4>Unconstrained Nonlinear Least Squares</h4>
+<PRE>
+<A href="MD03BX.html">
+<B>MD03BX</B></A>   QR factorization with column pivoting and error vector 
+         transformation
+<A href="MD03BY.html">
+<B>MD03BY</B></A>   Finding the Levenberg-Marquardt parameter
+</PRE>
+<HR>
+<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
+<h3>NF - Wiener Systems</h3>
+<h4>Wiener Systems Identification</h4>
+<PRE>
+<A href="NF01AD.html">
+<B>NF01AD</B></A>   Computing the output of a Wiener system  
+<A href="NF01AY.html">
+<B>NF01AY</B></A>   Computing the output of a set of neural networks
+<A href="NF01BD.html">
+<B>NF01BD</B></A>   Computing the Jacobian of a Wiener system  
+<A href="NF01BP.html">
+<B>NF01BP</B></A>   Finding the Levenberg-Marquardt parameter
+<A href="NF01BQ.html">
+<B>NF01BQ</B></A>   Solution of the linear system J*x = b, D*x = 0, D diagonal
+<A href="NF01BR.html">
+<B>NF01BR</B></A>   Solution of the linear system op(R)*x = b, R block upper 
+         triangular stored in a compressed form
+<A href="NF01BS.html">
+<B>NF01BS</B></A>   QR factorization of a structured Jacobian matrix
+<A href="NF01BU.html">
+<B>NF01BU</B></A>   Computing J'*J + c*I, for the Jacobian J given in a
+         compressed form
+<A href="NF01BV.html">
+<B>NF01BV</B></A>   Computing J'*J + c*I, for a full Jacobian J (one output
+         variable)
+<A href="NF01BW.html">
+<B>NF01BW</B></A>   Matrix-vector product x <-- (J'*J + c*I)*x, for J in a
+         compressed form
+<A href="NF01BX.html">
+<B>NF01BX</B></A>   Matrix-vector product x <-- (A'*A + c*I)*x, for a
+         full matrix A
+<A href="NF01BY.html">
+<B>NF01BY</B></A>   Computing the Jacobian of the error function for a neural 
+         network (for one output variable)
+</PRE>
+<HR>
+<A NAME="S"><H2>S - Synthesis Routines</H2></A>
+<h3>SB - State-Space Synthesis</h3>
+<h4>Eigenvalue/Eigenvector Assignment</h4>
+<PRE>
+<A href="SB01BX.html">
+<B>SB01BX</B></A>   Choosing the closest real (complex conjugate) eigenvalue(s) to
+         a given real (complex) value
+<A href="SB01BY.html">
+<B>SB01BY</B></A>   Pole placement for systems of order 1 or 2
+<A href="SB01FY.html">
+<B>SB01FY</B></A>   Inner denominator of a right-coprime factorization of an unstable system
+         of order 1 or 2
+</PRE>
+<h4>Riccati Equations</h4>
+<PRE>
+<A href="SB02MU.html">
+<B>SB02MU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
+         linear-quadratic optimization problems
+<A href="SB02RU.html">
+<B>SB02RU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
+         linear-quadratic optimization problems (efficient and accurate
+         version of SB02MU)
+<A href="SB02OY.html">
+<B>SB02OY</B></A>   Constructing and compressing the extended Hamiltonian or symplectic 
+         matrix pairs for linear-quadratic optimization problems
+</PRE>
+<h4>Lyapunov Equations</h4>
+<PRE>
+<A href="SB03MV.html">
+<B>SB03MV</B></A>   Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
+<A href="SB03MW.html">
+<B>SB03MW</B></A>   Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
+<A href="SB03MX.html">
+<B>SB03MX</B></A>   Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
+<A href="SB03MY.html">
+<B>SB03MY</B></A>   Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
+<A href="SB03OT.html">
+<B>SB03OT</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
+         Lyapunov equations, with A quasi-triangular and R triangular
+<A href="SB03OS.html">
+<B>SB03OS</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
+         complex Lyapunov equations, with matrices S and R triangular
+<A href="SB03OU.html">
+<B>SB03OU</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
+         Lyapunov equations, with A in real Schur form and B rectangular
+<A href="SB03OY.html">
+<B>SB03OY</B></A>   Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time
+         Lyapunov equations, with matrix A having complex conjugate eigenvalues
+<A href="SB03QX.html">
+<B>SB03QX</B></A>   Forward error bound for continuous-time Lyapunov equations
+<A href="SB03QY.html">
+<B>SB03QY</B></A>   Separation and Theta norm for continuous-time Lyapunov equations
+<A href="SB03SX.html">
+<B>SB03SX</B></A>   Forward error bound for discrete-time Lyapunov equations
+<A href="SB03SY.html">
+<B>SB03SY</B></A>   Separation and Theta norm for discrete-time Lyapunov equations
+</PRE>
+<h4>Sylvester Equations</h4>
+<PRE>
+<A href="SB03MU.html">
+<B>SB03MU</B></A>   Solving a discrete-time Sylvester equation for an m-by-n matrix X, 
+         1 <= m,n <= 2
+<A href="SB03OR.html">
+<B>SB03OR</B></A>   Solving quasi-triangular continuous- or discrete-time Sylvester equations, 
+         for an n-by-m matrix X, 1 <= m <= 2
+<A href="SB04MR.html">
+<B>SB04MR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
+         compactly) has zeros below the second subdiagonal
+<A href="SB04MU.html">
+<B>SB04MU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the second subdiagonal 
+<A href="SB04MW.html">
+<B>SB04MW</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
+         compactly) has zeros below the first subdiagonal
+<A href="SB04MY.html">
+<B>SB04MY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the first subdiagonal
+<A href="SB04NV.html">
+<B>SB04NV</B></A>   Constructing right-hand sides for a system of equations in 
+         Hessenberg form solved via SB04NX
+<A href="SB04NW.html">
+<B>SB04NW</B></A>   Constructing the right-hand side for a system of equations in 
+         Hessenberg form solved via SB04NY 
+<A href="SB04NX.html">
+<B>SB04NX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
+         offdiagonals and two right-hand sides 
+<A href="SB04NY.html">
+<B>SB04NY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
+         and one right-hand side 
+<A href="SB04OW.html">
+<B>SB04OW</B></A>   Solving a periodic Sylvester equation with matrices in periodic Schur form
+<A href="SB04PX.html">
+<B>SB04PX</B></A>   Solving a discrete-time Sylvester equation for matrices of order <= 2
+<A href="SB04PY.html">
+<B>SB04PY</B></A>   Solving a discrete-time Sylvester equation with matrices in Schur form
+<A href="SB04QR.html">
+<B>SB04QR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
+         compactly) has zeros below the third subdiagonal
+<A href="SB04QU.html">
+<B>SB04QU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the third subdiagonal
+<A href="SB04QY.html">
+<B>SB04QY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
+         matrix (stored compactly) has zeros below the first subdiagonal
+         (discrete-time case)
+<A href="SB04RV.html">
+<B>SB04RV</B></A>   Constructing right-hand sides for a system of equations in 
+         Hessenberg form solved via SB04RX
+<A href="SB04RW.html">
+<B>SB04RW</B></A>   Constructing the right-hand side for a system of equations in 
+         Hessenberg form solved via SB04RY 
+<A href="SB04RX.html">
+<B>SB04RX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
+         offdiagonals and two right-hand sides (discrete-time case) 
+<A href="SB04RY.html">
+<B>SB04RY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
+         and one right-hand side (discrete-time case) 
+</PRE>
+<h4>Optimal Regulator Problems</h4>
+<PRE>
+<A href="SB10JD.html">
+<B>SB10JD</B></A>    Conversion of a descriptor state-space system into regular 
+          state-space form
+<A href="SB10LD.html">
+<B>SB10LD</B></A>    Closed-loop system matrices for a system with robust controller
+<A href="SB10PD.html">
+<B>SB10PD</B></A>    Normalization of a system for H-infinity controller design
+<A href="SB10QD.html">
+<B>SB10QD</B></A>    State feedback and output injection matrices for an H-infinity
+          (sub)optimal state controller (continuous-time)
+<A href="SB10RD.html">
+<B>SB10RD</B></A>    H-infinity (sub)optimal controller matrices using state feedback
+          and output injection matrices (continuous-time)
+<A href="SB10SD.html">
+<B>SB10SD</B></A>    H2 optimal controller matrices for a normalized discrete-time system
+<A href="SB10TD.html">
+<B>SB10TD</B></A>    H2 optimal controller matrices for a discrete-time system
+<A href="SB10UD.html">
+<B>SB10UD</B></A>    Normalization of a system for H2 controller design
+<A href="SB10VD.html">
+<B>SB10VD</B></A>    State feedback and output injection matrices for an H2 optimal
+          state controller (continuous-time)
+<A href="SB10WD.html">
+<B>SB10WD</B></A>    H2 optimal controller matrices using state feedback and
+          output injection matrices (continuous-time)
+<A href="SB10YD.html">
+<B>SB10YD</B></A>    Fitting frequency response data with a stable, minimum phase
+          SISO system
+<A href="SB10ZP.html">
+<B>SB10ZP</B></A>    Transforming a SISO system into a stable and minimum phase one
+</PRE>
+<h4>Controller Reduction</h4>
+<PRE>
+<A href="SB16AY.html">
+<B>SB16AY</B></A>    Cholesky factors of the frequency-weighted controllability and 
+          observability Grammians for controller reduction
+<A href="SB16CY.html">
+<B>SB16CY</B></A>    Cholesky factors of controllability and observability Grammians
+          of coprime factors of a state-feedback controller
+</PRE>
+<h3>SG - Generalized State-Space Synthesis</h3>
+<h4>Generalized Lyapunov Equations</h4>
+<PRE>
+<A href="SG02CV.html">
+<B>SG02CV</B></A>   Computation of residual matrix for a continuous-time or discrete-time 
+         reduced Lyapunov equation
+<A href="SG03AX.html">
+<B>SG03AX</B></A>   Solving a generalized discrete-time Lyapunov equation with 
+         A quasi-triangular and E upper triangular
+<A href="SG03AY.html">
+<B>SG03AY</B></A>   Solving a generalized continuous-time Lyapunov equation with 
+         A quasi-triangular and E upper triangular
+<A href="SG03BU.html">
+<B>SG03BU</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
+         Lyapunov equations with A quasi-triangular, and E, B upper triangular
+<A href="SG03BS.html">
+<B>SG03BS</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
+         complex Lyapunov equations with A, E, and B upper triangular
+<A href="SG03BV.html">
+<B>SG03BV</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
+         Lyapunov equations with A quasi-triangular, and E, B upper triangular
+<A href="SG03BT.html">
+<B>SG03BT</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
+         complex Lyapunov equations with A, E, and B upper triangular
+<A href="SG03BX.html">
+<B>SG03BX</B></A>   Solving (for Cholesky factor) stable generalized 2-by-2 Lyapunov equations
+</PRE>
+<h4>Generalized Sylvester Equations</h4>
+<PRE>
+<A href="SG03BW.html">
+<B>SG03BW</B></A>   Solving a generalized Sylvester equation with A quasi-triangular 
+         and E upper triangular, for X m-by-n, n = 1 or 2
+</PRE>
+<HR>
+<A NAME="T"><H2>T - Transformation Routines</H2></A>
+<h3>TB - State-Space</h3>
+<h4>State-Space Transformations</h4>
+<PRE>
+<A href="TB01KX.html">
+<B>TB01KX</B></A>   Additive spectral decomposition of the transfer-function matrix of a standard system
+<A href="TB01UX.html">
+<B>TB01UX</B></A>   Observable-unobservable decomposition of a standard system
+<A href="TB01VD.html">
+<B>TB01VD</B></A>   Conversion of a discrete-time system to output normal form
+<A href="TB01VY.html">
+<B>TB01VY</B></A>   Conversion of the output normal form of a discrete-time system 
+         to a state-space representation
+<A href="TB01XD.html">
+<B>TB01XD</B></A>   Special similarity transformation of the dual state-space system
+<A href="TB01XZ.html">
+<B>TB01XZ</B></A>   Special similarity transformation of the dual state-space system 
+         (complex case)
+<A href="TB01YD.html">
+<B>TB01YD</B></A>   Special similarity transformation of a state-space system 
+</PRE>
+<h4>State-Space to Rational Matrix Conversion</h4>
+<PRE>
+<A href="TB04BV.html">
+<B>TB04BV</B></A>   Strictly proper part of a proper transfer function matrix 
+<A href="TB04BW.html">
+<B>TB04BW</B></A>   Sum of a rational matrix and a real matrix 
+<A href="TB04BX.html">
+<B>TB04BX</B></A>   Gain of a SISO linear system, given (A,b,c,d), its poles and zeros
+</PRE>
+<h3>TC - Polynomial Matrix</h3>
+<h3>TD - Rational  Matrix</h3>
+<h3>TF - Time Response</h3>
+<PRE>
+<A href="TF01MX.html">
+<B>TF01MX</B></A>   Output response of a linear discrete-time system, given a 
+         general system matrix (each output is a column of the result)
+<A href="TF01MY.html">
+<B>TF01MY</B></A>   Output response of a linear discrete-time system, given the
+         system matrices (each output is a column of the result)
+</PRE>
+<h3>TG - Generalized State-space</h3>
+<h4>Generalized State-space Transformations</h4>
+<PRE>
+<A href="TG01HU.html">
+<B>TG01HU</B></A>   Staircase controllability representation of a multi-input descriptor system
+<A href="TG01HX.html">
+<B>TG01HX</B></A>   Orthogonal reduction of a descriptor system to a system with
+         the same transfer-function matrix and without uncontrollable finite 
+         eigenvalues
+<A href="TG01HY.html">
+<B>TG01HY</B></A>   Orthogonal reduction of a descriptor system to a system with
+         the same transfer-function matrix and without uncontrollable finite 
+         eigenvalues (blocked version)
+<A href="TG01KD.html">
+<B>TG01KD</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
+         with E upper triangular (TG01OA version with more complex interface)
+<A href="TG01KZ.html">
+<B>TG01KZ</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
+         with E upper triangular (TG01OB version with more complex interface)
+<A href="TG01LY.html">
+<B>TG01LY</B></A>   Finite-infinite decomposition of a structured descriptor system
+<A href="TG01NX.html">
+<B>TG01NX</B></A>   Block-diagonal decomposition of a descriptor system in 
+         generalized real Schur form
+<A href="TG01OA.html">
+<B>TG01OA</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
+         with E upper triangular, so that B becomes parallel to the first unit vector
+         and E keeps its structure
+<A href="TG01OB.html">
+<B>TG01OB</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
+         with E upper triangular, so that B becomes parallel to the first unit vector
+         and E keeps its structure
+</PRE>
+<HR>
+<A NAME="U"><H2>U - Utility Routines</H2></A>
+<h3>UD - Numerical Data Handling</h3>
+<HR>
+</BODY>
+</HTML>
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+<HTML>
+<HEAD><title>On-Line SLICOT Overview</title></HEAD>
+<BODY>
+
+<H1>SLICOT LIBRARY INDEX</H1>
+<HR>
+To go to the beginning of a chapter click on the appropriate letter below: <p>
+<center>
+<A HREF = "#A"><B>A</B></A> ;
+<A HREF = "#B"><B>B</B></A> ;
+<A HREF = "#C"><B>C</B></A> ;
+<A HREF = "#D"><B>D</B></A> ;
+<A HREF = "#F"><B>F</B></A> ;
+<A HREF = "#I"><B>I</B></A> ;
+<A HREF = "#M"><B>M</B></A> ;
+<A HREF = "#N"><B>N</B></A> ;
+<A HREF = "#S"><B>S</B></A> ;
+<A HREF = "#T"><B>T</B></A> ;
+<A HREF = "#U"><B>U</B></A> ;
+</center>
+<BR>
+or <A href="http://www.slicot.org/index.php?site=home">
+<b>Return to SLICOT homepage</b></A>
+<BR>
+or <A href=".\doc\support.html">
+<b>Go to SLICOT Supporting Routines Index</b></A>
+<p>
+<HR>
+<A NAME="A"><H2>A - Analysis Routines</H2></A>
+<h3>AB - State-Space Analysis</h3>
+<h4>Canonical and Quasi Canonical Forms</h4>
+<PRE>
+<A href=".\doc\AB01MD.html">
+<B>AB01MD</B></A>   Orthogonal controllability form for single-input system
+<A href=".\doc\AB01ND.html">
+<B>AB01ND</B></A>   Orthogonal controllability staircase form for multi-input system
+<A href=".\doc\AB01OD.html">
+<B>AB01OD</B></A>   Staircase form for multi-input system using orthogonal transformations
+</PRE>
+<h4>Continuous/Discrete Time</h4>
+<PRE>
+<A href=".\doc\AB04MD.html">
+<B>AB04MD</B></A>   Discrete-time <-> continuous-time conversion by bilinear transformation
+</PRE>
+<h4>Interconnections of Subsystems</h4>
+<PRE>
+<A href=".\doc\AB05MD.html">
+<B>AB05MD</B></A>   Cascade inter-connection of two systems in state-space form
+<A href=".\doc\AB05ND.html">
+<B>AB05ND</B></A>   Feedback inter-connection of two systems in state-space form
+<A href=".\doc\AB05OD.html">
+<B>AB05OD</B></A>   Rowwise concatenation of two systems in state-space form
+<A href=".\doc\AB05PD.html">
+<B>AB05PD</B></A>   Parallel inter-connection of two systems in state-space form
+<A href=".\doc\AB05QD.html">
+<B>AB05QD</B></A>   Appending two systems in state-space form
+<A href=".\doc\AB05RD.html">
+<B>AB05RD</B></A>   Closed-loop system for a mixed output and state feedback control law
+<A href=".\doc\AB05SD.html">
+<B>AB05SD</B></A>   Closed-loop system for an output feedback control law
+</PRE>
+<h4>Inverse and Dual Systems</h4>
+<PRE>
+<A href=".\doc\AB07MD.html">
+<B>AB07MD</B></A>   Dual of a given state-space representation
+<A href=".\doc\AB07ND.html">
+<B>AB07ND</B></A>   Inverse of a given state-space representation
+</PRE>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href=".\doc\AB08MD.html">
+<B>AB08MD</B></A>   Normal rank of the transfer-function matrix of a state space model
+<A href=".\doc\AB08MZ.html">
+<B>AB08MZ</B></A>   Normal rank of the transfer-function matrix of a state space model (complex case)
+<A href=".\doc\AB08ND.html">
+<B>AB08ND</B></A>   System zeros and Kronecker structure of system pencil
+<A href=".\doc\AB08NW.html">
+<B>AB08NW</B></A>   System zeros and singular and infinite Kronecker structure of system pencil
+<A href=".\doc\AB08NZ.html">
+<B>AB08NZ</B></A>   System zeros and Kronecker structure of system pencil (complex case)
+</PRE>
+<h4>Model Reduction</h4>
+<PRE>
+<A href=".\doc\AB09AD.html">
+<B>AB09AD</B></A>   Balance & Truncate model reduction   
+<A href=".\doc\AB09BD.html">
+<B>AB09BD</B></A>   Singular perturbation approximation based model reduction 
+<A href=".\doc\AB09CD.html">
+<B>AB09CD</B></A>   Hankel norm approximation based model reduction 
+<A href=".\doc\AB09DD.html">
+<B>AB09DD</B></A>   Singular perturbation approximation formulas 
+<A href=".\doc\AB09ED.html">
+<B>AB09ED</B></A>   Hankel norm approximation based model reduction of unstable systems
+<A href=".\doc\AB09FD.html">
+<B>AB09FD</B></A>   Balance & Truncate model reduction of coprime factors
+<A href=".\doc\AB09GD.html">
+<B>AB09GD</B></A>   Singular perturbation approximation of coprime factors
+<A href=".\doc\AB09HD.html">
+<B>AB09HD</B></A>   Stochastic balancing based model reduction
+<A href=".\doc\AB09ID.html">
+<B>AB09ID</B></A>   Frequency-weighted model reduction based on balancing techniques
+<A href=".\doc\AB09JD.html">
+<B>AB09JD</B></A>   Frequency-weighted Hankel norm approximation with invertible weights
+<A href=".\doc\AB09KD.html">
+<B>AB09KD</B></A>   Frequency-weighted Hankel-norm approximation
+<A href=".\doc\AB09MD.html">
+<B>AB09MD</B></A>   Balance & Truncate model reduction for the stable part  
+<A href=".\doc\AB09ND.html">
+<B>AB09ND</B></A>   Singular perturbation approximation based model reduction for the   
+         stable part  
+</PRE>
+<h4>System Norms</h4>
+<PRE>
+<A href=".\doc\AB13AD.html">
+<B>AB13AD</B></A>   Hankel-norm of the stable projection   
+<A href=".\doc\AB13BD.html">
+<B>AB13BD</B></A>   H2 or L2 norm of a system 
+<A href=".\doc\AB13CD.html">
+<B>AB13CD</B></A>   H-infinity norm of a continuous-time stable system
+         (obsolete, replaced by AB13DD)
+<A href=".\doc\AB13DD.html">
+<B>AB13DD</B></A>   L-infinity norm of a state space system
+<A href=".\doc\AB13ED.html">
+<B>AB13ED</B></A>   Complex stability radius, using bisection
+<A href=".\doc\AB13FD.html">
+<B>AB13FD</B></A>   Complex stability radius, using bisection and SVD
+<A href=".\doc\AB13ID.html">
+<B>AB13ID</B></A>   Properness of the transfer function matrix of a descriptor system
+<A href=".\doc\AB13MD.html">
+<B>AB13MD</B></A>   Upper bound on the structured singular value for a square 
+         complex matrix
+</PRE>
+<h3>AG - Generalized State-Space Analysis</h3>
+<h4>Inverse and Dual Systems</h4>
+<PRE>
+<A href=".\doc\AG07BD.html">
+<B>AG07BD</B></A>   Descriptor inverse of a state-space or descriptor representation
+</PRE>
+<h4>Poles, Zeros, Gain</h4>
+<PRE>
+<A href=".\doc\AG08BD.html">
+<B>AG08BD</B></A>   Zeros and Kronecker structure of a descriptor system pencil
+<A href=".\doc\AG08BZ.html">
+<B>AG08BZ</B></A>   Zeros and Kronecker structure of a descriptor system pencil (complex case)
+</PRE>
+
+<HR>
+<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
+<h3>BB - State-space Models</h3>
+<PRE>
+<A href=".\doc\BB01AD.html">
+<B>BB01AD</B></A>   Benchmark examples for continuous-time Riccati equations
+<A href=".\doc\BB02AD.html">
+<B>BB02AD</B></A>   Benchmark examples for discrete-time Riccati equations
+<A href=".\doc\BB03AD.html">
+<B>BB03AD</B></A>   Benchmark examples of (generalized) continuous-time Lyapunov equations
+<A href=".\doc\BB04AD.html">
+<B>BB04AD</B></A>   Benchmark examples of (generalized) discrete-time Lyapunov equations
+</PRE>
+<h3>BD - Generalized State-space Models</h3>
+<PRE>
+<A href=".\doc\BD01AD.html">
+<B>BD01AD</B></A>   Benchmark examples of continuous-time systems
+<A href=".\doc\BD02AD.html">
+<B>BD02AD</B></A>   Benchmark examples of discrete-time systems
+</PRE>
+<HR>
+<A NAME="C"><H2>C - Adaptive Control</H2></A>
+<HR>
+<A NAME="D"><H2>D - Data Analysis</H2></A>
+<h3>DE - Covariances</h3>
+<PRE>
+<A href=".\doc\DE01OD.html">
+<B>DE01OD</B></A>   Convolution or deconvolution of two signals
+<A href=".\doc\DE01PD.html">
+<B>DE01PD</B></A>   Convolution or deconvolution of two real signals using Hartley transform
+</PRE>
+<h3>DF - Spectra</h3>
+<PRE>
+<A href=".\doc\DF01MD.html">
+<B>DF01MD</B></A>   Sine transform or cosine transform of a real signal
+</PRE>
+<h3>DG - Discrete Fourier and Hartley Transforms</h3>
+<PRE>
+<A href=".\doc\DG01MD.html">
+<B>DG01MD</B></A>   Discrete Fourier transform of a complex signal
+<A href=".\doc\DG01ND.html">
+<B>DG01ND</B></A>   Discrete Fourier transform of a real signal
+<A href=".\doc\DG01OD.html">
+<B>DG01OD</B></A>   Scrambled discrete Hartley transform of a real signal
+</PRE>
+<h3>DK - Windowing</h3>
+<PRE>
+<A href=".\doc\DK01MD.html">
+<B>DK01MD</B></A>   Anti-aliasing window applied to a real signal
+</PRE>
+<HR>
+<A NAME="F"><H2>F - Filtering</H2></A>
+<h3>FB - Kalman Filters</h3>
+<PRE>
+<A href=".\doc\FB01QD.html">
+<B>FB01QD</B></A>   Time-varying square root covariance filter (dense matrices)
+<A href=".\doc\FB01RD.html">
+<B>FB01RD</B></A>   Time-invariant square root covariance filter (Hessenberg form) 
+<A href=".\doc\FB01SD.html">
+<B>FB01SD</B></A>   Time-varying square root information filter (dense matrices)
+<A href=".\doc\FB01TD.html">
+<B>FB01TD</B></A>   Time-invariant square root information filter (Hessenberg form) 
+<A href=".\doc\FB01VD.html">
+<B>FB01VD</B></A>   One recursion of the conventional Kalman filter 
+</PRE>
+<h3>FD - Fast Recursive Least Squares Filters</h3>
+<PRE>
+<A href=".\doc\FD01AD.html">
+<B>FD01AD</B></A>   Fast recursive least-squares filter
+</PRE>
+<HR>
+<A NAME="I"><H2>I - Identification</H2></A>
+<h3>IB - Subspace Identification</h3>
+<h4>Time Invariant State-space Systems</h4>
+<PRE>
+<A href=".\doc\IB01AD.html">
+<B>IB01AD</B></A>   Input-output data preprocessing and finding the system order
+<A href=".\doc\IB01BD.html">
+<B>IB01BD</B></A>   Estimating the system matrices, covariances, and Kalman gain
+<A href=".\doc\IB01CD.html">
+<B>IB01CD</B></A>   Estimating the initial state and the system matrices B and D
+</PRE>
+<h4>Wiener Systems</h4>
+<PRE>
+<A href=".\doc\IB03AD.html">
+<B>IB03AD</B></A>   Estimating a Wiener system by a Levenberg-Marquardt algorithm
+         (Cholesky-based or conjugate gradients solver)
+<A href=".\doc\IB03BD.html">
+<B>IB03BD</B></A>   Estimating a Wiener system by a MINPACK-like Levenberg-Marquardt
+         algorithm
+</PRE>
+<HR>
+<A NAME="M"><H2>M - Mathematical Routines</H2></A>
+<h3>MB - Linear Algebra</h3>
+<h4>Basic Linear Algebra Manipulations</h4>
+<PRE>
+<A href=".\doc\MB01PD.html">
+<B>MB01PD</B></A>   Matrix scaling (higher level routine)
+<A href=".\doc\MB01QD.html">
+<B>MB01QD</B></A>   Matrix scaling (lower level routine)
+<A href=".\doc\MB01RB.html">
+<B>MB01RB</B></A>   Computation of a triangle of matrix expression alpha*R + beta*A*B 
+         or alpha*R + beta*B*A ( BLAS 3 version)
+<A href=".\doc\MB01RD.html">
+<B>MB01RD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
+<A href=".\doc\MB01TD.html">
+<B>MB01TD</B></A>   Product of two upper quasi-triangular matrices 
+<A href=".\doc\MB01UD.html">
+<B>MB01UD</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
+         with H an upper Hessenberg matrix
+<A href=".\doc\MB01UX.html">
+<B>MB01UX</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, T quasi-triangular
+<A href=".\doc\MB01UY.html">
+<B>MB01UY</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
+<A href=".\doc\MB01UZ.html">
+<B>MB01UZ</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
+         (complex version)
+<A href=".\doc\MB01WD.html">
+<B>MB01WD</B></A>   Residuals of Lyapunov or Stein equations for Cholesky factored 
+         solutions
+<A href=".\doc\MB01XD.html">
+<B>MB01XD</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
+         lower triangular matrices (block algorithm)
+<A href=".\doc\MB01YD.html">
+<B>MB01YD</B></A>   Symmetric rank k operation C := alpha*A*A' + beta*C, C symmetric
+<A href=".\doc\MB01ZD.html">
+<B>MB01ZD</B></A>   Computation of matrix expressions H := alpha*T*H, or H := alpha*H*T,
+         with H Hessenberg-like, T triangular
+</PRE>
+<h4>Linear Equations and Least Squares</h4>
+<PRE>
+<A href=".\doc\MB02CD.html">
+<B>MB02CD</B></A>   Cholesky factorization of a positive definite block Toeplitz matrix
+<A href=".\doc\MB02DD.html">
+<B>MB02DD</B></A>   Updating Cholesky factorization of a positive definite block 
+         Toeplitz matrix
+<A href=".\doc\MB02ED.html">
+<B>MB02ED</B></A>   Solution of T*X = B or X*T = B, with T a positive definite
+         block Toeplitz matrix
+<A href=".\doc\MB02FD.html">
+<B>MB02FD</B></A>   Incomplete Cholesky factor of a positive definite block Toeplitz matrix
+<A href=".\doc\MB02GD.html">
+<B>MB02GD</B></A>   Cholesky factorization of a banded symmetric positive definite
+         block Toeplitz matrix
+<A href=".\doc\MB02HD.html">
+<B>MB02HD</B></A>   Cholesky factorization of the matrix T'*T, with T a banded
+         block Toeplitz matrix of full rank
+<A href=".\doc\MB02ID.html">
+<B>MB02ID</B></A>   Solution of over- or underdetermined linear systems with a full rank
+         block Toeplitz matrix
+<A href=".\doc\MB02JD.html">
+<B>MB02JD</B></A>   Full QR factorization of a block Toeplitz matrix of full rank
+<A href=".\doc\MB02JX.html">
+<B>MB02JX</B></A>   Low rank QR factorization with column pivoting of a block Toeplitz matrix
+<A href=".\doc\MB02KD.html">
+<B>MB02KD</B></A>   Computation of the product C = alpha*op( T )*B + beta*C, with T
+         a block Toeplitz matrix
+<A href=".\doc\MB02MD.html">
+<B>MB02MD</B></A>   Solution of Total Least-Squares problem using a SVD approach
+<A href=".\doc\MB02ND.html">
+<B>MB02ND</B></A>   Solution of Total Least-Squares problem using a partial SVD approach
+<A href=".\doc\MB02OD.html">
+<B>MB02OD</B></A>   Solution of op(A)*X = alpha*B, or X*op(A) = alpha*B, A triangular 
+<A href=".\doc\MB02PD.html">
+<B>MB02PD</B></A>   Solution of matrix equation op(A)*X = B, with error bounds 
+         and condition estimates
+<A href=".\doc\MB02QD.html">
+<B>MB02QD</B></A>   Solution, optionally corresponding to specified free elements, 
+         of a linear least squares problem
+<A href=".\doc\MB02RD.html">
+<B>MB02RD</B></A>   Solution of a linear system with upper Hessenberg matrix
+<A href=".\doc\MB02RZ.html">
+<B>MB02RZ</B></A>   Solution of a linear system with complex upper Hessenberg matrix
+<A href=".\doc\MB02SD.html">
+<B>MB02SD</B></A>   LU factorization of an upper Hessenberg matrix
+<A href=".\doc\MB02SZ.html">
+<B>MB02SZ</B></A>   LU factorization of a complex upper Hessenberg matrix
+<A href=".\doc\MB02TD.html">
+<B>MB02TD</B></A>   Condition number of an upper Hessenberg matrix
+<A href=".\doc\MB02TZ.html">
+<B>MB02TZ</B></A>   Condition number of a complex upper Hessenberg matrix
+<A href=".\doc\MB02UD.html">
+<B>MB02UD</B></A>   Minimum norm least squares solution of op(R)*X = B, or X*op(R) = B,
+         using singular value decomposition (R upper triangular)
+<A href=".\doc\MB02VD.html">
+<B>MB02VD</B></A>   Solution of X*op(A) = B
+</PRE>
+<h4>Eigenvalues and Eigenvectors</h4>
+<PRE>
+<A href=".\doc\MB03LF.html">
+<B>MB03LF</B></A>   Eigenvalues and right deflating subspace of a real 
+         skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB03FZ.html">
+<B>MB03FZ</B></A>   Eigenvalues and right deflating subspace of a complex 
+         skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB03LD.html">
+<B>MB03LD</B></A>   Eigenvalues and right deflating subspace of a real 
+         skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB03LP.html">
+<B>MB03LP</B></A>   Eigenvalues and right deflating subspace of a real 
+         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB03LZ.html">
+<B>MB03LZ</B></A>   Eigenvalues and right deflating subspace of a complex 
+         skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB3LZP.html">
+<B>MB3LZP</B></A>   Eigenvalues and right deflating subspace of a complex 
+         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB03MD.html">
+<B>MB03MD</B></A>   Upper bound for L singular values of a bidiagonal matrix
+<A href=".\doc\MB03ND.html">
+<B>MB03ND</B></A>   Number of singular values of a bidiagonal matrix less than a bound
+<A href=".\doc\MB03OD.html">
+<B>MB03OD</B></A>   Matrix rank determination by incremental condition estimation
+<A href=".\doc\MB03PD.html">
+<B>MB03PD</B></A>   Matrix rank determination (row pivoting)
+<A href=".\doc\MB03QD.html">
+<B>MB03QD</B></A>   Reordering of the diagonal blocks of a real Schur matrix
+<A href=".\doc\MB03QG.html">
+<B>MB03QG</B></A>   Reordering of the diagonal blocks of principal subpencil of 
+         a real Schur-triangular matrix pencil
+<A href=".\doc\MB03RD.html">
+<B>MB03RD</B></A>   Reduction of a real Schur matrix to a block-diagonal form
+<A href=".\doc\MB03RZ.html">
+<B>MB03RZ</B></A>   Reduction of a complex Schur matrix to a block-diagonal form
+<A href=".\doc\MB03SD.html">
+<B>MB03SD</B></A>   Eigenvalues of a square-reduced Hamiltonian matrix
+<A href=".\doc\MB03TD.html">
+<B>MB03TD</B></A>   Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
+<A href=".\doc\MB03UD.html">
+<B>MB03UD</B></A>   Singular value decomposition of an upper triangular matrix
+<A href=".\doc\MB03VD.html">
+<B>MB03VD</B></A>   Periodic Hessenberg form of a product of matrices
+<A href=".\doc\MB03VW.html">
+<B>MB03VW</B></A>   Periodic Hessenberg form of a formal product of matrices
+<A href=".\doc\MB03WD.html">
+<B>MB03WD</B></A>   Periodic Schur decomposition and eigenvalues of a product of
+         matrices in periodic Hessenberg form
+<A href=".\doc\MB03XD.html">
+<B>MB03XD</B></A>   Eigenvalues of a Hamiltonian matrix
+<A href=".\doc\MB03XZ.html">
+<B>MB03XZ</B></A>   Eigenvalues of a complex Hamiltonian matrix
+<A href=".\doc\MB03XP.html">
+<B>MB03XP</B></A>   Periodic Schur decomposition and eigenvalues of a matrix product A*B, 
+         A upper Hessenberg and B upper triangular
+<A href=".\doc\MB03YD.html">
+<B>MB03YD</B></A>   Periodic QR iteration
+<A href=".\doc\MB03ZD.html">
+<B>MB03ZD</B></A>   Stable and unstable invariant subspaces for a dichotomic Hamiltonian matrix
+</PRE>
+<h4>Decompositions and Transformations</h4>
+<PRE>
+<A href=".\doc\MB04AD.html">
+<B>MB04AD</B></A>   Eigenvalues and generalized symplectic URV decomposition of a real 
+         skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB04AZ.html">
+<B>MB04AZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
+<A href=".\doc\MB04BD.html">
+<B>MB04BD</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB04BP.html">
+<B>MB04BP</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB04BZ.html">
+<B>MB04BZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
+<A href=".\doc\MB04DL.html">
+<B>MB04DL</B></A>   Balancing a real matrix pencil, optionally avoiding large 
+         norms for the scaled (sub)matrices
+<A href=".\doc\MB4DLZ.html">
+<B>MB4DLZ</B></A>   Balancing a complex matrix pencil, optionally avoiding large 
+         norms for the scaled (sub)matrices 
+<A href=".\doc\MB04DP.html">
+<B>MB04DP</B></A>   Balancing a real skew-Hamiltonian/Hamiltonian matrix pencil, 
+         optionally avoiding large norms for the scaled (sub)matrices
+<A href=".\doc\MB4DPZ.html">
+<B>MB4DPZ</B></A>   Balancing a complex skew-Hamiltonian/Hamiltonian matrix pencil, 
+         optionally avoiding large norms for the scaled (sub)matrices
+<A href=".\doc\MB04ED.html">
+<B>MB04ED</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/skew-Hamiltonian pencil in factored form
+<A href=".\doc\MB04FD.html">
+<B>MB04FD</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/skew-Hamiltonian pencil
+<A href=".\doc\MB04FP.html">
+<B>MB04FP</B></A>   Eigenvalues and orthogonal decomposition of a real 
+         skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
+<A href=".\doc\MB04GD.html">
+<B>MB04GD</B></A>   RQ factorization of a matrix with row pivoting
+<A href=".\doc\MB04ID.html">
+<B>MB04ID</B></A>   QR factorization of a matrix with a lower left zero triangle
+<A href=".\doc\MB04IZ.html">
+<B>MB04IZ</B></A>   QR factorization of a matrix with a lower left zero triangle (complex case)
+<A href=".\doc\MB04JD.html">
+<B>MB04JD</B></A>   LQ factorization of a matrix with an upper right zero triangle
+<A href=".\doc\MB04KD.html">
+<B>MB04KD</B></A>   QR factorization of a special structured block matrix
+<A href=".\doc\MB04LD.html">
+<B>MB04LD</B></A>   LQ factorization of a special structured block matrix
+<A href=".\doc\MB04MD.html">
+<B>MB04MD</B></A>   Balancing a general real matrix
+<A href=".\doc\MB04ND.html">
+<B>MB04ND</B></A>   RQ factorization of a special structured block matrix
+<A href=".\doc\MB04OD.html">
+<B>MB04OD</B></A>   QR factorization of a special structured block matrix (variant)
+<A href=".\doc\MB04PB.html">
+<B>MB04PB</B></A>   Paige/Van Loan form of a Hamiltonian matrix
+<A href=".\doc\MB04TB.html">
+<B>MB04TB</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix
+<A href=".\doc\MB04UD.html">
+<B>MB04UD</B></A>   Unitary column echelon form for a rectangular matrix 
+<A href=".\doc\MB04VD.html">
+<B>MB04VD</B></A>   Upper block triangular form for a rectangular pencil
+<A href=".\doc\MB04XD.html">
+<B>MB04XD</B></A>   Basis for left/right null singular subspace of a matrix  
+<A href=".\doc\MB04YD.html">
+<B>MB04YD</B></A>   Partial diagonalization of a bidiagonal matrix  
+<A href=".\doc\MB04ZD.html">
+<B>MB04ZD</B></A>   Transforming a Hamiltonian matrix into a square-reduced form  
+</PRE>
+<h4>Matrix Functions</h4>
+<PRE>
+<A href=".\doc\MB05MD.html">
+<B>MB05MD</B></A>   Matrix exponential for a real non-defective matrix 
+<A href=".\doc\MB05ND.html">
+<B>MB05ND</B></A>   Matrix exponential and integral for a real matrix 
+<A href=".\doc\MB05OD.html">
+<B>MB05OD</B></A>   Matrix exponential for a real matrix, with accuracy estimate
+</PRE>
+<h3>MC - Polynomial and Rational Function Manipulation</h3>
+<h4>Scalar Polynomials</h4>
+<PRE>
+<A href=".\doc\MC01MD.html">
+<B>MC01MD</B></A>   The leading coefficients of the shifted polynomial  
+<A href=".\doc\MC01ND.html">
+<B>MC01ND</B></A>   Value of a real polynomial at a given complex point  
+<A href=".\doc\MC01OD.html">
+<B>MC01OD</B></A>   Coefficients of a complex polynomial, given its zeros  
+<A href=".\doc\MC01PD.html">
+<B>MC01PD</B></A>   Coefficients of a real polynomial, given its zeros  
+<A href=".\doc\MC01QD.html">
+<B>MC01QD</B></A>   Quotient and remainder polynomials for polynomial division 
+<A href=".\doc\MC01RD.html">
+<B>MC01RD</B></A>   Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)  
+<A href=".\doc\MC01SD.html">
+<B>MC01SD</B></A>   Scaling coefficients of a real polynomial for minimal variation  
+<A href=".\doc\MC01TD.html">
+<B>MC01TD</B></A>   Checking stability of a given real polynomial  
+<A href=".\doc\MC01VD.html">
+<B>MC01VD</B></A>   Roots of a quadratic equation with real coefficients  
+<A href=".\doc\MC01WD.html">
+<B>MC01WD</B></A>   Quotient and remainder polynomials for a quadratic denominator  
+<A href=".\doc\MC01XD.html">
+<B>MC01XD</B></A>   Roots of a third order polynomial  
+</PRE>
+<h4>Polynomial Matrices</h4>
+<PRE>
+<A href=".\doc\MC03MD.html">
+<B>MC03MD</B></A>   Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)  
+<A href=".\doc\MC03ND.html">
+<B>MC03ND</B></A>   Minimal polynomial basis for the right nullspace of a polynomial matrix  
+</PRE>
+<h3>MD - Optimization</h3>
+<h4>Unconstrained Nonlinear Least Squares</h4>
+<PRE>
+<A href=".\doc\MD03AD.html">
+<B>MD03AD</B></A>   Levenberg-Marquardt algorithm (Cholesky-based or conjugate
+         gradients solver)
+<A href=".\doc\MD03BD.html">
+<B>MD03BD</B></A>   Enhanced MINPACK-like Levenberg-Marquardt algorithm 
+</PRE>
+<HR>
+<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
+<h3>NI - Interfaces to Nonlinear Solvers</h3>
+<h4>ODE and DAE Solvers</h4>
+<PRE>
+<A href=".\doc\DAESolver.html">
+<B>DAESolver</B></A>    Interface to DAE Solvers
+<A href=".\doc\ODESolver.html">
+<B>ODESolver</B></A>    Interface to ODE Solvers
+</PRE>
+<h4>Nonlinear Equation Solvers</h4>
+<PRE>
+<A href=".\doc\KINSOL.html">
+<B>KINSOL</B></A>    Interface to KINSOL solver for nonlinear systems of equations
+</PRE>
+<h4>Nonlinear Optimization Solvers</h4>
+<PRE>
+<A href=".\doc\FSQP.html">
+<B>FSQP</B></A>    Interface to FSQP solver for nonlinear optimization
+</PRE>
+<HR>
+<A NAME="S"><H2>S - Synthesis Routines</H2></A>
+<h3>SB - State-Space Synthesis</h3>
+<h4>Eigenvalue/Eigenvector Assignment</h4>
+<PRE>
+<A href=".\doc\SB01BD.html">
+<B>SB01BD</B></A>    Pole assignment for a given matrix pair (A,B)
+<A href=".\doc\SB01DD.html">
+<B>SB01DD</B></A>    Eigenstructure assignment for a controllable matrix pair (A,B) in
+          orthogonal canonical form
+<A href=".\doc\SB01MD.html">
+<B>SB01MD</B></A>    State feedback matrix of a time-invariant single-input system
+</PRE>
+<h4>Riccati Equations</h4>
+<PRE>
+<A href=".\doc\SB02MD.html">
+<B>SB02MD</B></A>    Solution of algebraic Riccati equations (Schur vectors method)
+<A href=".\doc\SB02MT.html">
+<B>SB02MT</B></A>    Conversion of problems with coupling terms to standard problems
+<A href=".\doc\SB02MX.html">
+<B>SB02MX</B></A>    Conversion of problems with coupling terms to standard problems
+          (more flexibility)
+<A href=".\doc\SB02ND.html">
+<B>SB02ND</B></A>    Optimal state feedback matrix for an optimal control problem
+<A href=".\doc\SB02OD.html">
+<B>SB02OD</B></A>    Solution of algebraic Riccati equations (generalized Schur method)
+<A href=".\doc\SB02PD.html">
+<B>SB02PD</B></A>    Solution of continuous algebraic Riccati equations (matrix sign 
+          function method) with condition and forward error bound estimates
+<A href=".\doc\SB02QD.html">
+<B>SB02QD</B></A>    Condition and forward error for continuous Riccati equation solution
+<A href=".\doc\SB02RD.html">
+<B>SB02RD</B></A>    Solution of algebraic Riccati equations (refined Schur vectors method) 
+          with condition and forward error bound estimates
+<A href=".\doc\SB02SD.html">
+<B>SB02SD</B></A>    Condition and forward error for discrete Riccati equation solution
+</PRE>
+<h4>Lyapunov Equations</h4>
+<PRE>
+<A href=".\doc\SB03MD.html">
+<B>SB03MD</B></A>    Solution of Lyapunov equations and separation estimation
+<A href=".\doc\SB03OD.html">
+<B>SB03OD</B></A>    Solution of stable Lyapunov equations (Cholesky factor)
+<A href=".\doc\SB03OZ.html">
+<B>SB03OZ</B></A>    Solution of stable complex Lyapunov equations (Cholesky factor)
+<A href=".\doc\SB03PD.html">
+<B>SB03PD</B></A>    Solution of discrete Lyapunov equations and separation estimation
+<A href=".\doc\SB03QD.html">
+<B>SB03QD</B></A>    Condition and forward error for continuous Lyapunov equations
+<A href=".\doc\SB03RD.html">
+<B>SB03RD</B></A>    Solution of continuous Lyapunov equations and separation estimation
+<A href=".\doc\SB03SD.html">
+<B>SB03SD</B></A>    Condition and forward error for discrete Lyapunov equations
+<A href=".\doc\SB03TD.html">
+<B>SB03TD</B></A>    Solution of continuous Lyapunov equations, condition and forward error 
+          estimation
+<A href=".\doc\SB03UD.html">
+<B>SB03UD</B></A>    Solution of discrete Lyapunov equations, condition and forward error 
+          estimation
+</PRE>
+<h4>Sylvester Equations</h4>
+<PRE>
+<A href=".\doc\SB04MD.html">
+<B>SB04MD</B></A>    Solution of continuous Sylvester equations (Hessenberg-Schur method)
+<A href=".\doc\SB04ND.html">
+<B>SB04ND</B></A>    Solution of continuous Sylvester equations (one matrix in Schur form)
+<A href=".\doc\SB04OD.html">
+<B>SB04OD</B></A>    Solution of generalized Sylvester equations with separation estimation
+<A href=".\doc\SB04PD.html">
+<B>SB04PD</B></A>    Solution of continuous or discrete Sylvester equations (Schur method)
+<A href=".\doc\SB04QD.html">
+<B>SB04QD</B></A>    Solution of discrete Sylvester equations (Hessenberg-Schur method)
+<A href=".\doc\SB04RD.html">
+<B>SB04RD</B></A>    Solution of discrete Sylvester equations (one matrix in Schur form)
+</PRE>
+<h4>Deadbeat Control</h4>
+<PRE>
+<A href=".\doc\SB06ND.html">
+<B>SB06ND</B></A>    Minimum norm deadbeat control state feedback matrix 
+</PRE>
+<h4>Transfer Matrix Factorization</h4>
+<PRE>
+<A href=".\doc\SB08CD.html">
+<B>SB08CD</B></A>    Left coprime factorization with inner denominator
+<A href=".\doc\SB08DD.html">
+<B>SB08DD</B></A>    Right coprime factorization with inner denominator
+<A href=".\doc\SB08ED.html">
+<B>SB08ED</B></A>    Left coprime factorization with prescribed stability degree
+<A href=".\doc\SB08FD.html">
+<B>SB08FD</B></A>    Right coprime factorization with prescribed stability degree
+<A href=".\doc\SB08GD.html">
+<B>SB08GD</B></A>    State-space representation of a left coprime factorization
+<A href=".\doc\SB08HD.html">
+<B>SB08HD</B></A>    State-space representation of a right coprime factorization
+<A href=".\doc\SB08MD.html">
+<B>SB08MD</B></A>    Spectral factorization of polynomials (continuous-time case)
+<A href=".\doc\SB08ND.html">
+<B>SB08ND</B></A>    Spectral factorization of polynomials (discrete-time case)
+</PRE>
+<h4>Realization Methods</h4>
+<PRE>
+<A href=".\doc\SB09MD.html">
+<B>SB09MD</B></A>    Closeness of two multivariable sequences
+
+</PRE>
+<h4>Optimal Regulator Problems</h4>
+<PRE>
+<A href=".\doc\SB10AD.html">
+<B>SB10AD</B></A>    H-infinity optimal controller using modified Glover's and Doyle's
+          formulas (continuous-time)
+<A href=".\doc\SB10DD.html">
+<B>SB10DD</B></A>    H-infinity (sub)optimal state controller for a discrete-time system
+<A href=".\doc\SB10ED.html">
+<B>SB10ED</B></A>    H2 optimal state controller for a discrete-time system
+<A href=".\doc\SB10FD.html">
+<B>SB10FD</B></A>    H-infinity (sub)optimal state controller for a continuous-time system
+<A href=".\doc\SB10HD.html">
+<B>SB10HD</B></A>    H2 optimal state controller for a continuous-time system
+<A href=".\doc\SB10MD.html">
+<B>SB10MD</B></A>    D-step in the D-K iteration for continuous-time case
+<A href=".\doc\SB10ID.html">
+<B>SB10ID</B></A>    Positive feedback controller for a continuous-time system
+<A href=".\doc\SB10KD.html">
+<B>SB10KD</B></A>    Positive feedback controller for a discrete-time system
+<A href=".\doc\SB10ZD.html">
+<B>SB10ZD</B></A>    Positive feedback controller for a discrete-time system (D <> 0)
+
+</PRE>
+<h4>Controller Reduction</h4>
+<PRE>
+<A href=".\doc\SB16AD.html">
+<B>SB16AD</B></A>    Stability/performance enforcing frequency-weighted controller reduction
+<A href=".\doc\SB16BD.html">
+<B>SB16BD</B></A>    Coprime factorization based state feedback controller reduction
+<A href=".\doc\SB16CD.html">
+<B>SB16CD</B></A>    Coprime factorization based frequency-weighted state feedback 
+          controller reduction
+</PRE>
+<h3>SG - Generalized State-Space Synthesis</h3>
+<h4>Riccati Equations</h4>
+<PRE>
+<A href=".\doc\SG02AD.html">
+<B>SG02AD</B></A>    Solution of algebraic Riccati equations for descriptor systems
+<A href=".\doc\SG02CW.html">
+<B>SG02CW</B></A>    Residual of continuous- or discrete-time (generalized) algebraic
+          Riccati equations
+<A href=".\doc\SG02CX.html">
+<B>SG02CX</B></A>    Line search parameter minimizing the residual of (generalized) 
+          continuous- or discrete-time algebraic Riccati equations
+<A href=".\doc\SG02ND.html">
+<B>SG02ND</B></A>    Optimal state feedback matrix for an optimal control problem
+</PRE>
+<h4>Generalized Lyapunov Equations</h4>
+<PRE>
+<A href=".\doc\SG03AD.html">
+<B>SG03AD</B></A>    Solution of generalized Lyapunov equations and separation estimation
+<A href=".\doc\SG03BD.html">
+<B>SG03BD</B></A>    Solution of stable generalized Lyapunov equations (Cholesky factor)
+<A href=".\doc\SG03BZ.html">
+<B>SG03BZ</B></A>    Solution of stable generalized complex Lyapunov equations (Cholesky factor)
+</PRE>
+<HR>
+<A NAME="T"><H2>T - Transformation Routines</H2></A>
+<h3>TB - State-Space</h3>
+<h4>State-Space Transformations</h4>
+<PRE>
+<A href=".\doc\TB01ID.html">
+<B>TB01ID</B></A>   Balancing a system matrix for a given triplet
+<A href=".\doc\TB01IZ.html">
+<B>TB01IZ</B></A>   Balancing a system matrix for a given triplet (complex case)
+<A href=".\doc\TB01KD.html">
+<B>TB01KD</B></A>   Additive spectral decomposition of a state-space system 
+<A href=".\doc\TB01LD.html">
+<B>TB01LD</B></A>   Spectral separation of a state-space system
+<A href=".\doc\TB01MD.html">
+<B>TB01MD</B></A>   Upper/lower controller Hessenberg form
+<A href=".\doc\TB01ND.html">
+<B>TB01ND</B></A>   Upper/lower observer Hessenberg form 
+<A href=".\doc\TB01PD.html">
+<B>TB01PD</B></A>   Minimal, controllable or observable block Hessenberg realization 
+<A href=".\doc\TB01PX.html">
+<B>TB01PX</B></A>   Minimal, controllable or observable block Hessenberg realization (variant)
+<A href=".\doc\TB01TD.html">
+<B>TB01TD</B></A>   Balancing state-space representation by permutations and scalings
+<A href=".\doc\TB01UD.html">
+<B>TB01UD</B></A>   Controllable block Hessenberg realization for a state-space representation
+<A href=".\doc\TB01UY.html">
+<B>TB01UY</B></A>   Controllable block Hessenberg realization for a standard multi-input system
+<A href=".\doc\TB01WD.html">
+<B>TB01WD</B></A>   Reduction of the state dynamics matrix to real Schur form 
+<A href=".\doc\TB01WX.html">
+<B>TB01WX</B></A>   Orthogonal similarity transformation of a standard system to one 
+         with state matrix in a Hessenberg form
+<A href=".\doc\TB01ZD.html">
+<B>TB01ZD</B></A>   Controllable realization for single-input systems 
+</PRE>
+<h4>State-Space to Polynomial Matrix Conversion</h4>
+<PRE>
+<A href=".\doc\TB03AD.html">
+<B>TB03AD</B></A>   Left/right polynomial matrix representation of a state-space representation
+</PRE>
+<h4>State-Space to Rational Matrix Conversion</h4>
+<PRE>
+<A href=".\doc\TB04AD.html">
+<B>TB04AD</B></A>   Transfer matrix of a state-space representation  
+<A href=".\doc\TB04BD.html">
+<B>TB04BD</B></A>   Transfer matrix of a state-space representation, using the pole-zeros method
+<A href=".\doc\TB04CD.html">
+<B>TB04CD</B></A>   Transfer matrix of a state-space representation in the pole-zero-gain form 
+</PRE>
+<h4>State-Space to Frequency Response</h4>
+<PRE>
+<A href=".\doc\TB05AD.html">
+<B>TB05AD</B></A>   Frequency response matrix of a state-space representation 
+</PRE>
+<h3>TC - Polynomial Matrix</h3>
+<h4>Polynomial Matrix Transformations</h4>
+<PRE>
+<A href=".\doc\TC01OD.html">
+<B>TC01OD</B></A>   Dual of a left/right polynomial matrix representation
+</PRE>
+<h4>Polynomial Matrix to State-Space Conversion</h4>
+<PRE>
+<A href=".\doc\TC04AD.html">
+<B>TC04AD</B></A>   State-space representation for left/right polynomial matrix representation
+</PRE>
+<h4>Polynomial Matrix to  Frequency Response</h4>
+<PRE>
+<A href=".\doc\TC05AD.html">
+<B>TC05AD</B></A>   Transfer matrix of a left/right polynomial matrix representation
+</PRE>
+<h3>TD - Rational  Matrix</h3>
+<h4>Rational Matrix to Polynomial Matrix Conversion</h4>
+<PRE>
+<A href=".\doc\TD03AD.html">
+<B>TD03AD</B></A>   Left/right polynomial matrix representation for a proper transfer matrix
+</PRE>
+<h4>Rational Matrix to State-Space Conversion</h4>
+<PRE>
+<A href=".\doc\TD04AD.html">
+<B>TD04AD</B></A>   Minimal state-space representation for a proper transfer matrix 
+</PRE>
+<h4>Rational Matrix to Frequency Response</h4>
+<PRE>
+<A href=".\doc\TD05AD.html">
+<B>TD05AD</B></A>   Evaluation of a transfer function for a specified frequency 
+</PRE>
+<h3>TF - Time Response</h3>
+<PRE>
+<A href=".\doc\TF01MD.html">
+<B>TF01MD</B></A>   Output response of a linear discrete-time system
+<A href=".\doc\TF01ND.html">
+<B>TF01ND</B></A>   Output response of a linear discrete-time system (Hessenberg matrix)
+<A href=".\doc\TF01OD.html">
+<B>TF01OD</B></A>   Block Hankel expansion of a multivariable parameter sequence
+<A href=".\doc\TF01PD.html">
+<B>TF01PD</B></A>   Block Toeplitz expansion of a multivariable parameter sequence
+<A href=".\doc\TF01QD.html">
+<B>TF01QD</B></A>   Markov parameters of a system from transfer function matrix
+<A href=".\doc\TF01RD.html">
+<B>TF01RD</B></A>   Markov parameters of a system from state-space representation
+</PRE>
+<h3>TG - Generalized State-space</h3>
+<h4>Generalized State-space Transformations</h4>
+<PRE>
+<A href=".\doc\TG01AD.html">
+<B>TG01AD</B></A>   Balancing the matrices of the system pencil corresponding to a
+         descriptor triple
+<A href=".\doc\TG01AZ.html">
+<B>TG01AZ</B></A>   Balancing the matrices of the system pencil corresponding to a
+         descriptor triple (complex case)
+<A href=".\doc\TG01BD.html">
+<B>TG01BD</B></A>   Orthogonal reduction of a descriptor system to the generalized 
+         Hessenberg form
+<A href=".\doc\TG01CD.html">
+<B>TG01CD</B></A>   Orthogonal reduction of a descriptor system pair (A-sE,B)
+         to the QR-coordinate form
+<A href=".\doc\TG01DD.html">
+<B>TG01DD</B></A>   Orthogonal reduction of a descriptor system pair (C,A-sE)
+         to the RQ-coordinate form
+<A href=".\doc\TG01ED.html">
+<B>TG01ED</B></A>   Orthogonal reduction of a descriptor system to a SVD coordinate 
+         form
+<A href=".\doc\TG01FD.html">
+<B>TG01FD</B></A>   Orthogonal reduction of a descriptor system to a SVD-like
+         coordinate form
+<A href=".\doc\TG01FZ.html">
+<B>TG01FZ</B></A>   Orthogonal reduction of a descriptor system to a SVD-like 
+         coordinate form (complex case)
+<A href=".\doc\TG01GD.html">
+<B>TG01GD</B></A>   Reduced descriptor representation without non-dynamic modes
+<A href=".\doc\TG01HD.html">
+<B>TG01HD</B></A>   Orthogonal reduction of a descriptor system to the controllability
+         staircase form
+<A href=".\doc\TG01ID.html">
+<B>TG01ID</B></A>   Orthogonal reduction of a descriptor system to the observability
+         staircase form
+<A href=".\doc\TG01JD.html">
+<B>TG01JD</B></A>   Irreducible descriptor representation
+<A href=".\doc\TG01JY.html">
+<B>TG01JY</B></A>   Irreducible descriptor representation (blocked version)
+<A href=".\doc\TG01LD.html">
+<B>TG01LD</B></A>   Finite-infinite decomposition of a descriptor system
+<A href=".\doc\TG01MD.html">
+<B>TG01MD</B></A>   Finite-infinite generalized real Schur form decomposition of a descriptor system
+<A href=".\doc\TG01ND.html">
+<B>TG01ND</B></A>   Finite-infinite block-diagonal decomposition of a descriptor system
+<A href=".\doc\TG01OD.html">
+<B>TG01OD</B></A>   Reducing a SISO descriptor system with E nonsingular so that
+         the obtained feedthrough term has a sufficiently large magnitude
+<A href=".\doc\TG01OZ.html">
+<B>TG01OZ</B></A>   Reducing a complex SISO descriptor system with E nonsingular so that
+         the obtained feedthrough term has a sufficiently large magnitude
+<A href=".\doc\TG01PD.html">
+<B>TG01PD</B></A>   Bi-domain spectral splitting of a subpencil of a descriptor system
+<A href=".\doc\TG01QD.html">
+<B>TG01QD</B></A>   Three-domain spectral splitting of a subpencil of a descriptor system
+<A href=".\doc\TG01WD.html">
+<B>TG01WD</B></A>   Reduction of the descriptor dynamics matrix pair to generalized 
+         real Schur form
+</PRE>
+<HR>
+<A NAME="U"><H2>U - Utility Routines</H2></A>
+<h3>UD - Numerical Data Handling</h3>
+<PRE>
+<A href=".\doc\UD01BD.html">
+<B>UD01BD</B></A>   Reading a matrix polynomial
+<A href=".\doc\UD01CD.html">
+<B>UD01CD</B></A>   Reading a sparse matrix polynomial
+<A href=".\doc\UD01DD.html">
+<B>UD01DD</B></A>   Reading a sparse real matrix
+<A href=".\doc\UD01MD.html">
+<B>UD01MD</B></A>   Printing a real matrix
+<A href=".\doc\UD01MZ.html">
+<B>UD01MZ</B></A>   Printing a real matrix (complex case)
+<A href=".\doc\UD01ND.html">
+<B>UD01ND</B></A>   Printing a matrix polynomial
+<A href=".\doc\UE01MD.html">
+<B>UE01MD</B></A>   Default machine-specific parameters for (skew-)Hamiltonian computation routines
+</PRE>
+<HR>
+</BODY>
+</HTML>
diff --git a/doc/conf.py b/doc/conf.py
new file mode 100644
index 00000000..61c73e6f
--- /dev/null
+++ b/doc/conf.py
@@ -0,0 +1,39 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+import os
+import sys
+sys.path.insert(0, os.path.abspath('../slycot'))
+
+project = 'Slycot'
+copyright = '2023, Slycot Developers'
+author = 'Slycot Developers'
+release = '0.6'
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    'sphinx.ext.autodoc', 'sphinx.ext.todo', 'sphinx.ext.napoleon',
+    'sphinx.ext.intersphinx', 'sphinx.ext.imgmath',
+    'sphinx.ext.autosummary', 'nbsphinx', 'numpydoc',
+    'sphinx.ext.doctest'
+]
+# scan documents for autosummary directives and generate stub pages for each.
+autosummary_generate = True
+
+templates_path = ['_templates']
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = 'sphinx_rtd_theme'
+html_static_path = ['_static']
diff --git a/doc/index.rst b/doc/index.rst
new file mode 100644
index 00000000..717595b6
--- /dev/null
+++ b/doc/index.rst
@@ -0,0 +1,40 @@
+.. slycot documentation master file, created by
+   sphinx-quickstart on Wed Jul 26 15:18:00 2023.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Slycot
+======
+
+Python wrapper for selected SLICOT routines, 
+notably including solvers for Riccati, Lyapunov, and Sylvester equations.
+
+.. rubric:: Features
+
+- Analysis Routines
+- Benchmark
+- Adaptive Control
+- Data Analysis
+- Filtering
+- Identification
+- Mathematical Routines
+- Nonlinear Systems
+- Synthesis Routines
+- Transformation Routines
+- Utility Routines
+
+.. rubric:: Documentation
+
+.. toctree::
+   :maxdepth: 1
+
+   intro
+   source/reference/index
+   source/dev/index
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/doc/intro.rst b/doc/intro.rst
new file mode 100644
index 00000000..33b7c311
--- /dev/null
+++ b/doc/intro.rst
@@ -0,0 +1,59 @@
+************
+Introduction
+************
+
+Welcome to the Slycot (`slycot`) User's Manual. 
+This manual contains information on using the `slycot` package, 
+including documentation for all functions in the package and examples illustrating their use.
+
+Installation
+============
+
+The `slycot` package can be installed using conda or pip.  The
+package requires `NumPy <http://www.numpy.org>`_.
+
+For users with the Anaconda distribution of Python, the following
+command can be used::
+
+  conda install -c conda-forge slycot
+
+This installs `slycot` from conda-forge, including the
+`openblas` package.  NumPy will also be installed if
+they are not already present.
+
+.. note::
+   Mixing packages from conda-forge and the default conda channel
+   can sometimes cause problems with dependencies, so it is usually best to
+   instally NumPy, SciPy, and Matplotlib from conda-forge as well.
+
+To install using pip::
+
+  pip install slycot
+
+.. note::
+   If you install Slycot using pip you'll need a development
+   environment (e.g., Python development files, C and Fortran compilers).
+   Pip installation can be particularly complicated for Windows.
+
+Users can check to insure that slycot is installed 
+correctly by running the command::
+
+  python -c "import slycot"
+
+and verifying that no error message appears. More information on the 
+Slycot package can be obtained from the `Slycot project page
+<https://github.com/python-control/Slycot>`_.
+
+Alternatively, to install from source, first `download the source
+<https://github.com/python-control/Slycot>`_ and unpack it.
+To install in your home directory, use::
+    
+    pip install .
+
+Getting started
+===============
+
+There are two different ways to use the package.  For the default interface
+described in :ref:`function-ref`, simply import the control package as follows::
+
+    >>> import slycot
\ No newline at end of file
diff --git a/doc/make.bat b/doc/make.bat
new file mode 100755
index 00000000..32bb2452
--- /dev/null
+++ b/doc/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/doc/requirements.txt b/doc/requirements.txt
new file mode 100644
index 00000000..e996d364
--- /dev/null
+++ b/doc/requirements.txt
@@ -0,0 +1,10 @@
+sphinx>=3.4
+numpy
+scipy
+matplotlib
+matplotlib_venn
+sphinx_rtd_theme
+numpydoc
+ipykernel
+nbsphinx
+docutils==0.16 # pin until sphinx_rtd_theme is compatible with 0.17 or later
\ No newline at end of file
diff --git a/doc/source/dev/basic.rst b/doc/source/dev/basic.rst
new file mode 100644
index 00000000..4443fdb3
--- /dev/null
+++ b/doc/source/dev/basic.rst
@@ -0,0 +1,140 @@
+**********************
+Contributing to Slycot
+**********************
+
+F2PY
+====
+Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
+`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
+
+Development process - summary
+=============================
+
+Here's the short summary, complete TOC links are below:
+
+1. If you are a first-time contributor:
+
+   * Go to `https://github.com/numpy/numpy
+     <https://github.com/numpy/numpy>`_ and click the
+     "fork" button to create your own copy of the project.
+
+   * Clone the project to your local computer::
+
+      git clone --recurse-submodules https://github.com/your-username/numpy.git
+
+   * Change the directory::
+
+      cd numpy
+
+   * Add the upstream repository::
+
+      git remote add upstream https://github.com/numpy/numpy.git
+
+   * Now, ``git remote -v`` will show two remote repositories named:
+
+     - ``upstream``, which refers to the ``numpy`` repository
+     - ``origin``, which refers to your personal fork
+
+   * Pull the latest changes from upstream, including tags::
+
+      git checkout main
+      git pull upstream main --tags
+
+   * Initialize numpy's submodules::
+
+      git submodule update --init
+
+2. Develop your contribution:
+
+   * Create a branch for the feature you want to work on. Since the
+     branch name will appear in the merge message, use a sensible name
+     such as 'linspace-speedups'::
+
+      git checkout -b linspace-speedups
+
+   * Commit locally as you progress (``git add`` and ``git commit``)
+     Use a :ref:`properly formatted<writing-the-commit-message>` commit message,
+     write tests that fail before your change and pass afterward, run all the
+     :ref:`tests locally<development-environment>`. Be sure to document any
+     changed behavior in docstrings, keeping to the NumPy docstring
+     :ref:`standard<howto-document>`.
+
+3. To submit your contribution:
+
+   * Push your changes back to your fork on GitHub::
+
+      git push origin linspace-speedups
+
+   * Enter your GitHub username and password (repeat contributors or advanced
+     users can remove this step by connecting to GitHub with
+     :ref:`SSH<set-up-and-configure-a-github-account>`).
+
+   * Go to GitHub. The new branch will show up with a green Pull Request
+     button. Make sure the title and message are clear, concise, and self-
+     explanatory. Then click the button to submit it.
+
+   * If your commit introduces a new feature or changes functionality, post on
+     the `mailing list`_ to explain your changes. For bug fixes, documentation
+     updates, etc., this is generally not necessary, though if you do not get
+     any reaction, do feel free to ask for review.
+
+4. Review process:
+
+   * Reviewers (the other developers and interested community members) will
+     write inline and/or general comments on your Pull Request (PR) to help
+     you improve its implementation, documentation and style.  Every single
+     developer working on the project has their code reviewed, and we've come
+     to see it as friendly conversation from which we all learn and the
+     overall code quality benefits.  Therefore, please don't let the review
+     discourage you from contributing: its only aim is to improve the quality
+     of project, not to criticize (we are, after all, very grateful for the
+     time you're donating!). See our :ref:`Reviewer Guidelines
+     <reviewer-guidelines>` for more information.
+
+   * To update your PR, make your changes on your local repository, commit,
+     **run tests, and only if they succeed** push to your fork. As soon as
+     those changes are pushed up (to the same branch as before) the PR will
+     update automatically. If you have no idea how to fix the test failures,
+     you may push your changes anyway and ask for help in a PR comment.
+
+   * Various continuous integration (CI) services are triggered after each PR
+     update to build the code, run unit tests, measure code coverage and check
+     coding style of your branch. The CI tests must pass before your PR can be
+     merged. If CI fails, you can find out why by clicking on the "failed"
+     icon (red cross) and inspecting the build and test log. To avoid overuse
+     and waste of this resource,
+     :ref:`test your work<recommended-development-setup>` locally before
+     committing.
+
+   * A PR must be **approved** by at least one core team member before merging.
+     Approval means the core team member has carefully reviewed the changes,
+     and the PR is ready for merging.
+
+5. Document changes
+
+   Beyond changes to a functions docstring and possible description in the
+   general documentation, if your change introduces any user-facing
+   modifications they may need to be mentioned in the release notes.
+   To add your change to the release notes, you need to create a short file
+   with a summary and place it in ``doc/release/upcoming_changes``.
+   The file ``doc/release/upcoming_changes/README.rst`` details the format and
+   filename conventions.
+
+   If your change introduces a deprecation, make sure to discuss this first on
+   GitHub or the mailing list first. If agreement on the deprecation is
+   reached, follow :ref:`NEP 23 deprecation policy <NEP23>`  to add the deprecation.
+
+6. Cross referencing issues
+
+   If the PR relates to any issues, you can add the text ``xref gh-xxxx`` where
+   ``xxxx`` is the number of the issue to github comments. Likewise, if the PR
+   solves an issue, replace the ``xref`` with ``closes``, ``fixes`` or any of
+   the other flavors `github accepts <https://help.github.com/en/articles/
+   closing-issues-using-keywords>`_.
+
+   In the source code, be sure to preface any issue or PR reference with
+   ``gh-xxxx``.
+
+For a more detailed discussion, read on and follow the links at the bottom of
+this page.
+
diff --git a/doc/source/dev/index.rst b/doc/source/dev/index.rst
new file mode 100644
index 00000000..94c73c5f
--- /dev/null
+++ b/doc/source/dev/index.rst
@@ -0,0 +1,10 @@
+******************
+Development
+******************
+
+.. toctree::
+   :maxdepth: 1
+
+   basic
+   inspect_slycot
+
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
new file mode 100644
index 00000000..8eee9351
--- /dev/null
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -0,0 +1,263 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inspect Slycot"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook shows how to inspect the slycot module.\n",
+    "The result gives us a first insight which slicot procedures are implemented.\n",
+    "In addition we get some insight about the orginisation of the module."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "0.5.5.dev0+g294eae0.d20230726\n"
+     ]
+    }
+   ],
+   "source": [
+    "import slycot\n",
+    "print(slycot.__version__)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect Wrapper function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_method(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Outer wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 50 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_wrapper = get_slycot_method(slycot)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_wrapper)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Inner wrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 72 methods implemented.\n",
+      "------\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
+    "\n",
+    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(slycot_f2py_wrapper)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Generate Sets for the Venn-Diagramm"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 27,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "from matplotlib_venn import venn2"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 32,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 10 methods implemented.\n",
+      "------\n",
+      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
+      "\n",
+      "\n",
+      "Currently there are 32 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 42 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "\n",
+      "\n",
+      "Currently there are 40 methods implemented.\n",
+      "------\n",
+      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n",
+      "Currently there are 82 methods implemented.\n",
+      "------\n",
+      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
+    "difference1\n",
+    "\n",
+    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference1)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
+    "difference2\n",
+    "\n",
+    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference2)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
+    "difference3\n",
+    "\n",
+    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(difference3)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(intersection)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
+    "\n",
+    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(union)\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "venn2(subsets = (len(set(slycot_wrapper)), \n",
+    "                 len(set(slycot_f2py_wrapper)), \n",
+    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.6"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/source/reference/generated/slycot._wrapper.ab01nd.rst b/doc/source/reference/generated/slycot._wrapper.ab01nd.rst
new file mode 100644
index 00000000..a55a56f1
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab01nd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab01nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab01nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab04md.rst b/doc/source/reference/generated/slycot._wrapper.ab04md.rst
new file mode 100644
index 00000000..314998aa
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab04md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab04md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab05md.rst b/doc/source/reference/generated/slycot._wrapper.ab05md.rst
new file mode 100644
index 00000000..30e0f6b6
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab05md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab05md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab05nd.rst b/doc/source/reference/generated/slycot._wrapper.ab05nd.rst
new file mode 100644
index 00000000..5a438973
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab05nd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab05nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab07nd.rst b/doc/source/reference/generated/slycot._wrapper.ab07nd.rst
new file mode 100644
index 00000000..e9fe5ee2
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab07nd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab07nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab07nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab08nd.rst b/doc/source/reference/generated/slycot._wrapper.ab08nd.rst
new file mode 100644
index 00000000..a1bd288c
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab08nd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab08nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab08nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab08nz.rst b/doc/source/reference/generated/slycot._wrapper.ab08nz.rst
new file mode 100644
index 00000000..f1ccf66f
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab08nz.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab08nz
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab08nz
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09ad.rst b/doc/source/reference/generated/slycot._wrapper.ab09ad.rst
new file mode 100644
index 00000000..42441c76
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab09ad.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09ad
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09ax.rst b/doc/source/reference/generated/slycot._wrapper.ab09ax.rst
new file mode 100644
index 00000000..a57ee1e6
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab09ax.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09ax
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09ax
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09bd.rst b/doc/source/reference/generated/slycot._wrapper.ab09bd.rst
new file mode 100644
index 00000000..1fed82d6
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab09bd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09md.rst b/doc/source/reference/generated/slycot._wrapper.ab09md.rst
new file mode 100644
index 00000000..796cc3e4
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab09md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09nd.rst b/doc/source/reference/generated/slycot._wrapper.ab09nd.rst
new file mode 100644
index 00000000..d8470bed
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab09nd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab09nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab09nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13bd.rst b/doc/source/reference/generated/slycot._wrapper.ab13bd.rst
new file mode 100644
index 00000000..3b5c0d74
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab13bd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13dd.rst b/doc/source/reference/generated/slycot._wrapper.ab13dd.rst
new file mode 100644
index 00000000..4cf1e41a
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab13dd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13dd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13ed.rst b/doc/source/reference/generated/slycot._wrapper.ab13ed.rst
new file mode 100644
index 00000000..2b2bc3a5
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab13ed.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13ed
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13ed
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13fd.rst b/doc/source/reference/generated/slycot._wrapper.ab13fd.rst
new file mode 100644
index 00000000..fd5c7480
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab13fd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13fd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13md.rst b/doc/source/reference/generated/slycot._wrapper.ab13md.rst
new file mode 100644
index 00000000..b787f7e4
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.ab13md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.ab13md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: ab13md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03rd.rst b/doc/source/reference/generated/slycot._wrapper.mb03rd.rst
new file mode 100644
index 00000000..ff60bcaf
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mb03rd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03rd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03rd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03vd.rst b/doc/source/reference/generated/slycot._wrapper.mb03vd.rst
new file mode 100644
index 00000000..62d1e8bd
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mb03vd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03vd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03vd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03vy.rst b/doc/source/reference/generated/slycot._wrapper.mb03vy.rst
new file mode 100644
index 00000000..755d3431
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mb03vy.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03vy
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03vy
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03wd.rst b/doc/source/reference/generated/slycot._wrapper.mb03wd.rst
new file mode 100644
index 00000000..0fe89582
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mb03wd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb03wd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb03wd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb05md.rst b/doc/source/reference/generated/slycot._wrapper.mb05md.rst
new file mode 100644
index 00000000..0e4e132f
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mb05md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb05md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb05nd.rst b/doc/source/reference/generated/slycot._wrapper.mb05nd.rst
new file mode 100644
index 00000000..540ca4b8
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mb05nd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mb05nd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mb05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mc01td.rst b/doc/source/reference/generated/slycot._wrapper.mc01td.rst
new file mode 100644
index 00000000..1a3226ff
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.mc01td.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.mc01td
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: mc01td
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb01bd.rst b/doc/source/reference/generated/slycot._wrapper.sb01bd.rst
new file mode 100644
index 00000000..efbca2d7
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb01bd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb01bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb01bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb02md.rst b/doc/source/reference/generated/slycot._wrapper.sb02md.rst
new file mode 100644
index 00000000..09b215f8
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb02md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb02md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb02md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb03md.rst b/doc/source/reference/generated/slycot._wrapper.sb03md.rst
new file mode 100644
index 00000000..4dc8c353
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb03md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb03md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb03md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb03od.rst b/doc/source/reference/generated/slycot._wrapper.sb03od.rst
new file mode 100644
index 00000000..deb21be2
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb03od.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb03od
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb03od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb04md.rst b/doc/source/reference/generated/slycot._wrapper.sb04md.rst
new file mode 100644
index 00000000..322184f5
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb04md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb04md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb04qd.rst b/doc/source/reference/generated/slycot._wrapper.sb04qd.rst
new file mode 100644
index 00000000..c5eda28b
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb04qd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb04qd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb04qd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10ad.rst b/doc/source/reference/generated/slycot._wrapper.sb10ad.rst
new file mode 100644
index 00000000..5cab10ca
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb10ad.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10ad
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10dd.rst b/doc/source/reference/generated/slycot._wrapper.sb10dd.rst
new file mode 100644
index 00000000..fd684585
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb10dd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10dd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10fd.rst b/doc/source/reference/generated/slycot._wrapper.sb10fd.rst
new file mode 100644
index 00000000..4387b3b6
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb10fd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10fd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10hd.rst b/doc/source/reference/generated/slycot._wrapper.sb10hd.rst
new file mode 100644
index 00000000..3a6b490c
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sb10hd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sb10hd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sb10hd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sg03ad.rst b/doc/source/reference/generated/slycot._wrapper.sg03ad.rst
new file mode 100644
index 00000000..ce2e4fed
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sg03ad.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sg03ad
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sg03ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sg03bd.rst b/doc/source/reference/generated/slycot._wrapper.sg03bd.rst
new file mode 100644
index 00000000..bbcd23e9
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.sg03bd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.sg03bd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: sg03bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tb01id.rst b/doc/source/reference/generated/slycot._wrapper.tb01id.rst
new file mode 100644
index 00000000..35d8afcb
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.tb01id.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tb01id
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tb01id
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tb01pd.rst b/doc/source/reference/generated/slycot._wrapper.tb01pd.rst
new file mode 100644
index 00000000..c2650aca
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.tb01pd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tb01pd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tb01pd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tf01md.rst b/doc/source/reference/generated/slycot._wrapper.tf01md.rst
new file mode 100644
index 00000000..810b6efc
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.tf01md.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tf01md
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tf01md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tf01rd.rst b/doc/source/reference/generated/slycot._wrapper.tf01rd.rst
new file mode 100644
index 00000000..456db05e
--- /dev/null
+++ b/doc/source/reference/generated/slycot._wrapper.tf01rd.rst
@@ -0,0 +1,6 @@
+slycot.\_wrapper.tf01rd
+=======================
+
+.. currentmodule:: slycot._wrapper
+
+.. autodata:: tf01rd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab01nd.rst b/doc/source/reference/generated/slycot.ab01nd.rst
new file mode 100644
index 00000000..8cc04a87
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab01nd.rst
@@ -0,0 +1,6 @@
+slycot.ab01nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab01nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab04md.rst b/doc/source/reference/generated/slycot.ab04md.rst
new file mode 100644
index 00000000..dcf23eed
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab04md.rst
@@ -0,0 +1,6 @@
+slycot.ab04md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab05md.rst b/doc/source/reference/generated/slycot.ab05md.rst
new file mode 100644
index 00000000..ca5e95ce
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab05md.rst
@@ -0,0 +1,6 @@
+slycot.ab05md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab05nd.rst b/doc/source/reference/generated/slycot.ab05nd.rst
new file mode 100644
index 00000000..fd887720
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab05nd.rst
@@ -0,0 +1,6 @@
+slycot.ab05nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab07nd.rst b/doc/source/reference/generated/slycot.ab07nd.rst
new file mode 100644
index 00000000..700f3ca5
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab07nd.rst
@@ -0,0 +1,6 @@
+slycot.ab07nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab07nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab08nd.rst b/doc/source/reference/generated/slycot.ab08nd.rst
new file mode 100644
index 00000000..3028f945
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab08nd.rst
@@ -0,0 +1,6 @@
+slycot.ab08nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab08nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab08nz.rst b/doc/source/reference/generated/slycot.ab08nz.rst
new file mode 100644
index 00000000..a6d9021f
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab08nz.rst
@@ -0,0 +1,6 @@
+slycot.ab08nz
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab08nz
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09ad.rst b/doc/source/reference/generated/slycot.ab09ad.rst
new file mode 100644
index 00000000..f767ba66
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab09ad.rst
@@ -0,0 +1,6 @@
+slycot.ab09ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09ax.rst b/doc/source/reference/generated/slycot.ab09ax.rst
new file mode 100644
index 00000000..c48d929d
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab09ax.rst
@@ -0,0 +1,6 @@
+slycot.ab09ax
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09ax
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09bd.rst b/doc/source/reference/generated/slycot.ab09bd.rst
new file mode 100644
index 00000000..3368b8dc
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab09bd.rst
@@ -0,0 +1,6 @@
+slycot.ab09bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09md.rst b/doc/source/reference/generated/slycot.ab09md.rst
new file mode 100644
index 00000000..245e2cdc
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab09md.rst
@@ -0,0 +1,6 @@
+slycot.ab09md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09nd.rst b/doc/source/reference/generated/slycot.ab09nd.rst
new file mode 100644
index 00000000..db830a48
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab09nd.rst
@@ -0,0 +1,6 @@
+slycot.ab09nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab09nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13bd.rst b/doc/source/reference/generated/slycot.ab13bd.rst
new file mode 100644
index 00000000..b0f3a67d
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab13bd.rst
@@ -0,0 +1,6 @@
+slycot.ab13bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13dd.rst b/doc/source/reference/generated/slycot.ab13dd.rst
new file mode 100644
index 00000000..fe31df49
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab13dd.rst
@@ -0,0 +1,6 @@
+slycot.ab13dd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13ed.rst b/doc/source/reference/generated/slycot.ab13ed.rst
new file mode 100644
index 00000000..7b0b3b89
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab13ed.rst
@@ -0,0 +1,6 @@
+slycot.ab13ed
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13ed
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13fd.rst b/doc/source/reference/generated/slycot.ab13fd.rst
new file mode 100644
index 00000000..da4caac6
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab13fd.rst
@@ -0,0 +1,6 @@
+slycot.ab13fd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13md.rst b/doc/source/reference/generated/slycot.ab13md.rst
new file mode 100644
index 00000000..308bda9f
--- /dev/null
+++ b/doc/source/reference/generated/slycot.ab13md.rst
@@ -0,0 +1,6 @@
+slycot.ab13md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: ab13md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03rd.rst b/doc/source/reference/generated/slycot.mb03rd.rst
new file mode 100644
index 00000000..63905d81
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mb03rd.rst
@@ -0,0 +1,6 @@
+slycot.mb03rd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03rd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03vd.rst b/doc/source/reference/generated/slycot.mb03vd.rst
new file mode 100644
index 00000000..c12057bc
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mb03vd.rst
@@ -0,0 +1,6 @@
+slycot.mb03vd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03vd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03vy.rst b/doc/source/reference/generated/slycot.mb03vy.rst
new file mode 100644
index 00000000..1668d20c
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mb03vy.rst
@@ -0,0 +1,6 @@
+slycot.mb03vy
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03vy
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03wd.rst b/doc/source/reference/generated/slycot.mb03wd.rst
new file mode 100644
index 00000000..9bac3c02
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mb03wd.rst
@@ -0,0 +1,6 @@
+slycot.mb03wd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb03wd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb05md.rst b/doc/source/reference/generated/slycot.mb05md.rst
new file mode 100644
index 00000000..cf0b2dea
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mb05md.rst
@@ -0,0 +1,6 @@
+slycot.mb05md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb05nd.rst b/doc/source/reference/generated/slycot.mb05nd.rst
new file mode 100644
index 00000000..fb426fe3
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mb05nd.rst
@@ -0,0 +1,6 @@
+slycot.mb05nd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mb05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mc01td.rst b/doc/source/reference/generated/slycot.mc01td.rst
new file mode 100644
index 00000000..3c8f4166
--- /dev/null
+++ b/doc/source/reference/generated/slycot.mc01td.rst
@@ -0,0 +1,6 @@
+slycot.mc01td
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: mc01td
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb01bd.rst b/doc/source/reference/generated/slycot.sb01bd.rst
new file mode 100644
index 00000000..67305692
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb01bd.rst
@@ -0,0 +1,6 @@
+slycot.sb01bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb01bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb02md.rst b/doc/source/reference/generated/slycot.sb02md.rst
new file mode 100644
index 00000000..fe01793a
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb02md.rst
@@ -0,0 +1,6 @@
+slycot.sb02md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb02md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb02mt.rst b/doc/source/reference/generated/slycot.sb02mt.rst
new file mode 100644
index 00000000..ffd9125a
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb02mt.rst
@@ -0,0 +1,6 @@
+slycot.sb02mt
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb02mt
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb02od.rst b/doc/source/reference/generated/slycot.sb02od.rst
new file mode 100644
index 00000000..339038a1
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb02od.rst
@@ -0,0 +1,6 @@
+slycot.sb02od
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb02od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb03md.rst b/doc/source/reference/generated/slycot.sb03md.rst
new file mode 100644
index 00000000..b0bb067f
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb03md.rst
@@ -0,0 +1,6 @@
+slycot.sb03md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb03md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb03md57.rst b/doc/source/reference/generated/slycot.sb03md57.rst
new file mode 100644
index 00000000..90b465e0
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb03md57.rst
@@ -0,0 +1,6 @@
+slycot.sb03md57
+===============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb03md57
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb03od.rst b/doc/source/reference/generated/slycot.sb03od.rst
new file mode 100644
index 00000000..5f226e18
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb03od.rst
@@ -0,0 +1,6 @@
+slycot.sb03od
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb03od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb04md.rst b/doc/source/reference/generated/slycot.sb04md.rst
new file mode 100644
index 00000000..52f051b2
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb04md.rst
@@ -0,0 +1,6 @@
+slycot.sb04md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb04qd.rst b/doc/source/reference/generated/slycot.sb04qd.rst
new file mode 100644
index 00000000..81ea9ce2
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb04qd.rst
@@ -0,0 +1,6 @@
+slycot.sb04qd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb04qd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10ad.rst b/doc/source/reference/generated/slycot.sb10ad.rst
new file mode 100644
index 00000000..9b2c9db0
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb10ad.rst
@@ -0,0 +1,6 @@
+slycot.sb10ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10dd.rst b/doc/source/reference/generated/slycot.sb10dd.rst
new file mode 100644
index 00000000..0ae6c505
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb10dd.rst
@@ -0,0 +1,6 @@
+slycot.sb10dd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10fd.rst b/doc/source/reference/generated/slycot.sb10fd.rst
new file mode 100644
index 00000000..add3f262
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb10fd.rst
@@ -0,0 +1,6 @@
+slycot.sb10fd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10hd.rst b/doc/source/reference/generated/slycot.sb10hd.rst
new file mode 100644
index 00000000..058a3e55
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sb10hd.rst
@@ -0,0 +1,6 @@
+slycot.sb10hd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sb10hd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sg02ad.rst b/doc/source/reference/generated/slycot.sg02ad.rst
new file mode 100644
index 00000000..ea5d3a75
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sg02ad.rst
@@ -0,0 +1,6 @@
+slycot.sg02ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sg02ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sg03ad.rst b/doc/source/reference/generated/slycot.sg03ad.rst
new file mode 100644
index 00000000..60858134
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sg03ad.rst
@@ -0,0 +1,6 @@
+slycot.sg03ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sg03ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sg03bd.rst b/doc/source/reference/generated/slycot.sg03bd.rst
new file mode 100644
index 00000000..453efaf2
--- /dev/null
+++ b/doc/source/reference/generated/slycot.sg03bd.rst
@@ -0,0 +1,6 @@
+slycot.sg03bd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: sg03bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb01id.rst b/doc/source/reference/generated/slycot.tb01id.rst
new file mode 100644
index 00000000..ef722024
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tb01id.rst
@@ -0,0 +1,6 @@
+slycot.tb01id
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb01id
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb01pd.rst b/doc/source/reference/generated/slycot.tb01pd.rst
new file mode 100644
index 00000000..5ce6e253
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tb01pd.rst
@@ -0,0 +1,6 @@
+slycot.tb01pd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb01pd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb03ad.rst b/doc/source/reference/generated/slycot.tb03ad.rst
new file mode 100644
index 00000000..23befaf2
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tb03ad.rst
@@ -0,0 +1,6 @@
+slycot.tb03ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb03ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb04ad.rst b/doc/source/reference/generated/slycot.tb04ad.rst
new file mode 100644
index 00000000..461e7fab
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tb04ad.rst
@@ -0,0 +1,6 @@
+slycot.tb04ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb04ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb05ad.rst b/doc/source/reference/generated/slycot.tb05ad.rst
new file mode 100644
index 00000000..fabf59d2
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tb05ad.rst
@@ -0,0 +1,6 @@
+slycot.tb05ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tb05ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tc01od.rst b/doc/source/reference/generated/slycot.tc01od.rst
new file mode 100644
index 00000000..3018d0fe
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tc01od.rst
@@ -0,0 +1,6 @@
+slycot.tc01od
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tc01od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tc04ad.rst b/doc/source/reference/generated/slycot.tc04ad.rst
new file mode 100644
index 00000000..7f6630e1
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tc04ad.rst
@@ -0,0 +1,6 @@
+slycot.tc04ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tc04ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.td04ad.rst b/doc/source/reference/generated/slycot.td04ad.rst
new file mode 100644
index 00000000..03234571
--- /dev/null
+++ b/doc/source/reference/generated/slycot.td04ad.rst
@@ -0,0 +1,6 @@
+slycot.td04ad
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: td04ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tf01md.rst b/doc/source/reference/generated/slycot.tf01md.rst
new file mode 100644
index 00000000..41b88949
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tf01md.rst
@@ -0,0 +1,6 @@
+slycot.tf01md
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tf01md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tf01rd.rst b/doc/source/reference/generated/slycot.tf01rd.rst
new file mode 100644
index 00000000..f85bc71f
--- /dev/null
+++ b/doc/source/reference/generated/slycot.tf01rd.rst
@@ -0,0 +1,6 @@
+slycot.tf01rd
+=============
+
+.. currentmodule:: slycot
+
+.. autofunction:: tf01rd
\ No newline at end of file
diff --git a/doc/source/reference/index.rst b/doc/source/reference/index.rst
new file mode 100644
index 00000000..61163b3d
--- /dev/null
+++ b/doc/source/reference/index.rst
@@ -0,0 +1,11 @@
+******************
+Slycot reference
+******************
+
+.. toctree::
+   :maxdepth: 1
+
+   slycot_outer
+   slycot_inner
+
+`SLICOT-Reference <../../_static/libindex.html>`_ (non-generated HTML file)
diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
new file mode 100644
index 00000000..4d2329ca
--- /dev/null
+++ b/doc/source/reference/slycot_inner.rst
@@ -0,0 +1,88 @@
+.. _inner_function-ref:
+
+******************
+Inner function reference
+******************
+
+.. automodule:: slycot
+   :no-members:
+   :no-inherited-members:
+   :no-special-members:
+
+Analysis
+========
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.ab01nd
+    _wrapper.ab04md
+    _wrapper.ab05md
+    _wrapper.ab05nd
+    _wrapper.ab07nd
+    _wrapper.ab08nd
+    _wrapper.ab08nz
+    _wrapper.ab09ad
+    _wrapper.ab09ax
+    _wrapper.ab09bd
+    _wrapper.ab09md
+    _wrapper.ab09nd
+    _wrapper.ab13bd
+    _wrapper.ab13dd
+    _wrapper.ab13ed
+    _wrapper.ab13fd
+    _wrapper.ab13md
+
+Mathematical routines
+=====================
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.mc01td
+    _wrapper.mb03rd
+    _wrapper.mb03vd
+    _wrapper.mb03vy
+    _wrapper.mb03wd
+    _wrapper.mb05md
+    _wrapper.mb05nd
+
+Synthesis
+=========
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.sb01bd
+    _wrapper.sb02md
+    _wrapper.sb02mt
+    _wrapper.sb02od
+    _wrapper.sb03md
+    _wrapper.sb03md57
+    _wrapper.sb03od
+    _wrapper.sb04md
+    _wrapper.sb04qd
+    _wrapper.sb10ad
+    _wrapper.sb10dd
+    _wrapper.sb10fd
+    _wrapper.sb10hd
+    _wrapper.sg02ad
+    _wrapper.sg03ad
+    _wrapper.sg03bd
+
+Transformation Routines
+=======================
+
+.. autosummary::
+   :toctree: generated/
+
+    _wrapper.tb01id
+    _wrapper.tb03ad
+    _wrapper.tb04ad
+    _wrapper.tb05ad
+    _wrapper.tc04ad
+    _wrapper.tc01od
+    _wrapper.tf01md
+    _wrapper.tf01rd
+    _wrapper.td04ad
+    _wrapper.tb01pd
\ No newline at end of file
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
new file mode 100644
index 00000000..e87f210e
--- /dev/null
+++ b/doc/source/reference/slycot_outer.rst
@@ -0,0 +1,90 @@
+.. _function-ref:
+
+******************
+Outer function reference
+******************
+
+.. automodule:: slycot
+   :no-members:
+   :no-inherited-members:
+   :no-special-members:
+
+Analysis
+========
+
+.. autosummary::
+   :toctree: generated/
+
+    ab01nd
+    ab04md
+    ab05md
+    ab05nd
+    ab07nd
+    ab08nd
+    ab08nz
+    ab09ad
+    ab09ax
+    ab09bd
+    ab09md
+    ab09nd
+    ab13bd
+    ab13dd
+    ab13ed
+    ab13fd
+    ab13md
+
+    
+
+Mathematical routines
+=====================
+
+.. autosummary::
+   :toctree: generated/
+
+    mc01td
+    mb03rd
+    mb03vd
+    mb03vy
+    mb03wd
+    mb05md
+    mb05nd
+
+Synthesis
+=========
+
+.. autosummary::
+   :toctree: generated/
+
+    sb01bd
+    sb02md
+    sb02mt
+    sb02od
+    sb03md
+    sb03md57
+    sb03od
+    sb04md
+    sb04qd
+    sb10ad
+    sb10dd
+    sb10fd
+    sb10hd
+    sg02ad
+    sg03ad
+    sg03bd
+
+Transformation Routines
+=======================
+
+.. autosummary::
+   :toctree: generated/
+
+    tb01id
+    tb03ad
+    tb04ad
+    tb05ad
+    tc04ad
+    tc01od
+    tf01md
+    tf01rd
+    td04ad
+    tb01pd
\ No newline at end of file

From d0a0d2d2d02be417caac3892730d90cbd3892e62 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 27 Jul 2023 00:26:06 +0200
Subject: [PATCH 02/23] DOC: Add examples

---
 .gitignore                                    |     3 +
 doc/_build/doctrees/environment.pickle        |   Bin 209447 -> 0 bytes
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 setup.cfg
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diff --git a/doc/_build/doctrees/nbsphinx/source/dev/inspect_slycot.ipynb b/doc/_build/doctrees/nbsphinx/source/dev/inspect_slycot.ipynb
deleted file mode 100644
index fbde5af2..00000000
--- a/doc/_build/doctrees/nbsphinx/source/dev/inspect_slycot.ipynb
+++ /dev/null
@@ -1,262 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "# Inspect Slycot"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "This notebook shows how to inspect the slycot module.\n",
-    "The result gives us a first insight which slicot procedures are implemented.\n",
-    "In addition we get some insight about the orginisation of the module."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 23,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "0.5.5.dev0+g294eae0.d20230726\n"
-     ]
-    }
-   ],
-   "source": [
-    "import slycot\n",
-    "print(slycot.__version__)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Inspect Wrapper function"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 24,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def get_slycot_method(sly):\n",
-    "    all_attributes = dir(sly)\n",
-    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
-    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
-    "    return matched_attributes"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### Outer wrapper"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 25,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 50 methods implemented.\n",
-      "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_wrapper = get_slycot_method(slycot)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(slycot_wrapper)\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### Inner wrapper"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 26,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 72 methods implemented.\n",
-      "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(slycot_f2py_wrapper)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Generate Sets for the Venn-Diagramm"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 27,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import matplotlib.pyplot as plt\n",
-    "from matplotlib_venn import venn2"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 32,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 10 methods implemented.\n",
-      "------\n",
-      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
-      "\n",
-      "\n",
-      "Currently there are 32 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
-      "\n",
-      "\n",
-      "Currently there are 42 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
-      "\n",
-      "\n",
-      "Currently there are 40 methods implemented.\n",
-      "------\n",
-      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
-      "\n",
-      "\n",
-      "Currently there are 82 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
-      "\n",
-      "\n"
-     ]
-    }
-   ],
-   "source": [
-    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
-    "difference1\n",
-    "\n",
-    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference1)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
-    "difference2\n",
-    "\n",
-    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference2)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
-    "difference3\n",
-    "\n",
-    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference3)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
-    "intersection\n",
-    "\n",
-    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(intersection)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
-    "\n",
-    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(union)\n",
-    "print(\"\\n\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 33,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "venn2(subsets = (len(set(slycot_wrapper)), \n",
-    "                 len(set(slycot_f2py_wrapper)), \n",
-    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
-    "plt.show()"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
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diff --git a/doc/_build/doctrees/nbsphinx/source_dev_inspect_slycot_13_0.png b/doc/_build/doctrees/nbsphinx/source_dev_inspect_slycot_13_0.png
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diff --git a/doc/_build/html/_sources/index.rst.txt b/doc/_build/html/_sources/index.rst.txt
deleted file mode 100644
index 717595b6..00000000
--- a/doc/_build/html/_sources/index.rst.txt
+++ /dev/null
@@ -1,40 +0,0 @@
-.. slycot documentation master file, created by
-   sphinx-quickstart on Wed Jul 26 15:18:00 2023.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-Slycot
-======
-
-Python wrapper for selected SLICOT routines, 
-notably including solvers for Riccati, Lyapunov, and Sylvester equations.
-
-.. rubric:: Features
-
-- Analysis Routines
-- Benchmark
-- Adaptive Control
-- Data Analysis
-- Filtering
-- Identification
-- Mathematical Routines
-- Nonlinear Systems
-- Synthesis Routines
-- Transformation Routines
-- Utility Routines
-
-.. rubric:: Documentation
-
-.. toctree::
-   :maxdepth: 1
-
-   intro
-   source/reference/index
-   source/dev/index
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
diff --git a/doc/_build/html/_sources/intro.rst.txt b/doc/_build/html/_sources/intro.rst.txt
deleted file mode 100644
index 33b7c311..00000000
--- a/doc/_build/html/_sources/intro.rst.txt
+++ /dev/null
@@ -1,59 +0,0 @@
-************
-Introduction
-************
-
-Welcome to the Slycot (`slycot`) User's Manual. 
-This manual contains information on using the `slycot` package, 
-including documentation for all functions in the package and examples illustrating their use.
-
-Installation
-============
-
-The `slycot` package can be installed using conda or pip.  The
-package requires `NumPy <http://www.numpy.org>`_.
-
-For users with the Anaconda distribution of Python, the following
-command can be used::
-
-  conda install -c conda-forge slycot
-
-This installs `slycot` from conda-forge, including the
-`openblas` package.  NumPy will also be installed if
-they are not already present.
-
-.. note::
-   Mixing packages from conda-forge and the default conda channel
-   can sometimes cause problems with dependencies, so it is usually best to
-   instally NumPy, SciPy, and Matplotlib from conda-forge as well.
-
-To install using pip::
-
-  pip install slycot
-
-.. note::
-   If you install Slycot using pip you'll need a development
-   environment (e.g., Python development files, C and Fortran compilers).
-   Pip installation can be particularly complicated for Windows.
-
-Users can check to insure that slycot is installed 
-correctly by running the command::
-
-  python -c "import slycot"
-
-and verifying that no error message appears. More information on the 
-Slycot package can be obtained from the `Slycot project page
-<https://github.com/python-control/Slycot>`_.
-
-Alternatively, to install from source, first `download the source
-<https://github.com/python-control/Slycot>`_ and unpack it.
-To install in your home directory, use::
-    
-    pip install .
-
-Getting started
-===============
-
-There are two different ways to use the package.  For the default interface
-described in :ref:`function-ref`, simply import the control package as follows::
-
-    >>> import slycot
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/dev/basic.rst.txt b/doc/_build/html/_sources/source/dev/basic.rst.txt
deleted file mode 100644
index 4443fdb3..00000000
--- a/doc/_build/html/_sources/source/dev/basic.rst.txt
+++ /dev/null
@@ -1,140 +0,0 @@
-**********************
-Contributing to Slycot
-**********************
-
-F2PY
-====
-Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
-`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
-
-Development process - summary
-=============================
-
-Here's the short summary, complete TOC links are below:
-
-1. If you are a first-time contributor:
-
-   * Go to `https://github.com/numpy/numpy
-     <https://github.com/numpy/numpy>`_ and click the
-     "fork" button to create your own copy of the project.
-
-   * Clone the project to your local computer::
-
-      git clone --recurse-submodules https://github.com/your-username/numpy.git
-
-   * Change the directory::
-
-      cd numpy
-
-   * Add the upstream repository::
-
-      git remote add upstream https://github.com/numpy/numpy.git
-
-   * Now, ``git remote -v`` will show two remote repositories named:
-
-     - ``upstream``, which refers to the ``numpy`` repository
-     - ``origin``, which refers to your personal fork
-
-   * Pull the latest changes from upstream, including tags::
-
-      git checkout main
-      git pull upstream main --tags
-
-   * Initialize numpy's submodules::
-
-      git submodule update --init
-
-2. Develop your contribution:
-
-   * Create a branch for the feature you want to work on. Since the
-     branch name will appear in the merge message, use a sensible name
-     such as 'linspace-speedups'::
-
-      git checkout -b linspace-speedups
-
-   * Commit locally as you progress (``git add`` and ``git commit``)
-     Use a :ref:`properly formatted<writing-the-commit-message>` commit message,
-     write tests that fail before your change and pass afterward, run all the
-     :ref:`tests locally<development-environment>`. Be sure to document any
-     changed behavior in docstrings, keeping to the NumPy docstring
-     :ref:`standard<howto-document>`.
-
-3. To submit your contribution:
-
-   * Push your changes back to your fork on GitHub::
-
-      git push origin linspace-speedups
-
-   * Enter your GitHub username and password (repeat contributors or advanced
-     users can remove this step by connecting to GitHub with
-     :ref:`SSH<set-up-and-configure-a-github-account>`).
-
-   * Go to GitHub. The new branch will show up with a green Pull Request
-     button. Make sure the title and message are clear, concise, and self-
-     explanatory. Then click the button to submit it.
-
-   * If your commit introduces a new feature or changes functionality, post on
-     the `mailing list`_ to explain your changes. For bug fixes, documentation
-     updates, etc., this is generally not necessary, though if you do not get
-     any reaction, do feel free to ask for review.
-
-4. Review process:
-
-   * Reviewers (the other developers and interested community members) will
-     write inline and/or general comments on your Pull Request (PR) to help
-     you improve its implementation, documentation and style.  Every single
-     developer working on the project has their code reviewed, and we've come
-     to see it as friendly conversation from which we all learn and the
-     overall code quality benefits.  Therefore, please don't let the review
-     discourage you from contributing: its only aim is to improve the quality
-     of project, not to criticize (we are, after all, very grateful for the
-     time you're donating!). See our :ref:`Reviewer Guidelines
-     <reviewer-guidelines>` for more information.
-
-   * To update your PR, make your changes on your local repository, commit,
-     **run tests, and only if they succeed** push to your fork. As soon as
-     those changes are pushed up (to the same branch as before) the PR will
-     update automatically. If you have no idea how to fix the test failures,
-     you may push your changes anyway and ask for help in a PR comment.
-
-   * Various continuous integration (CI) services are triggered after each PR
-     update to build the code, run unit tests, measure code coverage and check
-     coding style of your branch. The CI tests must pass before your PR can be
-     merged. If CI fails, you can find out why by clicking on the "failed"
-     icon (red cross) and inspecting the build and test log. To avoid overuse
-     and waste of this resource,
-     :ref:`test your work<recommended-development-setup>` locally before
-     committing.
-
-   * A PR must be **approved** by at least one core team member before merging.
-     Approval means the core team member has carefully reviewed the changes,
-     and the PR is ready for merging.
-
-5. Document changes
-
-   Beyond changes to a functions docstring and possible description in the
-   general documentation, if your change introduces any user-facing
-   modifications they may need to be mentioned in the release notes.
-   To add your change to the release notes, you need to create a short file
-   with a summary and place it in ``doc/release/upcoming_changes``.
-   The file ``doc/release/upcoming_changes/README.rst`` details the format and
-   filename conventions.
-
-   If your change introduces a deprecation, make sure to discuss this first on
-   GitHub or the mailing list first. If agreement on the deprecation is
-   reached, follow :ref:`NEP 23 deprecation policy <NEP23>`  to add the deprecation.
-
-6. Cross referencing issues
-
-   If the PR relates to any issues, you can add the text ``xref gh-xxxx`` where
-   ``xxxx`` is the number of the issue to github comments. Likewise, if the PR
-   solves an issue, replace the ``xref`` with ``closes``, ``fixes`` or any of
-   the other flavors `github accepts <https://help.github.com/en/articles/
-   closing-issues-using-keywords>`_.
-
-   In the source code, be sure to preface any issue or PR reference with
-   ``gh-xxxx``.
-
-For a more detailed discussion, read on and follow the links at the bottom of
-this page.
-
diff --git a/doc/_build/html/_sources/source/dev/index.rst.txt b/doc/_build/html/_sources/source/dev/index.rst.txt
deleted file mode 100644
index 94c73c5f..00000000
--- a/doc/_build/html/_sources/source/dev/index.rst.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-******************
-Development
-******************
-
-.. toctree::
-   :maxdepth: 1
-
-   basic
-   inspect_slycot
-
diff --git a/doc/_build/html/_sources/source/dev/inspect_slycot.ipynb.txt b/doc/_build/html/_sources/source/dev/inspect_slycot.ipynb.txt
deleted file mode 100644
index 8eee9351..00000000
--- a/doc/_build/html/_sources/source/dev/inspect_slycot.ipynb.txt
+++ /dev/null
@@ -1,263 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "# Inspect Slycot"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "This notebook shows how to inspect the slycot module.\n",
-    "The result gives us a first insight which slicot procedures are implemented.\n",
-    "In addition we get some insight about the orginisation of the module."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 23,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "0.5.5.dev0+g294eae0.d20230726\n"
-     ]
-    }
-   ],
-   "source": [
-    "import slycot\n",
-    "print(slycot.__version__)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Inspect Wrapper function"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 24,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def get_slycot_method(sly):\n",
-    "    all_attributes = dir(sly)\n",
-    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
-    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
-    "    return matched_attributes"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### Outer wrapper"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 25,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 50 methods implemented.\n",
-      "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_wrapper = get_slycot_method(slycot)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(slycot_wrapper)\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### Inner wrapper"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 26,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 72 methods implemented.\n",
-      "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(slycot_f2py_wrapper)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Generate Sets for the Venn-Diagramm"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 27,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import matplotlib.pyplot as plt\n",
-    "from matplotlib_venn import venn2"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 32,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 10 methods implemented.\n",
-      "------\n",
-      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
-      "\n",
-      "\n",
-      "Currently there are 32 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
-      "\n",
-      "\n",
-      "Currently there are 42 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
-      "\n",
-      "\n",
-      "Currently there are 40 methods implemented.\n",
-      "------\n",
-      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
-      "\n",
-      "\n",
-      "Currently there are 82 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
-      "\n",
-      "\n"
-     ]
-    }
-   ],
-   "source": [
-    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
-    "difference1\n",
-    "\n",
-    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference1)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
-    "difference2\n",
-    "\n",
-    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference2)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
-    "difference3\n",
-    "\n",
-    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference3)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
-    "intersection\n",
-    "\n",
-    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(intersection)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
-    "\n",
-    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(union)\n",
-    "print(\"\\n\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 33,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "venn2(subsets = (len(set(slycot_wrapper)), \n",
-    "                 len(set(slycot_f2py_wrapper)), \n",
-    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
-    "plt.show()"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "slycot-dev",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.10.6"
-  },
-  "orig_nbformat": 4
- },
- "nbformat": 4,
- "nbformat_minor": 2
-}
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt
deleted file mode 100644
index a55a56f1..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab01nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab01nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab01nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt
deleted file mode 100644
index 314998aa..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab04md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab04md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05md.rst.txt
deleted file mode 100644
index 30e0f6b6..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab05md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05nd.rst.txt
deleted file mode 100644
index 5a438973..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab05nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab05nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab07nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab07nd.rst.txt
deleted file mode 100644
index e9fe5ee2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab07nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab07nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab07nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nd.rst.txt
deleted file mode 100644
index a1bd288c..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab08nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab08nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nz.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nz.rst.txt
deleted file mode 100644
index f1ccf66f..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab08nz.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab08nz
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab08nz
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ad.rst.txt
deleted file mode 100644
index 42441c76..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09ad
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ax.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ax.rst.txt
deleted file mode 100644
index a57ee1e6..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09ax.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09ax
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09ax
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09bd.rst.txt
deleted file mode 100644
index 1fed82d6..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09md.rst.txt
deleted file mode 100644
index 796cc3e4..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09nd.rst.txt
deleted file mode 100644
index d8470bed..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab09nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt
deleted file mode 100644
index 3b5c0d74..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13dd.rst.txt
deleted file mode 100644
index 4cf1e41a..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13dd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13dd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13ed.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13ed.rst.txt
deleted file mode 100644
index 2b2bc3a5..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13ed.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13ed
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13ed
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13fd.rst.txt
deleted file mode 100644
index fd5c7480..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13fd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13fd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt
deleted file mode 100644
index b787f7e4..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.ab13md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03rd.rst.txt
deleted file mode 100644
index ff60bcaf..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03rd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03rd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vd.rst.txt
deleted file mode 100644
index 62d1e8bd..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03vd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03vd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vy.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vy.rst.txt
deleted file mode 100644
index 755d3431..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03vy.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03vy
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03vy
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03wd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03wd.rst.txt
deleted file mode 100644
index 0fe89582..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb03wd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03wd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03wd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05md.rst.txt
deleted file mode 100644
index 0e4e132f..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb05md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05nd.rst.txt
deleted file mode 100644
index 540ca4b8..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mb05nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb05nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mc01td.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mc01td.rst.txt
deleted file mode 100644
index 1a3226ff..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.mc01td.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mc01td
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mc01td
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt
deleted file mode 100644
index efbca2d7..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb01bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb01bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb01bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb02md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb02md.rst.txt
deleted file mode 100644
index 09b215f8..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb02md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb02md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb02md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03md.rst.txt
deleted file mode 100644
index 4dc8c353..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb03md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb03md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03od.rst.txt
deleted file mode 100644
index deb21be2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb03od.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb03od
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb03od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt
deleted file mode 100644
index 322184f5..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb04md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04qd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04qd.rst.txt
deleted file mode 100644
index c5eda28b..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb04qd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb04qd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb04qd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10ad.rst.txt
deleted file mode 100644
index 5cab10ca..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10ad
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10dd.rst.txt
deleted file mode 100644
index fd684585..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10dd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10dd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10fd.rst.txt
deleted file mode 100644
index 4387b3b6..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10fd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10fd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10hd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10hd.rst.txt
deleted file mode 100644
index 3a6b490c..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sb10hd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10hd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10hd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03ad.rst.txt
deleted file mode 100644
index ce2e4fed..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sg03ad
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sg03ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03bd.rst.txt
deleted file mode 100644
index bbcd23e9..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.sg03bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sg03bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sg03bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01id.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01id.rst.txt
deleted file mode 100644
index 35d8afcb..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01id.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tb01id
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tb01id
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01pd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01pd.rst.txt
deleted file mode 100644
index c2650aca..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tb01pd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tb01pd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01md.rst.txt
deleted file mode 100644
index 810b6efc..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tf01md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tf01md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01rd.rst.txt
deleted file mode 100644
index 456db05e..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot._wrapper.tf01rd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tf01rd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tf01rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab01nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab01nd.rst.txt
deleted file mode 100644
index 8cc04a87..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab01nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab01nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab01nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab04md.rst.txt
deleted file mode 100644
index dcf23eed..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab04md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab04md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab05md.rst.txt
deleted file mode 100644
index ca5e95ce..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab05md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab05md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab05nd.rst.txt
deleted file mode 100644
index fd887720..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab05nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab05nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab07nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab07nd.rst.txt
deleted file mode 100644
index 700f3ca5..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab07nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab07nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab07nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab08nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab08nd.rst.txt
deleted file mode 100644
index 3028f945..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab08nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab08nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab08nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab08nz.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab08nz.rst.txt
deleted file mode 100644
index a6d9021f..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab08nz.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab08nz
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab08nz
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09ad.rst.txt
deleted file mode 100644
index f767ba66..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab09ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09ax.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09ax.rst.txt
deleted file mode 100644
index c48d929d..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab09ax.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09ax
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09ax
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09bd.rst.txt
deleted file mode 100644
index 3368b8dc..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab09bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09md.rst.txt
deleted file mode 100644
index 245e2cdc..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab09md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab09nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab09nd.rst.txt
deleted file mode 100644
index db830a48..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab09nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13bd.rst.txt
deleted file mode 100644
index b0f3a67d..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab13bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13dd.rst.txt
deleted file mode 100644
index fe31df49..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab13dd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13dd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13ed.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13ed.rst.txt
deleted file mode 100644
index 7b0b3b89..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab13ed.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13ed
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13ed
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13fd.rst.txt
deleted file mode 100644
index da4caac6..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab13fd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13fd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.ab13md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.ab13md.rst.txt
deleted file mode 100644
index 308bda9f..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.ab13md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03rd.rst.txt
deleted file mode 100644
index 63905d81..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mb03rd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03rd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03vd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03vd.rst.txt
deleted file mode 100644
index c12057bc..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mb03vd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03vd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03vd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03vy.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03vy.rst.txt
deleted file mode 100644
index 1668d20c..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mb03vy.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03vy
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03vy
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb03wd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb03wd.rst.txt
deleted file mode 100644
index 9bac3c02..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mb03wd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03wd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03wd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb05md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb05md.rst.txt
deleted file mode 100644
index cf0b2dea..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mb05md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb05md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb05md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mb05nd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mb05nd.rst.txt
deleted file mode 100644
index fb426fe3..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mb05nd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb05nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb05nd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.mc01td.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.mc01td.rst.txt
deleted file mode 100644
index 3c8f4166..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.mc01td.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mc01td
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mc01td
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb01bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb01bd.rst.txt
deleted file mode 100644
index 67305692..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb01bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb01bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb01bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb02md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb02md.rst.txt
deleted file mode 100644
index fe01793a..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb02md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb02md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb02md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb02mt.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb02mt.rst.txt
deleted file mode 100644
index ffd9125a..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb02mt.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb02mt
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb02mt
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb02od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb02od.rst.txt
deleted file mode 100644
index 339038a1..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb02od.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb02od
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb02od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb03md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb03md.rst.txt
deleted file mode 100644
index b0bb067f..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb03md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb03md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb03md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb03md57.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb03md57.rst.txt
deleted file mode 100644
index 90b465e0..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb03md57.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb03md57
-===============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb03md57
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb03od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb03od.rst.txt
deleted file mode 100644
index 5f226e18..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb03od.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb03od
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb03od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb04md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb04md.rst.txt
deleted file mode 100644
index 52f051b2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb04md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb04md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb04md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb04qd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb04qd.rst.txt
deleted file mode 100644
index 81ea9ce2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb04qd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb04qd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb04qd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10ad.rst.txt
deleted file mode 100644
index 9b2c9db0..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb10ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10dd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10dd.rst.txt
deleted file mode 100644
index 0ae6c505..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb10dd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10dd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10dd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10fd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10fd.rst.txt
deleted file mode 100644
index add3f262..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb10fd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10fd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10fd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sb10hd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sb10hd.rst.txt
deleted file mode 100644
index 058a3e55..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sb10hd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10hd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10hd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sg02ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sg02ad.rst.txt
deleted file mode 100644
index ea5d3a75..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sg02ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sg02ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sg02ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sg03ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sg03ad.rst.txt
deleted file mode 100644
index 60858134..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sg03ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sg03ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sg03ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.sg03bd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.sg03bd.rst.txt
deleted file mode 100644
index 453efaf2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.sg03bd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sg03bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sg03bd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb01id.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb01id.rst.txt
deleted file mode 100644
index ef722024..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tb01id.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb01id
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb01id
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb01pd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb01pd.rst.txt
deleted file mode 100644
index 5ce6e253..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tb01pd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb01pd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb03ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb03ad.rst.txt
deleted file mode 100644
index 23befaf2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tb03ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb03ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb03ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb04ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb04ad.rst.txt
deleted file mode 100644
index 461e7fab..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tb04ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb04ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb04ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tb05ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tb05ad.rst.txt
deleted file mode 100644
index fabf59d2..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tb05ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb05ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb05ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tc01od.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tc01od.rst.txt
deleted file mode 100644
index 3018d0fe..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tc01od.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tc01od
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tc01od
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tc04ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tc04ad.rst.txt
deleted file mode 100644
index 7f6630e1..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tc04ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tc04ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tc04ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.td04ad.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.td04ad.rst.txt
deleted file mode 100644
index 03234571..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.td04ad.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.td04ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: td04ad
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tf01md.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tf01md.rst.txt
deleted file mode 100644
index 41b88949..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tf01md.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tf01md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tf01md
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/generated/slycot.tf01rd.rst.txt b/doc/_build/html/_sources/source/reference/generated/slycot.tf01rd.rst.txt
deleted file mode 100644
index f85bc71f..00000000
--- a/doc/_build/html/_sources/source/reference/generated/slycot.tf01rd.rst.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tf01rd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tf01rd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/index.rst.txt b/doc/_build/html/_sources/source/reference/index.rst.txt
deleted file mode 100644
index 61163b3d..00000000
--- a/doc/_build/html/_sources/source/reference/index.rst.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-******************
-Slycot reference
-******************
-
-.. toctree::
-   :maxdepth: 1
-
-   slycot_outer
-   slycot_inner
-
-`SLICOT-Reference <../../_static/libindex.html>`_ (non-generated HTML file)
diff --git a/doc/_build/html/_sources/source/reference/slycot_inner.rst.txt b/doc/_build/html/_sources/source/reference/slycot_inner.rst.txt
deleted file mode 100644
index 4d2329ca..00000000
--- a/doc/_build/html/_sources/source/reference/slycot_inner.rst.txt
+++ /dev/null
@@ -1,88 +0,0 @@
-.. _inner_function-ref:
-
-******************
-Inner function reference
-******************
-
-.. automodule:: slycot
-   :no-members:
-   :no-inherited-members:
-   :no-special-members:
-
-Analysis
-========
-
-.. autosummary::
-   :toctree: generated/
-
-    _wrapper.ab01nd
-    _wrapper.ab04md
-    _wrapper.ab05md
-    _wrapper.ab05nd
-    _wrapper.ab07nd
-    _wrapper.ab08nd
-    _wrapper.ab08nz
-    _wrapper.ab09ad
-    _wrapper.ab09ax
-    _wrapper.ab09bd
-    _wrapper.ab09md
-    _wrapper.ab09nd
-    _wrapper.ab13bd
-    _wrapper.ab13dd
-    _wrapper.ab13ed
-    _wrapper.ab13fd
-    _wrapper.ab13md
-
-Mathematical routines
-=====================
-
-.. autosummary::
-   :toctree: generated/
-
-    _wrapper.mc01td
-    _wrapper.mb03rd
-    _wrapper.mb03vd
-    _wrapper.mb03vy
-    _wrapper.mb03wd
-    _wrapper.mb05md
-    _wrapper.mb05nd
-
-Synthesis
-=========
-
-.. autosummary::
-   :toctree: generated/
-
-    _wrapper.sb01bd
-    _wrapper.sb02md
-    _wrapper.sb02mt
-    _wrapper.sb02od
-    _wrapper.sb03md
-    _wrapper.sb03md57
-    _wrapper.sb03od
-    _wrapper.sb04md
-    _wrapper.sb04qd
-    _wrapper.sb10ad
-    _wrapper.sb10dd
-    _wrapper.sb10fd
-    _wrapper.sb10hd
-    _wrapper.sg02ad
-    _wrapper.sg03ad
-    _wrapper.sg03bd
-
-Transformation Routines
-=======================
-
-.. autosummary::
-   :toctree: generated/
-
-    _wrapper.tb01id
-    _wrapper.tb03ad
-    _wrapper.tb04ad
-    _wrapper.tb05ad
-    _wrapper.tc04ad
-    _wrapper.tc01od
-    _wrapper.tf01md
-    _wrapper.tf01rd
-    _wrapper.td04ad
-    _wrapper.tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_sources/source/reference/slycot_outer.rst.txt b/doc/_build/html/_sources/source/reference/slycot_outer.rst.txt
deleted file mode 100644
index e87f210e..00000000
--- a/doc/_build/html/_sources/source/reference/slycot_outer.rst.txt
+++ /dev/null
@@ -1,90 +0,0 @@
-.. _function-ref:
-
-******************
-Outer function reference
-******************
-
-.. automodule:: slycot
-   :no-members:
-   :no-inherited-members:
-   :no-special-members:
-
-Analysis
-========
-
-.. autosummary::
-   :toctree: generated/
-
-    ab01nd
-    ab04md
-    ab05md
-    ab05nd
-    ab07nd
-    ab08nd
-    ab08nz
-    ab09ad
-    ab09ax
-    ab09bd
-    ab09md
-    ab09nd
-    ab13bd
-    ab13dd
-    ab13ed
-    ab13fd
-    ab13md
-
-    
-
-Mathematical routines
-=====================
-
-.. autosummary::
-   :toctree: generated/
-
-    mc01td
-    mb03rd
-    mb03vd
-    mb03vy
-    mb03wd
-    mb05md
-    mb05nd
-
-Synthesis
-=========
-
-.. autosummary::
-   :toctree: generated/
-
-    sb01bd
-    sb02md
-    sb02mt
-    sb02od
-    sb03md
-    sb03md57
-    sb03od
-    sb04md
-    sb04qd
-    sb10ad
-    sb10dd
-    sb10fd
-    sb10hd
-    sg02ad
-    sg03ad
-    sg03bd
-
-Transformation Routines
-=======================
-
-.. autosummary::
-   :toctree: generated/
-
-    tb01id
-    tb03ad
-    tb04ad
-    tb05ad
-    tc04ad
-    tc01od
-    tf01md
-    tf01rd
-    td04ad
-    tb01pd
\ No newline at end of file
diff --git a/doc/_build/html/_static/_sphinx_javascript_frameworks_compat.js b/doc/_build/html/_static/_sphinx_javascript_frameworks_compat.js
deleted file mode 100644
index 8549469d..00000000
--- a/doc/_build/html/_static/_sphinx_javascript_frameworks_compat.js
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- * _sphinx_javascript_frameworks_compat.js
- * ~~~~~~~~~~
- *
- * Compatability shim for jQuery and underscores.js.
- *
- * WILL BE REMOVED IN Sphinx 6.0
- * xref RemovedInSphinx60Warning
- *
- */
-
-/**
- * select a different prefix for underscore
- */
-$u = _.noConflict();
-
-
-/**
- * small helper function to urldecode strings
- *
- * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
- */
-jQuery.urldecode = function(x) {
-    if (!x) {
-        return x
-    }
-    return decodeURIComponent(x.replace(/\+/g, ' '));
-};
-
-/**
- * small helper function to urlencode strings
- */
-jQuery.urlencode = encodeURIComponent;
-
-/**
- * This function returns the parsed url parameters of the
- * current request. Multiple values per key are supported,
- * it will always return arrays of strings for the value parts.
- */
-jQuery.getQueryParameters = function(s) {
-    if (typeof s === 'undefined')
-        s = document.location.search;
-    var parts = s.substr(s.indexOf('?') + 1).split('&');
-    var result = {};
-    for (var i = 0; i < parts.length; i++) {
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-        var key = jQuery.urldecode(tmp[0]);
-        var value = jQuery.urldecode(tmp[1]);
-        if (key in result)
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-            result[key] = [value];
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-    return result;
-};
-
-/**
- * highlight a given string on a jquery object by wrapping it in
- * span elements with the given class name.
- */
-jQuery.fn.highlightText = function(text, className) {
-    function highlight(node, addItems) {
-        if (node.nodeType === 3) {
-            var val = node.nodeValue;
-            var pos = val.toLowerCase().indexOf(text);
-            if (pos >= 0 &&
-                !jQuery(node.parentNode).hasClass(className) &&
-                !jQuery(node.parentNode).hasClass("nohighlight")) {
-                var span;
-                var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
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-                    span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
-                } else {
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-                    span.className = className;
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-                    addItems.push({
-                        "parent": node.parentNode,
-                        "target": rect});
-                }
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-        }
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-            jQuery.each(node.childNodes, function() {
-                highlight(this, addItems);
-            });
-        }
-    }
-    var addItems = [];
-    var result = this.each(function() {
-        highlight(this, addItems);
-    });
-    for (var i = 0; i < addItems.length; ++i) {
-        jQuery(addItems[i].parent).before(addItems[i].target);
-    }
-    return result;
-};
-
-/*
- * backward compatibility for jQuery.browser
- * This will be supported until firefox bug is fixed.
- */
-if (!jQuery.browser) {
-    jQuery.uaMatch = function(ua) {
-        ua = ua.toLowerCase();
-
-        var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
-            /(webkit)[ \/]([\w.]+)/.exec(ua) ||
-            /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
-            /(msie) ([\w.]+)/.exec(ua) ||
-            ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
-            [];
-
-        return {
-            browser: match[ 1 ] || "",
-            version: match[ 2 ] || "0"
-        };
-    };
-    jQuery.browser = {};
-    jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
-}
diff --git a/doc/_build/html/_static/basic.css b/doc/_build/html/_static/basic.css
deleted file mode 100644
index eeb0519a..00000000
--- a/doc/_build/html/_static/basic.css
+++ /dev/null
@@ -1,899 +0,0 @@
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- * ~~~~~~~~~
- *
- * Sphinx stylesheet -- basic theme.
- *
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-    clear: both;
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-
-div.section::after {
-    display: block;
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-/* -- relbar ---------------------------------------------------------------- */
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-div.related {
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-div.related h3 {
-    display: none;
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-
-div.related ul {
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-    padding: 0 0 0 10px;
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-/* -- sidebar --------------------------------------------------------------- */
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-div.sphinxsidebarwrapper {
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-div.sphinxsidebar {
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-
-img {
-    border: 0;
-    max-width: 100%;
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-
-/* -- search page ----------------------------------------------------------- */
-
-ul.search {
-    margin: 10px 0 0 20px;
-    padding: 0;
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-ul.search li {
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-    background-image: url(file.png);
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-ul.search li a {
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-    margin: 2px 0 0 30px;
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-/* -- index page ------------------------------------------------------------ */
-
-table.contentstable {
-    width: 90%;
-    margin-left: auto;
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-table.contentstable p.biglink {
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-span.linkdescr {
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-/* -- general index --------------------------------------------------------- */
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-div.modindex-jumpbox {
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deleted file mode 100644
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--- a/doc/_build/html/_static/doc/AB01MD.html
+++ /dev/null
@@ -1,295 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB01MD">AB01MD</A></H2>
-<H3>
-Controllable realization for single-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  single-input system
-
-          dX/dt = A * X + B * U,
-
-  where A is an N-by-N matrix and B is an N element vector which
-  are reduced by this routine to orthogonal canonical form using
-  (and optionally accumulating) orthogonal similarity
-  transformations.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INFO, LDA, LDZ, LDWORK, N, NCONT
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), TAU(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT upper Hessenberg
-          part of this array contains the canonical form of the
-          state dynamics matrix, given by Z' * A * Z, of a
-          controllable realization for the original system. The
-          elements below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, the original input/state vector B.
-          On exit, the leading NCONT elements of this array contain
-          canonical form of the input/state vector, given by Z' * B,
-          with all elements but B(1) set to zero.
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this array
-          contains the matrix of accumulated orthogonal similarity
-          transformations which reduces the given system to
-          orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of (A,B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as an absolute tolerance;
-          elements with absolute value less than TOL are considered
-          neglijible. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by
-          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder matrix which reduces all but the first element
-  of vector B to zero is found and this orthogonal similarity
-  transformation is applied to the matrix A. The resulting A is then
-  reduced to upper Hessenberg form by a sequence of Householder
-  transformations. Finally, the order of the controllable state-
-  space representation (NCONT) is determined by finding the position
-  of the first sub-diagonal element of A which is below an
-  appropriate zero threshold, either TOL or TOLDEF (see parameter
-  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
-  zero, and no computations for reducing the system to orthogonal
-  canonical form are performed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Hammarling, S.J.
-      Notes on the use of orthogonal similarity transformations in
-      control.
-      NPL Report DITC 8/82, August 1982.
-
-  [3] Paige, C.C
-      Properties of numerical algorithms related to computing
-      controllability.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDZ
-      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), TAU(NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB01MD, DORGQR
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
-*        Find a controllable realization for the given system.
-         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
-     $                DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) NCONT
-            DO 20 I = 1, NCONT
-               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
-            IF ( LSAME( JOBZ, 'F' ) )
-     $         CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK, INFO )
-            IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01MD = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
-     $       'ble realization is ')
-99996 FORMAT (/' The input/state vector B of a controllable realizatio',
-     $       'n is ',/(1X,F8.4))
-99995 FORMAT (/' The similarity transformation matrix Z is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB01MD EXAMPLE PROGRAM DATA
-   3     0.0     I
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB01MD EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  3
-
- The state dynamics matrix A of a controllable realization is 
-   1.0000   1.4142   0.0000
-   2.8284  -1.0000   2.8284
-   0.0000   1.4142   1.0000
-
- The input/state vector B of a controllable realization is 
-  -1.4142
-   0.0000
-   0.0000
-
- The similarity transformation matrix Z is 
-  -0.7071   0.0000  -0.7071
-   0.0000  -1.0000   0.0000
-  -0.7071   0.0000   0.7071
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB01ND.html b/doc/_build/html/_static/doc/AB01ND.html
deleted file mode 100644
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-<HTML>
-<HEAD><TITLE>AB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB01ND">AB01ND</A></H2>
-<H3>
-Controllable realization for multi-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  multi-input system
-
-          dX/dt = A * X + B * U,
-
-  where A and B are N-by-N and N-by-M matrices, respectively,
-  which are reduced by this routine to orthogonal canonical form
-  using (and optionally accumulating) orthogonal similarity
-  transformations.  Specifically, the pair (A, B) is reduced to
-  the pair (Ac, Bc),  Ac = Z' * A * Z,  Bc = Z' * B,  given by
-
-          [ Acont     *    ]         [ Bcont ]
-     Ac = [                ],   Bc = [       ],
-          [   0    Auncont ]         [   0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
-             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
-             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
-     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
-             [  .   .     . .    .     .  ]         [ .  ]
-             [  .   .       .    .     .  ]         [ .  ]
-             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
-
-  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
-  p is the controllability index of the pair.  The size of the
-  block  Auncont is equal to the dimension of the uncontrollable
-  subspace of the pair (A, B).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
-     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INDCON, INFO, LDA, LDB, LDWORK, LDZ, M, N, NCONT
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), Z(LDZ,*)
-      INTEGER           IWORK(*), NBLK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT part contains the
-          upper block Hessenberg state dynamics matrix Acont in Ac,
-          given by Z' * A * Z, of a controllable realization for
-          the original system. The elements below the first block-
-          subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading NCONT-by-M part of this array
-          contains the transformed input matrix Bcont in Bc, given
-          by Z' * B, with all elements but the first block set to
-          zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  INDCON  (output) INTEGER
-          The controllability index of the controllable part of the
-          system representation.
-
-  NBLK    (output) INTEGER array, dimension (N)
-          The leading INDCON elements of this array contain the
-          the orders of the diagonal blocks of Acont.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this
-          array contains the matrix of accumulated orthogonal
-          similarity transformations which reduces the given system
-          to orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N, 3*M).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix B is first QR-decomposed and the appropriate orthogonal
-  similarity transformation applied to the matrix A. Leaving the
-  first rank(B) states unchanged, the remaining lower left block
-  of A is then QR-decomposed and the new orthogonal matrix, Q1,
-  is also applied to the right of A to complete the similarity
-  transformation. By continuing in this manner, a completely
-  controllable state-space pair (Acont, Bcont) is found for the
-  given (A, B), where Acont is upper block Hessenberg with each
-  subdiagonal block of full row rank, and Bcont is zero apart from
-  its (independent) first rank(B) rows.
-  NOTE that the system controllability indices are easily
-  calculated from the dimensions of the blocks of Acont.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Paige, C.C.
-      Properties of numerical algorithms related to computing
-      controllablity.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
-      Postlethwaite, I.
-      Optimal Pole Assignment Design of Linear Multi-Input Systems.
-      Leicester University, Report 99-11, May 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, INDCON, J, M, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
-     $                 TAU(NMAX), Z(LDZ,NMAX)
-      INTEGER          IWORK(LIWORK), NBLK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB01ND, DORGQR
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-*           Find a controllable ssr for the given system.
-            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
-     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NCONT
-               WRITE ( NOUT, FMT = 99996 )
-               DO 20 I = 1, NCONT
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
-               WRITE ( NOUT, FMT = 99993 )
-               DO 40 I = 1, NCONT
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99992 ) INDCON
-               IF ( LSAME( JOBZ, 'F' ) )
-     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                         INFO )
-               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01ND = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
-     $       'le realization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
-     $       /20(1X,I2))
-99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
-     $       'e realization is ')
-99992 FORMAT (/' The controllability index of the transformed system r',
-     $       'epresentation = ',I2)
-99991 FORMAT (/' The similarity transformation matrix Z is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB01ND EXAMPLE PROGRAM DATA
-   3     2     0.0     I
-  -1.0   0.0   0.0
-  -2.0  -2.0  -2.0
-  -1.0   0.0  -3.0
-   1.0   0.0   0.0
-   0.0   2.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB01ND EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  2
-
- The transformed state dynamics matrix of a controllable realization is 
-  -3.0000   2.2361
-   0.0000  -1.0000
-
- and the dimensions of its diagonal blocks are 
-  2
-
- The transformed input/state matrix B of a controllable realization is 
-   0.0000  -2.2361
-   1.0000   0.0000
-
- The controllability index of the transformed system representation =  1
-
- The similarity transformation matrix Z is 
-   0.0000   1.0000   0.0000
-  -0.8944   0.0000  -0.4472
-  -0.4472   0.0000   0.8944
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,404 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB01OD">AB01OD</A></H2>
-<H3>
-Staircase form for multi-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices A and B using (and optionally accumulating)
-  state-space and input-space transformations U and V respectively,
-  such that the pair of matrices
-
-     Ac = U' * A * U,    Bc = U' * B * V
-
-  are in upper "staircase" form. Specifically,
-
-          [ Acont     *    ]         [ Bcont ]
-     Ac = [                ],   Bc = [       ],
-          [   0    Auncont ]         [   0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
-             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
-             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
-     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
-             [  .   .     . .    .     .  ]         [ .  ]
-             [  .   .       .    .     .  ]         [ .  ]
-             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
-
-  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
-  p is the controllability index of the pair.  The size of the
-  block Auncont is equal to the dimension of the uncontrollable
-  subspace of the pair (A, B).  The first stage of the reduction,
-  the "forward" stage, accomplishes the reduction to the orthogonal
-  canonical form (see SLICOT library routine AB01ND). The blocks
-  B1, A21, ..., Ap,p-1 are further reduced in a second, "backward"
-  stage to upper triangular form using RQ factorization. Each of
-  these stages is optional.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
-     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV, STAGES
-      INTEGER           INDCON, INFO, LDA, LDB, LDU, LDV, LDWORK, M, N,
-     $                  NCONT
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*), KSTAIR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STAGES  CHARACTER*1
-          Specifies the reduction stages to be performed as follows:
-          = 'F':  Perform the forward stage only;
-          = 'B':  Perform the backward stage only;
-          = 'A':  Perform both (all) stages.
-
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the state-space transformations as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is internally initialized to the unit matrix (if
-                  STAGES &lt;&gt; 'B'), or updated (if STAGES = 'B'), and
-                  the orthogonal transformation matrix U is
-                  returned.
-
-  JOBV    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix V the input-space transformations as follows:
-          = 'N':  Do not form V;
-          = 'I':  V is initialized to the unit matrix and the
-                  orthogonal transformation matrix V is returned.
-          JOBV is not referenced if STAGES = 'F'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The actual input dimension.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A to be transformed.
-          If STAGES = 'B', A should be in the orthogonal canonical
-          form, as returned by SLICOT library routine AB01ND.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state transition matrix U' * A * U.
-          The leading NCONT-by-NCONT part contains the upper block
-          Hessenberg state matrix Acont in Ac, given by U' * A * U,
-          of a controllable realization for the original system.
-          The elements below the first block-subdiagonal are set to
-          zero.  If STAGES &lt;&gt; 'F', the subdiagonal blocks of A are
-          triangularized by RQ factorization, and the annihilated
-          elements are explicitly zeroed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B to be transformed.
-          If STAGES = 'B', B should be in the orthogonal canonical
-          form, as returned by SLICOT library routine AB01ND.
-          On exit with STAGES = 'F', the leading N-by-M part of
-          this array contains the transformed input matrix U' * B,
-          with all elements but the first block set to zero.
-          On exit with STAGES &lt;&gt; 'F', the leading N-by-M part of
-          this array contains the transformed input matrix
-          U' * B * V, with all elements but the first block set to
-          zero and the first block in upper triangular form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          If STAGES &lt;&gt; 'B' or JOBU = 'N', then U need not be set
-          on entry.
-          If STAGES = 'B' and JOBU = 'I', then, on entry, the
-          leading N-by-N part of this array must contain the
-          transformation matrix U that reduced the pair to the
-          orthogonal canonical form.
-          On exit, if JOBU = 'I', the leading N-by-N part of this
-          array contains the transformation matrix U that performed
-          the specified reduction.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          If JOBU = 'I', LDU &gt;= MAX(1,N);  if JOBU = 'N', LDU &gt;= 1.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
-          If JOBV = 'I', then the leading M-by-M part of this array
-          contains the transformation matrix V.
-          If STAGES = 'F', or JOBV = 'N', the array V is not
-          referenced and can be supplied as a dummy array (i.e. set
-          parameter  LDV = 1 and declare this array to be V(1,1) in
-          the calling program).
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          If STAGES &lt;&gt; 'F' and JOBV = 'I', LDV &gt;= MAX(1,M);
-          if STAGES = 'F' or JOBV = 'N', LDV &gt;= 1.
-
-  NCONT   (input/output) INTEGER
-          The order of the controllable state-space representation.
-          NCONT is input only if STAGES = 'B'.
-
-  INDCON  (input/output) INTEGER
-          The number of stairs in the staircase form (also, the
-          controllability index of the controllable part of the
-          system representation).
-          INDCON is input only if STAGES = 'B'.
-
-  KSTAIR  (input/output) INTEGER array, dimension (N)
-          The leading INDCON elements of this array contain the
-          dimensions of the stairs, or, also, the orders of the
-          diagonal blocks of Acont.
-          KSTAIR is input if STAGES = 'B', and output otherwise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-          TOL is not referenced if STAGES = 'B'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          IWORK is not referenced if STAGES = 'B'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If STAGES &lt;&gt; 'B', LDWORK &gt;= MAX(1, N + MAX(N,3*M));
-          If STAGES =  'B', LDWORK &gt;= MAX(1, M + MAX(N,M)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Staircase reduction of the pencil [B|sI - A] is used. Orthogonal
-  transformations U and V are constructed such that
-
-                     |B |sI-A      *  . . .  *      *       |
-                     | 1|    11       .      .      .       |
-                     |  |  A    sI-A    .    .      .       |
-                     |  |   21      22    .  .      .       |
-                     |  |        .     .     *      *       |
-  [U'BV|sI - U'AU] = |0 |     0    .     .                  |
-                     |  |            A     sI-A     *       |
-                     |  |             p,p-1    pp           |
-                     |  |                                   |
-                     |0 |         0          0   sI-A       |
-                     |  |                            p+1,p+1|
-
-  where the i-th diagonal block of U'AU has dimension KSTAIR(i),
-  for i = 1,...,p. The value of p is returned in INDCON. The last
-  block contains the uncontrollable modes of the (A,B)-pair which
-  are also the generalized eigenvalues of the above pencil.
-
-  The complete reduction is performed in two stages. The first,
-  forward stage accomplishes the reduction to the orthogonal
-  canonical form. The second, backward stage consists in further
-  reduction to triangular form by applying left and right orthogonal
-  transformations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      The generalized eigenvalue problem in linear system theory.
-      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
-
-  [2] Miminis, G. and Paige, C.
-      An algorithm for pole assignment of time-invariant multi-input
-      linear systems.
-      Proc. 21st IEEE CDC, Orlando, Florida, 1, pp. 62-67, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + M) x N**2) operations and is
-  backward stable (see [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDU, LDV
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
-     $                   LDV = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INDCON, INFO, J, M, N, NCONT
-      CHARACTER*1      JOBU, JOBV, STAGES
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
-     $                 U(LDU,NMAX), V(LDV,MMAX)
-      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB01OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, STAGES, JOBU, JOBV
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-*           Reduce the matrices A and B to upper "staircase" form.
-            CALL AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
-     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99994 ) INDCON
-               WRITE ( NOUT, FMT = 99993 ) ( KSTAIR(I), I = 1,INDCON )
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01OD = ',I2)
-99997 FORMAT (' The transformed state transition matrix is ')
-99996 FORMAT (/' The transformed input matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The number of stairs in the staircase form = ',I3,/)
-99993 FORMAT (' The dimensions of the stairs are ',/(20(I3,2X)))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB01OD EXAMPLE PROGRAM DATA
-   5     2     0.0     F     N     N
-   17.0   24.0    1.0    8.0   15.0
-   23.0    5.0    7.0   14.0   16.0
-    4.0    6.0   13.0   20.0   22.0
-   10.0   12.0   19.0   21.0    3.0
-   11.0   18.0   25.0    2.0    9.0
-   -1.0   -4.0
-    4.0    9.0
-   -9.0  -16.0
-   16.0   25.0
-  -25.0  -36.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB01OD EXAMPLE PROGRAM RESULTS
-
- The transformed state transition matrix is 
-  12.8848   3.2345  11.8211   3.3758  -0.8982
-   4.4741 -12.5544   5.3509   5.9403   1.4360
-  14.4576   7.6855  23.1452  26.3872 -29.9557
-   0.0000   1.4805  27.4668  22.6564  -0.0072
-   0.0000   0.0000 -30.4822   0.6745  18.8680
-
- The transformed input matrix is 
-  31.1199  47.6865
-   3.2480   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The number of stairs in the staircase form =   3
-
- The dimensions of the stairs are 
-  2    2    1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB04MD.html b/doc/_build/html/_static/doc/AB04MD.html
deleted file mode 100644
index 7ab9526f..00000000
--- a/doc/_build/html/_static/doc/AB04MD.html
+++ /dev/null
@@ -1,318 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB04MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB04MD">AB04MD</A></H2>
-<H3>
-Discrete-time <--> continuous-time systems conversion by a bilinear transformation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a transformation on the parameters (A,B,C,D) of a
-  system, which is equivalent to a bilinear transformation of the
-  corresponding transfer function matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          Indicates the type of the original system and the
-          transformation to be performed as follows:
-          = 'D':  discrete-time   -&gt; continuous-time;
-          = 'C':  continuous-time -&gt; discrete-time.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  ALPHA,  (input) DOUBLE PRECISION
-  BETA    Parameters specifying the bilinear transformation.
-          Recommended values for stable systems: ALPHA = 1,
-          BETA = 1.  ALPHA &lt;&gt; 0, BETA &lt;&gt; 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A of the original system.
-          On exit, the leading N-by-N part of this array contains
-                           _
-          the state matrix A of the transformed system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the original system.
-          On exit, the leading N-by-M part of this array contains
-                           _
-          the input matrix B of the transformed system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C of the original system.
-          On exit, the leading P-by-N part of this array contains
-                            _
-          the output matrix C of the transformed system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix D for the original system.
-          On exit, the leading P-by-M part of this array contains
-                                  _
-          the input/output matrix D of the transformed system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK &gt;= MAX(1,N*NB), where NB
-          is the optimal blocksize.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix (ALPHA*I + A) is exactly singular;
-          = 2:  if the matrix  (BETA*I - A) is exactly singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The parameters of the discrete-time system are transformed into
-  the parameters of the continuous-time system (TYPE = 'D'), or
-  vice-versa (TYPE = 'C') by the transformation:
-
-  1.  Discrete -&gt; continuous
-      _                     -1
-      A = beta*(alpha*I + A)  * (A - alpha*I)
-      _                                     -1
-      B = sqrt(2*alpha*beta) * (alpha*I + A)  * B
-      _                                         -1
-      C = sqrt(2*alpha*beta) * C * (alpha*I + A)
-      _                        -1
-      D = D - C * (alpha*I + A)  * B
-
-  which is equivalent to the bilinear transformation
-
-                    z - alpha
-      z -&gt; s = beta ---------  .
-                    z + alpha
-
-  of one transfer matrix onto the other.
-
-  2.  Continuous -&gt; discrete
-      _                     -1
-      A = alpha*(beta*I - A)  * (beta*I + A)
-      _                                    -1
-      B = sqrt(2*alpha*beta) * (beta*I - A)  * B
-      _                                        -1
-      C = sqrt(2*alpha*beta) * C * (beta*I - A)
-      _                       -1
-      D = D + C * (beta*I - A)  * B
-
-  which is equivalent to the bilinear transformation
-
-                   beta + s
-    s -&gt; z = alpha -------- .
-                   beta - s
-
-  of one transfer matrix onto the other.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Al-Saggaf, U.M. and Franklin, G.F.
-      Model reduction via balanced realizations: a extension and
-      frequency weighting techniques.
-      IEEE Trans. Autom. Contr., AC-33, pp. 687-692, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                   3
-  The time taken is approximately proportional to N .
-  The accuracy depends mainly on the condition number of the matrix
-  to be inverted.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB04MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, BETA
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER*1      TYPE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB04MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TYPE, ALPHA, BETA
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
-               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
-*              Transform the parameters (A,B,C,D).
-               CALL AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB,
-     $                      C, LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB04MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB04MD = ',I2)
-99997 FORMAT (' The transformed state matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed input matrix is ')
-99994 FORMAT (/' The transformed output matrix is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-99990 FORMAT (/' The transformed input/output matrix is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB04MD EXAMPLE PROGRAM DATA
-   2     2     2     C     1.0D0     1.0D0
-   1.0  0.5
-   0.5  1.0
-   0.0 -1.0
-   1.0  0.0
-  -1.0  0.0
-   0.0  1.0
-   1.0  0.0
-   0.0 -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB04MD EXAMPLE PROGRAM RESULTS
-
- The transformed state matrix is 
-  -1.0000  -4.0000
-  -4.0000  -1.0000
-
- The transformed input matrix is 
-   2.8284   0.0000
-   0.0000  -2.8284
-
- The transformed output matrix is 
-   0.0000   2.8284
-  -2.8284   0.0000
-
- The transformed input/output matrix is 
-  -1.0000   0.0000
-   0.0000  -3.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05MD.html b/doc/_build/html/_static/doc/AB05MD.html
deleted file mode 100644
index e1db4e19..00000000
--- a/doc/_build/html/_static/doc/AB05MD.html
+++ /dev/null
@@ -1,455 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05MD">AB05MD</A></H2>
-<H3>
-Cascade inter-connection of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To obtain the state-space model (A,B,C,D) for the cascaded
-  inter-connection of two systems, each given in state-space form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER, UPLO
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
-     $                  N2, P1, P2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
-     $                  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes to obtain the matrix A
-          in the upper or lower block diagonal form, as follows:
-          = 'U':  Obtain A in the upper block diagonal form;
-          = 'L':  Obtain A in the lower block diagonal form.
-
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D (for UPLO = 'L'), or A2
-                  and A, B2 and B, C2 and C, and D2 and D (for
-                  UPLO = 'U'), i.e. the same name is effectively
-                  used for each pair (for all pairs) in the routine
-                  call.  In this case, setting LDA1 = LDA,
-                  LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD, or
-                  LDA2 = LDA, LDB2 = LDB, LDC2 = LDC, and LDD2 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables for the first system.
-          M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables from the first system and
-          the number of input variables for the second system.
-          P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2.  N2 &gt;= 0.
-
-  P2      (input) INTEGER
-          The number of output variables from the second system.
-          P2 &gt;= 0.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
-          The leading N2-by-P1 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P2-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
-          The leading P2-by-P1 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the resulting
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the cascaded system.
-          If OVER = 'O', the array A can overlap A1, if UPLO = 'L',
-          or A2, if UPLO = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
-          The leading N-by-M1 part of this array contains the
-          input/state matrix B for the cascaded system.
-          If OVER = 'O', the array B can overlap B1, if UPLO = 'L',
-          or B2, if UPLO = 'U'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P2-by-N part of this array contains the
-          state/output matrix C for the cascaded system.
-          If OVER = 'O', the array C can overlap C1, if UPLO = 'L',
-          or C2, if UPLO = 'U'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P2) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
-          The leading P2-by-M1 part of this array contains the
-          input/output matrix D for the cascaded system.
-          If OVER = 'O', the array D can overlap D1, if UPLO = 'L',
-          or D2, if UPLO = 'U'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P2).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          The array DWORK is not referenced if OVER = 'N'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, P1*MAX(N1, M1, N2, P2) ) if OVER = 'O'.
-          LDWORK &gt;= 1 if OVER = 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After cascaded inter-connection of the two systems
-
-  X1'     = A1*X1 + B1*U
-  V       = C1*X1 + D1*U
-
-  X2'     = A2*X2 + B2*V
-  Y       = C2*X2 + D2*V
-
-  (where  '  denotes differentiation with respect to time)
-
-  the following state-space model will be obtained:
-
-  X'      = A*X + B*U
-  Y       = C*X + D*U
-
-  where matrix  A  has the form   ( A1     0 ),
-                                  ( B2*C1  A2)
-
-        matrix  B  has the form  (  B1   ),
-                                 ( B2*D1 )
-
-        matrix  C  has the form  ( D2*C1  C2 ) and
-
-        matrix  D  has the form  ( D2*D1 ).
-
-  This form is returned by the routine when UPLO = 'L'.  Note that
-  when A1 and A2 are block lower triangular, the resulting state
-  matrix is also block lower triangular.
-
-  By applying a similarity transformation to the system above,
-  using the matrix  ( 0  I ),  where  I  is the identity matrix of
-                    ( J  0 )
-  order  N2,  and  J  is the identity matrix of order  N1,  the
-  system matrices become
-
-        A = ( A2  B2*C1 ),
-            ( 0     A1  )
-
-        B = ( B2*D1 ),
-            (  B1   )
-
-        C = ( C2  D2*C1 ) and
-
-        D = ( D2*D1 ).
-
-  This form is returned by the routine when UPLO = 'U'.  Note that
-  when A1 and A2 are block upper triangular (for instance, in the
-  real Schur form), the resulting state matrix is also block upper
-  triangular.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires P1*(N1+M1)*(N2+P2) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX, P2MAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, P1MAX = 20, P2MAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2, LDWORK
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX,LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = P2MAX, LDC1 = P1MAX, LDC2 = P2MAX,
-     $                   LDD = P2MAX, LDD1 = P1MAX, LDD2 = P2MAX,
-     $                   LDWORK = P1MAX*N1MAX )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER, UPLO
-      INTEGER          I, INFO, J, M1, N, N1, N2, P1, P2
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB05MD
-*     .. Executable Statements ..
-*
-      UPLO = 'Lower'
-      OVER = 'N'
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2, P2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
-                  IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
-                     WRITE ( NOUT, FMT = 99988 ) P2
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
-                     READ ( NIN, FMT = * )
-     $                    ( ( D2(I,J), J = 1,P1 ), I = 1,P2 )
-*                    Find the state-space model (A,B,C,D).
-                     CALL AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1,
-     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
-     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
-     $                            LDD2, N, A, LDA, B, LDB, C, LDC, D,
-     $                            LDD, DWORK, LDWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99997 )
-                        DO 20 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( A(I,J), J = 1,N )
-   20                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( B(I,J), J = 1,M1 )
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99994 )
-                        DO 60 I = 1, P2
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( C(I,J), J = 1,N )
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99993 )
-                        DO 80 I = 1, P2
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( D(I,J), J = 1,M1 )
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05MD = ',I2)
-99997 FORMAT (' The state transition matrix of the cascaded system is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the cascaded system is ')
-99994 FORMAT (/' The state/output matrix of the cascaded system is ')
-99993 FORMAT (/' The input/output matrix of the cascaded system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-99988 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05MD EXAMPLE PROGRAM DATA
-   3     2     2     3     2
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05MD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the cascaded system is 
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000  -3.0000   0.0000   0.0000
-  -3.0000   2.0000  -1.0000   1.0000   0.0000   1.0000
-   0.0000   2.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the cascaded system is 
-   1.0000   2.0000
-   1.0000   0.0000
-   0.0000   1.0000
-   0.0000   1.0000
-  -1.0000   0.0000
-   0.0000   2.0000
-
- The state/output matrix of the cascaded system is 
-   3.0000  -1.0000   1.0000   1.0000   1.0000   0.0000
-   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the cascaded system is 
-   1.0000   1.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05ND.html b/doc/_build/html/_static/doc/AB05ND.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/AB05ND.html
+++ /dev/null
@@ -1,445 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05ND">AB05ND</A></H2>
-<H3>
-Feedback inter-connection of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To obtain the state-space model (A,B,C,D) for the feedback
-  inter-connection of two systems, each given in state-space form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
-     $                  N2, P1
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
-     $                  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables for the first system and the
-          number of output variables from the second system.
-          M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables from the first system and
-          the number of input variables for the second system.
-          P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2.  N2 &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          A coefficient multiplying the transfer-function matrix
-          (or the output equation) of the second system.
-          ALPHA = +1 corresponds to positive feedback, and
-          ALPHA = -1 corresponds to negative feedback.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
-          The leading N2-by-P1 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading M1-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,M1) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
-          The leading M1-by-P1 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,M1).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the connected
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the connected system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
-          The leading N-by-M1 part of this array contains the
-          input/state matrix B for the connected system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P1-by-N part of this array contains the
-          state/output matrix C for the connected system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
-          The leading P1-by-M1 part of this array contains the
-          input/output matrix D for the connected system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.             If OVER = 'N',
-          LDWORK &gt;= MAX(1, P1*P1, M1*M1, N1*P1), and if OVER = 'O',
-          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*M1, N1*P1) ),
-                                                     if M1 &lt;= N*N2;
-          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*(M1+1), N1*P1) ),
-                                                     if M1 &gt;  N*N2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= P1, the system is not
-                completely controllable. That is, the matrix
-                (I + ALPHA*D1*D2) is exactly singular (the element
-                U(i,i) of the upper triangular factor of LU
-                factorization is exactly zero), possibly due to
-                rounding errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After feedback inter-connection of the two systems,
-
-  X1'     = A1*X1 + B1*U1
-  Y1      = C1*X1 + D1*U1
-
-  X2'     = A2*X2 + B2*U2
-  Y2      = C2*X2 + D2*U2
-
-  (where  '  denotes differentiation with respect to time)
-
-  the following state-space model will be obtained:
-
-  X'      = A*X  +  B*U
-  Y       = C*X  +  D*U
-
-  where       U = U1 + alpha*Y2,    X  =  ( X1 ),
-              Y = Y1 = U2,                ( X2 )
-
-  matrix  A  has the form
-
-  ( A1  -  alpha*B1*E12*D2*C1       -  alpha*B1*E12*C2    ),
-  (        B2*E21*C1            A2  -  alpha*B2*E21*D1*C2 )
-
-  matrix  B  has the form
-
-  (  B1*E12    ),
-  (  B2*E21*D1 )
-
-  matrix  C  has the form
-
-  (  E21*C1     -  alpha*E21*D1*C2 ),
-
-  matrix D  has the form
-
-  (  E21*D1 ),
-
-  E21  =  ( I + alpha*D1*D2 )-INVERSE and
-  E12  =  ( I + alpha*D2*D1 )-INVERSE = I - alpha*D2*E21*D1.
-
-  Taking N1 = 0 and/or N2 = 0 on the routine call will solve the
-  constant plant and/or constant feedback cases.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, P1MAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = M1MAX,
-     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = M1MAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = P1MAX*P1MAX )
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE=1.0D0 )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M1, N, N1, N2, P1
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      INTEGER          IWORK(P1MAX)
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB05ND
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      ALPHA = ONE
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,M1 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( D2(I,J), J = 1,P1 ), I = 1,M1 )
-*                 Find the state-space model (A,B,C,D).
-                  CALL AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1,
-     $                         B1, LDB1, C1, LDC1, D1, LDD1, A2, LDA2,
-     $                         B2, LDB2, C2, LDC2, D2, LDD2, N, A, LDA,
-     $                         B, LDB, C, LDC, D, LDD, IWORK, DWORK,
-     $                         LDWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 20 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M1 )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 60 I = 1, P1
-                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 80 I = 1, P1
-                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M1 )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05ND = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05ND EXAMPLE PROGRAM DATA
-   3     2     2     3
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05ND EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-  -0.5000  -0.2500  -1.5000  -1.2500  -1.2500   0.7500
-  -1.5000  -0.2500   0.5000  -0.2500  -0.2500  -0.2500
-   1.0000   0.5000   2.0000  -0.5000  -0.5000   0.5000
-   0.0000   0.5000   0.0000  -3.5000  -0.5000   0.5000
-  -1.5000   1.2500  -0.5000   1.2500   0.2500   1.2500
-   0.0000   1.0000   0.0000  -1.0000  -2.0000   3.0000
-
- The input/state matrix of the connected system is 
-   0.5000   0.7500
-   0.5000  -0.2500
-   0.0000   0.5000
-   0.0000   0.5000
-  -0.5000   0.2500
-   0.0000   1.0000
-
- The state/output matrix of the connected system is 
-   1.5000  -1.2500   0.5000  -0.2500  -0.2500  -0.2500
-   0.0000   0.5000   0.0000  -0.5000  -0.5000   0.5000
-
- The input/output matrix of the connected system is 
-   0.5000  -0.2500
-   0.0000   0.5000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05OD.html b/doc/_build/html/_static/doc/AB05OD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/AB05OD.html
+++ /dev/null
@@ -1,419 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05OD">AB05OD</A></H2>
-<H3>
-Rowwise concatenation of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To obtain the state-space model (A,B,C,D) for rowwise
-  concatenation (parallel inter-connection on outputs, with separate
-  inputs) of two systems, each given in state-space form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, M, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
-     $                  N2, P1
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables for the first system.
-          M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables from each system.  P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2.  N2 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of input variables for the second system.
-          M2 &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          A coefficient multiplying the transfer-function matrix
-          (or the output equation) of the second system.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
-          The leading N2-by-M2 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P1-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P1) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
-          The leading P1-by-M2 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P1).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the connected
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  M       (output) INTEGER
-          The number of input variables (M1 + M2) for the connected
-          system, i.e. the number of columns of B and D.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the connected system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
-          The leading N-by-M part of this array contains the
-          input/state matrix B for the connected system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P1-by-N part of this array contains the
-          state/output matrix C for the connected system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
-          The leading P1-by-M part of this array contains the
-          input/output matrix D for the connected system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After rowwise concatenation (parallel inter-connection with
-  separate inputs) of the two systems,
-
-  X1'     = A1*X1 + B1*U
-  Y1      = C1*X1 + D1*U
-
-  X2'     = A2*X2 + B2*V
-  Y2      = C2*X2 + D2*V
-
-  (where  '  denotes differentiation with respect to time),
-
-  with the output equation for the second system multiplied by a
-  scalar alpha, the following state-space model will be obtained:
-
-  X'      = A*X + B*(U)
-                    (V)
-
-  Y       = C*X + D*(U)
-                    (V)
-
-  where matrix  A  has the form    ( A1   0  ),
-                                   ( 0    A2 )
-
-        matrix  B  has the form    ( B1   0  ),
-                                   ( 0    B2 )
-
-        matrix  C  has the form    ( C1   alpha*C2 ) and
-
-        matrix  D  has the form    ( D1   alpha*D2 ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
-     $                   P1MAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = P1MAX,
-     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = P1MAX )
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE=1.0D0 )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P1
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB05OD
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      ALPHA = ONE
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
-                     WRITE ( NOUT, FMT = 99989 ) M2
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
-                     READ ( NIN, FMT = * )
-     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P1 )
-                     READ ( NIN, FMT = * )
-     $                    ( ( D2(I,J), J = 1,M2 ), I = 1,P1 )
-*                       Find the state-space model (A,B,C,D).
-                     CALL AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1,
-     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
-     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
-     $                            LDD2, N, M, A, LDA, B, LDB, C, LDC,
-     $                            D, LDD, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99997 )
-                        DO 20 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( A(I,J), J = 1,N )
-   20                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( B(I,J), J = 1,M )
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99994 )
-                        DO 60 I = 1, P1
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( C(I,J), J = 1,N )
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99993 )
-                        DO 80 I = 1, P1
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( D(I,J), J = 1,M )
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05OD = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05OD EXAMPLE PROGRAM DATA
-   3     2     2     3     2
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05OD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the connected system is 
-   1.0000   2.0000   0.0000   0.0000
-   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000
-   0.0000   0.0000  -1.0000   0.0000
-   0.0000   0.0000   0.0000   2.0000
-
- The state/output matrix of the connected system is 
-   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
-   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the connected system is 
-   1.0000   0.0000   1.0000   1.0000
-   0.0000   1.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05PD.html b/doc/_build/html/_static/doc/AB05PD.html
deleted file mode 100644
index 2faccc5e..00000000
--- a/doc/_build/html/_static/doc/AB05PD.html
+++ /dev/null
@@ -1,382 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05PD">AB05PD</A></H2>
-<H3>
-Parallel inter-connection of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the state-space model G = (A,B,C,D) corresponding to
-  the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and
-  G2 = (A2,B2,C2,D2).  G, G1, and G2 are the transfer-function
-  matrices of the corresponding state-space models.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1,
-     $                   C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2,
-     $                   LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1, the number of rows of B1 and
-          the number of columns of C1.  N1 &gt;= 0.
-
-  M       (input) INTEGER
-          The number of input variables of the two systems, i.e. the
-          number of columns of matrices B1, D1, B2 and D2.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of output variables of the two systems, i.e.
-          the number of rows of matrices C1, D1, C2 and D2.  P &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2, the number of rows of B2 and
-          the number of columns of C2.  N2 &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The coefficient multiplying G2.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M)
-          The leading N1-by-M part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M)
-          The leading N2-by-M part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the resulting
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the resulting system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the
-          input/state matrix B for the resulting system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P-by-N part of this array contains the
-          state/output matrix C for the resulting system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          input/output matrix D for the resulting system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the resulting systems are determined as:
-
-        ( A1   0  )             ( B1 )
-    A = (         ) ,       B = (    ) ,
-        ( 0    A2 )             ( B2 )
-
-    C = ( C1  alpha*C2 ) ,  D = D1 + alpha*D2 .
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, MMAX, PMAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = PMAX, LDC1 = PMAX,  LDC2 = PMAX,
-     $                   LDD = PMAX, LDD1 = PMAX,  LDD2 = PMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M, N, N1, N2, P
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,MMAX), B1(LDB1,MMAX), B2(LDB2,MMAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,MMAX), D1(LDD1,MMAX), D2(LDD2,MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB05PD
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M, P, N2, ALPHA
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M ), I = 1,P )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,M )
-                  READ ( NIN, FMT = * )
-     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,P )
-                  READ ( NIN, FMT = * )
-     $                 ( ( D2(I,J), J = 1,M ), I = 1,P )
-*                    Find the state-space model (A,B,C,D).
-                  CALL AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1,
-     $                         LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2,
-     $                         LDB2, C2, LDC2, D2, LDD2, N, A, LDA, B,
-     $                         LDB, C, LDC, D, LDD, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 20 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( A(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( B(I,J), J = 1,M )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 60 I = 1, P
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( C(I,J), J = 1,N )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 80 I = 1, P
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( D(I,J), J = 1,M )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05PD = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05PD EXAMPLE PROGRAM DATA
-   3     2     2     3     1.0D0
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05PD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the connected system is 
-   1.0000   2.0000
-   1.0000   0.0000
-   0.0000   1.0000
-   0.0000   1.0000
-  -1.0000   0.0000
-   0.0000   2.0000
-
- The state/output matrix of the connected system is 
-   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
-   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the connected system is 
-   2.0000   1.0000
-   0.0000   2.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05QD.html b/doc/_build/html/_static/doc/AB05QD.html
deleted file mode 100644
index 0cf6926f..00000000
--- a/doc/_build/html/_static/doc/AB05QD.html
+++ /dev/null
@@ -1,416 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05QD">AB05QD</A></H2>
-<H3>
-Appending two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To append two systems G1 and G2 in state-space form together.
-  If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the state-space
-  models of the given two systems having the transfer-function
-  matrices G1 and G2, respectively, this subroutine constructs the
-  state-space model G = (A,B,C,D) which corresponds to the
-  transfer-function matrix
-
-                        ( G1 0  )
-                    G = (       )
-                        ( 0  G2 )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
-     $                  N2, P, P1, P2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1, the number of rows of B1 and
-          the number of columns of C1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables in the first system, i.e.
-          the number of columns of matrices B1 and D1.  M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables in the first system, i.e.
-          the number of rows of matrices C1 and D1.  P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2, the number of rows of B2 and
-          the number of columns of C2.  N2 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of input variables in the second system, i.e.
-          the number of columns of matrices B2 and D2.  M2 &gt;= 0.
-
-  P2      (input) INTEGER
-          The number of output variables in the second system, i.e.
-          the number of rows of matrices C2 and D2.  P2 &gt;= 0.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
-          The leading N2-by-M2 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P2-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
-          The leading P2-by-M2 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the resulting
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  M       (output) INTEGER
-          The number of input variables (M1 + M2) in the resulting
-          system, i.e. the number of columns of B and D.
-
-  P       (output) INTEGER
-          The number of output variables (P1 + P2) of the resulting
-          system, i.e. the number of rows of C and D.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the resulting system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
-          The leading N-by-M part of this array contains the
-          input/state matrix B for the resulting system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P-by-N part of this array contains the
-          state/output matrix C for the resulting system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P1+P2) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
-          The leading P-by-M part of this array contains the
-          input/output matrix D for the resulting system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P1+P2).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the resulting systems are determined as:
-
-        ( A1   0  )         ( B1  0  )
-    A = (         ) ,   B = (        ) ,
-        ( 0    A2 )         ( 0   B2 )
-
-        ( C1   0  )         ( D1  0  )
-    C = (         ) ,   D = (        ) .
-        ( 0    C2 )         ( 0   D2 )
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX,
-     $                 P2MAX, PMAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
-     $                   P1MAX = 20, P2MAX = 20, PMAX = P1MAX+P2MAX )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = PMAX, LDC1 = P1MAX, LDC2 = P1MAX,
-     $                   LDD = PMAX, LDD1 = P1MAX, LDD2 = P1MAX )
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE=1.0D0 )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P, P1, P2
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB05QD
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2, P2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
-                     WRITE ( NOUT, FMT = 99988 ) M2
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
-                     IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
-                        WRITE ( NOUT, FMT = 99987 ) P2
-                     ELSE
-                        READ ( NIN, FMT = * )
-     $                       ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
-                        READ ( NIN, FMT = * )
-     $                       ( ( D2(I,J), J = 1,M2 ), I = 1,P2 )
-*                          Find the state-space model (A,B,C,D).
-                        CALL AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1,
-     $                               LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
-     $                               A2, LDA2, B2, LDB2, C2, LDC2, D2,
-     $                               LDD2, N, M, P, A, LDA, B, LDB, C,
-     $                               LDC, D, LDD, INFO )
-*
-                        IF ( INFO.NE.0 ) THEN
-                           WRITE ( NOUT, FMT = 99998 ) INFO
-                        ELSE
-                           WRITE ( NOUT, FMT = 99997 )
-                           DO 20 I = 1, N
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( A(I,J), J = 1,N )
-   20                      CONTINUE
-                           WRITE ( NOUT, FMT = 99995 )
-                           DO 40 I = 1, N
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( B(I,J), J = 1,M )
-   40                      CONTINUE
-                           WRITE ( NOUT, FMT = 99994 )
-                           DO 60 I = 1, P
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( C(I,J), J = 1,N )
-   60                      CONTINUE
-                           WRITE ( NOUT, FMT = 99993 )
-                           DO 80 I = 1, P
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( D(I,J), J = 1,M )
-   80                      CONTINUE
-                        END IF
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05QD = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-99988 FORMAT (/' M2 is out of range.',/' M2 = ',I5)
-99987 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05QD EXAMPLE PROGRAM DATA
-   3     2     2     3     2     2
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05QD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the connected system is 
-   1.0000   2.0000   0.0000   0.0000
-   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000
-   0.0000   0.0000  -1.0000   0.0000
-   0.0000   0.0000   0.0000   2.0000
-
- The state/output matrix of the connected system is 
-   3.0000  -2.0000   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the connected system is 
-   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   1.0000   1.0000
-   0.0000   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05RD.html b/doc/_build/html/_static/doc/AB05RD.html
deleted file mode 100644
index 3094ad5b..00000000
--- a/doc/_build/html/_static/doc/AB05RD.html
+++ /dev/null
@@ -1,446 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05RD">AB05RD</A></H2>
-<H3>
-Closed-loop system for a mixed output and state feedback control law
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a given state space system (A,B,C,D) the closed-
-  loop system (Ac,Bc,Cc,Dc) corresponding to the mixed output and
-  state feedback control law
-
-       u = alpha*F*y + beta*K*x + G*v
-       z = H*y.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA, BETA, A,
-     $                   LDA, B, LDB, C, LDC, D, LDD, F, LDF, K, LDK,
-     $                   G, LDG, H, LDH, RCOND, BC, LDBC, CC, LDCC,
-     $                   DC, LDDC, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FBTYPE, JOBD
-      INTEGER           INFO, LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC,
-     $                  LDF, LDG, LDH, LDK, LDWORK, M, MV, N, P, PZ
-      DOUBLE PRECISION  ALPHA, BETA, RCOND
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BC(LDBC,*), C(LDC,*),
-     $                  CC(LDCC,*), D(LDD,*), DC(LDDC,*), DWORK(*),
-     $                  F(LDF,*), G(LDG,*), H(LDH,*), K(LDK,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FBTYPE  CHARACTER*1
-          Specifies the type of the feedback law as follows:
-          = 'I':  Unitary output feedback (F = I);
-          = 'O':  General output feedback.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears
-          in the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of state vector x, i.e. the order of the
-          matrix A, the number of rows of B and the number of
-          columns of C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector u, i.e. the number of
-          columns of matrices B and D, and the number of rows of F.
-          M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector y, i.e. the number of rows
-          of matrices C and D, and the number of columns of F.
-          P &gt;= 0 and P = M if FBTYPE = 'I'.
-
-  MV      (input) INTEGER
-          The dimension of the new input vector v, i.e. the number
-          of columns of matrix G.  MV &gt;= 0.
-
-  PZ      (input) INTEGER.
-          The dimension of the new output vector z, i.e. the number
-          of rows of matrix H.  PZ &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The coefficient alpha in the output feedback law.
-
-  BETA    (input) DOUBLE PRECISION.
-          The coefficient beta in the state feedback law.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state transition matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the state matrix Ac of the closed-loop system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the intermediary input matrix B1 (see METHOD).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the intermediary output matrix C1+BETA*D1*K (see METHOD).
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P) if N &gt; 0.
-          LDC &gt;= 1 if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the system direct input/output
-          transmission matrix D.
-          On exit, the leading P-by-M part of this array contains
-          the intermediary direct input/output transmission matrix
-          D1 (see METHOD).
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P) if JOBD = 'D'.
-          LDD &gt;= 1 if JOBD = 'Z'.
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
-          If FBTYPE = 'O', the leading M-by-P part of this array
-          must contain the output feedback matrix F.
-          If FBTYPE = 'I', then the feedback matrix is assumed to be
-          an M x M order identity matrix.
-          The array F is not referenced if FBTYPE = 'I'  or
-          ALPHA = 0.
-
-  LDF     INTEGER
-          The leading dimension of array F.
-          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
-          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
-
-  K       (input) DOUBLE PRECISION array, dimension (LDK,N)
-          The leading M-by-N part of this array must contain the
-          state feedback matrix K.
-          The array K is not referenced if BETA = 0.
-
-  LDK     INTEGER
-          The leading dimension of the array K.
-          LDK &gt;= MAX(1,M) if BETA &lt;&gt; 0.
-          LDK &gt;= 1 if BETA = 0.
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,MV)
-          The leading M-by-MV part of this array must contain the
-          system input scaling matrix G.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,M).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,P)
-          The leading PZ-by-P part of this array must contain the
-          system output scaling matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,PZ).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal condition number of the matrix
-          I - alpha*D*F.
-
-  BC      (output) DOUBLE PRECISION array, dimension (LDBC,MV)
-          The leading N-by-MV part of this array contains the input
-          matrix Bc of the closed-loop system.
-
-  LDBC    INTEGER
-          The leading dimension of array BC.  LDBC &gt;= MAX(1,N).
-
-  CC      (output) DOUBLE PRECISION array, dimension (LDCC,N)
-          The leading PZ-by-N part of this array contains the
-          system output matrix Cc of the closed-loop system.
-
-  LDCC    INTEGER
-          The leading dimension of array CC.
-          LDCC &gt;= MAX(1,PZ) if N &gt; 0.
-          LDCC &gt;= 1 if N = 0.
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,MV)
-          If JOBD = 'D', the leading PZ-by-MV part of this array
-          contains the direct input/output transmission matrix Dc
-          of the closed-loop system.
-          The array DC is not referenced if JOBD = 'Z'.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.
-          LDDC &gt;= MAX(1,PZ) if JOBD = 'D'.
-          LDDC &gt;= 1 if JOBD = 'Z'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
-          LIWORK &gt;= 1 if JOBD = 'Z'.
-          IWORK is not referenced if JOBD = 'Z'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= wspace, where
-                wspace = MAX( 1, M, P*MV, P*P + 4*P ) if JOBD = 'D',
-                wspace = MAX( 1, M ) if JOBD = 'Z'.
-          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix I - alpha*D*F is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the closed-loop system have the expressions:
-
-  Ac = A1 + beta*B1*K,      Bc = B1*G,
-  Cc = H*(C1 + beta*D1*K),  Dc = H*D1*G,
-
-  where
-
-  A1 = A + alpha*B*F*E*C,   B1 = B + alpha*B*F*E*D,
-  C1 = E*C,                 D1 = E*D,
-
-  with E = (I - alpha*D*F)**-1.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of computations basically depends on the conditioning
-  of the matrix I - alpha*D*F. If RCOND is very small, it is likely
-  that the computed results are inaccurate.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, MVMAX, PMAX, PZMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, MVMAX = 20,
-     $                   PMAX = 20, PZMAX = 20 )
-      INTEGER          LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC, LDF, LDG,
-     $                 LDH, LDK, LDWORK, LIWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBC = NMAX,
-     $                   LDC = PMAX, LDCC = PZMAX,
-     $                   LDD = PMAX, LDDC = PZMAX, LDF = MMAX,
-     $                   LDG = MMAX, LDH  = PZMAX, LDK = MMAX,
-     $                   LDWORK = MAX( MMAX, PMAX*MVMAX,
-     $                   PMAX*PMAX + 4*PMAX ), LIWORK = 2*PMAX )
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-*     .. Local Scalars ..
-      LOGICAL          LJOBD, OUTPF
-      CHARACTER*1      FBTYPE, JOBD
-      INTEGER          I, INFO, J, M, MV, N, P, PZ
-      DOUBLE PRECISION ALPHA, BETA, RCOND
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), BC(LDBC,MVMAX),
-     $                 C(LDC,NMAX), CC(LDCC,NMAX),
-     $                 D(LDD,MMAX), DC(LDDC,MVMAX),  DWORK(LDWORK),
-     $                 F(LDF,PMAX), G(LDG,MVMAX), H(LDH,PMAX),
-     $                 K(LDK,NMAX)
-*     .. External functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB05RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, MV, PZ, ALPHA, BETA, FBTYPE, JOBD
-      OUTPF = LSAME( FBTYPE, 'O' )
-      LJOBD = LSAME( JOBD, 'D' )
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( BETA.NE.ZERO )
-     $         READ ( NIN, FMT = * ) ( ( K(I,J), J = 1,N ), I = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LJOBD )
-     $            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF ( OUTPF.AND.ALPHA.NE.ZERO )
-     $            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,P ), I = 1,M )
-               IF ( MV.LE.0 .OR. MV.GT.MVMAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) MV
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( G(I,J), J = 1,MV ), I = 1,M )
-                  IF ( PZ.LE.0 .OR. PZ.GT.PZMAX ) THEN
-                     WRITE ( NOUT, FMT = 99988 ) PZ
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( H(I,J), J = 1,P ), I = 1,PZ )
-*                       Find the state-space model (A,B,C,D).
-                     CALL AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA,
-     $                            BETA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                            F, LDF, K, LDK, G, LDG, H, LDH, RCOND,
-     $                            BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
-     $                            DWORK, LDWORK, INFO )
-*
-                     WRITE ( NOUT, FMT = 99987 ) RCOND
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99997 )
-                        DO 20 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( A(I,J), J = 1,N )
-   20                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( BC(I,J), J = 1,MV )
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99994 )
-                        DO 60 I = 1, PZ
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( CC(I,J), J = 1,N )
-   60                   CONTINUE
-                        IF ( LJOBD ) THEN
-                           WRITE ( NOUT, FMT = 99993 )
-                           DO 80 I = 1, PZ
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( DC(I,J), J = 1,MV )
-   80                      CONTINUE
-                        END IF
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05RD = ',I2)
-99997 FORMAT (' The state transition matrix of the closed-loop system is
-     $')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the closed-loop system is ')
-99994 FORMAT (/' The state/output matrix of the closed-loop system is ')
-99993 FORMAT (/' The input/output matrix of the closed-loop system is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-99989 FORMAT (/' MV is out of range.',/' MV = ',I5)
-99988 FORMAT (/' PZ is out of range.',/' PZ = ',I5)
-99987 FORMAT ( ' The reciprocal condition number of the matrix ',
-     $         ' I - alpha*D*F is',F8.4,/1X)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05RD EXAMPLE PROGRAM DATA
-   3     2     2     2     2   1.0   1.0    O     D
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   2.0   1.0   0.0
-   1.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-   1.0   2.0
-   3.0   4.0
-   1.0   1.0
-   0.0   1.0
-   4.0   3.0
-   2.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05RD EXAMPLE PROGRAM RESULTS
-
- The reciprocal condition number of the matrix  I - alpha*D*F is  0.2000
-
- The state transition matrix of the closed-loop system is
-  -4.8333   0.1667  -2.8333
-  -0.8333   0.1667   0.1667
-  -1.5000   0.5000   1.5000
-
- The input/state matrix of the closed-loop system is 
-  -0.5000  -0.8333
-   0.5000   0.1667
-  -0.5000  -0.5000
-
- The state/output matrix of the closed-loop system is 
-   1.1667  -1.8333  -0.8333
-   1.8333  -1.1667  -0.1667
-
- The input/output matrix of the closed-loop system is 
-   0.5000  -0.8333
-   0.5000  -0.1667
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB05SD.html b/doc/_build/html/_static/doc/AB05SD.html
deleted file mode 100644
index 0bf13817..00000000
--- a/doc/_build/html/_static/doc/AB05SD.html
+++ /dev/null
@@ -1,206 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05SD">AB05SD</A></H2>
-<H3>
-Closed-loop system for an output feedback control law
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a given state space system (A,B,C,D) the closed-
-  loop system (Ac,Bc,Cc,Dc) corresponding to the output feedback
-  control law
-
-       u = alpha*F*y + v.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05SD( FBTYPE, JOBD, N, M, P, ALPHA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, F, LDF, RCOND, IWORK, DWORK,
-     $                   LDWORK, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         FBTYPE, JOBD
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDF, LDWORK, M, N, P
-      DOUBLE PRECISION  ALPHA, RCOND
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), F(LDF,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FBTYPE  CHARACTER*1
-          Specifies the type of the feedback law as follows:
-          = 'I':  Unitary output feedback (F = I);
-          = 'O':  General output feedback.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e. the order of the
-          matrix A, the number of rows of B and the number of
-          columns of C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of input variables, i.e. the number of columns
-          of matrices B and D, and the number of rows of F.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of output variables, i.e. the number of rows of
-          matrices C and D, and the number of columns of F.  P &gt;= 0
-          and P = M if FBTYPE = 'I'.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The coefficient alpha in the output feedback law.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state transition matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the state matrix Ac of the closed-loop system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the input matrix Bc of the closed-loop system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the output matrix Cc of the closed-loop system.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P) if N &gt; 0.
-          LDC &gt;= 1 if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the system direct input/output transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading P-by-M part of this
-          array contains the direct input/output transmission
-          matrix Dc of the closed-loop system.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P) if JOBD = 'D'.
-          LDD &gt;= 1 if JOBD = 'Z'.
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
-          If FBTYPE = 'O', the leading M-by-P part of this array
-          must contain the output feedback matrix F.
-          If FBTYPE = 'I', then the feedback matrix is assumed to be
-          an M x M order identity matrix.
-          The array F is not referenced if FBTYPE = 'I' or
-          ALPHA = 0.
-
-  LDF     INTEGER
-          The leading dimension of array F.
-          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
-          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal condition number of the matrix
-          I - alpha*D*F.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
-          LIWORK &gt;= 1 if JOBD = 'Z'.
-          IWORK is not referenced if JOBD = 'Z'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= wspace, where
-                    wspace = MAX( 1, M, P*P + 4*P ) if JOBD = 'D',
-                    wspace = MAX( 1, M ) if JOBD = 'Z'.
-          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix I - alpha*D*F is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the closed-loop system have the expressions:
-
-  Ac = A + alpha*B*F*E*C,  Bc = B + alpha*B*F*E*D,
-  Cc = E*C,                Dc = E*D,
-
-  where E = (I - alpha*D*F)**-1.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of computations basically depends on the conditioning
-  of the matrix I - alpha*D*F.  If RCOND is very small, it is likely
-  that the computed results are inaccurate.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB07MD.html b/doc/_build/html/_static/doc/AB07MD.html
deleted file mode 100644
index 523e6b4a..00000000
--- a/doc/_build/html/_static/doc/AB07MD.html
+++ /dev/null
@@ -1,259 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB07MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB07MD">AB07MD</A></H2>
-<H3>
-Dual of a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the dual of a given state-space representation.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBD
-      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the dual state dynamics matrix A'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-P part of this array contains
-          the dual input/state matrix C'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the dual state/output matrix B'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1 if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (LDD,MAX(M,P))
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the original direct transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading M-by-P part of this
-          array contains the dual direct transmission matrix D'.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
-          LDD &gt;= 1 if JOBD = 'Z'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the given state-space representation is the M-input/P-output
-  (A,B,C,D), its dual is simply the P-input/M-output (A',C',B',D').
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB07MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBD
-      INTEGER          I, INFO, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP)
-*     .. External functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB07MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBD
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the dual of the ssr (A,B,C,D).
-               CALL AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,P )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  IF ( LSAME( JOBD, 'D' ) ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 80 I = 1, M
-                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,P )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB07MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB07MD = ',I2)
-99997 FORMAT (' The dual state dynamics matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The dual input/state matrix is ')
-99994 FORMAT (/' The dual state/output matrix is ')
-99993 FORMAT (/' The dual direct transmission matrix is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB07MD EXAMPLE PROGRAM DATA
-   3     1     2     D
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB07MD EXAMPLE PROGRAM RESULTS
-
- The dual state dynamics matrix is 
-   1.0000   4.0000   0.0000
-   2.0000  -1.0000   0.0000
-   0.0000   0.0000   1.0000
-
- The dual input/state matrix is 
-   0.0000   0.0000
-   1.0000   0.0000
-  -1.0000   1.0000
-
- The dual state/output matrix is 
-   1.0000   0.0000   1.0000
-
- The dual direct transmission matrix is 
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB07ND.html b/doc/_build/html/_static/doc/AB07ND.html
deleted file mode 100644
index cb00ceac..00000000
--- a/doc/_build/html/_static/doc/AB07ND.html
+++ /dev/null
@@ -1,264 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB07ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB07ND">AB07ND</A></H2>
-<H3>
-Inverse of a given linear system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   RCOND
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs and outputs.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A of the original system.
-          On exit, the leading N-by-N part of this array contains
-          the state matrix Ai of the inverse system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the original system.
-          On exit, the leading N-by-M part of this array contains
-          the input matrix Bi of the inverse system.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the output matrix C of the original system.
-          On exit, the leading M-by-N part of this array contains
-          the output matrix Ci of the inverse system.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading M-by-M part of this array must
-          contain the feedthrough matrix D of the original system.
-          On exit, the leading M-by-M part of this array contains
-          the feedthrough matrix Di of the inverse system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimated reciprocal condition number of the
-          feedthrough matrix D of the original system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,4*M).
-          For good performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  the matrix D is exactly singular; the (i,i) diagonal
-                element is zero, i &lt;= M; RCOND was set to zero;
-          = M+1:  the matrix D is numerically singular, i.e., RCOND
-                is less than the relative machine precision, EPS
-                (see LAPACK Library routine DLAMCH). The
-                calculations have been completed, but the results
-                could be very inaccurate.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the inverse system are computed with the formulas:
-                -1              -1         -1           -1
-    Ai = A - B*D  *C,  Bi = -B*D  ,  Ci = D  *C,  Di = D  .
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy depends mainly on the condition number of the matrix
-  D to be inverted. The estimated reciprocal condition number is
-  returned in RCOND.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB07ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MMAX,
-     $                   LDD = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      DOUBLE PRECISION RCOND
-*     .. Local Arrays ..
-      INTEGER          IWORK(2*MMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB07ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
-*           Find the inverse of the ssr (A,B,C,D).
-            CALL AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
-     $                   IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 60 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 80 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-   80          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB07ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB07ND = ',I2)
-99997 FORMAT (' The state dynamics matrix of the inverse system is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the inverse system is ')
-99994 FORMAT (/' The state/output matrix of the inverse system is ')
-99993 FORMAT (/' The feedthrough matrix of the inverse system is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB07ND EXAMPLE PROGRAM DATA
-   3     2
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0
-   0.0   1.0
-   1.0   0.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-   4.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB07ND EXAMPLE PROGRAM RESULTS
-
- The state dynamics matrix of the inverse system is 
-   1.0000   1.7500   0.2500
-   4.0000  -1.0000  -1.0000
-   0.0000  -0.2500   1.2500
-
- The input/state matrix of the inverse system is 
-  -0.2500   0.0000
-   0.0000  -1.0000
-  -0.2500   0.0000
-
- The state/output matrix of the inverse system is 
-   0.0000   0.2500  -0.2500
-   0.0000   0.0000   1.0000
-
- The feedthrough matrix of the inverse system is 
-   0.2500   0.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB08MD.html b/doc/_build/html/_static/doc/AB08MD.html
deleted file mode 100644
index 806edf12..00000000
--- a/doc/_build/html/_static/doc/AB08MD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08MD">AB08MD</A></H2>
-<H3>
-Normal rank of the transfer-function matrix of a state space model
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the normal rank of the transfer-function matrix of a
-  state-space model (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08MD( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   RANK, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer-function matrix.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (N+P)*(N+M) +
-                    MAX( MIN(P,M) + MAX(3*M-1,N), 1,
-                         MIN(P,N) + MAX(3*P-1,N+P,N+M) )
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
-                                                         (D  C)
-
-  to one with the same invariant zeros and with D of full row rank.
-  The normal rank of the transfer-function matrix is the rank of D.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB08MZ.html b/doc/_build/html/_static/doc/AB08MZ.html
deleted file mode 100644
index e7ea0407..00000000
--- a/doc/_build/html/_static/doc/AB08MZ.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08MZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08MZ">AB08MZ</A></H2>
-<H3>
-Normal rank of the transfer-function matrix of a state space model (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the normal rank of the transfer-function matrix of a
-  state-space model (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08MZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   RANK, TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LZWORK, M, N, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) COMPLEX*16 array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) COMPLEX*16 array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) COMPLEX*16 array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer-function matrix.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= (N+P)*(N+M) + MAX(MIN(P,M) + MAX(3*M-1,N), 1,
-                                      MIN(P,N) + MAX(3*P-1,N+P,N+M))
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
-                                                         (D  C)
-
-  to one with the same invariant zeros and with D of full row rank.
-  The normal rank of the transfer-function matrix is the rank of D.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB08ND.html b/doc/_build/html/_static/doc/AB08ND.html
deleted file mode 100644
index 64e80e4b..00000000
--- a/doc/_build/html/_static/doc/AB08ND.html
+++ /dev/null
@@ -1,532 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08ND">AB08ND</A></H2>
-<H3>
-Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a linear multivariable system described by a
-  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
-                                                 f          f
-  has the invariant zeros of the system as generalized eigenvalues.
-  The routine also computes the orders of the infinite zeros and the
-  right and left Kronecker indices of the system (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
-     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
-     $                  LDWORK, M, N, NKROL, NKROR, NU, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
-     $                  C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NU      (output) INTEGER
-          The number of (finite) invariant zeros.
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer function matrix.
-
-  DINFZ   (output) INTEGER
-          The maximum degree of infinite elementary divisors.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors
-          of degree i, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-  AF      (output) DOUBLE PRECISION array, dimension
-          (LDAF,N+MIN(P,M))
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix A  of the reduced pencil. The remainder
-                              f
-          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
-          internal workspace.
-
-  LDAF    INTEGER
-          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
-
-  BF      (output) DOUBLE PRECISION array, dimension (LDBF,N+M)
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix B  of the reduced pencil. The
-                              f
-          remainder of the leading (N+P)-by-(N+M) part is used as
-          internal workspace.
-
-  LDBF    INTEGER
-          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
-                            MIN(M,N) + MAX(3*M-1,N+M) ).
-          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
-          s = MAX(M,P).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a state-space
-  system (A,B,C,D) a regular pencil A - lambda*B  which has the
-                                     f          f
-  invariant zeros of the system as generalized eigenvalues as
-  follows:
-
-     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
-                                                      (D  C)
-
-     (b) reduce the above system to one with the same invariant
-         zeros and with D of full row rank;
-
-     (c) pertranspose the system;
-
-     (d) reduce the system to one with the same invariant zeros and
-         with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-         (A - lambda*I  B) in order to reduce it to
-         (      C       D)
-
-         (A  - lambda*B   X)
-         ( f           f   ), with Y and B  square invertible;
-         (      0         Y)              f
-
-     (f) compute the right and left Kronecker indices of the system
-         (A,B,C,D), which together with the orders of the infinite
-         zeros (determined by steps (a) - (e)) constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the invariant zeros of the system explicitly,
-  a call to this routine may be followed by a call to the LAPACK
-  Library routine DGGEV with A = A , B = B  and N = NU.
-                                  f       f
-  If RANK = 0, the routine DGEEV can be used (since B = I).
-                                                     f
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB08ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
-     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( MAX( MPMAX+1, NMAX ) +
-     $                                 MAX( 3*(MPMAX+1), NMAX+MPMAX ),
-     $                                 8*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
-     $                 NU, P, RANK
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALFI(NMAX),
-     $                 ALFR(NMAX), B(LDB,MMAX), BETA(NMAX),
-     $                 BF(LDBF,MMAX+NMAX), C(LDC,NMAX), D(LDD,MMAX),
-     $                 DWORK(LDWORK), Q(LDQ,1), Z(LDZ,1)
-      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
-     $                 KRONR(NMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AB08ND, DGEGV
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AB08ND( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) N - NU
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   20                CONTINUE
-                  END IF
-               END IF
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AB08ND( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99987 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99986 ) N - NU
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 40 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   40                CONTINUE
-                  END IF
-               END IF
-*              Compute the structural invariants of the given system.
-               CALL AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99984 ) NU
-                  IF ( NU.GT.0 ) THEN
-*                    Compute the invariant zeros of the given system.
-*                    Workspace: need 8*NU.
-                     WRITE ( NOUT, FMT = 99983 )
-                     CALL DGEGV( 'No vectors', 'No vectors', NU, AF,
-     $                           LDAF, BF, LDBF, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 60 I = 1, NU
-                           IF ( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99982 )
-                     END IF
-                  END IF
-                  NINFZ = 0
-                  DO 80 I = 1, DINFZ
-                     IF ( INFZ(I).GT.0 ) THEN
-                        NINFZ = NINFZ + INFZ(I)*I
-                     END IF
-   80             CONTINUE
-                  WRITE ( NOUT, FMT = 99978 ) NINFZ
-                  IF ( NINFZ.GT.0 ) THEN
-                     DO 100 I = 1, DINFZ
-                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  100                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                      ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                      ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AB08ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB08ND = ',I2)
-99997 FORMAT (' INFO on exit from DGEGV = ',I2)
-99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
-99993 FORMAT (/' The system (A,C) is completely observable ')
-99992 FORMAT (/' The dimension of the observable subspace = ',I3)
-99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
-     $       'e matrix AF. ')
-99990 FORMAT (/' The matrix AF is ')
-99989 FORMAT (20(1X,F8.4))
-99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
-     $       ))
-99987 FORMAT (/' The system (A,B) is completely controllable ')
-99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' matrix AF. ')
-99984 FORMAT (//' The number of finite invariant zeros = ',I3)
-99983 FORMAT (/' The finite invariant zeros are ')
-99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
-     $       'ambda*BF - AF).')
-99981 FORMAT (/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4)
-99979 FORMAT (1X,F9.4,6X,F9.4)
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08ND EXAMPLE PROGRAM DATA
-   6     2     3     0.0     N
-   1.0   0.0   0.0   0.0   0.0   0.0
-   0.0   1.0   0.0   0.0   0.0   0.0
-   0.0   0.0   3.0   0.0   0.0   0.0
-   0.0   0.0   0.0  -4.0   0.0   0.0
-   0.0   0.0   0.0   0.0  -1.0   0.0
-   0.0   0.0   0.0   0.0   0.0   3.0
-   0.0  -1.0
-  -1.0   0.0
-   1.0  -1.0
-   0.0   0.0
-   0.0   1.0
-  -1.0  -1.0
-   1.0   0.0   0.0   1.0   0.0   0.0
-   0.0   1.0   0.0   1.0   0.0   1.0
-   0.0   0.0   1.0   0.0   0.0   1.0
-   0.0   0.0
-   0.0   0.0
-   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB08ND EXAMPLE PROGRAM RESULTS
-
- The left Kronecker indices of (A,C) are 
-  1    2    2
-
- The dimension of the observable subspace =   5
-
- The output decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -1.0000
-
-
- The right Kronecker indices of (A,B) are 
-  2    3
-
- The dimension of the controllable subspace =   5
-
- The input decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -4.0000
-
-
- The number of finite invariant zeros =   2
-
- The finite invariant zeros are 
-
- real  part     imag  part 
-    2.0000
-   -1.0000
-
- which correspond to the generalized eigenvalues of (lambda*BF - AF).
-
-
- The number of infinite zeros =   2
-
- The orders of the infinite zeros are 
-  1    1
-
- The number of right Kronecker indices =   0
-
- The number of left Kronecker indices =   1
-
- The left Kronecker (row) indices of (A,B,C,D) are 
-  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB08NW.html b/doc/_build/html/_static/doc/AB08NW.html
deleted file mode 100644
index f8220f3c..00000000
--- a/doc/_build/html/_static/doc/AB08NW.html
+++ /dev/null
@@ -1,545 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NW">AB08NW</A></H2>
-<H3>
-Construction of a regular pencil such that its generalized eigenvalues are finite Smith zeros of a system (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the system pencil
-
-                    ( A-lambda*I B )
-        S(lambda) = (              )
-                    (      C     D )
-
-  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
-  S(lambda) as generalized eigenvalues. The routine also computes
-  the orders of the infinite Smith zeros and determines the singular
-  and infinite Kronecker structure of the system pencil, i.e., the
-  right and left Kronecker indices, and the multiplicities of the
-  infinite eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE, NKROL,
-     $                   INFZ, KRONR, INFE, KRONL, E, LDE, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFE(*),  INFZ(*),  IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the system
-          matrix as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER.
-          The order of the square matrix A, the number of rows of
-          the matrix B, and number of columns of the matrix C.
-          N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Af of the reduced pencil.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 1, and
-          LDB &gt;= MAX(1,N), if M &gt; 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  NFZ     (output) INTEGER
-          The number of finite zeros.
-
-  NRANK   (output) INTEGER
-          The normal rank of the system pencil.
-
-  NIZ     (output) INTEGER
-          The number of infinite zeros.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite Smith zeros.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NINFE   (output) INTEGER
-          The number of elementary infinite blocks.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N+1)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors in
-          the Smith form of degree i, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (N+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  INFE    (output) INTEGER array, dimension (N+1)
-          The leading NINFE elements of INFE contain the
-          multiplicities of infinite eigenvalues.
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading NFZ-by-NFZ part of this array contains the
-          matrix Ef of the reduced pencil.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance  TOLDEF = MAX(N+P,N+M)**2*EPS,  is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MAX(N,M,P) = 0; otherwise,
-          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
-                         MIN(P,N) + MAX(N + MAX(P,M), 3*P - 1 ) ) +
-                         MAX(P+N,M+N)*MAX(P+N,M+N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a state space
-  system, (A-lambda*I,B,C,D), a regular pencil Af-lambda*Ef, which
-  has the finite zeros of the system as generalized eigenvalues.
-  The procedure has the following main computational steps:
-
-     (a) construct the (N+P)-by-(M+N) system pencil
-
-          S(lambda) = (B  A)-lambda*( 0  I );
-                      (D  C)        ( 0  0 )
-
-     (b) reduce S(lambda) to S1(lambda) with the same finite zeros
-         and right Kronecker structure, but with D of full row rank;
-
-     (c) reduce the pencil S1(lambda) to S2(lambda) with the same
-         finite zeros and with D square invertible;
-
-     (d) perform a unitary transformation on the columns of
-         S2(lambda) = (A-lambda*I   B), in order to reduce it to
-                      (     C       D)
-
-         (Af-lambda*Ef   X), with Y and Ef square invertible;
-         (     0         Y)
-
-     (e) compute the right and left Kronecker indices of the system
-         matrix, which, together with the multiplicities of the
-         finite and infinite eigenvalues, constitute the complete
-         set of structural invariants under strict equivalence
-         transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of the
-      Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the finite Smith zeros of the system
-  explicitly, a call to this routine may be followed by a call to
-  the LAPACK Library routine DGGEV.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB08NW EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = NMAX, LDQ = 1, LDZ = 1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( MAX( MIN( PMAX, MMAX ) + MMAX +
-     $                                      MAX( 2*MMAX, NMAX ) - 1,
-     $                                      MIN( PMAX, NMAX ) +
-     $                                      MAX( NMAX + MPMAX,
-     $                                           3*PMAX - 1 ) ) +
-     $                                 ( NMAX + MPMAX )**2, 8*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, M, N, NFZ, NINFE, NIZ, NKROL,
-     $                 NKROR, NRANK, P
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
-     $                 AS(LDA,NMAX), B(LDB,MMAX), BS(LDB,MMAX),
-     $                 BETA(NMAX), C(LDC,NMAX), CS(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 Q(LDQ,1), Z(LDZ,1)
-      INTEGER          INFE(NMAX+1), INFZ(NMAX+1), IWORK(MPMAX),
-     $                 KRONL(NMAX+1), KRONR(NMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AB08NW, DLACPY, DGEGV
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Save the matrices A, B, and C.
-               CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
-               CALL DLACPY( 'Full', N, M, B, LDB, BS, LDB )
-               CALL DLACPY( 'Full', P, N, C, LDC, CS, LDC )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AB08NW( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
-     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
-                  IF ( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) N - NFZ
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   20                CONTINUE
-                  END IF
-               END IF
-*              Restore the matrices A and C.
-               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
-               CALL DLACPY( 'Full', P, N, CS, LDC, C, LDC )
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AB08NW( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
-     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
-                  IF ( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99987 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99986 ) N - NFZ
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 40 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   40                CONTINUE
-                  END IF
-               END IF
-*              Restore the matrices A and B.
-               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
-               CALL DLACPY( 'Full', N, M, BS, LDB, B, LDB )
-*              Compute the structural invariants of the given system.
-               CALL AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
-     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99984 ) NFZ
-                  IF ( NFZ.GT.0 ) THEN
-*                    Compute the invariant zeros of the given system.
-*                    Workspace: need 8*NFZ.
-                     WRITE ( NOUT, FMT = 99983 )
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 60 I = 1, NFZ
-                           IF ( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99982 )
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99978 ) NIZ
-                  IF ( NIZ.GT.0 ) THEN
-                     DO 100 I = 1, DINFZ
-                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  100                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                      ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                      ( KRONL(I), I = 1,NKROL )
-                  IF ( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99969 )
-     $                                      ( INFE(I), I = 1,NINFE )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AB08NW EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB08NW = ',I2)
-99997 FORMAT (' INFO on exit from DGEGV = ',I2)
-99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
-99993 FORMAT (/' The system (A,C) is completely observable ')
-99992 FORMAT (/' The dimension of the observable subspace = ',I3)
-99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
-     $       'e matrix AF. ')
-99990 FORMAT (/' The matrix AF is ')
-99989 FORMAT (20(1X,F8.4))
-99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
-     $       ))
-99987 FORMAT (/' The system (A,B) is completely controllable ')
-99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' matrix AF. ')
-99984 FORMAT (//' The number of finite invariant zeros = ',I3)
-99983 FORMAT (/' The finite invariant zeros are ')
-99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
-     $       'ambda*EF - AF).')
-99981 FORMAT (/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4)
-99979 FORMAT (1X,F9.4,6X,F9.4)
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-99969 FORMAT (/' Multiplicities of infinite eigenvalues',/(20(I3,2X))) 
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08NW EXAMPLE PROGRAM DATA
-   6     2     3     0.0     N
-   1.0   0.0   0.0   0.0   0.0   0.0
-   0.0   1.0   0.0   0.0   0.0   0.0
-   0.0   0.0   3.0   0.0   0.0   0.0
-   0.0   0.0   0.0  -4.0   0.0   0.0
-   0.0   0.0   0.0   0.0  -1.0   0.0
-   0.0   0.0   0.0   0.0   0.0   3.0
-   0.0  -1.0
-  -1.0   0.0
-   1.0  -1.0
-   0.0   0.0
-   0.0   1.0
-  -1.0  -1.0
-   1.0   0.0   0.0   1.0   0.0   0.0
-   0.0   1.0   0.0   1.0   0.0   1.0
-   0.0   0.0   1.0   0.0   0.0   1.0
-   0.0   0.0
-   0.0   0.0
-   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB08NW EXAMPLE PROGRAM RESULTS
-
- The left Kronecker indices of (A,C) are 
-  1    2    2
-
- The dimension of the observable subspace =   5
-
- The output decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -1.0000
-
-
- The right Kronecker indices of (A,B) are 
-  2    3
-
- The dimension of the controllable subspace =   5
-
- The input decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -4.0000
-
-
- The number of finite invariant zeros =   2
-
- The finite invariant zeros are 
-
- real  part     imag  part 
-    2.0000
-   -1.0000
-
- which correspond to the generalized eigenvalues of (lambda*EF - AF).
-
-
- The number of infinite zeros =   2
-   2 infinite zero(s) of order   1
-
- The number of right Kronecker indices =   0
-
- The number of left Kronecker indices =   1
-
- The left Kronecker (row) indices of (A,B,C,D) are 
-  2
-
- Multiplicities of infinite eigenvalues
-  2    2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB08NX.html b/doc/_build/html/_static/doc/AB08NX.html
deleted file mode 100644
index 9b840294..00000000
--- a/doc/_build/html/_static/doc/AB08NX.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NX">AB08NX</A></H2>
-<H3>
-Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) system
-               ( B  A )
-               ( D  C )
-  an (NU+MU)-by-(M+NU) "reduced" system
-               ( B' A')
-               ( D' C')
-  having the same transmission zeros but with D' of full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NX( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
-     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDABCD, LDWORK, M, MU, N, NINFZ, NKROL,
-     $                  NU, P, RO, SIGMA
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  RO      (input/output) INTEGER
-          On entry,
-          = P     for the original system;
-          = MAX(P-M, 0) for the pertransposed system.
-          On exit, RO contains the last computed rank.
-
-  SIGMA   (input/output) INTEGER
-          On entry,
-          = 0  for the original system;
-          = M  for the pertransposed system.
-          On exit, SIGMA contains the last computed value sigma in
-          the algorithm.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) DOUBLE PRECISION array, dimension
-          (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound input matrix of the system.
-          On exit, the leading (NU+MU)-by-(M+NU) part of this array
-          contains the reduced compound input matrix of the system.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  NINFZ   (input/output) INTEGER
-          On entry, the currently computed number of infinite zeros.
-          It should be initialized to zero on the first call.
-          NINFZ &gt;= 0.
-          On exit, the number of infinite zeros.
-
-  INFZ    (input/output) INTEGER array, dimension (N)
-          On entry, INFZ(i) must contain the current number of
-          infinite zeros of degree i, where i = 1,2,...,N, found in
-          the previous call(s) of the routine. It should be
-          initialized to zero on the first call.
-          On exit, INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,N.
-
-  KRONL   (input/output) INTEGER array, dimension (N+1)
-          On entry, this array must contain the currently computed
-          left Kronecker (row) indices found in the previous call(s)
-          of the routine. It should be initialized to zero on the
-          first call.
-          On exit, the leading NKROL elements of this array contain
-          the left Kronecker (row) indices.
-
-  MU      (output) INTEGER
-          The normal rank of the transfer function matrix of the
-          original system.
-
-  NU      (output) INTEGER
-          The dimension of the reduced system matrix and the number
-          of (finite) invariant zeros if D' is invertible.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB08NY.html b/doc/_build/html/_static/doc/AB08NY.html
deleted file mode 100644
index e7672a0d..00000000
--- a/doc/_build/html/_static/doc/AB08NY.html
+++ /dev/null
@@ -1,244 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NY">AB08NY</A></H2>
-<H3>
-Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) system pencil
-               ( B  A-lambda*I )
-               ( D      C      )
-  an (NR+PR)-by-(M+NR) "reduced" system pencil,
-               ( Br Ar-lambda*I ),
-               ( Dr     Cr      )
-  having the same transmission zeros, but with Dr of full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, NINFZ,
-     $                   NR, PR, DINFZ, NKRONL, INFZ, KRONL, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           FIRST
-      INTEGER           DINFZ, INFO, LDABCD, LDWORK, M, N, NINFZ,
-     $                  NKRONL, NR, P, PR
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FIRST   LOGICAL
-          Specifies if AB08NY is called first time, or it is called
-          for an already reduced system, with D of full column rank,
-          with the last M rows in upper triangular form:
-          FIRST = .TRUE.  :  first time called;
-          FIRST = .FALSE. :  not first time called.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C, and the order of the square matrix A.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and D.  M &gt;= 0.
-          M &lt;= P, if FIRST = .FALSE.
-
-  P       (input) INTEGER
-          The number of rows of the matrices C and D.  P &gt;= 0.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          An estimate of the largest singular value of the original
-          matrix ABCD (for instance, the Frobenius norm of ABCD).
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) DOUBLE PRECISION array, dimension
-          (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound matrix
-                   (  B   A  ),
-                   (  D   C  )
-          where A is an N-by-N matrix, B is an N-by-M matrix,
-          C is a P-by-N matrix, and D is a P-by-M matrix.
-          If FIRST = .FALSE., then D must be a full column rank
-          matrix, with the last M rows in an upper triangular form.
-          On exit, the leading (NR+PR)-by-(M+NR) part of this array
-          contains the reduced compound matrix
-                    (  Br  Ar ),
-                    (  Dr  Cr )
-          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
-          Cr is a PR-by-NR matrix, and Dr is a PR-by-M full row rank
-          left upper-trapezoidal matrix, with the first PR columns
-          in an upper triangular form.
-
-  LDABCD  INTEGER
-          The leading dimension of the array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  NINFZ   (input/output) INTEGER
-          On entry, the currently computed number of infinite zeros.
-          It should be initialized to zero on the first call.
-          NINFZ &gt;= 0.
-          If FIRST = .FALSE., then NINFZ is not modified.
-          On exit, the number of infinite zeros.
-
-  NR      (output) INTEGER
-          The order of the reduced matrix Ar; also, the number of
-          rows of the reduced matrix Br and the number of columns of
-          the reduced matrix Cr.
-          If Dr is invertible, NR is also the number of finite Smith
-          zeros.
-
-  PR      (output) INTEGER
-          The normal rank of the transfer-function matrix of the
-          original system; also, the number of rows of the reduced
-          matrices Cr and Dr.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite zeros.
-          DINFZ = 0 if FIRST = .FALSE. .
-
-  NKRONL  (output) INTEGER
-          The maximal dimension of left elementary Kronecker blocks.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          INFZ(i) contains the number of infinite zeros of degree i,
-          where i = 1,2,...,DINFZ.
-          INFZ is not referenced if FIRST = .FALSE. .
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          KRONL(i) contains the number of left elementary Kronecker
-          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).
-          If the user sets TOL to be less than or equal to zero,
-          then the tolerance is taken as (N+P)*(N+M)*EPS, where EPS
-          is the machine precision (see LAPACK Library Routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MIN(P, MAX(N,M)) = 0; otherwise,
-          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
-                         MIN(P,N) + MAX(N + MAX( P, M), 3*P - 1 ) ).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of the
-      Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( (P+N)*(M+N)*N )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite zeros is computed (if FIRST = .TRUE.) as
-
-                DINFZ
-     NINFZ =     Sum  (INFZ(i)*i .
-                 i=1
-
-  Note that each infinite zero of multiplicity k corresponds to an
-  infinite eigenvalue of multiplicity k+1.
-  The multiplicities of the infinite eigenvalues can be determined
-  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
-
-                  DINFZ
-  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
-                   i=1
-
-  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
-    for i = 1, ..., DINFZ.
-
-  The left Kronecker indices are:
-
-  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
-  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB08NZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NZ">AB08NZ</A></H2>
-<H3>
-Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a linear multivariable system described by a
-  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
-                                                 f          f
-  has the invariant zeros of the system as generalized eigenvalues.
-  The routine also computes the orders of the infinite zeros and the
-  right and left Kronecker indices of the system (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
-     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
-     $                  LZWORK, M, N, NKROL, NKROR, NU, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      COMPLEX*16        A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
-     $                  C(LDC,*), D(LDD,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) COMPLEX*16 array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) COMPLEX*16 array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) COMPLEX*16 array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NU      (output) INTEGER
-          The number of (finite) invariant zeros.
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer function matrix.
-
-  DINFZ   (output) INTEGER
-          The maximum degree of infinite elementary divisors.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors
-          of degree i, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-  AF      (output) COMPLEX*16 array, dimension (LDAF,N+MIN(P,M))
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix A  of the reduced pencil. The remainder
-                              f
-          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
-          internal workspace.
-
-  LDAF    INTEGER
-          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
-
-  BF      (output) COMPLEX*16 array, dimension (LDBF,N+M)
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix B  of the reduced pencil. The
-                              f
-          remainder of the leading (N+P)-by-(N+M) part is used as
-          internal workspace.
-
-  LDBF    INTEGER
-          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*MAX(P,M)))
-
-  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
-                            MIN(M,N) + MAX(3*M-1,N+M) ).
-          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
-          s = MAX(M,P).
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a state-space
-  system (A,B,C,D) a regular pencil A - lambda*B  which has the
-                                     f          f
-  invariant zeros of the system as generalized eigenvalues as
-  follows:
-
-     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
-                                                      (D  C)
-
-     (b) reduce the above system to one with the same invariant
-         zeros and with D of full row rank;
-
-     (c) pertranspose the system;
-
-     (d) reduce the system to one with the same invariant zeros and
-         with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-         (A - lambda*I  B) in order to reduce it to
-         (      C       D)
-
-         (A  - lambda*B   X)
-         ( f           f   ), with Y and B  square invertible;
-         (     0          Y)              f
-
-     (f) compute the right and left Kronecker indices of the system
-         (A,B,C,D), which together with the orders of the infinite
-         zeros (determined by steps (a) - (e)) constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the invariant zeros of the system explicitly,
-  a call to this routine may be followed by a call to the LAPACK
-  Library routine ZGGEV with A = A , B = B  and N = NU.
-                                  f       f
-  If RANK = 0, the routine ZGEEV can be used (since B = I).
-                                                     f
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB08NZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
-     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK =
-     $                   MAX( MIN( PMAX, MMAX ) +
-     $                        MAX( 3*MMAX - 1, NMAX ),
-     $                        MIN( PMAX, NMAX ) +
-     $                        MAX( 3*PMAX, NMAX+PMAX, NMAX+MMAX ),
-     $                        MIN( MMAX, NMAX ) +
-     $                        MAX( 3*MMAX, NMAX+MMAX ), 1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
-     $                 NU, P, RANK
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALPHA(NMAX),
-     $                 B(LDB,MMAX), BETA(NMAX), BF(LDBF,MMAX+NMAX),
-     $                 C(LDC,NMAX), D(LDD,MMAX), Q(LDQ,1), Z(LDZ,1),
-     $                 ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK)
-      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
-     $                 KRONR(NMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AB08NZ, ZGEGV
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AB08NZ( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) N - NU
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   20                CONTINUE
-                  END IF
-               END IF
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AB08NZ( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99987 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99986 ) N - NU
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 40 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   40                CONTINUE
-                  END IF
-               END IF
-*              Compute the structural invariants of the given system.
-               CALL AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99984 ) NU
-                  IF ( NU.GT.0 ) THEN
-*                    Compute the invariant zeros of the given system.
-*                    Complex Workspace: need 2*NU.
-*                    Real Workspace:    need 8*NU.
-                     WRITE ( NOUT, FMT = 99983 )
-                     CALL ZGEGV( 'No vectors', 'No vectors', NU, AF,
-     $                           LDAF, BF, LDBF, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 60 I = 1, NU
-                           WRITE ( NOUT, FMT = 99980 ) ALPHA(I)/BETA(I)
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99982 )
-                     END IF
-                  END IF
-                  NINFZ = 0
-                  DO 80 I = 1, DINFZ
-                     IF ( INFZ(I).GT.0 ) THEN
-                        NINFZ = NINFZ + INFZ(I)*I
-                     END IF
-   80             CONTINUE
-                  WRITE ( NOUT, FMT = 99978 ) NINFZ
-                  IF ( NINFZ.GT.0 ) THEN
-                     DO 100 I = 1, DINFZ
-                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  100                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                      ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                      ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AB08NZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB08NZ = ',I2)
-99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
-99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
-99993 FORMAT (/' The system (A,C) is completely observable ')
-99992 FORMAT (/' The dimension of the observable subspace = ',I3)
-99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
-     $       'e matrix AF. ')
-99990 FORMAT (/' The matrix AF is ')
-99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
-     $       ))
-99987 FORMAT (/' The system (A,B) is completely controllable ')
-99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' matrix AF. ')
-99984 FORMAT (//' The number of finite invariant zeros = ',I3)
-99983 FORMAT (/' The finite invariant zeros are ')
-99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
-     $       'ambda*BF - AF).')
-99981 FORMAT (/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08NZ EXAMPLE PROGRAM DATA
-   6     2     3    0.0    N
-  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-4.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-1.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)
-  (0.0,0.0) (-1.0,0.0)
- (-1.0,0.0)  (0.0,0.0)
-  (1.0,0.0) (-1.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (1.0,0.0)
- (-1.0,0.0) (-1.0,0.0)
-  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB08NZ EXAMPLE PROGRAM RESULTS
-
- The left Kronecker indices of (A,C) are 
-  1    2    2
-
- The dimension of the observable subspace =   5
-
- The output decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-   -1.0000  +0.0000i 
-
-
- The right Kronecker indices of (A,B) are 
-  2    3
-
- The dimension of the controllable subspace =   5
-
- The input decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-   -4.0000  +0.0000i 
-
-
- The number of finite invariant zeros =   2
-
- The finite invariant zeros are 
-
- real  part     imag  part 
-    2.0000  +0.0000i 
-   -1.0000  +0.0000i 
-
- which correspond to the generalized eigenvalues of (lambda*BF - AF).
-
-
- The number of infinite zeros =   2
-
- The orders of the infinite zeros are 
-  1    1
-
- The number of right Kronecker indices =   0
-
- The number of left Kronecker indices =   1
-
- The left Kronecker (row) indices of (A,B,C,D) are 
-  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09AD.html b/doc/_build/html/_static/doc/AB09AD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/AB09AD.html
+++ /dev/null
@@ -1,395 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09AD">AB09AD</A></H2>
-<H3>
-Balance & Truncate model reduction for stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for a stable original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate (B & T)
-  model reduction method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
-     $                   B, LDB, C, LDC, HSV, TOL, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0, if JOB = 'B';
-          LIWORK = N, if JOB = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to the real Schur form failed;
-          = 2:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09AD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the square-root Balance & Truncate method of [1]
-  is used and, for DICO = 'C', the resulting model is balanced.
-  By setting TOL &lt;= 0, the routine can be used to compute balanced
-  minimal state-space realizations of stable systems.
-
-  If JOB = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used.
-  By setting TOL &lt;= 0, the routine can be used to compute minimal
-  state-space realizations of stable systems.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
-     $                            MAX( NMAX, MMAX, PMAX ) ) +
-     $                          ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NR, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, TOL, DICO, JOB, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      A, LDA, B, LDB, C, LDC, HSV, TOL, IWORK,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09AD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values HSV are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09AD EXAMPLE PROGRAM DATA (Continuous system)
-  7     2     3     0   1.E-1      C     N     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09AD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values HSV are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-
- The reduced state dynamics matrix Ar is 
-   1.3451   5.0399   0.0000   0.0000   4.5315
-  -4.0214  -3.6604   0.0000   0.0000  -0.9056
-   0.0000   0.0000   0.5124   1.7910   0.0000
-   0.0000   0.0000  -4.2167  -2.9900   0.0000
-   1.2402   1.6416   0.0000   0.0000  -0.0586
-
- The reduced input/state matrix Br is 
-  -0.3857   0.3857
-  -3.1753   3.1753
-  -0.7447  -0.7447
-  -3.6872  -3.6872
-   1.8197  -1.8197
-
- The reduced state/output matrix Cr is 
-  -0.6704   0.1828  -0.6582   0.2222  -0.0104
-   0.1089   0.4867   0.0000   0.0000   0.8651
-   0.6704  -0.1828  -0.6582   0.2222   0.0104
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09AX.html b/doc/_build/html/_static/doc/AB09AX.html
deleted file mode 100644
index e87a3d7f..00000000
--- a/doc/_build/html/_static/doc/AB09AX.html
+++ /dev/null
@@ -1,282 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09AX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09AX">AB09AX</A></H2>
-<H3>
-Balance & Truncate model reduction for stable systems with state matrix in real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for a stable original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate model
-  reduction method. The state dynamics matrix A of the original
-  system is an upper quasi-triangular matrix in real Schur canonical
-  form. The matrices of the reduced order system are computed using
-  the truncation formulas:
-
-       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09AX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, HSV, T, LDT, TI, LDTI, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDT, LDTI, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*),
-     $                  T(LDT,*), TI(LDTI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
-          array contains the right truncation matrix T.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
-          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
-          array contains the left truncation matrix TI.
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0, if JOB = 'B', or
-          LIWORK = N, if JOB = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09AX determines for
-  the given system (1), the matrices of a reduced NR order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the square-root Balance & Truncate method of [1]
-  is used and, for DICO = 'C', the resulting model is balanced.
-  By setting TOL &lt;= 0, the routine can be used to compute balanced
-  minimal state-space realizations of stable systems.
-
-  If JOB = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used.
-  By setting TOL &lt;= 0, the routine can be used to compute minimal
-  state-space realizations of stable systems.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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+++ /dev/null
@@ -1,426 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09BD">AB09BD</A></H2>
-<H3>
-Singular Perturbation Approximation based model reduction for stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root Singular
-  Perturbation Approximation (SPA) model reduction method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
-     $                   B, LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root SPA method;
-          = 'N':  use the balancing-free square-root SPA method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to the real Schur form failed;
-          = 2:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09BD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the balancing-based square-root SPA method of [1]
-  is used and the resulting model is balanced.
-
-  If JOB = 'N', the balancing-free square-root SPA method of [2]
-  is used.
-  By setting TOL1 = TOL2, the routine can be used to compute
-  Balance & Truncate approximations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems,
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
-     $                            MAX( NMAX, MMAX, PMAX ) ) +
-     $                          ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, JOB, EQUIL,
-     $                      ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
-     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09BD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09BD EXAMPLE PROGRAM DATA (Continuous system)
-  7     2     3     0   1.E-1  1.E-14      C     N     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09BD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-
- The reduced state dynamics matrix Ar is 
-   1.3960   5.1248   0.0000   0.0000   4.4331
-  -4.1411  -3.8605   0.0000   0.0000  -0.6738
-   0.0000   0.0000   0.5847   1.9230   0.0000
-   0.0000   0.0000  -4.3823  -3.2922   0.0000
-   1.3261   1.7851   0.0000   0.0000  -0.2249
-
- The reduced input/state matrix Br is 
-  -0.2901   0.2901
-  -3.4004   3.4004
-  -0.6379  -0.6379
-  -3.9315  -3.9315
-   1.9813  -1.9813
-
- The reduced state/output matrix Cr is 
-  -0.6570   0.2053  -0.6416   0.2526  -0.0364
-   0.1094   0.4875   0.0000   0.0000   0.8641
-   0.6570  -0.2053  -0.6416   0.2526   0.0364
-
- The reduced input/output matrix Dr is 
-   0.0498  -0.0007
-   0.0010  -0.0010
-  -0.0007   0.0498
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09BX.html b/doc/_build/html/_static/doc/AB09BX.html
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-<HTML>
-<HEAD><TITLE>AB09BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09BX">AB09BX</A></H2>
-<H3>
-Singular Perturbation Approximation based model reduction for stable systems with state matrix in real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root
-  Singular Perturbation Approximation (SPA) model reduction method.
-  The state dynamics matrix A of the original system is an upper
-  quasi-triangular matrix in real Schur canonical form. The matrices
-  of a minimal realization are computed using the truncation
-  formulas:
-
-       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .      (1)
-
-  Am, Bm, Cm and D serve further for computing the SPA of the given
-  system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09BX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
-     $                  LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root SPA method;
-          = 'N':  use the balancing-free square-root SPA method.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
-          array contains the right truncation matrix T in (1).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
-          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
-          array contains the left truncation matrix TI in (1).
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                              (2)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09BX determines for
-  the given system (1), the matrices of a reduced NR order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                          (3)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the balancing-based square-root SPA method of [1]
-  is used and the resulting model is balanced.
-
-  If JOB = 'N', the balancing-free square-root SPA method of [2]
-  is used.
-  By setting TOL1 = TOL2, the routine can be also used to compute
-  Balance & Truncate approximations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems,
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,427 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09CD">AB09CD</A></H2>
-<H3>
-Optimal Hankel-norm approximation based model reduction for stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using the
-  optimal Hankel-norm approximation method in conjunction with
-  square-root balancing.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
-          where KR is the multiplicity of the Hankel singular value
-          HSV(NR+1), NR is the desired order on entry, and NMIN is
-          the order of a minimal realization of the given system;
-          NMIN is determined as the number of Hankel singular values
-          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M),   if DICO = 'C';
-          LIWORK = MAX(1,N,M), if DICO = 'D'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2 ), where
-          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
-          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is set
-                automatically to a value corresponding to the order
-                of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to the real Schur form failed;
-          = 2:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed;
-          = 4:  the computation of stable projection failed;
-          = 5:  the order of computed stable projection differs
-                from the order of Hankel-norm approximation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09CD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The optimal Hankel-norm approximation method of [1], based on the
-  square-root balancing projection formulas of [2], is employed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [2] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
-     $                                 MAX( NMAX, MMAX, PMAX ) + 5 ) +
-     $                               ( NMAX*( NMAX + 1 ) )/2,
-     $                            NMAX*( MMAX + PMAX + 2 ) +
-     $                            2*MMAX*PMAX +
-     $                            MIN( NMAX, MMAX ) + MAX( 3*MMAX + 1,
-     $                            MIN( NMAX, MMAX ) + PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, P
-      CHARACTER*1      DICO, EQUIL, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR,
-     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
-     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09CD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09CD EXAMPLE PROGRAM DATA (Continuous system)
-  7     2     3     0   1.E-1  1.E-14      C     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09CD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5038  -5.3070  -3.2250   0.0000   0.0000
-   1.8355  -0.5038  -2.6289   0.0000   0.0000
-   0.0000   0.0000  -1.5171   0.0000   0.0000
-   0.0000   0.0000   0.0000  -1.2925  -9.0718
-   0.0000   0.0000   0.0000   0.5047  -1.2925
-
- The reduced input/state matrix Br is 
-  -1.5343   1.5343
-  -0.3614   0.3614
-  -1.1096   1.1096
-  -4.5325  -4.5325
-  -0.7396  -0.7396
-
- The reduced state/output matrix Cr is 
-   1.8971  -0.3055  -2.1124   0.4421  -2.1023
-  -0.0394   1.1112  -0.3119   0.0000   0.0000
-  -1.8971   0.3055   2.1124   0.4421  -2.1023
-
- The reduced input/output matrix Dr is 
-   0.0126  -0.0126
-   0.0005  -0.0005
-  -0.0126   0.0126
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09CX.html b/doc/_build/html/_static/doc/AB09CX.html
deleted file mode 100644
index 23cac5da..00000000
--- a/doc/_build/html/_static/doc/AB09CX.html
+++ /dev/null
@@ -1,275 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09CX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09CX">AB09CX</A></H2>
-<H3>
-Optimal Hankel-norm approximation based model reduction for stable systems with state matrix in real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using the optimal
-  Hankel-norm approximation method in conjunction with square-root
-  balancing. The state dynamics matrix A of the original system is
-  an upper quasi-triangular matrix in real Schur canonical form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09CX( DICO, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
-          where KR is the multiplicity of the Hankel singular value
-          HSV(NR+1), NR is the desired order on entry, and NMIN is
-          the order of a minimal realization of the given system;
-          NMIN is determined as the number of Hankel singular values
-          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M),   if DICO = 'C';
-          LIWORK = MAX(1,N,M), if DICO = 'D'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1,LDW2 ), where
-          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
-          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is set
-                automatically to a value corresponding to the order
-                of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed;
-          = 3:  the computation of stable projection failed;
-          = 4:  the order of computed stable projection differs
-                from the order of Hankel-norm approximation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09CX determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The optimal Hankel-norm approximation method of [1], based on the
-  square-root balancing projection formulas of [2], is employed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [2] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09DD.html b/doc/_build/html/_static/doc/AB09DD.html
deleted file mode 100644
index 7f7afe05..00000000
--- a/doc/_build/html/_static/doc/AB09DD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09DD">AB09DD</A></H2>
-<H3>
-Computation of a reduced order model using singular perturbation approximation formulas
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model by using singular perturbation
-  approximation formulas.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, RCOND, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, NR, P
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A; also the number of rows of matrix B and the
-          number of columns of the matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows of
-          matrices C and D.  P &gt;= 0.
-
-  NR      (input) INTEGER
-          The order of the reduced order system.  N &gt;= NR &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix of the original system.
-          On exit, the leading NR-by-NR part of this array contains
-          the state dynamics matrix Ar of the reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix of the original system.
-          On exit, the leading NR-by-M part of this array contains
-          the input/state matrix Br of the reduced order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix of the original system.
-          On exit, the leading P-by-NR part of this array contains
-          the state/output matrix Cr of the reduced order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix of the original system.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix Dr of the reduced order system.
-          If NR = 0 and the given system is stable, then D contains
-          the steady state gain of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal condition number of the matrix A22-g*I
-          (see METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*(N-NR))
-
-  DWORK   DOUBLE PRECISION array, dimension (4*(N-NR))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1: if the matrix A22-g*I (see METHOD) is numerically
-               singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the system (A,B,C,D), partition the system matrices as
-
-         ( A11 A12 )        ( B1 )
-     A = (         ) ,  B = (    ) ,  C = ( C1  C2 ),
-         ( A21 A22 )        ( B2 )
-
-  where A11 is NR-by-NR, B1 is NR-by-M, C1 is P-by-NR, and the other
-  submatrices have appropriate dimensions.
-
-  The matrices of the reduced order system (Ar,Br,Cr,Dr) are
-  computed according to the following residualization formulas:
-                             -1                               -1
-     Ar = A11 + A12*(g*I-A22)  *A21 ,  Br = B1 + A12*(g*I-A22)  *B2
-                           -1                               -1
-     Cr = C1 + C2*(g*I-A22)  *A21   ,  Dr = D + C2*(g*I-A22)  *B2
-
-  where g = 0 if DICO = 'C' and g = 1 if DICO = 'D'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, M, N, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09DD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, RCOND, IWORK, DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) RCOND
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09DD = ',I2)
-99997 FORMAT (' The computed reciprocal condition number = ',1PD12.5)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09DD EXAMPLE PROGRAM DATA  (Continuous system)
-  7     2     3     5      C
-  -0.04165    4.9200   -4.9200         0         0         0         0
-         0   -3.3300         0         0         0    3.3300         0
-    0.5450         0         0   -0.5450         0         0         0
-         0         0    4.9200  -0.04165    4.9200         0         0
-         0         0         0         0   -3.3300         0    3.3300
-   -5.2100         0         0         0         0  -12.5000         0
-         0         0         0   -5.2100         0         0  -12.5000
-         0         0   
-         0         0   
-         0         0   
-         0         0   
-         0         0   
-   12.5000         0   
-         0   12.5000   
-     1     0     0     0     0     0     0
-     0     0     1     0     0     0     0
-     0     0     0     1     0     0     0
-     0     0     
-     0     0     
-     0     0     
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09DD EXAMPLE PROGRAM RESULTS
-
- The computed reciprocal condition number =  1.00000D+00
-
- The reduced state dynamics matrix Ar is 
-  -0.0416   4.9200  -4.9200   0.0000   0.0000
-  -1.3879  -3.3300   0.0000   0.0000   0.0000
-   0.5450   0.0000   0.0000  -0.5450   0.0000
-   0.0000   0.0000   4.9200  -0.0416   4.9200
-   0.0000   0.0000   0.0000  -1.3879  -3.3300
-
- The reduced input/state matrix Br is 
-   0.0000   0.0000
-   3.3300   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   3.3300
-
- The reduced state/output matrix Cr is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000
-
- The reduced input/output matrix Dr is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09ED.html b/doc/_build/html/_static/doc/AB09ED.html
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--- a/doc/_build/html/_static/doc/AB09ED.html
+++ /dev/null
@@ -1,488 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09ED">AB09ED</A></H2>
-<H3>
-Optimal Hankel-norm approximation based model reduction for unstable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the optimal
-  Hankel-norm approximation method in conjunction with square-root
-  balancing for the ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, NS, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
-          multiplicity of the Hankel singular value HSV(NR-NU+1),
-          NR is the desired order on entry, and NMIN is the order
-          of a minimal realization of the ALPHA-stable part of the
-          given system; NMIN is determined as the number of Hankel
-          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
-          ALPHA-stable part of the given system (computed in
-          HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the given system
-          (computed in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          This value is appropriate to compute a minimal realization
-          of the ALPHA-stable part.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M),   if DICO = 'C';
-          LIWORK = MAX(1,N,M), if DICO = 'D'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2 ), where
-          LDW1 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
-          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computed ALPHA-stable part is just stable,
-                having stable eigenvalues very near to the imaginary
-                axis (if DICO = 'C') or to the unit circle
-                (if DICO = 'D');
-          = 4:  the computation of Hankel singular values failed;
-          = 5:  the computation of stable projection in the
-                Hankel-norm approximation algorithm failed;
-          = 6:  the order of computed stable projection in the
-                Hankel-norm approximation algorithm differs
-                from the order of Hankel-norm approximation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09ED determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1.
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the ALPHA-stable part G1, the optimal Hankel-norm
-  approximation method of [1], based on the square-root
-  balancing projection formulas of [2], is employed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [2] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
-     $                                        MAX( NMAX, MMAX, PMAX ) +
-     $                                 5 ) + ( NMAX*( NMAX + 1 ) )/2,
-     $                                 NMAX*( MMAX + PMAX + 2 ) +
-     $                                 2*MMAX*PMAX + MIN( NMAX, MMAX ) +
-     $                                 MAX( 3*MMAX + 1,
-     $                                      MIN( NMAX, MMAX ) +
-     $                                      PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
-     $                      DICO, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                      A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
-     $                      TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09ED = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09ED EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   -0.6D0 1.E-1  1.E-14 C  N  A  
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000  0.0000
-  0.0000  0.0000
-  0.0000  0.0000
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09ED EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of ALPHA-stable part are
-   1.9178   0.8621   0.7666   0.0336   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5181  -1.1084   0.0000   0.0000   0.0000
-   8.8157  -0.5181   0.0000   0.0000   0.0000
-   0.0000   0.0000  -1.2769   7.3264   0.0000
-   0.0000   0.0000  -0.6203  -1.2769   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.5496
-
- The reduced input/state matrix Br is 
-  -1.2837   1.2837
-  -0.7522   0.7522
-   3.2016   3.2016
-  -0.7640  -0.7640
-   1.3415  -1.3415
-
- The reduced state/output matrix Cr is 
-  -0.1380  -0.6445  -0.6247  -2.0857  -0.8964
-   0.6246   0.0196   0.0000   0.0000   0.6131
-   0.1380   0.6445  -0.6247  -2.0857   0.8964
-
- The reduced input/output matrix Dr is 
-   0.0168  -0.0168
-   0.0008  -0.0008
-  -0.0168   0.0168
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,488 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09FD">AB09FD</A></H2>
-<H3>
-Balance & Truncate model reduction for unstable systems in conjunction with coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for an original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate (B & T)
-  model reduction method in conjunction with stable coprime
-  factorization techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
-     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, NQ, HSV,
-     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NQ,
-     $                  NR, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization is
-          to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  FACT    CHARACTER*1
-          Specifies the type of coprime factorization to be computed
-          as follows:
-          = 'S':  compute a coprime factorization with prescribed
-                  stability degree ALPHA;
-          = 'I':  compute a coprime factorization with inner
-                  denominator.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
-          is the desired order on entry, NQ is the order of the
-          computed coprime factorization of the given system, and
-          NMIN is the order of a minimal realization of the extended
-          system (see METHOD); NMIN is determined as the number of
-          Hankel singular values greater than NQ*EPS*HNORM(Ge),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
-          extended system (computed in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          If FACT = 'S', the desired stability degree for the
-          factors of the coprime factorization (see SLICOT Library
-          routines SB08ED/SB08FD).
-          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
-          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
-          If FACT = 'I', ALPHA is not used.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the computed extended system Ge (see METHOD).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the NQ Hankel singular values of
-          the extended system Ge ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced extended system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(Ge), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(Ge) is the
-          Hankel-norm of the extended system (computed in HSV(1)).
-          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
-          TOL1 &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B or C are considered zero (used for controllability or
-          observability tests).
-          If the user sets TOL2 &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF is used:
-          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
-          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
-          where EPS is the machine precision, and NORM(.) denotes
-          the 1-norm of a matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = PM,        if JOBMR = 'B',
-          LIWORK = MAX(N,PM), if JOBMR = 'N', where
-          PM = P, if JOBCF = 'L',
-          PM = M, if JOBCF = 'R'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
-          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
-          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
-          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
-          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
-          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
-          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 10*K+I:
-            I = 1:  with ORDSEL = 'F', the selected order NR is
-                    greater than the order of the computed coprime
-                    factorization of the given system. In this case,
-                    the resulting NR is set automatically to a value
-                    corresponding to the order of a minimal
-                    realization of the system;
-            K &gt; 0:  K violations of the numerical stability
-                    condition occured when computing the coprime
-                    factorization using pole assignment (see SLICOT
-                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
-                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
-          = 3:  the matrix A has an observable or controllable
-                eigenvalue on the imaginary axis if DICO = 'C' or
-                on the unit circle if DICO = 'D';
-          = 4:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The subroutine AB09FD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  with the transfer-function matrix Gr, by using the
-  balanced-truncation model reduction method in conjunction with
-  a left coprime factorization (LCF) or a right coprime
-  factorization (RCF) technique:
-
-  1. Compute the appropriate stable coprime factorization of G:
-                  -1                   -1
-             G = R  *Q (LCF) or G = Q*R   (RCF).
-
-  2. Perform the model reduction algorithm on the extended system
-                                        ( Q )
-             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
-
-     to obtain a reduced extended system with reduced factors
-                                            ( Qr )
-             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
-
-  3. Recover the reduced system from the reduced factors as
-                    -1                       -1
-             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
-
-  The approximation error for the extended system satisfies
-
-     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
-
-  where INFNORM(G) is the infinity-norm of G.
-
-  If JOBMR = 'B', the square-root Balance & Truncate method of [1]
-  is used for model reduction.
-  If JOBMR = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used for model reduction.
-
-  If FACT = 'S', the stable coprime factorization with prescribed
-  stability degree ALPHA is computed by using the algorithm of [3].
-  If FACT = 'I', the stable coprime factorization with inner
-  denominator is computed by using the algorithm of [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
-      pp. 42-46, 1991.
-
-  [3] Varga A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-  [4] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX, MMAX, PMAX ) )
-*     The formula below uses that NMAX = MMAX = PMAX.
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09FD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
-     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
-     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                      NQ, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09FD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of coprime factors are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08FD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3  0 -1.e-1  .1 1.E-10 C L I B S A
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09FD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of coprime factors are
-  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
-
- The reduced state dynamics matrix Ar is 
-   0.0520  -0.1491   0.0037  -0.0232   0.0168
-   0.2340   0.2618   0.0010  -0.0153  -0.0318
-   0.1197   0.0075  -0.5752   2.0119  -0.7779
-   0.1571  -0.2019  -2.1282  -2.1192  -0.3618
-   0.0368  -0.4810   0.8395  -0.2790  -2.8796
-
- The reduced input/state matrix Br is 
-   1.0454   0.5860
-  -0.0489  -1.9194
-  -1.4282   0.0541
-  -1.6144  -0.7533
-   0.5916  -1.9242
-
- The reduced state/output matrix Cr is 
-   0.4368   0.1122  -1.2917   1.5888  -0.6354
-   1.1170   0.3963   0.6115   0.1249  -0.0859
-   0.0756  -1.8904   0.0144   0.7964   1.9085
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,523 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09GD">AB09GD</A></H2>
-<H3>
-Singular Perturbation Approximation based model reduction for unstable systems in conjunction with coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root Singular
-  Perturbation Approximation (SPA) model reduction method in
-  conjunction with stable coprime factorization techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
-     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NQ, HSV, TOL1, TOL2, TOL3, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M, N,
-     $                  NQ, NR, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2, TOL3
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization is
-          to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  FACT    CHARACTER*1
-          Specifies the type of coprime factorization to be computed
-          as follows:
-          = 'S':  compute a coprime factorization with prescribed
-                  stability degree ALPHA;
-          = 'I':  compute a coprime factorization with inner
-                  denominator.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
-          is the desired order on entry, NQ is the order of the
-          computed coprime factorization of the given system, and
-          NMIN is the order of a minimal realization of the extended
-          system (see METHOD); NMIN is determined as the number of
-          Hankel singular values greater than NQ*EPS*HNORM(Ge),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
-          extended system (computed in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          If FACT = 'S', the desired stability degree for the
-          factors of the coprime factorization (see SLICOT Library
-          routines SB08ED/SB08FD).
-          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
-          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
-          If FACT = 'I', ALPHA is not used.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the computed extended system Ge (see METHOD).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the NQ Hankel singular values of
-          the extended system Ge ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced extended system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(Ge), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(Ge) is the
-          Hankel-norm of the extended system (computed in HSV(1)).
-          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
-          TOL1 &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the extended system Ge (see METHOD).
-          The recommended value is TOL2 = NQ*EPS*HNORM(Ge).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-  TOL3    DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B or C are considered zero (used for controllability or
-          observability tests by the coprime factorization method).
-          If the user sets TOL3 &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF is used:
-          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
-          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
-          where EPS is the machine precision, and NORM(.) denotes
-          the 1-norm of a matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N,PM))
-          where  PM = P, if JOBCF = 'L',
-                 PM = M, if JOBCF = 'R'.
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
-          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
-          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
-          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
-          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
-          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
-          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 10*K+I:
-            I = 1:  with ORDSEL = 'F', the selected order NR is
-                    greater than the order of the computed coprime
-                    factorization of the given system. In this case,
-                    the resulting NR is set automatically to a value
-                    corresponding to the order of a minimal
-                    realization of the system;
-            K &gt; 0:  K violations of the numerical stability
-                    condition occured when computing the coprime
-                    factorization using pole assignment (see SLICOT
-                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
-                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
-          = 3:  the matrix A has an observable or controllable
-                eigenvalue on the imaginary axis if DICO = 'C' or
-                on the unit circle if DICO = 'D';
-          = 4:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                       (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The subroutine AB09GD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                   (2)
-
-  with the transfer-function matrix Gr, by using the
-  singular perturbation approximation (SPA) method in conjunction
-  with a left coprime factorization (LCF) or a right coprime
-  factorization (RCF) technique:
-
-  1. Compute the appropriate stable coprime factorization of G:
-                  -1                   -1
-             G = R  *Q (LCF) or G = Q*R   (RCF).
-
-  2. Perform the model reduction algorithm on the extended system
-                                        ( Q )
-             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
-
-     to obtain a reduced extended system with reduced factors
-                                            ( Qr )
-             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
-
-  3. Recover the reduced system from the reduced factors as
-                    -1                       -1
-             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
-
-  The approximation error for the extended system satisfies
-
-     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
-
-  where INFNORM(G) is the infinity-norm of G.
-
-  If JOBMR = 'B', the balancing-based square-root SPA method of [1]
-  is used for model reduction.
-  If JOBMR = 'N', the balancing-free square-root SPA method of [2]
-  is used for model reduction.
-  By setting TOL1 = TOL2, the routine can be used to compute
-  Balance & Truncate approximations.
-
-  If FACT = 'S', the stable coprime factorization with prescribed
-  stability degree ALPHA is computed by using the algorithm of [3].
-  If FACT = 'I', the stable coprime factorization with inner
-  denominator is computed by using the algorithm of [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems.
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991, Vol. 2,
-      pp. 1062-1065.
-
-  [3] Varga A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-  [4] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, MMAX, PMAX ) )
-*     The formula below uses that NMAX = MMAX = PMAX.
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2, TOL3
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09GD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2, TOL3,
-     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
-     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, NQ, HSV, TOL1, TOL2, TOL3, IWORK,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09GD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of coprime factors are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08GD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3  0 -1.e-1  .1 1.E-10 1.E-10 C L I B S A
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09GD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of coprime factors are
-  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
-
- The reduced state dynamics matrix Ar is 
-   0.0521  -0.1491   0.0032  -0.0242   0.0181
-   0.2341   0.2615   0.0009  -0.0171  -0.0362
-   0.1170   0.0076  -0.5471   2.0904  -0.8098
-   0.1675  -0.2122  -2.2113  -2.4097  -0.4139
-   0.0390  -0.5061   0.8787  -0.3166  -3.2955
-
- The reduced input/state matrix Br is 
-   1.0449   0.5863
-  -0.0490  -1.9210
-  -1.3930   0.0540
-  -1.7206  -0.8039
-   0.6358  -2.0542
-
- The reduced state/output matrix Cr is 
-   0.4331   0.1125  -1.2534   1.6965  -0.6773
-   1.1171   0.3963   0.6102   0.1213  -0.0841
-   0.0736  -1.8815   0.0134   0.8457   2.0413
-
- The reduced input/output matrix Dr is 
-   0.0480   0.0003
-  -0.0017   0.0001
-   0.0005   0.0460
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,581 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09HD">AB09HD</A></H2>
-<H3>
-Stochastic balancing based model reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the stochastic
-  balancing approach in conjunction with the square-root or
-  the balancing-free square-root Balance & Truncate (B&T)
-  or Singular Perturbation Approximation (SPA) model reduction
-  methods for the ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   BETA, A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
-     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, NS, P
-      DOUBLE PRECISION  ALPHA, BETA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-      LOGICAL           BWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'F':  use the balancing-free square-root
-                  Balance & Truncate method;
-          = 'S':  use the square-root Singular Perturbation
-                  Approximation method;
-          = 'P':  use the balancing-free square-root
-                  Singular Perturbation Approximation method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-          P &lt;= M if BETA = 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, and NMIN is the order of a minimal realization
-          of the ALPHA-stable part of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than NS*EPS, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH);
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than MAX(TOL1,NS*EPS);
-          NR can be further reduced to ensure that
-          HSV(NR-NU) &gt; HSV(NR+1-NU).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  BETA    (input) DOUBLE PRECISION
-          BETA &gt; 0 specifies the absolute/relative error weighting
-          parameter. A large positive value of BETA favours the
-          minimization of the absolute approximation error, while a
-          small value of BETA is appropriate for the minimization
-          of the relative error.
-          BETA = 0 means a pure relative error method and can be
-          used only if rank(D) = P.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues in an
-          upper real Schur form.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the phase system corresponding
-          to the ALPHA-stable part of the original system.
-          The Hankel singular values are ordered decreasingly.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value of TOL1 lies
-          in the interval [0.00001,0.001].
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS, where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-          TOL1 &lt; 1.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the phase system (see METHOD) corresponding
-          to the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-          TOL2 &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains RCOND, the reciprocal
-          condition number of the U11 matrix from the expression
-          used to compute the solution X = U21*inv(U11) of the
-          Riccati equation for spectral factorization.
-          A small value RCOND indicates possible ill-conditioning
-          of the respective Riccati equation.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N*N + MB*(N+P) + MAX( 2, N*(MAX(N,MB,P)+5),
-                                 2*N*P+MAX(P*(MB+2),10*N*(N+1) ) ),
-          where MB = M if BETA = 0 and MB = M+P if BETA &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension 2*N
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system; in this case, the resulting NR is set equal
-                to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NR corresponds
-                to repeated singular values for the ALPHA-stable
-                part, which are neither all included nor all
-                excluded from the reduced model; in this case, the
-                resulting NR is automatically decreased to exclude
-                all repeated singular values;
-          = 3:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system; in this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the reduction of the Hamiltonian matrix to real
-                Schur form failed;
-          = 3:  the reordering of the real Schur form of the
-                Hamiltonian matrix failed;
-          = 4:  the Hamiltonian matrix has less than N stable
-                eigenvalues;
-          = 5:  the coefficient matrix U11 in the linear system
-                X*U11 = U21 to determine X is singular to working
-                precision;
-          = 6:  BETA = 0 and D has not a maximal row rank;
-          = 7:  the computation of Hankel singular values failed;
-          = 8:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 9:  the resulting order of reduced stable part is less
-                than the number of unstable zeros of the stable
-                part.
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                      (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09HD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                  (2)
-
-  such that
-
-       INFNORM[inv(conj(W))*(G-Gr)] &lt;=
-                    (1+HSV(NR+NS-N+1)) / (1-HSV(NR+NS-N+1)) + ...
-                    + (1+HSV(NS)) / (1-HSV(NS)) - 1,
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, W is the right, minimum
-  phase spectral factor satisfying
-
-      G1*conj(G1) = conj(W)* W,                      (3)
-
-  G1 is the NS-order ALPHA-stable part of G, and INFNORM(G) is the
-  infinity-norm of G. HSV(1), ... , HSV(NS) are the Hankel-singular
-  values of the stable part of the phase system (Ap,Bp,Cp)
-  with the transfer-function matrix
-
-       P = inv(conj(W))*G1.
-
-  If BETA &gt; 0, then the model reduction is performed on [G BETA*I]
-  instead of G. This is the recommended approach to be used when D
-  has not a maximal row rank or when a certain balance between
-  relative and absolute approximation errors is desired. For
-  increasingly large values of BETA, the obtained reduced system
-  assymptotically approaches that computed by using the
-  Balance & Truncate or Singular Perturbation Approximation methods.
-
-  Note: conj(G)  denotes either G'(-s) for a continuous-time system
-        or G'(1/z) for a discrete-time system.
-        inv(G) is the inverse of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2,
-
-     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1 using the balancing stochastic method
-     in conjunction with either the B&T [1,2] or SPA methods [3].
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  Note: The employed stochastic truncation algorithm [2,3] has the
-  property that right half plane zeros of G1 remain as right half
-  plane zeros of G1r. Thus, the order can not be chosen smaller than
-  the sum of the number of unstable poles of G and the number of
-  unstable zeros of G1.
-
-  The reduction of the ALPHA-stable part G1 is done as follows.
-
-  If JOB = 'B', the square-root stochastic Balance & Truncate
-  method of [1] is used.
-  For an ALPHA-stable continuous-time system (DICO = 'C'),
-  the resulting reduced model is stochastically balanced.
-
-  If JOB = 'F', the balancing-free square-root version of the
-  stochastic Balance & Truncate method [1] is used to reduce
-  the ALPHA-stable part G1.
-
-  If JOB = 'S', the stochastic balancing method is used to reduce
-  the ALPHA-stable part G1, in conjunction with the square-root
-  version of the Singular Perturbation Approximation method [3,4].
-
-  If JOB = 'P', the stochastic balancing method is used to reduce
-  the ALPHA-stable part G1, in conjunction with the balancing-free
-  square-root version of the Singular Perturbation Approximation
-  method [3,4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A. and Fasol K.H.
-      A new square-root balancing-free stochastic truncation model
-      reduction algorithm.
-      Proc. 12th IFAC World Congress, Sydney, 1993.
-
-  [2] Safonov M. G. and Chiang R. Y.
-      Model reduction for robust control: a Schur relative error
-      method.
-      Int. J. Adapt. Contr. Sign. Proc., vol. 2, pp. 259-272, 1988.
-
-  [3] Green M. and Anderson B. D. O.
-      Generalized balanced stochastic truncation.
-      Proc. 29-th CDC, Honolulu, Hawaii, pp. 476-481, 1990.
-
-  [4] Varga A.
-      Balancing-free square-root algorithm for computing
-      singular perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques. The effectiveness of the
-  accuracy enhancing technique depends on the accuracy of the
-  solution of a Riccati equation. An ill-conditioned Riccati
-  solution typically results when [D BETA*I] is nearly
-  rank deficient.
-                                   3
-  The algorithm requires about 100N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                 LDD = PMAX )
-      INTEGER          LBWORK, LIWORK
-      PARAMETER        ( LBWORK = 2*NMAX, LIWORK = 2*NMAX )
-      INTEGER          LDWORK, MBMAX
-      PARAMETER        ( MBMAX = MMAX + PMAX )
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + MBMAX*(NMAX+PMAX) +
-     $                      MAX( NMAX*(MAX( NMAX, MMAX, PMAX) + 5),
-     $                     2*NMAX*PMAX + MAX( PMAX*(MBMAX+2),
-     $                                        10*NMAX*(NMAX+1) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, BETA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      LOGICAL          BWORK(LBWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, BETA, TOL1, TOL2,
-     $                      DICO, JOB, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      ALPHA, BETA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      BWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09HD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The stochastic Hankel singular values of ALPHA-stable'
-     $        ,' part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09HD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   0.0   1.0  0.1E0  0.0    C     F     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09HD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The stochastic Hankel singular values of ALPHA-stable part are
-   0.8803   0.8506   0.8038   0.4494   0.3973   0.0214   0.0209
-
- The reduced state dynamics matrix Ar is 
-   1.2729   0.0000   6.5947   0.0000  -3.4229
-   0.0000   0.8169   0.0000   2.4821   0.0000
-  -2.9889   0.0000  -2.9028   0.0000  -0.3692
-   0.0000  -3.3921   0.0000  -3.1126   0.0000
-  -1.4767   0.0000  -2.0339   0.0000  -0.6107
-
- The reduced input/state matrix Br is 
-   0.1331  -0.1331
-  -0.0862  -0.0862
-  -2.6777   2.6777
-  -3.5767  -3.5767
-  -2.3033   2.3033
-
- The reduced state/output matrix Cr is 
-  -0.6907  -0.6882   0.0779   0.0958  -0.0038
-   0.0676   0.0000   0.6532   0.0000  -0.7522
-   0.6907  -0.6882  -0.0779   0.0958   0.0038
-
- The reduced input/output matrix Dr is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09HX.html b/doc/_build/html/_static/doc/AB09HX.html
deleted file mode 100644
index b6132d89..00000000
--- a/doc/_build/html/_static/doc/AB09HX.html
+++ /dev/null
@@ -1,348 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09HX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09HX">AB09HX</A></H2>
-<H3>
-Stochastic balancing model reduction of stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  stable state-space representation (A,B,C,D) by using the
-  stochastic balancing approach in conjunction with the square-root
-  or the balancing-free square-root Balance & Truncate (B&T) or
-  Singular Perturbation Approximation (SPA) model reduction methods.
-  The state dynamics matrix A of the original system is an upper
-  quasi-triangular matrix in real Schur canonical form and D must be
-  full row rank.
-
-  For the B&T approach, the matrices of the reduced order system
-  are computed using the truncation formulas:
-
-       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
-
-  For the SPA approach, the matrices of a minimal realization
-  (Am,Bm,Cm) are computed using the truncation formulas:
-
-       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
-
-  Am, Bm, Cm and D serve further for computing the SPA of the given
-  system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09HX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
-     $                  LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
-      LOGICAL           BWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'F':  use the balancing-free square-root
-                  Balance & Truncate method;
-          = 'S':  use the square-root Singular Perturbation
-                  Approximation method;
-          = 'P':  use the balancing-free square-root
-                  Singular Perturbation Approximation method.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  M &gt;= P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH);
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values,
-          ordered decreasingly, of the phase system. All singular
-          values are less than or equal to 1.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
-          array contains the right truncation matrix T in (1), for
-          the B&T approach, or in (2), for the SPA approach.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
-          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
-          array contains the left truncation matrix TI in (1), for
-          the B&T approach, or in (2), for the SPA approach.
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value lies in the
-          interval [0.00001,0.001].
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = N*EPS, where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the phase system (see METHOD) corresponding
-          to the given system.
-          The recommended value is TOL2 = N*EPS.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains RCOND, the reciprocal
-          condition number of the U11 matrix from the expression
-          used to compute the solution X = U21*inv(U11) of the
-          Riccati equation for spectral factorization.
-          A small value RCOND indicates possible ill-conditioning
-          of the respective Riccati equation.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
-                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension 2*N
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D'), or it is not in
-                a real Schur form;
-          = 2:  the reduction of Hamiltonian matrix to real
-                Schur form failed;
-          = 3:  the reordering of the real Schur form of the
-                Hamiltonian matrix failed;
-          = 4:  the Hamiltonian matrix has less than N stable
-                eigenvalues;
-          = 5:  the coefficient matrix U11 in the linear system
-                X*U11 = U21, used to determine X, is singular to
-                working precision;
-          = 6:  the feedthrough matrix D has not a full row rank P;
-          = 7:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (3)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09HX determines for
-  the given system (3), the matrices of a reduced NR-rder system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the square-root stochastic Balance & Truncate
-  method of [1] is used and the resulting model is balanced.
-
-  If JOB = 'F', the balancing-free square-root version of the
-  stochastic Balance & Truncate method [1] is used.
-
-  If JOB = 'S', the stochastic balancing method, in conjunction
-  with the square-root version of the Singular Perturbation
-  Approximation method [2,3] is used.
-
-  If JOB = 'P', the stochastic balancing method, in conjunction
-  with the balancing-free square-root version of the Singular
-  Perturbation Approximation method [2,3] is used.
-
-  By setting TOL1 = TOL2, the routine can be also used to compute
-  Balance & Truncate approximations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A. and Fasol K.H.
-      A new square-root balancing-free stochastic truncation
-      model reduction algorithm.
-      Proc. of 12th IFAC World Congress, Sydney, 1993.
-
-  [2] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of balanced systems.
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [3] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on accuracy enhancing square-root
-  or balancing-free square-root methods. The effectiveness of the
-  accuracy enhancing technique depends on the accuracy of the
-  solution of a Riccati equation. Ill-conditioned Riccati solution
-  typically results when D is nearly rank deficient.
-                                   3
-  The algorithm requires about 100N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09HY.html b/doc/_build/html/_static/doc/AB09HY.html
deleted file mode 100644
index 4b6ba31f..00000000
--- a/doc/_build/html/_static/doc/AB09HY.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09HY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09HY">AB09HY</A></H2>
-<H3>
-Cholesky factors of the controllability and observability Grammians
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factors Su and Ru of the controllability
-  Grammian P = Su*Su' and observability Grammian Q = Ru'*Ru,
-  respectively, satisfying
-
-         A*P  + P*A' +  scalec^2*B*B'   = 0,       (1)
-
-         A'*Q + Q*A  +  scaleo^2*Cw'*Cw = 0,       (2)
-
-  where
-         Cw = Hw - Bw'*X,
-         Hw = inv(Dw)*C,
-         Bw = (B*D' + P*C')*inv(Dw'),
-         D*D' = Dw*Dw' (Dw upper triangular),
-
-  and, with Aw = A - Bw*Hw, X is the stabilizing solution of the
-  Riccati equation
-
-         Aw'*X + X*Aw + Hw'*Hw + X*Bw*Bw'*X = 0.   (3)
-
-  The P-by-M matrix D must have full row rank. Matrix A must be
-  stable and in a real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09HY( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   SCALEC, SCALEO, S, LDS, R, LDR, IWORK,
-     $                   DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDD, LDR, LDS, LDWORK, M, N,
-     $                 P
-      DOUBLE PRECISION SCALEC, SCALEO
-C     .. Array Arguments ..
-      INTEGER          IWORK(*)
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                 DWORK(*), R(LDR,*), S(LDS,*)
-      LOGICAL          BWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of state-space representation, i.e.,
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  M &gt;= P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          stable state dynamics matrix A in a real Schur canonical
-          form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B, corresponding to the Schur matrix A.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C, corresponding to the Schur
-          matrix A.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must
-          contain the full row rank input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian in (1).
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian in (2).
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Su of the cotrollability
-          Grammian P = Su*Su' satisfying (1).
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Ru of the observability
-          Grammian Q = Ru'*Ru satisfying (2).
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains RCOND, the reciprocal
-          condition number of the U11 matrix from the expression
-          used to compute X = U21*inv(U11). A small value RCOND
-          indicates possible ill-conditioning of the Riccati
-          equation (3).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
-                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension 2*N
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable or is not in a
-                real Schur form;
-          = 2:  the reduction of Hamiltonian matrix to real Schur
-                form failed;
-          = 3:  the reordering of the real Schur form of the
-                Hamiltonian matrix failed;
-          = 4:  the Hamiltonian matrix has less than N stable
-                eigenvalues;
-          = 5:  the coefficient matrix U11 in the linear system
-                X*U11 = U21, used to determine X, is singular to
-                working precision;
-          = 6:  the feedthrough matrix D has not a full row rank P.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09ID">AB09ID</A></H2>
-<H3>
-Frequency-weighted model reduction based on balancing techniques
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the frequency
-  weighted square-root or balancing-free square-root
-  Balance & Truncate (B&T) or Singular Perturbation Approximation
-  (SPA) model reduction methods. The algorithm tries to minimize
-  the norm of the frequency-weighted error
-
-        ||V*(G-Gr)*W||
-
-  where G and Gr are the transfer-function matrices of the original
-  and reduced order models, respectively, and V and W are
-  frequency-weighting transfer-function matrices. V and W must not
-  have poles on the imaginary axis for a continuous-time
-  system or on the unit circle for a discrete-time system.
-  If G is unstable, only the ALPHA-stable part of G is reduced.
-  In case of possible pole-zero cancellations in V*G and/or G*W,
-  the absolute values of parameters ALPHAO and/or ALPHAC must be
-  different from 1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL, ORDSEL,
-     $                   N, M, P, NV, PV, NW, MW, NR, ALPHA, ALPHAC,
-     $                   ALPHAO, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
-      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, MW,
-     $                  N, NR, NS, NV, NW, P, PV
-      DOUBLE PRECISION  ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
-     $                  HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'F':  use the balancing-free square-root
-                  Balance & Truncate method;
-          = 'S':  use the square-root Singular Perturbation
-                  Approximation method;
-          = 'P':  use the balancing-free square-root
-                  Singular Perturbation Approximation method.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the matrix AV. Also the number of rows of
-          the matrix BV and the number of columns of the matrix CV.
-          NV represents the dimension of the state vector of the
-          system with the transfer-function matrix V.  NV &gt;= 0.
-
-  PV      (input) INTEGER
-          The number of rows of the matrices CV and DV.  PV &gt;= 0.
-          PV represents the dimension of the output vector of the
-          system with the transfer-function matrix V.
-
-  NW      (input) INTEGER
-          The order of the matrix AW. Also the number of rows of
-          the matrix BW and the number of columns of the matrix CW.
-          NW represents the dimension of the state vector of the
-          system with the transfer-function matrix W.  NW &gt;= 0.
-
-  MW      (input) INTEGER
-          The number of columns of the matrices BW and DW.  MW &gt;= 0.
-          MW represents the dimension of the input vector of the
-          system with the transfer-function matrix W.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, NMIN is the number of frequency-weighted Hankel
-          singular values greater than NS*EPS*S1, EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH)
-          and S1 is the largest Hankel singular value (computed
-          in HSV(1)); NR can be further reduced to ensure
-          HSV(NR-NU) &gt; HSV(NR+1-NU);
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than MAX(TOL1,NS*EPS*S1).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  ALPHAC  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted controllability Grammian (see METHOD);
-          ABS(ALPHAC) &lt;= 1.
-
-  ALPHAO  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted observability Grammian (see METHOD);
-          ABS(ALPHAO) &lt;= 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
-          part of this array must contain the state matrix AV of
-          the system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NVR-by-NVR part of this array
-          contains the state matrix of a minimal realization of V
-          in a real Schur form. NVR is returned in IWORK(2).
-          AV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDAV    INTEGER
-          The leading dimension of array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
-          of this array must contain the input matrix BV of the
-          system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NVR-by-P part of this array contains
-          the input matrix of a minimal realization of V.
-          BV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDBV    INTEGER
-          The leading dimension of array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading PV-by-NV
-          part of this array must contain the output matrix CV of
-          the system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading PV-by-NVR part of this array
-          contains the output matrix of a minimal realization of V.
-          CV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDCV    INTEGER
-          The leading dimension of array CV.
-          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
-          array must contain the feedthrough matrix DV of the system
-          with the transfer-function matrix V.
-          DV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDDV    INTEGER
-          The leading dimension of array DV.
-          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
-          part of this array must contain the state matrix AW of
-          the system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NWR-by-NWR part of this array
-          contains the state matrix of a minimal realization of W
-          in a real Schur form. NWR is returned in IWORK(3).
-          AW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDAW    INTEGER
-          The leading dimension of array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,MW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-MW
-          part of this array must contain the input matrix BW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NWR-by-MW part of this array
-          contains the input matrix of a minimal realization of W.
-          BW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDBW    INTEGER
-          The leading dimension of array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
-          of this array must contain the output matrix CW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading M-by-NWR part of this array contains
-          the output matrix of a minimal realization of W.
-          CW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDCW    INTEGER
-          The leading dimension of array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
-          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
-          array must contain the feedthrough matrix DW of the system
-          with the transfer-function matrix W.
-          DW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDDW    INTEGER
-          The leading dimension of array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of this array contain
-          the frequency-weighted Hankel singular values, ordered
-          decreasingly, of the ALPHA-stable part of the original
-          system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*S1, where c is a constant in the
-          interval [0.00001,0.001], and S1 is the largest
-          frequency-weighted Hankel singular value of the
-          ALPHA-stable part of the original system (computed
-          in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*S1, where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*S1.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension
-          ( MAX( 3, LIWRK1, LIWRK2, LIWRK3 ) ), where
-          LIWRK1 = 0,             if JOB = 'B';
-          LIWRK1 = N,             if JOB = 'F';
-          LIWRK1 = 2*N,           if JOB = 'S' or 'P';
-          LIWRK2 = 0,             if WEIGHT = 'R' or 'N' or  NV = 0;
-          LIWRK2 = NV+MAX(P,PV),  if WEIGHT = 'L' or 'B' and NV &gt; 0;
-          LIWRK3 = 0,             if WEIGHT = 'L' or 'N' or  NW = 0;
-          LIWRK3 = NW+MAX(M,MW),  if WEIGHT = 'R' or 'B' and NW &gt; 0.
-          On exit, if INFO = 0, IWORK(1) contains the order of a
-          minimal realization of the stable part of the system,
-          IWORK(2) and IWORK(3) contain the actual orders
-          of the state space realizations of V and W, respectively.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LMINL, LMINR, LRCF,
-                         2*N*N + MAX( 1, LLEFT, LRIGHT, 2*N*N+5*N,
-                                      N*MAX(M,P) ) ),
-          where
-          LMINL  = 0, if WEIGHT = 'R' or 'N' or NV = 0; otherwise,
-          LMINL  = MAX(LLCF,NV+MAX(NV,3*P))           if P =  PV;
-          LMINL  = MAX(P,PV)*(2*NV+MAX(P,PV))+
-                   MAX(LLCF,NV+MAX(NV,3*P,3*PV))      if P &lt;&gt; PV;
-          LRCF   = 0, and
-          LMINR  = 0, if WEIGHT = 'L' or 'N' or NW = 0; otherwise,
-          LMINR  = NW+MAX(NW,3*M)                     if M =  MW;
-          LMINR  = 2*NW*MAX(M,MW)+NW+MAX(NW,3*M,3*MW) if M &lt;&gt; MW;
-          LLCF   = PV*(NV+PV)+PV*NV+MAX(NV*(NV+5), PV*(PV+2),
-                                        4*PV, 4*P);
-          LRCF   = MW*(NW+MW)+MAX(NW*(NW+5),MW*(MW+2),4*MW,4*M)
-          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
-                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
-          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
-          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
-                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
-          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system; in this case, the resulting NR is set equal
-                to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NR corresponds
-                to repeated singular values for the ALPHA-stable
-                part, which are neither all included nor all
-                excluded from the reduced model; in this case, the
-                resulting NR is automatically decreased to exclude
-                all repeated singular values;
-          = 3:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system; in this case NR is set equal to the
-                order of the ALPHA-unstable part.
-          = 10+K:  K violations of the numerical stability condition
-                occured during the assignment of eigenvalues in the
-                SLICOT Library routines SB08CD and/or SB08DD.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable
-                diagonal blocks failed because of very close
-                eigenvalues;
-          = 3:  the reduction to a real Schur form of the state
-                matrix of a minimal realization of V failed;
-          = 4:  a failure was detected during the ordering of the
-                real Schur form of the state matrix of a minimal
-                realization of V or in the iterative process to
-                compute a left coprime factorization with inner
-                denominator;
-          = 5:  if DICO = 'C' and the matrix AV has an observable
-                eigenvalue on the imaginary axis, or DICO = 'D' and
-                AV has an observable eigenvalue on the unit circle;
-          = 6:  the reduction to a real Schur form of the state
-                matrix of a minimal realization of W failed;
-          = 7:  a failure was detected during the ordering of the
-                real Schur form of the state matrix of a minimal
-                realization of W or in the iterative process to
-                compute a right coprime factorization with inner
-                denominator;
-          = 8:  if DICO = 'C' and the matrix AW has a controllable
-                eigenvalue on the imaginary axis, or DICO = 'D' and
-                AW has a controllable eigenvalue on the unit circle;
-          = 9:  the computation of eigenvalues failed;
-          = 10: the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let G be the transfer-function matrix of the original
-  linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                          (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09ID determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
-
-  such that the corresponding transfer-function matrix Gr minimizes
-  the norm of the frequency-weighted error
-
-          V*(G-Gr)*W,                                    (3)
-
-  where V and W are transfer-function matrices without poles on the
-  imaginary axis in continuous-time case or on the unit circle in
-  discrete-time case.
-
-  The following procedure is used to reduce G:
-
-  1) Decompose additively G, of order N, as
-
-       G = G1 + G2,
-
-     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
-     G2 = (A2,B2,C2,0), of order NU, has only ALPHA-unstable poles.
-
-  2) Compute for G1 a B&T or SPA frequency-weighted approximation
-     G1r of order NR-NU using the combination method or the
-     modified combination method of [4].
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  For the frequency-weighted reduction of the ALPHA-stable part,
-  several methods described in [4] can be employed in conjunction
-  with the combination method and modified combination method
-  proposed in [4].
-
-  If JOB = 'B', the square-root B&T method is used.
-  If JOB = 'F', the balancing-free square-root version of the
-  B&T method is used.
-  If JOB = 'S', the square-root version of the SPA method is used.
-  If JOB = 'P', the balancing-free square-root version of the
-  SPA method is used.
-
-  For each of these methods, left and right truncation matrices
-  are determined using the Cholesky factors of an input
-  frequency-weighted controllability Grammian P and an output
-  frequency-weighted observability Grammian Q.
-  P and Q are computed from the controllability Grammian Pi of G*W
-  and the observability Grammian Qo of V*G. Using special
-  realizations of G*W and V*G, Pi and Qo are computed in the
-  partitioned forms
-
-        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
-             ( P12' P22 )               ( Q12' Q22 )
-
-  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
-  respectively. Let P0 and Q0 be non-negative definite matrices
-  defined below
-                                     -1
-         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
-                                     -1
-         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
-
-  The frequency-weighted controllability and observability
-  Grammians, P and Q, respectively, are defined as follows:
-  P = P0 if JOBC = 'S' (standard combination method [4]);
-  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
-  Grammian defined to enforce stability for a modified combination
-  method of [4];
-  Q = Q0 if JOBO = 'S' (standard combination method [4]);
-  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
-  Grammian defined to enforce stability for a modified combination
-  method of [4].
-
-  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
-  Grammians corresponds to the method of Enns [1], while if
-  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds
-  to the method of Lin and Chiu [2,3].
-
-  If JOBC = 'S' and ALPHAC = 1, no pole-zero cancellations must
-  occur in G*W. If JOBO = 'S' and ALPHAO = 1, no pole-zero
-  cancellations must occur in V*G. The presence of pole-zero
-  cancellations leads to meaningless results and must be avoided.
-
-  The frequency-weighted Hankel singular values HSV(1), ....,
-  HSV(N) are computed as the square roots of the eigenvalues
-  of the product P*Q.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Lin, C.-A. and Chiu, T.-Y.
-      Model reduction via frequency-weighted balanced realization.
-      Control Theory and Advanced Technology, vol. 8,
-      pp. 341-351, 1992.
-
-  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
-      New results on frequency weighted balanced reduction
-      technique.
-      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
-
-  [4] Varga, A. and Anderson, B.D.O.
-      Square-root balancing-free methods for the frequency-weighted
-      balancing related model reduction.
-      (report in preparation)
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root
-  techniques.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, MWMAX, NMAX, NVMAX, NWMAX, PMAX, PVMAX
-      PARAMETER        ( MMAX = 20, MWMAX = 20,
-     $                   NMAX = 20, NVMAX = 20, NWMAX = 20,
-     $                   PMAX = 20, PVMAX = 20 )
-      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
-      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
-     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
-     $                   LDC = PMAX, LDCV = PVMAX, LDCW = MMAX,
-     $                   LDD = PMAX, LDDV = PVMAX, LDDW = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX,
-     $                                 NVMAX + MAX( PMAX, PVMAX ),
-     $                                 NWMAX + MAX( MMAX, MWMAX ) ) )
-      INTEGER          LDW1, LDW2, LDW3, LDW4, LDW5, LDW6, LDW7, LDW8,
-     $                 LDWORK
-      PARAMETER        ( LDW1 = NMAX + NVMAX, LDW2 = NMAX + NWMAX,
-     $                   LDW3 = MAX( LDW1*( LDW1 + MAX( LDW1, PVMAX ) +
-     $                               5 ), NMAX*( PMAX + 5 ) ),
-     $                   LDW4 = MAX( LDW2*( LDW2 + MAX( LDW2, MWMAX ) +
-     $                               5 ), NMAX*( MMAX + 5 ) ),
-     $                   LDW5 = PVMAX*( NVMAX + PVMAX ) + PVMAX*NVMAX +
-     $                          MAX( NVMAX*( NVMAX + 5 ), 4*PVMAX,
-     $                               PVMAX*( PVMAX + 2 ), 4*PMAX ),
-     $                   LDW6 = MAX( PMAX, PVMAX )*( 2*NVMAX +
-     $                               MAX( PMAX, PVMAX ) ) +
-     $                               MAX( LDW5, NVMAX +
-     $                                    MAX( NVMAX, 3*PMAX, 3*PVMAX )
-     $                                       ),
-     $                   LDW7 = MAX( NWMAX + MAX( NWMAX, 3*MMAX ),
-     $                               2*NWMAX*MAX( MMAX, MWMAX ) +
-     $                               NWMAX + MAX( NWMAX, 3*MMAX,
-     $                                                   3*MWMAX ) ),
-     $                   LDW8 = MWMAX*( NWMAX + MWMAX ) +
-     $                          MAX( NWMAX*( NWMAX + 5 ), 4*MWMAX,
-     $                               MWMAX*( MWMAX + 2 ), 4*MMAX ) )
-      PARAMETER        ( LDWORK = MAX( LDW6, LDW7, LDW8,
-     $                                 2*NMAX*NMAX +
-     $                                   MAX( 1, LDW3, LDW4,
-     $                                        2*NMAX*NMAX + 5*NMAX,
-     $                                        NMAX*MAX( MMAX, PMAX ) ) )
-     $                  )
-*     .. Local Scalars ..
-      LOGICAL          LEFTW, RIGHTW
-      DOUBLE PRECISION ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, MW, N, NR, NS, NV, NW, P,
-     $                 PV
-      CHARACTER*1      DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
-     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MWMAX),
-     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
-     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MWMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB09ID
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NV, PV, NW, MW, NR,
-     $                      ALPHA, ALPHAC, ALPHAO, TOL1, TOL2,
-     $                      DICO, JOBC, JOBO, JOB, WEIGHT,
-     $                      EQUIL, ORDSEL
-      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
-      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( LEFTW ) THEN
-                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
-                     WRITE ( NOUT, FMT = 99986 ) NV
-                  ELSE
-                     IF( NV.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                    ( ( BV(I,J), J = 1,P ),  I = 1,NV )
-                        IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
-                           WRITE ( NOUT, FMT = 99985 ) PV
-                        ELSE
-                           READ ( NIN, FMT = * )
-     $                       ( ( CV(I,J), J = 1,NV ), I = 1,PV )
-                        END IF
-                     END IF
-                     IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
-                        WRITE ( NOUT, FMT = 99985 ) PV
-                     ELSE
-                        READ ( NIN, FMT = * )
-     $                    ( ( DV(I,J), J = 1,P ), I = 1,PV )
-                     END IF
-                  END IF
-               END IF
-               IF( RIGHTW ) THEN
-                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
-                     WRITE ( NOUT, FMT = 99984 ) NW
-                  ELSE
-                     IF( NW.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
-                        IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
-                           WRITE ( NOUT, FMT = 99983 ) MW
-                        ELSE
-                           READ ( NIN, FMT = * )
-     $                       ( ( BW(I,J), J = 1,MW ), I = 1,NW )
-                        END IF
-                        READ ( NIN, FMT = * )
-     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
-                     END IF
-                     IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
-                        WRITE ( NOUT, FMT = 99983 ) MW
-                     ELSE
-                        READ ( NIN, FMT = * )
-     $                     ( ( DW(I,J), J = 1,MW ), I = 1,M )
-                     END IF
-                  END IF
-               END IF
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL,
-     $                      ORDSEL, N, M, P, NV, PV, NW, MW, NR, ALPHA,
-     $                      ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                      AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99982 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09ID = ',I2)
-99997 FORMAT (/' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
-99985 FORMAT (/' PV is out of range.',/' PV = ',I5)
-99984 FORMAT (/' NW is out of range.',/' NW = ',I5)
-99983 FORMAT (/' MW is out of range.',/' MW = ',I5)
-99982 FORMAT (' IWARN on exit from AB09ID = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09ID EXAMPLE PROGRAM DATA (Continuous system)
-  3  1  1   6  1  0  0   2   0.0  0.0  0.0 0.1E0  0.0    C   S  S   F   L  S  F 
-  -26.4000    6.4023    4.3868
-   32.0000         0         0
-         0    8.0000         0
-    16
-     0
-     0
-    9.2994    1.1624    0.1090
-     0
-   -1.0000         0    4.0000   -9.2994   -1.1624   -0.1090
-         0    2.0000         0   -9.2994   -1.1624   -0.1090
-         0         0   -3.0000   -9.2994   -1.1624   -0.1090
-   16.0000   16.0000   16.0000  -26.4000    6.4023    4.3868
-         0         0         0   32.0000         0         0
-         0         0         0         0    8.0000         0
-     1
-     1
-     1
-     0
-     0
-     0
-     1     1     1     0     0     0
-     0
-
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09ID EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced model =  2
-
- The Hankel singular values of weighted ALPHA-stable part are
-   3.8253   0.2005
-
- The reduced state dynamics matrix Ar is 
-   9.1900   0.0000
-   0.0000 -34.5297
-
- The reduced input/state matrix Br is 
-  11.9593
-  16.9329
-
- The reduced state/output matrix Cr is 
-   2.8955   6.9152
-
- The reduced input/output matrix Dr is 
-   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09IX.html b/doc/_build/html/_static/doc/AB09IX.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/AB09IX.html
+++ /dev/null
@@ -1,363 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09IX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09IX">AB09IX</A></H2>
-<H3>
-Accuracy enhanced balancing related model reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the square-root or
-  balancing-free square-root Balance & Truncate (B&T) or
-  Singular Perturbation Approximation (SPA) model reduction methods.
-  The computation of truncation matrices TI and T is based on
-  the Cholesky factor S of a controllability Grammian P = S*S'
-  and the Cholesky factor R of an observability Grammian Q = R'*R,
-  where S and R are given upper triangular matrices.
-
-  For the B&T approach, the matrices of the reduced order system
-  are computed using the truncation formulas:
-
-       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
-
-  For the SPA approach, the matrices of a minimal realization
-  (Am,Bm,Cm) are computed using the truncation formulas:
-
-       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
-
-  Am, Bm, Cm and D serve further for computing the SPA of the given
-  system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09IX( DICO, JOB, FACT, ORDSEL, N, M, P, NR,
-     $                   SCALEC, SCALEO, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   TI, LDTI, T, LDT, NMINR, HSV, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
-     $                  LDWORK, M, N, NMINR, NR, P
-      DOUBLE PRECISION  SCALEC, SCALEO, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method;
-          = 'S':  use the square-root SPA method;
-          = 'P':  use the balancing-free square-root SPA method.
-
-  FACT    CHARACTER*1
-          Specifies whether or not, on entry, the matrix A is in a
-          real Schur form, as follows:
-          = 'S':  A is in a real Schur form;
-          = 'N':  A is a general dense square matrix.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMINR), where NR
-          is the desired order on entry and NMINR is the number of
-          the Hankel singular values greater than N*EPS*S1, where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and S1 is the largest Hankel singular value
-          (computed in HSV(1));
-          NR can be further reduced to ensure HSV(NR) &gt; HSV(NR+1);
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*S1).
-
-  SCALEC  (input) DOUBLE PRECISION
-          Scaling factor for the Cholesky factor S of the
-          controllability Grammian, i.e., S/SCALEC is used to
-          compute the Hankel singular values.  SCALEC &gt; 0.
-
-  SCALEO  (input) DOUBLE PRECISION
-          Scaling factor for the Cholesky factor R of the
-          observability Grammian, i.e., R/SCALEO is used to
-          compute the Hankel singular values.  SCALEO &gt; 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A. If FACT = 'S',
-          A is in a real Schur form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOB = 'S' or JOB = 'P', the leading P-by-M
-          part of this array must contain the original input/output
-          matrix D.
-          On exit, if INFO = 0 and JOB = 'S' or JOB = 'P', the
-          leading P-by-M part of this array contains the
-          input/output matrix Dr of the reduced order system.
-          If JOB = 'B' or JOB = 'F', this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= 1,        if JOB = 'B' or JOB = 'F';
-          LDD &gt;= MAX(1,P), if JOB = 'S' or JOB = 'P'.
-
-  TI      (input/output) DOUBLE PRECISION array, dimension (LDTI,N)
-          On entry, the leading N-by-N upper triangular part of
-          this array must contain the Cholesky factor S of a
-          controllability Grammian P = S*S'.
-          On exit, if INFO = 0, and NR &gt; 0, the leading NMINR-by-N
-          part of this array contains the left truncation matrix
-          TI in (1), for the B&T approach, or in (2), for the
-          SPA approach.
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
-          On entry, the leading N-by-N upper triangular part of
-          this array must contain the Cholesky factor R of an
-          observability Grammian Q = R'*R.
-          On exit, if INFO = 0, and NR &gt; 0, the leading N-by-NMINR
-          part of this array contains the right truncation matrix
-          T in (1), for the B&T approach, or in (2), for the
-          SPA approach.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  NMINR   (output) INTEGER
-          The number of Hankel singular values greater than
-          MAX(TOL2,N*EPS*S1).
-          Note: If S and R are the Cholesky factors of the
-          controllability and observability Grammians of the
-          original system (A,B,C,D), respectively, then NMINR is
-          the order of a minimal realization of the original system.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values,
-          ordered decreasingly. The Hankel singular values are
-          singular values of the product R*S.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of the reduced system.
-          For model reduction, the recommended value lies in the
-          interval [0.00001,0.001].
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = N*EPS*S1, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH) and S1 is the largest
-          Hankel singular value (computed in HSV(1)).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the system.
-          The recommended value is TOL2 = N*EPS*S1.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = 0,   if JOB = 'B';
-          LIWORK = N,   if JOB = 'F';
-          LIWORK = 2*N, if JOB = 'S' or 'P'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 2*N*N + 5*N, N*MAX(M,P) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NMINR, the order of a minimal realization of
-                the given system; in this case, the resulting NR is
-                set automatically to NMINR;
-          = 2:  with ORDSEL = 'F', the selected order NR corresponds
-                to repeated singular values, which are neither all
-                included nor all excluded from the reduced model;
-                in this case, the resulting NR is set automatically
-                to the largest value such that HSV(NR) &gt; HSV(NR+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (3)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09IX determines for
-  the given system (3), the matrices of a reduced NR order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
-
-  by using the square-root or balancing-free square-root
-  Balance & Truncate (B&T) or Singular Perturbation Approximation
-  (SPA) model reduction methods.
-
-  The projection matrices TI and T are determined using the
-  Cholesky factors S and R of a controllability Grammian P and an
-  observability Grammian Q.
-  The Hankel singular values HSV(1), ...., HSV(N) are computed as
-  singular values of the product R*S.
-
-  If JOB = 'B', the square-root Balance & Truncate technique
-  of [1] is used.
-
-  If JOB = 'F', the balancing-free square-root version of the
-  Balance & Truncate technique [2] is used.
-
-  If JOB = 'S', the square-root version of the Singular Perturbation
-  Approximation method [3,4] is used.
-
-  If JOB = 'P', the balancing-free square-root version of the
-  Singular Perturbation Approximation method [3,4] is used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudni, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-  [3] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of balanced systems.
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [4] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th CDC, Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on accuracy enhancing square-root
-  or balancing-free square-root methods.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09IY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09IY">AB09IY</A></H2>
-<H3>
-Cholesky factors of the frequency-weighted controllability and observability Grammians
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for given state-space representations
-  (A,B,C,0), (AV,BV,CV,DV), and (AW,BW,CW,DW) of the
-  transfer-function matrices G, V and W, respectively,
-  the Cholesky factors of the frequency-weighted
-  controllability and observability Grammians corresponding
-  to a frequency-weighted model reduction problem.
-  G, V and W must be stable transfer-function matrices with
-  the state matrices A, AV, and AW in real Schur form.
-  It is assumed that the state space realizations (AV,BV,CV,DV)
-  and (AW,BW,CW,DW) are minimal. In case of possible pole-zero
-  cancellations in forming V*G and/or G*W, the parameters for the
-  choice of frequency-weighted Grammians ALPHAO and/or ALPHAC,
-  respectively, must be different from 1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09IY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NV, PV,
-     $                   NW, MW, ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   SCALEC, SCALEO, S, LDS, R, LDR,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBC, JOBO, WEIGHT
-      INTEGER          INFO, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDDV, LDDW, LDR, LDS, LDWORK,
-     $                 M, MW, N, NV, NW, P, PV
-      DOUBLE PRECISION ALPHAC, ALPHAO, SCALEC, SCALEO
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                 B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                 C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                           DV(LDDV,*), DW(LDDW,*),
-     $                 DWORK(*), R(LDR,*),   S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G, V and W are continuous-time systems;
-          = 'D':  G, V and W are discrete-time systems.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation of G, i.e.,
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B and
-          the number of rows of the matrices CW and DW.  M &gt;= 0.
-          M represents the dimension of the input vector of the
-          system with the transfer-function matrix G and
-          also the dimension of the output vector of the system
-          with the transfer-function matrix W.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C and the
-          number of columns of the matrices BV and DV.  P &gt;= 0.
-          P represents the dimension of the output vector of the
-          system with the transfer-function matrix G and
-          also the dimension of the input vector of the system
-          with the transfer-function matrix V.
-
-  NV      (input) INTEGER
-          The order of the matrix AV. Also the number of rows of
-          the matrix BV and the number of columns of the matrix CV.
-          NV represents the dimension of the state vector of the
-          system with the transfer-function matrix V.  NV &gt;= 0.
-
-  PV      (input) INTEGER
-          The number of rows of the matrices CV and DV.  PV &gt;= 0.
-          PV represents the dimension of the output vector of the
-          system with the transfer-function matrix V.
-
-  NW      (input) INTEGER
-          The order of the matrix AW. Also the number of rows of
-          the matrix BW and the number of columns of the matrix CW.
-          NW represents the dimension of the state vector of the
-          system with the transfer-function matrix W.  NW &gt;= 0.
-
-  MW      (input) INTEGER
-          The number of columns of the matrices BW and DW.  MW &gt;= 0.
-          MW represents the dimension of the input vector of the
-          system with the transfer-function matrix W.
-
-  ALPHAC  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted controllability Grammian (see METHOD);
-          ABS(ALPHAC) &lt;= 1.
-
-  ALPHAO  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted observability Grammian (see METHOD);
-          ABS(ALPHAO) &lt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must
-          contain the state matrix A (of the system with the
-          transfer-function matrix G) in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  AV      (input) DOUBLE PRECISION array, dimension (LDAV,NV)
-          If WEIGHT = 'L' or 'B', the leading NV-by-NV part of this
-          array must contain the state matrix AV (of the system with
-          the transfer-function matrix V) in a real Schur form.
-          AV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input) DOUBLE PRECISION array, dimension (LDBV,P)
-          If WEIGHT = 'L' or 'B', the leading NV-by-P part of this
-          array must contain the input matrix BV of the system with
-          the transfer-function matrix V.
-          BV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input) DOUBLE PRECISION array, dimension (LDCV,NV)
-          If WEIGHT = 'L' or 'B', the leading PV-by-NV part of this
-          array must contain the output matrix CV of the system with
-          the transfer-function matrix V.
-          CV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of array CV.
-          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
-          array must contain the feedthrough matrix DV of the system
-          with the transfer-function matrix V.
-          DV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of array DV.
-          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  AW      (input) DOUBLE PRECISION array, dimension (LDAW,NW)
-          If WEIGHT = 'R' or 'B', the leading NW-by-NW part of this
-          array must contain the state matrix AW (of the system with
-          the transfer-function matrix W) in a real Schur form.
-          AW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input) DOUBLE PRECISION array, dimension (LDBW,MW)
-          If WEIGHT = 'R' or 'B', the leading NW-by-MW part of this
-          array must contain the input matrix BW of the system with
-          the transfer-function matrix W.
-          BW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input) DOUBLE PRECISION array, dimension (LDCW,NW)
-          If WEIGHT = 'R' or 'B', the leading M-by-NW part of this
-          array must contain the output matrix CW of the system with
-          the transfer-function matrix W.
-          CW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
-          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
-          array must contain the feedthrough matrix DW of the system
-          with the transfer-function matrix W.
-          DW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian in (1)
-          or (3). See METHOD.
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian in (2)
-          or (4). See METHOD.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor S of the frequency-weighted
-          cotrollability Grammian P = S*S'. See METHOD.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor R of the frequency-weighted
-          observability Grammian Q = R'*R. See METHOD.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, LLEFT, LRIGHT ),
-          where
-          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
-                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
-          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
-          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
-                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
-          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the state matrices A and/or AV are not stable or
-                not in a real Schur form;
-          = 2:  if the state matrices A and/or AW are not stable or
-                not in a real Schur form;
-          = 3:  eigenvalues computation failure.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let Pi = Si*Si' and Qo = Ro'*Ro be the Cholesky factored
-  controllability and observability Grammians satisfying
-  in the continuous-time case
-
-         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0,       (1)
-
-         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0,       (2)
-
-  and in the discrete-time case
-
-         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,       (3)
-
-         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,       (4)
-
-  where
-
-        Ai = ( A  B*Cw ) ,   Bi = ( B*Dw ) ,
-             ( 0   Aw  )          (  Bw  )
-
-        Ao = (  A   0  ) ,   Co = ( Dv*C  Cv ) .
-             ( Bv*C Av )
-
-  Consider the partitioned Grammians
-
-        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
-             ( P12' P22 )               ( Q12' Q22 )
-
-  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
-  respectively, and let P0 and Q0 be non-negative definite matrices
-  defined in the combination method [4]
-                                     -1
-         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
-                                     -1
-         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
-
-  The frequency-weighted controllability and observability
-  Grammians, P and Q, respectively, are defined as follows:
-  P = P0 if JOBC = 'S' (standard combination method [4]);
-  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
-  Grammian defined to enforce stability for a modified combination
-  method of [4];
-  Q = Q0 if JOBO = 'S' (standard combination method [4]);
-  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
-  Grammian defined to enforce stability for a modified combination
-  method of [4].
-
-  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
-  Grammians corresponds to the method of Enns [1], while if
-  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds to the
-  method of Lin and Chiu [2,3].
-
-  The routine computes directly the Cholesky factors S and R
-  such that P = S*S' and Q = R'*R according to formulas
-  developed in [4]. No matrix inversions are involved.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Lin, C.-A. and Chiu, T.-Y.
-      Model reduction via frequency-weighted balanced realization.
-      Control Theory and Advanced Technology, vol. 8,
-      pp. 341-351, 1992.
-
-  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
-      New results on frequency weighted balanced reduction
-      technique.
-      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
-
-  [4] Varga, A. and Anderson, B.D.O.
-      Square-root balancing-free methods for the frequency-weighted
-      balancing related model reduction.
-      (report in preparation)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JD">AB09JD</A></H2>
-<H3>
-Frequency-weighted Hankel norm approximation with invertible weights
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the frequency
-  weighted optimal Hankel-norm approximation method.
-  The Hankel norm of the weighted error
-
-        op(V)*(G-Gr)*op(W)
-
-  is minimized, where G and Gr are the transfer-function matrices
-  of the original and reduced systems, respectively, V and W are
-  invertible transfer-function matrices representing the left and
-  right frequency weights, and op(X) denotes X, inv(X), conj(X) or
-  conj(inv(X)). V and W are specified by their state space
-  realizations (AV,BV,CV,DV) and (AW,BW,CW,DW), respectively.
-  When minimizing ||V*(G-Gr)*W||, V and W must be antistable.
-  When minimizing inv(V)*(G-Gr)*inv(W), V and W must have only
-  antistable zeros.
-  When minimizing conj(V)*(G-Gr)*conj(W), V and W must be stable.
-  When minimizing conj(inv(V))*(G-Gr)*conj(inv(W)), V and W must
-  be minimum-phase.
-  If the original system is unstable, then the frequency weighted
-  Hankel-norm approximation is computed only for the
-  ALPHA-stable part of the system.
-
-  For a transfer-function matrix G, conj(G) denotes the conjugate
-  of G given by G'(-s) for a continuous-time system or G'(1/z)
-  for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL,
-     $                   N, NV, NW, M, P, NR, ALPHA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AV, LDAV, BV, LDBV,
-     $                   CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
-     $                   CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
-     $                  NR, NS, NV, NW, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
-     $                  HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBV    CHARACTER*1
-          Specifies the left frequency-weighting as follows:
-          = 'N':  V = I;
-          = 'V':  op(V) = V;
-          = 'I':  op(V) = inv(V);
-          = 'C':  op(V) = conj(V);
-          = 'R':  op(V) = conj(inv(V)).
-
-  JOBW    CHARACTER*1
-          Specifies the right frequency-weighting as follows:
-          = 'N':  W = I;
-          = 'W':  op(W) = W;
-          = 'I':  op(W) = inv(W);
-          = 'C':  op(W) = conj(W);
-          = 'R':  op(W) = conj(inv(W)).
-
-  JOBINV  CHARACTER*1
-          Specifies the computational approach to be used as
-          follows:
-          = 'N':  use the inverse free descriptor system approach;
-          = 'I':  use the inversion based standard approach;
-          = 'A':  switch automatically to the inverse free
-                  descriptor approach in case of badly conditioned
-                  feedthrough matrices in V or W (see METHOD).
-
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the realization of the left frequency
-          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
-
-  NW      (input) INTEGER
-          The order of the realization of the right frequency
-          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
-          multiplicity of the Hankel singular value HSV(NR-NU+1),
-          NR is the desired order on entry, and NMIN is the order
-          of a minimal realization of the ALPHA-stable part of the
-          given system; NMIN is determined as the number of Hankel
-          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
-          ALPHA-stable part of the weighted system (computed in
-          HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-NV part of
-          this array must contain the state matrix AV of a state
-          space realization of the left frequency weighting V.
-          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
-          NV-by-NV part of this array contains the real Schur form
-          of AV.
-          AV is not referenced if JOBV = 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.
-          LDAV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
-          LDAV &gt;= 1,         if JOBV =  'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-P part of
-          this array must contain the input matrix BV of a state
-          space realization of the left frequency weighting V.
-          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
-          NV-by-P part of this array contains the transformed
-          input matrix BV corresponding to the transformed AV.
-          BV is not referenced if JOBV = 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.
-          LDBV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
-          LDBV &gt;= 1,         if JOBV =  'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if JOBV &lt;&gt; 'N', the leading P-by-NV part of
-          this array must contain the output matrix CV of a state
-          space realization of the left frequency weighting V.
-          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
-          P-by-NV part of this array contains the transformed output
-          matrix CV corresponding to the transformed AV.
-          CV is not referenced if JOBV = 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
-          LDCV &gt;= 1,        if JOBV =  'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If JOBV &lt;&gt; 'N', the leading P-by-P part of this array
-          must contain the feedthrough matrix DV of a state space
-          realization of the left frequency weighting V.
-          DV is not referenced if JOBV = 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
-          LDDV &gt;= 1,        if JOBV =  'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-NW part of
-          this array must contain the state matrix AW of a state
-          space realization of the right frequency weighting W.
-          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
-          NW-by-NW part of this array contains the real Schur form
-          of AW.
-          AW is not referenced if JOBW = 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.
-          LDAW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
-          LDAW &gt;= 1,         if JOBW =  'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
-          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-M part of
-          this array must contain the input matrix BW of a state
-          space realization of the right frequency weighting W.
-          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
-          NW-by-M part of this array contains the transformed
-          input matrix BW corresponding to the transformed AW.
-          BW is not referenced if JOBW = 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.
-          LDBW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
-          LDBW &gt;= 1,         if JOBW =  'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if JOBW &lt;&gt; 'N', the leading M-by-NW part of
-          this array must contain the output matrix CW of a state
-          space realization of the right frequency weighting W.
-          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
-          M-by-NW part of this array contains the transformed output
-          matrix CW corresponding to the transformed AW.
-          CW is not referenced if JOBW = 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
-          LDCW &gt;= 1,        if JOBW =  'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
-          If JOBW &lt;&gt; 'N', the leading M-by-M part of this array
-          must contain the feedthrough matrix DW of a state space
-          realization of the right frequency weighting W.
-          DW is not referenced if JOBW = 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of the array DW.
-          LDDW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
-          LDDW &gt;= 1,        if JOBW =  'N'.
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of this array contain
-          the Hankel singular values, ordered decreasingly, of the
-          projection G1s of op(V)*G1*op(W) (see METHOD), where G1
-          is the ALPHA-stable part of the original system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(G1s), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(G1s) is the
-          Hankel-norm of the projection G1s of op(V)*G1*op(W)
-          (see METHOD), computed in HSV(1).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(G1s), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-          TOL1 &lt; 1.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(G1s).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-          TOL2 &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M,c,d),    if DICO = 'C',
-          LIWORK = MAX(1,N,M,c,d),  if DICO = 'D', where
-             c = 0,                          if JOBV =  'N',
-             c = MAX(2*P,NV+P+N+6,2*NV+P+2), if JOBV &lt;&gt; 'N',
-             d = 0,                          if JOBW =  'N',
-             d = MAX(2*M,NW+M+N+6,2*NW+M+2), if JOBW &lt;&gt; 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
-          for NVP = NV+P and NWM = NW+M we have
-          LDW1 = 0 if JOBV =  'N' and
-          LDW1 = 2*NVP*(NVP+P) + P*P +
-                 MAX( 2*NVP*NVP + MAX( 11*NVP+16, P*NVP ),
-                       NVP*N + MAX( NVP*N+N*N, P*N, P*M ) )
-                   if JOBV &lt;&gt; 'N',
-          LDW2 = 0 if JOBW =  'N' and
-          LDW2 = 2*NWM*(NWM+M) + M*M +
-                 MAX( 2*NWM*NWM + MAX( 11*NWM+16, M*NWM ),
-                       NWM*N + MAX( NWM*N+N*N, M*N, P*M ) )
-                   if JOBW &lt;&gt; 'N',
-          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
-          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the computation of the ordered real Schur form of A
-                 failed;
-          =  2:  the separation of the ALPHA-stable/unstable
-                 diagonal blocks failed because of very close
-                 eigenvalues;
-          =  3:  the reduction of AV to a real Schur form failed;
-          =  4:  the reduction of AW to a real Schur form failed;
-          =  5:  the reduction to generalized Schur form of the
-                 descriptor pair corresponding to the inverse of V
-                 failed;
-          =  6:  the reduction to generalized Schur form of the
-                 descriptor pair corresponding to the inverse of W
-                 failed;
-          =  7:  the computation of Hankel singular values failed;
-          =  8:  the computation of stable projection in the
-                 Hankel-norm approximation algorithm failed;
-          =  9:  the order of computed stable projection in the
-                 Hankel-norm approximation algorithm differs
-                 from the order of Hankel-norm approximation;
-          = 10:  the reduction of AV-BV*inv(DV)*CV to a
-                 real Schur form failed;
-          = 11:  the reduction of AW-BW*inv(DW)*CW to a
-                 real Schur form failed;
-          = 12:  the solution of the Sylvester equation failed
-                 because the poles of V (if JOBV = 'V') or of
-                 conj(V) (if JOBV = 'C') are not distinct from
-                 the poles of G1 (see METHOD);
-          = 13:  the solution of the Sylvester equation failed
-                 because the poles of W (if JOBW = 'W') or of
-                 conj(W) (if JOBW = 'C') are not distinct from
-                 the poles of G1 (see METHOD);
-          = 14:  the solution of the Sylvester equation failed
-                 because the zeros of V (if JOBV = 'I') or of
-                 conj(V) (if JOBV = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 15:  the solution of the Sylvester equation failed
-                 because the zeros of W (if JOBW = 'I') or of
-                 conj(W) (if JOBW = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 16:  the solution of the generalized Sylvester system
-                 failed because the zeros of V (if JOBV = 'I') or
-                 of conj(V) (if JOBV = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 17:  the solution of the generalized Sylvester system
-                 failed because the zeros of W (if JOBW = 'I') or
-                 of conj(W) (if JOBW = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 18:  op(V) is not antistable;
-          = 19:  op(W) is not antistable;
-          = 20:  V is not invertible;
-          = 21:  W is not invertible.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let G be the transfer-function matrix of the original
-  linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                          (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09JD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
-
-  such that the corresponding transfer-function matrix Gr minimizes
-  the Hankel-norm of the frequency-weighted error
-
-          op(V)*(G-Gr)*op(W).                            (3)
-
-  For minimizing (3) with op(V) = V and op(W) = W, V and W are
-  assumed to have poles distinct from those of G, while with
-  op(V) = conj(V) and op(W) = conj(W), conj(V) and conj(W) are
-  assumed to have poles distinct from those of G. For minimizing (3)
-  with op(V) = inv(V) and op(W) = inv(W), V and W are assumed to
-  have zeros distinct from the poles of G, while with
-  op(V) = conj(inv(V)) and op(W) = conj(inv(W)), conj(V) and conj(W)
-  are assumed to have zeros distinct from the poles of G.
-
-  Note: conj(G) = G'(-s) for a continuous-time system and
-        conj(G) = G'(1/z) for a discrete-time system.
-
-  The following procedure is used to reduce G (see [1]):
-
-  1) Decompose additively G as
-
-       G = G1 + G2,
-
-     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
-     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
-
-  2) Compute G1s, the projection of op(V)*G1*op(W) containing the
-     poles of G1, using explicit formulas [4] or the inverse-free
-     descriptor system formulas of [5].
-
-  3) Determine G1sr, the optimal Hankel-norm approximation of G1s,
-     of order r.
-
-  4) Compute G1r, the projection of inv(op(V))*G1sr*inv(op(W))
-     containing the poles of G1sr, using explicit formulas [4]
-     or the inverse-free descriptor system formulas of [5].
-
-  5) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the weighted ALPHA-stable part G1s at step 3, the
-  optimal Hankel-norm approximation method of [2], based on the
-  square-root balancing projection formulas of [3], is employed.
-
-  The optimal weighted approximation error satisfies
-
-       HNORM[op(V)*(G-Gr)*op(W)] &gt;= S(r+1),
-
-  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
-  transfer-function matrix computed at step 2 of the above
-  procedure, and HNORM(.) denotes the Hankel-norm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Latham, G.A. and Anderson, B.D.O.
-      Frequency-weighted optimal Hankel-norm approximation of stable
-      transfer functions.
-      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
-
-  [2] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [3] Tombs, M.S. and Postlethwaite, I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [4] Varga, A.
-      Explicit formulas for an efficient implementation
-      of the frequency-weighting model reduction approach.
-      Proc. 1993 European Control Conference, Groningen, NL,
-      pp. 693-696, 1993.
-
-  [5] Varga, A.
-      Efficient and numerically reliable implementation of the
-      frequency-weighted Hankel-norm approximation model reduction
-      approach.
-      Proc. 2001 ECC, Porto, Portugal, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09JD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, NVMAX, NVPMAX, NWMAX, NWMMAX, PMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
-     $                   PMAX = 20, NVPMAX = NVMAX + PMAX,
-     $                   NWMMAX = NWMAX + MMAX )
-      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
-      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
-     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
-     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
-     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
-      INTEGER          LIW1, LIW2, LIW3, LIWORK
-      PARAMETER        ( LIW1 = 2*MAX( MMAX, PMAX ),
-     $                   LIW2 = MAX( NVPMAX, NWMMAX ) + NMAX + 6,
-     $                   LIW3 = MAX( 2*NVMAX + PMAX + 2,
-     $                               2*NWMAX + MMAX + 2 ) )
-      PARAMETER        ( LIWORK = MAX( LIW1, LIW2, LIW3 ) )
-      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
-      PARAMETER        ( LDW1 = 2*NVPMAX*( NVPMAX + PMAX ) + PMAX*PMAX +
-     $                          MAX( 2*NVPMAX*NVPMAX +
-     $                               MAX( 11*NVPMAX + 16, PMAX*NVPMAX ),
-     $                               NVPMAX*NMAX +
-     $                               MAX( NVPMAX*NMAX + NMAX*NMAX,
-     $                                    PMAX*NMAX, PMAX*MMAX ) ) )
-      PARAMETER        ( LDW2 = 2*NWMMAX*( NWMMAX + MMAX ) + MMAX*MMAX +
-     $                          MAX( 2*NWMMAX*NWMMAX +
-     $                               MAX( 11*NWMMAX + 16, MMAX*NWMMAX ),
-     $                               NWMMAX*NMAX +
-     $                               MAX( NWMMAX*NMAX + NMAX*NMAX,
-     $                                    MMAX*NMAX, PMAX*MMAX ) ) )
-      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
-     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
-      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
-     $                          MIN( NMAX, MMAX ) +
-     $                          MAX( 3*MMAX + 1,
-     $                               MIN( NMAX, MMAX ) + PMAX ) )
-      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
-*     .. Local Scalars ..
-      LOGICAL          LEFTW, RIGHTW
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
-      CHARACTER*1      DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
-     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
-     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
-     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB09JD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
-     $                      JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL
-      LEFTW  = .NOT.LSAME( JOBV, 'N' )
-      RIGHTW = .NOT.LSAME( JOBW, 'N' )
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( LEFTW ) THEN
-                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
-                     WRITE ( NOUT, FMT = 99986 ) NV
-                  ELSE
-                     IF( NV.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                     ( ( AV(I,J), J = 1,NV ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                     ( ( BV(I,J), J = 1,P  ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                     ( ( CV(I,J), J = 1,NV ), I = 1,P )
-                     END IF
-                     IF( LEFTW )
-     $                  READ ( NIN, FMT = * )
-     $                     ( ( DV(I,J), J = 1,P ), I = 1,P )
-                  END IF
-               END IF
-               IF( RIGHTW ) THEN
-                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
-                     WRITE ( NOUT, FMT = 99985 ) NW
-                  ELSE
-                     IF( NW.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                     ( ( AW(I,J), J = 1,NW ), I = 1,NW )
-                        READ ( NIN, FMT = * )
-     $                     ( ( BW(I,J), J = 1,M  ), I = 1,NW )
-                        READ ( NIN, FMT = * )
-     $                     ( ( CW(I,J), J = 1,NW ), I = 1,M )
-                     END IF
-                     READ ( NIN, FMT = * )
-     $                     ( ( DW(I,J), J = 1,M  ), I = 1,M )
-                  END IF
-               END IF
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL, N,
-     $                      NV, NW, M, P, NR, ALPHA,  A, LDA, B, LDB,
-     $                      C, LDC, D, LDD, AV, LDAV, BV, LDBV,
-     $                      CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
-     $                      CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
-     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, NR
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 40 I = 1, NR
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 60 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09JD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09JD = ',I2)
-99997 FORMAT (/' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' IWARN on exit from AB09JD = ',I2)
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
-99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09JD EXAMPLE PROGRAM DATA (Continuous system)
-  6     1     1     2   0     0   0.0  1.E-1  1.E-14    V   N   I   C    S   A
-   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
-    1.0000         0         0         0         0         0
-         0    1.0000         0         0         0         0
-         0         0    1.0000         0         0         0
-         0         0         0    1.0000         0         0
-         0         0         0         0    1.0000         0
-         1
-         0
-         0
-         0
-         0
-         0
-         0         0         0         0         0         1
-         0
-    0.2000   -1.0000
-    1.0000         0
-     1
-     0
-   -1.8000         0
-     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09JD EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced model =  4
-
- The Hankel singular values of weighted ALPHA-stable part are
-   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
-
- The reduced state dynamics matrix Ar is 
-  -0.2391   0.3072   1.1630   1.1967
-  -2.9709  -0.2391   2.6270   3.1027
-   0.0000   0.0000  -0.5137  -1.2842
-   0.0000   0.0000   0.1519  -0.5137
-
- The reduced input/state matrix Br is 
-  -1.0497
-  -3.7052
-   0.8223
-   0.7435
-
- The reduced state/output matrix Cr is 
-  -0.4466   0.0143  -0.4780  -0.2013
-
- The reduced input/output matrix Dr is 
-   0.0219
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09JV.html b/doc/_build/html/_static/doc/AB09JV.html
deleted file mode 100644
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+++ /dev/null
@@ -1,365 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09JV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JV">AB09JV</A></H2>
-<H3>
-State-space representation of a projection of a left weighted transfer-function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a state-space representation (A,BS,CS,DS) of the
-  projection of V*G or conj(V)*G containing the poles of G, from the
-  state-space representations (A,B,C,D) and (AV-lambda*EV,BV,CV,DV),
-  of the transfer-function matrices G and V, respectively.
-  G is assumed to be a stable transfer-function matrix and
-  the state matrix A must be in a real Schur form.
-  When computing the stable projection of V*G, it is assumed
-  that G and V have completely distinct poles.
-  When computing the stable projection of conj(V)*G, it is assumed
-  that G and conj(V) have completely distinct poles.
-
-  Note: For a transfer-function matrix G, conj(G) denotes the
-  conjugate of G given by G'(-s) for a continuous-time system or
-  G'(1/z) for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JV( JOB, DICO, JOBEV, STBCHK, N, M, P, NV, PV,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, AV, LDAV,
-     $                   EV, LDEV, BV, LDBV, CV, LDCV, DV, LDDV, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, JOBEV, STBCHK
-      INTEGER           INFO, LDA, LDAV, LDB, LDBV, LDC, LDCV,
-     $                  LDD, LDDV, LDEV, LDWORK, M, N, NV, P, PV
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), B(LDB,*), BV(LDBV,*),
-     $                  C(LDC,*), CV(LDCV,*), D(LDD,*), DV(LDDV,*),
-     $                  DWORK(*), EV(LDEV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the projection to be computed as follows:
-          = 'V':  compute the projection of V*G containing
-                  the poles of G;
-          = 'C':  compute the projection of conj(V)*G containing
-                  the poles of G.
-
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G and V are continuous-time systems;
-          = 'D':  G and V are discrete-time systems.
-
-  JOBEV   CHARACTER*1
-          Specifies whether EV is a general square or an identity
-          matrix as follows:
-          = 'G':  EV is a general square matrix;
-          = 'I':  EV is the identity matrix.
-
-  STBCHK  CHARACTER*1
-          Specifies whether stability/antistability of V is to be
-          checked as follows:
-          = 'C':  check stability if JOB = 'C' or antistability if
-                  JOB = 'V';
-          = 'N':  do not check stability or antistability.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector of the system with
-          the transfer-function matrix G.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of the input vector of the system with
-          the transfer-function matrix G.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of the output vector of the system with the
-          transfer-function matrix G, and also the dimension of
-          the input vector if JOB = 'V', or of the output vector
-          if JOB = 'C', of the system with the transfer-function
-          matrix V.  P &gt;= 0.
-
-  NV      (input) INTEGER
-          The dimension of the state vector of the system with
-          the transfer-function matrix V.  NV &gt;= 0.
-
-  PV      (input) INTEGER
-          The dimension of the output vector, if JOB = 'V', or
-          of the input vector, if JOB = 'C', of the system with
-          the transfer-function matrix V.  PV &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system with the transfer-function
-          matrix G in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain
-          the input/state matrix B of the system with the
-          transfer-function matrix G. The matrix BS is equal to B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading PV-by-N part of this
-          array contains the output matrix CS of the projection of
-          V*G, if JOB = 'V', or of conj(V)*G, if JOB = 'C'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P,PV).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the feedthrough matrix D of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading PV-by-M part of
-          this array contains the feedthrough matrix DS of the
-          projection of V*G, if JOB = 'V', or of conj(V)*G,
-          if JOB = 'C'.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P,PV).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, the leading NV-by-NV part of this array must
-          contain the state matrix AV of the system with the
-          transfer-function matrix V.
-          On exit, if INFO = 0, the leading NV-by-NV part of this
-          array contains a condensed matrix as follows:
-          if JOBEV = 'I', it contains the real Schur form of AV;
-          if JOBEV = 'G' and JOB = 'V', it contains a quasi-upper
-          triangular matrix representing the real Schur matrix
-          in the real generalized Schur form of the pair (AV,EV);
-          if JOBEV = 'G', JOB = 'C' and DICO = 'C', it contains a
-          quasi-upper triangular matrix corresponding to the
-          generalized real Schur form of the pair (AV',EV');
-          if JOBEV = 'G', JOB = 'C' and DICO = 'D', it contains an
-          upper triangular matrix corresponding to the generalized
-          real Schur form of the pair (EV',AV').
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.  LDAV &gt;= MAX(1,NV).
-
-  EV      (input/output) DOUBLE PRECISION array, dimension (LDEV,NV)
-          On entry, if JOBEV = 'G', the leading NV-by-NV part of
-          this array must contain the descriptor matrix EV of the
-          system with the transfer-function matrix V.
-          If JOBEV = 'I', EV is assumed to be an identity matrix
-          and is not referenced.
-          On exit, if INFO = 0 and JOBEV = 'G', the leading NV-by-NV
-          part of this array contains a condensed matrix as follows:
-          if JOB = 'V', it contains an upper triangular matrix
-          corresponding to the real generalized Schur form of the
-          pair (AV,EV);
-          if JOB = 'C' and DICO = 'C', it contains an upper
-          triangular matrix corresponding to the generalized real
-          Schur form of the pair (AV',EV');
-          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
-          triangular matrix corresponding to the generalized
-          real Schur form of the pair (EV',AV').
-
-  LDEV    INTEGER
-          The leading dimension of the array EV.
-          LDEV &gt;= MAX(1,NV), if JOBEV = 'G';
-          LDEV &gt;= 1,         if JOBEV = 'I'.
-
-  BV      (input/output) DOUBLE PRECISION array,
-          dimension (LDBV,MBV), where MBV = P, if JOB = 'V', and
-          MBV = PV, if JOB = 'C'.
-          On entry, the leading NV-by-MBV part of this array must
-          contain the input matrix BV of the system with the
-          transfer-function matrix V.
-          On exit, if INFO = 0, the leading NV-by-MBV part of this
-          array contains Q'*BV, where Q is the orthogonal matrix
-          that reduces AV to the real Schur form or the left
-          orthogonal matrix used to reduce the pair (AV,EV),
-          (AV',EV') or (EV',AV') to the generalized real Schur form.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.  LDBV &gt;= MAX(1,NV).
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, the leading PCV-by-NV part of this array must
-          contain the output matrix CV of the system with the
-          transfer-function matrix V, where PCV = PV, if JOB = 'V',
-          or PCV = P, if JOB = 'C'.
-          On exit, if INFO = 0, the leading PCV-by-NV part of this
-          array contains CV*Q, where Q is the orthogonal matrix that
-          reduces AV to the real Schur form, or CV*Z, where Z is the
-          right orthogonal matrix used to reduce the pair (AV,EV),
-          (AV',EV') or (EV',AV') to the generalized real Schur form.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,PV) if JOB = 'V';
-          LDCV &gt;= MAX(1,P)  if JOB = 'C'.
-
-  DV      (input) DOUBLE PRECISION array,
-          dimension (LDDV,MBV), where MBV = P, if JOB = 'V', and
-          MBV = PV, if JOB = 'C'.
-          The leading PCV-by-MBV part of this array must contain
-          the feedthrough matrix DV of the system with the
-          transfer-function matrix V, where PCV = PV, if JOB = 'V',
-          or PCV = P, if JOB = 'C'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,PV) if JOB = 'V';
-          LDDV &gt;= MAX(1,P)  if JOB = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK =   0,    if JOBEV = 'I';
-          LIWORK = NV+N+6, if JOBEV = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= LW1, if JOBEV = 'I',
-          LDWORK &gt;= LW2, if JOBEV = 'G', where
-            LW1 = MAX( 1, NV*(NV+5), NV*N + MAX( a, PV*N, PV*M ) )
-                  a = 0,    if DICO = 'C' or  JOB = 'V',
-                  a = 2*NV, if DICO = 'D' and JOB = 'C';
-            LW2 = MAX( 2*NV*NV + MAX( 11*NV+16, P*NV, PV*NV ),
-                       NV*N + MAX( NV*N+N*N, PV*N, PV*M ) ).
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the reduction of the pair (AV,EV) to the real
-                 generalized Schur form failed (JOBEV = 'G'),
-                 or the reduction of the matrix AV to the real
-                 Schur form failed (JOBEV = 'I);
-          =  2:  the solution of the Sylvester equation failed
-                 because the matrix A and the pencil AV-lambda*EV
-                 have common eigenvalues (if JOB = 'V'), or the
-                 pencil -AV-lambda*EV and A have common eigenvalues
-                 (if JOB = 'C' and DICO = 'C'), or the pencil
-                 AV-lambda*EV has an eigenvalue which is the
-                 reciprocal of one of eigenvalues of A
-                 (if JOB = 'C' and DICO = 'D');
-          =  3:  the solution of the Sylvester equation failed
-                 because the matrices A and AV have common
-                 eigenvalues (if JOB = 'V'), or the matrices A
-                 and -AV have common eigenvalues (if JOB = 'C' and
-                 DICO = 'C'), or the matrix A has an eigenvalue
-                 which is the reciprocal of one of eigenvalues of AV
-                 (if JOB = 'C' and DICO = 'D');
-          =  4:  JOB = 'V' and the pair (AV,EV) has not completely
-                 unstable generalized eigenvalues, or JOB = 'C' and
-                 the pair (AV,EV) has not completely stable
-                 generalized eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOB = 'V', the matrices of the stable projection of V*G are
-  computed as
-
-    BS = B,  CS = CV*X + DV*C,  DS = DV*D,
-
-  where X satisfies the generalized Sylvester equation
-
-    AV*X - EV*X*A + BV*C = 0.
-
-  If JOB = 'C', the matrices of the stable projection of conj(V)*G
-  are computed using the following formulas:
-
-  - for a continuous-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B,  CS = BV'*X + DV'*C,  DS = DV'*D,
-
-    where X satisfies the generalized Sylvester equation
-
-      AV'*X + EV'*X*A + CV'*C = 0.
-
-  - for a discrete-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B,  CS = BV'*X*A + DV'*C,  DS = DV'*D + BV'*X*B,
-
-    where X satisfies the generalized Sylvester equation
-
-      EV'*X - AV'*X*A = CV'*C.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Efficient and numerically reliable implementation of the
-      frequency-weighted Hankel-norm approximation model reduction
-      approach.
-      Proc. 2001 ECC, Porto, Portugal, 2001.
-
-  [2] Zhou, K.
-      Frequency-weighted H-infinity norm and optimal Hankel norm
-      model reduction.
-      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on numerically stable algorithms.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,366 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09JW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JW">AB09JW</A></H2>
-<H3>
-State-space representation of a projection of a right weighted transfer-function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a state-space representation (A,BS,CS,DS) of the
-  projection of G*W or G*conj(W) containing the poles of G, from the
-  state-space representations (A,B,C,D) and (AW-lambda*EW,BW,CW,DW),
-  of the transfer-function matrices G and W, respectively.
-  G is assumed to be a stable transfer-function matrix and
-  the state matrix A must be in a real Schur form.
-  When computing the stable projection of G*W, it is assumed
-  that G and W have completely distinct poles.
-  When computing the stable projection of G*conj(W), it is assumed
-  that G and conj(W) have completely distinct poles.
-
-  Note: For a transfer-function matrix G, conj(G) denotes the
-  conjugate of G given by G'(-s) for a continuous-time system or
-  G'(1/z) for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JW( JOB, DICO, JOBEW, STBCHK, N, M, P, NW, MW,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, AW, LDAW,
-     $                   EW, LDEW, BW, LDBW, CW, LDCW, DW, LDDW, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, JOBEW, STBCHK
-      INTEGER           INFO, LDA, LDAW, LDB, LDBW, LDC, LDCW,
-     $                  LDD, LDDW, LDEW, LDWORK, M, MW, N, NW, P
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AW(LDAW,*), B(LDB,*), BW(LDBW,*),
-     $                  C(LDC,*), CW(LDCW,*), D(LDD,*), DW(LDDW,*),
-     $                  DWORK(*), EW(LDEW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the projection to be computed as follows:
-          = 'W':  compute the projection of G*W containing
-                  the poles of G;
-          = 'C':  compute the projection of G*conj(W) containing
-                  the poles of G.
-
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G and W are continuous-time systems;
-          = 'D':  G and W are discrete-time systems.
-
-  JOBEW   CHARACTER*1
-          Specifies whether EW is a general square or an identity
-          matrix as follows:
-          = 'G':  EW is a general square matrix;
-          = 'I':  EW is the identity matrix.
-
-  STBCHK  CHARACTER*1
-          Specifies whether stability/antistability of W is to be
-          checked as follows:
-          = 'C':  check stability if JOB = 'C' or antistability if
-                  JOB = 'W';
-          = 'N':  do not check stability or antistability.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector of the system with
-          the transfer-function matrix G.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of the input vector of the system with
-          the transfer-function matrix G, and also the dimension
-          of the output vector if JOB = 'W', or of the input vector
-          if JOB = 'C', of the system with the transfer-function
-          matrix W.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of the output vector of the system with the
-          transfer-function matrix G.  P &gt;= 0.
-
-  NW      (input) INTEGER
-          The dimension of the state vector of the system with the
-          transfer-function matrix W.  NW &gt;= 0.
-
-  MW      (input) INTEGER
-          The dimension of the input vector, if JOB = 'W', or of
-          the output vector, if JOB = 'C', of the system with the
-          transfer-function matrix W.  MW &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system with the transfer-function
-          matrix G in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array,
-          dimension (LDB,MAX(M,MW))
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading N-by-MW part of this
-          array contains the input matrix BS of the projection of
-          G*W, if JOB = 'W', or of G*conj(W), if JOB = 'C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain
-          the output/state matrix C of the system with the
-          transfer-function matrix G. The matrix CS is equal to C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array,
-          dimension (LDB,MAX(M,MW))
-          On entry, the leading P-by-M part of this array must
-          contain the feedthrough matrix D of the system with
-          the transfer-function matrix G.
-          On exit, if INFO = 0, the leading P-by-MW part of
-          this array contains the feedthrough matrix DS of the
-          projection of G*W, if JOB = 'W', or of G*conj(W),
-          if JOB = 'C'.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, the leading NW-by-NW part of this array must
-          contain the state matrix AW of the system with the
-          transfer-function matrix W.
-          On exit, if INFO = 0, the leading NW-by-NW part of this
-          array contains a condensed matrix as follows:
-          if JOBEW = 'I', it contains the real Schur form of AW;
-          if JOBEW = 'G' and JOB = 'W', it contains a quasi-upper
-          triangular matrix representing the real Schur matrix
-          in the real generalized Schur form of the pair (AW,EW);
-          if JOBEW = 'G', JOB = 'C' and DICO = 'C', it contains a
-          quasi-upper triangular matrix corresponding to the
-          generalized real Schur form of the pair (AW',EW');
-          if JOBEW = 'G', JOB = 'C' and DICO = 'D', it contains an
-          upper triangular matrix corresponding to the generalized
-          real Schur form of the pair (EW',AW').
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.  LDAW &gt;= MAX(1,NW).
-
-  EW      (input/output) DOUBLE PRECISION array, dimension (LDEW,NW)
-          On entry, if JOBEW = 'G', the leading NW-by-NW part of
-          this array must contain the descriptor matrix EW of the
-          system with the transfer-function matrix W.
-          If JOBEW = 'I', EW is assumed to be an identity matrix
-          and is not referenced.
-          On exit, if INFO = 0 and JOBEW = 'G', the leading NW-by-NW
-          part of this array contains a condensed matrix as follows:
-          if JOB = 'W', it contains an upper triangular matrix
-          corresponding to the real generalized Schur form of the
-          pair (AW,EW);
-          if JOB = 'C' and DICO = 'C', it contains an upper
-          triangular matrix corresponding to the generalized real
-          Schur form of the pair (AW',EW');
-          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
-          triangular matrix corresponding to the generalized
-          real Schur form of the pair (EW',AW').
-
-  LDEW    INTEGER
-          The leading dimension of the array EW.
-          LDEW &gt;= MAX(1,NW), if JOBEW = 'G';
-          LDEW &gt;= 1,         if JOBEW = 'I'.
-
-  BW      (input/output) DOUBLE PRECISION array,
-          dimension (LDBW,MBW), where MBW = MW, if JOB = 'W', and
-          MBW = M, if JOB = 'C'.
-          On entry, the leading NW-by-MBW part of this array must
-          contain the input matrix BW of the system with the
-          transfer-function matrix W.
-          On exit, if INFO = 0, the leading NW-by-MBW part of this
-          array contains Q'*BW, where Q is the orthogonal matrix
-          that reduces AW to the real Schur form or the left
-          orthogonal matrix used to reduce the pair (AW,EW),
-          (AW',EW') or (EW',AW') to the generalized real Schur form.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.  LDBW &gt;= MAX(1,NW).
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, the leading PCW-by-NW part of this array must
-          contain the output matrix CW of the system with the
-          transfer-function matrix W, where PCW = M if JOB = 'W' or
-          PCW = MW if JOB = 'C'.
-          On exit, if INFO = 0, the leading PCW-by-NW part of this
-          array contains CW*Q, where Q is the orthogonal matrix that
-          reduces AW to the real Schur form, or CW*Z, where Z is the
-          right orthogonal matrix used to reduce the pair (AW,EW),
-          (AW',EW') or (EW',AW') to the generalized real Schur form.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
-          PCW = MW if JOB = 'C'.
-
-  DW      (input) DOUBLE PRECISION array,
-          dimension (LDDW,MBW), where MBW = MW if JOB = 'W', and
-          MBW = M if JOB = 'C'.
-          The leading PCW-by-MBW part of this array must contain
-          the feedthrough matrix DW of the system with the
-          transfer-function matrix W, where PCW = M if JOB = 'W',
-          or PCW = MW if JOB = 'C'.
-
-  LDDW    INTEGER
-          LDDW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
-          PCW = MW if JOB = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK =   0,    if JOBEW = 'I';
-          LIWORK = NW+N+6, if JOBEW = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= LW1, if JOBEW = 'I',
-          LDWORK &gt;= LW2, if JOBEW = 'G', where
-            LW1 = MAX( 1, NW*(NW+5), NW*N + MAX( a, N*MW, P*MW ) )
-                  a = 0,    if DICO = 'C' or  JOB = 'W',
-                  a = 2*NW, if DICO = 'D' and JOB = 'C';
-            LW2 = MAX( 2*NW*NW + MAX( 11*NW+16, NW*M, MW*NW ),
-                       NW*N + MAX( NW*N+N*N, MW*N, P*MW ) ).
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the reduction of the pair (AW,EW) to the real
-                 generalized Schur form failed (JOBEW = 'G'),
-                 or the reduction of the matrix AW to the real
-                 Schur form failed (JOBEW = 'I);
-          =  2:  the solution of the Sylvester equation failed
-                 because the matrix A and the pencil AW-lambda*EW
-                 have common eigenvalues (if JOB = 'W'), or the
-                 pencil -AW-lambda*EW and A have common eigenvalues
-                 (if JOB = 'C' and DICO = 'C'), or the pencil
-                 AW-lambda*EW has an eigenvalue which is the
-                 reciprocal of one of eigenvalues of A
-                 (if JOB = 'C' and DICO = 'D');
-          =  3:  the solution of the Sylvester equation failed
-                 because the matrices A and AW have common
-                 eigenvalues (if JOB = 'W'), or the matrices A
-                 and -AW have common eigenvalues (if JOB = 'C' and
-                 DICO = 'C'), or the matrix A has an eigenvalue
-                 which is the reciprocal of one of eigenvalues of AW
-                 (if JOB = 'C' and DICO = 'D');
-          =  4:  JOB = 'W' and the pair (AW,EW) has not completely
-                 unstable generalized eigenvalues, or JOB = 'C' and
-                 the pair (AW,EW) has not completely stable
-                 generalized eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOB = 'W', the matrices of the stable projection of G*W are
-  computed as
-
-    BS = B*DW + Y*BW,  CS = C,  DS = D*DW,
-
-  where Y satisfies the generalized Sylvester equation
-
-    -A*Y*EW + Y*AW + B*CW = 0.
-
-  If JOB = 'C', the matrices of the stable projection of G*conj(W)
-  are computed using the following formulas:
-
-  - for a continuous-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B*DW' + Y*CW',  CS = C,  DS = D*DW',
-
-    where Y satisfies the generalized Sylvester equation
-
-      A*Y*EW' + Y*AW' + B*BW' = 0.
-
-  - for a discrete-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B*DW' + A*Y*CW',  CS = C,  DS = D*DW' + C*Y*CW',
-
-    where Y satisfies the generalized Sylvester equation
-
-      Y*EW' - A*Y*AW' = B*BW'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Efficient and numerically reliable implementation of the
-      frequency-weighted Hankel-norm approximation model reduction
-      approach.
-      Proc. 2001 ECC, Porto, Portugal, 2001.
-
-  [2] Zhou, K.
-      Frequency-weighted H-infinity norm and optimal Hankel norm
-      model reduction.
-      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on numerically stable algorithms.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09JX.html b/doc/_build/html/_static/doc/AB09JX.html
deleted file mode 100644
index 311d2689..00000000
--- a/doc/_build/html/_static/doc/AB09JX.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09JX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JX">AB09JX</A></H2>
-<H3>
-Check stability/antistability of finite eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check stability/antistability of finite eigenvalues with
-  respect to a given stability domain.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JX( DICO, STDOM, EVTYPE, N, ALPHA, ER, EI, ED,
-     $                   TOLINF, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, EVTYPE, STDOM
-      INTEGER          INFO, N
-      DOUBLE PRECISION ALPHA, TOLINF
-C     .. Array Arguments ..
-      DOUBLE PRECISION ED(*), EI(*), ER(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the stability domain as follows:
-          = 'C':  for a continuous-time system;
-          = 'D':  for a discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  EVTYPE  CHARACTER*1
-          Specifies whether the eigenvalues arise from a standard
-          or a generalized eigenvalue problem as follows:
-          = 'S':  standard eigenvalue problem;
-          = 'G':  generalized eigenvalue problem;
-          = 'R':  reciprocal generalized eigenvalue problem.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of vectors ER, EI and ED.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the boundary of the domain of interest for the
-          eigenvalues. For a continuous-time system
-          (DICO = 'C'), ALPHA is the boundary value for the real
-          parts of eigenvalues, while for a discrete-time system
-          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
-          the moduli of eigenvalues.
-
-  ER, EI, (input) DOUBLE PRECISION arrays, dimension (N)
-  ED      If EVTYPE = 'S', ER(j) + EI(j)*i, j = 1,...,N, are
-          the eigenvalues of a real matrix.
-          ED is not referenced and is implicitly considered as
-          a vector having all elements equal to one.
-          If EVTYPE = 'G' or EVTYPE = 'R', (ER(j) + EI(j)*i)/ED(j),
-          j = 1,...,N, are the generalized eigenvalues of a pair of
-          real matrices. If ED(j) is zero, then the j-th generalized
-          eigenvalue is infinite.
-          Complex conjugate pairs of eigenvalues must appear
-          consecutively.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOLINF  DOUBLE PRECISION
-          If EVTYPE = 'G' or 'R', TOLINF contains the tolerance for
-          detecting infinite generalized eigenvalues.
-          0 &lt;= TOLINF &lt; 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit, i.e., all eigenvalues lie within
-                 the domain of interest defined by DICO, STDOM
-                 and ALPHA;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  some eigenvalues lie outside the domain of interest
-                 defined by DICO, STDOM and ALPHA.
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The domain of interest for an eigenvalue lambda is defined by the
-  parameters ALPHA, DICO and STDOM as follows:
-     - for a continuous-time system (DICO = 'C'):
-            Real(lambda) &lt; ALPHA if STDOM = 'S';
-            Real(lambda) &gt; ALPHA if STDOM = 'U';
-     - for a discrete-time system (DICO = 'D'):
-            Abs(lambda) &lt; ALPHA if STDOM = 'S';
-            Abs(lambda) &gt; ALPHA if STDOM = 'U'.
-  If EVTYPE = 'R', the same conditions apply for 1/lambda.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09KD.html b/doc/_build/html/_static/doc/AB09KD.html
deleted file mode 100644
index 96d77903..00000000
--- a/doc/_build/html/_static/doc/AB09KD.html
+++ /dev/null
@@ -1,760 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09KD">AB09KD</A></H2>
-<H3>
-Frequency-weighted Hankel-norm approximation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the frequency
-  weighted optimal Hankel-norm approximation method.
-  The Hankel norm of the weighted error
-
-        V*(G-Gr)*W    or    conj(V)*(G-Gr)*conj(W)
-
-  is minimized, where G and Gr are the transfer-function matrices
-  of the original and reduced systems, respectively, and V and W
-  are the transfer-function matrices of the left and right frequency
-  weights, specified by their state space realizations (AV,BV,CV,DV)
-  and (AW,BW,CW,DW), respectively. When minimizing the weighted
-  error V*(G-Gr)*W, V and W must be antistable transfer-function
-  matrices. When minimizing conj(V)*(G-Gr)*conj(W), V and W must be
-  stable transfer-function matrices.
-  Additionally, V and W must be invertible transfer-function
-  matrices, with the feedthrough matrices DV and DW invertible.
-  If the original system is unstable, then the frequency weighted
-  Hankel-norm approximation is computed only for the
-  ALPHA-stable part of the system.
-
-  For a transfer-function matrix G, conj(G) denotes the conjugate
-  of G given by G'(-s) for a continuous-time system or G'(1/z)
-  for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW, M,
-     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL, WEIGHT
-      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
-     $                  NR, NS, NV, NW, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
-     $                  HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the frequency-weighting problem as follows:
-          = 'N':  solve min||V*(G-Gr)*W||_H;
-          = 'C':  solve min||conj(V)*(G-Gr)*conj(W)||_H.
-
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the realization of the left frequency
-          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
-
-  NW      (input) INTEGER
-          The order of the realization of the right frequency
-          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
-          multiplicity of the Hankel singular value HSV(NR-NU+1),
-          NR is the desired order on entry, and NMIN is the order
-          of a minimal realization of the ALPHA-stable part of the
-          given system; NMIN is determined as the number of Hankel
-          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
-          ALPHA-stable part of the weighted system (computed in
-          HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
-          part of this array must contain the state matrix AV of a
-          state space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-NV part of this array contains a real Schur form
-          of the state matrix of a state space realization of the
-          inverse of V.
-          AV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
-          of this array must contain the input matrix BV of a state
-          space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-P part of this array contains the input matrix of a
-          state space realization of the inverse of V.
-          BV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
-          of this array must contain the output matrix CV of a state
-          space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          P-by-NV part of this array contains the output matrix of a
-          state space realization of the inverse of V.
-          CV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  DV      (input/output) DOUBLE PRECISION array, dimension (LDDV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading P-by-P part
-          of this array must contain the feedthrough matrix DV of a
-          state space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          P-by-P part of this array contains the feedthrough matrix
-          of a state space realization of the inverse of V.
-          DV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
-          part of this array must contain the state matrix AW of
-          a state space realization of the right frequency
-          weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-NW part of this array contains a real Schur form of
-          the state matrix of a state space realization of the
-          inverse of W.
-          AW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
-          of this array must contain the input matrix BW of a state
-          space realization of the right frequency weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-M part of this array contains the input matrix of a
-          state space realization of the inverse of W.
-          BW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
-          of this array must contain the output matrix CW of a state
-          space realization of the right frequency weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          M-by-NW part of this array contains the output matrix of a
-          state space realization of the inverse of W.
-          CW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input/output) DOUBLE PRECISION array, dimension (LDDW,M)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-M part
-          of this array must contain the feedthrough matrix DW of
-          a state space realization of the right frequency
-          weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          M-by-M part of this array contains the feedthrough matrix
-          of a state space realization of the inverse of W.
-          DW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of the array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of this array contain
-          the Hankel singular values, ordered decreasingly, of the
-          ALPHA-stable part of the weighted original system.
-          HSV(1) is the Hankel norm of the ALPHA-stable weighted
-          subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the weighted
-          original system (computed in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M,c),      if DICO = 'C',
-          LIWORK = MAX(1,N,M,c),    if DICO = 'D',
-          where  c = 0,             if WEIGHT = 'N',
-                 c = 2*P,           if WEIGHT = 'L',
-                 c = 2*M,           if WEIGHT = 'R',
-                 c = MAX(2*M,2*P),  if WEIGHT = 'B'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
-          LDW1 = 0 if WEIGHT = 'R' or 'N' and
-          LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
-                 if WEIGHT = 'L' or WEIGHT = 'B',
-          LDW2 = 0 if WEIGHT = 'L' or 'N' and
-          LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
-                 if WEIGHT = 'R' or WEIGHT = 'B', with
-             a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
-             a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C';
-          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
-          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system; in this case, the resulting NR is set equal
-                to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system; in this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the computation of the ordered real Schur form of A
-                 failed;
-          =  2:  the separation of the ALPHA-stable/unstable
-                 diagonal blocks failed because of very close
-                 eigenvalues;
-          =  3:  the reduction of AV or AV-BV*inv(DV)*CV to a
-                 real Schur form failed;
-          =  4:  the reduction of AW or AW-BW*inv(DW)*CW to a
-                 real Schur form failed;
-          =  5:  JOB = 'N' and AV is not antistable, or
-                 JOB = 'C' and AV is not stable;
-          =  6:  JOB = 'N' and AW is not antistable, or
-                 JOB = 'C' and AW is not stable;
-          =  7:  the computation of Hankel singular values failed;
-          =  8:  the computation of stable projection in the
-                 Hankel-norm approximation algorithm failed;
-          =  9:  the order of computed stable projection in the
-                 Hankel-norm approximation algorithm differs
-                 from the order of Hankel-norm approximation;
-          = 10:  DV is singular;
-          = 11:  DW is singular;
-          = 12:  the solution of the Sylvester equation failed
-                 because the zeros of V (if JOB = 'N') or of conj(V)
-                 (if JOB = 'C') are not distinct from the poles
-                 of G1sr (see METHOD);
-          = 13:  the solution of the Sylvester equation failed
-                 because the zeros of W (if JOB = 'N') or of conj(W)
-                 (if JOB = 'C') are not distinct from the poles
-                 of G1sr (see METHOD).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let G be the transfer-function matrix of the original
-  linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                          (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09KD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
-
-  such that the corresponding transfer-function matrix Gr minimizes
-  the Hankel-norm of the frequency-weighted error
-
-          V*(G-Gr)*W,                                    (3)
-  or
-          conj(V)*(G-Gr)*conj(W).                        (4)
-
-  For minimizing (3), V and W are assumed to be antistable, while
-  for minimizing (4), V and W are assumed to be stable transfer-
-  function matrices.
-
-  Note: conj(G) = G'(-s) for a continuous-time system and
-        conj(G) = G'(1/z) for a discrete-time system.
-
-  The following procedure is used to reduce G (see [1]):
-
-  1) Decompose additively G as
-
-       G = G1 + G2,
-
-     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
-     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
-
-  2) Compute G1s, the stable projection of V*G1*W or
-     conj(V)*G1*conj(W), using explicit formulas [4].
-
-  3) Determine G1sr, the optimal Hankel-norm approximation of G1s
-     of order r.
-
-  4) Compute G1r, the stable projection of either inv(V)*G1sr*inv(W)
-     or conj(inv(V))*G1sr*conj(inv(W)), using explicit formulas [4].
-
-  5) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the weighted ALPHA-stable part G1s at step 3, the
-  optimal Hankel-norm approximation method of [2], based on the
-  square-root balancing projection formulas of [3], is employed.
-
-  The optimal weighted approximation error satisfies
-
-       HNORM[V*(G-Gr)*W] = S(r+1),
-  or
-       HNORM[conj(V)*(G-Gr)*conj(W)] = S(r+1),
-
-  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
-  transfer-function matrix computed at step 2 of the above
-  procedure, and HNORM(.) denotes the Hankel-norm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Latham, G.A. and Anderson, B.D.O.
-      Frequency-weighted optimal Hankel-norm approximation of stable
-      transfer functions.
-      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
-
-  [2] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [3] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [4] Varga A.
-      Explicit formulas for an efficient implementation
-      of the frequency-weighting model reduction approach.
-      Proc. 1993 European Control Conference, Groningen, NL,
-      pp. 693-696, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, NVMAX, NWMAX, PMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
-     $                   PMAX = 20 )
-      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
-      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
-     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
-     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
-     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( MMAX, PMAX ) )
-      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
-      PARAMETER        ( LDW1 = MAX( NVMAX*( NVMAX + 5 ), NVMAX*NMAX +
-     $                          MAX( 2*NVMAX, PMAX*NMAX, PMAX*MMAX ) ))
-      PARAMETER        ( LDW2 = MAX( NWMAX*( NWMAX + 5 ), NWMAX*NMAX +
-     $                          MAX( 2*NWMAX, MMAX*NMAX, PMAX*MMAX ) ))
-      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
-     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
-      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
-     $                          MIN( NMAX, MMAX ) +
-     $                          MAX( 3*MMAX + 1,
-     $                               MIN( NMAX, MMAX ) + PMAX ) )
-      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
-*     .. Local Scalars ..
-      LOGICAL          LEFTW, RIGHTW
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL, WEIGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
-     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
-     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
-     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB09KD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
-     $                      JOB, DICO, WEIGHT, EQUIL, ORDSEL
-      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
-      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF( P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( LEFTW .OR. NV.GT.0 ) THEN
-                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
-                     WRITE ( NOUT, FMT = 99986 ) NV
-                  ELSE
-                     IF( NV.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                    ( ( BV(I,J), J = 1,P ), I = 1, NV )
-                        READ ( NIN, FMT = * )
-     $                    ( ( CV(I,J), J = 1,NV ), I = 1,P )
-                     END IF
-                     IF( LEFTW )  READ ( NIN, FMT = * )
-     $                    ( ( DV(I,J), J = 1,P ), I = 1,P )
-                  END IF
-               END IF
-               IF( RIGHTW ) THEN
-                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
-                     WRITE ( NOUT, FMT = 99985 ) NW
-                  ELSE
-                     IF( NW.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
-                        READ ( NIN, FMT = * )
-     $                    ( ( BW(I,J), J = 1,M ), I = 1, NW )
-                        READ ( NIN, FMT = * )
-     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
-                     END IF
-                     READ ( NIN, FMT = * )
-     $                    ( ( DW(I,J), J = 1,M ), I = 1,M )
-                  END IF
-               END IF
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW,
-     $                      M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, AV, LDAV, BV, LDBV, CV, LDCV,
-     $                      DV, LDDV, AW, LDAW, BW, LDBW, CW, LDCW,
-     $                      DW, LDDW, NS, HSV, TOL1, TOL2, IWORK,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09KD = ',I2)
-99997 FORMAT (/' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
-99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
-99984 FORMAT (' IWARN on exit from AB09KD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09KD EXAMPLE PROGRAM DATA (Continuous system)
-  6     1     1     2   0   0   0.0  1.E-1  1.E-14    N   C    L    S     A
-   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
-    1.0000         0         0         0         0         0
-         0    1.0000         0         0         0         0
-         0         0    1.0000         0         0         0
-         0         0         0    1.0000         0         0
-         0         0         0         0    1.0000         0
-         1
-         0
-         0
-         0
-         0
-         0
-         0         0         0         0         0         1
-         0
-    0.2000   -1.0000
-    1.0000         0
-     1
-     0
-   -1.8000         0
-     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09KD EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced model =  4
-
- The Hankel singular values of weighted ALPHA-stable part are
-   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
-
- The reduced state dynamics matrix Ar is 
-  -0.2391   0.3072   1.1630   1.1967
-  -2.9709  -0.2391   2.6270   3.1027
-   0.0000   0.0000  -0.5137  -1.2842
-   0.0000   0.0000   0.1519  -0.5137
-
- The reduced input/state matrix Br is 
-  -1.0497
-  -3.7052
-   0.8223
-   0.7435
-
- The reduced state/output matrix Cr is 
-  -0.4466   0.0143  -0.4780  -0.2013
-
- The reduced input/output matrix Dr is 
-   0.0219
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09KX.html b/doc/_build/html/_static/doc/AB09KX.html
deleted file mode 100644
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+++ /dev/null
@@ -1,395 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09KX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09KX">AB09KX</A></H2>
-<H3>
-Stable projection of V G W or conj(V) G conj(W)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a state-space representation (A,BS,CS,DS) of the
-  stable projection of V*G*W or conj(V)*G*conj(W) from the
-  state-space representations (A,B,C,D), (AV,BV,CV,DV), and
-  (AW,BW,CW,DW) of the transfer-function matrices G, V and W,
-  respectively. G is assumed to be a stable transfer-function
-  matrix and the state matrix A must be in a real Schur form.
-  When computing the stable projection of V*G*W, V and W are assumed
-  to be completely unstable transfer-function matrices.
-  When computing the stable projection of conj(V)*G*conj(W),
-  V and W are assumed to be stable transfer-function matrices.
-
-  For a transfer-function matrix G, conj(G) denotes the conjugate
-  of G given by G'(-s) for a continuous-time system or G'(1/z)
-  for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09KX( JOB, DICO, WEIGHT, N, NV, NW, M, P,
-     $                   A,  LDA,  B,  LDB,  C,  LDC,  D,  LDD,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOB, WEIGHT
-      INTEGER          INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
-     $                 NV, NW, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*),   B(LDB,*),   C(LDC,*),   D(LDD,*),
-     $                 AV(LDAV,*), BV(LDBV,*), CV(LDCV,*), DV(LDDV,*),
-     $                 AW(LDAW,*), BW(LDBW,*), CW(LDCW,*), DW(LDDW,*),
-     $                 DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies which projection to be computed as follows:
-          = 'N':  compute the stable projection of V*G*W;
-          = 'C':  compute the stable projection of
-                  conj(V)*G*conj(W).
-
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G, V and W are continuous-time systems;
-          = 'D':  G, V and W are discrete-time systems.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. Also the number of rows of
-          the matrix B and the number of columns of the matrix C.
-          N represents the dimension of the state vector of the
-          system with the transfer-function matrix G.  N &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the matrix AV. Also the number of rows of
-          the matrix BV and the number of columns of the matrix CV.
-          NV represents the dimension of the state vector of the
-          system with the transfer-function matrix V.  NV &gt;= 0.
-
-  NW      (input) INTEGER
-          The order of the matrix AW. Also the number of rows of
-          the matrix BW and the number of columns of the matrix CW.
-          NW represents the dimension of the state vector of the
-          system with the transfer-function matrix W.  NW &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B, D, BW and DW
-          and number of rows of the matrices CW and DW.  M &gt;= 0.
-          M represents the dimension of input vectors of the
-          systems with the transfer-function matrices G and W and
-          also the dimension of the output vector of the system
-          with the transfer-function matrix W.
-
-  P       (input) INTEGER
-          The number of rows of the matrices C, D, CV and DV and the
-          number of columns of the matrices BV and DV.  P &gt;= 0.
-          P represents the dimension of output vectors of the
-          systems with the transfer-function matrices G and V and
-          also the dimension of the input vector of the system
-          with the transfer-function matrix V.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must
-          contain the state matrix A of the system with the
-          transfer-function matrix G in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the input matrix BS of the stable
-          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
-          if JOB = 'C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading P-by-N part of this
-          array contains the output matrix CS of the stable
-          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
-          if JOB = 'C'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the feedthrough matrix D of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the feedthrough matrix DS of the stable
-          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
-          if JOB = 'C'.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
-          part of this array must contain the state matrix AV of
-          the system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-NV part of this array contains a real Schur form
-          of AV.
-          AV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
-          of this array must contain the input matrix BV of the
-          system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-P part of this array contains the transformed input
-          matrix BV.
-          BV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
-          of this array must contain the output matrix CV of the
-          system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          P-by-NV part of this array contains the transformed output
-          matrix CV.
-          CV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If WEIGHT = 'L' or 'B', the leading P-by-P part of this
-          array must contain the feedthrough matrix DV of the system
-          with the transfer-function matrix V.
-          DV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
-          part of this array must contain the state matrix AW of
-          the system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-NW part of this array contains a real Schur form
-          of AW.
-          AW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
-          of this array must contain the input matrix BW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-M part of this array contains the transformed input
-          matrix BW.
-          BW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
-          of this array must contain the output matrix CW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          M-by-NW part of this array contains the transformed output
-          matrix CW.
-          CW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
-          If WEIGHT = 'R' or 'B', the leading M-by-M part of this
-          array must contain the feedthrough matrix DW of the system
-          with the transfer-function matrix W.
-          DW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of the array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, LDW1, LDW2 ), where
-            LDW1 = 0 if WEIGHT = 'R' or 'N' and
-            LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
-                   if WEIGHT = 'L' or WEIGHT = 'B',
-            LDW2 = 0 if WEIGHT = 'L' or 'N' and
-            LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
-                   if WEIGHT = 'R' or WEIGHT = 'B',
-            a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
-            a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C'.
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          =  0:  no warning;
-          =  1:  JOB = 'N' and AV is not completely unstable, or
-                 JOB = 'C' and AV is not stable;
-          =  2:  JOB = 'N' and AW is not completely unstable, or
-                 JOB = 'C' and AW is not stable;
-          =  3:  both above conditions appear.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the reduction of AV to a real Schur form failed;
-          =  2:  the reduction of AW to a real Schur form failed;
-          =  3:  the solution of the Sylvester equation failed
-                 because the matrices A and AV have common
-                 eigenvalues (if JOB = 'N'), or -AV and A have
-                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
-                 or AV has an eigenvalue which is the reciprocal of
-                 one of the eigenvalues of A (if JOB = 'C' and
-                 DICO = 'D');
-          =  4:  the solution of the Sylvester equation failed
-                 because the matrices A and AW have common
-                 eigenvalues (if JOB = 'N'), or -AW and A have
-                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
-                 or AW has an eigenvalue which is the reciprocal of
-                 one of the eigenvalues of A (if JOB = 'C' and
-                 DICO = 'D').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the stable projection of V*G*W are computed as
-
-    BS = B*DW + Y*BW,  CS = CV*X + DV*C,  DS = DV*D*DW,
-
-  where X and Y satisfy the continuous-time Sylvester equations
-
-    AV*X - X*A  + BV*C = 0,
-    -A*Y + Y*AW + B*CW = 0.
-
-  The matrices of the stable projection of conj(V)*G*conj(W) are
-  computed using the explicit formulas established in [1].
-
-  For a continuous-time system, the matrices BS, CS and DS of
-  the stable projection are computed as
-
-    BS = B*DW' + Y*CW',  CS = BV'*X + DV'*C,  DS = DV'*D*DW',
-
-  where X and Y satisfy the continuous-time Sylvester equations
-
-    AV'*X + X*A   + CV'*C = 0,
-      A*Y + Y*AW' + B*BW' = 0.
-
-  For a discrete-time system, the matrices BS, CS and DS of
-  the stable projection are computed as
-
-    BS = B*DW' + A*Y*CW',  CS = BV'*X*A + DV'*C,
-    DS = DV'*D*DW' + BV'*X*B*DW' + DV'*C*Y*CW' + BV'*X*A*Y*CW',
-
-  where X and Y satisfy the discrete-time Sylvester equations
-
-    AV'*X*A + CV'*C = X,
-    A*Y*AW' + B*BW' = Y.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Explicit formulas for an efficient implementation
-      of the frequency-weighting model reduction approach.
-      Proc. 1993 European Control Conference, Groningen, NL,
-      pp. 693-696, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on numerically stable algorithms.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The matrix A must be stable, but its stability is not checked by
-  this routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09MD">AB09MD</A></H2>
-<H3>
-Balance & Truncate model reduction for the stable part of a system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for an original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate (B & T)
-  model reduction method for the ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   A, LDA, B, LDB, C, LDC, NS, HSV, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR,
-     $                  NS, P
-      DOUBLE PRECISION  ALPHA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, and NMIN is the order of a minimal realization
-          of the ALPHA-stable part of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
-          part of the given system (computed in HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues in an
-          upper real Schur form.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the given system
-          (computed in HSV(1)).
-          If TOL &lt;= 0 on entry, the used default value is
-          TOL = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          This value is appropriate to compute a minimal realization
-          of the ALPHA-stable part.
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0, if JOB = 'B';
-          LIWORK = N, if JOB = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09MD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  such that
-
-  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1.
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
-  Balance & Truncate method of [1] is used, and for an ALPHA-stable
-  continuous-time system (DICO = 'C'), the resulting reduced model
-  is balanced. For ALPHA-stable systems, setting TOL &lt; 0, the
-  routine can be used to compute balanced minimal state-space
-  realizations.
-
-  If JOB = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used to reduce the ALPHA-stable
-  part G1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
-     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
-     $                            ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL, DICO, JOB, EQUIL,
-     $                      ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      ALPHA, A, LDA, B, LDB, C, LDC, NS, HSV,
-     $                      TOL, IWORK, DWORK, LDWORK, IWARN, INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09MD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09MD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   -.6D0 1.D-1  C  N  N  A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09MD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of ALPHA-stable part are
-   1.9178   0.8621   0.7666   0.0336   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5181  -1.1084   0.0000   0.0000   0.0000
-   8.8157  -0.5181   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.5124   0.0000   1.7910
-   0.0000   0.0000   0.0000  -1.4460   0.0000
-   0.0000   0.0000  -4.2167   0.0000  -2.9900
-
- The reduced input/state matrix Br is 
-  -1.2837   1.2837
-  -0.7522   0.7522
-  -0.7447  -0.7447
-   1.9275  -1.9275
-  -3.6872  -3.6872
-
- The reduced state/output matrix Cr is 
-  -0.1380  -0.6445  -0.6582  -0.5771   0.2222
-   0.6246   0.0196   0.0000   0.4131   0.0000
-   0.1380   0.6445  -0.6582   0.5771   0.2222
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB09ND.html b/doc/_build/html/_static/doc/AB09ND.html
deleted file mode 100644
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+++ /dev/null
@@ -1,481 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09ND">AB09ND</A></H2>
-<H3>
-Singular perturbation approximation based model reduction for the stable part of a system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root Singular
-  Perturbation Approximation (SPA) model reduction method for the
-  ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, NS, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root SPA method;
-          = 'N':  use the balancing-free square-root SPA method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, and NMIN is the order of a minimal realization
-          of the ALPHA-stable part of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
-          part of the given system (computed in HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues in an
-          upper real Schur form.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the given system
-          (computed in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          This value is appropriate to compute a minimal realization
-          of the ALPHA-stable part.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit, if INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the ALPHA-stable part of the
-          system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09ND determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1.
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
-  balancing-based SPA method of [1] is used, and for an ALPHA-stable
-  system, the resulting reduced model is balanced.
-
-  If JOB = 'N', the balancing-free square-root SPA method of [2]
-  is used to reduce the ALPHA-stable part G1.
-  By setting TOL1 = TOL2, the routine can be used to compute
-  Balance & Truncate approximations as well.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems,
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing
-      singular perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                 LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
-     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
-     $                            ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
-     $                      DICO, JOB, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09ND = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09ND EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   -.6D0 1.D-1  1.E-14  C  N  N  A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09ND EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of ALPHA-stable part are
-   1.9178   0.8621   0.7666   0.0336   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5181  -1.1084   0.0000   0.0000   0.0000
-   8.8157  -0.5181   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.5847   0.0000   1.9230
-   0.0000   0.0000   0.0000  -1.6606   0.0000
-   0.0000   0.0000  -4.3823   0.0000  -3.2922
-
- The reduced input/state matrix Br is 
-  -1.2837   1.2837
-  -0.7522   0.7522
-  -0.6379  -0.6379
-   2.0656  -2.0656
-  -3.9315  -3.9315
-
- The reduced state/output matrix Cr is 
-  -0.1380  -0.6445  -0.6416  -0.6293   0.2526
-   0.6246   0.0196   0.0000   0.4107   0.0000
-   0.1380   0.6445  -0.6416   0.6293   0.2526
-
- The reduced input/output matrix Dr is 
-   0.0582  -0.0090
-   0.0015  -0.0015
-  -0.0090   0.0582
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13AD.html b/doc/_build/html/_static/doc/AB13AD.html
deleted file mode 100644
index 4e3645d5..00000000
--- a/doc/_build/html/_static/doc/AB13AD.html
+++ /dev/null
@@ -1,322 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13AD">AB13AD</A></H2>
-<H3>
-Hankel-norm of a stable projection
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Hankel-norm of the ALPHA-stable projection of the
-  transfer-function matrix G of the state-space system (A,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13AD( DICO, EQUIL, N, M, P, ALPHA, A,
-     $                                  LDA, B, LDB, C, LDC, NS, HSV,
-     $                                  DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NS, P
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13AD  DOUBLE PRECISION
-          The Hankel-norm of the ALPHA-stable projection of G
-          (if INFO = 0).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary
-          (see the Note below).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the state dynamics matrix A in a block
-          diagonal real Schur form with its eigenvalues reordered
-          and separated. The resulting A has two diagonal blocks.
-          The leading NS-by-NS part of A has eigenvalues in the
-          ALPHA-stability domain and the trailing (N-NS) x (N-NS)
-          part has eigenvalues outside the ALPHA-stability domain.
-          Note: The ALPHA-stability domain is defined either
-                as the open half complex plane left to ALPHA,
-                for a continous-time system (DICO = 'C'), or the
-                interior of the ALPHA-radius circle centered in the
-                origin, for a discrete-time system (DICO = 'D').
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the input/state matrix B of the transformed
-          system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-N part of this
-          array contains the state/output matrix C of the
-          transformed system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computed ALPHA-stable part is just stable,
-                having stable eigenvalues very near to the imaginary
-                axis (if DICO = 'C') or to the unit circle
-                (if DICO = 'D');
-          = 4:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The following procedure is used to
-  compute the Hankel-norm of the ALPHA-stable projection of G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
-     For the computation of the additive decomposition, the
-     algorithm presented in [1] is used.
-
-  2) Compute the Hankel-norm of ALPHA-stable projection G1 as the
-     the maximum Hankel singular value of the system (As,Bs,Cs).
-     The computation of the Hankel singular values is performed
-     by using the square-root method of [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Safonov, M.G., Jonckheere, E.A., Verma, M. and Limebeer, D.J.
-      Synthesis of positive real multivariable feedback systems,
-      Int. J. Control, Vol. 45, pp. 817-842, 1987.
-
-  [2] Tombs, M.S. and Postlethwaite, I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on a square-root technique.
-                                  3
-  The algorithms require about 17N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( MAX( NMAX, MMAX, PMAX ) + 5 )
-     $                        + ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, SHNORM
-      INTEGER          I, INFO, J, M, N, NS, P
-      CHARACTER*1      DICO, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION AB13AD
-      EXTERNAL         AB13AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Compute the Hankel-norm of the ALPHA-stable projection of
-*              (A,B,C).
-               SHNORM = AB13AD( DICO, EQUIL, N, M, P, ALPHA, A, LDA, B,
-     $                          LDB, C, LDC, NS, HSV, DWORK, LDWORK,
-     $                          INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) SHNORM
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13AD = ',I2)
-99997 FORMAT (' The Hankel-norm of the ALPHA-projection = ',1PD14.5)
-99995 FORMAT (20(1X,F8.4))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-projection are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13AD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   0.0  C  N
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13AD EXAMPLE PROGRAM RESULTS
-
- The Hankel-norm of the ALPHA-projection =    2.51388D+00
-
- The Hankel singular values of ALPHA-projection are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13AX.html b/doc/_build/html/_static/doc/AB13AX.html
deleted file mode 100644
index 7b6d1891..00000000
--- a/doc/_build/html/_static/doc/AB13AX.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13AX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13AX">AB13AX</A></H2>
-<H3>
-Hankel-norm of a stable system with the state dynamics matrix in real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Hankel-norm of the transfer-function matrix G of
-  a stable state-space system (A,B,C). The state dynamics matrix A
-  of the given system is an upper quasi-triangular matrix in
-  real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13AX( DICO, N, M, P, A, LDA, B, LDB,
-     $                                  C, LDC, HSV, DWORK, LDWORK,
-     $                                  INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13AX  DOUBLE PRECISION
-          The Hankel-norm of G (if INFO = 0).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A in a real Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, this array contains the Hankel singular
-          values of the given system ordered decreasingly.
-          HSV(1) is the Hankel norm of the given system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The Hankel-norm of G is computed as the
-  the maximum Hankel singular value of the system (A,B,C).
-  The computation of the Hankel singular values is performed
-  by using the square-root method of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on a square-root technique.
-                                  3
-  The algorithms require about 17N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13BD.html b/doc/_build/html/_static/doc/AB13BD.html
deleted file mode 100644
index e2c1f0fa..00000000
--- a/doc/_build/html/_static/doc/AB13BD.html
+++ /dev/null
@@ -1,358 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13BD">AB13BD</A></H2>
-<H3>
-H2 or L2 norm of a system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the H2 or L2 norm of the transfer-function matrix G
-  of the system (A,B,C,D). G must not have poles on the imaginary
-  axis, for a continuous-time system, or on the unit circle, for
-  a discrete-time system. If the H2-norm is computed, the system
-  must be stable.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13BD( DICO, JOBN, N, M, P, A, LDA,
-     $                                  B, LDB, C, LDC, D, LDD, NQ, TOL,
-     $                                  DWORK, LDWORK, IWARN, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOBN
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M,
-     $                  N, NQ, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13BD   DOUBLE PRECISION
-           The H2-norm of G, if JOBN = 'H', or the L2-norm of G,
-           if JOBN = 'L' (if INFO = 0).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBN    CHARACTER*1
-          Specifies the norm to be computed as follows:
-          = 'H':  the H2-norm;
-          = 'L':  the L2-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of the
-          matrix B, and the number of columns of the matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and D.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices C and D.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix of the system.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the state dynamics matrix (in a real Schur form) of the
-          numerator factor Q of the right coprime factorization with
-          inner denominator of G (see METHOD).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix of the system.
-          On exit, the leading NQ-by-M part of this array contains
-          the input/state matrix of the numerator factor Q of the
-          right coprime factorization with inner denominator of G
-          (see METHOD).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix of the system.
-          On exit, the leading P-by-NQ part of this array contains
-          the state/output matrix of the numerator factor Q of the
-          right coprime factorization with inner denominator of G
-          (see METHOD).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix of the system.
-          If DICO = 'C', D must be a null matrix.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix of the numerator factor Q of
-          the right coprime factorization with inner denominator
-          of G (see METHOD).
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting numerator Q of the right
-          coprime factorization with inner denominator of G (see
-          METHOD).
-          Generally, NQ = N - NS, where NS is the number of
-          uncontrollable unstable eigenvalues.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
-          the 1-norm of B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, M*(N+M) + MAX( N*(N+5), M*(M+2), 4*P ),
-                            N*( MAX( N, P ) + 4 ) + MIN( N, P ) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                occured during the assignment of eigenvalues in
-                computing the right coprime factorization with inner
-                denominator of G (see the SLICOT subroutine SB08DD).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the reordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal (see SLICOT routine SB08DD);
-          = 3:  if DICO = 'C' and the matrix A has a controllable
-                eigenvalue on the imaginary axis, or DICO = 'D'
-                and A has a controllable eigenvalue on the unit
-                circle;
-          = 4:  the solution of Lyapunov equation failed because
-                the equation is singular;
-          = 5:  if DICO = 'C' and D is a nonzero matrix;
-          = 6:  if JOBN = 'H' and the system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the algorithms proposed in [1] and [2].
-
-  If the given transfer-function matrix G is unstable, then a right
-  coprime factorization with inner denominator of G is first
-  computed
-            -1
-     G = Q*R  ,
-
-  where Q and R are stable transfer-function matrices and R is
-  inner. If G is stable, then Q = G and R = I.
-  Let (AQ,BQ,CQ,DQ) be the state-space representation of Q.
-
-  If DICO = 'C', then the L2-norm of G is computed as
-
-     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ)),
-
-  where X satisfies the continuous-time Lyapunov equation
-
-     AQ'*X + X*AQ + CQ'*CQ = 0.
-
-  If DICO = 'D', then the l2-norm of G is computed as
-
-     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ+DQ'*DQ)),
-
-  where X satisfies the discrete-time Lyapunov equation
-
-     AQ'*X*AQ - X + CQ'*CQ = 0.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      On computing 2-norms of transfer-function matrices.
-      Proc. 1992 ACC, Chicago, June 1992.
-
-  [2] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( MMAX*( NMAX + MMAX ) +
-     $                                 MAX( NMAX*( NMAX + 5 ),
-     $                                      MMAX*( MMAX + 2 ), 4*PMAX ),
-     $                                 NMAX*( MAX( NMAX, PMAX ) + 4 ) +
-     $                                 MIN( NMAX, PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION S2NORM, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, P
-      CHARACTER*1      DICO, JOBN
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION AB13BD
-      EXTERNAL         AB13BD, LSAME
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Compute the H2 or L2 norm of (A,B,C,D).
-               S2NORM = AB13BD( DICO, JOBN, N, M, P, A, LDA, B, LDB,
-     *                          C, LDC, D, LDD, NQ, TOL, DWORK, LDWORK,
-     *                          IWARN, INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( LSAME( JOBN, 'H' ) ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) S2NORM
-                  ELSE
-                     WRITE ( NOUT, FMT = 99996 ) S2NORM
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13BD = ',I2)
-99997 FORMAT (' The H2-norm of the system = ',1PD14.5)
-99996 FORMAT (' The L2-norm of the system = ',1PD14.5)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13BD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   1.E-10 C L
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13BD EXAMPLE PROGRAM RESULTS
-
- The L2-norm of the system =    7.93948D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13CD.html b/doc/_build/html/_static/doc/AB13CD.html
deleted file mode 100644
index af8d8679..00000000
--- a/doc/_build/html/_static/doc/AB13CD.html
+++ /dev/null
@@ -1,294 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13CD">AB13CD</A></H2>
-<H3>
-H-infinity norm of a continuous-time stable system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the H-infinity norm of the continuous-time stable
-  system
-
-                       | A | B |
-                G(s) = |---|---| .
-                       | C | D |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13CD( N, M, NP, A, LDA, B, LDB, C,
-     $                                  LDC, D, LDD, TOL, IWORK, DWORK,
-     $                                  LDWORK, CWORK, LCWORK, BWORK,
-     $                                  INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LCWORK, LDD, LDWORK, M, N,
-     $                   NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      COMPLEX*16         CWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13CD  DOUBLE PRECISION
-          If INFO = 0, the H-infinity norm of the system, HNORM,
-          i.e., the peak gain of the frequency response (as measured
-          by the largest singular value in the MIMO case).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used to set the accuracy in determining the
-          norm.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK, and DWORK(2) contains the frequency where the
-          gain of the frequency response achieves its peak value
-          HNORM.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(2,4*N*N+2*M*M+3*M*N+M*NP+2*(N+NP)*NP+10*N+
-                          6*max(M,NP)).
-          For good performance, LDWORK must generally be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) contains the optimal value
-          of LCWORK.
-
-  LCWORK  INTEGER
-          The dimension of the array CWORK.
-          LCWORK &gt;= max(1,(N+M)*(N+NP)+3*max(M,NP)).
-          For good performance, LCWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the system is unstable;
-          = 2:  the tolerance is too small (the algorithm for
-                computing the H-infinity norm did not converge);
-          = 3:  errors in computing the eigenvalues of A or of the
-                Hamiltonian matrix (the QR algorithm did not
-                converge);
-          = 4:  errors in computing singular values.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bruinsma, N.A. and Steinbuch, M.
-      A fast algorithm to compute the Hinfinity-norm of a transfer
-      function matrix.
-      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If the algorithm does not converge (INFO = 2), the tolerance must
-  be increased.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LCWORK
-      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
-     $                              3*MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX*NMAX + 2*MMAX*MMAX +
-     $                            2*PMAX*PMAX + 3*NMAX*MMAX +
-     $                            2*NMAX*PMAX + MMAX*PMAX + 10*NMAX +
-     $                            6*MAX( MMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FPEAK, HNORM, TOL
-      INTEGER          I, INFO, J, M, N, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-      COMPLEX*16       CWORK( LCWORK )
-*     .. External Functions ..
-      DOUBLE PRECISION AB13CD
-      EXTERNAL         AB13CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) TOL
-*        Computing the Hinf norm
-         HNORM = AB13CD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, TOL,
-     $                   IWORK, DWORK, LDWORK, CWORK, LCWORK, BWORK,
-     $                   INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99991 ) HNORM
-            FPEAK = DWORK(2)
-            WRITE ( NOUT, FMT = 99996 )
-            WRITE ( NOUT, FMT = 99991 ) FPEAK
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from AB13CD =',I2)
-99997 FORMAT (/' The H_infty norm of the system is'/)
-99996 FORMAT (/' The peak frequency is'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT (D17.10)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13CD EXAMPLE PROGRAM DATA
-   6     1     1   
-   0.0  1.0     0.0   0.0      0.0  0.0
-  -0.5 -0.0002  0.0   0.0      0.0  0.0
-   0.0  0.0     0.0   1.0      0.0  0.0
-   0.0  0.0    -1.0  -0.00002  0.0  0.0
-   0.0  0.0     0.0   0.0      0.0  1.0
-   0.0  0.0     0.0   0.0     -2.0 -0.000002
-   1.0 
-   0.0  
-   1.0 
-   0.0 
-   1.0 
-   0.0
-   1.0  0.0  1.0  0.0  1.0  0.0
-   0.0
- 0.000000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13CD EXAMPLE PROGRAM RESULTS
-
-
- The H_infty norm of the system is
-
- 0.5000000006D+06
-
- The peak frequency is
-
- 0.1414213562D+01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13DD.html b/doc/_build/html/_static/doc/AB13DD.html
deleted file mode 100644
index 28c690af..00000000
--- a/doc/_build/html/_static/doc/AB13DD.html
+++ /dev/null
@@ -1,452 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13DD">AB13DD</A></H2>
-<H3>
-L-infinity norm of a state space system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the L-infinity norm of a continuous-time or
-  discrete-time system, either standard or in the descriptor form,
-
-                                  -1
-     G(lambda) = C*( lambda*E - A ) *B + D .
-
-  The norm is finite if and only if the matrix pair (A,E) has no
-  eigenvalue on the boundary of the stability domain, i.e., the
-  imaginary axis, or the unit circle, respectively. It is assumed
-  that the matrix E is nonsingular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK,
-     $                   A, LDA, E, LDE, B, LDB, C, LDC, D, LDD, GPEAK,
-     $                   TOL, IWORK, DWORK, LDWORK, CWORK, LCWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DICO, EQUIL, JOBD, JOBE
-      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                   M, N, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         CWORK(  * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK(  * ), E( LDE, * ),
-     $                   FPEAK(  2 ), GPEAK(  2 )
-      INTEGER            IWORK(  * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system, as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general square or an identity
-          matrix, as follows:
-          = 'G':  E is a general square matrix;
-          = 'I':  E is the identity matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the system (A,E,B,C) or (A,B,C), as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The row size of the matrix C.  P &gt;= 0.
-
-  FPEAK   (input/output) DOUBLE PRECISION array, dimension (2)
-          On entry, this parameter must contain an estimate of the
-          frequency where the gain of the frequency response would
-          achieve its peak value. Setting FPEAK(2) = 0 indicates an
-          infinite frequency. An accurate estimate could reduce the
-          number of iterations of the iterative algorithm. If no
-          estimate is available, set FPEAK(1) = 0, and FPEAK(2) = 1.
-          FPEAK(1) &gt;= 0, FPEAK(2) &gt;= 0.
-          On exit, if INFO = 0, this array contains the frequency
-          OMEGA, where the gain of the frequency response achieves
-          its peak value GPEAK, i.e.,
-
-              || G ( j*OMEGA ) || = GPEAK ,  if DICO = 'C', or
-
-                      j*OMEGA
-              || G ( e       ) || = GPEAK ,  if DICO = 'D',
-
-          where OMEGA = FPEAK(1), if FPEAK(2) &gt; 0, and OMEGA is
-          infinite, if FPEAK(2) = 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'G', the leading N-by-N part of this array must
-          contain the descriptor matrix E of the system.
-          If JOBE = 'I', then E is assumed to be the identity
-          matrix and is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this array must
-          contain the direct transmission matrix D.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  GPEAK   (output) DOUBLE PRECISION array, dimension (2)
-          The L-infinity norm of the system, i.e., the peak gain
-          of the frequency response (as measured by the largest
-          singular value in the MIMO case), coded in the same way
-          as FPEAK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used to set the accuracy in determining the
-          norm.  0 &lt;= TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= K, where K can be computed using the following
-          pseudo-code (or the Fortran code included in the routine)
-
-             d = 6*MIN(P,M);
-             c = MAX( 4*MIN(P,M) + MAX(P,M), d );
-             if ( MIN(P,M) = 0 ) then
-                K = 1;
-             else if( N = 0 or B = 0 or C = 0 ) then
-                if( JOBD = 'D' ) then
-                   K = P*M + c;
-                else
-                   K = 1;
-                end
-             else
-                if ( DICO = 'D' ) then
-                   b = 0;  e = d;
-                else
-                   b = N*(N+M);  e = c;
-                   if ( JOBD = Z' ) then  b = b + P*M;  end
-                end
-                if ( JOBD = 'D' ) then
-                   r = P*M;
-                   if ( JOBE = 'I', DICO = 'C',
-                        N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0 ) then
-                      K = P*P + M*M;
-                      r = r + N*(P+M);
-                   else
-                      K = 0;
-                   end
-                   K = K + r + c;  r = r + MIN(P,M);
-                else
-                   r = 0;  K = 0;
-                end
-                r = r + N*(N+P+M);
-                if ( JOBE = 'G' ) then
-                   r = r + N*N;
-                   if ( EQUIL = 'S' ) then
-                      K = MAX( K, r + 9*N );
-                   end
-                   K = MAX( K, r + 4*N + MAX( M, 2*N*N, N+b+e ) );
-                else
-                   K = MAX( K, r + N +
-                               MAX( M, P, N*N+2*N, 3*N+b+e ) );
-                end
-                w = 0;
-                if ( JOBE = 'I', DICO = 'C' ) then
-                   w = r + 4*N*N + 11*N;
-                   if ( JOBD = 'D' ) then
-                      w = w + MAX(M,P) + N*(P+M);
-                   end
-                end
-                if ( JOBE = 'E' or DICO = 'D' or JOBD = 'D' ) then
-                   w = MAX( w, r + 6*N + (2*N+P+M)*(2*N+P+M) +
-                            MAX( 2*(N+P+M), 8*N*N + 16*N ) );
-                end
-                K = MAX( 1, K, w, r + 2*N + e );
-             end
-
-          For good performance, LDWORK must generally be larger.
-
-          An easily computable upper bound is
-
-          K = MAX( 1, 15*N*N + P*P + M*M + (6*N+3)*(P+M) + 4*P*M +
-                      N*M + 22*N + 7*MIN(P,M) ).
-
-          The smallest workspace is obtained for DICO = 'C',
-          JOBE = 'I', and JOBD = 'Z', namely
-
-          K = MAX( 1, N*N + N*P + N*M + N +
-                      MAX( N*N + N*M + P*M + 3*N + c,
-                           4*N*N + 10*N ) ).
-
-          for which an upper bound is
-
-          K = MAX( 1, 6*N*N + N*P + 2*N*M + P*M + 11*N + MAX(P,M) +
-                      6*MIN(P,M) ).
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) contains the optimal
-          LCWORK.
-
-  LCWORK  INTEGER
-          The dimension of the array CWORK.
-          LCWORK &gt;= 1,  if N = 0, or B = 0, or C = 0;
-          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
-                        otherwise.
-          For good performance, LCWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix E is (numerically) singular;
-          = 2:  the (periodic) QR (or QZ) algorithm for computing
-                eigenvalues did not converge;
-          = 3:  the SVD algorithm for computing singular values did
-                not converge;
-          = 4:  the tolerance is too small and the algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1], with
-  extensions and refinements for improving numerical robustness and
-  efficiency. Structure-exploiting eigenvalue computations for
-  Hamiltonian matrices are used if JOBE = 'I', DICO = 'C', and the
-  symmetric matrices to be implicitly inverted are not too ill-
-  conditioned. Otherwise, generalized eigenvalue computations are
-  used in the iterative algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bruinsma, N.A. and Steinbuch, M.
-      A fast algorithm to compute the Hinfinity-norm of a transfer
-      function matrix.
-      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If the algorithm does not converge in MAXIT = 30 iterations
-  (INFO = 4), the tolerance must be increased.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the matrix E is singular, other SLICOT Library routines
-  could be used before calling AB13DD, for removing the singular
-  part of the system.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LCWORK
-      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
-     $                             2*MIN( PMAX, MMAX ) +
-     $                             MAX( PMAX, MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 15*NMAX*NMAX + PMAX*PMAX + MMAX*MMAX +
-     $                            ( 6*NMAX + 3 )*( PMAX + MMAX ) +
-     $                            4*PMAX*MMAX + NMAX*MMAX + 22*NMAX +
-     $                            7*MIN( PMAX, MMAX ) )
-      DOUBLE PRECISION   ZERO
-      PARAMETER          ( ZERO = 0.0D+0 )
-
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER        DICO, EQUIL, JOBD, JOBE
-*     .. Local Arrays ..
-      INTEGER          IWORK( LIWORK )
-      DOUBLE PRECISION A( LDA, NMAX ), B( LDB, MMAX ),  C( LDC, NMAX ),
-     $                 D( LDD, MMAX ), DWORK( LDWORK ), E( LDE, NMAX ),
-     $                 FPEAK( 2 ), GPEAK( 2 )
-      COMPLEX*16       CWORK( LCWORK )
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB13DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, FPEAK, TOL, DICO, JOBE, EQUIL, JOBD
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) P
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOBE, 'G' ) )
-     $      READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-         IF ( LSAME( JOBD, 'D' ) )
-     $      READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*        Computing the Linf norm.
-         CALL AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK, A, LDA,
-     $                E, LDE, B, LDB, C, LDC, D, LDD, GPEAK, TOL, IWORK,
-     $                DWORK, LDWORK, CWORK, LCWORK, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            IF ( GPEAK( 2 ).EQ.ZERO ) THEN
-               WRITE ( NOUT, FMT = 99991 )
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               WRITE ( NOUT, FMT = 99995 ) GPEAK( 1 )
-            END IF
-            IF ( FPEAK( 2 ).EQ.ZERO ) THEN
-               WRITE ( NOUT, FMT = 99990 )
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               WRITE ( NOUT, FMT = 99995 ) FPEAK( 1 )
-            END IF
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from AB13DD =',I2)
-99997 FORMAT (/' The L_infty norm of the system is'/)
-99996 FORMAT (/' The peak frequency is'/)
-99995 FORMAT (D17.10)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' The L_infty norm of the system is infinite')
-99990 FORMAT (/' The peak frequency is infinite'/)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13CD EXAMPLE PROGRAM DATA
-   6     1     1     0.0     1.0   0.000000001     C     I     N     D   
-   0.0  1.0     0.0   0.0      0.0  0.0
-  -0.5 -0.0002  0.0   0.0      0.0  0.0
-   0.0  0.0     0.0   1.0      0.0  0.0
-   0.0  0.0    -1.0  -0.00002  0.0  0.0
-   0.0  0.0     0.0   0.0      0.0  1.0
-   0.0  0.0     0.0   0.0     -2.0 -0.000002
-   1.0 
-   0.0  
-   1.0 
-   0.0 
-   1.0 
-   0.0
-   1.0  0.0  1.0  0.0  1.0  0.0
-   0.0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13DD EXAMPLE PROGRAM RESULTS
-
-
- The L_infty norm of the system is
-
- 0.5000000001D+06
-
- The peak frequency is
-
- 0.1414213562D+01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13DX.html b/doc/_build/html/_static/doc/AB13DX.html
deleted file mode 100644
index 26f861c7..00000000
--- a/doc/_build/html/_static/doc/AB13DX.html
+++ /dev/null
@@ -1,250 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13DX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13DX">AB13DX</A></H2>
-<H3>
-Maximum singular value of a transfer-function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the maximum singular value of a given continuous-time
-  or discrete-time transfer-function matrix, either standard or in
-  the descriptor form,
-
-                                  -1
-     G(lambda) = C*( lambda*E - A ) *B + D ,
-
-  for a given complex value lambda, where lambda = j*omega, in the
-  continuous-time case, and lambda = exp(j*omega), in the
-  discrete-time case. The matrices A, E, B, C, and D are real
-  matrices of appropriate dimensions. Matrix A must be in an upper
-  Hessenberg form, and if JOBE ='G', the matrix E must be upper
-  triangular. The matrices B and C must correspond to the system
-  in (generalized) Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13DX( DICO, JOBE, JOBD, N, M, P,
-     $                                  OMEGA, A, LDA, E, LDE, B, LDB,
-     $                                  C, LDC, D, LDD, IWORK, DWORK,
-     $                                  LDWORK, CWORK, LCWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DICO, JOBD, JOBE
-      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                   M, N, P
-      DOUBLE PRECISION   OMEGA
-C     .. Array Arguments ..
-      COMPLEX*16         CWORK(  * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK(  * ), E( LDE, * )
-      INTEGER            IWORK(  * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13DX   DOUBLE PRECISION
-           The maximum singular value of G(lambda).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system, as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'G':  E is a general upper triangular matrix;
-          = 'I':  E is the identity matrix.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The row size of the matrix C.  P &gt;= 0.
-
-  OMEGA   (input) DOUBLE PRECISION
-          The frequency value for which the calculations should be
-          done.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the state dynamics matrix A in upper
-          Hessenberg form. The elements below the subdiagonal are
-          not referenced.
-          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
-          and C &lt;&gt; 0, the leading N-by-N upper Hessenberg part of
-          this array contains the factors L and U from the LU
-          factorization of A (A = P*L*U); the unit diagonal elements
-          of L are not stored, L is lower bidiagonal, and P is
-          stored in IWORK (see SLICOT Library routine MB02SD).
-          Otherwise, this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'G', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular descriptor
-          matrix E of the system. The elements of the strict lower
-          triangular part of this array are not referenced.
-          If JOBE = 'I', then E is assumed to be the identity
-          matrix and is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
-          C &lt;&gt; 0, and INFO = 0 or N+1, the leading N-by-M part of
-          this array contains the solution of the system A*X = B.
-          Otherwise, this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the direct transmission matrix D.
-          On exit, if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
-          or (OMEGA = 0, DICO = 'C', JOBD = 'D', and INFO = 0 or
-          N+1), the contents of this array is destroyed.
-          Otherwise, this array is unchanged on exit.
-          This array is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = N, if N &gt; 0, M &gt; 0, P &gt; 0, B &lt;&gt; 0, and C &lt;&gt; 0;
-          LIWORK = 0, otherwise.
-          This array contains the pivot indices in the LU
-          factorization of the matrix lambda*E - A; for 1 &lt;= i &lt;= N,
-          row i of the matrix was interchanged with row IWORK(i).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK, and DWORK(2), ..., DWORK(MIN(P,M)) contain the
-          singular values of G(lambda), except for the first one,
-          which is returned in the function value AB13DX.
-          If (N = 0, or B = 0, or C = 0) and JOBD = 'Z', the last
-          MIN(P,M)-1 zero singular values of G(lambda) are not
-          stored in DWORK(2), ..., DWORK(MIN(P,M)).
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1, LDW1 + LDW2 ),
-          LDW1 = P*M, if N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0,
-                         DICO = 'C', and JOBD = 'Z';
-          LDW1 = 0,   otherwise;
-          LDW2 = MIN(P,M) + MAX(3*MIN(P,M) + MAX(P,M), 5*MIN(P,M)),
-                      if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
-                      or (N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0, and
-                          DICO = 'C');
-          LDW2 = 0,   if (N = 0, or B = 0, or C = 0) and JOBD = 'Z',
-                      or MIN(P,M) = 0;
-          LDW2 = 6*MIN(P,M), otherwise.
-          For good performance, LDWORK must generally be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) contains the optimal
-          LCWORK.
-
-  LCWORK  INTEGER
-          The dimension of the array CWORK.
-          LCWORK &gt;= 1, if N = 0, or B = 0, or C = 0, or (OMEGA = 0
-                          and DICO = 'C') or MIN(P,M) = 0;
-          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
-                       otherwise.
-          For good performance, LCWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero; the LU
-                factorization of the matrix lambda*E - A has been
-                completed, but the factor U is exactly singular,
-                i.e., the matrix lambda*E - A is exactly singular;
-          = N+1:  the SVD algorithm for computing singular values
-                did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements standard linear algebra calculations,
-  taking problem structure into account. LAPACK Library routines
-  DGESVD and ZGESVD are used for finding the singular values.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13ED.html b/doc/_build/html/_static/doc/AB13ED.html
deleted file mode 100644
index 4d1940ca..00000000
--- a/doc/_build/html/_static/doc/AB13ED.html
+++ /dev/null
@@ -1,256 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13ED">AB13ED</A></H2>
-<H3>
-Estimating the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using bisection
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate beta(A), the 2-norm distance from a real matrix A to
-  the nearest complex matrix with an eigenvalue on the imaginary
-  axis. The estimate is given as
-
-         LOW &lt;= beta(A) &lt;= HIGH,
-
-  where either
-
-         (1 + TOL) * LOW &gt;= HIGH,
-
-  or
-
-         LOW = 0   and   HIGH = delta,
-
-  and delta is a small number approximately equal to the square root
-  of machine precision times the Frobenius norm (Euclidean norm)
-  of A. If A is stable in the sense that all eigenvalues of A lie
-  in the open left half complex plane, then beta(A) is the distance
-  to the nearest unstable complex matrix, i.e., the complex
-  stability radius.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  HIGH, LOW, TOL
-      INTEGER           INFO, LDA, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  LOW     (output) DOUBLE PRECISION
-          A lower bound for beta(A).
-
-  HIGH    (output) DOUBLE PRECISION
-          An upper bound for beta(A).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Specifies the accuracy with which LOW and HIGH approximate
-          beta(A). If the user sets TOL to be less than SQRT(EPS),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH), then the tolerance is taken to be
-          SQRT(EPS).
-          The recommended value is TOL = 9, which gives an estimate
-          of beta(A) correct to within an order of magnitude.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 3*N*(N+1) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QR algorithm (LAPACK Library routine DHSEQR)
-                fails to converge; this error is very rare.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let beta(A) be the 2-norm distance from a real matrix A to the
-  nearest complex matrix with an eigenvalue on the imaginary axis.
-  It is known that beta(A) = minimum of the smallest singular
-  value of (A - jwI), where I is the identity matrix and j**2 = -1,
-  and the minimum is taken over all real w.
-  The algorithm computes a lower bound LOW and an upper bound HIGH
-  for beta(A) by a bisection method in the following way. Given a
-  non-negative real number sigma, the Hamiltonian matrix H(sigma)
-  is constructed:
-
-                    |   A      -sigma*I |     | A   G  |
-        H(sigma) =  |                   | :=  |        | .
-                    | sigma*I    -A'    |     | F  -A' |
-
-  It can be shown [1] that H(sigma) has an eigenvalue whose real
-  part is zero if and only if sigma &gt;= beta. Any lower and upper
-  bounds on beta(A) can be improved by choosing a number between
-  them and checking to see if H(sigma) has an eigenvalue with zero
-  real part.  This decision is made by computing the eigenvalues of
-  H(sigma) using the square reduced algorithm of Van Loan [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Byers, R.
-      A bisection method for measuring the distance of a stable
-      matrix to the unstable matrices.
-      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
-
-  [2] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of a
-      Hamiltonian matrix.
-      Linear Algebra and its Applications, Vol 61, 233-251, 1984.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Due to rounding errors the computed values of LOW and HIGH can be
-  proven to satisfy
-
-         LOW - p(n) * sqrt(e) * norm(A) &lt;= beta(A)
-  and
-         beta(A) &lt;= HIGH + p(n) * sqrt(e) * norm(A),
-
-  where p(n) is a modest polynomial of degree 3, e is the machine
-  precision and norm(A) is the Frobenius norm of A, see [1].
-  The recommended value for TOL is 9 which gives an estimate of
-  beta(A) correct to within an order of magnitude.
-  AB13ED requires approximately 38*N**3 flops for TOL = 9.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 1 ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION HIGH, LOW, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB13ED, UD01MD
-*     ..
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-*     Read N, TOL and next A (row wise).
-      READ ( NIN, FMT = * ) N, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         DO 10 I = 1, N
-            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
-   10    CONTINUE
-*
-         WRITE ( NOUT, FMT = 99998 ) N, TOL
-         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'Matrix A', INFO )
-*
-         CALL AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) LOW, HIGH
-         ELSE
-            WRITE ( NOUT, FMT = 99996 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13ED EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' N =', I4, 2X, 'TOL =', D10.3)
-99997 FORMAT (' LOW  =', D18.11, /' HIGH =', D18.11)
-99996 FORMAT (' INFO on exit from AB13ED = ', I2)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-AB13ED EXAMPLE PROGRAM DATA
-5, 9.0D0
-1.0D-01  1.0D-00  0.0D-00  0.0D-00  0.0D-00
-0.0D-00  1.0D-01  1.0D-00  0.0D-00  0.0D-00
-0.0D-00  0.0D-00  1.0D-01  1.0D-00  0.0D-00
-0.0D-00  0.0D-00  0.0D-00  1.0D-01  1.0D-00
-0.0D-00  0.0D-00  0.0D-00  0.0D-00  1.0D-01
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13ED EXAMPLE PROGRAM RESULTS
-
- N =   5  TOL = 0.900D+01
- Matrix A ( 5X 5)
-
-            1              2              3              4              5
-  1    0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01
-  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00
- 
- LOW  = 0.20929379255D-05
- HIGH = 0.20793050504D-04
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13FD.html b/doc/_build/html/_static/doc/AB13FD.html
deleted file mode 100644
index b6a32d41..00000000
--- a/doc/_build/html/_static/doc/AB13FD.html
+++ /dev/null
@@ -1,257 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13FD">AB13FD</A></H2>
-<H3>
-Computing the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using SVD
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute beta(A), the 2-norm distance from a real matrix A to
-  the nearest complex matrix with an eigenvalue on the imaginary
-  axis. If A is stable in the sense that all eigenvalues of A lie
-  in the open left half complex plane, then beta(A) is the complex
-  stability radius, i.e., the distance to the nearest unstable
-  complex matrix. The value of beta(A) is the minimum of the
-  smallest singular value of (A - jwI), taken over all real w.
-  The value of w corresponding to the minimum is also computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK,
-     $                   CWORK, LCWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LCWORK, LDA, LDWORK, N
-      DOUBLE PRECISION  BETA, OMEGA, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*)
-      COMPLEX*16        CWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  BETA    (output) DOUBLE PRECISION
-          The computed value of beta(A), which actually is an upper
-          bound.
-
-  OMEGA   (output) DOUBLE PRECISION
-          The value of w such that the smallest singular value of
-          (A - jwI) equals beta(A).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Specifies the accuracy with which beta(A) is to be
-          calculated. (See the Numerical Aspects section below.)
-          If the user sets TOL to be less than EPS, where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH),
-          then the tolerance is taken to be EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          If DWORK(1) is not needed, the first 2*N*N entries of
-          DWORK may overlay CWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 3*N*(N+2) ).
-          For optimum performance LDWORK should be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) returns the optimal value
-          of LCWORK.
-          If CWORK(1) is not needed, the first N*N entries of
-          CWORK may overlay DWORK.
-
-  LCWORK  INTEGER
-          The length of the array CWORK.
-          LCWORK &gt;= MAX( 1, N*(N+3) ).
-          For optimum performance LCWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the routine fails to compute beta(A) within the
-                specified tolerance. Nevertheless, the returned
-                value is an upper bound on beta(A);
-          = 2:  either the QR or SVD algorithm (LAPACK Library
-                routines DHSEQR, DGESVD or ZGESVD) fails to
-                converge; this error is very rare.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  AB13FD combines the methods of [1] and [2] into a provably
-  reliable, quadratically convergent algorithm. It uses the simple
-  bisection strategy of [1] to find an interval which contains
-  beta(A), and then switches to the modified bisection strategy of
-  [2] which converges quadratically to a minimizer. Note that the
-  efficiency of the strategy degrades if there are several local
-  minima that are near or equal the global minimum.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Byers, R.
-      A bisection method for measuring the distance of a stable
-      matrix to the unstable matrices.
-      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
-
-  [2] Boyd, S. and Balakrishnan, K.
-      A regularity result for the singular values of a transfer
-      matrix and a quadratically convergent algorithm for computing
-      its L-infinity norm.
-      Systems and Control Letters, Vol. 15, pp. 1-7, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  In the presence of rounding errors, the computed function value
-  BETA  satisfies
-
-        beta(A) &lt;= BETA + epsilon,
-
-        BETA/(1+TOL) - delta &lt;= MAX(beta(A), SQRT(2*N*EPS)*norm(A)),
-
-  where norm(A) is the Frobenius norm of A,
-
-        epsilon = p(N) * EPS * norm(A),
-  and
-        delta   = p(N) * SQRT(EPS) * norm(A),
-
-  and p(N) is a low degree polynomial. It is recommended to choose
-  TOL greater than SQRT(EPS). Although rounding errors can cause
-  AB13FD to fail for smaller values of TOL, nevertheless, it usually
-  succeeds. Regardless of success or failure, the first inequality
-  holds.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 2 ) )
-      INTEGER          LCWORK
-      PARAMETER        ( LCWORK = NMAX*( NMAX + 3 ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION BETA, OMEGA, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
-      COMPLEX*16       CWORK(LCWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB13FD, UD01MD
-*     ..
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-*     Read N, TOL and next A (row wise).
-      READ ( NIN, FMT = * ) N, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         DO 10 I = 1, N
-            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
-   10    CONTINUE
-*
-         WRITE ( NOUT, FMT = 99998 ) N, TOL
-         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'A', INFO )
-*
-         CALL AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK, CWORK,
-     $                LCWORK, INFO )
-*
-         IF ( INFO.NE.0 )
-     $      WRITE ( NOUT, FMT = 99996 ) INFO
-         WRITE ( NOUT, FMT = 99997 ) BETA, OMEGA
-      END IF
-*
-99999 FORMAT (' AB13FD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' N =', I2, 3X, 'TOL =', D10.3)
-99997 FORMAT (' Stability radius :', D18.11, /
-     *        ' Minimizing omega :', D18.11)
-99996 FORMAT (' INFO on exit from AB13FD = ', I2)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-AB13FD EXAMPLE PROGRAM DATA
-4   0.0D-00   0.0D-00
-     246.500        242.500        202.500       -197.500
-    -252.500       -248.500       -207.500        202.500
-    -302.500       -297.500       -248.500        242.500
-    -307.500       -302.500       -252.500        246.500
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13FD EXAMPLE PROGRAM RESULTS
-
- N = 4   TOL = 0.000D+00
- A ( 4X 4)
-
-            1              2              3              4
-  1    0.2465000D+03  0.2425000D+03  0.2025000D+03 -0.1975000D+03
-  2   -0.2525000D+03 -0.2485000D+03 -0.2075000D+03  0.2025000D+03
-  3   -0.3025000D+03 -0.2975000D+03 -0.2485000D+03  0.2425000D+03
-  4   -0.3075000D+03 -0.3025000D+03 -0.2525000D+03  0.2465000D+03
- 
- Stability radius : 0.39196472317D-02
- Minimizing omega : 0.98966520430D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13ID.html b/doc/_build/html/_static/doc/AB13ID.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/AB13ID.html
+++ /dev/null
@@ -1,602 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13ID">AB13ID</A></H2>
-<H3>
-Testing properness of the transfer function matrix of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check whether the transfer function
-
-                                  -1
-    G(lambda) := C*( lambda*E - A ) *B
-
-  of a given linear time-invariant descriptor system with
-  generalized state space realization (lambda*E-A,B,C) is proper.
-  Optionally, if JOBEIG = 'A', the system (lambda*E-A,B,C) is
-  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) with only
-  controllable and observable eigenvalues in order to use it for a
-  subsequent L_inf-norm computation; if JOBEIG = 'I', the system is
-  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) without
-  uncontrollable and unobservable infinite eigenvalues. In this
-  case, intended mainly for checking the properness, the returned
-  system is not fully reduced, unless UPDATE = 'U'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      LOGICAL FUNCTION AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
-     $                         UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                         C, LDC, NR, RANKE, TOL, IWORK, DWORK,
-     $                         LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
-      INTEGER            INFO, IWARN, LDA, LDB, LDC, LDE, LDWORK, M, N,
-     $                   NR, P, RANKE
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), TOL( * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13ID  LOGICAL
-          Indicates whether the transfer function is proper.
-          If AB13ID = .TRUE., the transfer function is proper;
-          otherwise, it is improper.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBSYS  CHARACTER*1
-          Indicates whether the system (lambda*E-A,B,C) is already
-          in the reduced form which is obtained as stated in
-          JOBEIG, as follows.
-          = 'R': The system is not in a reduced form, the reduction
-                 step is performed;
-          = 'N': The system is in a reduced form; the reduction step
-                 is omitted.
-
-  JOBEIG  CHARACTER*1
-          Indicates which kind of eigenvalues of the matrix pencil
-          lambda*E-A should be removed if JOBSYS = 'R', as follows:
-          = 'A': All uncontrollable and unobservable eigenvalues
-                 are removed; the reduced system is returned in
-                 the arrays A, E, B, C;
-          = 'I': Only all uncontrollable and unobservable infinite
-                 eigenvalues are removed; the returned system is not
-                 fully reduced if UPDATE = 'N'.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily scale
-          the system (lambda*E-A,B,C) as follows:
-          = 'S': Perform scaling;
-          = 'N': Do not perform scaling.
-
-  CKSING  CHARACTER*1
-          Specifies whether the user wishes to check if the pencil
-          (lambda*E-A) is singular as follows:
-          = 'C':  Check singularity;
-          = 'N':  Do not check singularity.
-          If the pencil is singular, the reduced system computed for
-          CKSING = 'N' may have completely different eigenvalues
-          than the given system.
-          The test is performed only if JOBSYS = 'R'.
-
-  RESTOR  CHARACTER*1
-          Specifies whether the user wishes to save the system
-          matrices before each reduction phase (if JOBSYS = 'R') and
-          restore them if no order reduction took place as follows:
-          = 'R':  Save and restore;
-          = 'N':  Do not save the matrices.
-          This option is ineffective if JOBSYS = 'N'.
-
-  UPDATE  CHARACTER*1
-          Specifies whether the user wishes to update the matrices
-          A, B, and C if JOBEIG = 'I' as follows:
-          = 'U':  Update the matrices A, B and C;
-          = 'N':  Do not update the matrices A, B and C when
-                  performing URV decomposition of the matrix E
-                  (see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of the descriptor system input vector; also
-          the number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of the descriptor system output vector; also
-          the number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          NR-by-NR part of this array contains the reduced order
-          state matrix Ar of a fully controllable and observable
-          realization for the original system. If JOBSYS = 'R' and
-          JOBEIG = 'I', the leading NR-by-NR part of this array
-          contains the reduced order state matrix Ar of a
-          transformed system without uncontrollable and unobservable
-          infinite poles. In this case, the matrix Ar does not
-          correspond to the returned matrix Er (obtained after a
-          URV decomposition), unless UPDATE = 'U' or RANKE &lt; NR.
-          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or UPDATE = 'U'
-          or RANKE &lt; N), the leading N-by-N part of this array
-          contains the transformed matrix A corresponding to the
-          URV decomposition of E (see (2) in METHOD), and if
-          JOBEIG = 'I' and UPDATE = 'N', the submatrix A22 in (2) is
-          further transformed to estimate its rank.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          NR-by-NR part of this array contains the reduced order
-          descriptor matrix Er of a completely controllable and
-          observable realization for the original system. The
-          reduced matrix Er is in upper triangular form.
-          If JOBSYS = 'R' and JOBEIG = 'I', the leading NR-by-NR
-          part of this array contains the reduced order descriptor
-          matrix Er of a transformed system without uncontrollable
-          and unobservable infinite poles. The reduced matrix Er is
-          upper triangular. In both cases, or if JOBSYS = 'N', the
-          matrix Er results from a URV decomposition of the matrix E
-          (see METHOD).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B; the remainder of the leading
-          N-by-MAX(M,P) part is used as internal workspace.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          NR-by-M part of this array contains the reduced input
-          matrix Br of a completely controllable and observable
-          realization for the original system. If JOBSYS = 'R' and
-          JOBEIG = 'I', the leading NR-by-M part of this array
-          contains the transformed input matrix Br obtained after
-          removing the uncontrollable and unobservable infinite
-          poles; the transformations for the URV decomposition of
-          the matrix E are not applied if UPDATE = 'N'.
-          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
-          UPDATE = 'U'), the leading N-by-M part of this array
-          contains the transformed matrix B corresponding to the
-          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
-          and UPDATE = 'N', the array B is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C; the remainder of the leading
-          MAX(M,P)-by-N part is used as internal workspace.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          P-by-NR part of this array contains the transformed output
-          matrix Cr of a completely controllable and observable
-          realization for the original system. If JOBSYS = 'R' and
-          JOBEIG = 'I', the leading P-by-NR part of this array
-          contains the transformed output matrix Cr obtained after
-          removing the uncontrollable and unobservable infinite
-          poles; the transformations for the URV decomposition of
-          the matrix E are not applied if UPDATE = 'N'.
-          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
-          UPDATE = 'U'), the leading P-by-N part of this array
-          contains the transformed matrix C corresponding to the
-          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
-          and UPDATE = 'N', the array C is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0;
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced generalized state space
-          representation (lambda*Er-Ar,Br,Cr) as stated in JOBEIG.
-          If JOBEIG = 'A', NR denotes the order of a reduced system
-          without any uncontrollable or unobservable eigenvalues; if
-          JOBEIG = 'I', NR denotes the order of the reduced system
-          without any uncontrollable or unobservable infinite
-          eigenvalues. If JOBSYS = 'N', then NR = N.
-
-  RANKE   (output) INTEGER
-          The effective (estimated) rank of the reduced matrix Er.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension 3
-          TOL(1) is the tolerance to be used in rank determinations
-          when transforming (lambda*E-A,B,C). If the user sets
-          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
-          lower bound for reciprocal condition numbers in rank
-          determinations; a (sub)matrix whose estimated condition
-          number is less than 1/TOL(1) is considered to be of full
-          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
-          is used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
-          TOL(2) is the tolerance to be used for checking pencil
-          singularity when CKSING = 'C', or singularity of the
-          matrices A and E when CKSING = 'N'. If the user sets
-          TOL(2) &gt; 0, then the given value of TOL(2) is used.
-          If the user sets TOL(2) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
-          is used instead.  TOL(2) &lt; 1.
-          TOL(3) is the threshold value for magnitude of the matrix
-          elements, if EQUIL = 'S': elements with magnitude less
-          than or equal to TOL(3) are ignored for scaling. If the
-          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
-          used. If the user sets TOL(3) &lt; 0, then an implicitly
-          computed, default threshold, defined by  THRESH = c*EPS,
-          where c = MAX(norm_1(A,E,B,C)) is used instead.
-          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
-          TOL(3) is not used if EQUIL = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          If JOBSYS = 'R',  LIWORK &gt;= 2*N+MAX(M,P)+7;
-          If JOBSYS = 'N',  LIWORK &gt;= N.
-          If JOBSYS = 'R', the first 7 elements of IWORK contain
-          information on performed reduction and on structure of
-          resulting system matrices after removing the specified
-          eigenvalues (see the description of the parameter INFRED
-          of the SLICOT Library routine TG01JY).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If JOBSYS = 'R', and EQUIL = 'S',
-             LDWORK &gt;= MAX(w+4*N+4,8*N,x,y),
-          where w = N*N,                  if JOBEIG = 'A',
-                w = 0,                    if JOBEIG = 'I',
-                x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
-                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
-                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
-                y = 0,                    if CKSING = 'N',
-                z = 2*N*N+N*M+N*P;
-          if JOBSYS = 'R', and EQUIL = 'N',
-             LDWORK &gt;= MAX(w+4*N+4,x,y);
-          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
-                           and EQUIL  = 'S',
-             LDWORK &gt;= MAX(N*N+4*N+4,8*N,N+M,N+P);
-          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
-                           and EQUIL  = 'N',
-             LDWORK &gt;= MAX(N*N+4*N+4,N+M,N+P);
-          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
-                           and EQUIL  = 'S',
-             LDWORK &gt;= MAX(4*N+4,8*N);
-          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
-                           and EQUIL  = 'N',
-             LDWORK &gt;= 4*N+4.
-          If JOBSYS = 'R' and ( RESTOR = 'R' or
-          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1) ),
-          then more accurate results are to be expected by
-          considering only those reduction phases in the SLICOT
-          Library routine TG01JY, where effective order reduction
-          occurs. This is achieved by saving the system matrices
-          before each phase (after orthogonally triangularizing the
-          matrix A or the matrix E, if RESTOR = 'N') and restoring
-          them if no order reduction took place. However, higher
-          global accuracy is not guaranteed.
-          For good performance, LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA. The optimal workspace includes the
-          extra space for improving the accuracy.
-
-  Error/Warning Indicator
-
-  IWARN   INTEGER
-          = 0: When determining the rank of a matrix, the distance
-               between the tolerance TOL(1) and the estimated
-               singular values is sufficiently large. The rank can
-               be safely determined;
-          = 1: When determining the rank of a matrix, there exist
-               estimated singular values which are very close to the
-               tolerance TOL(1). The computed rank is possibly
-               incorrect.
-
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the given pencil A - lambda*E is numerically
-               singular and the reduced system is not computed.
-               However, the system is considered improper, and
-               AB13ID is set to .FALSE.
-               This error can be returned only if CKSING = 'C'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOBSYS = 'R', the routine first removes uncontrollable and
-  unobservable infinite eigenvalues of the pencil lambda*E-A. If, in
-  addition, JOBEIG = 'A', uncontrollable and unobservable zero
-  eigenvalues are also removed. Then, or if JOBSYS = 'N', a
-  URV decomposition of the matrix E is performed, i.e., orthogonal
-  matrices U and V are computed, such that
-
-            ( T  0 )
-    U*E*V = (      ) with a full-rank matrix T.                  (1)
-            ( 0  0 )
-
-  Then the matrix A (or a copy of A if JOBEIG = 'A' or UPDATE = 'U')
-  is updated and partioned as in (1), i.e.,
-
-            ( A11  A12 )
-    U*A*V = (          ) ,                                       (2)
-            ( A21  A22 )
-
-  and the rank of A22 is computed. If A22 is invertible, the
-  transfer function is proper, otherwise it is improper. If
-  required (i.e., JOBEIG = 'A' or UPDATE = 'U'), the matrices B and
-  C are updated as well in order to obtain an equivalent reduced
-  system with the same transfer function. See also Chapter 3 in [1],
-  [2] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Voigt, M.
-      L_inf-Norm Computation for Descriptor Systems.
-      Diploma Thesis, Chemnitz University of Technology, Department
-      of Mathematics, Germany, July 2010.
-
-  [2] Benner, P., Sima, V., Voigt, M.
-      L_infinity-norm computation for continuous-time descriptor
-      systems using structured matrix pencils.
-      IEEE Trans. Automat. Contr., vol. 57, pp. 233-238, 2012.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations. During
-  the algorithm it is necessary to determine the rank of certain
-  matrices. Therefore it is crucial to use an appropriate tolerance
-  TOL(1) to make correct rank decisions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX,
-     $                   LDC = MAX( MMAX, PMAX ), LDE = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
-     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
-     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
-     $                                 10*NMAX + MAX( NMAX, 23 ) ),
-     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) + 7 )
-*     .. Local Scalars ..
-      LOGICAL          LISPRP
-      CHARACTER        CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
-      INTEGER          I, INFO, IWARN, J, M, N, NO, NR, P, RANKE
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAX(MMAX,PMAX)), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
-
-*     .. External Functions ..
-      LOGICAL          AB13ID, LSAME
-      EXTERNAL         AB13ID, LSAME
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOBSYS,
-     $                      JOBEIG, EQUIL, CKSING, RESTOR, UPDATE
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Check whether the transfer function of the descriptor
-*              system is proper.
-               LISPRP = AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
-     $                          UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                          C, LDC, NR, RANKE, TOL, IWORK, DWORK,
-     $                          LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( LISPRP ) THEN
-                     WRITE ( NOUT, FMT = 99991 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99990 )
-                  END IF
-                  WRITE ( NOUT, FMT = 99994 ) NR
-                  WRITE ( NOUT, FMT = 99989 ) RANKE
-                  IF ( LSAME( JOBSYS, 'N' ).AND.( LSAME( JOBEIG, 'A' )
-     $             .OR.LSAME( UPDATE, 'U' ) ) ) THEN
-                     NO = N
-                  ELSE
-                     NO = NR
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, NO
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NO )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF ( LSAME( JOBSYS, 'N' ).AND.LSAME( JOBEIG, 'I' )
-     $                                     .AND.LSAME( EQUIL,  'S' )
-     $                                     .AND.LSAME( UPDATE, 'N' ) )
-     $               NO = N
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   40             CONTINUE
-                  IF ( IWARN.NE.0 )
-     $               WRITE ( NOUT, FMT = 99998 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13ID = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99996 FORMAT (/' The reduced descriptor matrix Er is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Order of reduced system =', I5 )
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT ( ' The system is proper')
-99990 FORMAT ( ' The system is improper')
-99989 FORMAT (' Rank of matrix E =', I5 )
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-AB13ID EXAMPLE PROGRAM DATA
-  9    2    2     0.0    0.0    0.0    R  I  N  N  N  U
-    -2    -3     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     0    -2    -3     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     1     0
-     0     0
-     0     1
-     0     0
-    -1     0
-     0     0
-     0    -1
-     0     0
-     0     0
-     1     0     1    -3     0     1     0     2     0
-     0     1     1     3     0     1     0     0     1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13ID EXAMPLE PROGRAM RESULTS
-
- The system is improper
-
- Order of reduced system =    7
- Rank of matrix E =    5
-
- The reduced state dynamics matrix Ar is 
-   0.2202   0.4554  -0.6171  -0.3695  -1.3751   0.8121   0.1953
-   0.6175   0.1352  -0.8444  -0.0262  -1.3999  -0.4013   0.3339
-  -0.6362  -1.1518   0.6708  -0.2221   0.8680  -0.0430   0.1827
-   0.1430  -0.0480  -0.3290  -0.1625  -0.6986   0.0008  -0.9031
-   0.0986  -0.8665   0.4541   0.6647   1.4067   0.4214  -0.0381
-  -0.6979  -0.0079  -0.1915   0.6588  -0.2054   0.0000   0.0000
-  -0.1861  -0.0021  -0.8313  -0.3063   0.4248   0.0000   0.0000
-
- The reduced descriptor matrix Er is 
-  -1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-
- The reduced input/state matrix Br is 
-  -0.2140  -0.3805
-  -0.2558  -0.2539
-   0.1844   0.4001
-  -0.1115  -0.1176
-   0.1879   0.5325
-  -0.9954  -0.0961
-   0.0961  -0.9954
-
- The reduced state/output matrix Cr is 
-   0.0439  -3.8727   0.0000   0.0000   0.0000   0.6508   0.7593
-   0.1184   2.0671  -0.8971  -0.8236  -2.2869   1.4100   0.1085
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB13MD.html b/doc/_build/html/_static/doc/AB13MD.html
deleted file mode 100644
index b8c1d379..00000000
--- a/doc/_build/html/_static/doc/AB13MD.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13MD">AB13MD</A></H2>
-<H3>
-Upper bound on the structured singular value for a square complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an upper bound on the structured singular value for a
-  given square complex matrix and a given block structure of the
-  uncertainty.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13MD( FACT, N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D,
-     $                   G, IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT
-      INTEGER            INFO, LDWORK, LDZ, LZWORK, M, N
-      DOUBLE PRECISION   BOUND
-C     .. Array Arguments ..
-      INTEGER            ITYPE( * ), IWORK( * ), NBLOCK( * )
-      COMPLEX*16         Z( LDZ, * ), ZWORK( * )
-      DOUBLE PRECISION   D( * ), DWORK( * ), G( * ), X( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FACT    CHARACTER*1
-          Specifies whether or not an information from the
-          previous call is supplied in the vector X.
-          = 'F':  On entry, X contains information from the
-                  previous call.
-          = 'N':  On entry, X does not contain an information from
-                  the previous call.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix Z.  N &gt;= 0.
-
-  Z       (input) COMPLEX*16 array, dimension (LDZ,N)
-          The leading N-by-N part of this array must contain the
-          complex matrix Z for which the upper bound on the
-          structured singular value is to be computed.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
-
-  M       (input) INTEGER
-          The number of diagonal blocks in the block structure of
-          the uncertainty.  M &gt;= 1.
-
-  NBLOCK  (input) INTEGER array, dimension (M)
-          The vector of length M containing the block structure
-          of the uncertainty. NBLOCK(I), I = 1:M, is the size of
-          each block.
-
-  ITYPE   (input) INTEGER array, dimension (M)
-          The vector of length M indicating the type of each block.
-          For I = 1:M,
-          ITYPE(I) = 1 indicates that the corresponding block is a
-                       real block, and
-          ITYPE(I) = 2 indicates that the corresponding block is a
-                       complex block.
-          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          ( M + MR - 1 ), where MR is the number of the real blocks.
-          On entry, if FACT = 'F' and NBLOCK(1) &lt; N, this array
-          must contain information from the previous call to AB13MD.
-          If NBLOCK(1) = N, this array is not used.
-          On exit, if NBLOCK(1) &lt; N, this array contains information
-          that can be used in the next call to AB13MD for a matrix
-          close to Z.
-
-  BOUND   (output) DOUBLE PRECISION
-          The upper bound on the structured singular value.
-
-  D, G    (output) DOUBLE PRECISION arrays, dimension (N)
-          The vectors of length N containing the diagonal entries
-          of the diagonal N-by-N matrices D and G, respectively,
-          such that the matrix
-          Z'*D^2*Z + sqrt(-1)*(G*Z-Z'*G) - BOUND^2*D^2
-          is negative semidefinite.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(4*M-2,N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 11*N + 33*M - 11.
-          For best performance
-          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 6*N + 33*M - 11 +
-                    MAX( 5*N,2*N*NB )
-          where NB is the optimal blocksize returned by ILAENV.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) contains the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 6*N - 3.
-          For best performance
-          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 3*N - 3 +
-                    MAX( 3*N,N*NB )
-          where NB is the optimal blocksize returned by ILAENV.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the block sizes must be positive integers;
-          = 2:  the sum of block sizes must be equal to N;
-          = 3:  the size of a real block must be equal to 1;
-          = 4:  the block type must be either 1 or 2;
-          = 5:  errors in solving linear equations or in matrix
-                inversion;
-          = 6:  errors in computing eigenvalues or singular values.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the upper bound proposed in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Fan, M.K.H., Tits, A.L., and Doyle, J.C.
-      Robustness in the presence of mixed parametric uncertainty
-      and unmodeled dynamics.
-      IEEE Trans. Automatic Control, vol. AC-36, 1991, pp. 25-38.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy and speed of computation depend on the value of
-  the internal threshold TOL.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDZ
-      PARAMETER        ( LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 4*MMAX-2, NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX*MMAX - NMAX*NMAX +
-     $                            9*MMAX*MMAX + NMAX*MMAX + 11*NMAX +
-     $                            33*MMAX - 11 )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = 6*NMAX*NMAX*MMAX + 12*NMAX*NMAX +
-     $                            6*MMAX + 6*NMAX - 3 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      DOUBLE PRECISION BOUND
-*     .. Local Arrays ..
-      INTEGER          ITYPE(MMAX), IWORK(LIWORK), NBLOCK(MMAX)
-      DOUBLE PRECISION D(NMAX), DWORK(LDWORK), G(NMAX), X(2*MMAX-1)
-      COMPLEX*16       Z(LDZ,NMAX), ZWORK(LZWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB13MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( NBLOCK(I), I = 1, M )
-         READ ( NIN, FMT = * ) ( ITYPE(I), I = 1, M )
-         READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-*        Computing mu.
-         CALL AB13MD( 'N', N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D, G,
-     $               IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99991 ) BOUND
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13MD =',I2)
-99997 FORMAT (' The value of the structured singular value is'/)
-99991 FORMAT (D17.10)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13MD EXAMPLE PROGRAM DATA
-   6     5
-   1     1     2     1     1
-   1     1     2     2     2
-   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
-   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
-   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
-   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
-   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
-   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
-   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
-   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
-   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
-   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
-   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
-   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13MD EXAMPLE PROGRAM RESULTS
-
- The value of the structured singular value is
-
- 0.4174753408D+02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AB8NXZ.html b/doc/_build/html/_static/doc/AB8NXZ.html
deleted file mode 100644
index 3fb41924..00000000
--- a/doc/_build/html/_static/doc/AB8NXZ.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB8NXZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB8NXZ">AB8NXZ</A></H2>
-<H3>
-Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) system
-               ( B  A )
-               ( D  C )
-  an (NU+MU)-by-(M+NU) "reduced" system
-               ( B' A')
-               ( D' C')
-  having the same transmission zeros but with D' of full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB8NXZ( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
-     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
-     $                   DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDABCD, LZWORK, M, MU, N, NINFZ, NKROL,
-     $                  NU, P, RO, SIGMA
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      COMPLEX*16        ABCD(LDABCD,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  RO      (input/output) INTEGER
-          On entry,
-          = P     for the original system;
-          = MAX(P-M, 0) for the pertransposed system.
-          On exit, RO contains the last computed rank.
-
-  SIGMA   (input/output) INTEGER
-          On entry,
-          = 0  for the original system;
-          = M  for the pertransposed system.
-          On exit, SIGMA contains the last computed value sigma in
-          the algorithm.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound input matrix of the system.
-          On exit, the leading (NU+MU)-by-(M+NU) part of this array
-          contains the reduced compound input matrix of the system.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  NINFZ   (input/output) INTEGER
-          On entry, the currently computed number of infinite zeros.
-          It should be initialized to zero on the first call.
-          NINFZ &gt;= 0.
-          On exit, the number of infinite zeros.
-
-  INFZ    (input/output) INTEGER array, dimension (N)
-          On entry, INFZ(i) must contain the current number of
-          infinite zeros of degree i, where i = 1,2,...,N, found in
-          the previous call(s) of the routine. It should be
-          initialized to zero on the first call.
-          On exit, INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,N.
-
-  KRONL   (input/output) INTEGER array, dimension (N+1)
-          On entry, this array must contain the currently computed
-          left Kronecker (row) indices found in the previous call(s)
-          of the routine. It should be initialized to zero on the
-          first call.
-          On exit, the leading NKROL elements of this array contain
-          the left Kronecker (row) indices.
-
-  MU      (output) INTEGER
-          The normal rank of the transfer function matrix of the
-          original system.
-
-  NU      (output) INTEGER
-          The dimension of the reduced system matrix and the number
-          of (finite) invariant zeros if D' is invertible.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AG07BD.html b/doc/_build/html/_static/doc/AG07BD.html
deleted file mode 100644
index c8df4b03..00000000
--- a/doc/_build/html/_static/doc/AG07BD.html
+++ /dev/null
@@ -1,194 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG07BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG07BD">AG07BD</A></H2>
-<H3>
-Descriptor inverse of a state-space or descriptor representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the inverse (Ai-lambda*Ei,Bi,Ci,Di) of a given
-  descriptor system (A-lambda*E,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG07BD( JOBE, N, M, A, LDA, E, LDE, B, LDB, C, LDC,
-     $                   D, LDD, AI, LDAI, EI, LDEI, BI, LDBI, CI, LDCI,
-     $                   DI, LDDI, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBE
-      INTEGER            INFO, LDA, LDAI, LDB, LDBI, LDC, LDCI,
-     $                   LDD, LDDI, LDE, LDEI, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), AI(LDAI,*), B(LDB,*), BI(LDBI,*),
-     $                   C(LDC,*), CI(LDCI,*), D(LDD,*), DI(LDDI,*),
-     $                   E(LDE,*), EI(LDEI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general square or an identity
-          matrix as follows:
-          = 'G':  E is a general square matrix;
-          = 'I':  E is the identity matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrices A and E;
-          also the number of rows of matrix B and the number of
-          columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs and outputs, i.e., the number
-          of columns of matrices B and D and the number of rows of
-          matrices C and D.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the original system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'G', the leading N-by-N part of this array must
-          contain the descriptor matrix E of the original system.
-          If JOBE = 'I', then E is assumed to be the identity
-          matrix and is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the original system.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading M-by-N part of this array must contain the
-          output matrix C of the original system.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading M-by-M part of this array must contain the
-          feedthrough matrix D of the original system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
-
-  AI      (output) DOUBLE PRECISION array, dimension (LDAI,N+M)
-          The leading (N+M)-by-(N+M) part of this array contains
-          the state matrix Ai of the inverse system.
-          If LDAI = LDA &gt;= N+M, then AI and A can share the same
-          storage locations.
-
-  LDAI    INTEGER
-          The leading dimension of the array AI.
-          LDAI &gt;= MAX(1,N+M).
-
-  EI      (output) DOUBLE PRECISION array, dimension (LDEI,N+M)
-          The leading (N+M)-by-(N+M) part of this array contains
-          the descriptor matrix Ei of the inverse system.
-          If LDEI = LDE &gt;= N+M, then EI and E can share the same
-          storage locations.
-
-  LDEI    INTEGER
-          The leading dimension of the array EI.
-          LDEI &gt;= MAX(1,N+M).
-
-  BI      (output) DOUBLE PRECISION array, dimension (LDBI,M)
-          The leading (N+M)-by-M part of this array contains
-          the input matrix Bi of the inverse system.
-          If LDBI = LDB &gt;= N+M, then BI and B can share the same
-          storage locations.
-
-  LDBI    INTEGER
-          The leading dimension of the array BI.
-          LDBI &gt;= MAX(1,N+M).
-
-  CI      (output) DOUBLE PRECISION array, dimension (LDCI,N+M)
-          The leading M-by-(N+M) part of this array contains
-          the output matrix Ci of the inverse system.
-          If LDCI = LDC, CI and C can share the same storage
-          locations.
-
-  LDCI    INTEGER
-          The leading dimension of the array CI.  LDCI &gt;= MAX(1,M).
-
-  DI      (output) DOUBLE PRECISION array, dimension (LDDI,M)
-          The leading M-by-M part of this array contains
-          the feedthrough matrix Di = 0 of the inverse system.
-          DI and D can share the same storage locations.
-
-  LDDI    INTEGER
-          The leading dimension of the array DI.  LDDI &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the inverse system are computed with the formulas
-
-             ( E  0 )        ( A  B )         (  0 )
-        Ei = (      ) , Ai = (      ) ,  Bi = (    ),
-             ( 0  0 )        ( C  D )         ( -I )
-
-        Ci = ( 0  I ),  Di = 0.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The routine does not perform an invertibility test. This check can
-  be performed by using the SLICOT routines AB08NX or AG08BY.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AG08BD.html b/doc/_build/html/_static/doc/AG08BD.html
deleted file mode 100644
index 46104083..00000000
--- a/doc/_build/html/_static/doc/AG08BD.html
+++ /dev/null
@@ -1,754 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG08BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG08BD">AG08BD</A></H2>
-<H3>
-Zeros and Kronecker structure of a descriptor system pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the system pencil
-
-                    ( A-lambda*E B )
-        S(lambda) = (              )
-                    (      C     D )
-
-  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
-  S(lambda) as generalized eigenvalues. The routine also computes
-  the orders of the infinite Smith zeros and determines the singular
-  and infinite Kronecker structure of system pencil, i.e., the right
-  and left Kronecker indices, and the multiplicities of infinite
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
-     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the system
-          matrix as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Af of the reduced pencil.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Ef of the reduced pencil.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0;
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NFZ     (output) INTEGER
-          The number of finite zeros.
-
-  NRANK   (output) INTEGER
-          The normal rank of the system pencil.
-
-  NIZ     (output) INTEGER
-          The number of infinite zeros.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite Smith zeros.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NINFE   (output) INTEGER
-          The number of elementary infinite blocks.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N+1)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors of
-          degree i in the Smith form, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (N+M+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
-          The leading NINFE elements of INFE contain the
-          multiplicities of infinite eigenvalues.
-
-  KRONL   (output) INTEGER array, dimension (L+P+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then default tolerances are
-          used instead, as follows: TOLDEF = L*N*EPS in TG01FD
-          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
-          in the rest, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+max(1,M))
-          On output, IWORK(1) contains the normal rank of the
-          transfer function matrix.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 4*(L+N), LDW ), if EQUIL = 'S',
-          LDWORK &gt;= LDW,                 if EQUIL = 'N', where
-          LDW = max(L+P,M+N)*(M+N) + max(1,5*max(L+P,M+N)).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a descriptor
-  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
-  has the finite zeros of the system as generalized eigenvalues.
-  The procedure has the following main computational steps:
-
-     (a) construct the (L+P)-by-(N+M) system pencil
-
-          S(lambda) = ( B  A )-lambda*( 0  E );
-                      ( D  C )        ( 0  0 )
-
-     (b) reduce S(lambda) to S1(lambda) with the same finite
-         zeros and right Kronecker structure but with E
-         upper triangular and nonsingular;
-
-     (c) reduce S1(lambda) to S2(lambda) with the same finite
-         zeros and right Kronecker structure but with D of
-         full row rank;
-
-     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
-         and with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-
-         S3(lambda) = (A-lambda*E   B) in order to reduce it to
-                      (     C       D)
-
-         (Af-lambda*Ef   X), with Y and Ef square invertible;
-         (     0         Y)
-
-     (f) compute the right and left Kronecker indices of the system
-         matrix, which together with the multiplicities of the
-         finite and infinite eigenvalues constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the finite Smith zeros of the system
-  explicitly, a call to this routine may be followed by a
-  call to the LAPACK Library routines DGEGV or DGGEV.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AG08BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, MMAX, NMAX, PMAX
-      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
-     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ),  8*NMAX,
-     $                                 LDAEMX*LDAEMX +
-     $                                 MAX( 1, 5*LDAEMX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
-     $                 NKROL, NKROR, NRANK, P
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
-     $                 ASAVE(LDA,NMAX), B(LDB,MMAX), BETA(NMAX),
-     $                 BSAVE(LDB,MMAX), C(LDC,NMAX), CSAVE(LDC,NMAX),
-     $                 D(LDD,MMAX), DSAVE(LDD,MMAX), DWORK(LDWORK),
-     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1)
-      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
-     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
-     $                 KRONR(NMAX+MMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AG08BD, DGEGV, DLACPY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
-      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
-     $   THEN
-         WRITE ( NOUT, FMT = 99972 ) L, N
-      ELSE
-         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               CALL DLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
-               CALL DLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
-               CALL DLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
-               CALL DLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
-               CALL DLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
-*              Compute poles (call the routine with M = 0, P = 0).
-               CALL AG08BD( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99968 ) NIZ
-                  DO 10 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
-     $                                      ( INFE(I), I = 1,NINFE )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99965 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99966 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 30 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   30                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 40 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   40                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AG08BD( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99964 ) NIZ
-                  DO 50 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99957 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 70 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   70                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 80 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AG08BD( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99963 ) NIZ
-                  DO 90  I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   90             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99956 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 100 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  100                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 110 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  110                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99982 )
-                        DO 120 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-  120                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL DLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
-               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-               CALL DLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
-*              Compute the structural invariants of the given system.
-               CALL AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( L.EQ.N ) THEN
-                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
-                  ELSE
-                     WRITE ( NOUT, FMT = 99955 ) NRANK
-                  END IF
-                  WRITE ( NOUT, FMT = 99984 ) NFZ
-                  IF( NFZ.GT.0 ) THEN
-*                    Compute the finite zeros of the given system.
-*                    Workspace: need 8*NFZ.
-                     WRITE ( NOUT, FMT = 99983 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 130 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  130                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 140 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  140                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 150 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-  150                   CONTINUE
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99978 ) NIZ
-                  DO 160 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  160             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                     ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                     ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AG08BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AG08BD = ',I2)
-99997 FORMAT (' INFO on exit from DGEGV = ',I2)
-99996 FORMAT (/'Unobservable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99995 FORMAT (/' The matrix Ef is ')
-99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
-     $          /(20(I3,2X)))
-99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
-99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
-     $       ,' of the pair (Af,Ef). ')
-99990 FORMAT (/' The matrix Af is ')
-99989 FORMAT (20(1X,F8.4))
-99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
-     $        /( 20(I3,2X) ) )
-99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' pair (Af,Ef). ')
-99984 FORMAT (/' The number of finite zeros = ',I3)
-99983 FORMAT (/' The finite zeros are the eigenvalues ',
-     $         'of the pair (Af,Ef)')
-99982 FORMAT (/'Uncontrollable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99981 FORMAT (/'Finite zeros'/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4)
-99979 FORMAT (1X,F9.4,6X,F9.4)
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ', /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ',  /(20(I3,2X)))
-99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
-99968 FORMAT (//' The number of infinite poles = ',I3)
-99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
-99966 FORMAT (/' The finite poles are the eigenvalues',
-     $       ' of the pair (Af,Ef). ')
-99965 FORMAT (/' The system has no finite poles ')
-99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
-99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
-99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
-99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
-99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
-99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
-99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
-     $         ,' are ', /(20(I3,2X)))
-99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
-     $         ' decoupling zeros ')
-99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
-     $         ' decoupling zeros ')
-99955 FORMAT (/' Normal rank  of system pencil = ',I3)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AG08BD EXAMPLE PROGRAM DATA
-   9    9    3     3     1.e-7     N
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     0     0     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-    -1     0     0
-     0     0     0
-     0     0     0
-     0    -1     0
-     0     0     0
-     0     0     0
-     0     0    -1
-     0     0     0
-     0     0     0
-     0     1     1     0     3     4     0     0     2
-     0     1     0     0     4     0     0     2     0
-     0     0     1     0    -1     4     0    -2     2
-     1     2    -2
-     0    -1    -2
-     0     0     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AG08BD EXAMPLE PROGRAM RESULTS
-
-
-
- The number of infinite poles =   6
-   0 infinite pole(s) of order   1
-   3 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of A-lambda*E are 
-  3    3    3
-
- The system has no finite poles 
-
-
- The number of unobservable infinite poles =   4
-   0 infinite pole(s) of order   1
-   2 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
-  1    3    3
-
- The left Kronecker indices of [A-lambda*E;C] are 
-  0    1    1
-
- The system (A-lambda*E,C) has no finite output decoupling zeros 
-
-
- The number of uncontrollable infinite poles =   0
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
-  1    1    1
-
- The right Kronecker indices of [A-lambda*E,B] are 
-  2    2    2
-
- The system (A-lambda*E,B) has no finite input decoupling zeros 
-
- Normal rank  of transfer function matrix =   2
-
- The number of finite zeros =   1
-
- The finite zeros are the eigenvalues of the pair (Af,Ef)
-
- The matrix Af is 
-   0.7705
-
- The matrix Ef is 
-   0.7705
-
-Finite zeros
- real  part     imag  part 
-    1.0000
-
-
- The number of infinite zeros =   2
-   0 infinite zero(s) of order   1
-   1 infinite zero(s) of order   2
-
- The number of infinite Kronecker blocks =   5
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
-  1    1    1    1    3
-
- The number of right Kronecker indices =   1
-
- Right Kronecker indices of [A-lambda*E,B;C,D] are 
-  2
-
- The number of left Kronecker indices =   1
-
- The left Kronecker indices of [A-lambda*E,B;C,D] are 
-  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AG08BY.html b/doc/_build/html/_static/doc/AG08BY.html
deleted file mode 100644
index 9bc112e4..00000000
--- a/doc/_build/html/_static/doc/AG08BY.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG08BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG08BY">AG08BY</A></H2>
-<H3>
-Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) descriptor system pencil
-
-     S(lambda) = ( B   A - lambda*E  )
-                 ( D        C        )
-
-  with E nonsingular and upper triangular a
-  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
-
-                        ( Br  Ar-lambda*Er )
-           Sr(lambda) = (                  )
-                        ( Dr     Cr        )
-
-  having the same finite Smith zeros as the pencil
-  S(lambda) but with Dr, a PR-by-M full row rank
-  left upper trapezoidal matrix, and Er, an NR-by-NR
-  upper triangular nonsingular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG08BY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
-     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DINFZ, INFO, LDABCD, LDE, LDWORK, M, N, NINFZ,
-     $                   NKRONL, NR, P, PR
-      DOUBLE PRECISION   SVLMAX, TOL
-      LOGICAL            FIRST
-C     .. Array Arguments ..
-      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
-      DOUBLE PRECISION   ABCD( LDABCD, * ), DWORK( * ), E( LDE, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FIRST   LOGICAL
-          Specifies if AG08BY is called first time or it is called
-          for an already reduced system, with D full column rank
-          with the last M rows in upper triangular form:
-          FIRST = .TRUE.,  first time called;
-          FIRST = .FALSE., not first time called.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of matrix B, the number of columns of
-          matrix C and the order of square matrices A and E.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrices B and D.  M &gt;= 0.
-          M &lt;= P if FIRST = .FALSE. .
-
-  P       (input) INTEGER
-          The number of rows of matrices C and D.  P &gt;= 0.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) DOUBLE PRECISION array, dimension
-          (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound matrix
-                   (  B   A  ) ,
-                   (  D   C  )
-          where A is an N-by-N matrix, B is an N-by-M matrix,
-          C is a P-by-N matrix and D is a P-by-M matrix.
-          If FIRST = .FALSE., then D must be a full column
-          rank matrix with the last M rows in upper triangular form.
-          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
-          contains the reduced compound matrix
-                    (  Br  Ar ) ,
-                    (  Dr  Cr )
-          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
-          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
-          left upper trapezoidal matrix with the first PR columns
-          in upper triangular form.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular nonsingular matrix E.
-          On exit, the leading NR-by-NR part contains the reduced
-          upper triangular nonsingular matrix Er.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ar and Er; also the
-          number of rows of the reduced matrix Br and the number
-          of columns of the reduced matrix Cr.
-          If Dr is invertible, NR is also the number of finite
-          Smith zeros.
-
-  PR      (output) INTEGER
-          The rank of the resulting matrix Dr; also the number of
-          rows of reduced matrices Cr and Dr.
-
-  NINFZ   (output) INTEGER
-          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite zeros.
-          DINFZ = 0 if FIRST = .FALSE. .
-
-  NKRONL  (output) INTEGER
-          The maximal dimension of left elementary Kronecker blocks.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,DINFZ.
-          INFZ is not referenced if FIRST = .FALSE. .
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          KRONL(i) contains the number of left elementary Kronecker
-          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
-          instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FIRST = .FALSE., IWORK is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if P = 0; otherwise
-          LDWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 5*P ),
-                                          if FIRST = .TRUE.;
-          LDWORK &gt;= MAX( 1, N+M-1, 5*P ), if FIRST = .FALSE. .
-          The second term is not needed if M = 0.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( (P+N)*(M+N)*N )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite zeros is computed as
-
-                DINFZ
-     NINFZ =     Sum  (INFZ(i)*i) .
-                 i=1
-  Note that each infinite zero of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-  The multiplicities of the infinite eigenvalues can be determined
-  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
-
-                  DINFZ
-  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
-                   i=1
-
-  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
-    for i = 1, ..., DINFZ.
-
-  The left Kronecker indices are:
-
-  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
-  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,739 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG08BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG08BZ">AG08BZ</A></H2>
-<H3>
-Zeros and Kronecker structure of a descriptor system pencil (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the system pencil
-
-                    ( A-lambda*E B )
-        S(lambda) = (              )
-                    (      C     D )
-
-  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
-  S(lambda) as generalized eigenvalues. The routine also computes
-  the orders of the infinite Smith zeros and determines the singular
-  and infinite Kronecker structure of system pencil, i.e., the right
-  and left Kronecker indices, and the multiplicities of infinite
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
-     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
-     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LZWORK,
-     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the system
-          matrix as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Af of the reduced pencil.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Ef of the reduced pencil.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0;
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) COMPLEX*16 array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NFZ     (output) INTEGER
-          The number of finite zeros.
-
-  NRANK   (output) INTEGER
-          The normal rank of the system pencil.
-
-  NIZ     (output) INTEGER
-          The number of infinite zeros.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite Smith zeros.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NINFE   (output) INTEGER
-          The number of elementary infinite blocks.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N+1)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors of
-          degree i in the Smith form, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (N+M+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
-          The leading NINFE elements of INFE contain the
-          multiplicities of infinite eigenvalues.
-
-  KRONL   (output) INTEGER array, dimension (L+P+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then default tolerances are
-          used instead, as follows: TOLDEF = L*N*EPS in TG01FZ
-          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
-          in the rest, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+max(1,M))
-          On output, IWORK(1) contains the normal rank of the
-          transfer function matrix.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          LDWORK &gt;= max(4*(L+N), 2*max(L+P,M+N))), if EQUIL = 'S',
-          LDWORK &gt;= 2*max(L+P,M+N)),               if EQUIL = 'N'.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= max( max(L+P,M+N)*(M+N) +
-                         max(min(L+P,M+N) + max(min(L,N),3*(M+N)-1),
-                             3*(L+P), 1))
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a descriptor
-  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
-  has the finite zeros of the system as generalized eigenvalues.
-  The procedure has the following main computational steps:
-
-     (a) construct the (L+P)-by-(N+M) system pencil
-
-          S(lambda) = ( B  A )-lambda*( 0  E );
-                      ( D  C )        ( 0  0 )
-
-     (b) reduce S(lambda) to S1(lambda) with the same finite
-         zeros and right Kronecker structure but with E
-         upper triangular and nonsingular;
-
-     (c) reduce S1(lambda) to S2(lambda) with the same finite
-         zeros and right Kronecker structure but with D of
-         full row rank;
-
-     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
-         and with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-
-         S3(lambda) = (A-lambda*E   B) in order to reduce it to
-                      (     C       D)
-
-         (Af-lambda*Ef   X), with Y and Ef square invertible;
-         (     0         Y)
-
-     (f) compute the right and left Kronecker indices of the system
-         matrix, which together with the multiplicities of the
-         finite and infinite eigenvalues constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the finite Smith zeros of the system
-  explicitly, a call to this routine may be followed by a
-  call to the LAPACK Library routines ZGEGV or ZGGEV.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AG08BZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, MMAX, NMAX, PMAX
-      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
-     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ), 2*LDAEMX,
-     $                                 8*NMAX ) )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = MAX( 1, LDAEMX*LDAEMX +
-     $                                 MAX( MIN( LMAX+PMAX, MMAX+NMAX )+
-     $                                      MAX( MIN( LMAX, NMAX ),
-     $                                           3*( MMAX+NMAX )-1 ),
-     $                                      3*( LMAX+PMAX ) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
-     $                 NKROL, NKROR, NRANK, P
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), ALPHA(NMAX), ASAVE(LDA,NMAX),
-     $                 B(LDB,MMAX),  BETA(NMAX), BSAVE(LDB,MMAX),
-     $                 C(LDC,NMAX), CSAVE(LDC,NMAX),
-     $                 D(LDD,MMAX), DSAVE(LDD,MMAX),
-     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1),
-     $                 ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK)
-      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
-     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
-     $                 KRONR(NMAX+MMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AG08BZ, ZGEGV, ZLACPY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
-      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
-     $   THEN
-         WRITE ( NOUT, FMT = 99972 ) L, N
-      ELSE
-         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               CALL ZLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
-               CALL ZLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
-               CALL ZLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
-               CALL ZLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
-               CALL ZLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
-*              Compute poles (call the routine with M = 0, P = 0).
-               CALL AG08BZ( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99968 ) NIZ
-                  DO 10 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
-     $                                      ( INFE(I), I = 1,NINFE )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99965 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99966 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 30 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   30                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 40 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-   40                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AG08BZ( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99964 ) NIZ
-                  DO 50 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99957 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 70 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   70                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 80 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AG08BZ( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99963 ) NIZ
-                  DO 90  I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   90             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99956 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 100 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  100                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 110 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  110                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99982 )
-                        DO 120 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-  120                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL ZLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
-               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-               CALL ZLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
-*              Compute the structural invariants of the given system.
-               CALL AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( L.EQ.N ) THEN
-                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
-                  ELSE
-                     WRITE ( NOUT, FMT = 99955 ) NRANK
-                  END IF
-                  WRITE ( NOUT, FMT = 99984 ) NFZ
-                  IF( NFZ.GT.0 ) THEN
-*                    Compute the finite zeros of the given system.
-*                    Workspace: need 8*NFZ.
-                     WRITE ( NOUT, FMT = 99983 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 130 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  130                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 140 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  140                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 150 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-  150                   CONTINUE
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99978 ) NIZ
-                  DO 160 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  160             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                     ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                     ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AG08BZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AG08BZ = ',I2)
-99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
-99996 FORMAT (/' Unobservable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99995 FORMAT (/' The matrix Ef is ')
-99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
-     $          /(20(I3,2X)))
-99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
-99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
-     $       , ' of the pair (Af,Ef). ')
-99990 FORMAT (/' The matrix Af is ')
-99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
-     $        /( 20(I3,2X) ) )
-99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $         ' pair (Af,Ef). ')
-99984 FORMAT (/' The number of finite zeros = ',I3)
-99983 FORMAT (/' The finite zeros are the eigenvalues ',
-     $         'of the pair (Af,Ef)')
-99982 FORMAT (/' Uncontrollable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99981 FORMAT (/' Finite zeros'/' real  part     imag  part ')
-99979 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ', /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ',  /(20(I3,2X)))
-99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
-99968 FORMAT (//' The number of infinite poles = ',I3)
-99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
-99966 FORMAT (/' The finite poles are the eigenvalues',
-     $         ' of the pair (Af,Ef). ')
-99965 FORMAT (/' The system has no finite poles ')
-99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
-99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
-99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
-99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
-99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
-99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
-99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
-     $         ,' are ', /(20(I3,2X)))
-99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
-     $         ' decoupling zeros ')
-99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
-     $         ' decoupling zeros ')
-99955 FORMAT (/' Normal rank  of system pencil = ',I3)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AG08BZ EXAMPLE PROGRAM DATA
-   9    9    3     3     1.e-7     N
-    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
-   (-1,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)  (-1,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)  (-1,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (1,0)   (1,0)   (0,0)   (3,0)    (4,0)    (0,0)   (0,0)    (2,0)
-    (0,0)   (1,0)   (0,0)   (0,0)   (4,0)    (0,0)    (0,0)   (2,0)    (0,0)
-    (0,0)   (0,0)   (1,0)   (0,0)  (-1,0)    (4,0)    (0,0)  (-2,0)    (2,0)
-    (1,0)   (2,0)  (-2,0)
-    (0,0)  (-1,0)  (-2,0)
-    (0,0)   (0,0)   (0,0)
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AG08BZ EXAMPLE PROGRAM RESULTS
-
-
-
- The number of infinite poles =   6
-   0 infinite pole(s) of order   1
-   3 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of A-lambda*E are 
-  3    3    3
-
- The system has no finite poles 
-
-
- The number of unobservable infinite poles =   4
-   0 infinite pole(s) of order   1
-   2 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
-  1    3    3
-
- The left Kronecker indices of [A-lambda*E;C] are 
-  0    1    1
-
- The system (A-lambda*E,C) has no finite output decoupling zeros 
-
-
- The number of uncontrollable infinite poles =   0
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
-  1    1    1
-
- The right Kronecker indices of [A-lambda*E,B] are 
-  2    2    2
-
- The system (A-lambda*E,B) has no finite input decoupling zeros 
-
- Normal rank  of transfer function matrix =   2
-
- The number of finite zeros =   1
-
- The finite zeros are the eigenvalues of the pair (Af,Ef)
-
- The matrix Af is 
-   -0.7705  +0.0000i 
-
- The matrix Ef is 
-   -0.7705  +0.0000i 
-
-Finite zeros
- real  part     imag  part 
-    1.0000  +0.0000i 
-
-
- The number of infinite zeros =   2
-   0 infinite zero(s) of order   1
-   1 infinite zero(s) of order   2
-
- The number of infinite Kronecker blocks =   5
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
-  1    1    1    1    3
-
- The number of right Kronecker indices =   1
-
- Right Kronecker indices of [A-lambda*E,B;C,D] are 
-  2
-
- The number of left Kronecker indices =   1
-
- The left Kronecker indices of [A-lambda*E,B;C,D] are 
-  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/AG8BYZ.html b/doc/_build/html/_static/doc/AG8BYZ.html
deleted file mode 100644
index 24e889c4..00000000
--- a/doc/_build/html/_static/doc/AG8BYZ.html
+++ /dev/null
@@ -1,265 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG8BYZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG8BYZ">AG8BYZ</A></H2>
-<H3>
-Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) descriptor system pencil
-
-     S(lambda) = ( B   A - lambda*E  )
-                 ( D        C        )
-
-  with E nonsingular and upper triangular a
-  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
-
-                        ( Br  Ar-lambda*Er )
-           Sr(lambda) = (                  )
-                        ( Dr     Cr        )
-
-  having the same finite Smith zeros as the pencil
-  S(lambda) but with Dr, a PR-by-M full row rank
-  left upper trapezoidal matrix, and Er, an NR-by-NR
-  upper triangular nonsingular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG8BYZ( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
-     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
-     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DINFZ, INFO, LDABCD, LDE, LZWORK, M, N, NINFZ,
-     $                   NKRONL, NR, P, PR
-      DOUBLE PRECISION   SVLMAX, TOL
-      LOGICAL            FIRST
-C     .. Array Arguments ..
-      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
-      DOUBLE PRECISION   DWORK( * )
-      COMPLEX*16         ABCD( LDABCD, * ), E( LDE, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FIRST   LOGICAL
-          Specifies if AG8BYZ is called first time or it is called
-          for an already reduced system, with D full column rank
-          with the last M rows in upper triangular form:
-          FIRST = .TRUE.,  first time called;
-          FIRST = .FALSE., not first time called.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of matrix B, the number of columns of
-          matrix C and the order of square matrices A and E.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrices B and D.  M &gt;= 0.
-          M &lt;= P if FIRST = .FALSE. .
-
-  P       (input) INTEGER
-          The number of rows of matrices C and D.  P &gt;= 0.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound matrix
-                   (  B   A  ) ,
-                   (  D   C  )
-          where A is an N-by-N matrix, B is an N-by-M matrix,
-          C is a P-by-N matrix and D is a P-by-M matrix.
-          If FIRST = .FALSE., then D must be a full column
-          rank matrix with the last M rows in upper triangular form.
-          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
-          contains the reduced compound matrix
-                    (  Br  Ar ) ,
-                    (  Dr  Cr )
-          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
-          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
-          left upper trapezoidal matrix with the first PR columns
-          in upper triangular form.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular nonsingular matrix E.
-          On exit, the leading NR-by-NR part contains the reduced
-          upper triangular nonsingular matrix Er.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ar and Er; also the
-          number of rows of the reduced matrix Br and the number
-          of columns of the reduced matrix Cr.
-          If Dr is invertible, NR is also the number of finite
-          Smith zeros.
-
-  PR      (output) INTEGER
-          The rank of the resulting matrix Dr; also the number of
-          rows of reduced matrices Cr and Dr.
-
-  NINFZ   (output) INTEGER
-          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite zeros.
-          DINFZ = 0 if FIRST = .FALSE. .
-
-  NKRONL  (output) INTEGER
-          The maximal dimension of left elementary Kronecker blocks.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,DINFZ.
-          INFZ is not referenced if FIRST = .FALSE. .
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          KRONL(i) contains the number of left elementary Kronecker
-          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
-          instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FIRST = .FALSE., IWORK is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          LDWORK &gt;= 2*MAX(M,P), if FIRST = .TRUE.;
-          LDWORK &gt;= 2*P,        if FIRST = .FALSE. .
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= 1, if P = 0; otherwise
-          LZWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 3*P ),
-                                          if FIRST = .TRUE.;
-          LZWORK &gt;= MAX( 1, N+M-1, 3*P ), if FIRST = .FALSE. .
-          The second term is not needed if M = 0.
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( (P+N)*(M+N)*N )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite zeros is computed as
-
-                DINFZ
-     NINFZ =     Sum  (INFZ(i)*i) .
-                 i=1
-  Note that each infinite zero of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-  The multiplicities of the infinite eigenvalues can be determined
-  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
-
-                  DINFZ
-  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
-                   i=1
-
-  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
-    for i = 1, ..., DINFZ.
-
-  The left Kronecker indices are:
-
-  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
-  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>BB01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB01AD">BB01AD</A></H2>
-<H3>
-Benchmark examples for continuous-time algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate the benchmark examples for the numerical solution of
-  continuous-time algebraic Riccati equations (CAREs) of the form
-
-    0 = Q + A'X + XA - XGX
-
-  corresponding to the Hamiltonian matrix
-
-         (  A   G  )
-     H = (       T ).
-         (  Q  -A  )
-
-  A,G,Q,X are real N-by-N matrices, Q and G are symmetric and may
-  be given in factored form
-
-                -1 T                         T
-   (I)   G = B R  B  ,           (II)   Q = C W C .
-
-  Here, C is P-by-N, W P-by-P, B N-by-M, and R M-by-M, where W
-  and R are symmetric. In linear-quadratic optimal control problems,
-  usually W is positive semidefinite and R positive definite.  The
-  factorized form can be used if the CARE is solved using the
-  deflating subspaces of the extended Hamiltonian pencil
-
-               (  A   0   B  )       (  I   0   0  )
-               (       T     )       (             )
-     H - s K = (  Q   A   0  )  -  s (  0  -I   0  ) ,
-               (       T     )       (             )
-               (  0   B   R  )       (  0   0   0  )
-
-  where I and 0 denote the identity and zero matrix, respectively,
-  of appropriate dimensions.
-
-  NOTE: the formulation of the CARE and the related matrix (pencils)
-        used here does not include CAREs as they arise in robust
-        control (H_infinity optimization).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB01AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
-     1                  A, LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX,
-     2                  DWORK, LDWORK, INFO)
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDG, LDQ, LDWORK, LDX, M, N,
-     $                 P
-      CHARACTER        DEF
-C     .. Array Arguments ..
-      INTEGER          IPAR(4), NR(2)
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
-     1                 G(*), Q(*), X(LDX,*)
-      CHARACTER        CHPAR*(*)
-      LOGICAL          BPAR(6), VEC(9)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER
-          This parameter specifies if the default parameters are
-          to be used or not.
-          = 'N' or 'n' : The parameters given in the input vectors
-                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
-          = 'D' or 'd' : The default parameters for the example
-                         are used.
-          This parameter is not meaningful if NR(1) = 1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          This array determines the example for which CAREX returns
-          data. NR(1) is the group of examples.
-          NR(1) = 1 : parameter-free problems of fixed size.
-          NR(1) = 2 : parameter-dependent problems of fixed size.
-          NR(1) = 3 : parameter-free problems of scalable size.
-          NR(1) = 4 : parameter-dependent problems of scalable size.
-          NR(2) is the number of the example in group NR(1).
-          Let NEXi be the number of examples in group i. Currently,
-          NEX1 = 6, NEX2 = 9, NEX3 = 2, NEX4 = 4.
-          1 &lt;= NR(1) &lt;= 4;
-          1 &lt;= NR(2) &lt;= NEXi , where i = NR(1).
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
-          Double precision parameter vector. For explanation of the
-          parameters see [1].
-          DPAR(1)           : defines the parameters
-                              'delta' for NR(1) = 3,
-                              'q' for NR(1).NR(2) = 4.1,
-                              'a' for NR(1).NR(2) = 4.2, and
-                              'mu' for NR(1).NR(2) = 4.3.
-          DPAR(2)           : defines parameters
-                              'r' for NR(1).NR(2) = 4.1,
-                              'b' for NR(1).NR(2) = 4.2, and
-                              'delta' for NR(1).NR(2) = 4.3.
-          DPAR(3)           : defines parameters
-                              'c' for NR(1).NR(2) = 4.2 and
-                              'kappa' for NR(1).NR(2) = 4.3.
-          DPAR(j), j=4,5,6,7: These arguments are only used to
-                              generate Example 4.2 and define in
-                              consecutive order the intervals
-                              ['beta_1', 'beta_2'],
-                              ['gamma_1', 'gamma_2'].
-          NOTE that if DEF = 'D' or 'd', the values of DPAR entries
-          on input are ignored and, on output, they are overwritten
-          with the default parameters.
-
-  IPAR    (input/output) INTEGER array, dimension (4)
-          On input, IPAR(1) determines the actual state dimension,
-          i.e., the order of the matrix A as follows, where
-          NO = NR(1).NR(2).
-          NR(1) = 1 or 2.1-2.8: IPAR(1) is ignored.
-          NO = 2.9            : IPAR(1) = 1 generates the CARE for
-                                optimal state feedback (default);
-                                IPAR(1) = 2 generates the Kalman
-                                filter CARE.
-          NO = 3.1            : IPAR(1) is the number of vehicles
-                                (parameter 'l' in the description
-                                 in [1]).
-          NO = 3.2, 4.1 or 4.2: IPAR(1) is the order of the matrix
-                                A.
-          NO = 4.3 or 4.4     : IPAR(1) determines the dimension of
-                                the second-order system, i.e., the
-                                order of the stiffness matrix for
-                                Examples 4.3 and 4.4 (parameter 'l'
-                                in the description in [1]).
-
-          The order of the output matrix A is N = 2*IPAR(1) for
-          Example 4.3 and N = 2*IPAR(1)-1 for Examples 3.1 and 4.4.
-          NOTE that IPAR(1) is overwritten for Examples 1.1-2.8. For
-          the other examples, IPAR(1) is overwritten if the default
-          parameters are to be used.
-          On output, IPAR(1) contains the order of the matrix A.
-
-          On input, IPAR(2) is the number of colums in the matrix B
-          in (I) (in control problems, the number of inputs of the
-          system). Currently, IPAR(2) is fixed or determined by
-          IPAR(1) for all examples and thus is not referenced on
-          input.
-          On output, IPAR(2) is the number of columns of the
-          matrix B from (I).
-          NOTE that currently IPAR(2) is overwritten and that
-          rank(G) &lt;= IPAR(2).
-
-          On input, IPAR(3) is the number of rows in the matrix C
-          in (II) (in control problems, the number of outputs of the
-          system). Currently, IPAR(3) is fixed or determined by
-          IPAR(1) for all examples and thus is not referenced on
-          input.
-          On output, IPAR(3) contains the number of rows of the
-          matrix C in (II).
-          NOTE that currently IPAR(3) is overwritten and that
-          rank(Q) &lt;= IPAR(3).
-
-          On input, if NR(1) = NR(2) = 4, and other data file than
-          that used by default is desired, then IPAR(4) is the
-          length of the character string in CHPAR specifying the
-          file name.
-
-  BPAR    (input) BOOLEAN array, dimension (6)
-          This array defines the form of the output of the examples
-          and the storage mode of the matrices G and Q.
-          BPAR(1) = .TRUE.  : G is returned.
-          BPAR(1) = .FALSE. : G is returned in factored form, i.e.,
-                              B and R from (I) are returned.
-          BPAR(2) = .TRUE.  : The matrix returned in array G (i.e.,
-                              G if BPAR(1) = .TRUE. and R if
-                              BPAR(1) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(2) = .FALSE. : The matrix returned in array G is
-                              provided in packed storage mode.
-          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
-                              returned in array G is stored in upper
-                              packed mode, i.e., the upper triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              G(i,j) is stored in the array entry
-                              G(i+j*(j-1)/2) for i &lt;= j.
-                              Otherwise, this entry is ignored.
-          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
-                              returned in array G is stored in lower
-                              packed mode, i.e., the lower triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              G(i,j) is stored in the array entry
-                              G(i+(2*n-j)*(j-1)/2) for j &lt;= i.
-                              Otherwise, this entry is ignored.
-          BPAR(4) = .TRUE.  : Q is returned.
-          BPAR(4) = .FALSE. : Q is returned in factored form, i.e.,
-                              C and W from (II) are returned.
-          BPAR(5) = .TRUE.  : The matrix returned in array Q (i.e.,
-                              Q if BPAR(4) = .TRUE. and W if
-                              BPAR(4) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(5) = .FALSE. : The matrix returned in array Q is
-                              provided in packed storage mode.
-          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
-                              returned in array Q is stored in upper
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
-                              returned in array Q is stored in lower
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          NOTE that there are no default values for BPAR.  If all
-          entries are declared to be .TRUE., then matrices G and Q
-          are returned in conventional storage mode, i.e., as
-          N-by-N arrays where the array element Z(I,J) contains the
-          matrix entry Z_{i,j}.
-
-  CHPAR   (input/output) CHARACTER*255
-          On input, this is the name of a data file supplied by the
-          user.
-          In the current version, only Example 4.4 allows a
-          user-defined data file. This file must contain
-          consecutively DOUBLE PRECISION vectors mu, delta, gamma,
-          and kappa. The length of these vectors is determined by
-          the input value for IPAR(1).
-          If on entry, IPAR(1) = L, then mu and delta must each
-          contain L DOUBLE PRECISION values, and gamma and kappa
-          must each contain L-1 DOUBLE PRECISION values.
-          On output, this string contains short information about
-          the chosen example.
-
-  VEC     (output) LOGICAL array, dimension (9)
-          Flag vector which displays the availability of the output
-          data:
-          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
-          are always .TRUE.
-          VEC(4) refers to A and is always .TRUE.
-          VEC(5) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors B
-          and R from (I) are returned.
-          VEC(6) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors C
-          and W from (II) are returned.
-          VEC(7) refers to G and is always .TRUE.
-          VEC(8) refers to Q and is always .TRUE.
-          VEC(9) refers to X and is .TRUE. if the exact solution
-          matrix is available.
-          NOTE that VEC(i) = .FALSE. for i = 1 to 9 if on exit
-          INFO .NE. 0.
-
-  N       (output) INTEGER
-          The order of the matrices A, X, G if BPAR(1) = .TRUE., and
-          Q if BPAR(4) = .TRUE.
-
-  M       (output) INTEGER
-          The number of columns in the matrix B (or the dimension of
-          the control input space of the underlying dynamical
-          system).
-
-  P       (output) INTEGER
-          The number of rows in the matrix C (or the dimension of
-          the output space of the underlying dynamical system).
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          coefficient matrix A of the CARE.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If (BPAR(1) = .FALSE.), then the leading N-by-M part of
-          this array contains the matrix B of the factored form (I)
-          of G. Otherwise, B is used as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          If (BPAR(4) = .FALSE.), then the leading P-by-N part of
-          this array contains the matrix C of the factored form (II)
-          of Q. Otherwise, C is used as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= P, where P is the number of rows of the matrix C,
-          i.e., the output value of IPAR(3). (For all examples,
-          P &lt;= N, where N equals the output value of the argument
-          IPAR(1), i.e., LDC &gt;= LDA is always safe.)
-
-  G       (output) DOUBLE PRECISION array, dimension (NG)
-          If (BPAR(2) = .TRUE.)  then NG = LDG*N.
-          If (BPAR(2) = .FALSE.) then NG = N*(N+1)/2.
-          If (BPAR(1) = .TRUE.), then array G contains the
-          coefficient matrix G of the CARE.
-          If (BPAR(1) = .FALSE.), then array G contains the 'control
-          weighting matrix' R of G's factored form as in (I). (For
-          all examples, M &lt;= N.) The symmetric matrix contained in
-          array G is stored according to BPAR(2) and BPAR(3).
-
-  LDG     INTEGER
-          If conventional storage mode is used for G, i.e.,
-          BPAR(2) = .TRUE., then G is stored like a 2-dimensional
-          array with leading dimension LDG. If packed symmetric
-          storage mode is used, then LDG is not referenced.
-          LDG &gt;= N if BPAR(2) = .TRUE..
-
-  Q       (output) DOUBLE PRECISION array, dimension (NQ)
-          If (BPAR(5) = .TRUE.)  then NQ = LDQ*N.
-          If (BPAR(5) = .FALSE.) then NQ = N*(N+1)/2.
-          If (BPAR(4) = .TRUE.), then array Q contains the
-          coefficient matrix Q of the CARE.
-          If (BPAR(4) = .FALSE.), then array Q contains the 'output
-          weighting matrix' W of Q's factored form as in (II).
-          The symmetric matrix contained in array Q is stored
-          according to BPAR(5) and BPAR(6).
-
-  LDQ     INTEGER
-          If conventional storage mode is used for Q, i.e.,
-          BPAR(5) = .TRUE., then Q is stored like a 2-dimensional
-          array with leading dimension LDQ. If packed symmetric
-          storage mode is used, then LDQ is not referenced.
-          LDQ &gt;= N if BPAR(5) = .TRUE..
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,IPAR(1))
-          If an exact solution is available (NR = 1.1, 1.2, 2.1,
-          2.3-2.6, 3.2), then the leading N-by-N part of this array
-          contains the solution matrix X in conventional storage
-          mode. Otherwise, X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 1, and
-          LDX &gt;= N if NR = 1.1, 1.2, 2.1, 2.3-2.6, 3.2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= N*MAX(4,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0 : successful exit;
-          &lt; 0 : if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : data file could not be opened or had wrong format;
-          = 2 : division by zero;
-          = 3 : G can not be computed as in (I) due to a singular R
-                matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Abels, J. and Benner, P.
-      CAREX - A Collection of Benchmark Examples for Continuous-Time
-      Algebraic Riccati Equations (Version 2.0).
-      SLICOT Working Note 1999-14, November 1999. Available from
-      http://www.win.tue.nl/niconet/NIC2/reports.html.
-
-  This is an updated and extended version of
-
-  [2] Benner, P., Laub, A.J., and Mehrmann, V.
-      A Collection of Benchmark Examples for the Numerical Solution
-      of Algebraic Riccati Equations I: Continuous-Time Case.
-      Technical Report SPC 95_22, Fak. f. Mathematik,
-      TU Chemnitz-Zwickau (Germany), October 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If the original data as taken from the literature is given via
-  matrices G and Q, but factored forms are requested as output, then
-  these factors are obtained from Cholesky or LDL' decompositions of
-  G and Q, i.e., the output data will be corrupted by roundoff
-  errors.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Some benchmark examples read data from the data files provided
-  with the collection.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     BB01AD EXAMPLE PROGRAM TEXT
-*
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
-      INTEGER          LDA, LDB, LDC, LDG, LDQ, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDG = NMAX, LDQ = NMAX, LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*MAX( 4, NMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
-     $                 DPAR(7), DWORK(LDWORK), G(LDG, NMAX),
-     $                 Q(LDQ, NMAX), X(LDX, NMAX)
-      INTEGER          IPAR(4), NR(2)
-      LOGICAL          BPAR(6), VEC(9)
-      CHARACTER        CHPAR*255
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         BB01AD, MA02DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ( NIN, FMT = '()' )
-      READ( NIN, FMT = * ) DEF
-      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
-      IF( LSAME( DEF, 'N' ) ) THEN
-        READ( NIN, FMT = * ) LBPAR
-        IF( LBPAR.GT.0 )  READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
-        READ( NIN, FMT = * ) LDPAR
-        IF( LDPAR.GT.0 )  READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
-        READ( NIN, FMT = * ) LIPAR
-        IF( LIPAR.GT.0 )  READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
-      END IF
-*     Generate benchmark example
-      CALL BB01AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
-     $             LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX, DWORK,
-     $             LDWORK, INFO )
-*
-      IF( INFO.NE.0 ) THEN
-        WRITE( NOUT, FMT = 99998 ) INFO
-      ELSE
-        WRITE( NOUT, FMT = * ) CHPAR(1:70)
-        WRITE( NOUT, FMT = 99997 ) N
-        WRITE( NOUT, FMT = 99996 ) M
-        WRITE( NOUT, FMT = 99995 ) P
-        WRITE( NOUT, FMT = 99994 )
-        DO 10  I = 1, N
-          WRITE( NOUT, FMT = 99979 ) ( A(I,J), J = 1, N )
-   10   CONTINUE
-        IF( VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99993 )
-          DO 20  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( B(I,J), J = 1, M )
-   20     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99992 )
-        END IF
-        IF( VEC(6) ) THEN
-          WRITE( NOUT,FMT = 99991 )
-          DO 30  I = 1, P
-            WRITE( NOUT, FMT = 99979 ) ( C(I,J), J = 1, N )
-   30     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99990 )
-        END IF
-        IF( .NOT.VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99989 )
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, G, LDG, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, G, LDG, DWORK )
-            END IF
-          END IF
-          DO 40  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
-   40     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99988 )
-        END IF
-        IF( .NOT.VEC(6) ) THEN
-          IF( .NOT. BPAR(5) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99987 )
-          DO 50  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
-   50     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99986 )
-        END IF
-        IF( VEC(6) ) THEN
-          IF( .NOT.BPAR(5) ) THEN
-            ISYMM = ( P * ( P + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99985 )
-          DO 60  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
-   60     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99984 )
-        END IF
-        IF( VEC(5) ) THEN
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( M * ( M + 1 ) ) / 2
-            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', M, G, LDG, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', M, G, LDG, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99983 )
-          DO 70  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
-   70     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99982 )
-        END IF
-        IF( VEC(9) ) THEN
-          WRITE( NOUT, FMT = 99981 )
-          DO 80  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( X(I,J), J = 1, N )
-   80     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99980 )
-        END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' BB01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB03AD = ', I3)
-99997 FORMAT (/' Order of matrix A:              N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
-99994 FORMAT (' A  = ')
-99993 FORMAT (' B  = ')
-99992 FORMAT (' B is not provided.')
-99991 FORMAT (' C  = ')
-99990 FORMAT (' C is not provided.')
-99989 FORMAT (' G  = ')
-99988 FORMAT (' G is not provided.')
-99987 FORMAT (' Q  = ')
-99986 FORMAT (' Q is not provided.')
-99985 FORMAT (' W  = ')
-99984 FORMAT (' W is not provided.')
-99983 FORMAT (' R  = ')
-99982 FORMAT (' R is not provided.')
-99981 FORMAT (' X  = ')
-99980 FORMAT (' X is not provided.')
-99979 FORMAT (20(1X,F8.4))
-*
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB01AD EXAMPLE PROGRAM DATA
-N
-2 3
-6
-.T. .T. .T. .F. .F. .T.
-1
-.1234
-0
-
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB01AD EXAMPLE PROGRAM RESULTS
-
- Kenney/Laub/Wette 1989, Ex.2: ARE ill conditioned for EPS -> oo       
-
- Order of matrix A:              N  =   2
- Number of columns in matrix B:  M  =   1
- Number of rows in matrix C:     P  =   2
- A  = 
-   0.0000   0.1234
-   0.0000   0.0000
- B is not provided.
- C  = 
-   1.0000   0.0000
-   0.0000   1.0000
- G  = 
-   0.0000   0.0000
-   0.0000   1.0000
- Q is not provided.
- W  = 
-   1.0000   0.0000
-   0.0000   1.0000
- R is not provided.
- X  = 
-   9.0486   1.0000
-   1.0000   1.1166
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/BB02AD.html b/doc/_build/html/_static/doc/BB02AD.html
deleted file mode 100644
index 5f32bb08..00000000
--- a/doc/_build/html/_static/doc/BB02AD.html
+++ /dev/null
@@ -1,588 +0,0 @@
-<HTML>
-<HEAD><TITLE>BB02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB02AD">BB02AD</A></H2>
-<H3>
-Benchmark examples for discrete-time algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate the benchmark examples for the numerical solution of
-  discrete-time algebraic Riccati equations (DAREs) of the form
-
-         T                T               T    -1  T       T
-  0  =  A X A  -  X  -  (A X B + S) (R + B X B)  (B X A + S )  +  Q
-
-  as presented in [1]. Here, A,Q,X are real N-by-N matrices, B,S are
-  N-by-M, and R is M-by-M. The matrices Q and R are symmetric and Q
-  may be given in factored form
-
-                T
-  (I)    Q  =  C Q0 C .
-
-  Here, C is P-by-N and Q0 is P-by-P. If R is nonsingular and S = 0,
-  the DARE can be rewritten equivalently as
-
-               T             -1
-  0  =  X  -  A X (I_n + G X)  A  -  Q,
-
-  where I_n is the N-by-N identity matrix and
-
-                -1  T
-  (II)   G = B R   B .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB02AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
-     1                  A, LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS,
-     2                  X, LDX, DWORK, LDWORK, INFO)
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDQ, LDR, LDS, LDWORK, LDX,
-     $                 M, N, P
-      CHARACTER        DEF
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
-     1                 Q(*), R(*), S(LDS,*), X(LDX,*)
-      INTEGER          IPAR(3), NR(2)
-      CHARACTER        CHPAR*255
-      LOGICAL          BPAR(7), VEC(10)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER
-          This parameter specifies if the default parameters are
-          to be used or not.
-          = 'N' or 'n' : The parameters given in the input vectors
-                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
-          = 'D' or 'd' : The default parameters for the example
-                         are used.
-          This parameter is not meaningful if NR(1) = 1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          This array determines the example for which DAREX returns
-          data. NR(1) is the group of examples.
-          NR(1) = 1 : parameter-free problems of fixed size.
-          NR(1) = 2 : parameter-dependent problems of fixed size.
-          NR(1) = 3 : parameter-free problems of scalable size.
-          NR(1) = 4 : parameter-dependent problems of scalable size.
-          NR(2) is the number of the example in group NR(1).
-          Let NEXi be the number of examples in group i. Currently,
-          NEX1 = 13, NEX2 = 5, NEX3 = 0, NEX4 = 1.
-          1 &lt;= NR(1) &lt;= 4;
-          0 &lt;= NR(2) &lt;= NEXi, where i = NR(1).
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (4)
-          Double precision parameter vector. For explanation of the
-          parameters see [1].
-          DPAR(1) defines the parameter 'epsilon' for
-          examples NR = 2.2,2.3,2.4, the parameter 'tau'
-          for NR = 2.5, and the 1-by-1 matrix R for NR = 2.1,4.1.
-          For Example 2.5, DPAR(2) - DPAR(4) define in
-          consecutive order 'D', 'K', and 'r'.
-          NOTE that DPAR is overwritten with default values
-          if DEF = 'D' or 'd'.
-
-  IPAR    (input/output) INTEGER array, dimension (3)
-          On input, IPAR(1) determines the actual state dimension,
-          i.e., the order of the matrix A as follows:
-          NR(1) = 1, NR(1) = 2   : IPAR(1) is ignored.
-          NR = NR(1).NR(2) = 4.1 : IPAR(1) determines the order of
-                                   the output matrix A.
-          NOTE that IPAR(1) is overwritten for Examples 1.1-2.3. For
-          the other examples, IPAR(1) is overwritten if the default
-          parameters are to be used.
-          On output, IPAR(1) contains the order of the matrix A.
-
-          On input, IPAR(2) is the number of colums in the matrix B
-          and the order of the matrix R (in control problems, the
-          number of inputs of the system). Currently, IPAR(2) is
-          fixed for all examples and thus is not referenced on
-          input.
-          On output, IPAR(2) is the number of columns of the
-          matrix B from (I).
-
-          On input, IPAR(3) is the number of rows in the matrix C
-          (in control problems, the number of outputs of the
-          system). Currently, IPAR(3) is fixed for all examples
-          and thus is not referenced on input.
-          On output, IPAR(3) is the number of rows of the matrix C
-          from (I).
-
-          NOTE that IPAR(2) and IPAR(3) are overwritten and
-          IPAR(2) &lt;= IPAR(1) and IPAR(3) &lt;= IPAR(1) for all
-          examples.
-
-  BPAR    (input) LOGICAL array, dimension (7)
-          This array defines the form of the output of the examples
-          and the storage mode of the matrices Q, G or R.
-          BPAR(1) = .TRUE.  : Q is returned.
-          BPAR(1) = .FALSE. : Q is returned in factored form, i.e.,
-                              Q0 and C from (I) are returned.
-          BPAR(2) = .TRUE.  : The matrix returned in array Q (i.e.,
-                              Q if BPAR(1) = .TRUE. and Q0 if
-                              BPAR(1) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(2) = .FALSE. : The matrix returned in array Q is
-                              provided in packed storage mode.
-          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
-                              returned in array Q is stored in upper
-                              packed mode, i.e., the upper triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              Q(i,j) is stored in the array entry
-                              Q(i+j*(j-1)/2) for i &lt;= j.
-                              Otherwise, this entry is ignored.
-          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
-                              returned in array Q is stored in lower
-                              packed mode, i.e., the lower triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              Q(i,j) is stored in the array entry
-                              Q(i+(2*n-j)*(j-1)/2) for j &lt;= i.
-                              Otherwise, this entry is ignored.
-          BPAR(4) = .TRUE.  : The product G in (II) is returned.
-          BPAR(4) = .FALSE. : G is returned in factored form, i.e.,
-                              B and R from (II) are returned.
-          BPAR(5) = .TRUE.  : The matrix returned in array R (i.e.,
-                              G if BPAR(4) = .TRUE. and R if
-                              BPAR(4) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(5) = .FALSE. : The matrix returned in array R is
-                              provided in packed storage mode.
-          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
-                              returned in array R is stored in upper
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
-                              returned in array R is stored in lower
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          BPAR(7) = .TRUE.  : The coefficient matrix S of the DARE
-                              is returned in array S.
-          BPAR(7) = .FALSE. : The coefficient matrix S of the DARE
-                              is not returned.
-          NOTE that there are no default values for BPAR.  If all
-          entries are declared to be .TRUE., then matrices Q, G or R
-          are returned in conventional storage mode, i.e., as
-          N-by-N or M-by-M arrays where the array element Z(I,J)
-          contains the matrix entry Z_{i,j}.
-
-  CHPAR   (output) CHARACTER*255
-          On output, this string contains short information about
-          the chosen example.
-
-  VEC     (output) LOGICAL array, dimension (10)
-          Flag vector which displays the availability of the output
-          data:
-          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
-          are always .TRUE.
-          VEC(4) refers to A and is always .TRUE.
-          VEC(5) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors B
-          and R from (II) are returned.
-          VEC(6) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors C
-          and Q0 from (I) are returned.
-          VEC(7) refers to Q and is always .TRUE.
-          VEC(8) refers to R and is always .TRUE.
-          VEC(9) is .TRUE. if BPAR(7) = .TRUE., i.e., the matrix S
-          is returned.
-          VEC(10) refers to X and is .TRUE. if the exact solution
-          matrix is available.
-          NOTE that VEC(i) = .FALSE. for i = 1 to 10 if on exit
-          INFO .NE. 0.
-
-  N       (output) INTEGER
-          The order of the matrices A, X, G if BPAR(4) = .TRUE., and
-          Q if BPAR(1) = .TRUE.
-
-  M       (output) INTEGER
-          The number of columns in the matrix B (or the dimension of
-          the control input space of the underlying dynamical
-          system).
-
-  P       (output) INTEGER
-          The number of rows in the matrix C (or the dimension of
-          the output space of the underlying dynamical system).
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          coefficient matrix A of the DARE.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If (BPAR(4) = .FALSE.), then the leading N-by-M part
-          of this array contains the coefficient matrix B of
-          the DARE.  Otherwise, B is used as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          If (BPAR(1) = .FALSE.), then the leading P-by-N part
-          of this array contains the matrix C of the factored
-          form (I) of Q.  Otherwise, C is used as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= P.
-
-  Q       (output) DOUBLE PRECISION array, dimension (NQ)
-          If (BPAR(1) = .TRUE.) and (BPAR(2) = .TRUE.), then
-          NQ = LDQ*N.
-          IF (BPAR(1) = .TRUE.) and (BPAR(2) = .FALSE.), then
-          NQ = N*(N+1)/2.
-          If (BPAR(1) = .FALSE.) and (BPAR(2) = .TRUE.), then
-          NQ = LDQ*P.
-          IF (BPAR(1) = .FALSE.) and (BPAR(2) = .FALSE.), then
-          NQ = P*(P+1)/2.
-          The symmetric matrix contained in array Q is stored
-          according to BPAR(2) and BPAR(3).
-
-  LDQ     INTEGER
-          If conventional storage mode is used for Q, i.e.,
-          BPAR(2) = .TRUE., then Q is stored like a 2-dimensional
-          array with leading dimension LDQ. If packed symmetric
-          storage mode is used, then LDQ is irrelevant.
-          LDQ &gt;= N if BPAR(1) = .TRUE.;
-          LDQ &gt;= P if BPAR(1) = .FALSE..
-
-  R       (output) DOUBLE PRECISION array, dimension (MR)
-          If (BPAR(4) = .TRUE.) and (BPAR(5) = .TRUE.), then
-          MR = LDR*N.
-          IF (BPAR(4) = .TRUE.) and (BPAR(5) = .FALSE.), then
-          MR = N*(N+1)/2.
-          If (BPAR(4) = .FALSE.) and (BPAR(5) = .TRUE.), then
-          MR = LDR*M.
-          IF (BPAR(4) = .FALSE.) and (BPAR(5) = .FALSE.), then
-          MR = M*(M+1)/2.
-          The symmetric matrix contained in array R is stored
-          according to BPAR(5) and BPAR(6).
-
-  LDR     INTEGER
-          If conventional storage mode is used for R, i.e.,
-          BPAR(5) = .TRUE., then R is stored like a 2-dimensional
-          array with leading dimension LDR. If packed symmetric
-          storage mode is used, then LDR is irrelevant.
-          LDR &gt;= N  if BPAR(4) =  .TRUE.;
-          LDR &gt;= M  if BPAR(4) = .FALSE..
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,M)
-          If (BPAR(7) = .TRUE.), then the leading N-by-M part of
-          this array contains the coefficient matrix S of the DARE.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= 1, and
-          LDS &gt;= N if BPAR(7) = .TRUE..
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,NX)
-          If an exact solution is available (NR = 1.1,1.3,1.4,2.1,
-          2.3,2.4,2.5,4.1), then NX = N and the leading N-by-N part
-          of this array contains the solution matrix X.
-          Otherwise, X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 1, and
-          LDX &gt;= N if an exact solution is available.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= N*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0 : successful exit;
-          &lt; 0 : if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : data file could not be opened or had wrong format;
-          = 2 : division by zero;
-          = 3 : G can not be computed as in (II) due to a singular R
-                matrix. This error can only occur if
-                BPAR(4) = .TRUE..
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Abels, J. and Benner, P.
-      DAREX - A Collection of Benchmark Examples for Discrete-Time
-      Algebraic Riccati Equations (Version 2.0).
-      SLICOT Working Note 1999-16, November 1999. Available from
-      http://www.win.tue.nl/niconet/NIC2/reports.html.
-
-  This is an updated and extended version of
-
-  [2] Benner, P., Laub, A.J., and Mehrmann, V.
-      A Collection of Benchmark Examples for the Numerical Solution
-      of Algebraic Riccati Equations II: Discrete-Time Case.
-      Technical Report SPC 95_23, Fak. f. Mathematik,
-      TU Chemnitz-Zwickau (Germany), December 1995.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Some benchmark examples read data from the data files provided
-  with the collection.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     BB02AD EXAMPLE PROGRAM TEXT
-*
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
-      INTEGER          LDA, LDB, LDC, LDQ, LDR, LDS, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDQ = NMAX, LDR = NMAX, LDS = NMAX,
-     $                   LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*NMAX )
-*     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
-     $                 DPAR(4), DWORK(LDWORK), Q(LDQ, NMAX),
-     $                 R(LDR, NMAX), S(LDS, NMAX), X(LDX, NMAX)
-      INTEGER          IPAR(3), NR(2)
-      LOGICAL          BPAR(7), VEC(10)
-      CHARACTER        CHPAR(255)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         BB02AD, MA02DD
-*     .. Executable Statements ..
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ( NIN, FMT = '()' )
-      READ( NIN, FMT = * ) DEF
-      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
-      IF( LSAME( DEF, 'N' ) ) THEN
-        READ( NIN, FMT = * ) LBPAR
-        IF( LBPAR.GT.0 ) READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
-        READ( NIN, FMT = * ) LDPAR
-        IF( LDPAR.GT.0 ) READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
-        READ( NIN, FMT = * ) LIPAR
-        IF( LIPAR.GT.0 ) READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
-      END IF
-*     Generate benchmark example
-      CALL BB02AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
-     $             LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS, X, LDX,
-     $             DWORK, LDWORK, INFO )
-*
-      IF( INFO.NE.0 ) THEN
-        WRITE( NOUT, FMT = 99998 ) INFO
-      ELSE
-        WRITE( NOUT, FMT = * ) CHPAR(1:70)
-        WRITE( NOUT, FMT = 99997 ) N
-        WRITE( NOUT, FMT = 99996 ) M
-        WRITE( NOUT, FMT = 99995 ) P
-        WRITE( NOUT, FMT = 99994 )
-        DO 10  I = 1, N
-          WRITE( NOUT, FMT = 99977 ) ( A(I,J), J = 1, N )
-   10   CONTINUE
-        IF( VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99993 )
-          DO 20  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( B(I,J), J = 1, M )
-   20     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99992 )
-        END IF
-        IF( VEC(6) ) THEN
-          WRITE( NOUT,FMT = 99991 )
-          DO 30  I = 1, P
-            WRITE( NOUT, FMT = 99977 ) ( C(I,J), J = 1, N )
-   30     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99990 )
-        END IF
-        IF( .NOT.VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99989 )
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, R, LDR, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, R, LDR, DWORK )
-            END IF
-          END IF
-          DO 40  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, N )
-   40     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99988 )
-        END IF
-        IF( .NOT.VEC(6) ) THEN
-          IF( .NOT.BPAR(5) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99987 )
-          DO 50  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, N )
-   50     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99986 )
-        END IF
-        IF( VEC(6) ) THEN
-          IF( .NOT.BPAR(5) ) THEN
-            ISYMM = ( P * ( P + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99985 )
-          DO 60  I = 1, P
-            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, P )
-   60     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99984 )
-        END IF
-        IF( VEC(5) ) THEN
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( M * ( M + 1 ) ) / 2
-            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', M, R, LDR, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', M, R, LDR, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99983 )
-          DO 70  I = 1, M
-            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, M )
-   70     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99982 )
-        END IF
-        IF( VEC(9) ) THEN
-          WRITE( NOUT, FMT = 99981 )
-          DO 80  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( S(I,J), J = 1, M )
-   80     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99980 )
-        END IF
-        IF( VEC(10) ) THEN
-          WRITE( NOUT, FMT = 99979 )
-          DO 90  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( X(I,J), J = 1, N )
-   90     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99978 )
-        END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' BB02AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB02AD = ', I3)
-99997 FORMAT (/' Order of matrix A:              N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
-99994 FORMAT (' A  = ')
-99993 FORMAT (' B  = ')
-99992 FORMAT (' B is not provided.')
-99991 FORMAT (' C  = ')
-99990 FORMAT (' C is not provided.')
-99989 FORMAT (' G  = ')
-99988 FORMAT (' G is not provided.')
-99987 FORMAT (' Q  = ')
-99986 FORMAT (' Q is not provided.')
-99985 FORMAT (' Q0  = ')
-99984 FORMAT (' Q0 is not provided.')
-99983 FORMAT (' R  = ')
-99982 FORMAT (' R is not provided.')
-99981 FORMAT (' S  = ')
-99980 FORMAT (' S is not provided.')
-99979 FORMAT (' X  = ')
-99978 FORMAT (' X is not provided.')
-99977 FORMAT (20(1X,F8.4))
-*
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB02AD EXAMPLE PROGRAM DATA
-N
-2 3
-7
-.T. .T. .T. .F. .F. .T. .T.
-1
-.1234
-0
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB02AD EXAMPLE PROGRAM RESULTS
-
- increasingly bad scaled system as eps -> oo                           
-
- Order of matrix A:              N  =   2
- Number of columns in matrix B:  M  =   1
- Number of rows in matrix C:     P  =   2
- A  = 
-   0.0000   0.1234
-   0.0000   0.0000
- B  = 
-   0.0000
-   1.0000
- C is not provided.
- G is not provided.
- Q  = 
-   1.0000   0.0000
-   0.0000   1.0000
- Q0 is not provided.
- R  = 
-   1.0000
- S  = 
-   0.0000
-   0.0000
- X  = 
-   1.0000   0.0000
-   0.0000   1.0152
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/BB03AD.html b/doc/_build/html/_static/doc/BB03AD.html
deleted file mode 100644
index c4132431..00000000
--- a/doc/_build/html/_static/doc/BB03AD.html
+++ /dev/null
@@ -1,386 +0,0 @@
-<HTML>
-<HEAD><TITLE>BB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB03AD">BB03AD</A></H2>
-<H3>
-Benchmark examples of (generalized) continuous-time Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples of (generalized) continuous-time
-  Lyapunov equations
-
-     T           T
-    A  X  E  +  E  X A  =  Y .
-
-  In some examples, the right hand side has the form
-
-             T
-    Y  =  - B  B
-
-  and the solution can be represented as a product of Cholesky
-  factors
-
-           T
-    X  =  U  U .
-
-  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
-  that E can be the identity matrix. For some examples, B, X, or U
-  are not provided.
-
-  This routine is an implementation of the benchmark library
-  CTLEX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
-     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
-     2                  LDWORK, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
-     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          DEF = 'D' or 'd': Default values are used.
-          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension 2
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on real parameters, then the array DPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
-          respectively.
-          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
-          's', respectively.
-          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
-          't'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on real parameters, then the array DPAR is
-          overwritten by the default values given in [1].
-
-  IPAR    (input/output) INTEGER array of DIMENSION at least 1
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on integer parameters, then the array IPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
-          For Example 4.4, IPAR(1) defines 'q'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on integer parameters, then the array IPAR is
-          overwritten by the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension 8
-          Flag vector which displays the availability of the output
-          data:
-          VEC(1) and VEC(2) refer to N and M, respectively, and are
-          always .TRUE.
-          VEC(3) is .TRUE. iff E is NOT the identity matrix.
-          VEC(4) and VEC(5) refer to A and Y, respectively, and are
-          always .TRUE.
-          VEC(6) is .TRUE. iff B is provided.
-          VEC(7) is .TRUE. iff the solution matrix X is provided.
-          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of rows in the matrix B. If B is not provided
-          for the desired example, M = 0 is returned.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(3) = .FALSE.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the
-          matrix Y.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading M-by-N part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= M.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the
-          matrix X.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= N.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          matrix U.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
-          required.
-          For the other examples, no workspace is needed, i.e.,
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
-       CTLEX - a Collection of Benchmark Examples for Continuous-
-       Time Lyapunov Equations.
-       SLICOT Working Note 1999-6, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BB03AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX
-      PARAMETER        (NMAX = 100, MMAX = 100)
-      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
-      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
-     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
-     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
-     2                 DPAR(2), DWORK(LDWORK)
-      INTEGER          NR(2), IPAR(1)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BB03AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
-     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
-     2            INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        IF (VEC(3)) THEN
-          WRITE (NOUT, FMT = 99995)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99994)
-        END IF
-        WRITE (NOUT,FMT = 99993)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
-20      CONTINUE
-        IF (VEC(6)) THEN
-          WRITE (NOUT,FMT = 99992)
-          DO 30  I = 1, M
-            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
-30        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99991)
-        END IF
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, N
-          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(7)) THEN
-          WRITE (NOUT, FMT = 99989)
-          DO 50  I = 1, N
-            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-        IF (VEC(8)) THEN
-          WRITE (NOUT, FMT = 99987)
-          DO 60  I = 1, N
-            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
-60        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99986)
-        END IF
-      END IF
-C
-99999 FORMAT (' BB03AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB03AD = ', I3)
-99997 FORMAT (/' Order of matrix A:            N  = ', I3)
-99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
-99995 FORMAT (/' E  = ')
-99994 FORMAT (/' E is the identity matrix.')
-99993 FORMAT (' A  = ')
-99992 FORMAT (' B  = ')
-99991 FORMAT (' B is not provided.')
-99990 FORMAT (' Y  = ')
-99989 FORMAT (' X  = ')
-99988 FORMAT (' X is not provided.')
-99987 FORMAT (' U  = ')
-99986 FORMAT (' U is not provided.')
-99985 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB03AD EXAMPLE PROGRAM DATA
-N
-4 1
-2
-.15D1
-.15D1
-1
-5
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB03AD EXAMPLE PROGRAM RESULTS
-
- CTLEX: Example 4.1                                                    
-
- Order of matrix A:            N  =   5
- Number of rows in matrix B:   M  =   1
-
- E is the identity matrix.
- A  = 
-  -3.6360  -0.6921  -1.1933  -0.8137   0.3507
-   0.1406  -2.9375   0.9063   0.1562   0.3438
-  -2.5735  -1.4421  -2.8183  -1.1887   1.2257
-  -0.3779   0.0810   0.5544  -1.5891   0.0660
-   0.8961   1.1586   1.6279   0.5631  -2.2066
- B  = 
-  -3.6914  -3.9753  -0.0247  -1.9012   1.1111
- Y  = 
- -13.6261 -14.6743  -0.0911  -7.0181   4.1015
- -14.6743 -15.8031  -0.0982  -7.5580   4.4170
-  -0.0911  -0.0982  -0.0006  -0.0469   0.0274
-  -7.0181  -7.5580  -0.0469  -3.6147   2.1125
-   4.1015   4.4170   0.0274   2.1125  -1.2346
- X  = 
-   1.7737   1.9307  -0.0703   1.0497  -0.4681
-   1.9307   2.1036  -0.0752   1.1489  -0.5069
-  -0.0703  -0.0752   0.0076  -0.0428   0.0178
-   1.0497   1.1489  -0.0428   0.6509  -0.2651
-  -0.4681  -0.5069   0.0178  -0.2651   0.1284
- U is not provided.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/BB04AD.html b/doc/_build/html/_static/doc/BB04AD.html
deleted file mode 100644
index 84849172..00000000
--- a/doc/_build/html/_static/doc/BB04AD.html
+++ /dev/null
@@ -1,386 +0,0 @@
-<HTML>
-<HEAD><TITLE>BB04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB04AD">BB04AD</A></H2>
-<H3>
-Benchmark examples of (generalized) discrete-time Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples of (generalized) discrete-time
-  Lyapunov equations
-
-     T           T
-    A  X  A  -  E  X E  =  Y .
-
-  In some examples, the right hand side has the form
-
-             T
-    Y  =  - B  B
-
-  and the solution can be represented as a product of Cholesky
-  factors
-
-           T
-    X  =  U  U .
-
-  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
-  that E can be the identity matrix. For some examples, B, X, or U
-  are not provided.
-
-  This routine is an implementation of the benchmark library
-  DTLEX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
-     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
-     2                  LDWORK, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
-     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          DEF = 'D' or 'd': Default values are used.
-          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension 2
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on real parameters, then the array DPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
-          respectively.
-          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
-          's', respectively.
-          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
-          't'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on real parameters, then the array DPAR is
-          overwritten by the default values given in [1].
-
-  IPAR    (input/output) INTEGER array of DIMENSION at least 1
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on integer parameters, then the array IPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
-          For Example 4.4, IPAR(1) defines 'q'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on integer parameters, then the array IPAR is
-          overwritten by the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension 8
-          Flag vector which displays the availability of the output
-          data:
-          VEC(1) and VEC(2) refer to N and M, respectively, and are
-          always .TRUE.
-          VEC(3) is .TRUE. iff E is NOT the identity matrix.
-          VEC(4) and VEC(5) refer to A and Y, respectively, and are
-          always .TRUE.
-          VEC(6) is .TRUE. iff B is provided.
-          VEC(7) is .TRUE. iff the solution matrix X is provided.
-          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of rows in the matrix B. If B is not provided
-          for the desired example, M = 0 is returned.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(3) = .FALSE.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the
-          matrix Y.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading M-by-N part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= M.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the
-          matrix X.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= N.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          matrix U.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
-          required.
-          For the other examples, no workspace is needed, i.e.,
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
-       DTLEX - a Collection of Benchmark Examples for Discrete-
-       Time Lyapunov Equations.
-       SLICOT Working Note 1999-7, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BB04AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX
-      PARAMETER        (NMAX = 100, MMAX = 100)
-      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
-      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
-     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
-     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
-     2                 DPAR(2), DWORK(LDWORK)
-      INTEGER          NR(2), IPAR(1)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BB04AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
-     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
-     2            INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        IF (VEC(3)) THEN
-          WRITE (NOUT, FMT = 99995)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99994)
-        END IF
-        WRITE (NOUT,FMT = 99993)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
-20      CONTINUE
-        IF (VEC(6)) THEN
-          WRITE (NOUT,FMT = 99992)
-          DO 30  I = 1, M
-            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
-30        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99991)
-        END IF
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, N
-          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(7)) THEN
-          WRITE (NOUT, FMT = 99989)
-          DO 50  I = 1, N
-            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-        IF (VEC(8)) THEN
-          WRITE (NOUT, FMT = 99987)
-          DO 60  I = 1, N
-            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
-60        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99986)
-        END IF
-      END IF
-C
-99999 FORMAT (' BB04AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB04AD = ', I3)
-99997 FORMAT (/' Order of matrix A:            N  = ', I3)
-99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
-99995 FORMAT (/' E  = ')
-99994 FORMAT (/' E is the identity matrix.')
-99993 FORMAT (' A  = ')
-99992 FORMAT (' B  = ')
-99991 FORMAT (' B is not provided.')
-99990 FORMAT (' Y  = ')
-99989 FORMAT (' X  = ')
-99988 FORMAT (' X is not provided.')
-99987 FORMAT (' U  = ')
-99986 FORMAT (' U is not provided.')
-99985 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB04AD EXAMPLE PROGRAM DATA
-N
-4 1
-2
-.15D1
-.15D1
-1
-5
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB04AD EXAMPLE PROGRAM RESULTS
-
- DTLEX: Example 4.1                                                    
-
- Order of matrix A:            N  =   5
- Number of rows in matrix B:   M  =   1
-
- E is the identity matrix.
- A  = 
-   0.4562   0.0308   0.1990   0.0861   0.0217
-   0.0637   0.5142  -0.1828   0.0096  -0.1148
-   0.3139   0.1287   0.3484   0.1653  -0.1975
-   0.1500   0.0053  -0.1838   0.2501  -0.0687
-   0.0568  -0.1006  -0.3735  -0.0202   0.2285
- B  = 
-   0.3086   0.0247  -0.4691   0.1728  -0.3704
- Y  = 
-  -0.0953  -0.0076   0.1448  -0.0533   0.1143
-  -0.0076  -0.0006   0.0116  -0.0043   0.0091
-   0.1448   0.0116  -0.2201   0.0811  -0.1738
-  -0.0533  -0.0043   0.0811  -0.0299   0.0640
-   0.1143   0.0091  -0.1738   0.0640  -0.1372
- X  = 
-   0.0953   0.0076  -0.1448   0.0533  -0.1143
-   0.0076   0.0006  -0.0116   0.0043  -0.0091
-  -0.1448  -0.0116   0.2201  -0.0811   0.1738
-   0.0533   0.0043  -0.0811   0.0299  -0.0640
-  -0.1143  -0.0091   0.1738  -0.0640   0.1372
- U is not provided.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/BD01AD.html b/doc/_build/html/_static/doc/BD01AD.html
deleted file mode 100644
index 2268c1a8..00000000
--- a/doc/_build/html/_static/doc/BD01AD.html
+++ /dev/null
@@ -1,352 +0,0 @@
-<HTML>
-<HEAD><TITLE>BD01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BD01AD">BD01AD</A></H2>
-<H3>
-Benchmark examples for time-invariant continuous-time dynamical systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples for time-invariant,
-  continuous-time dynamical systems
-
-      .
-    E x(t) = A x(t) + B u(t)
-
-      y(t) = C x(t) + D u(t)
-
-  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
-  D is P-by-M. In many examples, E is the identity matrix and D is
-  the zero matrix.
-
-  This routine is an implementation of the benchmark library
-  CTDSX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BD01AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
-     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
-     2                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
-     1                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          = 'D':  Default values defined in [1] are used;
-          = 'N':  Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
-          On entry, if DEF = 'N' and the desired example depends on
-          real parameters, then the array DPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 2.1 and 2.2, DPAR(1) defines the parameter
-          'epsilon'.
-          For Example 2.4, DPAR(1), ..., DPAR(7) define 'b', 'mu',
-          'r', 'r_c', 'k_l', 'sigma', 'a', respectively.
-          For Example 2.7, DPAR(1) and DPAR(2) define 'mu' and 'nu',
-          respectively.
-          For Example 4.1, DPAR(1), ..., DPAR(7) define 'a', 'b',
-          'c', 'beta_1', 'beta_2', 'gamma_1', 'gamma_2',
-          respectively.
-          For Example 4.2, DPAR(1), ..., DPAR(3) define 'mu',
-          'delta', 'kappa', respectively.
-          On exit, if DEF = 'D' and the desired example depends on
-          real parameters, then the array DPAR is overwritten by the
-          default values given in [1].
-
-  IPAR    (input/output) INTEGER array, dimension (1)
-          On entry, if DEF = 'N' and the desired example depends on
-          integer parameters, then the array IPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 2.3, 2.5, and 2.6, IPAR(1) defines the
-          parameter 's'.
-          For Example 3.1, IPAR(1) defines 'q'.
-          For Examples 3.2 and 3.3, IPAR(1) defines 'n'.
-          For Example 3.4, IPAR(1) defines 'l'.
-          For Example 4.1, IPAR(1) defines 'n'.
-          For Example 4.2, IPAR(1) defines 'l'.
-          On exit, if DEF = 'D' and the desired example depends on
-          integer parameters, then the array IPAR is overwritten by
-          the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension (8)
-          Flag vector which displays the availabilty of the output
-          data:
-          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
-          and are always .TRUE..
-          VEC(4) is .TRUE. iff E is NOT the identity matrix.
-          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
-          and are always .TRUE..
-          VEC(8) is .TRUE. iff D is NOT the zero matrix.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of columns in the matrices B and D.
-
-  P       (output) INTEGER
-          The number of rows in the matrices C and D.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(4) = .FALSE..
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= P.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          matrix D.
-          NOTE that this array is overwritten (by the zero
-          matrix), if VEC(8) = .FALSE..
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= P.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          For Example 3.4, LDWORK &gt;= 4*IPAR(1) is required.
-          For the other examples, no workspace is needed, i.e.,
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value;
-          = 1:  data file can not be opened or has wrong format.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
-       CTDSX - a Collection of Benchmark Examples for State-Space
-       Realizations of Continuous-Time Dynamical Systems.
-       SLICOT Working Note 1998-9. 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BD01AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
-      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     1                  LDE = NMAX, LDWORK = 4*NMAX)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
-      INTEGER          NR(2), IPAR(7)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BD01AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BD01AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
-     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        WRITE (NOUT, FMT = 99995) P
-        IF (VEC(4)) THEN
-          WRITE (NOUT, FMT = 99994)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99993)
-        END IF
-        WRITE (NOUT,FMT = 99992)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
-20      CONTINUE
-        WRITE (NOUT,FMT = 99991)
-        DO 30  I = 1, N
-          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
-30      CONTINUE
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, P
-          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(8)) THEN
-          WRITE (NOUT,FMT = 99989)
-          DO 50  I = 1, P
-            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-      END IF
-C
-99999 FORMAT (' BD01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BD01AD = ', I3)
-99997 FORMAT (/' Order of matrix A:               N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
-99994 FORMAT (/' E  = ')
-99993 FORMAT (/' E is the identity matrix.')
-99992 FORMAT (' A  = ')
-99991 FORMAT (' B  = ')
-99990 FORMAT (' C  = ')
-99989 FORMAT (' D  = ')
-99988 FORMAT (' D is of zeros.')
-99987 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BD01AD EXAMPLE PROGRAM DATA
-D
-1 1
-</PRE>
-<B>Program Results</B>
-<PRE>
- BD01AD EXAMPLE PROGRAM RESULTS
-
- Laub 1979, Ex.1                                                       
-
- Order of matrix A:               N  =   2
- Number of columns in matrix B:   M  =   1
- Number of rows in matrix C:      P  =   2
-
- E is the identity matrix.
- A  = 
-   0.0000   1.0000
-   0.0000   0.0000
- B  = 
-   0.0000
-   1.0000
- C  = 
-   1.0000   0.0000
-   0.0000   1.0000
- D is of zeros.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/BD02AD.html b/doc/_build/html/_static/doc/BD02AD.html
deleted file mode 100644
index 1e67379d..00000000
--- a/doc/_build/html/_static/doc/BD02AD.html
+++ /dev/null
@@ -1,334 +0,0 @@
-<HTML>
-<HEAD><TITLE>BD02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BD02AD">BD02AD</A></H2>
-<H3>
-Benchmark examples for time-invariant discrete-time dynamical systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples for time-invariant,
-  discrete-time dynamical systems
-
-    E x_k+1 = A x_k + B u_k
-
-        y_k = C x_k + D u_k
-
-  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
-  D is P-by-M. In many examples, E is the identity matrix and D is
-  the zero matrix.
-
-  This routine is an implementation of the benchmark library
-  DTDSX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BD02AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
-     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
-     2                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
-     1                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          = 'D':  Default values defined in [1] are used;
-          = 'N':  Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
-          On entry, if DEF = 'N' and the desired example depends on
-          real parameters, then the array DPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 2.1, DPAR(1), ..., DPAR(3) define the
-          parameters 'tau', 'delta', 'K', respectively.
-          On exit, if DEF = 'D' and the desired example depends on
-          real parameters, then the array DPAR is overwritten by the
-          default values given in [1].
-
-  IPAR    (input/output) INTEGER array, dimension (1)
-          On entry, if DEF = 'N' and the desired example depends on
-          integer parameters, then the array IPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 3.1, IPAR(1) defines the parameter 'n'.
-          On exit, if DEF = 'D' and the desired example depends on
-          integer parameters, then the array IPAR is overwritten by
-          the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension (8)
-          Flag vector which displays the availabilty of the output
-          data:
-          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
-          and are always .TRUE..
-          VEC(4) is .TRUE. iff E is NOT the identity matrix.
-          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
-          and are always .TRUE..
-          VEC(8) is .TRUE. iff D is NOT the zero matrix.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of columns in the matrices B and D.
-
-  P       (output) INTEGER
-          The number of rows in the matrices C and D.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(4) = .FALSE..
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= P.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          matrix D.
-          NOTE that this array is overwritten (by the zero
-          matrix), if VEC(8) = .FALSE..
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= P.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          NOTE that DWORK is not used in the current version
-          of BD02AD.
-
-  LDWORK  INTEGER
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value;
-          = 1:  data file can not be opened or has wrong format.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
-       DTDSX - a Collection of Benchmark Examples for State-Space
-       Realizations of Discrete-Time Dynamical Systems.
-       SLICOT Working Note 1998-10. 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BD02AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
-      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     1                  LDE = NMAX, LDWORK = 1)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
-      INTEGER          NR(2), IPAR(7)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BD02AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BD02AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
-     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        WRITE (NOUT, FMT = 99995) P
-        IF (VEC(4)) THEN
-          WRITE (NOUT, FMT = 99994)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99993)
-        END IF
-        WRITE (NOUT,FMT = 99992)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
-20      CONTINUE
-        WRITE (NOUT,FMT = 99991)
-        DO 30  I = 1, N
-          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
-30      CONTINUE
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, P
-          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(8)) THEN
-          WRITE (NOUT,FMT = 99989)
-          DO 50  I = 1, P
-            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-      END IF
-C
-99999 FORMAT (' BD02AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BD02AD = ', I3)
-99997 FORMAT (/' Order of matrix A:               N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
-99994 FORMAT (/' E  = ')
-99993 FORMAT (/' E is the identity matrix.')
-99992 FORMAT (' A  = ')
-99991 FORMAT (' B  = ')
-99990 FORMAT (' C  = ')
-99989 FORMAT (' D  = ')
-99988 FORMAT (' D is of zeros.')
-99987 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BD02AD EXAMPLE PROGRAM DATA
-D
-1 1
-</PRE>
-<B>Program Results</B>
-<PRE>
- BD02AD EXAMPLE PROGRAM RESULTS
-
- Laub 1979, Ex. 2: uncontrollable-unobservable data                    
-
- Order of matrix A:               N  =   2
- Number of columns in matrix B:   M  =   1
- Number of rows in matrix C:      P  =   1
-
- E is the identity matrix.
- A  = 
-   4.0000   3.0000
-  -4.5000  -3.5000
- B  = 
-   1.0000
-  -1.0000
- C  = 
-   3.0000   2.0000
- D is of zeros.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DAESolver.html b/doc/_build/html/_static/doc/DAESolver.html
deleted file mode 100644
index aaa78f78..00000000
--- a/doc/_build/html/_static/doc/DAESolver.html
+++ /dev/null
@@ -1,1408 +0,0 @@
-<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
-<html>
-<head>
-   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
-   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
-   <title>DAESolver - SLICOT Library Routine Documentation</title>
-</head>
-<body>
-
-<h2>
-<a NAME="DAESolver"></a>DAESolver</h2>
-
-<h3>
-Solver for Algebraic Differential Equations (driver)</h3>
-<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
-<p><b><font size=+1>Purpose</font></b>
-<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
-&nbsp; defining Differential Algebraic Equations using several packages.</pre>
-
-<pre>&nbsp; The equations follow the form (CASE A):
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t) = 0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
-
-&nbsp; for the most general model which can only be solved by DASSL and
-&nbsp; DASSPK.
-
-&nbsp; A restricted case can be solved with RADAU5, LSODI, LSOIBT, if
-&nbsp; the system is expressed as (CASE B):
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(x(t), u(t), p, t)*dx(t)/dt = A(x(t), u(t), p, t)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
-
-&nbsp; And finally, the GELDA package is able to solve DAEs with the&nbsp;
-&nbsp; expression (CASE C):
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(u(t), p, t)*dx(t)/dt = A(u(t), p, t)*x(t) + E(u(t), p, t)
-
-&nbsp; The user must define the subroutines:
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDF:&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t)&nbsp; for CASES: A, B and C
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDA:&nbsp;&nbsp;&nbsp; A(x(t), u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: B and C
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDE:&nbsp;&nbsp;&nbsp; E(u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: C
-&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT:&nbsp;&nbsp; g(dx(t)/dx, x(t), u(t), p, t)
-&nbsp; and the Jacobians (JACFX, JACFU, JACFP) if used. The interface&nbsp;
-&nbsp; adapts the structure to fit all the codes</pre>
-<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAESolver(ISOLVER,CDAEDF_,CDAEDA_,CDAEDE_,CDAEOUT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_,CJACFU_,CJACFP_,CJACFXDOT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP, TINI, TOUT,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X, XDOTI, Y, U, P,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, RPAR, RTOL, ATOL,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)&nbsp;
-&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
-&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; TINI, TOUT
-&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF_, CDAEDA_,CDAEDE_, CDAEOUT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_, CJACFU_, CJACFP_, CJACFXDOT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF, CDAEDA,CDAEDE, CDAEOUT,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX, CJACFU, CJACFP, CJACFXDOT
-&nbsp;&nbsp;&nbsp; .. Array Arguments ..
-&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; DWORK(LDWORK), RPAR(*), ATOL(*), RTOL(*)
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), XDOTI(NX), Y(NY), U(NU), P(NP)
-&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)</pre>
-<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
-<p><b>Mode Parameters</b>
-<pre>&nbsp;&nbsp; ISOLVER INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver packages to be used
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODI,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSOIBT,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: RADAU5,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: DASSL,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASPK,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DGELDA.</pre>
-<b>Input/Output Parameters</b>
-<br>&nbsp;
-<pre><tt>&nbsp;&nbsp;&nbsp;&nbsp; DAEDF&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the F(dx(t)/dt, x(t), u(t), p, t).
-
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDA&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the A(x(t), u(t), p, t).
-
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDE&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the E(u(t), p, t).
-
-&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.
-
-&nbsp;&nbsp;&nbsp;&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.
-
-&nbsp;&nbsp;&nbsp;&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.
-
-&nbsp;&nbsp;&nbsp;&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the parameter vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.
-
-&nbsp;&nbsp;&nbsp;&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; XDOTI&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NX)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing dx(t)/dt at initial point.
-
-&nbsp;&nbsp;&nbsp;&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.
-
-&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NP)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the parameter variables.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (201)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
-&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both rtol and atol are scalars
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : rtol is a scalar and atol is a vector
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both rtol and atol are vectors
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values only at TOUT (and not
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; at the intermediate step). (1:Yes, 0:No)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mfjac, Method flag for jacobian
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (Note: IPAR(6) and IPAR(7) are obligatories only if the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian matrix is banded)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of residual evaluations.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for RADAU5, ODEPACK and DGELDA:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9), mfmass, Method flag for mass-matrix
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No mass-matrix used (non-stiff method).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full mass-matrix (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded mass-matrix (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : Identity mass-matrix is used (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(10), mlmass, lower half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(11), mumass, upper half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12), Maximum number of steps allowed during one
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(13), Maximum order to be allowed.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default values : 12 if meth = 1
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; In DASSL, DASPK and DGELDA : (1 .LE. MAXORD .LE. 5)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK package:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs, must be 0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBIT
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(24), mb, block size.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (mb .GE. 1) and mb*IPAR(28) = NX
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(25), nb, number of blocks in the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (nb .ge. 4) and nb*IPAR(27) = NX
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to Hessenberg
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; form.(Only if IPAR(9)=1 and IPAR(3)=1 or 10)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations in
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; each step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .EQ. 0 -> is taken the extrapolated collocation
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .NE. 0 -> zero values are used.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables( >0 ).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1 (default 0).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2 (default(M2=M1).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL, DASPK and DGELDA solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity constraints:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforze nonnegativity in X during the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (dense or band)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp; (iterative)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac (iterative)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38) > 0:&nbsp;&nbsp;&nbsp; 0: Yes
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; variables:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0:Yes
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Extra printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, no printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, for minimal printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2, for full printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(44), maximum number of iterations in the SPIGMR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (.LE. NX)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(45), number of vectors on which orthogonalization
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; is done in the SPIGMR algorithm. (.LE. IPAR(44))
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(46), maximum number of restarts of the SPIGMR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm per nonlinear iteration. (.GE. 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(47), maximum number of Newton iterations per
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Jacobian or preconditioner evaluation. (> 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(48), maximum number of Jacobian or preconditioner
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; evaluations. (> 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(49), maximum number of values of the artificial
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; stepsize parameter H to be tried if IPAR(38) = 1.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (> 0).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(50), flag to turn off the linesearch algorithm.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : ON
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : OFF (default)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DGELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(51), contains the strangeness index.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(52), number of differential components
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(53), number of algebraic components
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(54), number of undetermined components
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(55), method used:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 1 then uses the BDF solver
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 then uses the Runge-Kutta solver
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(56), E(t) and A(t) are: 1&nbsp; time dependent
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0&nbsp; constants
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(57), Maximum index of the problem. ( .GE. 0 )
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(58), Step size strategy:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, Mod. predictive controlled of Gustafsson(safer)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, classical step size control(faster)
-
-&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (201)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1), Initial step size guess.Obligatory in RADAU5.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(2), Maximum absolute step size allowed.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(111), Step size in t last used (successfully).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(112), Step size to be attempted on the next step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(113), Current value of the independent variable
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(16), Critical value of t which the solver is not
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(17), Minimum absolute step size allowed.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(18), Tolerance scale factor, greater than 1.0.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(26), The rounding unit, default 1E-16.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(27), The safety factor in step size prediction,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(28), Decides whether the jacobian should be
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Increase when jacobian evaluations are costly
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; For small systems should be smaller.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(29), Stopping criterion for Newton's method,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(30), RPAR(31): This saves, together with a
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large RPAR(28), LU-decompositions and computing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Small systems: RPAR(30)=1.D0, RPAR(31)=1.2D0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Large full systems: RPAR(30)=0.99D0, RPAR(31)=2.D0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; might be good.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(32), RPAR(33), Parameters for step size
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.Condition: RPAR(32)&lt;=HNEW/HOLD&lt;=RPAR(33)
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL, DASPK and DGELDA solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(36), Stopping point (Tstop)
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(37), convergence test constant in SPIGMR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (0 .LT. RPAR(37) .LT. 1.0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(38), minimum scaled step in linesearch algorithm.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; The default is&nbsp; = (unit roundoff)**(2/3). (> 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(39), swing factor in the Newton iteration
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; convergence test. (default 0.1) (> 0)
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(40), safety factor used in step size prediction.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(41) and RPAR(42) restric the relation between the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; new and old stepsize in step size selection.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1/RPAR(41) .LE. Hnew/Hold .LE. 1/RPAR(42)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(43), RPAR(44) QUOT1 and QUOT2 repectively.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If QUOT1 &lt; Hnew/Hold &lt; QUOT2 and A and E are
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; constants, the work can be saved by setting
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hnew=Hold and using the system matrix of the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; previous step.</tt></pre>
-<b>Tolerances</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.
-
-&nbsp;&nbsp;&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
-<b>Workspace</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)
-
-&nbsp;&nbsp;&nbsp;&nbsp; LIWORK&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Minimum size of DWORK, depending on solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI, LSOIBT, DASSL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + NX
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3*N+20
-
-&nbsp;&nbsp;&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PRECISION array, dimension (LDWORK)
-
-&nbsp;&nbsp;&nbsp;&nbsp; LDWORK&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 +&nbsp; 9*NX + NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , IPAR(3) = 1 or 10
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 + 10*NX + (2*ML + MU)*NX&nbsp;&nbsp;&nbsp; , IPAR(3) = 2 or 11
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBT
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + nyh*(maxord + 1) + 3*NX + lenw&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nyh&nbsp;&nbsp;&nbsp; = Initial value of NX
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; maxord = Maximum order allowed(default or IPAR(13)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lenw&nbsp;&nbsp; = 3*mb*mb*nb + 2&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; N*(LJAC+LMAS+3*LE+12)+20
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp; LJAC=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (full jacobian)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LJAC=MLJAC+MUJAC+1&nbsp;&nbsp; if (banded jacobian)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LMAS=0&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 10 or 11)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=MLMAS+MUMAS+1&nbsp;&nbsp; if (IPAR(9) = 2)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LE=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1 or 10)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LE=2*MLJAC+MUJAC+1&nbsp;&nbsp; if (IPAR(9) = 2 or 11)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
-<b>Warning Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; LSODI/LSOIBT/RADAU5 do not use the input vector as argument;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; LSODI/LSOIBT do not use the param vector as argument;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; RTOL and ATOL are used as scalars;</pre>
-<b>Error Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Method (IPAR(9)) is not allowed for ODEPACK/RADAU5;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) is not allowed for LSODE/RADAU5/DASSL;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Option not allowed for IPAR(37);
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(38);
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: RADAU5 returned -ERROR;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: DASSL returned -ERROR;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DASPK returned -ERROR;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DGELDA returned -ERROR.</pre>
-<a NAME="Method"></a><b><font size=+1>Method</font></b>
-<pre><tt><font color="#000000">Since the package integrates 8 different solvers, it is possible to solve differential&nbsp;
-equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
-iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
-equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
-the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
-and efficient integrated package.</font></tt></pre>
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-&nbsp; [19] J.J.B. de Swart, W.M. Lioen, W.A. van der Veen, SIDE, November 25,&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1998. Available at http://www.cwi.nl/cwi/projects/PSIDE/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; [20] Kim, H.Young, F.L.Lewis, D.M.Dawson, Intelligent optimal control of&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; robotic manipulators using neural networks.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; [21] J.C.Fernandez, E.Arias, V.Hernandez, L.Penalver, High Performance&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
-<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
-<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
-&nbsp; different packages integrated. Several packages are more robust
-&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
-&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
-&nbsp; of each method is recommended to check the references above.</pre>
-<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
-<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
-&nbsp; The interface checks the suitability of the methods to the&nbsp;
-&nbsp; parameters and show a warning message if problems could arise.</pre>
-<a NAME="Example"></a><b><font size=+1>Example</font></b>
-<p><b>Program Text</b>
-<br>&nbsp;
-<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DAESOLVER EXAMPLE PROGRAM TEXT FOR LSODIX
-PROBLEM</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
-Error: ',NAME(1:8),' &lt;solver>'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
-: LSODI, LSOIBT, RADAU5, DASSL, DASPK, GELD</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;A'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
-LSODIX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
-'LSODI') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODI_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'LSOIBT') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSOIBT_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'RADAU5') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'GELDA') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(GELDA_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASSL') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASPK') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
-'Error: Solver: ', SOLVER,' unknown'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>*</tt>
-<br><tt>99999 FORMAT (' DAESOLVER EXAMPLE PROGRAM RESULTS FOR LSODIX PROBLEM'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,/1X)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine DAESolver</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Indicates the nonlinear solver package to be used:</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 1: LSODI,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 2: LSOIBT,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 3: RADAU5,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 4: DASSL,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 5: DASPK,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 6: DGELDA.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MD, ND, LPAR, LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( MD = 400, ND = 100, LPAR = 201,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-LWORK = 10000 )</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER2</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER2</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWARN, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL, RTOL, NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NUMJAC, NUMMAS, CONSIS</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 CDAEDF,CDAEDA,CDAEDE,CDAEOUT,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CJACFX,CJACFU,CJACFP,CJACFXDOT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
-DWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
-Y(MD), U(MD), P(MD), SOLU(MD)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DNRM2</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-PLSODIX, ILSODIX, SLSODIX</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DAXPY</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER2 = ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; P(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL=1D-6</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12)= 10000</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. LSODI_ .OR. ISOLVER
-.EQ. RADAU5_) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16)=1</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (ISOLVER
-.EQ. DASSL_ .OR. ISOLVER .EQ. DASPK_)</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36)=0</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37)=0</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODIX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODIX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(1) = 1.0d0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(2) = 0.0d0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(3) = 0.0d0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(1) = -0.04D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(2) =&nbsp; 0.04D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(3) =&nbsp; 0.0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODIX(NEQN,T(1),SOLU)</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'DAE' ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99998 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDA=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDE=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEOUT=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFP=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFXDOT=''</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL DAESolver(
-ISOLVER, CDAEDF, CDAEDA, CDAEDE, CDAEOUT,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CJACFX, CJACFU, CJACFP, CJACFXDOT,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NEQN, NEQN, NEQN, T(0), T(1),</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-X, XPRIME, Y, U, P,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR, RPAR, RTOL, ATOL,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
-) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99996 ) INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( IWARN.NE.0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NEQN .LE. 30 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99994 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DO 80 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99993 ) I, X(I), SOLU(I)</tt>
-<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,SOLU,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NORM.EQ.0D0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=1D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CALL DAXPY(NEQN,-1D0,X,1,SOLU,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,SOLU,1)/NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99992 ) NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>*</tt>
-<br><tt>99998 FORMAT (' ERROR: This test is only intended for DAE problems')</tt>
-<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
-<br><tt>99996 FORMAT (' INFO on exit from DAESolver = ',I3)</tt>
-<br><tt>99995 FORMAT (' IWARN on exit from DAESolver = ',I3)</tt>
-<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
-<br><tt>99993 FORMAT (I,F,F)</tt>
-<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,E,/1X)</tt>
-<br><tt>* *** Last line of TEST ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDA_( RPAR, NRP, IPAR,
-NIP, X, NX, U, NU, P, NP,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-F, LDF, T, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
-the problem function FEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array, dimension (NRP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array, dimension (NIP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The resulting function value f(T,X).</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of F.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the function is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns values of error from FEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDF, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
-U(NU), P(NP),</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-FLSODIX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODIX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of DAEDA_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDF_( RPAR, NRP, IPAR,
-NIP, X, XPRIME, NX,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-U, NU, P, NP, T, F, LDF, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
-the problem function MEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array, dimension (NRP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and MEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array, dimension (NIP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and MEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
-array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables derivative.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the function is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The resulting function value f(T,X).</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of F.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns values of error from MEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDF, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
-XPRIME(NX), U(NU), P(NP),</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-I</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MLSODIX, RLSODIX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. DASSL_ .OR. ISOLVER
-.EQ. DASPK_) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL RLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL MLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>* *** Last line of DAEDF_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NRP, NIP,
-RPAR, IPAR, NX, NU,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NP, X, U, P, T, FX, LDFX,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
-the problem function JEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and JEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and JEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the derivative is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The array with the resulting Jacobian matrix.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of the array FX.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns values of error from JEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDFX, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), P(NP),
-RPAR(NRP), FX(LDFX,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-JLSODIX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODIX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of JACFX_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE JACFXDOT_( NRP, NIP, RPAR,
-IPAR,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NX, NU, NP, XPRIME, U, P, T, J, LDJ, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; MATJACFXDOT routine for TRANSAMP problem</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication with the driver.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication with the driver.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
-array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the derivative of the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the derivative is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; J&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDJ,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The array with the resulting derivative matrix.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDJ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of the array J.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns 1 in case a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDJ, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION XPRIME(NX), U(NU),
-P(NP), RPAR(NRP), J(LDJ,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JDOTLSODIX(LDJ,NX,T,XPRIME,XPRIME,J,INFO,RPAR,IPAR)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>* *** Last line of JACFXDOT_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br><tt></tt>&nbsp;
-<p><b>Program Data</b>
-<pre>No data required</pre>
-<b>Program Results</b>
-<pre>&nbsp;DAESOLVER EXAMPLE PROGRAM RESULTS
-&nbsp;
-&nbsp;Problem: LSODIX&nbsp;&nbsp; Solver: LSODI&nbsp;&nbsp;
-&nbsp;lsodix&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (lsodix&nbsp;&nbsp; , DAE) with SOLVER&nbsp; 1
-&nbsp;IWARN on exit from DAESolver =&nbsp;&nbsp; 2
-&nbsp;Solution: (calculated) (reference)
-&nbsp;6.462112224297606E-07
-&nbsp;1.255974374648338E-10
-&nbsp;6.117680951077711E-07
-&nbsp;Relative error comparing with the reference solution:&nbsp;&nbsp;&nbsp; .8898590685949503E-06</pre>
-
-<hr>
-<p><!--Click <b><a href="../../SLICOT/arc/DAESolver.tgz">here</a></b> to get a compressed (gzip)
-tar file containing the source code of the routine, the example program,
-data, documentation, and related files.-->
-<br><b><a href="..\libindex.html">Return to index</a></b>
-</body>
-</html>
diff --git a/doc/_build/html/_static/doc/DE01OD.html b/doc/_build/html/_static/doc/DE01OD.html
deleted file mode 100644
index f6b2d1a7..00000000
--- a/doc/_build/html/_static/doc/DE01OD.html
+++ /dev/null
@@ -1,186 +0,0 @@
-<HTML>
-<HEAD><TITLE>DE01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DE01OD">DE01OD</A></H2>
-<H3>
-Convolution or deconvolution of two real signals
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the convolution or deconvolution of two real signals
-  A and B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DE01OD( CONV, N, A, B, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CONV
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CONV    CHARACTER*1
-          Indicates whether convolution or deconvolution is to be
-          performed as follows:
-          = 'C':  Convolution;
-          = 'D':  Deconvolution.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N must be a power of 2.  N &gt;= 2.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the first signal.
-          On exit, this array contains the convolution (if
-          CONV = 'C') or deconvolution (if CONV = 'D') of the two
-          signals.
-
-  B       (input) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the second signal.
-          NOTE that this array is overwritten.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine computes the convolution or deconvolution of two real
-  signals A and B using an FFT algorithm (SLICOT Library routine
-  DG01MD).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DE01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      CONV
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), B(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DE01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, CONV
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
-*        Perform convolution on A and B.
-         CALL DE01OD( CONV, N, A, B, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( CONV, 'C' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-            END IF
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DE01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DE01OD = ',I2)
-99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
-99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
-99995 FORMAT (I4,1X,F8.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DE01OD EXAMPLE PROGRAM DATA
-   8     C
-   0.4862   0.2288
-   0.1948   0.3671
-   0.5788   0.6417
-  -0.5861   0.3875
-   0.8254   0.2380
-   0.1815   0.4682
-   0.2904   0.5312
-  -0.3599   0.6116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DE01OD EXAMPLE PROGRAM RESULTS
-
-   Convolution 
-
-   i    A(i)
-
-   1   0.5844
-   2   0.5769
-   3   0.6106
-   4   1.0433
-   5   0.6331
-   6   0.4531
-   7   0.7027
-   8   0.9929
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DE01PD.html b/doc/_build/html/_static/doc/DE01PD.html
deleted file mode 100644
index d5a23237..00000000
--- a/doc/_build/html/_static/doc/DE01PD.html
+++ /dev/null
@@ -1,203 +0,0 @@
-<HTML>
-<HEAD><TITLE>DE01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DE01PD">DE01PD</A></H2>
-<H3>
-Convolution or deconvolution of two real signals using Hartley transform
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the convolution or deconvolution of two real signals
-  A and B using the Hartley transform.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DE01PD( CONV, WGHT, N, A, B, W, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CONV, WGHT
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*), W(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CONV    CHARACTER*1
-          Indicates whether convolution or deconvolution is to be
-          performed as follows:
-          = 'C':  Convolution;
-          = 'D':  Deconvolution.
-
-  WGHT    CHARACTER*1
-          Indicates whether the precomputed weights are available
-          or not, as follows:
-          = 'A':  available;
-          = 'N':  not available.
-          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
-          set to 'A' on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N must be a power of 2.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the first signal.
-          On exit, this array contains the convolution (if
-          CONV = 'C') or deconvolution (if CONV = 'D') of the two
-          signals.
-
-  B       (input) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the second signal.
-          NOTE that this array is overwritten.
-
-  W       (input/output) DOUBLE PRECISION array,
-                         dimension (N - LOG2(N))
-          On entry with WGHT = 'A', this array must contain the long
-          weight vector computed by a previous call of this routine
-          or of the SLICOT Library routine DG01OD.f, with the same
-          value of N. If WGHT = 'N', the contents of this array on
-          entry is ignored.
-          On exit, this array contains the long weight vector.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine computes the convolution or deconvolution of two
-  real signals A and B using three scrambled Hartley transforms
-  (SLICOT Library routine DG01OD).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, Charles.
-      Computational frameworks for the fast Fourier transform.
-      SIAM, 1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N log(N)) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DE01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      CONV, WGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), B(NMAX), W(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DE01PD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, CONV, WGHT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
-*        Perform convolution on A and B.
-         CALL DE01PD( CONV, WGHT, N, A, B, W, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( CONV, 'C' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-            END IF
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DE01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DE01PD = ',I2)
-99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
-99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
-99995 FORMAT (I4,1X,F8.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DE01PD EXAMPLE PROGRAM DATA
-   8     C     N
-   0.4862   0.2288
-   0.1948   0.3671
-   0.5788   0.6417
-  -0.5861   0.3875
-   0.8254   0.2380
-   0.1815   0.4682
-   0.2904   0.5312
-  -0.3599   0.6116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DE01PD EXAMPLE PROGRAM RESULTS
-
-   Convolution 
-
-   i    A(i)
-
-   1   0.5844
-   2   0.5769
-   3   0.6106
-   4   1.0433
-   5   0.6331
-   6   0.4531
-   7   0.7027
-   8   0.9929
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DF01MD.html b/doc/_build/html/_static/doc/DF01MD.html
deleted file mode 100644
index 62fa6629..00000000
--- a/doc/_build/html/_static/doc/DF01MD.html
+++ /dev/null
@@ -1,282 +0,0 @@
-<HTML>
-<HEAD><TITLE>DF01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DF01MD">DF01MD</A></H2>
-<H3>
-Sine transform or cosine transform of a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the sine transform or cosine transform of a real
-  signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DF01MD( SICO, N, DT, A, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SICO
-      INTEGER           INFO, N
-      DOUBLE PRECISION  DT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SICO    CHARACTER*1
-          Indicates whether the sine transform or cosine transform
-          is to be computed as follows:
-          = 'S':  The sine transform is computed;
-          = 'C':  The cosine transform is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N must be a power of 2 plus 1.
-          N &gt;= 5.
-
-  DT      (input) DOUBLE PRECISION
-          The sampling time of the signal.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the signal to be
-          processed.
-          On exit, this array contains either the sine transform, if
-          SICO = 'S', or the cosine transform, if SICO = 'C', of the
-          given signal.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N+1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A(1), A(2),..., A(N) be a real signal of N samples.
-
-  If SICO = 'S', the routine computes the sine transform of A as
-  follows. First, transform A(i), i = 1,2,...,N, into the complex
-  signal B(i), i = 1,2,...,(N+1)/2, where
-
-     B(1) = -2*A(2),
-     B(i) = {A(2i-2) - A(2i)} - j*A(2i-1) for i = 2,3,...,(N-1)/2,
-     B((N+1)/2) = 2*A(N-1) and j**2 = -1.
-
-  Next, perform a discrete inverse Fourier transform on B(i) by
-  calling SLICOT Library Routine DG01ND, to give the complex signal
-  Z(i), i = 1,2,...,(N-1)/2, from which the real signal C(i) may be
-  obtained as follows:
-
-     C(2i-1) = Re(Z(i)),  C(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
-
-  Finally, compute the sine transform coefficients S ,S ,...,S
-                                                    1  2      N
-  given by
-
-     S  = 0,
-      1
-             {                     [C(k) + C(N+1-k)]     }
-     S  = DT*{[C(k) - C(N+1-k)] - -----------------------},
-      k      {                    [2*sin(pi*(k-1)/(N-1))]}
-
-        for k = 2,3,...,N-1, and
-
-     S = 0.
-      N
-
-  If SICO = 'C', the routine computes the cosine transform of A as
-  follows. First, transform A(i), i = 1,2,...,N, into the complex
-  signal B(i), i = 1,2,...,(N+1)/2, where
-
-     B(1) = 2*A(1),
-     B(i) = 2*A(2i-1) + 2*j*{[A(2i-2) - A(2i)]}
-     for i = 2,3,...,(N-1)/2 and B((N+1)/2) = 2*A(N).
-
-  Next, perform a discrete inverse Fourier transform on B(i) by
-  calling SLICOT Library Routine DG01ND, to give the complex signal
-  Z(i), i = 1,2,...,(N-1)/2, from which the real signal D(i) may be
-  obtained as follows:
-
-     D(2i-1) = Re(Z(i)),  D(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
-
-  Finally, compute the cosine transform coefficients S ,S ,...,S
-                                                      1  2      N
-  given by
-
-     S  = 2*DT*[D(1) + A0],
-      1
-             {                     [D(k) - D(N+1-k)]     }
-     S  = DT*{[D(k) + D(N+1-k)] - -----------------------},
-      k      {                    [2*sin(pi*(k-1)/(N-1))]}
-
-        for k = 2,3,...,N-1, and
-
-     S  = 2*DT*[D(1) - A0],
-      N
-              (N-1)/2
-  where A0 = 2*SUM   A(2i).
-               i=1
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-  [2] Oppenheim, A.V. and Schafer, R.W.
-      Discrete-Time Signal Processing.
-      Prentice-Hall Signal Processing Series, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DF01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 129 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DT
-      INTEGER          I, INFO, N
-      CHARACTER*1      SICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), DWORK(NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DF01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DT, SICO
-      IF ( N.LE.1 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
-*        Compute the sine/cosine transform of the given real signal.
-         CALL DF01MD( SICO, N, DT, A, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( SICO, 'S' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   20          CONTINUE
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' DF01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DF01MD = ',I2)
-99997 FORMAT (' Components of sine transform are',//'   i',6X,'A(i)',/)
-99996 FORMAT (' Components of cosine transform are',//'   i',6X,'A(i)',
-     $       /)
-99995 FORMAT (I4,3X,F8.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DF01MD EXAMPLE PROGRAM DATA
-  17     1.0     C
-  -0.1862
-   0.1288
-   0.3948
-   0.0671
-   0.6788
-  -0.2417
-   0.1861
-   0.8875
-   0.7254
-   0.9380
-   0.5815
-  -0.2682
-   0.4904
-   0.9312
-  -0.9599
-  -0.3116
-   0.8743
-</PRE>
-<B>Program Results</B>
-<PRE>
- DF01MD EXAMPLE PROGRAM RESULTS
-
- Components of cosine transform are
-
-   i      A(i)
-
-   1    28.0536
-   2     3.3726
-   3   -20.8158
-   4     6.0566
-   5     5.7317
-   6    -3.9347
-   7   -12.8074
-   8    -6.8780
-   9    16.2892
-  10   -17.0788
-  11    21.7836
-  12   -20.8203
-  13    -7.3277
-  14    -2.5325
-  15    -0.3636
-  16     7.8792
-  17    11.0048
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DG01MD.html b/doc/_build/html/_static/doc/DG01MD.html
deleted file mode 100644
index f5293c6f..00000000
--- a/doc/_build/html/_static/doc/DG01MD.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>DG01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DG01MD">DG01MD</A></H2>
-<H3>
-Discrete Fourier transform, or inverse transform, of a complex signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the discrete Fourier transform, or inverse transform,
-  of a complex signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DG01MD( INDI, N, XR, XI, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         INDI
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  XI(*), XR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INDI    CHARACTER*1
-          Indicates whether a Fourier transform or inverse Fourier
-          transform is to be performed as follows:
-          = 'D':  (Direct) Fourier transform;
-          = 'I':  Inverse Fourier transform.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of complex samples.  N must be a power of 2.
-          N &gt;= 2.
-
-  XR      (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the real part of either
-          the complex signal z if INDI = 'D', or f(z) if INDI = 'I'.
-          On exit, this array contains either the real part of the
-          computed Fourier transform f(z) if INDI = 'D', or the
-          inverse Fourier transform z of f(z) if INDI = 'I'.
-
-  XI      (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the imaginary part of
-          either z if INDI = 'D', or f(z) if INDI = 'I'.
-          On exit, this array contains either the imaginary part of
-          f(z) if INDI = 'D', or z if INDI = 'I'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INDI = 'D', then the routine performs a discrete Fourier
-  transform on the complex signal Z(i), i = 1,2,...,N. If the result
-  is denoted by FZ(k), k = 1,2,...,N, then the relationship between
-  Z and FZ is given by the formula:
-
-                  N            ((k-1)*(i-1))
-         FZ(k) = SUM ( Z(i) * V              ),
-                 i=1
-                                  2
-  where V = exp( -2*pi*j/N ) and j  = -1.
-
-  If INDI = 'I', then the routine performs an inverse discrete
-  Fourier transform on the complex signal FZ(k), k = 1,2,...,N. If
-  the result is denoted by Z(i), i = 1,2,...,N, then the
-  relationship between Z and FZ is given by the formula:
-
-                 N             ((k-1)*(i-1))
-         Z(i) = SUM ( FZ(k) * W              ),
-                k=1
-
-  where W = exp( 2*pi*j/N ).
-
-  Note that a discrete Fourier transform, followed by an inverse
-  discrete Fourier transform, will result in a signal which is a
-  factor N larger than the original input signal.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DG01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      INDI
-*     .. Local Arrays ..
-      DOUBLE PRECISION XI(NMAX), XR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DG01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, INDI
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( XR(I), XI(I), I = 1,N )
-*        Find the Fourier transform of the given complex signal.
-         CALL DG01MD( INDI, N, XR, XI, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DG01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DG01MD = ',I2)
-99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
-     $       'XR(i)',6X,'XI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DG01MD EXAMPLE PROGRAM DATA
-   8     D
-  -0.1862   0.1288
-   0.3948   0.0671
-   0.6788  -0.2417
-   0.1861   0.8875
-   0.7254   0.9380
-   0.5815  -0.2682
-   0.4904   0.9312
-  -0.9599  -0.3116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DG01MD EXAMPLE PROGRAM RESULTS
-
- Components of Fourier transform are
-
-   i      XR(i)      XI(i)
-
-   1     1.9109     2.1311
-   2    -1.9419    -2.2867
-   3    -1.4070    -1.3728
-   4     2.2886    -0.6883
-   5     1.5059     1.3815
-   6    -2.2271     0.2915
-   7     0.1470     2.1274
-   8    -1.7660    -0.5533
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DG01ND.html b/doc/_build/html/_static/doc/DG01ND.html
deleted file mode 100644
index cf67b29d..00000000
--- a/doc/_build/html/_static/doc/DG01ND.html
+++ /dev/null
@@ -1,296 +0,0 @@
-<HTML>
-<HEAD><TITLE>DG01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DG01ND">DG01ND</A></H2>
-<H3>
-Discrete Fourier transform, or inverse Fourier transform, of a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the discrete Fourier transform, or inverse Fourier
-  transform, of a real signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DG01ND( INDI, N, XR, XI, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         INDI
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  XI(*), XR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INDI    CHARACTER*1
-          Indicates whether a Fourier transform or inverse Fourier
-          transform is to be performed as follows:
-          = 'D':  (Direct) Fourier transform;
-          = 'I':  Inverse Fourier transform.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Half the number of real samples.  N must be a power of 2.
-          N &gt;= 2.
-
-  XR      (input/output) DOUBLE PRECISION array, dimension (N+1)
-          On entry with INDI = 'D', the first N elements of this
-          array must contain the odd part of the input signal; for
-          example, XR(I) = A(2*I-1) for I = 1,2,...,N.
-          On entry with INDI = 'I', the first N+1 elements of this
-          array must contain the the real part of the input discrete
-          Fourier transform (computed, for instance, by a previous
-          call of the routine).
-          On exit with INDI = 'D', the first N+1 elements of this
-          array contain the real part of the output signal, that is
-          of the computed discrete Fourier transform.
-          On exit with INDI = 'I', the first N elements of this
-          array contain the odd part of the output signal, that is
-          of the computed inverse discrete Fourier transform.
-
-  XI      (input/output) DOUBLE PRECISION array, dimension (N+1)
-          On entry with INDI = 'D', the first N elements of this
-          array must contain the even part of the input signal; for
-          example, XI(I) = A(2*I) for I = 1,2,...,N.
-          On entry with INDI = 'I', the first N+1 elements of this
-          array must contain the the imaginary part of the input
-          discrete Fourier transform (computed, for instance, by a
-          previous call of the routine).
-          On exit with INDI = 'D', the first N+1 elements of this
-          array contain the imaginary part of the output signal,
-          that is of the computed discrete Fourier transform.
-          On exit with INDI = 'I', the first N elements of this
-          array contain the even part of the output signal, that is
-          of the computed inverse discrete Fourier transform.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A(1),....,A(2*N) be a real signal of 2*N samples. Then the
-  first N+1 samples of the discrete Fourier transform of this signal
-  are given by the formula:
-
-               2*N           ((m-1)*(i-1))
-       FA(m) = SUM ( A(i) * W              ),
-               i=1
-                                               2
-  where m = 1,2,...,N+1, W = exp(-pi*j/N) and j = -1.
-
-  This transform can be computed as follows. First, transform A(i),
-  i = 1,2,...,2*N, into the complex signal Z(i) = (X(i),Y(i)),
-  i = 1,2,...,N. That is, X(i) = A(2*i-1) and Y(i) = A(2*i). Next,
-  perform a discrete Fourier transform on Z(i) by calling SLICOT
-  Library routine DG01MD. This gives a new complex signal FZ(k),
-  such that
-
-                N            ((k-1)*(i-1))
-       FZ(k) = SUM ( Z(i) * V              ),
-               i=1
-
-  where k = 1,2,...,N, V = exp(-2*pi*j/N).  Using the values of
-  FZ(k), the components of the discrete Fourier transform FA can be
-  computed by simple linear relations, implemented in the DG01NY
-  subroutine.
-
-  Finally, let
-
-       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)),   k = 1,2,...,N,
-
-  be the contents of the arrays XR and XI on entry to DG01NY with
-  INDI = 'D', then on exit XR and XI contain the real and imaginary
-  parts of the Fourier transform of the original real signal A.
-  That is,
-
-       XR(m) = Re(FA(m)),  XI(m) = Im(FA(m)),
-
-  where m = 1,2,...,N+1.
-
-  If INDI = 'I', then the routine evaluates the inverse Fourier
-  transform of a complex signal which may itself be the discrete
-  Fourier transform of a real signal.
-
-  Let FA(m), m = 1,2,...,2*N, denote the full discrete Fourier
-  transform of a real signal A(i), i=1,2,...,2*N. The relationship
-  between FA and A is given by the formula:
-
-              2*N            ((m-1)*(i-1))
-       A(i) = SUM ( FA(m) * W              ),
-              m=1
-
-  where W = exp(pi*j/N).
-
-  Let
-
-       XR(m) = Re(FA(m)) and XI(m) = Im(FA(m)) for m = 1,2,...,N+1,
-
-  be the contents of the arrays XR and XI on entry to the routine
-  DG01NY with INDI = 'I', then on exit the first N samples of the
-  complex signal FZ are returned in XR and XI such that
-
-       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)) and k = 1,2,...,N.
-
-  Next, an inverse Fourier transform is performed on FZ (e.g. by
-  calling SLICOT Library routine DG01MD), to give the complex signal
-  Z, whose i-th component is given by the formula:
-
-               N             ((k-1)*(i-1))
-       Z(i) = SUM ( FZ(k) * V              ),
-              k=1
-
-  where i = 1,2,...,N and V = exp(2*pi*j/N).
-
-  Finally, the 2*N samples of the real signal A can then be obtained
-  directly from Z. That is,
-
-       A(2*i-1) = Re(Z(i)) and A(2*i) = Im(Z(i)), for i = 1,2,...N.
-
-  Note that a discrete Fourier transform, followed by an inverse
-  transform will result in a signal which is a factor 2*N larger
-  than the original input signal.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DG01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, IEND, INFO, N
-      CHARACTER*1      INDI
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(2*NMAX), XI(NMAX+1), XR(NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DG01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, INDI
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,2*N )
-*        Copy the odd and even parts of A into XR and XI respectively.
-         DO 20 I = 1, N
-            XR(I) = A(2*I-1)
-            XI(I) = A(2*I)
-   20    CONTINUE
-*        Find the Fourier transform of the given real signal.
-         CALL DG01ND( INDI, N, XR, XI, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            IEND = N
-            IF ( LSAME( INDI, 'D' ) ) IEND = N + 1
-            DO 40 I = 1, IEND
-               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
-   40       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DG01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DG01ND = ',I2)
-99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
-     $       'XR(i)',6X,'XI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DG01ND EXAMPLE PROGRAM DATA
-   8     D
-  -0.1862
-   0.1288
-   0.3948
-   0.0671
-   0.6788
-  -0.2417
-   0.1861
-   0.8875
-   0.7254
-   0.9380
-   0.5815
-  -0.2682
-   0.4904
-   0.9312
-  -0.9599
-  -0.3116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DG01ND EXAMPLE PROGRAM RESULTS
-
- Components of Fourier transform are
-
-   i      XR(i)      XI(i)
-
-   1     4.0420     0.0000
-   2    -3.1322    -0.2421
-   3     0.1862    -1.4675
-   4    -2.1312    -1.1707
-   5     1.5059    -1.3815
-   6     2.1927    -0.1908
-   7    -1.4462     2.0327
-   8    -0.5757     1.4914
-   9    -0.2202     0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DG01OD.html b/doc/_build/html/_static/doc/DG01OD.html
deleted file mode 100644
index df0f089d..00000000
--- a/doc/_build/html/_static/doc/DG01OD.html
+++ /dev/null
@@ -1,211 +0,0 @@
-<HTML>
-<HEAD><TITLE>DG01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DG01OD">DG01OD</A></H2>
-<H3>
-Scrambled discrete Hartley transform of a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the (scrambled) discrete Hartley transform of
-  a real signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DG01OD( SCR, WGHT, N, A, W, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SCR, WGHT
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), W(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SCR     CHARACTER*1
-          Indicates whether the signal is scrambled on input or
-          on output as follows:
-          = 'N':  the signal is not scrambled at all;
-          = 'I':  the input signal is bit-reversed;
-          = 'O':  the output transform is bit-reversed.
-
-  WGHT    CHARACTER*1
-          Indicates whether the precomputed weights are available
-          or not, as follows:
-          = 'A':  available;
-          = 'N':  not available.
-          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
-          set to 'A' on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Number of real samples. N must be a power of 2.
-          N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry with SCR = 'N' or SCR = 'O', this array must
-          contain the input signal.
-          On entry with SCR = 'I', this array must contain the
-          bit-reversed input signal.
-          On exit with SCR = 'N' or SCR = 'I', this array contains
-          the Hartley transform of the input signal.
-          On exit with SCR = 'O', this array contains the
-          bit-reversed Hartley transform.
-
-  W       (input/output) DOUBLE PRECISION array,
-                         dimension (N - LOG2(N))
-          On entry with WGHT = 'A', this array must contain the long
-          weight vector computed by a previous call of this routine
-          with the same value of N. If WGHT = 'N', the contents of
-          this array on entry is ignored.
-          On exit, this array contains the long weight vector.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine uses a Hartley butterfly algorithm as described
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, Charles.
-      Computational frameworks for the fast Fourier transform.
-      SIAM, 1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable and requires O(N log(N))
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DG01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      SCR, WGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), W(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DG01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, SCR, WGHT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
-*        Compute the Hartley transform.
-         CALL DG01OD( SCR, WGHT, N, A, W, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, A(I)
-   10       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DG01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DG01OD = ',I2)
-99997 FORMAT ('   Hartley transform ',//'   i    A(i)',/)
-99996 FORMAT (I4,1X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DG01OD EXAMPLE
-  16      N      N
- 1.0
- 2.0
- 3.0
- 4.0
- 5.0
- 6.0
- 7.0
- 8.0
- 9.0
-10.0
-11.0
-12.0
-13.0
-14.0
-15.0
-16.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- DG01OD EXAMPLE PROGRAM RESULTS
-
-   Hartley transform 
-
-   i    A(i)
-
-   1 136.0000
-   2 -48.2187
-   3 -27.3137
-   4 -19.9728
-   5 -16.0000
-   6 -13.3454
-   7 -11.3137
-   8  -9.5913
-   9  -8.0000
-  10  -6.4087
-  11  -4.6863
-  12  -2.6546
-  13   0.0000
-  14   3.9728
-  15  11.3137
-  16  32.2187
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/DK01MD.html b/doc/_build/html/_static/doc/DK01MD.html
deleted file mode 100644
index 1c4310b0..00000000
--- a/doc/_build/html/_static/doc/DK01MD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>DK01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DK01MD">DK01MD</A></H2>
-<H3>
-Anti-aliasing window applied to a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply an anti-aliasing window to a real signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DK01MD( TYPE, N, A, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPE
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          Indicates the type of window to be applied to the signal
-          as follows:
-          = 'M':  Hamming window;
-          = 'N':  Hann window;
-          = 'Q':  Quadratic window.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N &gt;= 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the signal to be
-          processed.
-          On exit, this array contains the windowing function.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If TYPE = 'M', then a Hamming window is applied to A(1),...,A(N),
-  which yields
-    _
-    A(i) = (0.54 + 0.46*cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
-
-  If TYPE = 'N', then a Hann window is applied to A(1),...,A(N),
-  which yields
-    _
-    A(i) = 0.5*(1 + cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
-
-  If TYPE = 'Q', then a quadratic window is applied to A(1),...,
-  A(N), which yields
-    _
-    A(i) = (1 - 2*((i-1)/(N-1))**2)*(1 - (i-1)/(N-1))*A(i),
-                                          i = 1,2,...,(N-1)/2+1;
-    _
-    A(i) = 2*(1 - ((i-1)/(N-1))**3)*A(i), i = (N-1)/2+2,...,N.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DK01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-*     .. Local Scalars ..
-      CHARACTER*1      TYPE
-      INTEGER          I, INFO, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DK01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, TYPE
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
-*        Apply a Hamming window to the given signal.
-         CALL DK01MD( TYPE, N, A, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, A(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DK01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DK01MD = ',I2)
-99997 FORMAT (' Components of the windowing function are',//'   k     ',
-     $       ' A(k)',/)
-99996 FORMAT (I4,3X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DK01MD EXAMPLE PROGRAM DATA
-   8     M
-   0.3262
-   0.8723
-  -0.7972
-   0.6673
-  -0.1722
-   0.3237
-   0.5263
-  -0.3275
-</PRE>
-<B>Program Results</B>
-<PRE>
- DK01MD EXAMPLE PROGRAM RESULTS
-
- Components of the windowing function are
-
-   k      A(k)
-
-   1     0.3262
-   2     0.8326
-   3    -0.6591
-   4     0.4286
-   5    -0.0754
-   6     0.0820
-   7     0.0661
-   8    -0.0262
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FB01QD.html b/doc/_build/html/_static/doc/FB01QD.html
deleted file mode 100644
index 96e74984..00000000
--- a/doc/_build/html/_static/doc/FB01QD.html
+++ /dev/null
@@ -1,459 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01QD">FB01QD</A></H2>
-<H3>
-Time-varying square root covariance Kalman filter (dense matrices)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-varying Kalman filter. This update is given
-  for the square root covariance filter, using dense matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
-     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBK, MULTBQ
-      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
-     $                  M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBK    CHARACTER*1
-          Indicates whether the user wishes to compute the Kalman
-          filter gain matrix K  as follows:
-                              i
-          = 'K':  K  is computed and stored in array K;
-                   i
-          = 'N':  K  is not required.
-                   i
-
-  MULTBQ  CHARACTER*1                    1/2
-          Indicates how matrices B  and Q    are to be passed to
-                                  i      i
-          the routine as follows:
-          = 'P':  Array Q is not used and the array B must contain
-                                 1/2
-                  the product B Q   ;
-                               i i
-          = 'N':  Arrays B and Q must contain the matrices as
-                  described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices S    and A .  N &gt;= 0.
-                    i-1      i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           1/2
-          Q   .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           1/2
-          R   .  P &gt;= 0.
-           i
-
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
-          On entry, the leading N-by-N lower triangular part of this
-          array must contain S   , the square root (left Cholesky
-                              i-1
-          factor) of the state covariance matrix at instant (i-1).
-          On exit, the leading N-by-N lower triangular part of this
-          array contains S , the square root (left Cholesky factor)
-                          i
-          of the state covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain A ,
-                                                              i
-          the state transition matrix of the discrete system at
-          instant i.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                     1/2      i
-          the input weight matrix (or the product B Q    if
-                                                   i i
-          MULTBQ = 'P') of the discrete system at instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
-          If MULTBQ = 'N', then the leading M-by-M lower triangular
-                                           1/2
-          part of this array must contain Q   , the square root
-                                           i
-          (left Cholesky factor) of the input (process) noise
-          covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-          If MULTBQ = 'P', Q is not referenced and can be supplied
-          as a dummy array (i.e., set parameter LDQ = 1 and declare
-          this array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
-          LDQ &gt;= 1        if MULTBQ = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C , the
-                                                              i
-          output weight matrix of the discrete system at instant i.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
-          On entry, the leading P-by-P lower triangular part of this
-                              1/2
-          array must contain R   , the square root (left Cholesky
-                              i
-          factor) of the output (measurement) noise covariance
-          matrix at instant i.
-          On exit, the leading P-by-P lower triangular part of this
-                                 1/2
-          array contains (RINOV )   , the square root (left Cholesky
-                               i
-          factor) of the covariance matrix of the innovations at
-          instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,P).
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
-          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
-          of this array contains K , the Kalman filter gain matrix
-                                  i
-          at instant i.
-          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
-          leading N-by-P part of this array contains AK , a matrix
-                                                       i
-          related to the Kalman filter gain matrix at instant i (see
-                                                         -1/2
-          METHOD). Specifically, AK  = A P     C'(RINOV')    .
-                                   i    i i|i-1 i      i
-
-  LDK     INTEGER
-          The leading dimension of array K.   LDK &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBK = 'K', then TOL is used to test for near
-                                            1/2
-          singularity of the matrix (RINOV )   . If the user sets
-                                          i
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK),
-          where LIWORK = P if JOBK = 'K',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                                     1/2
-          (in the 1-norm) of (RINOV )   .
-                                   i
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(P+N)+2*P,N*(N+M+2)),     if JOBK = 'N';
-          LDWORK &gt;= MAX(2,N*(P+N)+2*P,N*(N+M+2),3*P), if JOBK = 'K'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                                     1/2
-          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
-                                                   i           1/2
-                i.e., the condition number estimate of (RINOV )
-                                                             i
-                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
-                            1/2                                   i
-                and (RINOV )    have been computed.
-                          i
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root covariance
-  filter algorithm, summarized as follows:
-
-   |  1/2                      |     |         1/2          |
-   | R      C x S      0       |     | (RINOV )     0     0 |
-   |  i      i   i-1           |     |       i              |
-   |                      1/2  | T = |                      |
-   | 0      A x S    B x Q     |     |     AK       S     0 |
-   |         i   i-1  i   i    |     |       i       i      |
-
-       (Pre-array)                      (Post-array)
-
-  where T is an orthogonal transformation triangularizing the
-  pre-array.
-
-  The state covariance matrix P    is factorized as
-                               i|i-1
-     P     = S  S'
-      i|i-1   i  i
-
-  and one combined time and measurement update for the state X
-                                                              i|i-1
-  is given by
-
-     X     = A X      + K (Y - C X     ),
-      i+1|i   i i|i-1    i  i   i i|i-1
-
-                       -1/2
-  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
-         i    i      i                                            i
-  is the observed output of the system.
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires
-
-        3    2                               2   2
-  (7/6)N  + N  x (5/2 x P + M) + N x (1/2 x M + P )
-
-  operations and is backward stable (see [2]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDK = NMAX, LDQ = MMAX, LDR = PMAX,
-     $                   LDS = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX)+2*PMAX,
-     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBK, MULTBQ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
-     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
-      INTEGER          IWORK(PMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = *)
-     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
-*              Save the strict lower triangle of R in its strict upper
-*              triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, P
-                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
-   10          CONTINUE
-               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter recursion
-*              (in square root covariance form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
-     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
-     $                         TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the lower triangle of R.
-                     DO 30 I = 2, P
-                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
-   30                CONTINUE
-                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBK, 'K' ) ) THEN
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01QD = ',I2)
-99997 FORMAT (' The square root of the state covariance matrix is ')
-99996 FORMAT (/' The Kalman gain matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01QD EXAMPLE PROGRAM DATA
-   4     2     2     K     0.0     N
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.2113  0.8497  0.7263  0.8833
-   0.7560  0.6857  0.1985  0.6525
-   0.0002  0.8782  0.5442  0.3076
-   0.3303  0.0683  0.2320  0.9329
-   0.5618  0.5042
-   0.5896  0.3493
-   0.6853  0.3873
-   0.8906  0.9222
-   1.0000  0.0000
-   0.0000  1.0000
-   0.3616  0.5664  0.5015  0.2693
-   0.2922  0.4826  0.4368  0.6325
-   0.9488  0.0000
-   0.3760  0.7340
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01QD EXAMPLE PROGRAM RESULTS
-
- The square root of the state covariance matrix is 
-  -1.2936   0.0000   0.0000   0.0000
-  -1.1382  -0.2579   0.0000   0.0000
-  -0.9622  -0.1529   0.2974   0.0000
-  -1.3076   0.0936   0.4508  -0.4897
-
- The Kalman gain matrix is 
-   0.3638   0.9469
-   0.3532   0.8179
-   0.2471   0.5542
-   0.1982   0.6471
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FB01RD.html b/doc/_build/html/_static/doc/FB01RD.html
deleted file mode 100644
index 5bc4d5e4..00000000
--- a/doc/_build/html/_static/doc/FB01RD.html
+++ /dev/null
@@ -1,481 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01RD">FB01RD</A></H2>
-<H3>
-Time-invariant square root covariance Kalman filter (observer Hessenberg form)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-invariant Kalman filter. This update is
-  given for the square root covariance filter, using the condensed
-  observer Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
-     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBK, MULTBQ
-      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
-     $                  M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBK    CHARACTER*1
-          Indicates whether the user wishes to compute the Kalman
-          filter gain matrix K  as follows:
-                              i
-          = 'K':  K  is computed and stored in array K;
-                   i
-          = 'N':  K  is not required.
-                   i
-
-  MULTBQ  CHARACTER*1                    1/2
-          Indicates how matrices B  and Q    are to be passed to
-                                  i      i
-          the routine as follows:
-          = 'P':  Array Q is not used and the array B must contain
-                                 1/2
-                  the product B Q   ;
-                               i i
-          = 'N':  Arrays B and Q must contain the matrices as
-                  described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices S    and A.  N &gt;= 0.
-                    i-1
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           1/2
-          Q   .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           1/2
-          R   .  P &gt;= 0.
-           i
-
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
-          On entry, the leading N-by-N lower triangular part of this
-          array must contain S   , the square root (left Cholesky
-                              i-1
-          factor) of the state covariance matrix at instant (i-1).
-          On exit, the leading N-by-N lower triangular part of this
-          array contains S , the square root (left Cholesky factor)
-                          i
-          of the state covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain A,
-          the state transition matrix of the discrete system in
-          lower observer Hessenberg form (e.g., as produced by
-          SLICOT Library Routine TB01ND).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                     1/2      i
-          the input weight matrix (or the product B Q    if
-                                                   i i
-          MULTBQ = 'P') of the discrete system at instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
-          If MULTBQ = 'N', then the leading M-by-M lower triangular
-                                           1/2
-          part of this array must contain Q   , the square root
-                                           i
-          (left Cholesky factor) of the input (process) noise
-          covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-          Otherwise, Q is not referenced and can be supplied as a
-          dummy array (i.e., set parameter LDQ = 1 and declare this
-          array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
-          LDQ &gt;= 1        if MULTBQ = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C,
-          the output weight matrix of the discrete system in lower
-          observer Hessenberg form (e.g., as produced by SLICOT
-          Library routine TB01ND).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
-          On entry, the leading P-by-P lower triangular part of this
-                              1/2
-          array must contain R   , the square root (left Cholesky
-                              i
-          factor) of the output (measurement) noise covariance
-          matrix at instant i.
-          On exit, the leading P-by-P lower triangular part of this
-                                 1/2
-          array contains (RINOV )   , the square root (left Cholesky
-                               i
-          factor) of the covariance matrix of the innovations at
-          instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,P).
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
-          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
-          of this array contains K , the Kalman filter gain matrix
-                                  i
-          at instant i.
-          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
-          leading N-by-P part of this array contains AK ,  a matrix
-                                                       i
-          related to the Kalman filter gain matrix at instant i (see
-                                                         -1/2
-          METHOD). Specifically, AK  = A P     C'(RINOV')    .
-                                   i      i|i-1        i
-
-  LDK     INTEGER
-          The leading dimension of array K.  LDK &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBK = 'K', then TOL is used to test for near
-                                            1/2
-          singularity of the matrix (RINOV )   . If the user sets
-                                          i
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          where LIWORK = P if JOBK = 'K',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                                     1/2
-          (in the 1-norm) of (RINOV )   .
-                                   i
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2)),
-                        if JOBK = 'N';
-          LDWORK &gt;= MAX(2,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2),3*P),
-                        if JOBK = 'K'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                                     1/2
-          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
-                                                   i           1/2
-                i.e., the condition number estimate of (RINOV )
-                                                             i
-                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
-                            1/2                                   i
-                and (RINOV )    have been computed.
-                          i
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root covariance
-  filter algorithm, summarized as follows:
-
-   |  1/2                     |     |         1/2          |
-   | R      0        C x S    |     | (RINOV )     0     0 |
-   |  i                   i-1 |     |       i              |
-   |             1/2          | T = |                      |
-   | 0      B x Q    A x S    |     |     AK       S     0 |
-   |         i   i        i-1 |     |       i       i      |
-
-        (Pre-array)                      (Post-array)
-
-  where T is unitary and (A,C) is in lower observer Hessenberg form.
-
-  An example of the pre-array is given below (where N = 6, P = 2
-  and M = 3):
-
-       |x   |      | x          |
-       |x x |      | x x        |
-       |____|______|____________|
-       |    | x x x| x x x      |
-       |    | x x x| x x x x    |
-       |    | x x x| x x x x x  |
-       |    | x x x| x x x x x x|
-       |    | x x x| x x x x x x|
-       |    | x x x| x x x x x x|
-
-  The corresponding state covariance matrix P      is then
-                                             i|i-1
-  factorized as
-
-      P     = S  S'
-       i|i-1   i  i
-
-  and one combined time and measurement update for the state X
-                                                              i|i-1
-  is given by
-
-      X     = A X      + K (Y - C X     )
-       i+1|i     i|i-1    i  i     i|i-1
-
-                       -1/2
-  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
-         i    i      i                                            i
-  is the observed output of the system.
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Van Dooren, P. and Verhaegen, M.H.G.
-      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
-      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
-
-  [3] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires
-
-         3    2                           2         3
-  1/6 x N  + N x (3/2 x P + M) + 2 x N x P + 2/3 x P
-
-  operations and is backward stable (see [3]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDK = NMAX,
-     $                   LDQ = MMAX, LDR = PMAX, LDS = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX+1),
-     $                                 NMAX*(PMAX+NMAX)+2*PMAX,
-     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBK, MULTBQ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
-     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
-      INTEGER          IWORK(PMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = * )
-     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
-*              Save the strict lower triangle of R in its strict upper
-*              triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, P
-                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
-   10          CONTINUE
-               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter recursion
-*              (in square root covariance form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
-     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
-     $                         TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the lower triangle of R.
-                     DO 30 I = 2, P
-                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
-   30                CONTINUE
-                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBK, 'K' ) ) THEN
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01QD = ',I2)
-99997 FORMAT (' The square root of the state covariance matrix is ')
-99996 FORMAT (/' The Kalman gain matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01RD EXAMPLE PROGRAM DATA
-   4     2     2     K     0.0     N
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.2113  0.8497  0.7263  0.0000
-   0.7560  0.6857  0.1985  0.6525
-   0.0002  0.8782  0.5442  0.3076
-   0.3303  0.0683  0.2320  0.9329
-   0.5618  0.5042
-   0.5896  0.3493
-   0.6853  0.3873
-   0.8906  0.9222
-   1.0000  0.0000
-   0.0000  1.0000
-   0.3616  0.0000  0.0000  0.0000
-   0.2922  0.4826  0.0000  0.0000
-   0.9488  0.0000
-   0.3760  0.7340
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01RD EXAMPLE PROGRAM RESULTS
-
- The square root of the state covariance matrix is 
-  -1.7223   0.0000   0.0000   0.0000
-  -2.1073   0.5467   0.0000   0.0000
-  -1.7649   0.1412  -0.1710   0.0000
-  -1.8291   0.2058  -0.1497   0.7760
-
- The Kalman gain matrix is 
-  -0.2135   1.6649
-  -0.2345   2.1442
-  -0.2147   1.7069
-  -0.1345   1.4777
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FB01SD.html b/doc/_build/html/_static/doc/FB01SD.html
deleted file mode 100644
index edfd76fe..00000000
--- a/doc/_build/html/_static/doc/FB01SD.html
+++ /dev/null
@@ -1,528 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01SD">FB01SD</A></H2>
-<H3>
-Time-varying square root information Kalman filter (dense matrices)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-varying Kalman filter. This update is given
-  for the square root information filter, using dense matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV, LDSINV,
-     $                   AINV, LDAINV, B, LDB, RINV, LDRINV, C, LDC,
-     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBX, MULTAB, MULTRC
-      INTEGER           INFO, LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV,
-     $                  LDWORK, M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  AINV(LDAINV,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  E(*), QINV(LDQINV,*), RINV(LDRINV,*), RINVY(*),
-     $                  SINV(LDSINV,*), X(*), Z(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Indicates whether X    is to be computed as follows:
-                             i+1
-          = 'X':  X    is computed and stored in array X;
-                   i+1
-          = 'N':  X    is not required.
-                   i+1
-
-  MULTAB  CHARACTER*1             -1
-          Indicates how matrices A   and B  are to be passed to
-                                  i       i
-          the routine as follows:                       -1
-          = 'P':  Array AINV must contain the matrix   A    and the
-                                                    -1  i
-                  array B must contain the product A  B ;
-                                                    i  i
-          = 'N':  Arrays AINV and B must contain the matrices
-                  as described below.
-
-  MULTRC  CHARACTER*1             -1/2
-          Indicates how matrices R     and C    are to be passed to
-                                  i+1       i+1
-          the routine as follows:
-          = 'P':  Array RINV is not used and the array C must
-                                       -1/2
-                  contain the product R    C   ;
-                                       i+1  i+1
-          = 'N':  Arrays RINV and C must contain the matrices
-                  as described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-                    -1      -1
-          matrices S   and A  .  N &gt;= 0.
-                    i       i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           -1/2
-          Q    .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           -1/2
-          R    .  P &gt;= 0.
-           i+1
-
-  SINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDSINV,N)
-          On entry, the leading N-by-N upper triangular part of this
-                              -1
-          array must contain S  , the inverse of the square root
-                              i
-          (right Cholesky factor) of the state covariance matrix
-          P    (hence the information square root) at instant i.
-           i|i
-          On exit, the leading N-by-N upper triangular part of this
-                          -1
-          array contains S   , the inverse of the square root (right
-                          i+1
-          Cholesky factor) of the state covariance matrix P
-                                                           i+1|i+1
-          (hence the information square root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDSINV  INTEGER
-          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
-
-  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
-                                                              -1
-          The leading N-by-N part of this array must contain A  ,
-                                                              i
-          the inverse of the state transition matrix of the discrete
-          system at instant i.
-
-  LDAINV  INTEGER
-          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                   -1         i
-          the input weight matrix (or the product A  B  if
-                                                   i  i
-          MULTAB = 'P') of the discrete system at instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
-          If MULTRC = 'N', then the leading P-by-P upper triangular
-                                           -1/2
-          part of this array must contain R    , the inverse of the
-                                           i+1
-          covariance square root (right Cholesky factor) of the
-          output (measurement) noise (hence the information square
-          root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-          Otherwise, RINV is not referenced and can be supplied as a
-          dummy array (i.e., set parameter LDRINV = 1 and declare
-          this array to be RINV(1,1) in the calling program).
-
-  LDRINV  INTEGER
-          The leading dimension of array RINV.
-          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
-          LDRINV &gt;= 1        if MULTRC = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C   ,
-                                                    -1/2      i+1
-          the output weight matrix (or the product R    C    if
-                                                    i+1  i+1
-          MULTRC = 'P') of the discrete system at instant i+1.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  QINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDQINV,M)
-          On entry, the leading M-by-M upper triangular part of this
-                              -1/2
-          array must contain Q    , the inverse of the covariance
-                              i
-          square root (right Cholesky factor) of the input (process)
-          noise (hence the information square root) at instant i.
-          On exit, the leading M-by-M upper triangular part of this
-                                 -1/2
-          array contains (QINOV )    , the inverse of the covariance
-                               i
-          square root (right Cholesky factor) of the process noise
-          innovation (hence the information square root) at
-          instant i.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDQINV  INTEGER
-          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain X , the estimated
-                                             i
-          filtered state at instant i.
-          On exit, if JOBX = 'X', and INFO = 0, then this array
-          contains X   , the estimated filtered state at
-                    i+1
-          instant i+1.
-          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
-                               -1
-          this array contains S   X   .
-                               i+1 i+1
-
-  RINVY   (input) DOUBLE PRECISION array, dimension (P)
-                                   -1/2
-          This array must contain R    Y   , the product of the
-                                   i+1  i+1
-                                   -1/2
-          upper triangular matrix R     and the measured output
-                                   i+1
-          vector Y    at instant i+1.
-                  i+1
-
-  Z       (input) DOUBLE PRECISION array, dimension (M)
-          This array must contain Z , the mean value of the state
-                                   i
-          process noise at instant i.
-
-  E       (output) DOUBLE PRECISION array, dimension (P)
-          This array contains E   , the estimated error at instant
-                               i+1
-          i+1.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBX = 'X', then TOL is used to test for near
-                                     -1
-          singularity of the matrix S   . If the user sets
-                                     i+1
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          where LIWORK = N if JOBX = 'X',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                              -1
-          (in the 1-norm) of S   .
-                              i+1
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N),
-                        if JOBX = 'N';
-          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N,3*N),
-                        if JOBX = 'X'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;                        -1
-          = 1:  if JOBX = 'X' and the matrix S   is singular,
-                                              i+1       -1
-                i.e., the condition number estimate of S    (in the
-                                                        i+1
-                                                      -1    -1/2
-                1-norm) exceeds 1/TOL.  The matrices S   , Q
-                                                      i+1   i
-                and E have been computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root information
-  filter algorithm, summarized as follows:
-
-    |    -1/2             -1/2    |     |         -1/2             |
-    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
-    |    i                i    i  |     |       i                  |
-    |                             |     |                          |
-    |  -1 -1     -1 -1    -1      |     |             -1    -1     |
-  T | S  A  B   S  A     S  X     |  =  |    0       S     S   X   |
-    |  i  i  i   i  i     i  i    |     |             i+1   i+1 i+1|
-    |                             |     |                          |
-    |           -1/2      -1/2    |     |                          |
-    |    0     R    C    R    Y   |     |    0         0     E     |
-    |           i+1  i+1  i+1  i+1|     |                     i+1  |
-
-               (Pre-array)                      (Post-array)
-
-  where T is an orthogonal transformation triangularizing the
-                     -1/2
-  pre-array, (QINOV )     is the inverse of the covariance square
-                   i
-  root (right Cholesky factor) of the process noise innovation
-  (hence the information square root) at instant i, and E    is the
-                                                         i+1
-  estimated error at instant i+1.
-
-  The inverse of the corresponding state covariance matrix P
-                                                            i+1|i+1
-  (hence the information matrix I) is then factorized as
-
-                -1         -1     -1
-     I       = P       = (S   )' S
-      i+1|i+1   i+1|i+1    i+1    i+1
-
-  and one combined time and measurement update for the state is
-  given by X   .
-            i+1
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-        3    2                              2   2
-  (7/6)N  + N x (7/2 x M + P) + N x (1/2 x P + M )
-
-  operations and is backward stable (see [2]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV
-      PARAMETER        ( LDAINV = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
-     $                                (NMAX + PMAX)*(NMAX + 1) + 2*NMAX,
-     $                                 3*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBX, MULTAB, MULTRC
-*     .. Local Arrays ..
-      DOUBLE PRECISION AINV(LDAINV,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DIAG(MMAX), DWORK(LDWORK), E(PMAX),
-     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
-     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01SD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTAB, MULTRC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
-     $                               ( ( RINV(I,J), J = 1,P ), I = 1,P )
-            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
-               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
-               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
-*              Save the strict upper triangle of QINV in its strict
-*              lower triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, M
-                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
-   10          CONTINUE
-               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter recursion
-*              (in square root information form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV,
-     $                         LDSINV, AINV, LDAINV, B, LDB, RINV,
-     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
-     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the upper triangle of QINV.
-                     DO 30 I = 2, M
-                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
-   30                CONTINUE
-                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBX, 'X' ) ) THEN
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 50 I = 1, N
-                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
-   50                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01SD = ',I2)
-99997 FORMAT (' The inverse of the square root of the state covariance',
-     $       ' matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The components of the estimated filtered state are ',
-     $       //'   k       X(k)',/)
-99994 FORMAT (I4,3X,F8.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01SD EXAMPLE PROGRAM DATA
-   4     2     2     X     0.0     P     N
-   0.2113  0.7560  0.0002  0.3303
-   0.8497  0.6857  0.8782  0.0683
-   0.7263  0.1985  0.5442  0.2320
-   0.8833  0.6525  0.3076  0.9329
-   0.3616  0.5664  0.5015  0.2693
-   0.2922  0.4826  0.4368  0.6325
-   1.0000  0.0000
-   0.0000  1.0000
-  -0.8805  1.3257
-   2.1039  0.5207
-  -0.6075  1.0386
-  -0.8531  1.1688
-   1.1159  0.2305
-   0.0000  0.6597
-   1.0000  0.0000  0.0000  0.0000
-   0.0000  1.0000  0.0000  0.0000
-   0.0000  0.0000  1.0000  0.0000
-   0.0000  0.0000  0.0000  1.0000
-   0.0019
-   0.5075
-   0.4076
-   0.8408
-   0.5017
-   0.9128
-   0.2129
-   0.5591
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01SD EXAMPLE PROGRAM RESULTS
-
- The inverse of the square root of the state covariance matrix is 
-   0.6897   0.7721   0.7079   0.6102
-   0.0000  -0.3363  -0.2252  -0.2642
-   0.0000   0.0000  -0.1650   0.0319
-   0.0000   0.0000   0.0000   0.3708
-
- The components of the estimated filtered state are 
-
-   k       X(k)
-
-   1    -0.7125
-   2    -1.8324
-   3     1.7500
-   4     1.5854
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FB01TD.html b/doc/_build/html/_static/doc/FB01TD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/FB01TD.html
+++ /dev/null
@@ -1,542 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01TD">FB01TD</A></H2>
-<H3>
-Time-invariant square root information Kalman filter (controller Hessenberg form)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-invariant Kalman filter. This update is
-  given for the square root information filter, using the condensed
-  controller Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV, AINV,
-     $                   LDAINV, AINVB, LDAINB, RINV, LDRINV, C, LDC,
-     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBX, MULTRC
-      INTEGER           INFO, LDAINB, LDAINV, LDC, LDQINV, LDRINV,
-     $                  LDSINV, LDWORK, M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  AINV(LDAINV,*), AINVB(LDAINB,*), C(LDC,*),
-     $                  DWORK(*), E(*), QINV(LDQINV,*), RINV(LDRINV,*),
-     $                  RINVY(*), SINV(LDSINV,*), X(*), Z(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Indicates whether X    is to be computed as follows:
-                             i+1
-          = 'X':  X    is computed and stored in array X;
-                   i+1
-          = 'N':  X    is not required.
-                   i+1
-
-  MULTRC  CHARACTER*1             -1/2
-          Indicates how matrices R     and C    are to be passed to
-                                  i+1       i+1
-          the routine as follows:
-          = 'P':  Array RINV is not used and the array C must
-                                       -1/2
-                  contain the product R    C   ;
-                                       i+1  i+1
-          = 'N':  Arrays RINV and C must contain the matrices
-                  as described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-                    -1      -1
-          matrices S   and A  .  N &gt;= 0.
-                    i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           -1/2
-          Q    .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           -1/2
-          R    .  P &gt;= 0.
-           i+1
-
-  SINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDSINV,N)
-          On entry, the leading N-by-N upper triangular part of this
-                              -1
-          array must contain S  , the inverse of the square root
-                              i
-          (right Cholesky factor) of the state covariance matrix
-          P    (hence the information square root) at instant i.
-           i|i
-          On exit, the leading N-by-N upper triangular part of this
-                          -1
-          array contains S   , the inverse of the square root (right
-                          i+1
-          Cholesky factor) of the state covariance matrix P
-                                                           i+1|i+1
-          (hence the information square root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDSINV  INTEGER
-          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
-
-  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
-                                                              -1
-          The leading N-by-N part of this array must contain A  ,
-          the inverse of the state transition matrix of the discrete
-          system in controller Hessenberg form (e.g., as produced by
-          SLICOT Library Routine TB01MD).
-
-  LDAINV  INTEGER
-          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
-
-  AINVB   (input) DOUBLE PRECISION array, dimension (LDAINB,M)
-                                                               -1
-          The leading N-by-M part of this array must contain  A  B,
-                          -1
-          the product of A   and the input weight matrix B of the
-          discrete system, in upper controller Hessenberg form
-          (e.g., as produced by SLICOT Library Routine TB01MD).
-
-  LDAINB  INTEGER
-          The leading dimension of array AINVB.  LDAINB &gt;= MAX(1,N).
-
-  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
-          If MULTRC = 'N', then the leading P-by-P upper triangular
-                                           -1/2
-          part of this array must contain R    , the inverse of the
-                                           i+1
-          covariance square root (right Cholesky factor) of the
-          output (measurement) noise (hence the information square
-          root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-          Otherwise, RINV is not referenced and can be supplied as a
-          dummy array (i.e., set parameter LDRINV = 1 and declare
-          this array to be RINV(1,1) in the calling program).
-
-  LDRINV  INTEGER
-          The leading dimension of array RINV.
-          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
-          LDRINV &gt;= 1        if MULTRC = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C   ,
-                                                    -1/2      i+1
-          the output weight matrix (or the product R    C    if
-                                                    i+1  i+1
-          MULTRC = 'P') of the discrete system at instant i+1.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  QINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDQINV,M)
-          On entry, the leading M-by-M upper triangular part of this
-                              -1/2
-          array must contain Q    , the inverse of the covariance
-                              i
-          square root (right Cholesky factor) of the input (process)
-          noise (hence the information square root) at instant i.
-          On exit, the leading M-by-M upper triangular part of this
-                                 -1/2
-          array contains (QINOV )    , the inverse of the covariance
-                               i
-          square root (right Cholesky factor) of the process noise
-          innovation (hence the information square root) at
-          instant i.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDQINV  INTEGER
-          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain X , the estimated
-                                             i
-          filtered state at instant i.
-          On exit, if JOBX = 'X', and INFO = 0, then this array
-          contains X   , the estimated filtered state at
-                    i+1
-          instant i+1.
-          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
-                               -1
-          this array contains S   X   .
-                               i+1 i+1
-
-  RINVY   (input) DOUBLE PRECISION array, dimension (P)
-                                   -1/2
-          This array must contain R    Y   , the product of the
-                                   i+1  i+1
-                                   -1/2
-          upper triangular matrix R     and the measured output
-                                   i+1
-          vector Y    at instant i+1.
-                  i+1
-
-  Z       (input) DOUBLE PRECISION array, dimension (M)
-          This array must contain Z , the mean value of the state
-                                   i
-          process noise at instant i.
-
-  E       (output) DOUBLE PRECISION array, dimension (P)
-          This array contains E   , the estimated error at instant
-                               i+1
-          i+1.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBX = 'X', then TOL is used to test for near
-                                     -1
-          singularity of the matrix S   . If the user sets
-                                     i+1
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          where LIWORK = N if JOBX = 'X',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                              -1
-          (in the 1-norm) of S   .
-                              i+1
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1)),
-                              if JOBX = 'N';
-          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1),
-                        3*N), if JOBX = 'X'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;                        -1
-          = 1:  if JOBX = 'X' and the matrix S    is singular,
-                                              i+1       -1
-                i.e., the condition number estimate of S    (in the
-                                                        i+1
-                                                      -1    -1/2
-                1-norm) exceeds 1/TOL.  The matrices S   , Q
-                                                      i+1   i
-                and E have been computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root information
-  filter algorithm, summarized as follows:
-
-    |    -1/2             -1/2    |     |         -1/2             |
-    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
-    |    i                i    i  |     |       i                  |
-    |                             |     |                          |
-    |           -1/2      -1/2    |     |             -1    -1     |
-  T |    0     R    C    R    Y   |  =  |    0       S     S   X   |
-    |           i+1  i+1  i+1  i+1|     |             i+1   i+1 i+1|
-    |                             |     |                          |
-    |  -1 -1     -1 -1    -1      |     |                          |
-    | S  A  B   S  A     S  X     |     |    0         0     E     |
-    |  i         i        i  i    |     |                     i+1  |
-
-                (Pre-array)                      (Post-array)
-
-  where T is an orthogonal transformation triangularizing the
-                     -1/2
-  pre-array, (QINOV )     is the inverse of the covariance square
-                   i
-  root (right Cholesky factor) of the process noise innovation
-                                                         -1  -1
-  (hence the information square root) at instant i and (A  ,A  B) is
-  in upper controller Hessenberg form.
-
-  An example of the pre-array is given below (where N = 6, M = 2,
-  and P = 3):
-
-      |x x |             | x|
-      |  x |             | x|
-      _______________________
-      |    | x x x x x x | x|
-      |    | x x x x x x | x|
-      |    | x x x x x x | x|
-      _______________________
-      |x x | x x x x x x | x|
-      |  x | x x x x x x | x|
-      |    | x x x x x x | x|
-      |    |   x x x x x | x|
-      |    |     x x x x | x|
-      |    |       x x x | x|
-
-  The inverse of the corresponding state covariance matrix P
-                                                            i+1|i+1
-  (hence the information matrix I) is then factorized as
-
-                 -1         -1     -1
-      I       = P       = (S   )' S
-       i+1|i+1   i+1|i+1    i+1    i+1
-
-  and one combined time and measurement update for the state is
-  given by X   .
-            i+1
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Van Dooren, P. and Verhaegen, M.H.G.
-      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
-      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
-
-  [3] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-        3    2                           2          3
-  (1/6)N  + N x (3/2 x M + P) + 2 x N x M  + 2/3 x M
-
-  operations and is backward stable (see [3]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDAINB, LDAINV, LDC, LDQINV, LDRINV, LDSINV
-      PARAMETER        ( LDAINB = NMAX, LDAINV = NMAX, LDC = PMAX,
-     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
-     $                                (NMAX + PMAX)*(NMAX + 1) + NMAX +
-     $                                 MAX( NMAX - 1, MMAX + 1 ),
-     $                                 3*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBX, MULTRC
-*     .. Local Arrays ..
-      DOUBLE PRECISION AINV(LDAINV,NMAX), AINVB(LDAINB,MMAX),
-     $                 C(LDC,NMAX), DIAG(MMAX), DWORK(LDWORK), E(PMAX),
-     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
-     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01TD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTRC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
-     $                         ( ( RINV(I,J), J = 1,P ), I = 1,P )
-            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) M
-            ELSE
-               READ ( NIN, FMT = * )
-     $                              ( ( AINVB(I,J), J = 1,M ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
-               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
-               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
-*              Save the strict upper triangle of QINV in its strict
-*              lower triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, M
-                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
-   10          CONTINUE
-               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter
-*              recursion (in square root information form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV,
-     $                         AINV, LDAINV, AINVB, LDAINB, RINV,
-     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
-     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the upper triangle of QINV.
-                     DO 30 I = 2, M
-                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
-   30                CONTINUE
-                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBX, 'X' ) ) THEN
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 50 I = 1, N
-                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
-   50                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01TD = ',I2)
-99997 FORMAT (' The inverse of the square root of the state covariance',
-     $       ' matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The components of the estimated filtered state are ',
-     $       //'   k       X(k)',/)
-99994 FORMAT (I4,3X,F8.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01TD EXAMPLE PROGRAM DATA
-   4     2     2     X     0.0     N
-   0.2113  0.7560  0.0002  0.3303
-   0.8497  0.6857  0.8782  0.0683
-   0.7263  0.1985  0.5442  0.2320
-   0.0000  0.6525  0.3076  0.9329
-   0.3616  0.5664  0.5015  0.2693
-   0.2922  0.4826  0.4368  0.6325
-   1.0000  0.0000
-   0.0000  1.0000
-  -0.8805  1.3257
-   0.0000  0.5207
-   0.0000  0.0000
-   0.0000  0.0000
-   1.1159  0.2305
-   0.0000  0.6597
-   1.0000  0.0000  0.0000  0.0000
-   0.0000  1.0000  0.0000  0.0000
-   0.0000  0.0000  1.0000  0.0000
-   0.0000  0.0000  0.0000  1.0000
-   0.0019
-   0.5075
-   0.4076
-   0.8408
-   0.5017
-   0.9128
-   0.2129
-   0.5591
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01TD EXAMPLE PROGRAM RESULTS
-
- The inverse of the square root of the state covariance matrix is 
-  -0.8731  -1.1461  -1.0260  -0.8901
-   0.0000  -0.2763  -0.1929  -0.3763
-   0.0000   0.0000  -0.1110  -0.1051
-   0.0000   0.0000   0.0000   0.3120
-
- The components of the estimated filtered state are 
-
-   k       X(k)
-
-   1    -2.0688
-   2    -0.7814
-   3     2.2181
-   4     0.9298
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FB01VD.html b/doc/_build/html/_static/doc/FB01VD.html
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--- a/doc/_build/html/_static/doc/FB01VD.html
+++ /dev/null
@@ -1,380 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01VD">FB01VD</A></H2>
-<H3>
-One recursion of the conventional Kalman filter
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one recursion of the conventional Kalman filter
-  equations. This is one update of the Riccati difference equation
-  and the Kalman filter gain.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC, Q,
-     $                   LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LDC, LDK, LDP, LDQ, LDR,
-     $                  LDWORK, M, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  K(LDK,*), P(LDP,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices P      and A .  N &gt;= 0.
-                    i|i-1      i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-          Q .  M &gt;= 0.
-           i
-
-  L       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-          R .  L &gt;= 0.
-           i
-
-  P       (input/output) DOUBLE PRECISION array, dimension (LDP,N)
-          On entry, the leading N-by-N part of this array must
-          contain P     , the state covariance matrix at instant
-                   i|i-1
-          (i-1). The upper triangular part only is needed.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains P     , the state covariance matrix at
-                          i+1|i
-          instant i. The strictly lower triangular part is not set.
-          Otherwise, the leading N-by-N part of this array contains
-          P     , its input value.
-           i|i-1
-
-  LDP     INTEGER
-          The leading dimension of array P.  LDP &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain A ,
-                                                              i
-          the state transition matrix of the discrete system at
-          instant i.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                              i
-          the input weight matrix of the discrete system at
-          instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array must contain C ,
-                                                              i
-          the output weight matrix of the discrete system at
-          instant i.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,L).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,M)
-          The leading M-by-M part of this array must contain Q ,
-                                                              i
-          the input (process) noise covariance matrix at instant i.
-          The diagonal elements of this array are modified by the
-          routine, but are restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,M).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
-          On entry, the leading L-by-L part of this array must
-          contain R , the output (measurement) noise covariance
-                   i
-          matrix at instant i.
-          On exit, if INFO = 0, or INFO = L+1, the leading L-by-L
-                                                               1/2
-          upper triangular part of this array contains (RINOV )   ,
-                                                             i
-          the square root (left Cholesky factor) of the covariance
-          matrix of the innovations at instant i.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,L).
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,L)
-          If INFO = 0, the leading N-by-L part of this array
-          contains K , the Kalman filter gain matrix at instant i.
-                    i
-          If INFO &gt; 0, the leading N-by-L part of this array
-          contains the matrix product P     C'.
-                                       i|i-1 i
-
-  LDK     INTEGER
-          The leading dimension of array K.  LDK &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the matrix RINOV . If the user sets TOL &gt; 0, then the
-                          i
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number of that matrix; a matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be nonsingular. If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = L*L*EPS, is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (L)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, or INFO = L+1, DWORK(1) returns an
-          estimate of the reciprocal of the condition number (in the
-          1-norm) of the matrix RINOV .
-                                     i
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,L*N+3*L,N*N,N*M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value;
-          = k:  if INFO = k, 1 &lt;= k &lt;= L, the leading minor of order
-                k of the matrix RINOV  is not positive-definite, and
-                                     i
-                its Cholesky factorization could not be completed;
-          = L+1: the matrix RINOV  is singular, i.e., the condition
-                                 i
-                number estimate of RINOV  (in the 1-norm) exceeds
-                                        i
-                1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The conventional Kalman filter gain used at the i-th recursion
-  step is of the form
-
-                         -1
-     K  = P     C'  RINOV  ,
-      i    i|i-1 i       i
-
-  where RINOV  = C P     C' + R , and the state covariance matrix
-             i    i i|i-1 i    i
-
-  P      is updated by the discrete-time difference Riccati equation
-   i|i-1
-
-     P      = A  (P      - K C P     ) A'  + B Q B'.
-      i+1|i    i   i|i-1    i i i|i-1   i     i i i
-
-  Using these two updates, the combined time and measurement update
-  of the state X      is given by
-                i|i-1
-
-     X      = A X      + A K (Y  - C X     ),
-      i+1|i    i i|i-1    i i  i    i i|i-1
-
-  where Y  is the new observation at step i.
-         i
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering,
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, 1986.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-          3   2
-   3/2 x N + N  x (3 x L + M/2)
-
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, LMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, LMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDK, LDP, LDQ, LDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = LMAX, LDK = NMAX,
-     $                   LDP = NMAX, LDQ = MMAX, LDR = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( LMAX*NMAX + 3*LMAX, NMAX*NMAX,
-     $                                 MMAX*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, L, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), K(LDK,LMAX), P(LDP,NMAX),
-     $                 Q(LDQ,MMAX), R(LDR,LMAX)
-      INTEGER          IWORK(LMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01VD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, L, TOL
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( P(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,M ), I = 1,M )
-            IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) L
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,L ), I = 1,L )
-*              Perform one iteration of the (Kalman) filter recursion.
-               CALL FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC,
-     $                      Q, LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     CALL DCOPY( I-1, P(1,I), 1, P(I,1), LDP )
-                     WRITE ( NOUT, FMT = 99994 ) ( P(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( K(I,J), J = 1,L )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, L
-                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1,L )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01VD = ',I3)
-99997 FORMAT (' The state covariance matrix is ')
-99996 FORMAT (/' The Kalman filter gain matrix is ')
-99995 FORMAT (/' The square root of the covariance matrix of the innov',
-     $          'ations is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' L is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01VD EXAMPLE PROGRAM DATA
-   4     3     2     0.0
-   0.5015  0.4368  0.2693  0.6325
-   0.4368  0.4818  0.2639  0.4148
-   0.2693  0.2639  0.1121  0.6856
-   0.6325  0.4148  0.6856  0.8906
-   0.2113  0.8497  0.7263  0.8833
-   0.7560  0.6857  0.1985  0.6525
-   0.0002  0.8782  0.5442  0.3076
-   0.3303  0.0683  0.2320  0.9329
-   0.0437  0.7783  0.5618
-   0.4818  0.2119  0.5896
-   0.2639  0.1121  0.6853
-   0.4148  0.6856  0.8906
-   0.9329  0.2146  0.3126
-   0.2146  0.2922  0.5664
-   0.3126  0.5664  0.5935
-   0.3873  0.9488  0.3760  0.0881
-   0.9222  0.3435  0.7340  0.4498
-   1.0000  0.0000
-   0.0000  1.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01VD EXAMPLE PROGRAM RESULTS
-
- The state covariance matrix is 
-   1.6007   1.3283   1.1153   1.7177
-   1.3283   1.2763   1.0132   1.5137
-   1.1153   1.0132   0.8222   1.2722
-   1.7177   1.5137   1.2722   2.1562
-
- The Kalman filter gain matrix is 
-   0.1648   0.2241
-   0.2115   0.1610
-   0.0728   0.1673
-   0.1304   0.3892
-
- The square root of the covariance matrix of the innovations is 
-   1.5091   1.1543
-   0.0000   1.5072
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FD01AD.html b/doc/_build/html/_static/doc/FD01AD.html
deleted file mode 100644
index 82afe5cf..00000000
--- a/doc/_build/html/_static/doc/FD01AD.html
+++ /dev/null
@@ -1,398 +0,0 @@
-<HTML>
-<HEAD><TITLE>FD01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FD01AD">FD01AD</A></H2>
-<H3>
-Fast recursive least-squares filtering
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the least-squares filtering problem recursively in time.
-  Each subroutine call implements one time update of the solution.
-  The algorithm uses a fast QR-decomposition based approach.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
-     $                   CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JP
-      INTEGER           INFO, IWARN, L
-      DOUBLE PRECISION  EFOR, EOUT, EPOS, LAMBDA, XIN, YIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CTETA(*), EPSBCK(*), SALPH(*), STETA(*), XF(*),
-     $                  YQ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JP      CHARACTER*1
-          Indicates whether the user wishes to apply both prediction
-          and filtering parts, as follows:
-          = 'B':  Both prediction and filtering parts are to be
-                  applied;
-          = 'P':  Only the prediction section is to be applied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The length of the impulse response of the equivalent
-          transversal filter model.  L &gt;= 1.
-
-  LAMBDA  (input) DOUBLE PRECISION
-          Square root of the forgetting factor.
-          For tracking capabilities and exponentially stable error
-          propagation, LAMBDA &lt; 1.0 (strict inequality) should
-          be used.  0.0 &lt; LAMBDA &lt;= 1.0.
-
-  XIN     (input) DOUBLE PRECISION
-          The input sample at instant n.
-          (The situation just before and just after the call of
-          the routine are denoted by instant (n-1) and instant n,
-          respectively.)
-
-  YIN     (input) DOUBLE PRECISION
-          If JP = 'B', then YIN must contain the reference sample
-          at instant n.
-          Otherwise, YIN is not referenced.
-
-  EFOR    (input/output) DOUBLE PRECISION
-          On entry, this parameter must contain the square root of
-          exponentially weighted forward prediction error energy
-          at instant (n-1).  EFOR &gt;= 0.0.
-          On exit, this parameter contains the square root of the
-          exponentially weighted forward prediction error energy
-          at instant n.
-
-  XF      (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, this array must contain the transformed forward
-          prediction variables at instant (n-1).
-          On exit, this array contains the transformed forward
-          prediction variables at instant n.
-
-  EPSBCK  (input/output) DOUBLE PRECISION array, dimension (L+1)
-          On entry, the leading L elements of this array must
-          contain the normalized a posteriori backward prediction
-          error residuals of orders zero through L-1, respectively,
-          at instant (n-1), and EPSBCK(L+1) must contain the
-          square-root of the so-called "conversion factor" at
-          instant (n-1).
-          On exit, this array contains the normalized a posteriori
-          backward prediction error residuals, plus the square root
-          of the conversion factor at instant n.
-
-  CTETA   (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, this array must contain the cosines of the
-          rotation angles used in time updates, at instant (n-1).
-          On exit, this array contains the cosines of the rotation
-          angles at instant n.
-
-  STETA   (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, this array must contain the sines of the
-          rotation angles used in time updates, at instant (n-1).
-          On exit, this array contains the sines of the rotation
-          angles at instant n.
-
-  YQ      (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, if JP = 'B', then this array must contain the
-          orthogonally transformed reference vector at instant
-          (n-1). These elements are also the tap multipliers of an
-          equivalent normalized lattice least-squares filter.
-          Otherwise, YQ is not referenced and can be supplied as
-          a dummy array (i.e., declare this array to be YQ(1) in
-          the calling program).
-          On exit, if JP = 'B', then this array contains the
-          orthogonally transformed reference vector at instant n.
-
-  EPOS    (output) DOUBLE PRECISION
-          The a posteriori forward prediction error residual.
-
-  EOUT    (output) DOUBLE PRECISION
-          If JP = 'B', then EOUT contains the a posteriori output
-          error residual from the least-squares filter at instant n.
-
-  SALPH   (output) DOUBLE PRECISION array, dimension (L)
-          The element SALPH(i), i=1,...,L, contains the opposite of
-          the i-(th) reflection coefficient for the least-squares
-          normalized lattice predictor (whose value is -SALPH(i)).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  an element to be annihilated by a rotation is less
-                than the machine precision (see LAPACK Library
-                routine DLAMCH).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The output error EOUT at instant n, denoted by EOUT(n), is the
-  reference sample minus a linear combination of L successive input
-  samples:
-
-                        L-1
-     EOUT(n) = YIN(n) - SUM h_i * XIN(n-i),
-                        i=0
-
-  where YIN(n) and XIN(n) are the scalar samples at instant n.
-  A least-squares filter uses those h_0,...,h_{L-1} which minimize
-  an exponentially weighted sum of successive output errors squared:
-
-      n
-     SUM [LAMBDA**(2(n-k)) * EOUT(k)**2].
-     k=1
-
-  Each subroutine call performs a time update of the least-squares
-  filter using a fast least-squares algorithm derived from a
-  QR decomposition, as described in references [1] and [2] (the
-  notation from [2] is followed in the naming of the arrays).
-  The algorithm does not compute the parameters h_0,...,h_{L-1} from
-  the above formula, but instead furnishes the parameters of an
-  equivalent normalized least-squares lattice filter, which are
-  available from the arrays SALPH (reflection coefficients) and YQ
-  (tap multipliers), as well as the exponentially weighted input
-  signal energy
-
-      n                                              L
-     SUM [LAMBDA**(2(n-k)) * XIN(k)**2] = EFOR**2 + SUM XF(i)**2.
-     k=1                                            i=1
-
-  For more details on reflection coefficients and tap multipliers,
-  references [2] and [4] are recommended.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  Proudler, I. K., McWhirter, J. G., and Shepherd, T. J.
-       Fast QRD based algorithms for least-squares linear
-       prediction.
-       Proceedings IMA Conf. Mathematics in Signal Processing
-       Warwick, UK, December 1988.
-
-  [2]  Regalia, P. A., and Bellanger, M. G.
-       On the duality between QR methods and lattice methods in
-       least-squares adaptive filtering.
-       IEEE Trans. Signal Processing, SP-39, pp. 879-891,
-       April 1991.
-
-  [3]  Regalia, P. A.
-       Numerical stability properties of a QR-based fast
-       least-squares algorithm.
-       IEEE Trans. Signal Processing, SP-41, June 1993.
-
-  [4]  Lev-Ari, H., Kailath, T., and Cioffi, J.
-       Least-squares adaptive lattice and transversal filters:
-       A unified geometric theory.
-       IEEE Trans. Information Theory, IT-30, pp. 222-236,
-       March 1984.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(L) operations for each subroutine call.
-  It is backward consistent for all input sequences XIN, and
-  backward stable for persistently exciting input sequences,
-  assuming LAMBDA &lt; 1.0 (see [3]).
-  If the condition of the signal is very poor (IWARN = 1), then the
-  results are not guaranteed to be reliable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  1.  For tracking capabilities and exponentially stable error
-      propagation, LAMBDA &lt; 1.0 should be used.  LAMBDA is typically
-      chosen slightly less than 1.0 so that "past" data are
-      exponentially forgotten.
-  2.  Prior to the first subroutine call, the variables must be
-      initialized. The following initial values are recommended:
-
-      XF(i) = 0.0,        i=1,...,L
-      EPSBCK(i) = 0.0     i=1,...,L
-      EPSBCK(L+1) = 1.0
-      CTETA(i) = 1.0      i=1,...,L
-      STETA(i) = 0.0      i=1,...,L
-      YQ(i) = 0.0         i=1,...,L
-
-      EFOR = 0.0          (exact start)
-      EFOR = "small positive constant" (soft start).
-
-      Soft starts are numerically more reliable, but result in a
-      biased least-squares solution during the first few iterations.
-      This bias decays exponentially fast provided LAMBDA &lt; 1.0.
-      If sigma is the standard deviation of the input sequence
-      XIN, then initializing EFOR = sigma*1.0E-02 usually works
-      well.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FD01AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT, NOUT1
-      PARAMETER        ( NIN = 5, NOUT = 6, NOUT1 = 7 )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          IMAX, LMAX
-      PARAMETER        ( IMAX = 500, LMAX = 10 )
-      DOUBLE PRECISION LAMBDA
-      PARAMETER        ( LAMBDA = 0.99D0 )
-*     .. Local Scalars ..
-      CHARACTER        JP
-      INTEGER          I, INFO, IWARN, L
-      DOUBLE PRECISION DELTA, EFOR, EOUT, EPOS, XIN, YIN
-*     .. Local Arrays ..
-      DOUBLE PRECISION CTETA(LMAX), EPSBCK(LMAX+1), SALPH(LMAX),
-     $                 STETA(LMAX), XF(LMAX), YQ(LMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION XFCN, YFCN
-      EXTERNAL         XFCN, YFCN
-*     NOTE: XFCN() generates at each iteration the next sample of the
-*           input sequence. YFCN() generates at each iteration the next
-*           sample of the reference sequence. These functions are user
-*           defined (obtained from data acquisition devices, for
-*           example).
-*     .. External Subroutines ..
-      EXTERNAL         FD01AD
-*
-*     .. File for the output error sequence ..
-      OPEN ( UNIT = NOUT1, FILE = 'ERR.OUT', STATUS = 'REPLACE' )
-*     ..  Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, DELTA, JP
-      IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) L
-      ELSE
-         IF ( DELTA.LT.ZERO ) THEN
-            WRITE ( NOUT, FMT = 99991 )
-         ELSE
-*
-            DO 10 I = 1, L
-               CTETA(I)  = ONE
-               STETA(I)  = ZERO
-               EPSBCK(I) = ZERO
-               XF(I) = ZERO
-               YQ(I) = ZERO
-   10       CONTINUE
-            EPSBCK(L+1) = ONE
-            EFOR = DELTA
-*           .. Run least squares filter.
-            DO 20 I = 1, IMAX
-               XIN = XFCN(I)
-               YIN = YFCN(I)
-               CALL FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
-     $                      CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
-     $                      INFO)
-               WRITE(NOUT1,*) EOUT
-   20       CONTINUE
-            CLOSE(NOUT1)
-*           NOTE:  File 'ERR.OUT' now contains the output error
-*                  sequence.
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 30 I = 1, L
-                  WRITE ( NOUT, FMT = 99996 ) I, XF(I), YQ(I), EPSBCK(I)
-   30          CONTINUE
-               WRITE ( NOUT, FMT = 99995 ) L+1, EPSBCK(L+1)
-               WRITE ( NOUT, FMT = 99994 ) EFOR
-               IF ( IWARN.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99993 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FD01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from FD01AD = ', I2)
-99997 FORMAT ('  i', 7X, 'XF(i)', 7X, 'YQ(i)', 6X, 'EPSBCK(i)', /1X)
-99996 FORMAT ( I3, 2X, 3(2X, F10.6))
-99995 FORMAT ( I3, 28X, F10.6, /1X)
-99994 FORMAT (' EFOR = ', D10.3)
-99993 FORMAT (' IWARN on exit from FD01AD = ', I2)
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' The exponentially weighted forward prediction error',
-     $         '  energy must be non-negative.' )
-*
-      END
-*
-*     .. Example functions ..
-*
-      DOUBLE PRECISION FUNCTION XFCN( I )
-*     .. Intrinsic Functions ..
-      INTRINSIC        DBLE, SIN
-*     .. Local Scalar ..
-      INTEGER          I
-*     .. Executable Statements ..
-      XFCN = SIN( 0.3D0*DBLE( I ) )
-* *** Last line of XFCN ***
-      END
-*
-      DOUBLE PRECISION FUNCTION YFCN( I )
-*     .. Intrinsic Functions ..
-      INTRINSIC        DBLE, SIN
-*     .. Local Scalar ..
-      INTEGER          I
-*     .. Executable Statements ..
-      YFCN = 0.5D0 * SIN( 0.3D0*DBLE( I ) ) +
-     $       2.0D0 * SIN( 0.3D0*DBLE( I-1 ) )
-* *** Last line of YFCN ***
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FD01AD EXAMPLE PROGRAM DATA
-   2    1.0D-2     B
-</PRE>
-<B>Program Results</B>
-<PRE>
- FD01AD EXAMPLE PROGRAM RESULTS
-
-  i       XF(i)       YQ(i)      EPSBCK(i)
-
-  1      4.880088   12.307615   -0.140367
-  2     -1.456881    2.914057   -0.140367
-  3                              0.980099
-
- EFOR =  0.197D-02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/FSQP.html b/doc/_build/html/_static/doc/FSQP.html
deleted file mode 100644
index b78b4858..00000000
--- a/doc/_build/html/_static/doc/FSQP.html
+++ /dev/null
@@ -1,438 +0,0 @@
-<HTML>
-<HEAD><TITLE>FSQP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FSQP">FSQP</A></H2>
-<H3>
-Minimization of the maximum of a set of smooth objective functions
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the minimization of the maximum of a set of smooth
-  objective functions (possibly a single one or none at all) subject
-  to nonlinear equality and inequality constraints, linear equality
-  and inequality constraints, and simple bounds on the variables.
-  Specifically, the problem to solve is of the form
-
-                           min max{f (x)}
-                                i   i
-
-                                            n
-  where 1 &lt;= i &lt;= NF, and x is a vector in R  subject to the
-  following constraints
-
-   bl &lt;= x &lt;= bu
-
-   g (x)&lt;=0,    j = 1 ... NINEQN
-    j
-   g (x)&lt;=0,    j = NINEQN+1 ... NINEQ
-    j
-   h (x)=0,     j = 1 ... NEQN
-    j
-   h (x)=0,     j = NEQN+1 ... NEQ
-    j
-
-                                  n
-  where bl and bu are vectors in R , and
-
-       n
-  f : R -&gt; R,   j = 1 ... NF,           smooth
-   j    
-       n
-  g : R -&gt; R,   j = 1 ... NINEQN,       nonlinear and smooth 
-   j 
-       n
-  g : R -&gt; R,   j = NINEQN+1 ... NINEQ, linear
-   j 
-       n
-  h : R -&gt; R,   j = 1 ... NEQN,         nonlinear and smooth 
-   j 
-       n
-  h : R -&gt; R,   j = NEQN+1 ... NEQ,     linear
-   j 
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FSQP( MODE, IPRINT, OBJ, CONSTR, GRADOB, GRADCN,
-     &                 NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MITER,
-     &                 UDELTA, BIGBND, BL, BU, X, F, G, TOL1, TOL2,
-     &                 IWORK, LIWORK, DWORK, LDWORK, INFO)
-C     .. Scalar Arguments ..
-      INTEGER           NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MODE,
-     &                  IPRINT, MITER, INFO, LIWORK, LDWORK
-      DOUBLE PRECISION  BIGBND, TOL1, TOL2, UDELTA
-C     .. Array Arguments ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  BL(*), BU(*), X(*), F(*), G(*), DWORK(LDWORK)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  MODE    (input) INTEGER
-          mode = CBA (a 3-digit number) with the following meaning
-          (see [1] for more details):
-
-          A specifies the problem to be solved:
-          A = 0: The problem is that described above.
-          A = 1: In the problem described above, the function to
-                 minimize is replaced by
-                           min max{ABS(f (x))}
-                                i       i
-                 i.e., absolute values of the objective functions
-                 are taken.
-
-          B indicates the method to be used:
-          B = 0: Algorithm FFSQP-AL is selected (see METHOD below).
-          B = 1: Algorithm FFSQP-NL is selected (see METHOD below).
-
-          C indicates the order of evaluation of objective
-          functions and constraints during the line search:
-          C = 1: The function that caused the previous value of t
-                 to be rejected is checked first and all functions
-                 of the same type ("objective" or "constraint") as
-                 the latter will then be checked first (recommended
-                 for most users).
-          C = 2: Constraints will be always checked first at each
-                 trial point during the line search. If it is a
-                 contraint that caused the previous value of t to
-                 be rejected, that constraint will be checked first
-                 (useful when objective functions are not defined or
-                 are difficult to evaluate outside of the feasible
-                 region).
-
-  IPRINT  (input) INTEGER
-          Parameter indicating the desired output (see [1] for a
-          more complete description of the output).
-          IPRINT = 0: No information except for user-input errors
-             is displayed. This value is imposed during phase 1.
-          IPRINT = 1: Objective and constraint values at the
-             initial feasible point are displayed. At the end of
-             execution, status (INFO), iterate, objective values,
-             constraint values, number of evaluations of objectives
-             and nonlinear constraints, norm of the Kuhn-Tucker
-             vector, and sum of feasibility violation are
-             displayed.
-          IPRINT = 2: At the end of each iteration, the same
-             information as with IPRINT = 1 is displayed.
-          IPRINT = 3: At each iteration, the same information as
-             with IPRINT = 2,including detailed information on the
-             search direction computation, on the line search, and
-             on the update, is displayed.
-          IPRINT = 10*N +M: N any positive integer, M=2 or 3.
-             Information corresponding to IPRINT=M is displayed at
-             every (10*N)th iteration and at the last iteration.
-
-</PRE>
-<B>User-supplied Subroutines</B>
-<PRE>
-  OBJ     SUBROUTINE
-          Computes the value of the objective functions. If NF = 0,
-          a (dummy) subroutine must be provided anyway. The 
-          specification of OBJ is
-
-          SUBROUTINE OBJ(NPARAM,J,X,FJ)
-          INTEGER NPARAM, J
-          DOUBLE PRECISION X(NPARAM),FJ
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of the objective to be computed.
-          X (Input) Current iterate.
-          FJ (Output) Value of the jth objective function at X.
-
-  CONSTR  SUBROUTINE
-          Computes the value of the constraints. If there are no
-          constraints, a (dummy) subroutine must be provided anyway.
-          The specification of CONSTR is as follows.
-
-          SUBROUTINE CONSTR(NPARAM,J,X,GJ)
-          INTEGER NPARAM,J
-          DOUBLE PRECISION X(NPARAM),GJ
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of the constraint to be computed.
-          X (Input) Current iterate.
-          GJ (Output) Value of the jth constraint at X.
-
-          The order of the constraints must be as follows. First
-          the NINEQN (possibly zero) nonlinear inequality
-          constraints. Then the NINEQ-NINEQN (possibly zero) linear
-          inequality constraints. Finally, the NEQN (possibly zero)
-          nonlinear equality constraints followed by the NEQ-NEQN
-          (possibly zero) linear equality constraints.
-
-  GRADOB  SUBROUTINE
-          Computes the gradients of the objective functions. The
-          user must pass the subroutine name GROBFD, if he/she
-          wishes that FSQP evaluate these gradients automatically,
-          by forward finite differences. The specification of GRADOB
-          is as follows.
-
-          SUBROUTINE GRADOB(NPARAM,J,X,GRADFJ,DUMMY)
-          INTEGER NPARAM,J
-          DOUBLE PRECISION X(NPARAM),GRADFJ(NPARAM)
-          DOUBLE PRECISION DUMMY
-          EXTERNAL DUMMY
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of objective for which gradient is to be
-                computed.
-          X (Input) Current iterate.
-          GRADFJ (Output) Gradient of the jth objective function at
-                X.
-          DUMMY (Input) Used by GROBFD (internally assigned the 
-                name of the objective function subroutine by FFSQP).
-
-          Note that DUMMY is passed as argument to GRADOB to allow
-          for forward finite difference computation of the gradient.
-
-  GRADCN  SUBROUTINE
-          Computes the gradients of the constraints. The
-          user must pass the subroutine name GRCNFD, if he/she
-          wishes that FSQP evaluate these gradients automatically,
-          by forward finite differences. The specification of GRADCN
-          is as follows
-
-          SUBROUTINE GRADCN (NPARAM,J,X,GRADGJ,DUMMY)
-          INTEGER NPARAM,J
-          DOUBLE PRECISION X(NPARAM),GRADGJ(NPARAM)
-          DOUBLE PRECISION DUMMY
-          EXTERNAL DUMMY
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of constraint for which gradient is to
-                be computed.
-          X (Input) Current iterate.
-          GRADGJ (Output) Gradient of the jth constraint evaluated
-                at X.
-          DUMMY (Input) Used by GRCNFD (internally assigned the
-                name of the constraint function subroutine by
-                FFSQP).
-
-          Note that DUMMY is passed as argument to GRADCN to allow
-          for forward finite difference computation of the gradients.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NPARAM  (input) INTEGER
-          Number of free variables, i.e., the dimension of X.
-
-  NF      (input) INTEGER
-          Number of objective functions (possibly zero).
-
-  NINEQN  (input) INTEGER
-          Number (possibly zero) of nonlinear inequality 
-          constraints.
-
-  NINEQ   (input) INTEGER
-          Total number (possibly equal to nineqn) of inequality
-          constraints.
-
-  NEQN    (input) INTEGER
-          Number (possibly zero) of nonlinear equality constraints.
-
-  NEQ     (input) INTEGER
-          Total number (possibly equal to neqn) of equality
-          constraints.
-
-  MITER   (input) INTEGER
-          Maximum number of iterations allowed by the user before
-          termination of execution.
-
-  UDELTA  (input) DOUBLE PRECISION
-          The perturbation size the user suggests to use in 
-          approximating gradients by finite difference. UDELTA 
-          should be set to zero if the user has no idea how to 
-          choose it. See [1] for details.
-
-  BIGBND  (input) DOUBLE PRECISION
-          It plays the role of Infinite Bound (see also BL and BU
-          below). 
-
-  BL      (input) DOUBLE PRECISION array, dimension (NPARAM)
-          Lower bounds for the components of X. To specify a non-
-          existent lower bound for some j, the value used must
-          satisfy BL(j) &lt;= -BIGBND.
-
-  BU      (input) DOUBLE PRECISION array, dimension (NPARAM)
-          Upper bounds for the components of X. To specify a non-
-          existent upper bound for some j, the value used must
-          satisfy BU(j) &gt;= BIGBND.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (NPARAM)
-          On entry, this is the initial guess.
-          On exit, this is the iterate at the end of execution.
-
-  F       (output) DOUBLE PRECISION array, dimension ( MAX(1,NF) )
-          Value of functions f_i, i = 1, ..., NF, at X at the end
-          of execution.
-
-  G       (output) DOUBLE PRECISION array, dimension 
-          ( MAX(1,NINEQ+NEQ) )
-          Value of constraint functions at X at the end of
-          execution.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          Corresponds to argument EPS in [1].
-          Final norm requirement for the Newton direction (see [1],
-          argument EPS). It must be bigger than the machine 
-          precision epsmac (computed by FSQP). If the user does
-          not have a good feeling of what value should be chosen,
-          a very small number could be provided and IPRINT = 2 be
-          selected so that the user would be able to keep track of
-          the process of optimization and terminate FSQP at
-          appropriate time.
-
-  TOL2    DOUBLE PRECISION
-          Corresponds to argument EPSEQN in [1].
-          Maximum violation of nonlinear equality constraints
-          allowed by the user at an optimal point. It is in effect
-          only if NEQN &gt; 0 and must be bigger than the machine
-          precision epsmac (computed by FSQP).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          Corresponds to argument IW in [1].
-
-  LIWORK  INTEGER
-          Corresponds to argument IWSIZE in [1].
-          The length of array IWORK. It must be at least as big as 
-          6*NPARAM + 8*max(1,NINEQ+NEQ) + 7*max(1,NF) + 30. This
-          estimate is usually very conservative and the smallest
-          suitable value will be displayed if the user-supplied
-          value is too small.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          Corresponds to argument W in [1].
-          On exit, it will contain estimates of Lagrange
-          multipliers at the end of execution. These multipliers
-          will be placed in the first NPARAM + NINEQ + NEQ + NFF
-          entries; where NFF = 0 if (in mode) A = 0 and NF = 1, and
-          NFF = NF otherwise. See [1] for details.
-
-  LDWORK  INTEGER
-          Corresponds to argument NWSIZE in [1].
-          The length of array DWORK. It must be at least as big as
-          4*SQR(NPARAM) + 5*MAX(1,NINEQ+NEQ)*NPARAM + 
-          3*MAX(1,NF)*NPARAM + 26*(NPARAM+MAX(1,NF)) + 
-          45*MAX(1,NINEQ+NEQ) + 100.
-          This estimate is usually very conservative and the 
-          smallest suitable value will be displayed if the user-
-          supplied value is too small.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          Corresponds to argument INFORM in [1].
-          INFO = 0: Normal termination of execution.
-          INFO = 1: The user-provided initial guess is infeasible
-             for linear constraints and FFSQP is unable to generate
-             a point satisfying all these constraints.
-          INFO = 2: The user-provided initial guess is infeasible
-             for nonlinear inequality constraints and linear
-             constraints; and FFSQP is unable to generate a point
-             satisfying all these constraints.
-          INFO = 3: The maximum number miter of iterations has
-             been reached before a solution is obtained.
-          INFO = 4: The line search fails to find a new iterate
-             (trial step size being smaller than the machine
-             precision epsmac computed by FFSQP).
-          INFO = 5: Failure of the QP solver in attempting to
-             construct d0. A more robust QP solver may succeed.
-          INFO = 6: Failure of the QP solver in attempting to
-             construct d1 . A more robust QP solver may succeed.
-          INFO = 7: Input data are not consistent (with printout
-             indicating the error).
-          INFO = 8: Two consecutive iterates are numerically
-             equivalent before a stopping criterion is satisfied.
-          INFO = 9: One of the penalty parameters exceeded
-             BIGBND. The algorithm is having trouble satisfying a
-             nonlinear equality constraint.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the initial guess provided by the user is infeasible for
-  nonlinear inequality constraints and linear constraints, FFSQP
-  first generates a point satisfying all these constraints by
-  iterating on the problem of minimizing the maximum of these
-  constraints.
-
-  Then, using Mayne-Polak's scheme, nonlinear equality
-  constraints are turned into nonlinear inequality constraints
-  and the original objective function is replaced by a modified
-  objective function.
-
-  After obtaining feasibility, either (i) an Armijo-type line
-  search may be used (algorithm FFSQP-AL), yielding a monotone
-  decrease of the objective function at each iteration; or (ii) a
-  nonmonotone line search may be selected (algorithm FFSQP-NL),
-  forcing a decrease of the objective function within at most four
-  iterations.
-  
-  See [1] for further details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] J. L. Zhou, A. L. Tits and C. T. Lawrence
-      User's Guide for FFSQP Version 3.7 : A Fortran Code for
-      Solving Optimization Programs, Possibly Minimax, with General
-      Inequality Constraints and Linear Equality Constraints,
-      Generating Feasible Iterates
-      Institute for Systems Research, University of Maryland,
-      Technical Report SRC-TR-92-107r5, 1997.
-      (Available at http://gachinese.com/aemdesign/FSQPframe.htm)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
-of the routine and related files.-->
-</p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01AD">IB01AD</A></H2>
-<H3>
-Upper triangular factor in the QR factorization of the block-Hankel matrix (driver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To preprocess the input-output data for estimating the matrices
-  of a linear time-invariant dynamical system and to find an
-  estimate of the system order. The input-output data can,
-  optionally, be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U, LDU, Y, LDY, N, R, LDR, SV, RCOND,
-     $                   TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   RCOND, TOL
-      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, N,
-     $                   NOBR, NSMP
-      CHARACTER          ALG, BATCH, CONCT, CTRL, JOBD, METH
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*), U(LDU, *),
-     $                   Y(LDY, *)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  ALG     CHARACTER*1
-          Specifies the algorithm for computing the triangular
-          factor R, as follows:
-          = 'C':  Cholesky algorithm applied to the correlation
-                  matrix of the input-output data;
-          = 'F':  Fast QR algorithm;
-          = 'Q':  QR algorithm applied to the concatenated block
-                  Hankel matrices.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not the matrices B and D should later
-          be computed using the MOESP approach, as follows:
-          = 'M':  the matrices B and D should later be computed
-                  using the MOESP approach;
-          = 'N':  the matrices B and D should not be computed using
-                  the MOESP approach.
-          This parameter is not relevant for METH = 'N'.
-
-  BATCH   CHARACTER*1
-          Specifies whether or not sequential data processing is to
-          be used, and, for sequential processing, whether or not
-          the current data block is the first block, an intermediate
-          block, or the last block, as follows:
-          = 'F':  the first block in sequential data processing;
-          = 'I':  an intermediate block in sequential data
-                  processing;
-          = 'L':  the last block in sequential data processing;
-          = 'O':  one block only (non-sequential data processing).
-          NOTE that when  100  cycles of sequential data processing
-               are completed for  BATCH = 'I',  a warning is
-               issued, to prevent for an infinite loop.
-
-  CONCT   CHARACTER*1
-          Specifies whether or not the successive data blocks in
-          sequential data processing belong to a single experiment,
-          as follows:
-          = 'C':  the current data block is a continuation of the
-                  previous data block and/or it will be continued
-                  by the next data block;
-          = 'N':  there is no connection between the current data
-                  block and the previous and/or the next ones.
-          This parameter is not used if BATCH = 'O'.
-
-  CTRL    CHARACTER*1
-          Specifies whether or not the user's confirmation of the
-          system order estimate is desired, as follows:
-          = 'C':  user's confirmation;
-          = 'N':  no confirmation.
-          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
-          is indirectly called (by SLICOT Library routine IB01OD),
-          and, after inspecting the singular values and system order
-          estimate,  n,  the user may accept  n  or set a new value.
-          IB01OY  is not called if CTRL = 'N'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices to be processed.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-          When M = 0, no system inputs are processed.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t). (When sequential data processing is used,
-          NSMP  is the number of samples of the current data
-          block.)
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
-                                       processing;
-          NSMP &gt;= 2*NOBR,  for sequential processing.
-          The total number of samples when calling the routine with
-          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
-          The  NSMP  argument may vary from a cycle to another in
-          sequential data processing, but  NOBR, M,  and  L  should
-          be kept constant. For efficiency, it is advisable to use
-          NSMP  as large as possible.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NSMP-by-M part of this array must contain the
-          t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= NSMP, if M &gt; 0;
-          LDU &gt;= 1,    if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= NSMP.
-
-  N       (output) INTEGER
-          The estimated order of the system.
-          If  CTRL = 'C',  the estimated order has been reset to a
-          value specified by the user.
-
-  R       (output or input/output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the current upper triangular part of the
-          correlation matrix in sequential data processing.
-          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
-          referenced.
-          On exit, if INFO = 0, ALG = 'Q', and BATCH = 'F' or 'I',
-          the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular
-          part of this array contains the current upper triangular
-          factor R from the QR factorization of the concatenated
-          block Hankel matrices. Denote  R_ij, i,j = 1:4,  the
-          ij submatrix of  R,  partitioned by M*NOBR,  M*NOBR,
-          L*NOBR,  and  L*NOBR  rows and columns.
-          On exit, if INFO = 0 and BATCH = 'L' or 'O', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
-          this array contains the matrix S, the processed upper
-          triangular factor R from the QR factorization of the
-          concatenated block Hankel matrices, as required by other
-          subroutines. Specifically, let  S_ij, i,j = 1:4,  be the
-          ij submatrix of  S,  partitioned by M*NOBR,  L*NOBR,
-          M*NOBR,  and  L*NOBR  rows and columns. The submatrix
-          S_22  contains the matrix of left singular vectors needed
-          subsequently. Useful information is stored in  S_11  and
-          in the block-column  S_14 : S_44.  For METH = 'M' and
-          JOBD = 'M', the upper triangular part of  S_31  contains
-          the upper triangular factor in the QR factorization of the
-          matrix  R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12
-          contains the corresponding leading part of the transformed
-          matrix  R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',
-          the subarray  S_41 : S_43  contains the transpose of the
-          matrix contained in  S_14 : S_34.
-          The details of the contents of R need not be known if this
-          routine is followed by SLICOT Library routine IB01BD.
-          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
-          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
-          triangular part of this array must contain the upper
-          triangular matrix R computed at the previous call of this
-          routine in sequential data processing. The array R need
-          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
-                               for METH = 'M' and JOBD = 'M';
-          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
-                               for METH = 'N'.
-
-  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
-          The singular values used to estimate the system order.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  RCOND   DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  RCOND &gt; 0,  the given value
-          of  RCOND  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/RCOND  is considered to
-          be of full rank.  If the user sets  RCOND &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          RCONDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not used for  METH = 'M'.
-
-  TOL     DOUBLE PRECISION
-          Absolute tolerance used for determining an estimate of
-          the system order. If  TOL &gt;= 0,  the estimate is
-          indicated by the index of the last singular value greater
-          than or equal to  TOL.  (Singular values less than  TOL
-          are considered as zero.) When  TOL = 0,  an internally
-          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
-          where  SV(1)  is the maximal singular value, and  EPS  is
-          the relative machine precision (see LAPACK Library routine
-          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
-          index of the singular value that has the largest
-          logarithmic gap to its successor.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(3,(M+L)*NOBR), if METH = 'N';
-          LIWORK &gt;= MAX(3,M+L), if METH = 'M' and ALG = 'F';
-          LIWORK &gt;= 3,   if METH = 'M' and ALG = 'C' or 'Q'.
-          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
-          must contain the values of ICYCLE, MAXWRK, and NSMPSM
-          set by the previous call of this routine.
-          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
-          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
-          used by the next call of the routine.
-          ICYCLE  counts the cycles for  BATCH = 'I'.
-          MAXWRK  stores the current optimal workspace.
-          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
-          The first three elements of  IWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and, for  METH = 'N',  and  BATCH = 'L'  or
-          'O',  DWORK(2)  and  DWORK(3)  contain the reciprocal
-          condition numbers of the triangular factors of the
-          matrices  U_f  and  r_1  [6].
-          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          Let
-          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
-          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
-          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
-          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
-          The first (M+L)*k elements of  DWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  'I',  till the final call with  BATCH = 'L'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH = 'F' or
-                          'I' and CONCT = 'C';
-          LDWORK &gt;= 1, if ALG = 'C', BATCH = 'F' or 'I' and
-                          CONCT = 'N';
-          LDWORK &gt;= max((4*NOBR-2)*(M+L), 5*L*NOBR), if METH = 'M',
-                          ALG = 'C', BATCH = 'L' and CONCT = 'C';
-          LDWORK &gt;= max((2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR),
-                          if METH = 'M', JOBD = 'M', ALG = 'C',
-                           BATCH = 'O', or
-                          (BATCH = 'L' and CONCT = 'N');
-          LDWORK &gt;= 5*L*NOBR, if METH = 'M', JOBD = 'N', ALG = 'C',
-                           BATCH = 'O', or
-                          (BATCH = 'L' and CONCT = 'N');
-          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'C', and
-                          BATCH = 'L' or 'O';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-                          BATCH &lt;&gt; 'O' and CONCT = 'C';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-                          BATCH = 'F', 'I' and CONCT = 'N';
-          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-                          BATCH = 'L' and CONCT = 'N', or
-                          BATCH = 'O';
-          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F', and
-                          LDR &gt;= NS = NSMP - 2*NOBR + 1;
-          LDWORK &gt;= max(4*(M+L)*NOBR, 5*L*NOBR), if METH = 'M',
-                          ALG = 'Q', BATCH = 'O', and LDR &gt;= NS;
-          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'Q',
-                          BATCH = 'O', and LDR &gt;= NS;
-          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', (BATCH = 'F' or 'O',
-                          and LDR &lt; NS), or (BATCH = 'I' or
-                          'L' and CONCT = 'N');
-          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
-                          or 'L' and CONCT = 'C'.
-          The workspace used for ALG = 'Q' is
-                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
-          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
-          value LDRWRK = NS, assuming a large enough cache size.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the number of 100 cycles in sequential data
-                processing has been exhausted without signaling
-                that the last block of data was get; the cycle
-                counter was reinitialized;
-          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
-                but it failed, and the QR algorithm was then used
-                (non-sequential data processing);
-          = 3:  all singular values were exactly zero, hence  N = 0
-                (both input and output were identically zero);
-          = 4:  the least squares problems with coefficient matrix
-                U_f,  used for computing the weighted oblique
-                projection (for METH = 'N'), have a rank-deficient
-                coefficient matrix;
-          = 5:  the least squares problem with coefficient matrix
-                r_1  [6], used for computing the weighted oblique
-                projection (for METH = 'N'), has a rank-deficient
-                coefficient matrix.
-          NOTE: the values 4 and 5 of IWARN have no significance
-                for the identification problem.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
-                in sequential data processing, but it failed; the
-                routine can be repeatedly called again using the
-                standard QR algorithm;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The procedure consists in three main steps, the first step being
-  performed by one of the three algorithms included.
-
-  1.a) For non-sequential data processing using QR algorithm, a
-  t x 2(m+l)s  matrix H is constructed, where
-
-       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
-               s+1,2s,t    1,s,t   1,2s,t
-
-       H = [ U'       Y'      ],              for METH = 'N',
-              1,2s,t   1,2s,t
-
-  and  Up     , Uf        , U      , and  Y        are block Hankel
-         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
-  matrices defined in terms of the input and output data [3].
-  A QR factorization is used to compress the data.
-  The fast QR algorithm uses a QR factorization which exploits
-  the block-Hankel structure. Actually, the Cholesky factor of H'*H
-  is computed.
-
-  1.b) For sequential data processing using QR algorithm, the QR
-  decomposition is done sequentially, by updating the upper
-  triangular factor  R.  This is also performed internally if the
-  workspace is not large enough to accommodate an entire batch.
-
-  1.c) For non-sequential or sequential data processing using
-  Cholesky algorithm, the correlation matrix of input-output data is
-  computed (sequentially, if requested), taking advantage of the
-  block Hankel structure [7].  Then, the Cholesky factor of the
-  correlation matrix is found, if possible.
-
-  2) A singular value decomposition (SVD) of a certain matrix is
-  then computed, which reveals the order  n  of the system as the
-  number of "non-zero" singular values. For the MOESP approach, this
-  matrix is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
-  where  R  is the upper triangular factor  R  constructed by SLICOT
-  Library routine  IB01MD.  For the N4SID approach, a weighted
-  oblique projection is computed from the upper triangular factor  R
-  and its SVD is then found.
-
-  3) The singular values are compared to the given, or default TOL,
-  and the estimated order  n  is returned, possibly after user's
-  confirmation.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Peternell, K., Scherrer, W. and Deistler, M.
-      Statistical Analysis of Novel Subspace Identification Methods.
-      Signal Processing, 52, pp. 161-177, 1996.
-
-  [6] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-  [7] Sima, V.
-      Cholesky or QR Factorization for Data Compression in
-      Subspace-based Identification ?
-      Proceedings of the Second NICONET Workshop on ``Numerical
-      Control Software: SLICOT, a Useful Tool in Industry'',
-      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable (when QR algorithm is
-  used), reliable and efficient. The fast Cholesky or QR algorithms
-  are more efficient, but the accuracy could diminish by forming the
-  correlation matrix.
-  The most time-consuming computational step is step 1:
-                                     2
-  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
-                                        2              3
-  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
-  point operations.
-                                       2           3 2
-  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
-  point operations.
-                                             3
-  Step 2 of the algorithm requires 0(((m+l)s) ) floating point
-  operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
-  calculations could be rather inefficient if only minimal workspace
-  (see argument LDWORK) is provided. It is advisable to provide as
-  much workspace as possible. Almost optimal efficiency can be
-  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
-  cache size is large enough to accommodate R, U, Y, and DWORK.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB01AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LDR, LDU, LDWORK, LDY, LIWORK, LMAX, MMAX,
-     $                 NOBRMX, NSMPMX
-      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
-     $                   LDR = MAX( 2*( MMAX + LMAX )*NOBRMX,
-     $                              3*MMAX*NOBRMX ), LDU = NSMPMX,
-     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
-     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
-     $                                 ( MMAX + LMAX + 1 ) + 2*NOBRMX ),
-     $                                 ( MMAX + LMAX )*4*NOBRMX*
-     $                                 ( NOBRMX + 1 ) ),
-     $                   LDY = NSMPMX, LIWORK = ( MMAX + LMAX )*NOBRMX )
-*     .. Local Scalars ..
-      LOGICAL          NGIVEN
-      CHARACTER        ALG, BATCH, CONCT, CTRL, JOBD, METH
-      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
-     $                 NGIV, NOBR, NSAMPL, NSMP
-      DOUBLE PRECISION RCOND, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
-     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), Y(LDY, LMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         IB01AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     If the value of N is positive, it will be taken as system order.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL, METH, ALG,
-     $                      JOBD, BATCH, CONCT, CTRL
-      IF ( LSAME( BATCH, 'F' ) ) THEN
-         READ ( NIN, FMT = * ) NCYCLE
-      ELSE
-         NCYCLE = 1
-      END IF
-      NSAMPL = NCYCLE*NSMP
-*
-      NGIVEN = N.GT.0
-      IF( NGIVEN )
-     $   NGIV = N
-      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) NOBR
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) L
-      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
-     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'O' ) ) .OR.
-     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'L' ) ) .OR.
-     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
-     $                                 LSAME( BATCH, 'I' ) ) ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NSMP
-      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NCYCLE
-      ELSE
-*        Read the matrices U and Y from the input file.
-         IF ( M.GT.0 )
-     $      READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
-         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
-*        Compute the  R  factor from a QR (or Cholesky) factorization
-*        of the Hankel-like matrix (or correlation matrix).
-         DO 10 ICYCLE = 1, NCYCLE
-            II = ( ICYCLE - 1 )*NSMP + 1
-            IF ( NCYCLE.GT.1 ) THEN
-               IF ( ICYCLE.GT.1 )      BATCH = 'I'
-               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
-            END IF
-            CALL IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
-     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-   10    CONTINUE
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99990 ) IWARN
-            IF( NGIVEN )
-     $         N = NGIV
-            WRITE ( NOUT, FMT = 99992 ) N
-            WRITE ( NOUT, FMT = 99991 ) ( SV(I), I = 1,L*NOBR )
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( ' IB01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
-99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
-99996 FORMAT (/' M is out of range.',/' M = ', I5)
-99995 FORMAT (/' L is out of range.',/' L = ', I5)
-99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
-99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
-99992 FORMAT ( ' The order of the system is ', I5)
-99991 FORMAT ( ' The singular values are ',/ (8(1X,F8.4)))
-99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB01AD EXAMPLE PROGRAM DATA
-  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
-   6.41
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-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB01AD EXAMPLE PROGRAM RESULTS
-
- The order of the system is     4
- The singular values are 
-  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
-   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01BD">IB01BD</A></H2>
-<H3>
-Estimating system matrices, Kalman gain, and covariances (driver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the system matrices A, C, B, and D, the noise
-  covariance matrices Q, Ry, and S, and the Kalman gain matrix K
-  of a linear time-invariant state space model, using the
-  processed triangular factor R of the concatenated block Hankel
-  matrices, provided by SLICOT Library routine IB01AD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMPL, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
-     $                   RY, LDRY, S, LDS, K, LDK, TOL, IWORK, DWORK,
-     $                   LDWORK, BWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDK, LDQ,
-     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
-      CHARACTER          JOB, JOBCK, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  K(LDK, *), Q(LDQ, *), R(LDR, *),
-     $                   RY(LDRY, *), S(LDS, *)
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm;
-          = 'C':  combined method:  MOESP  algorithm for finding the
-                  matrices A and C, and  N4SID  algorithm for
-                  finding the matrices B and D.
-
-  JOB     CHARACTER*1
-          Specifies which matrices should be computed, as follows:
-          = 'A':  compute all system matrices, A, B, C, and D;
-          = 'C':  compute the matrices A and C only;
-          = 'B':  compute the matrix B only;
-          = 'D':  compute the matrices B and D only.
-
-  JOBCK   CHARACTER*1
-          Specifies whether or not the covariance matrices and the
-          Kalman gain matrix are to be computed, as follows:
-          = 'C':  the covariance matrices only should be computed;
-          = 'K':  the covariance matrices and the Kalman gain
-                  matrix should be computed;
-          = 'N':  the covariance matrices and the Kalman gain matrix
-                  should not be computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMPL   (input) INTEGER
-          If  JOBCK = 'C' or 'K',  the total number of samples used
-          for calculating the covariance matrices.
-          NSMPL &gt;= 2*(M+L)*NOBR.
-          This parameter is not meaningful if  JOBCK = 'N'.
-
-  R       (input/workspace) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
-          of this array must contain the relevant data for the MOESP
-          or N4SID algorithms, as constructed by SLICOT Library
-          routine IB01AD. Let  R_ij,  i,j = 1:4,  be the
-          ij submatrix of  R  (denoted  S  in IB01AD),  partitioned
-          by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR  rows and
-          columns. The submatrix  R_22  contains the matrix of left
-          singular vectors used. Also needed, for  METH = 'N'  or
-          JOBCK &lt;&gt; 'N',  are the submatrices  R_11,  R_14 : R_44,
-          and, for  METH = 'M' or 'C'  and  JOB &lt;&gt; 'C', the
-          submatrices  R_31  and  R_12,  containing the processed
-          matrices  R_1c  and  R_2c,  respectively, as returned by
-          SLICOT Library routine IB01AD.
-          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
-          block-row  R_41 : R_43  must contain the transpose of the
-          block-column  R_14 : R_34  as returned by SLICOT Library
-          routine IB01AD.
-          The remaining part of  R  is used as workspace.
-          On exit, part of this array is overwritten. Specifically,
-          if  METH = 'M',  R_22  and  R_31  are overwritten if
-              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
-              and possibly  R_11  are overwritten if  JOBCK &lt;&gt; 'N';
-          if  METH = 'N',  all needed submatrices are overwritten.
-          The details of the contents of  R  need not be known if
-          this routine is called once just after calling the SLICOT
-          Library routine IB01AD.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-  A       (input or output) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
-          the leading N-by-N part of this array must contain the
-          system state matrix.
-          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
-          or 'C'),  this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
-          leading N-by-N part of this array contains the system
-          state matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
-                         and  JOB = 'B' or 'D';
-          LDA &gt;= 1,  otherwise.
-
-  C       (input or output) DOUBLE PRECISION array, dimension
-          (LDC,N)
-          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
-          the leading L-by-N part of this array must contain the
-          system output matrix.
-          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
-          or 'C'),  this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
-          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
-          L-by-N part of this array contains the system output
-          matrix.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
-                         and  JOB = 'B' or 'D';
-          LDC &gt;= 1,  otherwise.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
-          leading N-by-M part of this array contains the system
-          input matrix. If  M = 0  or  JOB = 'C',  this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
-          not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
-          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If  JOBCK = 'C' or 'K',  the leading N-by-N part of this
-          array contains the positive semidefinite state covariance
-          matrix. If  JOBCK = 'K',  this matrix has been used as
-          state weighting matrix for computing the Kalman gain.
-          This parameter is not referenced if JOBCK = 'N'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= N,  if JOBCK = 'C' or 'K';
-          LDQ &gt;= 1,  if JOBCK = 'N'.
-
-  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
-          If  JOBCK = 'C' or 'K',  the leading L-by-L part of this
-          array contains the positive (semi)definite output
-          covariance matrix. If  JOBCK = 'K',  this matrix has been
-          used as output weighting matrix for computing the Kalman
-          gain.
-          This parameter is not referenced if JOBCK = 'N'.
-
-  LDRY    INTEGER
-          The leading dimension of the array RY.
-          LDRY &gt;= L,  if JOBCK = 'C' or 'K';
-          LDRY &gt;= 1,  if JOBCK = 'N'.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
-          If  JOBCK = 'C' or 'K',  the leading N-by-L part of this
-          array contains the state-output cross-covariance matrix.
-          If  JOBCK = 'K',  this matrix has been used as state-
-          output weighting matrix for computing the Kalman gain.
-          This parameter is not referenced if JOBCK = 'N'.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= N,  if JOBCK = 'C' or 'K';
-          LDS &gt;= 1,  if JOBCK = 'N'.
-
-  K       (output) DOUBLE PRECISION array, dimension ( LDK,L )
-          If  JOBCK = 'K',  the leading  N-by-L  part of this array
-          contains the estimated Kalman gain matrix.
-          If  JOBCK = 'C' or 'N',  this array is not referenced.
-
-  LDK     INTEGER
-          The leading dimension of the array  K.
-          LDK &gt;= N,  if JOBCK = 'K';
-          LDK &gt;= 1,  if JOBCK = 'C' or 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= max(LIW1,LIW2), where
-          LIW1 = N,                     if METH &lt;&gt; 'N' and M = 0
-                                     or JOB = 'C' and JOBCK = 'N';
-          LIW1 = M*NOBR+N,              if METH &lt;&gt; 'N', JOB = 'C',
-                                        and JOBCK &lt;&gt; 'N';
-          LIW1 = max(L*NOBR,M*NOBR),    if METH = 'M', JOB &lt;&gt; 'C',
-                                        and JOBCK = 'N';
-          LIW1 = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
-                                        and JOBCK = 'C' or 'K';
-          LIW1 = max(M*NOBR+N,M*(N+L)), if METH = 'N', or METH = 'C'
-                                        and JOB  &lt;&gt; 'C';
-          LIW2 = 0,                     if JOBCK &lt;&gt; 'K';
-          LIW2 = N*N,                   if JOBCK =  'K'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
-          DWORK(5)  contain the reciprocal condition numbers of the
-          triangular factors of the following matrices (defined in
-          SLICOT Library routine IB01PD and in the lower level
-          routines):
-             GaL  (GaL = Un(1:(s-1)*L,1:n)),
-             R_1c (if  METH = 'M' or 'C'),
-             M    (if  JOBCK = 'C' or 'K'  or  METH = 'N'),  and
-             Q or T  (see SLICOT Library routine IB01PY or IB01PX),
-          respectively.
-          If  METH = 'N',  DWORK(3)  is set to one without any
-          calculations. Similarly, if  METH = 'M'  and  JOBCK = 'N',
-          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
-          DWORK(3)  and  DWORK(5)  are set to one.
-          If  JOBCK = 'K'  and  INFO = 0,  DWORK(6)  to  DWORK(13)
-          contain information about the accuracy of the results when
-          computing the Kalman gain matrix, as follows:
-             DWORK(6)  - reciprocal condition number of the matrix
-                         U11  of the Nth order system of algebraic
-                         equations from which the solution matrix  X
-                         of the Riccati equation is obtained;
-             DWORK(7)  - reciprocal pivot growth factor for the LU
-                         factorization of the matrix  U11;
-             DWORK(8)  - reciprocal condition number of the matrix
-                         As = A - S*inv(Ry)*C,  which is inverted by
-                         the standard Riccati solver;
-             DWORK(9)  - reciprocal pivot growth factor for the LU
-                         factorization of the matrix  As;
-             DWORK(10) - reciprocal condition number of the matrix
-                         Ry;
-             DWORK(11) - reciprocal condition number of the matrix
-                         Ry + C*X*C';
-             DWORK(12) - reciprocal condition number for the Riccati
-                         equation solution;
-             DWORK(13) - forward error bound for the Riccati
-                         equation solution.
-          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( LDW1,LDW2,LDW3 ), where, if METH = 'M',
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
-                  if JOB = 'C' or JOB = 'A' and M = 0;
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
-                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
-                       max( L+M*NOBR, L*NOBR +
-                                      max( 3*L*NOBR+1, M ) ) ),
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDW2 &gt;= 0,                          if JOBCK = 'N';
-          LDW2 &gt;= L*NOBR*N+
-                  max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
-                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
-                                              if JOBCK = 'C' or 'K',
-          where Aw = N+N*N, if M = 0 or JOB = 'C';
-                Aw = 0,     otherwise;
-          if METH = 'N',
-          LDW1 &gt;= L*NOBR*N+max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
-                                2*(L*NOBR-L)*N+N*N+8*N,
-                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L );
-          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
-          LDW2 &gt;= L*NOBR*N+M*NOBR*(N+L)*(M*(N+L)+1)+
-                             max( (N+L)**2, 4*M*(N+L)+1 ),
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          and, if METH = 'C', LDW1 as
-          max( LDW1 for METH = 'M', JOB = 'C', LDW1 for METH = 'N'),
-          and LDW2 for METH = 'N' are used;
-          LDW3 &gt;= 0,                     if JOBCK &lt;&gt; 'K';
-          LDW3 &gt;= max(  4*N*N+2*N*L+L*L+max( 3*L,N*L ),
-                       14*N*N+12*N+5 ),  if JOBCK =  'K'.
-          For good performance,  LDWORK  should be larger.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK = 2*N, if JOBCK =  'K';
-          LBWORK = 0,   if JOBCK &lt;&gt; 'K'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  a least squares problem to be solved has a
-                rank-deficient coefficient matrix;
-          = 5:  the computed covariance matrices are too small.
-                The problem seems to be a deterministic one; the
-                gain matrix is set to zero.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge;
-          = 3:  a singular upper triangular matrix was found;
-          = 3+i:  if  JOBCK = 'K'  and the associated Riccati
-                equation could not be solved, where i = 1,...,6;
-                (see the description of the parameter INFO for the
-                SLICOT Library routine SB02RD for the meaning of
-                the i values);
-          = 10: the QR algorithm did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In the MOESP approach, the matrices  A  and  C  are first
-  computed from an estimated extended observability matrix [1],
-  and then, the matrices  B  and  D  are obtained by solving an
-  extended linear system in a least squares sense.
-  In the N4SID approach, besides the estimated extended
-  observability matrix, the solutions of two least squares problems
-  are used to build another least squares problem, whose solution
-  is needed to compute the system matrices  A,  C,  B,  and  D.  The
-  solutions of the two least squares problems are also optionally
-  used by both approaches to find the covariance matrices.
-  The Kalman gain matrix is obtained by solving a discrete-time
-  algebraic Riccati equation.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-  [4] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method consists in numerically stable steps.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The covariance matrices are computed using the N4SID approach.
-  Therefore, for efficiency reasons, it is advisable to set
-  METH = 'N',  if the Kalman gain matrix or covariance matrices
-  are needed  (JOBCK = 'K', or 'C').  When  JOBCK = 'N',  it could
-  be more efficient to use the combined method,  METH = 'C'.
-  Often, this combination will also provide better accuracy than
-  MOESP algorithm.
-  In some applications, it is useful to compute the system matrices
-  using two calls to this routine, the first one with  JOB = 'C',
-  and the second one with  JOB = 'B' or 'D'.  This is slightly less
-  efficient than using a single call with  JOB = 'A',  because some
-  calculations are repeated. If  METH = 'N',  all the calculations
-  at the first call are performed again at the second call;
-  moreover, it is required to save the needed submatrices of  R
-  before the first call and restore them before the second call.
-  If the covariance matrices and/or the Kalman gain are desired,
-  JOBCK  should be set to  'C'  or  'K'  at the second call.
-  If  B  and  D  are both needed, they should be computed at once.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB01BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LDA, LDB, LDC, LDD, LDK, LDQ, LDR, LDRY, LDS,
-     $                 LDU, LDW1, LDW2, LDW3, LDWORK, LDY, LIWORK, LMAX,
-     $                 MMAX, NMAX, NOBRMX, NSMPMX
-      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
-     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
-     $                   LDC  = LMAX, LDD  = LMAX, LDK = NMAX,
-     $                   LDQ  = NMAX, LDRY = LMAX, LDS = NMAX,
-     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
-     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
-     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
-     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
-     $                               LMAX*NOBRMX*NMAX +
-     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    3*NMAX + LMAX +
-     $                                    ( 2*MMAX + LMAX )*NOBRMX,
-     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    NMAX*NMAX + 8*NMAX,
-     $                                    NMAX +
-     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
-     $                   LDW2 = LMAX*NOBRMX*NMAX +
-     $                          MMAX*NOBRMX*( NMAX + LMAX )*
-     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                          MAX( ( NMAX + LMAX )**2,
-     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                   LDW3 = MAX( 4*NMAX*NMAX + 2*NMAX*LMAX +
-     $                               LMAX*LMAX +
-     $                               MAX( 3*LMAX, NMAX*LMAX ),
-     $                               14*NMAX*NMAX + 12*NMAX + 5 ),
-     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
-     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
-     $                                 ( MMAX + LMAX + 2 ) - 2 ),
-     $                                 ( MMAX + LMAX )*4*NOBRMX*
-     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
-     $                                 LDW3 ),
-     $                   LDY = NSMPMX,
-     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
-     $                                 MMAX*NOBRMX + NMAX, LMAX*NOBRMX,
-     $                                 MMAX*( NMAX + LMAX ), NMAX*NMAX )
-     $                 )
-*     .. Local Scalars ..
-      LOGICAL          NGIVEN
-      CHARACTER        ALG, BATCH, CONCT, CTRL, JOB, JOBCK, JOBD, JOBDA,
-     $                 METH, METHA
-      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
-     $                 NGIV, NOBR, NSAMPL, NSMP
-      DOUBLE PRECISION RCOND, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
-     $                 D(LDD, MMAX), DWORK(LDWORK), K(LDK, LMAX),
-     $                 Q(LDQ, NMAX), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
-     $                 RY(LDRY, LMAX), S(LDS, LMAX), SV(LMAX*NOBRMX),
-     $                 U(LDU, MMAX), Y(LDY, LMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(2*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         IB01AD, IB01BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     If the value of N is positive, it will be taken as system order.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
-      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
-     $                      JOBCK
-      IF ( LSAME( BATCH, 'F' ) ) THEN
-         READ ( NIN, FMT = * ) NCYCLE
-      ELSE
-         NCYCLE = 1
-      END IF
-      NSAMPL = NCYCLE*NSMP
-*
-      NGIVEN = N.GT.0
-      IF( NGIVEN )
-     $   NGIV = N
-      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) NOBR
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) L
-      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
-     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'O' ) ) .OR.
-     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'L' ) ) .OR.
-     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
-     $                                 LSAME( BATCH, 'I' ) ) ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NSMP
-      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NCYCLE
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99980 ) N
-      ELSE
-*        Read the matrices U and Y from the input file.
-         IF ( M.GT.0 )
-     $      READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
-         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
-*        Read A and C matrices, if METH <> 'M' and JOB = 'B' or 'D'.
-         IF ( .NOT.LSAME( METH, 'M' ) .AND.
-     $           ( LSAME( JOB,  'B' ) .OR. LSAME( JOB, 'D' ) ) ) THEN
-            DO 10 I = 1, N
-               READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
-   10       CONTINUE
-            DO 20 I = 1, L
-               READ ( NIN, FMT = * ) ( C(I,J), J = 1, N )
-   20       CONTINUE
-         END IF
-*        Force some options for IB01AD, depending on the specifications.
-         IF ( LSAME( METH, 'C' ) ) THEN
-            METHA = 'M'
-            JOBDA = 'N'
-         ELSE
-            METHA = METH
-            JOBDA = JOBD
-         END IF
-*        Compute the  R  factor from a QR (or Cholesky) factorization
-*        of the Hankel-like matrix (or correlation matrix).
-         DO 30 ICYCLE = 1, NCYCLE
-            II = ( ICYCLE - 1 )*NSMP + 1
-            IF ( NCYCLE.GT.1 ) THEN
-               IF ( ICYCLE.GT.1 )      BATCH = 'I'
-               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
-            END IF
-            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
-     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-   30    CONTINUE
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99990 ) IWARN
-            IF( NGIVEN )
-     $         N = NGIV
-*           Compute the system matrices.
-            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
-     $                   RY, LDRY, S, LDS, K, LDK, RCOND, IWORK, DWORK,
-     $                   LDWORK, BWORK, IWARN, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99992 ) INFO
-            ELSE
-               IF ( IWARN.NE.0 )
-     $            WRITE ( NOUT, FMT = 99991 ) IWARN
-               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99987 )
-                  DO 50 I = 1, L
-                     WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
-   50             CONTINUE
-               END IF
-               IF ( .NOT.LSAME( JOB, 'C' ) ) THEN
-                  WRITE ( NOUT, FMT = 99986 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-               END IF
-               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'D' ) ) THEN
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, L
-                     WRITE ( NOUT, FMT = 99988 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-               IF ( LSAME( JOBCK, 'K' ) ) THEN
-                  WRITE ( NOUT, FMT = 99984 )
-                  DO 80 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( K(I,J), J = 1,L )
-   80             CONTINUE
-               END IF
-               IF ( .NOT.LSAME( JOBCK, 'N' ) ) THEN
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 90 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( Q(I,J), J = 1,N )
-   90             CONTINUE
-                  WRITE ( NOUT, FMT = 99982 )
-                  DO 100 I = 1, L
-                     WRITE ( NOUT, FMT = 99988 ) ( RY(I,J), J = 1,L )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99981 )
-                  DO 110 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( S(I,J), J = 1,L )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( ' IB01BD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
-99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
-99996 FORMAT (/' M is out of range.',/' M = ', I5)
-99995 FORMAT (/' L is out of range.',/' L = ', I5)
-99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
-99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
-99992 FORMAT ( ' INFO on exit from IB01BD = ',I2)
-99991 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
-99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
-99989 FORMAT (/' The system state matrix A is ')
-99988 FORMAT (20(1X,F8.4))
-99987 FORMAT (/' The system output matrix C is ')
-99986 FORMAT (/' The system input matrix B is ')
-99985 FORMAT (/' The system input-output matrix D is ')
-99984 FORMAT (/' The Kalman gain matrix K is ')
-99983 FORMAT (/' The state covariance matrix Q is ')
-99982 FORMAT (/' The output covariance matrix Ry is ')
-99981 FORMAT (/' The state-output cross-covariance matrix S is ')
-99980 FORMAT (/' N is out of range.',/' N = ', I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB01BD EXAMPLE PROGRAM DATA
-  15     0     1     1  1000    0.0   -1.0
-   C     C     N     O     N     N     A     K
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
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-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
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-   3.41
-   3.41
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-   6.41
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-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
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-   3.41
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-   6.41
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-   6.41
-   3.41
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-   3.41
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-   3.41
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-   3.41
-   6.41
-   6.41
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-   3.41
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-   3.41
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-   3.41
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-   3.41
-   3.41
-   6.41
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-   3.41
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-   3.41
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-   3.41
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-   3.41
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-   3.41
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-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
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-   6.41
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-   6.41
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-   3.41
-   3.41
-   3.41
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-   6.41
-   6.41
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-   3.41
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-   6.41
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-   3.41
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-   6.41
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-   3.41
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-   3.41
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-   6.41
-   6.41
-   6.41
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-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
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-   6.41
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-   6.41
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-   3.41
-   6.41
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-   6.41
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-   3.41
-   3.41
-   3.41
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-   3.41
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-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
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-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
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-   6.41
-   3.41
-   3.41
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-   3.41
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-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   4.766099
-   4.763659
-   4.839359
-   5.002979
-   5.017629
-   5.056699
-   5.154379
-   5.361949
-   5.425439
-   5.569519
-   5.681849
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-   5.803949
-   5.918729
-   5.821049
-   5.447419
-   5.061589
-   4.629349
-   4.267939
-   4.011519
-   3.850349
-   3.711159
-   3.569519
-   3.518239
-   3.652549
-   3.818609
-   3.862559
-   4.011519
-   4.353409
-   4.705049
-   5.083559
-   5.344859
-   5.274039
-   5.127519
-   4.761219
-   4.451089
-   4.221539
-   4.045709
-   3.874769
-   3.730689
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-   3.227639
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-   3.457189
-   3.867449
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-   4.431549
-   4.243519
-   4.050599
-   3.857679
-   3.730689
-   3.791739
-   3.921169
-   3.955359
-   3.847909
-   3.725809
-   3.611039
-   3.716039
-   4.092109
-   4.480389
-   4.814939
-   5.054259
-   5.303339
-   5.486489
-   5.672089
-   5.779529
-   5.799069
-   5.664759
-   5.291129
-   4.880879
-   4.558529
-   4.184909
-   3.889419
-   3.708719
-   3.623249
-   3.569519
-   3.718479
-   4.033499
-   4.412009
-   4.629349
-   4.558529
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-   4.741679
-   5.088449
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-   4.534109
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-   4.648889
-   4.431549
-   4.238629
-   4.065249
-   3.943149
-   3.811279
-   3.691619
-   3.652549
-   3.825929
-   4.223979
-   4.424219
-   4.429109
-   4.319219
-   4.138509
-   3.965129
-   3.886979
-   3.801509
-   3.701389
-   3.640339
-   3.767319
-   4.150719
-   4.648889
-   4.990769
-   5.088449
-   5.022509
-   4.783199
-   4.685519
-   4.665979
-   4.707499
-   4.912619
-   5.195899
-   5.415679
-   5.623249
-   5.740459
-   5.899189
-   5.928499
-   6.050599
-   6.153159
-   5.965129
-   5.586619
-   5.381489
-   5.371719
-   5.486489
-   5.567079
-   5.821049
-   5.913839
-   5.994429
-   6.011519
-   5.999309
-   6.018849
-   5.821049
-   5.728249
-   5.740459
-   5.764879
-   5.882099
-   5.926049
-   5.750229
-   5.415679
-   4.995649
-   4.861339
-   4.902859
-   5.103099
-   5.364389
-   5.596379
-   5.752669
-   5.845469
-   5.928499
-   6.006639
-   5.840579
-   5.518239
-   5.173919
-   4.739239
-   4.458409
-   4.426669
-   4.602489
-   4.822269
-   5.183689
-   5.430329
-   5.652549
-   5.821049
-   5.706269
-   5.369279
-   5.027399
-   4.705049
-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB01BD EXAMPLE PROGRAM RESULTS
-
-
- The system state matrix A is 
-   0.8924   0.3887   0.1285   0.1716
-  -0.0837   0.6186  -0.6273  -0.4582
-   0.0052   0.1307   0.6685  -0.6755
-   0.0055   0.0734  -0.2148   0.4788
-
- The system output matrix C is 
-  -0.4442   0.6663   0.3961   0.4102
-
- The system input matrix B is 
-  -0.2142
-  -0.1968
-   0.0525
-   0.0361
-
- The system input-output matrix D is 
-  -0.0041
-
- The Kalman gain matrix K is 
-  -1.9513
-  -0.1867
-   0.6348
-  -0.3486
-
- The state covariance matrix Q is 
-   0.0052   0.0005  -0.0017   0.0009
-   0.0005   0.0000  -0.0002   0.0001
-  -0.0017  -0.0002   0.0006  -0.0003
-   0.0009   0.0001  -0.0003   0.0002
-
- The output covariance matrix Ry is 
-   0.0012
-
- The state-output cross-covariance matrix S is 
-  -0.0025
-  -0.0002
-   0.0008
-  -0.0005
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01CD">IB01CD</A></H2>
-<H3>
-Estimating the initial state and system matrices B and D using A, B, and input-output data (driver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the initial state and, optionally, the system matrices
-  B  and  D  of a linear time-invariant (LTI) discrete-time system,
-  given the system matrices  (A,B,C,D),  or (when  B  and  D  are
-  estimated) only the matrix pair  (A,C),  and the input and output
-  trajectories of the system. The model structure is :
-
-        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
-        y(k)   = Cx(k) + Du(k),
-
-  where  x(k)  is the  n-dimensional state vector (at time k),
-         u(k)  is the  m-dimensional input vector,
-         y(k)  is the  l-dimensional output vector,
-  and  A, B, C, and D  are real matrices of appropriate dimensions.
-  The input-output data can internally be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01CD( JOBX0, COMUSE, JOB, N, M, L, NSMP, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0, V,
-     $                   LDV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU, LDV,
-     $                   LDWORK, LDY, M, N, NSMP
-      CHARACTER          COMUSE, JOB, JOBX0
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  U(LDU, *), V(LDV, *), X0(*),
-     $                   Y(LDY, *)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX0   CHARACTER*1
-          Specifies whether or not the initial state should be
-          computed, as follows:
-          = 'X':  compute the initial state x(0);
-          = 'N':  do not compute the initial state (possibly,
-                  because x(0) is known to be zero).
-
-  COMUSE  CHARACTER*1
-          Specifies whether the system matrices B and D should be
-          computed or used, as follows:
-          = 'C':  compute the system matrices B and D, as specified
-                  by JOB;
-          = 'U':  use the system matrices B and D, as specified by
-                  JOB;
-          = 'N':  do not compute/use the matrices B and D.
-          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'N',  then  x(0)  is set
-          to zero.
-          If  JOBX0 = 'N'  and  COMUSE =  'N',  then  x(0)  is
-          neither computed nor set to zero.
-
-  JOB     CHARACTER*1
-          If  COMUSE = 'C'  or  'U',  specifies which of the system
-          matrices  B and D  should be computed or used, as follows:
-          = 'B':  compute/use the matrix B only (D is known to be
-                  zero);
-          = 'D':  compute/use the matrices B and D.
-          The value of  JOB  is irrelevant if  COMUSE = 'N'  or if
-          JOBX0 = 'N'  and  COMUSE = 'U'.
-          The combinations of options, the data used, and the
-          returned results, are given in the table below, where
-          '*'  denotes an irrelevant value.
-
-           JOBX0   COMUSE    JOB     Data used    Returned results
-          ----------------------------------------------------------
-             X       C        B       A,C,u,y          x,B
-             X       C        D       A,C,u,y          x,B,D
-             N       C        B       A,C,u,y          x=0,B
-             N       C        D       A,C,u,y          x=0,B,D
-          ----------------------------------------------------------
-             X       U        B      A,B,C,u,y            x
-             X       U        D      A,B,C,D,u,y          x
-             N       U        *          -               x=0
-          ----------------------------------------------------------
-             X       N        *        A,C,y              x
-             N       N        *          -                -
-          ----------------------------------------------------------
-
-          For  JOBX0 = 'N'  and  COMUSE = 'N',  the routine just
-          sets  DWORK(1)  to 2 and  DWORK(2)  to 1, and returns
-          (see the parameter DWORK).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t).
-          NSMP &gt;= 0,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
-          NSMP &gt;= N,            if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
-          NSMP &gt;= N*M + a + e,  if  COMUSE = 'C',
-          where   a = 0,  if  JOBX0 = 'N';
-                  a = N,  if  JOBX0 = 'X';
-                  e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
-                  e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
-                  e = M,  if  JOB   = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading N-by-N
-          part of this array must contain the system state matrix A.
-          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
-          array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C';
-          LDA &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-  B       (input or output) DOUBLE PRECISION array, dimension
-          (LDB,M)
-          If  JOBX0 = 'X'  and  COMUSE = 'U',  B  is an input
-          parameter and, on entry, the leading N-by-M part of this
-          array must contain the system input matrix  B.
-          If  COMUSE = 'C',  B  is an output parameter and, on exit,
-          if  INFO = 0,  the leading N-by-M part of this array
-          contains the estimated system input matrix  B.
-          If  min(N,M) = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
-          or  COMUSE = 'N',  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N),  if  M &gt; 0,  COMUSE = 'U',  JOBX0 = 'X',
-                            or  M &gt; 0,  COMUSE = 'C';
-          LDB &gt;= 1,         if  min(N,M) = 0,  or  COMUSE = 'N',
-                            or  JOBX0  = 'N'  and  COMUSE = 'U'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading L-by-N
-          part of this array must contain the system output
-          matrix  C.
-          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
-          array is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= L,  if  N &gt; 0, and  JOBX0 = 'X'  or  COMUSE = 'C';
-          LDC &gt;= 1,  if  N = 0, or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-  D       (input or output) DOUBLE PRECISION array, dimension
-          (LDD,M)
-          If  JOBX0 = 'X',  COMUSE = 'U',  and  JOB = 'D',  D  is an
-          input parameter and, on entry, the leading L-by-M part of
-          this array must contain the system input-output matrix  D.
-          If  COMUSE = 'C'  and  JOB = 'D',  D  is an output
-          parameter and, on exit, if  INFO = 0,  the leading
-          L-by-M part of this array contains the estimated system
-          input-output matrix  D.
-          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
-          COMUSE = 'N',  or  JOB = 'B',  this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if  M &gt; 0,   JOBX0 = 'X',  COMUSE = 'U',  and
-                                                JOB = 'D',  or
-                     if  M &gt; 0,  COMUSE = 'C',  and  JOB = 'D';
-          LDD &gt;= 1,  if  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
-                     or  COMUSE = 'N',  or  JOB = 'B'.
-
-  U       (input or input/output) DOUBLE PRECISION array, dimension
-          (LDU,M)
-          On entry, if  COMUSE = 'C',  or  JOBX0 = 'X'  and
-          COMUSE = 'U',  the leading NSMP-by-M part of this array
-          must contain the t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          On exit, if  COMUSE = 'C'  and  JOB = 'D',  the leading
-          NSMP-by-M part of this array contains details of the
-          QR factorization of the t-by-m matrix  U,  possibly
-          computed sequentially (see METHOD).
-          If  COMUSE = 'C'  and  JOB = 'B',  or  COMUSE = 'U',  this
-          array is unchanged on exit.
-          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
-          COMUSE = 'N',  this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,NSMP),  if  M &gt; 0    and  COMUSE = 'C'  or
-                               JOBX0 = 'X'  and  COMUSE = 'U;
-          LDU &gt;= 1,            if  M = 0,   or   COMUSE = 'N',  or
-                               JOBX0 = 'N'  and  COMUSE = 'U'.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          On entry, if  JOBX0 = 'X'  or  COMUSE = 'C',  the leading
-          NSMP-by-L part of this array must contain the t-by-l
-          output-data sequence matrix  Y,  Y = [y_1 y_2 ... y_l].
-          Column  j  of  Y  contains the  NSMP  values of the j-th
-          output component for consecutive time increments.
-          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
-          referenced.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.
-          LDY &gt;= MAX(1,NSMP),  if  JOBX0 = 'X'  or   COMUSE = 'C;
-          LDY &gt;= 1,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          If  INFO = 0  and  JOBX0 = 'X',  this array contains the
-          estimated initial state of the system,  x(0).
-          If  JOBX0 = 'N'  and  COMUSE = 'C',  this array is used as
-          workspace and finally it is set to zero.
-          If  JOBX0 = 'N'  and  COMUSE = 'U',  then  x(0)  is set to
-          zero without any calculations.
-          If  JOBX0 = 'N'  and  COMUSE = 'N',  this array is not
-          referenced.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
-          On exit, if  INFO = 0  or 2,  JOBX0 = 'X'  or
-          COMUSE = 'C',  the leading N-by-N part of this array
-          contains the orthogonal matrix V of a real Schur
-          factorization of the matrix  A.
-          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
-          referenced.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C;
-          LDV &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  a matrix whose estimated condition
-          number is less than  1/TOL  is considered to be of full
-          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
-          instead, where  EPS  is the relative machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= 0,          if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
-          LIWORK &gt;= N,          if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
-          LIWORK &gt;= N*M + a,        if COMUSE = 'C' and JOB = 'B',
-          LIWORK &gt;= max(N*M + a,M), if COMUSE = 'C' and JOB = 'D',
-          with  a = 0,  if  JOBX0 = 'N';
-                a = N,  if  JOBX0 = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK;  DWORK(2)  contains the reciprocal condition
-          number of the triangular factor of the QR factorization of
-          the matrix  W2,  if  COMUSE = 'C',  or of the matrix
-          Gamma,  if  COMUSE = 'U'  (see METHOD); if  JOBX0 = 'N'
-          and  COMUSE &lt;&gt; 'C',  DWORK(2)  is set to one;
-          if  COMUSE = 'C',  M &gt; 0,  and  JOB = 'D',   DWORK(3)
-          contains the reciprocal condition number of the triangular
-          factor of the QR factorization of  U;  denoting
-             g = 2,  if  JOBX0  = 'X'  and  COMUSE &lt;&gt; 'C'  or
-                         COMUSE = 'C'  and  M = 0  or   JOB = 'B',
-             g = 3,  if  COMUSE = 'C'  and  M &gt; 0  and  JOB = 'D',
-          then  DWORK(i), i = g+1:g+N*N,
-                DWORK(j), j = g+1+N*N:g+N*N+L*N,  and
-                DWORK(k), k = g+1+N*N+L*N:g+N*N+L*N+N*M,
-          contain the transformed system matrices  At, Ct, and Bt,
-          respectively, corresponding to the real Schur form of the
-          given system state matrix  A,  i.e.,
-             At = V'*A*V,  Bt = V'*B,  Ct = C*V.
-          The matrices  At, Ct, Bt  are not computed if  JOBX0 = 'N'
-          and  COMUSE &lt;&gt; 'C'.
-          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2,  if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  or
-                        if  max( N, M ) = 0.
-          Otherwise,
-          LDWORK &gt;= LDW1 + N*( N + M + L ) +
-                           max( 5*N, LDW1, min( LDW2, LDW3 ) ),
-          where, if  COMUSE = 'C',  then
-          LDW1 = 2,          if  M = 0  or   JOB = 'B',
-          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
-          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
-          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
-          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-          LDWb = (b + r)*(r + 1) +
-                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
-          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
-          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-             r = N*M + a,
-             a = 0,                  if  JOBX0 = 'N',
-             a = N,                  if  JOBX0 = 'X';
-             b = 0,                  if  JOB   = 'B',
-             b = L*M,                if  JOB   = 'D';
-             c = 0,                  if  JOBX0 = 'N',
-             c = L*N,                if  JOBX0 = 'X';
-             d = 0,                  if  JOBX0 = 'N',
-             d = 2*N*N + N,          if  JOBX0 = 'X';
-             f = 2*r,                if  JOB   = 'B'   or  M = 0,
-             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
-             q = b + r*L;
-          and, if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  then
-          LDW1 = 2,
-          LDW2 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
-          LDW3 = N*(N + 1) + 2*N + max( q*(N + 1) + 2*N*N + L*N,
-                                        4*N ),
-             q = N*L.
-          For good performance,  LDWORK  should be larger.
-          If  LDWORK &gt;= LDW2,  or if  COMUSE = 'C'  and
-              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
-                        max( d, f ),
-          then standard QR factorizations of the matrices  U  and/or
-          W2,  if  COMUSE = 'C',  or of the matrix  Gamma,  if
-          JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C'  (see METHOD), are used.
-          Otherwise, the QR factorizations are computed sequentially
-          by performing  NCYCLE  cycles, each cycle (except possibly
-          the last one) processing  s &lt; t  samples, where  s  is
-          chosen by equating  LDWORK  to the first term of  LDWb,
-          if  COMUSE = 'C',  or of  LDW3,  if  COMUSE &lt;&gt; 'C',  for
-          q  replaced by  s*L.  (s  is larger than or equal to the
-          minimum value of  NSMP.)  The computational effort may
-          increase and the accuracy may slightly decrease with the
-          decrease of  s.  Recommended value is  LDWORK = LDW2,
-          assuming a large enough cache size, to also accommodate
-          A,  (B,)  C,  (D,)  U,  and  Y.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix;
-          = 6:  the matrix  A  is unstable;  the estimated  x(0)
-                and/or  B and D  could be inaccurate.
-          NOTE: the value 4 of  IWARN  has no significance for the
-                identification problem.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the QR algorithm failed to compute all the
-                eigenvalues of the matrix A (see LAPACK Library
-                routine DGEES); the locations  DWORK(i),  for
-                i = g+1:g+N*N,  contain the partially converged
-                Schur form;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix  A  is initially reduced to a real Schur form, A = V*At*V',
-  and the given system matrices are transformed accordingly. For the
-  reduced system, an extension and refinement of the method in [1,2]
-  is used. Specifically, for  JOBX0 = 'X',  COMUSE = 'C',  and
-  JOB = 'D',  denoting
-
-        X = [ vec(D')' vec(B)' x0' ]',
-
-  where  vec(M)  is the vector obtained by stacking the columns of
-  the matrix  M,  then  X  is the least squares solution of the
-  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
-  defined by
-
-        ( U         |     | ... |     |     | ... |     |         )
-        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
-    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
-        (       :   |     | ... |     |     | ... |     |         )
-        (         U |     | ... |     |     | ... |     |         )
-                                                                  ij
-  diag(U)  having  L  block rows and columns.  In this formula,  y
-  are the outputs of the system for zero initial state computed
-  using the following model, for j = 1:m, and for i = 1:n,
-         ij          ij                    ij
-        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
-
-         ij          ij
-        y  (k)   = Cx  (k),
-
-  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
-  given by
-
-             (     C     )
-             (    C*A    )
-     Gamma = (   C*A^2   ),
-             (     :     )
-             ( C*A^(t-1) )
-
-  and  P  is a permutation matrix that groups together the rows of
-  Gamma  depending on the same row of  C,  namely
-  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
-  The first block column,  diag(U),  is not explicitly constructed,
-  but its structure is exploited. The last block column is evaluated
-  using powers of A with exponents 2^k. No interchanges are applied.
-  A special QR decomposition of the matrix  S  is computed. Let
-  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
-  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
-  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
-  matrix  S  becomes
-
-     ( diag(r)  W1 )
-     (    0     W2 ),
-
-  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
-  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
-  The intermediate results and the QR decomposition of  U  are
-  needed to find  D.  If a triangular factor is too ill conditioned,
-  then singular value decomposition (SVD) is employed. SVD is not
-  generally needed if the input sequence is sufficiently
-  persistently exciting and  NSMP  is large enough.
-  If the matrix  W  cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
-  computed sequentially.
-  For  JOBX0 = 'N'  and  COMUSE = 'C',  or  JOB = 'B',  a simpler
-  problem is solved efficiently.
-
-  For  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  a simpler method is used.
-  Specifically, the output y0(k) of the system for zero initial
-  state is computed for k = 0, 1, ...,  t-1 using the given model.
-  Then the following least squares problem is solved for x(0)
-
-                      (   y(0) - y0(0)   )
-                      (   y(1) - y0(1)   )
-     Gamma * x(0)  =  (        :         ).
-                      (        :         )
-                      ( y(t-1) - y0(t-1) )
-
-  The coefficient matrix  Gamma  is evaluated using powers of A with
-  exponents 2^k. The QR decomposition of this matrix is computed.
-  If its triangular factor  R  is too ill conditioned, then singular
-  value decomposition of  R  is used.
-  If the coefficient matrix cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW2),  the QR decomposition is computed sequentially.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Varga, A.
-      Some Experience with the MOESP Class of Subspace Model
-      Identification Methods in Identifying the BO105 Helicopter.
-      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
-
-  [2] Sima, V., and Varga, A.
-      RASP-IDENT : Subspace Model Identification Programs.
-      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
-      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The algorithm for computing the system matrices  B  and  D  is
-  less efficient than the MOESP or N4SID algorithms implemented in
-  SLICOT Library routines IB01BD/IB01PD, because a large least
-  squares problem has to be solved, but the accuracy is better, as
-  the computed matrices  B  and  D  are fitted to the input and
-  output trajectories. However, if matrix  A  is unstable, the
-  computed matrices  B  and  D  could be inaccurate.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB01CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LDA, LDB, LDC, LDD, LDR, LDU, LDV, LDW1, LDW2,
-     $                 LDW4, LDW5, LDWORK, LDY, LIWORK, LMAX, MMAX,
-     $                 NMAX, NOBRMX, NSMPMX
-      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
-     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
-     $                   LDC  = LMAX, LDD = LMAX, LDV = NMAX,
-     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
-     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
-     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
-     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
-     $                               LMAX*NOBRMX*NMAX +
-     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    3*NMAX + LMAX +
-     $                                    ( 2*MMAX + LMAX )*NOBRMX,
-     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    NMAX*NMAX + 8*NMAX,
-     $                                    NMAX +
-     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
-     $                   LDW2 = LMAX*NOBRMX*NMAX +
-     $                          MMAX*NOBRMX*( NMAX + LMAX )*
-     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                          MAX( ( NMAX + LMAX )**2,
-     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                   LDW4 = NSMPMX*LMAX*NMAX*( MMAX + 1 ) +
-     $                          MAX( NMAX +
-     $                               MAX( 2*NMAX*NMAX + NMAX,
-     $                                    MMAX +
-     $                                    MAX( 2*NMAX*( MMAX + 1 ),
-     $                                         MMAX ),
-     $                                    6*NMAX*( MMAX + 1 ) ),
-     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
-     $                   LDW5 = ( LMAX*MMAX + NMAX*( MMAX + 1 ) )*
-     $                          NMAX*( MMAX + 1 ) +
-     $                          MAX( ( LMAX*MMAX +
-     $                               LMAX*NMAX*( MMAX + 1 ) )*
-     $                               NMAX*( MMAX + 1 ) +
-     $                               NMAX*NMAX*MMAX + LMAX*NMAX +
-     $                               MAX( 2*NMAX*NMAX + NMAX,
-     $                                    MMAX +
-     $                                    MAX( 2*NMAX*( MMAX + 1 ),
-     $                                         MMAX ),
-     $                                    6*NMAX*( MMAX + 1 ) ),
-     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
-     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
-     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
-     $                                 ( MMAX + LMAX + 2 ) - 2 ),
-     $                                 ( MMAX + LMAX )*4*NOBRMX*
-     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
-     $                                 3 + ( NMAX + MMAX + LMAX )*NMAX +
-     $                                 MAX( 5*NMAX, 3,
-     $                                      MIN( LDW4, LDW5 ) ) ),
-     $                   LDY = NSMPMX,
-     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
-     $                                 MMAX*NOBRMX + NMAX,
-     $                                 MMAX*( NMAX + LMAX ),
-     $                                 NMAX*MMAX + NMAX, MMAX )
-     $                 )
-*     .. Local Scalars ..
-      LOGICAL          NGIVEN
-      CHARACTER        ALG, BATCH, COMUSE, CONCT, CTRL, JOB, JOBBD,
-     $                 JOBCK, JOBD, JOBDA, JOBX0, METH, METHA
-      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
-     $                 NGIV, NOBR, NSAMPL, NSMP
-      DOUBLE PRECISION RCOND, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
-     $                 D(LDD, MMAX), DUM(1), DWORK(LDWORK),
-     $                 R(LDR, 2*(MMAX+LMAX)*NOBRMX),
-     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), V(LDV, NMAX),
-     $                 X0(NMAX), Y(LDY, LMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         IB01AD, IB01BD, IB01CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     If the value of N is positive, it will be taken as system order.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
-      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
-     $                      COMUSE, JOBX0
-      IF ( LSAME( BATCH, 'F' ) ) THEN
-         READ ( NIN, FMT = * ) NCYCLE
-      ELSE
-         NCYCLE = 1
-      END IF
-      NSAMPL = NCYCLE*NSMP
-*
-      NGIVEN = N.GT.0
-      IF( NGIVEN )
-     $   NGIV = N
-      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) NOBR
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) L
-      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
-     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'O' ) ) .OR.
-     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'L' ) ) .OR.
-     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
-     $                                 LSAME( BATCH, 'I' ) ) ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NSMP
-      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NCYCLE
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) N
-      ELSE
-*        Read the matrices U and Y from the input file.
-         IF ( M.GT.0 )
-     $      READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
-         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
-*        Force some options, depending on the specifications.
-         IF ( LSAME( METH, 'C' ) ) THEN
-            METHA = 'M'
-            JOBDA = 'N'
-         ELSE
-            METHA = METH
-            JOBDA = JOBD
-         END IF
-*        The covariances and Kalman gain matrix are not computed.
-         JOBCK = 'N'
-         IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
-            JOBBD = 'D'
-         ELSE
-            JOBBD = JOB
-         END IF
-         IF ( LSAME( COMUSE, 'C' ) ) THEN
-            JOB = 'C'
-         ELSE IF ( LSAME( COMUSE, 'U' ) ) THEN
-            JOB = 'A'
-         END IF
-*        Compute the  R  factor from a QR (or Cholesky) factorization
-*        of the Hankel-like matrix (or correlation matrix).
-         DO 10 ICYCLE = 1, NCYCLE
-            II = ( ICYCLE - 1 )*NSMP + 1
-            IF ( NCYCLE.GT.1 ) THEN
-               IF ( ICYCLE.GT.1 )      BATCH = 'I'
-               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
-            END IF
-            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
-     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-   10    CONTINUE
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99990 ) IWARN
-            IF( NGIVEN )
-     $         N = NGIV
-*           Compute the system matrices and x0.
-            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, DUM, 1,
-     $                   DUM, 1, DUM, 1, DUM, 1, RCOND, IWORK, DWORK,
-     $                   LDWORK, BWORK, IWARN, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99982 ) INFO
-            ELSE
-               IF ( IWARN.NE.0 )
-     $            WRITE ( NOUT, FMT = 99981 ) IWARN
-               CALL IB01CD( JOBX0, COMUSE, JOBBD, N, M, L, NSMP, A, LDA,
-     $                      B, LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0,
-     $                      V, LDV, RCOND, IWORK, DWORK, LDWORK, IWARN,
-     $                      INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) INFO
-               ELSE
-                  IF ( IWARN.NE.0 )
-     $               WRITE ( NOUT, FMT = 99991 ) IWARN
-                  IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
-                     WRITE ( NOUT, FMT = 99989 )
-                     DO 20 I = 1, N
-                        WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99987 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
-   30                CONTINUE
-                  END IF
-                  IF ( LSAME( COMUSE, 'C' ) ) THEN
-                     WRITE ( NOUT, FMT = 99986 )
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
-   40                CONTINUE
-                     IF ( LSAME( JOBBD, 'D' ) ) THEN
-                        WRITE ( NOUT, FMT = 99985 )
-                        DO 50 I = 1, L
-                           WRITE ( NOUT, FMT = 99988 )
-     $                           ( D(I,J), J = 1,M )
-   50                   CONTINUE
-                     END IF
-                  END IF
-                  IF ( LSAME( JOBX0, 'X' ) ) THEN
-                     WRITE ( NOUT, FMT = 99984 )
-                     WRITE ( NOUT, FMT = 99988 ) ( X0(I), I = 1,N )
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( ' IB01CD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
-99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
-99996 FORMAT (/' M is out of range.',/' M = ', I5)
-99995 FORMAT (/' L is out of range.',/' L = ', I5)
-99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
-99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
-99992 FORMAT ( ' INFO on exit from IB01CD = ',I2)
-99991 FORMAT ( ' IWARN on exit from IB01CD = ',I2)
-99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
-99989 FORMAT (/' The system state matrix A is ')
-99988 FORMAT (20(1X,F8.4))
-99987 FORMAT (/' The system output matrix C is ')
-99986 FORMAT (/' The system input matrix B is ')
-99985 FORMAT (/' The system input-output matrix D is ')
-99984 FORMAT (/' The initial state vector x0 is ')
-99983 FORMAT (/' N is out of range.',/' N = ', I5)
-99982 FORMAT ( ' INFO on exit from IB01BD = ',I2)
-99981 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB01CD EXAMPLE PROGRAM DATA
-  15     0     1     1  1000    0.0   -1.0
-   C     C     N     O     N     N     A     C     X
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-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB01CD EXAMPLE PROGRAM RESULTS
-
-
- The system state matrix A is 
-   0.8924   0.3887   0.1285   0.1716
-  -0.0837   0.6186  -0.6273  -0.4582
-   0.0052   0.1307   0.6685  -0.6755
-   0.0055   0.0734  -0.2148   0.4788
-
- The system output matrix C is 
-  -0.4442   0.6663   0.3961   0.4102
-
- The system input matrix B is 
-  -0.2150
-  -0.1962
-   0.0511
-   0.0373
-
- The system input-output matrix D is 
-  -0.0018
-
- The initial state vector x0 is 
- -11.4329  -0.6767   0.0472   0.3600
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,370 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01MD">IB01MD</A></H2>
-<H3>
-Upper triangular factor in the QR factorization of the block-Hankel matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct an upper triangular factor  R  of the concatenated
-  block Hankel matrices using input-output data.  The input-output
-  data can, optionally, be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01MD( METH, ALG, BATCH, CONCT, NOBR, M, L, NSMP, U,
-     $                   LDU, Y, LDY, R, LDR, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
-     $                   NSMP
-      CHARACTER          ALG, BATCH, CONCT, METH
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  ALG     CHARACTER*1
-          Specifies the algorithm for computing the triangular
-          factor R, as follows:
-          = 'C':  Cholesky algorithm applied to the correlation
-                  matrix of the input-output data;
-          = 'F':  Fast QR algorithm;
-          = 'Q':  QR algorithm applied to the concatenated block
-                  Hankel matrices.
-
-  BATCH   CHARACTER*1
-          Specifies whether or not sequential data processing is to
-          be used, and, for sequential processing, whether or not
-          the current data block is the first block, an intermediate
-          block, or the last block, as follows:
-          = 'F':  the first block in sequential data processing;
-          = 'I':  an intermediate block in sequential data
-                  processing;
-          = 'L':  the last block in sequential data processing;
-          = 'O':  one block only (non-sequential data processing).
-          NOTE that when  100  cycles of sequential data processing
-               are completed for  BATCH = 'I',  a warning is
-               issued, to prevent for an infinite loop.
-
-  CONCT   CHARACTER*1
-          Specifies whether or not the successive data blocks in
-          sequential data processing belong to a single experiment,
-          as follows:
-          = 'C':  the current data block is a continuation of the
-                  previous data block and/or it will be continued
-                  by the next data block;
-          = 'N':  there is no connection between the current data
-                  block and the previous and/or the next ones.
-          This parameter is not used if BATCH = 'O'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices to be processed.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-          When M = 0, no system inputs are processed.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t). (When sequential data processing is used,
-          NSMP  is the number of samples of the current data
-          block.)
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
-                                       processing;
-          NSMP &gt;= 2*NOBR,  for sequential processing.
-          The total number of samples when calling the routine with
-          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
-          The  NSMP  argument may vary from a cycle to another in
-          sequential data processing, but  NOBR, M,  and  L  should
-          be kept constant. For efficiency, it is advisable to use
-          NSMP  as large as possible.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NSMP-by-M part of this array must contain the
-          t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= NSMP, if M &gt; 0;
-          LDU &gt;= 1,    if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= NSMP.
-
-  R       (output or input/output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On exit, if INFO = 0 and ALG = 'Q', or (ALG = 'C' or 'F',
-          and BATCH = 'L' or 'O'), the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
-          this array contains the (current) upper triangular factor
-          R from the QR factorization of the concatenated block
-          Hankel matrices. The diagonal elements of R are positive
-          when the Cholesky algorithm was successfully used.
-          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the current upper triangular part of the
-          correlation matrix in sequential data processing.
-          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
-          referenced.
-          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
-          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
-          triangular part of this array must contain the upper
-          triangular matrix R computed at the previous call of this
-          routine in sequential data processing. The array R need
-          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(3,M+L), if ALG = 'F';
-          LIWORK &gt;= 3,          if ALG = 'C' or 'Q'.
-          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
-          must contain the values of ICYCLE, MAXWRK, and NSMPSM
-          set by the previous call of this routine.
-          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
-          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
-          used by the next call of the routine.
-          ICYCLE  counts the cycles for  BATCH = 'I'.
-          MAXWRK  stores the current optimal workspace.
-          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
-          The first three elements of  IWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          Let
-          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
-          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
-          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
-          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
-          The first (M+L)*k elements of  DWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  'I',  till the final call with  BATCH = 'L'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH &lt;&gt; 'O' and
-                                  CONCT = 'C';
-          LDWORK &gt;= 1,            if ALG = 'C', BATCH = 'O' or
-                                  CONCT = 'N';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-                                  BATCH &lt;&gt; 'O' and CONCT = 'C';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-                                  BATCH = 'F', 'I' and CONCT = 'N';
-          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-                                  BATCH = 'L' and CONCT = 'N', or
-                                  BATCH = 'O';
-          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
-                                  and LDR &gt;= NS = NSMP - 2*NOBR + 1;
-          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
-                                  and LDR &lt; NS, or BATCH = 'I' or
-                                  'L' and CONCT = 'N';
-          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
-                                  or 'L' and CONCT = 'C'.
-          The workspace used for ALG = 'Q' is
-                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
-          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
-          value LDRWRK = NS, assuming a large enough cache size.
-          For good performance,  LDWORK  should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the number of 100 cycles in sequential data
-                processing has been exhausted without signaling
-                that the last block of data was get; the cycle
-                counter was reinitialized;
-          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
-                but it failed, and the QR algorithm was then used
-                (non-sequential data processing).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
-                in sequential data processing, but it failed. The
-                routine can be repeatedly called again using the
-                standard QR algorithm.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  1) For non-sequential data processing using QR algorithm, a
-  t x 2(m+l)s  matrix H is constructed, where
-
-       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
-               s+1,2s,t    1,s,t   1,2s,t
-
-       H = [ U'       Y'      ],              for METH = 'N',
-              1,2s,t   1,2s,t
-
-  and  Up     , Uf        , U      , and  Y        are block Hankel
-         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
-  matrices defined in terms of the input and output data [3].
-  A QR factorization is used to compress the data.
-  The fast QR algorithm uses a QR factorization which exploits
-  the block-Hankel structure. Actually, the Cholesky factor of H'*H
-  is computed.
-
-  2) For sequential data processing using QR algorithm, the QR
-  decomposition is done sequentially, by updating the upper
-  triangular factor  R.  This is also performed internally if the
-  workspace is not large enough to accommodate an entire batch.
-
-  3) For non-sequential or sequential data processing using
-  Cholesky algorithm, the correlation matrix of input-output data is
-  computed (sequentially, if requested), taking advantage of the
-  block Hankel structure [7].  Then, the Cholesky factor of the
-  correlation matrix is found, if possible.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Peternell, K., Scherrer, W. and Deistler, M.
-      Statistical Analysis of Novel Subspace Identification Methods.
-      Signal Processing, 52, pp. 161-177, 1996.
-
-  [6] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-  [7] Sima, V.
-      Cholesky or QR Factorization for Data Compression in
-      Subspace-based Identification ?
-      Proceedings of the Second NICONET Workshop on ``Numerical
-      Control Software: SLICOT, a Useful Tool in Industry'',
-      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable (when QR algorithm is
-  used), reliable and efficient. The fast Cholesky or QR algorithms
-  are more efficient, but the accuracy could diminish by forming the
-  correlation matrix.
-                                     2
-  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
-                                        2              3
-  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
-  point operations.
-                                       2           3 2
-  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
-  point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
-  calculations could be rather inefficient if only minimal workspace
-  (see argument LDWORK) is provided. It is advisable to provide as
-  much workspace as possible. Almost optimal efficiency can be
-  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
-  cache size is large enough to accommodate R, U, Y, and DWORK.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01MY.html b/doc/_build/html/_static/doc/IB01MY.html
deleted file mode 100644
index 27fa5187..00000000
--- a/doc/_build/html/_static/doc/IB01MY.html
+++ /dev/null
@@ -1,293 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01MY">IB01MY</A></H2>
-<H3>
-Upper triangular factor in the QR factorization of the block Hankel matrix, using a fast QR algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct an upper triangular factor  R  of the concatenated
-  block Hankel matrices using input-output data, via a fast QR
-  algorithm based on displacement rank.  The input-output data can,
-  optionally, be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01MY( METH, BATCH, CONCT, NOBR, M, L, NSMP, U, LDU,
-     $                   Y, LDY, R, LDR, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
-     $                   NSMP
-      CHARACTER          BATCH, CONCT, METH
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  BATCH   CHARACTER*1
-          Specifies whether or not sequential data processing is to
-          be used, and, for sequential processing, whether or not
-          the current data block is the first block, an intermediate
-          block, or the last block, as follows:
-          = 'F':  the first block in sequential data processing;
-          = 'I':  an intermediate block in sequential data
-                  processing;
-          = 'L':  the last block in sequential data processing;
-          = 'O':  one block only (non-sequential data processing).
-          NOTE that when  100  cycles of sequential data processing
-               are completed for  BATCH = 'I',  a warning is
-               issued, to prevent for an infinite loop.
-
-  CONCT   CHARACTER*1
-          Specifies whether or not the successive data blocks in
-          sequential data processing belong to a single experiment,
-          as follows:
-          = 'C':  the current data block is a continuation of the
-                  previous data block and/or it will be continued
-                  by the next data block;
-          = 'N':  there is no connection between the current data
-                  block and the previous and/or the next ones.
-          This parameter is not used if BATCH = 'O'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices to be processed.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n, the
-          estimated dimension of state vector.)
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-          When M = 0, no system inputs are processed.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t). (When sequential data processing is used,
-          NSMP  is the number of samples of the current data
-          block.)
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
-                                       processing;
-          NSMP &gt;= 2*NOBR,  for sequential processing.
-          The total number of samples when calling the routine with
-          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
-          The  NSMP  argument may vary from a cycle to another in
-          sequential data processing, but  NOBR, M,  and  L  should
-          be kept constant. For efficiency, it is advisable to use
-          NSMP  as large as possible.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NSMP-by-M part of this array must contain the
-          t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= NSMP, if M &gt; 0;
-          LDU &gt;= 1,    if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= NSMP.
-
-  R       (output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          If INFO = 0 and BATCH = 'L' or 'O', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the upper triangular factor R from the
-          QR factorization of the concatenated block Hankel
-          matrices.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension MAX(3,M+L)
-          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
-          must contain the values of ICYCLE, MAXWRK, and NSMPSM
-          set by the previous call of this routine.
-          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
-          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
-          used by the next call of the routine.
-          ICYCLE  counts the cycles for  BATCH = 'I'.
-          MAXWRK  stores the current optimal workspace.
-          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
-          The first three elements of  IWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          The first (M+L)*2*NOBR*(M+L+c) elements of  DWORK  should
-          be preserved during successive calls of the routine
-          with  BATCH = 'F'  or  'I',  till the final call with
-          BATCH = 'L',  where
-          c = 1,  if the successive data blocks do not belong to a
-                  single experiment  (CONCT = 'N');
-          c = 2,  if the successive data blocks belong to a single
-                  experiment  (CONCT = 'C').
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3),
-                           if BATCH &lt;&gt; 'O' and CONCT = 'C';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1),
-                           if BATCH = 'F' or 'I' and CONCT = 'N';
-          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR,
-                           if BATCH = 'L' and CONCT = 'N',
-                           or BATCH = 'O'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA. The workspace query should be done
-          for BATCH = 'L' or BATCH = 'O'. To get it in advance, use
-          BATCH = 'O'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the number of 100 cycles in sequential data
-                processing has been exhausted without signaling
-                that the last block of data was get.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the fast QR factorization algorithm failed. The
-                matrix H'*H is not (numerically) positive definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Consider the  t x 2(m+l)s  matrix H of concatenated block Hankel
-  matrices
-
-       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
-               s+1,2s,t    1,s,t   1,2s,t
-
-       H = [ U'       Y'      ],              for METH = 'N',
-              1,2s,t   1,2s,t
-
-  where  Up     , Uf        , U      , and  Y        are block
-           1,s,t    s+1,2s,t   1,2s,t        1,2s,t
-  Hankel matrices defined in terms of the input and output data [3].
-  The fast QR algorithm uses a factorization of H'*H which exploits
-  the block-Hankel structure, via a displacement rank technique [5].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Kressner, D., Mastronardi, N., Sima, V., Van Dooren, P., and
-      Van Huffel, S.
-      A Fast Algorithm for Subspace State-space System
-      Identification via Exploitation of the Displacement Structure.
-      J. Comput. Appl. Math., Vol.132, No.1, pp. 71-81, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is reliable and efficient. Numerical
-  difficulties are possible when the matrix H'*H is nearly rank
-  defficient. The method cannot be used if the matrix H'*H is not
-  numerically positive definite.
-                                  2           3 2
-  The algorithm requires 0(2t(m+l) s)+0(4(m+l) s ) floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01ND.html b/doc/_build/html/_static/doc/IB01ND.html
deleted file mode 100644
index 1d0187f1..00000000
--- a/doc/_build/html/_static/doc/IB01ND.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01ND">IB01ND</A></H2>
-<H3>
-Singular value decomposition giving the system order
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the singular value decomposition (SVD) giving the system
-  order, using the triangular factor of the concatenated block
-  Hankel matrices. Related preliminary calculations needed for
-  computing the system matrices are also performed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01ND( METH, JOBD, NOBR, M, L, R, LDR, SV, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDR, LDWORK, M, NOBR
-      CHARACTER          JOBD, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not the matrices B and D should later
-          be computed using the MOESP approach, as follows:
-          = 'M':  the matrices B and D should later be computed
-                  using the MOESP approach;
-          = 'N':  the matrices B and D should not be computed using
-                  the MOESP approach.
-          This parameter is not relevant for METH = 'N'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices.  NOBR &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On entry, the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper
-          triangular part of this array must contain the upper
-          triangular factor R from the QR factorization of the
-          concatenated block Hankel matrices. Denote  R_ij,
-          i,j = 1:4,  the ij submatrix of  R,  partitioned by
-          M*NOBR,  M*NOBR,  L*NOBR,  and  L*NOBR  rows and columns.
-          On exit, if INFO = 0, the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the matrix S, the processed upper
-          triangular factor R, as required by other subroutines.
-          Specifically, let  S_ij, i,j = 1:4,  be the ij submatrix
-          of  S,  partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and
-          L*NOBR  rows and columns. The submatrix  S_22  contains
-          the matrix of left singular vectors needed subsequently.
-          Useful information is stored in  S_11  and in the
-          block-column  S_14 : S_44.  For METH = 'M' and JOBD = 'M',
-          the upper triangular part of  S_31  contains the upper
-          triangular factor in the QR factorization of the matrix
-          R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12  contains the
-          corresponding leading part of the transformed matrix
-          R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',  the
-          subarray  S_41 : S_43  contains the transpose of the
-          matrix contained in  S_14 : S_34.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
-                               for METH = 'M' and JOBD = 'M';
-          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
-                               for METH = 'N'.
-
-  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
-          The singular values of the relevant part of the triangular
-          factor from the QR factorization of the concatenated block
-          Hankel matrices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not used for  METH = 'M'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ((M+L)*NOBR)
-          This parameter is not referenced for METH = 'M'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and, for  METH = 'N',  DWORK(2)  and  DWORK(3)
-          contain the reciprocal condition numbers of the
-          triangular factors of the matrices  U_f  and  r_1  [6].
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( (2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR ),
-                                      if METH = 'M' and JOBD = 'M';
-          LDWORK &gt;=  5*L*NOBR,        if METH = 'M' and JOBD = 'N';
-          LDWORK &gt;=  5*(M+L)*NOBR+1,  if METH = 'N'.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problems with coefficient matrix
-                U_f,  used for computing the weighted oblique
-                projection (for METH = 'N'), have a rank-deficient
-                coefficient matrix;
-          = 5:  the least squares problem with coefficient matrix
-                r_1  [6], used for computing the weighted oblique
-                projection (for METH = 'N'), has a rank-deficient
-                coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A singular value decomposition (SVD) of a certain matrix is
-  computed, which reveals the order  n  of the system as the number
-  of "non-zero" singular values. For the MOESP approach, this matrix
-  is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
-  where  R  is the upper triangular factor  R  constructed by SLICOT
-  Library routine  IB01MD.  For the N4SID approach, a weighted
-  oblique projection is computed from the upper triangular factor  R
-  and its SVD is then found.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Van Overschee, P., and De Moor, B.
-      Subspace Identification for Linear Systems: Theory -
-      Implementation - Applications.
-      Kluwer Academic Publishers, Boston/London/Dordrecht, 1996.
-
-  [6] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                                   3
-  The algorithm requires 0(((m+l)s) ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01OD.html b/doc/_build/html/_static/doc/IB01OD.html
deleted file mode 100644
index 9dff68ec..00000000
--- a/doc/_build/html/_static/doc/IB01OD.html
+++ /dev/null
@@ -1,133 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01OD">IB01OD</A></H2>
-<H3>
-Estimating the system order
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the system order, based on the singular values of the
-  relevant part of the triangular factor of the concatenated block
-  Hankel matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01OD( CTRL, NOBR, L, SV, N, TOL, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, N, NOBR
-      CHARACTER          CTRL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CTRL    CHARACTER*1
-          Specifies whether or not the user's confirmation of the
-          system order estimate is desired, as follows:
-          = 'C':  user's confirmation;
-          = 'N':  no confirmation.
-          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
-          is called, and, after inspecting the singular values and
-          system order estimate,  n,  the user may accept  n  or set
-          a new value.
-          IB01OY  is not called by the routine if CTRL = 'N'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the processed input and
-          output block Hankel matrices.  NOBR &gt; 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  SV      (input) DOUBLE PRECISION array, dimension ( L*NOBR )
-          The singular values of the relevant part of the triangular
-          factor from the QR factorization of the concatenated block
-          Hankel matrices.
-
-  N       (output) INTEGER
-          The estimated order of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Absolute tolerance used for determining an estimate of
-          the system order. If  TOL &gt;= 0,  the estimate is
-          indicated by the index of the last singular value greater
-          than or equal to  TOL.  (Singular values less than  TOL
-          are considered as zero.) When  TOL = 0,  an internally
-          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
-          where  SV(1)  is the maximal singular value, and  EPS  is
-          the relative machine precision (see LAPACK Library routine
-          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
-          index of the singular value that has the largest
-          logarithmic gap to its successor.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 3:  all singular values were exactly zero, hence  N = 0.
-                (Both input and output were identically zero.)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The singular values are compared to the given, or default TOL, and
-  the estimated order  n  is returned, possibly after user's
-  confirmation.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01OY.html b/doc/_build/html/_static/doc/IB01OY.html
deleted file mode 100644
index 3ea8fb47..00000000
--- a/doc/_build/html/_static/doc/IB01OY.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01OY">IB01OY</A></H2>
-<H3>
-User's confirmation of the system order
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To ask for user's confirmation of the system order found by
-  SLICOT Library routine IB01OD. This routine may be modified,
-  but its interface must be preserved.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01OY( NS, NMAX, N, SV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, N, NMAX, NS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   SV( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NS      (input) INTEGER
-          The number of singular values.  NS &gt; 0.
-
-  NMAX    (input) INTEGER
-          The maximum value of the system order.  0 &lt;= NMAX &lt;= NS.
-
-  N       (input/output) INTEGER
-          On entry, the estimate of the system order computed by
-          IB01OD routine.  0 &lt;= N &lt;= NS.
-          On exit, the user's estimate of the system order, which
-          could be identical with the input value of  N.
-          Note that the output value of  N  should be less than
-          or equal to  NMAX.
-
-  SV      (input) DOUBLE PRECISION array, dimension ( NS )
-          The singular values, in descending order, used for
-          determining the system order.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01PD.html b/doc/_build/html/_static/doc/IB01PD.html
deleted file mode 100644
index acb3f1ce..00000000
--- a/doc/_build/html/_static/doc/IB01PD.html
+++ /dev/null
@@ -1,406 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01PD">IB01PD</A></H2>
-<H3>
-Estimating system matrices and covariances
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the matrices A, C, B, and D of a linear time-invariant
-  (LTI) state space model, using the singular value decomposition
-  information provided by other routines. Optionally, the system and
-  noise covariance matrices, needed for the Kalman gain, are also
-  determined.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01PD( METH, JOB, JOBCV, NOBR, N, M, L, NSMPL, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
-     $                   RY, LDRY, S, LDS, O, LDO, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDO, LDQ,
-     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
-      CHARACTER          JOB, JOBCV, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  O(LDO, *), Q(LDQ, *), R(LDR, *),
-     $                   RY(LDRY, *), S(LDS, *)
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  JOB     CHARACTER*1
-          Specifies which matrices should be computed, as follows:
-          = 'A':  compute all system matrices, A, B, C, and D;
-          = 'C':  compute the matrices A and C only;
-          = 'B':  compute the matrix B only;
-          = 'D':  compute the matrices B and D only.
-
-  JOBCV   CHARACTER*1
-          Specifies whether or not the covariance matrices are to
-          be computed, as follows:
-          = 'C':  the covariance matrices should be computed;
-          = 'N':  the covariance matrices should not be computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMPL   (input) INTEGER
-          If JOBCV = 'C', the total number of samples used for
-          calculating the covariance matrices.
-          NSMPL &gt;= 2*(M+L)*NOBR.
-          This parameter is not meaningful if  JOBCV = 'N'.
-
-  R       (input/workspace) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
-          of this array must contain the relevant data for the MOESP
-          or N4SID algorithms, as constructed by SLICOT Library
-          routines IB01AD or IB01ND. Let  R_ij,  i,j = 1:4,  be the
-          ij submatrix of  R  (denoted  S  in IB01AD and IB01ND),
-          partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR
-          rows and columns. The submatrix  R_22  contains the matrix
-          of left singular vectors used. Also needed, for
-          METH = 'N'  or  JOBCV = 'C',  are the submatrices  R_11,
-          R_14 : R_44,  and, for  METH = 'M'  and  JOB &lt;&gt; 'C',  the
-          submatrices  R_31  and  R_12,  containing the processed
-          matrices  R_1c  and  R_2c,  respectively, as returned by
-          SLICOT Library routines IB01AD or IB01ND.
-          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
-          block-row  R_41 : R_43  must contain the transpose of the
-          block-column  R_14 : R_34  as returned by SLICOT Library
-          routines IB01AD or IB01ND.
-          The remaining part of  R  is used as workspace.
-          On exit, part of this array is overwritten. Specifically,
-          if  METH = 'M',  R_22  and  R_31  are overwritten if
-              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
-              and possibly  R_11  are overwritten if  JOBCV = 'C';
-          if  METH = 'N',  all needed submatrices are overwritten.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-  A       (input or output) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
-          leading N-by-N part of this array must contain the system
-          state matrix.
-          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
-          this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
-          leading N-by-N part of this array contains the system
-          state matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
-                         JOB = 'B' or 'D';
-          LDA &gt;= 1,  otherwise.
-
-  C       (input or output) DOUBLE PRECISION array, dimension
-          (LDC,N)
-          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
-          leading L-by-N part of this array must contain the system
-          output matrix.
-          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
-          this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
-          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
-          L-by-N part of this array contains the system output
-          matrix.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
-                         JOB = 'B' or 'D';
-          LDC &gt;= 1,  otherwise.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
-          leading N-by-M part of this array contains the system
-          input matrix. If  M = 0  or  JOB = 'C',  this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
-          not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
-          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If JOBCV = 'C', the leading N-by-N part of this array
-          contains the positive semidefinite state covariance matrix
-          to be used as state weighting matrix when computing the
-          Kalman gain.
-          This parameter is not referenced if JOBCV = 'N'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= N,  if JOBCV = 'C';
-          LDQ &gt;= 1,  if JOBCV = 'N'.
-
-  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
-          If JOBCV = 'C', the leading L-by-L part of this array
-          contains the positive (semi)definite output covariance
-          matrix to be used as output weighting matrix when
-          computing the Kalman gain.
-          This parameter is not referenced if JOBCV = 'N'.
-
-  LDRY    INTEGER
-          The leading dimension of the array RY.
-          LDRY &gt;= L,  if JOBCV = 'C';
-          LDRY &gt;= 1,  if JOBCV = 'N'.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
-          If JOBCV = 'C', the leading N-by-L part of this array
-          contains the state-output cross-covariance matrix to be
-          used as cross-weighting matrix when computing the Kalman
-          gain.
-          This parameter is not referenced if JOBCV = 'N'.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= N,  if JOBCV = 'C';
-          LDS &gt;= 1,  if JOBCV = 'N'.
-
-  O       (output) DOUBLE PRECISION array, dimension ( LDO,N )
-          If  METH = 'M'  and  JOBCV = 'C',  or  METH = 'N',
-          the leading  L*NOBR-by-N  part of this array contains
-          the estimated extended observability matrix, i.e., the
-          first  N  columns of the relevant singular vectors.
-          If  METH = 'M'  and  JOBCV = 'N',  this array is not
-          referenced.
-
-  LDO     INTEGER
-          The leading dimension of the array  O.
-          LDO &gt;= L*NOBR,  if  JOBCV = 'C'  or  METH = 'N';
-          LDO &gt;= 1,       otherwise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = N,                   if METH = 'M' and M = 0
-                                     or JOB = 'C' and JOBCV = 'N';
-          LIWORK = M*NOBR+N,            if METH = 'M', JOB = 'C',
-                                        and JOBCV = 'C';
-          LIWORK = max(L*NOBR,M*NOBR),  if METH = 'M', JOB &lt;&gt; 'C',
-                                        and JOBCV = 'N';
-          LIWORK = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
-                                          and JOBCV = 'C';
-          LIWORK = max(M*NOBR+N,M*(N+L)), if METH = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
-          DWORK(5)  contain the reciprocal condition numbers of the
-          triangular factors of the matrices, defined in the code,
-          GaL  (GaL = Un(1:(s-1)*L,1:n)),  R_1c  (if  METH = 'M'),
-          M  (if  JOBCV = 'C'  or  METH = 'N'),  and  Q  or  T  (see
-          SLICOT Library routines IB01PY or IB01PX),  respectively.
-          If  METH = 'N',  DWORK(3)  is set to one without any
-          calculations. Similarly, if  METH = 'M'  and  JOBCV = 'N',
-          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
-          DWORK(3)  and  DWORK(5)  are set to one.
-          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( LDW1,LDW2 ), where, if METH = 'M',
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
-                  if JOB = 'C' or JOB = 'A' and M = 0;
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
-                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
-                       max( L+M*NOBR, L*NOBR +
-                                      max( 3*L*NOBR+1, M ) ) )
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDW2 &gt;= 0,                                 if JOBCV = 'N';
-          LDW2 &gt;= max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
-                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
-                                                     if JOBCV = 'C',
-          where Aw = N+N*N, if M = 0 or JOB = 'C';
-                Aw = 0,     otherwise;
-          and, if METH = 'N',
-          LDW1 &gt;= max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
-                       2*(L*NOBR-L)*N+N*N+8*N, N+4*(M*NOBR+N)+1,
-                       M*NOBR+3*N+L );
-          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
-          LDW2 &gt;= M*NOBR*(N+L)*(M*(N+L)+1)+
-                  max( (N+L)**2, 4*M*(N+L)+1 ),
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D'.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  a least squares problem to be solved has a
-                rank-deficient coefficient matrix;
-          = 5:  the computed covariance matrices are too small.
-                The problem seems to be a deterministic one.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge;
-          = 3:  a singular upper triangular matrix was found.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In the MOESP approach, the matrices  A  and  C  are first
-  computed from an estimated extended observability matrix [1],
-  and then, the matrices  B  and  D  are obtained by solving an
-  extended linear system in a least squares sense.
-  In the N4SID approach, besides the estimated extended
-  observability matrix, the solutions of two least squares problems
-  are used to build another least squares problem, whose solution
-  is needed to compute the system matrices  A,  C,  B,  and  D.  The
-  solutions of the two least squares problems are also optionally
-  used by both approaches to find the covariance matrices.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error state-
-      space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-  [4] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In some applications, it is useful to compute the system matrices
-  using two calls to this routine, the first one with  JOB = 'C',
-  and the second one with  JOB = 'B' or 'D'.  This is slightly less
-  efficient than using a single call with  JOB = 'A',  because some
-  calculations are repeated. If  METH = 'N',  all the calculations
-  at the first call are performed again at the second call;
-  moreover, it is required to save the needed submatrices of  R
-  before the first call and restore them before the second call.
-  If the covariance matrices are desired,  JOBCV  should be set
-  to  'C'  at the second call. If  B  and  D  are both needed, they
-  should be computed at once.
-  It is possible to compute the matrices A and C using the MOESP
-  algorithm (METH = 'M'), and the matrices B and D using the N4SID
-  algorithm (METH = 'N'). This combination could be slightly more
-  efficient than N4SID algorithm alone and it could be more accurate
-  than MOESP algorithm. No saving/restoring is needed in such a
-  combination, provided  JOBCV  is set to  'N'  at the first call.
-  Recommended usage:  either one call with  JOB = 'A',  or
-     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
-     second call with  METH = 'M',  JOB = 'D',  JOBCV = 'C',  or
-     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
-     second call with  METH = 'N',  JOB = 'D',  JOBCV = 'C'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01PX.html b/doc/_build/html/_static/doc/IB01PX.html
deleted file mode 100644
index 40b2f571..00000000
--- a/doc/_build/html/_static/doc/IB01PX.html
+++ /dev/null
@@ -1,305 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01PX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01PX">IB01PX</A></H2>
-<H3>
-Estimating system matrices B and D using Kronecker products
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To build and solve the least squares problem  T*X = Kv,  and
-  estimate the matrices B and D of a linear time-invariant (LTI)
-  state space model, using the solution  X,  and the singular
-  value decomposition information and other intermediate results,
-  provided by other routines.
-
-  The matrix  T  is computed as a sum of Kronecker products,
-
-     T = T + kron(Uf(:,(i-1)*m+1:i*m),N_i),  for i = 1 : s,
-
-  (with  T  initialized by zero), where  Uf  is the triangular
-  factor of the QR factorization of the future input part (see
-  SLICOT Library routine IB01ND),  N_i  is given by the i-th block
-  row of the matrix
-
-         [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ]   [ I_L  0  ]
-         [ Q_12  Q_13  ...  Q_1,s-1    Q_1s    0   ]   [         ]
-     N = [ Q_13  Q_14  ...    Q_1s      0      0   ] * [         ],
-         [  :     :            :        :      :   ]   [         ]
-         [ Q_1s   0    ...     0        0      0   ]   [  0  GaL ]
-
-  and where
-
-            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
-     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
-            [ I_L - L_2|1 ]          [     -L_2|i    ]
-
-  are  (n+L)-by-L  matrices, and  GaL  is built from the first  n
-  relevant singular vectors,  GaL = Un(1:L(s-1),1:n),  computed
-  by IB01ND.
-
-  The vector  Kv  is vec(K), with the matrix  K  defined by
-
-     K = [ K_1  K_2  K_3  ...  K_s ],
-
-  where  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
-  The given matrices are  Uf,  GaL,  and
-
-         [ L_1|1  ...  L_1|s ]
-     L = [                   ],   (n+L)-by-L*s,
-         [ L_2|1  ...  L_2|s ]
-
-     M = [ M_1  ...  M_s-1 ],      n-by-L*(s-1),  and
-     K,                            (n+L)-by-m*s.
-
-  Matrix  M  is the pseudoinverse of the matrix  GaL,  computed by
-  SLICOT Library routine IB01PD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01PX( JOB, NOBR, N, M, L, UF, LDUF, UN, LDUN, UL,
-     $                   LDUL, PGAL, LDPGAL, K, LDK, R, LDR, X, B, LDB,
-     $                   D, LDD, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDB, LDD, LDK, LDPGAL, LDR,
-     $                   LDUF, LDUL, LDUN, LDWORK, M, N, NOBR
-      CHARACTER          JOB
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), K(LDK, *),
-     $                   PGAL(LDPGAL, *), R(LDR, *), UF(LDUF, *),
-     $                   UL(LDUL, *), UN(LDUN, *), X(*)
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies which of the matrices B and D should be
-          computed, as follows:
-          = 'B':  compute the matrix B, but not the matrix D;
-          = 'D':  compute both matrices B and D.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  UF      (input/output) DOUBLE PRECISION array, dimension
-          ( LDUF,M*NOBR )
-          On entry, the leading  M*NOBR-by-M*NOBR  upper triangular
-          part of this array must contain the upper triangular
-          factor of the QR factorization of the future input part,
-          as computed by SLICOT Library routine IB01ND.
-          The strict lower triangle need not be set to zero.
-          On exit, the leading  M*NOBR-by-M*NOBR  upper triangular
-          part of this array is unchanged, and the strict lower
-          triangle is set to zero.
-
-  LDUF    INTEGER
-          The leading dimension of the array  UF.
-          LDUF &gt;= MAX( 1, M*NOBR ).
-
-  UN      (input) DOUBLE PRECISION array, dimension ( LDUN,N )
-          The leading  L*(NOBR-1)-by-N  part of this array must
-          contain the matrix  GaL,  i.e., the leading part of the
-          first  N  columns of the matrix  Un  of relevant singular
-          vectors.
-
-  LDUN    INTEGER
-          The leading dimension of the array  UN.
-          LDUN &gt;= L*(NOBR-1).
-
-  UL      (input/output) DOUBLE PRECISION array, dimension
-          ( LDUL,L*NOBR )
-          On entry, the leading  (N+L)-by-L*NOBR  part of this array
-          must contain the given matrix  L.
-          On exit, if  M &gt; 0,  the leading  (N+L)-by-L*NOBR  part of
-          this array is overwritten by the matrix
-          [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ].
-
-  LDUL    INTEGER
-          The leading dimension of the array  UL.  LDUL &gt;= N+L.
-
-  PGAL    (input) DOUBLE PRECISION array, dimension
-          ( LDPGAL,L*(NOBR-1) )
-          The leading  N-by-L*(NOBR-1)  part of this array must
-          contain the pseudoinverse of the matrix  GaL,  computed by
-          SLICOT Library routine IB01PD.
-
-  LDPGAL  INTEGER
-          The leading dimension of the array  PGAL.  LDPGAL &gt;= N.
-
-  K       (input) DOUBLE PRECISION array, dimension ( LDK,M*NOBR )
-          The leading  (N+L)-by-M*NOBR  part of this array must
-          contain the given matrix  K.
-
-  LDK     INTEGER
-          The leading dimension of the array  K.  LDK &gt;= N+L.
-
-  R       (output) DOUBLE PRECISION array, dimension ( LDR,M*(N+L) )
-          The leading  (N+L)*M*NOBR-by-M*(N+L)  part of this array
-          contains details of the complete orthogonal factorization
-          of the coefficient matrix  T  of the least squares problem
-          which is solved for getting the system matrices B and D.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= MAX( 1, (N+L)*M*NOBR ).
-
-  X       (output) DOUBLE PRECISION array, dimension
-          ( (N+L)*M*NOBR )
-          The leading  M*(N+L)  elements of this array contain the
-          least squares solution of the system  T*X = Kv.
-          The remaining elements are used as workspace (to store the
-          corresponding part of the vector Kv = vec(K)).
-
-  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
-          The leading N-by-M part of this array contains the system
-          input matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
-          If  JOB = 'D',  the leading L-by-M part of this array
-          contains the system input-output matrix.
-          If  JOB = 'B',  this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L, if  JOB = 'D';
-          LDD &gt;= 1, if  JOB = 'B'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ( M*(N+L) )
-
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and, if  M &gt; 0,  DWORK(2)  contains the
-          reciprocal condition number of the triangular factor of
-          the matrix  T.
-          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( (N+L)*(N+L), 4*M*(N+L)+1 ).
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix  T  is computed, evaluating the sum of Kronecker
-  products, and then the linear system  T*X = Kv  is solved in a
-  least squares sense. The matrices  B  and  D  are then directly
-  obtained from the least squares solution.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01PY.html b/doc/_build/html/_static/doc/IB01PY.html
deleted file mode 100644
index a6320d93..00000000
--- a/doc/_build/html/_static/doc/IB01PY.html
+++ /dev/null
@@ -1,389 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01PY">IB01PY</A></H2>
-<H3>
-Estimating system matrices B and D using a structure exploiting QR factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  1. To compute the triangular  (QR)  factor of the  p-by-L*s
-  structured matrix  Q,
-
-      [ Q_1s  Q_1,s-1  Q_1,s-2  ...  Q_12  Q_11 ]
-      [  0      Q_1s   Q_1,s-1  ...  Q_13  Q_12 ]
-  Q = [  0       0       Q_1s   ...  Q_14  Q_13 ],
-      [  :       :        :           :     :   ]
-      [  0       0        0     ...   0    Q_1s ]
-
-  and apply the transformations to the p-by-m matrix  Kexpand,
-
-            [ K_1 ]
-            [ K_2 ]
-  Kexpand = [ K_3 ],
-            [  :  ]
-            [ K_s ]
-
-  where, for MOESP approach (METH = 'M'), p = s*(L*s-n), and
-  Q_1i = u2(L*(i-1)+1:L*i,:)'  is  (Ls-n)-by-L,  for  i = 1:s,
-  u2 = Un(1:L*s,n+1:L*s),  K_i = K(:,(i-1)*m+1:i*m)  (i = 1:s)
-  is  (Ls-n)-by-m, and for N4SID approach (METH = 'N'), p = s*(n+L),
-  and
-
-            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
-     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
-            [ I_L - L_2|1 ]          [     -L_2|i    ]
-
-  are  (n+L)-by-L  matrices, and
-  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
-  The given matrices are:
-  For  METH = 'M',  u2 = Un(1:L*s,n+1:L*s),
-                    K(1:Ls-n,1:m*s);
-
-                        [ L_1|1  ...  L_1|s ]
-  For  METH = 'N',  L = [                   ],   (n+L)-by-L*s,
-                        [ L_2|1  ...  L_2|s ]
-
-                    M = [ M_1  ...  M_s-1 ],  n-by-L*(s-1),  and
-                    K,                        (n+L)-by-m*s.
-                    Matrix M is the pseudoinverse of the matrix GaL,
-                    built from the first  n  relevant singular
-                    vectors,  GaL = Un(1:L(s-1),1:n),  and computed
-                    by SLICOT Library routine IB01PD for METH = 'N'.
-
-  Matrix  Q  is triangularized  (in  R),  exploiting its structure,
-  and the transformations are applied from the left to  Kexpand.
-
-  2. To estimate the matrices B and D of a linear time-invariant
-  (LTI) state space model, using the factor  R,  transformed matrix
-  Kexpand, and the singular value decomposition information provided
-  by other routines.
-
-  IB01PY  routine is intended for speed and efficient use of the
-  memory space. It is generally not recommended for  METH = 'N',  as
-  IB01PX  routine can produce more accurate results.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01PY( METH, JOB, NOBR, N, M, L, RANKR1, UL, LDUL,
-     $                   R1, LDR1, TAU1, PGAL, LDPGAL, K, LDK, R, LDR,
-     $                   H, LDH, B, LDB, D, LDD, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDB, LDD, LDH, LDK, LDPGAL,
-     $                   LDR, LDR1, LDUL, LDWORK, M, N, NOBR, RANKR1
-      CHARACTER          JOB, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), H(LDH, *),
-     $                   K(LDK, *), PGAL(LDPGAL, *), R(LDR, *),
-     $                   R1(LDR1, *), TAU1(*), UL(LDUL, *)
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  JOB     CHARACTER*1
-          Specifies whether or not the matrices B and D should be
-          computed, as follows:
-          = 'B':  compute the matrix B, but not the matrix D;
-          = 'D':  compute both matrices B and D;
-          = 'N':  do not compute the matrices B and D, but only the
-                  R  factor of  Q  and the transformed Kexpand.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  RANKR1  (input) INTEGER
-          The effective rank of the upper triangular matrix  r1,
-          i.e., the triangular QR factor of the matrix  GaL,
-          computed by SLICOT Library routine IB01PD. It is also
-          the effective rank of the matrix  GaL.  0 &lt;= RANKR1 &lt;= N.
-          If  JOB = 'N',  or  M = 0,  or  METH = 'N',  this
-          parameter is not used.
-
-  UL      (input/workspace) DOUBLE PRECISION array, dimension
-          ( LDUL,L*NOBR )
-          On entry, if  METH = 'M',  the leading  L*NOBR-by-L*NOBR
-          part of this array must contain the matrix  Un  of
-          relevant singular vectors. The first  N  columns of  UN
-          need not be specified for this routine.
-          On entry, if  METH = 'N',  the leading  (N+L)-by-L*NOBR
-          part of this array must contain the given matrix  L.
-          On exit, the leading  LDF-by-L*(NOBR-1) part of this array
-          is overwritten by the matrix  F  of the algorithm in [4],
-          where  LDF = MAX( 1, L*NOBR-N-L ), if  METH = 'M';
-                 LDF = N,                    if  METH = 'N'.
-
-  LDUL    INTEGER
-          The leading dimension of the array  UL.
-          LDUL &gt;= L*NOBR, if  METH = 'M';
-          LDUL &gt;= N+L,    if  METH = 'N'.
-
-  R1      (input) DOUBLE PRECISION array, dimension ( LDR1,N )
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
-          the leading  L*(NOBR-1)-by-N  part of this array must
-          contain details of the QR factorization of the matrix
-          GaL,  as computed by SLICOT Library routine IB01PD.
-          Specifically, the leading N-by-N upper triangular part
-          must contain the upper triangular factor  r1  of  GaL,
-          and the lower  L*(NOBR-1)-by-N  trapezoidal part, together
-          with array TAU1, must contain the factored form of the
-          orthogonal matrix  Q1  in the QR factorization of  GaL.
-          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
-          and  RANKR1 &lt; N,  this array is not referenced.
-
-  LDR1    INTEGER
-          The leading dimension of the array  R1.
-          LDR1 &gt;= L*(NOBR-1), if  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',
-                              and  RANKR1 = N;
-          LDR1 &gt;= 1,          otherwise.
-
-  TAU1    (input) DOUBLE PRECISION array, dimension ( N )
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
-          this array must contain the scalar factors of the
-          elementary reflectors used in the QR factorization of the
-          matrix  GaL,  computed by SLICOT Library routine IB01PD.
-          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
-          and  RANKR1 &lt; N,  this array is not referenced.
-
-  PGAL    (input) DOUBLE PRECISION array, dimension
-          ( LDPGAL,L*(NOBR-1) )
-          If  METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and
-          RANKR1 &lt; N,  the leading  N-by-L*(NOBR-1)  part of this
-          array must contain the pseudoinverse of the matrix  GaL,
-          as computed by SLICOT Library routine IB01PD.
-          If  METH = 'M'  and  JOB = 'N',  or  M = 0,  or
-          RANKR1 = N,  this array is not referenced.
-
-  LDPGAL  INTEGER
-          The leading dimension of the array  PGAL.
-          LDPGAL &gt;= N,  if   METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,
-                        and  METH = 'M'  and RANKR1 &lt; N;
-          LDPGAL &gt;= 1,  otherwise.
-
-  K       (input/output) DOUBLE PRECISION array, dimension
-          ( LDK,M*NOBR )
-          On entry, the leading  (p/s)-by-M*NOBR  part of this array
-          must contain the given matrix  K  defined above.
-          On exit, the leading  (p/s)-by-M*NOBR  part of this array
-          contains the transformed matrix  K.
-
-  LDK     INTEGER
-          The leading dimension of the array  K.  LDK &gt;= p/s.
-
-  R       (output) DOUBLE PRECISION array, dimension ( LDR,L*NOBR )
-          If  JOB = 'N',  or  M = 0,  or  Q  has full rank, the
-          leading  L*NOBR-by-L*NOBR  upper triangular part of this
-          array contains the  R  factor of the QR factorization of
-          the matrix  Q.
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  Q  has not a full rank, the
-          leading  L*NOBR-by-L*NOBR  upper trapezoidal part of this
-          array contains details of the complete orhogonal
-          factorization of the matrix  Q,  as constructed by SLICOT
-          Library routines MB03OD and MB02QY.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.  LDR &gt;= L*NOBR.
-
-  H       (output) DOUBLE PRECISION array, dimension ( LDH,M )
-          If  JOB = 'N'  or  M = 0,  the leading  L*NOBR-by-M  part
-          of this array contains the updated part of the matrix
-          Kexpand  corresponding to the upper triangular factor  R
-          in the QR factorization of the matrix  Q.
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  METH = 'N'  or  METH = 'M'
-          and  RANKR1 &lt; N,  the leading  L*NOBR-by-M  part of this
-          array contains the minimum norm least squares solution of
-          the linear system  Q*X = Kexpand,  from which the matrices
-          B  and  D  are found. The first  NOBR-1  row blocks of  X
-          appear in the reverse order in  H.
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and  RANKR1 = N,  the
-          leading  L*(NOBR-1)-by-M  part of this array contains the
-          matrix product  Q1'*X,  and the subarray
-          L*(NOBR-1)+1:L*NOBR-by-M  contains the  corresponding
-          submatrix of  X,  with  X  defined in the phrase above.
-
-  LDH     INTEGER
-          The leading dimension of the array  H.  LDH &gt;= L*NOBR.
-
-  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
-          If  M &gt; 0,  JOB = 'B' or 'D'  and  INFO = 0,  the leading
-          N-by-M part of this array contains the system input
-          matrix.
-          If  M = 0  or  JOB = 'N',  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N, if  M &gt; 0 and JOB = 'B' or 'D';
-          LDB &gt;= 1, if  M = 0 or  JOB = 'N'.
-
-  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
-          If  M &gt; 0,  JOB = 'D'  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix.
-          If  M = 0  or  JOB = 'B'  or  'N',  this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L, if  M &gt; 0 and JOB = 'D';
-          LDD &gt;= 1, if  M = 0 or  JOB = 'B' or 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not used if  M = 0  or  JOB = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ( LIWORK )
-          where  LIWORK &gt;= 0,       if  JOB =  'N',  or   M = 0;
-                 LIWORK &gt;= L*NOBR,  if  JOB &lt;&gt; 'N',  and  M &gt; 0.
-
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of  LDWORK,  and, if  JOB &lt;&gt; 'N',  and  M &gt; 0,  DWORK(2)
-          contains the reciprocal condition number of the triangular
-          factor of the matrix  R.
-          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 2*L, L*NOBR, L+M*NOBR ),
-                                      if  JOB = 'N',  or  M = 0;
-          LDWORK &gt;= MAX( L+M*NOBR, L*NOBR + MAX( 3*L*NOBR+1, M ) ),
-                                      if  JOB &lt;&gt; 'N',  and  M &gt; 0.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  a singular upper triangular matrix was found.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The QR factorization is computed exploiting the structure,
-  as described in [4].
-  The matrices  B  and  D  are then obtained by solving certain
-  linear systems in a least squares sense.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-  [4] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method for computing the triangular factor and
-  updating Kexpand is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The computed matrices B and D are not the least squares solutions
-  delivered by either MOESP or N4SID algorithms, except for the
-  special case n = s - 1, L = 1. However, the computed B and D are
-  frequently good enough estimates, especially for  METH = 'M'.
-  Better estimates could be obtained by calling SLICOT Library
-  routine IB01PX, but it is less efficient, and requires much more
-  workspace.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01QD">IB01QD</A></H2>
-<H3>
-Estimating initial state and system matrices B and D, given A, C, and input-output trajectories
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the initial state and the system matrices  B  and  D
-  of a linear time-invariant (LTI) discrete-time system, given the
-  matrix pair  (A,C)  and the input and output trajectories of the
-  system. The model structure is :
-
-        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
-        y(k)   = Cx(k) + Du(k),
-
-  where  x(k)  is the  n-dimensional state vector (at time k),
-         u(k)  is the  m-dimensional input vector,
-         y(k)  is the  l-dimensional output vector,
-  and  A, B, C, and D  are real matrices of appropriate dimensions.
-  Matrix  A  is assumed to be in a real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01QD( JOBX0, JOB, N, M, L, NSMP, A, LDA, C, LDC, U,
-     $                   LDU, Y, LDY, X0, B, LDB, D, LDD, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
-     $                   LDWORK, LDY, M, N, NSMP
-      CHARACTER          JOB, JOBX0
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX0   CHARACTER*1
-          Specifies whether or not the initial state should be
-          computed, as follows:
-          = 'X':  compute the initial state x(0);
-          = 'N':  do not compute the initial state (x(0) is known
-                  to be zero).
-
-  JOB     CHARACTER*1
-          Specifies which matrices should be computed, as follows:
-          = 'B':  compute the matrix B only (D is known to be zero);
-          = 'D':  compute the matrices B and D.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t).
-          NSMP &gt;= N*M + a + e,  where
-          a = 0,  if  JOBX0 = 'N';
-          a = N,  if  JOBX0 = 'X';
-          e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
-          e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
-          e = M,  if  JOB   = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix  A  in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array must contain the
-          system output matrix  C  (corresponding to the real Schur
-          form of  A).
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= L.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,M)
-          On entry, the leading NSMP-by-M part of this array must
-          contain the t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          On exit, if  JOB = 'D',  the leading NSMP-by-M part of
-          this array contains details of the QR factorization of
-          the t-by-m matrix  U, possibly computed sequentially
-          (see METHOD).
-          If  JOB = 'B',  this array is unchanged on exit.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
-          LDU &gt;= 1,            if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          If  JOBX0 = 'X',  the estimated initial state of the
-          system,  x(0).
-          If  JOBX0 = 'N',  x(0)  is set to zero without any
-          calculations.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If  N &gt; 0,  M &gt; 0,  and  INFO = 0,  the leading N-by-M
-          part of this array contains the system input matrix  B
-          in the coordinates corresponding to the real Schur form
-          of  A.
-          If  N = 0  or  M = 0,  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
-          LDB &gt;= 1,  if  N = 0  or   M = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          If  M &gt; 0,  JOB = 'D',  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix  D.
-          If  M = 0  or  JOB = 'B',  this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'D';
-          LDD &gt;= 1,  if  M = 0  or   JOB = 'B'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  a matrix whose estimated condition
-          number is less than  1/TOL  is considered to be of full
-          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
-          instead, where  EPS  is the relative machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= N*M + a,            if  JOB = 'B',
-          LIWORK &gt;= max( N*M + a, M ),  if  JOB = 'D',
-          with  a = 0,  if  JOBX0 = 'N';
-                a = N,  if  JOBX0 = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK;  DWORK(2)  contains the reciprocal condition
-          number of the triangular factor of the QR factorization of
-          the matrix  W2  (see METHOD); if  M &gt; 0  and  JOB = 'D',
-          DWORK(3)  contains the reciprocal condition number of the
-          triangular factor of the QR factorization of  U.
-          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( LDW1, min( LDW2, LDW3 ) ),  where
-          LDW1 = 2,          if  M = 0  or   JOB = 'B',
-          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
-          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
-          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
-          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-          LDWb = (b + r)*(r + 1) +
-                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
-          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
-          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-             r = N*M + a,
-             a = 0,                  if  JOBX0 = 'N',
-             a = N,                  if  JOBX0 = 'X';
-             b = 0,                  if  JOB   = 'B',
-             b = L*M,                if  JOB   = 'D';
-             c = 0,                  if  JOBX0 = 'N',
-             c = L*N,                if  JOBX0 = 'X';
-             d = 0,                  if  JOBX0 = 'N',
-             d = 2*N*N + N,          if  JOBX0 = 'X';
-             f = 2*r,                if  JOB   = 'B'   or  M = 0,
-             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
-             q = b + r*L.
-          For good performance,  LDWORK  should be larger.
-          If  LDWORK &gt;= LDW2  or
-              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
-                        max( d, f ),
-          then standard QR factorizations of the matrices  U  and/or
-          W2  (see METHOD) are used.
-          Otherwise, the QR factorizations are computed sequentially
-          by performing  NCYCLE  cycles, each cycle (except possibly
-          the last one) processing  s &lt; t  samples, where  s  is
-          chosen from the equation
-            LDWORK = s*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
-                     max( d, f ).
-          (s  is at least  N*M+a+e,  the minimum value of  NSMP.)
-          The computational effort may increase and the accuracy may
-          decrease with the decrease of  s.  Recommended value is
-          LDWORK = LDW2,  assuming a large enough cache size, to
-          also accommodate  A,  C,  U,  and  Y.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension and refinement of the method in [1,2] is used.
-  Specifically, denoting
-
-        X = [ vec(D')' vec(B)' x0' ]',
-
-  where  vec(M)  is the vector obtained by stacking the columns of
-  the matrix  M,  then  X  is the least squares solution of the
-  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
-  defined by
-
-        ( U         |     | ... |     |     | ... |     |         )
-        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
-    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
-        (       :   |     | ... |     |     | ... |     |         )
-        (         U |     | ... |     |     | ... |     |         )
-                                                                  ij
-  diag(U)  having  L  block rows and columns.  In this formula,  y
-  are the outputs of the system for zero initial state computed
-  using the following model, for j = 1:m, and for i = 1:n,
-         ij          ij                    ij
-        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
-
-         ij          ij
-        y  (k)   = Cx  (k),
-
-  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
-  given by
-
-             (     C     )
-             (    C*A    )
-     Gamma = (   C*A^2   ),
-             (     :     )
-             ( C*A^(t-1) )
-
-  and  P  is a permutation matrix that groups together the rows of
-  Gamma  depending on the same row of  C,  namely
-  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
-  The first block column,  diag(U),  is not explicitly constructed,
-  but its structure is exploited. The last block column is evaluated
-  using powers of A with exponents 2^k. No interchanges are applied.
-  A special QR decomposition of the matrix  S  is computed. Let
-  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
-  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
-  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
-  matrix  S  becomes
-
-     ( diag(r)  W1 )
-     (    0     W2 ),
-
-  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
-  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
-  The intermediate results and the QR decomposition of  U  are
-  needed to find  D.  If a triangular factor is too ill conditioned,
-  then singular value decomposition (SVD) is employed. SVD is not
-  generally needed if the input sequence is sufficiently
-  persistently exciting and  NSMP  is large enough.
-  If the matrix  W  cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
-  computed sequentially.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Varga, A.
-      Some Experience with the MOESP Class of Subspace Model
-      Identification Methods in Identifying the BO105 Helicopter.
-      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
-
-  [2] Sima, V., and Varga, A.
-      RASP-IDENT : Subspace Model Identification Programs.
-      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
-      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The algorithm for computing the system matrices  B  and  D  is
-  less efficient than the MOESP or N4SID algorithms implemented in
-  SLICOT Library routine IB01PD, because a large least squares
-  problem has to be solved, but the accuracy is better, as the
-  computed matrices  B  and  D  are fitted to the input and output
-  trajectories. However, if matrix  A  is unstable, the computed
-  matrices  B  and  D  could be inaccurate.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB01RD.html b/doc/_build/html/_static/doc/IB01RD.html
deleted file mode 100644
index 5a07e58e..00000000
--- a/doc/_build/html/_static/doc/IB01RD.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01RD">IB01RD</A></H2>
-<H3>
-Estimating initial state, given A, B, C, D, and input-output trajectories
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the initial state of a linear time-invariant (LTI)
-  discrete-time system, given the system matrices  (A,B,C,D)  and
-  the input and output trajectories of the system. The model
-  structure is :
-
-        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
-        y(k)   = Cx(k) + Du(k),
-
-  where  x(k)  is the  n-dimensional state vector (at time k),
-         u(k)  is the  m-dimensional input vector,
-         y(k)  is the  l-dimensional output vector,
-  and  A, B, C, and D  are real matrices of appropriate dimensions.
-  Matrix  A  is assumed to be in a real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01RD( JOB, N, M, L, NSMP, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, U, LDU, Y, LDY, X0, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
-     $                   LDWORK, LDY, M, N, NSMP
-      CHARACTER          JOB
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether or not the matrix D is zero, as follows:
-          = 'Z':  the matrix  D  is zero;
-          = 'N':  the matrix  D  is not zero.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples used,  t).  NSMP &gt;= N.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix  A  in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix  B  (corresponding to the real Schur
-          form of  A).
-          If  N = 0  or  M = 0,  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
-          LDB &gt;= 1,  if  N = 0  or   M = 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array must contain the
-          system output matrix  C  (corresponding to the real Schur
-          form of  A).
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= L.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading L-by-M part of this array must contain the
-          system input-output matrix.
-          If  M = 0  or  JOB = 'Z',  this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'N';
-          LDD &gt;= 1,  if  M = 0  or   JOB = 'Z'.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          If  M &gt; 0,  the leading NSMP-by-M part of this array must
-          contain the t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
-          LDU &gt;= 1,            if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          The estimated initial state of the system,  x(0).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  a matrix whose estimated condition
-          number is less than  1/TOL  is considered to be of full
-          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
-          instead, where  EPS  is the relative machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK and  DWORK(2)  contains the reciprocal condition
-          number of the triangular factor of the QR factorization of
-          the matrix  Gamma  (see METHOD).
-          On exit, if  INFO = -22,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 2, min( LDW1, LDW2 ) ),  where
-          LDW1 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
-          LDW2 =   N*(N + 1) + 2*N +
-                   max( q*(N + 1) + 2*N*N + L*N, 4*N ),
-             q = N*L.
-          For good performance,  LDWORK  should be larger.
-          If  LDWORK &gt;= LDW1,  then standard QR factorization of
-          the matrix  Gamma  (see METHOD) is used. Otherwise, the
-          QR factorization is computed sequentially by performing
-          NCYCLE  cycles, each cycle (except possibly the last one)
-          processing  s  samples, where  s  is chosen by equating
-          LDWORK  to  LDW2,  for  q  replaced by  s*L.
-          The computational effort may increase and the accuracy may
-          decrease with the decrease of  s.  Recommended value is
-          LDRWRK = LDW1,  assuming a large enough cache size, to
-          also accommodate  A, B, C, D, U,  and  Y.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension and refinement of the method in [1] is used.
-  Specifically, the output y0(k) of the system for zero initial
-  state is computed for k = 0, 1, ...,  t-1 using the given model.
-  Then the following least squares problem is solved for x(0)
-
-                      (     C     )            (   y(0) - y0(0)   )
-                      (    C*A    )            (   y(1) - y0(1)   )
-     Gamma * x(0)  =  (     :     ) * x(0)  =  (        :         ).
-                      (     :     )            (        :         )
-                      ( C*A^(t-1) )            ( y(t-1) - y0(t-1) )
-
-  The coefficient matrix  Gamma  is evaluated using powers of A with
-  exponents 2^k. The QR decomposition of this matrix is computed.
-  If its triangular factor  R  is too ill conditioned, then singular
-  value decomposition of  R  is used.
-
-  If the coefficient matrix cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW1),  the QR decomposition is computed sequentially.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Varga, A.
-      Some Experience with the MOESP Class of Subspace Model
-      Identification Methods in Identifying the BO105 Helicopter.
-      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/IB03AD.html b/doc/_build/html/_static/doc/IB03AD.html
deleted file mode 100644
index 46f96992..00000000
--- a/doc/_build/html/_static/doc/IB03AD.html
+++ /dev/null
@@ -1,2727 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB03AD">IB03AD</A></H2>
-<H3>
-Estimating parameters of a Wiener system using Levenberg-Marquardt algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a set of parameters for approximating a Wiener system
-  in a least-squares sense, using a neural network approach and a
-  Levenberg-Marquardt algorithm. Conjugate gradients (CG) or
-  Cholesky algorithms are used to solve linear systems of equations.
-  The Wiener system is represented as
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t)   = f(z(t),wb(1:L)),
-
-  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
-  evaluated by the SLICOT Library routine NF01AY. The parameter
-  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
-  where wb(i), i = 1 : L, correspond to the nonlinear part, and
-  theta corresponds to the linear part. See SLICOT Library routine
-  NF01AD for further details.
-
-  The sum of squares of the error functions, defined by
-
-     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
-
-  is minimized, where Y(t) is the measured output vector. The
-  functions and their Jacobian matrices are evaluated by SLICOT
-  Library routine NF01BB (the FCN routine in the call of MD03AD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
-     $                   ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX,
-     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ALG, INIT, STOR
-      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
-     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INIT    CHARACTER*1
-          Specifies which parts have to be initialized, as follows:
-          = 'L' : initialize the linear part only, X already
-                  contains an initial approximation of the
-                  nonlinearity;
-          = 'S' : initialize the static nonlinearity only, X
-                  already contains an initial approximation of the
-                  linear part;
-          = 'B' : initialize both linear and nonlinear parts;
-          = 'N' : do not initialize anything, X already contains
-                  an initial approximation.
-          If INIT = 'S' or 'B', the error functions for the
-          nonlinear part, and their Jacobian matrices, are evaluated
-          by SLICOT Library routine NF01BA (used as a second FCN
-          routine in the MD03AD call for the initialization step,
-          see METHOD).
-
-  ALG     CHARACTER*1
-          Specifies the algorithm used for solving the linear
-          systems involving a Jacobian matrix J, as follows:
-          = 'D' :  a direct algorithm, which computes the Cholesky
-                   factor of the matrix J'*J + par*I is used, where
-                   par is the Levenberg factor;
-          = 'I' :  an iterative Conjugate Gradients algorithm, which
-                   only needs the matrix J, is used.
-          In both cases, matrix J is stored in a compressed form.
-
-  STOR    CHARACTER*1
-          If ALG = 'D', specifies the storage scheme for the
-          symmetric matrix J'*J, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-          The option STOR = 'F' usually ensures a faster execution.
-          This parameter is not relevant if ALG = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
-          in the input and output block Hankel matrices to be
-          processed for estimating the linear part.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-          This parameter is ignored if INIT is 'S' or 'N'.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
-          INIT = 'L' or 'B'.
-
-  NSMP    (input) INTEGER
-          The number of input and output samples, t.  NSMP &gt;= 0, and
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
-
-  N       (input/output) INTEGER
-          The order of the linear part.
-          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
-          assumed unknown and it will be found by the routine.
-          Otherwise, the input value will be used. If INIT = 'S'
-          or 'N', N must be non-negative. The values N &gt;= NOBR,
-          or N = 0, are not acceptable if INIT = 'L' or 'B'.
-
-  NN      (input) INTEGER
-          The number of neurons which shall be used to approximate
-          the nonlinear part.  NN &gt;= 0.
-
-  ITMAX1  (input) INTEGER
-          The maximum number of iterations for the initialization of
-          the static nonlinearity.
-          This parameter is ignored if INIT is 'N' or 'L'.
-          Otherwise, ITMAX1 &gt;= 0.
-
-  ITMAX2  (input) INTEGER
-          The maximum number of iterations.  ITMAX2 &gt;= 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          and the current error norm is printed. Other intermediate
-          results could be printed by modifying the corresponding
-          FCN routine (NF01BA and/or NF01BB). If NPRINT &lt;= 0, no
-          special calls of FCN with IFLAG = 0 are made.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array must contain the
-          set of output samples,
-          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X       (input/output) DOUBLE PRECISION array dimension (LX)
-          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
-          of this array must contain the initial parameters for
-          the nonlinear part of the system.
-          On entry, if INIT = 'S', the elements lin1 : lin2 of this
-          array must contain the initial parameters for the linear
-          part of the system, corresponding to the output normal
-          form, computed by SLICOT Library routine TB01VD, where
-             lin1 = (NN*(L+2) + 1)*L + 1;
-             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
-          On entry, if INIT = 'N', the elements 1 : lin2 of this
-          array must contain the initial parameters for the
-          nonlinear part followed by the initial parameters for the
-          linear part of the system, as specified above.
-          This array need not be set on entry if INIT = 'B'.
-          On exit, the elements 1 : lin2 of this array contain the
-          optimal parameters for the nonlinear part followed by the
-          optimal parameters for the linear part of the system, as
-          specified above.
-
-  LX      (input/output) INTEGER
-          On entry, this parameter must contain the intended length
-          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
-          If N is unknown (N &lt; 0 on entry), a large enough estimate
-          of N should be used in the formula of lin2.
-          On exit, if N &lt; 0 on entry, but LX is not large enough,
-          then this parameter contains the actual length of X,
-          corresponding to the computed N. Otherwise, its value
-          is unchanged.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
-          which measures the relative error desired in the sum of
-          squares, for the initialization step of nonlinear part.
-          Termination occurs when the actual relative reduction in
-          the sum of squares is at most TOL1. In addition, if
-          ALG = 'I', TOL1 also measures the relative residual of
-          the solutions computed by the CG algorithm (for the
-          initialization step). Termination of a CG process occurs
-          when the relative residual is at most TOL1.
-          If the user sets  TOL1 &lt; 0,  then  SQRT(EPS)  is used
-          instead TOL1, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-          This parameter is ignored if INIT is 'N' or 'L'.
-
-  TOL2    DOUBLE PRECISION
-          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
-          relative error desired in the sum of squares, for the
-          whole optimization process. Termination occurs when the
-          actual relative reduction in the sum of squares is at
-          most TOL2.
-          If ALG = 'I', TOL2 also measures the relative residual of
-          the solutions computed by the CG algorithm (for the whole
-          optimization). Termination of a CG process occurs when the
-          relative residual is at most TOL2.
-          If the user sets  TOL2 &lt; 0,  then  SQRT(EPS)  is used
-          instead TOL2. This default value could require many
-          iterations, especially if TOL1 is larger. If INIT = 'S'
-          or 'B', it is advisable that TOL2 be larger than TOL1,
-          and spend more time with cheaper iterations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX( 3, LIW1, LIW2 )), where
-          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
-          LIW1 = M+L;
-          LIW2 = MAX(M*NOBR+N,M*(N+L)).
-          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
-          (total) number of function and Jacobian evaluations,
-          respectively (including the initialization step, if it was
-          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
-          specifies how many locations of DWORK contain reciprocal
-          condition number estimates (see below); otherwise,
-          IWORK(3) = 0.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On entry, if desired, and if INIT = 'S' or 'B', the
-          entries DWORK(1:4) are set to initialize the random
-          numbers generator for the nonlinear part parameters (see
-          the description of the argument XINIT of SLICOT Library
-          routine MD03AD); this enables to obtain reproducible
-          results. The same seed is used for all outputs.
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, DWORK(4) returns the number of conjugate
-          gradients iterations performed, and DWORK(5) returns the
-          final Levenberg factor, for optimizing the parameters of
-          both the linear part and the static nonlinearity part.
-          If INIT = 'S' or INIT = 'B' and INFO = 0, then the
-          elements DWORK(6) to DWORK(10) contain the corresponding
-          five values for the initialization step (see METHOD).
-          (If L &gt; 1, DWORK(10) contains the maximum of the Levenberg
-          factors for all outputs.) If INIT = 'L' or INIT = 'B', and
-          INFO = 0, DWORK(11) to DWORK(10+IWORK(3)) contain
-          reciprocal condition number estimates set by SLICOT
-          Library routines IB01AD, IB01BD, and IB01CD.
-          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          In the formulas below, N should be taken not larger than
-          NOBR - 1, if N &lt; 0 on entry.
-          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
-          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
-          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
-                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
-                     MAX( LDW1, LDW2 ),
-                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
-                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
-              where,
-              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
-                           L*NOBR*N +
-                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
-                                2*(L*NOBR-L)*N+N*N+8*N,
-                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
-              LDW2 &gt;= 0,                                  if M = 0;
-              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
-                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
-              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
-              LDW4 = N*(N+1) + 2*N +
-                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
-              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
-              LDW6 = NSMP*L + (N+L)*(N+M) + N +
-                     MAX(1, N*N*L + N*L + N, N*N +
-                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
-                             N*M));
-          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
-          LW2 = NSMP*L +
-                MAX( 5, NSMP + 2*BSN + NSMP*BSN +
-                        MAX( 2*NN + BSN, LDW7 ) );
-              LDW7 = BSN*BSN,       if ALG = 'D' and STOR = 'F';
-              LDW7 = BSN*(BSN+1)/2, if ALG = 'D' and STOR = 'P';
-              LDW7 = 3*BSN + NSMP,  if ALG = 'I';
-          LW3 = MAX( LDW8, NSMP*L + (N+L)*(2*N+M) + 2*N );
-              LDW8 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
-              LDW8 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
-          LW4 = MAX( 5, NSMP*L + 2*NX + NSMP*L*( BSN + LTHS ) +
-                        MAX( L1 + NX, NSMP*L + L1, L2 ) ),
-               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
-               L0 = MAX( N*(N+L), L ),        if M = 0;
-               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
-               L2 = NX*NX,          if ALG = 'D' and STOR = 'F';
-               L2 = NX*(NX+1)/2,    if ALG = 'D' and STOR = 'P';
-               L2 = 3*NX + NSMP*L,  if ALG = 'I',
-               with BSN  = NN*( L + 2 ) + 1,
-                    LTHS = N*( L + M + 1 ) + L*M.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          &lt; 0:  the user set IFLAG = IWARN in (one of) the
-                subroutine(s) FCN, i.e., NF01BA, if INIT = 'S'
-                or 'B', and/or NF01BB; this value cannot be returned
-                without changing the FCN routine(s);
-                otherwise, IWARN has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning (where TOL* denotes TOL1 or TOL2,
-                and similarly for ITMAX*):
-          = 1:  the number of iterations has reached ITMAX* without
-                satisfying the convergence condition;
-          = 2:  if alg = 'I' and in an iteration of the Levenberg-
-                Marquardt algorithm, the CG algorithm finished
-                after 3*NX iterations (or 3*(lin1-1) iterations, for
-                the initialization phase), without achieving the
-                precision required in the call;
-          = 3:  the cosine of the angle between the vector of error
-                function values and any column of the Jacobian is at
-                most FACTOR*EPS in absolute value (FACTOR = 100);
-          = 4:  TOL* is too small: no further reduction in the sum
-                of squares is possible.
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 6 (see IB01AD, IB01BD
-          and IB01CD). In all these cases, the entries DWORK(1:5),
-          DWORK(6:10) (if INIT = 'S' or 'B'), and
-          DWORK(11:10+IWORK(3)) (if INIT = 'L' or 'B'), are set as
-          described above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                otherwise, INFO has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning:
-          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 1;
-          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 2;
-          = 3:  ALG = 'D' and SLICOT Library routines MB02XD or
-                NF01BU (or NF01BV, if INIT = 'S' or 'B') or
-                ALG = 'I' and SLICOT Library routines MB02WD or
-                NF01BW (or NF01BX, if INIT = 'S' or 'B') returned
-                with INFO &lt;&gt; 0.
-          In addition, if INIT = 'L' or 'B', i could also be
-          = 4:  if a Lyapunov equation could not be solved;
-          = 5:  if the identified linear system is unstable;
-          = 6:  if the QR algorithm failed on the state matrix
-                of the identified linear system.
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INIT = 'L' or 'B', the linear part of the system is
-  approximated using the combined MOESP and N4SID algorithm. If
-  necessary, this algorithm can also choose the order, but it is
-  advantageous if the order is already known.
-
-  If INIT = 'S' or 'B', the output of the approximated linear part
-  is computed and used to calculate an approximation of the static
-  nonlinearity using the Levenberg-Marquardt algorithm [1].
-  This step is referred to as the (nonlinear) initialization step.
-
-  As last step, the Levenberg-Marquardt algorithm is used again to
-  optimize the parameters of the linear part and the static
-  nonlinearity as a whole. Therefore, it is necessary to parametrise
-  the matrices of the linear part. The output normal form [2]
-  parameterisation is used.
-
-  The Jacobian is computed analytically, for the nonlinear part, and
-  numerically, for the linear part.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kelley, C.T.
-      Iterative Methods for Optimization.
-      Society for Industrial and Applied Mathematics (SIAM),
-      Philadelphia (Pa.), 1999.
-
-  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
-      Balanced realizations of discrete-time stable all-pass
-      systems and the tangential Schur algorithm.
-      Proceedings of the European Control Conference,
-      31 August - 3 September 1999, Karlsruhe, Germany.
-      Session CP-6, Discrete-time Systems, 1999.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           LDU, LDY, LIWORK, LMAX, MMAX, NMAX, NNMAX,
-     $                  NOBRMX, NSMPMX
-      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
-     $                    NMAX = 4, NSMPMX = 1024,
-     $                    LDU  = NSMPMX, LDY = NSMPMX,
-     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
-     $                                  MMAX*( NMAX + LMAX ) ) )
-      INTEGER           BSNM, L0, L1M, L2M, LDW1, LDW2, LDW3, LDW4,
-     $                  LDW5, LDW6, LDW7, LDW8, LDWORK, LTHS, LW1, LW2,
-     $                  LW3, LW4, LXM
-      PARAMETER         ( BSNM = NNMAX*( LMAX + 2 ) + 1,
-     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
-     $                    L0   = MAX( NMAX*( NMAX + LMAX ),
-     $                                NMAX + MMAX + LMAX ),
-     $                    L1M  = NSMPMX*LMAX +
-     $                           MAX( 2*NNMAX,
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                2*NMAX + L0 ),
-     $                    LXM  = BSNM*LMAX + LTHS,
-     $                    L2M  = MAX( LXM*LXM, 3*LXM + NSMPMX*LMAX ),
-     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                2*NMAX,
-     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                NMAX*NMAX + 7*NMAX,
-     $                                LMAX*NOBRMX*NMAX +
-     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                     2*NMAX + LMAX +
-     $                                     ( 2*MMAX + LMAX )*NOBRMX,
-     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
-     $                                   + NMAX*NMAX + 8*NMAX,
-     $                                     NMAX + 4*( MMAX*NOBRMX +
-     $                                                NMAX ) + 1,
-     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
-     $                              ),
-     $                    LDW2 = LMAX*NOBRMX*NMAX +
-     $                           MMAX*NOBRMX*( NMAX + LMAX )*
-     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                           MAX( ( NMAX + LMAX )**2,
-     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
-     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
-     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
-     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + NMAX +
-     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
-     $                                NMAX, NMAX*NMAX +
-     $                                MAX( NMAX*NMAX +
-     $                                     NMAX*MAX( NMAX, LMAX ) +
-     $                                     6*NMAX + MIN( NMAX, LMAX ),
-     $                                     NMAX*MMAX ) ),
-     $                    LDW7 = MAX( BSNM*BSNM, 3*BSNM + NSMPMX ),
-     $                    LDW8 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
-     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
-     $                                  + 3 ) + LMAX*NOBRMX,
-     $                                4*( MMAX + LMAX )*NOBRMX*
-     $                                ( MMAX + LMAX )*NOBRMX +
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                MAX( LDW1, LDW2 ),
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                NMAX + NMAX*NMAX + 2 +
-     $                                NMAX*( NMAX + MMAX + LMAX ) +
-     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
-     $                                     LDW5, LDW6 ) ),
-     $                    LW2  = NSMPMX*LMAX +
-     $                           MAX( 5, NSMPMX + 2*BSNM + NSMPMX*BSNM +
-     $                                   MAX( 2*NNMAX + BSNM, LDW7 ) ),
-     $                    LW3  = MAX( LDW8, NSMPMX*LMAX +
-     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
-     $                                2*NMAX ),
-     $                    LW4  = MAX( 5, NSMPMX*LMAX + 2*LXM +
-     $                                NSMPMX*LMAX*( BSNM + LTHS ) +
-     $                                MAX( L1M + LXM, NSMPMX*LMAX + L1M,
-     $                                     L2M ) ),
-     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
-*     .. Local Scalars ..
-      LOGICAL           INIT1, INITB, INITL, INITN, INITS
-      CHARACTER*1       ALG, INIT, STOR
-      INTEGER           BSN, I, INFO, INI, ITER, ITERCG, ITMAX1, ITMAX2,
-     $                  IWARN, J, L, L1, L2, LPAR, LX, M, N, NN, NOBR,
-     $                  NPRINT, NS, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-*     .. Array Arguments ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          IB03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
-     $                      NPRINT, TOL1, TOL2, INIT, ALG, STOR
-      INITL = LSAME( INIT, 'L' )
-      INITS = LSAME( INIT, 'S' )
-      INITB = LSAME( INIT, 'B' )
-      INITN = LSAME( INIT, 'N' )
-      INIT1 = INITL .OR. INITB
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) L
-         ELSE
-            NS = N
-            IF( INIT1 ) THEN
-               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NOBR
-                  STOP
-               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-               IF ( N.LT.0 )
-     $            N = NOBR - 1
-            ELSE
-               IF( NSMP.LT.0 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-            END IF
-            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) NN
-            ELSE
-               BSN = NN*( L + 2 ) + 1
-               L1  = BSN*L
-               L2  = N*( L + M + 1 ) + L*M
-               LX  = L1 + L2
-               INI = 1
-               IF ( INITL ) THEN
-                  LPAR = L1
-               ELSEIF ( INITS ) THEN
-                  INI  = L1 + 1
-                  LPAR = L2
-               ELSEIF ( INITN ) THEN
-                  LPAR = LX
-               END IF
-               IF( INIT1 )
-     $            N = NS
-*              Read the input-output data, initial parameters, and seed.
-               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
-               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
-               IF ( .NOT.INITB )
-     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
-               IF ( INITS .OR. INITB )
-     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
-*              Solve a Wiener system identification problem.
-               CALL IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
-     $                      ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY,
-     $                      X, LX, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
-                  ITER   = DWORK(3)
-                  ITERCG = DWORK(4)
-                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-                  WRITE ( NOUT, FMT = 99996 ) ITER, ITERCG,
-     $                                        IWORK(1), IWORK(2)
-*                 Recompute LX is necessary.
-                  IF ( INIT1 .AND. NS.LT.0 )
-     $               LX = L1 + N*( L + M + 1 ) + L*M
-                  WRITE ( NOUT, FMT = 99994 )
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' IB03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from IB03AD = ',I4)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' Number of iterations                     = ', I7,
-     $        /' Number of conjugate gradients iterations = ', I7,
-     $        /' Number of function evaluations           = ', I7,
-     $        /' Number of Jacobian evaluations           = ', I7)
-99995 FORMAT (10(1X,F8.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
-99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
-99989 FORMAT (/' N is out of range.',/' N = ',I5)
-99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
-99987 FORMAT (' IWARN on exit from IB03AD = ',I4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB03AD EXAMPLE PROGRAM DATA
- 10     1     1  1024    4   12   500  1000     0  .00001  .00001   B   D   F
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- 1998.   1999.   2000.   2001.
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB03AD EXAMPLE PROGRAM RESULTS
-
-
- Final 2-norm of the residuals =   0.2970365D+00
-
- Number of iterations                     =      87
- Number of conjugate gradients iterations =       0
- Number of function evaluations           =    1322
- Number of Jacobian evaluations           =     105
-
- Final approximate solution is 
-  -0.9728   0.6465  -1.2888  -0.4296  -0.8530   0.3181   0.9778   0.4570  -0.1420   0.8984
-  -0.6031   0.0697  -1.0822   0.4465   0.6036   0.3792   0.2532  -0.0285   0.4129   0.4833
-   0.1746   0.5626   0.2150  -0.3343   0.4013  -0.3679   0.5653   0.8092  -0.2363  -0.6361
-  -0.6818   0.6110  -0.5506   0.9914   0.0352   0.1968  -0.2502   7.0067 -10.7378   2.6900
- -59.8756  -0.9898  -0.8296   2.3429   1.3456  -0.2531  -1.1265   0.0326   0.5617   0.1045
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB03BD">IB03BD</A></H2>
-<H3>
-Wiener system identification using a MINPACK-like Levenberg-Marquardt algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a set of parameters for approximating a Wiener system
-  in a least-squares sense, using a neural network approach and a
-  MINPACK-like Levenberg-Marquardt algorithm. The Wiener system
-  consists of a linear part and a static nonlinearity, and it is
-  represented as
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t)   = f(z(t),wb(1:L)),
-
-  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
-  evaluated by the SLICOT Library routine NF01AY. The parameter
-  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
-  where theta corresponds to the linear part, and wb(i), i = 1 : L,
-  correspond to the nonlinear part. See SLICOT Library routine
-  NF01AD for further details.
-
-  The sum of squares of the error functions, defined by
-
-     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
-
-  is minimized, where Y(t) is the measured output vector. The
-  functions and their Jacobian matrices are evaluated by SLICOT
-  Library routine NF01BF (the FCN routine in the call of MD03BD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
-     $                   NPRINT, U, LDU, Y, LDY, X, LX, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         INIT
-      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
-     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INIT    CHARACTER*1
-          Specifies which parts have to be initialized, as follows:
-          = 'L' : initialize the linear part only, X already
-                  contains an initial approximation of the
-                  nonlinearity;
-          = 'S' : initialize the static nonlinearity only, X
-                  already contains an initial approximation of the
-                  linear part;
-          = 'B' : initialize both linear and nonlinear parts;
-          = 'N' : do not initialize anything, X already contains
-                  an initial approximation.
-          If INIT = 'S' or 'B', the error functions for the
-          nonlinear part, and their Jacobian matrices, are evaluated
-          by SLICOT Library routine NF01BE (used as a second FCN
-          routine in the MD03BD call for the initialization step,
-          see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
-          in the input and output block Hankel matrices to be
-          processed for estimating the linear part.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-          This parameter is ignored if INIT is 'S' or 'N'.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
-          INIT = 'L' or 'B'.
-
-  NSMP    (input) INTEGER
-          The number of input and output samples, t.  NSMP &gt;= 0, and
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
-
-  N       (input/output) INTEGER
-          The order of the linear part.
-          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
-          assumed unknown and it will be found by the routine.
-          Otherwise, the input value will be used. If INIT = 'S'
-          or 'N', N must be non-negative. The values N &gt;= NOBR,
-          or N = 0, are not acceptable if INIT = 'L' or 'B'.
-
-  NN      (input) INTEGER
-          The number of neurons which shall be used to approximate
-          the nonlinear part.  NN &gt;= 0.
-
-  ITMAX1  (input) INTEGER
-          The maximum number of iterations for the initialization of
-          the static nonlinearity.
-          This parameter is ignored if INIT is 'N' or 'L'.
-          Otherwise, ITMAX1 &gt;= 0.
-
-  ITMAX2  (input) INTEGER
-          The maximum number of iterations.  ITMAX2 &gt;= 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          and the current error norm is printed. Other intermediate
-          results could be printed by modifying the corresponding
-          FCN routine (NF01BE and/or NF01BF). If NPRINT &lt;= 0, no
-          special calls of FCN with IFLAG = 0 are made.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array must contain the
-          set of output samples,
-          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X       (input/output) DOUBLE PRECISION array dimension (LX)
-          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
-          of this array must contain the initial parameters for
-          the nonlinear part of the system.
-          On entry, if INIT = 'S', the elements lin1 : lin2 of this
-          array must contain the initial parameters for the linear
-          part of the system, corresponding to the output normal
-          form, computed by SLICOT Library routine TB01VD, where
-             lin1 = (NN*(L+2) + 1)*L + 1;
-             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
-          On entry, if INIT = 'N', the elements 1 : lin2 of this
-          array must contain the initial parameters for the
-          nonlinear part followed by the initial parameters for the
-          linear part of the system, as specified above.
-          This array need not be set on entry if INIT = 'B'.
-          On exit, the elements 1 : lin2 of this array contain the
-          optimal parameters for the nonlinear part followed by the
-          optimal parameters for the linear part of the system, as
-          specified above.
-
-  LX      (input/output) INTEGER
-          On entry, this parameter must contain the intended length
-          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
-          If N is unknown (N &lt; 0 on entry), a large enough estimate
-          of N should be used in the formula of lin2.
-          On exit, if N &lt; 0 on entry, but LX is not large enough,
-          then this parameter contains the actual length of X,
-          corresponding to the computed N. Otherwise, its value
-          is unchanged.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
-          which measures the relative error desired in the sum of
-          squares, as well as the relative error desired in the
-          approximate solution, for the initialization step of
-          nonlinear part. Termination occurs when either both the
-          actual and predicted relative reductions in the sum of
-          squares, or the relative error between two consecutive
-          iterates are at most TOL1. If the user sets  TOL1 &lt; 0,
-          then  SQRT(EPS)  is used instead TOL1, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          This parameter is ignored if INIT is 'N' or 'L'.
-
-  TOL2    DOUBLE PRECISION
-          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
-          relative error desired in the sum of squares, as well as
-          the relative error desired in the approximate solution,
-          for the whole optimization process. Termination occurs
-          when either both the actual and predicted relative
-          reductions in the sum of squares, or the relative error
-          between two consecutive iterates are at most TOL2. If the
-          user sets TOL2 &lt; 0, then  SQRT(EPS)  is used instead TOL2.
-          This default value could require many iterations,
-          especially if TOL1 is larger. If INIT = 'S' or 'B', it is
-          advisable that TOL2 be larger than TOL1, and spend more
-          time with cheaper iterations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX( LIW1, LIW2, LIW3 )), where
-          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
-          LIW1 = M+L;
-          LIW2 = MAX(M*NOBR+N,M*(N+L));
-          LIW3 = 3+MAX(NN*(L+2)+2,NX+L), if INIT = 'S' or 'B';
-          LIW3 = 3+NX+L,                 if INIT = 'L' or 'N'.
-          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
-          (total) number of function and Jacobian evaluations,
-          respectively (including the initialization step, if it was
-          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
-          specifies how many locations of DWORK contain reciprocal
-          condition number estimates (see below); otherwise,
-          IWORK(3) = 0. If INFO = 0, the entries 4 to 3+NX of IWORK
-          define a permutation matrix P such that J*P = Q*R, where
-          J is the final calculated Jacobian, Q is an orthogonal
-          matrix (not stored), and R is upper triangular with
-          diagonal elements of nonincreasing magnitude (possibly
-          for each block column of J). Column j of P is column
-          IWORK(3+j) of the identity matrix. Moreover, the entries
-          4+NX:3+NX+L of this array contain the ranks of the final
-          submatrices S_k (see description of LMPARM in MD03BD).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On entry, if desired, and if INIT = 'S' or 'B', the
-          entries DWORK(1:4) are set to initialize the random
-          numbers generator for the nonlinear part parameters (see
-          the description of the argument XINIT of SLICOT Library
-          routine MD03BD); this enables to obtain reproducible
-          results. The same seed is used for all outputs.
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, and DWORK(4) returns the final Levenberg
-          factor, for optimizing the parameters of both the linear
-          part and the static nonlinearity part. If INIT = 'S' or
-          INIT = 'B' and INFO = 0, then the elements DWORK(5) to
-          DWORK(8) contain the corresponding four values for the
-          initialization step (see METHOD). (If L &gt; 1, DWORK(8)
-          contains the maximum of the Levenberg factors for all
-          outputs.) If INIT = 'L' or INIT = 'B', and INFO = 0,
-          DWORK(9) to DWORK(8+IWORK(3)) contain reciprocal condition
-          number estimates set by SLICOT Library routines IB01AD,
-          IB01BD, and IB01CD.
-          On exit, if  INFO = -21,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          In the formulas below, N should be taken not larger than
-          NOBR - 1, if N &lt; 0 on entry.
-          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
-          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
-          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
-                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
-                     MAX( LDW1, LDW2 ),
-                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
-                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
-              where,
-              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
-                           L*NOBR*N +
-                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
-                                2*(L*NOBR-L)*N+N*N+8*N,
-                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
-              LDW2 &gt;= 0,                                  if M = 0;
-              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
-                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
-              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
-              LDW4 = N*(N+1) + 2*N +
-                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
-              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
-              LDW6 = NSMP*L + (N+L)*(N+M) + N +
-                     MAX(1, N*N*L + N*L + N, N*N +
-                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
-                             N*M));
-          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
-          LW2 = NSMP*L + BSN +
-                MAX( 4, NSMP +
-                        MAX( NSMP*BSN + MAX( 2*NN, 5*BSN + 1 ),
-                             BSN**2 + BSN +
-                             MAX( NSMP + 2*NN, 5*BSN ) ) );
-          LW3 = MAX( LDW7, NSMP*L + (N+L)*(2*N+M) + 2*N );
-              LDW7 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
-              LDW7 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
-          LW4 = NSMP*L + NX +
-                MAX( 4, NSMP*L +
-                        MAX( NSMP*L*( BSN + LTHS ) +
-                             MAX( NSMP*L + L1, L2 + NX ),
-                                  NX*( BSN + LTHS ) + NX +
-                                  MAX( NSMP*L + L1, NX + L3 ) ) ),
-               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
-               L0 = MAX( N*(N+L), L ),        if M = 0;
-               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
-               L2 = 4*NX + 1,  if L &lt;= 1 or BSN = 0; otherwise,
-               L2 = BSN + MAX(3*BSN+1,LTHS);
-               L2 = MAX(L2,4*LTHS+1),         if NSMP &gt; BSN;
-               L2 = MAX(L2,(NSMP-BSN)*(L-1)), if BSN &lt; NSMP &lt; 2*BSN;
-               L3 = 4*NX,                     if L &lt;= 1 or BSN = 0;
-               L3 = LTHS*BSN + 2*NX + 2*MAX(BSN,LTHS),
-                                              if L &gt; 1 and BSN &gt; 0,
-               with BSN  = NN*( L + 2 ) + 1,
-                    LTHS = N*( L + M + 1 ) + L*M.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          &lt; 0:  the user set IFLAG = IWARN in (one of) the
-                subroutine(s) FCN, i.e., NF01BE, if INIT = 'S'
-                or 'B', and/or NF01BF; this value cannot be returned
-                without changing the FCN routine(s);
-                otherwise, IWARN has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning (where TOL* denotes TOL1 or TOL2,
-                and similarly for ITMAX*):
-          = 1:  both actual and predicted relative reductions in
-                the sum of squares are at most TOL*;
-          = 2:  relative error between two consecutive iterates is
-                at most TOL*;
-          = 3:  conditions for i or j = 1 and i or j = 2 both hold;
-          = 4:  the cosine of the angle between the vector of error
-                function values and any column of the Jacobian is at
-                most EPS in absolute value;
-          = 5:  the number of iterations has reached ITMAX* without
-                satisfying any convergence condition;
-          = 6:  TOL* is too small: no further reduction in the sum
-                of squares is possible;
-          = 7:  TOL* is too small: no further improvement in the
-                approximate solution X is possible;
-          = 8:  the vector of function values e is orthogonal to the
-                columns of the Jacobian to machine precision.
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 6 (see IB01AD, IB01BD
-          and IB01CD). In all these cases, the entries DWORK(1:4),
-          DWORK(5:8) (if INIT = 'S' or 'B'), and DWORK(9:8+IWORK(3))
-          (if INIT = 'L' or 'B'), are set as described above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                otherwise, INFO has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning:
-          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 1;
-          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 2;
-          = 3:  the routine QRFACT returned with INFO &lt;&gt; 0;
-          = 4:  the routine LMPARM returned with INFO &lt;&gt; 0.
-          In addition, if INIT = 'L' or 'B', i could also be
-          = 5:  if a Lyapunov equation could not be solved;
-          = 6:  if the identified linear system is unstable;
-          = 7:  if the QR algorithm failed on the state matrix
-                of the identified linear system.
-          QRFACT and LMPARM are generic names for SLICOT Library
-          routines NF01BS and NF01BP, respectively, for the whole
-          optimization process, and MD03BA and MD03BB, respectively,
-          for the initialization step (if INIT = 'S' or 'B').
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INIT = 'L' or 'B', the linear part of the system is
-  approximated using the combined MOESP and N4SID algorithm. If
-  necessary, this algorithm can also choose the order, but it is
-  advantageous if the order is already known.
-
-  If INIT = 'S' or 'B', the output of the approximated linear part
-  is computed and used to calculate an approximation of the static
-  nonlinearity using the Levenberg-Marquardt algorithm [1,3].
-  This step is referred to as the (nonlinear) initialization step.
-
-  As last step, the Levenberg-Marquardt algorithm is used again to
-  optimize the parameters of the linear part and the static
-  nonlinearity as a whole. Therefore, it is necessary to parametrise
-  the matrices of the linear part. The output normal form [2]
-  parameterisation is used.
-
-  The Jacobian is computed analytically, for the nonlinear part, and
-  numerically, for the linear part.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
-      Balanced realizations of discrete-time stable all-pass
-      systems and the tangential Schur algorithm.
-      Proceedings of the European Control Conference,
-      31 August - 3 September 1999, Karlsruhe, Germany.
-      Session CP-6, Discrete-time Systems, 1999.
-
-  [3] More, J.J.
-      The Levenberg-Marquardt algorithm: implementation and theory.
-      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
-      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
-      and New York, pp. 105-116, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The Levenberg-Marquardt algorithm described in [3] is scaling
-  invariant and globally convergent to (maybe local) minima.
-  The convergence rate near a local minimum is quadratic, if the
-  Jacobian is computed analytically, and linear, if the Jacobian
-  is computed numerically.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           BSNM, LDU, LDY, LIWORK, LMAX, LTHS, LXM, MMAX,
-     $                  NMAX, NNMAX, NOBRMX, NSMPMX
-      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
-     $                    NMAX = 4, NSMPMX = 1024,
-     $                    BSNM = NNMAX*( LMAX + 2 ) + 1,
-     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
-     $                    LDU  = NSMPMX, LDY = NSMPMX,
-     $                    LXM  = BSNM*LMAX + LTHS,
-     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
-     $                                  MMAX*( NMAX + LMAX ), 3 +
-     $                                  MAX( BSNM + 1, LXM + LMAX ) ) )
-      INTEGER           L0, L1M, L2M, L3M, LDW1, LDW2, LDW3, LDW4, LDW5,
-     $                  LDW6, LDW7, LDWORK, LW1, LW2, LW3, LW4
-      PARAMETER         ( L0   = MAX( NMAX*( NMAX + LMAX ),
-     $                                NMAX + MMAX + LMAX ),
-     $                    L1M  = NSMPMX*LMAX +
-     $                           MAX( 2*NNMAX,
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                2*NMAX + L0 ),
-     $                    L2M  = MAX( 4*LXM + 1, BSNM +
-     $                                MAX( 3*BSNM + 1, LTHS ),
-     $                                     NSMPMX*( LMAX - 1 ) ),
-     $                    L3M  = MAX( 4*LXM, LTHS*BSNM + 2*LXM +
-     $                                2*MAX( BSNM, LTHS ) ),
-     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                2*NMAX,
-     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                NMAX*NMAX + 7*NMAX,
-     $                                LMAX*NOBRMX*NMAX +
-     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                     2*NMAX + LMAX +
-     $                                     ( 2*MMAX + LMAX )*NOBRMX,
-     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
-     $                                   + NMAX*NMAX + 8*NMAX,
-     $                                     NMAX + 4*( MMAX*NOBRMX +
-     $                                                NMAX ) + 1,
-     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
-     $                              ),
-     $                    LDW2 = LMAX*NOBRMX*NMAX +
-     $                           MMAX*NOBRMX*( NMAX + LMAX )*
-     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                           MAX( ( NMAX + LMAX )**2,
-     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
-     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
-     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
-     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + NMAX +
-     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
-     $                                NMAX, NMAX*NMAX +
-     $                                MAX( NMAX*NMAX +
-     $                                     NMAX*MAX( NMAX, LMAX ) +
-     $                                     6*NMAX + MIN( NMAX, LMAX ),
-     $                                     NMAX*MMAX ) ),
-     $                    LDW7 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
-     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
-     $                                  + 3 ) + LMAX*NOBRMX,
-     $                                4*( MMAX + LMAX )*NOBRMX*
-     $                                ( MMAX + LMAX )*NOBRMX +
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                MAX( LDW1, LDW2 ),
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                NMAX + NMAX*NMAX + 2 +
-     $                                NMAX*( NMAX + MMAX + LMAX ) +
-     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
-     $                                     LDW5, LDW6 ) ),
-     $                    LW2  = NSMPMX*LMAX + BSNM +
-     $                           MAX( 4, NSMPMX +
-     $                                MAX( NSMPMX*BSNM +
-     $                                     MAX( 2*NNMAX, 5*BSNM + 1 ),
-     $                                     BSNM**2 + BSNM +
-     $                                     MAX( NSMPMX + 2*NNMAX,
-     $                                          5*BSNM ) ) ),
-     $                    LW3  = MAX( LDW7, NSMPMX*LMAX +
-     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
-     $                                2*NMAX ),
-     $                    LW4  = NSMPMX*LMAX + LXM +
-     $                           MAX( 4, NSMPMX*LMAX +
-     $                                MAX( NSMPMX*LMAX*( BSNM + LTHS ) +
-     $                                     MAX( NSMPMX*LMAX + L1M,
-     $                                          L2M + LXM ),
-     $                                          LXM*( BSNM + LTHS ) +
-     $                                          LXM +
-     $                                          MAX( NSMPMX*LMAX + L1M,
-     $                                               LXM + L3M ) ) ),
-     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
-*     .. Local Scalars ..
-      LOGICAL           INIT1, INITB, INITL, INITN, INITS
-      CHARACTER*1       INIT
-      INTEGER           BSN, I, INFO, INI, ITER, ITMAX1, ITMAX2, IWARN,
-     $                  J, L, L1, L2, LPAR, LX, M, N, NN, NOBR, NPRINT,
-     $                  NS, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-*     .. Array Arguments ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          IB03BD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
-     $                      NPRINT, TOL1, TOL2, INIT
-      INITL = LSAME( INIT, 'L' )
-      INITS = LSAME( INIT, 'S' )
-      INITB = LSAME( INIT, 'B' )
-      INITN = LSAME( INIT, 'N' )
-      INIT1 = INITL .OR. INITB
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) L
-         ELSE
-            NS = N
-            IF( INIT1 ) THEN
-               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NOBR
-                  STOP
-               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-               IF ( N.LT.0 )
-     $            N = NOBR - 1
-            ELSE
-               IF( NSMP.LT.0 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-            END IF
-            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) NN
-            ELSE
-               BSN = NN*( L + 2 ) + 1
-               L1  = BSN*L
-               L2  = N*( L + M + 1 ) + L*M
-               LX  = L1 + L2
-               INI = 1
-               IF ( INITL ) THEN
-                  LPAR = L1
-               ELSEIF ( INITS ) THEN
-                  INI  = L1 + 1
-                  LPAR = L2
-               ELSEIF ( INITN ) THEN
-                  LPAR = LX
-               END IF
-               IF( INIT1 )
-     $            N = NS
-*              Read the input-output data, initial parameters, and seed.
-               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
-               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
-               IF ( .NOT.INITB )
-     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
-               IF ( INITS .OR. INITB )
-     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
-*              Solve a Wiener system identification problem.
-               CALL IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1,
-     $                      ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX, TOL1,
-     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
-                  ITER = DWORK(3)
-                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-                  WRITE ( NOUT, FMT = 99996 ) ITER, IWORK(1), IWORK(2)
-*                 Recompute LX is necessary.
-                  IF ( INIT1 .AND. NS.LT.0 )
-     $               LX = L1 + N*( L + M + 1 ) + L*M
-                  WRITE ( NOUT, FMT = 99994 )
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' IB03BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from IB03BD = ',I4)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' Number of iterations                     = ', I7,
-     $        /' Number of function evaluations           = ', I7,
-     $        /' Number of Jacobian evaluations           = ', I7)
-99995 FORMAT (10(1X,F9.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
-99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
-99989 FORMAT (/' N is out of range.',/' N = ',I5)
-99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
-99987 FORMAT (' IWARN on exit from IB03BD = ',I4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB03BD EXAMPLE PROGRAM DATA
- 10     1     1  1024    4   12   500  1000     0  .00001  .00001   B
-   2.2183165e-01
-   3.9027807e-02
-  -5.0295887e-02
-   8.5386224e-03
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-   2.9899548e-01
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-  -2.8057123e-01
-  -8.9244625e-02
-   1.6445576e-01
-   3.2621002e-01
-   2.9949560e-01
-   1.0678193e-01
-  -1.3016725e-01
-  -2.7225661e-01
-  -2.4687907e-01
-  -8.3173776e-02
-   1.1381888e-01
-   2.2819642e-01
-   1.9830143e-01
-   4.8505476e-02
-  -1.2763594e-01
-  -2.2560309e-01
-  -1.9560311e-01
-  -7.1212054e-02
-   6.0380807e-02
-   1.2445307e-01
-   1.0835168e-01
-   5.5609724e-02
-   1.7269294e-02
-   9.3997346e-03
-   1.1223045e-02
-  -4.3543819e-03
-  -4.2668837e-02
-  -8.5657964e-02
-  -1.0909342e-01
-  -9.7154374e-02
-  -4.6781850e-02
-   3.1101930e-02
-   1.0973840e-01
-   1.5122945e-01
-   1.2531404e-01
-   3.3620966e-02
-  -8.3194568e-02
-  -1.6716420e-01
- 1998.   1999.   2000.   2001.
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB03BD EXAMPLE PROGRAM RESULTS
-
- IWARN on exit from IB03BD =   12
-
- Final 2-norm of the residuals =   0.2995840D+00
-
- Number of iterations                     =      42
- Number of function evaluations           =     898
- Number of Jacobian evaluations           =     295
-
- Final approximate solution is 
-   14.1294    1.1232    6.4322  -11.2418    7.6380  -33.4730  -64.7203  747.1515   -0.4623  -92.6092
-    6.1682   -0.7672    0.1194    0.3558    0.9091    0.2948    1.3465    0.0093    0.0560   -0.0035
-   -0.4179   -0.0455   -2.0871   -0.9196    1.0777    0.9213    0.5373    1.0412   -0.3978    7.6832
-   -6.8614  -31.6119   -0.1092   -9.8984    0.1257    0.4056    0.0472    7.5819  -13.3969    2.4869
-  -66.0727   -0.8411   -0.7040    1.9641    1.3059   -0.2046   -0.9326    0.0040    0.4032    0.1479
-</PRE>
-
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-<HTML>
-<HEAD><TITLE>KINSOL - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="KINSOL">KINSOL</A></H2>
-<H3>
-Solving a nonlinear system of equations using Krylov Inexact Newton techniques
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a nonlinear system of equations F(u)=0, where F(u) is
-                             n    n
-  a nonlinear function from R to R , using Krylov Inexact Newton
-  techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE KINSOL (GSTRAT, LINSU, NEQ, OPTIN, MAXL, MAXLRST,
-     &                   MSBPRE, UU, USCALE, FSCALE, CONSTR,
-     &                   IOPT, ROPT, TOL1, TOL2, INFO)
-C     .. Scalar Arguments ..
-      LOGICAL           OPTIN
-      INTEGER           INFO, GSTRAT, MAXL, MAXLRST, MSBPRE, NEQ
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IOPT(40)
-      DOUBLE PRECISION  CONSTR(NEQ), FSCALE(NEQ), ROPT(40), USCALE(NEQ),
-     $                  UU(NEQ)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
- 
-<B>Input/Output Parameters</B>
-<PRE>
-  GSTRAT  (input) INTEGER
-          Indicates the global strategy to apply the computed
-          increment delta in the solution UU.  Choices are:
-          0 - Inexact Newton.
-          1 - Linesearch.
-
-  LINSU   SUBROUTINE
-          Linear Solver Set-up Routine. This is the KINSOL routine
-          to be called to set-up the linear solver. The user should
-          specify here one of the 6 different Fortran-callable
-          routines provided by KINSOL for this purpose. The choice
-          to be used depends on which of the optional user-defined
-          routines are provided by the user (see User-defined
-          routines below).
-          LINSU can be one of the following routines: FKINSPGMR00,
-          FKINSPGMR01, FKINSPGMR10, FKINSPGMR11, FKINSPGMR20, and
-          FKINSPGMR21, where the first digit in the name of the
-          function is: 0 if neither KPSOL nor KPRECO routines are
-          provided; 1 if only the preconditioner solve routine
-          (KPSOL) is provided; and 2 if both the preconditioner
-          solve (KPSOL) and setup (KPRECO) routines are provided.
-          The second digit is: 0 if a function FATIMES is not
-          provided; and 1 if a function FATIMES is provided.
-
-  NEQ     (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system.
-
-  OPTIN   (input) LOGICAL
-          Flag indicating whether optional inputs from the user in
-          the arrays IOPT and ROPT are to be used.
-          Pass FALSE to ignore all optional inputs and TRUE to use
-          all optional inputs that are present. Either choice does
-          NOT affect outputs in other positions of IOPT or ROPT.
-
-  MAXL    (input) INTEGER
-          Maximum Krylov dimension for the Linear Solver. Pass 0
-          to use the default value MIN(Neq, 10). 
-
-  MAXLRST (input) INTEGER
-          Maximum number of linear solver restarts allowed. Values
-          outside the range 0 to 2*NEQ/MAXL will be restricted to
-          that range. 0, meaning no restarts, is a safe starting
-          value.
-
-  MSBPRE  (input) INTEGER
-          Maximum number of steps calling the solver KPSOL
-          without calling the preconditioner KPRECO. (The default is
-          10).
-
-  UU      (input/output) DOUBLE PRECISION array, dimension (NEQ)
-          On entry, UU is the initial guess.
-          On exit, if no errors ocurr, UU is the solution of
-          the system KFUN(UU) = 0.
-
-  USCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
-          Array of diagonal elements of the scaling matrix for UU.
-          The elements of USCALE must be positive values. The
-          scaling matrix USCALE should be chosen so that 
-          USCALE * UU (as a matrix multiplication) should have all
-          its components with roughly the same magnitude when UU is
-          close to a root of KFUN.
-
-  FSCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
-          Array of diagonal elements of the scaling matrix for
-          KFUN. The elements of FSCALE must be positive values.
-          The scaling matrix FSCALE should be chosen so that
-          FSCALE * KFUN(UU) (as a matrix multiplication) should
-          have all its components with roughly the same magnitude
-          when UU is NOT too near a root of KFUN.
-
-  CONSTR  (input) DOUBLE PRECISION array, dimension (NEQ)
-          Constraints on UU.
-          A positive value in CONSTR(I) implies that the Ith
-          component of UU is to be constrained &gt; 0.
-          A negative value in CONSTR(I) implies that the Ith
-          component of UU is to be constrained &lt; 0.
-          A zero value in CONSTR(I) implies there is no constraint
-          on UU(I). 
-
-  IOPT    (input/output) INTEGER array, dimension (40)
-          Array of optional integer inputs and outputs.
-          If OPTIN is TRUE, the user should preset to 0 those
-          locations for which default values are to be used.
-          See Optional Inputs and Outputs, below. 
-
-  ROPT    (input/output) DOUBLE PRECISION array, dimension (40)
-          Array of optional double precision inputs and outputs.
-          If OPTIN is TRUE, the user should preset to 0 those
-          locations for which default values are to be used.
-          See Optional Inputs and Outputs, below. 
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          Stopping tolerance on maxnorm( FSCALE * KFUN(UU) ).
-          If TOL1 is input as 0., then a default value of
-          (uround) to the 1/3 power will be used. uround is the
-          unit roundoff for the machine in use for the calculation.
-
-  TOL2    DOUBLE PRECISION
-          Stopping tolerance on the maximum scaled step 
-          UU(K) - UU(K-1). 
-          If TOL2 is input as 0., then a default value of (uround)
-          to the 2/3 power will be used. uround is the unit 
-          roundoff for the machine in use for the calculation.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          See Termination Codes below.
-
-  ---------------------------------------------------------------
-
-  Termination Codes
-
-  (Note: in this documentation we use named constants for 
-  certain integer constant values. To see the values of these
-  symbols see Named constants below.)
-
-  The termination values KINS_***** are now given. These are the
-  values of the INFO argument.
-
-  SUCCESS :    means maxnorm(FSCALE*KFUN(UU) &lt;= TOL1, where
-               maxnorm() is the maximum norm function N_VMaxNorm.
-               Therefore, UU is probably an approximate root of
-               KFUN.
-
-  INITIAL_GUESS_OK: means the initial guess UU has been found
-               to already satisfy the system to the desired
-               accuracy. No calculation was performed other
-               than testing UU.
-
-  STEP_LT_STPTOL:  means the scaled distance between the last
-               two steps is less than TOL2.  UU may be an
-               approximate root of KFUN, but it is also possible
-               that the algorithm is making very slow progress
-               and is not near a root or that TOL2 is too
-               large
-
-  LNSRCH_NONCONV: means the LineSearch module failed to reduce
-               norm(KFUN) sufficiently on the last global step.
-               Either UU is close to a root of F and no more
-               accuracy is possible, or the finite-difference
-               approximation to J*v is inaccurate, or TOL2
-               is too large. Check the outputs NCFL and NNI: if
-               NCFL is close to NNI, it may be the case that the
-               Krylov iteration is converging very slowly. In
-               this case, the user may want to use precondition-
-               ing and/or increase the MAXL argument (that is,
-               increase the max dimension of the Krylov subspace)
-               by setting MAXL to nonzero (thus not using the
-               default value of KINSPGMR_MAXL) or if MAXL is being
-               set, increase its value.
-
-  MAXITER_REACHED: means that the maximum allowable number of
-               nonlinear iterations has been reached. This is by
-               default 200, but may be changed through optional
-               input IOPT(MXITER).
-
-  MXNEWT_5X_EXCEEDED: means 5 consecutive steps of length mxnewt
-               (maximum Newton stepsize limit) have been taken.
-               Either norm(F) asymptotes from above to a finite
-               value in some direction, or mxnewt is too small.
-               Mxnewt is computed internally (by default) as
-               mxnewt = 1000*max(norm(USCALE*UU0),1), where
-               UU0 is the initial guess for UU, and norm() is
-               the Euclidean norm. Mxnewt can be  set by the
-               user through optional input ROPT(MXNEWTSTEP).
-
-  LINESEARCH_BCFAIL: means that more than the allowed maximum
-               number of failures (MXNBCF) occurred when trying
-               to satisfy the beta condition in the linesearch
-               algorithm. It is likely that the iteration is
-               making poor progress.
-
-  KRYLOV_FAILURE: means there was a failure of the Krylov
-               iteration process to converge.
-
-  PRECONDSET_FAILURE: means there was a nonrecoverable
-               error in PrecondSet causing the iteration to halt.
-
-  PRECONDSOLVE_FAILURE: means there was a nonrecoverable
-            error in PrecondSolve causing the iteration to halt.
-
-  NO_MEM:    the KINSol memory pointer received was NULL.
-
-  INPUT_ERROR: one or more input parameters or arrays was in
-               error. See the program output for further info.
-
-  LSOLV_NO_MEM: The linear solver memory pointer (lmem) was
-             received as NULL. The return value from the linear
-             solver needs to be checked and the cause found.
-
-  ---------------------------------------------------------------
-
-</PRE>
-<B>Optional inputs and outputs</B>
-<PRE>
-  (Note: in this documentation we use named constants for 
-  certain integer constant values. To see the values of these
-  symbols see Named constants below.)
-
-  The user should declare two arrays for optional input and
-  output, an IOPT array for optional integer input and output
-  and an ROPT array for optional real input and output. These
-  arrays should both be of size OPT_SIZE.
-  So the user's declaration should look like:
-
-  INTEGER          IOPT(OPT_SIZE)
-  DOUBLE PRECISION ROPT(OPT_SIZE)
-
-  The following definitions are indices into the IOPT and ROPT
-  arrays. A brief description of the contents of these positions
-  follows.
-
-  IOPT(PRINTFL)  (input)  Allows user to select from 4 levels
-                 of output.
-                 =0 no statistics printed   (DEFAULT)
-                 =1 output the nonlinear iteration count, the
-                    scaled norm of KFUN(UU), and number of
-                    KFUN calls.
-                 =2 same as 1 with the addition of global
-                    strategy statistics:
-                    f1 = 0.5*norm(FSCALE*KFUN(UU))**2   and
-                    f1new = 0.5*norm(FSCALE*KFUN(unew))**2 .
-                 =3 same as 2 with the addition of further
-                    Krylov iteration statistics.
-
-  IOPT(MXITER)   (input) Maximum allowable number of nonlinear
-                  iterations. The default is MXITER_DEFAULT.
-
-  IOPT(PRECOND_NO_INIT) (input) Set to 1 to prevent the initial
-                   call to the routine KPRECO upon a given
-                   call to KINSol. Set to 0 or leave unset to
-                   force the initial call to KPRECO.
-                   Use the choice of 1 only after beginning the
-                   first of a series of calls with a 0 value.
-                   If a value other than 0 or 1 is encountered,
-                   the default, 0, is set in this element of
-                   IOPT and thus the routine KPRECO will
-                   be called upon every call to KINSol, unless
-                   IOPT(PRECOND_NO_INIT) is changed by the user.
-
-  IOPT(ETACHOICE) (input) A flag indicating which of three
-                   methods to use for computing eta, the
-                   coefficient in the linear solver
-                   convergence tolerance eps, given by
-                     eps = (eta+u_round)*norm(KFUN(UU)).
-                   Here, all norms are  the scaled L2 norm.
-                   The linear solver attempts to produce a step
-                   p such that norm(KFUN(UU)+J(UU)*p) &lt;= eps.
-                   Two of the methods for computing eta
-                   calculate a value based on the convergence
-                   process in the routine KINForcingTerm.
-                   The third method does not require
-                   calculation; a constant eta is selected.
-
-                   The default if IOPT(ETACHOICE) is  not
-                   specified is ETACHOICE1, (see below).
-
-                   The allowed values (methods)  are:
-              ETACONSTANT  constant eta, default of 0.1 or user
-                 supplied choice, for which see ROPT(ETACONST),
-
-              ETACHOICE1 (default) which uses choice 1 of
-                 Eisenstat and Walker's paper of SIAM J. Sci.
-                 Comput.,17 (1996), pp 16-32 wherein eta is:
-                         eta(k) =
-  ABS( norm(KFUN(UU(k))) - norm(KFUN(UU(k-1))+J(UU(k-1))*p) )
-                      / norm(KFUN(UU(k-1))),
-
-              ETACHOICE2   which uses choice 2 of
-                 Eisenstat and Walker wherein eta is:
-                 eta(k) = egamma *
-             ( norm(KFUN(UU(k))) / norm(KFUN(u(k-1))) )^ealpha
-
-                 egamma and ealpha for choice 2, both required,
-                 are from either defaults (egamma = 0.9 ,
-                 ealpha = 2)  or from  user input,
-                 see ROPT(ETAALPHA) and ROPT(ETAGAMMA), below.
-
-                 For eta(k) determined by either Choice 1 or
-                 Choice 2, a value eta_safe is determined, and
-                 the safeguard   eta(k) &lt;- max(eta_safe,eta(k))
-                 is applied to prevent eta(k) from becoming too
-                 small too quickly.
-                  For Choice 1,
-                    eta_safe = eta(k-1)^((1.+sqrt(5.))/2.)
-           and    for Choice 2,
-                    eta_safe = egamma*eta(k-1)^ealpha.
-                 (These safeguards are turned off if they drop
-                 below 0.1 . Also, eta is never allowed to be
-                 less than eta_min = 1.e-4).
-
-  IOPT(NO_MIN_EPS) (input) Set to 1 or greater to remove
-                 protection agains eps becoming too small.
-                 This option is useful for debugging linear
-                 and nonlinear solver interactions. Set to 0
-                 for standard eps minimum value testing.
-
-  IOPT(NNI)      (output) Total number of nonlinear iterations.
-
-  IOPT(NFE)      (output) Total number of calls to the user-
-                  supplied system function KFUN.
-
-  IOPT(NBCF)     (output) Total number of times the beta
-                  condition could not be met in the linesearch
-                  algorithm. The nonlinear iteration is halted
-                  if this value ever exceeds MXNBCF (10).
-
-  IOPT(NBKTRK)   (output) Total number of backtracks in the
-                  linesearch algorithm.
-
-  IOPT(SPGMR_NLI) (output) Number of linear iterations.
-
-  IOPT(SPGMR_NPE) (output) Number of preconditioner evaluations.
-
-  IOPT(SPGMR_NPS) (output) Number of calls made to user's psolve
-                  function.
-
-  IOPT(SPGMR_NCFL) (output) Number of linear convergence failures.
-
-  ROPT(MXNEWTSTEP) (input) Maximum allowable length of a Newton
-                  step. The default value is calculated from
-                  1000*max(norm(USCALE*UU(0),norm(USCALE)).
-
-  ROPT(RELFUNC)  (input) Relative error in computing KFUN(UU)
-                  if known. Default is the machine epsilon.
-
-  ROPT(RELU)     (input) A scalar constraint which restricts
-                  the update of UU to  del(UU)/UU &lt; ROPT(RELU)
-                  The default is no constraint on the relative
-                  step in UU.
-
-  ROPT(ETAGAMMA) (input) The coefficient egamma in the eta
-                  computation. See routine KINForcingTerm
-           (SEE IOPT(ETACHOICE) above for additional info).
-
-  ROPT(ETAALPHA) (input) The coefficient ealpha in the eta
-                  computation. See routine KINForcingTerm
-           (SEE IOPT(ETACHOICE) above for additional info).
-
-  ROPT(ETACONST) (input) A user specified constant value for
-                   eta, used in lieu of that computed by
-                       routine KINForcingTerm
-           (SEE IOPT(ETACHOICE) above for additional info).
-
-  ROPT(FNORM)    (output) The scaled norm at a given iteration:
-                  norm(FSCALE(KFUN(UU)).
-
-  ROPT(STEPL)    (output) Last step length in the global
-                  strategy routine:
-                  KINLineSearch or KINInexactNewton.
-
-  ---------------------------------------------------------------
-
-</PRE>
-<B>User-defined routines</B>
-<PRE>
-  In order to use this routine, some user-defined routines have to
-  be provided. One of them is required, while the others are
-  optional. These routines are described next.
-
-  KFUN    Required
-
-          SUBROUTINE KFUN (NEQ, UU, FVAL)
-          INTEGER           NEQ
-          DOUBLE PRECISION  UU(NEQ), FVAL(NEQ)
-
-          PURPOSE
-
-          Evaluates the KFUN function which defines the system
-          to be solved:
-                            KFUN(UU)=0
-
-          ARGUMENTS
-
-          NEQ
-          (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          independent variable vector
-
-          FVAL
-          (output) DOUBLE PRECISION array, dimension (NEQ)
-          Result of KFUN(UU)
-
-  KPRECO  Optional
-
-          SUBROUTINE KPRECO (NEQ, UU, USCALE, FVAL, FSCALE,
-                             VTEMP1, VTEMP2, UROUND, NFE, IER)
-          INTEGER           NEQ, NFE, IER
-          DOUBLE PRECISION  UROUND
-          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
-                            FSCALE(NEQ), VTEMP1(NEQ), VTEMP2(NEQ)
-
-          PURPOSE
-
-          The user-supplied preconditioner setup function KPRECO and
-          the user-supplied preconditioner solve function KPSOL
-          together must define the right preconditoner matrix P
-          chosen so as to provide an easier system for the Krylov
-          solver to solve. KPRECO is called to provide any matrix
-          data required by the subsequent call(s) to KPSOL. The
-          data is expected to be stored in variables within a
-          COMMON block and the definition of those variables is up
-          to the user. More specifically, the user-supplied
-          preconditioner setup function KPRECO is to evaluate and
-          preprocess any Jacobian-related data needed by the
-          preconditioner solve function KPSOL. This might include
-          forming a crude approximate Jacobian, and performing an
-          LU factorization on the resulting approximation to J.
-          This function will not be called in advance of every call
-          to KPSOL, but instead will be called only as often as
-          necessary to achieve convergence within the Newton
-          iteration in KINSol.  If the KPSOL function needs no
-          preparation, the KPRECO function need not be provided.
-
-          KPRECO should not modify the contents of the arrays
-          UU or FVAL as those arrays are used elsewhere in the
-          iteration process.
-
-          Each call to the KPRECO function is preceded by a call to
-          the system function KFUN. Thus the KPRECO function can use
-          any auxiliary data that is computed by the KFUN function
-          and saved in a way accessible to KPRECO.
-
-          The two scaling arrays, FSCALE and USCALE, and unit
-          roundoff UROUND are provided to the KPRECO function for
-          possible use in approximating Jacobian data, e.g. by
-          difference quotients. These arrays should also not be
-          altered
-
-          ARGUMENTS
-
-          NEQ
-          (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system.
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Independent variable vector.
-
-          USCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See USCALE above.
-
-          FVAL
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Current value of KFUN(UU).
-
-          FSCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See FSCALE above.
-
-          VTEMP1
-          DOUBLE PRECISION array, dimension (NEQ)
-          Temporary work array.
-
-          VTEMP2
-          DOUBLE PRECISION array, dimension (NEQ)
-          Temporary work array.
-
-          UROUND
-          (input) DOUBLE PRECISION
-          Machine unit roundoff.
-
-          NFE
-          (input/output) INTEGER
-          Number of calls to KFUN made by the package. The KPRECO
-          routine should update this counter by adding on the
-          number of KFUN calls made in order to approximate the
-          Jacobian, if any.  For example, if the routine calls
-          KFUN a total of W times, then the update is 
-          NFE = NFE + W.
-
-          IER
-          (output) INTEGER
-          Error indicator. 
-          0 if successful,
-          1 if failure, in which case KINSOL stops.
-
-  KPSOL   Optional
-
-          SUBROUTINE KPSOL (NEQ, UU, USCALE, FVAL, FSCALE, VTEM,
-                            FTEM, UROUND, NFE, IER)
-          INTEGER           NEQ, NFE, IER
-          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
-                            FSCALE(NEQ), VTEM(NEQ), FTEM(NEQ)
-
-          PURPOSE
-
-          The user-supplied preconditioner solve function KPSOL
-          is to solve a linear system P x = r in which the matrix
-          P is the (right) preconditioner matrix P.
-
-          KPSOL should not modify the contents of the iterate
-          array UU  or the current function value array  FVAL as
-          those are used elsewhere in the iteration process.
-
-          ARGUMENTS
-
-          NEQ
-          (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system.
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Independent variable vector.
-
-          USCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See USCALE above.
-
-          FVAL
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Current value of KFUN(UU).
-
-          FSCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See FSCALE above.
-
-          VTEM
-          (input/output) DOUBLE PRECISION array, dimension (NEQ)
-          On entry, holds the RHS vector r.
-          On exit, holds the result x.
-
-          FTEM
-          DOUBLE PRECISION array, dimension (NEQ)
-          Temporary work array.
-
-          UROUND
-          (input) DOUBLE PRECISION
-          Machine unit roundoff.
-
-          NFE
-          (input/output) INTEGER
-          Number of calls to KFUN made by the package. The KPRECO
-          routine should update this counter by adding on the
-          number of KFUN calls made in order to carry out the
-          solution, if any.  For example, if the routine calls
-          KFUN a total of W times, then the update is 
-          NFE = NFE + W.
-
-          IER
-          (output) INTEGER
-          Error indicator. 
-          0 if successful,
-          1 if failure, in which case KINSOL stops.
-
-  FATIMES Optional
-
-          SUBROUTINE FATIMES(V, Z, NEWU, UU, IER)
-          INTEGER           NEWU, IER
-          DOUBLE PRECISION  V(:), Z(:), UU(:)
-
-          PURPOSE
-
-          The user-supplied A times V routine (optional) where
-          A is the Jacobian matrix dF/du, or an approximation to
-          it, and V is a given  vector.  This routine computes the
-          product Z = J V.
-
-          ARGUMENTS
-
-          V
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Vector to be multiplied by J
-          (preconditioned and unscaled as received).
-
-          Z
-          (output) DOUBLE PRECISION array, dimension (NEQ)
-          Vector resulting from the application of J to V.
-
-          NEW_UU
-          (input) INTEGER
-          Flag indicating whether or not the UU vector has been
-          changed since the last call to this function (0 means
-          FALSE, 1 TRUE).
-          If this function computes and saves Jacobian data, then
-          this computation can be skipped if NEW_UU = FALSE.
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Current iterate u.
-
-          IER
-          (output) INTEGER
-          Error indicator. 
-          0 if successful,
-          1 if failure, in which case KINSOL stops.
-
-  ---------------------------------------------------------------
-
-</PRE>
-<B>Named constants</B>
-<PRE>
-  Here we specify the value of the named integer constants used
-  in this documentation. We use Fortran code for the specification,
-  so that the user can copy and paste these lines in order to
-  use the named constants in his/her programs.
-
-   KINSOL return values
-   Note that the value of these constants differ from those of
-   the KINSOL package. This is due to the adaptation to the 
-   SLICOT standards.
-   INTEGER KINS_NO_MEM, KINS_INPUT_ERROR, KINS_LSOLV_NO_MEM, 
-  &        KINS_SUCCESS, KINS_INITIAL_GUESS_OK,KINS_STEP_LT_STPTOL,
-  &        KINS_LNSRCH_NONCONV, KINS_MAXITER_REACHED, 
-  &        KINS_MXNEWT_5X_EXCEEDED, KINS_LINESEARCH_BCFAIL,
-  &        KINS_KRYLOV_FAILURE, KINS_PRECONDSET_FAILURE, 
-  &        KINS_PRECONDSOLVE_FAILURE}
-
-   PARAMETER(KINS_NO_MEM=101)
-   PARAMETER(KINS_INPUT_ERROR=102)
-   PARAMETER(KINS_LSOLV_NO_MEM=103)
-   PARAMETER(KINS_SUCCESS=0)
-   PARAMETER(KINS_INITIAL_GUESS_OK=2)
-   PARAMETER(KINS_STEP_LT_STPTOL=3)
-   PARAMETER(KINS_LNSRCH_NONCONV=4)
-   PARAMETER(KINS_MAXITER_REACHED=5)
-   PARAMETER(KINS_MXNEWT_5X_EXCEEDED=6)
-   PARAMETER(KINS_LINESEARCH_BCFAIL=7)
-   PARAMETER(KINS_KRYLOV_FAILURE = 8)
-   PARAMETER(KINS_PRECONDSET_FAILURE=9)
-   PARAMETER(KINS_PRECONDSOLVE_FAILURE=10)
-
-   Size of IOPT, ROPT
-   INTEGER OPT_SIZE
-   PARAMETER(OPT_SIZE=40)
-
-   IOPT indices
-   INTEGER PRINTFL, MXITER, PRECOND_NO_INIT, NNI ,NFE ,NBCF, NBKTRK,
-  &        ETACHOICE, NO_MIN_EPS
-   INTEGER SPGMR_NLI, SPGMR_NPE, SPGMR_NPS, SPGMR_NCFL
-
-   PARAMETER(PRINTFL=1)
-   PARAMETER(MXITER=2)
-   PARAMETER(PRECOND_NO_INIT=3)
-   PARAMETER(NNI=4)
-   PARAMETER(NFE=5)
-   PARAMETER(NBCF=6)
-   PARAMETER(NBKTRK=7)
-   PARAMETER(ETACHOICE=8)
-   PARAMETER(NO_MIN_EPS=9)
-   PARAMETER(SPGMR_NLI=11)
-   PARAMETER(SPGMR_NPE=12)
-   PARAMETER(SPGMR_NPS=13)
-   PARAMETER(SPGMR_NCFL=14)
-
-   ROPT indices
-   INTEGER MXNEWTSTEP , RELFUNC , RELU , FNORM , STEPL,
-  &        ETACONST, ETAGAMMA, ETAALPHA
-
-   PARAMETER(MXNEWTSTEP=1)
-   PARAMETER(RELFUNC=2)
-   PARAMETER(RELU=3)
-   PARAMETER(FNORM=4)
-   PARAMETER(STEPL=5)
-   PARAMETER(ETACONST=6)
-   PARAMETER(ETAGAMMA=7)
-   PARAMETER(ETAALPHA=8)
-
-   Values for IOPT(ETACHOICE)
-   INTEGER ETACHOICE1, ETACHOICE2, ETACONSTANT
-
-   PARAMETER(ETACHOICE1=0)
-   PARAMETER(ETACHOICE2=1)
-   PARAMETER(ETACONSTANT=2)
-   
-  ---------------------------------------------------------------
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  KINSOL (Krylov Inexact Newton SOLver) is a general purpose
-  solver for nonlinear systems of equations. Its most notable
-  feature is that it uses Krylov Inexact Newton techniques in the
-  system's approximate solution. 
-  The Newton method used results in the solution of linear systems
-  of the form
-                          J(u)*x = b
-  where J(u) is the Jacobian of F at u. The solution of these
-  systems by a Krylov method requires products of the form J(u)*v,
-  which are approximated by a difference quotient of the form
-                       F(u+sigma*v)-F(u)
-                       -----------------
-                            sigma
-  Thus, the Jacobian need not be formed explicitly.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Allan G. Taylor and Alan C. Hindmarsh, "User Documentation
-      for KINSOL, a Nonlinear Solver for Sequential and Parallel
-      Computers", Center for Applied Scientific Computing, L-561,
-      LLNL, Livermore, CA 94551.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
-of the routine and related files.-->
-</p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA01AD.html b/doc/_build/html/_static/doc/MA01AD.html
deleted file mode 100644
index 03a92d75..00000000
--- a/doc/_build/html/_static/doc/MA01AD.html
+++ /dev/null
@@ -1,83 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01AD">MA01AD</A></H2>
-<H3>
-Complex square root of a complex number in real arithmetic
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the complex square root YR + i*YI of a complex number
-  XR + i*XI  in real arithmetic.  The returned result is so that
-  YR &gt;= 0.0  and  SIGN(YI) = SIGN(XI).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA01AD( XR, XI, YR, YI )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  XR, XI, YR, YI
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  XR      (input) DOUBLE PRECISION
-  XI      (input) DOUBLE PRECISION
-          These scalars define the real and imaginary part of the
-          complex number of which the square root is sought.
-
-  YR      (output) DOUBLE PRECISION
-  YI      (output) DOUBLE PRECISION
-          These scalars define the real and imaginary part of the
-          complex square root.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The complex square root YR + i*YI of the complex number XR + i*XI
-  is computed in real arithmetic, taking care to avoid overflow.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  Adapted from EISPACK subroutine CSROOT.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA01BD.html b/doc/_build/html/_static/doc/MA01BD.html
deleted file mode 100644
index 41b844a6..00000000
--- a/doc/_build/html/_static/doc/MA01BD.html
+++ /dev/null
@@ -1,97 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01BD">MA01BD</A></H2>
-<H3>
-Safely computing the general product of K real scalars
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the general product of K real scalars without over-
-  or underflow.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA01BD( BASE, LGBAS, K, S, A, INCA, ALPHA, BETA, SCAL )
-C     .. Scalar Arguments ..
-      INTEGER           INCA, K, SCAL
-      DOUBLE PRECISION  ALPHA, BASE, BETA, LGBAS
-C     .. Array Arguments ..
-      INTEGER           S(*)
-      DOUBLE PRECISION  A(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  BASE    (input)  DOUBLE PRECISION
-          Machine base.
-
-  LGBAS   (input)  DOUBLE PRECISION
-          Logarithm of BASE.
-
-  K       (input)  INTEGER
-          The number of scalars.  K &gt;= 1.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  A       (input)  DOUBLE PRECISION array, dimension (K)
-          Vector of real scalars.
-
-  INCA    (input)  INTEGER
-          Increment for the array A. INCA &lt;&gt; 0.
-
-  ALPHA   (output)  DOUBLE PRECISION
-          ALPHA is a real scalar such that
-
-             ALPHA / BETA * BASE**(SCAL)
-
-          is the general product of the scalars in the array A.
-
-  BETA    (output)  DOUBLE PRECISION
-          BETA is either 0.0 or 1.0.
-          See also the description of ALPHA.
-
-  SCAL    (output)  INTEGER
-          Scaling factor exponent, see ALPHA.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA01BZ.html b/doc/_build/html/_static/doc/MA01BZ.html
deleted file mode 100644
index fce60286..00000000
--- a/doc/_build/html/_static/doc/MA01BZ.html
+++ /dev/null
@@ -1,96 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01BZ">MA01BZ</A></H2>
-<H3>
-Safely computing the general product of K complex scalars
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the general product of K complex scalars trying to
-  avoid over- and underflow.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA01BZ( BASE, K, S, A, INCA, ALPHA, BETA, SCAL )
-C     .. Scalar Arguments ..
-      INTEGER           INCA, K, SCAL
-      DOUBLE PRECISION  BASE
-      COMPLEX*16        ALPHA, BETA
-C     .. Array Arguments ..
-      INTEGER           S(*)
-      COMPLEX*16        A(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  BASE    (input)  DOUBLE PRECISION
-          Machine base.
-
-  K       (input)  INTEGER
-          The number of scalars.  K &gt;= 1.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  A       (input)  COMPLEX*16 array, dimension (K)
-          Vector of complex scalars.
-
-  INCA    (input)  INTEGER
-          Increment for the array A. INCA &lt;&gt; 0.
-
-  ALPHA   (output)  COMPLEX*16
-          ALPHA is a complex scalar with ABS(ALPHA) = 0, or
-          1.0 &lt;= ABS(ALPHA) &lt; BASE, such that
-
-             ALPHA / BETA * BASE**(SCAL)
-
-          is the general product of the scalars in the array A.
-
-  BETA    (output)  COMPLEX*16
-          BETA is either 0.0 or 1.0.
-          See also the description of ALPHA.
-
-  SCAL    (output)  INTEGER
-          Scaling factor exponent, see ALPHA.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA01CD.html b/doc/_build/html/_static/doc/MA01CD.html
deleted file mode 100644
index 1b009d37..00000000
--- a/doc/_build/html/_static/doc/MA01CD.html
+++ /dev/null
@@ -1,89 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01CD">MA01CD</A></H2>
-<H3>
-Safely computing the sign of a sum of two real numbers represented using integer powers of a base
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, without over- or underflow, the sign of the sum of two
-  real numbers represented using integer powers of a base (usually,
-  the machine base). Any base can be used, but it should the same
-  for both numbers. The result is an integer with value 1, 0, or -1,
-  depending on the sum being found as positive, zero, or negative,
-  respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MA01CD( A, IA, B, IB )
-C     .. Scalar Arguments ..
-      INTEGER           IA, IB
-      DOUBLE PRECISION  A, B
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA01CD  INTEGER
-          The sign of the sum of the two numbers, which is usually
-          either 1, or -1. If both numbers are 0, or if they have
-          the same exponent and their sum is 0, the returned value
-          is 0.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input)  DOUBLE PRECISION
-          The first real scalar.
-
-  IA      (input)  INTEGER
-          Exponent of the base for the first real scalar. The scalar
-          is represented as A * BASE**(IA).
-
-  B       (input)  DOUBLE PRECISION
-          The first real scalar.
-
-  IB      (input)  INTEGER
-          Exponent of the base for the first real scalar. The scalar
-          is represented as B * BASE**(IB).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02AD.html b/doc/_build/html/_static/doc/MA02AD.html
deleted file mode 100644
index 4dd24d03..00000000
--- a/doc/_build/html/_static/doc/MA02AD.html
+++ /dev/null
@@ -1,93 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02AD">MA02AD</A></H2>
-<H3>
-Matrix transposition
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To transpose all or part of a two-dimensional matrix A into
-  another matrix B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02AD( JOB, M, N, A, LDA, B, LDB )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            LDA, LDB, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be transposed into B
-          as follows:
-          = 'U': Upper triangular part;
-          = 'L': Lower triangular part;
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
-         The m-by-n matrix A.  If JOB = 'U', only the upper
-         triangle or trapezoid is accessed; if JOB = 'L', only the
-         lower triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B      (output) DOUBLE PRECISION array, dimension (LDB,M)
-         B = A' in the locations specified by JOB.
-
-  LDB    INTEGER
-         The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02AZ.html b/doc/_build/html/_static/doc/MA02AZ.html
deleted file mode 100644
index 647c9d33..00000000
--- a/doc/_build/html/_static/doc/MA02AZ.html
+++ /dev/null
@@ -1,101 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02AZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02AZ">MA02AZ</A></H2>
-<H3>
-Complex matrix (conjugate) transposition
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To (conjugate) transpose all or part of a two-dimensional complex
-  matrix A into another matrix B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02AZ( TRANS, JOB, M, N, A, LDA, B, LDB )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, TRANS
-      INTEGER            LDA, LDB, M, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*), B(LDB,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies if a transpose or conjugate transpose operation
-          should be performed as follows:
-          = 'T':  transpose operation;
-          = 'C':  conjugate transpose operation.
-
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be transposed into B
-          as follows:
-          = 'U': Upper triangular part;
-          = 'L': Lower triangular part;
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  A      (input) COMPLEX*16 array, dimension (LDA,N)
-         The m-by-n matrix A.  If JOB = 'U', only the upper
-         triangle or trapezoid is accessed; if JOB = 'L', only the
-         lower triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B      (output) COMPLEX*16 array, dimension (LDB,M)
-         B = A' in the locations specified by JOB, where ' denotes
-         the transpose or conjugate transpose operation, as
-         as specified by TRANS.
-
-  LDB    INTEGER
-         The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02BD.html b/doc/_build/html/_static/doc/MA02BD.html
deleted file mode 100644
index 64b5c840..00000000
--- a/doc/_build/html/_static/doc/MA02BD.html
+++ /dev/null
@@ -1,95 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02BD">MA02BD</A></H2>
-<H3>
-Reversing the order of rows and/or columns of a matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reverse the order of rows and/or columns of a given matrix A
-  by pre-multiplying and/or post-multiplying it, respectively, with
-  a permutation matrix P, where P is a square matrix of appropriate
-  order, with ones down the secondary diagonal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02BD( SIDE, M, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SIDE
-      INTEGER            LDA, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies the operation to be performed, as follows:
-          = 'L': the order of rows of A is to be reversed by
-                 pre-multiplying A with P;
-          = 'R': the order of columns of A is to be reversed by
-                 post-multiplying A with P;
-          = 'B': both the order of rows and the order of columns
-                 of A is to be reversed by pre-multiplying and
-                 post-multiplying A with P.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix whose rows and/or columns are to
-          be permuted.
-          On exit, the leading M-by-N part of this array contains
-          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
-          P*A*P if SIDE = 'B'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02BZ.html b/doc/_build/html/_static/doc/MA02BZ.html
deleted file mode 100644
index 578d3ad1..00000000
--- a/doc/_build/html/_static/doc/MA02BZ.html
+++ /dev/null
@@ -1,95 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02BZ">MA02BZ</A></H2>
-<H3>
-Reversing the order of rows and/or columns of a matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reverse the order of rows and/or columns of a given matrix A
-  by pre-multiplying and/or post-multiplying it, respectively, with
-  a permutation matrix P, where P is a square matrix of appropriate
-  order, with ones down the secondary diagonal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02BZ( SIDE, M, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SIDE
-      INTEGER            LDA, M, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies the operation to be performed, as follows:
-          = 'L': the order of rows of A is to be reversed by
-                 pre-multiplying A with P;
-          = 'R': the order of columns of A is to be reversed by
-                 post-multiplying A with P;
-          = 'B': both the order of rows and the order of columns
-                 of A is to be reversed by pre-multiplying and
-                 post-multiplying A with P.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix whose rows and/or columns are to
-          be permuted.
-          On exit, the leading M-by-N part of this array contains
-          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
-          P*A*P if SIDE = 'B'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02CD.html b/doc/_build/html/_static/doc/MA02CD.html
deleted file mode 100644
index dd3650b9..00000000
--- a/doc/_build/html/_static/doc/MA02CD.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02CD">MA02CD</A></H2>
-<H3>
-Pertransposing the central band of a square matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the pertranspose of a central band of a square matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02CD( N, KL, KU, A, LDA )
-C     .. Scalar Arguments ..
-      INTEGER          KL, KU, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrix A.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be pertransposed.
-          0 &lt;= KL &lt;= N-1.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be pertransposed.
-          0 &lt;= KU &lt;= N-1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a square matrix whose central band formed from
-          the KL subdiagonals, the main diagonal and the KU
-          superdiagonals will be pertransposed.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A with its central band (the KL subdiagonals,
-          the main diagonal and the KU superdiagonals) pertransposed
-          (that is the elements of each antidiagonal appear in
-          reversed order). This is equivalent to forming P*B'*P,
-          where B is the matrix formed from the central band of A
-          and P is a permutation matrix with ones down the secondary
-          diagonal.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02CZ.html b/doc/_build/html/_static/doc/MA02CZ.html
deleted file mode 100644
index 63c0dfde..00000000
--- a/doc/_build/html/_static/doc/MA02CZ.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02CZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02CZ">MA02CZ</A></H2>
-<H3>
-Pertransposing the central band of a square matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the pertranspose of a central band of a square matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02CZ( N, KL, KU, A, LDA )
-C     .. Scalar Arguments ..
-      INTEGER          KL, KU, LDA, N
-C     .. Array Arguments ..
-      COMPLEX*16       A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrix A.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be pertransposed.
-          0 &lt;= KL &lt;= N-1.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be pertransposed.
-          0 &lt;= KU &lt;= N-1.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a square matrix whose central band formed from
-          the KL subdiagonals, the main diagonal and the KU
-          superdiagonals will be pertransposed.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A with its central band (the KL subdiagonals,
-          the main diagonal and the KU superdiagonals) pertransposed
-          (that is the elements of each antidiagonal appear in
-          reversed order). This is equivalent to forming P*B'*P,
-          where B is the matrix formed from the central band of A
-          and P is a permutation matrix with ones down the secondary
-          diagonal.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02DD.html b/doc/_build/html/_static/doc/MA02DD.html
deleted file mode 100644
index 25b613e3..00000000
--- a/doc/_build/html/_static/doc/MA02DD.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02DD">MA02DD</A></H2>
-<H3>
-Pack/unpack the upper or lower triangle of a symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To pack/unpack the upper or lower triangle of a symmetric matrix.
-  The packed matrix is stored column-wise in the one-dimensional
-  array AP.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02DD( JOB, UPLO, N, A, LDA, AP )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), AP(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether the matrix should be packed or unpacked,
-          as follows:
-          = 'P':  The matrix should be packed;
-          = 'U':  The matrix should be unpacked.
-
-  UPLO    CHARACTER*1
-          Specifies the part of the matrix to be packed/unpacked,
-          as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input or output) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          This array is an input parameter if JOB = 'P', and an
-          output parameter if JOB = 'U'.
-          On entry, if JOB = 'P', the leading N-by-N upper
-          triangular part (if UPLO = 'U'), or lower triangular part
-          (if UPLO = 'L'), of this array must contain the
-          corresponding upper or lower triangle of the symmetric
-          matrix A, and the other strictly triangular part is not
-          referenced.
-          On exit, if JOB = 'U', the leading N-by-N upper triangular
-          part (if UPLO = 'U'), or lower triangular part (if
-          UPLO = 'L'), of this array contains the corresponding
-          upper or lower triangle of the symmetric matrix A; the
-          other strictly triangular part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  AP      (output or input) DOUBLE PRECISION array, dimension
-          (N*(N+1)/2)
-          This array is an output parameter if JOB = 'P', and an
-          input parameter if JOB = 'U'.
-          On entry, if JOB = 'U', the leading N*(N+1)/2 elements of
-          this array must contain the upper (if UPLO = 'U') or lower
-          (if UPLO = 'L') triangle of the symmetric matrix A, packed
-          column-wise. That is, the elements are stored in the order
-          11, 12, 22, ..., 1n, 2n, 3n, ..., nn,      if UPLO = 'U';
-          11, 21, 31, ..., n1, 22, 32, ..., n2, ..., if UPLO = 'L'.
-          On exit, if JOB = 'P', the leading N*(N+1)/2 elements of
-          this array contain the upper (if UPLO = 'U') or lower
-          (if UPLO = 'L') triangle of the symmetric matrix A, packed
-          column-wise, as described above.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02ED.html b/doc/_build/html/_static/doc/MA02ED.html
deleted file mode 100644
index 288dfeeb..00000000
--- a/doc/_build/html/_static/doc/MA02ED.html
+++ /dev/null
@@ -1,86 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02ED">MA02ED</A></H2>
-<H3>
-Store by symmetry the upper or lower triangle of a symmetric matrix, given the other triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To store by symmetry the upper or lower triangle of a symmetric
-  matrix, given the other triangle.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02ED( UPLO, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix is given as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-          For all other values, the array A is not referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the symmetric matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the symmetric matrix A with all elements stored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02ES.html b/doc/_build/html/_static/doc/MA02ES.html
deleted file mode 100644
index daf1f72c..00000000
--- a/doc/_build/html/_static/doc/MA02ES.html
+++ /dev/null
@@ -1,87 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02ES - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02ES">MA02ES</A></H2>
-<H3>
-Store by skew-symmetry the upper or lower triangle of a skew-symmetric real matrix, given the other triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To store by skew-symmetry the upper or lower triangle of a
-  skew-symmetric matrix, given the other triangle. The diagonal
-  entries are set to zero.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02ES( UPLO, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix is given as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-          For all other values, the array A is not referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the skew-symmetric matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the skew-symmetric matrix A with all elements stored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02EZ.html b/doc/_build/html/_static/doc/MA02EZ.html
deleted file mode 100644
index cf547f0f..00000000
--- a/doc/_build/html/_static/doc/MA02EZ.html
+++ /dev/null
@@ -1,105 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02EZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02EZ">MA02EZ</A></H2>
-<H3>
-Store by (skew-)symmetry the upper or lower triangle of a (skew-)symmetric/Hermitian complex matrix, given the other triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To store by (skew-)symmetry the upper or lower triangle of a
-  (skew-)symmetric/Hermitian complex matrix, given the other
-  triangle. The option SKEW = 'G' allows to suitably deal with the
-  diagonal of a general square triangular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02EZ( UPLO, TRANS, SKEW, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW, TRANS, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix is given as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-          For all other values, the array A is not referenced.
-
-  TRANS   CHARACTER*1
-          Specifies whether to use transposition or conjugate
-          transposition as follows:
-          = 'T':  Use transposition;
-          = 'C':  Use conjugate transposition.
-
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is symmetric/Hermitian or
-          skew-symmetric/Hermitian as follows:
-          = 'G':  The matrix is not symmetric/Hermitian (general);
-          = 'N':  The matrix is symmetric/Hermitian;
-          = 'S':  The matrix is skew-symmetric/Hermitian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the (skew-)symmetric/Hermitian matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the (skew-)symmetric/Hermitian matrix A with all elements
-          stored. If the resulted matrix should be Hermitian, the
-          imaginary parts of the diagonal entries are set to zero.
-          If the resulted matrix should be skew-Hermitian, the real
-          parts of the diagonal entries are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02FD.html b/doc/_build/html/_static/doc/MA02FD.html
deleted file mode 100644
index 1fe6b300..00000000
--- a/doc/_build/html/_static/doc/MA02FD.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02FD">MA02FD</A></H2>
-<H3>
-Hyperbolic plane rotation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients c and s (c^2 + s^2 = 1) for a modified
-  hyperbolic plane rotation, such that,
-
-      y1 := 1/c * x1 - s/c * x2 = sqrt(x1^2 - x2^2),
-      y2 :=  -s * y1 +  c  * x2 = 0,
-
-  given two real numbers x1 and x2, satisfying either x1 = x2 = 0,
-  or abs(x2) &lt; abs(x1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02FD( X1, X2, C, S, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  X1, X2, C, S
-      INTEGER           INFO
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  X1      (input/output) DOUBLE PRECISION
-          On entry, the real number x1.
-          On exit, the real number y1.
-
-  X2      (input) DOUBLE PRECISION
-          The real number x2.
-          The values x1 and x2 should satisfy either x1 = x2 = 0, or
-          abs(x2) &lt; abs(x1).
-
-  C       (output) DOUBLE PRECISION
-          The cosines c of the modified hyperbolic plane rotation.
-
-  S       (output) DOUBLE PRECISION
-          The sines s of the modified hyperbolic plane rotation.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  succesful exit;
-          = 1:  if abs(x2) &gt;= abs(x1) and either x1 &lt;&gt; 0 or x2 &lt;&gt; 0.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02GD.html b/doc/_build/html/_static/doc/MA02GD.html
deleted file mode 100644
index 0455a4aa..00000000
--- a/doc/_build/html/_static/doc/MA02GD.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02GD">MA02GD</A></H2>
-<H3>
-Column interchanges in a matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a series of column interchanges on the matrix A.
-  One column interchange is initiated for each of columns K1 through
-  K2 of A. This is useful for solving linear systems X*A = B, when
-  the matrix A has already been factored by LAPACK Library routine
-  DGETRF.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02GD( N, A, LDA, K1, K2, IPIV, INCX )
-C     .. Scalar Arguments ..
-      INTEGER            INCX, K1, K2, LDA, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,*)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A to which the column interchanges will
-          be applied, where M is the largest element of IPIV(K), for
-          K = K1, ..., K2.
-          On exit, the leading N-by-M part of this array contains
-          the permuted matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  K1      (input) INTEGER
-          The first element of IPIV for which a column interchange
-          will be done.
-
-  K2      (input) INTEGER
-          The last element of IPIV for which a column interchange
-          will be done.
-
-  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
-          The vector of interchanging (pivot) indices.  Only the
-          elements in positions K1 through K2 of IPIV are accessed.
-          IPIV(K) = L implies columns K and L are to be
-          interchanged.
-
-  INCX    (input) INTEGER
-          The increment between successive values of IPIV.
-          If INCX is negative, the interchanges are applied in
-          reverse order.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
-  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is the column-oriented counterpart of the LAPACK
-  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
-  be used in this context. To solve the system X*A = B, where A and
-  B are N-by-N and M-by-N, respectively, the following statements
-  can be used:
-
-      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
-      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
-      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
-      CALL MA02GD( M, B, LDB, 1, N, IPIV, -1 )
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02GZ.html b/doc/_build/html/_static/doc/MA02GZ.html
deleted file mode 100644
index c49d09e6..00000000
--- a/doc/_build/html/_static/doc/MA02GZ.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02GZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02GZ">MA02GZ</A></H2>
-<H3>
-Column interchanges in a complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a series of column interchanges on the matrix A.
-  One column interchange is initiated for each of columns K1 through
-  K2 of A. This is useful for solving linear systems X*A = B, when
-  the matrix A has already been factored by LAPACK Library routine
-  DGETRF.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02GZ( N, A, LDA, K1, K2, IPIV, INCX )
-C     .. Scalar Arguments ..
-      INTEGER            INCX, K1, K2, LDA, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      COMPLEX*16         A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,*)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A to which the column interchanges will
-          be applied, where M is the largest element of IPIV(K), for
-          K = K1, ..., K2.
-          On exit, the leading N-by-M part of this array contains
-          the permuted matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  K1      (input) INTEGER
-          The first element of IPIV for which a column interchange
-          will be done.
-
-  K2      (input) INTEGER
-          The last element of IPIV for which a column interchange
-          will be done.
-
-  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
-          The vector of interchanging (pivot) indices.  Only the
-          elements in positions K1 through K2 of IPIV are accessed.
-          IPIV(K) = L implies columns K and L are to be
-          interchanged.
-
-  INCX    (input) INTEGER
-          The increment between successive values of IPIV.
-          If INCX is negative, the interchanges are applied in
-          reverse order.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
-  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is the column-oriented counterpart of the LAPACK
-  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
-  be used in this context. To solve the system X*A = B, where A and
-  B are N-by-N and M-by-N, respectively, the following statements
-  can be used:
-
-      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
-      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
-      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
-      CALL MA02GZ( M, B, LDB, 1, N, IPIV, -1 )
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02HD.html b/doc/_build/html/_static/doc/MA02HD.html
deleted file mode 100644
index c92a0501..00000000
--- a/doc/_build/html/_static/doc/MA02HD.html
+++ /dev/null
@@ -1,106 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02HD">MA02HD</A></H2>
-<H3>
-Check if a matrix is a scalar multiple of an identity-like matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
-  the diagonal and zeros elsewhere.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      LOGICAL FUNCTION MA02HD( JOB, M, N, DIAG, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            LDA, M, N
-      DOUBLE PRECISION   DIAG
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02HD  LOGICAL
-          The function value is set to .TRUE. if A = DIAG*I, and to
-          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be checked out,
-          as follows:
-          = 'U': Upper triangular/trapezoidal part;
-          = 'L': Lower triangular/trapezoidal part.
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  DIAG   (input) DOUBLE PRECISION
-         The scalar DIAG.
-
-  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
-         The leading M-by-N part of this array must contain the
-         matrix A.  If JOB = 'U', only the upper triangle or
-         trapezoid is accessed; if JOB = 'L', only the lower
-         triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine returns immediately after detecting a diagonal element
-  which differs from DIAG, or a nonzero off-diagonal element in the
-  searched part of A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02HZ.html b/doc/_build/html/_static/doc/MA02HZ.html
deleted file mode 100644
index c4ab8f40..00000000
--- a/doc/_build/html/_static/doc/MA02HZ.html
+++ /dev/null
@@ -1,107 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02HZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02HZ">MA02HZ</A></H2>
-<H3>
-Check if a matrix is a scalar multiple of an identity-like matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
-  the diagonal and zeros elsewhere, A is a complex matrix and DIAG
-  is a complex scalar.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      LOGICAL FUNCTION MA02HZ( JOB, M, N, DIAG, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            LDA, M, N
-      COMPLEX*16         DIAG
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02HZ  LOGICAL
-          The function value is set to .TRUE. if A = DIAG*I, and to
-          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be checked out,
-          as follows:
-          = 'U': Upper triangular/trapezoidal part;
-          = 'L': Lower triangular/trapezoidal part.
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  DIAG   (input) COMPLEX*16
-         The scalar DIAG.
-
-  A      (input) COMPLEX*16 array, dimension (LDA,N)
-         The leading M-by-N part of this array must contain the
-         matrix A.  If JOB = 'U', only the upper triangle or
-         trapezoid is accessed; if JOB = 'L', only the lower
-         triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine returns immediately after detecting a diagonal element
-  which differs from DIAG, or a nonzero off-diagonal element in the
-  searched part of A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02ID.html b/doc/_build/html/_static/doc/MA02ID.html
deleted file mode 100644
index ed25e609..00000000
--- a/doc/_build/html/_static/doc/MA02ID.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02ID">MA02ID</A></H2>
-<H3>
-Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a real skew-Hamiltonian matrix
-
-                [  A   G  ]          T         T
-          X  =  [       T ],   G = -G,   Q = -Q,
-                [  Q   A  ]
-
-  or of a real Hamiltonian matrix
-
-                [  A   G  ]          T         T
-          X  =  [       T ],   G =  G,   Q =  Q,
-                [  Q  -A  ]
-
-  where A, G and Q are real n-by-n matrices.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02ID( TYP, NORM, N, A, LDA, QG,
-     $                                  LDQG, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, TYP
-      INTEGER            LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02ID  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYP     CHARACTER*1
-          Specifies the type of the input matrix X:
-          = 'S':         X is skew-Hamiltonian;
-          = 'H':         X is Hamiltonian.
-
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02ID:
-          = '1' or 'O':  one norm of X;
-          = 'F' or 'E':  Frobenius norm of X;
-          = 'I':         infinity norm of X;
-          = 'M':         max(abs(X(i,j)).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G. If TYP = 'S', the parts containing the
-          diagonal and the first supdiagonal of this array are not
-          referenced.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
-          NORM = 'O'; otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02IZ.html b/doc/_build/html/_static/doc/MA02IZ.html
deleted file mode 100644
index 3f808c7e..00000000
--- a/doc/_build/html/_static/doc/MA02IZ.html
+++ /dev/null
@@ -1,134 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02IZ">MA02IZ</A></H2>
-<H3>
-Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a complex skew-Hamiltonian matrix
-
-                [  A   G  ]          H         H
-          X  =  [       H ],   G = -G,   Q = -Q,
-                [  Q   A  ]
-
-  or of a complex Hamiltonian matrix
-
-                [  A   G  ]          H         H
-          X  =  [       H ],   G =  G,   Q =  Q,
-                [  Q  -A  ]
-
-  where A, G and Q are complex n-by-n matrices.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02IZ( TYP, NORM, N, A, LDA, QG,
-     $                                  LDQG, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, TYP
-      INTEGER            LDA, LDQG, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*), QG(LDQG,*)
-      DOUBLE PRECISION   DWORK(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02IZ  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYP     CHARACTER*1
-          Specifies the type of the input matrix X:
-          = 'S':         X is skew-Hamiltonian;
-          = 'H':         X is Hamiltonian.
-
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02IZ:
-          = '1' or 'O':  one norm of X;
-          = 'F' or 'E':  Frobenius norm of X;
-          = 'I':         infinity norm of X;
-          = 'M':         max(abs(X(i,j)).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input) COMPLEX*16 array, dimension (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G. If TYP = 'S', the real parts of the
-          entries on the diagonal and the first superdiagonal of
-          this array, which should be zero, need not be set, since
-          they are not used. Similarly, if TYP = 'H', the imaginary
-          parts of the entries on the diagonal and the first
-          superdiagonal of this array, which should be zero, need
-          not be set.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
-          NORM = 'O'; otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02JD.html b/doc/_build/html/_static/doc/MA02JD.html
deleted file mode 100644
index 3b6e862d..00000000
--- a/doc/_build/html/_static/doc/MA02JD.html
+++ /dev/null
@@ -1,119 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02JD">MA02JD</A></H2>
-<H3>
-Test if a matrix is an orthogonal symplectic matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute || Q^T Q - I ||_F for a matrix of the form
-
-                    [  op( Q1 )  op( Q2 ) ]
-               Q =  [                     ],
-                    [ -op( Q2 )  op( Q1 ) ]
-
-  where Q1 and Q2 are N-by-N matrices. This residual can be used to
-  test wether Q is numerically an orthogonal symplectic matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02JD( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
-     $                                  LDQ2, RES, LDRES )
-C     .. Scalar Arguments ..
-      LOGICAL           LTRAN1, LTRAN2
-      INTEGER           LDQ1, LDQ2, LDRES, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02JD  DOUBLE PRECISION
-          The computed residual.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN1  LOGICAL
-          Specifies the form of op( Q1 ) as follows:
-          = .FALSE.:  op( Q1 ) = Q1;
-          = .TRUE. :  op( Q1 ) = Q1'.
-
-  LTRAN2  LOGICAL
-          Specifies the form of op( Q2 ) as follows:
-          = .FALSE.:  op( Q2 ) = Q2;
-          = .TRUE. :  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices Q1 and Q2.  N &gt;= 0.
-
-  Q1      (input) DOUBLE PRECISION array, dimension (LDQ1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q1 ).
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
-
-  Q2      (input) DOUBLE PRECISION array, dimension (LDQ2,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q2 ).
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  RES     DOUBLE PRECISION array, dimension (LDRES,N)
-
-  LDRES   INTEGER
-          The leading dimension of the array RES.  LDRES &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the residual by simple elementary operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02JZ.html b/doc/_build/html/_static/doc/MA02JZ.html
deleted file mode 100644
index 1e021ca5..00000000
--- a/doc/_build/html/_static/doc/MA02JZ.html
+++ /dev/null
@@ -1,120 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02JZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02JZ">MA02JZ</A></H2>
-<H3>
-Test if a matrix is a unitary symplectic matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute || Q^H Q - I ||_F for a complex matrix of the form
-
-                    [  op( Q1 )  op( Q2 ) ]
-               Q =  [                     ],
-                    [ -op( Q2 )  op( Q1 ) ]
-
-  where Q1 and Q2 are N-by-N matrices. This residual can be used to
-  test wether Q is numerically a unitary symplectic matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02JZ( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
-     $                                  LDQ2, RES, LDRES )
-C     .. Scalar Arguments ..
-      LOGICAL           LTRAN1, LTRAN2
-      INTEGER           LDQ1, LDQ2, LDRES, N
-C     .. Array Arguments ..
-      COMPLEX*16        Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02JZ  DOUBLE PRECISION
-          The computed residual.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN1  LOGICAL
-          Specifies the form of op( Q1 ) as follows:
-          = .FALSE.:  op( Q1 ) = Q1;
-          = .TRUE. :  op( Q1 ) = Q1'.
-
-  LTRAN2  LOGICAL
-          Specifies the form of op( Q2 ) as follows:
-          = .FALSE.:  op( Q2 ) = Q2;
-          = .TRUE. :  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices Q1 and Q2.  N &gt;= 0.
-
-  Q1      (input) COMPLEX*16 array, dimension (LDQ1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q1 ).
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
-
-  Q2      (input) COMPLEX*16 array, dimension (LDQ2,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q2 ).
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  RES     DOUBLE PRECISION array, dimension (LDRES,N)
-
-  LDRES   INTEGER
-          The leading dimension of the array RES.
-          LDRES &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the residual by simple elementary operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02MD.html b/doc/_build/html/_static/doc/MA02MD.html
deleted file mode 100644
index 6326a1b8..00000000
--- a/doc/_build/html/_static/doc/MA02MD.html
+++ /dev/null
@@ -1,114 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02MD">MA02MD</A></H2>
-<H3>
-Compute norms of a real skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a real skew-symmetric matrix.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02MD( NORM, UPLO, N, A, LDA, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02MD  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02MD:
-          = '1' or 'O':  one norm of A;
-          = 'F' or 'E':  Frobenius norm of A;
-          = 'I':         infinity norm of A;
-          = 'M':         max(abs(A(i,j)).
-
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the skew-symmetric matrix A is to be referenced.
-          = 'U':  Upper triangular part of A is referenced;
-          = 'L':  Lower triangular part of A is referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MD is
-          set to zero.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The skew-symmetric matrix A.  If UPLO = 'U', the leading
-          N-by-N strictly upper triangular part of A contains the
-          strictly upper triangular part of the matrix A, and the
-          lower triangular part of A is not referenced.
-          If UPLO = 'L', the leading N-by-N strictly lower
-          triangular part of A contains the strictly lower
-          triangular part of the matrix A, and the upper triangular
-          part of A is not referenced.
-          The diagonal of A need not be set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
-          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
-          otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02MZ.html b/doc/_build/html/_static/doc/MA02MZ.html
deleted file mode 100644
index e7de44a9..00000000
--- a/doc/_build/html/_static/doc/MA02MZ.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02MZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02MZ">MA02MZ</A></H2>
-<H3>
-Compute norms of a complex skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a complex skew-Hermitian matrix.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02MZ( NORM, UPLO, N, A, LDA, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK( * )
-      COMPLEX*16         A( LDA, * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02MZ  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02MZ:
-          = '1' or 'O':  one norm of A;
-          = 'F' or 'E':  Frobenius norm of A;
-          = 'I':         infinity norm of A;
-          = 'M':         max(abs(A(i,j)).
-
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the skew-Hermitian matrix A is to be referenced.
-          = 'U':  Upper triangular part of A is referenced;
-          = 'L':  Lower triangular part of A is referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MZ is
-          set to zero.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The skew-Hermitian matrix A.  If UPLO = 'U', the leading
-          N-by-N upper triangular part of A contains the upper
-          triangular part of the matrix A, and the strictly lower
-          triangular part of A is not referenced. If UPLO = 'L', the
-          leading N-by-N lower triangular part of A contains the
-          lower triangular part of the matrix A, and the strictly
-          upper triangular part of A is not referenced.
-          The real parts of the diagonal elements of A need not be
-          set and are assumed to be zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
-          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
-          otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02NZ.html b/doc/_build/html/_static/doc/MA02NZ.html
deleted file mode 100644
index 3ec660f1..00000000
--- a/doc/_build/html/_static/doc/MA02NZ.html
+++ /dev/null
@@ -1,112 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02NZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02NZ">MA02NZ</A></H2>
-<H3>
-Permute two rows and corresponding columns of a (skew-)symmetric/Hermitian complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To permute two specified rows and corresponding columns of a
-  (skew-)symmetric/Hermitian complex matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02NZ( UPLO, TRANS, SKEW, N, K, L, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW, TRANS, UPLO
-      INTEGER            K, L, LDA, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the (skew-)symmetric/Hermitian matrix A is to be
-          referenced, as follows:
-          = 'U':  Upper triangular part of A is referenced;
-          = 'L':  Lower triangular part of A is referenced.
-
-  TRANS   CHARACTER*1
-          Specifies whether to use transposition or conjugate
-          transposition as follows:
-          = 'T':  Use transposition;
-          = 'C':  Use conjugate transposition.
-
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is symmetric/Hermitian or
-          skew-symmetric/Hermitian as follows:
-          = 'N':  The matrix is symmetric/Hermitian;
-          = 'S':  The matrix is skew-symmetric/skew-Hermitian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The smaller index of the pair of rows and columns to be
-          permuted.  0 &lt;= K &lt;= L. If K = 0, the routine returns.
-
-  L       (input) INTEGER
-          The larger index of the pair of rows and columns to be
-          permuted.  K &lt;= L &lt;= N.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the (skew-)symmetric/Hermitian matrix A.
-          On exit, the leading N-by-N upper or lower triangular part
-          of this array (depending on UPLO) contains the
-          corresponding part of the permuted matrix A.
-          Note that a Hermitian matrix has the imaginary parts of
-          the diagonal entries zero. Similarly, a skew-Hermitian
-          matrix has the real parts of the diagonal entries zero.
-          The routine does not check out this conditions.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(N,1).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02OD.html b/doc/_build/html/_static/doc/MA02OD.html
deleted file mode 100644
index ee30c419..00000000
--- a/doc/_build/html/_static/doc/MA02OD.html
+++ /dev/null
@@ -1,105 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02OD">MA02OD</A></H2>
-<H3>
-Compute the number of zero rows (and zero columns) of a real (skew-)Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows (and zero columns) of a real
-  (skew-)Hamiltonian matrix,
-
-        (  A    D   )
-    H = (           ).
-        (  E  +/-A' )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MA02OD( SKEW, M, A, LDA, DE, LDDE )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW
-      INTEGER            LDA, LDDE, M
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), DE( LDDE, * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02OD  INTEGER
-          The number of zero rows.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is Hamiltonian or skew-
-          Hamiltonian as follows:
-          = 'H':  The matrix is Hamiltonian;
-          = 'S':  The matrix is skew-Hamiltonian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A, D, and E.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  DE      (input) DOUBLE PRECISION array, dimension (LDDE,M+1)
-          The leading M-by-M lower triangular part of this array
-          must contain the lower triangular part of the (skew-)
-          symmetric matrix E, and the M-by-M upper triangular
-          part of the submatrix in the columns 2 to M+1 of this
-          array must contain the upper triangular part of the
-          (skew-)symmetric matrix D. If S is skew-Hamiltonian, the
-          parts containing the diagonal and the first superdiagonal
-          of this array, which should be zero, are not referenced.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02OZ.html b/doc/_build/html/_static/doc/MA02OZ.html
deleted file mode 100644
index c86b4812..00000000
--- a/doc/_build/html/_static/doc/MA02OZ.html
+++ /dev/null
@@ -1,108 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02OZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02OZ">MA02OZ</A></H2>
-<H3>
-Compute the number of zero rows (and zero columns) of a complex (skew-)Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows (and zero columns) of a complex
-  (skew-)Hamiltonian matrix,
-
-        (  A    D   )
-    H = (           ).
-        (  E  +/-A' )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MA02OZ( SKEW, M, A, LDA, DE, LDDE )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW
-      INTEGER            LDA, LDDE, M
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), DE( LDDE, * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02OZ  INTEGER
-          The number of zero rows.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is Hamiltonian or skew-
-          Hamiltonian as follows:
-          = 'H':  The matrix is Hamiltonian;
-          = 'S':  The matrix is skew-Hamiltonian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A, D, and E.  M &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  DE      (input) COMPLEX*16 array, dimension (LDDE,M+1)
-          The leading M-by-M lower triangular part of this array
-          must contain the lower triangular part of the (skew-)
-          Hermitian matrix E, and the M-by-M upper triangular
-          part of the submatrix in the columns 2 to M+1 of this
-          array must contain the upper triangular part of the
-          (skew-)Hermitian matrix D. If S is skew-Hamiltonian, the
-          real parts of the entries on the diagonal and the first
-          superdiagonal of this array, which should be zero, are
-          not used. If S is Hamiltonian, the imaginary parts of the
-          entries on the diagonal and the first superdiagonal of
-          this array, which should be zero, are not used.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02PD.html b/doc/_build/html/_static/doc/MA02PD.html
deleted file mode 100644
index 091ca812..00000000
--- a/doc/_build/html/_static/doc/MA02PD.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02PD">MA02PD</A></H2>
-<H3>
-Compute the number of zero rows and zero columns of a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows and zero columns of a real
-  matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02PD( M, N, A, LDA, NZR, NZC )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, M, N, NZC, NZR
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  NZR     (output) INTEGER
-          The number of zero rows of the matrix A.
-
-  NZC     (output) INTEGER
-          The number of zero columns of the matrix A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MA02PZ.html b/doc/_build/html/_static/doc/MA02PZ.html
deleted file mode 100644
index 3876910c..00000000
--- a/doc/_build/html/_static/doc/MA02PZ.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02PZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02PZ">MA02PZ</A></H2>
-<H3>
-Compute the number of zero rows and zero columns of a complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows and zero columns of a complex
-  matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02PZ( M, N, A, LDA, NZR, NZC )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, M, N, NZC, NZR
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  NZR     (output) INTEGER
-          The number of zero rows of the matrix A.
-
-  NZC     (output) INTEGER
-          The number of zero columns of the matrix A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01KD.html b/doc/_build/html/_static/doc/MB01KD.html
deleted file mode 100644
index f1d07457..00000000
--- a/doc/_build/html/_static/doc/MB01KD.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01KD">MB01KD</A></H2>
-<H3>
-Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C, with A and C skew-symmetric matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform one of the skew-symmetric rank 2k operations
-
-      C := alpha*A*B' - alpha*B*A' + beta*C,
-
-  or
-
-      C := alpha*A'*B - alpha*B'*A + beta*C,
-
-  where alpha and beta are scalars, C is a real N-by-N skew-
-  symmetric matrix and A, B are N-by-K matrices in the first case
-  and K-by-N matrices in the second case.
-
-  This is a modified version of the vanilla implemented BLAS
-  routine DSYR2K written by Jack Dongarra, Iain Duff,
-  Jeremy Du Croz and Sven Hammarling.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01KD( UPLO, TRANS, N, K, ALPHA, A, LDA, B, LDB, BETA,
-     $                   C, LDC, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO, TRANS
-      INTEGER           INFO, K, LDA, LDB, LDC, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the array C is to be referenced, as follows:
-          = 'U':  only the strictly upper triangular part of C is to
-                  be referenced;
-          = 'L':  only the striclty lower triangular part of C is to
-                  be referenced.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed, as follows:
-          = 'N':         C := alpha*A*B' - alpha*B*A' + beta*C;
-          = 'T' or 'C':  C := alpha*A'*B - alpha*B'*A + beta*C.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix C.  N &gt;= 0.
-
-  K       (input) INTEGER
-          If TRANS = 'N' the number of columns of A and B; and if
-          TRANS = 'T' or TRANS = 'C' the number of rows of A and B.
-          K &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. If alpha is zero, or N &lt;= 1, or K = 0,
-          A and B are not referenced.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA,KA),
-          where KA is K when TRANS = 'N', and is N otherwise.
-          On entry with TRANS = 'N', the leading N-by-K part of
-          of this array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          K-by-N part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N),  if TRANS = 'N';
-          LDA &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
-
-  B       (input)  DOUBLE PRECISION array, dimension (LDB,KB),
-          where KB is K when TRANS = 'N', and is N otherwise.
-          On entry with TRANS = 'N', the leading N-by-K part of
-          of this array must contain the matrix B.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          K-by-N part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N),  if TRANS = 'N';
-          LDB &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. If beta is zero C need not be set before
-          entry.
-
-  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with UPLO = 'U', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the matrix C. The lower triangular part of this array is
-          not referenced.
-          On entry with UPLO = 'L', the leading N-by-N part of this
-          array must contain the strictly lower triangular part of
-          the matrix C. The upper triangular part of this array is
-          not referenced.
-          On exit with UPLO = 'U', the leading N-by-N part of this
-          array contains the strictly upper triangular part of the
-          updated matrix C.
-          On exit with UPLO = 'L', the leading N-by-N part of this
-          array contains the strictly lower triangular part of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Though being almost identical with the vanilla implementation
-  of the BLAS routine DSYR2K the performance of this routine could
-  be significantly lower in the case of vendor supplied, highly
-  optimized BLAS.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01LD.html b/doc/_build/html/_static/doc/MB01LD.html
deleted file mode 100644
index a12ac34b..00000000
--- a/doc/_build/html/_static/doc/MB01LD.html
+++ /dev/null
@@ -1,209 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01LD">MB01LD</A></H2>
-<H3>
-Computation of matrix expression alpha*R + beta*A*X*trans(A) with skew-symmetric matrices R and X
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-     _
-     R = alpha*R + beta*op( A )*X*op( A )',
-                                              _
-  where alpha and beta are scalars, R, X, and R are skew-symmetric
-  matrices, A is a general matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01LD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the skew-symmetric matrices R
-          and X are given, as follows:
-          = 'U':  the strictly upper triangular part is given;
-          = 'L':  the strictly lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R and the number of rows
-          of the matrix op( A ).  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix X and the number of columns of the
-          matrix op( A ).  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero or N &lt;= 1, or M &lt;= 1,
-          then A and X are not referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M strictly
-          upper triangular part of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix R. The lower triangle is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M strictly
-          lower triangular part of this array must contain the
-          strictly lower triangular part of the skew-symmetric
-          matrix R. The upper triangle is not referenced.
-          On exit, the leading M-by-M strictly upper triangular part
-          (if UPLO = 'U'), or strictly lower triangular part
-          (if UPLO = 'L'), of this array contains the corresponding
-                                                          _
-          strictly triangular part of the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
-          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
-          TRANS = 'C'.
-          On entry with TRANS = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,k),
-          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
-          TRANS = 'C'.
-
-  X       (input or input/output) DOUBLE PRECISION array, dimension
-          (LDX,K), where K = N, if UPLO = 'U' or  LDWORK &gt;= M*(N-1),
-               or K = MAX(N,M), if UPLO = 'L' and LDWORK &lt;  M*(N-1).
-          On entry, if UPLO = 'U', the leading N-by-N strictly upper
-          triangular part of this array must contain the strictly
-          upper triangular part of the skew-symmetric matrix X and
-          the lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N strictly lower
-          triangular part of this array must contain the strictly
-          lower triangular part of the skew-symmetric matrix X and
-          the upper triangular part of the array is not referenced.
-          If LDWORK &lt; M*(N-1), this array is overwritten with the
-          matrix op(A)*X, if UPLO = 'U', or X*op(A)', if UPLO = 'L'.
-
-  LDX     INTEGER
-          The leading dimension of the array X.
-          LDX &gt;= MAX(1,N),   if UPLO = 'L' or  LDWORK &gt;= M*(N-1);
-          LDX &gt;= MAX(1,N,M), if UPLO = 'U' and LDWORK &lt;  M*(N-1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or M &lt;= 1, or
-          N &lt;= 1.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N, if  beta &lt;&gt; 0, and M &gt; 0, and N &gt;  1;
-          LDWORK &gt;= 0, if  beta =  0, or  M = 0, or  N &lt;= 1.
-          For optimum performance, LDWORK &gt;= M*(N-1), if  beta &lt;&gt; 0,
-          M &gt; 1, and N &gt; 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the skew-
-  symmetry into account. If LDWORK &gt;= M*(N-1), a BLAS 3 like
-  implementation is used. Specifically, let X = T - T', with T a
-  strictly upper or strictly lower triangular matrix, defined by
-
-     T = striu( X ),  if UPLO = 'U',
-     T = stril( X ),  if UPLO = 'L',
-
-  where striu and stril denote the strictly upper triangular part
-  and strictly lower triangular part of X, respectively. Then,
-
-     A*X*A' = ( A*T )*A' - A*( A*T )',  for TRANS = 'N',
-     A'*X*A = A'*( T*A ) - ( T*A )'*A,  for TRANS = 'T', or 'C',
-
-  which involve BLAS 3 operations DTRMM and the skew-symmetric
-  correspondent of DSYR2K (with a Fortran implementation available
-  in the SLICOT Library routine MB01KD).
-  If LDWORK &lt; M*(N-1), a BLAS 2 implementation is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-                2         2
-     3/2 x M x N + 1/2 x M
-
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01MD.html b/doc/_build/html/_static/doc/MB01MD.html
deleted file mode 100644
index 85246208..00000000
--- a/doc/_build/html/_static/doc/MB01MD.html
+++ /dev/null
@@ -1,136 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01MD">MB01MD</A></H2>
-<H3>
-Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the matrix-vector operation
-
-     y := alpha*A*x + beta*y,
-
-  where alpha and beta are scalars, x and y are vectors of length
-  n and A is an n-by-n skew-symmetric matrix.
-
-  This is a modified version of the vanilla implemented BLAS
-  routine DSYMV written by Jack Dongarra, Jeremy Du Croz,
-  Sven Hammarling, and Richard Hanson.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01MD( UPLO, N, ALPHA, A, LDA, X, INCX, BETA, Y,
-     $                   INCY )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   ALPHA, BETA
-      INTEGER            INCX, INCY, LDA, N
-      CHARACTER          UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), X(*), Y(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the array A is to be referenced as follows:
-          = 'U':  only the strictly upper triangular part of A is to
-                  be referenced;
-          = 'L':  only the strictly lower triangular part of A is to
-                  be referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. If alpha is zero the array A is not
-          referenced.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry with UPLO = 'U', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the matrix A. The lower triangular part of this array is
-          not referenced.
-          On entry with UPLO = 'L', the leading N-by-N part of this
-          array must contain the strictly lower triangular part of
-          the matrix A. The upper triangular part of this array is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
-
-  X       (input) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCX ) ).
-          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
-          this array must contain the elements of the vector X.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X. IF INCX &lt; 0 then the
-          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. If beta is zero then Y need not be set on
-          input.
-
-  Y       (input/output) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCY ) ).
-          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
-          this array must contain the elements of the vector Y.
-          On exit, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
-          this array contain the updated elements of the vector Y.
-
-  INCY    (input) INTEGER
-          The increment for the elements of Y. IF INCY &lt; 0 then the
-          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Though being almost identical with the vanilla implementation
-  of the BLAS routine DSYMV the performance of this routine could
-  be significantly lower in the case of vendor supplied, highly
-  optimized BLAS.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01ND.html b/doc/_build/html/_static/doc/MB01ND.html
deleted file mode 100644
index 14e758ba..00000000
--- a/doc/_build/html/_static/doc/MB01ND.html
+++ /dev/null
@@ -1,135 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01ND">MB01ND</A></H2>
-<H3>
-Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the skew-symmetric rank 2 operation
-
-       A := alpha*x*y' - alpha*y*x' + A,
-
-  where alpha is a scalar, x and y are vectors of length n and A is
-  an n-by-n skew-symmetric matrix.
-
-  This is a modified version of the vanilla implemented BLAS
-  routine DSYR2 written by Jack Dongarra, Jeremy Du Croz,
-  Sven Hammarling, and Richard Hanson.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01ND( UPLO, N, ALPHA, X, INCX, Y, INCY, A, LDA )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   ALPHA
-      INTEGER            INCX, INCY, LDA, N
-      CHARACTER          UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), X( * ), Y( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the array A is to be referenced as follows:
-          = 'U':  only the strictly upper triangular part of A is to
-                  be referenced;
-          = 'L':  only the strictly lower triangular part of A is to
-                  be referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. If alpha is zero X and Y are not
-          referenced.
-
-  X       (input) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCX ) ).
-          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
-          this array must contain the elements of the vector X.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X. IF INCX &lt; 0 then the
-          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCY ) ).
-          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
-          this array must contain the elements of the vector Y.
-
-  INCY    (input) INTEGER
-          The increment for the elements of Y. IF INCY &lt; 0 then the
-          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry with UPLO = 'U', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the matrix A. The lower triangular part of this array is
-          not referenced.
-          On entry with UPLO = 'L', the leading N-by-N part of this
-          array must contain the strictly lower triangular part of
-          the matrix A. The upper triangular part of this array is
-          not referenced.
-          On exit with UPLO = 'U', the leading N-by-N part of this
-          array contains the strictly upper triangular part of the
-          updated matrix A.
-          On exit with UPLO = 'L', the leading N-by-N part of this
-          array contains the strictly lower triangular part of the
-          updated matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Though being almost identical with the vanilla implementation
-  of the BLAS routine DSYR2 the performance of this routine could
-  be significantly lower in the case of vendor supplied, highly
-  optimized BLAS.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OC.html b/doc/_build/html/_static/doc/MB01OC.html
deleted file mode 100644
index 6aac163b..00000000
--- a/doc/_build/html/_static/doc/MB01OC.html
+++ /dev/null
@@ -1,155 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OC">MB01OC</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) with R, X symmetric and H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform one of the special symmetric rank 2k operations
-
-     R := alpha*R + beta*H*X + beta*X*H',
-  or
-     R := alpha*R + beta*H'*X + beta*X*H,
-
-  where alpha and beta are scalars, R and X are N-by-N symmetric
-  matrices, and H is an N-by-N upper Hessenberg matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OC( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, X,
-     $                   LDX, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDH, LDR, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed as follows:
-          = 'N':         R := alpha*R + beta*H*X  + beta*X*H';
-          = 'T' or 'C':  R := alpha*R + beta*H'*X + beta*X*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, H, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  structure into account, and using inline code and BLAS1 routines.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine acts as a specialization of BLAS Library routine
-  DSYR2K.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OD.html b/doc/_build/html/_static/doc/MB01OD.html
deleted file mode 100644
index 15863783..00000000
--- a/doc/_build/html/_static/doc/MB01OD.html
+++ /dev/null
@@ -1,206 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OD">MB01OD</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' ) with R, X symmetric, H upper Hessenberg, and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-
-    R := alpha*R + beta*( op( H )*X*op( E )' + op( E )*X*op( H )' ),
-
-  where alpha and beta are scalars, R and X are symmetric matrices,
-  H is an upper Hessenberg matrix, E is an upper triangular matrix,
-  and op( M ) is one of
-
-    op( M ) = M   or   op( M ) = M'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OD( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
-     $                   X, LDX, E, LDE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDE, LDH, LDR, LDWORK, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(LDE,*), H(LDH,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( M ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( M ) = M;
-          = 'T':  op( M ) = M';
-          = 'C':  op( M ) = M'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, H, E, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          If TRANS = 'N', the entries 3, 4,..., N of the first
-          column are modified internally, but are restored on exit.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = U + L, with U and L upper and
-  lower triangular matrices, defined by
-
-     U = triu( X ) - (1/2)*diag( X ),
-     L = tril( X ) - (1/2)*diag( X ),
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-  if UPLO = 'U',
-
-    H*X*E' + E*X*H' = (H*U)*E' + E*(H*U)' + H*(E*U)' + (E*U)*H',
-                      for TRANS = 'N',
-    H'*X*E + E'*X*H = H'*(U*E) + (U*E)'*H + (U*H)'*E + E'*(U*H),
-                      for TRANS = 'T', or 'C',
-
-  and if UPLO = 'L',
-
-    H*X*E' + E*X*H' = (H*L')*E' + E*(H*L')' + H*(E*L')' + (E*L')*H',
-                      for TRANS = 'N',
-    H'*X*E + E'*X*H = H'*(L'*E) + (L'*E)'*H + (L'*H)'*E + E'*(L'*H),
-                      for TRANS = 'T', or 'C',
-
-  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
-  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
-  are upper Hessenberg, and E*U, U*E, E*L', or L'*E are upper
-  triangular.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OE.html b/doc/_build/html/_static/doc/MB01OE.html
deleted file mode 100644
index 5fc57a69..00000000
--- a/doc/_build/html/_static/doc/MB01OE.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OE">MB01OE</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' ) with R symmetric, H upper Hessenberg, and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the symmetric rank 2k operations
-
-     R := alpha*R + beta*H*E' + beta*E*H',
-
-  or
-
-     R := alpha*R + beta*H'*E + beta*E'*H,
-
-  where alpha and beta are scalars, R, E, and H are N-by-N matrices,
-  with H upper Hessenberg and E upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OE( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, E,
-     $                   LDE )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  ALPHA, BETA
-      INTEGER           LDE, LDH, LDR, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(LDE,*), H(LDH,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix R is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of H to be used in the matrix
-          multiplication as follows:
-          = 'N':  R := alpha*R + beta*H*E' + beta*E*H';
-          = 'T':  R := alpha*R + beta*H'*E + beta*E'*H;
-          = 'C':  R := alpha*R + beta*H'*E + beta*E'*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, E, and H.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then E and H are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  E particularization of the algorithm used in the BLAS 3 routine
-  DSYR2K is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OH.html b/doc/_build/html/_static/doc/MB01OH.html
deleted file mode 100644
index 4c8303bd..00000000
--- a/doc/_build/html/_static/doc/MB01OH.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OH - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OH">MB01OH</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) with R symmetric, and A, H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the symmetric rank 2k operations
-
-     R := alpha*R + beta*H*A' + beta*A*H',
-
-  or
-
-     R := alpha*R + beta*H'*A + beta*A'*H,
-
-  where alpha and beta are scalars, R, A, and H are N-by-N matrices,
-  with A and H upper Hessenberg.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, A,
-     $                   LDA )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  ALPHA, BETA
-      INTEGER           LDA, LDH, LDR, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), H(LDH,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix R is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of H to be used in the matrix
-          multiplication as follows:
-          = 'N':  R := alpha*R + beta*H*A' + beta*A*H';
-          = 'T':  R := alpha*R + beta*H'*A + beta*A'*H;
-          = 'C':  R := alpha*R + beta*H'*A + beta*A'*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, A, and H.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and H are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N)
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix A.
-          The remaining part of this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A particularization of the algorithm used in the BLAS 3 routine
-  DSYR2K is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OO.html b/doc/_build/html/_static/doc/MB01OO.html
deleted file mode 100644
index 7051494a..00000000
--- a/doc/_build/html/_static/doc/MB01OO.html
+++ /dev/null
@@ -1,145 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OO - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OO">MB01OO</A></H2>
-<H3>
-Computation of P or P' with P = op(H) X op(E)' with X symmetric, H upper Hessenberg, and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either P or P', with P defined by the matrix formula
-
-     P = op( H )*X*op( E )',
-
-  where H is an upper Hessenberg matrix, X is a symmetric matrix,
-  E is an upper triangular matrix, and op( M ) is one of
-
-     op( M ) = M   or   op( M ) = M'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OO( UPLO, TRANS, N, H, LDH, X, LDX, E, LDE, P, LDP,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDE, LDH, LDP, LDX, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(LDE,*), H(LDH,*), P(LDP,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix X is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed as follows:
-          = 'N':         compute P  = H*X*E';
-          = 'T' or 'C':  compute P' = E'*X*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices H, X, E, and P.  N &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
-          On exit, the leading N-by-N part of this array contains
-          the computed matrix P  = H*X*E', if TRANS = 'N', or
-          the computed matrix P' = E'*X*H, if TRANS = 'T'.
-
-  LDP     INTEGER
-          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  structure into account, and using BLAS and SLICOT routines.
-  Let W = H*X, or W = X*H, computed using SLICOT Library routine
-  MB01OS. The result is then obtained calling BLAS 3 routine DTRMM.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OS.html b/doc/_build/html/_static/doc/MB01OS.html
deleted file mode 100644
index 5ff250b6..00000000
--- a/doc/_build/html/_static/doc/MB01OS.html
+++ /dev/null
@@ -1,135 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OS">MB01OS</A></H2>
-<H3>
-Computation of matrix expression P = H X or P = X H, with X symmetric and H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute P = H*X or P = X*H, where H is an upper Hessenberg
-  matrix and X is a symmetric matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OS( UPLO, TRANS, N, H, LDH, X, LDX, P, LDP, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDH, LDP, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), P(LDP,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix X is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed as follows:
-          = 'N':         compute P = H*X;
-          = 'T' or 'C':  compute P = X*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices H, X, and P.  N &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
-          On exit, the leading N-by-N part of this array contains
-          the computed matrix P.
-
-  LDP     INTEGER
-          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  structure into account, and using inline code and BLAS routines.
-  Let X = U + sL, where U is upper triangular and sL is strictly
-  lower triangular. Then, P = H*X = H*U + H*sL = H*U + H*sU', where
-  sU is the strictly upper triangular part of X.
-  Similarly, P = X*H = L'*H + sL*H, where L is lower triangular, and
-  X = L + sL'. Note that H*U and L'*H are both upper Hessenberg.
-  However, when UPLO = 'L' and TRANS = 'N', or when UPLO = 'U' and
-  TRANS = 'T', then the matrix P is full. The computations are done
-  similarly.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01OT.html b/doc/_build/html/_static/doc/MB01OT.html
deleted file mode 100644
index c7e431c6..00000000
--- a/doc/_build/html/_static/doc/MB01OT.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OT">MB01OT</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) with R symmetric and E, T upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the symmetric rank 2k operations
-
-     R := alpha*R + beta*E*T' + beta*T*E',
-
-  or
-
-     R := alpha*R + beta*E'*T + beta*T'*E,
-
-  where alpha and beta are scalars, R, T, and E are N-by-N matrices,
-  with T and E upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE, T,
-     $                   LDT )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  ALPHA, BETA
-      INTEGER           LDE, LDR, LDT, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(LDE,*), R(LDR,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix R is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of E to be used in the matrix
-          multiplication as follows:
-          = 'N':  R := alpha*R + beta*E*T' + beta*T*E';
-          = 'T':  R := alpha*R + beta*E'*T + beta*T'*E;
-          = 'C':  R := alpha*R + beta*E'*T + beta*T'*E.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, T, and E.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then T and E are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix T.
-          The remaining part of this array is not referenced.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A particularization of the algorithm used in the BLAS 3 routine
-  DSYR2K is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01PD.html b/doc/_build/html/_static/doc/MB01PD.html
deleted file mode 100644
index 0a3bb43b..00000000
--- a/doc/_build/html/_static/doc/MB01PD.html
+++ /dev/null
@@ -1,155 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01PD">MB01PD</A></H2>
-<H3>
-Matrix scaling (higher level routine)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale a matrix or undo scaling.  Scaling is performed, if
-  necessary, so that the matrix norm will be in a safe range of
-  representable numbers.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01PD( SCUN, TYPE, M, N, KL, KU, ANRM, NBL, NROWS, A,
-     $                   LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          SCUN, TYPE
-      INTEGER            INFO, KL, KU, LDA, M, MN, N, NBL
-      DOUBLE PRECISION   ANRM
-C     .. Array Arguments ..
-      INTEGER            NROWS ( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SCUN    CHARACTER*1
-          SCUN indicates the operation to be performed.
-          = 'S':  scale the matrix.
-          = 'U':  undo scaling of the matrix.
-
-  TYPE    CHARACTER*1
-          TYPE indicates the storage type of the input matrix.
-          = 'G':  A is a full matrix.
-          = 'L':  A is a (block) lower triangular matrix.
-          = 'U':  A is an (block) upper triangular matrix.
-          = 'H':  A is an (block) upper Hessenberg matrix.
-          = 'B':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  lower half stored.
-          = 'Q':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  upper half stored.
-          = 'Z':  A is a band matrix with lower bandwidth KL and
-                  upper bandwidth KU.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A. N &gt;= 0.
-
-  KL      (input) INTEGER
-          The lower bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  KU      (input) INTEGER
-          The upper bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  ANRM    (input) DOUBLE PRECISION
-          The norm of the initial matrix A.  ANRM &gt;= 0.
-          When  ANRM = 0  then an immediate return is effected.
-          ANRM should be preserved between the call of the routine
-          with SCUN = 'S' and the corresponding one with SCUN = 'U'.
-
-  NBL     (input) INTEGER
-          The number of diagonal blocks of the matrix A, if it has a
-          block structure.  To specify that matrix A has no block
-          structure, set NBL = 0.  NBL &gt;= 0.
-
-  NROWS   (input) INTEGER array, dimension max(1,NBL)
-          NROWS(i) contains the number of rows and columns of the
-          i-th diagonal block of matrix A.  The sum of the values
-          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
-          The elements of the array  NROWS  are not referenced if
-          NBL = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M by N part of this array must
-          contain the matrix to be scaled/unscaled.
-          On exit, the leading M by N part of A will contain
-          the modified matrix.
-          The storage mode of A is specified by TYPE.
-
-  LDA     (input) INTEGER
-          The leading dimension of the array A.  LDA  &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Denote by ANRM the norm of the matrix, and by SMLNUM and BIGNUM,
-  two positive numbers near the smallest and largest safely
-  representable numbers, respectively.  The matrix is scaled, if
-  needed, such that the norm of the result is in the range
-  [SMLNUM, BIGNUM].  The scaling factor is represented as a ratio
-  of two numbers, one of them being ANRM, and the other one either
-  SMLNUM or BIGNUM, depending on ANRM being less than SMLNUM or
-  larger than BIGNUM, respectively.  For undoing the scaling, the
-  norm is again compared with SMLNUM or BIGNUM, and the reciprocal
-  of the previous scaling factor is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01QD.html b/doc/_build/html/_static/doc/MB01QD.html
deleted file mode 100644
index 316df71d..00000000
--- a/doc/_build/html/_static/doc/MB01QD.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01QD">MB01QD</A></H2>
-<H3>
-Matrix scaling (lower level routine)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To multiply the M by N real matrix A by the real scalar CTO/CFROM.
-  This is done without over/underflow as long as the final result
-  CTO*A(I,J)/CFROM does not over/underflow. TYPE specifies that
-  A may be full, (block) upper triangular, (block) lower triangular,
-  (block) upper Hessenberg, or banded.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01QD( TYPE, M, N, KL, KU, CFROM, CTO, NBL, NROWS, A,
-     $                   LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TYPE
-      INTEGER            INFO, KL, KU, LDA, M, N, NBL
-      DOUBLE PRECISION   CFROM, CTO
-C     .. Array Arguments ..
-      INTEGER            NROWS ( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          TYPE indices the storage type of the input matrix.
-          = 'G':  A is a full matrix.
-          = 'L':  A is a (block) lower triangular matrix.
-          = 'U':  A is a (block) upper triangular matrix.
-          = 'H':  A is a (block) upper Hessenberg matrix.
-          = 'B':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  lower half stored.
-          = 'Q':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  upper half stored.
-          = 'Z':  A is a band matrix with lower bandwidth KL and
-                  upper bandwidth KU.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The lower bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  KU      (input) INTEGER
-          The upper bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  CFROM   (input) DOUBLE PRECISION
-  CTO     (input) DOUBLE PRECISION
-          The matrix A is multiplied by CTO/CFROM. A(I,J) is
-          computed without over/underflow if the final result
-          CTO*A(I,J)/CFROM can be represented without over/
-          underflow.  CFROM must be nonzero.
-
-  NBL     (input) INTEGER
-          The number of diagonal blocks of the matrix A, if it has a
-          block structure.  To specify that matrix A has no block
-          structure, set NBL = 0.  NBL &gt;= 0.
-
-  NROWS   (input) INTEGER array, dimension max(1,NBL)
-          NROWS(i) contains the number of rows and columns of the
-          i-th diagonal block of matrix A.  The sum of the values
-          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
-          The array  NROWS  is not referenced if NBL = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          The matrix to be multiplied by CTO/CFROM.  See TYPE for
-          the storage type.
-
-  LDA     (input) INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          Not used in this implementation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is multiplied by the real scalar CTO/CFROM, taking into
-  account the specified storage mode of the matrix.
-  MB01QD is a version of the LAPACK routine DLASCL, modified for
-  dealing with block triangular, or block Hessenberg matrices.
-  For efficiency, no tests of the input scalar parameters are
-  performed.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RB.html b/doc/_build/html/_static/doc/MB01RB.html
deleted file mode 100644
index a2e1c9f0..00000000
--- a/doc/_build/html/_static/doc/MB01RB.html
+++ /dev/null
@@ -1,194 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RB">MB01RB</A></H2>
-<H3>
-Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either the upper or lower triangular part of one of the
-  matrix formulas
-     _
-     R = alpha*R + beta*op( A )*B,                               (1)
-     _
-     R = alpha*R + beta*B*op( A ),                               (2)
-                                          _
-  where alpha and beta are scalars, R and R are m-by-m matrices,
-  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
-  and m-by-n matrices for (2), respectively, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A',  the transpose of A.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RB( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
-     $                   A, LDA, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDR, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the matrix A appears on the left or
-          right in the matrix product as follows:
-                  _
-          = 'L':  R = alpha*R + beta*op( A )*B;
-                  _
-          = 'R':  R = alpha*R + beta*B*op( A ).
-
-  UPLO    CHARACTER*1                               _
-          Specifies which triangles of the matrices R and R are
-          computed and given, respectively, as follows:
-          = 'U':  the upper triangular part;
-          = 'L':  the lower triangular part.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R, the number of rows of
-          the matrix op( A ) and the number of columns of the
-          matrix B, for SIDE = 'L', or the number of rows of the
-          matrix B and the number of columns of the matrix op( A ),
-          for SIDE = 'R'.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix B and the number of
-          columns of the matrix op( A ), for SIDE = 'L', or the
-          number of rows of the matrix op( A ) and the number of
-          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and B are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix R; the strictly lower
-          triangular part of the array is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix R; the strictly upper
-          triangular part of the array is not referenced.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
-          k = N  when  SIDE = 'L', and TRANS =  'N', or
-                       SIDE = 'R', and TRANS &lt;&gt; 'T';
-          k = M  when  SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
-          On entry, if SIDE = 'L', and TRANS =  'N', or
-                       SIDE = 'R', and TRANS &lt;&gt; 'T',
-          the leading M-by-N part of this array must contain the
-          matrix A.
-          On entry, if SIDE = 'R', and TRANS =  'N', or
-                       SIDE = 'L', and TRANS &lt;&gt; 'T',
-          the leading N-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
-          l = M  when  SIDE = 'L', and TRANS =  'N', or
-                       SIDE = 'R', and TRANS &lt;&gt; 'T';
-          l = N  when  SIDE = 'R', and TRANS =  'N', or
-                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
-          p = M  when  SIDE = 'L';
-          p = N  when  SIDE = 'R'.
-          On entry, the leading N-by-M part, if SIDE = 'L', or
-          M-by-N part, if SIDE = 'R', of this array must contain the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N), if SIDE = 'L';
-          LDB &gt;= MAX(1,M), if SIDE = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is evaluated taking the triangular
-  structure into account. A block algorithm is used.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The main application of this routine is when the result should
-  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
-  B = op( A )'*X, for (2), where B is already available and X = X'.
-  The required triangle only is computed and overwritten, contrary
-  to a general matrix multiplication operation.
-
-  This is a BLAS 3 version of the SLICOT Library routine MB01RX.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RD.html b/doc/_build/html/_static/doc/MB01RD.html
deleted file mode 100644
index 6a85bc75..00000000
--- a/doc/_build/html/_static/doc/MB01RD.html
+++ /dev/null
@@ -1,219 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RD">MB01RD</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-     _
-     R = alpha*R + beta*op( A )*X*op( A )',
-                                              _
-  where alpha and beta are scalars, R, X, and R are symmetric
-  matrices, A is a general matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1                                         _
-          Specifies which triangles of the symmetric matrices R, R,
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R and the number of rows
-          of the matrix op( A ).  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix X and the number of columns of the
-          the matrix op( A ).  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call (which is possible only in this case).
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R; the strictly
-          lower triangular part of the array is used as workspace.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R; the strictly
-          upper triangular part of the array is used as workspace.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R. If beta &lt;&gt; 0, the remaining
-          strictly triangular part of this array contains the
-          corresponding part of the matrix expression
-          beta*op( A )*T*op( A )', where T is the triangular matrix
-          defined in the Method section.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
-          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
-          TRANS = 'C'.
-          On entry with TRANS = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,l),
-          where l is M when TRANS = 'N' and is N when TRANS = 'T' or
-          TRANS = 'C'.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          On exit, each diagonal element of this array has half its
-          input value, but the other elements are not modified.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array (with the leading dimension MAX(1,M)) returns the
-          matrix product beta*op( A )*T, where T is the triangular
-          matrix defined in the Method section.
-          This array is not referenced when beta = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,M*N), if  beta &lt;&gt; 0;
-          LDWORK &gt;= 1,          if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = T + T', with T an upper or
-  lower triangular matrix, defined by
-
-     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
-     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-
-     op( A )*X*op( A )' = B + B',
-
-  where B := op( A )*T*op( A )'. Matrix B is not symmetric, but it
-  can be written as tri( B ) + stri( B ), where tri denotes the
-  triangular part specified by UPLO, and stri denotes the remaining
-  strictly triangular part. Let R = V + V', with V defined as T
-  above. Then, the required triangular part of the result can be
-  written as
-
-     alpha*V + beta*tri( B )  + beta*(stri( B ))' +
-              alpha*diag( V ) + beta*diag( tri( B ) ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-      2             2
-     M x N + 1/2 x N x M
-
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RH.html b/doc/_build/html/_static/doc/MB01RH.html
deleted file mode 100644
index 38ad03c9..00000000
--- a/doc/_build/html/_static/doc/MB01RH.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RH - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RH">MB01RH</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta op(H) X op(H)' with R, X symmetric and H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-
-     R := alpha*R + beta*op( H )*X*op( H )',
-
-  where alpha and beta are scalars, R and X are symmetric matrices,
-  H is an upper Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDH, LDR, LDWORK, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), H(LDH,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, H, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R. 
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          If TRANS = 'N', the entries 3, 4,..., N of the first
-          column are modified internally, but are restored on exit.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = U + L, with U and L upper and
-  lower triangular matrices, defined by
-
-     U = triu( X ) - (1/2)*diag( X ),
-     L = tril( X ) - (1/2)*diag( X ),
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-  if UPLO = 'U',
-
-     H*X*H' = ( H*U )*H' + H*( H*U )',  for TRANS = 'N',
-     H'*X*H = H'*( U*H ) + ( U*H )'*H,  for TRANS = 'T', or 'C',
-
-  and if UPLO = 'L',
-
-     H*X*H' = ( H*L' )*H' + H*( H*L' )',  for TRANS = 'N',
-     H'*X*H = H'*( L'*H ) + ( L'*H )'*H,  for TRANS = 'T', or 'C',
-
-  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
-  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
-  are upper Hessenberg.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RT.html b/doc/_build/html/_static/doc/MB01RT.html
deleted file mode 100644
index d8f60d68..00000000
--- a/doc/_build/html/_static/doc/MB01RT.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RT">MB01RT</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta op(E) X op(E)' with R, X symmetric and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-
-     R := alpha*R + beta*op( E )*X*op( E )',
-
-  where alpha and beta are scalars, R and X are symmetric matrices,
-  E is an upper triangular matrix, and op( E ) is one of
-
-     op( E ) = E   or   op( E ) = E'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDE, LDR, LDWORK, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(LDE,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( E ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( E ) = E;
-          = 'T':  op( E ) = E';
-          = 'C':  op( E ) = E'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, E, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then E and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = U + L, with U and L upper and
-  lower triangular matrices, defined by
-
-     U = triu( X ) - (1/2)*diag( X ),
-     L = tril( X ) - (1/2)*diag( X ),
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-  if UPLO = 'U',
-
-     E*X*E' = ( E*U )*E' + E*( E*U )',  for TRANS = 'N',
-     E'*X*E = E'*( U*E ) + ( U*E )'*E,  for TRANS = 'T', or 'C',
-
-  and if UPLO = 'L',
-
-     E*X*E' = ( E*L' )*E' + E*( E*L' )',  for TRANS = 'N',
-     E'*X*E = E'*( L'*E ) + ( L'*E )'*E,  for TRANS = 'T', or 'C',
-
-  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
-  This approach ensures that the matrices E*U, U*E, E*L', or L'*E
-  are upper triangular.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RU.html b/doc/_build/html/_static/doc/MB01RU.html
deleted file mode 100644
index 0a94bafd..00000000
--- a/doc/_build/html/_static/doc/MB01RU.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RU">MB01RU</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric (MB01RD variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-     _
-     R = alpha*R + beta*op( A )*X*op( A )',
-                                              _
-  where alpha and beta are scalars, R, X, and R are symmetric
-  matrices, A is a general matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RU( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R and the number of rows
-          of the matrix op( A ).  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix X and the number of columns of the
-          the matrix op( A ).  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R. When R is identified with X in
-          the call, after exit, the diagonal entries of R must be
-          divided by 2.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
-          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
-          TRANS = 'C'.
-          On entry with TRANS = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,k),
-          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
-          TRANS = 'C'.
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or M*N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= M*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = T + T', with T an upper or
-  lower triangular matrix, defined by
-
-     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
-     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-
-     A*X*A' = ( A*T )*A' + A*( A*T )',  for TRANS = 'N',
-     A'*X*A = A'*( T*A ) + ( T*A )'*A,  for TRANS = 'T', or 'C',
-
-  which involve BLAS 3 operations (DTRMM and DSYR2K).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-      2             2
-     M x N + 1/2 x N x M
-
-  operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This is a simpler version for MB01RD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RW.html b/doc/_build/html/_static/doc/MB01RW.html
deleted file mode 100644
index c1693b7e..00000000
--- a/doc/_build/html/_static/doc/MB01RW.html
+++ /dev/null
@@ -1,130 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RW">MB01RW</A></H2>
-<H3>
-Computation of matrix expression alpha A X trans(A), X symmetric (BLAS 2 version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transformation of the symmetric matrix A by the
-  matrix Z in the form
-
-     A := op(Z)*A*op(Z)',
-
-  where op(Z) is either Z or its transpose, Z'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RW( UPLO, TRANS, M, N, A, LDA, Z, LDZ, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDZ, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangle of A
-          is stored:
-          = 'U':  Upper triangle of A is stored;
-          = 'L':  Lower triangle of A is stored.
-
-  TRANS   CHARACTER*1
-          Specifies whether op(Z) is Z or its transpose Z':
-          = 'N':  op(Z) = Z;
-          = 'T':  op(Z) = Z'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the resulting symmetric matrix op(Z)*A*op(Z)'
-          and the number of rows of the matrix Z, if TRANS = 'N',
-          or the number of columns of the matrix Z, if TRANS = 'T'.
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the symmetric matrix A and the number of
-          columns of the matrix Z, if TRANS = 'N', or the number of
-          rows of the matrix Z, if TRANS = 'T'.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA,MAX(M,N))
-          On entry, the leading N-by-N upper or lower triangular
-          part of this array must contain the upper (UPLO = 'U')
-          or lower (UPLO = 'L') triangular part of the symmetric
-          matrix A.
-          On exit, the leading M-by-M upper or lower triangular
-          part of this array contains the upper (UPLO = 'U') or
-          lower (UPLO = 'L') triangular part of the symmetric
-          matrix op(Z)*A*op(Z)'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M,N).
-
-  Z       (input) DOUBLE PRECISION array, dimension (LDQ,K)
-          where K = N if TRANS = 'N' and K = M if TRANS = 'T'.
-          The leading M-by-N part, if TRANS = 'N', or N-by-M part,
-          if TRANS = 'T', of this array contains the matrix Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= MAX(1,M) if TRANS = 'N' and
-          LDZ &gt;= MAX(1,N) if TRANS = 'T'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This is a simpler, BLAS 2 version for MB01RD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RX.html b/doc/_build/html/_static/doc/MB01RX.html
deleted file mode 100644
index 04c6c921..00000000
--- a/doc/_build/html/_static/doc/MB01RX.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RX">MB01RX</A></H2>
-<H3>
-Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either the upper or lower triangular part of one of the
-  matrix formulas
-     _
-     R = alpha*R + beta*op( A )*B,                               (1)
-     _
-     R = alpha*R + beta*B*op( A ),                               (2)
-                                          _
-  where alpha and beta are scalars, R and R are m-by-m matrices,
-  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
-  and m-by-n matrices for (2), respectively, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A',  the transpose of A.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RX( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
-     $                   A, LDA, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDR, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the matrix A appears on the left or
-          right in the matrix product as follows:
-                  _
-          = 'L':  R = alpha*R + beta*op( A )*B;
-                  _
-          = 'R':  R = alpha*R + beta*B*op( A ).
-
-  UPLO    CHARACTER*1                               _
-          Specifies which triangles of the matrices R and R are
-          computed and given, respectively, as follows:
-          = 'U':  the upper triangular part;
-          = 'L':  the lower triangular part.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R, the number of rows of
-          the matrix op( A ) and the number of columns of the
-          matrix B, for SIDE = 'L', or the number of rows of the
-          matrix B and the number of columns of the matrix op( A ),
-          for SIDE = 'R'.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix B and the number of
-          columns of the matrix op( A ), for SIDE = 'L', or the
-          number of rows of the matrix op( A ) and the number of
-          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and B are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix R; the strictly lower
-          triangular part of the array is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix R; the strictly upper
-          triangular part of the array is not referenced.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
-          k = N  when  SIDE = 'L', and TRANS = 'N', or
-                       SIDE = 'R', and TRANS = 'T';
-          k = M  when  SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS = 'T'.
-          On entry, if SIDE = 'L', and TRANS = 'N', or
-                       SIDE = 'R', and TRANS = 'T',
-          the leading M-by-N part of this array must contain the
-          matrix A.
-          On entry, if SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS = 'T',
-          the leading N-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
-          l = M  when  SIDE = 'L', and TRANS = 'N', or
-                       SIDE = 'R', and TRANS = 'T';
-          l = N  when  SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS = 'T'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
-          p = M  when  SIDE = 'L';
-          p = N  when  SIDE = 'R'.
-          On entry, the leading N-by-M part, if SIDE = 'L', or
-          M-by-N part, if SIDE = 'R', of this array must contain the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N), if SIDE = 'L';
-          LDB &gt;= MAX(1,M), if SIDE = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is evaluated taking the triangular
-  structure into account. BLAS 2 operations are used. A block
-  algorithm can be easily constructed; it can use BLAS 3 GEMM
-  operations for most computations, and calls of this BLAS 2
-  algorithm for computing the triangles.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The main application of this routine is when the result should
-  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
-  B = op( A )'*X, for (2), where B is already available and X = X'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01RY.html b/doc/_build/html/_static/doc/MB01RY.html
deleted file mode 100644
index 1ae0683d..00000000
--- a/doc/_build/html/_static/doc/MB01RY.html
+++ /dev/null
@@ -1,174 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RY">MB01RY</A></H2>
-<H3>
-Computation of a triangle of matrix expression alpha R + beta H B or alpha R + beta B H, H upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either the upper or lower triangular part of one of the
-  matrix formulas
-     _
-     R = alpha*R + beta*op( H )*B,                               (1)
-     _
-     R = alpha*R + beta*B*op( H ),                               (2)
-                                                 _
-  where alpha and beta are scalars, H, B, R, and R are m-by-m
-  matrices, H is an upper Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H',  the transpose of H.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RY( SIDE, UPLO, TRANS, M, ALPHA, BETA, R, LDR, H,
-     $                   LDH, B, LDB, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDB, LDH, LDR, M
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), DWORK(*), H(LDH,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the Hessenberg matrix H appears on the
-          left or right in the matrix product as follows:
-                  _
-          = 'L':  R = alpha*R + beta*op( H )*B;
-                  _
-          = 'R':  R = alpha*R + beta*B*op( H ).
-
-  UPLO    CHARACTER*1                               _
-          Specifies which triangles of the matrices R and R are
-          computed and given, respectively, as follows:
-          = 'U':  the upper triangular part;
-          = 'L':  the lower triangular part.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R, R, H and B.  M &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and B are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix R; the strictly lower
-          triangular part of the array is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix R; the strictly upper
-          triangular part of the array is not referenced.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,M)
-          On entry, the leading M-by-M upper Hessenberg part of
-          this array must contain the upper Hessenberg part of the
-          matrix H.
-          The elements below the subdiagonal are not referenced,
-          except possibly for those in the first column, which
-          could be overwritten, but are restored on exit.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading M-by-M part of this array must
-          contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          LDWORK &gt;= M, if  beta &lt;&gt; 0 and SIDE = 'L';
-          LDWORK &gt;= 0, if  beta =  0 or  SIDE = 'R'.
-          This array is not referenced when beta = 0 or SIDE = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  Hessenberg/triangular structure into account. BLAS 2 operations
-  are used. A block algorithm can be constructed; it can use BLAS 3
-  GEMM operations for most computations, and calls of this BLAS 2
-  algorithm for computing the triangles.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The main application of this routine is when the result should
-  be a symmetric matrix, e.g., when B = X*op( H )', for (1), or
-  B = op( H )'*X, for (2), where B is already available and X = X'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01SD.html b/doc/_build/html/_static/doc/MB01SD.html
deleted file mode 100644
index 63b45d63..00000000
--- a/doc/_build/html/_static/doc/MB01SD.html
+++ /dev/null
@@ -1,97 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01SD">MB01SD</A></H2>
-<H3>
-Scaling a rectangular matrix using given row and column scaling factors
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale a general M-by-N matrix A using the row and column
-  scaling factors in the vectors R and C.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01SD( JOBS, M, N, A, LDA, R, C )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBS
-      INTEGER            LDA, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), C(*), R(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBS    CHARACTER*1
-          Specifies the scaling operation to be done, as follows:
-          = 'R':  row scaling, i.e., A will be premultiplied
-                  by diag(R);
-          = 'C':  column scaling, i.e., A will be postmultiplied
-                  by diag(C);
-          = 'B':  both row and column scaling, i.e., A will be
-                  replaced by diag(R) * A * diag(C).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the M-by-N matrix A.
-          On exit, the scaled matrix.  See JOBS for the form of the
-          scaled matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  R       (input) DOUBLE PRECISION array, dimension (M)
-          The row scale factors for A.
-          R is not referenced if JOBS = 'C'.
-
-  C       (input) DOUBLE PRECISION array, dimension (N)
-          The column scale factors for A.
-          C is not referenced if JOBS = 'R'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01SS.html b/doc/_build/html/_static/doc/MB01SS.html
deleted file mode 100644
index 1b5534c9..00000000
--- a/doc/_build/html/_static/doc/MB01SS.html
+++ /dev/null
@@ -1,103 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01SS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01SS">MB01SS</A></H2>
-<H3>
-Symmetric scaling of a symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale a symmetric N-by-N matrix A using the row and column
-  scaling factors stored in the vector D.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01SS( JOBS, UPLO, N, A, LDA, D )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBS, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBS    CHARACTER*1
-          Specifies the scaling operation to be done, as follows:
-          = 'D':  row and column scaling with D, i.e., A will be
-                  transformed to diag(D)*A*diag(D);
-          = 'I':  row and column scaling with inv(D), i.e., A will
-                  be transformed to inv(diag(D))*A*inv(diag(D)).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrix A is stored, as
-          follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the symmetric
-          matrix A.
-          On exit, the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array contains the corresponding triangular part
-          of the matrix diag(D)*A*diag(D), if JOBS = 'D', or of the
-          matrix inv(diag(D))*A*inv(diag(D)), JOBS = 'I'.
-          The stricly lower triangular part (if UPLO = 'U') or
-          stricly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (N)
-          The diagonal elements of the diagonal matrix D.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01TD.html b/doc/_build/html/_static/doc/MB01TD.html
deleted file mode 100644
index 40f38c3d..00000000
--- a/doc/_build/html/_static/doc/MB01TD.html
+++ /dev/null
@@ -1,176 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01TD">MB01TD</A></H2>
-<H3>
-Computation of A B in B, with A and B upper quasi-triangular matrices with the same structure
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product A * B, where A and B are upper
-  quasi-triangular matrices (that is, block upper triangular with
-  1-by-1 or 2-by-2 diagonal blocks) with the same structure.
-  The result is returned in the array B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix A. The elements below the
-          subdiagonal are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix B, with the same
-          structure as matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the computed product A * B, with the same structure as
-          on entry.
-          The elements below the subdiagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N-1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrices A and B have not the same structure,
-                and/or A and B are not upper quasi-triangular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product A * B is computed column by column, using
-  BLAS 2 and BLAS 1 operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine can be used, for instance, for computing powers of
-  a real Schur form matrix.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB01TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX-1 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         MB01TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-*        Compute the matrix product A*B.
-         CALL MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB01TD = ',I2)
-99997 FORMAT (' The matrix product A*B is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB01TD EXAMPLE PROGRAM DATA
-   5
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   0.    0.    1.    5.    1.
-   0.    0.    0.    0.   -4.
-   0.    0.    0.   20.    4.
-   5.    5.    1.    5.    1.
-  -2.    1.    3.    0.   -4.
-   0.    0.    4.   20.    4.
-   0.    0.    0.    3.    5.
-   0.    0.    0.    1.   -2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB01TD EXAMPLE PROGRAM RESULTS
-
- The matrix product A*B is 
-   1.0000   7.0000  31.0000 139.0000  22.0000
-  -8.0000 -11.0000  -9.0000 -32.0000   2.0000
-   0.0000   0.0000   4.0000  36.0000  27.0000
-   0.0000   0.0000   0.0000  -4.0000   8.0000
-   0.0000   0.0000   0.0000  64.0000  92.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UD.html b/doc/_build/html/_static/doc/MB01UD.html
deleted file mode 100644
index 7dcd7c4e..00000000
--- a/doc/_build/html/_static/doc/MB01UD.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UD">MB01UD</A></H2>
-<H3>
-Computation of matrix expressions alpha H A or alpha A H, H Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-     B = alpha*op( H ) * A, or B = alpha*A * op( H ),
-
-  where alpha is a scalar, A and B are m-by-n matrices, H is an
-  upper Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H',  the transpose of H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UD( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA, B,
-     $                   LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS
-      INTEGER           INFO, LDA, LDB, LDH, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the Hessenberg matrix H appears on the
-          left or right in the matrix product as follows:
-          = 'L':  B = alpha*op( H ) * A;
-          = 'R':  B = alpha*A * op( H ).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices A and B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices A and B.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then H is not
-          referenced and A need not be set before entry.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with SIDE = 'L', the leading M-by-M upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          On entry with SIDE = 'R', the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          The elements below the subdiagonal are not referenced,
-          except possibly for those in the first column, which
-          could be overwritten, but are restored on exit.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading M-by-N part of this array contains the
-          computed product.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The required matrix product is computed in two steps. In the first
-  step, the upper triangle of H is used; in the second step, the
-  contribution of the subdiagonal is added. A fast BLAS 3 DTRMM
-  operation is used in the first step.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UW.html b/doc/_build/html/_static/doc/MB01UW.html
deleted file mode 100644
index b010a40e..00000000
--- a/doc/_build/html/_static/doc/MB01UW.html
+++ /dev/null
@@ -1,154 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UW">MB01UW</A></H2>
-<H3>
-Computation of matrix expressions alpha H A or alpha A H, over A, H Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-     A : = alpha*op( H ) * A, or A : = alpha*A * op( H ),
-
-  where alpha is a scalar, A is an m-by-n matrix, H is an upper
-  Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H',  the transpose of H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UW( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS
-      INTEGER           INFO, LDA, LDH, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the Hessenberg matrix H appears on the
-          left or right in the matrix product as follows:
-          = 'L':  A := alpha*op( H ) * A;
-          = 'R':  A := alpha*A * op( H ).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then H is not
-          referenced and A need not be set before entry.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with SIDE = 'L', the leading M-by-M upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          On entry with SIDE = 'R', the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          The elements below the subdiagonal are not referenced,
-          except possibly for those in the first column, which
-          could be overwritten, but are restored on exit.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the computed product.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, alpha &lt;&gt; 0, and LDWORK &gt;= M*N &gt; 0,
-          DWORK contains a copy of the matrix A, having the leading
-          dimension M.
-          This array is not referenced when alpha = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= 0,   if  alpha =  0 or MIN(M,N) = 0;
-          LDWORK &gt;= M-1, if  SIDE  = 'L';
-          LDWORK &gt;= N-1, if  SIDE  = 'R'.
-          For maximal efficiency LDWORK should be at least M*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The required matrix product is computed in two steps. In the first
-  step, the upper triangle of H is used; in the second step, the
-  contribution of the subdiagonal is added. If the workspace can
-  accomodate a copy of A, a fast BLAS 3 DTRMM operation is used in
-  the first step.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UX.html b/doc/_build/html/_static/doc/MB01UX.html
deleted file mode 100644
index 2ed581ae..00000000
--- a/doc/_build/html/_static/doc/MB01UX.html
+++ /dev/null
@@ -1,184 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UX">MB01UX</A></H2>
-<H3>
-Computation of matrix expressions alpha T A or alpha A T, over A, T quasi-triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-    A : = alpha*op( T ) * A, or A : = alpha*A * op( T ),
-
-  where alpha is a scalar, A is an m-by-n matrix, T is a quasi-
-  triangular matrix, and op( T ) is one of
-
-     op( T ) = T   or   op( T ) = T',  the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UX( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDT, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the upper quasi-triangular matrix H
-          appears on the left or right in the matrix product as
-          follows:
-          = 'L':  A := alpha*op( T ) * A;
-          = 'R':  A := alpha*A * op( T ).
-
-  UPLO    CHARACTER*1.
-          Specifies whether the matrix T is an upper or lower
-          quasi-triangular matrix as follows:
-          = 'U':  T is an upper quasi-triangular matrix;
-          = 'L':  T is a lower quasi-triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then T is not
-          referenced and A need not be set before entry.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,k)
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with UPLO = 'U', the leading k-by-k upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T. The elements below the
-          subdiagonal are not referenced.
-          On entry with UPLO = 'L', the leading k-by-k lower
-          Hessenberg part of this array must contain the lower
-          quasi-triangular matrix T. The elements above the
-          supdiagonal are not referenced.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the computed product.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 and ALPHA&lt;&gt;0,  DWORK(1)  returns the
-          optimal value of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          This array is not referenced when alpha = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= 1,       if alpha =  0 or MIN(M,N) = 0;
-          LDWORK &gt;= 2*(M-1), if SIDE  = 'L';
-          LDWORK &gt;= 2*(N-1), if SIDE  = 'R'.
-          For maximal efficiency LDWORK should be at least
-          NOFF*N + M - 1,    if SIDE  = 'L';
-          NOFF*M + N - 1,    if SIDE  = 'R';
-          where NOFF is the number of nonzero elements on the
-          subdiagonal (if UPLO = 'U') or supdiagonal (if UPLO = 'L')
-          of T.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The technique used in this routine is similiar to the technique
-  used in the SLICOT [1] subroutine MB01UW developed by Vasile Sima.
-  The required matrix product is computed in two steps. In the first
-  step, the triangle of T specified by UPLO is used; in the second
-  step, the contribution of the sub-/supdiagonal is added. If the
-  workspace can accommodate parts of A, a fast BLAS 3 DTRMM
-  operation is used in the first step.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., Sima, V., Van Huffel, S., and
-      Varga, A.
-      SLICOT - A subroutine library in systems and control theory.
-      In: Applied and computational control, signals, and circuits,
-      Vol. 1, pp. 499-539, Birkhauser, Boston, 1999.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UY.html b/doc/_build/html/_static/doc/MB01UY.html
deleted file mode 100644
index 6b676cdc..00000000
--- a/doc/_build/html/_static/doc/MB01UY.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UY">MB01UY</A></H2>
-<H3>
-Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
-
-  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
-  matrix, and op( T ) is one of
-
-     op( T ) = T   or   op( T ) = T',  the transpose of T.
-
-  A block-row/column algorithm is used, if possible. The result
-  overwrites the array T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UY( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDT, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the triangular matrix T appears on the
-          left or right in the matrix product, as follows:
-          = 'L':  T := alpha*op( T ) * A;
-          = 'R':  T := alpha*A * op( T ).
-
-  UPLO    CHARACTER*1.
-          Specifies whether the matrix T is an upper or lower
-          triangular matrix, as follows:
-          = 'U':  T is an upper triangular matrix;
-          = 'L':  T is a lower triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then T and A need not
-          be set before entry.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,max(K,N)), when SIDE = 'L', and
-          (LDT,K),        when SIDE = 'R',
-          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
-          On entry with UPLO = 'U', the leading K-by-K upper
-          triangular part of this array must contain the upper
-          triangular matrix T. The elements below the diagonal
-          do not need to be zero.
-          On entry with UPLO = 'L', the leading K-by-K lower
-          triangular part of this array must contain the lower
-          triangular matrix T. The elements above the diagonal
-          do not need to be zero.
-          On exit, the leading M-by-N part of this array contains
-          the corresponding product defined by SIDE, UPLO, and
-          TRANS.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= max(1,M),    if SIDE = 'L';
-          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
-          LDWORK &gt;= M, if SIDE = 'L';
-          LDWORK &gt;= N, if SIDE = 'R'.
-          For good performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A block-row/column size is found based on the available workspace.
-  BLAS 3 gemm and trmm are used if possible.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01UZ.html b/doc/_build/html/_static/doc/MB01UZ.html
deleted file mode 100644
index e737b56a..00000000
--- a/doc/_build/html/_static/doc/MB01UZ.html
+++ /dev/null
@@ -1,171 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UZ">MB01UZ</A></H2>
-<H3>
-Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular (complex version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
-
-  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
-  matrix, and op( T ) is one of
-
-     op( T ) = T,  or  op( T ) = T',  the transpose of T, or
-     op( T ) = conj(T'),              the conjugate transpose of T.
-
-  A block-row/column algorithm is used, if possible. The result
-  overwrites the array T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UZ( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDT, LZWORK, M, N
-      COMPLEX*16        ALPHA
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), T(LDT,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the triangular matrix T appears on the
-          left or right in the matrix product, as follows:
-          = 'L':  T := alpha * op( T ) * A;
-          = 'R':  T := alpha * A * op( T ).
-
-  UPLO    CHARACTER*1.
-          Specifies whether the matrix T is an upper or lower
-          triangular matrix, as follows:
-          = 'U':  T is an upper triangular matrix;
-          = 'L':  T is a lower triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = conj(T').
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) COMPLEX*16
-          The scalar alpha. When alpha is zero then T and A need not
-          be set before entry.
-
-  T       (input/output) COMPLEX*16 array, dimension
-          (LDT,max(K,N)), when SIDE = 'L', and
-          (LDT,K),        when SIDE = 'R',
-          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
-          On entry with UPLO = 'U', the leading K-by-K upper
-          triangular part of this array must contain the upper
-          triangular matrix T. The elements below the diagonal
-          do not need to be zero.
-          On entry with UPLO = 'L', the leading K-by-K lower
-          triangular part of this array must contain the lower
-          triangular matrix T. The elements above the diagonal
-          do not need to be zero.
-          On exit, the leading M-by-N part of this array contains
-          the corresponding product defined by SIDE, UPLO, and
-          TRANS.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= max(1,M),    if SIDE = 'L';
-          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0,  ZWORK(1)  returns the optimal value
-          of LZWORK.
-          On exit, if  INFO = -12,  ZWORK(1)  returns the minimum
-          value of LZWORK.
-
-  LZWORK  The length of the array ZWORK.
-          LZWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
-          LZWORK &gt;= M, if SIDE  = 'L';
-          LZWORK &gt;= N, if SIDE  = 'R'.
-          For good performance, LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A block-row/column size is found based on the available workspace.
-  BLAS 3 gemm and trmm are used if possible.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01VD.html b/doc/_build/html/_static/doc/MB01VD.html
deleted file mode 100644
index 2e4840db..00000000
--- a/doc/_build/html/_static/doc/MB01VD.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01VD">MB01VD</A></H2>
-<H3>
-Kronecker product of two matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the following matrix operation
-
-     C = alpha*kron( op(A), op(B) ) + beta*C,
-
-  where alpha and beta are real scalars, op(M) is either matrix M or
-  its transpose, M', and kron( X, Y ) denotes the Kronecker product
-  of the matrices X and Y.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01VD( TRANA, TRANB, MA, NA, MB, NB, ALPHA, BETA,
-     $                   A, LDA, B, LDB, C, LDC, MC, NC, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANA, TRANB
-      INTEGER           INFO, LDA, LDB, LDC, MA, MB, MC, NA, NB, NC
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used as follows:
-          = 'N':  op(A) = A;
-          = 'T':  op(A) = A';
-          = 'C':  op(A) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op(B) to be used as follows:
-          = 'N':  op(B) = B;
-          = 'T':  op(B) = B';
-          = 'C':  op(B) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MA      (input) INTEGER
-          The number of rows of the matrix op(A).  MA &gt;= 0.
-
-  NA      (input) INTEGER
-          The number of columns of the matrix op(A).  NA &gt;= 0.
-
-  MB      (input) INTEGER
-          The number of rows of the matrix op(B).  MB &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns of the matrix op(B).  NB &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then A and B need not
-          be set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then C need not be
-          set before entry.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,ka),
-          where ka is NA when TRANA = 'N', and is MA otherwise.
-          If TRANA = 'N', the leading MA-by-NA part of this array
-          must contain the matrix A; otherwise, the leading NA-by-MA
-          part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= max(1,MA), if TRANA = 'N';
-          LDA &gt;= max(1,NA), if TRANA = 'T' or 'C'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,kb)
-          where kb is NB when TRANB = 'N', and is MB otherwise.
-          If TRANB = 'N', the leading MB-by-NB part of this array
-          must contain the matrix B; otherwise, the leading NB-by-MB
-          part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= max(1,MB), if TRANB = 'N';
-          LDB &gt;= max(1,NB), if TRANB = 'T' or 'C'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
-          On entry, if beta is nonzero, the leading MC-by-NC part of
-          this array must contain the given matric C, where
-          MC = MA*MB and NC = NA*NB.
-          On exit, the leading MC-by-NC part of this array contains
-          the computed matrix expression
-          C = alpha*kron( op(A), op(B) ) + beta*C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= max(1,MC).
-
-  MC      (output) INTEGER
-          The number of rows of the matrix C.  MC = MA*MB.
-
-  NC      (output) INTEGER
-          The number of columns of the matrix C.  NC = NA*NB.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Kronecker product of the matrices op(A) and op(B) is computed
-  column by column.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The multiplications by zero elements in A are avoided, if the
-  matrix A is considered to be sparse, i.e., if
-  (number of zeros in A)/(MA*NA) &gt;= SPARST = 0.8. The code makes
-  NB+1 passes through the matrix A, and MA*NA passes through the
-  matrix B. If LDA and/or LDB are very large, and op(A) = A' and/or
-  op(B) = B', it could be more efficient to transpose A and/or B
-  before calling this routine, and use the 'N' values for TRANA
-  and/or TRANB.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01WD.html b/doc/_build/html/_static/doc/MB01WD.html
deleted file mode 100644
index 442ec939..00000000
--- a/doc/_build/html/_static/doc/MB01WD.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01WD">MB01WD</A></H2>
-<H3>
-Residuals of Lyapunov or Stein equations for Cholesky factored solutions
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-  _
-  R = alpha*( op( A )'*op( T )'*op( T ) + op( T )'*op( T )*op( A ) )
-      + beta*R,                                                  (1)
-
-  if DICO = 'C', or
-  _
-  R = alpha*( op( A )'*op( T )'*op( T )*op( A ) -  op( T )'*op( T ))
-      + beta*R,                                                  (2)
-                                                          _
-  if DICO = 'D', where alpha and beta are scalars, R, and R are
-  symmetric matrices, T is a triangular matrix, A is a general or
-  Hessenberg matrix, and op( M ) is one of
-
-     op( M ) = M   or   op( M ) = M'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01WD( DICO, UPLO, TRANS, HESS, N, ALPHA, BETA, R,
-     $                   LDR, A, LDA, T, LDT, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HESS, TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDT, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), R(LDR,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the formula to be evaluated, as follows:
-          = 'C':  formula (1), "continuous-time" case;
-          = 'D':  formula (2), "discrete-time" case.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrix R and
-          triangular matrix T are given, as follows:
-          = 'U':  the upper triangular parts of R and T are given;
-          = 'L':  the lower triangular parts of R and T are given;
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( M ) to be used, as follows:
-          = 'N':  op( M ) = M;
-          = 'T':  op( M ) = M';
-          = 'C':  op( M ) = M'.
-
-  HESS    CHARACTER*1
-          Specifies the form of the matrix A, as follows:
-          = 'F':  matrix A is full;
-          = 'H':  matrix A is Hessenberg (or Schur), either upper
-                  (if UPLO = 'U'), or lower (if UPLO = 'L').
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, A, and T.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then the arrays A
-          and T are not referenced.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then the array R need
-          not be set before entry.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If HESS = 'H' the elements below the
-          first subdiagonal, if UPLO = 'U', or above the first
-          superdiagonal, if UPLO = 'L', need not be set to zero,
-          and are not referenced if DICO = 'D'.
-          On exit, the leading N-by-N part of this array contains
-          the following matrix product
-             alpha*T'*T*A, if TRANS = 'N', or
-             alpha*A*T*T', otherwise,
-          if DICO = 'C', or
-             T*A, if TRANS = 'N', or
-             A*T, otherwise,
-          if DICO = 'D' (and in this case, these products have a
-          Hessenberg form, if HESS = 'H').
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular matrix T and
-          the strictly lower triangular part need not be set to zero
-          (and it is not referenced).
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular matrix T and
-          the strictly upper triangular part need not be set to zero
-          (and it is not referenced).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression (1) or (2) is efficiently evaluated taking
-  the structure into account. BLAS 3 operations (DTRMM, DSYRK and
-  their specializations) are used throughout.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If A is a full matrix, the algorithm requires approximately
-   3
-  N  operations, if DICO = 'C';
-         3
-  7/6 x N  operations, if DICO = 'D'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01XD.html b/doc/_build/html/_static/doc/MB01XD.html
deleted file mode 100644
index cbbd339c..00000000
--- a/doc/_build/html/_static/doc/MB01XD.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01XD">MB01XD</A></H2>
-<H3>
-Computing U' U or L L', with U and L upper and lower triangular matrices (block algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product U' * U or L * L', where U and L are
-  upper and lower triangular matrices, respectively, stored in the
-  corresponding upper or lower triangular part of the array A.
-
-  If UPLO = 'U' then the upper triangle of the result is stored,
-  overwriting the matrix U in A.
-  If UPLO = 'L' then the lower triangle of the result is stored,
-  overwriting the matrix L in A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01XD( UPLO, N, A, LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle (U or L) is given in the array A,
-          as follows:
-          = 'U':  the upper triangular part U is given;
-          = 'L':  the lower triangular part L is given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the triangular matrices U or L.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular matrix U.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular matrix L.
-          On exit, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the product U' * U. The strictly lower
-          triangular part is not referenced.
-          On exit, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array contains the lower
-          triangular part of the product L * L'. The strictly upper
-          triangular part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product U' * U or L * L' is computed using BLAS 3
-  operations as much as possible (a block algorithm).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a counterpart of LAPACK Library routine DLAUUM,
-  which computes the matrix product U * U' or L' * L.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01XY.html b/doc/_build/html/_static/doc/MB01XY.html
deleted file mode 100644
index ce736900..00000000
--- a/doc/_build/html/_static/doc/MB01XY.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01XY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01XY">MB01XY</A></H2>
-<H3>
-Computing U' U or L L', with U and L upper and lower triangular matrices (unblock algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product U' * U or L * L', where U and L are
-  upper and lower triangular matrices, respectively, stored in the
-  corresponding upper or lower triangular part of the array A.
-
-  If UPLO = 'U' then the upper triangle of the result is stored,
-  overwriting the matrix U in A.
-  If UPLO = 'L' then the lower triangle of the result is stored,
-  overwriting the matrix L in A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01XY( UPLO, N, A, LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle (U or L) is given in the array A,
-          as follows:
-          = 'U':  the upper triangular part U is given;
-          = 'L':  the lower triangular part L is given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the triangular matrices U or L.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular matrix U.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular matrix L.
-          On exit, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the product U' * U. The strictly lower
-          triangular part is not referenced.
-          On exit, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array contains the lower
-          triangular part of the product L * L'. The strictly upper
-          triangular part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product U' * U or L * L' is computed using BLAS 2 and
-  BLAS 1 operations (an unblocked algorithm).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a counterpart of LAPACK Library routine DLAUU2,
-  which computes the matrix product U * U' or L' * L.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01YD.html b/doc/_build/html/_static/doc/MB01YD.html
deleted file mode 100644
index 82d1d351..00000000
--- a/doc/_build/html/_static/doc/MB01YD.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01YD">MB01YD</A></H2>
-<H3>
-Symmetric rank k operation C := alpha op( A ) op( A )' + beta C, C symmetric
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the symmetric rank k operations
-
-     C := alpha*op( A )*op( A )' + beta*C,
-
-  where alpha and beta are scalars, C is an n-by-n symmetric matrix,
-  op( A ) is an n-by-k matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The matrix A has l nonzero codiagonals, either upper or lower.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01YD( UPLO, TRANS, N, K, L, ALPHA, BETA, A, LDA, C,
-     $                   LDC, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS, UPLO
-      INTEGER            INFO, LDA, LDC, K, L, N
-      DOUBLE PRECISION   ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix C
-          is given and computed, as follows:
-          = 'U':  the upper triangular part is given/computed;
-          = 'L':  the lower triangular part is given/computed.
-          UPLO also defines the pattern of the matrix A (see below).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used, as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix C.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of columns of the matrix op( A ).  K &gt;= 0.
-
-  L       (input) INTEGER
-          If UPLO = 'U', matrix A has L nonzero subdiagonals.
-          If UPLO = 'L', matrix A has L nonzero superdiagonals.
-          MAX(0,NR-1) &gt;= L &gt;= 0, if UPLO = 'U',
-          MAX(0,NC-1) &gt;= L &gt;= 0, if UPLO = 'L',
-          where NR and NC are the numbers of rows and columns of the
-          matrix A, respectively.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then the array A is
-          not referenced.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then the array C need
-          not be set before entry.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,NC), where
-          NC is K when TRANS = 'N', and is N otherwise.
-          If TRANS = 'N', the leading N-by-K part of this array must
-          contain the matrix A, otherwise the leading K-by-N part of
-          this array must contain the matrix A.
-          If UPLO = 'U', only the upper triangular part and the
-          first L subdiagonals are referenced, and the remaining
-          subdiagonals are assumed to be zero.
-          If UPLO = 'L', only the lower triangular part and the
-          first L superdiagonals are referenced, and the remaining
-          superdiagonals are assumed to be zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,NR),
-          where NR = N, if TRANS = 'N', and NR = K, otherwise.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix C.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix C.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The calculations are efficiently performed taking the symmetry
-  and structure into account.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The matrix A may have the following patterns, when n = 7, k = 5,
-  and l = 2 are used for illustration:
-
-  UPLO = 'U', TRANS = 'N'         UPLO = 'L', TRANS = 'N'
-
-         [ x x x x x ]                   [ x x x 0 0 ]
-         [ x x x x x ]                   [ x x x x 0 ]
-         [ x x x x x ]                   [ x x x x x ]
-     A = [ 0 x x x x ],              A = [ x x x x x ],
-         [ 0 0 x x x ]                   [ x x x x x ]
-         [ 0 0 0 x x ]                   [ x x x x x ]
-         [ 0 0 0 0 x ]                   [ x x x x x ]
-
-  UPLO = 'U', TRANS = 'T'         UPLO = 'L', TRANS = 'T'
-
-         [ x x x x x x x ]               [ x x x 0 0 0 0 ]
-         [ x x x x x x x ]               [ x x x x 0 0 0 ]
-     A = [ x x x x x x x ],          A = [ x x x x x 0 0 ].
-         [ 0 x x x x x x ]               [ x x x x x x 0 ]
-         [ 0 0 x x x x x ]               [ x x x x x x x ]
-
-  If N = K, the matrix A is upper or lower triangular, for L = 0,
-  and upper or lower Hessenberg, for L = 1.
-
-  This routine is a specialization of the BLAS 3 routine DSYRK.
-  BLAS 1 calls are used when appropriate, instead of in-line code,
-  in order to increase the efficiency. If the matrix A is full, or
-  its zero triangle has small order, an optimized DSYRK code could
-  be faster than MB01YD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB01ZD.html b/doc/_build/html/_static/doc/MB01ZD.html
deleted file mode 100644
index 72bd0d55..00000000
--- a/doc/_build/html/_static/doc/MB01ZD.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01ZD">MB01ZD</A></H2>
-<H3>
-Computing H := alpha op( T ) H, or H := alpha H op( T ), with H Hessenberg-like, T triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product
-
-     H := alpha*op( T )*H,   or   H := alpha*H*op( T ),
-
-  where alpha is a scalar, H is an m-by-n upper or lower
-  Hessenberg-like matrix (with l nonzero subdiagonals or
-  superdiagonals, respectively), T is a unit, or non-unit,
-  upper or lower triangular matrix, and op( T ) is one of
-
-     op( T ) = T   or   op( T ) = T'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01ZD( SIDE, UPLO, TRANST, DIAG, M, N, L, ALPHA, T,
-     $                   LDT, H, LDH, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DIAG, SIDE, TRANST, UPLO
-      INTEGER            INFO, L, LDH, LDT, M, N
-      DOUBLE PRECISION   ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION   H( LDH, * ), T( LDT, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the triangular matrix T appears on the
-          left or right in the matrix product, as follows:
-          = 'L':  the product alpha*op( T )*H is computed;
-          = 'R':  the product alpha*H*op( T ) is computed.
-
-  UPLO    CHARACTER*1
-          Specifies the form of the matrices T and H, as follows:
-          = 'U':  the matrix T is upper triangular and the matrix H
-                  is upper Hessenberg-like;
-          = 'L':  the matrix T is lower triangular and the matrix H
-                  is lower Hessenberg-like.
-
-  TRANST  CHARACTER*1
-          Specifies the form of op( T ) to be used, as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-  DIAG    CHARACTER*1.
-          Specifies whether or not T is unit triangular, as follows:
-          = 'U':  the matrix T is assumed to be unit triangular;
-          = 'N':  the matrix T is not assumed to be unit triangular.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of H.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of H.  N &gt;= 0.
-
-  L       (input) INTEGER
-          If UPLO = 'U', matrix H has L nonzero subdiagonals.
-          If UPLO = 'L', matrix H has L nonzero superdiagonals.
-          MAX(0,M-1) &gt;= L &gt;= 0, if UPLO = 'U';
-          MAX(0,N-1) &gt;= L &gt;= 0, if UPLO = 'L'.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then T is not
-          referenced and H need not be set before entry.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,k), where
-          k is m when SIDE = 'L' and is n when SIDE = 'R'.
-          If UPLO = 'U', the leading k-by-k upper triangular part
-          of this array must contain the upper triangular matrix T
-          and the strictly lower triangular part is not referenced.
-          If UPLO = 'L', the leading k-by-k lower triangular part
-          of this array must contain the lower triangular matrix T
-          and the strictly upper triangular part is not referenced.
-          Note that when DIAG = 'U', the diagonal elements of T are
-          not referenced either, but are assumed to be unity.
-
-  LDT     INTEGER
-          The leading dimension of array T.
-          LDT &gt;= MAX(1,M), if SIDE = 'L';
-          LDT &gt;= MAX(1,N), if SIDE = 'R'.
-
-  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, if UPLO = 'U', the leading M-by-N upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg-like matrix H.
-          On entry, if UPLO = 'L', the leading M-by-N lower
-          Hessenberg part of this array must contain the lower
-          Hessenberg-like matrix H.
-          On exit, the leading M-by-N part of this array contains
-          the matrix product alpha*op( T )*H, if SIDE = 'L',
-          or alpha*H*op( T ), if SIDE = 'R'. If TRANST = 'N', this
-          product has the same pattern as the given matrix H;
-          the elements below the L-th subdiagonal (if UPLO = 'U'),
-          or above the L-th superdiagonal (if UPLO = 'L'), are not
-          referenced in this case. If TRANST = 'T', the elements
-          below the (N+L)-th row (if UPLO = 'U', SIDE = 'R', and
-          M &gt; N+L), or at the right of the (M+L)-th column
-          (if UPLO = 'L', SIDE = 'L', and N &gt; M+L), are not set to
-          zero nor referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The calculations are efficiently performed taking the problem
-  structure into account.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The matrix H may have the following patterns, when m = 7, n = 6,
-  and l = 2 are used for illustration:
-
-            UPLO = 'U'                    UPLO = 'L'
-
-         [ x x x x x x ]               [ x x x 0 0 0 ]
-         [ x x x x x x ]               [ x x x x 0 0 ]
-         [ x x x x x x ]               [ x x x x x 0 ]
-     H = [ 0 x x x x x ],          H = [ x x x x x x ].
-         [ 0 0 x x x x ]               [ x x x x x x ]
-         [ 0 0 0 x x x ]               [ x x x x x x ]
-         [ 0 0 0 0 x x ]               [ x x x x x x ]
-
-  The products T*H or H*T have the same pattern as H, but the
-  products T'*H or H*T' may be full matrices.
-
-  If m = n, the matrix H is upper or lower triangular, for l = 0,
-  and upper or lower Hessenberg, for l = 1.
-
-  This routine is a specialization of the BLAS 3 routine DTRMM.
-  BLAS 1 calls are used when appropriate, instead of in-line code,
-  in order to increase the efficiency. If the matrix H is full, or
-  its zero triangle has small order, an optimized DTRMM code could
-  be faster than MB01ZD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CD.html b/doc/_build/html/_static/doc/MB02CD.html
deleted file mode 100644
index e9a3202f..00000000
--- a/doc/_build/html/_static/doc/MB02CD.html
+++ /dev/null
@@ -1,337 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CD">MB02CD</A></H2>
-<H3>
-Cholesky factorization of a positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor and the generator and/or the
-  Cholesky factor of the inverse of a symmetric positive definite
-  (s.p.d.) block Toeplitz matrix T, defined by either its first
-  block row, or its first block column, depending on the routine
-  parameter TYPET. Transformation information is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
-     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, TYPET
-      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
-     $                  T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine, as follows:
-          = 'G':  only computes the generator G of the inverse;
-          = 'R':  computes the generator G of the inverse and the
-                  Cholesky factor R of T, i.e., if TYPET = 'R',
-                  then R'*R = T, and if TYPET = 'C', then R*R' = T;
-          = 'L':  computes the generator G and the Cholesky factor L
-                  of the inverse, i.e., if TYPET = 'R', then
-                  L'*L = inv(T), and if TYPET = 'C', then
-                  L*L' = inv(T);
-          = 'A':  computes the generator G, the Cholesky factor L
-                  of the inverse and the Cholesky factor R of T;
-          = 'O':  only computes the Cholesky factor R of T.
-
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix; if demanded, the Cholesky factors
-                  R and L are upper and lower triangular,
-                  respectively, and G contains the transposed
-                  generator of the inverse;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix; if demanded, the Cholesky
-                  factors R and L are lower and upper triangular,
-                  respectively, and G contains the generator of the
-                  inverse. This choice results in a column oriented
-                  algorithm which is usually faster.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,N*K) / (LDT,K)
-          On entry, the leading K-by-N*K / N*K-by-K part of this
-          array must contain the first block row / column of an
-          s.p.d. block Toeplitz matrix.
-          On exit, if INFO = 0, then the leading K-by-N*K / N*K-by-K
-          part of this array contains, in the first K-by-K block,
-          the upper / lower Cholesky factor of T(1:K,1:K), and in
-          the remaining part, the Householder transformations
-          applied during the process.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),    if TYPET = 'R';
-          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
-
-  G       (output)  DOUBLE PRECISION array, dimension
-          (LDG,N*K) / (LDG,2*K)
-          If INFO = 0 and JOB = 'G', 'R', 'L', or 'A', the leading
-          2*K-by-N*K / N*K-by-2*K part of this array contains, in
-          the first K-by-K block of the second block row / column,
-          the lower right block of L (necessary for updating
-          factorizations in SLICOT Library routine MB02DD), and
-          in the remaining part, the generator of the inverse of T.
-          Actually, to obtain a generator one has to set
-              G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
-              G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
-
-  LDG     INTEGER
-          The leading dimension of the array G.
-          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and
-                                 JOB = 'G', 'R', 'L', or 'A';
-          LDG &gt;= MAX(1,N*K),  if TYPET = 'C' and
-                                 JOB = 'G', 'R', 'L', or 'A';
-          LDG &gt;= 1,           if JOB = 'O'.
-
-  R       (output)  DOUBLE PRECISION array, dimension (LDR,N*K)
-          If INFO = 0 and JOB = 'R', 'A', or 'O', then the leading
-          N*K-by-N*K part of this array contains the upper / lower
-          Cholesky factor of T.
-          The elements in the strictly lower / upper triangular part
-          are not referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,N*K),  if JOB = 'R', 'A', or 'O';
-          LDR &gt;= 1,           if JOB = 'G', or 'L'.
-
-  L       (output)  DOUBLE PRECISION array, dimension (LDL,N*K)
-          If INFO = 0 and JOB = 'L', or 'A', then the leading
-          N*K-by-N*K part of this array contains the lower / upper
-          Cholesky factor of the inverse of T.
-          The elements in the strictly upper / lower triangular part
-          are not referenced.
-
-  LDL     INTEGER
-          The leading dimension of the array L.
-          LDL &gt;= MAX(1,N*K),  if JOB = 'L', or 'A';
-          LDL &gt;= 1,           if JOB = 'G', 'R', or 'O'.
-
-  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
-          If INFO = 0, then the leading 3*(N-1)*K part of this
-          array contains information about the hyperbolic rotations
-          and Householder transformations applied during the
-          process. This information is needed for updating the
-          factorizations in SLICOT Library routine MB02DD.
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 3*(N-1)*K.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N-1)*K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                            3 2
-  The algorithm requires 0(K N ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, NMAX
-      PARAMETER        ( KMAX = 20, NMAX = 20 )
-      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
-      PARAMETER        ( LDG = 2*KMAX, LDL = NMAX*KMAX, LDR = NMAX*KMAX,
-     $                   LDT = KMAX, LDWORK = ( NMAX - 1 )*KMAX )
-      PARAMETER        ( LCS = 3*LDWORK )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N
-      CHARACTER        JOB, TYPET
-*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
-      DOUBLE PRECISION CS(LCS), DWORK(LDWORK), G(LDG, NMAX*KMAX),
-     $                 L(LDL, NMAX*KMAX), R(LDR, NMAX*KMAX),
-     $                 T(LDT, NMAX*KMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLASET, MB02CD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, JOB
-      TYPET = 'R'
-      M = N*K
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) K
-         ELSE
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-*           Compute the Cholesky factor(s) and/or the generator.
-            CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
-     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF ( LSAME( JOB, 'G' ) .OR. LSAME( JOB, 'A' ) .OR.
-     $              LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'R' ) ) THEN
-                  WRITE ( NOUT, FMT = 99997 )
-                  CALL DLASET( 'Full', K, K, ZERO, ZERO, G(K+1,1), LDG )
-                  DO 10  I = 1, 2*K
-                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1, M )
-   10             CONTINUE
-               END IF
-               IF ( LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'A' ) ) THEN
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20  I = 1, M
-                     WRITE ( NOUT, FMT = 99994 ) ( L(I,J), J = 1, M )
-   20             CONTINUE
-               END IF
-               IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' )
-     $                                .OR. LSAME( JOB, 'O' ) ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 30  I = 1, M
-                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
-   30             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02CD = ',I2)
-99997 FORMAT (' The generator of the inverse of block Toeplitz matrix',
-     $        ' is ')
-99996 FORMAT (/' The lower Cholesky factor of the inverse is ')
-99995 FORMAT (/' The upper Cholesky factor of block Toeplitz matrix is '
-     $       )
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02CD EXAMPLE PROGRAM DATA
-  3    2     A
-  3.0000    1.0000    0.1000    0.1000    0.2000    0.0500
-  1.0000    4.0000    0.4000    0.1000    0.0400    0.2000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02CD EXAMPLE PROGRAM RESULTS
-
- The generator of the inverse of block Toeplitz matrix is 
-  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
-  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
-   0.0000   0.0000  -0.0387   0.0052   0.0003  -0.0575
-   0.0000   0.0000   0.0119  -0.0265  -0.0110   0.0076
-
- The lower Cholesky factor of the inverse is 
-   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
-  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
-  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
-   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
-
- The upper Cholesky factor of block Toeplitz matrix is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
-   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CU.html b/doc/_build/html/_static/doc/MB02CU.html
deleted file mode 100644
index 5ff2d3f4..00000000
--- a/doc/_build/html/_static/doc/MB02CU.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CU">MB02CU</A></H2>
-<H3>
-Bringing the first blocks of a generator in proper form (extended version of MB02CX)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To bring the first blocks of a generator to proper form.
-  The positive part of the generator is contained in the arrays A1
-  and A2. The negative part of the generator is contained in B.
-  Transformation information will be stored and can be applied
-  via SLICOT Library routine MB02CV.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CU( TYPEG, K, P, Q, NB, A1, LDA1, A2, LDA2, B, LDB,
-     $                   RNK, IPVT, CS, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TYPEG
-      INTEGER            INFO, K, LDA1, LDA2, LDB, LDWORK, NB, P, Q, RNK
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IPVT(*)
-      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
-     $                   DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPEG   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'D':  generator is column oriented and rank
-                  deficiencies are expected;
-          = 'C':  generator is column oriented and rank
-                  deficiencies are not expected;
-          = 'R':  generator is row oriented and rank
-                  deficiencies are not expected.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in A1 to be processed.  K &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of columns of the positive generator.  P &gt;= K.
-
-  Q       (input)  INTEGER
-          The number of columns in B containing the negative
-          generators.
-          If TYPEG = 'D',        Q &gt;= K;
-          If TYPEG = 'C' or 'R', Q &gt;= 0.
-
-  NB      (input)  INTEGER
-          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
-          the block size to be used in the blocked parts of the
-          algorithm. If NB &lt;= 0, an unblocked algorithm is used.
-
-  A1      (input/output)  DOUBLE PRECISION array, dimension
-          (LDA1, K)
-          On entry, the leading K-by-K part of this array must
-          contain the leading submatrix of the positive part of the
-          generator. If TYPEG = 'C', A1 is assumed to be lower
-          triangular and the strictly upper triangular part is not
-          referenced. If TYPEG = 'R', A1 is assumed to be upper
-          triangular and the strictly lower triangular part is not
-          referenced.
-          On exit, if TYPEG = 'D', the leading K-by-RNK part of this
-          array contains the lower trapezoidal part of the proper
-          generator and information for the Householder
-          transformations applied during the reduction process.
-          On exit, if TYPEG = 'C', the leading K-by-K part of this
-          array contains the leading lower triangular part of the
-          proper generator.
-          On exit, if TYPEG = 'R', the leading K-by-K part of this
-          array contains the leading upper triangular part of the
-          proper generator.
-
-  LDA1    INTEGER
-          The leading dimension of the array A1.  LDA1 &gt;= MAX(1,K).
-
-  A2      (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
-          if TYPEG = 'R',                   dimension (LDA2, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-(P-K) part of this array must contain the (K+1)-st
-          to P-th columns of the positive part of the generator.
-          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
-          this array must contain the (K+1)-st to P-th rows of the
-          positive part of the generator.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-(P-K) part of this array contains information for
-          Householder transformations.
-          On exit, if TYPEG = 'R', the leading (P-K)-by-K part of
-          this array contains information for Householder
-          transformations.
-
-  LDA2    INTEGER
-          The leading dimension of the array A2.
-          If P = K,                   LDA2 &gt;= 1;
-          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
-                                      LDA2 &gt;= MAX(1,K);
-          if P &gt; K and TYPEG = 'R',   LDA2 &gt;= P-K.
-
-  B       (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
-          if TYPEG = 'R',                   dimension (LDB, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-Q part of this array must contain the negative part
-          of the generator.
-          On entry, if TYPEG = 'R', the leading Q-by-K part of this
-          array must contain the negative part of the generator.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-Q part of this array contains information for
-          Householder transformations.
-          On exit, if TYPEG = 'R', the leading Q-by-K part of this
-          array contains information for Householder transformations.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If Q = 0,                  LDB &gt;= 1;
-          if Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDB &gt;= MAX(1,K);
-          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
-
-  RNK     (output)  INTEGER
-          If TYPEG = 'D', the number of columns in the reduced
-          generator which are found to be linearly independent.
-          If TYPEG = 'C' or TYPEG = 'R', then RNK is not set.
-
-  IPVT    (output)  INTEGER array, dimension (K)
-          If TYPEG = 'D', then if IPVT(i) = k, the k-th row of the
-          proper generator is the reduced i-th row of the input
-          generator.
-          If TYPEG = 'C' or TYPEG = 'R', this array is not
-          referenced.
-
-  CS      (output)  DOUBLE PRECISION array, dimension (x)
-          If TYPEG = 'D' and P = K,                   x = 3*K;
-          if TYPEG = 'D' and P &gt; K,                   x = 5*K;
-          if (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
-          if (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
-          On exit, the first x elements of this array contain
-          necessary information for the SLICOT library routine
-          MB02CV (Givens and modified hyperbolic rotation
-          parameters, scalar factors of the Householder
-          transformations).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If TYPEG = 'D', this number specifies the used tolerance
-          for handling deficiencies. If the hyperbolic norm
-          of two diagonal elements in the positive and negative
-          generators appears to be less than or equal to TOL, then
-          the corresponding columns are not reduced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -17,  DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,4*K),         if TYPEG = 'D';
-          LDWORK &gt;= MAX(1,MAX(NB,1)*K), if TYPEG = 'C' or 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if TYPEG = 'D', the generator represents a
-                (numerically) indefinite matrix; and if TYPEG = 'C'
-                or TYPEG = 'R', the generator represents a
-                (numerically) semidefinite matrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If TYPEG = 'C' or TYPEG = 'R', blocked Householder transformations
-  and modified hyperbolic rotations are used to downdate the
-  matrix [ A1  A2  sqrt(-1)*B ], cf. [1], [2].
-  If TYPEG = 'D', then an algorithm with row pivoting is used. In
-  the first stage it maximizes the hyperbolic norm of the active
-  row. As soon as the hyperbolic norm is below the threshold TOL,
-  the strategy is changed. Now, in the second stage, the algorithm
-  applies an LQ decomposition with row pivoting on B such that
-  the Euclidean norm of the active row is maximized.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(K *( P + Q )) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CV.html b/doc/_build/html/_static/doc/MB02CV.html
deleted file mode 100644
index bb994065..00000000
--- a/doc/_build/html/_static/doc/MB02CV.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CV">MB02CV</A></H2>
-<H3>
-Applying the MB02CU transformations on other columns / rows of the generator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the transformations created by the SLICOT Library routine
-  MB02CU on other columns / rows of the generator, contained in the
-  arrays F1, F2 and G.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CV( TYPEG, STRUCG, K, N, P, Q, NB, RNK, A1, LDA1,
-     $                   A2, LDA2, B, LDB, F1, LDF1, F2, LDF2, G, LDG,
-     $                   CS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          STRUCG, TYPEG
-      INTEGER            INFO, K, LDA1, LDA2, LDB, LDF1, LDF2, LDG,
-     $                   LDWORK, N, NB, P, Q, RNK
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
-     $                   DWORK(*), F1(LDF1,*), F2(LDF2,*), G(LDG,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPEG   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'D':  generator is column oriented and rank
-                  deficient;
-          = 'C':  generator is column oriented and not rank
-                  deficient;
-          = 'R':  generator is row oriented and not rank
-                  deficient.
-          Note that this parameter must be equivalent with the
-          used TYPEG in the call of MB02CU.
-
-  STRUCG  CHARACTER*1
-          Information about the structure of the generators,
-          as follows:
-          = 'T':  the trailing block of the positive generator
-                  is upper / lower triangular, and the trailing
-                  block of the negative generator is zero;
-          = 'N':  no special structure to mention.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in A1 to be processed.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          If TYPEG = 'D'  or  TYPEG = 'C', the number of rows in F1;
-          if TYPEG = 'R', the number of columns in F1.  N &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of columns of the positive generator.  P &gt;= K.
-
-  Q       (input)  INTEGER
-          The number of columns in B.
-          If TYPEG = 'D',        Q &gt;= K;
-          If TYPEG = 'C' or 'R', Q &gt;= 0.
-
-  NB      (input)  INTEGER
-          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
-          the block size to be used in the blocked parts of the
-          algorithm. NB must be equivalent with the used block size
-          in the routine MB02CU.
-
-  RNK     (input)  INTEGER
-          If TYPEG = 'D', the number of linearly independent columns
-          in the generator as returned by MB02CU.  0 &lt;= RNK &lt;= K.
-          If TYPEG = 'C' or 'R', the value of this parameter is
-          irrelevant.
-
-  A1      (input)  DOUBLE PRECISION array, dimension
-          (LDA1, K)
-          On entry, if TYPEG = 'D', the leading K-by-K part of this
-          array must contain the matrix A1 as returned by MB02CU.
-          If TYPEG = 'C' or 'R', this array is not referenced.
-
-  LDA1    INTEGER
-          The leading dimension of the array A1.
-          If TYPEG = 'D',                   LDA1 &gt;= MAX(1,K);
-          if TYPEG = 'C'  or  TYPEG = 'R',  LDA1 &gt;= 1.
-
-  A2      (input)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
-          if TYPEG = 'R',                   dimension (LDA2, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-(P-K) part of this array must contain the matrix
-          A2 as returned by MB02CU.
-          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
-          this array must contain the matrix A2 as returned by
-          MB02CU.
-
-  LDA2    INTEGER
-          The leading dimension of the array A2.
-          If P = K,                  LDA2 &gt;= 1;
-          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDA2 &gt;= MAX(1,K);
-          if P &gt; K and TYPEG = 'R',  LDA2 &gt;= P-K.
-
-  B       (input)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
-          if TYPEG = 'R',                   dimension (LDB, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-Q part of this array must contain the matrix B as
-          returned by MB02CU.
-          On entry, if TYPEG = 'R', the leading Q-by-K part of this
-          array must contain the matrix B as returned by MB02CU.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If Q = 0,                  LDB &gt;= 1;
-          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDB &gt;= MAX(1,K);
-          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
-
-  F1      (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF1, K);
-          if TYPEG = 'R',                   dimension (LDF1, N).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-K part of this array must contain the first part
-          of the positive generator to be processed.
-          On entry, if TYPEG = 'R', the leading K-by-N part of this
-          array must contain the first part of the positive
-          generator to be processed.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-K part of this array contains the first part of the
-          transformed positive generator.
-          On exit, if TYPEG = 'R', the leading K-by-N part of this
-          array contains the first part of the transformed positive
-          generator.
-
-  LDF1    INTEGER
-          The leading dimension of the array F1.
-          If TYPEG = 'D'  or  TYPEG = 'C',   LDF1 &gt;= MAX(1,N);
-          if TYPEG = 'R',                    LDF1 &gt;= MAX(1,K).
-
-  F2      (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF2, P-K);
-          if TYPEG = 'R',                   dimension (LDF2, N).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-(P-K) part of this array must contain the second part
-          of the positive generator to be processed.
-          On entry, if TYPEG = 'R', the leading (P-K)-by-N part of
-          this array must contain the second part of the positive
-          generator to be processed.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-(P-K) part of this array contains the second part of
-          the transformed positive generator.
-          On exit, if TYPEG = 'R', the leading (P-K)-by-N part of
-          this array contains the second part of the transformed
-          positive generator.
-
-  LDF2    INTEGER
-          The leading dimension of the array F2.
-          If P = K,                  LDF2 &gt;= 1;
-          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDF2 &gt;= MAX(1,N);
-          if P &gt; K and TYPEG = 'R',  LDF2 &gt;= P-K.
-
-  G       (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDG, Q);
-          if TYPEG = 'R',                   dimension (LDG, N).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-Q part of this array must contain the negative part
-          of the generator to be processed.
-          On entry, if TYPEG = 'R', the leading Q-by-N part of this
-          array must contain the negative part of the generator to
-          be processed.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-Q part of this array contains the transformed
-          negative generator.
-          On exit, if TYPEG = 'R', the leading Q-by-N part of this
-          array contains the transformed negative generator.
-
-  LDG     INTEGER
-          The leading dimension of the array G.
-          If Q = 0,                  LDG &gt;= 1;
-          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDG &gt;= MAX(1,N);
-          if Q &gt; 0 and TYPEG = 'R',  LDG &gt;= Q.
-
-  CS      (input)  DOUBLE PRECISION array, dimension (x)
-          If TYPEG = 'D' and P = K,                   x = 3*K;
-          If TYPEG = 'D' and P &gt; K,                   x = 5*K;
-          If (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
-          If (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
-          On entry, the first x elements of this array must contain
-          Givens and modified hyperbolic rotation parameters, and
-          scalar factors of the Householder transformations as
-          returned by MB02CU.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -23,  DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          TYPEG = 'D':               LDWORK &gt;= MAX(1,N);
-          (TYPEG = 'C' or TYPEG = 'R')  and  NB &lt;= 0:
-                                     LDWORK &gt;= MAX(1,N);
-          (TYPEG = 'C' or TYPEG = 'R')  and  NB &gt;= 1:
-                                     LDWORK &gt;= MAX(1,( N + K )*NB).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N*K*( P + Q )) floating point operations.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder transformations and modified hyperbolic rotations
-  computed by SLICOT Library routine MB02CU are applied to the
-  corresponding parts of the matrices F1, F2 and G.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CX.html b/doc/_build/html/_static/doc/MB02CX.html
deleted file mode 100644
index c413f111..00000000
--- a/doc/_build/html/_static/doc/MB02CX.html
+++ /dev/null
@@ -1,173 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CX">MB02CX</A></H2>
-<H3>
-Bringing the first blocks of a generator in proper form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To bring the first blocks of a generator in proper form.
-  The columns / rows of the positive and negative generators
-  are contained in the arrays A and B, respectively.
-  Transformation information will be stored and can be applied
-  via SLICOT Library routine MB02CY.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CX( TYPET, P, Q, K, A, LDA, B, LDB, CS, LCS,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPET
-      INTEGER           INFO, K, LDA, LDB, LCS, LDWORK, P, Q
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'R':  A and B are the first blocks of the rows of the
-                  positive and negative generators;
-          = 'C':  A and B are the first blocks of the columns of the
-                  positive and negative generators.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input)  INTEGER
-          The number of rows / columns in A containing the positive
-          generators.  P &gt;= 0.
-
-  Q       (input)  INTEGER
-          The number of rows / columns in B containing the negative
-          generators.  Q &gt;= 0.
-
-  K       (input)  INTEGER
-          The number of columns / rows in A and B to be processed.
-          Normally, the size of the first block.  P &gt;= K &gt;= 0.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-          (LDA, K) / (LDA, P)
-          On entry, the leading P-by-K upper / K-by-P lower
-          triangular part of this array must contain the rows /
-          columns of the positive part in the first block of the
-          generator.
-          On exit, the leading P-by-K upper / K-by-P lower
-          triangular part of this array contains the rows / columns
-          of the positive part in the first block of the proper
-          generator.
-          The lower / upper trapezoidal part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,P),    if TYPET = 'R';
-          LDA &gt;= MAX(1,K),    if TYPET = 'C'.
-
-  B       (input/output)  DOUBLE PRECISION array, dimension
-          (LDB, K) / (LDB, Q)
-          On entry, the leading Q-by-K / K-by-Q part of this array
-          must contain the rows / columns of the negative part in
-          the first block of the generator.
-          On exit, the leading Q-by-K / K-by-Q part of this array
-          contains part of the necessary information for the
-          Householder transformations.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
-          LDB &gt;= MAX(1,K),    if TYPET = 'C'.
-
-  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
-          On exit, the leading 2*K + MIN(K,Q) part of this array
-          contains necessary information for the SLICOT Library
-          routine MB02CY (modified hyperbolic rotation parameters
-          and scalar factors of the Householder transformations).
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  succesful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The matrix
-                associated with the generator is not (numerically)
-                positive definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If  TYPET = 'R',  a QR decomposition of B is first computed.
-  Then, the elements below the first row of each column i of B
-  are annihilated by a Householder transformation modifying the
-  first element in that column. This first element, in turn, is
-  then annihilated by a modified hyperbolic rotation, acting also
-  on the i-th row of A.
-
-  If  TYPET = 'C',  an LQ decomposition of B is first computed.
-  Then, the elements on the right of the first column of each row i
-  of B are annihilated by a Householder transformation modifying the
-  first element in that row. This first element, in turn, is
-  then annihilated by a modified hyperbolic rotation, acting also
-  on the i-th column of A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02CY.html b/doc/_build/html/_static/doc/MB02CY.html
deleted file mode 100644
index 72bd1e06..00000000
--- a/doc/_build/html/_static/doc/MB02CY.html
+++ /dev/null
@@ -1,173 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CY">MB02CY</A></H2>
-<H3>
-Applying the MB02CX transformations on other columns / rows of the generator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the transformations created by the SLICOT Library
-  routine MB02CX on other columns / rows of the generator,
-  contained in the arrays A and B of positive and negative
-  generators, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CY( TYPET, STRUCG, P, Q, N, K, A, LDA, B, LDB, H,
-     $                   LDH, CS, LCS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K, LDA, LDB, LCS, LDH, LDWORK, N, P, Q
-      CHARACTER         STRUCG, TYPET
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'R':  A and B are additional columns of the generator;
-          = 'C':  A and B are additional rows of the generator.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-  STRUCG  CHARACTER*1
-          Information about the structure of the two generators,
-          as follows:
-          = 'T':  the trailing block of the positive generator
-                  is lower / upper triangular, and the trailing
-                  block of the negative generator is zero;
-          = 'N':  no special structure to mention.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input)  INTEGER
-          The number of rows / columns in A containing the positive
-          generators.  P &gt;= 0.
-
-  Q       (input)  INTEGER
-          The number of rows / columns in B containing the negative
-          generators.  Q &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of columns / rows in A and B to be processed.
-          N &gt;= 0.
-
-  K       (input)  INTEGER
-          The number of columns / rows in H.  P &gt;= K &gt;= 0.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-          (LDA, N) / (LDA, P)
-          On entry, the leading P-by-N / N-by-P part of this array
-          must contain the positive part of the generator.
-          On exit, the leading P-by-N / N-by-P part of this array
-          contains the transformed positive part of the generator.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,P),    if TYPET = 'R';
-          LDA &gt;= MAX(1,N),    if TYPET = 'C'.
-
-  B       (input/output)  DOUBLE PRECISION array, dimension
-          (LDB, N) / (LDB, Q)
-          On entry, the leading Q-by-N / N-by-Q part of this array
-          must contain the negative part of the generator.
-          On exit, the leading Q-by-N / N-by-Q part of this array
-          contains the transformed negative part of the generator.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
-          LDB &gt;= MAX(1,N),    if TYPET = 'C'.
-
-  H       (input)  DOUBLE PRECISION array, dimension
-          (LDH, K) / (LDH, Q)
-          The leading Q-by-K / K-by-Q part of this array must
-          contain part of the necessary information for the
-          Householder transformations computed by SLICOT Library
-          routine MB02CX.
-
-  LDH     INTEGER
-          The leading dimension of the array H.
-          LDH &gt;= MAX(1,Q),    if TYPET = 'R';
-          LDH &gt;= MAX(1,K),    if TYPET = 'C'.
-
-  CS      (input)  DOUBLE PRECISION array, dimension (LCS)
-          The leading 2*K + MIN(K,Q) part of this array must
-          contain the necessary information for modified hyperbolic
-          rotations and the scalar factors of the Householder
-          transformations computed by SLICOT Library routine MB02CX.
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  succesful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder transformations and modified hyperbolic rotations
-  computed by SLICOT Library routine MB02CX are applied to the
-  corresponding parts of the matrices A and B.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02DD.html b/doc/_build/html/_static/doc/MB02DD.html
deleted file mode 100644
index 51646be9..00000000
--- a/doc/_build/html/_static/doc/MB02DD.html
+++ /dev/null
@@ -1,477 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02DD">MB02DD</A></H2>
-<H3>
-Updating Cholesky factorization of a positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To update the Cholesky factor and the generator and/or the
-  Cholesky factor of the inverse of a symmetric positive definite
-  (s.p.d.) block Toeplitz matrix T, given the information from
-  a previous factorization and additional blocks in TA of its first
-  block row, or its first block column, depending on the routine
-  parameter TYPET. Transformation information is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02DD( JOB, TYPET, K, M, N, TA, LDTA, T, LDT, G,
-     $                   LDG, R, LDR, L, LDL, CS, LCS, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, TYPET
-      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDTA, LDWORK,
-     $                  M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
-     $                  T(LDT,*), TA(LDTA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine, as follows:
-          = 'R':  updates the generator G of the inverse and
-                  computes the new columns / rows for the Cholesky
-                  factor R of T;
-          = 'A':  updates the generator G, computes the new
-                  columns / rows for the Cholesky factor R of T and
-                  the new rows / columns for the Cholesky factor L
-                  of the inverse;
-          = 'O':  only computes the new columns / rows for the
-                  Cholesky factor R of T.
-
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  the first block row of an s.p.d. block Toeplitz
-                  matrix was/is defined; if demanded, the Cholesky
-                  factors R and L are upper and lower triangular,
-                  respectively, and G contains the transposed
-                  generator of the inverse;
-          = 'C':  the first block column of an s.p.d. block Toeplitz
-                  matrix was/is defined; if demanded, the Cholesky
-                  factors R and L are lower and upper triangular,
-                  respectively, and G contains the generator of the
-                  inverse. This choice results in a column oriented
-                  algorithm which is usually faster.
-          Note:   in this routine, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  M       (input)  INTEGER
-          The number of blocks in TA.  M &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  TA      (input/output)  DOUBLE PRECISION array, dimension
-          (LDTA,M*K) / (LDTA,K)
-          On entry, the leading K-by-M*K / M*K-by-K part of this
-          array must contain the (N+1)-th to (N+M)-th blocks in the
-          first block row / column of an s.p.d. block Toeplitz
-          matrix.
-          On exit, if INFO = 0, the leading K-by-M*K / M*K-by-K part
-          of this array contains information on the Householder
-          transformations used, such that the array
-
-                     [ T  TA ]    /    [ T  ]
-                                       [ TA ]
-
-          serves as the new transformation matrix T for further
-          applications of this routine.
-
-  LDTA    INTEGER
-          The leading dimension of the array TA.
-          LDTA &gt;= MAX(1,K),   if TYPET = 'R';
-          LDTA &gt;= MAX(1,M*K), if TYPET = 'C'.
-
-  T       (input)  DOUBLE PRECISION array, dimension (LDT,N*K) /
-          (LDT,K)
-          The leading K-by-N*K / N*K-by-K part of this array must
-          contain transformation information generated by the SLICOT
-          Library routine MB02CD, i.e., in the first K-by-K block,
-          the upper / lower Cholesky factor of T(1:K,1:K), and in
-          the remaining part, the Householder transformations
-          applied during the initial factorization process.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),    if TYPET = 'R';
-          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
-
-  G       (input/output)  DOUBLE PRECISION array, dimension
-          (LDG,( N + M )*K) / (LDG,2*K)
-          On entry, if JOB = 'R', or 'A', then the leading
-          2*K-by-N*K / N*K-by-2*K part of this array must contain,
-          in the first K-by-K block of the second block row /
-          column, the lower right block of the Cholesky factor of
-          the inverse of T, and in the remaining part, the generator
-          of the inverse of T.
-          On exit, if INFO = 0 and JOB = 'R', or 'A', then the
-          leading 2*K-by-( N + M )*K / ( N + M )*K-by-2*K part of
-          this array contains the same information as on entry, now
-          for the updated Toeplitz matrix. Actually, to obtain a
-          generator of the inverse one has to set
-            G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
-            G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
-
-  LDG     INTEGER
-          The leading dimension of the array G.
-          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and JOB = 'R', or 'A';
-          LDG &gt;= MAX(1,( N + M )*K),
-                              if TYPET = 'C' and JOB = 'R', or 'A';
-          LDG &gt;= 1,           if JOB = 'O'.
-
-  R       (input/output)  DOUBLE PRECISION array, dimension
-          (LDR,M*K) / (LDR,( N + M )*K)
-          On input, the leading N*K-by-K part of R(K+1,1) /
-          K-by-N*K part of R(1,K+1) contains the last block column /
-          row of the previous Cholesky factor R.
-          On exit, if INFO = 0, then the leading
-          ( N + M )*K-by-M*K / M*K-by-( N + M )*K part of this
-          array contains the last M*K columns / rows of the upper /
-          lower Cholesky factor of T. The elements in the strictly
-          lower / upper triangular part are not referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1, ( N + M )*K), if TYPET = 'R';
-          LDR &gt;= MAX(1, M*K),         if TYPET = 'C'.
-
-  L       (output)  DOUBLE PRECISION array, dimension
-          (LDL,( N + M )*K) / (LDL,M*K)
-          If INFO = 0 and JOB = 'A', then the leading
-          M*K-by-( N + M )*K / ( N + M )*K-by-M*K part of this
-          array contains the last M*K rows / columns of the lower /
-          upper Cholesky factor of the inverse of T. The elements
-          in the strictly upper / lower triangular part are not
-          referenced.
-
-  LDL     INTEGER
-          The leading dimension of the array L.
-          LDL &gt;= MAX(1, M*K),         if TYPET = 'R' and JOB = 'A';
-          LDL &gt;= MAX(1, ( N + M )*K), if TYPET = 'C' and JOB = 'A';
-          LDL &gt;= 1,                   if JOB = 'R', or 'O'.
-
-  CS      (input/output)  DOUBLE PRECISION array, dimension (LCS)
-          On input, the leading 3*(N-1)*K part of this array must
-          contain the necessary information about the hyperbolic
-          rotations and Householder transformations applied
-          previously by SLICOT Library routine MB02CD.
-          On exit, if INFO = 0, then the leading 3*(N+M-1)*K part of
-          this array contains information about all the hyperbolic
-          rotations and Householder transformations applied during
-          the whole process.
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 3*(N+M-1)*K.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N+M-1)*K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The block Toeplitz
-                matrix associated with [ T  TA ] / [ T'  TA' ]' is
-                not (numerically) positive definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                            3         2
-  The algorithm requires 0(K ( N M + M ) ) floating point
-  operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For min(K,N,M) = 0, the routine sets DWORK(1) = 1 and returns.
-  Although the calculations could still be performed when N = 0,
-  but min(K,M) &gt; 0, this case is not considered as an "update".
-  SLICOT Library routine MB02CD should be called with the argument
-  M instead of N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, MMAX, NMAX
-      PARAMETER        ( KMAX = 20, MMAX = 20, NMAX = 20 )
-      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
-      PARAMETER        ( LDG = KMAX*( MMAX + NMAX ),
-     $                   LDL = KMAX*( MMAX + NMAX ),
-     $                   LDR = KMAX*( MMAX + NMAX ),
-     $                   LDT = KMAX*( MMAX + NMAX ),
-     $                   LDWORK = ( MMAX + NMAX - 1 )*KMAX )
-      PARAMETER        ( LCS = 3*LDWORK )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N, S
-      CHARACTER        JOB, TYPET
-*     .. Local Arrays ..
-*     The arrays are dimensioned for both TYPET = 'R' and TYPET = 'C'.
-*     Arrays G and T could be smaller.
-*     For array G, it is assumed that MMAX + NMAX >= 2.
-*     The matrix TA is also stored in the array T.
-      DOUBLE PRECISION CS(LCS), DWORK(LDWORK),
-     $                 G(LDG, KMAX*( MMAX + NMAX )),
-     $                 L(LDL, KMAX*( MMAX + NMAX )),
-     $                 R(LDR, KMAX*( MMAX + NMAX )),
-     $                 T(LDT, KMAX*( MMAX + NMAX ))
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLACPY, MB02CD, MB02DD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, M, JOB, TYPET
-      S = ( N + M )*K
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) N
-      ELSE
-         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) K
-         ELSE
-            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               IF ( LSAME( TYPET, 'R' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,S ), I = 1,K )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,S )
-               END IF
-*              Compute the Cholesky factors.
-               CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
-     $                      LDL, CS, LCS, DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 10  I = 1, N*K
-                     WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, N*K )
-   10             CONTINUE
-                  IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) ) THEN
-                     WRITE ( NOUT, FMT = 99995 )
-                     IF ( LSAME( TYPET, 'R' ) ) THEN
-                        DO 20  I = 1, 2*K
-                           WRITE ( NOUT, FMT = 99990 )
-     $                           ( G(I,J), J = 1, N*K )
-   20                   CONTINUE
-                     ELSE
-                        DO 30  I = 1, N*K
-                           WRITE ( NOUT, FMT = 99990 )
-     $                           ( G(I,J), J = 1, 2*K )
-   30                   CONTINUE
-                     END IF
-                  END IF
-                  IF ( LSAME( JOB, 'A' ) ) THEN
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 40  I = 1, N*K
-                        WRITE ( NOUT, FMT = 99990 )
-     $                        ( L(I,J), J = 1, N*K )
-   40                CONTINUE
-                  END IF
-*                 Update the Cholesky factors.
-                  IF ( LSAME( TYPET, 'R' ) ) THEN
-*                    Copy the last block column of R.
-                     CALL DLACPY( 'All', N*K, K, R(1,(N-1)*K+1), LDR,
-     $                            R(K+1,N*K+1), LDR )
-                     CALL MB02DD( JOB, TYPET, K, M, N, T(1,N*K+1), LDT,
-     $                            T, LDT, G, LDG, R(1,N*K+1), LDR,
-     $                            L(N*K+1,1), LDL, CS, LCS, DWORK,
-     $                            LDWORK, INFO )
-                  ELSE
-*                    Copy the last block row of R.
-                     CALL DLACPY( 'All', K, N*K, R((N-1)*K+1,1), LDR,
-     $                            R(N*K+1,K+1), LDR )
-                     CALL MB02DD( JOB, TYPET, K, M, N, T(N*K+1,1), LDT,
-     $                            T, LDT, G, LDG, R(N*K+1,1), LDR,
-     $                            L(1,N*K+1), LDL, CS, LCS, DWORK,
-     $                            LDWORK, INFO )
-                  END IF
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 50  I = 1, S
-                        WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, S )
-   50                CONTINUE
-                     IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) )
-     $                       THEN
-                        WRITE ( NOUT, FMT = 99992 )
-                        IF ( LSAME( TYPET, 'R' ) ) THEN
-                           DO 60  I = 1, 2*K
-                              WRITE ( NOUT, FMT = 99990 )
-     $                              ( G(I,J), J = 1, S )
-   60                      CONTINUE
-                        ELSE
-                           DO 70  I = 1, S
-                              WRITE ( NOUT, FMT = 99990 )
-     $                              ( G(I,J), J = 1, 2*K )
-   70                      CONTINUE
-                        END IF
-                     END IF
-                     IF ( LSAME( JOB, 'A' ) ) THEN
-                        WRITE ( NOUT, FMT = 99991 )
-                        DO 80  I = 1, S
-                           WRITE ( NOUT, FMT = 99990 )
-     $                           ( L(I,J), J = 1, S )
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( ' MB02DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT ( ' INFO on exit from MB02CD = ',I2)
-99997 FORMAT ( ' INFO on exit from MB02DD = ',I2)
-99996 FORMAT ( ' The Cholesky factor is ')
-99995 FORMAT (/' The inverse generator is ')
-99994 FORMAT (/' The inverse Cholesky factor is ')
-99993 FORMAT (/' The updated Cholesky factor is ')
-99992 FORMAT (/' The updated inverse generator is ')
-99991 FORMAT (/' The updated inverse Cholesky factor is ')
-99990 FORMAT (20(1X,F8.4))
-99989 FORMAT (/' N is out of range.',/' N = ',I5)
-99988 FORMAT (/' K is out of range.',/' K = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02DD EXAMPLE PROGRAM DATA
-        3       2       2       A       R
-    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500    0.1000    0.0400    0.01   0.02
-    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000    0.0300    0.0200    0.03   0.01
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02DD EXAMPLE PROGRAM RESULTS
-
- The Cholesky factor is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
-   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
-
- The inverse generator is 
-  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
-  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
-   0.5825   0.0000  -0.0387   0.0052   0.0003  -0.0575
-  -0.1754   0.5231   0.0119  -0.0265  -0.0110   0.0076
-
- The inverse Cholesky factor is 
-   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
-  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
-  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
-   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
-
- The updated Cholesky factor is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.0577   0.0231   0.0058   0.0115
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957  -0.0017   0.0035   0.0139   0.0017
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1145   0.0279   0.0564   0.0227
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0152   0.0953  -0.0017   0.0033
-   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759   0.0523   0.0453   0.1146   0.0273
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1902   0.0357  -0.0157   0.0955
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757   0.0526   0.0450
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1901   0.0357
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9117
-
- The updated inverse generator is 
-  -0.5599   0.3310  -0.0305   0.0098   0.0392  -0.0209   0.0191  -0.0010  -0.0045   0.0035
-  -0.2289  -0.4091   0.0612  -0.0012   0.0125   0.0182   0.0042   0.0017   0.0014   0.0000
-   0.5828   0.0000   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580
-  -0.1755   0.5231  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077
-
- The updated inverse Cholesky factor is 
-   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231   0.0000   0.0000   0.0000   0.0000
-  -0.0199   0.0073  -0.0391   0.0056   0.0017  -0.0580   0.5828   0.0000   0.0000   0.0000
-   0.0007  -0.0023   0.0122  -0.0265  -0.0110   0.0077  -0.1755   0.5231   0.0000   0.0000
-   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580   0.5828   0.0000
-  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077  -0.1755   0.5231
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02ED.html b/doc/_build/html/_static/doc/MB02ED.html
deleted file mode 100644
index e95f0b5d..00000000
--- a/doc/_build/html/_static/doc/MB02ED.html
+++ /dev/null
@@ -1,287 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02ED">MB02ED</A></H2>
-<H3>
-Solution of T X = B or X T = B with a positive definite block Toeplitz matrix T
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of linear equations  T*X = B  or  X*T = B  with
-  a symmetric positive definite (s.p.d.) block Toeplitz matrix T.
-  T is defined either by its first block row or its first block
-  column, depending on the parameter TYPET.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPET
-      INTEGER           INFO, K, LDB, LDT, LDWORK, N, NRHS
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), DWORK(*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix, and the system X*T = B is solved;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix, and the system T*X = B is
-                  solved.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  NRHS    (input)  INTEGER
-          The number of right hand sides.  NRHS &gt;= 0.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,N*K) / (LDT,K)
-          On entry, the leading K-by-N*K / N*K-by-K part of this
-          array must contain the first block row / column of an
-          s.p.d. block Toeplitz matrix.
-          On exit, if  INFO = 0  and  NRHS &gt; 0,  then the leading
-          K-by-N*K / N*K-by-K part of this array contains the last
-          row / column of the Cholesky factor of inv(T).
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),    if TYPET = 'R';
-          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,N*K) / (LDB,NRHS)
-          On entry, the leading NRHS-by-N*K / N*K-by-NRHS part of
-          this array must contain the right hand side matrix B.
-          On exit, the leading NRHS-by-N*K / N*K-by-NRHS part of
-          this array contains the solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,NRHS),  if TYPET = 'R';
-          LDB &gt;= MAX(1,N*K),   if TYPET = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*K*K+(N+2)*K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations, modified hyperbolic rotations and
-  block Gaussian eliminations are used in the Schur algorithm [1],
-  [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically equivalent with forming
-  the Cholesky factor R and the inverse Cholesky factor of T, using
-  the generalized Schur algorithm, and solving the systems of
-  equations  R*X = L*B  or  X*R = B*L by a blocked backward
-  substitution algorithm.
-                            3 2    2 2
-  The algorithm requires 0(K N  + K N NRHS) floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, NMAX
-      PARAMETER        ( KMAX = 20, NMAX = 20 )
-      INTEGER          LDB, LDT, LDWORK
-      PARAMETER        ( LDB = KMAX*NMAX, LDT = KMAX*NMAX,
-     $                   LDWORK = NMAX*KMAX*KMAX + ( NMAX+2 )*KMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N, NRHS
-      CHARACTER        TYPET
-*     .. Local Arrays ..
-*     The arrays B and T are dimensioned for both TYPET = 'R' and
-*     TYPET = 'C'.
-*     NRHS is assumed to be not larger than KMAX*NMAX.
-      DOUBLE PRECISION B(LDB, KMAX*NMAX), DWORK(LDWORK),
-     $                 T(LDT, KMAX*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02ED
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, NRHS, TYPET
-      M = N*K
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) K
-         ELSE
-            IF ( NRHS.LE.0 .OR. NRHS.GT.KMAX*NMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) NRHS
-            ELSE
-               IF ( LSAME( TYPET, 'R' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,M )
-               END IF
-               IF ( LSAME( TYPET, 'R' ) ) THEN
-                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,
-     $                                   NRHS )
-               ELSE
-                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,
-     $                                   M )
-               END IF
-*              Compute the solution of X T = B or T X = B.
-               CALL MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
-     $                      LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( LSAME( TYPET, 'R' ) ) THEN
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10  I = 1, NRHS
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   10                CONTINUE
-                  ELSE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20  I = 1, M
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,
-     $                                                NRHS )
-   20                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02ED = ',I2)
-99997 FORMAT (' The solution of X*T = B is ')
-99996 FORMAT (' The solution of T*X = B is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' K is out of range.',/' K = ',I5)
-99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02ED EXAMPLE PROGRAM DATA
-  3    3    2     C
-    3.0000    1.0000    0.2000
-    1.0000    4.0000    0.4000
-    0.2000    0.4000    5.0000
-    0.1000    0.1000    0.2000
-    0.2000    0.0400    0.0300
-    0.0500    0.2000    0.1000
-    0.1000    0.0300    0.1000
-    0.0400    0.0200    0.2000
-    0.0100    0.0300    0.0200
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02ED EXAMPLE PROGRAM RESULTS
-
- The solution of T*X = B is 
-   0.2408   0.4816
-   0.1558   0.3116
-   0.1534   0.3068
-   0.2302   0.4603
-   0.1467   0.2934
-   0.1537   0.3075
-   0.2349   0.4698
-   0.1498   0.2995
-   0.1653   0.3307
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02FD.html b/doc/_build/html/_static/doc/MB02FD.html
deleted file mode 100644
index bb98c7e0..00000000
--- a/doc/_build/html/_static/doc/MB02FD.html
+++ /dev/null
@@ -1,362 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02FD">MB02FD</A></H2>
-<H3>
-Incomplete Cholesky factor of a positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the incomplete Cholesky (ICC) factor of a symmetric
-  positive definite (s.p.d.) block Toeplitz matrix T, defined by
-  either its first block row, or its first block column, depending
-  on the routine parameter TYPET.
-
-  By subsequent calls of this routine, further rows / columns of
-  the Cholesky factor can be added.
-  Furthermore, the generator of the Schur complement of the leading
-  (P+S)*K-by-(P+S)*K block in T is available, which can be used,
-  e.g., for measuring the quality of the ICC factorization.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02FD( TYPET, K, N, P, S, T, LDT, R, LDR, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPET
-      INTEGER           INFO, K, LDR, LDT, LDWORK, N, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), R(LDR,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix; the ICC factor R is upper
-                  trapezoidal;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix; the ICC factor R is lower
-                  trapezoidal; this choice leads to better
-                  localized memory references and hence a faster
-                  algorithm.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of previously computed block rows / columns
-          of R.  0 &lt;= P &lt;= N.
-
-  S       (input)  INTEGER
-          The number of block rows / columns of R to compute.
-          0 &lt;= S &lt;= N-P.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,(N-P)*K) / (LDT,K)
-          On entry, if P = 0, then the leading K-by-N*K / N*K-by-K
-          part of this array must contain the first block row /
-          column of an s.p.d. block Toeplitz matrix.
-          If P &gt; 0, the leading K-by-(N-P)*K / (N-P)*K-by-K must
-          contain the negative generator of the Schur complement of
-          the leading P*K-by-P*K part in T, computed from previous
-          calls of this routine.
-          On exit, if INFO = 0, then the leading K-by-(N-P)*K /
-          (N-P)*K-by-K part of this array contains, in the first
-          K-by-K block, the upper / lower Cholesky factor of
-          T(1:K,1:K), in the following S-1 K-by-K blocks, the
-          Householder transformations applied during the process,
-          and in the remaining part, the negative generator of the
-          Schur complement of the leading (P+S)*K-by(P+S)*K part
-          in T.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),        if TYPET = 'R';
-          LDT &gt;= MAX(1,(N-P)*K),  if TYPET = 'C'.
-
-  R       (input/output)  DOUBLE PRECISION array, dimension
-          (LDR, N*K)       / (LDR, S*K )     if P = 0;
-          (LDR, (N-P+1)*K) / (LDR, (S+1)*K ) if P &gt; 0.
-          On entry, if P &gt; 0, then the leading K-by-(N-P+1)*K /
-          (N-P+1)*K-by-K part of this array must contain the
-          nonzero blocks of the last block row / column in the
-          ICC factor from a previous call of this routine. Note that
-          this part is identical with the positive generator of
-          the Schur complement of the leading P*K-by-P*K part in T.
-          If P = 0, then R is only an output parameter.
-          On exit, if INFO = 0 and P = 0, then the leading
-          S*K-by-N*K / N*K-by-S*K part of this array contains the
-          upper / lower trapezoidal ICC factor.
-          On exit, if INFO = 0 and P &gt; 0, then the leading
-          (S+1)*K-by-(N-P+1)*K / (N-P+1)*K-by-(S+1)*K part of this
-          array contains the upper / lower trapezoidal part of the
-          P-th to (P+S)-th block rows / columns of the ICC factor.
-          The elements in the strictly lower / upper trapezoidal
-          part are not referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1, S*K ),        if TYPET = 'R' and P = 0;
-          LDR &gt;= MAX(1, (S+1)*K ),    if TYPET = 'R' and P &gt; 0;
-          LDR &gt;= MAX(1, N*K ),        if TYPET = 'C' and P = 0;
-          LDR &gt;= MAX(1, (N-P+1)*K ),  if TYPET = 'C' and P &gt; 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -11,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N+1)*K,4*K),   if P = 0;
-          LDWORK &gt;= MAX(1,(N-P+2)*K,4*K), if P &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed; the Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite in its leading (P+S)*K-by-(P+S)*K part.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                            3
-  The algorithm requires 0(K S (N-P)) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          ITMAX, KMAX, NMAX
-      PARAMETER        ( ITMAX = 10, KMAX = 20, NMAX = 20 )
-      INTEGER          LDR, LDT, LDWORK
-      PARAMETER        ( LDR = NMAX*KMAX, LDT = KMAX,
-     $                   LDWORK = ( NMAX + 1 )*KMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, IT, J, K, LEN, M, N, P, PIT, POS, POSR,
-     $                 S1, SCIT
-      CHARACTER        TYPET
-      DOUBLE PRECISION NNRM
-*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
-      INTEGER          S(ITMAX)
-      DOUBLE PRECISION DWORK(LDWORK), R(LDR, NMAX*KMAX),
-     $                 T(LDT, NMAX*KMAX), V(NMAX*KMAX), W(NMAX*KMAX),
-     $                 Z(NMAX*KMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DNRM2
-      EXTERNAL         DNRM2, LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DAXPY, DCOPY, DGEMV, DLASET, DSCAL, DTRMV, MB02FD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, IT
-      TYPET = 'R'
-      M = N*K
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) K
-      ELSE IF( IT.LE.0 .OR. IT.GT.ITMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) IT
-      ELSE
-         READ ( NIN, FMT = * ) ( S(I), I = 1, IT )
-         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-         P   = 0
-         POS = 1
-         WRITE ( NOUT, FMT = 99997 )
-         DO 90  SCIT = 1, IT
-            CALL MB02FD( TYPET, K, N, P, S(SCIT), T(1,POS), LDT,
-     $                   R(POS,POS), LDR, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-               STOP
-            END IF
-            S1 = S(SCIT) + P
-            IF ( S1.EQ.0 ) THEN
-*              Estimate the 2-norm of the Toeplitz matrix with 5 power
-*              iterations.
-               LEN = N*K
-               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
-               DO 30  PIT = 1, 5
-                  DO 10  I = 1, N
-                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE, T,
-     $                           LDT, V((I-1)*K+1), 1, ZERO,
-     $                           W((I-1)*K+1), 1 )
-   10             CONTINUE
-                  DO 20 I = 1, N-1
-                     CALL DGEMV( 'Transpose', K, (N-I)*K, ONE,
-     $                           T(1,K+1), LDT, V((I-1)*K+1), 1,
-     $                           ONE, W(I*K+1), 1 )
-   20             CONTINUE
-                  CALL DCOPY( LEN, W, 1, V, 1 )
-                  NNRM = DNRM2( LEN, V, 1 )
-                  CALL DSCAL( LEN, ONE/NNRM, V, 1 )
-   30          CONTINUE
-            ELSE
-*              Estimate the 2-norm of the Schur complement with 5 power
-*              iterations.
-               LEN = ( N - S1 )*K
-               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
-               DO 80  PIT = 1, 5
-                  POSR = ( S1 - 1 )*K + 1
-                  DO 40  I = 1, N - S1
-                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE,
-     $                           T(1,POSR+K), LDT, V((I-1)*K+1), 1,
-     $                           ZERO, W((I-1)*K+1), 1 )
-   40             CONTINUE
-                  DO 50  I = 1, N - S1
-                     CALL DTRMV( 'Upper', 'NoTranspose', 'NonUnit', K,
-     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
-                     CALL DGEMV( 'NoTranspose', K, LEN-I*K, ONE,
-     $                           R(POSR,POSR+K), LDR, V(I*K+1), 1, ONE,
-     $                           V((I-1)*K+1), 1 )
-   50             CONTINUE
-                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, Z, 1 )
-                  DO 60  I = 1, N - S1
-                     CALL DGEMV( 'Transpose', K, LEN-I*K, ONE,
-     $                           R(POSR,POSR+K), LDR, V((I-1)*K+1), 1,
-     $                           ONE, Z(I*K+1), 1 )
-                     CALL DTRMV( 'Upper', 'Transpose', 'NonUnit', K,
-     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
-                     CALL DAXPY( K, ONE, V((I-1)*K+1), 1, Z((I-1)*K+1),
-     $                           1 )
-   60             CONTINUE
-                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, V, 1 )
-                  DO 70  I = 1, N - S1
-                     CALL DGEMV( 'Transpose', K, LEN-(I-1)*K, ONE,
-     $                           T(1,POSR+K), LDT, W((I-1)*K+1), 1,
-     $                           ONE, V((I-1)*K+1), 1 )
-   70             CONTINUE
-                  CALL DAXPY( LEN, -ONE, Z, 1, V, 1 )
-                  NNRM = DNRM2( LEN, V, 1 )
-                  CALL DSCAL( LEN, -ONE/NNRM, V, 1 )
-   80          CONTINUE
-               POS = ( S1 - 1 )*K + 1
-               P   = S1
-            END IF
-            WRITE ( NOUT, FMT = 99995 ) P*K, NNRM
-   90    CONTINUE
-         WRITE ( NOUT, FMT = 99996 )
-         DO 100  I = 1, P*K
-            WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
-  100    CONTINUE
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02FD = ',I2)
-99997 FORMAT ('   Incomplete Cholesky factorization ',
-     $         //'   rows    norm(Schur complement)',/)
-99996 FORMAT (/' The upper ICC factor of the block Toeplitz matrix is '
-     $       )
-99995 FORMAT (I4,5X,F8.4)
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' K is out of range.',/' K = ',I5)
-99991 FORMAT (/' IT is out of range.',/' IT = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02FD EXAMPLE
-4 2 3
-0 1 1
-    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500   0.2000   0.3000
-    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000   0.1000   0.2000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02FD EXAMPLE PROGRAM RESULTS
-
-   Incomplete Cholesky factorization 
-
-   rows    norm(Schur complement)
-
-   0       5.5509
-   2       5.1590
-   4       4.8766
-
- The upper ICC factor of the block Toeplitz matrix is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.1155   0.1732
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957   0.0174   0.0522
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1104   0.0174
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0161   0.0931
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02GD.html b/doc/_build/html/_static/doc/MB02GD.html
deleted file mode 100644
index 32cfdac3..00000000
--- a/doc/_build/html/_static/doc/MB02GD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02GD">MB02GD</A></H2>
-<H3>
-Cholesky factorization of a banded symmetric positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor of a banded symmetric positive
-  definite (s.p.d.) block Toeplitz matrix, defined by either its
-  first block row, or its first block column, depending on the
-  routine parameter TYPET.
-
-  By subsequent calls of this routine the Cholesky factor can be
-  computed block column by block column.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02GD( TYPET, TRIU, K, N, NL, P, S, T, LDT, RB, LDRB,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRIU, TYPET
-      INTEGER           INFO, K, LDRB, LDT, LDWORK, N, NL, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix; the Cholesky factor is upper
-                  triangular;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix; the Cholesky factor is
-                  lower triangular. This choice results in a column
-                  oriented algorithm which is usually faster.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-  TRIU    CHARACTER*1
-          Specifies the structure of the last block in T, as
-          follows:
-          = 'N':  the last block has no special structure;
-          = 'T':  the last block is lower / upper triangular.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 1.
-          If TRIU = 'N',   N &gt;= 1;
-          if TRIU = 'T',   N &gt;= 2.
-
-  NL      (input)  INTEGER
-          The lower block bandwidth, i.e., NL + 1 is the number of
-          nonzero blocks in the first block column of the block
-          Toeplitz matrix.
-          If TRIU = 'N',   0 &lt;= NL &lt; N;
-          if TRIU = 'T',   1 &lt;= NL &lt; N.
-
-  P       (input)  INTEGER
-          The number of previously computed block rows / columns of
-          the Cholesky factor.  0 &lt;= P &lt;= N.
-
-  S       (input)  INTEGER
-          The number of block rows / columns of the Cholesky factor
-          to compute.  0 &lt;= S &lt;= N - P.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,(NL+1)*K) / (LDT,K)
-          On entry, if P = 0, the leading K-by-(NL+1)*K /
-          (NL+1)*K-by-K part of this array must contain the first
-          block row / column of an s.p.d. block Toeplitz matrix.
-          On entry, if P &gt; 0, the leading K-by-(NL+1)*K /
-          (NL+1)*K-by-K part of this array must contain the P-th
-          block row / column of the Cholesky factor.
-          On exit, if INFO = 0, then the leading K-by-(NL+1)*K /
-          (NL+1)*K-by-K part of this array contains the (P+S)-th
-          block row / column of the Cholesky factor.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K) / MAX(1,(NL+1)*K).
-
-  RB      (input/output)  DOUBLE PRECISION array, dimension
-          (LDRB,MIN(P+NL+S,N)*K) / (LDRB,MIN(P+S,N)*K)
-          On entry, if TYPET = 'R'  and  TRIU = 'N'  and  P &gt; 0,
-          the leading (NL+1)*K-by-MIN(NL,N-P)*K part of this array
-          must contain the (P*K+1)-st to ((P+NL)*K)-th columns
-          of the upper Cholesky factor in banded format from a
-          previous call of this routine.
-          On entry, if TYPET = 'R'  and  TRIU = 'T'  and  P &gt; 0,
-          the leading (NL*K+1)-by-MIN(NL,N-P)*K part of this array
-          must contain the (P*K+1)-st to (MIN(P+NL,N)*K)-th columns
-          of the upper Cholesky factor in banded format from a
-          previous call of this routine.
-          On exit, if TYPET = 'R'  and  TRIU = 'N', the leading
-          (NL+1)*K-by-MIN(NL+S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
-          upper Cholesky factor in banded format.
-          On exit, if TYPET = 'R'  and  TRIU = 'T', the leading
-          (NL*K+1)-by-MIN(NL+S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
-          upper Cholesky factor in banded format.
-          On exit, if TYPET = 'C'  and  TRIU = 'N', the leading
-          (NL+1)*K-by-MIN(S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
-          Cholesky factor in banded format.
-          On exit, if TYPET = 'C'  and  TRIU = 'T', the leading
-          (NL*K+1)-by-MIN(S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
-          Cholesky factor in banded format.
-          For further details regarding the band storage scheme see
-          the documentation of the LAPACK routine DPBTF2.
-
-  LDRB    INTEGER
-          The leading dimension of the array RB.
-          If TRIU = 'N',   LDRB &gt;= MAX( (NL+1)*K,1 );
-          if TRIU = 'T',   LDRB &gt;= NL*K+1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          The first 1 + ( NL + 1 )*K*K elements of DWORK should be
-          preserved during successive calls of the routine.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1 + ( NL + 1 )*K*K + NL*K.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                             3
-  The algorithm requires O( K *N*NL ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, NMAX, NLMAX
-      PARAMETER        ( KMAX = 20, NMAX = 20, NLMAX = 20 )
-      INTEGER          LDRB, LDT, LDWORK
-      PARAMETER        ( LDRB = ( NLMAX + 1 )*KMAX, LDT = KMAX*NMAX,
-     $                   LDWORK = ( NLMAX + 1 )*KMAX*KMAX +
-     $                            ( 3 + NLMAX )*KMAX )
-*     .. Local Scalars ..
-      INTEGER          I, J, INFO, K, M, N, NL, SIZR
-      CHARACTER        TRIU, TYPET
-*     .. Local Arrays dimensioned for TYPET = 'R' ..
-      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB, NMAX*KMAX),
-     $                 T(LDT, NMAX*KMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02GD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, N, NL, TRIU
-      TYPET = 'R'
-      M = ( NL + 1 )*K
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE IF( NL.LE.0 .OR. NL.GT.NLMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NL
-      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) K
-      ELSE
-         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-*        Compute the banded Cholesky factor.
-         CALL MB02GD( TYPET, TRIU, K, N, NL, 0, N, T, LDT, RB, LDRB,
-     $                DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            IF ( LSAME( TRIU, 'T' ) ) THEN
-               SIZR = NL*K + 1
-            ELSE
-               SIZR = ( NL + 1 )*K
-            END IF
-            DO 10  I = 1, SIZR
-               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1, N*K )
-   10       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02GD = ',I2)
-99997 FORMAT (/' The upper Cholesky factor in banded storage format ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' NL is out of range.',/' NL = ',I5)
-99993 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02GD EXAMPLE PROGRAM DATA
-  2    4    2    T
-  3.0000    1.0000    0.1000    0.4000    0.2000    0.0000
-  0.0000    4.0000    0.1000    0.1000    0.0500    0.2000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02GD EXAMPLE PROGRAM RESULTS
-
-
- The upper Cholesky factor in banded storage format 
-   0.0000   0.0000   0.0000   0.0000   0.1155   0.1044   0.1156   0.1051
-   0.0000   0.0000   0.0000   0.2309  -0.0087   0.2290  -0.0084   0.2302
-   0.0000   0.0000   0.0577  -0.0174   0.0541  -0.0151   0.0544  -0.0159
-   0.0000   0.5774   0.0348   0.5704   0.0222   0.5725   0.0223   0.5724
-   1.7321   1.9149   1.7307   1.9029   1.7272   1.8996   1.7272   1.8995
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02HD.html b/doc/_build/html/_static/doc/MB02HD.html
deleted file mode 100644
index 67447f5d..00000000
--- a/doc/_build/html/_static/doc/MB02HD.html
+++ /dev/null
@@ -1,332 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02HD">MB02HD</A></H2>
-<H3>
-Cholesky factorization of the matrix T' T, with T a banded block Toeplitz matrix of full rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a banded K*M-by-L*N block Toeplitz matrix T with
-  block size (K,L), specified by the nonzero blocks of its first
-  block column TC and row TR, a LOWER triangular matrix R (in band
-  storage scheme) such that
-                       T          T
-                      T  T  =  R R .                             (1)
-
-  It is assumed that the first MIN(M*K, N*L) columns of T are
-  linearly independent.
-
-  By subsequent calls of this routine, the matrix R can be computed
-  block column by block column.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02HD( TRIU, K, L, M, ML, N, NU, P, S, TC, LDTC, TR,
-     $                   LDTR, RB, LDRB, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRIU
-      INTEGER           INFO, K, L, LDRB, LDTC, LDTR, LDWORK, M, ML, N,
-     $                  NU, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRIU    CHARACTER*1
-          Specifies the structure, if any, of the last blocks in TC
-          and TR, as follows:
-          = 'N':  TC and TR have no special structure;
-          = 'T':  TC and TR are upper and lower triangular,
-                  respectively. Depending on the block sizes, two
-                  different shapes of the last blocks in TC and TR
-                  are possible, as illustrated below:
-
-                  1)    TC       TR     2)   TC         TR
-
-                       x x x    x 0 0      x x x x    x 0 0 0
-                       0 x x    x x 0      0 x x x    x x 0 0
-                       0 0 x    x x x      0 0 x x    x x x 0
-                       0 0 0    x x x
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of rows in the blocks of T.  K &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the blocks of T.  L &gt;= 0.
-
-  M       (input) INTEGER
-          The number of blocks in the first block column of T.
-          M &gt;= 1.
-
-  ML      (input) INTEGER
-          The lower block bandwidth, i.e., ML + 1 is the number of
-          nonzero blocks in the first block column of T.
-          0 &lt;= ML &lt; M and (ML + 1)*K &gt;= L and
-          if ( M*K &lt;= N*L ),  ML &gt;= M - INT( ( M*K - 1 )/L ) - 1;
-                              ML &gt;= M - INT( M*K/L ) or
-                              MOD( M*K, L ) &gt;= K;
-          if ( M*K &gt;= N*L ),  ML*K &gt;= N*( L - K ).
-
-  N       (input) INTEGER
-          The number of blocks in the first block row of T.
-          N &gt;= 1.
-
-  NU      (input) INTEGER
-          The upper block bandwidth, i.e., NU + 1 is the number of
-          nonzero blocks in the first block row of T.
-          If TRIU = 'N',   0 &lt;= NU &lt; N and
-                           (M + NU)*L &gt;= MIN( M*K, N*L );
-          if TRIU = 'T',   MAX(1-ML,0) &lt;= NU &lt; N and
-                           (M + NU)*L &gt;= MIN( M*K, N*L ).
-
-  P       (input)  INTEGER
-          The number of previously computed block columns of R.
-          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
-
-  S       (input)  INTEGER
-          The number of block columns of R to compute.
-          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
-
-  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
-          On entry, if P = 0, the leading (ML+1)*K-by-L part of this
-          array must contain the nonzero blocks in the first block
-          column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,(ML+1)*K),  if P = 0.
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,NU*L)
-          On entry, if P = 0, the leading K-by-NU*L part of this
-          array must contain the 2nd to the (NU+1)-st blocks of
-          the first block row of T.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.
-          LDTR &gt;= MAX(1,K),  if P = 0.
-
-  RB      (output)  DOUBLE PRECISION array, dimension
-          (LDRB,MIN( S*L,MIN( M*K,N*L )-P*L ))
-          On exit, if INFO = 0 and TRIU = 'N', the leading
-          MIN( ML+NU+1,N )*L-by-MIN( S*L,MIN( M*K,N*L )-P*L ) part
-          of this array contains the (P+1)-th to (P+S)-th block
-          column of the lower R factor (1) in band storage format.
-          On exit, if INFO = 0 and TRIU = 'T', the leading
-          MIN( (ML+NU)*L+1,N*L )-by-MIN( S*L,MIN( M*K,N*L )-P*L )
-          part of this array contains the (P+1)-th to (P+S)-th block
-          column of the lower R factor (1) in band storage format.
-          For further details regarding the band storage scheme see
-          the documentation of the LAPACK routine DPBTF2.
-
-  LDRB    INTEGER
-          The leading dimension of the array RB.
-          LDRB &gt;= MAX( MIN( ML+NU+1,N )*L,1 ),      if TRIU = 'N';
-          LDRB &gt;= MAX( MIN( (ML+NU)*L+1,N*L ),1 ),  if TRIU = 'T'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          The first 1 + 2*MIN( ML+NU+1,N )*L*(K+L) elements of DWORK
-          should be preserved during successive calls of the routine.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          Let x = MIN( ML+NU+1,N ), then
-          LDWORK &gt;= 1 + MAX( x*L*L + (2*NU+1)*L*K,
-                             2*x*L*(K+L) + (6+x)*L ),  if P = 0;
-          LDWORK &gt;= 1 + 2*x*L*(K+L) + (6+x)*L,         if P &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the full rank condition for the first MIN(M*K, N*L)
-                columns of T is (numerically) violated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method yields a factor R which has comparable
-  accuracy with the Cholesky factor of T^T * T.
-  The algorithm requires
-            2                                  2
-        O( L *K*N*( ML + NU ) + N*( ML + NU )*L *( L + K ) )
-
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, MLMAX, NMAX, NUMAX
-      PARAMETER        ( KMAX = 20, LMAX  = 20, MMAX = 20, MLMAX = 10,
-     $                   NMAX = 20, NUMAX = 10 )
-      INTEGER          LDRB, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDRB = ( MLMAX + NUMAX + 1 )*LMAX,
-     $                   LDTC = ( MLMAX + 1 )*KMAX, LDTR = KMAX )
-      PARAMETER        ( LDWORK = LDRB*LMAX + ( 2*NUMAX + 1 )*LMAX*KMAX
-     $                            + 2*LDRB*( KMAX + LMAX ) + LDRB
-     $                            + 6*LMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, LENR, M, ML, N, NU, S
-      CHARACTER        TRIU
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB,NMAX*LMAX),
-     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, L, M, ML, N, NU, TRIU
-      IF( K.LT.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) K
-      ELSE IF( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( ML.LT.0 .OR. ML.GT.MLMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) ML
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF( NU.LT.0 .OR. NU.GT.NUMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NU
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,(ML+1)*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,NU*L ), I = 1,K )
-         S = ( MIN( M*K, N*L ) + L - 1 ) / L
-*        Compute the banded R factor.
-         CALL MB02HD( TRIU, K, L, M, ML, N, NU, 0, S, TC, LDTC, TR,
-     $                LDTR, RB, LDRB, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            LENR = ( ML + NU + 1 )*L
-            IF ( LSAME( TRIU, 'T' ) )  LENR = ( ML + NU )*L + 1
-            LENR = MIN( LENR, N*L )
-            DO 10  I = 1, LENR
-               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1,
-     $                                       MIN( N*L, M*K ) )
-   10       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02HD = ',I2)
-99997 FORMAT (/' The lower triangular factor R in banded storage ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' NU is out of range.',/' NU = ',I5)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ML is out of range.',/' ML = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' L is out of range.',/' L = ',I5)
-99990 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02HD EXAMPLE PROGRAM DATA
-   2  2  6  2  5   1  N
-     4.0     4.0
-     1.0     3.0
-     2.0     1.0
-     2.0     2.0
-     4.0     4.0
-     3.0     4.0
-     1.0     3.0   
-     2.0     1.0     
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02HD EXAMPLE PROGRAM RESULTS
-
-
- The lower triangular factor R in banded storage 
-  -7.0711  -2.4125   6.0822   2.9967   5.9732   2.8593   5.8497   2.7914   2.7298   1.9557
-  -7.4953  -0.0829   5.8986  -0.5571   5.5329   0.2059   5.6797   0.3414   0.9565   0.0000
-  -4.2426   0.9202   2.4747  -1.6425   2.9472  -1.0052   2.4396  -0.7785   0.0000   0.0000
-  -5.2326   0.6218   2.8391  -0.0820   3.2670   0.6327   2.7067   0.0000   0.0000   0.0000
-  -3.5355   0.8207   3.1160  -0.4451   3.5758   0.5701   0.0000   0.0000   0.0000   0.0000
-  -4.6669  -0.5803   3.9454   0.7682   4.5481   0.0000   0.0000   0.0000   0.0000   0.0000
-  -1.4142  -0.0415   1.6441   0.4848   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -2.1213   0.0000   2.4662   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02ID.html b/doc/_build/html/_static/doc/MB02ID.html
deleted file mode 100644
index 50146327..00000000
--- a/doc/_build/html/_static/doc/MB02ID.html
+++ /dev/null
@@ -1,367 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02ID">MB02ID</A></H2>
-<H3>
-Solution of over- or underdetermined linear systems with a full rank block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the overdetermined or underdetermined real linear systems
-  involving an M*K-by-N*L block Toeplitz matrix T that is specified
-  by its first block column and row. It is assumed that T has full
-  rank.
-  The following options are provided:
-
-  1. If JOB = 'O' or JOB = 'A' :  find the least squares solution of
-     an overdetermined system, i.e., solve the least squares problem
-
-               minimize || B - T*X ||.                           (1)
-
-  2. If JOB = 'U' or JOB = 'A' :  find the minimum norm solution of
-     the undetermined system
-                T
-               T * X = C.                                        (2)
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
-     $                   LDB, C, LDC, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
-     $                  RB, RC
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(LDWORK), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the problem to be solved as follows
-          = 'O':  solve the overdetermined system (1);
-          = 'U':  solve the underdetermined system (2);
-          = 'A':  solve (1) and (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of rows in the blocks of T.  K &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the blocks of T.  L &gt;= 0.
-
-  M       (input) INTEGER
-          The number of blocks in the first block column of T.
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of blocks in the first block row of T.
-          0 &lt;= N &lt;= M*K / L.
-
-  RB      (input) INTEGER
-          If JOB = 'O' or 'A', the number of columns in B.  RB &gt;= 0.
-
-  RC      (input) INTEGER
-          If JOB = 'U' or 'A', the number of columns in C.  RC &gt;= 0.
-
-  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
-          On entry, the leading M*K-by-L part of this array must
-          contain the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.  LDTC &gt;= MAX(1,M*K)
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
-          On entry, the leading K-by-(N-1)*L part of this array must
-          contain the 2nd to the N-th blocks of the first block row
-          of T.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
-
-  B       (input/output)  DOUBLE PRECISION array, dimension (LDB,RB)
-          On entry, if JOB = 'O' or JOB = 'A', the leading M*K-by-RB
-          part of this array must contain the right hand side
-          matrix B of the overdetermined system (1).
-          On exit, if JOB = 'O' or JOB = 'A', the leading N*L-by-RB
-          part of this array contains the solution of the
-          overdetermined system (1).
-          This array is not referenced if JOB = 'U'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,M*K),  if JOB = 'O'  or  JOB = 'A';
-          LDB &gt;= 1,           if JOB = 'U'.
-
-  C       (input)  DOUBLE PRECISION array, dimension (LDC,RC)
-          On entry, if JOB = 'U' or JOB = 'A', the leading N*L-by-RC
-          part of this array must contain the right hand side
-          matrix C of the underdetermined system (2).
-          On exit, if JOB = 'U' or JOB = 'A', the leading M*K-by-RC
-          part of this array contains the solution of the
-          underdetermined system (2).
-          This array is not referenced if JOB = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDB &gt;= 1,           if JOB = 'O';
-          LDB &gt;= MAX(1,M*K),  if JOB = 'U'  or  JOB = 'A'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          Let x = MAX( 2*N*L*(L+K) + (6+N)*L,(N*L+M*K+1)*L + M*K )
-          and y = N*M*K*L + N*L, then
-          if MIN( M,N ) = 1 and JOB = 'O',
-                      LDWORK &gt;= MAX( y + MAX( M*K,RB ),1 );
-          if MIN( M,N ) = 1 and JOB = 'U',
-                      LDWORK &gt;= MAX( y + MAX( M*K,RC ),1 );
-          if MIN( M,N ) = 1 and JOB = 'A',
-                      LDWORK &gt;= MAX( y +MAX( M*K,MAX( RB,RC ),1 );
-          if MIN( M,N ) &gt; 1 and JOB = 'O',
-                      LDWORK &gt;= MAX( x,N*L*RB + 1 );
-          if MIN( M,N ) &gt; 1 and JOB = 'U',
-                      LDWORK &gt;= MAX( x,N*L*RC + 1 );
-          if MIN( M,N ) &gt; 1 and JOB = 'A',
-                      LDWORK &gt;= MAX( x,N*L*MAX( RB,RC ) + 1 ).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is (numerically) not of full rank.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O( L*L*K*(N+M)*log(N+M) + N*N*L*L*(L+K) )
-  and additionally
-
-  if JOB = 'O' or JOB = 'A',
-               O( (K*L+RB*L+K*RB)*(N+M)*log(N+M) + N*N*L*L*RB );
-  if JOB = 'U' or JOB = 'A',
-               O( (K*L+RC*L+K*RC)*(N+M)*log(N+M) + N*N*L*L*RC );
-
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX, RBMAX, RCMAX
-      PARAMETER        ( KMAX  = 20, LMAX  = 20, MMAX = 20, NMAX = 20,
-     $                   RBMAX = 20, RCMAX = 20 )
-      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDB  = KMAX*MMAX, LDC  = KMAX*MMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = 2*NMAX*LMAX*( LMAX + KMAX ) +
-     $                            ( 6 + NMAX )*LMAX +
-     $                            MMAX*KMAX*( LMAX + 1 ) +
-     $                            RBMAX + RCMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, M, N, RB, RC
-      CHARACTER        JOB
-      DOUBLE PRECISION B(LDB,RBMAX),  C(LDC,RCMAX), DWORK(LDWORK),
-     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02ID
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  K, L, M, N, RB, RC, JOB
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF ( ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) )
-     $          .AND. ( ( RB.LE.0 ) .OR. ( RB.GT.RBMAX ) ) ) THEN
-         WRITE ( NOUT, FMT = 99990 ) RB
-      ELSE IF ( ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) )
-     $          .AND. ( ( RC.LE.0 ) .OR. ( RC.GT.RCMAX ) ) ) THEN
-         WRITE ( NOUT, FMT = 99989 ) RC
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ), I = 1,K )
-         IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,RB ), I = 1,M*K )
-         END IF
-         IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,RC ), I = 1,N*L )
-         END IF
-         CALL MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
-     $                LDB, C, LDC, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, N*L
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, RB )
-   10          CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 20  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, RC )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02ID = ',I2)
-99997 FORMAT (' The least squares solution of T * X = B is ')
-99996 FORMAT (' The minimum norm solution of T^T * X = C is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' K is out of range.',/' K = ',I5)
-99993 FORMAT (/' L is out of range.',/' L = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' RB is out of range.',/' RB = ',I5)
-99989 FORMAT (/' RC is out of range.',/' RC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02ID EXAMPLE PROGRAM DATA
-   3   2   4   3   1   1   A
-     5.0     2.0
-     1.0     2.0
-     4.0     3.0
-     4.0     0.0
-     2.0     2.0
-     3.0     3.0
-     5.0     1.0
-     3.0     3.0
-     1.0     1.0
-     2.0     3.0
-     1.0     3.0
-     2.0     2.0
-     1.0     4.0     2.0     3.0
-     2.0     2.0     2.0     4.0
-     3.0     1.0     0.0     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02ID EXAMPLE PROGRAM RESULTS
-
- The least squares solution of T * X = B is 
-   0.0379
-   0.1677
-   0.0485
-  -0.0038
-   0.0429
-   0.1365
- The minimum norm solution of T^T * X = C is 
-   0.0509
-   0.0547
-   0.0218
-   0.0008
-   0.0436
-   0.0404
-   0.0031
-   0.0451
-   0.0421
-   0.0243
-   0.0556
-   0.0472
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02JD.html b/doc/_build/html/_static/doc/MB02JD.html
deleted file mode 100644
index 229049d2..00000000
--- a/doc/_build/html/_static/doc/MB02JD.html
+++ /dev/null
@@ -1,338 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02JD">MB02JD</A></H2>
-<H3>
-Full QR factorization of a block Toeplitz matrix of full rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a lower triangular matrix R and a matrix Q with
-  Q^T Q = I such that
-                                 T
-                        T  =  Q R ,
-
-  where T is a K*M-by-L*N block Toeplitz matrix with blocks of size
-  (K,L). The first column of T will be denoted by TC and the first
-  row by TR. It is assumed that the first MIN(M*K, N*L) columns of T
-  have full rank.
-
-  By subsequent calls of this routine the factors Q and R can be
-  computed block column by block column.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02JD( JOB, K, L, M, N, P, S, TC, LDTC, TR, LDTR, Q,
-     $                   LDQ, R, LDR, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK,
-     $                  M, N, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine as follows:
-          = 'Q':  computes Q and R;
-          = 'R':  only computes R.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in one block of T.  K &gt;= 0.
-
-  L       (input)  INTEGER
-          The number of columns in one block of T.  L &gt;= 0.
-
-  M       (input)  INTEGER
-          The number of blocks in one block column of T.  M &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in one block row of T.  N &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of previously computed block columns of R.
-          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
-
-  S       (input)  INTEGER
-          The number of block columns of R to compute.
-          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
-
-  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
-          On entry, if P = 0, the leading M*K-by-L part of this
-          array must contain the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,M*K).
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
-          On entry, if P = 0, the leading K-by-(N-1)*L part of this
-          array must contain the first block row of T without the
-          leading K-by-L block.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.
-          LDTR &gt;= MAX(1,K).
-
-  Q       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDQ,MIN( S*L, MIN( M*K,N*L )-P*L ))
-          On entry, if JOB = 'Q'  and  P &gt; 0, the leading M*K-by-L
-          part of this array must contain the last block column of Q
-          from a previous call of this routine.
-          On exit, if JOB = 'Q'  and  INFO = 0, the leading
-          M*K-by-MIN( S*L, MIN( M*K,N*L )-P*L ) part of this array
-          contains the P-th to (P+S)-th block columns of the factor
-          Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= MAX(1,M*K), if JOB = 'Q';
-          LDQ &gt;= 1,          if JOB = 'R'.
-
-  R       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDR,MIN( S*L, MIN( M*K,N*L )-P*L ))
-          On entry, if P &gt; 0, the leading (N-P+1)*L-by-L
-          part of this array must contain the nozero part of the
-          last block column of R from a previous call of this
-          routine.
-          One exit, if INFO = 0, the leading
-          MIN( N, N-P+1 )*L-by-MIN( S*L, MIN( M*K,N*L )-P*L )
-          part of this array contains the nonzero parts of the P-th
-          to (P+S)-th block columns of the lower triangular
-          factor R.
-          Note that elements in the strictly upper triangular part
-          will not be referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX( 1, MIN( N, N-P+1 )*L )
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -17,  DWORK(1) returns the minimum
-          value of LDWORK.
-          If JOB = 'Q', the first 1 + ( (N-1)*L + M*K )*( 2*K + L )
-          elements of DWORK should be preserved during successive
-          calls of the routine.
-          If JOB = 'R', the first 1 + (N-1)*L*( 2*K + L ) elements
-          of DWORK should be preserved during successive calls of
-          the routine.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          JOB = 'Q':
-             LDWORK &gt;= 1 + ( M*K + ( N - 1 )*L )*( L + 2*K ) + 6*L
-                         + MAX( M*K,( N - MAX( 1,P )*L ) );
-          JOB = 'R':
-             If P = 0,
-                LDWORK &gt;= MAX( 1 + ( N - 1 )*L*( L + 2*K ) + 6*L
-                                 + (N-1)*L, M*K*( L + 1 ) + L );
-             If P &gt; 0,
-                LDWORK &gt;= 1 + (N-1)*L*( L + 2*K ) + 6*L + (N-P)*L.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the full rank condition for the first MIN(M*K, N*L)
-                columns of T is (numerically) violated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Block Householder transformations and modified hyperbolic
-  rotations are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method yields a factor R which has comparable
-  accuracy with the Cholesky factor of T^T * T. Q is implicitly
-  computed from the formula Q = T * inv(R^T R) * R, i.e., for ill
-  conditioned problems this factor is of very limited value.
-                              2
-  The algorithm requires 0(K*L *M*N) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02JD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX
-      PARAMETER        ( KMAX = 10, LMAX = 10, MMAX = 20, NMAX = 20 )
-      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
-     $                            *( LMAX + 2*KMAX ) + 6*LMAX
-     $                            + MMAX*KMAX + NMAX*LMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, M, N, S
-      CHARACTER        JOB
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
-     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
-     $                 TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02JD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, L, M, N, JOB
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
-     $                             I = 1,K )
-         S = ( MIN( M*K, N*L ) + L - 1 ) / L
-*        Compute the required part of the QR factorization.
-         CALL MB02JD( JOB, K, L, M, N, 0, S, TC, LDTC, TR, LDTR, Q, LDQ,
-     $                R, LDR, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( JOB, 'Q' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99995 )
-     $                  ( Q(I,J), J = 1, MIN( N*L, M*K ) )
-   10          CONTINUE
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N*L
-               WRITE ( NOUT, FMT = 99995 )
-     $               ( R(I,J), J = 1, MIN( N*L, M*K ) )
-   20       CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB02JD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02JD = ',I2)
-99997 FORMAT (/' The factor Q is ')
-99996 FORMAT (/' The factor R is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' K is out of range.',/' K = ',I5)
-99993 FORMAT (/' L is out of range.',/' L = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02JD EXAMPLE PROGRAM DATA
-    2   3    4    3    Q
-     1.0     4.0     0.0
-     4.0     1.0     2.0
-     4.0     2.0     2.0
-     5.0     3.0     2.0
-     2.0     4.0     4.0
-     5.0     3.0     4.0
-     2.0     2.0     5.0
-     4.0     2.0     3.0
-     3.0     4.0     2.0     5.0     0.0     4.0
-     5.0     1.0     1.0     2.0     4.0     1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02JD EXAMPLE PROGRAM RESULTS
-
-
- The factor Q is 
-  -0.0967   0.7166  -0.4651   0.1272   0.4357   0.0435   0.2201   0.0673
-  -0.3867  -0.3108  -0.0534   0.5251   0.0963  -0.3894   0.1466   0.5412
-  -0.3867  -0.0990  -0.1443  -0.7021   0.3056  -0.3367  -0.3233   0.1249
-  -0.4834  -0.0178  -0.3368  -0.1763  -0.5446   0.5100   0.1503   0.2054
-  -0.1933   0.5859   0.3214   0.1156  -0.4670  -0.3199  -0.4185   0.0842
-  -0.4834  -0.0178   0.1072   0.0357  -0.0575  -0.2859   0.4339  -0.6928
-  -0.1933   0.1623   0.7251  -0.1966   0.2736   0.3058   0.3398   0.2968
-  -0.3867  -0.0990   0.0777   0.3615   0.3386   0.4421  -0.5693  -0.2641
-
- The factor R is 
- -10.3441   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -6.3805   4.7212   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -7.3472   1.9320   4.5040   0.0000   0.0000   0.0000   0.0000   0.0000
- -10.0541   2.5101   0.5065   3.6550   0.0000   0.0000   0.0000   0.0000
-  -6.5738   3.6127   1.2702  -1.3146   3.5202   0.0000   0.0000   0.0000
-  -5.2204   2.4764   2.4113   1.3890   1.2780   2.4976   0.0000   0.0000
-  -9.6674   3.2445  -0.5099  -0.0224   2.6548   2.9491   1.0049   0.0000
-  -6.3805   0.6968   1.9483   0.3050   0.7002  -2.0220  -2.8246   2.3147
-  -4.1570   2.4309  -0.7190  -0.1455   3.0149   0.5454   0.9394  -0.0548
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02JX.html b/doc/_build/html/_static/doc/MB02JX.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB02JX.html
+++ /dev/null
@@ -1,361 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02JX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02JX">MB02JX</A></H2>
-<H3>
-Low rank QR factorization with column pivoting of a block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a low rank QR factorization with column pivoting of a
-  K*M-by-L*N block Toeplitz matrix T with blocks of size (K,L);
-  specifically,
-                                  T
-                        T P =  Q R ,
-
-  where R is lower trapezoidal, P is a block permutation matrix
-  and Q^T Q = I. The number of columns in R is equivalent to the
-  numerical rank of T with respect to the given tolerance TOL1.
-  Note that the pivoting scheme is local, i.e., only columns
-  belonging to the same block in T are permuted.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q,
-     $                   LDQ, R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK, M, N,
-     $                  RNK
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-      INTEGER           JPVT(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine as follows:
-          = 'Q':  computes Q and R;
-          = 'R':  only computes R.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in one block of T.  K &gt;= 0.
-
-  L       (input)  INTEGER
-          The number of columns in one block of T.  L &gt;= 0.
-
-  M       (input)  INTEGER
-          The number of blocks in one block column of T.  M &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in one block row of T.  N &gt;= 0.
-
-  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
-          The leading M*K-by-L part of this array must contain
-          the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,M*K).
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
-          The leading K-by-(N-1)*L part of this array must contain
-          the first block row of T without the leading K-by-L
-          block.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
-
-  RNK     (output)  INTEGER
-          The number of columns in R, which is equivalent to the
-          numerical rank of T.
-
-  Q       (output)  DOUBLE PRECISION array, dimension (LDQ,RNK)
-          If JOB = 'Q', then the leading M*K-by-RNK part of this
-          array contains the factor Q.
-          If JOB = 'R', then this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= MAX(1,M*K),  if JOB = 'Q';
-          LDQ &gt;= 1,           if JOB = 'R'.
-
-  R       (output)  DOUBLE PRECISION array, dimension (LDR,RNK)
-          The leading N*L-by-RNK part of this array contains the
-          lower trapezoidal factor R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,N*L)
-
-  JPVT    (output)  INTEGER array, dimension (MIN(M*K,N*L))
-          This array records the column pivoting performed.
-          If JPVT(j) = k, then the j-th column of T*P was
-          the k-th column of T.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If TOL1 &gt;= 0.0, the user supplied diagonal tolerance;
-          if TOL1 &lt; 0.0, a default diagonal tolerance is used.
-
-  TOL2    DOUBLE PRECISION
-          If TOL2 &gt;= 0.0, the user supplied offdiagonal tolerance;
-          if TOL2 &lt; 0.0, a default offdiagonal tolerance is used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK;  DWORK(2) and DWORK(3) return the used values
-          for TOL1 and TOL2, respectively.
-          On exit, if INFO = -19,  DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 3, ( M*K + ( N - 1 )*L )*( L + 2*K ) + 9*L
-                              + MAX(M*K,(N-1)*L) ),    if JOB = 'Q';
-          LDWORK &gt;= MAX( 3, ( N - 1 )*L*( L + 2*K + 1 ) + 9*L,
-                              M*K*( L + 1 ) + L ),     if JOB = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  due to perturbations induced by roundoff errors, or
-                removal of nearly linearly dependent columns of the
-                generator, the Schur algorithm encountered a
-                situation where a diagonal element in the negative
-                generator is larger in magnitude than the
-                corresponding diagonal element in the positive
-                generator (modulo TOL1);
-          = 2:  due to perturbations induced by roundoff errors, or
-                removal of nearly linearly dependent columns of the
-                generator, the Schur algorithm encountered a
-                situation where diagonal elements in the positive
-                and negative generator are equal in magnitude
-                (modulo TOL1), but the offdiagonal elements suggest
-                that these columns are not linearly dependent
-                (modulo TOL2*ABS(diagonal element)).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-  If, during the process, the hyperbolic norm of a row in the
-  leading part of the generator is found to be less than or equal
-  to TOL1, then this row is not reduced. If the difference of the
-  corresponding columns has a norm less than or equal to TOL2 times
-  the magnitude of the leading element, then this column is removed
-  from the generator, as well as from R. Otherwise, the algorithm
-  breaks down. TOL1 is set to norm(TC)*sqrt(eps) and TOL2 is set
-  to N*L*sqrt(eps) by default.
-  If M*K &gt; L, the columns of T are permuted so that the diagonal
-  elements in one block column of R have decreasing magnitudes.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(K*RNK*L*M*N) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02JX EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX
-      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20 )
-      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
-     $                            *( LMAX + 2*KMAX ) + 5*LMAX
-     $                            + MMAX*KMAX + NMAX*LMAX )
-*     .. Local Scalars ..
-      CHARACTER        JOB
-      INTEGER          I, INFO, J, K, L, M, N, RNK
-      DOUBLE PRECISION TOL1, TOL2
-*     .. Local Arrays ..
-      INTEGER          JPVT(NMAX*LMAX)
-      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
-     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
-     $                 TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02JX
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, L, M, N, TOL1, TOL2, JOB
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
-     $                             I = 1,K )
-*        Compute the required part of the QR factorization.
-         CALL MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q, LDQ,
-     $                R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99994 ) RNK
-            IF ( LSAME( JOB, 'Q' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99993 ) ( Q(I,J), J = 1, RNK )
-   10          CONTINUE
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N*L
-               WRITE ( NOUT, FMT = 99993 ) ( R(I,J), J = 1, RNK )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            WRITE ( NOUT, FMT = 99992 ) ( JPVT(I),
-     $                                    I = 1, MIN( M*K, N*L ) )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02JX EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02JX = ',I2)
-99997 FORMAT (/' The factor Q is ')
-99996 FORMAT (/' The factor R is ')
-99995 FORMAT (/' The column permutation is ')
-99994 FORMAT (/' Numerical rank ',/' RNK = ',I5)
-99993 FORMAT (20(1X,F8.4))
-99992 FORMAT (20(1X,I4))
-99991 FORMAT (/' K is out of range.',/' K = ',I5)
-99990 FORMAT (/' L is out of range.',/' L = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02JX EXAMPLE PROGRAM DATA
-   3   3   4   4  -1.0D0  -1.0D0   Q
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     0.0     1.0
-     1.0     1.0     0.0
-     2.0     2.0     0.0
-     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     1.0
-     1.0     2.0     3.0     1.0     2.0     3.0     1.0     2.0     1.0
-     1.0     2.0     3.0     1.0     2.0     3.0     1.0     1.0     1.0
-     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02JX EXAMPLE PROGRAM RESULTS
-
-
- Numerical rank 
- RNK =     7
-
- The factor Q is 
-  -0.3313  -0.0105  -0.0353   0.0000  -0.4714  -0.8165   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082   0.7071
-  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082  -0.7071
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.1104   0.2824   0.9529   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.4288  -0.1271   0.8944   0.0000   0.0000   0.0000
-   0.0000   0.8576  -0.2541  -0.4472   0.0000   0.0000   0.0000
-
- The factor R is 
-  -9.0554   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -3.0921   2.3322   0.0000   0.0000   0.0000   0.0000   0.0000
-  -5.9633   1.9557  -1.2706   0.0000   0.0000   0.0000   0.0000
-  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
-  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
-  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
-  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
-  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
-  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
-  -7.2885   4.4866   0.9741   1.3416   2.8284   0.0000   0.0000
-  -2.7608   1.4851   0.2894   0.4472   0.4714   0.8165   0.0000
-  -5.5216   2.9701   0.5788   0.8944   0.9428   0.4082   0.7071
-
- The column permutation is 
-    3    1    2    6    5    4    9    8    7   12   10   11
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02KD.html b/doc/_build/html/_static/doc/MB02KD.html
deleted file mode 100644
index 5cf32bab..00000000
--- a/doc/_build/html/_static/doc/MB02KD.html
+++ /dev/null
@@ -1,346 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02KD">MB02KD</A></H2>
-<H3>
-Computation of the product C = alpha op( T ) B + beta C, with T a block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product
-
-            C = alpha*op( T )*B + beta*C,
-
-  where alpha and beta are scalars and T is a block Toeplitz matrix
-  specified by its first block column TC and first block row TR;
-  B and C are general matrices of appropriate dimensions.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA,
-     $                   TC, LDTC, TR, LDTR, B, LDB, C, LDC, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LDBLK, TRANS
-      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
-     $                  R
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LDBLK   CHARACTER*1
-          Specifies where the (1,1)-block of T is stored, as
-          follows:
-          = 'C':  in the first block of TC;
-          = 'R':  in the first block of TR.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of rows in the blocks of T.  K &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the blocks of T.  L &gt;= 0.
-
-  M       (input) INTEGER
-          The number of blocks in the first block column of T.
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of blocks in the first block row of T.  N &gt;= 0.
-
-  R       (input) INTEGER
-          The number of columns in B and C.  R &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then TC, TR and B
-          are not referenced.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then C need not be set
-          before entry.
-
-  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
-          On entry with LDBLK = 'C', the leading M*K-by-L part of
-          this array must contain the first block column of T.
-          On entry with LDBLK = 'R', the leading (M-1)*K-by-L part
-          of this array must contain the 2nd to the M-th blocks of
-          the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,M*K),      if LDBLK = 'C';
-          LDTC &gt;= MAX(1,(M-1)*K),  if LDBLK = 'R'.
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,k)
-          where k is (N-1)*L when LDBLK = 'C' and is N*L when
-          LDBLK = 'R'.
-          On entry with LDBLK = 'C', the leading K-by-(N-1)*L part
-          of this array must contain the 2nd to the N-th blocks of
-          the first block row of T.
-          On entry with LDBLK = 'R', the leading K-by-N*L part of
-          this array must contain the first block row of T.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
-
-  B       (input)  DOUBLE PRECISION array, dimension (LDB,R)
-          On entry with TRANS = 'N', the leading N*L-by-R part of
-          this array must contain the matrix B.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          M*K-by-R part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N*L),  if TRANS = 'N';
-          LDB &gt;= MAX(1,M*K),  if TRANS = 'T' or TRANS = 'C'.
-
-  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,R)
-          On entry with TRANS = 'N', the leading M*K-by-R part of
-          this array must contain the matrix C.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N*L-by-R part of this array must contain the matrix C.
-          On exit with TRANS = 'N', the leading M*K-by-R part of
-          this array contains the updated matrix C.
-          On exit with TRANS = 'T' or TRANS = 'C', the leading
-          N*L-by-R part of this array contains the updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M*K),  if TRANS = 'N';
-          LDC &gt;= MAX(1,N*L),  if TRANS = 'T' or TRANS = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For point Toeplitz matrices or sufficiently large block Toeplitz
-  matrices, this algorithm uses convolution algorithms based on
-  the fast Hartley transforms [1]. Otherwise, TC is copied in
-  reversed order into the workspace such that C can be computed from
-  barely M matrix-by-matrix multiplications.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, Charles.
-      Computational frameworks for the fast Fourier transform.
-      SIAM, 1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O( (K*L+R*L+K*R)*(N+M)*log(N+M) + K*L*R )
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION  ZERO, ONE
-      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX, RMAX
-      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20,
-     $                   RMAX = 20 )
-      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDB  = LMAX*NMAX, LDC  = KMAX*MMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = 2*( KMAX*LMAX + KMAX*RMAX
-     $                            + LMAX*RMAX + 1 )*( MMAX + NMAX ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, M, N, R
-      CHARACTER        LDBLK, TRANS
-      DOUBLE PRECISION ALPHA, BETA
-*     .. Local Arrays .. (Dimensioned for TRANS = 'N'.)
-      DOUBLE PRECISION B(LDB,RMAX), C(LDC,RMAX), DWORK(LDWORK),
-     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02KD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  K, L, M, N, R, LDBLK, TRANS
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF( R.LE.0 .OR. R.GT.RMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         IF ( LSAME( LDBLK, 'R' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ),
-     $                              I = 1,(M-1)*K )
-            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,N*L ), I = 1,K )
-         ELSE
-            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ),
-     $                              I = 1,K )
-         END IF
-         IF ( LSAME( TRANS, 'N' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,N*L )
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,M*K )
-         END IF
-         ALPHA = ONE
-         BETA  = ZERO
-         CALL MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA, TC,
-     $                LDTC, TR, LDTR, B, LDB, C, LDC, DWORK, LDWORK,
-     $                INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( TRANS, 'N' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
-   10          CONTINUE
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 20  I = 1, N*L
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02KD = ',I2)
-99997 FORMAT (' The product C = T * B is ')
-99996 FORMAT (' The product C = T^T * B is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' K is out of range.',/' K = ',I5)
-99993 FORMAT (/' L is out of range.',/' L = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' R is out of range.',/' R = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02KD EXAMPLE PROGRAM DATA
-   3    2   4    5    1    C    N
-     4.0     1.0
-     3.0     5.0
-     2.0     1.0
-     4.0     1.0
-     3.0     4.0
-     2.0     4.0
-     3.0     1.0
-     3.0     0.0
-     4.0     4.0
-     5.0     1.0
-     3.0     1.0
-     4.0     3.0
-     5.0     2.0     2.0     2.0     2.0     1.0     1.0     3.0
-     4.0     1.0     5.0     4.0     5.0     4.0     1.0     2.0
-     2.0     3.0     4.0     1.0     3.0     3.0     3.0     3.0
-     0.0
-     2.0
-     2.0
-     2.0
-     1.0
-     3.0
-     3.0
-     4.0
-     2.0
-     3.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02KD EXAMPLE PROGRAM RESULTS
-
- The product C = T * B is 
-  45.0000
-  76.0000
-  55.0000
-  44.0000
-  84.0000
-  56.0000
-  52.0000
-  70.0000
-  54.0000
-  49.0000
-  63.0000
-  59.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02MD.html b/doc/_build/html/_static/doc/MB02MD.html
deleted file mode 100644
index acdfc343..00000000
--- a/doc/_build/html/_static/doc/MB02MD.html
+++ /dev/null
@@ -1,462 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02MD">MB02MD</A></H2>
-<H3>
-Solution of Total Least-Squares problem using a SVD approach
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Total Least Squares (TLS) problem using a Singular
-  Value Decomposition (SVD) approach.
-  The TLS problem assumes an overdetermined set of linear equations
-  AX = B, where both the data matrix A as well as the observation
-  matrix B are inaccurate. The routine also solves determined and
-  underdetermined sets of equations by computing the minimum norm
-  solution.
-  It is assumed that all preprocessing measures (scaling, coordinate
-  transformations, whitening, ... ) of the data have been performed
-  in advance.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  C(LDC,*), DWORK(*), S(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Determines whether the values of the parameters RANK and
-          TOL are to be specified by the user or computed by the
-          routine as follows:
-          = 'R':  Compute RANK only;
-          = 'T':  Compute TOL only;
-          = 'B':  Compute both RANK and TOL;
-          = 'N':  Compute neither RANK nor TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the data matrix A and the
-          observation matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the data matrix A.  N &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the observation matrix B.
-          L &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if JOB = 'T' or JOB = 'N', then RANK must
-          specify r, the rank of the TLS approximation [A+DA|B+DB].
-          RANK &lt;= min(M,N).
-          Otherwise, r is computed by the routine.
-          On exit, if JOB = 'R' or JOB = 'B', and INFO = 0, then
-          RANK contains the computed (effective) rank of the TLS
-          approximation [A+DA|B+DB].
-          Otherwise, the user-supplied value of RANK may be
-          changed by the routine on exit if the RANK-th and the
-          (RANK+1)-th singular values of C = [A|B] are considered
-          to be equal, or if the upper triangular matrix F (as
-          defined in METHOD) is (numerically) singular.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
-          On entry, the leading M-by-(N+L) part of this array must
-          contain the matrices A and B. Specifically, the first N
-          columns must contain the data matrix A and the last L
-          columns the observation matrix B (right-hand sides).
-          On exit, the leading (N+L)-by-(N+L) part of this array
-          contains the (transformed) right singular vectors,
-          including null space vectors, if any, of C = [A|B].
-          Specifically, the leading (N+L)-by-RANK part of this array
-          always contains the first RANK right singular vectors,
-          corresponding to the largest singular values of C. If
-          L = 0, or if RANK = 0 and IWARN &lt;&gt; 2, the remaining
-          (N+L)-by-(N+L-RANK) top-right part of this array contains
-          the remaining N+L-RANK right singular vectors. Otherwise,
-          this part contains the matrix V2 transformed as described
-          in Step 3 of the TLS algorithm (see METHOD).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
-
-  S       (output) DOUBLE PRECISION array, dimension (min(M,N+L))
-          If INFO = 0, the singular values of matrix C, ordered
-          such that S(1) &gt;= S(2) &gt;= ... &gt;= S(p-1) &gt;= S(p) &gt;= 0,
-          where p = min(M,N+L).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
-          If INFO = 0, the leading N-by-L part of this array
-          contains the solution X to the TLS problem specified
-          by A and B.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= max(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used to determine the rank of the TLS
-          approximation [A+DA|B+DB] and to check the multiplicity
-          of the singular values of matrix C. Specifically, S(i)
-          and S(j) (i &lt; j) are considered to be equal if
-          SQRT(S(i)**2 - S(j)**2) &lt;= TOL, and the TLS approximation
-          [A+DA|B+DB] has rank r if S(i) &gt; TOL*S(1) (or S(i) &gt; TOL,
-          if TOL specifies sdev (see below)), for i = 1,2,...,r.
-          TOL is also used to check the singularity of the upper
-          triangular matrix F (as defined in METHOD).
-          If JOB = 'R' or JOB = 'N', then TOL must specify the
-          desired tolerance. If the user sets TOL to be less than or
-          equal to 0, the tolerance is taken as EPS, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH).
-          Otherwise, the tolerance is computed by the routine and
-          the user must supply the non-negative value sdev, i.e. the
-          estimated standard deviation of the error on each element
-          of the matrix C, as input value of TOL.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (L)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2) returns the reciprocal of the
-          condition number of the matrix F.
-          If INFO &gt; 0, DWORK(1:min(M,N+L)-1) contain the unconverged
-          non-diagonal elements of the bidiagonal matrix whose
-          diagonal is in S (see LAPACK Library routine DGESVD).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max(2, 3*(N+L) + M, 5*(N+L)),       if M &gt;= N+L;
-          LDWORK = max(2, M*(N+L) + max( 3M+N+L, 5*M), 3*L),
-                                                       if M &lt;  N+L.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 1:  if the rank of matrix C has been lowered because a
-                singular value of multiplicity greater than 1 was
-                found;
-          = 2:  if the rank of matrix C has been lowered because the
-                upper triangular matrix F is (numerically) singular.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if the SVD algorithm (in LAPACK Library routine
-                DBDSQR) has failed to converge. In this case, S(1),
-                S(2), ..., S(INFO) may not have been found
-                correctly and the remaining singular values may
-                not be the smallest. This failure is not likely
-                to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is an extension (see [3,4,5]) of the classical
-  TLS algorithm proposed by Golub and Van Loan [1].
-
-  Let [A|B] denote the matrix formed by adjoining the columns of B
-  to the columns of A on the right.
-
-  Total Least Squares (TLS) definition:
-  -------------------------------------
-
-    Given matrices A and B, find a matrix X satisfying
-
-         (A + DA) X = B + DB,
-
-    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
-    and X is an N-by-L matrix.
-    The solution X must be such that the Frobenius norm of [DA|DB]
-    is a minimum and each column of B + DB is in the range of
-    A + DA. Whenever the solution is not unique, the routine singles
-    out the minimum norm solution X.
-
-  Define matrix C = [A|B] and s(i) as its i-th singular value for
-  i = 1,2,...,min(M,NL), where NL = N + L. If M &lt; NL, then s(j) = 0
-  for j = M+1,...,NL.
-
-  The Classical TLS algorithm proceeds as follows (see [3,4,5]):
-
-  Step 1: Compute part of the singular value decomposition (SVD)
-          USV' of C = [A|B], namely compute S and V'. (An initial
-          QR factorization of C is used when M is larger enough
-          than NL.)
-
-  Step 2: If not fixed by the user, compute the rank r0 of the data
-          [A|B] based on TOL as follows: if JOB = 'R' or JOB = 'N',
-
-             s(1) &gt;= ... &gt;= s(r0) &gt; TOL*s(1) &gt;= ... &gt;= s(NL).
-
-          Otherwise, using [2], TOL can be computed from the
-          standard deviation sdev of the errors on [A|B]:
-
-             TOL = SQRT(2 * max(M,NL)) * sdev,
-
-          and the rank r0 is determined (if JOB = 'R' or 'B') using
-
-             s(1) &gt;= ... &gt;= s(r0) &gt; TOL &gt;= ... &gt;= s(NL).
-
-          The rank r of the approximation [A+DA|B+DB] is then equal
-          to the minimum of N and r0.
-
-  Step 3: Let V2 be the matrix of the columns of V corresponding to
-          the (NL - r) smallest singular values of C, i.e. the last
-          (NL - r) columns of V.
-          Compute with Householder transformations the orthogonal
-          matrix Q such that:
-
-                    |VH   Y|
-           V2 x Q = |      |
-                    |0    F|
-
-          where VH is an N-by-(N - r) matrix, Y is an N-by-L matrix
-          and F is an L-by-L upper triangular matrix.
-          If F is singular, then lower the rank r with the
-          multiplicity of s(r) and repeat this step.
-
-  Step 4: If F is nonsingular then the solution X is obtained by
-          solving the following equations by forward elimination:
-
-             X F = -Y.
-
-  Notes :
-  The TLS solution is unique if r = N, F is nonsingular and
-  s(N) &gt; s(N+1).
-  If F is singular, however, then the computed solution is infinite
-  and hence does not satisfy the second TLS criterion (see TLS
-  definition). For these cases, Golub and Van Loan [1] claim that
-  the TLS problem has no solution. The properties of these so-called
-  nongeneric problems are described in [4] and the TLS computations
-  are generalized in order to solve them. As proven in [4], the
-  proposed generalization satisfies the TLS criteria for any
-  number L of observation vectors in B provided that, in addition,
-  the solution | X| is constrained to be orthogonal to all vectors
-               |-I|
-  of the form |w| which belong to the space generated by the columns
-              |0|
-  of the submatrix |Y|.
-                   |F|
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      An Analysis of the Total Least-Squares Problem.
-      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
-
-  [2] Staar, J., Vandewalle, J. and Wemans, M.
-      Realization of Truncated Impulse Response Sequences with
-      Prescribed Uncertainty.
-      Proc. 8th IFAC World Congress, Kyoto, I, pp. 7-12, 1981.
-
-  [3] Van Huffel, S.
-      Analysis of the Total Least Squares Problem and its Use in
-      Parameter Estimation.
-      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
-      Universiteit Leuven, Belgium, June 1987.
-
-  [4] Van Huffel, S. and Vandewalle, J.
-      Analysis and Solution of the Nongeneric Total Least Squares
-      Problem.
-      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
-
-  [5] Van Huffel, S. and Vandewalle, J.
-      The Total Least Squares Problem: Computational Aspects and
-      Analysis.
-      Series "Frontiers in Applied Mathematics", Vol. 9,
-      SIAM, Philadelphia, 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm consists in (backward) stable steps.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, LMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
-      INTEGER          LDC, LDX
-      PARAMETER        ( LDC = MAX( MMAX,NMAX+LMAX ), LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MMAX*(NMAX+LMAX) +
-     $                            MAX( 3*MIN(MMAX,NMAX+LMAX) +
-     $                                   MAX(MMAX,NMAX+LMAX),
-     $                                 5*MIN(MMAX,NMAX+LMAX),
-     $                                 3*LMAX ) )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = LMAX )
-      INTEGER          LENGS
-      PARAMETER        ( LENGS = MIN( MMAX, NMAX+LMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SDEV, TOL
-      INTEGER          I, INFO, IWARN, J, L, M, N, RANK
-      CHARACTER*1      JOB
-*     .. Local Arrays ..
-      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK), S(LENGS),
-     $                 X(LDX,LMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, L, JOB
-*
-      IF ( LSAME( JOB, 'R' ) ) THEN
-         READ ( NIN, FMT = * ) TOL
-      ELSE IF ( LSAME( JOB, 'T' ) ) THEN
-         READ ( NIN, FMT = * ) RANK, SDEV
-         TOL = SDEV
-      ELSE IF ( LSAME( JOB, 'N' ) ) THEN
-         READ ( NIN, FMT = * ) RANK, TOL
-      ELSE
-         READ ( NIN, FMT = * ) SDEV
-         TOL = SDEV
-      END IF
-*
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
-*        Compute the solution to the TLS problem Ax = b.
-         CALL MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL, IWORK,
-     $                DWORK, LDWORK, IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) RANK
-            ELSE
-               IF ( ( LSAME( JOB, 'R' ) ) .OR. ( LSAME( JOB, 'B' ) ) )
-     $            WRITE ( NOUT, FMT = 99996 ) RANK
-            END IF
-            WRITE ( NOUT, FMT = 99995 )
-            DO 40 J = 1, L
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) X(I,J)
-   20          CONTINUE
-               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99993 )
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99992 ) ( S(J),J = 1, MIN( M, N+L ) )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02MD = ',I2)
-99997 FORMAT (' IWARN on exit from MB02MD = ',I2,/)
-99996 FORMAT (' The computed rank of the TLS approximation = ',I3,/)
-99995 FORMAT (' The solution X to the TLS problem is ',/)
-99994 FORMAT (1X,F8.4)
-99993 FORMAT (' ')
-99992 FORMAT (/' The singular values of C are ',//(1X,F8.4))
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02MD EXAMPLE PROGRAM DATA
-   6     3     1     B
-   0.0
-   0.80010  0.39985  0.60005  0.89999
-   0.29996  0.69990  0.39997  0.82997
-   0.49994  0.60003  0.20012  0.79011
-   0.90013  0.20016  0.79995  0.85002
-   0.39998  0.80006  0.49985  0.99016
-   0.20002  0.90007  0.70009  1.02994
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02MD EXAMPLE PROGRAM RESULTS
-
- The computed rank of the TLS approximation =   3
-
- The solution X to the TLS problem is 
-
-   0.5003
-   0.8003
-   0.2995
-
- The singular values of C are 
-
-   3.2281
-   0.8716
-   0.3697
-   0.0001
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,583 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02ND">MB02ND</A></H2>
-<H3>
-Solution of Total Least-Squares problem using a partial SVD approach
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Total Least Squares (TLS) problem using a Partial
-  Singular Value Decomposition (PSVD) approach.
-  The TLS problem assumes an overdetermined set of linear equations
-  AX = B, where both the data matrix A as well as the observation
-  matrix B are inaccurate. The routine also solves determined and
-  underdetermined sets of equations by computing the minimum norm
-  solution.
-  It is assumed that all preprocessing measures (scaling, coordinate
-  transformations, whitening, ... ) of the data have been performed
-  in advance.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
-     $                   TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
-      DOUBLE PRECISION  RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*), INUL(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  C(LDC,*), DWORK(*), Q(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the data matrix A and the
-          observation matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the data matrix A.  N &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the observation matrix B.
-          L &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if RANK &lt; 0, then the rank of the TLS
-          approximation [A+DA|B+DB] (r say) is computed by the
-          routine.
-          Otherwise, RANK must specify the value of r.
-          RANK &lt;= min(M,N).
-          On exit, if RANK &lt; 0 on entry and INFO = 0, then RANK
-          contains the computed rank of the TLS approximation
-          [A+DA|B+DB].
-          Otherwise, the user-supplied value of RANK may be
-          changed by the routine on exit if the RANK-th and the
-          (RANK+1)-th singular values of C = [A|B] are considered
-          to be equal, or if the upper triangular matrix F (as
-          defined in METHOD) is (numerically) singular.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, if RANK &lt; 0, then the rank of the TLS
-          approximation [A+DA|B+DB] is computed using THETA as
-          (min(M,N+L) - d), where d is the number of singular
-          values of [A|B] &lt;= THETA. THETA &gt;= 0.0.
-          Otherwise, THETA is an initial estimate (t say) for
-          computing a lower bound on the RANK largest singular
-          values of [A|B]. If THETA &lt; 0.0 on entry however, then
-          t is computed by the routine.
-          On exit, if RANK &gt;= 0 on entry, then THETA contains the
-          computed bound such that precisely RANK singular values
-          of C = [A|B] are greater than THETA + TOL.
-          Otherwise, THETA is unchanged.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
-          On entry, the leading M-by-(N+L) part of this array must
-          contain the matrices A and B. Specifically, the first N
-          columns must contain the data matrix A and the last L
-          columns the observation matrix B (right-hand sides).
-          On exit, if INFO = 0, the first N+L components of the
-          columns of this array whose index i corresponds with
-          INUL(i) = .TRUE., are the possibly transformed (N+L-RANK)
-          base vectors of the right singular subspace corresponding
-          to the singular values of C = [A|B] which are less than or
-          equal to THETA. Specifically, if L = 0, or if RANK = 0 and
-          IWARN &lt;&gt; 2, these vectors are indeed the base vectors
-          above. Otherwise, these vectors form the matrix V2,
-          transformed as described in Step 4 of the PTLS algorithm
-          (see METHOD). The TLS solution is computed from these
-          vectors. The other columns of array C contain no useful
-          information.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
-          If INFO = 0, the leading N-by-L part of this array
-          contains the solution X to the TLS problem specified by
-          A and B.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= max(1,N).
-
-  Q       (output) DOUBLE PRECISION array, dimension
-          (max(1,2*min(M,N+L)-1))
-          This array contains the partially diagonalized bidiagonal
-          matrix J computed from C, at the moment that the desired
-          singular subspace has been found. Specifically, the
-          leading p = min(M,N+L) entries of Q contain the diagonal
-          elements q(1),q(2),...,q(p) and the entries Q(p+1),Q(p+2),
-          ...,Q(2*p-1) contain the superdiagonal elements e(1),e(2),
-          ...,e(p-1) of J.
-
-  INUL    (output) LOGICAL array, dimension (N+L)
-          The indices of the elements of this array with value
-          .TRUE. indicate the columns in C containing the base
-          vectors of the right singular subspace of C from which
-          the TLS solution has been computed.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width. TOL is also taken
-          as an absolute tolerance for negligible elements in the
-          QR/QL iterations. If the user sets TOL to be less than or
-          equal to 0, then the tolerance is taken as specified in
-          SLICOT Library routine MB04YD document.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged. If the user sets RELTOL to be less than
-          BASE * EPS, where BASE is machine radix and EPS is machine
-          precision (see LAPACK Library routine DLAMCH), then the
-          tolerance is taken as BASE * EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+2*L)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2) returns the reciprocal of the
-          condition number of the matrix F.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max(2, max(M,N+L) + 2*min(M,N+L),
-                       min(M,N+L) + LW + max(6*(N+L)-5,
-                                             L*L+max(N+L,3*L)),
-          where
-          LW = (N+L)*(N+L-1)/2,  if M &gt;= N+L,
-          LW = M*(N+L-(M-1)/2),  if M &lt;  N+L.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N+L)
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 1:  if the rank of matrix C has been lowered because a
-                singular value of multiplicity greater than 1 was
-                found;
-          = 2:  if the rank of matrix C has been lowered because the
-                upper triangular matrix F is (numerically) singular.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the maximum number of QR/QL iteration steps
-                (30*MIN(M,N)) has been exceeded;
-          = 2:  if the computed rank of the TLS approximation
-                [A+DA|B+DB] exceeds MIN(M,N). Try increasing the
-                value of THETA or set the value of RANK to min(M,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Partial Total Least Squares (PTLS) approach
-  proposed by Van Huffel and Vandewalle [5].
-
-  Let C = [A|B] denote the matrix formed by adjoining the columns of
-  B to the columns of A on the right.
-
-  Total Least Squares (TLS) definition:
-  -------------------------------------
-
-    Given matrices A and B, find a matrix X satisfying
-
-         (A + DA) X = B + DB,
-
-    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
-    and X is an N-by-L matrix.
-    The solution X must be such that the Frobenius norm of [DA|DB]
-    is a minimum and each column of B + DB is in the range of
-    A + DA. Whenever the solution is not unique, the routine singles
-    out the minimum norm solution X.
-
-  Let V denote the right singular subspace of C. Since the TLS
-  solution can be computed from any orthogonal basis of the subspace
-  of V corresponding to the smallest singular values of C, the
-  Partial Singular Value Decomposition (PSVD) can be used instead of
-  the classical SVD. The dimension of this subspace of V may be
-  determined by the rank of C or by an upper bound for those
-  smallest singular values.
-
-  The PTLS algorithm proceeds as follows (see [2 - 5]):
-
-  Step 1: Bidiagonalization phase
-          -----------------------
-   (a) If M is large enough than N + L, transform C into upper
-       triangular form R by Householder transformations.
-   (b) Transform C (or R) into upper bidiagonal form
-       (p = min(M,N+L)):
-
-                  |q(1) e(1)  0   ...  0   |
-             (0)  | 0   q(2) e(2)      .   |
-            J   = | .                  .   |
-                  | .                e(p-1)|
-                  | 0             ... q(p) |
-
-       if M &gt;= N + L, or lower bidiagonal form:
-
-                  |q(1)  0    0   ...  0     0   |
-             (0)  |e(1) q(2)  0        .     .   |
-            J   = | .                  .     .   |
-                  | .                 q(p)   .   |
-                  | 0             ... e(p-1) q(p)|
-
-       if M &lt; N + L, using Householder transformations.
-       In the second case, transform the matrix to the upper
-       bidiagonal form by applying Givens rotations.
-   (c) Initialize the right singular base matrix with the identity
-       matrix.
-
-  Step 2: Partial diagonalization phase
-          -----------------------------
-  If the upper bound THETA is not given, then compute THETA such
-  that precisely p - RANK singular values (p=min(M,N+L)) of the
-  bidiagonal matrix are less than or equal to THETA, using a
-  bisection method [5]. Diagonalize the given bidiagonal matrix J
-  partially, using either QL iterations (if the upper left diagonal
-  element of the considered bidiagonal submatrix is smaller than the
-  lower right diagonal element) or QR iterations, such that J is
-  split into unreduced bidiagonal submatrices whose singular values
-  are either all larger than THETA or are all less than or equal
-  to THETA. Accumulate the Givens rotations in V.
-
-  Step 3: Back transformation phase
-          -------------------------
-  Apply the Householder transformations of Step 1(b) onto the base
-  vectors of V associated with the bidiagonal submatrices with all
-  singular values less than or equal to THETA.
-
-  Step 4: Computation of F and Y
-          ----------------------
-  Let V2 be the matrix of the columns of V corresponding to the
-  (N + L - RANK) smallest singular values of C.
-  Compute with Householder transformations the matrices F and Y
-  such that:
-
-                    |VH   Y|
-           V2 x Q = |      |
-                    |0    F|
-
-  where Q is an orthogonal matrix, VH is an N-by-(N-RANK) matrix,
-  Y is an N-by-L matrix and F is an L-by-L upper triangular matrix.
-  If F is singular, then reduce the value of RANK by one and repeat
-  Steps 2, 3 and 4.
-
-  Step 5: Computation of the TLS solution
-          -------------------------------
-  If F is non-singular then the solution X is obtained by solving
-  the following equations by forward elimination:
-
-           X F = -Y.
-
-  Notes:
-  If RANK is lowered in Step 4, some additional base vectors must
-  be computed in Step 2. The additional computations are kept to
-  a minimum.
-  If RANK is lowered in Step 4 but the multiplicity of the RANK-th
-  singular value is larger than 1, then the value of RANK is further
-  lowered with its multiplicity defined by the parameter TOL. This
-  is done at the beginning of Step 2 by calling SLICOT Library
-  routine MB03MD (from MB04YD), which estimates THETA using a
-  bisection method. If F in Step 4 is singular, then the computed
-  solution is infinite and hence does not satisfy the second TLS
-  criterion (see TLS definition). For these cases, Golub and
-  Van Loan [1] claim that the TLS problem has no solution. The
-  properties of these so-called nongeneric problems are described
-  in [6] and the TLS computations are generalized in order to solve
-  them. As proven in [6], the proposed generalization satisfies the
-  TLS criteria for any number L of observation vectors in B provided
-  that, in addition, the solution | X| is constrained to be
-                                  |-I|
-  orthogonal to all vectors of the form |w| which belong to the
-                                        |0|
-  space generated by the columns of the submatrix |Y|.
-                                                  |F|
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      An Analysis of the Total Least-Squares Problem.
-      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
-
-  [2] Van Huffel, S., Vandewalle, J. and Haegemans, A.
-      An Efficient and Reliable Algorithm for Computing the
-      Singular Subspace of a Matrix Associated with its Smallest
-      Singular Values.
-      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
-
-  [3] Van Huffel, S.
-      Analysis of the Total Least Squares Problem and its Use in
-      Parameter Estimation.
-      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
-      Universiteit Leuven, Belgium, June 1987.
-
-  [4] Chan, T.F.
-      An Improved Algorithm for Computing the Singular Value
-      Decomposition.
-      ACM TOMS, 8, pp. 72-83, 1982.
-
-  [5] Van Huffel, S. and Vandewalle, J.
-      The Partial Total Least Squares Algorithm.
-      J. Comput. Appl. Math., 21, pp. 333-341, 1988.
-
-  [6] Van Huffel, S. and Vandewalle, J.
-      Analysis and Solution of the Nongeneric Total Least Squares
-      Problem.
-      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The computational efficiency of the PTLS algorithm compared with
-  the classical TLS algorithm (see [2 - 5]) is obtained by making
-  use of PSVD (see [1]) instead of performing the entire SVD.
-  Depending on the gap between the RANK-th and the (RANK+1)-th
-  singular values of C, the number (N + L - RANK) of base vectors to
-  be computed with respect to the column dimension (N + L) of C and
-  the desired accuracy RELTOL, the algorithm used by this routine is
-  approximately twice as fast as the classical TLS algorithm at the
-  expense of extra storage requirements, namely:
-    (N + L) x (N + L - 1)/2  if M &gt;= N + L or
-    M x (N + L - (M - 1)/2)  if M &lt;  N + L.
-  This is because the Householder transformations performed on the
-  rows of C in the bidiagonalization phase (see Step 1) must be kept
-  until the end (Step 5).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, LMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
-      INTEGER          LDC, LDX
-      PARAMETER        ( LDC = MAX( MMAX, NMAX+LMAX ), LDX = NMAX )
-      INTEGER          LENGQ
-      PARAMETER        ( LENGQ = 2*MIN(MMAX,NMAX+LMAX)-1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX+2*LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(2, MAX( MMAX, NMAX+LMAX ) +
-     $                            2*MIN( MMAX, NMAX+LMAX ),
-     $                            MIN( MMAX, NMAX+LMAX ) +
-     $                            MAX( ( NMAX+LMAX )*( NMAX+LMAX-1 )/2,
-     $                              MMAX*( NMAX+LMAX-( MMAX-1 )/2 ) ) +
-     $                            MAX( 6*(NMAX+LMAX)-5, LMAX*LMAX +
-     $                                 MAX( NMAX+LMAX, 3*LMAX ) ) ) )
-      INTEGER          LBWORK
-      PARAMETER        ( LBWORK = NMAX+LMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
-      INTEGER          I, INFO, IWARN, J, K, L, LOOP, M, MINMNL, N,
-     $                 RANK, RANK1
-*     .. Local Arrays ..
-      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK),
-     $                 Q(LENGQ), X(LDX,LMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LBWORK), INUL(NMAX+LMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB02ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, L, RANK, THETA, TOL, RELTOL
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99982 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) N
-      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99981 ) L
-      ELSE IF ( RANK.GT.MIN( MMAX, NMAX ) ) THEN
-         WRITE ( NOUT, FMT = 99980 ) RANK
-      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
-         WRITE ( NOUT, FMT = 99979 ) THETA
-      ELSE
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
-         RANK1 = RANK
-         THETA1 = THETA
-*        Compute the solution to the TLS problem Ax = b.
-         CALL MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
-     $                TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK, IWARN,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) RANK
-            ELSE
-               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
-            END IF
-            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
-            WRITE ( NOUT, FMT = 99994 )
-            MINMNL = MIN( M, N+L )
-            LOOP = MINMNL - 1
-            DO 20 I = 1, LOOP
-               K = I + MINMNL
-               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99992 ) MINMNL, MINMNL, Q(MINMNL)
-            WRITE ( NOUT, FMT = 99991 )
-            DO 60 J = 1, L
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) X(I,J)
-   40          CONTINUE
-               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99989 )
-   60       CONTINUE
-            WRITE ( NOUT, FMT = 99987 ) N + L, N + L
-            WRITE ( NOUT, FMT = 99985 )
-            DO 80 I = 1, MAX( M, N + L )
-               WRITE ( NOUT, FMT = 99984 ) ( C(I,J), J = 1,N+L )
-   80       CONTINUE
-            WRITE ( NOUT, FMT = 99986 )
-            DO 100 J = 1, N + L
-               WRITE ( NOUT, FMT = 99988 ) J, INUL(J)
-  100       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02ND = ',I2)
-99997 FORMAT (' IWARN on exit from MB02ND = ',I2,/)
-99996 FORMAT (' The computed rank of the TLS approximation  = ',I3,/)
-99995 FORMAT (' The computed value of THETA = ',F7.4,/)
-99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
-     $       'matrix are',/)
-99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
-99991 FORMAT (' The solution X to the TLS problem is ',/)
-99990 FORMAT (1X,F8.4)
-99989 FORMAT (' ')
-99988 FORMAT (I3,L8)
-99987 FORMAT (/' Right singular subspace corresponds to the first ',I2,
-     $       ' components of the j-th ',/' column of C for which INUL(',
-     $       'j) = .TRUE., j = 1,...,',I2,/)
-99986 FORMAT (/'  j    INUL(j)',/)
-99985 FORMAT (' Matrix C',/)
-99984 FORMAT (20(1X,F8.4))
-99983 FORMAT (/' N is out of range.',/' N = ',I5)
-99982 FORMAT (/' M is out of range.',/' M = ',I5)
-99981 FORMAT (/' L is out of range.',/' L = ',I5)
-99980 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
-99979 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02ND EXAMPLE PROGRAM DATA
-   6     3     1     -1     0.001     0.0     0.0
-   0.80010  0.39985  0.60005  0.89999
-   0.29996  0.69990  0.39997  0.82997
-   0.49994  0.60003  0.20012  0.79011
-   0.90013  0.20016  0.79995  0.85002
-   0.39998  0.80006  0.49985  0.99016
-   0.20002  0.90007  0.70009  1.02994
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02ND EXAMPLE PROGRAM RESULTS
-
- The computed rank of the TLS approximation  =   3
-
- The elements of the partially diagonalized bidiagonal matrix are
-
- (1,1) =  3.2280   (1,2) = -0.0287
- (2,2) =  0.8714   (2,3) =  0.0168
- (3,3) =  0.3698   (3,4) =  0.0000
- (4,4) =  0.0001
-
- The solution X to the TLS problem is 
-
-   0.5003
-   0.8003
-   0.2995
-
- Right singular subspace corresponds to the first  4 components of the j-th 
- column of C for which INUL(j) = .TRUE., j = 1,..., 4
-
- Matrix C
-
-  -0.3967  -0.7096   0.4612  -0.3555
-   0.9150  -0.2557   0.2414  -0.5687
-  -0.0728   0.6526   0.5215  -0.2128
-   0.0000   0.0720   0.6761   0.7106
-   0.1809   0.3209   0.0247  -0.4139
-   0.0905   0.4609  -0.3528   0.5128
-
-  j    INUL(j)
-
-  1       F
-  2       F
-  3       F
-  4       T
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02NY.html b/doc/_build/html/_static/doc/MB02NY.html
deleted file mode 100644
index 2de98dd8..00000000
--- a/doc/_build/html/_static/doc/MB02NY.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02NY">MB02NY</A></H2>
-<H3>
-Separation of a zero singular value of a bidiagonal submatrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To separate a zero singular value of a bidiagonal submatrix of
-  order k, k &lt;= p, of the bidiagonal matrix
-
-            |Q(1) E(1)  0    ...   0   |
-            | 0   Q(2) E(2)        .   |
-        J = | .                    .   |
-            | .                  E(p-1)|
-            | 0   ...  ...   ...  Q(p) |
-
-  with p = MIN(M,N), by annihilating one or two superdiagonal
-  elements E(i-1) (if i &gt; 1) and/or E(i) (if i &lt; k).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02NY( UPDATU, UPDATV, M, N, I, K, Q, E, U, LDU, V,
-     $                   LDV, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           UPDATU, UPDATV
-      INTEGER           I, K, LDU, LDV, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPDATU  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix U the left-hand Givens rotations S, as follows:
-          = .FALSE.:  Do not form U;
-          = .TRUE. :  The given matrix U is updated (postmultiplied)
-                      by the left-hand Givens rotations S.
-
-  UPDATV  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix V the right-hand Givens rotations T, as follows:
-          = .FALSE.:  Do not form V;
-          = .TRUE. :  The given matrix V is updated (postmultiplied)
-                      by the right-hand Givens rotations T.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix U.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix V.  N &gt;= 0.
-
-  I       (input) INTEGER
-          The index of the negligible diagonal entry Q(I) of the
-          bidiagonal matrix J, I &lt;= p.
-
-  K       (input) INTEGER
-          The index of the last diagonal entry of the considered
-          bidiagonal submatrix of J, i.e., E(K-1) is considered
-          negligible, K &lt;= p.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (p)
-          where p = MIN(M,N).
-          On entry, Q must contain the diagonal entries of the
-          bidiagonal matrix J.
-          On exit, Q contains the diagonal entries of the
-          transformed bidiagonal matrix S' J T.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
-          On entry, E must contain the superdiagonal entries of J.
-          On exit, E contains the superdiagonal entries of the
-          transformed bidiagonal matrix S' J T.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
-          On entry, if UPDATU = .TRUE., U must contain the M-by-p
-          left transformation matrix.
-          On exit, if UPDATU = .TRUE., the Givens rotations S on the
-          left, annihilating E(i) if i &lt; k, have been postmultiplied
-          into U.
-          U is not referenced if UPDATU = .FALSE..
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
-          LDU &gt;= 1        if UPDATU = .FALSE..
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
-          On entry, if UPDATV = .TRUE., V must contain the N-by-p
-          right transformation matrix.
-          On exit, if UPDATV = .TRUE., the Givens rotations T on the
-          right, annihilating E(i-1) if i &gt; 1,  have been
-          postmultiplied into V.
-          V is not referenced if UPDATV = .FALSE..
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
-          LDV &gt;= 1        if UPDATV = .FALSE..
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
-          LDWORK &gt;= 2*MAX(K-I,I-1),  if UPDATV = UPDATU = .TRUE.;
-          LDWORK &gt;= 2*(K-I), if UPDATU = .TRUE., UPDATV = .FALSE.;
-          LDWORK &gt;= 2*(I-1), if UPDATV = .TRUE., UPDATU = .FALSE.;
-          LDWORK &gt;= 1,       if UPDATU = UPDATV = .FALSE..
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let the considered bidiagonal submatrix be
-
-            |Q(1) E(1)  0                    ...   0   |
-            | 0   Q(2) E(2)                        .   |
-            | .                                    .   |
-            | .           Q(i-1) E(i-1)            .   |
-       Jk = | .                   Q(i) E(i)        .   |.
-            | .                       Q(i+1) .     .   |
-            | .                              ..    .   |
-            | .                                  E(k-1)|
-            | 0    ...                       ...  Q(k) |
-
-  A zero singular value of Jk manifests itself by a zero diagonal
-  entry Q(i) or in practice, a negligible value of Q(i).
-  When a negligible diagonal element Q(i) in Jk is present, the
-  bidiagonal submatrix Jk is split by the routine into 2 or 3
-  unreduced bidiagonal submatrices by annihilating E(i) (if i &lt; k)
-  using Givens rotations S on the left and by annihilating E(i-1)
-  (if i &gt; 1) using Givens rotations T on the right until Jk is
-  reduced to the form:
-
-            |Q(1) E(1)  0                ...   0   |
-            | 0         .                ...   .   |
-            | .                          ...   .   |
-            | .       Q(i-1) 0                 .   |
-  S' Jk T = | .              0   0             .   |.
-            | .                 Q(i+1)   .     .   |
-            | .                          ..    .   |
-            | .                              E(k-1)|
-            | 0    ...                   ...  Q(k) |
-
-  For more details, see [1, pp.11.12-11.14].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Dongarra, J.J., Bunch, J.R., Moler C.B. and Stewart, G.W.
-      LINPACK User's Guide.
-      SIAM, Philadelphia, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02OD.html b/doc/_build/html/_static/doc/MB02OD.html
deleted file mode 100644
index f6b323c6..00000000
--- a/doc/_build/html/_static/doc/MB02OD.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02OD">MB02OD</A></H2>
-<H3>
-Solution of matrix equations A X = alpha B, or X A = alpha B, A triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve (if well-conditioned) one of the matrix equations
-
-     op( A )*X = alpha*B,   or   X*op( A ) = alpha*B,
-
-  where alpha is a scalar, X and B are m-by-n matrices, A is a unit,
-  or non-unit, upper or lower triangular matrix and op( A ) is one
-  of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  An estimate of the reciprocal of the condition number of the
-  triangular matrix A, in either the 1-norm or the infinity-norm, is
-  also computed as
-
-     RCOND = 1 / ( norm(A) * norm(inv(A)) ).
-
-  and the specified matrix equation is solved only if RCOND is
-  larger than a given tolerance TOL.  In that case, the matrix X is
-  overwritten on B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02OD( SIDE, UPLO, TRANS, DIAG, NORM, M, N, ALPHA, A,
-     $                   LDA, B, LDB, RCOND, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DIAG, NORM, SIDE, TRANS, UPLO
-      INTEGER            INFO, LDA, LDB, M, N
-      DOUBLE PRECISION   ALPHA, RCOND, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether op( A ) appears on the left or right
-          of X as follows:
-          = 'L':  op( A )*X = alpha*B;
-          = 'R':  X*op( A ) = alpha*B.
-
-  UPLO    CHARACTER*1
-          Specifies whether the matrix A is an upper or lower
-          triangular matrix as follows:
-          = 'U':  A is an upper triangular matrix;
-          = 'L':  A is a lower triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-  DIAG    CHARACTER*1
-          Specifies whether or not A is unit triangular as follows:
-          = 'U':  A is assumed to be unit triangular;
-          = 'N':  A is not assumed to be unit triangular.
-
-  NORM    CHARACTER*1
-          Specifies whether the 1-norm condition number or the
-          infinity-norm condition number is required:
-          = '1' or 'O':  1-norm;
-          = 'I':         Infinity-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of B.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar  alpha. When alpha is zero then A is not
-          referenced and B need not be set before entry.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with UPLO = 'U', the leading k-by-k upper
-          triangular part of this array must contain the upper
-          triangular matrix and the strictly lower triangular part
-          of A is not referenced.
-          On entry with UPLO = 'L', the leading k-by-k lower
-          triangular part of this array must contain the lower
-          triangular matrix and the strictly upper triangular part
-          of A is not referenced.
-          Note that when DIAG = 'U', the diagonal elements of A are
-          not referenced either, but are assumed to be unity.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= max(1,M) when SIDE = 'L';
-          LDA &gt;= max(1,N) when SIDE = 'R'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand side matrix B.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X.
-          Otherwise, this array is not modified by the routine.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal of the condition number of the matrix A,
-          computed as RCOND = 1/(norm(A) * norm(inv(A))).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the matrix A. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the reciprocal
-          condition number of that matrix; a matrix whose estimated
-          condition number is less than 1/TOL is considered to be
-          nonsingular. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF = k*k*EPS,
-          is used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (k)
-
-  DWORK   DOUBLE PRECISION array, dimension (3*k)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix A is numerically singular, i.e. the
-                condition number estimate of A (in the specified
-                norm) exceeds 1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An estimate of the reciprocal of the condition number of the
-  triangular matrix A (in the specified norm) is computed, and if
-  this estimate is larger then the given (or default) tolerance,
-  the specified matrix equation is solved using Level 3 BLAS
-  routine DTRSM.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                          2
-  The algorithm requires k N/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02PD.html b/doc/_build/html/_static/doc/MB02PD.html
deleted file mode 100644
index d2d77c6b..00000000
--- a/doc/_build/html/_static/doc/MB02PD.html
+++ /dev/null
@@ -1,335 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02PD">MB02PD</A></H2>
-<H3>
-Solution of matrix equation op(A) X = B, with error bounds and condition estimates
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve (if well-conditioned) the matrix equations
-
-     op( A )*X = B,
-
-  where X and B are N-by-NRHS matrices, A is an N-by-N matrix and
-  op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  Error bounds on the solution and a condition estimate are also
-  provided.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02PD( FACT, TRANS, N, NRHS, A, LDA, AF, LDAF, IPIV,
-     $                   EQUED, R, C, B, LDB, X, LDX, RCOND, FERR, BERR,
-     $                   IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUED, FACT, TRANS
-      INTEGER           INFO, LDA, LDAF, LDB, LDX, N, NRHS
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      INTEGER           IPIV( * ), IWORK( * )
-      DOUBLE PRECISION  A( LDA, * ), AF( LDAF, * ), B( LDB, * ),
-     $                  BERR( * ), C( * ), DWORK( * ), FERR( * ),
-     $                  R( * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FACT    CHARACTER*1
-          Specifies whether or not the factored form of the matrix A
-          is supplied on entry, and if not, whether the matrix A
-          should be equilibrated before it is factored.
-          = 'F':  On entry, AF and IPIV contain the factored form
-                  of A. If EQUED is not 'N', the matrix A has been
-                  equilibrated with scaling factors given by R
-                  and C. A, AF, and IPIV are not modified.
-          = 'N':  The matrix A will be copied to AF and factored.
-          = 'E':  The matrix A will be equilibrated if necessary,
-                  then copied to AF and factored.
-
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations as follows:
-          = 'N':  A * X = B     (No transpose);
-          = 'T':  A**T * X = B  (Transpose);
-          = 'C':  A**H * X = B  (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of linear equations, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrices B and X.  NRHS &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.  If FACT = 'F' and EQUED is not 'N',
-          then A must have been equilibrated by the scaling factors
-          in R and/or C.  A is not modified if FACT = 'F' or 'N',
-          or if FACT = 'E' and EQUED = 'N' on exit.
-          On exit, if EQUED .NE. 'N', the leading N-by-N part of
-          this array contains the matrix A scaled as follows:
-          EQUED = 'R':  A := diag(R) * A;
-          EQUED = 'C':  A := A * diag(C);
-          EQUED = 'B':  A := diag(R) * A * diag(C).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  AF      (input or output) DOUBLE PRECISION array, dimension
-          (LDAF,N)
-          If FACT = 'F', then AF is an input argument and on entry
-          the leading N-by-N part of this array must contain the
-          factors L and U from the factorization A = P*L*U as
-          computed by DGETRF.  If EQUED .NE. 'N', then AF is the
-          factored form of the equilibrated matrix A.
-          If FACT = 'N', then AF is an output argument and on exit
-          the leading N-by-N part of this array contains the factors
-          L and U from the factorization A = P*L*U of the original
-          matrix A.
-          If FACT = 'E', then AF is an output argument and on exit
-          the leading N-by-N part of this array contains the factors
-          L and U from the factorization A = P*L*U of the
-          equilibrated matrix A (see the description of A for the
-          form of the equilibrated matrix).
-
-  LDAF    (input) INTEGER
-          The leading dimension of the array AF.  LDAF &gt;= max(1,N).
-
-  IPIV    (input or output) INTEGER array, dimension (N)
-          If FACT = 'F', then IPIV is an input argument and on entry
-          it must contain the pivot indices from the factorization
-          A = P*L*U as computed by DGETRF; row i of the matrix was
-          interchanged with row IPIV(i).
-          If FACT = 'N', then IPIV is an output argument and on exit
-          it contains the pivot indices from the factorization
-          A = P*L*U of the original matrix A.
-          If FACT = 'E', then IPIV is an output argument and on exit
-          it contains the pivot indices from the factorization
-          A = P*L*U of the equilibrated matrix A.
-
-  EQUED   (input or output) CHARACTER*1
-          Specifies the form of equilibration that was done as
-          follows:
-          = 'N':  No equilibration (always true if FACT = 'N');
-          = 'R':  Row equilibration, i.e., A has been premultiplied
-                  by diag(R);
-          = 'C':  Column equilibration, i.e., A has been
-                  postmultiplied by diag(C);
-          = 'B':  Both row and column equilibration, i.e., A has
-                  been replaced by diag(R) * A * diag(C).
-          EQUED is an input argument if FACT = 'F'; otherwise, it is
-          an output argument.
-
-  R       (input or output) DOUBLE PRECISION array, dimension (N)
-          The row scale factors for A.  If EQUED = 'R' or 'B', A is
-          multiplied on the left by diag(R); if EQUED = 'N' or 'C',
-          R is not accessed.  R is an input argument if FACT = 'F';
-          otherwise, R is an output argument.  If FACT = 'F' and
-          EQUED = 'R' or 'B', each element of R must be positive.
-
-  C       (input or output) DOUBLE PRECISION array, dimension (N)
-          The column scale factors for A.  If EQUED = 'C' or 'B',
-          A is multiplied on the right by diag(C); if EQUED = 'N'
-          or 'R', C is not accessed.  C is an input argument if
-          FACT = 'F'; otherwise, C is an output argument.  If
-          FACT = 'F' and EQUED = 'C' or 'B', each element of C must
-          be positive.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,NRHS)
-          On entry, the leading N-by-NRHS part of this array must
-          contain the right-hand side matrix B.
-          On exit,
-          if EQUED = 'N', B is not modified;
-          if TRANS = 'N' and EQUED = 'R' or 'B', the leading
-          N-by-NRHS part of this array contains diag(R)*B;
-          if TRANS = 'T' or 'C' and EQUED = 'C' or 'B', the leading
-          N-by-NRHS part of this array contains diag(C)*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,NRHS)
-          If INFO = 0 or INFO = N+1, the leading N-by-NRHS part of
-          this array contains the solution matrix X to the original
-          system of equations.  Note that A and B are modified on
-          exit if EQUED .NE. 'N', and the solution to the
-          equilibrated system is inv(diag(C))*X if TRANS = 'N' and
-          EQUED = 'C' or 'B', or inv(diag(R))*X if TRANS = 'T' or
-          'C' and EQUED = 'R' or 'B'.
-
-  LDX     (input) INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimate of the reciprocal condition number of the
-          matrix A after equilibration (if done).  If RCOND is less
-          than the machine precision (in particular, if RCOND = 0),
-          the matrix is singular to working precision.  This
-          condition is indicated by a return code of INFO &gt; 0.
-          For efficiency reasons, RCOND is computed only when the
-          matrix A is factored, i.e., for FACT = 'N' or 'E'.  For
-          FACT = 'F', RCOND is not used, but it is assumed that it
-          has been computed and checked before the routine call.
-
-  FERR    (output) DOUBLE PRECISION array, dimension (NRHS)
-          The estimated forward error bound for each solution vector
-          X(j) (the j-th column of the solution matrix X).
-          If XTRUE is the true solution corresponding to X(j),
-          FERR(j) is an estimated upper bound for the magnitude of
-          the largest element in (X(j) - XTRUE) divided by the
-          magnitude of the largest element in X(j).  The estimate
-          is as reliable as the estimate for RCOND, and is almost
-          always a slight overestimate of the true error.
-
-  BERR    (output) DOUBLE PRECISION array, dimension (NRHS)
-          The componentwise relative backward error of each solution
-          vector X(j) (i.e., the smallest relative change in
-          any element of A or B that makes X(j) an exact solution).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (4*N)
-          On entry, if FACT = 'F', DWORK(1) contains the reciprocal
-          pivot growth factor norm(A)/norm(U), computed previously
-          by this routine, with FACT &lt;&gt; 'N', for the same matrix A.
-          On exit, DWORK(1) contains the reciprocal pivot growth
-          factor norm(A)/norm(U). The "max absolute element" norm is
-          used. If DWORK(1) is much less than 1, then the stability
-          of the LU factorization of the (equilibrated) matrix A
-          could be poor. This also means that the solution X,
-          condition estimator RCOND, and forward error bound FERR
-          could be unreliable. If factorization fails with
-          0 &lt; INFO &lt;= N, then DWORK(1) contains the reciprocal pivot
-          growth factor for the leading INFO columns of A.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, and i is
-                &lt;= N:  U(i,i) is exactly zero.  The factorization
-                       has been completed, but the factor U is
-                       exactly singular, so the solution and error
-                       bounds could not be computed. RCOND = 0 is
-                       returned.
-                = N+1: U is nonsingular, but RCOND is less than
-                       machine precision, meaning that the matrix is
-                       singular to working precision.  Nevertheless,
-                       the solution and error bounds are computed
-                       because there are a number of situations
-                       where the computed solution can be more
-                       accurate than the value of RCOND would
-                       suggest.
-          The positive values for INFO are set only when the
-          matrix A is factored, i.e., for FACT = 'N' or 'E'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The following steps are performed:
-
-  1. If FACT = 'E', real scaling factors are computed to equilibrate
-     the system:
-
-     TRANS = 'N':  diag(R)*A*diag(C)     *inv(diag(C))*X = diag(R)*B
-     TRANS = 'T': (diag(R)*A*diag(C))**T *inv(diag(R))*X = diag(C)*B
-     TRANS = 'C': (diag(R)*A*diag(C))**H *inv(diag(R))*X = diag(C)*B
-
-     Whether or not the system will be equilibrated depends on the
-     scaling of the matrix A, but if equilibration is used, A is
-     overwritten by diag(R)*A*diag(C) and B by diag(R)*B
-     (if TRANS='N') or diag(C)*B (if TRANS = 'T' or 'C').
-
-  2. If FACT = 'N' or 'E', the LU decomposition is used to factor
-     the matrix A (after equilibration if FACT = 'E') as
-        A = P * L * U,
-     where P is a permutation matrix, L is a unit lower triangular
-     matrix, and U is upper triangular.
-
-  3. If some U(i,i)=0, so that U is exactly singular, then the
-     routine returns with INFO = i. Otherwise, the factored form
-     of A is used to estimate the condition number of the matrix A.
-     If the reciprocal of the condition number is less than machine
-     precision, INFO = N+1 is returned as a warning, but the routine
-     still goes on to solve for X and compute error bounds as
-     described below.
-
-  4. The system of equations is solved for X using the factored form
-     of A.
-
-  5. Iterative refinement is applied to improve the computed
-     solution matrix and calculate error bounds and backward error
-     estimates for it.
-
-  6. If equilibration was used, the matrix X is premultiplied by
-     diag(C) (if TRANS = 'N') or diag(R) (if TRANS = 'T' or 'C') so
-     that it solves the original system before equilibration.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., Sorensen, D.
-      LAPACK Users' Guide: Second Edition, SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This is a simplified version of the LAPACK Library routine DGESVX,
-  useful when several sets of matrix equations with the same
-  coefficient matrix  A and/or A'  should be solved.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02QD.html b/doc/_build/html/_static/doc/MB02QD.html
deleted file mode 100644
index 06c2bdab..00000000
--- a/doc/_build/html/_static/doc/MB02QD.html
+++ /dev/null
@@ -1,345 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02QD">MB02QD</A></H2>
-<H3>
-Solution of a linear least squares problem corresponding to specified free elements
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a solution, optionally corresponding to specified free
-  elements, to a real linear least squares problem:
-
-      minimize || A * X - B ||
-
-  using a complete orthogonal factorization of the M-by-N matrix A,
-  which may be rank-deficient.
-
-  Several right hand side vectors b and solution vectors x can be
-  handled in a single call; they are stored as the columns of the
-  M-by-NRHS right hand side matrix B and the N-by-NRHS solution
-  matrix X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A, LDA,
-     $                   B, LDB, Y, JPVT, RANK, SVAL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          INIPER, JOB
-      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   SVAL( 3 ), Y ( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether or not a standard least squares solution
-          must be computed, as follows:
-          = 'L':  Compute a standard least squares solution (Y = 0);
-          = 'F':  Compute a solution with specified free elements
-                  (given in Y).
-
-  INIPER  CHARACTER*1
-          Specifies whether an initial column permutation, defined
-          by JPVT, must be performed, as follows:
-          = 'P':  Perform an initial column permutation;
-          = 'N':  Do not perform an initial column permutation.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrices B and X.  NRHS &gt;= 0.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix C, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of C
-          (for instance, the Frobenius norm of C).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading M-by-N part of this array contains
-          details of its complete orthogonal factorization:
-          the leading RANK-by-RANK upper triangular part contains
-          the upper triangular factor T11 (see METHOD);
-          the elements below the diagonal, with the entries 2 to
-          min(M,N)+1 of the array DWORK, represent the orthogonal
-          matrix Q as a product of min(M,N) elementary reflectors
-          (see METHOD);
-          the elements of the subarray A(1:RANK,RANK+1:N), with the
-          next RANK entries of the array DWORK, represent the
-          orthogonal matrix Z as a product of RANK elementary
-          reflectors (see METHOD).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,NRHS)
-          On entry, the leading M-by-NRHS part of this array must
-          contain the right hand side matrix B.
-          On exit, the leading N-by-NRHS part of this array contains
-          the solution matrix X.
-          If M &gt;= N and RANK = N, the residual sum-of-squares for
-          the solution in the i-th column is given by the sum of
-          squares of elements N+1:M in that column.
-          If NRHS = 0, this array is not referenced, and the routine
-          returns the effective rank of A, and its QR factorization.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,M,N).
-
-  Y       (input) DOUBLE PRECISION array, dimension ( N*NRHS )
-          If JOB = 'F', the elements Y(1:(N-RANK)*NRHS) are used as
-          free elements in computing the solution (see METHOD).
-          The remaining elements are not referenced.
-          If JOB = 'L', or NRHS = 0, this array is not referenced.
-
-  JPVT    (input/output) INTEGER array, dimension (N)
-          On entry with INIPER = 'P', if JPVT(i) &lt;&gt; 0, the i-th
-          column of A is an initial column, otherwise it is a free
-          column.  Before the QR factorization of A, all initial
-          columns are permuted to the leading positions; only the
-          remaining free columns are moved as a result of column
-          pivoting during the factorization.
-          If INIPER = 'N', JPVT need not be set on entry.
-          On exit, if JPVT(i) = k, then the i-th column of A*P
-          was the k-th column of A.
-
-  RANK    (output) INTEGER
-          The effective rank of A, i.e., the order of the submatrix
-          R11.  This is the same as the order of the submatrix T11
-          in the complete orthogonal factorization of A.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R11:
-          SVAL(1): largest singular value of  R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and the entries 2 to min(M,N) + RANK + 1
-          contain the scalar factors of the elementary reflectors
-          used in the complete orthogonal factorization of A.
-          Among the entries 2 to min(M,N) + 1, only the first RANK
-          elements are useful, if INIPER = 'N'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( min(M,N)+3*N+1, 2*min(M,N)+NRHS )
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INIPER = 'P', the routine first computes a QR factorization
-  with column pivoting:
-      A * P = Q * [ R11 R12 ]
-                  [  0  R22 ]
-  with R11 defined as the largest leading submatrix whose estimated
-  condition number is less than 1/RCOND.  The order of R11, RANK,
-  is the effective rank of A.
-  If INIPER = 'N', the effective rank is estimated during a
-  truncated QR factorization (with column pivoting) process, and
-  the submatrix R22 is not upper triangular, but full and of small
-  norm. (See SLICOT Library routines MB03OD or MB03OY, respectively,
-  for further details.)
-
-  Then, R22 is considered to be negligible, and R12 is annihilated
-  by orthogonal transformations from the right, arriving at the
-  complete orthogonal factorization:
-     A * P = Q * [ T11 0 ] * Z
-                 [  0  0 ]
-  The solution is then
-     X = P * Z' [ inv(T11)*Q1'*B ]
-                [        Y       ]
-  where Q1 consists of the first RANK columns of Q, and Y contains
-  free elements (if JOB = 'F'), or is zero (if JOB = 'L').
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Significant gain in efficiency is possible for small-rank problems
-  using truncated QR factorization (option INIPER = 'N').
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, NRHSMX
-      PARAMETER        ( NMAX = 20, MMAX = 20, NRHSMX = 20 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = MMAX, LDB = MAX( MMAX, NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(   MIN( MMAX, NMAX) + 3*NMAX + 1,
-     $                                 2*MIN( MMAX, NMAX) + NRHSMX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND, SVLMAX
-      INTEGER          I, INFO, J, M, N, NRHS, RANK
-      CHARACTER*1      INIPER, JOB
-*     .. Local Arrays ..
-      INTEGER          JPVT(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NRHSMX), DWORK(LDWORK),
-     $                 SVAL(3), Y(NMAX*NRHSMX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, NRHS, RCOND, SVLMAX, JOB, INIPER
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) N
-         ELSE
-            IF ( NRHS.LT.0 .OR. NRHS.GT.NRHSMX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) NRHS
-            ELSE
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,M )
-               IF ( LSAME( JOB, 'F' ) )
-     $            READ ( NIN, FMT = * ) ( Y(I),  I = 1,N*NRHS )
-               IF ( LSAME( INIPER, 'P' ) )
-     $            READ ( NIN, FMT = * ) ( JPVT(I),  I = 1,N )
-*              Find the least squares solution.
-               CALL MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A,
-     $                      LDA, B, LDB, Y, JPVT, RANK, SVAL, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) RANK, SVAL
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,NRHS )
-   10             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02QD =',I2)
-99997 FORMAT (' The effective rank of A =',I2,/
-     $        ' Estimates of the singular values SVAL = '/3(1X,F8.4))
-99996 FORMAT (' The least squares solution is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02QD EXAMPLE PROGRAM DATA
-   4   3   2 2.3D-16     0.0     L     N
-   2.0  2.0 -3.0 
-   3.0  3.0 -1.0 
-   4.0  4.0 -5.0 
-  -1.0 -1.0 -2.0 
-   1.0  0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02QD EXAMPLE PROGRAM RESULTS
-
- The effective rank of A = 2
- Estimates of the singular values SVAL = 
-   7.8659   2.6698   0.0000
- The least squares solution is
-  -0.0034  -0.1054
-  -0.0034  -0.1054
-  -0.0816  -0.1973
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02QY.html b/doc/_build/html/_static/doc/MB02QY.html
deleted file mode 100644
index 3e56a7cb..00000000
--- a/doc/_build/html/_static/doc/MB02QY.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02QY">MB02QY</A></H2>
-<H3>
-Minimum-norm solution to a linear least squares problem, given a rank-revealing QR factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine the minimum-norm solution to a real linear least
-  squares problem:
-
-      minimize || A * X - B ||,
-
-  using the rank-revealing QR factorization of a real general
-  M-by-N matrix  A,  computed by SLICOT Library routine  MB03OD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02QY( M, N, NRHS, RANK, A, LDA, JPVT, B, LDB, TAU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices A and B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of columns of the matrix B.  NRHS &gt;= 0.
-
-  RANK    (input) INTEGER
-          The effective rank of  A,  as returned by SLICOT Library
-          routine  MB03OD.  min(M,N) &gt;= RANK &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry, the leading min(M,N)-by-N upper trapezoidal
-          part of this array contains the triangular factor  R,  as
-          returned by SLICOT Library routine  MB03OD.  The strict
-          lower trapezoidal part of  A  is not referenced.
-          On exit, if  RANK &lt; N,  the leading  RANK-by-RANK  upper
-          triangular part of this array contains the upper
-          triangular matrix  R  of the complete orthogonal
-          factorization of  A,  and the submatrix  (1:RANK,RANK+1:N)
-          of this array, with the array  TAU,  represent the
-          orthogonal matrix  Z  (of the complete orthogonal
-          factorization of  A),  as a product of  RANK  elementary
-          reflectors.
-          On exit, if  RANK = N,  this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  JPVT    (input) INTEGER array, dimension ( N )
-          The recorded permutations performed by SLICOT Library
-          routine  MB03OD;  if  JPVT(i) = k,  then the i-th column
-          of  A*P  was the k-th column of the original matrix  A.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          ( LDB, NRHS )
-          On entry, if  NRHS &gt; 0,  the leading M-by-NRHS part of
-          this array must contain the matrix  B  (corresponding to
-          the transformed matrix  A,  returned by SLICOT Library
-          routine  MB03OD).
-          On exit, if  NRHS &gt; 0,  the leading N-by-NRHS part of this
-          array contains the solution matrix X.
-          If  M &gt;= N  and  RANK = N,  the residual sum-of-squares
-          for the solution in the i-th column is given by the sum
-          of squares of elements  N+1:M  in that column.
-          If  NRHS = 0,  the array  B  is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= max(1,M,N),  if  NRHS &gt; 0.
-          LDB &gt;= 1,           if  NRHS = 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( min(M,N) )
-          The scalar factors of the elementary reflectors.
-          If  RANK = N,  the array  TAU  is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 1, N, NRHS ).
-          For good performance,  LDWORK  should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses a QR factorization with column pivoting:
-
-     A * P = Q * R = Q * [ R11 R12 ],
-                         [  0  R22 ]
-
-  where  R11  is an upper triangular submatrix of estimated rank
-  RANK,  the effective rank of  A.  The submatrix  R22  can be
-  considered as negligible.
-
-  If  RANK &lt; N,  then  R12  is annihilated by orthogonal
-  transformations from the right, arriving at the complete
-  orthogonal factorization:
-
-     A * P = Q * [ T11 0 ] * Z.
-                 [  0  0 ]
-
-  The minimum-norm solution is then
-
-     X = P * Z' [ inv(T11)*Q1'*B ],
-                [        0       ]
-
-  where Q1 consists of the first  RANK  columns of Q.
-
-  The input data for  MB02QY  are the transformed matrices  Q' * A
-  (returned by SLICOT Library routine  MB03OD)  and  Q' * B.
-  Matrix  Q  is not needed.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02RD.html b/doc/_build/html/_static/doc/MB02RD.html
deleted file mode 100644
index a40219dc..00000000
--- a/doc/_build/html/_static/doc/MB02RD.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02RD">MB02RD</A></H2>
-<H3>
-Solution of a system of linear equations with upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of linear equations
-     H * X = B  or  H' * X = B
-  with an upper Hessenberg N-by-N matrix H using the LU
-  factorization computed by MB02SD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS
-      INTEGER            INFO, LDB, LDH, N, NRHS
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      DOUBLE PRECISION   B( LDB, * ), H( LDH, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations:
-          = 'N':  H * X = B  (No transpose)
-          = 'T':  H'* X = B  (Transpose)
-          = 'C':  H'* X = B  (Conjugate transpose = Transpose)
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrix B.  NRHS &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SD.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices from MB02SD; for 1&lt;=i&lt;=N, row i of the
-          matrix was interchanged with row IPIV(i).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,NRHS)
-          On entry, the right hand side matrix B.
-          On exit, the solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses the factorization
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N x NRHS ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02RZ.html b/doc/_build/html/_static/doc/MB02RZ.html
deleted file mode 100644
index 0515435e..00000000
--- a/doc/_build/html/_static/doc/MB02RZ.html
+++ /dev/null
@@ -1,125 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02RZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02RZ">MB02RZ</A></H2>
-<H3>
-Solution of a system of linear equations with complex upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of linear equations
-     H * X = B,  H' * X = B  or  H**H * X = B
-  with a complex upper Hessenberg N-by-N matrix H using the LU
-  factorization computed by MB02SZ.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02RZ( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS
-      INTEGER            INFO, LDB, LDH, N, NRHS
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      COMPLEX*16         B( LDB, * ), H( LDH, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations:
-          = 'N':  H * X = B  (No transpose)
-          = 'T':  H'* X = B  (Transpose)
-          = 'C':  H**H * X = B  (Conjugate transpose)
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrix B.  NRHS &gt;= 0.
-
-  H       (input) COMPLEX*16 array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SZ.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices from MB02SZ; for 1&lt;=i&lt;=N, row i of the
-          matrix was interchanged with row IPIV(i).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,NRHS)
-          On entry, the right hand side matrix B.
-          On exit, the solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  INFO    (output) INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses the factorization
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N x NRHS ) complex operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02SD.html b/doc/_build/html/_static/doc/MB02SD.html
deleted file mode 100644
index 26145134..00000000
--- a/doc/_build/html/_static/doc/MB02SD.html
+++ /dev/null
@@ -1,208 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02SD">MB02SD</A></H2>
-<H3>
-LU factorization of an upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LU factorization of an n-by-n upper Hessenberg
-  matrix H using partial pivoting with row interchanges.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02SD( N, H, LDH, IPIV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, N
-C     .. Array Arguments ..
-      INTEGER           IPIV(*)
-      DOUBLE PRECISION  H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the n-by-n upper Hessenberg matrix to be
-          factored.
-          On exit, the factors L and U from the factorization
-          H = P*L*U; the unit diagonal elements of L are not stored,
-          and L is lower bidiagonal.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
-                factorization has been completed, but the factor U
-                is exactly singular, and division by zero will occur
-                if it is used to solve a system of equations.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The factorization has the form
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-  This is the right-looking Level 1 BLAS version of the algorithm
-  (adapted after DGETF2).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NRHMAX
-      PARAMETER        ( NMAX = 20, NRHMAX = 20 )
-      INTEGER          LDB, LDH
-      PARAMETER        ( LDB = NMAX, LDH = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION HNORM, RCOND
-      INTEGER          I, INFO, INFO1, J, N, NRHS
-      CHARACTER*1      NORM, TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION H(LDH,NMAX), B(LDB,NRHMAX), DWORK(LDWORK)
-      INTEGER          IPIV(NMAX), IWORK(LIWORK)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAMCH, DLANHS
-      EXTERNAL         DLAMCH, DLANHS
-*     .. External Subroutines ..
-      EXTERNAL         DLASET, MB02RD, MB02SD, MB02TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NRHS, NORM, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( H(I,J), J = 1,N ), I = 1,N )
-         IF ( NRHS.LT.0 .OR. NRHS.GT.NRHMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) NRHS
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,N )
-            IF ( N.GT.2 )
-     $         CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, H(3,1), LDH )
-*           Compute the LU factorization of the upper Hessenberg matrix.
-            CALL MB02SD( N, H, LDH, IPIV, INFO )
-*           Estimate the reciprocal condition number of the matrix.
-            HNORM = DLANHS( NORM, N, H, LDH, DWORK )
-            CALL MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
-     $                   DWORK, INFO1 )
-            IF ( INFO.EQ.0 .AND. RCOND.GT.DLAMCH( 'Epsilon' ) ) THEN
-*              Solve the linear system.
-               CALL MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
-*
-               WRITE ( NOUT, FMT = 99997 )
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,NRHS )
-   10          CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) RCOND
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02SD = ',I2)
-99997 FORMAT (' The solution matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' Reciprocal condition number = ',D12.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02SD EXAMPLE PROGRAM DATA
-   5    4      O      N
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   0.    3.    1.    5.    1.
-   0.    0.    2.    0.   -4.
-   0.    0.    0.    1.    4.
-   5.    5.    1.    5.
-  -2.    1.    3.    1.
-   0.    0.    4.    5.
-   2.    1.    1.    3.
-  -1.    3.    3.    1.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02SD EXAMPLE PROGRAM RESULTS
-
- The solution matrix is 
-   0.0435   1.2029   1.6377   1.1014
-   1.0870  -4.4275  -5.5580  -2.9638
-   0.9130   0.7609  -0.1087   0.6304
-  -0.8261   2.4783   4.2174   2.7391
-  -0.0435   0.1304  -0.3043  -0.4348
-
- Reciprocal condition number =   0.1554D-01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02SZ.html b/doc/_build/html/_static/doc/MB02SZ.html
deleted file mode 100644
index 32c44b1a..00000000
--- a/doc/_build/html/_static/doc/MB02SZ.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02SZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02SZ">MB02SZ</A></H2>
-<H3>
-LU factorization of a complex upper Hessenberg matrix H
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LU factorization of a complex n-by-n upper
-  Hessenberg matrix H using partial pivoting with row interchanges.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02SZ( N, H, LDH, IPIV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, N
-C     .. Array Arguments ..
-      INTEGER           IPIV(*)
-      COMPLEX*16        H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  H       (input/output) COMPLEX*16 array, dimension (LDH,N)
-          On entry, the n-by-n upper Hessenberg matrix to be
-          factored.
-          On exit, the factors L and U from the factorization
-          H = P*L*U; the unit diagonal elements of L are not stored,
-          and L is lower bidiagonal.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
-                factorization has been completed, but the factor U
-                is exactly singular, and division by zero will occur
-                if it is used to solve a system of equations.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The factorization has the form
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-  This is the right-looking Level 2 BLAS version of the algorithm
-  (adapted after ZGETF2).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) complex operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02TD.html b/doc/_build/html/_static/doc/MB02TD.html
deleted file mode 100644
index 26c90ad0..00000000
--- a/doc/_build/html/_static/doc/MB02TD.html
+++ /dev/null
@@ -1,131 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02TD">MB02TD</A></H2>
-<H3>
-Estimation of the reciprocal condition number of an upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the reciprocal of the condition number of an upper
-  Hessenberg matrix H, in either the 1-norm or the infinity-norm,
-  using the LU factorization computed by MB02SD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM
-      INTEGER            INFO, LDH, N
-      DOUBLE PRECISION   HNORM, RCOND
-C     .. Array Arguments ..
-      INTEGER            IPIV( * ), IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), H( LDH, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies whether the 1-norm condition number or the
-          infinity-norm condition number is required:
-          = '1' or 'O':  1-norm;
-          = 'I':         Infinity-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  HNORM   (input) DOUBLE PRECISION
-          If NORM = '1' or 'O', the 1-norm of the original matrix H.
-          If NORM = 'I', the infinity-norm of the original matrix H.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SD.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal of the condition number of the matrix H,
-          computed as RCOND = 1/(norm(H) * norm(inv(H))).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (3*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An estimate is obtained for norm(inv(H)), and the reciprocal of
-  the condition number is computed as
-     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02TZ.html b/doc/_build/html/_static/doc/MB02TZ.html
deleted file mode 100644
index 6c99885e..00000000
--- a/doc/_build/html/_static/doc/MB02TZ.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02TZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02TZ">MB02TZ</A></H2>
-<H3>
-Estimation of the reciprocal condition number of a complex upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the reciprocal of the condition number of a complex
-  upper Hessenberg matrix H, in either the 1-norm or the
-  infinity-norm, using the LU factorization computed by MB02SZ.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02TZ( NORM, N, HNORM, H, LDH, IPIV, RCOND, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM
-      INTEGER            INFO, LDH, N
-      DOUBLE PRECISION   HNORM, RCOND
-C     .. Array Arguments ..
-      INTEGER            IPIV(*)
-      DOUBLE PRECISION   DWORK( * )
-      COMPLEX*16         H( LDH, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies whether the 1-norm condition number or the
-          infinity-norm condition number is required:
-          = '1' or 'O':  1-norm;
-          = 'I':         Infinity-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  HNORM   (input) DOUBLE PRECISION
-          If NORM = '1' or 'O', the 1-norm of the original matrix H.
-          If NORM = 'I', the infinity-norm of the original matrix H.
-
-  H       (input) COMPLEX*16 array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SZ.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal of the condition number of the matrix H,
-          computed as RCOND = 1/(norm(H) * norm(inv(H))).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-  ZWORK   COMPLEX*16 array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An estimate is obtained for norm(inv(H)), and the reciprocal of
-  the condition number is computed as
-     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) complex operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UD.html b/doc/_build/html/_static/doc/MB02UD.html
deleted file mode 100644
index 1f09cfe9..00000000
--- a/doc/_build/html/_static/doc/MB02UD.html
+++ /dev/null
@@ -1,251 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UD">MB02UD</A></H2>
-<H3>
-Minimum norm least squares solution of op(R) X = alpha B, or X op(R) = alpha B, with R upper triangular, using singular value decomposition
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the minimum norm least squares solution of one of the
-  following linear systems
-
-     op(R)*X = alpha*B,                                          (1)
-     X*op(R) = alpha*B,                                          (2)
-
-  where alpha is a real scalar, op(R) is either R or its transpose,
-  R', R is an L-by-L real upper triangular matrix, B is an M-by-N
-  real matrix, and L = M for (1), or L = N for (2). Singular value
-  decomposition, R = Q*S*P', is used, assuming that R is rank
-  deficient.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UD( FACT, SIDE, TRANS, JOBP, M, N, ALPHA, RCOND,
-     $                   RANK, R, LDR, Q, LDQ, SV, B, LDB, RP, LDRP,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FACT, JOBP, SIDE, TRANS
-      INTEGER           INFO, LDB, LDQ, LDR, LDRP, LDWORK, M, N, RANK
-      DOUBLE PRECISION  ALPHA, RCOND
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), DWORK(*), Q(LDQ,*), R(LDR,*),
-     $                  RP(LDRP,*), SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FACT    CHARACTER*1
-          Specifies whether R has been previously factored or not,
-          as follows:
-          = 'F':  R has been factored and its rank and singular
-                  value decomposition, R = Q*S*P', are available;
-          = 'N':  R has not been factored and its singular value
-                  decomposition, R = Q*S*P', should be computed.
-
-  SIDE    CHARACTER*1
-          Specifies whether op(R) appears on the left or right
-          of X as follows:
-          = 'L':  Solve op(R)*X = alpha*B  (op(R) is on the left);
-          = 'R':  Solve X*op(R) = alpha*B  (op(R) is on the right).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(R) to be used as follows:
-          = 'N':  op(R) = R;
-          = 'T':  op(R) = R';
-          = 'C':  op(R) = R'.
-
-  JOBP    CHARACTER*1
-          Specifies whether or not the pseudoinverse of R is to be
-          computed or it is available as follows:
-          = 'P':  Compute pinv(R), if FACT = 'N', or
-                  use pinv(R),     if FACT = 'F';
-          = 'N':  Do not compute or use pinv(R).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix B.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then B need not be
-          set before entry.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of R.
-          Singular values of R satisfying Sv(i) &lt;= RCOND*Sv(1) are
-          treated as zero. If RCOND &lt;= 0, then EPS is used instead,
-          where EPS is the relative machine precision (see LAPACK
-          Library routine DLAMCH).  RCOND &lt;= 1.
-          RCOND is not used if FACT = 'F'.
-
-  RANK    (input or output) INTEGER
-          The rank of matrix R.
-          RANK is an input parameter when FACT = 'F', and an output
-          parameter when FACT = 'N'.  L &gt;= RANK &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
-          On entry, if FACT = 'F', the leading L-by-L part of this
-          array must contain the L-by-L orthogonal matrix P' from
-          singular value decomposition, R = Q*S*P', of the matrix R;
-          if JOBP = 'P', the first RANK rows of P' are assumed to be
-          scaled by inv(S(1:RANK,1:RANK)).
-          On entry, if FACT = 'N', the leading L-by-L upper
-          triangular part of this array must contain the upper
-          triangular matrix R.
-          On exit, if INFO = 0, the leading L-by-L part of this
-          array contains the L-by-L orthogonal matrix P', with its
-          first RANK rows scaled by inv(S(1:RANK,1:RANK)), when
-          JOBP = 'P'.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,L).
-
-  Q       (input or output) DOUBLE PRECISION array, dimension
-          (LDQ,L)
-          On entry, if FACT = 'F', the leading L-by-L part of this
-          array must contain the L-by-L orthogonal matrix Q from
-          singular value decomposition, R = Q*S*P', of the matrix R.
-          If FACT = 'N', this array need not be set on entry, and
-          on exit, if INFO = 0, the leading L-by-L part of this
-          array contains the orthogonal matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
-
-  SV      (input or output) DOUBLE PRECISION array, dimension (L)
-          On entry, if FACT = 'F', the first RANK entries of this
-          array must contain the reciprocal of the largest RANK
-          singular values of the matrix R, and the last L-RANK
-          entries of this array must contain the remaining singular
-          values of R sorted in descending order.
-          If FACT = 'N', this array need not be set on input, and
-          on exit, if INFO = 0, the first RANK entries of this array
-          contain the reciprocal of the largest RANK singular values
-          of the matrix R, and the last L-RANK entries of this array
-          contain the remaining singular values of R sorted in
-          descending order.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, if ALPHA &lt;&gt; 0, the leading M-by-N part of this
-          array must contain the matrix B.
-          On exit, if INFO = 0 and RANK &gt; 0, the leading M-by-N part
-          of this array contains the M-by-N solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  RP      (input or output) DOUBLE PRECISION array, dimension
-          (LDRP,L)
-          On entry, if FACT = 'F', JOBP = 'P', and RANK &gt; 0, the
-          leading L-by-L part of this array must contain the L-by-L
-          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
-          On exit, if FACT = 'N', JOBP = 'P', and RANK &gt; 0, the
-          leading L-by-L part of this array contains the L-by-L
-          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
-          If JOBP = 'N', this array is not referenced.
-
-  LDRP    INTEGER
-          The leading dimension of array RP.
-          LDRP &gt;= MAX(1,L), if JOBP = 'P'.
-          LDRP &gt;= 1,        if JOBP = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          if INFO = i, 1 &lt;= i &lt;= L, then DWORK(2:L) contain the
-          unconverged superdiagonal elements of an upper bidiagonal
-          matrix D whose diagonal is in SV (not necessarily sorted).
-          D satisfies R = Q*D*P', so it has the same singular
-          values as R, and singular vectors related by Q and P'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,L),   if FACT = 'F';
-          LDWORK &gt;= MAX(1,5*L), if FACT = 'N'.
-          For optimum performance LDWORK should be larger than
-          MAX(1,L,M*N),   if FACT = 'F';
-          MAX(1,5*L,M*N), if FACT = 'N'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i = 1:L, the SVD algorithm has failed
-                to converge. In this case INFO specifies how many
-                superdiagonals did not converge (see the description
-                of DWORK); this failure is not likely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The L-by-L upper triangular matrix R is factored as  R = Q*S*P',
-  if FACT = 'N', using SLICOT Library routine MB03UD, where Q and P
-  are L-by-L orthogonal matrices and S is an L-by-L diagonal matrix
-  with non-negative diagonal elements, SV(1), SV(2), ..., SV(L),
-  ordered decreasingly. Then, the effective rank of R is estimated,
-  and matrix (or matrix-vector) products and scalings are used to
-  compute X. If FACT = 'F', only matrix (or matrix-vector) products
-  and scalings are performed.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Option JOBP = 'P' should be used only if the pseudoinverse is
-  really needed. Usually, it is possible to avoid the use of
-  pseudoinverse, by computing least squares solutions.
-  The routine uses BLAS 3 calculations if LDWORK &gt;= M*N, and BLAS 2
-  calculations, otherwise. No advantage of any additional workspace
-  larger than L is taken for matrix products, but the routine can
-  be called repeatedly for chunks of columns of B, if LDWORK &lt; M*N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UU.html b/doc/_build/html/_static/doc/MB02UU.html
deleted file mode 100644
index a9e90e06..00000000
--- a/doc/_build/html/_static/doc/MB02UU.html
+++ /dev/null
@@ -1,98 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UU">MB02UU</A></H2>
-<H3>
-Solution of a system of linear equations using LU factorization with complete pivoting
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for x in A * x = scale * RHS, using the LU factorization
-  of the N-by-N matrix A computed by SLICOT Library routine MB02UV.
-  The factorization has the form A = P * L * U * Q, where P and Q
-  are permutation matrices, L is unit lower triangular and U is
-  upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UU( N, A, LDA, RHS, IPIV, JPIV, SCALE )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      INTEGER            IPIV( * ), JPIV( * )
-      DOUBLE PRECISION   A( LDA, * ), RHS( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
-          The leading N-by-N part of this array must contain
-          the LU part of the factorization of the matrix A computed
-          by SLICOT Library routine MB02UV:  A = P * L * U * Q.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1, N).
-
-  RHS     (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the right hand side
-          of the system.
-          On exit, this array contains the solution of the system.
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
-          matrix has been interchanged with row IPIV(i).
-
-  JPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
-          matrix has been interchanged with column JPIV(j).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, chosen 0 &lt; SCALE &lt;= 1 to prevent
-          overflow in the solution.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interest of speed, this routine does not check the input
-  for errors. It should only be used if the order of the matrix A
-  is very small.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UV.html b/doc/_build/html/_static/doc/MB02UV.html
deleted file mode 100644
index 5d3759ec..00000000
--- a/doc/_build/html/_static/doc/MB02UV.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UV">MB02UV</A></H2>
-<H3>
-LU factorization with complete pivoting of a general matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LU factorization, using complete pivoting, of the
-  N-by-N matrix A. The factorization has the form A = P * L * U * Q,
-  where P and Q are permutation matrices, L is lower triangular with
-  unit diagonal elements and U is upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UV( N, A, LDA, IPIV, JPIV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * ), JPIV( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A to be factored.
-          On exit, the leading N-by-N part of this array contains
-          the factors L and U from the factorization A = P*L*U*Q;
-          the unit diagonal elements of L are not stored. If U(k, k)
-          appears to be less than SMIN, U(k, k) is given the value
-          of SMIN, giving a nonsingular perturbed system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1, N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
-          matrix has been interchanged with row IPIV(i).
-
-  JPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
-          matrix has been interchanged with column JPIV(j).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = k:  U(k, k) is likely to produce owerflow if one tries
-                to solve for x in Ax = b. So U is perturbed to get
-                a nonsingular system. This is a warning.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interests of speed, this routine does not check the input
-  for errors. It should only be used to factorize matrices A of
-  very small order.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02UW.html b/doc/_build/html/_static/doc/MB02UW.html
deleted file mode 100644
index 27bcbd9c..00000000
--- a/doc/_build/html/_static/doc/MB02UW.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UW">MB02UW</A></H2>
-<H3>
-Solving a set of linear systems of order at most 2 with possible scaling and perturbation of system matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of the form  A X = s B  or  A' X = s B  with
-  possible scaling ("s") and perturbation of A.  (A' means
-  A-transpose.)  A is an N-by-N real matrix, and X and B are
-  N-by-M matrices.  N may be 1 or 2.  The scalar "s" is a scaling
-  factor (.LE. 1), computed by this subroutine, which is so chosen
-  that X can be computed without overflow.  X is further scaled if
-  necessary to assure that norm(A)*norm(X) is less than overflow.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UW( LTRANS, N, M, PAR, A, LDA, B, LDB, SCALE,
-     $                   IWARN )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRANS
-      INTEGER            IWARN, LDA, LDB, N, M
-      DOUBLE PRECISION   SCALE, SMIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), PAR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRANS  LOGICAL
-          Specifies if A or A-transpose is to be used, as follows:
-          =.TRUE. :  A-transpose will be used;
-          =.FALSE.:  A will be used (not transposed).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  It may (only) be 1 or 2.
-
-  M       (input) INTEGER
-          The number of right hand size vectors.
-
-  PAR     (input) DOUBLE PRECISION array, dimension (3)
-          Machine related parameters:
-          PAR(1) =: PREC  (machine precision)*base, DLAMCH( 'P' );
-          PAR(2) =: SFMIN safe minimum,             DLAMCH( 'S' );
-          PAR(3) =: SMIN  The desired lower bound on the singular
-                          values of A.  This should be a safe
-                          distance away from underflow or overflow,
-                          say, between (underflow/machine precision)
-                          and (machine precision * overflow).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B (right-hand side).
-          On exit, the leading N-by-M part of this array contains
-          the N-by-M matrix X (unknowns).
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor that B must be multiplied by to insure
-          that overflow does not occur when computing X.  Thus,
-          A X  will be SCALE*B, not B (ignoring perturbations of A).
-          SCALE will be at most 1.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings (A did not have to be perturbed);
-          = 1:  A had to be perturbed to make its smallest (or only)
-                singular value greater than SMIN (see below).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with complete pivoting is used. The matrix A
-  is slightly perturbed if it is (close to being) singular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If both singular values of A are less than SMIN, SMIN*identity
-  will be used instead of A.  If only one singular value is less
-  than SMIN, one element of A will be perturbed enough to make the
-  smallest singular value roughly SMIN.  If both singular values
-  are at least SMIN, A will not be perturbed.  In any case, the
-  perturbation will be at most some small multiple of
-  max( SMIN, EPS*norm(A) ), where EPS is the machine precision
-  (see LAPACK Library routine DLAMCH).  The singular values are
-  computed by infinity-norm approximations, and thus will only be
-  correct to a factor of 2 or so.
-
-  Note: all input quantities are assumed to be smaller than overflow
-  by a reasonable factor.  (See BIGNUM.)  In the interests of speed,
-  this routine does not check the inputs for errors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02VD.html b/doc/_build/html/_static/doc/MB02VD.html
deleted file mode 100644
index 43141218..00000000
--- a/doc/_build/html/_static/doc/MB02VD.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02VD">MB02VD</A></H2>
-<H3>
-Solution of linear equations X op(A) = B
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the solution to a real system of linear equations
-     X * op(A) = B,
-  where op(A) is either A or its transpose, A is an N-by-N matrix,
-  and X and B are M-by-N matrices.
-  The LU decomposition with partial pivoting and row interchanges,
-  A = P * L * U, is used, where P is a permutation matrix, L is unit
-  lower triangular, and U is upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS
-      INTEGER            INFO, LDA, LDB, M, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies the form of op(A) to be used as follows:
-          = 'N':  op(A) = A;
-          = 'T':  op(A) = A';
-          = 'C':  op(A) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix B, and the order of
-          the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the factors L and U from the factorization A = P*L*U;
-          the unit diagonal elements of L are not stored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices that define the permutation matrix P;
-          row i of the matrix was interchanged with row IPIV(i).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix B.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X.
-
-  LDB     (input) INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,M).
-
-  INFO    (output) INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero.  The
-                factorization has been completed, but the factor U
-                is exactly singular, so the solution could not be
-                computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The LU decomposition with partial pivoting and row interchanges is
-  used to factor A as
-     A = P * L * U,
-  where P is a permutation matrix, L is unit lower triangular, and
-  U is upper triangular.  The factored form of A is then used to
-  solve the system of equations X * A = B or X * A' = B.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine enables to solve the system X * A = B or X * A' = B
-  as easily and efficiently as possible; it is similar to the LAPACK
-  Library routine DGESV, which solves A * X = B.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02VD EXAMPLE PROGRAM TEXT
-*
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX)
-      INTEGER          IPIV(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB02VD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
-*           Solve the linear system using the LU factorization.
-            CALL MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
-*
-            IF ( INFO.EQ.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
-   10          CONTINUE
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02VD = ',I2)
-99997 FORMAT (' The solution matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02VD EXAMPLE PROGRAM DATA
-   5    4      N
-   1.    2.    6.    3.
-  -2.   -1.   -1.    0.
-   2.    3.    1.    5.
-   1.   -1.    2.    0.
-   0.    0.    0.    1.
-   5.    5.    1.    5.
-  -2.    1.    3.    1.
-   0.    0.    4.    5.
-   2.    1.    1.    3.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02VD EXAMPLE PROGRAM RESULTS
-
- The solution matrix is 
-  -0.0690   0.3333   0.2414   0.2529
-  -0.1724  -1.6667   1.1034  -0.3678
-   0.9655   0.6667  -0.3793  -0.8736
-   0.3448   1.6667   0.7931   1.4023
-  -0.2069   0.0000   0.7241   0.7586
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02WD.html b/doc/_build/html/_static/doc/MB02WD.html
deleted file mode 100644
index 8f838678..00000000
--- a/doc/_build/html/_static/doc/MB02WD.html
+++ /dev/null
@@ -1,308 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02WD">MB02WD</A></H2>
-<H3>
-Solution of Ax = b or f(A, x) = b, for a positive definite linear mapping, using conjugate gradients
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the system of linear equations Ax = b, with A symmetric,
-  positive definite, or, in the implicit form, f(A, x) = b, where
-  y = f(A, x) is a symmetric positive definite linear mapping
-  from x to y, using the conjugate gradient (CG) algorithm without
-  preconditioning.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02WD( FORM, F, N, IPAR, LIPAR, DPAR, LDPAR, ITMAX,
-     $                   A, LDA, B, INCB, X, INCX, TOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FORM
-      INTEGER           INCB, INCX, INFO, ITMAX, IWARN, LDA, LDPAR,
-     $                  LDWORK, LIPAR, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), DPAR(*), DWORK(*), X(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FORM     CHARACTER*1
-           Specifies the form of the system of equations, as
-           follows:
-           = 'U' :  Ax = b, the upper triagular part of A is used;
-           = 'L' :  Ax = b, the lower triagular part of A is used;
-           = 'F' :  the implicit, function form, f(A, x) = b.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  F       EXTERNAL
-          If FORM = 'F', then F is a subroutine which calculates the
-          value of f(A, x), for given A and x.
-          If FORM &lt;&gt; 'F', then F is not called.
-
-          F must have the following interface:
-
-          SUBROUTINE F( N, IPAR, LIPAR, DPAR, LDPAR, A, LDA, X,
-         $              INCX, DWORK, LDWORK, INFO )
-
-          where
-
-          N       (input) INTEGER
-                  The dimension of the vector x.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the matrix A.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-                  The real parameters needed for solving the
-                  problem.
-
-          LDPAR   (input) INTEGER
-                  The length of the array DPAR.  LDPAR &gt;= 0.
-
-          A       (input) DOUBLE PRECISION array, dimension
-                  (LDA, NC), where NC is the number of columns.
-                  The leading NR-by-NC part of this array must
-                  contain the (compressed) representation of the
-                  matrix A, where NR is the number of rows of A
-                  (function of IPAR entries).
-
-          LDA     (input) INTEGER
-                  The leading dimension of the array A.
-                  LDA &gt;= MAX(1,NR).
-
-          X       (input/output) DOUBLE PRECISION array, dimension
-                  (1+(N-1)*INCX)
-                  On entry, this incremented array must contain the
-                  vector x.
-                  On exit, this incremented array contains the value
-                  of the function f, y = f(A, x).
-
-          INCX    (input) INTEGER
-                  The increment for the elements of X.  INCX &gt; 0.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine F.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine F).
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input scalar argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine F. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the vector x.  N &gt;= 0.
-          If FORM = 'U' or FORM = 'L', N is also the number of rows
-          and columns of the matrix A.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          If FORM = 'F', the integer parameters describing the
-          structure of the matrix A.
-          This parameter is ignored if FORM = 'U' or FORM = 'L'.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 0.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          If FORM = 'F', the real parameters needed for solving
-          the problem.
-          This parameter is ignored if FORM = 'U' or FORM = 'L'.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 0.
-
-  ITMAX   (input) INTEGER
-          The maximal number of iterations to do.  ITMAX &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array,
-                  dimension (LDA, NC), if FORM = 'F',
-                  dimension (LDA, N),  otherwise.
-          If FORM = 'F', the leading NR-by-NC part of this array
-          must contain the (compressed) representation of the
-          matrix A, where NR and NC are the number of rows and
-          columns, respectively, of the matrix A. The array A is
-          not referenced by this routine itself, except in the
-          calls to the routine F.
-          If FORM &lt;&gt; 'F', the leading N-by-N part of this array
-          must contain the matrix A, assumed to be symmetric;
-          only the triangular part specified by FORM is referenced.
-
-  LDA     (input) INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,NR), if FORM = 'F';
-          LDA &gt;= MAX(1,N),  if FORM = 'U' or FORM = 'L'.
-
-  B       (input) DOUBLE PRECISION array, dimension (1+(N-1)*INCB)
-          The incremented vector b.
-
-  INCB    (input) INTEGER
-          The increment for the elements of B.  INCB &gt; 0.
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          (1+(N-1)*INCX)
-          On entry, this incremented array must contain an initial
-          approximation of the solution. If an approximation is not
-          known, setting all elements of x to zero is recommended.
-          On exit, this incremented array contains the computed
-          solution x of the system of linear equations.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X.  INCX &gt; 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If TOL &gt; 0, absolute tolerance for the iterative process.
-          The algorithm will stop if || Ax - b ||_2 &lt;= TOL. Since
-          it is advisable to use a relative tolerance, say TOLER,
-          TOL should be chosen as TOLER*|| b ||_2.
-          If TOL &lt;= 0, a default relative tolerance,
-          TOLDEF = N*EPS*|| b ||_2,  is used, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the number of
-          iterations performed and DWORK(2) returns the remaining
-          residual, || Ax - b ||_2.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(2,3*N + DWORK(F)),  if FORM = 'F',
-                    where DWORK(F) is the workspace needed by F;
-          LDWORK &gt;= MAX(2,3*N),       if FORM = 'U' or FORM = 'L'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the algorithm finished after ITMAX &gt; 0 iterations,
-                without achieving the desired precision TOL;
-          = 2:  ITMAX is zero; in this case, DWORK(2) is not set.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then F returned with INFO = i.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The following CG iteration is used for solving Ax = b:
-
-  Start: q(0) = r(0) = Ax - b
-
-                &lt; q(k),  r(k) &gt;
-  ALPHA(k) = - ----------------
-                &lt; q(k), Aq(k) &gt;
-  x(k+1)   = x(k) - ALPHA(k) * q(k)
-  r(k+1)   = r(k) - ALPHA(k) * Aq(k)
-              &lt; r(k+1), r(k+1) &gt;
-  BETA(k)  = --------------------
-              &lt; r(k)  , r(k)   &gt;
-  q(k+1)   = r(k+1) + BETA(k) * q(k)
-
-  where &lt;.,.&gt; denotes the scalar product.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
-      1996.
-
-  [2] Luenberger, G.
-      Introduction to Linear and Nonlinear Programming.
-      Addison-Wesley, Reading, MA, p.187, York, 1973.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Since the residuals are orthogonal in the scalar product
-  &lt;x, y&gt; = y'Ax, the algorithm is theoretically finite. But rounding
-  errors cause a loss of orthogonality, so a finite termination
-  cannot be guaranteed. However, one can prove [2] that
-
-     || x-x_k ||_A := sqrt( (x-x_k)' * A * (x-x_k) )
-
-                                          sqrt( kappa_2(A) ) - 1
-                   &lt;=  2 || x-x_0 ||_A * ------------------------ ,
-                                          sqrt( kappa_2(A) ) + 1
-
-  where kappa_2 is the condition number.
-
-  The approximate number of floating point operations is
-     (k*(N**2 + 15*N) + N**2 + 3*N)/2, if FORM &lt;&gt; 'F',
-     k*(f + 7*N) + f,                  if FORM =  'F',
-  where k is the number of CG iterations performed, and f is the
-  number of floating point operations required by the subroutine F.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02XD.html b/doc/_build/html/_static/doc/MB02XD.html
deleted file mode 100644
index f063b94a..00000000
--- a/doc/_build/html/_static/doc/MB02XD.html
+++ /dev/null
@@ -1,304 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02XD">MB02XD</A></H2>
-<H3>
-Solution of A' A X = B, or f(A) X = B, using symmetric Gaussian elimination
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a set of systems of linear equations, A'*A*X = B, or,
-  in the implicit form, f(A)*X = B, with A'*A or f(A) positive
-  definite, using symmetric Gaussian elimination.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02XD( FORM, STOR, UPLO, F, M, N, NRHS, IPAR, LIPAR,
-     $                   DPAR, LDPAR, A, LDA, B, LDB, ATA, LDATA, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FORM, STOR, UPLO
-      INTEGER           INFO, LDA, LDATA, LDB, LDPAR, LDWORK, LIPAR, M,
-     $                  N, NRHS
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ATA(*), B(LDB,*), DPAR(*), DWORK(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FORM    CHARACTER*1
-          Specifies the form in which the matrix A is provided, as
-          follows:
-          = 'S' :  standard form, the matrix A is given;
-          = 'F' :  the implicit, function form f(A) is provided.
-          If FORM = 'F', then the routine F is called to compute the
-          matrix A'*A.
-
-  STOR    CHARACTER*1
-          Specifies the storage scheme for the symmetric
-          matrix A'*A, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix A'*A is stored, as
-          follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  F       EXTERNAL
-          If FORM = 'F', then F is a subroutine which calculates the
-          value of f(A) = A'*A, for given A.
-          If FORM = 'S', then F is not called.
-
-          F must have the following interface:
-
-          SUBROUTINE F( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, A,
-         $              LDA, ATA, LDATA, DWORK, LDWORK, INFO )
-
-          where
-
-          STOR    (input) CHARACTER*1
-                  Specifies the storage scheme for the symmetric
-                  matrix A'*A, as follows:
-                  = 'F' :  full storage is used;
-                  = 'P' :  packed storage is used.
-
-          UPLO    (input) CHARACTER*1
-                  Specifies which part of the matrix A'*A is stored,
-                  as follows:
-                  = 'U' :  the upper triagular part is stored;
-                  = 'L' :  the lower triagular part is stored.
-
-          N       (input) INTEGER
-                  The order of the matrix A'*A.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the matrix A.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-                  The real parameters needed for solving the
-                  problem.
-
-          LDPAR   (input) INTEGER
-                  The length of the array DPAR.  LDPAR &gt;= 0.
-
-          A       (input) DOUBLE PRECISION array, dimension
-                  (LDA, NC), where NC is the number of columns.
-                  The leading NR-by-NC part of this array must
-                  contain the (compressed) representation of the
-                  matrix A, where NR is the number of rows of A
-                  (function of IPAR entries).
-
-          LDA     (input) INTEGER
-                  The leading dimension of the array A.
-                  LDA &gt;= MAX(1,NR).
-
-          ATA     (output) DOUBLE PRECISION array,
-                           dimension (LDATA,N),    if STOR = 'F',
-                           dimension (N*(N+1)/2),  if STOR = 'P'.
-                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
-                  (if STOR = 'P') part of this array contains the
-                  upper or lower triangle of the matrix A'*A,
-                  depending on UPLO = 'U', or UPLO = 'L',
-                  respectively, stored either as a two-dimensional,
-                  or one-dimensional array, depending on STOR.
-
-          LDATA   (input) INTEGER
-                  The leading dimension of the array ATA.
-                  LDATA &gt;= MAX(1,N), if STOR = 'F'.
-                  LDATA &gt;= 1,        if STOR = 'P'.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine F.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine F).
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input scalar argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine F. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix A'*A, the number of columns of the
-          matrix A, and the number of rows of the matrix X.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of columns of the matrices B and X.  NRHS &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          If FORM = 'F', the integer parameters describing the
-          structure of the matrix A.
-          This parameter is ignored if FORM = 'S'.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 0.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          If FORM = 'F', the real parameters needed for solving
-          the problem.
-          This parameter is ignored if FORM = 'S'.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array,
-                  dimension (LDA, N),  if FORM = 'S',
-                  dimension (LDA, NC), if FORM = 'F', where NC is
-                  the number of columns.
-          If FORM = 'S', the leading M-by-N part of this array
-          must contain the matrix A.
-          If FORM = 'F', the leading NR-by-NC part of this array
-          must contain an appropriate representation of matrix A,
-          where NR is the number of rows.
-          If FORM = 'F', this array is not referenced by this
-          routine itself, except in the call to the routine F.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,M),  if FORM = 'S';
-          LDA &gt;= MAX(1,NR), if FORM = 'F'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB, NRHS)
-          On entry, the leading N-by-NRHS part of this array must
-          contain the right hand side matrix B.
-          On exit, if INFO = 0 and M (or NR) is nonzero, the leading
-          N-by-NRHS part of this array contains the solution X of
-          the set of systems of linear equations A'*A*X = B or
-          f(A)*X = B. If M (or NR) is zero, then B is unchanged.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  ATA     (output) DOUBLE PRECISION array,
-                   dimension (LDATA,N),    if STOR = 'F',
-                   dimension (N*(N+1)/2),  if STOR = 'P'.
-          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
-          STOR = 'P') part of this array contains the upper or lower
-          triangular Cholesky factor of the matrix A'*A, depending
-          on UPLO = 'U', or UPLO = 'L', respectively, stored either
-          as a two-dimensional, or one-dimensional array, depending
-          on STOR.
-
-  LDATA   INTEGER
-          The leading dimension of the array ATA.
-          LDATA &gt;= MAX(1,N), if STOR = 'F'.
-          LDATA &gt;= 1,        if STOR = 'P'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then the (i,i) element of the
-                triangular factor of the matrix A'*A is exactly
-                zero (the matrix A'*A is exactly singular);
-                if INFO = j &gt; n, then F returned with INFO = j-n.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A'*A is built either directly (if FORM = 'S'), or
-  implicitly, by calling the routine F. Then, A'*A is Cholesky
-  factored and its factor is used to solve the set of systems of
-  linear equations, A'*A*X = B.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, 1996.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Blackford, Demmel, J.,
-      Dongarra, J., Du Croz, J., Greenbaum, A., Hammarling, S.,
-      McKenney, A., Sorensen, D.
-      LAPACK Users' Guide: Third Edition, SIAM, Philadelphia, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  For speed, this routine does not check for near singularity of the
-  matrix A'*A. If the matrix A is nearly rank deficient, then the
-  computed X could be inaccurate. Estimates of the reciprocal
-  condition numbers of the matrices A and A'*A can be obtained
-  using LAPACK routines DGECON and DPOCON (DPPCON), respectively.
-
-  The approximate number of floating point operations is
-     (M+3)*N**2/2 + N**3/6 + NRHS*N**2, if FORM = 'S',
-     f + N**3/6 + NRHS*N**2,            if FORM = 'F',
-  where M is the number of rows of A, and f is the number of
-  floating point operations required by the subroutine F.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB02YD.html b/doc/_build/html/_static/doc/MB02YD.html
deleted file mode 100644
index bb1d581c..00000000
--- a/doc/_build/html/_static/doc/MB02YD.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02YD">MB02YD</A></H2>
-<H3>
-Solving the linear system A x = b, D x = 0, D diagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a vector x which solves the system of linear
-  equations
-
-        A*x = b ,     D*x = 0 ,
-
-  in the least squares sense, where A is an m-by-n matrix,
-  D is an n-by-n diagonal matrix, and b is an m-vector.
-  It is assumed that a QR factorization, with column pivoting, of A
-  is available, that is, A*P = Q*R, where P is a permutation matrix,
-  Q has orthogonal columns, and R is an upper triangular matrix
-  with diagonal elements of nonincreasing magnitude.
-  The routine needs the full upper triangle of R, the permutation
-  matrix P, and the first n components of Q'*b (' denotes the
-  transpose). The system A*x = b, D*x = 0, is then equivalent to
-
-        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
-
-  where x = P*z. If this system does not have full rank, then a
-  least squares solution is obtained. On output, MB02YD also
-  provides an upper triangular matrix S such that
-
-        P'*(A'*A + D*D)*P = S'*S .
-
-  The system (1) is equivalent to S*z = c , where c contains the
-  first n components of the vector obtained by applying to
-  [ (Q'*b)'  0 ]' the transformations which triangularized
-  [ R'  P'*D*P ]', getting S.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02YD( COND, N, R, LDR, IPVT, DIAG, QTB, RANK, X, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, N, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IPVT(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the matrix S should be
-          estimated, as follows:
-          = 'E' :  use incremental condition estimation and store
-                   the numerical rank of S in RANK;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of S for zero values;
-          = 'U' :  use the rank already stored in RANK.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the full upper triangle is unaltered, and the
-          strict lower triangle contains the strict upper triangle
-          (transposed) of the upper triangular matrix S.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          A*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  RANK    (input or output) INTEGER
-          On entry, if COND = 'U', this parameter must contain the
-          (numerical) rank of the matrix S.
-          On exit, if COND = 'E' or 'N', this parameter contains
-          the numerical rank of the matrix S, estimated according
-          to the value of COND.
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system A*x = b, D*x = 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          rank of the matrix S. If the user sets TOL &gt; 0, then the
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S, and
-          the next N elements contain the solution z.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 4*N, if COND =  'E';
-          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Standard plane rotations are used to annihilate the elements of
-  the diagonal matrix D, updating the upper triangular matrix R
-  and the first n elements of the vector Q'*b. A basic least squares
-  solution is computed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a LAPACK-based modification of QRSOLV from the
-  MINPACK package [1], and with optional condition estimation.
-  The option COND = 'U' is useful when dealing with several
-  right-hand side vectors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AB.html b/doc/_build/html/_static/doc/MB03AB.html
deleted file mode 100644
index 5f6b5f1d..00000000
--- a/doc/_build/html/_static/doc/MB03AB.html
+++ /dev/null
@@ -1,148 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AB">MB03AB</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with explicit shifts) 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is needed for the real
-  Wilkinson single shift polynomial (see the SLICOT Library routines
-  MB03BE or MB03BF). The shifts are defined based on the eigenvalues
-  (computed externally by the SLICOT Library routine MB03BB) of the
-  trailing 2-by-2 submatrix of the matrix product. See the
-  definitions of the arguments W1 and W2.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AB( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, W1,
-     $                   W2, C1, S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2, W1, W2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number and type of shifts employed by the
-          shift polynomial, as follows:
-          = 'C':  two complex conjugate shifts;
-          = 'D':  two real identical shifts;
-          = 'R':  two real shifts;
-          = 'S':  one real shift.
-          When the eigenvalues are complex conjugate, this argument
-          must be set to 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors in the array A.
-          N &gt;= 2, for a single shift polynomial;
-          N &gt;= 3, for a double shift polynomial.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix, defined
-          by A(:,:,AMAP(1)).
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain an
-          n-by-n product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  W1      (input)  DOUBLE PRECISION
-          The real part of the first eigenvalue.
-          If SHFT = 'S', this argument is not used.
-
-  W2      (input)  DOUBLE PRECISION
-          The second eigenvalue, if both eigenvalues are real, else
-          the imaginary part of the complex conjugate pair.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, C2 and S2 contain the parameters for the second
-          Givens rotation. If SHFT = 'S', C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are properly computed and applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AD.html b/doc/_build/html/_static/doc/MB03AD.html
deleted file mode 100644
index 248509ef..00000000
--- a/doc/_build/html/_static/doc/MB03AD.html
+++ /dev/null
@@ -1,133 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AD">MB03AD</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routine
-  MB03BE).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AD( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors in the array A.
-          N &gt;= 2, for a single shift polynomial;
-          N &gt;= 3, for a double shift polynomial.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
-          parameters for the second Givens rotation. Otherwise,
-          C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Two Givens rotations are properly computed and applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AE.html b/doc/_build/html/_static/doc/MB03AE.html
deleted file mode 100644
index 3c95c503..00000000
--- a/doc/_build/html/_static/doc/MB03AE.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AE">MB03AE</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the first one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
-  submatrix and the five nonzero elements in the first two columns
-  of the matrix product are evaluated when a double shift is used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AE( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
-          parameters for the second Givens rotation. Otherwise,
-          C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double/single shift
-  polynomial are computed, and suitable Givens rotations are found.
-  For numerical reasons, this routine should be called when
-  convergence difficulties are encountered.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AF.html b/doc/_build/html/_static/doc/MB03AF.html
deleted file mode 100644
index 7dad33cb..00000000
--- a/doc/_build/html/_static/doc/MB03AF.html
+++ /dev/null
@@ -1,134 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AF">MB03AF</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant, Hessenberg factor is the last one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AF( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two real shifts;
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors in the array A.
-          N &gt;= 2, for a single shift polynomial;
-          N &gt;= 3, for a double shift polynomial.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(K) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-          S(K) is not used, but assumed to be 1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array must
-          contain a n-by-n product (implicitly represented by its K
-          factors) in periodic upper Hessenberg form. The Hessenberg
-          matrix is assumed to be the last one in the product.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D', C2 and S2 contain the parameters
-          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are properly computed and applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AG.html b/doc/_build/html/_static/doc/MB03AG.html
deleted file mode 100644
index 2b3d9e9b..00000000
--- a/doc/_build/html/_static/doc/MB03AG.html
+++ /dev/null
@@ -1,146 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AG - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AG">MB03AG</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the first one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The matrix product
-  is evaluated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AG( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2, IWORK, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), IWORK(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D', C2 and S2 contain the parameters
-          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (2*N*N)
-          On exit, DWORK(N*N+1:N*N+N) and DWORK(N*N+N+1:N*N+2*N)
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of the matrix product.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double shift
-  polynomial are computed, and suitable Givens rotations are
-  found. For numerical reasons, this routine should be called
-  when convergence difficulties are encountered for small order
-  matrices and small K, e.g., N, K &lt;= 6.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AH.html b/doc/_build/html/_static/doc/MB03AH.html
deleted file mode 100644
index a00c044d..00000000
--- a/doc/_build/html/_static/doc/MB03AH.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AH - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AH">MB03AH</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the last one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
-  submatrix and the five nonzero elements in the first two columns
-  of the matrix product are evaluated when a double shift is used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AH( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(K) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
-          parameters for the second Givens rotation. Otherwise,
-          C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double/single shift
-  polynomial are computed, and suitable Givens rotations are found.
-  For numerical reasons, this routine should be called when
-  convergence difficulties are encountered. For a double shift, if
-  there are two real eigenvalues of the trailing 2-by-2 part of the
-  product, both shifts are chosen equal to the eigenvalue with
-  minimum modulus. The trailing element of the product is used as a
-  single shift. If SINV is negative, the shift(s) correspond to the
-  reciprocals of the eigenvalues of the product, as required by the
-  SLICOT Library routine MB03BD.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03AI.html b/doc/_build/html/_static/doc/MB03AI.html
deleted file mode 100644
index 5dfcde8e..00000000
--- a/doc/_build/html/_static/doc/MB03AI.html
+++ /dev/null
@@ -1,141 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AI - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AI">MB03AI</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the last one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2)
-  such that the orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The matrix product
-  is evaluated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AI( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(K) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D', C2 and S2 contain the parameters
-          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N*(N+2))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double shift
-  polynomial are computed, and suitable Givens rotations are 
-  found. For numerical reasons, this routine should be called
-  when convergence difficulties are encountered for small order
-  matrices and small K, e.g., N, K &lt;= 6. 
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BA.html b/doc/_build/html/_static/doc/MB03BA.html
deleted file mode 100644
index 9203ca6e..00000000
--- a/doc/_build/html/_static/doc/MB03BA.html
+++ /dev/null
@@ -1,87 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BA">MB03BA</A></H2>
-<H3>
-Computing maps for Hessenberg index and signature array
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the suitable maps for Hessenberg index H and
-  signature array S. Auxiliary routine for the periodic QZ
-  algorithms.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BA( K, H, S, SMULT, AMAP, QMAP )
-C     .. Scalar Arguments ..
-      INTEGER           K, H, SMULT
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), QMAP(*), S(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  H       (input)  INTEGER
-          Index which corresponds to A_1.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SMULT   (output)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SMULT.
-
-  AMAP    (output)  INTEGER array, dimension (K)
-          The map for accessing the factors, that is,
-          if AMAP(I) = J, then the factor A_I is stored at the J-th
-          position in A.
-
-  QMAP    (output)  INTEGER array, dimension (K)
-          The map for accessing the orthognal transformation
-          matrices, that is, if QMAP(I) = J, then the matrix Q_I is
-          stored at the J-th position in Q.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BB.html b/doc/_build/html/_static/doc/MB03BB.html
deleted file mode 100644
index 0195f613..00000000
--- a/doc/_build/html/_static/doc/MB03BB.html
+++ /dev/null
@@ -1,140 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BB">MB03BB</A></H2>
-<H3>
-Eigenvalues of a 2-by-2 matrix product via a complex single shifted periodic QZ algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a general 2-by-2 matrix product via
-  a complex single shifted periodic QZ algorithm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BB( BASE, LGBAS, ULP, K, AMAP, S, SINV, A, LDA1,
-     $                   LDA2, ALPHAR, ALPHAI, BETA, SCAL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K, LDA1, LDA2, SINV
-      DOUBLE PRECISION  BASE, LGBAS, ULP
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(2), ALPHAR(2), BETA(2),
-     $                  DWORK(*)
-      INTEGER           AMAP(*), S(*), SCAL(2)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  BASE    (input)  DOUBLE PRECISION
-          Machine base.
-
-  LGBAS   (input)  DOUBLE PRECISION
-          Logarithm of BASE.
-
-  ULP     (input)  DOUBLE PRECISION
-          Machine precision.
-
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg-triangular form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-  ALPHAR  (output)  DOUBLE PRECISION array, dimension (2)
-          On exit, this array contains the scaled real part of the
-          two eigenvalues. If BETA(I) &lt;&gt; 0, then the I-th eigenvalue
-          (I = 1 : 2) is given by
-              (ALPHAR(I) + ALPHAI(I)*SQRT(-1) ) * (BASE)**SCAL(I).
-
-  ALPHAI  (output)  DOUBLE PRECISION array, dimension (2)
-          On exit, this array contains the scaled imaginary part of
-          the two eigenvalues. ALPHAI(1) &gt;= 0.
-
-  BETA    (output)  DOUBLE PRECISION array, dimension (2)
-          On exit, this array contains information about infinite
-          eigenvalues. If BETA(I) = 0, then the I-th eigenvalue is
-          infinite. Otherwise, BETA(I) = 1.0.
-
-  SCAL    (output)  INTEGER array, dimension (2)
-          On exit, this array contains the scaling exponents for the
-          two eigenvalues.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (8*K)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  the periodic QZ algorithm did not converge;
-          = 2:  the computed eigenvalues might be inaccurate.
-                Both values might be taken as warnings, since
-                approximations of eigenvalues are returned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A complex single shifted periodic QZ iteration is applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BC.html b/doc/_build/html/_static/doc/MB03BC.html
deleted file mode 100644
index 6543cd0e..00000000
--- a/doc/_build/html/_static/doc/MB03BC.html
+++ /dev/null
@@ -1,151 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BC">MB03BC</A></H2>
-<H3>
-Product singular value decomposition of K-1 triangular factors of order 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the product singular value decomposition of the K-1
-  triangular factors corresponding to a 2-by-2 product of K
-  factors in upper Hessenberg-triangular form.
-  For a general product of 2-by-2 triangular matrices
-
-                     S(2)        S(3)            S(K)
-         A = A(:,:,2)    A(:,:,3)    ... A(:,:,K),
-
-  Givens rotations are computed so that
-                                                       S(i)
-    [  CV(i-1) SV(i-1) ] [ A(1,1,i)(in)  A(1,2,i)(in) ]
-    [ -SV(i-1) CV(i-1) ] [     0         A(2,2,i)(in) ]
-                                   S(i)
-    [ A(1,1,i)(out) A(1,2,i)(out) ]    [  CV(i) SV(i) ]
-  = [     0         A(2,2,i)(out) ]    [ -SV(i) CV(i) ]
-
-  stays upper triangular and
-
-    [  CV(1) SV(1) ]       [ CV(K) -SV(K) ]
-    [ -SV(1) CV(1) ] * A * [ SV(K)  CV(K) ]
-
-  is diagonal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BC( K, AMAP, S, SINV, A, LDA1, LDA2, MACPAR, CV,
-     $                   SV, DWORK )
-C     .. Scalar Arguments ..
-      INTEGER           K, LDA1, LDA2, SINV
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), CV(*), DWORK(*), MACPAR(*),
-     $                  SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg-triangular form.
-          On exit, the leading 2-by-2-by-K part of this array
-          contains modified triangular factors such that their
-          product is diagonal.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-  MACPAR  (input)  DOUBLE PRECISION array, dimension (5)
-          Machine parameters:
-          MACPAR(1)  overflow threshold,         DLAMCH( 'O' );
-          MACPAR(2)  underflow threshold,        DLAMCH( 'U' );
-          MACPAR(3)  safe minimum,               DLAMCH( 'S' );
-          MACPAR(4)  relative machine precision, DLAMCH( 'E' );
-          MACPAR(5)  base of the machine,        DLAMCH( 'B' ).
-
-  CV      (output)  DOUBLE PRECISION array, dimension (K)
-          On exit, the first K elements of this array contain the
-          cosines of the Givens rotations.
-
-  SV      (output)  DOUBLE PRECISION array, dimension (K)
-          On exit, the first K elements of this array contain the
-          sines of the Givens rotations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*(K-1))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The product singular value decomposition of the K-1
-  triangular factors are computed as described in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A. and Van Dooren, P.
-      On propagating orthogonal transformations in a product of 2x2
-      triangular matrices.
-      In Reichel, Ruttan and Varga: 'Numerical Linear Algebra',
-      pp. 1-9, 1993.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BD.html b/doc/_build/html/_static/doc/MB03BD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB03BD.html
+++ /dev/null
@@ -1,507 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BD">MB03BD</A></H2>
-<H3>
-Finding eigenvalues of a generalized matrix product in Hessenberg-triangular form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the eigenvalues of the generalized matrix product
-
-               S(1)           S(2)                 S(K)
-       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
-
-  where A(:,:,H) is upper Hessenberg and A(:,:,i), i &lt;&gt; H, is upper
-  triangular, using a double-shift version of the periodic
-  QZ method. In addition, A may be reduced to periodic Schur form:
-  A(:,:,H) is upper quasi-triangular and all the other factors
-  A(:,:,I) are upper triangular. Optionally, the 2-by-2 triangular
-  matrices corresponding to 2-by-2 diagonal blocks in A(:,:,H)
-  are so reduced that their product is a 2-by-2 diagonal matrix.
-
-  If COMPQ = 'U' or COMPQ = 'I', then the orthogonal factors are
-  computed and stored in the array Q so that for S(I) = 1,
-
-                      T
-          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
-                                                              T  (1)
-      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
-
-  and for S(I) = -1,
-
-                               T
-          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
-                                                              T  (2)
-      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
-
-  A partial generation of the orthogonal factors can be realized
-  via the array QIND.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S,
-     $                   A, LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI,
-     $                   BETA, SCAL, IWORK, LIWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPQ, DEFL, JOB
-      INTEGER           H, IHI, ILO, INFO, IWARN, K, LDA1, LDA2, LDQ1,
-     $                  LDQ2, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*), QIND(*), S(*), SCAL(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(*), ALPHAR(*), BETA(*),
-     $                  DWORK(*), Q(LDQ1,LDQ2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; A will not
-                 necessarily be put into periodic Schur form;
-          = 'S': put A into periodic Schur form, and return the
-                 eigenvalues in ALPHAR, ALPHAI, BETA, and SCAL;
-          = 'T': as JOB = 'S', but A is put into standardized
-                 periodic Schur form, that is, the general product
-                 of the 2-by-2 triangular matrices corresponding to
-                 a complex eigenvalue is diagonal.
-
-  DEFL    CHARACTER*1
-          Specifies the deflation strategy to be used, as follows:
-          = 'C': apply a careful deflation strategy, that is,
-                 the criteria are based on the magnitudes of
-                 neighboring elements and infinite eigenvalues are
-                 only deflated at the top; this is the recommended
-                 option;
-          = 'A': apply a more aggressive strategy, that is,
-                 elements on the subdiagonal or diagonal are set
-                 to zero as soon as they become smaller in magnitude
-                 than eps times the norm of the corresponding
-                 factor; this option is only recommended if
-                 balancing is applied beforehand and convergence
-                 problems are observed.
-
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N': do not modify Q;
-          = 'U': modify (update) the array Q by the orthogonal
-                 transformations that are applied to the matrices in
-                 the array A to reduce them to periodic Schur form;
-          = 'I': like COMPQ = 'U', except that each matrix in the
-                 array Q will be first initialized to the identity
-                 matrix;
-          = 'P': use the parameters as encoded in QIND.
-
-  QIND    INTEGER array, dimension (K)
-          If COMPQ = 'P', then this array describes the generation
-          of the orthogonal factors as follows:
-             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
-          modified by the transformations corresponding to the
-          i-th orthogonal factor in (1) and (2).
-             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
-          initialized to the identity and modified by the
-          transformations corresponding to the i-th orthogonal
-          factor in (1) and (2).
-             If QIND(I) = 0, then the transformations corresponding
-          to the i-th orthogonal factor in (1), (2) are not applied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of each factor in the array A.  N &gt;= 0.
-
-  H       (input)  INTEGER
-          Hessenberg index. The factor A(:,:,H) is on entry in upper
-          Hessenberg form.  1 &lt;= H &lt;= K.
-
-  ILO     (input)  INTEGER
-  IHI     (input)  INTEGER
-          It is assumed that each factor in A is already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
-          ILO = 1 and IHI  = 0, if N = 0.
-
-  S       (input)  INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array
-          must contain the factors in upper Hessenberg-triangular
-          form, that is, A(:,:,H) is upper Hessenberg and the other
-          factors are upper triangular.
-          On exit, if JOB = 'S' and INFO = 0, the leading
-          N-by-N-by-K part of this array contains the factors of
-          A in periodic Schur form, that is, A(:,:,H) is upper quasi
-          triangular and the other factors are upper triangular.
-          On exit, if JOB = 'T' and INFO = 0, the leading
-          N-by-N-by-K part of this array contains the factors of
-          A as for the option JOB = 'S', but the product of the
-          triangular factors corresponding to a 2-by-2 block in
-          A(:,:,H) is diagonal.
-          On exit, if JOB = 'E', then the leading N-by-N-by-K part
-          of this array contains meaningless elements in the off-
-          diagonal blocks. Consequently, the formulas (1) and (2)
-          do not hold for the returned A and Q (if COMPQ &lt;&gt; 'N')
-          in this case.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= MAX(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= MAX(1,N).
-
-  Q       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDQ1,LDQ2,K)
-          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
-          of this array must contain the initial orthogonal factors
-          as described in (1) and (2).
-          On entry, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part of this array must contain some
-          orthogonal factors as described by the parameters QIND.
-          If COMPQ = 'I', this array should not be set on entry.
-          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
-          N-by-N-by-K part of this array contains the modified
-          orthogonal factors as described in (1) and (2).
-          On exit, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part contain some modified orthogonal factors
-          as described by the parameters QIND.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ1    INTEGER
-          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
-
-  LDQ2    INTEGER
-          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain the scaled real parts of the eigenvalues of the
-          matrix product A. The i-th eigenvalue of A is given by
-
-          (ALPHAR(I) + ALPHAI(I)*SQRT(-1))/BETA(I) * BASE**SCAL(I),
-
-          where BASE is the machine base (often 2.0). Complex
-          conjugate eigenvalues appear in consecutive locations.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain the scaled imaginary parts of the eigenvalues
-          of A.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain indicators for infinite eigenvalues. That is, if
-          BETA(I) = 0.0, then the i-th eigenvalue is infinite.
-          Otherwise BETA(I) is set to 1.0.
-
-  SCAL    (output) INTEGER array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain the scaling parameters for the eigenvalues of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 0, IWORK(1) returns the optimal LIWORK,
-          and if IWARN &gt; N, the nonzero absolute values in IWORK(2),
-          ..., IWORK(N+1) are indices of the possibly inaccurate
-          eigenvalues, as well as of the corresponding 1-by-1 or
-          2-by-2 diagonal blocks of the factors in the array A.
-          The 2-by-2 blocks correspond to negative values in IWORK.
-          One negative value is stored for each such eigenvalue
-          pair. Its modulus indicates the starting index of a
-          2-by-2 block. This is also done for any value of IWARN,
-          if a 2-by-2 block is found to have two real eigenvalues.
-          On exit, if INFO = -22, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The length of the array IWORK.  LIWORK  &gt;= 2*K+N.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK,
-          and DWORK(2), ..., DWORK(1+K) contain the Frobenius norms
-          of the factors of the formal matrix product used by the
-          algorithm.
-          On exit, if INFO = -24, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= K + MAX( 2*N, 8*K ).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0        :  no warnings;
-          = 1,..,N-1 :  A is in periodic Schur form, but the
-                        algorithm was not able to reveal information
-                        about the eigenvalues from the 2-by-2
-                        blocks.
-                        ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i),
-                        can be incorrect for i = 1, ..., IWARN+1;
-          = N        :  some eigenvalues might be inaccurate;
-          = N+1      :  some eigenvalues might be inaccurate, and
-                        details can be found in IWORK.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0      :  succesful exit;
-          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
-                      value;
-          = 1,..,N :  the periodic QZ iteration did not converge.
-                      A is not in periodic Schur form, but
-                      ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i), for
-                      i = INFO+1,...,N should be correct.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A modified version of the periodic QZ algorithm is used [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
-      2001), Como (Italy), August 27-28 2001. Periodic Control
-      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-                              3
-  The algorithm requires 0(K N ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            KMAX, NMAX
-      PARAMETER          ( KMAX = 6, NMAX = 50 )
-      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
-      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                     LDQ2 = NMAX,
-     $                     LDWORK = KMAX + MAX( 2*NMAX, 8*KMAX ),
-     $                     LIWORK = 2*KMAX + NMAX )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, DEFL, JOB
-      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK ), QIND( KMAX ), S( KMAX ),
-     $                   SCAL( NMAX )
-      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
-     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
-     $                   Q( LDQ1, LDQ2, KMAX )
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03BD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, K, N, H, ILO, IHI
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
-         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
-     $                                I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'U' ) )
-     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
-     $                                   I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'P' ) ) THEN
-            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
-            DO 10 L = 1, K
-               IF( QIND( L ).GT.0 )
-     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
-     $                                    J = 1, N ), I = 1, N )
-   10       CONTINUE
-         END IF
-*        Compute the eigenvalues and the transformed matrices, if
-*        required.
-         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
-     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
-     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE IF( IWARN.EQ.0 ) THEN
-            IF( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 30 L = 1, K
-                  WRITE( NOUT, FMT = 99988 ) L
-                  DO 20 I = 1, N
-                     WRITE( NOUT, FMT = 99995 ) ( A( I, J, L ), J = 1, N
-     $                                          )
-   20             CONTINUE
-   30          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99994 )
-               DO 50 L = 1, K
-                  WRITE( NOUT, FMT = 99988 ) L
-                  DO 40 I = 1, N
-                     WRITE( NOUT, FMT = 99995 ) ( Q( I, J, L ), J = 1, N
-     $                                          )
-   40             CONTINUE
-   50          CONTINUE
-            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
-               WRITE( NOUT, FMT = 99994 )
-               DO 70 L = 1, K
-                  IF( QIND( L ).GT.0 ) THEN
-                     WRITE( NOUT, FMT = 99988 ) QIND( L )
-                     DO 60 I = 1, N
-                        WRITE( NOUT, FMT = 99995 )
-     $                       ( Q( I, J, QIND( L ) ), J = 1, N )
-   60                CONTINUE
-                  END IF
-   70          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) (   SCAL( I ), I = 1, N )
-         ELSE
-            WRITE( NOUT, FMT = 99987 ) IWARN
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03BD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
-99996 FORMAT( 'The matrix A on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix Q on exit is ' )
-99993 FORMAT( 'The vector ALPHAR is ' )
-99992 FORMAT( 'The vector ALPHAI is ' )
-99991 FORMAT( 'The vector BETA is ' )
-99990 FORMAT( 'The vector SCAL is ' )
-99989 FORMAT( 50( 1X, I8 ) )
-99988 FORMAT( 'The factor ', I2, ' is ' )
-99987 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03BD EXAMPLE PROGRAM DATA
-   S   C   I   3   3   2   1   3
-  -1     1    -1
-   2.0   0.0   1.0
-   0.0  -2.0  -1.0
-   0.0   0.0   3.0
-   1.0   2.0   0.0
-   4.0  -1.0   3.0
-   0.0   3.0   1.0
-   1.0   0.0   1.0
-   0.0   4.0  -1.0
-   0.0   0.0  -2.0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03BD EXAMPLE PROGRAM RESULTS
-The matrix A on exit is 
-The factor  1 is 
-  -2.1306   0.8205   0.7462
-   0.0000   2.8786   1.0564
-   0.0000   0.0000   1.9566
-The factor  2 is 
-  -4.0763  -1.0376  -2.6948
-  -1.9525   1.8283   2.2987
-   0.0000   0.0000   1.8990
-The factor  3 is 
-   3.3463  -2.3239  -0.5623
-   0.0000   1.0778  -0.0646
-   0.0000   0.0000  -2.2180
-The matrix Q on exit is 
-The factor  1 is 
-   0.2594   0.7715  -0.5809
-  -0.9552   0.1162  -0.2723
-  -0.1426   0.6255   0.7671
-The factor  2 is 
-  -0.1766   0.8037  -0.5683
-  -0.9636  -0.0234   0.2664
-   0.2008   0.5946   0.7785
-The factor  3 is 
-   0.6295   0.7315   0.2619
-  -0.7394   0.4605   0.4911
-   0.2386  -0.5028   0.8308
-The vector ALPHAR is 
-   0.3230   0.3230  -0.8752
-The vector ALPHAI is 
-   0.5694  -0.5694   0.0000
-The vector BETA is 
-   1.0000   1.0000   1.0000
-The vector SCAL is 
-        0        0       -1
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BE.html b/doc/_build/html/_static/doc/MB03BE.html
deleted file mode 100644
index 62a7410c..00000000
--- a/doc/_build/html/_static/doc/MB03BE.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BE">MB03BE</A></H2>
-<H3>
-Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply at most 20 iterations of a real single shifted
-  periodic QZ algorithm to the 2-by-2 product of matrices stored
-  in the array A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BE( K, AMAP, S, SINV, A, LDA1, LDA2 )
-C     .. Scalar Arguments ..
-      INTEGER           K, LDA1, LDA2, SINV
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg form.
-          On exit, the leading 2-by-2-by-K part of this array
-          contains the product after at most 20 iterations of a real
-          shifted periodic QZ algorithm.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Ten iterations of a real single shifted periodic QZ algorithm are
-  applied to the 2-by-2 matrix product A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BF.html b/doc/_build/html/_static/doc/MB03BF.html
deleted file mode 100644
index 74850311..00000000
--- a/doc/_build/html/_static/doc/MB03BF.html
+++ /dev/null
@@ -1,106 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BF">MB03BF</A></H2>
-<H3>
-Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product, with Hessenberg factor the last one
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply at most 20 iterations of a real single shifted
-  periodic QZ algorithm to the 2-by-2 product of matrices stored
-  in the array A. The Hessenberg matrix is the last one of the
-  formal matrix product.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BF( K, AMAP, S, SINV, A, LDA1, LDA2, ULP )
-C     .. Scalar Arguments ..
-      INTEGER           K, LDA1, LDA2, SINV
-      DOUBLE PRECISION  ULP
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg form. The Hessenberg matrix
-          is the last one of the formal matrix product.
-          On exit, the leading 2-by-2-by-K part of this array
-          contains the product after at most 20 iterations of a real
-          shifted periodic QZ algorithm.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-  ULP     INTEGER
-          The machine relation precision.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Twenty iterations of a real single shifted periodic QZ algorithm
-  are applied to the 2-by-2 matrix product A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03BZ.html b/doc/_build/html/_static/doc/MB03BZ.html
deleted file mode 100644
index 588a1c59..00000000
--- a/doc/_build/html/_static/doc/MB03BZ.html
+++ /dev/null
@@ -1,396 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BZ">MB03BZ</A></H2>
-<H3>
-Finding eigenvalues of a complex generalized matrix product in Hessenberg-triangular form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the eigenvalues of the complex generalized matrix product
-
-               S(1)           S(2)                 S(K)
-       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)    ,  S(1) = 1,
-
-  where A(:,:,1) is upper Hessenberg and A(:,:,i) is upper
-  triangular, i = 2, ..., K, using a single-shift version of the
-  periodic QZ method. In addition, A may be reduced to periodic
-  Schur form by unitary transformations: all factors A(:,:,i) become
-  upper triangular.
-
-  If COMPQ = 'V' or COMPQ = 'I', then the unitary factors are
-  computed and stored in the array Q so that for S(I) = 1,
-
-                      H
-          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
-                       H                                        (1)
-      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
-
-  and for S(I) = -1,
-
-                               H
-          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
-                                H                               (2)
-      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
-     $                   Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK,
-     $                   LDWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPQ, JOB
-      INTEGER           IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
-     $                  LDWORK, LZWORK, N
-C     .. Array Arguments ..
-      INTEGER           S(*), SCAL(*)
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA1, LDA2, *), ALPHA(*), BETA(*),
-     $                  Q(LDQ1, LDQ2, *), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; A will not
-                 necessarily be put into periodic Schur form;
-          = 'S': put A into periodic Schur form, and return the
-                 eigenvalues in ALPHA, BETA, and SCAL.
-
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N': do not modify Q;
-          = 'V': modify the array Q by the unitary transformations
-                 that are applied to the matrices in the array A to
-                 reduce them to periodic Schur form;
-          = 'I': like COMPQ = 'V', except that each matrix in the
-                 array Q will be first initialized to the identity
-                 matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of each factor in the array A.  N &gt;= 0.
-
-  ILO     (input)  INTEGER
-  IHI     (input)  INTEGER
-          It is assumed that each factor in A is already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
-          ILO = 1 and IHI  = 0, if N = 0.
-
-  S       (input)  INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1. By definition, S(1) must be set to 1.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array
-          must contain the factors in upper Hessenberg-triangular
-          form, that is, A(:,:,1) is upper Hessenberg and the other
-          factors are upper triangular.
-          On exit, if JOB = 'S' and INFO = 0, the leading
-          N-by-N-by-K part of this array contains the factors of
-          A in periodic Schur form. All factors are reduced to
-          upper triangular form and, moreover, A(:,:,2), ...,
-          A(:,:,K) are normalized so that their diagonals contain
-          nonnegative real numbers.
-          On exit, if JOB = 'E', then the leading N-by-N-by-K part
-          of this array contains meaningless elements.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= MAX(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= MAX(1,N).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ1,LDQ2,K)
-          On entry, if COMPQ = 'V', the leading N-by-N-by-K part
-          of this array must contain the initial unitary factors
-          as described in (1) and (2).
-          On exit, if COMPQ = 'V' or COMPQ = 'I', the leading
-          N-by-N-by-K part of this array contains the modified
-          unitary factors as described in (1) and (2).
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ1    INTEGER
-          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
-
-  LDQ2    INTEGER
-          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
-
-  ALPHA   (output) COMPLEX*16 array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this
-          array contain the scaled eigenvalues of the matrix
-          product A. The i-th eigenvalue of A is given by
-
-          ALPHA(I) / BETA(I) * BASE**(SCAL(I)),
-
-          where ABS(ALPHA(I)) = 0.0 or 1.0 &lt;= ABS(ALPHA(I)) &lt; BASE,
-          and BASE is the machine base (normally 2.0).
-
-  BETA    (output) COMPLEX*16 array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this
-          array contain indicators for infinite eigenvalues. That
-          is, if BETA(I) = 0.0, then the i-th eigenvalue is
-          infinite. Otherwise BETA(I) is set to 1.0.
-
-  SCAL    (output) INTEGER array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this
-          array contain the scaling parameters for the eigenvalues
-          of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the minimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the minimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.  LZWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0      :  succesful exit;
-          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
-                      value;
-          = 1,..,N :  the periodic QZ iteration did not converge.
-                      A is not in periodic Schur form, but
-                      ALPHA(I), BETA(I), and SCAL(I), for
-                      I = INFO+1,...,N should be correct.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A slightly modified version of the periodic QZ algorithm is
-  used. For more details, see [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
-      2001), Como (Italy), August 27-28 2001. Periodic Control
-      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-                              3
-  The algorithm requires 0(K N ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03BZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            KMAX, NMAX
-      PARAMETER          ( KMAX = 6, NMAX = 50 )
-      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LZWORK
-      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                     LDQ2 = NMAX, LDWORK = NMAX, LZWORK = NMAX )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            I, IHI, ILO, INFO, J, K, L, N
-*
-*     .. Local Arrays ..
-      COMPLEX*16         A( LDA1, LDA2, KMAX ), ALPHA( NMAX ),
-     $                   BETA( NMAX ), Q( LDQ1, LDQ2, KMAX ),
-     $                   ZWORK( LZWORK )
-      DOUBLE PRECISION   DWORK( LDWORK)
-      INTEGER            S( KMAX ), SCAL( NMAX )
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03BZ
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, K, N, ILO, IHI
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
-         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
-     $                                I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'V' ) )
-     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
-     $                                   I = 1, N ), L = 1, K )
-*        Compute the eigenvalues and the transformed matrices, if
-*        required.
-         CALL MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
-     $                Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK, LDWORK,
-     $                ZWORK, LZWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( JOB, 'S' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 20 L = 1, K
-                  WRITE( NOUT, FMT = 99995 ) L
-                  DO 10 I = 1, N
-                     WRITE( NOUT, FMT = 99994 ) ( A( I, J, L ), J = 1, N
-     $                                          )
-   10             CONTINUE
-   20          CONTINUE
-            END IF
-            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99993 )
-               DO 40 L = 1, K
-                  WRITE( NOUT, FMT = 99995 ) L
-                  DO 30 I = 1, N
-                     WRITE( NOUT, FMT = 99994 ) ( Q( I, J, L ), J = 1, N
-     $                                          )
-   30             CONTINUE
-   40          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99994 ) ( ALPHA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99994 ) (  BETA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) (  SCAL( I ), I = 1, N )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03BZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03BZ = ', I2 )
-99996 FORMAT(/'The matrix A on exit is ' )
-99995 FORMAT( 'The factor ', I2, ' is ' )
-99994 FORMAT( 50( 1X, F9.4, SP, F9.4, S, 'i ') )
-99993 FORMAT(/'The matrix Q on exit is ' )
-99992 FORMAT(/'The vector ALPHA is ' )
-99991 FORMAT( 'The vector BETA is ' )
-99990 FORMAT( 'The vector SCAL is ' )
-99989 FORMAT( 50( 1X, I8 ) )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03BZ EXAMPLE PROGRAM DATA
-	S	I	3	4	1	4
-	1	-1	1
-   (0.8637,0.9326)   (0.8819,0.4850)   (0.5920,0.8826)   (0.8991,0.9040)
-   (0.6994,0.8588)   (0.9527,0.2672)   (0.5087,0.0621)   (0.9653,0.5715)
-        0            (0.1561,0.1898)   (0.9514,0.9266)   (0.6582,0.3102)
-        0                  0           (0.8649,0.1265)   (0.1701,0.0013)
-   (0.5113,0.7375)   (0.6869,0.7692)   (0.7812,0.1467)   (0.7216,0.9498)
-        0            (0.1319,0.9137)   (0.5879,0.0201)   (0.9834,0.0549)
-        0                  0           (0.7711,0.2422)   (0.9468,0.3280)
-        0                  0                  0          (0.2219,0.3971)
-   (0.0158,0.4042)   (0.0082,0.2033)   (0.1028,0.9913)   (0.6954,0.1987)
-        0            (0.5066,0.4587)   (0.1060,0.6949)   (0.5402,0.0970)
-        0                  0           (0.4494,0.3700)   (0.8492,0.4882)
-        0                  0                  0          (0.2110,0.5824)
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03BZ EXAMPLE PROGRAM RESULTS
-
-The matrix A on exit is 
-The factor  1 is 
-    0.6053  +1.0311i    -1.7227  -0.5753i     1.2428  -1.2632i     0.9445  -0.4317i 
-    0.0000  +0.0000i    -0.2596  +1.0235i     0.4673  -0.2403i    -0.5579  -1.1564i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.3336  -0.3367i     0.0687  +0.0261i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.2014  +0.0057i 
-The factor  2 is 
-    1.1118  +0.0000i    -1.4173  +1.1607i     0.3271  -0.5800i     0.5291  -0.6341i 
-    0.0000  +0.0000i     0.9051  +0.0000i     0.1710  +0.1014i    -0.2696  -0.3549i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.3599  +0.0000i     0.0231  -0.5865i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8410  +0.0000i 
-The factor  3 is 
-    1.1554  +0.0000i    -0.7577  +0.0825i     0.1284  -0.0063i     1.1175  -0.0778i 
-    0.0000  +0.0000i     0.5216  +0.0000i    -0.5761  +0.2972i    -0.3534  -0.3595i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.2750  +0.0000i     0.2587  -0.1664i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6015  +0.0000i 
-
-The matrix Q on exit is 
-The factor  1 is 
-    0.6033  -0.4021i     0.3478  -0.1834i    -0.0029  -0.4458i    -0.3157  +0.1462i 
-    0.1519  -0.3002i     0.6010  +0.1411i     0.0134  +0.5692i     0.4223  -0.0574i 
-    0.1002  -0.5387i    -0.4199  +0.3933i     0.1148  +0.2694i    -0.3713  -0.3810i 
-   -0.0599  -0.2395i    -0.0968  +0.3521i     0.2342  -0.5801i     0.6247  -0.1555i 
-The factor  2 is 
-    0.3325  +0.6289i     0.0930  +0.3421i    -0.1849  -0.1715i    -0.5470  -0.0734i 
-    0.3247  -0.4396i     0.1766  -0.1691i     0.2307  -0.3746i    -0.2617  -0.6160i 
-    0.2180  -0.2074i    -0.3853  +0.1978i    -0.6852  +0.2781i     0.1492  -0.3909i 
-   -0.0268  -0.3223i    -0.0623  +0.7893i     0.0957  -0.4323i     0.1716  +0.2072i 
-The factor  3 is 
-    0.6791  +0.1138i     0.0183  +0.2703i     0.3289  -0.2770i    -0.2355  -0.4605i 
-    0.5111  -0.1775i     0.3990  +0.1941i    -0.0851  +0.4779i     0.4563  +0.2580i 
-    0.2687  -0.3788i    -0.7974  -0.0691i    -0.2836  +0.1192i     0.1765  -0.1340i 
-    0.1098  -0.0739i    -0.2845  -0.0903i     0.6651  +0.2062i    -0.2810  +0.5741i 
-
-The vector ALPHA is 
-    0.6290  +1.0715i    -0.2992  +1.1797i    -1.0195  -1.0290i    -1.1523  +0.0326i 
-The vector BETA is 
-    1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i 
-The vector SCAL is 
-        0       -1       -2       -3
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03CD.html b/doc/_build/html/_static/doc/MB03CD.html
deleted file mode 100644
index 5ee14f51..00000000
--- a/doc/_build/html/_static/doc/MB03CD.html
+++ /dev/null
@@ -1,226 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03CD">MB03CD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2,
-  3-by-3, or 4-by-4 regular block upper triangular pencil
-
-                 ( A11 A12 ) ( B11 B12 )     ( D11 D12 )
-    aAB - bD = a (         ) (         ) - b (         ),        (1)
-                 (  0  A22 ) (  0  B22 )     (  0  D22 )
-
-  such that the pencil a(Q3' A Q2 )(Q2' B Q1 ) - b(Q3' D Q1) is
-  still in block upper triangular form, but the eigenvalues in
-  Spec(A11 B11, D11), Spec(A22 B22, D22) are exchanged, where
-  Spec(X,Y) denotes the spectrum of the matrix pencil (X,Y), and M'
-  denotes the transpose of the matrix M.
-
-  Optionally, to upper triangularize the real regular pencil in
-  block lower triangular form
-
-               ( A11  0  ) ( B11  0  )     ( D11  0  )
-  aAB - bD = a (         ) (         ) - b (         ),          (2)
-               ( A21 A22 ) ( B21 B22 )     ( D21 D22 )
-
-  while keeping the eigenvalues in the same diagonal position.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03CD( UPLO, N1, N2, PREC, A, LDA, B, LDB, D, LDD, Q1,
-     $                   LDQ1, Q2, LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
-     $                   N1, N2
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   Q3( LDQ3, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies if the pencil is in lower or upper block
-          triangular form on entry, as follows:
-          = 'U': Upper block triangular, eigenvalues are exchanged
-                 on exit;
-          = 'L': Lower block triangular, eigenvalues are not
-                 exchanged on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input/output) INTEGER
-          Size of the upper left block, N1 &lt;= 2.
-          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
-          N1 and N2 are exchanged on exit; otherwise, N1 is
-          unchanged on exit.
-
-  N2      (input/output) INTEGER
-          Size of the lower right block, N2 &lt;= 2.
-          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
-          N1 and N2 are exchanged on exit; otherwise, N2 is
-          unchanged on exit.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input or input/output) DOUBLE PRECISION array, dimension
-             (LDA, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix A of the pencil aAB - bD.
-          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
-          UPLO = 'L', need not be set to zero.
-          On exit, if N1 = N2 = 1, this array contains the matrix
-                            [  0 1 ]
-          J' A J, where J = [ -1 0 ]; otherwise, this array is
-          unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N1+N2.
-
-  B       (input or input/output) DOUBLE PRECISION array, dimension
-             (LDB, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix B of the pencil aAB - bD.
-          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
-          UPLO = 'L', need not be set to zero.
-          On exit, if N1 = N2 = 1, this array contains the matrix
-          J' B J; otherwise, this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N1+N2.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-             (LDD, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix D of the pencil aAB - bD.
-          On exit, if N1 = 2 or N2 = 2, the leading
-          (N1+N2)-by-(N1+N2) part of this array contains the
-          transformed matrix D in real Schur form. If N1 = 1 and
-          N2 = 1, this array contains the matrix J' D J.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= N1+N2.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the first orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the second orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
-
-  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the third orthogonal transformation matrix.
-
-  LDQ3    INTEGER
-          The leading dimension of the array Q3.  LDQ3 &gt;= N1+N2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N1+N2 = 2 then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N1+N2 = 2, then LDWORK = 0; otherwise,
-          LDWORK &gt;= 16*N1 + 10*N2 + 23, UPLO = 'U';
-          LDWORK &gt;= 10*N1 + 16*N2 + 23, UPLO = 'L'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the QZ iteration failed in the LAPACK routine DGGEV;
-          = 2: another error occured while executing a routine in
-               DGGEV;
-          = 3: the QZ iteration failed in the LAPACK routine DGGES;
-          = 4: another error occured during execution of DGGES;
-          = 5: reordering of aA*B - bD in the LAPACK routine DTGSEN
-               failed because the transformed matrix pencil
-               aA*B - bD would be too far from generalized Schur
-               form; the problem is very ill-conditioned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described in [2]
-  (page 21). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
-  always acts on an upper block triangular pencil.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03CZ.html b/doc/_build/html/_static/doc/MB03CZ.html
deleted file mode 100644
index 6abdc2b6..00000000
--- a/doc/_build/html/_static/doc/MB03CZ.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03CZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03CZ">MB03CZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute unitary matrices Q1, Q2, and Q3 for a complex 2-by-2
-  regular pencil aAB - bD, with A, B, D upper triangular, such that
-  Q3' A Q2, Q2' B Q1, Q3' D Q1 are still upper triangular, but the
-  eigenvalues are in reversed order. The matrices Q1, Q2, and Q3 are
-  represented by
-
-       (  CO1  SI1  )       (  CO2  SI2  )       (  CO3  SI3  )
-  Q1 = (            ), Q2 = (            ), Q3 = (            ).
-       ( -SI1' CO1  )       ( -SI2' CO2  )       ( -SI3' CO3  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03CZ( A, LDA, B, LDB, D, LDD, CO1, SI1, CO2, SI2,
-     $                   CO3, SI3 )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, LDB, LDD
-      DOUBLE PRECISION   CO1, CO2, CO3
-      COMPLEX*16         SI1, SI2, SI3
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) COMPLEX*16 array, dimension (LDA, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix A of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  B       (input) COMPLEX*16 array, dimension (LDB, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix B of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  D       (input) COMPLEX*16 array, dimension (LDD, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix D of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= 2.
-
-  CO1     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q1.
-
-  SI1     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q1.
-
-  CO2     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q2.
-
-  SI2     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q2.
-
-  CO3     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q3.
-
-  SI3     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q3.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary transformations as described on page 37
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03DD.html b/doc/_build/html/_static/doc/MB03DD.html
deleted file mode 100644
index b598a467..00000000
--- a/doc/_build/html/_static/doc/MB03DD.html
+++ /dev/null
@@ -1,208 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03DD">MB03DD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2,
-  3-by-3, or 4-by-4 regular block upper triangular pencil
-
-                 ( A11 A12 )     ( B11 B12 )
-    aA - bB =  a (         ) - b (         ),                    (1)
-                 (  0  A22 )     (  0  B22 )
-
-  such that the pencil a(Q2' A Q1) - b(Q2' B Q1) is still in block
-  upper triangular form, but the eigenvalues in Spec(A11, B11),
-  Spec(A22, B22) are exchanged, where Spec(X,Y) denotes the spectrum
-  of the matrix pencil (X,Y) and the notation M' denotes the
-  transpose of the matrix M.
-
-  Optionally, to upper triangularize the real regular pencil in
-  block lower triangular form
-
-                ( A11  0  )     ( B11  0  )
-    aA - bB = a (         ) - b (         ),                     (2)
-                ( A21 A22 )     ( B21 B22 )
-
-  while keeping the eigenvalues in the same diagonal position.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03DD( UPLO, N1, N2, PREC, A, LDA, B, LDB, Q1, LDQ1,
-     $                   Q2, LDQ2, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N1, N2
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies if the pencil is in lower or upper block
-          triangular form on entry, as follows:
-          = 'U': Upper block triangular, eigenvalues are exchanged
-                 on exit;
-          = 'T': Upper block triangular, B triangular, eigenvalues
-                 are exchanged on exit;
-          = 'L': Lower block triangular, eigenvalues are not
-                 exchanged on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input/output) INTEGER
-          Size of the upper left block, N1 &lt;= 2.
-          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
-          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
-          N1 is unchanged on exit.
-
-  N2      (input/output) INTEGER
-          Size of the lower right block, N2 &lt;= 2.
-          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
-          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
-          N2 is unchanged on exit.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-             (LDA, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix A of the pencil aA - bB.
-          On exit, if N1 = N2 = 1, this array is unchanged, if
-          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
-                                       [  0 1 ]
-          the matrix J' A J, where J = [ -1 0 ]; otherwise, this
-          array contains the transformed quasi-triangular matrix in
-          generalized real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N1+N2.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-             (LDB, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix B of the pencil aA - bB.
-          On exit, if N1 = N2 = 1, this array is unchanged, if
-          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
-          the matrix J' B J; otherwise, this array contains the
-          transformed upper triangular matrix in generalized real
-          Schur form.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N1+N2.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the first orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the second orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N1+N2 = 2 then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N1+N2 = 2, then LDWORK = 0; otherwise,
-          LDWORK &gt;= 16*N1 + 10*N2 + 23, if UPLO = 'U';
-          LDWORK &gt;=  7*N1 +  7*N2 + 16, if UPLO = 'T';
-          LDWORK &gt;= 10*N1 + 16*N2 + 23, if UPLO = 'L'.
-          For good performance LDWORK should be generally larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 3: the QZ iteration failed in the LAPACK routine DGGES
-               (if UPLO &lt;&gt; 'T') or DHGEQZ (if UPLO = 'T');
-          = 4: another error occured during execution of DHGEQZ;
-          = 5: reordering of aA - bB in the LAPACK routine DTGSEN
-               failed because the transformed matrix pencil aA - bB
-               would be too far from generalized Schur form;
-               the problem is very ill-conditioned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described in [2]
-  (page 30). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
-  always acts on an upper block triangular pencil.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03DZ.html b/doc/_build/html/_static/doc/MB03DZ.html
deleted file mode 100644
index c4c89395..00000000
--- a/doc/_build/html/_static/doc/MB03DZ.html
+++ /dev/null
@@ -1,121 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03DZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03DZ">MB03DZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute unitary matrices Q1 and Q2 for a complex 2-by-2 regular
-  pencil aA - bB with A, B upper triangular, such that
-  Q2' (aA - bB) Q1 is still upper triangular but the eigenvalues are
-  in reversed order. The matrices Q1 and Q2 are represented by
-
-       (  CO1  SI1  )       (  CO2  SI2  )
-  Q1 = (            ), Q2 = (            ).
-       ( -SI1' CO1  )       ( -SI2' CO2  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03DZ( A, LDA, B, LDB, CO1, SI1, CO2, SI2 )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, LDB
-      DOUBLE PRECISION   CO1, CO2
-      COMPLEX*16         SI1, SI2
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) COMPLEX*16 array, dimension (LDA, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix A of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  B       (input) COMPLEX*16 array, dimension (LDB, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix B of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  CO1     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q1.
-
-  SI1     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q1.
-
-  CO2     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q2.
-
-  SI2     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q2.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary transformations as described on page 42
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ED.html b/doc/_build/html/_static/doc/MB03ED.html
deleted file mode 100644
index ff2b697e..00000000
--- a/doc/_build/html/_static/doc/MB03ED.html
+++ /dev/null
@@ -1,183 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ED">MB03ED</A></H2>
-<H3>
-Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2 or
-  4-by-4 regular pencil
-
-                 ( A11  0  ) ( B11  0  )     (  0  D12 )
-    aAB - bD = a (         ) (         ) - b (         ),        (1)
-                 (  0  A22 ) (  0  B22 )     ( D21  0  )
-
-  such that Q3' A Q2 and Q2' B Q1 are upper triangular, Q3' D Q1 is
-  upper quasi-triangular, and the eigenvalues with negative real
-  parts (if there are any) are allocated on the top. The notation M'
-  denotes the transpose of the matrix M. The submatrices A11, A22,
-  B11, B22 and D12 are upper triangular. If D21 is 2-by-2, then all
-  other blocks are nonsingular and the product
-     -1        -1    -1        -1
-  A22   D21 B11   A11   D12 B22   has a pair of complex conjugate
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ED( N, PREC, A, LDA, B, LDB, D, LDD, Q1, LDQ1, Q2,
-     $                   LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
-     $                   N
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   Q3( LDQ3, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the input pencil, N = 2 or N = 4.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
-          The leading N-by-N upper triangular part of this array
-          must contain the upper triangular matrix A of the pencil
-          aAB - bD. The strictly lower triangular part and the
-          entries of the (1,2) block are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
-          The leading N-by-N upper triangular part of this array
-          must contain the upper triangular matrix B of the pencil
-          aAB - bD. The strictly lower triangular part and the
-          entries of the (1,2) block are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix D of the pencil aAB - bD.
-          On exit, if N = 4, the leading N-by-N part of this array
-          contains the transformed matrix D in real Schur form.
-          If N = 2, this array is unchanged on exit.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= N.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          The leading N-by-N part of this array contains the first
-          orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          The leading N-by-N part of this array contains the second
-          orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N.
-
-  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N)
-          The leading N-by-N part of this array contains the third
-          orthogonal transformation matrix.
-
-  LDQ3    INTEGER
-          The leading dimension of the array Q3.  LDQ3 &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N = 2, then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N = 4, then LDWORK &gt;= 79. For good performance LDWORK
-          should be generally larger.
-          If N = 2, then LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the QZ iteration failed in the LAPACK routine DGGES;
-          = 2: another error occured during execution of DGGES.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  20 in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03FD.html b/doc/_build/html/_static/doc/MB03FD.html
deleted file mode 100644
index d278e9f3..00000000
--- a/doc/_build/html/_static/doc/MB03FD.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03FD">MB03FD</A></H2>
-<H3>
-Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2 or
-  4-by-4 regular pencil
-
-                ( A11  0  )     (  0  B12 )
-    aA - bB = a (         ) - b (         ),                     (1)
-                (  0  A22 )     ( B21  0  )
-
-  such that Q2' A Q1 is upper triangular, Q2' B Q1 is upper quasi-
-  triangular, and the eigenvalues with negative real parts (if there
-  are any) are allocated on the top. The notation M' denotes the
-  transpose of the matrix M. The submatrices A11, A22, and B12 are
-  upper triangular. If B21 is 2-by-2, then all the other blocks are
-                                 -1        -1
-  nonsingular and the product A11   B12 A22   B21 has a pair of
-  complex conjugate eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03FD( N, PREC, A, LDA, B, LDB, Q1, LDQ1, Q2, LDQ2,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the input pencil, N = 2 or N = 4.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A of the pencil aA - bB.
-          If N = 2, the diagonal elements only are referenced.
-          On exit, if N = 4, the leading N-by-N part of this array
-          contains the transformed upper triangular matrix of the
-          generalized real Schur form of the pencil aA - bB.
-          If N = 2, this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B of the pencil aA - bB.
-          If N = 2, the anti-diagonal elements only are referenced.
-          On exit, if N = 4, the leading N-by-N part of this array
-          contains the transformed real Schur matrix of the
-          generalized real Schur form of the pencil aA - bB.
-          If N = 2, this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          The leading N-by-N part of this array contains the first
-          orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          The leading N-by-N part of this array contains the second
-          orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N = 2, then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N = 4, then LDWORK &gt;= 63. For good performance LDWORK
-          should be generally larger.
-          If N = 2, then LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the QZ iteration failed in the LAPACK routine DGGES;
-          = 2: another error occured during execution of DGGES.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  29 in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03FZ.html b/doc/_build/html/_static/doc/MB03FZ.html
deleted file mode 100644
index ec88a798..00000000
--- a/doc/_build/html/_static/doc/MB03FZ.html
+++ /dev/null
@@ -1,584 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03FZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03FZ">MB03FZ</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-                          (  B  F  )      (  Z11  Z12  )
-    S = J Z' J' Z and H = (        ), Z = (            ),
-                          (  G -B' )      (  Z21  Z22  )
-                                                                (1)
-        (  0  I  )
-    J = (        ).
-        ( -I  0  )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-                                                         
-  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z' J' B_Z,
-
-          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
-          (                     |                     )
-          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
-          (                     |                     )
-    B_Z = (---------------------+---------------------) ,
-          (                     |                     )
-          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
-          (                     |                     )
-          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |                 )
-          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
-          (                 |                 )
-          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
-
-  is determined and used to compute the eigenvalues. Optionally, if
-  COMPQ = 'C', an orthonormal basis of the right deflating subspace,
-  Def_-(S, H), of the pencil aS - bH in (1), corresponding to the
-  eigenvalues with strictly negative real part, is computed. Namely,
-  after transforming aB_S - bB_H, in the factored form, by unitary
-  matrices, we have B_Sout = J B_Zout' J' B_Zout,
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Zout = (         ) and B_Hout = (         ),               (3)
-             (  0  BC  )              (  0 -BB' )
-
-  and the eigenvalues with strictly negative real part of the
-  complex pencil aB_Sout - bB_Hout are moved to the top. The 
-  notation M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPU = 'C', an orthonormal basis of the companion
-  subspace, range(P_U) [1], which corresponds to the eigenvalues
-  with negative real part, is computed. The embedding doubles the
-  multiplicities of the eigenvalues of the pencil aS - bH.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
-     $                   LDFG, NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU,
-     $                   ALPHAR, ALPHAI, BETA, IWORK, LIWORK, DWORK,
-     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
-     $                   LDZ, LIWORK, LZWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
-     $                   Z( LDZ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the deflating subspace;
-          = 'C': compute the deflating subspace and store it in the
-                 leading subarray of Q.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the companion subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the companion subspace;
-          = 'C': compute the companion subspace and store it in the
-                 leading subarray of U.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C' or COMPU = 'C', specifies the technique for
-          computing the orthonormal bases of the deflating subspace
-          and companion subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
-          used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the non-trivial factor Z in the factorization
-          S = J Z' J' Z of the skew-Hamiltonian matrix S.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the upper triangular
-          matrix BA in (3) (see also METHOD). The strictly lower
-          triangular part is not zeroed.
-          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
-          on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the upper triangular
-          matrix BB in (3) (see also METHOD). The strictly lower
-          triangular part is not zeroed. 
-          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
-          on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the Hermitian matrix
-          BF in (3) (see also METHOD). The strictly lower triangular
-          part of the input matrix is preserved. The diagonal
-          elements might have tiny imaginary parts.
-          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
-          on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
-          in aS - bH with strictly negative real part.
-
-  D       (output) COMPLEX*16 array, dimension (LDD, N)
-          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
-          this array contains the matrix BD in (3) (see METHOD).
-          If COMPQ = 'N' and COMPU = 'N', this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
-          LDD &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
-
-  C       (output) COMPLEX*16 array, dimension (LDC, N)
-          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
-          this array contains the lower triangular matrix BC in (3)
-          (see also METHOD). The strictly upper triangular part is
-          not zeroed. 
-          If COMPQ = 'N' and COMPU = 'N', this array is not
-          referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
-          LDC &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the right
-          deflating subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part.
-          The remaining entries are meaningless.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
-          On exit, if COMPU = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the companion
-          subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part. The
-          remaining entries are meaningless.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,         if COMPU = 'N';
-          LDU &gt;= MAX(1, N), if COMPU = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -26, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
-                    c = 18, if                 COMPU = 'C';
-                    c = 16, if COMPQ = 'C' and COMPU = 'N';
-                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -28, ZWORK(1) returns the minimum
-          value of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 8*N + 28, if COMPQ = 'C';
-          LZWORK &gt;= 6*N + 28, if COMPQ = 'N' and COMPU = 'C';
-          LZWORK &gt;= 1,        if COMPQ = 'N' and COMPU = 'N'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0, if COMPQ = 'N' and COMPU = 'N';
-          LBWORK &gt;= N, if COMPQ = 'C' or  COMPU = 'C'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the algorithm was not able to reveal information
-               about the eigenvalues from the 2-by-2 blocks in the
-               SLICOT Library routine MB03BD (called by MB04ED);
-          = 2: periodic QZ iteration failed in the SLICOT Library
-               routines MB03BD or MB03BZ when trying to
-               triangularize the 2-by-2 blocks;
-          = 3: the singular value decomposition failed in the LAPACK
-               routine ZGESVD (for ORTH = 'S').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT 
-  Library routine MB04ED is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~                (  BZ11  BZ12  )
-  B_Z = U' B_Z Q = (              ) and
-                   (    0   BZ22  )
-
-  ~                     (  T11  T12  )
-  B_T = J Q' J' B_T Q = (            ),
-                        (   0   T11' )
-
-  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
-  BZ22' are upper triangular and T11 is upper quasi-triangular.
-
-  Second, the SLICOT Library routine MB03IZ is applied, to compute a
-                 ~                                 ~
-  unitary matrix Q and a unitary symplectic matrix U, such that
-
-                ~    ~
-  ~  ~   ~   (  Z11  Z12  )
-  U' B_Z Q = (       ~    ) =: B_Zout,
-             (   0   Z22  )
-
-    ~        ~    ~   (  H11  H12  )
-  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
-                      (   0  -H11' )
-       ~    ~   
-  with Z11, Z22', H11 upper triangular, and such that the spectrum
-
-           ~       ~       ~
-  Spec_-(J B_Z' J' B_Z, -i*B_T) is contained in the spectrum of the
-                                                ~    ~
-  2*NEIG-by-2*NEIG leading principal subpencil aZ22'*Z11 - bH11.
-
-  Finally, the right deflating subspace and the companion subspace
-  are computed. See also page 21 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03FZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
-     $                   LIWORK, LZWORK
-      PARAMETER          ( LDB  = NMAX, LDC =   NMAX, LDD = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
-     $                     LDWORK = 18*NMAX*NMAX + NMAX + 3 +
-     $                              MAX( 2*NMAX, 24 ), LDZ  = NMAX,
-     $                     LIWORK = 2*NMAX + 9, LZWORK = 8*NMAX + 28 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            I, INFO, J, M, N, NEIG
-*
-*     .. Local Arrays ..
-      COMPLEX*16         B( LDB, NMAX ), C( LDC, NMAX ), D( LDD, NMAX ),
-     $                   FG( LDFG, NMAX ), Q( LDQ, 2*NMAX ),
-     $                   U( LDU, 2*NMAX ), Z( LDZ, NMAX ),
-     $                   ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ),  ALPHAR( NMAX ), BETA( NMAX ),
-     $                   DWORK( LDWORK )
-      INTEGER            IWORK( LIWORK )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03FZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues and orthogonal bases of the right
-*        deflating subspace and companion subspace of a complex
-*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
-*        eigenvalues with strictly negative real part.
-         CALL MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
-     $                ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
-     $                LZWORK, BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
-   10       CONTINUE
-            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( D( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( C( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
-   40          CONTINUE
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99987 )
-            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99986 )
-               DO 60 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   60          CONTINUE
-            END IF
-            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99985 )
-               DO 70 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
-   70          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
-     $         WRITE( NOUT, FMT = 99984 ) NEIG
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( 'MB03FZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB03FZ = ', I2 )
-99996 FORMAT (/'The matrix Z on exit is ' )
-99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
-99994 FORMAT (/'The matrix D is ' )
-99993 FORMAT (/'The matrix C is ' )
-99992 FORMAT (/'The matrix B on exit is ' )
-99991 FORMAT (/'The matrix F on exit is ' )
-99990 FORMAT (/'The vector ALPHAR is ' )
-99989 FORMAT ( 50( 1X, F8.4 ) )
-99988 FORMAT (/'The vector ALPHAI is ' )
-99987 FORMAT (/'The vector BETA is ' )
-99986 FORMAT (/'The deflating subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99985 FORMAT (/'The companion subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99984 FORMAT (/'The number of eigenvalues in the initial pencil with ',
-     $         'negative real part is ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03FZ EXAMPLE PROGRAM DATA
-	C	C	P	4
-   (0.0328,0.9611)   (0.6428,0.2585)   (0.7033,0.4254)   (0.2552,0.7053)
-   (0.0501,0.2510)   (0.2827,0.8865)   (0.4719,0.5387)   (0.0389,0.5676)
-   (0.5551,0.4242)   (0.0643,0.2716)   (0.1165,0.7875)   (0.9144,0.3891)
-   (0.0539,0.7931)   (0.0408,0.2654)   (0.9912,0.0989)   (0.0991,0.6585)
-   (0.0547,0.8726)   (0.4008,0.8722)
-   (0.7423,0.6166)   (0.2631,0.5872)
-    0.8740            0.3697           (0.9178,0.6418)
-   (0.7748,0.5358)    0.1652            0.2441          
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03FZ EXAMPLE PROGRAM RESULTS
-
-The matrix Z on exit is 
-    1.1347  -0.1694i     0.0920  -0.0894i     0.5253  +0.0280i    -0.0597  +0.1098i 
-    0.0000  +0.0000i    -0.9874  -0.6015i     0.2523  -0.0600i     0.3178  -0.0902i 
-    0.5551  +0.4242i     0.0643  +0.2716i     0.7553  -0.3356i     0.4772  -0.3177i 
-    0.0539  +0.7931i     0.0408  +0.2654i     0.9912  +0.0989i     0.9064  -0.1055i 
-
-The matrix D is 
-   -0.7634  -0.2773i    -0.8466  -0.9586i    -0.0308  -0.0175i    -0.2754  -0.0715i 
-    1.2612  -0.2643i    -0.7291  -0.3165i     0.0282  -0.1748i     0.4091  +0.0233i 
-    0.3773  -0.1536i    -0.3937  -0.0480i    -0.1635  +0.1617i    -0.1775  +0.1277i 
-    0.7540  -0.0280i    -0.6860  -0.8306i    -0.2446  +0.0943i    -0.0722  +0.0517i 
-
-The matrix C is 
-    0.5063  +0.1548i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -0.0046  +0.1049i     0.3884  +0.3420i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -1.1206  +0.1313i    -0.2270  -0.1753i     0.4300  -0.6107i     0.0000  +0.0000i 
-   -0.6127  -0.1939i    -0.5713  -0.7913i     0.3739  -0.2943i    -1.1501  -0.0850i 
-
-The matrix B on exit is 
-    0.3322  +1.9093i    -0.1216  -0.1193i    -0.0030  +0.0330i     0.0405  +0.0592i 
-    0.0000  +0.0000i     0.1863  -1.8998i     0.2983  +0.2974i     0.6636  +0.5916i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.4459  -0.7452i    -0.0625  +0.2197i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1418  +0.7392i 
-
-The matrix F on exit is 
-    0.0258  +0.0000i    -0.0878  +0.1090i     0.3547  +0.5306i    -0.0138  -0.8770i 
-    0.7748  +0.5358i     0.0864  +0.0000i    -0.3788  -0.2829i    -0.3303  -0.0415i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0184  +0.0000i     0.1077  -0.0795i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0938  +0.0000i 
-
-The vector ALPHAR is 
-   0.4295  -0.4295   0.0000   0.0000
-
-The vector ALPHAI is 
-   1.5363   1.5363  -1.4069  -0.7153
-
-The vector BETA is 
-   0.5000   0.5000   1.0000   1.0000
-
-The deflating subspace corresponding to the eigenvalues with negative real part is 
-   -0.2249  +0.4158i 
-   -0.1984  -0.3100i 
-    0.7286  -0.0427i 
-    0.3282  -0.0251i 
-
-The companion subspace corresponding to the eigenvalues with negative real part is 
-   -0.1542  -0.0712i 
-   -0.4162  -0.3021i 
-   -0.0806  -0.6946i 
-   -0.4580  -0.0889i 
-
-The number of eigenvalues in the initial pencil with negative real part is  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03GD.html b/doc/_build/html/_static/doc/MB03GD.html
deleted file mode 100644
index 7448ccef..00000000
--- a/doc/_build/html/_static/doc/MB03GD.html
+++ /dev/null
@@ -1,152 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03GD">MB03GD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an orthogonal matrix Q and an orthogonal symplectic
-  matrix U for a real regular 2-by-2 or 4-by-4 skew-Hamiltonian/
-  Hamiltonian pencil a J B' J' B - b D with
-
-        ( B11  B12 )      (  D11  D12  )      (  0  I  )
-    B = (          ), D = (            ), J = (        ),
-        (  0   B22 )      (   0  -D11' )      ( -I  0  )
-
-  such that J Q' J' D Q and U' B Q keep block triangular form, but
-  the eigenvalues are reordered. The notation M' denotes the
-  transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03GD( N, B, LDB, D, LDD, MACPAR, Q, LDQ, U, LDU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDB, LDD, LDQ, LDU, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), D( LDD, * ), DWORK( * ),
-     $                   MACPAR( * ), Q( LDQ, * ), U( LDU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil a J B' J' B - b D. N = 2 or N = 4.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
-          The leading N-by-N part of this array must contain the
-          non-trivial factor of the decomposition of the
-          skew-Hamiltonian input matrix J B' J' B. The (2,1) block
-          is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD, N)
-          The leading N/2-by-N part of this array must contain the
-          first block row of the second matrix of a J B' J' B - b D.
-          The matrix D has to be Hamiltonian. The strict lower
-          triangle of the (1,2) block is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= N/2.
-
-  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
-          Machine parameters:
-          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
-          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
-          This argument is not used for N = 2.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= N.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU, N)
-          The leading N-by-N part of this array contains the
-          orthogonal symplectic transformation matrix U.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N = 2 then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If N = 2 then LDWORK &gt;= 0; if N = 4 then LDWORK &gt;= 12.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: B11 or B22 is a (numerically) singular matrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  22 in [1], but with an improved implementation.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03GZ.html b/doc/_build/html/_static/doc/MB03GZ.html
deleted file mode 100644
index 1cc5aee6..00000000
--- a/doc/_build/html/_static/doc/MB03GZ.html
+++ /dev/null
@@ -1,127 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03GZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03GZ">MB03GZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a unitary matrix Q and a unitary symplectic matrix U
-  for a complex regular 2-by-2 skew-Hamiltonian/Hamiltonian pencil
-  aS - bH with S = J Z' J' Z, where
-
-         (  Z11  Z12  )         (  H11  H12  )
-     Z = (            ) and H = (            ),
-         (   0   Z22  )         (   0  -H11' )
-
-  such that U' Z Q, (J Q J' )' H Q are both upper triangular, but the  
-  eigenvalues of (J Q J')' ( aS - bH ) Q are in reversed order.
-  The matrices Q and U are represented by
-
-         (  CO1  SI1  )         (  CO2  SI2  )
-     Q = (            ) and U = (            ), respectively.
-         ( -SI1' CO1  )         ( -SI2' CO2  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03GZ( Z11, Z12, Z22, H11, H12, CO1, SI1, CO2, SI2 )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   CO1, CO2
-      COMPLEX*16         H11, H12, SI1, SI2, Z11, Z12, Z22
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  Z11     (input) COMPLEX*16
-          Upper left element of the non-trivial factor Z in the
-          factorization of S.
-
-  Z12     (input) COMPLEX*16
-          Upper right element of the non-trivial factor Z in the
-          factorization of S.
-
-  Z22     (input) COMPLEX*16
-          Lower right element of the non-trivial factor Z in the
-          factorization of S.
-
-  H11     (input) COMPLEX*16
-          Upper left element of the Hamiltonian matrix H.
-
-  H12     (input) COMPLEX*16
-          Upper right element of the Hamiltonian matrix H.
-
-  CO1     (output) DOUBLE PRECISION
-          Upper left element of Q.
-
-  SI1     (output) COMPLEX*16
-          Upper right element of Q.
-
-  CO2     (output) DOUBLE PRECISION
-          Upper left element of U.
-
-  SI2     (output) COMPLEX*16
-          Upper right element of U.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary and unitary symplectic transformations
-  as described on page 37 in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03HD.html b/doc/_build/html/_static/doc/MB03HD.html
deleted file mode 100644
index 704d7b67..00000000
--- a/doc/_build/html/_static/doc/MB03HD.html
+++ /dev/null
@@ -1,149 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03HD">MB03HD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine an orthogonal matrix Q, for a real regular 2-by-2 or
-  4-by-4 skew-Hamiltonian/Hamiltonian pencil
-
-                  ( A11 A12  )     ( B11  B12  )
-      aA - bB = a (          ) - b (           )
-                  (  0  A11' )     (  0  -B11' )
-
-  in structured Schur form, such that  J Q' J' (aA - bB) Q  is still
-  in structured Schur form but the eigenvalues are exchanged. The
-  notation M' denotes the transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03HD( N, A, LDA, B, LDB, MACPAR, Q, LDQ, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDQ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   MACPAR( * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aA - bB.  N = 2 or N = 4.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
-          If N = 4, the leading N/2-by-N upper trapezoidal part of
-          this array must contain the first block row of the skew-
-          Hamiltonian matrix A of the pencil aA - bB in structured
-          Schur form. Only the entries (1,1), (1,2), (1,4), and
-          (2,2) are referenced.
-          If N = 2, this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N/2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
-          The leading N/2-by-N part of this array must contain the
-          first block row of the Hamiltonian matrix B of the
-          pencil aA - bB in structured Schur form. The entry (2,3)
-          is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N/2.
-
-  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
-          Machine parameters:
-          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
-          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
-          This argument is not used for N = 2.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (24)
-          If N = 2, then DWORK is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the leading N/2-by-N/2 block of the matrix B is
-               numerically singular, but slightly perturbed values
-               have been used. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  31 in [2]. The structure is exploited.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03HZ.html b/doc/_build/html/_static/doc/MB03HZ.html
deleted file mode 100644
index 0e3ea013..00000000
--- a/doc/_build/html/_static/doc/MB03HZ.html
+++ /dev/null
@@ -1,113 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03HZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03HZ">MB03HZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a unitary matrix Q for a complex regular 2-by-2 
-  skew-Hamiltonian/Hamiltonian pencil aS - bH with
-
-      (  S11  S12  )        (  H11  H12  )
-  S = (            ),   H = (            ),
-      (   0   S11' )        (   0  -H11' )
-
-  such that J Q' J' (aS - bH) Q is upper triangular but the
-  eigenvalues are in reversed order. The matrix Q is represented by
-
-      (  CO  SI  )
-  Q = (          ).
-      ( -SI' CO  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03HZ( S11, S12, H11, H12, CO, SI )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   CO
-      COMPLEX*16         H11, H12, S11, S12, SI
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  S11     (input) COMPLEX*16
-          Upper left element of the skew-Hamiltonian matrix S.
-
-  S12     (input) COMPLEX*16
-          Upper right element of the skew-Hamiltonian matrix S.
-
-  H11     (input) COMPLEX*16
-          Upper left element of the Hamiltonian matrix H.
-
-  H12     (input) COMPLEX*16
-          Upper right element of the Hamiltonian matrix H.
-
-  CO      (output) DOUBLE PRECISION
-          Upper left element of Q.
-
-  SI      (output) COMPLEX*16
-          Upper right element of Q.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary transformations as described on page 43
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ID.html b/doc/_build/html/_static/doc/MB03ID.html
deleted file mode 100644
index 8d67226b..00000000
--- a/doc/_build/html/_static/doc/MB03ID.html
+++ /dev/null
@@ -1,321 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ID">MB03ID</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form, with
-
-                       (  0  I  )      (  A  D  )      (  B  F  )
-    S = J Z' J' Z, J = (        ), Z = (        ), H = (        ),
-                       ( -I  0  )      (  0  C  )      (  0 -B' )
-
-  to the leading principal subpencil, while keeping the triangular
-  form. Above, A is upper triangular, B is upper quasi-triangular,
-  and C is lower triangular.
-  The matrices Z and H are transformed by an orthogonal symplectic
-  matrix U and an orthogonal matrix Q such that
-
-                    (  Aout  Dout  )
-    Zout = U' Z Q = (              ), and
-                    (    0   Cout  )
-                                                                 (1)
-                         (  Bout  Fout  )
-    Hout = J Q' J' H Q = (              ),
-                         (    0  -Bout' )
-
-  where Aout, Bout and Cout remain in triangular form. The notation
-  M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
-  that fulfills (1) is computed.
-  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
-  symplectic matrix
-
-        (  U1  U2  )
-    U = (          )
-        ( -U2  U1  )
-
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ID( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
-     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
-     $                   IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
-     $                   LDWORK, LIWORK, N, NEIG
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( *  ), F( LDF, * ),
-     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-  COMPU   CHARACTER*1
-          Specifies whether or not the orthogonal symplectic
-          transformations should be accumulated in the arrays U1 and
-          U2, as follows:
-          = 'N':  U1 and U2 are not computed;
-          = 'I':  the arrays U1 and U2 are initialized internally,
-                  and the submatrices U1 and U2 defining the
-                  orthogonal symplectic matrix U are returned;
-          = 'U':  the arrays U1 and U2 contain the corresponding
-                  submatrices of an orthogonal symplectic matrix U0
-                  on entry, and the updated submatrices U1 and U2
-                  of the matrix product U0*U are returned, where U
-                  is the product of the orthogonal symplectic
-                  transformations that are applied to the pencil
-                  aS - bH to reorder the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A. The elements of the
-          strictly lower triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                         (LDC, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the lower triangular matrix C. The elements of the
-          strictly upper triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Cout.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                         (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper quasi-triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper quasi-triangular part of
-          the matrix Bout.
-          The part below the first subdiagonal of this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) DOUBLE PRECISION array, dimension
-                         (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the symmetric matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced, except for the element F(N/2,N/2-1), but its
-          initial value is preserved.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices Z and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU1, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper left block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U1 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U1 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= 1,           if COMPU = 'N';
-          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU2, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper right block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U2 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U2 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= 1,           if COMPU = 'N';
-          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= N+1.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If COMPQ = 'N',
-             LDWORK &gt;= MAX(2*N+48,171);
-          if COMPQ = 'I' or COMPQ = 'U',
-             LDWORK &gt;= MAX(4*N+48,171).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm did not converge in SLICOT
-               Library routine MB03BB;
-          = 2: an error occured during the execution of MB03CD;
-          = 3: an error occured during the execution of MB03GD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts in the pencil aS - bH.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aC'*A - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues of the R-th block to the (MM+1)-th
-          block, where R denotes the number of upper quasi-
-          triangular blocks in aC'*A - bB and MM denotes the current
-          number of blocks in aC'*A - bB with eigenvalues with
-          negative real parts.
-
-  The algorithm uses a sequence of orthogonal transformations as
-  described on page 25 in [1]. To achieve those transformations the
-  elementary subroutines MB03CD and MB03GD are called for the
-  corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03IZ.html b/doc/_build/html/_static/doc/MB03IZ.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB03IZ.html
+++ /dev/null
@@ -1,305 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03IZ">MB03IZ</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form, with
-
-                             (  0  I  )
-    S = J Z' J' Z, where J = (        ),
-                             ( -I  0  )
-
-  to the leading principal subpencil, while keeping the triangular
-  form. On entry, we have
-
-        (  A  D  )      (  B  F  )
-    Z = (        ), H = (        ),
-        (  0  C  )      (  0 -B' )
-
-  where A and B are upper triangular and C is lower triangular.
-  Z and H are transformed by a unitary symplectic matrix U and a
-  unitary matrix Q such that
-
-                    (  Aout  Dout  )
-    Zout = U' Z Q = (              ), and
-                    (    0   Cout  )
-                                                                 (1)
-                         (  Bout  Fout  )
-    Hout = J Q' J' H Q = (              ), 
-                         (    0  -Bout' )
-
-  where Aout, Bout and Cout remain in triangular form. The notation
-  M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
-  that fulfills (1) is computed.
-  Optionally, if COMPU = 'I' or COMPU = 'U', the unitary symplectic
-  matrix 
-
-        (  U1  U2  )
-    U = (          )
-        ( -U2  U1  )   
-
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03IZ( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
-     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
-     $                   TOL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
-     $                   N, NEIG
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), F( LDF, * ), Q( LDQ, * ),
-     $                   U1( LDU1, * ), U2( LDU2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the unitary matrix Q is returned;
-          = 'U':  the array Q contains a unitary matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the unitary transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-  COMPU   CHARACTER*1
-          Specifies whether or not the unitary symplectic
-          transformations should be accumulated in the arrays U1 and
-          U2, as follows:
-          = 'N':  U1 and U2 are not computed;
-          = 'I':  the arrays U1 and U2 are initialized internally,
-                  and the submatrices U1 and U2 defining the
-                  unitary symplectic matrix U are returned;
-          = 'U':  the arrays U1 and U2 contain the corresponding
-                  submatrices of a unitary symplectic matrix U0
-                  on entry, and the updated submatrices U1 and U2
-                  of the matrix product U0*U are returned, where U
-                  is the product of the unitary symplectic
-                  transformations that are applied to the pencil
-                  aS - bH to reorder the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the lower triangular matrix C.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Cout.
-          The strictly upper triangular part of this array is not
-          referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Bout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the Hermitian matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the unitary transformation matrix Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  U1      (input/output) COMPLEX*16 array, dimension (LDU1, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper left block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U1 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices S and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U1 of the
-          unitary symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= 1,           if COMPU = 'N';
-          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  U2      (input/output) COMPLEX*16 array, dimension (LDU2, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper right block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U2 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices S and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U2 of the
-          unitary symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= 1,           if COMPU = 'N';
-          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance used to decide the sign of the eigenvalues.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by MIN(N,10)*EPS, is
-          used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH). A larger value might be
-          needed for pencils with multiple eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-                                                     
-  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aC'*A - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
-          place, where MM denotes the current number of eigenvalues
-          with negative real parts in aC'*A - bB.
-
-  The algorithm uses a sequence of unitary transformations as
-  described on page 38 in [1]. To achieve those transformations the
-  elementary SLICOT Library subroutines MB03CZ and MB03GZ are called
-  for the corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03JD.html b/doc/_build/html/_static/doc/MB03JD.html
deleted file mode 100644
index 2c23d6f5..00000000
--- a/doc/_build/html/_static/doc/MB03JD.html
+++ /dev/null
@@ -1,250 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03JD">MB03JD</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form,
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  with A upper triangular and B upper quasi-triangular, to the
-  leading principal subpencil, while keeping the triangular form.
-  The notation M' denotes the transpose of the matrix M.
-  The matrices S and H are transformed by an orthogonal matrix Q
-  such that
-
-                         (  Aout  Dout  )  
-    Sout = J Q' J' S Q = (              ),
-                         (    0   Aout' )  
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (  0    -Bout' )           ( -I  0  )
-
-  where Aout is upper triangular and Bout is upper quasi-triangular.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
-  that fulfills (1), is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03JD( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
-     $                   N, NEIG
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A. The elements of the
-          strictly lower triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                        (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-symmetric
-          matrix D. The diagonal need not be set to zero.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Dout.
-          The strictly lower triangular part of this array is
-          not referenced, except for the element D(N/2,N/2-1), but
-          its initial value is preserved.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper quasi-triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper quasi-triangular part of
-          the matrix Bout.
-          The part below the first subdiagonal of this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) DOUBLE PRECISION array, dimension
-                        (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the symmetric matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced, except for the element F(N/2,N/2-1), but its
-          initial value is preserved.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= N+1.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If COMPQ = 'N',
-             LDWORK &gt;= MAX(2*N+32,108);
-          if COMPQ = 'I' or COMPQ = 'U',
-             LDWORK &gt;= MAX(4*N+32,108).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: error occured during execution of MB03DD;
-          = 2: error occured during execution of MB03HD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts in the pencil aS - bH.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues of the R-th block to the (MM+1)-th
-          block, where R denotes the number of upper quasi-
-          triangular blocks in aA - bB and MM denotes the current
-          number of blocks in aA - bB with eigenvalues with negative
-          real parts.
-
-  The algorithm uses a sequence of orthogonal transformations as
-  described on page 33 in [1]. To achieve those transformations the
-  elementary subroutines MB03DD and MB03HD are called for the
-  corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03JP.html b/doc/_build/html/_static/doc/MB03JP.html
deleted file mode 100644
index 0806d945..00000000
--- a/doc/_build/html/_static/doc/MB03JP.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03JP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03JP">MB03JP</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form,
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  with A upper triangular and B upper quasi-triangular, to the
-  leading principal subpencil, while keeping the triangular form.
-  The notation M' denotes the transpose of the matrix M.
-  The matrices S and H are transformed by an orthogonal matrix Q
-  such that
-
-                         (  Aout  Dout  )  
-    Sout = J Q' J' S Q = (              ),
-                         (    0   Aout' )  
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (  0    -Bout' )           ( -I  0  )
-
-  where Aout is upper triangular and Bout is upper quasi-triangular.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
-  that fulfills (1), is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03JP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
-     $                   N, NEIG
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A. The elements of the
-          strictly lower triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                        (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-symmetric
-          matrix D. The diagonal need not be set to zero.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Dout.
-          The strictly lower triangular part of this array is
-          not referenced, except for the element D(N/2,N/2-1), but
-          its initial value is preserved.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper quasi-triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper quasi-triangular part of
-          the matrix Bout.
-          The part below the first subdiagonal of this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) DOUBLE PRECISION array, dimension
-                        (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the symmetric matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced, except for the element F(N/2,N/2-1), but its
-          initial value is preserved.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= 3*N-3.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If COMPQ = 'N',
-             LDWORK &gt;= MAX(2*N+32,108)+5*N/2;
-          if COMPQ = 'I' or COMPQ = 'U',
-             LDWORK &gt;= MAX(4*N+32,108)+5*N/2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: error occured during execution of MB03DD;
-          = 2: error occured during execution of MB03HD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts in the pencil aS - bH.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues of the R-th block to the (MM+1)-th
-          block, where R denotes the number of upper quasi-
-          triangular blocks in aA - bB and MM denotes the current
-          number of blocks in aA - bB with eigenvalues with negative
-          real parts.
-
-  The algorithm uses a sequence of orthogonal transformations as
-  described on page 33 in [1]. To achieve those transformations the
-  elementary subroutines MB03DD and MB03HD are called for the
-  corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03JZ.html b/doc/_build/html/_static/doc/MB03JZ.html
deleted file mode 100644
index e04bc525..00000000
--- a/doc/_build/html/_static/doc/MB03JZ.html
+++ /dev/null
@@ -1,228 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03JZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03JZ">MB03JZ</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form to the leading principal subpencil, while
-  keeping the triangular form. On entry, we have
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  where A and B are upper triangular.
-  S and H are transformed by a unitary matrix Q such that
-
-                         (  Aout  Dout  )
-    Sout = J Q' J' S Q = (              ), and
-                         (    0   Aout' )
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (    0  -Bout' )           ( -I  0  )
-
-  where Aout and Bout remain in upper triangular form. The notation
-  M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03JZ( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, TOL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   F( LDF, * ), Q( LDQ, * ) 
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the unitary matrix Q is returned;
-          = 'U':  the array Q contains a unitary matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the unitary transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-Hermitian
-          matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Bout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the Hermitian matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the unitary transformation matrix Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance used to decide the sign of the eigenvalues.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by MIN(N,10)*EPS, is
-          used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH). A larger value might be
-          needed for pencils with multiple eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real parts.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
-          place, where MM denotes the current number of eigenvalues
-          with negative real parts in aA - bB.
-
-  The algorithm uses a sequence of unitary transformations as
-  described on page 43 in [1]. To achieve those transformations the
-  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
-  for the corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KA.html b/doc/_build/html/_static/doc/MB03KA.html
deleted file mode 100644
index eebb1ff8..00000000
--- a/doc/_build/html/_static/doc/MB03KA.html
+++ /dev/null
@@ -1,270 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KA">MB03KA</A></H2>
-<H3>
-Moving diagonal blocks at a specified position in a formal matrix product to another position
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the formal matrix product
-
-     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
-
-  of length K, in the generalized periodic Schur form
-
-           [  T11_k  T12_k  T13_k  ]
-     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
-           [    0      0    T33_k  ]
-
-  where
-
-  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
-    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
-    infinite eigenvalues,
-  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
-    which are generically neither zero nor infinite,
-  - the submatrices T33_k contain dimension-induced zero
-    eigenvalues,
-
-  such that the block with starting row index IFST in (1) is moved
-  to row index ILST. The indices refer to the T22_k submatrices.
-
-  Optionally, the transformation matrices Q_1,...,Q_K from the
-  reduction into generalized periodic Schur form are updated with
-  respect to the performed reordering.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KA( COMPQ, WHICHQ, WS, K, NC, KSCHUR, IFST, ILST,
-     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      LOGICAL            WS
-      INTEGER            IFST, ILST, INFO, K, KSCHUR, LDWORK, NC
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
-     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
-      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N': do not compute any of the matrices Q_k;
-          = 'U': each coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the products Q1_k*Q_k are
-                 returned, where Q_k, k = 1, ..., K, performed the
-                 reordering;
-          = 'W': the computation of each Q_k is specified
-                 individually in the array WHICHQ.
-
-  WHICHQ  INTEGER array, dimension (K)
-          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
-          as follows:
-          = 0:   do not compute Q_k;
-          &gt; 0:   the kth coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the product Q1_k*Q_k is
-                 returned.
-          This array is not referenced if COMPQ &lt;&gt; 'W'.
-
-  WS      LOGICAL
-          = .FALSE. : do not perform the strong stability tests;
-          = .TRUE.  : perform the strong stability tests; often,
-                      this is not needed, and omitting them can save
-                      some computations.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences T and Q (the
-          number of factors in the matrix product).  K &gt;= 2.
-          (For K = 1, a standard eigenvalue reordering problem is
-          obtained.)
-
-  NC      (input) INTEGER
-          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
-
-  KSCHUR  (input) INTEGER
-          The index for which the matrix T22_kschur is upper quasi-
-          triangular. All other T22 matrices are upper triangular.
-
-  IFST    (input/output) INTEGER
-  ILST    (input/output) INTEGER
-          Specify the reordering of the diagonal blocks, as follows:
-          The block with starting row index IFST in (1) is moved to
-          row index ILST by a sequence of direct swaps between adjacent
-          blocks in the product.
-          On exit, if IFST pointed on entry to the second row of a
-          2-by-2 block in the product, it is changed to point to the
-          first row; ILST always points to the first row of the block
-          in its final position in the product (which may differ from
-          its input value by +1 or -1).
-          1 &lt;= IFST &lt;= NC, 1 &lt;= ILST &lt;= NC.
-
-  N       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the formal matrix product T,
-          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
-          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
-          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
-
-  NI      (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the matrix sequence T11_k.
-          N(k) &gt;= NI(k) + NC &gt;= 0.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequence. Each entry in S must be either 1 or -1;
-          the value S(k) = -1 corresponds to using the inverse of
-          the factor T_k.
-
-  T       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXT(k) the
-          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
-          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
-          Schur form.
-          On exit, the matrices T_k are overwritten by the reordered
-          periodic Schur form.
-
-  LDT     INTEGER array, dimension (K)
-          The leading dimensions of the matrices T_k in the one-
-          dimensional array T.
-          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
-          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
-
-  IXT     INTEGER array, dimension (K)
-          Start indices of the matrices T_k in the one-dimensional
-          array T.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXQ(k) a
-          matrix Q_k of size at least N(k)-by-N(k), provided that
-          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
-          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
-          Q_k is post-multiplied with the orthogonal matrix that
-          performed the reordering.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ     INTEGER array, dimension (K)
-          The leading dimensions of the matrices Q_k in the one-
-          dimensional array Q.
-          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
-                                                    WHICHQ(k) &gt; 0;
-          This array is not referenced if COMPQ = 'N'.
-
-  IXQ     INTEGER array, dimension (K)
-          Start indices of the matrices Q_k in the one-dimensional
-          array Q.
-          This array is not referenced if COMPQ = 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension (3)
-          This array contains tolerance parameters. The weak and
-          strong stability tests use a threshold computed by the
-          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
-          NRM is the Frobenius norm of the current matrix formed by
-          concatenating K pairs of adjacent diagonal blocks of sizes
-          1 and/or 2 in the T22_k submatrices from (2), which are
-          swapped, and EPS and SMLNUM are the machine precision and
-          safe minimum divided by EPS, respectively (see LAPACK
-          Library routine DLAMCH). The norm NRM is computed by this
-          routine; the other values are stored in the array TOL.
-          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
-          respectively. TOL(1) should normally be at least 10.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*K)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 10*K + MN, if all blocks between IFST and ILST
-                               have order 1;
-          LDWORK &gt;= 25*K + MN, if there is at least a block of
-                               order 2, but no adjacent blocks of
-                               order 2 can appear between IFST and
-                               ILST during reordering;
-          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if at least a pair of
-                               adjacent blocks of order 2 can appear
-                               between IFST and ILST during
-                               reordering;
-          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
-          MXN = MAX(N(k),k=1,...,K).
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -21, the LDWORK argument was too small;
-          = 1:  the reordering of T failed because some eigenvalues
-                are too close to separate (the problem is very ill-
-                conditioned); T may have been partially reordered.
-                The returned value of ILST is the index where this
-                was detected.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An adaptation of the LAPACK Library routine DTGEXC is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KB.html b/doc/_build/html/_static/doc/MB03KB.html
deleted file mode 100644
index b6143337..00000000
--- a/doc/_build/html/_static/doc/MB03KB.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KB">MB03KB</A></H2>
-<H3>
-Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in a formal matrix product
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the formal matrix product
-
-     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1)              (1)
-
-  of length K in the generalized periodic Schur form
-
-           [  T11_k  T12_k  T13_k  ]
-     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
-           [    0      0    T33_k  ]
-
-  where
-
-  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
-    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
-    infinite eigenvalues,
-  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
-    which are generically neither zero nor infinite,
-  - the submatrices T33_k contain dimension-induced zero
-    eigenvalues,
-
-  such that pairs of adjacent diagonal blocks of sizes 1 and/or 2 in
-  the product (1) are swapped.
-
-  Optionally, the transformation matrices Q_1,...,Q_K from the
-  reduction into generalized periodic Schur form are updated with
-  respect to the performed reordering.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KB( COMPQ, WHICHQ, WS, K, NC, KSCHUR, J1, N1, N2,
-     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      LOGICAL            WS
-      INTEGER            INFO, J1, K, KSCHUR, LDWORK, N1, N2, NC
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
-     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
-      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N': do not compute any of the matrices Q_k;
-          = 'U': each coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the products Q1_k*Q_k are
-                 returned, where Q_k, k = 1, ..., K, performed the
-                 reordering;
-          = 'W': the computation of each Q_k is specified
-                 individually in the array WHICHQ.
-
-  WHICHQ  INTEGER array, dimension (K)
-          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
-          as follows:
-          = 0:   do not compute Q_k;
-          &gt; 0:   the kth coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the product Q1_k*Q_k is
-                 returned.
-          This array is not referenced if COMPQ &lt;&gt; 'W'.
-
-  WS      LOGICAL
-          = .FALSE. : do not perform the strong stability tests;
-          = .TRUE.  : perform the strong stability tests; often,
-                      this is not needed, and omitting them can save
-                      some computations.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences T and Q (the
-          number of factors in the matrix product).  K &gt;= 2.
-          (For K = 1, a standard eigenvalue reordering problem is
-          obtained.)
-
-  NC      (input) INTEGER
-          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
-
-  KSCHUR  (input) INTEGER
-          The index for which the matrix T22_kschur is upper quasi-
-          triangular.
-
-  J1      (input) INTEGER
-          The index of the first row and column of the first block
-          to swap in T22_k.
-          1 &lt;= J1 &lt;= NC-N1-N2+1.
-
-  N1      (input) INTEGER
-          The order of the first block to swap.   N1 = 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of the second block to swap.  N2 = 0, 1 or 2.
-
-  N       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the formal matrix product T,
-          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
-          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
-          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
-
-  NI      (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the matrix sequence T11_k.
-          N(k) &gt;= NI(k) + NC &gt;= 0.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequence. Each entry in S must be either 1 or -1;
-          the value S(k) = -1 corresponds to using the inverse of
-          the factor T_k.
-
-  T       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXT(k) the
-          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
-          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
-          Schur form.
-          On exit, the matrices T_k are overwritten by the reordered
-          periodic Schur form.
-
-  LDT     INTEGER array, dimension (K)
-          The leading dimensions of the matrices T_k in the one-
-          dimensional array T.
-          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
-          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
-
-  IXT     INTEGER array, dimension (K)
-          Start indices of the matrices T_k in the one-dimensional
-          array T.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXQ(k) a
-          matrix Q_k of size at least N(k)-by-N(k), provided that
-          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
-          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
-          Q_k is post-multiplied with the orthogonal matrix that
-          performed the reordering.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ     INTEGER array, dimension (K)
-          The leading dimensions of the matrices Q_k in the one-
-          dimensional array Q.  LDQ(k) &gt;= 1, and
-          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
-                                                    WHICHQ(k) &gt; 0;
-          This array is not referenced if COMPQ = 'N'.
-
-  IXQ     INTEGER array, dimension (K)
-          Start indices of the matrices Q_k in the one-dimensional
-          array Q.
-          This array is not referenced if COMPQ = 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension (3)
-          This array contains tolerance parameters. The weak and
-          strong stability tests use a threshold computed by the
-          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
-          NRM is the Frobenius norm of the matrix formed by
-          concatenating K pairs of adjacent diagonal blocks of sizes
-          1 and/or 2 in the T22_k submatrices from (2), which are
-          swapped, and EPS and SMLNUM are the machine precision and
-          safe minimum divided by EPS, respectively (see LAPACK
-          Library routine DLAMCH). The norm NRM is computed by this
-          routine; the other values are stored in the array TOL.
-          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
-          respectively. TOL(1) should normally be at least 10.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*K)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 10*K + MN,                 if N1 = 1, N2 = 1;
-          LDWORK &gt;= 25*K + MN,                 if N1 = 1, N2 = 2;
-          LDWORK &gt;= MAX(23*K + MN, 25*K - 12), if N1 = 2, N2 = 1;
-          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if N1 = 2, N2 = 2;
-          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
-          MXN = MAX(N(k),k=1,...,K).
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -22, then LDWORK is too small; appropriate
-                value for LDWORK is returned in DWORK(1); the other
-                arguments are not tested, for efficiency;
-          = 1:  the swap was rejected from stability reasons; the
-                blocks are not swapped and T and Q are unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm described in [1] is used. Both weak and strong
-  stability tests are performed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Granat, R., Kagstrom, B. and Kressner, D.
-      Computing periodic deflating subspaces associated with a
-      specified set of eigenvalues.
-      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-                               3
-  The algorithm requires 0(K NC ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KC.html b/doc/_build/html/_static/doc/MB03KC.html
deleted file mode 100644
index e71ab7ad..00000000
--- a/doc/_build/html/_static/doc/MB03KC.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KC">MB03KC</A></H2>
-<H3>
-Reducing a 2-by-2 formal matrix product to periodic Hessenberg-triangular form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a 2-by-2 general, formal matrix product A of length K,
-
-     A_K^s(K) * A_K-1^s(K-1) * ... * A_1^s(1),
-
-  to the periodic Hessenberg-triangular form using a K-periodic
-  sequence of elementary reflectors (Householder matrices). The
-  matrices A_k, k = 1, ..., K, are stored in the N-by-N-by-K array A
-  starting in the R-th row and column, and N can be 3 or 4.
-
-  Each elementary reflector H_k is represented as
-
-     H_k = I - tau_k * v_k * v_k',                               (1)
-
-  where I is the 2-by-2 identity, tau_k is a real scalar, and v_k is
-  a vector of length 2, k = 1,...,K, and it is constructed such that
-  the following holds for k = 1,...,K:
-
-         H_{k+1} * A_k * H_k = T_k, if s(k) = 1,
-                                                                 (2)
-         H_k * A_k * H_{k+1} = T_k, if s(k) = -1,
-
-  with H_{K+1} = H_1 and all T_k upper triangular except for
-  T_{khess} which is full. Clearly,
-
-     T_K^s(K) *...* T_1^s(1) = H_1 * A_K^s(K) *...* A_1^s(1) * H_1.
-
-  The reflectors are suitably applied to the whole, extended N-by-N
-  matrices Ae_k, not only to the submatrices A_k, k = 1, ..., K.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KC( K, KHESS, N, R, S, A, LDA, V, TAU )
-C     .. Scalar Arguments ..
-      INTEGER            K, KHESS, LDA, N, R
-C     .. Array Arguments ..
-      INTEGER            S( * )
-      DOUBLE PRECISION   A( * ), TAU( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of matrices in the sequence A_k.  K &gt;= 2.
-
-  KHESS   (input) INTEGER
-          The index for which the returned matrix A_khess should be
-          in the Hessenberg form on output.  1 &lt;= KHESS &lt;= K.
-
-  N       (input) INTEGER
-          The order of the extended matrices.  N = 3 or N = 4.
-
-  R       (input) INTEGER
-          The starting row and column index for the
-          2-by-2 submatrices.  R = 1, or R = N-1.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1; the value S(k) = -1 corresponds to using the
-          inverse of the factor A_k.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXA(k) =
-          (k-1)*N*LDA+1 the N-by-N matrix Ae_k stored with leading
-          dimension LDA.
-          On exit, this array contains at position IXA(k) the
-          N-by-N matrix Te_k stored with leading dimension LDA.
-
-  LDA     INTEGER
-          Leading dimension of the matrices Ae_k and Te_k in the
-          one-dimensional array A.  LDA &gt;= N.
-
-  V       (output) DOUBLE PRECISION array, dimension (2*K)
-          On exit, this array contains the K vectors v_k,
-          k = 1,...,K, defining the elementary reflectors H_k as
-          in (1). The k-th reflector is stored in V(2*k-1:2*k).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (K)
-          On exit, this array contains the K values of tau_k,
-          k = 1,...,K, defining the elementary reflectors H_k
-          as in (1).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A K-periodic sequence of elementary reflectors (Householder
-  matrices) is used. The computations start for k = khess with the
-  left reflector in (1), which is the identity matrix.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KD.html b/doc/_build/html/_static/doc/MB03KD.html
deleted file mode 100644
index 9f5f1075..00000000
--- a/doc/_build/html/_static/doc/MB03KD.html
+++ /dev/null
@@ -1,521 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KD">MB03KD</A></H2>
-<H3>
-Reordering the diagonal blocks of a formal matrix product using periodic QZ algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the formal matrix product
-
-     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
-
-  of length K, in the generalized periodic Schur form,
-
-           [  T11_k  T12_k  T13_k  ]
-     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
-           [    0      0    T33_k  ]
-
-  where
-
-  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
-    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
-    infinite eigenvalues,
-  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
-    which are generically neither zero nor infinite,
-  - the submatrices T33_k contain dimension-induced zero
-    eigenvalues,
-
-  such that the M selected eigenvalues pointed to by the logical
-  vector SELECT end up in the leading part of the matrix sequence
-  T22_k.
-
-  Given that N(k) = N(k+1) for all k where S(k) = -1, the T11_k are
-  void and the first M columns of the updated orthogonal
-  transformation matrix sequence Q_1, ..., Q_K span a periodic
-  deflating subspace corresponding to the same eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KD( COMPQ, WHICHQ, STRONG, K, NC, KSCHUR, N, NI, S,
-     $                   SELECT, T, LDT, IXT, Q, LDQ, IXQ, M, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, STRONG
-      INTEGER            INFO, K, KSCHUR, LDWORK, M, NC
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      LOGICAL            SELECT( * )
-      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
-     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
-      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrices Q_k, as follows:
-          = 'N': do not compute any of the matrices Q_k;
-          = 'I': each coefficient of Q is initialized internally to
-                 the identity matrix, and the orthogonal matrices
-                 Q_k are returned, where Q_k, k = 1, ..., K,
-                 performed the reordering;
-          = 'U': each coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the products Q1_k*Q_k are
-                 returned;
-          = 'W': the computation of each Q_k is specified
-                 individually in the array WHICHQ.
-
-  WHICHQ  INTEGER array, dimension (K)
-          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
-          as follows:
-          = 0:   do not compute Q_k;
-          = 1:   the kth coefficient of Q is initialized to the
-                 identity matrix, and the orthogonal matrix Q_k is
-                 returned;
-          = 2:   the kth coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the product Q1_k*Q_k is
-                 returned.
-          This array is not referenced if COMPQ &lt;&gt; 'W'.
-
-  STRONG  CHARACTER*1
-          Specifies whether to perform the strong stability tests,
-          as follows:
-          = 'N': do not perform the strong stability tests;
-          = 'S': perform the strong stability tests; often, this is
-                 not needed, and omitting them can save some
-                 computations.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences T and Q (the
-          number of factors in the matrix product).  K &gt;= 2.
-          (For K = 1, a standard eigenvalue reordering problem is
-          obtained.)
-
-  NC      (input) INTEGER
-          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
-
-  KSCHUR  (input) INTEGER
-          The index for which the matrix T22_kschur is upper quasi-
-          triangular. All other T22 matrices are upper triangular.
-
-  N       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the formal matrix product T,
-          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
-          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
-          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
-
-  NI      (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the matrix sequence T11_k.
-          N(k) &gt;= NI(k) + NC &gt;= 0.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequence. Each entry in S must be either 1 or -1;
-          the value S(k) = -1 corresponds to using the inverse of
-          the factor T_k.
-
-  SELECT  (input) LOGICAL array, dimension (NC)
-          SELECT specifies the eigenvalues in the selected cluster.
-          To select a real eigenvalue w(j), SELECT(j) must be set to
-          .TRUE.. To select a complex conjugate pair of eigenvalues
-          w(j) and w(j+1), corresponding to a 2-by-2 diagonal block,
-          either SELECT(j) or SELECT(j+1) or both must be set to
-          .TRUE.; a complex conjugate pair of eigenvalues must be
-          either both included in the cluster or both excluded.
-
-  T       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXT(k) the
-          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
-          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
-          Schur form.
-          On exit, the matrices T_k are overwritten by the reordered
-          periodic Schur form.
-
-  LDT     INTEGER array, dimension (K)
-          The leading dimensions of the matrices T_k in the one-
-          dimensional array T.
-          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
-          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
-
-  IXT     INTEGER array, dimension (K)
-          Start indices of the matrices T_k in the one-dimensional
-          array T.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXQ(k) a
-          matrix Q_k of size at least N(k)-by-N(k), provided that
-          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) = 2.
-          On exit, if COMPQ = 'I' or COMPQ = 'W' and WHICHQ(k) = 1,
-          Q_k contains the orthogonal matrix that performed the
-          reordering. If COMPQ = 'U', or COMPQ = 'W' and
-          WHICHQ(k) = 2, Q_k is post-multiplied with the orthogonal
-          matrix that performed the reordering.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ     INTEGER array, dimension (K)
-          The leading dimensions of the matrices Q_k in the one-
-          dimensional array Q.
-          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'I', or COMPQ = 'U', or
-                                    COMPQ = 'W' and WHICHQ(k) &gt; 0;
-          This array is not referenced if COMPQ = 'N'.
-
-  IXQ     INTEGER array, dimension (K)
-          Start indices of the matrices Q_k in the one-dimensional
-          array Q.
-          This array is not referenced if COMPQ = 'N'.
-
-  M       (output) INTEGER
-          The number of selected core eigenvalues which were
-          reordered to the top of T22_k.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance parameter c. The weak and strong stability
-          tests performed for checking the reordering use a
-          threshold computed by the formula  MAX(c*EPS*NRM, SMLNUM),
-          where NRM is the varying Frobenius norm of the matrices
-          formed by concatenating K pairs of adjacent diagonal
-          blocks of sizes 1 and/or 2 in the T22_k submatrices from
-          (2), which are swapped, and EPS and SMLNUM are the machine
-          precision and safe minimum divided by EPS, respectively
-          (see LAPACK Library routine DLAMCH). The value c should
-          normally be at least 10.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*K)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 10*K + MN, if all blocks involved in reordering
-                               have order 1;
-          LDWORK &gt;= 25*K + MN, if there is at least a block of
-                               order 2, but no adjacent blocks of
-                               order 2 are involved in reordering;
-          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if there is at least
-                               a pair of adjacent blocks of order 2
-                               involved in reordering;
-          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
-          MXN = MAX(N(k),k=1,...,K).
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reordering of T failed because some eigenvalues
-                are too close to separate (the problem is very ill-
-                conditioned); T may have been partially reordered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An adaptation of the LAPACK Library routine DTGSEN is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            KMAX, NMAX
-      PARAMETER          ( KMAX = 6, NMAX = 50 )
-      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
-      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                     LDQ2 = NMAX,
-     $                     LDWORK = MAX( 42*KMAX + NMAX, 80*KMAX - 48,
-     $                                   KMAX + MAX( 2*NMAX, 8*KMAX ) ),
-     $                     LIWORK = MAX( 4*KMAX, 2*KMAX + NMAX ) )
-      DOUBLE PRECISION   HUND, ZERO
-      PARAMETER          ( HUND = 1.0D2, ZERO = 0.0D0 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, DEFL, JOB, STRONG
-      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, M, N, P
-      DOUBLE PRECISION   TOL
-*
-*     .. Local Arrays ..
-      LOGICAL            SELECT( NMAX )
-      INTEGER            IWORK( LIWORK ), IXQ( KMAX ), IXT( KMAX ),
-     $                   LDQ( KMAX ), LDT( KMAX ), ND( KMAX ),
-     $                   NI( KMAX ), QIND( KMAX ), S( KMAX ),
-     $                   SCAL( NMAX )
-      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
-     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
-     $                   Q( LDQ1, LDQ2, KMAX ), QK( NMAX*NMAX*KMAX ),
-     $                   T( NMAX*NMAX*KMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           DLACPY, MB03BD, MB03KD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          INT, MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, STRONG, K, N, H, ILO, IHI
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         TOL = HUND
-         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
-         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
-     $                                I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'U' ) )
-     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
-     $                                   I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'P' ) ) THEN
-            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
-            DO 10 L = 1, K
-               IF( QIND( L ).GT.0 )
-     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
-     $                                    J = 1, N ), I = 1, N )
-   10       CONTINUE
-         END IF
-         IF( LSAME( JOB, 'E' ) )
-     $      JOB = 'S'
-*        Compute the eigenvalues and the transformed matrices.
-         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
-     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
-     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE IF( IWARN.EQ.0 ) THEN
-*           Prepare the data for calling MB03KD, which uses different
-*           data structures and reverse ordering of the factors.
-            DO 20 L = 1, K
-               ND(  L ) = MAX( 1, N )
-               NI(  L ) = 0
-               LDT( L ) = MAX( 1, N )
-               IXT( L ) = ( L - 1 )*LDT( L )*N + 1
-               LDQ( L ) = MAX( 1, N )
-               IXQ( L ) = IXT( L )
-               IF( L.LE.INT( K/2 ) ) THEN
-                  I = S( K - L + 1 )
-                  S( K - L + 1 ) = S( L )
-                  S( L ) = I
-               END IF
-   20       CONTINUE
-            DO 30 L = 1, K
-               CALL DLACPY( 'Full', N, N, A( 1, 1, K-L+1 ), LDA1,
-     $                      T( IXT( L ) ), LDT( L ) )
-   30       CONTINUE
-            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
-               COMPQ = 'U'
-               DO 40 L = 1, K
-                  CALL DLACPY( 'Full', N, N, Q( 1, 1, K-L+1 ), LDQ1,
-     $                         QK( IXQ( L ) ), LDQ( L ) )
-   40          CONTINUE
-            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
-               COMPQ = 'W'
-               DO 50 L = 1, K
-                  IF( QIND( L ).LT.0 )
-     $                QIND( L ) = 2
-                  P = QIND( L )
-                  IF( P.NE.0 )
-     $               CALL DLACPY( 'Full', N, N, Q( 1, 1, K-P+1 ), LDQ1,
-     $                            QK( IXQ( P ) ), LDQ( P ) )
-   50          CONTINUE
-            END IF
-*           Select eigenvalues with negative real part.
-            DO 60 I = 1, N
-               SELECT( I ) = ALPHAR( I ).LT.ZERO
-   60       CONTINUE
-            WRITE( NOUT, FMT = 99996 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99994 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99991 ) (   SCAL( I ), I = 1, N )
-*           Compute the transformed matrices, after reordering the
-*           eigenvalues.
-            CALL MB03KD( COMPQ, QIND, STRONG, K, N, H, ND, NI, S,
-     $                   SELECT, T, LDT, IXT, QK, LDQ, IXQ, M, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-            IF( INFO.NE.0 ) THEN
-               WRITE( NOUT, FMT = 99990 ) INFO
-            ELSE
-               WRITE( NOUT, FMT = 99989 )
-               DO 80 L = 1, K
-                  P = K - L + 1
-                  WRITE( NOUT, FMT = 99988 ) L
-                  DO 70 I = 1, N
-                     WRITE( NOUT, FMT = 99995 )
-     $                    ( T( IXT( P ) + I - 1 + ( J - 1 )*LDT( P ) ),
-     $                       J = 1, N )
-   70             CONTINUE
-   80          CONTINUE
-               IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
-                  WRITE( NOUT, FMT = 99987 )
-                  DO 100 L = 1, K
-                     P = K - L + 1
-                     WRITE( NOUT, FMT = 99988 ) L
-                     DO 90 I = 1, N
-                        WRITE( NOUT, FMT = 99995 )
-     $                       ( QK( IXQ( P ) + I - 1 +
-     $                           ( J - 1 )*LDQ( P ) ), J = 1, N )
-   90                CONTINUE
-  100             CONTINUE
-               ELSE IF( LSAME( COMPQ, 'W' ) ) THEN
-                  WRITE( NOUT, FMT = 99987 )
-                  DO 120 L = 1, K
-                     IF( QIND( L ).GT.0 ) THEN
-                        P = K - QIND( L ) + 1
-                        WRITE( NOUT, FMT = 99988 ) QIND( L )
-                        DO 110 I = 1, N
-                           WRITE( NOUT, FMT = 99995 )
-     $                          ( QK( IXQ( P ) + I - 1 +
-     $                              ( J - 1 )*LDQ( P ) ), J = 1, N )
-  110                   CONTINUE
-                     END IF
-  120             CONTINUE
-               END IF
-            END IF
-         ELSE
-            WRITE( NOUT, FMT = 99979 ) IWARN
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03KD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
-99996 FORMAT( 'The vector ALPHAR is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The vector ALPHAI is ' )
-99993 FORMAT( 'The vector BETA is ' )
-99992 FORMAT( 'The vector SCAL is ' )
-99991 FORMAT( 50( 1X, I5 ) )
-99990 FORMAT( 'INFO on exit from MB03KD = ', I2 )
-99989 FORMAT( 'The matrix A on exit is ' )
-99988 FORMAT( 'The factor ', I2, ' is ' )
-99987 FORMAT( 'The matrix Q on exit is ' )
-99986 FORMAT( 'LDT', 3I5 )
-99985 FORMAT( 'IXT', 3I5 )
-99984 FORMAT( 'LDQ', 3I5 )
-99983 FORMAT( 'IXQ', 3I5 )
-99982 FORMAT( 'ND' , 3I5 )
-99981 FORMAT( 'NI' , 3I5)
-99980 FORMAT( 'SELECT', 3L5 )
-99979 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03KD EXAMPLE PROGRAM DATA
-   S   C   I   N   3   3   2   1   3
-  -1     1    -1
-   2.0   0.0   1.0
-   0.0  -2.0  -1.0
-   0.0   0.0   3.0
-   1.0   2.0   0.0
-   4.0  -1.0   3.0
-   0.0   3.0   1.0
-   1.0   0.0   1.0
-   0.0   4.0  -1.0
-   0.0   0.0  -2.0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03KD EXAMPLE PROGRAM RESULTS
-The vector ALPHAR is 
-   0.3230   0.3230  -0.8752
-The vector ALPHAI is 
-   0.5694  -0.5694   0.0000
-The vector BETA is 
-   1.0000   1.0000   1.0000
-The vector SCAL is 
-     0     0    -1
-The matrix A on exit is 
-The factor  1 is 
-   2.5997  -0.0087   1.6898
-   0.0000   1.9846   0.1942
-   0.0000   0.0000   2.3259
-The factor  2 is 
-  -2.0990  -1.0831  -2.5601
-   0.0000   3.4838   0.2950
-   0.0000   3.4552  -2.1690
-The factor  3 is 
-   1.8451   0.9260   1.2717
-   0.0000   1.3976  -2.3544
-   0.0000   0.0000  -3.1023
-The matrix Q on exit is 
-The factor  1 is 
-  -0.2052   0.4647  -0.8614
-   0.2033   0.8811   0.4270
-  -0.9574   0.0875   0.2753
-The factor  2 is 
-  -0.7743  -0.1384   0.6176
-   0.6070  -0.4386   0.6627
-   0.1791   0.8880   0.4236
-The factor  3 is 
-  -0.6714   0.7225  -0.1651
-  -0.3658  -0.5168  -0.7740
-  -0.6446  -0.4593   0.6112
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03KE.html b/doc/_build/html/_static/doc/MB03KE.html
deleted file mode 100644
index d288c475..00000000
--- a/doc/_build/html/_static/doc/MB03KE.html
+++ /dev/null
@@ -1,191 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KE">MB03KE</A></H2>
-<H3>
-Solving periodic Sylvester-like equations with matrices of order at most 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve small periodic Sylvester-like equations (PSLE)
-
-   op(A(i))*X( i ) + isgn*X(i+1)*op(B(i)) = -scale*C(i), S(i) =  1,
-   op(A(i))*X(i+1) + isgn*X( i )*op(B(i)) = -scale*C(i), S(i) = -1.
-
-  i = 1, ..., K, where op(A) means A or A**T, for the K-periodic
-  matrix sequence X(i) = X(i+K), where A, B and C are K-periodic
-  matrix sequences and A and B are in periodic real Schur form. The
-  matrices A(i) are M-by-M and B(i) are N-by-N, with 1 &lt;= M, N &lt;= 2.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KE( TRANA, TRANB, ISGN, K, M, N, PREC, SMIN, S, A,
-     $                   B, C, SCALE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            TRANA, TRANB
-      INTEGER            INFO, ISGN, K, LDWORK, M, N
-      DOUBLE PRECISION   PREC, SCALE, SMIN
-C     .. Array Arguments ..
-      INTEGER            S( * )
-      DOUBLE PRECISION   A( * ), B( * ), C( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   LOGICAL
-          Specifies the form of op(A) to be used, as follows:
-          = .FALSE.:  op(A) = A,
-          = .TRUE. :  op(A) = A**T.
-
-  TRANB   LOGICAL
-          Specifies the form of op(B) to be used, as follows:
-          = .FALSE.:  op(B) = B,
-          = .TRUE. :  op(B) = B**T.
-
-  ISGN    INTEGER
-          Specifies which sign variant of the equations to solve.
-          ISGN = 1 or ISGN = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences A, B, C and X.
-          K &gt;= 2. (For K = 1, a standard Sylvester equation is
-          obtained.)
-
-  M       (input) INTEGER
-          The order of the matrices A(i) and the number of rows of
-          the matrices C(i) and X(i), i = 1, ..., K.  1 &lt;= M &lt;= 2.
-
-  N       (input) INTEGER
-          The order of the matrices B(i) and the number of columns
-          of the matrices C(i) and X(i), i = 1, ..., K.
-          1 &lt;= N &lt;= 2.
-
-  PREC    (input) DOUBLE PRECISION
-          The relative machine precision. See the LAPACK Library
-          routine DLAMCH.
-
-  SMIN    (input) DOUBLE PRECISION
-          The machine safe minimum divided by PREC.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequences for A and B. Each entry in S must be
-          either 1 or -1. Notice that it is assumed that the same
-          exponents are tied to both A and B on reduction to the
-          periodic Schur form.
-
-  A       (input) DOUBLE PRECISION array, dimension (M*M*K)
-          On entry, this array must contain the M-by-M matrices
-          A(i), for i = 1, ..., K, stored with the leading dimension
-          M. Matrix A(i) is stored starting at position M*M*(i-1)+1.
-
-  B       (input) DOUBLE PRECISION array, dimension (N*N*K)
-          On entry, this array must contain the N-by-N matrices
-          B(i), for i = 1, ..., K, stored with the leading dimension
-          N. Matrix B(i) is stored starting at position N*N*(i-1)+1.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (M*N*K)
-          On entry, this array must contain the M-by-N matrices
-          C(i), for i = 1, ..., K, stored with the leading dimension
-          M. Matrix C(i) is stored starting at position M*N*(i-1)+1.
-          On exit, the matrices C(i) are overwritten by the solution
-          sequence X(i).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          avoid overflow in X.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= (4*K-3) * (M*N)**2 + K * M*N.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -21, then LDWORK is too small; appropriate
-                value for LDWORK is returned in DWORK(1); the other
-                arguments are not tested, for efficiency;
-          = 1:  the solution would overflow with scale = 1, so
-                SCALE was set less than 1. This is a warning, not
-                an error.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A version of the algorithm described in [1] is used. The routine
-  uses a sparse Kronecker product representation Z of the PSLE and
-  solves for X(i) from an associated linear system Z*x = c using
-  structured (overlapping) variants of QR factorization and backward
-  substitution.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Granat, R., Kagstrom, B. and Kressner, D.
-      Computing periodic deflating subspaces associated with a
-      specified set of eigenvalues.
-      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03LD.html b/doc/_build/html/_static/doc/MB03LD.html
deleted file mode 100644
index bf084b90..00000000
--- a/doc/_build/html/_static/doc/MB03LD.html
+++ /dev/null
@@ -1,491 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LD">MB03LD</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the relevant eigenvalues of a real N-by-N skew-
-  Hamiltonian/Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ),                           (1)
-        (  E  A' )         (  G -B' )
-
-  where the notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'C', an orthogonal basis of the right
-  deflating subspace of aS - bH corresponding to the eigenvalues
-  with strictly negative real part is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LIWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N':  do not compute the deflating subspace;
-          = 'C':  compute the deflating subspace and store it in the
-                  leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthogonal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix Aout
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix A obtained just before the application of the
-          periodic QZ algorithm (see SLICOT Library routine MB04BD).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-symmetric matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of the
-          skew-symmetric matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper quasi-triangular matrix C2out (see
-          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
-          of the submatrix in the columns 3 to N/2+1 of this array
-          contains the strictly upper triangular part of the
-          skew-symmetric matrix Dout (see METHOD), without the main
-          diagonal, which is zero.
-          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper Hessenberg matrix C2, and the
-          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
-          in the columns 3 to N/2+1 of this array contains the
-          strictly upper triangular part of the skew-symmetric
-          matrix D (without the main diagonal) just before the
-          application of the periodic QZ algorithm.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix C1out
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix C1 obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix F.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          the submatrix in the columns 2 to N/2+1 of this array
-          contains the matrix Vout (see METHOD); otherwise, it
-          contains the matrix V obtained just before the application
-          of the periodic QZ algorithm.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the right
-          deflating subspace corresponding to the eigenvalues of
-          aA - bB with strictly negative real part. The remaining
-          part of this array is used as workspace.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = -19, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
-          LIWORK &gt;= MAX( N + 12, 2*N + 3 ),     if COMPQ = 'N',
-          LIWORK &gt;= MAX( 32, 2*N + 3 ),         if COMPQ = 'C'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
-          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
-                                                     if COMPQ = 'N',
-          where     L = 4*N + 4, if N/2 is even, and
-                    L = 4*N    , if N/2 is odd; 
-          LDWORK &gt;= 8*N**2 + MAX( 8*N + 32, 272 ),   if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: periodic QZ iteration failed in the SLICOT Library
-               routines MB04BD or MB04HD (QZ iteration did not
-               converge or computation of the shifts failed);
-          = 2: standard QZ iteration failed in the SLICOT Library
-               routines MB04HD or MB03DD (called by MB03JD);
-          = 3: a numerically singular matrix was found in the SLICOT
-               Library routine MB03HD (called by MB03JD);
-          = 4: the singular value decomposition failed in the LAPACK
-               routine DGESVD (for ORTH = 'S');
-          = 5: some eigenvalues might be inaccurate. This is a
-               warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the decompositions of S and H are computed via orthogonal
-  transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        ),
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric.
-
-  Then, orthogonal matrices Q3 and Q4 are found, for the extended
-  matrices
-
-         (  Aout   0  )          (    0   C1out )
-    Se = (            ) and He = (              ),
-         (   0   Bout )          ( -C2out   0   )
-
-  such that S11 := Q4' Se Q3 is upper triangular and
-  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
-  are computed:
-
-               (  Dout   0  )                   (   0   Vout )
-    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
-               (   0   Fout )                   ( Vout'   0  )
-
-  Then, an orthogonal matrix Q is found such that the eigenvalues
-  with strictly negative real parts of the pencil
-
-      (  S11  S12  )     (  H11  H12  )
-    a (            ) - b (            )
-      (   0   S11' )     (   0  -H11' )
-
-  are moved to the top of this pencil.
-
-  Finally, an orthogonal basis of the right deflating subspace
-  corresponding to the eigenvalues with strictly negative real part
-  is computed. See also page 12 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03LD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LIWORK
-      PARAMETER          (  LDA = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
-     $                     LDFG = NMAX/2, LDQ = 2*NMAX,
-     $                     LDWORK = 8*NMAX*NMAX +
-     $                              MAX( 8*NMAX + 32, NMAX/2 + 168,
-     $                                   272 ),
-     $                     LIWORK = MAX( 32, NMAX + 12, NMAX*2 + 3 ) )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            I, INFO, J, M, N, NEIG
-*
-*     .. Local Arrays ..
-      LOGICAL            BWORK( NMAX/2 )
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
-     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
-     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
-     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, 2*NMAX )
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03LD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, ORTH, N
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues and an orthogonal basis of the right
-*        deflating subspace of a real skew-Hamiltonian/Hamiltonian
-*        pencil, corresponding to the eigenvalues with strictly negative
-*        real part.
-         CALL MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                LIWORK, DWORK, LDWORK, BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, M+1 )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
-   30       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            DO 40 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 2, M+1 )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99989 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99988 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   50          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03LD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03LD = ', I2 )
-99996 FORMAT( 'The matrix A on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix DE on exit is ' )
-99993 FORMAT( 'The matrix C1 on exit is ' )
-99992 FORMAT( 'The matrix V on exit is ' )
-99991 FORMAT( 'The vector ALPHAR is ' )
-99990 FORMAT( 'The vector ALPHAI is ' )
-99989 FORMAT( 'The vector BETA is ' )
-99988 FORMAT( 'The matrix Q is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03LD EXAMPLE PROGRAM DATA
-   C   P   8
-   3.1472   1.3236   4.5751   4.5717
-   4.0579  -4.0246   4.6489  -0.1462
-  -3.7301  -2.2150  -3.4239   3.0028
-   4.1338   0.4688   4.7059  -3.5811
-   0.0000   0.0000  -1.5510  -4.5974  -2.5127
-   3.5071   0.0000   0.0000   1.5961   2.4490  
-  -3.1428   2.5648   0.0000   0.0000  -0.0596 
-   3.0340   2.4892  -1.1604   0.0000   0.0000
-   0.6882  -3.3782  -3.3435   1.8921
-  -0.3061   2.9428   1.0198   2.4815
-  -4.8810  -1.8878  -2.3703  -0.4946
-  -1.6288   0.2853   1.5408  -4.1618
-  -2.4013  -2.7102   0.3834  -3.9335   3.1730
-  -3.1815  -2.3620   4.9613   4.6190   3.6869
-   3.6929   0.7970   0.4986  -4.9537  -4.1556
-   3.5303   1.2206  -1.4905   0.1325  -1.0022
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03LD EXAMPLE PROGRAM RESULTS
-The matrix A on exit is 
-  -4.7460   4.1855   3.2696  -0.2244
-   0.0000   6.4157   2.8287   1.4553
-   0.0000   0.0000   7.4626   1.5726
-   0.0000   0.0000   0.0000   8.8702
-The matrix DE on exit is 
-  -5.4562   2.5550  -1.3137  -6.3615  -0.8940
-  -2.1348  -7.9616   0.0000   1.0704  -0.0659
-   4.9694   1.1516   4.8504   0.0000  -0.6922
-  -2.2744   3.4912   0.5046   4.4394   0.0000
-The matrix C1 on exit is 
-   6.9525  -4.9881   2.3661   4.2188
-   0.0000   8.5009   0.7182   5.5533
-   0.0000   0.0000  -4.6650  -2.8177
-   0.0000   0.0000   0.0000   1.5124
-The matrix V on exit is 
-   0.9136   4.1106  -0.0079   3.5789
-  -1.1553  -1.4785  -1.5155  -0.8018
-  -2.2167   4.8029   1.3645   2.5202
-  -1.0994  -0.6144   0.3970   2.0730
-The vector ALPHAR is 
-   0.8314  -0.8314   0.8131   0.0000
-The vector ALPHAI is 
-   0.4372   0.4372   0.0000   0.9164
-The vector BETA is 
-   0.7071   0.7071   1.4142   2.8284
-The matrix Q is 
-  -0.5844  -0.2949   0.1692
-   0.5470  -0.2324  -0.4524
-   0.0382   0.4673  -0.3092
-  -0.0378   0.0904  -0.4451
-  -0.0255   0.1497  -0.1929
-  -0.1286  -0.6067  -0.2275
-  -0.2260   0.4901   0.0951
-   0.5367  -0.0430   0.6123
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03LF.html b/doc/_build/html/_static/doc/MB03LF.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB03LF.html
+++ /dev/null
@@ -1,509 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LF">MB03LF</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the relevant eigenvalues of a real N-by-N skew-
-  Hamiltonian/Hamiltonian pencil aS - bH, with
-
-                                (  B  F  )      (  0  I  )
-    S = T Z = J Z' J' Z and H = (        ), J = (        ),      (1)
-                                (  G -B' )      ( -I  0  )
-
-  where the notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'C', an orthogonal basis of the right
-  deflating subspace of aS - bH corresponding to the eigenvalues
-  with strictly negative real part is computed. Optionally, if
-  COMPU = 'C', an orthonormal basis of the companion subspace,
-  range(P_U) [1], which corresponds to the eigenvalues with strictly
-  negative real part, is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
-     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, BWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            INFO, IWARN, LDB, LDFG, LDQ, LDU, LDWORK, LDZ,
-     $                   LIWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
-     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
-     $                   Q( LDQ, * ), U( LDU, * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N':  do not compute the deflating subspace;
-          = 'C':  compute the deflating subspace and store it in the
-                  leading subarray of Q.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the companion subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the companion subspace;
-          = 'C': compute the companion subspace and store it in the
-                 leading subarray of U.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C' and/or COMPU = 'C', specifies the technique
-          for computing the orthogonal basis of the deflating
-          subspace, and/or of the companion subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
-          used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the non-trivial factor Z in the factorization
-          S = J Z' J' Z of the skew-Hamiltonian matrix S.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the transformed upper
-                            ~
-          triangular matrix Z11 (see METHOD), after moving the
-          eigenvalues with strictly negative real part to the top
-          of the pencil (3). The strictly lower triangular part is
-          not zeroed.
-          If COMPQ = 'N' and COMPU = 'N', the leading N-by-N part of
-          this array contains the matrix Z obtained by the SLICOT
-          Library routine MB04AD just before the application of the
-          periodic QZ algorithm. The elements of the (2,1) block,
-          i.e., in the rows N/2+1 to N and in the columns 1 to N/2
-          are not set to zero, but are unchanged on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input) DOUBLE PRECISION array, dimension (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix F.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
-          in aS - bH with strictly negative real part.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the right
-          deflating subspace corresponding to the eigenvalues of
-          aS - bH with strictly negative real part. The remaining
-          part of this array is used as workspace.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU, 2*N)
-          On exit, if COMPU = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the companion
-          subspace corresponding to the eigenvalues of aS - bH with
-          strictly negative real part. The remaining part of this
-          array is used as workspace.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,         if COMPU = 'N';
-          LDU &gt;= MAX(1, N), if COMPU = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = -20, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= N + 18,      if COMPQ = 'N' and COMPU = 'N';
-          LIWORK &gt;= MAX( 2*N+1, 48 ), otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -22, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= b*N*N + 3*N*N/2 + MAX( 6*N, 54 ),
-                                    if COMPQ = 'N' and COMPU = 'N';
-          LDWORK &gt;= d*N*N + MAX( N/2+252, 432 ), otherwise, where
-                    b = a,   d = c,   if COMPU = 'N',
-                    b = a+1, d = c+1, if COMPU = 'C', and
-                    a = 2,   c = 7,   if COMPQ = 'N',
-                    a = 4,   c = 10,  if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0: no warning;
-          = 1: some eigenvalues might be unreliable. More details
-               can be obtained by running the SLICOT routine MB04AD.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: periodic QZ iteration failed in the SLICOT Library
-               routines MB04AD, MB04CD or MB03BB (QZ iteration did
-               not converge or computation of the shifts failed);
-          = 2: standard QZ iteration failed in the SLICOT Library
-               routines MB04CD or MB03CD (called by MB03ID);
-          = 3: a numerically singular matrix was found in the SLICOT
-               Library routine MB03GD (called by MB03ID);
-          = 4: the singular value decomposition failed in the LAPACK
-               routine DGESVD (for ORTH = 'S').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the decompositions of S and H are computed via orthogonal
-  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2,
-  such that
-
-                                ( T11  T12 )
-    Q1' T U1 = Q1' J Z' J' U1 = (          ),
-                                (  0   T22 )
-
-               ( Z11  Z12 )
-    U2' Z Q2 = (          ),                                     (2)
-               (  0   Z22 )
-
-               ( H11  H12 )
-    Q1' H Q2 = (          ),
-               (  0   H22 )
-
-  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
-  upper quasi-triangular.
-
-  Then, orthogonal matrices Q3, Q4 and U3 are found, for the
-  matrices
-
-    ~     ( T22'  0  )  ~     ( T11'  0  )  ~   (   0   H11 )
-    Z11 = (          ), Z22 = (          ), H = (           ),
-          (  0   Z11 )        (  0   Z22 )      ( -H22'  0  )
-
-            ~          ~       ~          ~
-  such that Z11 := U3' Z11 Q4, Z22 := U3' Z22 Q3 are upper
-                 ~          ~
-  triangular and H11 := Q3' H Q4 is upper quasi-triangular. The
-  following matrices are computed:
-
-    ~          ( -T12'  0  )        ~          (  0   H12 )
-    Z12 := U3' (           ) Q3 and H12 := Q3' (          ) Q3.
-               (  0    Z12 )                   ( H12'  0  )
-
-  Then, an orthogonal matrix Q and an orthogonal symplectic matrix U
-  are found such that the eigenvalues with strictly negative real
-  parts of the pencil
-
-          ~    ~          ~    ~           ~    ~
-        ( Z11  Z12 )'   ( Z11  Z12 )     ( H11  H12  )
-    a J (      ~   ) J' (      ~   ) - b (      ~    )           (3)
-        (  0   Z22 )    (  0   Z22 )     (  0  -H11' )
-
-  are moved to the top of this pencil.
-
-  Finally, an orthogonal basis of the right deflating subspace
-  and an orthogonal basis of the companion subspace corresponding to
-  the eigenvalues with strictly negative real part are computed.
-  See also page 11 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03LF EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDB, LDFG, LDQ, LDU, LDWORK, LDZ, LIWORK
-      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2, LDQ = 2*NMAX,
-     $                     LDU = NMAX,   LDZ  = NMAX,
-     $                     LDWORK = 10*NMAX*NMAX +
-     $                              MAX( NMAX*NMAX +
-     $                                   MAX( NMAX/2 + 252, 432 ),
-     $                                   MAX( 8*NMAX +  48, 171 ) ),
-     $                     LIWORK = MAX( NMAX + 18, NMAX/2 + 48,
-     $                                   5*NMAX/2 + 1 ) )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            I, INFO, IWARN, J, M, N, NEIG
-*
-*     .. Local Arrays ..
-      LOGICAL            BWORK( NMAX/2 )
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX/2 ),  ALPHAR( NMAX/2 ),
-     $                   B( LDB, NMAX/2 ),    BETA( NMAX/2 ),
-     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
-     $                   Z( LDZ, NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03LF
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues and orthogonal bases of the right
-*        deflating subspace and companion subspace of a real
-*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
-*        eigenvalues with strictly negative real part.
-         CALL MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI, BETA, IWORK,
-     $                LIWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   20          CONTINUE
-            END IF
-            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
-   30          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
-     $         WRITE( NOUT, FMT = 99989 ) NEIG
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( 'MB03LF EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB03LF = ', I2 )
-99996 FORMAT (/'The matrix Z on exit is ' )
-99995 FORMAT ( 50( 1X, F8.4 ) )
-99994 FORMAT (/'The vector ALPHAR is ' )
-99993 FORMAT (/'The vector ALPHAI is ' )
-99992 FORMAT (/'The vector BETA is ' )
-99991 FORMAT (/'The deflating subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99990 FORMAT (/'The companion subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99989 FORMAT (/'The number of eigenvalues in the initial pencil with ',
-     $         'negative real part is ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03LF EXAMPLE PROGRAM DATA
-   C   C   P   8
-   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
-   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
-  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
-   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
-   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
-  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
-  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
-   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
-   0.6882  -3.3782  -3.3435   1.8921
-  -0.3061   2.9428   1.0198   2.4815
-  -4.8810  -1.8878  -2.3703  -0.4946
-  -1.6288   0.2853   1.5408  -4.1618
-  -2.4013  -2.7102   0.3834  -3.9335   3.1730
-  -3.1815  -2.3620   4.9613   4.6190   3.6869
-   3.6929   0.7970   0.4986  -4.9537  -4.1556
-   3.5303   1.2206  -1.4905   0.1325  -1.0022
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03LF EXAMPLE PROGRAM RESULTS
-
-The matrix Z on exit is 
-   4.4128   0.1059  -1.8709   1.2963  -4.3448   2.7633   2.3580   2.1931
-   0.0000  10.0337  -1.9797   1.8052  -1.0112   1.1335   1.2374   0.3107
-   0.0000   0.0000   8.9476   1.8523  -1.8578  -0.5807  -1.4157   1.3007
-   0.0000   0.0000   0.0000  -7.0889  -2.1193  -2.1634  -2.4393   0.1148
-   0.0765   1.0139   0.0000  -1.5390  -8.3187  -5.0172   0.7738  -2.8626
-   1.1884  -0.9225   0.0000   0.2905   0.0000   6.4090   2.1994  -2.5933
-  -0.5931   0.1981   0.0000  -0.5280   0.0000   0.0000   4.7155   2.3817
-   1.8591  -1.8416   0.0000  -0.0807   0.0000   0.0000   0.0000  -5.3153
-
-The vector ALPHAR is 
-   0.7353   0.0000   0.5168  -0.5168
-
-The vector ALPHAI is 
-   0.0000   0.7190   0.5610   0.5610
-
-The vector BETA is 
-   2.0000   2.8284  11.3137  11.3137
-
-The deflating subspace corresponding to the eigenvalues with negative real part is 
-  -0.2509   0.3670   0.0416
-  -0.3267  -0.7968  -0.1019
-   0.0263   0.0338  -0.5795
-  -0.0139  -0.0491  -0.5217
-  -0.4637   0.2992  -0.4403
-  -0.1345   0.3071  -0.0917
-  -0.1364   0.2013   0.3447
-  -0.7601  -0.0495   0.2426
-
-The companion subspace corresponding to the eigenvalues with negative real part is 
-  -0.3219   0.6590   0.1693
-  -0.5216  -0.1829  -0.0689
-  -0.0413  -0.4664  -0.1359
-   0.1310  -0.1702   0.4543
-  -0.3598   0.2660   0.3355
-  -0.5082  -0.0512  -0.6035
-  -0.3582  -0.4513   0.4649
-   0.2991   0.0932  -0.2207
-
-The number of eigenvalues in the initial pencil with negative real part is  3
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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+++ /dev/null
@@ -1,339 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LP">MB03LP</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the relevant eigenvalues of a real N-by-N skew-
-  Hamiltonian/Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ),                           (1)
-        (  E  A' )         (  G -B' )
-
-  where the notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'C', an orthogonal basis of the right
-  deflating subspace of aS - bH corresponding to the eigenvalues
-  with strictly negative real part is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LIWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N':  do not compute the deflating subspace;
-          = 'C':  compute the deflating subspace and store it in the
-                  leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthogonal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix Aout
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix A obtained just before the application of the
-          periodic QZ algorithm (see SLICOT Library routine MB04BP).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-symmetric matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of the
-          skew-symmetric matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper quasi-triangular matrix C2out (see
-          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
-          of the submatrix in the columns 3 to N/2+1 of this array
-          contains the strictly upper triangular part of the
-          skew-symmetric matrix Dout (see METHOD), without the main
-          diagonal, which is zero.
-          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper Hessenberg matrix C2, and the
-          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
-          in the columns 3 to N/2+1 of this array contains the
-          strictly upper triangular part of the skew-symmetric
-          matrix D (without the main diagonal) just before the
-          application of the periodic QZ algorithm.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix C1out
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix C1 obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix F.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          the submatrix in the columns 2 to N/2+1 of this array
-          contains the matrix Vout (see METHOD); otherwise, it
-          contains the matrix V obtained just before the application
-          of the periodic QZ algorithm.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the right
-          deflating subspace corresponding to the eigenvalues of
-          aA - bB with strictly negative real part. The remaining
-          part of this array is used as workspace.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = -19, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
-          LIWORK &gt;= MAX( N + 12, 2*N + 3 ), if COMPQ = 'N',
-          LIWORK &gt;= MAX( 32, 6*N - 3 ),     if COMPQ = 'C'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
-          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
-                                                     if COMPQ = 'N',
-          where     L = 4*N + 4, if N/2 is even, and
-                    L = 4*N    , if N/2 is odd; 
-          LDWORK &gt;= 8*N**2 + MAX( 13*N + 32, 272 ),  if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: periodic QZ iteration failed in the SLICOT Library
-               routines MB04BP or MB04HD (QZ iteration did not
-               converge or computation of the shifts failed);
-          = 2: standard QZ iteration failed in the SLICOT Library
-               routines MB04HD or MB03DD (called by MB03JP);
-          = 3: a numerically singular matrix was found in the SLICOT
-               Library routine MB03HD (called by MB03JP);
-          = 4: the singular value decomposition failed in the LAPACK
-               routine DGESVD (for ORTH = 'S');
-          = 5: some eigenvalues might be inaccurate. This is a
-               warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the decompositions of S and H are computed via orthogonal
-  transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        ),
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric.
-
-  Then, orthogonal matrices Q3 and Q4 are found, for the extended
-  matrices
-
-         (  Aout   0  )          (    0   C1out )
-    Se = (            ) and He = (              ),
-         (   0   Bout )          ( -C2out   0   )
-
-  such that S11 := Q4' Se Q3 is upper triangular and
-  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
-  are computed:
-
-               (  Dout   0  )                   (   0   Vout )
-    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
-               (   0   Fout )                   ( Vout'   0  )
-
-  Then, an orthogonal matrix Q is found such that the eigenvalues
-  with strictly negative real parts of the pencil
-
-      (  S11  S12  )     (  H11  H12  )
-    a (            ) - b (            )
-      (   0   S11' )     (   0  -H11' )
-
-  are moved to the top of this pencil.
-
-  Finally, an orthogonal basis of the right deflating subspace
-  corresponding to the eigenvalues with strictly negative real part
-  is computed. See also page 12 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03LZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LZ">MB03LZ</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  G -B' )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-  skew-Hamiltonian pencil aB_S - bB_T, defined as
-
-          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
-          (                 |                 )
-          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
-          (                 |                 )
-    B_S = (-----------------+-----------------) , and
-          (                 |                 )
-          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
-          (                 |                 )
-          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |                 )
-          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
-          (                 |                 )
-          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
-
-  is determined and used to compute the eigenvalues. The notation M'
-  denotes the conjugate transpose of the matrix M. Optionally,
-  if COMPQ = 'C', an orthonormal basis of the right deflating
-  subspace of the pencil aS - bH, corresponding to the eigenvalues
-  with strictly negative real part, is computed. Namely, after
-  transforming aB_S - bB_H by unitary matrices, we have
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Sout = (         ) and B_Hout = (         ),               (3)
-             (  0  BA' )              (  0 -BB' )
-
-  and the eigenvalues with strictly negative real part of the
-  complex pencil aB_Sout - bB_Hout are moved to the top. The
-  embedding doubles the multiplicities of the eigenvalues of the
-  pencil aS - bH.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LZWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the deflating subspace; compute the
-                 eigenvalues only;
-          = 'C': compute the deflating subspace and store it in the
-                 leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthonormal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; it is preserved in the leading N/2-by-N/2 part.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of
-          the skew-Hermitian matrix D.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the skew-Hermitian matrix BD in (3) (see
-          also METHOD). The strictly lower triangular part of the
-          input matrix is preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; the elements below the first subdiagonal of the
-          input matrix are preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the right
-          deflating subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part.
-          The remaining entries are meaningless.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -20, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
-          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -22, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,       if COMPQ = 'N';
-          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0,     if COMPQ = 'N';
-          LBWORK &gt;= N - 1, if COMPQ = 'C'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the SLICOT Library routine
-               MB04FD (QZ iteration did not converge or computation
-               of the shifts failed);
-          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
-               trying to triangularize the 2-by-2 blocks;
-          = 3: the singular value decomposition failed in the LAPACK
-               routine ZGESVD (for ORTH = 'S');
-          = 4: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04FD is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~                     (  S11  S12  )
-  B_S = J Q' J' B_S Q = (            ) and
-                        (   0   S11' )
-
-  ~                     (  T11  T12  )           (  0  I  )
-  B_T = J Q' J' B_T Q = (            ), with J = (        ),
-                        (   0   T11' )           ( -I  0  )
-
-  where Q is real orthogonal, S11 is upper triangular, and T11 is
-  upper quasi-triangular.
-
-  Second, the SLICOT Library routine MB03JZ is applied, to compute a
-                 ~
-  unitary matrix Q, such that
-
-                     ~    ~
-    ~     ~   ~   (  S11  S12  )
-  J Q' J' B_S Q = (       ~    ) =: B_Sout,
-                  (   0   S11' )
-
-    ~        ~    ~   (  H11  H12  )
-  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
-                      (   0  -H11' )
-       ~                                               ~       ~
-  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
-  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
-                       ~
-  principal subpencil aS11 - bH11.
-
-  Finally, the right deflating subspace is computed.
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03LZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
-      PARAMETER          ( LDA = NMAX, LDB = NMAX, LDDE = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX,
-     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
-     $                     LZWORK =  8*NMAX + 4 )
-*
-*     .. Local Scalars ..
-      CHARACTER*1        COMPQ, ORTH
-      INTEGER            I, INFO, J, N, NEIG
-*
-*     .. Local Arrays ..
-      COMPLEX*16         A( LDA, NMAX ), B( LDB, NMAX ),
-     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
-     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ), BETA( NMAX ),
-     $                   DWORK( LDWORK )
-      INTEGER            IWORK( NMAX + 1 )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03LZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MOD
-*
-*     .. Executable statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*
-*     Skip first line in data file.
-*
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, ORTH, N
-      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-*        Compute the eigenvalues and an orthogonal basis of the right
-*        deflating subspace of a complex skew-Hamiltonian/Hamiltonian
-*        pencil, corresponding to the eigenvalues with strictly negative
-*        real part.
-         CALL MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( COMPQ, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
-   10          CONTINUE
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   40          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99990 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99989 )
-            WRITE( NOUT, FMT = 99990 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99990 ) (   BETA( I ), I = 1, N )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99987 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   50          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) )
-     $         WRITE( NOUT, FMT = 99986 ) NEIG
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( 'MB03LZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB03LZ = ', I2 )
-99996 FORMAT (/'The matrix A on exit is ' )
-99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
-99994 FORMAT (/'The matrix D on exit is ' )
-99993 FORMAT (/'The matrix B on exit is ' )
-99992 FORMAT (/'The matrix F on exit is ' )
-99991 FORMAT ( 'The vector ALPHAR is ' )
-99990 FORMAT ( 50( 1X, F8.4 ) )
-99989 FORMAT (/'The vector ALPHAI is ' )
-99988 FORMAT (/'The vector BETA is ' )
-99987 FORMAT (/'The deflating subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99986 FORMAT (/'The number of eigenvalues in the initial pencil with ',
-     $         'negative real part is ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03LZ EXAMPLE PROGRAM DATA
-   C   P   4
-   (0.0604,0.6568)   (0.5268,0.2919)
-   (0.3992,0.6279)   (0.4167,0.4316)
-        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
-   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
-   (0.2691,0.4177)   (0.5478,0.3014)
-   (0.4228,0.9830)   (0.9427,0.7010)
-    0.6663            0.6981           (0.1781,0.8818)
-   (0.5391,0.1711)    0.6665            0.1280         
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03LZ EXAMPLE PROGRAM RESULTS
-
-The matrix A on exit is 
-    0.7430  +0.0000i    -0.1431  -0.1304i    -0.4169  -0.0495i     0.0650  -0.0262i 
-    0.3992  +0.6279i     0.7398  -1.2647i    -0.0861  -0.1075i     0.2826  +0.7725i 
-    0.0000  +0.0000i     0.0000  +0.0000i     1.4799  +0.1442i    -0.1094  -0.1061i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6816  +0.2278i 
-
-The matrix D on exit is 
-    0.0000  -0.6858i    -0.3122  -0.1018i    -0.7813  -0.4163i    -0.1343  +0.3259i 
-    0.9840  +0.3394i     0.0000  +0.1465i    -0.1678  +0.2971i    -0.0728  -0.6524i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0000  +0.2979i    -0.0728  +0.3971i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2414i 
-
-The matrix B on exit is 
-   -1.5832  +0.5069i    -0.0819  -0.1073i     0.7749  -0.0519i     0.0635  -0.0052i 
-    0.0000  +0.0000i    -0.1916  -0.0106i    -0.0074  +0.0165i    -0.1546  -0.6817i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0716  -0.1811i     0.3146  +0.1558i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -1.6078  -0.0203i 
-
-The matrix F on exit is 
-    0.3382   0.0000i    -0.0622  +0.8488i     0.0042  +0.9053i    -0.1584  +0.0726i 
-    0.5391  +0.1711i    -0.5888  +0.0000i     0.4089  +0.2018i    -0.6913  -0.5011i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.2712  +0.0000i     0.5114  +0.3726i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5218  +0.0000i 
-The vector ALPHAR is 
-  -1.5832   1.5832  -0.0842   0.0842
-
-The vector ALPHAI is 
-   0.5069   0.5069  -0.1642  -0.1642
-
-The vector BETA is 
-   0.7430   0.7430   1.4085   1.4085
-
-The deflating subspace corresponding to the eigenvalues with negative real part is 
-   -0.0793  -0.1949i     0.4845  -0.5472i 
-    0.4349  +0.1710i    -0.2878  +0.0952i 
-   -0.1266  +0.1505i     0.1364  -0.4776i 
-   -0.5035  +0.6671i     0.1628  +0.3174i 
-
-The number of eigenvalues in the initial pencil with negative real part is  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03MD.html b/doc/_build/html/_static/doc/MB03MD.html
deleted file mode 100644
index 4ee71a9c..00000000
--- a/doc/_build/html/_static/doc/MB03MD.html
+++ /dev/null
@@ -1,319 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03MD">MB03MD</A></H2>
-<H3>
-Upper bound for L singular values of a bidiagonal matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an upper bound THETA using a bisection method such that
-  the bidiagonal matrix
-
-           |q(1) e(1)  0    ...   0   |
-           | 0   q(2) e(2)        .   |
-       J = | .                    .   |
-           | .                  e(N-1)|
-           | 0   ...        ...  q(N) |
-
-  has precisely L singular values less than or equal to THETA plus
-  a given tolerance TOL.
-
-  This routine is mainly intended to be called only by other SLICOT
-  routines.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IWARN, L, N
-      DOUBLE PRECISION  PIVMIN, RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(*), E2(*), Q(*), Q2(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the bidiagonal matrix J.  N &gt;= 0.
-
-  L       (input/output) INTEGER
-          On entry, L must contain the number of singular values
-          of J which must be less than or equal to the upper bound
-          computed by the routine.  0 &lt;= L &lt;= N.
-          On exit, L may be increased if the L-th smallest singular
-          value of J has multiplicity greater than 1. In this case,
-          L is increased by the number of singular values of J which
-          are larger than its L-th smallest one and approach the
-          L-th smallest singular value of J within a distance less
-          than TOL.
-          If L has been increased, then the routine returns with
-          IWARN set to 1.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, THETA must contain an initial estimate for the
-          upper bound to be computed. If THETA &lt; 0.0 on entry, then
-          one of the following default values is used.
-          If L = 0, THETA is set to 0.0 irrespective of the input
-          value of THETA; if L = 1, then THETA is taken as
-          MIN(ABS(Q(i))), for i = 1,2,...,N; otherwise, THETA is
-          taken as ABS(Q(N-L+1)).
-          On exit, THETA contains the computed upper bound such that
-          the bidiagonal matrix J has precisely L singular values
-          less than or equal to THETA + TOL.
-
-  Q       (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements q(1),
-          q(2),...,q(N) of the bidiagonal matrix J. That is,
-          Q(i) = J(i,i) for i = 1,2,...,N.
-
-  E       (input) DOUBLE PRECISION array, dimension (N-1)
-          This array must contain the superdiagonal elements
-          e(1),e(2),...,e(N-1) of the bidiagonal matrix J. That is,
-          E(k) = J(k,k+1) for k = 1,2,...,N-1.
-
-  Q2      (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the squares of the diagonal
-          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
-          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
-
-  E2      (input) DOUBLE PRECISION array, dimension (N-1)
-          This array must contain the squares of the superdiagonal
-          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
-          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
-
-  PIVMIN  (input) DOUBLE PRECISION
-          The minimum absolute value of a "pivot" in the Sturm
-          sequence loop.
-          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
-          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
-          least the smallest number that can divide one without
-          overflow (see LAPACK Library routine DLAMCH).
-          Note that this condition is not checked by the routine.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width.  TOL &gt;= 0.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged.
-          RELTOL &gt;= BASE * EPS, where BASE is machine radix and EPS
-          is machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 1:  if the value of L has been increased as the L-th
-                smallest singular value of J coincides with the
-                (L+1)-th smallest one.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let s(i), i = 1,2,...,N, be the N non-negative singular values of
-  the bidiagonal matrix J arranged so that s(1) &gt;= ... &gt;= s(N) &gt;= 0.
-  The routine then computes an upper bound T such that s(N-L) &gt; T &gt;=
-  s(N-L+1) as follows (see [2]).
-  First, if the initial estimate of THETA is not specified by the
-  user then the routine initialises THETA to be an estimate which
-  is close to the requested value of THETA if s(N-L) &gt;&gt; s(N-L+1).
-  Second, a bisection method (see [1, 8.5]) is used which generates
-  a sequence of shrinking intervals [Y,Z] such that either THETA in
-  [Y,Z] was found (so that J has L singular values less than or
-  equal to THETA), or
-
-     (number of s(i) &lt;= Y) &lt; L &lt; (number of s(i) &lt;= Z).
-
-  This bisection method is applied to an associated 2N-by-2N
-  symmetric tridiagonal matrix T" whose eigenvalues (see [1]) are
-  given by s(1),s(2),...,s(N),-s(1),-s(2),...,-s(N). One of the
-  starting values for the bisection method is the initial value of
-  THETA. If this value is an upper bound, then the initial lower
-  bound is set to zero, else the initial upper bound is computed
-  from the Gershgorin Circle Theorem [1, Theorem 7.2-1], applied to
-  T". The computation of the "number of s(i) &lt;= Y (or Z)" is
-  achieved by calling SLICOT Library routine MB03ND, which applies
-  Sylvester's Law of Inertia or equivalently Sturm sequences
-  [1, 8.5] to the associated matrix T". If
-
-     Z - Y &lt;= MAX( TOL, PIVMIN, RELTOL*MAX( ABS( Y ), ABS( Z ) ) )
-
-  at some stage of the bisection method, then at least two singular
-  values of J lie in the interval [Y,Z] within a distance less than
-  TOL from each other. In this case, s(N-L) and s(N-L+1) are assumed
-  to coincide, the upper bound T is set to the value of Z, the value
-  of L is increased and IWARN is set to 1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      Matrix Computations.
-      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
-
-  [2] Van Huffel, S. and Vandewalle, J.
-      The Partial Total Least Squares Algorithm.
-      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION PIVMIN, RELTOL, SAFMIN, THETA, TOL
-      INTEGER          I, INFO, IWARN, L, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAMCH
-      EXTERNAL         DLAMCH
-*     .. External Subroutines ..
-      EXTERNAL         MB03MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, THETA, L, TOL, RELTOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF ( L.LT.0 .OR. L.GT.N ) THEN
-         WRITE ( NOUT, FMT = 99990 ) L
-      ELSE
-         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
-*        Print out the bidiagonal matrix J.
-         WRITE ( NOUT, FMT = 99997 )
-         DO 20 I = 1, N - 1
-            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
-   20    CONTINUE
-         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
-*        Compute Q**2, E**2, and PIVMIN.
-         Q2(N) = Q(N)**2
-         PIVMIN = Q2(N)
-         DO 40 I = 1, N - 1
-            Q2(I) = Q(I)**2
-            E2(I) = E(I)**2
-            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
-   40    CONTINUE
-         SAFMIN = DLAMCH( 'Safe minimum' )
-         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
-         TOL = MAX( TOL, ZERO )
-         IF ( RELTOL.LE.ZERO )
-     $      RELTOL = DLAMCH( 'Base' )*DLAMCH( 'Epsilon' )
-*        Compute an upper bound THETA such that J has 3 singular values
-*        < =  THETA.
-         CALL MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
-     $                IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
-            WRITE ( NOUT, FMT = 99993 ) THETA
-            WRITE ( NOUT, FMT = 99992 ) L
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB03MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03MD = ',I2)
-99997 FORMAT (' The Bidiagonal Matrix J is',/)
-99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
-99994 FORMAT (' IWARN on exit from MB03MD = ',I2,/)
-99993 FORMAT (/' The computed value of THETA is ',F7.4)
-99992 FORMAT (/' J has ',I2,' singular values < =  THETA')
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' L is out of range.',/' L = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03MD EXAMPLE PROGRAM DATA
-   5     -3.0     3     0.0     0.0
-   1.0  2.0  3.0  4.0  5.0
-   2.0  3.0  4.0  5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03MD EXAMPLE PROGRAM RESULTS
-
- The Bidiagonal Matrix J is
-
- (1,1) =  1.0000   (1,2) =  2.0000
- (2,2) =  2.0000   (2,3) =  3.0000
- (3,3) =  3.0000   (3,4) =  4.0000
- (4,4) =  4.0000   (4,5) =  5.0000
- (5,5) =  5.0000
-
- The computed value of THETA is  4.7500
-
- J has  3 singular values < =  THETA
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ND.html b/doc/_build/html/_static/doc/MB03ND.html
deleted file mode 100644
index da02281c..00000000
--- a/doc/_build/html/_static/doc/MB03ND.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ND">MB03ND</A></H2>
-<H3>
-Number of singular values of a bidiagonal matrix less than a bound
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the number of singular values of the bidiagonal matrix
-
-           |q(1) e(1)  .    ...    0   |
-           | 0   q(2) e(2)         .   |
-       J = | .                     .   |
-           | .                   e(N-1)|
-           | 0   ...     ...   0  q(N) |
-
-  which are less than or equal to a given bound THETA.
-
-  This routine is intended to be called only by other SLICOT
-  routines.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, N
-      DOUBLE PRECISION  PIVMIN, THETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E2(*), Q2(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the bidiagonal matrix J.  N &gt;= 0.
-
-  THETA   (input) DOUBLE PRECISION
-          Given bound.
-          Note: If THETA &lt; 0.0 on entry, then MB03ND is set to 0
-                as the singular values of J are non-negative.
-
-  Q2      (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the squares of the diagonal
-          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
-          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
-
-  E2      (input) DOUBLE PRECISION array, dimension (N-1)
-          This array must contain the squares of the superdiagonal
-          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
-          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
-
-  PIVMIN  (input) DOUBLE PRECISION
-          The minimum absolute value of a "pivot" in the Sturm
-          sequence loop.
-          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
-          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
-          least the smallest number that can divide one without
-          overflow (see LAPACK Library routine DLAMCH).
-          Note that this condition is not checked by the routine.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The computation of the number of singular values s(i) of J which
-  are less than or equal to THETA is based on applying Sylvester's
-  Law of Inertia, or equivalently, Sturm sequences [1,p.52] to the
-  unreduced symmetric tridiagonal matrices associated with J as
-  follows. Let T be the following 2N-by-2N symmetric matrix
-  associated with J:
-
-            | 0   J'|
-       T =  |       |.
-            | J   0 |
-
-  (The eigenvalues of T are given by s(1),s(2),...,s(N),-s(1),-s(2),
-  ...,-s(N)). Then, by permuting the rows and columns of T into the
-  order 1, N+1, 2, N+2, ..., N, 2N it follows that T is orthogonally
-  similar to the tridiagonal matrix T" with zeros on its diagonal
-  and q(1), e(1), q(2), e(2), ..., e(N-1), q(N) on its offdiagonals
-  [3,4]. If q(1),q(2),...,q(N) and e(1),e(2),...,e(N-1) are nonzero,
-  Sylvester's Law of Inertia may be applied directly to T".
-  Otherwise, T" is block diagonal and each diagonal block (which is
-  then unreduced) must be analysed separately by applying
-  Sylvester's Law of Inertia.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Parlett, B.N.
-      The Symmetric Eigenvalue Problem.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1980.
-
-  [2] Demmel, J. and Kahan, W.
-      Computing Small Singular Values of Bidiagonal Matrices with
-      Guaranteed High Relative Accuracy.
-      Technical Report, Courant Inst., New York, March 1988.
-
-  [3] Van Huffel, S. and Vandewalle, J.
-      The Partial Total Least-Squares Algorithm.
-      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
-
-  [4] Golub, G.H. and Kahan, W.
-      Calculating the Singular Values and Pseudo-inverse of a
-      Matrix.
-      SIAM J. Numer. Anal., Ser. B, 2, pp. 205-224, 1965.
-
-  [5] Demmel, J.W., Dhillon, I. and Ren, H.
-      On the Correctness of Parallel Bisection in Floating Point.
-      Computer Science Division Technical Report UCB//CSD-94-805,
-      University of California, Berkeley, CA 94720, March 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The singular values s(i) could also be obtained with the use of
-  the symmetric tridiagonal matrix T = J'J, whose eigenvalues are
-  the squared singular values of J [4,p.213]. However, the method
-  actually used by the routine is more accurate and equally
-  efficient (see [2]).
-
-  To avoid overflow, matrix J should be scaled so that its largest
-  element is no greater than  overflow**(1/2) * underflow**(1/4)
-  in absolute value (and not much smaller than that, for maximal
-  accuracy).
-
-  With respect to accuracy the following condition holds (see [2]):
-
-  If the established value is denoted by p, then at least p
-  singular values of J are less than or equal to
-  THETA/(1 - (3 x N - 1.5) x EPS) and no more than p singular values
-  are less than or equal to
-  THETA x (1 - (6 x N-2) x EPS)/(1 - (3 x N - 1.5) x EPS).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION PIVMIN, SAFMIN, THETA
-      INTEGER          I, INFO, N, NUMSV
-*     .. Local Arrays ..
-      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAMCH
-      EXTERNAL         DLAMCH
-*     .. External Functions ..
-      INTEGER          MB03ND
-      EXTERNAL         MB03ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, THETA
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
-*        Print out the bidiagonal matrix J.
-         WRITE ( NOUT, FMT = 99997 )
-         DO 20 I = 1, N - 1
-            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
-   20    CONTINUE
-         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
-*        Compute Q**2, E**2, and PIVMIN.
-         Q2(N) = Q(N)**2
-         PIVMIN = Q2(N)
-         DO 40 I = 1, N - 1
-            Q2(I) = Q(I)**2
-            E2(I) = E(I)**2
-            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
-   40    CONTINUE
-         SAFMIN = DLAMCH( 'Safe minimum' )
-         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
-*        Compute the number of singular values of J < =  THETA.
-         NUMSV = MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99994 ) NUMSV, THETA
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB03ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03ND = ',I2)
-99997 FORMAT (' The Bidiagonal Matrix J is',/)
-99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
-99994 FORMAT (/' J has ',I2,' singular values < =  ',F7.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03ND EXAMPLE PROGRAM DATA
-   5     5.0     0.0     0.0
-   1.0  2.0  3.0  4.0  5.0
-   2.0  3.0  4.0  5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03ND EXAMPLE PROGRAM RESULTS
-
- The Bidiagonal Matrix J is
-
- (1,1) =  1.0000   (1,2) =  2.0000
- (2,2) =  2.0000   (2,3) =  3.0000
- (3,3) =  3.0000   (3,4) =  4.0000
- (4,4) =  4.0000   (4,5) =  5.0000
- (5,5) =  5.0000
-
- J has  3 singular values < =   5.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03NY.html b/doc/_build/html/_static/doc/MB03NY.html
deleted file mode 100644
index 6439978e..00000000
--- a/doc/_build/html/_static/doc/MB03NY.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03NY">MB03NY</A></H2>
-<H3>
-Computing the smallest singular value of A - jwI
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the smallest singular value of A - jwI.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MB03NY( N, OMEGA, A, LDA, S, DWORK,
-     $                                  LDWORK, CWORK, LCWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER                INFO, LCWORK, LDA, LDWORK, N
-      DOUBLE PRECISION       OMEGA
-C     .. Array Arguments ..
-      DOUBLE PRECISION       A(LDA,*), DWORK(*), S(*)
-      COMPLEX*16             CWORK(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MB03NY  DOUBLE PRECISION
-          The smallest singular value of A - jwI (if INFO = 0).
-          If N = 0, the function value is set to zero.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the the matrix A.  N &gt;= 0.
-
-  OMEGA   (input) DOUBLE PRECISION
-          The constant factor of A - jwI.
-
-  A       (input/workspace) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, if OMEGA = 0, the contents of this array are
-          destroyed. Otherwise, this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  S       (output) DOUBLE PRECISION array, dimension (N)
-          The singular values of A - jwI in decreasing order.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX( 1, 5*N ).
-          For optimum performance LDWORK should be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0 and OMEGA &lt;&gt; 0, CWORK(1) returns the
-          optimal value of LCWORK.
-          If OMEGA is zero, this array is not referenced.
-
-  LCWORK  INTEGER
-          The length of the array CWORK.
-          LCWORK &gt;= 1,                 if OMEGA =  0;
-          LCWORK &gt;= MAX( 1, N*N+3*N ), if OMEGA &lt;&gt; 0.
-          For optimum performance LCWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  The SVD algorithm (in either LAPACK Library routine
-                DGESVD or ZGESVD) fails to converge; this error is
-                very rare.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This procedure simply constructs the matrix A - jwI, and calls
-  ZGESVD if w is not zero, or DGESVD if w = 0.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is not very efficient because it computes all
-  singular values, but it is very accurate. The routine is intended
-  to be called only from the SLICOT Library routine AB13FD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03OD.html b/doc/_build/html/_static/doc/MB03OD.html
deleted file mode 100644
index 40a12f94..00000000
--- a/doc/_build/html/_static/doc/MB03OD.html
+++ /dev/null
@@ -1,288 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03OD">MB03OD</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute (optionally) a rank-revealing QR factorization of a
-  real general M-by-N matrix  A,  which may be rank-deficient,
-  and estimate its effective rank using incremental condition
-  estimation.
-
-  The routine uses a QR factorization with column pivoting:
-     A * P = Q * R,  where  R = [ R11 R12 ],
-                                [  0  R22 ]
-  with R11 defined as the largest leading submatrix whose estimated
-  condition number is less than 1/RCOND.  The order of R11, RANK,
-  is the effective rank of A.
-
-  MB03OD  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBQR
-      INTEGER            INFO, LDA, LDWORK, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBQR   CHARACTER*1
-          = 'Q':  Perform a QR factorization with column pivoting;
-          = 'N':  Do not perform the QR factorization (but assume
-                  that it has been done outside).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry with JOBQR = 'Q', the leading M by N part of this
-          array must contain the given matrix A.
-          On exit with JOBQR = 'Q', the leading min(M,N) by N upper
-          triangular part of A contains the triangular factor R,
-          and the elements below the diagonal, with the array TAU,
-          represent the orthogonal matrix Q as a product of
-          min(M,N) elementary reflectors.
-          On entry and on exit with JOBQR = 'N', the leading
-          min(M,N) by N upper triangular part of A contains the
-          triangular factor R, as determined by the QR factorization
-          with pivoting.  The elements below the diagonal of A are
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  JPVT    (input/output) INTEGER array, dimension ( N )
-          On entry with JOBQR = 'Q', if JPVT(i) &lt;&gt; 0, the i-th
-          column of A is an initial column, otherwise it is a free
-          column. Before the QR factorization of A, all initial
-          columns are permuted to the leading positions; only the
-          remaining free columns are moved as a result of column
-          pivoting during the factorization.  For rank determination
-          it is preferable that all columns be free.
-          On exit with JOBQR = 'Q', if JPVT(i) = k, then the i-th
-          column of A*P was the k-th column of A.
-          Array JPVT is not referenced when JOBQR = 'N'.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          RCOND &gt;= 0.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          On exit with JOBQR = 'Q', the leading min(M,N) elements of
-          TAU contain the scalar factors of the elementary
-          reflectors.
-          Array TAU is not referenced when JOBQR = 'N'.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e. the order of
-          the submatrix R11.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 3*N + 1,                 if JOBQR = 'Q';
-          LDWORK &gt;= max( 1, 2*min( M, N ) ), if JOBQR = 'N'.
-          For good performance when JOBQR = 'Q', LDWORK should be
-          larger. Specifically, LDWORK &gt;= 2*N + ( N + 1 )*NB, where
-          NB is the optimal block size for the LAPACK Library
-          routine DGEQP3.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes or uses a QR factorization with column
-  pivoting of A,  A * P = Q * R,  with  R  defined above, and then
-  finds the largest leading submatrix whose estimated condition
-  number is less than 1/RCOND, taking the possible positive value of
-  SVLMAX into account.  This is performed using the LAPACK
-  incremental condition estimation scheme and a slightly modified
-  rank decision test.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDTAU
-      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX + 1 )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBQR
-      INTEGER          I, INFO, J, M, N, RANK
-      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
-*     ..
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
-      INTEGER          JPVT(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB03OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, JOBQR, RCOND, SVLMAX
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-*           QR with column pivoting.
-            DO 10 I = 1, N
-               JPVT(I) = 0
-   10       CONTINUE
-            CALL MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99995 ) RANK
-               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,N )
-               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03OD = ',I2)
-99995 FORMAT (' The rank is ',I5)
-99994 FORMAT (' Column permutations are ',/(20(I3,2X)))
-99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03OD EXAMPLE PROGRAM DATA
-   6     5     Q  5.D-16     0.0
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   5.    5.    1.    5.    1.
-  -2.   -1.   -1.    0.   -2.
-   4.    8.    4.   20.    4.
-  -2.   -1.   -1.    0.   -2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03OD EXAMPLE PROGRAM RESULTS
-
- The rank is     4
- Column permutations are 
-  4    3    1    5    2
- SVAL vector is 
-    22.7257     1.4330     0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03OY.html b/doc/_build/html/_static/doc/MB03OY.html
deleted file mode 100644
index e2d9e478..00000000
--- a/doc/_build/html/_static/doc/MB03OY.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03OY">MB03OY</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing QR factorization of a real general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated QR factorization with column pivoting
-                                [ R11 R12 ]
-     A * P = Q * R,  where  R = [         ],
-                                [  0  R22 ]
-  with R11 defined as the largest leading upper triangular submatrix
-  whose estimated condition number is less than 1/RCOND.  The order
-  of R11, RANK, is the effective rank of A.  Condition estimation is
-  performed during the QR factorization process.  Matrix R22 is full
-  (but of small norm), or empty.
-
-  MB03OY  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03OY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading RANK-by-RANK upper triangular part
-          of A contains the triangular factor R11, and the elements
-          below the diagonal in the first  RANK  columns, with the
-          array TAU, represent the orthogonal matrix Q as a product
-          of  RANK  elementary reflectors.
-          The remaining  N-RANK  columns contain the result of the
-          QR factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R11.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-  JPVT    (output) INTEGER array, dimension ( N )
-          If JPVT(i) = k, then the i-th column of A*P was the k-th
-          column of A.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          The leading  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 3*N-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
-  during this process, finds the largest leading submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using the LAPACK incremental condition estimation scheme and a
-  slightly modified rank decision test.  The factorization process
-  stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
-  A(i+1:m,i), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth column of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For a matrix with a small norm, the rank is set to zero if the
-  largest column Euclidean norm is smaller than or equal to RCOND.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03PD.html b/doc/_build/html/_static/doc/MB03PD.html
deleted file mode 100644
index 91e23de6..00000000
--- a/doc/_build/html/_static/doc/MB03PD.html
+++ /dev/null
@@ -1,318 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03PD">MB03PD</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation (row pivoting)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute (optionally) a rank-revealing RQ factorization of a
-  real general M-by-N matrix  A,  which may be rank-deficient,
-  and estimate its effective rank using incremental condition
-  estimation.
-
-  The routine uses an RQ factorization with row pivoting:
-     P * A = R * Q,  where  R = [ R11 R12 ],
-                                [  0  R22 ]
-  with R22 defined as the largest trailing submatrix whose estimated
-  condition number is less than 1/RCOND.  The order of R22, RANK,
-  is the effective rank of A.
-
-  MB03PD  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBRQ
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBRQ   CHARACTER*1
-          = 'R':  Perform an RQ factorization with row pivoting;
-          = 'N':  Do not perform the RQ factorization (but assume
-                  that it has been done outside).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry with JOBRQ = 'R', the leading M-by-N part of this
-          array must contain the given matrix A.
-          On exit with JOBRQ = 'R',
-          if M &lt;= N, the upper triangle of the subarray
-          A(1:M,N-M+1:N) contains the M-by-M upper triangular
-          matrix R;
-          if M &gt;= N, the elements on and above the (M-N)-th
-          subdiagonal contain the M-by-N upper trapezoidal matrix R;
-          the remaining elements, with the array TAU, represent the
-          orthogonal matrix Q as a product of min(M,N) elementary
-          reflectors (see METHOD).
-          On entry and on exit with JOBRQ = 'N',
-          if M &lt;= N, the upper triangle of the subarray
-          A(1:M,N-M+1:N) must contain the M-by-M upper triangular
-          matrix R;
-          if M &gt;= N, the elements on and above the (M-N)-th
-          subdiagonal must contain the M-by-N upper trapezoidal
-          matrix R;
-          the remaining elements are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  JPVT    (input/output) INTEGER array, dimension ( M )
-          On entry with JOBRQ = 'R', if JPVT(i) &lt;&gt; 0, the i-th row
-          of A is a final row, otherwise it is a free row. Before
-          the RQ factorization of A, all final rows are permuted
-          to the trailing positions; only the remaining free rows
-          are moved as a result of row pivoting during the
-          factorization.  For rank determination it is preferable
-          that all rows be free.
-          On exit with JOBRQ = 'R', if JPVT(i) = k, then the i-th
-          row of P*A was the k-th row of A.
-          Array JPVT is not referenced when JOBRQ = 'N'.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest trailing triangular
-          submatrix R22 in the RQ factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          RCOND &gt;= 0.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          On exit with JOBRQ = 'R', the leading min(M,N) elements of
-          TAU contain the scalar factors of the elementary
-          reflectors.
-          Array TAU is not referenced when JOBRQ = 'N'.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e. the order of
-          the submatrix R22.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(2): smallest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
-                   if RANK &lt; MIN( M, N ), or of
-                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the trailing rows were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(M-RANK+1:M,N-RANK+1:N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          where LDWORK = max( 1, 3*M ),           if JOBRQ = 'R';
-                LDWORK = max( 1, 3*min( M, N ) ), if JOBRQ = 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes or uses an RQ factorization with row
-  pivoting of A,  P * A = R * Q,  with  R  defined above, and then
-  finds the largest trailing submatrix whose estimated condition
-  number is less than 1/RCOND, taking the possible positive value of
-  SVLMAX into account.  This is performed using an adaptation of the
-  LAPACK incremental condition estimation scheme and a slightly
-  modified rank decision test.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
-  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDTAU
-      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*MMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBRQ
-      INTEGER          I, INFO, J, M, N, RANK
-      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
-*     ..
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
-      INTEGER          JPVT(MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB03PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, JOBRQ, RCOND, SVLMAX
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-*           RQ with row pivoting.
-            DO 10 I = 1, M
-               JPVT(I) = 0
-   10       CONTINUE
-            CALL MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99995 ) RANK
-               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
-               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03PD = ',I2)
-99995 FORMAT (' The rank is ',I5)
-99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
-99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03PD EXAMPLE PROGRAM DATA
-   6     5     R  5.D-16     0.0
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   5.    5.    1.    5.    1.
-  -2.   -1.   -1.    0.   -2.
-   4.    8.    4.   20.    4.
-  -2.   -1.   -1.    0.   -2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03PD EXAMPLE PROGRAM RESULTS
-
- The rank is     4
- Row permutations are 
-  2    4    6    3    1    5
- SVAL vector is 
-    24.5744     0.9580     0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03PY.html b/doc/_build/html/_static/doc/MB03PY.html
deleted file mode 100644
index 95f34355..00000000
--- a/doc/_build/html/_static/doc/MB03PY.html
+++ /dev/null
@@ -1,211 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03PY">MB03PY</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing RQ factorization of a real general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated RQ factorization with row pivoting:
-                                [ R11 R12 ]
-     P * A = R * Q,  where  R = [         ],
-                                [  0  R22 ]
-  with R22 defined as the largest trailing upper triangular
-  submatrix whose estimated condition number is less than 1/RCOND.
-  The order of R22, RANK, is the effective rank of A.  Condition
-  estimation is performed during the RQ factorization process.
-  Matrix R11 is full (but of small norm), or empty.
-
-  MB03PY  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03PY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the upper triangle of the subarray
-          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
-          triangular matrix R22;  the remaining elements in the last
-          RANK  rows, with the array TAU, represent the orthogonal
-          matrix Q as a product of  RANK  elementary reflectors
-          (see METHOD).  The first  M-RANK  rows contain the result
-          of the RQ factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest trailing triangular
-          submatrix R22 in the RQ factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R22.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(2): smallest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
-                   if RANK &lt; MIN( M, N ), or of
-                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the trailing rows were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(M-RANK+1:M,N-RANK+1:N).
-
-  JPVT    (output) INTEGER array, dimension ( M )
-          If JPVT(i) = k, then the i-th row of P*A was the k-th row
-          of A.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          The trailing  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 3*M-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated RQ factorization with row
-  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
-  during this process, finds the largest trailing submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using an adaptation of the LAPACK incremental condition estimation
-  scheme and a slightly modified rank decision test.  The
-  factorization process stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(k-rank+1) H(k-rank+2) . . . H(k), where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
-  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QD.html b/doc/_build/html/_static/doc/MB03QD.html
deleted file mode 100644
index 05a684e4..00000000
--- a/doc/_build/html/_static/doc/MB03QD.html
+++ /dev/null
@@ -1,301 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QD">MB03QD</A></H2>
-<H3>
-Reordering the diagonal blocks of a principal submatrix of an upper quasi-triangular matrix to have eigenvalues in a specified domain
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of a principal submatrix of an
-  upper quasi-triangular matrix A together with their eigenvalues by
-  constructing an orthogonal similarity transformation UT.
-  After reordering, the leading block of the selected submatrix of A
-  has eigenvalues in a suitably defined domain of interest, usually
-  related to stability/instability in a continuous- or discrete-time
-  sense.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBU, STDOM
-      INTEGER          INFO, LDA, LDU, N, NDIM, NLOW, NSUP
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the spectrum separation to be
-          performed as follows:
-          = 'C':  continuous-time sense;
-          = 'D':  discrete-time sense.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBU    CHARACTER*1
-          Indicates how the performed orthogonal transformations UT
-          are accumulated, as follows:
-          = 'I':  U is initialized to the unit matrix and the matrix
-                  UT is returned in U;
-          = 'U':  the given matrix U is updated and the matrix U*UT
-                  is returned in U.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and U.  N &gt;= 1.
-
-  NLOW,   (input) INTEGER
-  NSUP    NLOW and NSUP specify the boundary indices for the rows
-          and columns of the principal submatrix of A whose diagonal
-          blocks are to be reordered.  1 &lt;= NLOW &lt;= NSUP &lt;= N.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the eigenvalues
-          of A. If DICO = 'C', ALPHA is the boundary value for the
-          real parts of eigenvalues, while for DICO = 'D',
-          ALPHA &gt;= 0 represents the boundary value for the moduli of
-          eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a matrix in a real Schur form whose 1-by-1 and
-          2-by-2 diagonal blocks between positions NLOW and NSUP
-          are to be reordered.
-          On exit, the leading N-by-N part contains the ordered
-          real Schur matrix UT' * A * UT with the elements below the
-          first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal submatrix
-          D = A(NLOW:NSUP,NLOW:NSUP) has eigenvalues in the domain
-          of interest and the trailing part of this submatrix has
-          eigenvalues outside the domain of interest.
-          The domain of interest for lambda(D), the eigenvalues of
-          D, is defined by the parameters ALPHA, DICO and STDOM as
-          follows:
-            For DICO = 'C':
-               Real(lambda(D)) &lt; ALPHA if STDOM = 'S';
-               Real(lambda(D)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(lambda(D)) &lt; ALPHA if STDOM = 'S';
-               Abs(lambda(D)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry with JOBU = 'U', the leading N-by-N part of this
-          array must contain a transformation matrix (e.g. from a
-          previous call to this routine).
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the product of the input matrix U and the
-          orthogonal matrix UT used to reorder the diagonal blocks
-          of A.
-          On exit, if JOBU = 'I', the leading N-by-N part of this
-          array contains the matrix UT of the performed orthogonal
-          transformations.
-          Array U need not be set on entry if JOBU = 'I'.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  NDIM    (output) INTEGER
-          The number of eigenvalues of the selected principal
-          submatrix lying inside the domain of interest.
-          If NLOW = 1, NDIM is also the dimension of the invariant
-          subspace corresponding to the eigenvalues of the leading
-          NDIM-by-NDIM submatrix. In this case, if U is the
-          orthogonal transformation matrix used to compute and
-          reorder the real Schur form of A, its first NDIM columns
-          form an orthonormal basis for the above invariant
-          subspace.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  A(NLOW,NLOW-1) is nonzero, i.e. A(NLOW,NLOW) is not
-                the leading element of a 1-by-1 or 2-by-2 diagonal
-                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.
-                A(NSUP,NSUP) is not the bottom element of a 1-by-1
-                or 2-by-2 diagonal block of A;
-          = 2:  two adjacent blocks are too close to swap (the
-                problem is very ill-conditioned).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an upper quasi-triangular matrix A with 1-by-1 or 2-by-2
-  diagonal blocks, the routine reorders its diagonal blocks along
-  with its eigenvalues by performing an orthogonal similarity
-  transformation UT' * A * UT. The column transformation UT is also
-  performed on the given (initial) transformation U (resulted from
-  a possible previous step or initialized as the identity matrix).
-  After reordering, the eigenvalues inside the region specified by
-  the parameters ALPHA, DICO and STDOM appear at the top of
-  the selected diagonal block between positions NLOW and NSUP.
-  In other words, lambda(A(NLOW:NSUP,NLOW:NSUP)) are ordered such
-  that lambda(A(NLOW:NLOW+NDIM-1,NLOW:NLOW+NDIM-1)) are inside and
-  lambda(A(NLOW+NDIM:NSUP,NLOW+NDIM:NSUP)) are outside the domain
-  of interest. If NLOW = 1, the first NDIM columns of U*UT span the
-  corresponding invariant subspace of A.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Stewart, G.W.
-      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
-      ordering the eigenvalues of a real upper Hessenberg matrix.
-      ACM TOMS, 2, pp. 275-280, 1976.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3
-  The algorithm requires less than 4*N  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDU
-      PARAMETER        ( LDA = NMAX, LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBU, STDOM
-      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), U(LDU,NMAX),
-     $                 WI(NMAX), WR(NMAX)
-      LOGICAL          BWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, MB03QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Compute Schur form, eigenvalues and Schur vectors.
-         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, NDIM,
-     $               WR, WI, U, LDU, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-*           Block reordering.
-            CALL MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99996 ) NDIM
-               WRITE ( NOUT, FMT = 99994 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DGEES  = ',I2)
-99997 FORMAT (' INFO on exit from MB03QD = ',I2)
-99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' The ordered Schur form matrix is ')
-99993 FORMAT (/' The transformation matrix is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03QD EXAMPLE PROGRAM DATA
-   4     1     4      0.0      C      S      U
-  -1.0  37.0 -12.0 -12.0
-  -1.0 -10.0   0.0   4.0
-   2.0  -4.0   7.0  -6.0
-   2.0   2.0   7.0  -9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03QD EXAMPLE PROGRAM RESULTS
-
- The number of eigenvalues in the domain is     4
-
- The ordered Schur form matrix is 
-          -3.1300 -26.5066  27.2262 -16.2009
-           0.9070  -3.1300  13.6254   8.9206
-           0.0000   0.0000  -3.3700   0.3419
-           0.0000   0.0000  -1.7879  -3.3700
-
- The transformation matrix is 
-           0.9611   0.1784   0.2064  -0.0440
-          -0.1468  -0.2704   0.8116  -0.4965
-          -0.2224   0.7675   0.4555   0.3924
-          -0.0733   0.5531  -0.3018  -0.7730
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QG.html b/doc/_build/html/_static/doc/MB03QG.html
deleted file mode 100644
index f56ef619..00000000
--- a/doc/_build/html/_static/doc/MB03QG.html
+++ /dev/null
@@ -1,394 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QG - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QG">MB03QG</A></H2>
-<H3>
-Reorder diagonal blocks of a principal subpencil of an upper quasi-triangular matrix pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of a principal subpencil of an
-  upper quasi-triangular matrix pencil A-lambda*E together with
-  their generalized eigenvalues, by constructing orthogonal
-  similarity transformations UT and VT.
-  After reordering, the leading block of the selected subpencil of
-  A-lambda*E has generalized eigenvalues in a suitably defined
-  domain of interest, usually related to stability/instability in a
-  continuous- or discrete-time sense.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBU, JOBV, STDOM
-      INTEGER          INFO, LDA, LDE, LDU, LDV, LDWORK, N, NDIM, NLOW,
-     $                 NSUP
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), DWORK(*), E(LDE,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the spectrum separation to be
-          performed, as follows:
-          = 'C':  continuous-time sense;
-          = 'D':  discrete-time sense.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle), as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBU    CHARACTER*1
-          Indicates how the performed orthogonal transformations UT
-          are accumulated, as follows:
-          = 'I':  U is initialized to the unit matrix and the matrix
-                  UT is returned in U;
-          = 'U':  the given matrix U is updated and the matrix U*UT
-                  is returned in U.
-
-  JOBV    CHARACTER*1
-          Indicates how the performed orthogonal transformations VT
-          are accumulated, as follows:
-          = 'I':  V is initialized to the unit matrix and the matrix
-                  VT is returned in V;
-          = 'U':  the given matrix V is updated and the matrix V*VT
-                  is returned in V.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, U, and V.  N &gt;= 0.
-
-  NLOW,   (input) INTEGER
-  NSUP    (input) INTEGER
-          NLOW and NSUP specify the boundary indices for the rows
-          and columns of the principal subpencil  of A - lambda*E
-          whose diagonal blocks are to be reordered.
-          0 &lt;= NLOW &lt;= NSUP &lt;= N.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the eigenvalues
-          of A. If DICO = 'C', ALPHA is the boundary value for the
-          real parts of the generalized eigenvalues, while for
-          DICO = 'D', ALPHA &gt;= 0 represents the boundary value for
-          the moduli of the generalized eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a matrix in a real Schur form whose 1-by-1 and
-          2-by-2 diagonal blocks between positions NLOW and NSUP
-          are to be reordered.
-          On exit, the leading N-by-N part of this array contains
-          a real Schur matrix UT' * A * VT, with the elements below
-          the first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP),
-          C := E(NLOW:NSUP,NLOW:NSUP), has generalized eigenvalues
-          in the domain of interest and the trailing part of this
-          subpencil has generalized eigenvalues outside the domain
-          of interest.
-          The domain of interest for eig(B,C), the generalized
-          eigenvalues of the pair (B,C), is defined by the
-          parameters ALPHA, DICO and STDOM as follows:
-            For DICO = 'C':
-               Real(eig(B,C)) &lt; ALPHA if STDOM = 'S';
-               Real(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(eig(B,C)) &lt; ALPHA if STDOM = 'S';
-               Abs(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain a matrix in an upper triangular form.
-          On exit, the leading N-by-N part of this array contains an
-          upper triangular matrix UT' * E * VT, with the elements
-          below the diagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP)
-          C := E(NLOW:NSUP,NLOW:NSUP) has generalized eigenvalues
-          in the domain of interest and the trailing part of this
-          subpencil has generalized eigenvalues outside the domain
-          of interest (see description of A).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry with JOBU = 'U', the leading N-by-N part of this
-          array must contain a transformation matrix (e.g., from a
-          previous call to this routine).
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the product of the input matrix U and the
-          orthogonal matrix UT used to reorder the diagonal blocks
-          of A - lambda*E.
-          On exit, if JOBU = 'I', the leading N-by-N part of this
-          array contains the matrix UT of the performed orthogonal
-          transformations.
-          Array U need not be set on entry if JOBU = 'I'.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= MAX(1,N).
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
-          On entry with JOBV = 'U', the leading N-by-N part of this
-          array must contain a transformation matrix (e.g., from a
-          previous call to this routine).
-          On exit, if JOBV = 'U', the leading N-by-N part of this
-          array contains the product of the input matrix V and the
-          orthogonal matrix VT used to reorder the diagonal blocks
-          of A - lambda*E.
-          On exit, if JOBV = 'I', the leading N-by-N part of this
-          array contains the matrix VT of the performed orthogonal
-          transformations.
-          Array V need not be set on entry if JOBV = 'I'.
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= MAX(1,N).
-
-  NDIM    (output) INTEGER
-          The number of generalized eigenvalues of the selected
-          principal subpencil lying inside the domain of interest.
-          If NLOW = 1, NDIM is also the dimension of the deflating
-          subspace corresponding to the generalized eigenvalues of
-          the leading NDIM-by-NDIM subpencil. In this case, if U and
-          V are the orthogonal transformation matrices used to
-          compute and reorder the generalized real Schur form of the
-          pair (A,E), then the first NDIM columns of V form an
-          orthonormal basis for the above deflating subspace.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 1,
-          LDWORK &gt;= 4*N + 16.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  A(NLOW,NLOW-1) is nonzero, i.e., A(NLOW,NLOW) is not
-                the leading element of a 1-by-1 or 2-by-2 diagonal
-                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.,
-                A(NSUP,NSUP) is not the bottom element of a 1-by-1
-                or 2-by-2 diagonal block of A;
-          = 2:  two adjacent blocks are too close to swap (the
-                problem is very ill-conditioned).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an upper quasi-triangular matrix pencil A - lambda*E with
-  1-by-1 or 2-by-2 diagonal blocks, the routine reorders its
-  diagonal blocks along with its eigenvalues by performing an
-  orthogonal equivalence transformation UT'*(A - lambda*E)* VT.
-  The column transformations UT and VT are also performed on the
-  given (initial) transformations U and V (resulted from a
-  possible previous step or initialized as identity matrices).
-  After reordering, the generalized eigenvalues inside the region
-  specified by the parameters ALPHA, DICO and STDOM appear at the
-  top of the selected diagonal subpencil between positions NLOW and
-  NSUP. In other words, lambda(A(Select,Select),E(Select,Select))
-  are ordered such that lambda(A(Inside,Inside),E(Inside,Inside))
-  are inside, and lambda(A(Outside,Outside),E(Outside,Outside)) are
-  outside the domain of interest, where Select = NLOW:NSUP,
-  Inside = NLOW:NLOW+NDIM-1, and Outside = NLOW+NDIM:NSUP.
-  If NLOW = 1, the first NDIM columns of V*VT span the corresponding
-  right deflating subspace of (A,E).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Stewart, G.W.
-      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
-      ordering the eigenvalues of a real upper Hessenberg matrix.
-      ACM TOMS, 2, pp. 275-280, 1976.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3
-  The algorithm requires less than 4*N  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03QG EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDE, LDU, LDV
-      PARAMETER        ( LDA = NMAX, LDE = NMAX, LDU = NMAX, LDV = NMAX)
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX + 16 )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBU, JOBV, STDOM
-      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
-     $                 E(LDE,NMAX), U(LDU,NMAX), V(LDV,NMAX), WI(NMAX),
-     $                 WR(NMAX)
-      LOGICAL          BWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          DELCTG
-*     .. External Subroutines ..
-      EXTERNAL         DGGES, MB03QG
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU,
-     $                      JOBV
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-*        Compute Schur form, eigenvalues and Schur vectors.
-         CALL DGGES( 'Vectors', 'Vectors', 'Not sorted', DELCTG, N,
-     $               A, LDA, E, LDE, NDIM, WR, WI, BETA, U, LDU, V, LDV,
-     $               DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-*           Block reordering.
-            CALL MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
-     $                   LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99996 ) NDIM
-               WRITE ( NOUT, FMT = 99994 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99992 )
-               DO 30 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   30          CONTINUE
-               WRITE ( NOUT, FMT = 99991 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( V(I,J), J = 1,N )
-   40          CONTINUE
-           END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03QG EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DGEES  = ',I2)
-99997 FORMAT (' INFO on exit from MB03QG = ',I2)
-99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' The ordered Schur form matrix is ')
-99993 FORMAT (/' The ordered triangular matrix is ')
-99992 FORMAT (/' The transformation matrix U is ')
-99991 FORMAT (/' The transformation matrix V is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03QG EXAMPLE PROGRAM DATA
-   4     1     4      0.0      C      S      U      U
-  -1.0  37.0 -12.0 -12.0
-  -1.0 -10.0   0.0   4.0
-   2.0  -4.0   7.0  -6.0
-   2.0   2.0   7.0  -9.0
-   1.0   3.0   2.0  -1.0
-  -2.0   5.0   3.0   2.0
-   2.0   4.0   5.0   6.0
-   3.0   7.0   6.0   9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03QG EXAMPLE PROGRAM RESULTS
-
- The number of eigenvalues in the domain is     2
-
- The ordered Schur form matrix is 
-          -1.4394   2.5550 -12.5655  -4.0714
-           2.8887  -1.1242   9.2819  -2.6724
-           0.0000   0.0000 -19.7785  36.4447
-           0.0000   0.0000   0.0000   3.5537
-
- The ordered triangular matrix is 
-         -16.0178   0.0000   2.3850   4.7645
-           0.0000   3.2809  -1.5640   1.9954
-           0.0000   0.0000  -3.0652   0.3039
-           0.0000   0.0000   0.0000   1.1671
-
- The transformation matrix U is 
-          -0.1518  -0.0737  -0.9856   0.0140
-          -0.2865  -0.9466   0.1136  -0.0947
-          -0.5442   0.0924   0.0887   0.8292
-          -0.7738   0.3000   0.0890  -0.5508
-
- The transformation matrix V is 
-           0.2799   0.9041   0.2685   0.1794
-           0.4009  -0.0714   0.3780  -0.8315
-           0.7206  -0.4006   0.2628   0.5012
-           0.4917   0.1306  -0.8462  -0.1588
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QV.html b/doc/_build/html/_static/doc/MB03QV.html
deleted file mode 100644
index 028c50d8..00000000
--- a/doc/_build/html/_static/doc/MB03QV.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QV">MB03QV</A></H2>
-<H3>
-Compute eigenvalues of an upper quasi-triangular matrix pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of an upper quasi-triangular matrix
-  pencil.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QV( N, S, LDS, T, LDT, ALPHAR, ALPHAI, BETA, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDS, LDT, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*), S(LDS,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S and T.  N &gt;= 0.
-
-  S       (input) DOUBLE PRECISION array, dimension(LDS,N)
-          The upper quasi-triangular matrix S.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= max(1,N).
-
-  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
-          The upper triangular matrix T.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
-          are the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and  BETA(j),j=1,...,N, are the
-          diagonals of the complex Schur form (S,T) that would
-          result if the 2-by-2 diagonal blocks of the real Schur
-          form of (A,B) were further reduced to triangular form
-          using 2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QW.html b/doc/_build/html/_static/doc/MB03QW.html
deleted file mode 100644
index a01f408c..00000000
--- a/doc/_build/html/_static/doc/MB03QW.html
+++ /dev/null
@@ -1,153 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QW">MB03QW</A></H2>
-<H3>
-Reduce a 2-by-2 diagonal block pair of an upper quasi-triangular pencil to standard form and compute eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a selected 2-by-2 diagonal block
-  pair of an upper quasi-triangular pencil, to reduce the selected
-  block pair to the standard form and to split it in the case of
-  real eigenvalues, by constructing orthogonal matrices UT and VT.
-  The transformations UT and VT are applied to the pair (A,E) by
-  computing (UT'*A*VT, UT'*E*VT ), to the matrices U and V,
-  by computing U*UT and V*VT.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QW( N, L, A, LDA, E, LDE, U, LDU, V, LDV,
-     $                   ALPHAR, ALPHAI, BETA, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, L, LDA, LDE, LDU, LDV, N
-      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*)
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), E(LDE,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, UT and VT.  N &gt;= 2.
-
-  L       (input) INTEGER
-          Specifies the position of the block.  1 &lt;= L &lt; N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A whose
-          selected 2-by-2 diagonal block is to be processed.
-          On exit, the leading N-by-N part of this array contains
-          the upper quasi-triangular matrix A after its selected
-          block has been split and/or put in the LAPACK standard
-          form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix E whose selected
-          2-by-2 diagonal block is to be processed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix E (in the LAPACK
-          standard form).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= N.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain a transformation matrix U.
-          On exit, the leading N-by-N part of this array contains
-          U*UT, where UT is the transformation matrix used to
-          split and/or standardize the selected block pair.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= N.
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
-          On entry, the leading N-by-N part of this array must
-          contain a transformation matrix V.
-          On exit, the leading N-by-N part of this array contains
-          V*VT, where VT is the transformation matrix used to
-          split and/or standardize the selected block pair.
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= N.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
-  BETA    (output) DOUBLE PRECISION array, dimension (2)
-          (ALPHAR(k)+i*ALPHAI(k))/BETA(k) are the eigenvalues of the
-          block pair of the pencil (A,B), k=1,2, i = sqrt(-1).
-          Note that BETA(k) may be zero.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A1 = ( A(L,L)    A(L,L+1)   ), E1 = ( E(L,L)    E(L,L+1)   ),
-           ( A(L+1,L)  A(L+1,L+1) )       ( E(L+1,L)  E(L+1,L+1) )
-  be the specified 2-by-2 diagonal block pair of the pencil (A,B).
-  If the eigenvalues of (A1,E1) are complex, then they are computed
-  and stored in ER and EI, where the real part is stored in ER and
-  the positive imaginary part in EI. The 2-by-2 block pair is
-  reduced if necessary to the standard form, such that
-  A(L,L) = A(L+1,L+1), and A(L,L+1) and A(L+1,L) have oposite signs.
-  If the eigenvalues are real, the 2-by-2 block pair is reduced to
-  upper triangular form such that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
-  In both cases, an orthogonal rotation U1' is constructed such that
-  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
-  to an N-by-N orthogonal matrix, using identity submatrices. Then A
-  and E are replaced by UT'*A*UT and UT'*E*UT, and the contents of
-  the arrays U and V are U * UT and V * VT, respectively.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QX.html b/doc/_build/html/_static/doc/MB03QX.html
deleted file mode 100644
index d173240a..00000000
--- a/doc/_build/html/_static/doc/MB03QX.html
+++ /dev/null
@@ -1,86 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QX">MB03QX</A></H2>
-<H3>
-Eigenvalues of an upper quasi-triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of an upper quasi-triangular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QX( N, T, LDT, WR, WI, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDT, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION T(LDT, *), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix T.  N &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
-          The upper quasi-triangular matrix T.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of T. The eigenvalues are stored in the same
-          order as on the diagonal of T. If T(i:i+1,i:i+1) is a
-          2-by-2 diagonal block with complex conjugated eigenvalues
-          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03QY.html b/doc/_build/html/_static/doc/MB03QY.html
deleted file mode 100644
index ba00b01e..00000000
--- a/doc/_build/html/_static/doc/MB03QY.html
+++ /dev/null
@@ -1,127 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QY">MB03QY</A></H2>
-<H3>
-Transformation to the Schur canonical form of a selected 2-by-2 diagonal block of an upper quasi-triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a selected 2-by-2 diagonal block
-  of an upper quasi-triangular matrix, to reduce the selected block
-  to the standard form and to split the block in the case of real
-  eigenvalues by constructing an orthogonal transformation UT.
-  This transformation is applied to A (by similarity) and to
-  another matrix U from the right.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QY( N, L, A, LDA, U, LDU, E1, E2, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, L, LDA, LDU, N
-      DOUBLE PRECISION E1, E2
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and UT.  N &gt;= 2.
-
-  L       (input) INTEGER
-          Specifies the position of the block.  1 &lt;= L &lt; N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A whose
-          selected 2-by-2 diagonal block is to be processed.
-          On exit, the leading N-by-N part of this array contains
-          the upper quasi-triangular matrix A after its selected
-          block has been splitt and/or put in the LAPACK standard
-          form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain a transformation matrix U.
-          On exit, the leading N-by-N part of this array contains
-          U*UT, where UT is the transformation matrix used to
-          split and/or standardize the selected block.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  E1, E2  (output) DOUBLE PRECISION
-          E1 and E2 contain either the real eigenvalues or the real
-          and positive imaginary parts, respectively, of the complex
-          eigenvalues of the selected 2-by-2 diagonal block of A.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A1 = ( A(L,L)    A(L,L+1)   )
-           ( A(L+1,L)  A(L+1,L+1) )
-  be the specified 2-by-2 diagonal block of matrix A.
-  If the eigenvalues of A1 are complex, then they are computed and
-  stored in E1 and E2, where the real part is stored in E1 and the
-  positive imaginary part in E2. The 2-by-2 block is reduced if
-  necessary to the standard form, such that A(L,L) = A(L+1,L+1), and
-  A(L,L+1) and A(L+1,L) have oposite signs. If the eigenvalues are
-  real, the 2-by-2 block is reduced to an upper triangular form such
-  that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
-  In both cases, an orthogonal rotation U1' is constructed such that
-  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
-  to an N-by-N orthogonal matrix, using identity submatrices. Then A
-  is replaced by UT'*A*UT and the contents of array U is U * UT.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RD.html b/doc/_build/html/_static/doc/MB03RD.html
deleted file mode 100644
index 14b86481..00000000
--- a/doc/_build/html/_static/doc/MB03RD.html
+++ /dev/null
@@ -1,387 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RD">MB03RD</A></H2>
-<H3>
-Reduction of a real Schur form matrix to a block-diagonal form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a matrix A in real Schur form to a block-diagonal form
-  using well-conditioned non-orthogonal similarity transformations.
-  The condition numbers of the transformations used for reduction
-  are roughly bounded by PMAX, where PMAX is a given value.
-  The transformations are optionally postmultiplied in a given
-  matrix X. The real Schur form is optionally ordered, so that
-  clustered eigenvalues are grouped in the same block.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
-     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBX, SORT
-      INTEGER           INFO, LDA, LDX, N, NBLCKS
-      DOUBLE PRECISION  PMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           BLSIZE(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Specifies whether or not the transformations are
-          accumulated, as follows:
-          = 'N':  The transformations are not accumulated;
-          = 'U':  The transformations are accumulated in X (the
-                  given matrix X is updated).
-
-  SORT    CHARACTER*1
-          Specifies whether or not the diagonal blocks of the real
-          Schur form are reordered, as follows:
-          = 'N':  The diagonal blocks are not reordered;
-          = 'S':  The diagonal blocks are reordered before each
-                  step of reduction, so that clustered eigenvalues
-                  appear in the same block;
-          = 'C':  The diagonal blocks are not reordered, but the
-                  "closest-neighbour" strategy is used instead of
-                  the standard "closest to the mean" strategy
-                  (see METHOD);
-          = 'B':  The diagonal blocks are reordered before each
-                  step of reduction, and the "closest-neighbour"
-                  strategy is used (see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the infinity norm of elementary
-          submatrices of the individual transformations used for
-          reduction (see METHOD).  PMAX &gt;= 1.0D0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A to be block-diagonalized, in real
-          Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the computed block-diagonal matrix, in real Schur
-          canonical form. The non-diagonal blocks are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if JOBX = 'U', the leading N-by-N part of this
-          array must contain a given matrix X.
-          On exit, if JOBX = 'U', the leading N-by-N part of this
-          array contains the product of the given matrix X and the
-          transformation matrix that reduced A to block-diagonal
-          form. The transformation matrix is itself a product of
-          non-orthogonal similarity transformations having elements
-          with magnitude less than or equal to PMAX.
-          If JOBX = 'N', this array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOBX = 'N';
-          LDX &gt;= MAX(1,N), if JOBX = 'U'.
-
-  NBLCKS  (output) INTEGER
-          The number of diagonal blocks of the matrix A.
-
-  BLSIZE  (output) INTEGER array, dimension (N)
-          The first NBLCKS elements of this array contain the orders
-          of the resulting diagonal blocks of the matrix A.
-
-  WR,     (output) DOUBLE PRECISION arrays, dimension (N)
-  WI      These arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the matrix A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in the ordering of the diagonal
-          blocks of the real Schur form matrix.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used as an absolute tolerance: a block i and a temporarily
-          fixed block 1 (the first block of the current trailing
-          submatrix to be reduced) are considered to belong to the
-          same cluster if their eigenvalues satisfy
-
-            | lambda_1 - lambda_i | &lt;= TOL.
-
-          If the user sets TOL &lt; 0, then the given value of TOL is
-          used as a relative tolerance: a block i and a temporarily
-          fixed block 1 are considered to belong to the same cluster
-          if their eigenvalues satisfy, for j = 1, ..., N,
-
-            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
-
-          If the user sets TOL = 0, then an implicitly computed,
-          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
-          is used instead, as a relative tolerance, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH).
-          If SORT = 'N' or 'C', this parameter is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Consider first that SORT = 'N'. Let
-
-         ( A    A   )
-         (  11   12 )
-     A = (          ),
-         ( 0    A   )
-         (       22 )
-
-  be the given matrix in real Schur form, where initially A   is the
-                                                           11
-  first diagonal block of dimension 1-by-1 or 2-by-2. An attempt is
-  made to compute a transformation matrix X of the form
-
-         ( I   P )
-     X = (       )                                               (1)
-         ( 0   I )
-
-  (partitioned as A), so that
-
-              ( A     0  )
-      -1      (  11      )
-     X  A X = (          ),
-              ( 0    A   )
-              (       22 )
-
-  and the elements of P do not exceed the value PMAX in magnitude.
-  An adaptation of the standard method for solving Sylvester
-  equations [1], which controls the magnitude of the individual
-  elements of the computed solution [2], is used to obtain matrix P.
-  When this attempt failed, an 1-by-1 (or 2-by-2) diagonal block of
-  A  , whose eigenvalue(s) is (are) the closest to the mean of those
-   22
-  of A   is selected, and moved by orthogonal similarity
-      11
-  transformations in the leading position of A  ; the moved diagonal
-                                              22
-  block is then added to the block A  , increasing its order by 1
-                                    11
-  (or 2). Another attempt is made to compute a suitable
-  transformation matrix X with the new definitions of the blocks A
-                                                                  11
-  and A  . After a successful transformation matrix X has been
-       22
-  obtained, it postmultiplies the current transformation matrix
-  (if JOBX = 'U'), and the whole procedure is repeated for the
-  matrix A  .
-          22
-
-  When SORT = 'S', the diagonal blocks of the real Schur form are
-  reordered before each step of the reduction, so that each cluster
-  of eigenvalues, defined as specified in the definition of TOL,
-  appears in adjacent blocks. The blocks for each cluster are merged
-  together, and the procedure described above is applied to the
-  larger blocks. Using the option SORT = 'S' will usually provide
-  better efficiency than the standard option (SORT = 'N'), proposed
-  in [2], because there could be no or few unsuccessful attempts
-  to compute individual transformation matrices X of the form (1).
-  However, the resulting dimensions of the blocks are usually
-  larger; this could make subsequent calculations less efficient.
-
-  When SORT = 'C' or 'B', the procedure is similar to that for
-  SORT = 'N' or 'S', respectively, but the block of A   whose
-                                                     22
-  eigenvalue(s) is (are) the closest to those of A   (not to their
-                                                  11
-  mean) is selected and moved to the leading position of A  . This
-                                                          22
-  is called the "closest-neighbour" strategy.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-  [3] Demmel, J.
-      The Condition Number of Equivalence Transformations that
-      Block Diagonalize Matrix Pencils.
-      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                    3                     4
-  The algorithm usually requires 0(N ) operations, but 0(N ) are
-  possible in the worst case, when all diagonal blocks in the real
-  Schur form of A are 1-by-1, and the matrix cannot be diagonalized
-  by well-conditioned transformations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The individual non-orthogonal transformation matrices used in the
-  reduction of A to a block-diagonal form have condition numbers
-  of the order PMAX. This does not guarantee that their product
-  is well-conditioned enough. The routine can be easily modified to
-  provide estimates for the condition numbers of the clusters of
-  eigenvalues.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDX
-      PARAMETER        ( LDA = NMAX, LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBX, SORT
-      INTEGER          I, INFO, J, N, NBLCKS, SDIM
-      DOUBLE PRECISION PMAX, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), WI(NMAX), WR(NMAX),
-     $                 X(LDX,NMAX)
-      INTEGER          BLSIZE(NMAX)
-      LOGICAL          BWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, MB03RD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, PMAX, TOL, JOBX, SORT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Compute Schur form, eigenvalues and Schur vectors.
-         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, SDIM,
-     $               WR, WI, X, LDX, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-*           Block-diagonalization.
-            CALL MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
-     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99995 ) NBLCKS
-               WRITE ( NOUT, FMT = 99994 ) ( BLSIZE(I), I = 1,NBLCKS )
-               WRITE ( NOUT, FMT = 99993 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99991 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99992 ) ( X(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DGEES  = ',I2)
-99997 FORMAT (' INFO on exit from MB03RD = ',I2)
-99995 FORMAT (' The number of blocks is ',I5)
-99994 FORMAT (' The orders of blocks are ',/(20(I3,2X)))
-99993 FORMAT (' The block-diagonal matrix is ')
-99992 FORMAT (8X,20(1X,F8.4))
-99991 FORMAT (' The transformation matrix is ')
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03RD EXAMPLE PROGRAM DATA
-   8   1.D03   1.D-2     U     S
-   1.   -1.    1.    2.    3.    1.    2.    3.
-   1.    1.    3.    4.    2.    3.    4.    2.
-   0.    0.    1.   -1.    1.    5.    4.    1.
-   0.    0.    0.    1.   -1.    3.    1.    2.
-   0.    0.    0.    1.    1.    2.    3.   -1.
-   0.    0.    0.    0.    0.    1.    5.    1.
-   0.    0.    0.    0.    0.    0.    0.99999999   -0.99999999
-   0.    0.    0.    0.    0.    0.    0.99999999    0.99999999
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03RD EXAMPLE PROGRAM RESULTS
-
- The number of blocks is     2
- The orders of blocks are 
-  6    2
- The block-diagonal matrix is 
-           1.0000  -1.0000  -1.2247  -0.7071  -3.4186   1.4577   0.0000   0.0000
-           1.0000   1.0000   0.0000   1.4142  -5.1390   3.1637   0.0000   0.0000
-           0.0000   0.0000   1.0000  -1.7321  -0.0016   2.0701   0.0000   0.0000
-           0.0000   0.0000   0.5774   1.0000   0.7516   1.1379   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   1.0000  -5.8606   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   0.1706   1.0000   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000  -0.8850
-           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
- The transformation matrix is 
-           1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.9045   0.1957
-           0.0000   1.0000   0.0000   0.0000   0.0000   0.0000  -0.3015   0.9755
-           0.0000   0.0000   0.8165   0.0000  -0.5768  -0.0156  -0.3015   0.0148
-           0.0000   0.0000  -0.4082   0.7071  -0.5768  -0.0156   0.0000  -0.0534
-           0.0000   0.0000  -0.4082  -0.7071  -0.5768  -0.0156   0.0000   0.0801
-           0.0000   0.0000   0.0000   0.0000  -0.0276   0.9805   0.0000   0.0267
-           0.0000   0.0000   0.0000   0.0000   0.0332  -0.0066   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   0.0011   0.1948   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RW.html b/doc/_build/html/_static/doc/MB03RW.html
deleted file mode 100644
index dbd26a89..00000000
--- a/doc/_build/html/_static/doc/MB03RW.html
+++ /dev/null
@@ -1,176 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RW">MB03RW</A></H2>
-<H3>
-Solution of a Sylvester equation -AX + XB = C, with A and B in complex Schur form, aborting the computations when the norm of X is too large
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Sylvester equation -AX + XB = C, where A and B are
-  complex M-by-M and N-by-N matrices, respectively, in Schur form.
-
-  This routine is intended to be called only by SLICOT Library
-  routine MB03RZ. For efficiency purposes, the computations are
-  aborted when the absolute value of an element of X is greater than
-  a given value PMAX.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RW( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, M, N
-      DOUBLE PRECISION  PMAX
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A and the number of rows of the
-          matrices C and X.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B and the number of columns of the
-          matrices C and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the absolute value of the elements of X
-          (see METHOD).
-
-  A       (input) COMPLEX*16 array, dimension (LDA,M)
-          The leading M-by-M upper triangular part of this array
-          must contain the matrix A of the Sylvester equation.
-          The elements below the diagonal are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) COMPLEX*16 array, dimension (LDB,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the matrix B of the Sylvester equation.
-          The elements below the diagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix C of the Sylvester equation.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X of the Sylvester
-          equation, and each element of X (see METHOD) has the
-          absolute value less than or equal to PMAX.
-          On exit, if INFO = 1, the solution matrix X has not been
-          computed completely, because an element of X had the
-          absolute value greater than PMAX. Part of the matrix C has
-          possibly been overwritten with the corresponding part
-          of X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  an element of X had the absolute value greater than
-                the given value PMAX.
-          = 2:  A and B have common or very close eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrices A and B are unchanged). This is a
-                warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses an adaptation of the standard method for solving
-  Sylvester equations [1], which controls the magnitude of the
-  individual elements of the computed solution [2]. The equation
-  -AX + XB = C can be rewritten as
-                               m            l-1
-    -A  X   + X  B   = C   +  sum  A  X   - sum  X  B
-      kk kl    kl ll    kl   i=k+1  ki il   j=1   kj jl
-
-  for l = 1:n, and k = m:-1:1, where A  , B  , C  , and X  , are the
-                                      kk   ll   kl       kl
-  elements defined by the partitioning induced by the Schur form
-  of A and B. So, the elements of X are found column by column,
-  starting from the bottom. If any such element has the absolute
-  value greater than the given value PMAX, the calculations are
-  ended.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2      2
-  The algorithm requires 0(M N + MN ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Let
-
-         ( A   C )       ( I   X )
-     M = (       ),  Y = (       ).
-         ( 0   B )       ( 0   I )
-
-  Then
-
-      -1      ( A   0 )
-     Y  M Y = (       ),
-              ( 0   B )
-
-  hence Y is a non-unitary transformation matrix which performs the
-  reduction of M to a block-diagonal form. Bounding a norm of X is
-  equivalent to setting an upper bound to the condition number of
-  the transformation matrix Y.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RX.html b/doc/_build/html/_static/doc/MB03RX.html
deleted file mode 100644
index cb031e95..00000000
--- a/doc/_build/html/_static/doc/MB03RX.html
+++ /dev/null
@@ -1,167 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RX">MB03RX</A></H2>
-<H3>
-Reordering the diagonal blocks of a principal submatrix of a real Schur form matrix (the last block is moved in the leading position)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the principal submatrix between
-  the indices KL and KU (KU &gt;= KL) of a real Schur form matrix A
-  together with their eigenvalues, using orthogonal similarity
-  transformations, such that the block specified by KU is moved in
-  the position KL. The transformations are optionally postmultiplied
-  in a given matrix X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RX( JOBV, N, KL, KU, A, LDA, X, LDX, WR, WI,
-     $                   DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBV
-      INTEGER           KL, KU, LDA, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBV    CHARACTER*1
-          Specifies whether or not the transformations are
-          accumulated, as follows:
-          = 'N':  The transformations are not accumulated;
-          = 'V':  The transformations are accumulated in X (the
-                  given matrix X is updated).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The lower boundary index for the rows and columns of the
-          principal submatrix of A whose diagonal blocks are to be
-          reordered, and also the target position for the block to
-          be moved.  1 &lt;= KL &lt;= KU &lt;= N.
-
-  KU      (input/output) INTEGER
-          On entry, KU specifies the upper boundary index for the
-          rows and columns of the principal submatrix of A whose
-          diagonal blocks are to be reordered, and also the original
-          position for the block to be moved.  1 &lt;= KL &lt;= KU &lt;= N.
-          On exit, KU specifies the upper boundary index for the
-          rows and columns of the principal submatrix of A whose
-          diagonal blocks have been reordered. The given value will
-          be increased by 1 if the moved block was 2-by-2 and it has
-          been replaced by two 1-by-1 blocks. Otherwise, its input
-          value is preserved.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A in real Schur canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the ordered real Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if JOBV = 'V', the leading N-by-N part of this
-          array must contain a given matrix X.
-          On exit, if JOBV = 'V', the leading N-by-N part of this
-          array contains the product of the given matrix X and the
-          transformation matrix that performed the reordering of A.
-          If JOBV = 'N', this array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOBV = 'N';
-          LDX &gt;= MAX(1,N), if JOBV = 'V'.
-
-  WR,     (input/output) DOUBLE PRECISION arrays, dimension (N)
-  WI      On entry, these arrays must contain the real and imaginary
-          parts, respectively, of the eigenvalues of the matrix A.
-          On exit, these arrays contain the real and imaginary
-          parts, respectively, of the eigenvalues of the matrix A,
-          possibly reordered.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An attempt is made to move the block in the position (KU,KU) to
-  the position (KL,KL) by a sequence of orthogonal similarity
-  transformations, each swapping two consecutive blocks. The
-  standard algorithm [1], [2] usually succeeds to perform this
-  reordering. A failure of this algorithm means that two consecutive
-  blocks (one of them being the desired block possibly moved) are
-  too close to swap. In such a case, the leading block of the two
-  is tried to be moved in the position (KL,KL) and the procedure is
-  repeated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Stewart, G.W.
-      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
-      ordering the eigenvalues of a real upper Hessenberg matrix.
-      ACM TOMS, 2, pp. 275-280, 1976.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable. If some eigenvalues are
-  ill-conditioned, their returned values could differ much from
-  their input values.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RY.html b/doc/_build/html/_static/doc/MB03RY.html
deleted file mode 100644
index 62357d1a..00000000
--- a/doc/_build/html/_static/doc/MB03RY.html
+++ /dev/null
@@ -1,173 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RY">MB03RY</A></H2>
-<H3>
-Solution of a Sylvester equation -AX + XB = C, with A and B in real Schur form, aborting the computations when the norm of X is too large
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Sylvester equation -AX + XB = C, where A and B are
-  M-by-M and N-by-N matrices, respectively, in real Schur form.
-
-  This routine is intended to be called only by SLICOT Library
-  routine MB03RD. For efficiency purposes, the computations are
-  aborted when the infinity norm of an elementary submatrix of X is
-  greater than a given value PMAX.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RY( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, M, N
-      DOUBLE PRECISION  PMAX
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A and the number of rows of the
-          matrices C and X.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B and the number of columns of the
-          matrices C and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the infinity norm of an elementary
-          submatrix of X (see METHOD).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          matrix A of the Sylvester equation, in real Schur form.
-          The elements below the real Schur form are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain the
-          matrix B of the Sylvester equation, in real Schur form.
-          The elements below the real Schur form are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix C of the Sylvester equation.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X of the Sylvester
-          equation, and each elementary submatrix of X (see METHOD)
-          has the infinity norm less than or equal to PMAX.
-          On exit, if INFO = 1, the solution matrix X has not been
-          computed completely, because an elementary submatrix of X
-          had the infinity norm greater than PMAX. Part of the
-          matrix C has possibly been overwritten with the
-          corresponding part of X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  an elementary submatrix of X had the infinity norm
-                greater than the given value PMAX.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses an adaptation of the standard method for solving
-  Sylvester equations [1], which controls the magnitude of the
-  individual elements of the computed solution [2]. The equation
-  -AX + XB = C can be rewritten as
-                              p            l-1
-    -A  X   + X  B   = C   + sum  A  X   - sum  X  B
-      kk kl    kl ll    kl  i=k+1  ki il   j=1   kj jl
-
-  for l = 1:q, and k = p:-1:1, where A  , B  , C  , and X  , are
-                                      kk   ll   kl       kl
-  block submatrices defined by the partitioning induced by the Schur
-  form of A and B, and p and q are the numbers of the diagonal
-  blocks of A and B, respectively. So, the elementary submatrices of
-  X are found block column by block column, starting from the
-  bottom. If any such elementary submatrix has the infinity norm
-  greater than the given value PMAX, the calculations are ended.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2      2
-  The algorithm requires 0(M N + MN ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Let
-
-         ( A   C )       ( I   X )
-     M = (       ),  Y = (       ).
-         ( 0   B )       ( 0   I )
-
-  Then
-
-      -1      ( A   0 )
-     Y  M Y = (       ),
-              ( 0   B )
-
-  hence Y is an non-orthogonal transformation matrix which performs
-  the reduction of M to a block-diagonal form. Bounding a norm of
-  X is equivalent to setting an upper bound to the condition number
-  of the transformation matrix Y.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03RZ.html b/doc/_build/html/_static/doc/MB03RZ.html
deleted file mode 100644
index 9223e6c3..00000000
--- a/doc/_build/html/_static/doc/MB03RZ.html
+++ /dev/null
@@ -1,279 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RZ">MB03RZ</A></H2>
-<H3>
-Reduction of a complex Schur form matrix to a block-diagonal form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce an upper triangular complex matrix A (Schur form) to a
-  block-diagonal form using well-conditioned non-unitary similarity
-  transformations. The condition numbers of the transformations used
-  for reduction are roughly bounded by PMAX, where PMAX is a given
-  value. The transformations are optionally postmultiplied in a
-  given matrix X. The Schur form is optionally ordered, so that
-  clustered eigenvalues are grouped in the same block.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RZ( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
-     $                   BLSIZE, W, TOL, INFO )C     .. Scalar Arguments ..
-      CHARACTER         JOBX, SORT
-      INTEGER           INFO, LDA, LDX, N, NBLCKS
-      DOUBLE PRECISION  PMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           BLSIZE(*)
-      COMPLEX*16        A(LDA,*), W(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Specifies whether or not the transformations are
-          accumulated, as follows:
-          = 'N':  The transformations are not accumulated;
-          = 'U':  The transformations are accumulated in X (the
-                  given matrix X is updated).
-
-  SORT    CHARACTER*1
-          Specifies whether or not the diagonal elements of the
-          Schur form are reordered, as follows:
-          = 'N':  The diagonal elements are not reordered;
-          = 'S':  The diagonal elements are reordered before each
-                  step of reduction, so that clustered eigenvalues
-                  appear in the same block;
-          = 'C':  The diagonal elements are not reordered, but the
-                  "closest-neighbour" strategy is used instead of
-                  the standard "closest to the mean" strategy (see
-                  METHOD);
-          = 'B':  The diagonal elements are reordered before each
-                  step of reduction, and the "closest-neighbour"
-                  strategy is used (see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the absolute value of the elements of
-          the individual transformations used for reduction
-          (see METHOD). PMAX &gt;= 1.0D0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix A to be
-          block-diagonalized.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the computed block-diagonal matrix, in
-          Schur form.
-          The strictly lower triangular part is used as workspace,
-          but it is set to zero before exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  X       (input/output) COMPLEX*16 array, dimension (LDX,*)
-          On entry, if JOBX = 'U', the leading N-by-N part of this
-          array must contain a given matrix X.
-          On exit, if JOBX = 'U', the leading N-by-N part of this
-          array contains the product of the given matrix X and the
-          transformation matrix that reduced A to block-diagonal
-          form. The transformation matrix is itself a product of
-          non-unitary similarity transformations having elements
-          with magnitude less than or equal to PMAX.
-          If JOBX = 'N', this array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOBX = 'N';
-          LDX &gt;= MAX(1,N), if JOBX = 'U'.
-
-  NBLCKS  (output) INTEGER
-          The number of diagonal blocks of the matrix A.
-
-  BLSIZE  (output) INTEGER array, dimension (N)
-          The first NBLCKS elements of this array contain the orders
-          of the resulting diagonal blocks of the matrix A.
-
-  W       (output) COMPLEX*16 array, dimension (N)
-          This array contains the eigenvalues of the matrix A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in the ordering of the diagonal
-          elements of the upper triangular matrix.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used as an absolute tolerance: an eigenvalue i and a
-          temporarily fixed eigenvalue 1 (the first element of the
-          current trailing submatrix to be reduced) are considered
-          to belong to the same cluster if they satisfy
-
-            | lambda_1 - lambda_i | &lt;= TOL.
-
-          If the user sets TOL &lt; 0, then the given value of TOL is
-          used as a relative tolerance: an eigenvalue i and a
-          temporarily fixed eigenvalue 1 are considered to belong to
-          the same cluster if they satisfy, for j = 1, ..., N,
-
-            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
-
-          If the user sets TOL = 0, then an implicitly computed,
-          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
-          is used instead, as a relative tolerance, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH).
-          If SORT = 'N' or 'C', this parameter is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Consider first that SORT = 'N'. Let
-
-         ( A    A   )
-         (  11   12 )
-     A = (          ),
-         ( 0    A   )
-         (       22 )
-
-  be the given matrix in Schur form, where initially A   is the
-                                                      11
-  first diagonal element. An attempt is made to compute a
-  transformation matrix X of the form
-
-         ( I   P )
-     X = (       )                                               (1)
-         ( 0   I )
-
-  (partitioned as A), so that
-
-              ( A     0  )
-      -1      (  11      )
-     X  A X = (          ),
-              ( 0    A   )
-              (       22 )
-
-  and the elements of P do not exceed the value PMAX in magnitude.
-  An adaptation of the standard method for solving Sylvester
-  equations [1], which controls the magnitude of the individual
-  elements of the computed solution [2], is used to obtain matrix P.
-  When this attempt failed, a diagonal element of A  , closest to
-                                                   22
-  the mean of those of A   is selected, and moved by unitary
-                        11
-  similarity transformations in the leading position of A  ; the
-                                                         22
-  moved diagonal element is then added to the block A  , increasing
-                                                     11
-  its order by 1. Another attempt is made to compute a suitable
-  transformation matrix X with the new definitions of the blocks A
-                                                                  11
-  and A  . After a successful transformation matrix X has been
-       22
-  obtained, it postmultiplies the current transformation matrix
-  (if JOBX = 'U'), and the whole procedure is repeated for the
-  block A  .
-         22
-
-  When SORT = 'S', the diagonal elements of the Schur form are
-  reordered before each step of the reduction, so that each cluster
-  of eigenvalues, defined as specified in the definition of TOL,
-  appears in adjacent elements. The elements for each cluster are
-  merged together, and the procedure described above is applied to
-  the larger blocks. Using the option SORT = 'S' will usually
-  provide better efficiency than the standard option (SORT = 'N'),
-  proposed in [2], because there could be no or few unsuccessful
-  attempts to compute individual transformation matrices X of the
-  form (1). However, the resulting dimensions of the blocks are
-  usually larger; this could make subsequent calculations less
-  efficient.
-
-  When SORT = 'C' or 'B', the procedure is similar to that for
-  SORT = 'N' or 'S', respectively, but the block of A   whose
-                                                     22
-  eigenvalue(s) is (are) the closest to those of A   (not to their
-                                                  11
-  mean) is selected and moved to the leading position of A  . This
-                                                          22
-  is called the "closest-neighbour" strategy.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-  [3] Demmel, J.
-      The Condition Number of Equivalence Transformations that
-      Block Diagonalize Matrix Pencils.
-      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                    3                     4
-  The algorithm usually requires 0(N ) operations, but 0(N ) are
-  possible in the worst case, when the matrix cannot be diagonalized
-  by well-conditioned transformations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The individual non-unitary transformation matrices used in the
-  reduction of A to a block-diagonal form have condition numbers of
-  the order PMAX. This does not guarantee that their product is
-  well-conditioned enough. The routine can be easily modified to
-  provide estimates for the condition numbers of the clusters of
-  eigenvalues.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03SD.html b/doc/_build/html/_static/doc/MB03SD.html
deleted file mode 100644
index 3ca3ef82..00000000
--- a/doc/_build/html/_static/doc/MB03SD.html
+++ /dev/null
@@ -1,274 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03SD">MB03SD</A></H2>
-<H3>
-Eigenvalues of a square-reduced Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of an N-by-N square-reduced Hamiltonian
-  matrix
-
-             ( A'   G'  )
-      H'  =  (        T ).                                       (1)
-             ( Q'  -A'  )
-
-  Here, A' is an N-by-N matrix, and G' and Q' are symmetric N-by-N
-  matrices.  It is assumed without a check that H' is square-
-  reduced, i.e., that
-
-        2    ( A''   G'' )
-      H'  =  (         T )    with A'' upper Hessenberg.         (2)
-             ( 0    A''  )
-
-                         T                2
-  (Equivalently, Q'A'- A' Q' = 0, A'' = A' + G'Q', and for i &gt; j+1,
-   A''(i,j) = 0.)  Ordinarily, H' is the output from SLICOT Library
-  routine MB04ZD. The eigenvalues of H' are computed as the square
-  roots of the eigenvalues of A''.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDQG, LDWORK, N
-      CHARACTER         JOBSCL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBSCL  CHARACTER*1
-          Specifies whether or not balancing operations should
-          be performed by the LAPACK subroutine DGEBAL on the
-          Hessenberg matrix A'' in (2), as follows:
-          = 'N':  do not use balancing;
-          = 'S':  do scaling in order to equilibrate the rows
-                  and columns of A''.
-          See LAPACK subroutine DGEBAL and Section METHOD below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper left block A' of the square-reduced Hamiltonian
-          matrix H' in (1), as produced by SLICOT Library routine
-          MB04ZD.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
-          The leading N-by-N lower triangular part of this array
-          must contain the lower triangle of the lower left
-          symmetric block Q' of the square-reduced Hamiltonian
-          matrix H' in (1), and the N-by-N upper triangular part of
-          the submatrix in the columns 2 to N+1 of this array must
-          contain the upper triangle of the upper right symmetric
-          block G' of the square-reduced Hamiltonian matrix H'
-          in (1), as produced by SLICOT Library routine MB04ZD.
-          So, if i &gt;= j, then Q'(i,j) is stored in QG(i,j) and
-          G'(i,j) is stored in QG(j,i+1).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The arrays WR and WI contain the real and imaginary parts,
-          respectively, of the N eigenvalues of H' with non-negative
-          real part.  The remaining N eigenvalues are the negatives
-          of these eigenvalues.
-          Eigenvalues are stored in WR and WI in decreasing order of
-          magnitude of the real parts, i.e., WR(I) &gt;= WR(I+1).
-          (In particular, an eigenvalue closest to the imaginary
-           axis is WR(N)+WI(N)i.)
-          In addition, eigenvalues with zero real part are sorted in
-          decreasing order of magnitude of imaginary parts.  Note
-          that non-real eigenvalues with non-zero real part appear
-          in complex conjugate pairs, but eigenvalues with zero real
-          part do not, in general, appear in complex conjugate
-          pairs.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(N+1)).
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO =  i, i &lt;= N, then LAPACK subroutine DHSEQR
-                failed to converge while computing the i-th
-                eigenvalue.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine forms the upper Hessenberg matrix A'' in (2) and calls
-  LAPACK subroutines to calculate its eigenvalues.  The eigenvalues
-  of H' are the square roots of the eigenvalues of A''.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C. F.
-      A Symplectic Method for Approximating All the Eigenvalues of
-      a Hamiltonian Matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Byers, R.
-      Hamiltonian and Symplectic Algorithms for the Algebraic
-      Riccati Equation.
-      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
-
-  [3] Benner, P., Byers, R., and Barth, E.
-      Fortran 77 Subroutines for Computing the Eigenvalues of
-      Hamiltonian Matrices. I: The Square-Reduced Method.
-      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires (32/3)*N**3 + O(N**2) floating point
-  operations.
-  Eigenvalues computed by this subroutine are exact eigenvalues
-  of a perturbed Hamiltonian matrix  H' + E  where
-
-              || E || &lt;= c sqrt(eps) || H' ||,
-
-  c is a modest constant depending on the dimension N and eps is the
-  machine precision. Moreover, if the norm of H' and an eigenvalue
-  are of roughly the same magnitude, the computed eigenvalue is
-  essentially as accurate as the computed eigenvalue obtained by
-  traditional methods. See [1] or [2].
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03SD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX+1 ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      JOBSCL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
-     $                 WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB03SD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     NOTE: input must define a square-reduced Hamiltonian matrix.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOBSCL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99998 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
-*        Compute the eigenvalues.
-         CALL MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
-     $                LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-*           Show the computed eigenvalues.
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99995 )  WR(I), ' + (',  WI(I), ')i'
-10          CONTINUE
-            DO 20 I = N, 1, -1
-               WRITE ( NOUT, FMT = 99995 ) -WR(I), ' + (', -WI(I), ')i'
-20          CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB03SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' N is out of range.',/' N = ',I5)
-99997 FORMAT (' INFO on exit from MB03SD = ',I2)
-99996 FORMAT (/' The eigenvalues are ')
-99995 FORMAT (1X,F8.4,A,F8.4,A)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03SD EXAMPLE PROGRAM DATA
- 3 S
-  2.0  0.0  0.0
-  0.0  1.0  2.0
-  0.0 -1.0  3.0
-  1.0  0.0  0.0  2.0  3.0  4.0
- -2.0  0.0  0.0  0.0  0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03SD EXAMPLE PROGRAM RESULTS
-
-
- The eigenvalues are 
-   2.0000 + (  1.0000)i
-   2.0000 + ( -1.0000)i
-   1.4142 + (  0.0000)i
-  -1.4142 + (  0.0000)i
-  -2.0000 + (  1.0000)i
-  -2.0000 + ( -1.0000)i
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03TD.html b/doc/_build/html/_static/doc/MB03TD.html
deleted file mode 100644
index 210bcc3d..00000000
--- a/doc/_build/html/_static/doc/MB03TD.html
+++ /dev/null
@@ -1,393 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03TD">MB03TD</A></H2>
-<H3>
-Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder a matrix X in skew-Hamiltonian Schur form:
-
-                [  A   G  ]          T
-          X  =  [       T ],   G = -G,
-                [  0   A  ]
-
-  or in Hamiltonian Schur form:
-
-                [  A   G  ]          T
-          X  =  [       T ],   G =  G,
-                [  0  -A  ]
-
-  where A is in upper quasi-triangular form, so that a selected
-  cluster of eigenvalues appears in the leading diagonal blocks
-  of the matrix A (in X) and the leading columns of [ U1; -U2 ] form
-  an orthonormal basis for the corresponding right invariant
-  subspace.
-
-  If X is skew-Hamiltonian, then each eigenvalue appears twice; one
-  copy corresponds to the j-th diagonal element and the other to the
-  (n+j)-th diagonal element of X. The logical array LOWER controls
-  which copy is to be reordered to the leading part of A.
-
-  If X is Hamiltonian then the eigenvalues appear in pairs
-  (lambda,-lambda); lambda corresponds to the j-th diagonal
-  element and -lambda to the (n+j)-th diagonal element of X.
-  The logical array LOWER controls whether lambda or -lambda is to
-  be reordered to the leading part of A.
-
-  The matrix A must be in Schur canonical form (as returned by the
-  LAPACK routine DHSEQR), that is, block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG,
-     $                   U1, LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPU, TYP
-      INTEGER           INFO, LDA, LDG, LDU1, LDU2, LDWORK, M, N
-C     .. Array Arguments ..
-      LOGICAL           LOWER(*), SELECT(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
-     $                  U2(LDU2,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYP     CHARACTER*1
-          Specifies the type of the input matrix X:
-          = 'S': X is skew-Hamiltonian;
-          = 'H': X is Hamiltonian.
-
-  COMPU   CHARACTER*1
-          = 'U': update the matrices U1 and U2 containing the
-                 Schur vectors;
-          = 'N': do not update U1 and U2.
-
-  SELECT  (input/output) LOGICAL array, dimension (N)
-          SELECT specifies the eigenvalues in the selected cluster.
-          To select a real eigenvalue w(j), SELECT(j) must be set
-          to .TRUE.. To select a complex conjugate pair of
-          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
-          diagonal block, both SELECT(j) and SELECT(j+1) must be set
-          to .TRUE.; a complex conjugate pair of eigenvalues must be
-          either both included in the cluster or both excluded.
-
-  LOWER   (input/output) LOGICAL array, dimension (N)
-          LOWER controls which copy of a selected eigenvalue is
-          included in the cluster. If SELECT(j) is set to .TRUE.
-          for a real eigenvalue w(j); then LOWER(j) must be set to
-          .TRUE. if the eigenvalue corresponding to the (n+j)-th
-          diagonal element of X is to be reordered to the leading
-          part; and LOWER(j) must be set to .FALSE. if the
-          eigenvalue corresponding to the j-th diagonal element of
-          X is to be reordered to the leading part. Similarly, for
-          a complex conjugate pair of eigenvalues w(j) and w(j+1),
-          both LOWER(j) and LOWER(j+1) must be set to .TRUE. if the
-          eigenvalues corresponding to the (n+j:n+j+1,n+j:n+j+1)
-          diagonal block of X are to be reordered to the leading
-          part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A in Schur
-          canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the reordered matrix A, again in Schur canonical form,
-          with the selected eigenvalues in the diagonal blocks.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, if TYP = 'S', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the skew-symmetric matrix G. The rest of this array is not
-          referenced.
-          On entry, if TYP = 'H', the leading N-by-N part of this
-          array must contain the upper triangular part of the
-          symmetric matrix G. The rest of this array is not
-          referenced.
-          On exit, if TYP = 'S', the leading N-by-N part of this
-          array contains the strictly upper triangular part of the
-          skew-symmetric matrix G, updated by the orthogonal
-          symplectic transformation which reorders X.
-          On exit, if TYP = 'H', the leading N-by-N part of this
-          array contains the upper triangular part of the symmetric
-          matrix G, updated by the orthogonal symplectic
-          transformation which reorders X.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, if COMPU = 'U', the leading N-by-N part of this
-          array must contain U1, the (1,1) block of an orthogonal
-          symplectic matrix U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U', the leading N-by-N part of this
-          array contains the (1,1) block of the matrix U,
-          postmultiplied by the orthogonal symplectic transformation
-          which reorders X. The leading M columns of U form an
-          orthonormal basis for the specified invariant subspace.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= MAX(1,N),  if COMPU = 'U';
-          LDU1 &gt;= 1,         otherwise.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, if COMPU = 'U', the leading N-by-N part of this
-          array must contain U2, the (1,2) block of an orthogonal
-          symplectic matrix U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U', the leading N-by-N part of this
-          array contains the (1,2) block of the matrix U,
-          postmultiplied by the orthogonal symplectic transformation
-          which reorders X.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= MAX(1,N),  if COMPU = 'U';
-          LDU2 &gt;= 1,         otherwise.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The real and imaginary parts, respectively, of the
-          reordered eigenvalues of A. The eigenvalues are stored
-          in the same order as on the diagonal of A, with
-          WR(i) = A(i,i) and, if A(i:i+1,i:i+1) is a 2-by-2 diagonal
-          block, WI(i) &gt; 0 and WI(i+1) = -WI(i). Note that if an
-          eigenvalue is sufficiently ill-conditioned, then its value
-          may differ significantly from its value before reordering.
-
-  M       (output) INTEGER
-          The dimension of the specified invariant subspace.
-          0 &lt;= M &lt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          = 1:  reordering of X failed because some eigenvalue pairs
-                are too close to separate (the problem is very
-                ill-conditioned); X may have been partially
-                reordered, and WR and WI contain the eigenvalues in
-                the same order as in X.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bai, Z. and Demmel, J.W.
-      On Swapping Diagonal Blocks in Real Schur Form.
-      Linear Algebra Appl., 186, pp. 73-95, 1993.
-
-  [2] Benner, P., Kressner, D., and Mehrmann, V.
-      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
-      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDG, LDRES, LDU1, LDU2, LDWORK
-      PARAMETER        ( LDA  = NMAX, LDG  = NMAX, LDRES  = NMAX,
-     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 8*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPU, TYP
-      INTEGER          I, INFO, J, N, M
-*     .. Local Arrays ..
-      LOGICAL          LOWER(NMAX), SELECT(NMAX)
-      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), G(LDG, NMAX),
-     $                 RES(LDRES,NMAX), U1(LDU1,NMAX), U2(LDU2,NMAX),
-     $                 WR(NMAX), WI(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION MA02JD
-      EXTERNAL         LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         MB03TD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, TYP, COMPU
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( SELECT(J), J = 1,N )
-         READ ( NIN, FMT = * ) ( LOWER(J), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( COMPU, 'U' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
-         END IF
-         CALL MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG, U1,
-     $                LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( COMPU, 'U' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10             CONTINUE
-               DO 20  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20             CONTINUE
-               WRITE ( NOUT, FMT = 99992 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-            END IF
-*
-            WRITE ( NOUT, FMT = 99996 )
-            DO 30  I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
-30          CONTINUE
-*
-            WRITE ( NOUT, FMT = 99995 )
-            IF ( LSAME( TYP, 'S' ) ) THEN
-               DO 40  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $               ( -G(J,I), J = 1,I-1 ), ZERO, ( G(I,J), J = I+1,N )
-40             CONTINUE
-            ELSE
-               DO 50  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $               ( G(J,I), J = 1,I-1 ), ( G(I,J), J = I,N )
-50             CONTINUE
-           END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03TD = ',I2)
-99997 FORMAT (' The orthogonal symplectic factor U is ')
-99996 FORMAT (/' The matrix A in reordered Schur canonical form is ')
-99995 FORMAT (/' The matrix G is ')
-99994 FORMAT (20(1X,F9.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03TD EXAMPLE PROGRAM DATA
-	5	S	U
-	.F. .T. .T. .F. .F.
-	.F. .T. .T. .F. .F.
-    0.9501    0.7621    0.6154    0.4057    0.0579
-         0    0.4565    0.7919    0.9355    0.3529
-         0   -0.6822    0.4565    0.9169    0.8132
-         0         0         0    0.4103    0.0099
-         0         0         0         0    0.1389
-         0   -0.1834   -0.1851    0.5659    0.3040
-         0         0    0.4011   -0.9122    0.2435
-         0         0         0    0.4786   -0.2432
-         0         0         0         0   -0.5272
-         0         0         0         0         0
-     1     0     0     0     0
-     0     1     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-     0     0     0     0     1
-     0     0     0     0     0
-     0     0     0     0     0
-     0     0     0     0     0
-     0     0     0     0     0
-     0     0     0     0     0
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03TD EXAMPLE PROGRAM RESULTS
-
-The orthogonal symplectic factor U is 
-   0.0407    0.4847    0.8737    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-   0.1245   -0.3866    0.2087    0.4509   -0.1047    0.3229    0.1248   -0.0843    0.1967    0.6415
-  -0.0933    0.4089   -0.2225   -0.4085    0.0709   -0.2171    0.2156   -0.1095    0.4348    0.5551
-  -0.1059   -0.5250    0.2962   -0.0295    0.2207   -0.6789    0.1133   -0.0312    0.2979   -0.1112
-   0.3937    0.3071   -0.1887    0.5332   -0.4351   -0.4423    0.0600   -0.0127    0.1679   -0.1179
-   0.0000    0.0000    0.0000    0.0000    0.0000    0.0407    0.4847    0.8737    0.0000    0.0000
-  -0.3229   -0.1248    0.0843   -0.1967   -0.6415    0.1245   -0.3866    0.2087    0.4509   -0.1047
-   0.2171   -0.2156    0.1095   -0.4348   -0.5551   -0.0933    0.4089   -0.2225   -0.4085    0.0709
-   0.6789   -0.1133    0.0312   -0.2979    0.1112   -0.1059   -0.5250    0.2962   -0.0295    0.2207
-   0.4423   -0.0600    0.0127   -0.1679    0.1179    0.3937    0.3071   -0.1887    0.5332   -0.4351
-
-Orthogonality of U: || U'*U - I ||_F = .21E-14
-
-The matrix A in reordered Schur canonical form is 
-   0.4565   -0.4554    0.2756   -0.8651   -1.2050
-   1.1863    0.4565    0.2186   -0.0233    0.8293
-   0.0000    0.0000    0.9501    0.0625   -0.0064
-   0.0000    0.0000    0.0000    0.4103    0.5597
-   0.0000    0.0000    0.0000    0.0000    0.1389
-
-The matrix G is 
-   0.0000    0.3298   -0.0292   -0.1571    0.1751
-  -0.3298    0.0000   -0.0633   -0.2951    0.2396
-   0.0292    0.0633    0.0000    0.9567    0.7485
-   0.1571    0.2951   -0.9567    0.0000    0.2960
-  -0.1751   -0.2396   -0.7485   -0.2960    0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03TS.html b/doc/_build/html/_static/doc/MB03TS.html
deleted file mode 100644
index f06e4346..00000000
--- a/doc/_build/html/_static/doc/MB03TS.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03TS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03TS">MB03TS</A></H2>
-<H3>
-Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian canonical Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To swap diagonal blocks A11 and A22 of order 1 or 2 in the upper
-  quasi-triangular matrix A contained in a skew-Hamiltonian matrix
-
-                [  A   G  ]          T
-          X  =  [       T ],   G = -G,
-                [  0   A  ]
-
-  or in a Hamiltonian matrix
-
-                [  A   G  ]          T
-          X  =  [       T ],   G =  G.
-                [  0  -A  ]
-
-  This routine is a modified version of the LAPACK subroutine
-  DLAEX2.
-
-  The matrix A must be in Schur canonical form (as returned by the
-  LAPACK routine DHSEQR), that is, block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03TS( ISHAM, WANTU, N, A, LDA, G, LDG, U1, LDU1, U2,
-     $                   LDU2, J1, N1, N2, DWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            ISHAM, WANTU
-      INTEGER            INFO, J1, LDA, LDG, LDU1, LDU2, N, N1, N2
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
-     $                   U2(LDU2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ISHAM   LOGIGAL
-          Specifies the type of X:
-          = .TRUE.:   X is a Hamiltonian matrix;
-          = .FALSE.:  X is a skew-Hamiltonian matrix.
-
-  WANTU   LOGIGAL
-          = .TRUE.:   update the matrices U1 and U2 containing the
-                      Schur vectors;
-          = .FALSE.:  do not update U1 and U2.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A, in Schur
-          canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the reordered matrix A, again in Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular part of the symmetric
-          matrix G, if ISHAM = .TRUE., or the strictly upper
-          triangular part of the skew-symmetric matrix G, otherwise.
-          The rest of this array is not referenced.
-          On exit, the leading N-by-N part of this array contains
-          the upper or strictly upper triangular part of the
-          symmetric or skew-symmetric matrix G, respectively,
-          updated by the orthogonal transformation which reorders A.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, if WANTU = .TRUE., the leading N-by-N part of
-          this array must contain the matrix U1.
-          On exit, if WANTU = .TRUE., the leading N-by-N part of
-          this array contains U1, postmultiplied by the orthogonal
-          transformation which reorders A. See the description in
-          the SLICOT subroutine MB03TD for further details.
-          If WANTU = .FALSE., this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= MAX(1,N),  if WANTU = .TRUE.;
-          LDU1 &gt;= 1,         otherwise.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, if WANTU = .TRUE., the leading N-by-N part of
-          this array must contain the matrix U2.
-          On exit, if WANTU = .TRUE., the leading N-by-N part of
-          this array contains U2, postmultiplied by the orthogonal
-          transformation which reorders A.
-          If WANTU = .FALSE., this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= MAX(1,N),  if WANTU = .TRUE.;
-          LDU2 &gt;= 1,         otherwise.
-
-  J1      (input) INTEGER
-          The index of the first row of the first block A11.
-          If J1+N1 &lt; N, then A11 is swapped with the block starting
-          at (J1+N1+1)-th diagonal element.
-          If J1+N1 &gt; N, then A11 is the last block in A and swapped
-          with -A11', if ISHAM = .TRUE.,
-          or    A11', if ISHAM = .FALSE..
-
-  N1      (input) INTEGER
-          The order of the first block A11. N1 = 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of the second block A22. N2 = 0, 1 or 2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  the transformed matrix A would be too far from Schur
-                form; the blocks are not swapped and A, G, U1 and
-                U2 are unchanged.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bai, Z., and Demmel, J.W.
-     On swapping diagonal blocks in real Schur form.
-     Linear Algebra Appl., 186, pp. 73-95, 1993.
-
-  [2] Benner, P., Kressner, D., and Mehrmann, V.
-      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
-      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03UD.html b/doc/_build/html/_static/doc/MB03UD.html
deleted file mode 100644
index 2d635a59..00000000
--- a/doc/_build/html/_static/doc/MB03UD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03UD">MB03UD</A></H2>
-<H3>
-Computation of the singular value decomposition of a real upper triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute all, or part, of the singular value decomposition of a
-  real upper triangular matrix.
-
-  The N-by-N upper triangular matrix A is factored as  A = Q*S*P',
-  where Q and P are N-by-N orthogonal matrices and S is an
-  N-by-N diagonal matrix with non-negative diagonal elements,
-  SV(1), SV(2), ..., SV(N), ordered such that
-
-     SV(1) &gt;= SV(2) &gt;= ... &gt;= SV(N) &gt;= 0.
-
-  The columns of Q are the left singular vectors of A, the diagonal
-  elements of S are the singular values of A and the columns of P
-  are the right singular vectors of A.
-
-  Either or both of Q and P' may be requested.
-  When P' is computed, it is returned in A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBP, JOBQ
-      INTEGER           INFO, LDA, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(LDQ,*), SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBQ    CHARACTER*1
-          Specifies whether the user wishes to compute the matrix Q
-          of left singular vectors as follows:
-          = 'V':  Left singular vectors are computed;
-          = 'N':  No left singular vectors are computed.
-
-  JOBP    CHARACTER*1
-          Specifies whether the user wishes to compute the matrix P'
-          of right singular vectors as follows:
-          = 'V':  Right singular vectors are computed;
-          = 'N':  No right singular vectors are computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix A.
-          On exit, if JOBP = 'V', the leading N-by-N part of this
-          array contains the N-by-N orthogonal matrix  P'; otherwise
-          the N-by-N upper triangular part of A is used as internal
-          workspace. The strictly lower triangular part of A is set
-          internally to zero before the reduction to bidiagonal form
-          is performed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If JOBQ = 'V', the leading N-by-N part of this array
-          contains the orthogonal matrix Q.
-          If JOBQ = 'N', Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,  and when JOBQ = 'V',  LDQ &gt;= MAX(1,N).
-
-  SV      (output) DOUBLE PRECISION array, dimension (N)
-          The N singular values of the matrix A, sorted in
-          descending order.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          if INFO &gt; 0, DWORK(2:N) contains the unconverged
-          superdiagonal elements of an upper bidiagonal matrix B
-          whose diagonal is in SV (not necessarily sorted).
-          B satisfies A = Q*B*P', so it has the same singular
-          values as A, and singular vectors related by Q and P'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,5*N).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  the QR algorithm has failed to converge. In this
-                case INFO specifies how many superdiagonals did not
-                converge (see the description of DWORK).
-                This failure is not likely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine reduces A to bidiagonal form by means of elementary
-  reflectors and then uses the QR algorithm on the bidiagonal form.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDQ
-      PARAMETER        ( LDA = NMAX, LDQ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 5*NMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBQ, JOBP
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LDQ,NMAX),
-     $                 SV(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB03UD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOBQ, JOBP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Compute the singular values and vectors.
-         CALL MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
-     $                LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99995 ) ( SV(I), I = 1,N )
-            IF ( LSAME( JOBP, 'V' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-            END IF
-            IF ( LSAME( JOBQ, 'V' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03UD = ',I2)
-99997 FORMAT (' Singular values are ',I5)
-99996 FORMAT (/' The transpose of the right singular vectors matrix is '
-     $       )
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' The left singular vectors matrix is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03UD EXAMPLE PROGRAM DATA
-   4     V      V
-  -1.0  37.0 -12.0 -12.0
-   0.0 -10.0   0.0   4.0
-   0.0   0.0   7.0  -6.0
-   0.0   0.0   0.0  -9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03UD EXAMPLE PROGRAM RESULTS
-
- Singular values are 
-          42.0909  11.7764   5.4420   0.2336
-
- The transpose of the right singular vectors matrix is 
-           0.0230  -0.9084   0.2759   0.3132
-           0.0075  -0.1272   0.5312  -0.8376
-           0.0092   0.3978   0.8009   0.4476
-           0.9997   0.0182  -0.0177  -0.0050
-
- The left singular vectors matrix is 
-          -0.9671  -0.0882  -0.0501  -0.2335
-           0.2456  -0.1765  -0.4020  -0.8643
-           0.0012   0.7425   0.5367  -0.4008
-          -0.0670   0.6401  -0.7402   0.1945
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03VD">MB03VD</A></H2>
-<H3>
-Periodic Hessenberg form of a product of p matrices using orthogonal similarity transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a product of p real general matrices A = A_1*A_2*...*A_p
-  to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is
-  upper Hessenberg, and H_2, ..., H_p are upper triangular, by using
-  orthogonal similarity transformations on A,
-
-          Q_1' * A_1 * Q_2 = H_1,
-          Q_2' * A_2 * Q_3 = H_2,
-                 ...
-          Q_p' * A_p * Q_1 = H_p.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrices A_1, A_2, ..., A_p.
-          N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of matrices in the product A_1*A_2*...*A_p.
-          P &gt;= 1.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that all matrices A_j, j = 2, ..., p, are
-          already upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N, and A_1 is upper Hessenberg in rows and columns
-          1:ILO-1 and IHI+1:N, with A_1(ILO,ILO-1) = 0 (unless
-          ILO = 1), and A_1(IHI+1,IHI) = 0 (unless IHI = N).
-          If this is not the case, ILO and IHI should be set to 1
-          and N, respectively.
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA1,LDA2,P)
-          On entry, the leading N-by-N-by-P part of this array must
-          contain the matrices of factors to be reduced;
-          specifically, A(*,*,j) must contain A_j, j = 1, ..., p.
-          On exit, the leading N-by-N upper triangle and the first
-          subdiagonal of A(*,*,1) contain the upper Hessenberg
-          matrix H_1, and the elements below the first subdiagonal,
-          with the first column of the array TAU represent the
-          orthogonal matrix Q_1 as a product of elementary
-          reflectors. See FURTHER COMMENTS.
-          For j &gt; 1, the leading N-by-N upper triangle of A(*,*,j)
-          contains the upper triangular matrix H_j, and the elements
-          below the diagonal, with the j-th column of the array TAU
-          represent the orthogonal matrix Q_j as a product of
-          elementary reflectors. See FURTHER COMMENTS.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= max(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= max(1,N).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (LDTAU,P)
-          The leading N-1 elements in the j-th column contain the
-          scalar factors of the elementary reflectors used to form
-          the matrix Q_j, j = 1, ..., P. See FURTHER COMMENTS.
-
-  LDTAU   INTEGER
-          The leading dimension of the array TAU.
-          LDTAU &gt;= max(1,N-1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm consists in ihi-ilo major steps. In each such
-  step i, ilo &lt;= i &lt;= ihi-1, the subdiagonal elements in the i-th
-  column of A_j are annihilated using a Householder transformation
-  from the left, which is also applied to A_(j-1) from the right,
-  for j = p:-1:2. Then, the elements below the subdiagonal of the
-  i-th column of A_1 are annihilated, and the Householder
-  transformation is also applied to A_p from the right.
-  See FURTHER COMMENTS.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      Periodic Schur form and some matrix equations.
-      Proc. of the Symposium on the Mathematical Theory of Networks
-      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
-      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Each matrix Q_j is represented as a product of (ihi-ilo)
-  elementary reflectors,
-
-     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
-
-  Each H_j(i), i = ilo, ..., ihi-1, has the form
-
-     H_j(i) = I - tau_j * v_j * v_j',
-
-  where tau_j is a real scalar, and v_j is a real vector with
-  v_j(1:i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)
-  is stored on exit in A_j(i+2:ihi,i), and tau_j in TAU(i,j).
-
-  The contents of A_1 are illustrated by the following example
-  for n = 7, ilo = 2, and ihi = 6:
-
-  on entry                         on exit
-
-  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
-  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )
-  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
-  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
-
-  where a denotes an element of the original matrix A_1, h denotes
-  a modified element of the upper Hessenberg matrix H_1, and vi
-  denotes an element of the vector defining H_1(i).
-
-  The contents of A_j, j &gt; 1, are illustrated by the following
-  example for n = 7, ilo = 2, and ihi = 6:
-
-  on entry                         on exit
-
-  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
-  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )
-  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
-
-  where a denotes an element of the original matrix A_j, h denotes
-  a modified element of the upper triangular matrix H_j, and vi
-  denotes an element of the vector defining H_j(i). (The element
-  (1,2) in A_p is also unchanged for this example.)
-
-  Note that for P = 1, the LAPACK Library routine DGEHRD could be
-  more efficient on some computer architectures than this routine
-  (a BLAS 2 version).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA1, LDA2, LDQ1, LDQ2, LDTAU
-      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                   LDQ2 = NMAX, LDTAU = NMAX-1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SSQ
-      INTEGER          I, IHI, ILO, INFO, J, K, KP1, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
-     $                 DWORK(LDWORK), Q(LDQ1,LDQ2,PMAX),
-     $                 QTA(LDQ1,NMAX), TAU(LDTAU,PMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE, DLAPY2
-      EXTERNAL         DLANGE, DLAPY2
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, MB03VD, MB03VY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, ILO, IHI
-      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) P
-         ELSE
-*           Read matrices A_1, ..., A_p from the input file.
-            DO 10 K = 1, P
-               READ ( NIN, FMT = * )
-     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
-               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
-   10       CONTINUE
-*           Reduce to the periodic Hessenberg form.
-            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 30 K = 1, P
-                  CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Q(1,1,K),
-     $                         LDQ1 )
-                  IF ( N.GT.1 ) THEN
-                     IF ( N.GT.2 .AND. K.EQ.1 ) THEN
-                        CALL DLASET( 'L', N-2, N-2, ZERO, ZERO,
-     $                               A(3,1,K), LDA1 )
-                     ELSE IF ( K.GT.1 ) THEN
-                        CALL DLASET( 'L', N-1, N-1, ZERO, ZERO,
-     $                               A(2,1,K), LDA1 )
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 ) K
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( A(I,J,K), J = 1, N )
-   20             CONTINUE
-   30          CONTINUE
-*              Accumulate the transformations.
-               CALL MB03VY( N, P, ILO, IHI, Q, LDQ1, LDQ2, TAU, LDTAU,
-     $                      DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 50 K = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) K
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99994 )
-     $                        ( Q(I,J,K), J = 1, N )
-   40                CONTINUE
-   50             CONTINUE
-*                 Compute error.
-                  SSQ = ZERO
-                  DO 60 K = 1, P
-                     KP1 = K+1
-                     IF( KP1.GT.P ) KP1 = 1
-*                    Compute NORM (Z' * A * Z - Aout)
-                     CALL DGEMM( 'T', 'N', N, N, N, ONE, Q(1,1,K), LDQ1,
-     $                           AS(1,1,K), LDA1, ZERO, QTA, LDQ1 )
-                     CALL DGEMM( 'N', 'N', N, N, N, ONE, QTA, LDQ1,
-     $                           Q(1,1,KP1), LDQ1, -ONE, A(1,1,K),
-     $                           LDA1 )
-                     SSQ = DLAPY2( SSQ,
-     $                             DLANGE( 'Frobenius', N, N, A(1,1,K),
-     $                                     LDA1, DWORK ) )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 ) SSQ
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT (' MB03VD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from MB03VD = ', I2)
-99997 FORMAT (' INFO on exit from MB03VY = ', I2)
-99996 FORMAT (' Reduced matrices')
-99995 FORMAT (/' K = ', I5)
-99994 FORMAT (8F8.4)
-99993 FORMAT (/' Transformation matrices')
-99992 FORMAT (/,' NORM (Q''*A*Q - Aout) = ', 1PD12.5)
-99991 FORMAT (/, ' N is out of range.',/' N = ', I5)
-99990 FORMAT (/, ' P is out of range.',/' P = ', I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03VD EXAMPLE PROGRAM DATA
-4 2 1 4
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03VD EXAMPLE PROGRAM RESULTS
-
- Reduced matrices
-
- K =     1
- -2.3926  2.7042 -0.9598 -1.2335
-  4.1417 -1.7046  1.3001 -1.3120
-  0.0000 -1.6247 -0.2534  1.6453
-  0.0000  0.0000 -0.0169 -0.4451
-
- K =     2
- -2.5495  2.3402  4.7021  0.2329
-  0.0000  1.9725 -0.2483 -2.3493
-  0.0000  0.0000 -0.6290 -0.5975
-  0.0000  0.0000  0.0000 -0.4426
-
- Transformation matrices
-
- K =     1
-  1.0000  0.0000  0.0000  0.0000
-  0.0000 -0.7103  0.5504 -0.4388
-  0.0000 -0.4735 -0.8349 -0.2807
-  0.0000 -0.5209  0.0084  0.8536
-
- K =     2
- -0.5883  0.2947  0.7528 -0.0145
- -0.3922 -0.8070  0.0009 -0.4415
- -0.5883  0.4292 -0.6329 -0.2630
- -0.3922 -0.2788 -0.1809  0.8577
-
- NORM (Q'*A*Q - Aout) =  2.93760D-15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03VW.html b/doc/_build/html/_static/doc/MB03VW.html
deleted file mode 100644
index 9887916f..00000000
--- a/doc/_build/html/_static/doc/MB03VW.html
+++ /dev/null
@@ -1,233 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03VW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03VW">MB03VW</A></H2>
-<H3>
-Periodic Hessenberg form of a formal product of p matrices using orthogonal similarity transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the generalized matrix product
-
-               S(1)           S(2)                 S(K)
-       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
-
-  to upper Hessenberg-triangular form, where A is N-by-N-by-K and S
-  is the signature array with values 1 or -1. The H-th matrix of A
-  is reduced to upper Hessenberg form while the other matrices are
-  triangularized. Unblocked version.
-
-  If COMPQ = 'U' or COMPZ = 'I', then the orthogonal factors are
-  computed and stored in the array Q so that for S(I) = 1,
-                                                           T
-        Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
-                                                            T    (1)
-     =  Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out) ,
-
-  and for S(I) = -1,
-                                                           T
-        Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
-                                                            T    (2)
-     =  Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out) .
-
-  A partial generation of the orthogonal factors can be realized via
-  the array QIND.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03VW( COMPQ, QIND, TRIU, N, K, H, ILO, IHI, S, A,
-     $                   LDA1, LDA2, Q, LDQ1, LDQ2, IWORK, LIWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPQ, TRIU
-      INTEGER           H, IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
-     $                  LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*), QIND(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(LDWORK), Q(LDQ1,LDQ2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N': do not modify Q;
-          = 'U': modify (update) the array Q by the orthogonal
-                 transformations that are applied to the matrices in
-                 the array A to reduce them to periodic Hessenberg-
-                 triangular form;
-          = 'I': like COMPQ = 'U', except that each matrix in the
-                 array Q will be first initialized to the identity
-                 matrix;
-          = 'P': use the parameters as encoded in QIND.
-
-  QIND    INTEGER array, dimension (K)
-          If COMPQ = 'P', then this array describes the generation
-          of the orthogonal factors as follows:
-             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
-          modified by the transformations corresponding to the
-          i-th orthogonal factor in (1) and (2).
-             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
-          initialized to the identity and modified by the
-          transformations corresponding to the i-th orthogonal
-          factor in (1) and (2).
-             If QIND(I) = 0, then the transformations corresponding
-          to the i-th orthogonal factor in (1), (2) are not applied.
-
-  TRIU    CHARACTER*1
-          Indicates how many matrices are reduced to upper
-          triangular form in the first stage of the algorithm,
-          as follows
-          = 'N':  only matrices with negative signature;
-          = 'A':  all possible N - 1 matrices.
-          The first choice minimizes the computational costs of the
-          algorithm, whereas the second is more cache efficient and
-          therefore faster on modern architectures.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input)  INTEGER
-          The order of each factor in the array A.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of factors.  K &gt;= 0.
-
-  H       (input/output) INTEGER
-          On entry, if H is in the interval [1,K] then the H-th
-          factor of A will be transformed to upper Hessenberg form.
-          Otherwise the most efficient H is chosen.
-          On exit, H indicates the factor of A which is in upper
-          Hessenberg form.
-
-  ILO     (input)  INTEGER
-  IHI     (input)  INTEGER
-          It is assumed that each factor in A is already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
-          ILO = 1 and IHI  = 0, if N = 0.
-          If ILO = IHI, all factors are upper triangular.
-
-  S       (input)  INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array must
-          contain the factors of the general product to be reduced.
-          On exit, A(:,:,H) is overwritten by an upper Hessenberg
-          matrix and each A(:,:,I), for I not equal to H, is
-          overwritten by an upper triangular matrix.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= MAX(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension
-                         (LDQ1,LDQ2,K)
-          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
-          of this array must contain the initial orthogonal factors
-          as described in (1) and (2).
-          On entry, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part of this array must contain some
-          orthogonal factors as described by the parameters QIND.
-          If COMPQ = 'I', this array should not be set on entry.
-          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
-          N-by-N-by-K part of this array contains the modified
-          orthogonal factors as described in (1) and (2).
-          On exit, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part contain some modified orthogonal factors
-          as described by the parameters QIND.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ1    INTEGER
-          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
-
-  LDQ2    INTEGER
-          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if  INFO = -17,  IWORK(1)  returns the needed
-          value of LIWORK.
-
-  LIWORK  INTEGER
-          The length of the array IWORK.  LIWORK &gt;= MAX(1,3*K).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LIWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. 
-          LDWORK &gt;= 1, if MIN(N,K) = 0, or N = 1 or ILO = IHI;
-          LDWORK &gt;= M+MAX(IHI,N-ILO+1)), otherwise, where
-                    M = IHI-ILO+1.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03VY.html b/doc/_build/html/_static/doc/MB03VY.html
deleted file mode 100644
index 6cea7cec..00000000
--- a/doc/_build/html/_static/doc/MB03VY.html
+++ /dev/null
@@ -1,157 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03VY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03VY">MB03VY</A></H2>
-<H3>
-Orthogonal matrices for reduction to periodic Hessenberg form of a product of matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p,
-  which are defined as the product of ihi-ilo elementary reflectors
-  of order n, as returned by SLICOT Library routine MB03VD:
-
-     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03VY( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, LDWORK, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices Q_1, Q_2, ..., Q_p.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number p of transformation matrices.  P &gt;= 1.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          The values of the indices ilo and ihi, respectively, used
-          in the previous call of the SLICOT Library routine MB03VD.
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA1,LDA2,N)
-          On entry, the leading N-by-N strictly lower triangular
-          part of A(*,*,j) must contain the vectors which define the
-          elementary reflectors used for reducing A_j, as returned
-          by SLICOT Library routine MB03VD, j = 1, ..., p.
-          On exit, the leading N-by-N part of A(*,*,j) contains the
-          N-by-N orthogonal matrix Q_j, j = 1, ..., p.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= max(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= max(1,N).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (LDTAU,P)
-          The leading N-1 elements in the j-th column must contain
-          the scalar factors of the elementary reflectors used to
-          form the matrix Q_j, as returned by SLICOT Library routine
-          MB03VD.
-
-  LDTAU   INTEGER
-          The leading dimension of the array TAU.
-          LDTAU &gt;= max(1,N-1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Each matrix Q_j is generated as the product of the elementary
-  reflectors used for reducing A_j. Standard LAPACK routines for
-  Hessenberg and QR decompositions are used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      Periodic Schur form and some matrix equations.
-      Proc. of the Symposium on the Mathematical Theory of Networks
-      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
-      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03WA.html b/doc/_build/html/_static/doc/MB03WA.html
deleted file mode 100644
index 977ee3f8..00000000
--- a/doc/_build/html/_static/doc/MB03WA.html
+++ /dev/null
@@ -1,180 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03WA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03WA">MB03WA</A></H2>
-<H3>
-Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To swap adjacent diagonal blocks A11*B11 and A22*B22 of size
-  1-by-1 or 2-by-2 in an upper (quasi) triangular matrix product
-  A*B by an orthogonal equivalence transformation.
-
-  (A, B) must be in periodic real Schur canonical form (as returned
-  by SLICOT Library routine MB03XP), i.e., A is block upper
-  triangular with 1-by-1 and 2-by-2 diagonal blocks, and B is upper
-  triangular.
-
-  Optionally, the matrices Q and Z of generalized Schur vectors are
-  updated.
-
-      Q(in) * A(in) * Z(in)' = Q(out) * A(out) * Z(out)',
-      Z(in) * B(in) * Q(in)' = Z(out) * B(out) * Q(out)'.
-
-  This routine is largely based on the LAPACK routine DTGEX2
-  developed by Bo Kagstrom and Peter Poromaa.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03WA( WANTQ, WANTZ, N1, N2, A, LDA, B, LDB, Q, LDQ,
-     $                   Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            WANTQ, WANTZ
-      INTEGER            INFO, LDA, LDB, LDQ, LDZ, N1, N2
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WANTQ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = .TRUE. :  The matrix Q is updated;
-          = .FALSE.:  the matrix Q is not required.
-
-  WANTZ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = .TRUE. :  The matrix Z is updated;
-          = .FALSE.:  the matrix Z is not required.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The order of the first block A11*B11. N1 = 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of the second block A22*B22. N2 = 0, 1 or 2.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA,N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix A.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the matrix A of the reordered pair.
-
-  LDA     INTEGER
-          The leading dimension of the array A. LDA &gt;= MAX(1,N1+N2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix B.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the matrix B of the reordered pair.
-
-  LDB     INTEGER
-          The leading dimension of the array B. LDB &gt;= MAX(1,N1+N2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension
-          (LDQ,N1+N2)
-          On entry, if WANTQ = .TRUE., the leading
-          (N1+N2)-by-(N1+N2) part of this array must contain the
-          orthogonal matrix Q.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the updated matrix Q. Q will be a rotation
-          matrix for N1=N2=1.
-          This array is not referenced if WANTQ = .FALSE..
-
-  LDQ     INTEGER
-          The leading dimension of the array Q. LDQ &gt;= 1.
-          If WANTQ = .TRUE., LDQ &gt;= N1+N2.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension
-          (LDZ,N1+N2)
-          On entry, if WANTZ = .TRUE., the leading
-          (N1+N2)-by-(N1+N2) part of this array must contain the
-          orthogonal matrix Z.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the updated matrix Z. Z will be a rotation
-          matrix for N1=N2=1.
-          This array is not referenced if WANTZ = .FALSE..
-
-  LDZ     INTEGER
-          The leading dimension of the array Z. LDZ &gt;= 1.
-          If WANTZ = .TRUE., LDZ &gt;= N1+N2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  the transformed matrix (A, B) would be
-                too far from periodic Schur form; the blocks are
-                not swapped and (A,B) and (Q,Z) are unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In the current code both weak and strong stability tests are
-  performed. The user can omit the strong stability test by changing
-  the internal logical parameter WANDS to .FALSE.. See ref. [2] for
-  details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B.
-      A direct method for reordering eigenvalues in the generalized
-      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
-      et al (eds.), Linear Algebra for Large Scale and Real-Time
-      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
-
-  [2] Kagstrom, B., and Poromaa, P.
-      Computing eigenspaces with specified eigenvalues of a regular
-      matrix pair (A, B) and condition estimation: Theory,
-      algorithms and software, Numer. Algorithms, 1996, vol. 12,
-      pp. 369-407.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03WD.html b/doc/_build/html/_static/doc/MB03WD.html
deleted file mode 100644
index 0a047a30..00000000
--- a/doc/_build/html/_static/doc/MB03WD.html
+++ /dev/null
@@ -1,432 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03WD">MB03WD</A></H2>
-<H3>
-Schur decomposition and eigenvalues of a product of matrices in periodic Hessenberg form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Schur decomposition and the eigenvalues of a
-  product of matrices, H = H_1*H_2*...*H_p, with H_1 an upper
-  Hessenberg matrix and H_2, ..., H_p upper triangular matrices,
-  without evaluating the product. Specifically, the matrices Z_i
-  are computed, such that
-
-          Z_1' * H_1 * Z_2 = T_1,
-          Z_2' * H_2 * Z_3 = T_2,
-                 ...
-          Z_p' * H_p * Z_1 = T_p,
-
-  where T_1 is in real Schur form, and T_2, ..., T_p are upper
-  triangular.
-
-  The routine works primarily with the Hessenberg and triangular
-  submatrices in rows and columns ILO to IHI, but optionally applies
-  the transformations to all the rows and columns of the matrices
-  H_i, i = 1,...,p. The transformations can be optionally
-  accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ, IHIZ, H,
-     $                   LDH1, LDH2, Z, LDZ1, LDZ2, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPZ, JOB
-      INTEGER           IHI, IHIZ, ILO, ILOZ, INFO, LDH1, LDH2, LDWORK,
-     $                  LDZ1, LDZ2, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK( * ), H( LDH1, LDH2, * ), WI( * ),
-     $                  WR( * ), Z( LDZ1, LDZ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = 'E':  Compute the eigenvalues only;
-          = 'S':  Compute the factors T_1, ..., T_p of the full
-                  Schur form, T = T_1*T_2*...*T_p.
-
-  COMPZ   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrices Z_1, ..., Z_p, as follows:
-          = 'N':  The matrices Z_1, ..., Z_p are not required;
-          = 'I':  Z_i is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z_i is returned,
-                  i = 1, ..., p;
-          = 'V':  Z_i must contain an orthogonal matrix Q_i on
-                  entry, and the product Q_i*Z_i is returned,
-                  i = 1, ..., p.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of matrices in the product H_1*H_2*...*H_p.
-          P &gt;= 1.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that all matrices H_j, j = 2, ..., p, are
-          already upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N, and H_1 is upper quasi-triangular in rows and
-          columns 1:ILO-1 and IHI+1:N, with H_1(ILO,ILO-1) = 0
-          (unless ILO = 1), and H_1(IHI+1,IHI) = 0 (unless IHI = N).
-          The routine works primarily with the Hessenberg submatrix
-          in rows and columns ILO to IHI, but applies the
-          transformations to all the rows and columns of the
-          matrices H_i, i = 1,...,p, if JOB = 'S'.
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  ILOZ    (input) INTEGER
-  IHIZ    (input) INTEGER
-          Specify the rows of Z to which the transformations must be
-          applied if COMPZ = 'I' or COMPZ = 'V'.
-          1 &lt;= ILOZ &lt;= ILO; IHI &lt;= IHIZ &lt;= N.
-
-  H       (input/output) DOUBLE PRECISION array, dimension
-          (LDH1,LDH2,P)
-          On entry, the leading N-by-N part of H(*,*,1) must contain
-          the upper Hessenberg matrix H_1 and the leading N-by-N
-          part of H(*,*,j) for j &gt; 1 must contain the upper
-          triangular matrix H_j, j = 2, ..., p.
-          On exit, if JOB = 'S', the leading N-by-N part of H(*,*,1)
-          is upper quasi-triangular in rows and columns ILO:IHI,
-          with any 2-by-2 diagonal blocks corresponding to a pair of
-          complex conjugated eigenvalues, and the leading N-by-N
-          part of H(*,*,j) for j &gt; 1 contains the resulting upper
-          triangular matrix T_j.
-          If JOB = 'E', the contents of H are unspecified on exit.
-
-  LDH1    INTEGER
-          The first leading dimension of the array H.
-          LDH1 &gt;= max(1,N).
-
-  LDH2    INTEGER
-          The second leading dimension of the array H.
-          LDH2 &gt;= max(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension
-          (LDZ1,LDZ2,P)
-          On entry, if COMPZ = 'V', the leading N-by-N-by-P part of
-          this array must contain the current matrix Q of
-          transformations accumulated by SLICOT Library routine
-          MB03VY.
-          If COMPZ = 'I', Z need not be set on entry.
-          On exit, if COMPZ = 'V', or COMPZ = 'I', the leading
-          N-by-N-by-P part of this array contains the transformation
-          matrices which produced the Schur form; the
-          transformations are applied only to the submatrices
-          Z_j(ILOZ:IHIZ,ILO:IHI), j = 1, ..., P.
-          If COMPZ = 'N', Z is not referenced.
-
-  LDZ1    INTEGER
-          The first leading dimension of the array Z.
-          LDZ1 &gt;= 1,        if COMPZ = 'N';
-          LDZ1 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
-
-  LDZ2    INTEGER
-          The second leading dimension of the array Z.
-          LDZ2 &gt;= 1,        if COMPZ = 'N';
-          LDZ2 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The real and imaginary parts, respectively, of the
-          computed eigenvalues ILO to IHI are stored in the
-          corresponding elements of WR and WI. If two eigenvalues
-          are computed as a complex conjugate pair, they are stored
-          in consecutive elements of WR and WI, say the i-th and
-          (i+1)th, with WI(i) &gt; 0 and WI(i+1) &lt; 0. If JOB = 'S', the
-          eigenvalues are stored in the same order as on the
-          diagonal of the Schur form returned in H.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= IHI-ILO+P-1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, ILO &lt;= i &lt;= IHI, the QR algorithm
-                failed to compute all the eigenvalues ILO to IHI
-                in a total of 30*(IHI-ILO+1) iterations;
-                the elements i+1:IHI of WR and WI contain those
-                eigenvalues which have been successfully computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A refined version of the QR algorithm proposed in [1] and [2] is
-  used. The elements of the subdiagonal, diagonal, and the first
-  supradiagonal of current principal submatrix of H are computed
-  in the process.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      Periodic Schur form and some matrix equations.
-      Proc. of the Symposium on the Mathematical Theory of Networks
-      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
-      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Note that for P = 1, the LAPACK Library routine DHSEQR could be
-  more efficient on some computer architectures than this routine,
-  because DHSEQR uses a block multishift QR algorithm.
-  When P is large and JOB = 'S', it could be more efficient to
-  compute the product matrix H, and use the LAPACK Library routines.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03WD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA1, LDA2, LDTAU, LDZ1, LDZ2, LDZTA
-      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDTAU = NMAX-1,
-     $                   LDZ1 = NMAX, LDZ2 = NMAX, LDZTA = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, NMAX + PMAX - 2 ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SSQ
-      INTEGER          I, IHI, IHIZ, ILO, ILOZ, INFO, J, K, KP1, N, P
-      CHARACTER        COMPZ, JOB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
-     $                 DWORK(LDWORK), TAU(LDTAU,PMAX), WI(NMAX),
-     $                 WR(NMAX), Z(LDZ1,LDZ2,PMAX), ZTA(LDZTA,NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE, DLAPY2
-      LOGICAL          LSAME
-      EXTERNAL         DLANGE, DLAPY2, LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, MB03VD, MB03VY, MB03WD, MB03WX
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, ILO, IHI, ILOZ, IHIZ, JOB, COMPZ
-      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) P
-         ELSE
-*           Read matrices A_1, ..., A_p from the input file.
-            DO 10 K = 1, P
-               READ ( NIN, FMT = * )
-     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
-               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
-   10       CONTINUE
-*           Reduce to the periodic Hessenberg form.
-            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               IF ( LSAME( COMPZ, 'V' ) ) THEN
-                  DO 20 K = 1, P
-                     CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Z(1,1,K),
-     $                            LDZ1 )
-   20             CONTINUE
-*                 Accumulate the transformations.
-                  CALL MB03VY( N, P, ILO, IHI, Z, LDZ1, LDZ2, TAU,
-     $                         LDTAU, DWORK, LDWORK, INFO )
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99996 ) INFO
-                     STOP
-                  ELSE
-*                    Reduce to the periodic Schur form.
-                     CALL MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ,
-     $                            IHIZ, A, LDA1, LDA2, Z, LDZ1, LDZ2,
-     $                            WR, WI, DWORK, LDWORK, INFO )
-                     IF ( INFO.GT.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                        WRITE ( NOUT, FMT = 99991 )
-                        DO 30 I = MAX( ILO, INFO + 1 ), IHI
-                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
-   30                   CONTINUE
-                        STOP
-                     END IF
-                     IF ( INFO.LT.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-*                       Store the isolated eigenvalues.
-                        CALL MB03WX( ILO-1, P, A, LDA1, LDA2, WR, WI,
-     $                               INFO )
-                        IF ( IHI.LT.N )
-     $                     CALL MB03WX( N-IHI, P, A(IHI+1,IHI+1,1),
-     $                                  LDA1, LDA2, WR(IHI+1),
-     $                                  WI(IHI+1), INFO )
-                        WRITE ( NOUT, FMT = 99991 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 60 K = 1, P
-                           WRITE ( NOUT, FMT = 99994 ) K
-                           DO 50 I = 1, N
-                              WRITE ( NOUT, FMT = 99993 )
-     $                              ( A(I,J,K), J = 1, N )
-   50                      CONTINUE
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99992 )
-                        DO 80 K = 1, P
-                           WRITE ( NOUT, FMT = 99994 ) K
-                           DO 70 I = 1, N
-                              WRITE ( NOUT, FMT = 99993 )
-     $                              ( Z(I,J,K), J = 1, N )
-   70                      CONTINUE
-   80                   CONTINUE
-*                       Compute error.
-                        SSQ = ZERO
-                        DO 90 K = 1, P
-                           KP1 = K+1
-                           IF( KP1.GT.P ) KP1 = 1
-*                          Compute NORM (Z' * A * Z - Aout)
-                           CALL DGEMM( 'T', 'N', N, N, N, ONE, Z(1,1,K),
-     $                                 LDZ1, AS(1,1,K), LDA1, ZERO, ZTA,
-     $                                 LDZTA )
-                           CALL DGEMM( 'N', 'N', N, N, N, ONE, ZTA,
-     $                                 LDZTA, Z(1,1,KP1), LDZ1, -ONE,
-     $                                 A(1,1,K), LDA1 )
-                           SSQ = DLAPY2( SSQ,
-     $                                   DLANGE( 'Frobenius', N, N,
-     $                                           A(1,1,K), LDA1,
-     $                                           DWORK ) )
-   90                   CONTINUE
-                        WRITE ( NOUT, FMT = 99989 ) SSQ
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT (' MB03WD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from MB03WD = ', I2)
-99997 FORMAT (' INFO on exit from MB03VD = ', I2)
-99996 FORMAT (' INFO on exit from MB03VY = ', I2)
-99995 FORMAT (/' Reduced matrices')
-99994 FORMAT (/' K = ', I5)
-99993 FORMAT (8F8.4)
-99992 FORMAT (/' Transformation matrices')
-99991 FORMAT ( ' Computed eigenvalues'/)
-99990 FORMAT (4X,'( ', F17.6,' ,', F17.6,' )')
-99989 FORMAT (/,' NORM (Z''*A*Z - Aout) = ', 1PD12.5)
-99988 FORMAT (/, ' N is out of range.',/' N = ', I5)
-99987 FORMAT (/, ' P is out of range.',/' P = ', I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03WD EXAMPLE PROGRAM DATA
-4 2 1 4 1 4 S V
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03WD EXAMPLE PROGRAM RESULTS
-
- Computed eigenvalues
-
-    (          6.449861 ,         7.817717 )
-    (          6.449861 ,        -7.817717 )
-    (          0.091315 ,         0.000000 )
-    (          0.208964 ,         0.000000 )
-
- Reduced matrices
-
- K =     1
-  2.2112  4.3718 -2.3362  0.8907
- -0.9179  2.7688 -0.6570 -2.2426
-  0.0000  0.0000  0.3022  0.1932
-  0.0000  0.0000  0.0000 -0.4571
-
- K =     2
-  2.9169  3.4539  2.2016  1.2367
-  0.0000  3.4745  1.0209 -2.0720
-  0.0000  0.0000  0.3022 -0.1932
-  0.0000  0.0000  0.0000 -0.4571
-
- Transformation matrices
-
- K =     1
-  0.3493  0.6751 -0.6490  0.0327
-  0.7483 -0.4863 -0.1249 -0.4336
-  0.2939  0.5504  0.7148 -0.3158
-  0.4813 -0.0700  0.2286  0.8433
-
- K =     2
-  0.2372  0.7221  0.6490  0.0327
-  0.8163 -0.3608  0.1249 -0.4336
-  0.2025  0.5902 -0.7148 -0.3158
-  0.4863  0.0076 -0.2286  0.8433
-
- NORM (Z'*A*Z - Aout) =  7.18432D-15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03WX.html b/doc/_build/html/_static/doc/MB03WX.html
deleted file mode 100644
index 3df87c44..00000000
--- a/doc/_build/html/_static/doc/MB03WX.html
+++ /dev/null
@@ -1,103 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03WX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03WX">MB03WX</A></H2>
-<H3>
-Eigenvalues of a product of matrices in periodic Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a product of matrices,
-  T = T_1*T_2*...*T_p, where T_1 is an upper quasi-triangular
-  matrix and T_2, ..., T_p are upper triangular matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03WX( N, P, T, LDT1, LDT2, WR, WI, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDT1, LDT2, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION T( LDT1, LDT2, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix T.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of matrices in the product T_1*T_2*...*T_p.
-          P &gt;= 1.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT1,LDT2,P)
-          The leading N-by-N part of T(*,*,1) must contain the upper
-          quasi-triangular matrix T_1 and the leading N-by-N part of
-          T(*,*,j) for j &gt; 1 must contain the upper-triangular
-          matrix T_j, j = 2, ..., p.
-          The elements below the subdiagonal of T(*,*,1) and below
-          the diagonal of T(*,*,j), j = 2, ..., p, are not
-          referenced.
-
-  LDT1    INTEGER
-          The first leading dimension of the array T.
-          LDT1 &gt;= max(1,N).
-
-  LDT2    INTEGER
-          The second leading dimension of the array T.
-          LDT2 &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of T. The eigenvalues are stored in the same
-          order as on the diagonal of T_1. If T(i:i+1,i:i+1,1) is a
-          2-by-2 diagonal block with complex conjugated eigenvalues
-          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03XD.html b/doc/_build/html/_static/doc/MB03XD.html
deleted file mode 100644
index caa94ae2..00000000
--- a/doc/_build/html/_static/doc/MB03XD.html
+++ /dev/null
@@ -1,524 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XD">MB03XD</A></H2>
-<H3>
-Computing the eigenvalues of a Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a Hamiltonian matrix,
-
-                [  A   G  ]         T        T
-          H  =  [       T ],   G = G,   Q = Q,                  (1)
-                [  Q  -A  ]
-
-  where A, G and Q are real n-by-n matrices.
-
-  Due to the structure of H all eigenvalues appear in pairs
-  (lambda,-lambda). This routine computes the eigenvalues of H
-  using an algorithm based on the symplectic URV and the periodic
-  Schur decompositions as described in [1],
-
-        T       [  T   G  ]
-       U H V =  [       T ],                                    (2)
-                [  0   S  ]
-
-  where U and V are 2n-by-2n orthogonal symplectic matrices,
-  S is in real Schur form and T is upper triangular.
-
-  The algorithm is backward stable and preserves the eigenvalue
-  pairings in finite precision arithmetic.
-
-  Optionally, a symplectic balancing transformation to improve the
-  conditioning of eigenvalues is computed (see MB04DD). In this
-  case, the matrix H in decomposition (2) must be replaced by the
-  balanced matrix.
-
-  The SLICOT Library routine MB03ZD can be used to compute invariant
-  subspaces of H from the output of this routine.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
-     $                   T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
-     $                   WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          BALANC, JOB, JOBU, JOBV
-      INTEGER            ILO, INFO, LDA, LDQG, LDT, LDU1, LDU2, LDV1,
-     $                   LDV2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*), SCALE(*),
-     $                   T(LDT,*), U1(LDU1,*), U2(LDU2,*), V1(LDV1,*),
-     $                   V2(LDV2,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how H should be diagonally scaled and/or
-          permuted to reduce its norm.
-          = 'N': Do not diagonally scale or permute;
-          = 'P': Perform symplectic permutations to make the matrix
-                 closer to Hamiltonian Schur form. Do not diagonally
-                 scale;
-          = 'S': Diagonally scale the matrix, i.e., replace A, G and
-                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
-                 D is a diagonal matrix chosen to make the rows and
-                 columns of H more equal in norm. Do not permute;
-          = 'B': Both diagonally scale and permute A, G and Q.
-          Permuting does not change the norm of H, but scaling does.
-
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          decomposition (2) or the eigenvalues only, as follows:
-          = 'E': compute the eigenvalues only;
-          = 'S': compute matrices T and S of (2);
-          = 'G': compute matrices T, S and G of (2).
-
-  JOBU    CHARACTER*1
-          Indicates whether or not the user wishes to compute the
-          orthogonal symplectic matrix U of (2) as follows:
-          = 'N': the matrix U is not computed;
-          = 'U': the matrix U is computed.
-
-  JOBV    CHARACTER*1
-          Indicates whether or not the user wishes to compute the
-          orthogonal symplectic matrix V of (2) as follows:
-          = 'N': the matrix V is not computed;
-          = 'V': the matrix V is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, this array is overwritten. If JOB = 'S' or
-          JOB = 'G', the leading N-by-N part of this array contains
-          the matrix S in real Schur form of decomposition (2).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G.
-          On exit, this array is overwritten. If JOB = 'G', the
-          leading N-by-N+1 part of this array contains in columns
-          2:N+1 the matrix G of decomposition (2).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= max(1,N).
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          On exit, if JOB = 'S' or JOB = 'G', the leading N-by-N
-          part of this array contains the upper triangular matrix T
-          of the decomposition (2). Otherwise, this array is used as
-          workspace.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the (1,1) block of the orthogonal
-          symplectic matrix U of decomposition (2).
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= 1.
-          LDU1 &gt;= N,    if JOBU = 'U'.
-
-  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the (2,1) block of the orthogonal
-          symplectic matrix U of decomposition (2).
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= 1.
-          LDU2 &gt;= N,    if JOBU = 'U'.
-
-  V1      (output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On exit, if JOBV = 'V', the leading N-by-N part of this
-          array contains the (1,1) block of the orthogonal
-          symplectic matrix V of decomposition (2).
-
-  LDV1    INTEGER
-          The leading dimension of the array V1.  LDV1 &gt;= 1.
-          LDV1 &gt;= N,    if JOBV = 'V'.
-
-  V2      (output) DOUBLE PRECISION array, dimension (LDV2,N)
-          On exit, if JOBV = 'V', the leading N-by-N part of this
-          array contains the (2,1) block of the orthogonal
-          symplectic matrix V of decomposition (2).
-
-  LDV2    INTEGER
-          The leading dimension of the array V2.  LDV2 &gt;= 1.
-          LDV2 &gt;= N,    if JOBV = 'V'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          On exit, the leading N elements of WR and WI contain the
-          real and imaginary parts, respectively, of N eigenvalues
-          that have nonnegative imaginary part. Their complex
-          conjugate eigenvalues are not stored. If imaginary parts
-          are zero (i.e., for real eigenvalues), only positive
-          eigenvalues are stored.
-
-  ILO     (output) INTEGER
-          ILO is an integer value determined when H was balanced.
-          The balanced A(i,j) = 0 if I &gt; J and J = 1,...,ILO-1.
-          The balanced Q(i,j) = 0 if J = 1,...,ILO-1 or
-          I = 1,...,ILO-1.
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
-          array contain details of the permutation and/or scaling
-          factors applied when balancing H, see MB04DD.
-          This array is not referenced if BALANC = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
-          scaled (if BALANC = 'S' or 'B') Hamiltonian matrix.
-          On exit, if  INFO = -25,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  (input) INTEGER
-          The dimension of the array DWORK. LDWORK &gt;= max( 2, 8*N ).
-          Moreover:
-          If JOB = 'E' or 'S' and JOBU = 'N' and JOBV = 'N',
-             LDWORK &gt;= 7*N+N*N.
-          If JOB = 'G' and JOBU = 'N' and JOBV = 'N',
-             LDWORK &gt;= max( 7*N+N*N, 2*N+3*N*N ).
-          If JOB = 'G' and JOBU = 'U' and JOBV = 'N',
-             LDWORK &gt;= 7*N+2*N*N.
-          If JOB = 'G' and JOBU = 'N' and JOBV = 'V',
-             LDWORK &gt;= 7*N+2*N*N.
-          If JOB = 'G' and JOBU = 'U' and JOBV = 'V',
-             LDWORK &gt;= 7*N+N*N.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO     (output) INTEGER
-           = 0:  successful exit;
-           &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-           &gt; 0:  if INFO = i, the periodic QR algorithm failed to
-                 compute all the eigenvalues, elements i+1:N of WR
-                 and WI contain eigenvalues which have converged.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils.
-      Numer. Math., Vol. 78(3), pp. 329-358, 1998.
-
-  [2] Benner, P., Mehrmann, V., and Xu, H.
-      A new method for computing the stable invariant subspace of a
-      real Hamiltonian matrix,  J. Comput. Appl. Math., vol. 86,
-      pp. 17-43, 1997.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03XD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG, LDRES, LDT, LDU1, LDU2, LDV1, LDV2,
-     $                 LDWORK
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDRES = NMAX,
-     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDV1 = NMAX, LDV2 = NMAX,
-     $                   LDWORK = 3*NMAX*NMAX + 7*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      BALANC, JOB, JOBU, JOBV
-      INTEGER          I, ILO, INFO, J, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), QG(LDQG, NMAX+1),
-     $                 RES(LDRES,3*NMAX+1), SCALE(NMAX), T(LDT,NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), V1(LDV1,NMAX),
-     $                 V2(LDV2, NMAX), WI(NMAX), WR(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
-      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, MB03XD, MB04DD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU, JOBV
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
-         INFO = 0
-         CALL MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
-     $                T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
-     $                WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
-20          CONTINUE
-            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) ( A(I,J), J = 1,N )
-30             CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 40  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) ( T(I,J), J = 1,N )
-40             CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99993 )
-               DO 50  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) ( QG(I,J+1), J = 1,N )
-50             CONTINUE
-            END IF
-C
-            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ).AND.
-     $           LSAME( JOBV, 'V' ) ) THEN
-               CALL MB04DD( BALANC, N, RES(1,N+1), LDRES, RES(1,2*N+1),
-     $                      LDRES, I, DWORK, INFO )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     RES(1,N+1), LDRES, V1, LDV1, ZERO, RES,
-     $                     LDRES )
-               CALL DSYMM ( 'Left', 'Upper', N, N, -ONE, RES(1,2*N+2),
-     $                      LDRES, V2, LDV2, ONE, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                     -ONE, U1, LDU1, T, LDT, ONE, RES, LDRES )
-               TEMP = DLANGE( 'Frobenius', N, N, RES, LDRES, DWORK )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     RES(1,N+1), LDRES, V2, LDV2, ZERO, RES,
-     $                     LDRES )
-               CALL DSYMM( 'Left', 'Upper', N, N, ONE, RES(1,2*N+2),
-     $                     LDRES, V1, LDV1, ONE, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                     -ONE, U1, LDU1, QG(1,2), LDQG, ONE, RES,
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                     -ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
-     $                                      LDRES, DWORK ) )
-               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
-     $                     LDRES, V1, LDV1, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE,
-     $                     RES(1,N+1), LDRES, V2, LDV2, ONE, RES,
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, T, LDT, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
-     $                                      LDRES, DWORK ) )
-
-
-               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
-     $                     LDRES, V2, LDV2, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, -ONE,
-     $                     RES(1,N+1), LDRES, V1, LDV1, ONE, RES,
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, QG(1,2), LDQG, ONE, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
-     $                                      LDRES, DWORK ) )
-               WRITE ( NOUT, FMT = 99987 ) TEMP
-            END IF
-C
-            IF ( LSAME( JOBU, 'U' ) ) THEN
-               WRITE ( NOUT, FMT = 99992 )
-               DO 60  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-60             CONTINUE
-               DO 70  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-70             CONTINUE
-               WRITE ( NOUT, FMT = 99986 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-            END IF
-            IF ( LSAME( JOBV, 'V' ) ) THEN
-               WRITE ( NOUT, FMT = 99991 )
-               DO 80  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( V1(I,J), J = 1,N ), ( V2(I,J), J = 1,N )
-80             CONTINUE
-               DO 90  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( -V2(I,J), J = 1,N ), ( V1(I,J), J = 1,N )
-90             CONTINUE
-               WRITE ( NOUT, FMT = 99985 ) MA02JD( .FALSE., .FALSE., N,
-     $                 V1, LDV1, V2, LDV2, RES, LDRES )
-            END IF
-            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99989 )
-               DO 100  I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
-100            CONTINUE
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03XD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03XD = ',I2)
-99997 FORMAT (' The eigenvalues are',//'   i',6X,
-     $        'WR(i)',6X,'WI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' The matrix S of the reduced matrix is')
-99994 FORMAT (/' The matrix T of the reduced matrix is')
-99993 FORMAT (/' The matrix G of the reduced matrix is')
-99992 FORMAT (/' The orthogonal symplectic factor U is')
-99991 FORMAT (/' The orthogonal symplectic factor V is')
-99990 FORMAT (20(1X,F19.16))
-99989 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
-     $        'SCALE(i)',/)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
-99986 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
-99985 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03XD EXAMPLE PROGRAM DATA
-	5	N	G	U	V
-  3.7588548168313685e-001  9.1995720669587144e-001  1.9389317998466821e-001  5.4878212553858818e-001  6.2731478808399666e-001
-  9.8764628987858052e-003  8.4472150190817474e-001  9.0481233416635698e-001  9.3158335257969060e-001  6.9908013774533750e-001
-  4.1985780631021896e-001  3.6775288246828447e-001  5.6920574967174709e-001  3.3519743020639464e-001  3.9718395379261456e-001
-  7.5366962581358721e-001  6.2080133182114383e-001  6.3178992922175603e-001  6.5553105501201447e-001  4.1362889533818031e-001
-  7.9387177473231862e-001  7.3127726446634478e-001  2.3441295540825388e-001  3.9190420688900335e-001  6.5521294635567051e-001
-  1.8015558545989005e-001  4.1879254941592853e-001  2.7203760737317784e-001  2.8147214090719214e-001  1.7731904815580199e-001  3.4718672159409536e-001
-  2.7989257702981651e-001  3.5042861661866559e-001  2.5565572408444881e-001  4.3977750345993827e-001  2.8855026075967616e-001  2.1496327083014577e-001
-  1.7341073886969158e-001  3.9913855375815932e-001  4.0151317011596516e-001  4.0331887464437133e-001  2.6723538667317948e-001  3.7110275606849241e-001
-  3.7832182695699140e-001  3.3812641389556752e-001  8.4360396433341395e-002  4.3672540277019672e-001  7.0022228267365608e-002  3.8210230186291916e-001
-  1.9548216143135175e-001  2.9055490787446736e-001  4.7670819669167425e-001  1.4636498713707141e-001  2.7670398401519275e-001  2.9431082727794898e-002
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03XD EXAMPLE PROGRAM RESULTS
-
- The eigenvalues are
-
-   i      WR(i)      WI(i)
-
-   1     3.1941     0.0000
-   2     0.1350     0.3179
-   3    -0.1350     0.3179
-   4     0.0595     0.2793
-   5    -0.0595     0.2793
-
- The matrix S of the reduced matrix is
- -3.1844761777714723  0.1612357243439330 -0.0628592203751083  0.2449004200921966  0.1974400149992633
-  0.0000000000000000 -0.1510667773167795  0.4260444411622876 -0.1775026035208666  0.3447278421198404
-  0.0000000000000000 -0.1386140422054281 -0.3006779624777419  0.2944143257134117  0.3456440339120381
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740589  0.0933189808067083
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359630  0.2004347508746724
-
- The matrix T of the reduced matrix is
-  3.2038208121776366  0.1805955192510636  0.2466389119377562 -0.2539149302433404 -0.0359238844381174
-  0.0000000000000000 -0.7196686433290822  0.0000000000000000  0.2428659121580382 -0.0594190100670709
-  0.0000000000000000  0.0000000000000000 -0.1891741194498124 -0.3309578443491325 -0.0303520731950498
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961496  0.0000000000000000
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
-
- The matrix G of the reduced matrix is
- -0.0370982242678458  0.0917788436945730 -0.0560402416315236  0.1345152517579191  0.0256668227276665
-  0.0652183678916926 -0.0700457231988328  0.0350041175858816 -0.2233868768749277 -0.1171980260782820
- -0.0626428681377074  0.2327575351902838 -0.1251515732208133 -0.0177816046663209  0.3696921118421109
-  0.0746042309265569 -0.0828007611045243  0.0217427473546003 -0.1157775118548850 -0.3161183681200607
-  0.1374372236164838  0.1002727885506978  0.4021556774753987 -0.0431072263235625  0.1067394572547804
-
- Residual: || H*V - U*R ||_F = .38E-14
-
- The orthogonal symplectic factor U is
-  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499 -0.1795922007470744  0.1908329820840935  0.0868799433942041  0.3114741142062469 -0.2579907627915116
-  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881 -0.2447897730222852 -0.1028403314750053 -0.1157840914576285 -0.1873268885694422  0.1700708002861556
-  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478 -0.2243335325285329  0.3180998613802498  0.3315380214794935  0.1977859924739816  0.5072476567310036
-  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014 -0.2128397588651423 -0.2740560593051884  0.1941418870268831 -0.3096684962457407 -0.0581576193198820
-  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056 -0.2002027567371933 -0.0040094115506845 -0.3979373387545256  0.1520881534833996 -0.2010804514091296
-  0.1795922007470744 -0.1908329820840935 -0.0868799433942041 -0.3114741142062469  0.2579907627915116  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499
-  0.2447897730222852  0.1028403314750053  0.1157840914576285  0.1873268885694422 -0.1700708002861556  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881
-  0.2243335325285329 -0.3180998613802498 -0.3315380214794935 -0.1977859924739816 -0.5072476567310036  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478
-  0.2128397588651423  0.2740560593051884 -0.1941418870268831  0.3096684962457407  0.0581576193198820  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014
-  0.2002027567371933  0.0040094115506845  0.3979373387545256 -0.1520881534833996  0.2010804514091296  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056
-
- Orthogonality of U: || U^T U - I ||_F = .28E-14
-
- The orthogonal symplectic factor V is
-  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
-  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576  0.0299719306696789 -0.2322624725320732 -0.0280846899680330 -0.3044255686880015 -0.1077641482535463
-  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027 -0.0069083614679702  0.3351358347080169 -0.4922707032978909  0.4293545450291777  0.4372821269061838
-  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154  0.0167847133528844  0.2843629278945263  0.5958979805231206  0.3097336757510830 -0.2086733033047175
-  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708  0.0248567764822071 -0.2810759958040465 -0.1653113624869875 -0.3528780198620394 -0.0254898556119200
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695
- -0.0299719306696789  0.2322624725320732  0.0280846899680330  0.3044255686880015  0.1077641482535463  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576
-  0.0069083614679702 -0.3351358347080169  0.4922707032978909 -0.4293545450291777 -0.4372821269061838  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027
- -0.0167847133528844 -0.2843629278945263 -0.5958979805231206 -0.3097336757510830  0.2086733033047175  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154
- -0.0248567764822071  0.2810759958040465  0.1653113624869875  0.3528780198620394  0.0254898556119200  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708
-
- Orthogonality of V: || V^T V - I ||_F = .25E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03XP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XP">MB03XP</A></H2>
-<H3>
-Computing periodic Schur decomposition and eigenvalues of a matrix product A B, with A upper Hessenberg and B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the periodic Schur decomposition and the eigenvalues of
-  a product of matrices, H = A*B, with A upper Hessenberg and B
-  upper triangular without evaluating any part of the product.
-  Specifically, the matrices Q and Z are computed, so that
-
-       Q' * A * Z = S,    Z' * B * Q = T
-
-  where S is in real Schur form, and T is upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XP( JOB, COMPQ, COMPZ, N, ILO, IHI, A, LDA, B, LDB,
-     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOB
-      INTEGER            IHI, ILO, INFO, LDA, LDB, LDQ, LDWORK, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = 'E':  Compute the eigenvalues only;
-          = 'S':  compute the factors S and T of the full
-                  Schur form.
-
-  COMPQ   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = 'N':  The matrix Q is not required;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'V':  Q must contain an orthogonal matrix U on entry,
-                  and the product U*Q is returned.
-
-  COMPZ   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = 'N':  The matrix Z is not required;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'V':  Z must contain an orthogonal matrix U on entry,
-                  and the product U*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B. N &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that the matrices A and B are already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          The routine works primarily with the submatrices in rows
-          and columns ILO to IHI, but applies the transformations to
-          all the rows and columns of the matrices A and B, if
-          JOB = 'S'.
-          1 &lt;= ILO &lt;= max(1,N+1); min(ILO,N) &lt;= IHI &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array A must
-          contain the upper Hessenberg matrix A.
-          On exit, if JOB = 'S', the leading N-by-N part of this
-          array is upper quasi-triangular with any 2-by-2 diagonal
-          blocks corresponding to a pair of complex conjugated
-          eigenvalues.
-          If JOB = 'E', the diagonal elements and 2-by-2 diagonal
-          blocks of A will be correct, but the remaining parts of A
-          are unspecified on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array B must
-          contain the upper triangular matrix B.
-          On exit, if JOB = 'S', the leading N-by-N part of this
-          array contains the transformed upper triangular matrix.
-          2-by-2 blocks in B corresponding to 2-by-2 blocks in A
-          will be reduced to positive diagonal form. (I.e., if
-          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
-          and B(j+1,j+1) will be positive.)
-          If JOB = 'E', the elements corresponding to diagonal
-          elements and 2-by-2 diagonal blocks in A will be correct,
-          but the remaining parts of B are unspecified on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if COMPQ = 'V', then the leading N-by-N part of
-          this array must contain a matrix Q which is assumed to be
-          equal to the unit matrix except for the submatrix
-          Q(ILO:IHI,ILO:IHI).
-          If COMPQ = 'I', Q need not be set on entry.
-          On exit, if COMPQ = 'V' or COMPQ = 'I' the leading N-by-N
-          part of this array contains the transformation matrix
-          which produced the Schur form.
-          If COMPQ = 'N', Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= 1.
-          If COMPQ &lt;&gt; 'N', LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if COMPZ = 'V', then the leading N-by-N part of
-          this array must contain a matrix Z which is assumed to be
-          equal to the unit matrix except for the submatrix
-          Z(ILO:IHI,ILO:IHI).
-          If COMPZ = 'I', Z need not be set on entry.
-          On exit, if COMPZ = 'V' or COMPZ = 'I' the leading N-by-N
-          part of this array contains the transformation matrix
-          which produced the Schur form.
-          If COMPZ = 'N', Z is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= 1.
-          If COMPZ &lt;&gt; 'N', LDZ &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The i-th (1 &lt;= i &lt;= N) computed eigenvalue is given by
-          BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
-          eigenvalues are computed as a complex conjugate pair,
-          they are stored in consecutive elements of ALPHAR, ALPHAI
-          and BETA. If JOB = 'S', the eigenvalues are stored in the
-          same order as on the diagonales of the Schur forms of A
-          and B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then MB03XP failed to compute the Schur
-                form in a total of 30*(IHI-ILO+1) iterations;
-                elements 1:ilo-1 and i+1:n of ALPHAR, ALPHAI and
-                BETA contain successfully computed eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm is a multi-shift version of the periodic
-  QR algorithm described in [1,3] with some minor modifications
-  proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
-      The periodic Schur decomposition: Algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. Proc. of the IFAC Workshop on Periodic Control
-      Systems, pp. 187-192, 2001.
-
-  [3] Van Loan, C.
-      Generalized Singular Values with Algorithms and Applications.
-      Ph. D. Thesis, University of Michigan, 1973.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03XP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 200 )
-      INTEGER          LDA, LDB, LDQ, LDRES, LDZ, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDQ = NMAX,
-     $                   LDRES = NMAX, LDWORK = NMAX, LDZ = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, IHI, ILO, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
-     $                 Q(LDQ,NMAX), RES(LDRES,3*NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE
-      EXTERNAL         DLANGE
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, MB03XP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, ILO, IHI
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, B, LDB, RES(1,2*N+1), LDRES )
-         CALL MB03XP( 'S', 'I', 'I', N, ILO, IHI, A, LDA, B, LDB, Q,
-     $                LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK, LDWORK,
-     $                INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( A(I,J), J = 1,N )
-10          CONTINUE
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                  RES(1,N+1), LDRES, Z, LDZ, ZERO, RES, LDRES )
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
-     $                  Q, LDQ, A, LDA, ONE, RES, LDRES )
-            WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99995 )
-            DO 20  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( B(I,J), J = 1,N )
-20          CONTINUE
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                  RES(1,2*N+1), LDRES, Q, LDQ, ZERO, RES, LDRES )
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
-     $                  Z, LDZ, B, LDB, ONE, RES, LDRES )
-            WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99994 )
-            DO 30  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( Q(I,J), J = 1,N )
-30          CONTINUE
-            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Q,
-     $                  LDQ, Q, LDQ, ONE, RES, LDRES )
-            DO 40  I = 1, N
-               RES(I,I) = RES(I,I) - ONE
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99987 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99993 )
-            DO 50  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( Z(I,J), J = 1,N )
-50          CONTINUE
-            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Z,
-     $                  LDZ, Z, LDZ, ONE, RES, LDRES )
-            DO 60 I = 1, N
-               RES(I,I) = RES(I,I) - ONE
-60          CONTINUE
-            WRITE ( NOUT, FMT = 99986 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99992 )
-            DO 70  I = 1, N
-               WRITE ( NOUT, FMT = 99991 )
-     $                 ALPHAR(I), ALPHAI(I), BETA(I)
-70          CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03XP EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03XP = ',I2)
-99996 FORMAT (' The reduced matrix A is ')
-99995 FORMAT (/' The reduced matrix B is ')
-99994 FORMAT (/' The orthogonal factor Q is ')
-99993 FORMAT (/' The orthogonal factor Z is ')
-99992 FORMAT (/4X,'ALPHAR',4X,'ALPHAI',4X,'BETA')
-99991 FORMAT (1000(1X,F9.4))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' Residual: || A*Z - Q*S ||_F = ',G7.2)
-99988 FORMAT (/' Residual: || B*Q - Z*T ||_F = ',G7.2)
-99987 FORMAT (/' Orthogonality of Q: || Q''*Q - I ||_F = ',G7.2)
-99986 FORMAT (/' Orthogonality of Z: || Z''*Z - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03XP EXAMPLE PROGRAM DATA
-        8       1       8
-    0.9708   -1.1156   -0.0884   -0.2684    0.2152    0.0402    0.0333    0.5141
-   -1.6142    2.8635    1.0420   -0.2295   -0.3560    0.4885    0.1026   -0.0164
-         0    1.1138    0.3509   -0.0963    0.0875    0.2158    0.2444   -0.2838
-         0         0   -0.5975    0.1021   -0.1026   -0.0062   -0.2646   -0.0745
-         0         0         0    0.6181    0.1986    0.3612   -0.1750    0.3332
-         0         0         0         0   -0.7387   -0.5201    0.0713    0.0501
-         0         0         0         0         0   -0.2677   -0.4918   -0.2838
-         0         0         0         0         0         0    0.3011    0.3389
-    0.9084    0.1739    0.5915    0.8729    0.8188    0.1911    0.4122    0.5527
-         0    0.1708    0.1197    0.2379    0.4302    0.4225    0.9016    0.4001
-         0         0    0.0381    0.6458    0.8903    0.8560    0.0056    0.1988
-         0         0         0    0.9669    0.7349    0.4902    0.2974    0.6252
-         0         0         0         0    0.6873    0.8159    0.0492    0.7334
-         0         0         0         0         0    0.4608    0.6932    0.3759
-         0         0         0         0         0         0    0.6501    0.0099
-         0         0         0         0         0         0         0    0.4199
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03XP EXAMPLE PROGRAM RESULTS
-
- The reduced matrix A is 
-   -0.6290   -0.1397   -0.0509    0.1603   -0.3248    0.2381    0.0694    0.0103
-    1.5112   -3.4273   -0.4485   -0.4357   -0.3456    0.4619    0.5998    0.5654
-    0.0000    0.0000    0.0547   -0.4360    0.1714   -0.2103   -0.0900   -0.4011
-    0.0000    0.0000    0.6623    0.2038    0.2796   -0.2629    0.3837    0.2382
-    0.0000    0.0000    0.0000    0.0000   -0.6315    0.2071   -0.0174   -0.3538
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.5850   -0.1813    0.2435
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000   -0.7884    0.1535
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.2832
-
- Residual: || A*Z - Q*S ||_F = .60E-14
-
- The reduced matrix B is 
-   -0.9231    0.0000   -0.9834    0.1805    0.4428    0.3655   -0.4300    0.8498
-    0.0000   -0.1837   -0.1873    0.0681    0.8412   -0.0556    0.0538    0.6113
-    0.0000    0.0000   -1.8997    0.0000    0.5651   -0.2785    0.2882    1.0458
-    0.0000    0.0000    0.0000   -0.2602    0.3527   -0.0020   -0.3396    0.2739
-    0.0000    0.0000    0.0000    0.0000    0.8521   -0.0164    0.2115    0.5446
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0283   -0.5128    0.0153
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.4153    0.4587
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.5894
-
- Residual: || B*Q - Z*T ||_F = .55E-14
-
- The orthogonal factor Q is 
-   -0.5333    0.3661   -0.1179    0.0264    0.0026    0.7527    0.0018    0.0189
-    0.0583   -0.8833   -0.0666   -0.0007    0.0017    0.4603    0.0050    0.0092
-   -0.8414   -0.2927    0.0347    0.0452   -0.0005   -0.4498   -0.0269    0.0001
-    0.0077    0.0046   -0.5687   -0.4810    0.0227   -0.0708   -0.6500    0.1312
-    0.0598    0.0059   -0.6128    0.7656    0.1348   -0.0863    0.0038    0.0954
-   -0.0242   -0.0016   -0.4295   -0.4163    0.3871   -0.0709    0.6964   -0.0417
-    0.0027    0.0001    0.3109    0.0620    0.8615    0.0378   -0.2267    0.3231
-    0.0012    0.0000    0.0188   -0.0514   -0.2987   -0.0172    0.2010    0.9312
-
- Orthogonality of Q: || Q'*Q - I ||_F = .63E-14
-
- The orthogonal factor Z is 
-    0.9957   -0.0786    0.0397   -0.0032    0.0006    0.0227    0.0104    0.0123
-    0.0764    0.9956    0.0200    0.0073   -0.0009    0.0389    0.0263    0.0193
-   -0.0062    0.0235    0.6714   -0.0229    0.0271   -0.4461   -0.5354   -0.2486
-   -0.0445   -0.0437    0.6098    0.4197   -0.0656    0.6125    0.1248    0.2302
-   -0.0242   -0.0148    0.4049   -0.6041    0.2808   -0.1328    0.5972    0.1311
-    0.0096    0.0037   -0.0183    0.6539    0.5114   -0.4136    0.3620   -0.0913
-   -0.0019   -0.0004   -0.1055   -0.1544    0.7891    0.2944   -0.4436    0.2426
-   -0.0005    0.0000   -0.0039    0.0826   -0.1786   -0.3853   -0.1119    0.8946
-
- Orthogonality of Z: || Z'*Z - I ||_F = .78E-14
-
-    ALPHAR    ALPHAI    BETA
-    0.4723    0.1464    1.2811
-    0.4723   -0.1464    1.2811
-   -0.0318    0.1527    2.4691
-   -0.0318   -0.1527    2.4691
-   -0.6315    0.0000    0.8521
-   -0.5850    0.0000    0.0283
-   -0.7884    0.0000    0.4153
-    0.2832    0.0000    0.5894
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03XS.html b/doc/_build/html/_static/doc/MB03XS.html
deleted file mode 100644
index 035e9c3e..00000000
--- a/doc/_build/html/_static/doc/MB03XS.html
+++ /dev/null
@@ -1,225 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03XS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XS">MB03XS</A></H2>
-<H3>
-Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues and real skew-Hamiltonian Schur form of
-  a skew-Hamiltonian matrix,
-
-                [  A   G  ]
-          W  =  [       T ],
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices. Specifically, an orthogonal symplectic matrix U is
-  computed so that
-
-            T       [  Aout  Gout  ]
-           U W U =  [            T ] ,
-                    [    0   Aout  ]
-
-  where Aout is in Schur canonical form (as returned by the LAPACK
-  routine DHSEQR). That is, Aout is block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-  Optionally, the matrix U is returned in terms of its first N/2
-  rows
-
-                   [  U1   U2 ]
-               U = [          ].
-                   [ -U2   U1 ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XS( JOBU, N, A, LDA, QG, LDQG, U1, LDU1, U2, LDU2,
-     $                   WR, WI, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU
-      INTEGER           INFO, LDA, LDQG, LDU1, LDU2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U1(LDU1,*),
-     $                  U2(LDU2,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Specifies whether matrix U is computed or not, as follows:
-          = 'N': transformation matrix U is not computed;
-          = 'U': transformation matrix U is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout in Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          in columns 2:N+1 the strictly upper triangular part of the
-          skew-symmetric matrix Gout. The part which contained the
-          matrix Q is set to zero.
-          Note that the parts containing the diagonal and the first
-          superdiagonal of this array are not overwritten by zeros
-          only if JOBU = 'U' or LDWORK &gt;= 2*N*N - N.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the matrix U1.
-          If JOBU = 'N', this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= MAX(1,N),  if JOBU = 'U';
-          LDU1 &gt;= 1,         if JOBU = 'N'.
-
-  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the matrix U2.
-          If JOBU = 'N', this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= MAX(1,N),  if JOBU = 'U';
-          LDU2 &gt;= 1,         if JOBU = 'N'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of Aout, which are half of the eigenvalues
-          of W. The eigenvalues are stored in the same order as on
-          the diagonal of Aout, with WR(i) = Aout(i,i) and, if
-          Aout(i:i+1,i:i+1) is a 2-by-2 diagonal block, WI(i) &gt; 0
-          and WI(i+1) = -WI(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -14,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N+5)*N),      if JOBU = 'U';
-          LDWORK &gt;= MAX(1,5*N,(N+1)*N),  if JOBU = 'N'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, DHSEQR failed to compute all of the
-                eigenvalues.  Elements 1:ILO-1 and i+1:N of WR
-                and WI contain those eigenvalues which have been
-                successfully computed. The matrix A (and QG) has
-                been partially reduced; namely, A is upper
-                Hessenberg in the rows and columns ILO through i.
-                (See DHSEQR for details.)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, using the SLICOT Library routine MB04RB, an orthogonal
-  symplectic matrix UP is computed so that
-
-             T      [  AP  GP  ]
-         UP W UP =  [        T ]
-                    [  0   AP  ]
-
-  is in Paige/Van Loan form. Next, the LAPACK routine DHSEQR is
-  applied to the matrix AP to compute an orthogonal matrix V so
-  that Aout = V'*AP*V is in Schur canonical form.
-  Finally, the transformations
-
-                    [ V  0 ]
-          U =  UP * [      ],     Gout = V'*G*V,
-                    [ 0  V ]
-
-  using the SLICOT Library routine MB01LD for the latter, are
-  performed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03XU.html b/doc/_build/html/_static/doc/MB03XU.html
deleted file mode 100644
index fbfa7a51..00000000
--- a/doc/_build/html/_static/doc/MB03XU.html
+++ /dev/null
@@ -1,304 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03XU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XU">MB03XU</A></H2>
-<H3>
-Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by orthogonal symplectic transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce 2*nb columns and rows of a real (k+2n)-by-(k+2n)
-  matrix H:
-
-          [ op(A)   G   ]
-      H = [             ],
-          [  Q    op(B) ]
-
-  so that elements in the first nb columns below the k-th
-  subdiagonal of the (k+n)-by-n matrix op(A), in the first nb
-  columns and rows of the n-by-n matrix Q and in the first nb rows
-  above the diagonal of the n-by-(k+n) matrix op(B) are zero.
-  The reduction is performed by orthogonal symplectic
-  transformations UU'*H*VV and matrices U, V, YA, YB, YG, YQ, XA,
-  XB, XG, and XQ are returned so that
-
-                 [ op(Aout)+U*YA'+XA*V'     G+U*YG'+XG*V'    ]
-      UU' H VV = [                                           ].
-                 [   Qout+U*YQ'+XQ*V'   op(Bout)+U*YB'+XB*V' ]
-
-  This is an auxiliary routine called by MB04TB.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XU( LTRA, LTRB, N, K, NB, A, LDA, B, LDB, G, LDG,
-     $                   Q, LDQ, XA, LDXA, XB, LDXB, XG, LDXG, XQ, LDXQ,
-     $                   YA, LDYA, YB, LDYB, YG, LDYG, YQ, LDYQ, CSL,
-     $                   CSR, TAUL, TAUR, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           LTRA, LTRB
-      INTEGER           K, LDA, LDB, LDG, LDQ, LDXA, LDXB, LDXG, LDXQ,
-     $                  LDYA, LDYB, LDYG, LDYQ, N, NB
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
-     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*),
-     $                  XA(LDXA,*), XB(LDXB,*), XG(LDXG,*), XQ(LDXQ,*),
-     $                  YA(LDYA,*), YB(LDYB,*), YG(LDYG,*), YQ(LDYQ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRA    LOGICAL
-          Specifies the form of op( A ) as follows:
-          = .FALSE.:  op( A ) = A;
-          = .TRUE.:   op( A ) = A'.
-
-  LTRB    LOGICAL
-          Specifies the form of op( B ) as follows:
-          = .FALSE.:  op( B ) = B;
-          = .TRUE.:   op( B ) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix Q. N &gt;= 0.
-
-  K       (input) INTEGER
-          The offset of the reduction. Elements below the K-th
-          subdiagonal in the first NB columns of op(A) are
-          reduced to zero. K &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns/rows to be reduced. N &gt; NB &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                  (LDA,N)     if LTRA = .FALSE.
-                  (LDA,K+N)   if LTRA = .TRUE.
-          On entry with LTRA = .FALSE., the leading (K+N)-by-N part
-          of this array must contain the matrix A.
-          On entry with LTRA = .TRUE., the leading N-by-(K+N) part
-          of this array must contain the matrix A.
-          On exit with LTRA = .FALSE., the leading (K+N)-by-N part
-          of this array contains the matrix Aout and, in the zero
-          parts, information about the elementary reflectors used to
-          compute the reduction.
-          On exit with LTRA = .TRUE., the leading N-by-(K+N) part of
-          this array contains the matrix Aout and in the zero parts
-          information about the elementary reflectors.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,K+N),  if LTRA = .FALSE.;
-          LDA &gt;= MAX(1,N),    if LTRA = .TRUE..
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                  (LDB,K+N)   if LTRB = .FALSE.
-                  (LDB,N)     if LTRB = .TRUE.
-          On entry with LTRB = .FALSE., the leading N-by-(K+N) part
-          of this array must contain the matrix B.
-          On entry with LTRB = .TRUE., the leading (K+N)-by-N part
-          of this array must contain the matrix B.
-          On exit with LTRB = .FALSE., the leading N-by-(K+N) part
-          of this array contains the matrix Bout and, in the zero
-          parts, information about the elementary reflectors used to
-          compute the reduction.
-          On exit with LTRB = .TRUE., the leading (K+N)-by-N part of
-          this array contains the matrix Bout and in the zero parts
-          information about the elementary reflectors.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N),    if LTRB = .FALSE.;
-          LDB &gt;= MAX(1,K+N),  if LTRB = .TRUE..
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix G.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Gout.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Q.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Qout and in the zero parts information about
-          the elementary reflectors used to compute the reduction.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XA.
-
-  LDXA    INTEGER
-          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
-
-  XB      (output) DOUBLE PRECISION array, dimension (LDXB,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix XB.
-
-  LDXB    INTEGER
-          The leading dimension of the array XB. LDXB &gt;= MAX(1,K+N).
-
-  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix XG.
-
-  LDXG    INTEGER
-          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
-
-  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XQ.
-
-  LDXQ    INTEGER
-          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
-
-  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix YA.
-
-  LDYA    INTEGER
-          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
-
-  YB      (output) DOUBLE PRECISION array, dimension (LDYB,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix YB.
-
-  LDYB    INTEGER
-          The leading dimension of the array YB.  LDYB &gt;= MAX(1,N).
-
-  YG      (output) DOUBLE PRECISION array, dimension (LDYG,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix YG.
-
-  LDYG    INTEGER
-          The leading dimension of the array YG. LDYG &gt;= MAX(1,K+N).
-
-  YQ      (output) DOUBLE PRECISION array, dimension (LDYQ,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix YQ.
-
-  LDYQ    INTEGER
-          The leading dimension of the array YQ.  LDYQ &gt;= MAX(1,N).
-
-  CSL     (output) DOUBLE PRECISION array, dimension (2*NB)
-          On exit, the first 2NB elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the left-hand side used to compute the
-          reduction.
-
-  CSR     (output) DOUBLE PRECISION array, dimension (2*NB)
-          On exit, the first 2NB-2 elements of this array contain
-          the cosines and sines of the symplectic Givens rotations
-          applied from the right-hand side used to compute the
-          reduction.
-
-  TAUL    (output) DOUBLE PRECISION array, dimension (NB)
-          On exit, the first NB elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the left-hand side.
-
-  TAUR    (output) DOUBLE PRECISION array, dimension (NB)
-          On exit, the first NB-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (5*NB)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For details regarding the representation of the orthogonal
-  symplectic matrices UU and VV within the arrays A, B, CSL, CSR, Q,
-  TAUL and TAUR see the description of MB04TB.
-
-  The contents of A, B, G and Q on exit are illustrated by the
-  following example with op(A) = A, op(B) = B, n = 5, k = 2 and
-  nb = 2:
-
-       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( r  r  r  r  r  )       ( r  r  r  r  r  r  r  )
-   A = ( u2 r  r  r  r  ),  G = ( r  r  r  r  r  r  r  ),
-       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
-
-       ( t  t  v1 v1 v1 )       ( r  r  r  r  r  v2 v2 )
-       ( u1 t  t  v1 v1 )       ( r  r  r  r  r  r  v2 )
-   Q = ( u1 u1 r  q  q  ),  B = ( b  b  b  r  r  b  b  ).
-       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
-       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
-
-  where a, b, g and q denote elements of the original matrices, r
-  denotes a modified element, t denotes a scalar factor of an
-  applied elementary reflector, ui and vi denote elements of the
-  matrices U and V, respectively.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires ( 16*K + 32*N + 42 )*N*NB +
-  ( 16*K + 112*N - 208/3*NB - 69 )*NB*NB - 29/3*NB floating point
-  operations and is numerically backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils.
-      Numer. Math., Vol. 78 (3), pp. 329-358, 1998.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT Numerical Mathematics, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03XZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XZ">MB03XZ</A></H2>
-<H3>
-Eigenvalues of a complex Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a Hamiltonian matrix,
-
-                [  A   G  ]         H        H
-          H  =  [       H ],   G = G ,  Q = Q ,                  (1)
-                [  Q  -A  ]
-
-  where A, G and Q are complex n-by-n matrices.
-
-  Due to the structure of H, if lambda is an eigenvalue, then
-  -conjugate(lambda) is also an eigenvalue. This does not mean that
-  purely imaginary eigenvalues are necessarily multiple. The routine
-  computes the eigenvalues of H using an embedding to a real skew-
-  Hamiltonian matrix He,
-
-                 [  Ae   Ge  ]            T            T
-          He  =  [         T ],   Ge = -Ge ,   Qe = -Qe ,        (2)
-                 [  Qe   Ae  ]
-
-  where Ae, Ge, and Qe are real 2*n-by-2*n matrices, defined by
-
-                 [   Im(A)   Re(A)  ]
-          Ae  =  [                  ],
-                 [  -Re(A)   Im(A)  ]
-
-                 [  triu(Im(G))     Re(G)     ]
-     triu(Ge) =  [                            ],
-                 [       0       triu(Im(G))  ]
-
-                 [  tril(Im(Q))       0       ]
-     tril(Qe) =  [                            ], 
-                 [     -Re(Q)    tril(Im(Q))  ]
-
-  and triu and tril denote the upper and lower triangle,
-  respectively. Then, an orthogonal symplectic matrix Ue is used to
-  reduce He to the structured real Schur form
-
-        T          [  Se   De ]            T
-       Ue He Ue =  [        T ],   De = -De ,                    (3)
-                   [  0    Se ]
-
-  where Ue is a 4n-by-4n real symplectic matrix, and Se is upper
-  quasi-triangular (real Schur form).
-
-  Optionally, if JOB = 'S', or JOB = 'G', the matrix i*He is further
-  transformed to the structured complex Schur form
-
-        H            [  Sc  Gc ]           H
-       U (i*He) U =  [       H ],   Gc = Gc ,                    (4)
-                     [  0  -Sc ]
-
-  where U is a 4n-by-4n unitary symplectic matrix, and Sc is upper
-  triangular (Schur form).
-
-  The algorithm is backward stable and preserves the spectrum
-  structure in finite precision arithmetic.
-
-  Optionally, a symplectic balancing transformation to improve the
-  conditioning of eigenvalues is computed (see the SLICOT Library
-  routine MB04DZ). In this case, the matrix He in decompositions (3)
-  and (4) must be replaced by the balanced matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1,
-     $                   LDU1, U2, LDU2, WR, WI, ILO, SCALE, DWORK,
-     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          BALANC, JOB, JOBU
-      INTEGER            ILO, INFO, LDA, LDQG, LDU1, LDU2, LDWORK,
-     $                   LZWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   DWORK( * ), SCALE( * ), WI( * ), WR( * )
-      COMPLEX*16         A( LDA, * ), QG( LDQG, * ), U1( LDU1, * ),
-     $                   U2( LDU2, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how H should be diagonally scaled and/or
-          permuted to reduce its norm.
-          = 'N': Do not diagonally scale or permute;
-          = 'P': Perform symplectic permutations to make the matrix
-                 closer to skew-Hamiltonian Schur form. Do not
-                 diagonally scale;
-          = 'S': Diagonally scale the matrix, i.e., replace A, G and
-                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
-                 D is a diagonal matrix chosen to make the rows and
-                 columns of H more equal in norm. Do not permute;
-          = 'B': Both diagonally scale and permute A, G and Q.
-          Permuting does not change the norm of H, but scaling does.
-
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          decomposition (4) or the eigenvalues only, as follows:
-          = 'E': compute the eigenvalues only;
-          = 'S': compute the matrix Sc of (4);
-          = 'G': compute the matrices Sc and Gc of (4).
-
-  JOBU    CHARACTER*1
-          Indicates whether or not the user wishes to compute the
-          symplectic matrix Ue of (3), if JOB = 'E', or U of (4),
-          if JOB = 'S' or JOB = 'G', as follows:
-          = 'N': the matrix Ue or U is not computed;
-          = 'U': the matrix Ue or U is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,K)
-          where K = N, if JOB = 'E', and K = 2*N, if JOB &lt;&gt; 'E'.
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'E', the leading N-by-N part of this
-          array is unchanged, if BALANC = 'N', or it contains the
-          balanced (permuted and/or scaled) matrix A, if
-          BALANC &lt;&gt; 'N'.
-          On exit, if JOB = 'S' or JOB = 'G', the leading 2*N-by-2*N
-          upper triangular part of this array contains the matrix Sc
-          (complex Schur form) of decomposition (4).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,K).
-
-  QG      (input/output) COMPLEX*16 array, dimension
-                         (LDQG,min(K+1,2*N))
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G.
-          On exit, if JOB &lt;&gt; 'G', the leading N-by-N+1 part of this
-          array is unchanged, if BALANC = 'N', or it contains the
-          balanced (permuted and/or scaled) parts of the matrices
-          Q and G (as above), if BALANC &lt;&gt; 'N'.
-          On exit, JOB = 'G', the leading 2*N-by-2*N upper
-          triangular part of this array contains the upper
-          triangular part of the matrix Gc in the decomposition (4).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= max(1,K).
-
-  U1      (output) COMPLEX*16 array, dimension (LDU1,2*N)
-          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
-          leading 2*N-by-2*N part of this array contains the (1,1)
-          block of the unitary symplectic matrix U of the
-          decomposition (4).
-          If JOB = 'E' or JOBU = 'N', this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= 1.
-          LDU1 &gt;= 2*N,    if JOBU = 'U'.
-
-  U2      (output) COMPLEX*16 array, dimension (LDU2,2*N)
-          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
-          leading 2*N-by-2*N part of this array contains the (1,2)
-          block of the unitary symplectic matrix U of the
-          decomposition (4).
-          If JOB = 'E' or JOBU = 'N', this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= 1.
-          LDU2 &gt;= 2*N,    if JOBU = 'U'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (2*N)
-  WI      (output) DOUBLE PRECISION array, dimension (2*N)
-          On exit, the leading 2*N elements of WR and WI contain the
-          real and imaginary parts, respectively, of the eigenvalues
-          of the Hamiltonian matrix H.
-
-  ILO     (output) INTEGER
-          ILO is an integer value determined when H was balanced.
-          The balanced A(I,J) = 0 if I &gt; J and J = 1,...,ILO-1.
-          The balanced Q(I,J) = 0 if J = 1,...,ILO-1 or
-          I = 1,...,ILO-1.
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
-          array contain details of the permutation and/or scaling
-          factors applied when balancing H, see MB04DZ.
-          This array is not referenced if BALANC = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
-          (scaled, if BALANC = 'S' or 'B') Hamiltonian matrix.
-          Moreover, the next locations of this array have the
-          following content:
-          - The leading 2*N-by-2*N upper Hessenberg part in the
-          locations 3:2+4*N*N contains the upper Hessenberg part of
-          the real Schur matrix Se in the decomposition (3);
-          - the leading 2*N-by-2*N upper triangular part in the
-          locations 3+4*N*N+2*N:2+8*N*N+2*N contains the upper
-          triangular part of the skew-symmetric matrix De in the
-          decomposition (3).
-          - If JOBU = 'U', the leading 2*N-by-2*N part in the
-          locations 3+8*N*N+2*N:2+12*N*N+2*N contains the (1,1)
-          block of the orthogonal symplectic matrix Ue of
-          decomposition (3).
-          - the leading 2*N-by-2*N part in the locations
-          3+12*N*N+2*N:2+16*N*N+2*N contains the (2,1) block of the
-          orthogonal symplectic matrix Ue.
-          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( 12*N**2 + 4*N, 8*N**2 + 12*N ) + 2,
-                                 if JOB = 'E' and JOBU = 'N';
-          LDWORK &gt;= MAX( 2, 12*N**2 + 4*N, 8*N**2 + 12*N ),
-                                 if JOB = 'S' or 'G' and JOBU = 'N';
-          LDWORK &gt;= 20*N**2 + 12*N + 2,
-                                 if JOB = 'E' and JOBU = 'U';
-          LDWORK &gt;= MAX( 2, 20*N**2 + 12*N ),
-                                 if JOB = 'S' or 'G' and JOBU = 'U'.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0,  ZWORK(1)  returns the optimal
-          value of LZWORK.
-          On exit, if  INFO = -20,  ZWORK(1)  returns the minimum
-          value of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,                  if JOB = 'E';
-          LZWORK &gt;= MAX( 1, 12*N - 6 ), if JOB = 'S' and JOBU = 'N';
-          LZWORK &gt;= MAX( 1, 12*N - 2 ), if JOB = 'G' or  JOBU = 'U'.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0,     if JOB = 'E';
-          LBWORK &gt;= 2*N-1, if JOB = 'S' or JOB = 'G'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO     INTEGER
-           = 0:  successful exit;
-           &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-           &gt; 0:  if INFO = i, the QR algorithm failed to compute
-                 all the eigenvalues; elements i+1:2*N of WR and
-                 WI contain eigenvalues which have converged;
-           = 2*N+1:  the QR algorithm failed to compute the
-                 eigenvalues of a 2-by-2 real block.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the extended matrix He in (2) is built. Then, the
-  structured real Schur form in (3) is computed, using the SLICOT
-  Library routine MB03XS. The eigenvalues of Se immediately give
-  the eigenvalues of H. Finally, if required, Se is further
-  transformed by using the complex QR algorithm to triangularize
-  its 2-by-2 blocks, and Ge and U are updated, to obtain (4).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V. and Xu, H.
-      A note on the numerical solution of complex Hamiltonian and
-      skew-Hamiltonian eigenvalue problems.
-      Electr. Trans. Num. Anal., 8, pp. 115-126, 1999.
-
-  [2] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03XZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZER
-      PARAMETER        ( ZER = 0.0D0 )
-      COMPLEX*16       ZERO, ONE
-      PARAMETER        ( ZERO = (0.0D0,0.0D0), ONE = (1.0D0,0.0D0) )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDAE, LDAS, LDGE, LDQG, LDQGE, LDQGS, LDRES,
-     $                 LDU1, LDU2, LDWORK, LZWORK
-      PARAMETER        ( LDA   = 2*NMAX, LDAE  = 2*NMAX, LDAS  = NMAX,
-     $                   LDGE  = 2*NMAX, LDQG  = 2*NMAX, LDQGE = 2*NMAX,
-     $                   LDQGS  = NMAX,  LDRES = 2*NMAX, LDU1  = 2*NMAX,
-     $                   LDU2   = 2*NMAX,
-     $                   LDWORK = 20*NMAX*NMAX + 12*NMAX + 2,
-     $                   LZWORK = 12*NMAX - 2 )
-*     .. Local Scalars ..
-      CHARACTER*1      BALANC, JOB, JOBU
-      INTEGER          I, ILO, INFO, J, M, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, 2*NMAX), AE(LDAE, 2*NMAX), AS(LDAS, NMAX),
-     $                 GE(LDGE, 2*NMAX), QG(LDQG, 2*NMAX+1),
-     $                 QGE(LDQGE, 2*NMAX+1), QGS(LDQGS, NMAX+1),
-     $                 RES(LDRES,2*NMAX), U1(LDU1,2*NMAX),
-     $                 U2(LDU2,  2*NMAX), ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK), SCALE(NMAX), WI(2*NMAX),
-     $                 WR(2*NMAX)
-      LOGICAL          BWORK(2*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLAPY2, MA02JZ, ZLANGE
-      EXTERNAL         DLAPY2, LSAME, MA02JZ, ZLANGE
-*     .. External Subroutines ..
-      EXTERNAL         MA02EZ, MB03XZ, MB04DZ, ZCOPY, ZGEMM, ZLACPY,
-     $                 ZLASET
-*     ..Intrinsic Functions..
-      INTRINSIC        DBLE, DCMPLX, DIMAG
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         M = 2*N
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL ZLACPY( 'All', N, N, A, LDA, AS, LDAS )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL ZLACPY( 'All', N, N+1, QG, LDQG, QGS, LDQGS )
-*        Compute the eigenvalues and the transformed Hamiltonian matrix.
-         CALL MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1, LDU1,
-     $                U2, LDU2, WR, WI, ILO, SCALE, DWORK, LDWORK,
-     $                ZWORK, LZWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, M
-               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
-   10       CONTINUE
-            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 20  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,M )
-   20          CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 )
-               DO 30  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 ) ( QG(I,J), J = 1,M )
-   30          CONTINUE
-            END IF
-*
-            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ) ) THEN
-*              Compute the residual of the formula (4) in MB03XZ.
-               CALL MB04DZ( BALANC, N, AS, LDAS, QGS, LDQGS, I, DWORK,
-     $                      INFO )
-               CALL ZLASET( 'Lower', M-1, M-1, ZERO, ZERO, A(2,1), LDA )
-               CALL MA02EZ( 'Upper', 'Conjugate', 'Not skew', M, QG,
-     $                      LDQG )
-*              Compute Ae, Ge, and Qe.
-               DO 60  J = 1, N
-                  DO 40  I = 1, N
-                     AE(I,J) = DCMPLX( ZER, DIMAG( AS(I,J) ) )
-   40             CONTINUE
-                  DO 50  I = 1, N
-                     AE(I+N,J) = -DCMPLX( ZER, DBLE( AS(I,J) ) )
-   50             CONTINUE
-   60          CONTINUE
-*
-               DO 90  J = 1, N
-                  DO 70  I = 1, N
-                     AE(I,J+N) = -AE(I+N,J)
-   70             CONTINUE
-                  DO 80  I = 1, N
-                     AE(I+N,J+N) = AE(I,J)
-   80             CONTINUE
-   90          CONTINUE
-*
-               DO 120  J = 1, N+1
-                  DO 100  I = 1, N
-                     QGE(I,J) = DCMPLX( ZER, DIMAG( QGS(I,J) ) )
-  100             CONTINUE
-                  DO 110  I = J, N
-                     QGE(I+N,J) = -DCMPLX( ZER, DBLE( QGS(I,J) ) )
-  110             CONTINUE
-  120          CONTINUE
-*
-               DO 150  J = 1, N
-                  DO 130  I = 1, J
-                     QGE(I,J+N+1) = DCMPLX( ZER, DBLE( QGS(I,J+1) ) )
-  130             CONTINUE
-                  DO 140  I = 1, N
-                     QGE(I+N,J+N+1) = QGE(I,J+1)
-  140             CONTINUE
-  150          CONTINUE
-               CALL ZCOPY( N, QGE, 1, QGE(N+1,N+1), 1 )
-               CALL MA02EZ( 'Lower', 'Transpose', 'Not Skew', N,
-     $                      QGE(N+1,1), LDQGE )
-               CALL MA02EZ( 'Upper', 'Transpose', 'Not Skew', N,
-     $                      QGE(1,N+2), LDQGE )
-*
-               CALL ZLACPY( 'Upper', M, M, QGE(1,2), LDQGE, GE, LDGE )
-               CALL MA02EZ( 'Upper', 'Transpose', 'Skew', M, GE, LDGE )
-               CALL MA02EZ( 'Lower', 'Transpose', 'Skew', M, QGE,
-     $                      LDQGE )
-*              Compute the residual of the (1,1) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     AE, LDAE, U1, LDU1, ZERO, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, GE, LDGE, U2, LDU2, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
-               TEMP = ZLANGE( 'Frobenius', M, M, RES, LDRES, DWORK )
-*              Compute the residual of the (1,2) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     AE, LDAE, U2, LDU2, ZERO, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     GE, LDGE, U1, LDU1, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, U1, LDU1, QG, LDQG, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
-     $                     ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
-     $                                      LDRES, DWORK ) )
-*              Compute the residual of the (2,1) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     QGE, LDQGE, U1, LDU1, ZERO, RES, LDRES )
-               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, AE, LDAE, U2, LDU2, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     U2, LDU2, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
-     $                                      LDRES, DWORK ) )
-*              Compute the residual of the (2,2) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     QGE, LDQGE, U2, LDU2, ZERO, RES, LDRES )
-               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M, ONE,
-     $                     AE, LDAE, U1, LDU1, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     U2, LDU2, QG, LDQG, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
-     $                     ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
-     $                                      LDRES, DWORK ) )
-               WRITE ( NOUT, FMT = 99989 ) TEMP
-            END IF
-*
-            IF ( .NOT.LSAME( JOB, 'E' ).AND.LSAME( JOBU, 'U' ) ) THEN
-               WRITE ( NOUT, FMT = 99993 )
-               DO 160  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 )
-     $               ( U1(I,J), J = 1,M ), ( U2(I,J), J = 1,M )
-  160          CONTINUE
-               DO 170  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 )
-     $               ( -U2(I,J), J = 1,M ), ( U1(I,J), J = 1,M )
-  170          CONTINUE
-               WRITE ( NOUT, FMT = 99988 ) MA02JZ( .FALSE., .FALSE., M,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-            END IF
-            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99991 )
-               DO 180  I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
-  180          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03XZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03XZ = ',I2)
-99997 FORMAT (' The eigenvalues are',//'   i',6X,
-     $        'WR(i)',6X,'WI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' The transformed matrix S is')
-99994 FORMAT (/' The transformed matrix G is')
-99993 FORMAT (/' The unitary symplectic factor U is')
-99992 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99991 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
-     $        'SCALE(i)',/)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' Residual: || i*He*U - U*Hc ||_F = ',G9.2)
-99988 FORMAT (/' Orthogonality of U: || U^H U - I ||_F = ',G9.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03XZ EXAMPLE PROGRAM DATA
-	4	N	G	U
-   (0.8147,0.4217)   (0.6323,0.6557)   (0.9575,0.6787)   (0.9571,0.6554)
-   (0.9057,0.9157)   (0.0975,0.0357)   (0.9648,0.7577)   (0.4853,0.1711)
-   (0.1269,0.7922)   (0.2784,0.8491)   (0.1576,0.7431)   (0.8002,0.7060)
-   (0.9133,0.9594)   (0.5468,0.9339)   (0.9705,0.3922)   (0.1418,0.0318)
-    0.2769            0.6948           (0.4387,0.7513)   (0.1869,0.8909)   (0.7094,0.1493)
-   (0.0462,0.1626)    0.3171            0.3816           (0.4898,0.9593)   (0.7547,0.2575)
-   (0.0971,0.1190)   (0.9502,0.5853)    0.7655            0.4456           (0.2760,0.8407)         
-   (0.8235,0.4984)   (0.0344,0.2238)   (0.7952,0.6991)    0.6463            0.6797
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03XZ EXAMPLE PROGRAM RESULTS
-
- The eigenvalues are
-
-   i      WR(i)      WI(i)
-
-   1     3.0844     2.7519
-   2    -3.0844     2.7519
-   3     0.5241    -1.3026
-   4    -0.5241    -1.3026
-   5     0.8824    -0.6918
-   6    -0.8824    -0.6918
-   7     0.4459     0.4748
-   8    -0.4459     0.4748
-
- The transformed matrix S is
-    3.0844  +2.7519i     0.0618  +0.0000i    -0.1952  +0.1977i     0.0439  +0.0628i     0.0599  -0.0344i    -0.1543  -0.7126i    -0.3906  +0.3615i     0.2877  +0.5766i 
-    0.0000  +0.0000i    -3.0844  +2.7519i    -0.0458  -0.0727i    -0.2607  +0.0867i     0.1505  -0.7137i    -0.0717  +0.0066i    -0.4008  +0.4356i     0.2819  +0.5317i 
-    0.1269  +0.7922i     0.0000  +0.0000i     0.5241  -1.3026i    -0.0175  +0.0350i    -0.0676  +0.1183i     0.3695  -0.0335i    -0.3138  -0.4268i     0.2973  -0.0042i 
-    0.9133  +0.9594i     0.5468  +0.9339i     0.0000  +0.0000i    -0.5241  -1.3026i     0.1453  +0.3375i     0.0590  -0.1483i     0.2795  +0.3002i    -0.4594  -0.0099i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8824  -0.6918i    -0.1193  +0.0000i    -0.1672  -0.0189i    -0.1008  -0.2026i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8824  -0.6918i     0.0539  -0.1852i     0.1978  -0.0688i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.4459  +0.4748i     0.2987  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.4459  +0.4748i 
-
- The transformed matrix G is
-   -0.2169  +0.0000i    -0.0022  +0.0000i    -0.2082  -0.0281i     0.0691  +0.0092i     0.0362  -0.0426i    -0.2374  +0.4904i    -0.2678  -0.5870i    -0.2567  +0.3258i 
-    0.0462  +0.1626i     0.2169  +0.0000i     0.0128  -0.0651i    -0.0654  +0.2006i     0.2348  +0.4861i    -0.0545  -0.0706i     0.1557  +0.4895i     0.3329  -0.4499i 
-    0.0971  +0.1190i     0.9502  +0.5853i     0.1341  +0.0000i    -0.0022  +0.0045i    -0.0232  +0.0320i     0.3395  -0.3847i    -0.0646  -0.2900i    -0.0920  -0.1605i 
-    0.8235  +0.4984i     0.0344  +0.2238i     0.7952  +0.6991i    -0.1341  +0.0000i    -0.1893  +0.4728i     0.0127  -0.0720i    -0.0923  -0.0258i    -0.3361  +0.0706i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.5145  +0.0000i     0.0348  +0.0000i    -0.0662  -0.2049i     0.2987  -0.0488i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5145  +0.0000i    -0.3004  +0.0327i    -0.0524  -0.2070i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0241  +0.0000i     0.0081  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0241  +0.0000i 
-
- Residual: || i*He*U - U*Hc ||_F = .11E-13
-
- The unitary symplectic factor U is
-   -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i     0.0570  -0.0194i     0.0576  +0.0192i    -0.1622  +0.3576i     0.3834  +0.0034i     0.0436  +0.0676i     0.0408  -0.0723i    -0.2802  +0.1272i    -0.3893  -0.0915i 
-   -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i     0.0887  -0.0452i     0.0896  +0.0448i     0.0357  +0.0168i    -0.0021  +0.0404i    -0.0614  +0.0720i    -0.0574  -0.0770i     0.2713  -0.1920i     0.3769  +0.1382i 
-   -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i     0.1763  -0.0047i     0.1781  +0.0046i     0.1017  -0.2162i    -0.2335  +0.0013i     0.1817  +0.0174i     0.1699  -0.0186i     0.0902  +0.1296i     0.1253  -0.0933i 
-    0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i    -0.0148  -0.0576i    -0.0150  +0.0570i     0.0145  -0.2255i    -0.2011  -0.0837i     0.0523  +0.0093i     0.0488  -0.0099i     0.0689  +0.2345i     0.0957  -0.1688i 
-    0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i    -0.0226  -0.1038i    -0.0228  +0.1027i     0.1693  +0.2699i     0.1539  +0.2735i    -0.1978  -0.0842i    -0.1849  +0.0901i     0.0400  -0.1732i     0.0556  +0.1246i 
-   -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i    -0.0669  -0.1453i    -0.0676  +0.1439i     0.1604  +0.0320i    -0.0469  +0.1627i    -0.0078  -0.1319i    -0.0073  +0.1411i    -0.0086  -0.4118i    -0.0120  +0.2963i 
-    0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i    -0.0318  -0.2136i    -0.0321  +0.2115i    -0.1467  +0.0498i     0.1110  -0.1148i    -0.0279  +0.2616i    -0.0261  -0.2799i     0.0611  +0.3196i     0.0849  -0.2300i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i 
-   -0.0570  +0.0194i    -0.0576  -0.0192i     0.1622  -0.3576i    -0.3834  -0.0034i    -0.0436  -0.0676i    -0.0408  +0.0723i     0.2802  -0.1272i     0.3893  +0.0915i    -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i 
-   -0.0887  +0.0452i    -0.0896  -0.0448i    -0.0357  -0.0168i     0.0021  -0.0404i     0.0614  -0.0720i     0.0574  +0.0770i    -0.2713  +0.1920i    -0.3769  -0.1382i    -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i 
-   -0.1763  +0.0047i    -0.1781  -0.0046i    -0.1017  +0.2162i     0.2335  -0.0013i    -0.1817  -0.0174i    -0.1699  +0.0186i    -0.0902  -0.1296i    -0.1253  +0.0933i    -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i 
-    0.0148  +0.0576i     0.0150  -0.0570i    -0.0145  +0.2255i     0.2011  +0.0837i    -0.0523  -0.0093i    -0.0488  +0.0099i    -0.0689  -0.2345i    -0.0957  +0.1688i     0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i 
-    0.0226  +0.1038i     0.0228  -0.1027i    -0.1693  -0.2699i    -0.1539  -0.2735i     0.1978  +0.0842i     0.1849  -0.0901i    -0.0400  +0.1732i    -0.0556  -0.1246i     0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i 
-    0.0669  +0.1453i     0.0676  -0.1439i    -0.1604  -0.0320i     0.0469  -0.1627i     0.0078  +0.1319i     0.0073  -0.1411i     0.0086  +0.4118i     0.0120  -0.2963i    -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i 
-    0.0318  +0.2136i     0.0321  -0.2115i     0.1467  -0.0498i    -0.1110  +0.1148i     0.0279  -0.2616i     0.0261  +0.2799i    -0.0611  -0.3196i    -0.0849  +0.2300i     0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i 
-
- Orthogonality of U: || U^H U - I ||_F = .39E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03YA.html b/doc/_build/html/_static/doc/MB03YA.html
deleted file mode 100644
index 1dcd88ed..00000000
--- a/doc/_build/html/_static/doc/MB03YA.html
+++ /dev/null
@@ -1,213 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03YA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03YA">MB03YA</A></H2>
-<H3>
-Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix corresponding to zero elements on the diagonal of a triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To annihilate one or two entries on the subdiagonal of the
-  Hessenberg matrix A for dealing with zero elements on the diagonal
-  of the triangular matrix B.
-
-  MB03YA is an auxiliary routine called by SLICOT Library routines
-  MB03XP and MB03YD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03YA( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
-     $                   POS, A, LDA, B, LDB, Q, LDQ, Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            WANTQ, WANTT, WANTZ
-      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ, LDZ,
-     $                   N, POS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WANTT   LOGICAL
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = .TRUE. :  Compute the full Schur form;
-          = .FALSE.:  compute the eigenvalues only.
-
-  WANTQ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = .TRUE. :  The matrix Q is updated;
-          = .FALSE.:  the matrix Q is not required.
-
-  WANTZ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = .TRUE. :  The matrix Z is updated;
-          = .FALSE.:  the matrix Z is not required.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B. N &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that the matrices A and B are already
-          (quasi) upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N. The routine works primarily with the submatrices
-          in rows and columns ILO to IHI, but applies the
-          transformations to all the rows and columns of the
-          matrices A and B, if WANTT = .TRUE..
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  ILOQ    (input) INTEGER
-  IHIQ    (input) INTEGER
-          Specify the rows of Q and Z to which transformations
-          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
-          respectively.
-          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
-
-  POS     (input) INTEGER
-          The position of the zero element on the diagonal of B.
-          ILO &lt;= POS &lt;= IHI.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper Hessenberg matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the updated matrix A where A(POS,POS-1) = 0, if POS &gt; ILO,
-          and A(POS+1,POS) = 0, if POS &lt; IHI.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain an upper triangular matrix B with B(POS,POS) = 0.
-          On exit, the leading N-by-N part of this array contains
-          the updated upper triangular matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Q of
-          transformations accumulated by MB03XP.
-          On exit, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Q updated in the
-          submatrix Q(ILOQ:IHIQ,ILO:IHI).
-          If WANTQ = .FALSE., Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= 1.
-          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Z of
-          transformations accumulated by MB03XP.
-          On exit, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Z updated in the
-          submatrix Z(ILOQ:IHIQ,ILO:IHI).
-          If WANTZ = .FALSE., Z is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= 1.
-          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method is illustrated by Wilkinson diagrams for N = 5,
-  POS = 3:
-
-        [ x x x x x ]       [ x x x x x ]
-        [ x x x x x ]       [ o x x x x ]
-    A = [ o x x x x ],  B = [ o o o x x ].
-        [ o o x x x ]       [ o o o x x ]
-        [ o o o x x ]       [ o o o o x ]
-
-  First, a QR factorization is applied to A(1:3,1:3) and the
-  resulting nonzero in the updated matrix B is immediately
-  annihilated by a Givens rotation acting on columns 1 and 2:
-
-        [ x x x x x ]       [ x x x x x ]
-        [ x x x x x ]       [ o x x x x ]
-    A = [ o o x x x ],  B = [ o o o x x ].
-        [ o o x x x ]       [ o o o x x ]
-        [ o o o x x ]       [ o o o o x ]
-
-  Secondly, an RQ factorization is applied to A(4:5,4:5) and the
-  resulting nonzero in the updated matrix B is immediately
-  annihilated by a Givens rotation acting on rows 4 and 5:
-
-        [ x x x x x ]       [ x x x x x ]
-        [ x x x x x ]       [ o x x x x ]
-    A = [ o o x x x ],  B = [ o o o x x ].
-        [ o o o x x ]       [ o o o x x ]
-        [ o o o x x ]       [ o o o o x ]
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
-      The periodic Schur decomposition: Algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**2) floating point operations and is
-  backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03YD.html b/doc/_build/html/_static/doc/MB03YD.html
deleted file mode 100644
index e81d27e3..00000000
--- a/doc/_build/html/_static/doc/MB03YD.html
+++ /dev/null
@@ -1,230 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03YD">MB03YD</A></H2>
-<H3>
-Periodic QR iteration
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To deal with small subtasks of the product eigenvalue problem.
-
-  MB03YD is an auxiliary routine called by SLICOT Library routine
-  MB03XP.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03YD( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
-     $                   A, LDA, B, LDB, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI,
-     $                   BETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            WANTQ, WANTT, WANTZ
-      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ,
-     $                   LDWORK, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WANTT   LOGICAL
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = .TRUE. :  Compute the full Schur form;
-          = .FALSE.:  compute the eigenvalues only.
-
-  WANTQ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = .TRUE. :  The matrix Q is updated;
-          = .FALSE.:  the matrix Q is not required.
-
-  WANTZ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = .TRUE. :  The matrix Z is updated;
-          = .FALSE.:  the matrix Z is not required.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B. N &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that the matrices A and B are already
-          (quasi) upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N. The routine works primarily with the submatrices
-          in rows and columns ILO to IHI, but applies the
-          transformations to all the rows and columns of the
-          matrices A and B, if WANTT = .TRUE..
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  ILOQ    (input) INTEGER
-  IHIQ    (input) INTEGER
-          Specify the rows of Q and Z to which transformations
-          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
-          respectively.
-          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper Hessenberg matrix A.
-          On exit, if WANTT = .TRUE., the leading N-by-N part of
-          this array is upper quasi-triangular in rows and columns
-          ILO:IHI.
-          If WANTT = .FALSE., the diagonal elements and 2-by-2
-          diagonal blocks of A will be correct, but the remaining
-          parts of A are unspecified on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix B.
-          On exit, if WANTT = .TRUE., the leading N-by-N part of
-          this array contains the transformed upper triangular
-          matrix. 2-by-2 blocks in B corresponding to 2-by-2 blocks
-          in A will be reduced to positive diagonal form. (I.e., if
-          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
-          and B(j+1,j+1) will be positive.)
-          If WANTT = .FALSE., the elements corresponding to diagonal
-          elements and 2-by-2 diagonal blocks in A will be correct,
-          but the remaining parts of B are unspecified on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Q of
-          transformations accumulated by MB03XP.
-          On exit, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Q updated in the
-          submatrix Q(ILOQ:IHIQ,ILO:IHI).
-          If WANTQ = .FALSE., Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= 1.
-          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Z of
-          transformations accumulated by MB03XP.
-          On exit, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Z updated in the
-          submatrix Z(ILOQ:IHIQ,ILO:IHI).
-          If WANTZ = .FALSE., Z is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= 1.
-          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The i-th (ILO &lt;= i &lt;= IHI) computed eigenvalue is given
-          by BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
-          eigenvalues are computed as a complex conjugate pair,
-          they are stored in consecutive elements of ALPHAR, ALPHAI
-          and BETA. If WANTT = .TRUE., the eigenvalues are stored in
-          the same order as on the diagonals of the Schur forms of
-          A and B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then MB03YD failed to compute the Schur
-                form in a total of 30*(IHI-ILO+1) iterations;
-                elements i+1:n of ALPHAR, ALPHAI and BETA contain
-                successfully computed eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm is a double-shift version of the
-  periodic QR algorithm described in [1,3] with some minor
-  modifications [2]. The eigenvalues are computed via an implicit
-  complex single shift algorithm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
-      The periodic Schur decomposition: Algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. Proc. of the IFAC Workshop on Periodic Control
-      Systems, pp. 187-192, 2001.
-
-  [3] Van Loan, C.
-      Generalized Singular Values with Algorithms and Applications.
-      Ph. D. Thesis, University of Michigan, 1973.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03YT.html b/doc/_build/html/_static/doc/MB03YT.html
deleted file mode 100644
index db0d80a3..00000000
--- a/doc/_build/html/_static/doc/MB03YT.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03YT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03YT">MB03YT</A></H2>
-<H3>
-Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) with B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the periodic Schur factorization of a real 2-by-2
-  matrix pair (A,B) where B is upper triangular. This routine
-  computes orthogonal (rotation) matrices given by CSL, SNL and CSR,
-  SNR such that
-
-  1) if the pair (A,B) has two real eigenvalues, then
-
-     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
-     [  0  a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
-
-     [ b11 b12 ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
-     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ],
-
-  2) if the pair (A,B) has a pair of complex conjugate eigenvalues,
-     then
-
-     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
-     [ a21 a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
-
-     [ b11  0  ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
-     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ].
-
-  This is a modified version of the LAPACK routine DLAGV2 for
-  computing the real, generalized Schur decomposition of a
-  two-by-two matrix pencil.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03YT( A, LDA, B, LDB, ALPHAR, ALPHAI, BETA, CSL, SNL,
-     $                   CSR, SNR )
-C     .. Scalar Arguments ..
-      INTEGER           LDA, LDB
-      DOUBLE PRECISION  CSL, CSR, SNL, SNR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(2), ALPHAR(2), B(LDB,*),
-     $                  BETA(2)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,2)
-          On entry, the leading 2-by-2 part of this array must
-          contain the matrix A.
-          On exit, the leading 2-by-2 part of this array contains
-          the matrix A of the pair in periodic Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,2)
-          On entry, the leading 2-by-2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading 2-by-2 part of this array contains
-          the matrix B of the pair in periodic Schur form.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
-  BETA    (output) DOUBLE PRECISION array, dimension (2)
-          (ALPHAR(k)+i*ALPHAI(k))*BETA(k) are the eigenvalues of the
-          pair (A,B), k=1,2, i = sqrt(-1). ALPHAI(1) &gt;= 0.
-
-  CSL     (output) DOUBLE PRECISION
-          The cosine of the first rotation matrix.
-
-  SNL     (output) DOUBLE PRECISION
-          The sine of the first rotation matrix.
-
-  CSR     (output) DOUBLE PRECISION
-          The cosine of the second rotation matrix.
-
-  SNR     (output) DOUBLE PRECISION
-          The sine of the second rotation matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.
-      Generalized Singular Values with Algorithms and Applications.
-      Ph. D. Thesis, University of Michigan, 1973.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ZA.html b/doc/_build/html/_static/doc/MB03ZA.html
deleted file mode 100644
index 0c51f6c2..00000000
--- a/doc/_build/html/_static/doc/MB03ZA.html
+++ /dev/null
@@ -1,310 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ZA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ZA">MB03ZA</A></H2>
-<H3>
-Reordering a selected cluster of eigenvalues of a given matrix pair in periodic Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  1. To compute, for a given matrix pair (A,B) in periodic Schur
-     form, orthogonal matrices Ur and Vr so that
-
-         T           [ A11  A12 ]     T           [ B11  B12 ]
-       Vr * A * Ur = [          ],  Ur * B * Vr = [          ], (1)
-                     [  0   A22 ]                 [  0   B22 ]
-
-     is in periodic Schur form, and the eigenvalues of A11*B11
-     form a selected cluster of eigenvalues.
-
-  2. To compute an orthogonal matrix W so that
-
-                T  [  0  -A11 ]       [  R11   R12 ]
-               W * [          ] * W = [            ],           (2)
-                   [ B11   0  ]       [   0    R22 ]
-
-     where the eigenvalues of R11 and -R22 coincide and have
-     positive real part.
-
-  Optionally, the matrix C is overwritten by Ur'*C*Vr.
-
-  All eigenvalues of A11*B11 must either be complex or real and
-  negative.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ZA( COMPC, COMPU, COMPV, COMPW, WHICH, SELECT, N,
-     $                   A, LDA, B, LDB, C, LDC, U1, LDU1, U2, LDU2, V1,
-     $                   LDV1, V2, LDV2, W, LDW, WR, WI, M, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPC, COMPU, COMPV, COMPW, WHICH
-      INTEGER           INFO, LDA, LDB, LDC, LDU1, LDU2, LDV1, LDV2,
-     $                  LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      LOGICAL           SELECT(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  U1(LDU1,*), U2(LDU2,*), V1(LDV1,*), V2(LDV2,*),
-     $                  W(LDW,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPC   CHARACTER*1
-          = 'U':  update the matrix C;
-          = 'N':  do not update C.
-
-  COMPU   CHARACTER*1
-          = 'U':  update the matrices U1 and U2;
-          = 'N':  do not update U1 and U2.
-          See the description of U1 and U2.
-
-  COMPV   CHARACTER*1
-          = 'U':  update the matrices V1 and V2;
-          = 'N':  do not update V1 and V2.
-          See the description of V1 and V2.
-
-  COMPW   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrix W as follows:
-          = 'N':  the matrix W is not required;
-          = 'I':  W is initialized to the unit matrix and the
-                  orthogonal transformation matrix W is returned;
-          = 'V':  W must contain an orthogonal matrix Q on entry,
-                  and the product Q*W is returned.
-
-  WHICH   CHARACTER*1
-          = 'A':  select all eigenvalues, this effectively means
-                  that Ur and Vr are identity matrices and A11 = A,
-                  B11 = B;
-          = 'S':  select a cluster of eigenvalues specified by
-                  SELECT.
-
-  SELECT  LOGICAL array, dimension (N)
-          If WHICH = 'S', then SELECT specifies the eigenvalues of
-          A*B in the selected cluster. To select a real eigenvalue
-          w(j), SELECT(j) must be set to .TRUE.. To select a complex
-          conjugate pair of eigenvalues w(j) and w(j+1),
-          corresponding to a 2-by-2 diagonal block in A, both
-          SELECT(j) and SELECT(j+1) must be set to .TRUE.; a complex
-          conjugate pair of eigenvalues must be either both included
-          in the cluster or both excluded.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A of the matrix
-          pair (A,B) in periodic Schur form.
-          On exit, the leading M-by-M part of this array contains
-          the matrix R22 in (2).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix B of the matrix pair
-          (A,B) in periodic Schur form.
-          On exit, the leading N-by-N part of this array is
-          overwritten.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, if COMPC = 'U', the leading N-by-N part of this
-          array must contain a general matrix C.
-          On exit, if COMPC = 'U', the leading N-by-N part of this
-          array contains the updated matrix Ur'*C*Vr.
-          If COMPC = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= 1.
-          LDC &gt;= N,  if COMPC = 'U' and WHICH = 'S'.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain U1, the (1,1)
-          block of an orthogonal symplectic matrix
-          U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains U1*Ur.
-          If COMPU = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= 1.
-          LDU1 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain U2, the (1,2)
-          block of an orthogonal symplectic matrix
-          U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains U2*Ur.
-          If COMPU = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= 1.
-          LDU2 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On entry, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain V1, the (1,1)
-          block of an orthogonal symplectic matrix
-          V = [ V1, V2; -V2, V1 ].
-          On exit, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains V1*Vr.
-          If COMPV = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1.  LDV1 &gt;= 1.
-          LDV1 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,N)
-          On entry, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain V2, the (1,2)
-          block of an orthogonal symplectic matrix
-          V = [ V1, V2; -V2, V1 ].
-          On exit, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains V2*Vr.
-          If COMPV = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2.  LDV2 &gt;= 1.
-          LDV2 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
-
-  W       (input/output) DOUBLE PRECISION array, dimension (LDW,2*M)
-          On entry, if COMPW = 'V', then the leading 2*M-by-2*M part
-          of this array must contain a matrix W.
-          If COMPW = 'I', then W need not be set on entry, W is set
-          to the identity matrix.
-          On exit, if COMPW = 'I' or 'V' the leading 2*M-by-2*M part
-          of this array is post-multiplied by the transformation
-          matrix that produced (2).
-          If COMPW = 'N', this array is not referenced.
-
-  LDW     INTEGER
-          The leading dimension of the array W.  LDW &gt;= 1.
-          LDW &gt;= 2*M,  if COMPW = 'I' or COMPW = 'V'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (M)
-  WI      (output) DOUBLE PRECISION array, dimension (M)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of R11. The eigenvalues are stored in the same
-          order as on the diagonal of R22, with
-          WR(i) = -R22(i,i) and, if R22(i:i+1,i:i+1) is a 2-by-2
-          diagonal block, WI(i) &gt; 0 and WI(i+1) = -WI(i).
-          In exact arithmetic, these eigenvalue are the positive
-          square roots of the selected eigenvalues of the product
-          A*B. However, if an eigenvalue is sufficiently
-          ill-conditioned, then its value may differ significantly.
-
-  M       (output) INTEGER
-          The number of selected eigenvalues.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 4*N, 8*M ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  reordering of the product A*B in Step 1 failed
-                because some eigenvalues are too close to separate;
-          = 2:  reordering of some submatrix in Step 2 failed
-                because some eigenvalues are too close to separate;
-          = 3:  the QR algorithm failed to compute the Schur form
-                of some submatrix in Step 2;
-          = 4:  the condition that all eigenvalues of A11*B11 must
-                either be complex or real and negative is
-                numerically violated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Step 1 is performed using a reordering technique analogous to the
-  LAPACK routine DTGSEN for reordering matrix pencils [1,2]. Step 2
-  is an implementation of Algorithm 2 in [3]. It requires O(M*N*N)
-  floating point operations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B.
-      A direct method for reordering eigenvalues in the generalized
-      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
-      et al (eds), Linear Algebra for Large Scale and Real-Time
-      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
-
-  [2] Kagstrom, B. and Poromaa P.:
-      Computing eigenspaces with specified eigenvalues of a regular
-      matrix pair (A, B) and condition estimation: Theory,
-      algorithms and software, Numer. Algorithms, 1996, vol. 12,
-      pp. 369-407.
-
-  [3] Benner, P., Mehrmann, V., and Xu, H.
-      A new method for computing the stable invariant subspace of a
-      real Hamiltonian matrix,  J. Comput. Appl. Math., 86,
-      pp. 17-43, 1997.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB03ZD.html b/doc/_build/html/_static/doc/MB03ZD.html
deleted file mode 100644
index 2af87dba..00000000
--- a/doc/_build/html/_static/doc/MB03ZD.html
+++ /dev/null
@@ -1,576 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ZD">MB03ZD</A></H2>
-<H3>
-Computing the stable and unstable invariant subspaces for a Hamiltonian matrix with no eigenvalues on the imaginary axis
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the stable and unstable invariant subspaces for a
-  Hamiltonian matrix with no eigenvalues on the imaginary axis,
-  using the output of the SLICOT Library routine MB03XD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N,
-     $                   MM, ILO, SCALE, S, LDS, T, LDT, G, LDG, U1,
-     $                   LDU1, U2, LDU2, V1, LDV1, V2, LDV2, M, WR, WI,
-     $                   US, LDUS, UU, LDUU, LWORK, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC, METH, ORTBAL, STAB, WHICH
-      INTEGER           ILO, INFO, LDG, LDS, LDT, LDU1, LDU2, LDUS,
-     $                  LDUU, LDV1, LDV2, LDWORK, M, MM, N
-C     .. Array Arguments ..
-      LOGICAL           LWORK(*), SELECT(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  DWORK(*), G(LDG,*), S(LDS,*), SCALE(*),
-     $                  T(LDT,*), U1(LDU1,*), U2(LDU2,*), US(LDUS,*),
-     $                  UU(LDUU,*), V1(LDV1,*), V2(LDV2,*), WI(*),
-     $                  WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WHICH   CHARACTER*1
-          Specifies the cluster of eigenvalues for which the
-          invariant subspaces are computed:
-          = 'A':  select all n eigenvalues;
-          = 'S':  select a cluster of eigenvalues specified by
-                  SELECT.
-
-  METH    CHARACTER*1
-          If WHICH = 'A' this parameter specifies the method to be
-          used for computing bases of the invariant subspaces:
-          = 'S':  compute the n-dimensional basis from a set of
-                  n vectors;
-          = 'L':  compute the n-dimensional basis from a set of
-                  2*n vectors;
-          = 'Q':  quick return of the set of n vectors;
-          = 'R':  quick return of the set of 2*n vectors.
-          When in doubt, use METH = 'S'. In some cases, METH = 'L'
-          may result in more accurately computed invariant
-          subspaces, see [1].
-          Options METH = 'Q' or METH = 'R' return the range vectors
-          Y = [ Y1; Y2 ], where Y1 and Y2 have 2*n rows and n or 2*n
-          columns, respectively, which can be directly used, e.g.,
-          for finding the (stabilizing) solution of a Riccati
-          equation, by solving X*Y1 = Y2. Note that Y1 might be
-          singular when METH = 'Q'.
-
-  STAB    CHARACTER*1
-          Specifies the type of invariant subspaces to be computed:
-          = 'S':  compute the stable invariant subspace, i.e., the
-                  invariant subspace belonging to those selected
-                  eigenvalues that have negative real part;
-          = 'U':  compute the unstable invariant subspace, i.e.,
-                  the invariant subspace belonging to those
-                  selected eigenvalues that have positive real
-                  part;
-          = 'B':  compute both the stable and unstable invariant
-                  subspaces.
-
-  BALANC  CHARACTER*1
-          Specifies the type of inverse balancing transformation
-          required:
-          = 'N':  do nothing;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          BALANC must be the same as the argument BALANC supplied to
-          MB03XD. Note that if the data is further post-processed,
-          e.g., for solving an algebraic Riccati equation, it is
-          recommended to delay inverse balancing (in particular the
-          scaling part) and apply it to the final result only,
-          see [2]. Inverse balancing is not used by this routine
-          if METH = 'Q' or METH = 'R'.
-
-  ORTBAL  CHARACTER*1
-          If BALANC &lt;&gt; 'N', this option specifies how inverse
-          balancing is applied to the computed invariant subspaces:
-          = 'B':  apply inverse balancing before orthogonal bases
-                  for the invariant subspaces are computed;
-          = 'A':  apply inverse balancing after orthogonal bases
-                  for the invariant subspaces have been computed;
-                  this may yield non-orthogonal bases if
-                  BALANC = 'S' or BALANC = 'B'.
-
-  SELECT  (input) LOGICAL array, dimension (N)
-          If WHICH = 'S', SELECT specifies the eigenvalues
-          corresponding to the positive and negative square
-          roots of the eigenvalues of S*T in the selected cluster.
-          To select a real eigenvalue w(j), SELECT(j) must be set
-          to .TRUE.. To select a complex conjugate pair of
-          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
-          diagonal block, both SELECT(j) and SELECT(j+1) must be set
-          to .TRUE.; a complex conjugate pair of eigenvalues must be
-          either both included in the cluster or both excluded.
-          This array is not referenced if WHICH = 'A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S, T and G. N &gt;= 0.
-
-  MM      (input) INTEGER
-          The number of columns in the arrays US and/or UU.
-          If WHICH = 'A' and (METH = 'S' or METH = 'Q'),  MM =   N;
-          if WHICH = 'A' and (METH = 'L' or METH = 'R'),  MM = 2*N;
-          if WHICH = 'S',                                 MM =   M.
-          The values above for MM give the numbers of vectors to be
-          returned, if METH = 'Q' or METH = 'R', or the numbers of
-          vectors to be used for computing a basis for the invariant
-          subspace(s), if METH = 'S' or METH = 'L', or WHICH = 'S'.
-
-  ILO     (input) INTEGER
-          If BALANC &lt;&gt; 'N', then ILO is the integer returned by
-          MB03XD.  1 &lt;= ILO &lt;= N+1.
-
-  SCALE   (input) DOUBLE PRECISION array, dimension (N)
-          If BALANC &lt;&gt; 'N', the leading N elements of this array
-          must contain details of the permutation and scaling
-          factors, as returned by MB03XD.
-          This array is not referenced if BALANC = 'N'.
-
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix S in real Schur form.
-          On exit, the leading N-by-N part of this array is
-          overwritten.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= max(1,N).
-
-  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix T.
-          On exit, the leading N-by-N part of this array is
-          overwritten.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, if METH = 'L' or METH = 'R', the leading N-by-N
-          part of this array must contain a general matrix G.
-          On exit, if METH = 'L' or METH = 'R', the leading N-by-N
-          part of this array is overwritten.
-          This array is not referenced if METH = 'S' or METH = 'Q'.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= 1.
-          LDG &gt;= max(1,N) if METH = 'L' or METH = 'R'.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (1,1) block of an orthogonal symplectic
-          matrix U.
-          On exit, this array is overwritten.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (2,1) block of an orthogonal symplectic
-          matrix U.
-          On exit, this array is overwritten.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (1,1) block of an orthogonal symplectic
-          matrix V.
-          On exit, this array is overwritten.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1.  LDV1 &gt;= MAX(1,N).
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (2,1) block of an orthogonal symplectic
-          matrix V.
-          On exit, this array is overwritten.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2.  LDV2 &gt;= MAX(1,N).
-
-  M       (output) INTEGER
-          The number of selected eigenvalues.
-
-  WR      (output) DOUBLE PRECISION array, dimension (M)
-  WI      (output) DOUBLE PRECISION array, dimension (M)
-          On exit, the leading M elements of WR and WI contain the
-          real and imaginary parts, respectively, of the selected
-          eigenvalues that have nonpositive real part. Complex
-          conjugate pairs of eigenvalues with real part not equal
-          to zero will appear consecutively with the eigenvalue
-          having the positive imaginary part first. Note that, due
-          to roundoff errors, these numbers may differ from the
-          eigenvalues computed by MB03XD.
-
-  US      (output) DOUBLE PRECISION array, dimension (LDUS,MM)
-          On exit, if STAB = 'S' or STAB = 'B', the leading
-          2*N-by-MM part of this array contains a basis for the
-          stable invariant subspace belonging to the selected
-          eigenvalues, if METH = 'S' or METH = 'L', or the range
-          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
-          METH). This basis is orthogonal unless ORTBAL = 'A'.
-
-  LDUS    INTEGER
-          The leading dimension of the array US.  LDUS &gt;= 1.
-          If STAB = 'S' or STAB = 'B',  LDUS &gt;= 2*N.
-
-  UU      (output) DOUBLE PRECISION array, dimension (LDUU,MM)
-          On exit, if STAB = 'U' or STAB = 'B', the leading
-          2*N-by-MM part of this array contains a basis for the
-          unstable invariant subspace belonging to the selected
-          eigenvalues, if METH = 'S' or METH = 'L', or the range
-          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
-          METH). This basis is orthogonal unless ORTBAL = 'A'.
-
-  LDUU    INTEGER
-          The leading dimension of the array UU.  LDUU &gt;= 1.
-          If STAB = 'U' or STAB = 'B',  LDUU &gt;= 2*N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  LWORK   LOGICAL array, dimension (2*N)
-          This array is only referenced if WHICH = 'A' and
-          (METH = 'L' or METH = 'R').
-
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 2*N, if WHICH = 'A' and METH = 'L';
-          LIWORK = N,   if WHICH = 'A' and METH = 'S';
-          LIWORK = 0,   if WHICH = 'A' and METH = 'Q' or METH = 'R';
-          LIWORK = M,   if WHICH = 'S'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -35,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If WHICH = 'S' or METH = 'S' or METH = 'Q':
-             LDWORK &gt;= MAX( 1, 4*M*M + MAX( 8*M, 4*N ) ).
-          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
-             ( STAB = 'U' or STAB = 'S' ):
-             LDWORK &gt;= MAX( 1, 2*N*N + 2*N, 8*N ).
-          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
-             STAB = 'B':
-             LDWORK &gt;= 8*N + 1.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  some of the selected eigenvalues are on or too close
-                to the imaginary axis;
-          = 2:  reordering of the product S*T in routine MB03ZA
-                failed because some eigenvalues are too close to
-                separate;
-          = 3:  the QR algorithm failed to compute some Schur form
-                in MB03ZA;
-          = 4:  reordering of the Hamiltonian Schur form in routine
-                MB03TD failed because some eigenvalues are too close
-                to separate;
-          = 5:  the computed stable invariant subspace for
-                METH = 'S' is inaccurate. This may be taken as a
-                warning and a suggestion to try METH = 'L';
-          = 6:  the computed unstable invariant subspace for
-                METH = 'S' is inaccurate. This may be taken as a
-                warning and a suggestion to try METH = 'L'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This is an implementation of Algorithm 1 in [1].
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The method is strongly backward stable for an embedded
-  (skew-)Hamiltonian matrix, see [1]. Although good results have
-  been reported if the eigenvalues are not too close to the
-  imaginary axis, the method is not backward stable for the original
-  Hamiltonian matrix itself.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A new method for computing the stable invariant subspace of a
-      real Hamiltonian matrix, J. Comput. Appl. Math., 86,
-      pp. 17-43, 1997.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03ZD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 200 )
-      INTEGER          LDG, LDRES, LDS, LDT, LDU1, LDU2, LDUS, LDUU,
-     $                 LDV1, LDV2, LDWORK
-      PARAMETER        ( LDG = NMAX, LDRES = 2*NMAX, LDS = NMAX,
-     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDUS = 2*NMAX, LDUU = 2*NMAX, LDV1 = NMAX,
-     $                   LDV2 = NMAX, LDWORK = 3*NMAX*NMAX + 7*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      BALANC, METH, ORTBAL, STAB, WHICH
-      INTEGER          I, ILO, INFO, J, M, N
-*     .. Local Arrays ..
-      LOGICAL          LWORK(2*NMAX), SELECT(NMAX)
-      INTEGER          IWORK(2*NMAX)
-      DOUBLE PRECISION DWORK(LDWORK), G(LDG, NMAX), RES(LDRES,NMAX),
-     $                 S(LDS, NMAX), SCALE(NMAX), T(LDT,NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), US(LDUS,2*NMAX),
-     $                 UU(LDUU,2*NMAX), V1(LDV1,NMAX), V2(LDV2, NMAX),
-     $                 WI(NMAX), WR(NMAX)
-*     .. External Functions ..
-      EXTERNAL         DLANGE, LSAME
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE
-*     .. External Subroutines ..
-      EXTERNAL         MB03ZD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, ILO, WHICH, METH, STAB, BALANC, ORTBAL
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-*
-         IF ( LSAME( WHICH, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( SELECT(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( WHICH, 'A' ).AND.LSAME( METH, 'L' ) )
-     $      READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( BALANC, 'P' ).OR.LSAME( BALANC, 'S' ).OR.
-     $        LSAME( BALANC, 'B' ) )
-     $      READ ( NIN, FMT = * ) ( SCALE(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( V1(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( V2(I,J), J = 1,N ), I = 1,N )
-*
-         CALL MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N, 2*N,
-     $                ILO, SCALE, S, LDS, T, LDT, G, LDG, U1, LDU1, U2,
-     $                LDU2, V1, LDV1, V2, LDV2, M, WR, WI, US, LDUS,
-     $                UU, LDUU, LWORK, IWORK, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
-20          CONTINUE
-*
-            IF ( LSAME( STAB, 'S' ).OR.LSAME( STAB, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, 2*N
-                  WRITE ( NOUT, FMT = 99993 ) ( US(I,J), J = 1,M )
-30             CONTINUE
-               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
-     $            LSAME( BALANC, 'P' ) ) THEN
-                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
-     $                        ONE, US, LDUS, US, LDUS, ZERO, RES,
-     $                        LDRES )
-                  DO 40  I = 1, M
-                     RES(I,I) = RES(I,I) - ONE
-40                CONTINUE
-                  WRITE ( NOUT, FMT = 99991 ) DLANGE( 'Frobenius', M, M,
-     $                    RES, LDRES, DWORK )
-               END IF
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
-     $                     US, LDUS, US(N+1,1), LDUS, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
-     $                     US(N+1,1), LDUS, US, LDUS, ONE, RES, LDRES )
-               WRITE ( NOUT, FMT = 99990 ) DLANGE( 'Frobenius', M, M,
-     $                 RES, LDRES, DWORK )
-            END IF
-*
-            IF ( LSAME( STAB, 'U' ).OR.LSAME( STAB, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 )
-               DO 50  I = 1, 2*N
-                  WRITE ( NOUT, FMT = 99993 ) ( UU(I,J), J = 1,M )
-50             CONTINUE
-               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
-     $            LSAME( BALANC, 'P' ) ) THEN
-                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
-     $                        ONE, UU, LDUU, UU, LDUU, ZERO, RES,
-     $                        LDRES )
-                  DO 60  I = 1, M
-                     RES(I,I) = RES(I,I) - ONE
-60                CONTINUE
-                  WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', M, M,
-     $                    RES, LDRES, DWORK )
-               END IF
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
-     $                     UU, LDUU, UU(N+1,1), LDUU, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
-     $                     UU(N+1,1), LDUU, UU, LDUU, ONE, RES, LDRES )
-               WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', M, M,
-     $                 RES, LDRES, DWORK )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03ZD = ',I2)
-99997 FORMAT (' The stable eigenvalues are',//'   i',6X,
-     $        'WR(i)',6X,'WI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' A basis for the stable invariant subspace is')
-99994 FORMAT (/' A basis for the unstable invariant subspace is')
-99993 FORMAT (20(1X,F9.3))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of US: || US''*US - I ||_F = ',G7.2)
-99990 FORMAT (/' Symplecticity of US: || US''*J*US   ||_F = ',G7.2)
-99989 FORMAT (/' Orthogonality of UU: || UU''*UU - I ||_F = ',G7.2)
-99988 FORMAT (/' Symplecticity of UU: || UU''*J*UU   ||_F = ',G7.2)
-
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03ZD EXAMPLE PROGRAM DATA
-	5	1	A	L	B	N	B
- -3.1844761777714732  0.1612357243439331 -0.0628592203751138  0.2449004200921981  0.1974400149992579
-  0.0000000000000000 -0.1510667773167784  0.4260444411622838 -0.1775026035208615  0.3447278421198472
-  0.0000000000000000 -0.1386140422054264 -0.3006779624777515  0.2944143257134196  0.3456440339120323
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740570  0.0933189808067138
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359603  0.2004347508746697
-  3.2038208121776366  0.1805955192510651  0.2466389119377561 -0.2539149302433368 -0.0359238844381195
-  0.0000000000000000 -0.7196686433290816  0.0000000000000000  0.2428659121580384 -0.0594190100670832
-  0.0000000000000000  0.0000000000000000 -0.1891741194498107 -0.3309578443491266 -0.0303520731950515
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961550  0.0000000000000000
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
- -0.0370982242678464  0.0917788436945724 -0.0560402416315252  0.1345152517579192  0.0256668227276700
-  0.0652183678916931 -0.0700457231988297  0.0350041175858839 -0.2233868768749268 -0.1171980260782843
- -0.0626428681377119  0.2327575351902772 -0.1251515732208170 -0.0177816046663201  0.3696921118421182
-  0.0746042309265599 -0.0828007611045140  0.0217427473546043 -0.1157775118548851 -0.3161183681200527
-  0.1374372236164812  0.1002727885506992  0.4021556774753973 -0.0431072263235579  0.1067394572547867
-  0.3806883009357247 -0.0347810363019649 -0.5014665065895758  0.5389691288472394  0.2685446895251367
-  0.4642712665555326 -0.5942766860716395  0.4781179763952615  0.2334370556238151  0.0166790369048933
-  0.2772789197782788 -0.0130145392695876 -0.2123817030594055 -0.2550292626960107 -0.5049268366774490
-  0.4209268575081796  0.1499593172661228 -0.1925590746592156 -0.5472292877802402  0.4543329704184054
-  0.3969669479129449  0.6321903535930828  0.3329156356041961  0.0163533225344433 -0.2638879466190024
- -0.1795922007470742  0.1908329820840911  0.0868799433942070  0.3114741142062388 -0.2579907627915167
- -0.2447897730222852 -0.1028403314750045 -0.1157840914576285 -0.1873268885694406  0.1700708002861580
- -0.2243335325285328  0.3180998613802520  0.3315380214794822  0.1977859924739963  0.5072476567310013
- -0.2128397588651423 -0.2740560593051881  0.1941418870268881 -0.3096684962457369 -0.0581576193198714
- -0.2002027567371932 -0.0040094115506855 -0.3979373387545264  0.1520881534833910 -0.2010804514091372
-  0.4447147692018334 -0.6830166755147440 -0.0002576861753487  0.5781954611783305 -0.0375091627893805
-  0.5121756358795817  0.0297197140254773  0.4332229148788766 -0.3240527006890552  0.5330850295256511
-  0.3664711365265602  0.3288511296455119  0.0588396016404451  0.1134221597062257  0.1047567336850078
-  0.4535357098437908  0.1062866148880792 -0.3964092656837774 -0.2211800890450674  0.0350667323996222
-  0.4450432900616097  0.2950206358263853 -0.1617837757183893 -0.0376369332204927 -0.6746752660482623
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
-  0.0299719306696789 -0.2322624725320701 -0.0280846899680325 -0.3044255686880000 -0.1077641482535519
- -0.0069083614679702  0.3351358347080056 -0.4922707032978891  0.4293545450291714  0.4372821269062001
-  0.0167847133528843  0.2843629278945327  0.5958979805231146  0.3097336757510886 -0.2086733033047188
-  0.0248567764822071 -0.2810759958040470 -0.1653113624869834 -0.3528780198620412 -0.0254898556119252
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03ZD EXAMPLE PROGRAM RESULTS
-
-The stable eigenvalues are
-
-  i      WR(i)      WI(i)
-
-  1    -3.1941     0.0000
-  2    -0.1350     0.3179
-  3    -0.1350    -0.3179
-  4    -0.0595     0.2793
-  5    -0.0595    -0.2793
-
-A basis for the stable invariant subspace is
-   -0.102    -0.116     0.627     0.118    -0.605
-   -0.100    -0.510    -0.266     0.504     0.124
-   -0.179     0.015    -0.112    -0.142     0.413
-   -0.055     0.252     0.182    -0.134     0.100
-   -0.078     0.576    -0.271    -0.252    -0.177
-    0.340    -0.135     0.053    -0.234    -0.110
-    0.528     0.108    -0.205     0.219    -0.096
-    0.397    -0.429     0.161    -0.598     0.199
-    0.444     0.342     0.447     0.406     0.440
-    0.434     0.014    -0.383     0.072    -0.391
-
-Orthogonality of US: || US'*US - I ||_F = .62E-15
-
-Symplecticity of US: || US'*J*US   ||_F = .23E-14
-
-A basis for the unstable invariant subspace is
-   -0.428     0.383     0.048     0.105     0.187
-   -0.506    -0.100     0.541     0.245     0.223
-   -0.334    -0.524    -0.044    -0.153     0.126
-   -0.453     0.076     0.103    -0.525    -0.268
-   -0.436     0.098    -0.752     0.209    -0.251
-   -0.093    -0.089     0.258    -0.114    -0.725
-   -0.112    -0.196    -0.186    -0.302     0.394
-   -0.120    -0.286     0.027     0.680    -0.119
-   -0.102     0.630     0.079     0.040     0.127
-   -0.091    -0.171    -0.136    -0.136     0.231
-
-Orthogonality of UU: || UU'*UU - I ||_F = .69E-15
-
-Symplecticity of UU: || UU'*J*UU   ||_F = .10E-13
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04AD">MB04AD</A></H2>
-<H3>
-Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH with
-
-                                   (  0  I  )
-    S = T Z = J Z' J' Z, where J = (        ),                   (1)
-                                   ( -I  0  )
-
-  via generalized symplectic URV decomposition. That is, orthogonal
-  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2
-  are computed such that
-
-                                ( T11  T12 )
-    Q1' T U1 = Q1' J Z' J' U1 = (          ) = Tout,
-                                (  0   T22 )
-
-               ( Z11  Z12 )
-    U2' Z Q2 = (          ) = Zout,                              (2)
-               (  0   Z22 )
-
-               ( H11  H12 )
-    Q1' H Q2 = (          ) = Hout,
-               (  0   H22 )
-
-  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
-  upper quasi-triangular. The notation M' denotes the transpose of
-  the matrix M.
-  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', the orthogonal
-  transformation matrix Q1 will be computed.
-  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', the orthogonal
-  transformation matrix Q2 will be computed.
-  Optionally, if COMPU1 = 'I' or COMPU1 = 'U', the orthogonal
-  symplectic transformation matrix
-
-         (  U11  U12  )
-    U1 = (            )
-         ( -U12  U11  )
-
-  will be computed.
-  Optionally, if COMPU2 = 'I' or COMPU2 = 'U', the orthogonal
-  symplectic transformation matrix
-
-         (  U21  U22  )
-    U2 = (            )
-         ( -U22  U21  )
-
-  will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ,
-     $                   H, LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12,
-     $                   LDU12, U21, LDU21, U22, LDU22, T, LDT, ALPHAR,
-     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
-      INTEGER            INFO, LDH, LDQ1, LDQ2, LDT, LDU11, LDU12,
-     $                   LDU21, LDU22, LDWORK, LDZ, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ),
-     $                   DWORK( * ), H( LDH, * ), Q1( LDQ1, * ),
-     $                   Q2( LDQ2, * ), T( LDT, * ), U11( LDU11, * ),
-     $                   U12( LDU12, * ), U21( LDU21, * ),
-     $                   U22( LDU22, * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; Z, T, and H will not
-                 necessarily be put into the forms in (2); H22' is
-                 upper Hessenberg;
-          = 'T': put Z, T, and H into the forms in (2), and return
-                 the eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N': Q1 is not computed;
-          = 'I': the array Q1 is initialized internally to the unit
-                 matrix, and the orthogonal matrix Q1 is returned;
-          = 'U': the array Q1 contains an orthogonal matrix Q01 on
-                 entry, and the product Q01*Q1 is returned, where Q1
-                 is the product of the orthogonal transformations
-                 that are applied to the pencil aT*Z - bH on the
-                 left to reduce T, Z, and H to the forms in (2),
-                 for COMPQ1 = 'I'.
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N': Q2 is not computed;
-          = 'I': the array Q2 is initialized internally to the unit
-                 matrix, and the orthogonal matrix Q2 is returned;
-          = 'U': the array Q2 contains an orthogonal matrix Q02 on
-                 entry, and the product Q02*Q2 is returned, where Q2
-                 is the product of the orthogonal transformations
-                 that are applied to the pencil aT*Z - bH on the
-                 right to reduce T, Z, and H to the forms in (2),
-                 for COMPQ2 = 'I'.
-
-  COMPU1  CHARACTER*1
-          Specifies whether to compute the orthogonal symplectic
-          transformation matrix U1, as follows:
-          = 'N': U1 is not computed;
-          = 'I': the arrays U11 and U12 are initialized internally
-                 to the unit and zero matrices, respectively, and
-                 the corresponding submatrices of the orthogonal
-                 symplectic matrix U1 are returned;
-          = 'U': the arrays U11 and U12 contain the corresponding
-                 submatrices of an orthogonal symplectic matrix U01
-                 on entry, and the updated submatrices U11 and U12
-                 of the matrix product U01*U1 are returned, where U1
-                 is the product of the orthogonal symplectic
-                 transformations that are applied to the pencil
-                 aT*Z - bH to reduce T, Z, and H to the forms in
-                 (2), for COMPU1 = 'I'.
-
-  COMPU2  CHARACTER*1
-          Specifies whether to compute the orthogonal symplectic
-          transformation matrix U2, as follows:
-          = 'N': U2 is not computed;
-          = 'I': the arrays U21 and U22 are initialized internally
-                 to the unit and zero matrices, respectively, and
-                 the corresponding submatrices of the orthogonal
-                 symplectic matrix U2 are returned;
-          = 'U': the arrays U21 and U22 contain the corresponding
-                 submatrices of an orthogonal symplectic matrix U02
-                 on entry, and the updated submatrices U21 and U22
-                 of the matrix product U02*U2 are returned, where U2
-                 is the product of the orthogonal symplectic
-                 transformations that are applied to the pencil
-                 aT*Z - bH to reduce T, Z, and H to the forms in
-                 (2), for COMPU2 = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Z.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the matrix Zout; otherwise, it contains the
-          matrix Z obtained just before the application of the
-          periodic QZ algorithm.
-          The elements of the (2,1) block, i.e., in the rows N/2+1
-          to N and in the columns 1 to N/2 are not set to zero, but
-          are unchanged on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  H       (input/output) DOUBLE PRECISION array, dimension (LDH, N)
-          On entry, the leading N-by-N part of this array must
-          contain the Hamiltonian matrix H (H22 = -H11', H12 = H12',
-          H21 = H21').
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the matrix Hout; otherwise, it contains the
-          matrix H obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1, N).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q01, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q01 and the transformation matrix Q1
-          used to transform the matrices Z, T and H.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N', this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q02, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q02 and the transformation matrix Q2
-          used to transform the matrices Z, T and H.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N', this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  U11     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU11, N/2)
-          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper left block of a
-          given matrix U01, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U11 of
-          the product of the input matrix U01 and the transformation
-          matrix U1 used to transform the matrices Z, T, and H.
-          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U11 of the
-          orthogonal symplectic transformation matrix U1.
-          If COMPU1 = 'N' this array is not referenced.
-
-  LDU11   INTEGER
-          The leading dimension of the array U11.
-          LDU11 &gt;= 1,           if COMPU1 = 'N';
-          LDU11 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
-
-  U12     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU12, N/2)
-          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper right block of a
-          given matrix U01, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U12
-          of the product of the input matrix U01 and the
-          transformation matrix U1 used to transform the matrices
-          Z, T, and H.
-          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U12 of the
-          orthogonal symplectic transformation matrix U1.
-          If COMPU1 = 'N' this array is not referenced.
-
-  LDU12   INTEGER
-          The leading dimension of the array U12.
-          LDU12 &gt;= 1,           if COMPU1 = 'N';
-          LDU12 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
-
-  U21     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU21, N/2)
-          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper left block of a
-          given matrix U02, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U21 of
-          the product of the input matrix U02 and the transformation
-          matrix U2 used to transform the matrices Z, T, and H.
-          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U21 of the
-          orthogonal symplectic transformation matrix U2.
-          If COMPU2 = 'N' this array is not referenced.
-
-  LDU21   INTEGER
-          The leading dimension of the array U21.
-          LDU21 &gt;= 1,           if COMPU2 = 'N';
-          LDU21 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
-
-  U22     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU22, N/2)
-          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper right block of a
-          given matrix U02, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U22
-          of the product of the input matrix U02 and the
-          transformation matrix U2 used to transform the matrices
-          Z, T, and H.
-          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U22 of the
-          orthogonal symplectic transformation matrix U2.
-          If COMPU2 = 'N' this array is not referenced.
-
-  LDU22   INTEGER
-          The leading dimension of the array U22.
-          LDU22 &gt;= 1,           if COMPU2 = 'N';
-          LDU22 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT, N)
-          If JOB = 'T', the leading N-by-N part of this array
-          contains the matrix Tout; otherwise, it contains the
-          matrix T obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1, N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta defining the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th quadruple of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.   LIWORK &gt;= N+18.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(7) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(8), ...,
-          DWORK(7+6*s) contain the s sextuple values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained from
-          -i*sqrt((a1/a2/a3)*(a4/a5/a6)), but always taking a
-          positive sign, where a1, ..., a6 are the corresponding
-          sextuple values.
-          Moreover, DWORK(8+6*s), ..., DWORK(7+6*s+24*t) contain the
-          t groups of sextuple 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
-          positive imaginary parts, where ev are the eigenvalues of
-          the product A1*inv(A2)*inv(A3)*A4*inv(A5)*inv(A6), where
-          A1, ..., A6 define the corresponding 2-by-2 matrix
-          sextuple.
-          On exit, if INFO = -31, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N' and
-          COMPU1 = 'N' and COMPU2 = 'N', then
-                LDWORK &gt;= 3/2*N**2 + MAX(6*N,54);
-          else, LDWORK &gt;=   3*N**2 + MAX(6*N,54).
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm was not able to reveal
-               information about the eigenvalues from the 2-by-2
-               blocks in the SLICOT Library routine MB03BD;
-          = 2: the periodic QZ algorithm did not converge in the
-               SLICOT Library routine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in T, Z, and H such that T11, T22', Z11, Z22',
-  and H11 are upper triangular and H22' is upper Hessenberg. Finally
-  the periodic QZ algorithm is applied to transform H22' to upper
-  quasi-triangular form while T11, T22', Z11, Z22', and H11 stay in
-  upper triangular form.
-  See also page 17 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDH, LDQ1, LDQ2, LDT, LDU11, LDU12, LDU21,
-     $                   LDU22, LDWORK, LDZ, LIWORK
-      PARAMETER          ( LDH = NMAX, LDQ1  = NMAX,   LDQ2 = NMAX,
-     $                     LDT = NMAX, LDU11 = NMAX/2, LDU12 = NMAX/2,
-     $                     LDU21  = NMAX/2, LDU22 = NMAX/2,
-     $                     LDWORK = 3*NMAX*NMAX + MAX( NMAX, 48 ) + 6,
-     $                     LDZ = NMAX,  LIWORK = NMAX + 18 )
-      DOUBLE PRECISION  ZERO
-      PARAMETER         ( ZERO = 0.0D0 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX/2 ), ALPHAR( NMAX/2 ),
-     $                   BETA( NMAX/2 ), DWORK( LDWORK ),
-     $                   H( LDH, NMAX ), Q1( LDQ1, NMAX ),
-     $                   Q2( LDQ2, NMAX ), T( LDT, NMAX ),
-     $                   U11( LDU11, NMAX/2 ), U12( LDU12, NMAX/2 ),
-     $                   U21( LDU21, NMAX/2 ), U22( LDU22, NMAX/2 ),
-     $                   Z( LDZ, NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           DLASET, MB04AD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( ( Z( I, J ), J = 1, N ), I = 1, N )
-         READ( NIN, FMT = * ) ( ( H( I, J ), J = 1, N ), I = 1, N )
-*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
-*        pencil (factored version).
-         CALL MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ, H,
-     $                LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12, LDU12,
-     $                U21, LDU21, U22, LDU22, T, LDT, ALPHAR, ALPHAI,
-     $                BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            M = N/2
-            CALL DLASET( 'Full', M, M, ZERO, ZERO, Z( M+1, 1 ), LDZ )
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( T( I, J ), J = 1, N )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( H( I, J ), J = 1, N )
-   30       CONTINUE
-            IF( LSAME( COMPQ1, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
-   40          CONTINUE
-            END IF
-            IF( LSAME( COMPQ2, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            IF( LSAME( COMPU1, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 60 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U11( I, J ), J = 1, M )
-   60          CONTINUE
-               WRITE( NOUT, FMT = 99989 )
-               DO 70 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U12( I, J ), J = 1, M )
-   70          CONTINUE
-            END IF
-            IF( LSAME( COMPU2, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99988 )
-               DO 80 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U21( I, J ), J = 1, M )
-   80          CONTINUE
-               WRITE( NOUT, FMT = 99987 )
-               DO 90 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U22( I, J ), J = 1, M )
-   90          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99986 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99985 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99984 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-         END IF
-      END IF
-      STOP
-* 
-99999 FORMAT( 'MB04AD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB04AD = ', I2 )
-99996 FORMAT( 'The matrix T on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix Z on exit is ' )
-99993 FORMAT( 'The matrix H is ' )
-99992 FORMAT( 'The matrix Q1 is ' )
-99991 FORMAT( 'The matrix Q2 is ' )
-99990 FORMAT( 'The upper left block of the matrix U1 is ' )
-99989 FORMAT( 'The upper right block of the matrix U1 is ' )
-99988 FORMAT( 'The upper left block of the matrix U2 is ' )
-99987 FORMAT( 'The upper right block of the matrix U2 is ' )
-99986 FORMAT( 'The vector ALPHAR is ' )
-99985 FORMAT( 'The vector ALPHAI is ' )
-99984 FORMAT( 'The vector BETA is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04AD EXAMPLE PROGRAM DATA
-   T   I   I   I   I   8
-   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
-   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
-  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
-   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
-   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
-  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
-  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
-   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
-   3.9090   -3.5071    3.1428   -3.0340   -1.4834    3.7401   -0.1715    0.4026
-   4.5929   -2.4249   -2.5648   -2.4892    3.7401   -2.1416    1.6251    2.6645
-   0.4722    3.4072    4.2926    1.1604   -0.1715    1.6251   -4.2415   -0.0602
-  -3.6138   -2.4572   -1.5002   -0.2671    0.4026    2.6645   -0.0602   -3.7009
-   0.6882   -1.8421   -4.1122    0.1317   -3.9090   -4.5929   -0.4722    3.6138
-  -1.8421    2.9428   -0.4340    1.3834    3.5071    2.4249   -3.4072    2.4572
-  -4.1122   -0.4340   -2.3703    0.5231   -3.1428    2.5648   -4.2926    1.5002
-   0.1317    1.3834    0.5231   -4.1618    3.0340    2.4892   -1.1604    0.2671
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04AD EXAMPLE PROGRAM RESULTS
-The matrix T on exit is 
-  -3.9699   3.7658   5.5815  -1.7750  -0.8818  -0.0511  -4.2158   1.9054
-   0.0000   5.3686  -5.9166   4.9163   1.3839   0.8870   3.9458  -4.9167
-   0.0000   0.0000   5.9641   1.9432  -2.0680   2.4402  -1.4091   5.8512
-   0.0000   0.0000   0.0000   5.9983  -3.8172   4.0147  -2.0739  -1.2570
-   0.0000   0.0000   0.0000   0.0000   8.2005   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   1.5732   8.0098   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.6017   2.4397   5.9751   0.0000
-   0.0000   0.0000   0.0000   0.0000  -2.5869   0.5598   0.2544   5.2129
-The matrix Z on exit is 
-  -6.4705  -2.5511  -4.0551  -1.9895  -2.7642   0.7532  -4.1047  -2.2046
-   0.0000   7.3589  -4.4480  -2.7491  -1.5465  -1.4345  -0.9272   1.3121
-   0.0000   0.0000   4.9125  -0.4968   5.3574   3.8579   5.2547  -1.7324
-   0.0000   0.0000   0.0000   9.0822   0.0460  -0.3382   3.9302   3.1084
-   0.0000   0.0000   0.0000   0.0000   6.1869   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   5.5573   6.6549   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   2.7456  -3.5789   4.3432   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.1549   3.5335   3.1346   4.1062
-The matrix H is 
-  -7.4834   0.4404   2.3558   1.6724  -0.4630   1.9533   1.5724  -2.7254
-   0.0000  -7.3500   3.7414   3.7466   0.2837   0.6849   0.7727  -4.2140
-   0.0000   0.0000  -2.3493  -3.7994  -0.6872   1.1773  -2.6901  -5.1494
-   0.0000   0.0000   0.0000  -3.4719   5.3322   0.4182   1.9779   1.5175
-   0.0000   0.0000   0.0000   0.0000  -6.1880   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000  -3.3324   9.0833   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8703   0.0799  -2.8180   0.0000
-   0.0000   0.0000   0.0000   0.0000  -2.3477   3.3110   0.6561   0.7281
-The matrix Q1 is 
-  -0.2489  -0.1409   0.3615   0.6458   0.0113   0.6063  -0.0470   0.0238
-  -0.2436   0.1294  -0.0874  -0.4103   0.3408   0.3628  -0.3267   0.6272
-  -0.4316  -0.2352   0.5553  -0.2811  -0.2198  -0.2880  -0.4564  -0.1773
-   0.1992  -0.2176  -0.5198   0.1561  -0.1523   0.1299  -0.7281  -0.2197
-   0.0161   0.7390   0.1125  -0.2226  -0.1003   0.3608  -0.1118  -0.4886
-  -0.5824   0.0984  -0.3052   0.1996   0.5889  -0.2442   0.0060  -0.3341
-  -0.3246   0.4661  -0.1835   0.3523  -0.5153  -0.3034  -0.0865   0.3931
-  -0.4559  -0.2961  -0.3790  -0.3127  -0.4356   0.3452   0.3642  -0.1467
-The matrix Q2 is 
-   0.0288  -0.1842  -0.6791  -0.2115  -0.4790   0.4212  -0.0417  -0.2253
-  -0.0666  -0.0787  -0.3711   0.1737  -0.0482  -0.5770  -0.6785   0.1607
-   0.1506   0.6328   0.0518  -0.6266   0.0652  -0.0790  -0.2854  -0.2994
-  -0.2900  -0.2737  -0.0076  -0.3671  -0.2017  -0.6241   0.4521  -0.2675
-   0.3353   0.4107   0.0326   0.1400  -0.6447  -0.2043   0.2561   0.4187
-   0.0905  -0.1648  -0.2363  -0.5323   0.3180   0.0286   0.1252   0.7126
-  -0.7246   0.0468   0.3328  -0.1794  -0.3639   0.2257  -0.2623   0.2786
-   0.4922  -0.5353   0.4803  -0.2501  -0.2723   0.0199  -0.3194  -0.0371
-The upper left block of the matrix U1 is 
-   0.4144   0.2249   0.6015  -0.1964
-  -0.0198   0.5131  -0.2823  -0.3058
-  -0.6620   0.1508   0.2237   0.0240
-  -0.0743  -0.4323  -0.0332  -0.7263
-The upper right block of the matrix U1 is 
-  -0.3474   0.1306  -0.3391  -0.3530
-  -0.3760   0.1550   0.6087  -0.1646
-   0.1707   0.6553  -0.1262  -0.1177
-   0.3048  -0.0773   0.0767  -0.4173
-The upper left block of the matrix U2 is 
-   0.1403  -0.6447  -0.6536  -0.3707
-   0.7069   0.2609  -0.0091  -0.1702
-  -0.1218  -0.1120   0.3766  -0.5154
-   0.0773   0.6349  -0.5070  -0.1810
-The upper right block of the matrix U2 is 
-   0.0000   0.0000   0.0000   0.0000
-   0.1182   0.1587   0.1930  -0.5716
-   0.6051  -0.2720   0.3364   0.1089
-   0.2823  -0.0386  -0.1529   0.4434
-The vector ALPHAR is 
-   0.0000   0.7122   0.0000   0.7450
-The vector ALPHAI is 
-   0.7540   0.0000   0.7465   0.0000
-The vector BETA is 
-   4.0000   4.0000   8.0000  16.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04AZ.html b/doc/_build/html/_static/doc/MB04AZ.html
deleted file mode 100644
index 0d9dd52e..00000000
--- a/doc/_build/html/_static/doc/MB04AZ.html
+++ /dev/null
@@ -1,588 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04AZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04AZ">MB04AZ</A></H2>
-<H3>
-Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-           H  T           (  B  F  )       (  Z11  Z12  )
-    S = J Z  J  Z and H = (      H ), Z =: (            ).       (1)
-                          (  G -B  )       (  Z21  Z22  )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-                                                        H  T
-  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z  J  B_Z,
-
-          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
-          (                     |                     )
-          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
-          (                     |                     )
-    B_Z = (---------------------+---------------------) ,
-          (                     |                     )
-          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
-          (                     |                     )
-          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |      T       T  )
-          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
-          (                 |      T       T  )
-          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
-
-  is determined and used to compute the eigenvalues. Optionally,
-  if JOB = 'T', the pencil aB_S - bB_H is transformed by a unitary
-  matrix Q and a unitary symplectic matrix U to the structured Schur
-                                                H  T
-  form aB_Sout - bB_Hout, with B_Sout = J B_Zout  J  B_Zout,
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Zout = (         ) and B_Hout = (       H ),               (3)
-             (  0  BC  )              (  0 -BB  )
-
-  where BA and BB are upper triangular, BC is lower triangular,
-  and BF is Hermitian. B_H above is defined as B_H = -i*B_T.
-  The embedding doubles the multiplicities of the eigenvalues of
-  the pencil aS - bH.
-  Optionally, if COMPQ = 'C', the unitary matrix Q is computed.
-  Optionally, if COMPU = 'C', the unitary symplectic matrix U is
-  computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG,
-     $                   LDFG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
-     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
-     $                   ZWORK, LZWORK, BWORK, INFO )C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
-     $                   LDZ, LIWORK, LZWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
-     $                   Z( LDZ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (3).
-          = 'T': put S and H into the forms in (3) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the unitary transformation
-          matrix Q, as follows:
-          = 'N': do not compute the unitary matrix Q;
-          = 'C': the array Q is initialized internally to the unit
-                 matrix, and the unitary matrix Q is returned.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the unitary symplectic
-          transformation matrix U, as follows:
-          = 'N': do not compute the unitary symplectic matrix U;
-          = 'C': the array U is initialized internally to the unit
-                 matrix, and the unitary symplectic matrix U is
-                 returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the non-trivial factor Z in the factorization
-                 H  T
-          S = J Z  J  Z of the skew-Hamiltonian matrix S.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3)
-          (see also METHOD). The strictly lower triangular part is
-          not zeroed. The submatrix in the rows N/2+1 to N and the
-          first N/2 columns is unchanged, except possibly for the
-          entry (N/2+1,N/2), which might be set to zero.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, K), where
-          K = N, if JOB = 'T', and K = M, if JOB = 'E'.
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3)
-          (see also METHOD).
-          The strictly lower triangular part is not zeroed.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1, M), if JOB = 'E';
-          LDB &gt;= MAX(1, N), if JOB = 'T'.
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, P),
-          where P = MAX(M+1,N), if JOB = 'T', and
-                P = M+1,        if JOB = 'E'.
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F. Accidental nonzero imaginary parts on
-          the main diagonals of F and G do not perturb the results.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts, since they have not been annihilated.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, M), if JOB = 'E';
-          LDFG &gt;= MAX(1, N), if JOB = 'T'.
-
-  D       (output) COMPLEX*16 array, dimension (LDD, N)
-          If JOB = 'T', the leading N-by-N part of this array
-          contains the matrix BD in (3) (see also METHOD).
-          If JOB = 'E', this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= 1,         if JOB = 'E';
-          LDD &gt;= MAX(1, N), if JOB = 'T'.
-
-  C       (output) COMPLEX*16 array, dimension (LDC, N)
-          If JOB = 'T', the leading N-by-N part of this array
-          contains the lower triangular matrix BC in (3) (see also
-          METHOD). The part over the first superdiagonal is not set.
-          If JOB = 'E', this array is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,         if JOB = 'E';
-          LDC &gt;= MAX(1, N), if JOB = 'T'.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C' and JOB = 'T', then the leading
-          2*N-by-2*N part of this array contains the unitary
-          transformation matrix Q.
-          If COMPQ = 'C' and JOB = 'E', this array contains the
-          orthogonal transformation which reduced B_Z and B_T
-          in the first step of the algorithm (see METHOD).
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
-          On exit, if COMPU = 'C' and JOB = 'T', then the leading
-          N-by-2*N part of this array contains the leading N-by-2*N
-          part of the unitary symplectic transformation matrix U.
-          If COMPU = 'C' and JOB = 'E', this array contains the
-          first N rows of the transformation U which reduced B_Z
-          and B_T in the first step of the algorithm (see METHOD).
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,         if COMPU = 'N';
-          LDU &gt;= MAX(1, N), if COMPU = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue. The blocks are those in B_T and B_S.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th triplet of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(5), ...,
-          DWORK(4+3*s) contain the s triplet values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained as -a1/a2/a3*i,
-          where a1, ..., a3 are the corresponding triplet values,
-          and i is the purely imaginary unit.
-          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
-          t groups of triplet 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is given by imag( ev ) - real( ev )*i,
-          where ev is the spectrum of the matrix product
-          A1*inv(A2)*inv(A3), and A1, ..., A3 define the
-          corresponding 2-by-2 matrix triplet.
-          On exit, if INFO = -25, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
-                    c = 18, if                 COMPU = 'C';
-                    c = 16, if COMPQ = 'C' and COMPU = 'N';
-                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -27, ZWORK(1) returns the minimum
-          value of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 8*N + 28, if JOB = 'T' and COMPQ = 'C';
-          LZWORK &gt;= 6*N + 28, if JOB = 'T' and COMPQ = 'N';
-          LZWORK &gt;= 1,        if JOB = 'E'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0, if JOB = 'E';
-          LBWORK &gt;= N, if JOB = 'T'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the algorithm was not able to reveal information
-               about the eigenvalues from the 2-by-2 blocks in the
-               SLICOT Library routine MB03BD (called by MB04ED);
-          = 2: periodic QZ iteration failed in the SLICOT Library
-               routines MB03BD or MB03BZ when trying to
-               triangularize the 2-by-2 blocks;
-          = 3: some eigenvalues might be inaccurate. This is a
-               warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04ED is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~      T         (  BZ11  BZ12  )
-  B_Z = U  B_Z Q = (              ) and
-                   (    0   BZ22  )
-
-  ~        T  T         (  T11  T12  )
-  B_T = J Q  J  B_T Q = (          T ),
-                        (   0   T11  )
-
-  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
-  BZ22' are upper triangular and T11 is upper quasi-triangular.
-  If JOB = 'T', the 2-by-2 blocks are triangularized using the
-  periodic QZ algorithm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04AZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
-     $                   LIWORK, LZWORK
-      PARAMETER          ( LDB = NMAX,  LDC =   NMAX, LDD = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
-     $                     LDWORK = 18*NMAX*NMAX + NMAX + MAX( 2*NMAX,
-     $                                                         24 ) + 3,
-     $                     LDZ = NMAX, LIWORK = 2*NMAX + 9,
-     $                     LZWORK = 8*NMAX + 28 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      COMPLEX*16         B( LDB,   NMAX ),  C( LDC,   NMAX ),
-     $                   D( LDD,   NMAX ), FG( LDFG,  NMAX ),
-     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
-     $                   Z( LDZ,   NMAX ), ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
-     $                   BETA(   NMAX ), DWORK(LDWORK )
-      INTEGER            IWORK( LIWORK )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04AZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I=1, N )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I=1, N/2 )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I=1, N/2 )
-*        Compute the eigenvalues of a complex skew-Hamiltonian/
-*        Hamiltonian pencil (factored version).
-         CALL MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
-     $                BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK, LZWORK,
-     $                BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            M = N/2
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  Z( I, J ), J = 1, N )
-   10          CONTINUE
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  B( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  D( I, J ), J = 1, N )
-   40          CONTINUE
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  C( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 60 I = 1, 2*N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
-   60          CONTINUE
-            END IF
-            IF( LSAME( COMPU, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99989 )
-               DO 70 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, 2*N )
-   70          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99987 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99986 )
-            WRITE( NOUT, FMT = 99987 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99985 )
-            WRITE( NOUT, FMT = 99987 ) (   BETA( I ), I = 1, N )
-         END IF
-      END IF
-      STOP
-* 
-99999 FORMAT ( 'MB04AZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04AZ = ', I2 )
-99996 FORMAT (/' The transformed matrix Z is' )
-99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99994 FORMAT (/' The transformed matrix B is' )
-99993 FORMAT (/' The transformed matrix FG is' )
-99992 FORMAT (/' The matrix D is' )
-99991 FORMAT (/' The matrix C is' )
-99990 FORMAT (/' The matrix Q is' )
-99989 FORMAT (/' The upper part of the matrix U is' )
-99988 FORMAT (/' The vector ALPHAR is ' )
-99987 FORMAT ( 50( 1X, F8.4 ) )
-99986 FORMAT (/' The vector ALPHAI is ' )
-99985 FORMAT (/' The vector BETA is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04AZ EXAMPLE PROGRAM DATA
-	T	C	C	4
-   (0.4941,0.8054)   (0.8909,0.8865)   (0.0305,0.9786)   (0.9047,0.0596)
-   (0.7790,0.5767)   (0.3341,0.0286)   (0.7440,0.7126)   (0.6098,0.6819)
-   (0.7150,0.1829)   (0.6987,0.4899)   (0.5000,0.5004)   (0.6176,0.0424)
-   (0.9037,0.2399)   (0.1978,0.1679)   (0.4799,0.4710)   (0.8594,0.0714)
-   (0.5216,0.7224)   (0.8181,0.6596)
-   (0.0967,0.1498)   (0.8175,0.5185)
-    0.9729            0.8003           (0.4323,0.8313)
-   (0.6489,0.1331)    0.4537            0.8253          
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04AZ EXAMPLE PROGRAM RESULTS
-
- The transformed matrix Z is
-    0.4545  +0.0000i     0.7904  +0.0000i    -0.1601  +0.0000i    -0.2691  +0.0000i 
-    0.7790  +0.5767i     0.4273  +0.0000i     0.1459  +0.0000i     0.1298  +0.0000i 
-    0.7150  +0.1829i     0.6987  +0.4899i     0.6715  +0.0000i    -0.3001  +0.0000i 
-    0.9037  +0.2399i     0.1978  +0.1679i     0.4799  +0.4710i     0.7924  +0.0000i 
-
- The transformed matrix B is
-    0.0000  -1.7219i     0.0000  +0.7762i     0.0000  +0.5342i     0.0000  +0.0845i 
-    0.0000  +0.0000i     0.0000  +0.8862i     0.0000  +0.5186i     0.0000  -0.1429i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +1.1122i     0.0000  +0.2898i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.4889i 
-
- The transformed matrix FG is
-    0.0000  +0.0000i     0.0000  +0.4145i     0.0000  -0.7921i     0.0000  +0.5630i 
-    0.6489  +0.1331i     0.0000  +0.0000i     0.0000  +1.5982i     0.0000  +0.5818i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.5819i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-
- The matrix D is
-    2.2139  +0.0000i     0.0402  +0.0000i    -0.2787  +0.0000i     1.0465  +0.0000i 
-   -0.5021  +0.0000i     0.5502  +0.0000i    -0.2771  +0.0000i    -0.4521  +0.0000i 
-   -0.0398  +0.0000i     0.4046  +0.0000i     0.0149  +0.0000i     0.7577  +0.0000i 
-   -0.1550  +0.0000i     2.0660  +0.0000i     1.6075  +0.0000i     0.5836  +0.0000i 
-
- The matrix C is
-    0.3159  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.7819  +0.0000i    -0.7575  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -0.3494  +0.0000i     0.8622  +0.0000i     0.7539  +0.0000i     0.0000  +0.0000i 
-    1.1178  +0.0000i     0.3133  +0.0000i     0.4638  +0.0000i     1.2348  +0.0000i 
-
- The matrix Q is
-   -0.4983  +0.0000i     0.3694  +0.0000i    -0.4754  +0.0000i     0.2791  +0.0000i     0.1950  +0.0000i     0.2416  +0.0000i     0.1869  +0.0000i     0.4242  +0.0000i 
-   -0.1045  +0.0000i     0.3309  +0.0000i     0.5730  +0.0000i    -0.5566  +0.0000i     0.0877  +0.0000i     0.3543  +0.0000i     0.1761  +0.0000i     0.2779  +0.0000i 
-   -0.2586  +0.0000i    -0.4457  +0.0000i    -0.2838  +0.0000i    -0.5436  +0.0000i     0.5524  +0.0000i    -0.1064  +0.0000i    -0.2040  +0.0000i     0.0205  +0.0000i 
-   -0.0040  +0.0000i     0.3845  +0.0000i     0.2469  +0.0000i     0.2965  +0.0000i     0.5799  +0.0000i     0.0840  +0.0000i    -0.4788  +0.0000i    -0.3614  +0.0000i 
-    0.7958  +0.0000i     0.1597  +0.0000i    -0.3420  +0.0000i    -0.1047  +0.0000i     0.3370  +0.0000i     0.1813  +0.0000i     0.2275  +0.0000i     0.1229  +0.0000i 
-   -0.0600  +0.0000i    -0.4599  +0.0000i     0.3487  +0.0000i     0.3910  +0.0000i     0.4005  +0.0000i     0.1010  +0.0000i     0.5819  +0.0000i    -0.0345  +0.0000i 
-   -0.0539  +0.0000i     0.3817  +0.0000i     0.0501  +0.0000i    -0.1114  +0.0000i     0.1751  +0.0000i    -0.8212  +0.0000i     0.3606  +0.0000i    -0.0380  +0.0000i 
-    0.1846  +0.0000i    -0.1577  +0.0000i     0.2510  +0.0000i     0.2293  +0.0000i     0.0911  +0.0000i    -0.2834  +0.0000i    -0.3779  +0.0000i     0.7708  +0.0000i 
-
- The upper part of the matrix U is
-   -0.2544  +0.0000i    -0.1844  +0.0000i     0.7632  +0.0000i     0.5646  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.4272  +0.0000i    -0.0454  +0.0000i    -0.2918  +0.0000i     0.5721  +0.0000i     0.1446  +0.0000i    -0.1611  +0.0000i     0.3609  +0.0000i    -0.4752  +0.0000i 
-    0.6936  +0.0000i     0.3812  +0.0000i     0.2606  +0.0000i     0.0848  +0.0000i    -0.3359  +0.0000i    -0.1592  +0.0000i    -0.3242  +0.0000i     0.2348  +0.0000i 
-    0.2320  +0.0000i    -0.4483  +0.0000i    -0.1629  +0.0000i     0.1784  +0.0000i    -0.2898  +0.0000i     0.7525  +0.0000i    -0.0511  +0.0000i     0.1841  +0.0000i 
-
- The vector ALPHAR is 
-   0.0000   0.0000   0.0000   0.0000
-
- The vector ALPHAI is 
-  -1.4991  -1.3690   1.0985   0.9993
-
- The vector BETA is 
-   0.1250   0.5000   0.5000   2.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04BD.html b/doc/_build/html/_static/doc/MB04BD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB04BD.html
+++ /dev/null
@@ -1,602 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04BD">MB04BD</A></H2>
-<H3>
-Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  W -C' )
-
-  Optionally, if JOB = 'T', decompositions of S and H will be
-  computed via orthogonal transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        )
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric. The notation M'
-  denotes the transpose of the matrix M.
-  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
-  transformation matrix Q1 will be computed.
-  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
-  transformation matrix Q2 will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
-     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
-     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, JOB
-      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
-     $                   LDQ2, LDVW, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
-     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
-     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   VW( LDVW, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (2).
-          = 'T': put S and H into the forms in (2) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q on
-                  entry, and the product Q*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reduce
-                  S and H to the forms in (2), for COMPQ1 = 'I'.
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  on exit, the array Q2 contains the orthogonal
-                  matrix Q2;
-          = 'U':  on exit, the array Q2 contains the matrix product
-                  J*Q*J'*Q2, where Q2 is the product of the
-                  orthogonal transformations that are applied to
-                  the pencil aS - bH to reduce S and H to the forms
-                  in (2), for COMPQ2 = 'I'.
-                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains the
-          upper triangular matrix A obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N/2+1 of this array contains the strictly upper triangular
-          part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the periodic QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  C1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDC1, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix C1 = C.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C1out; otherwise, it contains
-          the upper triangular matrix C1 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC1    INTEGER
-          The leading dimension of the array C1.
-          LDC1 &gt;= MAX(1, N/2).
-
-  VW      (input/output) DOUBLE PRECISION array, dimension
-                         (LDVW, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix W, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix V.
-          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
-          2 to N/2+1 of this array contains the matrix Vout.
-          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
-          N/2+1 of this array contains the matrix V just before the
-          application of the periodic QZ algorithm.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.
-          LDVW &gt;= MAX(1, N/2).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q and the transformation matrix Q1
-          used to transform the matrices S and H.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N', this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array contains the product of the matrix J*Q*J' and
-          the transformation matrix Q2 used to transform the
-          matrices S and H.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N', this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains the
-          upper triangular matrix B obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of this array contains the strictly
-          upper triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix F just before
-          the application of the periodic QZ algorithm.
-          The entries on the leading N/2-by-N/2 lower triangular
-          part of this array are not referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C2out; otherwise, it contains
-          the upper Hessenberg matrix C2 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC2    INTEGER
-          The leading dimension of the array C2.
-          LDC2 &gt;= MAX(1, N/2).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the (i-q-1)-th quadruple
-          of 1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= N+12.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(6), ...,
-          DWORK(5+4*s) contain the s quadruple values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained from
-          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
-          where a1, ..., a4 are the corresponding quadruple values.
-          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
-          t groups of quadruple 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
-          positive imaginary parts, where ev are the eigenvalues of
-          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
-          define the corresponding 2-by-2 matrix quadruple.
-          On exit, if INFO = -27, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
-             LDWORK &gt;= N**2 + MAX(L,36);
-          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
-             LDWORK &gt;= 2*N**2 + MAX(L,36);
-          where
-             L = 4*N + 4, if N/2 is even, and
-             L = 4*N,     if N/2 is odd.
-          For good performance LDWORK should generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: problem during computation of the eigenvalues;
-          = 2: periodic QZ algorithm did not converge in the SLICOT
-               Library subroutine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S, T, and H such that A, B, and C1 are
-  upper triangular and C2 is upper Hessenberg. Finally, the periodic
-  QZ algorithm is applied to transform C2 to upper quasi-triangular
-  form while A, B, and C1 stay in upper triangular form.
-  See also page 27 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1, LDQ2,
-     $                   LDVW, LDWORK, LIWORK
-      PARAMETER          (  LDA = NMAX/2,  LDB = NMAX/2, LDC1 = NMAX/2,
-     $                     LDC2 = NMAX/2, LDDE = NMAX/2,  LDF = NMAX/2,
-     $                     LDQ1 = NMAX, LDQ2 = NMAX, LDVW = NMAX/2,
-     $                     LDWORK = 2*NMAX*NMAX + MAX( 4*NMAX, 36 ),
-     $                     LIWORK = MAX( NMAX + 12, 2*NMAX + 3 ) )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ1, COMPQ2, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   A( LDA, NMAX/2 ), ALPHAI( NMAX/2 ),
-     $                   ALPHAR( NMAX/2 ), B( LDB, NMAX/2 ),
-     $                   BETA( NMAX/2 ), C1( LDC1, NMAX/2 ),
-     $                   C2( LDC2, NMAX/2 ), DE( LDDE, NMAX/2+1 ),
-     $                   DWORK( LDWORK ),  F( LDF, NMAX/2 ),
-     $                   Q1( LDQ1, NMAX ), Q2( LDQ2, NMAX ),
-     $                   VW( LDVW, NMAX/2+1 )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04BD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, N
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( C1( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( VW( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
-*        pencil.
-         CALL MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
-     $                LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
-     $                LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
-     $                LIWORK, DWORK, LDWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 2, M+1 )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
-   30       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            DO 40 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( F( I, J ), J = 1, M )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99991 )
-            DO 50 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( C1( I, J ), J = 1, M )
-   50       CONTINUE
-            WRITE( NOUT, FMT = 99990 )
-            DO 60 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( C2( I, J ), J = 1, M )
-   60       CONTINUE
-            WRITE( NOUT, FMT = 99989 )
-            DO 70 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( VW( I, J ), J = 2, M+1 )
-   70       CONTINUE
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99987 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99986 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99985 )
-            IF( .NOT.LSAME( COMPQ1, 'N' ) ) THEN
-               DO 80 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
-   80          CONTINUE
-            END IF
-            IF( .NOT.LSAME( COMPQ2, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99984 )
-               DO 90 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
-   90          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB04BD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB04BD = ', I2 )
-99996 FORMAT( 'The matrix A on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix D on exit is ' )
-99993 FORMAT( 'The matrix B on exit is ' )
-99992 FORMAT( 'The matrix F on exit is ' )
-99991 FORMAT( 'The matrix C1 on exit is ' )
-99990 FORMAT( 'The matrix C2 on exit is ' )
-99989 FORMAT( 'The matrix V on exit is ' )
-99988 FORMAT( 'The vector ALPHAR is ' )
-99987 FORMAT( 'The vector ALPHAI is ' )
-99986 FORMAT( 'The vector BETA is ' )
-99985 FORMAT( 'The matrix Q1 is ' )
-99984 FORMAT( 'The matrix Q2 is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04BD EXAMPLE PROGRAM DATA
-   T   I   I   8
-   3.1472   1.3236   4.5751   4.5717
-   4.0579  -4.0246   4.6489  -0.1462
-  -3.7301  -2.2150  -3.4239   3.0028
-   4.1338   0.4688   4.7059  -3.5811
-   0.0000   0.0000  -1.5510  -4.5974  -2.5127
-   3.5071   0.0000   0.0000   1.5961   2.4490  
-  -3.1428   2.5648   0.0000   0.0000  -0.0596 
-   3.0340   2.4892  -1.1604   0.0000   0.0000
-   0.6882  -3.3782  -3.3435   1.8921
-  -0.3061   2.9428   1.0198   2.4815
-  -4.8810  -1.8878  -2.3703  -0.4946
-  -1.6288   0.2853   1.5408  -4.1618
-  -2.4013  -2.7102   0.3834  -3.9335   3.1730
-  -3.1815  -2.3620   4.9613   4.6190   3.6869
-   3.6929   0.7970   0.4986  -4.9537  -4.1556
-   3.5303   1.2206  -1.4905   0.1325  -1.0022
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04BD EXAMPLE PROGRAM RESULTS
-The matrix A on exit is 
-  -4.7460   4.1855   3.2696  -0.2244
-   0.0000   6.4157   2.8287   1.4553
-   0.0000   0.0000   7.4626   1.5726
-   0.0000   0.0000   0.0000   8.8702
-The matrix D on exit is 
-   0.0000  -1.3137  -6.3615  -0.8940
-   0.0000   0.0000   1.0704  -0.0659
-   4.4324   0.0000   0.0000  -0.6922
-   0.5254   1.6653   0.0000   0.0000
-The matrix B on exit is 
-  -6.4937  -2.1982  -1.3881   1.3477
-   0.0000   4.6929   0.6650  -4.1191
-   0.0000   0.0000   9.1725   3.4721
-   0.0000   0.0000   0.0000   7.2106
-The matrix F on exit is 
-   0.0000  -1.1367   2.2966  -1.0744
-   0.0000   0.0000   3.7875   0.9427
-   0.0000   0.0000   0.0000  -4.7136
-   0.0000   0.0000   0.0000   0.0000
-The matrix C1 on exit is 
-   6.9525  -4.9881   2.3661   4.2188
-   0.0000   8.5009   0.7182   5.5533
-   0.0000   0.0000  -4.6650  -2.8177
-   0.0000   0.0000   0.0000   1.5124
-The matrix C2 on exit is 
-  -5.4562  -2.1348   4.9694  -2.2744
-   2.5550  -7.9616   1.1516   3.4912
-   0.0000   0.0000   4.8504   0.5046
-   0.0000   0.0000   0.0000   4.4394
-The matrix V on exit is 
-   0.9136   4.1106  -0.0079   3.5789
-  -1.1553  -1.4785  -1.5155  -0.8018
-  -2.2167   4.8029   1.3645   2.5202
-  -1.0994  -0.6144   0.3970   2.0730
-The vector ALPHAR is 
-   0.8314  -0.8314   0.8131   0.0000
-The vector ALPHAI is 
-   0.4372   0.4372   0.0000   0.9164
-The vector BETA is 
-   0.7071   0.7071   1.4142   2.8284
-The matrix Q1 is 
-  -0.0098   0.1978   0.2402   0.5274   0.1105  -0.0149  -0.1028   0.7759
-  -0.6398   0.2356   0.2765  -0.1301  -0.5351  -0.3078   0.2435   0.0373
-   0.1766  -0.4781   0.2657  -0.5415   0.0968  -0.4663  -0.0983   0.3741
-   0.3207  -0.1980   0.1141   0.0240  -0.1712   0.2630   0.8513   0.1451
-  -0.6551  -0.2956  -0.0288  -0.1169   0.5593   0.3381   0.1753   0.1055
-  -0.0246  -0.2759   0.2470  -0.1408  -0.4837   0.6567  -0.4042   0.1172
-  -0.0772  -0.0121  -0.8394  -0.1852  -0.2673   0.0046   0.0159   0.4282
-   0.1442   0.6884   0.1257  -0.5860   0.2110   0.2699   0.0363   0.1657
-The matrix Q2 is 
-  -0.2891   0.3096   0.6312   0.6498   0.0000   0.0000   0.0000   0.0000
-   0.1887   0.1936  -0.3857   0.3664   0.5660   0.1238  -0.2080  -0.5148
-  -0.2492  -0.2877  -0.0874   0.1110  -0.1081  -0.2999   0.6800  -0.5207
-  -0.7430  -0.0646  -0.4689   0.1556  -0.2401   0.0181  -0.3724   0.0562
-  -0.0999  -0.2026  -0.0355   0.0866   0.5587  -0.6625  -0.0114   0.4349
-  -0.4357   0.1209   0.0489  -0.2990   0.5094   0.5191   0.3837   0.1661
-  -0.2429   0.4131   0.2549  -0.5525   0.0749  -0.3829  -0.2690  -0.4190
-   0.0889   0.7439  -0.3960   0.0697  -0.1821  -0.1988   0.3687   0.2616
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04BP.html b/doc/_build/html/_static/doc/MB04BP.html
deleted file mode 100644
index 4dcb166a..00000000
--- a/doc/_build/html/_static/doc/MB04BP.html
+++ /dev/null
@@ -1,400 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04BP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04BP">MB04BP</A></H2>
-<H3>
-Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  W -C' )
-
-  Optionally, if JOB = 'T', decompositions of S and H will be
-  computed via orthogonal transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        )
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric. The notation M'
-  denotes the transpose of the matrix M.
-  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
-  transformation matrix Q1 will be computed.
-  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
-  transformation matrix Q2 will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04BP( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
-     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
-     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, JOB
-      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
-     $                   LDQ2, LDVW, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
-     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
-     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   VW( LDVW, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (2).
-          = 'T': put S and H into the forms in (2) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q on
-                  entry, and the product Q*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reduce
-                  S and H to the forms in (2), for COMPQ1 = 'I'.
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  on exit, the array Q2 contains the orthogonal
-                  matrix Q2;
-          = 'U':  on exit, the array Q2 contains the matrix product
-                  J*Q*J'*Q2, where Q2 is the product of the
-                  orthogonal transformations that are applied to
-                  the pencil aS - bH to reduce S and H to the forms
-                  in (2), for COMPQ2 = 'I'.
-                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains the
-          upper triangular matrix A obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N/2+1 of this array contains the strictly upper triangular
-          part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the periodic QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  C1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDC1, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix C1 = C.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C1out; otherwise, it contains
-          the upper triangular matrix C1 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC1    INTEGER
-          The leading dimension of the array C1.
-          LDC1 &gt;= MAX(1, N/2).
-
-  VW      (input/output) DOUBLE PRECISION array, dimension
-                         (LDVW, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix W, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix V.
-          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
-          2 to N/2+1 of this array contains the matrix Vout.
-          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
-          N/2+1 of this array contains the matrix V just before the
-          application of the periodic QZ algorithm.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.
-          LDVW &gt;= MAX(1, N/2).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q and the transformation matrix Q1
-          used to transform the matrices S and H.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N', this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array contains the product of the matrix J*Q*J' and
-          the transformation matrix Q2 used to transform the
-          matrices S and H.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N', this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains the
-          upper triangular matrix B obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of this array contains the strictly
-          upper triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix F just before
-          the application of the periodic QZ algorithm.
-          The entries on the leading N/2-by-N/2 lower triangular
-          part of this array are not referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C2out; otherwise, it contains
-          the upper Hessenberg matrix C2 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC2    INTEGER
-          The leading dimension of the array C2.
-          LDC2 &gt;= MAX(1, N/2).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th quadruple of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= N+12.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(6), ...,
-          DWORK(5+4*s) contain the s quadruple values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained from
-          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
-          where a1, ..., a4 are the corresponding quadruple values.
-          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
-          t groups of quadruple 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
-          positive imaginary parts, where ev are the eigenvalues of
-          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
-          define the corresponding 2-by-2 matrix quadruple.
-          On exit, if INFO = -27, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
-             LDWORK &gt;= N**2 + MAX(L,36);
-          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
-             LDWORK &gt;= 2*N**2 + MAX(L,36);
-          where
-             L = 4*N + 4, if N/2 is even, and
-             L = 4*N,     if N/2 is odd.
-          For good performance LDWORK should generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: problem during computation of the eigenvalues;
-          = 2: periodic QZ algorithm did not converge in the SLICOT
-               Library subroutine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S, T, and H such that A, B, and C1 are
-  upper triangular and C2 is upper Hessenberg. Finally, the periodic
-  QZ algorithm is applied to transform C2 to upper quasi-triangular
-  form while A, B, and C1 stay in upper triangular form.
-  See also page 27 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations
-  for reducing T on panels of columns. The user may specify in INFO
-  the desired number of columns. If on entry INFO &lt; 0, then the
-  routine estimates a suitable value of this number. If INFO = 0,
-  the routine MB04BD is directly called.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04BZ.html b/doc/_build/html/_static/doc/MB04BZ.html
deleted file mode 100644
index ad78f64e..00000000
--- a/doc/_build/html/_static/doc/MB04BZ.html
+++ /dev/null
@@ -1,522 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04BZ">MB04BZ</A></H2>
-<H3>
-Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (      H ) and H = (      H ).                           (1)
-        (  E  A  )         (  G -B  )
-
-  This routine computes the eigenvalues using an embedding to a real
-  skew-Hamiltonian/skew-Hamiltonian pencil aB_S - bB_T, defined as
-
-          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
-          (                 |                 )
-          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
-          (                 |                 )
-    B_S = (-----------------+-----------------) , and
-          (                 |      T       T  )
-          (  Re(E)  -Im(E)  |  Re(A )  Im(A ) )
-          (                 |      T       T  )
-          (  Im(E)   Re(E)  | -Im(A )  Re(A ) )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H.
-          (                 |      T       T  )
-          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
-          (                 |      T       T  )
-          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
-
-  Optionally, if JOB = 'T', the pencil aB_S - bB_H (B_H = -i*B_T) is
-  transformed by a unitary matrix Q to the structured Schur form
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Sout = (       H ) and B_Hout = (       H ),               (3)
-             (  0  BA  )              (  0 -BB  )
-
-  where BA and BB are upper triangular, BD is skew-Hermitian, and
-  BF is Hermitian. The embedding doubles the multiplicities of the
-  eigenvalues of the pencil aS - bH. Optionally, if COMPQ = 'C', the
-  unitary matrix Q is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LZWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (3).
-          = 'T': put S and H into the forms in (3) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the unitary transformation
-          matrix Q, as follows:
-          = 'N':  Q is not computed;
-          = 'C':  compute the unitary transformation matrix Q.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, K)
-          where K = N/2, if JOB = 'E', and K = N, if JOB = 'T'.
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed, but it is preserved.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, K).
-
-  DE      (input/output) COMPLEX*16 array, dimension
-                         (LDDE, MIN(K+1,N))
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of
-          the skew-Hermitian matrix D.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the skew-Hermitian matrix BD in (3) (see
-          also METHOD). The strictly lower triangular part of the
-          input matrix is preserved.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, K).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, K)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; the elements below the first subdiagonal of the
-          input matrix are preserved.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, K).
-
-  FG      (input/output) COMPLEX*16 array, dimension
-                         (LDFG, MIN(K+1,N))
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, K).
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading 2*N-by-2*N part of
-          this array contains the unitary transformation matrix Q
-          that reduced the matrices B_S and B_H to the form in (3).
-          However, if JOB = 'E', the reduction was possibly not
-          completed: the matrix B_H may have 2-by-2 diagonal blocks,
-          and the array Q returns the orthogonal matrix that
-          performed the partial reduction.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+4)
-          On exit, IWORK(1) contains the number, q, of unreliable,
-          possibly inaccurate (pairs of) eigenvalues, and the
-          absolute values in IWORK(2), ..., IWORK(q+1) are their
-          indices, as well as of the corresponding 1-by-1 and 2-by-2
-          diagonal blocks of the arrays B and A on exit, if
-          JOB = 'T'. Specifically, a positive value is an index of
-          a real or purely imaginary eigenvalue, corresponding to a
-          1-by-1 block, while the absolute value of a negative entry
-          in IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. Moreover, IWORK(q+2),..., IWORK(2*q+1)
-          contain pointers to the starting elements in DWORK where
-          each block pair is stored. Specifically, if IWORK(i+1) &gt; 0
-          then DWORK(r) and DWORK(r+1) store corresponding diagonal
-          elements of T11 and S11, respectively, and if
-          IWORK(i+1) &lt; 0, then DWORK(r:r+3) and DWORK(r+4:r+7) store
-          the elements of the block in T11 and S11, respectively
-          (see Section METHOD), where r = IWORK(q+1+i). Moreover,
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2) and DWORK(3) contain the
-          Frobenius norms of the matrices B_S and B_T. These norms
-          are used in the tests to decide that some eigenvalues are
-          considered as numerically unreliable. Moreover, DWORK(4),
-          ..., DWORK(3+2*s) contain the s pairs of values of the
-          1-by-1 diagonal elements of T11 and S11. The eigenvalue of
-          such a block pair is obtained from -i*T11(i,i)/S11(i,i).
-          Similarly, DWORK(4+2*s), ..., DWORK(3+2*s+8*t) contain the
-          t groups of pairs of 2-by-2 diagonal submatrices of T11
-          and S11, stored column-wise. The spectrum of such a block
-          pair is obtained from -i*ev, where ev are the eigenvalues
-          of (T11(i:i+1,i:i+1),S11(i:i+1,i:i+1)).
-          On exit, if INFO = -19, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK. If COMPQ = 'N',
-          LDWORK &gt;= MAX( 3,  4*N*N + 3*N ), if   JOB = 'E';
-          LDWORK &gt;= MAX( 3,  5*N*N + 3*N ), if   JOB = 'T';
-          LDWORK &gt;= MAX( 3, 11*N*N + 2*N ), if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -21, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,       if JOB = 'E'; otherwise,
-          LZWORK &gt;= 6*N + 4, if COMPQ = 'N';
-          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0, if JOB = 'E';
-          LBWORK &gt;= N, if JOB = 'T'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the SLICOT Library routine
-               MB04FD (QZ iteration did not converge or computation
-               of the shifts failed);
-          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
-               trying to triangularize the 2-by-2 blocks;
-          = 3: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04FD is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~        T  T         (  S11  S12  )
-  B_S = J Q  J  B_S Q = (          T ) and
-                        (   0   S11  )
-
-  ~        T  T         (  T11  T12  )
-  B_T = J Q  J  B_T Q = (          T ),
-                        (   0   T11  )
-
-  where Q is real orthogonal, S11 is upper triangular, and T11 is
-  upper quasi-triangular. If JOB = 'T', then the matrices above are
-                                                     ~
-  further transformed so that the 2-by-2 blocks in i*B_T are split
-  into 1-by-1 blocks.  If COMPQ = 'C', the transformations are
-  accumulated in the unitary matrix Q.
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The returned eigenvalues are those of the pencil (-i*T11,S11),
-  where i is the purely imaginary unit.
-
-  If JOB = 'E', the returned matrix T11 is quasi-triangular. Note
-  that the off-diagonal elements of the 2-by-2 blocks of S11 are
-  zero by construction.
-
-  If JOB = 'T', the returned eigenvalues correspond to the diagonal
-  elements of BB and BA.
-
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04BZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
-      PARAMETER          ( LDA  = NMAX, LDB = NMAX, LDDE = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX,
-     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
-     $                     LZWORK = 8*NMAX + 4 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      COMPLEX*16         A(  LDA,  NMAX ), B(  LDB,  NMAX ),
-     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
-     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
-     $                   BETA(   NMAX ), DWORK( LDWORK )
-      INTEGER            IWORK( 2*NMAX+3 )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04BZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues of a complex skew-Hamiltonian/
-*        Hamiltonian pencil.
-         CALL MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
-     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
-     $                LDWORK, ZWORK, LZWORK, BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
-   10          CONTINUE
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   40          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, 2*N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
-   50          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99987 )
-            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( 'MB04BZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04BZ = ', I2 )
-99996 FORMAT (/'The matrix A on exit is ' )
-99995 FORMAT (20( 1X, F9.4, SP, F9.4, S, 'i ') )
-99994 FORMAT (/'The matrix D on exit is ' )
-99993 FORMAT (/'The matrix B on exit is ' )
-99992 FORMAT (/'The matrix F on exit is ' )
-99991 FORMAT (/'The matrix Q is ' )
-99990 FORMAT (/'The vector ALPHAR is ' )
-99989 FORMAT ( 50( 1X, F8.4 ) )
-99988 FORMAT (/'The vector ALPHAI is ' )
-99987 FORMAT (/'The vector BETA is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04BZ EXAMPLE PROGRAM DATA
-	T	C	4
-   (0.0604,0.6568)   (0.5268,0.2919)
-   (0.3992,0.6279)   (0.4167,0.4316)
-        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
-   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
-   (0.2691,0.4177)   (0.5478,0.3014)
-   (0.4228,0.9830)   (0.9427,0.7010)
-    0.6663            0.6981           (0.1781,0.8818)
-   (0.5391,0.1711)    0.6665            0.1280          
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04BZ EXAMPLE PROGRAM RESULTS
-
-The matrix A on exit is 
-    0.7430  +0.0000i     0.0389  -0.4330i    -0.1155  -0.1366i    -0.6586  -0.3210i 
-    0.3992  +0.6279i     0.7548  +0.0000i     0.6099  -0.2308i     0.2140  +0.1260i 
-    0.0000  +0.0000i     0.0000  +0.0000i     1.4085  +0.0000i     0.0848  +0.4972i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.4725  +0.0000i 
-
-The matrix D on exit is 
-    0.0000  -0.6858i     0.1839  -0.0474i    -0.4428  -0.1290i     0.4759  +0.0380i 
-    0.9840  +0.3394i     0.0000  +0.6858i    -0.6339  +0.1358i     0.4204  -0.2140i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  -0.2110i    -0.0159  -0.0338i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2110i 
-
-The matrix B on exit is 
-   -1.5832  +0.5069i    -0.0097  +0.0866i     0.1032  -0.1431i    -0.0426  +0.7942i 
-    0.0000  +0.0000i     1.6085  +0.5150i    -0.1342  -0.8180i     0.5143  +0.0178i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0842  -0.1642i     0.0246  -0.0264i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0880  -0.1716i 
-
-The matrix F on exit is 
-    0.3382   0.0000i     0.0234  +0.0907i    -0.1619  +0.9033i    -0.8227  +0.0204i 
-    0.5391  +0.1711i    -0.3382  +0.0000i    -0.6525  +0.2455i    -0.3532  -0.6409i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0120   0.0000i     0.0019  -0.0009i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0120  +0.0000i 
-
-The matrix Q is 
-    0.1422  +0.5446i    -0.3877  -0.1273i    -0.4363  +0.1705i     0.0348  -0.5440i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.1594  -0.2382i     0.1967  -0.2467i    -0.1376  -0.0961i    -0.1070  -0.2058i    -0.1273  +0.0585i    -0.0852  +0.1020i     0.6125  -0.1059i    -0.0172  +0.5589i 
-   -0.3659  -0.0211i    -0.0291  +0.4967i    -0.0729  +0.4236i     0.3169  -0.0008i     0.2947  -0.1080i     0.1614  -0.2342i     0.2867  -0.0578i    -0.0170  +0.2603i 
-    0.1846  +0.4089i    -0.2815  -0.2018i     0.3220  -0.1600i    -0.0526  +0.3937i     0.2747  -0.0655i     0.1045  -0.2159i     0.2085  -0.3104i    -0.3052  +0.1463i 
-   -0.0201  -0.2898i     0.2131  -0.0081i    -0.2165  -0.1055i    -0.1324  -0.3133i     0.1660  -0.1635i     0.2250  -0.1390i    -0.1590  -0.4634i    -0.5310  -0.2239i 
-    0.1342  -0.1295i     0.1128  -0.1990i    -0.0712  -0.1686i    -0.1490  -0.1336i     0.6198  +0.0113i     0.0281  -0.4762i    -0.0462  +0.3244i     0.3464  +0.0086i 
-    0.2305  -0.1358i     0.1292  -0.3311i    -0.0106  +0.4992i     0.3906  +0.0997i     0.1429  +0.3376i    -0.4310  -0.0866i    -0.0894  -0.1336i    -0.1601  -0.1055i 
-   -0.2601  +0.0835i    -0.0940  +0.3652i    -0.0213  -0.3116i    -0.2502  -0.0995i     0.1361  +0.4589i    -0.5898  -0.0730i     0.0294  -0.1192i    -0.1253  +0.0085i 
-
-The vector ALPHAR is 
-  -1.5832   1.5832  -0.0842   0.0842
-
-The vector ALPHAI is 
-   0.5069   0.5069  -0.1642  -0.1642
-
-The vector BETA is 
-   0.7430   0.7430   1.4085   1.4085
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04CD.html b/doc/_build/html/_static/doc/MB04CD.html
deleted file mode 100644
index 1f3286f4..00000000
--- a/doc/_build/html/_static/doc/MB04CD.html
+++ /dev/null
@@ -1,362 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04CD">MB04CD</A></H2>
-<H3>
-Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil in factored form to generalized Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transformed matrices A, B and D, using orthogonal
-  matrices Q1, Q2 and Q3 for a real N-by-N regular pencil
-
-                  ( A11   0  ) ( B11   0  )     (  0   D12 )
-    aA*B - bD = a (          ) (          ) - b (          ),    (1)
-                  (  0   A22 ) (  0   B22 )     ( D21   0  )
-
-  where A11, A22, B11, B22 and D12 are upper triangular, D21 is
-  upper quasi-triangular and the generalized matrix product 
-     -1        -1    -1        -1
-  A11   D12 B22   A22   D21 B11   is upper quasi-triangular, such
-  that Q3' A Q2, Q2' B Q1 are upper triangular, Q3' D Q1 is upper
-  quasi-triangular and the transformed pencil
-  a(Q3' A B Q1) - b(Q3' D Q1) is in generalized Schur form. The
-  notation M' denotes the transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04CD( COMPQ1, COMPQ2, COMPQ3, N, A, LDA, B, LDB, D,
-     $                   LDD, Q1, LDQ1, Q2, LDQ2, Q3, LDQ3, IWORK,
-     $                   LIWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, COMPQ3
-      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
-     $                   LIWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   Q3( LDQ3, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
-                  entry, and the matrix Q01*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied on the right to the pencil
-                  aA*B - bD in (1).
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  the array Q2 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q2 is returned;
-          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
-                  entry, and the matrix Q02*Q2 is returned, where Q2
-                  is the product of the orthogonal transformations
-                  that are applied on the left to the pencil
-                  aA*B - bD in (1).
-
-  COMPQ3  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q3, as follows:
-          = 'N':  Q3 is not computed;
-          = 'I':  the array Q3 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q3 is returned;
-          = 'U':  the array Q3 contains an orthogonal matrix Q01 on
-                  entry, and the matrix Q03*Q3 is returned, where Q3
-                  is the product of the orthogonal transformations
-                  that are applied on the right to the pencil
-                  aA*B - bD in (1).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aA*B - bD.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N block diagonal part of this
-          array must contain the matrix A in (1). The off-diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N block diagonal part of this
-          array must contain the matrix B in (1). The off-diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
-          On entry, the leading N-by-N block anti-diagonal part of
-          this array must contain the matrix D in (1). The diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper quasi-triangular matrix.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q01, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q01 and the transformation matrix Q1
-          used to transform the matrices A, B, and D.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N' this array is not referenced.
-
-  LDQ1    INTEGER
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q02, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q02 and the transformation matrix Q2
-          used to transform the matrices A, B, and D.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N' this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  Q3      (input/output) DOUBLE PRECISION array, dimension (LDQ3, N)
-          On entry, if COMPQ3 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q03, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q03 and the transformation matrix Q3
-          used to transform the matrices A, B and D.
-          On exit, if COMPQ3 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q3.
-          If COMPQ3 = 'N' this array is not referenced.
-
-  LDQ3    INTEGER
-          The leading dimension of the array Q3.
-          LDQ3 &gt;= 1,         if COMPQ3 = 'N';
-          LDQ3 &gt;= MAX(1, N), if COMPQ3 = 'I' or COMPQ3 = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= MAX( N/2+1, 48 ).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -20, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 3*N*N + MAX( N/2 + 252, 432 ).
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the 
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA. 
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm failed to reorder the
-               eigenvalues (the problem is very ill-conditioned) in
-               the SLICOT Library routine MB03KD;
-          = 2: the standard QZ algorithm failed in the LAPACK
-               routine DGGEV, called by the SLICOT routine MB03CD;
-          = 3: the standard QZ algorithm failed in the LAPACK
-               routines DGGES, called by the SLICOT routines MB03CD
-               or MB03ED;
-          = 4: the standard QZ algorithm failed to reorder the
-               eigenvalues in the LAPACK routine DTGSEN, called by
-               the SLICOT routine MB03CD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the periodic QZ algorithm (see also [2] and [3]) is applied
-                                  -1        -1    -1        -1
-  to the formal matrix product A11   D12 B22   A22   D21 B11   to
-  reorder the eigenvalues, i.e., orthogonal matrices V1, V2, V3, V4,
-  V5 and V6 are computed such that V2' A11 V1, V2' D12 V3,
-  V4' B22 V3, V5' A22 V4, V5' D21 V6 and V1' B11 V6 keep the
-  triangular form, but they can be partitioned into 2-by-2 block
-  forms and the last diagonal blocks correspond to all nonpositive
-  real eigenvalues of the formal product, and the first diagonal
-  blocks correspond to the remaining eigenvalues.
-
-  Second, Q1 = diag(V6, V3), Q2 = diag(V1, V4), Q3 = diag(V2, V5)
-  and
-
-                   ( AA11 AA12   0    0  )
-                   (                     )
-                   (   0  AA22   0    0  )
-  A := Q3' A Q2 =: (                     ),
-                   (   0    0  AA33 AA34 )
-                   (                     )
-                   (   0    0    0  AA44 )
-
-                   ( BB11 BB12   0    0  )
-                   (                     )
-                   (   0  BB22   0    0  )
-  B := Q2' B Q1 =: (                     ),
-                   (   0    0  BB33 BB34 )
-                   (                     )
-                   (   0    0    0  BB44 )
-
-                   (   0    0  DD13 DD14 )
-                   (                     )
-                   (   0    0    0  DD24 )
-  D := Q3' D Q1 =: (                     ),
-                   ( DD31 DD32   0    0  )
-                   (                     )
-                   (   0  DD42   0    0  )
-
-                         -1          -1     -1          -1
-  are set, such that AA22   DD24 BB44   AA44   DD42 BB22   has only
-  nonpositive real eigenvalues.
-
-  Third, the permutation matrix
-
-      (  I  0  0  0  )
-      (              )
-      (  0  0  I  0  )
-  P = (              ),
-      (  0  I  0  0  )
-      (              )
-      (  0  0  0  I  )
-
-  where I denotes the identity matrix of appropriate size is used to
-  transform aA*B - bD to block upper triangular form
-
-                ( AA11   0  | AA12   0  )
-                (           |           )
-                (   0  AA33 |   0  AA34 )   ( AA1  *  )
-  A := P' A P = (-----------+-----------) = (         ),
-                (   0    0  | AA22   0  )   (  0  AA2 )
-                (           |           )
-                (   0    0  |   0  AA44 )
-
-                ( BB11   0  | BB12   0  )
-                (           |           )
-                (   0  BB33 |   0  BB34 )   ( BB1  *  )
-  B := P' B P = (-----------+-----------) = (         ),
-                (   0    0  | BB22   0  )   (  0  BB2 )
-                (           |           )
-                (   0    0  |   0  BB44 )
-
-                (   0  DD13 |   0  DD14 )
-                (           |           )
-                ( DD31   0  | DD32   0  )   ( DD1  *  )
-  D := P' D P = (-----------+-----------) = (         ).
-                (   0    0  |   0  DD24 )   (  0  DD2 )
-                (           |           )
-                (   0    0  | DD42   0  )
-
-  Then, further orthogonal transformations that are provided by the
-  SLICOT Library routines MB03ED and MB03CD are used to
-  triangularize the subpencil aAA1 BB1 - bDD1.
-
-  Finally, the subpencil aAA2 BB2 - bDD2 is triangularized by
-  applying a special permutation matrix.
-
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [3] Hench, J. J. and Laub, A. J.
-      Numerical Solution of the discrete-time periodic Riccati
-      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DB.html b/doc/_build/html/_static/doc/MB04DB.html
deleted file mode 100644
index 97f16053..00000000
--- a/doc/_build/html/_static/doc/MB04DB.html
+++ /dev/null
@@ -1,147 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DB">MB04DB</A></H2>
-<H3>
-Inverse of a balancing transformation for a real skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply from the left the inverse of a balancing transformation,
-  computed by the SLICOT Library routine MB04DP, to the matrix
-
-            [   V1   ]
-            [        ],
-            [ sgn*V2 ]
-
-  where sgn is either +1 or -1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DB( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
-     $                   V2, LDV2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, SGN
-      INTEGER           ILO, INFO, LDV1, LDV2, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  LSCALE(*), RSCALE(*), V1(LDV1,*), V2(LDV2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of inverse transformation required:
-          = 'N':  do nothing, return immediately;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          JOB must be the same as the argument JOB supplied to
-          MB04DP.
-
-  SGN     CHARACTER*1
-          Specifies the sign to use for V2:
-          = 'P':  sgn = +1;
-          = 'N':  sgn = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrices V1 and V2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          The integer ILO determined by MB04DP.
-          1 &lt;= ILO &lt;= N+1.
-
-  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the left, as returned by MB04DP.
-
-  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the right, as returned by MB04DP.
-
-  M       (input) INTEGER
-          The number of columns of the matrices V1 and V2.  M &gt;= 0.
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V1.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V1 of the transformed
-          matrix.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V2.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V2 of the transformed
-          matrix.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DD.html b/doc/_build/html/_static/doc/MB04DD.html
deleted file mode 100644
index 9f57032e..00000000
--- a/doc/_build/html/_static/doc/MB04DD.html
+++ /dev/null
@@ -1,235 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DD">MB04DD</A></H2>
-<H3>
-Balancing a real Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a real Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       T ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N symmetric
-  matrices. This involves, first, permuting H by a symplectic
-  similarity transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A; and second, applying a
-  diagonal similarity transformation to rows and columns
-  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
-  as possible. Both steps are optional.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           ILO, INFO, LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on H:
-          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced Hamiltonian. In particular,
-          the strictly lower triangular part of the first ILO-1
-          columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the lower and upper triangular parts of the matrices Q and
-          G, respectively, of the balanced Hamiltonian. In
-          particular, the lower triangular part of the first ILO-1
-          columns of QG is zero.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced Hamiltonian matrix.
-
-  SCALE   (output) DOUBLE PRECISION array of dimension (N)
-          Details of the permutations and scaling factors applied to
-          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
-          then rows and columns P(j) and P(j)+N are interchanged
-          with rows and columns j and j+N, respectively. If
-          P(j) &gt; N, then row and column P(j)-N are interchanged with
-          row and column j+N by a generalized symplectic
-          permutation. For j = ILO,...,N the j-th element of SCALE
-          contains the factor of the scaling applied to row and
-          column j.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
-     $                 SCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANTR, DLAPY2
-      EXTERNAL         DLANTR, DLAPY2
-*     .. External Subroutines ..
-      EXTERNAL         MB04DD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 30  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE (NOUT, FMT = 99993)  ILO
-            IF ( ILO.GT.1 ) THEN
-                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
-     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
-     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
-     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DD = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix QG is ')
-99995 FORMAT (20(1X,F12.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ILO = ',I4)
-99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DD EXAMPLE PROGRAM DATA
-       6       B
-         0         0         0         0         0         0
-    0.0994         0         0         0         0    0.9696
-    0.3248         0         0         0    0.4372    0.8308
-         0         0         0    0.0717         0         0
-         0         0         0         0         0    0.1976
-         0         0         0         0         0         0
-         0         0         0         0         0         0         0
-         0         0         0         0    0.0651         0         0
-         0         0         0         0         0         0         0
-         0         0    0.0444         0         0    0.1957         0
-    0.8144         0         0         0    0.3652         0    0.9121
-    0.9023         0         0         0         0         0    1.0945
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DD EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.9696
-       0.0000       0.0000       0.0000       0.0000      -0.8144      -0.9023
-       0.0000       0.0000       0.0000       0.0000       0.1093       0.2077
-       0.0000       0.0000       0.0000       0.0717       0.0000       0.0000
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.1976
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
-
- The balanced matrix QG is 
-       0.0000       0.0000       0.0994       0.0000       0.0651       0.0000       0.0000
-       0.0000       0.0000       0.0000       0.0812       0.0000       0.0000       0.0000
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
-       0.0000       0.0000       0.1776       0.0000       0.0000       0.1957       0.0000
-       0.0000       0.0000       0.0000       0.0000       0.3652       0.0000       0.9121
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       1.0945
-
- ILO =    3
-
- Norm of subdiagonal blocks: 0.0    
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DI.html b/doc/_build/html/_static/doc/MB04DI.html
deleted file mode 100644
index 9376f7b5..00000000
--- a/doc/_build/html/_static/doc/MB04DI.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DI - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DI">MB04DI</A></H2>
-<H3>
-Applying the inverse of a balancing transformation for a real Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the inverse of a balancing transformation, computed by
-  the SLICOT Library routines MB04DD or MB04DS, to a 2*N-by-M matrix
-
-            [   V1   ]
-            [        ],
-            [ sgn*V2 ]
-
-  where sgn is either +1 or -1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DI( JOB, SGN, N, ILO, SCALE, M, V1, LDV1, V2, LDV2,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, SGN
-      INTEGER           ILO, INFO, LDV1, LDV2, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  SCALE(*), V1(LDV1,*), V2(LDV2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of inverse transformation required:
-          = 'N':  do nothing, return immediately;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          JOB must be the same as the argument JOB supplied to
-          MB04DD or MB04DS.
-
-  SGN     CHARACTER*1
-          Specifies the sign to use for V2:
-          = 'P':  sgn = +1;
-          = 'N':  sgn = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrices V1 and V2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          The integer ILO determined by MB04DD or MB04DS.
-          1 &lt;= ILO &lt;= N+1.
-
-  SCALE   (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors, as
-          returned by MB04DD or MB04DS.
-
-  M       (input) INTEGER
-          The number of columns of the matrices V1 and V2.  M &gt;= 0.
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V1.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V1 of the transformed
-          matrix.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V2.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V2 of the transformed
-          matrix.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DL.html b/doc/_build/html/_static/doc/MB04DL.html
deleted file mode 100644
index 7e483173..00000000
--- a/doc/_build/html/_static/doc/MB04DL.html
+++ /dev/null
@@ -1,374 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DL - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DL">MB04DL</A></H2>
-<H3>
-Balancing a real pencil, optionally avoiding large norms for the scaled (sub)matrices 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a pair of N-by-N real matrices (A,B). This involves,
-  first, permuting A and B by equivalence transformations to isolate
-  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
-  on the diagonal of A and B; and second, applying a diagonal
-  equivalence transformation to rows and columns ILO to IHI to make
-  the rows and columns as close in 1-norm as possible. Both steps
-  are optional. Balancing may reduce the 1-norms of the matrices,
-  and improve the accuracy of the computed eigenvalues and/or
-  eigenvectors in the generalized eigenvalue problem
-  A*x = lambda*B*x.
-
-  This routine may optionally improve the conditioning of the
-  scaling transformation compared to the LAPACK routine DGGBAL.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
-     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*), LSCALE(*),
-     $                   RSCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on A and B:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for I = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A and B.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(A(s,s),1)/norm(B(s,s),1),
-                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where A(s,s) and B(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in LSCALE(s) and RSCALE(s), will be
-          at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix A.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix B.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of B is zero.
-          If JOB = 'N', the arrays A and B are not referenced.
-
-  LDB    INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-  IHI     (output) INTEGER
-          ILO and IHI are set to integers such that on exit
-          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
-          j = 1,...,ILO-1 or i = IHI+1,...,N.
-          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the left side of A and B.  If P(j) is the index of the
-          row interchanged with row j, and D(j) is the scaling
-          factor applied to row j, then
-            LSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the right side of A and B.  If P(j) is the index of the
-          column interchanged with column j, and D(j) is the scaling
-          factor applied to column j, then
-            RSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of A(s,s) and B(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = IHI).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying an equivalence transformation
-  to isolate eigenvalues and/or to make the 1-norms of the rows
-  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
-  a search is performed to find those scaling factors giving the
-  smallest norm ratio or product defined above (see the description
-  of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-     Dl*A*Dr and Dl*B*Dr.
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than DGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  No rounding errors appear if JOB = 'P'.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DL EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), DWORK(8*NMAX),
-     $                 LSCALE(NMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04DL
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
-     $                RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )  ILO
-            WRITE ( NOUT, FMT = 99993 )  IHI
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99995 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DL EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DL = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix B is ')
-99995 FORMAT (20(1X,G12.4))
-99994 FORMAT (/' ILO = ',I4)
-99993 FORMAT (/' IHI = ',I4)
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB04DL = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DL EXAMPLE PROGRAM DATA
-       4       B      -3
-         1         0    -1e-12         0
-         0        -2         0         0
-        -1        -1        -1         0
-        -1        -1         0         2
-         1         0         0         0
-         0         1         0         0
-         0         0         1         0
-         0         0         0         1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DL EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    2.000       -1.000        0.000       -1.000    
-    0.000        1.000      -0.1000E-11    0.000    
-    0.000       -1.000       -1.000       -1.000    
-    0.000        0.000        0.000       -2.000    
-
- The balanced matrix B is 
-    1.000        0.000        0.000        0.000    
-    0.000        1.000        0.000        0.000    
-    0.000        0.000        1.000        0.000    
-    0.000        0.000        0.000        1.000    
-
- ILO =    2
-
- IHI =    3
-
- The permutations and left scaling factors are 
-    2.000        1.000        1.000        2.000    
-
- The permutations and right scaling factors are 
-    2.000        1.000        1.000        2.000    
-
- The initial 1-norms of the (sub)matrices are 
-    2.000        1.000    
-
- The final 1-norms of the (sub)matrices are 
-    2.000        1.000    
-
- The threshold value finally used is 
-   0.2500E-12
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DP.html b/doc/_build/html/_static/doc/MB04DP.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB04DP.html
+++ /dev/null
@@ -1,439 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DP">MB04DP</A></H2>
-<H3>
-Balancing a real skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the 2*N-by-2*N skew-Hamiltonian/Hamiltonian pencil
-  aS - bH, with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ),  A, C N-by-N,             (1)
-        (  E  A' )         (  W -C' )
-
-  where D and E are skew-symmetric, and V and W are symmetric
-  matrices. This involves, first, permuting aS - bH by a symplectic
-  equivalence transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A and C; and second, applying
-  a diagonal equivalence transformation to make the pairs of rows
-  and columns ILO:N and N+ILO:2*N as close in 1-norm as possible.
-  Both steps are optional. Balancing may reduce the 1-norms of the
-  matrices S and H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), C(LDC,*), DE(LDDE,*), DWORK(*),
-     $                   LSCALE(*), RSCALE(*), VW(LDVW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on S and H:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for i = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(H(s,s),1)/norm(S(s,s),1),
-                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where S(s,s) and H(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
-          will be at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced skew-Hamiltonian matrix S.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N+1)
-          On entry, the leading N-by-N strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N-by-N strictly upper triangular part of the submatrix
-          in the columns 2 to N+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, the leading N-by-N strictly lower triangular
-          part of this array contains the strictly lower triangular
-          part of the balanced matrix E, and the N-by-N strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N+1 of this array contains the strictly upper triangular
-          part of the balanced matrix D. In particular, the strictly
-          lower triangular part of the first ILO-1 columns of DE is
-          zero.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix C.
-          On exit, the leading N-by-N part of this array contains
-          the matrix C of the balanced Hamiltonian matrix H.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of C is zero.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
-
-  VW      (input/output) DOUBLE PRECISION array, dimension
-                         (LDVW, N+1)
-          On entry, the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix W, and the N-by-N upper triangular
-          part of the submatrix in the columns 2 to N+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix V.
-          On exit, the leading N-by-N lower triangular part of this
-          array contains the lower triangular part of the balanced
-          matrix W, and the N-by-N upper triangular part of the
-          submatrix in the columns 2 to N+1 of this array contains
-          the upper triangular part of the balanced matrix V. In
-          particular, the lower triangular part of the first ILO-1
-          columns of VW is zero.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
-          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
-          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of LSCALE contains the factor of the scaling applied to
-          row j of the matrices A, D, C, and V.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
-          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of RSCALE contains the factor of the scaling applied to
-          column j of the matrices A, E, C, and W.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of S(s,s) and H(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = N).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a (symplectic) equivalence
-  transformation to isolate eigenvalues and/or to make the 1-norms
-  of each pair of rows and columns indexed by s of S and H nearly
-  equal. If THRESH &lt; 0, a search is performed to find those scaling
-  factors giving the smallest norm ratio or product defined above
-  (see the description of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
-    (       ) (       ) (       ),  (       ) (       ) (       ).
-    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than DGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The transformations used preserve the skew-Hamiltonian/Hamiltonian
-  structure and do not introduce significant rounding errors.
-  No rounding errors appear if JOB = 'P'. If T is the global
-  transformation matrix applied to the right, then J'*T*J is the
-  global transformation matrix applied to the left, where
-  J = [ 0 I; -I 0 ], with blocks of order N.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDC, LDDE, LDVW
-      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
-     $                   LDVW = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DWORK(8*NMAX), C(LDC, NMAX),
-     $                 DE(LDDE, NMAX+1), LSCALE(NMAX), RSCALE(NMAX),
-     $                 VW(LDVW, NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04DP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
-20          CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99992 )  ILO
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99993 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99993 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DP EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DP = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix DE is ')
-99995 FORMAT (' The balanced matrix C is ')
-99994 FORMAT (/' The balanced matrix VW is ')
-99993 FORMAT (20(1X,G12.4))
-99992 FORMAT (/' ILO = ',I4)
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB04DP = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DP EXAMPLE PROGRAM DATA
-       2       B      -3
-         1         0
-         0         1
-         0         0         0
-         0         0         0
-         1         0
-         0        -2
-        -1  -1.0e-12         0
-        -1        -1         0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DP EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    1.000        0.000    
-    0.000        1.000    
-
- The balanced matrix DE is 
-    0.000        0.000        0.000    
-    0.000        0.000        0.000    
- The balanced matrix C is 
-    2.000        1.000    
-    0.000        1.000    
-
- The balanced matrix VW is 
-    0.000        1.000        0.000    
-    0.000       -1.000      -0.1000E-11
-
- ILO =    2
-
- The permutations and left scaling factors are 
-    4.000        1.000    
-
- The permutations and right scaling factors are 
-    4.000        1.000    
-
- The initial 1-norms of the (sub)matrices are 
-    1.000        2.000    
-
- The final 1-norms of the (sub)matrices are 
-    1.000        2.000    
-
- The threshold value finally used is 
-   -3.000    
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DS.html b/doc/_build/html/_static/doc/MB04DS.html
deleted file mode 100644
index ee0037df..00000000
--- a/doc/_build/html/_static/doc/MB04DS.html
+++ /dev/null
@@ -1,238 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DS">MB04DS</A></H2>
-<H3>
-Balancing a real skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a real skew-Hamiltonian matrix
-
-                [  A   G  ]
-           S =  [       T ] ,
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices. This involves, first, permuting S by a symplectic
-  similarity transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A; and second, applying a
-  diagonal similarity transformation to rows and columns
-  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
-  as possible. Both steps are optional.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           ILO, INFO, LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on S:
-          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced skew-Hamiltonian. In
-          particular, the strictly lower triangular part of the
-          first ILO-1 columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G. The parts containing the
-          diagonal and the first supdiagonal of this array are not
-          referenced.
-          On exit, the leading N-by-N+1 part of this array contains
-          the strictly lower and strictly upper triangular parts of
-          the matrices Q and G, respectively, of the balanced
-          skew-Hamiltonian. In particular, the strictly lower
-          triangular part of the first ILO-1 columns of QG is zero.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced skew-Hamiltonian matrix.
-
-  SCALE   (output) DOUBLE PRECISION array of dimension (N)
-          Details of the permutations and scaling factors applied to
-          S.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
-          then rows and columns P(j) and P(j)+N are interchanged
-          with rows and columns j and j+N, respectively. If
-          P(j) &gt; N, then row and column P(j)-N are interchanged with
-          row and column j+N by a generalized symplectic
-          permutation. For j = ILO,...,N the j-th element of SCALE
-          contains the factor of the scaling applied to row and
-          column j.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DS EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
-     $                 SCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANTR, DLAPY2
-      EXTERNAL         DLANTR, DLAPY2
-*     .. External Subroutines ..
-      EXTERNAL         MB04DS
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 30  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE (NOUT, FMT = 99993)  ILO
-            IF ( ILO.GT.1 ) THEN
-                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
-     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
-     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
-     $                 N-1, ILO-1, QG(2,1), LDQG, DUMMY ) )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DS EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DS = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix QG is ')
-99995 FORMAT (20(1X,F9.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ILO = ',I4)
-99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DS EXAMPLE PROGRAM DATA
-       6       B
-    0.0576         0    0.5208         0    0.7275   -0.7839
-    0.1901    0.0439    0.1663    0.0928    0.6756   -0.5030
-    0.5962         0    0.4418         0   -0.5955    0.7176
-    0.5869         0    0.3939    0.0353    0.6992   -0.0147
-    0.2222         0   -0.3663         0    0.5548   -0.4608
-         0         0         0         0         0    0.1338
-         0         0   -0.9862   -0.4544   -0.4733    0.4435         0
-         0         0         0   -0.6927    0.6641    0.4453         0
-   -0.3676         0         0         0    0.0841    0.3533         0
-         0         0         0         0         0    0.0877         0
-    0.9561         0    0.4784         0         0         0         0
-   -0.0164   -0.4514   -0.8289   -0.6831   -0.1536         0         0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DS EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    0.1338    0.4514    0.6831    0.8289    0.1536    0.0164
-    0.0000    0.0439    0.0928    0.1663    0.6756    0.1901
-    0.0000    0.0000    0.0353    0.3939    0.6992    0.5869
-    0.0000    0.0000    0.0000    0.4418   -0.5955    0.5962
-    0.0000    0.0000    0.0000   -0.3663    0.5548    0.2222
-    0.0000    0.0000    0.0000    0.5208    0.7275    0.0576
-
- The balanced matrix QG is 
-    0.0000    0.0000    0.5030    0.0147   -0.7176    0.4608    0.7839
-    0.0000    0.0000    0.0000    0.6641   -0.6927    0.4453    0.9862
-    0.0000    0.0000    0.0000    0.0000   -0.0841    0.0877    0.4733
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.3533    0.4544
-    0.0000    0.0000    0.0000    0.4784    0.0000    0.0000   -0.4435
-    0.0000    0.0000    0.0000    0.3676   -0.9561    0.0000    0.0000
-
- ILO =    4
-
- Norm of subdiagonal blocks: 0.0    
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DY.html b/doc/_build/html/_static/doc/MB04DY.html
deleted file mode 100644
index 6b2d9b9e..00000000
--- a/doc/_build/html/_static/doc/MB04DY.html
+++ /dev/null
@@ -1,301 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DY">MB04DY</A></H2>
-<H3>
-Symplectic scaling of a Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a symplectic scaling on the Hamiltonian matrix
-
-           ( A    G  )
-       H = (       T ),                                          (1)
-           ( Q   -A  )
-
-  i.e., perform either the symplectic scaling transformation
-
-                                -1
-              ( A'   G'  )   ( D   0 ) ( A   G  ) ( D  0   )
-       H' &lt;-- (        T ) = (       ) (      T ) (     -1 ),    (2)
-              ( Q'  -A'  )   ( 0   D ) ( Q  -A  ) ( 0  D   )
-
-  where D is a diagonal scaling matrix, or the symplectic norm
-  scaling transformation
-
-               ( A''   G''  )    1  (   A   G/tau )
-       H'' &lt;-- (          T ) = --- (           T ),             (3)
-               ( Q''  -A''  )   tau ( tau Q   -A  )
-
-  where tau is a real scalar.  Note that if tau is not equal to 1,
-  then (3) is NOT a similarity transformation.  The eigenvalues
-  of H are then tau times the eigenvalues of H''.
-
-  For symplectic scaling (2), D is chosen to give the rows and
-  columns of A' approximately equal 1-norms and to give Q' and G'
-  approximately equal norms.  (See METHOD below for details.) For
-  norm scaling, tau = MAX(1, ||A||, ||G||, ||Q||) where ||.||
-  denotes the 1-norm (column sum norm).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDQG, N
-      CHARACTER         JOBSCL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(*), QG(LDQG,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBSCL  CHARACTER*1
-          Indicates which scaling strategy is used, as follows:
-          = 'S'       :  do the symplectic scaling (2);
-          = '1' or 'O':  do the 1-norm scaling (3);
-          = 'N'       :  do nothing; set INFO and return.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
-          this array must contain the upper left block A of the
-          Hamiltonian matrix H in (1).
-          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
-          this array contains the leading N-by-N part of the scaled
-          Hamiltonian matrix H' in (2) or H'' in (3), depending on
-          the setting of JOBSCL.
-          If JOBSCL = 'N', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
-          LDA &gt;= 1,        if JOBSCL =  'N'.
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-          (LDQG,N+1)
-          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangle of the lower left symmetric block Q of the
-          Hamiltonian matrix H in (1), and the N-by-N upper
-          triangular part of the submatrix in the columns 2 to N+1
-          of this array must contain the upper triangle of the upper
-          right symmetric block G of H in (1).
-          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
-          and G(i,j) = G(j,i) is stored in QG(j,i+1).
-          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
-          triangular part of this array contains the lower triangle
-          of the lower left symmetric block Q' or Q'', and the
-          N-by-N upper triangular part of the submatrix in the
-          columns 2 to N+1 of this array contains the upper triangle
-          of the upper right symmetric block G' or G'' of the scaled
-          Hamiltonian matrix H' in (2) or H'' in (3), depending on
-          the setting of JOBSCL.
-          If JOBSCL = 'N', this array is not referenced.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.
-          LDQG &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
-          LDQG &gt;= 1,        if JOBSCL =  'N'.
-
-  D       (output) DOUBLE PRECISION array, dimension (nd)
-          If JOBSCL = 'S', then nd = N and D contains the diagonal
-          elements of the diagonal scaling matrix in (2).
-          If JOBSCL = '1' or 'O', then nd = 1 and D(1) is set to tau
-          from (3). In this case, no other elements of D are
-          referenced.
-          If JOBSCL = 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-          If JOBSCL = 'N', this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  1. Symplectic scaling (JOBSCL = 'S'):
-
-  First, LAPACK subroutine DGEBAL is used to equilibrate the 1-norms
-  of the rows and columns of A using a diagonal scaling matrix D_A.
-  Then, H is similarily transformed by the symplectic diagonal
-  matrix D1 = diag(D_A,D_A**(-1)).  Next, the off-diagonal blocks of
-  the resulting Hamiltonian matrix are equilibrated in the 1-norm
-  using the symplectic diagonal matrix D2 of the form
-
-              ( I/rho    0   )
-         D2 = (              )
-              (   0    rho*I )
-
-  where rho is a real scalar. Thus, in (2), D = D1*D2.
-
-  2. Norm scaling (JOBSCL = '1' or 'O'):
-
-  The norm of the matrices A and G of (1) is reduced by setting
-  A := A/tau  and  G := G/(tau**2) where tau is the power of the
-  base of the arithmetic closest to MAX(1, ||A||, ||G||, ||Q||) and
-  ||.|| denotes the 1-norm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., and Barth, E.
-      Fortran 77 Subroutines for Computing the Eigenvalues of
-      Hamiltonian Matrices. I: The Square-Reduced Method.
-      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  For symplectic scaling, the complexity of the used algorithms is
-  hard to estimate and depends upon how well the rows and columns of
-  A in (1) are equilibrated.  In one sweep, each row/column of A is
-  scaled once, i.e., the cost of one sweep is N**2 multiplications.
-  Usually, 3-6 sweeps are enough to equilibrate the norms of the
-  rows and columns of a matrix.  Roundoff errors are possible as
-  LAPACK routine DGEBAL does NOT use powers of the machine base for
-  scaling. The second stage (equilibrating ||G|| and ||Q||) requires
-  N**2 multiplications.
-  For norm scaling, 3*N**2 + O(N) multiplications are required and
-  NO rounding errors occur as all multiplications are performed with
-  powers of the machine base.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DY EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      JOBSCL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), D(NMAX), DWORK(LDWORK),
-     $                 QG(LDQG,NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04DY
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOBSCL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99998 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
-*        Scale the Hamiltonian matrix.
-         CALL MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-*           Show the scaled Hamiltonian matrix.
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-              WRITE ( NOUT, FMT = 99993 )  ( A(I,J),    J = 1,N ),
-     $           ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
-10          CONTINUE
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) (  QG(I,J), J = 1,I-1 ),
-     $               ( QG(J,I), J = I,N ), ( -A(J,I),  J = 1,N )
-20          CONTINUE
-*           Show the scaling factors.
-            IF ( LSAME( JOBSCL, 'S' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               WRITE ( NOUT, FMT = 99993 ) ( D(I), I = 1,N )
-            ELSE IF ( LSAME( JOBSCL, '1' ) .OR. LSAME( JOBSCL, 'O' ) )
-     $            THEN
-               WRITE ( NOUT, FMT = 99994 )
-               WRITE ( NOUT, FMT = 99993 ) D(1)
-            END IF
-         ENDIF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04DY EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' N is out of range.',/' N = ',I5)
-99997 FORMAT (' INFO on exit from MB04DY = ',I2)
-99996 FORMAT (/' The scaled Hamiltonian is ')
-99995 format (/' The scaling factors are ')
-99994 format (/' The scaling factor tau is ')
-99993 FORMAT (1X,8(F10.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DY EXAMPLE PROGRAM DATA
-3 S
--0.4   0.05  0.0007   
--4.7   0.8   0.025   
-81.0  29.0  -0.9        
-0.0034  0.0014  0.00077 -0.005  0.0004  0.003
--18.0 -12.0  43.0  99.0  420.0  -200.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DY EXAMPLE PROGRAM RESULTS
-
-
- The scaled Hamiltonian is 
-    -0.4000    0.4000    0.3584  418.4403   21.5374    0.1851
-    -0.5875    0.8000    1.6000   21.5374   -9.6149    0.0120
-     0.1582    0.4531   -0.9000    0.1851    0.0120    0.0014
-    -0.0001   -0.0008    0.1789    0.4000    0.5875   -0.1582
-    -0.0008    0.0515   13.9783   -0.4000   -0.8000   -0.4531
-     0.1789   13.9783 -426.0056   -0.3584   -1.6000    0.9000
-
- The scaling factors are 
-     0.0029    0.0228    1.4595
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04DZ.html b/doc/_build/html/_static/doc/MB04DZ.html
deleted file mode 100644
index c9c21863..00000000
--- a/doc/_build/html/_static/doc/MB04DZ.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DZ">MB04DZ</A></H2>
-<H3>
-Balancing a complex Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a complex Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       H ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N Hermitian
-  matrices. This involves, first, permuting H by a symplectic
-  similarity transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A; and second, applying a
-  diagonal similarity transformation to rows and columns
-  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
-  as possible. Both steps are optional. Assuming ILO = 1, let D be a
-  diagonal matrix of order N with the scaling factors on the
-  diagonal. The scaled Hamiltonian is defined by
-
-                 [  D**-1*A*D   D**-1*G*D**-1  ]
-           Hs =  [                   H         ] .
-                 [    D*Q*D      -D*A *D**-1   ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           ILO, INFO, LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  SCALE(*)
-      COMPLEX*16        A(LDA,*), QG(LDQG,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on H:
-          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced Hamiltonian. In particular,
-          the strictly lower triangular part of the first ILO-1
-          columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) COMPLEX*16 array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the lower and upper triangular parts of the matrices Q and
-          G, respectively, of the balanced Hamiltonian. In
-          particular, the lower triangular part of the first ILO-1
-          columns of QG is zero.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced Hamiltonian matrix.
-
-  SCALE   (output) DOUBLE PRECISION array of dimension (N)
-          Details of the permutations and scaling factors applied to
-          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
-          then rows and columns P(j) and P(j)+N are interchanged
-          with rows and columns j and j+N, respectively. If
-          P(j) &gt; N, then row and column P(j)-N are interchanged with
-          row and column j+N by a generalized symplectic
-          permutation. For j = ILO,...,N the j-th element of SCALE
-          contains the factor of the scaling applied to row and
-          column j.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, J, N
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, NMAX), QG(LDQG, NMAX+1)
-      DOUBLE PRECISION DUMMY(1), SCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAPY2, ZLANTR
-      EXTERNAL         DLAPY2, ZLANTR
-*     .. External Subroutines ..
-      EXTERNAL         MB04DZ
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
-   20       CONTINUE
-            WRITE (NOUT, FMT = 99993)  ILO
-            IF ( ILO.GT.1 ) THEN
-                WRITE (NOUT, FMT = 99992) DLAPY2( ZLANTR( 'Frobenius',
-     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
-     $                 DUMMY ), ZLANTR( 'Frobenius', 'Lower', 'No Unit',
-     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DZ = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix QG is ')
-99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ILO = ',I4)
-99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DZ EXAMPLE PROGRAM DATA
-       6       B
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-  (.0994,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.9696,0)
-  (.3248,0)  (0,0)      (0,0)      (0,0)  (.4372,0)  (.8308,0)
-      (0,0)  (0,0)      (0,0)  (.0717,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.1976,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)  (.0651,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-      (0,0)  (0,0)  (.0444,0)      (0,0)      (0,0)  (.1957,0)      (0,0)
-  (.8144,0)  (0,0)      (0,0)      (0,0)  (.3652,0)      (0,0)  (.9121,0)
-  (.9023,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)  1.0945,0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.9696  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8144  +0.0000i    -0.9023  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1093  +0.0000i     0.2077  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0717  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1976  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-
- The balanced matrix QG is 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0994  +0.0000i     0.0000  +0.0000i     0.0651  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0812  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.1776  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1957  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3652  +0.0000i     0.0000  +0.0000i     0.9121  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.0945  +0.0000i 
-
- ILO =    3
-
- Norm of subdiagonal blocks: 0.0    
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ED.html b/doc/_build/html/_static/doc/MB04ED.html
deleted file mode 100644
index fcdbb864..00000000
--- a/doc/_build/html/_static/doc/MB04ED.html
+++ /dev/null
@@ -1,543 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ED">MB04ED</A></H2>
-<H3>
-Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  skew-Hamiltonian pencil aS - bT with
-
-                          (  B  F  )            (  0  I  )
-    S = J Z' J' Z and T = (        ), where J = (        ).      (1)
-                          (  G  B' )            ( -I  0  )
-
-  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
-  to the structured Schur form: an orthogonal transformation matrix
-  Q and an orthogonal symplectic transformation matrix U are
-  computed, such that
-
-             (  Z11  Z12  )
-    U' Z Q = (            ) = Zout, and
-             (   0   Z22  )
-                                                                 (2)
-                  (  Bout  Fout  )
-    J Q' J' T Q = (              ),
-                  (   0    Bout' )
-
-  where Z11 and Z22' are upper triangular and Bout is upper quasi-
-  triangular. The notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I', the orthogonal transformation matrix Q
-  will be computed.
-  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
-  symplectic transformation matrix
-
-        (  U1  U2  )
-    U = (          )
-        ( -U2  U1  )
-
-  will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                   Q, LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI,
-     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            INFO, LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
-     $                   LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
-     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
-     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E':  compute the eigenvalues only; Z and T will not
-                  necessarily be put into the forms in (2);
-          = 'T':  put Z and T into the forms in (2), and return the
-                  eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the orthogonal symplectic
-          transformation matrix U as follows:
-          = 'N':  U is not computed;
-          = 'I':  the array U is initialized internally to the unit
-                  matrix, and the orthogonal matrix U is returned;
-          = 'U':  the arrays U1 and U2 contain the corresponding
-                  submatrices of an orthogonal symplectic matrix U0
-                  on entry, and the updated submatrices U1 and U2
-                  of the matrix product U0*U are returned, where U
-                  is the product of the orthogonal symplectic
-                  transformations that are applied to the pencil
-                  aS - bT to reduce Z and T to the forms in (2), for
-                  COMPU = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bT.  N &gt;= 0, even.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Z.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the matrix Zout; otherwise, it contains the
-          matrix Z just before the application of the periodic QZ
-          algorithm. The entries in the rows N/2+1 to N and the
-          first N/2 columns are unchanged.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains the
-          matrix B just before the application of the periodic QZ
-          algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix G, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix F.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N/2+1 of this array contains the strictly upper triangular
-          part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix F just before the application
-          of the QZ algorithm.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          Moreover, the diagonal and the first subdiagonal of this
-          array on exit coincide to the corresponding diagonals of
-          this array on entry.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On exit, if COMPQ = 'I', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix Q.
-          On exit, if COMPQ = 'N', the leading N-by-N part of this
-          array contains the orthogonal matrix Q1, such that
-
-                   (  Z11  Z12  )
-            Z*Q1 = (            ),
-                   (   0   Z22  )
-
-          where Z11 and Z22' are upper triangular (the first step
-          of the algorithm).
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1, N).
-
-  U1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU1, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper left block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U1 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and T.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U1 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= 1,           if COMPU = 'N';
-          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU2, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper right block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U2 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and T.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U2 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= 1,           if COMPU = 'N';
-          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bT.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bT.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) = -ALPHAI(j).
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bT.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bT, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
-          the pencil, every eigenvalue occurs twice and thus it has
-          only to be saved once in ALPHAR, ALPHAI and BETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th triplet of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= N+9.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(5), ...,
-          DWORK(4+3*s) contain the s triplet values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained as a1/a2/a3,
-          where a1, ..., a3 are the corresponding triplet values.
-          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
-          t groups of triplet 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is the spectrum of the matrix product
-          A1*inv(A2)*inv(A3), where A1, ..., A3 define the
-          corresponding 2-by-2 matrix triplet.
-          On exit, if INFO = -23, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ = 'N' and COMPU = 'N',
-                LDWORK &gt;= 3/4*N**2+MAX(3*N, 27);
-          else, LDWORK &gt;= 3/2*N**2+MAX(3*N, 27).
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: problem during computation of the eigenvalues;
-          = 2: periodic QZ algorithm did not converge in the SLICOT
-               Library subroutine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in Z and T such that Z is in a special block
-  triangular form and T is in skew-Hamiltonian Hessenberg form:
-
-      (  Z11  Z12  )      (  B1  F1  )
-  Z = (            ), T = (          ),
-      (   0   Z22  )      (   0  B1' )
-
-  with Z11 and Z22' upper triangular and B1 upper Hessenberg.
-  Subsequently, the periodic QZ algorithm is applied to the pencil
-  aZ22' Z11 - bB1 to determine orthogonal matrices Q1, Q2 and U such
-  that U' Z11 Q1, Q2' Z22' U are upper triangular and Q2' B1 Q1 is
-  upper quasi-triangular. See also page 35 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 60 )
-      INTEGER            LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
-     $                   LIWORK
-      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2,
-     $                     LDQ = NMAX,   LDU1 = NMAX/2, LDU2 = NMAX/2,
-     $                     LDWORK = 3*NMAX**2/2 + MAX( NMAX, 24 ) + 3,
-     $                     LDZ = NMAX, LIWORK = NMAX + 9 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            I, INFO, J, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX/2 ),   ALPHAR( NMAX/2 ),
-     $                   B( LDB, NMAX/2 ),     BETA( NMAX/2 ),
-     $                   DWORK( LDWORK ),  FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, NMAX ),   U1( LDU1, NMAX/2 ),
-     $                   U2( LDU2, NMAX/2 ), Z( LDZ, NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04ED
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*
-*     Skip first line in data file.
-*
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
-      READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I = 1, N )
-      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      IF( LSAME( COMPU, 'U' ) ) THEN
-         READ( NIN, FMT = * ) ( ( U1( I, J ), J = 1, N/2 ), I = 1, N/2 )
-         READ( NIN, FMT = * ) ( ( U2( I, J ), J = 1, N/2 ), I = 1, N/2 )
-      END IF
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-*
-*        Test of MB04ED.
-*
-         CALL MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG, Q,
-     $                LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI, BETA,
-     $                IWORK, LIWORK, DWORK, LDWORK, INFO )
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z(I,J), J = 1, N )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( B(I,J), J = 1, N/2 )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( FG(I,J), J = 1, N/2+1 )
-   30       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99991 )
-            DO 40 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
-   40       CONTINUE
-            IF ( .NOT.LSAME( COMPU, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 50 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( U1( I, J ), J = 1, N/2 )
-   50          CONTINUE
-               WRITE( NOUT, FMT = 99989 )
-               DO 60 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( U2( I, J ), J = 1, N/2 )
-   60          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( 'MB04ED EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04ED = ', I2 )
-99996 FORMAT (/' The transformed matrix Z is' )
-99995 FORMAT ( 60( 1X, F8.4 ) )
-99994 FORMAT (/' The transformed matrix B is' )
-99993 FORMAT (/' The transformed matrix FG is' )
-99992 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
-     $       )
-99991 FORMAT (/' The matrix Q is ' )
-99990 FORMAT (/' The upper left block of the matrix U is ' )
-99989 FORMAT (/' The upper right block of the matrix U is ' )
-      END
- 
- 
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04ED EXAMPLE PROGRAM DATA
-   T   I   I   8
-   0.0949    3.3613   -4.7663   -0.5534    0.6408   -3.2793    3.4253    2.9654
-   0.1138   -1.5903    2.1837   -4.1648   -4.3775   -1.7454    0.1744    2.3262
-   2.7505    4.4048    4.4183    3.0478    2.7728    2.3048   -0.6451   -1.2045
-   3.6091   -4.1716    3.4461    3.6880   -0.0985    3.8458    0.2528   -1.3859
-   0.4352   -3.2829    3.7246    0.4794   -0.3690   -1.5562   -3.4817   -2.2902
-   1.3080   -3.9881   -3.5497    3.5020    2.2582    4.4764   -4.4080   -1.6818
-   1.1308   -1.5087    2.4730    2.1553   -1.7129   -4.8669   -2.4102    4.2274
-   4.7933   -4.3671   -0.0473   -2.0092    1.2439   -4.7385    3.4242   -0.2764
-   2.0936    1.5510    4.5974    2.5127
-   2.5469   -3.3739   -1.5961   -2.4490
-  -2.2397   -3.8100    0.8527    0.0596
-   1.7970   -0.0164   -2.7619    1.9908
-   1.0000    2.0000   -4.0500    1.3353    0.2899
-  -0.4318    2.0000    2.0000   -2.9860   -0.0160
-   1.0241    0.9469    2.0000    2.0000    1.3303
-   0.0946   -0.1272   -4.4003    2.0000    2.0000
- 
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04ED EXAMPLE PROGRAM RESULTS
-
- The transformed matrix Z is
-  -2.5678  -2.9888   0.4304  -2.8719   2.7331   1.3072   1.7565   2.8246
-   0.0000  -3.8520  -6.0992   6.2935  -3.0386  -5.5317  -1.2189   3.9973
-   0.0000   0.0000   4.4560   4.4602   0.6080  -4.4326   3.7959  -0.6297
-   0.0000   0.0000   0.0000   7.0155   1.5557   2.1441   3.6649  -2.3864
-   0.4352  -3.2829   3.7246   0.4794  -5.3205   0.0000   0.0000   0.0000
-   1.3080  -3.9881  -3.5497   3.5020   2.2466   6.9633   0.0000   0.0000
-   1.1308  -1.5087   2.4730   2.1553  -1.7204  -0.8164   8.1468   0.0000
-   4.7933  -4.3671  -0.0473  -2.0092  -3.9547   0.2664   1.0382   5.5977
-
- The transformed matrix B is
-   3.8629  -1.3266   0.1253   2.1882
-   0.0000   3.7258  -3.5913  -2.4583
-   0.0000  -3.6551  -2.5063  -0.8378
-   0.0000   0.0000   0.0000  -6.7384
-
- The transformed matrix FG is
-   1.0000   2.0000  -0.7448  -1.2359  -1.3653
-   0.0158   2.0000   2.0000   3.4030   3.2344
-  -1.1665   2.5791   2.0000   2.0000  -0.4096
-   3.3823  -1.2344   3.9016   2.0000   2.0000
-
- The real, imaginary, and beta parts of eigenvalues are
-   1.1310  -0.0697  -0.0697  -0.6864
-   0.0000   0.6035  -0.6035   0.0000
-   4.0000   4.0000   4.0000   4.0000
-
- The matrix Q is 
-  -0.6042  -0.4139  -0.4742   0.1400  -0.2947   0.3462  -0.0980   0.0534
-  -0.3706   0.1367   0.4442  -0.1381  -0.1210   0.2913   0.7248  -0.0524
-   0.1325  -0.2735  -0.0515  -0.5084  -0.3163  -0.2855   0.1638   0.6619
-   0.2373   0.5514  -0.4988   0.3373  -0.3852  -0.0007   0.3329   0.1339
-   0.4777  -0.4517   0.2739   0.5172  -0.0775   0.3874   0.1088   0.2395
-  -0.0116  -0.4372  -0.1843   0.2474   0.1236  -0.6052   0.4772  -0.3228
-   0.1237  -0.0310  -0.4300  -0.2090   0.7209   0.3408   0.2898   0.1883
-   0.4245  -0.1871  -0.1803  -0.4655  -0.3304   0.2849   0.0623  -0.5843
-
- The upper left block of the matrix U is 
-   0.0154  -0.5058  -0.5272   0.6826
-   0.4829  -0.1519  -0.2921  -0.3491
-   0.4981   0.1532   0.1019   0.1810
-  -0.0188   0.6270  -0.5260   0.0587
-
- The upper right block of the matrix U is 
-   0.0000   0.0000   0.0000   0.0000
-   0.3179  -0.4312  -0.1802  -0.4659
-   0.5644   0.0873   0.4480   0.3979
-  -0.3137  -0.3330   0.3413   0.0239
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04FD.html b/doc/_build/html/_static/doc/MB04FD.html
deleted file mode 100644
index 4915562d..00000000
--- a/doc/_build/html/_static/doc/MB04FD.html
+++ /dev/null
@@ -1,472 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04FD">MB04FD</A></H2>
-<H3>
-Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  skew-Hamiltonian pencil aS - bT with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and T = (        ).                           (1)
-        (  E  A' )         (  G  B' )
-
-  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
-  to the structured Schur form: an orthogonal transformation matrix
-  Q is computed such that
-
-                  (  Aout  Dout  )
-    J Q' J' S Q = (              ), and
-                  (   0    Aout' )
-                                                                 (2)
-                  (  Bout  Fout  )            (  0  I  )
-    J Q' J' T Q = (              ), where J = (        ),
-                  (   0    Bout' )            ( -I  0  )
-
-  Aout is upper triangular, and Bout is upper quasi-triangular. The
-  notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
-  transformation matrix Q will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E':  compute the eigenvalues only; S and T will not
-                  necessarily be put into skew-Hamiltonian
-                  triangular form (2);
-          = 'T':  put S and T into skew-Hamiltonian triangular form
-                  (2), and return the eigenvalues in ALPHAR, ALPHAI
-                  and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the product Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bT to reduce
-                  S and T to the forms in (2), for COMPQ = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bT.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains
-          meaningless elements, except for the diagonal blocks,
-          which are correctly set.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains
-          meaningless elements, except for the diagonal 1-by-1 and
-          2-by-2 blocks, which are correctly set.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix G, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix F.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix F just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and T.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bT.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bT.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bT.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bT, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
-          the pencil, every eigenvalue occurs twice and thus it has
-          only to be saved once in ALPHAR, ALPHAI and BETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N/2+1)
-          On exit, IWORK(1) contains the number of (pairs of)
-          possibly inaccurate eigenvalues, q &lt;= N/2, and the
-          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
-          indices of the possibly inaccurate eigenvalues, as well as
-          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
-          the arrays A and B on exit. The 2-by-2 blocks correspond
-          to negative values in IWORK. One negative value is stored
-          for each such eigenvalue pair. Its modulus indicates the
-          starting index of a 2-by-2 block.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          DWORK(2) and DWORK(3) contain the Frobenius norms of the
-          matrices S and T on entry. These norms are used in the
-          tests to decide that some eigenvalues are considered as
-          unreliable.
-          On exit, if INFO = -19, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(3,N/2),        if JOB = 'E' and COMPQ = 'N';
-          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
-          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the LAPACK Library routine
-               DHGEQZ. (QZ iteration did not converge or computation
-               of the shifts failed.)
-          = 2: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S and T such that S is in skew-Hamiltonian
-  triangular form and T is in skew-Hamiltonian Hessenberg form:
-
-      (  A1  D1  )      (  B1  F1  )
-  S = (          ), T = (          ),
-      (   0  A1' )      (   0  B1' )
-
-  where A1 is upper triangular and B1 is upper Hessenberg.
-  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
-  to determine orthogonal matrices Q1 and Q2 such that
-  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
-  triangular.
-  See also page 40 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  real floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK
-      PARAMETER          ( LDA  = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
-     $                     LDFG = NMAX/2, LDQ = NMAX, LDWORK =
-     $                     3*NMAX*NMAX/4 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            I, INFO, J, N
-*
-*     .. Local Arrays ..
-      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
-     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
-     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
-     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, NMAX )
-      INTEGER            IWORK( NMAX/2+1 )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04FD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MOD
-*
-*     .. Executable statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*
-*     Skip first line in data file.
-*
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, N
-      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      IF( LSAME( COMPQ, 'U' ) )
-     $   READ( NIN, FMT = * ) ( ( Q( I, J ), J = 1, N ), I = 1, N )
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-*
-*        Test of MB04FD.
-*
-         CALL MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
-     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
-     $                LDWORK, INFO )
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N/2 )
-   10          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N/2+1 )
-   20       CONTINUE
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N/2 )
-   30          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99992 )
-            DO 40 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N/2+1 )
-   40       CONTINUE
-            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( 'MB04FD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04FD = ', I2 )
-99996 FORMAT (/' The transformed matrix A is' )
-99995 FORMAT ( 51( 1X, F8.4 ) )
-99994 FORMAT (/' The transformed matrix DE is' )
-99993 FORMAT (/' The transformed matrix B is' )
-99992 FORMAT (/' The transformed matrix FG is' )
-99991 FORMAT (/' The transformed matrix Q is ' )
-99990 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
-     $       )
-      END
- 
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04FD EXAMPLE PROGRAM DATA
-   T   I  8
-    0.8147    0.6323    0.9575    0.9571
-    0.9057    0.0975    0.9648    0.4853
-    0.1269    0.2784    0.1576    0.8002
-    0.9133    0.5468    0.9705    0.1418
-    0.4217    0.6557    0.6787    0.6554    0.2769
-    0.9157    0.0357    0.7577    0.1711    0.0461
-    0.7922    0.8491    0.7431    0.7060    0.0971
-    0.9594    0.9339    0.3922    0.0318    0.8234
-    0.6948    0.4387    0.1868    0.7093
-    0.3170    0.3815    0.4897    0.7546
-    0.9502    0.7655    0.4455    0.2760
-    0.0344    0.7951    0.6463    0.6797
-    0.6550    0.9597    0.7512    0.8909    0.1492
-    0.1626    0.3403    0.2550    0.9592    0.2575
-    0.1189    0.5852    0.5059    0.5472    0.8407
-    0.4983    0.2238    0.6990    0.1386    0.2542
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04FD EXAMPLE PROGRAM RESULTS
-
- The transformed matrix A is
-   0.0550  -0.3064   0.1543   0.2170
-   0.0000   1.2189   0.3267  -1.3622
-   0.0000   0.0000   0.7734  -0.6215
-   0.0000   0.0000   0.0000   2.5172
-
- The transformed matrix DE is
-   0.4217   0.6557   0.4277  -0.2877  -0.3980
-  -1.5448   0.0357   0.7577  -0.2582  -0.4775
-   0.3220   1.1004   0.7431   0.7060  -1.1102
-   0.3899   0.3463   0.4843   0.0318   0.8234
-
- The transformed matrix B is
-   0.8482  -0.4425  -0.3643   0.8333
-   0.0000  -0.5919  -0.0987  -0.7923
-   0.0000   0.0000   1.1021   0.1926
-   0.0000   0.0000   0.0000   1.9788
-
- The transformed matrix FG is
-   0.6550   0.9597   0.3266  -0.6059  -0.9618
-  -0.3151   0.3403   0.2550  -0.4771  -0.3005
-   0.1987  -0.0141   0.5059   0.5472  -0.4172
-   0.7914   0.0371   0.0000   0.1386   0.2542
-
- The transformed matrix Q is 
-   0.0762   0.7824  -0.2771  -0.5526   0.0000   0.0000   0.0000   0.0000
-   0.1786  -0.2450   0.4261  -0.5360   0.1843  -0.5857   0.2437  -0.0522
-  -0.2452   0.1425   0.4831  -0.0742  -0.1834  -0.0856  -0.6529   0.4620
-  -0.2123  -0.3870  -0.6431  -0.2548   0.3061  -0.1791  -0.2518   0.3707
-  -0.4085   0.0154   0.0784  -0.0738   0.3908   0.0160  -0.3950  -0.7157
-   0.6418  -0.2868   0.0258  -0.3305  -0.0286   0.4768  -0.3901  -0.1253
-  -0.0077  -0.1340  -0.2740  -0.0534  -0.7708  -0.3910  -0.1981  -0.3432
-  -0.5275  -0.2394   0.1131  -0.4684  -0.3018   0.4869   0.3216   0.0252
-
- The real, imaginary, and beta parts of eigenvalues are
-   0.8482  -0.5919   1.1021   1.9788
-   0.0000   0.0000   0.0000   0.0000
-   0.0550   1.2189   0.7734   2.5172
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04FP.html b/doc/_build/html/_static/doc/MB04FP.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MB04FP.html
+++ /dev/null
@@ -1,314 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04FP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04FP">MB04FP</A></H2>
-<H3>
-Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  skew-Hamiltonian pencil aS - bT with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and T = (        ).                           (1)
-        (  E  A' )         (  G  B' )
-
-  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
-  to the structured Schur form: an orthogonal transformation matrix
-  Q is computed such that
-
-                  (  Aout  Dout  )
-    J Q' J' S Q = (              ), and
-                  (   0    Aout' )
-                                                                 (2)
-                  (  Bout  Fout  )            (  0  I  )
-    J Q' J' T Q = (              ), where J = (        ),
-                  (   0    Bout' )            ( -I  0  )
-
-  Aout is upper triangular, and Bout is upper quasi-triangular. The
-  notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
-  transformation matrix Q will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04FP( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E':  compute the eigenvalues only; S and T will not
-                  necessarily be put into skew-Hamiltonian
-                  triangular form (2);
-          = 'T':  put S and T into skew-Hamiltonian triangular form
-                  (2), and return the eigenvalues in ALPHAR, ALPHAI
-                  and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the product Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bT to reduce
-                  S and T to the forms in (2), for COMPQ = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bT.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains
-          meaningless elements, except for the diagonal blocks,
-          which are correctly set.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains
-          meaningless elements, except for the diagonal 1-by-1 and
-          2-by-2 blocks, which are correctly set.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix G, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix F.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix F just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and T.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bT.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bT.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bT.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bT, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
-          the pencil, every eigenvalue occurs twice and thus it has
-          only to be saved once in ALPHAR, ALPHAI and BETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N/2+1)
-          On exit, IWORK(1) contains the number of (pairs of)
-          possibly inaccurate eigenvalues, q &lt;= N/2, and the
-          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
-          indices of the possibly inaccurate eigenvalues, as well as
-          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
-          the arrays A and B on exit. The 2-by-2 blocks correspond
-          to negative values in IWORK. One negative value is stored
-          for each such eigenvalue pair. Its modulus indicates the
-          starting index of a 2-by-2 block.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          DWORK(2) and DWORK(3) contain the Frobenius norms of the
-          matrices S and T on entry. These norms are used in the
-          tests to decide that some eigenvalues are considered as
-          unreliable.
-          On exit, if INFO = -19, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(3,N/2,2*N-6),  if JOB = 'E' and COMPQ = 'N';
-          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
-          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the LAPACK Library routine
-               DHGEQZ. (QZ iteration did not converge or computation
-               of the shifts failed.)
-          = 2: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S and T such that S is in skew-Hamiltonian
-  triangular form and T is in skew-Hamiltonian Hessenberg form:
-
-      (  A1  D1  )      (  B1  F1  )
-  S = (          ), T = (          ),
-      (   0  A1' )      (   0  B1' )
-
-  where A1 is upper triangular and B1 is upper Hessenberg.
-  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
-  to determine orthogonal matrices Q1 and Q2 such that
-  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
-  triangular.
-  See also page 40 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  real floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations
-  for reducing T on panels of columns. The user may specify in INFO
-  the desired number of columns. If on entry INFO &lt;= 0, then the
-  routine estimates a suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04GD.html b/doc/_build/html/_static/doc/MB04GD.html
deleted file mode 100644
index c649241f..00000000
--- a/doc/_build/html/_static/doc/MB04GD.html
+++ /dev/null
@@ -1,232 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04GD">MB04GD</A></H2>
-<H3>
-RQ factorization with row pivoting of a matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an RQ factorization with row pivoting of a
-  real m-by-n matrix A: P*A = R*Q.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the m-by-n matrix A.
-          On exit,
-          if m &lt;= n, the upper triangle of the subarray
-          A(1:m,n-m+1:n) contains the m-by-m upper triangular
-          matrix R;
-          if m &gt;= n, the elements on and above the (m-n)-th
-          subdiagonal contain the m-by-n upper trapezoidal matrix R;
-          the remaining elements, with the array TAU, represent the
-          orthogonal matrix Q as a product of min(m,n) elementary
-          reflectors (see METHOD).
-
-  LDA     INTEGER
-          The leading dimension of the array A. LDA &gt;= max(1,M).
-
-  JPVT    (input/output) INTEGER array, dimension (M)
-          On entry, if JPVT(i) .ne. 0, the i-th row of A is permuted
-          to the bottom of P*A (a trailing row); if JPVT(i) = 0,
-          the i-th row of A is a free row.
-          On exit, if JPVT(i) = k, then the i-th row of P*A
-          was the k-th row of A.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
-          The scalar factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
-  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = MMAX )
-      INTEGER          LDTAU
-      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
-      INTEGER          JPVT(MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DLASET, MB04GD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-            READ ( NIN, FMT = * ) ( JPVT(I), I = 1,M )
-*           RQ with row pivoting.
-            CALL MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
-               WRITE ( NOUT, FMT = 99990 )
-               IF ( M.GE.N ) THEN
-                  IF ( N.GT.1 )
-     $               CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
-     $                            A(M-N+2,1), LDA )
-                ELSE
-                   CALL DLASET( 'Full', M, N-M-1, ZERO, ZERO, A, LDA )
-                   CALL DLASET( 'Lower', M, M, ZERO, ZERO, A(1,N-M),
-     $                          LDA )
-               END IF
-               DO 20 I = 1, M
-                  WRITE ( NOUT, FMT = 99989 ) ( A(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB04GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04GD = ',I2)
-99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
-99990 FORMAT (/' The matrix A is ')
-99989 FORMAT (20(1X,F8.4))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04GD EXAMPLE PROGRAM DATA
-   6     5 
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   5.    5.    1.    5.    1.
-  -2.   -1.   -1.    0.   -2.
-   4.    8.    4.   20.    4.
-  -2.   -1.   -1.    0.   -2.
-   0     0     0     0     0     0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04GD EXAMPLE PROGRAM RESULTS
-
- Row permutations are 
-  2    4    6    3    1    5
-
- The matrix A is 
-   0.0000  -1.0517  -1.8646  -1.9712   1.2374
-   0.0000  -1.0517  -1.8646  -1.9712   1.2374
-   0.0000  -1.0517  -1.8646  -1.9712   1.2374
-   0.0000   0.0000   4.6768   0.0466  -7.4246
-   0.0000   0.0000   0.0000   6.7059  -5.4801
-   0.0000   0.0000   0.0000   0.0000 -22.6274
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04HD.html b/doc/_build/html/_static/doc/MB04HD.html
deleted file mode 100644
index 620254b3..00000000
--- a/doc/_build/html/_static/doc/MB04HD.html
+++ /dev/null
@@ -1,305 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04HD">MB04HD</A></H2>
-<H3>
-Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transformed matrices A and B, using orthogonal
-  matrices Q1 and Q2 for a real N-by-N regular pencil
-
-                ( A11   0  )     (  0   B12 )
-    aA - bB = a (          ) - b (          ),                   (1)
-                (  0   A22 )     ( B21   0  )
-
-  where A11, A22 and B12 are upper triangular, B21 is upper
-  quasi-triangular and the generalized matrix product
-     -1        -1
-  A11   B12 A22   B21 is in periodic Schur form, such that the
-  matrix Q2' A Q1 is upper triangular, Q2' B Q1 is upper
-  quasi-triangular and the transformed pencil
-  a(Q2' A Q1) - b(Q2' B Q1) is in generalized Schur form. The
-  notation M' denotes the transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04HD( COMPQ1, COMPQ2, N, A, LDA, B, LDB, Q1, LDQ1,
-     $                   Q2, LDQ2, IWORK, LIWORK, DWORK, LDWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2
-      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
-                  entry, and the matrix Q01*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied on the right to the pencil
-                  aA - bB in (1).
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  the array Q2 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q2 is returned;
-          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
-                  entry, and the matrix Q02*Q2 is returned, where Q2
-                  is the product of the orthogonal transformations
-                  that are applied on the left to the pencil aA - bB
-                  in (1).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aA - bB, N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N block diagonal part of this
-          array must contain the matrix A in (1). The off-diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N block anti-diagonal part of
-          this array must contain the matrix B in (1). The diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper quasi-triangular matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q01, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q01 and the transformation matrix Q1
-          used to transform the matrices A and B.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N' this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q02, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q02 and the transformation matrix Q2
-          used to transform the matrices A and B.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N' this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= MAX( N/2+1, 32 ).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -16, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 2*N*N + MAX( N/2 + 168, 272 ).
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the 
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA. 
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm failed to reorder the
-               eigenvalues (the problem is very ill-conditioned) in
-               the SLICOT Library routine MB03KD;
-          = 2: the standard QZ algorithm failed in the LAPACK
-               routines DGGES or DHGEQZ, called by the SLICOT
-               routines MB03DD or MB03FD;
-          = 3: the eigenvalue reordering failed in the LAPACK
-               routine DTGEX2, called by the SLICOT routine MB03FD;
-          = 4: the standard QZ algorithm failed to reorder the
-               eigenvalues in the LAPACK routine DTGSEN, called by
-               the SLICOT routine MB03DD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the periodic QZ algorithm (see also [2] and [3]) is applied
-                                  -1        -1
-  to the formal matrix product A11   B12 A22   B21 to reorder the
-  eigenvalues, i.e., orthogonal matrices V1, V2, V3 and V4 are
-  computed such that V2' A11 V1, V2' B12 V3, V4' A22 V3 and
-  V4' B21 V1 keep the triangular form, but they can be partitioned
-  into 2-by-2 block forms and the last diagonal blocks correspond to
-  all nonpositive real eigenvalues of the formal product, and the
-  first diagonal blocks correspond to the remaining eigenvalues.
-
-  Second, Q1 = diag(V1, V3), Q2 = diag(V2, V4) and
-
-                   ( AA11 AA12   0    0  )
-                   (                     )
-                   (   0  AA22   0    0  )
-  A := Q2' A Q1 =: (                     ),
-                   (   0    0  AA33 AA34 )
-                   (                     )
-                   (   0    0    0  AA44 )
-
-                   (   0    0  BB13 BB14 )
-                   (                     )
-                   (   0    0    0  BB24 )
-  B := Q2' B Q1 =: (                     ),
-                   ( BB31 BB32   0    0  )
-                   (                     )
-                   (   0  BB42   0    0  )
-
-                         -1          -1
-  are set, such that AA22   BB24 AA44   BB42 has only nonpositive
-  real eigenvalues.
-
-  Third, the permutation matrix
-
-      (  I  0  0  0  )
-      (              )
-      (  0  0  I  0  )
-  P = (              ),
-      (  0  I  0  0  )
-      (              )
-      (  0  0  0  I  )
-
-  where I denotes the identity matrix of appropriate size, is used
-  to transform aA - bB to block upper triangular form
-
-                ( AA11   0  | AA12   0  )
-                (           |           )
-                (   0  AA33 |   0  AA34 )   ( AA1  *  )
-  A := P' A P = (-----------+-----------) = (         ),
-                (   0    0  | AA22   0  )   (  0  AA2 )
-                (           |           )
-                (   0    0  |   0  AA44 )
-
-                (   0  BB13 |   0  BB14 )
-                (           |           )
-                ( BB31   0  | BB32   0  )   ( BB1  *  )
-  B := P' B P = (-----------+-----------) = (         ).
-                (   0    0  |   0  BB24 )   (  0  BB2 )
-                (           |           )
-                (   0    0  | BB42   0  )
-
-  Then, further orthogonal transformations that are provided by
-  MB03FD and MB03DD are used to triangularize the subpencil
-  aAA1 - bBB1.
-
-  Finally, the subpencil aAA2 - bBB2 is triangularized by applying a
-  special permutation matrix.
-
-  See also page 31 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [3] Hench, J. J. and Laub, A. J.
-      Numerical Solution of the discrete-time periodic Riccati
-      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ID.html b/doc/_build/html/_static/doc/MB04ID.html
deleted file mode 100644
index baa29bbf..00000000
--- a/doc/_build/html/_static/doc/MB04ID.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ID">MB04ID</A></H2>
-<H3>
-QR factorization of a matrix with a lower left-hand side zero triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
-  having a p-by-min(p,m) zero triangle in the lower left-hand side
-  corner, as shown below, for n = 8, m = 7, and p = 2:
-
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-     A = [ x x x x x x x ],
-         [ x x x x x x x ]
-         [ 0 x x x x x x ]
-         [ 0 0 x x x x x ]
-
-  and optionally apply the transformations to an n-by-l matrix B
-  (from the left). The problem structure is exploited. This
-  computation is useful, for instance, in combined measurement and
-  time update of one iteration of the time-invariant Kalman filter
-  (square root information filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ID( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix A.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The order of the zero triagle.  P &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns of the matrix B.  L &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A. The elements corresponding to the
-          zero P-by-MIN(P,M) lower trapezoidal/triangular part
-          (if P &gt; 0) are not referenced.
-          On exit, the elements on and above the diagonal of this
-          array contain the MIN(N,M)-by-M upper trapezoidal matrix
-          R (R is upper triangular, if N &gt;= M) of the QR
-          factorization, and the relevant elements below the
-          diagonal contain the trailing components (the vectors v,
-          see Method) of the elementary reflectors used in the
-          factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,L)
-          On entry, the leading N-by-L part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-L part of this array contains
-          the updated matrix B.
-          If L = 0, this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if L &gt; 0;
-          LDB &gt;= 1        if L = 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,M-1,M-P,L).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses min(N,M) Householder transformations exploiting
-  the zero pattern of the matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an (N-P+I-2)-vector.  The components of v  are stored
-         i                                             i
-  in the i-th column of A, beginning from the location i+1, and
-  tau  is stored in TAU(i).
-     i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04IY.html b/doc/_build/html/_static/doc/MB04IY.html
deleted file mode 100644
index 8efa1a98..00000000
--- a/doc/_build/html/_static/doc/MB04IY.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04IY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04IY">MB04IY</A></H2>
-<H3>
-Applying the product of elementary reflectors used for QR factorization of a matrix having a lower left zero triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To overwrite the real n-by-m matrix  C  with  Q' * C,  Q * C,
-  C * Q',  or  C * Q,  according to the following table
-
-                  SIDE = 'L'     SIDE = 'R'
-  TRANS = 'N':      Q * C          C * Q
-  TRANS = 'T':      Q'* C          C * Q'
-
-  where  Q  is a real orthogonal matrix defined as the product of
-  k elementary reflectors
-
-     Q = H(1) H(2) . . . H(k)
-
-  as returned by SLICOT Library routine MB04ID.  Q  is of order n
-  if  SIDE = 'L'  and of order m if  SIDE = 'R'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04IY( SIDE, TRANS, N, M, K, P, A, LDA, TAU, C, LDC,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, K, LDA, LDC, LDWORK, M, N, P
-      CHARACTER          SIDE, TRANS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specify if  Q  or  Q'  is applied from the left or right,
-          as follows:
-          = 'L':  apply  Q  or  Q'  from the left;
-          = 'R':  apply  Q  or  Q'  from the right.
-
-  TRANS   CHARACTER*1
-          Specify if  Q  or  Q'  is to be applied, as follows:
-          = 'N':  apply  Q   (No transpose);
-          = 'T':  apply  Q'  (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix C.  M &gt;= 0.
-
-  K       (input) INTEGER
-          The number of elementary reflectors whose product defines
-          the matrix Q.
-          N &gt;= K &gt;= 0,  if  SIDE = 'L';
-          M &gt;= K &gt;= 0,  if  SIDE = 'R'.
-
-  P       (input) INTEGER
-          The order of the zero triagle (or the number of rows of
-          the zero trapezoid) in the matrix triangularized by SLICOT
-          Library routine MB04ID.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,K)
-          On input, the elements in the rows  i+1:min(n,n-p-1+i)  of
-          the  i-th  column, and  TAU(i),  represent the orthogonal
-          reflector  H(i),  so that matrix  Q  is the product of
-          elementary reflectors:  Q = H(1) H(2) . . . H(k).
-          A is modified by the routine but restored on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array  A.
-          LDA &gt;= max(1,N),  if  SIDE = 'L';
-          LDA &gt;= max(1,M),  if  SIDE = 'R'.
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          The scalar factors of the elementary reflectors.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix  C.
-          On exit, the leading N-by-M part of this array contains
-          the updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array  C.  LDC &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,M),  if  SIDE = 'L';
-          LDWORK &gt;= MAX(1,N),  if  SIDE = 'R'.
-          For optimum performance LDWORK &gt;= M*NB if SIDE = 'L',
-          or LDWORK &gt;= N*NB if SIDE = 'R', where NB is the optimal
-          block size.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If  SIDE = 'L',  each elementary reflector  H(i)  modifies
-  n-p  elements of each column of  C,  for  i = 1:p+1,  and
-  n-i+1  elements, for  i = p+2:k.
-  If  SIDE = 'R',  each elementary reflector  H(i)  modifies
-  m-p  elements of each row of  C,  for  i = 1:p+1,  and
-  m-i+1  elements, for  i = p+2:k.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04IZ.html b/doc/_build/html/_static/doc/MB04IZ.html
deleted file mode 100644
index 77845f86..00000000
--- a/doc/_build/html/_static/doc/MB04IZ.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04IZ">MB04IZ</A></H2>
-<H3>
-QR factorization of a matrix with a lower left-hand side zero triangle (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
-  having a p-by-min(p,m) zero triangle in the lower left-hand side
-  corner, as shown below, for n = 8, m = 7, and p = 2:
-
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-     A = [ x x x x x x x ],
-         [ x x x x x x x ]
-         [ 0 x x x x x x ]
-         [ 0 0 x x x x x ]
-
-  and optionally apply the transformations to an n-by-l matrix B
-  (from the left). The problem structure is exploited. This
-  computation is useful, for instance, in combined measurement and
-  time update of one iteration of the time-invariant Kalman filter
-  (square root information filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04IZ( N, M, P, L, A, LDA, B, LDB, TAU, ZWORK, LZWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LZWORK, M, N, P
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(LDB,*), TAU(*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix A.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The order of the zero triagle.  P &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns of the matrix B.  L &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A. The elements corresponding to the
-          zero P-by-MIN(P,M) lower trapezoidal/triangular part
-          (if P &gt; 0) are not referenced.
-          On exit, the elements on and above the diagonal of this
-          array contain the MIN(N,M)-by-M upper trapezoidal matrix
-          R (R is upper triangular, if N &gt;= M) of the QR
-          factorization, and the relevant elements below the
-          diagonal contain the trailing components (the vectors v,
-          see Method) of the elementary reflectors used in the
-          factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,L)
-          On entry, the leading N-by-L part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-L part of this array contains
-          the updated matrix B.
-          If L = 0, this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if L &gt; 0;
-          LDB &gt;= 1        if L = 0.
-
-  TAU     (output) COMPLEX*16 array, dimension MIN(N,M)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  The length of the array ZWORK.
-          LZWORK &gt;= MAX(1,M-1,M-P,L).
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses min(N,M) Householder transformations exploiting
-  the zero pattern of the matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an (N-P+I-2)-vector.  The components of v  are stored
-         i                                             i
-  in the i-th column of A, beginning from the location i+1, and
-  tau  is stored in TAU(i).
-     i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04JD.html b/doc/_build/html/_static/doc/MB04JD.html
deleted file mode 100644
index d4b3ec1a..00000000
--- a/doc/_build/html/_static/doc/MB04JD.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04JD">MB04JD</A></H2>
-<H3>
-LQ factorization of a matrix with an upper right-hand side zero triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LQ factorization of an n-by-m matrix A (A = L * Q),
-  having a min(n,p)-by-p zero triangle in the upper right-hand side
-  corner, as shown below, for n = 8, m = 7, and p = 2:
-
-         [ x x x x x 0 0 ]
-         [ x x x x x x 0 ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-     A = [ x x x x x x x ],
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-
-  and optionally apply the transformations to an l-by-m matrix B
-  (from the right). The problem structure is exploited. This
-  computation is useful, for instance, in combined measurement and
-  time update of one iteration of the time-invariant Kalman filter
-  (square root covariance filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04JD( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix A.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The order of the zero triagle.  P &gt;= 0.
-
-  L       (input) INTEGER
-          The number of rows of the matrix B.  L &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A. The elements corresponding to the
-          zero MIN(N,P)-by-P upper trapezoidal/triangular part
-          (if P &gt; 0) are not referenced.
-          On exit, the elements on and below the diagonal of this
-          array contain the N-by-MIN(N,M) lower trapezoidal matrix
-          L (L is lower triangular, if N &lt;= M) of the LQ
-          factorization, and the relevant elements above the
-          diagonal contain the trailing components (the vectors v,
-          see Method) of the elementary reflectors used in the
-          factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the updated matrix B.
-          If L = 0, this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,L).
-
-  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N-1,N-P,L).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses min(N,M) Householder transformations exploiting
-  the zero pattern of the matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an (M-P+I-2)-vector.  The components of v  are stored
-         i                                             i
-  in the i-th row of A, beginning from the location i+1, and tau
-                                                                i
-  is stored in TAU(i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04KD.html b/doc/_build/html/_static/doc/MB04KD.html
deleted file mode 100644
index c3628c8e..00000000
--- a/doc/_build/html/_static/doc/MB04KD.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04KD">MB04KD</A></H2>
-<H3>
-QR factorization of a special structured block matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a QR factorization of the first block column and
-  apply the orthogonal transformations (from the left) also to the
-  second block column of a structured matrix, as follows
-                       _
-         [ R   0 ]   [ R   C ]
-    Q' * [       ] = [       ]
-         [ A   B ]   [ 0   D ]
-              _
-  where R and R are upper triangular. The matrix A can be full or
-  upper trapezoidal/triangular. The problem structure is exploited.
-  This computation is useful, for instance, in combined measurement
-  and time update of one iteration of the Kalman filter (square
-  root information filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04KD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  R(LDR,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'U':  Matrix A is upper trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices R and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B, C and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices A, B and D.  P &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-                                                     _
-          array contains the upper triangular matrix R.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'F', the leading P-by-N part of this
-          array must contain the matrix A. If UPLO = 'U', the
-          leading MIN(P,N)-by-N part of this array must contain the
-          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
-          and the elements below the diagonal are not referenced.
-          On exit, the leading P-by-N part (upper trapezoidal or
-          triangular, if UPLO = 'U') of this array contains the
-          trailing components (the vectors v, see Method) of the
-          elementary reflectors used in the factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,P).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading P-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading P-by-M part of this array contains
-          the computed matrix D.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,P).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array contains the
-          computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is a P-vector, if UPLO = 'F', or an min(i,P)-vector, if
-         i
-  UPLO = 'U'.  The components of v  are stored in the i-th column
-                                  i
-  of A, and tau  is stored in TAU(i).
-               i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04LD.html b/doc/_build/html/_static/doc/MB04LD.html
deleted file mode 100644
index 2d7b8f5d..00000000
--- a/doc/_build/html/_static/doc/MB04LD.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04LD">MB04LD</A></H2>
-<H3>
-LQ factorization of a special structured block matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate an LQ factorization of the first block row and apply
-  the orthogonal transformations (from the right) also to the second
-  block row of a structured matrix, as follows
-                     _
-     [ L   A ]     [ L   0 ]
-     [       ]*Q = [       ]
-     [ 0   B ]     [ C   D ]
-              _
-  where L and L are lower triangular. The matrix A can be full or
-  lower trapezoidal/triangular. The problem structure is exploited.
-  This computation is useful, for instance, in combined measurement
-  and time update of one iteration of the Kalman filter (square
-  root covariance filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04LD( UPLO, N, M, P, L, LDL, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDL, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  L(LDL,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'L':  Matrix A is lower trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices L and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices A, B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices B, C and D.  P &gt;= 0.
-
-  L       (input/output) DOUBLE PRECISION array, dimension (LDL,N)
-          On entry, the leading N-by-N lower triangular part of this
-          array must contain the lower triangular matrix L.
-          On exit, the leading N-by-N lower triangular part of this
-                                                     _
-          array contains the lower triangular matrix L.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.  LDL &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, if UPLO = 'F', the leading N-by-M part of this
-          array must contain the matrix A. If UPLO = 'L', the
-          leading N-by-MIN(N,M) part of this array must contain the
-          lower trapezoidal (lower triangular if N &lt;= M) matrix A,
-          and the elements above the diagonal are not referenced.
-          On exit, the leading N-by-M part (lower trapezoidal or
-          triangular, if UPLO = 'L') of this array contains the
-          trailing components (the vectors v, see Method) of the
-          elementary reflectors used in the factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading P-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading P-by-M part of this array contains
-          the computed matrix D.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,P).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an M-vector, if UPLO = 'F', or an min(i,M)-vector, if
-         i
-  UPLO = 'L'.  The components of v  are stored in the i-th row of A,
-                                  i
-  and tau  is stored in TAU(i).
-         i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04MD.html b/doc/_build/html/_static/doc/MB04MD.html
deleted file mode 100644
index e2e703e3..00000000
--- a/doc/_build/html/_static/doc/MB04MD.html
+++ /dev/null
@@ -1,197 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04MD">MB04MD</A></H2>
-<H3>
-Balancing a general real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the 1-norm of a general real matrix A by balancing.
-  This involves diagonal similarity transformations applied
-  iteratively to A to make the rows and columns as close in norm as
-  possible.
-
-  This routine can be used instead LAPACK Library routine DGEBAL,
-  when no reduction of the 1-norm of the matrix is possible with
-  DGEBAL, as for upper triangular matrices. LAPACK Library routine
-  DGEBAK, with parameters ILO = 1, IHI = N, and JOB = 'S', should
-  be used to apply the backward transformation.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, N
-      DOUBLE PRECISION   MAXRED
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), SCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  MAXRED  (input/output) DOUBLE PRECISION
-          On entry, the maximum allowed reduction in the 1-norm of
-          A (in an iteration) if zero rows or columns are
-          encountered.
-          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
-          the norm reduction).
-          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
-          used.
-          On exit, if the 1-norm of the given matrix A is non-zero,
-          the ratio between the 1-norm of the given matrix and the
-          1-norm of the balanced matrix. Usually, this ratio will be
-          larger than one, but it can sometimes be one, or even less
-          than one (for instance, for some companion matrices).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the input matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to A.  If D(j) is the scaling
-          factor applied to row and column j, then SCALE(j) = D(j),
-          for j = 1,...,N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation inv(D) * A * D to make the 1-norms of each row
-  of A and its corresponding column nearly equal.
-
-  Information about the diagonal matrix D is returned in the vector
-  SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04MD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION MAXRED
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), SCALE(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB04MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, MAXRED
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Balance matrix A.
-         CALL MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) ( SCALE(I), I = 1,N )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04MD = ',I2)
-99997 FORMAT (' The balanced matrix is ')
-99996 FORMAT (20(1X,F10.4))
-99994 FORMAT (/' SCALE is ',/20(1X,F10.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04MD EXAMPLE PROGRAM DATA
-   4    0.0
-   1.0   0.0   0.0   0.0
- 300.0 400.0 500.0 600.0
-   1.0   2.0   0.0   0.0
-   1.0   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04MD EXAMPLE PROGRAM RESULTS
-
- The balanced matrix is 
-     1.0000     0.0000     0.0000     0.0000
-    30.0000   400.0000    50.0000    60.0000
-     1.0000    20.0000     0.0000     0.0000
-     1.0000    10.0000     1.0000     1.0000
-
- SCALE is 
-     1.0000    10.0000     1.0000     1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ND.html b/doc/_build/html/_static/doc/MB04ND.html
deleted file mode 100644
index 2f7c8656..00000000
--- a/doc/_build/html/_static/doc/MB04ND.html
+++ /dev/null
@@ -1,175 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ND">MB04ND</A></H2>
-<H3>
-RQ factorization of a special structured block matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate an RQ factorization of the first block row and
-  apply the orthogonal transformations (from the right) also to the
-  second block row of a structured matrix, as follows
-                           _
-    [ A   R ]        [ 0   R ]
-    [       ] * Q' = [ _   _ ]
-    [ C   B ]        [ C   B ]
-              _
-  where R and R are upper triangular. The matrix A can be full or
-  upper trapezoidal/triangular. The problem structure is exploited.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ND( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  R(LDR,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'U':  Matrix A is upper trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices R and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows of the matrices B and C.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of columns of the matrices A and C.  P &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-                                                     _
-          array contains the upper triangular matrix R.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,P)
-          On entry, if UPLO = 'F', the leading N-by-P part of this
-          array must contain the matrix A. For UPLO = 'U', if
-          N &lt;= P, the upper triangle of the subarray A(1:N,P-N+1:P)
-          must contain the N-by-N upper triangular matrix A, and if
-          N &gt;= P, the elements on and above the (N-P)-th subdiagonal
-          must contain the N-by-P upper trapezoidal matrix A.
-          On exit, if UPLO = 'F', the leading N-by-P part of this
-          array contains the trailing components (the vectors v, see
-          METHOD) of the elementary reflectors used in the
-          factorization. If UPLO = 'U', the upper triangle of the
-          subarray A(1:N,P-N+1:P) (if N &lt;= P), or the elements on
-          and above the (N-P)-th subdiagonal (if N &gt;= P), contain
-          the trailing components (the vectors v, see METHOD) of the
-          elementary reflectors used in the factorization.
-          The remaining elements are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-                              _
-          the computed matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,P)
-          On entry, the leading M-by-P part of this array must
-          contain the matrix C.
-          On exit, the leading M-by-P part of this array contains
-                              _
-          the computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 )
-     H  = I - tau *u *u',    u  = ( v ),
-      i          i  i  i      i   (  i)
-
-  where v  is a P-vector, if UPLO = 'F', or a min(N-i+1,P)-vector,
-         i
-  if UPLO = 'U'.  The components of v  are stored in the i-th row
-                                     i
-  of A, and tau  is stored in TAU(i), i = N,N-1,...,1.
-               i
-  In-line code for applying Householder transformations is used
-  whenever possible (see MB04NY routine).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04NY.html b/doc/_build/html/_static/doc/MB04NY.html
deleted file mode 100644
index f57683d3..00000000
--- a/doc/_build/html/_static/doc/MB04NY.html
+++ /dev/null
@@ -1,124 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04NY">MB04NY</A></H2>
-<H3>
-Applying an elementary reflector (using in-line code for a low order) to a matrix C = ( A B ), from the right, where A has one column
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a real elementary reflector H to a real m-by-(n+1)
-  matrix C = [ A  B ], from the right, where A has one column. H is
-  represented in the form
-                                     ( 1 )
-        H = I - tau * u *u',    u  = (   ),
-                                     ( v )
-  where tau is a real scalar and v is a real n-vector.
-
-  If tau = 0, then H is taken to be the unit matrix.
-
-  In-line code is used if H has order &lt; 11.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04NY( M, N, V, INCV, TAU, A, LDA, B, LDB, DWORK )
-C     .. Scalar Arguments ..
-      INTEGER           INCV, LDA, LDB, M, N
-      DOUBLE PRECISION  TAU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices A and B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix B.  N &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-          (1+(N-1)*ABS( INCV ))
-          The vector v in the representation of H.
-
-  INCV    (input) INTEGER
-          The increment between the elements of v.  INCV &lt;&gt; 0.
-
-  TAU     (input) DOUBLE PRECISION
-          The scalar factor of the elementary reflector H.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,1)
-          On entry, the leading M-by-1 part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-1 part of this array contains
-          the updated matrix A (the first column of C * H).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-          the updated matrix B (the last n columns of C * H).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (M)
-          DWORK is not referenced if H has order less than 11.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine applies the elementary reflector H, taking the special
-  structure of C into account.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OD.html b/doc/_build/html/_static/doc/MB04OD.html
deleted file mode 100644
index 7d9b325f..00000000
--- a/doc/_build/html/_static/doc/MB04OD.html
+++ /dev/null
@@ -1,271 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OD">MB04OD</A></H2>
-<H3>
-QR factorization of a special structured block matrix (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a QR factorization of the first block column and
-  apply the orthogonal transformations (from the left) also to the
-  second block column of a structured matrix, as follows
-                       _   _
-         [ R   B ]   [ R   B ]
-    Q' * [       ] = [     _ ]
-         [ A   C ]   [ 0   C ]
-              _
-  where R and R are upper triangular. The matrix A can be full or
-  upper trapezoidal/triangular. The problem structure is exploited.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  R(LDR,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'U':  Matrix A is upper trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices R and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and C.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices A and C.  P &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-                                                     _
-          array contains the upper triangular matrix R.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'F', the leading P-by-N part of this
-          array must contain the matrix A. If UPLO = 'U', the
-          leading MIN(P,N)-by-N part of this array must contain the
-          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
-          and the elements below the diagonal are not referenced.
-          On exit, the leading P-by-N part (upper trapezoidal or
-          triangular, if UPLO = 'U') of this array contains the
-          trailing components (the vectors v, see Method) of the
-          elementary reflectors used in the factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,P).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-M part of this array contains
-                              _
-          the computed matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading P-by-M part of this array must
-          contain the matrix C.
-          On exit, the leading P-by-M part of this array contains
-                              _
-          the computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 )
-     H  = I - tau *u *u',    u  = ( v ),
-      i          i  i  i      i   (  i)
-
-  where v  is a P-vector, if UPLO = 'F', or a min(i,P)-vector, if
-         i
-  UPLO = 'U'.  The components of v  are stored in the i-th column
-                                  i
-  of A, and tau  is stored in TAU(i).
-               i
-  In-line code for applying Householder transformations is used
-  whenever possible (see MB04OY routine).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04OD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        (ZERO  = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDR
-      PARAMETER        ( LDA = PMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDR = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX-1,MMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      UPLO
-      INTEGER          I, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK), R(LDR,NMAX), TAU(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB04OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,N ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,P )
-*              Compute and apply QR factorization.
-               CALL MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C,
-     $                      LDC,  TAU, DWORK )
-*
-               WRITE ( NOUT, FMT = 99997 )
-               DO 40 I = 1, N
-                  DO 20 J = 1, I-1
-                     R(I,J) = ZERO
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 ) ( R(I,J), J = 1,N )
-   40          CONTINUE
-               IF ( M.GT.0 ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-                  IF ( P.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 80 I = 1, P
-                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04OD EXAMPLE PROGRAM RESULTS',/1X)
-99997 FORMAT (' The updated matrix R is ')
-99996 FORMAT (20(1X,F10.4))
-99995 FORMAT (' The updated matrix B is ')
-99994 FORMAT (' The updated matrix C is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04OD EXAMPLE PROGRAM DATA
-   3     2     2     F
-   3.    2.    1.
-   0.    2.    1.
-   0.    0.    1.
-   2.    3.    1.
-   4.    6.    5.
-   3.    2.
-   1.    3.
-   3.    2.
-   1.    3.
-   3.    2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04OD EXAMPLE PROGRAM RESULTS
-
- The updated matrix R is 
-    -5.3852    -6.6850    -4.6424
-     0.0000    -2.8828    -2.0694
-     0.0000     0.0000    -1.7793
- The updated matrix B is 
-    -4.2710    -3.7139
-    -0.1555    -2.1411
-    -1.6021     0.9398
- The updated matrix C is 
-     0.5850     1.0141
-    -2.7974    -3.1162
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OW.html b/doc/_build/html/_static/doc/MB04OW.html
deleted file mode 100644
index 2ac7b7c2..00000000
--- a/doc/_build/html/_static/doc/MB04OW.html
+++ /dev/null
@@ -1,168 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OW">MB04OW</A></H2>
-<H3>
-Rank-one update of a Cholesky factorization (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the QR factorization
-
-     ( U  ) = Q*( R ),  where  U = ( U1  U2 ),  R = ( R1  R2 ),
-     ( x' )     ( 0 )              ( 0   T  )       ( 0   R3 )
-
-  where U and R are (m+n)-by-(m+n) upper triangular matrices, x is
-  an m+n element vector, U1 is m-by-m, T is n-by-n, stored
-  separately, and Q is an (m+n+1)-by-(m+n+1) orthogonal matrix.
-
-  The matrix ( U1 U2 ) must be supplied in the m-by-(m+n) upper
-  trapezoidal part of the array A and this is overwritten by the
-  corresponding part ( R1 R2 ) of R. The remaining upper triangular
-  part of R, R3, is overwritten on the array T.
-
-  The transformations performed are also applied to the (m+n+1)-by-p
-  matrix ( B' C' d )' (' denotes transposition), where B, C, and d'
-  are m-by-p, n-by-p, and 1-by-p matrices, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OW( M, N, P, A, LDA, T, LDT, X, INCX, B, LDB,
-     $                   C, LDC, D, INCD )
-C     .. Scalar Arguments ..
-      INTEGER            INCD, INCX, LDA, LDB, LDC, LDT, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(*), T(LDT,*),
-     $                   X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix ( U1  U2 ).  M &gt;= 0.
-
-  N      (input) INTEGER
-         The order of the matrix T.  N &gt;= 0.
-
-  P      (input) INTEGER
-         The number of columns of the matrices B and C.  P &gt;= 0.
-
-  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-         On entry, the leading M-by-(M+N) upper trapezoidal part of
-         this array must contain the upper trapezoidal matrix
-         ( U1 U2 ).
-         On exit, the leading M-by-(M+N) upper trapezoidal part of
-         this array contains the upper trapezoidal matrix ( R1 R2 ).
-         The strict lower triangle of A is not referenced.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  T      (input/output) DOUBLE PRECISION array, dimension (LDT,N)
-         On entry, the leading N-by-N upper triangular part of this
-         array must contain the upper triangular matrix T.
-         On exit, the leading N-by-N upper triangular part of this
-         array contains the upper triangular matrix R3.
-         The strict lower triangle of T is not referenced.
-
-  LDT    INTEGER
-         The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  X      (input/output) DOUBLE PRECISION array, dimension
-         (1+(M+N-1)*INCX), if M+N &gt; 0, or dimension (0), if M+N = 0.
-         On entry, the incremented array X must contain the
-         vector x. On exit, the content of X is changed.
-
-  INCX   (input) INTEGER
-         Specifies the increment for the elements of X.  INCX &gt; 0.
-
-  B      (input/output) DOUBLE PRECISION array, dimension (LDB,P)
-         On entry, the leading M-by-P part of this array must
-         contain the matrix B.
-         On exit, the leading M-by-P part of this array contains
-         the transformed matrix B.
-         If M = 0 or P = 0, this array is not referenced.
-
-  LDB    INTEGER
-         The leading dimension of the array B.
-         LDB &gt;= max(1,M), if P &gt; 0;
-         LDB &gt;= 1,        if P = 0.
-
-  C      (input/output) DOUBLE PRECISION array, dimension (LDC,P)
-         On entry, the leading N-by-P part of this array must
-         contain the matrix C.
-         On exit, the leading N-by-P part of this array contains
-         the transformed matrix C.
-         If N = 0 or P = 0, this array is not referenced.
-
-  LDC    INTEGER
-         The leading dimension of the array C.
-         LDC &gt;= max(1,N), if P &gt; 0;
-         LDC &gt;= 1,        if P = 0.
-
-  D      (input/output) DOUBLE PRECISION array, dimension
-         (1+(P-1)*INCD), if P &gt; 0, or dimension (0), if P = 0.
-         On entry, the incremented array D must contain the
-         vector d.
-         On exit, this incremented array contains the transformed
-         vector d.
-         If P = 0, this array is not referenced.
-
-  INCD   (input) INTEGER
-         Specifies the increment for the elements of D.  INCD &gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let q = m+n. The matrix Q is formed as a sequence of plane
-  rotations in planes (1, q+1), (2, q+1), ..., (q, q+1), the
-  rotation in the (j, q+1)th plane, Q(j), being chosen to
-  annihilate the jth element of x.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0((M+N)*(M+N+P)) operations and is backward
-  stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For P = 0, this routine produces the same result as SLICOT Library
-  routine MB04OX, but matrix T may not be stored in the array A.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OX.html b/doc/_build/html/_static/doc/MB04OX.html
deleted file mode 100644
index 14e36012..00000000
--- a/doc/_build/html/_static/doc/MB04OX.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OX">MB04OX</A></H2>
-<H3>
-Rank-one update of a Cholesky factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the QR factorization
-
-     (U ) = Q*(R),
-     (x')     (0)
-
-  where U and R are n-by-n upper triangular matrices, x is an
-  n element vector and Q is an (n+1)-by-(n+1) orthogonal matrix.
-
-  U must be supplied in the n-by-n upper triangular part of the
-  array A and this is overwritten by R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OX( N, A, LDA, X, INCX )
-C     .. Scalar Arguments ..
-      INTEGER            INCX, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N      (input) INTEGER
-         The number of elements of X and the order of the square
-         matrix A.  N &gt;= 0.
-
-  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-         On entry, the leading N-by-N upper triangular part of this
-         array must contain the upper triangular matrix U.
-         On exit, the leading N-by-N upper triangular part of this
-         array contains the upper triangular matrix R.
-         The strict lower triangle of A is not referenced.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  X      (input/output) DOUBLE PRECISION array, dimension
-         (1+(N-1)*INCX)
-         On entry, the incremented array X must contain the
-         vector x. On exit, the content of X is changed.
-
-  INCX   (input) INTEGER.
-         Specifies the increment for the elements of X.  INCX &gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix Q is formed as a sequence of plane rotations in planes
-  (1, n+1), (2, n+1), ..., (n, n+1), the rotation in the (j, n+1)th
-  plane, Q(j), being chosen to annihilate the jth element of x.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04OY.html b/doc/_build/html/_static/doc/MB04OY.html
deleted file mode 100644
index 89aac245..00000000
--- a/doc/_build/html/_static/doc/MB04OY.html
+++ /dev/null
@@ -1,121 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OY">MB04OY</A></H2>
-<H3>
-Applying an elementary reflector (using in-line code for a low order) to a matrix C = trans( trans(A) trans(B) ), from the left, where A has one row
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a real elementary reflector H to a real (m+1)-by-n
-  matrix C = [ A ], from the left, where A has one row. H is
-             [ B ]
-  represented in the form
-                                     ( 1 )
-        H = I - tau * u *u',    u  = (   ),
-                                     ( v )
-  where tau is a real scalar and v is a real m-vector.
-
-  If tau = 0, then H is taken to be the unit matrix.
-
-  In-line code is used if H has order &lt; 11.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OY( M, N, V, TAU, A, LDA, B, LDB, DWORK )
-C     .. Scalar Arguments ..
-      INTEGER           LDA, LDB, M, N
-      DOUBLE PRECISION  TAU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices A and B.  N &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension (M)
-          The vector v in the representation of H.
-
-  TAU     (input) DOUBLE PRECISION
-          The scalar factor of the elementary reflector H.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading 1-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading 1-by-N part of this array contains
-          the updated matrix A (the first row of H * C).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= 1.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-          the updated matrix B (the last m rows of H * C).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-          DWORK is not referenced if H has order less than 11.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine applies the elementary reflector H, taking the special
-  structure of C into account.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PA.html b/doc/_build/html/_static/doc/MB04PA.html
deleted file mode 100644
index 42c3ac25..00000000
--- a/doc/_build/html/_static/doc/MB04PA.html
+++ /dev/null
@@ -1,218 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PA">MB04PA</A></H2>
-<H3>
-Special reduction of a (skew-)Hamiltonian like matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a Hamiltonian like matrix
-
-                [  A   G  ]           T          T
-           H =  [       T ] ,    G = G ,    Q = Q,
-                [  Q  -A  ]
-
-  or a skew-Hamiltonian like matrix
-
-                [  A   G  ]            T          T
-           W =  [       T ] ,    G = -G ,   Q = -Q,
-                [  Q   A  ]
-
-  so that elements below the (k+1)-th subdiagonal in the first nb
-  columns of the (k+n)-by-n matrix A, and offdiagonal elements
-  in the first nb columns and rows of the n-by-n matrix Q are zero.
-
-  The reduction is performed by an orthogonal symplectic
-  transformation UU'*H*UU and matrices U, XA, XG, XQ, and YA are
-  returned so that
-
-                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'+ XG*U' ]
-      UU'*H*UU = [                                           ].
-                 [ Qout + U*XQ'+ XQ*U'  -Aout'- XA*U'- U*YA' ]
-
-  Similarly,
-
-                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'- XG*U' ]
-      UU'*W*UU = [                                           ].
-                 [ Qout + U*XQ'- XQ*U'   Aout'+ XA*U'+ U*YA' ]
-
-  This is an auxiliary routine called by MB04PB.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PA( LHAM, N, K, NB, A, LDA, QG, LDQG, XA, LDXA,
-     $                   XG, LDXG, XQ, LDXQ, YA, LDYA, CS, TAU, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           LHAM
-      INTEGER           K, LDA, LDQG, LDXA, LDXG, LDXQ, LDYA, N, NB
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*),
-     $                  XA(LDXA,*), XG(LDXG,*), XQ(LDXQ,*), YA(LDYA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LHAM    LOGICAL
-          Specifies the type of matrix to be reduced:
-          = .FALSE. :  skew-Hamiltonian like W;
-          = .TRUE.  :  Hamiltonian like H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The offset of the reduction. Elements below the (K+1)-th
-          subdiagonal in the first NB columns of A are reduced
-          to zero.  K &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns/rows to be reduced.  N &gt; NB &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading (K+N)-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading (K+N)-by-N part of this array
-          contains the matrix Aout and in the zero part
-          information about the elementary reflectors used to
-          compute the reduction.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,K+N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N+K-by-N+1 part of this array must
-          contain in the bottom left part the lower triangular part
-          of the N-by-N matrix Q and in the remainder the upper
-          trapezoidal part of the last N columns of the N+K-by-N+K
-          matrix G.
-          On exit, the leading N+K-by-N+1 part of this array
-          contains parts of the matrices Q and G in the same fashion
-          as on entry only that the zero parts of Q contain
-          information about the elementary reflectors used to
-          compute the reduction. Note that if LHAM = .FALSE. then
-          the (K-1)-th and K-th subdiagonals are not referenced.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG. LDQG &gt;= MAX(1,N+K).
-
-  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XA.
-
-  LDXA    INTEGER
-          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
-
-  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix XG.
-
-  LDXG    INTEGER
-          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
-
-  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XQ.
-
-  LDXQ    INTEGER
-          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
-
-  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix YA.
-
-  LDYA    INTEGER
-          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2*NB)
-          On exit, the first 2*NB elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the reduction.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (NB)
-          On exit, the first NB elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*NB)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For details regarding the representation of the orthogonal
-  symplectic matrix UU within the arrays A, QG, CS, TAU see the
-  description of MB04PU.
-
-  The contents of A and QG on exit are illustrated by the following
-  example with n = 5, k = 2 and nb = 2:
-
-        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
-        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
-        ( a  r  r  a  a  )         ( q  g  r  r  g  g  )
-    A = ( r  r  r  r  r  ),   QG = ( t  r  r  r  r  r  ),
-        ( u2 r  r  r  r  )         ( u1 t  r  r  r  r  )
-        ( u2 u2 r  a  a  )         ( u1 u1 r  q  g  g  )
-        ( u2 u2 r  a  a  )         ( u1 u1 r  q  q  g  )
-
-  where a, g and q denote elements of the original matrices, r
-  denotes a modified element, t denotes a scalar factor of an
-  applied elementary reflector and ui denote elements of the
-  matrix U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] D. KRESSNER:
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PB.html b/doc/_build/html/_static/doc/MB04PB.html
deleted file mode 100644
index ac11f5b7..00000000
--- a/doc/_build/html/_static/doc/MB04PB.html
+++ /dev/null
@@ -1,384 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PB">MB04PB</A></H2>
-<H3>
-Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (block algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       T ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
-  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
-  is computed so that
-
-            T       [  Aout   Gout  ]
-           U H U =  [             T ] ,
-                    [  Qout  -Aout  ]
-
-  where Aout is upper Hessenberg and Qout is diagonal.
-  Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the diagonal of the matrix Qout, the upper triangular part
-          of the matrix Gout and, in the zero parts of Qout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
-          block size determined by the function UE01MD.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  QG(i+2:n,i), and tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  A(i+2:n,i), and nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
-  where the cosine is stored in CS(2*i-1) and the sine in
-  CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] D. KRESSNER:
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04PB/MB04WP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE, TWO
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NBMAX
-      PARAMETER        ( NMAX = 7, NBMAX = 3 )
-      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
-      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES = NMAX,
-     $                   LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDWORK = 8*NBMAX*NMAX + 3*NBMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
-     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION MA02ID, MA02JD
-      EXTERNAL         MA02ID, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
-     $                 DSYR2K, DTRMM, MB04PB, MB04WP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
-         CALL MB04PB( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
-     $                INFO )
-         INFO = 0
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
-            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               IF ( N.GT.2 )
-     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
-     $                         LDA )
-               IF ( N.GT.1 )
-     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
-     $                         LDQG )
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10             CONTINUE
-               DO 20  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20             CONTINUE
-               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
-30             CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 40  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
-40             CONTINUE
-C
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
-     $                      U1, LDU1, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
-               DO 50 I = 1, N
-                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
-50             CONTINUE
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
-               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
-               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
-               DO 60  I = 1, N
-                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
-     $                       RES(1,2*N+1), LDRES )
-60             CONTINUE
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
-               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
-               DO 70  I = 1, N
-                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
-     $                       RES(1,2*N+2), LDRES )
-70             CONTINUE
-C
-               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
-     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
-     $                LDRES, DWORK )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' TMB04PB EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04PB = ',I2)
-99997 FORMAT (' INFO on exit from MB04WP = ',I2)
-99996 FORMAT (' The symplectic orthogonal factor U is ')
-99995 FORMAT (/' The reduced matrix A is ')
-99994 FORMAT (/' The reduced matrix QG is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04PB EXAMPLE PROGRAM DATA
-        5
-    0.9501    0.7621    0.6154    0.4057    0.0579
-    0.2311    0.4565    0.7919    0.9355    0.3529
-    0.6068    0.0185    0.9218    0.9169    0.8132
-    0.4860    0.8214    0.7382    0.4103    0.0099
-    0.8913    0.4447    0.1763    0.8936    0.1389
-    0.3869    0.4055    0.2140    1.0224    1.1103    0.7016
-    1.3801    0.7567    1.4936    1.2913    0.9515    1.1755
-    0.7993    1.7598    1.6433    1.0503    0.8839    1.1010
-    1.2019    1.1956    0.9346    0.6824    0.7590    1.1364
-    0.8780    0.9029    1.6565    1.1022    0.7408    0.3793
-</PRE>
-<B>Program Results</B>
-<PRE>
- TMB04PB EXAMPLE PROGRAM RESULTS
-
- The symplectic orthogonal factor U is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.0927    0.2098    0.5594   -0.0226    0.0000    0.5538    0.3184    0.2519   -0.4031
-    0.0000   -0.2435    0.4745   -0.6362   -0.2542    0.0000    0.3207   -0.2455    0.0595   -0.2819
-    0.0000   -0.1950   -0.1770   -0.1519   -0.2857    0.0000    0.4823    0.4122   -0.2060    0.6173
-    0.0000   -0.3576   -0.0480    0.2302    0.4512    0.0000    0.3523   -0.6047   -0.3110    0.1635
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.5538   -0.3184   -0.2519    0.4031    0.0000   -0.0927    0.2098    0.5594   -0.0226
-    0.0000   -0.3207    0.2455   -0.0595    0.2819    0.0000   -0.2435    0.4745   -0.6362   -0.2542
-    0.0000   -0.4823   -0.4122    0.2060   -0.6173    0.0000   -0.1950   -0.1770   -0.1519   -0.2857
-    0.0000   -0.3523    0.6047    0.3110   -0.1635    0.0000   -0.3576   -0.0480    0.2302    0.4512
-
- Orthogonality of U: || U'*U - I ||_F = .77E-15
-
- The reduced matrix A is 
-    0.9501   -1.5494    0.5268    0.3187   -0.6890
-   -2.4922    2.0907   -1.3598    0.5682    0.5618
-    0.0000   -1.7723    0.3960   -0.2624   -0.3709
-    0.0000    0.0000   -0.2648    0.2136   -0.3226
-    0.0000    0.0000    0.0000   -0.2308    0.2319
-
- The reduced matrix QG is 
-    0.3869    0.4055    0.0992    0.5237   -0.4110   -0.4861
-    0.0000   -3.7784   -4.1609    0.3614    0.3606   -0.0696
-    0.0000    0.0000    1.2192   -0.0848    0.2007    0.3735
-    0.0000    0.0000    0.0000   -0.8646    0.1538   -0.1970
-    0.0000    0.0000    0.0000    0.0000   -0.4527    0.0743
-
- Residual: || H - U*R*U' ||_F = .33E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PU.html b/doc/_build/html/_static/doc/MB04PU.html
deleted file mode 100644
index 972a83ac..00000000
--- a/doc/_build/html/_static/doc/MB04PU.html
+++ /dev/null
@@ -1,371 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PU">MB04PU</A></H2>
-<H3>
-Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (unblocked algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       T ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
-  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
-  is computed so that
-
-            T       [  Aout   Gout  ]
-           U H U =  [             T ] ,
-                    [  Qout  -Aout  ]
-
-  where Aout is upper Hessenberg and Qout is diagonal.
-  Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the diagonal of the matrix Qout, the upper triangular part
-          of the matrix Gout and, in the zero parts of Qout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  QG(i+2:n,i), and tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  A(i+2:n,i), and nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
-  where the cosine is stored in CS(2*i-1) and the sine in
-  CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 40/3 N**3 + O(N) floating point operations
-  and is strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04PU/MB04WP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE, TWO
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
-      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES  = NMAX,
-     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 2*NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
-     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION MA02ID, MA02JD
-      EXTERNAL         MA02ID, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
-     $                 DSYR2K, DTRMM, MB04PU, MB04WP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
-         CALL MB04PU( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
-     $                INFO )
-         INFO = 0
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
-            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               IF ( N.GT.2 )
-     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
-     $                         LDA )
-               IF ( N.GT.1 )
-     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
-     $                         LDQG )
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10             CONTINUE
-               DO 20  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20             CONTINUE
-               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
-30             CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 40  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
-40             CONTINUE
-C
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
-     $                      U1, LDU1, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
-               DO 50 I = 1, N
-                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
-50             CONTINUE
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
-               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
-               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
-               DO 60  I = 1, N
-                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
-     $                       RES(1,2*N+1), LDRES )
-60             CONTINUE
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
-               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
-               DO 70  I = 1, N
-                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
-     $                       RES(1,2*N+2), LDRES )
-70             CONTINUE
-C
-               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
-     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
-     $                LDRES, DWORK )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' TMB04PU EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04PU = ',I2)
-99997 FORMAT (' INFO on exit from MB04WP = ',I2)
-99996 FORMAT (' The symplectic orthogonal factor U is ')
-99995 FORMAT (/' The reduced matrix A is ')
-99994 FORMAT (/' The reduced matrix QG is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04PU EXAMPLE PROGRAM DATA
-        5
-    0.9501    0.7621    0.6154    0.4057    0.0579
-    0.2311    0.4565    0.7919    0.9355    0.3529
-    0.6068    0.0185    0.9218    0.9169    0.8132
-    0.4860    0.8214    0.7382    0.4103    0.0099
-    0.8913    0.4447    0.1763    0.8936    0.1389
-    0.4055    0.3869    1.3801    0.7993    1.2019    0.8780
-    0.2140    1.4936    0.7567    1.7598    1.1956    0.9029
-    1.0224    1.2913    1.0503    1.6433    0.9346    1.6565
-    1.1103    0.9515    0.8839    0.7590    0.6824    1.1022
-    0.7016    1.1755    1.1010    1.1364    0.3793    0.7408
-</PRE>
-<B>Program Results</B>
-<PRE>
- TMB04PU EXAMPLE PROGRAM RESULTS
-
- The symplectic orthogonal factor U is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.1119    0.7763   -0.2005   -0.0001    0.0000    0.1036   -0.2783   -0.2583    0.4356
-    0.0000   -0.2937    0.2320    0.4014    0.5541    0.0000    0.4949    0.1187   -0.0294   -0.3632
-    0.0000   -0.2352   -0.2243   -0.7056   -0.0500    0.0000    0.5374    0.3102   -0.0893    0.0318
-    0.0000   -0.4314   -0.0354    0.2658   -0.6061    0.0000    0.3396   -0.3230    0.3931    0.0207
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.1036    0.2783    0.2583   -0.4356    0.0000   -0.1119    0.7763   -0.2005   -0.0001
-    0.0000   -0.4949   -0.1187    0.0294    0.3632    0.0000   -0.2937    0.2320    0.4014    0.5541
-    0.0000   -0.5374   -0.3102    0.0893   -0.0318    0.0000   -0.2352   -0.2243   -0.7056   -0.0500
-    0.0000   -0.3396    0.3230   -0.3931   -0.0207    0.0000   -0.4314   -0.0354    0.2658   -0.6061
-
- Orthogonality of U: || U'*U - I ||_F = .16E-14
-
- The reduced matrix A is 
-    0.9501   -1.8690    0.8413   -0.0344   -0.0817
-   -2.0660    2.7118   -1.6646    0.7606   -0.0285
-    0.0000   -2.4884    0.4115   -0.4021    0.3964
-    0.0000    0.0000   -0.5222    0.1767   -0.3081
-    0.0000    0.0000    0.0000    0.1915   -0.3426
-
- The reduced matrix QG is 
-    0.4055    0.3869   -0.4295    0.9242   -0.7990   -0.0268
-    0.0000   -3.0834   -2.5926    0.0804    0.1386   -0.1630
-    0.0000    0.0000    1.3375    0.9618   -0.0263    0.1829
-    0.0000    0.0000    0.0000   -0.3556    0.6662    0.2123
-    0.0000    0.0000    0.0000    0.0000    0.1337   -0.8622
-
- Residual: || H - U*R*U' ||_F = .60E-14
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04PY.html b/doc/_build/html/_static/doc/MB04PY.html
deleted file mode 100644
index d2896830..00000000
--- a/doc/_build/html/_static/doc/MB04PY.html
+++ /dev/null
@@ -1,123 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PY">MB04PY</A></H2>
-<H3>
-Applying an elementary reflector (using in-line code for a low order) to a matrix, from either the left or the right
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a real elementary reflector H to a real m-by-n matrix
-  C, from either the left or the right. H is represented in the form
-                                     ( 1 )
-        H = I - tau * u *u',    u  = (   ),
-                                     ( v )
-  where tau is a real scalar and v is a real vector.
-
-  If tau = 0, then H is taken to be the unit matrix.
-
-  In-line code is used if H has order &lt; 11.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PY( SIDE, M, N, V, TAU, C, LDC, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          SIDE
-      INTEGER            LDC, M, N
-      DOUBLE PRECISION   TAU
-C     .. Array Arguments ..
-      DOUBLE PRECISION   C( LDC, * ), DWORK( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Indicates whether the elementary reflector should be
-          applied from the left or from the right, as follows:
-          = 'L':  Compute H * C;
-          = 'R':  Compute C * H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix C.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix C.  N &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-          (M-1), if SIDE = 'L', or
-          (N-1), if SIDE = 'R'.
-          The vector v in the representation of H.
-
-  TAU     (input) DOUBLE PRECISION
-          The scalar factor of the elementary reflector H.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the matrix H * C, if SIDE = 'L', or C * H, if SIDE = 'R'.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N), if SIDE = 'L', or
-                                            (M), if SIDE = 'R'.
-          DWORK is not referenced if H has order less than 11.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine applies the elementary reflector H, taking its special
-  structure into account. The multiplications by the first component
-  of u (which is 1) are avoided, to increase the efficiency.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QB.html b/doc/_build/html/_static/doc/MB04QB.html
deleted file mode 100644
index e1caa590..00000000
--- a/doc/_build/html/_static/doc/MB04QB.html
+++ /dev/null
@@ -1,238 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QB">MB04QB</A></H2>
-<H3>
-Applying a product of symplectic reflectors and Givens rotations to two general real matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To overwrite general real m-by-n matrices C and D, or their
-  transposes, with
-
-            [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'N', or
-            [ op(D) ]
-
-       T    [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'T',
-            [ op(D) ]
-
-  where Q is defined as the product of symplectic reflectors and
-  Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QB( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
-     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
-      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
-     $                  V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANC   CHARACTER*1
-          Specifies the form of op( C ) as follows:
-          = 'N':  op( C ) = C;
-          = 'T':  op( C ) = C';
-          = 'C':  op( C ) = C'.
-
-  TRAND   CHARACTER*1
-          Specifies the form of op( D ) as follows:
-          = 'N':  op( D ) = D;
-          = 'T':  op( D ) = D';
-          = 'C':  op( D ) = D'.
-
-  TRANQ   CHARACTER*1
-          = 'N':  apply Q;
-          = 'T':  apply Q'.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in V are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in W are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(C) and op(D).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(C) and op(D).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of elementary reflectors whose product defines
-          the matrix Q.  M &gt;= K &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,M) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors F(i).
-          On entry with STOREV = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors F(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M),  if STOREV = 'C';
-          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,M) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors H(i).
-          On entry with STOREW = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors H(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,M),  if STOREW = 'C';
-          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                  (LDC,N) if TRANC = 'N',
-                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
-          On entry with TRANC = 'N', the leading M-by-N part of
-          this array must contain the matrix C.
-          On entry with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix C.
-          On exit with TRANC = 'N', the leading M-by-N part of
-          this array contains the updated matrix C.
-          On exit with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M),  if TRANC = 'N';
-          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                  (LDD,N) if TRAND = 'N',
-                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
-          On entry with TRAND = 'N', the leading M-by-N part of
-          this array must contain the matrix D.
-          On entry with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix D.
-          On exit with TRAND = 'N', the leading M-by-N part of
-          this array contains the updated matrix D.
-          On exit with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= MAX(1,M),  if TRAND = 'N';
-          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QC.html b/doc/_build/html/_static/doc/MB04QC.html
deleted file mode 100644
index 28c7cdf6..00000000
--- a/doc/_build/html/_static/doc/MB04QC.html
+++ /dev/null
@@ -1,230 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QC">MB04QC</A></H2>
-<H3>
-Premultiplying a real matrix with an orthogonal symplectic block reflector
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the orthogonal symplectic block reflector
-
-           [  I+V*T*V'  V*R*S*V'  ]
-      Q =  [                      ]
-           [ -V*R*S*V'  I+V*T*V'  ]
-
-  or its transpose to a real 2m-by-n matrix [ op(A); op(B) ] from
-  the left.
-  The k-by-k upper triangular blocks of the matrices
-
-                              [ S1 ]       [ T11 T12 T13 ]
-      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
-                              [ S3 ]       [ T31 T32 T33 ]
-
-  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
-  are stored rowwise in the arrays RS and T, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QC( STRAB, TRANA, TRANB, TRANQ, DIRECT, STOREV,
-     $                   STOREW, M, N, K, V, LDV, W, LDW, RS, LDRS, T,
-     $                   LDT, A, LDA, B, LDB, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         DIRECT, STOREV, STOREW, STRAB, TRANA, TRANB,
-     $                  TRANQ
-      INTEGER           K, LDA, LDB, LDRS, LDT, LDV, LDW, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), RS(LDRS,*),
-     $                  T(LDT,*), V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STRAB   CHARACTER*1
-          Specifies the structure of the first blocks of A and B:
-          = 'Z':  the leading K-by-N submatrices of op(A) and op(B)
-                  are (implicitly) assumed to be zero;
-          = 'N';  no structure to mention.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op( A ) as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op( B ) as follows:
-          = 'N':  op( B ) = B;
-          = 'T':  op( B ) = B';
-          = 'C':  op( B ) = B'.
-
-  DIRECT  CHARACTER*1
-          This is a dummy argument, which is reserved for future
-          extensions of this subroutine. Not referenced.
-
-  TRANQ   CHARACTER*1
-          = 'N':  apply Q;
-          = 'T':  apply Q'.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in V are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in W are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(A) and op(B).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(A) and op(B).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The order of the triangular matrices defining R, S and T.
-          M &gt;= K &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,M) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflector used to form parts of Q.
-          On entry with STOREV = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflector used to form parts of Q.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M),  if STOREV = 'C';
-          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,M) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflector used to form parts of Q.
-          On entry with STOREW = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflector used to form parts of Q.
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,M),  if STOREW = 'C';
-          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
-
-  RS      (input) DOUBLE PRECISION array, dimension (K,6*K)
-          On entry, the leading K-by-6*K part of this array must
-          contain the upper triangular matrices defining the factors
-          R and S of the symplectic block reflector Q. The
-          (strictly) lower portions of this array are not
-          referenced.
-
-  LDRS    INTEGER
-          The leading dimension of the array RS.  LDRS &gt;= MAX(1,K).
-
-  T       (input) DOUBLE PRECISION array, dimension (K,9*K)
-          On entry, the leading K-by-9*K part of this array must
-          contain the upper triangular matrices defining the factor
-          T of the symplectic block reflector Q. The (strictly)
-          lower portions of this array are not referenced.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,K).
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                  (LDA,N) if TRANA = 'N',
-                  (LDA,M) if TRANA = 'C' or TRANA = 'T'
-          On entry with TRANA = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANA = 'T' or TRANA = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,M),  if TRANA = 'N';
-          LDA &gt;= MAX(1,N),  if TRANA = 'C' or TRANA = 'T'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                  (LDB,N) if TRANB = 'N',
-                  (LDB,M) if TRANB = 'C' or TRANB = 'T'
-          On entry with TRANB = 'N', the leading M-by-N part of this
-          array must contain the matrix B.
-          On entry with TRANB = 'T' or TRANB = 'C', the leading
-          N-by-M part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,M),  if TRANB = 'N';
-          LDB &gt;= MAX(1,N),  if TRANB = 'C' or TRANB = 'T'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
-          LDWORK &gt;= 8*N*K,   if STRAB = 'Z',
-          LDWORK &gt;= 9*N*K,   if STRAB = 'N'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 16*( M - K )*N + ( 26*K - 4 )*K*N floating
-  point operations if STRAB = 'Z' and additional ( 12*K + 2 )*K*N
-  floating point operations if STRAB = 'N'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QF.html b/doc/_build/html/_static/doc/MB04QF.html
deleted file mode 100644
index 1a1605b0..00000000
--- a/doc/_build/html/_static/doc/MB04QF.html
+++ /dev/null
@@ -1,182 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QF">MB04QF</A></H2>
-<H3>
-Forming the triangular block factors of a symplectic block reflector
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To form the triangular block factors R, S and T of a symplectic
-  block reflector SH, which is defined as a product of 2k
-  concatenated Householder reflectors and k Givens rotations,
-
-      SH = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-           diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                             ....
-           diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  The upper triangular blocks of the matrices
-
-                              [ S1 ]       [ T11 T12 T13 ]
-      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
-                              [ S3 ]       [ T31 T32 T33 ]
-
-  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
-  are stored rowwise in the arrays RS and T, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QF( DIRECT, STOREV, STOREW, N, K, V, LDV, W, LDW,
-     $                   CS, TAU, RS, LDRS, T, LDT, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         DIRECT, STOREV, STOREW
-      INTEGER           K, LDRS, LDT, LDV, LDW, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), RS(LDRS,*), T(LDT,*),
-     $                  TAU(*), V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DIRECT  CHARACTER*1
-          This is a dummy argument, which is reserved for future
-          extensions of this subroutine. Not referenced.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder F(i) reflectors are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder H(i) reflectors are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the Householder reflectors F(i) and H(i).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of Givens rotations.  K &gt;= 1.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,N) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading N-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector F(i).
-          On entry with STOREV = 'R', the leading K-by-N part of
-          this array must contain in its i-th row the vector
-          which defines the elementary reflector F(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,N),  if STOREV = 'C';
-          LDV &gt;= K,         if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,N) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading N-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector H(i).
-          On entry with STOREV = 'R', the leading K-by-N part of
-          this array must contain in its i-th row the vector
-          which defines the elementary reflector H(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,N),  if STOREW = 'C';
-          LDW &gt;= K,         if STOREW = 'R'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-  RS      (output) DOUBLE PRECISION array, dimension (K,6*K)
-          On exit, the leading K-by-6*K part of this array contains
-          the upper triangular matrices defining the factors R and
-          S of the symplectic block reflector SH. The (strictly)
-          lower portions of this array are not used.
-
-  LDRS    INTEGER
-          The leading dimension of the array RS.  LDRS &gt;= K.
-
-  T       (output) DOUBLE PRECISION array, dimension (K,9*K)
-          On exit, the leading K-by-9*K part of this array contains
-          the upper triangular matrices defining the factor T of the
-          symplectic block reflector SH. The (strictly) lower
-          portions of this array are not used.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= K.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*K)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires ( 4*K - 2 )*K*N + 19/3*K*K*K + 1/2*K*K
-  + 43/6*K - 4 floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QS.html b/doc/_build/html/_static/doc/MB04QS.html
deleted file mode 100644
index e66031c4..00000000
--- a/doc/_build/html/_static/doc/MB04QS.html
+++ /dev/null
@@ -1,208 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QS">MB04QS</A></H2>
-<H3>
-Multiplication with a product of symplectic reflectors and Givens rotations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Overwrites general real m-by-n/n-by-m matrices C and D with
-
-            [ op(C) ]
-      U  *  [       ]   if TRANU = 'N', or
-            [ op(D) ]
-
-       T    [ op(C) ]
-      U  *  [       ]   if TRANU = 'T',
-            [ op(D) ]
-
-  where U is defined as the product of symplectic reflectors and
-  Givens rotations,
-
-      U = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
-
-  with k = m-1, as returned by the SLICOT Library routines MB04PU
-  or MB04RU.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QS( TRANC, TRAND, TRANU, M, N, ILO, V, LDV, W, LDW,
-     $                   C, LDC, D, LDD, CS, TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANC, TRAND, TRANU
-      INTEGER           ILO, INFO, LDC, LDD, LDV, LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
-     $                  V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANC   CHARACTER*1
-          Specifies the form of op( C ) as follows:
-          = 'N':  op( C ) = C; 
-          = 'T':  op( C ) = C';
-          = 'C':  op( C ) = C'.
-
-  TRAND   CHARACTER*1
-          Specifies the form of op( D ) as follows:
-          = 'N':  op( D ) = D; 
-          = 'T':  op( D ) = D';
-          = 'C':  op( D ) = D'.
-
-  TRANU   CHARACTER*1
-          Specifies whether U or U' is applied as follows:
-          = 'N':  apply U;
-          = 'T':  apply U'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(C) and op(D).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(C) and op(D).
-          N &gt;= 0.
-
-  ILO     (input) INTEGER
-          ILO must have the same value as in the previous call of
-          MB04PU or MB04RU. U is equal to the unit matrix except in
-          the submatrix
-          U([ilo+1:m m+ilo+1:2*m], [ilo+1:m m+ilo+1:2*m]).
-          1 &lt;= ILO &lt;= M+1.
-
-  V       (input) DOUBLE PRECISION array, dimension (LDV,M)
-          On entry, the leading M-by-M part of this array must
-          contain in its columns the vectors which define the
-          elementary reflectors H(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= MAX(1,M).
-
-  W       (input) DOUBLE PRECISION array, dimension (LDW,M)
-          On entry, the leading M-by-M part of this array must
-          contain in its columns the vectors which define the
-          elementary reflectors F(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.  LDW &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                  (LDC,N) if TRANC = 'N',
-                  (LDC,M) if TRANC = 'T' or TRANC = 'C'.
-          On entry with TRANC = 'N', the leading M-by-N part of this
-          array must contain the matrix C.
-          On entry with TRANC = 'T' or TRANC = 'C', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix C.
-          On exit with TRANC = 'N', the leading M-by-N part of this
-          array contains the updated matrix C.
-          On exit with TRANC = 'T' or TRANC = 'C', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M),  if TRANC = 'N';
-          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                  (LDD,N) if TRAND = 'N',
-                  (LDD,M) if TRAND = 'T' or TRAND = 'C'.
-          On entry with TRAND = 'N', the leading M-by-N part of this
-          array must contain the matrix D.
-          On entry with TRAND = 'T' or TRAND = 'C', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix D.
-          On exit with TRAND = 'N', the leading M-by-N part of this
-          array contains the updated matrix D.
-          On exit with TRAND = 'T' or TRAND = 'C', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= MAX(1,M),  if TRAND = 'N';
-          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*N-2)
-          On entry, the first 2*N-2 elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i), as returned by MB04PU or MB04RU.
-
-  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
-          On entry, the first N-1 elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i), as returned by MB04PU or MB04RU.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04QU.html b/doc/_build/html/_static/doc/MB04QU.html
deleted file mode 100644
index b2e64de5..00000000
--- a/doc/_build/html/_static/doc/MB04QU.html
+++ /dev/null
@@ -1,225 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QU">MB04QU</A></H2>
-<H3>
-Applying a product of symplectic reflectors and Givens rotations to two general real matrices (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To overwrite general real m-by-n matrices C and D, or their
-  transposes, with
-
-            [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'N', or
-            [ op(D) ]
-
-       T    [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'T',
-            [ op(D) ]
-
-  where Q is defined as the product of symplectic reflectors and
-  Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QU( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
-     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
-      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), C(LDC,*), D(LDD,*), V(LDV,*),
-     $                  W(LDW,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANC   CHARACTER*1
-          Specifies the form of op( C ) as follows:
-          = 'N':  op( C ) = C;
-          = 'T':  op( C ) = C';
-          = 'C':  op( C ) = C'.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in V are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in W are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  TRAND   CHARACTER*1
-          Specifies the form of op( D ) as follows:
-          = 'N':  op( D ) = D;
-          = 'T':  op( D ) = D';
-          = 'C':  op( D ) = D'.
-
-  TRANQ   CHARACTER*1
-          = 'N':  apply Q;
-          = 'T':  apply Q'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(C) and op(D).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(C) and op(D).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of elementary reflectors whose product defines
-          the matrix Q.  M &gt;= K &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,M) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors F(i).
-          On entry with STOREV = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors F(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M),  if STOREV = 'C';
-          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,M) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors H(i).
-          On entry with STOREW = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors H(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,M),  if STOREW = 'C';
-          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                  (LDC,N) if TRANC = 'N',
-                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
-          On entry with TRANC = 'N', the leading M-by-N part of
-          this array must contain the matrix C.
-          On entry with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix C.
-          On exit with TRANC = 'N', the leading M-by-N part of
-          this array contains the updated matrix C.
-          On exit with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M),  if TRANC = 'N';
-          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                  (LDD,N) if TRAND = 'N',
-                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
-          On entry with TRAND = 'N', the leading M-by-N part of
-          this array must contain the matrix D.
-          On entry with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix D.
-          On exit with TRAND = 'N', the leading M-by-N part of
-          this array contains the updated matrix D.
-          On exit with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= MAX(1,M),  if TRAND = 'N';
-          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04RB.html b/doc/_build/html/_static/doc/MB04RB.html
deleted file mode 100644
index a9d8f984..00000000
--- a/doc/_build/html/_static/doc/MB04RB.html
+++ /dev/null
@@ -1,203 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04RB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04RB">MB04RB</A></H2>
-<H3>
-Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (blocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a skew-Hamiltonian matrix,
-
-                [  A   G  ]
-          W  =  [       T ] ,
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
-  symplectic matrix U is computed so that
-
-            T       [  Aout  Gout  ]
-           U W U =  [            T ] ,
-                    [    0   Aout  ]
-
-  where Aout is in upper Hessenberg form.
-  Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04RB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to the SLICOT Library routine MB04DS;
-          otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G. The parts containing the
-          diagonal and the first superdiagonal of this array are not
-          referenced.
-          On exit, the leading N-by-N+1 part of this array contains
-          in its first N-1 columns information about the elementary
-          reflectors used to compute the PVL factorization and in
-          its last N columns the strictly upper triangular part of
-          the matrix Gout.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
-          block size.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An algorithm similar to the block algorithm for the symplectic
-  URV factorization described in [2] is used.
-
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with v(1:i) = 0
-  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
-  tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with w(1:i) = 0
-  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
-  nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
-  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43(4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04RU.html b/doc/_build/html/_static/doc/MB04RU.html
deleted file mode 100644
index f8782e32..00000000
--- a/doc/_build/html/_static/doc/MB04RU.html
+++ /dev/null
@@ -1,189 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04RU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04RU">MB04RU</A></H2>
-<H3>
-Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a skew-Hamiltonian matrix,
-
-                [  A   G  ]
-          W  =  [       T ] ,
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
-  symplectic matrix U is computed so that
-
-            T       [  Aout  Gout  ]
-           U W U =  [            T ] ,
-                    [    0   Aout  ]
-
-  where Aout is in upper Hessenberg form.
-  Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04RU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to the SLICOT Library routine MB04DS;
-          otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout, information
-          about the elementary reflectors used to compute the
-          PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G. The parts containing the
-          diagonal and the first superdiagonal of this array are not
-          referenced.
-          On exit, the leading N-by-N+1 part of this array contains
-          in its first N-1 columns information about the elementary
-          reflectors used to compute the PVL factorization and in
-          its last N columns the strictly upper triangular part of
-          the matrix Gout.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with v(1:i) = 0
-  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
-  tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with w(1:i) = 0
-  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
-  nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
-  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 40/3 N**3 + O(N) floating point operations
-  and is strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04SU.html b/doc/_build/html/_static/doc/MB04SU.html
deleted file mode 100644
index d0bea471..00000000
--- a/doc/_build/html/_static/doc/MB04SU.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04SU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04SU">MB04SU</A></H2>
-<H3>
-Symplectic QR decomposition of a real 2M-by-N matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a symplectic QR decomposition of a real 2M-by-N matrix
-  [A; B],
-
-            [ A ]             [ R11  R12 ]
-            [   ] = Q * R = Q [          ],
-            [ B ]             [ R21  R22 ]
-
-  where Q is a symplectic orthogonal matrix, R11 is upper triangular
-  and R21 is strictly upper triangular.
-  If [A; B] is symplectic then, theoretically, R21 = 0 and
-  R22 = inv(R11)^T. Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04SU( M, N, A, LDA, B, LDB, CS, TAU, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CS(*), DWORK(*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of A and B. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of A and B. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the matrix [ R11  R12 ] and, in the zero parts of R,
-          information about the elementary reflectors used to
-          compute the symplectic QR decomposition.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-          the matrix [ R21  R22 ] and, in the zero parts of B,
-          information about the elementary reflectors used to
-          compute the symplectic QR decomposition.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,M).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2 * min(M,N))
-          On exit, the first 2*min(M,N) elements of this array
-          contain the cosines and sines of the symplectic Givens
-          rotations used to compute the symplectic QR decomposition.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
-          On exit, the first min(M,N) elements of this array
-          contain the scalar factors of some of the elementary
-          reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix Q is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-      diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                        ....
-      diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
-
-  where k = min(m,n).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * w * w'
-
-  where tau is a real scalar, and w is a real vector with
-  w(1:i-1) = 0 and w(i) = 1; w(i+1:m) is stored on exit in
-  B(i+1:m,i), and tau in B(i,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * v * v'
-
-  where nu is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
-  A(i+1:m,i), and nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i of A and B,
-  where the cosine is stored in CS(2*i-1) and the sine in
-  CS(2*i).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bunse-Gerstner, A.
-      Matrix factorizations for symplectic QR-like methods.
-      Linear Algebra Appl., 83, pp. 49-77, 1986.
-
-  [2] Byers, R.
-      Hamiltonian and Symplectic Algorithms for the Algebraic
-      Riccati Equation.
-      Ph.D. Dissertation, Center for Applied Mathematics,
-      Cornell University, Ithaca, NY, 1983.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires
-     8*M*N*N - 8/3*N*N*N +  2*M*N + 6*N*N + 8/3*N,  if M &gt;= N,
-     8*M*M*N - 8/3*M*M*M + 14*M*N - 6*M*M + 8/3*N,  if M &lt;= N,
-  floating point operations and is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04TB.html b/doc/_build/html/_static/doc/MB04TB.html
deleted file mode 100644
index b4021124..00000000
--- a/doc/_build/html/_static/doc/MB04TB.html
+++ /dev/null
@@ -1,559 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04TB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04TB">MB04TB</A></H2>
-<H3>
-Symplectic URV decomposition of a real 2N-by-2N matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a symplectic URV (SURV) decomposition of a real
-  2N-by-2N matrix H,
-
-         [ op(A)   G   ]                 [ op(R11)   R12   ]
-     H = [             ] = U R V'  = U * [                 ] * V' ,
-         [  Q    op(B) ]                 [   0     op(R22) ]
-
-  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
-  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
-  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
-  matrices. Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04TB( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
-     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANA, TRANB
-      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
-     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op( A ) as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op( B ) as follows:
-          = 'N':  op( B ) = B;
-          = 'T':  op( B ) = B';
-          = 'C':  op( B ) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that op(A) is already upper triangular,
-          op(B) is lower triangular and Q is zero in rows and
-          columns 1:ILO-1. ILO is normally set by a previous call
-          to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the triangular matrix R11, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the Hessenberg matrix R22, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix G.
-          On exit, the leading N-by-N part of this array contains
-          the matrix R12.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Q.
-          On exit, the leading N-by-N part of this array contains
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  CSL     (output) DOUBLE PRECISION array, dimension (2N)
-          On exit, the first 2N elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the left-hand side used to compute the SURV
-          decomposition.
-
-  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the right-hand side used to compute the SURV
-          decomposition.
-
-  TAUL    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, the first N elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the left-hand side.
-
-  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, (16*N + 5)*NB, where NB is the optimal
-          block size determined by the function UE01MD.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices U and V are represented as products of symplectic
-  reflectors and Givens rotations
-
-  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
-      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
-                           ....
-      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
-
-  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
-      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
-                                ....
-      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
-
-  Each HU(i) has the form
-
-        HU(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
-  Q(i+1:n,i), and tau in Q(i,i).
-
-  Each FU(i) has the form
-
-        FU(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
-  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
-  scalar nu is stored in TAUL(i).
-
-  Each GU(i) is a Givens rotation acting on rows i and n+i,
-  where the cosine is stored in CSL(2*i-1) and the sine in
-  CSL(2*i).
-
-  Each HV(i) has the form
-
-        HV(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  Q(i,i+2:n), and tau in Q(i,i+1).
-
-  Each FV(i) has the form
-
-        FV(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
-  The scalar nu is stored in TAUR(i).
-
-  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
-  where the cosine is stored in CSR(2*i-1) and the sine in
-  CSR(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 80/3*N**3 + ( 64*NB + 77 )*N**2 +
-  ( -16*NB + 48 )*NB*N + O(N) floating point operations, where
-  NB is the used block size, and is numerically backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04TB/MB04WR EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NBMAX, NMAX
-      PARAMETER        ( NBMAX = 64, NMAX = 421 )
-      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
-     $                 LDV2, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDV1 = NMAX, LDV2 = NMAX,
-     $                   LDWORK = NBMAX*( 16*NMAX + 1 ) )
-*     .. Local Scalars ..
-      CHARACTER*1      TRANA, TRANB, TRANV1
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
-     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG, NMAX),
-     $                 Q(LDQ, NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
-     $                 TAUR(NMAX), U1(LDU1, NMAX), U2(LDU2, NMAX),
-     $                 V1(LDV1, NMAX), V2(LDV2, NMAX)
-*     .. External Functions ..
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
-      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TB, MB04WR
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, TRANA, TRANB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
-         CALL MB04TB( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
-     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
-            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
-     $                   TAUL, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
-               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
-               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
-     $                      CSR, TAUR, DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     DO 10  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10                   CONTINUE
-                     DO 20  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 30  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
-30                   CONTINUE
-                     DO 40  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
-40                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 )
-                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
-     $                            A(2,1), LDA )
-                     DO 50  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
-50                   CONTINUE
-                  ELSE
-                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
-     $                            A(1,2), LDA )
-                     DO 60  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
-60                   CONTINUE
-                  END IF
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     IF ( N.GT.1 ) THEN
-                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
-     $                               B(1,3), LDB )
-                     END IF
-                     DO 70  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
-70                   CONTINUE
-                  ELSE
-                     IF ( N.GT.1 ) THEN
-C                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
-C     $                               B(3,1), LDB )
-                     END IF
-                     DO 80  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
-80                   CONTINUE
-                  END IF
-C
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     TRANV1 = 'T'
-                  ELSE
-                     TRANV1 = 'N'
-                  END IF
-                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
-     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
-     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
-     $                           LDRES, DWORK )
-                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
-     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
-     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
-     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
-     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
-     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
-     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
-     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  WRITE ( NOUT, FMT = 99990 ) TEMP
-C
-                  WRITE ( NOUT, FMT = 99994 )
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     DO 90  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
-90                   CONTINUE
-                     DO 100  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
-100                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 110  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
-110                  CONTINUE
-                     DO 120  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
-120                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB04TB EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04TB = ',I2)
-99997 FORMAT (' INFO on exit from MB04WR = ',I2)
-99996 FORMAT (' The orthogonal symplectic factor U is ')
-99995 FORMAT (/' The factor R is ')
-99994 FORMAT (/' The orthogonal symplectic factor V is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
-99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04TB EXAMPLE PROGRAM DATA
-        5       N       N
-    0.4643    0.3655    0.6853    0.5090    0.3718
-    0.3688    0.6460    0.4227    0.6798    0.5135
-    0.7458    0.5043    0.9419    0.9717    0.9990
-    0.7140    0.4941    0.7802    0.5272    0.1220
-    0.7418    0.0339    0.7441    0.0436    0.6564
-   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
-   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
-   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
-   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
-   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
-    0.7933    1.5765    1.0711    1.0794    0.8481
-    1.5765    0.1167    1.5685    0.8756    0.5037
-    1.0711    1.5685    0.9902    0.3858    0.2109
-    1.0794    0.8756    0.3858    1.8834    1.4338
-    0.8481    0.5037    0.2109    1.4338    0.1439
-    1.0786    1.5264    1.1721    1.5343    0.4756
-    1.5264    0.8644    0.6872    1.1379    0.6499
-    1.1721    0.6872    1.5194    1.1197    1.0158
-    1.5343    1.1379    1.1197    0.6612    0.2004
-    0.4756    0.6499    1.0158    0.2004    1.2188
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04TB EXAMPLE PROGRAM RESULTS
-
- The orthogonal symplectic factor U is 
-   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
-   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
-   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
-   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
-   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
-   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
-   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
-   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
-   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
-   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
-
- Orthogonality of U: || U^T U - I ||_F = .17E-14
-
- The factor R is 
-   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
-    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
-    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
-    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
-    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
-    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
-
- Residual: || H*V - U*R ||_F = .76E-14
-
- The orthogonal symplectic factor V is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
-    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
-    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
-    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
-    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
-    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
-    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
-
- Orthogonality of V: || V^T V - I ||_F = .17E-14
-</PRE>
-
-<HR>
-<p>
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-<HTML>
-<HEAD><TITLE>MB04TS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04TS">MB04TS</A></H2>
-<H3>
-Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a symplectic URV (SURV) decomposition of a real
-  2N-by-2N matrix H:
-
-          [ op(A)   G   ]        T       [ op(R11)   R12   ]    T
-      H = [             ] = U R V  = U * [                 ] * V ,
-          [  Q    op(B) ]                [   0     op(R22) ]
-
-  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
-  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
-  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
-  matrices. Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04TS( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
-     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANA, TRANB
-      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
-     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op( A ) as follows:
-          = 'N': op( A ) = A;
-          = 'T': op( A ) = A';
-          = 'C': op( A ) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op( B ) as follows:
-          = 'N': op( B ) = B;
-          = 'T': op( B ) = B';
-          = 'C': op( B ) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that op(A) is already upper triangular,
-          op(B) is lower triangular and Q is zero in rows and
-          columns 1:ILO-1. ILO is normally set by a previous call
-          to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO=1, if N=0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the triangular matrix R11, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the Hessenberg matrix R22, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix G.
-          On exit, the leading N-by-N part of this array contains
-          the matrix R12.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Q.
-          On exit, the leading N-by-N part of this array contains
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDG &gt;= MAX(1,N).
-
-  CSL     (output) DOUBLE PRECISION array, dimension (2N)
-          On exit, the first 2N elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the left-hand side used to compute the SURV
-          decomposition.
-
-  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the right-hand side used to compute the SURV
-          decomposition.
-
-  TAUL    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, the first N elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied from the left-hand side.
-
-  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied from the right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices U and V are represented as products of symplectic
-  reflectors and Givens rotations
-
-  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
-      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
-                           ....
-      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
-
-  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
-      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
-                                ....
-      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
-
-  Each HU(i) has the form
-
-        HU(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
-  Q(i+1:n,i), and tau in Q(i,i).
-
-  Each FU(i) has the form
-
-        FU(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
-  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
-  scalar nu is stored in TAUL(i).
-
-  Each GU(i) is a Givens rotation acting on rows i and n+i,
-  where the cosine is stored in CSL(2*i-1) and the sine in
-  CSL(2*i).
-
-  Each HV(i) has the form
-
-        HV(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  Q(i,i+2:n), and tau in Q(i,i+1).
-
-  Each FV(i) has the form
-
-        FV(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
-  The scalar nu is stored in TAUR(i).
-
-  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
-  where the cosine is stored in CSR(2*i-1) and the sine in
-  CSR(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 80/3 N**3 + 20 N**2 + O(N) floating point
-  operations and is numerically backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04TS/MB04WR EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 200 )
-      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
-     $                 LDV2, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDV1 = NMAX, LDV2 = NMAX, LDWORK = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      TRANA, TRANB, TRANV1
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
-     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
-     $                 TAUR(NMAX), U1(LDU1,NMAX), U2(LDU2, NMAX),
-     $                 V1(LDV1, NMAX), V2(LDV2,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
-      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TS, MB04WR
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, TRANA, TRANB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
-         CALL MB04TS( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
-     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
-            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
-     $                   TAUL, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
-               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
-               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
-     $                      CSR, TAUR, DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     DO 10  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10                   CONTINUE
-                     DO 20  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 30  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
-30                   CONTINUE
-                     DO 40  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
-40                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 )
-                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
-     $                            A(2,1), LDA )
-                     DO 50  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
-50                   CONTINUE
-                  ELSE
-                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
-     $                            A(1,2), LDA )
-                     DO 60  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
-60                   CONTINUE
-                  END IF
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     IF ( N.GT.1 ) THEN
-                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
-     $                               B(1,3), LDB )
-                     END IF
-                     DO 70  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
-70                   CONTINUE
-                  ELSE
-                     IF ( N.GT.1 ) THEN
-                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
-     $                               B(3,1), LDB )
-                     END IF
-                     DO 80  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
-80                   CONTINUE
-                  END IF
-C
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     TRANV1 = 'T'
-                  ELSE
-                     TRANV1 = 'N'
-                  END IF
-                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
-     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
-     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
-     $                           LDRES, DWORK )
-                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
-     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
-     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
-     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
-     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
-     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
-     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
-     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  WRITE ( NOUT, FMT = 99990 ) TEMP
-C
-                  WRITE ( NOUT, FMT = 99994 )
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     DO 90  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
-90                   CONTINUE
-                     DO 100  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
-100                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 110  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
-110                  CONTINUE
-                     DO 120  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
-120                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB04TS EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04TS = ',I2)
-99997 FORMAT (' INFO on exit from MB04WR = ',I2)
-99996 FORMAT (' The orthogonal symplectic factor U is ')
-99995 FORMAT (/' The factor R is ')
-99994 FORMAT (/' The orthogonal symplectic factor V is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
-99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04TB EXAMPLE PROGRAM DATA
-        5       N       N
-    0.4643    0.3655    0.6853    0.5090    0.3718
-    0.3688    0.6460    0.4227    0.6798    0.5135
-    0.7458    0.5043    0.9419    0.9717    0.9990
-    0.7140    0.4941    0.7802    0.5272    0.1220
-    0.7418    0.0339    0.7441    0.0436    0.6564
-   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
-   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
-   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
-   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
-   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
-    0.7933    1.5765    1.0711    1.0794    0.8481
-    1.5765    0.1167    1.5685    0.8756    0.5037
-    1.0711    1.5685    0.9902    0.3858    0.2109
-    1.0794    0.8756    0.3858    1.8834    1.4338
-    0.8481    0.5037    0.2109    1.4338    0.1439
-    1.0786    1.5264    1.1721    1.5343    0.4756
-    1.5264    0.8644    0.6872    1.1379    0.6499
-    1.1721    0.6872    1.5194    1.1197    1.0158
-    1.5343    1.1379    1.1197    0.6612    0.2004
-    0.4756    0.6499    1.0158    0.2004    1.2188
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04TS EXAMPLE PROGRAM RESULTS
-
- The orthogonal symplectic factor U is 
-   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
-   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
-   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
-   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
-   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
-   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
-   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
-   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
-   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
-   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
-
- Orthogonality of U: || U^T U - I ||_F = .24E-14
-
- The factor R is 
-   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
-    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
-    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
-    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
-    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
-    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
-
- Residual: || H*V - U*R ||_F = .87E-14
-
- The orthogonal symplectic factor V is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
-    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
-    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
-    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
-    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
-    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
-    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
-
- Orthogonality of V: || V^T V - I ||_F = .14E-14
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04TU.html b/doc/_build/html/_static/doc/MB04TU.html
deleted file mode 100644
index dc8544de..00000000
--- a/doc/_build/html/_static/doc/MB04TU.html
+++ /dev/null
@@ -1,69 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04TU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04TU">MB04TU</A></H2>
-<H3>
-Applying a row-permuted Givens transformation to two row vectors
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the Givens transformation, defined by C (cos) and S
-  (sin), and interchange the vectors involved, i.e.
-
-     |X(i)|    | 0   1 |   | C   S |   |X(i)|
-     |    | := |       | x |       | x |    |, i = 1,...N.
-     |Y(i)|    | 1   0 |   |-S   C |   |Y(i)|
-
-  REMARK. This routine is a modification of DROT from BLAS.
-          This routine is called only by the SLICOT routines MB04TX
-          and MB04VX.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04TU( N, X, INCX, Y, INCY, C, S )
-C     .. Scalar Arguments ..
-      INTEGER           INCX, INCY, N
-      DOUBLE PRECISION  C, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  X(*), Y(*)
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04UD.html b/doc/_build/html/_static/doc/MB04UD.html
deleted file mode 100644
index cb27d657..00000000
--- a/doc/_build/html/_static/doc/MB04UD.html
+++ /dev/null
@@ -1,310 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04UD">MB04UD</A></H2>
-<H3>
-Column echelon form by unitary transformations for a rectangular matrix (added functionality)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformations Q and Z such that the
-  transformed pencil Q'(sE-A)Z has the E matrix in column echelon
-  form, where E and A are M-by-N matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ,
-     $                   Z, LDZ, RANKE, ISTAIR, TOL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBQ, JOBZ
-      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, RANKE
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           ISTAIR(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBQ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the unitary row permutations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  unitary row permutation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the unitary
-                  row permutations used in the reduction.
-
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the unitary column transformations, as follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  unitary transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the unitary
-                  transformations used in the reduction.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the matrices A, E and the order of
-          the matrix Q.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the matrices A, E and the order
-          of the matrix Z.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the A matrix of the pencil sE-A.
-          On exit, the leading M-by-N part of this array contains
-          the unitary transformed matrix Q' * A * Z.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading M-by-N part of this array must
-          contain the E matrix of the pencil sE-A, to be reduced to
-          column echelon form.
-          On exit, the leading M-by-N part of this array contains
-          the unitary transformed matrix Q' * E * Z, which is in
-          column echelon form.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,M).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
-          On entry, if JOBQ = 'U', then the leading M-by-M part of
-          this array must contain a given matrix Q (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading M-by-M part of this array contains the product of
-          the input matrix Q and the row permutation matrix used to
-          transform the rows of matrix E.
-          On exit, if JOBQ = 'I', then the leading M-by-M part of
-          this array contains the matrix of accumulated unitary
-          row transformations performed.
-          If JOBQ = 'N', the array Q is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDQ = 1 and
-          declare this array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q. If JOBQ = 'U' or
-          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          On entry, if JOBZ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Z (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix Z and the column transformation matrix
-          used to transform the columns of matrix E.
-          On exit, if JOBZ = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated unitary
-          column transformations performed.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'U' or
-          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  RANKE   (output) INTEGER
-          The computed rank of the unitary transformed matrix E.
-
-  ISTAIR  (output) INTEGER array, dimension (M)
-          This array contains information on the column echelon form
-          of the unitary transformed matrix E. Specifically,
-          ISTAIR(i) = +j if the first non-zero element E(i,j)
-          is a corner point and -j otherwise, for i = 1,2,...,M.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance below which matrix elements are considered
-          to be zero. If the user sets TOL to be less than (or
-          equal to) zero then the tolerance is taken as
-          EPS * MAX(ABS(E(I,J))), where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH),
-          I = 1,2,...,M and J = 1,2,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(M,N))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an M-by-N matrix pencil sE-A with E not necessarily regular,
-  the routine computes a unitary transformed pencil Q'(sE-A)Z such
-  that the matrix Q' * E * Z is in column echelon form (trapezoidal
-  form).  Further details can be found in [1].
-
-  [An M-by-N matrix E with rank(E) = r is said to be in column
-  echelon form if the following conditions are satisfied:
-  (a) the first (N - r) columns contain only zero elements; and
-  (b) if E(i(k),k) is the last nonzero element in column k for
-      k = N-r+1,...,N, i.e. E(i(k),k) &lt;&gt; 0 and E(j,k) = 0 for
-      j &gt; i(k), then 1 &lt;= i(N-r+1) &lt; i(N-r+2) &lt; ... &lt; i(N) &lt;= M.]
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Beelen, Th. and Van Dooren, P.
-      An improved algorithm for the computation of Kronecker's
-      canonical form of a singular pencil.
-      Linear Algebra and Applications, 105, pp. 9-65, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  It is shown in [1] that the algorithm is numerically backward
-  stable. The operations count is proportional to (MAX(M,N))**3.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = MMAX, LDE = MMAX, LDQ = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
-*     PARAMETER        ( LDWORK = NMAX+MMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, RANKE
-      CHARACTER*1      JOBQ, JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
-      INTEGER          ISTAIR(MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB04UD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, TOL
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
-         JOBQ = 'N'
-         JOBZ = 'N'
-*        Reduce E to column echelon form and compute Q'*A*Z.
-         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
-     $                RANKE, ISTAIR, TOL, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99991 )
-            DO 10 I = 1, M
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 100 I = 1, M
-               WRITE ( NOUT, FMT = 99996 ) ( E(I,J), J = 1,N )
-  100       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) RANKE
-            WRITE ( NOUT, FMT = 99994 ) ( ISTAIR(I), I = 1,M )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04UD = ',I2)
-99997 FORMAT (' The transformed matrix E is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The computed rank of E = ',I2)
-99994 FORMAT (/' ISTAIR is ',/20(1X,I5))
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (' The transformed matrix A is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04UD EXAMPLE PROGRAM DATA
-   4     4     0.0
-   2.0  0.0  2.0 -2.0
-   0.0 -2.0  0.0  2.0
-   2.0  0.0 -2.0  0.0
-   2.0 -2.0  0.0  2.0
-   1.0  0.0  1.0 -1.0
-   0.0 -1.0  0.0  1.0
-   1.0  0.0 -1.0  0.0
-   1.0 -1.0  0.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04UD EXAMPLE PROGRAM RESULTS
-
- The transformed matrix A is 
-   0.5164   1.0328   1.1547  -2.3094
-   0.0000  -2.5820   0.0000  -1.1547
-   0.0000   0.0000  -3.4641   0.0000
-   0.0000   0.0000   0.0000  -3.4641
- The transformed matrix E is 
-   0.2582   0.5164   0.5774  -1.1547
-   0.0000  -1.2910   0.0000  -0.5774
-   0.0000   0.0000  -1.7321   0.0000
-   0.0000   0.0000   0.0000  -1.7321
-
- The computed rank of E =  4
-
- ISTAIR is 
-     1     2     3     4
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04VD.html b/doc/_build/html/_static/doc/MB04VD.html
deleted file mode 100644
index 231c4db8..00000000
--- a/doc/_build/html/_static/doc/MB04VD.html
+++ /dev/null
@@ -1,504 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04VD">MB04VD</A></H2>
-<H3>
-Upper block triangular form for a rectangular pencil sE-A, with E in column echelon form (added functionality)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformations Q and Z such that the
-  transformed pencil Q'(sE-A)Z is in upper block triangular form,
-  where E is an M-by-N matrix in column echelon form (see SLICOT
-  Library routine MB04UD) and A is an M-by-N matrix.
-
-  If MODE = 'B', then the matrices A and E are transformed into the
-  following generalized Schur form by unitary transformations Q1
-  and Z1 :
-
-                   | sE(eps,inf)-A(eps,inf) |      X     |
-     Q1'(sE-A)Z1 = |------------------------|------------|.   (1)
-                   |            O           | sE(r)-A(r) |
-
-  The pencil sE(eps,inf)-A(eps,inf) is in staircase form, and it
-  contains all Kronecker column indices and infinite elementary
-  divisors of the pencil sE-A. The pencil sE(r)-A(r) contains all
-  Kronecker row indices and elementary divisors of sE-A.
-  Note: X is a pencil.
-
-  If MODE = 'T', then the submatrices having full row and column
-  rank in the pencil sE(eps,inf)-A(eps,inf) in (1) are
-  triangularized by applying unitary transformations Q2 and Z2 to
-  Q1'*(sE-A)*Z1.
-
-  If MODE = 'S', then the pencil sE(eps,inf)-A(eps,inf) in (1) is
-  separated into sE(eps)-A(eps) and sE(inf)-A(inf) by applying
-  unitary transformations Q3 and Z3 to Q2'*Q1'*(sE-A)*Z1*Z2.
-
-  This gives
-
-             | sE(eps)-A(eps) |        X       |      X     |
-             |----------------|----------------|------------|
-             |        O       | sE(inf)-A(inf) |      X     |
-  Q'(sE-A)Z =|=================================|============| (2)
-             |                                 |            |
-             |                O                | sE(r)-A(r) |
-
-  where Q = Q1*Q2*Q3 and Z = Z1*Z2*Z3.
-  Note: the pencil sE(r)-A(r) is not reduced further.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
-     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
-     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBQ, JOBZ, MODE
-      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, NBLCKI, NBLCKS,
-     $                  RANKE
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IMUK(*), IMUK0(*), INUK(*), ISTAIR(*), IWORK(*),
-     $                  MNEI(*)
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  MODE    CHARACTER*1
-          Specifies the desired structure of the transformed
-          pencil Q'(sE-A)Z to be computed as follows:
-          = 'B':  Basic reduction given by (1);
-          = 'T':  Further reduction of (1) to triangular form;
-          = 'S':  Further separation of sE(eps,inf)-A(eps,inf)
-                  in (1) into the two pencils in (2).
-
-  JOBQ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the orthogonal row transformations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the orthogonal
-                  row transformations used in the reduction.
-
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal column transformations, as
-          follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the orthogonal
-                  transformations used in the reduction.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the matrices A, E and the order of
-          the matrix Q.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the matrices A, E and the order
-          of the matrix Z.  N &gt;= 0.
-
-  RANKE   (input) INTEGER
-          The rank of the matrix E in column echelon form.
-          RANKE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix to be row compressed.
-          On exit, the leading M-by-N part of this array contains
-          the matrix that has been row compressed while keeping
-          matrix E in column echelon form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix in column echelon form to be
-          transformed equivalent to matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the matrix that has been transformed equivalent to matrix
-          A.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,M).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
-          On entry, if JOBQ = 'U', then the leading M-by-M part of
-          this array must contain a given matrix Q (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading M-by-M part of this array contains the product of
-          the input matrix Q and the row transformation matrix used
-          to transform the rows of matrices A and E.
-          On exit, if JOBQ = 'I', then the leading M-by-M part of
-          this array contains the matrix of accumulated orthogonal
-          row transformations performed.
-          If JOBQ = 'N', the array Q is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDQ = 1 and
-          declare this array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q. If JOBQ = 'U' or
-          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          On entry, if JOBZ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Z (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix Z and the column transformation matrix
-          used to transform the columns of matrices A and E.
-          On exit, if JOBZ = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated orthogonal
-          column transformations performed.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'U' or
-          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  ISTAIR  (input/output) INTEGER array, dimension (M)
-          On entry, this array must contain information on the
-          column echelon form of the unitary transformed matrix E.
-          Specifically, ISTAIR(i) must be set to +j if the first
-          non-zero element E(i,j) is a corner point and -j
-          otherwise, for i = 1,2,...,M.
-          On exit, this array contains no useful information.
-
-  NBLCKS  (output) INTEGER
-          The number of submatrices having full row rank greater
-          than or equal to 0 detected in matrix A in the pencil
-          sE(x)-A(x),
-             where  x = eps,inf  if MODE = 'B' or 'T',
-             or     x = eps      if MODE = 'S'.
-
-  NBLCKI  (output) INTEGER
-          If MODE = 'S', the number of diagonal submatrices in the
-          pencil sE(inf)-A(inf). If MODE = 'B' or 'T' then
-          NBLCKI = 0.
-
-  IMUK    (output) INTEGER array, dimension (MAX(N,M+1))
-          The leading NBLCKS elements of this array contain the
-          column dimensions mu(1),...,mu(NBLCKS) of the submatrices
-          having full column rank in the pencil sE(x)-A(x),
-             where  x = eps,inf  if MODE = 'B' or 'T',
-             or     x = eps      if MODE = 'S'.
-
-  INUK    (output) INTEGER array, dimension (MAX(N,M+1))
-          The leading NBLCKS elements of this array contain the
-          row dimensions nu(1),...,nu(NBLCKS) of the submatrices
-          having full row rank in the pencil sE(x)-A(x),
-             where  x = eps,inf  if MODE = 'B' or 'T',
-             or     x = eps      if MODE = 'S'.
-
-  IMUK0   (output) INTEGER array, dimension (limuk0),
-          where limuk0 = N if MODE = 'S' and 1, otherwise.
-          If MODE = 'S', then the leading NBLCKI elements of this
-          array contain the dimensions mu0(1),...,mu0(NBLCKI)
-          of the square diagonal submatrices in the pencil
-          sE(inf)-A(inf).
-          Otherwise, IMUK0 is not referenced and can be supplied
-          as a dummy array.
-
-  MNEI    (output) INTEGER array, dimension (3)
-          If MODE = 'B' or 'T' then
-          MNEI(1) contains the row dimension of
-                  sE(eps,inf)-A(eps,inf);
-          MNEI(2) contains the column dimension of
-                  sE(eps,inf)-A(eps,inf);
-          MNEI(3) = 0.
-          If MODE = 'S', then
-          MNEI(1) contains the row    dimension of sE(eps)-A(eps);
-          MNEI(2) contains the column dimension of sE(eps)-A(eps);
-          MNEI(3) contains the order of the regular pencil
-                  sE(inf)-A(inf).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance below which matrix elements are considered
-          to be zero. If the user sets TOL to be less than (or
-          equal to) zero then the tolerance is taken as
-          EPS * MAX( ABS(A(I,J)), ABS(E(I,J)) ), where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH),
-          I = 1,2,...,M and J = 1,2,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          &gt; 0:  if incorrect rank decisions were revealed during the
-                triangularization phase. This failure is not likely
-                to occur. The possible values are:
-          = 1:  if incorrect dimensions of a full column rank
-                submatrix;
-          = 2:  if incorrect dimensions of a full row rank
-                submatrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let sE - A be an arbitrary pencil. Prior to calling the routine,
-  this pencil must be transformed into a pencil with E in column
-  echelon form. This may be accomplished by calling the SLICOT
-  Library routine MB04UD. Depending on the value of MODE,
-  submatrices of A and E are then reduced to one of the forms
-  described above. Further details can be found in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Beelen, Th. and Van Dooren, P.
-      An improved algorithm for the computation of Kronecker's
-      canonical form of a singular pencil.
-      Linear Algebra and Applications, 105, pp. 9-65, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  It is shown in [1] that the algorithm is numerically backward
-  stable. The operations count is proportional to (MAX(M,N))**3.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The difference mu(k)-nu(k), for k = 1,2,...,NBLCKS, is the number
-  of elementary Kronecker blocks of size k x (k+1).
-
-  If MODE = 'B' or 'T' on entry, then the difference nu(k)-mu(k+1),
-  for k = 1,2,...,NBLCKS, is the number of infinite elementary
-  divisors of degree k (with mu(NBLCKS+1) = 0).
-
-  If MODE = 'S' on entry, then the difference mu0(k)-mu0(k+1),
-  for k = 1,2,...,NBLCKI, is the number of infinite elementary
-  divisors of degree k (with mu0(NBLCKI+1) = 0).
-  In the pencil sE(r)-A(r), the pencils sE(f)-A(f) and
-  sE(eta)-A(eta) can be separated by pertransposing the pencil
-  sE(r)-A(r) and calling the routine with MODE set to 'B'. The
-  result has got to be pertransposed again. (For more details see
-  [1]).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDE, LDQ, LDZ
-      PARAMETER        ( LDA  = MMAX, LDE = MMAX, LDQ = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LINUK
-      PARAMETER        ( LINUK = MAX( NMAX,MMAX+1 ) )
-*     PARAMETER        ( LINUK = NMAX+MMAX+1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
-*     PARAMETER        ( LDWORK = NMAX+MMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NBLCKI, NBLCKS, RANKE
-      CHARACTER*1      JOBQ, JOBZ, MODE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
-      INTEGER          IMUK(LINUK), IMUK0(NMAX), INUK(LINUK),
-     $                 ISTAIR(MMAX), IWORK(LIWORK), MNEI(3)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04UD, MB04VD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, TOL, MODE
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99984 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
-         JOBQ = 'I'
-         JOBZ = 'I'
-*        Reduce E to column echelon form and compute Q'*A*Z.
-         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
-     $                RANKE, ISTAIR, TOL, DWORK, INFO )
-         JOBQ = 'U'
-         JOBZ = 'U'
-*
-         IF ( INFO.EQ.0 ) THEN
-*           Compute a unitary transformed pencil Q'*(s*E-A)*Z.
-            CALL MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
-     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
-     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
-*
-            IF ( INFO.EQ.0 ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               WRITE ( NOUT, FMT = 99995 )
-               DO 140 I = 1, M
-                  WRITE ( NOUT, FMT = 99994 ) ( Q(I,J), J = 1,M )
-  140          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 160 I = 1, M
-                  WRITE ( NOUT, FMT = 99994 ) ( E(I,J), J = 1,N )
-  160          CONTINUE
-               WRITE ( NOUT, FMT = 99992 )
-               DO 180 I = 1, M
-                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
-  180          CONTINUE
-               WRITE ( NOUT, FMT = 99991 )
-               DO 200 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
-  200          CONTINUE
-               WRITE ( NOUT, FMT = 99990 ) NBLCKS
-               IF ( .NOT. LSAME( MODE, 'S' ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) ( IMUK(I),  I = 1,NBLCKS )
-                  WRITE ( NOUT, FMT = 99988 ) ( INUK(I),  I = 1,NBLCKS )
-               ELSE
-                  WRITE ( NOUT, FMT = 99987 ) ( IMUK(I),  I = 1,NBLCKS )
-                  WRITE ( NOUT, FMT = 99986 ) ( INUK(I),  I = 1,NBLCKS )
-                  WRITE ( NOUT, FMT = 99982 ) ( IMUK0(I), I = 1,NBLCKI )
-                  WRITE ( NOUT, FMT = 99985 ) ( MNEI(I),  I = 1,3 )
-               END IF
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04VD = ',I2)
-99997 FORMAT (' INFO on exit from MB04UD = ',I2)
-99996 FORMAT (' The unitary transformed pencil is Q''*(s*E-A)*Z, where',
-     $          /)
-99995 FORMAT (' Matrix Q',/)
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' Matrix E',/)
-99992 FORMAT (/' Matrix A',/)
-99991 FORMAT (/' Matrix Z',/)
-99990 FORMAT (/' The number of submatrices having full row rank detect',
-     $       'ed in matrix A = ',I3)
-99989 FORMAT (/' The column dimensions of the submatrices having full ',
-     $       'column rank in the pencil',/' sE(eps,inf) - A(eps,inf) a',
-     $       're',/20(1X,I5))
-99988 FORMAT (/' The row dimensions of the submatrices having full row',
-     $       ' rank in the pencil',/' sE(eps,inf) - A(eps,inf) are',
-     $       /20(1X,I5))
-99987 FORMAT (/' The column dimensions of the submatrices having full ',
-     $       'column rank in the pencil',/' sE(eps) - A(eps) are',
-     $       /20(1X,I5))
-99986 FORMAT (/' The row dimensions of the submatrices having full row',
-     $       ' rank in the pencil',/' sE(eps) - A(eps) are',/20(1X,I5))
-99985 FORMAT (/' MNEI is ',/20(1X,I5))
-99984 FORMAT (/' M is out of range.',/' M = ',I5)
-99983 FORMAT (/' N is out of range.',/' N = ',I5)
-99982 FORMAT (/' The orders of the diagonal submatrices in the pencil ',
-     $       'sE(inf) - A(inf) are',/20(1X,I5))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04VD EXAMPLE PROGRAM DATA
-   2     4     0.0     S
-   1.0  0.0 -1.0  0.0
-   1.0  1.0  0.0 -1.0
-   0.0 -1.0  0.0  0.0
-   0.0 -1.0  0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04VD EXAMPLE PROGRAM RESULTS
-
- The unitary transformed pencil is Q'*(s*E-A)*Z, where
-
- Matrix Q
-
-   0.7071  -0.7071
-   0.7071   0.7071
-
- Matrix E
-
-   0.0000   0.0000  -1.1547   0.8165
-   0.0000   0.0000   0.0000   0.0000
-
- Matrix A
-
-   0.0000   1.7321   0.5774  -0.4082
-   0.0000   0.0000   0.0000  -1.2247
-
- Matrix Z
-
-   0.5774   0.8165   0.0000   0.0000
-   0.0000   0.0000   0.8165  -0.5774
-   0.5774  -0.4082  -0.4082  -0.5774
-   0.5774  -0.4082   0.4082   0.5774
-
- The number of submatrices having full row rank detected in matrix A =   2
-
- The column dimensions of the submatrices having full column rank in the pencil
- sE(eps) - A(eps) are
-     2     1
-
- The row dimensions of the submatrices having full row rank in the pencil
- sE(eps) - A(eps) are
-     1     0
-
- The orders of the diagonal submatrices in the pencil sE(inf) - A(inf) are
-     1
-
- MNEI is 
-     1     3     1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WD.html b/doc/_build/html/_static/doc/MB04WD.html
deleted file mode 100644
index 263bf41c..00000000
--- a/doc/_build/html/_static/doc/MB04WD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WD">MB04WD</A></H2>
-<H3>
-Generating an orthogonal basis spanning an isotropic subspace
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate a matrix Q with orthogonal columns (spanning an
-  isotropic subspace), which is defined as the first n columns
-  of a product of symplectic reflectors and Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  The matrix Q is returned in terms of its first 2*M rows
-
-                   [  op( Q1 )   op( Q2 ) ]
-               Q = [                      ].
-                   [ -op( Q2 )   op( Q1 ) ]
-
-  Blocked version of the SLICOT Library routine MB04WU.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WD( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
-     $                   CS, TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANQ1, TRANQ2
-      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANQ1  CHARACTER*1
-          Specifies the form of op( Q1 ) as follows:
-          = 'N':  op( Q1 ) = Q1;
-          = 'T':  op( Q1 ) = Q1';
-          = 'C':  op( Q1 ) = Q1'.
-
-  TRANQ2  CHARACTER*1
-          Specifies the form of op( Q2 ) as follows:
-          = 'N':  op( Q2 ) = Q2;
-          = 'T':  op( Q2 ) = Q2';
-          = 'C':  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices Q1 and Q2.
-          M &gt;= N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of symplectic Givens rotations whose product
-          partly defines the matrix Q. N &gt;= K &gt;= 0.
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ1,N) if TRANQ1 = 'N',
-                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
-          On entry with TRANQ1 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector F(i).
-          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row
-          the vector which defines the elementary reflector F(i).
-          On exit with TRANQ1 = 'N', the leading M-by-N part of this
-          array contains the matrix Q1.
-          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          N-by-M part of this array contains the matrix Q1'.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
-          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ2,N) if TRANQ2 = 'N',
-                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
-          On entry with TRANQ2 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector H(i) and, on the
-          diagonal, the scalar factor of H(i).
-          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row the
-          vector which defines the elementary reflector H(i) and, on
-          the diagonal, the scalar factor of H(i).
-          On exit with TRANQ2 = 'N', the leading M-by-N part of this
-          array contains the matrix Q2.
-          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          N-by-M part of this array contains the matrix Q2'.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
-          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, MAX(M+N,8*N*NB + 15*NB*NB), where NB is
-          the optimal block size determined by the function UE01MD.
-          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WP.html b/doc/_build/html/_static/doc/MB04WP.html
deleted file mode 100644
index 3f64f325..00000000
--- a/doc/_build/html/_static/doc/MB04WP.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WP">MB04WP</A></H2>
-<H3>
-Generating an orthogonal symplectic matrix which performed the reduction in MB04PU
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate an orthogonal symplectic matrix U, which is defined as
-  a product of symplectic reflectors and Givens rotations
-
-  U = diag( H(1),H(1) )      G(1)  diag( F(1),F(1) )
-      diag( H(2),H(2) )      G(2)  diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  as returned by MB04PU. The matrix U is returned in terms of its
-  first N rows
-
-                   [  U1   U2 ]
-               U = [          ].
-                   [ -U2   U1 ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WP( N, ILO, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDU1, LDU2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), U1(LDU1,*), U2(LDU2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices U1 and U2.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          ILO must have the same value as in the previous call of
-          MB04PU. U is equal to the unit matrix except in the
-          submatrix
-          U([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]).
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, the leading N-by-N part of this array must
-          contain in its i-th column the vector which defines the
-          elementary reflector F(i).
-          On exit, the leading N-by-N part of this array contains
-          the matrix U1.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, the leading N-by-N part of this array must
-          contain in its i-th column the vector which defines the
-          elementary reflector H(i) and, on the subdiagonal, the
-          scalar factor of H(i).
-          On exit, the leading N-by-N part of this array contains
-          the matrix U2.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
-
-  CS      (input) DOUBLE PRECISION array, dimension (2N-2)
-          On entry, the first 2N-2 elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
-          On entry, the first N-1 elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,2*(N-ILO)).
-          For optimum performance LDWORK should be larger. (See
-          SLICOT Library routine MB04WD).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] D. KRESSNER:
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WR.html b/doc/_build/html/_static/doc/MB04WR.html
deleted file mode 100644
index 9e876c32..00000000
--- a/doc/_build/html/_static/doc/MB04WR.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WR">MB04WR</A></H2>
-<H3>
-Generating orthogonal symplectic matrices defined as products of symplectic reflectors and Givens rotations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate orthogonal symplectic matrices U or V, defined as
-  products of symplectic reflectors and Givens rotations
-
-  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
-      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
-                           ....
-      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
-
-  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
-      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
-                                ....
-      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ),
-
-  as returned by the SLICOT Library routines MB04TS or MB04TB. The
-  matrices U and V are returned in terms of their first N/2 rows:
-
-              [  U1   U2 ]           [  V1   V2 ]
-          U = [          ],      V = [          ].
-              [ -U2   U1 ]           [ -V2   V1 ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WR( JOB, TRANS, N, ILO, Q1, LDQ1, Q2, LDQ2, CS,
-     $                   TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, TRANS
-      INTEGER           ILO, INFO, LDQ1, LDQ2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether the matrix U or the matrix V is
-          required:
-          = 'U':  generate U;
-          = 'V':  generate V.
-
-  TRANS   CHARACTER*1
-          If  JOB = 'U'  then TRANS must have the same value as
-          the argument TRANA in the previous call of MB04TS or
-          MB04TB.
-          If  JOB = 'V'  then TRANS must have the same value as
-          the argument TRANB in the previous call of MB04TS or
-          MB04TB.
-
-  N       (input) INTEGER
-          The order of the matrices Q1 and Q2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          ILO must have the same value as in the previous call of
-          MB04TS or MB04TB. U and V are equal to the unit matrix
-          except in the submatrices
-          U([ilo:n n+ilo:2*n], [ilo:n n+ilo:2*n]) and
-          V([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]),
-          respectively.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1,N)
-          On entry, if  JOB = 'U'  and  TRANS = 'N'  then the
-          leading N-by-N part of this array must contain in its i-th
-          column the vector which defines the elementary reflector
-          FU(i).
-          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array must contain in its i-th
-          row the vector which defines the elementary reflector
-          FU(i).
-          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
-          part of this array must contain in its i-th row the vector
-          which defines the elementary reflector FV(i).
-          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array must contain in its i-th
-          column the vector which defines the elementary reflector
-          FV(i).
-          On exit, if  JOB = 'U'  and  TRANS = 'N'  then the leading
-          N-by-N part of this array contains the matrix U1.
-          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array contains the matrix
-          U1**T.
-          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
-          part of this array contains the matrix V1**T.
-          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array contains the matrix V1.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2,N)
-          On entry, if  JOB = 'U'  then the leading N-by-N part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector HU(i).
-          If  JOB = 'V'  then the leading N-by-N part of this array
-          must contain in its i-th row the vector which defines the
-          elementary reflector HV(i).
-          On exit, if  JOB = 'U'  then the leading N-by-N part of
-          this array contains the matrix U2.
-          If  JOB = 'V'  then the leading N-by-N part of this array
-          contains the matrix V2**T.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
-
-  CS      (input) DOUBLE PRECISION array, dimension (2N)
-          On entry, if  JOB = 'U'  then the first 2N elements of
-          this array must contain the cosines and sines of the
-          symplectic Givens rotations GU(i).
-          If  JOB = 'V'  then the first 2N-2 elements of this array
-          must contain the cosines and sines of the symplectic
-          Givens rotations GV(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (N)
-          On entry, if  JOB = 'U'  then the first N elements of
-          this array must contain the scalar factors of the
-          elementary reflectors FU(i).
-          If  JOB = 'V'  then the first N-1 elements of this array
-          must contain the scalar factors of the elementary
-          reflectors FV(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,2*(N-ILO+1)).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04WU.html b/doc/_build/html/_static/doc/MB04WU.html
deleted file mode 100644
index e058126b..00000000
--- a/doc/_build/html/_static/doc/MB04WU.html
+++ /dev/null
@@ -1,179 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WU">MB04WU</A></H2>
-<H3>
-Generating an orthogonal basis spanning an isotropic subspace (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate a matrix Q with orthogonal columns (spanning an
-  isotropic subspace), which is defined as the first n columns
-  of a product of symplectic reflectors and Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  The matrix Q is returned in terms of its first 2*M rows
-
-                   [  op( Q1 )   op( Q2 ) ]
-               Q = [                      ].
-                   [ -op( Q2 )   op( Q1 ) ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WU( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
-     $                   CS, TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANQ1, TRANQ2
-      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANQ1  CHARACTER*1
-          Specifies the form of op( Q1 ) as follows:
-          = 'N':  op( Q1 ) = Q1;
-          = 'T':  op( Q1 ) = Q1';
-          = 'C':  op( Q1 ) = Q1'.
-
-  TRANQ2  CHARACTER*1
-          Specifies the form of op( Q2 ) as follows:
-          = 'N':  op( Q2 ) = Q2;
-          = 'T':  op( Q2 ) = Q2';
-          = 'C':  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices Q1 and Q2.
-          M &gt;= N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of symplectic Givens rotations whose product
-          partly defines the matrix Q. N &gt;= K &gt;= 0.
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ1,N) if TRANQ1 = 'N',
-                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
-          On entry with TRANQ1 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector F(i).
-          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row
-          the vector which defines the elementary reflector F(i).
-          On exit with TRANQ1 = 'N', the leading M-by-N part of this
-          array contains the matrix Q1.
-          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          N-by-M part of this array contains the matrix Q1'.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
-          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ2,N) if TRANQ2 = 'N',
-                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
-          On entry with TRANQ2 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector H(i) and, on the
-          diagonal, the scalar factor of H(i).
-          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row the
-          vector which defines the elementary reflector H(i) and, on
-          the diagonal, the scalar factor of H(i).
-          On exit with TRANQ2 = 'N', the leading M-by-N part of this
-          array contains the matrix Q2.
-          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          N-by-M part of this array contains the matrix Q2'.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
-          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bunse-Gerstner, A.
-      Matrix factorizations for symplectic QR-like methods.
-      Linear Algebra Appl., 83, pp. 49-77, 1986.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,567 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04XD">MB04XD</A></H2>
-<H3>
-Basis for left/right singular subspace of a matrix corresponding to its smallest singular values
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a basis for the left and/or right singular subspace of
-  an M-by-N matrix A corresponding to its smallest singular values.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU,
-     $                   V, LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV
-      INTEGER           INFO, IWARN, LDA, LDU, LDV, LDWORK, M, N, RANK
-      DOUBLE PRECISION  RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      LOGICAL           INUL(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Specifies whether to compute the left singular subspace
-          as follows:
-          = 'N':  Do not compute the left singular subspace;
-          = 'A':  Return the (M - RANK) base vectors of the desired
-                  left singular subspace in U;
-          = 'S':  Return the first (min(M,N) - RANK) base vectors
-                  of the desired left singular subspace in U.
-
-  JOBV    CHARACTER*1
-          Specifies whether to compute the right singular subspace
-          as follows:
-          = 'N':  Do not compute the right singular subspace;
-          = 'A':  Return the (N - RANK) base vectors of the desired
-                  right singular subspace in V;
-          = 'S':  Return the first (min(M,N) - RANK) base vectors
-                  of the desired right singular subspace in V.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in matrix A.  N &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if RANK &lt; 0, then the rank of matrix A is
-          computed by the routine as the number of singular values
-          greater than THETA.
-          Otherwise, RANK must specify the rank of matrix A.
-          RANK &lt;= min(M,N).
-          On exit, if RANK &lt; 0 on entry, then RANK contains the
-          computed rank of matrix A. That is, the number of singular
-          values of A greater than THETA.
-          Otherwise, the user-supplied value of RANK may be changed
-          by the routine on exit if the RANK-th and the (RANK+1)-th
-          singular values of A are considered to be equal.
-          See also the description of parameter TOL below.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, if RANK &lt; 0, then THETA must specify an upper
-          bound on the smallest singular values of A corresponding
-          to the singular subspace to be computed.  THETA &gt;= 0.0.
-          Otherwise, THETA must specify an initial estimate (t say)
-          for computing an upper bound on the (min(M,N) - RANK)
-          smallest singular values of A. If THETA &lt; 0.0, then t is
-          computed by the routine.
-          On exit, if RANK &gt;= 0 on entry, then THETA contains the
-          computed upper bound such that precisely RANK singular
-          values of A are greater than THETA + TOL.
-          Otherwise, THETA is unchanged.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A from which the basis of a desired singular
-          subspace is to be computed.
-          NOTE that this array is destroyed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,M).
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
-          If JOBU = 'A', then the leading M-by-M part of this array
-          contains the (M - RANK) M-dimensional base vectors of the
-          desired left singular subspace of A corresponding to its
-          singular values less than or equal to THETA. These vectors
-          are stored in the i-th column(s) of U for which
-          INUL(i) = .TRUE., where i = 1,2,...,M.
-
-          If JOBU = 'S', then the leading M-by-min(M,N) part of this
-          array contains the first (min(M,N) - RANK) M-dimensional
-          base vectors of the desired left singular subspace of A
-          corresponding to its singular values less than or equal to
-          THETA. These vectors are stored in the i-th column(s) of U
-          for which INUL(i) = .TRUE., where i = 1,2,..., min(M,N).
-
-          Otherwise, U is not referenced (since JOBU = 'N') and can
-          be supplied as a dummy array (i.e. set parameter LDU = 1
-          and declare this array to be U(1,1) in the calling
-          program).
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= max(1,M) if JOBU = 'A' or JOBU = 'S',
-          LDU &gt;= 1        if JOBU = 'N'.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
-          If JOBV = 'A', then the leading N-by-N part of this array
-          contains the (N - RANK) N-dimensional base vectors of the
-          desired right singular subspace of A corresponding to its
-          singular values less than or equal to THETA. These vectors
-          are stored in the i-th column(s) of V for which
-          INUL(i) = .TRUE., where i = 1,2,...,N.
-
-          If JOBV = 'S', then the leading N-by-min(M,N) part of this
-          array contains the first (min(M,N) - RANK) N-dimensional
-          base vectors of the desired right singular subspace of A
-          corresponding to its singular values less than or equal to
-          THETA. These vectors are stored in the i-th column(s) of V
-          for which INUL(i) = .TRUE., where i = 1,2,...,MIN( M,N).
-
-          Otherwise, V is not referenced (since JOBV = 'N') and can
-          be supplied as a dummy array (i.e. set parameter LDV = 1
-          and declare this array to be V(1,1) in the calling
-          program).
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          LDV &gt;= max(1,N) if JOBV = 'A' or JOBV = 'S',
-          LDV &gt;= 1        if JOBV = 'N'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (2*min(M,N)-1)
-          This array contains the partially diagonalized bidiagonal
-          matrix J computed from A, at the moment that the desired
-          singular subspace has been found. Specifically, the
-          leading p = min(M,N) entries of Q contain the diagonal
-          elements q(1),q(2),...,q(p) and the entries Q(p+1),
-          Q(p+2),...,Q(2*p-1) contain the superdiagonal elements
-          e(1),e(2),...,e(p-1) of J.
-
-  INUL    (output) LOGICAL array, dimension (max(M,N))
-          If JOBU &lt;&gt; 'N' or JOBV &lt;&gt; 'N', then the indices of the
-          elements of this array with value .TRUE. indicate the
-          columns in U and/or V containing the base vectors of the
-          desired left and/or right singular subspace of A. They
-          also equal the indices of the diagonal elements of the
-          bidiagonal submatrices in the array Q, which correspond
-          to the computed singular subspaces.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width. TOL is also taken
-          as an absolute tolerance for negligible elements in the
-          QR/QL iterations. If the user sets TOL to be less than or
-          equal to 0, then the tolerance is taken as specified in
-          SLICOT Library routine MB04YD document.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged. If the user sets RELTOL to be less than
-          BASE * EPS, where BASE is machine radix and EPS is machine
-          precision (see LAPACK Library routine DLAMCH), then the
-          tolerance is taken as BASE * EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max(1, LDW + max(2*P + max(M,N), LDY)), where
-               P = min(M,N);
-             LDW = max(2*N, N*(N+1)/2), if JOBU &lt;&gt; 'N' and M large
-                                                     enough than N;
-             LDW = 0,                   otherwise;
-             LDY = 8*P - 5, if JOBU &lt;&gt; 'N' or  JOBV &lt;&gt; 'N';
-             LDY = 6*P - 3, if JOBU =  'N' and JOBV =  'N'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  if the rank of matrix A (as specified by the user)
-                has been lowered because a singular value of
-                multiplicity greater than 1 was found.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the maximum number of QR/QL iteration steps
-                (30*MIN(M,N)) has been exceeded.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Partial Singular Value Decomposition (PSVD)
-  approach proposed by Van Huffel, Vandewalle and Haegemans, which
-  is an efficient technique (see [1]) for computing the singular
-  subspace of a matrix corresponding to its smallest singular
-  values. It differs from the classical SVD algorithm [3] at three
-  points, which results in high efficiency. Firstly, the Householder
-  transformations of the bidiagonalization need only to be applied
-  on the base vectors of the desired singular subspaces; secondly,
-  the bidiagonal matrix need only be partially diagonalized; and
-  thirdly, the convergence rate of the iterative diagonalization can
-  be improved by an appropriate choice between QL and QR iterations.
-  (Note, however, that LAPACK Library routine DGESVD, for computing
-  SVD, also uses either QL and QR iterations.) Depending on the gap,
-  the desired numerical accuracy and the dimension of the desired
-  singular subspace, the PSVD can be up to three times faster than
-  the classical SVD algorithm.
-
-  The PSVD algorithm [1-2] for an M-by-N matrix A proceeds as
-  follows:
-
-  Step 1: Bidiagonalization phase
-          -----------------------
-   (a) If M is large enough than N, transform A into upper
-       triangular form R.
-
-   (b) Transform A (or R) into bidiagonal form:
-
-             |q(1) e(1)  0   ...  0   |
-        (0)  | 0   q(2) e(2)      .   |
-       J   = | .                  .   |
-             | .                e(N-1)|
-             | 0            ...  q(N) |
-
-  if M &gt;= N, or
-
-             |q(1)  0    0   ...  0     0   |
-        (0)  |e(1) q(2)  0        .     .   |
-       J   = | .                  .     .   |
-             | .                 q(M-1) .   |
-             | 0             ... e(M-1) q(M)|
-
-  if M &lt; N, using Householder transformations.
-  In the second case, transform the matrix to the upper bidiagonal
-  form by applying Givens rotations.
-
-   (c) If U is requested, initialize U with the identity matrix.
-       If V is requested, initialize V with the identity matrix.
-
-  Step 2: Partial diagonalization phase
-          -----------------------------
-  If the upper bound THETA is not given, then compute THETA such
-  that precisely (min(M,N) - RANK) singular values of the bidiagonal
-  matrix are less than or equal to THETA, using a bisection method
-  [4]. Diagonalize the given bidiagonal matrix J partially, using
-  either QR iterations (if the upper left diagonal element of the
-  considered bidiagonal submatrix is larger than the lower right
-  diagonal element) or QL iterations, such that J is split into
-  unreduced bidiagonal submatrices whose singular values are either
-  all larger than THETA or all less than or equal to THETA.
-  Accumulate the Givens rotations in U and/or V (if desired).
-
-  Step 3: Back transformation phase
-          -------------------------
-   (a) Apply the Householder transformations of Step 1(b) onto the
-       columns of U and/or V associated with the bidiagonal
-       submatrices with all singular values less than or equal to
-       THETA (if U and/or V is desired).
-
-   (b) If M is large enough than N, and U is desired, then apply the
-       Householder transformations of Step 1(a) onto each computed
-       column of U in Step 3(a).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
-      An efficient and reliable algorithm for computing the singular
-      subspace of a matrix associated with its smallest singular
-      values.
-      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
-
-  [2] Van Huffel, S.
-      Analysis of the total least squares problem and its use in
-      parameter estimation.
-      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
-      Universiteit Leuven, Belgium, June 1987.
-
-  [3] Chan, T.F.
-      An improved algorithm for computing the singular value
-      decomposition.
-      ACM TOMS, 8, pp. 72-83, 1982.
-
-  [4] Van Huffel, S. and Vandewalle, J.
-      The partial total least squares algorithm.
-      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Using the PSVD a large reduction in computation time can be
-  gained in total least squares applications (cf [2 - 4]), in the
-  computation of the null space of a matrix and in solving
-  (non)homogeneous linear equations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04XD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDU, LDV
-      PARAMETER        ( LDA = MMAX, LDU = MMAX, LDV = NMAX )
-      INTEGER          MAXMN, MNMIN
-      PARAMETER        ( MAXMN = MAX( MMAX, NMAX ),
-     $                   MNMIN = MIN( MMAX, NMAX ) )
-      INTEGER          LENGQ
-      PARAMETER        ( LENGQ = 2*MNMIN-1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 2*NMAX, NMAX*( NMAX+1 )/2 )
-     $                          + MAX( 2*MNMIN + MAXMN, 8*MNMIN - 5 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
-      INTEGER          I, INFO, IWARN, J, K, LOOP, M, MINMN, N, NCOLU,
-     $                 NCOLV, RANK, RANK1
-      CHARACTER*1      JOBU, JOBV
-      LOGICAL          LJOBUA, LJOBUS, LJOBVA, LJOBVS, WANTU, WANTV
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LENGQ),
-     $                 U(LDU,MMAX), V(LDV,NMAX)
-      LOGICAL          INUL(MAXMN)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04XD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, RANK, THETA, TOL, RELTOL, JOBU, JOBV
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99982 ) N
-      ELSE IF ( RANK.GT.MNMIN ) THEN
-         WRITE ( NOUT, FMT = 99981 ) RANK
-      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
-         WRITE ( NOUT, FMT = 99980 ) THETA
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-         RANK1 = RANK
-         THETA1 = THETA
-*        Compute a basis for the left and right singular subspace of A.
-         CALL MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU, V,
-     $                LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) RANK
-            ELSE
-               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
-            END IF
-            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
-            LJOBUA = LSAME( JOBU, 'A' )
-            LJOBUS = LSAME( JOBU, 'S' )
-            LJOBVA = LSAME( JOBV, 'A' )
-            LJOBVS = LSAME( JOBV, 'S' )
-            WANTU = LJOBUA.OR.LJOBUS
-            WANTV = LJOBVA.OR.LJOBVS
-            WRITE ( NOUT, FMT = 99994 )
-            MINMN = MIN( M, N )
-            LOOP = MINMN - 1
-            DO 20 I = 1, LOOP
-               K = I + MINMN
-               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99992 ) MINMN, MINMN, Q(MINMN)
-            IF ( WANTU ) THEN
-               NCOLU = M
-               IF ( LJOBUS ) NCOLU = MINMN
-               WRITE ( NOUT, FMT = 99986 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99985 ) ( U(I,J), J = 1,NCOLU )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99991 ) NCOLU
-               WRITE ( NOUT, FMT = 99990 )
-               DO 60 I = 1, NCOLU
-                  WRITE ( NOUT, FMT = 99989 ) I, INUL(I)
-   60          CONTINUE
-            END IF
-            IF ( WANTV ) THEN
-               NCOLV = N
-               IF ( LJOBVS ) NCOLV = MINMN
-               WRITE ( NOUT, FMT = 99984 )
-               DO 80 I = 1, N
-                  WRITE ( NOUT, FMT = 99985 ) ( V(I,J), J = 1,NCOLV )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99988 ) NCOLV
-               WRITE ( NOUT, FMT = 99987 )
-               DO 100 J = 1, NCOLV
-                  WRITE ( NOUT, FMT = 99989 ) J, INUL(J)
-  100          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04XD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04XD = ',I2)
-99997 FORMAT (' IWARN on exit from MB04XD = ',I2,/)
-99996 FORMAT (' The computed rank of matrix A = ',I3,/)
-99995 FORMAT (' The computed value of THETA = ',F7.4,/)
-99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
-     $       'matrix are',/)
-99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
-99991 FORMAT (/' Left singular subspace corresponds to the i-th column',
-     $       '(s) of U for which ',/' INUL(i) = .TRUE., i = 1,...,',I1,
-     $       /)
-99990 FORMAT ('  i    INUL(i)',/)
-99989 FORMAT (I3,L8)
-99988 FORMAT (/' Right singular subspace corresponds to the j-th colum',
-     $       'n(s) of V for which ',/' INUL(j) = .TRUE., j = 1,...,',I1,
-     $       /)
-99987 FORMAT ('  j    INUL(j)',/)
-99986 FORMAT (' Matrix U',/)
-99985 FORMAT (20(1X,F8.4))
-99984 FORMAT (/' Matrix V',/)
-99983 FORMAT (/' M is out of range.',/' M = ',I5)
-99982 FORMAT (/' N is out of range.',/' N = ',I5)
-99981 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
-99980 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04XD EXAMPLE PROGRAM DATA
-   6     4     -1     0.001     0.0     0.0     A     A
-   0.80010  0.39985  0.60005  0.89999
-   0.29996  0.69990  0.39997  0.82997
-   0.49994  0.60003  0.20012  0.79011
-   0.90013  0.20016  0.79995  0.85002
-   0.39998  0.80006  0.49985  0.99016
-   0.20002  0.90007  0.70009  1.02994
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04XD EXAMPLE PROGRAM RESULTS
-
- The computed rank of matrix A =   3
-
- The elements of the partially diagonalized bidiagonal matrix are
-
- (1,1) =  3.2280   (1,2) = -0.0287
- (2,2) =  0.8714   (2,3) =  0.0168
- (3,3) =  0.3698   (3,4) =  0.0000
- (4,4) =  0.0001
-
- Matrix U
-
-   0.8933   0.4328  -0.1209   0.2499  -0.5812   0.4913
-  -0.4493   0.8555  -0.2572   0.1617  -0.4608  -0.7379
-  -0.0079   0.2841   0.9588  -0.5352   0.1892   0.0525
-   0.0000   0.0000   0.0003  -0.1741   0.3389  -0.3397
-   0.0000   0.0000   0.0000   0.6482   0.5428   0.1284
-   0.0000   0.0000   0.0000  -0.4176  -0.0674   0.2819
-
- Left singular subspace corresponds to the i-th column(s) of U for which 
- INUL(i) = .TRUE., i = 1,...,6
-
-  i    INUL(i)
-
-  1       F
-  2       F
-  3       F
-  4       T
-  5       T
-  6       T
-
- Matrix V
-
-  -0.3967  -0.7096   0.4612  -0.3555
-   0.9150  -0.2557   0.2414  -0.5687
-  -0.0728   0.6526   0.5215  -0.2128
-   0.0000   0.0720   0.6761   0.7106
-
- Right singular subspace corresponds to the j-th column(s) of V for which 
- INUL(j) = .TRUE., j = 1,...,4
-
-  j    INUL(j)
-
-  1       F
-  2       F
-  3       F
-  4       T
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04XY.html b/doc/_build/html/_static/doc/MB04XY.html
deleted file mode 100644
index 3eaade2c..00000000
--- a/doc/_build/html/_static/doc/MB04XY.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04XY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04XY">MB04XY</A></H2>
-<H3>
-Applying the Householder transformations for bidiagonalization (stored in factored form) to specified one or two matrices, from the left
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the Householder transformations Pj stored in factored
-  form into the columns of the array X, to the desired columns of
-  the matrix U by premultiplication, and/or the Householder
-  transformations Qj stored in factored form into the rows of the
-  array X, to the desired columns of the matrix V by
-  premultiplication. The Householder transformations Pj and Qj
-  are stored as produced by LAPACK Library routine DGEBRD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04XY( JOBU, JOBV, M, N, X, LDX, TAUP, TAUQ, U,
-     $                   LDU, V, LDV, INUL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV
-      INTEGER           INFO, LDU, LDV, LDX, M, N
-C     .. Array Arguments ..
-      LOGICAL           INUL(*)
-      DOUBLE PRECISION  TAUP(*), TAUQ(*), U(LDU,*), V(LDV,*),
-     $                  X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Specifies whether to transform the columns in U as
-          follows:
-          = 'N':  Do not transform the columns in U;
-          = 'A':  Transform the columns in U (U has M columns);
-          = 'S':  Transform the columns in U (U has min(M,N)
-                  columns).
-
-  JOBV    CHARACTER*1
-          Specifies whether to transform the columns in V as
-          follows:
-          = 'N':  Do not transform the columns in V;
-          = 'A':  Transform the columns in V (V has N columns);
-          = 'S':  Transform the columns in V (V has min(M,N)
-                  columns).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix X.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix X.  N &gt;= 0.
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading M-by-N part contains in the columns of its
-          lower triangle the Householder transformations Pj, and
-          in the rows of its upper triangle the Householder
-          transformations Qj in factored form.
-          X is modified by the routine but restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of the array X.   LDX &gt;= MAX(1,M).
-
-  TAUP    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
-          The scalar factors of the Householder transformations Pj.
-
-  TAUQ    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
-          The scalar factors of the Householder transformations Qj.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, U contains the M-by-M (if JOBU = 'A') or
-          M-by-min(M,N) (if JOBU = 'S') matrix U.
-          On exit, the Householder transformations Pj have been
-          applied to each column i of U corresponding to a parameter
-          INUL(i) = .TRUE.
-          NOTE that U is not referenced if JOBU = 'N'.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,M), if JOBU = 'A' or JOBU = 'S';
-          LDU &gt;= 1,        if JOBU = 'N'.
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
-          On entry, V contains the N-by-N (if JOBV = 'A') or
-          N-by-min(M,N) (if JOBV = 'S') matrix V.
-          On exit, the Householder transformations Qj have been
-          applied to each column i of V corresponding to a parameter
-          INUL(i) = .TRUE.
-          NOTE that V is not referenced if JOBV = 'N'.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M), if JOBV = 'A' or JOBV = 'S';
-          LDV &gt;= 1,        if JOBV = 'N'.
-
-  INUL    (input) LOGICAL array, dimension (MAX(M,N))
-          INUL(i) = .TRUE. if the i-th column of U and/or V is to be
-          transformed, and INUL(i) = .FALSE., otherwise.
-          (1 &lt;= i &lt;= MAX(M,N)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder transformations Pj or Qj are applied to the
-  columns of U or V indexed by I for which INUL(I) = .TRUE..
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04YD.html b/doc/_build/html/_static/doc/MB04YD.html
deleted file mode 100644
index a1cb0bee..00000000
--- a/doc/_build/html/_static/doc/MB04YD.html
+++ /dev/null
@@ -1,444 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04YD">MB04YD</A></H2>
-<H3>
-Partial diagonalization of a bidiagonal matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To partially diagonalize the bidiagonal matrix
-
-            |q(1) e(1)  0    ...       0      |
-            | 0   q(2) e(2)            .      |
-        J = | .                        .      |                  (1)
-            | .                  e(MIN(M,N)-1)|
-            | 0   ...        ...  q(MIN(M,N)) |
-
-  using QR or QL iterations in such a way that J is split into
-  unreduced bidiagonal submatrices whose singular values are either
-  all larger than a given bound or are all smaller than (or equal
-  to) this bound. The left- and right-hand Givens rotations
-  performed on J (corresponding to each QR or QL iteration step) may
-  be optionally accumulated in the arrays U and V.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
-     $                   LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV
-      INTEGER           INFO, IWARN, LDU, LDV, LDWORK, M, N, RANK
-      DOUBLE PRECISION  RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      LOGICAL           INUL(*)
-      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the left-hand Givens rotations, as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is initialized to the M-by-MIN(M,N) submatrix of
-                  the unit matrix and the left-hand Givens rotations
-                  are accumulated in U;
-          = 'U':  The given matrix U is updated by the left-hand
-                  Givens rotations used in the calculation.
-
-  JOBV    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix V the right-hand Givens rotations, as follows:
-          = 'N':  Do not form V;
-          = 'I':  V is initialized to the N-by-MIN(M,N) submatrix of
-                  the unit matrix and the right-hand Givens
-                  rotations are accumulated in V;
-          = 'U':  The given matrix V is updated by the right-hand
-                  Givens rotations used in the calculation.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in matrix U.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows in matrix V.  N &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if RANK &lt; 0, then the rank of matrix J is
-          computed by the routine as the number of singular values
-          larger than THETA.
-          Otherwise, RANK must specify the rank of matrix J.
-          RANK &lt;= MIN(M,N).
-          On exit, if RANK &lt; 0 on entry, then RANK contains the
-          computed rank of J. That is, the number of singular
-          values of J larger than THETA.
-          Otherwise, the user-supplied value of RANK may be
-          changed by the routine on exit if the RANK-th and the
-          (RANK+1)-th singular values of J are considered to be
-          equal. See also the parameter TOL.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, if RANK &lt; 0, then THETA must specify an upper
-          bound on the smallest singular values of J. THETA &gt;= 0.0.
-          Otherwise, THETA must specify an initial estimate (t say)
-          for computing an upper bound such that precisely RANK
-          singular values are greater than this bound.
-          If THETA &lt; 0.0, then t is computed by the routine.
-          On exit, if RANK &gt;= 0 on entry, then THETA contains the
-          computed upper bound such that precisely RANK singular
-          values of J are greater than THETA + TOL.
-          Otherwise, THETA is unchanged.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension
-          (MIN(M,N))
-          On entry, this array must contain the diagonal elements
-          q(1),q(2),...,q(MIN(M,N)) of the bidiagonal matrix J. That
-          is, Q(i) = J(i,i) for i = 1,2,...,MIN(M,N).
-          On exit, this array contains the leading diagonal of the
-          transformed bidiagonal matrix J.
-
-  E       (input/output) DOUBLE PRECISION array, dimension
-          (MIN(M,N)-1)
-          On entry, this array must contain the superdiagonal
-          elements e(1),e(2),...,e(MIN(M,N)-1) of the bidiagonal
-          matrix J. That is, E(k) = J(k,k+1) for k = 1,2,...,
-          MIN(M,N)-1.
-          On exit, this array contains the superdiagonal of the
-          transformed bidiagonal matrix J.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if JOBU = 'U', the leading M-by-MIN(M,N) part
-          of this array must contain a left transformation matrix
-          applied to the original matrix of the problem, and
-          on exit, the leading M-by-MIN(M,N) part of this array
-          contains the product of the input matrix U and the
-          left-hand Givens rotations.
-          On exit, if JOBU = 'I', then the leading M-by-MIN(M,N)
-          part of this array contains the matrix of accumulated
-          left-hand Givens rotations used.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U. If JOBU = 'U' or
-          JOBU = 'I', LDU &gt;= MAX(1,M); if JOBU = 'N', LDU &gt;= 1.
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
-          On entry, if JOBV = 'U', the leading N-by-MIN(M,N) part
-          of this array must contain a right transformation matrix
-          applied to the original matrix of the problem, and
-          on exit, the leading N-by-MIN(M,N) part of this array
-          contains the product of the input matrix V and the
-          right-hand Givens rotations.
-          On exit, if JOBV = 'I', then the leading N-by-MIN(M,N)
-          part of this array contains the matrix of accumulated
-          right-hand Givens rotations used.
-          If JOBV = 'N', the array V is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDV = 1 and
-          declare this array to be V(1,1) in the calling program).
-
-  LDV     INTEGER
-          The leading dimension of array V. If JOBV = 'U' or
-          JOBV = 'I', LDV &gt;= MAX(1,N); if JOBV = 'N', LDV &gt;= 1.
-
-  INUL    (input/output) LOGICAL array, dimension (MIN(M,N))
-          On entry, the leading MIN(M,N) elements of this array must
-          be set to .FALSE. unless the i-th columns of U (if JOBU =
-          'U') and V (if JOBV = 'U') already contain a computed base
-          vector of the desired singular subspace of the original
-          matrix, in which case INUL(i) must be set to .TRUE.
-          for 1 &lt;= i &lt;= MIN(M,N).
-          On exit, the indices of the elements of this array with
-          value .TRUE. indicate the indices of the diagonal entries
-          of J which belong to those bidiagonal submatrices whose
-          singular values are all less than or equal to THETA.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width. TOL is also taken
-          as an absolute tolerance for negligible elements in the
-          QR/QL iterations. If the user sets TOL to be less than or
-          equal to 0, then the tolerance is taken as
-          EPS * MAX(ABS(Q(i)), ABS(E(k))), where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH),
-          i = 1,2,...,MIN(M,N) and k = 1,2,...,MIN(M,N)-1.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged. If the user sets RELTOL to be less than
-          BASE * EPS, where BASE is machine radix and EPS is machine
-          precision (see LAPACK Library routine DLAMCH), then the
-          tolerance is taken as BASE * EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,6*MIN(M,N)-5), if JOBU = 'I' or 'U', or
-                                            JOBV = 'I' or 'U';
-          LDWORK &gt;= MAX(1,4*MIN(M,N)-3), if JOBU = 'N' and
-                                            JOBV = 'N'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  if the rank of the bidiagonal matrix J (as specified
-                by the user) has been lowered because a singular
-                value of multiplicity larger than 1 was found.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; this includes values like RANK &gt; MIN(M,N), or
-                THETA &lt; 0.0 and RANK &lt; 0;
-          = 1:  if the maximum number of QR/QL iteration steps
-                (30*MIN(M,N)) has been exceeded.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the upper bound THETA is not specified by the user, then it is
-  computed by the routine (using a bisection method) such that
-  precisely (MIN(M,N) - RANK) singular values of J are less than or
-  equal to THETA + TOL.
-
-  The method used by the routine (see [1]) then proceeds as follows.
-
-  The unreduced bidiagonal submatrices of J(j), where J(j) is the
-  transformed bidiagonal matrix after the j-th iteration step, are
-  classified into the following three classes:
-
-  - C1 contains the bidiagonal submatrices with all singular values
-    &gt; THETA,
-  - C2 contains the bidiagonal submatrices with all singular values
-    &lt;= THETA and
-  - C3 contains the bidiagonal submatrices with singular values
-    &gt; THETA and also singular values &lt;= THETA.
-
-  If C3 is empty, then the partial diagonalization is complete, and
-  RANK is the sum of the dimensions of the bidiagonal submatrices of
-  C1.
-  Otherwise, QR or QL iterations are performed on each bidiagonal
-  submatrix of C3, until this bidiagonal submatrix has been split
-  into two bidiagonal submatrices. These two submatrices are then
-  classified and the iterations are restarted.
-  If the upper left diagonal element of the bidiagonal submatrix is
-  larger than its lower right diagonal element, then QR iterations
-  are performed, else QL iterations are used. The shift is taken as
-  the smallest diagonal element of the bidiagonal submatrix (in
-  magnitude) unless its value exceeds THETA, in which case it is
-  taken as zero.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
-      An efficient and reliable algorithm for computing the
-      singular subspace of a matrix associated with its smallest
-      singular values.
-      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-  To avoid overflow, matrix J is scaled so that its largest element
-  is no greater than  overflow**(1/2) * underflow**(1/4) in absolute
-  value (and not much smaller than that, for maximal accuracy).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04YD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          MNMIN
-      PARAMETER        ( MNMIN = MIN( MMAX, NMAX ) )
-      INTEGER          LDU, LDV
-      PARAMETER        ( LDU = MMAX, LDV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 6*MNMIN - 5 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RELTOL, THETA, TOL
-      INTEGER          I, INFO, IWARN, J, M, MINMN, N, RANK, RANK1
-      CHARACTER*1      JOBU, JOBV
-      LOGICAL          LJOBUU, LJOBVU
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), E(MNMIN-1), Q(MNMIN),
-     $                 U(LDU,MNMIN), V(LDV,MNMIN)
-      LOGICAL          INUL(MNMIN)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04YD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, THETA, RANK, TOL, RELTOL, JOBU, JOBV
-      MINMN = MIN( M, N )
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) N
-      ELSE IF ( RANK.GT.MINMN ) THEN
-         WRITE ( NOUT, FMT = 99986 ) RANK
-      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
-         WRITE ( NOUT, FMT = 99985 ) THETA
-      ELSE
-         READ ( NIN, FMT = * ) ( Q(I), I = 1,MINMN )
-         READ ( NIN, FMT = * ) ( E(I), I = 1,MINMN-1 )
-         RANK1 = RANK
-         LJOBUU = LSAME( JOBU, 'U' )
-         LJOBVU = LSAME( JOBV, 'U' )
-         IF ( LJOBUU ) READ ( NIN, FMT = * )
-     $                      ( ( U(I,J), J = 1,MINMN ), I = 1,M )
-         IF ( LJOBVU ) READ ( NIN, FMT = * )
-     $                      ( ( V(I,J), J = 1,MINMN ), I = 1,N )
-*        Initialise the array INUL.
-         DO 20 I = 1, MINMN
-            INUL(I) = .FALSE.
-   20    CONTINUE
-         IF ( LJOBUU.OR.LJOBVU ) READ ( NIN, FMT = * )
-     $                                ( INUL(I), I = 1,MINMN )
-*        Compute the number of singular values of J > THETA.
-         CALL MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
-     $                LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99993 ) IWARN
-               WRITE ( NOUT, FMT = 99984 ) RANK
-            END IF
-            WRITE ( NOUT, FMT = 99997 )
-            DO 160 I = 1, MINMN - 1
-               WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
-  160       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) MINMN, MINMN, Q(MINMN)
-            IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99994 ) RANK, THETA
-            IF ( .NOT.LSAME( JOBV, 'N' ) ) THEN
-               WRITE ( NOUT, FMT = 99992 )
-               DO 180 I = 1, N
-                  WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,MINMN )
-  180          CONTINUE
-            END IF
-            IF ( ( .NOT.LSAME( JOBU, 'N' ) ) .AND.
-     $           ( .NOT.LSAME( JOBV, 'N' ) ) )
-     $           WRITE ( NOUT, FMT = 99990 )
-            IF ( .NOT.LSAME( JOBU, 'N' ) ) THEN
-               WRITE ( NOUT, FMT = 99989 )
-               DO 200 I = 1, M
-                  WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,MINMN )
-  200          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04YD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04YD = ',I2)
-99997 FORMAT (' The transformed bidiagonal matrix J is',/)
-99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
-99994 FORMAT (/' J has ',I2,' singular values >',F7.4,/)
-99993 FORMAT (' IWARN on exit from MB04YD = ',I2,/)
-99992 FORMAT (' The product of the right-hand Givens rotation matrices',
-     $       ' equals ')
-99991 FORMAT (20(1X,F8.4))
-99990 FORMAT (' ')
-99989 FORMAT (' The product of the left-hand Givens rotation matrices ',
-     $       'equals ')
-99988 FORMAT (/' M is out of range.',/' M = ',I5)
-99987 FORMAT (/' N is out of range.',/' N = ',I5)
-99986 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
-99985 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
-99984 FORMAT (/' The computed rank of matrix J = ',I3,/)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04YD EXAMPLE PROGRAM DATA
-   5     5     2.0     -1     0.0     0.0     N     N
-   1.0  2.0  3.0  4.0  5.0
-   2.0  3.0  4.0  5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04YD EXAMPLE PROGRAM RESULTS
-
- The transformed bidiagonal matrix J is
-
- (1,1) =  0.4045   (1,2) =  0.0000
- (2,2) =  1.9839   (2,3) =  0.0000
- (3,3) =  3.4815   (3,4) =  0.0128
- (4,4) =  5.3723   (4,5) =  0.0273
- (5,5) =  7.9948
-
- J has  3 singular values > 2.0000
-
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04YW.html b/doc/_build/html/_static/doc/MB04YW.html
deleted file mode 100644
index 791622b4..00000000
--- a/doc/_build/html/_static/doc/MB04YW.html
+++ /dev/null
@@ -1,214 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04YW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04YW">MB04YW</A></H2>
-<H3>
-Performing either one QR or QL iteration step onto an unreduced bidiagonal submatrix of a bidiagonal matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform either one QR or QL iteration step onto the unreduced
-  bidiagonal submatrix Jk:
-
-           |D(l) E(l)    0  ...    0   |
-           | 0   D(l+1) E(l+1)     .   |
-      Jk = | .                     .   |
-           | .                     .   |
-           | .                   E(k-1)|
-           | 0   ...        ...   D(k) |
-
-  with k &lt;= p and l &gt;= 1, p = MIN(M,N), of the bidiagonal matrix J:
-
-           |D(1) E(1)  0    ...   0   |
-           | 0   D(2) E(2)        .   |
-       J = | .                    .   |.
-           | .                    .   |
-           | .                  E(p-1)|
-           | 0   ...        ...  D(p) |
-
-  Hereby, Jk is transformed to  S' Jk T with S and T products of
-  Givens rotations. These Givens rotations S (respectively, T) are
-  postmultiplied into U (respectively, V), if UPDATU (respectively,
-  UPDATV) is .TRUE..
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04YW( QRIT, UPDATU, UPDATV, M, N, L, K, SHIFT, D, E,
-     $                   U, LDU, V, LDV, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           QRIT, UPDATU, UPDATV
-      INTEGER           K, L, LDU, LDV, M, N
-      DOUBLE PRECISION  SHIFT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  D( * ), DWORK( * ), E( * ), U( LDU, * ),
-     $                  V( LDV, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  QRIT    LOGICAL
-          Indicates whether a QR or QL iteration step is to be
-          taken (from larger end diagonal element towards smaller),
-          as follows:
-          = .TRUE. :  QR iteration step (chase bulge from top to
-                      bottom);
-          = .FALSE.:  QL iteration step (chase bulge from bottom to
-                      top).
-
-  UPDATU  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix U the left-hand Givens rotations S, as follows:
-          = .FALSE.:  Do not form U;
-          = .TRUE. :  The given matrix U is updated (postmultiplied)
-                      by the left-hand Givens rotations S.
-
-  UPDATV  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix V the right-hand Givens rotations S, as follows:
-          = .FALSE.:  Do not form V;
-          = .TRUE. :  The given matrix V is updated (postmultiplied)
-                      by the right-hand Givens rotations T.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix U.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix V.  N &gt;= 0.
-
-  L       (input) INTEGER
-          The index of the first diagonal entry of the considered
-          unreduced bidiagonal submatrix Jk of J.
-
-  K       (input) INTEGER
-          The index of the last diagonal entry of the considered
-          unreduced bidiagonal submatrix Jk of J.
-
-  SHIFT   (input) DOUBLE PRECISION
-          Value of the shift used in the QR or QL iteration step.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (p)
-          where p = MIN(M,N)
-          On entry, D must contain the diagonal entries of the
-          bidiagonal matrix J.
-          On exit, D contains the diagonal entries of the
-          transformed bidiagonal matrix S' J T.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
-          On entry, E must contain the superdiagonal entries of J.
-          On exit, E contains the superdiagonal entries of the
-          transformed matrix S' J T.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
-          On entry, if UPDATU = .TRUE., U must contain the M-by-p
-          left transformation matrix.
-          On exit, if UPDATU = .TRUE., the Givens rotations S on the
-          left have been postmultiplied into U, i.e., U * S is
-          returned.
-          U is not referenced if UPDATU = .FALSE..
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
-          LDU &gt;= 1        if UPDATU = .FALSE..
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
-          On entry, if UPDATV = .TRUE., V must contain the N-by-p
-          right transformation matrix.
-          On exit, if UPDATV = .TRUE., the Givens rotations T on the
-          right have been postmultiplied into V, i.e., V * T is
-          returned.
-          V is not referenced if UPDATV = .FALSE..
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
-          LDV &gt;= 1        if UPDATV = .FALSE..
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
-          LDWORK &gt;= 4*MIN(M,N)-4, if UPDATU = UPDATV = .TRUE.;
-          LDWORK &gt;= 2*MIN(M,N)-2, if
-                          UPDATU = .TRUE. and UPDATV = .FALSE. or
-                          UPDATV = .TRUE. and UPDATU = .FALSE.;
-          LDWORK &gt;= 1, if UPDATU = UPDATV = .FALSE..
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  QR iterations diagonalize the bidiagonal matrix by zeroing the
-  super-diagonal elements of Jk from bottom to top.
-  QL iterations diagonalize the bidiagonal matrix by zeroing the
-  super-diagonal elements of Jk from top to bottom.
-  The routine overwrites Jk with the bidiagonal matrix S' Jk T,
-  where S and T are products of Givens rotations.
-  T is essentially the orthogonal matrix that would be obtained by
-  applying one implicit symmetric shift QR (QL) step onto the matrix
-  Jk'Jk. This step factors the matrix (Jk'Jk - shift*I) into a
-  product of an orthogonal matrix T and a upper (lower) triangular
-  matrix. See [1,Sec.8.2-8.3] and [2] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      Matrix Computations.
-      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
-
-  [2] Bowdler, H., Martin, R.S. and Wilkinson, J.H.
-      The QR and QL algorithms for symmetric matrices.
-      Numer. Math., 11, pp. 293-306, 1968.
-
-  [3] Demmel, J. and Kahan, W.
-      Computing small singular values of bidiagonal matrices with
-      guaranteed high relative accuracy.
-      SIAM J. Sci. Statist. Comput., 11, pp. 873-912, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB04ZD.html b/doc/_build/html/_static/doc/MB04ZD.html
deleted file mode 100644
index f7357fe6..00000000
--- a/doc/_build/html/_static/doc/MB04ZD.html
+++ /dev/null
@@ -1,355 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ZD">MB04ZD</A></H2>
-<H3>
-Transforming a Hamiltonian matrix into a square-reduced Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To transform a Hamiltonian matrix
-
-            ( A   G  )
-        H = (      T )                                           (1)
-            ( Q  -A  )
-
-  into a square-reduced Hamiltonian matrix
-
-             ( A'  G'  )
-        H' = (       T )                                         (2)
-             ( Q' -A'  )
-                                                              T
-  by an orthogonal symplectic similarity transformation H' = U H U,
-  where
-            (  U1   U2 )
-        U = (          ).                                        (3)
-            ( -U2   U1 )
-                                                           T
-  The square-reduced Hamiltonian matrix satisfies Q'A' - A' Q' = 0,
-  and
-
-        2       T     2     ( A''   G''  )
-      H'  :=  (U  H U)   =  (          T ).
-                            ( 0     A''  )
-
-  In addition, A'' is upper Hessenberg and G'' is skew symmetric.
-  The square roots of the eigenvalues of A'' = A'*A' + G'*Q' are the
-  eigenvalues of H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO
-     $                 )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDQG, LDU, N
-      CHARACTER         COMPU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPU   CHARACTER*1
-          Indicates whether the orthogonal symplectic similarity
-          transformation matrix U in (3) is returned or
-          accumulated into an orthogonal symplectic matrix, or if
-          the transformation matrix is not required, as follows:
-          = 'N':         U is not required;
-          = 'I' or 'F':  on entry, U need not be set;
-                         on exit, U contains the orthogonal
-                         symplectic matrix U from (3);
-          = 'V' or 'A':  the orthogonal symplectic similarity
-                         transformations are accumulated into U;
-                         on input, U must contain an orthogonal
-                         symplectic matrix S;
-                         on exit, U contains S*U with U from (3).
-          See the description of U below for details.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On input, the leading N-by-N part of this array must
-          contain the upper left block A of the Hamiltonian matrix H
-          in (1).
-          On output, the leading N-by-N part of this array contains
-          the upper left block A' of the square-reduced Hamiltonian
-          matrix H' in (2).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-          (LDQG,N+1)
-          On input, the leading N-by-N lower triangular part of this
-          array must contain the lower triangle of the lower left
-          symmetric block Q of the Hamiltonian matrix H in (1), and
-          the N-by-N upper triangular part of the submatrix in the
-          columns 2 to N+1 of this array must contain the upper
-          triangle of the upper right symmetric block G of H in (1).
-          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
-          and G(i,j) = G(j,i) is stored in QG(j,i+1).
-          On output, the leading N-by-N lower triangular part of
-          this array contains the lower triangle of the lower left
-          symmetric block Q', and the N-by-N upper triangular part
-          of the submatrix in the columns 2 to N+1 of this array
-          contains the upper triangle of the upper right symmetric
-          block G' of the square-reduced Hamiltonian matrix H'
-          in (2).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          If COMPU = 'N', then this array is not referenced.
-          If COMPU = 'I' or 'F', then the input contents of this
-          array are not specified.  On output, the leading
-          N-by-(2*N) part of this array contains the first N rows
-          of the orthogonal symplectic matrix U in (3).
-          If COMPU = 'V' or 'A', then, on input, the leading
-          N-by-(2*N) part of this array must contain the first N
-          rows of an orthogonal symplectic matrix S. On output, the
-          leading N-by-(2*N) part of this array contains the first N
-          rows of the product S*U where U is the orthogonal
-          symplectic matrix from (3).
-          The storage scheme implied by (3) is used for orthogonal
-          symplectic matrices, i.e., only the first N rows are
-          stored, as they contain all relevant information.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,N), if COMPU &lt;&gt; 'N';
-          LDU &gt;= 1,        if COMPU =  'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Hamiltonian matrix H is transformed into a square-reduced
-  Hamiltonian matrix H' using the implicit version of Van Loan's
-  method as proposed in [1,2,3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C. F.
-      A Symplectic Method for Approximating All the Eigenvalues of
-      a Hamiltonian Matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Byers, R.
-      Hamiltonian and Symplectic Algorithms for the Algebraic
-      Riccati Equation.
-      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
-
-  [3] Benner, P., Byers, R., and Barth, E.
-      Fortran 77 Subroutines for Computing the Eigenvalues of
-      Hamiltonian Matrices. I: The Square-Reduced Method.
-      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  This algorithm requires approximately 20*N**3 flops for
-  transforming H into square-reduced form. If the transformations
-  are required, this adds another 8*N**3 flops. The method is
-  strongly backward stable in the sense that if H' and U are the
-  computed square-reduced Hamiltonian and computed orthogonal
-  symplectic similarity transformation, then there is an orthogonal
-  symplectic matrix T and a Hamiltonian matrix M such that
-
-               H T  =  T M
-
-     || T - U ||   &lt;=  c1 * eps
-
-     || H' - M ||  &lt;=  c2 * eps * || H ||
-
-  where c1, c2 are modest constants depending on the dimension N and
-  eps is the machine precision.
-
-  Eigenvalues computed by explicitly forming the upper Hessenberg
-  matrix  A'' = A'A' + G'Q', with A', G', and Q' as in (2), and
-  applying the Hessenberg QR iteration to A'' are exactly
-  eigenvalues of a perturbed Hamiltonian matrix H + E,  where
-
-     || E ||  &lt;=  c3 * sqrt(eps) * || H ||,
-
-  and c3 is a modest constant depending on the dimension N and eps
-  is the machine precision.  Moreover, if the norm of H and an
-  eigenvalue lambda are of roughly the same magnitude, the computed
-  eigenvalue is essentially as accurate as the computed eigenvalue
-  from traditional methods.  See [1] or [2].
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04ZD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDQG, LDU
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = ( NMAX+NMAX )*( NMAX+NMAX+1 ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, IJ, J, JI, N, POS, WPOS
-      CHARACTER*1      COMPU
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
-     $                 U(LDU,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, DGEMM, DSYMV, MB04ZD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, COMPU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99998 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
-*        Square-reduce by symplectic orthogonal similarity.
-         CALL MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-*           Show the square-reduced Hamiltonian.
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99994 )  ( A(I,J),    J = 1,N ),
-     $            ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
-10          CONTINUE
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( QG(I,J), J = 1,I-1 ),
-     $               ( QG(J,I), J = I,N ), ( -A(J,I), J = 1,N )
-20          CONTINUE
-*           Show the square of H.
-            WRITE ( NOUT, FMT = 99995 )
-            WPOS = ( NMAX+NMAX )*( NMAX+NMAX )
-*                                                    T
-*           Compute N11 = A*A + G*Q and set N22 = N11 .
-            CALL DGEMM( 'N', 'N', N, N, N, ONE, A, LDA, A, LDA, ZERO,
-     $                  DWORK, N+N )
-            DO 30 I = 1, N
-               CALL DCOPY( N-I+1, QG(I,I), 1, DWORK(WPOS+I), 1 )
-               CALL DCOPY( I-1, QG(I,1), LDQG, DWORK(WPOS+1), 1 )
-               CALL DSYMV( 'U', N, ONE, QG(1,2), LDQG, DWORK(WPOS+1), 1,
-     $                     ONE, DWORK((I-1)*(N+N)+1), 1 )
-               POS = N*( N+N ) + N + I
-               CALL DCOPY( N, DWORK((I-1)*(N+N)+1), 1, DWORK(POS), N+N )
-30          CONTINUE
-            DO 40 I = 1, N
-               CALL DSYMV( 'U', N, -ONE, QG(1,2), LDQG, A(I,1), LDA,
-     $                     ZERO, DWORK((N+I-1)*(N+N)+1), 1 )
-               CALL DSYMV( 'L', N, ONE, QG, LDQG, A(1,I), 1, ZERO,
-     $                     DWORK((I-1)*(N+N)+N+1), 1 )
-40          CONTINUE
-            DO 60 J = 1, N
-               DO 50 I = J, N
-                  IJ = ( N+J-1 )*( N+N ) + I
-                  JI = ( N+I-1 )*( N+N ) + J
-                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
-                  DWORK(JI) = -DWORK(IJ)
-                  IJ = N + I + ( J-1 )*( N+N )
-                  JI = N + J + ( I-1 )*( N+N )
-                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
-                  DWORK(JI) = -DWORK(IJ)
-50             CONTINUE
-60          CONTINUE
-            DO 70 I = 1, N+N
-               WRITE ( NOUT, FMT = 99994 )
-     $               ( DWORK(I+(J-1)*(N+N) ), J = 1,N+N )
-70          CONTINUE
-         ENDIF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' N is out of range.',/' N = ',I5)
-99997 FORMAT (' INFO on exit from MB04ZD = ',I2)
-99996 FORMAT (/' The square-reduced Hamiltonian is ')
-99995 FORMAT (/' The square of the square-reduced Hamiltonian is ')
-99994 FORMAT (1X,8(F10.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04ZD EXAMPLE PROGRAM DATA
-3 N
-1.0 2.0 3.0 
-4.0 5.0 6.0
-7.0 8.0 9.0
-1.0 1.0 1.0 2.0 2.0 3.0
-7.0 6.0 5.0 8.0 4.0 9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04ZD EXAMPLE PROGRAM RESULTS
-
-
- The square-reduced Hamiltonian is 
-     1.0000    3.3485    0.3436    1.0000    1.9126   -0.1072
-     6.7566   11.0750   -0.3014    1.9126    8.4479   -1.0790
-     2.3478    1.6899   -2.3868   -0.1072   -1.0790   -2.9871
-     7.0000    8.6275   -0.6352   -1.0000   -6.7566   -2.3478
-     8.6275   16.2238   -0.1403   -3.3485  -11.0750   -1.6899
-    -0.6352   -0.1403    1.2371   -0.3436    0.3014    2.3868
-
- The square of the square-reduced Hamiltonian is 
-    48.0000   80.6858   -2.5217    0.0000    1.8590  -10.5824
-   167.8362  298.4815   -4.0310   -1.8590    0.0000  -33.1160
-     0.0000    4.5325    2.5185   10.5824   33.1160    0.0000
-     0.0000    0.0000    0.0000   48.0000  167.8362    0.0000
-     0.0000    0.0000    0.0000   80.6858  298.4815    4.5325
-     0.0000    0.0000    0.0000   -2.5217   -4.0310    2.5185
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB05MD.html b/doc/_build/html/_static/doc/MB05MD.html
deleted file mode 100644
index f522e9a7..00000000
--- a/doc/_build/html/_static/doc/MB05MD.html
+++ /dev/null
@@ -1,298 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05MD">MB05MD</A></H2>
-<H3>
-Matrix exponential for a real non-defective matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute exp(A*delta) where A is a real N-by-N non-defective
-  matrix with real or complex eigenvalues and delta is a scalar
-  value. The routine also returns the eigenvalues and eigenvectors
-  of A as well as (if all eigenvalues are real) the matrix product
-  exp(Lambda*delta) times the inverse of the eigenvector matrix
-  of A, where Lambda is the diagonal matrix of eigenvalues.
-  Optionally, the routine computes a balancing transformation to
-  improve the conditioning of the eigenvalues and eigenvectors.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
-     $                   VALI, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC
-      INTEGER           INFO, LDA, LDV, LDWORK, LDY, N
-      DOUBLE PRECISION  DELTA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), V(LDV,*), VALI(*), VALR(*),
-     $                  Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how the input matrix should be diagonally scaled
-          to improve the conditioning of its eigenvalues as follows:
-          = 'N':  Do not diagonally scale;
-          = 'S':  Diagonally scale the matrix, i.e. replace A by
-                  D*A*D**(-1), where D is a diagonal matrix chosen
-                  to make the rows and columns of A more equal in
-                  norm. Do not permute.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  DELTA   (input) DOUBLE PRECISION
-          The scalar value delta of the problem.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A of the problem.
-          On exit, the leading N-by-N part of this array contains
-          the solution matrix exp(A*delta).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
-          The leading N-by-N part of this array contains the
-          eigenvector matrix for A.
-          If the k-th eigenvalue is real the k-th column of the
-          eigenvector matrix holds the eigenvector corresponding
-          to the k-th eigenvalue.
-          Otherwise, the k-th and (k+1)-th eigenvalues form a
-          complex conjugate pair and the k-th and (k+1)-th columns
-          of the eigenvector matrix hold the real and imaginary
-          parts of the eigenvectors corresponding to these
-          eigenvalues as follows.
-          If p and q denote the k-th and (k+1)-th columns of the
-          eigenvector matrix, respectively, then the eigenvector
-          corresponding to the complex eigenvalue with positive
-          (negative) imaginary value is given by
-                                    2
-          p + q*j (p - q*j), where j  = -1.
-
-  LDV     INTEGER
-          The leading dimension of array V.  LDV &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains an
-          intermediate result for computing the matrix exponential.
-          Specifically, exp(A*delta) is obtained as the product V*Y,
-          where V is the matrix stored in the leading N-by-N part of
-          the array V. If all eigenvalues of A are real, then the
-          leading N-by-N part of this array contains the matrix
-          product exp(Lambda*delta) times the inverse of the (right)
-          eigenvector matrix of A, where Lambda is the diagonal
-          matrix of eigenvalues.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= max(1,N).
-
-  VALR    (output) DOUBLE PRECISION array, dimension (N)
-  VALI    (output) DOUBLE PRECISION array, dimension (N)
-          These arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the matrix A. The
-          eigenvalues are unordered except that complex conjugate
-          pairs of values appear consecutively with the eigenvalue
-          having positive imaginary part first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and if N &gt; 0, DWORK(2) returns the reciprocal
-          condition number of the triangular matrix used to obtain
-          the inverse of the eigenvector matrix.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
-          For good performance, LDWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues; no eigenvectors have been computed;
-                elements i+1:N of VALR and VALI contain eigenvalues
-                which have converged;
-          = N+1:  if the inverse of the eigenvector matrix could not
-                be formed due to an attempt to divide by zero, i.e.,
-                the eigenvector matrix is singular;
-          = N+2:  if the matrix A is defective, possibly due to
-                rounding errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine is an implementation of "Method 15" of the set of
-  methods described in reference [1], which uses an eigenvalue/
-  eigenvector decomposition technique. A modification of LAPACK
-  Library routine DGEEV is used for obtaining the right eigenvector
-  matrix. A condition estimate is then employed to determine if the
-  matrix A is near defective and hence the exponential solution is
-  inaccurate. In this case the routine returns with the Error
-  Indicator (INFO) set to N+2, and SLICOT Library routines MB05ND or
-  MB05OD are the preferred alternative routines to be used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Moler, C.B. and Van Loan, C.F.
-      Nineteen dubious ways to compute the exponential of a matrix.
-      SIAM Review, 20, pp. 801-836, 1978.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB05MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDV, LDY
-      PARAMETER        ( LDA = NMAX, LDV = NMAX, LDY = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DELTA
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      BALANC
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), V(LDV,NMAX),
-     $                 VALI(NMAX), VALR(NMAX), Y(LDY,NMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB05MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      BALANC = 'N'
-      READ ( NIN, FMT = * ) N, DELTA
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Find the exponential of the real non-defective matrix A*DELTA.
-         CALL MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
-     $                VALI, IWORK, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) ( VALR(I), VALI(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99993 )
-            DO 60 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( Y(I,J), J = 1,N )
-   60       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB05MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB05MD = ',I2)
-99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The eigenvalues of A are ',/20(2F5.1,'*j  '))
-99994 FORMAT (/' The eigenvector matrix for A is ')
-99993 FORMAT (/' The inverse eigenvector matrix for A (premultiplied by'
-     $        ,' exp(Lambda*DELTA)) is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB05MD EXAMPLE PROGRAM DATA
-   4     1.0
-   0.5   0.0   2.3  -2.6
-   0.0   0.5  -1.4  -0.7
-   2.3  -1.4   0.5   0.0
-  -2.6  -0.7   0.0   0.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB05MD EXAMPLE PROGRAM RESULTS
-
- The solution matrix exp(A*DELTA) is 
-  26.8551  -3.2824  18.7409 -19.4430
-  -3.2824   4.3474  -5.1848   0.2700
-  18.7409  -5.1848  15.6012 -11.7228
- -19.4430   0.2700 -11.7228  15.6012
-
- The eigenvalues of A are 
- -3.0  0.0*j    4.0  0.0*j   -1.0  0.0*j    2.0  0.0*j  
-
- The eigenvector matrix for A is 
-  -0.7000   0.7000   0.1000  -0.1000
-   0.1000  -0.1000   0.7000  -0.7000
-   0.5000   0.5000   0.5000   0.5000
-  -0.5000  -0.5000   0.5000   0.5000
-
- The inverse eigenvector matrix for A (premultiplied by exp(Lambda*DELTA)) is 
-  -0.0349   0.0050   0.0249  -0.0249
-  38.2187  -5.4598  27.2991 -27.2991
-   0.0368   0.2575   0.1839   0.1839
-  -0.7389  -5.1723   3.6945   3.6945
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB05MY.html b/doc/_build/html/_static/doc/MB05MY.html
deleted file mode 100644
index ec3da91c..00000000
--- a/doc/_build/html/_static/doc/MB05MY.html
+++ /dev/null
@@ -1,178 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05MY">MB05MY</A></H2>
-<H3>
-Computation of the orthogonal matrix reducing a given matrix to real Schur form T, of the eigenvalues, and of the upper triangular matrix of right eigenvectors of T
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for an N-by-N real nonsymmetric matrix A, the
-  orthogonal matrix Q reducing it to real Schur form T, the
-  eigenvalues, and the right eigenvectors of T.
-
-  The right eigenvector r(j) of T satisfies
-                   T * r(j) = lambda(j) * r(j)
-  where lambda(j) is its eigenvalue.
-
-  The matrix of right eigenvectors R is upper triangular, by
-  construction.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05MY( BALANC, N, A, LDA, WR, WI, R, LDR, Q, LDQ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC
-      INTEGER           INFO, LDA, LDQ, LDR, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA, * ), DWORK( * ), Q( LDQ, * ),
-     $                  R( LDR, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how the input matrix should be diagonally scaled
-          to improve the conditioning of its eigenvalues as follows:
-          = 'N':  Do not diagonally scale;
-          = 'S':  Diagonally scale the matrix, i.e. replace A by
-                  D*A*D**(-1), where D is a diagonal matrix chosen
-                  to make the rows and columns of A more equal in
-                  norm. Do not permute.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading N-by-N upper quasi-triangular part of
-          this array contains the real Schur canonical form of A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues. Complex
-          conjugate pairs of eigenvalues appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the matrix of right eigenvectors R, in the same
-          order as their eigenvalues. The real and imaginary parts
-          of a complex eigenvector corresponding to an eigenvalue
-          with positive imaginary part are stored in consecutive
-          columns. (The corresponding conjugate eigenvector is not
-          stored.) The eigenvectors are not backward transformed
-          for balancing (when BALANC = 'S').
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= max(1,N).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Q which has reduced A to real Schur
-          form.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          If BALANC = 'S' and LDWORK &gt; 0, DWORK(2),...,DWORK(N+1)
-          return the scaling factors used for balancing.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues, and no eigenvectors have been
-                computed; elements i+1:N of WR and WI contain
-                eigenvalues which have converged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine uses the QR algorithm to obtain the real Schur form
-  T of matrix A. Then, the right eigenvectors of T are computed,
-  but they are not backtransformed into the eigenvectors of A.
-  MB05MY is a modification of the LAPACK driver routine DGEEV.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB05ND.html b/doc/_build/html/_static/doc/MB05ND.html
deleted file mode 100644
index 1732b164..00000000
--- a/doc/_build/html/_static/doc/MB05ND.html
+++ /dev/null
@@ -1,246 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05ND">MB05ND</A></H2>
-<H3>
-Matrix exponential and integral for a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute
-
-  (a)    F(delta) =  exp(A*delta) and
-
-  (b)    H(delta) =  Int[F(s) ds] from s = 0 to s = delta,
-
-  where A is a real N-by-N matrix and delta is a scalar value.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDEX, LDEXIN, LDWORK, N
-      DOUBLE PRECISION  DELTA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), EX(LDEX,*), EXINT(LDEXIN,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  DELTA   (input) DOUBLE PRECISION
-          The scalar value delta of the problem.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A of the problem. (Array A need not be set if
-          DELTA = 0.)
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-  EX      (output) DOUBLE PRECISION array, dimension (LDEX,N)
-          The leading N-by-N part of this array contains an
-          approximation to F(delta).
-
-  LDEX    INTEGER
-          The leading dimension of array EX.  LDEX &gt;= MAX(1,N).
-
-  EXINT   (output) DOUBLE PRECISION array, dimension (LDEXIN,N)
-          The leading N-by-N part of this array contains an
-          approximation to H(delta).
-
-  LDEXIN  INTEGER
-          The leading dimension of array EXINT.  LDEXIN &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the order of the
-          Pade approximation to H(t), where t is a scale factor
-          determined by the routine. A reasonable value for TOL may
-          be SQRT(EPS), where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,N*(N+1)).
-          For optimum performance LDWORK should be larger (2*N*N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the (i,i) element of the denominator of
-                the Pade approximation is zero, so the denominator
-                is exactly singular;
-          = N+1:  if DELTA = (delta * frobenius norm of matrix A) is
-                probably too large to permit meaningful computation.
-                That is, DELTA &gt; SQRT(BIG), where BIG is a
-                representable number near the overflow threshold of
-                the machine (see LAPACK Library Routine DLAMCH).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine uses a Pade approximation to H(t) for some small
-  value of t (where 0 &lt; t &lt;= delta) and then calculates F(t) from
-  H(t). Finally, the results are re-scaled to give F(delta) and
-  H(delta). For a detailed description of the implementation of this
-  algorithm see [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benson, C.J.
-      The numerical evaluation of the matrix exponential and its
-      integral.
-      Report 82/03, Control Systems Research Group,
-      School of Electronic Engineering and Computer
-      Science, Kingston Polytechnic, January 1982.
-
-  [2] Ward, R.C.
-      Numerical computation of the matrix exponential with accuracy
-      estimate.
-      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
-
-  [3] Moler, C.B. and Van Loan, C.F.
-      Nineteen Dubious Ways to Compute the Exponential of a Matrix.
-      SIAM Rev., 20, pp. 801-836, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB05ND EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDEX, LDEXIN, LDWORK
-      PARAMETER        ( LDA = NMAX, LDEX = NMAX, LDEXIN = NMAX,
-     $                   LDWORK = NMAX*( NMAX+1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DELTA, TOL
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), EX(LDEX,NMAX),
-     $                 EXINT(LDEXIN,NMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB05ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DELTA, TOL
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Find the matrix exponential of A*DELTA and its integral.
-         CALL MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN, TOL,
-     $                IWORK, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( EX(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 40 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( EXINT(I,J), J = 1,N )
-   40       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB05ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB05ND = ',I2)
-99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' and its integral is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB05ND EXAMPLE PROGRAM DATA
-   5     0.1     0.0001
-   5.0   4.0   3.0   2.0   1.0
-   1.0   6.0   0.0   4.0   3.0
-   2.0   0.0   7.0   6.0   5.0
-   1.0   3.0   1.0   8.0   7.0
-   2.0   5.0   7.0   1.0   9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB05ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix exp(A*DELTA) is 
-   1.8391   0.9476   0.7920   0.8216   0.7811
-   0.3359   2.2262   0.4013   1.0078   1.0957
-   0.6335   0.6776   2.6933   1.6155   1.8502
-   0.4804   1.1561   0.9110   2.7461   2.0854
-   0.7105   1.4244   1.8835   1.0966   3.4134
-
- and its integral is 
-   0.1347   0.0352   0.0284   0.0272   0.0231
-   0.0114   0.1477   0.0104   0.0369   0.0368
-   0.0218   0.0178   0.1624   0.0580   0.0619
-   0.0152   0.0385   0.0267   0.1660   0.0732
-   0.0240   0.0503   0.0679   0.0317   0.1863
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB05OD.html b/doc/_build/html/_static/doc/MB05OD.html
deleted file mode 100644
index 1db8b15f..00000000
--- a/doc/_build/html/_static/doc/MB05OD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05OD">MB05OD</A></H2>
-<H3>
-Matrix exponential for a real matrix, with accuracy estimate
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute exp(A*delta) where A is a real N-by-N matrix and delta
-  is a scalar value. The routine also returns the minimal number of
-  accurate digits in the 1-norm of exp(A*delta) and the number of
-  accurate digits in the 1-norm of exp(A*delta) at 95% confidence
-  level.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC
-      INTEGER           IDIG, INFO, IWARN, LDA, LDWORK, MDIG, N,
-     $                  NDIAG
-      DOUBLE PRECISION  DELTA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Specifies whether or not a balancing transformation (done
-          by SLICOT Library routine MB04MD) is required, as follows:
-          = 'N', do not use balancing;
-          = 'S', use balancing (scaling).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  NDIAG   (input) INTEGER
-          The specified order of the diagonal Pade approximant.
-          In the absence of further information NDIAG should
-          be set to 9.  NDIAG should not exceed 15.  NDIAG &gt;= 1.
-
-  DELTA   (input) DOUBLE PRECISION
-          The scalar value delta of the problem.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On input, the leading N-by-N part of this array must
-          contain the matrix A of the problem. (This is not needed
-          if DELTA = 0.)
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the solution matrix exp(A*delta).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  MDIG    (output) INTEGER
-          The minimal number of accurate digits in the 1-norm of
-          exp(A*delta).
-
-  IDIG    (output) INTEGER
-          The number of accurate digits in the 1-norm of
-          exp(A*delta) at 95% confidence level.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= N*(2*N+NDIAG+1)+NDIAG, if N &gt;  1.
-          LDWORK &gt;= 1,                     if N &lt;= 1.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  if MDIG = 0 and IDIG &gt; 0, warning for possible
-                inaccuracy (the exponential has been computed);
-          = 2:  if MDIG = 0 and IDIG = 0, warning for severe
-                inaccuracy (the exponential has been computed);
-          = 3:  if balancing has been requested, but it failed to
-                reduce the matrix norm and was not actually used.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the norm of matrix A*delta (after a possible
-                balancing) is too large to obtain an accurate
-                result;
-          = 2:  if the coefficient matrix (the denominator of the
-                Pade approximant) is exactly singular; try a
-                different value of NDIAG;
-          = 3:  if the solution exponential would overflow, possibly
-                due to a too large value DELTA; the calculations
-                stopped prematurely. This error is not likely to
-                appear.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The exponential of the matrix A is evaluated from a diagonal Pade
-  approximant. This routine is a modification of the subroutine
-  PADE, described in reference [1]. The routine implements an
-  algorithm which exploits the identity
-
-      (exp[(2**-m)*A]) ** (2**m) = exp(A),
-
-  where m is an integer determined by the algorithm, to improve the
-  accuracy for matrices with large norms.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Ward, R.C.
-      Numerical computation of the matrix exponential with accuracy
-      estimate.
-      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB05OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          NDIAG
-      PARAMETER        ( NDIAG = 9 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX+NDIAG+1 )+NDIAG )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DELTA
-      INTEGER          I, IDIG, INFO, IWARN, J, MDIG, N
-      CHARACTER*1      BALANC
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB05OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DELTA, BALANC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Find the exponential of the real defective matrix A*DELTA.
-         CALL MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
-     $                IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99993 ) IWARN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) MDIG, IDIG
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB05OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB05OD = ',I2)
-99997 FORMAT (' The solution matrix E = exp(A*DELTA) is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' Minimal number of accurate digits in the norm of E =',
-     $       I4,/' Number of accurate digits in the norm of E',/'     ',
-     $       '            at 95 per cent confidence interval =',I4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (' IWARN on exit from MB05OD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB05OD EXAMPLE PROGRAM DATA
-   3     1.0     S
-   2.0   1.0   1.0
-   0.0   3.0   2.0
-   1.0   0.0   4.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB05OD EXAMPLE PROGRAM RESULTS
-
- The solution matrix E = exp(A*DELTA) is 
-  22.5984  17.2073  53.8144
-  24.4047  27.6033  83.2241
-  29.4097  12.2024  81.4177
-
- Minimal number of accurate digits in the norm of E =  12
- Number of accurate digits in the norm of E
-                 at 95 per cent confidence interval =  15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB05OY.html b/doc/_build/html/_static/doc/MB05OY.html
deleted file mode 100644
index 39c94ff8..00000000
--- a/doc/_build/html/_static/doc/MB05OY.html
+++ /dev/null
@@ -1,128 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05OY">MB05OY</A></H2>
-<H3>
-Restoring a matrix after balancing transformations (permutations and scalings)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To restore a matrix after it has been transformed by applying
-  balancing transformations (permutations and scalings), as
-  determined by LAPACK Library routine DGEBAL.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05OY( JOB, N, LOW, IGH, A, LDA, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           IGH, INFO, LDA, LOW, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), SCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of backward transformation required,
-          as follows:
-          = 'N', do nothing, return immediately;
-          = 'P', do backward transformation for permutation only;
-          = 'S', do backward transformation for scaling only;
-          = 'B', do backward transformations for both permutation
-                 and scaling.
-          JOB must be the same as the argument JOB supplied
-          to DGEBAL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  LOW     (input) INTEGER
-  IGH     (input) INTEGER
-          The integers LOW and IGH determined by DGEBAL.
-          1 &lt;= LOW &lt;= IGH &lt;= N, if N &gt; 0; LOW=1 and IGH=0, if N=0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix to be back-transformed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  SCALE   (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors, as
-          returned by DGEBAL.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let P be a permutation matrix, and D a diagonal matrix of scaling
-  factors, both of order N. The routine computes
-                  -1
-     A &lt;-- P D A D  P'.
-
-  where the permutation and scaling factors are encoded in the
-  array SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires O(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB3JZP.html b/doc/_build/html/_static/doc/MB3JZP.html
deleted file mode 100644
index 30c069bd..00000000
--- a/doc/_build/html/_static/doc/MB3JZP.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB3JZP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3JZP">MB3JZP</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form to the leading principal subpencil, while
-  keeping the triangular form. On entry, we have
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  where A and B are upper triangular.
-  S and H are transformed by a unitary matrix Q such that
-
-                         (  Aout  Dout  )
-    Sout = J Q' J' S Q = (              ), and
-                         (    0   Aout' )
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (    0  -Bout' )           ( -I  0  )
-
-  where Aout and Bout remain in upper triangular form. The notation
-  M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3JZP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, TOL, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   F( LDF, * ), Q( LDQ, * ), ZWORK( * ) 
-      DOUBLE PRECISION   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the unitary matrix Q is returned;
-          = 'U':  the array Q contains a unitary matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the unitary transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-Hermitian
-          matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Bout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the Hermitian matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the unitary transformation matrix Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance used to decide the sign of the eigenvalues.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by MIN(N,10)*EPS, is
-          used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH). A larger value might be
-          needed for pencils with multiple eigenvalues.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N/2)
-
-  ZWORK   COMPLEX*16 array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real parts.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
-          place, where MM denotes the current number of eigenvalues
-          with negative real parts in aA - bB.
-
-  The algorithm uses a sequence of unitary transformations as
-  described on page 43 in [1]. To achieve those transformations the
-  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
-  for the corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB3LZP.html b/doc/_build/html/_static/doc/MB3LZP.html
deleted file mode 100644
index d9dd91b6..00000000
--- a/doc/_build/html/_static/doc/MB3LZP.html
+++ /dev/null
@@ -1,347 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB3LZP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3LZP">MB3LZP</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  G -B' )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-  skew-Hamiltonian pencil aB_S - bB_T, defined as
-
-          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
-          (                 |                 )
-          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
-          (                 |                 )
-    B_S = (-----------------+-----------------) , and
-          (                 |                 )
-          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
-          (                 |                 )
-          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |                 )
-          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
-          (                 |                 )
-          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
-
-  is determined and used to compute the eigenvalues. The notation M'
-  denotes the conjugate transpose of the matrix M. Optionally,
-  if COMPQ = 'C', an orthonormal basis of the right deflating
-  subspace of the pencil aS - bH, corresponding to the eigenvalues
-  with strictly negative real part, is computed. Namely, after
-  transforming aB_S - bB_H by unitary matrices, we have
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Sout = (         ) and B_Hout = (         ),               (3)
-             (  0  BA' )              (  0 -BB' )
-
-  and the eigenvalues with strictly negative real part of the
-  complex pencil aB_Sout - bB_Hout are moved to the top. The
-  embedding doubles the multiplicities of the eigenvalues of the
-  pencil aS - bH.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3LZP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LZWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the deflating subspace; compute the
-                 eigenvalues only;
-          = 'C': compute the deflating subspace and store it in the
-                 leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthonormal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; it is preserved in the leading N/2-by-N/2 part.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of
-          the skew-Hermitian matrix D.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the skew-Hermitian matrix BD in (3) (see
-          also METHOD). The strictly lower triangular part of the
-          input matrix is preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; the elements below the first subdiagonal of the
-          input matrix are preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the right
-          deflating subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part.
-          The remaining entries are meaningless.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -20, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
-          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -22, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,       if COMPQ = 'N';
-          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0,     if COMPQ = 'N';
-          LBWORK &gt;= N - 1, if COMPQ = 'C'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the SLICOT Library routine
-               MB04FP (QZ iteration did not converge or computation
-               of the shifts failed);
-          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
-               trying to triangularize the 2-by-2 blocks;
-          = 3: the singular value decomposition failed in the LAPACK
-               routine ZGESVD (for ORTH = 'S');
-          = 4: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04FP is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~                     (  S11  S12  )
-  B_S = J Q' J' B_S Q = (            ) and
-                        (   0   S11' )
-
-  ~                     (  T11  T12  )           (  0  I  )
-  B_T = J Q' J' B_T Q = (            ), with J = (        ),
-                        (   0   T11' )           ( -I  0  )
-
-  where Q is real orthogonal, S11 is upper triangular, and T11 is
-  upper quasi-triangular.
-
-  Second, the SLICOT Library routine MB3JZP is applied, to compute a
-                 ~
-  unitary matrix Q, such that
-
-                     ~    ~
-    ~     ~   ~   (  S11  S12  )
-  J Q' J' B_S Q = (       ~    ) =: B_Sout,
-                  (   0   S11' )
-
-    ~        ~    ~   (  H11  H12  )
-  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
-                      (   0  -H11' )
-       ~                                               ~       ~
-  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
-  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
-                       ~
-  principal subpencil aS11 - bH11.
-
-  Finally, the right deflating subspace is computed.
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB3OYZ.html b/doc/_build/html/_static/doc/MB3OYZ.html
deleted file mode 100644
index 299f1963..00000000
--- a/doc/_build/html/_static/doc/MB3OYZ.html
+++ /dev/null
@@ -1,211 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB3OYZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3OYZ">MB3OYZ</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing QR factorization of a complex general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated QR factorization with column pivoting
-                                [ R11 R12 ]
-     A * P = Q * R,  where  R = [         ],
-                                [  0  R22 ]
-  with R11 defined as the largest leading upper triangular submatrix
-  whose estimated condition number is less than 1/RCOND.  The order
-  of R11, RANK, is the effective rank of A.  Condition estimation is
-  performed during the QR factorization process.  Matrix R22 is full
-  (but of small norm), or empty.
-
-  MB3OYZ  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3OYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
-      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading RANK-by-RANK upper triangular part
-          of A contains the triangular factor R11, and the elements
-          below the diagonal in the first  RANK  columns, with the
-          array TAU, represent the unitary matrix Q as a product
-          of  RANK  elementary reflectors.
-          The remaining  N-RANK  columns contain the result of the
-          QR factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R11.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-  JPVT    (output) INTEGER array, dimension ( N )
-          If JPVT(i) = k, then the i-th column of A*P was the k-th
-          column of A.
-
-  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
-          The leading  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 2*N )
-
-  ZWORK   COMPLEX*16 array, dimension ( 3*N-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
-  during this process, finds the largest leading submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using the LAPACK incremental condition estimation scheme and a
-  slightly modified rank decision test.  The factorization process
-  stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a complex scalar, and v is a complex vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
-  A(i+1:m,i), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth column of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB3PYZ.html b/doc/_build/html/_static/doc/MB3PYZ.html
deleted file mode 100644
index f81c89ae..00000000
--- a/doc/_build/html/_static/doc/MB3PYZ.html
+++ /dev/null
@@ -1,213 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB3PYZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3PYZ">MB3PYZ</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting, complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing RQ factorization of a complex general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated RQ factorization with row pivoting:
-                                [ R11 R12 ]
-     P * A = R * Q,  where  R = [         ],
-                                [  0  R22 ]
-  with R22 defined as the largest trailing upper triangular
-  submatrix whose estimated condition number is less than 1/RCOND.
-  The order of R22, RANK, is the effective rank of A.  Condition
-  estimation is performed during the RQ factorization process.
-  Matrix R11 is full (but of small norm), or empty.
-
-  MB3PYZ  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3PYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
-      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the upper triangle of the subarray
-          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
-          triangular matrix R22;  the remaining elements in the last
-          RANK  rows, with the array TAU, represent the unitary
-          matrix Q as a product of  RANK  elementary reflectors
-          (see METHOD).  The first  M-RANK  rows contain the result
-          of the RQ factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest trailing triangular
-          submatrix R22 in the RQ factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R22.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(2): smallest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
-                   if RANK &lt; MIN( M, N ), or of
-                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the trailing rows were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(M-RANK+1:M,N-RANK+1:N).
-
-  JPVT    (output) INTEGER array, dimension ( M )
-          If JPVT(i) = k, then the i-th row of P*A was the k-th row
-          of A.
-
-  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
-          The trailing  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 2*M )
-
-  ZWORK   COMPLEX*16 array, dimension ( 3*M-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated RQ factorization with row
-  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
-  during this process, finds the largest trailing submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using an adaptation of the LAPACK incremental condition estimation
-  scheme and a slightly modified rank decision test.  The
-  factorization process stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(k-rank+1)' H(k-rank+2)' . . . H(k)', where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a complex scalar, and v is a complex vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; conjg(v(1:n-k+i-1)) is stored
-  on exit in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB4DBZ.html b/doc/_build/html/_static/doc/MB4DBZ.html
deleted file mode 100644
index 160b78da..00000000
--- a/doc/_build/html/_static/doc/MB4DBZ.html
+++ /dev/null
@@ -1,149 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB4DBZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB4DBZ">MB4DBZ</A></H2>
-<H3>
-Inverse of a balancing transformation for a complex skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply from the left the inverse of a balancing transformation,
-  computed by the SLICOT Library routine MB4DPZ, to the complex
-  matrix
-
-            [   V1   ]
-            [        ],
-            [ sgn*V2 ]
-
-  where sgn is either +1 or -1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB4DBZ( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
-     $                   V2, LDV2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, SGN
-      INTEGER           ILO, INFO, LDV1, LDV2, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  LSCALE(*), RSCALE(*)
-      COMPLEX*16        V1(LDV1,*), V2(LDV2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of inverse transformation required:
-          = 'N':  do nothing, return immediately;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          JOB must be the same as the argument JOB supplied to
-          MB4DPZ.
-
-  SGN     CHARACTER*1
-          Specifies the sign to use for V2:
-          = 'P':  sgn = +1;
-          = 'N':  sgn = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrices V1 and V2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          The integer ILO determined by MB4DPZ.
-          1 &lt;= ILO &lt;= N+1.
-
-  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the left, as returned by MB4DPZ.
-
-  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the right, as returned by MB4DPZ.
-
-  M       (input) INTEGER
-          The number of columns of the matrices V1 and V2.  M &gt;= 0.
-
-  V1      (input/output) COMPLEX*16 array, dimension (LDV1,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V1.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V1 of the transformed
-          matrix.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
-
-  V2      (input/output) COMPLEX*16 array, dimension (LDV2,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V2.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V2 of the transformed
-          matrix.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB4DLZ.html b/doc/_build/html/_static/doc/MB4DLZ.html
deleted file mode 100644
index 98d219b3..00000000
--- a/doc/_build/html/_static/doc/MB4DLZ.html
+++ /dev/null
@@ -1,375 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB4DLZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB4DLZ">MB4DLZ</A></H2>
-<H3>
-Balancing a complex pencil, optionally avoiding large norms for the scaled (sub)matrices 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a pair of N-by-N complex matrices (A,B). This involves,
-  first, permuting A and B by equivalence transformations to isolate
-  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
-  on the diagonal of A and B; and second, applying a diagonal
-  equivalence transformation to rows and columns ILO to IHI to make
-  the rows and columns as close in 1-norm as possible. Both steps
-  are optional. Balancing may reduce the 1-norms of the matrices,
-  and improve the accuracy of the computed eigenvalues and/or
-  eigenvectors in the generalized eigenvalue problem
-  A*x = lambda*B*x.
-
-  This routine may optionally improve the conditioning of the
-  scaling transformation compared to the LAPACK routine ZGGBAL.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
-     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
-      COMPLEX*16         A(LDA,*), B(LDB,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on A and B:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for I = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A and B.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(A(s,s),1)/norm(B(s,s),1),
-                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where A(s,s) and B(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in LSCALE(s) and RSCALE(s), will be
-          at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix A.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix B.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of B is zero.
-          If JOB = 'N', the arrays A and B are not referenced.
-
-  LDB    INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-  IHI     (output) INTEGER
-          ILO and IHI are set to integers such that on exit
-          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
-          j = 1,...,ILO-1 or i = IHI+1,...,N.
-          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the left side of A and B.  If P(j) is the index of the
-          row interchanged with row j, and D(j) is the scaling
-          factor applied to row j, then
-            LSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the right side of A and B.  If P(j) is the index of the
-          column interchanged with column j, and D(j) is the scaling
-          factor applied to column j, then
-            RSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of A(s,s) and B(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = IHI).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying an equivalence transformation
-  to isolate eigenvalues and/or to make the 1-norms of the rows
-  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
-  a search is performed to find those scaling factors giving the
-  smallest norm ratio or product defined above (see the description
-  of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-     Dl*A*Dr and Dl*B*Dr.
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than ZGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  No rounding errors appear if JOB = 'P'.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB4DLZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, NMAX ), B( LDB, NMAX )
-      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB4DLZ
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
-     $                RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )  ILO
-            WRITE ( NOUT, FMT = 99993 )  IHI
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99992 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99992 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB4DLZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB4DLZ = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix B is ')
-99995 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
-99994 FORMAT (/' ILO = ',I4)
-99993 FORMAT (/' IHI = ',I4)
-99992 FORMAT (20(1X,G11.4))
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB4DLZ = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB4DLZ EXAMPLE PROGRAM DATA
-       4       B      -3
-   (1,0.5)         0    -1e-12         0
-         0   (-2,-1)         0         0
-         1 (-1,-0.5)  (-1,0.5)         0
-  (-1,0.5)        -1         0    (2,-1)
-   (1,0.5)         0         0         0
-         0   (1,0.5)         0         0
-         0         0  (1,-0.5)         0
-         0         0         0  (1,-0.5)
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB4DLZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-   2.000       -1.000i   -1.000       +0.500i    0.000       +0.000i   -1.000       +0.000i 
-   0.000       +0.000i    1.000       +0.500i  -0.1000E-11   +0.000i    0.000       +0.000i 
-   0.000       +0.000i    1.000       +0.000i   -1.000       +0.500i   -1.000       -0.500i 
-   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i   -2.000       -1.000i 
-
- The balanced matrix B is 
-   1.000       -0.500i    0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
-   0.000       +0.000i    1.000       +0.500i    0.000       +0.000i    0.000       +0.000i 
-   0.000       +0.000i    0.000       +0.000i    1.000       -0.500i    0.000       +0.000i 
-   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i    1.000       +0.500i 
-
- ILO =    2
-
- IHI =    3
-
- The permutations and left scaling factors are 
-   2.000       1.000       1.000       2.000    
-
- The permutations and right scaling factors are 
-   2.000       1.000       1.000       2.000    
-
- The initial 1-norms of the (sub)matrices are 
-   2.118       1.118    
-
- The final 1-norms of the (sub)matrices are 
-   2.118       1.118    
-
- The threshold value finally used is 
-  0.2229E-12
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MB4DPZ.html b/doc/_build/html/_static/doc/MB4DPZ.html
deleted file mode 100644
index 1a1b62c9..00000000
--- a/doc/_build/html/_static/doc/MB4DPZ.html
+++ /dev/null
@@ -1,437 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB4DPZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB4DPZ">MB4DPZ</A></H2>
-<H3>
-Balancing a complex skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the 2*N-by-2*N complex skew-Hamiltonian/Hamiltonian
-  pencil aS - bH, with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ),  A, C N-by-N,             (1)
-        (  E  A' )         (  W -C' )
-
-  where D and E are skew-Hermitian, V and W are Hermitian matrices,
-  and ' denotes conjugate transpose. This involves, first, permuting
-  aS - bH by a symplectic equivalence transformation to isolate
-  eigenvalues in the first 1:ILO-1 elements on the diagonal of A
-  and C; and second, applying a diagonal equivalence transformation
-  to make the pairs of rows and columns ILO:N and N+ILO:2*N as close
-  in 1-norm as possible. Both steps are optional. Balancing may
-  reduce the 1-norms of the matrices S and H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
-      COMPLEX*16         A(LDA,*), C(LDC,*), DE(LDDE,*), VW(LDVW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on S and H:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for i = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(H(s,s),1)/norm(S(s,s),1),
-                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where S(s,s) and H(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
-          will be at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced skew-Hamiltonian matrix S.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N+1)
-          On entry, the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N-by-N upper triangular
-          part of the submatrix in the columns 2 to N+1 of this
-          array must contain the upper triangular part of the
-          skew-Hermitian matrix D. The real parts of the entries on
-          the diagonal and the first superdiagonal of this array
-          should be zero.
-          On exit, the leading N-by-N lower triangular part of this
-          array contains the lower triangular part of the balanced
-          matrix E, and the N-by-N upper triangular part of the 
-          submatrix in the columns 2 to N+1 of this array contains
-          the upper triangular part of the balanced matrix D.
-          In particular, the lower triangular part of the first
-          ILO-1 columns of DE is zero.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix C.
-          On exit, the leading N-by-N part of this array contains
-          the matrix C of the balanced Hamiltonian matrix H.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of C is zero.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
-
-  VW      (input/output) COMPLEX*16 array, dimension (LDVW, N+1)
-          On entry, the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix W, and the N-by-N upper triangular
-          part of the submatrix in the columns 2 to N+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix V. The imaginary parts of the entries on
-          the diagonal and the first superdiagonal of this array
-          should be zero.
-          On exit, the leading N-by-N lower triangular part of this
-          array contains the lower triangular part of the balanced
-          matrix W, and the N-by-N upper triangular part of the
-          submatrix in the columns 2 to N+1 of this array contains
-          the upper triangular part of the balanced matrix V. In
-          particular, the lower triangular part of the first ILO-1
-          columns of VW is zero.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
-          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
-          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of LSCALE contains the factor of the scaling applied to
-          row j of the matrices A, D, C, and V.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
-          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of RSCALE contains the factor of the scaling applied to
-          column j of the matrices A, E, C, and W.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of S(s,s) and H(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = N).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a (symplectic) equivalence
-  transformation to isolate eigenvalues and/or to make the 1-norms
-  of each pair of rows and columns indexed by s of S and H nearly
-  equal. If THRESH &lt; 0, a search is performed to find those scaling
-  factors giving the smallest norm ratio or product defined above
-  (see the description of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
-    (       ) (       ) (       ),  (       ) (       ) (       ).
-    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than ZGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The transformations used preserve the skew-Hamiltonian/Hamiltonian
-  structure and do not introduce significant rounding errors.
-  No rounding errors appear if JOB = 'P'. If T is the global
-  transformation matrix applied to the right, then J'*T*J is the
-  global transformation matrix applied to the left, where
-  J = [ 0 I; -I 0 ], with blocks of order N.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB4DPZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDC, LDDE, LDVW
-      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
-     $                   LDVW = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, NMAX ), C( LDC, NMAX ), DE(LDDE, NMAX),
-     $                 VW(LDVW, NMAX)
-      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB4DPZ
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
-20          CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99992 )  ILO
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99984 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99984 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB4DPZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB4DPZ = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix DE is ')
-99995 FORMAT (' The balanced matrix C is ')
-99994 FORMAT (/' The balanced matrix VW is ')
-99993 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
-99992 FORMAT (/' ILO = ',I4)
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB4DPZ = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-99984 FORMAT (20(1X,G11.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB4DPZ EXAMPLE PROGRAM DATA
-       2       B      -3
-   (1,0.5)         0
-         0   (1,0.5)
-         0         0         0
-         0         0         0
-   (1,0.5)         0
-         0   (-2,-1)
-         1   -1.e-12         0
-  (-1,0.5)        -1         0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB4DPZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-   1.000       -0.500i    0.000        0.000i 
-   0.000        0.000i    1.000       +0.500i 
-
- The balanced matrix DE is 
-   0.000        0.000i    0.000       +0.000i    0.000       +0.000i 
-   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
- The balanced matrix C is 
-   2.000       -1.000i    1.000       -0.500i 
-   0.000        0.000i    1.000       +0.500i 
-
- The balanced matrix VW is 
-   0.000        0.000i    1.000       +0.000i    0.000        0.000i 
-   0.000        0.000i    1.000       +0.000i  -0.1000E-11   +0.000i 
-
- ILO =    2
-
- The permutations and left scaling factors are 
-   4.000       1.000    
-
- The permutations and right scaling factors are 
-   4.000       1.000    
-
- The initial 1-norms of the (sub)matrices are 
-   1.118       2.118    
-
- The final 1-norms of the (sub)matrices are 
-   1.118       2.118    
-
- The threshold value finally used is 
-  -3.000    
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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+++ /dev/null
@@ -1,199 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01MD">MC01MD</A></H2>
-<H3>
-The leading coefficients of the shifted polynomial for a given real polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate, for a given real polynomial P(x) and a real scalar
-  alpha, the leading K coefficients of the shifted polynomial
-                                                            K-1
-     P(x) = q(1) + q(2) * (x-alpha) + ... + q(K) * (x-alpha)   + ...
-
-  using Horner's algorithm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01MD( DP, ALPHA, K, P, Q, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, K
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(*), Q(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar value alpha of the problem.
-
-  K       (input) INTEGER
-          The number of coefficients of the shifted polynomial to be
-          computed.  1 &lt;= K &lt;= DP+1.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of P(x) in
-          increasing powers of x.
-
-  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
-          The leading K elements of this array contain the first
-          K coefficients of the shifted polynomial in increasing
-          powers of (x - alpha), and the next (DP-K+1) elements
-          are used as internal workspace.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the real polynomial
-                                      2                    DP
-     P(x) = p(1) + p(2) * x + p(3) * x  + ... + p(DP+1) * x  ,
-
-  the routine computes the leading K coefficients of the shifted
-  polynomial
-                                                                K-1
-     P(x) = q(1) + q(2) * (x - alpha) + ... + q(K) * (x - alpha)
-
-  as follows.
-
-  Applying Horner's algorithm (see [1]) to P(x), i.e. dividing P(x)
-  by (x-alpha), yields
-
-     P(x) = q(1) + (x-alpha) * D(x),
-
-  where q(1) is the value of the constant term of the shifted
-  polynomial and D(x) is the quotient polynomial of degree (DP-1)
-  given by
-                                      2                     DP-1
-     D(x) = d(2) + d(3) * x + d(4) * x  + ... +  d(DP+1) * x    .
-
-  Applying Horner's algorithm to D(x) and subsequent quotient
-  polynomials yields q(2) and q(3), q(4), ..., q(K) respectively.
-
-  It follows immediately that q(1) = P(alpha), and in general
-             (i-1)
-     q(i) = P     (alpha) / (i - 1)! for i = 1, 2, ..., K.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] STOER, J. and BULIRSCH, R.
-      Introduction to Numerical Analysis.
-      Springer-Verlag. 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA
-      INTEGER          DP, I, INFO, K
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01MD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP, ALPHA, K
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Compute the leading K coefficients of the shifted polynomial.
-         CALL MC01MD( DP, ALPHA, K, P, Q, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) ALPHA
-            DO 20 I = 1, K
-               WRITE ( NOUT, FMT = 99996 ) I - 1, Q(I)
-   20       CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01MD = ',I2)
-99997 FORMAT (' ALPHA = ',F8.4,//' The coefficients of the shifted pol',
-     $       'ynomial are ',//' power of (x-ALPHA)     coefficient ')
-99996 FORMAT (5X,I5,15X,F9.4)
-99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01MD EXAMPLE PROGRAM DATA
-   5     2.0     6
-   6.0  5.0  4.0  3.0  2.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01MD EXAMPLE PROGRAM RESULTS
-
- ALPHA =   2.0000
-
- The coefficients of the shifted polynomial are 
-
- power of (x-ALPHA)     coefficient 
-         0                120.0000
-         1                201.0000
-         2                150.0000
-         3                 59.0000
-         4                 12.0000
-         5                  1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01ND.html b/doc/_build/html/_static/doc/MC01ND.html
deleted file mode 100644
index 2dd56456..00000000
--- a/doc/_build/html/_static/doc/MC01ND.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01ND">MC01ND</A></H2>
-<H3>
-Value of a real polynomial at a given complex point
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the real polynomial P(x) at a given
-  complex point x = x0 using Horner's algorithm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01ND( DP, XR, XI, P, VR, VI, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO
-      DOUBLE PRECISION  VI, VR, XI, XR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  XR      (input) DOUBLE PRECISION
-  XI      (input) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of x0.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of the polynomial
-          P(x) in increasing powers of x.
-
-  VR      (output) DOUBLE PRECISION
-  VI      (output) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of P(x0).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the real polynomial
-                                      2                   DP
-     P(x) = p(1) + p(2) * x + p(3) * x + ... + p(DP+1) * x  ,
-
-  the routine computes the value of P(x0) using the recursion
-
-     q(DP+1) = p(DP+1),
-     q(i) = x0*q(i+1) + p(i) for i = DP, DP-1, ..., 1,
-
-  which is known as Horner's algorithm (see [1]). Then q(1) = P(x0).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] STOER, J and BULIRSCH, R.
-      Introduction to Numerical Analysis.
-      Springer-Verlag. 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires DP operations for real arguments and 4*DP
-  for complex arguments.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION VI, VR, XI, XR
-      INTEGER          DP, I, INFO
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(DPMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP, XR, XI
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Evaluate the polynomial at the given (complex) point.
-         CALL MC01ND( DP, XR, XI, P, VR, VI, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) XR, XI, VR
-            WRITE ( NOUT, FMT = 99996 ) XR, XI, VI
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01ND = ',I2)
-99997 FORMAT (' Real      part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
-99996 FORMAT (/' Imaginary part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
-99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01ND EXAMPLE PROGRAM DATA
-   4     -1.56     0.29
-   5.0  3.0  -1.0  2.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01ND EXAMPLE PROGRAM RESULTS
-
- Real      part of P( -1.56 +0.29*j ) =  -4.1337
-
- Imaginary part of P( -1.56 +0.29*j ) =   1.7088
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01OD.html b/doc/_build/html/_static/doc/MC01OD.html
deleted file mode 100644
index 272a1052..00000000
--- a/doc/_build/html/_static/doc/MC01OD.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01OD">MC01OD</A></H2>
-<H3>
-Coefficients of a complex polynomial, given its zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a complex polynomial P(x) from its
-  zeros.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), IMP(*), IMZ(*), REP(*), REZ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of zeros (and hence the degree) of P(x).
-          K &gt;= 0.
-
-  REZ     (input) DOUBLE PRECISION array, dimension (K)
-  IMZ     (input) DOUBLE PRECISION array, dimension (K)
-          The real and imaginary parts of the i-th zero of P(x)
-          must be stored in REZ(i) and IMZ(i), respectively, where
-          i = 1, 2, ..., K. The zeros may be supplied in any order.
-
-  REP     (output) DOUBLE PRECISION array, dimension (K+1)
-  IMP     (output) DOUBLE PRECISION array, dimension (K+1)
-          These arrays contain the real and imaginary parts,
-          respectively, of the coefficients of P(x) in increasing
-          powers of x. If K = 0, then REP(1) is set to one and
-          IMP(1) is set to zero.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*K+2)
-          If K = 0, this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the coefficients of the complex K-th degree
-  polynomial P(x) as
-
-     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
-
-  where r(i) = (REZ(i),IMZ(i)), using real arithmetic.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX
-      PARAMETER        ( KMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, K
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(2*KMAX+2), IMP(KMAX+1), IMZ(KMAX),
-     $                 REP(KMAX+1), REZ(KMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MC01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K
-      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) K
-      ELSE
-         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
-*        Compute the coefficients of P(x) from the given zeros.
-         CALL MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99996 )
-     $            ( I, REP(I+1), IMP(I+1), I = 0,K )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01OD = ',I2)
-99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
-     $       'r of x     real part     imag part ')
-99996 FORMAT (2X,I5,8X,F9.4,5X,F9.4)
-99995 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01OD EXAMPLE PROGRAM DATA
-   5
-   1.1   0.9
-   0.6  -0.7
-  -2.0   0.3
-  -0.8   2.5
-  -0.3  -0.4
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01OD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial P(x) are 
-
- power of x     real part     imag part 
-      0           2.7494       -2.1300
-      1          -1.7590       -5.4205
-      2           0.0290        2.8290
-      3          -1.6500       -1.7300
-      4           1.4000       -2.6000
-      5           1.0000        0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01PD.html b/doc/_build/html/_static/doc/MC01PD.html
deleted file mode 100644
index 7aefe569..00000000
--- a/doc/_build/html/_static/doc/MC01PD.html
+++ /dev/null
@@ -1,172 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01PD">MC01PD</A></H2>
-<H3>
-Coefficients of a real polynomial, given its zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a real polynomial P(x) from its
-  zeros.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01PD( K, REZ, IMZ, P, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of zeros (and hence the degree) of P(x).
-          K &gt;= 0.
-
-  REZ     (input) DOUBLE PRECISION array, dimension (K)
-  IMZ     (input) DOUBLE PRECISION array, dimension (K)
-          The real and imaginary parts of the i-th zero of P(x)
-          must be stored in REZ(i) and IMZ(i), respectively, where
-          i = 1, 2, ..., K. The zeros may be supplied in any order,
-          except that complex conjugate zeros must appear
-          consecutively.
-
-  P       (output) DOUBLE PRECISION array, dimension (K+1)
-          This array contains the coefficients of P(x) in increasing
-          powers of x. If K = 0, then P(1) is set to one.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (K+1)
-          If K = 0, this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
-                (REZ(i-1),IMZ(i-1)) is not its conjugate.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the coefficients of the real K-th degree
-  polynomial P(x) as
-
-     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
-
-  where r(i) = (REZ(i),IMZ(i)).
-
-  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
-  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
-  if r(i) is real.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX
-      PARAMETER        ( KMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, K
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(KMAX+1), IMZ(KMAX), P(KMAX+1), REZ(KMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MC01PD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K
-      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) K
-      ELSE
-         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
-*        Compute the coefficients of P(x) from the given zeros.
-         CALL MC01PD( K, REZ, IMZ, P, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99996 ) ( I, P(I+1), I = 0,K )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01PD = ',I2)
-99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
-     $       'r of x     coefficient ')
-99996 FORMAT (2X,I5,9X,F9.4)
-99995 FORMAT (' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01PD EXAMPLE PROGRAM DATA
-   5
-   0.0   1.0
-   0.0  -1.0
-   2.0   0.0
-   1.0   3.0
-   1.0  -3.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01PD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial P(x) are 
-
- power of x     coefficient 
-      0          -20.0000
-      1           14.0000
-      2          -24.0000
-      3           15.0000
-      4           -4.0000
-      5            1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01PY.html b/doc/_build/html/_static/doc/MC01PY.html
deleted file mode 100644
index 8a26d2e6..00000000
--- a/doc/_build/html/_static/doc/MC01PY.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01PY">MC01PY</A></H2>
-<H3>
-Coefficients of a real polynomial, stored in decreasing order, given its zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a real polynomial P(x) from its
-  zeros. The coefficients are stored in decreasing order of the
-  powers of x.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01PY( K, REZ, IMZ, P, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of zeros (and hence the degree) of P(x).
-          K &gt;= 0.
-
-  REZ     (input) DOUBLE PRECISION array, dimension (K)
-  IMZ     (input) DOUBLE PRECISION array, dimension (K)
-          The real and imaginary parts of the i-th zero of P(x)
-          must be stored in REZ(i) and IMZ(i), respectively, where
-          i = 1, 2, ..., K. The zeros may be supplied in any order,
-          except that complex conjugate zeros must appear
-          consecutively.
-
-  P       (output) DOUBLE PRECISION array, dimension (K+1)
-          This array contains the coefficients of P(x) in decreasing
-          powers of x.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (K)
-          If K = 0, this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
-                (REZ(i-1),IMZ(i-1)) is not its conjugate.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the coefficients of the real K-th degree
-  polynomial P(x) as
-
-     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
-
-  where r(i) = (REZ(i),IMZ(i)).
-
-  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
-  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
-  if r(i) is real.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01QD.html b/doc/_build/html/_static/doc/MC01QD.html
deleted file mode 100644
index b0faa8b2..00000000
--- a/doc/_build/html/_static/doc/MC01QD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01QD">MC01QD</A></H2>
-<H3>
-Quotient and remainder polynomials for polynomial division
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for two given real polynomials A(x) and B(x), the
-  quotient polynomial Q(x) and the remainder polynomial R(x) of
-  A(x) divided by B(x).
-
-  The polynomials Q(x) and R(x) satisfy the relationship
-
-     A(x) = B(x) * Q(x) + R(x),
-
-  where the degree of R(x) is less than the degree of B(x).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DA, DB, INFO, IWARN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*), RQ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DA      (input) INTEGER
-          The degree of the numerator polynomial A(x).  DA &gt;= -1.
-
-  DB      (input/output) INTEGER
-          On entry, the degree of the denominator polynomial B(x).
-          DB &gt;= 0.
-          On exit, if B(DB+1) = 0.0 on entry, then DB contains the
-          index of the highest power of x for which B(DB+1) &lt;&gt; 0.0.
-
-  A       (input) DOUBLE PRECISION array, dimension (DA+1)
-          This array must contain the coefficients of the
-          numerator polynomial A(x) in increasing powers of x
-          unless DA = -1 on entry, in which case A(x) is taken
-          to be the zero polynomial.
-
-  B       (input) DOUBLE PRECISION array, dimension (DB+1)
-          This array must contain the coefficients of the
-          denominator polynomial B(x) in increasing powers of x.
-
-  RQ      (output) DOUBLE PRECISION array, dimension (DA+1)
-          If DA &lt; DB on exit, then this array contains the
-          coefficients of the remainder polynomial R(x) in
-          increasing powers of x; Q(x) is the zero polynomial.
-          Otherwise, the leading DB elements of this array contain
-          the coefficients of R(x) in increasing powers of x, and
-          the next (DA-DB+1) elements contain the coefficients of
-          Q(x) in increasing powers of x.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = k:  if the degree of the denominator polynomial B(x) has
-                been reduced to (DB - k) because B(DB+1-j) = 0.0 on
-                entry for j = 0, 1, ..., k-1 and B(DB+1-k) &lt;&gt; 0.0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, DB &gt;= 0 and B(i) = 0.0, where
-                i = 1, 2, ..., DB+1.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given real polynomials
-                                               DA
-     A(x) = a(1) + a(2) * x + ... + a(DA+1) * x
-
-  and
-                                               DB
-     B(x) = b(1) + b(2) * x + ... + b(DB+1) * x
-
-  where b(DB+1) is non-zero, the routine computes the coeffcients of
-  the quotient polynomial
-                                                  DA-DB
-     Q(x) = q(1) + q(2) * x + ... + q(DA-DB+1) * x
-
-  and the remainder polynomial
-                                             DB-1
-     R(x) = r(1) + r(2) * x + ... + r(DB) * x
-
-  such that A(x) = B(x) * Q(x) + R(x).
-
-  The algorithm used is synthetic division of polynomials (see [1]),
-  which involves the following steps:
-
-     (a) compute q(k+1) = a(DB+k+1) / b(DB+1)
-
-  and
-
-     (b) set a(j) = a(j) - q(k+1) * b(j-k) for j = k+1, ..., DB+k.
-
-  Steps (a) and (b) are performed for k = DA-DB, DA-DB-1, ..., 0 and
-  the algorithm terminates with r(i) = a(i) for i = 1, 2, ..., DB.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Knuth, D.E.
-      The Art of Computer Programming, (Vol. 2, Seminumerical
-      Algorithms).
-      Addison-Wesley, Reading, Massachusetts (2nd Edition), 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DAMAX, DBMAX
-      PARAMETER        ( DAMAX = 10, DBMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          DA, DB, DBB, DQ, DR, I, IMAX, INFO, IWARN
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(DAMAX+1), B(DBMAX+1), RQ(DAMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DA
-      IF ( DA.LE.-2 .OR. DA.GT.DAMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) DA
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
-         READ ( NIN, FMT = * ) DB
-         DBB = DB
-         IF ( DB.LE.-1 .OR. DB.GT.DBMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) DB
-         ELSE
-            READ ( NIN, FMT = * ) ( B(I), I = 1,DB+1 )
-*           Compute Q(x) and R(x) from the given A(x) and B(x).
-            CALL MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF ( IWARN.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) IWARN
-                  WRITE ( NOUT, FMT = 99996 ) DBB, DB
-               END IF
-               WRITE ( NOUT, FMT = 99995 )
-               DQ = DA - DB
-               DR = DB - 1
-               IMAX = DQ
-               IF ( DR.GT.IMAX ) IMAX = DR
-               DO 20 I = 0, IMAX
-                  IF ( I.LE.DQ .AND. I.LE.DR ) THEN
-                     WRITE ( NOUT, FMT = 99994 ) I, RQ(DB+I+1), RQ(I+1)
-                  ELSE IF ( I.LE.DQ ) THEN
-                     WRITE ( NOUT, FMT = 99993 ) I, RQ(DB+I+1)
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) I, RQ(I+1)
-                  END IF
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01QD = ',I2)
-99997 FORMAT (' IWARN on exit from MC01QD = ',I2,/)
-99996 FORMAT (' The degree of the denominator polynomial B(x) has been',
-     $       ' reduced from ',I2,' to ',I2,/)
-99995 FORMAT (' The coefficients of the polynomials Q(x) and R(x) are ',
-     $       //'                    Q(x)            R(x) ',/' power of',
-     $       ' x     coefficient     coefficient ')
-99994 FORMAT (2X,I5,9X,F9.4,7X,F9.4)
-99993 FORMAT (2X,I5,9X,F9.4)
-99992 FORMAT (2X,I5,25X,F9.4)
-99991 FORMAT (/' DA is out of range.',/' DA = ',I5)
-99990 FORMAT (/' DB is out of range.',/' DB = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01QD EXAMPLE PROGRAM DATA
-   4
-   2.0  2.0  -1.0  2.0  1.0
-   2
-   1.0  -1.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01QD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomials Q(x) and R(x) are 
-
-                    Q(x)            R(x) 
- power of x     coefficient     coefficient 
-      0            1.0000          1.0000
-      1            3.0000          0.0000
-      2            1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01RD.html b/doc/_build/html/_static/doc/MC01RD.html
deleted file mode 100644
index d66a8409..00000000
--- a/doc/_build/html/_static/doc/MC01RD.html
+++ /dev/null
@@ -1,251 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01RD">MC01RD</A></H2>
-<H3>
-Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of the polynomial
-
-     P(x) = P1(x) * P2(x) + alpha * P3(x),
-
-  where P1(x), P2(x) and P3(x) are given real polynomials and alpha
-  is a real scalar.
-
-  Each of the polynomials P1(x), P2(x) and P3(x) may be the zero
-  polynomial.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP1, DP2, DP3, INFO
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P1(*), P2(*), P3(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP1     (input) INTEGER
-          The degree of the polynomial P1(x).  DP1 &gt;= -1.
-
-  DP2     (input) INTEGER
-          The degree of the polynomial P2(x).  DP2 &gt;= -1.
-
-  DP3     (input/output) INTEGER
-          On entry, the degree of the polynomial P3(x).  DP3 &gt;= -1.
-          On exit, the degree of the polynomial P(x).
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar value alpha of the problem.
-
-  P1      (input) DOUBLE PRECISION array, dimension (lenp1)
-          where lenp1 = DP1 + 1 if DP1 &gt;= 0 and 1 otherwise.
-          If DP1 &gt;= 0, then this array must contain the
-          coefficients of P1(x) in increasing powers of x.
-          If DP1 = -1, then P1(x) is taken to be the zero
-          polynomial, P1 is not referenced and can be supplied
-          as a dummy array.
-
-  P2      (input) DOUBLE PRECISION array, dimension (lenp2)
-          where lenp2 = DP2 + 1 if DP2 &gt;= 0 and 1 otherwise.
-          If DP2 &gt;= 0, then this array must contain the
-          coefficients of P2(x) in increasing powers of x.
-          If DP2 = -1, then P2(x) is taken to be the zero
-          polynomial, P2 is not referenced and can be supplied
-          as a dummy array.
-
-  P3      (input/output) DOUBLE PRECISION array, dimension (lenp3)
-          where lenp3 = MAX(DP1+DP2,DP3,0) + 1.
-          On entry, if DP3 &gt;= 0, then this array must contain the
-          coefficients of P3(x) in increasing powers of x.
-          On entry, if DP3 = -1, then P3(x) is taken to be the zero
-          polynomial.
-          On exit, the leading (DP3+1) elements of this array
-          contain the coefficients of P(x) in increasing powers of x
-          unless DP3 = -1 on exit, in which case the coefficients of
-          P(x) (the zero polynomial) are not stored in the array.
-          This is the case, for instance, when ALPHA = 0.0 and
-          P1(x) or P2(x) is the zero polynomial.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given real polynomials
-
-             DP1           i           DP2           i
-     P1(x) = SUM a(i+1) * x ,  P2(x) = SUM b(i+1) * x  and
-             i=0                       i=0
-
-             DP3           i
-     P3(x) = SUM c(i+1) * x ,
-             i=0
-
-  the routine computes the coefficents of P(x) = P1(x) * P2(x) +
-                  DP3            i
-  alpha * P3(x) = SUM  d(i+1) * x  as follows.
-                  i=0
-
-  Let e(i) = c(i) for 1 &lt;= i &lt;= DP3+1 and e(i) = 0 for i &gt; DP3+1.
-  Then if DP1 &gt;= DP2,
-
-             i
-     d(i) = SUM a(k) * b(i-k+1) + f(i), for i = 1, ..., DP2+1,
-            k=1
-
-              i
-     d(i)  = SUM a(k) * b(i-k+1) + f(i), for i = DP2+2, ..., DP1+1
-            k=i-DP2
-
-  and
-             DP1+1
-     d(i)  = SUM a(k) * b(i-k+1) + f(i) for i = DP1+2,...,DP1+DP2+1,
-            k=i-DP2
-
-  where f(i) = alpha * e(i).
-
-  Similar formulas hold for the case DP1 &lt; DP2.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DP1MAX, DP2MAX, DP3MAX
-      PARAMETER        ( DP1MAX = 10, DP2MAX = 10, DP3MAX = 10 )
-      INTEGER          LENP3
-      PARAMETER        ( LENP3 = MAX(DP1MAX+DP2MAX,DP3MAX)+1 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA
-      INTEGER          DP1, DP2, DP3, I, INFO
-*     .. Local Arrays ..
-      DOUBLE PRECISION P1(DP1MAX+1), P2(DP2MAX+1), P3(LENP3)
-*    $                 P3(DP1MAX+DP2MAX+DP3MAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP1
-      IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) DP1
-      ELSE
-         READ ( NIN, FMT = * ) ( P1(I), I = 1,DP1+1 )
-         READ ( NIN, FMT = * ) DP2
-         IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) DP2
-         ELSE
-            READ ( NIN, FMT = * ) ( P2(I), I = 1,DP2+1 )
-            READ ( NIN, FMT = * ) DP3
-            IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) DP3
-            ELSE
-               READ ( NIN, FMT = * ) ( P3(I), I = 1,DP3+1 )
-            END IF
-            READ ( NIN, FMT = * ) ALPHA
-*           Compute the coefficients of the polynomial P(x).
-            CALL MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) DP3
-               IF ( DP3.GE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 0, DP3
-                     WRITE ( NOUT, FMT = 99995 ) I, P3(I+1)
-   20             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01RD = ',I2)
-99997 FORMAT (' Degree of the resulting polynomial P(x) = ',I2)
-99996 FORMAT (/' The coefficients of P(x) are ',//' power of x     coe',
-     $       'fficient ')
-99995 FORMAT (2X,I5,9X,F9.4)
-99994 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
-99993 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
-99992 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01RD EXAMPLE PROGRAM DATA
-   1
-   1.00  2.50
-   2
-   1.00  0.10  -0.40
-   1
-   1.15  1.50
-  -2.20
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01RD EXAMPLE PROGRAM RESULTS
-
- Degree of the resulting polynomial P(x) =  3
-
- The coefficients of P(x) are 
-
- power of x     coefficient 
-      0           -1.5300
-      1           -0.7000
-      2           -0.1500
-      3           -1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01SD.html b/doc/_build/html/_static/doc/MC01SD.html
deleted file mode 100644
index f6ed2ca8..00000000
--- a/doc/_build/html/_static/doc/MC01SD.html
+++ /dev/null
@@ -1,229 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01SD">MC01SD</A></H2>
-<H3>
-Scaling coefficients of a real polynomial for having minimal variation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale the coefficients of the real polynomial P(x) such that
-  the coefficients of the scaled polynomial Q(x) = sP(tx) have
-  minimal variation, where s and t are real scalars.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, S, T
-C     .. Array Arguments ..
-      INTEGER           E(*), IWORK(*)
-      DOUBLE PRECISION  MANT(*), P(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  P       (input/output) DOUBLE PRECISION array, dimension (DP+1)
-          On entry, this array must contain the coefficients of P(x)
-          in increasing powers of x.
-          On exit, this array contains the coefficients of the
-          scaled polynomial Q(x) in increasing powers of x.
-
-  S       (output) INTEGER
-          The exponent of the floating-point representation of the
-          scaling factor s = BASE**S, where BASE is the base of the
-          machine representation of floating-point numbers (see
-          LAPACK Library Routine DLAMCH).
-
-  T       (output) INTEGER
-          The exponent of the floating-point representation of the
-          scaling factor t = BASE**T.
-
-  MANT    (output) DOUBLE PRECISION array, dimension (DP+1)
-          This array contains the mantissas of the standard
-          floating-point representation of the coefficients of the
-          scaled polynomial Q(x) in increasing powers of x.
-
-  E       (output) INTEGER array, dimension (DP+1)
-          This array contains the exponents of the standard
-          floating-point representation of the coefficients of the
-          scaled polynomial Q(x) in increasing powers of x.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (DP+1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, P(x) is the zero polynomial.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Define the variation of the coefficients of the real polynomial
-
-                                      2                DP
-     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
-
-  whose non-zero coefficients can be represented as
-                       e(i)
-     p(i) = m(i) * BASE     (where 1 &lt;= ABS(m(i)) &lt; BASE)
-
-  by
-
-     V = max(e(i)) - min(e(i)),
-
-  where max and min are taken over the indices i for which p(i) is
-  non-zero.
-                                     DP         i    i
-  For the scaled polynomial P(cx) = SUM p(i) * c  * x  with
-                                    i=0
-             j
-  c  = (BASE) , the variation V(j) is given by
-
-    V(j) = max(e(i) + j * i) - min(e(i) + j * i).
-
-  Using the fact that V(j) is a convex function of j, the routine
-  determines scaling factors s = (BASE)**S and t = (BASE)**T such
-  that the coefficients of the scaled polynomial Q(x) = sP(tx)
-  satisfy the following conditions:
-
-    (a) 1 &lt;= q(0) &lt; BASE and
-
-    (b) the variation of the coefficients of Q(x) is minimal.
-
-  Further details can be found in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Dunaway, D.K.
-      Calculation of Zeros of a Real Polynomial through
-      Factorization using Euclid's Algorithm.
-      SIAM J. Numer. Anal., 11, pp. 1087-1104, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Since the scaling is performed on the exponents of the floating-
-  point representation of the coefficients of P(x), no rounding
-  errors occur during the computation of the coefficients of Q(x).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The scaling factors s and t are BASE dependent.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          BETA, DP, I, INFO, S, T
-*     .. Local Arrays ..
-      DOUBLE PRECISION MANT(DPMAX+1), P(DPMAX+1)
-      INTEGER          E(DPMAX+1), IWORK(DPMAX+1)
-C     .. External Functions ..
-      DOUBLE PRECISION DLAMCH
-      EXTERNAL         DLAMCH
-*     .. External Subroutines ..
-      EXTERNAL         MC01SD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Compute the coefficients of the scaled polynomial Q(x).
-         CALL MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            BETA = DLAMCH( 'Base' )
-            WRITE ( NOUT, FMT = 99995 ) BETA, S, T
-            WRITE ( NOUT,FMT = 99997 )
-            DO 20 I = 0, DP
-               WRITE ( NOUT, FMT = 99996 ) I, P(I+1)
-   20       CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01SD = ',I2)
-99997 FORMAT (/' The coefficients of the scaled polynomial Q(x) = s*P(',
-     $       'tx) are ',//' power of x     coefficient ')
-99996 FORMAT (2X,I5,9X,F9.4)
-99995 FORMAT (' The base of the machine (BETA) = ',I2,//' The scaling ',
-     $       'factors are s = BETA**(',I3,') and t = BETA**(',I3,')')
-99994 FORMAT (/' DP is out of range.',/' DP =',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01SD EXAMPLE PROGRAM DATA
-   5
-  10.0  -40.5  159.5  0.0  2560.0  -10236.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01SD EXAMPLE PROGRAM RESULTS
-
- The base of the machine (BETA) =  2
-
- The scaling factors are s = BETA**( -3) and t = BETA**( -2)
-
- The coefficients of the scaled polynomial Q(x) = s*P(tx) are 
-
- power of x     coefficient 
-      0            1.2500
-      1           -1.2656
-      2            1.2461
-      3            0.0000
-      4            1.2500
-      5           -1.2496
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01TD.html b/doc/_build/html/_static/doc/MC01TD.html
deleted file mode 100644
index a5224f76..00000000
--- a/doc/_build/html/_static/doc/MC01TD.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01TD">MC01TD</A></H2>
-<H3>
-Checking stability of a given real polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine whether or not a given polynomial P(x) with real
-  coefficients is stable, either in the continuous-time or discrete-
-  time case.
-
-  A polynomial is said to be stable in the continuous-time case
-  if all its zeros lie in the left half-plane, and stable in the
-  discrete-time case if all its zeros lie inside the unit circle.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      LOGICAL           STABLE
-      INTEGER           DP, INFO, IWARN, NZ
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), P(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Indicates whether the stability test to be applied to
-          P(x) is in the continuous-time or discrete-time case as
-          follows:
-          = 'C':  Continuous-time case;
-          = 'D':  Discrete-time case.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input/output) INTEGER
-          On entry, the degree of the polynomial P(x).  DP &gt;= 0.
-          On exit, if P(DP+1) = 0.0 on entry, then DP contains the
-          index of the highest power of x for which P(DP+1) &lt;&gt; 0.0.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of P(x) in
-          increasing powers of x.
-
-  STABLE  (output) LOGICAL
-          Contains the value .TRUE. if P(x) is stable and the value
-          .FALSE. otherwise (see also NUMERICAL ASPECTS).
-
-  NZ      (output) INTEGER
-          If INFO = 0, contains the number of unstable zeros - that
-          is, the number of zeros of P(x) in the right half-plane if
-          DICO = 'C' or the number of zeros of P(x) outside the unit
-          circle if DICO = 'D' (see also NUMERICAL ASPECTS).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*DP+2)
-          The leading (DP+1) elements of DWORK contain the Routh
-          coefficients, if DICO = 'C', or the constant terms of
-          the Schur-Cohn transforms, if DICO = 'D'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = k:  if the degree of the polynomial P(x) has been
-                reduced to (DB - k) because P(DB+1-j) = 0.0 on entry
-                for j = 0, 1,..., k-1 and P(DB+1-k) &lt;&gt; 0.0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, P(x) is the zero polynomial;
-          = 2:  if the polynomial P(x) is most probably unstable,
-                although it may be stable with one or more zeros
-                very close to either the imaginary axis if
-                DICO = 'C' or the unit circle if DICO = 'D'.
-                The number of unstable zeros (NZ) is not determined.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The stability of the real polynomial
-                                      2                DP
-     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
-
-  is determined as follows.
-
-  In the continuous-time case (DICO = 'C') the Routh algorithm
-  (see [1]) is used. The routine computes the Routh coefficients and
-  if they are non-zero then the number of sign changes in the
-  sequence of the coefficients is equal to the number of zeros with
-  positive imaginary part.
-
-  In the discrete-time case (DICO = 'D') the Schur-Cohn
-  algorithm (see [2] and [3]) is applied to the reciprocal
-  polynomial
-                                             2               DP
-     Q(x) = p(DP) + p(DP-1) * x + p(DP-2) * x  + ... + p(0) x  .
-
-  The routine computes the constant terms of the Schur transforms
-  and if all of them are non-zero then the number of zeros of P(x)
-  with modulus greater than unity is obtained from the sequence of
-  constant terms.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Gantmacher, F.R.
-      Applications of the Theory of Matrices.
-      Interscience Publishers, New York, 1959.
-
-  [2] Kucera, V.
-      Discrete Linear Control. The Algorithmic Approach.
-      John Wiley & Sons, Chichester, 1979.
-
-  [3] Henrici, P.
-      Applied and Computational Complex Analysis (Vol. 1).
-      John Wiley & Sons, New York, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm used by the routine is numerically stable.
-
-  Note that if some of the Routh coefficients (DICO = 'C') or
-  some of the constant terms of the Schur-Cohn transforms (DICO =
-  'D') are small relative to EPS (the machine precision), then
-  the number of unstable zeros (and hence the value of STABLE) may
-  be incorrect.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          DP, DPP, I, INFO, IWARN, NZ
-      LOGICAL          STABLE
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(2*DPMAX+2), P(DPMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MC01TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = * )
-      READ ( NIN, FMT = * ) DP, DICO
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-         DPP = DP
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Determine whether or not the given polynomial P(x) is stable.
-         CALL MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) DPP, DP
-            END IF
-            IF ( STABLE ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-            ELSE
-               WRITE ( NOUT, FMT = 99994 )
-               IF ( LSAME( DICO, 'D' ) ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) NZ
-               ELSE
-                  WRITE ( NOUT, FMT = 99991 ) NZ
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01TD = ',I2)
-99997 FORMAT (' IWARN on exit from MC01TD = ',I2,/)
-99996 FORMAT (' The degree of the polynomial P(x) has been reduced fro',
-     $       'm ',I2,' to ',I2,/)
-99995 FORMAT (' The polynomial P(x) is stable ')
-99994 FORMAT (' The polynomial P(x) is unstable ')
-99993 FORMAT (/' DP is out of range. ',/' DP = ',I5)
-99992 FORMAT (/' The number of zeros of P(x) outside the unit ',
-     $       'circle = ',I2)
-99991 FORMAT (/' The number of zeros of P(x) in the right ',
-     $       'half-plane = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01TD EXAMPLE PROGRAM DATA
-   4     C
-   2.0  0.0  1.0  -1.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01TD EXAMPLE PROGRAM RESULTS
-
- The polynomial P(x) is unstable 
-
- The number of zeros of P(x) in the right half-plane =  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01VD.html b/doc/_build/html/_static/doc/MC01VD.html
deleted file mode 100644
index e6838f9e..00000000
--- a/doc/_build/html/_static/doc/MC01VD.html
+++ /dev/null
@@ -1,168 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01VD">MC01VD</A></H2>
-<H3>
-Roots of a quadratic equation with real coefficients
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the roots of a quadratic equation with real
-  coefficients.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO
-      DOUBLE PRECISION  A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) DOUBLE PRECISION
-          The value of the coefficient of the quadratic term.
-
-  B       (input) DOUBLE PRECISION
-          The value of the coefficient of the linear term.
-
-  C       (input) DOUBLE PRECISION
-          The value of the coefficient of the constant term.
-
-  Z1RE    (output) DOUBLE PRECISION
-  Z1IM    (output) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of the largest
-          root in magnitude.
-
-  Z2RE    (output) DOUBLE PRECISION
-  Z2IM    (output) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of the
-          smallest root in magnitude.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if on entry, either A = B = 0.0 or A = 0.0 and the
-                root -C/B overflows; in this case Z1RE, Z1IM, Z2RE
-                and Z2IM are unassigned;
-          = 2:  if on entry, A = 0.0; in this case Z1RE contains
-                BIG and Z1IM contains zero, where BIG is a
-                representable number near the overflow threshold
-                of the machine (see LAPACK Library Routine DLAMCH);
-          = 3:  if on entry, either C = 0.0 and the root -B/A
-                overflows or A, B and C are non-zero and the largest
-                real root in magnitude cannot be computed without
-                overflow; in this case Z1RE contains BIG and Z1IM
-                contains zero;
-          = 4:  if the roots cannot be computed without overflow; in
-                this case Z1RE, Z1IM, Z2RE and Z2IM are unassigned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the roots (r1 and r2) of the real quadratic
-  equation
-          2
-     a * x  + b * x + c = 0
-
-  as
-          - b - SIGN(b) * SQRT(b * b - 4 * a * c)             c
-     r1 = ---------------------------------------  and r2 = ------
-                           2 * a                            a * r1
-
-  unless a = 0, in which case
-
-          -c
-     r1 = --.
-           b
-
-  Precautions are taken to avoid overflow and underflow wherever
-  possible.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
-      INTEGER          INFO
-*     .. External Subroutines ..
-      EXTERNAL         MC01VD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) A, B, C
-*     Solve the quadratic equation A*x**2 + B*x + C = 0.
-      CALL MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
-*
-      IF ( INFO.NE.0 ) THEN
-         WRITE ( NOUT, FMT = 99998 ) INFO
-      ELSE
-         WRITE ( NOUT, FMT = 99997 )
-         WRITE ( NOUT, FMT = 99996 ) Z1RE, Z1IM, Z2RE, Z2IM
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01VD = ',I2)
-99997 FORMAT (' The roots of the quadratic equation are ')
-99996 FORMAT (/' x = ',F8.4,2X,SP,F8.4,'*j',SS,/' x = ',F8.4,2X,SP,F8.4,
-     $       '*j')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01VD EXAMPLE PROGRAM DATA
-   0.5  -1.0  2.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01VD EXAMPLE PROGRAM RESULTS
-
- The roots of the quadratic equation are 
-
- x =   1.0000   +1.7321*j
- x =   1.0000   -1.7321*j
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01WD.html b/doc/_build/html/_static/doc/MC01WD.html
deleted file mode 100644
index 0f0c0fe7..00000000
--- a/doc/_build/html/_static/doc/MC01WD.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01WD">MC01WD</A></H2>
-<H3>
-Quotient and remainder polynomials for a quadratic denominator polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given real polynomial P(x) and a quadratic
-  polynomial B(x), the quotient polynomial Q(x) and the linear
-  remainder polynomial R(x) such that
-
-     P(x) = B(x) * Q(x) + R(x),
-
-                              2
-  where B(x) = u1 + u2 * x + x , R(x) = q(1) + q(2) * (u2 + x)
-  and u1, u2, q(1) and q(2) are real scalars.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01WD( DP, P, U1, U2, Q, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO
-      DOUBLE PRECISION  U1, U2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(*), Q(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of P(x) in
-          increasing powers of x.
-
-  U1      (input) DOUBLE PRECISION
-          The value of the constant term of the quadratic
-          polynomial B(x).
-
-  U2      (input) DOUBLE PRECISION
-          The value of the coefficient of x of the quadratic
-          polynomial B(x).
-
-  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
-          If DP &gt;= 1 on entry, then elements Q(1) and Q(2) contain
-          the coefficients q(1) and q(2), respectively, of the
-          remainder polynomial R(x), and the next (DP-1) elements
-          of this array contain the coefficients of the quotient
-          polynomial Q(x) in increasing powers of x.
-          If DP = 0 on entry, then element Q(1) contains the
-          coefficient q(1) of the remainder polynomial R(x) = q(1);
-          Q(x) is the zero polynomial.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the real polynomials
-
-             DP           i                           2
-     P(x) = SUM p(i+1) * x  and B(x) = u1 + u2 * x + x
-            i=0
-
-  the routine uses the recurrence relationships
-
-     q(DP+1) = p(DP+1),
-
-     q(DP) = p(DP) - u2 * q(DP+1) and
-
-     q(i)  = p(i) - u2 * q(i+1) - u1 * q(i+2) for i = DP-1, ..., 1
-
-  to determine the coefficients of the quotient polynomial
-
-            DP-2          i
-     Q(x) = SUM q(i+3) * x
-            i=0
-
-  and the remainder polynomial
-
-     R(x) = q(1) + q(2) * (u2 + x).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01WD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 10 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION U1, U2
-      INTEGER          DP, I, INFO
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01WD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT,FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-         READ ( NIN, FMT = * ) U1, U2
-*        Compute Q(x) and R(x) from P(x) = (x**2+U2*x+U1) * Q(x) + R(x).
-         CALL MC01WD( DP, P, U1, U2, Q, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 0, DP - 2
-               WRITE ( NOUT, FMT = 99996 ) I, Q(I+3)
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) Q(1) + Q(2)*U2, Q(2)
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01WD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01WD = ',I2)
-99997 FORMAT (' The coefficients of the quotient polynomial Q(x) are ',
-     $       //' power of x     coefficient ')
-99996 FORMAT (2X,I5,9X,F9.4)
-99995 FORMAT (/' The coefficients of the remainder polynomial R(x) are '
-     $       ,//' power of x     coefficient ',/'      0         ',F9.4,
-     $       /'      1         ',F9.4)
-99994 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01WD EXAMPLE PROGRAM DATA
-   6
-   0.62  1.10  1.64  1.88  2.12  1.70  1.00
-   0.60  0.80
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01WD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the quotient polynomial Q(x) are 
-
- power of x     coefficient 
-      0            0.6000
-      1            0.7000
-      2            0.8000
-      3            0.9000
-      4            1.0000
-
- The coefficients of the remainder polynomial R(x) are 
-
- power of x     coefficient 
-      0            0.2600
-      1            0.2000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC01XD.html b/doc/_build/html/_static/doc/MC01XD.html
deleted file mode 100644
index 4a09722c..00000000
--- a/doc/_build/html/_static/doc/MC01XD.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01XD">MC01XD</A></H2>
-<H3>
-The roots of a third order polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the roots of the polynomial
-
-      P(t) = ALPHA + BETA*t + GAMMA*t^2 + DELTA*t^3 .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDWORK
-      DOUBLE PRECISION  ALPHA, BETA, DELTA, GAMMA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), EVI(3), EVQ(3), EVR(3)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  ALPHA   (input) DOUBLE PRECISION
-  BETA    (input) DOUBLE PRECISION
-  GAMMA   (input) DOUBLE PRECISION
-  DELTA   (input) DOUBLE PRECISION
-          The coefficients of the polynomial P.
-
-  EVR     (output) DOUBLE PRECISION array, DIMENSION at least 3
-  EVI     (output) DOUBLE PRECISION array, DIMENSION at least 3
-  EVQ     (output) DOUBLE PRECISION array, DIMENSION at least 3
-          On output, the kth root of P will be equal to
-          (EVR(K) + i*EVI(K))/EVQ(K) if EVQ(K) .NE. ZERO. Note that
-          the quotient may over- or underflow. If P has a degree d
-          less than 3, then 3-d computed roots will be infinite.
-          EVQ(K) &gt;= 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, DIMENSION (LDWORK)
-          On exit, if LDWORK = -1 on input, then DWORK(1) returns
-          the optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.  LDWORK &gt;= 42.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = j, 1 &lt;= j &lt;= 6, an error occurred during
-                the call to one of the LAPACK Library routines DGGEV
-                or DGEEV (1 &lt;= j &lt;= 3). If INFO &lt; 3, the values
-                returned in EVR(K), EVI(K), and EVQ(K) should be
-                correct for K = INFO+1,...,3.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A matrix pencil is built, whose eigenvalues are the roots of the
-  given polynomial, and they are computed using the QZ algorithm.
-  However, when the ratio between the largest and smallest (in
-  magnitude) polynomial coefficients is relatively big, and either
-  ALPHA or DELTA has the largest magnitude, then a standard
-  eigenproblem is solved using the QR algorithm, and EVQ(I) are set
-  to 1, for I = 1,2,3.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01XD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NEV
-      PARAMETER        ( NEV = 3 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 42 )
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J
-      DOUBLE PRECISION ALPHA, BETA, DELTA, GAMMA
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), EVI(NEV), EVQ(NEV), EVR(NEV),
-     $                 RT(2)
-*     .. External Subroutines ..
-      EXTERNAL         MC01XD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) ALPHA, BETA, GAMMA, DELTA
-*     Compute the roots of the polynomial.
-      CALL MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
-     $             DWORK, LDWORK, INFO )
-*
-      IF ( INFO.NE.0 ) THEN
-         WRITE ( NOUT, FMT = 99998 ) INFO
-      ELSE
-         WRITE ( NOUT, FMT = 99995 )
-         WRITE ( NOUT, FMT = 99996 ) ( EVR(J), J = 1, 3 )
-*
-         WRITE ( NOUT, FMT = 99994 )
-         WRITE ( NOUT, FMT = 99996 ) ( EVI(J), J = 1, 3 )
-*
-         WRITE ( NOUT, FMT = 99993 )
-         WRITE ( NOUT, FMT = 99996 ) ( EVQ(J), J = 1, 3 )
-*
-         WRITE ( NOUT, FMT = 99992 )
-         DO 20 I = 1, 3
-            IF ( EVQ(I).NE.ZERO ) THEN
-               RT(1) = EVR(I)/EVQ(I)
-               RT(2) = EVI(I)/EVQ(I)
-               WRITE ( NOUT, FMT = 99996 ) ( RT(J), J = 1, 2 )
-            END IF
-   20    CONTINUE
-*
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01XD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01XD = ',I2)
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (' Real part of the numerators of the roots')
-99994 FORMAT (' Imaginary part of the numerators of the roots')
-99993 FORMAT (' Denominators of the roots')
-99992 FORMAT (' Roots of the polynomial',/1X)
-      END
-
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01XD EXAMPLE PROGRAM DATA
-   -3098110792.0746     4649783048.0746     -2327508384.0000     388574551.8120
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01XD EXAMPLE PROGRAM RESULTS
-
- Real part of the numerators of the roots
-   1.0185   1.1048   0.5911
- Imaginary part of the numerators of the roots
-   0.0000   0.0455  -0.0244
- Denominators of the roots
-   0.5110   0.5528   0.2958
- Roots of the polynomial
-
-   1.9931   0.0000
-   1.9984   0.0823
-   1.9984  -0.0823
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC03MD.html b/doc/_build/html/_static/doc/MC03MD.html
deleted file mode 100644
index 83f281f0..00000000
--- a/doc/_build/html/_static/doc/MC03MD.html
+++ /dev/null
@@ -1,358 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC03MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC03MD">MC03MD</A></H2>
-<H3>
-Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of the real polynomial matrix
-
-     P(x) = P1(x) * P2(x) + alpha * P3(x),
-
-  where P1(x), P2(x) and P3(x) are given real polynomial matrices
-  and alpha is a real scalar.
-
-  Each of the polynomial matrices P1(x), P2(x) and P3(x) may be the
-  zero matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
-     $                   LDP11, LDP12, P2, LDP21, LDP22, P3, LDP31,
-     $                   LDP32, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           CP1, CP2, DP1, DP2, DP3, INFO, LDP11, LDP12,
-     $                  LDP21, LDP22, LDP31, LDP32, RP1
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), P1(LDP11,LDP12,*), P2(LDP21,LDP22,*),
-     $                  P3(LDP31,LDP32,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  RP1     (input) INTEGER
-          The number of rows of the matrices P1(x) and P3(x).
-          RP1 &gt;= 0.
-
-  CP1     (input) INTEGER
-          The number of columns of matrix P1(x) and the number of
-          rows of matrix P2(x).  CP1 &gt;= 0.
-
-  CP2     (input) INTEGER
-          The number of columns of the matrices P2(x) and P3(x).
-          CP2 &gt;= 0.
-
-  DP1     (input) INTEGER
-          The degree of the polynomial matrix P1(x).  DP1 &gt;= -1.
-
-  DP2     (input) INTEGER
-          The degree of the polynomial matrix P2(x).  DP2 &gt;= -1.
-
-  DP3     (input/output) INTEGER
-          On entry, the degree of the polynomial matrix P3(x).
-          DP3 &gt;= -1.
-          On exit, the degree of the polynomial matrix P(x).
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar value alpha of the problem.
-
-  P1      (input) DOUBLE PRECISION array, dimension (LDP11,LDP12,*)
-          If DP1 &gt;= 0, then the leading RP1-by-CP1-by-(DP1+1) part
-          of this array must contain the coefficients of the
-          polynomial matrix P1(x). Specifically, P1(i,j,k) must
-          contain the coefficient of x**(k-1) of the polynomial
-          which is the (i,j)-th element of P1(x), where i = 1,2,...,
-          RP1, j = 1,2,...,CP1 and k = 1,2,...,DP1+1.
-          If DP1 = -1, then P1(x) is taken to be the zero polynomial
-          matrix, P1 is not referenced and can be supplied as a
-          dummy array (i.e. set the parameters LDP11 = LDP12 = 1 and
-          declare this array to be P1(1,1,1) in the calling
-          program).
-
-  LDP11   INTEGER
-          The leading dimension of array P1.
-          LDP11 &gt;= MAX(1,RP1) if DP1 &gt;= 0,
-          LDP11 &gt;= 1          if DP1 = -1.
-
-  LDP12   INTEGER
-          The second dimension of array P1.
-          LDP12 &gt;= MAX(1,CP1) if DP1 &gt;= 0,
-          LDP12 &gt;= 1          if DP1 = -1.
-
-  P2      (input) DOUBLE PRECISION array, dimension (LDP21,LDP22,*)
-          If DP2 &gt;= 0, then the leading CP1-by-CP2-by-(DP2+1) part
-          of this array must contain the coefficients of the
-          polynomial matrix P2(x). Specifically, P2(i,j,k) must
-          contain the coefficient of x**(k-1) of the polynomial
-          which is the (i,j)-th element of P2(x), where i = 1,2,...,
-          CP1, j = 1,2,...,CP2 and k = 1,2,...,DP2+1.
-          If DP2 = -1, then P2(x) is taken to be the zero polynomial
-          matrix, P2 is not referenced and can be supplied as a
-          dummy array (i.e. set the parameters LDP21 = LDP22 = 1 and
-          declare this array to be P2(1,1,1) in the calling
-          program).
-
-  LDP21   INTEGER
-          The leading dimension of array P2.
-          LDP21 &gt;= MAX(1,CP1) if DP2 &gt;= 0,
-          LDP21 &gt;= 1          if DP2 = -1.
-
-  LDP22   INTEGER
-          The second dimension of array P2.
-          LDP22 &gt;= MAX(1,CP2) if DP2 &gt;= 0,
-          LDP22 &gt;= 1          if DP2 = -1.
-
-  P3      (input/output) DOUBLE PRECISION array, dimension
-          (LDP31,LDP32,n), where n = MAX(DP1+DP2,DP3,0)+1.
-          On entry, if DP3 &gt;= 0, then the leading
-          RP1-by-CP2-by-(DP3+1) part of this array must contain the
-          coefficients of the polynomial matrix P3(x). Specifically,
-          P3(i,j,k) must contain the coefficient of x**(k-1) of the
-          polynomial which is the (i,j)-th element of P3(x), where
-          i = 1,2,...,RP1, j = 1,2,...,CP2 and k = 1,2,...,DP3+1.
-          If DP3 = -1, then P3(x) is taken to be the zero polynomial
-          matrix.
-          On exit, if DP3 &gt;= 0 on exit (ALPHA &lt;&gt; 0.0 and DP3 &lt;&gt; -1,
-          on entry, or DP1 &lt;&gt; -1 and DP2 &lt;&gt; -1), then the leading
-          RP1-by-CP2-by-(DP3+1) part of this array contains the
-          coefficients of P(x). Specifically, P3(i,j,k) contains the
-          coefficient of x**(k-1) of the polynomial which is the
-          (i,j)-th element of P(x), where i = 1,2,...,RP1, j = 1,2,
-          ...,CP2 and k = 1,2,...,DP3+1.
-          If DP3 = -1 on exit, then the coefficients of P(x) (the
-          zero polynomial matrix) are not stored in the array.
-
-  LDP31   INTEGER
-          The leading dimension of array P3.  LDP31 &gt;= MAX(1,RP1).
-
-  LDP32   INTEGER
-          The second dimension of array P3.   LDP32 &gt;= MAX(1,CP2).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (CP1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given real polynomial matrices
-
-             DP1            i
-     P1(x) = SUM (A(i+1) * x ),
-             i=0
-
-             DP2            i
-     P2(x) = SUM (B(i+1) * x ),
-             i=0
-
-             DP3            i
-     P3(x) = SUM (C(i+1) * x )
-             i=0
-
-  and a real scalar alpha, the routine computes the coefficients
-  d ,d ,..., of the polynomial matrix
-   1  2
-
-     P(x) = P1(x) * P2(x) + alpha * P3(x)
-
-  from the formula
-
-              s
-     d    =  SUM (A(k+1) * B(i-k+1)) + alpha * C(i+1),
-      i+1    k=r
-
-  where i = 0,1,...,DP1+DP2 and r and s depend on the value of i
-  (e.g. if i &lt;= DP1 and i &lt;= DP2, then r = 0 and s = i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Other elementary operations involving polynomial matrices can
-  easily be obtained by calling the appropriate BLAS routine(s).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC03MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          CP1MAX, CP2MAX, DP1MAX, DP2MAX, DP3MAX, RP1MAX
-      PARAMETER        ( CP1MAX = 10, CP2MAX = 10, DP1MAX = 10,
-     $                   DP2MAX = 10, DP3MAX = 20, RP1MAX = 10 )
-      INTEGER          LDP11, LDP12, LDP21, LDP22, LDP31, LDP32
-      PARAMETER        ( LDP11 = RP1MAX, LDP12 = CP1MAX,
-     $                   LDP21 = CP1MAX, LDP22 = CP2MAX,
-     $                   LDP31 = RP1MAX, LDP32 = CP2MAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA
-      INTEGER          CP1, CP2, DP1, DP2, DP3, I, INFO, J, K, RP1
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(CP1MAX),
-     $                 P1(LDP11,LDP12,DP1MAX+1),
-     $                 P2(LDP21,LDP22,DP2MAX+1),
-     $                 P3(LDP31,LDP32,DP3MAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC03MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) RP1, CP1, CP2
-      IF ( RP1.LT.0 .OR. RP1.GT.RP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) RP1
-      ELSE IF ( CP1.LT.0 .OR. CP1.GT.CP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) CP1
-      ELSE IF ( CP2.LT.0 .OR. CP2.GT.CP2MAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) CP2
-      ELSE
-         READ ( NIN, FMT = * ) DP1
-         IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) DP1
-         ELSE
-            DO 40 K = 1, DP1 + 1
-               DO 20 J = 1, CP1
-                  READ ( NIN, FMT = * ) ( P1(I,J,K), I = 1,RP1 )
-   20          CONTINUE
-   40       CONTINUE
-            READ ( NIN, FMT = * ) DP2
-            IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) DP2
-            ELSE
-               DO 80 K = 1, DP2 + 1
-                  DO 60 J = 1, CP2
-                     READ ( NIN, FMT = * ) ( P2(I,J,K), I = 1,CP1 )
-   60             CONTINUE
-   80          CONTINUE
-               READ ( NIN, FMT = * ) DP3
-               IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) DP3
-               ELSE
-                  DO 120 K = 1, DP3 + 1
-                     DO 100 J = 1, CP2
-                        READ ( NIN, FMT = * ) ( P3(I,J,K), I = 1,RP1 )
-  100                CONTINUE
-  120             CONTINUE
-                  READ ( NIN, FMT = * ) ALPHA
-*                 Compute the coefficients of the polynomial matrix P(x)
-                  CALL MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
-     $                         LDP11, LDP12, P2, LDP21, LDP22, P3,
-     $                         LDP31, LDP32, DWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 ) DP3,
-     $                     ( I-1, I = 1,DP3+1 )
-                     DO 160 I = 1, RP1
-                        DO 140 J = 1, CP2
-                           WRITE ( NOUT, FMT = 99996 ) I, J,
-     $                       ( P3(I,J,K), K = 1,DP3+1 )
-  140                   CONTINUE
-  160                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC03MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC03MD = ',I2)
-99997 FORMAT (' The polynomial matrix P(x) (of degree ',I2,') is ',
-     $       //' power of x         ',20I8)
-99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
-99995 FORMAT (/' RP1 is out of range.',/' RP1 = ',I5)
-99994 FORMAT (/' CP1 is out of range.',/' CP1 = ',I5)
-99993 FORMAT (/' CP2 is out of range.',/' CP2 = ',I5)
-99992 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
-99991 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
-99990 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC03MD EXAMPLE PROGRAM DATA
-   3     2     2
-   2
-   1.0   0.0   3.0
-   2.0  -1.0   2.0
-  -2.0   4.0   9.0
-   3.0   7.0  -2.0
-   6.0   2.0  -3.0
-   1.0   2.0   4.0
-   1
-   6.0   1.0
-   1.0   7.0
-  -9.0  -6.0
-   7.0   8.0
-   1
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-  -1.0   1.0   1.0
-  -1.0  -1.0   1.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC03MD EXAMPLE PROGRAM RESULTS
-
- The polynomial matrix P(x) (of degree  3) is 
-
- power of x                0       1       2       3
-
- element ( 1, 1) is     9.00  -31.00   37.00  -60.00
-
- element ( 1, 2) is    15.00   41.00   23.00   50.00
-
- element ( 2, 1) is     0.00   38.00  -64.00  -30.00
-
- element ( 2, 2) is    -6.00   44.00  100.00   30.00
-
- element ( 3, 1) is    20.00   14.00  -83.00    3.00
-
- element ( 3, 2) is    18.00   33.00   72.00   11.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC03ND.html b/doc/_build/html/_static/doc/MC03ND.html
deleted file mode 100644
index e839ee2a..00000000
--- a/doc/_build/html/_static/doc/MC03ND.html
+++ /dev/null
@@ -1,424 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC03ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC03ND">MC03ND</A></H2>
-<H3>
-Minimal polynomial basis for the right nullspace of a polynomial matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a minimal polynomial basis
-                                              DK
-      K(s) = K(0) + K(1) * s + ... + K(DK) * s
-
-  for the right nullspace of the MP-by-NP polynomial matrix of
-  degree DP, given by
-                                              DP
-      P(s) = P(0) + P(1) * s + ... + P(DP) * s  ,
-
-  which corresponds to solving the polynomial matrix equation
-  P(s) * K(s) = 0.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
-     $                   LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DK, DP, INFO, LDKER1, LDKER2, LDNULL, LDP1,
-     $                  LDP2, LDWORK, MP, NP
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           GAM(*), IWORK(*)
-      DOUBLE PRECISION  DWORK(*), KER(LDKER1,LDKER2,*),
-     $                  NULLSP(LDNULL,*), P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the polynomial matrix P(s).
-          MP &gt;= 0.
-
-  NP      (input) INTEGER
-          The number of columns of the polynomial matrix P(s).
-          NP &gt;= 0.
-
-  DP      (input) INTEGER
-          The degree of the polynomial matrix P(s).  DP &gt;= 1.
-
-  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array must
-          contain the coefficients of the polynomial matrix P(s).
-          Specifically, P(i,j,k) must contain the (i,j)-th element
-          of P(k-1), which is the cofficient of s**(k-1) of P(s),
-          where i = 1,2,...,MP, j = 1,2,...,NP and k = 1,2,...,DP+1.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
-
-  LDP2    INTEGER
-          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
-
-  DK      (output) INTEGER
-          The degree of the minimal polynomial basis K(s) for the
-          right nullspace of P(s) unless DK = -1, in which case
-          there is no right nullspace.
-
-  GAM     (output) INTEGER array, dimension (DP*MP+1)
-          The leading (DK+1) elements of this array contain
-          information about the ordering of the right nullspace
-          vectors stored in array NULLSP.
-
-  NULLSP  (output) DOUBLE PRECISION array, dimension
-          (LDNULL,(DP*MP+1)*NP)
-          The leading NP-by-SUM(i*GAM(i)) part of this array
-          contains the right nullspace vectors of P(s) in condensed
-          form (as defined in METHOD), where i = 1,2,...,DK+1.
-
-  LDNULL  INTEGER
-          The leading dimension of array NULLSP.
-          LDNULL &gt;= MAX(1,NP).
-
-  KER     (output) DOUBLE PRECISION array, dimension
-          (LDKER1,LDKER2,DP*MP+1)
-          The leading NP-by-nk-by-(DK+1) part of this array contains
-          the coefficients of the minimal polynomial basis K(s),
-          where nk = SUM(GAM(i)) and i = 1,2,...,DK+1. Specifically,
-          KER(i,j,m) contains the (i,j)-th element of K(m-1), which
-          is the coefficient of s**(m-1) of K(s), where i = 1,2,...,
-          NP, j = 1,2,...,nk and m = 1,2,...,DK+1.
-
-  LDKER1  INTEGER
-          The leading dimension of array KER.  LDKER1 &gt;= MAX(1,NP).
-
-  LDKER2  INTEGER
-          The second dimension of array KER.   LDKER2 &gt;= MAX(1,NP).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance below which matrix elements are considered
-          to be zero. If the user sets TOL to be less than
-          10 * EPS * MAX( ||A|| , ||E|| ), then the tolerance is
-                               F       F
-          taken as 10 * EPS * MAX( ||A|| , ||E|| ), where EPS is the
-                                        F       F
-          machine precision (see LAPACK Library Routine DLAMCH) and
-          A and E are matrices (as defined in METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (m+2*MAX(n,m+1)+n),
-          where m = DP*MP and n = (DP-1)*MP + NP.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= m*n*n + 2*m*n + 2*n*n.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          &gt; 0:  if incorrect rank decisions were taken during the
-                computations. This failure is not likely to occur.
-                The possible values are:
-                  k, 1 &lt;= k &lt;= DK+1, the k-th diagonal submatrix had
-                        not a full row rank;
-                  DK+2, if incorrect dimensions of a full column
-                        rank submatrix;
-                  DK+3, if incorrect dimensions of a full row rank
-                        submatrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The computation of the right nullspace of the MP-by-NP polynomial
-  matrix P(s) of degree DP given by
-                                               DP-1            DP
-     P(s) = P(0) + P(1) * s + ... + P(DP-1) * s     + P(DP) * s
-
-  is performed via the pencil s*E - A, associated with P(s), where
-
-         | I              |           | 0         -P(DP) |
-         |   .            |           | I .          .   |
-     A = |     .          |  and  E = |   . .        .   |.      (1)
-         |       .        |           |     . 0      .   |
-         |         I      |           |       I 0 -P(2)  |
-         |           P(0) |           |         I -P(1)  |
-
-  The pencil s*E - A is transformed by unitary matrices Q and Z such
-  that
-
-                  | sE(eps)-A(eps) |        X       |      X     |
-                  |----------------|----------------|------------|
-                  |        0       | sE(inf)-A(inf) |      X     |
-     Q'(s*E-A)Z = |=================================|============|.
-                  |                                 |            |
-                  |                0                | sE(r)-A(r) |
-
-  Since s*E(inf)-A(inf) and s*E(r)-A(r) have full column rank, the
-  minimal polynomial basis for the right nullspace of Q'(s*E-A)Z
-  (and consequently the basis for the right nullspace of s*E - A) is
-  completely determined by s*E(eps)-A(eps).
-
-  Let Veps(s) be a minimal polynomial basis for the right nullspace
-  of s*E(eps)-A(eps). Then
-
-                | Veps(s) |
-     V(s) = Z * |---------|
-                |    0    |
-
-  is a minimal polynomial basis for the right nullspace of s*E - A.
-  From the structure of s*E - A it can be shown that if V(s) is
-  partitioned as
-
-            | Vo(s) | (DP-1)*MP
-     V(s) = |------ |
-            | Ve(s) | NP
-
-  then the columns of Ve(s) form a minimal polynomial basis for the
-  right nullspace of P(s).
-
-  The vectors of Ve(s) are computed and stored in array NULLSP in
-  the following condensed form:
-
-     ||      ||      |      ||      |      |      ||      |     |
-     || U1,0 || U2,0 | U2,1 || U3,0 | U3,1 | U3,2 || U4,0 | ... |,
-     ||      ||      |      ||      |      |      ||      |     |
-
-  where Ui,j is an NP-by-GAM(i) matrix which contains the i-th block
-  of columns of K(j), the j-th coefficient of the polynomial matrix
-  representation for the right nullspace
-                                               DK
-     K(s) = K(0) + K(1) * s + . . . + K(DK) * s  .
-
-  The coefficients K(0), K(1), ..., K(DK) are NP-by-nk matrices
-  given by
-
-     K(0)  = | U1,0 | U2,0 | U3,0 | . . .          | U(DK+1,0) |
-
-     K(1)  = |  0   | U2,1 | U3,1 | . . .          | U(DK+1,1) |
-
-     K(2)  = |  0   |  0   | U3,2 | . . .          | U(DK+1,2) |
-
-       .     .     .     .     .     .     .     .     .     .
-
-     K(DK) = |  0   |  0   |  0   | . . .    |  0  | U(DK+1,DK)|.
-
-  Note that the degree of K(s) satisfies the inequality DK &lt;=
-  DP * MIN(MP,NP) and that the dimension of K(s) satisfies the
-  inequality (NP-MP) &lt;= nk &lt;= NP.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Beelen, Th.G.J.
-      New Algorithms for Computing the Kronecker structure of a
-      Pencil with Applications to Systems and Control Theory.
-      Ph.D.Thesis, Eindhoven University of Technology, 1987.
-
-  [2] Van Den Hurk, G.J.H.H.
-      New Algorithms for Solving Polynomial Matrix Problems.
-      Master's Thesis, Eindhoven University of Technology, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm used by the routine involves the construction of a
-  special block echelon form with pivots considered to be non-zero
-  when they are larger than TOL. These pivots are then inverted in
-  order to construct the columns of the kernel of the polynomial
-  matrix. If TOL is chosen to be too small then these inversions may
-  be sensitive whereas increasing TOL will make the inversions more
-  robust but will affect the block echelon form (and hence the
-  column degrees of the polynomial kernel). Furthermore, if the
-  elements of the computed polynomial kernel are large relative to
-  the polynomial matrix, then the user should consider trying
-  several values of TOL.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  It also possible to compute a minimal polynomial basis for the
-  right nullspace of a pencil, since a pencil is a polynomial matrix
-  of degree 1. Thus for the pencil (s*E - A), the required input is
-  P(1)  = E and P(0) = -A.
-
-  The routine can also be used to compute a minimal polynomial
-  basis for the left nullspace of a polynomial matrix by simply
-  transposing P(s).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC03ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX, MPMAX, NPMAX
-*     PARAMETER        ( DPMAX = 5, MPMAX = 5, NPMAX = 5 )
-      PARAMETER        ( DPMAX = 2, MPMAX = 5, NPMAX = 4 )
-      INTEGER          LDP1, LDP2, LDNULL, LDKER1, LDKER2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX, LDNULL = NPMAX,
-     $                   LDKER1 = NPMAX, LDKER2 = NPMAX )
-      INTEGER          M, N
-      PARAMETER        ( M = DPMAX*MPMAX, N = ( DPMAX-1 )*MPMAX+NPMAX )
-      INTEGER          LIWORK, LDWORK
-*     PARAMETER        ( LIWORK = 3*( N+M )+2,
-      PARAMETER        ( LIWORK = M+2*MAX( N,M+1 )+N,
-     $                   LDWORK = M*N**2+2*M*N+2*N**2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DK, DP, I, INFO, J, K, M1, MP, NK, NP
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), KER(LDKER1,LDKER2,M+1),
-     $                 NULLSP(LDNULL,(M+1)*NPMAX), P(LDP1,LDP2,DPMAX+1)
-      INTEGER          GAM(M+1), IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         MC03ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP, TOL
-      IF ( MP.LT.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) MP
-      ELSE IF ( NP.LT.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) NP
-      ELSE IF ( DP.LE.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) DP
-      ELSE
-         DO 40 K = 1, DP + 1
-            DO 20 I = 1, MP
-               READ ( NIN, FMT = * ) ( P(I,J,K), J = 1,NP )
-   20       CONTINUE
-   40    CONTINUE
-*        Compute a minimal polynomial basis K(s) of the given P(s).
-         CALL MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
-     $                LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
-     $                LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE IF ( DK.LT.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-         ELSE
-            NK = 0
-            M1 = 0
-            DO 60 I = 1, DK + 1
-               NK = NK + GAM(I)
-               M1 = M1 + GAM(I)*I
-   60       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 80 I = 1, NP
-               WRITE ( NOUT, FMT = 99995 ) ( NULLSP(I,J), J = 1,M1 )
-   80       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) DK, ( I-1, I = 1,DK+1 )
-            DO 120 I = 1, NP
-               DO 100 J = 1, NK
-                  WRITE ( NOUT, FMT = 99993 )
-     $                  I, J, ( KER(I,J,K), K = 1,DK+1 )
-  100          CONTINUE
-  120       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC03ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC03ND = ',I2)
-99997 FORMAT (' The polynomial matrix P(s) has no right nullspace')
-99996 FORMAT (' The right nullspace vectors of P(s) are ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The minimal polynomial basis K(s) (of degree ',I2,') ',
-     $       'for the right nullspace is ',//' power of s         ',
-     $       20I8)
-99993 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
-99992 FORMAT (/' DP is out of range.',/' DP = ',I5)
-99991 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99990 FORMAT (/' MP is out of range.',/' MP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC03ND EXAMPLE PROGRAM DATA
-   5     4     2     0.0
-   2.0   2.0   0.0   3.0
-   0.0   4.0   0.0   6.0
-   8.0   8.0   0.0  12.0
-   0.0   0.0   0.0   0.0
-   2.0   2.0   0.0   3.0
-   1.0   0.0   1.0   0.0
-   0.0   0.0   2.0   0.0
-   4.0   0.0   4.0   0.0
-   2.0   2.0   0.0   3.0
-   3.0   2.0   1.0   3.0
-   0.0   0.0   0.0   0.0
-   1.0   0.0   0.0   0.0
-   0.0   0.0   0.0   0.0
-   1.0   0.0   1.0   0.0
-   1.0   0.0   1.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC03ND EXAMPLE PROGRAM RESULTS
-
- The right nullspace vectors of P(s) are 
-   0.0000   0.0000   0.0000
-  -0.8321   0.0000   0.1538
-   0.0000  -1.0000   0.0000
-   0.5547   0.0000   0.2308
-
- The minimal polynomial basis K(s) (of degree  1) for the right nullspace is 
-
- power of s                0       1
-
- element ( 1, 1) is     0.00    0.00
-
- element ( 1, 2) is     0.00    0.00
-
- element ( 2, 1) is    -0.83    0.00
-
- element ( 2, 2) is     0.00    0.15
-
- element ( 3, 1) is     0.00    0.00
-
- element ( 3, 2) is    -1.00    0.00
-
- element ( 4, 1) is     0.55    0.00
-
- element ( 4, 2) is     0.00    0.23
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MC03NX.html b/doc/_build/html/_static/doc/MC03NX.html
deleted file mode 100644
index 0ed169df..00000000
--- a/doc/_build/html/_static/doc/MC03NX.html
+++ /dev/null
@@ -1,121 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC03NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC03NX">MC03NX</A></H2>
-<H3>
-Construction of a pencil sE-A related to a given polynomial matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given an MP-by-NP polynomial matrix of degree dp
-                                 dp-1            dp
-  P(s) = P(0) + ... + P(dp-1) * s     + P(dp) * s            (1)
-
-  the routine composes the related pencil s*E-A where
-
-      | I              |           | O          -P(dp) |
-      |   .            |           | I .           .   |
-  A = |     .          |  and  E = |   . .         .   |.    (2)
-      |       .        |           |     . O       .   |
-      |         I      |           |       I  O -P(2)  |
-      |           P(0) |           |          I -P(1)  |
-
-  ==================================================================
-  REMARK: This routine is intended to be called only from the SLICOT
-          routine MC03ND.
-  ==================================================================
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC03NX( MP, NP, DP, P, LDP1, LDP2, A, LDA, E, LDE )
-C     .. Scalar Arguments ..
-      INTEGER           DP, LDA, LDE, LDP1, LDP2, MP, NP
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the polynomial matrix P(s).
-          MP &gt;= 0.
-
-  NP      (input) INTEGER
-          The number of columns of the polynomial matrix P(s).
-          NP &gt;= 0.
-
-  DP      (input) INTEGER
-          The degree of the polynomial matrix P(s).  DP &gt;= 1.
-
-  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array must
-          contain the coefficients of the polynomial matrix P(s)
-          in (1) in increasing powers of s.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
-
-  LDP2    INTEGER
-          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
-
-  A       (output) DOUBLE PRECISION array, dimension
-          (LDA,(DP-1)*MP+NP)
-          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
-          contains the matrix A as described in (2).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,DP*MP).
-
-  E       (output) DOUBLE PRECISION array, dimension
-          (LDE,(DP-1)*MP+NP)
-          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
-          contains the matrix E as described in (2).
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,DP*MP).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MD03AD.html b/doc/_build/html/_static/doc/MD03AD.html
deleted file mode 100644
index eb2637de..00000000
--- a/doc/_build/html/_static/doc/MD03AD.html
+++ /dev/null
@@ -1,788 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03AD">MD03AD</A></H2>
-<H3>
-Solution of a standard nonlinear least squares problem (Cholesky-based or conjugate gradients solver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To minimize the sum of the squares of m nonlinear functions, e, in
-  n variables, x, by a modification of the Levenberg-Marquardt
-  algorithm, using either a Cholesky-based or a conjugate gradients
-  solver. The user must provide a subroutine FCN which calculates
-  the functions and the Jacobian J (possibly by finite differences),
-  and another subroutine JPJ, which computes either J'*J + par*I
-  (if ALG = 'D'), or (J'*J + par*I)*x (if ALG = 'I'), where par is
-  the Levenberg factor, exploiting the possible structure of the
-  Jacobian matrix. Template implementations of these routines are
-  included in the SLICOT Library.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03AD( XINIT, ALG, STOR, UPLO, FCN, JPJ, M, N, ITMAX,
-     $                   NPRINT, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
-     $                   LDPAR2, X, NFEV, NJEV, TOL, CGTOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ALG, STOR, UPLO, XINIT
-      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
-     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  CGTOL, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DPAR1(LDPAR1,*), DPAR2(LDPAR2,*), DWORK(*), X(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  XINIT   CHARACTER*1
-          Specifies how the variables x are initialized, as follows:
-          = 'R' :  the array X is initialized to random values; the
-                   entries DWORK(1:4) are used to initialize the
-                   random number generator: the first three values
-                   are converted to integers between 0 and 4095, and
-                   the last one is converted to an odd integer
-                   between 1 and 4095;
-          = 'G' :  the given entries of X are used as initial values
-                   of variables.
-
-  ALG     CHARACTER*1
-          Specifies the algorithm used for solving the linear
-          systems involving a Jacobian matrix J, as follows:
-          = 'D' :  a direct algorithm, which computes the Cholesky
-                   factor of the matrix J'*J + par*I is used;
-          = 'I' :  an iterative Conjugate Gradients algorithm, which
-                   only needs the matrix J, is used.
-          In both cases, matrix J is stored in a compressed form.
-
-  STOR    CHARACTER*1
-          If ALG = 'D', specifies the storage scheme for the
-          symmetric matrix J'*J, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-          The option STOR = 'F' usually ensures a faster execution.
-          This parameter is not relevant if ALG = 'I'.
-
-  UPLO    CHARACTER*1
-          If ALG = 'D', specifies which part of the matrix J'*J
-          is stored, as follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-          The option UPLO = 'U' usually ensures a faster execution.
-          This parameter is not relevant if ALG = 'I'.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  FCN     EXTERNAL
-          Subroutine which evaluates the functions and the Jacobian.
-          FCN must be declared in an external statement in the user
-          calling program, and must have the following interface:
-
-          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
-         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, JTE,
-         $                DWORK, LDWORK, INFO )
-
-          where
-
-          IFLAG   (input/output) INTEGER
-                  On entry, this parameter must contain a value
-                  defining the computations to be performed:
-                  = 0 :  Optionally, print the current iterate X,
-                         function values E, and Jacobian matrix J,
-                         or other results defined in terms of these
-                         values. See the argument NPRINT of MD03AD.
-                         Do not alter E and J.
-                  = 1 :  Calculate the functions at X and return
-                         this vector in E. Do not alter J.
-                  = 2 :  Calculate the Jacobian at X and return
-                         this matrix in J. Also return J'*e in JTE
-                         and NFEVL (see below). Do not alter E.
-                  = 3 :  Do not compute neither the functions nor
-                         the Jacobian, but return in LDJ and
-                         IPAR/DPAR1,DPAR2 (some of) the integer/real
-                         parameters needed.
-                  On exit, the value of this parameter should not be
-                  changed by FCN unless the user wants to terminate
-                  execution of MD03AD, in which case IFLAG must be
-                  set to a negative integer.
-
-          M       (input) INTEGER
-                  The number of functions.  M &gt;= 0.
-
-          N       (input) INTEGER
-                  The number of variables.  M &gt;= N &gt;= 0.
-
-          IPAR    (input/output) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix or needed for problem solving.
-                  IPAR is an input parameter, except for IFLAG = 3
-                  on entry, when it is also an output parameter.
-                  On exit, if IFLAG = 3, IPAR(1) contains the length
-                  of the array J, for storing the Jacobian matrix,
-                  and the entries IPAR(2:5) contain the workspace
-                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
-                  JPJ for ALG = 'D', and JPJ for ALG = 'I',
-                  respectively.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 5.
-
-          DPAR1   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR1,*) or (LDPAR1)
-                  A first set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR1 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR1 could
-                  store the input trajectory of a system.
-
-          LDPAR1  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
-                  if leading dimension.)
-
-          DPAR2   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR2,*) or (LDPAR2)
-                  A second set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR2 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR2 could
-                  store the output trajectory of a system.
-
-          LDPAR2  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
-                  if leading dimension.)
-
-          X       (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the value of the
-                  variables x where the functions or the Jacobian
-                  must be evaluated.
-
-          NFEVL   (input/output) INTEGER
-                  The number of function evaluations needed to
-                  compute the Jacobian by a finite difference
-                  approximation.
-                  NFEVL is an input parameter if IFLAG = 0, or an
-                  output parameter if IFLAG = 2. If the Jacobian is
-                  computed analytically, NFEVL should be set to a
-                  non-positive value.
-
-          E       (input/output) DOUBLE PRECISION array,
-                  dimension (M)
-                  This array contains the value of the (error)
-                  functions e evaluated at X.
-                  E is an input parameter if IFLAG = 0 or 2, or an
-                  output parameter if IFLAG = 1.
-
-          J       (input/output) DOUBLE PRECISION array, dimension
-                  (LDJ,NC), where NC is the number of columns
-                  needed.
-                  This array contains a possibly compressed
-                  representation of the Jacobian matrix evaluated
-                  at X. If full Jacobian is stored, then NC = N.
-                  J is an input parameter if IFLAG = 0, or an output
-                  parameter if IFLAG = 2.
-
-          LDJ     (input/output) INTEGER
-                  The leading dimension of array J.  LDJ &gt;= 1.
-                  LDJ is essentially used inside the routines FCN
-                  and JPJ.
-                  LDJ is an input parameter, except for IFLAG = 3
-                  on entry, when it is an output parameter.
-                  It is assumed in MD03AD that LDJ is not larger
-                  than needed.
-
-          JTE     (output) DOUBLE PRECISION array, dimension (N)
-                  If IFLAG = 2, the matrix-vector product J'*e.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine FCN.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine FCN).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine FCN. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-  JPJ     EXTERNAL
-          Subroutine which computes J'*J + par*I, if ALG = 'D', and
-          J'*J*x + par*x, if ALG = 'I', where J is the Jacobian as
-          described above.
-
-          JPJ must have the following interface:
-
-          SUBROUTINE JPJ( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR,
-         $                J, LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
-
-          if ALG = 'D', and
-
-          SUBROUTINE JPJ( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X,
-         $                INCX, DWORK, LDWORK, INFO )
-
-          if ALG = 'I', where
-
-          STOR    (input) CHARACTER*1
-                  Specifies the storage scheme for the symmetric
-                  matrix J'*J, as follows:
-                  = 'F' :  full storage is used;
-                  = 'P' :  packed storage is used.
-
-          UPLO    (input) CHARACTER*1
-                  Specifies which part of the matrix J'*J is stored,
-                  as follows:
-                  = 'U' :  the upper triagular part is stored;
-                  = 'L' :  the lower triagular part is stored.
-
-          N       (input) INTEGER
-                  The number of columns of the matrix J.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-                  DPAR(1) must contain an initial estimate of the
-                  Levenberg-Marquardt parameter, par.  DPAR(1) &gt;= 0.
-
-          LDPAR   (input) INTEGER
-                  The length of the array DPAR.  LDPAR &gt;= 1.
-
-          J       (input) DOUBLE PRECISION array, dimension
-                  (LDJ, NC), where NC is the number of columns.
-                  The leading NR-by-NC part of this array must
-                  contain the (compressed) representation of the
-                  Jacobian matrix J, where NR is the number of rows
-                  of J (function of IPAR entries).
-
-          LDJ     (input) INTEGER
-                  The leading dimension of array J.
-                  LDJ &gt;= MAX(1,NR).
-
-          JTJ     (output) DOUBLE PRECISION array,
-                           dimension (LDJTJ,N),    if STOR = 'F',
-                           dimension (N*(N+1)/2),  if STOR = 'P'.
-                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
-                  (if STOR = 'P') part of this array contains the
-                  upper or lower triangle of the matrix J'*J+par*I,
-                  depending on UPLO = 'U', or UPLO = 'L',
-                  respectively, stored either as a two-dimensional,
-                  or one-dimensional array, depending on STOR.
-
-          LDJTJ   (input) INTEGER
-                  The leading dimension of the array JTJ.
-                  LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
-                  LDJTJ &gt;= 1,        if STOR = 'P'.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine JPJ.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine JPJ).
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine JPJ. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO
-                  values. INFO must be zero if the subroutine
-                  finished successfully.
-
-          If ALG = 'I', the parameters in common with those for
-          ALG = 'D', have the same meaning, and the additional
-          parameters are:
-
-          X       (input/output) DOUBLE PRECISION array, dimension
-                  (1+(N-1)*INCX)
-                  On entry, this incremented array must contain the
-                  vector x.
-                  On exit, this incremented array contains the value
-                  of the matrix-vector product (J'*J + par)*x.
-
-          INCX    (input) INTEGER
-                  The increment for the elements of X.  INCX &gt; 0.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of functions.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of variables.  M &gt;= N &gt;= 0.
-
-  ITMAX   (input) INTEGER
-          The maximum number of iterations.  ITMAX &gt;= 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          with X, E, and J available for printing. If NPRINT is not
-          positive, no special calls of FCN with IFLAG = 0 are made.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed, for instance, for
-          describing the structure of the Jacobian matrix, which
-          are handed over to the routines FCN and JPJ.
-          The first five entries of this array are modified
-          internally by a call to FCN (with IFLAG = 3), but are
-          restored on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 5.
-
-  DPAR1   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR1,*) or (LDPAR1)
-          A first set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03AD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR1  (input) INTEGER
-          The leading dimension or the length of the array DPAR1, as
-          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
-          dimension.)
-
-  DPAR2   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR2,*) or (LDPAR2)
-          A second set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03AD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR2  (input) INTEGER
-          The leading dimension or the length of the array DPAR2, as
-          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
-          dimension.)
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if XINIT = 'G', this array must contain the
-          vector of initial variables x to be optimized.
-          If XINIT = 'R', this array need not be set before entry,
-          and random values will be used to initialize x.
-          On exit, if INFO = 0, this array contains the vector of
-          values that (approximately) minimize the sum of squares of
-          error functions. The values returned in IWARN and
-          DWORK(1:5) give details on the iterative process.
-
-  NFEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 1. If FCN is
-          properly implemented, this includes the function
-          evaluations needed for finite difference approximation
-          of the Jacobian.
-
-  NJEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 2.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If TOL &gt;= 0, the tolerance which measures the relative
-          error desired in the sum of squares. Termination occurs
-          when the actual relative reduction in the sum of squares
-          is at most TOL. If the user sets  TOL &lt; 0, then  SQRT(EPS)
-          is used instead TOL, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-
-  CGTOL   DOUBLE PRECISION
-          If ALG = 'I' and CGTOL &gt; 0, the tolerance which measures
-          the relative residual of the solutions computed by the
-          conjugate gradients (CG) algorithm. Termination of a
-          CG process occurs when the relative residual is at
-          most CGTOL. If the user sets  CGTOL &lt;= 0, then  SQRT(EPS)
-          is used instead CGTOL.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, DWORK(4) returns the total number of conjugate
-          gradients iterations performed (zero, if ALG = 'D'), and
-          DWORK(5) returns the final Levenberg factor.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 5, M + 2*N + size(J) +
-                         max( DW( FCN|IFLAG = 1 ) + N,
-                              DW( FCN|IFLAG = 2 ),
-                              DW( sol ) ) ),
-          where size(J) is the size of the Jacobian (provided by FCN
-          in IPAR(1), for IFLAG = 3), DW( f ) is the workspace
-          needed by the routine f, where f is FCN or JPJ (provided
-          by FCN in IPAR(2:5), for IFLAG = 3), and DW( sol ) is the
-          workspace needed for solving linear systems,
-          DW( sol ) = N*N + DW( JPJ ),  if ALG = 'D', STOR = 'F';
-          DW( sol ) = N*(N+1)/2 + DW( JPJ ),
-                                        if ALG = 'D', STOR = 'P';
-          DW( sol ) = 3*N + DW( JPJ ),  if ALG = 'I'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
-          = 0:  no warning;
-          = 1:  if the iterative process did not converge in ITMAX
-                iterations with tolerance TOL;
-          = 2:  if ALG = 'I', and in one or more iterations of the
-                Levenberg-Marquardt algorithm, the conjugate
-                gradient algorithm did not finish after 3*N
-                iterations, with the accuracy required in the
-                call;
-          = 3:  the cosine of the angle between e and any column of
-                the Jacobian is at most FACTOR*EPS in absolute
-                value, where FACTOR = 100 is defined in a PARAMETER
-                statement;
-          = 4:  TOL is too small: no further reduction in the sum
-                of squares is possible.
-                In all these cases, DWORK(1:5) are set as described
-                above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 1;
-          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 2;
-          = 3:  SLICOT Library routine MB02XD, if ALG = 'D', or
-                SLICOT Library routine MB02WD, if ALG = 'I' (or
-                user-defined routine JPJ), returned with INFO &lt;&gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If XINIT = 'R', the initial value for X is set to a vector of
-  pseudo-random values uniformly distributed in [-1,1].
-
-  The Levenberg-Marquardt algorithm (described in [1]) is used for
-  optimizing the parameters. This algorithm needs the Jacobian
-  matrix J, which is provided by the subroutine FCN. The algorithm
-  tries to update x by the formula
-
-      x = x - p,
-
-  using the solution of the system of linear equations
-
-      (J'*J + PAR*I)*p = J'*e,
-
-  where I is the identity matrix, and e the error function vector.
-  The Levenberg factor PAR is decreased after each successfull step
-  and increased in the other case.
-
-  If ALG = 'D', a direct method, which evaluates the matrix product
-  J'*J + par*I and then factors it using Cholesky algorithm,
-  implemented in the SLICOT Libray routine MB02XD, is used for
-  solving the linear system above.
-
-  If ALG = 'I', the Conjugate Gradients method, described in [2],
-  and implemented in the SLICOT Libray routine MB02WD, is used for
-  solving the linear system above. The main advantage of this method
-  is that in most cases the solution of the system can be computed
-  in less time than the time needed to compute the matrix J'*J
-  This is, however, problem dependent.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kelley, C.T.
-      Iterative Methods for Optimization.
-      Society for Industrial and Applied Mathematics (SIAM),
-      Philadelphia (Pa.), 1999.
-
-  [2] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
-      1996.
-
-  [3] More, J.J.
-      The Levenberg-Marquardt algorithm: implementation and theory.
-      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
-      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
-      and New York, pp. 105-116, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The Levenberg-Marquardt algorithm described in [3] is scaling
-  invariant and globally convergent to (maybe local) minima.
-  According to [1], the convergence rate near a local minimum is
-  quadratic, if the Jacobian is computed analytically, and linear,
-  if the Jacobian is computed numerically.
-
-  Whether or not the direct algorithm is faster than the iterative
-  Conjugate Gradients algorithm for solving the linear systems
-  involved depends on several factors, including the conditioning
-  of the Jacobian matrix, and the ratio between its dimensions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MD03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           MMAX, NMAX
-      PARAMETER         ( MMAX = 20, NMAX = 20 )
-      INTEGER           LDWORK
-      PARAMETER         ( LDWORK = MMAX + 2*NMAX + MMAX*NMAX +
-     $                             MAX( NMAX*NMAX, 3*NMAX + MMAX ) )
-*     .. The lengths of DPAR1, DPAR2, IPAR are set to 1, 1, and 5 ..
-      INTEGER           LDPAR1, LDPAR2, LIPAR
-      PARAMETER         ( LDPAR1 = 1, LDPAR2 = 1, LIPAR = 5 )
-*     .. Local Scalars ..
-      CHARACTER*1       ALG, STOR, UPLO, XINIT
-      INTEGER           I, INFO, ITMAX, IWARN, M, N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  CGTOL, TOL
-*     .. Array Arguments ..
-      INTEGER           IPAR(LIPAR)
-      DOUBLE PRECISION  DPAR1(LDPAR1), DPAR2(LDPAR2), DWORK(LDWORK),
-     $                  X(NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          MD03AD, MD03AF, NF01BV, NF01BX
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, ITMAX, NPRINT, TOL, CGTOL, XINIT,
-     $                      ALG, STOR, UPLO
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) N
-         ELSE
-            IF ( LSAME( XINIT, 'G' ) )
-     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-*           Solve a standard nonlinear least squares problem.
-            IPAR(1) = M
-            IF ( LSAME( ALG, 'D' ) ) THEN
-               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BV, M,
-     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
-     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
-     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
-            ELSE
-               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BX, M,
-     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
-     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
-     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
-            END IF
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
-               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
-               WRITE ( NOUT, FMT = 99994 )
-               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MD03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MD03AD = ',I2)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' The number of function and Jacobian evaluations = ',
-     $           2I7)
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (' IWARN on exit from MD03AD = ',I2)
-      END
-C
-      SUBROUTINE MD03AF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
-     $                   LDPAR2, X, NFEVL, E, J, LDJ, JTE, DWORK,
-     $                   LDWORK, INFO )
-C
-C     This is the FCN routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03AD. See the
-C     argument FCN in the routine MD03AD for the description of
-C     parameters.
-C
-C     The example programmed in this routine is adapted from that
-C     accompanying the MINPACK routine LMDER.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-C     .. NOUT is the unit number for printing intermediate results ..
-      INTEGER           NOUT
-      PARAMETER         ( NOUT = 6 )
-      DOUBLE PRECISION  ZERO, ONE
-      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
-     $                  M, N, NFEVL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
-     $                  JTE(*), X(*)
-C     .. Local Scalars ..
-      INTEGER           I
-      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
-C     .. External Functions ..
-      DOUBLE PRECISION  DNRM2
-      EXTERNAL          DNRM2
-C     .. External Subroutines ..
-      EXTERNAL          DGEMV
-C     .. DATA Statements ..
-      DOUBLE PRECISION  Y(15)
-      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
-     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
-     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
-     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
-     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
-C
-C     .. Executable Statements ..
-C
-      INFO = 0
-      IF ( IFLAG.EQ.1 ) THEN
-C
-C        Compute the error function values, e.
-C
-         DO 10 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
-   10    CONTINUE
-C
-      ELSE IF ( IFLAG.EQ.2 ) THEN
-C
-C        Compute the Jacobian.
-C
-         DO 30 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
-            J(I,1) = -ONE
-            J(I,2) = TMP1*TMP2/TMP4
-            J(I,3) = TMP1*TMP3/TMP4
-   30    CONTINUE
-C
-C        Compute the product J'*e (the error e was computed in array E).
-C
-         CALL DGEMV( 'Transpose', M, N, ONE, J, LDJ, E, 1, ZERO, JTE,
-     $               1 )
-C
-         NFEVL = 0
-C
-      ELSE IF ( IFLAG.EQ.3 ) THEN
-C
-C        Set the parameter LDJ, the length of the array J, and the sizes
-C        of the workspace for MD03AF (IFLAG = 1 or 2), NF01BV and
-C        NF01BX.
-C
-         LDJ = M
-         IPAR(1) = M*N
-         IPAR(2) = 0
-         IPAR(3) = 0
-         IPAR(4) = M
-      ELSE IF ( IFLAG.EQ.0 ) THEN
-C
-C        Special call for printing intermediate results.
-C
-         ERR = DNRM2( M, E, 1 )
-         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
-C
-      END IF
-C
-      DWORK(1) = ZERO
-      RETURN
-C
-C *** Last line of MD03AF ***
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MD03AD EXAMPLE PROGRAM DATA
- 15     3   100     0   -1.   -1.    G     D     F    U
-   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MD03AD EXAMPLE PROGRAM RESULTS
-
-
- Final 2-norm of the residuals =   0.9063596D-01
-
- The number of function and Jacobian evaluations =      13     12
-
- Final approximate solution is 
-   0.0824   1.1330   2.3437
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MD03BD.html b/doc/_build/html/_static/doc/MD03BD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/MD03BD.html
+++ /dev/null
@@ -1,1017 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03BD">MD03BD</A></H2>
-<H3>
-Solution of a standard nonlinear least squares problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To minimize the sum of the squares of m nonlinear functions, e, in
-  n variables, x, by a modification of the Levenberg-Marquardt
-  algorithm. The user must provide a subroutine FCN which calculates
-  the functions and the Jacobian (possibly by finite differences).
-  In addition, specialized subroutines QRFACT, for QR factorization
-  with pivoting of the Jacobian, and LMPARM, for the computation of
-  Levenberg-Marquardt parameter, exploiting the possible structure
-  of the Jacobian matrix, should be provided. Template
-  implementations of these routines are included in SLICOT Library.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03BD( XINIT, SCALE, COND, FCN, QRFACT, LMPARM, M, N,
-     $                   ITMAX, FACTOR, NPRINT, IPAR, LIPAR, DPAR1,
-     $                   LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV, NJEV,
-     $                   FTOL, XTOL, GTOL, TOL, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND, SCALE, XINIT
-      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
-     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IWORK(*)
-      DOUBLE PRECISION  DIAG(*), DPAR1(*), DPAR2(*), DWORK(*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  XINIT   CHARACTER*1
-          Specifies how the variables x are initialized, as follows:
-          = 'R' :  the array X is initialized to random values; the
-                   entries DWORK(1:4) are used to initialize the
-                   random number generator: the first three values
-                   are converted to integers between 0 and 4095, and
-                   the last one is converted to an odd integer
-                   between 1 and 4095;
-          = 'G' :  the given entries of X are used as initial values
-                   of variables.
-
-  SCALE   CHARACTER*1
-          Specifies how the variables will be scaled, as follows:
-          = 'I' :  use internal scaling;
-          = 'S' :  use specified scaling factors, given in DIAG.
-
-  COND    CHARACTER*1
-          Specifies whether the condition of the linear systems
-          involved should be estimated, as follows:
-          = 'E' :  use incremental condition estimation to find the
-                   numerical rank;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of matrices for zero values.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  FCN     EXTERNAL
-          Subroutine which evaluates the functions and the Jacobian.
-          FCN must be declared in an external statement in the user
-          calling program, and must have the following interface:
-
-          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
-         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, DWORK,
-         $                LDWORK, INFO )
-
-          where
-
-          IFLAG   (input/output) INTEGER
-                  On entry, this parameter must contain a value
-                  defining the computations to be performed:
-                  = 0 :  Optionally, print the current iterate X,
-                         function values E, and Jacobian matrix J,
-                         or other results defined in terms of these
-                         values. See the argument NPRINT of MD03BD.
-                         Do not alter E and J.
-                  = 1 :  Calculate the functions at X and return
-                         this vector in E. Do not alter J.
-                  = 2 :  Calculate the Jacobian at X and return
-                         this matrix in J. Also return NFEVL
-                         (see below). Do not alter E.
-                  = 3 :  Do not compute neither the functions nor
-                         the Jacobian, but return in LDJ and
-                         IPAR/DPAR1,DPAR2 (some of) the integer/real
-                         parameters needed.
-                  On exit, the value of this parameter should not be
-                  changed by FCN unless the user wants to terminate
-                  execution of MD03BD, in which case IFLAG must be
-                  set to a negative integer.
-
-          M       (input) INTEGER
-                  The number of functions.  M &gt;= 0.
-
-          N       (input) INTEGER
-                  The number of variables.  M &gt;= N &gt;= 0.
-
-          IPAR    (input/output) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix or needed for problem solving.
-                  IPAR is an input parameter, except for IFLAG = 3
-                  on entry, when it is also an output parameter.
-                  On exit, if IFLAG = 3, IPAR(1) contains the length
-                  of the array J, for storing the Jacobian matrix,
-                  and the entries IPAR(2:5) contain the workspace
-                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
-                  QRFACT, and LMPARM, respectively.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 5.
-
-          DPAR1   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR1,*) or (LDPAR1)
-                  A first set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR1 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR1 could
-                  store the input trajectory of a system.
-
-          LDPAR1  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
-                  if leading dimension.)
-
-          DPAR2   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR2,*) or (LDPAR2)
-                  A second set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR2 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR2 could
-                  store the output trajectory of a system.
-
-          LDPAR2  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
-                  if leading dimension.)
-
-          X       (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the value of the
-                  variables x where the functions or the Jacobian
-                  must be evaluated.
-
-          NFEVL   (input/output) INTEGER
-                  The number of function evaluations needed to
-                  compute the Jacobian by a finite difference
-                  approximation.
-                  NFEVL is an input parameter if IFLAG = 0, or an
-                  output parameter if IFLAG = 2. If the Jacobian is
-                  computed analytically, NFEVL should be set to a
-                  non-positive value.
-
-          E       (input/output) DOUBLE PRECISION array,
-                  dimension (M)
-                  This array contains the value of the (error)
-                  functions e evaluated at X.
-                  E is an input parameter if IFLAG = 0 or 2, or an
-                  output parameter if IFLAG = 1.
-
-          J       (input/output) DOUBLE PRECISION array, dimension
-                  (LDJ,NC), where NC is the number of columns
-                  needed.
-                  This array contains a possibly compressed
-                  representation of the Jacobian matrix evaluated
-                  at X. If full Jacobian is stored, then NC = N.
-                  J is an input parameter if IFLAG = 0, or an output
-                  parameter if IFLAG = 2.
-
-          LDJ     (input/output) INTEGER
-                  The leading dimension of array J.  LDJ &gt;= 1.
-                  LDJ is essentially used inside the routines FCN,
-                  QRFACT and LMPARM.
-                  LDJ is an input parameter, except for IFLAG = 3
-                  on entry, when it is an output parameter.
-                  It is assumed in MD03BD that LDJ is not larger
-                  than needed.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine FCN.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine FCN).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine FCN. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-  QRFACT  EXTERNAL
-          Subroutine which computes the QR factorization with
-          (block) column pivoting of the Jacobian matrix, J*P = Q*R.
-          QRFACT must be declared in an external statement in the
-          calling program, and must have the following interface:
-
-          SUBROUTINE QRFACT( N, IPAR, LIPAR, FNORM, J, LDJ, E,
-         $                   JNORMS, GNORM, IPVT, DWORK, LDWORK,
-         $                   INFO )
-
-          where
-
-          N       (input) INTEGER
-                  The number of columns of the Jacobian matrix J.
-                  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          FNORM   (input) DOUBLE PRECISION
-                  The Euclidean norm of the vector e.  FNORM &gt;= 0.
-
-          J       (input/output) DOUBLE PRECISION array, dimension
-                  (LDJ, NC), where NC is the number of columns.
-                  On entry, the leading NR-by-NC part of this array
-                  must contain the (compressed) representation
-                  of the Jacobian matrix J, where NR is the number
-                  of rows of J (function of IPAR entries).
-                  On exit, the leading N-by-NC part of this array
-                  contains a (compressed) representation of the
-                  upper triangular factor R of the Jacobian matrix.
-                  For efficiency of the later calculations, the
-                  matrix R is delivered with the leading dimension
-                  MAX(1,N), possibly much smaller than the value
-                  of LDJ on entry.
-
-          LDJ     (input/output) INTEGER
-                  The leading dimension of array J.
-                  On entry, LDJ &gt;= MAX(1,NR).
-                  On exit,  LDJ &gt;= MAX(1,N).
-
-          E       (input/output) DOUBLE PRECISION array, dimension
-                  (NR)
-                  On entry, this array contains the error vector e.
-                  On exit, this array contains the updated vector
-                  Z*Q'*e, where Z is a block row permutation matrix
-                  (possibly identity) used in the QR factorization
-                  of J. (See, for example, the SLICOT Library
-                  routine NF01BS, Section METHOD.)
-
-          JNORMS  (output) DOUBLE PRECISION array, dimension (N)
-                  This array contains the Euclidean norms of the
-                  columns of the Jacobian matrix (in the original
-                  order).
-
-          GNORM   (output) DOUBLE PRECISION
-                  If FNORM &gt; 0, the 1-norm of the scaled vector
-                  J'*e/FNORM, with each element i further divided
-                  by JNORMS(i) (if JNORMS(i) is nonzero).
-                  If FNORM = 0, the returned value of GNORM is 0.
-
-          IPVT    (output) INTEGER array, dimension (N)
-                  This array defines the permutation matrix P such
-                  that J*P = Q*R. Column j of P is column IPVT(j) of
-                  the identity matrix.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine QRFACT.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine QRFACT).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine QRFACT. The LAPACK Library routine
-                  XERBLA should be used in conjunction with negative
-                  INFO. INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-  LMPARM  EXTERNAL
-          Subroutine which determines a value for the Levenberg-
-          Marquardt parameter PAR such that if x solves the system
-
-                J*x = b ,     sqrt(PAR)*D*x = 0 ,
-
-          in the least squares sense, where J is an m-by-n matrix,
-          D is an n-by-n nonsingular diagonal matrix, and b is an
-          m-vector, and if DELTA is a positive number, DXNORM is
-          the Euclidean norm of D*x, then either PAR is zero and
-
-                ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
-
-          or PAR is positive and
-
-                ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
-
-          It is assumed that a block QR factorization, with column
-          pivoting, of J is available, that is, J*P = Q*R, where P
-          is a permutation matrix, Q has orthogonal columns, and
-          R is an upper triangular matrix (possibly stored in a
-          compressed form), with diagonal elements of nonincreasing
-          magnitude for each block. On output, LMPARM also provides
-          a (compressed) representation of an upper triangular
-          matrix S, such that
-
-                P'*(J'*J + PAR*D*D)*P = S'*S .
-
-          LMPARM must be declared in an external statement in the
-          calling program, and must have the following interface:
-
-          SUBROUTINE LMPARM( COND, N, IPAR, LIPAR, R, LDR, IPVT,
-         $                   DIAG, QTB, DELTA, PAR, RANKS, X, RX,
-         $                   TOL, DWORK, LDWORK, INFO )
-
-          where
-
-          COND    CHARACTER*1
-                  Specifies whether the condition of the linear
-                  systems involved should be estimated, as follows:
-                  = 'E' :  use incremental condition estimation
-                           to find the numerical rank;
-                  = 'N' :  do not use condition estimation, but
-                           check the diagonal entries for zero
-                           values;
-                  = 'U' :  use the ranks already stored in RANKS
-                           (for R).
-
-          N       (input) INTEGER
-                  The order of the matrix R.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          R       (input/output) DOUBLE PRECISION array, dimension
-                  (LDR, NC), where NC is the number of columns.
-                  On entry, the leading N-by-NC part of this array
-                  must contain the (compressed) representation (Rc)
-                  of the upper triangular matrix R.
-                  On exit, the full upper triangular part of R
-                  (in representation Rc), is unaltered, and the
-                  remaining part contains (part of) the (compressed)
-                  representation of the transpose of the upper
-                  triangular matrix S.
-
-          LDR     (input) INTEGER
-                  The leading dimension of array R.
-                  LDR &gt;= MAX(1,N).
-
-          IPVT    (input) INTEGER array, dimension (N)
-                  This array must define the permutation matrix P
-                  such that J*P = Q*R. Column j of P is column
-                  IPVT(j) of the identity matrix.
-
-          DIAG    (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the diagonal elements of
-                  the matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
-
-          QTB     (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the first n elements of
-                  the vector Q'*b.
-
-          DELTA   (input) DOUBLE PRECISION
-                  An upper bound on the Euclidean norm of D*x.
-                  DELTA &gt; 0.
-
-          PAR     (input/output) DOUBLE PRECISION
-                  On entry, PAR must contain an initial estimate of
-                  the Levenberg-Marquardt parameter.  PAR &gt;= 0.
-                  On exit, it contains the final estimate of this
-                  parameter.
-
-          RANKS   (input or output) INTEGER array, dimension (r),
-                  where r is the number of diagonal blocks R_k in R,
-                  corresponding to the block column structure of J.
-                  On entry, if COND = 'U' and N &gt; 0, this array must
-                  contain the numerical ranks of the submatrices
-                  R_k, k = 1:r. The number r is defined in terms of
-                  the entries of IPAR.
-                  On exit, if N &gt; 0, this array contains the
-                  numerical ranks of the submatrices S_k, k = 1:r.
-
-          X       (output) DOUBLE PRECISION array, dimension (N)
-                  This array contains the least squares solution of
-                  the system J*x = b, sqrt(PAR)*D*x = 0.
-
-          RX      (output) DOUBLE PRECISION array, dimension (N)
-                  This array contains the matrix-vector product
-                  -R*P'*x.
-
-          TOL     (input) DOUBLE PRECISION
-                  If COND = 'E', the tolerance to be used for
-                  finding the ranks of the submatrices R_k and S_k.
-                  If the user sets TOL &gt; 0, then the given value of
-                  TOL is used as a lower bound for the reciprocal
-                  condition number;  a (sub)matrix whose estimated
-                  condition number is less than 1/TOL is considered
-                  to be of full rank.  If the user sets TOL &lt;= 0,
-                  then an implicitly computed, default tolerance,
-                  defined by TOLDEF = N*EPS,  is used instead,
-                  where EPS is the machine precision (see LAPACK
-                  Library routine DLAMCH).
-                  This parameter is not relevant if COND = 'U'
-                  or 'N'.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine LMPARM.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine LMPARM).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine LMPARM. The LAPACK Library routine
-                  XERBLA should be used in conjunction with negative
-                  INFO. INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of functions.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of variables.  M &gt;= N &gt;= 0.
-
-  ITMAX   (input) INTEGER
-          The maximum number of iterations.  ITMAX &gt;= 0.
-
-  FACTOR  (input) DOUBLE PRECISION
-          The value used in determining the initial step bound. This
-          bound is set to the product of FACTOR and the Euclidean
-          norm of DIAG*X if nonzero, or else to FACTOR itself.
-          In most cases FACTOR should lie in the interval (.1,100).
-          A generally recommended value is 100.  FACTOR &gt; 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          with X, E, and J available for printing. Note that when
-          called immediately prior to return, J normally contains
-          the result returned by QRFACT and LMPARM (the compressed
-          R and S factors). If NPRINT is not positive, no special
-          calls of FCN with IFLAG = 0 are made.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed, for instance, for
-          describing the structure of the Jacobian matrix, which
-          are handed over to the routines FCN, QRFACT and LMPARM.
-          The first five entries of this array are modified
-          internally by a call to FCN (with IFLAG = 3), but are
-          restored on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 5.
-
-  DPAR1   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR1,*) or (LDPAR1)
-          A first set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03BD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR1  (input) INTEGER
-          The leading dimension or the length of the array DPAR1, as
-          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
-          dimension.)
-
-  DPAR2   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR2,*) or (LDPAR2)
-          A second set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03BD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR2  (input) INTEGER
-          The leading dimension or the length of the array DPAR2, as
-          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
-          dimension.)
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if XINIT = 'G', this array must contain the
-          vector of initial variables x to be optimized.
-          If XINIT = 'R', this array need not be set before entry,
-          and random values will be used to initialize x.
-          On exit, if INFO = 0, this array contains the vector of
-          values that (approximately) minimize the sum of squares of
-          error functions. The values returned in IWARN and
-          DWORK(1:4) give details on the iterative process.
-
-  DIAG    (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if SCALE = 'S', this array must contain some
-          positive entries that serve as multiplicative scale
-          factors for the variables x.  DIAG(I) &gt; 0, I = 1,...,N.
-          If SCALE = 'I', DIAG is internally set.
-          On exit, this array contains the scale factors used
-          (or finally used, if SCALE = 'I').
-
-  NFEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 1. If FCN is
-          properly implemented, this includes the function
-          evaluations needed for finite difference approximation
-          of the Jacobian.
-
-  NJEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 2.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  FTOL    DOUBLE PRECISION
-          If FTOL &gt;= 0, the tolerance which measures the relative
-          error desired in the sum of squares. Termination occurs
-          when both the actual and predicted relative reductions in
-          the sum of squares are at most FTOL. If the user sets
-          FTOL &lt; 0,  then  SQRT(EPS)  is used instead FTOL, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-  XTOL    DOUBLE PRECISION
-          If XTOL &gt;= 0, the tolerance which measures the relative
-          error desired in the approximate solution. Termination
-          occurs when the relative error between two consecutive
-          iterates is at most XTOL. If the user sets  XTOL &lt; 0,
-          then  SQRT(EPS)  is used instead XTOL.
-
-  GTOL    DOUBLE PRECISION
-          If GTOL &gt;= 0, the tolerance which measures the
-          orthogonality desired between the function vector e and
-          the columns of the Jacobian J. Termination occurs when
-          the cosine of the angle between e and any column of the
-          Jacobian J is at most GTOL in absolute value. If the user
-          sets  GTOL &lt; 0,  then  EPS  is used instead GTOL.
-
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the matrices of linear systems to be solved. If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as a lower bound for the reciprocal condition number;  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*EPS,  is used instead.
-          This parameter is not relevant if COND = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+r), where r is the number
-          of diagonal blocks R_k in R (see description of LMPARM).
-          On output, if INFO = 0, the first N entries of this array
-          define a permutation matrix P such that J*P = Q*R, where
-          J is the final calculated Jacobian, Q is an orthogonal
-          matrix (not stored), and R is upper triangular with
-          diagonal elements of nonincreasing magnitude (possibly
-          for each block column of J). Column j of P is column
-          IWORK(j) of the identity matrix. If INFO = 0, the entries
-          N+1:N+r of this array contain the ranks of the final
-          submatrices S_k (see description of LMPARM).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, and DWORK(4) returns the final Levenberg
-          factor. If INFO = 0, N &gt; 0, and IWARN &gt;= 0, the elements
-          DWORK(5) to DWORK(4+M) contain the final matrix-vector
-          product Z*Q'*e, and the elements DWORK(5+M) to
-          DWORK(4+M+N*NC) contain the (compressed) representation of
-          final upper triangular matrices R and S (if IWARN &lt;&gt; 4).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 4, M + max( size(J) +
-                                     max( DW( FCN|IFLAG = 1 ),
-                                          DW( FCN|IFLAG = 2 ),
-                                          DW( QRFACT ) + N ),
-                                     N*NC + N +
-                                     max( M + DW( FCN|IFLAG = 1 ),
-                                          N + DW( LMPARM ) ) ) ),
-          where size(J) is the size of the Jacobian (provided by FCN
-          in IPAR(1), for IFLAG = 3), and DW( f ) is the workspace
-          needed by the routine f, where f is FCN, QRFACT, or LMPARM
-          (provided by FCN in IPAR(2:5), for IFLAG = 3).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
-          = 1:  both actual and predicted relative reductions in
-                the sum of squares are at most FTOL;
-          = 2:  relative error between two consecutive iterates is
-                at most XTOL;
-          = 3:  conditions for IWARN = 1 and IWARN = 2 both hold;
-          = 4:  the cosine of the angle between e and any column of
-                the Jacobian is at most GTOL in absolute value;
-          = 5:  the number of iterations has reached ITMAX without
-                satisfying any convergence condition;
-          = 6:  FTOL is too small: no further reduction in the sum
-                of squares is possible;
-          = 7:  XTOL is too small: no further improvement in the
-                approximate solution x is possible;
-          = 8:  GTOL is too small: e is orthogonal to the columns of
-                the Jacobian to machine precision.
-          In all these cases, DWORK(1:4) are set as described above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 1;
-          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 2;
-          = 3:  user-defined routine QRFACT returned with INFO &lt;&gt; 0;
-          = 4:  user-defined routine LMPARM returned with INFO &lt;&gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If XINIT = 'R', the initial value for x is set to a vector of
-  pseudo-random values uniformly distributed in (-1,1).
-
-  The Levenberg-Marquardt algorithm (described in [1,3]) is used for
-  optimizing the variables x. This algorithm needs the Jacobian
-  matrix J, which is provided by the subroutine FCN. A trust region
-  method is used. The algorithm tries to update x by the formula
-
-      x = x - p,
-
-  using an approximate solution of the system of linear equations
-
-      (J'*J + PAR*D*D)*p = J'*e,
-
-  with e the error function vector, and D a diagonal nonsingular
-  matrix, where either PAR = 0 and
-
-      ( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA ,
-
-  or PAR &gt; 0 and
-
-      ABS( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA .
-
-  DELTA is the radius of the trust region. If the Gauss-Newton
-  direction is not acceptable, then an iterative algorithm obtains
-  improved lower and upper bounds for the Levenberg-Marquardt
-  parameter PAR. Only a few iterations are generally needed for
-  convergence of the algorithm. The trust region radius DELTA
-  and the Levenberg factor PAR are updated based on the ratio
-  between the actual and predicted reduction in the sum of squares.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-  [2] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
-      1996.
-
-  [3] More, J.J.
-      The Levenberg-Marquardt algorithm: implementation and theory.
-      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
-      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
-      and New York, pp. 105-116, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The Levenberg-Marquardt algorithm described in [3] is scaling
-  invariant and globally convergent to (maybe local) minima.
-  The convergence rate near a local minimum is quadratic, if the
-  Jacobian is computed analytically, and linear, if the Jacobian
-  is computed numerically.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a more general version of the subroutines LMDER
-  and LMDER1 from the MINPACK package [1], which enables to exploit
-  the structure of the problem, and optionally use condition
-  estimation. Unstructured problems could be solved as well.
-
-  Template SLICOT Library implementations for FCN, QRFACT and
-  LMPARM routines are:
-  MD03BF, MD03BA, and MD03BB, respectively, for standard problems;
-  NF01BF, NF01BS, and NF01BP, respectively, for optimizing the
-  parameters of Wiener systems (structured problems).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MD03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           MMAX, NMAX
-      PARAMETER         ( MMAX = 20, NMAX = 20 )
-      INTEGER           LDWORK
-      PARAMETER         ( LDWORK = MMAX +
-     $                             MAX( MMAX*NMAX + 5*NMAX + 1,
-     $                                  NMAX*NMAX + NMAX +
-     $                                  MAX( MMAX, 5*NMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1       COND, SCALE, XINIT
-      INTEGER           I, INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LIPAR, M,
-     $                  N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
-*     .. Array Arguments ..
-      INTEGER           IPAR(5), IWORK(NMAX+1)
-      DOUBLE PRECISION  DIAG(NMAX), DPAR1(1), DPAR2(1), DWORK(LDWORK),
-     $                  X(NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          MD03BA, MD03BB, MD03BD, MD03BF
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, ITMAX, LIPAR, LDPAR1, LDPAR2, FACTOR,
-     $                      NPRINT, FTOL, XTOL, GTOL, TOL, XINIT, SCALE,
-     $                      COND
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) N
-         ELSE
-            IF ( LSAME( SCALE, 'S' ) )
-     $         READ ( NIN, FMT = * ) ( DIAG(I), I = 1,N )
-            IF ( LSAME( XINIT, 'G' ) )
-     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-*           Solve a standard nonlinear least squares problem.
-            IPAR(1) = M
-            CALL MD03BD( XINIT, SCALE, COND, MD03BF, MD03BA, MD03BB,
-     $                   M, N, ITMAX, FACTOR, NPRINT, IPAR, LIPAR,
-     $                   DPAR1, LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV,
-     $                   NJEV, FTOL, XTOL, GTOL, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99991 ) IWARN
-               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
-               WRITE ( NOUT, FMT = 99994 )
-               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MD03BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MD03BD = ',I2)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' The number of function and Jacobian evaluations = ',
-     $           2I7)
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (' IWARN on exit from MD03BD = ',I2)
-      END
-C
-      SUBROUTINE MD03BF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
-     $                   LDPAR2, X, NFEVL, E, J, LDJ, DWORK, LDWORK,
-     $                   INFO )
-C
-C     This is the FCN routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03BD. See the
-C     argument FCN in the routine MD03BD for the description of
-C     parameters.
-C
-C     The example programmed in this routine is adapted from that
-C     accompanying the MINPACK routine LMDER.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-C     .. NOUT is the unit number for printing intermediate results ..
-      INTEGER           NOUT
-      PARAMETER         ( NOUT = 6 )
-      DOUBLE PRECISION  ONE
-      PARAMETER         ( ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
-     $                  M, N, NFEVL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
-     $                  X(*)
-C     .. Local Scalars ..
-      INTEGER           I
-      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
-C     .. External Functions ..
-      DOUBLE PRECISION  DNRM2
-      EXTERNAL          DNRM2
-C     .. External Subroutines ..
-      EXTERNAL          MD03BA, MD03BB
-C     .. DATA Statements ..
-      DOUBLE PRECISION  Y(15)
-      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
-     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
-     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
-     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
-     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
-C
-C     .. Executable Statements ..
-C
-      INFO = 0
-      IF ( IFLAG.EQ.1 ) THEN
-C
-C        Compute the error function values.
-C
-         DO 10 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
-   10    CONTINUE
-C
-      ELSE IF ( IFLAG.EQ.2 ) THEN
-C
-C        Compute the Jacobian.
-C
-         DO 30 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
-            J(I,1) = -ONE
-            J(I,2) = TMP1*TMP2/TMP4
-            J(I,3) = TMP1*TMP3/TMP4
-   30    CONTINUE
-C
-         NFEVL = 0
-C
-      ELSE IF ( IFLAG.EQ.3 ) THEN
-C
-C        Set the parameter LDJ, the length of the array J, and the sizes
-C        of the workspace for MD03BF (IFLAG = 1 or 2), MD03BA and MD03BB.
-C
-         LDJ = M
-         IPAR(1) = M*N
-         IPAR(2) = 0
-         IPAR(3) = 0
-         IPAR(4) = 4*N + 1
-         IPAR(5) = 4*N
-      ELSE IF ( IFLAG.EQ.0 ) THEN
-C
-C        Special call for printing intermediate results.
-C
-         ERR = DNRM2( M, E, 1 )
-         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
-C
-      END IF
-C
-      RETURN
-C
-C *** Last line of MD03BF ***
-      END
-C
-      SUBROUTINE MD03BA( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
-     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
-C
-C     This is the QRFACT routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03BD. See the
-C     argument QRFACT in the routine MD03BD for the description of
-C     parameters.
-C
-C     For efficiency, the arguments are not checked. This is done in
-C     the routine MD03BX (except for LIPAR).
-C
-C     ******************************************************************
-C
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
-      DOUBLE PRECISION  FNORM, GNORM
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JNORMS(*)
-C     .. External Subroutines ..
-      EXTERNAL          MD03BX
-C     ..
-C     .. Executable Statements ..
-C
-      CALL MD03BX( IPAR(1), N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
-     $             DWORK, LDWORK, INFO )
-      RETURN
-C
-C *** Last line of MD03BA ***
-      END
-C
-      SUBROUTINE MD03BB( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
-     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
-     $                   INFO )
-C
-C     This is the LMPARM routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03BD. See the
-C     argument LMPARM in the routine MD03BD for the description of
-C     parameters.
-C
-C     For efficiency, the arguments are not checked. This is done in
-C     the routine MD03BY (except for LIPAR).
-C
-C     ******************************************************************
-C
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, LIPAR, N
-      DOUBLE PRECISION  DELTA, PAR, TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*), RANKS(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
-C     .. External Subroutines ..
-      EXTERNAL          MD03BY
-C     ..
-C     .. Executable Statements ..
-C
-      CALL MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
-     $             RANKS(1), X, RX, TOL, DWORK, LDWORK, INFO )
-      RETURN
-C
-C *** Last line of MD03BB ***
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MD03BD EXAMPLE PROGRAM DATA
- 15     3   100     5     0     0   1.D2     0   -1.   -1.   -1.   -1.     G     I     E
-   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MD03BD EXAMPLE PROGRAM RESULTS
-
- IWARN on exit from MD03BD =  1
-
- Final 2-norm of the residuals =   0.9063596D-01
-
- The number of function and Jacobian evaluations =       6      5
-
- Final approximate solution is 
-   0.0824   1.1330   2.3437
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MD03BX.html b/doc/_build/html/_static/doc/MD03BX.html
deleted file mode 100644
index 6eee1e6d..00000000
--- a/doc/_build/html/_static/doc/MD03BX.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03BX">MD03BX</A></H2>
-<H3>
-QR factorization with column pivoting for a standard nonlinear least squares problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the QR factorization with column pivoting of an
-  m-by-n matrix J (m &gt;= n), that is, J*P = Q*R, where Q is a matrix
-  with orthogonal columns, P a permutation matrix, and R an upper
-  trapezoidal matrix with diagonal elements of nonincreasing
-  magnitude, and to apply the transformation Q' on the error
-  vector e (in-situ). The 1-norm of the scaled gradient is also
-  returned. The matrix J could be the Jacobian of a nonlinear least
-  squares problem.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03BX( M, N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDJ, LDWORK, M, N
-      DOUBLE PRECISION  FNORM, GNORM
-C     .. Array Arguments ..
-      INTEGER           IPVT(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the Jacobian matrix J.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.
-          M &gt;= N &gt;= 0.
-
-  FNORM   (input) DOUBLE PRECISION
-          The Euclidean norm of the vector e.  FNORM &gt;= 0.
-
-  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, N)
-          On entry, the leading M-by-N part of this array must
-          contain the Jacobian matrix J.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangular factor R of the
-          Jacobian matrix. Note that for efficiency of the later
-          calculations, the matrix R is delivered with the leading
-          dimension MAX(1,N), possibly much smaller than the value
-          of LDJ on entry.
-
-  LDJ     (input/output) INTEGER
-          The leading dimension of array J.
-          On entry, LDJ &gt;= MAX(1,M).
-          On exit,  LDJ &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (M)
-          On entry, this array must contain the error vector e.
-          On exit, this array contains the updated vector Q'*e.
-
-  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the Euclidean norms of the columns of
-          the Jacobian matrix, considered in the initial order.
-
-  GNORM   (output) DOUBLE PRECISION
-          If FNORM &gt; 0, the 1-norm of the scaled vector
-          J'*Q'*e/FNORM, with each element i further divided by
-          JNORMS(i) (if JNORMS(i) is nonzero).
-          If FNORM = 0, the returned value of GNORM is 0.
-
-  IPVT    (output) INTEGER array, dimension (N)
-          This array defines the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1,      if N = 0 or M = 1;
-          LDWORK &gt;= 4*N+1,  if N &gt; 1.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses QR factorization with column pivoting of the
-  matrix J, J*P = Q*R, and applies the orthogonal matrix Q' to the
-  vector e.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/MD03BY.html b/doc/_build/html/_static/doc/MD03BY.html
deleted file mode 100644
index 57ce4f8a..00000000
--- a/doc/_build/html/_static/doc/MD03BY.html
+++ /dev/null
@@ -1,217 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03BY">MD03BY</A></H2>
-<H3>
-Levenberg-Marquardt parameter for a standard nonlinear least squares problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a value for the parameter PAR such that if x solves
-  the system
-
-        A*x = b ,     sqrt(PAR)*D*x = 0 ,
-
-  in the least squares sense, where A is an m-by-n matrix, D is an
-  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
-  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
-  then either PAR is zero and
-
-        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
-
-  or PAR is positive and
-
-        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
-
-  It is assumed that a QR factorization, with column pivoting, of A
-  is available, that is, A*P = Q*R, where P is a permutation matrix,
-  Q has orthogonal columns, and R is an upper triangular matrix
-  with diagonal elements of nonincreasing magnitude.
-  The routine needs the full upper triangle of R, the permutation
-  matrix P, and the first n components of Q'*b (' denotes the
-  transpose). On output, MD03BY also provides an upper triangular
-  matrix S such that
-
-        P'*(A'*A + PAR*D*D)*P = S'*S .
-
-  Matrix S is used in the solution process.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
-     $                   RANK, X, RX, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, N, RANK
-      DOUBLE PRECISION  DELTA, PAR, TOL
-C     .. Array Arguments ..
-      INTEGER           IPVT(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the matrices R and S
-          should be estimated, as follows:
-          = 'E' :  use incremental condition estimation for R and S;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of R and S for zero values;
-          = 'U' :  use the rank already stored in RANK (for R).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the full upper triangle is unaltered, and the
-          strict lower triangle contains the strict upper triangle
-          (transposed) of the upper triangular matrix S.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          A*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  DELTA   (input) DOUBLE PRECISION
-          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
-
-  PAR     (input/output) DOUBLE PRECISION
-          On entry, PAR must contain an initial estimate of the
-          Levenberg-Marquardt parameter.  PAR &gt;= 0.
-          On exit, it contains the final estimate of this parameter.
-
-  RANK    (input or output) INTEGER
-          On entry, if COND = 'U', this parameter must contain the
-          (numerical) rank of the matrix R.
-          On exit, this parameter contains the numerical rank of
-          the matrix S.
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system A*x = b, sqrt(PAR)*D*x = 0.
-
-  RX      (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the matrix-vector product -R*P'*x.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          rank of the matrices R and S. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          the reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 4*N, if COND =  'E';
-          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm computes the Gauss-Newton direction. A least squares
-  solution is found if the Jacobian is rank deficient. If the Gauss-
-  Newton direction is not acceptable, then an iterative algorithm
-  obtains improved lower and upper bounds for the parameter PAR.
-  Only a few iterations are generally needed for convergence of the
-  algorithm. If, however, the limit of ITMAX = 10 iterations is
-  reached, then the output PAR will contain the best value obtained
-  so far. If the Gauss-Newton step is acceptable, it is stored in x,
-  and PAR is set to zero, hence S = R.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a LAPACK-based modification of LMPAR from the
-  MINPACK package [1], and with optional condition estimation.
-  The option COND = 'U' is useful when dealing with several
-  right-hand side vectors, but RANK should be reset.
-  If COND = 'E', but the matrix S is guaranteed to be nonsingular
-  and well conditioned relative to TOL, i.e., rank(R) = N, and
-  min(DIAG) &gt; 0, then its condition is not estimated.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01AD.html b/doc/_build/html/_static/doc/NF01AD.html
deleted file mode 100644
index e73d3301..00000000
--- a/doc/_build/html/_static/doc/NF01AD.html
+++ /dev/null
@@ -1,155 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01AD">NF01AD</A></H2>
-<H3>
-Computing the output of a Wiener system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate the output y of the Wiener system
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t)   = f(z(t),wb(1:L)),
-
-  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
-  evaluated by the SLICOT Library routine NF01AY. The parameter
-  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
-  where wb(i), i = 1:L, correspond to the nonlinear part, theta
-  corresponds to the linear part, and the notation is fully
-  described below.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01AD( NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU, Y, LDY,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDU, LDWORK, LDY, LX, LIPAR, M, NSMP
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  M       (input) INTEGER
-          The length of each input sample.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.  L &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed.
-          IPAR(1)  must contain the order of the linear part,
-                   referred to as N below.  N &gt;= 0.
-          IPAR(2)  must contain the number of neurons for the
-                   nonlinear part, referred to as NN below.
-                   NN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of IPAR.  LIPAR &gt;= 2.
-
-  X       (input) DOUBLE PRECISION array, dimension (LX)
-          The parameter vector, partitioned as
-          X = (wb(1), ..., wb(L), theta), where the vectors
-          wb(i), of length NN*(L+2)+1, are parameters for the
-          static nonlinearity, which is simulated by the
-          SLICOT Library routine NF01AY. See the documentation of
-          NF01AY for further details. The vector theta, of length
-          N*(M + L + 1) + L*M, represents the matrices A, B, C,
-          D and x(1), and it can be retrieved from these matrices
-          by SLICOT Library routine TB01VD and retranslated by
-          TB01VY.
-
-  LX      (input) INTEGER
-          The length of the array X.
-          LX &gt;= ( NN*(L+2)+1 )*L + N*(M + L + 1) + L*M.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= MAX(1,NSMP).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array contains the
-          simulated output.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
-                                  MAX( N*(N + L), N + M + L ) )
-                                                           if M &gt; 0;
-          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
-                                  MAX( N*(N + L), L ) ),   if M = 0.
-          A larger value of LDWORK could improve the efficiency.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  BLAS routines are used for the matrix-vector multiplications and
-  the routine NF01AY is called for the calculation of the nonlinear
-  function.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01AY.html b/doc/_build/html/_static/doc/NF01AY.html
deleted file mode 100644
index 73a12897..00000000
--- a/doc/_build/html/_static/doc/NF01AY.html
+++ /dev/null
@@ -1,148 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01AY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01AY">NF01AY</A></H2>
-<H3>
-Computing the output of a set of neural networks
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate the output of a set of neural networks with the
-  structure
-
-          - tanh(w1'*z+b1) -
-        /      :             \
-      z ---    :           --- sum(ws(i)*...)+ b(n+1)  --- y,
-        \      :             /
-          - tanh(wn'*z+bn) -
-
-  given the input z and the parameter vectors wi, ws, and b,
-  where z, w1, ..., wn are vectors of length NZ, ws is a vector
-  of length n, b(1), ..., b(n+1) are scalars, and n is called the
-  number of neurons in the hidden layer, or just number of neurons.
-  Such a network is used for each L output variables.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01AY( NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z, LDZ,
-     $                   Y, LDY, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDWORK, LDY, LDZ, LIPAR, LWB, NSMP, NZ
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), WB(*), Y(LDY,*), Z(LDZ,*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  NZ      (input) INTEGER
-          The length of each input sample.  NZ &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.  L &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed.
-          IPAR(1) must contain the number of neurons, n, per output
-          variable, denoted NN in the sequel.  NN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the vector IPAR.  LIPAR &gt;= 1.
-
-  WB      (input) DOUBLE PRECISION array, dimension (LWB)
-          The leading (NN*(NZ+2)+1)*L part of this array must
-          contain the weights and biases of the network. This vector
-          is partitioned into L vectors of length NN*(NZ+2)+1,
-          WB = [ wb(1), ..., wb(L) ]. Each wb(k), k = 1, ..., L,
-          corresponds to one output variable, and has the structure
-          wb(k) = [ w1(1), ..., w1(NZ), ..., wn(1), ..., wn(NZ),
-                    ws(1), ..., ws(n), b(1), ..., b(n+1) ],
-          where wi(j) are the weights of the hidden layer,
-          ws(i) are the weights of the linear output layer, and
-          b(i) are the biases, as in the scheme above.
-
-  LWB     (input) INTEGER
-          The length of the array WB.
-          LWB &gt;= ( NN*(NZ + 2) + 1 )*L.
-
-  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
-          The leading NSMP-by-NZ part of this array must contain the
-          set of input samples,
-          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,NSMP).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array contains the set
-          of output samples,
-          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 2*NN.
-          For better performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  BLAS routines are used to compute the matrix-vector products.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BD.html b/doc/_build/html/_static/doc/NF01BD.html
deleted file mode 100644
index 02334836..00000000
--- a/doc/_build/html/_static/doc/NF01BD.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BD">NF01BD</A></H2>
-<H3>
-Computing the Jacobian of a Wiener system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate the Jacobian dy/dX of the Wiener system
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t,i) = sum( ws(k, i)*f(w(k, i)*z(t) + b(k,i)) ) + b(k+1,i),
-
-  where t = 1, 2, ...,  NSMP,
-        i = 1, 2, ...,  L,
-        k = 1, 2, ...,  NN.
-
-  NN is arbitrary eligible and has to be provided in IPAR(2), and
-  X = ( wb(1), ..., wb(L), theta ) is described below.
-
-  Denoting y(j) = y(1:NSMP,j), the Jacobian J has the block form
-
-    dy(1)/dwb(1)       0         .....       0         dy(1)/dtheta
-         0        dy(2)/dwb(2)   .....       0         dy(2)/dtheta
-       .....         .....       .....     .....          .....
-         0           .....         0    dy(L)/dwb(L)   dy(L)/dtheta
-
-  but it will be returned without the zero blocks, in the form
-
-  dy(1)/dwb(1)    dy(1)/dtheta
-               ...
-  dy(L)/dwb(L)    dy(L)/dtheta.
-
-  dy(i)/dwb(i) depends on f and is calculated by the routine NF01BY;
-  dy(i)/dtheta is computed by a forward-difference approximation.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BD( CJTE, NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU,
-     $                   E, J, LDJ, JTE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CJTE
-      INTEGER           INFO, L, LDJ, LDU, LDWORK, LX, LIPAR, M, NSMP
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ, *), JTE(*), U(LDU,*),
-     $                  X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CJTE    CHARACTER*1
-          Specifies whether the matrix-vector product J'*e should be
-          computed or not, as follows:
-          = 'C' :  compute J'*e;
-          = 'N' :  do not compute J'*e.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  M       (input) INTEGER
-          The length of each input sample.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.  L &gt;= 0.
-
-  IPAR    (input/output) INTEGER array, dimension (LIPAR)
-          On entry, the first entries of this array must contain
-          the integer parameters needed; specifically,
-          IPAR(1)  must contain the order of the linear part, N;
-                   actually, N = abs(IPAR(1)), since setting
-                   IPAR(1) &lt; 0 has a special meaning (see below);
-          IPAR(2)  must contain the number of neurons for the
-                   nonlinear part, NN, NN &gt;= 0.
-          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
-          performed, except the needed tests on input parameters,
-          but the following values are returned:
-          IPAR(1) contains the length of the array J, LJ;
-          LDJ     contains the leading dimension of array J.
-          Otherwise, IPAR(1) and LDJ are unchanged on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 2.
-
-  X       (input) DOUBLE PRECISION array, dimension (LX)
-          The leading LPAR entries of this array must contain the
-          set of system parameters, where
-             LPAR = (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
-          X has the form (wb(1), ..., wb(L), theta), where the
-          vectors wb(i) have the structure
-           (w(1,1), ..., w(1,L), ..., w(NN,1), ..., w(NN,L),
-             ws(1), ..., ws(NN), b(1), ..., b(NN+1) ),
-          and the vector theta represents the matrices A, B, C, D
-          and x(1), and it can be retrieved from these matrices
-          by SLICOT Library routine TB01VD and retranslated by
-          TB01VY.
-
-  LX      (input) INTEGER
-          The length of X.
-          LX &gt;= (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
-
-  E       (input) DOUBLE PRECISION array, dimension (NSMP*L)
-          If CJTE = 'C', this array must contain a vector e, which
-          will be premultiplied with J', e = vec( Y - y ), where
-          Y is set of output samples, and vec denotes the
-          concatenation of the columns of a matrix.
-          If CJTE = 'N', this array is not referenced.
-
-  J       (output) DOUBLE PRECISION array, dimension (LDJ, *)
-          The leading NSMP*L-by-NCOLJ part of this array contains
-          the Jacobian of the error function stored in a compressed
-          form, as described above, where
-          NCOLJ = NN*(L + 2) + 1 + N*(M + L + 1) + L*M.
-
-  LDJ     INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP*L).
-          Note that LDJ is an input parameter, except for
-          IPAR(1) &lt; 0 on entry, when it is an output parameter.
-
-  JTE     (output) DOUBLE PRECISION array, dimension (LPAR)
-          If CJTE = 'C', this array contains the matrix-vector
-          product J'*e.
-          If CJTE = 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
-                                    MAX( N*(N + L), N + M + L ) )
-                                                           if M &gt; 0;
-          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
-                                    MAX( N*(N + L), L ) ), if M = 0.
-          A larger value of LDWORK could improve the efficiency.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  BLAS routines are used for the matrix-vector multiplications, and
-  the SLICOT Library routine TB01VY is called for the conversion of
-  the output normal form parameters to an LTI-system; the routine
-  NF01AD is then used for the simulation of the system with given
-  parameters, and the routine NF01BY is called for the (analytically
-  performed) calculation of the parts referring to the parameters
-  of the static nonlinearity.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BP.html b/doc/_build/html/_static/doc/NF01BP.html
deleted file mode 100644
index 9e90977a..00000000
--- a/doc/_build/html/_static/doc/NF01BP.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BP">NF01BP</A></H2>
-<H3>
-Levenberg-Marquardt parameter for Wiener system identification
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a value for the Levenberg-Marquardt parameter PAR
-  such that if x solves the system
-
-        J*x = b ,     sqrt(PAR)*D*x = 0 ,
-
-  in the least squares sense, where J is an m-by-n matrix, D is an
-  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
-  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
-  then either PAR is zero and
-
-        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
-
-  or PAR is positive and
-
-        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
-
-  The matrix J is the current Jacobian matrix of a nonlinear least
-  squares problem, provided in a compressed form by SLICOT Library
-  routine NF01BD. It is assumed that a block QR factorization, with
-  column pivoting, of J is available, that is, J*P = Q*R, where P is
-  a permutation matrix, Q has orthogonal columns, and R is an upper
-  triangular matrix with diagonal elements of nonincreasing
-  magnitude for each block, as returned by SLICOT Library
-  routine NF01BS. The routine NF01BP needs the upper triangle of R
-  in compressed form, the permutation matrix P, and the first
-  n components of Q'*b (' denotes the transpose). On output,
-  NF01BP also provides a compressed representation of an upper
-  triangular matrix S, such that
-
-        P'*(J'*J + PAR*D*D)*P = S'*S .
-
-  Matrix S is used in the solution process. The matrix R has the
-  following structure
-
-      /   R_1    0    ..   0   |   L_1   \
-      |    0    R_2   ..   0   |   L_2   |
-      |    :     :    ..   :   |    :    | ,
-      |    0     0    ..  R_l  |   L_l   |
-      \    0     0    ..   0   |  R_l+1  /
-
-  where the submatrices R_k, k = 1:l, have the same order BSN,
-  and R_k, k = 1:l+1, are square and upper triangular. This matrix
-  is stored in the compressed form
-
-           /   R_1  |   L_1   \
-           |   R_2  |   L_2   |
-    Rc =   |    :   |    :    | ,
-           |   R_l  |   L_l   |
-           \    X   |  R_l+1  /
-
-  where the submatrix X is irrelevant. The matrix S has the same
-  structure as R, and its diagonal blocks are denoted by S_k,
-  k = 1:l+1.
-
-  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BP( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
-     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, LIPAR, N
-      DOUBLE PRECISION  DELTA, PAR, TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*), RANKS(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the diagonal blocks R_k
-          and S_k of the matrices R and S should be estimated,
-          as follows:
-          = 'E' :  use incremental condition estimation for each
-                   diagonal block of R_k and S_k to find its
-                   numerical rank;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of R_k and S_k for zero values;
-          = 'U' :  use the ranks already stored in RANKS (for R).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
-          (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix R, as follows:
-          IPAR(1) must contain ST, the number of columns of the
-                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, l, in the
-                  block diagonal part of R.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  R_k, k = 1:l.  BSM &gt;= 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks R_k, k = 1:l.  BSN &gt;= 0.
-          BSM is not used by this routine, but assumed equal to BSN.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          On entry, the leading N-by-NC part of this array must
-          contain the (compressed) representation (Rc) of the upper
-          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
-          not referenced. The zero strict lower triangles of R_k,
-          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
-          the full upper triangle of R must be stored.
-          On exit, the full upper triangles of R_k, k = 1:l+1, and
-          L_k, k = 1:l, are unaltered, and the strict lower
-          triangles of R_k, k = 1:l+1, contain the corresponding
-          strict upper triangles (transposed) of the upper
-          triangular matrix S.
-          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
-          upper triangle of S is stored in the strict lower triangle
-          of R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  DELTA   (input) DOUBLE PRECISION
-          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
-
-  PAR     (input/output) DOUBLE PRECISION
-          On entry, PAR must contain an initial estimate of the
-          Levenberg-Marquardt parameter.  PAR &gt;= 0.
-          On exit, it contains the final estimate of this parameter.
-
-  RANKS   (input or output) INTEGER array, dimension (r), where
-          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
-          r = BN,      if ST = 0 and BSN &gt; 0;
-          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
-          r = 0,       if ST = 0 and BSN = 0.
-          On entry, if COND = 'U' and N &gt; 0, this array must contain
-          the numerical ranks of the submatrices R_k, k = 1:l(+1).
-          On exit, if N &gt; 0, this array contains the numerical ranks
-          of the submatrices S_k, k = 1:l(+1).
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system J*x = b, sqrt(PAR)*D*x = 0.
-
-  RX      (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the matrix-vector product -R*P'*x.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the submatrices R_k and S_k. If the user sets
-          TOL &gt; 0, then the given value of TOL is used as a lower
-          bound for the reciprocal condition number;  a (sub)matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S.
-          If BN &gt; 1 and BSN &gt; 0, the elements N+1 : N+ST*(N-ST)
-          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
-          matrix S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND =  'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
-                                      if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND =  'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm computes the Gauss-Newton direction. An approximate
-  basic least squares solution is found if the Jacobian is rank
-  deficient. The computations exploit the special structure and
-  storage scheme of the matrix R. If one or more of the submatrices
-  R_k or S_k, k = 1:l+1, is singular, then the computed result is
-  not the basic least squares solution for the whole problem, but a
-  concatenation of (least squares) solutions of the individual
-  subproblems involving R_k or S_k, k = 1:l+1 (with adapted right
-  hand sides).
-
-  If the Gauss-Newton direction is not acceptable, then an iterative
-  algorithm obtains improved lower and upper bounds for the
-  Levenberg-Marquardt parameter PAR. Only a few iterations are
-  generally needed for convergence of the algorithm. If, however,
-  the limit of ITMAX = 10 iterations is reached, then the output PAR
-  will contain the best value obtained so far. If the Gauss-Newton
-  step is acceptable, it is stored in x, and PAR is set to zero,
-  hence S = R.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N*(BSN+ST)) operations and is backward
-  stable, if R is nonsingular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a structure-exploiting, LAPACK-based modification
-  of LMPAR from the MINPACK package [1], and with optional condition
-  estimation. The option COND = 'U' is useful when dealing with
-  several right-hand side vectors, but RANKS array should be reset.
-  If COND = 'E', but the matrix S is guaranteed to be nonsingular
-  and well conditioned relative to TOL, i.e., rank(R) = N, and
-  min(DIAG) &gt; 0, then its condition is not estimated.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BQ.html b/doc/_build/html/_static/doc/NF01BQ.html
deleted file mode 100644
index e176fd7b..00000000
--- a/doc/_build/html/_static/doc/NF01BQ.html
+++ /dev/null
@@ -1,279 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BQ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BQ">NF01BQ</A></H2>
-<H3>
-Solving the linear system J x = b, D x = 0, D diagonal, for Wiener system identification
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a vector x which solves the system of linear
-  equations
-
-        J*x = b ,     D*x = 0 ,
-
-  in the least squares sense, where J is an m-by-n matrix,
-  D is an n-by-n diagonal matrix, and b is an m-vector. The matrix J
-  is the current Jacobian of a nonlinear least squares problem,
-  provided in a compressed form by SLICOT Library routine NF01BD.
-  It is assumed that a block QR factorization, with column pivoting,
-  of J is available, that is, J*P = Q*R, where P is a permutation
-  matrix, Q has orthogonal columns, and R is an upper triangular
-  matrix with diagonal elements of nonincreasing magnitude for each
-  block, as returned by SLICOT Library routine NF01BS. The routine
-  NF01BQ needs the upper triangle of R in compressed form, the
-  permutation matrix P, and the first n components of Q'*b
-  (' denotes the transpose). The system J*x = b, D*x = 0, is then
-  equivalent to
-
-        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
-
-  where x = P*z. If this system does not have full rank, then an
-  approximate least squares solution is obtained (see METHOD).
-  On output, NF01BQ also provides an upper triangular matrix S
-  such that
-
-        P'*(J'*J + D*D)*P = S'*S .
-
-  The system (1) is equivalent to S*z = c , where c contains the
-  first n components of the vector obtained by applying to
-  [ (Q'*b)'  0 ]' the transformations which triangularized
-  [ R'  P'*D*P ]', getting S.
-
-  The matrix R has the following structure
-
-      /   R_1    0    ..   0   |   L_1   \
-      |    0    R_2   ..   0   |   L_2   |
-      |    :     :    ..   :   |    :    | ,
-      |    0     0    ..  R_l  |   L_l   |
-      \    0     0    ..   0   |  R_l+1  /
-
-  where the submatrices R_k, k = 1:l, have the same order BSN,
-  and R_k, k = 1:l+1, are square and upper triangular. This matrix
-  is stored in the compressed form
-
-           /   R_1  |   L_1   \
-           |   R_2  |   L_2   |
-    Rc =   |    :   |    :    | ,
-           |   R_l  |   L_l   |
-           \    X   |  R_l+1  /
-
-  where the submatrix X is irrelevant. The matrix S has the same
-  structure as R, and its diagonal blocks are denoted by S_k,
-  k = 1:l+1.
-
-  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BQ( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
-     $                   RANKS, X, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, LIPAR, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*), RANKS(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the matrices S_k should
-          be estimated, as follows:
-          = 'E' :  use incremental condition estimation and store
-                   the numerical rank of S_k in the array entry
-                   RANKS(k), for k = 1:l+1;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of S_k for zero values;
-          = 'U' :  use the ranks already stored in RANKS(1:l+1).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
-          (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix R, as follows:
-          IPAR(1) must contain ST, the number of columns of the
-                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, l, in the
-                  block diagonal part of R.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  R_k, k = 1:l.  BSM &gt;= 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks R_k, k = 1:l.  BSN &gt;= 0.
-          BSM is not used by this routine, but assumed equal to BSN.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          On entry, the leading N-by-NC part of this array must
-          contain the (compressed) representation (Rc) of the upper
-          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
-          not referenced. The zero strict lower triangles of R_k,
-          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
-          the full upper triangle of R must be stored.
-          On exit, the full upper triangles of R_k, k = 1:l+1, and
-          L_k, k = 1:l, are unaltered, and the strict lower
-          triangles of R_k, k = 1:l+1, contain the corresponding
-          strict upper triangles (transposed) of the upper
-          triangular matrix S.
-          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
-          upper triangle of S is stored in the strict lower triangle
-          of R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  RANKS   (input or output) INTEGER array, dimension (r), where
-          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
-          r = BN,      if ST = 0 and BSN &gt; 0;
-          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
-          r = 0,       if ST = 0 and BSN = 0.
-          On entry, if COND = 'U' and N &gt; 0, this array must contain
-          the numerical ranks of the submatrices S_k, k = 1:l(+1).
-          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
-          contains the numerical ranks of the submatrices S_k,
-          k = 1:l(+1), estimated according to the value of COND.
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system J*x = b, D*x = 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the submatrices S_k. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          the reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S, and
-          the next N elements contain the solution z.
-          If BN &gt; 1 and BSN &gt; 0, the elements 2*N+1 : 2*N+ST*(N-ST)
-          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
-          matrix S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND =  'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
-                                      if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND = 'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Standard plane rotations are used to annihilate the elements of
-  the diagonal matrix D, updating the upper triangular matrix R
-  and the first n elements of the vector Q'*b. A basic least squares
-  solution is computed. The computations exploit the special
-  structure and storage scheme of the matrix R. If one or more of
-  the submatrices S_k, k = 1:l+1, is singular, then the computed
-  result is not the basic least squares solution for the whole
-  problem, but a concatenation of (least squares) solutions of the
-  individual subproblems involving R_k, k = 1:l+1 (with adapted
-  right hand sides).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N*(BSN+ST)) operations and is backward
-  stable, if R is nonsingular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a structure-exploiting, LAPACK-based modification
-  of QRSOLV from the MINPACK package [1], and with optional
-  condition estimation.
-  The option COND = 'U' is useful when dealing with several
-  right-hand side vectors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BR.html b/doc/_build/html/_static/doc/NF01BR.html
deleted file mode 100644
index 888683ce..00000000
--- a/doc/_build/html/_static/doc/NF01BR.html
+++ /dev/null
@@ -1,267 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BR">NF01BR</A></H2>
-<H3>
-Solving linear systems R x = b, or R' x = b, in the least squares sense
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve one of the systems of linear equations
-
-        R*x = b ,  or  R'*x = b ,
-
-  in the least squares sense, where R is an n-by-n block upper
-  triangular matrix, with the structure
-
-      /   R_1    0    ..   0   |   L_1   \
-      |    0    R_2   ..   0   |   L_2   |
-      |    :     :    ..   :   |    :    | ,
-      |    0     0    ..  R_l  |   L_l   |
-      \    0     0    ..   0   |  R_l+1  /
-
-  with the upper triangular submatrices R_k, k = 1:l+1, square, and
-  the first l of the same order, BSN. The diagonal elements of each
-  block R_k have nonincreasing magnitude. The matrix R is stored in
-  the compressed form, as returned by SLICOT Library routine NF01BS,
-
-           /   R_1  |   L_1   \
-           |   R_2  |   L_2   |
-    Rc =   |    :   |    :    | ,
-           |   R_l  |   L_l   |
-           \    X   |  R_l+1  /
-
-  where the submatrix X is irrelevant. If the matrix R does not have
-  full rank, then a least squares solution is obtained. If l &lt;= 1,
-  then R is an upper triangular matrix and its full upper triangle
-  is stored.
-
-  Optionally, the transpose of the matrix R can be stored in the
-  strict lower triangles of the submatrices R_k, k = 1:l+1, and in
-  the arrays SDIAG and S, as described at the parameter UPLO below.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BR( COND, UPLO, TRANS, N, IPAR, LIPAR, R, LDR,
-     $                   SDIAG, S, LDS, B, RANKS, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND, TRANS, UPLO
-      INTEGER           INFO, LDR, LDS, LDWORK, LIPAR, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), RANKS(*)
-      DOUBLE PRECISION  B(*), DWORK(*), R(LDR,*), S(LDS,*), SDIAG(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of submatrices R_k should
-          be estimated, as follows:
-          = 'E' :  use incremental condition estimation and store
-                   the numerical rank of R_k in the array entry
-                   RANKS(k), for k = 1:l+1;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of R_k for zero values;
-          = 'U' :  use the ranks already stored in RANKS(1:l+1).
-
-  UPLO    CHARACTER*1
-          Specifies the storage scheme for the matrix R, as follows:
-          = 'U' :  the upper triangular part is stored as in Rc;
-          = 'L' :  the lower triangular part is stored, namely,
-                   - the transpose of the strict upper triangle of
-                     R_k is stored in the strict lower triangle of
-                     R_k, for k = 1:l+1;
-                   - the diagonal elements of R_k, k = 1:l+1, are
-                     stored in the array SDIAG;
-                   - the transpose of the last block column in R
-                     (without R_l+1) is stored in the array S.
-
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations, as follows:
-          = 'N':  R*x  = b  (No transpose);
-          = 'T':  R'*x = b  (Transpose);
-          = 'C':  R'*x = b  (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
-          (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix R, as follows:
-          IPAR(1) must contain ST, the number of columns of the
-                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, l, in the
-                  block diagonal part of R.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  R_k, k = 1:l.  BSM &gt;= 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks R_k, k = 1:l.  BSN &gt;= 0.
-          BSM is not used by this routine, but assumed equal to BSN.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          If UPLO = 'U', the leading N-by-NC part of this array must
-          contain the (compressed) representation (Rc) of the upper
-          triangular matrix R. The submatrix X in Rc and the strict
-          lower triangular parts of the diagonal blocks R_k,
-          k = 1:l+1, are not referenced. If BN &lt;= 1 or BSN = 0, then
-          the full upper triangle of R must be stored.
-          If UPLO = 'L', BN &gt; 1 and BSN &gt; 0, the leading
-          (N-ST)-by-BSN part of this array must contain the
-          transposes of the strict upper triangles of R_k, k = 1:l,
-          stored in the strict lower triangles of R_k, and the
-          strict lower triangle of R_l+1 must contain the transpose
-          of the strict upper triangle of R_l+1. The submatrix X
-          in Rc is not referenced. The diagonal elements of R_k,
-          and, if COND = 'E', the upper triangular parts of R_k,
-          k = 1:l+1, are modified internally, but are restored
-          on exit.
-          If UPLO = 'L' and BN &lt;= 1 or BSN = 0, the leading N-by-N
-          strict lower triangular part of this array must contain
-          the transpose of the strict upper triangular part of R.
-          The diagonal elements and, if COND = 'E', the upper
-          triangular elements are modified internally, but are
-          restored on exit.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-  SDIAG   (input) DOUBLE PRECISION array, dimension (N)
-          If UPLO = 'L', this array must contain the diagonal
-          entries of R_k, k = 1:l+1. This array is modified
-          internally, but is restored on exit.
-          This parameter is not referenced if UPLO = 'U'.
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,N-ST)
-          If UPLO = 'L', BN &gt; 1, and BSN &gt; 0, the leading
-          ST-by-(N-ST) part of this array must contain the transpose
-          of the rectangular part of the last block column in R,
-          that is [ L_1' L_2' ... L_l' ] . If COND = 'E', S is
-          modified internally, but is restored on exit.
-          This parameter is not referenced if UPLO = 'U', or
-          BN &lt;= 1, or BSN = 0.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= 1,         if UPLO = 'U', or BN &lt;= 1, or BSN = 0;
-          LDS &gt;= MAX(1,ST), if UPLO = 'L', BN &gt; 1, and BSN &gt; 0.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the right hand side
-          vector b.
-          On exit, this array contains the (least squares) solution
-          of the system R*x = b or R'*x = b.
-
-  RANKS   (input or output) INTEGER array, dimension (r), where
-          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
-          r = BN,      if ST = 0 and BSN &gt; 0;
-          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
-          r = 0,       if ST = 0 and BSN = 0.
-          On entry, if COND = 'U' and N &gt; 0, this array must contain
-          the numerical ranks of the submatrices R_k, k = 1:l(+1).
-          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
-          contains the numerical ranks of the submatrices R_k,
-          k = 1:l(+1), estimated according to the value of COND.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the submatrices R_k. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          the reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank. If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          Denote Full = ( BN &lt;= 1 or  BSN = 0 );
-                 Comp = ( BN &gt;  1 and BSN &gt; 0 ).
-          LDWORK &gt;= 2*N,           if Full and COND = 'E';
-          LDWORK &gt;= 2*MAX(BSN,ST), if Comp and COND = 'E';
-          LDWORK &gt;= 0,   in the remaining cases.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Block back or forward substitution is used (depending on TRANS
-  and UPLO), exploiting the special structure and storage scheme of
-  the matrix R. If a submatrix R_k, k = 1:l+1, is singular, a local
-  basic least squares solution is computed. Therefore, the returned
-  result is not the basic least squares solution for the whole
-  problem, but a concatenation of (least squares) solutions of the
-  individual subproblems involving R_k, k = 1:l+1 (with adapted
-  right hand sides).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                 2    2
-  The algorithm requires 0(BN*BSN + ST + N*ST) operations and is
-  backward stable, if R is nonsingular.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BS.html b/doc/_build/html/_static/doc/NF01BS.html
deleted file mode 100644
index b0be7fac..00000000
--- a/doc/_build/html/_static/doc/NF01BS.html
+++ /dev/null
@@ -1,232 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BS">NF01BS</A></H2>
-<H3>
-QR factorization with column pivoting for Wiener system identification
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the QR factorization of the Jacobian matrix J, as
-  received in compressed form from SLICOT Library routine NF01BD,
-
-         /  dy(1)/dwb(1)  |  dy(1)/ dtheta  \
-    Jc = |       :        |       :         | ,
-         \  dy(L)/dwb(L)  |  dy(L)/ dtheta  /
-
-  and to apply the transformation Q on the error vector e (in-situ).
-  The factorization is J*P = Q*R, where Q is a matrix with
-  orthogonal columns, P a permutation matrix, and R an upper
-  trapezoidal matrix with diagonal elements of nonincreasing
-  magnitude for each block column (see below). The 1-norm of the
-  scaled gradient is also returned.
-
-  Actually, the Jacobian J has the block form
-
-    dy(1)/dwb(1)       0         .....       0        dy(1)/dtheta
-         0        dy(2)/dwb(2)   .....       0        dy(2)/dtheta
-       .....         .....       .....     .....         .....
-         0           .....         0    dy(L)/dwb(L)  dy(L)/dtheta
-
-  but the zero blocks are omitted. The diagonal blocks have the
-  same size and correspond to the nonlinear part. The last block
-  column corresponds to the linear part. It is assumed that the
-  Jacobian matrix has at least as many rows as columns. The linear
-  or nonlinear parts can be empty. If L &lt;= 1, the Jacobian is
-  represented as a full matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BS( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
-     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
-      DOUBLE PRECISION  FNORM, GNORM
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.
-          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain ST, the number of parameters
-                  corresponding to the linear part.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, BN = L,
-                  for the parameters corresponding to the nonlinear
-                  part.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
-                  number of rows of the matrix J, if BN &lt;= 1.
-                  BN*BSM &gt;= N, if BN &gt; 0;
-                  BSM &gt;= N,    if BN = 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  FNORM   (input) DOUBLE PRECISION
-          The Euclidean norm of the vector e.  FNORM &gt;= 0.
-
-  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          On entry, the leading NR-by-NC part of this array must
-          contain the (compressed) representation (Jc) of the
-          Jacobian matrix J, where NR = BSM if BN &lt;= 1, and
-          NR = BN*BSM, if BN &gt; 1.
-          On exit, the leading N-by-NC part of this array contains
-          a (compressed) representation of the upper triangular
-          factor R of the Jacobian matrix. The matrix R has the same
-          structure as the Jacobian matrix J, but with an additional
-          diagonal block. Note that for efficiency of the later
-          calculations, the matrix R is delivered with the leading
-          dimension MAX(1,N), possibly much smaller than the value
-          of LDJ on entry.
-
-  LDJ     (input/output) INTEGER
-          The leading dimension of array J.
-          On entry, LDJ &gt;= MAX(1,NR).
-          On exit,  LDJ &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (NR)
-          On entry, this array contains the vector e,
-          e = vec( Y - y ), where Y is set of output samples, and
-          vec denotes the concatenation of the columns of a matrix.
-          On exit, this array contains the updated vector Z*Q'*e,
-          where Z is the block row permutation matrix used in the
-          QR factorization of J (see METHOD).
-
-  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the Euclidean norms of the columns
-          of the Jacobian matrix, considered in the initial order.
-
-  GNORM   (output) DOUBLE PRECISION
-          If FNORM &gt; 0, the 1-norm of the scaled vector J'*e/FNORM,
-          with each element i further divided by JNORMS(i) (if
-          JNORMS(i) is nonzero).
-          If FNORM = 0, the returned value of GNORM is 0.
-
-  IPVT    (output) INTEGER array, dimension (N)
-          This array defines the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1,      if N = 0 or BN &lt;= 1 and BSM = N = 1;
-                            otherwise,
-          LDWORK &gt;= 4*N+1,  if BN &lt;= 1 or  BSN = 0;
-          LDWORK &gt;= JWORK,  if BN &gt;  1 and BSN &gt; 0, where JWORK is
-                            given by the following procedure:
-           JWORK  = BSN + MAX(3*BSN+1,ST);
-           JWORK  = MAX(JWORK,4*ST+1),         if BSM &gt; BSN;
-           JWORK  = MAX(JWORK,(BSM-BSN)*(BN-1)),
-                                               if BSN &lt; BSM &lt; 2*BSN.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A QR factorization with column pivoting of the matrix J is
-  computed, J*P = Q*R.
-
-  If l = L &gt; 1, the R factor of the QR factorization has the same
-  structure as the Jacobian, but with an additional diagonal block.
-  Denote
-
-      /   J_1    0    ..   0   |  L_1  \
-      |    0    J_2   ..   0   |  L_2  |
-  J = |    :     :    ..   :   |   :   | .
-      |    :     :    ..   :   |   :   |
-      \    0     0    ..  J_l  |  L_l  /
-
-  The algorithm consists in two phases. In the first phase, the
-  algorithm uses QR factorizations with column pivoting for each
-  block J_k, k = 1:l, and applies the orthogonal matrix Q'_k to the
-  corresponding part of the last block column and of e. After all
-  block rows have been processed, the block rows are interchanged
-  so that the zeroed submatrices in the first l block columns are
-  moved to the bottom part. The same block row permutation Z is
-  also applied to the vector e. At the end of the first phase,
-  the structure of the processed matrix J is
-
-      /   R_1    0    ..   0   |  L^1_1  \
-      |    0    R_2   ..   0   |  L^1_2  |
-      |    :     :    ..   :   |    :    | .
-      |    :     :    ..   :   |    :    |
-      |    0     0    ..  R_l  |  L^1_l  |
-      |    0     0    ..   0   |  L^2_1  |
-      |    :     :    ..   :   |    :    |
-      \    0     0    ..   0   |  L^2_l  /
-
-  In the second phase, the submatrix L^2_1:l is triangularized
-  using an additional QR factorization with pivoting. (The columns
-  of L^1_1:l are also permuted accordingly.) Therefore, the column
-  pivoting is restricted to each such local block column.
-
-  If l &lt;= 1, the matrix J is triangularized in one phase, by one
-  QR factorization with pivoting. In this case, the column
-  pivoting is global.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BU.html b/doc/_build/html/_static/doc/NF01BU.html
deleted file mode 100644
index 4951337b..00000000
--- a/doc/_build/html/_static/doc/NF01BU.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BU">NF01BU</A></H2>
-<H3>
-Computation of the matrix J' J + c I, for the Jacobian J given in a compressed form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix J'*J + c*I, for the Jacobian J as received
-  from SLICOT Library routine NF01BD:
-
-       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
-  Jc = |       :        |       :        | .
-       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
-
-  This is a compressed representation of the actual structure
-
-      /   J_1    0    ..   0   |  L_1  \
-      |    0    J_2   ..   0   |  L_2  |
-  J = |    :     :    ..   :   |   :   | .
-      |    :     :    ..   :   |   :   |
-      \    0     0    ..  J_L  |  L_L  /
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BU( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
-     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOR, UPLO
-      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STOR    CHARACTER*1
-          Specifies the storage scheme for the symmetric
-          matrix J'*J + c*I, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix J'*J + c*I is stored,
-          as follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix J'*J + c*I.
-          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain ST, the number of parameters
-                  corresponding to the linear part.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, BN = L,
-                  for the parameters corresponding to the nonlinear
-                  part.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
-                  number of rows of the matrix J, if BN &lt;= 1.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          The leading NR-by-NC part of this array must contain
-          the (compressed) representation (Jc) of the Jacobian
-          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
-          if BN &gt; 1.
-
-  LDJ     (input) INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
-
-  JTJ     (output) DOUBLE PRECISION array,
-                   dimension (LDJTJ,N),    if STOR = 'F',
-                   dimension (N*(N+1)/2),  if STOR = 'P'.
-          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
-          STOR = 'P') part of this array contains the upper or
-          lower triangle of the matrix J'*J + c*I, depending on
-          UPLO = 'U', or UPLO = 'L', respectively, stored either as
-          a two-dimensional, or one-dimensional array, depending
-          on STOR.
-
-  LDJTJ   INTEGER
-          The leading dimension of the array JTJ.
-          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
-          LDJTJ &gt;= 1,        if STOR = 'P'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          Currently, this array is not used.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product is computed columnn-wise, exploiting the
-  symmetry. BLAS 3 routines DGEMM and DSYRK are used if STOR = 'F',
-  and BLAS 2 routine DGEMV is used if STOR = 'P'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BV.html b/doc/_build/html/_static/doc/NF01BV.html
deleted file mode 100644
index 16ca68cf..00000000
--- a/doc/_build/html/_static/doc/NF01BV.html
+++ /dev/null
@@ -1,150 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BV">NF01BV</A></H2>
-<H3>
-Computation of the matrix J' J + c I, for a full Jacobian J (one output variable)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix J'*J + c*I, for the Jacobian J as received
-  from SLICOT Library routine NF01BY, for one output variable.
-
-  NOTE: this routine must have the same arguments as SLICOT Library
-  routine NF01BU.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BV( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
-     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOR, UPLO
-      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STOR    CHARACTER*1
-          Specifies the storage scheme for the symmetric
-          matrix J'*J + c*I, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix J'*J + c*I is stored,
-          as follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.  N &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain the number of rows M of the Jacobian
-                  matrix J.  M &gt;= 0.
-          IPAR is provided for compatibility with SLICOT Library
-          routine MD03AD.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 1.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
-          The leading M-by-N part of this array must contain the
-          Jacobian matrix J.
-
-  LDJ     INTEGER
-          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
-
-  JTJ     (output) DOUBLE PRECISION array,
-                   dimension (LDJTJ,N),    if STOR = 'F',
-                   dimension (N*(N+1)/2),  if STOR = 'P'.
-          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
-          STOR = 'P') part of this array contains the upper or
-          lower triangle of the matrix J'*J + c*I, depending on
-          UPLO = 'U', or UPLO = 'L', respectively, stored either as
-          a two-dimensional, or one-dimensional array, depending
-          on STOR.
-
-  LDJTJ   INTEGER
-          The leading dimension of the array JTJ.
-          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
-          LDJTJ &gt;= 1,        if STOR = 'P'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          Currently, this array is not used.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product is computed columnn-wise, exploiting the
-  symmetry. BLAS 3 routine DSYRK is used if STOR = 'F', and BLAS 2
-  routine DGEMV is used if STOR = 'P'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BW.html b/doc/_build/html/_static/doc/NF01BW.html
deleted file mode 100644
index 5f1971aa..00000000
--- a/doc/_build/html/_static/doc/NF01BW.html
+++ /dev/null
@@ -1,147 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BW">NF01BW</A></H2>
-<H3>
-Matrix-vector product x <-- (J' J + c I) x, for J in a compressed form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix-vector product x &lt;-- (J'*J + c*I)*x, for the
-  Jacobian J as received from SLICOT Library routine NF01BD:
-
-       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
-  Jc = |       :        |       :        | .
-       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
-
-  This is a compressed representation of the actual structure
-
-      /   J_1    0    ..   0   |  L_1  \
-      |    0    J_2   ..   0   |  L_2  |
-  J = |    :     :    ..   :   |   :   | .
-      |    :     :    ..   :   |   :   |
-      \    0     0    ..  J_L  |  L_L  /
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BW( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the vector x.
-          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain ST, the number of parameters
-                  corresponding to the linear part.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, BN = L,
-                  for the parameters corresponding to the nonlinear
-                  part.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
-                  number of rows of the matrix J, if BN &lt;= 1.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          The leading NR-by-NC part of this array must contain
-          the (compressed) representation (Jc) of the Jacobian
-          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
-          if BN &gt; 1.
-
-  LDJ     (input) INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          (1+(N-1)*INCX)
-          On entry, this incremented array must contain the
-          vector x.
-          On exit, this incremented array contains the value of the
-          matrix-vector product (J'*J + c*I)*x.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X.  INCX &gt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= NR.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The associativity of matrix multiplications is used; the result
-  is obtained as:  x_out = J'*( J*x ) + c*x.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BX.html b/doc/_build/html/_static/doc/NF01BX.html
deleted file mode 100644
index 61ff9d5a..00000000
--- a/doc/_build/html/_static/doc/NF01BX.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BX">NF01BX</A></H2>
-<H3>
-Matrix-vector product x <-- (A' A + c I) x, for a full matrix A
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute (J'*J + c*I)*x, where J is an m-by-n real matrix, c is
-  a real scalar, I is the n-by-n identity matrix, and x is a real
-  n-vector.
-
-  NOTE: this routine must have the same arguments as SLICOT Library
-  routine NF01BW.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BX( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.  N &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain the number of rows M of the Jacobian
-                  matrix J.  M &gt;= 0.
-          IPAR is provided for compatibility with SLICOT Library
-          routine MD03AD.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 1.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
-          The leading M-by-N part of this array must contain the
-          Jacobian matrix J.
-
-  LDJ     INTEGER
-          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          (1+(N-1)*abs(INCX))
-          On entry, this incremented array must contain the
-          vector x.
-          On exit, this incremented array contains the value of the
-          matrix-vector product (J'*J + c*I)*x.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X.  INCX &lt;&gt; 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= M.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The associativity of matrix multiplications is used; the result
-  is obtained as:  x_out = J'*( J*x ) + c*x.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/NF01BY.html b/doc/_build/html/_static/doc/NF01BY.html
deleted file mode 100644
index 0fcb68ed..00000000
--- a/doc/_build/html/_static/doc/NF01BY.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BY">NF01BY</A></H2>
-<H3>
-Computing the Jacobian of the error function for a neural network (one output variable)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Jacobian of the error function for a neural network
-  of the structure
-
-          - tanh(w1*z+b1) -
-        /      :            \
-      z ---    :          --- sum(ws(i)*...)+ b(n+1)  --- y,
-        \      :            /
-          - tanh(wn*z+bn) -
-
-  for the single-output case. The Jacobian has the form
-
-             d e(1)  / d WB(1)   ...    d e(1)  / d WB(NWB)
-      J =            :                          :           ,
-           d e(NSMP) / d WB(1)   ...  d e(NSMP) / d WB(NWB)
-
-  where e(z) is the error function, WB is the set of weights and
-  biases of the network (for the considered output), and NWB is
-  the number of elements of this set, NWB = IPAR(1)*(NZ+2)+1
-  (see below).
-
-  In the multi-output case, this routine should be called for each
-  output.
-
-  NOTE: this routine must have the same arguments as SLICOT Library
-  routine NF01BD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BY( CJTE, NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z,
-     $                   LDZ, E, J, LDJ, JTE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CJTE
-      INTEGER           INFO, L, LDJ, LDWORK, LDZ, LIPAR, LWB, NSMP, NZ
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JTE(*), WB(*),
-     $                  Z(LDZ,*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CJTE    CHARACTER*1
-          Specifies whether the matrix-vector product J'*e should be
-          computed or not, as follows:
-          = 'C' :  compute J'*e;
-          = 'N' :  do not compute J'*e.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  NZ      (input) INTEGER
-          The length of each input sample.  NZ &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.
-          Currently, L must be 1.
-
-  IPAR    (input/output) INTEGER array, dimension (LIPAR)
-          The integer parameters needed.
-          On entry, the first element of this array must contain
-          a value related to the number of neurons, n; specifically,
-          n = abs(IPAR(1)), since setting IPAR(1) &lt; 0 has a special
-          meaning (see below).
-          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
-          performed, except the needed tests on input parameters,
-          but the following values are returned:
-          IPAR(1) contains the length of the array J, LJ;
-          LDJ     contains the leading dimension of array J.
-          Otherwise, IPAR(1) and LDJ are unchanged on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the vector IPAR.  LIPAR &gt;= 1.
-
-  WB      (input) DOUBLE PRECISION array, dimension (LWB)
-          The leading NWB = IPAR(1)*(NZ+2)+1 part of this array
-          must contain the weights and biases of the network,
-          WB = ( w(1,1), ..., w(1,NZ), ..., w(n,1), ...,  w(n,NZ),
-                 ws(1), ..., ws(n), b(1), ..., b(n+1) ),
-          where w(i,j) are the weights of the hidden layer,
-          ws(i) are the weights of the linear output layer and
-          b(i) are the biases.
-
-  LWB     (input) INTEGER
-          The length of array WB.  LWB &gt;= NWB.
-
-  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
-          The leading NSMP-by-NZ part of this array must contain the
-          set of input samples,
-          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,NSMP).
-
-  E       (input) DOUBLE PRECISION array, dimension (NSMP)
-          If CJTE = 'C', this array must contain the error vector e.
-          If CJTE = 'N', this array is not referenced.
-
-  J       (output) DOUBLE PRECISION array, dimension (LDJ, NWB)
-          The leading NSMP-by-NWB part of this array contains the
-          Jacobian of the error function.
-
-  LDJ     INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP).
-          Note that LDJ is an input parameter, except for
-          IPAR(1) &lt; 0 on entry, when it is an output parameter.
-
-  JTE     (output) DOUBLE PRECISION array, dimension (NWB)
-          If CJTE = 'C', this array contains the matrix-vector
-          product J'*e.
-          If CJTE = 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This argument is included for combatibility with SLICOT
-          Library routine NF01BD.
-
-  LDWORK  INTEGER
-          Normally, the length of the array DWORK.  LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Jacobian is computed analytically.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
-<html>
-<head>
-   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
-   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
-   <title>ODESolver - SLICOT Library Routine Documentation</title>
-</head>
-<body>
-
-<h2>
-<a NAME="ODESolver"></a>ODESolver</h2>
-
-<h3>
-Solver for Ordinary Differential Equations (driver)</h3>
-<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
-<p><b><font size=+1>Purpose</font></b>
-<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
-&nbsp; defining Differential Algebraic Equations using several packages.
-
-
-&nbsp; The equations follow the form:
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; dx/dt = f(x(t), (t), p, t)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(x(t), (t), p, t)
-
-&nbsp; The user must define only the subroutines ODEDER and ODEOUT and
-&nbsp; the Jacobians (JACFX, JACFU, JACFP) if used, and the interface&nbsp;
-&nbsp; adapts the structure to fit all the codes</pre>
-<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODESolver(ISOLVER, CODEDER_, CODEOUT_, CJACFX_,&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU_, CJACFP_,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, TINI, TOUT, X, U, Y,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, DPAR, RTOL, ATOL,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; RTOL, TINI, TOUT
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO, NX, NY, NU,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CODEDER_, CODEOUT_, CJACFX_, CJACFU_, CJACFP_
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; ATOL(*), DWORK(LDWORK), DPAR(*),&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), Y(NY), U(NU)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)
-
-
-</pre>
-<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
-<p><b>Mode Parameters</b>
-<pre>&nbsp; ISOLVER&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver package to be used:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSODA,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: LSODES,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: RADAU5,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASSL,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DASPK,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 7: DGELDA.</pre>
-<b>Input/Output Parameters</b>
-<pre>&nbsp; ODEDER&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the right hand side f of the ODE.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; ODEOUT&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.</pre>
-
-<pre>&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (230)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both RTOL and ATOL are scalars&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : RTOL is scalar and ATOL is vector
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both RTOL and ATOL are vectors&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values, must be 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mf, Method flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(5), Maximum number of steps allowed during one&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Flag to generate extra printing at method&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switches:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 means no extra printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 for minimal printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 for full printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of f evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE and LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(19), Maximum order to be allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 if meth = 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(118), Number of nonzero elements in the jacobian&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrix, including the diagonal (miter = 1 or 2).&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(119), Number of groups of column indices, used in
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; difference quotient jacobian aproximations if&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; miter = 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(120), Number of sparse LU decompositions.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(121), Base address in rwork of the history array.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(122), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array ian.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(123), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array jan.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(124), Number of nonzero elements in the strict&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lower triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(125),&nbsp; Number of nonzero elements in the strict&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; upper triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(22), Maximum order to be allowed for the&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nonstiff method, default value is 12.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(23), Maximum order to be allowed for the stiff&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; method, default value is 5.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(116), Method indicator for the last successful&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; step&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(117), Current method indicator&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hessenberg form.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 0 then is taken the extrapolated collocation
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if not equal 0 zero values are used.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity contraints:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforce nonnegativity in X during the&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -Parameters for DASPK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (compatible with DASSL)&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(40),&nbsp; DASPK uses scalars MAXLm KMP, NRMAX and EPLI&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; when uses Krylov method.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: uses default values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: uses user values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when INFOV(11)>0&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the variables.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(43), Use default values for initial condition heuristic&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; controls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No and provide MXNIT, MXNJ, MXNH, LSOFF, STPTOL,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EPINIT.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; DPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (202)&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common real parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(1), Initial step size guess. Optional in:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEPACK, DASSL, ..&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(2), Maximum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK and DASSL:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(111), Step size in t last used (successfully).&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(113), Current value of the independent variable&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(16), Critical value of t which the solver is not&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(17), Minimum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(112), Step size to be attempted on the next step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(18), Tolerance scale factor, greater than 1.0.&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(19), The element threshhold for sparsity&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; determination when moss = 1 or 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(26), The rounding unit, default 1E-16.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(27), The safety factor in step size prediction,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(28), Decides whether the jacobian should be&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(29), Stopping criterion for Newton's method,&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(30), DPAR(31): This saves, together with a&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large DPAR(28), LU-decompositions and computing&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(32), DPAR(33), Parameters for step size&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL and DASPK solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(36), Stopping point (Tstop)</pre>
-<b>Tolerances</b>
-<pre>&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
-<b>Workspace</b>
-<pre>&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; LIWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of IWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for mf = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + neq&nbsp; for mf = 21, 22, 24, or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if mf = 24, 25, input in iwork(1),iwork(2) the lower
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and upper half-bandwidths ml,mu.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 30&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PREISION array, dimension (LDWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; LDWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+ 9*NX+NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 21 or 22,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+10*NX+(2*IPAR(4)+IPAR(9))*NX,&nbsp; IPAR(3) = 24 or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+NX*max(16,NX+9)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , mf=10&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+(2+1./lenrat)*nnz + (11+9./lenrat)*NX, mf=121,222&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
-<b>Warning Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE/LSODA/LSODES/RADAU5 do not use
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; the input vector as argument;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Only the 1st element of RTOL is used;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) not allowed with
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/LSODES/RADAU5/DASSL/DASPK;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Only the 1st element of ATOL is used;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(37);
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6:&nbsp; Option not allowed for IPAR(38).</pre>
-<b>Error Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Sparse storage (IPAR(4)=1) incompatible with
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/RADAU5;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Dense storage (IPAR(4)=0) incompatible with LSODES
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: ODEDER returned ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: RADAU5 returned -ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DDASSL returned -ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DDASPK returned -ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 500+ERROR: DGELDA returned -ERROR
-</pre>
-<br>
-<a NAME="Method"></a><b><font size=+1>Method</font></b>
-<pre><tt><font color="#000000">Since the package integrates 9 different solvers, it is possible to solve differential&nbsp;
-equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
-iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
-equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
-the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
-and efficient integrated package.</font></tt></pre>
-<a NAME="References"></a><b><font size=+1>References</font></b>
-<pre>&nbsp; [1]&nbsp; A.C. Hindmarsh, Brief Description of ODEPACK: A Systematized Collection&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of ODE Solvers, http://www.netlib.org/odepack/doc&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; associated MATLAB Gateway for the Solution of Nonlinear Control Systems
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-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DSIC. SLICOT Working Note 2000-3: July 2000. Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
-<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
-<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
-&nbsp; different packages integrated. Several packages are more robust
-&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
-&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
-&nbsp; of each method is recommended to check the references above.</pre>
-<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
-<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
-&nbsp; The interface checks the suitability of the methods to the&nbsp;
-&nbsp; parameters and show a warning message if problems could arise.</pre>
-<a NAME="Example"></a><b><font size=+1>Example</font></b>
-<p><b>Program Text</b>
-<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ODESOLVER EXAMPLE PROGRAM TEXT FOR LSODEX
-PROBLEM</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
-RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
-= 2, LSODES_ = 3)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
-5, DASPK_&nbsp; = 6)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
-Error: ',NAME(1:8),' &lt;solver>'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
-: LSODE, LSODA, LSODES, RADAU5, DASSL, DASP</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;K'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
-LSODEX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
-'LSODE') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODE_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'LSODA') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODA_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'LSODES') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODES_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'RADAU5') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASSL') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASPK') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
-'Error: Solver: ', SOLVER,' unknown'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>*</tt>
-<br><tt>99999 FORMAT (' ODESOLVER EXAMPLE PROGRAM RESULTS FOR LSODEX PROBLEM'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,/1X)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>*
-<br>*
-<br>*
-<br>*
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine ODESolver</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Indicates the nonlinear solver package to be used:</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 1: LSODE,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 2: LSODA,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 3: LSODES,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 4: RADAU5,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 5: DASSL,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 6: DASPK,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 7: DGELDA.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
-RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
-= 2, LSODES_ = 3)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
-5, DASPK_&nbsp; = 6)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MD, ND, LPAR, LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( MD = 400, ND = 100, LPAR = 250,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-LWORK = 650000 )</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWARN, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL(MD), RTOL,
-NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NUMJAC, NUMMAS, CONSIS</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 ODEDER, ODEOUT, JACFX,
-JACFU, JACFP</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
-DWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
-U(MD), Y(MD)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DNRM2</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-PLSODEX,ILSODEX,SLSODEX</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DAXPY</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(1)=1D-6</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(2)=1D-10</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(3)=1D-6</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODEX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODEX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODEX(NEQN,T(1),XPRIME)</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'ODE' ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99998 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( NUMJAC )
-THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(3)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(3)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6)=MLJAC</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7)=MUJAC</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEDER=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEOUT=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFX=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFU=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFP=''</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ODESolver(
-ISOLVER, ODEDER, ODEOUT, JACFX, JACFU, JACFP,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NEQN, NEQN, T(0), T(1), X, U, Y,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR, RPAR, RTOL, ATOL,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
-) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99996 ) INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( IWARN.NE.0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NEQN .LE. 10 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99994 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DO 80 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99993 ) X(I), XPRIME(I)</tt>
-<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,XPRIME,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NORM.EQ.0D0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=1D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CALL DAXPY(NEQN,-1D0,X,1,XPRIME,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,XPRIME,1)/NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99992 ) NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>*</tt>
-<br><tt>99998 FORMAT (' ERROR: This test is only intended for ODE problems')</tt>
-<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
-<br><tt>99996 FORMAT (' INFO on exit from ODESolver = ',I3)</tt>
-<br><tt>99995 FORMAT (' IWARN on exit from ODESolver = ',I3)</tt>
-<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
-<br><tt>99993 FORMAT (F,F)</tt>
-<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,E,/1X)</tt>
-<br><tt>* *** Last line of TEST ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODEDER_( NX, NU, T, X,
-U, RPAR, IPAR, F, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
-the problem function FEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the function is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The resulting function value f(T,X).</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Return values of error from FEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NX, NU, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(*)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), RPAR(*),
-F(NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-FLSODEX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODEX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of ODEDER_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NX, DUMMY,
-LDFX, T, X, DUMMY2, RPAR, IPAR, FX,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
-the problem function JEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY&nbsp;&nbsp;&nbsp; (input) INTEGER</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of the array FX.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the derivative is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY2&nbsp;&nbsp; (input) DOUBLE PRECISION</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The array with the resulting Jacobian matrix.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Return values of error from JEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NX, DUMMY, LDFX, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(*)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), DUMMY2(*),
-RPAR(*), FX(NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-JLSODEX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODEX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of JACFX_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<p><b>Program Data</b>
-<pre>No data required</pre>
-<b>Program Results</b>
-<pre>&nbsp;ODESOLVER EXAMPLE PROGRAM RESULTS&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;Problem: LSODEX&nbsp;&nbsp; Solver: LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;IWARN on exit from ODESolver =&nbsp;&nbsp; 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;Solution: (calculated)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;8.287534436182735E-08&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;3.329129749822125E-13&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;1.118553835127275E-07</pre>
-
-<hr>
-<p><!--Click <b><a href="../../SLICOT/arc/ODESolver.tgz">here</a></b> to get a compressed (gzip)
-tar file containing the source code of the routine, the example program,
-data, documentation, and related files.-->
-<br><b><a href="..\libindex.html">Return to index</a></b>
-</body>
-</html>
diff --git a/doc/_build/html/_static/doc/SB01BD.html b/doc/_build/html/_static/doc/SB01BD.html
deleted file mode 100644
index f9a83108..00000000
--- a/doc/_build/html/_static/doc/SB01BD.html
+++ /dev/null
@@ -1,413 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01BD">SB01BD</A></H2>
-<H3>
-Pole assignment for a given matrix pair (A,B)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine the state feedback matrix F for a given system (A,B)
-  such that the closed-loop state matrix A+B*F has specified
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB, WR, WI,
-     $                   NFP, NAP, NUP, F, LDF, Z, LDZ, TOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO
-      INTEGER          INFO, IWARN, LDA, LDB, LDF, LDWORK, LDZ, M, N,
-     $                 NAP, NFP, NP, NUP
-      DOUBLE PRECISION ALPHA, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
-     $                 WI(*), WR(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrix B and
-          the number of columns of the matrix F.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrix B and the number of rows of the matrix F.
-          M &gt;= 0.
-
-  NP      (input) INTEGER
-          The number of given eigenvalues. At most N eigenvalues
-          can be assigned.  0 &lt;= NP.
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the maximum admissible value, either for real
-          parts, if DICO = 'C', or for moduli, if DICO = 'D',
-          of the eigenvalues of A which will not be modified by
-          the eigenvalue assignment algorithm.
-          ALPHA &gt;= 0 if DICO = 'D'.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Z'*(A+B*F)*Z in a real Schur form.
-          The leading NFP-by-NFP diagonal block of A corresponds
-          to the fixed (unmodified) eigenvalues having real parts
-          less than ALPHA, if DICO = 'C', or moduli less than ALPHA,
-          if DICO = 'D'. The trailing NUP-by-NUP diagonal block of A
-          corresponds to the uncontrollable eigenvalues detected by
-          the eigenvalue assignment algorithm. The elements under
-          the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  WR,WI   (input/output) DOUBLE PRECISION array, dimension (NP)
-          On entry, these arrays must contain the real and imaginary
-          parts, respectively, of the desired eigenvalues of the
-          closed-loop system state-matrix A+B*F. The eigenvalues
-          can be unordered, except that complex conjugate pairs
-          must appear consecutively in these arrays.
-          On exit, if INFO = 0, the leading NAP elements of these
-          arrays contain the real and imaginary parts, respectively,
-          of the assigned eigenvalues. The trailing NP-NAP elements
-          contain the unassigned eigenvalues.
-
-  NFP     (output) INTEGER
-          The number of eigenvalues of A having real parts less than
-          ALPHA, if DICO = 'C', or moduli less than ALPHA, if
-          DICO = 'D'. These eigenvalues are not modified by the
-          eigenvalue assignment algorithm.
-
-  NAP     (output) INTEGER
-          The number of assigned eigenvalues. If INFO = 0 on exit,
-          then NAP = N-NFP-NUP.
-
-  NUP     (output) INTEGER
-          The number of uncontrollable eigenvalues detected by the
-          eigenvalue assignment algorithm (see METHOD).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the state
-          feedback F, which assigns NAP closed-loop eigenvalues and
-          keeps unaltered N-NAP open-loop eigenvalues.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z which reduces the closed-loop
-          system state matrix A + B*F to upper real Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of A
-          or B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then the default tolerance
-          TOL = N * EPS * max(NORM(A),NORM(B)) is used, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH)
-          and NORM(A) denotes the 1-norm of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1,5*M,5*N,2*N+4*M ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(F) &lt;= 100*NORM(A)/NORM(B) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal.
-          = 3:  the number of eigenvalues to be assigned is less
-                than the number of possibly assignable eigenvalues;
-                NAP eigenvalues have been properly assigned,
-                but some assignable eigenvalues remain unmodified.
-          = 4:  an attempt is made to place a complex conjugate
-                pair on the location of a real eigenvalue. This
-                situation can only appear when N-NFP is odd,
-                NP &gt; N-NFP-NUP is even, and for the last real
-                eigenvalue to be modified there exists no available
-                real eigenvalue to be assigned. However, NAP
-                eigenvalues have been already properly assigned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  SB01BD is based on the factorization algorithm of [1].
-  Given the matrices A and B of dimensions N-by-N and N-by-M,
-  respectively, this subroutine constructs an M-by-N matrix F such
-  that A + BF has eigenvalues as follows.
-  Let NFP eigenvalues of A have real parts less than ALPHA, if
-  DICO = 'C', or moduli less then ALPHA, if DICO = 'D'. Then:
-  1) If the pair (A,B) is controllable, then A + B*F has
-     NAP = MIN(NP,N-NFP) eigenvalues assigned from those specified
-     by WR + j*WI and N-NAP unmodified eigenvalues;
-  2) If the pair (A,B) is uncontrollable, then the number of
-     assigned eigenvalues NAP satifies generally the condition
-     NAP &lt;= MIN(NP,N-NFP).
-
-  At the beginning of the algorithm, F = 0 and the matrix A is
-  reduced to an ordered real Schur form by separating its spectrum
-  in two parts. The leading NFP-by-NFP part of the Schur form of
-  A corresponds to the eigenvalues which will not be modified.
-  These eigenvalues have real parts less than ALPHA, if
-  DICO = 'C', or moduli less than ALPHA, if DICO = 'D'.
-  The performed orthogonal transformations are accumulated in Z.
-  After this preliminary reduction, the algorithm proceeds
-  recursively.
-
-  Let F be the feedback matrix at the beginning of a typical step i.
-  At each step of the algorithm one real eigenvalue or two complex
-  conjugate eigenvalues are placed by a feedback Fi of rank 1 or
-  rank 2, respectively. Since the feedback Fi affects only the
-  last 1 or 2 columns of Z'*(A+B*F)*Z, the matrix Z'*(A+B*F+B*Fi)*Z
-  therefore remains in real Schur form. The assigned eigenvalue(s)
-  is (are) then moved to another diagonal position of the real
-  Schur form using reordering techniques and a new block is
-  transfered in the last diagonal position. The feedback matrix F
-  is updated as F &lt;-- F + Fi. The eigenvalue(s) to be assigned at
-  each step is (are) chosen such that the norm of each Fi is
-  minimized.
-
-  If uncontrollable eigenvalues are encountered in the last diagonal
-  position of the real Schur matrix Z'*(A+B*F)*Z, the algorithm
-  deflates them at the bottom of the real Schur form and redefines
-  accordingly the position of the "last" block.
-
-  Note: Not all uncontrollable eigenvalues of the pair (A,B) are
-  necessarily detected by the eigenvalue assignment algorithm.
-  Undetected uncontrollable eigenvalues may exist if NFP &gt; 0 and/or
-  NP &lt; N-NFP.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      A Schur method for pole assignment.
-      IEEE Trans. Autom. Control, Vol. AC-26, pp. 517-519, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations. Although no proof of numerical stability is known,
-  the algorithm has always been observed to yield reliable
-  numerical results.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB01BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDF, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDF = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 5*MMAX,5*NMAX,2*NMAX+4*MMAX ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, ANORM, NRM, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NAP, NFP, NP, NUP
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AIN(LDA,NMAX), B(LDB,MMAX),
-     $                 DWORK(LDWORK), F(LDF,NMAX), WI(NMAX), WR(NMAX),
-     $                 Z(LDZ,NMAX), ZTA(LDZ,NMAX)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLAMCH, DLANGE
-      EXTERNAL         DLAMCH, DLANGE, LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, MB03QX, SB01BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, ALPHA, TOL, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF( NP.LT.0 .OR. NP.GT.NMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) NP
-            ELSE
-               DO 10 I = 1, NP
-                  READ ( NIN, FMT = * ) WR(I), WI(I)
-   10          CONTINUE
-*              Perform "eigenvalue assignment" to compute F.
-               CALL DLACPY( 'G', N, N, A, LDA, AIN, LDA )
-               CALL SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB,
-     $                      WR, WI, NFP, NAP, NUP, F, LDF, Z, LDZ,
-     $                      TOL, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 .AND. INFO.LT.3 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  IF ( INFO  .NE. 0 ) WRITE ( NOUT, FMT = 99997 ) INFO
-                  IF ( IWARN .NE. 0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
-                  WRITE ( NOUT, FMT = 99990 ) NAP
-                  WRITE ( NOUT, FMT = 99989 ) NFP
-                  WRITE ( NOUT, FMT = 99988 ) NUP
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
-   60             CONTINUE
-                  CALL MB03QX( N, A, LDA, WR, WI, INFO )
-                  WRITE ( NOUT, FMT = 99998 ) ( WR(I), WI(I), I = 1,N )
-*                 Compute NORM (Z*Aout*Z'-(A+B*F)) / (eps*NORM(A))
-                  ANORM = DLANGE( 'F', N, N, AIN, LDA, DWORK )
-                  CALL DGEMM( 'N', 'N', N, N, M, ONE, B, LDB, F, LDF,
-     $                        ONE, AIN, LDA )
-                  CALL DGEMM( 'N', 'N', N, N, N, ONE, Z, LDZ, A, LDA,
-     $                        ZERO, ZTA, LDZ )
-                  CALL DGEMM( 'N', 'T', N, N, N, ONE, ZTA, LDZ, Z, LDZ,
-     $                        -ONE, AIN, LDA )
-                  NRM = DLANGE( 'F', N, N, AIN, LDA, DWORK ) /
-     $                  ( DLAMCH( 'E' )*ANORM )
-                  WRITE ( NOUT, FMT = 99987 ) NRM
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB01BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/,' The eigenvalues of closed-loop matrix A+B*F',/
-     $          ( ' ( ',F8.4,',',F8.4,' )' ) )
-99997 FORMAT (' INFO on exit from SB01BD = ',I2)
-99996 FORMAT (/,' The state feedback matrix F is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99991 FORMAT (/' IWARN on exit from SB01BD = ', I2)
-99990 FORMAT ( ' Number of assigned eigenvalues: NAP = ', I2 )
-99989 FORMAT ( ' Number of fixed eigenvalues:    NFP = ', I2)
-99988 FORMAT ( ' Number of uncontrollable poles: NUP = ', I2)
-99987 FORMAT (/,' NORM(A+B*F - Z*Aout*Z'') / (eps*NORM(A)) =',1PD12.5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB01BD EXAMPLE PROGRAM DATA
-   4   2   2   -.4  1.E-8   C
-  -6.8000   0.0000  -207.0000   0.0000
-   1.0000   0.0000     0.0000   0.0000
-  43.2000   0.0000     0.0000  -4.2000
-   0.0000   0.0000     1.0000   0.0000
-   5.6400   0.0000
-   0.0000   0.0000
-   0.0000   1.1800
-   0.0000   0.0000
-  -0.5000   0.1500
-  -0.5000  -0.1500
-  -2.0000   0.0000
-  -0.4000   0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB01BD EXAMPLE PROGRAM RESULTS
-
- Number of assigned eigenvalues: NAP =  2
- Number of fixed eigenvalues:    NFP =  2
- Number of uncontrollable poles: NUP =  0
-
- The state feedback matrix F is 
-  -0.0876  -4.2138   0.0837 -18.1412
-  -0.0233  18.2483  -0.4259  -4.8120
-
- The eigenvalues of closed-loop matrix A+B*F
- (  -3.3984, 94.5253 )
- (  -3.3984,-94.5253 )
- (  -0.5000,  0.1500 )
- (  -0.5000, -0.1500 )
-
- NORM(A+B*F - Z*Aout*Z') / (eps*NORM(A)) = 1.03505D+01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB01BX.html b/doc/_build/html/_static/doc/SB01BX.html
deleted file mode 100644
index ff5555a7..00000000
--- a/doc/_build/html/_static/doc/SB01BX.html
+++ /dev/null
@@ -1,107 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01BX">SB01BX</A></H2>
-<H3>
-Choosing the closest real (complex conjugate) eigenvalue(s) to a given real (complex) value
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To choose a real eigenvalue or a pair of complex conjugate
-  eigenvalues at "minimal" distance to a given real or complex
-  value.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01BX( REIG, N, XR, XI, WR, WI, S, P )
-C     .. Scalar Arguments ..
-      LOGICAL          REIG
-      INTEGER          N
-      DOUBLE PRECISION P, S, XI ,XR
-C     .. Array Arguments ..
-      DOUBLE PRECISION WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  REIG    LOGICAL
-          Specifies the type of eigenvalues as follows:
-          = .TRUE.,  a real eigenvalue is to be selected;
-          = .FALSE., a pair of complex eigenvalues is to be
-                     selected.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of eigenvalues contained in the arrays WR
-          and WI.  N &gt;= 1.
-
-  XR,XI   (input) DOUBLE PRECISION
-          If REIG = .TRUE., XR must contain the real value and XI
-          is assumed zero and therefore not referenced.
-          If REIG = .FALSE., XR must contain the real part and XI
-          the imaginary part, respectively, of the complex value.
-
-  WR,WI   (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if REIG = .TRUE., WR must contain the real
-          eigenvalues from which an eigenvalue at minimal distance
-          to XR is to be selected. In this case, WI is considered
-          zero and therefore not referenced.
-          On entry, if REIG = .FALSE., WR and WI must contain the
-          real and imaginary parts, respectively, of the eigenvalues
-          from which a pair of complex conjugate eigenvalues at
-          minimal "distance" to XR + jXI is to be selected.
-          The eigenvalues of each pair of complex conjugate
-          eigenvalues must appear consecutively.
-          On exit, the elements of these arrays are reordered such
-          that the selected eigenvalue(s) is (are) found in the
-          last element(s) of these arrays.
-
-  S,P     (output) DOUBLE PRECISION
-          If REIG = .TRUE., S (and also P) contains the value of
-          the selected real eigenvalue.
-          If REIG = .FALSE., S and P contain the sum and product,
-          respectively, of the selected complex conjugate pair of
-          eigenvalues.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For efficiency reasons, |x| + |y| is used for a complex number
-  x + jy, instead of its modulus.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB01BY.html b/doc/_build/html/_static/doc/SB01BY.html
deleted file mode 100644
index b0b66ef3..00000000
--- a/doc/_build/html/_static/doc/SB01BY.html
+++ /dev/null
@@ -1,124 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01BY">SB01BY</A></H2>
-<H3>
-Pole placement for systems of order 1 or 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve an N-by-N pole placement problem for the simple cases
-  N = 1 or N = 2: given the N-by-N matrix A and N-by-M matrix B,
-  construct an M-by-N matrix F such that A + B*F has prescribed
-  eigenvalues. These eigenvalues are specified by their sum S and
-  product P (if N = 2). The resulting F has minimum Frobenius norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01BY( N, M, S, P, A, B, F, TOL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M, N
-      DOUBLE PRECISION  P, S, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(N,*), B(N,*), DWORK(*), F(M,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and also the number of rows of
-          the matrix B and the number of columns of the matrix F.
-          N is either 1, if a single real eigenvalue is prescribed
-          or 2, if a complex conjugate pair or a set of two real
-          eigenvalues are prescribed.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B and also the number
-          of rows of the matrix F.  M &gt;= 1.
-
-  S       (input) DOUBLE PRECISION
-          The sum of the prescribed eigenvalues if N = 2 or the
-          value of prescribed eigenvalue if N = 1.
-
-  P       (input) DOUBLE PRECISION
-          The product of the prescribed eigenvalues if N = 2.
-          Not referenced if N = 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N,N)
-          On entry, this array must contain the N-by-N state
-          dynamics matrix whose eigenvalues have to be moved to
-          prescribed locations.
-          On exit, this array contains no useful information.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N,M)
-          On entry, this array must contain the N-by-M input/state
-          matrix B.
-          On exit, this array contains no useful information.
-
-  F       (output) DOUBLE PRECISION array, dimension (M,N)
-          The state feedback matrix F which assigns one pole or two
-          poles of the closed-loop matrix A + B*F.
-          If N = 2 and the pair (A,B) is not controllable
-          (INFO = 1), then F(1,1) and F(1,2) contain the elements of
-          an orthogonal rotation which can be used to remove the
-          uncontrollable part of the pair (A,B).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of A
-          and B are considered zero (used for controllability test).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if uncontrollability of the pair (A,B) is detected.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB01DD.html b/doc/_build/html/_static/doc/SB01DD.html
deleted file mode 100644
index 198e7c4e..00000000
--- a/doc/_build/html/_static/doc/SB01DD.html
+++ /dev/null
@@ -1,322 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01DD">SB01DD</A></H2>
-<H3>
-Eigenstructure assignment for a multi-input system in orthogonal canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a controllable matrix pair ( A, B ) a matrix G
-  such that the matrix A - B*G has the desired eigenstructure,
-  specified by desired eigenvalues and free eigenvector elements.
-
-  The pair ( A, B ) should be given in orthogonal canonical form
-  as returned by the SLICOT Library routine AB01ND.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
-     $                   Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            COUNT, INDCON, INFO, LDA, LDB, LDG, LDWORK,
-     $                   LDZ, M, N
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), NBLK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   G( LDG, * ), WI( * ), WR( * ), Y( * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of rows of the
-          matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  INDCON  (input) INTEGER
-          The controllability index of the pair ( A, B ).
-          0 &lt;= INDCON &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N matrix A in orthogonal canonical form,
-          as returned by SLICOT Library routine AB01ND.
-          On exit, the leading N-by-N part of this array contains
-          the real Schur form of the matrix A - B*G.
-          The elements below the real Schur form of A are set to
-          zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M matrix B in orthogonal canonical form,
-          as returned by SLICOT Library routine AB01ND.
-          On exit, the leading N-by-M part of this array contains
-          the transformed matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  NBLK    (input) INTEGER array, dimension (N)
-          The leading INDCON elements of this array must contain the
-          orders of the diagonal blocks in the orthogonal canonical
-          form of A, as returned by SLICOT Library routine AB01ND.
-          The values of these elements must satisfy the following
-          conditions:
-          NBLK(1) &gt;= NBLK(2) &gt;= ... &gt;= NBLK(INDCON),
-          NBLK(1) + NBLK(2) + ... + NBLK(INDCON) = N.
-
-  WR      (input) DOUBLE PRECISION array, dimension (N)
-  WI      (input) DOUBLE PRECISION array, dimension (N)
-          These arrays must contain the real and imaginary parts,
-          respectively, of the desired poles of the closed-loop
-          system, i.e., the eigenvalues of A - B*G. The poles can be
-          unordered, except that complex conjugate pairs of poles
-          must appear consecutively.
-          The elements of WI for complex eigenvalues are modified
-          internally, but restored on exit.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the orthogonal matrix Z generated by SLICOT
-          Library routine AB01ND in the reduction of ( A, B ) to
-          orthogonal canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal transformation matrix which reduces A - B*G
-          to real Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
-
-  Y       (input) DOUBLE PRECISION array, dimension (M*N)
-          Y contains elements which are used as free parameters
-          in the eigenstructure design. The values of these
-          parameters are often set by an external optimization
-          procedure.
-
-  COUNT   (output) INTEGER
-          The actual number of elements in Y used as free
-          eigenvector and feedback matrix elements in the
-          eigenstructure design.
-
-  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
-          The leading M-by-N part of this array contains the
-          feedback matrix which assigns the desired eigenstructure
-          of A - B*G.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,M).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where
-          EPS  is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(M*N,M*M+2*N+4*M+1).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the pair ( A, B ) is not controllable or the free
-                parameters are not set appropriately.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method proposed in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
-      Postlethwaite, I.
-      Optimal pole assignment design of linear multi-input systems.
-      Report 96-11, Department of Engineering, Leicester University,
-      1996.
-
-  [2] Petkov, P.Hr., Christov, N.D. and Konstantinov, M.M.
-      A computational algorithm for pole assignment of linear multi
-      input systems. IEEE Trans. Automatic Control, vol. AC-31,
-      pp. 1044-1047, 1986.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The method implemented is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The eigenvalues of the real Schur form matrix As, returned in the
-  array A, are very close to the desired eigenvalues WR+WI*i.
-  However, the eigenvalues of the closed-loop matrix A - B*G,
-  computed by the QR algorithm using the matrices A and B, given on
-  entry, may be far from WR+WI*i, although the relative error
-     norm( Z'*(A - B*G)*Z - As )/norm( As )
-  is close to machine accuracy. This may happen when the eigenvalue
-  problem for the matrix A - B*G is ill-conditioned.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB01DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDG, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 3*NMAX, MMAX*NMAX,
-     $                                 MMAX*MMAX + 2*NMAX + 4*MMAX + 1 )
-     $                 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          COUNT, I, INDCON, INFO1, INFO2, J, M, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      INTEGER          IWORK(MMAX), NBLK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX,MMAX), DWORK(LDWORK),
-     $                 G(LDG,NMAX), WI(NMAX), WR(NMAX), Y(MMAX*NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB01ND, SB01DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
-            READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
-            READ ( NIN, FMT = * ) ( Y(I),  I = 1,M*N )
-*           First reduce the given system to canonical form.
-            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
-     $                   NBLK, Z, LDZ, DWORK, TOL, IWORK, DWORK(N+1),
-     $                   LDWORK-N, INFO1 )
-*
-            IF ( INFO1.EQ.0 ) THEN
-*              Find the state feedback matrix G.
-               CALL SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
-     $                      Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO2 )
-*
-               IF ( INFO2.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO2
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 10 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,N )
-   10             CONTINUE
-               END IF
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO1
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB01DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01ND =',I2)
-99997 FORMAT (' INFO on exit from SB01DD =',I2)
-99996 FORMAT (' The state feedback matrix G is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB01DD EXAMPLE PROGRAM DATA
-   4   2     0.0     I
-  -1.0  0.0  2.0 -3.0
-   1.0 -4.0  3.0 -1.0
-   0.0  2.0  4.0 -5.0
-   0.0  0.0 -1.0 -2.0
-   1.0  0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-  -1.0 -1.0 -1.0 -1.0
-   0.0  0.0  0.0  0.0
-   1.0  2.0  2.0  1.0 -1.0 -2.0  3.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB01DD EXAMPLE PROGRAM RESULTS
-
- The state feedback matrix G is
-  -5.2339   3.1725 -15.7885  21.7043
-  -1.6022   0.8504  -5.1914   6.2339
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB01FY.html b/doc/_build/html/_static/doc/SB01FY.html
deleted file mode 100644
index f5948ba5..00000000
--- a/doc/_build/html/_static/doc/SB01FY.html
+++ /dev/null
@@ -1,130 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01FY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01FY">SB01FY</A></H2>
-<H3>
-Inner denominator of a right-coprime factorization of an unstable system of order 1 or 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the inner denominator of a right-coprime factorization
-  of a system of order N, where N is either 1 or 2. Specifically,
-  given the N-by-N unstable system state matrix A and the N-by-M
-  system input matrix B, an M-by-N state-feedback matrix F and
-  an M-by-M matrix V are constructed, such that the system
-  (A + B*F, B*V, F, V) is inner.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01FY( DISCR, N, M, A, LDA, B, LDB, F, LDF, V, LDV,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR
-      INTEGER           INFO, LDA, LDB, LDF, LDV, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), F(LDF,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of system as follows:
-          = .FALSE.:  continuous-time system;
-          = .TRUE. :  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and also the number of rows of
-          the matrix B and the number of columns of the matrix F.
-          N is either 1 or 2.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and V, and also
-          the number of rows of the matrix F.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A whose eigenvalues must have positive
-          real parts if DISCR = .FALSE. or moduli greater than unity
-          if DISCR = .TRUE..
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the state-
-          feedback matrix F which assigns one eigenvalue (if N = 1)
-          or two eigenvalues (if N = 2) of the matrix A + B*F in
-          symmetric positions with respect to the imaginary axis
-          (if DISCR = .FALSE.) or the unit circle (if
-          DISCR = .TRUE.).
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
-          The leading M-by-M upper triangular part of this array
-          contains the input/output matrix V of the resulting inner
-          system in upper triangular form.
-          If DISCR = .FALSE., the resulting V is an identity matrix.
-
-  LDV     INTEGER
-          The leading dimension of array V.  LDF &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if uncontrollability of the pair (A,B) is detected;
-          = 2:  if A is stable or at the stability limit;
-          = 3:  if N = 2 and A has a pair of real eigenvalues.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB01MD.html b/doc/_build/html/_static/doc/SB01MD.html
deleted file mode 100644
index c96dcfb3..00000000
--- a/doc/_build/html/_static/doc/SB01MD.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01MD">SB01MD</A></H2>
-<H3>
-State feedback matrix of a linear time-invariant single-input system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine the one-dimensional state feedback matrix G of the
-  linear time-invariant single-input system
-
-        dX/dt = A * X + B * U,
-
-  where A is an NCONT-by-NCONT matrix and B is an NCONT element
-  vector such that the closed-loop system
-
-        dX/dt = (A - B * G) * X
-
-  has desired poles. The system must be preliminarily reduced
-  to orthogonal canonical form using the SLICOT Library routine
-  AB01MD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDZ, N, NCONT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), G(*), WI(*), WR(*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NCONT   (input) INTEGER
-          The order of the matrix A as produced by SLICOT Library
-          routine AB01MD.  NCONT &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix Z.  N &gt;= NCONT.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA,NCONT)
-          On entry, the leading NCONT-by-NCONT part of this array
-          must contain the canonical form of the state dynamics
-          matrix A as produced by SLICOT Library routine AB01MD.
-          On exit, the leading NCONT-by-NCONT part of this array
-          contains the upper quasi-triangular form S of the closed-
-          loop system matrix (A - B * G), that is triangular except
-          for possible 2-by-2 diagonal blocks.
-          (To reconstruct the closed-loop system matrix see
-          FURTHER COMMENTS below.)
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,NCONT).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (NCONT)
-          On entry, this array must contain the canonical form of
-          the input/state vector B as produced by SLICOT Library
-          routine AB01MD.
-          On exit, this array contains the transformed vector Z * B
-          of the closed-loop system.
-
-  WR      (input) DOUBLE PRECISION array, dimension (NCONT)
-  WI      (input) DOUBLE PRECISION array, dimension (NCONT)
-          These arrays must contain the real and imaginary parts,
-          respectively, of the desired poles of the closed-loop
-          system. The poles can be unordered, except that complex
-          conjugate pairs of poles must appear consecutively.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the orthogonal transformation matrix as produced
-          by SLICOT Library routine AB01MD, which reduces the system
-          to canonical form.
-          On exit, the leading NCONT-by-NCONT part of this array
-          contains the orthogonal matrix Z which reduces the closed-
-          loop system matrix (A - B * G) to upper quasi-triangular
-          form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
-
-  G       (output) DOUBLE PRECISION array, dimension (NCONT)
-          This array contains the one-dimensional state feedback
-          matrix G of the original system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*NCONT)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method is based on the orthogonal reduction of the closed-loop
-  system matrix (A - B * G) to upper quasi-triangular form S whose
-  1-by-1 and 2-by-2 diagonal blocks correspond to the desired poles.
-  That is, S = Z'*(A - B * G)*Z, where Z is an orthogonal matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Petkov, P. Hr.
-      A Computational Algorithm for Pole Assignment of Linear
-      Single Input Systems.
-      Internal Report 81/2, Control Systems Research Group, School
-      of Electronic Engineering and Computer Science, Kingston
-      Polytechnic, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                3
-  The algorithm requires 0(NCONT ) operations and is backward
-  stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If required, the closed-loop system matrix (A - B * G) can be
-  formed from the matrix product Z * S * Z' (where S and Z are the
-  matrices output in arrays A and Z respectively).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDZ
-      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO1, INFO2, J, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), G(NMAX),
-     $                 WI(NMAX), WR(NMAX), Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB01MD, SB01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, TOL, JOBZ
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
-*        First reduce the given system to canonical form.
-         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, DWORK, TOL,
-     $                DWORK(N+1), LDWORK-N, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-*           Find the one-dimensional state feedback matrix G.
-            CALL SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
-     $                   INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            ELSE
-               WRITE ( NOUT, FMT = 99996 ) ( G(I), I = 1,NCONT )
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01MD =',I2)
-99997 FORMAT (' INFO on exit from SB01MD =',I2)
-99996 FORMAT (' The one-dimensional state feedback matrix G is',
-     $       /20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB01MD EXAMPLE PROGRAM DATA
-   4     0.0     I
-  -1.0  0.0  2.0 -3.0
-   1.0 -4.0  3.0 -1.0
-   0.0  2.0  4.0 -5.0
-   0.0  0.0 -1.0 -2.0
-   1.0  0.0  0.0  0.0
-  -1.0 -1.0 -1.0 -1.0
-   0.0  0.0  0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB01MD EXAMPLE PROGRAM RESULTS
-
- The one-dimensional state feedback matrix G is
-   1.0000  29.0000  93.0000 -76.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MD.html b/doc/_build/html/_static/doc/SB02MD.html
deleted file mode 100644
index 1f908070..00000000
--- a/doc/_build/html/_static/doc/SB02MD.html
+++ /dev/null
@@ -1,420 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MD">SB02MD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations (Schur vectors method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                           -1
-     Q + A'*X + X*A - X*B*R  B'*X = 0                            (1)
-
-  or the discrete-time algebraic Riccati equation
-                                     -1
-     X = A'*X*A - A'*X*B*(R + B'*X*B)  B'*X*A + Q                (2)
-
-  where A, B, Q and R are N-by-N, N-by-M, N-by-N and M-by-M matrices
-  respectively, with Q symmetric and R symmetric nonsingular; X is
-  an N-by-N symmetric matrix.
-                    -1
-  The matrix G = B*R  B' must be provided on input, instead of B and
-  R, that is, for instance, the continuous-time equation
-
-     Q + A'*X + X*A - X*G*X = 0                                  (3)
-
-  is solved, where G is an N-by-N symmetric matrix. SLICOT Library
-  routine SB02MT should be used to compute G, given B and R. SB02MT
-  also enables to solve Riccati equations corresponding to optimal
-  problems with coupling terms.
-
-  The routine also returns the computed values of the closed-loop
-  spectrum of the optimal system, i.e., the stable eigenvalues
-  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
-  symplectic matrix associated to the optimal problem.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G,
-     $                   LDG, Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU,
-     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HINV, SCAL, SORT, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDU, LDWORK, N
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*), U(LDU,*), WR(*), WI(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved as
-          follows:
-          = 'C':  Equation (3), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  HINV    CHARACTER*1
-          If DICO = 'D', specifies which symplectic matrix is to be
-          constructed, as follows:
-          = 'D':  The matrix H in (5) (see METHOD) is constructed;
-          = 'I':  The inverse of the matrix H in (5) is constructed.
-          HINV is not used if DICO = 'C'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  SCAL    CHARACTER*1
-          Specifies whether or not a scaling strategy should be
-          used, as follows:
-          = 'G':  General scaling should be used;
-          = 'N':  No scaling should be used.
-
-  SORT    CHARACTER*1
-          Specifies which eigenvalues should be obtained in the top
-          of the Schur form, as follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, G and X.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A of the equation.
-          On exit, if DICO = 'D', and INFO = 0 or INFO &gt; 1, the
-                                                                 -1
-          leading N-by-N part of this array contains the matrix A  .
-          Otherwise, the array A is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          The leading N-by-N upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          must contain the upper triangular part or lower triangular
-          part, respectively, of the symmetric matrix G.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix Q.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          used.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the solution matrix X of the problem.
-
-  LDQ     INTEGER
-          The leading dimension of array N.  LDQ &gt;= MAX(1,N).
-
-  RCOND   (output) DOUBLE PRECISION
-          An estimate of the reciprocal of the condition number (in
-          the 1-norm) of the N-th order system of algebraic
-          equations from which the solution matrix X is obtained.
-
-  WR      (output) DOUBLE PRECISION array, dimension (2*N)
-  WI      (output) DOUBLE PRECISION array, dimension (2*N)
-          If INFO = 0 or INFO = 5, these arrays contain the real and
-          imaginary parts, respectively, of the eigenvalues of the
-          2N-by-2N matrix S, ordered as specified by SORT (except
-          for the case HINV = 'D', when the order is opposite to
-          that specified by SORT). The leading N elements of these
-          arrays contain the closed-loop spectrum of the system
-                        -1
-          matrix A - B*R  *B'*X, if DICO = 'C', or of the matrix
-                            -1
-          A - B*(R + B'*X*B)  B'*X*A, if DICO = 'D'. Specifically,
-             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
-          array contains the ordered real Schur form S of the
-          Hamiltonian or symplectic matrix H. That is,
-
-                 (S   S  )
-                 ( 11  12)
-             S = (       ),
-                 (0   S  )
-                 (     22)
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
-          array contains the transformation matrix U which reduces
-          the Hamiltonian or symplectic matrix H to the ordered real
-          Schur form S. That is,
-
-                 (U   U  )
-                 ( 11  12)
-             U = (       ),
-                 (U   U  )
-                 ( 21  22)
-
-          where U  , U  , U   and U   are N-by-N matrices.
-                 11   12   21      22
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) returns the scaling factor used
-          (set to 1 if SCAL = 'N'), also set if INFO = 5;
-          if DICO = 'D', DWORK(3) returns the reciprocal condition
-          number of the given matrix  A.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(2,6*N) if DICO = 'C';
-          LDWORK &gt;= MAX(3,6*N) if DICO = 'D'.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if matrix A is (numerically) singular in discrete-
-                time case;
-          = 2:  if the Hamiltonian or symplectic matrix H cannot be
-                reduced to real Schur form;
-          = 3:  if the real Schur form of the Hamiltonian or
-                symplectic matrix H cannot be appropriately ordered;
-          = 4:  if the Hamiltonian or symplectic matrix H has less
-                than N stable eigenvalues;
-          = 5:  if the N-th order system of linear algebraic
-                equations, from which the solution matrix X would
-                be obtained, is singular to working precision.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Schur vector approach proposed by Laub.
-  It is assumed that [A,B] is a stabilizable pair (where for (3) B
-  is any matrix such that B*B' = G with rank(B) = rank(G)), and
-  [E,A] is a detectable pair, where E is any matrix such that
-  E*E' = Q with rank(E) = rank(Q). Under these assumptions, any of
-  the algebraic Riccati equations (1)-(3) is known to have a unique
-  non-negative definite solution. See [2].
-  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
-
-              ( A   -G )
-         H =  (        ),                                    (4)
-              (-Q   -A'),
-
-  for continuous-time equation, and
-                 -1        -1
-              ( A         A  *G   )
-         H =  (   -1          -1  ),                         (5)
-              (Q*A    A' + Q*A  *G)
-                                                         -1
-  for discrete-time equation, respectively, where G = B*R  *B'.
-  The assumptions guarantee that H in (4) has no pure imaginary
-  eigenvalues, and H in (5) has no eigenvalues on the unit circle.
-  If Y is an N-by-N matrix then there exists an orthogonal matrix U
-  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
-  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
-  (corresponding to the complex conjugate eigenvalues and real
-  eigenvalues respectively) appear in any desired order. This is the
-  ordered real Schur form. Thus, we can find an orthogonal
-  similarity transformation U which puts (4) or (5) in ordered real
-  Schur form
-
-         U'*H*U = S = (S(1,1)  S(1,2))
-                      (  0     S(2,2))
-
-  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
-  have negative real parts in case of (4), or moduli greater than
-  one in case of (5). If U is conformably partitioned into four
-  N-by-N blocks
-
-            U = (U(1,1)  U(1,2))
-                (U(2,1)  U(2,2))
-
-  with respect to the assumptions we then have
-  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
-      (2), or (3) with X = X' and non-negative definite;
-  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
-      DICO = 'D') are equal to the eigenvalues of optimal system
-      (the 'closed-loop' spectrum).
-
-  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
-  is stable. [E,A] is detectable if [A',E'] is stabilizable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Laub, A.J.
-      A Schur Method for Solving Algebraic Riccati equations.
-      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
-
-  [2] Wonham, W.M.
-      On a matrix Riccati equation of stochastic control.
-      SIAM J. Contr., 6, pp. 681-697, 1968.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
-  SORT = 'S', if HINV = 'I'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying
-      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
-      SORT = 'S' if DICO = 'D' and HINV = 'D'.
-
-  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
-  and SORT = 'U', will be faster then the other combinations [3].
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02MD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDS, LDU
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDS = 2*NMAX, LDU = 2*NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 6*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, N
-      CHARACTER        DICO, HINV, SCAL, SORT, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), U(LDU,2*NMAX),
-     $                 WI(2*NMAX), WR(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB02MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DICO, HINV, UPLO, SCAL, SORT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G, LDG,
-     $                Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU, IWORK,
-     $                DWORK, LDWORK, BWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) RCOND
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( Q(I,J), J = 1,N )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02MD = ',I2)
-99997 FORMAT (' RCOND = ',F4.2,//' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02MD EXAMPLE PROGRAM DATA
-   2     C     D     U     N     S
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02MD EXAMPLE PROGRAM RESULTS
-
- RCOND = 0.31
-
- The solution matrix X is 
-   2.0000   1.0000
-   1.0000   2.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MT.html b/doc/_build/html/_static/doc/SB02MT.html
deleted file mode 100644
index 3e11981b..00000000
--- a/doc/_build/html/_static/doc/SB02MT.html
+++ /dev/null
@@ -1,316 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MT">SB02MT</A></H2>
-<H3>
-Conversion of optimal problems with coupling weighting terms to standard problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the following matrices
-
-             -1
-      G = B*R  *B',
-
-      -          -1
-      A = A - B*R  *L',
-
-      -          -1
-      Q = Q - L*R  *L',
-
-  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
-  N-by-M, and N-by-N matrices, respectively, with Q, R and G
-  symmetric matrices.
-
-  When R is well-conditioned with respect to inversion, standard
-  algorithms for solving linear-quadratic optimization problems will
-  then also solve optimization problems with coupling weighting
-  matrix L. Moreover, a gain in efficiency is possible using matrix
-  G in the deflating subspace algorithms (see SLICOT Library routine
-  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
-  SG02CD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MT( JOBG, JOBL, FACT, UPLO, N, M, A, LDA, B, LDB,
-     $                   Q, LDQ, R, LDR, L, LDL, IPIV, OUFACT, G, LDG,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FACT, JOBG, JOBL, UPLO
-      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
-     $                  N, OUFACT
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
-     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBG    CHARACTER*1
-          Specifies whether or not the matrix G is to be computed,
-          as follows:
-          = 'G':  Compute G;
-          = 'N':  Do not compute G.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the factors of the symmetric
-                  indefinite UdU' or LdL' factorization of R.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices R, Q (if
-          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, and G, and the number of
-          rows of the matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix R, and the number of columns of
-          the matrices B and L.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if JOBL = 'N', the leading N-by-N part of this
-          array must contain the matrix A.
-          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
-                                                 -          -1
-          part of this array contains the matrix A = A - B*R  L'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if JOBL = 'N';
-          LDA &gt;= 1        if JOBL = 'Z'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B.
-          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
-                                                          -1
-          part of this array contains the matrix B*chol(R)  .
-          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if JOBL = 'N', the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively, of
-          the symmetric matrix Q. The strictly lower triangular part
-          (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array contains the upper
-          triangular part or lower triangular part, respectively, of
-                               -          -1
-          the symmetric matrix Q = Q - L*R  *L'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if JOBL = 'N';
-          LDQ &gt;= 1        if JOBL = 'Z'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if FACT = 'U', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the factors of
-          the UdU' or LdL' factorization, respectively, of the
-          symmetric indefinite input weighting matrix R (as produced
-          by LAPACK routine DSYTRF).
-          If FACT = 'N', the strictly lower triangular part (if UPLO
-          = 'U') or strictly upper triangular part (if UPLO = 'L')
-          of this array is used as workspace (filled in by
-          symmetry).
-          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix.
-          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix.
-          On exit R is unchanged if FACT = 'C' or 'U'.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
-          On entry, if JOBL = 'N', the leading N-by-M part of this
-          array must contain the matrix L.
-          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
-          leading N-by-M part of this array contains the matrix
-                   -1
-          L*chol(R)  .
-          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-          L is not referenced if JOBL = 'Z'.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R,
-          as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'C'.
-
-  OUFACT  (output) INTEGER
-          Information about the factorization finally used.
-          OUFACT = 0:  no factorization of R has been used (M = 0);
-          OUFACT = 1:  Cholesky factorization of R has been used;
-          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
-                       factorization of R has been used.
-
-  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
-          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array contains the upper
-          triangular part (if UPLO = 'U') or lower triangular part
-                                                              -1
-          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
-          If JOBG = 'N', this array is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.
-          LDG &gt;= MAX(1,N) if JOBG = 'G';
-          LDG &gt;= 1        if JOBG = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FACT = 'C' or FACT = 'U', this array is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
-          as specified below, DWORK(2) contains the reciprocal
-          condition number of the given matrix R.
-          On exit, if LDWORK = -2 on input or INFO = -23, then
-          DWORK(1) returns the minimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
-                                      JOBG = 'N' and  JOBL = 'Z');
-          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
-                                                      JOBL = 'Z';
-          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
-                                                      JOBL = 'N');
-          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
-                                                      JOBL = 'N').
-          For optimum performance LDWORK should be larger than 3*M,
-          if FACT = 'N'.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
-                exactly zero; the UdU' (or LdL') factorization has
-                been completed, but the block diagonal matrix d is
-                exactly singular;
-          = M+1:  if the matrix R is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>                         -     -
-  The matrices G, and/or A and Q are evaluated using the given or
-  computed symmetric factorization of R.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine should not be used when R is ill-conditioned.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MU.html b/doc/_build/html/_static/doc/SB02MU.html
deleted file mode 100644
index f5c6379a..00000000
--- a/doc/_build/html/_static/doc/SB02MU.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MU">SB02MU</A></H2>
-<H3>
-Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
-  associated to the linear-quadratic optimization problem, used to
-  solve the continuous- or discrete-time algebraic Riccati equation,
-  respectively.
-
-  For a continuous-time problem, S is defined by
-
-          (  A  -G )
-      S = (        ),                                       (1)
-          ( -Q  -A')
-
-  and for a discrete-time problem by
-
-              -1       -1
-          (  A        A  *G     )
-      S = (   -1           -1   ),                          (2)
-          ( QA     A' + Q*A  *G )
-
-  or
-
-                    -T         -T
-          (  A + G*A  *Q   -G*A   )
-      S = (      -T            -T ),                        (3)
-          (    -A  *Q         A   )
-
-  where A, G, and Q are N-by-N matrices, with G and Q symmetric.
-  Matrix A must be nonsingular in the discrete-time case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MU( DICO, HINV, UPLO, N, A, LDA, G, LDG, Q, LDQ, S,
-     $                   LDS, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HINV, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  Continuous-time system;
-          = 'D':  Discrete-time system.
-
-  HINV    CHARACTER*1
-          If DICO = 'D', specifies which of the matrices (2) or (3)
-          is constructed, as follows:
-          = 'D':  The matrix S in (2) is constructed;
-          = 'I':  The (inverse) matrix S in (3) is constructed.
-          HINV is not referenced if DICO = 'C'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, if DICO = 'D', and INFO = 0, the leading N-by-N
-                                                  -1
-          part of this array contains the matrix A  .
-          Otherwise, the array A is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          The leading N-by-N upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          must contain the upper triangular part or lower triangular
-          part, respectively, of the symmetric matrix G.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          must contain the upper triangular part or lower triangular
-          part, respectively, of the symmetric matrix Q.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If INFO = 0, the leading 2N-by-2N part of this array
-          contains the Hamiltonian or symplectic matrix of the
-          problem.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK; if DICO = 'D', DWORK(2) returns the reciprocal
-          condition number of the given matrix  A.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1          if DICO = 'C';
-          LDWORK &gt;= MAX(2,4*N) if DICO = 'D'.
-          For optimum performance LDWORK should be larger, if
-          DICO = 'D'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
-                submatrix of A is singular in discrete-time case;
-          = N+1:  if matrix A is numerically singular in discrete-
-                time case.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
-  is constructed.
-  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
-  (3) - the inverse of the matrix in (2) - is constructed.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The discrete-time case needs the inverse of the matrix A, hence
-  the routine should not be used when A is ill-conditioned.
-                            3
-  The algorithm requires 0(n ) floating point operations in the
-  discrete-time case.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02MX.html b/doc/_build/html/_static/doc/SB02MX.html
deleted file mode 100644
index 6beaa630..00000000
--- a/doc/_build/html/_static/doc/SB02MX.html
+++ /dev/null
@@ -1,353 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MX">SB02MX</A></H2>
-<H3>
-Conversion of optimal problems with coupling weighting terms to standard problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the following matrices
-
-             -1
-      G = B*R  *B',
-
-      -               -1
-      A = A +/- op(B*R  *L'),
-
-      -            -1
-      Q = Q +/- L*R  *L',
-
-  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
-  N-by-M, and N-by-N matrices, respectively, with Q, R and G
-  symmetric matrices, and op(W) is one of
-
-      op(W) = W  or  op(W) = W'.
-
-  When R is well-conditioned with respect to inversion, standard
-  algorithms for solving linear-quadratic optimization problems will
-  then also solve optimization problems with coupling weighting
-  matrix L. Moreover, a gain in efficiency is possible using matrix
-  G in the deflating subspace algorithms (see SLICOT Library routine
-  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
-  SG02CD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MX( JOBG, JOBL, FACT, UPLO, TRANS, FLAG, DEF, N, M,
-     $                   A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, IPIV,
-     $                   OUFACT, G, LDG, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DEF, FACT, FLAG, JOBG, JOBL, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
-     $                  N, OUFACT
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
-     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBG    CHARACTER*1
-          Specifies whether or not the matrix G is to be computed,
-          as follows:
-          = 'G':  Compute G;
-          = 'N':  Do not compute G.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the factors of the symmetric
-                  indefinite UdU' or LdL' factorization of R.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices R, Q (if
-          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-  FLAG    CHARACTER*1
-          Specifies which sign is used, as follows:
-          = 'P':  The plus  sign is used;
-          = 'M':  The minus sign is used.
-
-  DEF     CHARACTER*1
-          If FACT = 'N', specifies whether or not it is assumed that
-          matrix R is positive definite, as follows:
-          = 'D':  Matrix R is assumed positive definite;
-          = 'I':  Matrix R is assumed indefinite.
-          Both values can be used to perform the computations,
-          irrespective to the R definiteness, but using the adequate
-          value will save some computational effort (see FURTHER
-          COMMENTS).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, and G, and the number of
-          rows of the matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix R, and the number of columns of
-          the matrices B and L.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if JOBL = 'N', the leading N-by-N part of this
-          array must contain the matrix A.
-          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
-                                                 -
-          part of this array contains the matrix A.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if JOBL = 'N';
-          LDA &gt;= 1        if JOBL = 'Z'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B.
-          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
-                                                          -1
-          part of this array contains the matrix B*chol(R)  .
-          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if JOBL = 'N', the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively, of
-          the symmetric matrix Q. The strictly lower triangular part
-          (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array contains the upper
-          triangular part or lower triangular part, respectively, of
-                               -            -1
-          the symmetric matrix Q = Q +/- L*R  *L'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if JOBL = 'N';
-          LDQ &gt;= 1        if JOBL = 'Z'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if FACT = 'U', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the factors of
-          the UdU' or LdL' factorization, respectively, of the
-          symmetric indefinite input weighting matrix R (as produced
-          by LAPACK routine DSYTRF).
-          If FACT = 'N' and DEF = 'D', the strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part
-          (if UPLO = 'L') of this array is used as workspace (filled
-          in by symmetry). If FACT = 'N' and DEF = 'I', the strictly
-          lower triangular part (if UPLO = 'U') or strictly upper
-          triangular part (if UPLO = 'L') is unchanged.
-          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix.
-          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix.
-          On exit R is unchanged if FACT = 'C' or 'U'.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
-          On entry, if JOBL = 'N', the leading N-by-M part of this
-          array must contain the matrix L.
-          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
-          leading N-by-M part of this array contains the matrix
-                   -1
-          L*chol(R)  .
-          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-          L is not referenced if JOBL = 'Z'.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R,
-          as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'C'.
-
-  OUFACT  (output) INTEGER
-          Information about the factorization finally used.
-          OUFACT = 0:  no factorization of R has been used (M = 0);
-          OUFACT = 1:  Cholesky factorization of R has been used;
-          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
-                       factorization of R has been used.
-
-  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
-          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array contains the upper
-          triangular part (if UPLO = 'U') or lower triangular part
-                                                              -1
-          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
-          If JOBG = 'N', this array is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.
-          LDG &gt;= MAX(1,N) if JOBG = 'G';
-          LDG &gt;= 1        if JOBG = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FACT = 'C' or FACT = 'U', this array is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
-          as specified below, DWORK(2) contains the reciprocal
-          condition number of the given matrix R. DWORK(2) is set to
-          zero if M = 0.
-          On exit, if LDWORK = -2 on input or INFO = -26, then
-          DWORK(1) returns the minimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
-                                      JOBG = 'N' and  JOBL = 'Z');
-          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
-                                                      JOBL = 'Z';
-          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
-                                                      JOBL = 'N');
-          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
-                                                      JOBL = 'N').
-          For optimum performance LDWORK should be larger than 3*M,
-          if FACT = 'N'.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
-                exactly zero; the UdU' (or LdL') factorization has
-                been completed, but the block diagonal matrix d is
-                exactly singular;
-          = M+1:  if the matrix R is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>                         -     -
-  The matrices G, and/or A and Q are evaluated using the given or
-  computed symmetric factorization of R.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine should not be used when R is ill-conditioned.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Using argument TRANS allows to avoid the transposition of matrix A
-  needed to solve optimal filtering/estimation problems by the same
-  routines solving optimal control problems.
-  If DEF is set to 'D', but R is indefinite, the computational
-  effort for factorization will be approximately double, since
-  Cholesky factorization, tried first, will fail, and symmetric
-  indefinite factorization will then be used.
-  If DEF is set to 'I', but R is positive definite, the
-  computational effort will be slightly higher than that when using
-  Cholesky factorization. It is recommended to use DEF = 'D' also if
-  the definiteness is not known, but M is (much) smaller than N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02ND.html b/doc/_build/html/_static/doc/SB02ND.html
deleted file mode 100644
index b4cc93c5..00000000
--- a/doc/_build/html/_static/doc/SB02ND.html
+++ /dev/null
@@ -1,486 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02ND">SB02ND</A></H2>
-<H3>
-Optimal state feedback matrix for an optimal control problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the optimal feedback matrix F for the problem of
-  optimal control given by
-
-                     -1
-       F = (R + B'XB)  (B'XA + L')                           (1)
-
-  in the discrete-time case and
-
-            -1
-       F = R  (B'X + L')                                     (2)
-
-  in the continuous-time case, where A, B and L are N-by-N, N-by-M
-  and N-by-M matrices respectively; R and X are M-by-M and N-by-N
-  symmetric matrices respectively.
-
-  Optionally, matrix R may be specified in a factored form, and L
-  may be zero.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA, B,
-     $                   LDB, R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
-     $                   LDF, OUFACT, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOBL, UPLO
-      INTEGER           INFO, LDA, LDB, LDF, LDL, LDR, LDWORK, LDX, M,
-     $                  N, P
-      DOUBLE PRECISION  RNORM
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
-     $                  L(LDL,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which F is to be determined,
-          as follows:
-          = 'D':  Equation (1), discrete-time case;
-          = 'C':  Equation (2), continuous-time case.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the symmetric indefinite UdU' or
-                  LdL' factorization of R. This option is not
-                  available for DICO = 'D'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the possibly factored matrix R
-          (or R + B'XB, on exit) is or should be stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-          No computations are performed if MIN(N,M) = 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix D.
-          P &gt;= M for DICO = 'C';
-          P &gt;= 0 for DICO = 'D'.
-          This parameter must be specified only for FACT = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If DICO = 'D', the leading N-by-N part of this array must
-          contain the state matrix A of the system.
-          If DICO = 'C', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if DICO = 'D';
-          LDA &gt;= 1        if DICO = 'C'.
-
-  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
-          array is destroyed. Specifically, if, on exit,
-          OUFACT(2) = 1, this array contains chol(X)*B, and if
-          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
-          part (in the first N rows) contains the submatrix of
-          sqrt(V)*U'B corresponding to the non-negligible, positive
-          eigenvalues of X, where V and U are the matrices with the
-          eigenvalues and eigenvectors of X.
-          Otherwise, B is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'D', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array must contain the
-          factors of the UdU' or LdL' factorization, respectively,
-          of the symmetric indefinite input weighting matrix R (as
-          produced by LAPACK routine DSYTRF).
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') of this
-          array is used as workspace (filled in by symmetry with the
-          other strictly triangular part of R, of R+B'XB, or of the
-          result, if DICO = 'C', DICO = 'D', or (DICO = 'D' and
-          (FACT = 'D' or FACT = 'C') and UPLO = 'L'), respectively.
-          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D').
-          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix
-          (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D' and FACT = 'N').
-          On exit R is unchanged if FACT = 'U' or N = 0.
-
-  LDR     INTEGER.
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
-          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT(1) = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R or
-          R + B'XB, as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'D', or FACT = 'C',
-          or N = 0.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N', the leading N-by-M part of this array must
-          contain the cross weighting matrix L.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the solution matrix X of the algebraic Riccati
-          equation as produced by SLICOT Library routines SB02MD or
-          SB02OD. Matrix X is assumed non-negative definite if
-          DICO = 'D' and (FACT = 'D' or FACT = 'C').
-          The full matrix X must be given on input if LDWORK &lt; N*M
-          or if DICO = 'D' and (FACT = 'D' or FACT = 'C').
-          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
-          OUFACT(2) = 1, the N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array contains the Cholesky factor of the given
-          matrix X, which is found to be positive definite.
-          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
-          and INFO &lt; M+2 (but INFO &gt;= 0), the leading N-by-N part of
-          this array contains the matrix of orthonormal eigenvectors
-          of X.
-          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  RNORM   (input) DOUBLE PRECISION
-          If FACT = 'U', this parameter must contain the 1-norm of
-          the original matrix R (before factoring it).
-          Otherwise, this parameter is not used.
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the
-          optimal feedback matrix F.
-          This array is not referenced if DICO = 'C' and FACT = 'D'
-          and P &lt; M.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  OUFACT  (output) INTEGER array, dimension (2)
-          Information about the factorization finally used.
-          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
-                          'L') factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(2) = 1:  Cholesky factorization of X has been used;
-          OUFACT(2) = 2:  Spectral factorization of X has been used.
-          The value of OUFACT(2) is not set for DICO = 'C' or for
-          DICO = 'D' and FACT = 'N'.
-          This array is not set if N = 0 or M = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK, and for LDWORK set as specified
-          below, DWORK(2) contains the reciprocal condition number
-          of the matrix R (for DICO = 'C') or of R + B'XB (for
-          DICO = 'D'); DWORK(2) is set to 1 if N = 0.
-          On exit, if LDWORK = -2 on input or INFO = -25, then
-          DWORK(1) returns the minimal value of LDWORK.
-          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
-          DWORK(N+2) contain the eigenvalues of X, in ascending
-          order.
-
-  LDWORK  INTEGER
-          Dimension of working array DWORK.
-          LDWORK &gt;= max(2,2*M)           if FACT =  'U';
-          LDWORK &gt;= max(2,3*M)           if FACT &lt;&gt; 'U', DICO = 'C';
-          LDWORK &gt;= max(2,3*M,N)         if FACT =  'N', DICO = 'D';
-          LDWORK &gt;= max(N+3*M+2,4*N+1)   if FACT &lt;&gt; 'N', DICO = 'D'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element of the d factor is exactly zero;
-                the UdU' (or LdL') factorization has been completed,
-                but the block diagonal matrix d is exactly singular;
-          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
-                (if DICO = 'D') is numerically singular (to working
-                precision);
-          = M+2:  if one or more of the eigenvalues of X has not
-                converged;
-          = M+3:  if the matrix X is indefinite and updating the
-                triangular factorization failed.
-          If INFO &gt; M+1, call the routine again with an appropriate,
-          unfactored matrix R.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The optimal feedback matrix F is obtained as the solution to the
-  system of linear equations
-
-     (R + B'XB) * F = B'XA + L'
-
-  in the discrete-time case and
-
-     R * F = B'X + L'
-
-  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
-  If FACT = 'N', Cholesky factorization is tried first, but
-  if the coefficient matrix is not positive definite, then UdU' (or
-  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
-  of R is taken into account. The discrete-time case then involves
-  updating of a triangular factorization of R (or D'D); Cholesky or
-  symmetric spectral factorization of X is employed to avoid
-  squaring of the condition number of the matrix. When D is given,
-  its QR factorization is determined, and the triangular factor is
-  used as described above.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm consists of numerically stable steps.
-                                 3     2
-  For DICO = 'C', it requires O(m  + mn ) floating point operations
-                        2
-  if FACT = 'N' and O(mn ) floating point operations, otherwise.
-  For DICO = 'D', the operation counts are similar, but additional
-     3
-  O(n ) floating point operations may be needed in the worst case.
-  These estimates assume that M &lt;= N.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2
-      PARAMETER        ( NMAX2 = 2*NMAX )
-      INTEGER          LDA, LDB, LDC, LDL, LDR, LDS, LDT, LDU, LDX, LDF
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
-     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
-     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
-     $                   LDF = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX2,MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
-     $                   16*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL, RCOND, RNORM
-      INTEGER          I, INFO1, INFO2, J, M, N, P
-      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
-     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), F(LDF,NMAX), L(LDL,MMAX),
-     $                 R(LDR,MMAX), S(LDS,NMAX2+MMAX), T(LDT,NMAX2),
-     $                 U(LDU,NMAX2), X(LDX,NMAX)
-      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
-      LOGICAL          BWORK(NMAX2)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02ND, SB02OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, FACT, JOBL, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
-               END IF
-*              Find the solution matrix X.
-               JOBB = 'B'
-               SORT = 'S'
-               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
-     $                      P, A, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
-     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
-     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
-     $                      BWORK, INFO1 )
-*
-               IF ( INFO1.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO1
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-*                 Compute the optimal feedback matrix F.
-                  CALL SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA,
-     $                         B, LDB, R, LDR, IPIV, L, LDL, X, LDX,
-     $                         RNORM, F, LDF, OUFACT, IWORK, DWORK,
-     $                         LDWORK, INFO2 )
-*
-                  IF ( INFO2.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) INFO2
-                  ELSE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, M
-                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
-   40                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02OD = ',I2)
-99997 FORMAT (' INFO on exit from SB02ND = ',I2)
-99996 FORMAT (' The solution matrix X is ')
-99995 FORMAT (/' The optimal feedback matrix F is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02ND EXAMPLE PROGRAM DATA
-   2     1     3     0.0     D     N     Z     U
-   2.0 -1.0
-   1.0  0.0
-   1.0
-   0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-   0.0
-   0.0
-   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The optimal feedback matrix F is 
-   2.0000  -1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02OD.html b/doc/_build/html/_static/doc/SB02OD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/SB02OD.html
+++ /dev/null
@@ -1,574 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02OD">SB02OD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations (generalized Schur vectors method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                           -1
-     Q + A'X + XA - (L+XB)R  (L+XB)' = 0                       (1)
-
-  or the discrete-time algebraic Riccati equation
-                                  -1
-     X = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q              (2)
-
-  where A, B, Q, R, and L are N-by-N, N-by-M, N-by-N, M-by-M and
-  N-by-M matrices, respectively, such that Q = C'C, R = D'D and
-  L = C'D; X is an N-by-N symmetric matrix.
-  The routine also returns the computed values of the closed-loop
-  spectrum of the system, i.e., the stable eigenvalues lambda(1),
-  ..., lambda(N) of the corresponding Hamiltonian or symplectic
-  pencil, in the continuous-time case or discrete-time case,
-  respectively.
-                           -1
-  Optionally, matrix G = BR  B' may be given instead of B and R.
-  Other options include the case with Q and/or R given in a
-  factored form, Q = C'C, R = D'D, and with L a zero matrix.
-
-  The routine uses the method of deflating subspaces, based on
-  reordering the eigenvalues in a generalized Schur matrix pair.
-  A standard eigenproblem is solved in the continuous-time case
-  if G is given.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P, A,
-     $                   LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, RCOND, X,
-     $                   LDX, ALFAR, ALFAI, BETA, S, LDS, T, LDT, U,
-     $                   LDU, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOBB, JOBL, SORT, UPLO
-      INTEGER           INFO, LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU,
-     $                  LDWORK, LDX, M, N, P
-      DOUBLE PRECISION  RCOND, TOL
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
-     $                  DWORK(*), L(LDL,*), Q(LDQ,*), R(LDR,*),
-     $                  S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  JOBB    CHARACTER*1
-          Specifies whether or not the matrix G is given, instead
-          of the matrices B and R, as follows:
-          = 'B':  B and R are given;
-          = 'G':  G is given.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the matrices Q and/or R (if
-          JOBB = 'B') are factored, as follows:
-          = 'N':  Not factored, Q and R are given;
-          = 'C':  C is given, and Q = C'C;
-          = 'D':  D is given, and R = D'D;
-          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
-
-  UPLO    CHARACTER*1
-          If JOBB = 'G', or FACT = 'N', specifies which triangle of
-          the matrices G and Q (if FACT = 'N'), or Q and R (if
-          JOBB = 'B'), is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
-          SLICOT Library routine SB02MT should be called just before
-          SB02OD, for obtaining the results when JOBB = 'G' and
-          JOBL = 'N'.
-
-  SORT    CHARACTER*1
-          Specifies which eigenvalues should be obtained in the top
-          of the generalized Schur form, as follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the matrices
-          A, Q, and X, and the number of rows of the matrices B
-          and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs. If JOBB = 'B', M is the
-          order of the matrix R, and the number of columns of the
-          matrix B.  M &gt;= 0.
-          M is not used if JOBB = 'G'.
-
-  P       (input) INTEGER
-          The number of system outputs. If FACT = 'C' or 'D' or 'B',
-          P is the number of rows of the matrices C and/or D.
-          P &gt;= 0.
-          Otherwise, P is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
-          If JOBB = 'B', the leading N-by-M part of this array must
-          contain the input matrix B of the system.
-          If JOBB = 'G', the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the matrix
-                -1
-          G = BR  B'. The strictly lower triangular part (if
-          UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If FACT = 'N' or 'D', the leading N-by-N upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          state weighting matrix Q. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If JOBB = 'B', the triangular part of this array defined
-          by UPLO is modified internally, but is restored on exit.
-          If FACT = 'C' or 'B', the leading P-by-N part of this
-          array must contain the output matrix C of the system.
-          If JOBB = 'B', this part is modified internally, but is
-          restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
-          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
-          If FACT = 'N' or 'C', the leading M-by-M upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          input weighting matrix R. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          The triangular part of this array defined by UPLO is
-          modified internally, but is restored on exit.
-          If FACT = 'D' or 'B', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system. This part is modified internally, but is restored
-          on exit.
-          If JOBB = 'G', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
-          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
-          LDR &gt;= 1        if JOBB = 'G'.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
-          this array must contain the cross weighting matrix L.
-          This part is modified internally, but is restored on exit.
-          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
-          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
-
-  RCOND   (output) DOUBLE PRECISION
-          An estimate of the reciprocal of the condition number (in
-          the 1-norm) of the N-th order system of algebraic
-          equations from which the solution matrix X is obtained.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the
-          solution matrix X of the problem.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
-  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
-  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
-          The generalized eigenvalues of the 2N-by-2N matrix pair,
-          ordered as specified by SORT (if INFO = 0). For instance,
-          if SORT = 'S', the leading N elements of these arrays
-          contain the closed-loop spectrum of the system matrix
-          A - BF, where F is the optimal feedback matrix computed
-          based on the solution matrix X. Specifically,
-             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
-          k = 1,2,...,N.
-          If DICO = 'C' and JOBB = 'G', the elements of BETA are
-          set to 1.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
-          The leading 2N-by-2N part of this array contains the
-          ordered real Schur form S of the first matrix in the
-          reduced matrix pencil associated to the optimal problem,
-          or of the corresponding Hamiltonian matrix, if DICO = 'C'
-          and JOBB = 'G'. That is,
-
-                 (S   S  )
-                 ( 11  12)
-             S = (       ),
-                 (0   S  )
-                 (     22)
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
-          columns, otherwise.
-
-  LDS     INTEGER
-          The leading dimension of array S.
-          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
-          If DICO = 'D' or JOBB = 'B', the leading 2N-by-2N part of
-          this array contains the ordered upper triangular form T of
-          the second matrix in the reduced matrix pencil associated
-          to the optimal problem. That is,
-
-                 (T   T  )
-                 ( 11  12)
-             T = (       ),
-                 (0   T  )
-                 (     22)
-
-          where T  , T   and T   are N-by-N matrices.
-                 11   12      22
-          If DICO = 'C' and JOBB = 'G' this array is not referenced.
-
-  LDT     INTEGER
-          The leading dimension of array T.
-          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDT &gt;= MAX(1,2*N)   if JOBB = 'G' and DICO = 'D',
-          LDT &gt;= 1            if JOBB = 'G' and DICO = 'C'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          The leading 2N-by-2N part of this array contains the right
-          transformation matrix U which reduces the 2N-by-2N matrix
-          pencil to the ordered generalized real Schur form (S,T),
-          or the Hamiltonian matrix to the ordered real Schur
-          form S, if DICO = 'C' and JOBB = 'G'. That is,
-
-                 (U   U  )
-                 ( 11  12)
-             U = (       ),
-                 (U   U  )
-                 ( 21  22)
-
-          where U  , U  , U   and U   are N-by-N matrices.
-                 11   12   21      22
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the original matrix pencil, specifically of the triangular
-          factor obtained during the reduction process. If the user
-          sets TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then a default tolerance, defined by
-          TOLDEF = EPS, is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not referenced if JOBB = 'G'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B',
-          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
-          reciprocal of the condition number of the M-by-M lower
-          triangular matrix obtained after compressing the matrix
-          pencil of order 2N+M to obtain a pencil of order 2N.
-          If INFO = 0 or INFO = 6, DWORK(3) returns the scaling
-          factor used internally, which should multiply the
-          submatrix Y2 to recover X from the first N columns of U
-          (see METHOD).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(3,6*N),                       if JOBB = 'G',
-                                                         DICO = 'C';
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G',
-                                                         DICO = 'D';
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the computed extended matrix pencil is singular,
-                possibly due to rounding errors;
-          = 2:  if the QZ (or QR) algorithm failed;
-          = 3:  if reordering of the (generalized) eigenvalues
-                failed;
-          = 4:  if after reordering, roundoff changed values of
-                some complex eigenvalues so that leading eigenvalues
-                in the (generalized) Schur form no longer satisfy
-                the stability condition; this could also be caused
-                due to scaling;
-          = 5:  if the computed dimension of the solution does not
-                equal N;
-          = 6:  if a singular matrix was encountered during the
-                computation of the solution matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses a variant of the method of deflating subspaces
-  proposed by van Dooren [1]. See also [2], [3].
-  It is assumed that (A,B) is stabilizable and (C,A) is detectable.
-  Under these assumptions the algebraic Riccati equation is known to
-  have a unique non-negative definite solution.
-  The first step in the method of deflating subspaces is to form the
-  extended Hamiltonian matrices, dimension 2N + M given by
-
-        discrete-time                   continuous-time
-
-  |A   0   B|     |I   0   0|    |A   0   B|     |I   0   0|
-  |Q  -I   L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -I   0|.
-  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
-
-  Next, these pencils are compressed to a form (see [1])
-
-     lambda x A  - B .
-               f    f
-
-  This generalized eigenvalue problem is then solved using the QZ
-  algorithm and the stable deflating subspace Ys is determined.
-  If [Y1'|Y2']' is a basis for Ys, then the required solution is
-                    -1
-         X = Y2 x Y1  .
-  A standard eigenvalue problem is solved using the QR algorithm in
-  the continuous-time case when G is given (DICO = 'C', JOBB = 'G').
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      A Generalized Eigenvalue Approach for Solving Riccati
-      Equations.
-      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
-
-  [2] Mehrmann, V.
-      The Autonomous Linear Quadratic Control Problem. Theory and
-      Numerical Solution.
-      Lect. Notes in Control and Information Sciences, vol. 163,
-      Springer-Verlag, Berlin, 1991.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  This routine is particularly suited for systems where the matrix R
-  is ill-conditioned. Internal scaling is used.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equations set SORT = 'S'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying SORT = 'U'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2M, NMAX2
-      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX )
-      INTEGER          LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDL = NMAX,
-     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
-     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX) )
-      INTEGER          LBWORK
-      PARAMETER        ( LBWORK = NMAX2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND, TOL
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
-      LOGICAL          LJOBB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFAI(NMAX2), ALFAR(NMAX2),
-     $                 B(LDB,MMAX), BETA(NMAX2), DWORK(LDWORK),
-     $                 L(LDL,MMAX), Q(LDQ,NMAX), R(LDR,MMAX),
-     $                 S(LDS,NMAX2M), T(LDT,NMAX2), U(LDU,NMAX2),
-     $                 X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LBWORK)
-C     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
-     $                      SORT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            LJOBB = LSAME( JOBB, 'B' )
-            IF ( LJOBB ) THEN
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            END IF
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99993 ) P
-            ELSE
-               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
-               END IF
-               IF ( LJOBB ) THEN
-                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
-                  ELSE
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
-                  END IF
-                  IF ( LSAME( JOBL, 'N' ) )
-     $                READ ( NIN, FMT = * )
-     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
-               END IF
-*              Find the solution matrix X.
-               CALL SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P,
-     $                      A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL,
-     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
-     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
-     $                      BWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02OD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02OD EXAMPLE PROGRAM DATA
-   2     1     3     0.0     C     B     B     U     Z     S
-   0.0  1.0
-   0.0  0.0
-   0.0
-   1.0
-   1.0  0.0
-   0.0  1.0
-   0.0  0.0
-   0.0
-   0.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02OD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.7321   1.0000
-   1.0000   1.7321
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02OY">SB02OY</A></H2>
-<H3>
-Constructing the extended Hamiltonian or symplectic matrix pairs for linear-quadratic optimization problems, and compressing them to 2N-by-2N matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the extended matrix pairs for the computation of the
-  solution of the algebraic matrix Riccati equations arising in the
-  problems of optimal control, both discrete and continuous-time,
-  and of spectral factorization, both discrete and continuous-time.
-  These matrix pairs, of dimension 2N + M, are given by
-
-        discrete-time                   continuous-time
-
-  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
-  |Q  -E'  L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -E'  0|.   (1)
-  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
-
-  After construction, these pencils are compressed to a form
-  (see [1])
-
-     lambda x A  - B ,
-               f    f
-
-  where A  and B  are 2N-by-2N matrices.
-         f      f
-                           -1
-  Optionally, matrix G = BR  B' may be given instead of B and R;
-  then, for L = 0, 2N-by-2N matrix pairs are directly constructed as
-
-      discrete-time            continuous-time
-
-  |A   0 |     |E   G |    |A  -G |     |E   0 |
-  |      | - z |      |,   |      | - s |      |.               (2)
-  |Q  -E'|     |0  -A'|    |Q   A'|     |0  -E'|
-
-  Similar pairs are obtained for non-zero L, if SLICOT Library
-  routine SB02MT is called before SB02OY.
-  Other options include the case with E identity matrix, L a zero
-  matrix, or Q and/or R given in a factored form, Q = C'C, R = D'D.
-  For spectral factorization problems, there are minor differences
-  (e.g., B is replaced by C').
-  The second matrix in (2) is not constructed in the continuous-time
-  case if E is specified as being an identity matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02OY( TYPE, DICO, JOBB, FACT, UPLO, JOBL, JOBE, N, M,
-     $                   P, A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, E,
-     $                   LDE, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOBB, JOBE, JOBL, TYPE, UPLO
-      INTEGER           INFO, LDA, LDAF, LDB, LDBF, LDE, LDL, LDQ, LDR,
-     $                  LDWORK, M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
-     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          Specifies the type of problem to be addressed as follows:
-          = 'O':  Optimal control problem;
-          = 'S':  Spectral factorization problem.
-
-  DICO    CHARACTER*1
-          Specifies the type of linear system considered as follows:
-          = 'C':  Continuous-time system;
-          = 'D':  Discrete-time system.
-
-  JOBB    CHARACTER*1
-          Specifies whether or not the matrix G is given, instead
-          of the matrices B and R, as follows:
-          = 'B':  B and R are given;
-          = 'G':  G is given.
-          For JOBB = 'G', a 2N-by-2N matrix pair is directly
-          obtained assuming L = 0 (see the description of JOBL).
-
-  FACT    CHARACTER*1
-          Specifies whether or not the matrices Q and/or R (if
-          JOBB = 'B') are factored, as follows:
-          = 'N':  Not factored, Q and R are given;
-          = 'C':  C is given, and Q = C'C;
-          = 'D':  D is given, and R = D'D (if TYPE = 'O'), or
-                  R = D + D' (if TYPE = 'S');
-          = 'B':  Both factors C and D are given, Q = C'C, R = D'D
-                  (or R = D + D').
-
-  UPLO    CHARACTER*1
-          If JOBB = 'G', or FACT = 'N', specifies which triangle of
-          the matrices G and Q (if FACT = 'N'), or Q and R (if
-          JOBB = 'B'), is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
-          Using SLICOT Library routine SB02MT to compute the
-          corresponding A and Q in this case, before calling SB02OY,
-          enables to obtain 2N-by-2N matrix pairs directly.
-
-  JOBE    CHARACTER*1
-          Specifies whether or not the matrix E is identity, as
-          follows:
-          = 'I':  E is the identity matrix;
-          = 'N':  E is a general matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, and E, and the number
-          of rows of the matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          If JOBB = 'B', M is the order of the matrix R, and the
-          number of columns of the matrix B.  M &gt;= 0.
-          M is not used if JOBB = 'G'.
-
-  P       (input) INTEGER
-          If FACT = 'C' or 'D' or 'B', or if TYPE = 'S', P is the
-          number of rows of the matrix C and/or D, respectively.
-          P &gt;= 0, and if JOBB = 'B' and TYPE = 'S', then P = M.
-          Otherwise, P is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
-          If JOBB = 'B', the leading N-by-M part of this array must
-          contain the input matrix B of the system.
-          If JOBB = 'G', the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the matrix
-                -1
-          G = BR  B'. The strictly lower triangular part (if
-          UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If FACT = 'N' or 'D', the leading N-by-N upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          output weighting matrix Q. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'C' or 'B', the leading P-by-N part of this
-          array must contain the output matrix C of the system.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
-          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
-          If FACT = 'N' or 'C', the leading M-by-M upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          input weighting matrix R. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'D' or 'B', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          If JOBB = 'G', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
-          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
-          LDR &gt;= 1        if JOBB = 'G'.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
-          this array must contain the cross weighting matrix L.
-          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z' or JOBB = 'G'.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'N', the leading N-by-N part of this array must
-          contain the matrix E of the descriptor system.
-          If JOBE = 'I', E is taken as identity and this array is
-          not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N) if JOBE = 'N';
-          LDE &gt;= 1        if JOBE = 'I'.
-
-  AF      (output) DOUBLE PRECISION array, dimension (LDAF,*)
-          The leading 2N-by-2N part of this array contains the
-          matrix A  in the matrix pencil.
-                  f
-          Array AF must have 2*N+M columns if JOBB = 'B', and 2*N
-          columns, otherwise.
-
-  LDAF    INTEGER
-          The leading dimension of array AF.
-          LDAF &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDAF &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  BF      (output) DOUBLE PRECISION array, dimension (LDBF,2*N)
-          If DICO = 'D' or JOBB = 'B' or JOBE = 'N', the leading
-          2N-by-2N part of this array contains the matrix B  in the
-                                                           f
-          matrix pencil.
-          The last M zero columns are never constructed.
-          If DICO = 'C' and JOBB = 'G' and JOBE = 'I', this array
-          is not referenced.
-
-  LDBF    INTEGER
-          The leading dimension of array BF.
-          LDBF &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDBF &gt;= MAX(1,2*N)   if JOBB = 'G' and ( DICO = 'D' or
-                                                   JOBE = 'N' ),
-          LDBF &gt;= 1            if JOBB = 'G' and ( DICO = 'C' and
-                                                   JOBE = 'I' ).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the original matrix pencil, specifically of the triangular
-          factor obtained during the reduction process. If the user
-          sets TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then a default tolerance, defined by
-          TOLDEF = EPS, is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not referenced if JOBB = 'G'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= M if JOBB = 'B',
-          LIWORK &gt;= 1 if JOBB = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK. If JOBB = 'B', DWORK(2) returns the reciprocal
-          of the condition number of the M-by-M lower triangular
-          matrix obtained after compression.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1                  if JOBB = 'G',
-          LDWORK &gt;= MAX(1,2*N + M,3*M) if JOBB = 'B'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the computed extended matrix pencil is singular,
-                possibly due to rounding errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The extended matrix pairs are constructed, taking various options
-  into account. If JOBB = 'B', the problem order is reduced from
-  2N+M to 2N (see [1]).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      A Generalized Eigenvalue Approach for Solving Riccati
-      Equations.
-      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
-
-  [2] Mehrmann, V.
-      The Autonomous Linear Quadratic Control Problem. Theory and
-      Numerical Solution.
-      Lect. Notes in Control and Information Sciences, vol. 163,
-      Springer-Verlag, Berlin, 1991.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02PD">SB02PD</A></H2>
-<H3>
-Solution of continuous-time algebraic Riccati equations (matrix sign function method) with error bounds and condition estimates
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real continuous-time matrix algebraic Riccati
-  equation
-
-     op(A)'*X + X*op(A) + Q - X*G*X = 0,
-
-  where op(A) = A or A' = A**T and G, Q are symmetric (G = G**T,
-  Q = Q**T). The matrices A, G and Q are N-by-N and the solution X
-  is an N-by-N symmetric matrix.
-
-  An error bound on the solution and a condition estimate are also
-  optionally provided.
-
-  It is assumed that the matrices A, G and Q are such that the
-  corresponding Hamiltonian matrix has N eigenvalues with negative
-  real parts.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
-     $                   LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, TRANA, UPLO
-      INTEGER            INFO, LDA, LDG, LDQ, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), G( LDG, * ),
-     $                   Q( LDQ, * ), WI( * ), WR( * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'A':  Compute all: the solution, reciprocal condition
-                  number, and the error bound.
-
-  TRANA   CHARACTER*1
-          Specifies the option op(A):
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangles of G and Q are stored;
-          = 'L':  Lower triangles of G and Q are stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, Q, and X.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix G.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix G.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix Q.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          If INFO = 0, INFO = 2, or INFO = 4, the leading N-by-N
-          part of this array contains the symmetric solution matrix
-          X of the algebraic Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'A', the estimate of the reciprocal condition
-          number of the Riccati equation.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'A', the estimated forward error bound for the
-          solution X. If XTRUE is the true solution, FERR bounds the
-          magnitude of the largest entry in (X - XTRUE) divided by
-          the magnitude of the largest entry in X.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If JOB = 'A' and TRANA = 'N', WR and WI contain the real
-          and imaginary parts, respectively, of the eigenvalues of
-          the matrix A - G*X, i.e., the closed-loop system poles.
-          If JOB = 'A' and TRANA = 'T' or 'C', WR and WI contain the
-          real and imaginary parts, respectively, of the eigenvalues
-          of the matrix A - X*G, i.e., the closed-loop system poles.
-          If JOB = 'X', these arrays are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= 2*N,          if JOB = 'X';
-          LIWORK &gt;= max(2*N,N*N), if JOB = 'A'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 2, DWORK(1) contains the
-          optimal value of LDWORK. If JOB = 'A', then DWORK(2:N*N+1)
-          and DWORK(N*N+2:2*N*N+1) contain a real Schur form of the
-          closed-loop system matrix, Ac = A - G*X (if TRANA = 'N')
-          or Ac = A - X*G (if TRANA = 'T' or 'C'), and the
-          orthogonal matrix which reduced Ac to real Schur form,
-          respectively.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 4*N*N + 8*N + 1,               if JOB = 'X';
-          LDWORK &gt;= max( 4*N*N + 8*N + 1, 6*N*N ), if JOB = 'A'.
-          For good performance, LDWORK should be larger, e.g.,
-          LDWORK &gt;= 4*N*N + 6*N +( 2*N+1 )*NB,     if JOB = 'X',
-          where NB is the optimal blocksize.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the Hamiltonian matrix has eigenvalues on the
-                imaginary axis, so the solution and error bounds
-                could not be computed;
-          = 2:  the iteration for the matrix sign function failed to
-                converge after 50 iterations, but an approximate
-                solution and error bounds (if JOB = 'A') have been
-                computed;
-          = 3:  the system of linear equations for the solution is
-                singular to working precision, so the solution and
-                error bounds could not be computed;
-          = 4:  the matrix A-G*X (or A-X*G) cannot be reduced to
-                Schur canonical form and condition number estimate
-                and forward error estimate have not been computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Riccati equation is solved by the matrix sign function
-  approach [1], [2], implementing a scaling which enhances the
-  numerical stability [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bai, Z., Demmel, J., Dongarra, J., Petitet, A., Robinson, H.,
-      and Stanley, K.
-      The spectral decomposition of nonsymmetric matrices on
-      distributed memory parallel computers.
-      SIAM J. Sci. Comput., vol. 18, pp. 1446-1461, 1997.
-
-  [2] Byers, R., He, C., and Mehrmann, V.
-      The matrix sign function method and the computation of
-      invariant subspaces.
-      SIAM J. Matrix Anal. Appl., vol. 18, pp. 615-632, 1997.
-
-  [3] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.,
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Technical
-      University Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The solution accuracy can be controlled by the output parameter
-  FERR.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The condition number of the Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W + W*op(Ac),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
-     Pi(W) = inv(Omega(X*W*X)),
-
-  and the matrix Ac (the closed-loop system matrix) is given by
-     Ac = A - G*X, if TRANA = 'N', or
-     Ac = A - X*G, if TRANA = 'T' or 'C'.
-
-  The program estimates the quantities
-
-  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [3].
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02PD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 4*NMAX*NMAX + 8*NMAX,
-     $                                 6*NMAX*NMAX ) + 1 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND
-      INTEGER          I, INFO, J, N
-      CHARACTER        JOB, TRANA, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), WI(NMAX), WR(NMAX),
-     $                 X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, TRANA, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
-     $                LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-         IF ( INFO.EQ.0 .OR. INFO.EQ.2 .OR. INFO.EQ.4 ) THEN
-             WRITE ( NOUT, FMT = 99997 )
-             DO 20 I = 1, N
-                WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20        CONTINUE
-             IF ( LSAME( JOB, 'A' ) .AND. INFO.NE.4 ) THEN
-                WRITE ( NOUT, FMT = 99994 ) RCOND
-                WRITE ( NOUT, FMT = 99993 ) FERR
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02PD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99993 FORMAT (/' Estimated error bound = ',F20.16)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02PD EXAMPLE PROGRAM DATA
-   2     A     N     U 
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02PD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   1.0000
-   1.0000   2.0000
-
- Estimated reciprocal condition number =   0.1333
-
- Estimated error bound =   0.0000000000000063
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02QD.html b/doc/_build/html/_static/doc/SB02QD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,477 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02QD">SB02QD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of continuous-time Riccati equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real continuous-time matrix algebraic Riccati
-  equation
-
-      op(A)'*X + X*op(A) + Q - X*G*X = 0,                        (1)
-
-  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
-  G = G**T). The matrices A, Q and G are N-by-N and the solution X
-  is N-by-N.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
-     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization of
-          the matrix Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G
-          (if TRANA = 'T' or 'C') is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix Ac;
-          = 'N':  The Schur factorization of Ac will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrices Q and G is
-          to be used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, Q, and G.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input or output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then T is an input argument and on entry,
-          the leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of Ac (see
-          argument FACT).
-          If FACT = 'N', then T is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, the leading N-by-N upper
-          Hessenberg part of this array contains the upper quasi-
-          triangular matrix T in Schur canonical form from a Schur
-          factorization of Ac (see argument FACT).
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of Ac (see argument FACT).
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of Ac (see argument FACT).
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix G.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix G.                     _
-          Matrix G should correspond to G in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix Q.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix Q.                     _
-          Matrix Q should correspond to Q in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix of the original Riccati
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          "reduced" Riccati equation (with matrix T), if
-          LYAPUN = 'R'. See METHOD.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sep(op(Ac),-op(Ac)').
-          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the continuous-time Riccati equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          Let LWA = N*N, if LYAPUN = 'O' and JOB = 'E' or 'B';
-              LWA = 0,   otherwise.
-          If FACT = 'N', then
-             LDWORK  = MAX(1, 5*N, 2*N*N),        if JOB = 'C';
-             LDWORK  = MAX(1, LWA + 5*N, 4*N*N ), if JOB = 'E', 'B'.
-          If FACT = 'F', then
-             LDWORK  = MAX(1, 2*N*N),  if JOB = 'C';
-             LDWORK  = MAX(1, 4*N*N ), if JOB = 'E' or 'B'.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction of the matrix Ac to Schur
-                canonical form (see LAPACK Library routine DGEES);
-                on exit, the matrix T(i+1:N,i+1:N) contains the
-                partially converged Schur form, and DWORK(i+1:N) and
-                DWORK(N+i+1:2*N) contain the real and imaginary
-                parts, respectively, of the converged eigenvalues;
-                this error is unlikely to appear;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations, but the matrix T, if given
-                (for FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W + W*op(Ac),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
-     Pi(W) = inv(Omega(X*W*X)),
-
-  and Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G (if TRANA = 'T'
-  or 'C'). Note that the Riccati equation (1) is equivalent to
-             _   _         _   _ _ _
-      op(T)'*X + X*op(T) + Q + X*G*X = 0,                        (2)
-        _           _               _
-  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
-  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
-
-  The routine estimates the quantities
-
-  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Ghavimi, A.R. and Laub, A.J.
-      Backward error, sensitivity, and refinement of computed
-      solutions of algebraic Riccati equations.
-      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
-      1995.
-
-  [2] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEP is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCND, RCOND, SEP
-      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
-     $                 SDIM
-      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), T(LDT,NMAX), U(LDU,NMAX),
-     $                 X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME, SELECT
-      EXTERNAL         LSAME, SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, DLACPY, DSYMM, MA02ED, MB01RU, SB02MD,
-     $                 SB02QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
-         N2 = 2*N
-         IS = 2*N2 + 1
-         IU = IS + N2*N2
-         IW = IU + N2*N2
-*        Solve the continuous-time Riccati equation.
-         CALL SB02MD( 'continuous', 'direct', UPLO, 'no scaling',
-     $                'stable', N, A, LDA, G, LDG, X, LDX, RCND,
-     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
-     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99995 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
-               CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-               IF ( LSAME( TRANA, 'N' ) ) THEN
-*                 Compute Ac = A-G*X.
-                  CALL DSYMM( 'Left', UPLO, N, N, -ONE, G, LDG, X, LDX,
-     $                        ONE, T, LDT )
-               ELSE
-*                 Compute Ac = A-X*G.
-                  CALL DSYMM( 'Right', UPLO, N, N, -ONE, G, LDG, X, LDX,
-     $                        ONE, T, LDT )
-               END IF
-*              Compute the Schur factorization of Ac.
-               JOBS = 'V'
-               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
-     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
-     $                     LDWORK-2*N, BWORK, INFO3 )
-               IF( INFO3.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99996 ) INFO3
-                  STOP
-               END IF
-            END IF
-*
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-*
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
-     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
-     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            END IF
-            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
-               WRITE ( NOUT, FMT = 99992 ) SEP
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02MD =',I2)
-99997 FORMAT (' INFO on exit from SB02QD =',I2)
-99996 FORMAT (' INFO on exit from DGEES  =',I2)
-99995 FORMAT (' The solution matrix X is')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02QD EXAMPLE PROGRAM DATA
-   2     B     N     N     U     O
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02QD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   2.0000   1.0000
-   1.0000   2.0000
-
- Estimated separation =   0.4000
-
- Estimated reciprocal condition number =   0.1333
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02RD">SB02RD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations (increased accuracy Schur vectors method) with condition and forward error bound estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                                       -1
-     Q + op(A)'*X + X*op(A) - X*op(B)*R  op(B)'*X = 0,           (1)
-
-  or the discrete-time algebraic Riccati equation
-                                                             -1
-     X = op(A)'*X*op(A) - op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *
-                          op(B)'*X*op(A) + Q,                    (2)
-
-  where op(M) = M or M' (M**T), A, op(B), Q, and R are N-by-N,
-  N-by-M, N-by-N, and M-by-M matrices respectively, with Q symmetric
-  and R symmetric nonsingular; X is an N-by-N symmetric matrix.
-                        -1
-  The matrix G = op(B)*R  *op(B)' must be provided on input, instead
-  of B and R, that is, the continuous-time equation
-
-     Q + op(A)'*X + X*op(A) - X*G*X = 0,                         (3)
-
-  or the discrete-time equation
-                             -1
-     Q + op(A)'*X*(I_n + G*X)  *op(A) - X = 0,                   (4)
-
-  are solved, where G is an N-by-N symmetric matrix. SLICOT Library
-  routine SB02MT should be used to compute G, given B and R. SB02MT
-  also enables to solve Riccati equations corresponding to optimal
-  problems with coupling terms.
-
-  The routine also returns the computed values of the closed-loop
-  spectrum of the optimal system, i.e., the stable eigenvalues
-  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
-  symplectic matrix associated to the optimal problem. It is assumed
-  that the matrices A, G, and Q are such that the associated
-  Hamiltonian or symplectic matrix has N stable eigenvalues, i.e.,
-  with negative real parts, in the continuous-time case, and with
-  moduli less than one, in the discrete-time case.
-
-  Optionally, estimates of the conditioning and error bound on the
-  solution of the Riccati equation (3) or (4) are returned.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
-     $                   LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q,
-     $                   LDQ, X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS,
-     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT,
-     $                  TRANA, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDT, LDV, LDWORK, LDX,
-     $                  N
-      DOUBLE PRECISION  FERR, RCOND, SEP
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*), T(LDT,*), V(LDV,*), WI(*), WR(*),
-     $                  X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'A':  Compute all: the solution, reciprocal condition
-                  number, and the error bound.
-
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved or
-          analyzed, as follows:
-          = 'C':  Equation (3), continuous-time case;
-          = 'D':  Equation (4), discrete-time case.
-
-  HINV    CHARACTER*1
-          If DICO = 'D' and JOB = 'X' or JOB = 'A', specifies which
-          symplectic matrix is to be constructed, as follows:
-          = 'D':  The matrix H in (6) (see METHOD) is constructed;
-          = 'I':  The inverse of the matrix H in (6) is constructed.
-          HINV is not used if DICO = 'C', or JOB = 'C' or 'E'.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  SCAL    CHARACTER*1
-          If JOB = 'X' or JOB = 'A', specifies whether or not a
-          scaling strategy should be used, as follows:
-          = 'G':  General scaling should be used;
-          = 'N':  No scaling should be used.
-          SCAL is not used if JOB = 'C' or 'E'.
-
-  SORT    CHARACTER*1
-          If JOB = 'X' or JOB = 'A', specifies which eigenvalues
-          should be obtained in the top of the Schur form, as
-          follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-          SORT is not used if JOB = 'C' or 'E'.
-
-  FACT    CHARACTER*1
-          If JOB &lt;&gt; 'X', specifies whether or not a real Schur
-          factorization of the closed-loop system matrix Ac is
-          supplied on entry, as follows:
-          = 'F':  On entry, T and V contain the factors from a real
-                  Schur factorization of the matrix Ac;
-          = 'N':  A Schur factorization of Ac will be computed
-                  and the factors will be stored in T and V.
-          For a continuous-time system, the matrix Ac is given by
-             Ac = A - G*X, if TRANA = 'N', or
-             Ac = A - X*G, if TRANA = 'T' or 'C',
-          and for a discrete-time system, the matrix Ac is given by
-             Ac = inv(I_n + G*X)*A, if TRANA = 'N', or
-             Ac = A*inv(I_n + X*G), if TRANA = 'T' or 'C'.
-          FACT is not used if JOB = 'X'.
-
-  LYAPUN  CHARACTER*1
-          If JOB &lt;&gt; 'X', specifies whether or not the original or
-          "reduced" Lyapunov equations should be solved for
-          estimating reciprocal condition number and/or the error
-          bound, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix V, e.g., X &lt;-- V'*X*V;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-                  This means that a real Schur form T of Ac appears
-                  in the equations, instead of Ac.
-          LYAPUN is not used if JOB = 'X'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, G, and X.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If JOB = 'X' or JOB = 'A' or FACT = 'N' or LYAPUN = 'O',
-          the leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-          If JOB = 'C' or 'E' and FACT = 'F' and LYAPUN = 'R', A is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if JOB  = 'X' or JOB = 'A' or
-                              FACT = 'N' or LYAPUN = 'O'.
-          LDA &gt;= 1,        otherwise.
-
-  T       (input or output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If JOB &lt;&gt; 'X' and FACT = 'F', then T is an input argument
-          and on entry, the leading N-by-N upper Hessenberg part of
-          this array must contain the upper quasi-triangular matrix
-          T in Schur canonical form from a Schur factorization of Ac
-          (see argument FACT).
-          If JOB &lt;&gt; 'X' and FACT = 'N', then T is an output argument
-          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
-          upper Hessenberg part of this array contains the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of Ac (see argument FACT).
-          If JOB = 'X', the array T is not referenced.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= 1,        if JOB =  'X';
-          LDT &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
-
-  V       (input or output) DOUBLE PRECISION array, dimension
-          (LDV,N)
-          If JOB &lt;&gt; 'X' and FACT = 'F', then V is an input argument
-          and on entry, the leading N-by-N part of this array must
-          contain the orthogonal matrix V from a real Schur
-          factorization of Ac (see argument FACT).
-          If JOB &lt;&gt; 'X' and FACT = 'N', then V is an output argument
-          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
-          part of this array contains the orthogonal N-by-N matrix
-          from a real Schur factorization of Ac (see argument FACT).
-          If JOB = 'X', the array V is not referenced.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= 1,        if JOB =  'X';
-          LDV &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix G.
-          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
-          LYAPUN = 'R', the leading N-by-N part of this array
-          contains the symmetric matrix G fully stored.
-          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
-          internally, but restored on exit.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix Q.
-          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
-          LYAPUN = 'R', the leading N-by-N part of this array
-          contains the symmetric matrix Q fully stored.
-          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
-          internally, but restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  X       (input or output) DOUBLE PRECISION array, dimension
-          (LDX,N)
-          If JOB = 'C' or JOB = 'E', then X is an input argument
-          and on entry, the leading N-by-N part of this array must
-          contain the symmetric solution matrix of the algebraic
-          Riccati equation. If LYAPUN = 'R', this array is modified
-          internally, but restored on exit; however, it could differ
-          from the input matrix at the round-off error level.
-          If JOB = 'X' or JOB = 'A', then X is an output argument
-          and on exit, if INFO = 0 or INFO &gt;= 6, the leading N-by-N
-          part of this array contains the symmetric solution matrix
-          X of the algebraic Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, the
-          estimated quantity
-             sep(op(Ac),-op(Ac)'), if DICO = 'C', or
-             sepd(op(Ac),op(Ac)'), if DICO = 'D'. (See METHOD.)
-          If JOB = 'C' or JOB = 'A' and X = 0, or JOB = 'E', SEP is
-          not referenced.
-          If JOB = 'X', and INFO = 0, INFO = 5 or INFO = 7,
-          SEP contains the scaling factor used, which should
-          multiply the (2,1) submatrix of U to recover X from the
-          first N columns of U (see METHOD). If SCAL = 'N', SEP is
-          set to 1.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, an
-          estimate of the reciprocal condition number of the
-          algebraic Riccati equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'X', or JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = 7, an
-          estimated forward error bound for the solution X. If XTRUE
-          is the true solution, FERR bounds the magnitude of the
-          largest entry in (X - XTRUE) divided by the magnitude of
-          the largest entry in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'X', or JOB = 'C', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (2*N)
-  WI      (output) DOUBLE PRECISION array, dimension (2*N)
-          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5,
-          these arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the 2N-by-2N matrix S,
-          ordered as specified by SORT (except for the case
-          HINV = 'D', when the order is opposite to that specified
-          by SORT). The leading N elements of these arrays contain
-          the closed-loop spectrum of the system matrix Ac (see
-          argument FACT). Specifically,
-             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
-          If JOB = 'C' or JOB = 'E', these arrays are not
-          referenced.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5, the
-          leading 2N-by-2N part of this array contains the ordered
-          real Schur form S of the (scaled, if SCAL = 'G')
-          Hamiltonian or symplectic matrix H. That is,
-
-                 ( S    S   )
-                 (  11   12 )
-             S = (          ),
-                 ( 0    S   )
-                 (       22 )
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-          If JOB = 'C' or JOB = 'E', this array is not referenced.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= MAX(1,2*N), if JOB = 'X' or JOB = 'A';
-          LDS &gt;= 1,          if JOB = 'C' or JOB = 'E'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= 2*N,          if JOB = 'X';
-          LIWORK &gt;= N*N,          if JOB = 'C' or JOB = 'E';
-          LIWORK &gt;= MAX(2*N,N*N), if JOB = 'A'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, or INFO = 7, DWORK(1) returns the
-          optimal value of LDWORK. If INFO = 0, or INFO &gt;= 5, and
-          JOB = 'X', or JOB = 'A', then DWORK(2) returns an estimate
-          RCONDU of the reciprocal of the condition number (in the
-          1-norm) of the N-th order system of algebraic equations
-          from which the solution matrix X is obtained, and DWORK(3)
-          returns the reciprocal pivot growth factor for the LU
-          factorization of the coefficient matrix of that system
-          (see SLICOT Library routine MB02PD); if DWORK(3) is much
-          less than 1, then the computed X and RCONDU could be
-          unreliable.
-          If DICO = 'D', and JOB = 'X', or JOB = 'A', then DWORK(4)
-          returns the reciprocal condition number RCONDA of the
-          given matrix A, and DWORK(5) returns the reciprocal pivot
-          growth factor for A or for its leading columns, if A is
-          singular (see SLICOT Library routine MB02PD); if DWORK(5)
-          is much less than 1, then the computed S and RCONDA could
-          be unreliable.
-          On exit, if INFO = 0, or INFO &gt;= 4, and JOB = 'X', the
-          elements DWORK(6:5+4*N*N) contain the 2*N-by-2*N
-          transformation matrix  U  which reduced the Hamiltonian or
-          symplectic matrix  H  to the ordered real Schur form  S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 5+MAX(1,4*N*N+8*N), if JOB = 'X' or JOB = 'A';
-          This may also be used for JOB = 'C' or JOB = 'E', but
-          exact bounds are as follows:
-          LDWORK &gt;= 5 + MAX(1,LWS,LWE) + LWN, where
-          LWS = 0,       if FACT = 'F' or  LYAPUN = 'R';
-              = 5*N,     if FACT = 'N' and LYAPUN = 'O' and
-                                           DICO = 'C' and JOB = 'C';
-              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
-                                           DICO = 'C' and JOB = 'E';
-              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
-                                           DICO = 'D';
-          LWE = 2*N*N,                if DICO = 'C' and JOB = 'C';
-              = 4*N*N,                if DICO = 'C' and JOB = 'E';
-              = MAX(3,2*N*N) + N*N,   if DICO = 'D' and JOB = 'C';
-              = MAX(3,2*N*N) + 2*N*N, if DICO = 'D' and JOB = 'E';
-          LWN = 0,   if LYAPUN = 'O' or   JOB = 'C';
-              = 2*N, if LYAPUN = 'R' and DICO = 'C' and JOB = 'E';
-              = 3*N, if LYAPUN = 'R' and DICO = 'D' and JOB = 'E'.
-          For optimum performance LDWORK should sometimes be larger.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 2*N,          if JOB = 'X' or JOB = 'A';
-          LBWORK &gt;= 1,            if JOB = 'C' or JOB = 'E', and
-                                  FACT = 'N' and LYAPUN = 'R';
-          LBWORK &gt;= 0,            otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if matrix A is (numerically) singular in discrete-
-                time case;
-          = 2:  if the Hamiltonian or symplectic matrix H cannot be
-                reduced to real Schur form;
-          = 3:  if the real Schur form of the Hamiltonian or
-                symplectic matrix H cannot be appropriately ordered;
-          = 4:  if the Hamiltonian or symplectic matrix H has less
-                than N stable eigenvalues;
-          = 5:  if the N-th order system of linear algebraic
-                equations, from which the solution matrix X would
-                be obtained, is singular to working precision;
-          = 6:  if the QR algorithm failed to complete the reduction
-                of the matrix Ac to Schur canonical form, T;
-          = 7:  if T and -T' have some almost equal eigenvalues, if
-                DICO = 'C', or T has almost reciprocal eigenvalues,
-                if DICO = 'D'; perturbed values were used to solve
-                Lyapunov equations, but the matrix T, if given (for
-                FACT = 'F'), is unchanged. (This is a warning
-                indicator.)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Schur vector approach proposed by Laub [1],
-  but with an optional scaling, which enhances the numerical
-  stability [6]. It is assumed that [A,B] is a stabilizable pair
-  (where for (3) or (4), B is any matrix such that B*B' = G with
-  rank(B) = rank(G)), and [E,A] is a detectable pair, where E is any
-  matrix such that E*E' = Q with rank(E) = rank(Q). Under these
-  assumptions, any of the algebraic Riccati equations (1)-(4) is
-  known to have a unique non-negative definite solution. See [2].
-  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
-
-              ( op(A)   -G    )
-         H =  (               ),                                 (5)
-              (  -Q   -op(A)' ),
-
-  for continuous-time equation, and
-                      -1              -1
-              (  op(A)           op(A)  *G       )
-         H =  (        -1                   -1   ),              (6)
-              ( Q*op(A)     op(A)' + Q*op(A)  *G )
-
-  for discrete-time equation, respectively, where
-                    -1
-         G = op(B)*R  *op(B)'.
-  The assumptions guarantee that H in (5) has no pure imaginary
-  eigenvalues, and H in (6) has no eigenvalues on the unit circle.
-  If Y is an N-by-N matrix then there exists an orthogonal matrix U
-  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
-  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
-  (corresponding to the complex conjugate eigenvalues and real
-  eigenvalues respectively) appear in any desired order. This is the
-  ordered real Schur form. Thus, we can find an orthogonal
-  similarity transformation U which puts (5) or (6) in ordered real
-  Schur form
-
-         U'*H*U = S = (S(1,1)  S(1,2))
-                      (  0     S(2,2))
-
-  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
-  have negative real parts in case of (5), or moduli greater than
-  one in case of (6). If U is conformably partitioned into four
-  N-by-N blocks
-
-            U = (U(1,1)  U(1,2))
-                (U(2,1)  U(2,2))
-
-  with respect to the assumptions we then have
-  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
-      (2), (3), or (4) with X = X' and non-negative definite;
-  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
-      DICO = 'D') are equal to the eigenvalues of optimal system
-      (the 'closed-loop' spectrum).
-
-  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
-  is stable. [E,A] is detectable if [A',E'] is stabilizable.
-
-  The condition number of a Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W + W*op(Ac),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
-     Pi(W) = inv(Omega(X*W*X)),
-
-  in the continuous-time case, and
-
-  Omega(W) = op(Ac)'*W*op(Ac) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
-     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
-
-  in the discrete-time case, and Ac has been defined (see argument
-  FACT). Details are given in the comments of SLICOT Library
-  routines SB02QD and SB02SD.
-
-  The routine estimates the quantities
-
-  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
-  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [5].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Laub, A.J.
-      A Schur Method for Solving Algebraic Riccati equations.
-      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
-
-  [2] Wonham, W.M.
-      On a matrix Riccati equation of stochastic control.
-      SIAM J. Contr., 6, pp. 681-697, 1968.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-  [4] Ghavimi, A.R. and Laub, A.J.
-      Backward error, sensitivity, and refinement of computed
-      solutions of algebraic Riccati equations.
-      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
-      1995.
-
-  [5] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [6] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations. The solution accuracy
-  can be controlled by the output parameter FERR.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
-  SORT = 'S', if HINV = 'I'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying
-      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
-      SORT = 'S' if DICO = 'D' and HINV = 'D'.
-
-  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
-  and SORT = 'U', for stabilizing and anti-stabilizing solutions,
-  respectively, will be faster then the other combinations [3].
-
-  The option LYAPUN = 'R' may produce slightly worse or better
-  estimates, and it is faster than the option 'O'.
-
-  This routine is a functionally extended and more accurate
-  version of the SLICOT Library routine SB02MD. Transposed problems
-  can be dealt with as well. Iterative refinement is used whenever
-  useful to solve linear algebraic systems. Condition numbers and
-  error bounds on the solutions are optionally provided.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02RD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDS, LDT, LDV, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDS = 2*NMAX, LDT = NMAX, LDV = NMAX,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 5 + 4*NMAX*NMAX + 8*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SEP
-      INTEGER          I, INFO, J, N
-      CHARACTER        DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT, TRANA,
-     $                 UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), T(LDT,NMAX),
-     $                 V(LDV,NMAX), WI(2*NMAX), WR(2*NMAX), X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT,
-     $                      FACT, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) .OR.
-     $        LSAME( FACT, 'N' ) .OR. LSAME( LYAPUN, 'O' ) )
-     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( .NOT.LSAME( JOB, 'X' ) .AND. LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
-         END IF
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
-     $                LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q, LDQ,
-     $                X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS, IWORK,
-     $                DWORK, LDWORK, BWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-         IF ( INFO.EQ.0 .OR. INFO.EQ.7 ) THEN
-            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 ) SEP
-               WRITE ( NOUT, FMT = 99993 ) RCOND
-            END IF
-            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) FERR
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02RD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' Estimated separation = ',F8.4)
-99993 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99992 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02RD EXAMPLE PROGRAM DATA
-   2     A     C     D     N     U     N     S     N     O
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02RD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   1.0000
-   1.0000   2.0000
-
- Estimated separation =   0.4000
-
- Estimated reciprocal condition number =   0.1333
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02RU.html b/doc/_build/html/_static/doc/SB02RU.html
deleted file mode 100644
index 9a112d45..00000000
--- a/doc/_build/html/_static/doc/SB02RU.html
+++ /dev/null
@@ -1,219 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02RU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02RU">SB02RU</A></H2>
-<H3>
-Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
-  associated to the linear-quadratic optimization problem, used to
-  solve the continuous- or discrete-time algebraic Riccati equation,
-  respectively.
-
-  For a continuous-time problem, S is defined by
-
-          ( op(A)   -G    )
-      S = (               ),                                     (1)
-          (  -Q   -op(A)' )
-
-  and for a discrete-time problem by
-
-                  -1              -1
-          (  op(A)           op(A)  *G       )
-      S = (        -1                   -1   ),                  (2)
-          ( Q*op(A)     op(A)' + Q*op(A)  *G )
-
-  or
-                           -T             -T
-          ( op(A) + G*op(A)  *Q   -G*op(A)   )
-      S = (           -T                 -T  ),                  (3)
-          (     -op(A)  *Q          op(A)    )
-
-  where op(A) = A or A' (A**T), A, G, and Q are n-by-n matrices,
-  with G and Q symmetric. Matrix A must be nonsingular in the
-  discrete-time case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02RU( DICO, HINV, TRANA, UPLO, N, A, LDA, G, LDG, Q,
-     $                   LDQ, S, LDS, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HINV, TRANA, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  Continuous-time system;
-          = 'D':  Discrete-time system.
-
-  HINV    CHARACTER*1
-          If DICO = 'D', specifies which of the matrices (2) or (3)
-          is constructed, as follows:
-          = 'D':  The matrix S in (2) is constructed;
-          = 'I':  The (inverse) matrix S in (3) is constructed.
-          HINV is not referenced if DICO = 'C'.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix G.
-          On exit, if DICO = 'D', the leading N-by-N part of this
-          array contains the symmetric matrix G fully stored.
-          If DICO = 'C', this array is not modified on exit, and the
-          strictly lower triangular part (if UPLO = 'U') or strictly
-          upper triangular part (if UPLO = 'L') is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix Q.
-          On exit, if DICO = 'D', the leading N-by-N part of this
-          array contains the symmetric matrix Q fully stored.
-          If DICO = 'C', this array is not modified on exit, and the
-          strictly lower triangular part (if UPLO = 'U') or strictly
-          upper triangular part (if UPLO = 'L') is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If INFO = 0, the leading 2N-by-2N part of this array
-          contains the Hamiltonian or symplectic matrix of the
-          problem.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= 0,   if DICO = 'C';
-          LIWORK &gt;= 2*N, if DICO = 'D'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if DICO = 'D', DWORK(1) returns the reciprocal
-          condition number  RCOND  of the given matrix  A,  and
-          DWORK(2) returns the reciprocal pivot growth factor
-          norm(A)/norm(U) (see SLICOT Library routine MB02PD).
-          If DWORK(2) is much less than 1, then the computed  S
-          and  RCOND  could be unreliable. If 0 &lt; INFO &lt;= N, then
-          DWORK(2) contains the reciprocal pivot growth factor for
-          the leading INFO columns of  A.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,          if DICO = 'C';
-          LDWORK &gt;= MAX(2,6*N), if DICO = 'D'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
-                submatrix of A is singular in discrete-time case;
-          = N+1:  if matrix A is numerically singular in discrete-
-                time case.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
-  is constructed.
-  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
-  (3) - the inverse of the matrix in (2) - is constructed.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The discrete-time case needs the inverse of the matrix A, hence
-  the routine should not be used when A is ill-conditioned.
-                            3
-  The algorithm requires 0(n ) floating point operations in the
-  discrete-time case.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a functionally extended and with improved accuracy
-  version of the SLICOT Library routine SB02MU. Transposed problems
-  can be dealt with as well. The LU factorization of  op(A)  (with
-  no equilibration) and iterative refinement are used for solving
-  the various linear algebraic systems involved.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB02SD.html b/doc/_build/html/_static/doc/SB02SD.html
deleted file mode 100644
index d9610e9f..00000000
--- a/doc/_build/html/_static/doc/SB02SD.html
+++ /dev/null
@@ -1,509 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02SD">SB02SD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of discrete-time Riccati equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real discrete-time matrix algebraic Riccati
-  equation (see FURTHER COMMENTS)
-                              -1
-      X = op(A)'*X*(I_n + G*X)  *op(A) + Q,                      (1)
-
-  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
-  G = G**T). The matrices A, Q and G are N-by-N and the solution X
-  is N-by-N.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
-     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization of
-          the matrix Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
-          Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C'), is supplied
-          on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix Ac;
-          = 'N':  The Schur factorization of Ac will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrices Q and G is
-          to be used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, Q, and G.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input or output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then T is an input argument and on entry,
-          the leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of Ac (see
-          argument FACT).
-          If FACT = 'N', then T is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, the leading N-by-N upper
-          Hessenberg part of this array contains the upper quasi-
-          triangular matrix T in Schur canonical form from a Schur
-          factorization of Ac (see argument FACT).
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of Ac (see argument FACT).
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of Ac (see argument FACT).
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix G.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix G.                     _
-          Matrix G should correspond to G in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix Q.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix Q.                     _
-          Matrix Q should correspond to Q in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix of the original Riccati
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          "reduced" Riccati equation (with matrix T), if
-          LYAPUN = 'R'. See METHOD.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sepd(op(Ac),op(Ac)').
-          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the discrete-time Riccati equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          Let LWA = N*N, if LYAPUN = 'O';
-              LWA = 0,   otherwise,
-          and LWN = N,   if LYAPUN = 'R' and JOB = 'E' or 'B';
-              LWN = 0,   otherwise.
-          If FACT = 'N', then
-             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + N*N),
-                                              if JOB = 'C';
-             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + 2*N*N + LWN),
-                                              if JOB = 'E' or 'B'.
-          If FACT = 'F', then
-             LDWORK  = MAX(3,2*N*N) + N*N,    if JOB = 'C';
-             LDWORK  = MAX(3,2*N*N) + 2*N*N + LWN,
-                                              if JOB = 'E' or 'B'.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction of the matrix Ac to Schur
-                canonical form (see LAPACK Library routine DGEES);
-                on exit, the matrix T(i+1:N,i+1:N) contains the
-                partially converged Schur form, and DWORK(i+1:N) and
-                DWORK(N+i+1:2*N) contain the real and imaginary
-                parts, respectively, of the converged eigenvalues;
-                this error is unlikely to appear;
-          = N+1:  if T has almost reciprocal eigenvalues; perturbed
-                values were used to solve Lyapunov equations, but
-                the matrix T, if given (for FACT = 'F'), is
-                unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W*op(Ac) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
-     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
-
-  and Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
-      Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C').
-
-  Note that the Riccati equation (1) is equivalent to
-
-      X = op(Ac)'*X*op(Ac) + op(Ac)'*X*G*X*op(Ac) + Q,           (2)
-
-  and to
-      _          _                _ _ _         _
-      X = op(T)'*X*op(T) + op(T)'*X*G*X*op(T) + Q,               (3)
-        _           _               _
-  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
-  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
-
-  The routine estimates the quantities
-
-  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Ghavimi, A.R. and Laub, A.J.
-      Backward error, sensitivity, and refinement of computed
-      solutions of algebraic Riccati equations.
-      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
-      1995.
-
-  [2] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEPD is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-  Let B be an N-by-M matrix (if TRANA = 'N') or an M-by-N matrix
-  (if TRANA = 'T' or 'C'), let R be an M-by-M symmetric positive
-  definite matrix (R = R**T), and denote G = op(B)*inv(R)*op(B)'.
-  Then, the Riccati equation (1) is equivalent to the standard
-  discrete-time matrix algebraic Riccati equation
-
-      X = op(A)'*X*op(A) -                                       (4)
-                                             -1
-          op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *op(B)'*X*op(A) + Q.
-
-  By symmetry, the equation (1) is also equivalent to
-                            -1
-      X = op(A)'*(I_n + X*G)  *X*op(A) + Q.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCND, RCOND, SEPD
-      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
-     $                 SDIM
-      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AS(LDA,NMAX), DWORK(LDWORK),
-     $                 G(LDG,NMAX), Q(LDQ,NMAX), T(LDT,NMAX),
-     $                 U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME, SELECT
-      EXTERNAL         LSAME, SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, DGESV, DLACPY, DLASET, DSWAP, DSYMM,
-     $                 MA02AD, MA02ED, MB01RU, SB02MD, SB02SD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
-         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
-         N2 = 2*N
-         IS = 2*N2 + 1
-         IU = IS + N2*N2
-         IW = IU + N2*N2
-*        Solve the discrete-time Riccati equation.
-         CALL SB02MD( 'discrete', 'direct', UPLO, 'no scaling',
-     $                'stable', N, AS, LDA, G, LDG, X, LDX, RCND,
-     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
-     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99995 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
-               CALL DLASET( 'Full', N, N, ZERO, ONE, DWORK, N )
-               CALL DSYMM( 'Left', UPLO, N, N, ONE, G, LDG, X, LDX,
-     $                     ONE, DWORK, N )
-               IF ( LSAME( TRANA, 'N' ) ) THEN
-*                 Compute Ac = inv(I_n + G*X)*A.
-                  CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
-               ELSE
-*                 Compute Ac = A*inv(I_n + X*G)
-                  CALL MA02AD( 'Full', N, N, A, LDA, T, LDT )
-                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
-                  DO 20 J = 2, N
-                     CALL DSWAP( J-1, T(1,J), 1, T(J,1), LDT )
-   20             CONTINUE
-               END IF
-*              Compute the Schur factorization of Ac.
-               JOBS = 'V'
-               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
-     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
-     $                     LDWORK-2*N, BWORK, INFO3 )
-               IF( INFO3.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99996 ) INFO3
-                  STOP
-               END IF
-            END IF
-*
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-*
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
-     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
-     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            END IF
-            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
-               WRITE ( NOUT, FMT = 99992 ) SEPD
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02MD =',I2)
-99997 FORMAT (' INFO on exit from SB02SD =',I2)
-99996 FORMAT (' INFO on exit from DGEES  =',I2)
-99995 FORMAT (' The solution matrix X is')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02SD EXAMPLE PROGRAM DATA
-   2     B     N     N     U     O
-   2.0 -1.0
-   1.0  0.0
-   0.0  0.0
-   0.0  1.0
-   1.0  0.0
-   0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02SD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-  -0.7691   1.2496
-   1.2496  -2.3306
-
- Estimated separation =   0.4456
-
- Estimated reciprocal condition number =   0.1445
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MD.html b/doc/_build/html/_static/doc/SB03MD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,444 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MD">SB03MD</A></H2>
-<H3>
-Solution of continuous- or discrete-time Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the real continuous-time Lyapunov equation
-
-     op(A)'*X + X*op(A) = scale*C                             (1)
-
-  or the real discrete-time Lyapunov equation
-
-     op(A)'*X*op(A) - X = scale*C                             (2)
-
-  and/or estimate an associated condition number, called separation,
-  where op(A) = A or A' (A**T) and C is symmetric (C = C').
-  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
-  hand side C and the solution X are N-by-N, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C,
-     $                   LDC, SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, TRANA
-      INTEGER           INFO, LDA, LDC, LDU, LDWORK, N
-      DOUBLE PRECISION  FERR, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER           IWORK( * )
-      DOUBLE PRECISION  A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                  U( LDU, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which X is to be determined
-          as follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'B':  Compute both the solution and the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix in Schur canonical form;
-          the elements below the upper Hessenberg part of the
-          array A are not referenced.
-          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
-          upper Hessenberg part of this array contains the upper
-          quasi-triangular matrix in Schur canonical form from the
-          Schur factorization of A. The contents of array A is not
-          modified if FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If FACT = 'F', then U is an input argument and on entry
-          the leading N-by-N part of this array must contain the
-          orthogonal matrix U of the real Schur factorization of A.
-          If FACT = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with JOB = 'X' or 'B', the leading N-by-N part of
-          this array must contain the symmetric matrix C.
-          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
-          the leading N-by-N part of C has been overwritten by the
-          symmetric solution matrix X.
-          If JOB = 'S', C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
-          contains the estimated separation of the matrices op(A)
-          and -op(A)', if DICO = 'C' or of op(A) and op(A)', if
-          DICO = 'D'.
-          If JOB = 'X', SEP is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains an
-          estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the relative
-          error in the computed solution, measured in the Frobenius
-          norm:  norm(X - XTRUE)/norm(XTRUE).
-          If JOB = 'X' or JOB = 'S', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of
-          the eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and
-          If JOB = 'X' then
-             If FACT = 'F', LDWORK &gt;= N*N,           for DICO = 'C';
-                            LDWORK &gt;= MAX(N*N, 2*N), for DICO = 'D';
-             If FACT = 'N', LDWORK &gt;= MAX(N*N, 3*N).
-          If JOB = 'S' or JOB = 'B' then
-             If FACT = 'F', LDWORK &gt;= 2*N*N,       for DICO = 'C';
-                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
-             If FACT = 'N', LDWORK &gt;= MAX(2*N*N, 3*N), DICO = 'C';
-                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues (see LAPACK Library routine DGEES);
-                elements i+1:n of WR and WI contain eigenvalues
-                which have converged, and A contains the partially
-                converged Schur form;
-          = N+1:  if DICO = 'C', and the matrices A and -A' have
-                common or very close eigenvalues, or
-                if DICO = 'D', and matrix A has almost reciprocal
-                eigenvalues (that is, lambda(i) = 1/lambda(j) for
-                some i and j, where lambda(i) and lambda(j) are
-                eigenvalues of A and i &lt;&gt; j); perturbed values were
-                used to solve the equation (but the matrix A is
-                unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Schur factorization of a square matrix  A  is given by
-
-     A = U*S*U'
-
-  where U is orthogonal and S is block upper triangular with 1-by-1
-  and 2-by-2 blocks on its diagonal, these blocks corresponding to
-  the eigenvalues of A, the 2-by-2 blocks being complex conjugate
-  pairs. This factorization is obtained by numerically stable
-  methods: first A is reduced to upper Hessenberg form (if FACT =
-  'N') by means of Householder transformations and then the
-  QR Algorithm is applied to reduce the Hessenberg form to S, the
-  transformation matrices being accumulated at each step to give U.
-  If A has already been factorized prior to calling the routine
-  however, then the factors U and S may be supplied and the initial
-  factorization omitted.
-                _            _
-  If we now put C = U'CU and X = UXU' equations (1) and (2) (see
-  PURPOSE) become (for TRANS = 'N')
-       _   _    _
-     S'X + XS = C,                                               (3)
-  and
-       _    _   _
-     S'XS - X = C,                                               (4)
-
-  respectively. Partition S, C and X as
-                         _   _         _   _
-         (s    s')      (c   c')      (x   x')
-         ( 11    )  _   ( 11   )  _   ( 11   )
-     S = (       ), C = (      ), X = (      )
-         (       )      ( _    )      ( _    )
-         ( 0   S )      ( c  C )      ( x  X )
-                1             1             1
-             _      _
-  where s  , c  and x  are either scalars or 2-by-2 matrices and s,
-         11   11     11
-  _     _
-  c and x are either (N-1) element vectors or matrices with two
-  columns. Equations (3) and (4) can then be re-written as
-        _     _        _
-     s' x   + x  s   = c                                       (3.1)
-      11 11    11 11    11
-
-       _   _           _    _
-     S'x + xs        = c - sx                                  (3.2)
-      1      11              11
-
-                             _    _
-     S'X + X S       = C - (sx' + xs')                         (3.3)
-      1 1   1 1         1
-  and
-        _       _       _
-     s' x  s  - x     = c                                      (4.1)
-      11 11 11   11      11
-
-       _     _          _    _
-     S'xs  - x        = c - sx  s                              (4.2)
-      1  11                   11 11
-
-                             _            _        _
-     S'X S - X        = C - sx  s' - [s(S'x)' + (S'x)s']       (4.3)
-      1 1 1   1          1    11         1        1
-                                               _
-  respectively. If DICO = 'C' ['D'], then once x   has been
-                                                11
-  found from equation (3.1) [(4.1)], equation (3.2) [(4.2)] can be
-                                     _
-  solved by forward substitution for x and then equation (3.3)
-  [(4.3)] is of the same form as (3) [(4)] but of the order (N-1) or
-  (N-2) depending upon whether s   is 1-by-1 or 2-by-2.
-                                11
-                          _      _
-  When s   is 2-by-2 then x  and c   will be 1-by-2 matrices and s,
-        11                 11     11
-  _     _
-  x and c are matrices with two columns. In this case, equation
-  (3.1) [(4.1)] defines the three equations in the unknown elements
-     _
-  of x   and equation (3.2) [(4.2)] can then be solved by forward
-      11                 _
-  substitution, a row of x being found at each step.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [3] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If DICO = 'C', SEP is defined as the separation of op(A) and
-  -op(A)':
-
-         sep( op(A), -op(A)' ) = sigma_min( T )
-
-  and if DICO = 'D', SEP is defined as
-
-         sep( op(A), op(A)' ) = sigma_min( T )
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-    T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) )  (DICO = 'C'),
-
-    T = kprod( op(A)', op(A)' ) - I(N**2)              (DICO = 'D').
-
-  I(x) is an x-by-x identity matrix, and kprod denotes the Kronecker
-  product. The program estimates sigma_min(T) by the reciprocal of
-  an estimate of the 1-norm of inverse(T). The true reciprocal
-  1-norm of inverse(T) cannot differ from sigma_min(T) by more
-  than a factor of N.
-
-  When SEP is small, small changes in A, C can cause large changes
-  in the solution of the equation. An approximate bound on the
-  maximum relative error in the computed solution is
-
-                   EPS * norm(A) / SEP      (DICO = 'C'),
-
-                   EPS * norm(A)**2 / SEP   (DICO = 'D'),
-
-  where EPS is the machine precision.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDU = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 3*NMAX,
-     $                   LIWORK = NMAX*NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      DICO, FACT, JOB, TRANA
-      DOUBLE PRECISION FERR, SCALE, SEP
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DICO, FACT, JOB, TRANA
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
-     $                SCALE, SEP, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) SCALE
-            IF ( .NOT.LSAME( JOB, 'X' ) )
-     $         WRITE ( NOUT, FMT = 99993 ) SEP
-            IF ( LSAME( JOB, 'B' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) FERR
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03MD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' Scaling factor = ',F8.4)
-99993 FORMAT (/' Estimated separation = ',F8.4)
-99992 FORMAT (/' Estimated forward error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03MD EXAMPLE PROGRAM DATA
-   3     D     N     X     N
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03MD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   1.0000   1.0000
-   1.0000   3.0000   0.0000
-   1.0000   0.0000   4.0000
-
- Scaling factor =   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MU.html b/doc/_build/html/_static/doc/SB03MU.html
deleted file mode 100644
index 0c841dd6..00000000
--- a/doc/_build/html/_static/doc/SB03MU.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MU">SB03MU</A></H2>
-<H3>
-Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
-
-         ISGN*op(TL)*X*op(TR) - X = SCALE*B,
-
-  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
-  or -1.  op(T) = T or T', where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MU( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
-     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRANL, LTRANR
-      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRANL  LOGICAL
-          Specifies the form of op(TL) to be used, as follows:
-          = .FALSE.:  op(TL) = TL,
-          = .TRUE. :  op(TL) = TL'.
-
-  LTRANR  LOGICAL
-          Specifies the form of op(TR) to be used, as follows:
-          = .FALSE.:  op(TR) = TR,
-          = .TRUE. :  op(TR) = TR'.
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The order of matrix TL.  N1 may only be 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of matrix TR.  N2 may only be 0, 1 or 2.
-
-  TL      (input) DOUBLE PRECISION array, dimension (LDTL,2)
-          The leading N1-by-N1 part of this array must contain the
-          matrix TL.
-
-  LDTL    INTEGER
-          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
-
-  TR      (input) DOUBLE PRECISION array, dimension (LDTR,2)
-          The leading N2-by-N2 part of this array must contain the
-          matrix TR.
-
-  LDTR    INTEGER
-          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          The leading N1-by-N2 part of this array must contain the
-          right-hand side of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
-          The leading N1-by-N2 part of this array contains the
-          solution of the equation.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if TL and TR have almost reciprocal eigenvalues, so
-                TL or TR is perturbed to get a nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MV.html b/doc/_build/html/_static/doc/SB03MV.html
deleted file mode 100644
index 83fa27ee..00000000
--- a/doc/_build/html/_static/doc/SB03MV.html
+++ /dev/null
@@ -1,157 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MV">SB03MV</A></H2>
-<H3>
-Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the 2-by-2 symmetric matrix X in
-
-         op(T)'*X*op(T) - X = SCALE*B,
-
-  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
-  where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MV( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
-     $                   XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRAN, LUPPER
-      INTEGER            INFO, LDB, LDT, LDX
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN   LOGICAL
-          Specifies the form of op(T) to be used, as follows:
-          = .FALSE.:  op(T) = T,
-          = .TRUE. :  op(T) = T'.
-
-  LUPPER  LOGICAL
-          Specifies which triangle of the matrix B is used, and
-          which triangle of the matrix X is computed, as follows:
-          = .TRUE. :  The upper triangular part;
-          = .FALSE.:  The lower triangular part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
-          The leading 2-by-2 part of this array must contain the
-          matrix T.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= 2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix B and the strictly
-          lower triangular part of B is not referenced.
-          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix B and the strictly
-          upper triangular part of B is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
-          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array contains the upper
-          triangular part of the symmetric solution matrix X and the
-          strictly lower triangular part of X is not referenced.
-          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array contains the lower
-          triangular part of the symmetric solution matrix X and the
-          strictly upper triangular part of X is not referenced.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 2.
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if T has almost reciprocal eigenvalues, so T
-                is perturbed to get a nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MW.html b/doc/_build/html/_static/doc/SB03MW.html
deleted file mode 100644
index 1f10bf47..00000000
--- a/doc/_build/html/_static/doc/SB03MW.html
+++ /dev/null
@@ -1,157 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MW">SB03MW</A></H2>
-<H3>
-Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the 2-by-2 symmetric matrix X in
-
-         op(T)'*X + X*op(T) = SCALE*B,
-
-  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
-  where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MW( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
-     $                   XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRAN, LUPPER
-      INTEGER            INFO, LDB, LDT, LDX
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN   LOGICAL
-          Specifies the form of op(T) to be used, as follows:
-          = .FALSE.:  op(T) = T,
-          = .TRUE. :  op(T) = T'.
-
-  LUPPER  LOGICAL
-          Specifies which triangle of the matrix B is used, and
-          which triangle of the matrix X is computed, as follows:
-          = .TRUE. :  The upper triangular part;
-          = .FALSE.:  The lower triangular part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
-          The leading 2-by-2 part of this array must contain the
-          matrix T.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= 2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix B and the strictly
-          lower triangular part of B is not referenced.
-          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix B and the strictly
-          upper triangular part of B is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
-          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array contains the upper
-          triangular part of the symmetric solution matrix X and the
-          strictly lower triangular part of X is not referenced.
-          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array contains the lower
-          triangular part of the symmetric solution matrix X and the
-          strictly upper triangular part of X is not referenced.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 2.
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if T and -T have too close eigenvalues, so T
-                is perturbed to get a nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MX.html b/doc/_build/html/_static/doc/SB03MX.html
deleted file mode 100644
index 8cb755dc..00000000
--- a/doc/_build/html/_static/doc/SB03MX.html
+++ /dev/null
@@ -1,152 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MX">SB03MX</A></H2>
-<H3>
-Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real discrete Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = scale*C
-
-  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
-  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
-  A is N-by-N, the right hand side C and the solution X are N-by-N,
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The solution matrix X is overwritten
-  onto C.
-
-  A must be in Schur canonical form (as returned by LAPACK routines
-  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
-  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
-  diagonal elements equal and its off-diagonal elements of opposite
-  sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MX( TRANA, N, A, LDA, C, LDC, SCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANA
-      INTEGER            INFO, LDA, LDC, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix A, in Schur canonical form.
-          The part of A below the first sub-diagonal is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading N-by-N part of this array must
-          contain the symmetric matrix C.
-          On exit, if INFO &gt;= 0, the leading N-by-N part of this
-          array contains the symmetric solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if A has almost reciprocal eigenvalues; perturbed
-                values were used to solve the equation (but the
-                matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A discrete-time version of the Bartels-Stewart algorithm is used.
-  A set of equivalent linear algebraic systems of equations of order
-  at most four are formed and solved using Gaussian elimination with
-  complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03MY.html b/doc/_build/html/_static/doc/SB03MY.html
deleted file mode 100644
index afc6d9fd..00000000
--- a/doc/_build/html/_static/doc/SB03MY.html
+++ /dev/null
@@ -1,142 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MY">SB03MY</A></H2>
-<H3>
-Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = scale*C
-
-  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
-  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
-  A is N-by-N, the right hand side C and the solution X are N-by-N,
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The solution matrix X is overwritten
-  onto C.
-
-  A must be in Schur canonical form (as returned by LAPACK routines
-  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
-  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
-  diagonal elements equal and its off-diagonal elements of opposite
-  sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MY( TRANA, N, A, LDA, C, LDC, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANA
-      INTEGER            INFO, LDA, LDC, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix A, in Schur canonical form.
-          The part of A below the first sub-diagonal is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading N-by-N part of this array must
-          contain the symmetric matrix C.
-          On exit, if INFO &gt;= 0, the leading N-by-N part of this
-          array contains the symmetric solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if A and -A have common or very close eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Bartels-Stewart algorithm is used. A set of equivalent linear
-  algebraic systems of equations of order at most four are formed
-  and solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OD.html b/doc/_build/html/_static/doc/SB03OD.html
deleted file mode 100644
index 3e0987bc..00000000
--- a/doc/_build/html/_static/doc/SB03OD.html
+++ /dev/null
@@ -1,485 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OD">SB03OD</A></H2>
-<H3>
-Solution of stable continuous- or discrete-time Lyapunov equations (Cholesky factor)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)'*op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-                                2
-     op(A)'*X + X*op(A) = -scale *op(B)'*op(B),                  (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-                                2
-     op(A)'*X*op(A) - X = -scale *op(B)'*op(B),                  (2)
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
-  an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
-  triangular matrix containing the Cholesky factor of the solution
-  matrix X, X = op(U)'*op(U), and scale is an output scale factor,
-  set less than or equal to 1 to avoid overflow in X. If matrix B
-  has full rank then the solution matrix X will be positive definite
-  and hence the Cholesky factor U will be nonsingular, but if B is
-  rank deficient, then X may be only positive semi-definite and U
-  will be singular.
-
-  In the case of equation (1) the matrix A must be stable (that is,
-  all the eigenvalues of A must have negative real parts), and for
-  equation (2) the matrix A must be convergent (that is, all the
-  eigenvalues of A must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
-     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, TRANS
-      INTEGER           INFO, LDA, LDB, LDQ, LDWORK, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), Q(LDQ,*), WI(*),
-     $                  WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Lyapunov equation to be solved, as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and Q contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and Q.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(K) to be used, as follows:
-          = 'N':  op(K) = K    (No transpose);
-          = 'T':  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of columns of
-          the matrix op(B).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows of the matrix op(B).  M &gt;= 0.
-          If M = 0, A is unchanged on exit, and Q, WR and WI are not
-          set.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix S in Schur canonical
-          form; the elements below the upper Hessenberg part of the
-          array A are then not referenced.
-          On exit, the leading N-by-N upper Hessenberg part of this
-          array contains the upper quasi-triangular matrix S in
-          Schur canonical form from the Shur factorization of A.
-          The contents of the array A is not modified if FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  Q       (input or output) DOUBLE PRECISION array, dimension
-          (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Q of the
-          Schur factorization of A.
-          Otherwise, Q need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal matrix Q of the Schur factorization of A.
-          The contents of the array Q is not modified if FACT = 'F'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          if TRANS = 'N', and dimension (LDB,max(M,N)), if
-          TRANS = 'T'.
-          On entry, if TRANS = 'N', the leading M-by-N part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On entry, if TRANS = 'T', the leading N-by-M part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)'*op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
-          LDB &gt;= MAX(1,N),   if TRANS = 'T'.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If INFO &gt;= 0 and INFO &lt;= 3, WR and WI contain the real and
-          imaginary parts, respectively, of the eigenvalues of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 1, DWORK(1) returns the
-          optimal value of LDWORK.
-          On exit, if INFO = -16, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If M &gt; 0, LDWORK &gt;= MAX(1,4*N);
-          If M = 0, LDWORK &gt;= 1.
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DICO = 'C' this means that while the matrix A
-                (or the factor S) has computed eigenvalues with
-                negative real parts, it is only just stable in the
-                sense that small perturbations in A can make one or
-                more of the eigenvalues have a non-negative real
-                part;
-                if DICO = 'D' this means that while the matrix A
-                (or the factor S) has computed eigenvalues inside
-                the unit circle, it is nevertheless only just
-                convergent, in the sense that small perturbations
-                in A can make one or more of the eigenvalues lie
-                outside the unit circle;
-                perturbed values were used to solve the equation;
-          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
-                not stable (that is, one or more of the eigenvalues
-                of A has a non-negative real part), or DICO = 'D',
-                but the matrix A is not convergent (that is, one or
-                more of the eigenvalues of A lies outside the unit
-                circle); however, A will still have been factored
-                and the eigenvalues of A returned in WR and WI.
-          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
-                supplied in the array A is not stable (that is, one
-                or more of the eigenvalues of S has a non-negative
-                real part), or DICO = 'D', but the Schur factor S
-                supplied in the array A is not convergent (that is,
-                one or more of the eigenvalues of S lies outside the
-                unit circle); the eigenvalues of A are still
-                returned in WR and WI;
-          = 4:  if FACT = 'F' and the Schur factor S supplied in
-                the array A has two or more consecutive non-zero
-                elements on the first subdiagonal, so that there is
-                a block larger than 2-by-2 on the diagonal;
-          = 5:  if FACT = 'F' and the Schur factor S supplied in
-                the array A has a 2-by-2 diagonal block with real
-                eigenvalues instead of a complex conjugate pair;
-          = 6:  if FACT = 'N' and the LAPACK Library routine DGEES
-                has failed to converge. This failure is not likely
-                to occur. The matrix B will be unaltered but A will
-                be destroyed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on the Bartels and Stewart
-  method [1], except that it finds the upper triangular matrix U
-  directly without first finding X and without the need to form the
-  normal matrix op(B)'*op(B).
-
-  The Schur factorization of a square matrix A is given by
-
-     A = QSQ',
-
-  where Q is orthogonal and S is an N-by-N block upper triangular
-  matrix with 1-by-1 and 2-by-2 blocks on its diagonal (which
-  correspond to the eigenvalues of A). If A has already been
-  factored prior to calling the routine however, then the factors
-  Q and S may be supplied and the initial factorization omitted.
-
-  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
-  (QR factorization)
-         _   _
-     B = P ( R ),
-           ( 0 )
-        _                                    _
-  where P is an M-by-M orthogonal matrix and R is a square upper
-                                      _   _
-  triangular matrix. Then, the matrix B = RQ is factored as
-     _
-     B = PR.
-
-  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
-
-     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
-            ( 0 )
-
-  If TRANS = 'T' and 6*M &gt; 7*N, the matrix B is factored as
-  (RQ factorization)
-              _   _
-     B = ( 0  R ) P,
-        _                                    _
-  where P is an M-by-M orthogonal matrix and R is a square upper
-                                      _      _
-  triangular matrix. Then, the matrix B = Q' R is factored as
-     _
-     B = RP.
-
-  If TRANS = 'T' and 6*M &lt;= 7*N, the matrix Q' B is factored as
-
-                                           ( Z )
-     Q' B = ( 0  R ) P,   M &gt;= N,   Q' B = (   ) P,   M &lt; N.
-                                           ( R )
-
-  These factorizations are utilised to either transform the
-  continuous-time Lyapunov equation to the canonical form
-                                                     2
-    op(S)'*op(V)'*op(V) + op(V)'*op(V)*op(S) = -scale *op(F)'*op(F),
-
-  or the discrete-time Lyapunov equation to the canonical form
-                                                     2
-    op(S)'*op(V)'*op(V)*op(S) - op(V)'*op(V) = -scale *op(F)'*op(F),
-
-  where V and F are upper triangular, and
-
-     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
-                           ( 0  0 )
-
-     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'T'.
-                           ( 0  R )
-
-  The transformed equation is then solved for V, from which U is
-  obtained via the QR factorization of V*Q', if TRANS = 'N', or
-  via the RQ factorization of Q*V, if TRANS = 'T'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if A is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned.  A symptom of ill-conditioning
-  is "large" elements in U relative to those of A and B, or a
-  "small" value for scale. A condition estimate can be computed
-  using SLICOT Library routine SB03MD.
-
-  SB03OD routine can be also used for solving "unstable" Lyapunov
-  equations, i.e., when matrix A has all eigenvalues with positive
-  real parts, if DICO = 'C', or with moduli greater than one,
-  if DICO = 'D'. Specifically, one may solve for X = op(U)'*op(U)
-  either the continuous-time Lyapunov equation
-                               2
-     op(A)'*X + X*op(A) = scale *op(B)'*op(B),                   (3)
-
-  or the discrete-time Lyapunov equation
-                               2
-     op(A)'*X*op(A) - X = scale *op(B)'*op(B),                   (4)
-
-  provided, for equation (3), the given matrix A is replaced by -A,
-  or, for equation (4), the given matrices A and B are replaced by
-  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'T'),
-  respectively. Although the inversion generally can rise numerical
-  problems, in case of equation (4) it is expected that the matrix A
-  is enough well-conditioned, having only eigenvalues with moduli
-  greater than 1. However, if A is ill-conditioned, it could be
-  preferable to use the more general SLICOT Lyapunov solver SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDQ, LDX, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = MAX( MMAX,NMAX ),
-     $                   LDQ = NMAX, LDX = NMAX )
-      PARAMETER        ( LDWORK = 4*NMAX+MIN(MMAX,NMAX) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SCALE, TEMP
-      INTEGER          I, INFO, J, K, M, N
-      CHARACTER*1      DICO, FACT, TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,LDB), DWORK(LDWORK),
-     $                 Q(LDQ,NMAX), WR(NMAX), WI(NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( Q(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            IF ( LSAME( TRANS, 'N' ) ) THEN
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            END IF
-*           Find the Cholesky factor U.
-            CALL SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
-     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 J = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), I = 1,J )
-   20          CONTINUE
-*              Form the solution matrix X = op(U)'*op(U).
-               IF ( LSAME( TRANS, 'N' ) ) THEN
-                  DO 80 I = 1, N
-                     DO 60 J = I, N
-                        TEMP = ZERO
-                        DO 40 K = 1, I
-                           TEMP = TEMP + B(K,I)*B(K,J)
-   40                   CONTINUE
-                        X(I,J) = TEMP
-                        X(J,I) = TEMP
-   60                CONTINUE
-   80             CONTINUE
-               ELSE
-                  DO 140 I = 1, N
-                     DO 120 J = I, N
-                        TEMP = ZERO
-                        DO 100 K = J, N
-                           TEMP = TEMP + B(I,K)*B(J,K)
-  100                   CONTINUE
-                        X(I,J) = TEMP
-                        X(J,I) = TEMP
-  120                CONTINUE
-  140             CONTINUE
-               END IF
-               WRITE ( NOUT, FMT = 99995 )
-               DO 160 J = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), I = 1,N )
-  160          CONTINUE
-               WRITE ( NOUT, FMT = 99992 ) SCALE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03OD = ',I2)
-99997 FORMAT (' The transpose of the Cholesky factor U is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The solution matrix X = op(U)''*op(U) is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' Scaling factor = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03OD EXAMPLE PROGRAM DATA
-   4     5      C      N      N
-  -1.0  37.0 -12.0 -12.0
-  -1.0 -10.0   0.0   4.0
-   2.0  -4.0   7.0  -6.0
-   2.0   2.0   7.0  -9.0
-   1.0   2.5   1.0   3.5
-   0.0   1.0   0.0   1.0
-  -1.0  -2.5  -1.0  -1.5
-   1.0   2.5   4.0  -5.5
-  -1.0  -2.5  -4.0   3.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03OD EXAMPLE PROGRAM RESULTS
-
- The transpose of the Cholesky factor U is 
-   1.0000
-   3.0000   1.0000
-   2.0000  -1.0000   1.0000
-  -1.0000   1.0000  -2.0000   1.0000
-
- The solution matrix X = op(U)'*op(U) is 
-   1.0000   3.0000   2.0000  -1.0000
-   3.0000  10.0000   5.0000  -2.0000
-   2.0000   5.0000   6.0000  -5.0000
-  -1.0000  -2.0000  -5.0000   7.0000
-
- Scaling factor =   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OR.html b/doc/_build/html/_static/doc/SB03OR.html
deleted file mode 100644
index da6af98b..00000000
--- a/doc/_build/html/_static/doc/SB03OR.html
+++ /dev/null
@@ -1,159 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OR">SB03OR</A></H2>
-<H3>
-Solving continuous- or discrete-time Sylvester equations, with matrix S quasi-triangular, for an n-by-m matrix X, 1 <= m <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the solution of the Sylvester equations
-
-     op(S)'*X + X*op(A) = scale*C, if DISCR = .FALSE.  or
-
-     op(S)'*X*op(A) - X = scale*C, if DISCR = .TRUE.
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
-  an N-by-N block upper triangular matrix with one-by-one and
-  two-by-two blocks on the diagonal, A is an M-by-M matrix (M = 1 or
-  M = 2), X and C are each N-by-M matrices, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-  The solution X is overwritten on C.
-
-  SB03OR  is a service routine for the Lyapunov solver  SB03OT.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OR( DISCR, LTRANS, N, M, S, LDS, A, LDA, C, LDC,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            DISCR, LTRANS
-      INTEGER            INFO, LDA, LDS, LDC, M, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), S( LDS, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the equation to be solved:
-          = .FALSE.:  op(S)'*X + X*op(A) = scale*C;
-          = .TRUE. :  op(S)'*X*op(A) - X = scale*C.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix  S  and also the number of rows of
-          matrices  X and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix  A  and also the number of columns
-          of matrices  X and C.  M = 1 or M = 2.
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading  N-by-N  upper Hessenberg part of the array  S
-          must contain the block upper triangular matrix. The
-          elements below the upper Hessenberg part of the array  S
-          are not referenced.  The array  S  must not contain
-          diagonal blocks larger than two-by-two and the two-by-two
-          blocks must only correspond to complex conjugate pairs of
-          eigenvalues, not to real eigenvalues.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDS,M)
-          The leading  M-by-M  part of this array must contain a
-          given matrix, where M = 1 or M = 2.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= M.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, C must contain an N-by-M matrix, where M = 1 or
-          M = 2.
-          On exit, C contains the N-by-M matrix X, the solution of
-          the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if DISCR = .FALSE., and S and -A have common
-                eigenvalues, or if DISCR = .TRUE., and S and A have
-                eigenvalues whose product is equal to unity;
-                a solution has been computed using slightly
-                perturbed values.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The LAPACK scheme for solving Sylvester equations is adapted.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(N M) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OS.html b/doc/_build/html/_static/doc/SB03OS.html
deleted file mode 100644
index 500f0614..00000000
--- a/doc/_build/html/_static/doc/SB03OS.html
+++ /dev/null
@@ -1,186 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OS">SB03OS</A></H2>
-<H3>
-Solving (for Cholesky factor) stable continuous- or discrete-time complex Lyapunov equations, with matrices S and R triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>                        H
-  To solve for X = op(U) *op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-          H                     2      H
-     op(S) *X + X*op(S) = -scale *op(R) *op(R),                  (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-          H                     2      H
-     op(S) *X*op(S) - X = -scale *op(R) *op(R),                  (2)
-
-  where op(K) = K or K**H (i.e., the conjugate transpose of the
-  matrix K), S and R are complex N-by-N upper triangular matrices,
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The diagonal elements of the matrix R must
-  be real non-negative.
-
-  In the case of equation (1) the matrix S must be stable (that is,
-  all the eigenvalues of S must have negative real parts), and for
-  equation (2) the matrix S must be convergent (that is, all the
-  eigenvalues of S must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OS( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDR, LDS, N
-      LOGICAL           DISCR, LTRANS
-C     .. Array Arguments ..
-      COMPLEX*16        R(LDR,*), S(LDS,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of Lyapunov equation to be solved as
-          follows:
-          = .TRUE. :  Equation (2), discrete-time case;
-          = .FALSE.:  Equation (1), continuous-time case.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**H (Conjugate transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S and R.  N &gt;= 0.
-
-  S       (input) COMPLEX*16 array of dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the upper triangular matrix.
-          The elements below the upper triangular part of the array
-          S are not referenced.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (input/output) COMPLEX*16 array of dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R, with
-          real non-negative entries on its main diagonal.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangular matrix U, with real
-          non-negative entries on its main diagonal.
-          The strictly lower triangle of R is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N-1)
-
-  ZWORK   COMPLEX*16 array, dimension (2*N-2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  if the matrix S is not stable (that is, one or more
-                of the eigenvalues of S has a non-negative real
-                part), if DISCR = .FALSE., or not convergent (that
-                is, one or more of the eigenvalues of S lies outside
-                the unit circle), if DISCR = .TRUE..
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a variant of the
-  Bartels and Stewart backward substitution method [1], that finds
-  the Cholesky factor op(U) directly without first finding X and
-  without the need to form the normal matrix op(R)'*op(R) [2].
-
-  The continuous-time Lyapunov equation in the canonical form
-         H      H              H                     2      H
-    op(S) *op(U) *op(U) + op(U) *op(U)*op(S) = -scale *op(R) *op(R),
-
-  or the discrete-time Lyapunov equation in the canonical form
-         H      H                    H               2      H
-    op(S) *op(U) *op(U)*op(S) - op(U) *op(U) = -scale *op(R) *op(R),
-
-  where U and R are upper triangular, is solved for U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular
-  if S is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned. "Large" elements in U relative
-  to those of S and R, or a "small" value for scale, is a symptom
-  of ill-conditioning. A condition estimate can be computed using
-  SLICOT Library routine SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OT.html b/doc/_build/html/_static/doc/SB03OT.html
deleted file mode 100644
index 6d88c503..00000000
--- a/doc/_build/html/_static/doc/SB03OT.html
+++ /dev/null
@@ -1,204 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OT">SB03OT</A></H2>
-<H3>
-Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix S quasi-triangular and R triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)'*op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-                                2
-     op(S)'*X + X*op(S) = -scale *op(R)'*op(R)                   (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-                                2
-     op(S)'*X*op(S) - X = -scale *op(R)'*op(R)                   (2)
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
-  an N-by-N block upper triangular matrix with one-by-one or
-  two-by-two blocks on the diagonal, R is an N-by-N upper triangular
-  matrix, and scale is an output scale factor, set less than or
-  equal to 1 to avoid overflow in X.
-
-  In the case of equation (1) the matrix S must be stable (that
-  is, all the eigenvalues of S must have negative real parts),
-  and for equation (2) the matrix S must be convergent (that is,
-  all the eigenvalues of S must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OT( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR, LTRANS
-      INTEGER           INFO, LDR, LDS, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of Lyapunov equation to be solved as
-          follows:
-          = .TRUE. :  Equation (2), discrete-time case;
-          = .FALSE.:  Equation (1), continuous-time case.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S and R.  N &gt;= 0.
-
-  S       (input) DOUBLE PRECISION array of dimension (LDS,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the block upper triangular matrix.
-          The elements below the upper Hessenberg part of the array
-          S are not referenced. The 2-by-2 blocks must only
-          correspond to complex conjugate pairs of eigenvalues (not
-          to real eigenvalues).
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array of dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangular matrix U.
-          The strict lower triangle of R is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (4*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DISCR = .FALSE., this means that while the
-                matrix S has computed eigenvalues with negative real
-                parts, it is only just stable in the sense that
-                small perturbations in S can make one or more of the
-                eigenvalues have a non-negative real part;
-                if DISCR = .TRUE., this means that while the
-                matrix S has computed eigenvalues inside the unit
-                circle, it is nevertheless only just convergent, in
-                the sense that small perturbations in S can make one
-                or more of the eigenvalues lie outside the unit
-                circle;
-                perturbed values were used to solve the equation
-                (but the matrix S is unchanged);
-          = 2:  if the matrix S is not stable (that is, one or more
-                of the eigenvalues of S has a non-negative real
-                part), if DISCR = .FALSE., or not convergent (that
-                is, one or more of the eigenvalues of S lies outside
-                the unit circle), if DISCR = .TRUE.;
-          = 3:  if the matrix S has two or more consecutive non-zero
-                elements on the first sub-diagonal, so that there is
-                a block larger than 2-by-2 on the diagonal;
-          = 4:  if the matrix S has a 2-by-2 diagonal block with
-                real eigenvalues instead of a complex conjugate
-                pair.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a variant of the
-  Bartels and Stewart backward substitution method [1], that finds
-  the Cholesky factor op(U) directly without first finding X and
-  without the need to form the normal matrix op(R)'*op(R) [2].
-
-  The continuous-time Lyapunov equation in the canonical form
-                                                     2
-    op(S)'*op(U)'*op(U) + op(U)'*op(U)*op(S) = -scale *op(R)'*op(R),
-
-  or the discrete-time Lyapunov equation in the canonical form
-                                                     2
-    op(S)'*op(U)'*op(U)*op(S) - op(U)'*op(U) = -scale *op(R)'*op(R),
-
-  where U and R are upper triangular, is solved for U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular
-  if S is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned. "Large" elements in U relative
-  to those of S and R, or a "small" value for scale, is a symptom
-  of ill-conditioning. A condition estimate can be computed using
-  SLICOT Library routine SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OU.html b/doc/_build/html/_static/doc/SB03OU.html
deleted file mode 100644
index 3ff3058a..00000000
--- a/doc/_build/html/_static/doc/SB03OU.html
+++ /dev/null
@@ -1,286 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OU">SB03OU</A></H2>
-<H3>
-Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix A in real Schur form and B rectangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)'*op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-                                2
-     op(A)'*X + X*op(A) = -scale *op(B)'*op(B)                   (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-                                2
-     op(A)'*X*op(A) - X = -scale *op(B)'*op(B)                   (2)
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
-  an N-by-N matrix in real Schur form, op(B) is an M-by-N matrix,
-  U is an upper triangular matrix containing the Cholesky factor of
-  the solution matrix X, X = op(U)'*op(U), and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-  If matrix B has full rank then the solution matrix X will be
-  positive-definite and hence the Cholesky factor U will be
-  nonsingular, but if B is rank deficient then X may only be
-  positive semi-definite and U will be singular.
-
-  In the case of equation (1) the matrix A must be stable (that
-  is, all the eigenvalues of A must have negative real parts),
-  and for equation (2) the matrix A must be convergent (that is,
-  all the eigenvalues of A must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OU( DISCR, LTRANS, N, M, A, LDA, B, LDB, TAU, U,
-     $                   LDU, SCALE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR, LTRANS
-      INTEGER           INFO, LDA, LDB, LDU, LDWORK, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of Lyapunov equation to be solved as
-          follows:
-          = .TRUE. :  Equation (2), discrete-time case;
-          = .FALSE.:  Equation (1), continuous-time case.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of columns in
-          matrix op(B).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows in matrix op(B).  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain a real Schur form matrix S. The elements
-          below the upper Hessenberg part of the array A are not
-          referenced. The 2-by-2 blocks must only correspond to
-          complex conjugate pairs of eigenvalues (not to real
-          eigenvalues).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          if LTRANS = .FALSE., and dimension (LDB,M), if
-          LTRANS = .TRUE..
-          On entry, if LTRANS = .FALSE., the leading M-by-N part of
-          this array must contain the coefficient matrix B of the
-          equation.
-          On entry, if LTRANS = .TRUE., the leading N-by-M part of
-          this array must contain the coefficient matrix B of the
-          equation.
-          On exit, if LTRANS = .FALSE., the leading
-          MIN(M,N)-by-MIN(M,N) upper triangular part of this array
-          contains the upper triangular matrix R (as defined in
-          METHOD), and the M-by-MIN(M,N) strictly lower triangular
-          part together with the elements of the array TAU are
-          overwritten by details of the matrix P (also defined in
-          METHOD). When M &lt; N, columns (M+1),...,N of the array B
-          are overwritten by the matrix Z (see METHOD).
-          On exit, if LTRANS = .TRUE., the leading
-          MIN(M,N)-by-MIN(M,N) upper triangular part of
-          B(1:N,M-N+1), if M &gt;= N, or of B(N-M+1:N,1:M), if M &lt; N,
-          contains the upper triangular matrix R (as defined in
-          METHOD), and the remaining elements (below the diagonal
-          of R) together with the elements of the array TAU are
-          overwritten by details of the matrix P (also defined in
-          METHOD). When M &lt; N, rows 1,...,(N-M) of the array B
-          are overwritten by the matrix Z (see METHOD).
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,M), if LTRANS = .FALSE.,
-          LDB &gt;= MAX(1,N), if LTRANS = .TRUE..
-
-  TAU     (output) DOUBLE PRECISION array of dimension (MIN(N,M))
-          This array contains the scalar factors of the elementary
-          reflectors defining the matrix P.
-
-  U       (output) DOUBLE PRECISION array of dimension (LDU,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor of the solution matrix X of
-          the problem, X = op(U)'*op(U).
-          The array U may be identified with B in the calling
-          statement, if B is properly dimensioned, and the
-          intermediate results returned in B are not needed.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, or INFO = 1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,4*N).
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DISCR = .FALSE., this means that while the matrix
-                A has computed eigenvalues with negative real parts,
-                it is only just stable in the sense that small
-                perturbations in A can make one or more of the
-                eigenvalues have a non-negative real part;
-                if DISCR = .TRUE., this means that while the matrix
-                A has computed eigenvalues inside the unit circle,
-                it is nevertheless only just convergent, in the
-                sense that small perturbations in A can make one or
-                more of the eigenvalues lie outside the unit circle;
-                perturbed values were used to solve the equation
-                (but the matrix A is unchanged);
-          = 2:  if matrix A is not stable (that is, one or more of
-                the eigenvalues of A has a non-negative real part),
-                if DISCR = .FALSE., or not convergent (that is, one
-                or more of the eigenvalues of A lies outside the
-                unit circle), if DISCR = .TRUE.;
-          = 3:  if matrix A has two or more consecutive non-zero
-                elements on the first sub-diagonal, so that there is
-                a block larger than 2-by-2 on the diagonal;
-          = 4:  if matrix A has a 2-by-2 diagonal block with real
-                eigenvalues instead of a complex conjugate pair.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on the Bartels and
-  Stewart method [1], except that it finds the upper triangular
-  matrix U directly without first finding X and without the need
-  to form the normal matrix op(B)'*op(B) [2].
-
-  If LTRANS = .FALSE., the matrix B is factored as
-
-     B = P ( R ),  M &gt;= N,   B = P ( R  Z ),  M &lt; N,
-           ( 0 )
-
-  (QR factorization), where P is an M-by-M orthogonal matrix and
-  R is a square upper triangular matrix.
-
-  If LTRANS = .TRUE., the matrix B is factored as
-
-     B = ( 0  R ) P,  M &gt;= N,  B = ( Z ) P,  M &lt; N,
-                                   ( R )
-
-  (RQ factorization), where P is an M-by-M orthogonal matrix and
-  R is a square upper triangular matrix.
-
-  These factorizations are used to solve the continuous-time
-  Lyapunov equation in the canonical form
-                                                     2
-    op(A)'*op(U)'*op(U) + op(U)'*op(U)*op(A) = -scale *op(F)'*op(F),
-
-  or the discrete-time Lyapunov equation in the canonical form
-                                                     2
-    op(A)'*op(U)'*op(U)*op(A) - op(U)'*op(U) = -scale *op(F)'*op(F),
-
-  where U and F are N-by-N upper triangular matrices, and
-
-     F = R,                                  if M &gt;= N, or
-
-     F = ( R ),    if LTRANS = .FALSE.,  or
-         ( 0 )
-
-     F = ( 0  Z ), if LTRANS = .TRUE.,       if M &lt; N.
-         ( 0  R )
-
-  The canonical equation is solved for U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if A is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned. "Large" elements in U relative
-  to those of A and B, or a "small" value for scale, are symptoms
-  of ill-conditioning. A condition estimate can be computed using
-  SLICOT Library routine SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OV.html b/doc/_build/html/_static/doc/SB03OV.html
deleted file mode 100644
index 4d0a8be1..00000000
--- a/doc/_build/html/_static/doc/SB03OV.html
+++ /dev/null
@@ -1,98 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OV">SB03OV</A></H2>
-<H3>
-Construction of a complex plane rotation to annihilate a real number, modifying a complex number
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a complex plane rotation such that, for a complex
-  number  a  and a real number  b,
-
-     ( conjg( c )  s )*( a ) = ( d ),
-     (       -s    c ) ( b )   ( 0 )
-
-  where  d  is always real and is overwritten on  a,  so that on
-  return the imaginary part of  a  is zero.  b  is unaltered.
-
-  This routine has A and C declared as REAL, because it is intended
-  for use within a real Lyapunov solver and the REAL declarations
-  mean that a standard Fortran DOUBLE PRECISION version may be
-  readily constructed.  However A and C could safely be declared
-  COMPLEX in the calling program, although some systems may give a
-  type mismatch warning.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OV( A, B, SMALL, C, S )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  B, S, SMALL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(2), C(2)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input/output) DOUBLE PRECISION array, dimension (2)
-          On entry, A(1) and A(2) must contain the real and
-          imaginary part, respectively, of the complex number a.
-          On exit, A(1) contains the real part of d, and A(2) is
-          set to zero.
-
-  B       (input) DOUBLE PRECISION
-          The real number b.
-
-  SMALL   (input) DOUBLE PRECISION
-          A small real number. If the norm d of [ a; b ] is smaller
-          than SMALL, then the rotation is taken as a unit matrix,
-          and A(1) and A(2) are set to d and 0, respectively.
-
-  C       (output) DOUBLE PRECISION array, dimension (2)
-          C(1) and C(2) contain the real and imaginary part,
-          respectively, of the complex number c, the cosines of
-          the plane rotation.
-
-  S       (output) DOUBLE PRECISION
-          The real number s, the sines of the plane rotation.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OY.html b/doc/_build/html/_static/doc/SB03OY.html
deleted file mode 100644
index faa6e9eb..00000000
--- a/doc/_build/html/_static/doc/SB03OY.html
+++ /dev/null
@@ -1,196 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OY">SB03OY</A></H2>
-<H3>
-Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time Lyapunov equations, with matrix A having complex conjugate eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the Cholesky factor  U  of  X,
-
-     op(U)'*op(U) = X,
-
-  where  U  is a two-by-two upper triangular matrix, either the
-  continuous-time two-by-two Lyapunov equation
-                                      2
-      op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R),
-
-  when DISCR = .FALSE., or the discrete-time two-by-two Lyapunov
-  equation
-                                      2
-      op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R),
-
-  when DISCR = .TRUE., where op(K) = K or K' (i.e., the transpose of
-  the matrix K),  S  is a two-by-two matrix with complex conjugate
-  eigenvalues,  R  is a two-by-two upper triangular matrix,
-  ISGN = -1 or 1,  and  scale  is an output scale factor, set less
-  than or equal to 1 to avoid overflow in  X.  The routine also
-  computes two matrices, B and A, so that
-                                2
-     B*U = U*S  and  A*U = scale *R,  if  LTRANS = .FALSE.,  or
-                                2
-     U*B = S*U  and  U*A = scale *R,  if  LTRANS = .TRUE.,
-  which are used by the general Lyapunov solver.
-  In the continuous-time case  ISGN*S  must be stable, so that its
-  eigenvalues must have strictly negative real parts.
-  In the discrete-time case  S  must be convergent if ISGN = 1, that
-  is, its eigenvalues must have moduli less than unity, or  S  must
-  be completely divergent if ISGN = -1, that is, its eigenvalues
-  must have moduli greater than unity.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OY( DISCR, LTRANS, ISGN, S, LDS, R, LDR, A, LDA,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR, LTRANS
-      INTEGER           INFO, ISGN, LDA, LDR, LDS
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the equation to be solved:       2
-          = .FALSE.: op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R);
-                                                     2
-          = .TRUE. : op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R).
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,2)
-          On entry, S must contain a 2-by-2 matrix.
-          On exit, S contains a 2-by-2 matrix B such that B*U = U*S,
-          if LTRANS = .FALSE., or U*B = S*U, if LTRANS = .TRUE..
-          Notice that if U is nonsingular then
-            B = U*S*inv( U ),  if LTRANS = .FALSE.
-            B = inv( U )*S*U,  if LTRANS = .TRUE..
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= 2.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,2)
-          On entry, R must contain a 2-by-2 upper triangular matrix.
-          The element R( 2, 1 ) is not referenced.
-          On exit, R contains U, the 2-by-2 upper triangular
-          Cholesky factor of the solution X, X = op(U)'*op(U).
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= 2.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,2)
-          A contains a 2-by-2 upper triangular matrix A satisfying
-          A*U/scale = scale*R, if LTRANS = .FALSE., or
-          U*A/scale = scale*R, if LTRANS = .TRUE..
-          Notice that if U is nonsingular then
-            A = scale*scale*R*inv( U ),  if LTRANS = .FALSE.
-            A = scale*scale*inv( U )*R,  if LTRANS = .TRUE..
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DISCR = .FALSE., this means that while the
-                matrix S has computed eigenvalues with negative real
-                parts, it is only just stable in the sense that
-                small perturbations in S can make one or more of the
-                eigenvalues have a non-negative real part;
-                if DISCR = .TRUE., this means that while the
-                matrix S has computed eigenvalues inside the unit
-                circle, it is nevertheless only just convergent, in
-                the sense that small perturbations in S can make one
-                or more of the eigenvalues lie outside the unit
-                circle;
-                perturbed values were used to solve the equation
-                (but the matrix S is unchanged);
-          = 2:  if DISCR = .FALSE., and ISGN*S is not stable or
-                if DISCR = .TRUE., ISGN = 1 and S is not convergent
-                or if DISCR = .TRUE., ISGN = -1 and S is not
-                completely divergent;
-          = 4:  if S has real eigenvalues.
-
-  NOTE: In the interests of speed, this routine does not check all
-        inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The LAPACK scheme for solving 2-by-2 Sylvester equations is
-  adapted for 2-by-2 Lyapunov equations, but directly computing the
-  Cholesky factor of the solution.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling S. J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03OZ.html b/doc/_build/html/_static/doc/SB03OZ.html
deleted file mode 100644
index d4ccd264..00000000
--- a/doc/_build/html/_static/doc/SB03OZ.html
+++ /dev/null
@@ -1,348 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OZ">SB03OZ</A></H2>
-<H3>
-Solution of stable continuous- or discrete-time complex Lyapunov equations (Cholesky factor)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>                        H
-  To solve for X = op(U) *op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-          H                     2      H
-     op(A) *X + X*op(A) = -scale *op(B) *op(B),                  (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-          H                     2      H
-     op(A) *X*op(A) - X = -scale *op(B) *op(B),                  (2)
-
-  where op(K) = K or K**H  (i.e., the conjugate transpose of the
-  matrix K), A is an N-by-N matrix, op(B) is an M-by-N matrix, U is
-  an upper triangular matrix containing the Cholesky factor of the
-  solution matrix X, and scale is an output scale factor, set less
-  than or equal to 1 to avoid overflow in X. If matrix B has full
-  rank, then the solution matrix X will be positive definite and
-  hence the Cholesky factor U will be nonsingular, but if B is rank
-  deficient, then X may be only positive semi-definite and U will be
-  singular.
-
-  In the case of equation (1) the matrix A must be stable (that is,
-  all the eigenvalues of A must have negative real parts), and for
-  equation (2) the matrix A must be convergent (that is, all the
-  eigenvalues of A must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OZ( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
-     $                   LDB, SCALE, W, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, TRANS
-      INTEGER           INFO, LDA, LDB, LDQ, LZWORK, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(LDB,*), Q(LDQ,*), W(*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Lyapunov equation to be solved, as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the Schur factorization of the
-          matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and Q contain the factors from the
-                  Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and Q.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(K) to be used, as follows:
-          = 'N':  op(K) = K    (No transpose);
-          = 'C':  op(K) = K**H (Conjugate transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of columns of
-          the matrix op(B).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows of the matrix op(B).  M &gt;= 0.
-          If M = 0, A is unchanged on exit, and Q and W are not set.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper triangular matrix S in Schur form; the elements
-          below the diagonal of the array A are then not referenced.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangle of the matrix S.
-          The contents of the array A is not modified if FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  Q       (input or output) COMPLEX*16 array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the unitary matrix Q of the Schur
-          factorization of A.
-          Otherwise, Q need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the unitary matrix Q of the Schur factorization of A.
-          The contents of the array Q is not modified if FACT = 'F'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
-          if TRANS = 'N', and dimension (LDB,max(M,N)), if
-          TRANS = 'C'.
-          On entry, if TRANS = 'N', the leading M-by-N part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On entry, if TRANS = 'C', the leading N-by-M part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)**H * op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
-          LDB &gt;= MAX(1,N),   if TRANS = 'C'.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  W       (output) COMPLEX*16 array, dimension (N)
-          If INFO &gt;= 0 and INFO &lt;= 3, W contains the eigenvalues of
-          the matrix A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0 or INFO = 1, ZWORK(1) returns the
-          optimal value of LZWORK.
-          On exit, if INFO = -16, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          If M &gt; 0, LZWORK &gt;= MAX(1,2*N+MAX(MIN(N,M)-2,0));
-          If M = 0, LZWORK &gt;= 1.
-          For optimum performance LZWORK should sometimes be larger.
-
-          If LZWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the ZWORK
-          array, returns this value as the first entry of the ZWORK
-          array, and no error message related to LZWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DICO = 'C' this means that while the matrix A
-                (or the factor S) has computed eigenvalues with
-                negative real parts, it is only just stable in the
-                sense that small perturbations in A can make one or
-                more of the eigenvalues have a non-negative real
-                part;
-                if DICO = 'D' this means that while the matrix A
-                (or the factor S) has computed eigenvalues inside
-                the unit circle, it is nevertheless only just
-                convergent, in the sense that small perturbations
-                in A can make one or more of the eigenvalues lie
-                outside the unit circle;
-                perturbed values were used to solve the equation;
-          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
-                not stable (that is, one or more of the eigenvalues
-                of A has a non-negative real part), or DICO = 'D',
-                but the matrix A is not convergent (that is, one or
-                more of the eigenvalues of A lies outside the unit
-                circle); however, A will still have been factored
-                and the eigenvalues of A returned in W;
-          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
-                supplied in the array A is not stable (that is, one
-                or more of the eigenvalues of S has a non-negative
-                real part), or DICO = 'D', but the Schur factor S
-                supplied in the array A is not convergent (that is,
-                one or more of the eigenvalues of S lies outside the
-                unit circle); the eigenvalues of A are still
-                returned in W;
-          = 6:  if FACT = 'N' and the LAPACK Library routine ZGEES
-                has failed to converge. This failure is not likely
-                to occur. The matrix B will be unaltered but A will
-                be destroyed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on the Bartels and Stewart
-  method [1], except that it finds the upper triangular matrix U
-  directly without first finding X and without the need to form the
-  normal matrix op(B)**H * op(B).
-
-  The Schur factorization of a square matrix A is given by
-            H
-     A = QSQ ,
-
-  where Q is unitary and S is an N-by-N upper triangular matrix.
-  If A has already been factored prior to calling the routine, then
-  the factors Q and S may be supplied and the initial factorization
-  omitted.
-
-  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
-  (QR factorization)
-         _   _
-     B = P ( R ), 
-           ( 0 )
-        _                                 _
-  where P is an M-by-M unitary matrix and R is a square upper
-                                      _   _
-  triangular matrix. Then, the matrix B = RQ is factored as
-     _
-     B = PR.
-
-  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
-
-     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
-            ( 0 ) 
-
-  If TRANS = 'C' and 6*M &gt; 7*N, the matrix B is factored as
-  (RQ factorization)
-              _   _
-     B = ( 0  R ) P,
-        _                                 _
-  where P is an M-by-M unitary matrix and R is a square upper
-                                      _    H _
-  triangular matrix. Then, the matrix B = Q  R is factored as
-     _
-     B = RP.
-                                             H
-  If TRANS = 'C' and 6*M &lt;= 7*N, the matrix Q  B is factored as
-
-      H                              H     ( Z )
-     Q  B = ( 0  R ) P,   M &gt;= N,   Q  B = (   ) P,   M &lt; N.
-                                           ( R )
-
-  These factorizations are utilised to either transform the
-  continuous-time Lyapunov equation to the canonical form
-         H      H              H                     2      H
-    op(S) *op(V) *op(V) + op(V) *op(V)*op(S) = -scale *op(F) *op(F),
-
-  or the discrete-time Lyapunov equation to the canonical form
-         H      H                    H               2      H
-    op(S) *op(V) *op(V)*op(S) - op(V) *op(V) = -scale *op(F) *op(F),
-
-  where V and F are upper triangular, and
-
-     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
-                           ( 0  0 )
-
-     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'C'.
-                           ( 0  R )
-
-  The transformed equation is then solved for V, from which U is
-  obtained via the QR factorization of V*Q**H, if TRANS = 'N', or
-  via the RQ factorization of Q*V, if TRANS = 'C'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if A is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned.  A symptom of ill-conditioning
-  is "large" elements in U relative to those of A and B, or a
-  "small" value for scale.
-
-  SB03OZ routine can be also used for solving "unstable" Lyapunov
-  equations, i.e., when matrix A has all eigenvalues with positive
-  real parts, if DICO = 'C', or with moduli greater than one,
-  if DICO = 'D'. Specifically, one may solve for X = op(U)**H*op(U)
-  either the continuous-time Lyapunov equation
-          H                    2      H
-     op(A) *X + X*op(A) = scale *op(B) *op(B),                   (3)
-
-  or the discrete-time Lyapunov equation
-          H                    2      H
-     op(A) *X*op(A) - X = scale *op(B) *op(B),                   (4)
-
-  provided, for equation (3), the given matrix A is replaced by -A,
-  or, for equation (4), the given matrices A and B are replaced by
-  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'C'),
-  respectively. Although the inversion generally can rise numerical
-  problems, in case of equation (4) it is expected that the matrix A
-  is enough well-conditioned, having only eigenvalues with moduli
-  greater than 1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03PD.html b/doc/_build/html/_static/doc/SB03PD.html
deleted file mode 100644
index e5bcafa9..00000000
--- a/doc/_build/html/_static/doc/SB03PD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03PD">SB03PD</A></H2>
-<H3>
-Solution of discrete-time Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real discrete Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = scale*C
-
-  and/or estimate the quantity, called separation,
-
-      sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C').
-  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
-  hand side C and the solution X are N-by-N, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03PD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
-     $                   SCALE, SEPD, FERR, WR, WI, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, TRANA
-      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, SCALE, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   U( LDU, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'B':  Compute both the solution and the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix in Schur canonical form.
-          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
-          part of this array contains the upper quasi-triangular
-          matrix in Schur canonical form from the Shur factorization
-          of A. The contents of array A is not modified if
-          FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If FACT = 'F', then U is an input argument and on entry
-          it must contain the orthogonal matrix U from the real
-          Schur factorization of A.
-          If FACT = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with JOB = 'X' or 'B', the leading N-by-N part of
-          this array must contain the symmetric matrix C.
-          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
-          the leading N-by-N part of C has been overwritten by the
-          symmetric solution matrix X.
-          If JOB = 'S', C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1,
-          SEPD contains the estimate in the 1-norm of
-          sepd(op(A),op(A)').
-          If JOB = 'X' or N = 0, SEPD is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
-          an estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the relative
-          error in the computed solution, measured in the Frobenius
-          norm:  norm(X - XTRUE)/norm(XTRUE).
-          If JOB = 'X' or JOB = 'S', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1 and
-          If JOB = 'X' then
-             If FACT = 'F', LDWORK &gt;= MAX(N*N,2*N);
-             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
-          If JOB = 'S' or JOB = 'B' then
-             LDWORK &gt;= 2*N*N + 2*N.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues (see LAPACK Library routine DGEES);
-                elements i+1:n of WR and WI contain eigenvalues
-                which have converged, and A contains the partially
-                converged Schur form;
-          = N+1:  if matrix A has almost reciprocal eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  a discrete-time version of the Bartels-Stewart algorithm is used.
-  A set of equivalent linear algebraic systems of equations of order
-  at most four are formed and solved using Gaussian elimination with
-  complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  SEPD is defined as
-
-         sepd( op(A), op(A)' ) = sigma_min( T )
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( op(A)', op(A)' ) - I(N**2).
-
-  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
-  Kronecker product. The program estimates sigma_min(T) by the
-  reciprocal of an estimate of the 1-norm of inverse(T). The true
-  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
-  more than a factor of N.
-
-  When SEPD is small, small changes in A, C can cause large changes
-  in the solution of the equation. An approximate bound on the
-  maximum relative error in the computed solution is
-
-                         EPS * norm(A)**2 / SEPD
-
-  where EPS is the machine precision.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03QD.html b/doc/_build/html/_static/doc/SB03QD.html
deleted file mode 100644
index b57d371a..00000000
--- a/doc/_build/html/_static/doc/SB03QD.html
+++ /dev/null
@@ -1,418 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03QD">SB03QD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of continuous-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real continuous-time Lyapunov matrix equation
-
-      op(A)'*X + X*op(A) = scale*C
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A is N-by-N, the right hand side C and the solution X are
-  N-by-N symmetric matrices, and scale is a given scale factor.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X and C.  N &gt;= 0.
-
-  SCALE   (input) DOUBLE PRECISION
-          The scale factor, scale, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the original matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sep(op(A),-op(A)').
-          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the continuous-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'C', then
-          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
-          LDWORK &gt;= MAX(1,2*N*N,5*N),     if FACT = 'N'.
-          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'O', then
-          LDWORK &gt;= MAX(1,3*N*N),         if FACT = 'F';
-          LDWORK &gt;= MAX(1,3*N*N,5*N),     if FACT = 'N'.
-          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'R', then
-          LDWORK &gt;= MAX(1,3*N*N+N-1),     if FACT = 'F';
-          LDWORK &gt;= MAX(1,3*N*N+N-1,5*N), if FACT = 'N'.
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations, but the matrix T, if given
-                (for FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the continuous-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W + W*op(A),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
-
-  The routine estimates the quantities
-
-  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEP is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1,
-     $                                    5*NMAX ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
-      INTEGER          I, INFO1, INFO2, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'C'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
-*        Solve the continuous-time Lyapunov matrix equation.
-         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
-     $                SCALE, SEP, FERR, DWORK(1), DWORK(N+1), IWORK,
-     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
-     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB03QD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            ELSE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-               WRITE ( NOUT, FMT = 99992 ) SEP
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03MD =',I2)
-99997 FORMAT (' INFO on exit from SB03QD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03QD EXAMPLE PROGRAM DATA
-   3     B     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03QD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   3.2604   2.7187   1.8616
-   2.7187   4.4271   0.5699
-   1.8616   0.5699   6.0461
-
- Scaling factor =   1.0000
-
- Estimated separation =   4.9068
-
- Estimated reciprocal condition number =   0.3611
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03QX.html b/doc/_build/html/_static/doc/SB03QX.html
deleted file mode 100644
index c6664ff9..00000000
--- a/doc/_build/html/_static/doc/SB03QX.html
+++ /dev/null
@@ -1,197 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03QX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03QX">SB03QX</A></H2>
-<H3>
-Estimating a forward error bound for the solution of a continuous-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate a forward error bound for the solution X of a real
-  continuous-time Lyapunov matrix equation,
-
-         op(A)'*X + X*op(A) = C,
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A, the right hand side C, and the solution X are N-by-N.
-  An absolute residual matrix, which takes into account the rounding
-  errors in forming it, is given in the array R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03QX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
-     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, XANORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
-     $                   U( LDU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix R is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and R.  N &gt;= 0.
-
-  XANORM  (input) DOUBLE PRECISION
-          The absolute (maximal) norm of the symmetric solution
-          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On exit, the leading N-by-N part of this array contains
-          the symmetric absolute residual matrix R (with bounds on
-          rounding errors added), fully stored.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  FERR    (output) DOUBLE PRECISION
-          An estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the magnitude
-          of the largest entry in (X - XTRUE) divided by the
-          magnitude of the largest entry in X.
-          If N = 0 or XANORM = 0, FERR is set to 0, without any
-          calculations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations (but the matrix T is
-                unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1], based on the 1-norm estimator
-  in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [2] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  The routine can be also used as a final step in estimating a
-  forward error bound for the solution of a continuous-time
-  algebraic matrix Riccati equation.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03QY.html b/doc/_build/html/_static/doc/SB03QY.html
deleted file mode 100644
index f9eaa746..00000000
--- a/doc/_build/html/_static/doc/SB03QY.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03QY">SB03QY</A></H2>
-<H3>
-Estimating separation between op(A) and -op(A)' and 1-norm of Theta operator for a continuous-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the separation between the matrices op(A) and -op(A)',
-
-  sep(op(A),-op(A)') = min norm(op(A)'*X + X*op(A))/norm(X)
-                     = 1 / norm(inv(Omega))
-
-  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
-  Omega and Theta are linear operators associated to the real
-  continuous-time Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = C,
-
-  defined by
-
-  Omega(W) = op(A)'*W + W*op(A),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
-
-  The 1-norm condition estimators are used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03QY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, X, LDX,
-     $                   SEP, THNORM, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, LYAPUN, TRANA
-      INTEGER            INFO, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   SEP, THNORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'S':  Compute the separation only;
-          = 'T':  Compute the norm of Theta only;
-          = 'B':  Compute both the separation and the norm of Theta.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          solution matrix X of the Lyapunov equation (reduced
-          Lyapunov equation if LYAPUN = 'R').
-          If JOB = 'S', the array X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOB = 'S';
-          LDX &gt;= MAX(1,N), if JOB = 'T' or 'B'.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEP contains the
-          estimated separation of the matrices op(A) and -op(A)'.
-          If JOB = 'T' or N = 0, SEP is not referenced.
-
-  THNORM  (output) DOUBLE PRECISION
-          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
-          the estimated 1-norm of operator Theta.
-          If JOB = 'S' or N = 0, THNORM is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations (but the matrix T is
-                unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  SEP is defined as the separation of op(A) and -op(A)':
-
-         sep( op(A), -op(A)' ) = sigma_min( K )
-
-  where sigma_min(K) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     K = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
-
-  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
-  product. The routine estimates sigma_min(K) by the reciprocal of
-  an estimate of the 1-norm of inverse(K), computed as suggested in
-  [1]. This involves the solution of several continuous-time
-  Lyapunov equations, either direct or transposed. The true
-  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
-  more than a factor of N.
-  The 1-norm of Theta is estimated similarly.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  When SEP is zero, the routine returns immediately, with THNORM
-  (if requested) not set. In this case, the equation is singular.
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03RD.html b/doc/_build/html/_static/doc/SB03RD.html
deleted file mode 100644
index 6a97cf93..00000000
--- a/doc/_build/html/_static/doc/SB03RD.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03RD">SB03RD</A></H2>
-<H3>
-Solution of continuous-time Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = scale*C
-
-  and/or estimate the separation between the matrices op(A) and
-  -op(A)', where op(A) = A or A' (A**T) and C is symmetric (C = C').
-  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
-  hand side C and the solution X are N-by-N, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03RD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
-     $                   SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, TRANA
-      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   U( LDU, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'B':  Compute both the solution and the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix in Schur canonical form.
-          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
-          part of this array contains the upper quasi-triangular
-          matrix in Schur canonical form from the Shur factorization
-          of A. The contents of array A is not modified if
-          FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If FACT = 'F', then U is an input argument and on entry
-          it must contain the orthogonal matrix U from the real
-          Schur factorization of A.
-          If FACT = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with JOB = 'X' or 'B', the leading N-by-N part of
-          this array must contain the symmetric matrix C.
-          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
-          the leading N-by-N part of C has been overwritten by the
-          symmetric solution matrix X.
-          If JOB = 'S', C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
-          contains the estimated separation of the matrices op(A)
-          and -op(A)'.
-          If JOB = 'X' or N = 0, SEP is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
-          an estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the relative
-          error in the computed solution, measured in the Frobenius
-          norm:  norm(X - XTRUE)/norm(XTRUE).
-          If JOB = 'X' or JOB = 'S', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1 and
-          If JOB = 'X' then
-             If FACT = 'F', LDWORK &gt;= N*N;
-             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
-          If JOB = 'S' or JOB = 'B' then
-             If FACT = 'F', LDWORK &gt;= 2*N*N;
-             If FACT = 'N', LDWORK &gt;= MAX(2*N*N,3*N).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues (see LAPACK Library routine DGEES);
-                elements i+1:n of WR and WI contain eigenvalues
-                which have converged, and A contains the partially
-                converged Schur form;
-          = N+1:  if the matrices A and -A' have common or very
-                close eigenvalues; perturbed values were used to
-                solve the equation (but the matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  the Bartels-Stewart algorithm is used. A set of equivalent linear
-  algebraic systems of equations of order at most four are formed
-  and solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  SEP is defined as the separation of op(A) and -op(A)':
-
-         sep( op(A), -op(A)' ) = sigma_min( T )
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( I(N), op(A)' ) + kprod( op(A), I(N) ).
-
-  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
-  product. The program estimates sigma_min(T) by the reciprocal of
-  an estimate of the 1-norm of inverse(T). The true reciprocal
-  1-norm of inverse(T) cannot differ from sigma_min(T) by more
-  than a factor of N.
-
-  When SEP is small, small changes in A, C can cause large changes
-  in the solution of the equation. An approximate bound on the
-  maximum relative error in the computed solution is
-
-                         EPS * norm(A) / SEP
-
-  where EPS is the machine precision.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03SD.html b/doc/_build/html/_static/doc/SB03SD.html
deleted file mode 100644
index 9c0193c8..00000000
--- a/doc/_build/html/_static/doc/SB03SD.html
+++ /dev/null
@@ -1,417 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03SD">SB03SD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of discrete-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real discrete-time Lyapunov matrix equation
-
-      op(A)'*X*op(A) - X = scale*C
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A is N-by-N, the right hand side C and the solution X are
-  N-by-N symmetric matrices, and scale is a given scale factor.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X and C.  N &gt;= 0.
-
-  SCALE   (input) DOUBLE PRECISION
-          The scale factor, scale, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the original matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          The array X is modified internally, but restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sepd(op(A),op(A)').
-          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the discrete-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 1,                            if N = 0; else,
-          LDWORK &gt;= MAX(3,2*N*N) + N*N,           if JOB  = 'C',
-                                                     FACT = 'F';
-          LDWORK &gt;= MAX(MAX(3,2*N*N) + N*N, 5*N), if JOB  = 'C',
-                                                     FACT = 'N';
-          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N,     if JOB  = 'E', or
-                                                     JOB  = 'B'.
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrix T has almost reciprocal eigenvalues;
-                perturbed values were used to solve Lyapunov
-                equations, but the matrix T, if given (for
-                FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the discrete-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W*op(A) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
-
-  The routine estimates the quantities
-
-  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEPD is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
-     $                                 NMAX*NMAX + 2*NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
-      INTEGER          I, INFO1, INFO2, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03SD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'D'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
-*        Solve the discrete-time Lyapunov matrix equation.
-         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
-     $                SCALE, SEPD, FERR, DWORK(1), DWORK(N+1), IWORK,
-     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
-     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB03SD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            ELSE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-               WRITE ( NOUT, FMT = 99992 ) SEPD
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03MD =',I2)
-99997 FORMAT (' INFO on exit from SB03SD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03SD EXAMPLE PROGRAM DATA
-   3     B     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03SD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   2.0000   1.0000   1.0000
-   1.0000   3.0000   0.0000
-   1.0000   0.0000   4.0000
-
- Scaling factor =   1.0000
-
- Estimated separation =   5.2302
-
- Estimated reciprocal condition number =   0.1832
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03SX.html b/doc/_build/html/_static/doc/SB03SX.html
deleted file mode 100644
index 426ea8e1..00000000
--- a/doc/_build/html/_static/doc/SB03SX.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03SX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03SX">SB03SX</A></H2>
-<H3>
-Estimating a forward error bound for the solution of a discrete-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate a forward error bound for the solution X of a real
-  discrete-time Lyapunov matrix equation,
-
-         op(A)'*X*op(A) - X = C,
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A, the right hand side C, and the solution X are N-by-N.
-  An absolute residual matrix, which takes into account the rounding
-  errors in forming it, is given in the array R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03SX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
-     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, XANORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
-     $                   U( LDU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix R is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and R.  N &gt;= 0.
-
-  XANORM  (input) DOUBLE PRECISION
-          The absolute (maximal) norm of the symmetric solution
-          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On exit, the leading N-by-N part of this array contains
-          the symmetric absolute residual matrix R (with bounds on
-          rounding errors added), fully stored.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  FERR    (output) DOUBLE PRECISION
-          An estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the magnitude
-          of the largest entry in (X - XTRUE) divided by the
-          magnitude of the largest entry in X.
-          If N = 0 or XANORM = 0, FERR is set to 0, without any
-          calculations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,            if N = 0;
-          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if T has almost reciprocal eigenvalues; perturbed
-                values were used to solve Lyapunov equations (but
-                the matrix T is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1], based on the 1-norm estimator
-  in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [2] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  The routine can be also used as a final step in estimating a
-  forward error bound for the solution of a discrete-time algebraic
-  matrix Riccati equation.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03SY.html b/doc/_build/html/_static/doc/SB03SY.html
deleted file mode 100644
index 5f039b5b..00000000
--- a/doc/_build/html/_static/doc/SB03SY.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03SY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03SY">SB03SY</A></H2>
-<H3>
-Estimating separation between op(A) and op(A)' and 1-norm of Theta operator for a discrete-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the "separation" between the matrices op(A) and
-  op(A)',
-
-  sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
-                     = 1 / norm(inv(Omega))
-
-  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
-  Omega and Theta are linear operators associated to the real
-  discrete-time Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = C,
-
-  defined by
-
-  Omega(W) = op(A)'*W*op(A) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
-
-  The 1-norm condition estimators are used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03SY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, XA,
-     $                   LDXA, SEPD, THNORM, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, LYAPUN, TRANA
-      INTEGER            INFO, LDT, LDU, LDWORK, LDXA, N
-      DOUBLE PRECISION   SEPD, THNORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
-     $                   XA( LDXA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'S':  Compute the separation only;
-          = 'T':  Compute the norm of Theta only;
-          = 'B':  Compute both the separation and the norm of Theta.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  XA      (input) DOUBLE PRECISION array, dimension (LDXA,N)
-          The leading N-by-N part of this array must contain the
-          matrix product X*op(A), if LYAPUN = 'O', or U'*X*U*op(T),
-          if LYAPUN = 'R', in the Lyapunov equation.
-          If JOB = 'S', the array XA is not referenced.
-
-  LDXA    INTEGER
-          The leading dimension of array XA.
-          LDXA &gt;= 1,        if JOB = 'S';
-          LDXA &gt;= MAX(1,N), if JOB = 'T' or 'B'.
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEPD contains
-          the estimated quantity sepd(op(A),op(A)').
-          If JOB = 'T' or N = 0, SEPD is not referenced.
-
-  THNORM  (output) DOUBLE PRECISION
-          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
-          the estimated 1-norm of operator Theta.
-          If JOB = 'S' or N = 0, THNORM is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,            if N = 0;
-          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if T has (almost) reciprocal eigenvalues;
-                perturbed values were used to solve Lyapunov
-                equations (but the matrix T is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  SEPD is defined as
-
-         sepd( op(A), op(A)' ) = sigma_min( K )
-
-  where sigma_min(K) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     K = kprod( op(A)', op(A)' ) - I(N**2).
-
-  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
-  Kronecker product. The routine estimates sigma_min(K) by the
-  reciprocal of an estimate of the 1-norm of inverse(K), computed as
-  suggested in [1]. This involves the solution of several discrete-
-  time Lyapunov equations, either direct or transposed. The true
-  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
-  more than a factor of N.
-  The 1-norm of Theta is estimated similarly.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  When SEPD is zero, the routine returns immediately, with THNORM
-  (if requested) not set. In this case, the equation is singular.
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB03TD.html b/doc/_build/html/_static/doc/SB03TD.html
deleted file mode 100644
index 0fe2d83b..00000000
--- a/doc/_build/html/_static/doc/SB03TD.html
+++ /dev/null
@@ -1,469 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03TD">SB03TD</A></H2>
-<H3>
-Solution of continuous-time Lyapunov equations and condition and error bounds estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real continuous-time Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = scale*C,
-
-  estimate the conditioning, and compute an error bound on the
-  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
-  the right hand side C and the solution X are N-by-N symmetric
-  matrices (C = C', X = X'), and scale is an output scale factor,
-  set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
-     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'A':  Compute all: the solution, separation, reciprocal
-                  condition number, and the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original or "reduced"
-          Lyapunov equations should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-                  This means that a real Schur form T of A appears
-                  in the equation, instead of A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  SCALE   (input or output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
-          the scale factor, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
-          the scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-          If JOB = 'S', this argument is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
-          leading N-by-N part of this array must contain the
-          original matrix A.
-          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
-                                            JOB &lt;&gt; 'X';
-          LDA &gt;= 1,        otherwise.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-          The contents of array T is not modified if FACT = 'F'.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          The remaining strictly triangular part of this array is
-          used as workspace.
-          If JOB = 'X', then this array may be identified with X
-          in the call of this routine.
-          If JOB = 'S', the array C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  X       (input or output) DOUBLE PRECISION array, dimension
-          (LDX,N)
-          If JOB = 'C' or 'E', then X is an input argument and on
-          entry, the leading N-by-N part of this array must contain
-          the symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB = 'X' or 'A', then X is an output argument and on
-          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
-          of this array contains the symmetric solution matrix X of
-          of the original Lyapunov equation (with matrix A), if
-          LYAPUN = 'O', or of the reduced Lyapunov equation (with
-          matrix T), if LYAPUN = 'R'.
-          If JOB = 'S', the array X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.
-          LDX &gt;= 1,        if JOB = 'S';
-          LDX &gt;= MAX(1,N), otherwise.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
-          INFO = N+1, SEP contains the estimated separation of the
-          matrices op(A) and -op(A)', sep(op(A),-op(A)').
-          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEP is not
-          referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
-          condition number of the continuous-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
-          referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
-          FERR contains an estimated forward error bound for the
-          solution X. If XTRUE is the true solution, FERR bounds the
-          relative error in the computed solution, measured in the
-          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
-          referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If JOB = 'X', then
-          LDWORK &gt;= MAX(1,N*N),           if FACT = 'F';
-          LDWORK &gt;= MAX(1,MAX(N*N,3*N)),  if FACT = 'N'.
-          If JOB = 'S' or JOB = 'C', then
-          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
-          LDWORK &gt;= MAX(1,2*N*N,3*N),     if FACT = 'N'.
-          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'O', then
-          LDWORK &gt;= MAX(1,3*N*N);
-          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'R', then
-          LDWORK &gt;= MAX(1,3*N*N+N-1).
-          For optimum performance LDWORK should sometimes be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and the elements i+1:n of WR and WI
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations, but the matrix T, if given
-                (for FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  the Bartels-Stewart algorithm is used. A set of equivalent linear
-  algebraic systems of equations of order at most four are formed
-  and solved using Gaussian elimination with complete pivoting.
-
-  The condition number of the continuous-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W + W*op(A),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
-
-  The routine estimates the quantities
-
-  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The separation of op(A) and -op(A)' can also be defined as
-
-         sep( op(A), -op(A)' ) = sigma_min( T ),
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
-
-  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
-  product. The routine estimates sigma_min(T) by the reciprocal of
-  an estimate of the 1-norm of inverse(T). The true reciprocal
-  1-norm of inverse(T) cannot differ from sigma_min(T) by more
-  than a factor of N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03TD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'C'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $                               READ ( NIN, FMT = * ) SCALE
-         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
-     $                             .NOT.LSAME( JOB, 'X') ) )
-     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-            IF ( LSAME( LYAPUN, 'O' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( .NOT.LSAME( JOB, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Solve the continuous-time Lyapunov matrix equation and/or
-*        estimate the condition and error bound on the solution.
-         CALL SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
-     $                T, LDT, U, LDU, C, LDC, X, LDX, SEP, RCOND, FERR,
-     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
-     $                LDWORK-2*N, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-            END IF
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
-     $                             .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) SEP
-            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99991 ) RCOND
-            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99990 ) FERR
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03TD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03TD EXAMPLE PROGRAM DATA
-   3     A     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03TD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   3.2604   2.7187   1.8616
-   2.7187   4.4271   0.5699
-   1.8616   0.5699   6.0461
-
- Scaling factor =   1.0000
-
- Estimated separation =   4.9068
-
- Estimated reciprocal condition number =   0.3611
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,474 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03UD">SB03UD</A></H2>
-<H3>
-Solution of discrete-time Lyapunov equations and condition and error bounds estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real discrete-time Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = scale*C,
-
-  estimate the conditioning, and compute an error bound on the
-  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
-  the right hand side C and the solution X are N-by-N symmetric
-  matrices (C = C', X = X'), and scale is an output scale factor,
-  set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
-     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'A':  Compute all: the solution, separation, reciprocal
-                  condition number, and the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original or "reduced"
-          Lyapunov equations should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-                  This means that a real Schur form T of A appears
-                  in the equation, instead of A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  SCALE   (input or output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
-          the scale factor, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
-          the scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-          If JOB = 'S', this argument is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
-          leading N-by-N part of this array must contain the
-          original matrix A.
-          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
-                                            JOB &lt;&gt; 'X';
-          LDA &gt;= 1,        otherwise.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-          The contents of array T is not modified if FACT = 'F'.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          The remaining strictly triangular part of this array is
-          used as workspace.
-          If JOB = 'X', then this array may be identified with X
-          in the call of this routine.
-          If JOB = 'S', the array C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  X       (input or output) DOUBLE PRECISION array, dimension
-          (LDX,N)
-          If JOB = 'C' or 'E', then X is an input argument and on
-          entry, the leading N-by-N part of this array must contain
-          the symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB = 'X' or 'A', then X is an output argument and on
-          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
-          of this array contains the symmetric solution matrix X of
-          of the original Lyapunov equation (with matrix A), if
-          LYAPUN = 'O', or of the reduced Lyapunov equation (with
-          matrix T), if LYAPUN = 'R'.
-          If JOB = 'S', the array X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.
-          LDX &gt;= 1,        if JOB = 'S';
-          LDX &gt;= MAX(1,N), otherwise.
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
-          INFO = N+1, SEPD contains the estimated separation of the
-          matrices op(A) and op(A)', sepd(op(A),op(A)').
-          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEPD is not
-          referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
-          condition number of the continuous-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
-          referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
-          FERR contains an estimated forward error bound for the
-          solution X. If XTRUE is the true solution, FERR bounds the
-          relative error in the computed solution, measured in the
-          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
-          referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If JOB = 'X', then
-          LDWORK &gt;= MAX(1,N*N,2*N),       if FACT = 'F';
-          LDWORK &gt;= MAX(1,N*N,3*N),       if FACT = 'N'.
-          If JOB = 'S', then
-          LDWORK &gt;= MAX(3,2*N*N).
-          If JOB = 'C', then
-          LDWORK &gt;= MAX(3,2*N*N) + N*N.
-          If JOB = 'E', or JOB = 'A', then
-          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N.
-          For optimum performance LDWORK should sometimes be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and the elements i+1:n of WR and WI
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrix T has almost reciprocal eigenvalues;
-                perturbed values were used to solve Lyapunov
-                equations, but the matrix T, if given (for
-                FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  a discrete-time version of the Bartels-Stewart algorithm is used.
-  A set of equivalent linear algebraic systems of equations of order
-  at most four are formed and solved using Gaussian elimination with
-  complete pivoting.
-
-  The condition number of the discrete-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W*op(A) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
-
-  The routine estimates the quantities
-
-  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [3] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The "separation" sepd of op(A) and op(A)' can also be defined as
-
-         sepd( op(A), op(A)' ) = sigma_min( T ),
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( op(A)', op(A)' ) - I(N**2).
-
-  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
-  Kronecker product. The routine estimates sigma_min(T) by the
-  reciprocal of an estimate of the 1-norm of inverse(T). The true
-  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
-  more than a factor of N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
-     $                                 NMAX*NMAX + 2*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03UD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'D'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $                               READ ( NIN, FMT = * ) SCALE
-         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
-     $                             .NOT.LSAME( JOB, 'X') ) )
-     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-            IF ( LSAME( LYAPUN, 'O' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( .NOT.LSAME( JOB, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Solve the discrete-time Lyapunov matrix equation and/or
-*        estimate the condition and error bound on the solution.
-         CALL SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
-     $                T, LDT, U, LDU, C, LDC, X, LDX, SEPD, RCOND, FERR,
-     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
-     $                LDWORK-2*N, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-            END IF
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
-     $                             .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) SEPD
-            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99991 ) RCOND
-            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99990 ) FERR
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03UD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03UD EXAMPLE PROGRAM DATA
-   3     A     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03UD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   2.0000   1.0000   1.0000
-   1.0000   3.0000   0.0000
-   1.0000   0.0000   4.0000
-
- Scaling factor =   1.0000
-
- Estimated separation =   5.2302
-
- Estimated reciprocal condition number =   0.1832
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MD.html b/doc/_build/html/_static/doc/SB04MD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/SB04MD.html
+++ /dev/null
@@ -1,264 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MD">SB04MD</A></H2>
-<H3>
-Solution of continuous-time Sylvester equations (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the continuous-time Sylvester equation
-
-     AX + XB = C
-
-  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
-  N-by-M matrices respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A of the equation.
-          On exit, the leading N-by-N upper Hessenberg part of this
-          array contains the matrix H, and the remainder of the
-          leading N-by-N part, together with the elements 2,3,...,N
-          of array DWORK, contain the orthogonal transformation
-          matrix U (stored in factored form).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix B of the equation.
-          On exit, the leading M-by-M part of this array contains
-          the quasi-triangular Schur factor S of the matrix B'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading N-by-M part of this array contains
-          the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
-          The leading M-by-M part of this array contains the
-          orthogonal matrix Z used to transform B' to real upper
-          Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
-          the scalar factors of the elementary reflectors used to
-          reduce A to upper Hessenberg form, as returned by LAPACK
-          Library routine DGEHRD.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = MAX(1, 2*N*N + 8*N, 5*M, N + M).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
-                compute all the eigenvalues (see LAPACK Library
-                routine DGEES);
-          &gt; M:  if a singular matrix was encountered whilst solving
-                for the (INFO-M)-th column of matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A is transformed to upper Hessenberg form H = U'AU by
-  the orthogonal transformation matrix U; matrix B' is transformed
-  to real upper Schur form S = Z'B'Z using the orthogonal
-  transformation matrix Z. The matrix C is also multiplied by the
-  transformations, F = U'CZ, and the solution matrix Y of the
-  transformed system
-
-     HY + YS' = F
-
-  is computed by back substitution. Finally, the matrix Y is then
-  multiplied by the orthogonal transformation matrices, X = UYZ', in
-  order to obtain the solution matrix X to the original problem.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3       3      2         2
-  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
-  operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
-     $                   LDZ = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 4*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+8*NMAX, 5*MMAX,
-     $                   NMAX+MMAX ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK), Z(LDZ,MMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04MD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The orthogonal matrix Z is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04MD EXAMPLE PROGRAM DATA
-   3     2
-   2.0   1.0   3.0
-   0.0   2.0   1.0
-   6.0   1.0   2.0
-   2.0   1.0
-   1.0   6.0
-   2.0   1.0
-   1.0   4.0
-   0.0   5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04MD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-  -2.7685   0.5498
-  -1.0531   0.6865
-   4.5257  -0.4389
-
- The orthogonal matrix Z is 
-  -0.9732  -0.2298
-   0.2298  -0.9732
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MR.html b/doc/_build/html/_static/doc/SB04MR.html
deleted file mode 100644
index 9b9b44ac..00000000
--- a/doc/_build/html/_static/doc/SB04MR.html
+++ /dev/null
@@ -1,113 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MR">SB04MR</A></H2>
-<H3>
-Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a linear algebraic system of order M whose coefficient
-  matrix has zeros below the second subdiagonal. The matrix is
-  stored compactly, row-wise.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MR( M, D, IPR, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the system.  M &gt;= 0.
-          Note that parameter M should have twice the value in the
-          original problem (see SLICOT Library routine SB04MU).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (M*(M+1)/2+3*M)
-          On entry, the first M*(M+1)/2 + 2*M elements of this array
-          must contain the coefficient matrix, stored compactly,
-          row-wise, and the next M elements must contain the right
-          hand side of the linear system, as set by SLICOT Library
-          routine SB04MU.
-          On exit, the content of this array is updated, the last M
-          elements containing the solution with components
-          interchanged (see IPR).
-
-  IPR     (output) INTEGER array, dimension (2*M)
-          The leading M elements contain information about the
-          row interchanges performed for solving the system.
-          Specifically, the i-th component of the solution is
-          specified by IPR(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with partial pivoting is used. The rows of
-  the matrix are not actually permuted, only their indices are
-  interchanged in array IPR.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MU.html b/doc/_build/html/_static/doc/SB04MU.html
deleted file mode 100644
index d38ade39..00000000
--- a/doc/_build/html/_static/doc/SB04MU.html
+++ /dev/null
@@ -1,133 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MU">SB04MU</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order 2*M
-  whose coefficient matrix has zeros below the second subdiagonal.
-  Such systems appear when solving continuous-time Sylvester
-  equations using the Hessenberg-Schur method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          IND and IND - 1 specify the indices of the columns in C
-          to be computed.  IND &gt; 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with columns IND-1 and IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (2*M*M+7*M)
-
-  IPR     INTEGER array, dimension (4*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order 2*M, whose coefficient
-  matrix has zeros below the second subdiagonal is constructed and
-  solved. The coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MW.html b/doc/_build/html/_static/doc/SB04MW.html
deleted file mode 100644
index 9388dd2c..00000000
--- a/doc/_build/html/_static/doc/SB04MW.html
+++ /dev/null
@@ -1,110 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MW">SB04MW</A></H2>
-<H3>
-Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a linear algebraic system of order M whose coefficient
-  matrix is in upper Hessenberg form, stored compactly, row-wise.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MW( M, D, IPR, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the system.  M &gt;= 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (M*(M+1)/2+2*M)
-          On entry, the first M*(M+1)/2 + M elements of this array
-          must contain an upper Hessenberg matrix, stored compactly,
-          row-wise, and the next M elements must contain the right
-          hand side of the linear system, as set by SLICOT Library
-          routine SB04MY.
-          On exit, the content of this array is updated, the last M
-          elements containing the solution with components
-          interchanged (see IPR).
-
-  IPR     (output) INTEGER array, dimension (2*M)
-          The leading M elements contain information about the
-          row interchanges performed for solving the system.
-          Specifically, the i-th component of the solution is
-          specified by IPR(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with partial pivoting is used. The rows of
-  the matrix are not actually permuted, only their indices are
-  interchanged in array IPR.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04MY.html b/doc/_build/html/_static/doc/SB04MY.html
deleted file mode 100644
index d6b3bfa9..00000000
--- a/doc/_build/html/_static/doc/SB04MY.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MY">SB04MY</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order M whose
-  coefficient matrix is in upper Hessenberg form. Such systems
-  appear when solving Sylvester equations using the Hessenberg-Schur
-  method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          The index of the column in C to be computed.  IND &gt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with column IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
-
-  IPR     INTEGER array, dimension (2*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order M, with coefficient
-  matrix in upper Hessenberg form is constructed and solved. The
-  coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04ND.html b/doc/_build/html/_static/doc/SB04ND.html
deleted file mode 100644
index a04012d5..00000000
--- a/doc/_build/html/_static/doc/SB04ND.html
+++ /dev/null
@@ -1,286 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04ND">SB04ND</A></H2>
-<H3>
-Solution of continuous-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the continuous-time Sylvester equation
-
-     AX + XB = C,
-
-  with at least one of the matrices A or B in Schur form and the
-  other in Hessenberg or Schur form (both either upper or lower);
-  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
-  respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHU, ULA, ULB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHU  CHARACTER*1
-          Indicates whether A and/or B is/are in Schur or
-          Hessenberg form as follows:
-          = 'A':  A is in Schur form, B is in Hessenberg form;
-          = 'B':  B is in Schur form, A is in Hessenberg form;
-          = 'S':  Both A and B are in Schur form.
-
-  ULA     CHARACTER*1
-          Indicates whether A is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
-                  upper Schur form otherwise;
-          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
-                  lower Schur form otherwise.
-
-  ULB     CHARACTER*1
-          Indicates whether B is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
-                  upper Schur form otherwise;
-          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
-                  lower Schur form otherwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading M-by-M part of this array must contain the
-          coefficient matrix B of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity in
-          the Sylvester equation. If the user sets TOL &gt; 0, then the
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number; a matrix whose estimated
-          condition number is less than 1/TOL is considered to be
-          nonsingular. If the user sets TOL &lt;= 0, then a default
-          tolerance, defined by TOLDEF = EPS, is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*MAX(M,N))
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = 0, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
-          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if a (numerically) singular matrix T was encountered
-                during the computation of the solution matrix X.
-                That is, the estimated reciprocal condition number
-                of T is less than or equal to TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrices A and B are assumed to be in (upper or lower) Hessenberg
-  or Schur form (with at least one of them in Schur form). The
-  solution matrix X is then computed by rows or columns via the back
-  substitution scheme proposed by Golub, Nash and Van Loan (see
-  [1]), which involves the solution of triangular systems of
-  equations that are constructed recursively and which may be nearly
-  singular if A and -B have close eigenvalues. If near singularity
-  is detected, then the routine returns with the Error Indicator
-  (INFO) set to 1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         2         2
-  The algorithm requires approximately 5M N + 0.5MN  operations in
-                         2         2
-  the worst case and 2.5M N + 0.5MN  operations in the best case
-  (where M is the order of the matrix in Hessenberg form and N is
-  the order of the matrix in Schur form) and is mixed stable (see
-  [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
-     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      ABSCHU, ULA, ULB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04ND = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04ND EXAMPLE PROGRAM DATA
-   5     3     0.0     U     U     B
-  17.0  24.0   1.0   8.0  15.0
-  23.0   5.0   7.0  14.0  16.0
-   0.0   6.0  13.0  20.0  22.0
-   0.0   0.0  19.0  21.0   3.0
-   0.0   0.0   0.0   2.0   9.0
-   8.0   1.0   6.0
-   0.0   5.0   7.0
-   0.0   9.0   2.0
-  62.0 -12.0  26.0
-  59.0 -10.0  31.0
-  70.0  -6.0   9.0
-  35.0  31.0  -7.0
-  36.0 -15.0   7.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   0.0000   0.0000   1.0000
-   1.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000
-   1.0000   1.0000  -1.0000
-   2.0000  -2.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NV.html b/doc/_build/html/_static/doc/SB04NV.html
deleted file mode 100644
index 60c81043..00000000
--- a/doc/_build/html/_static/doc/SB04NV.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NV">SB04NV</A></H2>
-<H3>
-Constructing the right-hand sides for a system of equations in Hessenberg form solved via SB04NX (case with 2 right-hand sides)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand sides D for a system of equations in
-  Hessenberg form solved via SB04NX (case with 2 right-hand sides).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation AX + XB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the first column/row of C to be used in
-          the construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          AX + XB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading 2*N or 2*M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side stored as a matrix with two rows.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NW.html b/doc/_build/html/_static/doc/SB04NW.html
deleted file mode 100644
index 547bf6c6..00000000
--- a/doc/_build/html/_static/doc/SB04NW.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NW">SB04NW</A></H2>
-<H3>
-Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04NY
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand side D for a system of equations in
-  Hessenberg form solved via SB04NY (case with 1 right-hand side).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation AX + XB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the column/row of C to be used in the
-          construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          AX + XB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading N or M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NX.html b/doc/_build/html/_static/doc/SB04NX.html
deleted file mode 100644
index 14ccc748..00000000
--- a/doc/_build/html/_static/doc/SB04NX.html
+++ /dev/null
@@ -1,140 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NX">SB04NX</A></H2>
-<H3>
-Solving a system of equations in Hessenberg form with two consecutive offdiagonals and two right-hand sides
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in Hessenberg form with two
-  consecutive offdiagonals and two right-hand sides.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
-     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBD1, (input) DOUBLE PRECISION
-  LAMBD2, These variables must contain the 2-by-2 block to be added
-  LAMBD3, to the diagonal blocks of A.
-  LAMBD4
-
-  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
-          On entry, this array must contain the two right-hand
-          side vectors of the Hessenberg system, stored row-wise.
-          On exit, if INFO = 0, this array contains the two solution
-          vectors of the Hessenberg system, stored row-wise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the Hessenberg matrix. A matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
-          The leading 2*M-by-2*M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the Hessenberg matrix. The remaining 6*M elements are
-          used as workspace for the computation of the reciprocal
-          condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.
-          LDDWOR &gt;= MAX(1,2*M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Hessenberg matrix is (numerically) singular.
-                That is, its estimated reciprocal condition number
-                is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04NY.html b/doc/_build/html/_static/doc/SB04NY.html
deleted file mode 100644
index 1afd64be..00000000
--- a/doc/_build/html/_static/doc/SB04NY.html
+++ /dev/null
@@ -1,138 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NY">SB04NY</A></H2>
-<H3>
-Solving a system of equations in Hessenberg form with one offdiagonal and one right-hand side
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in Hessenberg form with one
-  offdiagonal and one right-hand side.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
-     $                   DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBDA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBDA  (input) DOUBLE PRECISION
-          This variable must contain the value to be added to the
-          diagonal elements of A.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (M)
-          On entry, this array must contain the right-hand side
-          vector of the Hessenberg system.
-          On exit, if INFO = 0, this array contains the solution
-          vector of the Hessenberg system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the Hessenberg matrix. A matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
-          The leading M-by-M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the Hessenberg matrix. The remaining 3*M elements are
-          used as workspace for the computation of the reciprocal
-          condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Hessenberg matrix is (numerically) singular.
-                That is, its estimated reciprocal condition number
-                is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04OD.html b/doc/_build/html/_static/doc/SB04OD.html
deleted file mode 100644
index e486b054..00000000
--- a/doc/_build/html/_static/doc/SB04OD.html
+++ /dev/null
@@ -1,582 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04OD">SB04OD</A></H2>
-<H3>
-Solution of generalized Sylvester equations with separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for R and L one of the generalized Sylvester equations
-
-     A * R - L * B = scale * C )
-                               )                                 (1)
-     D * R - L * E = scale * F )
-
-  or
-
-     A' * R + D' * L = scale * C    )
-                                    )                            (2)
-     R * B' + L * E' = scale * (-F) )
-
-  where A and D are M-by-M matrices, B and E are N-by-N matrices and
-  C, F, R and L are M-by-N matrices.
-
-  The solution (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an
-  output scaling factor chosen to avoid overflow.
-
-  The routine also optionally computes a Dif estimate, which
-  measures the separation of the spectrum of the matrix pair (A,D)
-  from the spectrum of the matrix pair (B,E), Dif[(A,D),(B,E)].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
-     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBD, REDUCE, TRANS
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ,
-     $                  LDU, LDV, LDWORK, M, N
-      DOUBLE PRECISION  DIF, SCALE
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*), F(LDF,*), P(LDP,*),
-     $                  Q(LDQ,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  REDUCE  CHARACTER*1
-          Indicates whether the matrix pairs (A,D) and/or (B,E) are
-          to be reduced to generalized Schur form as follows:
-          = 'R':  The matrix pairs (A,D) and (B,E) are to be reduced
-                  to generalized (real) Schur canonical form;
-          = 'A':  The matrix pair (A,D) only is to be reduced
-                  to generalized (real) Schur canonical form,
-                  and the matrix pair (B,E) already is in this form;
-          = 'B':  The matrix pair (B,E) only is to be reduced
-                  to generalized (real) Schur canonical form,
-                  and the matrix pair (A,D) already is in this form;
-          = 'N':  The matrix pairs (A,D) and (B,E) are already in
-                  generalized (real) Schur canonical form, as
-                  produced by LAPACK routine DGGES.
-
-  TRANS   CHARACTER*1
-          Indicates which of the equations, (1) or (2), is to be
-          solved as follows:
-          = 'N':  The generalized Sylvester equation (1) is to be
-                  solved;
-          = 'T':  The "transposed" generalized Sylvester equation
-                  (2) is to be solved.
-
-  JOBD    CHARACTER*1
-          Indicates whether the Dif estimator is to be computed as
-          follows:
-          = '1':  Only the one-norm-based Dif estimate is computed
-                  and stored in DIF;
-          = '2':  Only the Frobenius norm-based Dif estimate is
-                  computed and stored in DIF;
-          = 'D':  The equation (1) is solved and the one-norm-based
-                  Dif estimate is computed and stored in DIF;
-          = 'F':  The equation (1) is solved and the Frobenius norm-
-                  based Dif estimate is computed and stored in DIF;
-          = 'N':  The Dif estimator is not required and hence DIF is
-                  not referenced. (Solve either (1) or (2) only.)
-          JOBD is not referenced if TRANS = 'T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A and D and the number of rows
-          of the matrices C, F, R and L.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrices B and E and the number of
-          columns of the matrices C, F, R and L.  N &gt;= 0.
-          No computations are performed if N = 0 or M = 0, but SCALE
-          and DIF (if JOB &lt;&gt; 'N') are set to 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix A of the equation; A must
-          be in upper quasi-triangular form if REDUCE = 'B' or 'N'.
-          On exit, the leading M-by-M part of this array contains
-          the upper quasi-triangular form of A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix B of the equation; B must
-          be in upper quasi-triangular form if REDUCE = 'A' or 'N'.
-          On exit, the leading N-by-N part of this array contains
-          the upper quasi-triangular form of B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand side matrix C of the first equation
-          in (1) or (2).
-          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
-          part of this array contains the solution matrix R of the
-          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
-          M-by-N part of this array contains the solution matrix R
-          achieved during the computation of the Dif estimate.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix D of the equation; D must
-          be in upper triangular form if REDUCE = 'B' or 'N'.
-          On exit, the leading M-by-M part of this array contains
-          the upper triangular form of D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix E of the equation; E must
-          be in upper triangular form if REDUCE = 'A' or 'N'.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular form of E.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand side matrix F of the second
-          equation in (1) or (2).
-          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
-          part of this array contains the solution matrix L of the
-          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
-          M-by-N part of this array contains the solution matrix L
-          achieved during the computation of the Dif estimate.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scaling factor in (1) or (2). If 0 &lt; SCALE &lt; 1, C and
-          F hold the solutions R and L, respectively, to a slightly
-          perturbed system, but the computed generalized (real)
-          Schur canonical form matrices P'*A*Q, U'*B*V, P'*D*Q and
-          U'*E*V (see METHOD), or input matrices A, B, D, and E (if
-          already reduced to these forms), have not been changed.
-          If SCALE = 0, C and F hold the solutions R and L,
-          respectively, to the homogeneous system with C = F = 0.
-          Normally, SCALE = 1.
-
-  DIF     (output) DOUBLE PRECISION
-          If TRANS = 'N' and JOBD &lt;&gt; 'N', then DIF contains the
-          value of the Dif estimator, which is an upper bound of
-                                                 -1
-          Dif[(A,D),(B,E)] = sigma_min(Z) = 1/||Z  ||, in either the
-          one-norm, or Frobenius norm, respectively (see METHOD).
-          Otherwise, DIF is not referenced.
-
-  P       (output) DOUBLE PRECISION array, dimension (LDP,*)
-          If REDUCE = 'R' or 'A', then the leading M-by-M part of
-          this array contains the (left) transformation matrix used
-          to reduce (A,D) to generalized Schur form.
-          Otherwise, P is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDP = 1 and declare this
-          array to be P(1,1) in the calling program).
-
-  LDP     INTEGER
-          The leading dimension of array P.
-          LDP &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
-          LDP &gt;= 1        if REDUCE = 'B' or 'N'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,*)
-          If REDUCE = 'R' or 'A', then the leading M-by-M part of
-          this array contains the (right) transformation matrix used
-          to reduce (A,D) to generalized Schur form.
-          Otherwise, Q is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDQ = 1 and declare this
-          array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
-          LDQ &gt;= 1        if REDUCE = 'B' or 'N'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
-          If REDUCE = 'R' or 'B', then the leading N-by-N part of
-          this array contains the (left) transformation matrix used
-          to reduce (B,E) to generalized Schur form.
-          Otherwise, U is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDU = 1 and declare this
-          array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
-          LDU &gt;= 1        if REDUCE = 'A' or 'N'.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
-          If REDUCE = 'R' or 'B', then the leading N-by-N part of
-          this array contains the (right) transformation matrix used
-          to reduce (B,E) to generalized Schur form.
-          Otherwise, V is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDV = 1 and declare this
-          array to be V(1,1) in the calling program).
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          LDV &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
-          LDV &gt;= 1        if REDUCE = 'A' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M+N+6)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If TRANS = 'N' and JOBD = 'D' or 'F', then
-             LDWORK = MAX(1,11*MN,10*MN+23,2*M*N) if REDUCE = 'R';
-             LDWORK = MAX(1,11*M, 10*M+23, 2*M*N) if REDUCE = 'A';
-             LDWORK = MAX(1,11*N, 10*N+23, 2*M*N) if REDUCE = 'B';
-             LDWORK = MAX(1,2*M*N)                if REDUCE = 'N',
-          where MN = max(M,N).
-          Otherwise, the term 2*M*N above should be omitted.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if REDUCE &lt;&gt; 'N' and either (A,D) and/or (B,E)
-                cannot be reduced to generalized Schur form;
-          = 2:  if REDUCE = 'N' and either A or B is not in
-                upper quasi-triangular form;
-          = 3:  if a singular matrix was encountered during the
-                computation of the solution matrices R and L, that
-                is (A,D) and (B,E) have common or close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the case TRANS = 'N', and REDUCE = 'R' or 'N', the algorithm
-  used by the routine consists of four steps (see [1] and [2]) as
-  follows:
-
-     (a) if REDUCE = 'R', then the matrix pairs (A,D) and (B,E) are
-         transformed to generalized Schur form, i.e. orthogonal
-         matrices P, Q, U and V are computed such that P' * A * Q
-         and U' * B * V are in upper quasi-triangular form and
-         P' * D * Q and U' * E * V are in upper triangular form;
-     (b) if REDUCE = 'R', then the matrices C and F are transformed
-         to give P' * C * V and P' * F * V respectively;
-     (c) if REDUCE = 'R', then the transformed system
-
-         P' * A * Q * R1 - L1 * U' * B * V = scale * P' * C * V
-         P' * D * Q * R1 - L1 * U' * E * V = scale * P' * F * V
-
-         is solved to give R1 and L1; otherwise, equation (1) is
-         solved to give R and L directly. The Dif estimator
-         is also computed if JOBD &lt;&gt; 'N'.
-     (d) if REDUCE = 'R', then the solution is transformed back
-         to give R = Q * R1 * V' and L = P * L1 * U'.
-
-  By using Kronecker products, equation (1) can also be written as
-  the system of linear equations Z * x = scale*y (see [1]), where
-
-         | I*A    I*D  |
-     Z = |             |.
-         |-B'*I  -E'*I |
-
-                                           -1
-  If JOBD &lt;&gt; 'N', then a lower bound on ||Z  ||, in either the one-
-  norm or Frobenius norm, is computed, which in most cases is
-  a reliable estimate of the true value. Notice that since Z is a
-  matrix of order 2 * M * N, the exact value of Dif (i.e., in the
-  Frobenius norm case, the smallest singular value of Z) may be very
-  expensive to compute.
-
-  The case TRANS = 'N', and REDUCE = 'A' or 'B', is similar, but
-  only one of the matrix pairs should be reduced and the
-  calculations simplify.
-
-  For the case TRANS = 'T', and REDUCE = 'R' or 'N', the algorithm
-  is similar, but the steps (b), (c), and (d) are as follows:
-
-     (b) if REDUCE = 'R', then the matrices C and F are transformed
-         to give Q' * C * V and P' * F * U respectively;
-     (c) if REDUCE = 'R', then the transformed system
-
-         Q' * A' * P * R1 + Q' * D' * P * L1 =  scale * Q' * C * V
-         R1 * V' * B' * U + L1 * V' * E' * U = -scale * P' * F * U
-
-         is solved to give R1 and L1; otherwise, equation (2) is
-         solved to give R and L directly.
-     (d) if REDUCE = 'R', then the solution is transformed back
-         to give R = P * R1 * V' and L = P * L1 * V'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B. and Westin, L.
-      Generalized Schur Methods with Condition Estimators for
-      Solving the Generalized Sylvester Equation.
-      IEEE Trans. Auto. Contr., 34, pp. 745-751, 1989.
-  [2] Kagstrom, B. and Westin, L.
-      GSYLV - Fortran Routines for the Generalized Schur Method with
-      Dif Estimators for Solving the Generalized Sylvester
-      Equation.
-      Report UMINF-132.86, Institute of Information Processing,
-      Univ. of Umea, Sweden, July 1987.
-  [3] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur Method for the Problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-  [4] Kagstrom, B. and Van Dooren, P.
-      Additive Decomposition of a Transfer Function with respect to
-      a Specified Region.
-      In: "Signal Processing, Scattering and Operator Theory, and
-      Numerical Methods" (Eds. M.A. Kaashoek et al.).
-      Proceedings of MTNS-89, Vol. 3, pp. 469-477, Birkhauser Boston
-      Inc., 1990.
-  [5] Kagstrom, B. and Van Dooren, P.
-      A Generalized State-space Approach for the Additive
-      Decomposition of a Transfer Matrix.
-      Report UMINF-91.12, Institute of Information Processing, Univ.
-      of Umea, Sweden, April 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable. A reliable estimate for the
-  condition number of Z in the Frobenius norm, is (see [1])
-
-     K(Z) = SQRT(  ||A||**2 + ||B||**2 + ||C||**2 + ||D||**2 )/DIF.
-
-  If mu is an upper bound on the relative error of the elements of
-  the matrices A, B, C, D, E and F, then the relative error in the
-  actual solution is approximately mu * K(Z).
-
-  The relative error in the computed solution (due to rounding
-  errors) is approximately EPS * K(Z), where EPS is the machine
-  precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For applications of the generalized Sylvester equation in control
-  theory, see [4] and [5].
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 10, NMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ, LDU, LDV
-      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX, LDD = MMAX,
-     $                   LDE = NMAX, LDF = MMAX, LDP = MMAX, LDQ = MMAX,
-     $                   LDU = NMAX, LDV = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = MAX(11*MAX(MMAX,NMAX),
-     $                                10*MAX(MMAX,NMAX)+23,2*MMAX*NMAX),
-     $                   LIWORK = MMAX+NMAX+6 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DIF, SCALE
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      JOBD, REDUCE, TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 F(LDF,NMAX), P(LDP,MMAX), Q(LDQ,MMAX),
-     $                 U(LDU,NMAX), V(LDV,NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB04OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, REDUCE, TRANS, JOBD
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
-*           Find the solution matrices L and R.
-            CALL SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
-     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
-     $                   LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, M
-                  WRITE ( NOUT, FMT = 99991 ) ( F(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99991 ) ( C(I,J), J = 1,N )
-   40          CONTINUE
-               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'A' ) ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99991 ) ( P(I,J), J = 1,M )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 80 I = 1, M
-                     WRITE ( NOUT, FMT = 99991 ) ( Q(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'B' ) ) THEN
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 100 I = 1, N
-                     WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,N )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 120 I = 1, N
-                     WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,N )
-  120             CONTINUE
-               END IF
-               IF ( SCALE.NE.ONE ) WRITE ( NOUT, FMT = 99987 ) SCALE
-               IF ( .NOT.LSAME( JOBD, 'N' ) )
-     $            WRITE ( NOUT, FMT = 99990 ) DIF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' SB04OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04OD = ',I2)
-99997 FORMAT (' The solution matrix L is ')
-99996 FORMAT (/' The solution matrix R is ')
-99995 FORMAT (/' The left transformation matrix P is ')
-99994 FORMAT (/' The right transformation matrix Q is ')
-99993 FORMAT (/' The left transformation matrix U is ')
-99992 FORMAT (/' The right transformation matrix V is ')
-99991 FORMAT (20(1X,F8.4))
-99990 FORMAT (/' DIF = ',F8.4)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' SCALE = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04OD EXAMPLE PROGRAM DATA
-   3     2     R     N     D
-    1.6   -3.1    1.9
-   -3.8    4.2    2.4
-    0.5    2.2   -4.5
-    1.1    0.1
-   -1.3   -3.1
-   -2.0   28.9
-   -5.7  -11.8
-   12.9  -31.7
-    2.5    0.1    1.7
-   -2.5    0.0    0.9
-    0.1    5.1   -7.3
-    6.0    2.4
-   -3.6    2.5
-    0.5   23.8
-  -11.0  -10.4
-   39.5  -74.8
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04OD EXAMPLE PROGRAM RESULTS
-
- The solution matrix L is 
-  -0.7538  -1.6210
-   2.1778   1.7005
-  -3.5029   2.7961
-
- The solution matrix R is 
-   1.3064   2.7989
-   0.3698  -5.3376
-  -0.8767   6.7500
-
- The left transformation matrix P is 
-  -0.3093  -0.9502   0.0383
-   0.9366  -0.2974   0.1851
-  -0.1645   0.0932   0.9820
-
- The right transformation matrix Q is 
-  -0.6097  -0.7920  -0.0314
-   0.6310  -0.5090   0.5854
-   0.4796  -0.3371  -0.8102
-
- The left transformation matrix U is 
-  -0.8121   0.5835
-   0.5835   0.8121
-
- The right transformation matrix V is 
-  -0.9861   0.1660
-   0.1660   0.9861
-
- DIF =   0.1147
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04OW.html b/doc/_build/html/_static/doc/SB04OW.html
deleted file mode 100644
index 10e6b022..00000000
--- a/doc/_build/html/_static/doc/SB04OW.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04OW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04OW">SB04OW</A></H2>
-<H3>
-Solving a periodic Sylvester equation with matrices in periodic Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a periodic Sylvester equation
-
-           A * R - L * B = scale * C                           (1)
-           D * L - R * E = scale * F,
-
-  using Level 1 and 2 BLAS, where R and L are unknown M-by-N
-  matrices, (A, D), (B, E) and (C, F) are given matrix pairs of
-  size M-by-M, N-by-N and M-by-N, respectively, with real entries.
-  (A, D) and (B, E) must be in periodic Schur form, i.e. A, B are
-  upper quasi triangular and D, E are upper triangular. The solution
-  (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an output scaling
-  factor chosen to avoid overflow.
-
-  This routine is largely based on the LAPACK routine DTGSY2
-  developed by Bo Kagstrom and Peter Poromaa.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04OW( M, N, A, LDA, B, LDB, C, LDC, D, LDD, E, LDE,
-     $                   F, LDF, SCALE, IWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  E(LDE,*), F(LDF,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of A and D, and the row dimension of C, F, R
-          and L.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of B and E, and the column dimension of C, F, R
-          and L.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading M-by-M part of this array must
-          contain the upper quasi triangular matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi triangular matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand-side of the first matrix equation
-          in (1).
-          On exit, the leading M-by-N part of this array contains
-          the solution R.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading M-by-M part of this array must
-          contain the upper triangular matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand-side of the second matrix equation
-          in (1).
-          On exit, the leading M-by-N part of this array contains
-          the solution L.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          On exit, 0 &lt;= SCALE &lt;= 1. If 0 &lt; SCALE &lt; 1, the arrays
-          C and F will hold the solutions R and L, respectively, to
-          a slightly perturbed system but the input matrices A, B, D
-          and E have not been changed. If SCALE = 0, C and F will
-          hold solutions to the homogeneous system with C = F = 0.
-          Normally, SCALE = 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M+N+2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  the matrix products A*D and B*E have common or very
-                close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In matrix notation solving equation (1) corresponds to solving
-  Z*x = scale*b, where Z is defined as
-
-      Z = [  kron(In, A)  -kron(B', Im) ]            (2)
-          [ -kron(E', Im)  kron(In, D)  ],
-
-  Ik is the identity matrix of size k and X' is the transpose of X.
-  kron(X, Y) is the Kronecker product between the matrices X and Y.
-  In the process of solving (1), we solve a number of such systems
-  where Dim(Im), Dim(In) = 1 or 2.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B.
-      A Direct Method for Reordering Eigenvalues in the Generalized
-      Real Schur Form of a Regular Matrix Pair (A,B). M.S. Moonen
-      et al (eds.), Linear Algebra for Large Scale and Real-Time
-      Applications, Kluwer Academic Publ., pp. 195-218, 1993.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      A Schur approach for solving some periodic matrix equations.
-      U. Helmke et al (eds.), Systems and Networks: Mathematical
-      Theory and Applications, Akademie Verlag, Berlin, vol. 77,
-      pp. 339-362, 1994.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04PD.html b/doc/_build/html/_static/doc/SB04PD.html
deleted file mode 100644
index 2fdb3f34..00000000
--- a/doc/_build/html/_static/doc/SB04PD.html
+++ /dev/null
@@ -1,440 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04PD">SB04PD</A></H2>
-<H3>
-Solution of continuous-time or discrete-time Sylvester equations (Bartels-Stewart method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the real continuous-time Sylvester equation
-
-     op(A)*X + ISGN*X*op(B) = scale*C,                           (1)
-
-  or the real discrete-time Sylvester equation
-
-     op(A)*X*op(B) + ISGN*X = scale*C,                           (2)
-
-  where op(M) = M or M**T, and ISGN = 1 or -1. A is M-by-M and
-  B is N-by-N; the right hand side C and the solution X are M-by-N;
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The solution matrix X is overwritten
-  onto C.
-
-  If A and/or B are not (upper) quasi-triangular, that is, block
-  upper triangular with 1-by-1 and 2-by-2 diagonal blocks, they are
-  reduced to Schur canonical form, that is, quasi-triangular with
-  each 2-by-2 diagonal block having its diagonal elements equal and
-  its off-diagonal elements of opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
-     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DICO, FACTA, FACTB, TRANA, TRANB
-      INTEGER            INFO, ISGN, LDA, LDB, LDC, LDU, LDV, LDWORK, M,
-     $                   N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  U( LDU, * ), V( LDV, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which X is to be determined
-          as follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  FACTA   CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U;
-          = 'S':  The matrix A is quasi-triangular (or Schur).
-
-  FACTB   CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix B is supplied on entry, as follows:
-          = 'F':  On entry, B and V contain the factors from the
-                  real Schur factorization of the matrix B;
-          = 'N':  The Schur factorization of B will be computed
-                  and the factors will be stored in B and V;
-          = 'S':  The matrix B is quasi-triangular (or Schur).
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  TRANB   CHARACTER*1
-          Specifies the form of op(B) to be used, as follows:
-          = 'N':  op(B) = B    (No transpose);
-          = 'T':  op(B) = B**T (Transpose);
-          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A, and the number of rows in the
-          matrices X and C.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B, and the number of columns in
-          the matrices X and C.  N &gt;= 0.
-
-  A       (input or input/output) DOUBLE PRECISION array,
-          dimension (LDA,M)
-          On entry, the leading M-by-M part of this array must
-          contain the matrix A. If FACTA = 'S', then A contains
-          a quasi-triangular matrix, and if FACTA = 'F', then A
-          is in Schur canonical form; the elements below the upper
-          Hessenberg part of the array A are not referenced.
-          On exit, if FACTA = 'N', and INFO = 0 or INFO &gt;= M+1, the
-          leading M-by-M upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix in Schur
-          canonical form from the Schur factorization of A. The
-          contents of array A is not modified if FACTA = 'F' or 'S'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,M)
-          If FACTA = 'F', then U is an input argument and on entry
-          the leading M-by-M part of this array must contain the
-          orthogonal matrix U of the real Schur factorization of A.
-          If FACTA = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO &gt;= M+1, it contains the orthogonal
-          M-by-M matrix from the real Schur factorization of A.
-          If FACTA = 'S', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= MAX(1,M), if FACTA = 'F' or 'N';
-          LDU &gt;= 1,        if FACTA = 'S'.
-
-  B       (input or input/output) DOUBLE PRECISION array,
-          dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B. If FACTB = 'S', then B contains
-          a quasi-triangular matrix, and if FACTB = 'F', then B
-          is in Schur canonical form; the elements below the upper
-          Hessenberg part of the array B are not referenced.
-          On exit, if FACTB = 'N', and INFO = 0 or INFO = M+N+1,
-          the leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix in Schur
-          canonical form from the Schur factorization of B. The
-          contents of array B is not modified if FACTB = 'F' or 'S'.
-
-  LDB     (input) INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  V       (input or output) DOUBLE PRECISION array, dimension
-          (LDV,N)
-          If FACTB = 'F', then V is an input argument and on entry
-          the leading N-by-N part of this array must contain the
-          orthogonal matrix V of the real Schur factorization of B.
-          If FACTB = 'N', then V is an output argument and on exit,
-          if INFO = 0 or INFO = M+N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of B.
-          If FACTB = 'S', the array V is not referenced.
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          LDV &gt;= MAX(1,N), if FACTB = 'F' or 'N';
-          LDV &gt;= 1,        if FACTB = 'S'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix C.
-          On exit, if INFO = 0 or INFO = M+N+1, the leading M-by-N
-          part of this array contains the solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or M+N+1, then: DWORK(1) returns the
-          optimal value of LDWORK; if FACTA = 'N', DWORK(1+i) and
-          DWORK(1+M+i), i = 1,...,M, contain the real and imaginary
-          parts, respectively, of the eigenvalues of A; and, if
-          FACTB = 'N', DWORK(1+f+j) and DWORK(1+f+N+j), j = 1,...,N,
-          with f = 2*M if FACTA = 'N', and f = 0, otherwise, contain
-          the real and imaginary parts, respectively, of the
-          eigenvalues of B.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, a+MAX( c, b+d, b+e ) ),
-          where a = 1+2*M, if FACTA =  'N',
-                a = 0,     if FACTA &lt;&gt; 'N',
-                b = 2*N,   if FACTB =  'N', FACTA =  'N',
-                b = 1+2*N, if FACTB =  'N', FACTA &lt;&gt; 'N',
-                b = 0,     if FACTB &lt;&gt; 'N',
-                c = 3*M,   if FACTA =  'N',
-                c = M,     if FACTA =  'F',
-                c = 0,     if FACTA =  'S',
-                d = 3*N,   if FACTB =  'N',
-                d = N,     if FACTB =  'F',
-                d = 0,     if FACTB =  'S',
-                e = M,     if DICO  =  'C', FACTA &lt;&gt; 'S',
-                e = 0,     if DICO  =  'C', FACTA =  'S',
-                e = 2*M,   if DICO  =  'D'.
-          An upper bound is
-          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M ).
-          For good performance, LDWORK should be larger, e.g.,
-          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M, 2*N+M*N ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if INFO = i, i = 1,...,M, the QR algorithm failed
-                to compute all the eigenvalues of the matrix A
-                (see LAPACK Library routine DGEES); the elements
-                2+i:1+M and 2+i+M:1+2*M of DWORK contain the real
-                and imaginary parts, respectively, of the
-                eigenvalues of A which have converged, and the
-                array A contains the partially converged Schur form;
-          = M+j:  if INFO = M+j, j = 1,...,N, the QR algorithm
-                failed to compute all the eigenvalues of the matrix
-                B (see LAPACK Library routine DGEES); the elements
-                2+f+j:1+f+N and 2+f+j+N:1+f+2*N of DWORK contain the
-                real and imaginary parts, respectively, of the
-                eigenvalues of B which have converged, and the
-                array B contains the partially converged Schur form;
-                as defined for the parameter DWORK,
-                f = 2*M, if FACTA =  'N',
-                f = 0,   if FACTA &lt;&gt; 'N';
-          = M+N+1:  if DICO = 'C', and the matrices A and -ISGN*B
-                have common or very close eigenvalues, or
-                if DICO = 'D', and the matrices A and -ISGN*B have
-                almost reciprocal eigenvalues (that is, if lambda(i)
-                and mu(j) are eigenvalues of A and -ISGN*B, then
-                lambda(i) = 1/mu(j) for some i and j);
-                perturbed values were used to solve the equation
-                (but the matrices A and B are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension and refinement of the algorithms in [1,2] is used.
-  If the matrices A and/or B are not quasi-triangular (see PURPOSE),
-  they are reduced to Schur canonical form
-
-     A = U*S*U',  B = V*T*V',
-
-  where U, V are orthogonal, and S, T are block upper triangular
-  with 1-by-1 and 2-by-2 blocks on their diagonal. The right hand
-  side matrix C is updated accordingly,
-
-     C = U'*C*V;
-
-  then, the solution matrix X of the "reduced" Sylvester equation
-  (with A and B in (1) or (2) replaced by S and T, respectively),
-  is computed column-wise via a back substitution scheme. A set of
-  equivalent linear algebraic systems of equations of order at most
-  four are formed and solved using Gaussian elimination with
-  complete pivoting. Finally, the solution X of the original
-  equation is obtained from the updating formula
-
-     X = U*X*V'.
-
-  If A and/or B are already quasi-triangular (or in Schur form), the
-  initial factorizations and the corresponding updating steps are
-  omitted.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since orthogonal
-  transformations and Gaussian elimination with complete pivoting
-  are used. If INFO = M+N+1, the Sylvester equation is numerically
-  singular.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU, LDV
-      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX,
-     $                   LDU = MMAX, LDV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 1 + 2*MMAX + MAX( 3*MMAX, 5*NMAX,
-     $                                            2*( NMAX + MMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER        DICO, FACTA, FACTB, TRANA, TRANB
-      INTEGER          I, INFO, ISGN, J, M, N
-      DOUBLE PRECISION SCALE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,MMAX), V(LDV,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB04PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, ISGN, DICO, FACTA, FACTB, TRANA, TRANB
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
-         IF ( LSAME( FACTA, 'F' ) )
-     $      READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,M )
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            IF ( LSAME( FACTB, 'F' ) )
-     $         READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
-*           Find the solution matrix X.
-            CALL SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
-     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 )
-     $         WRITE ( NOUT, FMT = 99998 ) INFO
-            IF ( INFO.EQ.0 .OR. INFO.EQ.M+N+1 ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 ) SCALE
-               IF ( LSAME( FACTA, 'N' ) ) THEN
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 40 I = 1, M
-                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,M )
-   40             CONTINUE
-               END IF
-               IF ( LSAME( FACTB, 'N' ) ) THEN
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04PD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' Scaling factor = ',F8.4)
-99994 FORMAT (/' The orthogonal matrix U is ')
-99993 FORMAT (/' The orthogonal matrix V is ')
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04PD EXAMPLE PROGRAM DATA
-   3     2     1     D     N     N     N     N
-   2.0   1.0   3.0
-   0.0   2.0   1.0
-   6.0   1.0   2.0
-   2.0   1.0
-   1.0   6.0
-   2.0   1.0
-   1.0   4.0
-   0.0   5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04PD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-  -0.3430   0.1995
-  -0.1856   0.4192
-   0.6922  -0.2952
-
- Scaling factor =   1.0000
-
- The orthogonal matrix U is 
-   0.5396  -0.7797   0.3178
-   0.1954  -0.2512  -0.9480
-  -0.8190  -0.5736  -0.0168
-
- The orthogonal matrix V is 
-  -0.9732  -0.2298
-   0.2298  -0.9732
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04PX.html b/doc/_build/html/_static/doc/SB04PX.html
deleted file mode 100644
index c63eedc6..00000000
--- a/doc/_build/html/_static/doc/SB04PX.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04PX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04PX">SB04PX</A></H2>
-<H3>
-Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
-
-         op(TL)*X*op(TR) + ISGN*X = SCALE*B,
-
-  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
-  or -1.  op(T) = T or T', where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04PX( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
-     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRANL, LTRANR
-      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRANL  LOGICAL
-          Specifies the form of op(TL) to be used, as follows:
-          = .FALSE.:  op(TL) = TL,
-          = .TRUE. :  op(TL) = TL'.
-
-  LTRANR  LOGICAL
-          Specifies the form of op(TR) to be used, as follows:
-          = .FALSE.:  op(TR) = TR,
-          = .TRUE. :  op(TR) = TR'.
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The order of matrix TL.  N1 may only be 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of matrix TR.  N2 may only be 0, 1 or 2.
-
-  TL      (input) DOUBLE PRECISION array, dimension (LDTL,N1)
-          The leading N1-by-N1 part of this array must contain the
-          matrix TL.
-
-  LDTL    INTEGER
-          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
-
-  TR      (input) DOUBLE PRECISION array, dimension (LDTR,N2)
-          The leading N2-by-N2 part of this array must contain the
-          matrix TR.
-
-  LDTR    INTEGER
-          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N2)
-          The leading N1-by-N2 part of this array must contain the
-          right-hand side of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
-          The leading N1-by-N2 part of this array contains the
-          solution of the equation.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if TL and -ISGN*TR have almost reciprocal
-                eigenvalues, so TL or TR is perturbed to get a
-                nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04PY.html b/doc/_build/html/_static/doc/SB04PY.html
deleted file mode 100644
index ca75fe1c..00000000
--- a/doc/_build/html/_static/doc/SB04PY.html
+++ /dev/null
@@ -1,182 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04PY">SB04PY</A></H2>
-<H3>
-Solving discrete-time Sylvester equations with matrices in real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the discrete-time Sylvester equation
-
-     op(A)*X*op(B) + ISGN*X = scale*C,
-
-  where op(A) = A or A**T, A and B are both upper quasi-triangular,
-  and ISGN = 1 or -1. A is M-by-M and B is N-by-N; the right hand
-  side C and the solution X are M-by-N; and scale is an output scale
-  factor, set less than or equal to 1 to avoid overflow in X. The
-  solution matrix X is overwritten onto C.
-
-  A and B must be in Schur canonical form (as returned by LAPACK
-  Library routine DHSEQR), that is, block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04PY( TRANA, TRANB, ISGN, M, N, A, LDA, B, LDB, C,
-     $                   LDC, SCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANA, TRANB
-      INTEGER            INFO, ISGN, LDA, LDB, LDC, M, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  TRANB   CHARACTER*1
-          Specifies the form of op(B) to be used, as follows:
-          = 'N':  op(B) = B    (No transpose);
-          = 'T':  op(B) = B**T (Transpose);
-          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A, and the number of rows in the
-          matrices X and C.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B, and the number of columns in
-          the matrices X and C.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          upper quasi-triangular matrix A, in Schur canonical form.
-          The part of A below the first sub-diagonal is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix B, in Schur canonical form.
-          The part of B below the first sub-diagonal is not
-          referenced.
-
-  LDB     (input) INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix C.
-          On exit, if INFO &gt;= 0, the leading M-by-N part of this
-          array contains the solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  A and -ISGN*B have almost reciprocal eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrices A and B are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The solution matrix X is computed column-wise via a back
-  substitution scheme, an extension and refinement of the algorithm
-  in [1], similar to that used in [2] for continuous-time Sylvester
-  equations. A set of equivalent linear algebraic systems of
-  equations of order at most four are formed and solved using
-  Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QD.html b/doc/_build/html/_static/doc/SB04QD.html
deleted file mode 100644
index 731b8aa1..00000000
--- a/doc/_build/html/_static/doc/SB04QD.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QD">SB04QD</A></H2>
-<H3>
-Solution of discrete-time Sylvester equations (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the discrete-time Sylvester equation
-
-     X + AXB = C,
-
-  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
-  N-by-M matrices respectively. A Hessenberg-Schur method, which
-  reduces A to upper Hessenberg form, H = U'AU, and B' to real
-  Schur form, S = Z'B'Z (with U, Z orthogonal matrices), is used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A of the equation.
-          On exit, the leading N-by-N upper Hessenberg part of this
-          array contains the matrix H, and the remainder of the
-          leading N-by-N part, together with the elements 2,3,...,N
-          of array DWORK, contain the orthogonal transformation
-          matrix U (stored in factored form).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix B of the equation.
-          On exit, the leading M-by-M part of this array contains
-          the quasi-triangular Schur factor S of the matrix B'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading N-by-M part of this array contains
-          the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
-          The leading M-by-M part of this array contains the
-          orthogonal matrix Z used to transform B' to real upper
-          Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
-          the scalar factors of the elementary reflectors used to
-          reduce A to upper Hessenberg form, as returned by LAPACK
-          Library routine DGEHRD.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = MAX(1, 2*N*N + 9*N, 5*M, N + M).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
-                compute all the eigenvalues of B (see LAPACK Library
-                routine DGEES);
-          &gt; M:  if a singular matrix was encountered whilst solving
-                for the (INFO-M)-th column of matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A is transformed to upper Hessenberg form H = U'AU by
-  the orthogonal transformation matrix U; matrix B' is transformed
-  to real upper Schur form S = Z'B'Z using the orthogonal
-  transformation matrix Z. The matrix C is also multiplied by the
-  transformations, F = U'CZ, and the solution matrix Y of the
-  transformed system
-
-     Y + HYS' = F
-
-  is computed by back substitution. Finally, the matrix Y is then
-  multiplied by the orthogonal transformation matrices, X = UYZ', in
-  order to obtain the solution matrix X to the original problem.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3       3      2         2
-  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
-  operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
-     $                   LDZ = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 4*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+9*NMAX, 5*MMAX,
-     $                   NMAX+MMAX ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK), Z(LDZ,MMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04QD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The orthogonal matrix Z is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04QD EXAMPLE PROGRAM DATA
-   3     3
-   1.0   2.0   3.0 
-   6.0   7.0   8.0 
-   9.0   2.0   3.0 
-   7.0   2.0   3.0 
-   2.0   1.0   2.0 
-   3.0   4.0   1.0 
-   271.0   135.0   147.0
-   923.0   494.0   482.0
-   578.0   383.0   287.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04QD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   3.0000   6.0000
-   4.0000   7.0000   1.0000
-   5.0000   3.0000   2.0000
-
- The orthogonal matrix Z is 
-   0.8337   0.5204  -0.1845
-   0.3881  -0.7900  -0.4746
-   0.3928  -0.3241   0.8606
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QR.html b/doc/_build/html/_static/doc/SB04QR.html
deleted file mode 100644
index dc869d35..00000000
--- a/doc/_build/html/_static/doc/SB04QR.html
+++ /dev/null
@@ -1,118 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QR">SB04QR</A></H2>
-<H3>
-Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a linear algebraic system of order M whose coefficient
-  matrix has zeros below the third subdiagonal and zero elements on
-  the third subdiagonal with even column indices. The matrix is
-  stored compactly, row-wise.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QR( M, D, IPR, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the system.  M &gt;= 0, M even.
-          Note that parameter M should have twice the value in the
-          original problem (see SLICOT Library routine SB04QU).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (M*M/2+4*M)
-          On entry, the first M*M/2 + 3*M elements of this array
-          must contain the coefficient matrix, stored compactly,
-          row-wise, and the next M elements must contain the right
-          hand side of the linear system, as set by SLICOT Library
-          routine SB04QU.
-          On exit, the content of this array is updated, the last M
-          elements containing the solution with components
-          interchanged (see IPR).
-
-  IPR     (output) INTEGER array, dimension (2*M)
-          The leading M elements contain information about the
-          row interchanges performed for solving the system.
-          Specifically, the i-th component of the solution is
-          specified by IPR(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with partial pivoting is used. The rows of
-  the matrix are not actually permuted, only their indices are
-  interchanged in array IPR.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QU.html b/doc/_build/html/_static/doc/SB04QU.html
deleted file mode 100644
index acf2cfc8..00000000
--- a/doc/_build/html/_static/doc/SB04QU.html
+++ /dev/null
@@ -1,139 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QU">SB04QU</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order 2*M
-  whose coefficient matrix has zeros below the third subdiagonal,
-  and zero elements on the third subdiagonal with even column
-  indices. Such systems appear when solving discrete-time Sylvester
-  equations using the Hessenberg-Schur method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          IND and IND - 1 specify the indices of the columns in C
-          to be computed.  IND &gt; 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with columns IND-1 and IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (2*M*M+8*M)
-
-  IPR     INTEGER array, dimension (4*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order 2*M, whose coefficient
-  matrix has zeros below the third subdiagonal and zero elements on
-  the third subdiagonal with even column indices, is constructed and
-  solved. The coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04QY.html b/doc/_build/html/_static/doc/SB04QY.html
deleted file mode 100644
index 49c36298..00000000
--- a/doc/_build/html/_static/doc/SB04QY.html
+++ /dev/null
@@ -1,136 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QY">SB04QY</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order M whose
-  coefficient matrix is in upper Hessenberg form. Such systems
-  appear when solving discrete-time Sylvester equations using the
-  Hessenberg-Schur method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          The index of the column in C to be computed.  IND &gt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with column IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
-
-  IPR     INTEGER array, dimension (2*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order M, with coefficient
-  matrix in upper Hessenberg form is constructed and solved. The
-  coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RD.html b/doc/_build/html/_static/doc/SB04RD.html
deleted file mode 100644
index 6a781294..00000000
--- a/doc/_build/html/_static/doc/SB04RD.html
+++ /dev/null
@@ -1,290 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RD">SB04RD</A></H2>
-<H3>
-Solution of discrete-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the discrete-time Sylvester equation
-
-     X + AXB = C,
-
-  with at least one of the matrices A or B in Schur form and the
-  other in Hessenberg or Schur form (both either upper or lower);
-  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
-  respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHU, ULA, ULB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHU  CHARACTER*1
-          Indicates whether A and/or B is/are in Schur or
-          Hessenberg form as follows:
-          = 'A':  A is in Schur form, B is in Hessenberg form;
-          = 'B':  B is in Schur form, A is in Hessenberg form;
-          = 'S':  Both A and B are in Schur form.
-
-  ULA     CHARACTER*1
-          Indicates whether A is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
-                  upper Schur form otherwise;
-          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
-                  lower Schur form otherwise.
-
-  ULB     CHARACTER*1
-          Indicates whether B is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
-                  upper Schur form otherwise;
-          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
-                  lower Schur form otherwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading M-by-M part of this array must contain the
-          coefficient matrix B of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity in
-          the Sylvester equation. If the user sets TOL &gt; 0, then the
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number; a matrix whose estimated
-          condition number is less than 1/TOL is considered to be
-          nonsingular. If the user sets TOL &lt;= 0, then a default
-          tolerance, defined by TOLDEF = EPS, is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*MAX(M,N))
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = 2*N, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
-          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if a (numerically) singular matrix T was encountered
-                during the computation of the solution matrix X.
-                That is, the estimated reciprocal condition number
-                of T is less than or equal to TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrices A and B are assumed to be in (upper or lower) Hessenberg
-  or Schur form (with at least one of them in Schur form). The
-  solution matrix X is then computed by rows or columns via the back
-  substitution scheme proposed by Golub, Nash and Van Loan (see
-  [1]), which involves the solution of triangular systems of
-  equations that are constructed recursively and which may be nearly
-  singular if A and -B have almost reciprocal eigenvalues. If near
-  singularity is detected, then the routine returns with the Error
-  Indicator (INFO) set to 1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         2         2
-  The algorithm requires approximately 5M N + 0.5MN  operations in
-                         2         2
-  the worst case and 2.5M N + 0.5MN  operations in the best case
-  (where M is the order of the matrix in Hessenberg form and N is
-  the order of the matrix in Schur form) and is mixed stable (see
-  [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
-     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      ABSCHU, ULA, ULB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04RD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04RD EXAMPLE PROGRAM DATA
-   5     5     0.0     U     U     B
-   1.0   2.0   3.0   4.0   5.0
-   6.0   7.0   8.0   9.0   1.0
-   0.0   2.0   3.0   4.0   5.0
-   0.0   0.0   6.0   7.0   8.0
-   0.0   0.0   0.0   9.0   1.0
-   1.0   2.0   3.0   4.0   5.0
-   0.0   1.0   2.0   3.0   4.0
-   0.0   0.0   1.0   2.0   3.0
-   0.0   0.0   0.0   1.0  -5.0
-   0.0   0.0   0.0   4.0   1.0
-   2.0   4.0  10.0  40.0   7.0
-   6.0  20.0  40.0  74.0  38.0
-   0.0   2.0   8.0  36.0   2.0
-   0.0   0.0   6.0  52.0  -9.0
-   0.0   0.0   0.0  13.0 -43.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04RD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RV.html b/doc/_build/html/_static/doc/SB04RV.html
deleted file mode 100644
index 52dc0172..00000000
--- a/doc/_build/html/_static/doc/SB04RV.html
+++ /dev/null
@@ -1,135 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RV">SB04RV</A></H2>
-<H3>
-Constructing the right-hand sides for a system of equations in quasi-Hessenberg form solved via SB04RX (case with 2 right-hand sides)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand sides D for a system of equations in
-  quasi-Hessenberg form solved via SB04RX (case with 2 right-hand
-  sides).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
-     $                   LDBA, D, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDBA, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation X + AXB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the first column/row of C to be used in
-          the construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C, the matrix not contained in AB.
-
-  LDBA    INTEGER
-          The leading dimension of array BA.
-          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading 2*N or 2*M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side stored as a matrix with two rows.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK is equal to 2*N or 2*M (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RW.html b/doc/_build/html/_static/doc/SB04RW.html
deleted file mode 100644
index d6f533ff..00000000
--- a/doc/_build/html/_static/doc/SB04RW.html
+++ /dev/null
@@ -1,134 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RW">SB04RW</A></H2>
-<H3>
-Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04RY
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand side D for a system of equations in
-  Hessenberg form solved via SB04RY (case with 1 right-hand side).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
-     $                   LDBA, D, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDBA, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation X + AXB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the column/row of C to be used in the
-          construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C, the matrix not contained in AB.
-
-  LDBA    INTEGER
-          The leading dimension of array BA.
-          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading N or M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK is equal to N or M (depending on ABSCHR = 'B'
-          or ABSCHR = 'A', respectively).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RX.html b/doc/_build/html/_static/doc/SB04RX.html
deleted file mode 100644
index 2be4b9b9..00000000
--- a/doc/_build/html/_static/doc/SB04RX.html
+++ /dev/null
@@ -1,142 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RX">SB04RX</A></H2>
-<H3>
-Solving a system of equations in quasi-Hessenberg form with two right-hand sides
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in quasi-Hessenberg form
-  (Hessenberg form plus two consecutive offdiagonals) with two
-  right-hand sides.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
-     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether A is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  A is upper Hessenberg;
-          = 'L':  A is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBD1, (input) DOUBLE PRECISION
-  LAMBD2, These variables must contain the 2-by-2 block to be
-  LAMBD3, multiplied to the elements of A.
-  LAMBD4
-
-  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
-          On entry, this array must contain the two right-hand
-          side vectors of the quasi-Hessenberg system, stored
-          row-wise.
-          On exit, if INFO = 0, this array contains the two solution
-          vectors of the quasi-Hessenberg system, stored row-wise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the quasi-Hessenberg matrix.
-          A matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
-          The leading 2*M-by-2*M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the quasi-Hessenberg matrix. The remaining 6*M elements
-          are used as workspace for the computation of the
-          reciprocal condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.
-          LDDWOR &gt;= MAX(1,2*M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the quasi-Hessenberg matrix is (numerically)
-                singular. That is, its estimated reciprocal
-                condition number is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB04RY.html b/doc/_build/html/_static/doc/SB04RY.html
deleted file mode 100644
index 1eafeffb..00000000
--- a/doc/_build/html/_static/doc/SB04RY.html
+++ /dev/null
@@ -1,138 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RY">SB04RY</A></H2>
-<H3>
-Solving a system of equations in Hessenberg form with one right-hand side
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in Hessenberg form with one
-  right-hand side.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
-     $                   DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBDA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether A is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  A is upper Hessenberg;
-          = 'L':  A is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBDA  (input) DOUBLE PRECISION
-          This variable must contain the value to be multiplied with
-          the elements of A.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (M)
-          On entry, this array must contain the right-hand side
-          vector of the Hessenberg system.
-          On exit, if INFO = 0, this array contains the solution
-          vector of the Hessenberg system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the Hessenberg matrix. A matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
-          The leading M-by-M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the Hessenberg matrix. The remaining 3*M elements are
-          used as workspace for the computation of the reciprocal
-          condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Hessenberg matrix is (numerically) singular.
-                That is, its estimated reciprocal condition number
-                is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB06ND.html b/doc/_build/html/_static/doc/SB06ND.html
deleted file mode 100644
index f0463b8c..00000000
--- a/doc/_build/html/_static/doc/SB06ND.html
+++ /dev/null
@@ -1,293 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB06ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB06ND">SB06ND</A></H2>
-<H3>
-Minimum norm feedback matrix for "deadbeat control" of a state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the minimum norm feedback matrix F to perform
-  "deadbeat control" on a (A,B)-pair of a state-space model (which
-  must be preliminarily reduced to upper "staircase" form using
-  SLICOT Library routine AB01OD) such that the matrix R = A + BFU'
-  is nilpotent.
-  (The transformation matrix U reduces R to upper Schur form with
-  zero blocks on its diagonal (of dimension KSTAIR(i)) and
-  therefore contains bases for the i-th controllable subspaces,
-  where i = 1,...,KMAX).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU, F,
-     $                   LDF, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, KMAX, LDA, LDB, LDF, LDU, M, N
-C     .. Array Arguments ..
-      INTEGER           KSTAIR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The actual input dimension.  M &gt;= 0.
-
-  KMAX    (input) INTEGER
-          The number of "stairs" in the staircase form as produced
-          by SLICOT Library routine AB01OD.  0 &lt;= KMAX &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the transformed state-space matrix of the
-          (A,B)-pair with triangular stairs, as produced by SLICOT
-          Library routine AB01OD (with option STAGES = 'A').
-          On exit, the leading N-by-N part of this array contains
-          the matrix U'AU + U'BF.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the transformed triangular input matrix of the
-          (A,B)-pair as produced by SLICOT Library routine AB01OD
-          (with option STAGES = 'A').
-          On exit, the leading N-by-M part of this array contains
-          the matrix U'B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  KSTAIR  (input) INTEGER array, dimension (KMAX)
-          The leading KMAX elements of this array must contain the
-          dimensions of each "stair" as produced by SLICOT Library
-          routine AB01OD.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain either a transformation matrix (e.g. from a
-          previous call to other SLICOT routine) or be initialised
-          as the identity matrix.
-          On exit, the leading N-by-N part of this array contains
-          the product of the input matrix U and the state-space
-          transformation matrix which reduces A + BFU' to real
-          Schur form.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the
-          deadbeat feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Starting from the (A,B)-pair in "staircase form" with "triangular"
-  stairs, dimensions KSTAIR(i+1) x KSTAIR(i), (described by the
-  vector KSTAIR):
-
-                 | B | A      *  . . .  *  |
-                 |  1|  11       .      .  |
-                 |   | A     A     .    .  |
-                 |   |  21    22     .  .  |
-                 |   |    .      .     .   |
-   [ B | A ]  =  |   |      .      .    *  |
-                 |   |        .      .     |
-                 | 0 |   0                 |
-                 |   |          A      A   |
-                 |   |           r,r-1  rr |
-
-  where the i-th diagonal block of A has dimension KSTAIR(i), for
-  i = 1,2,...,r, the feedback matrix F is constructed recursively in
-  r steps (where the number of "stairs" r is given by KMAX). In each
-  step a unitary state-space transformation U and a part of F are
-  updated in order to achieve the final form:
-
-                    | 0   A      *   . . .  *   |
-                    |      12      .        .   |
-                    |                .      .   |
-                    |     0    A       .    .   |
-                    |           23       .  .   |
-                    |         .      .          |
-  [ U'AU + U'BF ] = |           .      .    *   | .
-                    |             .      .      |
-                    |                           |
-                    |                     A     |
-                    |                      r-1,r|
-                    |                           |
-                    |                       0   |
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      Deadbeat control: a special inverse eigenvalue problem.
-      BIT, 24, pp. 681-699, 1984.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + M) * N**2) operations and is mixed
-  numerical stable (see [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB06ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDU, LDV, LDF
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
-     $                   LDV = MMAX, LDF = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX + MAX(NMAX,3*MMAX) )
-*     PARAMETER        ( LDWORK = 4*NMAX)
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, KMAX, M, N, NCONT
-      CHARACTER*1      JOBU, JOBV
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
-     $                 F(LDF,NMAX), U(LDU,NMAX), V(LDV,MMAX)
-      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB01OD, DLASET, SB06ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, JOBU, JOBV
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-*           First put (A,B) into staircase form with triangular pivots
-*           and determine the stairsizes.
-            CALL AB01OD( 'A', JOBU, JOBV, N, M, A, LDA, B, LDB, U,
-     $                   LDU, V, LDV, NCONT, KMAX, KSTAIR, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.EQ.0 ) THEN
-               IF( LSAME( JOBU, 'N' ) ) THEN
-*                 Initialize U as the identity matrix.
-                  CALL DLASET( 'Full', N, N, ZERO, ONE, U, LDU )
-               END IF
-*              Perform "deadbeat control" to give F.
-               CALL SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU,
-     $                      F, LDF, DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB06ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01OD = ',I2)
-99997 FORMAT (' INFO on exit from SB06ND = ',I2)
-99996 FORMAT (' The deadbeat feedback matrix F is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB06ND EXAMPLE PROGRAM DATA
-   5     2     0.0     N     N
-  -17.0   24.0   41.0   68.0   15.0
-   23.0  -35.0   27.0   14.0   16.0
-   34.0   26.0  -13.0   20.0   22.0
-   10.0   12.0   19.0  -21.0   63.0
-   11.0   18.0   25.0   52.0  -29.0
-  -31.0   14.0
-   74.0  -69.0
-  -59.0   16.0
-   16.0  -25.0
-  -25.0   36.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB06ND EXAMPLE PROGRAM RESULTS
-
- The deadbeat feedback matrix F is 
-  -0.4819  -0.5782  -2.7595  -3.1093   0.0000
-   0.2121  -0.4462   0.7698  -1.5421  -0.5773
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08CD.html b/doc/_build/html/_static/doc/SB08CD.html
deleted file mode 100644
index 3e71fe36..00000000
--- a/doc/_build/html/_static/doc/SB08CD.html
+++ /dev/null
@@ -1,445 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08CD">SB08CD</A></H2>
-<H3>
-Left coprime factorization with inner denominator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), an output
-  injection matrix H, an orthogonal transformation matrix Z, and a
-  gain matrix V, such that the systems
-
-       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), V*C*Z, V*D)
-  and
-       R = (Z'*(A+H*C)*Z, Z'*H, V*C*Z, V)
-
-  provide a stable left coprime factorization of G in the form
-                -1
-           G = R  * Q,
-
-  where G, Q and R are the corresponding transfer-function matrices
-  and the denominator R is co-inner, that is, R(s)*R'(-s) = I in
-  the continuous-time case, or R(z)*R'(1/z) = I in the discrete-time
-  case. The Z matrix is not explicitly computed.
-
-  Note: G must have no observable poles on the imaginary axis
-  for a continuous-time system, or on the unit circle for a
-  discrete-time system. If the given state-space representation
-  is not detectable, the undetectable part of the original
-  system is automatically deflated and the order of the systems
-  Q and R is accordingly reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrices B
-          and BR, and the number of columns of the matrix C.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C, D and DR, and the number of columns
-          of the matrices BR and DR.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A. The matrix A must not
-          have observable eigenvalues on the imaginary axis, if
-          DICO = 'C', or on the unit circle, if DICO = 'D'.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The leading NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
-          input/state matrix of the numerator factor Q.
-          The remaining part of this array is needed as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix V*C*Z, the
-          state/output matrix of the numerator factor Q.
-          The first NR columns of this array represent the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-          The remaining part of this array is needed as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P), if N &gt; 0.
-          LDC &gt;= 1,          if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (LDD,MAX(M,P))
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix.
-          On exit, the leading P-by-M part of this array contains
-          the matrix V*D representing the input/output matrix
-          of the numerator factor Q.
-          The remaining part of this array is needed as workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          unobservable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of observable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
-          The leading NQ-by-P part of this array contains the
-          leading NQ-by-P part of the output injection matrix
-          Z'*H, which reflects the eigenvalues of A lying outside
-          the stable region to values which are symmetric with
-          respect to the imaginary axis (if DICO = 'C') or the unit
-          circle (if DICO = 'D'). The first NR rows of this matrix
-          form the input/state matrix of a minimal realization of
-          the denominator factor R.
-
-  LDBR    INTEGER
-          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
-          The leading P-by-P part of this array contains the lower
-          triangular matrix V representing the input/output matrix
-          of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          C are considered zero (used for observability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
-          the infinity-norm of C.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, P*N + MAX( N*(N+5),P*(P+2),4*P,4*M ) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                along the diagonal;
-          = 3:  if DICO = 'C' and the matrix A has an observable
-                eigenvalue on the imaginary axis, or DICO = 'D' and
-                A has an observable eigenvalue on the unit circle.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine uses the right coprime factorization algorithm with
-  inner denominator of [1] applied to G'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBR = NMAX,
-     $                   LDC = MPMAX, LDD = MPMAX, LDDR = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
-     $                            PMAX*( PMAX + 2 ), 4*PMAX, 4*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMAX), BR(LDBR,PMAX),
-     $                 C(LDC,NMAX), D(LDD,MPMAX), DR(LDDR,PMAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a RCFID for (A,B,C,D).
-               CALL SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = 1, NR )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( C(I,J), J = 1, NR )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08CD = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08CD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08CD EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -0.1605   0.0523   0.9423   2.0193   0.4166   0.2518   1.6140
-  -0.4489  -0.1605   1.7955   3.8719  -0.2394   0.0491  -0.8740
-   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
-   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
-   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
-   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
-   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
-
- The numerator input/state matrix BQ is 
-  -1.0157   0.2554
-   0.5523   0.4443
-   0.0056 -11.6989
-   0.0490   4.3728
-  11.7198  -0.0038
-  -2.8173   0.0308
-   3.1018  -0.0009
-
- The numerator state/output matrix CQ is 
-   0.1975  -0.1063  -0.0006  -0.0083   0.1279   0.8797   0.3994
-   0.8541  -0.4513  -0.0007  -0.0041   0.0305  -0.2562   0.0122
-   0.4668   0.8826   0.0248  -0.0506   0.0000   0.0022  -0.0017
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -0.1605   0.0523
-  -0.4489  -0.1605
-
- The denominator input/state matrix BR is 
-  -0.0158  -0.0692  -0.1688
-   0.0306   0.1281  -0.4984
-
- The denominator state/output matrix CR is 
-   0.1975  -0.1063
-   0.8541  -0.4513
-   0.4668   0.8826
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000
-   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08DD.html b/doc/_build/html/_static/doc/SB08DD.html
deleted file mode 100644
index 936b97aa..00000000
--- a/doc/_build/html/_static/doc/SB08DD.html
+++ /dev/null
@@ -1,433 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08DD">SB08DD</A></H2>
-<H3>
-Right coprime factorization with inner denominator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), a feedback matrix
-  F, an orthogonal transformation matrix Z, and a gain matrix V,
-  such that the systems
-
-       Q = (Z'*(A+B*F)*Z, Z'*B*V, (C+D*F)*Z, D*V)
-  and
-       R = (Z'*(A+B*F)*Z, Z'*B*V, F*Z, V)
-
-  provide a stable right coprime factorization of G in the form
-                    -1
-           G = Q * R  ,
-
-  where G, Q and R are the corresponding transfer-function matrices
-  and the denominator R is inner, that is, R'(-s)*R(s) = I in the
-  continuous-time case, or R'(1/z)*R(z) = I in the discrete-time
-  case. The Z matrix is not explicitly computed.
-
-  Note: G must have no controllable poles on the imaginary axis
-  for a continuous-time system, or on the unit circle for a
-  discrete-time system. If the given state-space representation
-  is not stabilizable, the unstabilizable part of the original
-  system is automatically deflated and the order of the systems
-  Q and R is accordingly reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrix B and
-          the number of columns of the matrices C and CR.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B, D and DR and the number of rows of the
-          matrices CR and DR.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C and D.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A. The matrix A must not
-          have controllable eigenvalues on the imaginary axis, if
-          DICO = 'C', or on the unit circle, if DICO = 'D'.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The trailing NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*B*V, the
-          input/state matrix of the numerator factor Q. The last
-          NR rows of this matrix form the input/state matrix of
-          a minimal realization of the denominator factor R.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix (C+D*F)*Z,
-          the state/output matrix of the numerator factor Q.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix.
-          On exit, the leading P-by-M part of this array contains
-          the matrix D*V representing the input/output matrix
-          of the numerator factor Q.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          uncontrollable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of controllable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
-          The leading M-by-NQ part of this array contains the
-          leading M-by-NQ part of the feedback matrix F*Z, which
-          reflects the eigenvalues of A lying outside the stable
-          region to values which are symmetric with respect to the
-          imaginary axis (if DICO = 'C') or the unit circle (if
-          DICO = 'D').  The last NR columns of this matrix form the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-
-  LDCR    INTEGER
-          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
-          The leading M-by-M part of this array contains the upper
-          triangular matrix V of order M representing the
-          input/output matrix of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
-          the 1-norm of B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, N*(N+5), M*(M+2), 4*M, 4*P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal;
-          = 3:  if DICO = 'C' and the matrix A has a controllable
-                eigenvalue on the imaginary axis, or DICO = 'D'
-                and A has a controllable eigenvalue on the unit
-                circle.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the factorization algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      A Schur method for computing coprime factorizations with inner
-      denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ),
-     $                                 MMAX*( MMAX + 2 ),
-     $                                 4*NMAX, 4*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a RCFID for (A,B,C,D).
-               CALL SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = NQ-NR+1, NQ )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( CR(I,J), J = NQ-NR+1, NQ )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08DD = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08DD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08DD EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -4.1066  -0.2336
-   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4816   0.2196
-   0.0000   0.0000 -13.1627   0.0608  -0.0218   3.8320   0.3429
-   0.0000   0.0000   0.0000  -3.5957  -3.3373   0.0816  -4.1237
-   0.0000   0.0000   0.0000   0.0000 -12.4245  -0.3133   4.4255
-   0.0000   0.0000   0.0000   0.0000   0.0000  -0.1605  -0.0772
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.3040  -0.1605
-
- The numerator input/state matrix BQ is 
-   5.0302  -0.0063
-   0.7078  -0.0409
- -11.3663   0.0051
-   0.1760   0.5879
-  -0.0265  12.2119
-   1.1050   0.3215
-   0.0066  -2.5822
-
- The numerator state/output matrix CQ is 
-  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2325   0.0265
-   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.8985   0.1406
-  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.0874  -0.5630
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -0.1605  -0.0772
-   0.3040  -0.1605
-
- The denominator input/state matrix BR is 
-   1.1050   0.3215
-   0.0066  -2.5822
-
- The denominator state/output matrix CR is 
-  -0.2288  -0.0259
-  -0.0070   0.1497
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08ED.html b/doc/_build/html/_static/doc/SB08ED.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/SB08ED.html
+++ /dev/null
@@ -1,447 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08ED">SB08ED</A></H2>
-<H3>
-Left coprime factorization with prescribed stability degree
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), an output
-  injection matrix H and an orthogonal transformation matrix Z, such
-  that the systems
-
-       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), C*Z, D)
-  and
-       R = (Z'*(A+H*C)*Z, Z'*H, C*Z, I)
-
-  provide a stable left coprime factorization of G in the form
-                -1
-           G = R  * Q,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-  The resulting state dynamics matrix of the systems Q and R has
-  eigenvalues lying inside a given stability domain.
-  The Z matrix is not explicitly computed.
-
-  Note: If the given state-space representation is not detectable,
-  the undetectable part of the original system is automatically
-  deflated and the order of the systems Q and R is accordingly
-  reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), BR(LDBR,*),
-     $                  C(LDC,*), D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrices B
-          and BR, and the number of columns of the matrix C.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C, D and DR, and the number of columns of
-          the matrices BR and DR.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
-          ALPHA(1) contains the desired stability degree to be
-          assigned for the eigenvalues of A+H*C, and ALPHA(2)
-          the stability margin. The eigenvalues outside the
-          ALPHA(2)-stability region will be assigned to have the
-          real parts equal to ALPHA(1) &lt; 0 and unmodified
-          imaginary parts for a continuous-time system
-          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
-          for a discrete-time system (DICO = 'D').
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The leading NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix of the system.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
-          input/state matrix of the numerator factor Q.
-          The remaining part of this array is needed as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix of the system.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix C*Z, the
-          state/output matrix of the numerator factor Q.
-          The first NR columns of this array represent the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-          The remaining part of this array is needed as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P), if N &gt; 0.
-          LDC &gt;= 1,          if N = 0.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array must contain the
-          input/output matrix. D represents also the input/output
-          matrix of the numerator factor Q.
-          This array is modified internally, but restored on exit.
-          The remaining part of this array is needed as workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          unobservable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of observable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
-          The leading NQ-by-P part of this array contains the
-          leading NQ-by-P part of the output injection matrix
-          Z'*H, which moves the eigenvalues of A lying outside
-          the ALPHA-stable region to values on the ALPHA-stability
-          boundary. The first NR rows of this matrix form the
-          input/state matrix of a minimal realization of the
-          denominator factor R.
-
-  LDBR    INTEGER
-          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
-          The leading P-by-P part of this array contains an
-          identity matrix representing the input/output matrix
-          of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          C are considered zero (used for observability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
-          the infinity-norm of C.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, N*P + MAX( N*(N+5), 5*P, 4*M ) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                along the diagonal.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine uses the right coprime factorization algorithm
-  of [1] applied to G'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MPMAX,
-     $                   LDD = MPMAX, LDBR = NMAX, LDDR = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
-     $                                             5*PMAX, 4*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MPMAX),
-     $                 BR(LDBR,PMAX), C(LDC,NMAX), D(LDD,MPMAX),
-     $                 DR(LDDR,PMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
-      ALPHA(2) = ALPHA(1)
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a LCF for (A,B,C,D).
-               CALL SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
-     $                      LDC, D, LDD, NQ, NR, BR, LDBR, DR, LDDR,
-     $                      TOL, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = 1, NR )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( C(I,J), J = 1, NR )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08ED = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08ED EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3 -1.0   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08ED EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -1.0000   0.0526  -0.1408  -0.3060   0.4199   0.2408   1.7274
-  -0.4463  -1.0000   2.0067   4.3895   0.0062   0.1813   0.0895
-   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
-   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
-   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
-   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
-   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
-
- The numerator input/state matrix BQ is 
-  -1.1544  -0.0159
-  -0.0631   0.5122
-   0.0056 -11.6989
-   0.0490   4.3728
-  11.7198  -0.0038
-  -2.8173   0.0308
-   3.1018  -0.0009
-
- The numerator state/output matrix CQ is 
-   0.2238   0.0132  -0.0006  -0.0083   0.1279   0.8797   0.3994
-   0.9639   0.0643  -0.0007  -0.0041   0.0305  -0.2562   0.0122
-  -0.0660   0.9962   0.0248  -0.0506   0.0000   0.0022  -0.0017
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -1.0000   0.0526
-  -0.4463  -1.0000
-
- The denominator input/state matrix BR is 
-  -0.2623  -1.1297   0.0764
-  -0.0155  -0.0752  -1.1676
-
- The denominator state/output matrix CR is 
-   0.2238   0.0132
-   0.9639   0.0643
-  -0.0660   0.9962
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000
-   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08FD.html b/doc/_build/html/_static/doc/SB08FD.html
deleted file mode 100644
index 8468c6e8..00000000
--- a/doc/_build/html/_static/doc/SB08FD.html
+++ /dev/null
@@ -1,433 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08FD">SB08FD</A></H2>
-<H3>
-Right coprime factorization with prescribed stability degree
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), a feedback
-  matrix F and an orthogonal transformation matrix Z, such that
-  the systems
-
-       Q = (Z'*(A+B*F)*Z, Z'*B, (C+D*F)*Z, D)
-  and
-       R = (Z'*(A+B*F)*Z, Z'*B, F*Z, I)
-
-  provide a stable right coprime factorization of G in the form
-                    -1
-           G = Q * R  ,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-  The resulting state dynamics matrix of the systems Q and R has
-  eigenvalues lying inside a given stability domain.
-  The Z matrix is not explicitly computed.
-
-  Note: If the given state-space representation is not stabilizable,
-  the unstabilizable part of the original system is automatically
-  deflated and the order of the systems Q and R is accordingly
-  reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), C(LDC,*),
-     $                  CR(LDCR,*), D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrix B and
-          the number of columns of the matrices C and CR.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B, D and DR and the number of rows of the
-          matrices CR and DR.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C and D.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
-          ALPHA(1) contains the desired stability degree to be
-          assigned for the eigenvalues of A+B*F, and ALPHA(2)
-          the stability margin. The eigenvalues outside the
-          ALPHA(2)-stability region will be assigned to have the
-          real parts equal to ALPHA(1) &lt; 0 and unmodified
-          imaginary parts for a continuous-time system
-          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
-          for a discrete-time system (DICO = 'D').
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The trailing NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*B, the
-          input/state matrix of the numerator factor Q. The last
-          NR rows of this matrix form the input/state matrix of
-          a minimal realization of the denominator factor R.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix (C+D*F)*Z,
-          the state/output matrix of the numerator factor Q.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix. D represents also the input/output
-          matrix of the numerator factor Q.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          uncontrollable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of controllable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
-          The leading M-by-NQ part of this array contains the
-          leading M-by-NQ part of the feedback matrix F*Z, which
-          moves the eigenvalues of A lying outside the ALPHA-stable
-          region to values which are on the ALPHA-stability
-          boundary.  The last NR columns of this matrix form the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-
-  LDCR    INTEGER
-          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
-          The leading M-by-M part of this array contains an
-          identity matrix representing the input/output matrix
-          of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
-          the 1-norm of B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LWORK &gt;= MAX( 1, N*(N+5), 5*M, 4*P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the factorization algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ), 5*MMAX,
-     $                                 4*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MMAX), C(LDC,NMAX),
-     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08FD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
-      ALPHA(2) = ALPHA(1)
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a RCF for (A,B,C,D).
-               CALL SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
-     $                      LDC, D, LDD, NQ, NR, CR, LDCR, DR, LDDR,
-     $                      TOL, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = NQ-NR+1, NQ )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( CR(I,J), J = NQ-NR+1, NQ )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08FD = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08FD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3 -1.0   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08FD EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -3.2129  -3.6183
-   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4392  -0.2528
-   0.0000   0.0000 -13.1627   0.0608  -0.0218   2.3461   5.8272
-   0.0000   0.0000   0.0000  -3.5957  -3.3373   1.3622  -3.6083
-   0.0000   0.0000   0.0000   0.0000 -12.4245  -9.8634   8.1191
-   0.0000   0.0000   0.0000   0.0000   0.0000  -1.0000  -0.0135
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.7393  -1.0000
-
- The numerator input/state matrix BQ is 
-   5.0302  -0.0063
-   0.7078  -0.0409
- -11.3663   0.0051
-   0.1760   0.5879
-  -0.0265  12.2119
-   1.0104   1.3262
-   0.4474  -2.2388
-
- The numerator state/output matrix CQ is 
-  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2026   0.1172
-   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.7676   0.4879
-  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.3050  -0.4812
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -1.0000  -0.0135
-   1.7393  -1.0000
-
- The denominator input/state matrix BR is 
-   1.0104   1.3262
-   0.4474  -2.2388
-
- The denominator state/output matrix CR is 
-  -0.1091  -0.4653
-  -0.7055   0.4766
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08GD.html b/doc/_build/html/_static/doc/SB08GD.html
deleted file mode 100644
index e00edf87..00000000
--- a/doc/_build/html/_static/doc/SB08GD.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08GD">SB08GD</A></H2>
-<H3>
-State-space representation of a left coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the state-space representation for the system
-  G = (A,B,C,D) from the factors Q = (AQR,BQ,CQR,DQ) and
-  R = (AQR,BR,CQR,DR) of its left coprime factorization
-                -1
-           G = R  * Q,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08GD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, BR,
-     $                   LDBR, DR, LDDR, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDBR, LDC, LDD, LDDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. Also the number of rows of the
-          matrices B and BR and the number of columns of the matrix
-          C. N represents the order of the systems Q and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows of
-          the matrices C, D and DR and the number of columns of the
-          matrices BR and DR.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix AQR of the systems
-          Q and R.
-          On exit, the leading N-by-N part of this array contains
-          the state dynamics matrix of the system G.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix BQ of the system Q.
-          On exit, the leading N-by-M part of this array contains
-          the input/state matrix of the system G.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix CQR of the systems
-          Q and R.
-          On exit, the leading P-by-N part of this array contains
-          the state/output matrix of the system G.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix DQ of the system Q.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix of the system G.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  BR      (input) DOUBLE PRECISION array, dimension (LDBR,P)
-          The leading N-by-P part of this array must contain the
-          input/state matrix BR of the system R.
-
-  LDBR    INTEGER
-          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
-
-  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,P)
-          On entry, the leading P-by-P part of this array must
-          contain the input/output matrix DR of the system R.
-          On exit, the leading P-by-P part of this array contains
-          the LU factorization of the matrix DR, as computed by
-          LAPACK Library routine DGETRF.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*P))
-          On exit, DWORK(1) contains an estimate of the reciprocal
-          condition number of the matrix DR.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix DR is singular;
-          = 2:  the matrix DR is numerically singular (warning);
-                the calculations continued.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine computes the matrices of the state-space
-  representation G = (A,B,C,D) by using the formulas:
-
-                   -1              -1
-  A = AQR - BR * DR  * CQR,  C = DR  * CQR,
-                   -1              -1
-  B = BQ  - BR * DR  * DQ,   D = DR  * DQ.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08HD.html b/doc/_build/html/_static/doc/SB08HD.html
deleted file mode 100644
index 42ddfc3f..00000000
--- a/doc/_build/html/_static/doc/SB08HD.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08HD">SB08HD</A></H2>
-<H3>
-State-space representation of a right coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the state-space representation for the system
-  G = (A,B,C,D) from the factors Q = (AQR,BQR,CQ,DQ) and
-  R = (AQR,BQR,CR,DR) of its right coprime factorization
-                    -1
-           G = Q * R  ,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08HD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, CR,
-     $                   LDCR, DR, LDDR, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDCR, LDD, LDDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. Also the number of rows of the
-          matrix B and the number of columns of the matrices C and
-          CR. N represents the order of the systems Q and R.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector. Also the number of columns
-          of the matrices B, D and DR and the number of rows of the
-          matrices CR and DR.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector. Also the number of rows
-          of the matrices C and D.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix AQR of the systems
-          Q and R.
-          On exit, the leading N-by-N part of this array contains
-          the state dynamics matrix of the system G.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix BQR of the systems Q and R.
-          On exit, the leading N-by-M part of this array contains
-          the input/state matrix of the system G.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix CQ of the system Q.
-          On exit, the leading P-by-N part of this array contains
-          the state/output matrix of the system G.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix DQ of the system Q.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix of the system G.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  CR      (input) DOUBLE PRECISION array, dimension (LDCR,N)
-          The leading M-by-N part of this array must contain the
-          state/output matrix CR of the system R.
-
-  LDCR    INTEGER
-          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
-
-  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,M)
-          On entry, the leading M-by-M part of this array must
-          contain the input/output matrix DR of the system R.
-          On exit, the leading M-by-M part of this array contains
-          the LU factorization of the matrix DR, as computed by
-          LAPACK Library routine DGETRF.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*M))
-          On exit, DWORK(1) contains an estimate of the reciprocal
-          condition number of the matrix DR.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix DR is singular;
-          = 2:  the matrix DR is numerically singular (warning);
-                the calculations continued.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine computes the matrices of the state-space
-  representation G = (A,B,C,D) by using the formulas:
-
-                    -1                   -1
-  A = AQR - BQR * DR  * CR,  B = BQR * DR  ,
-                   -1                   -1
-  C = CQ  - DQ * DR  * CR,   D = DQ * DR  .
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08MD.html b/doc/_build/html/_static/doc/SB08MD.html
deleted file mode 100644
index ea7a1aa3..00000000
--- a/doc/_build/html/_static/doc/SB08MD.html
+++ /dev/null
@@ -1,293 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08MD">SB08MD</A></H2>
-<H3>
-Spectral factorization of polynomials (continuous-time case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a real polynomial E(s) such that
-
-     (a)  E(-s) * E(s) = A(-s) * A(s) and
-     (b)  E(s) is stable - that is, all the zeros of E(s) have
-          non-positive real parts,
-
-  which corresponds to computing the spectral factorization of the
-  real polynomial A(s) arising from continuous optimality problems.
-
-  The input polynomial may be supplied either in the form
-
-     A(s) = a(0) + a(1) * s + ... + a(DA) * s**DA
-
-  or as
-
-     B(s) = A(-s) * A(s)
-          = b(0) + b(1) * s**2  + ... + b(DA) * s**(2*DA)        (1)
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ACONA
-      INTEGER           DA, INFO, LDWORK
-      DOUBLE PRECISION  RES
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), DWORK(*), E(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ACONA   CHARACTER*1
-          Indicates whether the coefficients of A(s) or B(s) =
-          A(-s) * A(s) are to be supplied as follows:
-          = 'A':  The coefficients of A(s) are to be supplied;
-          = 'B':  The coefficients of B(s) are to be supplied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DA      (input) INTEGER
-          The degree of the polynomials A(s) and E(s).  DA &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
-          On entry, this array must contain either the coefficients
-          of the polynomial A(s) in increasing powers of s if
-          ACONA = 'A', or the coefficients of the polynomial B(s) in
-          increasing powers of s**2 (see equation (1)) if ACONA =
-          'B'.
-          On exit, this array contains the coefficients of the
-          polynomial B(s) in increasing powers of s**2.
-
-  RES     (output) DOUBLE PRECISION
-          An estimate of the accuracy with which the coefficients of
-          the polynomial E(s) have been computed (see also METHOD
-          and NUMERICAL ASPECTS).
-
-  E       (output) DOUBLE PRECISION array, dimension (DA+1)
-          The coefficients of the spectral factor E(s) in increasing
-          powers of s.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, A(I) = 0.0, for I = 1,2,...,DA+1.
-          = 2:  if on entry, ACONA = 'B' but the supplied
-                coefficients of the polynomial B(s) are not the
-                coefficients of A(-s) * A(s) for some real A(s);
-                in this case, RES and E are unassigned;
-          = 3:  if the iterative process (see METHOD) has failed to
-                converge in 30 iterations;
-          = 4:  if the last computed iterate (see METHOD) is
-                unstable. If ACONA = 'B', then the supplied
-                coefficients of the polynomial B(s) may not be the
-                coefficients of A(-s) * A(s) for some real A(s).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>      _                                               _
-  Let A(s) be the conjugate polynomial of A(s), i.e., A(s) = A(-s).
-
-  The method used by the routine is based on applying the
-  Newton-Raphson iteration to the function
-            _       _
-     F(e) = A * A - e * e,
-
-  which leads to the iteration formulae (see [1]):
-
-     _(i)   (i)  _(i)   (i)     _      )
-     q   * x   + x   * q    = 2 A * A  )
-                                       )   for i = 0, 1, 2,...
-      (i+1)    (i)   (i)               )
-     q     = (q   + x   )/2            )
-
-                 (0)         DA
-  Starting from q   = (1 + s)   (which has no zeros in the closed
-                                               (1)   (2)   (3)
-  right half-plane), the sequence of iterates q   , q   , q   ,...
-  converges to a solution of F(e) = 0 which has no zeros in the
-  open right half-plane.
-
-  The iterates satisfy the following conditions:
-
-           (i)
-     (a)  q   is a stable polynomial (no zeros in the closed right
-          half-plane) and
-
-           (i)        (i-1)
-     (b)  q   (1) &lt;= q     (1).
-
-                                    (i-1)                       (i)
-  The iterative process stops with q     , (where i &lt;= 30)  if q
-  violates either (a) or (b), or if the condition
-                    _(i) (i)  _
-     (c)  RES  = ||(q   q   - A A)|| &lt; tol,
-
-  is satisfied, where || . || denotes the largest coefficient of
-                  _(i) (i)  _
-  the polynomial (q   q   - A A) and tol is an estimate of the
-                                                 _(i)  (i)
-  rounding error in the computed coefficients of q    q   . If there
-  is no convergence after 30 iterations then the routine returns
-  with the Error Indicator (INFO) set to 3, and the value of RES may
-  indicate whether or not the last computed iterate is close to the
-  solution.
-
-  If ACONA = 'B', then it is possible that the equation e(-s) *
-  e(s) = B(s) has no real solution, which will be the case if A(1)
-  &lt; 0 or if ( -1)**DA * A(DA+1) &lt; 0.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Vostry, Z.
-      New Algorithm for Polynomial Spectral Factorization with
-      Quadratic Convergence II.
-      Kybernetika, 12, pp. 248-259, 1976.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The conditioning of the problem depends upon the distance of the
-  zeros of A(s) from the imaginary axis and on their multiplicity.
-  For a well-conditioned problem the accuracy of the computed
-  coefficients of E(s) is of the order of RES. However, for problems
-  with zeros near the imaginary axis or with multiple zeros, the
-  value of RES may be an overestimate of the true accuracy.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order for the problem e(-s) * e(s) = B(s) to have a real
-  solution e(s), it is necessary and sufficient that B(j*omega)
-  &gt;= 0 for any purely imaginary argument j*omega (see [1]).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DAMAX
-      PARAMETER        ( DAMAX = 10 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 5*DAMAX+5 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RES
-      INTEGER          DA, I, INFO
-      CHARACTER*1      ACONA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB08MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      READ ( NIN, FMT = '()' )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = * ) DA, ACONA
-      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DA
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
-*        Compute the spectral factorization of the given polynomial.
-         CALL SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( ACONA, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 0, DA
-                  WRITE ( NOUT, FMT = 99995 ) 2*I, A(I+1)
-   20          CONTINUE
-               WRITE ( NOUT, FMT = * )
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40 I = 0, DA
-               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) RES
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' SB08MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08MD = ',I2)
-99997 FORMAT (' The coefficients of the polynomial B(s) are ',//' powe',
-     $       'r of s     coefficient ')
-99996 FORMAT (' The coefficients of the spectral factor E(s) are ',
-     $       //' power of s     coefficient ')
-99995 FORMAT (2X,I5,9X,F9.4)
-99994 FORMAT (/' RES = ',1P,E8.1)
-99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08MD EXAMPLE PROGRAM DATA
-   3     A
-   8.0  -6.0  -3.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08MD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial B(s) are 
-
- power of s     coefficient 
-      0           64.0000
-      2          -84.0000
-      4           21.0000
-      6           -1.0000
- 
- The coefficients of the spectral factor E(s) are 
-
- power of s     coefficient 
-      0            8.0000
-      1           14.0000
-      2            7.0000
-      3            1.0000
-
- RES =  2.7E-15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB08ND.html b/doc/_build/html/_static/doc/SB08ND.html
deleted file mode 100644
index 52ad4c7d..00000000
--- a/doc/_build/html/_static/doc/SB08ND.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08ND">SB08ND</A></H2>
-<H3>
-Spectral factorization of polynomials (discrete-time case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a real polynomial E(z) such that
-
-     (a)  E(1/z) * E(z) = A(1/z) * A(z) and
-     (b)  E(z) is stable - that is, E(z) has no zeros with modulus
-          greater than 1,
-
-  which corresponds to computing the spectral factorization of the
-  real polynomial A(z) arising from discrete optimality problems.
-
-  The input polynomial may be supplied either in the form
-
-  A(z) = a(0) + a(1) * z + ... + a(DA) * z**DA
-
-  or as
-
-  B(z) = A(1/z) * A(z)
-       = b(0) + b(1) * (z + 1/z) + ... + b(DA) * (z**DA + 1/z**DA)
-                                                                 (1)
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ACONA
-      INTEGER           DA, INFO, LDWORK
-      DOUBLE PRECISION  RES
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), DWORK(*), E(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ACONA   CHARACTER*1
-          Indicates whether the coefficients of A(z) or B(z) =
-          A(1/z) * A(z) are to be supplied as follows:
-          = 'A':  The coefficients of A(z) are to be supplied;
-          = 'B':  The coefficients of B(z) are to be supplied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DA      (input) INTEGER
-          The degree of the polynomials A(z) and E(z).  DA &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
-          On entry, if ACONA = 'A', this array must contain the
-          coefficients of the polynomial A(z) in increasing powers
-          of z, and if ACONA = 'B', this array must contain the
-          coefficients b ,b ,...,b   of the polynomial B(z) in
-                        0  1      DA
-          equation (1). That is, A(i) = b    for i = 1,2,...,DA+1.
-                                         i-1
-          On exit, this array contains the coefficients of the
-          polynomial B(z) in eqation (1). Specifically, A(i)
-          contains b   ,  for i = 1,2,...DA+1.
-                    i-1
-
-  RES     (output) DOUBLE PRECISION
-          An estimate of the accuracy with which the coefficients of
-          the polynomial E(z) have been computed (see also METHOD
-          and NUMERICAL ASPECTS).
-
-  E       (output) DOUBLE PRECISION array, dimension (DA+1)
-          The coefficients of the spectral factor E(z) in increasing
-          powers of z.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  if on entry, ACONA = 'B' but the supplied
-                coefficients of the polynomial B(z) are not the
-                coefficients of A(1/z) * A(z) for some real A(z);
-                in this case, RES and E are unassigned;
-          = 3:  if the iterative process (see METHOD) has failed to
-                converge in 30 iterations;
-          = 4:  if the last computed iterate (see METHOD) is
-                unstable. If ACONA = 'B', then the supplied
-                coefficients of the polynomial B(z) may not be the
-                coefficients of A(1/z) * A(z) for some real A(z).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>      _                                               _
-  Let A(z) be the conjugate polynomial of A(z), i.e., A(z) = A(1/z).
-
-  The method used by the routine is based on applying the
-  Newton-Raphson iteration to the function
-            _       _
-     F(e) = A * A - e * e,
-
-  which leads to the iteration formulae (see [1] and [2])
-
-     _(i)   (i)  _(i)   (i)     _      )
-     q   * x   + x   * q    = 2 A * A  )
-                                       )   for i = 0, 1, 2,...
-      (i+1)    (i)   (i)               )
-     q     = (q   + x   )/2            )
-
-  The iteration starts from
-
-      (0)                                        DA
-     q   (z) = (b(0) + b(1) * z + ... + b(DA) * z  ) / SQRT( b(0))
-
-  which is a Hurwitz polynomial that has no zeros in the closed unit
-                                         (i)
-  circle (see [2], Theorem 3). Then lim q   = e, the convergence is
-  uniform and e is a Hurwitz polynomial.
-
-  The iterates satisfy the following conditions:
-           (i)
-     (a)  q    has no zeros in the closed unit circle,
-           (i)     (i-1)
-     (b)  q    &lt;= q     and
-           0       0
-           DA   (i) 2    DA     2
-     (c)  SUM (q   )  - SUM (A )  &gt;= 0.
-          k=0   k       k=0   k
-                                  (i)
-  The iterative process stops if q    violates (a), (b) or (c),
-  or if the condition
-                    _(i) (i)  _
-     (d)  RES  = ||(q   q   - A A)|| &lt; tol,
-
-  is satisfied, where || . || denotes the largest coefficient of
-                  _(i) (i)  _
-  the polynomial (q   q   - A A) and tol is an estimate of the
-                                                 _(i)  (i)
-  rounding error in the computed coefficients of q    q   . If
-                                         (i-1)
-  condition (a) or (b) is violated then q      is taken otherwise
-   (i)
-  q    is used. Thus the computed reciprocal polynomial E(z) = z**DA
-  * q(1/z) is stable. If there is no convergence after 30 iterations
-  then the routine returns with the Error Indicator (INFO) set to 3,
-  and the value of RES may indicate whether or not the last computed
-  iterate is close to the solution.
-                                            (0)
-  If ACONA = 'B', then it is possible that q    is not a Hurwitz
-  polynomial, in which case the equation e(1/z) * e(z) = B(z) has no
-  real solution (see [2], Theorem 3).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kucera, V.
-      Discrete Linear Control, The polynomial Approach.
-      John Wiley & Sons, Chichester, 1979.
-
-  [2] Vostry, Z.
-      New Algorithm for Polynomial Spectral Factorization with
-      Quadratic Convergence I.
-      Kybernetika, 11, pp. 415-422, 1975.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DAMAX
-      PARAMETER        ( DAMAX = 10 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 5*DAMAX+5 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RES
-      INTEGER          DA, I, INFO
-      CHARACTER*1      ACONA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB08ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      READ ( NIN, FMT = '()' )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = * ) DA, ACONA
-      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DA
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
-*        Compute the spectral factorization of the given polynomial.
-         CALL SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( ACONA, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 0, DA
-                  WRITE ( NOUT, FMT = 99995 ) I, A(I+1)
-   20          CONTINUE
-               WRITE ( NOUT, FMT = * )
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40 I = 0, DA
-               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) RES
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' SB08ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08ND = ',I2)
-99997 FORMAT (' The coefficients of the polynomial B(z) are ',//' powe',
-     $       'r of z     coefficient ')
-99996 FORMAT (' The coefficients of the spectral factor E(z) are ',
-     $       //' power of z     coefficient ')
-99995 FORMAT (2X,I5,9X,F9.4)
-99994 FORMAT (/' RES = ',1P,E8.1)
-99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08ND EXAMPLE PROGRAM DATA
-   2     A
-   2.0  4.5  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08ND EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial B(z) are 
-
- power of z     coefficient 
-      0           25.2500
-      1           13.5000
-      2            2.0000
- 
- The coefficients of the spectral factor E(z) are 
-
- power of z     coefficient 
-      0            0.5000
-      1            3.0000
-      2            4.0000
-
- RES =  4.4E-16
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB09MD.html b/doc/_build/html/_static/doc/SB09MD.html
deleted file mode 100644
index 2e30961c..00000000
--- a/doc/_build/html/_static/doc/SB09MD.html
+++ /dev/null
@@ -1,257 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB09MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB09MD">SB09MD</A></H2>
-<H3>
-Evaluation of closeness of two multivariable sequences
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compare two multivariable sequences M1(k) and M2(k) for
-  k = 1,2,...,N, and evaluate their closeness. Each of the
-  parameters M1(k) and M2(k) is an NC by NB matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE,
-     $                   LDSE, PRE, LDPRE, TOL, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH1, LDH2, LDPRE, LDSE, LDSS, N, NB, NC
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H1(LDH1,*), H2(LDH2,*), PRE(LDPRE,*),
-     $                  SE(LDSE,*), SS(LDSS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of parameters.  N &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of rows in M1(k) and M2(k).  NC &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns in M1(k) and M2(k).  NB &gt;= 0.
-
-  H1      (input) DOUBLE PRECISION array, dimension (LDH1,N*NB)
-          The leading NC-by-N*NB part of this array must contain
-          the multivariable sequence M1(k), where k = 1,2,...,N.
-          Each parameter M1(k) is an NC-by-NB matrix, whose
-          (i,j)-th element must be stored in H1(i,(k-1)*NB+j) for
-          i = 1,2,...,NC and j = 1,2,...,NB.
-
-  LDH1    INTEGER
-          The leading dimension of array H1.  LDH1 &gt;= MAX(1,NC).
-
-  H2      (input) DOUBLE PRECISION array, dimension (LDH2,N*NB)
-          The leading NC-by-N*NB part of this array must contain
-          the multivariable sequence M2(k), where k = 1,2,...,N.
-          Each parameter M2(k) is an NC-by-NB matrix, whose
-          (i,j)-th element must be stored in H2(i,(k-1)*NB+j) for
-          i = 1,2,...,NC and j = 1,2,...,NB.
-
-  LDH2    INTEGER
-          The leading dimension of array H2.  LDH2 &gt;= MAX(1,NC).
-
-  SS      (output) DOUBLE PRECISION array, dimension (LDSS,NB)
-          The leading NC-by-NB part of this array contains the
-          matrix SS.
-
-  LDSS    INTEGER
-          The leading dimension of array SS.  LDSS &gt;= MAX(1,NC).
-
-  SE      (output) DOUBLE PRECISION array, dimension (LDSE,NB)
-          The leading NC-by-NB part of this array contains the
-          quadratic error matrix SE.
-
-  LDSE    INTEGER
-          The leading dimension of array SE.  LDSE &gt;= MAX(1,NC).
-
-  PRE     (output) DOUBLE PRECISION array, dimension (LDPRE,NB)
-          The leading NC-by-NB part of this array contains the
-          percentage relative error matrix PRE.
-
-  LDPRE   INTEGER
-          The leading dimension of array PRE.  LDPRE &gt;= MAX(1,NC).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in the computation of the error
-          matrices SE and PRE. If the user sets TOL to be less than
-          EPS then the tolerance is taken as EPS, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j)-th element of the matrix SS is defined by:
-                     N          2
-            SS    = SUM  M1  (k) .                            (1)
-              ij    k=1    ij
-
-  The (i,j)-th element of the quadratic error matrix SE is defined
-  by:
-                     N                      2
-            SE    = SUM  (M1  (k) - M2  (k)) .                (2)
-              ij    k=1     ij        ij
-
-  The (i,j)-th element of the percentage relative error matrix PRE
-  is defined by:
-
-            PRE   = 100 x SQRT( SE  / SS  ).                  (3)
-               ij                 ij    ij
-
-  The following precautions are taken by the routine to guard
-  against underflow and overflow:
-
-  (i) if ABS( M1  (k) ) &gt; 1/TOL or ABS( M1  (k) - M2  (k) ) &gt; 1/TOL,
-                ij                        ij        ij
-
-      then SE   and SS   are set to 1/TOL and PRE   is set to 1; and
-             ij       ij                         ij
-
-  (ii) if ABS( SS  ) &lt;= TOL, then PRE   is set to 100.
-                 ij                  ij
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-     2xNBxNCx(N+1) multiplications/divisions,
-     4xNBxNCxN     additions/subtractions and
-       NBxNC       square roots.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB09MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NCMAX, NBMAX
-      PARAMETER        ( NMAX = 20, NCMAX = 20, NBMAX = 20 )
-      INTEGER          LDH1, LDH2, LDSS, LDSE, LDPRE
-      PARAMETER        ( LDH1 = NCMAX, LDH2 = NCMAX, LDSS = NCMAX,
-     $                   LDSE = NCMAX, LDPRE = NCMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, N, NB, NC
-*     .. Local Arrays ..
-      DOUBLE PRECISION H1(LDH1,NMAX*NBMAX), H2(LDH2,NMAX*NBMAX),
-     $                 PRE(LDPRE,NBMAX), SE(LDSE,NBMAX), SS(LDSS,NBMAX)
-*     .. External Subroutines ..
-      EXTERNAL         SB09MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NC, NB, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE IF ( NB.LT.0 .OR. NB.GT.NBMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NB
-      ELSE IF ( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) NC
-      ELSE
-         READ ( NIN, FMT = * ) ( ( H1(I,J), I = 1,NC ), J = 1,N*NB )
-         READ ( NIN, FMT = * ) ( ( H2(I,J), I = 1,NC ), J = 1,N*NB )
-*        Compare the given sequences and evaluate their closeness.
-         CALL SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE, LDSE,
-     $                PRE, LDPRE, TOL, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, NC
-               WRITE ( NOUT, FMT = 99996 ) ( SS(I,J), J = 1,NB )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 40 I = 1, NC
-               WRITE ( NOUT, FMT = 99996 ) ( SE(I,J), J = 1,NB )
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 60 I = 1, NC
-               WRITE ( NOUT, FMT = 99996 ) ( PRE(I,J), J = 1,NB )
-   60       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB09MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB09MD = ',I2)
-99997 FORMAT (' The sum-of-squares matrix SS is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The quadratic error matrix SE is ')
-99994 FORMAT (/' The percentage relative error matrix PRE is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
-99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB09MD EXAMPLE PROGRAM DATA
-   2     2     2     0.0
-   1.3373  0.1205  0.6618 -0.3372
-  -0.4062  1.6120  0.9299  0.7429
-   1.1480 -0.1837  0.8843 -0.4947
-  -0.4616  1.4674  0.6028  0.9524
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB09MD EXAMPLE PROGRAM RESULTS
-
- The sum-of-squares matrix SS is 
-   1.9534   1.3027
-   2.6131   0.6656
-
- The quadratic error matrix SE is 
-   0.0389   0.1565
-   0.1134   0.0687
-
- The percentage relative error matrix PRE is 
-  14.1125  34.6607
-  20.8363  32.1262
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10AD.html b/doc/_build/html/_static/doc/SB10AD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,404 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10AD">SB10AD</A></H2>
-<H3>
-H-infinity optimal controller using modified Glover's and Doyle's formulas (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity optimal n-state
-  controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  using modified Glover's and Doyle's 1988 formulas, for the system
-
-           | A  | B1  B2  |   | A | B |
-       P = |----|---------| = |---|---|
-           | C1 | D11 D12 |   | C | D |
-           | C2 | D21 D22 |
-
-  and for the estimated minimal possible value of gamma with respect
-  to GTOL, where B2 has as column size the number of control inputs
-  (NCON) and C2 has as row size the number of measurements (NMEAS)
-  being provided to the controller, and then to compute the matrices
-  of the closed-loop system
-
-           | AC | BC |
-       G = |----|----|,
-           | CC | DC |
-
-  if the stabilizing controller exists.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
-       |    C1        D12 |
-
-  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
-       |    C2        D21 |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10AD( JOB, N, M, NP, NCON, NMEAS, GAMMA, A, LDA,
-     $                   B, LDB, C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK,
-     $                   LDCK, DK, LDDK, AC, LDAC, BC, LDBC, CC, LDCC,
-     $                   DC, LDDC, RCOND, GTOL, ACTOL, IWORK, LIWORK,
-     $                   DWORK, LDWORK, BWORK, LBWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, JOB, LBWORK, LDA, LDAC, LDAK, LDB, LDBC,
-     $                   LDBK, LDC, LDCC, LDCK, LDD, LDDC, LDDK, LDWORK,
-     $                   LIWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   ACTOL, GAMMA, GTOL
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
-     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
-     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
-     $                   DWORK( * ), RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  JOB     (input) INTEGER
-          Indicates the strategy for reducing the GAMMA value, as
-          follows:
-          = 1: Use bisection method for decreasing GAMMA from GAMMA
-               to GAMMAMIN until the closed-loop system leaves
-               stability.
-          = 2: Scan from GAMMA to 0 trying to find the minimal GAMMA
-               for which the closed-loop system retains stability.
-          = 3: First bisection, then scanning.
-          = 4: Find suboptimal controller only.
-
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input/output) DOUBLE PRECISION
-          The initial value of gamma on input. It is assumed that
-          gamma is sufficiently large so that the controller is
-          admissible. GAMMA &gt;= 0.
-          On output it contains the minimal estimated gamma.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
-          The leading 2*N-by-2*N part of this array contains the
-          closed-loop system state matrix AC.
-
-  LDAC    INTEGER
-          The leading dimension of the array AC.
-          LDAC &gt;= max(1,2*N).
-
-  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
-          The leading 2*N-by-(M-NCON) part of this array contains
-          the closed-loop system input matrix BC.
-
-  LDBC    INTEGER
-          The leading dimension of the array BC.
-          LDBC &gt;= max(1,2*N).
-
-  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
-          The leading (NP-NMEAS)-by-2*N part of this array contains
-          the closed-loop system output matrix CC.
-
-  LDCC    INTEGER
-          The leading dimension of the array CC.
-          LDCC &gt;= max(1,NP-NMEAS).
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
-          The leading (NP-NMEAS)-by-(M-NCON) part of this array
-          contains the closed-loop system input/output matrix DC.
-
-  LDDC    INTEGER
-          The leading dimension of the array DC.
-          LDDC &gt;= max(1,NP-NMEAS).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-                   For the last successful step:
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  GTOL    DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of GAMMA
-          and its distance to the estimated minimal possible
-          value of GAMMA.
-          If GTOL &lt;= 0, then a default value equal to sqrt(EPS)
-          is used, where EPS is the relative machine precision.
-
-  ACTOL   DOUBLE PRECISION
-          Upper bound for the poles of the closed-loop system
-          used for determining if it is stable.
-          ACTOL &lt;= 0 for stable systems.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= max(2*max(N,M-NCON,NP-NMEAS,NCON,NMEAS),N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= LW1 + max(1,LW2,LW3,LW4,LW5 + MAX(LW6,LW7)),
-          where
-          LW1 = N*M + NP*N + NP*M + M2*M2 + NP2*NP2;
-          LW2 = max( ( N + NP1 + 1 )*( N + M2 ) +
-                       max( 3*( N + M2 ) + N + NP1, 5*( N + M2 ) ),
-                     ( N + NP2 )*( N + M1 + 1 ) +
-                       max( 3*( N + NP2 ) + N + M1, 5*( N + NP2 ) ),
-                     M2 + NP1*NP1 + max( NP1*max( N, M1 ),
-                                         3*M2 + NP1, 5*M2 ),
-                     NP2 + M1*M1 +  max( max( N, NP1 )*M1,
-                                         3*NP2 + M1, 5*NP2 ) );
-          LW3 = max( ND1*M1 + max( 4*min( ND1, M1 ) + max( ND1,M1 ),
-                                   6*min( ND1, M1 ) ),
-                     NP1*ND2 + max( 4*min( NP1, ND2 ) +
-                                                     max( NP1,ND2 ),
-                                    6*min( NP1, ND2 ) ) );
-          LW4 = 2*M*M + NP*NP + 2*M*N + M*NP + 2*N*NP;
-          LW5 = 2*N*N + M*N + N*NP;
-          LW6 = max( M*M   + max( 2*M1, 3*N*N +
-                                  max( N*M, 10*N*N + 12*N + 5 ) ),
-                     NP*NP + max( 2*NP1, 3*N*N +
-                                  max( N*NP, 10*N*N + 12*N + 5 ) ));
-          LW7 = M2*NP2 + NP2*NP2 + M2*M2 +
-                max( ND1*ND1 + max( 2*ND1, ( ND1 + ND2 )*NP2 ),
-                     ND2*ND2 + max( 2*ND2, ND2*M2 ), 3*N,
-                     N*( 2*NP2 + M2 ) +
-                     max( 2*N*M2, M2*NP2 +
-                                  max( M2*M2 + 3*M2, NP2*( 2*NP2 +
-                                       M2 + max( NP2, N ) ) ) ) );
-          M1  = M   - M2, NP1 = NP - NP2,
-          ND1 = NP1 - M2, ND2 = M1 - NP2.
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-
-  LBWORK  INTEGER
-          The dimension of the array BWORK.  LBWORK &gt;= 2*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix | A-j*omega*I  B2  | had not full
-                              |    C1        D12 |
-                column rank in respect to the tolerance EPS;
-          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
-                              |    C2        D21 |
-                rank in respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance SQRT(EPS);
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance SQRT(EPS);
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21);
-                             |C1  D12|  |C2  D21|
-          = 6:  if the controller is not admissible (too small value
-                of gamma);
-          = 7:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 8:  if the Y-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
-                zero [3];
-          = 10: if there are numerical problems when estimating
-                singular values of D1111, D1112, D1111', D1121';
-          = 11: if the matrices Inp2 - D22*DK or Im2 - DK*D22
-                are singular to working precision;
-          = 12: if a stabilizing controller cannot be found.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's 1988 formulas [1],
-  [2], modified to improve the efficiency as described in [3].
-
-  JOB = 1: It tries with a decreasing value of GAMMA, starting with
-  the given, and with the newly obtained controller estimates of the
-  closed-loop system. If it is stable, (i.e., max(eig(AC)) &lt; ACTOL)
-  the iterations can be continued until the given tolerance between
-  GAMMA and the estimated GAMMAMIN is reached. Otherwise, in the
-  next step GAMMA is increased. The step in the all next iterations
-  is step = step/2. The closed-loop system is obtained by the
-  formulas given in [2].
-
-  JOB = 2: The same as for JOB = 1, but with non-varying step till
-  GAMMA = 0, step = max(0.1, GTOL).
-
-  JOB = 3: Combines the JOB = 1 and JOB = 2 cases for a quicker
-  procedure.
-
-  JOB = 4: Suboptimal controller for current GAMMA only.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, MA, 1995.
-
-  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of continuous-time
-      linear control systems.
-      Rep. 98-14, Department of Engineering, Leicester University,
-      Leicester, U.K., 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and on the condition numbers of
-  the two Riccati equations, as given by the values of RCOND(1),
-  RCOND(2), RCOND(3) and RCOND(4), respectively.
-  This approach by estimating the closed-loop system and checking
-  its poles seems to be reliable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10DD.html b/doc/_build/html/_static/doc/SB10DD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/SB10DD.html
+++ /dev/null
@@ -1,484 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10DD">SB10DD</A></H2>
-<H3>
-H-infinity (sub)optimal controller for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity (sub)optimal n-state
-  controller
-
-                        | AK | BK |
-                    K = |----|----|,
-                        | CK | DK |
-
-  for the discrete-time system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  and for a given value of gamma, where B2 has as column size the
-  number of control inputs (NCON) and C2 has as row size the number
-  of measurements (NMEAS) being provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-            j*Theta
-  (A3) | A-e       *I  B2  | has full column rank for all
-       |    C1         D12 |
-
-       0 &lt;= Theta &lt; 2*Pi ,
-
-            j*Theta
-  (A4) | A-e       *I  B1  |  has full row rank for all
-       |    C2         D21 |
-
-       0 &lt;= Theta &lt; 2*Pi .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                   DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
-     $                   DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, LDX, LDZ, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( * ), X( LDX, * ), Z( LDZ, * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt; 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the matrix
-          Z, solution of the Z-Riccati equation.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (8)
-          RCOND contains estimates of the reciprocal condition
-          numbers of the matrices which are to be inverted and
-          estimates of the reciprocal condition numbers of the
-          Riccati equations which have to be solved during the
-          computation of the controller. (See the description of
-          the algorithm in [2].)
-          RCOND(1) contains the reciprocal condition number of the
-                   matrix R3;
-          RCOND(2) contains the reciprocal condition number of the
-                   matrix R1 - R2'*inv(R3)*R2;
-          RCOND(3) contains the reciprocal condition number of the
-                   matrix V21;
-          RCOND(4) contains the reciprocal condition number of the
-                   matrix St3;
-          RCOND(5) contains the reciprocal condition number of the
-                   matrix V12;
-          RCOND(6) contains the reciprocal condition number of the
-                   matrix Im2 + DKHAT*D22
-          RCOND(7) contains the reciprocal condition number of the
-                   X-Riccati equation;
-          RCOND(8) contains the reciprocal condition number of the
-                   Z-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used in neglecting the small singular values
-          in rank determination. If TOL &lt;= 0, then a default value
-          equal to 1000*EPS is used, where EPS is the relative
-          machine precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*max(M2,N),M,M2+NP2,N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(LW1,LW2,LW3,LW4), where
-          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2));
-          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2));
-          LW3 = 13*N*N + 2*M*M + N*(8*M+NP2) + M1*(M2+NP2) + 6*N +
-                max(14*N+23,16*N,2*N+M,3*M);
-          LW4 = 13*N*N + M*M + (8*N+M+M2+2*NP2)*(M2+NP2) + 6*N +
-                N*(M+NP2) + max(14*N+23,16*N,2*N+M2+NP2,3*(M2+NP2));
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          max((N+Q)*(N+Q+6),13*N*N + M*M + 2*Q*Q + N*(M+Q) +
-              max(M*(M+7*N),2*Q*(8*N+M+2*Q)) + 6*N +
-              max(14*N+23,16*N,2*N+max(M,2*Q),3*max(M,2*Q)).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                   j*Theta
-          = 1:  if the matrix | A-e       *I  B2  | had not full
-                              |      C1       D12 |
-                column rank;
-                                   j*Theta
-          = 2:  if the matrix | A-e       *I  B1  | had not full
-                              |      C2       D21 |
-                row rank;
-          = 3:  if the matrix D12 had not full column rank;
-          = 4:  if the matrix D21 had not full row rank;
-          = 5:  if the controller is not admissible (too small value
-                of gamma);
-          = 6:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 7:  if the Z-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 8:  if the matrix Im2 + DKHAT*D22 is singular.
-          = 9:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21).
-                             |C1  D12|  |C2  D21|
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Green, M. and Limebeer, D.J.N.
-      Linear Robust Control.
-      Prentice-Hall, Englewood Cliffs, NJ, 1995.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  With approaching the minimum value of gamma some of the matrices
-  which are to be inverted tend to become ill-conditioned and
-  the X- or Z-Riccati equation may also become ill-conditioned
-  which may deteriorate the accuracy of the result. (The
-  corresponding reciprocal condition numbers are given in
-  the output array RCOND.)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK, LDX,
-     $                 LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
-     $                   LDDK = PMAX, LDX = NMAX, LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*MAX( MMAX, NMAX ),
-     $                                 MMAX + PMAX, NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK =
-     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
-     $                        13*NMAX*NMAX + MMAX*MMAX + 2*MPMX*MPMX +
-     $                        NMAX*( MMAX + MPMX ) +
-     $                        MAX( MMAX*( MMAX + 7*NMAX ),
-     $                             2*MPMX*( 8*NMAX + MMAX + 2*MPMX ) )
-     $                             + 6*NMAX +
-     $                             MAX( 14*NMAX + 23, 16*NMAX,
-     $                                  2*NMAX + MAX( MMAX, 2*MPMX ),
-     $                                  3*MAX( MMAX, 2*MPMX ) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION GAMMA, TOL
-      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,PMAX), X(LDX,NMAX),
-     $                 Z(LDZ,NMAX), DWORK(LDWORK), RCOND( 8 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) GAMMA, TOL
-         CALL SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
-     $                DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 8 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10DD =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10DD EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -0.7  0.0  0.3  0.0 -0.5 -0.1
-  -0.6  0.2 -0.4 -0.3  0.0  0.0
-  -0.5  0.7 -0.1  0.0  0.0 -0.8
-  -0.7  0.0  0.0 -0.5 -1.0  0.0
-   0.0  0.3  0.6 -0.9  0.1 -0.4
-   0.5 -0.8  0.0  0.0  0.2 -0.9
-  -1.0 -2.0 -2.0  1.0  0.0
-   1.0  0.0  1.0 -2.0  1.0
-  -3.0 -4.0  0.0  2.0 -2.0
-   1.0 -2.0  1.0  0.0 -1.0
-   0.0  1.0 -2.0  0.0  3.0
-   1.0  0.0  3.0 -1.0 -2.0
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0  0.0
-   0.0  2.0  0.0 -4.0  0.0 -2.0
-   1.0 -3.0  0.0  0.0  3.0  1.0
-   0.0  1.0 -2.0  1.0  0.0 -2.0
-   1.0 -1.0 -2.0  0.0  0.0
-   0.0  1.0  0.0  1.0  0.0
-   2.0 -1.0 -3.0  0.0  1.0
-   0.0  1.0  0.0  1.0 -1.0
-   0.0  0.0  1.0  2.0  1.0
- 111.294   0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10DD EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
- -18.0030  52.0376  26.0831  -0.4271 -40.9022  18.0857
-  18.8203 -57.6244 -29.0938   0.5870  45.3309 -19.8644
- -26.5994  77.9693  39.0368  -1.4020 -60.1129  26.6910
- -21.4163  62.1719  30.7507  -0.9201 -48.6221  21.8351
-  -0.8911   4.2787   2.3286  -0.2424  -3.0376   1.2169
-  -5.3286  16.1955   8.4824  -0.2489 -12.2348   5.1590
-
- The controller input matrix BK is
-
-  16.9788  14.1648
- -18.9215 -15.6726
-  25.2046  21.2848
-  20.1122  16.8322
-   1.4104   1.2040
-   5.3181   4.5149
-
- The controller output matrix CK is
-
-  -9.1941  27.5165  13.7364  -0.3639 -21.5983   9.6025
-   3.6490 -10.6194  -5.2772   0.2432   8.1108  -3.6293
-
- The controller matrix DK is
-
-   9.0317   7.5348
-  -3.4006  -2.8219
-
- The estimated condition numbers are
-
-  0.24960D+00  0.98548D+00  0.99186D+00  0.63733D-05  0.48625D+00
-  0.29430D-01  0.56942D-02  0.12470D-01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ED.html b/doc/_build/html/_static/doc/SB10ED.html
deleted file mode 100644
index dfc3710a..00000000
--- a/doc/_build/html/_static/doc/SB10ED.html
+++ /dev/null
@@ -1,466 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ED">SB10ED</A></H2>
-<H3>
-H2 optimal state controller for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal n-state controller
-
-                        | AK | BK |
-                    K = |----|----|
-                        | CK | DK |
-
-  for the discrete-time system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---| ,
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-            j*Theta
-  (A3) | A-e       *I  B2  | has full column rank for all
-       |    C1         D12 |
-
-       0 &lt;= Theta &lt; 2*Pi ,
-
-            j*Theta
-  (A4) | A-e       *I  B1  |  has full row rank for all
-       |    C2         D21 |
-
-       0 &lt;= Theta &lt; 2*Pi .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input/worksp.) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-          This array is modified internally, but it is restored on
-          exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (7)
-          RCOND contains estimates the reciprocal condition
-          numbers of the matrices which are to be inverted and the
-          reciprocal condition numbers of the Riccati equations
-          which have to be solved during the computation of the
-          controller. (See the description of the algorithm in [2].)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix TU;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix TY;
-          RCOND(3) contains the reciprocal condition number of the
-                   matrix Im2 + B2'*X2*B2;
-          RCOND(4) contains the reciprocal condition number of the
-                   matrix Ip2 + C2*Y2*C2';
-          RCOND(5) contains the reciprocal condition number of the
-                   X-Riccati equation;
-          RCOND(6) contains the reciprocal condition number of the
-                   Y-Riccati equation;
-          RCOND(7) contains the reciprocal condition number of the
-                   matrix Im2 + DKHAT*D22 .
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the
-          transformations applied for diagonalizing D12 and D21,
-          and for checking the nonsingularity of the matrices to be
-          inverted. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*M2,2*N,N*N,NP2))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
-                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
-          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
-          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
-          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
-          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
-          LW5 = 2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),M2*(N+M2+
-                          max(3,M1)),NP2*(N+NP2+3)),
-          LW6 = max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2),
-          with M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
-                  2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),
-                            Q*(N+Q+max(Q,3)))).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                   j*Theta
-          = 1:  if the matrix | A-e       *I  B2  | had not full
-                              |      C1       D12 |
-                column rank in respect to the tolerance EPS;
-                                   j*Theta
-          = 2:  if the matrix | A-e       *I  B1  |  had not full
-                              |      C2       D21 |
-                row rank in respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A-I  B2 |, |A-I  B1 |, D12 or D21).
-                             |C1   D12|  |C2   D21|
-          = 6:  if the X-Riccati equation was not solved
-                successfully;
-          = 7:  if the matrix Im2 + B2'*X2*B2 is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL);
-          = 8:  if the Y-Riccati equation was not solved
-                successfully;
-          = 9:  if the matrix Ip2 + C2*Y2*C2' is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL);
-          =10:  if the matrix Im2 + DKHAT*D22 is singular, or its
-                estimated condition number is larger than or equal
-                to 1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  matrices which are to be inverted and on the condition numbers of
-  the matrix Riccati equations which are to be solved in the
-  computation of the controller. (The corresponding reciprocal
-  condition numbers are given in the output array RCOND.)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
-     $                   LDDK = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*MMAX, PMAX, 2*NMAX,
-     $                                 NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
-     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
-     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
-     $                   2*NMAX*NMAX + MAX( 14*NMAX*NMAX + 6*NMAX +
-     $                   MAX( 14*NMAX + 23, 16*NMAX ),
-     $                   MPMX*( NMAX + MPMX + MAX( MPMX, 3 ) ) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
-     $                 RCOND( 8 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) TOL
-         CALL SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 7 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10ED =',I2)
-99997 FORMAT (' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10ED EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -0.7  0.0  0.3  0.0 -0.5 -0.1
-  -0.6  0.2 -0.4 -0.3  0.0  0.0
-  -0.5  0.7 -0.1  0.0  0.0 -0.8
-  -0.7  0.0  0.0 -0.5 -1.0  0.0
-   0.0  0.3  0.6 -0.9  0.1 -0.4
-   0.5 -0.8  0.0  0.0  0.2 -0.9
-  -1.0 -2.0 -2.0  1.0  0.0
-   1.0  0.0  1.0 -2.0  1.0
-  -3.0 -4.0  0.0  2.0 -2.0
-   1.0 -2.0  1.0  0.0 -1.0
-   0.0  1.0 -2.0  0.0  3.0
-   1.0  0.0  3.0 -1.0 -2.0
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0  0.0
-   0.0  2.0  0.0 -4.0  0.0 -2.0
-   1.0 -3.0  0.0  0.0  3.0  1.0
-   0.0  1.0 -2.0  1.0  0.0 -2.0
-   1.0 -1.0 -2.0  0.0  0.0
-   0.0  1.0  0.0  1.0  0.0
-   2.0 -1.0 -3.0  0.0  1.0
-   0.0  1.0  0.0  1.0 -1.0
-   0.0  0.0  1.0  2.0  1.0
-   0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10ED EXAMPLE PROGRAM RESULTS
-
- The controller state matrix AK is
-
-  -0.0551  -2.1891  -0.6607  -0.2532   0.6674  -1.0044
-  -1.0379   2.3804   0.5031   0.3960  -0.6605   1.2673
-  -0.0876  -2.1320  -0.4701  -1.1461   1.2927  -1.5116
-  -0.1358  -2.1237  -0.9560  -0.7144   0.6673  -0.7957
-   0.4900   0.0895   0.2634  -0.2354   0.1623  -0.2663
-   0.1672  -0.4163   0.2871  -0.1983   0.4944  -0.6967
-
- The controller input matrix BK is
-
-  -0.5985  -0.5464
-   0.5285   0.6087
-  -0.7600  -0.4472
-  -0.7288  -0.6090
-   0.0532   0.0658
-  -0.0663   0.0059
-
- The controller output matrix CK is
-
-   0.2500  -1.0200  -0.3371  -0.2733   0.2747  -0.4444
-   0.0654   0.2095   0.0632   0.2089  -0.1895   0.1834
-
- The controller matrix DK is
-
-  -0.2181  -0.2070
-   0.1094   0.1159
-
- The estimated condition numbers are
-
-  0.10000D+01  0.10000D+01  0.25207D+00  0.83985D-01  0.48628D-02
-  0.55015D-03  0.49886D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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+++ /dev/null
@@ -1,516 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10FD">SB10FD</A></H2>
-<H3>
-H-infinity (sub)optimal state controller for a continuous-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity (sub)optimal n-state
-  controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  using modified Glover's and Doyle's 1988 formulas, for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  and for a given value of gamma, where B2 has as column size the
-  number of control inputs (NCON) and C2 has as row size the number
-  of measurements (NMEAS) being provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
-       |    C1        D12 |
-
-  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
-       |    C2        D21 |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                   DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                   BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA, TOL
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations for computing the normalized form in
-          SLICOT Library routine SB10PD. Transformation matrices
-          whose reciprocal condition numbers are less than TOL are
-          not allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = max(2*max(N,M-NCON,NP-NMEAS,NCON),N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
-                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
-          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
-          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
-          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
-          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
-          LW5 = 2*N*N + N*(M+NP) +
-                max(1,M*M + max(2*M1,3*N*N+max(N*M,10*N*N+12*N+5)),
-                    NP*NP + max(2*NP1,3*N*N +
-                                max(N*NP,10*N*N+12*N+5))),
-          LW6 = 2*N*N + N*(M+NP) +
-                max(1, M2*NP2 + NP2*NP2 + M2*M2 +
-                    max(D1*D1 + max(2*D1, (D1+D2)*NP2),
-                        D2*D2 + max(2*D2, D2*M2), 3*N,
-                        N*(2*NP2 + M2) +
-                        max(2*N*M2, M2*NP2 +
-                                    max(M2*M2+3*M2, NP2*(2*NP2+
-                                           M2+max(NP2,N)))))),
-          with D1 = NP1 - M2, D2 = M1 - NP2,
-              NP1 = NP - NP2, M1 = M - M2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
-            2*N*(N+2*Q)+max(1,4*Q*Q+
-                            max(2*Q,3*N*N+max(2*N*Q,10*N*N+12*N+5)),
-                              Q*(3*N+3*Q+max(2*N,4*Q+max(N,Q))))).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix | A-j*omega*I  B2  | had not full
-                              |    C1        D12 |
-                column rank in respect to the tolerance EPS;
-          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
-                              |    C2        D21 |
-                rank in respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21).
-                             |C1  D12|  |C2  D21|
-          = 6:  if the controller is not admissible (too small value
-                of gamma);
-          = 7:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 8:  if the Y-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
-                zero [3].
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's 1988 formulas [1],
-  [2] modified to improve the efficiency as described in [3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of continuous-time
-      linear control systems.
-      Rep. 98-14, Department of Engineering, Leicester University,
-      Leicester, U.K., 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and on the condition numbers of
-  the two Riccati equations, as given by the values of RCOND(1),
-  RCOND(2), RCOND(3) and RCOND(4), respectively.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, N2MAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10, N2MAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK,
-     $                 LDAC, LDBC, LDCC, LDDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = MMAX,
-     $                   LDDK = MMAX, LDAC = 2*NMAX, LDBC = 2*NMAX,
-     $                   LDCC = PMAX, LDDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*MAX( NMAX, MMAX, PMAX ),
-     $                            NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
-     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
-     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
-     $                   2*NMAX*( NMAX + 2*MPMX ) +
-     $                   MAX( 4*MPMX*MPMX + MAX( 2*MPMX, 3*NMAX*NMAX +
-     $                   MAX( 2*NMAX*MPMX, 10*NMAX*NMAX+12*NMAX+5 ) ),
-     $                   MPMX*( 3*NMAX + 3*MPMX +
-     $                          MAX( 2*NMAX, 4*MPMX +
-     $                               MAX( NMAX, MPMX ) ) ) ) ) )
-*     .. Local Scalars ..
-      INTEGER SDIM
-      LOGICAL SELECT
-      DOUBLE PRECISION GAMMA, TOL
-      INTEGER          I, INFO1, INFO2, INFO3, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(N2MAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDAK,NMAX), AC(LDAC,N2MAX),
-     $                 B(LDB,MMAX), BK(LDBK,PMAX), BC(LDBC,MMAX),
-     $                 C(LDC,NMAX), CK(LDCK,NMAX), CC(LDCC,N2MAX),
-     $                 D(LDD,MMAX), DK(LDDK,PMAX), DC(LDDC,MMAX),
-     $                 DWORK(LDWORK), RCOND( 4 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10FD, SB10LD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99984 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) GAMMA, TOL
-*        Compute the suboptimal controller
-         CALL SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99989 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99989 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99989 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99993 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99989 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99988 ) ( RCOND(I), I = 1, 4 )
-*           Compute the closed-loop matrices
-            CALL SB10LD(N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                  D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                  AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
-     $                  DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.EQ.0 ) THEN
-*              Compute the closed-loop poles
-               CALL DGEES( 'N','N', SELECT, 2*N, AC, LDAC, SDIM,
-     $                     DWORK(1), DWORK(2*N+1), DWORK, 2*N,
-     $                     DWORK(4*N+1), LDWORK-4*N, BWORK, INFO3)
-*
-               IF( INFO3.EQ.0 ) THEN
-                  WRITE( NOUT, FMT = 99991 )
-                  WRITE( NOUT, FMT = 99988 ) (DWORK(I), I =1, 2*N)
-                  WRITE( NOUT, FMT = 99990 )
-                  WRITE( NOUT, FMT = 99988 ) (DWORK(2*N+I), I =1, 2*N)
-               ELSE
-                  WRITE( NOUT, FMT = 99996 ) INFO3
-               END IF
-            ELSE
-               WRITE( NOUT, FMT = 99997 ) INFO2
-            END IF
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10FD =',I2)
-99997 FORMAT (/' INFO on exit from SB10LD =',I2)
-99996 FORMAT (' The controller state matrix AK is'/)
-99995 FORMAT (/' The controller input matrix BK is'/)
-99994 FORMAT (/' The controller output matrix CK is'/)
-99993 FORMAT (/' The controller matrix DK is'/)
-99992 FORMAT (/' The estimated condition numbers are'/)
-99991 FORMAT (/' The real parts of the closed-loop system poles are'/)
-99990 FORMAT (/' The imaginary parts of the closed-loop system',
-     $           ' poles are'/)
-99989 FORMAT (10(1X,F8.4))
-99988 FORMAT ( 5(1X,D12.5))
-99987 FORMAT (/' N is out of range.',/' N = ',I5)
-99986 FORMAT (/' M is out of range.',/' M = ',I5)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-99984 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99983 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10FD EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -1.0  0.0  4.0  5.0 -3.0 -2.0
-  -2.0  4.0 -7.0 -2.0  0.0  3.0
-  -6.0  9.0 -5.0  0.0  2.0 -1.0
-  -8.0  4.0  7.0 -1.0 -3.0  0.0
-   2.0  5.0  8.0 -9.0  1.0 -4.0
-   3.0 -5.0  8.0  0.0  2.0 -6.0
-  -3.0 -4.0 -2.0  1.0  0.0
-   2.0  0.0  1.0 -5.0  2.0
-  -5.0 -7.0  0.0  7.0 -2.0
-   4.0 -6.0  1.0  1.0 -2.0
-  -3.0  9.0 -8.0  0.0  5.0
-   1.0 -2.0  3.0 -6.0 -2.0
-   1.0 -1.0  2.0 -4.0  0.0 -3.0
-  -3.0  0.0  5.0 -1.0  1.0  1.0
-  -7.0  5.0  0.0 -8.0  2.0 -2.0
-   9.0 -3.0  4.0  0.0  3.0  7.0
-   0.0  1.0 -2.0  1.0 -6.0 -2.0
-   1.0 -2.0 -3.0  0.0  0.0
-   0.0  4.0  0.0  1.0  0.0
-   5.0 -3.0 -4.0  0.0  1.0
-   0.0  1.0  0.0  1.0 -3.0
-   0.0  0.0  1.0  7.0  1.0
-  15.0  0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10FD EXAMPLE PROGRAM RESULTS
-
- The controller state matrix AK is
-
-  -2.8043  14.7367   4.6658   8.1596   0.0848   2.5290
-   4.6609   3.2756  -3.5754  -2.8941   0.2393   8.2920
- -15.3127  23.5592  -7.1229   2.7599   5.9775  -2.0285
- -22.0691  16.4758  12.5523 -16.3602   4.4300  -3.3168
-  30.6789  -3.9026  -1.3868  26.2357  -8.8267  10.4860
-  -5.7429   0.0577  10.8216 -11.2275   1.5074 -10.7244
-
- The controller input matrix BK is
-
-  -0.1581  -0.0793
-  -0.9237  -0.5718
-   0.7984   0.6627
-   0.1145   0.1496
-  -0.6743  -0.2376
-   0.0196  -0.7598
-
- The controller output matrix CK is
-
-  -0.2480  -0.1713  -0.0880   0.1534   0.5016  -0.0730
-   2.8810  -0.3658   1.3007   0.3945   1.2244   2.5690
-
- The controller matrix DK is
-
-   0.0554   0.1334
-  -0.3195   0.0333
-
- The estimated condition numbers are
-
-  0.10000D+01  0.10000D+01  0.11241D-01  0.80492D-03
-
- The real parts of the closed-loop system poles are
-
- -0.10731D+03 -0.66556D+02 -0.38269D+02 -0.38269D+02 -0.20089D+02
- -0.62557D+01 -0.62557D+01 -0.32405D+01 -0.32405D+01 -0.17178D+01
- -0.41466D+01 -0.76437D+01
-
- The imaginary parts of the closed-loop system poles are
-
-  0.00000D+00  0.00000D+00  0.13114D+02 -0.13114D+02  0.00000D+00
-  0.12961D+02 -0.12961D+02  0.67998D+01 -0.67998D+01  0.00000D+00
-  0.00000D+00  0.00000D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10HD.html b/doc/_build/html/_static/doc/SB10HD.html
deleted file mode 100644
index 99268016..00000000
--- a/doc/_build/html/_static/doc/SB10HD.html
+++ /dev/null
@@ -1,417 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10HD">SB10HD</A></H2>
-<H3>
-H2 optimal state controller for a continuous-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal n-state controller
-
-           | AK | BK |
-       K = |----|----|
-           | CK | DK |
-
-  for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---| ,
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) The block D11 of D is zero,
-
-  (A3) D12 is full column rank and D21 is full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations for computing the normalized form in
-          SLICOT Library routine SB10UD. Transformation matrices
-          whose reciprocal condition numbers are less than TOL are
-          not allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*N,N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
-                    max(max(M2 + NP1*NP1 +
-                            max(NP1*N,3*M2+NP1,5*M2),
-                            NP2 + M1*M1 +
-                            max(M1*N,3*NP2+M1,5*NP2),
-                            N*M2,NP2*N,NP2*M2,1),
-                            N*(14*N+12+M2+NP2)+5),
-          where M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          2*Q*(3*Q+2*N)+max(1,Q*(Q+max(N,5)+1),N*(14*N+12+2*Q)+5).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 2:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 3:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices D12 or D21).
-          = 4:  if the X-Riccati equation was not solved
-                successfully;
-          = 5:  if the Y-Riccati equation was not solved
-                successfully.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and on the condition numbers of
-  the two Riccati equations, as given by the values of RCOND(1),
-  RCOND(2), RCOND(3) and RCOND(4), respectively.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
-     $                   LDDK = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MPMX*( 2*NMAX + 3*MPMX ) +
-     $                   MAX( MPMX*( MPMX + MAX( NMAX, 5 ) + 1 ),
-     $                   NMAX*( 14*NMAX + 12 + 2*MPMX ) + 5 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
-     $                 RCOND( 4 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) TOL
-*        Compute the optimal H2 controller
-         CALL SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10HD =',I2)
-99997 FORMAT (' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (6(1X,F10.4))
-99991 FORMAT (5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10HD EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -1.0  0.0  4.0  5.0 -3.0 -2.0
-  -2.0  4.0 -7.0 -2.0  0.0  3.0
-  -6.0  9.0 -5.0  0.0  2.0 -1.0
-  -8.0  4.0  7.0 -1.0 -3.0  0.0
-   2.0  5.0  8.0 -9.0  1.0 -4.0
-   3.0 -5.0  8.0  0.0  2.0 -6.0
-  -3.0 -4.0 -2.0  1.0  0.0
-   2.0  0.0  1.0 -5.0  2.0
-  -5.0 -7.0  0.0  7.0 -2.0
-   4.0 -6.0  1.0  1.0 -2.0
-  -3.0  9.0 -8.0  0.0  5.0
-   1.0 -2.0  3.0 -6.0 -2.0
-   1.0 -1.0  2.0 -4.0  0.0 -3.0
-  -3.0  0.0  5.0 -1.0  1.0  1.0
-  -7.0  5.0  0.0 -8.0  2.0 -2.0
-   9.0 -3.0  4.0  0.0  3.0  7.0
-   0.0  1.0 -2.0  1.0 -6.0 -2.0
-   0.0  0.0  0.0 -4.0 -1.0
-   0.0  0.0  0.0  1.0  0.0
-   0.0  0.0  0.0  0.0  1.0
-   3.0  1.0  0.0  1.0 -3.0
-  -2.0  0.0  1.0  7.0  1.0
-   0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10HD EXAMPLE PROGRAM RESULTS
-
- The controller state matrix AK is
-
-    88.0015  -145.7298   -46.2424    82.2168   -45.2996   -31.1407
-    25.7489   -31.4642   -12.4198     9.4625    -3.5182     2.7056
-    54.3008  -102.4013   -41.4968    50.8412   -20.1286   -26.7191
-   108.1006  -198.0785   -45.4333    70.3962   -25.8591   -37.2741
-  -115.8900   226.1843    47.2549   -47.8435   -12.5004    34.7474
-    59.0362  -101.8471   -20.1052    36.7834   -16.1063   -26.4309
-
- The controller input matrix BK is
-
-     3.7345     3.4758
-    -0.3020     0.6530
-     3.4735     4.0499
-     4.3198     7.2755
-    -3.9424   -10.5942
-     2.1784     2.5048
-
- The controller output matrix CK is
-
-    -2.3346     3.2556     0.7150    -0.9724     0.6962     0.4074
-     7.6899    -8.4558    -2.9642     7.0365    -4.2844     0.1390
-
- The controller matrix DK is
-
-     0.0000     0.0000
-     0.0000     0.0000
-
- The estimated condition numbers are
-
-  0.23570D+00  0.26726D+00  0.22747D-01  0.21130D-02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ID.html b/doc/_build/html/_static/doc/SB10ID.html
deleted file mode 100644
index 3f5c15fe..00000000
--- a/doc/_build/html/_static/doc/SB10ID.html
+++ /dev/null
@@ -1,362 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ID">SB10ID</A></H2>
-<H3>
-Positive feedback controller for a continuous-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the positive feedback controller
-
-           | Ak | Bk |
-       K = |----|----|
-           | Ck | Dk |
-
-  for the shaped plant
-
-           | A | B |
-       G = |---|---|
-           | C | D |
-
-  in the McFarlane/Glover Loop Shaping Design Procedure.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                   DK, LDDK, RCOND, IWORK, DWORK, LDWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NK, NP
-      DOUBLE PRECISION   FACTOR
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 2 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the plant.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A of the shaped plant.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B of the shaped plant.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C of the shaped plant.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system matrix D of the shaped plant.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  FACTOR  (input) DOUBLE PRECISION
-          = 1 implies that an optimal controller is required;
-          &gt; 1 implies that a suboptimal controller is required,
-              achieving a performance FACTOR less than optimal.
-          FACTOR &gt;= 1.
-
-  NK      (output) INTEGER
-          The order of the positive feedback controller.  NK &lt;= N.
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading NK-by-NK part of this array contains the
-          controller state matrix Ak.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
-          The leading NK-by-NP part of this array contains the
-          controller input matrix Bk.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading M-by-NK part of this array contains the
-          controller output matrix Ck.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
-          The leading M-by-NP part of this array contains the
-          controller matrix Dk.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (2)
-          RCOND(1) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(2) contains an estimate of the reciprocal condition
-                   number of the Z-Riccati equation.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*N,N*N,M,NP))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 4*N*N + M*M + NP*NP + 2*M*N + N*NP + 4*N +
-                    max( 6*N*N + 5 + max(1,4*N*N+8*N), N*NP + 2*N ).
-          For good performance, LDWORK must generally be larger.
-          An upper bound of LDWORK in the above formula is
-          LDWORK &gt;= 10*N*N + M*M + NP*NP + 2*M*N + 2*N*NP + 4*N +
-                    5 + max(1,4*N*N+8*N).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the X-Riccati equation is not solved successfully;
-          = 2:  the Z-Riccati equation is not solved successfully;
-          = 3:  the iteration to compute eigenvalues or singular
-                values failed to converge;
-          = 4:  the matrix Ip - D*Dk is singular;
-          = 5:  the matrix Im - Dk*D is singular;
-          = 6:  the closed-loop system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] McFarlane, D. and Glover, K.
-      A loop shaping design procedure using H_infinity synthesis.
-      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
-      1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the results depends on the conditioning of the
-  two Riccati equations solved in the controller design (see the
-  output parameter RCOND).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
-      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
-     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
-     $                   LDD  = PMAX, LDDK = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX, MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX*NMAX + MMAX*MMAX + PMAX*PMAX +
-     $                            2*MMAX*NMAX + NMAX*PMAX + 4*NMAX +
-     $                            MAX( 10*NMAX*NMAX + 8*NMAX + 5,
-     $                                    NMAX*PMAX + 2*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FACTOR
-      INTEGER          I, INFO, J, M, N, NK, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,PMAX), DWORK(LDWORK),
-     $                 RCOND( 2 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10ID
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) FACTOR
-         CALL SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, NK
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,NK )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, NK
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,NK )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 2 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10ID =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F9.4))
-99991 FORMAT ( 2(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10ID EXAMPLE PROGRAM DATA
-   6     2     3   
-  -1.0  0.0  4.0  5.0 -3.0 -2.0
-  -2.0  4.0 -7.0 -2.0  0.0  3.0
-  -6.0  9.0 -5.0  0.0  2.0 -1.0
-  -8.0  4.0  7.0 -1.0 -3.0  0.0
-   2.0  5.0  8.0 -9.0  1.0 -4.0
-   3.0 -5.0  8.0  0.0  2.0 -6.0
-  -3.0 -4.0
-   2.0  0.0
-  -5.0 -7.0
-   4.0 -6.0
-  -3.0  9.0
-   1.0 -2.0
-   1.0 -1.0  2.0 -4.0  0.0 -3.0
-  -3.0  0.0  5.0 -1.0  1.0  1.0
-  -7.0  5.0  0.0 -8.0  2.0 -2.0
-   1.0 -2.0
-   0.0  4.0
-   5.0 -3.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10ID EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
-  -39.0671    9.9293   22.2322  -27.4113   43.8655
-   -6.6117    3.0006   11.0878  -11.4130   15.4269
-   33.6805   -6.6934  -23.9953   14.1438  -33.4358
-  -32.3191    9.7316   25.4033  -24.0473   42.0517
-  -44.1655   18.7767   34.8873  -42.4369   50.8437
-
- The controller input matrix BK is
-
-  -10.2905  -16.5382  -10.9782
-   -4.3598   -8.7525   -5.1447
-    6.5962    1.8975    6.2316
-   -9.8770  -14.7041  -11.8778
-   -9.6726  -22.7309  -18.2692
-
- The controller output matrix CK is
-
-   -0.6647   -0.0599   -1.0376    0.5619    1.7297
-   -8.4202    3.9573    7.3094   -7.6283   10.6768
-
- The controller matrix DK is
-
-    0.8466    0.4979   -0.6993
-   -1.2226   -4.8689   -4.5056
-
- The estimated condition numbers are
-
-  0.13861D-01  0.90541D-02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10JD.html b/doc/_build/html/_static/doc/SB10JD.html
deleted file mode 100644
index 4afaf649..00000000
--- a/doc/_build/html/_static/doc/SB10JD.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10JD">SB10JD</A></H2>
-<H3>
-Converting a descriptor state-space system into regular state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To convert the descriptor state-space system
-
-  E*dx/dt = A*x + B*u
-        y = C*x + D*u
-
-  into regular state-space form
-
-   dx/dt = Ad*x + Bd*u
-       y = Cd*x + Dd*u .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10JD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, E,
-     $                   LDE, NSYS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N,
-     $                   NP, NSYS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * ),  E( LDE, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the descriptor system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A of the descriptor system.
-          On exit, the leading NSYS-by-NSYS part of this array
-          contains the state matrix Ad of the converted system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the descriptor system.
-          On exit, the leading NSYS-by-M part of this array
-          contains the input matrix Bd of the converted system.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading NP-by-N part of this array must
-          contain the output matrix C of the descriptor system.
-          On exit, the leading NP-by-NSYS part of this array
-          contains the output matrix Cd of the converted system.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading NP-by-M part of this array must
-          contain the matrix D of the descriptor system.
-          On exit, the leading NP-by-M part of this array contains
-          the matrix Dd of the converted system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix E of the descriptor system.
-          On exit, this array contains no useful information.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= max(1,N).
-
-  NSYS    (output) INTEGER
-          The order of the converted state-space system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max( 1, 2*N*N + 2*N + N*MAX( 5, N + M + NP ) ).
-          For good performance, LDWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the iteration for computing singular value
-                decomposition did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs the transformations described in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Chiang, R.Y. and Safonov, M.G.
-      Robust Control Toolbox User's Guide.
-      The MathWorks Inc., Natick, Mass., 1992.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10KD.html b/doc/_build/html/_static/doc/SB10KD.html
deleted file mode 100644
index ed69300d..00000000
--- a/doc/_build/html/_static/doc/SB10KD.html
+++ /dev/null
@@ -1,359 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10KD">SB10KD</A></H2>
-<H3>
-Positive feedback controller for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the positive feedback controller
-
-           | Ak | Bk |
-       K = |----|----|
-           | Ck | Dk |
-
-  for the shaped plant
-
-           | A | B |
-       G = |---|---|
-           | C | 0 |
-
-  in the Discrete-Time Loop Shaping Design Procedure.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR,
-     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
-     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK,
-     $                   LDWORK, M, N, NP
-      DOUBLE PRECISION   FACTOR
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   DK( LDDK, * ), DWORK( * ), RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the plant.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A of the shaped plant.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B of the shaped plant.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C of the shaped plant.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  FACTOR  (input) DOUBLE PRECISION
-          = 1  implies that an optimal controller is required;
-          &gt; 1  implies that a suboptimal controller is required
-               achieving a performance FACTOR less than optimal.
-          FACTOR &gt;= 1.
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix Ak.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
-          The leading N-by-NP part of this array contains the
-          controller input matrix Bk.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading M-by-N part of this array contains the
-          controller output matrix Ck.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
-          The leading M-by-NP part of this array contains the
-          controller matrix Dk.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND(1) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the P-Riccati equation is
-                   obtained;
-          RCOND(2) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the Q-Riccati equation is
-                   obtained;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the X-Riccati equation is
-                   obtained;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the matrix Rx + Bx'*X*Bx (see the
-                   comments in the code).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*max(N,NP+M))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 15*N*N + 6*N +
-                    max( 14*N+23, 16*N, 2*N+NP+M, 3*(NP+M) ) +
-                    max( N*N, 11*N*NP + 2*M*M + 8*NP*NP + 8*M*N +
-                              4*M*NP + NP ).
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the P-Riccati equation is not solved successfully;
-          = 2:  the Q-Riccati equation is not solved successfully;
-          = 3:  the X-Riccati equation is not solved successfully;
-          = 4:  the iteration to compute eigenvalues failed to
-                converge;
-          = 5:  the matrix Rx + Bx'*X*Bx is singular;
-          = 6:  the closed-loop system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] McFarlane, D. and Glover, K.
-      A loop shaping design procedure using H_infinity synthesis.
-      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
-      1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the results depends on the conditioning of the
-  two Riccati equations solved in the controller design. For
-  better conditioning it is advised to take FACTOR &gt; 1.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK
-      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
-     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
-     $                   LDDK = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 15*NMAX*NMAX + 6*NMAX +
-     $                            MAX( 14*NMAX + 23, 16*NMAX,
-     $                                 2*NMAX+PMAX+MMAX,
-     $                                 3*(PMAX+MMAX) ) +
-     $                            MAX( NMAX*NMAX,
-     $                                 11*NMAX*PMAX + 2*MMAX*MMAX +
-     $                                 8*PMAX*PMAX + 8*MMAX*NMAX +
-     $                                 4*MMAX*PMAX + PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FACTOR
-      INTEGER          I, INFO, J, M, N, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 DK(LDDK,PMAX), DWORK(LDWORK), RCOND(4)
-*     .. External Subroutines ..
-      EXTERNAL         SB10KD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) FACTOR
-         CALL SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR, AK,
-     $                LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
-     $                IWORK, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10KD =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10KD EXAMPLE PROGRAM DATA
-   6     2     2   
-   0.2  0.0  0.3  0.0 -0.3 -0.1
-  -0.3  0.2 -0.4 -0.3  0.0  0.0
-  -0.1  0.1 -0.1  0.0  0.0 -0.3
-   0.1  0.0  0.0 -0.1 -0.1  0.0
-   0.0  0.3  0.6  0.2  0.1 -0.4
-   0.2 -0.4  0.0  0.0  0.2 -0.2
-  -1.0 -2.0
-   1.0  3.0 
-  -3.0 -4.0 
-   1.0 -2.0 
-   0.0  1.0
-   1.0  5.0  
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0 -1.0
-   1.1
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10KD EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
-   0.0337   0.0222   0.0858   0.1264  -0.1872   0.1547
-   0.4457   0.0668  -0.2255  -0.3204  -0.4548  -0.0691
-  -0.2419  -0.2506  -0.0982  -0.1321  -0.0130  -0.0838
-  -0.4402   0.3654  -0.0335  -0.2444   0.6366  -0.6469
-  -0.3623   0.3854   0.4162   0.4502   0.0065   0.1261
-  -0.0121  -0.4377   0.0604   0.2265  -0.3389   0.4542
-
- The controller input matrix BK is
-
-   0.0931  -0.0269
-  -0.0872   0.1599
-   0.0956  -0.1469
-  -0.1728   0.0129
-   0.2022  -0.1154
-   0.2419  -0.1737
-
- The controller output matrix CK is
-
-  -0.3677   0.2188   0.0403  -0.0854   0.3564  -0.3535
-   0.1624  -0.0708   0.0058   0.0606  -0.2163   0.1802
-
- The controller matrix DK is
-
-  -0.0857  -0.0246
-   0.0460   0.0074
-
- The estimated condition numbers are
-
-  0.11269D-01  0.17596D-01  0.18225D+00  0.75968D-03
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10LD.html b/doc/_build/html/_static/doc/SB10LD.html
deleted file mode 100644
index 1fd8af18..00000000
--- a/doc/_build/html/_static/doc/SB10LD.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10LD">SB10LD</A></H2>
-<H3>
-Closed-loop system matrices for a system with robust controller
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the closed-loop system
-
-           | AC | BC |
-       G = |----|----|,
-           | CC | DC |
-
-  from the matrices of the open-loop system
-
-            | A | B |
-        P = |---|---|
-            | C | D |
-
-  and the matrices of the controller
-
-           | AK | BK |
-       K = |----|----|.
-           | CK | DK |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10LD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAC, LDAK, LDB, LDBC, LDBK, LDC,
-     $                   LDCC, LDCK, LDD, LDDC, LDDK, LDWORK, M, N,
-     $                   NCON, NMEAS, NP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
-     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
-     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
-     $                   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (input) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array must contain the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (input) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array must contain the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (input) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array must contain the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (input) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array must contain
-          the controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
-          The leading 2*N-by-2*N part of this array contains the
-          closed-loop system state matrix AC.
-
-  LDAC    INTEGER
-          The leading dimension of the array AC.
-          LDAC &gt;= max(1,2*N).
-
-  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
-          The leading 2*N-by-(M-NCON) part of this array contains
-          the closed-loop system input matrix BC.
-
-  LDBC    INTEGER
-          The leading dimension of the array BC.
-          LDBC &gt;= max(1,2*N).
-
-  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
-          The leading (NP-NMEAS)-by-2*N part of this array contains
-          the closed-loop system output matrix CC.
-
-  LDCC    INTEGER
-          The leading dimension of the array CC.
-          LDCC &gt;= max(1,NP-NMEAS).
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
-          The leading (NP-NMEAS)-by-(M-NCON) part of this array
-          contains the closed-loop system input/output matrix DC.
-
-  LDDC    INTEGER
-          The leading dimension of the array DC.
-          LDDC &gt;= max(1,NP-NMEAS).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*max(NCON,NMEAS))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 2*M*M+NP*NP+2*M*N+M*NP+2*N*NP.
-          For good performance, LDWORK must generally be larger.
-
-  Error Indicactor
-
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix Inp2 - D22*DK is singular to working
-                precision;
-          = 2:  if the matrix Im2 - DK*D22 is singular to working
-                precision.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  matrices  Inp2 - D22*DK  and  Im2 - DK*D22.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10MD.html b/doc/_build/html/_static/doc/SB10MD.html
deleted file mode 100644
index ff1a6e39..00000000
--- a/doc/_build/html/_static/doc/SB10MD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10MD">SB10MD</A></H2>
-<H3>
-D-step in the D-K iteration for continuous-time case
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the D-step in the D-K iteration. It handles
-  continuous-time case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10MD( NC, MP, LENDAT, F, ORD, MNB, NBLOCK, ITYPE,
-     $                   QUTOL, A, LDA, B, LDB, C, LDC, D, LDD, OMEGA,
-     $                   TOTORD, AD, LDAD, BD, LDBD, CD, LDCD, DD, LDDD,
-     $                   MJU, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
-     $                   LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           F, INFO, LDA, LDAD, LDB, LDBD, LDC, LDCD, LDD,
-     $                  LDDD, LDWORK, LENDAT, LIWORK, LZWORK, MNB, MP,
-     $                  NC, ORD, TOTORD
-      DOUBLE PRECISION  QUTOL
-C     .. Array Arguments ..
-      INTEGER           ITYPE(*), IWORK(*), NBLOCK(*)
-      DOUBLE PRECISION  A(LDA, *), AD(LDAD, *), B(LDB, *), BD(LDBD, *),
-     $                  C(LDC, *), CD(LDCD, *), D(LDD, *), DD(LDDD, *),
-     $                  DWORK(*), MJU(*), OMEGA(*)
-      COMPLEX*16        ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NC      (input) INTEGER
-          The order of the matrix A.  NC &gt;= 0.
-
-  MP      (input) INTEGER
-          The order of the matrix D.  MP &gt;= 0.
-
-  LENDAT  (input) INTEGER
-          The length of the vector OMEGA.  LENDAT &gt;= 2.
-
-  F       (input) INTEGER
-          The number of the measurements and controls, i.e.,
-          the size of the block I_f in the D-scaling system.
-          F &gt;= 0.
-
-  ORD     (input/output) INTEGER
-          The MAX order of EACH block in the fitting procedure.
-          ORD &lt;= LENDAT-1.
-          On exit, if ORD &lt; 1 then ORD = 1.
-
-  MNB     (input) INTEGER
-          The number of diagonal blocks in the block structure of
-          the uncertainty, and the length of the vectors NBLOCK
-          and ITYPE.  1 &lt;= MNB &lt;= MP.
-
-  NBLOCK  (input) INTEGER array, dimension (MNB)
-          The vector of length MNB containing the block structure
-          of the uncertainty. NBLOCK(I), I = 1:MNB, is the size of
-          each block.
-
-  ITYPE   (input) INTEGER array, dimension (MNB)
-          The vector of length MNB indicating the type of each
-          block.
-          For I = 1 : MNB,
-          ITYPE(I) = 1 indicates that the corresponding block is a
-          real block. IN THIS CASE ONLY MJU(JW) WILL BE ESTIMATED
-          CORRECTLY, BUT NOT D(S)!
-          ITYPE(I) = 2 indicates that the corresponding block is a
-          complex block. THIS IS THE ONLY ALLOWED VALUE NOW!
-          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
-
-  QUTOL   (input) DOUBLE PRECISION
-          The acceptable mean relative error between the D(jw) and
-          the frequency responce of the estimated block
-          [ADi,BDi;CDi,DDi]. When it is reached, the result is
-          taken as good enough.
-          A good value is QUTOL = 2.0.
-          If QUTOL &lt; 0 then only mju(jw) is being estimated,
-          not D(s).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,NC)
-          On entry, the leading NC-by-NC part of this array must
-          contain the A matrix of the closed-loop system.
-          On exit, if MP &gt; 0, the leading NC-by-NC part of this
-          array contains an upper Hessenberg matrix similar to A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,NC).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,MP)
-          On entry, the leading NC-by-MP part of this array must
-          contain the B matrix of the closed-loop system.
-          On exit, the leading NC-by-MP part of this array contains
-          the transformed B matrix corresponding to the Hessenberg
-          form of A.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,NC).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
-          On entry, the leading MP-by-NC part of this array must
-          contain the C matrix of the closed-loop system.
-          On exit, the leading MP-by-NC part of this array contains
-          the transformed C matrix corresponding to the Hessenberg
-          form of A.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,MP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,MP)
-          The leading MP-by-MP part of this array must contain the
-          D matrix of the closed-loop system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,MP).
-
-  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The vector with the frequencies.
-
-  TOTORD  (output) INTEGER
-          The TOTAL order of the D-scaling system.
-          TOTORD is set to zero, if QUTOL &lt; 0.
-
-  AD      (output) DOUBLE PRECISION array, dimension (LDAD,MP*ORD)
-          The leading TOTORD-by-TOTORD part of this array contains
-          the A matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDAD    INTEGER
-          The leading dimension of the array AD.
-          LDAD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
-          LDAD &gt;= 1,             if QUTOL &lt;  0.
-
-  BD      (output) DOUBLE PRECISION array, dimension (LDBD,MP+F)
-          The leading TOTORD-by-(MP+F) part of this array contains
-          the B matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDBD    INTEGER
-          The leading dimension of the array BD.
-          LDBD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
-          LDBD &gt;= 1,             if QUTOL &lt;  0.
-
-  CD      (output) DOUBLE PRECISION array, dimension (LDCD,MP*ORD)
-          The leading (MP+F)-by-TOTORD part of this array contains
-          the C matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDCD    INTEGER
-          The leading dimension of the array CD.
-          LDCD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
-          LDCD &gt;= 1,           if QUTOL &lt;  0.
-
-  DD      (output) DOUBLE PRECISION array, dimension (LDDD,MP+F)
-          The leading (MP+F)-by-(MP+F) part of this array contains
-          the D matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDDD    INTEGER
-          The leading dimension of the array DD.
-          LDDD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
-          LDDD &gt;= 1,           if QUTOL &lt;  0.
-
-  MJU     (output) DOUBLE PRECISION array, dimension (LENDAT)
-          The vector with the upper bound of the structured
-          singular value (mju) for each frequency in OMEGA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The length of the array IWORK.
-          LIWORK &gt;= MAX( NC, 4*MNB-2, MP, 2*ORD+1 ), if QUTOL &gt;= 0;
-          LIWORK &gt;= MAX( NC, 4*MNB-2, MP ),          if QUTOL &lt;  0.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the optimal value of LZWORK,
-          and DWORK(3) returns an estimate of the minimum reciprocal
-          of the condition numbers (with respect to inversion) of
-          the generated Hessenberg matrices.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 3, LWM, LWD ), where
-          LWM = LWA + MAX( NC + MAX( NC, MP-1 ),
-                           2*MP*MP*MNB - MP*MP + 9*MNB*MNB +
-                           MP*MNB + 11*MP + 33*MNB - 11 );
-          LWD = LWB + MAX( 2, LW1, LW2, LW3, LW4, 2*ORD ),
-                           if QUTOL &gt;= 0;
-          LWD = 0,         if QUTOL &lt;  0;
-          LWA = MP*LENDAT + 2*MNB + MP - 1;
-          LWB = LENDAT*(MP + 2) + ORD*(ORD + 2) + 1;
-          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
-          LW2 =   LENDAT + 6*HNPTS;  MN  = MIN( 2*LENDAT, 2*ORD+1 );
-          LW3 = 2*LENDAT*(2*ORD + 1) + MAX( 2*LENDAT, 2*ORD + 1 ) +
-                MAX( MN + 6*ORD + 4, 2*MN + 1 );
-          LW4 = MAX( ORD*ORD + 5*ORD, 6*ORD + 1 + MIN( 1, ORD ) ).
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( LZM, LZD ), where
-          LZM = MAX( MP*MP + NC*MP + NC*NC + 2*NC,
-                     6*MP*MP*MNB + 13*MP*MP + 6*MNB + 6*MP - 3 );
-          LZD = MAX( LENDAT*(2*ORD + 3), ORD*ORD + 3*ORD + 1 ),
-                           if QUTOL &gt;= 0;
-          LZD = 0,         if QUTOL &lt;  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  if one or more values w in OMEGA are (close to
-                 some) poles of the closed-loop system, i.e., the
-                 matrix jw*I - A is (numerically) singular;
-          =  2:  the block sizes must be positive integers;
-          =  3:  the sum of block sizes must be equal to MP;
-          =  4:  the size of a real block must be equal to 1;
-          =  5:  the block type must be either 1 or 2;
-          =  6:  errors in solving linear equations or in matrix
-                 inversion;
-          =  7:  errors in computing eigenvalues or singular values.
-          = 1i:  INFO on exit from SB10YD is i. (1i means 10 + i.)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  I.   First, W(jw) for the given closed-loop system is being
-       estimated.
-  II.  Now, AB13MD SLICOT subroutine can obtain the D(jw) scaling
-       system with respect to NBLOCK and ITYPE, and colaterally,
-       mju(jw).
-       If QUTOL &lt; 0 then the estimations stop and the routine exits.
-  III. Now that we have D(jw), SB10YD subroutine can do block-by-
-       block fit. For each block it tries with an increasing order
-       of the fit, starting with 1 until the
-       (mean quadratic error + max quadratic error)/2
-       between the Dii(jw) and the estimated frequency responce
-       of the block becomes less than or equal to the routine
-       argument QUTOL, or the order becomes equal to ORD.
-  IV.  Arrange the obtained blocks in the AD, BD, CD and DD
-       matrices and estimate the total order of D(s), TOTORD.
-  V.   Add the system I_f to the system obtained in IV.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Balas, G., Doyle, J., Glover, K., Packard, A. and Smith, R.
-      Mu-analysis and Synthesis toolbox - User's Guide,
-      The Mathworks Inc., Natick, MA, USA, 1998.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10PD.html b/doc/_build/html/_static/doc/SB10PD.html
deleted file mode 100644
index 8f18e3b5..00000000
--- a/doc/_build/html/_static/doc/SB10PD.html
+++ /dev/null
@@ -1,235 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10PD">SB10PD</A></H2>
-<H3>
-Normalization of a system for H-infinity controller design
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices D12 and D21 of the linear time-invariant
-  system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  to unit diagonal form, to transform the matrices B, C, and D11 to
-  satisfy the formulas in the computation of an H2 and H-infinity
-  (sub)optimal controllers and to check the rank conditions.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10PD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, TU, LDTU, TY, LDTY, RCOND, TOL, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDTU, LDTY, LDWORK,
-     $                   M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * ), RCOND( 2 ),
-     $                   TU( LDTU, * ), TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading NP-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading NP-by-N part of this array contains
-          the transformed system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading NP-by-M part of this array must
-          contain the system input/output matrix D. The
-          NMEAS-by-NCON trailing submatrix D22 is not referenced.
-          On exit, the leading (NP-NMEAS)-by-(M-NCON) part of this
-          array contains the transformed submatrix D11.
-          The transformed submatrices D12 = [ 0  Im2 ]' and
-          D21 = [ 0  Inp2 ] are not stored. The corresponding part
-          of this array contains no useful information.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array contains the
-          control transformation matrix TU.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array contains the
-          measurement transformation matrix TY.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (2)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix TU;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix TY.
-          RCOND is set even if INFO = 3 or INFO = 4; if INFO = 3,
-          then RCOND(2) was not computed, but it is set to 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations. Transformation matrices TU and TY whose
-          reciprocal condition numbers are less than TOL are not
-          allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1,LW1,LW2,LW3,LW4), where
-          LW1 = (N+NP1+1)*(N+M2) + MAX(3*(N+M2)+N+NP1,5*(N+M2)),
-          LW2 = (N+NP2)*(N+M1+1) + MAX(3*(N+NP2)+N+M1,5*(N+NP2)),
-          LW3 = M2 + NP1*NP1 + MAX(NP1*MAX(N,M1),3*M2+NP1,5*M2),
-          LW4 = NP2 + M1*M1 + MAX(MAX(N,NP1)*M1,3*NP2+M1,5*NP2),
-          with M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
-          MAX(1,(N+Q)*(N+Q+6),Q*(Q+MAX(N,Q,5)+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix | A   B2  | had not full column rank
-                              | C1  D12 |
-                in respect to the tolerance EPS;
-          = 2:  if the matrix | A   B1  | had not full row rank in
-                              | C2  D21 |
-                respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21).
-                             |C1  D12|  |C2  D21|
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs the transformations described in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the transformations can be controlled by the
-  condition numbers of the matrices TU and TY as given by the
-  values of RCOND(1) and RCOND(2), respectively. An error return
-  with INFO = 3 or INFO = 4 will be obtained if the condition
-  number of TU or TY, respectively, would exceed 1/TOL.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10QD.html b/doc/_build/html/_static/doc/SB10QD.html
deleted file mode 100644
index db4ed6f0..00000000
--- a/doc/_build/html/_static/doc/SB10QD.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10QD">SB10QD</A></H2>
-<H3>
-State feedback and output injection matrices for an H-infinity (sub)optimal state controller (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the state feedback and the output injection
-  matrices for an H-infinity (sub)optimal n-state controller,
-  using Glover's and Doyle's 1988 formulas, for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  and for a given value of gamma, where B2 has as column size the
-  number of control inputs (NCON) and C2 has as row size the number
-  of measurements (NMEAS) being provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank with D12 = | 0 | and D21 is
-                                          | I |
-       full row rank with D21 = | 0 I | as obtained by the
-       subroutine SB10PD,
-
-  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
-       |    C1        D12 |
-
-  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
-       |    C2        D21 |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10QD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, F, LDF, H, LDH, X, LDX, Y, LDY,
-     $                   XYCOND, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDH, LDWORK,
-     $                   LDX, LDY, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * ),  F( LDF, * ),
-     $                   H( LDH, * ), X( LDX, * ), XYCOND( 2 ),
-     $                   Y( LDY, * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the state
-          feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,M).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,NP)
-          The leading N-by-NP part of this array contains the output
-          injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the matrix
-          Y, solution of the Y-Riccati equation.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
-          XYCOND(1) contains an estimate of the reciprocal condition
-                    number of the X-Riccati equation;
-          XYCOND(2) contains an estimate of the reciprocal condition
-                    number of the Y-Riccati equation.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension
-          (max(2*max(N,M-NCON,NP-NMEAS),N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(1,M*M + max(2*M1,3*N*N +
-                                    max(N*M,10*N*N+12*N+5)),
-                        NP*NP + max(2*NP1,3*N*N +
-                                    max(N*NP,10*N*N+12*N+5))),
-          where M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
-          max(1,4*Q*Q+max(2*Q,3*N*N + max(2*N*Q,10*N*N+12*N+5))).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the controller is not admissible (too small value
-                of gamma);
-          = 2:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 3:  if the Y-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's formulas [1],[2]
-  modified as described in [3]. The X- and Y-Riccati equations
-  are solved with condition and accuracy estimates [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of continuous-time
-      linear control systems.
-      Rep. 98-14, Department of Engineering, Leicester University,
-      Leicester, U.K., 1998.
-
-  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the solution of the matrix Riccati equations
-  can be controlled by the values of the condition numbers
-  XYCOND(1) and XYCOND(2) of these equations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Riccati equations are solved by the Schur approach
-  implementing condition and accuracy estimates.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10RD.html b/doc/_build/html/_static/doc/SB10RD.html
deleted file mode 100644
index f83bfa08..00000000
--- a/doc/_build/html/_static/doc/SB10RD.html
+++ /dev/null
@@ -1,267 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10RD">SB10RD</A></H2>
-<H3>
-H-infinity (sub)optimal controller matrices using state feedback and output injection matrices (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity (sub)optimal controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  from the state feedback matrix F and output injection matrix H as
-  determined by the SLICOT Library routine SB10QD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10RD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, F, LDF, H, LDH, TU, LDTU, TY,
-     $                   LDTY, X, LDX, Y, LDY, AK, LDAK, BK, LDBK, CK,
-     $                   LDCK, DK, LDDK, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDF, LDH, LDTU, LDTY, LDWORK, LDX, LDY,
-     $                   M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   F( LDF, * ), H( LDH, * ), TU( LDTU, * ),
-     $                   TY( LDTY, * ), X( LDX, * ), Y( LDY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array must contain the
-          state feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,M).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,NP)
-          The leading N-by-NP part of this array must contain the
-          output injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array must contain the
-          control transformation matrix TU, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array must contain the
-          measurement transformation matrix TY, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          matrix X, solution of the X-Riccati equation, as obtained
-          by the SLICOT Library routine SB10QD.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array must contain the
-          matrix Y, solution of the Y-Riccati equation, as obtained
-          by the SLICOT Library routine SB10QD.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = max(2*(max(NP,M)-M2-NP2,M2,N),NP2)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(1, M2*NP2 + NP2*NP2 + M2*M2 +
-                        max(D1*D1 + max(2*D1, (D1+D2)*NP2),
-                            D2*D2 + max(2*D2, D2*M2), 3*N,
-                            N*(2*NP2 + M2) +
-                            max(2*N*M2, M2*NP2 +
-                                        max(M2*M2+3*M2, NP2*(2*NP2+
-                                               M2+max(NP2,N))))))
-          where D1 = NP1 - M2, D2 = M1 - NP2,
-               NP1 = NP - NP2, M1 = M - M2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          max( 1, Q*(3*Q + 3*N + max(2*N, 4*Q + max(Q, N)))).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the controller is not admissible (too small value
-                of gamma);
-          = 2:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is zero.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's formulas [1],[2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10SD.html b/doc/_build/html/_static/doc/SB10SD.html
deleted file mode 100644
index 94e4fb4f..00000000
--- a/doc/_build/html/_static/doc/SB10SD.html
+++ /dev/null
@@ -1,286 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10SD">SB10SD</A></H2>
-<H3>
-H2 optimal controller matrices for a normalized discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  for the normalized discrete-time system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21  0  |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank with D12 = | 0 | and D21 is
-                                          | I |
-       full row rank with D21 = | 0 I | as obtained by the
-       SLICOT Library routine SB10PD,
-
-            j*Theta
-  (A3) | A-e       *I  B2  | has full column rank for all
-       |    C1         D12 |
-
-       0 &lt;= Theta &lt; 2*Pi ,
-
-            j*Theta
-  (A4) | A-e       *I  B1  | has full row rank for all
-       |    C2         D21 |
-
-       0 &lt;= Theta &lt; 2*Pi .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10SD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   X, LDX, Y, LDY, RCOND, TOL, IWORK, DWORK,
-     $                   LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, LDX, LDY, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( * ), X( LDX, * ), Y( LDY, * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D. Only the leading
-          (NP-NP2)-by-(M-M2) submatrix D11 is used.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the matrix
-          Y, solution of the Y-Riccati equation.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND contains estimates of the reciprocal condition
-          numbers of the matrices which are to be inverted and the
-          reciprocal condition numbers of the Riccati equations
-          which have to be solved during the computation of the
-          controller. (See the description of the algorithm in [2].)
-          RCOND(1) contains the reciprocal condition number of the
-                   matrix Im2 + B2'*X2*B2;
-          RCOND(2) contains the reciprocal condition number of the
-                   matrix Ip2 + C2*Y2*C2';
-          RCOND(3) contains the reciprocal condition number of the
-                   X-Riccati equation;
-          RCOND(4) contains the reciprocal condition number of the
-                   Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used in determining the nonsingularity of the
-          matrices which must be inverted. If TOL &lt;= 0, then a
-          default value equal to sqrt(EPS) is used, where EPS is the
-          relative machine precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(M2,2*N,N*N,NP2))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(1, 14*N*N+6*N+max(14*N+23,16*N),
-                           M2*(N+M2+max(3,M1)), NP2*(N+NP2+3)),
-          where M1 = M - M2.
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the X-Riccati equation was not solved
-                successfully;
-          = 2:  if the matrix Im2 + B2'*X2*B2 is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL);
-          = 3:  if the Y-Riccati equation was not solved
-                successfully;
-          = 4:  if the matrix Ip2 + C2*Y2*C2' is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1]. The X- and
-  Y-Riccati equations are solved with condition estimates.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  matrices which are to be inverted and on the condition numbers of
-  the matrix Riccati equations which are to be solved in the
-  computation of the controller. (The corresponding reciprocal
-  condition numbers are given in the output array RCOND.)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10TD.html b/doc/_build/html/_static/doc/SB10TD.html
deleted file mode 100644
index 44d3ea69..00000000
--- a/doc/_build/html/_static/doc/SB10TD.html
+++ /dev/null
@@ -1,223 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10TD">SB10TD</A></H2>
-<H3>
-H2 optimal controller matrices for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal discrete-time controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  from the matrices of the controller for the normalized system,
-  as determined by the SLICOT Library routine SB10SD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10TD( N, M, NP, NCON, NMEAS, D, LDD, TU, LDTU, TY,
-     $                   LDTY, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   RCOND, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDAK, LDBK, LDCK, LDD, LDDK, LDTU, LDTY,
-     $                   LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   RCOND, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   AK( LDAK, * ), BK( LDBK, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   TU( LDTU, * ), TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D. Only the trailing
-          NMEAS-by-NCON submatrix D22 is used.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array must contain the
-          control transformation matrix TU, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array must contain the
-          measurement transformation matrix TY, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  AK      (input/output) DOUBLE PRECISION array, dimension (LDAK,N)
-          On entry, the leading N-by-N part of this array must
-          contain controller state matrix for the normalized system
-          as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading N-by-N part of this array contains
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (input/output) DOUBLE PRECISION array, dimension
-          (LDBK,NMEAS)
-          On entry, the leading N-by-NMEAS part of this array must
-          contain controller input matrix for the normalized system
-          as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading N-by-NMEAS part of this array
-          contains controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (input/output) DOUBLE PRECISION array, dimension (LDCK,N)
-          On entry, the leading NCON-by-N part of this array must
-          contain controller output matrix for the normalized
-          system as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading NCON-by-N part of this array contains
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (input/output) DOUBLE PRECISION array, dimension
-          (LDDK,NMEAS)
-          On entry, the leading NCON-by-NMEAS part of this array
-          must contain controller matrix DK for the normalized
-          system as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading NCON-by-NMEAS part of this array
-          contains controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION
-          RCOND contains an estimate of the reciprocal condition
-          number of the matrix Im2 + DKHAT*D22 which must be
-          inverted in the computation of the controller.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used in determining the nonsingularity of the
-          matrix which must be inverted. If TOL &lt;= 0, then a default
-          value equal to sqrt(EPS) is used, where EPS is the
-          relative machine precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M2)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix Im2 + DKHAT*D22 is singular, or the
-                estimated condition number is larger than or equal
-                to 1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and of the matrix Im2 +
-  DKHAT*D22.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10UD.html b/doc/_build/html/_static/doc/SB10UD.html
deleted file mode 100644
index 1283f2e2..00000000
--- a/doc/_build/html/_static/doc/SB10UD.html
+++ /dev/null
@@ -1,220 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10UD">SB10UD</A></H2>
-<H3>
-Normalization of a system for H2 controller design
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices D12 and D21 of the linear time-invariant
-  system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  to unit diagonal form, and to transform the matrices B and C to
-  satisfy the formulas in the computation of the H2 optimal
-  controller.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10UD( N, M, NP, NCON, NMEAS, B, LDB, C, LDC, D, LDD,
-     $                   TU, LDTU, TY, LDTY, RCOND, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDB, LDC, LDD, LDTU, LDTY, LDWORK, M, N,
-     $                   NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), C( LDC, * ), D( LDD, * ),
-     $                   DWORK( * ), RCOND( 2 ), TU( LDTU, * ),
-     $                   TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading NP-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading NP-by-N part of this array contains
-          the transformed system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading NP-by-M part of this array must
-          contain the system input/output matrix D.
-          The (NP-NMEAS)-by-(M-NCON) leading submatrix D11 is not
-          referenced.
-          On exit, the trailing NMEAS-by-NCON part (in the leading
-          NP-by-M part) of this array contains the transformed
-          submatrix D22.
-          The transformed submatrices D12 = [ 0  Im2 ]' and
-          D21 = [ 0  Inp2 ] are not stored. The corresponding part
-          of this array contains no useful information.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array contains the
-          control transformation matrix TU.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array contains the
-          measurement transformation matrix TY.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (2)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix TU;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix TY.
-          RCOND is set even if INFO = 1 or INFO = 2; if INFO = 1,
-          then RCOND(2) was not computed, but it is set to 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations. Transformation matrices TU and TY whose
-          reciprocal condition numbers are less than TOL are not
-          allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( M2 + NP1*NP1 + MAX(NP1*N,3*M2+NP1,5*M2),
-                         NP2 + M1*M1  + MAX(M1*N,3*NP2+M1,5*NP2),
-                         N*M2, NP2*N, NP2*M2, 1 )
-          where M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
-          MAX(1,Q*(Q+MAX(N,5)+1)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 2:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 3:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of D12 or
-                D21).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs the transformations described in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the transformations can be controlled by the
-  condition numbers of the matrices TU and TY as given by the
-  values of RCOND(1) and RCOND(2), respectively. An error return
-  with INFO = 1 or INFO = 2 will be obtained if the condition
-  number of TU or TY, respectively, would exceed 1/TOL.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10VD.html b/doc/_build/html/_static/doc/SB10VD.html
deleted file mode 100644
index 2cda995d..00000000
--- a/doc/_build/html/_static/doc/SB10VD.html
+++ /dev/null
@@ -1,223 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10VD">SB10VD</A></H2>
-<H3>
-State feedback and output injection matrices for an H2 optimal state controller (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the state feedback and the output injection
-  matrices for an H2 optimal n-state controller for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank with D12 = | 0 | and D21 is
-                                          | I |
-       full row rank with D21 = | 0 I | as obtained by the
-       SLICOT Library routine SB10UD. Matrix D is not used
-       explicitly.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10VD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   F, LDF, H, LDH, X, LDX, Y, LDY, XYCOND, IWORK,
-     $                   DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDF, LDH, LDWORK, LDX,
-     $                   LDY, M, N, NCON, NMEAS, NP
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  F( LDF, * ), H( LDH, * ),
-     $                   X( LDX, * ), XYCOND( 2 ), Y( LDY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading NCON-by-N part of this array contains the
-          state feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          output injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the matrix
-          Y, solution of the Y-Riccati equation.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
-          XYCOND(1) contains an estimate of the reciprocal condition
-                    number of the X-Riccati equation;
-          XYCOND(2) contains an estimate of the reciprocal condition
-                    number of the Y-Riccati equation.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*N,N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 13*N*N + 12*N + 5.
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the X-Riccati equation was not solved
-                successfully;
-          = 2:  if the Y-Riccati equation was not solved
-                successfully.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1], [2]. The X-
-  and Y-Riccati equations are solved with condition and accuracy
-  estimates [3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the solution of the matrix Riccati equations
-  can be controlled by the values of the condition numbers
-  XYCOND(1) and XYCOND(2) of these equations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Riccati equations are solved by the Schur approach
-  implementing condition and accuracy estimates.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10WD.html b/doc/_build/html/_static/doc/SB10WD.html
deleted file mode 100644
index 647702da..00000000
--- a/doc/_build/html/_static/doc/SB10WD.html
+++ /dev/null
@@ -1,216 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10WD">SB10WD</A></H2>
-<H3>
-H2 optimal controller matrices using state feedback and output injection matrices (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  from the state feedback matrix F and output injection matrix H as
-  determined by the SLICOT Library routine SB10VD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10WD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, F, LDF, H, LDH, TU, LDTU, TY, LDTY,
-     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDF, LDH, LDTU, LDTY, M, N, NCON, NMEAS,
-     $                   NP
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), F( LDF, * ),
-     $                   H( LDH, * ), TU( LDTU, * ), TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B. Only the submatrix
-          B2 = B(:,M-M2+1:M) is used.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C. Only the submatrix
-          C2 = C(NP-NP2+1:NP,:) is used.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D. Only the submatrix
-          D22 = D(NP-NP2+1:NP,M-M2+1:M) is used.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading NCON-by-N part of this array must contain the
-          state feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,NMEAS)
-          The leading N-by-NMEAS part of this array must contain the
-          output injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array must contain the
-          control transformation matrix TU, as obtained by the
-          SLICOT Library routine SB10UD.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array must contain the
-          measurement transformation matrix TY, as obtained by the
-          SLICOT Library routine SB10UD.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10YD.html b/doc/_build/html/_static/doc/SB10YD.html
deleted file mode 100644
index ec37ff5d..00000000
--- a/doc/_build/html/_static/doc/SB10YD.html
+++ /dev/null
@@ -1,231 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10YD">SB10YD</A></H2>
-<H3>
-Fitting frequency response data with a stable, minimum phase SISO system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To fit a supplied frequency response data with a stable, minimum
-  phase SISO (single-input single-output) system represented by its
-  matrices A, B, C, D. It handles both discrete- and continuous-time
-  cases.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10YD( DISCFL, FLAG, LENDAT, RFRDAT, IFRDAT, OMEGA, N,
-     $                   A, LDA, B, C, D, TOL, IWORK, DWORK, LDWORK,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DISCFL, FLAG, INFO, LDA, LDWORK, LENDAT,
-     $                   LZWORK, N
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   A(LDA, *), B(*), C(*), D(*), DWORK(*),
-     $                   IFRDAT(*), OMEGA(*), RFRDAT(*)
-      COMPLEX*16         ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DISCFL  (input) INTEGER
-          Indicates the type of the system, as follows:
-          = 0: continuous-time system;
-          = 1: discrete-time system.
-
-  FLAG    (input) INTEGER
-          If FLAG = 0, then the system zeros and poles are not
-          constrained.
-          If FLAG = 1, then the system zeros and poles will have
-          negative real parts in the continuous-time case, or moduli
-          less than 1 in the discrete-time case. Consequently, FLAG
-          must be equal to 1 in mu-synthesis routines.
-
-  LENDAT  (input) INTEGER
-          The length of the vectors RFRDAT, IFRDAT and OMEGA.
-          LENDAT &gt;= 2.
-
-  RFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The real part of the frequency data to be fitted.
-
-  IFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The imaginary part of the frequency data to be fitted.
-
-  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The frequencies corresponding to RFRDAT and IFRDAT.
-          These values must be nonnegative and monotonically
-          increasing. Additionally, for discrete-time systems
-          they must be between 0 and PI.
-
-  N       (input/output) INTEGER
-          On entry, the desired order of the system to be fitted.
-          N &lt;= LENDAT-1.
-          On exit, the order of the obtained system. The value of N
-          could only be modified if N &gt; 0 and FLAG = 1.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A. If FLAG = 1, then A is in an upper Hessenberg
-          form, and corresponds to a minimal realization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (N)
-          The computed vector B.
-
-  C       (output) DOUBLE PRECISION array, dimension (N)
-          The computed vector C. If FLAG = 1, the first N-1 elements
-          are zero (for the exit value of N).
-
-  D       (output) DOUBLE PRECISION array, dimension (1)
-          The computed scalar D.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for determining the effective
-          rank of matrices. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the reciprocal
-          condition number;  a (sub)matrix whose estimated condition
-          number is less than 1/TOL is considered to be of full
-          rank.  If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF = SIZE*EPS,
-          is used instead, where SIZE is the product of the matrix
-          dimensions, and EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2,2*N+1))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains the optimal value of
-          LZWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max( 2, LW1, LW2, LW3, LW4 ), where
-          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
-          LW2 =   LENDAT + 6*HNPTS;
-          MN  = min( 2*LENDAT, 2*N+1 )
-          LW3 = 2*LENDAT*(2*N+1) + max( 2*LENDAT, 2*N+1 ) +
-                max( MN + 6*N + 4, 2*MN + 1 ), if N &gt; 0;
-          LW3 = 4*LENDAT + 5                 , if N = 0;
-          LW4 = max( N*N + 5*N, 6*N + 1 + min( 1,N ) ), if FLAG = 1;
-          LW4 = 0,                                      if FLAG = 0.
-          For optimum performance LDWORK should be larger.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK = LENDAT*(2*N+3), if N &gt; 0;
-          LZWORK = LENDAT,         if N = 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the discrete --&gt; continuous transformation cannot
-                be made;
-          = 2:  if the system poles cannot be found;
-          = 3:  if the inverse system cannot be found, i.e., D is
-                (close to) zero;
-          = 4:  if the system zeros cannot be found;
-          = 5:  if the state-space representation of the new
-                transfer function T(s) cannot be found;
-          = 6:  if the continuous --&gt; discrete transformation cannot
-                be made.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, if the given frequency data are corresponding to a
-  continuous-time system, they are changed to a discrete-time
-  system using a bilinear transformation with a scaled alpha.
-  Then, the magnitude is obtained from the supplied data.
-  Then, the frequency data are linearly interpolated around
-  the unit-disc.
-  Then, Oppenheim and Schafer complex cepstrum method is applied
-  to get frequency data corresponding to a stable, minimum-
-  phase system. This is done in the following steps:
-  - Obtain LOG (magnitude)
-  - Obtain IFFT of the result (DG01MD SLICOT subroutine);
-  - halve the data at 0;
-  - Obtain FFT of the halved data (DG01MD SLICOT subroutine);
-  - Obtain EXP of the result.
-  Then, the new frequency data are interpolated back to the
-  original frequency.
-  Then, based on these newly obtained data, the system matrices
-  A, B, C, D are constructed; the very identification is
-  performed by Least Squares Method using DGELSY LAPACK subroutine.
-  If needed, a discrete-to-continuous time transformation is
-  applied on the system matrices by AB04MD SLICOT subroutine.
-  Finally, if requested, the poles and zeros of the system are
-  checked. If some of them have positive real parts in the
-  continuous-time case (or are not inside the unit disk in the
-  complex plane in the discrete-time case), they are exchanged with
-  their negatives (or reciprocals, respectively), to preserve the
-  frequency response, while getting a minimum phase and stable
-  system. This is done by SB10ZP SLICOT subroutine.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Oppenheim, A.V. and Schafer, R.W.
-      Discrete-Time Signal Processing.
-      Prentice-Hall Signal Processing Series, 1989.
-
-  [2] Balas, G., Doyle, J., Glover, K., Packard, A., and Smith, R.
-      Mu-analysis and Synthesis toolbox - User's Guide,
-      The Mathworks Inc., Natick, MA, USA, 1998.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ZD.html b/doc/_build/html/_static/doc/SB10ZD.html
deleted file mode 100644
index 18a929eb..00000000
--- a/doc/_build/html/_static/doc/SB10ZD.html
+++ /dev/null
@@ -1,391 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ZD">SB10ZD</A></H2>
-<H3>
-Positive feedback controller for a discrete-time system (D <> 0)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the positive feedback controller
-
-           | Ak | Bk |
-       K = |----|----|
-           | Ck | Dk |
-
-  for the shaped plant
-
-           | A | B |
-       G = |---|---|
-           | C | D |
-
-  in the Discrete-Time Loop Shaping Design Procedure.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   FACTOR, AK, LDAK, BK, LDBK, CK, LDCK, DK,
-     $                   LDDK, RCOND, TOL, IWORK, DWORK, LDWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NP
-      DOUBLE PRECISION   FACTOR, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   A ( LDA,  * ), AK( LDAK, * ), B ( LDB,  * ),
-     $                   BK( LDBK, * ), C ( LDC,  * ), CK( LDCK, * ),
-     $                   D ( LDD,  * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 6 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the plant.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A of the shaped plant.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B of the shaped plant.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C of the shaped plant.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D of the shaped plant.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  FACTOR  (input) DOUBLE PRECISION
-          = 1  implies that an optimal controller is required
-               (not recommended);
-          &gt; 1  implies that a suboptimal controller is required
-               achieving a performance FACTOR less than optimal.
-          FACTOR &gt;= 1.
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix Ak.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
-          The leading N-by-NP part of this array contains the
-          controller input matrix Bk.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading M-by-N part of this array contains the
-          controller output matrix Ck.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
-          The leading M-by-NP part of this array contains the
-          controller matrix Dk.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (6)
-          RCOND(1) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the P-Riccati equation is
-                   obtained;
-          RCOND(2) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the Q-Riccati equation is
-                   obtained;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the matrix (gamma^2-1)*In - P*Q;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the matrix Rx + Bx'*X*Bx;
-          RCOND(5) contains an estimate of the reciprocal condition
-                                               ^
-                   number of the matrix Ip + D*Dk;
-          RCOND(6) contains an estimate of the reciprocal condition
-                                             ^
-                   number of the matrix Im + Dk*D.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for checking the nonsingularity of the
-          matrices to be inverted. If TOL &lt;= 0, then a default value
-          equal to sqrt(EPS) is used, where EPS is the relative
-          machine precision.  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*max(N,M+NP))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 16*N*N + 5*M*M + 7*NP*NP + 6*M*N + 7*M*NP +
-                     7*N*NP + 6*N + 2*(M + NP) +
-                     max(14*N+23,16*N,2*M-1,2*NP-1).
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the P-Riccati equation is not solved successfully;
-          =  2:  the Q-Riccati equation is not solved successfully;
-          =  3:  the iteration to compute eigenvalues or singular
-                 values failed to converge;
-          =  4:  the matrix (gamma^2-1)*In - P*Q is singular;
-          =  5:  the matrix Rx + Bx'*X*Bx is singular;
-                                   ^
-          =  6:  the matrix Ip + D*Dk is singular;
-                                 ^
-          =  7:  the matrix Im + Dk*D is singular;
-          =  8:  the matrix Ip - D*Dk is singular;
-          =  9:  the matrix Im - Dk*D is singular;
-          = 10:  the closed-loop system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Gu, D.-W., Petkov, P.H., and Konstantinov, M.M.
-      On discrete H-infinity loop shaping design procedure routines.
-      Technical Report 00-6, Dept. of Engineering, Univ. of
-      Leicester, UK, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the results depends on the conditioning of the
-  two Riccati equations solved in the controller design. For
-  better conditioning it is advised to take FACTOR &gt; 1.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10ZD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 10, NMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
-      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
-     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
-     $                   LDD  = PMAX, LDDK = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 16*NMAX*NMAX + 5*MMAX*MMAX +
-     $                            7*PMAX*PMAX + 6*MMAX*NMAX +
-     $                            7*MMAX*PMAX + 7*NMAX*PMAX + 6*NMAX +
-     $                            2*( MMAX + PMAX ) +
-     $                            MAX( 14*NMAX + 23, 16*NMAX,
-     $                                  2*MMAX - 1, 2*PMAX - 1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FACTOR, TOL
-      INTEGER          I, INFO, J, M, N, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX),   AK(LDAK,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX),   CK(LDCK,NMAX),
-     $                 D(LDD,MMAX),   DK(LDDK,PMAX), DWORK(LDWORK),
-     $                 RCOND( 6 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10ZD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) FACTOR, TOL
-         CALL SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, FACTOR,
-     $                AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
-     $                TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1,6 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10ZD =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10LD EXAMPLE PROGRAM DATA
-   6     2     3   
-   0.2  0.0  3.0  0.0 -0.3 -0.1
-  -3.0  0.2 -0.4 -0.3  0.0  0.0
-  -0.1  0.1 -1.0  0.0  0.0 -3.0
-   1.0  0.0  0.0 -1.0 -1.0  0.0
-   0.0  0.3  0.6  2.0  0.1 -0.4
-   0.2 -4.0  0.0  0.0  0.2 -2.0
-  -1.0 -2.0
-   1.0  3.0 
-  -3.0 -4.0 
-   1.0 -2.0 
-   0.0  1.0
-   1.0  5.0  
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0 -1.0
-   2.0  4.0 -3.0  0.0  5.0  1.0
-  10.0 -6.0
-  -7.0  8.0
-   2.0 -4.0
-   1.1  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10ZD EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
-   1.0128   0.5101  -0.1546   1.1300   3.3759   0.4911
-  -2.1257  -1.4517  -0.4486   0.3493  -1.5506  -1.4296
-  -1.0930  -0.6026  -0.1344   0.2253  -1.5625  -0.6762
-   0.3207   0.1698   0.2376  -1.1781  -0.8705   0.2896
-   0.5017   0.9006   0.0668   2.3613   0.2049   0.3703
-   1.0787   0.6703   0.2783  -0.7213   0.4918   0.7435
-
- The controller input matrix BK is
-
-   0.4132   0.3112  -0.8077
-   0.2140   0.4253   0.1811
-  -0.0710   0.0807   0.3558
-  -0.0121  -0.2019   0.0249
-   0.1047   0.1399  -0.0457
-  -0.2542  -0.3472   0.0523
-
- The controller output matrix CK is
-
-  -0.0372  -0.0456  -0.0040   0.0962  -0.2059  -0.0571
-   0.1999   0.2994   0.1335  -0.0251  -0.3108   0.2048
-
- The controller matrix DK is
-
-   0.0629  -0.0022   0.0363
-  -0.0228   0.0195   0.0600
-
- The estimated condition numbers are
-
-  0.27949D-03  0.66679D-03  0.45677D-01  0.23433D-07  0.68495D-01
-  0.76854D-01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB10ZP.html b/doc/_build/html/_static/doc/SB10ZP.html
deleted file mode 100644
index d552c0dd..00000000
--- a/doc/_build/html/_static/doc/SB10ZP.html
+++ /dev/null
@@ -1,156 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ZP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ZP">SB10ZP</A></H2>
-<H3>
-Transforming a SISO system into a stable and minimum phase one
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To transform a SISO (single-input single-output) system [A,B;C,D]
-  by mirroring its unstable poles and zeros in the boundary of the
-  stability domain, thus preserving the frequency response of the
-  system, but making it stable and minimum phase. Specifically, for
-  a continuous-time system, the positive real parts of its poles
-  and zeros are exchanged with their negatives. Discrete-time
-  systems are first converted to continuous-time systems using a
-  bilinear transformation, and finally converted back.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ZP( DISCFL, N, A, LDA, B, C, D, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DISCFL, INFO, LDA, LDWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( * ), C( * ), D( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DISCFL  (input) INTEGER
-          Indicates the type of the system, as follows:
-          = 0: continuous-time system;
-          = 1: discrete-time system.
-
-  N       (input/output) INTEGER
-          On entry, the order of the original system.  N &gt;= 0.
-          On exit, the order of the transformed, minimal system.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original system matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed matrix A, in an upper Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the original system
-          vector B.
-          On exit, this array contains the transformed vector B.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the original system
-          vector C.
-          On exit, this array contains the transformed vector C.
-          The first N-1 elements are zero (for the exit value of N).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (1)
-          On entry, this array must contain the original system
-          scalar D.
-          On exit, this array contains the transformed scalar D.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2,N+1))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max(N*N + 5*N, 6*N + 1 + min(1,N)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the discrete --&gt; continuous transformation cannot
-                be made;
-          = 2:  if the system poles cannot be found;
-          = 3:  if the inverse system cannot be found, i.e., D is
-                (close to) zero;
-          = 4:  if the system zeros cannot be found;
-          = 5:  if the state-space representation of the new
-                transfer function T(s) cannot be found;
-          = 6:  if the continuous --&gt; discrete transformation cannot
-                be made.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, if the system is discrete-time, it is transformed to
-  continuous-time using alpha = beta = 1 in the bilinear
-  transformation implemented in the SLICOT routine AB04MD.
-  Then the eigenvalues of A, i.e., the system poles, are found.
-  Then, the inverse of the original system is found and its poles,
-  i.e., the system zeros, are evaluated.
-  The obtained system poles Pi and zeros Zi are checked and if a
-  positive real part is detected, it is exchanged by -Pi or -Zi.
-  Then the polynomial coefficients of the transfer function
-  T(s) = Q(s)/P(s) are found.
-  The state-space representation of T(s) is then obtained.
-  The system matrices B, C, D are scaled so that the transformed
-  system has the same system gain as the original system.
-  If the original system is discrete-time, then the result (which is
-  continuous-time) is converted back to discrete-time.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB16AD.html b/doc/_build/html/_static/doc/SB16AD.html
deleted file mode 100644
index e9b8688f..00000000
--- a/doc/_build/html/_static/doc/SB16AD.html
+++ /dev/null
@@ -1,650 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16AD">SB16AD</A></H2>
-<H3>
-Stability/performance enforcing frequency-weighted controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order controller (Acr,Bcr,Ccr,Dcr) for an
-  original state-space controller representation (Ac,Bc,Cc,Dc) by
-  using the frequency-weighted square-root or balancing-free
-  square-root Balance & Truncate (B&T) or Singular Perturbation
-  Approximation (SPA) model reduction methods. The algorithm tries
-  to minimize the norm of the frequency-weighted error
-
-        ||V*(K-Kr)*W||
-
-  where K and Kr are the transfer-function matrices of the original
-  and reduced order controllers, respectively. V and W are special
-  frequency-weighting transfer-function matrices constructed
-  to enforce closed-loop stability and/or closed-loop performance.
-  If G is the transfer-function matrix of the open-loop system, then
-  the following weightings V and W can be used:
-                   -1
-   (a)   V = (I-G*K) *G, W = I - to enforce closed-loop stability;
-                           -1
-   (b)   V = I,  W = (I-G*K) *G - to enforce closed-loop stability;
-                   -1              -1
-   (c)   V = (I-G*K) *G, W = (I-G*K)  - to enforce closed-loop
-         stability and performance.
-
-  G has the state space representation (A,B,C,D).
-  If K is unstable, only the ALPHA-stable part of K is reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL,
-     $                   N, M, P, NC, NCR, ALPHA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AC, LDAC, BC, LDBC, CC, LDCC,
-     $                   DC, LDDC, NCS, HSVC, TOL1, TOL2, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
-      INTEGER           INFO, IWARN, LDA, LDAC, LDB, LDBC, LDC, LDCC,
-     $                  LDD, LDDC, LDWORK, M, N, NC, NCR, NCS, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
-     $                  C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
-     $                  DWORK(*), HSVC(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original controller as follows:
-          = 'C':  continuous-time controller;
-          = 'D':  discrete-time controller.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified Enns' method of [2].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [2].
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method;
-          = 'S':  use the square-root SPA method;
-          = 'P':  use the balancing-free square-root SPA method.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency-weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'O':  stability enforcing left (output) weighting
-                            -1
-                  V = (I-G*K) *G is used (W = I);
-          = 'I':  stability enforcing right (input) weighting
-                            -1
-                  W = (I-G*K) *G is used (V = I);
-          = 'P':  stability and performance enforcing weightings
-                            -1                -1
-                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplets (A,B,C) and (Ac,Bc,Cc) as
-          follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NCR is fixed;
-          = 'A':  the resulting order NCR is automatically
-                  determined on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop system state-space
-          representation, i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NC      (input) INTEGER
-          The order of the controller state-space representation,
-          i.e., the order of the matrix AC.  NC &gt;= 0.
-
-  NCR     (input/output) INTEGER
-          On entry with ORDSEL = 'F', NCR is the desired order of
-          the resulting reduced order controller.  0 &lt;= NCR &lt;= NC.
-          On exit, if INFO = 0, NCR is the order of the resulting
-          reduced order controller. For a controller with NCU
-          ALPHA-unstable eigenvalues and NCS ALPHA-stable
-          eigenvalues (NCU+NCS = NC), NCR is set as follows:
-          if ORDSEL = 'F', NCR is equal to
-          NCU+MIN(MAX(0,NCR-NCU),NCMIN), where NCR is the desired
-          order on entry, NCMIN is the number of frequency-weighted
-          Hankel singular values greater than NCS*EPS*S1, EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH) and
-          S1 is the largest Hankel singular value (computed in
-          HSVC(1)); NCR can be further reduced to ensure
-          HSVC(NCR-NCU) &gt; HSVC(NCR+1-NCU);
-          if ORDSEL = 'A', NCR is the sum of NCU and the number of
-          Hankel singular values greater than MAX(TOL1,NCS*EPS*S1).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix AC. For a continuous-time
-          controller (DICO = 'C'), ALPHA &lt;= 0 is the boundary value
-          for the real parts of eigenvalues; for a discrete-time
-          controller (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A of the open-loop
-          system.
-          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-N
-          part of this array contains the scaled state dynamics
-          matrix of the open-loop system.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B of the open-loop system.
-          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-M
-          part of this array contains the scaled input/state matrix
-          of the open-loop system.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the open-loop system.
-          On exit, if INFO = 0 and EQUIL = 'S', the leading P-by-N
-          part of this array contains the scaled state/output matrix
-          of the open-loop system.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D of the open-loop system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AC      (input/output) DOUBLE PRECISION array, dimension (LDAC,NC)
-          On entry, the leading NC-by-NC part of this array must
-          contain the state dynamics matrix Ac of the original
-          controller.
-          On exit, if INFO = 0, the leading NCR-by-NCR part of this
-          array contains the state dynamics matrix Acr of the
-          reduced controller. The resulting Ac has a
-          block-diagonal form with two blocks.
-          For a system with NCU ALPHA-unstable eigenvalues and
-          NCS ALPHA-stable eigenvalues (NCU+NCS = NC), the leading
-          NCU-by-NCU block contains the unreduced part of Ac
-          corresponding to the ALPHA-unstable eigenvalues.
-          The trailing (NCR+NCS-NC)-by-(NCR+NCS-NC) block contains
-          the reduced part of Ac corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDAC    INTEGER
-          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
-
-  BC      (input/output) DOUBLE PRECISION array, dimension (LDBC,P)
-          On entry, the leading NC-by-P part of this array must
-          contain the input/state matrix Bc of the original
-          controller.
-          On exit, if INFO = 0, the leading NCR-by-P part of this
-          array contains the input/state matrix Bcr of the reduced
-          controller.
-
-  LDBC    INTEGER
-          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
-
-  CC      (input/output) DOUBLE PRECISION array, dimension (LDCC,NC)
-          On entry, the leading M-by-NC part of this array must
-          contain the state/output matrix Cc of the original
-          controller.
-          On exit, if INFO = 0, the leading M-by-NCR part of this
-          array contains the state/output matrix Ccr of the reduced
-          controller.
-
-  LDCC    INTEGER
-          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
-
-  DC      (input/output) DOUBLE PRECISION array, dimension (LDDC,P)
-          On entry, the leading M-by-P part of this array must
-          contain the input/output matrix Dc of the original
-          controller.
-          On exit, if INFO = 0, the leading M-by-P part of this
-          array contains the input/output matrix Dcr of the reduced
-          controller.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
-
-  NCS     (output) INTEGER
-          The dimension of the ALPHA-stable part of the controller.
-
-  HSVC    (output) DOUBLE PRECISION array, dimension (NC)
-          If INFO = 0, the leading NCS elements of this array
-          contain the frequency-weighted Hankel singular values,
-          ordered decreasingly, of the ALPHA-stable part of the
-          controller.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of the reduced controller.
-          For model reduction, the recommended value is
-          TOL1 = c*S1, where c is a constant in the
-          interval [0.00001,0.001], and S1 is the largest
-          frequency-weighted Hankel singular value of the
-          ALPHA-stable part of the original controller
-          (computed in HSVC(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NCS*EPS*S1, where NCS is the number of
-          ALPHA-stable eigenvalues of Ac and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given
-          controller. The recommended value is TOL2 = NCS*EPS*S1.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,LIWRK1,LIWRK2))
-          LIWRK1 = 0,       if JOBMR  = 'B';
-          LIWRK1 = NC,      if JOBMR  = 'F';
-          LIWRK1 = 2*NC,    if JOBMR  = 'S' or 'P';
-          LIWRK2 = 0,       if WEIGHT = 'N';
-          LIWRK2 = 2*(M+P), if WEIGHT = 'O', 'I', or 'P'.
-          On exit, if INFO = 0, IWORK(1) contains NCMIN, the order
-          of the computed minimal realization of the stable part of
-          the controller.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*NC*NC + MAX( 1, LFREQ, LSQRED ),
-          where
-          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
-                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
-                                   if WEIGHT = 'I' or 'O' or 'P';
-          LFREQ  = NC*(MAX(M,P)+5) if WEIGHT = 'N' and EQUIL = 'N';
-          LFREQ  = MAX(N,NC*(MAX(M,P)+5)) if WEIGHT = 'N' and
-                                             EQUIL  = 'S';
-          LSQRED = MAX( 1, 2*NC*NC+5*NC );
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NCR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                controller; in this case, the resulting NCR is set
-                equal to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NCR
-                corresponds to repeated singular values for the
-                ALPHA-stable part of the controller, which are
-                neither all included nor all excluded from the
-                reduced model; in this case, the resulting NCR is
-                automatically decreased to exclude all repeated
-                singular values;
-          = 3:  with ORDSEL = 'F', the selected order NCR is less
-                than the order of the ALPHA-unstable part of the
-                given controller. In this case NCR is set equal to
-                the order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the closed-loop system is not well-posed;
-                its feedthrough matrix is (numerically) singular;
-          = 2:  the computation of the real Schur form of the
-                closed-loop state matrix failed;
-          = 3:  the closed-loop state matrix is not stable;
-          = 4:  the solution of a symmetric eigenproblem failed;
-          = 5:  the computation of the ordered real Schur form of Ac
-                failed;
-          = 6:  the separation of the ALPHA-stable/unstable
-                diagonal blocks failed because of very close
-                eigenvalues;
-          = 7:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let K be the transfer-function matrix of the original linear
-  controller
-
-       d[xc(t)] = Ac*xc(t) + Bc*y(t)
-       u(t)     = Cc*xc(t) + Dc*y(t),                      (1)
-
-  where d[xc(t)] is dxc(t)/dt for a continuous-time system and
-  xc(t+1) for a discrete-time system. The subroutine SB16AD
-  determines the matrices of a reduced order controller
-
-       d[z(t)] = Acr*z(t) + Bcr*y(t)
-       u(t)    = Ccr*z(t) + Dcr*y(t),                      (2)
-
-  such that the corresponding transfer-function matrix Kr minimizes
-  the norm of the frequency-weighted error
-
-          V*(K-Kr)*W,                                      (3)
-
-  where V and W are special stable transfer-function matrices
-  chosen to enforce stability and/or performance of the closed-loop
-  system [3] (see description of the parameter WEIGHT).
-
-  The following procedure is used to reduce K in conjunction
-  with the frequency-weighted balancing approach of [2]
-  (see also [3]):
-
-  1) Decompose additively K, of order NC, as
-
-       K = K1 + K2,
-
-     such that K1 has only ALPHA-stable poles and K2, of order NCU,
-     has only ALPHA-unstable poles.
-
-  2) Compute for K1 a B&T or SPA frequency-weighted approximation
-     K1r of order NCR-NCU using the frequency-weighted balancing
-     approach of [1] in conjunction with accuracy enhancing
-     techniques specified by the parameter JOBMR.
-
-  3) Assemble the reduced model Kr as
-
-        Kr = K1r + K2.
-
-  For the reduction of the ALPHA-stable part, several accuracy
-  enhancing techniques can be employed (see [2] for details).
-
-  If JOBMR = 'B', the square-root B&T method of [1] is used.
-
-  If JOBMR = 'F', the balancing-free square-root version of the
-  B&T method [1] is used.
-
-  If JOBMR = 'S', the square-root version of the SPA method [2,3]
-  is used.
-
-  If JOBMR = 'P', the balancing-free square-root version of the
-  SPA method [2,3] is used.
-
-  For each of these methods, two left and right truncation matrices
-  are determined using the Cholesky factors of an input
-  frequency-weighted controllability Grammian P and an output
-  frequency-weighted observability Grammian Q.
-  P and Q are determined as the leading NC-by-NC diagonal blocks
-  of the controllability Grammian of K*W and of the
-  observability Grammian of V*K. Special techniques developed in [2]
-  are used to compute the Cholesky factors of P and Q directly
-  (see also SLICOT Library routine SB16AY).
-  The frequency-weighted Hankel singular values HSVC(1), ....,
-  HSVC(NC) are computed as the square roots of the eigenvalues
-  of the product P*Q.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Varga, A. and Anderson, B.D.O.
-      Square-root balancing-free methods for frequency-weighted
-      balancing related model reduction.
-      (report in preparation)
-
-  [3] Anderson, B.D.O and Liu, Y.
-      Controller reduction: concepts and approaches.
-      IEEE Trans. Autom. Control, Vol. 34, pp. 802-812, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root
-  techniques.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB16AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NCMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
-     $                   NCMAX = 20 )
-      INTEGER          MPMAX, NNCMAX
-      PARAMETER        ( MPMAX  = MMAX + PMAX, NNCMAX = NMAX + NCMAX )
-      INTEGER          LDA, LDB, LDC, LDD, LDAC, LDBC, LDCC, LDDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDAC = NCMAX, LDBC = NCMAX,
-     $                   LDCC = PMAX, LDDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NCMAX, MPMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NCMAX*NCMAX +
-     $                            NNCMAX*( NNCMAX + 2*MPMAX ) +
-     $                            MAX( NNCMAX*( NNCMAX +
-     $                                 MAX( NNCMAX, MMAX, PMAX ) + 7 ),
-     $                                 MPMAX*( MPMAX + 4 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NCR, NCS, NC, P
-      CHARACTER*1      DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSVC(NMAX),
-     $                 AC(LDAC,NCMAX), BC(LDBC,PMAX), CC(LDCC,NMAX),
-     $                 DC(LDDC,PMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB16AD
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NC, NCR, ALPHA, TOL1, TOL2, DICO,
-     $                      JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF( P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) NC
-               ELSE
-                  IF( NC.GT.0 ) THEN
-                     READ ( NIN, FMT = * )
-     $                 ( ( AC(I,J), J = 1,NC ), I = 1,NC )
-                     READ ( NIN, FMT = * )
-     $                 ( ( BC(I,J), J = 1,P ), I = 1, NC )
-                     READ ( NIN, FMT = * )
-     $                 ( ( CC(I,J), J = 1,NC ), I = 1,M )
-                  END IF
-                  READ ( NIN, FMT = * )
-     $                 ( ( DC(I,J), J = 1,P ), I = 1,M )
-               END IF
-*              Find a reduced ssr for (AC,BC,CC,DC).
-               CALL SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL,
-     $                      ORDSEL, N, M, P, NC, NCR, ALPHA, A, LDA,
-     $                      B, LDB, C, LDC, D, LDD, AC, LDAC, BC, LDBC,
-     $                      CC, LDCC, DC, LDDC, NCS, HSVC, TOL1, TOL2,
-     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NCR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSVC(J), J = 1, NCS )
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( AC(I,J), J = 1,NCR )
-   20             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( BC(I,J), J = 1,P )
-   40             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( CC(I,J), J = 1,NCR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,P )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB16AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB16AD = ',I2)
-99997 FORMAT (/' The order of reduced controller = ',I2)
-99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
-99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
-99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NC is out of range.',/' NC = ',I5)
-99984 FORMAT (' IWARN on exit from SB16AD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB16AD EXAMPLE PROGRAM DATA (Continuous system)
-  3  1  1   3  2   0.0  0.1E0  0.0    C  S  S  F   I  N   F 
-  -1.  0.   4.
-   0.  2.   0.
-   0.  0.  -3.
-   1.
-   1.
-   1.
-   1.  1.   1.
-   0. 
-  -26.4000    6.4023    4.3868
-   32.0000         0         0
-         0    8.0000         0
-    -16
-     0
-     0
-    9.2994    1.1624    0.1090
-     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB16AD EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced controller =  2
-
- The Hankel singular values of weighted ALPHA-stable part are
-   3.8253   0.2005
-
- The reduced controller state dynamics matrix Ac is 
-   9.1900   0.0000
-   0.0000 -34.5297
-
- The reduced controller input/state matrix Bc is 
- -11.9593
-  86.3137
-
- The reduced controller state/output matrix Cc is 
-   2.8955  -1.3566
-
- The reduced controller input/output matrix Dc is 
-   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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+++ /dev/null
@@ -1,343 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16AY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16AY">SB16AY</A></H2>
-<H3>
-Cholesky factors of the frequency-weighted controllability and observability Grammians for controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for given state-space representations (A,B,C,D) and
-  (Ac,Bc,Cc,Dc) of the transfer-function matrices of the
-  open-loop system G and feedback controller K, respectively,
-  the Cholesky factors of the frequency-weighted
-  controllability and observability Grammians corresponding
-  to a frequency-weighted model reduction problem.
-  The controller must stabilize the closed-loop system.
-  The state matrix Ac must be in a block-diagonal real Schur form
-  Ac = diag(Ac1,Ac2), where Ac1 contains the unstable eigenvalues
-  of Ac and Ac2 contains the stable eigenvalues of Ac.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16AY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NC, NCS,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC,
-     $                   SCALEC, SCALEO, S, LDS, R, LDR,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBC, JOBO, WEIGHT
-      INTEGER          INFO, LDA, LDAC, LDB, LDBC, LDC, LDCC, LDD, LDDC,
-     $                 LDR, LDS, LDWORK, M, N, NC, NCS, P
-      DOUBLE PRECISION SCALEC, SCALEO
-C     .. Array Arguments ..
-      INTEGER          IWORK(*)
-      DOUBLE PRECISION A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
-     $                 C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
-     $                 DWORK(*), R(LDR,*),   S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G and K are continuous-time systems;
-          = 'D':  G and K are discrete-time systems.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified Enns' method of [2].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [2].
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency-weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'O':  stability enforcing left (output) weighting
-                            -1
-                  V = (I-G*K) *G is used (W = I);
-          = 'I':  stability enforcing right (input) weighting
-                            -1
-                  W = (I-G*K) *G is used (V = I);
-          = 'P':  stability and performance enforcing weightings
-                            -1                -1
-                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop system state-space
-          representation, i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NC      (input) INTEGER
-          The order of the controller state-space representation,
-          i.e., the order of the matrix AC.  NC &gt;= 0.
-
-  NCS     (input) INTEGER
-          The dimension of the stable part of the controller, i.e.,
-          the order of matrix Ac2.  NC &gt;= NCS &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system with the transfer-function
-          matrix G.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D of the open-loop system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AC      (input) DOUBLE PRECISION array, dimension (LDAC,NC)
-          The leading NC-by-NC part of this array must contain
-          the state dynamics matrix Ac of the controller in a
-          block diagonal real Schur form Ac = diag(Ac1,Ac2), where
-          Ac1 is (NC-NCS)-by-(NC-NCS) and contains the unstable
-          eigenvalues of Ac, and Ac2 is NCS-by-NCS and contains
-          the stable eigenvalues of Ac.
-
-  LDAC    INTEGER
-          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
-
-  BC      (input) DOUBLE PRECISION array, dimension (LDBC,P)
-          The leading NC-by-P part of this array must contain
-          the input/state matrix Bc of the controller.
-
-  LDBC    INTEGER
-          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
-
-  CC      (input) DOUBLE PRECISION array, dimension (LDCC,NC)
-          The leading M-by-NC part of this array must contain
-          the state/output matrix Cc of the controller.
-
-  LDCC    INTEGER
-          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
-
-  DC      (input) DOUBLE PRECISION array, dimension (LDDC,P)
-          The leading M-by-P part of this array must contain
-          the input/output matrix Dc of the controller.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian.
-          See METHOD.
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian. See METHOD.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,NCS)
-          The leading NCS-by-NCS upper triangular part of this array
-          contains the Cholesky factor S of the frequency-weighted
-          controllability Grammian P = S*S'. See METHOD.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,NCS).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,NCS)
-          The leading NCS-by-NCS upper triangular part of this array
-          contains the Cholesky factor R of the frequency-weighted
-          observability Grammian Q = R'*R. See METHOD.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,NCS).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWRK)
-          LIWRK = 0,       if WEIGHT = 'N';
-          LIWRK = 2(M+P),  if WEIGHT = 'O', 'I', or 'P'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, LFREQ ),
-          where
-          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
-                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
-                                   if WEIGHT = 'I' or 'O' or 'P';
-          LFREQ  = NCS*(MAX(M,P)+5) if WEIGHT = 'N'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the closed-loop system is not well-posed;
-                its feedthrough matrix is (numerically) singular;
-          = 2:  the computation of the real Schur form of the
-                closed-loop state matrix failed;
-          = 3:  the closed-loop state matrix is not stable;
-          = 4:  the solution of a symmetric eigenproblem failed;
-          = 5:  the NCS-by-NCS trailing part Ac2 of the state
-                matrix Ac is not stable or not in a real Schur form.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOBC = 'S', the controllability Grammian P is determined as
-  follows:
-
-  - if WEIGHT = 'O' or 'N', P satisfies for a continuous-time
-    controller the Lyapunov equation
-
-         Ac2*P + P*Ac2' +  scalec^2*Bc*Bc' = 0
-
-    and for a discrete-time controller
-
-         Ac2*P*Ac2' - P +  scalec^2*Bc*Bc' = 0;
-
-  - if WEIGHT = 'I' or 'P', let Pi be the solution of the
-    continuous-time Lyapunov equation
-
-         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0
-
-    or of the discrete-time Lyapunov equation
-
-         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,
-
-    where Ai and Bi are the state and input matrices of a special
-    state-space realization of the input frequency weight (see [2]);
-    P results as the trailing NCS-by-NCS part of Pi partitioned as
-
-        Pi = ( *  * ).
-             ( *  P )
-
-  If JOBC = 'E', a modified controllability Grammian P1 &gt;= P is
-  determined to guarantee stability for a modified Enns' method [2].
-
-  If JOBO = 'S', the observability Grammian Q is determined as
-  follows:
-
-  - if WEIGHT = 'I' or 'N', Q satisfies for a continuous-time
-    controller the Lyapunov equation
-
-         Ac2'*Q + Q*Ac2 +  scaleo^2*Cc'*Cc = 0
-
-    and for a discrete-time controller
-
-         Ac2'*Q*Ac2 - Q +  scaleo^2*Cc'*Cc = 0;
-
-  - if WEIGHT = 'O' or 'P', let Qo be the solution of the
-    continuous-time Lyapunov equation
-
-         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0
-
-    or of the discrete-time Lyapunov equation
-
-         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,
-
-    where Ao and Co are the state and output matrices of a
-    special state-space realization of the output frequency weight
-    (see [2]); if WEIGHT = 'O', Q results as the leading NCS-by-NCS
-    part of Qo partitioned as
-
-        Qo = ( Q  * )
-             ( *  * )
-
-    while if WEIGHT = 'P', Q results as the trailing NCS-by-NCS
-    part of Qo partitioned as
-
-        Qo = ( *  * ).
-             ( *  Q )
-
-  If JOBO = 'E', a modified observability Grammian Q1 &gt;= Q is
-  determined to guarantee stability for a modified Enns' method [2].
-
-  The routine computes directly the Cholesky factors S and R
-  such that P = S*S' and Q = R'*R according to formulas
-  developed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Varga, A. and Anderson, B.D.O.
-      Frequency-weighted balancing related controller reduction.
-      Proceedings of the 15th IFAC World Congress, July 21-26, 2002,
-      Barcelona, Spain, Vol.15, Part 1, 2002-07-21.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB16BD.html b/doc/_build/html/_static/doc/SB16BD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/SB16BD.html
+++ /dev/null
@@ -1,551 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16BD">SB16BD</A></H2>
-<H3>
-Coprime factorization based state feedback controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given open-loop model (A,B,C,D), and for
-  given state feedback gain F and full observer gain G,
-  such that A+B*F and A+G*C are stable, a reduced order
-  controller model (Ac,Bc,Cc,Dc) using a coprime factorization
-  based controller reduction approach. For reduction,
-  either the square-root or the balancing-free square-root
-  versions of the Balance & Truncate (B&T) or Singular Perturbation
-  Approximation (SPA) model reduction methods are used in
-  conjunction with stable coprime factorization techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL,
-     $                   N, M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDDC,
-     $                  LDF, LDG, LDWORK, M, N, NCR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DC(LDDC,*), DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the open-loop system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears
-          in the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method;
-          = 'S':  use the square-root SPA method;
-          = 'P':  use the balancing-free square-root SPA method.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization is
-          to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to perform a
-          preliminary equilibration before performing
-          order reduction as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting controller order NCR is fixed;
-          = 'A':  the resulting controller order NCR is
-                  automatically determined on basis of the given
-                  tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-          N also represents the order of the original state-feedback
-          controller.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NCR     (input/output) INTEGER
-          On entry with ORDSEL = 'F', NCR is the desired order of
-          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
-          On exit, if INFO = 0, NCR is the order of the resulting
-          reduced order controller. NCR is set as follows:
-          if ORDSEL = 'F', NCR is equal to MIN(NCR,NMIN), where NCR
-          is the desired order on entry, and NMIN is the order of a
-          minimal realization of an extended system Ge (see METHOD);
-          NMIN is determined as the number of
-          Hankel singular values greater than N*EPS*HNORM(Ge),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
-          extended system (computed in HSV(1));
-          if ORDSEL = 'A', NCR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(Ge)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NCR-by-NCR part of this
-          array contains the state dynamics matrix Ac of the reduced
-          controller.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must
-          contain the original input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must
-          contain the original state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this
-          array must contain the system direct input/output
-          transmission matrix D.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain a stabilizing state feedback matrix.
-          On exit, if INFO = 0, the leading M-by-NCR part of this
-          array contains the state/output matrix Cc of the reduced
-          controller.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
-          On entry, the leading N-by-P part of this array must
-          contain a stabilizing observer gain matrix.
-          On exit, if INFO = 0, the leading NCR-by-P part of this
-          array contains the input/state matrix Bc of the reduced
-          controller.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,P)
-          If INFO = 0, the leading M-by-P part of this array
-          contains the input/output matrix Dc of the reduced
-          controller.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the N Hankel singular values
-          of the extended system ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of the reduced extended system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(Ge), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(Ge) is the
-          Hankel norm of the extended system (computed in HSV(1)).
-          The value TOL1 = N*EPS*HNORM(Ge) is used by default if
-          TOL1 &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the coprime factorization controller
-          (see METHOD). The recommended value is
-          TOL2 = N*EPS*HNORM(Ge) (see METHOD).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0,         if ORDSEL = 'F' and NCR = N.
-                                              Otherwise,
-          LIWORK = MAX(PM,M), if JOBCF = 'L',
-          LIWORK = MAX(PM,P), if JOBCF = 'R', where
-          PM = 0,             if JOBMR = 'B',
-          PM = N,             if JOBMR = 'F',
-          PM = MAX(1,2*N),    if JOBMR = 'S' or 'P'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= P*N, if ORDSEL = 'F' and NCR = N. Otherwise,
-          LDWORK &gt;= (N+M)*(M+P) + MAX(LWR,4*M), if JOBCF = 'L',
-          LDWORK &gt;= (N+P)*(M+P) + MAX(LWR,4*P), if JOBCF = 'R',
-          where LWR = MAX(1,N*(2*N+MAX(N,M+P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NCR is
-                greater than the order of a minimal
-                realization of the controller.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A+G*C to a real Schur form
-                failed;
-          = 2:  the matrix A+G*C is not stable (if DICO = 'C'),
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed;
-          = 4:  the reduction of A+B*F to a real Schur form
-                failed;
-          = 5:  the matrix A+B*F is not stable (if DICO = 'C'),
-                or not convergent (if DICO = 'D').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let Go(d) be the open-loop
-  transfer-function matrix
-                        -1
-       Go(d) = C*(d*I-A) *B + D .
-
-  Let F and G be the state feedback and observer gain matrices,
-  respectively, chosen so that A+B*F and A+G*C are stable matrices.
-  The controller has a transfer-function matrix K(d) given by
-                                     -1
-       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
-
-  The closed-loop transfer-function matrix is given by
-                                  -1
-       Gcl(d) = Go(d)(I+K(d)Go(d)) .
-
-  K(d) can be expressed as a left coprime factorization (LCF),
-                       -1
-       K(d) = M_left(d) *N_left(d) ,
-
-  or as a right coprime factorization (RCF),
-                                   -1
-       K(d) = N_right(d)*M_right(d) ,
-
-  where M_left(d), N_left(d), N_right(d), and M_right(d) are
-  stable transfer-function matrices.
-
-  The subroutine SB16BD determines the matrices of a reduced
-  controller
-
-       d[z(t)] = Ac*z(t) + Bc*y(t)
-       u(t)    = Cc*z(t) + Dc*y(t),                           (2)
-
-  with the transfer-function matrix Kr as follows:
-
-  (1) If JOBCF = 'L', the extended system
-      Ge(d)  = [ N_left(d) M_left(d) ] is reduced to
-      Ger(d) = [ N_leftr(d) M_leftr(d) ] by using either the
-      B&T or SPA methods. The reduced order controller Kr(d)
-      is computed as
-                        -1
-      Kr(d) = M_leftr(d) *N_leftr(d) ;
-
-  (2) If JOBCF = 'R', the extended system
-      Ge(d) = [ N_right(d) ] is reduced to
-              [ M_right(d) ]
-      Ger(d) = [ N_rightr(d) ] by using either the
-               [ M_rightr(d) ]
-      B&T or SPA methods. The reduced order controller Kr(d)
-      is computed as
-                                      -1
-      Kr(d) = N_rightr(d)* M_rightr(d) .
-
-  If ORDSEL = 'A', the order of the controller is determined by
-  computing the number of Hankel singular values greater than
-  the given tolerance TOL1. The Hankel singular values are
-  the square roots of the eigenvalues of the product of
-  the controllability and observability Grammians of the
-  extended system Ge.
-
-  If JOBMR = 'B', the square-root B&T method of [1] is used.
-
-  If JOBMR = 'F', the balancing-free square-root version of the
-  B&T method [1] is used.
-
-  If JOBMR = 'S', the square-root version of the SPA method [2,3]
-  is used.
-
-  If JOBMR = 'P', the balancing-free square-root version of the
-  SPA method [2,3] is used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs, M.S. and Postlethwaite, I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga, A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
-      pp. 42-46, 1991.
-
-  [3] Varga, A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-  [4] Liu, Y., Anderson, B.D.O. and Ly, O.L.
-      Coprime factorization controller reduction with Bezout
-      identity induced frequency weighting.
-      Automatica, vol. 26, pp. 233-249, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB16BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
-      PARAMETER        ( LDA = NMAX, LDB  = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX
-     $                 )
-      INTEGER          LDWORK, LIWORK, MAXMP, MPMAX
-      PARAMETER        ( LIWORK = 2*NMAX, MAXMP = MAX( MMAX, PMAX ),
-     $                   MPMAX  = MMAX + PMAX )
-      PARAMETER        ( LDWORK = ( NMAX + MAXMP )*MPMAX +
-     $                            MAX ( NMAX*( 2*NMAX +
-     $                                         MAX( NMAX, MPMAX ) + 5 )
-     $                                      + ( NMAX*( NMAX + 1 ) )/2,
-     $                                  4*MAXMP ) )
-      CHARACTER        DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
-      DOUBLE PRECISION TOL1, TOL2
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DC(LDDC,PMAX), DWORK(LDWORK),
-     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB16BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NCR, TOL1, TOL2,
-     $                      DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL, N,
-     $                      M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
-     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
-   20             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
-   40             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB16BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB16BD = ',I2)
-99997 FORMAT (' The order of reduced controller = ',I2)
-99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
-99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
-99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of extended system are:')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB16BD EXAMPLE PROGRAM DATA (Continuous system)
-  8  1  1   4   0.1E0  0.0    C  D  F  L  S   F
-         0    1.0000         0         0         0         0         0        0
-         0         0         0         0         0         0         0        0
-         0         0   -0.0150    0.7650         0         0         0        0
-         0         0   -0.7650   -0.0150         0         0         0        0
-         0         0         0         0   -0.0280    1.4100         0        0
-         0         0         0         0   -1.4100   -0.0280         0        0
-         0         0         0         0         0         0   -0.0400    1.850
-         0         0         0         0         0         0   -1.8500   -0.040
-    0.0260
-   -0.2510
-    0.0330
-   -0.8860
-   -4.0170
-    0.1450
-    3.6040
-    0.2800
-  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
-  0.0
-4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002
-  4.1089e-001
-  8.6846e-002
-  3.8523e-004
- -3.6194e-003
- -8.8037e-003
-  8.4205e-003
-  1.2349e-003
-  4.2632e-003
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB16BD EXAMPLE PROGRAM RESULTS
-
- The order of reduced controller =  4
-
- The Hankel singular values of extended system are:
-   4.9078   4.8745   3.8455   3.7811   1.2289   1.1785   0.5176   0.1148
-
- The reduced controller state dynamics matrix Ac is 
-   0.5946  -0.7336   0.1914  -0.3368
-   0.5960  -0.0184  -0.1088   0.0207
-   1.2253   0.2043   0.1009  -1.4948
-  -0.0330  -0.0243   1.3440   0.0035
-
- The reduced controller input/state matrix Bc is 
-   0.0015
-  -0.0202
-   0.0159
-  -0.0544
-
- The reduced controller state/output matrix Cc is 
-   0.3534   0.0274   0.0337  -0.0320
-
- The reduced controller input/output matrix Dc is 
-   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB16CD.html b/doc/_build/html/_static/doc/SB16CD.html
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+++ /dev/null
@@ -1,528 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16CD">SB16CD</A></H2>
-<H3>
-Coprime factorization based frequency-weighted state feedback controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given open-loop model (A,B,C,D), and for
-  given state feedback gain F and full observer gain G,
-  such that A+B*F and A+G*C are stable, a reduced order
-  controller model (Ac,Bc,Cc) using a coprime factorization
-  based controller reduction approach. For reduction of
-  coprime factors, a stability enforcing frequency-weighted
-  model reduction is performed using either the square-root or
-  the balancing-free square-root versions of the Balance & Truncate
-  (B&T) model reduction method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P, NCR,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, F, LDF, G, LDG,
-     $                   HSV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD,
-     $                  LDF, LDG, LDWORK, M, N, NCR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the open-loop system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears
-          in the given state space model, as follows:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization
-          of the controller is to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting controller order NCR is fixed;
-          = 'A':  the resulting controller order NCR is
-                  automatically determined on basis of the given
-                  tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-          N also represents the order of the original state-feedback
-          controller.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NCR     (input/output) INTEGER
-          On entry with ORDSEL = 'F', NCR is the desired order of
-          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
-          On exit, if INFO = 0, NCR is the order of the resulting
-          reduced order controller. NCR is set as follows:
-          if ORDSEL = 'F', NCR is equal to MIN(NCR,NCRMIN), where
-          NCR is the desired order on entry, and NCRMIN is the
-          number of Hankel-singular values greater than N*EPS*S1,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and S1 is the largest Hankel singular
-          value (computed in HSV(1)); NCR can be further reduced
-          to ensure HSV(NCR) &gt; HSV(NCR+1);
-          if ORDSEL = 'A', NCR is equal to the number of Hankel
-          singular values greater than MAX(TOL,N*EPS*S1).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NCR-by-NCR part of this
-          array contains the state dynamics matrix Ac of the reduced
-          controller.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the open-loop system input/state matrix B.
-          On exit, this array is overwritten with a NCR-by-M
-          B&T approximation of the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the open-loop system state/output matrix C.
-          On exit, this array is overwritten with a P-by-NCR
-          B&T approximation of the matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the system direct input/output
-          transmission matrix D.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain a stabilizing state feedback matrix.
-          On exit, if INFO = 0, the leading M-by-NCR part of this
-          array contains the output/state matrix Cc of the reduced
-          controller.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
-          On entry, the leading N-by-P part of this array must
-          contain a stabilizing observer gain matrix.
-          On exit, if INFO = 0, the leading NCR-by-P part of this
-          array contains the input/state matrix Bc of the reduced
-          controller.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, HSV contains the N frequency-weighted
-          Hankel singular values ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced controller.
-          The recommended value is TOL = c*S1, where c is a constant
-          in the interval [0.00001,0.001], and S1 is the largest
-          Hankel singular value (computed in HSV(1)).
-          The value TOL = N*EPS*S1 is used by default if
-          TOL &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0,   if JOBMR = 'B';
-          LIWORK = N,   if JOBMR = 'F'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N*N + MAX( 1, 2*N*N + 5*N, N*MAX(M,P),
-                                 N*(N + MAX(N,MP) + MIN(N,MP) + 6)),
-          where     MP = M, if JOBCF = 'L';
-                    MP = P, if JOBCF = 'R'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NCR is
-                greater than the order of a minimal realization
-                of the controller;
-          = 2:  with ORDSEL = 'F', the selected order NCR
-                corresponds to repeated singular values, which are
-                neither all included nor all excluded from the
-                reduced controller. In this case, the resulting NCR
-                is set automatically to the largest value such that
-                HSV(NCR) &gt; HSV(NCR+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  eigenvalue computation failure;
-          = 2:  the matrix A+G*C is not stable;
-          = 3:  the matrix A+B*F is not stable;
-          = 4:  the Lyapunov equation for computing the
-                observability Grammian is (nearly) singular;
-          = 5:  the Lyapunov equation for computing the
-                controllability Grammian is (nearly) singular;
-          = 6:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let Go(d) be the open-loop
-  transfer-function matrix
-                       -1
-       Go(d) = C*(d*I-A) *B + D .
-
-  Let F and G be the state feedback and observer gain matrices,
-  respectively, chosen such that A+BF and A+GC are stable matrices.
-  The controller has a transfer-function matrix K(d) given by
-                                    -1
-       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
-
-  The closed-loop transfer function matrix is given by
-                                 -1
-       Gcl(d) = Go(d)(I+K(d)Go(d)) .
-
-  K(d) can be expressed as a left coprime factorization (LCF)
-                      -1
-       K(d) = M_left(d) *N_left(d),
-
-  or as a right coprime factorization (RCF)
-                                  -1
-       K(d) = N_right(d)*M_right(d) ,
-
-  where M_left(d), N_left(d), N_right(d), and M_right(d) are
-  stable transfer-function matrices.
-
-  The subroutine SB16CD determines the matrices of a reduced
-  controller
-
-       d[z(t)] = Ac*z(t) + Bc*y(t)
-       u(t)    = Cc*z(t),                                   (2)
-
-  with the transfer-function matrix Kr, using the following
-  stability enforcing approach proposed in [1]:
-
-  (1) If JOBCF = 'L', the frequency-weighted approximation problem
-      is solved
-
-      min||[M_left(d)-M_leftr(d)  N_left(d)-N_leftr(d)][-Y(d)]|| ,
-                                                       [ X(d)]
-      where
-                           -1
-            G(d) = Y(d)*X(d)
-
-      is a RCF of the open-loop system transfer-function matrix.
-      The B&T model reduction technique is used in conjunction
-      with the method proposed in [1].
-
-  (2) If JOBCF = 'R', the frequency-weighted approximation problem
-      is solved
-
-      min || [ -U(d) V(d) ] [ N_right(d)-N_rightr(d) ] || ,
-                            [ M_right(d)-M_rightr(d) ]
-      where
-                      -1
-            G(d) = V(d) *U(d)
-
-      is a LCF of the open-loop system transfer-function matrix.
-      The B&T model reduction technique is used in conjunction
-      with the method proposed in [1].
-
-  If ORDSEL = 'A', the order of the controller is determined by
-  computing the number of Hankel singular values greater than
-  the given tolerance TOL. The Hankel singular values are
-  the square roots of the eigenvalues of the product of
-  two frequency-weighted Grammians P and Q, defined as follows.
-
-  If JOBCF = 'L', then P is the controllability Grammian of a system
-  of the form (A+BF,B,*,*), and Q is the observability Grammian of a
-  system of the form (A+GC,*,F,*). This choice corresponds to an
-  input frequency-weighted order reduction of left coprime
-  factors [1].
-
-  If JOBCF = 'R', then P is the controllability Grammian of a system
-  of the form (A+BF,G,*,*), and Q is the observability Grammian of a
-  system of the form (A+GC,*,C,*). This choice corresponds to an
-  output frequency-weighted order reduction of right coprime
-  factors [1].
-
-  For the computation of truncation matrices, the B&T approach
-  is used in conjunction with accuracy enhancing techniques.
-  If JOBMR = 'B', the square-root B&T method of [2,4] is used.
-  If JOBMR = 'F', the balancing-free square-root version of the
-  B&T method [3,4] is used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
-      Coprime factorization controller reduction with Bezout
-      identity induced frequency weighting.
-      Automatica, vol. 26, pp. 233-249, 1990.
-
-  [2] Tombs, M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [3] Varga, A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
-      pp. 42-46, 1991.
-
-  [4] Varga, A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB16CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                 LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX )
-      INTEGER          LDWORK, LIWORK, MPMAX
-      PARAMETER        ( LIWORK = 2*NMAX, MPMAX = MAX( MMAX, PMAX ) )
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX +
-     $                            MAX( 2*NMAX*NMAX + 5*NMAX,
-     $                                 NMAX*( NMAX + MAX( NMAX, MPMAX )
-     $                                      + MIN( NMAX, MPMAX ) + 6 ) )
-     $                 )
-      CHARACTER        DICO, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK),
-     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB16CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NCR, TOL,
-     $                      DICO, JOBD, JOBMR, JOBCF, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P,
-     $                      NCR, A, LDA, B, LDB, C, LDC, D, LDD, F, LDF,
-     $                      G, LDG, HSV, TOL, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
-   20             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
-   40             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB16CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB16CD = ',I2)
-99997 FORMAT (' The order of reduced controller = ',I2)
-99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
-99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The frequency-weighted Hankel singular values are:')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB16CD EXAMPLE PROGRAM DATA (Continuous system)
-  8  1  1   2   0.1E0  C  D  F  R  F
-         0    1.0000         0         0         0         0         0        0
-         0         0         0         0         0         0         0        0
-         0         0   -0.0150    0.7650         0         0         0        0
-         0         0   -0.7650   -0.0150         0         0         0        0
-         0         0         0         0   -0.0280    1.4100         0        0
-         0         0         0         0   -1.4100   -0.0280         0        0
-         0         0         0         0         0         0   -0.0400    1.850
-         0         0         0         0         0         0   -1.8500   -0.040
-    0.0260
-   -0.2510
-    0.0330
-   -0.8860
-   -4.0170
-    0.1450
-    3.6040
-    0.2800
-  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
-  0.0
-4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002
-    4.108939884667451e-001
-    8.684600000000012e-002
-    3.852317308197148e-004
-   -3.619366874815911e-003
-   -8.803722876359955e-003
-    8.420521094001852e-003
-    1.234944428038507e-003
-    4.263205617645322e-003
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB16CD EXAMPLE PROGRAM RESULTS
-
- The order of reduced controller =  2
-
- The frequency-weighted Hankel singular values are:
-   3.3073   0.7274   0.1124   0.0784   0.0242   0.0182   0.0101   0.0094
-
- The reduced controller state dynamics matrix Ac is 
-  -0.4334   0.4884
-  -0.1950  -0.1093
-
- The reduced controller input/state matrix Bc is 
-  -0.4231
-  -0.1785
-
- The reduced controller state/output matrix Cc is 
-  -0.0326  -0.2307
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SB16CY.html b/doc/_build/html/_static/doc/SB16CY.html
deleted file mode 100644
index 89c644b2..00000000
--- a/doc/_build/html/_static/doc/SB16CY.html
+++ /dev/null
@@ -1,233 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16CY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16CY">SB16CY</A></H2>
-<H3>
-Cholesky factors of controllability and observability Grammians of coprime factors of a state-feedback controller
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given open-loop model (A,B,C,0), and for
-  given state feedback gain F and full observer gain G,
-  such that A+B*F and A+G*C are stable, the Cholesky factors
-  Su and Ru of a controllability Grammian P = Su*Su' and of
-  an observability Grammian Q = Ru'*Ru corresponding to a
-  frequency-weighted model reduction of the left or right coprime
-  factors of the state-feedback controller.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16CY( DICO, JOBCF, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   F, LDF, G, LDG, SCALEC, SCALEO, S, LDS, R, LDR,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBCF
-      INTEGER          INFO, LDA, LDB, LDC, LDF, LDG, LDR, LDS, LDWORK,
-     $                 M, N, P
-      DOUBLE PRECISION SCALEC, SCALEO
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                 F(LDF,*), G(LDG,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the open-loop system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBCF   CHARACTER*1
-          Specifies whether a left or right coprime factorization
-          of the state-feedback controller is to be used as follows:
-          = 'L':  use a left coprime factorization;
-          = 'R':  use a right coprime factorization.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the open-loop system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the open-loop system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the open-loop system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array must contain a
-          stabilizing state feedback matrix.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,P)
-          The leading N-by-P part of this array must contain a
-          stabilizing observer gain matrix.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian.
-          See METHOD.
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian.
-          See METHOD.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Su of frequency-weighted
-          cotrollability Grammian P = Su*Su'. See METHOD.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= MAX(1,N).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Ru of the frequency-weighted
-          observability Grammian Q = Ru'*Ru. See METHOD.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N + MAX(N,M) + MIN(N,M) + 6)),
-                                                    if JOBCF = 'L';
-          LDWORK &gt;= MAX(1, N*(N + MAX(N,P) + MIN(N,P) + 6)),
-                                                    if JOBCF = 'R'.
-          For optimum performance LDWORK should be larger.
-          An upper bound for both cases is
-          LDWORK &gt;= MAX(1, N*(N + MAX(N,M,P) + 7)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  eigenvalue computation failure;
-          = 2:  the matrix A+G*C is not stable;
-          = 3:  the matrix A+B*F is not stable;
-          = 4:  the Lyapunov equation for computing the
-                observability Grammian is (nearly) singular;
-          = 5:  the Lyapunov equation for computing the
-                controllability Grammian is (nearly) singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In accordance with the type of the coprime factorization
-  of the controller (left or right), the Cholesky factors Su and Ru
-  of the frequency-weighted controllability Grammian P = Su*Su' and
-  of the frequency-weighted observability Grammian Q = Ru'*Ru are
-  computed by solving appropriate Lyapunov or Stein equations [1].
-
-  If JOBCF = 'L' and DICO = 'C', P and Q are computed as the
-  solutions of the following Lyapunov equations:
-
-         (A+B*F)*P + P*(A+B*F)' +  scalec^2*B*B' = 0,  (1)
-
-         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*F'*F = 0.  (2)
-
-  If JOBCF = 'L' and DICO = 'D', P and Q are computed as the
-  solutions of the following Stein equations:
-
-         (A+B*F)*P*(A+B*F)' - P +  scalec^2*B*B' = 0,  (3)
-
-         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*F'*F = 0.  (4)
-
-  If JOBCF = 'R' and DICO = 'C', P and Q are computed as the
-  solutions of the following Lyapunov equations:
-
-         (A+B*F)*P + P*(A+B*F)' +  scalec^2*G*G' = 0,  (5)
-
-         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*C'*C = 0.  (6)
-
-  If JOBCF = 'R' and DICO = 'D', P and Q are computed as the
-  solutions of the following Stein equations:
-
-         (A+B*F)*P*(A+B*F)' - P +  scalec^2*G*G' = 0,  (7)
-
-         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*C'*C = 0.  (8)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
-      Coprime factorization controller reduction with Bezout
-      identity induced frequency weighting.
-      Automatica, vol. 26, pp. 233-249, 1990.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG02AD.html b/doc/_build/html/_static/doc/SG02AD.html
deleted file mode 100644
index 12cf8cdd..00000000
--- a/doc/_build/html/_static/doc/SG02AD.html
+++ /dev/null
@@ -1,639 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02AD">SG02AD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations for descriptor systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                                -1
-     Q + A'XE + E'XA - (L+E'XB)R  (L+E'XB)' = 0 ,              (1)
-
-  or the discrete-time algebraic Riccati equation
-                                     -1
-     E'XE = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q ,         (2)
-
-  where A, E, B, Q, R, and L are N-by-N, N-by-N, N-by-M, N-by-N,
-  M-by-M and N-by-M matrices, respectively, such that Q = C'C,
-  R = D'D and L = C'D; X is an N-by-N symmetric matrix.
-  The routine also returns the computed values of the closed-loop
-  spectrum of the system, i.e., the stable eigenvalues
-  lambda(1),...,lambda(N) of the pencil (A - BF,E), where F is
-  the optimal gain matrix,
-          -1
-     F = R  (L+E'XB)' ,        for (1),
-
-  and
-                 -1
-     F = (R+B'XB)  (L+A'XB)' , for (2).
-                           -1
-  Optionally, matrix G = BR  B' may be given instead of B and R.
-  Other options include the case with Q and/or R given in a
-  factored form, Q = C'C, R = D'D, and with L a zero matrix.
-
-  The routine uses the method of deflating subspaces, based on
-  reordering the eigenvalues in a generalized Schur matrix pair.
-
-  It is assumed that E is nonsingular, but this condition is not
-  checked. Note that the definition (1) of the continuous-time
-  algebraic Riccati equation, and the formula for the corresponding
-  optimal gain matrix, require R to be nonsingular, but the
-  associated linear quadratic optimal problem could have a unique
-  solution even when matrix R is singular, under mild assumptions
-  (see METHOD). The routine SG02AD works accordingly in this case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT, ACC,
-     $                   N, M, P, A, LDA, E, LDE, B, LDB, Q, LDQ, R,
-     $                   LDR, L, LDL, RCONDU, X, LDX, ALFAR, ALFAI,
-     $                   BETA, S, LDS, T, LDT, U, LDU, TOL, IWORK,
-     $                   DWORK, LDWORK, BWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
-      INTEGER           INFO, IWARN, LDA, LDB, LDE, LDL, LDQ, LDR, LDS,
-     $                  LDT, LDU, LDWORK, LDX, M, N, P
-      DOUBLE PRECISION  RCONDU, TOL
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
-     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*),
-     $                  R(LDR,*), S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  JOBB    CHARACTER*1
-          Specifies whether or not the matrix G is given, instead
-          of the matrices B and R, as follows:
-          = 'B':  B and R are given;
-          = 'G':  G is given.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the matrices Q and/or R (if
-          JOBB = 'B') are factored, as follows:
-          = 'N':  Not factored, Q and R are given;
-          = 'C':  C is given, and Q = C'C;
-          = 'D':  D is given, and R = D'D;
-          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
-
-  UPLO    CHARACTER*1
-          If JOBB = 'G', or FACT = 'N', specifies which triangle of
-          the matrices G, or Q and R, is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
-          SLICOT Library routine SB02MT should be called just before
-          SG02AD, for obtaining the results when JOBB = 'G' and
-          JOBL = 'N'.
-
-  SCAL    CHARACTER*1
-          If JOBB = 'B', specifies whether or not a scaling strategy
-          should be used to scale Q, R, and L, as follows:
-          = 'G':  General scaling should be used;
-          = 'N':  No scaling should be used.
-          SCAL is not used if JOBB = 'G'.
-
-  SORT    CHARACTER*1
-          Specifies which eigenvalues should be obtained in the top
-          of the generalized Schur form, as follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-
-  ACC     CHARACTER*1
-          Specifies whether or not iterative refinement should be
-          used to solve the system of algebraic equations giving
-          the solution matrix X, as follows:
-          = 'R':  Use iterative refinement;
-          = 'N':  Do not use iterative refinement.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices A, E, Q, and X, and the number of rows of the
-          matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs. If JOBB = 'B', M is the
-          order of the matrix R, and the number of columns of the
-          matrix B.  M &gt;= 0.
-          M is not used if JOBB = 'G'.
-
-  P       (input) INTEGER
-          The number of system outputs. If FACT = 'C' or 'D' or 'B',
-          P is the number of rows of the matrices C and/or D.
-          P &gt;= 0.
-          Otherwise, P is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the descriptor system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array must contain the
-          matrix E of the descriptor system.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
-          If JOBB = 'B', the leading N-by-M part of this array must
-          contain the input matrix B of the system.
-          If JOBB = 'G', the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the matrix
-                -1
-          G = BR  B'. The strictly lower triangular part (if
-          UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If FACT = 'N' or 'D', the leading N-by-N upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          state weighting matrix Q. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'C' or 'B', the leading P-by-N part of this
-          array must contain the output matrix C of the system.
-          If JOBB = 'B' and SCAL = 'G', then Q is modified
-          internally, but is restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D';
-          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,*)
-          If FACT = 'N' or 'C', the leading M-by-M upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          input weighting matrix R. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'D' or 'B', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          If JOBB = 'B' and SCAL = 'G', then R is modified
-          internally, but is restored on exit.
-          If JOBB = 'G', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
-          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
-          LDR &gt;= 1        if JOBB = 'G'.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,*)
-          If JOBL = 'N' and JOBB = 'B', the leading N-by-M part of
-          this array must contain the cross weighting matrix L.
-          If JOBB = 'B' and SCAL = 'G', then L is modified
-          internally, but is restored on exit.
-          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
-          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
-
-  RCONDU  (output) DOUBLE PRECISION
-          If N &gt; 0 and INFO = 0 or INFO = 7, an estimate of the
-          reciprocal of the condition number (in the 1-norm) of
-          the N-th order system of algebraic equations from which
-          the solution matrix X is obtained.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          If INFO = 0, the leading N-by-N part of this array
-          contains the solution matrix X of the problem.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
-  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
-  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
-          The generalized eigenvalues of the 2N-by-2N matrix pair,
-          ordered as specified by SORT (if INFO = 0, or INFO &gt;= 5).
-          For instance, if SORT = 'S', the leading N elements of
-          these arrays contain the closed-loop spectrum of the
-          system. Specifically,
-             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
-          k = 1,2,...,N.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
-          The leading 2N-by-2N part of this array contains the
-          ordered real Schur form S of the first matrix in the
-          reduced matrix pencil associated to the optimal problem,
-          corresponding to the scaled Q, R, and L, if JOBB = 'B'
-          and SCAL = 'G'. That is,
-
-                 (S   S  )
-                 ( 11  12)
-             S = (       ),
-                 (0   S  )
-                 (     22)
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
-          columns, otherwise.
-
-  LDS     INTEGER
-          The leading dimension of array S.
-          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B';
-          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
-          The leading 2N-by-2N part of this array contains the
-          ordered upper triangular form T of the second matrix in
-          the reduced matrix pencil associated to the optimal
-          problem, corresponding to the scaled Q, R, and L, if
-          JOBB = 'B' and SCAL = 'G'. That is,
-
-                 (T   T  )
-                 ( 11  12)
-             T = (       ),
-                 (0   T  )
-                 (     22)
-
-          where T  , T   and T   are N-by-N matrices.
-                 11   12      22
-
-  LDT     INTEGER
-          The leading dimension of array T.
-          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B';
-          LDT &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          The leading 2N-by-2N part of this array contains the right
-          transformation matrix U which reduces the 2N-by-2N matrix
-          pencil to the ordered generalized real Schur form (S,T).
-          That is,
-
-                 (U   U  )
-                 ( 11  12)
-             U = (       ),
-                 (U   U  )
-                 ( 21  22)
-
-          where U  , U  , U   and U   are N-by-N matrices.
-                 11   12   21      22
-          If JOBB = 'B' and SCAL = 'G', then U corresponds to the
-          scaled pencil. If a basis for the stable deflating
-          subspace of the original problem is needed, then the
-          submatrix U   must be multiplied by the scaling factor
-                     21
-          contained in DWORK(4).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the original matrix pencil, specifically of the triangular
-          M-by-M factor obtained during the reduction process. If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as a lower bound for the reciprocal condition number of
-          that matrix; a matrix whose estimated condition number is
-          less than 1/TOL is considered to be nonsingular. If the
-          user sets TOL &lt;= 0, then a default tolerance, defined by
-          TOLDEF = EPS, is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not referenced if JOBB = 'G'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B';
-          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
-          reciprocal of the condition number of the M-by-M bottom
-          right lower triangular matrix obtained while compressing
-          the matrix pencil of order 2N+M to obtain a pencil of
-          order 2N. If ACC = 'R', and INFO = 0 or INFO = 7, DWORK(3)
-          returns the reciprocal pivot growth factor (see SLICOT
-          Library routine MB02PD) for the LU factorization of the
-          coefficient matrix of the system of algebraic equations
-          giving the solution matrix X; if DWORK(3) is much
-          less than 1, then the computed X and RCONDU could be
-          unreliable. If INFO = 0 or INFO = 7, DWORK(4) returns the
-          scaling factor used to scale Q, R, and L. DWORK(4) is set
-          to 1 if JOBB = 'G' or SCAL = 'N'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G';
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the computed solution may be inaccurate due to poor
-                scaling or eigenvalues too close to the boundary of
-                the stability domain (the imaginary axis, if
-                DICO = 'C', or the unit circle, if DICO = 'D').
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the computed extended matrix pencil is singular,
-                possibly due to rounding errors;
-          = 2:  if the QZ algorithm failed;
-          = 3:  if reordering of the generalized eigenvalues failed;
-          = 4:  if after reordering, roundoff changed values of
-                some complex eigenvalues so that leading eigenvalues
-                in the generalized Schur form no longer satisfy the
-                stability condition; this could also be caused due
-                to scaling;
-          = 5:  if the computed dimension of the solution does not
-                equal N;
-          = 6:  if the spectrum is too close to the boundary of
-                the stability domain;
-          = 7:  if a singular matrix was encountered during the
-                computation of the solution matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses a variant of the method of deflating subspaces
-  proposed by van Dooren [1]. See also [2], [3], [4].
-  It is assumed that E is nonsingular, the triple (E,A,B) is
-  strongly stabilizable and detectable (see [3]); if, in addition,
-
-     -    [ Q   L ]
-     R := [       ] &gt;= 0 ,
-          [ L'  R ]
-
-  then the pencils
-
-        discrete-time                   continuous-time
-
-  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
-  |Q  -E'  L| - z |0  -A'  0| ,  |Q   A'  L| - s |0  -E'  0| ,   (3)
-  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
-
-  are dichotomic, i.e., they have no eigenvalues on the boundary of
-  the stability domain. The above conditions are sufficient for
-  regularity of these pencils. A necessary condition is that
-  rank([ B'  L'  R']') = m.
-
-  Under these assumptions the algebraic Riccati equation is known to
-  have a unique non-negative definite solution.
-  The first step in the method of deflating subspaces is to form the
-  extended matrices in (3), of order 2N + M. Next, these pencils are
-  compressed to a form of order 2N (see [1])
-
-     lambda x A  - B .
-               f    f
-
-  This generalized eigenvalue problem is then solved using the QZ
-  algorithm and the stable deflating subspace Ys is determined.
-  If [Y1'|Y2']' is a basis for Ys, then the required solution is
-                    -1
-         X = Y2 x Y1  .
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      A Generalized Eigenvalue Approach for Solving Riccati
-      Equations.
-      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
-
-  [2] Arnold, III, W.F. and Laub, A.J.
-      Generalized Eigenproblem Algorithms and Software for
-      Algebraic Riccati Equations.
-      Proc. IEEE, 72, 1746-1754, 1984.
-
-  [3] Mehrmann, V.
-      The Autonomous Linear Quadratic Control Problem. Theory and
-      Numerical Solution.
-      Lect. Notes in Control and Information Sciences, vol. 163,
-      Springer-Verlag, Berlin, 1991.
-
-  [4] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  This routine is particularly suited for systems where the matrix R
-  is ill-conditioned, or even singular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equations set SORT = 'S'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying SORT = 'U'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG02AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2M, NMAX2, NMMAX
-      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX,
-     $                   NMMAX  = MAX(NMAX,MMAX) )
-      INTEGER          LDA, LDB, LDE, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDE = NMAX, LDL = NMAX,
-     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
-     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX,2*NMAX+MMAX,
-     $                                3*MMAX) )
-      INTEGER          LBWORK
-      PARAMETER        ( LBWORK = NMAX2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCONDU, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, P
-      CHARACTER*1      ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
-      LOGICAL          LJOBB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX),  ALFAI(NMAX2),  ALFAR(NMAX2),
-     $                 B(LDB,NMMAX), BETA(NMAX2),   DWORK(LDWORK),
-     $                 E(LDE,NMAX),  L(LDL,MMAX),   Q(LDQ,NMAX),
-     $                 R(LDR,MMAX),  S(LDS,NMAX2M), T(LDT,NMAX2),
-     $                 U(LDU,NMAX2), X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LBWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SG02AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
-     $                      SCAL, SORT, ACC
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            LJOBB = LSAME( JOBB, 'B' )
-            IF ( LJOBB ) THEN
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            END IF
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99993 ) P
-            ELSE
-               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
-               END IF
-               IF ( LJOBB ) THEN
-                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
-                  ELSE
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
-                  END IF
-                  IF ( LSAME( JOBL, 'N' ) )
-     $                READ ( NIN, FMT = * )
-     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
-               END IF
-*              Find the solution matrix X.
-               CALL SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT,
-     $                      ACC, N, M, P, A, LDA, E, LDE, B, LDB, Q,
-     $                      LDQ, R, LDR, L, LDL, RCONDU, X, LDX, ALFAR,
-     $                      ALFAI, BETA, S, LDS, T, LDT, U, LDU, TOL,
-     $                      IWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG02AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SG02AD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG02AD EXAMPLE PROGRAM DATA
-   2     1     3     0.0     C     B     B     U     Z     N     S     N
-   0.0  1.0
-   0.0  0.0
-   1.0  0.0
-   0.0  1.0
-   0.0
-   1.0
-   1.0  0.0
-   0.0  1.0
-   0.0  0.0
-   0.0
-   0.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG02AD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.7321   1.0000
-   1.0000   1.7321
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG02CV.html b/doc/_build/html/_static/doc/SG02CV.html
deleted file mode 100644
index 9090db8e..00000000
--- a/doc/_build/html/_static/doc/SG02CV.html
+++ /dev/null
@@ -1,256 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02CV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02CV">SG02CV</A></H2>
-<H3>
-Computation of residual matrix for a continuous-time or discrete-time reduced Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the residual matrix R for a continuous-time or
-  discrete-time "reduced" Lyapunov equation, using the formulas
-
-     R = op(A)'*X + X*op(A) + Q,
-  or
-     R = op(A)'*X*op(E) + op(E)'*X*op(A) + Q,
-
-  in the continuous-time case, or the formulas
-
-     R = op(A)'*X*op(A) - X + Q,
-  or
-     R = op(A)'*X*op(A) - op(E)'*X*op(E) + Q,
-
-  in the discrete-time case, where X and Q are symmetric matrices,
-  A is in upper real Schur form, E is upper triangular, and op(W) is
-
-     op(W) = W   or   op(W) = W'.
-
-  Optionally, the Frobenius norms of the product terms defining the
-  denominator of the relative residual are also computed. The norms
-  of Q and X are not computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02CV( DICO, JOB, JOBE, UPLO, TRANS, N, A, LDA, E,
-     $                   LDE, X, LDX, R, LDR, NORMS, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, JOBE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDE, LDR, LDWORK, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), NORMS(*),
-     $                  R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the Lyapunov equation, as follows:
-          = 'C':  continuous-time Lyapunov equation;
-          = 'D':  discrete-time Lyapunov equation.
-
-  JOB     CHARACTER*1
-          Specifies which results must be computed, as follows:
-          = 'R':  The matrix R only must be computed;
-          = 'N':  The matrix R and the norms must be computed;
-          = 'B':  The matrix R and the norms must be computed.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices X and
-          Q are given, as follows:
-          = 'U':  The upper triangular part is given;
-          = 'L':  The lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the formulas
-          above, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, Q, X, and R.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper part of this array must contain
-          the upper real Schur matrix A.
-          If TRANS = 'N' and (DICO = 'D' or (JOB = 'R' and
-          JOBE = 'G')), the entries 3, 4,..., N of the first column
-          are modified internally, but are restored on exit.
-          Otherwise, the part of this array below the first
-          subdiagonal is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular matrix E.
-          The strictly lower triangular part of this array is not
-          referenced.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          If DICO = 'D' or (JOB = 'R' and JOBE = 'G'), the diagonal
-          elements of this array are modified internally, but they
-          are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
-          On entry, the leading N-by-N upper or lower triangular
-          part (depending on UPLO) of this array must contain the
-          upper or lower triangular part, respectively, of the
-          matrix Q. The other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper or lower triangular
-          part (depending on UPLO) of this array contains the upper
-          or lower triangular part, respectively, of the matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
-          If JOB = 'N' or JOB = 'B', LN = 1 or 2, if (DICO = 'C' or
-          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
-          If DICO = 'C',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
-          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G'.
-          If DICO = 'D',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X*op(A);
-          if JOBE = 'G', NORMS(2) contains the Frobenius norm of the
-          matrix op(E)'*X*op(E).
-          If JOB &lt;&gt; 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -17 or if LDWORK = -2 on input, then
-          DWORK(1) returns the minimum value of LDWORK.
-          On exit, if INFO = 0, or if LDWORK = -1 on input, then
-          DWORK(1) returns the optimal value of LDWORK.
-
-  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
-          specified in the following table, where
-             a = 1, if JOBE = 'G';
-             a = 0, if JOBE = 'I'.
-
-          DICO   JOB             v
-          ----------------------------
-          'C'    'R'           a*N*N
-          'C'    'N','B'         N*N
-          ----------------------------
-          'D'    'R'             N*N
-          'D'    'N','B'       2*N*N
-          ----------------------------
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expressions are efficiently evaluated, using symmetry.
-  If JOB = 'N' or JOB = 'B', then:
-  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), are
-  efficiently computed.
-  If DICO = 'D', the matrices op(A)'*X*op(A) and op(E)'*X*op(E), if
-  JOBE = 'G', are efficiently computed. The results are used to
-  evaluate R and the norms.
-  If JOB = 'R', then the needed parts of the intermediate results
-  are obtained and used to evaluate R.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The calculations are backward stable.
-
-  The algorithm requires approximately a*N^3 operations, where ^
-  denotes the power operator, and
-
-     a = 1,      if DICO = 'C' and JOB &lt;&gt; 'R' and JOBE = 'G';
-     a = 1/2,    otherwise.
-
-  An "operation" includes a multiplication, an addition, and some
-  address calculations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG02CW.html b/doc/_build/html/_static/doc/SG02CW.html
deleted file mode 100644
index 58089747..00000000
--- a/doc/_build/html/_static/doc/SG02CW.html
+++ /dev/null
@@ -1,495 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02CW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02CW">SG02CW</A></H2>
-<H3>
-Residual of continuous- or discrete-time (generalized) algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the residual matrix R for a continuous-time or
-  discrete-time Riccati equation and/or the "closed-loop system"
-  matrix op(C), using the formulas
-
-     R = op(A)'*X + X*op(A) +/- X*G*X + Q,
-     C = op(A) +/- G*X,
-  or
-     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q,
-     C = op(A) +/- G*X*op(E),
-  or
-     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- H*K + Q,
-     C = op(A) +/- B*K,
-
-  in the continuous-time case, or the formulas
-
-     R = op(A)'*X*op(A) - X +/- op(A)'*X*G*X*op(A) + Q,
-     C = op(A) +/- G*X*op(A),
-  or
-     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- op(A)'*X*G*X*op(A) + Q,
-     C = op(A) +/- G*X*op(A),
-  or
-     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- H*K + Q,
-     C = op(A) +/- B*K,
-
-  in the discrete-time case, where X, G, and Q are symmetric
-  matrices, A, E, H, K, B are general matrices, and op(W) is one of
-
-     op(W) = W   or   op(W) = W'.
-                                                  _-1
-  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
-                  _-1
-  matrix D, D = B*L  , such that G = D*D', may be given on entry.
-             _       _   _  _
-  The matrix R, with R = L'*L, is a weighting matrix of the optimal
-                                   _            _
-  problem, if DICO = 'C', or it is R = B'*X*B + Rd, if DICO = 'D',
-       _                              _                         _
-  with Rd a similar weighting matrix; L is a Cholesky factor of R,
-     _                          _
-  if R is positive definite. If R is not positive definite, which
-  may happen in the discrete-time case, a UdU' or LdL' factorization
-  is used to compute the matrices H and K. If M = 0, the residual
-  matrix of a (generalized) Lyapunov or Stein equation is computed.
-  To this end, set JOBG = 'D' and JOB = 'R' (since op(C) = A in this
-  case).
-
-  Optionally, the quadratic term in the formulas for R is specified
-  as H*K, where
-
-     H = L + op(E)'*X*B,  if DICO = 'C', or
-     H = L + op(A)'*X*B,  if DICO = 'D', and
-         _-1
-     K = R *H',
-
-  with L an N-by-M matrix. This is useful, e.g., for DICO = 'D',
-                     _                     _
-  when L &lt;&gt; 0 and/or Rd is singular, hence R might be numerically
-  indefinite; it might be indefinite in the first iterations of
-  Newton's algorithm. Depending on JOB, part or all of the matrices
-  H, K, and B should be given in such a case.
-     _
-  If R is positive definite, the quadratic term can be specified
-  as F*F', and the second term in the formulas for C is D*F', where
-           _-1
-     F = H*L .
-
-  The matrices F and/or D should be given. This option is not useful
-  when L = 0, unless F and D are available. If DICO = 'C', the
-  computational problem with L &lt;&gt; 0 is equivalent with one with
-  L = 0 after replacing
-                _-1                 _-1
-     A := A - B*R* L',   Q := Q - L*R* L'.
-                       _             _
-  These formulas, with R replaced by Rd, can also be used in the
-                         _
-  discrete-time case, if Rd is nonsingular and well-conditioned with
-  respect to inversion.
-
-  Optionally, the Frobenius norms of the product terms defining the
-  denominator of the relative residual are also computed. The norms
-  of Q and X are not computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02CW( DICO, JOB, JOBE, FLAG, JOBG, UPLO, TRANS, N, M,
-     $                   A, LDA, E, LDE, G, LDG, X, LDX, F, LDF, K, LDK,
-     $                   XE, LDXE, R, LDR, C, LDC, NORMS, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FLAG, JOB, JOBE, JOBG, TRANS, UPLO
-      INTEGER           INFO, LDA, LDC, LDE, LDF, LDG, LDK, LDR, LDWORK,
-     $                  LDX, LDXE, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), E(LDE,*),
-     $                  F(LDF,*), G(LDG,*), K(LDK,*), NORMS(*),
-     $                  R(LDR,*), X(LDX,*), XE(LDXE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the Riccati equation, as follows:
-          = 'C':  continuous-time algebraic Riccati equation;
-          = 'D':  discrete-time algebraic Riccati equation.
-
-  JOB     CHARACTER*1
-          Specifies which results must be computed, as follows:
-          = 'A':  Both (all) matrices R and C must be computed;
-          = 'R':  The matrix R only must be computed;
-          = 'C':  The matrix C only must be computed;
-          = 'N':  The matrices R and C and the norms must be
-                  computed;
-          = 'B':  The matrix R and the norms must be computed.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  FLAG    CHARACTER*1
-          Specifies which sign is used, as follows:
-          = 'P':  The plus sign is used;
-          = 'M':  The minus sign is used.
-
-  JOBG    CHARACTER*1
-          Specifies how the quadratic term in the formulas for R is
-          defined, as follows:
-          = 'G':  The matrix G is given;
-          = 'D':  The matrix D is given;
-          = 'F':  The matrix F is given;
-          = 'H':  The matrices H and K are given.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices X, G
-          (if JOBG = 'G'), and Q (if JOB &lt;&gt; 'C') are given, as
-          follows:
-          = 'U':  The upper triangular part is given;
-          = 'L':  The lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the formulas
-          above, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, Q, X, C and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
-          F, and/or B, H, and K'.  M &gt;= 0.
-          If JOBG = 'G', the value of M is meaningless.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G' and (JOB &lt;&gt; 'C' or (DICO = 'C' and
-          (JOBG = 'G' or JOBG = 'D'))), the leading N-by-N part of
-          this array must contain the matrix E.
-          If JOBE = 'I' or (JOB = 'C' and (DICO = 'D' or
-          JOBG = 'F' or JOBG = 'H')), this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOB &lt;&gt; 'C' or
-                             (DICO = 'C' and (JOBG = 'G' or
-                                              JOBG = 'D')));
-          LDE &gt;= 1,        if JOBE = 'I'  or (JOB  = 'C' and
-                             (DICO = 'D'  or  JOBG = 'F' or
-                                              JOBG = 'H')).
-
-  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
-          If JOBG = 'G', the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array must
-          contain the upper or lower triangular part, respectively,
-          of the matrix G. The other strictly triangular part is not
-          referenced. If DICO = 'D', (JOB = 'R' or JOB = 'B'), and
-          JOBG = 'G', the diagonal elements of this array are
-          modified internally, but are restored on exit.
-          If JOBG = 'D' or (JOBG = 'F' and JOB &lt;&gt; 'R' and
-          JOB &lt;&gt; 'B'), the leading N-by-M part of this array must
-          contain the matrix D, so that G = D*D'.
-          If JOBG = 'H' and JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B', the leading
-          N-by-M part of this array must contain the matrix B.
-          If (JOBG = 'F' or JOBG = 'H') and JOB = 'R' or JOB = 'B',
-          this array is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.
-          LDG &gt;= MAX(1,N), if  JOBG = 'G' or  JOBG = 'D' or
-                              (JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B');
-          LDG &gt;= 1,        if (JOBG = 'F' or JOBG = 'H') and
-                              (JOB  = 'R' or JOB  = 'B').
-
-  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric matrix X, and it is unchanged on exit.
-          If DICO = 'D', JOBE = 'G' and JOB &lt;&gt; 'C', the diagonal
-          elements of this array are modified internally, but they
-          are restored on exit.
-          The full matrix X should be input if DICO = 'C',
-          JOBE = 'I', and the conditions in the lines of the table
-          below are satisfied
-
-             JOBG     JOB             LDWORK
-          ----------------------------------------------
-            'F','H'  'A','R'          LDWORK &lt;   N*N
-              'G'    'A','R','N'      LDWORK &lt; 2*N*N
-              'G'      'C'            LDWORK &lt;   N*N
-              'G'      'B'            LDWORK &lt; 3*N*N
-              'D'      'R'     (M&lt;=N, LDWORK &lt;   N*N) or
-                               (M&gt; N, LDWORK &lt; 3*N*N)
-              'D'      'A'     (M&lt;=N, LDWORK &lt;   N*N) or
-                                     (LDWORK &gt;=  N*N and
-                                      LDWORK &lt; 2*N*N)
-          ----------------------------------------------
-
-          For all the other cases, including when the optimal length
-          of the workspace array DWORK is used, only the relevant
-          upper or lower triangular part (depending on UPLO) of this
-          array must be input, and the other strictly triangular
-          part is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,*)
-          If JOBG = 'F', the leading N-by-M part of this array must
-          contain the matrix F.
-          If JOBG = 'H', the leading N-by-M part of this array must
-          contain the matrix H.
-          If JOBG = 'G' or JOBG = 'D', this array is not referenced.
-
-  LDF     INTEGER
-          The leading dimension of array F.
-          LDF &gt;= MAX(1,N), if JOBG = 'F' or JOBG = 'H';
-          LDF &gt;= 1,        if JOBG = 'G' or JOBG = 'D'.
-
-  K       (input) DOUBLE PRECISION array, dimension (LDK,*)
-          If JOBG = 'H', the leading M-by-N part of this array must
-          contain the matrix K.
-          If JOBG &lt;&gt; 'H', this array is not referenced.
-
-  LDK     INTEGER
-          The leading dimension of array K.
-          LDK &gt;= MAX(1,M), if JOBG =  'H';
-          LDK &gt;= 1,        if JOBG &lt;&gt; 'H'.
-
-  XE      (input) DOUBLE PRECISION array, dimension (LDXE,*)
-          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', DICO = 'C', and
-          JOBE = 'G', the leading N-by-N part of this array must
-          contain the matrix product X*E, if TRANS = 'N', or E*X, if
-          TRANS = 'T' or 'C'.
-          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', and DICO = 'D',
-          the leading N-by-N part of this array must contain the
-          matrix product X*A, if TRANS = 'N', or A*X, if TRANS = 'T'
-          or 'C'.
-          These matrix products are needed for computing F or H.
-          If JOBG = 'G' or JOBG = 'D' or JOB = 'C' or (DICO = 'C'
-          and JOBE = 'I') this array is not referenced.
-
-  LDXE    INTEGER
-          The leading dimension of array XE.
-          LDXE &gt;= MAX(1,N), if (JOBG = 'F' or JOBG = 'H'),
-                            JOB &lt;&gt; 'C', and either DICO = 'C' and
-                            JOBE = 'G', or DICO = 'D';
-          LDXE &gt;= 1,        if JOBG = 'G' or JOBG = 'D' or JOB = 'C'
-                            or (DICO = 'C' and JOBE = 'I').
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
-          On entry, if JOB &lt;&gt; 'C', the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array must
-          contain the upper or lower triangular part, respectively,
-          of the matrix Q. The other strictly triangular part is not
-          referenced.
-          On exit, if JOB &lt;&gt; 'C' and INFO = 0, the leading N-by-N
-          upper or lower triangular part (depending on UPLO) of this
-          array contains the upper or lower triangular part,
-          respectively, of the matrix R.
-          If JOB = 'C', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,N), if JOB &lt;&gt; 'C';
-          LDR &gt;= 1,        if JOB =  'C'.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,*)
-          If JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B' and INFO = 0, the leading
-          N-by-N part of this array contains the matrix op(C).
-          If JOB = 'R' or JOB = 'B', this array is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,N), if JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B';
-          LDC &gt;= 1,        if JOB =  'R' or  JOB =  'B'.
-
-  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
-          If JOB = 'N' or JOB = 'B', LN = 2 or 3, if (DICO = 'C' or
-          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
-          If DICO = 'C',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
-          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G';
-          NORMS(2) contains the Frobenius norm of the matrix
-          product X*G*X, if JOBE = 'I', or of the matrix product
-          V = op(E)'*X*G*X*op(E), if JOBE = 'G' (for JOBG = 'G' or
-          JOBG = 'D'), or of V = F*F', if JOBG = 'F', or of V = H*K,
-          if JOBG = 'H'.
-          If DICO = 'D',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X*op(A);
-          NORMS(2) contains the Frobenius norm of the matrix product
-          V = op(A)'*X*G*X*op(A), if JOBG = 'G' or JOBG = 'D', or of
-          V = F*F', if JOBG = 'F', or of V = H*K, if JOBG = 'H';
-          if JOBE = 'G', NORMS(3) contains the Frobenius norm of the
-          matrix product op(E)'*X*op(E).
-          If JOB &lt;&gt; 'N' and JOB &lt;&gt; 'B', this array is not
-          referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -30, or if LDWORK = -2 on input, then
-          DWORK(1) returns the minimum value of LDWORK.
-          On exit, if INFO = 0, or if LDWORK = -1 on input, then
-          DWORK(1) returns the optimal value of LDWORK.
-
-  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
-          specified in the following table, where
-             a = 1, if JOBE = 'G';
-             a = 0, if JOBE = 'I'.
-
-          DICO     JOBG     JOB             v
-          -----------------------------------------------
-          'C'    'F','H' 'A','C','R'         0
-          'C'    'F','H'    'N'           a*N*N
-          'C'    'F','H'    'B'             N*N
-          'C'      'G'    'A','C'         a*N*N
-          'C'      'G'    'N','R'     (a+1)*N*N
-          'C'      'G'      'B'       (a+2)*N*N
-          'C'      'D'      'A'       N*MIN(M,(a+1)*N)
-          'C'      'D'      'C'         N*MIN(N,M)
-          'C'      'D'      'N'       N*(N+MIN(a*N,M))
-          'C'      'D'      'B'     N*(N+MIN(N+a*N,M))
-          'C'      'D'      'R'     N*MIN(a*N+M,(a+2)*N)
-          -----------------------------------------------
-          'D'    'F','H'  'A','C'           0
-          'D'    'F','H'  'N','R'         a*N*N
-          'D'    'F','H'    'B'       (a+1)*N*N
-          'D'      'G'    'A','C'           N*N
-          'D'      'G'    'N','R'         2*N*N
-          'D'      'G'      'B'           3*N*N
-          'D'      'D'    'A','N'   N*MIN(MAX(N,M),2*N)
-          'D'      'D'      'B'      N*(N+MAX(N,M))
-          'D'      'D'      'C'         N*MIN(N,M)
-          'D'      'D'      'R'       N*MIN(3*N,N+M)
-          -----------------------------------------------
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-          This evaluation assumes that only the specified triangle
-          of the array X is always used, and the other strict
-          triangle is not referenced.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-          This evaluation assumes that full matrix is given in the
-          array X, when needed (see the table at the description of
-          the array X).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expressions are efficiently evaluated, using symmetry,
-  common matrix subexpressions, and proper order of matrix
-  multiplications.
-  If JOB = 'N' or JOB = 'B', then:
-  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), and
-  V = op(E)'*X*G*X*op(E) or V = F*F' or V = H*K, are efficiently
-  computed.
-  If DICO = 'D', the matrices op(A)'*X*op(A), V = op(A)'*X*G*X*op(A)
-  or V = F*F' or V = H*K, and op(E)'*X*op(E), if JOBE = 'G', are
-  efficiently computed. The results are used to evaluate R, op(C)
-  (if JOB = 'N'), and the norms.
-  If JOB &lt;&gt; 'N', then the needed parts of the intermediate results
-  are obtained and used to evaluate R and/or op(C).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The calculations are backward stable.
-                                             3     2
-  The algorithm requires approximately (a+b)N  + cN M operations,
-  where,
-    a = 0,    if JOBE = 'I',
-    a = 1,    if JOBE = 'G' and (DICO = 'C' or
-                                (DICO = 'D' and JOB = 'C')),
-    a = 1.5,  if JOBE = 'G' and  DICO = 'D',
-  and b and c are implicitly defined below. Specifically, the effort
-  is approximately as follows (using ^ to denote the power operator)
-
-  For DICO = 'C':
-
-  JOBG                      JOB
-            C                R                 A, N, B
-  'G'  (a+1)*N^3    (a+2)*N^3              (a+2)*N^3,(a+2.5)*N^3
-  'D'  (a+2)*N^2*M  (a+1)*N^3+1.5*N^2*M    (a+1)*N^3+2.5*N^2*M
-  'F','H'    N^2*M        N^3+0.5*N^2*M        N^3+1.5*N^2*M
-
-  For DICO = 'D':
-
-  JOBG                      JOB
-            C                R                 A, N, B
-  'G'      2*N^3    (a+3  )*N^3            (a+3  )*N^3
-  'D'      3*N^2*M  (a+1.5)*N^3+1.5*N^2*M  (a+1.5)*N^3+2.5*N^2*M
-  'F','H'  N^2*M    (a+0.5)*N^3+0.5*N^2*M  (a+0.5)*N^3+1.5*N^2*M
-
-  For JOBG &lt;&gt; 'G' and JOB = 'B', the effort reduces by N^2*M in
-  both tables.
-
-  An "operation" includes a multiplication, an addition, and some
-  address calculations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,295 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02CX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02CX">SG02CX</A></H2>
-<H3>
-Line search parameter minimizing the residual of (generalized) continuous- or discrete-time algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the line search parameter alpha minimizing the Frobenius
-  norm (in a MATLAB-style notation)
-
-     P(alpha) := norm(R(X+alpha*S), 'fro')
-               = norm((1-alpha)*R(X) +/- alpha^2*V, 'fro'),
-
-  where R(X) is the residual of a (generalized) continuous-time
-  algebraic Riccati equation
-
-     0 = op(A)'*X + X*op(A) +/- X*G*X + Q  =:  R(X),
-  or
-     0 = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q
-       =:  R(X),
-
-  V = op(E)'*S*G*S*op(E), and op(W) is either W or W'. The matrix S
-  is the Newton step.
-                                                  _-1
-  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
-                   -1
-  matrix D, D = B*L  , such that G = D*D', may be given on entry.
-             _  _
-  The matrix R, R = L'*L, is a weighting matrix of the optimal
-  problem, and L is its (Cholesky) factor.
-
-  Optionally, V is specified as V = H*K, or V = F*F', but F or H and
-  K must be evaluated in S. See the SLICOT Library routine SG02CW
-  description for more details.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02CX( JOBE, FLAG, JOBG, UPLO, TRANS, N, M, E, LDE, R,
-     $                   LDR, S, LDS, G, LDG, ALPHA, RNORM, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FLAG, JOBE, JOBG, TRANS, UPLO
-      INTEGER           INFO, IWARN, LDE, LDG, LDR, LDS, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA, RNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(LDE,*), G(LDG,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  FLAG    CHARACTER*1
-          Specifies which sign is used, as follows:
-          = 'P':  The plus sign is used;
-          = 'M':  The minus sign is used.
-
-  JOBG    CHARACTER*1
-          Specifies how the matrix product V is defined, as follows:
-          = 'G':  The matrix G is given:  V = op(E)'*S*G*S*op(E);
-          = 'D':  The matrix D is given:  V = op(E)'*S*D*D'*S*op(E);
-          = 'F':  The matrix F is given:           V = F*F';
-          = 'H':  The matrices H and K are given:  V = H*K.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R, G,
-          if JOBG = 'G', and S, if JOBG = 'G' or JOBG = 'D', are
-          given, as follows:
-          = 'U':  The upper triangular part is given;
-          = 'L':  The lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices E, R, and S.  N &gt;= 0.
-
-  M       (input) INTEGER
-          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
-          F, or K'.  M &gt;= 0.
-          If JOBG = 'G', the value of M is meaningless.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G' and (JOBG = 'G' or JOBG = 'D'), the leading
-          N-by-N part of this array must contain the matrix E.
-          If JOBE = 'I' or JOBG = 'F' or JOBG = 'H', this array is
-          not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOBG = 'G' or
-                                              JOBG = 'D');
-          LDE &gt;= 1,        if JOBE = 'I'  or  JOBG = 'F' or
-                                              JOBG = 'H'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper or lower triangular part
-          (depending on UPLO) of this array must contain the upper
-          or lower triangular part, respectively, of the matrix
-          R(X), the residual of the algebraic Riccati equation.
-          The other strictly triangular part is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,*)
-          If JOBG = 'G' or JOBG = 'D', the leading N-by-N part of
-          this array must contain the symmetric Newton step
-          matrix S. If JOBE = 'I', the full matrix must be given.
-          Otherwise, it is sufficient to input only the triangular
-          part specified by UPLO, and the remaining strictly
-          triangular part is not referenced.
-          If JOBG = 'F', this array is not referenced.
-          If JOBG = 'H', the leading M-by-N part of this array must
-          contain the matrix K.
-
-  LDS     INTEGER
-          The leading dimension of array S.
-          LDS &gt;= MAX(1,N), if JOBG =  'G' or JOBG =  'D';
-          LDS &gt;= 1,        if JOBG =  'F';
-          LDS &gt;= MAX(1,M), if JOBG =  'H'.
-
-  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
-          If JOBG = 'G', the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array must
-          contain the upper or lower triangular part, respectively,
-          of the matrix G. The other strictly triangular part is not
-          referenced. The diagonal elements of this array are
-          modified internally, but are restored on exit.
-          If JOBG = 'D', the leading N-by-M part of this array must
-          contain the matrix D, so that G = D*D'.
-          If JOBG = 'F', the leading N-by-M part of this array must
-          contain the matrix F.
-          If JOBG = 'H', leading N-by-M part of this array must
-          contain the matrix H.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  ALPHA   (output) DOUBLE PRECISION
-          If INFO = 0, ALPHA contains the real number alpha which
-          minimizes  P(alpha) = norm(R(X+alpha*S), 'fro') in the
-          interval [0,2].
-          If INFO = 1 or IWARN = 2, ALPHA is set equal to 1.
-
-  RNORM   (output) DOUBLE PRECISION
-          On exit, if INFO &gt;= 0, RNORM contains the Frobenius norm
-          of the residual R(X+alpha*S).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if LDWORK = -1 on input, then DWORK(1) returns
-          the optimal value of LDWORK.
-          On exit, if LDWORK = -2 on input or INFO = -19, then
-          DWORK(1) returns the minimal value of LDWORK.
-          On exit, if INFO = 0, the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array contains
-          the corresponding triangular part of the matrix V.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N + MAX( 2*N*N, 51 ),
-                                    if JOBG = 'G' and JOBE = 'G';
-          LDWORK &gt;= N*N + MAX( N*N, 51 ),
-                                    if JOBG = 'G' and JOBE = 'I',
-                                    or JOBG = 'F', or JOBG = 'H';
-          LDWORK &gt;= N*N + MAX( MAX( N*N, 51 ), MIN( 2*N*N, N*M ) ),
-                                    if JOBG = 'D' and JOBE = 'G';
-          LDWORK &gt;= N*N + MAX( N*N, N*M, 51 ),
-                                    if JOBG = 'D' and JOBE = 'I'.
-          For M &lt;= N, the last two formulas simplify to
-          LDWORK &gt;= N*N + MAX( N*N, 51).
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 2:  no optimal line search parameter t := alpha in [0,2]
-                was found; t = 1 was set.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value;
-          = 1:  an error occurred during the call of the SLICOT
-                Library routine MC01XD: the eigenvalues computation
-                for the 3-by-3 (generalized) eigenproblem failed.
-                ALPHA and RNORM are set as specified above.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix V is computed with the suitable formula, and used to
-  set up a third order polynomial whose roots in [0,2], if any, are
-  candidates for the solution of the minimum residual problem.
-  The roots of the polynomial are computed by solving an equivalent
-  3-by-3 (generalized) eigenproblem.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Contributions to the Numerical Solution of Algebraic
-      Riccati Equations and Related Eigenvalue Problems.
-      Fakultat fur Mathematik, Technische Universitat Chemnitz-
-      Zwickau, D-09107 Chemnitz, Germany, Feb. 1997.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The calculations are backward stable. The computational effort is
-  of the order of c*N**2*M operations. Here, M = N, if JOBG = 'G',
-  and the coefficient c varies between 0.5 and 2.5, depending on
-  JOBE and JOBG. (An "operation" includes a multiplication, an
-  addition, and some address calculations.)
-  The computed value of norm(R(X+alpha*S),'fro'), returned in RNORM,
-  could be inaccurate if R(X) is small, since then subtraction
-  cancellation could appear in the updating formula which is used.
-  (This can happen, e.g., when solving a Riccati equation by
-  Newton's method with line search, since then the sequence of R(.)
-  tends to zero.) In such a case, it is better to recompute the
-  residual from the data.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The routine does not ckeck if the matrix S is zero, when a quick
-  return with ALPHA = 1 is possible.
-  With suitable input arguments E and G, this routine may also be
-  used for discrete-time algebraic Riccati equations. (Matrix E
-  must be the current closed-loop matrix.)
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SG02ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02ND">SG02ND</A></H2>
-<H3>
-Optimal state feedback matrix for an optimal control problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the optimal gain matrix K for the problem of optimal
-  control given by
-
-                     -1
-       K = (R + B'XB)  (B'Xop(A) + L')                           (1)
-
-  in the discrete-time case and
-
-            -1
-       K = R  (B'Xop(E) + L')                                    (2)
-
-  in the continuous-time case, where A, E, B and L are N-by-N,
-  N-by-N, N-by-M, and N-by-M matrices, respectively; R and X are
-  M-by-M and N-by-N symmetric matrices, respectively, and op(W) is
-  either W or W'. Matrix op(K) defines the feedback gain matrix, if
-  op(W) = W, and the estimator matrix, if op(W) = W'. The formulas
-  above are also useful in Newton's algorithms for solving algebraic
-  Riccati equations, when X is the current iterate.
-
-  Optionally, matrix R may be specified in a factored form, and L
-  may be zero. If R or R + B'XB (for DICO = 'C', or DICO = 'D',
-  respectively), is positive definite, let C be its Cholesky factor
-  (denoted, e.g., C = chol(R), for DICO = 'C'). Optionally, the
-  matrix H, defined by
-
-       H = op(E)'XB + L, if DICO = 'C', or
-       H = op(A)'XB + L, if DICO = 'D',                          (3)
-
-  is returned on exit, besides K; if C exists, the matrix F, defined
-  by FC = H may be optionally returned, instead of K and H. The
-  matrix F or the pair of matrices H and K may be used for computing
-  the residual matrix for an (approximate) solution of an algebraic
-  Riccati equation (see SLICOT Library routine SG02CW).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL, TRANS,
-     $                   N, M, P, A, LDA, E, LDE, B, LDB, R, LDR, IPIV,
-     $                   L, LDL, X, LDX, RNORM, K, LDK, H, LDH, XE,
-     $                   LDXE, OUFACT, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, JOBE, JOBL, JOBX, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDE, LDH, LDK, LDL, LDR, LDWORK,
-     $                  LDX, LDXE, M, N, P
-      DOUBLE PRECISION  RNORM
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*),
-     $                  H(LDH,*), K(LDK,*), L(LDL,*), R(LDR,*),
-     $                  X(LDX,*), XE(LDXE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which K is to be determined,
-          as follows:
-          = 'D':  Equation (1), discrete-time case;
-          = 'C':  Equation (2), continuous-time case.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-          This parameter is not relevant for DICO = 'D'.
-
-  JOB     CHARACTER*1
-          Specifies what should be computed, as follows:
-          = 'K':  Compute and return the matrix K only;
-          = 'H':  Compute and return both matrices H and K;
-          = 'F':  Compute the matrix F, if possible; otherwise,
-                  compute and return H and K;
-          = 'D':  Compute and return both matrices H and K, when
-                  B and L have previously been transformed using
-                  SLICOT Library routines SB02MT or SB02MX, which
-                  returned OUFACT = 1. This is useful for computing
-                  K in (2), since then K is the solution of CK = H'.
-                  In this case, FACT should be set to 'C', and the
-                  array R must contain the Cholesky factor of
-                  R + B'XB, if DICO = 'D';
-          = 'C':  Compute and return the matrix F, when B and L have
-                  previously been transformed using SB02MT or
-                  SB02MX, which returned OUFACT = 1. In this case,
-                  FACT should be set to 'C', and the array R must
-                  contain the Cholesky factor of R + B'XB, if
-                  DICO = 'D'.
-          JOB should not be set to 'F' if FACT = 'U'.
-
-  JOBX    CHARACTER*1
-          Specifies whether the matrix op(Xop(E)), if DICO = 'C', or
-          op(Xop(A)), if DICO = 'D', must be computed, as follows:
-          = 'C':  Compute and return the coresponding matrix;
-          = 'N':  Do not compute that matrix.
-          This parameter is not relevant for DICO = 'C' and
-          JOBE = 'I'.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the symmetric indefinite UdU' or
-                  LdL' factorization of R. This option is not
-                  available for DICO = 'D'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the possibly factored matrix R
-          (or R + B'XB, on exit) is or should be stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-          No computations are performed if MIN(N,M) = 0.
-
-  M       (input) INTEGER
-          The order of the matrix R and the number of columns of the
-          matrices B and L.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix D.
-          P &gt;= M for DICO = 'C';
-          P &gt;= 0 for DICO = 'D'.
-          This parameter is relevant only for FACT = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If DICO = 'D', the leading N-by-N part of this array must
-          contain the state matrix A of the system.
-          If DICO = 'C', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if DICO = 'D';
-          LDA &gt;= 1        if DICO = 'C'.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G' and DICO = 'C', the leading N-by-N part of
-          this array must contain the matrix E.
-          If JOBE = 'I' or DICO = 'D', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G' and DICO = 'C';
-          LDE &gt;= 1,        if JOBE = 'I'  or DICO = 'D'.
-
-  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system, transformed by SB02MT or
-          SB02MX, if JOB = 'D' or JOB = 'C'.
-          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
-          array is destroyed. Specifically, if, on exit,
-          OUFACT(2) = 1, this array contains chol(X)*B, and if
-          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
-          part (in the first N rows) contains the submatrix of
-          sqrt(V)*U'B corresponding to the non-negligible, positive
-          eigenvalues of X, where V and U are the matrices with the
-          eigenvalues and eigenvectors of X.
-          Otherwise, B is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'D', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array must contain the
-          factors of the UdU' or LdL' factorization, respectively,
-          of the symmetric indefinite input weighting matrix R (as
-          produced by LAPACK routine DSYTRF).
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') of this
-          array is used as workspace (filled in by symmetry with the
-          other strictly triangular part of R, of R+B'XB, or of the
-          result, if DICO = 'C', DICO = 'D' (if FACT = 'N', in both
-          cases), or (DICO = 'D' and (FACT = 'D' or FACT = 'C') and
-          UPLO = 'L'), respectively.
-          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D').
-          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix
-          (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D' and FACT = 'N').
-          On exit R is unchanged if FACT = 'U' or N = 0.
-
-  LDR     INTEGER.
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
-          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT(1) = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R or
-          R + B'XB, as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'D', or FACT = 'C',
-          or N = 0.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N', the leading N-by-M part of this array must
-          contain the cross weighting matrix L, transformed by
-          SB02MT or SB02MX, if JOB = 'D' or JOB = 'C'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (approximate) solution matrix X of the
-          algebraic Riccati equation as produced by SLICOT Library
-          routines SB02MD or SB02OD (or SG02CD). Matrix X is assumed
-          non-negative definite if DICO = 'D', FACT &lt;&gt; 'N',
-          JOB &lt;&gt; 'D' and JOB &lt;&gt; 'C'. The full matrix X must be given
-          on input in this case.
-          For minimal workspace, full matrix X must also be given if
-          ((JOBX = 'C', DICO = 'D', FACT = 'N', and M &gt; N), or
-           (JOBX = 'N', ((DICO = 'C' or FACT = 'N'), (DICO = 'D' or
-            JOBE = 'I') or N &gt;= M, or LDWORK &lt; N*N) and (DICO = 'D'
-            or JOBE = 'G' or JOB = 'K'))) and LDWORK &lt; N*M.
-          (Simpler, but more demanding conditions are the following:
-          ((JOBX = 'C',  DICO = 'D', FACT = 'N', and M &gt; N), or
-           (JOBX = 'N', (DICO = 'D' or ((DICO = 'C', JOBE = 'G') or
-            JOB = 'K'))),  LDWORK &lt; N*N.)
-          For optimal workspace, full matrix X is not needed in any
-          of the cases described above for minimal workspace.
-          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
-          OUFACT(2) = 1, the N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array contains the Cholesky factor of the given
-          matrix X, which is found to be positive definite.
-          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
-          and INFO &lt;&gt; M+2 (but INFO &gt;= 0), the leading N-by-N part
-          of this array contains the matrix of orthonormal
-          eigenvectors of X.
-          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  RNORM   (input) DOUBLE PRECISION
-          If FACT = 'U', this parameter must contain the 1-norm of
-          the original matrix R (before factoring it).
-          Otherwise, this parameter is not used.
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,N)
-          If JOB = 'K' or JOB = 'H' or JOB = 'D' or OUFACT(1) = 2,
-          the leading M-by-N part of this array contains the gain
-          matrix K.
-
-  LDK     INTEGER
-          The leading dimension of array K.  LDK &gt;= MAX(1,M).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,*)
-          If JOB = 'H' or JOB = 'D' or (JOB = 'F' and
-          OUFACT(1) = 2), the leading N-by-M part of this array
-          contains the matrix H.
-          If JOB = 'C' or (JOB = 'F' and OUFACT(1) = 1), the leading
-          N-by-M part of this array contains the matrix F.
-          If JOB = 'K', this array is not referenced.
-
-  LDH    INTEGER
-          The leading dimension of array H.
-          LDH &gt;= MAX(1,N), if JOB &lt;&gt; 'K';
-          LDH &gt;= 1,        if JOB =  'K'.
-
-  XE      (output) DOUBLE PRECISION array, dimension (LDXE,*)
-          If JOBX = 'C', DICO = 'C', and JOBE = 'G', the leading
-          N-by-N part of this array contains the matrix product X*E,
-          if TRANS = 'N', or E*X, if TRANS = 'T' or TRANS = 'C'.
-          If JOBX = 'C' and DICO = 'D', the leading N-by-N part of
-          this array contains the matrix product X*A, if
-          TRANS = 'N', or A*X, if TRANS = 'T' or TRANS = 'C'.
-          These matrix products may be needed for computing the
-          residual matrix for an (approximate) solution of a Riccati
-          equation (see SLICOT Library routine SG02CW).
-          If JOBX = 'N' or (DICO = 'C' and JOBE = 'I'), this array
-          is not referenced.
-
-  LDXE    INTEGER
-          The leading dimension of array XE.
-          LDXE &gt;= MAX(1,N), if JOBX = 'C', and either DICO = 'C' and
-                            JOBE = 'G', or DICO = 'D';
-          LDXE &gt;= 1,        if JOBX = 'N' or (DICO = 'C' and
-                                              JOBE = 'I').
-
-  OUFACT  (output) INTEGER array, dimension (2)
-          Information about the factorization finally used.
-          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
-                          'L') factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(2) = 1:  Cholesky factorization of X has been used;
-          OUFACT(2) = 2:  Spectral factorization of X has been used.
-          The value of OUFACT(2) is not set for DICO = 'C' or for
-          DICO = 'D' and FACT = 'N'.
-          This array is not set if N = 0 or M = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK, and for LDWORK set as specified
-          below, DWORK(2) contains the reciprocal condition number
-          of the matrix R (for DICO = 'C') or of R + B'XB (for
-          DICO = 'D'), if FACT = 'N' or FACT = 'U' or OUFACT(1) = 2,
-          or of its Cholesky factor, if FACT = 'C' or FACT = 'D' and
-          OUFACT(1) = 1; DWORK(2) is set to 1 if N = 0.
-          On exit, if LDWORK = -2 on input or INFO = -35, then
-          DWORK(1) returns the minimal value of LDWORK.
-          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
-          DWORK(N+2) contain the eigenvalues of X, in ascending
-          order.
-
-  LDWORK  INTEGER
-          Dimension of working array DWORK.
-          Let a = N, if JOBX = 'N' and (DICO = 'D' or JOBE = 'G');
-              a = 0, otherwise. Then
-          LDWORK &gt;= max(2,2*M,a)       if FACT =  'U';
-          LDWORK &gt;= max(2,3*M,4*N+1)   if FACT =  'D' or
-                                         (FACT =  'C' and JOB &lt;&gt; 'C'
-                                       and JOB &lt;&gt; 'D'), DICO = 'D';
-          LDWORK &gt;= max(2,3*M,a)       otherwise.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element of the d factor is exactly zero;
-                the UdU' (or LdL') factorization has been completed,
-                but the block diagonal matrix d is exactly singular;
-          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
-                (if DICO = 'D') is numerically singular (to working
-                precision);
-          = M+2:  if one or more of the eigenvalues of X has not
-                converged;
-          = M+3:  if the matrix X is indefinite and updating the
-                triangular factorization failed.
-          If INFO &gt; M+1, call the routine again with an appropriate,
-          unfactored matrix R.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (optimal) gain matrix K is obtained as the solution to the
-  system of linear equations
-
-     (R + B'XB) * K = B'Xop(A) + L'
-
-  in the discrete-time case and
-
-     R * K = B'Xop(E) + L'
-
-  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
-  If FACT = 'N', Cholesky factorization is tried first, but
-  if the coefficient matrix is not positive definite, then UdU' (or
-  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
-  of R is taken into account. The discrete-time case then involves
-  updating of a triangular factorization of R (or D'D); Cholesky or
-  symmetric spectral factorization of X is employed to avoid
-  squaring of the condition number of the matrix. When D is given,
-  its QR factorization is determined, and the triangular factor is
-  used as described above.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm consists of numerically stable steps.
-                                                3     2
-  For DICO = 'C' and JOBE = 'I', it requires O(m  + mn ) floating
-                                         2
-  point operations if FACT = 'N' and O(mn ) floating point
-  operations, otherwise.
-  For DICO = 'D' or JOBE = 'G', the operation counts are similar,
-                    3
-  but additional O(n ) floating point operations may be needed in
-  the worst case.
-  These estimates assume that M &lt;= N.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG02ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2
-      PARAMETER        ( NMAX2 = 2*NMAX )
-      INTEGER          LDA, LDB, LDC, LDF, LDH, LDL, LDR, LDS, LDT, LDU,
-     $                 LDX, LDXE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
-     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
-     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
-     $                   LDF = MMAX, LDH = NMAX, LDXE = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
-     $                   16*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL, RCOND, RNORM
-      INTEGER          I, INFO1, INFO2, J, M, N, P
-      CHARACTER*1      DICO, FACT, JOB, JOBB, JOBE, JOBL, JOBX, SORT,
-     $                 TRANS, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION AE(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
-     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), F(LDF,NMAX), H(LDH,MMAX),
-     $                 L(LDL,MMAX), R(LDR,MMAX), S(LDS,NMAX2+MMAX),
-     $                 T(LDT,NMAX2), U(LDU,NMAX2), X(LDX,NMAX),
-     $                 XE(LDXE,NMAX)
-      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
-      LOGICAL          BWORK(NMAX2)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SG02ND, SB02OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBE, JOB, JOBX, FACT,
-     $                      JOBL, UPLO, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( AE(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
-               END IF
-               IF ( LSAME( JOBL, 'N' ) )
-     $            READ ( NIN, FMT = * ) ( ( L(I,J), J = 1,M ), I = 1,N )
-*              Find the solution matrix X.
-               JOBB = 'B'
-               SORT = 'S'
-               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
-     $                      P, AE, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
-     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
-     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
-     $                      BWORK, INFO1 )
-*
-               IF ( INFO1.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO1
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-*                 Compute the optimal feedback matrix F.
-                  CALL SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL,
-     $                         TRANS, N, M, P, AE, LDA, AE, LDA, B, LDB,
-     $                         R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
-     $                         LDF, H, LDH, XE, LDXE, OUFACT, IWORK,
-     $                         DWORK, LDWORK, INFO2 )
-*
-                  IF ( INFO2.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) INFO2
-                  ELSE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, M
-                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
-   40                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG02ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02OD = ',I2)
-99997 FORMAT (' INFO on exit from SG02ND = ',I2)
-99996 FORMAT (' The solution matrix X is ')
-99995 FORMAT (/' The optimal feedback matrix F is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG02ND EXAMPLE PROGRAM DATA
-   2     1     3     0.0     D     I     K     N     N     Z     U     N
-   2.0 -1.0
-   1.0  0.0
-   1.0
-   0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-   0.0
-   0.0
-   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG02ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The optimal feedback matrix F is 
-   2.0000  -1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03AD.html b/doc/_build/html/_static/doc/SG03AD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,499 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03AD">SG03AD</A></H2>
-<H3>
-Solution of continuous- or discrete-time generalized Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the generalized continuous-time Lyapunov
-  equation
-
-          T                T
-     op(A)  X op(E) + op(E)  X op(A) = SCALE * Y,                (1)
-
-  or the generalized discrete-time Lyapunov equation
-
-          T                T
-     op(A)  X op(A) - op(E)  X op(E) = SCALE * Y,                (2)
-
-  where op(M) is either M or M**T for M = A, E and the right hand
-  side Y is symmetric. A, E, Y, and the solution X are N-by-N
-  matrices. SCALE is an output scale factor, set to avoid overflow
-  in X.
-
-  Estimates of the separation and the relative forward error norm
-  are provided.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E,
-     $                   LDE, Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR,
-     $                   ALPHAR, ALPHAI, BETA, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, TRANS, UPLO
-      DOUBLE PRECISION  FERR, SCALE, SEP
-      INTEGER           INFO, LDA, LDE, LDQ, LDWORK, LDX, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), BETA(*),
-     $                  DWORK(*), E(LDE,*), Q(LDQ,*), X(LDX,*),
-     $                  Z(LDZ,*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies which type of the equation is considered:
-          = 'C':  Continuous-time equation (1);
-          = 'D':  Discrete-time equation (2).
-
-  JOB     CHARACTER*1
-          Specifies if the solution is to be computed and if the
-          separation is to be estimated:
-          = 'X':  Compute the solution only;
-          = 'S':  Estimate the separation only;
-          = 'B':  Compute the solution and estimate the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether the generalized real Schur
-          factorization of the pencil A - lambda * E is supplied
-          on entry or not:
-          = 'N':  Factorization is not supplied;
-          = 'F':  Factorization is supplied.
-
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  op(A) = A,    op(E) = E;
-          = 'T':  op(A) = A**T, op(E) = E**T.
-
-  UPLO    CHARACTER*1
-          Specifies whether the lower or the upper triangle of the
-          array X is needed on input:
-          = 'L':  Only the lower triangle is needed on input;
-          = 'U':  Only the upper triangle is needed on input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          Hessenberg part of this array must contain the
-          generalized Schur factor A_s of the matrix A (see
-          definition (3) in section METHOD). A_s must be an upper
-          quasitriangular matrix. The elements below the upper
-          Hessenberg part of the array A are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this
-          array must contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the generalized Schur factor A_s of the matrix A. (A_s is
-          an upper quasitriangular matrix.)
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the
-          generalized Schur factor E_s of the matrix E (see
-          definition (4) in section METHOD). The elements below the
-          upper triangular part of the array E are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this
-          array must contain the coefficient matrix E of the
-          equation.
-          On exit, the leading N-by-N part of this array contains
-          the generalized Schur factor E_s of the matrix E. (E_s is
-          an upper triangular matrix.)
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Q from
-          the generalized Schur factorization (see definitions (3)
-          and (4) in section METHOD).
-          If FACT = 'N', Q need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal matrix Q from the generalized Schur
-          factorization.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Z from
-          the generalized Schur factorization (see definitions (3)
-          and (4) in section METHOD).
-          If FACT = 'N', Z need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal matrix Z from the generalized Schur
-          factorization.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if JOB = 'B' or 'X', then the leading N-by-N
-          part of this array must contain the right hand side matrix
-          Y of the equation. Either the lower or the upper
-          triangular part of this array is needed (see mode
-          parameter UPLO).
-          If JOB = 'S', X is not referenced.
-          On exit, if JOB = 'B' or 'X', and INFO = 0, 3, or 4, then
-          the leading N-by-N part of this array contains the
-          solution matrix X of the equation.
-          If JOB = 'S', X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          (0 &lt; SCALE &lt;= 1)
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0, 3, or 4, then
-          SEP contains an estimate of the separation of the
-          Lyapunov operator.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0, 3, or 4, then FERR contains an
-          estimated forward error bound for the solution X. If XTRUE
-          is the true solution, FERR estimates the relative error
-          in the computed solution, measured in the Frobenius norm:
-          norm(X - XTRUE) / norm(XTRUE)
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N' and INFO = 0, 3, or 4, then
-          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N, are the
-          eigenvalues of the matrix pencil A - lambda * E.
-          If FACT = 'F', ALPHAR, ALPHAI, and BETA are not
-          referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N**2)
-          IWORK is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. The following table
-          contains the minimal work space requirements depending
-          on the choice of JOB and FACT.
-
-                 JOB        FACT    |  LDWORK
-                 -------------------+-------------------
-                 'X'        'F'     |  MAX(1,N)
-                 'X'        'N'     |  MAX(1,8*N+16)
-                 'B', 'S'   'F'     |  MAX(1,2*N**2)
-                 'B', 'S'   'N'     |  MAX(1,2*N**2,8*N+16)
-
-          For optimum performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  FACT = 'F' and the matrix contained in the upper
-                Hessenberg part of the array A is not in upper
-                quasitriangular form;
-          = 2:  FACT = 'N' and the pencil A - lambda * E cannot be
-                reduced to generalized Schur form: LAPACK routine
-                DGGES has failed to converge;
-          = 3:  DICO = 'D' and the pencil A - lambda * E has a
-                pair of reciprocal eigenvalues. That is, lambda_i =
-                1/lambda_j for some i and j, where lambda_i and
-                lambda_j are eigenvalues of A - lambda * E. Hence,
-                equation (2) is singular;  perturbed values were
-                used to solve the equation (but the matrices A and
-                E are unchanged);
-          = 4:  DICO = 'C' and the pencil A - lambda * E has a
-                degenerate pair of eigenvalues. That is, lambda_i =
-                -lambda_j for some i and j, where lambda_i and
-                lambda_j are eigenvalues of A - lambda * E. Hence,
-                equation (1) is singular;  perturbed values were
-                used to solve the equation (but the matrices A and
-                E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A straightforward generalization [3] of the method proposed by
-  Bartels and Stewart [1] is utilized to solve (1) or (2).
-
-  First the pencil A - lambda * E is reduced to real generalized
-  Schur form A_s - lambda * E_s by means of orthogonal
-  transformations (QZ-algorithm):
-
-     A_s = Q**T * A * Z   (upper quasitriangular)                (3)
-
-     E_s = Q**T * E * Z   (upper triangular).                    (4)
-
-  If FACT = 'F', this step is omitted. Assuming SCALE = 1 and
-  defining
-
-           ( Z**T * Y * Z   :   TRANS = 'N'
-     Y_s = &lt;
-           ( Q**T * Y * Q   :   TRANS = 'T'
-
-           ( Q**T * X * Q    if TRANS = 'N'
-     X_s = &lt;                                                     (5)
-           ( Z**T * X * Z    if TRANS = 'T'
-
-  leads to the reduced Lyapunov equation
-
-            T                      T
-     op(A_s)  X_s op(E_s) + op(E_s)  X_s op(A_s) = Y_s,          (6)
-
-  or
-            T                      T
-     op(A_s)  X_s op(A_s) - op(E_s)  X_s op(E_s) = Y_s,          (7)
-
-  which are equivalent to (1) or (2), respectively. The solution X_s
-  of (6) or (7) is computed via block back substitution (if TRANS =
-  'N') or block forward substitution (if TRANS = 'T'), where the
-  block order is at most 2. (See [1] and [3] for details.)
-  Equation (5) yields the solution matrix X.
-
-  For fast computation the estimates of the separation and the
-  forward error are gained from (6) or (7) rather than (1) or
-  (2), respectively. We consider (6) and (7) as special cases of the
-  generalized Sylvester equation
-
-     R * X * S + U * X * V = Y,                                  (8)
-
-  whose separation is defined as follows
-
-     sep = sep(R,S,U,V) =   min   || R * X * S + U * X * V || .
-                         ||X|| = 1                           F
-                              F
-
-  Equation (8) is equivalent to the system of linear equations
-
-     K * vec(X) = (kron(S**T,R) + kron(V**T,U)) * vec(X) = vec(Y),
-
-  where kron is the Kronecker product of two matrices and vec
-  is the mapping that stacks the columns of a matrix. If K is
-  nonsingular then
-
-     sep = 1 / ||K**(-1)|| .
-                          2
-
-  We estimate ||K**(-1)|| by a method devised by Higham [2]. Note
-  that this method yields an estimation for the 1-norm but we use it
-  as an approximation for the 2-norm. Estimates for the forward
-  error norm are provided by
-
-     FERR = 2 * EPS * ||A_s||  * ||E_s||  / sep
-                             F          F
-
-  in the continuous-time case (1) and
-
-     FERR = EPS * ( ||A_s|| **2 + ||E_s|| **2 ) / sep
-                           F             F
-
-  in the discrete-time case (2).
-  The reciprocal condition number, RCOND, of the Lyapunov equation
-  can be estimated by FERR/EPS.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or complex
-      matrix, with applications to condition estimation.
-      A.C.M. Trans. Math. Soft., vol. 14, no. 4, pp. 381-396, 1988.
-
-  [3] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The number of flops required by the routine is given by the
-  following table. Note that we count a single floating point
-  arithmetic operation as one flop. c is an integer number of modest
-  size (say 4 or 5).
-
-                |  FACT = 'F'            FACT = 'N'
-     -----------+------------------------------------------
-     JOB = 'B'  |  (26+8*c)/3 * N**3     (224+8*c)/3 * N**3
-     JOB = 'S'  |  8*c/3 * N**3          (198+8*c)/3 * N**3
-     JOB = 'X'  |  26/3 * N**3           224/3 * N**3
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
-  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
-  degenerate pair of eigenvalues, then the Lyapunov equation will be
-  ill-conditioned. Perturbed values were used to solve the equation.
-  Ill-conditioning can be detected by a very small value of the
-  reciprocal condition number RCOND.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           NMAX
-      PARAMETER         ( NMAX = 20 )
-      INTEGER           LDA, LDE, LDQ, LDX, LDZ
-      PARAMETER         ( LDA = NMAX, LDE = NMAX, LDQ = NMAX,
-     $                    LDX = NMAX, LDZ = NMAX )
-      INTEGER           LIWORK, LDWORK
-      PARAMETER         ( LIWORK = NMAX**2,
-     $                    LDWORK = MAX( 2*NMAX**2, 4*NMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1       DICO, FACT, JOB, TRANS, UPLO
-      DOUBLE PRECISION  FERR, SCALE, SEP
-      INTEGER           I, INFO, J, N
-*     .. Local Arrays ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
-     $                  BETA(NMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                  Q(LDQ,NMAX), X(LDX,NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          SG03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, DICO, FACT, TRANS, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME ( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( .NOT.LSAME ( JOB, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X and the scalar SEP.
-         CALL SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E, LDE,
-     $                Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR, ALPHAR,
-     $                ALPHAI, BETA, IWORK, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'S' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 ) SEP
-               WRITE ( NOUT, FMT = 99996 ) FERR
-            END IF
-            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'X' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 ) SCALE
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SG03AD = ',I2)
-99997 FORMAT (' SEP =   ',D8.2)
-99996 FORMAT (' FERR =  ',D8.2)
-99995 FORMAT (' SCALE = ',D8.2,//' The solution matrix X is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG03AD EXAMPLE PROGRAM DATA
-  3       B       C       N       N       U
-  3.0     1.0     1.0
-  1.0     3.0     0.0
-  1.0     0.0     2.0
-  1.0     3.0     0.0
-  3.0     2.0     1.0
-  1.0     0.0     1.0
--64.0   -73.0   -28.0
-  0.0   -70.0   -25.0
-  0.0     0.0   -18.0 
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG03AD EXAMPLE PROGRAM RESULTS
-
- SEP =   0.29D+00
- FERR =  0.40D-13
- SCALE = 0.10D+01
-
- The solution matrix X is 
-  -2.0000  -1.0000   0.0000
-  -1.0000  -3.0000  -1.0000
-   0.0000  -1.0000  -3.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03AX.html b/doc/_build/html/_static/doc/SG03AX.html
deleted file mode 100644
index d0cf438d..00000000
--- a/doc/_build/html/_static/doc/SG03AX.html
+++ /dev/null
@@ -1,160 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03AX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03AX">SG03AX</A></H2>
-<H3>
-Solving a discrete-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the reduced generalized discrete-time
-  Lyapunov equation
-
-      T            T
-     A  * X * A - E  * X * E  =  SCALE * Y                       (1)
-
-  or
-
-              T            T
-     A * X * A  - E * X * E   =  SCALE * Y                       (2)
-
-  where the right hand side Y is symmetric. A, E, Y, and the
-  solution X are N-by-N matrices. The pencil A - lambda * E must be
-  in generalized Schur form (A upper quasitriangular, E upper
-  triangular). SCALE is an output scale factor, set to avoid
-  overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03AX( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDE, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the right hand side matrix Y of the equation. Only
-          the upper triangular part of this matrix need be given.
-          On exit, the leading N-by-N part of this array contains
-          the solution matrix X of the equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          (0 &lt; SCALE &lt;= 1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  equation is (almost) singular to working precision;
-                perturbed values were used to solve the equation
-                (but the matrices A and E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The solution X of (1) or (2) is computed via block back
-  substitution or block forward substitution, respectively. (See
-  [1] and [2] for details.)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  8/3 * N**3 flops are required by the routine. Note that we count a
-  single floating point arithmetic operation as one flop.
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03AY.html b/doc/_build/html/_static/doc/SG03AY.html
deleted file mode 100644
index 1b21a08f..00000000
--- a/doc/_build/html/_static/doc/SG03AY.html
+++ /dev/null
@@ -1,160 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03AY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03AY">SG03AY</A></H2>
-<H3>
-Solving a continuous-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the reduced generalized continuous-time
-  Lyapunov equation
-
-      T            T
-     A  * X * E + E  * X * A  =  SCALE * Y                       (1)
-
-  or
-
-              T            T
-     A * X * E  + E * X * A   =  SCALE * Y                       (2)
-
-  where the right hand side Y is symmetric. A, E, Y, and the
-  solution X are N-by-N matrices. The pencil A - lambda * E must be
-  in generalized Schur form (A upper quasitriangular, E upper
-  triangular). SCALE is an output scale factor, set to avoid
-  overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03AY( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDE, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the right hand side matrix Y of the equation. Only
-          the upper triangular part of this matrix need be given.
-          On exit, the leading N-by-N part of this array contains
-          the solution matrix X of the equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          (0 &lt; SCALE &lt;= 1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  equation is (almost) singular to working precision;
-                perturbed values were used to solve the equation
-                (but the matrices A and E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The solution X of (1) or (2) is computed via block back
-  substitution or block forward substitution, respectively. (See
-  [1] and [2] for details.)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  8/3 * N**3 flops are required by the routine. Note that we count a
-  single floating point arithmetic operation as one flop.
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BD.html b/doc/_build/html/_static/doc/SG03BD.html
deleted file mode 100644
index ce0bec1d..00000000
--- a/doc/_build/html/_static/doc/SG03BD.html
+++ /dev/null
@@ -1,581 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BD">SG03BD</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable continuous- or discrete-time Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X,
-
-              T
-     X = op(U)  * op(U),
-
-  which is the solution of either the generalized c-stable
-  continuous-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(E) + op(E)  * X * op(A)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (1)
-
-  or the generalized d-stable discrete-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(A) - op(E)  * X * op(E)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (2)
-
-  without first finding X and without the need to form the matrix
-  op(B)**T * op(B).
-
-  op(K) is either K or K**T for K = A, B, E, U. A and E are N-by-N
-  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
-  N-by-N upper triangular matrix with non-negative entries on its
-  main diagonal. SCALE is an output scale factor set to avoid
-  overflow in U.
-
-  In the continuous-time case (1) the pencil A - lambda * E must be
-  c-stable (that is, all eigenvalues must have negative real parts).
-  In the discrete-time case (2) the pencil A - lambda * E must be
-  d-stable (that is, the moduli of all eigenvalues must be smaller
-  than one).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
-     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI,
-     $                   BETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDWORK, LDZ, M, N
-      CHARACTER         DICO, FACT, TRANS
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                  BETA(*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies which type of the equation is considered:
-          = 'C':  Continuous-time equation (1);
-          = 'D':  Discrete-time equation (2).
-
-  FACT    CHARACTER*1
-          Specifies whether the generalized real Schur
-          factorization of the pencil A - lambda * E is supplied on
-          entry or not:
-          = 'N':  Factorization is not supplied;
-          = 'F':  Factorization is supplied.
-
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  op(A) = A,    op(E) = E;
-          = 'T':  op(A) = A**T, op(E) = E**T.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows in the matrix op(B).  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          Hessenberg part of this array must contain the generalized
-          Schur factor A_s of the matrix A (see definition (3) in
-          section METHOD). A_s must be an upper quasitriangular
-          matrix. The elements below the upper Hessenberg part of
-          the array A are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the matrix A.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          Hessenberg part of this array contains the generalized
-          Schur factor A_s of the matrix A. (A_s is an upper
-          quasitriangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the generalized
-          Schur factor E_s of the matrix E (see definition (4) in
-          section METHOD). E_s must be an upper triangular matrix.
-          The elements below the upper triangular part of the array
-          E are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the coefficient matrix E of the equation.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          triangular part of this array contains the generalized
-          Schur factor E_s of the matrix E. (E_s is an upper
-          triangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Q from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Q need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the orthogonal matrix Q from the
-          generalized Schur factorization. If FACT = 'F', this array
-          is unchanged.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Z from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Z need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the orthogonal matrix Z from the
-          generalized Schur factorization. If FACT = 'F', this array
-          is unchanged.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N1)
-          On entry, if TRANS = 'T', the leading N-by-M part of this
-          array must contain the matrix B and N1 &gt;= MAX(M,N).
-          If TRANS = 'N', the leading M-by-N part of this array
-          must contain the matrix B and N1 &gt;= N.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)**T * op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If TRANS = 'T',  LDB &gt;= MAX(1,N).
-          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, 3, 5, 6, or 7, then
-          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ... ,N, are the
-          eigenvalues of the matrix pencil A - lambda * E.
-          All BETA(j) are non-negative numbers.
-          ALPHAR and ALPHAI will be always less than and usually
-          comparable with norm(A) in magnitude, and BETA always less
-          than and usually comparable with norm(B).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1,8*N+16),  if FACT = 'N';
-          LDWORK &gt;= MAX(1,2*N,6*N-6),  if FACT = 'F'.
-          For good performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A - lambda * E is (nearly) singular;
-                perturbed values were used to solve the equation
-                (but the reduced (quasi)triangular matrices A and E
-                are unchanged);
-          = 2:  FACT = 'F' and the matrix contained in the upper
-                Hessenberg part of the array A is not in upper
-                quasitriangular form;
-          = 3:  FACT = 'F' and there is a 2-by-2 block on the main
-                diagonal of the pencil A_s - lambda * E_s whose
-                eigenvalues are not conjugate complex;
-          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
-                reduced to generalized Schur form: LAPACK routine
-                or DGGES has failed to converge;
-          = 5:  DICO = 'C' and the pencil A - lambda * E is not
-                c-stable;
-          = 6:  DICO = 'D' and the pencil A - lambda * E is not
-                d-stable;
-          = 7:  the LAPACK routine DSYEVX utilized to factorize M3
-                failed to converge in the discrete-time case (see
-                section METHOD for SLICOT Library routine SG03BU).
-                This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension [2] of Hammarling's method [1] to generalized
-  Lyapunov equations is utilized to solve (1) or (2).
-
-  First the pencil A - lambda * E is reduced to real generalized
-  Schur form A_s - lambda * E_s by means of orthogonal
-  transformations (QZ-algorithm):
-
-     A_s = Q**T * A * Z   (upper quasitriangular),               (3)
-
-     E_s = Q**T * E * Z   (upper triangular).                    (4)
-
-  If the pencil A - lambda * E has already been factorized prior to
-  calling the routine, however, then the factors A_s, E_s, Q and Z
-  may be supplied and the initial factorization omitted.
-
-  Depending on the parameters TRANS and M, the N-by-N upper
-  triangular matrix B_s is defined as follows. In any case Q_B is
-  an M-by-M orthogonal matrix, which need not be accumulated.
-
-  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
-     from the QR-factorization
-
-        ( Q_B  O )           ( B * Z )
-        (        ) * B_s  =  (       ),
-        (  O   I )           (   O   )
-
-     where the O's are zero matrices of proper size and I is the
-     identity matrix of order N-M.
-
-  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) QR-factorization
-
-              ( B_s )
-        Q_B * (     )  =  B * Z,
-              (  O  )
-
-     where O is the (M-N)-by-N zero matrix.
-
-  3. If TRANS = 'T' and M &lt; N, B_s is the upper triangular matrix
-     from the RQ-factorization
-
-                    ( Q_B  O )
-        (B_s  O ) * (        )  =  ( Q**T * B   O ).
-                    (  O   I )
-
-  4. If TRANS = 'T' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) RQ-factorization
-
-        ( B_s   O ) * Q_B  =  Q**T * B,
-
-     where O is the N-by-(M-N) zero matrix.
-
-  Assuming SCALE = 1, the transformation of A, E and B described
-  above leads to the reduced continuous-time equation
-
-              T        T
-       op(A_s)  op(U_s)  op(U_s) op(E_s)
-
-              T        T
-     + op(E_s)  op(U_s)  op(U_s) op(A_s)
-
-                 T
-     =  - op(B_s)  op(B_s)                                       (5)
-
-  or to the reduced discrete-time equation
-
-              T        T
-       op(A_s)  op(U_s)  op(U_s) op(A_s)
-
-              T        T
-     - op(E_s)  op(U_s)  op(U_s) op(E_s)
-
-                 T
-     =  - op(B_s)  op(B_s).                                      (6)
-
-  For brevity we restrict ourself to equation (5) and the case
-  TRANS = 'N'. The other three cases can be treated in a similar
-  fashion.
-
-  We use the following partitioning for the matrices A_s, E_s, B_s,
-  and U_s
-
-              ( A11   A12 )          ( E11   E12 )
-        A_s = (           ),   E_s = (           ),
-              (   0   A22 )          (   0   E22 )
-
-              ( B11   B12 )          ( U11   U12 )
-        B_s = (           ),   U_s = (           ).              (7)
-              (   0   B22 )          (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1 (iff A_s(2,1) = 0.0) or
-  2-by-2.
-
-  We compute U11, U12**T, and U22 in three steps.
-
-  Step I:
-
-     From (5) and (7) we get the 1-by-1 or 2-by-2 equation
-
-             T      T                   T      T
-          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
-
-                 T
-          = - B11  * B11.
-
-     For brevity, details are omitted here. See [2]. The technique
-     for computing U11 is similar to those applied to standard
-     Lyapunov equations in Hammarling's algorithm ([1], section 6).
-
-     Furthermore, the auxiliary matrices M1 and M2 defined as
-     follows
-
-                            -1      -1
-        M1 = U11 * A11 * E11   * U11
-
-                      -1      -1
-        M2 = B11 * E11   * U11
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     The generalized Sylvester equation
-
-           T      T      T      T
-        A22  * U12  + E22  * U12  * M1  =
-
-             T           T      T      T      T
-        - B12  * M2 - A12  * U11  - E12  * U11  * M1
-
-     is solved for U12**T.
-
-  Step III:
-
-     It can be shown that
-
-           T      T                  T      T
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             T              T
-        - B22  * B22 - y * y                                     (8)
-
-     holds, where y is defined as
-
-               T        T      T      T      T       T
-        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
-
-     If B22_tilde is the square triangular matrix arising from the
-     (rectangular) QR-factorization
-
-                    ( B22_tilde )     ( B22  )
-        Q_B_tilde * (           )  =  (      ),
-                    (     O     )     ( y**T )
-
-     where Q_B_tilde is an orthogonal matrix of order N, then
-
-             T              T                T
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (8) by the term
-     - B22_tilde**T * B22_tilde leads to a reduced generalized
-     Lyapunov equation of lower dimension compared to (5).
-
-  The recursive application of the steps I to III yields the
-  solution U_s of the equation (5).
-
-  It remains to compute the solution matrix U of the original
-  problem (1) or (2) from the matrix U_s. To this end we transform
-  the solution back (with respect to the transformation that led
-  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
-  (RQ-factorization). The upper triangular solution matrix U is
-  obtained by
-
-     Q_U * U  =  U_s * Q**T     (if TRANS = 'N'),
-
-  or
-
-     U * Q_U  =  Z * U_s        (if TRANS = 'T'),
-
-  where Q_U is an N-by-N orthogonal matrix. Again, the orthogonal
-  matrix Q_U need not be accumulated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The number of flops required by the routine is given by the
-  following table. Note that we count a single floating point
-  arithmetic operation as one flop.
-
-              |           FACT = 'F'                  FACT = 'N'
-     ---------+--------------------------------------------------
-      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
-              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
-              |
-       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
-  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
-  degenerate pair of eigenvalues, then the Lyapunov equation will be
-  ill-conditioned. Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-  When setting the error indicator INFO, the routine does not test
-  for near instability in the equation but only for exact
-  instability.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           NMAX
-      PARAMETER         ( NMAX = 20 )
-      INTEGER           LDA, LDB, LDE, LDQ, LDZ
-      PARAMETER         ( LDA = NMAX, LDB = NMAX, LDE = NMAX,
-     $                    LDQ = NMAX, LDZ = NMAX )
-      INTEGER           LDWORK
-      PARAMETER         ( LDWORK = MAX( 1, 4*NMAX, 6*NMAX-6 ) )
-*     .. Local Scalars ..
-      CHARACTER*1       DICO, FACT, TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           I, INFO, J, N, M
-*     .. Local Arrays ..
-      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
-     $                  B(LDB,NMAX), BETA(NMAX), DWORK(LDWORK),
-     $                  E(LDE,NMAX), Q(LDQ,NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          SG03BD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( LSAME( FACT, 'T' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
-         END IF
-*        Find the Cholesky factor U of the solution matrix.
-         CALL SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q, LDQ,
-     $                Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI, BETA,
-     $                DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) SCALE
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG03BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SG03BD = ',I2)
-99997 FORMAT (' SCALE = ',F8.4,//' The Cholesky factor U of the solution
-     $ matrix is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG03BD EXAMPLE PROGRAM DATA
-   3      1      C      N      N
-  -1.0    3.0   -4.0
-   0.0    5.0   -2.0
-  -4.0    4.0    1.0
-   2.0    1.0    3.0
-   2.0    0.0    1.0
-   4.0    5.0    1.0
-   2.0   -1.0    7.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG03BD EXAMPLE PROGRAM RESULTS
-
- SCALE =   1.0000
-
- The Cholesky factor U of the solution matrix is
-   1.6003  -0.4418  -0.1523
-   0.0000   0.6795  -0.2499
-   0.0000   0.0000   0.2041
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BR.html b/doc/_build/html/_static/doc/SG03BR.html
deleted file mode 100644
index 162f77fb..00000000
--- a/doc/_build/html/_static/doc/SG03BR.html
+++ /dev/null
@@ -1,83 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BR">SG03BR</A></H2>
-<H3>
-Compute a complex Givens rotation in real arithmetic (SG03BY version - adaptation of LAPACK ZLARTG)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the parameters for the complex Givens rotation
-
-     (    C      SR+SI*I )   ( XR+XI*I )   ( ZR+ZI*I )
-     (                   ) * (         ) = (         )
-     ( -SR+SI*I     C    )   ( YR+YI*I )   (    0    )
-
-  where C, SR, SI, XR, XI, YR, YI, ZR, ZI are real numbers, I is the
-  imaginary unit, I = SQRT(-1), and C**2 + |SR+SI*I|**2 = 1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BR( XR, XI, YR, YI, C, SR, SI, ZR, ZI )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  C, SI, SR, XI, XR, YI, YR, ZI, ZR
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  XR, XI, (input) DOUBLE PRECISION
-  YR, YI  (input) DOUBLE PRECISION
-          The given real scalars XR, XI, YR, YI.
-
-  C,      (output) DOUBLE PRECISION
-  SR, SI, (output) DOUBLE PRECISION
-  ZR, ZI  (output) DOUBLE PRECISION
-          The computed real scalars C, SR, SI, ZR, ZI defining the
-          complex Givens rotation and Z = ZR+ZI*I.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The subroutine avoids unnecessary overflow.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interest of speed, this routine does not check the input
-  for errors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BS.html b/doc/_build/html/_static/doc/SG03BS.html
deleted file mode 100644
index b9fc9055..00000000
--- a/doc/_build/html/_static/doc/SG03BS.html
+++ /dev/null
@@ -1,269 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BS">SG03BS</A></H2>
-<H3>
-Solving (for Cholesky factor) stable generalized discrete-time complex Lyapunov equations, with A, E, and B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**H * U or
-  X = U * U**H, which is the solution of the generalized d-stable
-  discrete-time Lyapunov equation
-
-      H            H                  2    H
-     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
-
-  or the conjugate transposed equation
-
-              H            H          2        H
-     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are complex N-by-N matrices.
-  The Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in complex
-  generalized Schur form (A and E are upper triangular and the
-  diagonal elements of E are non-negative real numbers). Moreover,
-  it must be d-stable, i.e., the moduli of its eigenvalues must be
-  less than one. B must be an upper triangular matrix with real
-  non-negative entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BS( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'C':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix A. The lower triangular
-          part is used as workspace, but the diagonal is restored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. If TRANS = 'N', the
-          strictly lower triangular part is used as workspace.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension LDWORK, where
-          LDWORK = 0,            if N &lt;= 1;
-          LDWORK = MAX(N-1,10),  if N &gt;  1.
-
-  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  the pencil A - lambda * E is not stable, i.e., there
-                there are eigenvalues outside the open unit circle;
-          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
-                failed to converge. This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations. The real case is
-  described in [2].
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  Since all matrices A, E, B, and U are upper triangular, we use the
-  following partitioning
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ),                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  where the size of the (1,1)-blocks is 1-by-1.
-
-  We compute U11, U12**H and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 equation
-
-           H     H                 H     H                  H
-        A11 * U11 * U11 * A11 - E11 * U11 * U11 * E11 = -B11 * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 5).
-
-     Furthermore, the auxiliary scalars M1 and M2 defined as follows
-
-        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**H the linear system of equations, with
-     scaling to prevent overflow,
-
-                  H      H      H
-        ( M1 * A22  - E22  ) U12  =
-
-                    H              H           H
-        = - M2 * B12  + U11 * ( E12  - M1 * A12  ) .
-
-  Step III:
-
-     One can show that
-
-           H      H                  H      H
-        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
-
-             H              H
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-                 H           H      H      H
-        y = ( B12   U11 * A12  + A22  * U12  ) * M3EV,
-
-     where M3EV is a matrix which fulfils
-
-             ( I - M2*M2     -M2*M1**H )              H
-        M3 = (                         ) = M3EV * M3EV .
-             (    -M1*M2  I - M1*M1**H )
-
-     M3 is positive semidefinite and its rank is equal to 1.
-     Therefore, a matrix M3EV can be found by solving the Hermitian
-     eigenvalue problem for M3 such that y consists of one column.
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**H )
-
-     then
-
-             H              H                H
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
-     equation like (1), but of dimension N-1.
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost reciprocal
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BT.html b/doc/_build/html/_static/doc/SG03BT.html
deleted file mode 100644
index f20348f0..00000000
--- a/doc/_build/html/_static/doc/SG03BT.html
+++ /dev/null
@@ -1,255 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BT">SG03BT</A></H2>
-<H3>
-Solving (for Cholesky factor) stable generalized continuous-time complex Lyapunov equations, with A, E, and B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**H * U or
-  X = U * U**H, which is the solution of the generalized c-stable
-  continuous-time Lyapunov equation
-
-      H            H                  2    H
-     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
-
-  or the conjugate transposed equation
-
-              H            H          2        H
-     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are complex N-by-N matrices.
-  The Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in complex
-  generalized Schur form (A and E are upper triangular and the
-  diagonal elements of E are non-negative real numbers). Moreover,
-  it must be c-stable, i.e., its eigenvalues must have negative real
-  parts. B must be an upper triangular matrix with real non-negative
-  entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BT( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'C':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix A. The lower triangular
-          part is used as workspace, but the diagonal is restored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. If TRANS = 'N', the
-          strictly lower triangular part is used as workspace.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension MAX(N-1,0)
-
-  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  the pencil A - lambda * E is not stable, i.e., there
-                is an eigenvalue without a negative real part.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations. The real case is
-  described in [2].
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  Since all matrices A, E, B, and U are upper triangular, we use the
-  following partitioning
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ),                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  where the size of the (1,1)-blocks is 1-by-1.
-
-  We compute U11, U12**H and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 equation
-
-           H     H                 H     H                  H
-        A11 * U11 * U11 * E11 + E11 * U11 * U11 * A11 = -B11 * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 5).
-
-     Furthermore, the auxiliary scalars M1 and M2 defined as follows
-
-        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**H the linear system of equations, with
-     scaling to prevent overflow,
-
-             H           H      H
-        ( A22  + M1 * E22  ) U12  =
-
-                    H              H           H
-        = - M2 * B12  - U11 * ( A12  + M1 * E12  ) .
-
-  Step III:
-
-     One can show that
-
-           H      H                  H      H
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             H              H
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-               H                   H      H      H
-        y = B12  - M2 * ( U11 * E12  + E22  * U12  ).
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**H )
-
-     then
-
-             H              H                H
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
-     equation like (1), but of dimension N-1.
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost degenerate
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BU.html b/doc/_build/html/_static/doc/SG03BU.html
deleted file mode 100644
index 99e2e086..00000000
--- a/doc/_build/html/_static/doc/SG03BU.html
+++ /dev/null
@@ -1,288 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BU">SG03BU</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable discrete-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**T * U or
-  X = U * U**T, which is the solution of the generalized d-stable
-  discrete-time Lyapunov equation
-
-      T            T                  2    T
-     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
-
-  or the transposed equation
-
-              T            T          2        T
-     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are real N-by-N matrices. The
-  Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in generalized Schur
-  form ( A upper quasitriangular, E upper triangular ). Moreover, it
-  must be d-stable, i.e., the moduli of its eigenvalues must be less
-  than one. B must be an upper triangular matrix with non-negative
-  entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BU( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A. The elements
-          below the upper Hessenberg part are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. The elements below
-          the main diagonal are not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U. The elements below
-          the main diagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the generalized Sylvester equation to be solved in
-                step II (see METHOD) is (nearly) singular to working
-                precision;  perturbed values were used to solve the
-                equation (but the matrices A and E are unchanged);
-          = 2:  the generalized Schur form of the pencil
-                A - lambda * E contains a 2-by-2 main diagonal block
-                whose eigenvalues are not a pair of complex
-                conjugate numbers;
-          = 3:  the pencil A - lambda * E is not d-stable, i.e.,
-                there are eigenvalues outside the open unit circle;
-          = 4:  the LAPACK routine DSYEVX utilized to factorize M3
-                failed to converge. This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method [2] used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations.
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  The matrix A is an upper quasitriangular matrix, i.e., it is a
-  block triangular matrix with square blocks on the main diagonal
-  and the block order at most 2. We use the following partitioning
-  for the matrices A, E, B and the solution matrix U
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ).                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
-  2-by-2.
-
-  We compute U11, U12**T, and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
-
-             T      T                  T      T
-          A11  * U11  * U11 * A11 - E11  * U11  * U11 * E11
-
-                 T
-          = - B11  * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 6).
-
-     Furthermore, the auxiliary matrices M1 and M2 defined as
-     follows
-
-                            -1      -1
-        M1 = U11 * A11 * E11   * U11  ,
-
-                      -1      -1
-        M2 = B11 * E11   * U11  ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**T the generalized Sylvester equation
-
-           T      T           T      T
-        A22  * U12  * M1 - E22  * U12
-
-               T           T      T      T      T
-        = - B12  * M2 + E12  * U11  - A12  * U11  * M1.
-
-  Step III:
-
-     One can show that
-
-           T      T                  T      T
-        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
-
-             T              T
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-               T      T      T      T
-        w = A12  * U11  + A22  * U12 ,
-
-                 T
-        y = ( B12   w ) * M3EV,
-
-     where M3EV is a matrix which fulfils
-
-             ( I-M2*M2**T   -M2*M1**T )              T
-        M3 = (                        ) = M3EV * M3EV .
-             (  -M1*M2**T  I-M1*M1**T )
-
-     M3 is positive semidefinite and its rank is equal to the size
-     of U11. Therefore, a matrix M3EV can be found by solving the
-     symmetric eigenvalue problem for M3 such that y consists of
-     either 1 or 2 rows.
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**T )
-
-     then
-
-             T              T                T
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
-     equation of lower dimension compared to (1).
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost reciprocal
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-  When setting the error indicator INFO, the routine does not test
-  for near instability in the equation but only for exact
-  instability.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BV.html b/doc/_build/html/_static/doc/SG03BV.html
deleted file mode 100644
index e4bfcd19..00000000
--- a/doc/_build/html/_static/doc/SG03BV.html
+++ /dev/null
@@ -1,274 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BV">SG03BV</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable continuous-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**T * U or
-  X = U * U**T, which is the solution of the generalized c-stable
-  continuous-time Lyapunov equation
-
-      T            T                  2    T
-     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
-
-  or the transposed equation
-
-              T            T          2        T
-     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are real N-by-N matrices. The
-  Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in generalized Schur
-  form ( A upper quasitriangular, E upper triangular ). Moreover, it
-  must be c-stable, i.e., its eigenvalues must have negative real
-  parts. B must be an upper triangular matrix with non-negative
-  entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BV( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A. The elements
-          below the upper Hessenberg part are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. The elements below
-          the main diagonal are not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U. The elements below
-          the main diagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the generalized Sylvester equation to be solved in
-                step II (see METHOD) is (nearly) singular to working
-                precision;  perturbed values were used to solve the
-                equation (but the matrices A and E are unchanged);
-          = 2:  the generalized Schur form of the pencil
-                A - lambda * E contains a 2-by-2 main diagonal block
-                whose eigenvalues are not a pair of complex
-                conjugate numbers;
-          = 3:  the pencil A - lambda * E is not stable, i.e., there
-                is an eigenvalue with zero or positive real part.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method [2] used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations.
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  The matrix A is an upper quasitriangular matrix, i.e., it is a
-  block triangular matrix with square blocks on the main diagonal
-  and the block order at most 2. We use the following partitioning
-  for the matrices A, E, B and the solution matrix U
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ).                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
-  2-by-2.
-
-  We compute U11, U12**T, and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
-
-             T      T                  T      T
-          A11  * U11  * U11 * E11 + E11  * U11  * U11 * A11
-
-                 T
-          = - B11  * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 6).
-
-     Furthermore, the auxiliary matrices M1 and M2 defined as
-     follows
-
-                            -1      -1
-        M1 = U11 * A11 * E11   * U11  ,
-
-                      -1      -1
-        M2 = B11 * E11   * U11  ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**T the generalized Sylvester equation
-
-           T      T      T      T
-        A22  * U12  + E22  * U12  * M1
-
-               T           T      T      T      T
-        = - B12  * M2 - A12  * U11  - E12  * U11  * M1.
-
-  Step III:
-
-     One can show that
-
-           T      T                  T      T
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             T              T
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-               T      T      T      T
-        w = E12  * U11  + E22  * U12 ,
-               T         T
-        y = B12  - w * M2 .
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**T )
-
-     then
-
-             T              T                T
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
-     equation of lower dimension compared to (1).
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost degenerate
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-  When setting the error indicator INFO, the routine does not test
-  for near instability in the equation but only for exact
-  instability.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BW.html b/doc/_build/html/_static/doc/SG03BW.html
deleted file mode 100644
index 91bc3dec..00000000
--- a/doc/_build/html/_static/doc/SG03BW.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BW">SG03BW</A></H2>
-<H3>
-Solving a generalized Sylvester equation, with A quasi-triangular, and E upper triangular, for an m-by-n matrix X, 1 <= n <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the generalized Sylvester equation
-
-      T            T
-     A  * X * C + E  * X * D  =  SCALE * Y,                      (1)
-
-  or the transposed equation
-
-              T            T
-     A * X * C  + E * X * D   =  SCALE * Y,                      (2)
-
-  where A and E are real M-by-M matrices, C and D are real N-by-N
-  matrices, X and Y are real M-by-N matrices. N is either 1 or 2.
-  The pencil A - lambda * E must be in generalized real Schur form
-  (A upper quasitriangular, E upper triangular). SCALE is an output
-  scale factor, set to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BW( TRANS, M, N, A, LDA, C, LDC, E, LDE, D, LDD, X,
-     $                   LDX, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDC, LDD, LDE, LDX, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), C(LDC,*), D(LDD,*), E(LDE,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A and E.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrices C and D.  N = 1 or N = 2.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          upper quasitriangular matrix A. The elements below the
-          upper Hessenberg part are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading N-by-N part of this array must contain the
-          matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,M)
-          The leading M-by-M part of this array must contain the
-          upper triangular matrix E. The elements below the main
-          diagonal are not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,N)
-          The leading N-by-N part of this array must contain the
-          matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix Y.
-          On exit, the leading M-by-N part of this array contains
-          the solution matrix X.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the generalized Sylvester equation is (nearly)
-                singular to working precision;  perturbed values
-                were used to solve the equation (but the matrices
-                A, C, D, and E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a generalization of the
-  algorithm due to Bartels and Stewart [1]. See also [2] and [3] for
-  details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Gardiner, J.D., Laub, A.J., Amato, J.J., Moler, C.B.
-      Solution of the Sylvester Matrix Equation
-      A X B**T + C X D**T = E.
-      A.C.M. Trans. Math. Soft., vol. 18, no. 2, pp. 223-231, 1992.
-
-  [3] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires about 2 * N * M**2 flops. Note that we count
-  a single floating point arithmetic operation as one flop.
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  When near singularity is detected, perturbed values are used
-  to solve the equation (but the given matrices are unchanged).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BX.html b/doc/_build/html/_static/doc/SG03BX.html
deleted file mode 100644
index 3ba637d6..00000000
--- a/doc/_build/html/_static/doc/SG03BX.html
+++ /dev/null
@@ -1,199 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BX">SG03BX</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable 2-by-2 continuous- or discrete-time Lyapunov equations, with pencil A - lambda E having complex conjugate eigenvalues (E upper triangular)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)**T * op(U) either the generalized c-stable
-  continuous-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(E) + op(E)  * X * op(A)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (1)
-
-  or the generalized d-stable discrete-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(A) - op(E)  * X * op(E)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (2)
-
-  where op(K) is either K or K**T for K = A, B, E, U. The Cholesky
-  factor U of the solution is computed without first finding X.
-
-  Furthermore, the auxiliary matrices
-
-                                -1        -1
-     M1 := op(U) * op(A) * op(E)   * op(U)
-
-                        -1        -1
-     M2 := op(B) * op(E)   * op(U)
-
-  are computed in a numerically reliable way.
-
-  The matrices A, B, E, M1, M2, and U are real 2-by-2 matrices. The
-  pencil A - lambda * E must have a pair of complex conjugate
-  eigenvalues. The eigenvalues must be in the open right half plane
-  (in the continuous-time case) or inside the unit circle (in the
-  discrete-time case). The matrices E and B are upper triangular.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BX( DICO, TRANS, A, LDA, E, LDE, B, LDB, U, LDU,
-     $                   SCALE, M1, LDM1, M2, LDM2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, LDM1, LDM2, LDU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), E(LDE,*), M1(LDM1,*),
-     $                  M2(LDM2,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies whether the continuous-time or the discrete-time
-          equation is to be solved:
-          = 'C':  Solve continuous-time equation (1);
-          = 'D':  Solve discrete-time equation (2).
-
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  op(K) = K,     K = A, B, E, U;
-          = 'T':  op(K) = K**T,  K = A, B, E, U.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) DOUBLE PRECISION array, dimension (LDA,2)
-          The leading 2-by-2 part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,2)
-          The leading 2-by-2 upper triangular part of this array
-          must contain the matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= 2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          The leading 2-by-2 upper triangular part of this array
-          must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2)
-          The leading 2-by-2 part of this array contains the upper
-          triangular matrix U.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-  M1      (output) DOUBLE PRECISION array, dimension (LDM1,2)
-          The leading 2-by-2 part of this array contains the
-          matrix M1.
-
-  LDM1    INTEGER
-          The leading dimension of the array M1.  LDM1 &gt;= 2.
-
-  M2      (output) DOUBLE PRECISION array, dimension (LDM2,2)
-          The leading 2-by-2 part of this array contains the
-          matrix M2.
-
-  LDM2    INTEGER
-          The leading dimension of the array M2.  LDM2 &gt;= 2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 2:  the eigenvalues of the pencil A - lambda * E are not
-                a pair of complex conjugate numbers;
-          = 3:  the eigenvalues of the pencil A - lambda * E are
-                not in the open right half plane (in the continuous-
-                time case) or inside the unit circle (in the
-                discrete-time case);
-          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
-                (see SLICOT Library routine SG03BS) failed to
-                converge. This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a generalization of the
-  method due to Hammarling ([1], section 6) for Lyapunov equations
-  of order 2. A more detailed description is given in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the solution matrix U is singular, the matrices M1 and M2 are
-  properly set (see [1], equation (6.21)).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BY.html b/doc/_build/html/_static/doc/SG03BY.html
deleted file mode 100644
index ee1bcb8f..00000000
--- a/doc/_build/html/_static/doc/SG03BY.html
+++ /dev/null
@@ -1,83 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BY">SG03BY</A></H2>
-<H3>
-Compute a complex Givens rotation in real arithmetic
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the parameters for the complex Givens rotation
-
-     (  CR-CI*I   SR-SI*I )   ( XR+XI*I )   ( Z )
-     (                    ) * (         ) = (   ),
-     ( -SR-SI*I   CR+CI*I )   ( YR+YI*I )   ( 0 )
-
-  where CR, CI, SR, SI, XR, XI, YR, YI are real numbers and I is the
-  imaginary unit, I = SQRT(-1). Z is a non-negative real number.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BY( XR, XI, YR, YI, CR, CI, SR, SI, Z )
-C     .. Scalar Arguments ..
-       DOUBLE PRECISION  CI, CR, SI, SR, XI, XR, YI, YR, Z
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  XR, XI, (input) DOUBLE PRECISION
-  YR, YI  (input) DOUBLE PRECISION
-          The given real scalars XR, XI, YR, YI.
-
-  CR, CI, (output) DOUBLE PRECISION
-  SR, SI, (output) DOUBLE PRECISION
-  Z       (output) DOUBLE PRECISION
-          The computed real scalars CR, CI, SR, SI, Z, defining the
-          complex Givens rotation and Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The subroutine avoids unnecessary overflow.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interest of speed, this routine does not check the input
-  for errors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/SG03BZ.html b/doc/_build/html/_static/doc/SG03BZ.html
deleted file mode 100644
index 5d52651e..00000000
--- a/doc/_build/html/_static/doc/SG03BZ.html
+++ /dev/null
@@ -1,484 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BZ">SG03BZ</A></H2>
-<H3>
-Solving (for Cholesky factor) stable generalized continuous- or discrete-time complex Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X,
-
-              H
-     X = op(U)  * op(U),
-
-  which is the solution of either the generalized c-stable
-  continuous-time Lyapunov equation
-
-          H                    H
-     op(A)  * X * op(E) + op(E)  * X * op(A)
-
-              2        H
-     = - SCALE  * op(B)  * op(B),                                (1)
-
-  or the generalized d-stable discrete-time Lyapunov equation
-
-          H                    H
-     op(A)  * X * op(A) - op(E)  * X * op(E)
-
-              2        H
-     = - SCALE  * op(B)  * op(B),                                (2)
-
-  without first finding X and without the need to form the matrix
-  op(B)**H * op(B).
-
-  op(K) is either K or K**H for K = A, B, E, U. A and E are N-by-N
-  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
-  N-by-N upper triangular matrix with non-negative entries on its
-  main diagonal. SCALE is an output scale factor set to avoid
-  overflow in U.
-
-  In the continuous-time case (1) the pencil A - lambda * E must be
-  c-stable (that is, all eigenvalues must have negative real parts).
-  In the discrete-time case (2) the pencil A - lambda * E must be
-  d-stable (that is, the moduli of all eigenvalues must be smaller
-  than one).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BZ( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
-     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHA, BETA, DWORK,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDZ, LZWORK, M, N
-      CHARACTER         DICO, FACT, TRANS
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), ALPHA(*), B(LDB,*), BETA(*), E(LDE,*),
-     $                  Q(LDQ,*), Z(LDZ,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies which type of the equation is considered:
-          = 'C':  Continuous-time equation (1);
-          = 'D':  Discrete-time equation (2).
-
-  FACT    CHARACTER*1
-          Specifies whether the generalized (complex) Schur
-          factorization of the pencil A - lambda * E is supplied on
-          entry or not:
-          = 'N':  Factorization is not supplied;
-          = 'F':  Factorization is supplied.
-
-  TRANS   CHARACTER*1
-          Specifies whether the conjugate transposed equation is to
-          be solved or not:
-          = 'N':  op(A) = A,    op(E) = E;
-          = 'C':  op(A) = A**H, op(E) = E**H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows in the matrix op(B).  M &gt;= 0.
-          If M = 0, A and E are unchanged on exit, and Q, Z, ALPHA
-          and BETA are not set.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the generalized
-          Schur factor A_s of the matrix A (see definition (3) in
-          section METHOD). A_s must be an upper triangular matrix.
-          The elements below the upper triangular part of the array
-          A are used as workspace.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the matrix A.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          triangular part of this array contains the generalized
-          Schur factor A_s of the matrix A. (A_s is an upper
-          triangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the generalized
-          Schur factor E_s of the matrix E (see definition (4) in
-          section METHOD). E_s must be an upper triangular matrix.
-          The elements below the upper triangular part of the array
-          E are used as workspace.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the coefficient matrix E of the equation.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          triangular part of this array contains the generalized
-          Schur factor E_s of the matrix E. (E_s is an upper
-          triangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the unitary matrix Q from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Q need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the unitary matrix Q from the generalized
-          Schur factorization. If FACT = 'F', this array is
-          unchanged.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the unitary matrix Z from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Z need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the unitary matrix Z from the generalized
-          Schur factorization. If FACT = 'F', this array is
-          unchanged.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N1)
-          On entry, if TRANS = 'C', the leading N-by-M part of this
-          array must contain the matrix B and N1 &gt;= MAX(M,N).
-          If TRANS = 'N', the leading M-by-N part of this array
-          must contain the matrix B and N1 &gt;= N.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)**H * op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If TRANS = 'C',  LDB &gt;= MAX(1,N).
-          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-  ALPHA   (output) COMPLEX*16 arrays, dimension (N)
-  BETA    If INFO = 0, 5, 6, or 7, then ALPHA(j)/BETA(j),
-          j = 1, ... , N, are the eigenvalues of the matrix pencil
-          A - lambda * E (the diagonals of the complex Schur form).
-          All BETA(j) are non-negative real numbers.
-          ALPHA will be always less than and usually comparable with
-          norm(A) in magnitude, and BETA always less than and
-          usually comparable with norm(B).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
-          LDWORK = 0,           if MIN(M,N) = 0 or
-                                   FACT = 'F' and N &lt;= 1; else,
-          LDWORK = N-1,         if FACT = 'F' and DICO = 'C';
-          LDWORK = MAX(N-1,10), if FACT = 'F' and DICO = 'D';
-          LDWORK = 8*N,         if FACT = 'N'.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-          On exit, if INFO = -21, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= MAX(1,3*N-3,2*N).
-          For good performance, LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the ZWORK
-          array, returns this value as the first entry of the ZWORK
-          array, and no error message related to LZWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
-                reduced to generalized Schur form: LAPACK routine
-                ZGGES has failed to converge;
-          = 5:  DICO = 'C' and the pencil A - lambda * E is not
-                c-stable;
-          = 6:  DICO = 'D' and the pencil A - lambda * E is not
-                d-stable;
-          = 7:  the LAPACK routine ZSTEIN utilized to factorize M3
-                failed to converge in the discrete-time case (see
-                section METHOD for SLICOT Library routine SG03BS).
-                This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension [2] of Hammarling's method [1] to generalized
-  Lyapunov equations is utilized to solve (1) or (2).
-
-  First the pencil A - lambda * E is reduced to complex generalized
-  Schur form A_s - lambda * E_s by means of unitary transformations
-  (QZ-algorithm):
-
-     A_s = Q**H * A * Z   (upper triangular),                    (3)
-
-     E_s = Q**H * E * Z   (upper triangular).                    (4)
-
-  If the pencil A - lambda * E has already been factorized prior to
-  calling the routine, however, then the factors A_s, E_s, Q and Z
-  may be supplied and the initial factorization omitted.
-
-  Depending on the parameters TRANS and M, the N-by-N upper
-  triangular matrix B_s is defined as follows. In any case Q_B is
-  an M-by-M unitary matrix, which need not be accumulated.
-
-  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
-     from the QR-factorization
-
-        ( Q_B  O )           ( B * Z )
-        (        ) * B_s  =  (       ),
-        (  O   I )           (   O   )
-
-     where the O's are zero matrices of proper size and I is the
-     identity matrix of order N-M.
-
-  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) QR-factorization
-
-              ( B_s )
-        Q_B * (     )  =  B * Z,
-              (  O  )
-
-     where O is the (M-N)-by-N zero matrix.
-
-  3. If TRANS = 'C' and M &lt; N, B_s is the upper triangular matrix
-     from the RQ-factorization
-
-                    ( Q_B  O )
-        (B_s  O ) * (        )  =  ( Q**H * B   O ).
-                    (  O   I )
-
-  4. If TRANS = 'C' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) RQ-factorization
-
-        ( B_s   O ) * Q_B  =  Q**H * B,
-
-     where O is the N-by-(M-N) zero matrix.
-
-  Assuming SCALE = 1, the transformation of A, E and B described
-  above leads to the reduced continuous-time equation
-
-              H        H
-       op(A_s)  op(U_s)  op(U_s) op(E_s)
-
-              H        H
-     + op(E_s)  op(U_s)  op(U_s) op(A_s)
-
-                 H
-     =  - op(B_s)  op(B_s)                                       (5)
-
-  or to the reduced discrete-time equation
-
-              H        H
-       op(A_s)  op(U_s)  op(U_s) op(A_s)
-
-              H        H
-     - op(E_s)  op(U_s)  op(U_s) op(E_s)
-
-                 H
-     =  - op(B_s)  op(B_s).                                      (6)
-
-  For brevity we restrict ourself to equation (5) and the case
-  TRANS = 'N'. The other three cases can be treated in a similar
-  fashion.
-
-  We use the following partitioning for the matrices A_s, E_s, B_s,
-  and U_s
-
-              ( A11   A12 )          ( E11   E12 )
-        A_s = (           ),   E_s = (           ),
-              (   0   A22 )          (   0   E22 )
-
-              ( B11   B12 )          ( U11   U12 )
-        B_s = (           ),   U_s = (           ).              (7)
-              (   0   B22 )          (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1.
-
-  We compute U11, U12**H, and U22 in three steps.
-
-  Step I:
-
-     From (5) and (7) we get the 1-by-1 equation
-
-             H      H                   H      H
-          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
-
-                 H
-          = - B11  * B11.
-
-     For brevity, details are omitted here. See [2]. The technique
-     for computing U11 is similar to those applied to standard
-     Lyapunov equations in Hammarling's algorithm ([1], section 5).
-
-     Furthermore, the auxiliary scalars M1 and M2 defined as follows
-
-        M1 = A11 / E11 ,
-
-        M2 = B11 / E11 / U11 ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     The generalized Sylvester equation
-
-           H      H      H      H
-        A22  * U12  + E22  * U12  * M1  =
-
-             H           H      H      H      H
-        - B12  * M2 - A12  * U11  - E12  * U11  * M1
-
-     is solved for U12**H, as a linear system of order N-1.
-
-  Step III:
-
-     It can be shown that
-
-           H      H                  H      H
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             H              H
-        - B22  * B22 - y * y                                     (8)
-
-     holds, where y is defined as
-
-               H        H      H      H      H
-        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
-
-     If B22_tilde is the square triangular matrix arising from the
-     (rectangular) QR-factorization
-
-                    ( B22_tilde )     ( B22  )
-        Q_B_tilde * (           )  =  (      ),
-                    (     O     )     ( y**H )
-
-     where Q_B_tilde is a unitary matrix of order N, then
-
-             H              H                H
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (8) by the term
-     - B22_tilde**H * B22_tilde leads to a reduced generalized
-     Lyapunov equation like (5), but of dimension N-1.
-
-  The recursive application of the steps I to III yields the
-  solution U_s of the equation (5).
-
-  It remains to compute the solution matrix U of the original
-  problem (1) or (2) from the matrix U_s. To this end we transform
-  the solution back (with respect to the transformation that led
-  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
-  (RQ-factorization). The upper triangular solution matrix U is
-  obtained by
-
-     Q_U * U  =  U_s * Q**H     (if TRANS = 'N'),
-
-  or
-
-     U * Q_U  =  Z * U_s        (if TRANS = 'C'),
-
-  where Q_U is an N-by-N unitary matrix. Again, the unitary matrix
-  Q_U need not be accumulated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The number of flops required by the routine is given by the
-  following table. Note that we count a single floating point
-  arithmetic operation as one flop.
-
-              |           FACT = 'F'                  FACT = 'N'
-     ---------+--------------------------------------------------
-      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
-              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
-              |
-       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
-  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
-  degenerate pair of eigenvalues, then the Lyapunov equation will be
-  ill-conditioned. Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01ID.html b/doc/_build/html/_static/doc/TB01ID.html
deleted file mode 100644
index 20369358..00000000
--- a/doc/_build/html/_static/doc/TB01ID.html
+++ /dev/null
@@ -1,308 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01ID">TB01ID</A></H2>
-<H3>
-Balancing a system matrix corresponding to a triplet (A,B,C)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the 1-norm of a system matrix
-
-          S =  ( A  B )
-               ( C  0 )
-
-  corresponding to the triple (A,B,C), by balancing. This involves
-  a diagonal similarity transformation inv(D)*A*D applied
-  iteratively to A to make the rows and columns of
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  as close in norm as possible.
-
-  The balancing can be performed optionally on the following
-  particular system matrices
-
-           S = A,    S = ( A  B )    or    S = ( A )
-                                               ( C )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, LDA, LDB, LDC, M, N, P
-      DOUBLE PRECISION   MAXRED
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   SCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B and A matrices are involved in balancing;
-          = 'C':  C and A matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  MAXRED  (input/output) DOUBLE PRECISION
-          On entry, the maximum allowed reduction in the 1-norm of
-          S (in an iteration) if zero rows or columns are
-          encountered.
-          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
-          the norm reduction).
-          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
-          used.
-          On exit, if the 1-norm of the given matrix S is non-zero,
-          the ratio between the 1-norm of the given matrix and the
-          1-norm of the balanced matrix.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix inv(D)*A*D.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, if M &gt; 0, the leading N-by-M part of this array
-          must contain the system input matrix B.
-          On exit, if M &gt; 0, the leading N-by-M part of this array
-          contains the balanced matrix inv(D)*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0.
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, if P &gt; 0, the leading P-by-N part of this array
-          must contain the system output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*D.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S.  If D(j) is the scaling
-          factor applied to row and column j, then SCALE(j) = D(j),
-          for j = 1,...,N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  to make the 1-norms of each row of the first N rows of S and its
-  corresponding column nearly equal.
-
-  Information about the diagonal matrix D is returned in the vector
-  SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01ID EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, INFO, J, M, N, P
-      DOUBLE PRECISION MAXRED
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 SCALE(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01ID, UD01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Balance system matrix S.
-               CALL TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
-     $                      LDC, SCALE, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  CALL UD01MD( N, N, 5, NOUT, A, LDA,
-     $                        'The balanced matrix A', INFO )
-                  IF ( M.GT.0 )
-     $               CALL UD01MD( N, M, 5, NOUT, B, LDB,
-     $                            'The balanced matrix B', INFO )
-                  IF ( P.GT.0 )
-     $               CALL UD01MD( P, N, 5, NOUT, C, LDC,
-     $                            'The balanced matrix C', INFO )
-                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
-     $                        'The scaling vector SCALE', INFO )
-                  WRITE ( NOUT, FMT = 99994 ) MAXRED
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01ID = ',I2)
-99994 FORMAT (/' MAXRED is ',E13.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01ID EXAMPLE PROGRAM DATA
-   5     2     5       A    0.0
-          0.0  1.0000e+000          0.0          0.0          0.0
- -1.5800e+006 -1.2570e+003          0.0          0.0          0.0
-  3.5410e+014          0.0 -1.4340e+003          0.0 -5.3300e+011
-          0.0          0.0          0.0          0.0  1.0000e+000
-          0.0          0.0          0.0 -1.8630e+004 -1.4820e+000
-          0.0          0.0
-  1.1030e+002          0.0
-          0.0          0.0
-          0.0          0.0
-          0.0  8.3330e-003
-  1.0000e+000          0.0          0.0          0.0          0.0
-          0.0          0.0  1.0000e+000          0.0          0.0
-          0.0          0.0          0.0  1.0000e+000          0.0
-  6.6640e-001          0.0 -6.2000e-013          0.0          0.0
-          0.0          0.0 -1.0000e-003  1.8960e+006  1.5080e+002
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01ID EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A ( 5X 5)
-
-            1              2              3              4              5
-  1    0.0000000D+00  0.1000000D+05  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2   -0.1580000D+03 -0.1257000D+04  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.3541000D+05  0.0000000D+00 -0.1434000D+04  0.0000000D+00 -0.5330000D+03
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+03
-  5    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.1863000D+03 -0.1482000D+01
- 
- The balanced matrix B ( 5X 2)
-
-            1              2
-  1    0.0000000D+00  0.0000000D+00
-  2    0.1103000D+04  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00
-  5    0.0000000D+00  0.8333000D+02
- 
- The balanced matrix C ( 5X 5)
-
-            1              2              3              4              5
-  1    0.1000000D-04  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.1000000D+06  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D-05  0.0000000D+00
-  4    0.6664000D-05  0.0000000D+00 -0.6200000D-07  0.0000000D+00  0.0000000D+00
-  5    0.0000000D+00  0.0000000D+00 -0.1000000D+03  0.1896000D+01  0.1508000D-01
- 
- The scaling vector SCALE ( 1X 5)
-
-            1              2              3              4              5
-  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
- 
-
- MAXRED is    0.3488E+10
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01IZ.html b/doc/_build/html/_static/doc/TB01IZ.html
deleted file mode 100644
index 434b8175..00000000
--- a/doc/_build/html/_static/doc/TB01IZ.html
+++ /dev/null
@@ -1,322 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01IZ">TB01IZ</A></H2>
-<H3>
-Balancing a system matrix corresponding to a triplet (A,B,C) (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the 1-norm of a system matrix
-
-          S =  ( A  B )
-               ( C  0 )
-
-  corresponding to the triple (A,B,C), by balancing. This involves
-  a diagonal similarity transformation inv(D)*A*D applied
-  iteratively to A to make the rows and columns of
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  as close in norm as possible.
-
-  The balancing can be performed optionally on the following
-  particular system matrices
-
-           S = A,    S = ( A  B )    or    S = ( A )
-                                               ( C )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, LDA, LDB, LDC, M, N, P
-      DOUBLE PRECISION   MAXRED
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * )
-      DOUBLE PRECISION   SCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B and A matrices are involved in balancing;
-          = 'C':  C and A matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  MAXRED  (input/output) DOUBLE PRECISION
-          On entry, the maximum allowed reduction in the 1-norm of
-          S (in an iteration) if zero rows or columns are
-          encountered.
-          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
-          the norm reduction).
-          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
-          used.
-          On exit, if the 1-norm of the given matrix S is non-zero,
-          the ratio between the 1-norm of the given matrix and the
-          1-norm of the balanced matrix.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix inv(D)*A*D.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, if M &gt; 0, the leading N-by-M part of this array
-          must contain the system input matrix B.
-          On exit, if M &gt; 0, the leading N-by-M part of this array
-          contains the balanced matrix inv(D)*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0.
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, if P &gt; 0, the leading P-by-N part of this array
-          must contain the system output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*D.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S.  If D(j) is the scaling
-          factor applied to row and column j, then SCALE(j) = D(j),
-          for j = 1,...,N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  to make the 1-norms of each row of the first N rows of S and its
-  corresponding column nearly equal.
-
-  Information about the diagonal matrix D is returned in the vector
-  SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01IZ EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, INFO, J, M, N, P
-      DOUBLE PRECISION MAXRED
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX)
-      DOUBLE PRECISION SCALE(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01IZ, UD01MD, UD01MZ
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Balance system matrix S.
-               CALL TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
-     $                      LDC, SCALE, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  CALL UD01MZ( N, N, 3, NOUT, A, LDA,
-     $                        'The balanced matrix A', INFO )
-                  IF ( M.GT.0 )
-     $               CALL UD01MZ( N, M, 3, NOUT, B, LDB,
-     $                            'The balanced matrix B', INFO )
-                  IF ( P.GT.0 )
-     $               CALL UD01MZ( P, N, 3, NOUT, C, LDC,
-     $                            'The balanced matrix C', INFO )
-                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
-     $                        'The scaling vector SCALE', INFO )
-                  WRITE ( NOUT, FMT = 99994 ) MAXRED
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01IZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01IZ = ',I2)
-99994 FORMAT (/' MAXRED is ',E13.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01IZ EXAMPLE PROGRAM DATA
-   5     2     5       A     0.0
-         (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
-(-1.5800e+006,0.0) (-1.2570e+003,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
- (3.5410e+014,0.0)          (0.0,0.0) (-1.4340e+003,0.0)          (0.0,0.0) (-5.3300e+011,0.0)
-         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)
-         (0.0,0.0)          (0.0,0.0)          (0.0,0.0) (-1.8630e+004,0.0) (-1.4820e+000,0.0)
-         (0.0,0.0)          (0.0,0.0)
- (1.1030e+002,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)  (8.3330e-003,0.0)
- (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)
- (6.6640e-001,0.0)          (0.0,0.0) (-6.2000e-013,0.0)          (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0) (-1.0000e-003,0.0)  (1.8960e+006,0.0)  (1.5080e+002,0.0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01IZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A (    5X    5)
-
-                        1                               2                               3
-     1    0.0000000D+00 +0.0000000D+00i   0.1000000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2   -0.1580000D+03 +0.0000000D+00i  -0.1257000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.3541000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1434000D+04 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
- 
-                        4                               5
-     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.0000000D+00 +0.0000000D+00i  -0.5330000D+03 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.1000000D+03 +0.0000000D+00i 
-     5   -0.1863000D+03 +0.0000000D+00i  -0.1482000D+01 +0.0000000D+00i 
- 
- The balanced matrix B (    5X    2)
-
-                        1                               2
-     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.1103000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     5    0.0000000D+00 +0.0000000D+00i   0.8333000D+02 +0.0000000D+00i 
- 
- The balanced matrix C (    5X    5)
-
-                        1                               2                               3
-     1    0.1000000D-04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.1000000D+06 +0.0000000D+00i 
-     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     4    0.6664000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.6200000D-07 +0.0000000D+00i 
-     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1000000D+03 +0.0000000D+00i 
- 
-                        4                               5
-     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.1000000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     5    0.1896000D+01 +0.0000000D+00i   0.1508000D-01 +0.0000000D+00i 
- 
- The scaling vector SCALE ( 1X 5)
-
-            1              2              3              4              5
-  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
- 
-
- MAXRED is    0.3488E+10
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01KD.html b/doc/_build/html/_static/doc/TB01KD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/TB01KD.html
+++ /dev/null
@@ -1,366 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01KD">TB01KD</A></H2>
-<H3>
-Similarity reduction of system state-matrix to block-diagonal form with two blocks so that the leading block has eigenvalues in a specified domain
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an additive spectral decomposition of the transfer-
-  function matrix of the system (A,B,C) by reducing the system
-  state-matrix A to a block-diagonal form.
-  The system matrices are transformed as
-  A &lt;-- inv(U)*A*U, B &lt;--inv(U)*B and C &lt;-- C*U.
-  The leading diagonal block of the resulting A has eigenvalues
-  in a suitably defined domain of interest.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
-     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBA, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
-     $                 WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBA    CHARACTER*1
-          Specifies the shape of the state dynamics matrix on entry
-          as follows:
-          = 'S':  A is in an upper real Schur form;
-          = 'G':  A is a general square dense matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION.
-          Specifies the boundary of the domain of interest for the
-          eigenvalues of A. For a continuous-time system
-          (DICO = 'C'), ALPHA is the boundary value for the real
-          parts of eigenvalues, while for a discrete-time system
-          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
-          the moduli of eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the unreduced state dynamics matrix A.
-          If JOBA = 'S' then A must be a matrix in real Schur form.
-          On exit, the leading N-by-N part of this array contains a
-          block diagonal matrix inv(U) * A * U with two diagonal
-          blocks in real Schur form with the elements below the
-          first subdiagonal set to zero.
-          The leading NDIM-by-NDIM block of A has eigenvalues in the
-          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
-          block has eigenvalues outside the domain of interest.
-          The domain of interest for lambda(A), the eigenvalues
-          of A, is defined by the parameters ALPHA, DICO and STDOM
-          as follows:
-          For a continuous-time system (DICO = 'C'):
-            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
-          For a discrete-time system (DICO = 'D'):
-            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix inv(U) * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NDIM    (output) INTEGER
-          The number of eigenvalues of A lying inside the domain of
-          interest for eigenvalues.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          transformation matrix used to reduce A to the block-
-          diagonal form. The first NDIM columns of U span the
-          invariant subspace of A corresponding to the eigenvalues
-          of its leading diagonal block. The last N-NDIM columns
-          of U span the reducing subspace of A corresponding to
-          the eigenvalues of the trailing diagonal block of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues of A. The
-          eigenvalues will be in the same order that they appear on
-          the diagonal of the output real Schur form of A. Complex
-          conjugate pairs of eigenvalues will appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
-          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: successful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal
-               value;
-          = 1: the QR algorithm failed to compute all the
-               eigenvalues of A;
-          = 2: a failure occured during the ordering of the real
-               Schur form of A;
-          = 3: the separation of the two diagonal blocks failed
-               because of very close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A similarity transformation U is determined that reduces the
-  system state-matrix A to a block-diagonal form (with two diagonal
-  blocks), so that the leading diagonal block of the resulting A has
-  eigenvalues in a specified domain of the complex plane. The
-  determined transformation is applied to the system (A,B,C) as
-    A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
-      Synthesis of positive real multivariable feedback systems.
-      Int. J. Control, pp. 817-842, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 14N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBA, STDOM
-      INTEGER          I, INFO, J, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01KD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA,
-     $                      B, LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99987 ) NDIM
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01KD = ',I2)
-99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
-99996 FORMAT (/' The transformed state dynamics matrix inv(U)*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix inv(U)*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (' The number of eigenvalues in the domain of interest =',
-     $        I5 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01KD EXAMPLE PROGRAM DATA (Continuous system)
-  5     2     3    -1.0      C     U     G
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01KD EXAMPLE PROGRAM RESULTS
-
- The number of eigenvalues in the domain of interest =    2
-
- The eigenvalues of state dynamics matrix A are 
- ( -0.7483,   2.9940 )
- ( -0.7483,  -2.9940 )
- ( -1.6858,   2.0311 )
- ( -1.6858,  -2.0311 )
- ( -1.8751,   0.0000 )
-
- The transformed state dynamics matrix inv(U)*A*U is 
-  -0.7483  -8.6406   0.0000   0.0000   0.0000
-   1.0374  -0.7483   0.0000   0.0000   0.0000
-   0.0000   0.0000  -1.6858   5.5669   0.0000
-   0.0000   0.0000  -0.7411  -1.6858   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8751
-
- The transformed input/state matrix inv(U)*B is 
-   2.0240  -2.0240
-  -1.1309   1.1309
-  -0.8621  -0.8621
-   2.1912   2.1912
-  -1.5555   1.5555
-
- The transformed state/output matrix C*U is 
-   0.6864  -0.0987   0.6580   0.2589   0.9650
-  -0.0471   0.6873   0.0000   0.0000  -0.5609
-  -0.6864   0.0987   0.6580   0.2589  -0.9650
-
- The similarity transformation matrix U is 
-   0.6864  -0.0987   0.6580   0.2589   0.9650
-  -0.1665  -0.5041  -0.2589   0.6580  -0.9205
-  -0.0471   0.6873   0.0000   0.0000  -0.5609
-  -0.6864   0.0987   0.6580   0.2589  -0.9650
-   0.1665   0.5041  -0.2589   0.6580   0.9205
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01KX.html b/doc/_build/html/_static/doc/TB01KX.html
deleted file mode 100644
index 85bd2843..00000000
--- a/doc/_build/html/_static/doc/TB01KX.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01KX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01KX">TB01KX</A></H2>
-<H3>
-Additive spectral decomposition of the transfer-function matrix of a standard system 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an additive spectral decomposition of the transfer-
-  function matrix of the system (A,B,C) by reducing the system
-  state-matrix A to a block-diagonal form. It is assumed that A is
-  in a real Schur form, and the leading diagonal block of order NDIM
-  has eigenvalues distinct from those of the trailing diagonal
-  block. The system matrices are transformed as
-     A &lt;-- V*A*U, B &lt;--V*B and C &lt;-- C*U, where V = inv(U),
-  preserving the spectra of the two diagonal blocks.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01KX( N, M, P, NDIM, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                   V, LDV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDV, M, N, NDIM, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e., the
-          order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  NDIM    (input) INTEGER
-          The dimension of the leading diagonal block of A having
-          eigenvalues distinct from those of the trailing diagonal
-          block.  0 &lt;= NDIM &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in real Schur form.
-          On exit, the leading N-by-N part of this array contains a
-          block diagonal matrix inv(U) * A * U with two diagonal
-          blocks in real Schur form, with the elements below the
-          first subdiagonal set to zero. The leading block has
-          dimension NDIM-by-NDIM.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix inv(U) * B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain an initial transformation matrix U.
-          On exit, the leading N-by-N part of this array contains
-          the transformation matrix used to reduce A to the block-
-          diagonal form. The first NDIM columns of U span the
-          invariant subspace of A corresponding to the eigenvalues
-          of its leading diagonal block. The last N-NDIM columns of
-          U span the reducing subspace of A corresponding to the
-          eigenvalues of the trailing diagonal block of A.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= max(1,N).
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
-          The leading N-by-N part of this array contains the
-          inverse of the transformation matrix U used to reduce A
-          to the block-diagonal form.
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: successful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the separation of the two diagonal blocks failed
-               because of very close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A similarity transformation U is determined that reduces the given
-  system state-matrix A to a block-diagonal form (with two diagonal
-  blocks), so that the eigenvalues of the leading diagonal block of
-  the resulting A are preserved. The determined transformation is
-  applied to the system (A,B,C) as
-     A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
-      Synthesis of positive real multivariable feedback systems.
-      Int. J. Control, pp. 817-842, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                3
-  The algorithm requires about N /2 + NDIM*(N-NDIM)*(2*N+M+P)
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01LD.html b/doc/_build/html/_static/doc/TB01LD.html
deleted file mode 100644
index aff08801..00000000
--- a/doc/_build/html/_static/doc/TB01LD.html
+++ /dev/null
@@ -1,355 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01LD">TB01LD</A></H2>
-<H3>
-Orthogonal similarity reduction so that the leading part of system state-matrix has eigenvalues in a specified domain
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the system state matrix A to an ordered upper real
-  Schur form by using an orthogonal similarity transformation
-  A &lt;-- U'*A*U and to apply the transformation to the matrices
-  B and C: B &lt;-- U'*B and C &lt;-- C*U.
-  The leading block of the resulting A has eigenvalues in a
-  suitably defined domain of interest.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
-     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBA, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
-     $                 WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBA    CHARACTER*1
-          Specifies the shape of the state dynamics matrix on entry
-          as follows:
-          = 'S':  A is in an upper real Schur form;
-          = 'G':  A is a general square dense matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION.
-          Specifies the boundary of the domain of interest for the
-          eigenvalues of A. For a continuous-time system
-          (DICO = 'C'), ALPHA is the boundary value for the real
-          parts of eigenvalues, while for a discrete-time system
-          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value
-          for the moduli of eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the unreduced state dynamics matrix A.
-          If JOBA = 'S' then A must be a matrix in real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the ordered real Schur matrix U' * A * U with the elements
-          below the first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of A has eigenvalues in the
-          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
-          part has eigenvalues outside the domain of interest.
-          The domain of interest for lambda(A), the eigenvalues
-          of A, is defined by the parameters ALPHA, DICO and STDOM
-          as follows:
-          For a continuous-time system (DICO = 'C'):
-            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
-          For a discrete-time system (DICO = 'D'):
-            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NDIM    (output) INTEGER
-          The number of eigenvalues of A lying inside the domain of
-          interest for eigenvalues.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix used to reduce A to the
-          real Schur form and/or to reorder the diagonal blocks of
-          real Schur form of A. The first NDIM columns of U form
-          an orthogonal basis for the invariant subspace of A
-          corresponding to the first NDIM eigenvalues.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues of A. The
-          eigenvalues will be in the same order that they appear on
-          the diagonal of the output real Schur form of A. Complex
-          conjugate pairs of eigenvalues will appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
-          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: successful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal
-               value;
-          = 1: the QR algorithm failed to compute all the
-               eigenvalues of A;
-          = 2: a failure occured during the ordering of the real
-               Schur form of A.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is reduced to an ordered upper real Schur form using an
-  orthogonal similarity transformation A &lt;-- U'*A*U. This
-  transformation is determined so that the leading block of the
-  resulting A has eigenvalues in a suitably defined domain of
-  interest. Then, the transformation is applied to the matrices B
-  and C: B &lt;-- U'*B and C &lt;-- C*U.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 14N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01LD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBA, STDOM
-      INTEGER          I, INFO, J, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01LD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA,
-     $                      A, LDA, B, LDB, C, LDC, NDIM, U, LDU,
-     $                      WR, WI, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99987 ) NDIM
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01LD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01LD = ',I2)
-99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
-99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix U''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The number of eigenvalues in the domain of interest =',
-     $        I5 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01LD EXAMPLE PROGRAM DATA (Continuous system)
-  5     2     3    -1.0      C     U     G
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01LD EXAMPLE PROGRAM RESULTS
-
-
- The number of eigenvalues in the domain of interest =    2
-
- The eigenvalues of state dynamics matrix A are 
- ( -0.7483,   2.9940 )
- ( -0.7483,  -2.9940 )
- ( -1.6858,   2.0311 )
- ( -1.6858,  -2.0311 )
- ( -1.8751,   0.0000 )
-
- The transformed state dynamics matrix U'*A*U is 
-  -0.7483  -8.6406   0.0000   0.0000   1.1745
-   1.0374  -0.7483   0.0000   0.0000  -2.1164
-   0.0000   0.0000  -1.6858   5.5669   0.0000
-   0.0000   0.0000  -0.7411  -1.6858   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8751
-
- The transformed input/state matrix U'*B is 
-  -0.5543   0.5543
-  -1.6786   1.6786
-  -0.8621  -0.8621
-   2.1912   2.1912
-  -1.5555   1.5555
-
- The transformed state/output matrix C*U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-
- The similarity transformation matrix U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-   0.1665   0.5041  -0.2589   0.6580   0.4671
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01MD.html b/doc/_build/html/_static/doc/TB01MD.html
deleted file mode 100644
index bb7ce97f..00000000
--- a/doc/_build/html/_static/doc/TB01MD.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01MD">TB01MD</A></H2>
-<H3>
-Upper/lower controller Hessenberg form using unitary state-space transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the pair (B,A) to upper or lower controller Hessenberg
-  form using (and optionally accumulating) unitary state-space
-  transformations.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, UPLO
-      INTEGER           INFO, LDA, LDB, LDU, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the unitary state-space transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is initialized to the unit matrix and the
-                  unitary transformation matrix U is returned;
-          = 'U':  The given matrix U is updated by the unitary
-                  transformations used in the reduction.
-
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes the pair (B,A) to be
-          reduced to upper or lower controller Hessenberg form as
-          follows:
-          = 'U':  Upper controller Hessenberg form;
-          = 'L':  Lower controller Hessenberg form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The actual input dimension, i.e. the number of columns of
-          the matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A to be transformed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state transition matrix U' * A * U.
-          The annihilated elements are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B to be transformed.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-          The annihilated elements are set to zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if JOBU = 'U', then the leading N-by-N part of
-          this array must contain a given matrix U (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix U and the state-space transformation
-          matrix which reduces the given pair to controller
-          Hessenberg form.
-          On exit, if JOBU = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated unitary
-          similarity transformations which reduces the given pair
-          to controller Hessenberg form.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U. If JOBU = 'U' or
-          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,M-1))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a unitary state-space transformation U, which
-  reduces the pair (B,A) to one of the following controller
-  Hessenberg forms:
-
-                 |*  . . .  *|*  . . . . . .  *|
-                 |   .      .|.               .|
-                 |     .    .|.               .|
-                 |       .  .|.               .|
-    [U'B|U'AU] = |          *|.               .| N
-                 |           |*               .|
-                 |           |   .            .|
-                 |           |     .          .|
-                 |           |       .        .|
-                 |           |         * . .  *|
-                      M               N
-
-  if UPLO = 'U', or
-
-                 |*  . . *         |           |
-                 |.        .       |           |
-                 |.          .     |           |
-                 |.            .   |           |
-    [U'AU|U'B] = |.               *|           | N
-                 |.               .|*          |
-                 |.               .|.  .       |
-                 |.               .|.    .     |
-                 |.               .|.      .   |
-                 |*  . . . . . .  *|*  . . .  *|
-                         N               M
-  if UPLO = 'L'.
-
-  If M &gt;= N, then the matrix U'B is trapezoidal and U'AU is full.
-  If M  = 0, but N &gt; 0, the array A is unchanged on exit.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P. and Verhaegen, M.H.G.
-      On the use of unitary state-space transformations.
-      In : Contemporary Mathematics on Linear Algebra and its Role
-      in Systems Theory, 47, AMS, Providence, 1985.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + M) x N**2) operations and is
-  backward stable (see [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDU, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
-     $                   LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      JOBU, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), U(LDU,NMAX),
-     $                 DWORK(LDWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, JOBU, UPLO
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( LSAME( JOBU, 'U' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-*           Reduce the pair (B,A) to controller Hessenberg form.
-            CALL TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
-     $                   DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 60 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 80 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   80          CONTINUE
-               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 100 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
-  100             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01MD = ',I2)
-99997 FORMAT (' The transformed state transition matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed input matrix is ')
-99994 FORMAT (/' The transformation matrix that reduces (B,A) to contr',
-     $       'oller Hessenberg form is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01MD EXAMPLE PROGRAM DATA
-   6     3     N     U
-  35.0   1.0   6.0  26.0  19.0  24.0
-   3.0  32.0   7.0  21.0  23.0  25.0
-  31.0   9.0   2.0  22.0  27.0  20.0
-   8.0  28.0  33.0  17.0  10.0  15.0
-  30.0   5.0  34.0  12.0  14.0  16.0
-   4.0  36.0  29.0  13.0  18.0  11.0
-   1.0   5.0  11.0
-  -1.0   4.0  11.0
-  -5.0   1.0   9.0
- -11.0  -4.0   5.0
- -19.0 -11.0  -1.0
- -29.0 -20.0  -9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01MD EXAMPLE PROGRAM RESULTS
-
- The transformed state transition matrix is 
-  60.3649  58.8853   5.0480  -5.4406   2.1382  -7.3870
-  54.5832  33.1865  36.5234   6.3272  -3.1377   8.8154
-  17.6406  21.4501 -13.5942   0.5417   1.6926   0.0786
-  -9.0567  10.7202   0.3531   1.5444  -1.2846  24.6407
-   0.0000   6.8796 -20.1372  -2.6440   2.4983 -21.8071
-   0.0000   0.0000   0.0000   0.0000   0.0000  27.0000
-
- The transformed input matrix is 
- -16.8819  -8.8260  13.9202
-   0.0000  13.8240  39.9205
-   0.0000   0.0000   4.1928
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01ND.html b/doc/_build/html/_static/doc/TB01ND.html
deleted file mode 100644
index 358b4b62..00000000
--- a/doc/_build/html/_static/doc/TB01ND.html
+++ /dev/null
@@ -1,298 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01ND">TB01ND</A></H2>
-<H3>
-Upper/lower observer Hessenberg form using unitary state-space transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the pair (A,C) to lower or upper observer Hessenberg
-  form using (and optionally accumulating) unitary state-space
-  transformations.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDC, LDU, N, P
-      CHARACTER         JOBU, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the unitary state-space transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is initialized to the unit matrix and the
-                  unitary transformation matrix U is returned;
-          = 'U':  The given matrix U is updated by the unitary
-                  transformations used in the reduction.
-
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes the pair (A,C) to be
-          reduced to upper or lower observer Hessenberg form as
-          follows:
-          = 'U':  Upper observer Hessenberg form;
-          = 'L':  Lower observer Hessenberg form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The actual output dimension, i.e. the number of rows of
-          the matrix C.  0 &lt;= P &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A to be transformed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state transition matrix U' * A * U.
-          The annihilated elements are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C to be transformed.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-          The annihilated elements are set to zero.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if JOBU = 'U', then the leading N-by-N part of
-          this array must contain a given matrix U (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix U and the state-space transformation
-          matrix which reduces the given pair to observer Hessenberg
-          form.
-          On exit, if JOBU = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated unitary
-          similarity transformations which reduces the given pair
-          to observer Hessenberg form.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U. If JOBU = 'U' or
-          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,P-1))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a unitary state-space transformation U, which
-  reduces the pair (A,C) to one of the following observer Hessenberg
-  forms:
-
-                             N
-                    |*  . . . . . .  *|
-                    |.               .|
-                    |.               .|
-                    |.               .| N
-                    |*               .|
-         |U'AU|     |   .            .|
-         |----|  =  |     .          .|
-         |CU  |     |       * . . .  *|
-                    -------------------
-                    |         * . .  *|
-                    |           .    .| P
-                    |             .  .|
-                    |                *|
-
-      if UPLO = 'U', or
-
-                            N
-                   |*                |
-                   |.  .             |
-                   |.    .           | P
-                   |*  . . *         |
-         |CU  |    -------------------
-         |----|  = |*  . . . *       |
-         |U'AU|    |.          .     |
-                   |.            .   |
-                   |.               *|
-                   |.               .| N
-                   |.               .|
-                   |.               .|
-                   |*  . . . . . .  *|
-
-  if UPLO = 'L'.
-
-  If P &gt;= N, then the matrix CU is trapezoidal and U'AU is full.
-  If P  = 0, but N &gt; 0, the array A is unchanged on exit.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P. and Verhaegen, M.H.G.
-      On the use of unitary state-space transformations.
-      In : Contemporary Mathematics on Linear Algebra and its Role
-      in Systems Theory, 47, AMS, Providence, 1985.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + P) x N**2) operations and is
-  backward stable (see [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDC, LDU, LDWORK
-      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDU = NMAX,
-     $                   LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N, P
-      CHARACTER*1      JOBU, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), U(LDU,NMAX),
-     $                 DWORK(LDWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, JOBU, UPLO
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-            IF ( LSAME( JOBU, 'U' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-*           Reduce the pair (A,C) to observer Hessenberg form.
-            CALL TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
-     $                   DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 60 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   80          CONTINUE
-               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 100 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
-  100             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01ND = ',I2)
-99997 FORMAT (' The transformed state transition matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed output matrix is ')
-99994 FORMAT (/' The transformation matrix that reduces (A,C) to obser',
-     $       'ver Hessenberg form is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01ND EXAMPLE PROGRAM DATA
-   5     3     N     U
-  15.0  21.0  -3.0   3.0   9.0
-  20.0   1.0   2.0   8.0   9.0
-   4.0   1.0   7.0  13.0  14.0
-   5.0   6.0  12.0  13.0  -6.0
-   5.0  11.0  17.0  -7.0  -1.0
-   7.0  -1.0   3.0  -6.0  -3.0
-   4.0   5.0   6.0  -2.0  -3.0
-   9.0   8.0   5.0   2.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01ND EXAMPLE PROGRAM RESULTS
-
- The transformed state transition matrix is 
-   7.1637  -0.9691 -16.5046   0.2869   0.9205
-  -2.3285  11.5431  -8.7471   3.4122  -3.7118
- -10.5440  -7.6032  -0.3215   3.6571  -0.4335
-  -3.6845   5.6449   0.5906 -15.6996  17.4267
-   0.0000  -6.4260   1.5591  14.4317  32.3143
-
- The transformed output matrix is 
-   0.0000   0.0000   7.6585   5.2973  -4.1576
-   0.0000   0.0000   0.0000   5.8305  -7.4837
-   0.0000   0.0000   0.0000   0.0000 -13.2288
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01PD.html b/doc/_build/html/_static/doc/TB01PD.html
deleted file mode 100644
index be87224f..00000000
--- a/doc/_build/html/_static/doc/TB01PD.html
+++ /dev/null
@@ -1,324 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01PD">TB01PD</A></H2>
-<H3>
-Minimal, controllable or observable block Hessenberg realization for a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or minimal) state-
-  space representation (Ar,Br,Cr) for any original state-space
-  representation (A,B,C). The matrix Ar is in upper block
-  Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   NR, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, JOB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'M':  Remove both the uncontrollable and unobservable
-                  parts to get a minimal state-space representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable state-space representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable state-space representation.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily balance
-          the triplet (A,B,C) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.   P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the upper block Hessenberg state dynamics matrix Ar of a
-          minimal, controllable, or observable realization for the
-          original system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the transformed input/state matrix Br of a minimal,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'C', only the first IWORK(1) rows of B are
-          nonzero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cr of a minimal,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'M', or JOB = 'O', only the last IWORK(1) columns
-          (in the first NR columns) of C are nonzero.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced state-space representation
-          (Ar,Br,Cr) of a minimal, controllable, or observable
-          realization for the original system, depending on
-          JOB = 'M', JOB = 'C', or JOB = 'O'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOB = 'M', the matrices A and B are operated on by orthogonal
-  similarity transformations (made up of products of Householder
-  transformations) so as to produce an upper block Hessenberg matrix
-  A1 and a matrix B1 with all but its first rank(B) rows zero; this
-  separates out the controllable part of the original system.
-  Applying the same algorithm to the dual of this subsystem,
-  therefore separates out the controllable and observable (i.e.
-  minimal) part of the original system representation, with the
-  final Ar upper block Hessenberg (after using pertransposition).
-  If JOB = 'C', or JOB = 'O', only the corresponding part of the
-  above procedure is applied.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      The Generalized Eigenstructure Problem in Linear System
-      Theory. (Algorithm 1)
-      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX+MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NR, P
-      CHARACTER        JOB, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TB01PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a minimal ssr for (A,B,C).
-               CALL TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      NR, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01PD = ',I2)
-99997 FORMAT (' The order of the minimal realization = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
-     $       'alization is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
-     $       'zation is ')
-99992 FORMAT (/' The transformed state/output matrix of a minimal real',
-     $       'ization is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01PD EXAMPLE PROGRAM DATA
-   3     1     2     0.0     M     N
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01PD EXAMPLE PROGRAM RESULTS
-
- The order of the minimal realization =  3
-
- The transformed state dynamics matrix of a minimal realization is 
-   1.0000  -1.4142   1.4142
-  -2.8284   0.0000   1.0000
-   2.8284   1.0000   0.0000
-
- The transformed input/state matrix of a minimal realization is 
-  -1.0000
-   0.7071
-   0.7071
-
- The transformed state/output matrix of a minimal realization is 
-   0.0000   0.0000  -1.4142
-   0.0000   0.7071   0.7071
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01PX.html b/doc/_build/html/_static/doc/TB01PX.html
deleted file mode 100644
index 5f52d3f2..00000000
--- a/doc/_build/html/_static/doc/TB01PX.html
+++ /dev/null
@@ -1,370 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01PX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01PX">TB01PX</A></H2>
-<H3>
-Reduced (controllable, observable, or minimal) state-space representation of a standard system (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or minimal) state-
-  space representation (Ar,Br,Cr) for any original state-space
-  representation (A,B,C). The matrix Ar is in an upper block
-  Hessenberg staircase form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, JOB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFRED(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'M':  Remove both the uncontrollable and unobservable
-                  parts to get a minimal state-space representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable state-space representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable state-space representation.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily balance
-          the triplet (A,B,C) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.   P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
-          leading NR-by-NR part of this array contains the upper
-          block Hessenberg state dynamics matrix Ar of a minimal,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-          The block structure of the resulting staircase form is
-          contained in the leading INFRED(4) elements of IWORK.
-          If INFRED(1:2) &lt; 0, then A contains the original matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
-          leading NR-by-M part of this array contains the
-          input/state matrix Br of a minimal, controllable, or
-          observable realization for the original system, depending
-          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
-          respectively. If JOB = 'C', only the first IWORK(1) rows
-          of B are nonzero.
-          If INFRED(1:2) &lt; 0, then B contains the original matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
-          leading P-by-NR part of this array contains the
-          state/output matrix Cr of a minimal, controllable, or
-          observable realization for the original system, depending
-          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
-          respectively. If JOB = 'M', or JOB = 'O', only the last
-          IWORK(1) columns (in the first NR columns) of C are
-          nonzero.
-          If INFRED(1:2) &lt; 0, then C contains the original matrix.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M,P), if N &gt; 0.
-          LDC &gt;= 1,          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced state-space representation
-          (Ar,Br,Cr) of a minimal, controllable, or observable
-          realization for the original system, depending on
-          JOB = 'M', JOB = 'C', or JOB = 'O'.
-
-  INFRED  (output) INTEGER array, dimension 4
-          This array contains information on the performed reduction
-          and on structure of resulting system matrices, as follows:
-          INFRED(k) &gt;= 0 (k = 1 or 2) if Phase k of the reduction
-                         (see METHOD) has been performed. In this
-                         case, INFRED(k) is the achieved order
-                         reduction in Phase k.
-          INFRED(k) &lt; 0  (k = 1 or 2) if Phase k was not performed.
-                         This can also appear when Phase k was
-                         tried, but did not reduce the order, if
-                         enough workspace is provided for saving the
-                         system matrices (see LDWORK description).
-          INFRED(3)  -   the number of nonzero subdiagonals of A.
-          INFRED(4)  -   the number of blocks in the resulting
-                         staircase form at the last performed
-                         reduction phase. The block dimensions are
-                         contained in the first INFRED(4) elements
-                         of IWORK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (c*N+MAX(M,P)), where
-          c = 2, if JOB = 'M', and c = 1, otherwise.
-          On exit, if INFO = 0, the first INFRED(4) elements of
-          IWORK return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= N + MAX(N, 3*M, 3*P).
-          For optimum performance LDWORK should be larger.
-          If LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P) + N*(N+M+P) ),
-          then more accurate results are to be expected by accepting
-          only those reductions phases (see METHOD), where effective
-          order reduction occurs. This is achieved by saving the
-          system matrices before each phase and restoring them if
-          no order reduction took place in that phase.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The order reduction is performed in two phases:
-
-  Phase 1:
-  If JOB = 'M' or 'C', the pair (A,B) is reduced by orthogonal
-  similarity transformations to the controllability staircase form
-  (see [1]) and a controllable realization (Ac,Bc,Cc) is extracted.
-  Ac results in an upper block Hessenberg form.
-
-  Phase 2:
-  If JOB = 'M' or 'O', the same algorithm is applied to the dual
-  of the controllable realization (Ac,Bc,Cc), or to the dual of
-  the original system, respectively, to extract an observable
-  realization (Ar,Br,Cr). If JOB = 'M', the resulting realization
-  is also controllable, and thus minimal.
-  Ar results in an upper block Hessenberg form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      The Generalized Eigenstructure Problem in Linear System
-      Theory. (Algorithm 1)
-      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01PX EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX+MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP +
-     $                   NMAX*( NMAX+MMAX+PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NR, P
-      CHARACTER        JOB, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          INFRED(4), IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TB01PX
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a minimal ssr for (A,B,C).
-               CALL TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 ) ( INFRED(I), I = 1,4 )
-                  IF ( INFRED(4).GT.0 )
-     $               WRITE ( NOUT, FMT = 99991 ) ( IWORK(I),
-     $                                             I = 1,INFRED(4) )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01PX EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01PX = ',I2)
-99997 FORMAT (' The order of the minimal realization = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
-     $       'alization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Information on the performed reduction is ', 4I5)
-99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
-     $       'zation is ')
-99992 FORMAT (/' The transformed state/output matrix of a minimal real',
-     $       'ization is ')
-99991 FORMAT (/' The block dimensions are ',/ 20I5)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01PX EXAMPLE PROGRAM DATA
-   3     1     2     0.0     M     N
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01PX EXAMPLE PROGRAM RESULTS
-
- The order of the minimal realization =  3
-
- The transformed state dynamics matrix of a minimal realization is 
-   1.0000   2.0000   0.0000
-   4.0000  -1.0000   0.0000
-   0.0000   0.0000   1.0000
-
- The transformed input/state matrix of a minimal realization is 
-   1.0000
-   0.0000
-   1.0000
-
- The transformed state/output matrix of a minimal realization is 
-   0.0000   1.0000  -1.0000
-   0.0000   0.0000   1.0000
-
- Information on the performed reduction is    -1   -1    2    0
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01TD.html b/doc/_build/html/_static/doc/TB01TD.html
deleted file mode 100644
index 03317c41..00000000
--- a/doc/_build/html/_static/doc/TB01TD.html
+++ /dev/null
@@ -1,316 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01TD">TB01TD</A></H2>
-<H3>
-Balancing state-space representation by permutations and scalings
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a given state-space representation (A,B,C,D) to
-  balanced form by means of state permutations and state, input and
-  output scalings.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, LOW,
-     $                   IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           IGH, INFO, LDA, LDB, LDC, LDD, LOW, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), SCIN(*), SCOUT(*), SCSTAT(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the original state dynamics matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced state dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the balanced input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the balanced state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original direct transmission matrix D.
-          On exit, the leading P-by-M part of this array contains
-          the scaled direct transmission matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  LOW     (output) INTEGER
-          The index of the lower end of the balanced submatrix of A.
-
-  IGH     (output) INTEGER
-          The index of the upper end of the balanced submatrix of A.
-
-  SCSTAT  (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the information defining the
-          similarity transformations used to permute and balance
-          the state dynamics matrix A, as returned from the LAPACK
-          library routine DGEBAL.
-
-  SCIN    (output) DOUBLE PRECISION array, dimension (M)
-          Contains the scalars used to scale the system inputs so
-          that the columns of the final matrix B have norms roughly
-          equal to the column sums of the balanced matrix A
-          (see FURTHER COMMENTS).
-          The j-th input of the balanced state-space representation
-          is SCIN(j)*(j-th column of the permuted and balanced
-          input/state matrix B).
-
-  SCOUT   (output) DOUBLE PRECISION array, dimension (P)
-          Contains the scalars used to scale the system outputs so
-          that the rows of the final matrix C have norms roughly
-          equal to the row sum of the balanced matrix A.
-          The i-th output of the balanced state-space representation
-          is SCOUT(i)*(i-th row of the permuted and balanced
-          state/ouput matrix C).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Similarity transformations are used to permute the system states
-  and balance the corresponding row and column sum norms of a
-  submatrix of the state dynamics matrix A. These operations are
-  also applied to the input/state matrix B and the system inputs
-  are then scaled (see parameter SCIN) so that the columns of the
-  final matrix B have norms roughly equal to the column sum norm of
-  the balanced matrix A (see FURTHER COMMENTS).
-  The above operations are also applied to the matrix C, and the
-  system outputs are then scaled (see parameter SCOUT) so that the
-  rows of the final matrix C have norms roughly equal to the row sum
-  norm of the balanced matrix A (see FURTHER COMMENTS).
-  Finally, the (I,J)-th element of the direct transmission matrix D
-  is scaled as
-       D(I,J) = D(I,J)*(1.0/SCIN(J))*SCOUT(I), where I = 1,2,...,P
-  and J = 1,2,...,M.
-
-  Scaling performed to balance the row/column sum norms is by
-  integer powers of the machine base so as to avoid introducing
-  rounding errors.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Wilkinson, J.H. and Reinsch, C.
-      Handbook for Automatic Computation, (Vol II, Linear Algebra).
-      Springer-Verlag, 1971, (contribution II/11).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The columns (rows) of the final matrix B (matrix C) have norms
-  'roughly' equal to the column (row) sum norm of the balanced
-  matrix A, i.e.
-     size/BASE &lt; abssum &lt;= size
-  where
-     BASE   = the base of the arithmetic used on the computer, which
-              can be obtained from the LAPACK Library routine
-              DLAMCH;
-
-     size   = column or row sum norm of the balanced matrix A;
-     abssum = column sum norm of the balanced matrix B or row sum
-              norm of the balanced matrix C.
-
-  The routine is BASE dependent.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01TD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, IGH, J, LOW, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(NMAX), SCIN(MMAX),
-     $                 SCOUT(PMAX), SCSTAT(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99989 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Balance the state-space representation (A,B,C,D).
-               CALL TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      LOW, IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) LOW, IGH
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01TD = ',I2)
-99997 FORMAT (' LOW = ',I2,'   IGH = ',I2,/)
-99996 FORMAT (' The balanced state dynamics matrix A is ')
-99995 FORMAT (20(1X,F9.4))
-99994 FORMAT (/' The balanced input/state matrix B is ')
-99993 FORMAT (/' The balanced state/output matrix C is ')
-99992 FORMAT (/' The scaled direct transmission matrix D is ')
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01TD EXAMPLE PROGRAM DATA
-   5     2     2
-   0.0   0.0   1.0   4.0   5.0
-  50.0  10.0   1.0   0.0   0.0
-   0.0   0.0  90.0  10.0   0.0
-   0.0   1.0   1.0   1.0   1.0
- 100.0   0.0   0.0   0.0  70.0
-   0.0   2.0   0.0   1.0   2.0
-   0.0  20.0 100.0   1.0   0.0
-   1.0   0.0   0.0   1.0   0.0
-   1.0   1.0   0.0   2.0   1.0
-   1.0   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01TD EXAMPLE PROGRAM RESULTS
-
- LOW =  1   IGH =  5
-
- The balanced state dynamics matrix A is 
-    0.0000    0.0000    1.0000    4.0000   40.0000
-    6.2500   10.0000    0.1250    0.0000    0.0000
-    0.0000    0.0000   90.0000   10.0000    0.0000
-    0.0000    8.0000    1.0000    1.0000    8.0000
-   12.5000    0.0000    0.0000    0.0000   70.0000
-
- The balanced input/state matrix B is 
-    0.0000    0.0000
-   16.0000    2.5000
-    0.0000  100.0000
-   64.0000    1.0000
-   16.0000    0.0000
-
- The balanced state/output matrix C is 
-   32.0000    0.0000    0.0000   32.0000    0.0000
-    4.0000   32.0000    0.0000    8.0000   32.0000
-
- The scaled direct transmission matrix D is 
- 2048.0000   32.0000
-  256.0000    4.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01UD.html b/doc/_build/html/_static/doc/TB01UD.html
deleted file mode 100644
index 086fac0e..00000000
--- a/doc/_build/html/_static/doc/TB01UD.html
+++ /dev/null
@@ -1,407 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01UD">TB01UD</A></H2>
-<H3>
-Controllable block Hessenberg realization for a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  multi-input system
-
-          dX/dt = A * X + B * U,
-             Y  = C * X,
-
-  where A, B, and C are N-by-N, N-by-M, and P-by-N matrices,
-  respectively, and A and B are reduced by this routine to
-  orthogonal canonical form using (and optionally accumulating)
-  orthogonal similarity transformations, which are also applied
-  to C.  Specifically, the system (A, B, C) is reduced to the
-  triplet (Ac, Bc, Cc), where Ac = Z' * A * Z, Bc = Z' * B,
-  Cc = C * Z,  with
-
-          [ Acont     *    ]         [ Bcont ]
-     Ac = [                ],   Bc = [       ],
-          [   0    Auncont ]         [   0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
-             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
-             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
-     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
-             [  .   .     . .    .     .  ]         [ .  ]
-             [  .   .       .    .     .  ]         [ .  ]
-             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
-
-  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
-  p is the controllability index of the pair.  The size of the
-  block  Auncont is equal to the dimension of the uncontrollable
-  subspace of the pair (A, B).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC, NCONT,
-     $                   INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N,
-     $                  NCONT, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
-     $                  Z(LDZ,*)
-      INTEGER           IWORK(*), NBLK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT part contains the
-          upper block Hessenberg state dynamics matrix Acont in Ac,
-          given by Z' * A * Z, of a controllable realization for
-          the original system. The elements below the first block-
-          subdiagonal are set to zero. The leading N-by-N part
-          contains the matrix Ac.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading NCONT-by-M part of this array
-          contains the transformed input matrix Bcont in Bc, given
-          by Z' * B, with all elements but the first block set to
-          zero. The leading N-by-M part contains the matrix Bc.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix Cc, given by C * Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  INDCON  (output) INTEGER
-          The controllability index of the controllable part of the
-          system representation.
-
-  NBLK    (output) INTEGER array, dimension (N)
-          The leading INDCON elements of this array contain the
-          the orders of the diagonal blocks of Acont.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this
-          array contains the matrix of accumulated orthogonal
-          similarity transformations which reduces the given system
-          to orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N, 3*M, P).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix B is first QR-decomposed and the appropriate orthogonal
-  similarity transformation applied to the matrix A. Leaving the
-  first rank(B) states unchanged, the remaining lower left block
-  of A is then QR-decomposed and the new orthogonal matrix, Q1,
-  is also applied to the right of A to complete the similarity
-  transformation. By continuing in this manner, a completely
-  controllable state-space pair (Acont, Bcont) is found for the
-  given (A, B), where Acont is upper block Hessenberg with each
-  subdiagonal block of full row rank, and Bcont is zero apart from
-  its (independent) first rank(B) rows.
-  All orthogonal transformations determined in this process are also
-  applied to the matrix C, from the right.
-  NOTE that the system controllability indices are easily
-  calculated from the dimensions of the blocks of Acont.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Paige, C.C.
-      Properties of numerical algorithms related to computing
-      controllablity.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
-      Postlethwaite, I.
-      Optimal Pole Assignment Design of Linear Multi-Input Systems.
-      Leicester University, Report 99-11, May 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, INDCON, J, M, N, NCONT, P
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), TAU(NMAX), Z(LDZ,NMAX)
-      INTEGER          IWORK(LIWORK), NBLK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01UD, DORGQR
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a controllable ssr for the given system.
-               CALL TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCONT
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99987 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 ) INDCON
-                  IF ( LSAME( JOBZ, 'F' ) )
-     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                            INFO )
-                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 80 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01UD = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
-     $       'le realization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
-     $       /20(1X,I2))
-99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
-     $       'e realization is ')
-99992 FORMAT (/' The controllability index of the transformed system r',
-     $       'epresentation = ',I2)
-99991 FORMAT (/' The similarity transformation matrix Z is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The transformed output/state matrix C of a controlla',
-     $       'ble realization is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01UD EXAMPLE PROGRAM DATA
-   3     2     2     0.0     I
-  -1.0   0.0   0.0
-  -2.0  -2.0  -2.0
-  -1.0   0.0  -3.0
-   1.0   0.0   0.0
-   0.0   2.0   1.0
-   0.0   2.0   1.0
-   1.0   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01UD EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  2
-
- The transformed state dynamics matrix of a controllable realization is 
-  -3.0000   2.2361
-   0.0000  -1.0000
-
- and the dimensions of its diagonal blocks are 
-  2
-
- The transformed input/state matrix B of a controllable realization is 
-   0.0000  -2.2361
-   1.0000   0.0000
-
- The transformed output/state matrix C of a controllable realization is 
-  -2.2361   0.0000
-   0.0000   1.0000
-
- The controllability index of the transformed system representation =  1
-
- The similarity transformation matrix Z is 
-   0.0000   1.0000   0.0000
-  -0.8944   0.0000  -0.4472
-  -0.4472   0.0000   0.8944
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01UX.html b/doc/_build/html/_static/doc/TB01UX.html
deleted file mode 100644
index 76a4f346..00000000
--- a/doc/_build/html/_static/doc/TB01UX.html
+++ /dev/null
@@ -1,252 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01UX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01UX">TB01UX</A></H2>
-<H3>
-Observable-unobservable decomposition of a standard system 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an orthogonal transformation matrix Z which reduces the
-  N-th order system (A,B,C) to the form
-
-             ( Ano  * )               ( Bno )
-    Z'*A*Z = (        ) ,      Z'*B = (     ) ,
-             ( 0   Ao )               ( Bo  )
-
-       C*Z = ( 0   Co ) ,
-
-  where the NOBSV-th order system (Ao,Bo,Co) is observable.
-  The matrix Ano of order N-NOBSV contains the unobservable
-  eigenvalues of A.
-
-  The pencil ( Ao-lambda*I ) has full column rank NOBSV for all
-             (      Co     )
-  lambda, and is in a staircase form, with
-                  _      _            _      _
-                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
-                ( _      _            _      _      )
-    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,          (1)
-    ( Co )      (  :       :      ... _ :    _ :    )
-                (  0       0      ... A1,2   A1,1   )
-                (                            _      )
-                (  0       0      ... 0      A0,1   )
-        _
-  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
-  (with CTAU(0) = P).
-
-  The orthogonal transformation Z, performed to reduce the system
-  matrices, can be optionally accumulated.
-
-  The reduced order system (Ao,Bo,Co) has the same transfer-function
-  matrix as the original system (A,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01UX( COMPZ, N, M, P, A, LDA, B, LDB, C, LDC, Z, LDZ,
-     $                   NOBSV, NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPZ
-      INTEGER            INFO, LDA, LDB, LDC, LDZ, M, N, NLBLCK, NOBSV,
-     $                   P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            CTAU( * ), IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
-     $                   DWORK( * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the system state vector; also the order
-          of the square matrix A, the number of rows of the matrix B
-          and the number of columns of the matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of system input vector; also the number of
-          columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of system output vector; also the number of
-          rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Z'*A*Z,
-
-                             ( Ano  *  )
-                    Z'*A*Z = (         ) ,
-                             ( 0    Ao )
-
-          where Ao is NOBSV-by-NOBSV and Ano is
-          (N-NOBSV)-by-(N-NOBSV).
-          The matrix ( Ao ) is in the observability staircase
-                     ( Co )
-          form (1).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Z'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0;
-          LDB &gt;= 1        if M = 0 and P = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix
-
-                  C*Z = (  0   Co ) ,
-
-          where Co is P-by-NOBSV.          
-          The matrix ( Ao ) is in the observability staircase
-                     ( Co )
-          form (1).
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0;
-          LDC &gt;= 1          if N = 0.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Z,
-                          i.e., the product of the transformations
-                          applied to A and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I'.
-
-  NOBSV   (output) INTEGER
-          The order of the reduced matrix Ao, and the number of
-          columns of the reduced matrix Co; also, the order of the
-          observable part of the pair (C, A-lambda*I).
-
-  NLBLCK  (output) INTEGER                         _
-          The number k, of full column rank blocks Ai-1,i in the
-          staircase form of the pencil (Ao-lambda*I) (see (1)).
-                                       (     Co    )
-
-  CTAU    (output) INTEGER array, dimension (N)
-          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
-                                        _
-          of the full column rank block Ai-1,i in the staircase
-          form (1).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming the pair (A,C). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P)
-
-  DWORK   DOUBLE PRECISION array, dimension (N+MAX(1, N, 3*P, M))
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the dual of the reduction
-  algorithms of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and C are badly scaled, it is
-  generally recommendable to scale them with the SLICOT routine
-  TB01ID, before calling TG01UX.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01UY.html b/doc/_build/html/_static/doc/TB01UY.html
deleted file mode 100644
index ad46b932..00000000
--- a/doc/_build/html/_static/doc/TB01UY.html
+++ /dev/null
@@ -1,421 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01UY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01UY">TB01UY</A></H2>
-<H3>
-Controllable realization of a standard multi-input system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  multi-input system
-
-          dX/dt = A * X + B1 * U1 + B2 * U2,
-             Y  = C * X,
-
-  where A, B1, B2 and C are N-by-N, N-by-M1, N-by-M2, and P-by-N
-  matrices, respectively, and A and [B1,B2] are reduced by this
-  routine to orthogonal canonical form using (and optionally
-  accumulating) orthogonal similarity transformations, which are
-  also applied to C.  Specifically, the system (A, [B1,B2], C) is
-  reduced to the triplet (Ac, [Bc1,Bc2], Cc), where
-  Ac = Z' * A * Z, [Bc1,Bc2] = Z' * [B1,B2], Cc = C * Z,  with
-
-          [ Acont     *    ]                [ Bcont1, Bcont2 ]
-     Ac = [                ],   [Bc1,Bc1] = [                ],
-          [   0    Auncont ]                [   0        0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
-             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
-             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
-             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
-     Acont = [  .   .   . . .    .      .     .  ],
-             [  .   .     . .    .      .     .  ]
-             [  .   .       .    .      .     .  ]
-             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
-
-                 [ B11 B12 ]
-                 [  0  B22 ]
-                 [  0   0  ]
-                 [  0   0  ]
-     [Bc1,Bc2] = [  .   .  ],
-                 [  .   .  ]
-                 [  .   .  ]
-                 [  0   0  ]
-
-  where the blocks  B11, B22, A31, ..., Ap,p-2  have full row ranks and
-  p is the controllability index of the pair (A,[B1,B2]).  The size of the
-  block  Auncont  is equal to the dimension of the uncontrollable
-  subspace of the pair (A,[B1,B2]).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
-     $                   NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M1,
-     $                  M2, N, NCONT, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
-     $                  Z(LDZ,*)
-      INTEGER           IWORK(*), NBLK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of system inputs in U1, or of columns of B1.
-          M1 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of system inputs in U2, or of columns of B2.
-          M2 &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state dynamics matrix Ac = Z'*A*Z. The
-          leading NCONT-by-NCONT diagonal block of this matrix,
-          Acont, is the state dynamics matrix of a controllable
-          realization for the original system. The elements below
-          the second block-subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,M1+M2)
-          On entry, the leading N-by-(M1+M2) part of this array must
-          contain the compound input matrix B = [B1,B2], where B1 is
-          N-by-M1 and B2 is N-by-M2.
-          On exit, the leading N-by-(M1+M2) part of this array
-          contains the transformed compound input matrix [Bc1,Bc2] =
-          Z'*[B1,B2]. The leading NCONT-by-(M1+M2) part of this
-          array, [Bcont1, Bcont2], is the compound input matrix of
-          a controllable realization for the original system.
-          All elements below the first block-diagonal are set to
-          zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix Cc, given by C * Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  INDCON  (output) INTEGER
-          The controllability index of the controllable part of the
-          system representation.
-
-  NBLK    (output) INTEGER array, dimension (2*N)
-          The leading INDCON elements of this array contain the
-          orders of the diagonal blocks of Acont. INDCON is always
-          an even number, and the INDCON/2 odd and even components
-          of NBLK have decreasing values, respectively.
-          Note that some elements of NBLK can be zero.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this
-          array contains the matrix of accumulated orthogonal
-          similarity transformations which reduces the given system
-          to orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e., set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of the array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (MIN(N,M1+M2))
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of [B1,B2]
-          and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A, [B1,B2]). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M1,M2))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and
-          LDWORK &gt;= MAX(N, 3*MAX(M1,M2), P), if MIN(N,M1+M2) &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm [1] represents a specialization of the
-  controllability staircase algorithm of [2] to the special structure
-  of the input matrix B = [B1,B2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Reliable algorithms for computing minimal dynamic covers.
-      Proc. CDC'2003, Hawaii, 2003.
-
-  [2] Varga, A.
-      Numerically stable algorithm for standard controllability
-      form determination.
-      Electronics Letters, vol. 17, pp. 74-75, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01UY EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, INDCON, J, M, M1, M2, N, NCONT, P
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), TAU(MIN(NMAX,MMAX)), Z(LDZ,NMAX)
-      INTEGER          IWORK(LIWORK), NBLK(2*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DORGQR, TB01UY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M1, M2, P, TOL, JOBZ
-      M = M1 + M2
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a controllable ssr for the given system.
-               CALL TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
-     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCONT
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99987 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 ) INDCON
-                  IF ( LSAME( JOBZ, 'F' ) )
-     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                            INFO )
-                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 80 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01UY EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01UY = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
-     $       'le realization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
-     $       /20(1X,I2))
-99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
-     $       'e realization is ')
-99992 FORMAT (/' The controllability index of the transformed system r',
-     $       'epresentation = ',I2)
-99991 FORMAT (/' The similarity transformation matrix Z is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The transformed output/state matrix C of a controlla',
-     $       'ble realization is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01UY EXAMPLE PROGRAM DATA
-   3     1     1     2     0.0     I
-  -1.0   0.0   0.0
-  -2.0  -2.0  -2.0
-  -1.0   0.0  -3.0
-   1.0   0.0   0.0
-   0.0   2.0   1.0
-   0.0   2.0   1.0
-   1.0   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01UY EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  2
-
- The transformed state dynamics matrix of a controllable realization is 
-  -1.0000   0.0000
-   2.2361  -3.0000
-
- and the dimensions of its diagonal blocks are 
-  1  1
-
- The transformed input/state matrix B of a controllable realization is 
-   1.0000   0.0000
-   0.0000  -2.2361
-
- The transformed output/state matrix C of a controllable realization is 
-   0.0000  -2.2361
-   1.0000   0.0000
-
- The controllability index of the transformed system representation =  2
-
- The similarity transformation matrix Z is 
-   1.0000   0.0000   0.0000
-   0.0000  -0.8944  -0.4472
-   0.0000  -0.4472   0.8944
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01VD.html b/doc/_build/html/_static/doc/TB01VD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/TB01VD.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01VD">TB01VD</A></H2>
-<H3>
-Conversion of a linear discrete-time system into the output normal form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To convert the linear discrete-time system given as (A, B, C, D),
-  with initial state x0, into the output normal form [1], with
-  parameter vector THETA. The matrix A is assumed to be stable.
-  The matrices A, B, C, D and the vector x0 are converted, so that
-  on exit they correspond to the system defined by THETA.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01VD( APPLY, N, M, L, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   X0, THETA, LTHETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         APPLY
-      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
-     $                  N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), THETA(*), X0(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  APPLY   CHARACTER*1
-          Specifies whether or not the parameter vector should be
-          transformed using a bijective mapping, as follows:
-          = 'A' : apply the bijective mapping to the N vectors in
-                  THETA corresponding to the matrices A and C;
-          = 'N' : do not apply the bijective mapping.
-          The transformation performed when APPLY = 'A' allows
-          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
-          A call of the SLICOT Library routine TB01VY associated to
-          a call of TB01VD must use the same value of APPLY.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A, assumed to be stable.
-          On exit, the leading N-by-N part of this array contains
-          the transformed system state matrix corresponding to the
-          output normal form with parameter vector THETA.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed system input matrix corresponding to the
-          output normal form with parameter vector THETA.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading L-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading L-by-N part of this array contains
-          the transformed system output matrix corresponding to the
-          output normal form with parameter vector THETA.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,L).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading L-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,L).
-
-  X0      (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state of the
-          system, x0.
-          On exit, this array contains the transformed initial state
-          of the system, corresponding to the output normal form
-          with parameter vector THETA.
-
-  THETA   (output) DOUBLE PRECISION array, dimension (LTHETA)
-          The leading N*(L+M+1)+L*M part of this array contains the
-          parameter vector that defines a system (A, B, C, D, x0)
-          which is equivalent up to a similarity transformation to
-          the system given on entry. The parameters are:
-
-          THETA(1:N*L)                      : parameters for A, C;
-          THETA(N*L+1:N*(L+M))              : parameters for B;
-          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
-          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
-
-  LTHETA  INTEGER
-          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*N*L + N*L + N,
-                        N*N + MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
-                                  N*M)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation A'*Q*A - Q = -scale^2*C'*C
-                could only be solved with scale = 0;
-          = 2:  if matrix A is not discrete-time stable;
-          = 3:  if the QR algorithm failed to converge for
-                matrix A.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices A and C are converted to output normal form.
-  First, the Lyapunov equation
-
-     A'*Q*A - Q = -scale^2*C'*C,
-
-  is solved in the Cholesky factor T, T'*T = Q, and then T is used
-  to get the transformation matrix.
-
-  The matrix B and the initial state x0 are transformed accordingly.
-
-  Then, the QR factorization of the transposed observability matrix
-  is computed, and the matrix Q is used to further transform the
-  system matrices. The parameters characterizing A and C are finally
-  obtained by applying a set of N orthogonal transformations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Peeters, R.L.M., Hanzon, B., and Olivi, M.
-      Balanced realizations of discrete-time stable all-pass
-      systems and the tangential Schur algorithm.
-      Proceedings of the European Control Conference,
-      31 August - 3 September 1999, Karlsruhe, Germany.
-      Session CP-6, Discrete-time Systems, 1999.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01VY.html b/doc/_build/html/_static/doc/TB01VY.html
deleted file mode 100644
index e44b2a84..00000000
--- a/doc/_build/html/_static/doc/TB01VY.html
+++ /dev/null
@@ -1,164 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01VY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01VY">TB01VY</A></H2>
-<H3>
-Conversion of the output normal form to a state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To convert the linear discrete-time system given as its output
-  normal form [1], with parameter vector THETA, into the state-space
-  representation (A, B, C, D), with the initial state x0.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01VY( APPLY, N, M, L, THETA, LTHETA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, X0, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         APPLY
-      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
-     $                  N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), THETA(*), X0(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  APPLY   CHARACTER*1
-          Specifies whether or not the parameter vector should be
-          transformed using a bijective mapping, as follows:
-          = 'A' : apply the bijective mapping to the N vectors in
-                  THETA corresponding to the matrices A and C;
-          = 'N' : do not apply the bijective mapping.
-          The transformation performed when APPLY = 'A' allows
-          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
-          A call of the SLICOT Library routine TB01VD associated to
-          a call of TB01VY must use the same value of APPLY.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0.
-
-  THETA   (input) DOUBLE PRECISION array, dimension (LTHETA)
-          The leading N*(L+M+1)+L*M part of this array must contain
-          the parameter vector that defines a system (A, B, C, D),
-          with the initial state x0. The parameters are:
-
-          THETA(1:N*L)                      : parameters for A, C;
-          THETA(N*L+1:N*(L+M))              : parameters for B;
-          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
-          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
-
-  LTHETA  INTEGER
-          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the system
-          state matrix corresponding to the output normal form with
-          parameter vector THETA.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the system
-          input matrix corresponding to the output normal form with
-          parameter vector THETA.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array contains the system
-          output matrix corresponding to the output normal form with
-          parameter vector THETA.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,L).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading L-by-M part of this array contains the system
-          input/output matrix corresponding to the output normal
-          form with parameter vector THETA.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,L).
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the initial state of the system, x0,
-          corresponding to the output normal form with parameter
-          vector THETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= N*(N+L+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The parameters characterizing A and C are used to build N
-  orthogonal transformations, which are then applied to recover
-  these matrices.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01WD.html b/doc/_build/html/_static/doc/TB01WD.html
deleted file mode 100644
index 8db2fc6d..00000000
--- a/doc/_build/html/_static/doc/TB01WD.html
+++ /dev/null
@@ -1,297 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01WD">TB01WD</A></H2>
-<H3>
-Orthogonal similarity transformation of system state-matrix to real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the system state matrix A to an upper real Schur form
-  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
-  to apply the transformation to the matrices B and C: B &lt;-- U'*B
-  and C &lt;-- C*U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                   WR, WI, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
-     $                 WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix U' * A * U in real Schur form. The elements
-          below the first subdiagonal are set to zero.
-          Note:  A matrix is in real Schur form if it is upper
-                 quasi-triangular with 1-by-1 and 2-by-2 blocks.
-                 2-by-2 blocks are standardized in the form
-                          [  a  b  ]
-                          [  c  a  ]
-                 where b*c &lt; 0. The eigenvalues of such a block
-                 are a +- sqrt(bc).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix used to reduce A to the
-          real Schur form. The columns of U are the Schur vectors of
-          matrix A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues of A. The
-          eigenvalues will be in the same order that they appear on
-          the diagonal of the output real Schur form of A. Complex
-          conjugate pairs of eigenvalues will appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.  LWORK &gt;= 3*N.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute
-                all the eigenvalues; elements i+1:N of WR and WI
-                contain those eigenvalues which have converged;
-                U contains the matrix which reduces A to its
-                partially converged Schur form.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is reduced to a real Schur form using an orthogonal
-  similarity transformation A &lt;- U'*A*U. Then, the transformation
-  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 10N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01WD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01WD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                      WR, WI, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01WD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01WD = ',I2)
-99997 FORMAT (' The eigenvalues of state dynamics matrix A are ')
-99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix U''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01WD EXAMPLE PROGRAM DATA (Continuous system)
-  5  2   3    
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01WD EXAMPLE PROGRAM RESULTS
-
- The eigenvalues of state dynamics matrix A are 
- ( -0.7483,   2.9940 )
- ( -0.7483,  -2.9940 )
- ( -1.6858,   2.0311 )
- ( -1.6858,  -2.0311 )
- ( -1.8751,   0.0000 )
-
- The transformed state dynamics matrix U'*A*U is 
-  -0.7483  -8.6406   0.0000   0.0000   1.1745
-   1.0374  -0.7483   0.0000   0.0000  -2.1164
-   0.0000   0.0000  -1.6858   5.5669   0.0000
-   0.0000   0.0000  -0.7411  -1.6858   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8751
-
- The transformed input/state matrix U'*B is 
-  -0.5543   0.5543
-  -1.6786   1.6786
-  -0.8621  -0.8621
-   2.1912   2.1912
-  -1.5555   1.5555
-
- The transformed state/output matrix C*U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-
- The similarity transformation matrix U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-   0.1665   0.5041  -0.2589   0.6580   0.4671
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01WX.html b/doc/_build/html/_static/doc/TB01WX.html
deleted file mode 100644
index b1dfe99a..00000000
--- a/doc/_build/html/_static/doc/TB01WX.html
+++ /dev/null
@@ -1,290 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01WX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01WX">TB01WX</A></H2>
-<H3>
-Orthogonal similarity transformation of a standard system to one with state matrix in a Hessenberg form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the system state matrix A to an upper Hessenberg form
-  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
-  to apply the transformation to the matrices B and C: B &lt;-- U'*B
-  and C &lt;-- C*U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        COMPU
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPU   CHARACTER*1
-          = 'N':  do not compute U;
-          = 'I':  U is initialized to the unit matrix, and the
-                  orthogonal matrix U is returned;
-          = 'U':  U must contain an orthogonal matrix U1 on entry,
-                  and the product U1*U is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix U' * A * U in Hessenberg form. The elements
-          below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if COMPU = 'U', the leading N-by-N part of this
-          array must contain the given matrix U1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          to reduce A to the Hessenberg form (U1*U if COMPU = 'U').
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if COMPU =  'N';
-          LDU &gt;= max(1,N), if COMPU &lt;&gt; 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= N - 1 + MAX(N,M,P).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is reduced to the Hessenberg form using an orthogonal
-  similarity transformation A &lt;- U'*A*U. Then, the transformation
-  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                 3      2
-  The algorithm requires about 5N /3 + N (M+P) floating point
-                                           3
-  operations, if COMPU = 'N'. Otherwise, 2N /3 additional operations
-  are needed.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01WX EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX - 1 + MAX( NMAX, MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        COMPU
-      INTEGER          I, INFO, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01WX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, COMPU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U,
-     $                      LDU, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01WX EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01WX = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix U''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01WX EXAMPLE PROGRAM DATA (Continuous system)
-  5  2   3     I    
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01WX EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix U'*A*U is 
-  -0.0416  -6.3778   1.4826  -1.9856   1.2630
-   1.4911  -2.8851  -0.4353   0.8984  -0.5714
-   0.0000  -2.1254   1.6804  -4.9686  -1.7731
-   0.0000   0.0000   2.1880  -3.3545  -2.6069
-   0.0000   0.0000   0.0000   0.7554  -2.1424
-
- The transformed input/state matrix U'*B is 
-   0.0000   0.0000
-  -3.0996   0.0000
-  -0.6488   0.0000
-   0.8689   1.7872
-  -0.5527   2.8098
-
- The transformed state/output matrix C*U is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.3655  -0.4962   0.6645  -0.4227
-   0.0000   0.0000  -0.8461  -0.4498   0.2861
-
- The similarity transformation matrix U is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.9308  -0.1948   0.2609  -0.1660
-   0.0000   0.3655  -0.4962   0.6645  -0.4227
-   0.0000   0.0000  -0.8461  -0.4498   0.2861
-   0.0000   0.0000   0.0000   0.5367   0.8438
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01XD.html b/doc/_build/html/_static/doc/TB01XD.html
deleted file mode 100644
index d8aa2c03..00000000
--- a/doc/_build/html/_static/doc/TB01XD.html
+++ /dev/null
@@ -1,168 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01XD">TB01XD</A></H2>
-<H3>
-Special similarity transformation of the dual state-space system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a special transformation to a system given as a triple
-  (A,B,C),
-
-     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
-
-  where P is a matrix with 1 on the secondary diagonal, and with 0
-  in the other entries. Matrix A can be specified as a band matrix.
-  Optionally, matrix D of the system can be transposed. This
-  transformation is actually a special similarity transformation of
-  the dual system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01XD( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBD
-      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed (pertransposed) matrix P*A'*P.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-P part of this array contains
-          the dual input/state matrix P*C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
-          LDB &gt;= 1        if M = 0 and P = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the dual state/output matrix B'*P.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (LDD,MAX(M,P))
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the original direct transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading M-by-P part of this
-          array contains the transposed direct transmission matrix
-          D'. The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
-          LDD &gt;= 1          if JOBD = 'Z'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The rows and/or columns of the matrices of the triplet (A,B,C)
-  and, optionally, of the matrix D are swapped in a special way.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01XZ.html b/doc/_build/html/_static/doc/TB01XZ.html
deleted file mode 100644
index ba8534dd..00000000
--- a/doc/_build/html/_static/doc/TB01XZ.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01XZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01XZ">TB01XZ</A></H2>
-<H3>
-Special similarity transformation of the dual state-space system (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a special transformation to a system given as a triple
-  (A,B,C),
-
-     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
-
-  where P is a matrix with 1 on the secondary diagonal, and with 0
-  in the other entries. Matrix A can be specified as a band matrix.
-  Optionally, matrix D of the system can be transposed. This
-  transformation is actually a special similarity transformation of
-  the dual system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01XZ( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBD
-      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed (pertransposed) matrix P*A'*P.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-P part of this array contains
-          the dual input/state matrix P*C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
-          LDB &gt;= 1        if M = 0 and P = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the dual state/output matrix B'*P.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD,MAX(M,P))
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the original direct transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading M-by-P part of this
-          array contains the transposed direct transmission matrix
-          D'. The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
-          LDD &gt;= 1          if JOBD = 'Z'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The rows and/or columns of the matrices of the triplet (A,B,C)
-  and, optionally, of the matrix D are swapped in a special way.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01YD.html b/doc/_build/html/_static/doc/TB01YD.html
deleted file mode 100644
index 39fc712e..00000000
--- a/doc/_build/html/_static/doc/TB01YD.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01YD">TB01YD</A></H2>
-<H3>
-Special similarity transformation of a state-space system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a special similarity transformation to a system given as
-  a triple (A,B,C),
-
-     A &lt;-- P * A * P,  B &lt;-- P * B,  C &lt;-- C * P,
-
-  where P is a matrix with 1 on the secondary diagonal, and with 0
-  in the other entries.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01YD( N, M, P, A, LDA, B, LDB, C, LDC, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed matrix P*A*P.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed matrix P*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0.
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*P.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The rows and/or columns of the matrices of the triplet (A,B,C)
-  are swapped in a special way.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB01ZD.html b/doc/_build/html/_static/doc/TB01ZD.html
deleted file mode 100644
index 7563f17a..00000000
--- a/doc/_build/html/_static/doc/TB01ZD.html
+++ /dev/null
@@ -1,335 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01ZD">TB01ZD</A></H2>
-<H3>
-Controllable realization for single-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  single-input system
-
-          dX/dt = A * X + B * U,
-             Y  = C * X,
-
-  where A is an N-by-N matrix, B is an N element vector, C is an
-  P-by-N matrix, and A and B are reduced by this routine to
-  orthogonal canonical form using (and optionally accumulating)
-  orthogonal similarity transformations, which are also applied
-  to C.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
-     $                   TAU, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INFO, LDA, LDC, LDWORK, LDZ, N, NCONT, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), C(LDC,*), DWORK(*), TAU(*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT upper Hessenberg
-          part of this array contains the canonical form of the
-          state dynamics matrix, given by Z' * A * Z, of a
-          controllable realization for the original system. The
-          elements below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, the original input/state vector B.
-          On exit, the leading NCONT elements of this array contain
-          canonical form of the input/state vector, given by Z' * B,
-          with all elements but B(1) set to zero.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output/state matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output/state matrix, given by C * Z, and
-          the leading P-by-NCONT part contains the output/state
-          matrix of the controllable realization.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this array
-          contains the matrix of accumulated orthogonal similarity
-          transformations which reduces the given system to
-          orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of (A,B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as an absolute tolerance;
-          elements with absolute value less than TOL are considered
-          neglijible. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by
-          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,N,P).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder matrix which reduces all but the first element
-  of vector B to zero is found and this orthogonal similarity
-  transformation is applied to the matrix A. The resulting A is then
-  reduced to upper Hessenberg form by a sequence of Householder
-  transformations. Finally, the order of the controllable state-
-  space representation (NCONT) is determined by finding the position
-  of the first sub-diagonal element of A which is below an
-  appropriate zero threshold, either TOL or TOLDEF (see parameter
-  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
-  zero, and no computations for reducing the system to orthogonal
-  canonical form are performed.
-  All orthogonal transformations determined in this process are also
-  applied to the matrix C, from the right.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Hammarling, S.J.
-      Notes on the use of orthogonal similarity transformations in
-      control.
-      NPL Report DITC 8/82, August 1982.
-
-  [3] Paige, C.C
-      Properties of numerical algorithms related to computing
-      controllability.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01ZD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, N, NCONT, P
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 TAU(NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01ZD, DORGQR
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*           Find a controllable realization for the given system.
-            CALL TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
-     $                   TAU, TOL, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NCONT
-               DO 20 I = 1, NCONT
-                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
-               WRITE ( NOUT, FMT = 99991 )
-               DO 30 I = 1, P
-                  WRITE ( NOUT, FMT = 99994 ) ( C(I,J), J = 1,NCONT )
-   30          CONTINUE
-               IF ( LSAME( JOBZ, 'F' ) )
-     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                         INFO )
-               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01ZD = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
-     $       'ble realization is ')
-99996 FORMAT (/' The input/state vector B of a controllable realizatio',
-     $       'n is ',/(1X,F8.4))
-99995 FORMAT (/' The similarity transformation matrix Z is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' The output/state matrix C of a controllable realizati',
-     $       'on is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01ZD EXAMPLE PROGRAM DATA
-   3     2     0.0     I
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   2.0   1.0
-   1.0   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01ZD EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  3
-
- The state dynamics matrix A of a controllable realization is 
-   1.0000   1.4142   0.0000
-   2.8284  -1.0000   2.8284
-   0.0000   1.4142   1.0000
-
- The input/state vector B of a controllable realization is 
-  -1.4142
-   0.0000
-   0.0000
-
- The output/state matrix C of a controllable realization is 
-  -0.7071  -2.0000   0.7071
-  -0.7071   0.0000  -0.7071
-
- The similarity transformation matrix Z is 
-  -0.7071   0.0000  -0.7071
-   0.0000  -1.0000   0.0000
-  -0.7071   0.0000   0.7071
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB03AD.html b/doc/_build/html/_static/doc/TB03AD.html
deleted file mode 100644
index 91ba6f3c..00000000
--- a/doc/_build/html/_static/doc/TB03AD.html
+++ /dev/null
@@ -1,499 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB03AD">TB03AD</A></H2>
-<H3>
-Left/right polynomial matrix representation of a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a relatively prime left polynomial matrix representation
-  inv(P(s))*Q(s) or right polynomial matrix representation
-  Q(s)*inv(P(s)) with the same transfer matrix T(s) as that of a
-  given state-space representation, i.e.
-
-     inv(P(s))*Q(s) = Q(s)*inv(P(s)) = T(s) = C*inv(s*I-A)*B + D.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, NR, INDEX, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1, LDVCO2,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, LERI
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
-     $                  LDQCO1, LDQCO2, LDVCO1, LDVCO2, LDWORK, M, N,
-     $                  NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether the left polynomial matrix
-          representation or the right polynomial matrix
-          representation is required as follows:
-          = 'L':  A left matrix fraction is required;
-          = 'R':  A right matrix fraction is required.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the triplet
-          (A,B,C), before computing a minimal state-space
-          representation, as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the original state dynamics matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the upper block Hessenberg state dynamics matrix Amin of a
-          minimal realization for the original system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; the remainder
-          of the leading N-by-MAX(M,P) part is used as internal
-          workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the transformed input/state matrix Bmin.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; the remainder
-          of the leading MAX(M,P)-by-N part is used as internal
-          workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cmin.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array must contain the
-          original direct transmission matrix D; the remainder of
-          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
-          workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  NR      (output) INTEGER
-          The order of the minimal state-space representation
-          (Amin,Bmin,Cmin).
-
-  INDEX   (output) INTEGER array, dimension (P), if LERI = 'L', or
-                                  dimension (M), if LERI = 'R'.
-          If LERI = 'L', INDEX(I), I = 1,2,...,P, contains the
-          maximum degree of the polynomials in the I-th row of the
-          denominator matrix P(s) of the left polynomial matrix
-          representation.
-          These elements are ordered so that
-          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(P).
-          If LERI = 'R', INDEX(I), I = 1,2,...,M, contains the
-          maximum degree of the polynomials in the I-th column of
-          the denominator matrix P(s) of the right polynomial
-          matrix representation.
-          These elements are ordered so that
-          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(M).
-
-  PCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,N+1)
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          The leading porm-by-porm-by-kpcoef part of this array
-          contains the coefficients of the denominator matrix P(s),
-          where kpcoef = MAX(INDEX(I)) + 1.
-          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
-          LERI = 'L' then iorj = I, otherwise iorj = J.
-          Thus for LERI = 'L', P(s) =
-          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P), if LERI = 'L';
-          LDPCO1 &gt;= MAX(1,M), if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P), if LERI = 'L';
-          LDPCO2 &gt;= MAX(1,M), if LERI = 'R'.
-
-  QCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,N+1)
-          If LERI = 'L' then porp = M, otherwise porp = P.
-          If LERI = 'L', the leading porm-by-porp-by-kpcoef part
-          of this array contains the coefficients of the numerator
-          matrix Q(s).
-          If LERI = 'R', the leading porp-by-porm-by-kpcoef part
-          of this array contains the coefficients of the numerator
-          matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,P),   if LERI = 'L';
-          LDQCO1 &gt;= MAX(1,M,P), if LERI = 'R'.
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M),   if LERI = 'L';
-          LDQCO2 &gt;= MAX(1,M,P), if LERI = 'R'.
-
-  VCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDVCO1,LDVCO2,N+1)
-          The leading porm-by-NR-by-kpcoef part of this array
-          contains the coefficients of the intermediate matrix V(s).
-          VCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-
-  LDVCO1  INTEGER
-          The leading dimension of array VCOEFF.
-          LDVCO1 &gt;= MAX(1,P), if LERI = 'L';
-          LDVCO1 &gt;= MAX(1,M), if LERI = 'R'.
-
-  LDVCO2  INTEGER
-          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
-          where  PM = P, if LERI = 'L';
-                 PM = M, if LERI = 'R'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if a singular matrix was encountered during the
-                computation of V(s);
-          = 2:  if a singular matrix was encountered during the
-                computation of P(s).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for a left matrix fraction will be described here:
-  right matrix fractions are dealt with by constructing a left
-  fraction for the dual of the original system. The first step is to
-  obtain, by means of orthogonal similarity transformations, a
-  minimal state-space representation (Amin,Bmin,Cmin,D) for the
-  original system (A,B,C,D), where Amin is lower block Hessenberg
-  with all its superdiagonal blocks upper triangular and Cmin has
-  all but its first rank(C) columns zero.  The number and dimensions
-  of the blocks of Amin now immediately yield the row degrees of
-  P(s) with P(s) row proper: furthermore, the P-by-NR polynomial
-  matrix V(s) (playing a similar role to S(s) in Wolovich's
-  Structure Theorem) can be calculated a column block at a time, in
-  reverse order, from Amin. P(s) is then found as if it were the
-  O-th column block of V(s) (using Cmin as well as Amin), while
-  Q(s) = (V(s) * Bmin) + (P(s) * D). Finally, a special similarity
-  transformation is used to put Amin in an upper block Hessenberg
-  form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Williams, T.W.C.
-      An Orthogonal Structure Theorem for Linear Systems.
-      Kingston Polytechnic Control Systems Research Group,
-      Internal Report 82/2, July 1982.
-
-  [2] Patel, R.V.
-      On Computing Matrix Fraction Descriptions and Canonical
-      Forms of Linear Time-Invariant Systems.
-      UMIST Control Systems Centre Report 489, 1980.
-      (Algorithms 1 and 2, extensively modified).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDPCO1, LDPCO2, LDQCO1,
-     $                 LDQCO2, LDVCO1, LDVCO2, NMAXP1
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP, LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP, LDVCO1 = MAXMP,
-     $                   LDVCO2 = NMAX, NMAXP1 = NMAX+1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
-     $                                 MAXMP*( MAXMP + 2 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INDBLK, INFO, J, K, KPCOEF, M, N, NR, P, PORM,
-     $                 PORP
-      CHARACTER*1      EQUIL, LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DWORK(LDWORK),
-     $                 PCOEFF(LDPCO1,LDPCO2,NMAXP1),
-     $                 QCOEFF(LDQCO1,LDQCO2,NMAXP1),
-     $                 VCOEFF(LDVCO1,LDVCO2,NMAXP1)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, LERI, EQUIL
-      LLERI = LSAME( LERI, 'L' )
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99986 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99985 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the right pmr which is equivalent to the ssr
-*              C*inv(sI-A)*B+D.
-               CALL TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C,
-     $                      LDC, D, LDD, NR, INDEX, PCOEFF, LDPCO1,
-     $                      LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF,
-     $                      LDVCO1, LDVCO2, TOL, IWORK, DWORK, LDWORK,
-     $                      INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  INDBLK = 0
-                  DO 40 I = 1, N
-                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 ) ( IWORK(I), I = 1,INDBLK )
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 60 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80             CONTINUE
-                  IF ( LLERI ) THEN
-                     PORM = P
-                     PORP = M
-                     WRITE ( NOUT, FMT = 99992 ) INDBLK
-                  ELSE
-                     PORM = M
-                     PORP = P
-                     WRITE ( NOUT, FMT = 99991 ) INDBLK
-                  END IF
-                  WRITE ( NOUT, FMT = 99990 ) ( INDEX(I), I = 1,PORM )
-                  KPCOEF = 0
-                  DO 100 I = 1, PORM
-                     KPCOEF = MAX( KPCOEF, INDEX(I) )
-  100             CONTINUE
-                  KPCOEF = KPCOEF + 1
-                  WRITE ( NOUT, FMT = 99989 )
-                  DO 140 I = 1, PORM
-                     DO 120 J = 1, PORM
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( PCOEFF(I,J,K), K = 1,KPCOEF )
-  120                CONTINUE
-  140             CONTINUE
-                  WRITE ( NOUT, FMT = 99988 )
-                  IF ( LLERI ) THEN
-                     DO 180 I = 1, PORM
-                        DO 160 J = 1, PORP
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
-  160                   CONTINUE
-  180                CONTINUE
-                  ELSE
-                     DO 220 I = 1, PORP
-                        DO 200 J = 1, PORM
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
-  200                   CONTINUE
-  220                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB03AD = ',I2)
-99997 FORMAT (' The order of the minimal state-space representation = ',
-     $       I2,//' The transformed state dynamics matrix of a minimal',
-     $       ' realization is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' and the dimensions of its diagonal blocks are ',/20(I5)
-     $       )
-99994 FORMAT (/' The transformed input/state matrix of a minimal reali',
-     $       'zation is ')
-99993 FORMAT (/' The transformed state/output matrix of a minimal real',
-     $       'ization is ')
-99992 FORMAT (/' The observability index of the transformed minimal sy',
-     $       'stem representation = ',I2)
-99991 FORMAT (/' The controllability index of the transformed minimal ',
-     $       'system representation = ',I2)
-99990 FORMAT (/' INDEX is ',/20(I5))
-99989 FORMAT (/' The denominator matrix P(s) is ')
-99988 FORMAT (/' The numerator matrix Q(s) is ')
-99987 FORMAT (/' N is out of range.',/' N = ',I5)
-99986 FORMAT (/' M is out of range.',/' M = ',I5)
-99985 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB03AD EXAMPLE PROGRAM DATA
-   3     1     2     0.0     R     N
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB03AD EXAMPLE PROGRAM RESULTS
-
- The order of the minimal state-space representation =  3
-
- The transformed state dynamics matrix of a minimal realization is 
-   1.0000  -1.4142   0.0000
-  -2.8284  -1.0000   2.8284
-   0.0000   1.4142   1.0000
-
- and the dimensions of its diagonal blocks are 
-    1    1    1
-
- The transformed input/state matrix of a minimal realization is 
-  -1.4142
-   0.0000
-   0.0000
-
- The transformed state/output matrix of a minimal realization is 
-   0.7071   1.0000   0.7071
-  -0.7071   0.0000  -0.7071
-
- The controllability index of the transformed minimal system representation =  3
-
- INDEX is 
-    3
-
- The denominator matrix P(s) is 
-   0.1768  -0.1768  -1.5910   1.5910
-
- The numerator matrix Q(s) is 
-   0.0000  -0.1768   0.7071   0.8839
-   0.1768   0.0000  -1.5910   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB04AD.html b/doc/_build/html/_static/doc/TB04AD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,462 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04AD">TB04AD</A></H2>
-<H3>
-Transfer matrix of a given state-space representation (A,B,C,D)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the transfer matrix T(s) of a given state-space
-  representation (A,B,C,D). T(s) is expressed as either row or
-  column polynomial vectors over monic least common denominator
-  polynomials.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF, LDUCO1,
-     $                   LDUCO2, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ROWCOL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
-     $                  LDUCO2, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DCOEFF(LDDCOE,*), DWORK(*),
-     $                  UCOEFF(LDUCO1,LDUCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ROWCOL  CHARACTER*1
-          Indicates whether the transfer matrix T(s) is required
-          as rows or columns over common denominators as follows:
-          = 'R':  T(s) is required as rows over common denominators;
-          = 'C':  T(s) is required as columns over common
-                  denominators.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the original state dynamics matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the upper block Hessenberg state dynamics matrix A of a
-          transformed representation for the original system: this
-          is completely controllable if ROWCOL = 'R', or completely
-          observable if ROWCOL = 'C'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if ROWCOL = 'R', and (LDB,MAX(M,P)) if ROWCOL = 'C'.
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; if
-          ROWCOL = 'C', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the transformed input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; if
-          ROWCOL = 'C', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDC &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M),
-          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
-          The leading P-by-M part of this array must contain the
-          original direct transmission matrix D; if ROWCOL = 'C',
-          this array is modified internally, but restored on exit,
-          and the remainder of the leading MAX(M,P)-by-MAX(M,P)
-          part is used as internal workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  NR      (output) INTEGER
-          The order of the transformed state-space representation.
-
-  INDEX   (output) INTEGER array, dimension (porm), where porm = P,
-          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
-          The degrees of the denominator polynomials.
-
-  DCOEFF  (output) DOUBLE PRECISION array, dimension (LDDCOE,N+1)
-          The leading porm-by-kdcoef part of this array contains
-          the coefficients of each denominator polynomial, where
-          kdcoef = MAX(INDEX(I)) + 1.
-          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of
-          the I-th denominator polynomial, where K = 1,2,...,kdcoef.
-
-  LDDCOE  INTEGER
-          The leading dimension of array DCOEFF.
-          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
-          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
-
-  UCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDUCO1,LDUCO2,N+1)
-          If ROWCOL = 'R' then porp = M, otherwise porp = P.
-          The leading porm-by-porp-by-kdcoef part of this array
-          contains the coefficients of the numerator matrix U(s).
-          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
-          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
-          Thus for ROWCOL = 'R', U(s) =
-          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
-
-  LDUCO1  INTEGER
-          The leading dimension of array UCOEFF.
-          LDUCO1 &gt;= MAX(1,P) if ROWCOL = 'R';
-          LDUCO1 &gt;= MAX(1,M) if ROWCOL = 'C'.
-
-  LDUCO2  INTEGER
-          The second dimension of array UCOEFF.
-          LDUCO2 &gt;= MAX(1,M) if ROWCOL = 'R';
-          LDUCO2 &gt;= MAX(1,P) if ROWCOL = 'C'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          The tolerance to be used in determining the i-th row of
-          T(s), where i = 1,2,...,porm. If the user sets TOL1 &gt; 0,
-          then the given value of TOL1 is used as an absolute
-          tolerance; elements with absolute value less than TOL1 are
-          considered neglijible. If the user sets TOL1 &lt;= 0, then
-          an implicitly computed, default tolerance, defined in
-          the SLICOT Library routine TB01ZD, is used instead.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance to be used to separate out a controllable
-          subsystem of (A,B,C). If the user sets TOL2 &gt; 0, then
-          the given value of TOL2 is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL2 is considered to be of full rank.  If the user sets
-          TOL2 &lt;= 0, then an implicitly computed, default tolerance,
-          defined in the SLICOT Library routine TB01UD, is used
-          instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N + 1) + MAX(N*MP + 2*N + MAX(N,MP),
-                                    3*MP, PM)),
-          where MP = M, PM = P, if ROWCOL = 'R';
-                MP = P, PM = M, if ROWCOL = 'C'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for transfer matrices factorized by rows will be
-  described here: T(s) factorized by columns is dealt with by
-  operating on the dual of the original system.  Each row of
-  T(s) is simply a single-output relatively left prime polynomial
-  matrix representation, so can be calculated by applying a
-  simplified version of the Orthogonal Structure Theorem to a
-  minimal state-space representation for the corresponding row of
-  the given system. A minimal state-space representation is obtained
-  using the Orthogonal Canonical Form to first separate out a
-  completely controllable one for the overall system and then, for
-  each row in turn, applying it again to the resulting dual SIMO
-  (single-input multi-output) system. Note that the elements of the
-  transformed matrix A so calculated are individually scaled in a
-  way which guarantees a monic denominator polynomial.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Williams, T.W.C.
-      An Orthogonal Structure Theorem for Linear Systems.
-      Control Systems Research Group, Kingston Polytechnic,
-      Internal Report 82/2, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDUCO1, LDUCO2,
-     $                 NMAXP1
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP, LDDCOE = MAXMP, LDUCO1 = MAXMP,
-     $                   LDUCO2 = MAXMP, NMAXP1 = NMAX+1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX + 1 ) +
-     $                            MAX( NMAX*MAXMP + 2*NMAX +
-     $                                 MAX( NMAX, MAXMP ), 3*MAXMP ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL1, TOL2
-      INTEGER          I, II, IJ, INDBLK, INFO, J, JJ, KDCOEF, M, N,
-     $                 NR, P, PORM, PORP
-      CHARACTER*1      ROWCOL
-      CHARACTER*132    ULINE
-      LOGICAL          LROWCO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,NMAXP1),
-     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,NMAXP1)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB04AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL1, TOL2, ROWCOL
-      LROWCO = LSAME( ROWCOL, 'R' )
-      ULINE(1:20) = ' '
-      DO 20 I = 21, 132
-         ULINE(I:I) = '-'
-   20 CONTINUE
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99985 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99984 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the transfer matrix T(s) of (A,B,C,D).
-               CALL TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF,
-     $                      LDUCO1, LDUCO2, TOL1, TOL2, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80             CONTINUE
-                  INDBLK = 0
-                  DO 100 I = 1, N
-                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-  100             CONTINUE
-                  IF ( LROWCO ) THEN
-                     PORM = P
-                     PORP = M
-                     WRITE ( NOUT, FMT = 99993 ) INDBLK,
-     $                          ( IWORK(I), I = 1,INDBLK )
-                  ELSE
-                     PORM = M
-                     PORP = P
-                     WRITE ( NOUT, FMT = 99992 ) INDBLK,
-     $                          ( IWORK(I), I = 1,INDBLK )
-                  END IF
-                  WRITE ( NOUT, FMT = 99991 ) ( INDEX(I), I = 1,PORM )
-                  WRITE ( NOUT, FMT = 99990 )
-                  KDCOEF = 0
-                  DO 120 I = 1, PORM
-                     KDCOEF = MAX( KDCOEF, INDEX(I) )
-  120             CONTINUE
-                  KDCOEF = KDCOEF + 1
-                  DO 160 II = 1, PORM
-                     DO 140 JJ = 1, PORP
-                        WRITE ( NOUT, FMT = 99989 ) II, JJ,
-     $                    ( UCOEFF(II,JJ,IJ), IJ = 1,KDCOEF )
-                        WRITE ( NOUT, FMT = 99988 ) ULINE(1:7*KDCOEF+21)
-                        WRITE ( NOUT, FMT = 99987 )
-     $                        ( DCOEFF(II,IJ), IJ = 1,KDCOEF )
-  140                CONTINUE
-  160             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB04AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB04AD = ',I2)
-99997 FORMAT (' The order of the transformed state-space representatio',
-     $       'n = ',I2,//' The transformed state dynamics matrix A is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed input/state matrix B is ')
-99994 FORMAT (/' The transformed state/output matrix C is ')
-99993 FORMAT (/' The controllability index of the transformed state-sp',
-     $       'ace representation = ',I2,//' The dimensions of the diag',
-     $       'onal blocks of the transformed A are ',/20(I5))
-99992 FORMAT (/' The observability index of the transformed state-spac',
-     $       'e representation = ',I2,//' The dimensions of the diagon',
-     $       'al blocks of the transformed A are ',/20(I5))
-99991 FORMAT (/' The degrees of the denominator polynomials are',/20(I5)
-     $       )
-99990 FORMAT (/' The coefficients of polynomials in the transfer matri',
-     $       'x T(s) are ')
-99989 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
-99988 FORMAT (1X,A)
-99987 FORMAT (20X,20(1X,F6.2))
-99986 FORMAT (/' N is out of range.',/' N = ',I5)
-99985 FORMAT (/' M is out of range.',/' M = ',I5)
-99984 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB04AD EXAMPLE PROGRAM DATA
-   3     2     2  0.0        0.0     R
-  -1.0   0.0   0.0
-   0.0  -2.0   0.0
-   0.0   0.0  -3.0
-   0.0   1.0  -1.0
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-   1.0   1.0   1.0
-   1.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB04AD EXAMPLE PROGRAM RESULTS
-
- The order of the transformed state-space representation =  3
-
- The transformed state dynamics matrix A is 
-  -2.5000  -0.2887  -0.4082
-  -0.2887  -1.5000  -0.7071
-  -0.4082  -0.7071  -2.0000
-
- The transformed input/state matrix B is 
-  -1.4142  -0.7071
-   0.0000   1.2247
-   0.0000   0.0000
-
- The transformed state/output matrix C is 
-   0.0000   0.8165   1.1547
-   0.0000   1.6330   0.5774
-
- The controllability index of the transformed state-space representation =  2
-
- The dimensions of the diagonal blocks of the transformed A are 
-    2    1
-
- The degrees of the denominator polynomials are
-    2    3
-
- The coefficients of polynomials in the transfer matrix T(s) are 
-
- element ( 1, 1) is    1.00   5.00   7.00   0.00
-                     -----------------------------
-                       1.00   5.00   6.00   0.00
-
- element ( 1, 2) is    0.00   1.00   3.00   0.00
-                     -----------------------------
-                       1.00   5.00   6.00   0.00
-
- element ( 2, 1) is    0.00   0.00   1.00   1.00
-                     -----------------------------
-                       1.00   6.00  11.00   6.00
-
- element ( 2, 2) is    1.00   8.00  20.00  15.00
-                     -----------------------------
-                       1.00   6.00  11.00   6.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BD.html b/doc/_build/html/_static/doc/TB04BD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/TB04BD.html
+++ /dev/null
@@ -1,414 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BD">TB04BD</A></H2>
-<H3>
-Transfer matrix of a given state-space representation (A,B,C,D), using the pole-zeros method
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transfer function matrix G of a state-space
-  representation (A,B,C,D) of a linear time-invariant multivariable
-  system, using the pole-zeros method. Each element of the transfer
-  function matrix is returned in a cancelled, minimal form, with
-  numerator and denominator polynomials stored either in increasing
-  or decreasing order of the powers of the indeterminate.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
-     $                   GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          EQUIL, JOBD, ORDER
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDIGD, LDIGN, LDWORK,
-     $                   M, MD, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*), GD(*), GN(*)
-      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*), IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state-space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed to be a zero matrix.
-
-  ORDER   CHARACTER*1
-          Specifies the order in which the polynomial coefficients
-          are stored, as follows:
-          = 'I':  Increasing order of powers of the indeterminate;
-          = 'D':  Decreasing order of powers of the indeterminate.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system (A,B,C,D).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  MD      (input) INTEGER
-          The maximum degree of the polynomials in G, plus 1. An
-          upper bound for MD is N+1.  MD &gt;= 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if EQUIL = 'S', the leading N-by-N part of this
-          array contains the balanced matrix inv(S)*A*S, as returned
-          by SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the contents of B are destroyed: all elements but
-          those in the first row are set to zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, if EQUIL = 'S', the leading P-by-N part of this
-          array contains the balanced matrix C*S, as returned by
-          SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this array must
-          contain the matrix D.
-          If JOBD = 'Z', the array D is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  IGN     (output) INTEGER array, dimension (LDIGN,M)
-          The leading P-by-M part of this array contains the degrees
-          of the numerator polynomials in the transfer function
-          matrix G. Specifically, the (i,j) element of IGN contains
-          the degree of the numerator polynomial of the transfer
-          function G(i,j) from the j-th input to the i-th output.
-
-  LDIGN   INTEGER
-          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
-
-  IGD     (output) INTEGER array, dimension (LDIGD,M)
-          The leading P-by-M part of this array contains the degrees
-          of the denominator polynomials in the transfer function
-          matrix G. Specifically, the (i,j) element of IGD contains
-          the degree of the denominator polynomial of the transfer
-          function G(i,j).
-
-  LDIGD   INTEGER
-          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
-
-  GN      (output) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array contains the coefficients of the numerator
-          polynomials, Num(i,j), of the transfer function matrix G.
-          The polynomials are stored in a column-wise order, i.e.,
-          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
-          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
-          MD memory locations are reserved for each polynomial,
-          hence, the (i,j) polynomial is stored starting from the
-          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
-          increasing or decreasing order of the powers of the
-          indeterminate, according to ORDER.
-
-  GD      (output) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array contains the coefficients of the denominator
-          polynomials, Den(i,j), of the transfer function matrix G.
-          The polynomials are stored in the same way as the
-          numerator polynomials.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of a single-input system (A,b) or (A',c'),
-          where b and c' are columns in B and C' (C transposed). If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as an absolute tolerance; elements with absolute value
-          less than TOL are considered neglijible. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH), and bc denotes the currently used
-          column in B or C' (see METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N+P) +
-                           MAX( N + MAX( N,P ), N*(2*N+5)))
-          If N &gt;= P, N &gt;= 1, the formula above can be written as
-          LDWORK &gt;= N*(3*N + P + 5).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QR algorithm failed to converge when trying to
-                compute the zeros of a transfer function;
-          = 2:  the QR algorithm failed to converge when trying to
-                compute the poles of a transfer function.
-                The errors INFO = 1 or 2 are unlikely to appear.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the pole-zero method proposed in [1].
-  This method is based on an algorithm for computing the transfer
-  function of a single-input single-output (SISO) system.
-  Let (A,b,c,d) be a SISO system. Its transfer function is computed
-  as follows:
-
-  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
-  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
-  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
-  4) Compute the zeros of (Ao,bo,co,d).
-  5) Compute the gain of (Ao,bo,co,d).
-
-  This algorithm can be implemented using only orthogonal
-  transformations [1]. However, for better efficiency, the
-  implementation in TB04BD uses one elementary transformation
-  in Step 4 and r elementary transformations in Step 5 (to reduce
-  an upper Hessenberg matrix to upper triangular form). These
-  special elementary transformations are numerically stable
-  in practice.
-
-  In the multi-input multi-output (MIMO) case, the algorithm
-  computes each element (i,j) of the transfer function matrix G,
-  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
-  is performed once for each value of j (each column of B). The
-  matrices Ac and Ao result in Hessenberg form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A. and Sima, V.
-      Numerically Stable Algorithm for Transfer Function Matrix
-      Evaluation.
-      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable in practice and requires about
-  20*N**3 floating point operations at most, but usually much less.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For maximum efficiency of index calculations, GN and GD are
-  implemented as one-dimensional arrays.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB04BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, MDMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
-     $                   MDMAX = NMAX + 1 )
-      INTEGER          PMNMAX
-      PARAMETER        ( PMNMAX = PMAX*MMAX*MDMAX )
-      INTEGER          LDA, LDB, LDC, LDD, LDIGD, LDIGN
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDIGD = PMAX, LDIGN = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
-     $                            MAX( NMAX + MAX( NMAX, PMAX ),
-     $                                 NMAX*( 2*NMAX + 5 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, IJ, INFO, J, K, M, MD, N, P
-      CHARACTER*1      JOBD, ORDER, EQUIL
-      CHARACTER*132    ULINE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), GD(PMNMAX),
-     $                 GN(PMNMAX)
-      INTEGER          IGD(LDIGD,MMAX), IGN(LDIGN,MMAX), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB04BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, ORDER, EQUIL
-      MD = N + 1
-      ULINE(1:20) = ' '
-      DO 20 I = 21, 132
-         ULINE(I:I) = '-'
-   20 CONTINUE
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99989 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the transfer matrix T(s) of (A,B,C,D).
-               CALL TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
-     $                      LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
-     $                      GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( LSAME( ORDER, 'I' ) ) THEN
-                     WRITE ( NOUT, FMT = 99997 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99996 )
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 J = 1, M
-                     DO 40 I = 1, P
-                        IJ = ( (J-1)*P + I-1 )*MD + 1
-                        WRITE ( NOUT, FMT = 99994 ) I, J,
-     $                    ( GN(K), K = IJ,IJ+IGN(I,J) )
-                        WRITE ( NOUT, FMT = 99993 )
-     $                          ULINE(1:7*(IGD(I,J)+1)+21)
-                        WRITE ( NOUT, FMT = 99992 )
-     $                        ( GD(K), K = IJ,IJ+IGD(I,J) )
-   40                CONTINUE
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB04BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB04BD = ',I2)
-99997 FORMAT (/' The polynomial coefficients appear in increasing',
-     $         ' order'/' of the powers of the indeterminate')
-99996 FORMAT (/' The polynomial coefficients appear in decreasing',
-     $         ' order'/' of the powers of the indeterminate')
-99995 FORMAT (/' The coefficients of polynomials in the transfer matri',
-     $       'x T(s) are ')
-99994 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
-99993 FORMAT (1X,A)
-99992 FORMAT (20X,20(1X,F6.2))
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB04BD EXAMPLE PROGRAM DATA
-   3     2     2  0.0         D     I     N
-  -1.0   0.0   0.0
-   0.0  -2.0   0.0
-   0.0   0.0  -3.0
-   0.0   1.0  -1.0
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-   1.0   1.0   1.0
-   1.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB04BD EXAMPLE PROGRAM RESULTS
-
-
- The polynomial coefficients appear in increasing order
- of the powers of the indeterminate
-
- The coefficients of polynomials in the transfer matrix T(s) are 
-
- element ( 1, 1) is    7.00   5.00   1.00
-                     ----------------------
-                       6.00   5.00   1.00
-
- element ( 2, 1) is    1.00
-                     ----------------------
-                       6.00   5.00   1.00
-
- element ( 1, 2) is    1.00
-                     ---------------
-                       2.00   1.00
-
- element ( 2, 2) is    5.00   5.00   1.00
-                     ----------------------
-                       2.00   3.00   1.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BV.html b/doc/_build/html/_static/doc/TB04BV.html
deleted file mode 100644
index dfa8d2bf..00000000
--- a/doc/_build/html/_static/doc/TB04BV.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BV">TB04BV</A></H2>
-<H3>
-Strictly proper part of a proper transfer function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To separate the strictly proper part G0 from the constant part D
-  of an P-by-M proper transfer function matrix G.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BV( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
-     $                   GD, D, LDD, TOL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          ORDER
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
-      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ORDER   CHARACTER*1
-          Specifies the order in which the polynomial coefficients
-          of the transfer function matrix are stored, as follows:
-          = 'I':  Increasing order of powers of the indeterminate;
-          = 'D':  Decreasing order of powers of the indeterminate.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  MD      (input) INTEGER
-          The maximum degree of the polynomials in G, plus 1, i.e.,
-          MD = MAX(IGD(I,J)) + 1.
-               I,J
-
-  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
-          On entry, the leading P-by-M part of this array must
-          contain the degrees of the numerator polynomials in G:
-          the (i,j) element of IGN must contain the degree of the
-          numerator polynomial of the polynomial ratio G(i,j).
-          On exit, the leading P-by-M part of this array contains
-          the degrees of the numerator polynomials in G0.
-
-  LDIGN   INTEGER
-          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
-
-  IGD     (input) INTEGER array, dimension (LDIGD,M)
-          The leading P-by-M part of this array must contain the
-          degrees of the denominator polynomials in G (and G0):
-          the (i,j) element of IGD contains the degree of the
-          denominator polynomial of the polynomial ratio G(i,j).
-
-  LDIGD   INTEGER
-          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
-
-  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
-          On entry, this array must contain the coefficients of the
-          numerator polynomials, Num(i,j), of the transfer function
-          matrix G. The polynomials are stored in a column-wise
-          order, i.e., Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2),
-          Num(2,2), ..., Num(P,2), ..., Num(1,M), Num(2,M), ...,
-          Num(P,M); MD memory locations are reserved for each
-          polynomial, hence, the (i,j) polynomial is stored starting
-          from the location ((j-1)*P+i-1)*MD+1. The coefficients
-          appear in increasing or decreasing order of the powers
-          of the indeterminate, according to ORDER.
-          On exit, this array contains the coefficients of the
-          numerator polynomials of the strictly proper part G0 of
-          the transfer function matrix G, stored similarly.
-
-  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array must contain the coefficients of the
-          denominator polynomials, Den(i,j), of the transfer
-          function matrix G. The polynomials are stored as for the
-          numerator polynomials.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= max(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the degrees of
-          the numerators Num0(i,j) of the strictly proper part of
-          the transfer function matrix G. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as an absolute
-          tolerance; the leading coefficients with absolute value
-          less than TOL are considered neglijible. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by TOLDEF = IGN(i,j)*EPS*NORM( Num(i,j) ) is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH), and NORM denotes the infinity
-          norm (the maximum coefficient in absolute value).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the transfer function matrix is not proper;
-          = 2:  if a denominator polynomial is null.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j) entry of the real matrix D is zero, if the degree of
-  Num(i,j), IGN(i,j), is less than the degree of Den(i,j), IGD(i,j),
-  and it is given by the ratio of the leading coefficients of
-  Num(i,j) and Den(i,j), if IGN(i,j) is equal to IGD(i,j),
-  for i = 1 : P, and for j = 1 : M.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For maximum efficiency of index calculations, GN and GD are
-  implemented as one-dimensional arrays.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BW.html b/doc/_build/html/_static/doc/TB04BW.html
deleted file mode 100644
index 3930d97d..00000000
--- a/doc/_build/html/_static/doc/TB04BW.html
+++ /dev/null
@@ -1,159 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BW">TB04BW</A></H2>
-<H3>
-Sum of a rational matrix and a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the sum of an P-by-M rational matrix G and a real
-  P-by-M matrix D.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BW( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
-     $                   GD, D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          ORDER
-      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
-      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ORDER   CHARACTER*1
-          Specifies the order in which the polynomial coefficients
-          of the rational matrix are stored, as follows:
-          = 'I':  Increasing order of powers of the indeterminate;
-          = 'D':  Decreasing order of powers of the indeterminate.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  MD      (input) INTEGER
-          The maximum degree of the polynomials in G, plus 1, i.e.,
-          MD = MAX(IGN(I,J),IGD(I,J)) + 1.
-               I,J
-
-  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
-          On entry, the leading P-by-M part of this array must
-          contain the degrees of the numerator polynomials in G:
-          the (i,j) element of IGN must contain the degree of the
-          numerator polynomial of the polynomial ratio G(i,j).
-          On exit, the leading P-by-M part of this array contains
-          the degrees of the numerator polynomials in G + D.
-
-  LDIGN   INTEGER
-          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
-
-  IGD     (input) INTEGER array, dimension (LDIGD,M)
-          The leading P-by-M part of this array must contain the
-          degrees of the denominator polynomials in G (and G + D):
-          the (i,j) element of IGD contains the degree of the
-          denominator polynomial of the polynomial ratio G(i,j).
-
-  LDIGD   INTEGER
-          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
-
-  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
-          On entry, this array must contain the coefficients of the
-          numerator polynomials, Num(i,j), of the rational matrix G.
-          The polynomials are stored in a column-wise order, i.e.,
-          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
-          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
-          MD memory locations are reserved for each polynomial,
-          hence, the (i,j) polynomial is stored starting from the
-          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
-          increasing or decreasing order of the powers of the
-          indeterminate, according to ORDER.
-          On exit, this array contains the coefficients of the
-          numerator polynomials of the rational matrix G + D,
-          stored similarly.
-
-  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array must contain the coefficients of the
-          denominator polynomials, Den(i,j), of the rational
-          matrix G. The polynomials are stored as for the
-          numerator polynomials.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= max(1,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j) entry of the real matrix D is added to the (i,j) entry
-  of the matrix G, g(i,j), which is a ratio of two polynomials,
-  for i = 1 : P, and for j = 1 : M. If g(i,j) = 0, it is assumed
-  that its denominator is 1.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Often, the rational matrix G is found from a state-space
-  representation (A,B,C), and D corresponds to the direct
-  feedthrough matrix of the system. The sum G + D gives the
-  transfer function matrix of the system (A,B,C,D).
-  For maximum efficiency of index calculations, GN and GD are
-  implemented as one-dimensional arrays.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB04BX.html b/doc/_build/html/_static/doc/TB04BX.html
deleted file mode 100644
index 6945625b..00000000
--- a/doc/_build/html/_static/doc/TB04BX.html
+++ /dev/null
@@ -1,159 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BX">TB04BX</A></H2>
-<H3>
-Gain of a SISO linear system, given its state-space representation, poles and zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the gain of a single-input single-output linear system,
-  given its state-space representation (A,b,c,d), and its poles and
-  zeros. The matrix A is assumed to be in an upper Hessenberg form.
-  The gain is computed using the formula
-
-                       -1         IP              IZ
-     g = (c*( S0*I - A ) *b + d)*Prod( S0 - Pi )/Prod( S0 - Zi ) ,
-                                  i=1             i=1            (1)
-
-  where Pi, i = 1 : IP, and Zj, j = 1 : IZ, are the poles and zeros,
-  respectively, and S0 is a real scalar different from all poles and
-  zeros.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BX( IP, IZ, A, LDA, B, C, D, PR, PI, ZR, ZI, GAIN,
-     $                   IWORK )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   D, GAIN
-      INTEGER            IP, IZ, LDA
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(*), C(*), PI(*), PR(*), ZI(*),
-     $                   ZR(*)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  IP      (input) INTEGER
-          The number of the system poles.  IP &gt;= 0.
-
-  IZ      (input) INTEGER
-          The number of the system zeros.  IZ &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,IP)
-          On entry, the leading IP-by-IP part of this array must
-          contain the state dynamics matrix A in an upper Hessenberg
-          form. The elements below the second diagonal are not
-          referenced.
-          On exit, the leading IP-by-IP upper Hessenberg part of
-          this array contains the LU factorization of the matrix
-          A - S0*I, as computed by SLICOT Library routine MB02SD.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,IP).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (IP)
-          On entry, this array must contain the system input
-          vector b.
-          On exit, this array contains the solution of the linear
-          system ( A - S0*I )x = b .
-
-  C       (input) DOUBLE PRECISION array, dimension (IP)
-          This array must contain the system output vector c.
-
-  D       (input) DOUBLE PRECISION
-          The variable must contain the system feedthrough scalar d.
-
-  PR      (input) DOUBLE PRECISION array, dimension (IP)
-          This array must contain the real parts of the system
-          poles. Pairs of complex conjugate poles must be stored in
-          consecutive memory locations.
-
-  PI      (input) DOUBLE PRECISION array, dimension (IP)
-          This array must contain the imaginary parts of the system
-          poles.
-
-  ZR      (input) DOUBLE PRECISION array, dimension (IZ)
-          This array must contain the real parts of the system
-          zeros. Pairs of complex conjugate zeros must be stored in
-          consecutive memory locations.
-
-  ZI      (input) DOUBLE PRECISION array, dimension (IZ)
-          This array must contain the imaginary parts of the system
-          zeros.
-
-  GAIN    (output) DOUBLE PRECISION
-          The gain of the linear system (A,b,c,d), given by (1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (IP)
-          On exit, it contains the pivot indices; for 1 &lt;= i &lt;= IP,
-          row i of the matrix A - S0*I was interchanged with
-          row IWORK(i).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1]. A suitable
-  value of S0 is chosen based on the system poles and zeros.
-  Then, the LU factorization of the upper Hessenberg, nonsingular
-  matrix A - S0*I is computed and used to solve the linear system
-  in (1).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A. and Sima, V.
-      Numerically Stable Algorithm for Transfer Function Matrix
-      Evaluation.
-      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable in practice and requires
-  O(IP*IP) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB04CD.html b/doc/_build/html/_static/doc/TB04CD.html
deleted file mode 100644
index be5c9891..00000000
--- a/doc/_build/html/_static/doc/TB04CD.html
+++ /dev/null
@@ -1,455 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04CD">TB04CD</A></H2>
-<H3>
-Pole-zero-gain representation for a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transfer function matrix G of a state-space
-  representation (A,B,C,D) of a linear time-invariant multivariable
-  system, using the pole-zeros method. The transfer function matrix
-  is returned in a minimal pole-zero-gain form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
-     $                   ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          EQUIL, JOBD
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ,
-     $                   LDWORK, M, N, NPZ, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*), GAINS(LDGAIN,*), POLESI(*),
-     $                   POLESR(*), ZEROSI(*), ZEROSR(*)
-      INTEGER            IWORK(*), NP(LDNP,*), NZ(LDNZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state-space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed to be a zero matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system (A,B,C,D).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  NPZ     (input) INTEGER
-          The maximum number of poles or zeros of the single-input
-          single-output channels in the system. An upper bound
-          for NPZ is N.  NPZ &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if EQUIL = 'S', the leading N-by-N part of this
-          array contains the balanced matrix inv(S)*A*S, as returned
-          by SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the contents of B are destroyed: all elements but
-          those in the first row are set to zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, if EQUIL = 'S', the leading P-by-N part of this
-          array contains the balanced matrix C*S, as returned by
-          SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this array must
-          contain the matrix D.
-          If JOBD = 'Z', the array D is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  NZ      (output) INTEGER array, dimension (LDNZ,M)
-          The leading P-by-M part of this array contains the numbers
-          of zeros of the elements of the transfer function
-          matrix G. Specifically, the (i,j) element of NZ contains
-          the number of zeros of the transfer function G(i,j) from
-          the j-th input to the i-th output.
-
-  LDNZ    INTEGER
-          The leading dimension of array NZ.  LDNZ &gt;= max(1,P).
-
-  NP      (output) INTEGER array, dimension (LDNP,M)
-          The leading P-by-M part of this array contains the numbers
-          of poles of the elements of the transfer function
-          matrix G. Specifically, the (i,j) element of NP contains
-          the number of poles of the transfer function G(i,j).
-
-  LDNP    INTEGER
-          The leading dimension of array NP.  LDNP &gt;= max(1,P).
-
-  ZEROSR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the real parts of the zeros of the
-          transfer function matrix G. The real parts of the zeros
-          are stored in a column-wise order, i.e., for the transfer
-          functions (1,1), (2,1), ..., (P,1), (1,2), (2,2), ...,
-          (P,2), ..., (1,M), (2,M), ..., (P,M); NPZ memory locations
-          are reserved for each transfer function, hence, the real
-          parts of the zeros for the (i,j) transfer function
-          are stored starting from the location ((j-1)*P+i-1)*NPZ+1.
-          Pairs of complex conjugate zeros are stored in consecutive
-          memory locations. Note that only the first NZ(i,j) entries
-          are initialized for the (i,j) transfer function.
-
-  ZEROSI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the imaginary parts of the zeros of
-          the transfer function matrix G, stored in a similar way
-          as the real parts of the zeros.
-
-  POLESR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the real parts of the poles of the
-          transfer function matrix G, stored in the same way as
-          the zeros. Note that only the first NP(i,j) entries are
-          initialized for the (i,j) transfer function.
-
-  POLESI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the imaginary parts of the poles of
-          the transfer function matrix G, stored in the same way as
-          the poles.
-
-  GAINS   (output) DOUBLE PRECISION array, dimension (LDGAIN,M)
-          The leading P-by-M part of this array contains the gains
-          of the transfer function matrix G. Specifically,
-          GAINS(i,j) contains the gain of the transfer function
-          G(i,j).
-
-  LDGAIN  INTEGER
-          The leading dimension of array GAINS.  LDGAIN &gt;= max(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of a single-input system (A,b) or (A',c'),
-          where b and c' are columns in B and C' (C transposed). If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as an absolute tolerance; elements with absolute value
-          less than TOL are considered neglijible. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH), and bc denotes the currently used
-          column in B or C' (see METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N+P) +
-                           MAX( N + MAX( N,P ), N*(2*N+3)))
-          If N &gt;= P, N &gt;= 1, the formula above can be written as
-          LDWORK &gt;= N*(3*N + P + 3).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QR algorithm failed to converge when trying to
-                compute the zeros of a transfer function;
-          = 2:  the QR algorithm failed to converge when trying to
-                compute the poles of a transfer function.
-                The errors INFO = 1 or 2 are unlikely to appear.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the pole-zero method proposed in [1].
-  This method is based on an algorithm for computing the transfer
-  function of a single-input single-output (SISO) system.
-  Let (A,b,c,d) be a SISO system. Its transfer function is computed
-  as follows:
-
-  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
-  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
-  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
-  4) Compute the zeros of (Ao,bo,co,d).
-  5) Compute the gain of (Ao,bo,co,d).
-
-  This algorithm can be implemented using only orthogonal
-  transformations [1]. However, for better efficiency, the
-  implementation in TB04CD uses one elementary transformation
-  in Step 4 and r elementary transformations in Step 5 (to reduce
-  an upper Hessenberg matrix to upper triangular form). These
-  special elementary transformations are numerically stable
-  in practice.
-
-  In the multi-input multi-output (MIMO) case, the algorithm
-  computes each element (i,j) of the transfer function matrix G,
-  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
-  is performed once for each value of j (each column of B). The
-  matrices Ac and Ao result in Hessenberg form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A. and Sima, V.
-      Numerically Stable Algorithm for Transfer Function Matrix
-      Evaluation.
-      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable in practice and requires about
-  20*N**3 floating point operations at most, but usually much less.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB04CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NPZMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
-     $                   NPZMAX = NMAX )
-      INTEGER          PMNMAX
-      PARAMETER        ( PMNMAX = PMAX*MMAX*NPZMAX )
-      INTEGER          LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDGAIN = PMAX, LDNP = PMAX,
-     $                   LDNZ = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
-     $                            MAX( NMAX + MAX( NMAX, PMAX ),
-     $                                 NMAX*( 2*NMAX + 3 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, IJ, INFO, J, K, M, N, NPZ, P
-      CHARACTER*1      JOBD, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), GAINS(LDGAIN,MMAX),
-     $                 POLESI(PMNMAX), POLESR(PMNMAX), ZEROSI(PMNMAX),
-     $                 ZEROSR(PMNMAX)
-      INTEGER          IWORK(LIWORK), NP(LDNP,MMAX), NZ(LDNZ,MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB04CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, EQUIL
-      NPZ = N
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the transfer matrix T(s) of (A,B,C,D) in the
-*              pole-zero-gain form.
-               CALL TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB,
-     $                      C, LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
-     $                      ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 60 J = 1, M
-                     DO 40 I = 1, P
-                        IJ = ( (J-1)*P + I-1 )*NPZ + 1
-                        IF ( NZ(I,J).EQ.0 ) THEN
-                           WRITE ( NOUT, FMT = 99996 ) I, J
-                        ELSE
-                           WRITE ( NOUT, FMT = 99995 ) I, J,
-     $                        ( ZEROSR(K), ZEROSI(K),
-     $                                 K = IJ,IJ+NZ(I,J)-1 )
-                        END IF
-                        WRITE ( NOUT, FMT = 99994 ) I, J,
-     $                     ( POLESR(K), POLESI(K), K = IJ,IJ+NP(I,J)-1 )
-                        WRITE ( NOUT, FMT = 99993 ) I, J, ( GAINS(I,J) )
-   40                CONTINUE
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB04CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB04CD = ',I2)
-99997 FORMAT (/' The poles, zeros and gains of the transfer matrix',
-     $         ' elements: ')
-99996 FORMAT (/' no zeros for element (',I2,',',I2,')')
-99995 FORMAT (/' zeros of element (',I2,',',I2,') are ',//
-     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
-99994 FORMAT (/' poles of element (',I2,',',I2,') are ',//
-     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
-99993 FORMAT (/' gain of element (',I2,',',I2,') is ', F9.4)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB04CD EXAMPLE PROGRAM DATA
-   3     2     2  0.0         D     N
-  -1.0   0.0   0.0
-   0.0  -2.0   0.0
-   0.0   0.0  -3.0
-   0.0   1.0  -1.0
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-   1.0   1.0   1.0
-   1.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB04CD EXAMPLE PROGRAM RESULTS
-
-
- The poles, zeros and gains of the transfer matrix elements: 
-
- zeros of element ( 1, 1) are 
-
-   real part     imag part 
-
-    -2.5000        0.8660
-    -2.5000       -0.8660
-
- poles of element ( 1, 1) are 
-
-   real part     imag part 
-
-    -2.0000        0.0000
-    -3.0000        0.0000
-
- gain of element ( 1, 1) is    1.0000
-
- no zeros for element ( 2, 1)
-
- poles of element ( 2, 1) are 
-
-   real part     imag part 
-
-    -2.0000        0.0000
-    -3.0000        0.0000
-
- gain of element ( 2, 1) is    1.0000
-
- no zeros for element ( 1, 2)
-
- poles of element ( 1, 2) are 
-
-   real part     imag part 
-
-    -2.0000        0.0000
-
- gain of element ( 1, 2) is    1.0000
-
- zeros of element ( 2, 2) are 
-
-   real part     imag part 
-
-    -3.6180        0.0000
-    -1.3820        0.0000
-
- poles of element ( 2, 2) are 
-
-   real part     imag part 
-
-    -1.0000        0.0000
-    -2.0000        0.0000
-
- gain of element ( 2, 2) is    1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TB05AD.html b/doc/_build/html/_static/doc/TB05AD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/TB05AD.html
+++ /dev/null
@@ -1,374 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB05AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB05AD">TB05AD</A></H2>
-<H3>
-Frequency response matrix of a given state-space representation (A,B,C)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the complex frequency response matrix (transfer matrix)
-  G(freq) of the state-space representation (A,B,C) given by
-                                -1
-     G(freq) = C * ((freq*I - A)  ) * B
-
-  where A, B and C are real N-by-N, N-by-M and P-by-N matrices
-  respectively and freq is a complex scalar.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B, LDB,
-     $                   C, LDC, RCOND, G, LDG, EVRE, EVIM, HINVB,
-     $                   LDHINV, IWORK, DWORK, LDWORK, ZWORK, LZWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALEIG, INITA
-      INTEGER           INFO, LDA, LDB, LDC, LDG, LDHINV, LDWORK,
-     $                  LZWORK, M, N, P
-      DOUBLE PRECISION  RCOND
-      COMPLEX*16        FREQ
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), EVIM(*),
-     $                  EVRE(*)
-      COMPLEX*16        ZWORK(*), G(LDG,*), HINVB(LDHINV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALEIG  CHARACTER*1
-          Determines whether the user wishes to balance matrix A
-          and/or compute its eigenvalues and/or estimate the
-          condition number of the problem as follows:
-          = 'N':  The matrix A should not be balanced and neither
-                  the eigenvalues of A nor the condition number
-                  estimate of the problem are to be calculated;
-          = 'C':  The matrix A should not be balanced and only an
-                  estimate of the condition number of the problem
-                  is to be calculated;
-          = 'B' or 'E' and INITA = 'G':  The matrix A is to be
-                  balanced and its eigenvalues calculated;
-          = 'A' and INITA = 'G':  The matrix A is to be balanced,
-                  and its eigenvalues and an estimate of the
-                  condition number of the problem are to be
-                  calculated.
-
-  INITA   CHARACTER*1
-          Specifies whether or not the matrix A is already in upper
-          Hessenberg form as follows:
-          = 'G':  The matrix A is a general matrix;
-          = 'H':  The matrix A is in upper Hessenberg form and
-                  neither balancing nor the eigenvalues of A are
-                  required.
-          INITA must be set to 'G' for the first call to the
-          routine, unless the matrix A is already in upper
-          Hessenberg form and neither balancing nor the eigenvalues
-          of A are required. Thereafter, it must be set to 'H' for
-          all subsequent calls.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of states, i.e. the order of the state
-          transition matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of inputs, i.e. the number of columns in the
-          matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of outputs, i.e. the number of rows in the
-          matrix C.  P &gt;= 0.
-
-  FREQ    (input) COMPLEX*16
-          The frequency freq at which the frequency response matrix
-          (transfer matrix) is to be evaluated.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A.
-          If INITA = 'G', then, on exit, the leading N-by-N part of
-          this array contains an upper Hessenberg matrix similar to
-          (via an orthogonal matrix consisting of a sequence of
-          Householder transformations) the original state transition
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B.
-          If INITA = 'G', then, on exit, the leading N-by-M part of
-          this array contains the product of the transpose of the
-          orthogonal transformation matrix used to reduce A to upper
-          Hessenberg form and the original input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          If INITA = 'G', then, on exit, the leading P-by-N part of
-          this array contains the product of the original output/
-          state matrix C and the orthogonal transformation matrix
-          used to reduce A to upper Hessenberg form.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  RCOND   (output) DOUBLE PRECISION
-          If BALEIG = 'C' or BALEIG = 'A', then RCOND contains an
-          estimate of the reciprocal of the condition number of
-          matrix H with respect to inversion (see METHOD).
-
-  G       (output) COMPLEX*16 array, dimension (LDG,M)
-          The leading P-by-M part of this array contains the
-          frequency response matrix G(freq).
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,P).
-
-  EVRE,   (output) DOUBLE PRECISION arrays, dimension (N)
-  EVIM    If INITA = 'G' and BALEIG = 'B' or 'E' or BALEIG = 'A',
-          then these arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the matrix A.
-          Otherwise, these arrays are not referenced.
-
-  HINVB   (output) COMPLEX*16 array, dimension (LDHINV,M)
-          The leading N-by-M part of this array contains the
-                   -1
-          product H  B.
-
-  LDHINV  INTEGER
-          The leading dimension of array HINVB.  LDHINV &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N - 1 + MAX(N,M,P)),
-                    if INITA = 'G' and BALEIG = 'N', or 'B', or 'E';
-          LDWORK &gt;= MAX(1, N + MAX(N,M-1,P-1)),
-                    if INITA = 'G' and BALEIG = 'C', or 'A';
-          LDWORK &gt;= MAX(1, 2*N),
-                    if INITA = 'H' and BALEIG = 'C', or 'A';
-          LDWORK &gt;= 1, otherwise.
-          For optimum performance when INITA = 'G' LDWORK should be
-          larger.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX(1,N*N+2*N), if BALEIG = 'C', or 'A';
-          LZWORK &gt;= MAX(1,N*N),     otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if more than 30*N iterations are required to
-                isolate all the eigenvalues of the matrix A; the
-                computations are continued;
-          = 2:  if either FREQ is too near to an eigenvalue of the
-                matrix A, or RCOND is less than EPS, where EPS is
-                the machine  precision (see LAPACK Library routine
-                DLAMCH).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A is first balanced (if BALEIG = 'B' or 'E', or
-  BALEIG = 'A') and then reduced to upper Hessenberg form; the same
-  transformations are applied to the matrix B and the matrix C.
-  The complex Hessenberg matrix  H = (freq*I - A) is then used
-                    -1
-  to solve for C * H  * B.
-
-  Depending on the input values of parameters BALEIG and INITA,
-  the eigenvalues of matrix A and the condition number of
-  matrix H with respect to inversion are also calculated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Laub, A.J.
-      Efficient Calculation of Frequency Response Matrices from
-      State-Space Models.
-      ACM TOMS, 12, pp. 26-33, 1986.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB05AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDG, LDHINV
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDG = PMAX,
-     $                   LDHINV = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NMAX )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = NMAX*( NMAX+2 ) )
-*     .. Local Scalars ..
-      COMPLEX*16       FREQ
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER*1      BALEIG, INITA
-      LOGICAL          LBALBA, LBALEA, LBALEB, LBALEC, LINITA
-*     .. Local Arrays ..
-      COMPLEX*16       G(LDG,MMAX), HINVB(LDHINV,MMAX), ZWORK(LZWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), EVIM(NMAX), EVRE(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB05AD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, FREQ, INITA, BALEIG
-      LBALEC = LSAME( BALEIG, 'C' )
-      LBALEB = LSAME( BALEIG, 'B' ) .OR. LSAME( BALEIG, 'E' )
-      LBALEA = LSAME( BALEIG, 'A' )
-      LBALBA = LBALEB.OR.LBALEA
-      LINITA = LSAME( INITA,  'G' )
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the frequency response matrix of the ssr (A,B,C).
-               CALL TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B,
-     $                      LDB, C, LDC, RCOND, G, LDG, EVRE, EVIM,
-     $                      HINVB, LDHINV, IWORK, DWORK, LDWORK, ZWORK,
-     $                      LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( ( LBALEC ) .OR. ( LBALEA ) ) WRITE ( NOUT,
-     $                FMT = 99997 ) RCOND
-                  IF ( ( LINITA ) .AND. ( LBALBA ) )
-     $               WRITE ( NOUT, FMT = 99996 )
-     $                       ( EVRE(I), EVIM(I), I = 1,N )
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 20 I = 1, P
-                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1,M )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( HINVB(I,J), J = 1,M )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB05AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB05AD = ',I2)
-99997 FORMAT (' RCOND = ',F4.2)
-99996 FORMAT (/' Eigenvalues of the state transmission matrix A are ',
-     $       /(1X,2F7.2,'*j'))
-99995 FORMAT (/' The frequency response matrix G(freq) is ')
-99994 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
-99993 FORMAT (/' H(inverse)*B is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB05AD EXAMPLE PROGRAM DATA
-   3     1     2     (0.0,0.5)     G     A
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   1.0   0.0  -1.0
-   0.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB05AD EXAMPLE PROGRAM RESULTS
-
- RCOND = 0.22
-
- Eigenvalues of the state transmission matrix A are 
-    3.00   0.00*j
-   -3.00   0.00*j
-    1.00   0.00*j
-
- The frequency response matrix G(freq) is 
- ( 0.69, 0.35) 
- (-0.80,-0.40) 
-
- H(inverse)*B is 
- (-0.11,-0.05) 
- (-0.43, 0.00) 
- (-0.80,-0.40) 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TC01OD.html b/doc/_build/html/_static/doc/TC01OD.html
deleted file mode 100644
index 976af1db..00000000
--- a/doc/_build/html/_static/doc/TC01OD.html
+++ /dev/null
@@ -1,269 +0,0 @@
-<HTML>
-<HEAD><TITLE>TC01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TC01OD">TC01OD</A></H2>
-<H3>
-Dual of a left/right polynomial matrix representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the dual right (left) polynomial matrix representation of
-  a given left (right) polynomial matrix representation, where the
-  right and left polynomial matrix representations are of the form
-  Q(s)*inv(P(s)) and inv(P(s))*Q(s) respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LERI
-      INTEGER           INFO, INDLIM, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
-     $                  P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  PCOEFF(LDPCO1,LDPCO2,*), QCOEFF(LDQCO1,LDQCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether a left or right matrix fraction is input
-          as follows:
-          = 'L':  A left matrix fraction is input;
-          = 'R':  A right matrix fraction is input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDLIM  (input) INTEGER
-          The highest value of K for which PCOEFF(.,.,K) and
-          QCOEFF(.,.,K) are to be transposed.
-          K = kpcoef + 1, where kpcoef is the maximum degree of the
-          polynomials in P(s).  INDLIM &gt;= 1.
-
-  PCOEFF  (input/output) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,INDLIM)
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          On entry, the leading porm-by-porm-by-INDLIM part of this
-          array must contain the coefficients of the denominator
-          matrix P(s).
-          PCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
-          polynomial (I,J) of P(s), where K = 1,2,...,INDLIM.
-          On exit, the leading porm-by-porm-by-INDLIM part of this
-          array contains the coefficients of the denominator matrix
-          P'(s) of the dual system.
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
-
-  QCOEFF  (input/output) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,INDLIM)
-          On entry, the leading P-by-M-by-INDLIM part of this array
-          must contain the coefficients of the numerator matrix
-          Q(s).
-          QCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
-          polynomial (I,J) of Q(s), where K = 1,2,...,INDLIM.
-          On exit, the leading M-by-P-by-INDLIM part of the array
-          contains the coefficients of the numerator matrix Q'(s)
-          of the dual system.
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,M,P).
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the given M-input/P-output left (right) polynomial matrix
-  representation has numerator matrix Q(s) and denominator matrix
-  P(s), its dual P-input/M-output right (left) polynomial matrix
-  representation simply has numerator matrix Q'(s) and denominator
-  matrix P'(s).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TC01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, INDMAX
-      PARAMETER        ( MMAX = 20, PMAX = 20, INDMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2
-      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP )
-*     .. Local Scalars ..
-      INTEGER          I, INDLIM, INFO, J, K, M, P, PORM
-      CHARACTER*1      LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      DOUBLE PRECISION PCOEFF(LDPCO1,LDPCO2,INDMAX),
-     $                 QCOEFF(LDQCO1,LDQCO2,INDMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TC01OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, INDLIM, LERI
-      LLERI = LSAME( LERI, 'L' )
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) P
-      ELSE IF ( INDLIM.LE.0 .OR. INDLIM.GT.INDMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) INDLIM
-      ELSE
-         PORM = P
-         IF ( .NOT.LLERI ) PORM = M
-         READ ( NIN, FMT = * )
-     $      ( ( ( PCOEFF(I,J,K), K = 1,INDLIM ), J = 1,PORM ),
-     $                           I = 1,PORM )
-         READ ( NIN, FMT = * )
-     $      ( ( ( QCOEFF(I,J,K), K = 1,INDLIM ), J = 1,M ), I = 1,P )
-*        Find the dual right pmr of the given left pmr.
-         CALL TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
-     $                QCOEFF, LDQCO1, LDQCO2, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 40 I = 1, PORM
-               DO 20 J = 1, PORM
-                  WRITE ( NOUT, FMT = 99996 ) I, J,
-     $              ( PCOEFF(I,J,K), K = 1,INDLIM )
-   20          CONTINUE
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 80 I = 1, M
-               DO 60 J = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) I, J,
-     $              ( QCOEFF(I,J,K), K = 1,INDLIM )
-   60          CONTINUE
-   80       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TC01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TC01OD = ',I2)
-99997 FORMAT (' The coefficients of the denominator matrix of the dual',
-     $       ' system are ')
-99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
-99995 FORMAT (//' The coefficients of the numerator matrix of the dual',
-     $       ' system are ')
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' P is out of range.',/' P = ',I5)
-99992 FORMAT (/' INDLIM is out of range.',/' INDLIM = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TC01OD EXAMPLE PROGRAM DATA
-   2     2     3     L
-   2.0   3.0   1.0
-   4.0  -1.0  -1.0
-   5.0   7.0  -6.0
-   3.0   2.0   2.0
-   6.0  -1.0   5.0
-   1.0   7.0   5.0
-   1.0   1.0   1.0
-   4.0   1.0  -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TC01OD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the denominator matrix of the dual system are 
-
- element ( 1, 1) is    2.00   3.00   1.00
-
- element ( 1, 2) is    5.00   7.00  -6.00
-
- element ( 2, 1) is    4.00  -1.00  -1.00
-
- element ( 2, 2) is    3.00   2.00   2.00
-
-
- The coefficients of the numerator matrix of the dual system are 
-
- element ( 1, 1) is    6.00  -1.00   5.00
-
- element ( 1, 2) is    1.00   1.00   1.00
-
- element ( 2, 1) is    1.00   7.00   5.00
-
- element ( 2, 2) is    4.00   1.00  -1.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TC04AD.html b/doc/_build/html/_static/doc/TC04AD.html
deleted file mode 100644
index 60fefe75..00000000
--- a/doc/_build/html/_static/doc/TC04AD.html
+++ /dev/null
@@ -1,399 +0,0 @@
-<HTML>
-<HEAD><TITLE>TC04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TC04AD">TC04AD</A></H2>
-<H3>
-State-space representation for a given left/right polynomial matrix representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a state-space representation (A,B,C,D) with the same
-  transfer matrix T(s) as that of a given left or right polynomial
-  matrix representation, i.e.
-
-     C*inv(sI-A)*B + D = T(s) = inv(P(s))*Q(s) = Q(s)*inv(P(s)).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LERI
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
-     $                  LDQCO1, LDQCO2, LDWORK, M, N, P
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether a left polynomial matrix representation
-          or a right polynomial matrix representation is input as
-          follows:
-          = 'L':  A left matrix fraction is input;
-          = 'R':  A right matrix fraction is input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDEX   (input) INTEGER array, dimension (MAX(M,P))
-          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
-          maximum degree of the polynomials in the I-th row of the
-          denominator matrix P(s) of the given left polynomial
-          matrix representation.
-          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
-          maximum degree of the polynomials in the I-th column of
-          the denominator matrix P(s) of the given right polynomial
-          matrix representation.
-
-  PCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          The leading porm-by-porm-by-kpcoef part of this array must
-          contain the coefficients of the denominator matrix P(s).
-          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
-          LERI = 'L' then iorj = I, otherwise iorj = J.
-          Thus for LERI = 'L', P(s) =
-          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-          If LERI = 'R', PCOEFF is modified by the routine but
-          restored on exit.
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
-
-  QCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,kpcoef)
-          If LERI = 'L' then porp = M, otherwise porp = P.
-          The leading porm-by-porp-by-kpcoef part of this array must
-          contain the coefficients of the numerator matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-          If LERI = 'R', QCOEFF is modified by the routine but
-          restored on exit.
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
-          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
-          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  N       (output) INTEGER
-          The order of the resulting state-space representation.
-                       porm
-          That is, N = SUM INDEX(I).
-                       I=1
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimated reciprocal of the condition number of the
-          leading row (if LERI = 'L') or the leading column (if
-          LERI = 'R') coefficient matrix of P(s).
-          If RCOND is nearly zero, P(s) is nearly row or column
-          non-proper.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the state
-          dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
-          The leading N-by-M part of this array contains the
-          input/state matrix B; the remainder of the leading
-          N-by-MAX(M,P) part is used as internal workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          state/output matrix C; the remainder of the leading
-          MAX(M,P)-by-N part is used as internal workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array contains the direct
-          transmission matrix D; the remainder of the leading
-          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,MAX(M,P)*(MAX(M,P)+4)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if P(s) is not row (if LERI = 'L') or column
-                (if LERI = 'R') proper. Consequently, no state-space
-                representation is calculated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for a left matrix fraction will be described here;
-  right matrix fractions are dealt with by obtaining the dual left
-  polynomial matrix representation and constructing an equivalent
-  state-space representation for this. The first step is to check
-  if the denominator matrix P(s) is row proper; if it is not then
-  the routine returns with the Error Indicator (INFO) set to 1.
-  Otherwise, Wolovich's Observable  Structure Theorem is used to
-  construct a state-space representation (A,B,C,D) in observable
-  companion form. The sizes of the blocks of matrix A and matrix C
-  here are precisely the row degrees of P(s), while their
-  'non-trivial' columns are given easily from its coefficients.
-  Similarly, the matrix D is obtained from the leading coefficients
-  of P(s) and of the numerator matrix Q(s), while matrix B is given
-  by the relation Sbar(s)B = Q(s) - P(s)D, where Sbar(s) is a
-  polynomial matrix whose (j,k)(th) element is given by
-
-               j-u(k-1)-1
-            ( s           , j = u(k-1)+1,u(k-1)+2,....,u(k)
-  Sbar    = (
-     j,k    (           0 , otherwise
-
-          k
-  u(k) = SUM d , k = 1,2,...,M and d ,d ,...,d  are the
-         i=1  i                     1  2      M
-  controllability indices. For convenience in solving this, C' and B
-  are initially set up to contain the coefficients of P(s) and Q(s),
-  respectively, stored by rows.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Wolovich, W.A.
-      Linear Multivariate Systems, (Theorem 4.3.3).
-      Springer-Verlag, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TC04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KPCMAX, NMAX
-      PARAMETER        ( MMAX = 5, PMAX = 5, KPCMAX = 5, NMAX = 5 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2, LDA, LDB, LDC,
-     $                 LDD
-      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
-     $                   LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = ( MAXMP )*( MAXMP+4 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, K, KPCOEF, M, N, P, PORM, PORP
-      CHARACTER*1      LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
-     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX), DWORK(LDWORK)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TC04AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, LERI
-      LLERI = LSAME( LERI, 'L' )
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) M
-      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) P
-      ELSE
-         PORM = P
-         IF ( .NOT.LLERI ) PORM = M
-         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
-         PORP = M
-         IF ( .NOT.LLERI ) PORP = P
-         KPCOEF = 0
-         DO 20 I = 1, PORM
-            KPCOEF = MAX( KPCOEF, INDEX(I) )
-   20    CONTINUE
-         KPCOEF = KPCOEF + 1
-         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) KPCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
-     $                              I = 1,PORM )
-            READ ( NIN, FMT = * )
-     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
-     $                              I = 1,PORM )
-*           Find a ssr of the given left pmr.
-            CALL TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
-     $                   INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) N, RCOND
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 60 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99992 )
-               DO 100 I = 1, P
-                  WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-  100          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TC04AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TC04AD = ',I2)
-99997 FORMAT (' The order of the resulting state-space representation ',
-     $       ' =  ',I2,//' RCOND = ',F4.2)
-99996 FORMAT (/' The state dynamics matrix A is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The input/state matrix B is ')
-99993 FORMAT (/' The state/output matrix C is ')
-99992 FORMAT (/' The direct transmission matrix D is ')
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-99989 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TC04AD EXAMPLE PROGRAM DATA
-   2     2     L
-   2     2
-   2.0   3.0   1.0
-   4.0  -1.0  -1.0
-   5.0   7.0  -6.0
-   3.0   2.0   2.0
-   6.0  -1.0   5.0
-   1.0   7.0   5.0
-   1.0   1.0   1.0
-   4.0   1.0  -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TC04AD EXAMPLE PROGRAM RESULTS
-
- The order of the resulting state-space representation  =   4
-
- RCOND = 0.25
-
- The state dynamics matrix A is 
-   0.0000   0.5714   0.0000  -0.4286
-   1.0000   1.0000   0.0000  -1.0000
-   0.0000  -2.0000   0.0000   2.0000
-   0.0000   0.7857   1.0000  -1.7143
-
- The input/state matrix B is 
-   8.0000   3.8571
-   4.0000   4.0000
-  -9.0000   5.0000
-   4.0000  -5.0714
-
- The state/output matrix C is 
-   0.0000  -0.2143   0.0000   0.2857
-   0.0000   0.3571   0.0000  -0.1429
-
- The direct transmission matrix D is 
-  -1.0000   0.9286
-   2.0000  -0.2143
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TC05AD.html b/doc/_build/html/_static/doc/TC05AD.html
deleted file mode 100644
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--- a/doc/_build/html/_static/doc/TC05AD.html
+++ /dev/null
@@ -1,328 +0,0 @@
-<HTML>
-<HEAD><TITLE>TC05AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TC05AD">TC05AD</A></H2>
-<H3>
-Frequency response of a left/right polynomial matrix representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To evaluate the transfer matrix T(s) of a left polynomial matrix
-  representation [T(s) = inv(P(s))*Q(s)] or a right polynomial
-  matrix representation [T(s) = Q(s)*inv(P(s))] at any specified
-  complex frequency s = SVAL.
-
-  This routine will calculate the standard frequency response
-  matrix at frequency omega if SVAL is supplied as (0.0,omega).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
-     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LERI
-      INTEGER           INFO, LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
-     $                  P
-      DOUBLE PRECISION  RCOND
-      COMPLEX*16        SVAL
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*)
-      COMPLEX*16        CFREQR(LDCFRE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether a left polynomial matrix representation
-          or a right polynomial matrix representation is to be used
-          to evaluate the transfer matrix as follows:
-          = 'L':  A left matrix fraction is input;
-          = 'R':  A right matrix fraction is input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  SVAL    (input) COMPLEX*16
-          The frequency at which the transfer matrix or the
-          frequency respose matrix is to be evaluated.
-          For a standard frequency response set the real part
-          of SVAL to zero.
-
-  INDEX   (input) INTEGER array, dimension (MAX(M,P))
-          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
-          maximum degree of the polynomials in the I-th row of the
-          denominator matrix P(s) of the given left polynomial
-          matrix representation.
-          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
-          maximum degree of the polynomials in the I-th column of
-          the denominator matrix P(s) of the given right polynomial
-          matrix representation.
-
-  PCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          The leading porm-by-porm-by-kpcoef part of this array must
-          contain the coefficients of the denominator matrix P(s).
-          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
-          LERI = 'L' then iorj = I, otherwise iorj = J.
-          Thus for LERI = 'L', P(s) =
-          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-          If LERI = 'R', PCOEFF is modified by the routine but
-          restored on exit.
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
-
-  QCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,kpcoef)
-          If LERI = 'L' then porp = M, otherwise porp = P.
-          The leading porm-by-porp-by-kpcoef part of this array must
-          contain the coefficients of the numerator matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-          If LERI = 'R', QCOEFF is modified by the routine but
-          restored on exit.
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
-          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
-          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimated reciprocal of the condition number of the
-          denominator matrix P(SVAL).
-          If RCOND is nearly zero, SVAL is approximately a system
-          pole.
-
-  CFREQR  (output) COMPLEX*16 array, dimension (LDCFRE,MAX(M,P))
-          The leading porm-by-porp part of this array contains the
-          frequency response matrix T(SVAL).
-
-  LDCFRE  INTEGER
-          The leading dimension of array CFREQR.
-          LDCFRE &gt;= MAX(1,P)   if LERI = 'L',
-          LDCFRE &gt;= MAX(1,M,P) if LERI = 'R'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (liwork)
-          where liwork = P, if LERI = 'L',
-                liwork = M, if LERI = 'R'.
-
-  DWORK   DOUBLE PRECISION array, dimension (ldwork)
-          where ldwork = 2*P, if LERI = 'L',
-                ldwork = 2*M, if LERI = 'R'.
-
-  ZWORK   COMPLEX*16 array, dimension (lzwork),
-          where lzwork = P*(P+2), if LERI = 'L',
-                lzwork = M*(M+2), if LERI = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if P(SVAL) is exactly or nearly singular;
-                no frequency response is calculated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for a left matrix fraction will be described here;
-  right matrix fractions are dealt with by obtaining the dual left
-  fraction and calculating its frequency response (see SLICOT
-  Library routine TC01OD). The first step is to calculate the
-  complex value P(SVAL) of the denominator matrix P(s) at the
-  desired frequency SVAL. If P(SVAL) is approximately singular,
-  SVAL is approximately a pole of this system and so the frequency
-  response matrix T(SVAL) is not calculated; in this case, the
-  routine returns with the Error Indicator (INFO) set to 1.
-  Otherwise, the complex value Q(SVAL) of the numerator matrix Q(s)
-  at frequency SVAL is calculated in a similar way to P(SVAL), and
-  the desired response matrix T(SVAL) = inv(P(SVAL))*Q(SVAL) is
-  found by solving the corresponding system of complex linear
-  equations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TC05AD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KPCMAX
-      PARAMETER        ( MMAX = 20, PMAX = 20, KPCMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2
-      PARAMETER        ( LDCFRE = MAXMP, LDPCO1 = MAXMP,
-     $                   LDPCO2 = MAXMP, LDQCO1 = MAXMP,
-     $                   LDQCO2 = MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MAXMP )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = ( MAXMP )*( MAXMP+2 ) )
-*     .. Local Scalars ..
-      COMPLEX*16       SVAL
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, K, KPCOEF, M, P, PORM, PORP
-      CHARACTER*1      LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      COMPLEX*16       CFREQR(LDCFRE,MAXMP), ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
-     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX)
-      INTEGER          INDEX(MAXMP), IWORK(MAXMP)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TC05AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, SVAL, LERI
-      LLERI = LSAME( LERI, 'L' )
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) M
-      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) P
-      ELSE
-         PORM = P
-         IF ( .NOT.LLERI ) PORM = M
-         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
-         PORP = M
-         IF ( .NOT.LLERI ) PORP = P
-         KPCOEF = 0
-         DO 20 I = 1, PORM
-            KPCOEF = MAX( KPCOEF, INDEX(I) )
-   20    CONTINUE
-         KPCOEF = KPCOEF + 1
-         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) KPCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
-     $                              I = 1,PORM )
-            READ ( NIN, FMT = * )
-     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
-     $                              I = 1,PORM )
-*           Find the standard frequency response matrix of left pmr
-*           at 0.5*j.
-            CALL TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
-     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) RCOND
-               DO 40 I = 1, PORM
-                  WRITE ( NOUT, FMT = 99996 )
-     $                  ( CFREQR(I,J), J = 1,PORP )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TC05AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TC05AD = ',I2)
-99997 FORMAT (' RCOND = ',F4.2,//' The frequency response matrix T(SVA',
-     $       'L) is ')
-99996 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
-99995 FORMAT (/' M is out of range.',/' M = ',I5)
-99994 FORMAT (/' P is out of range.',/' P = ',I5)
-99993 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TC05AD EXAMPLE PROGRAM DATA
-   2     2     (0.0,0.5)     L
-   2     2
-   2.0   3.0   1.0
-   4.0  -1.0  -1.0
-   5.0   7.0  -6.0
-   3.0   2.0   2.0
-   6.0  -1.0   5.0
-   1.0   7.0   5.0
-   1.0   1.0   1.0
-   4.0   1.0  -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TC05AD EXAMPLE PROGRAM RESULTS
-
- RCOND = 0.19
-
- The frequency response matrix T(SVAL) is 
- (-0.25,-0.33)  ( 0.26,-0.45) 
- (-1.48, 0.35)  (-2.25,-1.11) 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TD03AD.html b/doc/_build/html/_static/doc/TD03AD.html
deleted file mode 100644
index 54364713..00000000
--- a/doc/_build/html/_static/doc/TD03AD.html
+++ /dev/null
@@ -1,567 +0,0 @@
-<HTML>
-<HEAD><TITLE>TD03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TD03AD">TD03AD</A></H2>
-<H3>
-Left/right polynomial matrix representation for a proper transfer matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a relatively prime left or right polynomial matrix
-  representation for a proper transfer matrix T(s) given as either
-  row or column polynomial vectors over common denominator
-  polynomials, possibly with uncancelled common terms.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
-     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
-     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, LERI, ROWCOL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDPCO1,
-     $                  LDPCO2, LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1,
-     $                  LDVCO2, LDWORK, M, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INDEXD(*), INDEXP(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DCOEFF(LDDCOE,*), DWORK(*),
-     $                  PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*),
-     $                  UCOEFF(LDUCO1,LDUCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ROWCOL  CHARACTER*1
-          Indicates whether T(s) is to be factorized by rows or by
-          columns as follows:
-          = 'R':  T(s) is factorized by rows;
-          = 'C':  T(s) is factorized by columns.
-
-  LERI    CHARACTER*1
-          Indicates whether a left or a right polynomial matrix
-          representation is required as follows:
-          = 'L':  A left polynomial matrix representation
-                  inv(P(s))*Q(s) is required;
-          = 'R':  A right polynomial matrix representation
-                  Q(s)*inv(P(s)) is required.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the triplet
-          (A,B,C), before computing a minimal state-space
-          representation, as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDEXD  (input) INTEGER array, dimension (P), if ROWCOL = 'R', or
-                                 dimension (M), if ROWCOL = 'C'.
-          The leading pormd elements of this array must contain the
-          row degrees of the denominator polynomials in D(s).
-          pormd = P if the transfer matrix T(s) is given as row
-          polynomial vectors over denominator polynomials;
-          pormd = M if the transfer matrix T(s) is given as column
-          polynomial vectors over denominator polynomials.
-
-  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
-          where kdcoef = MAX(INDEXD(I)) + 1.
-          The leading pormd-by-kdcoef part of this array must
-          contain the coefficients of each denominator polynomial.
-          DCOEFF(I,K) is the coefficient in s**(INDEXD(I)-K+1) of
-          the I-th denominator polynomial in D(s), where K = 1,2,
-          ...,kdcoef.
-
-  LDDCOE  INTEGER
-          The leading dimension of array DCOEFF.
-          LDDCOE &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDDCOE &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  UCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDUCO1,LDUCO2,kdcoef)
-          The leading P-by-M-by-kdcoef part of this array must
-          contain the coefficients of the numerator matrix U(s);
-          if ROWCOL = 'C', this array is modified internally but
-          restored on exit, and the remainder of the leading
-          MAX(M,P)-by-MAX(M,P)-by-kdcoef part is used as internal
-          workspace.
-          UCOEFF(I,J,K) is the coefficient in s**(INDEXD(iorj)-K+1)
-          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
-          iorj = I if T(s) is given as row polynomial vectors over
-          denominator polynomials; iorj = J if T(s) is given as
-          column polynomial vectors over denominator polynomials.
-          Thus for ROWCOL = 'R', U(s) =
-          diag(s**INDEXD(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
-
-  LDUCO1  INTEGER
-          The leading dimension of array UCOEFF.
-          LDUCO1 &gt;= MAX(1,P),   if ROWCOL = 'R';
-          LDUCO1 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
-
-  LDUCO2  INTEGER
-          The second dimension of array UCOEFF.
-          LDUCO2 &gt;= MAX(1,M),   if ROWCOL = 'R';
-          LDUCO2 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
-
-  NR      (output) INTEGER
-          The order of the resulting minimal realization, i.e. the
-          order of the state dynamics matrix A.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
-                   pormd
-          where N = SUM INDEXD(I)
-                    I=1
-          The leading NR-by-NR part of this array contains the upper
-          block Hessenberg state dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
-          The leading NR-by-M part of this array contains the
-          input/state matrix B; the remainder of the leading
-          N-by-MAX(M,P) part is used as internal workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-NR part of this array contains the
-          state/output matrix C; the remainder of the leading
-          MAX(M,P)-by-N part is used as internal workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array contains the direct
-          transmission matrix D; the remainder of the leading
-          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  INDEXP  (output) INTEGER array, dimension (P), if ROWCOL = 'R', or
-                                  dimension (M), if ROWCOL = 'C'.
-          The leading pormp elements of this array contain the
-          row (column if ROWCOL = 'C') degrees of the denominator
-          matrix P(s).
-          pormp = P if a left polynomial matrix representation
-          is requested; pormp = M if a right polynomial matrix
-          representation is requested.
-          These elements are ordered so that
-          INDEXP(1) &gt;= INDEXP(2) &gt;= ... &gt;= INDEXP(pormp).
-
-  PCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,N+1)
-          The leading pormp-by-pormp-by-kpcoef part of this array
-          contains the coefficients of the denominator matrix P(s),
-          where kpcoef = MAX(INDEXP(I)) + 1.
-          PCOEFF(I,J,K) is the coefficient in s**(INDEXP(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef;
-          iorj = I if a left polynomial matrix representation is
-          requested; iorj = J if a right polynomial matrix
-          representation is requested.
-          Thus for a left polynomial matrix representation, P(s) =
-          diag(s**INDEXP(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDPCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDPCO2 &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  QCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,N+1)
-          The leading pormp-by-pormd-by-kpcoef part of this array
-          contains the coefficients of the numerator matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          If LERI = 'L', LDQCO1 &gt;= MAX(1,PM),
-                                   where PM = P, if ROWCOL = 'R';
-                                         PM = M, if ROWCOL = 'C'.
-          If LERI = 'R', LDQCO1 &gt;= MAX(1,M,P).
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          If LERI = 'L', LDQCO2 &gt;= MAX(1,MP),
-                                   where MP = M, if ROWCOL = 'R';
-                                         MP = P, if ROWCOL = 'C'.
-          If LERI = 'R', LDQCO2 &gt;= MAX(1,M,P).
-
-  VCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDVCO1,LDVCO2,N+1)
-          The leading pormp-by-NR-by-kpcoef part of this array
-          contains the coefficients of the intermediate matrix
-          V(s) as produced by SLICOT Library routine TB03AD.
-
-  LDVCO1  INTEGER
-          The leading dimension of array VCOEFF.
-          LDVCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDVCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  LDVCO2  INTEGER
-          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
-          where  PM = P, if ROWCOL = 'R';
-                 PM = M, if ROWCOL = 'C'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i (i &lt;= k = pormd), then i is the first
-                integer I for which ABS( DCOEFF(I,1) ) is so small
-                that the calculations would overflow (see SLICOT
-                Library routine TD03AY); that is, the leading
-                coefficient of a polynomial is nearly zero; no
-                state-space representation or polynomial matrix
-                representation is calculated;
-          = k+1:  if a singular matrix was encountered during the
-                computation of V(s);
-          = k+2:  if a singular matrix was encountered during the
-                computation of P(s).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for transfer matrices factorized by rows will be
-  described here; T(s) factorized by columns is dealt with by
-  operating on the dual T'(s). The description for T(s) is actually
-  the left polynomial matrix representation
-
-       T(s) = inv(D(s))*U(s),
-
-  where D(s) is diagonal with its (I,I)-th polynomial element of
-  degree INDEXD(I). The first step is to check whether the leading
-  coefficient of any polynomial element of D(s) is approximately
-  zero, if so the routine returns with INFO &gt; 0. Otherwise,
-  Wolovich's Observable Structure Theorem is used to construct a
-  state-space representation in observable companion form which is
-  equivalent to the above polynomial matrix representation. The
-  method is particularly easy here due to the diagonal form of D(s).
-  This state-space representation is not necessarily controllable
-  (as D(s) and U(s) are not necessarily relatively left prime), but
-  it is in theory completely observable; however, its observability
-  matrix may be poorly conditioned, so it is treated as a general
-  state-space representation and SLICOT Library routine TB03AD is
-  used to separate out a minimal realization for T(s) from it by
-  means of orthogonal similarity transformations and then to
-  calculate a relatively prime (left or right) polynomial matrix
-  representation which is equivalent to this.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Patel, R.V.
-      On Computing Matrix Fraction Descriptions and Canonical
-      Forms of Linear Time-Invariant Systems.
-      UMIST Control Systems Centre Report 489, 1980.
-
-  [2] Wolovich, W.A.
-      Linear Multivariable Systems, (Theorem 4.3.3).
-      Springer-Verlag, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TD03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KDCMAX, NMAX
-      PARAMETER        ( MMAX = 8, PMAX = 8, KDCMAX = 8, NMAX = 8 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDPCO1, LDPCO2,
-     $                 LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1, LDVCO2
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP, LDDCOE = MAXMP,
-     $                   LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
-     $                   LDUCO1 = MAXMP, LDUCO2 = MAXMP,
-     $                   LDVCO1 = MAXMP, LDVCO2 = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
-     $                                 MAXMP*( MAXMP + 2 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      CHARACTER*1      EQUIL, LERI, ROWCOL
-      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, MAXINP, N, NR,
-     $                 P, PORMD, PORMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
-     $                 DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,NMAX+1),
-     $                 QCOEFF(LDQCO1,LDQCO2,NMAX+1),
-     $                 UCOEFF(LDUCO1,LDUCO2,KDCMAX),
-     $                 VCOEFF(LDVCO1,LDVCO2,NMAX+1)
-      INTEGER          INDEXD(MAXMP), INDEXP(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TD03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL, LERI, EQUIL
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) M
-      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) P
-      ELSE
-         PORMD = P
-         IF ( LSAME( ROWCOL, 'C' ) ) PORMD = M
-         PORMP = M
-         IF ( LSAME( LERI, 'R' ) ) PORMP = P
-         READ ( NIN, FMT = * ) ( INDEXD(I), I = 1,PORMD )
-*
-         KDCOEF = 0
-         N = 0
-         DO 20 I = 1, PORMD
-            KDCOEF = MAX( KDCOEF, INDEXD(I) )
-            N = N + INDEXD(I)
-   20    CONTINUE
-         KDCOEF = KDCOEF + 1
-*
-         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
-            WRITE ( NOUT, FMT = 99984 ) KDCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORMD )
-            READ ( NIN, FMT = * )
-     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
-*           Find a relatively prime left pmr for the given transfer
-*           function.
-            CALL TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
-     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
-     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NR
-               DO 40 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 60 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 100 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-  100          CONTINUE
-               INDBLK = 0
-               DO 120 I = 1, N
-                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-  120          CONTINUE
-               IF ( LSAME( LERI, 'L' ) ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
-     $                  ( IWORK(I), I = 1,INDBLK )
-                  WRITE ( NOUT, FMT = 99990 ) ( INDEXP(I), I = 1,P )
-               ELSE
-                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
-     $                  ( IWORK(I), I = 1,INDBLK )
-                  WRITE ( NOUT, FMT = 99989 ) ( INDEXP(I), I = 1,M )
-               END IF
-               MAXINP = 0
-               DO 140 I = 1, PORMP
-                  MAXINP = MAX( MAXINP, INDEXP(I) )
-  140          CONTINUE
-               MAXINP = MAXINP + 1
-               WRITE ( NOUT, FMT = 99988 )
-               DO 180 I = 1, PORMP
-                  DO 160 J = 1, PORMP
-                     WRITE ( NOUT, FMT = 99996 )
-     $                     ( PCOEFF(I,J,K), K = 1,MAXINP )
-  160             CONTINUE
-  180          CONTINUE
-               WRITE ( NOUT, FMT = 99987 )
-               DO 220 I = 1, PORMP
-                  DO 200 J = 1, PORMD
-                     WRITE ( NOUT, FMT = 99996 )
-     $                     ( QCOEFF(I,J,K), K = 1,MAXINP )
-  200             CONTINUE
-  220          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TD03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TD03AD = ',I2)
-99997 FORMAT (' The order of the resulting minimal realization = ',I2,
-     $       //' The state dynamics matrix A is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix B is ')
-99994 FORMAT (/' The state/output matrix C is ')
-99993 FORMAT (/' The direct transmission matrix D is ')
-99992 FORMAT (/' The observability index of the minimal realization = ',
-     $       I2,//' The dimensions of the diagonal blocks of the state',
-     $       ' dynamics matrix are ',/20(I5))
-99991 FORMAT (/' The controllability index of the minimal realization ',
-     $       '= ',I2,//' The dimensions of the diagonal blocks of the ',
-     $       'state dynamics matrix are ',/20(I5))
-99990 FORMAT (/' The row degrees of the denominator matrix P(s) are',
-     $       /20(I5))
-99989 FORMAT (/' The column degrees of the denominator matrix P(s) are',
-     $       /20(I5))
-99988 FORMAT (/' The denominator matrix P(s) is ')
-99987 FORMAT (/' The numerator matrix Q(s) is ')
-99986 FORMAT (/' M is out of range.',/' M = ',I5)
-99985 FORMAT (/' P is out of range.',/' P = ',I5)
-99984 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TD01ND EXAMPLE PROGRAM DATA
-   2     2     0.0     R     L     N
-   3     3
-   1.0   6.0  11.0   6.0
-   1.0   6.0  11.0   6.0
-   1.0   6.0  12.0   7.0
-   0.0   1.0   4.0   3.0
-   0.0   0.0   1.0   1.0
-   1.0   8.0  20.0  15.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TD03AD EXAMPLE PROGRAM RESULTS
-
- The order of the resulting minimal realization =  3
-
- The state dynamics matrix A is 
-   0.5000   0.9478  10.1036
-   0.0000  -1.0000   0.0000
-  -0.8660  -0.6156  -5.5000
-
- The input/state matrix B is 
-   2.0000  12.5000
-   0.0000  -5.6273
-   0.0000  -2.0207
-
- The state/output matrix C is 
-   0.0000   0.0296  -0.5774
-   0.0000  -0.1481  -0.5774
-
- The direct transmission matrix D is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The observability index of the minimal realization =  2
-
- The dimensions of the diagonal blocks of the state dynamics matrix are 
-    2    1
-
- The row degrees of the denominator matrix P(s) are
-    2    1
-
- The denominator matrix P(s) is 
-   1.6667   4.3333   6.6667
-   0.3333   5.6667   5.3333
-   5.6273   5.6273   0.0000
-  -5.6273  -5.6273   0.0000
-
- The numerator matrix Q(s) is 
-   1.6667   4.3333   8.6667
-   0.3333   8.0000  16.6667
-   5.6273   5.6273   0.0000
-  -5.6273 -11.2546   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TD04AD.html b/doc/_build/html/_static/doc/TD04AD.html
deleted file mode 100644
index 5baa8008..00000000
--- a/doc/_build/html/_static/doc/TD04AD.html
+++ /dev/null
@@ -1,418 +0,0 @@
-<HTML>
-<HEAD><TITLE>TD04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TD04AD">TD04AD</A></H2>
-<H3>
-Minimal state-space representation for a proper transfer matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a minimal state-space representation (A,B,C,D) for a
-  proper transfer matrix T(s) given as either row or column
-  polynomial vectors over denominator polynomials, possibly with
-  uncancelled common terms.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
-     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ROWCOL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
-     $                  LDUCO2, LDWORK, M, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DCOEFF(LDDCOE,*), DWORK(*),
-     $                  UCOEFF(LDUCO1,LDUCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ROWCOL  CHARACTER*1
-          Indicates whether the transfer matrix T(s) is given as
-          rows or columns over common denominators as follows:
-          = 'R':  T(s) is given as rows over common denominators;
-          = 'C':  T(s) is given as columns over common denominators.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDEX   (input) INTEGER array, dimension (porm), where porm = P,
-          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
-          This array must contain the degrees of the denominator
-          polynomials in D(s).
-
-  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
-          where kdcoef = MAX(INDEX(I)) + 1.
-          The leading porm-by-kdcoef part of this array must contain
-          the coefficients of each denominator polynomial.
-          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of the
-          I-th denominator polynomial in D(s), where
-          K = 1,2,...,kdcoef.
-
-  LDDCOE  INTEGER
-          The leading dimension of array DCOEFF.
-          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
-          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
-
-  UCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDUCO1,LDUCO2,kdcoef)
-          The leading P-by-M-by-kdcoef part of this array must
-          contain the numerator matrix U(s); if ROWCOL = 'C', this
-          array is modified internally but restored on exit, and the
-          remainder of the leading MAX(M,P)-by-MAX(M,P)-by-kdcoef
-          part is used as internal workspace.
-          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
-          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
-          Thus for ROWCOL = 'R', U(s) =
-          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
-
-  LDUCO1  INTEGER
-          The leading dimension of array UCOEFF.
-          LDUCO1 &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDUCO1 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  LDUCO2  INTEGER
-          The second dimension of array UCOEFF.
-          LDUCO2 &gt;= MAX(1,M)   if ROWCOL = 'R';
-          LDUCO2 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  NR      (output) INTEGER
-          The order of the resulting minimal realization, i.e. the
-          order of the state dynamics matrix A.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
-                    porm
-          where N = SUM INDEX(I).
-                    I=1
-          The leading NR-by-NR part of this array contains the upper
-          block Hessenberg state dynamics matrix A of a minimal
-          realization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
-          The leading NR-by-M part of this array contains the
-          input/state matrix B of a minimal realization; the
-          remainder of the leading N-by-MAX(M,P) part is used as
-          internal workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-NR part of this array contains the
-          state/output matrix C of a minimal realization; the
-          remainder of the leading MAX(M,P)-by-N part is used as
-          internal workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M),
-          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
-          The leading P-by-M part of this array contains the direct
-          transmission matrix D; if ROWCOL = 'C', the remainder of
-          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
-          workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then i is the first integer for which
-                ABS( DCOEFF(I,1) ) is so small that the calculations
-                would overflow (see SLICOT Library routine TD03AY);
-                that is, the leading coefficient of a polynomial is
-                nearly zero; no state-space representation is
-                calculated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for transfer matrices factorized by rows will be
-  described here: T(s) factorized by columns is dealt with by
-  operating on the dual T'(s). This description for T(s) is
-  actually the left polynomial matrix representation
-
-       T(s) = inv(D(s))*U(s),
-
-  where D(s) is diagonal with its (I,I)-th polynomial element of
-  degree INDEX(I). The first step is to check whether the leading
-  coefficient of any polynomial element of D(s) is approximately
-  zero; if so the routine returns with INFO &gt; 0. Otherwise,
-  Wolovich's Observable Structure Theorem is used to construct a
-  state-space representation in observable companion form which
-  is equivalent to the above polynomial matrix representation.
-  The method is particularly easy here due to the diagonal form
-  of D(s). This state-space representation is not necessarily
-  controllable (as D(s) and U(s) are not necessarily relatively
-  left prime), but it is in theory completely observable; however,
-  its observability matrix may be poorly conditioned, so it is
-  treated as a general state-space representation and SLICOT
-  Library routine TB01PD is then called to separate out a minimal
-  realization from this general state-space representation by means
-  of orthogonal similarity transformations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Patel, R.V.
-      Computation of Minimal-Order State-Space Realizations and
-      Observability Indices using Orthogonal Transformations.
-      Int. J. Control, 33, pp. 227-246, 1981.
-
-  [2] Wolovich, W.A.
-      Linear Multivariable Systems, (Theorem 4.3.3).
-      Springer-Verlag, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TD04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KDCMAX, NMAX
-      PARAMETER        ( MMAX = 10, PMAX = 10, KDCMAX = 10, NMAX = 10 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDDCOE, LDUCO1, LDUCO2, LDA, LDB, LDC, LDD
-      PARAMETER        ( LDDCOE = MAXMP, LDUCO1 = MAXMP,
-     $                   LDUCO2 = MAXMP, LDA = NMAX, LDB = NMAX,
-     $                   LDC = MAXMP, LDD = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MAXMP ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, N, NR, P, PORM
-      CHARACTER*1      ROWCOL
-      LOGICAL          LROWCO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
-     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,KDCMAX)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TD04AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL
-      LROWCO = LSAME( ROWCOL, 'R' )
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) M
-      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) P
-      ELSE
-         PORM = P
-         IF ( .NOT.LROWCO ) PORM = M
-         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
-*
-         N = 0
-         KDCOEF = 0
-         DO 20 I = 1, PORM
-            N = N + INDEX(I)
-            KDCOEF = MAX( KDCOEF, INDEX(I) )
-   20    CONTINUE
-         KDCOEF = KDCOEF + 1
-*
-         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) KDCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORM )
-            READ ( NIN, FMT = * )
-     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
-*           Find a minimal state-space representation (A,B,C,D).
-            CALL TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
-     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NR
-               DO 40 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 60 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 100 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-  100          CONTINUE
-               INDBLK = 0
-               DO 120 I = 1, N
-                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-  120          CONTINUE
-               IF ( LROWCO ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
-     $                       ( IWORK(I), I = 1,INDBLK )
-               ELSE
-                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
-     $                       ( IWORK(I), I = 1,INDBLK )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TD04AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TD04AD = ',I2)
-99997 FORMAT (' The order of the minimal realization = ',I2,//' The st',
-     $       'ate dynamics matrix A of a minimal realization is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix B of a minimal realization is ')
-99994 FORMAT (/' The state/output matrix C of a minimal realization is '
-     $       )
-99993 FORMAT (/' The direct transmission matrix D is ')
-99992 FORMAT (/' The observability index of a minimal state-space repr',
-     $       'esentation = ',I2,//' The dimensions of the diagonal blo',
-     $       'cks of the state dynamics matrix are',/20(1X,I2))
-99991 FORMAT (/' The controllability index of a minimal state-space re',
-     $       'presentation = ',I2,//' The dimensions of the diagonal b',
-     $       'locks of the state dynamics matrix are',/20(1X,I2))
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' P is out of range.',/' P = ',I5)
-99988 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TD04AD EXAMPLE PROGRAM DATA
-   2     2     0.0     R
-   3     3
-   1.0   6.0  11.0   6.0
-   1.0   6.0  11.0   6.0
-   1.0   6.0  12.0   7.0
-   0.0   1.0   4.0   3.0
-   0.0   0.0   1.0   1.0
-   1.0   8.0  20.0  15.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TD04AD EXAMPLE PROGRAM RESULTS
-
- The order of the minimal realization =  3
-
- The state dynamics matrix A of a minimal realization is 
-   0.5000  -0.8028   0.9387
-   4.4047  -2.3380   2.5076
-  -5.5541   1.6872  -4.1620
-
- The input/state matrix B of a minimal realization is 
-  -0.2000  -1.2500
-   0.0000  -0.6097
-   0.0000   2.2217
-
- The state/output matrix C of a minimal realization is 
-   0.0000  -0.8679   0.2119
-   0.0000   0.0000   0.9002
-
- The direct transmission matrix D is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The observability index of a minimal state-space representation =  2
-
- The dimensions of the diagonal blocks of the state dynamics matrix are
-  2  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TD05AD.html b/doc/_build/html/_static/doc/TD05AD.html
deleted file mode 100644
index 63603e8f..00000000
--- a/doc/_build/html/_static/doc/TD05AD.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>TD05AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TD05AD">TD05AD</A></H2>
-<H3>
-Evaluation of a transfer function G(jW) for a specified frequency
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given a complex valued rational function of frequency (transfer
-  function) G(jW) this routine will calculate its complex value or
-  its magnitude and phase for a specified frequency value.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OUTPUT, UNITF
-      INTEGER           INFO, MP1, NP1
-      DOUBLE PRECISION  VALI, VALR, W
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UNITF   CHARACTER*1
-          Indicates the choice of frequency unit as follows:
-          = 'R':  Input frequency W in radians/second;
-          = 'H':  Input frequency W in hertz.
-
-  OUTPUT  CHARACTER*1
-          Indicates the choice of co-ordinates for output as folows:
-          = 'C':  Cartesian co-ordinates (output real and imaginary
-                  parts of G(jW));
-          = 'P':  Polar co-ordinates (output magnitude and phase
-                  of G(jW)).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NP1     (input) INTEGER
-          The order of the denominator + 1, i.e. N + 1.  NP1 &gt;= 1.
-
-  MP1     (input) INTEGER
-          The order of the numerator + 1, i.e. M + 1.  MP1 &gt;= 1.
-
-  W       (input) DOUBLE PRECISION
-          The frequency value W for which the transfer function is
-          to be evaluated.
-
-  A       (input) DOUBLE PRECISION array, dimension (NP1)
-          This array must contain the vector of denominator
-          coefficients in ascending order of powers. That is, A(i)
-          must contain the coefficient of (jW)**(i-1) for i = 1,
-          2,...,NP1.
-
-  B       (input) DOUBLE PRECISION array, dimension (MP1)
-          This array must contain the vector of numerator
-          coefficients in ascending order of powers. That is, B(i)
-          must contain the coefficient of (jW)**(i-1) for i = 1,
-          2,...,MP1.
-
-  VALR    (output) DOUBLE PRECISION
-          If OUTPUT = 'C', VALR contains the real part of G(jW).
-          If OUTPUT = 'P', VALR contains the magnitude of G(jW)
-                           in dBs.
-
-  VALI    (output) DOUBLE PRECISION
-          If OUTPUT = 'C', VALI contains the imaginary part of
-                           G(jW).
-          If OUTPUT = 'P', VALI contains the phase of G(jW) in
-                           degrees.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the frequency value W is a pole of G(jW), or all
-                the coefficients of the A polynomial are zero.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  By substituting the values of A, B and W in the following
-  formula:
-
-         B(1)+B(2)*(jW)+B(3)*(jW)**2+...+B(MP1)*(jW)**(MP1-1)
-  G(jW) = ---------------------------------------------------.
-         A(1)+A(2)*(jW)+A(3)*(jW)**2+...+A(NP1)*(jW)**(NP1-1)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N+M) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TD05AD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NP1MAX, MP1MAX
-      PARAMETER        ( NP1MAX = 20, MP1MAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION VALI, VALR, W
-      INTEGER          I, INFO, MP1, NP1
-      CHARACTER*1      UNITF, OUTPUT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NP1MAX), B(MP1MAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TD05AD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NP1, MP1, W, UNITF, OUTPUT
-      IF ( NP1.LE.0 .OR. NP1.GT.NP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP1
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,NP1 )
-         IF ( MP1.LE.0 .OR. MP1.GT.MP1MAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) MP1
-         ELSE
-            READ ( NIN, FMT = * ) ( B(I), I = 1,MP1 )
-*           Find the real and imaginary parts of G(jW), where
-*           W = 1.0 radian.
-            CALL TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
-     $                   INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF ( LSAME( OUTPUT, 'C' ) ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) VALR, VALI
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 ) VALR, VALI
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TD05AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TD05AD = ',I2)
-99997 FORMAT (' Complex value of G(jW) = ',F8.4,1X,F8.4,'*j')
-99996 FORMAT (' Magnitude of G(jW) = ',F8.4,' dBs, Phase of G(jW) = ',
-     $       F8.4,' degrees ')
-99995 FORMAT (/' NP1 is out of range.',/' NP1 = ',I5)
-99994 FORMAT (/' MP1 is out of range.',/' MP1 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TD05AD EXAMPLE PROGRAM DATA
-   6     4     1.0     R     C
-   1.0   1.0   0.0   0.0   2.0   1.0
-   6.0   2.0   3.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TD05AD EXAMPLE PROGRAM RESULTS
-
- Complex value of G(jW) =   0.8462  -0.2308*j
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01MD.html b/doc/_build/html/_static/doc/TF01MD.html
deleted file mode 100644
index 647b5b7b..00000000
--- a/doc/_build/html/_static/doc/TF01MD.html
+++ /dev/null
@@ -1,294 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01MD">TF01MD</A></H2>
-<H3>
-Output response sequence of a linear time-invariant discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  (A,B,C,D), where A is an N-by-N general matrix.
-
-  The initial state vector x(1) must be supplied by the user.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   U, LDU, X, Y, LDY, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct link matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
-          The leading M-by-NY part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th column of U must contain u(k).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
-          The leading P-by-NY part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          column of Y contains y(k) (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     x(k+1) = A x(k) + B u(k)
-     y(k)   = C x(k) + D u(k),
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (N + M) x (N + P) x NY
-  multiplications and additions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NYMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDU = MMAX, LDY = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N, NY, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
-     $                 X(NMAX), Y(LDY,NYMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NY
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
-               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NY
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
-*                 Compute y(1),...,y(NY) of the given system.
-                  CALL TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
-     $                         LDD, U, LDU, X, Y, LDY, DWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 ) NY
-                     DO 20 K = 1, NY
-                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
-                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
-   20                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01MD = ',I2)
-99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
-99996 FORMAT (' Y(',I2,') : ',F8.4)
-99995 FORMAT (9X,F8.4,/)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01MD EXAMPLE PROGRAM DATA
-   3     2     2     10
-   0.0000 -0.0700  0.0150
-   1.0000  0.8000 -0.1500
-   0.0000  0.0000  0.5000
-   0.0000  2.0000  1.0000
-  -1.0000 -0.1000  1.0000
-   0.0000  1.0000
-   0.0000  0.0000
-   1.0000  0.0000
-   1.0000  0.5000
-   0.0000  0.5000
-   1.0000  1.0000  1.0000
-  -0.6922 -1.4934  0.3081 -2.7726  2.0039
-   0.2614 -0.9160 -0.6030  1.2556  0.2951
-  -1.5734  1.5639 -0.9942  1.8957  0.8988
-   0.4118 -1.4893 -0.9344  1.2506 -0.0701
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01MD EXAMPLE PROGRAM RESULTS
-
- The output sequence Y(1),...,Y(10) is
-
- Y( 1) :   0.3078
-          -0.0928
-
- Y( 2) :  -1.5125
-           1.2611
-
- Y( 3) :  -1.2577
-           3.4002
-
- Y( 4) :  -0.2947
-          -0.7060
-
- Y( 5) :  -0.5632
-           5.4532
-
- Y( 6) :  -1.0846
-           1.1846
-
- Y( 7) :  -1.2427
-           2.2286
-
- Y( 8) :   1.8097
-          -1.9534
-
- Y( 9) :   0.6685
-          -4.4965
-
- Y(10) :  -0.0896
-           1.1654
-
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01MX.html b/doc/_build/html/_static/doc/TF01MX.html
deleted file mode 100644
index 2eef5443..00000000
--- a/doc/_build/html/_static/doc/TF01MX.html
+++ /dev/null
@@ -1,165 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01MX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01MX">TF01MX</A></H2>
-<H3>
-Output sequence of a linear time-invariant open-loop system given its system matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  with an (N+P)-by-(N+M) general system matrix S,
-
-         ( A  B )
-     S = (      ) .
-         ( C  D )
-
-  The initial state vector x(1) must be supplied by the user.
-
-  The input and output trajectories are stored as in the SLICOT
-  Library routine TF01MY.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01MX( N, M, P, NY, S, LDS, U, LDU, X, Y, LDY,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDS, LDU, LDWORK, LDY, M, N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), S(LDS,*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,N+M)
-          The leading (N+P)-by-(N+M) part of this array must contain
-          the system matrix S.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N+P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NY-by-M part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th row of U must contain u(k)'.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY+1.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
-          The leading NY-by-P part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          row of Y contains y(k)' (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,        if MIN(N,P,NY) = 0;  otherwise,
-          LDWORK &gt;= N+P,      if M = 0;
-          LDWORK &gt;= 2*N+M+P,  if M &gt; 0.
-          For better performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     ( x(k+1) )     ( x(k) )
-     (        ) = S (      ) ,
-     (  y(k)  )     ( u(k) )
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k, and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (N + M) x (N + P) x NY
-  multiplications and additions.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The implementation exploits data locality as much as possible,
-  given the workspace length.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01MY.html b/doc/_build/html/_static/doc/TF01MY.html
deleted file mode 100644
index 7995e18e..00000000
--- a/doc/_build/html/_static/doc/TF01MY.html
+++ /dev/null
@@ -1,187 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01MY">TF01MY</A></H2>
-<H3>
-Output sequence of a linear time-invariant open-loop system (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  (A,B,C,D), where A is an N-by-N general matrix.
-
-  The initial state vector x(1) must be supplied by the user.
-
-  This routine differs from SLICOT Library routine TF01MD in the
-  way the input and output trajectories are stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01MY( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   U, LDU, X, Y, LDY, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDWORK, LDY, M,
-     $                  N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct link matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NY-by-M part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th row of U must contain u(k)'.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY+1.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
-          The leading NY-by-P part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          row of Y contains y(k)' (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For better performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     x(k+1) = A x(k) + B u(k)
-     y(k)   = C x(k) + D u(k),
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (N + M) x (N + P) x NY
-  multiplications and additions.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The implementation exploits data locality and uses BLAS 3
-  operations as much as possible, given the workspace length.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01ND.html b/doc/_build/html/_static/doc/TF01ND.html
deleted file mode 100644
index 6fb14be6..00000000
--- a/doc/_build/html/_static/doc/TF01ND.html
+++ /dev/null
@@ -1,313 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01ND">TF01ND</A></H2>
-<H3>
-Output response sequence of a linear time-invariant discrete-time system with upper/lower Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  (A,B,C,D), where A is an N-by-N upper or lower Hessenberg matrix.
-
-  The initial state vector x(1) must be supplied by the user.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, U, LDU, X, Y, LDY, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes to use an upper or lower
-          Hessenberg matrix as follows:
-          = 'U':  Upper Hessenberg matrix;
-          = 'L':  Lower Hessenberg matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If UPLO = 'U', the leading N-by-N upper Hessenberg part
-          of this array must contain the state matrix A of the
-          system.
-          If UPLO = 'L', the leading N-by-N lower Hessenberg part
-          of this array must contain the state matrix A of the
-          system.
-          The remainder of the leading N-by-N part is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct link matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
-          The leading M-by-NY part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th column of U must contain u(k).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
-          The leading P-by-NY part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          column of Y contains y(k) (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     x(k+1) = A x(k) + B u(k)
-     y(k)   = C x(k) + D u(k),
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately ((N+M)xP + (N/2+M)xN) x NY
-  multiplications and additions.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The processing time required by this routine will be approximately
-  half that required by the SLICOT Library routine TF01MD, which
-  treats A as a general matrix.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NYMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDU = MMAX, LDY = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      UPLO
-      INTEGER          I, INFO, J, K, M, N, NY, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
-     $                 X(NMAX), Y(LDY,NYMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NY, UPLO
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
-               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NY
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
-*                 Compute y(1),...,y(NY) of the given system.
-                  CALL TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C,
-     $                         LDC, D, LDD, U, LDU, X, Y, LDY, DWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 ) NY
-                     DO 20 K = 1, NY
-                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
-                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
-   20                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01ND = ',I2)
-99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
-99996 FORMAT (' Y(',I2,') : ',F8.4)
-99995 FORMAT (9X,F8.4,/)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01ND EXAMPLE PROGRAM DATA
-   3     2     2     10     U
-   0.0000 -0.0700  0.0000
-   1.0000  0.8000 -0.1500
-   0.0000  0.0000  0.5000
-   0.0000  2.0000  1.0000
-  -1.0000 -0.1000  1.0000
-   0.0000  1.0000
-   0.0000  0.0000
-   1.0000  0.0000
-   1.0000  0.5000
-   0.0000  0.5000
-   1.0000  1.0000  1.0000
-  -0.6922 -1.4934  0.3081 -2.7726  2.0039
-   0.2614 -0.9160 -0.6030  1.2556  0.2951
-  -1.5734  1.5639 -0.9942  1.8957  0.8988
-   0.4118 -1.4893 -0.9344  1.2506 -0.0701
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01ND EXAMPLE PROGRAM RESULTS
-
- The output sequence Y(1),...,Y(10) is
-
- Y( 1) :   0.3078
-          -0.0928
-
- Y( 2) :  -1.5275
-           1.2611
-
- Y( 3) :  -1.3026
-           3.4002
-
- Y( 4) :  -0.3512
-          -0.7060
-
- Y( 5) :  -0.5922
-           5.4532
-
- Y( 6) :  -1.1693
-           1.1846
-
- Y( 7) :  -1.3029
-           2.2286
-
- Y( 8) :   1.7529
-          -1.9534
-
- Y( 9) :   0.6793
-          -4.4965
-
- Y(10) :  -0.0349
-           1.1654
-
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01OD.html b/doc/_build/html/_static/doc/TF01OD.html
deleted file mode 100644
index 89de0b23..00000000
--- a/doc/_build/html/_static/doc/TF01OD.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01OD">TF01OD</A></H2>
-<H3>
-Block Hankel expansion of a multivariable parameter sequence
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the block Hankel expansion T of a multivariable
-  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
-  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NH1     (input) INTEGER
-          The number of rows in each parameter M(k).  NH1 &gt;= 0.
-
-  NH2     (input) INTEGER
-          The number of columns in each parameter M(k).  NH2 &gt;= 0.
-
-  NR      (input) INTEGER
-          The number of parameters required in each column of the
-          block Hankel expansion matrix T.  NR &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of parameters required in each row of the
-          block Hankel expansion matrix T.  NC &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension
-          (LDH,(NR+NC-1)*NH2)
-          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
-          contain the multivariable sequence M(k), where k = 1,2,
-          ...,(NR+NC-1). Specifically, each parameter M(k) is an
-          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
-          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
-          The leading NH1*NR-by-NH2*NC part of this array contains
-          the block Hankel expansion of the multivariable sequence
-          M(k).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
-  sequence are arranged into a matrix T in Hankel form such that
-
-           | M(1)   M(2)    M(3)    . . .  M(NC)     |
-           |                                         |
-           | M(2)   M(3)    M(4)    . . .  M(NC+1)   |
-      T =  |  .      .       .              .        |.
-           |  .      .       .              .        |
-           |  .      .       .              .        |
-           |                                         |
-           | M(NR)  M(NR+1) M(NR+2) . . .  M(NR+NC-1)|
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Johvidov, J.S.
-      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
-      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
-      Birkhaeuser, Boston, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The time taken is approximately proportional to
-  NH1 x NH2 x NR x NC.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
-      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
-     $                   NCMAX = 20 )
-      INTEGER          LDH, LDT
-      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
-*     .. Local Arrays ..
-      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
-     $                 T(LDT,NH2MAX*NCMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
-      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NH1
-      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NH2
-      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NR
-      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NC
-      ELSE
-         READ ( NIN, FMT = * )
-     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
-*        Construct the NRT by NCT block Hankel expansion of M(k).
-         CALL TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            NRT = NH1*NR
-            NCT = NH2*NC
-            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
-            DO 20 I = 1, NRT
-               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01OD = ',I2)
-99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
-99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
-99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
-99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01OD EXAMPLE PROGRAM DATA
-   2     2     3     3
-   1.0647 -0.4282 -0.4922 -1.2072
-  -0.3043  0.6883 -0.0926  0.7167
-  -0.1844 -0.8507  0.4441 -0.0478
-   0.7195  0.0500 -0.3955  0.5674
-   1.3387 -0.2801  0.1073 -0.5315
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01OD EXAMPLE PROGRAM RESULTS
-
- The  6 by  6 matrix T is 
-   1.0647  -0.4922  -0.3043  -0.0926  -0.1844   0.4441
-  -0.4282  -1.2072   0.6883   0.7167  -0.8507  -0.0478
-  -0.3043  -0.0926  -0.1844   0.4441   0.7195  -0.3955
-   0.6883   0.7167  -0.8507  -0.0478   0.0500   0.5674
-  -0.1844   0.4441   0.7195  -0.3955   1.3387   0.1073
-  -0.8507  -0.0478   0.0500   0.5674  -0.2801  -0.5315
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01PD.html b/doc/_build/html/_static/doc/TF01PD.html
deleted file mode 100644
index f8266f1f..00000000
--- a/doc/_build/html/_static/doc/TF01PD.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01PD">TF01PD</A></H2>
-<H3>
-Block Toeplitz expansion of a multivariable parameter sequence
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the block Toeplitz expansion T of a multivariable
-  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
-  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NH1     (input) INTEGER
-          The number of rows in each parameter M(k).  NH1 &gt;= 0.
-
-  NH2     (input) INTEGER
-          The number of columns in each parameter M(k).  NH2 &gt;= 0.
-
-  NR      (input) INTEGER
-          The number of parameters required in each column of the
-          block Toeplitz expansion matrix T.  NR &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of parameters required in each row of the
-          block Toeplitz expansion matrix T.  NC &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension
-          (LDH,(NR+NC-1)*NH2)
-          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
-          contain the multivariable sequence M(k), where k = 1,2,
-          ...,(NR+NC-1). Specifically, each parameter M(k) is an
-          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
-          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
-          The leading NH1*NR-by-NH2*NC part of this array contains
-          the block Toeplitz expansion of the multivariable sequence
-          M(k).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
-  sequence are arranged into a matrix T in Toeplitz form such that
-
-             | M(NC)       M(NC-1)     M(NC-2)    . . .  M(1)  |
-             |                                                 |
-             | M(NC+1)     M(NC)       M(NC-1)    . . .  M(2)  |
-        T =  |  .           .           .                 .    |.
-             |  .           .           .                 .    |
-             |  .           .           .                 .    |
-             |                                                 |
-             | M(NR+NC-1)  M(NR+NC-2)  M(NR+NC-3) . . .  M(NR) |
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Johvidov, J.S.
-      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
-      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
-      Birkhaeuser, Boston, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The time taken is approximately proportional to
-  NH1 x NH2 x NR x NC.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
-      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
-     $                   NCMAX = 20 )
-      INTEGER          LDH, LDT
-      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
-*     .. Local Arrays ..
-      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
-     $                 T(LDT,NH2MAX*NCMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01PD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
-      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NH1
-      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NH2
-      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NR
-      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NC
-      ELSE
-         READ ( NIN, FMT = * )
-     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
-*        Construct the NRT by NCT block Toeplitz expansion of M(k).
-         CALL TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            NRT = NH1*NR
-            NCT = NH2*NC
-            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
-            DO 20 I = 1, NRT
-               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01PD = ',I2)
-99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
-99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
-99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
-99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01PD EXAMPLE PROGRAM DATA
-   2     2     3     3
-   1.0647 -0.4282 -0.4922 -1.2072
-  -0.3043  0.6883 -0.0926  0.7167
-  -0.1844 -0.8507  0.4441 -0.0478
-   0.7195  0.0500 -0.3955  0.5674
-   1.3387 -0.2801  0.1073 -0.5315
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01PD EXAMPLE PROGRAM RESULTS
-
- The  6 by  6 matrix T is 
-  -0.1844   0.4441  -0.3043  -0.0926   1.0647  -0.4922
-  -0.8507  -0.0478   0.6883   0.7167  -0.4282  -1.2072
-   0.7195  -0.3955  -0.1844   0.4441  -0.3043  -0.0926
-   0.0500   0.5674  -0.8507  -0.0478   0.6883   0.7167
-   1.3387   0.1073   0.7195  -0.3955  -0.1844   0.4441
-  -0.2801  -0.5315   0.0500   0.5674  -0.8507  -0.0478
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01QD.html b/doc/_build/html/_static/doc/TF01QD.html
deleted file mode 100644
index cbc0933a..00000000
--- a/doc/_build/html/_static/doc/TF01QD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01QD">TF01QD</A></H2>
-<H3>
-Markov parameters of a multivariable system from its transfer function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute N Markov parameters M(1), M(2),..., M(N) from a
-  multivariable system whose transfer function matrix G(z) is given.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, N, NB, NC
-C     .. Array Arguments ..
-      INTEGER           IORD(*)
-      DOUBLE PRECISION  AR(*), H(LDH,*), MA(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NC      (input) INTEGER
-          The number of system outputs, i.e. the number of rows in
-          the transfer function matrix G(z).  NC &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of system inputs, i.e. the number of columns in
-          the transfer function matrix G(z).  NB &gt;= 0.
-
-  N       (input) INTEGER
-          The number of Markov parameters M(k) to be computed.
-          N &gt;= 0.
-
-  IORD    (input) INTEGER array, dimension (NC*NB)
-          This array must contain the order r of the elements of the
-          transfer function matrix G(z), stored row by row.
-          For example, the order of the (i,j)-th element of G(z) is
-          given by IORD((i-1)xNB+j).
-
-  AR      (input) DOUBLE PRECISION array, dimension (NA), where
-          NA = IORD(1) + IORD(2) + ... + IORD(NC*NB).
-          The leading NA elements of this array must contain the
-          denominator coefficients AR(1),...,AR(r) in equation (1)
-          of the (i,j)-th element of the transfer function matrix
-          G(z), stored row by row, i.e. in the order
-          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
-          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
-          in decreasing order of powers of z; the coefficient of the
-          highest order term is assumed to be equal to 1.
-
-  MA      (input) DOUBLE PRECISION array, dimension (NA)
-          The leading NA elements of this array must contain the
-          numerator coefficients MA(1),...,MA(r) in equation (1)
-          of the (i,j)-th element of the transfer function matrix
-          G(z), stored row by row, i.e. in the order
-          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
-          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
-          in decreasing order of powers of z.
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
-          The leading NC-by-N*NB part of this array contains the
-          multivariable Markov parameter sequence M(k), where each
-          parameter M(k) is an NC-by-NB matrix and k = 1,2,...,N.
-          The Markov parameters are stored such that H(i,(k-1)xNB+j)
-          contains the (i,j)-th element of M(k) for i = 1,2,...,NC
-          and j = 1,2,...,NB.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j)-th element of G(z), defining the particular I/O transfer
-  between output i and input j, has the following form:
-
-                       -1         -2               -r
-                 MA(1)z   + MA(2)z   + ... + MA(r)z
-      G  (z) = ----------------------------------------.         (1)
-       ij                -1         -2               -r
-               1 + AR(1)z   + AR(2)z   + ... + AR(r)z
-
-  The (i,j)-th element of G(z) is defined by its order r, its r
-  moving average coefficients (= numerator) MA(1),...,MA(r) and its
-  r autoregressive coefficients (= denominator) AR(1),...,AR(r). The
-  coefficient of the constant term in the denominator is assumed to
-  be equal to 1.
-
-  The relationship between the (i,j)-th element of the Markov
-  parameters M(1),M(2),...,M(N) and the corresponding element of the
-  transfer function matrix G(z) is given by:
-
-                            -1          -2                -k
-   G  (z) = M  (0) + M  (1)z   + M  (2)z   + ... + M  (k)z  + ...(2)
-    ij       ij       ij          ij                ij
-
-  Equating (1) and (2), we find that the relationship between the
-  (i,j)-th element of the Markov parameters M(k) and the ARMA
-  parameters AR(1),...,AR(r) and MA(1),...,MA(r) of the (i,j)-th
-  element of the transfer function matrix G(z) is as follows:
-
-     M  (1)   = MA(1),
-      ij
-                        k-1
-     M  (k)   = MA(k) - SUM AR(p) x M  (k-p) for 1 &lt; k &lt;= r and
-      ij                p=1          ij
-                   r
-     M  (k+r) = - SUM AR(p) x M  (k+r-p) for k &gt; 0.
-      ij          p=1          ij
-
-  From these expressions the Markov parameters M(k) are computed
-  element by element.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The computation of the (i,j)-th element of M(k) requires:
-     (k-1) multiplications and k additions if k &lt;= r;
-       r   multiplications and r additions if k &gt; r.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
-      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
-      INTEGER          LDH
-      PARAMETER        ( LDH = NCMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, N, NA, NASUM, NB, NC, NL, NORD
-      LOGICAL          ERROR
-*     .. Local Arrays ..
-      DOUBLE PRECISION AR(NAMAX), H(LDH,NMAX*NBMAX), MA(NAMAX)
-      INTEGER          IORD(NCMAX*NBMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NA, NB, NC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NA
-      ELSE IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NB
-      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) NC
-      ELSE
-         ERROR = .FALSE.
-         NL = 0
-         K = 1
-         NASUM = 0
-         DO 40 I = 1, NC
-            DO 20 J = 1, NB
-               READ ( NIN, FMT = * ) NORD
-               NASUM = NASUM + NORD
-               IF ( NA.GE.NASUM ) THEN
-                  READ ( NIN, FMT = * ) ( MA(NL+L), L = 1,NORD )
-                  READ ( NIN, FMT = * ) ( AR(NL+L), L = 1,NORD )
-                  IORD(K) = NORD
-                  K = K + 1
-                  NL = NL + NORD
-               ELSE
-                  WRITE ( NOUT, FMT = 99993 ) NA
-                  ERROR = .TRUE.
-               END IF
-   20       CONTINUE
-   40    CONTINUE
-         IF ( .NOT. ERROR ) THEN
-*           Compute M(1),...,M(N) from the given transfer function
-*           matrix G(z).
-            CALL TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) N
-               DO 80 K = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) K,
-     $                  ( H(1,(K-1)*NB+J), J = 1,NB )
-                  DO 60 I = 2, NC
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( H(I,(K-1)*NB+J), J = 1,NB )
-   60             CONTINUE
-   80          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01QD = ',I2)
-99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
-99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
-99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
-99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01QD EXAMPLE PROGRAM DATA
-   8    10     2     2   
-   2
-   1.0  -0.5
-   0.6  -0.2
-   1
-   1.0
-  -0.8
-   3
-   0.5  -0.4   0.3
-   0.8   0.4   0.1
-   4
-   1.0   0.5  -0.5   0.0
-  -0.8   0.6   0.0  -0.2
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01QD EXAMPLE PROGRAM RESULTS
-
- The Markov Parameters M(1),...,M(8) are 
-
- M(1) :    1.0000   1.0000
-           0.5000   1.0000
-
- M(2) :   -1.1000   0.8000
-          -0.8000   1.3000
-
- M(3) :    0.8600   0.6400
-           0.7400  -0.0600
-
- M(4) :   -0.7360   0.5120
-          -0.3220  -0.8280
-
- M(5) :    0.6136   0.4096
-           0.0416  -0.4264
-
- M(6) :   -0.5154   0.3277
-           0.0215   0.4157
-
- M(7) :    0.4319   0.2621
-          -0.0017   0.5764
-
- M(8) :   -0.3622   0.2097
-          -0.0114   0.0461
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TF01RD.html b/doc/_build/html/_static/doc/TF01RD.html
deleted file mode 100644
index c3ee03b1..00000000
--- a/doc/_build/html/_static/doc/TF01RD.html
+++ /dev/null
@@ -1,263 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01RD">TF01RD</A></H2>
-<H3>
-Markov parameters of a multivariable system from the state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute N Markov parameters M(1), M(2),..., M(N) from the
-  parameters (A,B,C) of a linear time-invariant system, where each
-  M(k) is an NC-by-NB matrix and k = 1,2,...,N.
-
-  All matrices are treated as dense, and hence TF01RD is not
-  intended for large sparse problems.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H, LDH,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDH, LDWORK, N, NA, NB, NC
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NA      (input) INTEGER
-          The order of the matrix A.  NA &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of system inputs.  NB &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of system outputs.  NC &gt;= 0.
-
-  N       (input) INTEGER
-          The number of Markov parameters M(k) to be computed.
-          N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,NA)
-          The leading NA-by-NA part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,NA).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,NB)
-          The leading NA-by-NB part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,NA).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,NA)
-          The leading NC-by-NA part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,NC).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
-          The leading NC-by-N*NB part of this array contains the
-          multivariable parameters M(k), where each parameter M(k)
-          is an NC-by-NB matrix and k = 1,2,...,N. The Markov
-          parameters are stored such that H(i,(k-1)xNB+j) contains
-          the (i,j)-th element of M(k) for i = 1,2,...,NC and
-          j = 1,2,...,NB.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, 2*NA*NC).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the linear time-invariant discrete-time system
-
-         x(k+1) = A x(k) + B u(k)
-          y(k)  = C x(k) + D u(k),
-
-  the transfer function matrix G(z) is given by
-                         -1
-           G(z) = C(zI-A)  B + D
-                          -1        -2     2   -3
-                = D + CB z   + CAB z   + CA B z   + ...          (1)
-
-  Using Markov parameters, G(z) can also be written as
-                              -1        -2        -3
-           G(z) = M(0) + M(1)z   + M(2)z   + M(3)z   + ...       (2)
-
-                                                            k-1
-  Equating (1) and (2), we find that M(0) = D and M(k) = C A    B
-  for k &gt; 0, from which the Markov parameters M(1),M(2)...,M(N) are
-  computed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Chen, C.T.
-      Introduction to Linear System Theory.
-      H.R.W. Series in Electrical Engineering, Electronics and
-      Systems, Holt, Rinehart and Winston Inc., London, 1970.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (NA + NB) x NA x NC x N
-  multiplications and additions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
-      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDH
-      PARAMETER        ( LDA = NAMAX, LDB = NAMAX, LDC = NCMAX,
-     $                   LDH = NCMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NAMAX*NCMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, N, NA, NB, NC
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NAMAX), B(LDB,NBMAX), C(LDC,NAMAX),
-     $                 H(LDH,NMAX*NBMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TF01RD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NA, NB, NC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NA
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,NA ), J = 1,NA )
-         IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) NB
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,NA ), J = 1,NB )
-            IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) NC
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,NC ), J = 1,NA )
-*              Compute M(1),...,M(N) from the system (A,B,C).
-               CALL TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H,
-     $                      LDH, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) N
-                  DO 40 K = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) K,
-     $                     ( H(1,(K-1)*NB+J), J = 1,NB )
-                     DO 20 I = 2, NC
-                        WRITE ( NOUT, FMT = 99995 )
-     $                        ( H(I,(K-1)*NB+J), J = 1,NB )
-   20                CONTINUE
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01RD = ',I2)
-99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
-99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
-99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
-99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01RD EXAMPLE PROGRAM DATA
-   5     3     2     2
-   0.000 -0.070  0.015
-   1.000  0.800 -0.150
-   0.000  0.000  0.500
-   0.000  2.000  1.000
-  -1.000 -0.100  1.000
-   0.000  1.000  0.000
-   0.000  1.000  0.000
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01RD EXAMPLE PROGRAM RESULTS
-
- The Markov Parameters M(1),...,M(5) are 
-
- M(1) :    1.0000   1.0000
-           0.0000  -1.0000
-
- M(2) :    0.2000   0.5000
-           2.0000  -0.1000
-
- M(3) :   -0.1100   0.2500
-           1.6000  -0.0100
-
- M(4) :   -0.2020   0.1250
-           1.1400  -0.0010
-
- M(5) :   -0.2039   0.0625
-           0.8000  -0.0001
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01AD.html b/doc/_build/html/_static/doc/TG01AD.html
deleted file mode 100644
index d5b73452..00000000
--- a/doc/_build/html/_static/doc/TG01AD.html
+++ /dev/null
@@ -1,376 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01AD">TG01AD</A></H2>
-<H3>
-Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the matrices of the system pencil
-
-          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
-               ( C  0 )          ( 0  0 )
-
-  corresponding to the descriptor triple (A-lambda E,B,C),
-  by balancing. This involves diagonal similarity transformations
-  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
-  (A-lambda E,B,C) to make the rows and columns of system pencil
-  matrices
-
-               diag(Dl,I) * S * diag(Dr,I)
-
-  as close in norm as possible. Balancing may reduce the 1-norms
-  of the matrices of the system pencil S.
-
-  The balancing can be performed optionally on the following
-  particular system pencils
-
-           S = A-lambda E,
-
-           S = ( A-lambda E  B ),    or
-
-           S = ( A-lambda E ).
-               (     C      )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01AD( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), LSCALE( * ),
-     $                   RSCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B, A and E matrices are involved in balancing;
-          = 'C':  C, A and E matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          Threshold value for magnitude of elements:
-          elements with magnitude less than or equal to
-          THRESH are ignored for balancing. THRESH &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*A*Dr.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*E*Dr.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, if M &gt; 0, the leading L-by-M part of this array
-          contains the balanced matrix Dl*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*Dr.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
-          The scaling factors applied to S from left.  If Dl(j) is
-          the scaling factor applied to row j, then
-          SCALE(j) = Dl(j), for j = 1,...,L.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S from right.  If Dr(j) is
-          the scaling factor applied to column j, then
-          SCALE(j) = Dr(j), for j = 1,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                         -1
-               diag(Dl,I)  * S * diag(Dr,I)
-
-  to make the 1-norms of each row of the first L rows of S and its
-  corresponding N columns nearly equal.
-
-  Information about the diagonal matrices Dl and Dr are returned in
-  the vectors LSCALE and RSCALE, respectively.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] R.C. Ward, R. C.
-      Balancing the generalized eigenvalue problem.
-      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBS
-      INTEGER          I, INFO, J, L, M, N, P
-      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), LSCALE(LMAX),
-     $                 RSCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE
-      EXTERNAL         DLANGE
-*     .. External Subroutines ..
-      EXTERNAL         TG01AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Compute norms before scaling
-                  ABCNRM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
-     $                          DLANGE( '1', L, M, B, LDB, DWORK ),
-     $                          DLANGE( '1', P, N, C, LDC, DWORK ) )
-                  ENORM = DLANGE( '1', L, N, E, LDE, DWORK )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01AD( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     SABCNM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
-     $                             DLANGE( '1', L, M, B, LDB, DWORK ),
-     $                             DLANGE( '1', P, N, C, LDC, DWORK ) )
-                     SENORM = DLANGE( '1', L, N, E, LDE, DWORK )
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,L )
-                     WRITE ( NOUT, FMT = 99990 )
-                     WRITE ( NOUT, FMT = 99995 ) ( RSCALE(J), J = 1,N )
-                     WRITE ( NOUT, FMT = 99994 )
-     $                       ABCNRM, SABCNM, ENORM, SENORM
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01AD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
-99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
-99995 FORMAT (20(1X,F9.4))
-99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
-     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
-     $         ' Norm of E                   =', 1PD10.3/
-     $         ' Norm of scaled E            =', 1PD10.3)
-99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
-99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
-99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01AD EXAMPLE PROGRAM DATA
-  4    4     2     2     A   0.0
-        -1         0         0    0.003
-         0         0    0.1000    0.02
-       100        10         0    0.4
-         0         0         0    0.0
-         1       0.2         0    0.0
-         0         1         0    0.01
-       300        90         6    0.3
-         0         0        20    0.0
-        10         0
-         0         0
-         0      1000
-     10000     10000
-      -0.1      0.0    0.001    0.0
-       0.0      0.01  -0.001    0.0001
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01AD EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix Dl*A*Dr is 
-   -1.0000    0.0000    0.0000    0.3000
-    0.0000    0.0000    1.0000    2.0000
-    1.0000    0.1000    0.0000    0.4000
-    0.0000    0.0000    0.0000    0.0000
-
- The transformed descriptor matrix Dl*E*Dr is 
-    1.0000    0.2000    0.0000    0.0000
-    0.0000    1.0000    0.0000    1.0000
-    3.0000    0.9000    0.6000    0.3000
-    0.0000    0.0000    0.2000    0.0000
-
- The transformed input/state matrix Dl*B is 
-  100.0000    0.0000
-    0.0000    0.0000
-    0.0000  100.0000
-  100.0000  100.0000
-
- The transformed state/output matrix C*Dr is 
-   -0.0100    0.0000    0.0010    0.0000
-    0.0000    0.0010   -0.0010    0.0010
-
- The diagonal of left scaling matrix Dl is 
-   10.0000   10.0000    0.1000    0.0100
-
- The diagonal of right scaling matrix Dr is 
-    0.1000    0.1000    1.0000   10.0000
-
- Norm of [ A B; C 0]         = 1.100D+04
- Norm of scaled [ A B; C 0]  = 2.000D+02
- Norm of E                   = 3.010D+02
- Norm of scaled E            = 4.000D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01AZ.html b/doc/_build/html/_static/doc/TG01AZ.html
deleted file mode 100644
index c3e64f38..00000000
--- a/doc/_build/html/_static/doc/TG01AZ.html
+++ /dev/null
@@ -1,379 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01AZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01AZ">TG01AZ</A></H2>
-<H3>
-Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C) (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the matrices of the system pencil
-
-          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
-               ( C  0 )          ( 0  0 )
-
-  corresponding to the descriptor triple (A-lambda E,B,C),
-  by balancing. This involves diagonal similarity transformations
-  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
-  (A-lambda E,B,C) to make the rows and columns of system pencil
-  matrices
-
-               diag(Dl,I) * S * diag(Dr,I)
-
-  as close in norm as possible. Balancing may reduce the 1-norms
-  of the matrices of the system pencil S.
-
-  The balancing can be performed optionally on the following
-  particular system pencils
-
-           S = A-lambda E,
-
-           S = ( A-lambda E  B ),    or
-
-           S = ( A-lambda E ).
-               (     C      )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01AZ( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   E( LDE, * )
-      DOUBLE PRECISION   DWORK( * ), LSCALE( * ), RSCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B, A and E matrices are involved in balancing;
-          = 'C':  C, A and E matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          Threshold value for magnitude of elements:
-          elements with magnitude less than or equal to
-          THRESH are ignored for balancing. THRESH &gt;= 0.
-          The magnitude is computed as the sum of the absolute
-          values of the real and imaginary parts.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*A*Dr.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*E*Dr.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, if M &gt; 0, the leading L-by-M part of this array
-          contains the balanced matrix Dl*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*Dr.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
-          The scaling factors applied to S from left.  If Dl(j) is
-          the scaling factor applied to row j, then
-          SCALE(j) = Dl(j), for j = 1,...,L.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S from right.  If Dr(j) is
-          the scaling factor applied to column j, then
-          SCALE(j) = Dr(j), for j = 1,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                         -1
-               diag(Dl,I)  * S * diag(Dr,I)
-
-  to make the 1-norms of each row of the first L rows of S and its
-  corresponding N columns nearly equal.
-
-  Information about the diagonal matrices Dl and Dr are returned in
-  the vectors LSCALE and RSCALE, respectively.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] R.C. Ward, R. C.
-      Balancing the generalized eigenvalue problem.
-      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01AZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBS
-      INTEGER          I, INFO, J, L, M, N, P
-      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 E(LDE,NMAX)
-      DOUBLE PRECISION DWORK(LDWORK), LSCALE(LMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION ZLANGE
-      EXTERNAL         ZLANGE
-*     .. External Subroutines ..
-      EXTERNAL         TG01AZ
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Compute norms before scaling
-                  ABCNRM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
-     $                          ZLANGE( '1', L, M, B, LDB, DWORK ),
-     $                          ZLANGE( '1', P, N, C, LDC, DWORK ) )
-                  ENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01AZ( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     SABCNM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
-     $                             ZLANGE( '1', L, M, B, LDB, DWORK ),
-     $                             ZLANGE( '1', P, N, C, LDC, DWORK ) )
-                     SENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99985 ) ( LSCALE(I), I = 1,L )
-                     WRITE ( NOUT, FMT = 99990 )
-                     WRITE ( NOUT, FMT = 99985 ) ( RSCALE(J), J = 1,N )
-                     WRITE ( NOUT, FMT = 99994 )
-     $                       ABCNRM, SABCNM, ENORM, SENORM
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01AZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01AZ = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
-99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
-99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
-     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
-     $         ' Norm of E                   =', 1PD10.3/
-     $         ' Norm of scaled E            =', 1PD10.3)
-99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
-99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
-99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (20(1X,F9.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01AZ EXAMPLE PROGRAM DATA
-  4    4     2     2     A   0.0
-       (-1,0)       (0,0)       (0,0)  (0.003,0)
-        (0,0)       (0,0)  (0.1000,0)   (0.02,0)
-      (100,0)      (10,0)       (0,0)    (0.4,0)
-        (0,0)       (0,0)       (0,0)    (0.0,0)
-        (1,0)     (0.2,0)       (0,0)    (0.0,0)
-        (0,0)       (1,0)       (0,0)  ( 0.01,0)
-      (300,0)      (90,0)       (6,0)    (0.3,0)
-        (0,0)       (0,0)      (20,0)    (0.0,0)
-       (10,0)       (0,0)
-        (0,0)       (0,0)
-        (0,0)    (1000,0)
-    (10000,0)   (10000,0)
-     (-0.1,0)     (0.0,0)   (0.001,0)    (0.0,0)
-      (0.0,0)    (0.01,0)  (-0.001,0) (0.0001,0)
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01AZ EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix Dl*A*Dr is 
-   -1.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i     2.0000  +0.0000i 
-    1.0000  +0.0000i     0.1000  +0.0000i     0.0000  +0.0000i     0.4000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-
- The transformed descriptor matrix Dl*E*Dr is 
-    1.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     1.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i 
-    3.0000  +0.0000i     0.9000  +0.0000i     0.6000  +0.0000i     0.3000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i 
-
- The transformed input/state matrix Dl*B is 
-  100.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i   100.0000  +0.0000i 
-  100.0000  +0.0000i   100.0000  +0.0000i 
-
- The transformed state/output matrix C*Dr is 
-   -0.0100  +0.0000i     0.0000  +0.0000i     0.0010  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0010  +0.0000i    -0.0010  +0.0000i     0.0010  +0.0000i 
-
- The diagonal of left scaling matrix Dl is 
-   10.0000   10.0000    0.1000    0.0100
-
- The diagonal of right scaling matrix Dr is 
-    0.1000    0.1000    1.0000   10.0000
-
- Norm of [ A B; C 0]         = 1.100D+04
- Norm of scaled [ A B; C 0]  = 2.000D+02
- Norm of E                   = 3.010D+02
- Norm of scaled E            = 4.000D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01BD.html b/doc/_build/html/_static/doc/TG01BD.html
deleted file mode 100644
index 368f27ae..00000000
--- a/doc/_build/html/_static/doc/TG01BD.html
+++ /dev/null
@@ -1,260 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01BD">TG01BD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to the generalized Hessenberg form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices A and E of the system pencil
-
-          S =  ( A  B ) - lambda ( E  0 ) ,
-               ( C  0 )          ( 0  0 )
-
-  corresponding to the descriptor triple (A-lambda E,B,C),
-  to generalized upper Hessenberg form using orthogonal
-  transformations,
-
-       Q' * A * Z = H,   Q' * E * Z = T,
-
-  where H is upper Hessenberg, T is upper triangular, Q and Z
-  are orthogonal, and ' means transpose. The corresponding
-  transformations, written compactly as diag(Q',I) * S * diag(Z,I),
-  are also applied to B and C, getting Q' * B and C * Z.
-
-  The orthogonal matrices Q and Z are determined as products of
-  Givens rotations. They may either be formed explicitly, or they
-  may be postmultiplied into input matrices Q1 and Z1, so that
-
-       Q1 * A * Z1' = (Q1*Q) * H * (Z1*Z)'
-       Q1 * E * Z1' = (Q1*Q) * T * (Z1*Z)'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01BD( JOBE, COMPQ, COMPZ, N, M, P, ILO, IHI, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBE
-      INTEGER            IHI, ILO, INFO, LDA, LDB, LDC, LDE, LDQ,
-     $                   LDWORK, LDZ, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general square or an upper
-          triangular matrix, as follows:
-          = 'G':  E is a general square matrix;
-          = 'U':  E is an upper triangular matrix.
-
-  COMPQ   CHARACTER*1
-          Indicates what should be done with matrix Q, as follows:
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'V':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          Indicates what should be done with matrix Z, as follows:
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'V':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, and the number of rows of
-          the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that A and E are already upper triangular in
-          rows and columns 1:ILO-1 and IHI+1:N.  ILO and IHI could
-          normally be set by a previous call to LAPACK Library
-          routine DGGBAL; otherwise they should be set to 1 and N,
-          respectively.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0; ILO=1 and IHI=0, if N=0.
-          If JOBE = 'U', the matrix E is assumed upper triangular.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the upper Hessenberg matrix H = Q' * A * Z. The elements
-          below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E. If JOBE = 'U', this
-          matrix is assumed upper triangular.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular matrix T = Q' * E * Z. The elements
-          below the diagonal are set to zero.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, if M &gt; 0, the leading N-by-M part of this array
-          contains the transformed matrix Q' * B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0;  LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the transformed matrix C * Z.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N':  Q is not referenced;
-          If COMPQ = 'I':  on entry, Q need not be set, and on exit
-                           it contains the orthogonal matrix Q,
-                           where Q' is the product of the Givens
-                           transformations which are applied to A,
-                           E, and B on the left;
-          If COMPQ = 'V':  on entry, Q must contain an orthogonal
-                           matrix Q1, and on exit this is
-                           overwritten by Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'V'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced;
-          If COMPZ = 'I':  on entry, Z need not be set, and on exit
-                           it contains the orthogonal matrix Z,
-                           which is the product of the Givens
-                           transformations applied to A, E, and C
-                           on the right;
-          If COMPZ = 'V':  on entry, Z must contain an orthogonal
-                           matrix Z1, and on exit this is
-                           overwritten by Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'V'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 1,                          if JOBE = 'U';
-          LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)), if JOBE = 'G', where
-          NI = N+1-ILO, if COMPQ = 'N', and NI = N, otherwise.
-          For good performance, if JOBE = 'G', LDWORK must generally
-          be larger, LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)*NB), where
-          NB is the optimal block size.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, this routine computes the QR factorization of E and applies
-  the transformations to A, B, and possibly Q. Then, the routine
-  reduces A to upper Hessenberg form, preserving E triangular, by
-  an unblocked reduction [1], using two sequences of plane rotations
-  applied alternately from the left and from the right. The
-  corresponding transformations may be accumulated and/or applied
-  to the matrices B and C. If JOBE = 'U', the initial reduction of E
-  to upper triangular form is skipped.
-
-  This routine is a modification and extension of the LAPACK Library
-  routine DGGHRD [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, 1996.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01CD.html b/doc/_build/html/_static/doc/TG01CD.html
deleted file mode 100644
index b7db705e..00000000
--- a/doc/_build/html/_static/doc/TG01CD.html
+++ /dev/null
@@ -1,307 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01CD">TG01CD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system pair (A-lambda E,B) to the QR-coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the descriptor system pair (A-lambda E,B) to the
-  QR-coordinate form by computing an orthogonal transformation
-  matrix Q such that the transformed descriptor system pair
-  (Q'*A-lambda Q'*E, Q'*B) has the descriptor matrix Q'*E
-  in an upper trapezoidal form.
-  The left orthogonal transformations performed to reduce E
-  can be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB, Q, LDQ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, L, LDA, LDB, LDE, LDQ, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   E( LDE, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E in upper trapezoidal form,
-          i.e.
-
-                   ( E11 )
-            Q'*E = (     ) ,     if L &gt;= N ,
-                   (  0  )
-          or
-
-            Q'*E = ( E11 E12 ),  if L &lt; N ,
-
-          where E11 is an MIN(L,N)-by-MIN(L,N) upper triangular
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of Householder
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading L-by-L part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)).
-          For optimum performance
-          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)*NB),
-          where NB is the optimal blocksize.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the QR factorization of E to reduce it
-  to the upper trapezoidal form.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-      A &lt;- Q' * A ,  B &lt;- Q' * B.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20)
-      INTEGER          LDA, LDB, LDE, LDQ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX,
-     $                   LDE = LMAX, LDQ = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,MMAX) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ
-      INTEGER          I, INFO, J, L, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M
-      COMPQ = 'I'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-*              Find the transformed descriptor system pair
-*              (A-lambda E,B).
-               CALL TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB,
-     $                      Q, LDQ, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 30 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01CD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99993 FORMAT (/' The left transformation matrix Q is ')
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01CD EXAMPLE PROGRAM DATA
-  4    4     2    0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01CD EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix Q'*A is 
-  -0.6325  -0.9487   0.0000  -4.7434
-  -0.8706  -0.2176  -0.7255  -0.3627
-  -0.5203  -0.1301   0.3902   1.4307
-  -0.7559  -0.1890   0.5669   2.0788
-
- The transformed descriptor matrix Q'*E is 
-  -3.1623  -9.1706  -5.6921  -2.8460
-   0.0000  -1.3784  -1.3059  -1.3784
-   0.0000   0.0000  -2.4279   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.3162  -0.9487
-   0.6529  -0.2176
-  -0.4336  -0.9538
-   1.1339   0.3780
-
- The left transformation matrix Q is 
-  -0.3162   0.6529   0.3902   0.5669
-   0.0000  -0.7255   0.3902   0.5669
-  -0.9487  -0.2176  -0.1301  -0.1890
-   0.0000   0.0000  -0.8238   0.5669
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01DD.html b/doc/_build/html/_static/doc/TG01DD.html
deleted file mode 100644
index 55661670..00000000
--- a/doc/_build/html/_static/doc/TG01DD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01DD">TG01DD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system pair (C,A-lambda E) to the RQ-coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the descriptor system pair (C,A-lambda E) to the
-  RQ-coordinate form by computing an orthogonal transformation
-  matrix Z such that the transformed descriptor system pair
-  (C*Z,A*Z-lambda E*Z) has the descriptor matrix E*Z in an upper
-  trapezoidal form.
-  The right orthogonal transformations performed to reduce E can
-  be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC, Z, LDZ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPZ
-      INTEGER            INFO, L, LDA, LDC, LDE, LDWORK, LDZ, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   E( LDE, * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix A*Z.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix E*Z in upper trapezoidal form,
-          i.e.
-
-                   ( E11 )
-             E*Z = (     ) ,  if L &gt;= N ,
-                   (  R  )
-          or
-
-             E*Z = ( 0  R ),  if L &lt; N ,
-
-          where R is an MIN(L,N)-by-MIN(L,N) upper triangular
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)).
-          For optimum performance
-          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)*NB),
-          where NB is the optimal blocksize.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the RQ factorization of E to reduce it
-  the upper trapezoidal form.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-      A &lt;- A * Z,  C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*N*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, PMAX = 20)
-      INTEGER          LDA, LDC, LDE, LDZ
-      PARAMETER        ( LDA = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,PMAX) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPZ
-      INTEGER          I, INFO, J, L, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, P
-      COMPZ = 'I'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) L
-      ELSE
-         IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed descriptor system pair
-*              (A-lambda E,B).
-               CALL TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC,
-     $                      Z, LDZ, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 30 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01DD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The transformed input/state matrix C*Z is ')
-99993 FORMAT (/' The right transformation matrix Z is ')
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01DD EXAMPLE PROGRAM DATA
-  4    4     2    0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01DD EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix A*Z is 
-   0.4082   3.0773   0.6030   0.0000
-   0.8165   1.7233   0.6030  -1.0000
-   2.0412   2.8311   2.4121   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed descriptor matrix E*Z is 
-   0.0000  -0.7385   2.1106   0.0000
-   0.0000   0.7385   1.2060   0.0000
-   0.0000   0.0000   9.9499  -6.0000
-   0.0000   0.0000   0.0000  -2.0000
-
- The transformed input/state matrix C*Z is 
-  -0.8165   0.4924  -0.3015  -1.0000
-   0.0000   0.7385   1.2060   1.0000
-
- The right transformation matrix Z is 
-   0.8165  -0.4924   0.3015   0.0000
-  -0.4082  -0.1231   0.9045   0.0000
-   0.0000   0.0000   0.0000  -1.0000
-   0.4082   0.8616   0.3015   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01ED.html b/doc/_build/html/_static/doc/TG01ED.html
deleted file mode 100644
index c8406a7a..00000000
--- a/doc/_build/html/_static/doc/TG01ED.html
+++ /dev/null
@@ -1,429 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01ED">TG01ED</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a SVD coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for the descriptor system (A-lambda E,B,C)
-  the orthogonal transformation matrices Q and Z such that the
-  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is in an
-  SVD (singular value decomposition) coordinate form with
-  the system matrices  Q'*A*Z and Q'*E*Z in the form
-
-               ( A11  A12 )             ( Er  0 )
-      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
-               ( A21  A22 )             (  0  0 )
-
-  where Er is an invertible diagonal matrix having on the diagonal
-  the decreasingly ordered nonzero singular values of E.
-  Optionally, the A22 matrix can be further reduced to the
-  SVD form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  where Ar is an invertible diagonal matrix having on the diagonal
-  the decreasingly ordered nonzero singular values of A22.
-  The left and/or right orthogonal transformations performed
-  to reduce E and A22 are accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBA
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M, N, P, RNKA22, RANKE
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBA    CHARACTER*1
-          = 'N':  do not reduce A22;
-          = 'R':  reduce A22 to an SVD form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A*Z. If JOBA = 'R', this matrix
-          is in the form
-
-                        ( A11  *   *  )
-               Q'*A*Z = (  *   Ar  0  ) ,
-                        (  *   0   0  )
-
-          where A11 is a RANKE-by-RANKE matrix and Ar is a
-          RNKA22-by-RNKA22 invertible diagonal matrix, with
-          decresingly ordered positive diagonal elements.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E*Z.
-
-                   ( Er  0 )
-          Q'*E*Z = (       ) ,
-                   (  0  0 )
-
-          where Er is a RANKE-by-RANKE invertible diagonal matrix
-          having on the diagonal the decreasingly ordered positive
-          singular values of E.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,L)
-          The leading L-by-L part of this array contains the
-          orthogonal matrix Q, which is the accumulated product of
-          transformations applied to A, E, and B on the left.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z, which is the accumulated product of
-          transformations applied to A, E, and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
-
-  RANKE   (output) INTEGER
-          The effective rank of matrix E, and thus also the order
-          of the invertible diagonal submatrix Er.
-          RANKE is computed as the number of singular values of E
-          greater than TOL*SVEMAX, where SVEMAX is the maximum
-          singular value of E.
-
-  RNKA22  (output) INTEGER
-          If JOBA = 'R', then RNKA22 is the effective rank of
-          matrix A22, and thus also the order of the invertible
-          diagonal submatrix Ar. RNKA22 is computed as the number
-          of singular values of A22 greater than TOL*SVAMAX,
-          where SVAMAX is an estimate of the maximum singular value
-          of A.
-          If JOBA = 'N', then RNKA22 is not referenced.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the rank of E
-          and of A22. If TOL &gt; 0, then singular values less than
-          TOL*SVMAX are treated as zero, where SVMAX is the maximum
-          singular value of E or an estimate of it for A and E.
-          If TOL &lt;= 0, the default tolerance TOLDEF = EPS*L*N is
-          used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH). TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,MIN(L,N) +
-                        MAX(3*MIN(L,N)+MAX(L,N), 5*MIN(L,N), M, P)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  the QR algorithm has failed to converge when computing
-                singular value decomposition. In this case INFO
-                specifies how many superdiagonals did not converge.
-                This failure is not likely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the singular value decomposition (SVD) of E,
-  in the form
-
-                 ( Er  0 )
-        E  = Q * (       ) * Z'
-                 (  0  0 )
-
-  and finds the largest RANKE-by-RANKE leading diagonal submatrix
-  Er whose condition number is less than 1/TOL. RANKE defines thus
-  the effective rank of matrix E.
-  If JOBA = 'R' the same reduction is performed on A22 in the
-  partitioned matrix
-
-               ( A11  A12 )
-      Q'*A*Z = (          ) ,
-               ( A21  A22 )
-
-  to obtain it in the form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an invertible diagonal matrix.
-
-  The accumulated transformations are also applied to the rest of
-  matrices
-
-       B &lt;- Q' * B,  C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, MIN( LMAX, NMAX ) +
-     $                            MAX( MMAX, PMAX, 3*MIN( LMAX, NMAX ) +
-     $                            MAX( LMAX, NMAX ),
-     $                            5*MIN( LMAX, NMAX ) ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBA
-      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL
-      JOBA = 'R'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                         C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
-     $                         TOL, DWORK, LDWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   50                CONTINUE
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01ED = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Rank of matrix E   =', I5/
-     $        ' Rank of matrix A22 =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01ED EXAMPLE PROGRAM DATA
-  4    4     2     2     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01ED EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
- Rank of matrix A22 =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   2.1882  -0.8664  -3.5097  -2.1353
-  -0.4569  -0.2146   1.9802   0.3531
-  -0.5717  -0.5245  -0.4591   0.4696
-  -0.4766  -0.5846   2.1414   0.3086
-
- The transformed descriptor matrix Q'*E*Z is 
-  11.8494   0.0000   0.0000   0.0000
-   0.0000   2.1302   0.0000   0.0000
-   0.0000   0.0000   1.0270   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.2396  -1.0668
-  -0.2656  -0.8393
-  -0.7657  -0.1213
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-  -0.2499  -1.0573   0.3912  -0.8165
-  -0.5225   1.3958   0.8825   0.0000
-
- The left transformation matrix Q is 
-  -0.1534   0.5377  -0.6049   0.5669
-  -0.0872   0.2536   0.7789   0.5669
-  -0.9805  -0.0360   0.0395  -0.1890
-  -0.0863  -0.8033  -0.1608   0.5669
-
- The right transformation matrix Z is 
-  -0.2612   0.2017  -0.4737   0.8165
-  -0.7780   0.4718  -0.0738  -0.4082
-  -0.5111  -0.8556  -0.0826   0.0000
-  -0.2556   0.0684   0.8737   0.4082
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01FD.html b/doc/_build/html/_static/doc/TG01FD.html
deleted file mode 100644
index d2d7231e..00000000
--- a/doc/_build/html/_static/doc/TG01FD.html
+++ /dev/null
@@ -1,484 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01FD">TG01FD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a SVD-like coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for the descriptor system (A-lambda E,B,C)
-  the orthogonal transformation matrices Q and Z such that the
-  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
-  in a SVD-like coordinate form with
-
-               ( A11  A12 )             ( Er  0 )
-      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
-               ( A21  A22 )             (  0  0 )
-
-  where Er is an upper triangular invertible matrix.
-  Optionally, the A22 matrix can be further reduced to the form
-
-               ( Ar  X )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix, and X either a full
-  or a zero matrix.
-  The left and/or right orthogonal transformations performed
-  to reduce E and A22 can be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBA
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-  JOBA    CHARACTER*1
-          = 'N':  do not reduce A22;
-          = 'R':  reduce A22 to a SVD-like upper triangular form.
-          = 'T':  reduce A22 to an upper trapezoidal form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
-          is in the form
-
-                        ( A11  *   *  )
-               Q'*A*Z = (  *   Ar  X  ) ,
-                        (  *   0   0  )
-
-          where A11 is a RANKE-by-RANKE matrix and Ar is a
-          RNKA22-by-RNKA22 invertible upper triangular matrix.
-          If JOBA = 'R' then A has the above form with X = 0.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E*Z.
-
-                   ( Er  0 )
-          Q'*E*Z = (       ) ,
-                   (  0  0 )
-
-          where Er is a RANKE-by-RANKE upper triangular invertible
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of Householder
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading L-by-L part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  RANKE   (output) INTEGER
-          The estimated rank of matrix E, and thus also the order
-          of the invertible upper triangular submatrix Er.
-
-  RNKA22  (output) INTEGER
-          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
-          matrix A22, and thus also the order of the invertible
-          upper triangular submatrix Ar.
-          If JOBA = 'N', then RNKA22 is not referenced.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the rank of E
-          and of A22. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the
-          reciprocal condition numbers of leading submatrices
-          of R or R22 in the QR decompositions E * P = Q * R of E
-          or A22 * P22 = Q22 * R22 of A22.
-          A submatrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH). TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
-          For optimal performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of E, in the form
-
-                    ( E11 E12 )
-        E * P = Q * (         )
-                    (  0  E22 )
-
-  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
-  estimated condition number is less than 1/TOL. RANKE defines thus
-  the rank of matrix E. Further E22, being negligible, is set to
-  zero, and an orthogonal matrix Y is determined such that
-
-        ( E11 E12 ) = ( Er  0 ) * Y .
-
-  The overal transformation matrix Z results as Z = P * Y' and the
-  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
-
-                       ( Er  0 )                      ( A11  A12 )
-      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
-                       (  0  0 )                      ( A21  A22 )
-
-  where Er is an upper triangular invertible matrix.
-  If JOBA = 'R' the same reduction is performed on A22 to obtain it
-  in the form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-  If JOBA = 'T' then A22 is row compressed using the QR
-  factorization with column pivoting to the form
-
-               ( Ar  X )
-         A22 = (       )
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-       B &lt;- Q' * B, C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, PMAX,
-     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX, MMAX, LMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBA
-      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01FD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL
-      COMPQ = 'I'
-      COMPZ = 'I'
-      JOBA = 'R'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
-     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                         RANKE, RNKA22, TOL, IWORK, DWORK, LDWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   50                CONTINUE
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01FD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Rank of matrix E   =', I5/
-     $        ' Rank of matrix A22 =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01FD EXAMPLE PROGRAM DATA
-  4    4     2     2     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01FD EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
- Rank of matrix A22 =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   2.0278   0.1078   3.9062  -2.1571
-  -0.0980   0.2544   1.6053  -0.1269
-   0.2713   0.7760  -0.3692  -0.4853
-   0.0690  -0.5669  -2.1974   0.3086
-
- The transformed descriptor matrix Q'*E*Z is 
-  10.1587   5.8230   1.3021   0.0000
-   0.0000  -2.4684  -0.1896   0.0000
-   0.0000   0.0000   1.0338   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.2157  -0.9705
-   0.3015   0.9516
-   0.7595   0.0991
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-   0.3651  -1.0000  -0.4472  -0.8165
-  -1.0954   1.0000  -0.8944   0.0000
-
- The left transformation matrix Q is 
-  -0.2157  -0.5088   0.6109   0.5669
-  -0.1078  -0.2544  -0.7760   0.5669
-  -0.9705   0.1413  -0.0495  -0.1890
-   0.0000   0.8102   0.1486   0.5669
-
- The right transformation matrix Z is 
-  -0.3651   0.0000   0.4472   0.8165
-  -0.9129   0.0000   0.0000  -0.4082
-   0.0000  -1.0000   0.0000   0.0000
-  -0.1826   0.0000  -0.8944   0.4082
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01FZ.html b/doc/_build/html/_static/doc/TG01FZ.html
deleted file mode 100644
index 46016f0b..00000000
--- a/doc/_build/html/_static/doc/TG01FZ.html
+++ /dev/null
@@ -1,487 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01FZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01FZ">TG01FZ</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a SVD-like coordinate form (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for the descriptor system (A-lambda E,B,C)
-  the unitary transformation matrices Q and Z such that the
-  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
-  in a SVD-like coordinate form with
-
-               ( A11  A12 )             ( Er  0 )
-      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
-               ( A21  A22 )             (  0  0 )
-
-  where Er is an upper triangular invertible matrix, and ' denotes
-  the conjugate transpose. Optionally, the A22 matrix can be further
-  reduced to the form
-
-               ( Ar  X )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix, and X either a full
-  or a zero matrix.
-  The left and/or right unitary transformations performed
-  to reduce E and A22 can be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
-     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBA
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDZ, LZWORK,
-     $                   M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   E( LDE, * ), Q( LDQ, * ), Z( LDZ, * ),
-     $                   ZWORK( * )
-      DOUBLE PRECISION   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  unitary matrix Q is returned;
-          = 'U':  Q must contain a unitary matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  unitary matrix Z is returned;
-          = 'U':  Z must contain a unitary matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-  JOBA    CHARACTER*1
-          = 'N':  do not reduce A22;
-          = 'R':  reduce A22 to a SVD-like upper triangular form.
-          = 'T':  reduce A22 to an upper trapezoidal form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
-          is in the form
-
-                        ( A11  *   *  )
-               Q'*A*Z = (  *   Ar  X  ) ,
-                        (  *   0   0  )
-
-          where A11 is a RANKE-by-RANKE matrix and Ar is a
-          RNKA22-by-RNKA22 invertible upper triangular matrix.
-          If JOBA = 'R' then A has the above form with X = 0.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E*Z.
-
-                   ( Er  0 )
-          Q'*E*Z = (       ) ,
-                   (  0  0 )
-
-          where Er is a RANKE-by-RANKE upper triangular invertible
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ,L)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading L-by-L part of this
-                           array contains the unitary matrix Q,
-                           where Q' is the product of Householder
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading L-by-L part of this
-                           array must contain a unitary matrix Q1;
-                           on exit, the leading L-by-L part of this
-                           array contains the unitary matrix Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the unitary matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain a unitary matrix Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the unitary matrix Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  RANKE   (output) INTEGER
-          The estimated rank of matrix E, and thus also the order
-          of the invertible upper triangular submatrix Er.
-
-  RNKA22  (output) INTEGER
-          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
-          matrix A22, and thus also the order of the invertible
-          upper triangular submatrix Ar.
-          If JOBA = 'N', then RNKA22 is not referenced.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the rank of E
-          and of A22. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the
-          reciprocal condition numbers of leading submatrices
-          of R or R22 in the QR decompositions E * P = Q * R of E
-          or A22 * P22 = Q22 * R22 of A22.
-          A submatrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH). TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
-          For optimal performance, LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of E, in the form
-
-                    ( E11 E12 )
-        E * P = Q * (         )
-                    (  0  E22 )
-
-  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
-  estimated condition number is less than 1/TOL. RANKE defines thus
-  the rank of matrix E. Further E22, being negligible, is set to
-  zero, and a unitary matrix Y is determined such that
-
-        ( E11 E12 ) = ( Er  0 ) * Y .
-
-  The overal transformation matrix Z results as Z = P * Y' and the
-  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
-
-                       ( Er  0 )                      ( A11  A12 )
-      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
-                       (  0  0 )                      ( A21  A22 )
-
-  where Er is an upper triangular invertible matrix.
-  If JOBA = 'R' the same reduction is performed on A22 to obtain it
-  in the form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-  If JOBA = 'T' then A22 is row compressed using the QR
-  factorization with column pivoting to the form
-
-               ( Ar  X )
-         A22 = (       )
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-       B &lt;- Q' * B, C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01FZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NMAX )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = MAX( 1, NMAX+PMAX,
-     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX-1, MMAX, LMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBA
-      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(NMAX)
-      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 E(LDE,NMAX), Q(LDQ,LMAX), Z(LDZ,NMAX),
-     $                 ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TG01FZ
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL
-      COMPQ = 'I'
-      COMPZ = 'I'
-      JOBA = 'R'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
-     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                         RANKE, RNKA22, TOL, IWORK, DWORK, ZWORK,
-     $                         LZWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   50                CONTINUE
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01FZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01FZ = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4,SP,F8.4,S,'i '))
-99994 FORMAT (' Rank of matrix E   =', I5/
-     $        ' Rank of matrix A22 =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01FZ EXAMPLE PROGRAM DATA
-  4    4     2     2     0.0    
-    (-1,0)     (0,0)     (0,0)     (3,0)
-     (0,0)     (0,0)     (1,0)     (2,0)
-     (1,0)     (1,0)     (0,0)     (4,0)
-     (0,0)     (0,0)     (0,0)     (0,0)
-     (1,0)     (2,0)     (0,0)     (0,0)
-     (0,0)     (1,0)     (0,0)     (1,0)
-     (3,0)     (9,0)     (6,0)     (3,0)
-     (0,0)     (0,0)     (2,0)     (0,0)
-     (1,0)     (0,0)
-     (0,0)     (0,0)
-     (0,0)     (1,0)
-     (1,0)     (1,0)
-    (-1,0)     (0,0)     (1,0)     (0,0)
-     (0,0)     (1,0)    (-1,0)     (1,0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01FZ EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
- Rank of matrix A22 =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   2.0278 +0.0000i    0.1078 +0.0000i    3.9062 +0.0000i   -2.1571 +0.0000i 
-  -0.0980 +0.0000i    0.2544 +0.0000i    1.6053 +0.0000i   -0.1269 +0.0000i 
-   0.2713 +0.0000i    0.7760 +0.0000i   -0.3692 +0.0000i   -0.4853 +0.0000i 
-   0.0690 +0.0000i   -0.5669 +0.0000i   -2.1974 +0.0000i    0.3086 +0.0000i 
-
- The transformed descriptor matrix Q'*E*Z is 
-  10.1587 +0.0000i    5.8230 +0.0000i    1.3021 +0.0000i    0.0000 +0.0000i 
-   0.0000 +0.0000i   -2.4684 +0.0000i   -0.1896 +0.0000i    0.0000 +0.0000i 
-   0.0000 +0.0000i    0.0000 +0.0000i    1.0338 +0.0000i    0.0000 +0.0000i 
-   0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
-
- The transformed input/state matrix Q'*B is 
-  -0.2157 +0.0000i   -0.9705 +0.0000i 
-   0.3015 +0.0000i    0.9516 +0.0000i 
-   0.7595 +0.0000i    0.0991 +0.0000i 
-   1.1339 +0.0000i    0.3780 +0.0000i 
-
- The transformed state/output matrix C*Z is 
-   0.3651 +0.0000i   -1.0000 +0.0000i   -0.4472 +0.0000i   -0.8165 +0.0000i 
-  -1.0954 +0.0000i    1.0000 +0.0000i   -0.8944 +0.0000i    0.0000 +0.0000i 
-
- The left transformation matrix Q is 
-  -0.2157 +0.0000i   -0.5088 +0.0000i    0.6109 +0.0000i    0.5669 +0.0000i 
-  -0.1078 +0.0000i   -0.2544 +0.0000i   -0.7760 +0.0000i    0.5669 +0.0000i 
-  -0.9705 +0.0000i    0.1413 +0.0000i   -0.0495 +0.0000i   -0.1890 +0.0000i 
-   0.0000 +0.0000i    0.8102 +0.0000i    0.1486 +0.0000i    0.5669 +0.0000i 
-
- The right transformation matrix Z is 
-  -0.3651 +0.0000i    0.0000 +0.0000i    0.4472 +0.0000i    0.8165 +0.0000i 
-  -0.9129 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i   -0.4082 +0.0000i 
-   0.0000 +0.0000i   -1.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
-  -0.1826 +0.0000i    0.0000 +0.0000i   -0.8944 +0.0000i    0.4082 +0.0000i 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01GD.html b/doc/_build/html/_static/doc/TG01GD.html
deleted file mode 100644
index 8542d5e1..00000000
--- a/doc/_build/html/_static/doc/TG01GD.html
+++ /dev/null
@@ -1,409 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01GD">TG01GD</A></H2>
-<H3>
-Reduced descriptor representation without non-dynamic modes 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced descriptor representation (Ar-lambda*Er,Br,Cr)
-  without non-dynamic modes for a descriptor representation
-  (A-lambda*E,B,C). Optionally, the reduced descriptor system can
-  be put into a standard form with the leading diagonal block
-  of Er identity.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, D, LDD, LR, NR, RANKE, INFRED, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBS
-      INTEGER           INFO, INFRED, L, LDA, LDB, LDC, LDD, LDE,
-     $                  LDWORK, LR, M, N, NR, P, RANKE
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBS    CHARACTER*1
-          Indicates whether the user wishes to transform the leading
-          diagonal block of Er to an identity matrix, as follows:
-          = 'S':  make Er with leading diagonal identity;
-          = 'D':  keep Er unreduced or upper triangular.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of the matrices A, E, and B;
-          also the number of differential equations.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices A, E, and C;
-          also the dimension of descriptor state vector.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B;
-          also the dimension of the input vector.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.
-          also the dimension of the output vector.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if NR &lt; N, the leading LR-by-NR part of this
-          array contains the reduced order state matrix Ar of a
-          descriptor realization without non-dynamic modes.
-          Array A contains the original state dynamics matrix if
-          INFRED &lt; 0.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, if INFRED &gt;= 0, the leading LR-by-NR part of this
-          array contains the reduced order descriptor matrix Er of a
-          descriptor realization without non-dynamic modes.
-          In this case, only the leading RANKE-by-RANKE submatrix
-          of Er is nonzero and this submatrix is nonsingular and
-          upper triangular. Array E contains the original descriptor
-          matrix if INFRED &lt; 0. If JOBS = 'S', then the leading
-          RANKE-by-RANKE submatrix results in an identity matrix.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading LR-by-M part of this array contains
-          the reduced order input matrix Br of a descriptor
-          realization without non-dynamic modes. Array B contains
-          the original input matrix if INFRED &lt; 0.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-NR part of this array contains
-          the reduced order output matrix Cr of a descriptor
-          realization without non-dynamic modes. Array C contains
-          the original output matrix if INFRED &lt; 0.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original feedthrough matrix D.
-          On exit, the leading P-by-M part of this array contains
-          the feedthrough matrix Dr of a reduced descriptor
-          realization without non-dynamic modes.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  LR      (output) INTEGER
-          The number of reduced differential equations.
-
-  NR      (output) INTEGER
-          The dimension of the reduced descriptor state vector.
-
-  RANKE   (output) INTEGER
-          The estimated rank of the matrix E.
-
-  INFRED  (output) INTEGER
-          This parameter contains information on performed reduction
-          and on structure of resulting system matrices, as follows:
-          INFRED &gt;= 0 the reduced system is in an SVD-like
-                      coordinate form with Er upper triangular;
-                      INFRED is the achieved order reduction.
-          INFRED  &lt; 0 no reduction achieved and the original
-                      system has been restored.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MIN(L,N) = 0; otherwise,
-          LDWORK &gt;= MAX( N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
-          If LDWORK &gt;= 2*L*N+L*M+N*P+
-                       MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ) then
-          the original matrices are restored if no order reduction
-          is possible. This is achieved by saving system matrices
-          before reduction and restoring them if no order reduction
-          took place.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA. The optimal size does not necessarily include the 
-          space needed for saving the original system matrices.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine elliminates the non-dynamics modes in two steps:
-
-  Step 1: Reduce the system to the SVD-like coordinate form
-  (Q'*A*Z-lambda*Q'*E*Z, Q'*B, C*Z) , where
-
-           ( A11 A12 A13 )           ( E11 0 0 )         ( B1 )
-  Q'*A*Z = ( A21 A22  0  ), Q'*E*Z = (  0  0 0 ), Q'*B = ( B2 ),
-           ( A31  0   0  )           (  0  0 0 )         ( B3 )
-
-     C*Z = ( C1  C2  C3 ),
-
-  where E11 and A22 are upper triangular invertible matrices.
-
-  Step 2: Compute the reduced system as (Ar-lambda*Er,Br,Cr,Dr),
-  where
-       ( A11 - A12*inv(A22)*A21, A13 )        ( E11 0 )
-  Ar = (                             ),  Er = (       ),
-       (     A31                  0  )        (  0  0 )
-
-       ( B1 - A12*inv(A22)*B2 )
-  Br = (                      ),  Cr = ( C1 - C2*inv(A22)*A21, C3 ),
-       (        B3            )
-
-  Dr = D - C2*inv(A22)*B2.
-
-  Step 3: If desired (JOBS = 'S'), reduce the descriptor system to
-  the standard form
-
-  Ar &lt;- diag(inv(E11),I)*Ar;  Br &lt;- diag(inv(E11),I)*Br;
-  Er  = diag(I,0).
-
-  If L = N and LR = NR = RANKE, then if Step 3 is performed,
-  the resulting system is a standard state space system.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If L = N, the algorithm requires 0( N**3 ) floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDE
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MIN( LMAX, NMAX ) +
-     $                            MAX( 3*NMAX - 1, MMAX, LMAX ) +
-     $                            2*LMAX*NMAX + LMAX*MMAX + PMAX*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBS
-      INTEGER          I, INFO, INFRED, J, L, LR, M, N, NR, P, RANKE
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),   C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01GD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, JOBS, TOL
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-                  READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*                 Find the reduced descriptor system
-*                 (A-lambda E,B,C,D).
-                  CALL TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                         C, LDC, D, LDD, LR, NR, RANKE, INFRED,
-     $                         TOL, IWORK, DWORK, LDWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, LR
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, LR
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, LR
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   50                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01GD = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix is ')
-99996 FORMAT (/' The reduced descriptor matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Rank of matrix E   =', I5)
-99993 FORMAT (/' The reduced input/state matrix is ')
-99992 FORMAT (/' The reduced state/output matrix is ')
-99991 FORMAT (/' The transformed feedthrough matrix is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01GD EXAMPLE PROGRAM DATA
-  4    4     2     2     D     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-     1     0
-     1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01GD EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
-
- The reduced state dynamics matrix is 
-   2.5102  -3.8550 -11.4533
-  -0.0697   0.0212   0.7015
-   0.3798  -0.1156  -3.8250
-
- The reduced descriptor matrix is 
-  10.1587   5.8230   1.3021
-   0.0000  -2.4684  -0.1896
-   0.0000   0.0000   1.0338
-
- The reduced input/state matrix is 
-   7.7100   1.6714
-   0.7678   1.1070
-   2.5428   0.6935
-
- The reduced state/output matrix is 
-   0.5477  -2.5000  -6.2610
-  -1.0954   1.0000  -0.8944
-
- The transformed feedthrough matrix is 
-   4.0000   1.0000
-   1.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01HD.html b/doc/_build/html/_static/doc/TG01HD.html
deleted file mode 100644
index 4e6bd318..00000000
--- a/doc/_build/html/_static/doc/TG01HD.html
+++ /dev/null
@@ -1,603 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HD">TG01HD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to the controllability staircase form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the N-th order descriptor system (A-lambda*E,B,C)
-  to the form
-
-             ( Ac  *  )             ( Ec  *  )           ( Bc )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (    ) ,
-             ( 0  Anc )             ( 0  Enc )           ( 0  )
-
-       C*Z = ( Cc Cnc ) ,
-
-  where the NCONT-th order descriptor system (Ac-lambda*Ec,Bc,Cc)
-  is a finite and/or infinite controllable. The pencil
-  Anc - lambda*Enc is regular of order N-NCONT and contains the
-  uncontrollable finite and/or infinite eigenvalues of the pencil
-  A-lambda*E.
-
-  For JOBCON = 'C' or 'I', the pencil ( Bc Ec-lambda*Ac ) has full
-  row rank NCONT for all finite lambda and is in a staircase form
-  with
-                  _      _          _        _
-                ( E1,0   E1,1  ...  E1,k-1   E1,k  )
-                (        _          _        _     )
-    ( Bc Ec ) = (  0     E2,1  ...  E2,k-1   E2,k  ) ,  (1)
-                (              ...  _        _     )
-                (  0       0   ...  Ek,k-1   Ek,k  )
-
-                  _          _        _
-                ( A1,1  ...  A1,k-1   A1,k  )
-                (            _        _     )
-      Ac      = (   0   ...  A2,k-1   A2,k  ) ,         (2)
-                (       ...           _     )
-                (   0   ...    0      Ak,k  )
-        _
-  where Ei,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
-                         _
-  (with rtau(0) = M) and Ai,i is an rtau(i)-by-rtau(i)
-  upper triangular matrix.
-
-  For JOBCON = 'F', the pencil ( Bc Ac-lambda*Ec ) has full
-  row rank NCONT for all finite lambda and is in a staircase form
-  with
-                  _     _          _        _
-                ( A1,0  A1,1  ...  A1,k-1   A1,k  )
-                (       _          _        _     )
-    ( Bc Ac ) = (  0    A2,1  ...  A2,k-1   A2,k  ) ,   (3)
-                (             ...  _        _     )
-                (  0      0   ...  Ak,k-1   Ak,k  )
-
-                  _          _        _
-                ( E1,1  ...  E1,k-1   E1,k  )
-                (            _        _     )
-      Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (4)
-                (       ...           _     )
-                (   0   ...    0      Ek,k  )
-        _
-  where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
-                         _
-  (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
-  upper triangular matrix.
-
-  For JOBCON = 'C', the (N-NCONT)-by-(N-NCONT) regular pencil
-  Anc - lambda*Enc has the form
-
-                      ( Ainc - lambda*Einc         *          )
-   Anc - lambda*Enc = (                                       ) ,
-                      (        0           Afnc - lambda*Efnc )
-
-  where:
-    1) the NIUCON-by-NIUCON regular pencil Ainc - lambda*Einc,
-       with Ainc upper triangular and nonsingular, contains the
-       uncontrollable infinite eigenvalues of A - lambda*E;
-    2) the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) regular pencil
-       Afnc - lambda*Efnc, with Efnc upper triangular and
-       nonsingular, contains the uncontrollable finite
-       eigenvalues of A - lambda*E.
-
-  Note: The significance of the two diagonal blocks can be
-        interchanged by calling the routine with the
-        arguments A and E interchanged. In this case,
-        Ainc - lambda*Einc contains the uncontrollable zero
-        eigenvalues of A - lambda*E, while Afnc - lambda*Efnc
-        contains the uncontrollable nonzero finite and infinite
-        eigenvalues of A - lambda*E.
-
-  For JOBCON = 'F', the pencil Anc - lambda*Enc has the form
-
-     Anc - lambda*Enc = Afnc - lambda*Efnc ,
-
-  where the regular pencil Afnc - lambda*Efnc, with Efnc
-  upper triangular and nonsingular, contains the uncontrollable
-  finite eigenvalues of A - lambda*E.
-
-  For JOBCON = 'I', the pencil Anc - lambda*Enc has the form
-
-     Anc - lambda*Enc = Ainc - lambda*Einc ,
-
-  where the regular pencil Ainc - lambda*Einc, with Ainc
-  upper triangular and nonsingular, contains the uncontrollable
-  nonzero finite and infinite eigenvalues of A - lambda*E.
-
-  The left and/or right orthogonal transformations Q and Z
-  performed to reduce the system matrices can be optionally
-  accumulated.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has
-  the same transfer-function matrix as the original system
-  (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HD( JOBCON, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NCONT, NIUCON,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBCON
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
-     $                   M, N, NCONT, NIUCON, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBCON  CHARACTER*1
-          = 'C':  separate both finite and infinite uncontrollable
-                  eigenvalues;
-          = 'F':  separate only finite uncontrollable eigenvalues:
-          = 'I':  separate only nonzero finite and infinite
-                  uncontrollable eigenvalues.
-
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Ac   *  )
-                    Q'*A*Z = (         ) ,
-                             ( 0   Anc )
-
-          where Ac is NCONT-by-NCONT and Anc is
-          (N-NCONT)-by-(N-NCONT).
-          If JOBCON = 'F', the matrix ( Bc Ac ) is in the
-          controllability staircase form (3).
-          If JOBCON = 'C' or 'I', the submatrix Ac is upper
-          triangular.
-          If JOBCON = 'C', the Anc matrix has the form
-
-                          ( Ainc   *  )
-                    Anc = (           ) ,
-                          (  0   Afnc )
-
-          where the NIUCON-by-NIUCON matrix Ainc is nonsingular and
-          upper triangular.
-          If JOBCON = 'I', Anc is nonsingular and upper triangular.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z,
-
-                             ( Ec   *  )
-                    Q'*E*Z = (         ) ,
-                             ( 0   Enc )
-
-          where Ec is NCONT-by-NCONT and Enc is
-          (N-NCONT)-by-(N-NCONT).
-          If JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
-          controllability staircase form (1).
-          If JOBCON = 'F', the submatrix Ec is upper triangular.
-          If JOBCON = 'C', the Enc matrix has the form
-
-                          ( Einc   *  )
-                    Enc = (           ) ,
-                          (  0   Efnc )
-
-          where the NIUCON-by-NIUCON matrix Einc is nilpotent
-          and the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) matrix Efnc
-          is nonsingular and upper triangular.
-          If JOBCON = 'F', Enc is nonsingular and upper triangular.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix
-
-                           ( Bc )
-                    Q'*B = (    ) ,
-                           ( 0  )
-
-           where Bc is NCONT-by-M.
-           For JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
-           controllability staircase form (1).
-           For JOBCON = 'F', the matrix ( Bc Ac ) is in the
-           controllability staircase form (3).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Q,
-                          where Q' is the product of transformations
-                          which are applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Qc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Qc*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Z,
-                          which is the product of transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Zc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Zc*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NCONT   (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of reduced matrix Bc; also the order of
-          the controllable part of the pair (A-lambda*E,B).
-
-  NIUCON  (output) INTEGER
-          For JOBCON = 'C', the order of the reduced matrices
-          Ainc and Einc; also the number of uncontrollable
-          infinite eigenvalues of the pencil A - lambda*E.
-          For JOBCON = 'F' or 'I', NIUCON has no significance
-          and is set to zero.
-
-  NRBLCK  (output) INTEGER
-          For JOBCON = 'C' or 'I', the number k, of full row rank
-                 _
-          blocks Ei,i in the staircase form of the pencil
-          (Bc Ec-lambda*Ac) (see (1) and (2)).
-          For JOBCON = 'F', the number k, of full row rank blocks
-          _
-          Ai,i in the staircase form of the pencil (Bc Ac-lambda*Ec)
-          (see (3) and (4)).
-
-  RTAU    (output) INTEGER array, dimension (N)
-          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
-                                  _         _
-          the full row rank block Ei,i-1 or Ai,i-1 in the staircase
-          form (1) or (3) for JOBCON = 'C' or 'I', or
-          for JOBCON = 'F', respectively.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*M))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithms of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A, E and B are badly scaled, it is
-  generally recommendable to scale them with the SLICOT routine
-  TG01AD, before calling TG01HD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*MMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBCO
-      INTEGER          I, INFO, J, M, N, NCONT, NIUCON, NRBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(MMAX), RTAU(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBCO
-      COMPQ = 'I'
-      COMPZ = 'I'
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed descriptor system (A-lambda E,B,C).
-               CALL TG01HD( JOBCO, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                      NCONT, NIUCON, NRBLCK, RTAU, TOL, IWORK,
-     $                      DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NCONT, NIUCON
-                  WRITE ( NOUT, FMT = 99985 )
-                  WRITE ( NOUT, FMT = 99984 ) ( RTAU(I), I = 1,NRBLCK )
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01HD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Dimension of controllable part   =', I5/
-     $        ' Number of uncontrollable infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The staircase form row dimensions are ' )
-99984 FORMAT (10I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01HD EXAMPLE PROGRAM DATA
-  7    3     2     0.0    C
-     2     0     2     0    -1     3     1
-     0     1     0     0     1     0     0
-     0     0     0     1     0     0     1
-     0     0     2     0    -1     3     1
-     0     0     0     1     0     0     1
-     0     1     0     0     1     0     0
-     0     0     0     1     0     0     1
-     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0
-     0     0     0     0     0     0     1
-     0     0     0     0     0     0     1
-     0     0     0     1     0     0     0
-     0     0     1     0    -1     0     0
-     1     3     0     2     0     0     0
-     2     1     0
-     0     0     0
-     0     0     0
-     0     0     0
-     0     0     0
-     0     0     0
-     1     2     3
-     1     0     0     1     0     0     1
-     0    -1     1     0    -1     1     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01HD EXAMPLE PROGRAM RESULTS
-
- Dimension of controllable part   =    3
- Number of uncontrollable infinite eigenvalues =    1
-
- The staircase form row dimensions are 
-    2    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   0.0000   0.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
-   0.0000   2.0000   0.0000  -3.7417  -0.8520   0.2924  -0.4342
-   0.0000   0.0000   1.7862   0.3780  -0.2651  -0.7723   0.0000
-   0.0000   0.0000   0.0000   3.7417   0.8520  -0.2924   0.4342
-   0.0000   0.0000   0.0000   0.0000  -1.5540   0.5334   0.5742
-   0.0000   0.0000   0.0000   0.0000  -0.6533   0.2242   0.2414
-   0.0000   0.0000   0.0000   0.0000  -0.5892   0.2022   0.2177
-
- The transformed descriptor matrix Q'*E*Z is 
-  -1.8325   1.0000   2.3752   0.0000  -0.8214   0.2819   1.8016
-   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
-  -0.1728   0.0000  -0.1333  -1.1339   0.1325   0.3861   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.8520  -0.2924   0.4342
-   0.0000   0.0000   0.0000   0.0000  -1.0260  -0.1496   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.1937   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-
- The transformed input/state matrix Q'*B is 
-   1.0000   2.0000   3.0000
-   2.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-
- The transformed state/output matrix C*Z is 
-   0.0000   1.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
-   0.3665   0.0000  -0.9803  -1.6036   0.1874   0.5461   0.0000
-
- The left transformation matrix Q is 
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.7071   0.0000   0.2740  -0.6519   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.8304   0.3491  -0.4342
-   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.4003   0.1683   0.9008
-   0.0000   0.0000   0.7071   0.0000  -0.2740   0.6519   0.0000
-   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-
- The right transformation matrix Z is 
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.6108   0.0000   0.7917   0.0000   0.0000   0.0000   0.0000
-   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
-   0.0000   0.0000   0.0000   0.0000  -0.4107   0.1410   0.9008
-   0.6108   0.0000   0.4713   0.2673  -0.1874  -0.5461   0.0000
-  -0.1222   0.0000  -0.0943  -0.8018  -0.1874  -0.5461   0.0000
-   0.0000   0.0000   0.0000   0.0000  -0.8520   0.2924  -0.4342
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,376 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HU">TG01HU</A></H2>
-<H3>
-Staircase controllability representation of a multi-input descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given the descriptor system (A-lambda*E,B,C) with the system
-  matrices A, E and B of the form
-
-         ( A1 X1 )        ( E1 Y1 )        ( B1 B2 )
-     A = (       ) ,  E = (       ) ,  B = (       ) ,
-         ( 0  X2 )        ( 0  Y2 )        ( 0  0  )
-
-  where
-       - B is an L-by-(M1+M2) matrix,
-         with B1 an N1-by-M1 submatrix, B2 an N1-by-M2 submatrix,
-       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
-       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
-           with LBE nonzero sub-diagonals,
-  this routine reduces the pair (A1-lambda*E1,[B1 B2]) to the form
-
-  Qc'*[B1 B2 A1-lambda*E1 ]*diag(I,Zc) =
-
-                           ( Bc1 Bc2 Ac-lambda*Ec      *         )
-                           (                                     ) ,
-                           (  0   0       0       Anc-lambda*Enc )
-
-  where:
-  1) the pencil ( Bc1 Bc2 Ac-lambda*Ec ) has full row rank NR for
-     all finite lambda and is in a staircase form with
-
-             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
-             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
-             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
-             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
-        Ac = [  .   .   . . .    .      .     .  ],              (1)
-             [  .   .     . .    .      .     .  ]
-             [  .   .       .    .      .     .  ]
-             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
-
-                  [ A1,-1 A1,0 ]
-                  [  0    A2,0 ]
-                  [  0     0   ]             ( E11  E12 ...  E1p  )
-                  [  0     0   ]             (  0   E22 ...  E2p  )
-      [Bc1 Bc2] = [  .     .   ],       Ec = (   .   .   .    .   ),
-                  [  .     .   ]             (   .   .   .    .   )
-                  [  .     .   ]             (   0   0  ...  Epp  )
-                  [  0     0   ]
-
-      where the block  Ai,i-2 is an rtau(i)-by-rtau(i-2) full row
-      rank matrix (with rtau(-1) = M1, rtau(0) = M2) and Ei,i is an
-      rtau(i)-by-rtau(i) upper triangular matrix.
-
-   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
-      upper triangular; this pencil contains the uncontrollable
-      finite eigenvalues of the pencil (A1-lambda*E1).
-
-  The transformations are applied to the whole matrices A, E, B
-  and C. The left and/or right orthogonal transformations Qc and Zc,
-  performed to reduce the pencil, can be optionally accumulated in
-  the matrices Q and Z, respectively.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
-  uncontrollable finite eigenvalues and has the same transfer-
-  function matrix as the original system (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HU( COMPQ, COMPZ, L, N, M1, M2, P, N1, LBE, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ
-      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M1, M2, N, N1, NR, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of descriptor state equations; also the number
-          of rows of the matrices A, E and B.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          number of columns of the matrices A, E and C.  N &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of system inputs in U1, or of columns of B1.
-          M1 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of system inputs in U2, or of columns of B2.
-          M2 &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output; also the
-          number of rows of the matrix C.  P &gt;= 0.
-
-  N1      (input) INTEGER
-          The order of the subsystem (A1-lambda*E1,B1,C1) to be
-          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
-
-  LBE     (input) INTEGER
-          The number of nonzero sub-diagonals of the submatrix E1.
-          MAX(0,N1-1) &gt;= LBE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N state matrix A in the partitioned form
-
-                   ( A1 X1 )
-               A = (       ) ,
-                   ( 0  X2 )
-
-          where A1 is N1-by-N1.
-          On exit, the leading L-by-N part of this array contains
-          the transformed state matrix,
-
-                                       ( Ac  *   * )
-                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
-                                       ( 0   0   * )
-
-          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N descriptor matrix E in the partitioned
-          form
-                   ( E1 Y1 )
-               E = (       ) ,
-                   ( 0  Y2 )
-
-          where E1 is an N1-by-N1 matrix with LBE nonzero
-          sub-diagonals.
-          On exit, the leading L-by-N part of this array contains
-          the transformed descriptor matrix
-
-                                       ( Ec  *   * )
-                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
-                                       ( 0   0   * )
-
-          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
-          Both Ec and Enc are upper triangular and Enc is
-          nonsingular.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          with M = M1 + M2.
-          On entry, the leading L-by-M part of this array must
-          contain the L-by-M input matrix B in the partitioned form
-
-                   ( Bi )
-               B = (    ) ,
-                   ( 0  )
-
-          where Bi is N1-by-M.
-          On exit, the leading L-by-M part of this array contains
-          the transformed input matrix
-
-                            ( Bc )
-                    Qc'*B = (    ) ,
-                            ( 0  )
-
-          where Bc is NR-by-M.
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Zc.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix Qc,
-                          where Qc' is the product of the
-                          transformations applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading L-by-L part of this
-                          array must contain an orthogonal matrix Q;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix
-                          Q*Qc.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'I' or 'U'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Zc,
-                          i.e., the product of the transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix Z;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Z*Zc.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of the reduced matrix Bc; also the order of
-          the controllable part of the pair (B, A-lambda*E).
-
-  NRBLCK  (output) INTEGER
-          The number p, of full row rank blocks Ai,i-2 in the
-          staircase form of the pencil (Bc1 Bc2 Ac-lambda*Ec).
-
-  RTAU    (output) INTEGER array, dimension (2*N1)
-          The leading NRBLCK elements of this array contain the
-          orders of the diagonal blocks of Ac. NRBLCK is always
-          an even number, and the NRBLCK/2 odd and even components
-          of RTAU have decreasing values, respectively.
-          Note that some elements of RTAU can be zero.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MIN(N1,M) = 0; otherwise,
-          LDWORK &gt;= MAX(N1+MAX(L,N,M),2*M), if LBE &gt; 0 and N1 &gt; 2;
-          LDWORK &gt;= MAX(1,L,N,2*M),         if LBE = 0 or N1 &lt;= 2.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm [1] represents a specialization of the
-  controllability staircase algorithm of [2] to the special structure
-  of the input matrix B = [B1,B2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Reliable algorithms for computing minimal dynamic covers for
-      descriptor systems.
-      Proc. of MTNS'04, Leuven, Belgium, 2004.
-
-  [2] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N*N1**2 )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,343 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HX">TG01HX</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given the descriptor system (A-lambda*E,B,C) with the system
-  matrices A, E and B of the form
-
-         ( A1 X1 )        ( E1 Y1 )        ( B1 )
-     A = (       ) ,  E = (       ) ,  B = (    ) ,
-         ( 0  X2 )        ( 0  Y2 )        ( 0  )
-
-  where
-       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix
-       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix
-       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
-           with LBE nonzero sub-diagonals,
-  this routine reduces the pair (A1-lambda*E1,B1) to the form
-
-  Qc'*[B1 A1-lambda*E1]*diag(I,Zc) =
-
-                           ( Bc Ac-lambda*Ec      *         )
-                           (                                ) ,
-                           ( 0     0         Anc-lambda*Enc )
-
-  where:
-  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
-     all finite lambda and is in a staircase form with
-                        _      _          _        _
-                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
-                      (        _          _        _     )
-          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
-                      (              ...  _        _     )
-                      (  0       0   ...  Ak,k-1   Ak,k  )
-
-                        _          _        _
-                      ( E1,1  ...  E1,k-1   E1,k  )
-                      (            _        _     )
-            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
-                      (       ...           _     )
-                      (   0   ...    0      Ek,k  )
-            _
-      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
-                                    _
-      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
-      upper triangular matrix.
-
-   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
-      upper triangular; this pencil contains the uncontrollable
-      finite eigenvalues of the pencil (A1-lambda*E1).
-
-  The transformations are applied to the whole matrices A, E, B
-  and C. The left and/or right orthogonal transformations Qc and Zc
-  performed to reduce the pencil can be optionally accumulated
-  in the matrices Q and Z, respectively.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
-  uncontrollable finite eigenvalues and has the same
-  transfer-function matrix as the original system (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HX( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ
-      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDZ, M,
-     $                   N, N1, NR, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of descriptor state equations; also the number
-          of rows of matrices A, E and B.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          number of columns of matrices A, E and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  N1      (input) INTEGER
-          The order of subsystem (A1-lambda*E1,B1,C1) to be reduced.
-          MIN(L,N) &gt;= N1 &gt;= 0.
-
-  LBE     (input) INTEGER
-          The number of nonzero sub-diagonals of submatrix E1.
-          MAX(0,N1-1) &gt;= LBE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N state matrix A in the partitioned
-          form
-                   ( A1 X1 )
-               A = (       ) ,
-                   ( 0  X2 )
-
-          where A1 is N1-by-N1.
-          On exit, the leading L-by-N part of this array contains
-          the transformed state matrix,
-
-                               ( Ac  *   * )
-                    Qc'*A*Zc = ( 0  Anc  * ) ,
-                               ( 0   0   * )
-
-          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
-          The matrix ( Bc Ac ) is in the controllability
-          staircase form (1).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N descriptor matrix E in the partitioned
-          form
-                   ( E1 Y1 )
-               E = (       ) ,
-                   ( 0  Y2 )
-
-          where E1 is N1-by-N1 matrix with LBE nonzero
-          sub-diagonals.
-          On exit, the leading L-by-N part of this array contains
-          the transformed descriptor matrix
-
-                               ( Ec  *   * )
-                    Qc'*E*Zc = ( 0  Enc  * ) ,
-                               ( 0   0   * )
-
-          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
-          Both Ec and Enc are upper triangular and Enc is
-          nonsingular.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the L-by-M input matrix B in the partitioned
-          form
-                   ( B1 )
-               B = (    ) ,
-                   ( 0  )
-
-          where B1 is N1-by-M.
-          On exit, the leading L-by-M part of this array contains
-          the transformed input matrix
-
-                            ( Bc )
-                    Qc'*B = (    ) ,
-                            ( 0  )
-
-          where Bc is NR-by-M.
-          The matrix ( Bc Ac ) is in the controllability
-          staircase form (1).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Zc.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix Qc,
-                          where Qc' is the product of transformations
-                          which are applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading L-by-L part of this
-                          array must contain an orthogonal matrix Q;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix
-                          Q*Qc.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Zc,
-                          which is the product of transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix Z;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Z*Zc.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of the reduced matrix Bc; also the order of
-          the controllable part of the pair (B, A-lambda*E).
-
-  NRBLCK  (output) INTEGER                      _
-          The number k, of full row rank blocks Ai,i in the
-          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
-          and (2)).
-
-  RTAU    (output) INTEGER array, dimension (N1)
-          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
-                                  _
-          the full row rank block Ai,i-1 in the staircase form (1).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,L,2*M))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N*N1**2 )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01HY.html b/doc/_build/html/_static/doc/TG01HY.html
deleted file mode 100644
index 7f900e3d..00000000
--- a/doc/_build/html/_static/doc/TG01HY.html
+++ /dev/null
@@ -1,360 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HY">TG01HY</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues (blocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given the descriptor system (A-lambda*E,B,C) with the system
-  matrices A, E and B of the form
-
-         ( A1 X1 )        ( E1 Y1 )        ( B1 )
-     A = (       ) ,  E = (       ) ,  B = (    ) ,
-         ( 0  X2 )        ( 0  Y2 )        ( 0  )
-
-  where
-       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix,
-       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
-       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
-           with LBE nonzero sub-diagonals,
-  this routine reduces the pair (A1-lambda*E1,B1) to the form
-
-  Qc'*[ B1 A1-lambda*E1 ]*diag(I,Zc) =
-
-                           ( Bc Ac-lambda*Ec      *         )
-                           (                                ) ,
-                           ( 0     0         Anc-lambda*Enc )
-
-  where:
-  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
-     all finite lambda and is in a staircase form with
-                        _      _          _        _
-                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
-                      (        _          _        _     )
-          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
-                      (              ...  _        _     )
-                      (  0       0   ...  Ak,k-1   Ak,k  )
-
-                        _          _        _
-                      ( E1,1  ...  E1,k-1   E1,k  )
-                      (            _        _     )
-            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
-                      (       ...           _     )
-                      (   0   ...    0      Ek,k  )
-            _
-      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
-                                    _
-      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
-      upper triangular matrix.
-
-   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
-      upper triangular; this pencil contains the uncontrollable
-      finite eigenvalues of the pencil (A1-lambda*E1).
-
-  The transformations are applied to the whole matrices A, E, B
-  and C. The left and/or right orthogonal transformations Qc and Zc,
-  performed to reduce the pencil, can be optionally accumulated in
-  the matrices Q and Z, respectively.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
-  uncontrollable finite eigenvalues and has the same transfer-
-  function matrix as the original system (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HY( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ
-      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M, N, N1, NR, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of descriptor state equations; also the number
-          of rows of the matrices A, E and B.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          number of columns of the matrices A, E and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output; also the
-          number of rows of the matrix C.  P &gt;= 0.
-
-  N1      (input) INTEGER
-          The order of the subsystem (A1-lambda*E1,B1,C1) to be
-          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
-
-  LBE     (input) INTEGER
-          The number of nonzero sub-diagonals of the submatrix E1.
-          MAX(0,N1-1) &gt;= LBE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N state matrix A in the partitioned form
-
-                   ( A1 X1 )
-               A = (       ) ,
-                   ( 0  X2 )
-
-          where A1 is N1-by-N1.
-          On exit, the leading L-by-N part of this array contains
-          the transformed state matrix,
-
-                                       ( Ac  *   * )
-                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
-                                       ( 0   0   * )
-
-          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N descriptor matrix E in the partitioned
-          form
-                   ( E1 Y1 )
-               E = (       ) ,
-                   ( 0  Y2 )
-
-          where E1 is an N1-by-N1 matrix with LBE nonzero
-          sub-diagonals.
-          On exit, the leading L-by-N part of this array contains
-          the transformed descriptor matrix
-
-                                       ( Ec  *   * )
-                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
-                                       ( 0   0   * )
-
-          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
-          Both Ec and Enc are upper triangular.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the L-by-M input matrix B in the partitioned form
-
-                   ( B1 )
-               B = (    ) ,
-                   ( 0  )
-
-          where B1 is N1-by-M.
-          On exit, the leading L-by-M part of this array contains
-          the transformed input matrix
-
-                            ( Bc )
-                    Qc'*B = (    ) ,
-                            ( 0  )
-
-          where Bc is NR-by-M.
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Zc.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix Qc,
-                          where Qc' is the product of the
-                          transformations applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading L-by-L part of this
-                          array must contain an orthogonal matrix Q;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix
-                          Q*Qc.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Zc,
-                          i.e., the product of the transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix Z;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Z*Zc.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of the reduced matrix Bc; also the order of
-          the controllable part of the pair (B, A-lambda*E).
-
-  NRBLCK  (output) INTEGER                      _
-          The number k, of full row rank blocks Ai,i in the
-          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
-          and (2)).
-
-  RTAU    (output) INTEGER array, dimension (N1)
-          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
-                                  _
-          the full row rank block Ai,i-1 in the staircase form (1).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N,L,2*(M+N1-1))
-          For good performance, LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-  If suitable, it uses block algorithms for the reduction of the
-  matrix E and for the corresponding updates of the matrices A, B,
-  and Q. Moreover, for large systems, the row transformations are
-  applied on panels of columns of the matrices A, B, and E.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N*N1**2 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If INFO &gt; 0 on entry, that value is used as block size for the
-  block algorithms. Otherwise, the block size is chosen internally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01ID.html b/doc/_build/html/_static/doc/TG01ID.html
deleted file mode 100644
index d1cbad4c..00000000
--- a/doc/_build/html/_static/doc/TG01ID.html
+++ /dev/null
@@ -1,618 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01ID">TG01ID</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to the observability staircase form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the N-th order descriptor system (A-lambda*E,B,C)
-  to the form
-
-             ( Ano  * )             ( Eno  * )           ( Bno )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (     ) ,
-             ( 0   Ao )             ( 0   Eo )           ( Bo  )
-
-       C*Z = ( 0   Co ) ,
-
-  where the NOBSV-th order descriptor system (Ao-lambda*Eo,Bo,Co)
-  is a finite and/or infinite observable. The pencil
-  Ano - lambda*Eno is regular of order N-NOBSV and contains the
-  unobservable finite and/or infinite eigenvalues of the pencil
-  A-lambda*E.
-
-  For JOBOBS = 'O' or 'I', the pencil ( Eo-lambda*Ao ) has full
-                                      (      Co      )
-  column rank NOBSV for all finite lambda and is in a staircase form
-  with
-                  _      _            _      _
-                ( Ek,k   Ek,k-1   ... Ek,2   Ek,1   )
-                ( _      _            _      _      )
-    ( Eo ) =    ( Ek-1,k Ek-1,k-1 ... Ek-1,2 Ek-1,1 ) ,  (1)
-    ( Co )      (     ...         ... _      _      )
-                (  0       0      ... E1,2   E1,1   )
-                (                            _      )
-                (  0       0      ... 0      E0,1   )
-                  _          _      _
-                ( Ak,k  ...  Ak,2   Ak,1 )
-                (       ...  _      _    )
-      Ao      = (   0   ...  A2,2   A2,1 ) ,             (2)
-                (                   _    )
-                (   0   ...    0    A1,1 )
-        _
-  where Ei-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
-                         _
-  (with CTAU(0) = P) and Ai,i is a CTAU(i)-by-CTAU(i)
-  upper triangular matrix.
-
-  For JOBOBS = 'F', the pencil ( Ao-lambda*Eo ) has full
-                               (      Co      )
-  column rank NOBSV for all finite lambda and is in a staircase form
-  with
-                  _      _            _      _
-                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
-                ( _      _            _      _      )
-    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,  (3)
-    ( Co )      (     ...         ... _      _      )
-                (  0       0      ... A1,2   A1,1   )
-                (                            _      )
-                (  0       0      ... 0      A0,1   )
-                  _          _      _
-                ( Ek,k  ...  Ek,2   Ek,1 )
-                (       ...  _      _    )
-      Eo      = (   0   ...  E2,2   E2,1 ) ,             (4)
-                (                   _    )
-                (   0   ...    0    E1,1 )
-        _
-  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
-                         _
-  (with CTAU(0) = P) and Ei,i is a CTAU(i)-by-CTAU(i)
-  upper triangular matrix.
-
-  For JOBOBS = 'O', the (N-NOBSV)-by-(N-NOBSV) regular pencil
-  Ano - lambda*Eno has the form
-
-                      ( Afno - lambda*Efno         *          )
-   Ano - lambda*Eno = (                                       ) ,
-                      (        0           Aino - lambda*Eino )
-
-  where:
-    1) the NIUOBS-by-NIUOBS regular pencil Aino - lambda*Eino,
-       with Aino upper triangular and nonsingular, contains the
-       unobservable infinite eigenvalues of A - lambda*E;
-    2) the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) regular pencil
-       Afno - lambda*Efno, with Efno upper triangular and
-       nonsingular, contains the unobservable finite
-       eigenvalues of A - lambda*E.
-
-  Note: The significance of the two diagonal blocks can be
-        interchanged by calling the routine with the
-        arguments A and E interchanged. In this case,
-        Aino - lambda*Eino contains the unobservable zero
-        eigenvalues of A - lambda*E, while Afno - lambda*Efno
-        contains the unobservable nonzero finite and infinite
-        eigenvalues of A - lambda*E.
-
-  For JOBOBS = 'F', the pencil Ano - lambda*Eno has the form
-
-     Ano - lambda*Eno = Afno - lambda*Efno ,
-
-  where the regular pencil Afno - lambda*Efno, with Efno
-  upper triangular and nonsingular, contains the unobservable
-  finite eigenvalues of A - lambda*E.
-
-  For JOBOBS = 'I', the pencil Ano - lambda*Eno has the form
-
-     Ano - lambda*Eno = Aino - lambda*Eino ,
-
-  where the regular pencil Aino - lambda*Eino, with Aino
-  upper triangular and nonsingular, contains the unobservable
-  nonzero finite and infinite eigenvalues of A - lambda*E.
-
-  The left and/or right orthogonal transformations Q and Z
-  performed to reduce the system matrices can be optionally
-  accumulated.
-
-  The reduced order descriptor system (Ao-lambda*Eo,Bo,Co) has
-  the same transfer-function matrix as the original system
-  (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NOBSV, NIUOBS,
-     $                   NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBOBS
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
-     $                   M, N, NIUOBS, NLBLCK, NOBSV, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            CTAU( * ), IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
-     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBOBS   CHARACTER*1
-          = 'O':  separate both finite and infinite unobservable
-                  eigenvalues;
-          = 'F':  separate only finite unobservable eigenvalues;
-          = 'I':  separate only nonzero finite and infinite
-                  unobservable eigenvalues.
-
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Ano  *  )
-                    Q'*A*Z = (         ) ,
-                             ( 0    Ao )
-
-          where Ao is NOBSV-by-NOBSV and Ano is
-          (N-NOBSV)-by-(N-NOBSV).
-          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
-                                      ( Co )
-          staircase form (3).
-          If JOBOBS = 'O' or 'I', the submatrix Ao is upper
-          triangular.
-          If JOBOBS = 'O', the submatrix Ano has the form
-
-                          ( Afno   *  )
-                    Ano = (           ) ,
-                          (  0   Aino )
-
-          where the NIUOBS-by-NIUOBS matrix Aino is nonsingular and
-          upper triangular.
-          If JOBOBS = 'I', Ano is nonsingular and upper triangular.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*E*Z,
-
-                             ( Eno  *  )
-                    Q'*E*Z = (         ) ,
-                             ( 0    Eo )
-
-          where Eo is NOBSV-by-NOBSV and Eno is
-          (N-NOBSV)-by-(N-NOBSV).
-          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
-                                             ( Co )
-          observability staircase form (1).
-          If JOBOBS = 'F', the submatrix Eo is upper triangular.
-          If JOBOBS = 'O', the Eno matrix has the form
-
-                          ( Efno   *  )
-                    Eno = (           ) ,
-                          (  0   Eino )
-
-          where the NIUOBS-by-NIUOBS matrix Eino is nilpotent
-          and the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) matrix Efno
-          is nonsingular and upper triangular.
-          If JOBOBS = 'F', Eno is nonsingular and upper triangular.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix
-
-                  C*Z = (  0   Co ) ,
-
-          where Co is P-by-NOBSV.
-          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
-                                             ( Co )
-          observability staircase form (1).
-          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
-                                      ( Co )
-          staircase form (3).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Q,
-                          where Q' is the product of transformations
-                          which are applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Qc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Qc*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Z,
-                          which is the product of transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Zc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Zc*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NOBSV   (output) INTEGER
-          The order of the reduced matrices Ao and Eo, and the
-          number of columns of reduced matrix Co; also the order of
-          observable part of the pair (C, A-lambda*E).
-
-  NIUOBS  (output) INTEGER
-          For JOBOBS = 'O', the order of the reduced matrices
-          Aino and Eino; also the number of unobservable
-          infinite eigenvalues of the pencil A - lambda*E.
-          For JOBOBS = 'F' or 'I', NIUOBS has no significance
-          and is set to zero.
-
-  NLBLCK  (output) INTEGER
-          For JOBOBS = 'O' or 'I', the number k, of full column rank
-                 _
-          blocks Ei-1,i in the staircase form of the pencil
-          (Eo-lambda*Ao) (see (1) and (2)).
-          (    Co      )
-          For JOBOBS = 'F', the number k, of full column rank blocks
-          _
-          Ai-1,i in the staircase form of the pencil (Ao-lambda*Eo)
-                                                     (     Co     )
-          (see (3) and (4)).
-
-  CTAU    (output) INTEGER array, dimension (N)
-          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
-                                        _         _
-          of the full column rank block Ei-1,i or Ai-1,i in the
-          staircase form (1) or (3) for JOBOBS = 'O' or 'I', or
-          for JOBOBS = 'F', respectively.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A'-lambda*E',C')'. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*P))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the dual of the reduction
-  algorithms of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A, E and C are badly scaled, it is
-  generally recommendable to scale them with the SLICOT routine
-  TG01AD, before calling TG01ID.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = MAX(MMAX,PMAX),
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBOBS
-      INTEGER          I, INFO, J, M, N, NOBSV, NIUOBS, NLBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(MMAX), CTAU(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01ID
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBOBS
-      COMPQ = 'I'
-      COMPZ = 'I'
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed descriptor system (A-lambda E,B,C).
-               CALL TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                      NOBSV, NIUOBS, NLBLCK, CTAU, TOL, IWORK,
-     $                      DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NOBSV, NIUOBS
-                  WRITE ( NOUT, FMT = 99985 )
-                  WRITE ( NOUT, FMT = 99984 ) ( CTAU(I), I = 1,NLBLCK )
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01ID = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Dimension of observable part   =', I5/
-     $        ' Number of unobservable infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The staircase form column dimensions are ' )
-99984 FORMAT (10I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01ID EXAMPLE PROGRAM DATA
-  7    2     3     0.0    O
-     2     0     0     0     0     0     0
-     0     1     0     0     0     1     0
-     2     0     0     2     0     0     0
-     0     0     1     0     1     0     1
-    -1     1     0    -1     0     1     0
-     3     0     0     3     0     0     0
-     1     0     1     1     1     0     1
-     0     0     0     0     0     0     1
-     0     0     0     0     0     0     3
-     1     0     0     0     0     1     0
-     0     0     0     0     1     0     2
-     0     0     0     0     0    -1     0
-     0     1     0     0     0     0     0
-     0     0     1     1     0     0     0
-     1     0
-     0    -1
-     0     1
-     1     0
-     0    -1
-     0     1
-     1     0
-     2     0     0     0     0     0     1
-     1     0     0     0     0     0     2
-     0     0     0     0     0     0     3
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01ID EXAMPLE PROGRAM RESULTS
-
- Dimension of observable part   =    3
- Number of unobservable infinite eigenvalues =    1
-
- The staircase form column dimensions are 
-    2    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   0.2177   0.2414   0.5742   0.4342   0.0000  -0.4342   0.4666
-   0.2022   0.2242   0.5334  -0.2924  -0.7723   0.2924   0.4334
-  -0.5892  -0.6533  -1.5540   0.8520  -0.2651  -0.8520  -1.2627
-   0.0000   0.0000   0.0000   3.7417   0.3780  -3.7417   0.0000
-   0.0000   0.0000   0.0000   0.0000   1.7862   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-
- The transformed descriptor matrix Q'*E*Z is 
-   1.0000   0.0000   0.0000   0.4342   0.0000   0.0000   1.8016
-   0.0000   1.1937  -0.1496  -0.2924   0.3861   0.5461   0.2819
-   0.0000   0.0000  -1.0260   0.8520   0.1325   0.1874  -0.8214
-   0.0000   0.0000   0.0000   0.0000  -1.1339  -0.5345   0.0000
-   0.0000   0.0000   0.0000   0.0000  -0.1333   0.3770   2.3752
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -0.1728   0.4887  -1.8325
-
- The transformed input/state matrix Q'*B is 
-   0.4666   0.0000
-   0.4334   0.5461
-  -1.2627   0.1874
-   0.0000  -1.6036
-   0.0000  -0.9803
-   1.0000   0.0000
-   0.0000   0.3665
-
- The transformed state/output matrix C*Z is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   2.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   3.0000
-
- The left transformation matrix Q is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.7917   0.0000  -0.6108
-   0.0000   0.5461   0.1874  -0.5345   0.3770   0.0000   0.4887
-   0.9008   0.1410  -0.4107   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.5461  -0.1874   0.2673   0.4713   0.0000   0.6108
-   0.0000  -0.5461  -0.1874  -0.8018  -0.0943   0.0000  -0.1222
-  -0.4342   0.2924  -0.8520   0.0000   0.0000   0.0000   0.0000
-
- The right transformation matrix Z is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
-   0.0000  -0.6519   0.2740   0.0000   0.7071   0.0000   0.0000
-  -0.4342   0.3491   0.8304   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.9008   0.1683   0.4003   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.6519  -0.2740   0.0000   0.7071   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01JD.html b/doc/_build/html/_static/doc/TG01JD.html
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+++ /dev/null
@@ -1,465 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01JD">TG01JD</A></H2>
-<H3>
-Irreducible descriptor representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or irreducible)
-  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
-  descriptor representation (A-lambda*E,B,C).
-  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
-  either Ar or Er upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, NR, INFRED, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, JOB, SYSTYP
-      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFRED(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'I':  Remove both the uncontrollable and unobservable
-                  parts to get an irreducible descriptor
-                  representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable descriptor representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable descriptor representation.
-
-  SYSTYP  CHARACTER*1
-          Indicates the type of descriptor system algorithm
-          to be applied according to the assumed
-          transfer-function matrix as follows:
-          = 'R':  Rational transfer-function matrix;
-          = 'S':  Proper (standard) transfer-function matrix;
-          = 'P':  Polynomial transfer-function matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily scale
-          the system (A-lambda*E,B,C) as follows:
-          = 'S':  Perform scaling;
-          = 'N':  Do not perform scaling.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order state matrix Ar of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The matrix Ar is upper triangular if SYSTYP = 'R' or 'P'.
-          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
-          is in a controllable staircase form (see TG01HD).
-          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
-                                                           ( Cr )
-          is in an observable staircase form (see TG01HD).
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original descriptor matrix E.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order descriptor matrix Er of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The resulting Er has INFRED(6) nonzero sub-diagonals.
-          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
-          resulting Er is structured being either upper triangular
-          or block Hessenberg, in accordance to the last
-          performed order reduction phase (see METHOD).
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input matrix B; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the reduced input matrix Br of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'C', only the first IWORK(1) rows of B are
-          nonzero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original output matrix C; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cr of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
-          (in the first NR columns) of C are nonzero.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced descriptor representation
-          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
-          or observable realization for the original system,
-          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
-          respectively.
-
-  INFRED  (output) INTEGER array, dimension 7
-          This array contains information on performed reduction
-          and on structure of resulting system matrices as follows:
-          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
-                         (see METHOD) has been performed. In this
-                         case, INFRED(k) is the achieved order
-                         reduction in Phase k.
-          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
-                         performed.
-          INFRED(5)  -   the number of nonzero sub-diagonals of A.
-          INFRED(6)  -   the number of nonzero sub-diagonals of E.
-          INFRED(7)  -   the number of blocks in the resulting
-                         staircase form at last performed reduction
-                         phase. The block dimensions are contained
-                         in the first INFRED(7) elements of IWORK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E,B,C). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ((c*N+MAX(M,P)), where
-          c = 2, if JOB = 'I' or SYSTYP = 'R', and c = 1, otherwise.
-          On exit, if INFO = 0, the leading INFRED(7) elements of
-          IWORK contain the orders of the diagonal blocks of
-          Ar-lambda*Er.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(8*N,2*M,2*P), if EQUIL = 'S';
-          LDWORK &gt;= MAX(N,2*M,2*P),   if EQUIL = 'N'.
-          If LDWORK &gt;= 2*N*N+N*M+N*P+MAX(N,2*M,2*P) then more
-          accurate results are to be expected by performing only
-          those reductions phases (see METHOD), where effective
-          order reduction occurs. This is achieved by saving the
-          system matrices before each phase and restoring them if no
-          order reduction took place.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithms of [1].
-  The order reduction is performed in 4 phases:
-  Phase 1: Eliminate all finite uncontrollable eigenvalues.
-           The resulting matrix ( Br Ar ) is in a controllable
-           staircase form (see SLICOT Library routine TG01HD), and
-           Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'S'.
-  Phase 2: Eliminate all infinite and finite nonzero uncontrollable
-           eigenvalues. The resulting matrix ( Br Er ) is in a
-           controllable staircase form (see TG01HD), and Ar is
-           upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'P'.
-  Phase 3: Eliminate all finite unobservable eigenvalues.
-           The resulting matrix ( Ar ) is in an observable
-                                ( Cr )
-           staircase form (see SLICOT Library routine TG01ID), and
-           Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'S'.
-  Phase 4: Eliminate all infinite and finite nonzero unobservable
-           eigenvalues. The resulting matrix ( Er ) is in an
-                                             ( Cr )
-           observable staircase form (see TG01ID), and Ar is
-           upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'P'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the pencil (A-lambda*E) has no zero eigenvalues, then an
-  irreducible realization can be computed skipping Phases 1 and 3
-  by using the setting: JOB = 'I' and SYSTYP = 'P'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01JD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = MAX( 8*NMAX,2*MMAX,2*PMAX ),
-     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        EQUIL, JOB, SYSTYP
-      INTEGER          I, INFO, J, M, N, NR, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          INFRED(7), IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01JD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, SYSTYP, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
-               CALL TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
-     $                      B, LDB, C, LDC, NR, INFRED, TOL, IWORK,
-     $                      DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NR
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 10 I = 1, 4
-                     IF( INFRED(I).GE.0 )
-     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 30 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 50 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   50             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01JD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01JD = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99996 FORMAT (/' The reduced descriptor matrix Er is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5 )
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' Achieved order reductions in different phases')
-99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01JD EXAMPLE PROGRAM DATA
-  9    2    2     0.0    I  R  N 
-    -2    -3     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     0    -2    -3     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     1     0
-     0     0
-     0     1
-     0     0
-    -1     0
-     0     0
-     0    -1
-     0     0
-     0     0
-     1     0     1    -3     0     1     0     2     0
-     0     1     1     3     0     1     0     0     1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01JD EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    7
-
- Achieved order reductions in different phases
- Phase 1:  0 elliminated eigenvalue(s)
- Phase 2:  0 elliminated eigenvalue(s)
- Phase 3:  2 elliminated eigenvalue(s)
- Phase 4:  0 elliminated eigenvalue(s)
-
- The reduced state dynamics matrix Ar is 
-   1.0000  -0.0393  -0.0980  -0.1066   0.0781  -0.2330   0.0777
-   0.0000   1.0312   0.2717   0.2609  -0.1533   0.6758  -0.3553
-   0.0000   0.0000   1.3887   0.6699  -0.4281   1.6389  -0.7615
-   0.0000   0.0000   0.0000  -1.2147   0.2423  -0.9792   0.4788
-   0.0000   0.0000   0.0000   0.0000  -1.0545   0.5035  -0.2788
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-
- The reduced descriptor matrix Er is 
-   0.4100   0.2590   0.5080  -0.3109   0.0705   0.1429  -0.1477
-  -0.7629  -0.3464   0.0992  -0.3007   0.0619   0.2483  -0.0152
-   0.1120  -0.2124  -0.4184  -0.1288   0.0569  -0.4213  -0.6182
-   0.0000   0.1122  -0.0039   0.2771  -0.0758   0.0975   0.3923
-   0.0000   0.0000   0.3708  -0.4290   0.1006   0.1402  -0.2699
-   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
-   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
-
- The reduced input/state matrix Br is 
-  -0.5597   0.2363
-  -0.4843  -0.0498
-  -0.4727  -0.1491
-   0.1802   1.1574
-   0.5995   0.1556
-  -0.1729  -0.3999
-   0.0000   0.2500
-
- The reduced state/output matrix Cr is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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+++ /dev/null
@@ -1,525 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01JY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01JY">TG01JY</A></H2>
-<H3>
-Irreducible descriptor representation (blocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or irreducible)
-  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
-  descriptor representation (A-lambda*E,B,C).
-  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
-  either Ar or Er upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P, A,
-     $                   LDA, E, LDE, B, LDB, C, LDC, NR, INFRED, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CKSING, EQUIL, JOB, RESTOR, SYSTYP
-      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
-C     .. Array Arguments ..
-      INTEGER           INFRED(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  E(LDE,*), TOL(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'I':  Remove both the uncontrollable and unobservable
-                  parts to get an irreducible descriptor
-                  representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable descriptor representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable descriptor representation.
-
-  SYSTYP  CHARACTER*1
-          Indicates the type of descriptor system algorithm
-          to be applied according to the assumed
-          transfer-function matrix as follows:
-          = 'R':  Rational transfer-function matrix;
-          = 'S':  Proper (standard) transfer-function matrix;
-          = 'P':  Polynomial transfer-function matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily scale
-          the system (A-lambda*E,B,C) as follows:
-          = 'S':  Perform scaling;
-          = 'N':  Do not perform scaling.
-
-  CKSING  CHARACTER*1
-          Specifies whether the user wishes to check if the pencil
-          (A-lambda*E) is singular as follows:
-          = 'C':  Check singularity;
-          = 'N':  Do not check singularity.
-          If the pencil is singular, the reduced system computed for
-          CKSING = 'N' can be wrong.
-
-  RESTOR  CHARACTER*1
-          Specifies whether the user wishes to save the system
-          matrices before each phase and restore them if no order
-          reduction took place as follows:
-          = 'R':  Save and restore;
-          = 'N':  Do not save the matrices.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order state matrix Ar of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The matrix Ar is upper triangular if SYSTYP = 'P'.
-          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
-          is in a controllable staircase form (see SLICOT Library
-          routine TG01HD).
-          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
-                                                           ( Cr )
-          is in an observable staircase form (see TG01HD).
-          The resulting Ar has INFRED(5) nonzero sub-diagonals.
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original descriptor matrix E.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order descriptor matrix Er of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The resulting Er has INFRED(6) nonzero sub-diagonals.
-          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
-          resulting Er is structured being either upper triangular
-          or block Hessenberg, in accordance to the last
-          performed order reduction phase (see METHOD).
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input matrix B; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the reduced input matrix Br of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'C', only the first IWORK(1) rows of B are
-          nonzero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original output matrix C; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cr of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
-          (in the first NR columns) of C are nonzero.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced descriptor representation
-          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
-          or observable realization for the original system,
-          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
-          respectively.
-
-  INFRED  (output) INTEGER array, dimension 7
-          This array contains information on performed reduction
-          and on structure of resulting system matrices as follows:
-          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
-                         (see METHOD) has been performed. In this
-                         case, INFRED(k) is the achieved order
-                         reduction in Phase k.
-          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
-                         performed.
-          INFRED(5)  -   the number of nonzero sub-diagonals of A.
-          INFRED(6)  -   the number of nonzero sub-diagonals of E.
-          INFRED(7)  -   the number of blocks in the resulting
-                         staircase form at last performed reduction
-                         phase. The block dimensions are contained
-                         in the first INFRED(7) elements of IWORK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension 3
-          TOL(1) is the tolerance to be used in rank determinations
-          when transforming (A-lambda*E,B,C). If the user sets
-          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
-          lower bound for reciprocal condition numbers in rank
-          determinations; a (sub)matrix whose estimated condition
-          number is less than 1/TOL(1) is considered to be of full
-          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
-          is used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
-          TOL(2) is the tolerance to be used for checking pencil
-          singularity when CKSING = 'C', or singularity of the
-          matrices A and E when CKSING = 'N'. If the user sets
-          TOL(2) &gt; 0, then the given value of TOL(2) is used.
-          If the user sets TOL(2) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
-          is used instead.  TOL(2) &lt; 1.
-          TOL(3) is the threshold value for magnitude of the matrix
-          elements, if EQUIL = 'S': elements with magnitude less
-          than or equal to TOL(3) are ignored for scaling. If the
-          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
-          used. If the user sets TOL(3) &lt; 0, then an implicitly
-          computed, default threshold, defined by  THRESH = c*EPS,
-          where c = MAX(norm_1(A,E,B,C)) is used instead.
-          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
-          TOL(3) is not used if EQUIL = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+MAX(M,P))
-          On exit, if INFO = 0, the leading INFRED(7) elements of
-          IWORK contain the orders of the diagonal blocks of
-          Ar-lambda*Er.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,x,y,8*N), if EQUIL = 'S',
-          LDWORK &gt;= MAX(1,x,y),     if EQUIL = 'N',
-          where x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
-                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
-                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
-                y = 0,                    if CKSING = 'N',
-                z = 2*N*N+N*M+N*P, if JOB  = 'I',
-                z = 0,             if JOB &lt;&gt; 'I'.
-          For good performance, LDWORK should be generally larger.
-          If RESTOR = 'R', or
-          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1),
-          more accurate results are to be expected by considering
-          only those reductions phases (see METHOD), where effective
-          order reduction occurs. This is achieved by saving the
-          system matrices before each phase and restoring them if no
-          order reduction took place. Actually, if JOB = 'I' and
-          RESTOR = 'N', then the saved matrices are those obtained
-          after orthogonally triangularizing the matrix A (if
-          SYSTYP = 'R' or 'P'), or the matrix E (if SYSTYP = 'R'
-          or 'S').
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA. The optimal workspace includes the
-          extra space for improving the accuracy.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the given pencil A - lambda*E is numerically
-                singular and the reduced system is not computed.
-                This error can be returned only if CKSING = 'C'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithms of [1], but
-  with a different ordering of the phases.
-  The order reduction is performed in 4 phases:
-  Phase 1: Eliminate all infinite and finite nonzero uncontrollable
-           eigenvalues. The resulting matrix ( Br Er ) is in a
-           controllable staircase form (see TG01HD), and Ar is
-           upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'P'.
-  Phase 2: Eliminate all infinite and finite nonzero unobservable
-           eigenvalues. The resulting matrix ( Er ) is in an
-                                             ( Cr )
-           observable staircase form (see SLICOT Library routine
-           TG01ID), and Ar is upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'P'.
-  Phase 3: Eliminate all finite uncontrollable eigenvalues.
-           The resulting matrix ( Br Ar ) is in a controllable
-           staircase form (see TG01HD), and Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'S'.
-  Phase 4: Eliminate all finite unobservable eigenvalues.
-           The resulting matrix ( Ar ) is in an observable
-                                ( Cr )
-           staircase form (see TG01ID), and Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'S'.
-  The routine checks the singularity of the matrices A and/or E
-  (depending on JOB and SYSTYP) and skips the unnecessary phases.
-  See FURTHER COMMENTS.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the pencil A-lambda*E has no zero eigenvalues, then an
-  irreducible realization is computed skipping Phases 3 and 4
-  (equivalent to setting: JOB = 'I' and SYSTYP = 'P').
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01JY EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
-     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
-     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
-     $                                 10*NMAX + MAX( NMAX, 23 ) ),
-     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        CKSING, EQUIL, JOB, RESTOR, SYSTYP
-      INTEGER          I, INFO, J, M, N, NR, P
-*     .. Local Arrays ..
-      INTEGER          INFRED(7), IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
-
-*     .. External Subroutines ..
-      EXTERNAL         TG01JY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOB,
-     $                      SYSTYP, EQUIL, CKSING, RESTOR
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
-               CALL TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P,
-     $                      A, LDA, E, LDE, B, LDB, C, LDC, NR, INFRED,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NR
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 10 I = 1, 4
-                     IF( INFRED(I).GE.0 )
-     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 30 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 50 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   50             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01JY EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01JY = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99996 FORMAT (/' The reduced descriptor matrix Er is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5 )
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' Achieved order reductions in different phases')
-99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01JY EXAMPLE PROGRAM DATA
-  9    2    2     0.0    0.0    0.0    I  R  N  N  N
-    -2    -3     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     0    -2    -3     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     1     0
-     0     0
-     0     1
-     0     0
-    -1     0
-     0     0
-     0    -1
-     0     0
-     0     0
-     1     0     1    -3     0     1     0     2     0
-     0     1     1     3     0     1     0     0     1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01JY EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    7
-
- Achieved order reductions in different phases
- Phase 1:  0 elliminated eigenvalue(s)
- Phase 2:  2 elliminated eigenvalue(s)
-
- The reduced state dynamics matrix Ar is 
-   1.0000  -0.0393  -0.0980   0.1066  -0.0781   0.2330  -0.0777
-   0.0000   1.0312   0.2717  -0.2609   0.1533  -0.6758   0.3553
-   0.0000   0.0000   1.3887  -0.6699   0.4281  -1.6389   0.7615
-   0.0000   0.0000   0.0000   1.2147  -0.2423   0.9792  -0.4788
-   0.0000   0.0000   0.0000   0.0000   1.0545  -0.5035   0.2788
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-
- The reduced descriptor matrix Er is 
-   0.4100   0.2590   0.5080   0.3109  -0.0705  -0.1429   0.1477
-  -0.7629  -0.3464   0.0992   0.3007  -0.0619  -0.2483   0.0152
-   0.1120  -0.2124  -0.4184   0.1288  -0.0569   0.4213   0.6182
-   0.0000   0.1122  -0.0039  -0.2771   0.0758  -0.0975  -0.3923
-   0.0000   0.0000   0.3708   0.4290  -0.1006  -0.1402   0.2699
-   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
-   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
-
- The reduced input/state matrix Br is 
-   0.5597  -0.2363
-   0.4843   0.0498
-   0.4727   0.1491
-  -0.1802  -1.1574
-  -0.5995  -0.1556
-  -0.1729  -0.3999
-   0.0000   0.2500
-
- The reduced state/output matrix Cr is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,202 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01KD">TG01KD</A></H2>
-<H3>
-Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular (TG01OA version with more complex interface)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  (A, E, B, C), with E upper triangular, a transformed system,
-  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
-  transformation, so that Q'*B has only the first element nonzero
-  and Q'*E*Z remains upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01KD( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
-     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
-      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  COMPC   CHARACTER*1
-          Indicates whether the user wishes to transform the system
-          output matrix C, as follows:
-          = 'C':  Transform the system output matrix C;
-          = 'N':  Do not transform the system output matrix C.
-
-  COMPQ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the orthogonal row transformations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the orthogonal
-                  transformations used.
-
-  COMPZ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal column transformations, as
-          follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the orthogonal
-                  transformations used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, the leading N part of this array must contain
-          the original input matrix B.
-          On exit, the leading N part of this array contains the
-          transformed input matrix Q'*B with all elements but the
-          first set to zero.
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-          ((N-1)*INCC+1)
-          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array must contain the original
-          output vector C.
-          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array contain the transformed output
-          vector C*Z.
-          If COMPC = 'N', this array is not referenced.
-
-  INCC    INTEGER
-          If COMPC = 'C', the increment between successive values
-          of C.  INCC &gt; 0.
-          If COMPC = 'N', INCC is not used.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
-          On entry, if COMPQ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Q1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Q1*Q if COMPQ = 'U').
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ =  'N';
-          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          On entry, if COMPZ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Z1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Z1*Z if COMPZ = 'U').
-          If COMPZ = 'N', this array is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ =  'N';
-          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01KZ.html b/doc/_build/html/_static/doc/TG01KZ.html
deleted file mode 100644
index 432d97d6..00000000
--- a/doc/_build/html/_static/doc/TG01KZ.html
+++ /dev/null
@@ -1,202 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01KZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01KZ">TG01KZ</A></H2>
-<H3>
-Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular (TG01OB version with more complex interface)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  (A, E, B, C), with E upper triangular, a transformed system,
-  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
-  transformation, so that Q'*B has only the first element nonzero
-  and Q'*E*Z remains upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01KZ( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
-     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
-      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  COMPC   CHARACTER*1
-          Indicates whether the user wishes to transform the system
-          output matrix C, as follows:
-          = 'C':  Transform the system output matrix C;
-          = 'N':  Do not transform the system output matrix C.
-
-  COMPQ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the orthogonal row transformations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the orthogonal
-                  transformations used.
-
-  COMPZ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal column transformations, as
-          follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the orthogonal
-                  transformations used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input/output) COMPLEX*16 array, dimension (N)
-          On entry, the leading N part of this array must contain
-          the original input matrix B.
-          On exit, the leading N part of this array contains the
-          transformed input matrix Q'*B with all elements but the
-          first set to zero.
-
-  C       (input/output) COMPLEX*16 array, dimension
-          ((N-1)*INCC+1)
-          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array must contain the original
-          output vector C.
-          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array contain the transformed output
-          vector C*Z.
-          If COMPC = 'N', this array is not referenced.
-
-  INCC    INTEGER
-          If COMPC = 'C', the increment between successive values
-          of C.  INCC &gt; 0.
-          If COMPC = 'N', INCC is not used.
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ,*)
-          On entry, if COMPQ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Q1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Q1*Q if COMPQ = 'U').
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ =  'N';
-          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ,*)
-          On entry, if COMPZ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Z1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Z1*Z if COMPZ = 'U').
-          If COMPZ = 'N', this array is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ =  'N';
-          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01LD.html b/doc/_build/html/_static/doc/TG01LD.html
deleted file mode 100644
index 5107ec67..00000000
--- a/doc/_build/html/_static/doc/TG01LD.html
+++ /dev/null
@@ -1,490 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01LD">TG01LD</A></H2>
-<H3>
-Finite-infinite decomposition of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the form (if JOB = 'F')
-
-             ( Af  *  )             ( Ef  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
-             ( 0   Ai )             ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-             ( Ai  *  )             ( Ei  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
-             ( 0   Af )             ( 0   Ef )
-
-  where the subpencil Af-lambda*Ef, with Ef nonsingular and upper
-  triangular, contains the finite eigenvalues, and the subpencil
-  Ai-lambda*Ei, with Ai nonsingular and upper triangular, contains
-  the infinite eigenvalues. The subpencil Ai-lambda*Ei is in a
-  staircase form (see METHOD). If JOBA = 'H', the submatrix Af
-  is further reduced to an upper Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF, ND,
-     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOB, JOBA
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          = 'F':  perform the finite-infinite separation;
-          = 'I':  perform the infinite-finite separation.
-
-  JOBA    CHARACTER*1
-          = 'H':  reduce Af further to an upper Hessenberg form;
-          = 'N':  keep Af unreduced.
-
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Af  *  )                 ( Ai  *  )
-                    Q'*A*Z = (        ) ,  or  Q'*A*Z = (        ) ,
-                             ( 0   Ai )                 ( 0   Af )
-
-          depending on JOB, with Af an NF-by-NF matrix, and Ai an
-          (N-NF)-by-(N-NF) nonsingular and upper triangular matrix.
-          If JOBA = 'H', Af is in an upper Hessenberg form.
-          Otherwise, Af is unreduced.
-          Ai has a block structure as in (3) or (4), where A0,0 is
-          ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
-          IBLCK(i)-by-IBLCK(i).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z,
-
-                             ( Ef  *  )                 ( Ei  *  )
-                    Q'*E*Z = (        ) ,  or  Q'*E*Z = (        ) ,
-                             ( 0   Ei )                 ( 0   Ef )
-
-          depending on JOB, with Ef an NF-by-NF nonsingular matrix,
-          and Ei an (N-NF)-by-(N-NF) nilpotent matrix in an upper
-          block triangular form, as in (3) or (4).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,K),
-          where K = M if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,K),
-          where K = P if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of Householder
-                           transformations applied to A, E, and B on
-                           the left.
-          If COMPQ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'U'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C on
-                           the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
-
-  NF      (output) INTEGER.
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  ND      (output) INTEGER.
-          The number of non-dynamic infinite eigenvalues of the
-          pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (3) or (4), with i = 1,2, ..., NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= N + MAX(3*N,M,P).
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-  If JOB = 'F', the matrices Ai and Ei have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOB = 'I', the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
-  triangular matrices. A0,0 corresponds to the non-dynamic infinite
-  modes of the system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF.
-                 i=1
-
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01LD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX+MAX( 3*NMAX, MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOB, JOBA
-      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX), IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX),   B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01LD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, JOBA, TOL
-      COMPQ = 'I'
-      COMPZ = 'I'
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
-     $                      ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NF, ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01LD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01LD = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The reduced descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5/
-     $        ' Number of non-dynamic infinite eigenvalues =', I5)
-99993 FORMAT (/' The reduced input/state matrix Q''*B is ')
-99992 FORMAT (/' The reduced state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT ( ' Dimension of the blocks'/20I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01LD EXAMPLE PROGRAM DATA
-  4     2     2     F     N     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01LD EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    3
- Number of non-dynamic infinite eigenvalues =    1
- Number of infinite blocks =     1
-
- The reduced state dynamics matrix Q'*A*Z is 
-   2.4497  -1.3995   0.2397  -4.0023
-  -0.0680  -0.0030   0.1739  -1.6225
-   0.3707   0.0161  -0.9482   0.1049
-   0.0000   0.0000   0.0000   2.2913
-
- The reduced descriptor matrix Q'*E*Z is 
-   9.9139   4.7725  -3.4725  -2.3836
-   0.0000  -1.2024   2.0137   0.7926
-   0.0000   0.0000   0.2929  -0.9914
-   0.0000   0.0000   0.0000   0.0000
-
- The reduced input/state matrix Q'*B is 
-  -0.2157  -0.9705
-   0.3015   0.9516
-   0.7595   0.0991
-   1.1339   0.3780
-
- The reduced state/output matrix C*Z is 
-   0.5345  -1.1134   0.3758   0.5774
-  -1.0690   0.2784  -1.2026   0.5774
-
- The left transformation matrix Q is 
-  -0.2157  -0.5088   0.6109   0.5669
-  -0.1078  -0.2544  -0.7760   0.5669
-  -0.9705   0.1413  -0.0495  -0.1890
-   0.0000   0.8102   0.1486   0.5669
-
- The right transformation matrix Z is 
-  -0.5345   0.6263   0.4617  -0.3299
-  -0.8018  -0.5219  -0.2792  -0.0825
-   0.0000  -0.4871   0.8375   0.2474
-  -0.2673   0.3132  -0.0859   0.9073
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01LY.html b/doc/_build/html/_static/doc/TG01LY.html
deleted file mode 100644
index a831d91e..00000000
--- a/doc/_build/html/_static/doc/TG01LY.html
+++ /dev/null
@@ -1,297 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01LY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01LY">TG01LY</A></H2>
-<H3>
-Finite-infinite decomposition of a structured descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which reduce
-  the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C), with the A and E matrices in the form
-
-        ( A11 A12 A13 )             ( E11  0  0 )
-    A = ( A21 A22 A23 ) ,       E = (  0   0  0 ) ,              (1)
-        ( A31  0   0  )             (  0   0  0 )
-
-  where E11 and A22 are nonsingular and upper triangular matrices,
-  to the form
-
-             ( Af  *  )             ( Ef  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,
-             ( 0   Ai )             ( 0   Ei )
-
-  where the subpencil Af-lambda*Ef contains the finite eigenvalues
-  and the subpencil Ai-lambda*Ei contains the infinite eigenvalues.
-  The subpencil Ai-lambda*Ei is in a staircase form with the
-  matrices Ai and Ei of form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ,   (2)
-        (  :     :   ...   :  )         ( :   :   ...   :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
-  matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01LY( COMPQ, COMPZ, N, M, P, RANKE, RNKA22, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
-     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            COMPQ, COMPZ
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, NF, NIBLCK, P, RANKE, RNKA22
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   LOGICAL
-          Specify the option to accumulate or not the performed
-          left transformations:
-          COMPQ = .FALSE. : do not accumulate the transformations;
-          COMPQ = .TRUE.  : accumulate the transformations; in this
-                  case, Q must contain an orthogonal matrix Q1
-                  on entry, and the product Q1*Q is returned.
-
-  COMPZ   LOGICAL
-          Specify the option to accumulate or not the performed
-          right transformations:
-          COMPZ = .FALSE. : do not accumulate the transformations;
-          COMPZ = .TRUE.  : accumulate the transformations; in this
-                  case, Z must contain an orthogonal matrix Z1
-                  on entry, and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  RANKE   (input) INTEGER
-          The rank of the matrix E; also, the order of the upper
-          triangular matrix E11.  0 &lt;= RANKE &lt;= N. 
-
-  RNKA22  (input) DOUBLE PRECISION
-          The order of the nonsingular submatrix A22 of A.
-          0 &lt;= RNKA22 &lt;= N - RANKE. 
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A in the form (1).
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Af  *  )
-                    Q'*A*Z = (        ) ,
-                             ( 0   Ai )
-
-          where Af is NF-by-NF and Ai is (N-NF)-by-(N-NF).
-          The submatrix Ai is in the staircase form (2), where A0,0
-          is (N-RANKE)-by-(N-RANKE), and Ai,i , for i = 1, ...,
-          NIBLCK is IBLCK(i)-by-IBLCK(i).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E in the form (1).
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z,
-
-                             ( Ef  *  )
-                    Q'*E*Z = (        ) ,
-                             ( 0   Ei )
-
-          where Ef is an NF-by-NF nonsingular matrix and Ei is an
-          (N-NF)-by-(N-NF) nilpotent matrix in the staircase
-          form (2).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = .FALSE., Q is not referenced.
-          If COMPQ = .TRUE., on entry, the leading N-by-N part of
-                      this array must contain an orthogonal matrix
-                      Q1; on exit, the leading N-by-N part of this
-                      array contains the orthogonal matrix Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = .FALSE.;
-          LDQ &gt;= MAX(1,N), if COMPQ = .TRUE. .
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = .FALSE., Z is not referenced.
-          If COMPZ = .TRUE., on entry, the leading N-by-N part of
-                     this array must contain an orthogonal matrix
-                     Z1; on exit, the leading N-by-N part of this
-                     array contains the orthogonal matrix Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = .FALSE.;
-          LDZ &gt;= MAX(1,N), if COMPZ = .TRUE. .
-
-  NF      (output) INTEGER
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  NIBLCK  (output) INTEGER
-          If RANKE &lt; N, the number of infinite blocks minus one.
-          If RANKE = N, NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (2), where i = 1, 2, ..., NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N-RANKE)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if RANKE = N; otherwise,
-          LDWORK &gt;= MAX(4*(N-RANKE)-1, N-RANKE-RNKA22+MAX(N,M)).
-          For optimal performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-         NIBLCK
-          Sum  IBLCK(i) = RANKE - NF.
-          i=1
-
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01MD.html b/doc/_build/html/_static/doc/TG01MD.html
deleted file mode 100644
index a139ff21..00000000
--- a/doc/_build/html/_static/doc/TG01MD.html
+++ /dev/null
@@ -1,494 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01MD">TG01MD</A></H2>
-<H3>
-Finite-infinite generalized real Schur form decomposition of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the form (if JOB = 'F')
-
-             ( Af  *  )             ( Ef  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
-             ( 0   Ai )             ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-             ( Ai  *  )             ( Ei  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
-             ( 0   Af )             ( 0   Ef )
-
-  where the pair (Af,Ef) is in a generalized real Schur form, with
-  Ef nonsingular and upper triangular and Af in real Schur form.
-  The subpencil Af-lambda*Ef contains the finite eigenvalues.
-  The pair (Ai,Ei) is in a generalized real Schur form with
-  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
-  with Ai nonsingular and Ei nilpotent contains the infinite
-  eigenvalues and is in a block staircase form (see METHOD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
-     $                   ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ, NF, ND,
-     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                   Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          = 'F':  perform the finite-infinite separation;
-          = 'I':  perform the infinite-finite separation.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z in the form
-
-          ( Af  *  )                    ( Ai  *  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ai )                    ( 0   Af )
-
-          where Af is an NF-by-NF matrix in real Schur form, and Ai
-          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
-          matrix. Ai has a block structure as in (3) or (4), where
-          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
-          IBLCK(i)-by-IBLCK(i). (See METHOD.)
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z in the form
-
-          ( Ef  *  )                    ( Ei  *  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ei )                    ( 0   Ef )
-
-          where Ef is an NF-by-NF nonsingular and upper triangular
-          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
-          an upper triangular block form as in (3) or (4).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAR(1:NF) will be set to the real parts of the diagonal
-          elements of Af that would result from reducing A and E to
-          the Schur form, and then further reducing both of them to
-          triangular form using unitary transformations, subject to
-          having the diagonal of E positive real.  Thus, if Af(j,j)
-          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
-          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
-          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
-          the finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAI(1:NF) will be set to the imaginary parts of the
-          diagonal elements of Af that would result from reducing A
-          and E to Schur form, and then further reducing both of
-          them to triangular form using unitary transformations,
-          subject to having the diagonal of E positive real. Thus,
-          if Af(j,j) is in a 1-by-1 block (see above), then
-          ALPHAI(j) = 0. Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          BETA(1:NF) will be set to the (real) diagonal elements of
-          Ef that would result from reducing A and E to Schur form,
-          and then further reducing both of them to triangular form
-          using unitary transformations, subject to having the
-          diagonal of E positive real. Thus, if Af(j,j) is in a
-          1-by-1 block (see above), then BETA(j) = Ef(j,j).
-          Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Q, which is the accumulated product of
-          the transformations applied to A, E, and B on the left.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z, which is the accumulated product of
-          the transformations applied to A, E, and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  NF      (output) INTEGER
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  ND      (output) INTEGER
-          The number of non-dynamic infinite eigenvalues of the
-          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (3), where i = 1,2,...,NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= 4*N.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular;
-          = 2:  the QZ iteration did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the separation of infinite structure, the reduction algorithm
-  of [1] is employed.
-  If JOB = 'F', the matrices Ai and Ei have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOB = 'I' the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
-  matrices. A0,0 corresponds to the non-dynamic infinite modes of
-  the system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF.
-                 i=1
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX),  IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C,
-     $                      LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
-     $                      NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NF, ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, NF
-                     WRITE ( NOUT, FMT = 99984 )
-     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01MD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5/
-     $        ' Number of non-dynamic infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01MD EXAMPLE PROGRAM DATA
-  4     2     2     F     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01MD EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    3
- Number of non-dynamic infinite eigenvalues =    1
- Number of infinite blocks =     1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   1.2803  -2.3613  -0.9025  -3.9982
-   0.0000  -0.5796   0.8504   0.4350
-   0.0000   0.0000   0.0000   1.5770
-   0.0000   0.0000   0.0000   2.2913
-
- The transformed descriptor matrix Q'*E*Z is 
-   9.3142  -4.1463   5.4026  -2.3944
-   0.0000   0.1594   0.1212  -1.0948
-   0.0000   0.0000   2.3524  -0.6008
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.2089  -0.9712
-   0.6948  -0.0647
-  -0.4336  -0.9538
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-  -0.0469  -0.9391  -0.8847   0.5774
-  -1.0697   0.3620   1.1795   0.5774
-
- The left transformation matrix Q is 
-  -0.2089   0.6948   0.3902   0.5669
-  -0.1148  -0.7163   0.3902   0.5669
-  -0.9712  -0.0647  -0.1301  -0.1890
-   0.0000   0.0000  -0.8238   0.5669
-
- The right transformation matrix Z is 
-   0.0469   0.9391  -0.0843  -0.3299
-  -0.9962   0.0189  -0.0211  -0.0825
-   0.0000  -0.0000  -0.9689   0.2474
-  -0.0735   0.3432   0.2317   0.9073
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-    0.1375  +0.0000i 
-   -3.6375  +0.0000i 
-    0.0000  +0.0000i 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>TG01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01ND">TG01ND</A></H2>
-<H3>
-Finite-infinite block-diagonal decomposition of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute equivalence transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the form (if JOB = 'F')
-
-             ( Af  0  )             ( Ef  0  )
-     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
-             ( 0   Ai )             ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-             ( Ai  0  )             ( Ei  0  )
-     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (2)
-             ( 0   Af )             ( 0   Ef )
-
-  where the pair (Af,Ef) is in a generalized real Schur form, with
-  Ef nonsingular and upper triangular and Af in real Schur form.
-  The subpencil Af-lambda*Ef contains the finite eigenvalues.
-  The pair (Ai,Ei) is in a generalized real Schur form with
-  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
-  with Ai nonsingular and Ei nilpotent contains the infinite
-  eigenvalues and is in a block staircase form (see METHOD).
-  This decomposition corresponds to an additive decomposition of
-  the transfer-function matrix of the descriptor system as the
-  sum of a proper term and a polynomial term.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
-     $                   NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, JOBT
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), ALPHAR(*), ALPHAI(*), B(LDB,*),
-     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                   Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          = 'F':  perform the finite-infinite separation;
-          = 'I':  perform the infinite-finite separation.
-
-  JOBT    CHARACTER*1
-          = 'D':  compute the direct transformation matrices;
-          = 'I':  compute the inverse transformation matrices
-                  inv(Q) and inv(Z).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q*A*Z (if JOBT = 'D') or
-          inv(Q)*A*inv(Z) (if JOBT = 'I') in the form
-
-          ( Af  0  )                    ( Ai  0  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ai )                    ( 0   Af )
-
-          where Af is an NF-by-NF matrix in real Schur form, and Ai
-          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
-          matrix. Ai has a block structure as in (3) or (4), where
-          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
-          IBLCK(i)-by-IBLCK(i). (See METHOD.)
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
-          inv(Q)*E*inv(Z) (if JOBT = 'I') in the form
-
-          ( Ef  0  )                    ( Ei  0  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ei )                    ( 0   Ef )
-
-          where Ef is an NF-by-NF nonsingular and upper triangular
-          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
-          an upper triangular block form as in (3) or (4).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q*B (if JOBT = 'D') or
-          inv(Q)*B (if JOBT = 'I').
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
-          (if JOBT = 'I').
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAR(1:NF) will be set to the real parts of the diagonal
-          elements of Af that would result from reducing A and E to
-          the Schur form, and then further reducing both of them to
-          triangular form using unitary transformations, subject to
-          having the diagonal of E positive real. Thus, if Af(j,j)
-          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
-          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
-          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
-          the finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAI(1:NF) will be set to the imaginary parts of the
-          diagonal elements of Af that would result from reducing A
-          and E to Schur form, and then further reducing both of
-          them to triangular form using unitary transformations,
-          subject to having the diagonal of E positive real. Thus,
-          if Af(j,j) is in a 1-by-1 block (see above), then
-          ALPHAI(j) = 0. Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          BETA(1:NF) will be set to the (real) diagonal elements of
-          Ef that would result from reducing A and E to Schur form,
-          and then further reducing both of them to triangular form
-          using unitary transformations, subject to having the
-          diagonal of E positive real. Thus, if Af(j,j) is in a
-          1-by-1 block (see above), then BETA(j) = Ef(j,j).
-          Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          left transformation matrix Q, if JOBT = 'D', or its
-          inverse inv(Q), if JOBT = 'I'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          right transformation matrix Z, if JOBT = 'D', or its
-          inverse inv(Z), if JOBT = 'I'.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  NF      (output) INTEGER
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  ND      (output) INTEGER
-          The number of non-dynamic infinite eigenvalues of the
-          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (3), where i = 1,2,...,NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+6)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= 4*N.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular;
-          = 2:  the QZ iteration did not converge;
-          = 3:  (Af,Ef) and (Ai,Ei) have too close generalized
-                eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the separation of infinite structure, the reduction algorithm
-  of [1] is employed. This separation is achieved by computing
-  orthogonal matrices Q1 and Z1 such that Q1*A*Z1 and Q1*E*Z1
-  have the form (if JOB = 'F')
-
-              ( Af  Ao )              ( Ef  Eo )
-    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) ,
-              ( 0   Ai )              ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-              ( Ai  Ao )              ( Ei  Eo )
-    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) .
-              ( 0   Af )              ( 0   Ef )
-
-  If JOB = 'F', the matrices Ai and Ei have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOB = 'I' the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
-  matrices. A0,0 corresponds to the non-dynamic infinite modes of
-  the system.
-
-  In a second step, the transformation matrices Q2 and Z2 are
-  determined, of the form
-
-          ( I -X )          ( I  Y )
-     Q2 = (      ) ,   Z2 = (      )
-          ( 0  I )          ( 0  I )
-
-  such that with Q = Q2*Q1 and Z = Z1*Z2, Q*A*Z and Q*E*Z are
-  block diagonal as in (1) (if JOB = 'F') or in (2) (if JOB = 'I').
-  X and Y are computed by solving generalized Sylvester equations.
-
-  If we partition Q*B and C*Z according to (1) or (2) in the form
-  ( Bf ) and ( Cf Ci ), if JOB = 'F', or ( Bi ) and ( Ci Cf ), if
-  ( Bi )                                 ( Bf )
-  JOB = 'I', then (Af-lambda*Ef,Bf,Cf) is the strictly proper part
-  of the original descriptor system and (Ai-lambda*Ei,Bi,Ci) is its
-  polynomial part.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF.
-                 i=1
-
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB, JOBT
-      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX),  IWORK(NMAX+6)
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, JOBT, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z,
-     $                      LDZ, NF, ND, NIBLCK, IBLCK, TOL, IWORK,
-     $                      DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NF, ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, NF
-                     WRITE ( NOUT, FMT = 99984 )
-     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01ND = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5/
-     $        ' Number of non-dynamic infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01ND EXAMPLE PROGRAM DATA
-  4     2     2     F     D     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01ND EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    3
- Number of non-dynamic infinite eigenvalues =    1
- Number of infinite blocks =     1
-
- The transformed state dynamics matrix Q*A*Z is 
-   1.2803  -2.3613  -0.9025   0.0000
-   0.0000  -0.5796   0.8504   0.0000
-   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   2.2913
-
- The transformed descriptor matrix Q*E*Z is 
-   9.3142  -4.1463   5.4026   0.0000
-   0.0000   0.1594   0.1212   0.0000
-   0.0000   0.0000   2.3524   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q*B is 
-   7.7328   1.6760
-   2.2870   0.4660
-  -1.2140  -1.2140
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-  -0.0469  -0.9391  -0.8847  -6.0622
-  -1.0697   0.3620   1.1795  -0.0000
-
- The left transformation matrix Q is 
-   3.7620   3.8560  -2.2948   3.9708
-   1.4909   0.0798  -0.3301   0.7961
-  -0.0000  -0.0000   0.0000  -1.2140
-   0.5669   0.5669  -0.1890   0.5669
-
- The right transformation matrix Z is 
-   0.0469   0.9391  -0.0843   6.0622
-  -0.9962   0.0189  -0.0211  -3.0311
-   0.0000  -0.0000  -0.9689  -0.0000
-  -0.0735   0.3432   0.2317   3.0311
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-    0.1375  +0.0000i 
-   -3.6375  +0.0000i 
-    0.0000  +0.0000i 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01NX.html b/doc/_build/html/_static/doc/TG01NX.html
deleted file mode 100644
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+++ /dev/null
@@ -1,217 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01NX">TG01NX</A></H2>
-<H3>
-Block-diagonal decomposition of a descriptor system in generalized real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute equivalence transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C), with (A,E) in a generalized real Schur form, to
-  the block-diagonal form
-
-             ( A1  0  )             ( E1  0  )
-     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
-             ( 0   A2 )             ( 0   E2 )
-
-  where the pair (Q*A*Z,Q*E*Z) is in a generalized real Schur form,
-  with (A1,E1) and (A2,E2) having no common generalized eigenvalues.
-  This decomposition corresponds to an additive spectral
-  decomposition of the transfer-function matrix of the descriptor
-  system as the sum of two terms containing the generalized
-  eigenvalues of (A1,E1) and (A2,E2), respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01NX( JOBT, N, M, P, NDIM, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, Q, LDQ, Z, LDZ, IWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBT
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ, M, N, NDIM,
-     $                   P
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), E(LDE,*),
-     $                   Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBT    CHARACTER*1
-          = 'D':  compute the direct transformation matrices;
-          = 'I':  compute the inverse transformation matrices
-                  inv(Q) and inv(Z).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  NDIM    (input) INTEGER
-          The dimension of the leading diagonal blocks of (A,E)
-          having generalized eigenvalues distinct from those of the
-          trailing diagonal block.  0 &lt;= NDIM &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A in a real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q*A*Z (if JOBT = 'D') or
-          inv(Q)*A*inv(Z) (if JOBT = 'I'), in the form (1), where
-          A1 is a NDIM-by-NDIM matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E in upper triangular
-          form.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
-          inv(Q)*E*inv(Z) (if JOBT = 'I'), in the form (1), where
-          E1 is an NDIM-by-NDIM matrix.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q*B (if JOBT = 'D') or
-          inv(Q)*B (if JOBT = 'I').
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
-          (if JOBT = 'I').
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array contains
-          Q1, the orthogonal left transformation matrix Q used to
-          reduce the pair (A,E) to the generalized real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the left transformation matrix Q = Q2*Q1, if JOBT = 'D',
-          or its inverse inv(Q), if JOBT = 'I'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, the leading N-by-N part of this array contains
-          the orthogonal right transformation matrix Z1 used to
-          reduce the pair (A,E) to the generalized real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the right transformation matrix Z = Z1*Z2, if JOBT = 'D',
-          or its inverse inv(Z), if JOBT = 'I'.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+6)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the separation of the two diagonal blocks failed
-                because of very close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the separation, transformation matrices Q2 and Z2 of the form
-
-          ( I -X )          ( I  Y )
-     Q2 = (      ) ,   Z2 = (      )
-          ( 0  I )          ( 0  I )
-
-  are determined, such that Q2*A*Z2 and Q2*E*Z2 are block diagonal
-  as in (1). X and Y are computed by solving generalized Sylvester
-  equations.
-
-  If we partition Q2*B and C*Z2 according to (1) in the form ( B1 )
-                                                             ( B2 )
-  and ( C1 C2 ), then (A1-lambda*E1,B1,C1) and (A2-lambda*E2,B2,C2)
-  represent an additive spectral decomposition of the system
-  transfer-function matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B. and Van Dooren, P.
-      Additive decomposition of a transfer function with respect
-      to a specified region.
-      Proc. MTNS Symp., Brussels, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OA.html b/doc/_build/html/_static/doc/TG01OA.html
deleted file mode 100644
index 4cf46d36..00000000
--- a/doc/_build/html/_static/doc/TG01OA.html
+++ /dev/null
@@ -1,138 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OA">TG01OA</A></H2>
-<H3>
-Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
-  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
-  Q'*B has only the first element nonzero and Q'*E*Z remains upper
-  triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OA( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DCBA(LDDCBA,*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) DOUBLE PRECISION array, dimension
-          (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (N+1)-by-(N+1) part of this array
-          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
-          replacing C, B, and A. The scalar D is unchanged.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.
-          LDDCBA &gt;= N+1.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OB.html b/doc/_build/html/_static/doc/TG01OB.html
deleted file mode 100644
index 1206088e..00000000
--- a/doc/_build/html/_static/doc/TG01OB.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OB">TG01OB</A></H2>
-<H3>
-Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
-  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
-  Q'*B has only the first element nonzero and Q'*E*Z remains upper
-  triangular. The matrices have complex elements.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OB( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDE, N
-C     .. Array Arguments ..
-      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (N+1)-by-(N+1) part of this array
-          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
-          replacing C, B, and A. The scalar D is unchanged.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.
-          LDDCBA &gt;= N+1.
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OD.html b/doc/_build/html/_static/doc/TG01OD.html
deleted file mode 100644
index b9c09fac..00000000
--- a/doc/_build/html/_static/doc/TG01OD.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OD">TG01OD</A></H2>
-<H3>
-Reducing a SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E nonsingular, a reduced system matrix,
-
-     [ d     c    ]
-     [ b  a - s*e ],
-
-  such that d has a "sufficiently" large magnitude.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OD( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDWORK, LDE, N, NZ
-      DOUBLE PRECISION  G, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DCBA(LDDCBA,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is a general matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) DOUBLE PRECISION array, dimension
-          (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
-          contains the reduced system matrices a, b, c, and d.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
-          On entry, if JOBE = 'G', the leading N-by-N part of this
-          array must contain the nonsingular descriptor matrix E.
-          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
-          array contains the reduced descriptor matrix e.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  NZ      (output) INTEGER
-          The order of the reduced system.
-
-  G       (output) DOUBLE PRECISION
-          The gain of the reduced system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining if the transformed
-          d has a "sufficiently" large magnitude. If the user sets
-          TOL &gt; 0, then the given value of TOL is used. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = EPS**(3/4), is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -11, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N+1,  if JOBE = 'G';
-          LDWORK &gt;=   N+1,  if JOBE = 'I'.
-          For good performance when JOBE = 'G', LDWORK should be
-          larger. Specifically,
-             LDWORK &gt;= MAX( N*NB(DGEQRF), (N+1)*NB(DORMQR) ),
-          where NB(X) is the optimal block sizes for the LAPACK
-          Library routine X.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and Givens rotations are used to
-  process the matrices. If E is a general matrix, it is first
-  triangularized using the QR decomposition, and the triangular form
-  is preserved during the remaining computations.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01OZ.html b/doc/_build/html/_static/doc/TG01OZ.html
deleted file mode 100644
index a57fadc1..00000000
--- a/doc/_build/html/_static/doc/TG01OZ.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OZ">TG01OZ</A></H2>
-<H3>
-Reducing a complex SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix with complex elements
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E nonsingular, a reduced system matrix,
-
-     [ d     c    ]
-     [ b  a - s*e ],
-
-  such that d has a "sufficiently" large magnitude.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OZ( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDE, LZWORK, N, NZ
-      DOUBLE PRECISION  TOL
-      COMPLEX*16        G
-C     .. Array Arguments ..
-      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is a general matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
-          contains the reduced system matrices a, b, c, and d.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
-          On entry, if JOBE = 'G', the leading N-by-N part of this
-          array must contain the nonsingular descriptor matrix E.
-          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
-          array contains the reduced descriptor matrix e.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  NZ      (output) INTEGER
-          The order of the reduced system.
-
-  G       (output) COMPLEX*16
-          The gain of the reduced system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining if the transformed
-          d has a "sufficiently" large magnitude. If the user sets
-          TOL &gt; 0, then the given value of TOL is used. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = EPS**(3/4), is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-          On exit, if INFO = -11, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= 2*N+1,  if JOBE = 'G';
-          LZWORK &gt;=   N+1,  if JOBE = 'I'.
-          For good performance when JOBE = 'G', LZWORK should be
-          larger. Specifically,
-             LZWORK &gt;= MAX( N*NB(ZGEQRF), (N+1)*NB(ZUNMQR) ),
-          where NB(X) is the optimal block sizes for the LAPACK
-          Library routine X.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and Givens rotations are used to
-  process the matrices. If E is a general matrix, it is first
-  triangularized using the QR decomposition, and the triangular form
-  is preserved during the remaining computations.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01PD.html b/doc/_build/html/_static/doc/TG01PD.html
deleted file mode 100644
index c4b93951..00000000
--- a/doc/_build/html/_static/doc/TG01PD.html
+++ /dev/null
@@ -1,498 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01PD">TG01PD</A></H2>
-<H3>
-Bi-domain spectral splitting of a subpencil of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the generalized real Schur form with ordered
-  generalized eigenvalues. The pair (A,E) is reduced to the form
-
-             ( *  *  *  * )             ( *  *  *  * )
-             (            )             (            )
-             ( 0  A1 *  * )             ( 0  E1 *  * )
-    Q'*A*Z = (            ) ,  Q'*E*Z = (            ) ,
-             ( 0  0  A2 * )             ( 0  0  E2 * )
-             (            )             (            )
-             ( 0  0  0  * )             ( 0  0  0  * )
-
-  where the subpencil A1-lambda*E1 contains the eigenvalues which
-  belong to a suitably defined domain of interest and the subpencil
-  A2-lambda*E2 contains the eigenvalues which are outside of the
-  domain of interest.
-  If JOBAE = 'S', the pair (A,E) is assumed to be already in a
-  generalized real Schur form and the reduction is performed only
-  on the subpencil A12 - lambda*E12 defined by rows and columns
-  NLOW to NSUP of A - lambda*E.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
-     $                   NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR, ALPHAI,
-     $                   BETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        COMPQ, COMPZ, DICO, JOBAE, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
-     $                 NDIM, NLOW, NSUP, P
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                 BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                 Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the descriptor system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBAE   CHARACTER*1
-          Specifies the shape of the matrix pair (A,E) on entry
-          as follows:
-          = 'S':  (A,E) is in a generalized real Schur form;
-          = 'G':  A and E are general square dense matrices.
-
-  COMPQ   CHARACTER*1
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-                  This option can not be used when JOBAE = 'G'.
-
-  COMPZ   CHARACTER*1
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-                  This option can not be used when JOBAE = 'G'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C, and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  NLOW,   (input) INTEGER
-  NSUP    (input) INTEGER
-          NLOW and NSUP specify the boundary indices for the rows
-          and columns of the principal subpencil of A - lambda*E
-          whose diagonal blocks are to be reordered.
-          0 &lt;= NLOW &lt;= NSUP &lt;= N,       if JOBAE = 'S'.
-          NLOW = MIN( 1, N ), NSUP = N, if JOBAE = 'G'.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the generalized
-          eigenvalues of the pair (A,E). For a continuous-time
-          system (DICO = 'C'), ALPHA is the boundary value for the
-          real parts of the generalized eigenvalues, while for a
-          discrete-time system (DICO = 'D'), ALPHA &gt;= 0 represents
-          the boundary value for the moduli of the generalized
-          eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          If JOBAE = 'S' then A must be a matrix in real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q'*A*Z in real Schur form, with the elements
-          below the first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
-          and E12 := E(NLOW:NSUP,NLOW:NSUP), has generalized
-          eigenvalues in the domain of interest, and the trailing
-          part of this subpencil has generalized eigenvalues outside
-          the domain of interest.
-          The domain of interest for eig(A12,E12), the generalized
-          eigenvalues of the pair (A12,E12), is defined by the
-          parameters ALPHA, DICO and STDOM as follows:
-            For DICO = 'C':
-               Real(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
-               Real(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
-               Abs(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E.
-          If JOBAE = 'S', then E must be an upper triangular matrix.
-          On exit, the leading N-by-N part of this array contains an
-          upper triangular matrix Q'*E*Z, with the elements below
-          the diagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          A12 - lambda*E12 (see description of A) has generalized
-          eigenvalues in the domain of interest, and the trailing
-          part of this subpencil has generalized eigenvalues outside
-          the domain of interest.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of orthogonal
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q. LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of orthogonal
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z. LDZ &gt;= MAX(1,N).
-
-  NDIM    (output) INTEGER
-          The number of generalized eigenvalues of the principal
-          subpencil A12 - lambda*E12 (see description of A) lying
-          inside the domain of interest for eigenvalues.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
-          are the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1,...,N, are the
-          diagonals of the complex Schur form (S,T) that would
-          result if the 2-by-2 diagonal blocks of the real Schur
-          form of (A,B) were further reduced to triangular form
-          using 2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
-          if positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 8*N+16, if JOBAE = 'G';
-          LDWORK &gt;= 4*N+16, if JOBAE = 'S'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QZ algorithm failed to compute all generalized
-                eigenvalues of the pair (A,E);
-          = 2:  a failure occured during the ordering of the
-                generalized real Schur form of the pair (A,E).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOBAE = 'G', the pair (A,E) is reduced to an ordered
-  generalized real Schur form using an orthogonal equivalence
-  transformation A &lt;-- Q'*A*Z and E &lt;-- Q'*E*Z. This transformation
-  is determined so that the leading diagonal blocks of the resulting
-  pair (A,E) have generalized eigenvalues in a suitably defined
-  domain of interest. Then, the transformations are applied to the
-  matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
-  If JOBAE = 'S', then the diagonal blocks of the subpencil
-  A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
-  and E12 := E(NLOW:NSUP,NLOW:NSUP), are reordered using orthogonal
-  equivalence transformations, such that the leading blocks have
-  generalized eigenvalues in a suitably defined domain of interest.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 25N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX+16 )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, DICO, JOBAE, STDOM
-      INTEGER          I, INFO, J, M, N, NDIM, NLOW, NSUP, P
-      DOUBLE PRECISION ALPHA, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TG01PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBAE, COMPQ, COMPZ,
-     $                      NLOW, NSUP, ALPHA, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LSAME( COMPQ, 'U' ) )
-     $            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-               IF ( LSAME( COMPZ, 'U' ) )
-     $            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
-     $                      NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR,
-     $                      ALPHAI, BETA, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NDIM
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, N
-                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     ALPHAR(I)/BETA(I)
-                     ELSE
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-                     END IF
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01PD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Number of eigenvalues in the domain =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01PD EXAMPLE PROGRAM DATA
-  4     2     2     C     S     G     I     I     1     4     -1.E-7     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01PD EXAMPLE PROGRAM RESULTS
-
- Number of eigenvalues in the domain =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-  -1.6311   2.1641  -3.6829  -0.3369
-   0.0000   0.4550  -1.9033   0.6425
-   0.0000   0.0000   2.6950   0.6882
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed descriptor matrix Q'*E*Z is 
-   0.4484   9.6340  -1.2601  -5.6475
-   0.0000   3.3099   0.6641  -1.4869
-   0.0000   0.0000   0.0000  -1.3765
-   0.0000   0.0000   0.0000   2.0000
-
- The transformed input/state matrix Q'*B is 
-   0.0232  -0.9413
-  -0.7251  -0.2478
-   0.6882  -0.2294
-   1.0000   1.0000
-
- The transformed state/output matrix C*Z is 
-  -0.8621   0.3754   0.3405   1.0000
-  -0.1511  -1.1192   0.8513  -1.0000
-
- The left transformation matrix Q is 
-   0.0232  -0.7251   0.6882   0.0000
-  -0.3369   0.6425   0.6882   0.0000
-  -0.9413  -0.2478  -0.2294   0.0000
-   0.0000   0.0000   0.0000   1.0000
-
- The right transformation matrix Z is 
-   0.8621  -0.3754  -0.3405   0.0000
-  -0.4258  -0.9008  -0.0851   0.0000
-   0.0000   0.0000   0.0000   1.0000
-   0.2748  -0.2184   0.9364   0.0000
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-   -3.6375
-    0.1375
-  Infinity
-    0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01QD.html b/doc/_build/html/_static/doc/TG01QD.html
deleted file mode 100644
index 2d504240..00000000
--- a/doc/_build/html/_static/doc/TG01QD.html
+++ /dev/null
@@ -1,529 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01QD">TG01QD</A></H2>
-<H3>
-Three-domain spectral splitting of a subpencil of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the generalized real Schur form with ordered
-  generalized eigenvalues. The pair (A,E) is reduced to the form
-
-             ( A1  *   *  )             ( E1  *   *  )
-    Q'*A*Z = ( 0   A2  *  ) ,  Q'*E*Z = ( 0   E2  *  ) ,         (1)
-             ( 0   0   A3 )             ( 0   0   E2 )
-
-  where the subpencils Ak-lambda*Ek, for k = 1, 2, 3, contain the
-  generalized eigenvalues which belong to certain domains of
-  interest.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, N1, N2, N3, ND, NIBLCK,
-     $                   IBLCK, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBFI, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
-     $                 N1, N2, N3, ND, NIBLCK, P
-      DOUBLE PRECISION ALPHA, TOL
-C     .. Array Arguments ..
-      INTEGER          IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                 BETA(*), C(LDC,*), DWORK(*), E(LDE,*), Q(LDQ,*),
-     $                 Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the descriptor system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies the type of the domain of interest for the
-          generalized eigenvalues, as follows:
-          = 'S':  stability type domain (i.e., left part of complex
-                  plane or inside of a circle);
-          = 'U':  instability type domain (i.e., right part of complex
-                  plane or outside of a circle);
-          = 'N':  whole complex domain, excepting infinity.
-
-  JOBFI   CHARACTER*1
-          Specifies the type of generalized eigenvalues in the
-          leading diagonal block(s) as follows:
-          = 'F':  finite generalized eigenvalues are in the
-                  leading diagonal blocks (Af,Ef), and the resulting
-                  transformed pair has the form
-
-                           ( Af  *  )             ( Ef  *  )
-                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ;
-                           ( 0   Ai )             ( 0   Ei )
-
-          = 'I':  infinite generalized eigenvalues are in the
-                  leading diagonal blocks (Ai,Ei), and the resulting
-                  transformed pair has the form
-
-                           ( Ai  *  )             ( Ei  *  )
-                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) .
-                           ( 0   Af )             ( 0   Ef )
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the finite
-          generalized eigenvalues of the pair (A,E). For a
-          continuous-time system (DICO = 'C'), ALPHA is the boundary
-          value for the real parts of the generalized eigenvalues,
-          while for a discrete-time system (DICO = 'D'), ALPHA &gt;= 0
-          represents the boundary value for the moduli of the
-          generalized eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q'*A*Z in real Schur form, with the elements
-          below the first subdiagonal set to zero.
-          If JOBFI = 'I', the N1-by-N1 pair (A1,E1) contains the
-          infinite spectrum, the N2-by-N2 pair (A2,E2) contains the
-          finite spectrum in the domain of interest, and the
-          N3-by-N3 pair (A3,E3) contains the finite spectrum ouside
-          of the domain of interest.
-          If JOBFI = 'F', the N1-by-N1 pair (A1,E1) contains the
-          finite spectrum in the domain of interest, the N2-by-N2
-          pair (A2,E2) contains the finite spectrum ouside of the
-          domain of interest, and the N3-by-N3 pair (A3,E3) contains
-          the infinite spectrum.
-          Ai has a block structure as in (2), where A0,0 is ND-by-ND
-          and Ai,i is IBLCK(i)-by-IBLCK(i), for i = 1, ..., NIBLCK.
-          The domain of interest for the pair (Af,Ef), containing
-          the finite generalized eigenvalues, is defined by the
-          parameters ALPHA, DICO and STDOM as follows:
-            For DICO = 'C':
-               Real(eig(Af,Ef)) &lt; ALPHA if STDOM = 'S';
-               Real(eig(Af,Ef)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(eig(Af,Ef))  &lt; ALPHA if STDOM = 'S';
-               Abs(eig(Af,Ef))  &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q'*E*Z in upper triangular form, with the
-          elements below the diagonal set to zero. Its structure
-          corresponds to the block structure of the matrix Q'*A*Z
-          (see description of A).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  N1      (output) INTEGER
-  N2      (output) INTEGER
-  N3      (output) INTEGER
-          The number of the generalized eigenvalues of the pairs
-          (A1,E1), (A2,E2) and (A3,E3), respectively.
-
-  ND      (output) INTEGER.
-          The number of non-dynamic infinite eigenvalues of the
-          pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (2), where i = 1,2,...,NIBLCK.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Q, where Q' is the product of orthogonal
-          transformations applied to A, E, and B on the left.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z, which is the product of orthogonal
-          transformations applied to A, E, and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ..., N,
-          are the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1, ..., N, are
-          the diagonals of the complex Schur form (S,T) that would
-          result if the 2-by-2 diagonal blocks of the real Schur
-          form of (A,E) were further reduced to triangular form
-          using 2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
-          if positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N = 0,
-          LDWORK &gt;= 4*N,    if STDOM = 'N';
-          LDWORK &gt;= 4*N+16, if STDOM = 'S' or 'U'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular;
-          = 2:  the QZ algorithm failed to compute all generalized
-                eigenvalues of the pair (A,E);
-          = 3:  a failure occured during the ordering of the
-                generalized real Schur form of the pair (A,E).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The separation of the finite and infinite parts is based on the
-  reduction algorithm of [1].
-  If JOBFI = 'F', the matrices of the pair (Ai,Ei), containing the
-  infinite generalized eigenvalues, have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (2)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOBFI = 'I', the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (3)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
-  triangular matrices, and A0,0 corresponds to the non-dynamic
-  infinite modes of the system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 25N  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF,
-                 i=1
-
-  where NF is the number of finite generalized eigenvalues.
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity k,
-  for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to an
-  infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX+16 )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBFI, STDOM
-      INTEGER          I, INFO, J, M, N, N1, N2, N3, ND, NIBLCK, P
-      DOUBLE PRECISION ALPHA, TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX), IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TG01QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBFI, ALPHA, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, N1, N2, N3, ND,
-     $                      NIBLCK, IBLCK, Q, LDQ, Z, LDZ, ALPHAR,
-     $                      ALPHAI, BETA, TOL, IWORK, DWORK, LDWORK,
-     $                      INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) N1, N2, N3
-                  WRITE ( NOUT, FMT = 99983 ) ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, N
-                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     ALPHAR(I)/BETA(I)
-                     ELSE
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-                     END IF
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01QD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Number of eigenvalues of the three blocks =', 3I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-99983 FORMAT ( ' Number of non-dynamic infinite eigenvalues = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01QD EXAMPLE PROGRAM DATA
-  4     2     2     C     S     F     -1.E-7     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01QD EXAMPLE PROGRAM RESULTS
-
- Number of eigenvalues of the three blocks =    1    2    1
- Number of non-dynamic infinite eigenvalues =     1
- Number of infinite blocks =     1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   1.6311   2.1641  -0.5848  -3.6517
-   0.0000  -0.4550   1.0935   1.6851
-   0.0000   0.0000   0.0000   1.5770
-   0.0000   0.0000   0.0000   2.2913
-
- The transformed descriptor matrix Q'*E*Z is 
-  -0.4484   9.6340   5.1601  -2.6183
-   0.0000  -3.3099  -1.6050  -0.2756
-   0.0000   0.0000   2.3524  -0.6008
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-   0.0232  -0.9413
-   0.7251   0.2478
-  -0.4336  -0.9538
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-   0.8621   0.3754  -0.8847   0.5774
-   0.1511  -1.1192   1.1795   0.5774
-
- The left transformation matrix Q is 
-   0.0232   0.7251   0.3902   0.5669
-  -0.3369  -0.6425   0.3902   0.5669
-  -0.9413   0.2478  -0.1301  -0.1890
-   0.0000   0.0000  -0.8238   0.5669
-
- The right transformation matrix Z is 
-  -0.8621  -0.3754  -0.0843  -0.3299
-   0.4258  -0.9008  -0.0211  -0.0825
-   0.0000   0.0000  -0.9689   0.2474
-  -0.2748  -0.2184   0.2317   0.9073
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-   -3.6375
-    0.1375
-    0.0000
-  Infinity
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/TG01WD.html b/doc/_build/html/_static/doc/TG01WD.html
deleted file mode 100644
index 12a9c4cb..00000000
--- a/doc/_build/html/_static/doc/TG01WD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01WD">TG01WD</A></H2>
-<H3>
-Reduction of the descriptor dynamics matrix pair to generalized real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the pair (A,E) to a real generalized Schur form
-  by using an orthogonal equivalence transformation
-  (A,E) &lt;-- (Q'*A*Z,Q'*E*Z) and to apply the transformation
-  to the matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01WD( N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
-     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ,
-     $                  M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                  BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                  Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrices A and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q' * A * Z in an upper quasi-triangular form.
-          The elements below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q' * E * Z in an upper triangular form.
-          The elements below the diagonal are set to zero.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q' * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the left
-          orthogonal transformation matrix used to reduce (A,E) to
-          the real generalized Schur form.
-          The columns of Q are the left generalized Schur vectors
-          of the pair (A,E).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= max(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the right
-          orthogonal transformation matrix used to reduce (A,E) to
-          the real generalized Schur form.
-          The columns of Z are the right generalized Schur vectors
-          of the pair (A,E).
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= max(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j),
-          j=1,...,N, will be the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j=1,...,N, are the
-          diagonals of the complex Schur form that would result if
-          the 2-by-2 diagonal blocks of the real Schur form of
-          (A,E) were further reduced to triangular form using
-          2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
-          if positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.  LDWORK &gt;= 8*N+16.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QZ algorithm failed to compute
-                the generalized real Schur form; elements i+1:N of
-                ALPHAR, ALPHAI, and BETA should be correct.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The pair (A,E) is reduced to a real generalized Schur form using
-  an orthogonal equivalence transformation (A,E) &lt;-- (Q'*A*Z,Q'*E*Z)
-  and the transformation is applied to the matrices B and C:
-  B &lt;-- Q'*B and C &lt;-- C*Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 25N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UD01BD.html b/doc/_build/html/_static/doc/UD01BD.html
deleted file mode 100644
index 96339e20..00000000
--- a/doc/_build/html/_static/doc/UD01BD.html
+++ /dev/null
@@ -1,212 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01BD">UD01BD</A></H2>
-<H3>
-Reading a matrix polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To read the coefficients of a matrix polynomial
-                                                 dp-1           dp
-     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the matrix polynomial P(s).
-          MP &gt;= 1.
-
-  NP      (input) INTEGER
-          The number of columns of the matrix polynomial P(s).
-          NP &gt;= 1.
-
-  DP      (input) INTEGER
-          The degree of the matrix polynomial P(s).  DP &gt;= 0.
-
-  NIN     (input) INTEGER
-          The input channel from which the elements of P(s) are
-          read.  NIN &gt;= 0.
-
-  P       (output) DOUBLE PRECISION array, dimension
-          (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array contains
-          the coefficients of the matrix polynomial P(s).
-          Specifically, P(i,j,k) contains the coefficient of
-          s**(k-1) of the polynomial which is the (i,j)-th element
-          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
-          k = 1,2,...,DP+1.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MP.
-
-  LDP2    INTEGER
-          The second dimension of array P.  LDP2 &gt;= NP.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The coefficients P(i), i = 0, ..., DP, which are MP-by-NP
-  matrices, are read from the input file NIN row by row. Each P(i)
-  must be preceded by a text line. This text line can be used to
-  indicate the coefficient matrices.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MPMAX, NPMAX, DPMAX
-      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
-      INTEGER          LDP1, LDP2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
-*     .. Local Scalars ..
-      INTEGER          DP, INFO, L, MP, NP
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01BD, UD01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP
-      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) MP
-      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP
-      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, 99996 ) MP, NP, DP
-*           Write the coefficients of the matrix polynomial P(s).
-            L = 5
-            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
-     $                   INFO )
-            IF ( INFO.NE.0 )
-     $         WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01BD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01BD = ',I2)
-99997 FORMAT (' INFO on exit from UD01ND = ',I2)
-99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
-99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
-99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01BD EXAMPLE PROGRAM DATA
-   4   3   2 
-P0
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  2.0D-00  4.0D-00
- 0.0D-00  4.0D-00  8.0D-00
- 0.0D-00  6.0D-00  1.2D+01
-P1
- 0.0D-00  1.0D-00  2.0D-00
- 1.0D-00  0.0D-00  0.0D-00
- 2.0D-00  0.0D-00  0.0D-00
- 3.0D-00  0.0D-00  0.0D-00
-P2
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01BD EXAMPLE PROGRAM RESULTS
-
- MP = 4   NP = 3   DP = 2
-
-  P( 0) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
-  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
-  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
-
-  P( 1) ( 4X 3)
-            1              2              3
-  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
-  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
-  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
-
-  P( 2) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UD01CD.html b/doc/_build/html/_static/doc/UD01CD.html
deleted file mode 100644
index 15c6ece1..00000000
--- a/doc/_build/html/_static/doc/UD01CD.html
+++ /dev/null
@@ -1,224 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01CD">UD01CD</A></H2>
-<H3>
-Reading a sparse matrix polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To read the elements of a sparse matrix polynomial
-                                                 dp-1           dp
-     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the matrix polynomial P(s).
-          MP &gt;= 1.
-
-  NP      (input) INTEGER
-          The number of columns of the matrix polynomial P(s).
-          NP &gt;= 1.
-
-  DP      (input) INTEGER
-          The degree of the matrix polynomial P(s).  DP &gt;= 0.
-
-  NIN     (input) INTEGER
-          The input channel from which the elements of P(s) are
-          read.  NIN &gt;= 0.
-
-  P       (output) DOUBLE PRECISION array, dimension
-          (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array contains
-          the coefficients of the matrix polynomial P(s).
-          Specifically, P(i,j,k) contains the coefficient of
-          s**(k-1) of the polynomial which is the (i,j)-th element
-          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
-          k = 1,2,...,DP+1.
-          The not assigned elements are set to zero.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MP.
-
-  LDP2    INTEGER
-          The second dimension of array P.  LDP2 &gt;= NP.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : if a row index i is read with i &lt; 1 or i &gt; MP or
-                a column index j is read with j &lt; 1 or j &gt; NP or
-                a coefficient degree d is read with d &lt; 0 or
-                d &gt; DP + 1. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the elements P(i,j,k) with 1 &lt;= i &lt;= MP, 1 &lt;= j &lt;= NP and
-  1 &lt;= k &lt;= DP + 1 are set to zero. Next the nonzero (polynomial)
-  elements are read from the input file NIN. Each nonzero element is
-  given by the values i, j, d, P(i,j,k), k = 1, ..., d+1, where d is
-  the degree and P(i,j,k) is the coefficient of s**(k-1) in the
-  (i,j)-th element of P(s), i.e., let
-                                                           d
-      P   (s) = P   (0) + P   (1) * s + . . . + P   (d) * s
-       i,j       i,j       i,j                   i,j
-
-  be the nonzero (i,j)-th element of the matrix polynomial P(s).
-
-  Then P(i,j,k) corresponds to coefficient P   (k-1), k = 1,...,d+1.
-                                            i,j
-  For each nonzero element, the values i, j, and d are read as one
-  record of the file NIN, and the values P(i,j,k), k = 1,...,d+1,
-  are read as the following record.
-  The routine terminates after the last line has been read.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MPMAX, NPMAX, DPMAX
-      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
-      INTEGER          LDP1, LDP2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
-*     .. Local Scalars ..
-      INTEGER          DP, INFO, INFO1, L, MP, NP
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01CD, UD01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP
-      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) MP
-      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP
-      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-         IF ( INFO.GE.0 ) THEN
-            WRITE ( NOUT, 99996 ) MP, NP, DP
-*           Write the coefficients of the matrix polynomial P(s).
-            L = 5
-            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
-     $                   INFO1 )
-            IF ( INFO1.NE.0 )
-     $         WRITE ( NOUT, FMT = 99997 ) INFO1
-         END IF
-         IF ( INFO.NE.0 )
-     $      WRITE ( NOUT, FMT = 99998 ) INFO
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01CD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01CD = ',I2)
-99997 FORMAT (' INFO on exit from UD01ND = ',I2)
-99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
-99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
-99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01CD EXAMPLE PROGRAM DATA
-   4   3   2
-1  1  1
-1.0  1.0
-2  2  2
-2.0  0.0  1.0
-3  3  2
-0.0  3.0  1.0
-4  1  0
-4.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01CD EXAMPLE PROGRAM RESULTS
-
- MP = 4   NP = 3   DP = 2
-
-  P( 0) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.2000000D+01  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  4    0.4000000D+01  0.0000000D+00  0.0000000D+00
-
-  P( 1) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.3000000D+01
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
-
-  P( 2) ( 4X 3)
-            1              2              3
-  1    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.1000000D+01  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.1000000D+01
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UD01DD.html b/doc/_build/html/_static/doc/UD01DD.html
deleted file mode 100644
index 9ccfe4f5..00000000
--- a/doc/_build/html/_static/doc/UD01DD.html
+++ /dev/null
@@ -1,176 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01DD">UD01DD</A></H2>
-<H3>
-Reading a sparse real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To read the elements of a sparse matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01DD( M, N, NIN, A, LDA, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, M, N, NIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  NIN     (input) INTEGER
-          The input channel from which the elements of A are read.
-          NIN &gt;= 0.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array contains the sparse
-          matrix A. The not assigned elements are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : if a row index i is read with i &lt; 1 or i &gt; M or
-                a column index j is read with j &lt; 1 or j &gt; N.
-                This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the elements A(i,j) with 1 &lt;= i &lt;= M and 1 &lt;= j &lt;= N are
-  set to zero. Next the nonzero elements are read from the input
-  file NIN. Each line of NIN must contain consecutively the values
-  i, j, A(i,j). The routine terminates after the last line has been
-  read.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 10, NMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-*     .. Local Scalars ..
-      INTEGER          INFO, INFO1, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01DD, UD01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01DD( M, N, NIN, A, LDA, INFO )
-         IF ( INFO.GE.0 ) THEN
-*           Write the matrix A.
-            CALL UD01MD( M, N, 5, NOUT, A, LDA, ' Matrix A', INFO1 )
-            IF ( INFO1.NE.0 )
-     $         WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-         IF ( INFO.NE.0 )
-     $      WRITE ( NOUT, FMT = 99997 ) INFO
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01DD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01MD = ',I2)
-99997 FORMAT (' INFO on exit from UD01DD = ',I2)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01DD EXAMPLE PROGRAM DATA
-6  5
-1   1   -1.1
-6   1    1.5
-2   2   -2.2
-6   2    2.5
-3   3   -3.3
-6   3    3.5
-4   4   -4.4
-6   4    4.5
-5   5   -5.5
-6   5    5.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01DD EXAMPLE PROGRAM RESULTS
-
-  Matrix A ( 6X 5)
-
-            1              2              3              4              5
-  1   -0.1100000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00 -0.2200000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00 -0.3300000D+01  0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.4400000D+01  0.0000000D+00
-  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.5500000D+01
-  6    0.1500000D+01  0.2500000D+01  0.3500000D+01  0.4500000D+01  0.5500000D+01
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UD01MD.html b/doc/_build/html/_static/doc/UD01MD.html
deleted file mode 100644
index 0e5565b6..00000000
--- a/doc/_build/html/_static/doc/UD01MD.html
+++ /dev/null
@@ -1,178 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01MD">UD01MD</A></H2>
-<H3>
-Printing a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To print an M-by-N real matrix A row by row. The elements of A
-  are output to 7 significant figures.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, M, N, NOUT
-      CHARACTER*(*)     TEXT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of matrix A to be printed.  M &gt;= 1.
-
-  N       (input) INTEGER
-          The number of columns of matrix A to be printed.  N &gt;= 1.
-
-  L       (input) INTEGER
-          The number of elements of matrix A to be printed per line.
-          1 &lt;= L &lt;= 5.
-
-  NOUT    (input) INTEGER
-          The output channel to which the results are sent.
-          NOUT &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix to be printed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= M.
-
-  TEXT    (input) CHARACTER*72.
-          Title caption of the matrix to be printed (up to a
-          maximum of 72 characters). For example, TEXT = 'Matrix A'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine first prints the contents of TEXT as a title, followed
-  by the elements of the matrix A such that
-
-  (i)  if N &lt;= L, the leading M-by-N part is printed;
-  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
-       consecutive columns of A are printed one after another
-       followed by one M-by-p block containing the last p columns
-       of A.
-
-  Row numbers are printed on the left of each row and a column
-  number appears on top of each column.
-  The routine uses 2 + (k + 1)*(m + 1) lines and 8 + 15*c positions
-  per line where c is the actual number of columns, (i.e. c = L
-  or c = p).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, L, M, N
-      CHARACTER*72     TEXT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, L, TEXT
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-*        Print out the matrix A.
-         CALL UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
-         IF ( INFO.NE.0 ) WRITE ( NOUT, FMT = 99998 ) INFO
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from UD01MD = ',I2)
-99997 FORMAT (/' N is out of range.',/' N = ',I5)
-99996 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- UD01MD EXAMPLE PROGRAM DATA
-   4     4     4     'Matrix A'
-   1.0   2.0   3.0   4.0
-   5.0   6.0   7.0   8.0
-   9.0  10.0  11.0  12.0
-  13.0  14.0  15.0  16.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01MD EXAMPLE PROGRAM RESULTS
-
- Matrix A ( 4X 4)
-
-            1              2              3              4
-  1    0.1000000D+01  0.2000000D+01  0.3000000D+01  0.4000000D+01
-  2    0.5000000D+01  0.6000000D+01  0.7000000D+01  0.8000000D+01
-  3    0.9000000D+01  0.1000000D+02  0.1100000D+02  0.1200000D+02
-  4    0.1300000D+02  0.1400000D+02  0.1500000D+02  0.1600000D+02
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UD01MZ.html b/doc/_build/html/_static/doc/UD01MZ.html
deleted file mode 100644
index 0c773da6..00000000
--- a/doc/_build/html/_static/doc/UD01MZ.html
+++ /dev/null
@@ -1,126 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01MZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01MZ">UD01MZ</A></H2>
-<H3>
-Printing a real matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To print an M-by-N real matrix A row by row. The elements of A
-  are output to 7 significant figures.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01MZ( M, N, L, NOUT, A, LDA, TEXT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, M, N, NOUT
-      CHARACTER*(*)     TEXT
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of matrix A to be printed.  M &gt;= 1.
-
-  N       (input) INTEGER
-          The number of columns of matrix A to be printed.  N &gt;= 1.
-
-  L       (input) INTEGER
-          The number of elements of matrix A to be printed per line.
-          1 &lt;= L &lt;= 3.
-
-  NOUT    (input) INTEGER
-          The output channel to which the results are sent.
-          NOUT &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix to be printed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= M.
-
-  TEXT    (input) CHARACTER*72.
-          Title caption of the matrix to be printed (up to a
-          maximum of 72 characters). For example, TEXT = 'Matrix A'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine first prints the contents of TEXT as a title, followed
-  by the elements of the matrix A such that
-
-  (i)  if N &lt;= L, the leading M-by-N part is printed;
-  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
-       consecutive columns of A are printed one after another
-       followed by one M-by-p block containing the last p columns
-       of A.
-
-  Row numbers are printed on the left of each row and a column
-  number appears on top of each complex column.
-  The routine uses 2 + (k + 1)*(m + 1) lines and 7 + 32*c positions
-  per line where c is the actual number of columns, (i.e. c = L
-  or c = p).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UD01ND.html b/doc/_build/html/_static/doc/UD01ND.html
deleted file mode 100644
index 3bf109a8..00000000
--- a/doc/_build/html/_static/doc/UD01ND.html
+++ /dev/null
@@ -1,231 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01ND">UD01ND</A></H2>
-<H3>
-Printing a matrix polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To print the MP-by-NP coefficient matrices of a matrix polynomial
-                                                 dp-1           dp
-     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
-
-  The elements of the matrices are output to 7 significant figures.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, L, LDP1, LDP2, MP, NP, NOUT
-      CHARACTER*(*)     TEXT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the matrix polynomial P(s).
-          MP &gt;= 1.
-
-  NP      (input) INTEGER
-          The number of columns of the matrix polynomial P(s).
-          NP &gt;= 1.
-
-  DP      (input) INTEGER
-          The degree of the matrix polynomial P(s).  DP &gt;= 0.
-
-  L       (input) INTEGER
-          The number of elements of the coefficient matrices to be
-          printed per line.  1 &lt;= L &lt;= 5.
-
-  NOUT    (input) INTEGER
-          The output channel to which the results are sent.
-          NOUT &gt;= 0.
-
-  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array must
-          contain the coefficients of the matrix polynomial P(s).
-          Specifically, P(i,j,k) must contain the coefficient of
-          s**(k-1) of the polynomial which is the (i,j)-th element
-          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
-          k = 1,2,...,DP+1.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MP.
-
-  LDP2    INTEGER
-          The second dimension of array P.  LDP2 &gt;= NP.
-
-  TEXT    (input) CHARACTER*72
-          Title caption of the coefficient matrices to be printed.
-          TEXT is followed by the degree of the coefficient matrix,
-          within brackets. If TEXT = ' ', then the coefficient
-          matrices are separated by an empty line.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For i = 1, 2, ..., DP + 1 the routine first prints the contents of
-  TEXT followed by (i-1) as a title, followed by the elements of the
-  MP-by-NP coefficient matrix P(i) such that
-  (i)  if NP &lt; L, then the leading MP-by-NP part is printed;
-  (ii) if NP = k*L + p (where k, p &gt; 0), then k MP-by-L blocks of
-       consecutive columns of P(i) are printed one after another
-       followed by one MP-by-p block containing the last p columns
-       of P(i).
-  Row numbers are printed on the left of each row and a column
-  number on top of each column.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MPMAX, NPMAX, DPMAX
-      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
-      INTEGER          LDP1, LDP2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
-*     .. Local Scalars ..
-      INTEGER          DP, INFO, L, MP, NP
-      CHARACTER*72     TEXT
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01BD, UD01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP, L, TEXT
-      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) MP
-      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP
-      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, 99996 ) MP, NP, DP
-*           Write the coefficients of the matrix polynomial P(s).
-            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
-     $                   INFO )
-            IF ( INFO.NE.0 )
-     $         WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01ND EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01ND = ',I2)
-99997 FORMAT (' INFO on exit from UD01BD = ',I2)
-99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
-99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
-99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01ND EXAMPLE PROGRAM DATA
-   4     3     2     5   P
-P0
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  2.0D-00  4.0D-00
- 0.0D-00  4.0D-00  8.0D-00
- 0.0D-00  6.0D-00  1.2D+01
-P1
- 0.0D-00  1.0D-00  2.0D-00
- 1.0D-00  0.0D-00  0.0D-00
- 2.0D-00  0.0D-00  0.0D-00
- 3.0D-00  0.0D-00  0.0D-00
-P2
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01ND EXAMPLE PROGRAM RESULTS
-
- MP = 4   NP = 3   DP = 2
-
- P( 0) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
-  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
-  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
-
- P( 1) ( 4X 3)
-            1              2              3
-  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
-  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
-  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
-
- P( 2) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/UE01MD.html b/doc/_build/html/_static/doc/UE01MD.html
deleted file mode 100644
index c1e20d09..00000000
--- a/doc/_build/html/_static/doc/UE01MD.html
+++ /dev/null
@@ -1,104 +0,0 @@
-<HTML>
-<HEAD><TITLE>UE01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UE01MD">UE01MD</A></H2>
-<H3>
-Default machine-specific parameters for (skew-)Hamiltonian computation routines
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To provide an extension of the LAPACK routine ILAENV to
-  machine-specific parameters for SLICOT routines.
-
-  The default values in this version aim to give good performance on
-  a wide range of computers. For optimal performance, however, the
-  user is advised to modify this routine. Note that an optimized
-  BLAS is a crucial prerequisite for any speed gains. For further
-  details, see ILAENV.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION UE01MD( ISPEC, NAME, OPTS, N1, N2, N3 )
-C     .. Scalar Arguments ..
-      CHARACTER*( * )    NAME, OPTS
-      INTEGER            ISPEC, N1, N2, N3
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  UE01MD  INTEGER
-          The function value set according to ISPEC.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  ISPEC   (input) INTEGER
-          Specifies the parameter to be returned as the value of
-          UE01MD, as follows:
-          = 1: the optimal blocksize; if the returned value is 1, an
-               unblocked algorithm will give the best performance;
-          = 2: the minimum block size for which the block routine
-               should be used; if the usable block size is less than
-               this value, an unblocked routine should be used;
-          = 3: the crossover point (in a block routine, for N less
-               than this value, an unblocked routine should be used)
-          = 4: the number of shifts, used in the product eigenvalue
-               routine;
-          = 8: the crossover point for the multishift QR method for
-               product eigenvalue problems.
-
-  NAME    (input) CHARACTER*(*)
-          The name of the calling subroutine, in either upper case
-          or lower case.
-
-  OPTS    (input) CHARACTER*(*)
-          The character options to the subroutine NAME, concatenated
-          into a single character string.
-
-  N1      (input) INTEGER
-  N2      (input) INTEGER
-  N3      (input) INTEGER
-          Problem dimensions for the subroutine NAME; these may not
-          all be required.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doc/readme b/doc/_build/html/_static/doc/readme
deleted file mode 100644
index 2b385284..00000000
--- a/doc/_build/html/_static/doc/readme
+++ /dev/null
@@ -1,17 +0,0 @@
-SLICOT Library Subdirectory doc
--------------------------------
-
-SLICOT Library Subdirectory doc contains documentation files (*.html) for almost
-all SLICOT Library routines.  Omitted are few auxiliary routines, called by
-other SLICOT routines, but which seem to have no general use.  The documentation
-conforms to the SLICOT standards.  Besides function, arguments, and algorithm
-description, most documents for user-callable rotines include example programs,
-which could be easily modified, by copying, pasting, etc., to solve related,
-specific problems.
-
-The documentation files could be viewed individually, or via the provided index
-files: the main SLICOT Library index (libindex.html), stored in the SLICOT root
-directory, or the auxiliary, supporting routines index (support.html), stored in
-the subdirectory doc.  The second file is also accessible from the first one.
-These index files are organized according to the SLICOT Library chapters, sections,
-and subsections.
diff --git a/doc/_build/html/_static/doc/support.html b/doc/_build/html/_static/doc/support.html
deleted file mode 100644
index d6535a12..00000000
--- a/doc/_build/html/_static/doc/support.html
+++ /dev/null
@@ -1,911 +0,0 @@
-<HTML>
-<HEAD><title>On-Line SLICOT Supporting Routines Overview</title></HEAD>
-<BODY>
-
-<H1>SLICOT SUPPORTING ROUTINES INDEX</H1>
-<HR>
-To go to the beginning of a chapter click on the appropriate letter below: <p>
-<center>
-<A href="#A"><B>A</B></A> ;
-<A href="#B"><B>B</B></A> ;
-<A href="#C"><B>C</B></A> ;
-<A href="#D"><B>D</B></A> ;
-<A href="#F"><B>F</B></A> ;
-<A href="#I"><B>I</B></A> ;
-<A href="#M"><B>M</B></A> ;
-<A href="#N"><B>N</B></A> ;
-<A href="#S"><B>S</B></A> ;
-<A href="#T"><B>T</B></A> ;
-<A href="#U"><B>U</B></A> ;
-</center>
-<BR>
-or <A href="http://www.slicot.org/index.php?site=home">
-<b>Return to SLICOT homepage</b></A>
-<BR>
-or <A href="..\libindex.html">
-<b>Go to SLICOT LIBRARY INDEX</b></A>
-<p>
-<HR>
-<A NAME="A"><H2>A - Analysis Routines</H2></A>
-<h3>AB - State-Space Analysis</h3>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href="AB08NX.html">
-<B>AB08NX</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving transmission zeros
-<A href="AB08NY.html">
-<B>AB08NY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving transmission zeros (extended variant)
-<A href="AB8NXZ.html">
-<B>AB8NXZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving transmission zeros (complex case)
-</PRE>
-<h4>Model Reduction</h4>
-<PRE>
-<A href="AB09AX.html">
-<B>AB09AX</B></A>   Balance & Truncate model reduction with state matrix in real Schur form  
-<A href="AB09BX.html">
-<B>AB09BX</B></A>   Singular perturbation approximation based model reduction with state
-         matrix in real Schur form 
-<A href="AB09CX.html">
-<B>AB09CX</B></A>   Hankel norm approximation based model reduction with state matrix
-         in real Schur form 
-<A href="AB09HX.html">
-<B>AB09HX</B></A>   Stochastic balancing model reduction of stable systems
-<A href="AB09HY.html">
-<B>AB09HY</B></A>   Cholesky factors of the controllability and observability Grammians
-<A href="AB09IX.html">
-<B>AB09IX</B></A>   Accuracy enhanced balancing related model reduction
-<A href="AB09IY.html">
-<B>AB09IY</B></A>   Cholesky factors of the frequency-weighted controllability and 
-         observability Grammians
-<A href="AB09JV.html">
-<B>AB09JV</B></A>   State-space representation of a projection of a left weighted 
-         transfer-function matrix
-<A href="AB09JW.html">
-<B>AB09JW</B></A>   State-space representation of a projection of a right weighted 
-         transfer-function matrix
-<A href="AB09JX.html">
-<B>AB09JX</B></A>   Check stability/antistability of finite eigenvalues
-<A href="AB09KX.html">
-<B>AB09KX</B></A>   Stable projection of V*G*W or conj(V)*G*conj(W)
-</PRE>
-<h4>System Norms</h4>
-<PRE>
-<A href="AB13AX.html">
-<B>AB13AX</B></A>   Hankel-norm of a stable system with state matrix in real Schur form  
-<A href="AB13DX.html">
-<B>AB13DX</B></A>   Maximum singular value of a transfer-function matrix
-</PRE>
-<h3>AG - Generalized State-Space Analysis</h3>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href="AG08BY.html">
-<B>AG08BY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving the finite Smith zeros
-<A href="AG8BYZ.html">
-<B>AG8BYZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving the finite Smith zeros (complex case)
-</PRE>
-<HR>
-<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
-<HR>
-<A NAME="C"><H2>C - Adaptive Control</H2></A>
-<HR>
-<A NAME="D"><H2>D - Data Analysis</H2></A>
-<h3>DE - Covariances</h3>
-<h3>DF - Spectra</h3>
-<h3>DG - Discrete Fourier Transforms</h3>
-<h3>DK - Windowing</h3>
-<HR>
-<A NAME="F"><H2>F - Filtering</H2></A>
-<h3>FB - Kalman Filters</h3>
-<HR>
-<A NAME="I"><H2>I - Identification</H2></A>
-<h3>IB - Subspace Identification</h3>
-<h4>Time Invariant State-space Systems</h4>
-<PRE>
-<A href="IB01MD.html">
-<B>IB01MD</B></A>   Upper triangular factor in QR factorization of a
-         block-Hankel-block matrix
-<A href="IB01MY.html">
-<B>IB01MY</B></A>   Upper triangular factor in fast QR factorization of a 
-         block-Hankel-block matrix
-<A href="IB01ND.html">
-<B>IB01ND</B></A>   Singular value decomposition giving the system order
-<A href="IB01OD.html">
-<B>IB01OD</B></A>   Estimating the system order
-<A href="IB01OY.html">
-<B>IB01OY</B></A>   User's confirmation of the system order
-<A href="IB01PD.html">
-<B>IB01PD</B></A>   Estimating the system matrices and covariances
-<A href="IB01PX.html">
-<B>IB01PX</B></A>   Estimating the matrices B and D of a system using Kronecker products
-<A href="IB01PY.html">
-<B>IB01PY</B></A>   Estimating the matrices B and D of a system exploiting the structure
-<A href="IB01QD.html">
-<B>IB01QD</B></A>   Estimating the initial state and the matrices B and D of a system
-<A href="IB01RD.html">
-<B>IB01RD</B></A>   Estimating the initial state of a system
-</PRE>
-<HR>
-<A NAME="M"><H2>M - Mathematical Routines</H2></A>
-<h3>MA - Auxiliary Routines</h3>
-<h4>Mathematical Scalar Routines</h4>
-<PRE>
-<A href="MA01AD.html">
-<B>MA01AD</B></A>   Complex square root of a complex number in real arithmetic
-<A href="MA01BD.html">
-<B>MA01BD</B></A>   Safely computing the general product of K real scalars
-<A href="MA01BZ.html">
-<B>MA01BZ</B></A>   Safely computing the general product of K complex scalars
-<A href="MA01CD.html">
-<B>MA01CD</B></A>   Safely computing the sign of a sum of two real numbers represented
-         using integer powers of a base
-</PRE>
-<h4>Mathematical Vector/Matrix Routines</h4>
-<PRE>
-<A href="MA02AD.html">
-<B>MA02AD</B></A>   Transpose of a matrix
-<A href="MA02AZ.html">
-<B>MA02AZ</B></A>   (Conjugate) transpose of a complex matrix
-<A href="MA02BD.html">
-<B>MA02BD</B></A>   Reversing the order of rows and/or columns of a matrix
-<A href="MA02BZ.html">
-<B>MA02BZ</B></A>   Reversing the order of rows and/or columns of a matrix (complex case)
-<A href="MA02CD.html">
-<B>MA02CD</B></A>   Pertranspose of the central band of a square matrix 
-<A href="MA02CZ.html">
-<B>MA02CZ</B></A>   Pertranspose of the central band of a square matrix (complex case)
-<A href="MA02DD.html">
-<B>MA02DD</B></A>   Pack/unpack the upper or lower triangle of a symmetric matrix 
-<A href="MA02ED.html">
-<B>MA02ED</B></A>   Construct a triangle of a symmetric matrix, given the other triangle 
-<A href="MA02ES.html">
-<B>MA02ES</B></A>   Construct a triangle of a skew-symmetric real matrix, given the 
-         other triangle
-<A href="MA02EZ.html">
-<B>MA02EZ</B></A>   Construct a triangle of a (skew-)symmetric/Hermitian complex matrix,
-         given the other triangle
-<A href="MA02FD.html">
-<B>MA02FD</B></A>   Hyperbolic plane rotation 
-<A href="MA02GD.html">
-<B>MA02GD</B></A>   Column interchanges on a real matrix 
-<A href="MA02GZ.html">
-<B>MA02GZ</B></A>   Column interchanges on a complex matrix 
-<A href="MA02HD.html">
-<B>MA02HD</B></A>   Check if a matrix is a scalar multiple of an identity-like matrix
-<A href="MA02HZ.html">
-<B>MA02HZ</B></A>   Check if a complex matrix is a scalar multiple of an identity-like matrix
-<A href="MA02ID.html">
-<B>MA02ID</B></A>   Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
-<A href="MA02IZ.html">
-<B>MA02IZ</B></A>   Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
-<A href="MA02JD.html">
-<B>MA02JD</B></A>   Test if a matrix is an orthogonal symplectic matrix
-<A href="MA02JZ.html">
-<B>MA02JZ</B></A>   Test if a matrix is a unitary symplectic matrix
-<A href="MA02MD.html">
-<B>MA02MD</B></A>   Norms of a real skew-symmetric matrix
-<A href="MA02MZ.html">
-<B>MA02MZ</B></A>   Norms of a complex skew-symmetric matrix
-<A href="MA02NZ.html">
-<B>MA02NZ</B></A>   Two rows and columns permutation of a (skew-)symmetric/Hermitian
-         complex matrix
-<A href="MA02OD.html">
-<B>MA02OD</B></A>   Number of zero rows of a real (skew-)Hamiltonian matrix
-<A href="MA02OZ.html">
-<B>MA02OZ</B></A>   Number of zero rows of a complex (skew-)Hamiltonian matrix
-<A href="MA02PD.html">
-<B>MA02PD</B></A>   Number of zero rows and columns of a real matrix
-<A href="MA02PZ.html">
-<B>MA02PZ</B></A>   Number of zero rows and columns of a complex matrix
-<A href="MB01KD.html">
-<B>MB01KD</B></A>   Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C,
-         with A and C skew-symmetric matrices
-<A href="MB01LD.html">
-<B>MB01LD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A) with 
-         skew-symmetric matrices R and X
-<A href="MB01MD.html">
-<B>MB01MD</B></A>   Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
-<A href="MB01ND.html">
-<B>MB01ND</B></A>   Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a 
-         skew-symmetric matrix
-<A href="MB01SD.html">
-<B>MB01SD</B></A>   Rows and/or columns scaling of a matrix 
-<A href="MB01SS.html">
-<B>MB01SS</B></A>   Symmetric scaling of a symmetric matrix 
-</PRE>
-<h3>MB - Linear Algebra</h3>
-<h4>Basic Linear Algebra Manipulations</h4>
-<PRE>
-<A href="MB01OC.html">
-<B>MB01OC</B></A>   Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) 
-         with R, X symmetric and H upper Hessenberg
-<A href="MB01OD.html">
-<B>MB01OD</B></A>   Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' )  
-         with R, X symmetric, H upper Hessenberg, and E upper triangular
-<A href="MB01OE.html">
-<B>MB01OE</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' )
-          with R symmetric, H upper Hessenberg, and E upper triangular
-<A href="MB01OH.html">
-<B>MB01OH</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) 
-         with R symmetric, and A, H upper Hessenberg
-<A href="MB01OO.html">
-<B>MB01OO</B></A>   Computation of P or P' with P = op(H) X op(E)' with X symmetric, 
-         H upper Hessenberg, and E upper triangular
-<A href="MB01OS.html">
-<B>MB01OS</B></A>   Computation of matrix expression P = H X or P = X H, with X symmetric and 
-         H upper Hessenberg
-<A href="MB01OT.html">
-<B>MB01OT</B></A>   Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) 
-         with R symmetric and E, T upper triangular
-<A href="MB01RH.html">
-<B>MB01RH</B></A>   Computation of matrix expression alpha R + beta op(H) X op(H)' 
-         with R, X symmetric and H upper Hessenberg
-<A href="MB01RT.html">
-<B>MB01RT</B></A>   Computation of matrix expression alpha R + beta op(E) X op(E)'  
-         with R, X symmetric and E upper triangular
-<A href="MB01RU.html">
-<B>MB01RU</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
-         (MB01RD variant)
-<A href="MB01RW.html">
-<B>MB01RW</B></A>   Computation of matrix expression alpha*A*X*trans(A), X symmetric (BLAS 2)
-<A href="MB01RX.html">
-<B>MB01RX</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*A*B 
-         or alpha*R + beta*B*A
-<A href="MB01RY.html">
-<B>MB01RY</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*H*B 
-         or alpha*R + beta*B*H, with H an upper Hessenberg matrix
-<A href="MB01UW.html">
-<B>MB01UW</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
-         overwritting A, with H an upper Hessenberg matrix
-<A href="MB01VD.html">
-<B>MB01VD</B></A>   Kronecker product of two matrices
-<A href="MB01XY.html">
-<B>MB01XY</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
-         lower triangular matrices (unblock algorithm)
-<A href="SB03OV.html">
-<B>SB03OV</B></A>   Construction of a complex plane rotation to annihilate a real number,
-         modifying a complex number
-<A href="SG03BY.html">
-<B>SG03BY</B></A>   Computing a complex plane rotation in real arithmetic 
-<A href="SG03BR.html">
-<B>SG03BR</B></A>   Computing a complex plane rotation in real arithmetic (SG03BY version
-         - adaptation of LAPACK ZLARTG)
-</PRE>
-<h4>Linear Equations and Least Squares</h4>
-<PRE>
-<A href="MB02CU.html">
-<B>MB02CU</B></A>   Bringing the first blocks of a generator in proper form
-         (extended version of MB02CX)
-<A href="MB02CV.html">
-<B>MB02CV</B></A>   Applying the MB02CU transformations on other columns / rows of 
-         the generator
-<A href="MB02CX.html">
-<B>MB02CX</B></A>   Bringing the first blocks of a generator in proper form
-<A href="MB02CY.html">
-<B>MB02CY</B></A>   Applying the MB02CX transformations on other columns / rows of 
-         the generator
-<A href="MB02NY.html">
-<B>MB02NY</B></A>   Separation of a zero singular value of a bidiagonal submatrix
-<A href="MB02QY.html">
-<B>MB02QY</B></A>   Minimum-norm least squares solution, given a rank-revealing
-         QR factorization
-<A href="MB02UU.html">
-<B>MB02UU</B></A>   Solution of linear equations using LU factorization with complete pivoting
-<A href="MB02UV.html">
-<B>MB02UV</B></A>   LU factorization with complete pivoting
-<A href="MB02UW.html">
-<B>MB02UW</B></A>   Solution of linear equations of order at most 2 with possible scaling 
-         and perturbation of system matrix
-<A href="MB02WD.html">
-<B>MB02WD</B></A>   Solution of a positive definite linear system A*x = b, or f(A, x) = b,
-         using conjugate gradient algorithm
-<A href="MB02XD.html">
-<B>MB02XD</B></A>   Solution of a set of positive definite linear systems, A'*A*X = B, or
-         f(A)*X = B, using Gaussian elimination
-<A href="MB02YD.html">
-<B>MB02YD</B></A>   Solution of the linear system A*x = b, D*x = 0, D diagonal
-</PRE>
-<h4>Eigenvalues and Eigenvectors</h4>
-<PRE>
-<A href="MB03AD.html">
-<B>MB03AD</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a 
-         product of matrices to the first unit vector
-<A href="MB03AB.html">
-<B>MB03AB</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with explicit shifts)
-<A href="MB03AE.html">
-<B>MB03AE</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with partial evaluation, 
-         Hessenberg factor is the first one)
-<A href="MB03AF.html">
-<B>MB03AF</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant, Hessenberg factor is the 
-         last one)
-<A href="MB03AG.html">
-<B>MB03AG</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with evaluation, 
-         Hessenberg factor is the first one)
-<A href="MB03AH.html">
-<B>MB03AH</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with partial evaluation, 
-         Hessenberg factor is the last one)
-<A href="MB03AI.html">
-<B>MB03AI</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with evaluation, 
-         Hessenberg factor is the last one)
-<A href="MB03BA.html">
-<B>MB03BA</B></A>   Computing maps for Hessenberg index and signature array
-<A href="MB03BB.html">
-<B>MB03BB</B></A>   Eigenvalues of a 2-by-2 matrix product via a complex single shifted 
-         periodic QZ algorithm
-<A href="MB03BC.html">
-<B>MB03BC</B></A>   Product singular value decomposition of K-1 triangular factors of 
-         order 2
-<A href="MB03BD.html">
-<B>MB03BD</B></A>   Finding eigenvalues of a generalized matrix product in 
-         Hessenberg-triangular form
-<A href="MB03BE.html">
-<B>MB03BE</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
-         to a 2-by-2 matrix product
-<A href="MB03BF.html">
-<B>MB03BF</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
-         to a 2-by-2 matrix product, with Hessenberg factor the last one
-<A href="MB03BZ.html">
-<B>MB03BZ</B></A>   Finding eigenvalues of a complex generalized matrix product in
-         Hessenberg-triangular form
-<A href="MB03CD.html">
-<B>MB03CD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
-         triangular pencil (factored version)
-<A href="MB03CZ.html">
-<B>MB03CZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil 
-         (factored version)
-<A href="MB03DD.html">
-<B>MB03DD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
-         triangular pencil
-<A href="MB03DZ.html">
-<B>MB03DZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
-<A href="MB03ED.html">
-<B>MB03ED</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
-         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
-         eigenvalues with negative real parts to the top (factored version)
-<A href="MB03FD.html">
-<B>MB03FD</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
-         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
-         eigenvalues with negative real parts to the top
-<A href="MB03GD.html">
-<B>MB03GD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper 
-         triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
-<A href="MB03GZ.html">
-<B>MB03GZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
-         Hamiltonian pencil in structured Schur form (factored version)
-<A href="MB03HD.html">
-<B>MB03HD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/
-         Hamiltonian pencil in structured Schur form
-<A href="MB03HZ.html">
-<B>MB03HZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
-         Hamiltonian pencil in structured Schur form
-<A href="MB03ID.html">
-<B>MB03ID</B></A>   Moving eigenvalues with negative real parts of a real 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (factored version)
-<A href="MB03IZ.html">
-<B>MB03IZ</B></A>   Moving eigenvalues with negative real parts of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (factored version)
-<A href="MB03JD.html">
-<B>MB03JD</B></A>   Moving eigenvalues with negative real parts of a real 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil
-<A href="MB03JP.html">
-<B>MB03JP</B></A>   Moving eigenvalues with negative real parts of a real 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (applying transformations on panels of columns)
-<A href="MB03JZ.html">
-<B>MB03JZ</B></A>   Moving eigenvalues with negative real parts of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil
-<A href="MB3JZP.html">
-<B>MB3JZP</B></A>   Moving eigenvalues with negative real parts of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (applying transformations on panels of columns)
-<A href="MB03KA.html">
-<B>MB03KA</B></A>   Moving diagonal blocks at a specified position in a formal matrix 
-         product to another position
-<A href="MB03KB.html">
-<B>MB03KB</B></A>   Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in 
-         a formal matrix product
-<A href="MB03KC.html">
-<B>MB03KC</B></A>   Reducing a 2-by-2 formal matrix product to periodic 
-         Hessenberg-triangular form
-<A href="MB03KD.html">
-<B>MB03KD</B></A>   Reordering the diagonal blocks of a formal matrix product using 
-         periodic QZ algorithm
-<A href="MB03KE.html">
-<B>MB03KE</B></A>   Solving periodic Sylvester-like equations with matrices of order 
-         at most 2
-<A href="MB03NY.html">
-<B>MB03NY</B></A>   The smallest singular value of A - jwI
-<A href="MB03OY.html">
-<B>MB03OY</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted QR factorization process 
-<A href="MB3OYZ.html">
-<B>MB3OYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted QR factorization process (complex case) 
-<A href="MB03PY.html">
-<B>MB03PY</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted RQ factorization process (row pivoting) 
-<A href="MB3PYZ.html">
-<B>MB3PYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted RQ factorization process (row pivoting, complex case) 
-<A href="MB03QV.html">
-<B>MB03QV</B></A>   Eigenvalues of an upper quasi-triangular matrix pencil
-<A href="MB03QW.html">
-<B>MB03QW</B></A>   Standardization and eigenvalues of a 2-by-2 diagonal block pair of
-         an upper quasi-triangular matrix pencil
-<A href="MB03QX.html">
-<B>MB03QX</B></A>   Eigenvalues of an upper quasi-triangular matrix
-<A href="MB03QY.html">
-<B>MB03QY</B></A>   Transformation to Schur canonical form of a selected 2-by-2 diagonal
-         block of an upper quasi-triangular matrix
-<A href="MB03RX.html">
-<B>MB03RX</B></A>   Reordering the diagonal blocks of a principal submatrix of a real Schur 
-         form matrix
-<A href="MB03RY.html">
-<B>MB03RY</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in real 
-         Schur form)
-<A href="MB03RW.html">
-<B>MB03RW</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in complex
-         Schur form)
-<A href="MB03TS.html">
-<B>MB03TS</B></A>   Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian 
-         canonical Schur form
-<A href="MB03VY.html">
-<B>MB03VY</B></A>   Generating orthogonal matrices for reduction to periodic 
-         Hessenberg form of a product of matrices
-<A href="MB03WA.html">
-<B>MB03WA</B></A>   Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
-<A href="MB03WX.html">
-<B>MB03WX</B></A>   Eigenvalues of a product of matrices, T = T_1*T_2*...*T_p,
-         with T_1 upper quasi-triangular and T_2, ..., T_p upper triangular 
-<A href="MB03XS.html">
-<B>MB03XS</B></A>   Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
-<A href="MB03XU.html">
-<B>MB03XU</B></A>   Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by 
-         orthogonal symplectic transformations
-<A href="MB03YA.html">
-<B>MB03YA</B></A>   Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix 
-         corresponding to zero elements on the diagonal of a triangular matrix
-<A href="MB03YT.html">
-<B>MB03YT</B></A>   Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) 
-         with B upper triangular
-<A href="MB03ZA.html">
-<B>MB03ZA</B></A>   Reordering a selected cluster of eigenvalues of a given matrix pair in 
-         periodic Schur form
-<A href="MB05MY.html">
-<B>MB05MY</B></A>   Computing an orthogonal matrix reducing a matrix to real Schur form T, 
-         the eigenvalues, and the upper triangular matrix of right eigenvectors 
-         of T 
-<A href="MB05OY.html">
-<B>MB05OY</B></A>   Restoring a matrix after balancing transformations
-</PRE>
-<h4>Decompositions and Transformations</h4>
-<PRE>
-<A href="MB04CD.html">
-<B>MB04CD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
-         Hamiltonian pencil in factored form to generalized Schur form
-<A href="MB04DB.html">
-<B>MB04DB</B></A>   Applying the inverse of a balancing transformation for a real 
-         skew-Hamiltonian/Hamiltonian matrix pencil
-<A href="MB4DBZ.html">
-<B>MB4DBZ</B></A>   Applying the inverse of a balancing transformation for a complex 
-         skew-Hamiltonian/Hamiltonian matrix pencil
-<A href="MB04DD.html">
-<B>MB04DD</B></A>   Balancing a real Hamiltonian matrix
-<A href="MB04DZ.html">
-<B>MB04DZ</B></A>   Balancing a complex Hamiltonian matrix
-<A href="MB04DI.html">
-<B>MB04DI</B></A>   Applying the inverse of a balancing transformation for a real Hamiltonian matrix
-<A href="MB04DS.html">
-<B>MB04DS</B></A>   Balancing a real skew-Hamiltonian matrix
-<A href="MB04DY.html">
-<B>MB04DY</B></A>   Symplectic scaling of a Hamiltonian matrix
-<A href="MB04HD.html">
-<B>MB04HD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
-         Hamiltonian pencil to generalized Schur form
-<A href="MB04IY.html">
-<B>MB04IY</B></A>   Applying the product of elementary reflectors used for QR factorization
-         of a matrix having a lower left zero triangle
-<A href="MB04NY.html">
-<B>MB04NY</B></A>   Applying an elementary reflector to a matrix C = ( A  B ), from the right, 
-         where A has one column
-<A href="MB04OY.html">
-<B>MB04OY</B></A>   Applying an elementary reflector to a matrix C = ( A'  B' )', from the 
-         left, where A has one row
-<A href="MB04OW.html">
-<B>MB04OW</B></A>   Rank-one update of a Cholesky factorization for a 2-by-2 block matrix
-<A href="MB04OX.html">
-<B>MB04OX</B></A>   Rank-one update of a Cholesky factorization
-<A href="MB04PA.html">
-<B>MB04PA</B></A>   Special reduction of a (skew-)Hamiltonian like matrix
-<A href="MB04PU.html">
-<B>MB04PU</B></A>   Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix 
-         (unblocked algorithm)
-<A href="MB04PY.html">
-<B>MB04PY</B></A>   Applying an elementary reflector to a matrix from the left or right
-<A href="MB04QB.html">
-<B>MB04QB</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
-         general real matrices
-<A href="MB04QC.html">
-<B>MB04QC</B></A>   Premultiplying a real matrix with an orthogonal symplectic block reflector
-<A href="MB04QF.html">
-<B>MB04QF</B></A>   Forming the triangular block factors of a symplectic block reflector
-<A href="MB04QS.html">
-<B>MB04QS</B></A>   Multiplication with a product of symplectic reflectors and Givens rotations
-<A href="MB04QU.html">
-<B>MB04QU</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
-         general real matrices (unblocked algorithm)
-<A href="MB04RB.html">
-<B>MB04RB</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
-         (blocked version)
-<A href="MB04RU.html">
-<B>MB04RU</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
-         (unblocked version)
-<A href="MB04SU.html">
-<B>MB04SU</B></A>   Symplectic QR decomposition of a real 2M-by-N matrix
-<A href="MB04TS.html">
-<B>MB04TS</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
-<A href="MB04TU.html">
-<B>MB04TU</B></A>   Applying a row-permuted Givens transformation to two row vectors
-<A href="MB04WD.html">
-<B>MB04WD</B></A>   Generating an orthogonal basis spanning an isotropic subspace
-<A href="MB04WP.html">
-<B>MB04WP</B></A>   Generating an orthogonal symplectic matrix which performed the reduction 
-         in MB04PU
-<A href="MB04WR.html">
-<B>MB04WR</B></A>   Generating orthogonal symplectic matrices defined as products of symplectic 
-         reflectors and Givens rotations
-<A href="MB04WU.html">
-<B>MB04WU</B></A>   Generating an orthogonal basis spanning an isotropic subspace 
-         (unblocked version)
-<A href="MB04XY.html">
-<B>MB04XY</B></A>   Applying Householder transformations for bidiagonalization (stored 
-         in factored form) to one or two matrices, from the left
-<A href="MB04YW.html">
-<B>MB04YW</B></A>   One QR or QL iteration step onto an unreduced bidiagonal submatrix 
-         of a bidiagonal matrix
-</PRE>
-<h3>MC - Polynomial and Rational Function Manipulation</h3>
-<h4>Scalar Polynomials</h4>
-<PRE>
-<A href="MC01PY.html">
-<B>MC01PY</B></A>   Coefficients of a real polynomial, stored in decreasing order, 
-         given its zeros         
-</PRE>
-<h4>Polynomial Matrices</h4>
-<PRE>
-<A href="MC03NX.html">
-<B>MC03NX</B></A>   Construction of a pencil sE-A related to a given polynomial matrix  
-</PRE>
-<h3>MD - Optimization</h3>
-<h4>Unconstrained Nonlinear Least Squares</h4>
-<PRE>
-<A href="MD03BX.html">
-<B>MD03BX</B></A>   QR factorization with column pivoting and error vector 
-         transformation
-<A href="MD03BY.html">
-<B>MD03BY</B></A>   Finding the Levenberg-Marquardt parameter
-</PRE>
-<HR>
-<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
-<h3>NF - Wiener Systems</h3>
-<h4>Wiener Systems Identification</h4>
-<PRE>
-<A href="NF01AD.html">
-<B>NF01AD</B></A>   Computing the output of a Wiener system  
-<A href="NF01AY.html">
-<B>NF01AY</B></A>   Computing the output of a set of neural networks
-<A href="NF01BD.html">
-<B>NF01BD</B></A>   Computing the Jacobian of a Wiener system  
-<A href="NF01BP.html">
-<B>NF01BP</B></A>   Finding the Levenberg-Marquardt parameter
-<A href="NF01BQ.html">
-<B>NF01BQ</B></A>   Solution of the linear system J*x = b, D*x = 0, D diagonal
-<A href="NF01BR.html">
-<B>NF01BR</B></A>   Solution of the linear system op(R)*x = b, R block upper 
-         triangular stored in a compressed form
-<A href="NF01BS.html">
-<B>NF01BS</B></A>   QR factorization of a structured Jacobian matrix
-<A href="NF01BU.html">
-<B>NF01BU</B></A>   Computing J'*J + c*I, for the Jacobian J given in a
-         compressed form
-<A href="NF01BV.html">
-<B>NF01BV</B></A>   Computing J'*J + c*I, for a full Jacobian J (one output
-         variable)
-<A href="NF01BW.html">
-<B>NF01BW</B></A>   Matrix-vector product x <-- (J'*J + c*I)*x, for J in a
-         compressed form
-<A href="NF01BX.html">
-<B>NF01BX</B></A>   Matrix-vector product x <-- (A'*A + c*I)*x, for a
-         full matrix A
-<A href="NF01BY.html">
-<B>NF01BY</B></A>   Computing the Jacobian of the error function for a neural 
-         network (for one output variable)
-</PRE>
-<HR>
-<A NAME="S"><H2>S - Synthesis Routines</H2></A>
-<h3>SB - State-Space Synthesis</h3>
-<h4>Eigenvalue/Eigenvector Assignment</h4>
-<PRE>
-<A href="SB01BX.html">
-<B>SB01BX</B></A>   Choosing the closest real (complex conjugate) eigenvalue(s) to
-         a given real (complex) value
-<A href="SB01BY.html">
-<B>SB01BY</B></A>   Pole placement for systems of order 1 or 2
-<A href="SB01FY.html">
-<B>SB01FY</B></A>   Inner denominator of a right-coprime factorization of an unstable system
-         of order 1 or 2
-</PRE>
-<h4>Riccati Equations</h4>
-<PRE>
-<A href="SB02MU.html">
-<B>SB02MU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
-         linear-quadratic optimization problems
-<A href="SB02RU.html">
-<B>SB02RU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
-         linear-quadratic optimization problems (efficient and accurate
-         version of SB02MU)
-<A href="SB02OY.html">
-<B>SB02OY</B></A>   Constructing and compressing the extended Hamiltonian or symplectic 
-         matrix pairs for linear-quadratic optimization problems
-</PRE>
-<h4>Lyapunov Equations</h4>
-<PRE>
-<A href="SB03MV.html">
-<B>SB03MV</B></A>   Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
-<A href="SB03MW.html">
-<B>SB03MW</B></A>   Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
-<A href="SB03MX.html">
-<B>SB03MX</B></A>   Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
-<A href="SB03MY.html">
-<B>SB03MY</B></A>   Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
-<A href="SB03OT.html">
-<B>SB03OT</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
-         Lyapunov equations, with A quasi-triangular and R triangular
-<A href="SB03OS.html">
-<B>SB03OS</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
-         complex Lyapunov equations, with matrices S and R triangular
-<A href="SB03OU.html">
-<B>SB03OU</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
-         Lyapunov equations, with A in real Schur form and B rectangular
-<A href="SB03OY.html">
-<B>SB03OY</B></A>   Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time
-         Lyapunov equations, with matrix A having complex conjugate eigenvalues
-<A href="SB03QX.html">
-<B>SB03QX</B></A>   Forward error bound for continuous-time Lyapunov equations
-<A href="SB03QY.html">
-<B>SB03QY</B></A>   Separation and Theta norm for continuous-time Lyapunov equations
-<A href="SB03SX.html">
-<B>SB03SX</B></A>   Forward error bound for discrete-time Lyapunov equations
-<A href="SB03SY.html">
-<B>SB03SY</B></A>   Separation and Theta norm for discrete-time Lyapunov equations
-</PRE>
-<h4>Sylvester Equations</h4>
-<PRE>
-<A href="SB03MU.html">
-<B>SB03MU</B></A>   Solving a discrete-time Sylvester equation for an m-by-n matrix X, 
-         1 <= m,n <= 2
-<A href="SB03OR.html">
-<B>SB03OR</B></A>   Solving quasi-triangular continuous- or discrete-time Sylvester equations, 
-         for an n-by-m matrix X, 1 <= m <= 2
-<A href="SB04MR.html">
-<B>SB04MR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
-         compactly) has zeros below the second subdiagonal
-<A href="SB04MU.html">
-<B>SB04MU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the second subdiagonal 
-<A href="SB04MW.html">
-<B>SB04MW</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
-         compactly) has zeros below the first subdiagonal
-<A href="SB04MY.html">
-<B>SB04MY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the first subdiagonal
-<A href="SB04NV.html">
-<B>SB04NV</B></A>   Constructing right-hand sides for a system of equations in 
-         Hessenberg form solved via SB04NX
-<A href="SB04NW.html">
-<B>SB04NW</B></A>   Constructing the right-hand side for a system of equations in 
-         Hessenberg form solved via SB04NY 
-<A href="SB04NX.html">
-<B>SB04NX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
-         offdiagonals and two right-hand sides 
-<A href="SB04NY.html">
-<B>SB04NY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
-         and one right-hand side 
-<A href="SB04OW.html">
-<B>SB04OW</B></A>   Solving a periodic Sylvester equation with matrices in periodic Schur form
-<A href="SB04PX.html">
-<B>SB04PX</B></A>   Solving a discrete-time Sylvester equation for matrices of order <= 2
-<A href="SB04PY.html">
-<B>SB04PY</B></A>   Solving a discrete-time Sylvester equation with matrices in Schur form
-<A href="SB04QR.html">
-<B>SB04QR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
-         compactly) has zeros below the third subdiagonal
-<A href="SB04QU.html">
-<B>SB04QU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the third subdiagonal
-<A href="SB04QY.html">
-<B>SB04QY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the first subdiagonal
-         (discrete-time case)
-<A href="SB04RV.html">
-<B>SB04RV</B></A>   Constructing right-hand sides for a system of equations in 
-         Hessenberg form solved via SB04RX
-<A href="SB04RW.html">
-<B>SB04RW</B></A>   Constructing the right-hand side for a system of equations in 
-         Hessenberg form solved via SB04RY 
-<A href="SB04RX.html">
-<B>SB04RX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
-         offdiagonals and two right-hand sides (discrete-time case) 
-<A href="SB04RY.html">
-<B>SB04RY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
-         and one right-hand side (discrete-time case) 
-</PRE>
-<h4>Optimal Regulator Problems</h4>
-<PRE>
-<A href="SB10JD.html">
-<B>SB10JD</B></A>    Conversion of a descriptor state-space system into regular 
-          state-space form
-<A href="SB10LD.html">
-<B>SB10LD</B></A>    Closed-loop system matrices for a system with robust controller
-<A href="SB10PD.html">
-<B>SB10PD</B></A>    Normalization of a system for H-infinity controller design
-<A href="SB10QD.html">
-<B>SB10QD</B></A>    State feedback and output injection matrices for an H-infinity
-          (sub)optimal state controller (continuous-time)
-<A href="SB10RD.html">
-<B>SB10RD</B></A>    H-infinity (sub)optimal controller matrices using state feedback
-          and output injection matrices (continuous-time)
-<A href="SB10SD.html">
-<B>SB10SD</B></A>    H2 optimal controller matrices for a normalized discrete-time system
-<A href="SB10TD.html">
-<B>SB10TD</B></A>    H2 optimal controller matrices for a discrete-time system
-<A href="SB10UD.html">
-<B>SB10UD</B></A>    Normalization of a system for H2 controller design
-<A href="SB10VD.html">
-<B>SB10VD</B></A>    State feedback and output injection matrices for an H2 optimal
-          state controller (continuous-time)
-<A href="SB10WD.html">
-<B>SB10WD</B></A>    H2 optimal controller matrices using state feedback and
-          output injection matrices (continuous-time)
-<A href="SB10YD.html">
-<B>SB10YD</B></A>    Fitting frequency response data with a stable, minimum phase
-          SISO system
-<A href="SB10ZP.html">
-<B>SB10ZP</B></A>    Transforming a SISO system into a stable and minimum phase one
-</PRE>
-<h4>Controller Reduction</h4>
-<PRE>
-<A href="SB16AY.html">
-<B>SB16AY</B></A>    Cholesky factors of the frequency-weighted controllability and 
-          observability Grammians for controller reduction
-<A href="SB16CY.html">
-<B>SB16CY</B></A>    Cholesky factors of controllability and observability Grammians
-          of coprime factors of a state-feedback controller
-</PRE>
-<h3>SG - Generalized State-Space Synthesis</h3>
-<h4>Generalized Lyapunov Equations</h4>
-<PRE>
-<A href="SG02CV.html">
-<B>SG02CV</B></A>   Computation of residual matrix for a continuous-time or discrete-time 
-         reduced Lyapunov equation
-<A href="SG03AX.html">
-<B>SG03AX</B></A>   Solving a generalized discrete-time Lyapunov equation with 
-         A quasi-triangular and E upper triangular
-<A href="SG03AY.html">
-<B>SG03AY</B></A>   Solving a generalized continuous-time Lyapunov equation with 
-         A quasi-triangular and E upper triangular
-<A href="SG03BU.html">
-<B>SG03BU</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
-         Lyapunov equations with A quasi-triangular, and E, B upper triangular
-<A href="SG03BS.html">
-<B>SG03BS</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
-         complex Lyapunov equations with A, E, and B upper triangular
-<A href="SG03BV.html">
-<B>SG03BV</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
-         Lyapunov equations with A quasi-triangular, and E, B upper triangular
-<A href="SG03BT.html">
-<B>SG03BT</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
-         complex Lyapunov equations with A, E, and B upper triangular
-<A href="SG03BX.html">
-<B>SG03BX</B></A>   Solving (for Cholesky factor) stable generalized 2-by-2 Lyapunov equations
-</PRE>
-<h4>Generalized Sylvester Equations</h4>
-<PRE>
-<A href="SG03BW.html">
-<B>SG03BW</B></A>   Solving a generalized Sylvester equation with A quasi-triangular 
-         and E upper triangular, for X m-by-n, n = 1 or 2
-</PRE>
-<HR>
-<A NAME="T"><H2>T - Transformation Routines</H2></A>
-<h3>TB - State-Space</h3>
-<h4>State-Space Transformations</h4>
-<PRE>
-<A href="TB01KX.html">
-<B>TB01KX</B></A>   Additive spectral decomposition of the transfer-function matrix of a standard system
-<A href="TB01UX.html">
-<B>TB01UX</B></A>   Observable-unobservable decomposition of a standard system
-<A href="TB01VD.html">
-<B>TB01VD</B></A>   Conversion of a discrete-time system to output normal form
-<A href="TB01VY.html">
-<B>TB01VY</B></A>   Conversion of the output normal form of a discrete-time system 
-         to a state-space representation
-<A href="TB01XD.html">
-<B>TB01XD</B></A>   Special similarity transformation of the dual state-space system
-<A href="TB01XZ.html">
-<B>TB01XZ</B></A>   Special similarity transformation of the dual state-space system 
-         (complex case)
-<A href="TB01YD.html">
-<B>TB01YD</B></A>   Special similarity transformation of a state-space system 
-</PRE>
-<h4>State-Space to Rational Matrix Conversion</h4>
-<PRE>
-<A href="TB04BV.html">
-<B>TB04BV</B></A>   Strictly proper part of a proper transfer function matrix 
-<A href="TB04BW.html">
-<B>TB04BW</B></A>   Sum of a rational matrix and a real matrix 
-<A href="TB04BX.html">
-<B>TB04BX</B></A>   Gain of a SISO linear system, given (A,b,c,d), its poles and zeros
-</PRE>
-<h3>TC - Polynomial Matrix</h3>
-<h3>TD - Rational  Matrix</h3>
-<h3>TF - Time Response</h3>
-<PRE>
-<A href="TF01MX.html">
-<B>TF01MX</B></A>   Output response of a linear discrete-time system, given a 
-         general system matrix (each output is a column of the result)
-<A href="TF01MY.html">
-<B>TF01MY</B></A>   Output response of a linear discrete-time system, given the
-         system matrices (each output is a column of the result)
-</PRE>
-<h3>TG - Generalized State-space</h3>
-<h4>Generalized State-space Transformations</h4>
-<PRE>
-<A href="TG01HU.html">
-<B>TG01HU</B></A>   Staircase controllability representation of a multi-input descriptor system
-<A href="TG01HX.html">
-<B>TG01HX</B></A>   Orthogonal reduction of a descriptor system to a system with
-         the same transfer-function matrix and without uncontrollable finite 
-         eigenvalues
-<A href="TG01HY.html">
-<B>TG01HY</B></A>   Orthogonal reduction of a descriptor system to a system with
-         the same transfer-function matrix and without uncontrollable finite 
-         eigenvalues (blocked version)
-<A href="TG01KD.html">
-<B>TG01KD</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
-         with E upper triangular (TG01OA version with more complex interface)
-<A href="TG01KZ.html">
-<B>TG01KZ</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
-         with E upper triangular (TG01OB version with more complex interface)
-<A href="TG01LY.html">
-<B>TG01LY</B></A>   Finite-infinite decomposition of a structured descriptor system
-<A href="TG01NX.html">
-<B>TG01NX</B></A>   Block-diagonal decomposition of a descriptor system in 
-         generalized real Schur form
-<A href="TG01OA.html">
-<B>TG01OA</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
-         with E upper triangular, so that B becomes parallel to the first unit vector
-         and E keeps its structure
-<A href="TG01OB.html">
-<B>TG01OB</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
-         with E upper triangular, so that B becomes parallel to the first unit vector
-         and E keeps its structure
-</PRE>
-<HR>
-<A NAME="U"><H2>U - Utility Routines</H2></A>
-<h3>UD - Numerical Data Handling</h3>
-<HR>
-</BODY>
-</HTML>
diff --git a/doc/_build/html/_static/doctools.js b/doc/_build/html/_static/doctools.js
deleted file mode 100644
index 527b876c..00000000
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-/*!
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-		// This accentuates the need for the creation of a real `window`.
-		// e.g. var jQuery = require("jquery")(window);
-		// See ticket #14549 for more info.
-		module.exports = global.document ?
-			factory( global, true ) :
-			function( w ) {
-				if ( !w.document ) {
-					throw new Error( "jQuery requires a window with a document" );
-				}
-				return factory( w );
-			};
-	} else {
-		factory( global );
-	}
-
-// Pass this if window is not defined yet
-} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) {
-
-// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1
-// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode
-// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common
-// enough that all such attempts are guarded in a try block.
-"use strict";
-
-var arr = [];
-
-var getProto = Object.getPrototypeOf;
-
-var slice = arr.slice;
-
-var flat = arr.flat ? function( array ) {
-	return arr.flat.call( array );
-} : function( array ) {
-	return arr.concat.apply( [], array );
-};
-
-
-var push = arr.push;
-
-var indexOf = arr.indexOf;
-
-var class2type = {};
-
-var toString = class2type.toString;
-
-var hasOwn = class2type.hasOwnProperty;
-
-var fnToString = hasOwn.toString;
-
-var ObjectFunctionString = fnToString.call( Object );
-
-var support = {};
-
-var isFunction = function isFunction( obj ) {
-
-		// Support: Chrome <=57, Firefox <=52
-		// In some browsers, typeof returns "function" for HTML <object> elements
-		// (i.e., `typeof document.createElement( "object" ) === "function"`).
-		// We don't want to classify *any* DOM node as a function.
-		// Support: QtWeb <=3.8.5, WebKit <=534.34, wkhtmltopdf tool <=0.12.5
-		// Plus for old WebKit, typeof returns "function" for HTML collections
-		// (e.g., `typeof document.getElementsByTagName("div") === "function"`). (gh-4756)
-		return typeof obj === "function" && typeof obj.nodeType !== "number" &&
-			typeof obj.item !== "function";
-	};
-
-
-var isWindow = function isWindow( obj ) {
-		return obj != null && obj === obj.window;
-	};
-
-
-var document = window.document;
-
-
-
-	var preservedScriptAttributes = {
-		type: true,
-		src: true,
-		nonce: true,
-		noModule: true
-	};
-
-	function DOMEval( code, node, doc ) {
-		doc = doc || document;
-
-		var i, val,
-			script = doc.createElement( "script" );
-
-		script.text = code;
-		if ( node ) {
-			for ( i in preservedScriptAttributes ) {
-
-				// Support: Firefox 64+, Edge 18+
-				// Some browsers don't support the "nonce" property on scripts.
-				// On the other hand, just using `getAttribute` is not enough as
-				// the `nonce` attribute is reset to an empty string whenever it
-				// becomes browsing-context connected.
-				// See https://github.com/whatwg/html/issues/2369
-				// See https://html.spec.whatwg.org/#nonce-attributes
-				// The `node.getAttribute` check was added for the sake of
-				// `jQuery.globalEval` so that it can fake a nonce-containing node
-				// via an object.
-				val = node[ i ] || node.getAttribute && node.getAttribute( i );
-				if ( val ) {
-					script.setAttribute( i, val );
-				}
-			}
-		}
-		doc.head.appendChild( script ).parentNode.removeChild( script );
-	}
-
-
-function toType( obj ) {
-	if ( obj == null ) {
-		return obj + "";
-	}
-
-	// Support: Android <=2.3 only (functionish RegExp)
-	return typeof obj === "object" || typeof obj === "function" ?
-		class2type[ toString.call( obj ) ] || "object" :
-		typeof obj;
-}
-/* global Symbol */
-// Defining this global in .eslintrc.json would create a danger of using the global
-// unguarded in another place, it seems safer to define global only for this module
-
-
-
-var
-	version = "3.6.0",
-
-	// Define a local copy of jQuery
-	jQuery = function( selector, context ) {
-
-		// The jQuery object is actually just the init constructor 'enhanced'
-		// Need init if jQuery is called (just allow error to be thrown if not included)
-		return new jQuery.fn.init( selector, context );
-	};
-
-jQuery.fn = jQuery.prototype = {
-
-	// The current version of jQuery being used
-	jquery: version,
-
-	constructor: jQuery,
-
-	// The default length of a jQuery object is 0
-	length: 0,
-
-	toArray: function() {
-		return slice.call( this );
-	},
-
-	// Get the Nth element in the matched element set OR
-	// Get the whole matched element set as a clean array
-	get: function( num ) {
-
-		// Return all the elements in a clean array
-		if ( num == null ) {
-			return slice.call( this );
-		}
-
-		// Return just the one element from the set
-		return num < 0 ? this[ num + this.length ] : this[ num ];
-	},
-
-	// Take an array of elements and push it onto the stack
-	// (returning the new matched element set)
-	pushStack: function( elems ) {
-
-		// Build a new jQuery matched element set
-		var ret = jQuery.merge( this.constructor(), elems );
-
-		// Add the old object onto the stack (as a reference)
-		ret.prevObject = this;
-
-		// Return the newly-formed element set
-		return ret;
-	},
-
-	// Execute a callback for every element in the matched set.
-	each: function( callback ) {
-		return jQuery.each( this, callback );
-	},
-
-	map: function( callback ) {
-		return this.pushStack( jQuery.map( this, function( elem, i ) {
-			return callback.call( elem, i, elem );
-		} ) );
-	},
-
-	slice: function() {
-		return this.pushStack( slice.apply( this, arguments ) );
-	},
-
-	first: function() {
-		return this.eq( 0 );
-	},
-
-	last: function() {
-		return this.eq( -1 );
-	},
-
-	even: function() {
-		return this.pushStack( jQuery.grep( this, function( _elem, i ) {
-			return ( i + 1 ) % 2;
-		} ) );
-	},
-
-	odd: function() {
-		return this.pushStack( jQuery.grep( this, function( _elem, i ) {
-			return i % 2;
-		} ) );
-	},
-
-	eq: function( i ) {
-		var len = this.length,
-			j = +i + ( i < 0 ? len : 0 );
-		return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] );
-	},
-
-	end: function() {
-		return this.prevObject || this.constructor();
-	},
-
-	// For internal use only.
-	// Behaves like an Array's method, not like a jQuery method.
-	push: push,
-	sort: arr.sort,
-	splice: arr.splice
-};
-
-jQuery.extend = jQuery.fn.extend = function() {
-	var options, name, src, copy, copyIsArray, clone,
-		target = arguments[ 0 ] || {},
-		i = 1,
-		length = arguments.length,
-		deep = false;
-
-	// Handle a deep copy situation
-	if ( typeof target === "boolean" ) {
-		deep = target;
-
-		// Skip the boolean and the target
-		target = arguments[ i ] || {};
-		i++;
-	}
-
-	// Handle case when target is a string or something (possible in deep copy)
-	if ( typeof target !== "object" && !isFunction( target ) ) {
-		target = {};
-	}
-
-	// Extend jQuery itself if only one argument is passed
-	if ( i === length ) {
-		target = this;
-		i--;
-	}
-
-	for ( ; i < length; i++ ) {
-
-		// Only deal with non-null/undefined values
-		if ( ( options = arguments[ i ] ) != null ) {
-
-			// Extend the base object
-			for ( name in options ) {
-				copy = options[ name ];
-
-				// Prevent Object.prototype pollution
-				// Prevent never-ending loop
-				if ( name === "__proto__" || target === copy ) {
-					continue;
-				}
-
-				// Recurse if we're merging plain objects or arrays
-				if ( deep && copy && ( jQuery.isPlainObject( copy ) ||
-					( copyIsArray = Array.isArray( copy ) ) ) ) {
-					src = target[ name ];
-
-					// Ensure proper type for the source value
-					if ( copyIsArray && !Array.isArray( src ) ) {
-						clone = [];
-					} else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) {
-						clone = {};
-					} else {
-						clone = src;
-					}
-					copyIsArray = false;
-
-					// Never move original objects, clone them
-					target[ name ] = jQuery.extend( deep, clone, copy );
-
-				// Don't bring in undefined values
-				} else if ( copy !== undefined ) {
-					target[ name ] = copy;
-				}
-			}
-		}
-	}
-
-	// Return the modified object
-	return target;
-};
-
-jQuery.extend( {
-
-	// Unique for each copy of jQuery on the page
-	expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ),
-
-	// Assume jQuery is ready without the ready module
-	isReady: true,
-
-	error: function( msg ) {
-		throw new Error( msg );
-	},
-
-	noop: function() {},
-
-	isPlainObject: function( obj ) {
-		var proto, Ctor;
-
-		// Detect obvious negatives
-		// Use toString instead of jQuery.type to catch host objects
-		if ( !obj || toString.call( obj ) !== "[object Object]" ) {
-			return false;
-		}
-
-		proto = getProto( obj );
-
-		// Objects with no prototype (e.g., `Object.create( null )`) are plain
-		if ( !proto ) {
-			return true;
-		}
-
-		// Objects with prototype are plain iff they were constructed by a global Object function
-		Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor;
-		return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString;
-	},
-
-	isEmptyObject: function( obj ) {
-		var name;
-
-		for ( name in obj ) {
-			return false;
-		}
-		return true;
-	},
-
-	// Evaluates a script in a provided context; falls back to the global one
-	// if not specified.
-	globalEval: function( code, options, doc ) {
-		DOMEval( code, { nonce: options && options.nonce }, doc );
-	},
-
-	each: function( obj, callback ) {
-		var length, i = 0;
-
-		if ( isArrayLike( obj ) ) {
-			length = obj.length;
-			for ( ; i < length; i++ ) {
-				if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) {
-					break;
-				}
-			}
-		} else {
-			for ( i in obj ) {
-				if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) {
-					break;
-				}
-			}
-		}
-
-		return obj;
-	},
-
-	// results is for internal usage only
-	makeArray: function( arr, results ) {
-		var ret = results || [];
-
-		if ( arr != null ) {
-			if ( isArrayLike( Object( arr ) ) ) {
-				jQuery.merge( ret,
-					typeof arr === "string" ?
-						[ arr ] : arr
-				);
-			} else {
-				push.call( ret, arr );
-			}
-		}
-
-		return ret;
-	},
-
-	inArray: function( elem, arr, i ) {
-		return arr == null ? -1 : indexOf.call( arr, elem, i );
-	},
-
-	// Support: Android <=4.0 only, PhantomJS 1 only
-	// push.apply(_, arraylike) throws on ancient WebKit
-	merge: function( first, second ) {
-		var len = +second.length,
-			j = 0,
-			i = first.length;
-
-		for ( ; j < len; j++ ) {
-			first[ i++ ] = second[ j ];
-		}
-
-		first.length = i;
-
-		return first;
-	},
-
-	grep: function( elems, callback, invert ) {
-		var callbackInverse,
-			matches = [],
-			i = 0,
-			length = elems.length,
-			callbackExpect = !invert;
-
-		// Go through the array, only saving the items
-		// that pass the validator function
-		for ( ; i < length; i++ ) {
-			callbackInverse = !callback( elems[ i ], i );
-			if ( callbackInverse !== callbackExpect ) {
-				matches.push( elems[ i ] );
-			}
-		}
-
-		return matches;
-	},
-
-	// arg is for internal usage only
-	map: function( elems, callback, arg ) {
-		var length, value,
-			i = 0,
-			ret = [];
-
-		// Go through the array, translating each of the items to their new values
-		if ( isArrayLike( elems ) ) {
-			length = elems.length;
-			for ( ; i < length; i++ ) {
-				value = callback( elems[ i ], i, arg );
-
-				if ( value != null ) {
-					ret.push( value );
-				}
-			}
-
-		// Go through every key on the object,
-		} else {
-			for ( i in elems ) {
-				value = callback( elems[ i ], i, arg );
-
-				if ( value != null ) {
-					ret.push( value );
-				}
-			}
-		}
-
-		// Flatten any nested arrays
-		return flat( ret );
-	},
-
-	// A global GUID counter for objects
-	guid: 1,
-
-	// jQuery.support is not used in Core but other projects attach their
-	// properties to it so it needs to exist.
-	support: support
-} );
-
-if ( typeof Symbol === "function" ) {
-	jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ];
-}
-
-// Populate the class2type map
-jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ),
-	function( _i, name ) {
-		class2type[ "[object " + name + "]" ] = name.toLowerCase();
-	} );
-
-function isArrayLike( obj ) {
-
-	// Support: real iOS 8.2 only (not reproducible in simulator)
-	// `in` check used to prevent JIT error (gh-2145)
-	// hasOwn isn't used here due to false negatives
-	// regarding Nodelist length in IE
-	var length = !!obj && "length" in obj && obj.length,
-		type = toType( obj );
-
-	if ( isFunction( obj ) || isWindow( obj ) ) {
-		return false;
-	}
-
-	return type === "array" || length === 0 ||
-		typeof length === "number" && length > 0 && ( length - 1 ) in obj;
-}
-var Sizzle =
-/*!
- * Sizzle CSS Selector Engine v2.3.6
- * https://sizzlejs.com/
- *
- * Copyright JS Foundation and other contributors
- * Released under the MIT license
- * https://js.foundation/
- *
- * Date: 2021-02-16
- */
-( function( window ) {
-var i,
-	support,
-	Expr,
-	getText,
-	isXML,
-	tokenize,
-	compile,
-	select,
-	outermostContext,
-	sortInput,
-	hasDuplicate,
-
-	// Local document vars
-	setDocument,
-	document,
-	docElem,
-	documentIsHTML,
-	rbuggyQSA,
-	rbuggyMatches,
-	matches,
-	contains,
-
-	// Instance-specific data
-	expando = "sizzle" + 1 * new Date(),
-	preferredDoc = window.document,
-	dirruns = 0,
-	done = 0,
-	classCache = createCache(),
-	tokenCache = createCache(),
-	compilerCache = createCache(),
-	nonnativeSelectorCache = createCache(),
-	sortOrder = function( a, b ) {
-		if ( a === b ) {
-			hasDuplicate = true;
-		}
-		return 0;
-	},
-
-	// Instance methods
-	hasOwn = ( {} ).hasOwnProperty,
-	arr = [],
-	pop = arr.pop,
-	pushNative = arr.push,
-	push = arr.push,
-	slice = arr.slice,
-
-	// Use a stripped-down indexOf as it's faster than native
-	// https://jsperf.com/thor-indexof-vs-for/5
-	indexOf = function( list, elem ) {
-		var i = 0,
-			len = list.length;
-		for ( ; i < len; i++ ) {
-			if ( list[ i ] === elem ) {
-				return i;
-			}
-		}
-		return -1;
-	},
-
-	booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" +
-		"ismap|loop|multiple|open|readonly|required|scoped",
-
-	// Regular expressions
-
-	// http://www.w3.org/TR/css3-selectors/#whitespace
-	whitespace = "[\\x20\\t\\r\\n\\f]",
-
-	// https://www.w3.org/TR/css-syntax-3/#ident-token-diagram
-	identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace +
-		"?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+",
-
-	// Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors
-	attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace +
-
-		// Operator (capture 2)
-		"*([*^$|!~]?=)" + whitespace +
-
-		// "Attribute values must be CSS identifiers [capture 5]
-		// or strings [capture 3 or capture 4]"
-		"*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" +
-		whitespace + "*\\]",
-
-	pseudos = ":(" + identifier + ")(?:\\((" +
-
-		// To reduce the number of selectors needing tokenize in the preFilter, prefer arguments:
-		// 1. quoted (capture 3; capture 4 or capture 5)
-		"('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" +
-
-		// 2. simple (capture 6)
-		"((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" +
-
-		// 3. anything else (capture 2)
-		".*" +
-		")\\)|)",
-
-	// Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter
-	rwhitespace = new RegExp( whitespace + "+", "g" ),
-	rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" +
-		whitespace + "+$", "g" ),
-
-	rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ),
-	rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace +
-		"*" ),
-	rdescend = new RegExp( whitespace + "|>" ),
-
-	rpseudo = new RegExp( pseudos ),
-	ridentifier = new RegExp( "^" + identifier + "$" ),
-
-	matchExpr = {
-		"ID": new RegExp( "^#(" + identifier + ")" ),
-		"CLASS": new RegExp( "^\\.(" + identifier + ")" ),
-		"TAG": new RegExp( "^(" + identifier + "|[*])" ),
-		"ATTR": new RegExp( "^" + attributes ),
-		"PSEUDO": new RegExp( "^" + pseudos ),
-		"CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" +
-			whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" +
-			whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ),
-		"bool": new RegExp( "^(?:" + booleans + ")$", "i" ),
-
-		// For use in libraries implementing .is()
-		// We use this for POS matching in `select`
-		"needsContext": new RegExp( "^" + whitespace +
-			"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace +
-			"*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" )
-	},
-
-	rhtml = /HTML$/i,
-	rinputs = /^(?:input|select|textarea|button)$/i,
-	rheader = /^h\d$/i,
-
-	rnative = /^[^{]+\{\s*\[native \w/,
-
-	// Easily-parseable/retrievable ID or TAG or CLASS selectors
-	rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,
-
-	rsibling = /[+~]/,
-
-	// CSS escapes
-	// http://www.w3.org/TR/CSS21/syndata.html#escaped-characters
-	runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ),
-	funescape = function( escape, nonHex ) {
-		var high = "0x" + escape.slice( 1 ) - 0x10000;
-
-		return nonHex ?
-
-			// Strip the backslash prefix from a non-hex escape sequence
-			nonHex :
-
-			// Replace a hexadecimal escape sequence with the encoded Unicode code point
-			// Support: IE <=11+
-			// For values outside the Basic Multilingual Plane (BMP), manually construct a
-			// surrogate pair
-			high < 0 ?
-				String.fromCharCode( high + 0x10000 ) :
-				String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 );
-	},
-
-	// CSS string/identifier serialization
-	// https://drafts.csswg.org/cssom/#common-serializing-idioms
-	rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g,
-	fcssescape = function( ch, asCodePoint ) {
-		if ( asCodePoint ) {
-
-			// U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER
-			if ( ch === "\0" ) {
-				return "\uFFFD";
-			}
-
-			// Control characters and (dependent upon position) numbers get escaped as code points
-			return ch.slice( 0, -1 ) + "\\" +
-				ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " ";
-		}
-
-		// Other potentially-special ASCII characters get backslash-escaped
-		return "\\" + ch;
-	},
-
-	// Used for iframes
-	// See setDocument()
-	// Removing the function wrapper causes a "Permission Denied"
-	// error in IE
-	unloadHandler = function() {
-		setDocument();
-	},
-
-	inDisabledFieldset = addCombinator(
-		function( elem ) {
-			return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset";
-		},
-		{ dir: "parentNode", next: "legend" }
-	);
-
-// Optimize for push.apply( _, NodeList )
-try {
-	push.apply(
-		( arr = slice.call( preferredDoc.childNodes ) ),
-		preferredDoc.childNodes
-	);
-
-	// Support: Android<4.0
-	// Detect silently failing push.apply
-	// eslint-disable-next-line no-unused-expressions
-	arr[ preferredDoc.childNodes.length ].nodeType;
-} catch ( e ) {
-	push = { apply: arr.length ?
-
-		// Leverage slice if possible
-		function( target, els ) {
-			pushNative.apply( target, slice.call( els ) );
-		} :
-
-		// Support: IE<9
-		// Otherwise append directly
-		function( target, els ) {
-			var j = target.length,
-				i = 0;
-
-			// Can't trust NodeList.length
-			while ( ( target[ j++ ] = els[ i++ ] ) ) {}
-			target.length = j - 1;
-		}
-	};
-}
-
-function Sizzle( selector, context, results, seed ) {
-	var m, i, elem, nid, match, groups, newSelector,
-		newContext = context && context.ownerDocument,
-
-		// nodeType defaults to 9, since context defaults to document
-		nodeType = context ? context.nodeType : 9;
-
-	results = results || [];
-
-	// Return early from calls with invalid selector or context
-	if ( typeof selector !== "string" || !selector ||
-		nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) {
-
-		return results;
-	}
-
-	// Try to shortcut find operations (as opposed to filters) in HTML documents
-	if ( !seed ) {
-		setDocument( context );
-		context = context || document;
-
-		if ( documentIsHTML ) {
-
-			// If the selector is sufficiently simple, try using a "get*By*" DOM method
-			// (excepting DocumentFragment context, where the methods don't exist)
-			if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) {
-
-				// ID selector
-				if ( ( m = match[ 1 ] ) ) {
-
-					// Document context
-					if ( nodeType === 9 ) {
-						if ( ( elem = context.getElementById( m ) ) ) {
-
-							// Support: IE, Opera, Webkit
-							// TODO: identify versions
-							// getElementById can match elements by name instead of ID
-							if ( elem.id === m ) {
-								results.push( elem );
-								return results;
-							}
-						} else {
-							return results;
-						}
-
-					// Element context
-					} else {
-
-						// Support: IE, Opera, Webkit
-						// TODO: identify versions
-						// getElementById can match elements by name instead of ID
-						if ( newContext && ( elem = newContext.getElementById( m ) ) &&
-							contains( context, elem ) &&
-							elem.id === m ) {
-
-							results.push( elem );
-							return results;
-						}
-					}
-
-				// Type selector
-				} else if ( match[ 2 ] ) {
-					push.apply( results, context.getElementsByTagName( selector ) );
-					return results;
-
-				// Class selector
-				} else if ( ( m = match[ 3 ] ) && support.getElementsByClassName &&
-					context.getElementsByClassName ) {
-
-					push.apply( results, context.getElementsByClassName( m ) );
-					return results;
-				}
-			}
-
-			// Take advantage of querySelectorAll
-			if ( support.qsa &&
-				!nonnativeSelectorCache[ selector + " " ] &&
-				( !rbuggyQSA || !rbuggyQSA.test( selector ) ) &&
-
-				// Support: IE 8 only
-				// Exclude object elements
-				( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) {
-
-				newSelector = selector;
-				newContext = context;
-
-				// qSA considers elements outside a scoping root when evaluating child or
-				// descendant combinators, which is not what we want.
-				// In such cases, we work around the behavior by prefixing every selector in the
-				// list with an ID selector referencing the scope context.
-				// The technique has to be used as well when a leading combinator is used
-				// as such selectors are not recognized by querySelectorAll.
-				// Thanks to Andrew Dupont for this technique.
-				if ( nodeType === 1 &&
-					( rdescend.test( selector ) || rcombinators.test( selector ) ) ) {
-
-					// Expand context for sibling selectors
-					newContext = rsibling.test( selector ) && testContext( context.parentNode ) ||
-						context;
-
-					// We can use :scope instead of the ID hack if the browser
-					// supports it & if we're not changing the context.
-					if ( newContext !== context || !support.scope ) {
-
-						// Capture the context ID, setting it first if necessary
-						if ( ( nid = context.getAttribute( "id" ) ) ) {
-							nid = nid.replace( rcssescape, fcssescape );
-						} else {
-							context.setAttribute( "id", ( nid = expando ) );
-						}
-					}
-
-					// Prefix every selector in the list
-					groups = tokenize( selector );
-					i = groups.length;
-					while ( i-- ) {
-						groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " +
-							toSelector( groups[ i ] );
-					}
-					newSelector = groups.join( "," );
-				}
-
-				try {
-					push.apply( results,
-						newContext.querySelectorAll( newSelector )
-					);
-					return results;
-				} catch ( qsaError ) {
-					nonnativeSelectorCache( selector, true );
-				} finally {
-					if ( nid === expando ) {
-						context.removeAttribute( "id" );
-					}
-				}
-			}
-		}
-	}
-
-	// All others
-	return select( selector.replace( rtrim, "$1" ), context, results, seed );
-}
-
-/**
- * Create key-value caches of limited size
- * @returns {function(string, object)} Returns the Object data after storing it on itself with
- *	property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength)
- *	deleting the oldest entry
- */
-function createCache() {
-	var keys = [];
-
-	function cache( key, value ) {
-
-		// Use (key + " ") to avoid collision with native prototype properties (see Issue #157)
-		if ( keys.push( key + " " ) > Expr.cacheLength ) {
-
-			// Only keep the most recent entries
-			delete cache[ keys.shift() ];
-		}
-		return ( cache[ key + " " ] = value );
-	}
-	return cache;
-}
-
-/**
- * Mark a function for special use by Sizzle
- * @param {Function} fn The function to mark
- */
-function markFunction( fn ) {
-	fn[ expando ] = true;
-	return fn;
-}
-
-/**
- * Support testing using an element
- * @param {Function} fn Passed the created element and returns a boolean result
- */
-function assert( fn ) {
-	var el = document.createElement( "fieldset" );
-
-	try {
-		return !!fn( el );
-	} catch ( e ) {
-		return false;
-	} finally {
-
-		// Remove from its parent by default
-		if ( el.parentNode ) {
-			el.parentNode.removeChild( el );
-		}
-
-		// release memory in IE
-		el = null;
-	}
-}
-
-/**
- * Adds the same handler for all of the specified attrs
- * @param {String} attrs Pipe-separated list of attributes
- * @param {Function} handler The method that will be applied
- */
-function addHandle( attrs, handler ) {
-	var arr = attrs.split( "|" ),
-		i = arr.length;
-
-	while ( i-- ) {
-		Expr.attrHandle[ arr[ i ] ] = handler;
-	}
-}
-
-/**
- * Checks document order of two siblings
- * @param {Element} a
- * @param {Element} b
- * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b
- */
-function siblingCheck( a, b ) {
-	var cur = b && a,
-		diff = cur && a.nodeType === 1 && b.nodeType === 1 &&
-			a.sourceIndex - b.sourceIndex;
-
-	// Use IE sourceIndex if available on both nodes
-	if ( diff ) {
-		return diff;
-	}
-
-	// Check if b follows a
-	if ( cur ) {
-		while ( ( cur = cur.nextSibling ) ) {
-			if ( cur === b ) {
-				return -1;
-			}
-		}
-	}
-
-	return a ? 1 : -1;
-}
-
-/**
- * Returns a function to use in pseudos for input types
- * @param {String} type
- */
-function createInputPseudo( type ) {
-	return function( elem ) {
-		var name = elem.nodeName.toLowerCase();
-		return name === "input" && elem.type === type;
-	};
-}
-
-/**
- * Returns a function to use in pseudos for buttons
- * @param {String} type
- */
-function createButtonPseudo( type ) {
-	return function( elem ) {
-		var name = elem.nodeName.toLowerCase();
-		return ( name === "input" || name === "button" ) && elem.type === type;
-	};
-}
-
-/**
- * Returns a function to use in pseudos for :enabled/:disabled
- * @param {Boolean} disabled true for :disabled; false for :enabled
- */
-function createDisabledPseudo( disabled ) {
-
-	// Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable
-	return function( elem ) {
-
-		// Only certain elements can match :enabled or :disabled
-		// https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled
-		// https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled
-		if ( "form" in elem ) {
-
-			// Check for inherited disabledness on relevant non-disabled elements:
-			// * listed form-associated elements in a disabled fieldset
-			//   https://html.spec.whatwg.org/multipage/forms.html#category-listed
-			//   https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled
-			// * option elements in a disabled optgroup
-			//   https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled
-			// All such elements have a "form" property.
-			if ( elem.parentNode && elem.disabled === false ) {
-
-				// Option elements defer to a parent optgroup if present
-				if ( "label" in elem ) {
-					if ( "label" in elem.parentNode ) {
-						return elem.parentNode.disabled === disabled;
-					} else {
-						return elem.disabled === disabled;
-					}
-				}
-
-				// Support: IE 6 - 11
-				// Use the isDisabled shortcut property to check for disabled fieldset ancestors
-				return elem.isDisabled === disabled ||
-
-					// Where there is no isDisabled, check manually
-					/* jshint -W018 */
-					elem.isDisabled !== !disabled &&
-					inDisabledFieldset( elem ) === disabled;
-			}
-
-			return elem.disabled === disabled;
-
-		// Try to winnow out elements that can't be disabled before trusting the disabled property.
-		// Some victims get caught in our net (label, legend, menu, track), but it shouldn't
-		// even exist on them, let alone have a boolean value.
-		} else if ( "label" in elem ) {
-			return elem.disabled === disabled;
-		}
-
-		// Remaining elements are neither :enabled nor :disabled
-		return false;
-	};
-}
-
-/**
- * Returns a function to use in pseudos for positionals
- * @param {Function} fn
- */
-function createPositionalPseudo( fn ) {
-	return markFunction( function( argument ) {
-		argument = +argument;
-		return markFunction( function( seed, matches ) {
-			var j,
-				matchIndexes = fn( [], seed.length, argument ),
-				i = matchIndexes.length;
-
-			// Match elements found at the specified indexes
-			while ( i-- ) {
-				if ( seed[ ( j = matchIndexes[ i ] ) ] ) {
-					seed[ j ] = !( matches[ j ] = seed[ j ] );
-				}
-			}
-		} );
-	} );
-}
-
-/**
- * Checks a node for validity as a Sizzle context
- * @param {Element|Object=} context
- * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value
- */
-function testContext( context ) {
-	return context && typeof context.getElementsByTagName !== "undefined" && context;
-}
-
-// Expose support vars for convenience
-support = Sizzle.support = {};
-
-/**
- * Detects XML nodes
- * @param {Element|Object} elem An element or a document
- * @returns {Boolean} True iff elem is a non-HTML XML node
- */
-isXML = Sizzle.isXML = function( elem ) {
-	var namespace = elem && elem.namespaceURI,
-		docElem = elem && ( elem.ownerDocument || elem ).documentElement;
-
-	// Support: IE <=8
-	// Assume HTML when documentElement doesn't yet exist, such as inside loading iframes
-	// https://bugs.jquery.com/ticket/4833
-	return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" );
-};
-
-/**
- * Sets document-related variables once based on the current document
- * @param {Element|Object} [doc] An element or document object to use to set the document
- * @returns {Object} Returns the current document
- */
-setDocument = Sizzle.setDocument = function( node ) {
-	var hasCompare, subWindow,
-		doc = node ? node.ownerDocument || node : preferredDoc;
-
-	// Return early if doc is invalid or already selected
-	// Support: IE 11+, Edge 17 - 18+
-	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-	// two documents; shallow comparisons work.
-	// eslint-disable-next-line eqeqeq
-	if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) {
-		return document;
-	}
-
-	// Update global variables
-	document = doc;
-	docElem = document.documentElement;
-	documentIsHTML = !isXML( document );
-
-	// Support: IE 9 - 11+, Edge 12 - 18+
-	// Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936)
-	// Support: IE 11+, Edge 17 - 18+
-	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-	// two documents; shallow comparisons work.
-	// eslint-disable-next-line eqeqeq
-	if ( preferredDoc != document &&
-		( subWindow = document.defaultView ) && subWindow.top !== subWindow ) {
-
-		// Support: IE 11, Edge
-		if ( subWindow.addEventListener ) {
-			subWindow.addEventListener( "unload", unloadHandler, false );
-
-		// Support: IE 9 - 10 only
-		} else if ( subWindow.attachEvent ) {
-			subWindow.attachEvent( "onunload", unloadHandler );
-		}
-	}
-
-	// Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only,
-	// Safari 4 - 5 only, Opera <=11.6 - 12.x only
-	// IE/Edge & older browsers don't support the :scope pseudo-class.
-	// Support: Safari 6.0 only
-	// Safari 6.0 supports :scope but it's an alias of :root there.
-	support.scope = assert( function( el ) {
-		docElem.appendChild( el ).appendChild( document.createElement( "div" ) );
-		return typeof el.querySelectorAll !== "undefined" &&
-			!el.querySelectorAll( ":scope fieldset div" ).length;
-	} );
-
-	/* Attributes
-	---------------------------------------------------------------------- */
-
-	// Support: IE<8
-	// Verify that getAttribute really returns attributes and not properties
-	// (excepting IE8 booleans)
-	support.attributes = assert( function( el ) {
-		el.className = "i";
-		return !el.getAttribute( "className" );
-	} );
-
-	/* getElement(s)By*
-	---------------------------------------------------------------------- */
-
-	// Check if getElementsByTagName("*") returns only elements
-	support.getElementsByTagName = assert( function( el ) {
-		el.appendChild( document.createComment( "" ) );
-		return !el.getElementsByTagName( "*" ).length;
-	} );
-
-	// Support: IE<9
-	support.getElementsByClassName = rnative.test( document.getElementsByClassName );
-
-	// Support: IE<10
-	// Check if getElementById returns elements by name
-	// The broken getElementById methods don't pick up programmatically-set names,
-	// so use a roundabout getElementsByName test
-	support.getById = assert( function( el ) {
-		docElem.appendChild( el ).id = expando;
-		return !document.getElementsByName || !document.getElementsByName( expando ).length;
-	} );
-
-	// ID filter and find
-	if ( support.getById ) {
-		Expr.filter[ "ID" ] = function( id ) {
-			var attrId = id.replace( runescape, funescape );
-			return function( elem ) {
-				return elem.getAttribute( "id" ) === attrId;
-			};
-		};
-		Expr.find[ "ID" ] = function( id, context ) {
-			if ( typeof context.getElementById !== "undefined" && documentIsHTML ) {
-				var elem = context.getElementById( id );
-				return elem ? [ elem ] : [];
-			}
-		};
-	} else {
-		Expr.filter[ "ID" ] =  function( id ) {
-			var attrId = id.replace( runescape, funescape );
-			return function( elem ) {
-				var node = typeof elem.getAttributeNode !== "undefined" &&
-					elem.getAttributeNode( "id" );
-				return node && node.value === attrId;
-			};
-		};
-
-		// Support: IE 6 - 7 only
-		// getElementById is not reliable as a find shortcut
-		Expr.find[ "ID" ] = function( id, context ) {
-			if ( typeof context.getElementById !== "undefined" && documentIsHTML ) {
-				var node, i, elems,
-					elem = context.getElementById( id );
-
-				if ( elem ) {
-
-					// Verify the id attribute
-					node = elem.getAttributeNode( "id" );
-					if ( node && node.value === id ) {
-						return [ elem ];
-					}
-
-					// Fall back on getElementsByName
-					elems = context.getElementsByName( id );
-					i = 0;
-					while ( ( elem = elems[ i++ ] ) ) {
-						node = elem.getAttributeNode( "id" );
-						if ( node && node.value === id ) {
-							return [ elem ];
-						}
-					}
-				}
-
-				return [];
-			}
-		};
-	}
-
-	// Tag
-	Expr.find[ "TAG" ] = support.getElementsByTagName ?
-		function( tag, context ) {
-			if ( typeof context.getElementsByTagName !== "undefined" ) {
-				return context.getElementsByTagName( tag );
-
-			// DocumentFragment nodes don't have gEBTN
-			} else if ( support.qsa ) {
-				return context.querySelectorAll( tag );
-			}
-		} :
-
-		function( tag, context ) {
-			var elem,
-				tmp = [],
-				i = 0,
-
-				// By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too
-				results = context.getElementsByTagName( tag );
-
-			// Filter out possible comments
-			if ( tag === "*" ) {
-				while ( ( elem = results[ i++ ] ) ) {
-					if ( elem.nodeType === 1 ) {
-						tmp.push( elem );
-					}
-				}
-
-				return tmp;
-			}
-			return results;
-		};
-
-	// Class
-	Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) {
-		if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) {
-			return context.getElementsByClassName( className );
-		}
-	};
-
-	/* QSA/matchesSelector
-	---------------------------------------------------------------------- */
-
-	// QSA and matchesSelector support
-
-	// matchesSelector(:active) reports false when true (IE9/Opera 11.5)
-	rbuggyMatches = [];
-
-	// qSa(:focus) reports false when true (Chrome 21)
-	// We allow this because of a bug in IE8/9 that throws an error
-	// whenever `document.activeElement` is accessed on an iframe
-	// So, we allow :focus to pass through QSA all the time to avoid the IE error
-	// See https://bugs.jquery.com/ticket/13378
-	rbuggyQSA = [];
-
-	if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) {
-
-		// Build QSA regex
-		// Regex strategy adopted from Diego Perini
-		assert( function( el ) {
-
-			var input;
-
-			// Select is set to empty string on purpose
-			// This is to test IE's treatment of not explicitly
-			// setting a boolean content attribute,
-			// since its presence should be enough
-			// https://bugs.jquery.com/ticket/12359
-			docElem.appendChild( el ).innerHTML = "<a id='" + expando + "'></a>" +
-				"<select id='" + expando + "-\r\\' msallowcapture=''>" +
-				"<option selected=''></option></select>";
-
-			// Support: IE8, Opera 11-12.16
-			// Nothing should be selected when empty strings follow ^= or $= or *=
-			// The test attribute must be unknown in Opera but "safe" for WinRT
-			// https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section
-			if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) {
-				rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" );
-			}
-
-			// Support: IE8
-			// Boolean attributes and "value" are not treated correctly
-			if ( !el.querySelectorAll( "[selected]" ).length ) {
-				rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" );
-			}
-
-			// Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+
-			if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) {
-				rbuggyQSA.push( "~=" );
-			}
-
-			// Support: IE 11+, Edge 15 - 18+
-			// IE 11/Edge don't find elements on a `[name='']` query in some cases.
-			// Adding a temporary attribute to the document before the selection works
-			// around the issue.
-			// Interestingly, IE 10 & older don't seem to have the issue.
-			input = document.createElement( "input" );
-			input.setAttribute( "name", "" );
-			el.appendChild( input );
-			if ( !el.querySelectorAll( "[name='']" ).length ) {
-				rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" +
-					whitespace + "*(?:''|\"\")" );
-			}
-
-			// Webkit/Opera - :checked should return selected option elements
-			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
-			// IE8 throws error here and will not see later tests
-			if ( !el.querySelectorAll( ":checked" ).length ) {
-				rbuggyQSA.push( ":checked" );
-			}
-
-			// Support: Safari 8+, iOS 8+
-			// https://bugs.webkit.org/show_bug.cgi?id=136851
-			// In-page `selector#id sibling-combinator selector` fails
-			if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) {
-				rbuggyQSA.push( ".#.+[+~]" );
-			}
-
-			// Support: Firefox <=3.6 - 5 only
-			// Old Firefox doesn't throw on a badly-escaped identifier.
-			el.querySelectorAll( "\\\f" );
-			rbuggyQSA.push( "[\\r\\n\\f]" );
-		} );
-
-		assert( function( el ) {
-			el.innerHTML = "<a href='' disabled='disabled'></a>" +
-				"<select disabled='disabled'><option/></select>";
-
-			// Support: Windows 8 Native Apps
-			// The type and name attributes are restricted during .innerHTML assignment
-			var input = document.createElement( "input" );
-			input.setAttribute( "type", "hidden" );
-			el.appendChild( input ).setAttribute( "name", "D" );
-
-			// Support: IE8
-			// Enforce case-sensitivity of name attribute
-			if ( el.querySelectorAll( "[name=d]" ).length ) {
-				rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" );
-			}
-
-			// FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled)
-			// IE8 throws error here and will not see later tests
-			if ( el.querySelectorAll( ":enabled" ).length !== 2 ) {
-				rbuggyQSA.push( ":enabled", ":disabled" );
-			}
-
-			// Support: IE9-11+
-			// IE's :disabled selector does not pick up the children of disabled fieldsets
-			docElem.appendChild( el ).disabled = true;
-			if ( el.querySelectorAll( ":disabled" ).length !== 2 ) {
-				rbuggyQSA.push( ":enabled", ":disabled" );
-			}
-
-			// Support: Opera 10 - 11 only
-			// Opera 10-11 does not throw on post-comma invalid pseudos
-			el.querySelectorAll( "*,:x" );
-			rbuggyQSA.push( ",.*:" );
-		} );
-	}
-
-	if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches ||
-		docElem.webkitMatchesSelector ||
-		docElem.mozMatchesSelector ||
-		docElem.oMatchesSelector ||
-		docElem.msMatchesSelector ) ) ) ) {
-
-		assert( function( el ) {
-
-			// Check to see if it's possible to do matchesSelector
-			// on a disconnected node (IE 9)
-			support.disconnectedMatch = matches.call( el, "*" );
-
-			// This should fail with an exception
-			// Gecko does not error, returns false instead
-			matches.call( el, "[s!='']:x" );
-			rbuggyMatches.push( "!=", pseudos );
-		} );
-	}
-
-	rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) );
-	rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) );
-
-	/* Contains
-	---------------------------------------------------------------------- */
-	hasCompare = rnative.test( docElem.compareDocumentPosition );
-
-	// Element contains another
-	// Purposefully self-exclusive
-	// As in, an element does not contain itself
-	contains = hasCompare || rnative.test( docElem.contains ) ?
-		function( a, b ) {
-			var adown = a.nodeType === 9 ? a.documentElement : a,
-				bup = b && b.parentNode;
-			return a === bup || !!( bup && bup.nodeType === 1 && (
-				adown.contains ?
-					adown.contains( bup ) :
-					a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16
-			) );
-		} :
-		function( a, b ) {
-			if ( b ) {
-				while ( ( b = b.parentNode ) ) {
-					if ( b === a ) {
-						return true;
-					}
-				}
-			}
-			return false;
-		};
-
-	/* Sorting
-	---------------------------------------------------------------------- */
-
-	// Document order sorting
-	sortOrder = hasCompare ?
-	function( a, b ) {
-
-		// Flag for duplicate removal
-		if ( a === b ) {
-			hasDuplicate = true;
-			return 0;
-		}
-
-		// Sort on method existence if only one input has compareDocumentPosition
-		var compare = !a.compareDocumentPosition - !b.compareDocumentPosition;
-		if ( compare ) {
-			return compare;
-		}
-
-		// Calculate position if both inputs belong to the same document
-		// Support: IE 11+, Edge 17 - 18+
-		// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-		// two documents; shallow comparisons work.
-		// eslint-disable-next-line eqeqeq
-		compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ?
-			a.compareDocumentPosition( b ) :
-
-			// Otherwise we know they are disconnected
-			1;
-
-		// Disconnected nodes
-		if ( compare & 1 ||
-			( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) {
-
-			// Choose the first element that is related to our preferred document
-			// Support: IE 11+, Edge 17 - 18+
-			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-			// two documents; shallow comparisons work.
-			// eslint-disable-next-line eqeqeq
-			if ( a == document || a.ownerDocument == preferredDoc &&
-				contains( preferredDoc, a ) ) {
-				return -1;
-			}
-
-			// Support: IE 11+, Edge 17 - 18+
-			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-			// two documents; shallow comparisons work.
-			// eslint-disable-next-line eqeqeq
-			if ( b == document || b.ownerDocument == preferredDoc &&
-				contains( preferredDoc, b ) ) {
-				return 1;
-			}
-
-			// Maintain original order
-			return sortInput ?
-				( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) :
-				0;
-		}
-
-		return compare & 4 ? -1 : 1;
-	} :
-	function( a, b ) {
-
-		// Exit early if the nodes are identical
-		if ( a === b ) {
-			hasDuplicate = true;
-			return 0;
-		}
-
-		var cur,
-			i = 0,
-			aup = a.parentNode,
-			bup = b.parentNode,
-			ap = [ a ],
-			bp = [ b ];
-
-		// Parentless nodes are either documents or disconnected
-		if ( !aup || !bup ) {
-
-			// Support: IE 11+, Edge 17 - 18+
-			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-			// two documents; shallow comparisons work.
-			/* eslint-disable eqeqeq */
-			return a == document ? -1 :
-				b == document ? 1 :
-				/* eslint-enable eqeqeq */
-				aup ? -1 :
-				bup ? 1 :
-				sortInput ?
-				( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) :
-				0;
-
-		// If the nodes are siblings, we can do a quick check
-		} else if ( aup === bup ) {
-			return siblingCheck( a, b );
-		}
-
-		// Otherwise we need full lists of their ancestors for comparison
-		cur = a;
-		while ( ( cur = cur.parentNode ) ) {
-			ap.unshift( cur );
-		}
-		cur = b;
-		while ( ( cur = cur.parentNode ) ) {
-			bp.unshift( cur );
-		}
-
-		// Walk down the tree looking for a discrepancy
-		while ( ap[ i ] === bp[ i ] ) {
-			i++;
-		}
-
-		return i ?
-
-			// Do a sibling check if the nodes have a common ancestor
-			siblingCheck( ap[ i ], bp[ i ] ) :
-
-			// Otherwise nodes in our document sort first
-			// Support: IE 11+, Edge 17 - 18+
-			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-			// two documents; shallow comparisons work.
-			/* eslint-disable eqeqeq */
-			ap[ i ] == preferredDoc ? -1 :
-			bp[ i ] == preferredDoc ? 1 :
-			/* eslint-enable eqeqeq */
-			0;
-	};
-
-	return document;
-};
-
-Sizzle.matches = function( expr, elements ) {
-	return Sizzle( expr, null, null, elements );
-};
-
-Sizzle.matchesSelector = function( elem, expr ) {
-	setDocument( elem );
-
-	if ( support.matchesSelector && documentIsHTML &&
-		!nonnativeSelectorCache[ expr + " " ] &&
-		( !rbuggyMatches || !rbuggyMatches.test( expr ) ) &&
-		( !rbuggyQSA     || !rbuggyQSA.test( expr ) ) ) {
-
-		try {
-			var ret = matches.call( elem, expr );
-
-			// IE 9's matchesSelector returns false on disconnected nodes
-			if ( ret || support.disconnectedMatch ||
-
-				// As well, disconnected nodes are said to be in a document
-				// fragment in IE 9
-				elem.document && elem.document.nodeType !== 11 ) {
-				return ret;
-			}
-		} catch ( e ) {
-			nonnativeSelectorCache( expr, true );
-		}
-	}
-
-	return Sizzle( expr, document, null, [ elem ] ).length > 0;
-};
-
-Sizzle.contains = function( context, elem ) {
-
-	// Set document vars if needed
-	// Support: IE 11+, Edge 17 - 18+
-	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-	// two documents; shallow comparisons work.
-	// eslint-disable-next-line eqeqeq
-	if ( ( context.ownerDocument || context ) != document ) {
-		setDocument( context );
-	}
-	return contains( context, elem );
-};
-
-Sizzle.attr = function( elem, name ) {
-
-	// Set document vars if needed
-	// Support: IE 11+, Edge 17 - 18+
-	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-	// two documents; shallow comparisons work.
-	// eslint-disable-next-line eqeqeq
-	if ( ( elem.ownerDocument || elem ) != document ) {
-		setDocument( elem );
-	}
-
-	var fn = Expr.attrHandle[ name.toLowerCase() ],
-
-		// Don't get fooled by Object.prototype properties (jQuery #13807)
-		val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ?
-			fn( elem, name, !documentIsHTML ) :
-			undefined;
-
-	return val !== undefined ?
-		val :
-		support.attributes || !documentIsHTML ?
-			elem.getAttribute( name ) :
-			( val = elem.getAttributeNode( name ) ) && val.specified ?
-				val.value :
-				null;
-};
-
-Sizzle.escape = function( sel ) {
-	return ( sel + "" ).replace( rcssescape, fcssescape );
-};
-
-Sizzle.error = function( msg ) {
-	throw new Error( "Syntax error, unrecognized expression: " + msg );
-};
-
-/**
- * Document sorting and removing duplicates
- * @param {ArrayLike} results
- */
-Sizzle.uniqueSort = function( results ) {
-	var elem,
-		duplicates = [],
-		j = 0,
-		i = 0;
-
-	// Unless we *know* we can detect duplicates, assume their presence
-	hasDuplicate = !support.detectDuplicates;
-	sortInput = !support.sortStable && results.slice( 0 );
-	results.sort( sortOrder );
-
-	if ( hasDuplicate ) {
-		while ( ( elem = results[ i++ ] ) ) {
-			if ( elem === results[ i ] ) {
-				j = duplicates.push( i );
-			}
-		}
-		while ( j-- ) {
-			results.splice( duplicates[ j ], 1 );
-		}
-	}
-
-	// Clear input after sorting to release objects
-	// See https://github.com/jquery/sizzle/pull/225
-	sortInput = null;
-
-	return results;
-};
-
-/**
- * Utility function for retrieving the text value of an array of DOM nodes
- * @param {Array|Element} elem
- */
-getText = Sizzle.getText = function( elem ) {
-	var node,
-		ret = "",
-		i = 0,
-		nodeType = elem.nodeType;
-
-	if ( !nodeType ) {
-
-		// If no nodeType, this is expected to be an array
-		while ( ( node = elem[ i++ ] ) ) {
-
-			// Do not traverse comment nodes
-			ret += getText( node );
-		}
-	} else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) {
-
-		// Use textContent for elements
-		// innerText usage removed for consistency of new lines (jQuery #11153)
-		if ( typeof elem.textContent === "string" ) {
-			return elem.textContent;
-		} else {
-
-			// Traverse its children
-			for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
-				ret += getText( elem );
-			}
-		}
-	} else if ( nodeType === 3 || nodeType === 4 ) {
-		return elem.nodeValue;
-	}
-
-	// Do not include comment or processing instruction nodes
-
-	return ret;
-};
-
-Expr = Sizzle.selectors = {
-
-	// Can be adjusted by the user
-	cacheLength: 50,
-
-	createPseudo: markFunction,
-
-	match: matchExpr,
-
-	attrHandle: {},
-
-	find: {},
-
-	relative: {
-		">": { dir: "parentNode", first: true },
-		" ": { dir: "parentNode" },
-		"+": { dir: "previousSibling", first: true },
-		"~": { dir: "previousSibling" }
-	},
-
-	preFilter: {
-		"ATTR": function( match ) {
-			match[ 1 ] = match[ 1 ].replace( runescape, funescape );
-
-			// Move the given value to match[3] whether quoted or unquoted
-			match[ 3 ] = ( match[ 3 ] || match[ 4 ] ||
-				match[ 5 ] || "" ).replace( runescape, funescape );
-
-			if ( match[ 2 ] === "~=" ) {
-				match[ 3 ] = " " + match[ 3 ] + " ";
-			}
-
-			return match.slice( 0, 4 );
-		},
-
-		"CHILD": function( match ) {
-
-			/* matches from matchExpr["CHILD"]
-				1 type (only|nth|...)
-				2 what (child|of-type)
-				3 argument (even|odd|\d*|\d*n([+-]\d+)?|...)
-				4 xn-component of xn+y argument ([+-]?\d*n|)
-				5 sign of xn-component
-				6 x of xn-component
-				7 sign of y-component
-				8 y of y-component
-			*/
-			match[ 1 ] = match[ 1 ].toLowerCase();
-
-			if ( match[ 1 ].slice( 0, 3 ) === "nth" ) {
-
-				// nth-* requires argument
-				if ( !match[ 3 ] ) {
-					Sizzle.error( match[ 0 ] );
-				}
-
-				// numeric x and y parameters for Expr.filter.CHILD
-				// remember that false/true cast respectively to 0/1
-				match[ 4 ] = +( match[ 4 ] ?
-					match[ 5 ] + ( match[ 6 ] || 1 ) :
-					2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) );
-				match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" );
-
-				// other types prohibit arguments
-			} else if ( match[ 3 ] ) {
-				Sizzle.error( match[ 0 ] );
-			}
-
-			return match;
-		},
-
-		"PSEUDO": function( match ) {
-			var excess,
-				unquoted = !match[ 6 ] && match[ 2 ];
-
-			if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) {
-				return null;
-			}
-
-			// Accept quoted arguments as-is
-			if ( match[ 3 ] ) {
-				match[ 2 ] = match[ 4 ] || match[ 5 ] || "";
-
-			// Strip excess characters from unquoted arguments
-			} else if ( unquoted && rpseudo.test( unquoted ) &&
-
-				// Get excess from tokenize (recursively)
-				( excess = tokenize( unquoted, true ) ) &&
-
-				// advance to the next closing parenthesis
-				( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) {
-
-				// excess is a negative index
-				match[ 0 ] = match[ 0 ].slice( 0, excess );
-				match[ 2 ] = unquoted.slice( 0, excess );
-			}
-
-			// Return only captures needed by the pseudo filter method (type and argument)
-			return match.slice( 0, 3 );
-		}
-	},
-
-	filter: {
-
-		"TAG": function( nodeNameSelector ) {
-			var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase();
-			return nodeNameSelector === "*" ?
-				function() {
-					return true;
-				} :
-				function( elem ) {
-					return elem.nodeName && elem.nodeName.toLowerCase() === nodeName;
-				};
-		},
-
-		"CLASS": function( className ) {
-			var pattern = classCache[ className + " " ];
-
-			return pattern ||
-				( pattern = new RegExp( "(^|" + whitespace +
-					")" + className + "(" + whitespace + "|$)" ) ) && classCache(
-						className, function( elem ) {
-							return pattern.test(
-								typeof elem.className === "string" && elem.className ||
-								typeof elem.getAttribute !== "undefined" &&
-									elem.getAttribute( "class" ) ||
-								""
-							);
-				} );
-		},
-
-		"ATTR": function( name, operator, check ) {
-			return function( elem ) {
-				var result = Sizzle.attr( elem, name );
-
-				if ( result == null ) {
-					return operator === "!=";
-				}
-				if ( !operator ) {
-					return true;
-				}
-
-				result += "";
-
-				/* eslint-disable max-len */
-
-				return operator === "=" ? result === check :
-					operator === "!=" ? result !== check :
-					operator === "^=" ? check && result.indexOf( check ) === 0 :
-					operator === "*=" ? check && result.indexOf( check ) > -1 :
-					operator === "$=" ? check && result.slice( -check.length ) === check :
-					operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 :
-					operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" :
-					false;
-				/* eslint-enable max-len */
-
-			};
-		},
-
-		"CHILD": function( type, what, _argument, first, last ) {
-			var simple = type.slice( 0, 3 ) !== "nth",
-				forward = type.slice( -4 ) !== "last",
-				ofType = what === "of-type";
-
-			return first === 1 && last === 0 ?
-
-				// Shortcut for :nth-*(n)
-				function( elem ) {
-					return !!elem.parentNode;
-				} :
-
-				function( elem, _context, xml ) {
-					var cache, uniqueCache, outerCache, node, nodeIndex, start,
-						dir = simple !== forward ? "nextSibling" : "previousSibling",
-						parent = elem.parentNode,
-						name = ofType && elem.nodeName.toLowerCase(),
-						useCache = !xml && !ofType,
-						diff = false;
-
-					if ( parent ) {
-
-						// :(first|last|only)-(child|of-type)
-						if ( simple ) {
-							while ( dir ) {
-								node = elem;
-								while ( ( node = node[ dir ] ) ) {
-									if ( ofType ?
-										node.nodeName.toLowerCase() === name :
-										node.nodeType === 1 ) {
-
-										return false;
-									}
-								}
-
-								// Reverse direction for :only-* (if we haven't yet done so)
-								start = dir = type === "only" && !start && "nextSibling";
-							}
-							return true;
-						}
-
-						start = [ forward ? parent.firstChild : parent.lastChild ];
-
-						// non-xml :nth-child(...) stores cache data on `parent`
-						if ( forward && useCache ) {
-
-							// Seek `elem` from a previously-cached index
-
-							// ...in a gzip-friendly way
-							node = parent;
-							outerCache = node[ expando ] || ( node[ expando ] = {} );
-
-							// Support: IE <9 only
-							// Defend against cloned attroperties (jQuery gh-1709)
-							uniqueCache = outerCache[ node.uniqueID ] ||
-								( outerCache[ node.uniqueID ] = {} );
-
-							cache = uniqueCache[ type ] || [];
-							nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ];
-							diff = nodeIndex && cache[ 2 ];
-							node = nodeIndex && parent.childNodes[ nodeIndex ];
-
-							while ( ( node = ++nodeIndex && node && node[ dir ] ||
-
-								// Fallback to seeking `elem` from the start
-								( diff = nodeIndex = 0 ) || start.pop() ) ) {
-
-								// When found, cache indexes on `parent` and break
-								if ( node.nodeType === 1 && ++diff && node === elem ) {
-									uniqueCache[ type ] = [ dirruns, nodeIndex, diff ];
-									break;
-								}
-							}
-
-						} else {
-
-							// Use previously-cached element index if available
-							if ( useCache ) {
-
-								// ...in a gzip-friendly way
-								node = elem;
-								outerCache = node[ expando ] || ( node[ expando ] = {} );
-
-								// Support: IE <9 only
-								// Defend against cloned attroperties (jQuery gh-1709)
-								uniqueCache = outerCache[ node.uniqueID ] ||
-									( outerCache[ node.uniqueID ] = {} );
-
-								cache = uniqueCache[ type ] || [];
-								nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ];
-								diff = nodeIndex;
-							}
-
-							// xml :nth-child(...)
-							// or :nth-last-child(...) or :nth(-last)?-of-type(...)
-							if ( diff === false ) {
-
-								// Use the same loop as above to seek `elem` from the start
-								while ( ( node = ++nodeIndex && node && node[ dir ] ||
-									( diff = nodeIndex = 0 ) || start.pop() ) ) {
-
-									if ( ( ofType ?
-										node.nodeName.toLowerCase() === name :
-										node.nodeType === 1 ) &&
-										++diff ) {
-
-										// Cache the index of each encountered element
-										if ( useCache ) {
-											outerCache = node[ expando ] ||
-												( node[ expando ] = {} );
-
-											// Support: IE <9 only
-											// Defend against cloned attroperties (jQuery gh-1709)
-											uniqueCache = outerCache[ node.uniqueID ] ||
-												( outerCache[ node.uniqueID ] = {} );
-
-											uniqueCache[ type ] = [ dirruns, diff ];
-										}
-
-										if ( node === elem ) {
-											break;
-										}
-									}
-								}
-							}
-						}
-
-						// Incorporate the offset, then check against cycle size
-						diff -= last;
-						return diff === first || ( diff % first === 0 && diff / first >= 0 );
-					}
-				};
-		},
-
-		"PSEUDO": function( pseudo, argument ) {
-
-			// pseudo-class names are case-insensitive
-			// http://www.w3.org/TR/selectors/#pseudo-classes
-			// Prioritize by case sensitivity in case custom pseudos are added with uppercase letters
-			// Remember that setFilters inherits from pseudos
-			var args,
-				fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] ||
-					Sizzle.error( "unsupported pseudo: " + pseudo );
-
-			// The user may use createPseudo to indicate that
-			// arguments are needed to create the filter function
-			// just as Sizzle does
-			if ( fn[ expando ] ) {
-				return fn( argument );
-			}
-
-			// But maintain support for old signatures
-			if ( fn.length > 1 ) {
-				args = [ pseudo, pseudo, "", argument ];
-				return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ?
-					markFunction( function( seed, matches ) {
-						var idx,
-							matched = fn( seed, argument ),
-							i = matched.length;
-						while ( i-- ) {
-							idx = indexOf( seed, matched[ i ] );
-							seed[ idx ] = !( matches[ idx ] = matched[ i ] );
-						}
-					} ) :
-					function( elem ) {
-						return fn( elem, 0, args );
-					};
-			}
-
-			return fn;
-		}
-	},
-
-	pseudos: {
-
-		// Potentially complex pseudos
-		"not": markFunction( function( selector ) {
-
-			// Trim the selector passed to compile
-			// to avoid treating leading and trailing
-			// spaces as combinators
-			var input = [],
-				results = [],
-				matcher = compile( selector.replace( rtrim, "$1" ) );
-
-			return matcher[ expando ] ?
-				markFunction( function( seed, matches, _context, xml ) {
-					var elem,
-						unmatched = matcher( seed, null, xml, [] ),
-						i = seed.length;
-
-					// Match elements unmatched by `matcher`
-					while ( i-- ) {
-						if ( ( elem = unmatched[ i ] ) ) {
-							seed[ i ] = !( matches[ i ] = elem );
-						}
-					}
-				} ) :
-				function( elem, _context, xml ) {
-					input[ 0 ] = elem;
-					matcher( input, null, xml, results );
-
-					// Don't keep the element (issue #299)
-					input[ 0 ] = null;
-					return !results.pop();
-				};
-		} ),
-
-		"has": markFunction( function( selector ) {
-			return function( elem ) {
-				return Sizzle( selector, elem ).length > 0;
-			};
-		} ),
-
-		"contains": markFunction( function( text ) {
-			text = text.replace( runescape, funescape );
-			return function( elem ) {
-				return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1;
-			};
-		} ),
-
-		// "Whether an element is represented by a :lang() selector
-		// is based solely on the element's language value
-		// being equal to the identifier C,
-		// or beginning with the identifier C immediately followed by "-".
-		// The matching of C against the element's language value is performed case-insensitively.
-		// The identifier C does not have to be a valid language name."
-		// http://www.w3.org/TR/selectors/#lang-pseudo
-		"lang": markFunction( function( lang ) {
-
-			// lang value must be a valid identifier
-			if ( !ridentifier.test( lang || "" ) ) {
-				Sizzle.error( "unsupported lang: " + lang );
-			}
-			lang = lang.replace( runescape, funescape ).toLowerCase();
-			return function( elem ) {
-				var elemLang;
-				do {
-					if ( ( elemLang = documentIsHTML ?
-						elem.lang :
-						elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) {
-
-						elemLang = elemLang.toLowerCase();
-						return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0;
-					}
-				} while ( ( elem = elem.parentNode ) && elem.nodeType === 1 );
-				return false;
-			};
-		} ),
-
-		// Miscellaneous
-		"target": function( elem ) {
-			var hash = window.location && window.location.hash;
-			return hash && hash.slice( 1 ) === elem.id;
-		},
-
-		"root": function( elem ) {
-			return elem === docElem;
-		},
-
-		"focus": function( elem ) {
-			return elem === document.activeElement &&
-				( !document.hasFocus || document.hasFocus() ) &&
-				!!( elem.type || elem.href || ~elem.tabIndex );
-		},
-
-		// Boolean properties
-		"enabled": createDisabledPseudo( false ),
-		"disabled": createDisabledPseudo( true ),
-
-		"checked": function( elem ) {
-
-			// In CSS3, :checked should return both checked and selected elements
-			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
-			var nodeName = elem.nodeName.toLowerCase();
-			return ( nodeName === "input" && !!elem.checked ) ||
-				( nodeName === "option" && !!elem.selected );
-		},
-
-		"selected": function( elem ) {
-
-			// Accessing this property makes selected-by-default
-			// options in Safari work properly
-			if ( elem.parentNode ) {
-				// eslint-disable-next-line no-unused-expressions
-				elem.parentNode.selectedIndex;
-			}
-
-			return elem.selected === true;
-		},
-
-		// Contents
-		"empty": function( elem ) {
-
-			// http://www.w3.org/TR/selectors/#empty-pseudo
-			// :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5),
-			//   but not by others (comment: 8; processing instruction: 7; etc.)
-			// nodeType < 6 works because attributes (2) do not appear as children
-			for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
-				if ( elem.nodeType < 6 ) {
-					return false;
-				}
-			}
-			return true;
-		},
-
-		"parent": function( elem ) {
-			return !Expr.pseudos[ "empty" ]( elem );
-		},
-
-		// Element/input types
-		"header": function( elem ) {
-			return rheader.test( elem.nodeName );
-		},
-
-		"input": function( elem ) {
-			return rinputs.test( elem.nodeName );
-		},
-
-		"button": function( elem ) {
-			var name = elem.nodeName.toLowerCase();
-			return name === "input" && elem.type === "button" || name === "button";
-		},
-
-		"text": function( elem ) {
-			var attr;
-			return elem.nodeName.toLowerCase() === "input" &&
-				elem.type === "text" &&
-
-				// Support: IE<8
-				// New HTML5 attribute values (e.g., "search") appear with elem.type === "text"
-				( ( attr = elem.getAttribute( "type" ) ) == null ||
-					attr.toLowerCase() === "text" );
-		},
-
-		// Position-in-collection
-		"first": createPositionalPseudo( function() {
-			return [ 0 ];
-		} ),
-
-		"last": createPositionalPseudo( function( _matchIndexes, length ) {
-			return [ length - 1 ];
-		} ),
-
-		"eq": createPositionalPseudo( function( _matchIndexes, length, argument ) {
-			return [ argument < 0 ? argument + length : argument ];
-		} ),
-
-		"even": createPositionalPseudo( function( matchIndexes, length ) {
-			var i = 0;
-			for ( ; i < length; i += 2 ) {
-				matchIndexes.push( i );
-			}
-			return matchIndexes;
-		} ),
-
-		"odd": createPositionalPseudo( function( matchIndexes, length ) {
-			var i = 1;
-			for ( ; i < length; i += 2 ) {
-				matchIndexes.push( i );
-			}
-			return matchIndexes;
-		} ),
-
-		"lt": createPositionalPseudo( function( matchIndexes, length, argument ) {
-			var i = argument < 0 ?
-				argument + length :
-				argument > length ?
-					length :
-					argument;
-			for ( ; --i >= 0; ) {
-				matchIndexes.push( i );
-			}
-			return matchIndexes;
-		} ),
-
-		"gt": createPositionalPseudo( function( matchIndexes, length, argument ) {
-			var i = argument < 0 ? argument + length : argument;
-			for ( ; ++i < length; ) {
-				matchIndexes.push( i );
-			}
-			return matchIndexes;
-		} )
-	}
-};
-
-Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ];
-
-// Add button/input type pseudos
-for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) {
-	Expr.pseudos[ i ] = createInputPseudo( i );
-}
-for ( i in { submit: true, reset: true } ) {
-	Expr.pseudos[ i ] = createButtonPseudo( i );
-}
-
-// Easy API for creating new setFilters
-function setFilters() {}
-setFilters.prototype = Expr.filters = Expr.pseudos;
-Expr.setFilters = new setFilters();
-
-tokenize = Sizzle.tokenize = function( selector, parseOnly ) {
-	var matched, match, tokens, type,
-		soFar, groups, preFilters,
-		cached = tokenCache[ selector + " " ];
-
-	if ( cached ) {
-		return parseOnly ? 0 : cached.slice( 0 );
-	}
-
-	soFar = selector;
-	groups = [];
-	preFilters = Expr.preFilter;
-
-	while ( soFar ) {
-
-		// Comma and first run
-		if ( !matched || ( match = rcomma.exec( soFar ) ) ) {
-			if ( match ) {
-
-				// Don't consume trailing commas as valid
-				soFar = soFar.slice( match[ 0 ].length ) || soFar;
-			}
-			groups.push( ( tokens = [] ) );
-		}
-
-		matched = false;
-
-		// Combinators
-		if ( ( match = rcombinators.exec( soFar ) ) ) {
-			matched = match.shift();
-			tokens.push( {
-				value: matched,
-
-				// Cast descendant combinators to space
-				type: match[ 0 ].replace( rtrim, " " )
-			} );
-			soFar = soFar.slice( matched.length );
-		}
-
-		// Filters
-		for ( type in Expr.filter ) {
-			if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] ||
-				( match = preFilters[ type ]( match ) ) ) ) {
-				matched = match.shift();
-				tokens.push( {
-					value: matched,
-					type: type,
-					matches: match
-				} );
-				soFar = soFar.slice( matched.length );
-			}
-		}
-
-		if ( !matched ) {
-			break;
-		}
-	}
-
-	// Return the length of the invalid excess
-	// if we're just parsing
-	// Otherwise, throw an error or return tokens
-	return parseOnly ?
-		soFar.length :
-		soFar ?
-			Sizzle.error( selector ) :
-
-			// Cache the tokens
-			tokenCache( selector, groups ).slice( 0 );
-};
-
-function toSelector( tokens ) {
-	var i = 0,
-		len = tokens.length,
-		selector = "";
-	for ( ; i < len; i++ ) {
-		selector += tokens[ i ].value;
-	}
-	return selector;
-}
-
-function addCombinator( matcher, combinator, base ) {
-	var dir = combinator.dir,
-		skip = combinator.next,
-		key = skip || dir,
-		checkNonElements = base && key === "parentNode",
-		doneName = done++;
-
-	return combinator.first ?
-
-		// Check against closest ancestor/preceding element
-		function( elem, context, xml ) {
-			while ( ( elem = elem[ dir ] ) ) {
-				if ( elem.nodeType === 1 || checkNonElements ) {
-					return matcher( elem, context, xml );
-				}
-			}
-			return false;
-		} :
-
-		// Check against all ancestor/preceding elements
-		function( elem, context, xml ) {
-			var oldCache, uniqueCache, outerCache,
-				newCache = [ dirruns, doneName ];
-
-			// We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching
-			if ( xml ) {
-				while ( ( elem = elem[ dir ] ) ) {
-					if ( elem.nodeType === 1 || checkNonElements ) {
-						if ( matcher( elem, context, xml ) ) {
-							return true;
-						}
-					}
-				}
-			} else {
-				while ( ( elem = elem[ dir ] ) ) {
-					if ( elem.nodeType === 1 || checkNonElements ) {
-						outerCache = elem[ expando ] || ( elem[ expando ] = {} );
-
-						// Support: IE <9 only
-						// Defend against cloned attroperties (jQuery gh-1709)
-						uniqueCache = outerCache[ elem.uniqueID ] ||
-							( outerCache[ elem.uniqueID ] = {} );
-
-						if ( skip && skip === elem.nodeName.toLowerCase() ) {
-							elem = elem[ dir ] || elem;
-						} else if ( ( oldCache = uniqueCache[ key ] ) &&
-							oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) {
-
-							// Assign to newCache so results back-propagate to previous elements
-							return ( newCache[ 2 ] = oldCache[ 2 ] );
-						} else {
-
-							// Reuse newcache so results back-propagate to previous elements
-							uniqueCache[ key ] = newCache;
-
-							// A match means we're done; a fail means we have to keep checking
-							if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) {
-								return true;
-							}
-						}
-					}
-				}
-			}
-			return false;
-		};
-}
-
-function elementMatcher( matchers ) {
-	return matchers.length > 1 ?
-		function( elem, context, xml ) {
-			var i = matchers.length;
-			while ( i-- ) {
-				if ( !matchers[ i ]( elem, context, xml ) ) {
-					return false;
-				}
-			}
-			return true;
-		} :
-		matchers[ 0 ];
-}
-
-function multipleContexts( selector, contexts, results ) {
-	var i = 0,
-		len = contexts.length;
-	for ( ; i < len; i++ ) {
-		Sizzle( selector, contexts[ i ], results );
-	}
-	return results;
-}
-
-function condense( unmatched, map, filter, context, xml ) {
-	var elem,
-		newUnmatched = [],
-		i = 0,
-		len = unmatched.length,
-		mapped = map != null;
-
-	for ( ; i < len; i++ ) {
-		if ( ( elem = unmatched[ i ] ) ) {
-			if ( !filter || filter( elem, context, xml ) ) {
-				newUnmatched.push( elem );
-				if ( mapped ) {
-					map.push( i );
-				}
-			}
-		}
-	}
-
-	return newUnmatched;
-}
-
-function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) {
-	if ( postFilter && !postFilter[ expando ] ) {
-		postFilter = setMatcher( postFilter );
-	}
-	if ( postFinder && !postFinder[ expando ] ) {
-		postFinder = setMatcher( postFinder, postSelector );
-	}
-	return markFunction( function( seed, results, context, xml ) {
-		var temp, i, elem,
-			preMap = [],
-			postMap = [],
-			preexisting = results.length,
-
-			// Get initial elements from seed or context
-			elems = seed || multipleContexts(
-				selector || "*",
-				context.nodeType ? [ context ] : context,
-				[]
-			),
-
-			// Prefilter to get matcher input, preserving a map for seed-results synchronization
-			matcherIn = preFilter && ( seed || !selector ) ?
-				condense( elems, preMap, preFilter, context, xml ) :
-				elems,
-
-			matcherOut = matcher ?
-
-				// If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results,
-				postFinder || ( seed ? preFilter : preexisting || postFilter ) ?
-
-					// ...intermediate processing is necessary
-					[] :
-
-					// ...otherwise use results directly
-					results :
-				matcherIn;
-
-		// Find primary matches
-		if ( matcher ) {
-			matcher( matcherIn, matcherOut, context, xml );
-		}
-
-		// Apply postFilter
-		if ( postFilter ) {
-			temp = condense( matcherOut, postMap );
-			postFilter( temp, [], context, xml );
-
-			// Un-match failing elements by moving them back to matcherIn
-			i = temp.length;
-			while ( i-- ) {
-				if ( ( elem = temp[ i ] ) ) {
-					matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem );
-				}
-			}
-		}
-
-		if ( seed ) {
-			if ( postFinder || preFilter ) {
-				if ( postFinder ) {
-
-					// Get the final matcherOut by condensing this intermediate into postFinder contexts
-					temp = [];
-					i = matcherOut.length;
-					while ( i-- ) {
-						if ( ( elem = matcherOut[ i ] ) ) {
-
-							// Restore matcherIn since elem is not yet a final match
-							temp.push( ( matcherIn[ i ] = elem ) );
-						}
-					}
-					postFinder( null, ( matcherOut = [] ), temp, xml );
-				}
-
-				// Move matched elements from seed to results to keep them synchronized
-				i = matcherOut.length;
-				while ( i-- ) {
-					if ( ( elem = matcherOut[ i ] ) &&
-						( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) {
-
-						seed[ temp ] = !( results[ temp ] = elem );
-					}
-				}
-			}
-
-		// Add elements to results, through postFinder if defined
-		} else {
-			matcherOut = condense(
-				matcherOut === results ?
-					matcherOut.splice( preexisting, matcherOut.length ) :
-					matcherOut
-			);
-			if ( postFinder ) {
-				postFinder( null, results, matcherOut, xml );
-			} else {
-				push.apply( results, matcherOut );
-			}
-		}
-	} );
-}
-
-function matcherFromTokens( tokens ) {
-	var checkContext, matcher, j,
-		len = tokens.length,
-		leadingRelative = Expr.relative[ tokens[ 0 ].type ],
-		implicitRelative = leadingRelative || Expr.relative[ " " ],
-		i = leadingRelative ? 1 : 0,
-
-		// The foundational matcher ensures that elements are reachable from top-level context(s)
-		matchContext = addCombinator( function( elem ) {
-			return elem === checkContext;
-		}, implicitRelative, true ),
-		matchAnyContext = addCombinator( function( elem ) {
-			return indexOf( checkContext, elem ) > -1;
-		}, implicitRelative, true ),
-		matchers = [ function( elem, context, xml ) {
-			var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || (
-				( checkContext = context ).nodeType ?
-					matchContext( elem, context, xml ) :
-					matchAnyContext( elem, context, xml ) );
-
-			// Avoid hanging onto element (issue #299)
-			checkContext = null;
-			return ret;
-		} ];
-
-	for ( ; i < len; i++ ) {
-		if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) {
-			matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ];
-		} else {
-			matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches );
-
-			// Return special upon seeing a positional matcher
-			if ( matcher[ expando ] ) {
-
-				// Find the next relative operator (if any) for proper handling
-				j = ++i;
-				for ( ; j < len; j++ ) {
-					if ( Expr.relative[ tokens[ j ].type ] ) {
-						break;
-					}
-				}
-				return setMatcher(
-					i > 1 && elementMatcher( matchers ),
-					i > 1 && toSelector(
-
-					// If the preceding token was a descendant combinator, insert an implicit any-element `*`
-					tokens
-						.slice( 0, i - 1 )
-						.concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } )
-					).replace( rtrim, "$1" ),
-					matcher,
-					i < j && matcherFromTokens( tokens.slice( i, j ) ),
-					j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ),
-					j < len && toSelector( tokens )
-				);
-			}
-			matchers.push( matcher );
-		}
-	}
-
-	return elementMatcher( matchers );
-}
-
-function matcherFromGroupMatchers( elementMatchers, setMatchers ) {
-	var bySet = setMatchers.length > 0,
-		byElement = elementMatchers.length > 0,
-		superMatcher = function( seed, context, xml, results, outermost ) {
-			var elem, j, matcher,
-				matchedCount = 0,
-				i = "0",
-				unmatched = seed && [],
-				setMatched = [],
-				contextBackup = outermostContext,
-
-				// We must always have either seed elements or outermost context
-				elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ),
-
-				// Use integer dirruns iff this is the outermost matcher
-				dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ),
-				len = elems.length;
-
-			if ( outermost ) {
-
-				// Support: IE 11+, Edge 17 - 18+
-				// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-				// two documents; shallow comparisons work.
-				// eslint-disable-next-line eqeqeq
-				outermostContext = context == document || context || outermost;
-			}
-
-			// Add elements passing elementMatchers directly to results
-			// Support: IE<9, Safari
-			// Tolerate NodeList properties (IE: "length"; Safari: <number>) matching elements by id
-			for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) {
-				if ( byElement && elem ) {
-					j = 0;
-
-					// Support: IE 11+, Edge 17 - 18+
-					// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
-					// two documents; shallow comparisons work.
-					// eslint-disable-next-line eqeqeq
-					if ( !context && elem.ownerDocument != document ) {
-						setDocument( elem );
-						xml = !documentIsHTML;
-					}
-					while ( ( matcher = elementMatchers[ j++ ] ) ) {
-						if ( matcher( elem, context || document, xml ) ) {
-							results.push( elem );
-							break;
-						}
-					}
-					if ( outermost ) {
-						dirruns = dirrunsUnique;
-					}
-				}
-
-				// Track unmatched elements for set filters
-				if ( bySet ) {
-
-					// They will have gone through all possible matchers
-					if ( ( elem = !matcher && elem ) ) {
-						matchedCount--;
-					}
-
-					// Lengthen the array for every element, matched or not
-					if ( seed ) {
-						unmatched.push( elem );
-					}
-				}
-			}
-
-			// `i` is now the count of elements visited above, and adding it to `matchedCount`
-			// makes the latter nonnegative.
-			matchedCount += i;
-
-			// Apply set filters to unmatched elements
-			// NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount`
-			// equals `i`), unless we didn't visit _any_ elements in the above loop because we have
-			// no element matchers and no seed.
-			// Incrementing an initially-string "0" `i` allows `i` to remain a string only in that
-			// case, which will result in a "00" `matchedCount` that differs from `i` but is also
-			// numerically zero.
-			if ( bySet && i !== matchedCount ) {
-				j = 0;
-				while ( ( matcher = setMatchers[ j++ ] ) ) {
-					matcher( unmatched, setMatched, context, xml );
-				}
-
-				if ( seed ) {
-
-					// Reintegrate element matches to eliminate the need for sorting
-					if ( matchedCount > 0 ) {
-						while ( i-- ) {
-							if ( !( unmatched[ i ] || setMatched[ i ] ) ) {
-								setMatched[ i ] = pop.call( results );
-							}
-						}
-					}
-
-					// Discard index placeholder values to get only actual matches
-					setMatched = condense( setMatched );
-				}
-
-				// Add matches to results
-				push.apply( results, setMatched );
-
-				// Seedless set matches succeeding multiple successful matchers stipulate sorting
-				if ( outermost && !seed && setMatched.length > 0 &&
-					( matchedCount + setMatchers.length ) > 1 ) {
-
-					Sizzle.uniqueSort( results );
-				}
-			}
-
-			// Override manipulation of globals by nested matchers
-			if ( outermost ) {
-				dirruns = dirrunsUnique;
-				outermostContext = contextBackup;
-			}
-
-			return unmatched;
-		};
-
-	return bySet ?
-		markFunction( superMatcher ) :
-		superMatcher;
-}
-
-compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) {
-	var i,
-		setMatchers = [],
-		elementMatchers = [],
-		cached = compilerCache[ selector + " " ];
-
-	if ( !cached ) {
-
-		// Generate a function of recursive functions that can be used to check each element
-		if ( !match ) {
-			match = tokenize( selector );
-		}
-		i = match.length;
-		while ( i-- ) {
-			cached = matcherFromTokens( match[ i ] );
-			if ( cached[ expando ] ) {
-				setMatchers.push( cached );
-			} else {
-				elementMatchers.push( cached );
-			}
-		}
-
-		// Cache the compiled function
-		cached = compilerCache(
-			selector,
-			matcherFromGroupMatchers( elementMatchers, setMatchers )
-		);
-
-		// Save selector and tokenization
-		cached.selector = selector;
-	}
-	return cached;
-};
-
-/**
- * A low-level selection function that works with Sizzle's compiled
- *  selector functions
- * @param {String|Function} selector A selector or a pre-compiled
- *  selector function built with Sizzle.compile
- * @param {Element} context
- * @param {Array} [results]
- * @param {Array} [seed] A set of elements to match against
- */
-select = Sizzle.select = function( selector, context, results, seed ) {
-	var i, tokens, token, type, find,
-		compiled = typeof selector === "function" && selector,
-		match = !seed && tokenize( ( selector = compiled.selector || selector ) );
-
-	results = results || [];
-
-	// Try to minimize operations if there is only one selector in the list and no seed
-	// (the latter of which guarantees us context)
-	if ( match.length === 1 ) {
-
-		// Reduce context if the leading compound selector is an ID
-		tokens = match[ 0 ] = match[ 0 ].slice( 0 );
-		if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" &&
-			context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) {
-
-			context = ( Expr.find[ "ID" ]( token.matches[ 0 ]
-				.replace( runescape, funescape ), context ) || [] )[ 0 ];
-			if ( !context ) {
-				return results;
-
-			// Precompiled matchers will still verify ancestry, so step up a level
-			} else if ( compiled ) {
-				context = context.parentNode;
-			}
-
-			selector = selector.slice( tokens.shift().value.length );
-		}
-
-		// Fetch a seed set for right-to-left matching
-		i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length;
-		while ( i-- ) {
-			token = tokens[ i ];
-
-			// Abort if we hit a combinator
-			if ( Expr.relative[ ( type = token.type ) ] ) {
-				break;
-			}
-			if ( ( find = Expr.find[ type ] ) ) {
-
-				// Search, expanding context for leading sibling combinators
-				if ( ( seed = find(
-					token.matches[ 0 ].replace( runescape, funescape ),
-					rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) ||
-						context
-				) ) ) {
-
-					// If seed is empty or no tokens remain, we can return early
-					tokens.splice( i, 1 );
-					selector = seed.length && toSelector( tokens );
-					if ( !selector ) {
-						push.apply( results, seed );
-						return results;
-					}
-
-					break;
-				}
-			}
-		}
-	}
-
-	// Compile and execute a filtering function if one is not provided
-	// Provide `match` to avoid retokenization if we modified the selector above
-	( compiled || compile( selector, match ) )(
-		seed,
-		context,
-		!documentIsHTML,
-		results,
-		!context || rsibling.test( selector ) && testContext( context.parentNode ) || context
-	);
-	return results;
-};
-
-// One-time assignments
-
-// Sort stability
-support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando;
-
-// Support: Chrome 14-35+
-// Always assume duplicates if they aren't passed to the comparison function
-support.detectDuplicates = !!hasDuplicate;
-
-// Initialize against the default document
-setDocument();
-
-// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27)
-// Detached nodes confoundingly follow *each other*
-support.sortDetached = assert( function( el ) {
-
-	// Should return 1, but returns 4 (following)
-	return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1;
-} );
-
-// Support: IE<8
-// Prevent attribute/property "interpolation"
-// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx
-if ( !assert( function( el ) {
-	el.innerHTML = "<a href='#'></a>";
-	return el.firstChild.getAttribute( "href" ) === "#";
-} ) ) {
-	addHandle( "type|href|height|width", function( elem, name, isXML ) {
-		if ( !isXML ) {
-			return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 );
-		}
-	} );
-}
-
-// Support: IE<9
-// Use defaultValue in place of getAttribute("value")
-if ( !support.attributes || !assert( function( el ) {
-	el.innerHTML = "<input/>";
-	el.firstChild.setAttribute( "value", "" );
-	return el.firstChild.getAttribute( "value" ) === "";
-} ) ) {
-	addHandle( "value", function( elem, _name, isXML ) {
-		if ( !isXML && elem.nodeName.toLowerCase() === "input" ) {
-			return elem.defaultValue;
-		}
-	} );
-}
-
-// Support: IE<9
-// Use getAttributeNode to fetch booleans when getAttribute lies
-if ( !assert( function( el ) {
-	return el.getAttribute( "disabled" ) == null;
-} ) ) {
-	addHandle( booleans, function( elem, name, isXML ) {
-		var val;
-		if ( !isXML ) {
-			return elem[ name ] === true ? name.toLowerCase() :
-				( val = elem.getAttributeNode( name ) ) && val.specified ?
-					val.value :
-					null;
-		}
-	} );
-}
-
-return Sizzle;
-
-} )( window );
-
-
-
-jQuery.find = Sizzle;
-jQuery.expr = Sizzle.selectors;
-
-// Deprecated
-jQuery.expr[ ":" ] = jQuery.expr.pseudos;
-jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort;
-jQuery.text = Sizzle.getText;
-jQuery.isXMLDoc = Sizzle.isXML;
-jQuery.contains = Sizzle.contains;
-jQuery.escapeSelector = Sizzle.escape;
-
-
-
-
-var dir = function( elem, dir, until ) {
-	var matched = [],
-		truncate = until !== undefined;
-
-	while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) {
-		if ( elem.nodeType === 1 ) {
-			if ( truncate && jQuery( elem ).is( until ) ) {
-				break;
-			}
-			matched.push( elem );
-		}
-	}
-	return matched;
-};
-
-
-var siblings = function( n, elem ) {
-	var matched = [];
-
-	for ( ; n; n = n.nextSibling ) {
-		if ( n.nodeType === 1 && n !== elem ) {
-			matched.push( n );
-		}
-	}
-
-	return matched;
-};
-
-
-var rneedsContext = jQuery.expr.match.needsContext;
-
-
-
-function nodeName( elem, name ) {
-
-	return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase();
-
-}
-var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i );
-
-
-
-// Implement the identical functionality for filter and not
-function winnow( elements, qualifier, not ) {
-	if ( isFunction( qualifier ) ) {
-		return jQuery.grep( elements, function( elem, i ) {
-			return !!qualifier.call( elem, i, elem ) !== not;
-		} );
-	}
-
-	// Single element
-	if ( qualifier.nodeType ) {
-		return jQuery.grep( elements, function( elem ) {
-			return ( elem === qualifier ) !== not;
-		} );
-	}
-
-	// Arraylike of elements (jQuery, arguments, Array)
-	if ( typeof qualifier !== "string" ) {
-		return jQuery.grep( elements, function( elem ) {
-			return ( indexOf.call( qualifier, elem ) > -1 ) !== not;
-		} );
-	}
-
-	// Filtered directly for both simple and complex selectors
-	return jQuery.filter( qualifier, elements, not );
-}
-
-jQuery.filter = function( expr, elems, not ) {
-	var elem = elems[ 0 ];
-
-	if ( not ) {
-		expr = ":not(" + expr + ")";
-	}
-
-	if ( elems.length === 1 && elem.nodeType === 1 ) {
-		return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : [];
-	}
-
-	return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) {
-		return elem.nodeType === 1;
-	} ) );
-};
-
-jQuery.fn.extend( {
-	find: function( selector ) {
-		var i, ret,
-			len = this.length,
-			self = this;
-
-		if ( typeof selector !== "string" ) {
-			return this.pushStack( jQuery( selector ).filter( function() {
-				for ( i = 0; i < len; i++ ) {
-					if ( jQuery.contains( self[ i ], this ) ) {
-						return true;
-					}
-				}
-			} ) );
-		}
-
-		ret = this.pushStack( [] );
-
-		for ( i = 0; i < len; i++ ) {
-			jQuery.find( selector, self[ i ], ret );
-		}
-
-		return len > 1 ? jQuery.uniqueSort( ret ) : ret;
-	},
-	filter: function( selector ) {
-		return this.pushStack( winnow( this, selector || [], false ) );
-	},
-	not: function( selector ) {
-		return this.pushStack( winnow( this, selector || [], true ) );
-	},
-	is: function( selector ) {
-		return !!winnow(
-			this,
-
-			// If this is a positional/relative selector, check membership in the returned set
-			// so $("p:first").is("p:last") won't return true for a doc with two "p".
-			typeof selector === "string" && rneedsContext.test( selector ) ?
-				jQuery( selector ) :
-				selector || [],
-			false
-		).length;
-	}
-} );
-
-
-// Initialize a jQuery object
-
-
-// A central reference to the root jQuery(document)
-var rootjQuery,
-
-	// A simple way to check for HTML strings
-	// Prioritize #id over <tag> to avoid XSS via location.hash (#9521)
-	// Strict HTML recognition (#11290: must start with <)
-	// Shortcut simple #id case for speed
-	rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/,
-
-	init = jQuery.fn.init = function( selector, context, root ) {
-		var match, elem;
-
-		// HANDLE: $(""), $(null), $(undefined), $(false)
-		if ( !selector ) {
-			return this;
-		}
-
-		// Method init() accepts an alternate rootjQuery
-		// so migrate can support jQuery.sub (gh-2101)
-		root = root || rootjQuery;
-
-		// Handle HTML strings
-		if ( typeof selector === "string" ) {
-			if ( selector[ 0 ] === "<" &&
-				selector[ selector.length - 1 ] === ">" &&
-				selector.length >= 3 ) {
-
-				// Assume that strings that start and end with <> are HTML and skip the regex check
-				match = [ null, selector, null ];
-
-			} else {
-				match = rquickExpr.exec( selector );
-			}
-
-			// Match html or make sure no context is specified for #id
-			if ( match && ( match[ 1 ] || !context ) ) {
-
-				// HANDLE: $(html) -> $(array)
-				if ( match[ 1 ] ) {
-					context = context instanceof jQuery ? context[ 0 ] : context;
-
-					// Option to run scripts is true for back-compat
-					// Intentionally let the error be thrown if parseHTML is not present
-					jQuery.merge( this, jQuery.parseHTML(
-						match[ 1 ],
-						context && context.nodeType ? context.ownerDocument || context : document,
-						true
-					) );
-
-					// HANDLE: $(html, props)
-					if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) {
-						for ( match in context ) {
-
-							// Properties of context are called as methods if possible
-							if ( isFunction( this[ match ] ) ) {
-								this[ match ]( context[ match ] );
-
-							// ...and otherwise set as attributes
-							} else {
-								this.attr( match, context[ match ] );
-							}
-						}
-					}
-
-					return this;
-
-				// HANDLE: $(#id)
-				} else {
-					elem = document.getElementById( match[ 2 ] );
-
-					if ( elem ) {
-
-						// Inject the element directly into the jQuery object
-						this[ 0 ] = elem;
-						this.length = 1;
-					}
-					return this;
-				}
-
-			// HANDLE: $(expr, $(...))
-			} else if ( !context || context.jquery ) {
-				return ( context || root ).find( selector );
-
-			// HANDLE: $(expr, context)
-			// (which is just equivalent to: $(context).find(expr)
-			} else {
-				return this.constructor( context ).find( selector );
-			}
-
-		// HANDLE: $(DOMElement)
-		} else if ( selector.nodeType ) {
-			this[ 0 ] = selector;
-			this.length = 1;
-			return this;
-
-		// HANDLE: $(function)
-		// Shortcut for document ready
-		} else if ( isFunction( selector ) ) {
-			return root.ready !== undefined ?
-				root.ready( selector ) :
-
-				// Execute immediately if ready is not present
-				selector( jQuery );
-		}
-
-		return jQuery.makeArray( selector, this );
-	};
-
-// Give the init function the jQuery prototype for later instantiation
-init.prototype = jQuery.fn;
-
-// Initialize central reference
-rootjQuery = jQuery( document );
-
-
-var rparentsprev = /^(?:parents|prev(?:Until|All))/,
-
-	// Methods guaranteed to produce a unique set when starting from a unique set
-	guaranteedUnique = {
-		children: true,
-		contents: true,
-		next: true,
-		prev: true
-	};
-
-jQuery.fn.extend( {
-	has: function( target ) {
-		var targets = jQuery( target, this ),
-			l = targets.length;
-
-		return this.filter( function() {
-			var i = 0;
-			for ( ; i < l; i++ ) {
-				if ( jQuery.contains( this, targets[ i ] ) ) {
-					return true;
-				}
-			}
-		} );
-	},
-
-	closest: function( selectors, context ) {
-		var cur,
-			i = 0,
-			l = this.length,
-			matched = [],
-			targets = typeof selectors !== "string" && jQuery( selectors );
-
-		// Positional selectors never match, since there's no _selection_ context
-		if ( !rneedsContext.test( selectors ) ) {
-			for ( ; i < l; i++ ) {
-				for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) {
-
-					// Always skip document fragments
-					if ( cur.nodeType < 11 && ( targets ?
-						targets.index( cur ) > -1 :
-
-						// Don't pass non-elements to Sizzle
-						cur.nodeType === 1 &&
-							jQuery.find.matchesSelector( cur, selectors ) ) ) {
-
-						matched.push( cur );
-						break;
-					}
-				}
-			}
-		}
-
-		return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched );
-	},
-
-	// Determine the position of an element within the set
-	index: function( elem ) {
-
-		// No argument, return index in parent
-		if ( !elem ) {
-			return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1;
-		}
-
-		// Index in selector
-		if ( typeof elem === "string" ) {
-			return indexOf.call( jQuery( elem ), this[ 0 ] );
-		}
-
-		// Locate the position of the desired element
-		return indexOf.call( this,
-
-			// If it receives a jQuery object, the first element is used
-			elem.jquery ? elem[ 0 ] : elem
-		);
-	},
-
-	add: function( selector, context ) {
-		return this.pushStack(
-			jQuery.uniqueSort(
-				jQuery.merge( this.get(), jQuery( selector, context ) )
-			)
-		);
-	},
-
-	addBack: function( selector ) {
-		return this.add( selector == null ?
-			this.prevObject : this.prevObject.filter( selector )
-		);
-	}
-} );
-
-function sibling( cur, dir ) {
-	while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {}
-	return cur;
-}
-
-jQuery.each( {
-	parent: function( elem ) {
-		var parent = elem.parentNode;
-		return parent && parent.nodeType !== 11 ? parent : null;
-	},
-	parents: function( elem ) {
-		return dir( elem, "parentNode" );
-	},
-	parentsUntil: function( elem, _i, until ) {
-		return dir( elem, "parentNode", until );
-	},
-	next: function( elem ) {
-		return sibling( elem, "nextSibling" );
-	},
-	prev: function( elem ) {
-		return sibling( elem, "previousSibling" );
-	},
-	nextAll: function( elem ) {
-		return dir( elem, "nextSibling" );
-	},
-	prevAll: function( elem ) {
-		return dir( elem, "previousSibling" );
-	},
-	nextUntil: function( elem, _i, until ) {
-		return dir( elem, "nextSibling", until );
-	},
-	prevUntil: function( elem, _i, until ) {
-		return dir( elem, "previousSibling", until );
-	},
-	siblings: function( elem ) {
-		return siblings( ( elem.parentNode || {} ).firstChild, elem );
-	},
-	children: function( elem ) {
-		return siblings( elem.firstChild );
-	},
-	contents: function( elem ) {
-		if ( elem.contentDocument != null &&
-
-			// Support: IE 11+
-			// <object> elements with no `data` attribute has an object
-			// `contentDocument` with a `null` prototype.
-			getProto( elem.contentDocument ) ) {
-
-			return elem.contentDocument;
-		}
-
-		// Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only
-		// Treat the template element as a regular one in browsers that
-		// don't support it.
-		if ( nodeName( elem, "template" ) ) {
-			elem = elem.content || elem;
-		}
-
-		return jQuery.merge( [], elem.childNodes );
-	}
-}, function( name, fn ) {
-	jQuery.fn[ name ] = function( until, selector ) {
-		var matched = jQuery.map( this, fn, until );
-
-		if ( name.slice( -5 ) !== "Until" ) {
-			selector = until;
-		}
-
-		if ( selector && typeof selector === "string" ) {
-			matched = jQuery.filter( selector, matched );
-		}
-
-		if ( this.length > 1 ) {
-
-			// Remove duplicates
-			if ( !guaranteedUnique[ name ] ) {
-				jQuery.uniqueSort( matched );
-			}
-
-			// Reverse order for parents* and prev-derivatives
-			if ( rparentsprev.test( name ) ) {
-				matched.reverse();
-			}
-		}
-
-		return this.pushStack( matched );
-	};
-} );
-var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g );
-
-
-
-// Convert String-formatted options into Object-formatted ones
-function createOptions( options ) {
-	var object = {};
-	jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) {
-		object[ flag ] = true;
-	} );
-	return object;
-}
-
-/*
- * Create a callback list using the following parameters:
- *
- *	options: an optional list of space-separated options that will change how
- *			the callback list behaves or a more traditional option object
- *
- * By default a callback list will act like an event callback list and can be
- * "fired" multiple times.
- *
- * Possible options:
- *
- *	once:			will ensure the callback list can only be fired once (like a Deferred)
- *
- *	memory:			will keep track of previous values and will call any callback added
- *					after the list has been fired right away with the latest "memorized"
- *					values (like a Deferred)
- *
- *	unique:			will ensure a callback can only be added once (no duplicate in the list)
- *
- *	stopOnFalse:	interrupt callings when a callback returns false
- *
- */
-jQuery.Callbacks = function( options ) {
-
-	// Convert options from String-formatted to Object-formatted if needed
-	// (we check in cache first)
-	options = typeof options === "string" ?
-		createOptions( options ) :
-		jQuery.extend( {}, options );
-
-	var // Flag to know if list is currently firing
-		firing,
-
-		// Last fire value for non-forgettable lists
-		memory,
-
-		// Flag to know if list was already fired
-		fired,
-
-		// Flag to prevent firing
-		locked,
-
-		// Actual callback list
-		list = [],
-
-		// Queue of execution data for repeatable lists
-		queue = [],
-
-		// Index of currently firing callback (modified by add/remove as needed)
-		firingIndex = -1,
-
-		// Fire callbacks
-		fire = function() {
-
-			// Enforce single-firing
-			locked = locked || options.once;
-
-			// Execute callbacks for all pending executions,
-			// respecting firingIndex overrides and runtime changes
-			fired = firing = true;
-			for ( ; queue.length; firingIndex = -1 ) {
-				memory = queue.shift();
-				while ( ++firingIndex < list.length ) {
-
-					// Run callback and check for early termination
-					if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false &&
-						options.stopOnFalse ) {
-
-						// Jump to end and forget the data so .add doesn't re-fire
-						firingIndex = list.length;
-						memory = false;
-					}
-				}
-			}
-
-			// Forget the data if we're done with it
-			if ( !options.memory ) {
-				memory = false;
-			}
-
-			firing = false;
-
-			// Clean up if we're done firing for good
-			if ( locked ) {
-
-				// Keep an empty list if we have data for future add calls
-				if ( memory ) {
-					list = [];
-
-				// Otherwise, this object is spent
-				} else {
-					list = "";
-				}
-			}
-		},
-
-		// Actual Callbacks object
-		self = {
-
-			// Add a callback or a collection of callbacks to the list
-			add: function() {
-				if ( list ) {
-
-					// If we have memory from a past run, we should fire after adding
-					if ( memory && !firing ) {
-						firingIndex = list.length - 1;
-						queue.push( memory );
-					}
-
-					( function add( args ) {
-						jQuery.each( args, function( _, arg ) {
-							if ( isFunction( arg ) ) {
-								if ( !options.unique || !self.has( arg ) ) {
-									list.push( arg );
-								}
-							} else if ( arg && arg.length && toType( arg ) !== "string" ) {
-
-								// Inspect recursively
-								add( arg );
-							}
-						} );
-					} )( arguments );
-
-					if ( memory && !firing ) {
-						fire();
-					}
-				}
-				return this;
-			},
-
-			// Remove a callback from the list
-			remove: function() {
-				jQuery.each( arguments, function( _, arg ) {
-					var index;
-					while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) {
-						list.splice( index, 1 );
-
-						// Handle firing indexes
-						if ( index <= firingIndex ) {
-							firingIndex--;
-						}
-					}
-				} );
-				return this;
-			},
-
-			// Check if a given callback is in the list.
-			// If no argument is given, return whether or not list has callbacks attached.
-			has: function( fn ) {
-				return fn ?
-					jQuery.inArray( fn, list ) > -1 :
-					list.length > 0;
-			},
-
-			// Remove all callbacks from the list
-			empty: function() {
-				if ( list ) {
-					list = [];
-				}
-				return this;
-			},
-
-			// Disable .fire and .add
-			// Abort any current/pending executions
-			// Clear all callbacks and values
-			disable: function() {
-				locked = queue = [];
-				list = memory = "";
-				return this;
-			},
-			disabled: function() {
-				return !list;
-			},
-
-			// Disable .fire
-			// Also disable .add unless we have memory (since it would have no effect)
-			// Abort any pending executions
-			lock: function() {
-				locked = queue = [];
-				if ( !memory && !firing ) {
-					list = memory = "";
-				}
-				return this;
-			},
-			locked: function() {
-				return !!locked;
-			},
-
-			// Call all callbacks with the given context and arguments
-			fireWith: function( context, args ) {
-				if ( !locked ) {
-					args = args || [];
-					args = [ context, args.slice ? args.slice() : args ];
-					queue.push( args );
-					if ( !firing ) {
-						fire();
-					}
-				}
-				return this;
-			},
-
-			// Call all the callbacks with the given arguments
-			fire: function() {
-				self.fireWith( this, arguments );
-				return this;
-			},
-
-			// To know if the callbacks have already been called at least once
-			fired: function() {
-				return !!fired;
-			}
-		};
-
-	return self;
-};
-
-
-function Identity( v ) {
-	return v;
-}
-function Thrower( ex ) {
-	throw ex;
-}
-
-function adoptValue( value, resolve, reject, noValue ) {
-	var method;
-
-	try {
-
-		// Check for promise aspect first to privilege synchronous behavior
-		if ( value && isFunction( ( method = value.promise ) ) ) {
-			method.call( value ).done( resolve ).fail( reject );
-
-		// Other thenables
-		} else if ( value && isFunction( ( method = value.then ) ) ) {
-			method.call( value, resolve, reject );
-
-		// Other non-thenables
-		} else {
-
-			// Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer:
-			// * false: [ value ].slice( 0 ) => resolve( value )
-			// * true: [ value ].slice( 1 ) => resolve()
-			resolve.apply( undefined, [ value ].slice( noValue ) );
-		}
-
-	// For Promises/A+, convert exceptions into rejections
-	// Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in
-	// Deferred#then to conditionally suppress rejection.
-	} catch ( value ) {
-
-		// Support: Android 4.0 only
-		// Strict mode functions invoked without .call/.apply get global-object context
-		reject.apply( undefined, [ value ] );
-	}
-}
-
-jQuery.extend( {
-
-	Deferred: function( func ) {
-		var tuples = [
-
-				// action, add listener, callbacks,
-				// ... .then handlers, argument index, [final state]
-				[ "notify", "progress", jQuery.Callbacks( "memory" ),
-					jQuery.Callbacks( "memory" ), 2 ],
-				[ "resolve", "done", jQuery.Callbacks( "once memory" ),
-					jQuery.Callbacks( "once memory" ), 0, "resolved" ],
-				[ "reject", "fail", jQuery.Callbacks( "once memory" ),
-					jQuery.Callbacks( "once memory" ), 1, "rejected" ]
-			],
-			state = "pending",
-			promise = {
-				state: function() {
-					return state;
-				},
-				always: function() {
-					deferred.done( arguments ).fail( arguments );
-					return this;
-				},
-				"catch": function( fn ) {
-					return promise.then( null, fn );
-				},
-
-				// Keep pipe for back-compat
-				pipe: function( /* fnDone, fnFail, fnProgress */ ) {
-					var fns = arguments;
-
-					return jQuery.Deferred( function( newDefer ) {
-						jQuery.each( tuples, function( _i, tuple ) {
-
-							// Map tuples (progress, done, fail) to arguments (done, fail, progress)
-							var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ];
-
-							// deferred.progress(function() { bind to newDefer or newDefer.notify })
-							// deferred.done(function() { bind to newDefer or newDefer.resolve })
-							// deferred.fail(function() { bind to newDefer or newDefer.reject })
-							deferred[ tuple[ 1 ] ]( function() {
-								var returned = fn && fn.apply( this, arguments );
-								if ( returned && isFunction( returned.promise ) ) {
-									returned.promise()
-										.progress( newDefer.notify )
-										.done( newDefer.resolve )
-										.fail( newDefer.reject );
-								} else {
-									newDefer[ tuple[ 0 ] + "With" ](
-										this,
-										fn ? [ returned ] : arguments
-									);
-								}
-							} );
-						} );
-						fns = null;
-					} ).promise();
-				},
-				then: function( onFulfilled, onRejected, onProgress ) {
-					var maxDepth = 0;
-					function resolve( depth, deferred, handler, special ) {
-						return function() {
-							var that = this,
-								args = arguments,
-								mightThrow = function() {
-									var returned, then;
-
-									// Support: Promises/A+ section 2.3.3.3.3
-									// https://promisesaplus.com/#point-59
-									// Ignore double-resolution attempts
-									if ( depth < maxDepth ) {
-										return;
-									}
-
-									returned = handler.apply( that, args );
-
-									// Support: Promises/A+ section 2.3.1
-									// https://promisesaplus.com/#point-48
-									if ( returned === deferred.promise() ) {
-										throw new TypeError( "Thenable self-resolution" );
-									}
-
-									// Support: Promises/A+ sections 2.3.3.1, 3.5
-									// https://promisesaplus.com/#point-54
-									// https://promisesaplus.com/#point-75
-									// Retrieve `then` only once
-									then = returned &&
-
-										// Support: Promises/A+ section 2.3.4
-										// https://promisesaplus.com/#point-64
-										// Only check objects and functions for thenability
-										( typeof returned === "object" ||
-											typeof returned === "function" ) &&
-										returned.then;
-
-									// Handle a returned thenable
-									if ( isFunction( then ) ) {
-
-										// Special processors (notify) just wait for resolution
-										if ( special ) {
-											then.call(
-												returned,
-												resolve( maxDepth, deferred, Identity, special ),
-												resolve( maxDepth, deferred, Thrower, special )
-											);
-
-										// Normal processors (resolve) also hook into progress
-										} else {
-
-											// ...and disregard older resolution values
-											maxDepth++;
-
-											then.call(
-												returned,
-												resolve( maxDepth, deferred, Identity, special ),
-												resolve( maxDepth, deferred, Thrower, special ),
-												resolve( maxDepth, deferred, Identity,
-													deferred.notifyWith )
-											);
-										}
-
-									// Handle all other returned values
-									} else {
-
-										// Only substitute handlers pass on context
-										// and multiple values (non-spec behavior)
-										if ( handler !== Identity ) {
-											that = undefined;
-											args = [ returned ];
-										}
-
-										// Process the value(s)
-										// Default process is resolve
-										( special || deferred.resolveWith )( that, args );
-									}
-								},
-
-								// Only normal processors (resolve) catch and reject exceptions
-								process = special ?
-									mightThrow :
-									function() {
-										try {
-											mightThrow();
-										} catch ( e ) {
-
-											if ( jQuery.Deferred.exceptionHook ) {
-												jQuery.Deferred.exceptionHook( e,
-													process.stackTrace );
-											}
-
-											// Support: Promises/A+ section 2.3.3.3.4.1
-											// https://promisesaplus.com/#point-61
-											// Ignore post-resolution exceptions
-											if ( depth + 1 >= maxDepth ) {
-
-												// Only substitute handlers pass on context
-												// and multiple values (non-spec behavior)
-												if ( handler !== Thrower ) {
-													that = undefined;
-													args = [ e ];
-												}
-
-												deferred.rejectWith( that, args );
-											}
-										}
-									};
-
-							// Support: Promises/A+ section 2.3.3.3.1
-							// https://promisesaplus.com/#point-57
-							// Re-resolve promises immediately to dodge false rejection from
-							// subsequent errors
-							if ( depth ) {
-								process();
-							} else {
-
-								// Call an optional hook to record the stack, in case of exception
-								// since it's otherwise lost when execution goes async
-								if ( jQuery.Deferred.getStackHook ) {
-									process.stackTrace = jQuery.Deferred.getStackHook();
-								}
-								window.setTimeout( process );
-							}
-						};
-					}
-
-					return jQuery.Deferred( function( newDefer ) {
-
-						// progress_handlers.add( ... )
-						tuples[ 0 ][ 3 ].add(
-							resolve(
-								0,
-								newDefer,
-								isFunction( onProgress ) ?
-									onProgress :
-									Identity,
-								newDefer.notifyWith
-							)
-						);
-
-						// fulfilled_handlers.add( ... )
-						tuples[ 1 ][ 3 ].add(
-							resolve(
-								0,
-								newDefer,
-								isFunction( onFulfilled ) ?
-									onFulfilled :
-									Identity
-							)
-						);
-
-						// rejected_handlers.add( ... )
-						tuples[ 2 ][ 3 ].add(
-							resolve(
-								0,
-								newDefer,
-								isFunction( onRejected ) ?
-									onRejected :
-									Thrower
-							)
-						);
-					} ).promise();
-				},
-
-				// Get a promise for this deferred
-				// If obj is provided, the promise aspect is added to the object
-				promise: function( obj ) {
-					return obj != null ? jQuery.extend( obj, promise ) : promise;
-				}
-			},
-			deferred = {};
-
-		// Add list-specific methods
-		jQuery.each( tuples, function( i, tuple ) {
-			var list = tuple[ 2 ],
-				stateString = tuple[ 5 ];
-
-			// promise.progress = list.add
-			// promise.done = list.add
-			// promise.fail = list.add
-			promise[ tuple[ 1 ] ] = list.add;
-
-			// Handle state
-			if ( stateString ) {
-				list.add(
-					function() {
-
-						// state = "resolved" (i.e., fulfilled)
-						// state = "rejected"
-						state = stateString;
-					},
-
-					// rejected_callbacks.disable
-					// fulfilled_callbacks.disable
-					tuples[ 3 - i ][ 2 ].disable,
-
-					// rejected_handlers.disable
-					// fulfilled_handlers.disable
-					tuples[ 3 - i ][ 3 ].disable,
-
-					// progress_callbacks.lock
-					tuples[ 0 ][ 2 ].lock,
-
-					// progress_handlers.lock
-					tuples[ 0 ][ 3 ].lock
-				);
-			}
-
-			// progress_handlers.fire
-			// fulfilled_handlers.fire
-			// rejected_handlers.fire
-			list.add( tuple[ 3 ].fire );
-
-			// deferred.notify = function() { deferred.notifyWith(...) }
-			// deferred.resolve = function() { deferred.resolveWith(...) }
-			// deferred.reject = function() { deferred.rejectWith(...) }
-			deferred[ tuple[ 0 ] ] = function() {
-				deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments );
-				return this;
-			};
-
-			// deferred.notifyWith = list.fireWith
-			// deferred.resolveWith = list.fireWith
-			// deferred.rejectWith = list.fireWith
-			deferred[ tuple[ 0 ] + "With" ] = list.fireWith;
-		} );
-
-		// Make the deferred a promise
-		promise.promise( deferred );
-
-		// Call given func if any
-		if ( func ) {
-			func.call( deferred, deferred );
-		}
-
-		// All done!
-		return deferred;
-	},
-
-	// Deferred helper
-	when: function( singleValue ) {
-		var
-
-			// count of uncompleted subordinates
-			remaining = arguments.length,
-
-			// count of unprocessed arguments
-			i = remaining,
-
-			// subordinate fulfillment data
-			resolveContexts = Array( i ),
-			resolveValues = slice.call( arguments ),
-
-			// the primary Deferred
-			primary = jQuery.Deferred(),
-
-			// subordinate callback factory
-			updateFunc = function( i ) {
-				return function( value ) {
-					resolveContexts[ i ] = this;
-					resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value;
-					if ( !( --remaining ) ) {
-						primary.resolveWith( resolveContexts, resolveValues );
-					}
-				};
-			};
-
-		// Single- and empty arguments are adopted like Promise.resolve
-		if ( remaining <= 1 ) {
-			adoptValue( singleValue, primary.done( updateFunc( i ) ).resolve, primary.reject,
-				!remaining );
-
-			// Use .then() to unwrap secondary thenables (cf. gh-3000)
-			if ( primary.state() === "pending" ||
-				isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) {
-
-				return primary.then();
-			}
-		}
-
-		// Multiple arguments are aggregated like Promise.all array elements
-		while ( i-- ) {
-			adoptValue( resolveValues[ i ], updateFunc( i ), primary.reject );
-		}
-
-		return primary.promise();
-	}
-} );
-
-
-// These usually indicate a programmer mistake during development,
-// warn about them ASAP rather than swallowing them by default.
-var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/;
-
-jQuery.Deferred.exceptionHook = function( error, stack ) {
-
-	// Support: IE 8 - 9 only
-	// Console exists when dev tools are open, which can happen at any time
-	if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) {
-		window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack );
-	}
-};
-
-
-
-
-jQuery.readyException = function( error ) {
-	window.setTimeout( function() {
-		throw error;
-	} );
-};
-
-
-
-
-// The deferred used on DOM ready
-var readyList = jQuery.Deferred();
-
-jQuery.fn.ready = function( fn ) {
-
-	readyList
-		.then( fn )
-
-		// Wrap jQuery.readyException in a function so that the lookup
-		// happens at the time of error handling instead of callback
-		// registration.
-		.catch( function( error ) {
-			jQuery.readyException( error );
-		} );
-
-	return this;
-};
-
-jQuery.extend( {
-
-	// Is the DOM ready to be used? Set to true once it occurs.
-	isReady: false,
-
-	// A counter to track how many items to wait for before
-	// the ready event fires. See #6781
-	readyWait: 1,
-
-	// Handle when the DOM is ready
-	ready: function( wait ) {
-
-		// Abort if there are pending holds or we're already ready
-		if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) {
-			return;
-		}
-
-		// Remember that the DOM is ready
-		jQuery.isReady = true;
-
-		// If a normal DOM Ready event fired, decrement, and wait if need be
-		if ( wait !== true && --jQuery.readyWait > 0 ) {
-			return;
-		}
-
-		// If there are functions bound, to execute
-		readyList.resolveWith( document, [ jQuery ] );
-	}
-} );
-
-jQuery.ready.then = readyList.then;
-
-// The ready event handler and self cleanup method
-function completed() {
-	document.removeEventListener( "DOMContentLoaded", completed );
-	window.removeEventListener( "load", completed );
-	jQuery.ready();
-}
-
-// Catch cases where $(document).ready() is called
-// after the browser event has already occurred.
-// Support: IE <=9 - 10 only
-// Older IE sometimes signals "interactive" too soon
-if ( document.readyState === "complete" ||
-	( document.readyState !== "loading" && !document.documentElement.doScroll ) ) {
-
-	// Handle it asynchronously to allow scripts the opportunity to delay ready
-	window.setTimeout( jQuery.ready );
-
-} else {
-
-	// Use the handy event callback
-	document.addEventListener( "DOMContentLoaded", completed );
-
-	// A fallback to window.onload, that will always work
-	window.addEventListener( "load", completed );
-}
-
-
-
-
-// Multifunctional method to get and set values of a collection
-// The value/s can optionally be executed if it's a function
-var access = function( elems, fn, key, value, chainable, emptyGet, raw ) {
-	var i = 0,
-		len = elems.length,
-		bulk = key == null;
-
-	// Sets many values
-	if ( toType( key ) === "object" ) {
-		chainable = true;
-		for ( i in key ) {
-			access( elems, fn, i, key[ i ], true, emptyGet, raw );
-		}
-
-	// Sets one value
-	} else if ( value !== undefined ) {
-		chainable = true;
-
-		if ( !isFunction( value ) ) {
-			raw = true;
-		}
-
-		if ( bulk ) {
-
-			// Bulk operations run against the entire set
-			if ( raw ) {
-				fn.call( elems, value );
-				fn = null;
-
-			// ...except when executing function values
-			} else {
-				bulk = fn;
-				fn = function( elem, _key, value ) {
-					return bulk.call( jQuery( elem ), value );
-				};
-			}
-		}
-
-		if ( fn ) {
-			for ( ; i < len; i++ ) {
-				fn(
-					elems[ i ], key, raw ?
-						value :
-						value.call( elems[ i ], i, fn( elems[ i ], key ) )
-				);
-			}
-		}
-	}
-
-	if ( chainable ) {
-		return elems;
-	}
-
-	// Gets
-	if ( bulk ) {
-		return fn.call( elems );
-	}
-
-	return len ? fn( elems[ 0 ], key ) : emptyGet;
-};
-
-
-// Matches dashed string for camelizing
-var rmsPrefix = /^-ms-/,
-	rdashAlpha = /-([a-z])/g;
-
-// Used by camelCase as callback to replace()
-function fcamelCase( _all, letter ) {
-	return letter.toUpperCase();
-}
-
-// Convert dashed to camelCase; used by the css and data modules
-// Support: IE <=9 - 11, Edge 12 - 15
-// Microsoft forgot to hump their vendor prefix (#9572)
-function camelCase( string ) {
-	return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase );
-}
-var acceptData = function( owner ) {
-
-	// Accepts only:
-	//  - Node
-	//    - Node.ELEMENT_NODE
-	//    - Node.DOCUMENT_NODE
-	//  - Object
-	//    - Any
-	return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType );
-};
-
-
-
-
-function Data() {
-	this.expando = jQuery.expando + Data.uid++;
-}
-
-Data.uid = 1;
-
-Data.prototype = {
-
-	cache: function( owner ) {
-
-		// Check if the owner object already has a cache
-		var value = owner[ this.expando ];
-
-		// If not, create one
-		if ( !value ) {
-			value = {};
-
-			// We can accept data for non-element nodes in modern browsers,
-			// but we should not, see #8335.
-			// Always return an empty object.
-			if ( acceptData( owner ) ) {
-
-				// If it is a node unlikely to be stringify-ed or looped over
-				// use plain assignment
-				if ( owner.nodeType ) {
-					owner[ this.expando ] = value;
-
-				// Otherwise secure it in a non-enumerable property
-				// configurable must be true to allow the property to be
-				// deleted when data is removed
-				} else {
-					Object.defineProperty( owner, this.expando, {
-						value: value,
-						configurable: true
-					} );
-				}
-			}
-		}
-
-		return value;
-	},
-	set: function( owner, data, value ) {
-		var prop,
-			cache = this.cache( owner );
-
-		// Handle: [ owner, key, value ] args
-		// Always use camelCase key (gh-2257)
-		if ( typeof data === "string" ) {
-			cache[ camelCase( data ) ] = value;
-
-		// Handle: [ owner, { properties } ] args
-		} else {
-
-			// Copy the properties one-by-one to the cache object
-			for ( prop in data ) {
-				cache[ camelCase( prop ) ] = data[ prop ];
-			}
-		}
-		return cache;
-	},
-	get: function( owner, key ) {
-		return key === undefined ?
-			this.cache( owner ) :
-
-			// Always use camelCase key (gh-2257)
-			owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ];
-	},
-	access: function( owner, key, value ) {
-
-		// In cases where either:
-		//
-		//   1. No key was specified
-		//   2. A string key was specified, but no value provided
-		//
-		// Take the "read" path and allow the get method to determine
-		// which value to return, respectively either:
-		//
-		//   1. The entire cache object
-		//   2. The data stored at the key
-		//
-		if ( key === undefined ||
-				( ( key && typeof key === "string" ) && value === undefined ) ) {
-
-			return this.get( owner, key );
-		}
-
-		// When the key is not a string, or both a key and value
-		// are specified, set or extend (existing objects) with either:
-		//
-		//   1. An object of properties
-		//   2. A key and value
-		//
-		this.set( owner, key, value );
-
-		// Since the "set" path can have two possible entry points
-		// return the expected data based on which path was taken[*]
-		return value !== undefined ? value : key;
-	},
-	remove: function( owner, key ) {
-		var i,
-			cache = owner[ this.expando ];
-
-		if ( cache === undefined ) {
-			return;
-		}
-
-		if ( key !== undefined ) {
-
-			// Support array or space separated string of keys
-			if ( Array.isArray( key ) ) {
-
-				// If key is an array of keys...
-				// We always set camelCase keys, so remove that.
-				key = key.map( camelCase );
-			} else {
-				key = camelCase( key );
-
-				// If a key with the spaces exists, use it.
-				// Otherwise, create an array by matching non-whitespace
-				key = key in cache ?
-					[ key ] :
-					( key.match( rnothtmlwhite ) || [] );
-			}
-
-			i = key.length;
-
-			while ( i-- ) {
-				delete cache[ key[ i ] ];
-			}
-		}
-
-		// Remove the expando if there's no more data
-		if ( key === undefined || jQuery.isEmptyObject( cache ) ) {
-
-			// Support: Chrome <=35 - 45
-			// Webkit & Blink performance suffers when deleting properties
-			// from DOM nodes, so set to undefined instead
-			// https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted)
-			if ( owner.nodeType ) {
-				owner[ this.expando ] = undefined;
-			} else {
-				delete owner[ this.expando ];
-			}
-		}
-	},
-	hasData: function( owner ) {
-		var cache = owner[ this.expando ];
-		return cache !== undefined && !jQuery.isEmptyObject( cache );
-	}
-};
-var dataPriv = new Data();
-
-var dataUser = new Data();
-
-
-
-//	Implementation Summary
-//
-//	1. Enforce API surface and semantic compatibility with 1.9.x branch
-//	2. Improve the module's maintainability by reducing the storage
-//		paths to a single mechanism.
-//	3. Use the same single mechanism to support "private" and "user" data.
-//	4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData)
-//	5. Avoid exposing implementation details on user objects (eg. expando properties)
-//	6. Provide a clear path for implementation upgrade to WeakMap in 2014
-
-var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/,
-	rmultiDash = /[A-Z]/g;
-
-function getData( data ) {
-	if ( data === "true" ) {
-		return true;
-	}
-
-	if ( data === "false" ) {
-		return false;
-	}
-
-	if ( data === "null" ) {
-		return null;
-	}
-
-	// Only convert to a number if it doesn't change the string
-	if ( data === +data + "" ) {
-		return +data;
-	}
-
-	if ( rbrace.test( data ) ) {
-		return JSON.parse( data );
-	}
-
-	return data;
-}
-
-function dataAttr( elem, key, data ) {
-	var name;
-
-	// If nothing was found internally, try to fetch any
-	// data from the HTML5 data-* attribute
-	if ( data === undefined && elem.nodeType === 1 ) {
-		name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase();
-		data = elem.getAttribute( name );
-
-		if ( typeof data === "string" ) {
-			try {
-				data = getData( data );
-			} catch ( e ) {}
-
-			// Make sure we set the data so it isn't changed later
-			dataUser.set( elem, key, data );
-		} else {
-			data = undefined;
-		}
-	}
-	return data;
-}
-
-jQuery.extend( {
-	hasData: function( elem ) {
-		return dataUser.hasData( elem ) || dataPriv.hasData( elem );
-	},
-
-	data: function( elem, name, data ) {
-		return dataUser.access( elem, name, data );
-	},
-
-	removeData: function( elem, name ) {
-		dataUser.remove( elem, name );
-	},
-
-	// TODO: Now that all calls to _data and _removeData have been replaced
-	// with direct calls to dataPriv methods, these can be deprecated.
-	_data: function( elem, name, data ) {
-		return dataPriv.access( elem, name, data );
-	},
-
-	_removeData: function( elem, name ) {
-		dataPriv.remove( elem, name );
-	}
-} );
-
-jQuery.fn.extend( {
-	data: function( key, value ) {
-		var i, name, data,
-			elem = this[ 0 ],
-			attrs = elem && elem.attributes;
-
-		// Gets all values
-		if ( key === undefined ) {
-			if ( this.length ) {
-				data = dataUser.get( elem );
-
-				if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) {
-					i = attrs.length;
-					while ( i-- ) {
-
-						// Support: IE 11 only
-						// The attrs elements can be null (#14894)
-						if ( attrs[ i ] ) {
-							name = attrs[ i ].name;
-							if ( name.indexOf( "data-" ) === 0 ) {
-								name = camelCase( name.slice( 5 ) );
-								dataAttr( elem, name, data[ name ] );
-							}
-						}
-					}
-					dataPriv.set( elem, "hasDataAttrs", true );
-				}
-			}
-
-			return data;
-		}
-
-		// Sets multiple values
-		if ( typeof key === "object" ) {
-			return this.each( function() {
-				dataUser.set( this, key );
-			} );
-		}
-
-		return access( this, function( value ) {
-			var data;
-
-			// The calling jQuery object (element matches) is not empty
-			// (and therefore has an element appears at this[ 0 ]) and the
-			// `value` parameter was not undefined. An empty jQuery object
-			// will result in `undefined` for elem = this[ 0 ] which will
-			// throw an exception if an attempt to read a data cache is made.
-			if ( elem && value === undefined ) {
-
-				// Attempt to get data from the cache
-				// The key will always be camelCased in Data
-				data = dataUser.get( elem, key );
-				if ( data !== undefined ) {
-					return data;
-				}
-
-				// Attempt to "discover" the data in
-				// HTML5 custom data-* attrs
-				data = dataAttr( elem, key );
-				if ( data !== undefined ) {
-					return data;
-				}
-
-				// We tried really hard, but the data doesn't exist.
-				return;
-			}
-
-			// Set the data...
-			this.each( function() {
-
-				// We always store the camelCased key
-				dataUser.set( this, key, value );
-			} );
-		}, null, value, arguments.length > 1, null, true );
-	},
-
-	removeData: function( key ) {
-		return this.each( function() {
-			dataUser.remove( this, key );
-		} );
-	}
-} );
-
-
-jQuery.extend( {
-	queue: function( elem, type, data ) {
-		var queue;
-
-		if ( elem ) {
-			type = ( type || "fx" ) + "queue";
-			queue = dataPriv.get( elem, type );
-
-			// Speed up dequeue by getting out quickly if this is just a lookup
-			if ( data ) {
-				if ( !queue || Array.isArray( data ) ) {
-					queue = dataPriv.access( elem, type, jQuery.makeArray( data ) );
-				} else {
-					queue.push( data );
-				}
-			}
-			return queue || [];
-		}
-	},
-
-	dequeue: function( elem, type ) {
-		type = type || "fx";
-
-		var queue = jQuery.queue( elem, type ),
-			startLength = queue.length,
-			fn = queue.shift(),
-			hooks = jQuery._queueHooks( elem, type ),
-			next = function() {
-				jQuery.dequeue( elem, type );
-			};
-
-		// If the fx queue is dequeued, always remove the progress sentinel
-		if ( fn === "inprogress" ) {
-			fn = queue.shift();
-			startLength--;
-		}
-
-		if ( fn ) {
-
-			// Add a progress sentinel to prevent the fx queue from being
-			// automatically dequeued
-			if ( type === "fx" ) {
-				queue.unshift( "inprogress" );
-			}
-
-			// Clear up the last queue stop function
-			delete hooks.stop;
-			fn.call( elem, next, hooks );
-		}
-
-		if ( !startLength && hooks ) {
-			hooks.empty.fire();
-		}
-	},
-
-	// Not public - generate a queueHooks object, or return the current one
-	_queueHooks: function( elem, type ) {
-		var key = type + "queueHooks";
-		return dataPriv.get( elem, key ) || dataPriv.access( elem, key, {
-			empty: jQuery.Callbacks( "once memory" ).add( function() {
-				dataPriv.remove( elem, [ type + "queue", key ] );
-			} )
-		} );
-	}
-} );
-
-jQuery.fn.extend( {
-	queue: function( type, data ) {
-		var setter = 2;
-
-		if ( typeof type !== "string" ) {
-			data = type;
-			type = "fx";
-			setter--;
-		}
-
-		if ( arguments.length < setter ) {
-			return jQuery.queue( this[ 0 ], type );
-		}
-
-		return data === undefined ?
-			this :
-			this.each( function() {
-				var queue = jQuery.queue( this, type, data );
-
-				// Ensure a hooks for this queue
-				jQuery._queueHooks( this, type );
-
-				if ( type === "fx" && queue[ 0 ] !== "inprogress" ) {
-					jQuery.dequeue( this, type );
-				}
-			} );
-	},
-	dequeue: function( type ) {
-		return this.each( function() {
-			jQuery.dequeue( this, type );
-		} );
-	},
-	clearQueue: function( type ) {
-		return this.queue( type || "fx", [] );
-	},
-
-	// Get a promise resolved when queues of a certain type
-	// are emptied (fx is the type by default)
-	promise: function( type, obj ) {
-		var tmp,
-			count = 1,
-			defer = jQuery.Deferred(),
-			elements = this,
-			i = this.length,
-			resolve = function() {
-				if ( !( --count ) ) {
-					defer.resolveWith( elements, [ elements ] );
-				}
-			};
-
-		if ( typeof type !== "string" ) {
-			obj = type;
-			type = undefined;
-		}
-		type = type || "fx";
-
-		while ( i-- ) {
-			tmp = dataPriv.get( elements[ i ], type + "queueHooks" );
-			if ( tmp && tmp.empty ) {
-				count++;
-				tmp.empty.add( resolve );
-			}
-		}
-		resolve();
-		return defer.promise( obj );
-	}
-} );
-var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source;
-
-var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" );
-
-
-var cssExpand = [ "Top", "Right", "Bottom", "Left" ];
-
-var documentElement = document.documentElement;
-
-
-
-	var isAttached = function( elem ) {
-			return jQuery.contains( elem.ownerDocument, elem );
-		},
-		composed = { composed: true };
-
-	// Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only
-	// Check attachment across shadow DOM boundaries when possible (gh-3504)
-	// Support: iOS 10.0-10.2 only
-	// Early iOS 10 versions support `attachShadow` but not `getRootNode`,
-	// leading to errors. We need to check for `getRootNode`.
-	if ( documentElement.getRootNode ) {
-		isAttached = function( elem ) {
-			return jQuery.contains( elem.ownerDocument, elem ) ||
-				elem.getRootNode( composed ) === elem.ownerDocument;
-		};
-	}
-var isHiddenWithinTree = function( elem, el ) {
-
-		// isHiddenWithinTree might be called from jQuery#filter function;
-		// in that case, element will be second argument
-		elem = el || elem;
-
-		// Inline style trumps all
-		return elem.style.display === "none" ||
-			elem.style.display === "" &&
-
-			// Otherwise, check computed style
-			// Support: Firefox <=43 - 45
-			// Disconnected elements can have computed display: none, so first confirm that elem is
-			// in the document.
-			isAttached( elem ) &&
-
-			jQuery.css( elem, "display" ) === "none";
-	};
-
-
-
-function adjustCSS( elem, prop, valueParts, tween ) {
-	var adjusted, scale,
-		maxIterations = 20,
-		currentValue = tween ?
-			function() {
-				return tween.cur();
-			} :
-			function() {
-				return jQuery.css( elem, prop, "" );
-			},
-		initial = currentValue(),
-		unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ),
-
-		// Starting value computation is required for potential unit mismatches
-		initialInUnit = elem.nodeType &&
-			( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) &&
-			rcssNum.exec( jQuery.css( elem, prop ) );
-
-	if ( initialInUnit && initialInUnit[ 3 ] !== unit ) {
-
-		// Support: Firefox <=54
-		// Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144)
-		initial = initial / 2;
-
-		// Trust units reported by jQuery.css
-		unit = unit || initialInUnit[ 3 ];
-
-		// Iteratively approximate from a nonzero starting point
-		initialInUnit = +initial || 1;
-
-		while ( maxIterations-- ) {
-
-			// Evaluate and update our best guess (doubling guesses that zero out).
-			// Finish if the scale equals or crosses 1 (making the old*new product non-positive).
-			jQuery.style( elem, prop, initialInUnit + unit );
-			if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) {
-				maxIterations = 0;
-			}
-			initialInUnit = initialInUnit / scale;
-
-		}
-
-		initialInUnit = initialInUnit * 2;
-		jQuery.style( elem, prop, initialInUnit + unit );
-
-		// Make sure we update the tween properties later on
-		valueParts = valueParts || [];
-	}
-
-	if ( valueParts ) {
-		initialInUnit = +initialInUnit || +initial || 0;
-
-		// Apply relative offset (+=/-=) if specified
-		adjusted = valueParts[ 1 ] ?
-			initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] :
-			+valueParts[ 2 ];
-		if ( tween ) {
-			tween.unit = unit;
-			tween.start = initialInUnit;
-			tween.end = adjusted;
-		}
-	}
-	return adjusted;
-}
-
-
-var defaultDisplayMap = {};
-
-function getDefaultDisplay( elem ) {
-	var temp,
-		doc = elem.ownerDocument,
-		nodeName = elem.nodeName,
-		display = defaultDisplayMap[ nodeName ];
-
-	if ( display ) {
-		return display;
-	}
-
-	temp = doc.body.appendChild( doc.createElement( nodeName ) );
-	display = jQuery.css( temp, "display" );
-
-	temp.parentNode.removeChild( temp );
-
-	if ( display === "none" ) {
-		display = "block";
-	}
-	defaultDisplayMap[ nodeName ] = display;
-
-	return display;
-}
-
-function showHide( elements, show ) {
-	var display, elem,
-		values = [],
-		index = 0,
-		length = elements.length;
-
-	// Determine new display value for elements that need to change
-	for ( ; index < length; index++ ) {
-		elem = elements[ index ];
-		if ( !elem.style ) {
-			continue;
-		}
-
-		display = elem.style.display;
-		if ( show ) {
-
-			// Since we force visibility upon cascade-hidden elements, an immediate (and slow)
-			// check is required in this first loop unless we have a nonempty display value (either
-			// inline or about-to-be-restored)
-			if ( display === "none" ) {
-				values[ index ] = dataPriv.get( elem, "display" ) || null;
-				if ( !values[ index ] ) {
-					elem.style.display = "";
-				}
-			}
-			if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) {
-				values[ index ] = getDefaultDisplay( elem );
-			}
-		} else {
-			if ( display !== "none" ) {
-				values[ index ] = "none";
-
-				// Remember what we're overwriting
-				dataPriv.set( elem, "display", display );
-			}
-		}
-	}
-
-	// Set the display of the elements in a second loop to avoid constant reflow
-	for ( index = 0; index < length; index++ ) {
-		if ( values[ index ] != null ) {
-			elements[ index ].style.display = values[ index ];
-		}
-	}
-
-	return elements;
-}
-
-jQuery.fn.extend( {
-	show: function() {
-		return showHide( this, true );
-	},
-	hide: function() {
-		return showHide( this );
-	},
-	toggle: function( state ) {
-		if ( typeof state === "boolean" ) {
-			return state ? this.show() : this.hide();
-		}
-
-		return this.each( function() {
-			if ( isHiddenWithinTree( this ) ) {
-				jQuery( this ).show();
-			} else {
-				jQuery( this ).hide();
-			}
-		} );
-	}
-} );
-var rcheckableType = ( /^(?:checkbox|radio)$/i );
-
-var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i );
-
-var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i );
-
-
-
-( function() {
-	var fragment = document.createDocumentFragment(),
-		div = fragment.appendChild( document.createElement( "div" ) ),
-		input = document.createElement( "input" );
-
-	// Support: Android 4.0 - 4.3 only
-	// Check state lost if the name is set (#11217)
-	// Support: Windows Web Apps (WWA)
-	// `name` and `type` must use .setAttribute for WWA (#14901)
-	input.setAttribute( "type", "radio" );
-	input.setAttribute( "checked", "checked" );
-	input.setAttribute( "name", "t" );
-
-	div.appendChild( input );
-
-	// Support: Android <=4.1 only
-	// Older WebKit doesn't clone checked state correctly in fragments
-	support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked;
-
-	// Support: IE <=11 only
-	// Make sure textarea (and checkbox) defaultValue is properly cloned
-	div.innerHTML = "<textarea>x</textarea>";
-	support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue;
-
-	// Support: IE <=9 only
-	// IE <=9 replaces <option> tags with their contents when inserted outside of
-	// the select element.
-	div.innerHTML = "<option></option>";
-	support.option = !!div.lastChild;
-} )();
-
-
-// We have to close these tags to support XHTML (#13200)
-var wrapMap = {
-
-	// XHTML parsers do not magically insert elements in the
-	// same way that tag soup parsers do. So we cannot shorten
-	// this by omitting <tbody> or other required elements.
-	thead: [ 1, "<table>", "</table>" ],
-	col: [ 2, "<table><colgroup>", "</colgroup></table>" ],
-	tr: [ 2, "<table><tbody>", "</tbody></table>" ],
-	td: [ 3, "<table><tbody><tr>", "</tr></tbody></table>" ],
-
-	_default: [ 0, "", "" ]
-};
-
-wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead;
-wrapMap.th = wrapMap.td;
-
-// Support: IE <=9 only
-if ( !support.option ) {
-	wrapMap.optgroup = wrapMap.option = [ 1, "<select multiple='multiple'>", "</select>" ];
-}
-
-
-function getAll( context, tag ) {
-
-	// Support: IE <=9 - 11 only
-	// Use typeof to avoid zero-argument method invocation on host objects (#15151)
-	var ret;
-
-	if ( typeof context.getElementsByTagName !== "undefined" ) {
-		ret = context.getElementsByTagName( tag || "*" );
-
-	} else if ( typeof context.querySelectorAll !== "undefined" ) {
-		ret = context.querySelectorAll( tag || "*" );
-
-	} else {
-		ret = [];
-	}
-
-	if ( tag === undefined || tag && nodeName( context, tag ) ) {
-		return jQuery.merge( [ context ], ret );
-	}
-
-	return ret;
-}
-
-
-// Mark scripts as having already been evaluated
-function setGlobalEval( elems, refElements ) {
-	var i = 0,
-		l = elems.length;
-
-	for ( ; i < l; i++ ) {
-		dataPriv.set(
-			elems[ i ],
-			"globalEval",
-			!refElements || dataPriv.get( refElements[ i ], "globalEval" )
-		);
-	}
-}
-
-
-var rhtml = /<|&#?\w+;/;
-
-function buildFragment( elems, context, scripts, selection, ignored ) {
-	var elem, tmp, tag, wrap, attached, j,
-		fragment = context.createDocumentFragment(),
-		nodes = [],
-		i = 0,
-		l = elems.length;
-
-	for ( ; i < l; i++ ) {
-		elem = elems[ i ];
-
-		if ( elem || elem === 0 ) {
-
-			// Add nodes directly
-			if ( toType( elem ) === "object" ) {
-
-				// Support: Android <=4.0 only, PhantomJS 1 only
-				// push.apply(_, arraylike) throws on ancient WebKit
-				jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem );
-
-			// Convert non-html into a text node
-			} else if ( !rhtml.test( elem ) ) {
-				nodes.push( context.createTextNode( elem ) );
-
-			// Convert html into DOM nodes
-			} else {
-				tmp = tmp || fragment.appendChild( context.createElement( "div" ) );
-
-				// Deserialize a standard representation
-				tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase();
-				wrap = wrapMap[ tag ] || wrapMap._default;
-				tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ];
-
-				// Descend through wrappers to the right content
-				j = wrap[ 0 ];
-				while ( j-- ) {
-					tmp = tmp.lastChild;
-				}
-
-				// Support: Android <=4.0 only, PhantomJS 1 only
-				// push.apply(_, arraylike) throws on ancient WebKit
-				jQuery.merge( nodes, tmp.childNodes );
-
-				// Remember the top-level container
-				tmp = fragment.firstChild;
-
-				// Ensure the created nodes are orphaned (#12392)
-				tmp.textContent = "";
-			}
-		}
-	}
-
-	// Remove wrapper from fragment
-	fragment.textContent = "";
-
-	i = 0;
-	while ( ( elem = nodes[ i++ ] ) ) {
-
-		// Skip elements already in the context collection (trac-4087)
-		if ( selection && jQuery.inArray( elem, selection ) > -1 ) {
-			if ( ignored ) {
-				ignored.push( elem );
-			}
-			continue;
-		}
-
-		attached = isAttached( elem );
-
-		// Append to fragment
-		tmp = getAll( fragment.appendChild( elem ), "script" );
-
-		// Preserve script evaluation history
-		if ( attached ) {
-			setGlobalEval( tmp );
-		}
-
-		// Capture executables
-		if ( scripts ) {
-			j = 0;
-			while ( ( elem = tmp[ j++ ] ) ) {
-				if ( rscriptType.test( elem.type || "" ) ) {
-					scripts.push( elem );
-				}
-			}
-		}
-	}
-
-	return fragment;
-}
-
-
-var rtypenamespace = /^([^.]*)(?:\.(.+)|)/;
-
-function returnTrue() {
-	return true;
-}
-
-function returnFalse() {
-	return false;
-}
-
-// Support: IE <=9 - 11+
-// focus() and blur() are asynchronous, except when they are no-op.
-// So expect focus to be synchronous when the element is already active,
-// and blur to be synchronous when the element is not already active.
-// (focus and blur are always synchronous in other supported browsers,
-// this just defines when we can count on it).
-function expectSync( elem, type ) {
-	return ( elem === safeActiveElement() ) === ( type === "focus" );
-}
-
-// Support: IE <=9 only
-// Accessing document.activeElement can throw unexpectedly
-// https://bugs.jquery.com/ticket/13393
-function safeActiveElement() {
-	try {
-		return document.activeElement;
-	} catch ( err ) { }
-}
-
-function on( elem, types, selector, data, fn, one ) {
-	var origFn, type;
-
-	// Types can be a map of types/handlers
-	if ( typeof types === "object" ) {
-
-		// ( types-Object, selector, data )
-		if ( typeof selector !== "string" ) {
-
-			// ( types-Object, data )
-			data = data || selector;
-			selector = undefined;
-		}
-		for ( type in types ) {
-			on( elem, type, selector, data, types[ type ], one );
-		}
-		return elem;
-	}
-
-	if ( data == null && fn == null ) {
-
-		// ( types, fn )
-		fn = selector;
-		data = selector = undefined;
-	} else if ( fn == null ) {
-		if ( typeof selector === "string" ) {
-
-			// ( types, selector, fn )
-			fn = data;
-			data = undefined;
-		} else {
-
-			// ( types, data, fn )
-			fn = data;
-			data = selector;
-			selector = undefined;
-		}
-	}
-	if ( fn === false ) {
-		fn = returnFalse;
-	} else if ( !fn ) {
-		return elem;
-	}
-
-	if ( one === 1 ) {
-		origFn = fn;
-		fn = function( event ) {
-
-			// Can use an empty set, since event contains the info
-			jQuery().off( event );
-			return origFn.apply( this, arguments );
-		};
-
-		// Use same guid so caller can remove using origFn
-		fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ );
-	}
-	return elem.each( function() {
-		jQuery.event.add( this, types, fn, data, selector );
-	} );
-}
-
-/*
- * Helper functions for managing events -- not part of the public interface.
- * Props to Dean Edwards' addEvent library for many of the ideas.
- */
-jQuery.event = {
-
-	global: {},
-
-	add: function( elem, types, handler, data, selector ) {
-
-		var handleObjIn, eventHandle, tmp,
-			events, t, handleObj,
-			special, handlers, type, namespaces, origType,
-			elemData = dataPriv.get( elem );
-
-		// Only attach events to objects that accept data
-		if ( !acceptData( elem ) ) {
-			return;
-		}
-
-		// Caller can pass in an object of custom data in lieu of the handler
-		if ( handler.handler ) {
-			handleObjIn = handler;
-			handler = handleObjIn.handler;
-			selector = handleObjIn.selector;
-		}
-
-		// Ensure that invalid selectors throw exceptions at attach time
-		// Evaluate against documentElement in case elem is a non-element node (e.g., document)
-		if ( selector ) {
-			jQuery.find.matchesSelector( documentElement, selector );
-		}
-
-		// Make sure that the handler has a unique ID, used to find/remove it later
-		if ( !handler.guid ) {
-			handler.guid = jQuery.guid++;
-		}
-
-		// Init the element's event structure and main handler, if this is the first
-		if ( !( events = elemData.events ) ) {
-			events = elemData.events = Object.create( null );
-		}
-		if ( !( eventHandle = elemData.handle ) ) {
-			eventHandle = elemData.handle = function( e ) {
-
-				// Discard the second event of a jQuery.event.trigger() and
-				// when an event is called after a page has unloaded
-				return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ?
-					jQuery.event.dispatch.apply( elem, arguments ) : undefined;
-			};
-		}
-
-		// Handle multiple events separated by a space
-		types = ( types || "" ).match( rnothtmlwhite ) || [ "" ];
-		t = types.length;
-		while ( t-- ) {
-			tmp = rtypenamespace.exec( types[ t ] ) || [];
-			type = origType = tmp[ 1 ];
-			namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort();
-
-			// There *must* be a type, no attaching namespace-only handlers
-			if ( !type ) {
-				continue;
-			}
-
-			// If event changes its type, use the special event handlers for the changed type
-			special = jQuery.event.special[ type ] || {};
-
-			// If selector defined, determine special event api type, otherwise given type
-			type = ( selector ? special.delegateType : special.bindType ) || type;
-
-			// Update special based on newly reset type
-			special = jQuery.event.special[ type ] || {};
-
-			// handleObj is passed to all event handlers
-			handleObj = jQuery.extend( {
-				type: type,
-				origType: origType,
-				data: data,
-				handler: handler,
-				guid: handler.guid,
-				selector: selector,
-				needsContext: selector && jQuery.expr.match.needsContext.test( selector ),
-				namespace: namespaces.join( "." )
-			}, handleObjIn );
-
-			// Init the event handler queue if we're the first
-			if ( !( handlers = events[ type ] ) ) {
-				handlers = events[ type ] = [];
-				handlers.delegateCount = 0;
-
-				// Only use addEventListener if the special events handler returns false
-				if ( !special.setup ||
-					special.setup.call( elem, data, namespaces, eventHandle ) === false ) {
-
-					if ( elem.addEventListener ) {
-						elem.addEventListener( type, eventHandle );
-					}
-				}
-			}
-
-			if ( special.add ) {
-				special.add.call( elem, handleObj );
-
-				if ( !handleObj.handler.guid ) {
-					handleObj.handler.guid = handler.guid;
-				}
-			}
-
-			// Add to the element's handler list, delegates in front
-			if ( selector ) {
-				handlers.splice( handlers.delegateCount++, 0, handleObj );
-			} else {
-				handlers.push( handleObj );
-			}
-
-			// Keep track of which events have ever been used, for event optimization
-			jQuery.event.global[ type ] = true;
-		}
-
-	},
-
-	// Detach an event or set of events from an element
-	remove: function( elem, types, handler, selector, mappedTypes ) {
-
-		var j, origCount, tmp,
-			events, t, handleObj,
-			special, handlers, type, namespaces, origType,
-			elemData = dataPriv.hasData( elem ) && dataPriv.get( elem );
-
-		if ( !elemData || !( events = elemData.events ) ) {
-			return;
-		}
-
-		// Once for each type.namespace in types; type may be omitted
-		types = ( types || "" ).match( rnothtmlwhite ) || [ "" ];
-		t = types.length;
-		while ( t-- ) {
-			tmp = rtypenamespace.exec( types[ t ] ) || [];
-			type = origType = tmp[ 1 ];
-			namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort();
-
-			// Unbind all events (on this namespace, if provided) for the element
-			if ( !type ) {
-				for ( type in events ) {
-					jQuery.event.remove( elem, type + types[ t ], handler, selector, true );
-				}
-				continue;
-			}
-
-			special = jQuery.event.special[ type ] || {};
-			type = ( selector ? special.delegateType : special.bindType ) || type;
-			handlers = events[ type ] || [];
-			tmp = tmp[ 2 ] &&
-				new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" );
-
-			// Remove matching events
-			origCount = j = handlers.length;
-			while ( j-- ) {
-				handleObj = handlers[ j ];
-
-				if ( ( mappedTypes || origType === handleObj.origType ) &&
-					( !handler || handler.guid === handleObj.guid ) &&
-					( !tmp || tmp.test( handleObj.namespace ) ) &&
-					( !selector || selector === handleObj.selector ||
-						selector === "**" && handleObj.selector ) ) {
-					handlers.splice( j, 1 );
-
-					if ( handleObj.selector ) {
-						handlers.delegateCount--;
-					}
-					if ( special.remove ) {
-						special.remove.call( elem, handleObj );
-					}
-				}
-			}
-
-			// Remove generic event handler if we removed something and no more handlers exist
-			// (avoids potential for endless recursion during removal of special event handlers)
-			if ( origCount && !handlers.length ) {
-				if ( !special.teardown ||
-					special.teardown.call( elem, namespaces, elemData.handle ) === false ) {
-
-					jQuery.removeEvent( elem, type, elemData.handle );
-				}
-
-				delete events[ type ];
-			}
-		}
-
-		// Remove data and the expando if it's no longer used
-		if ( jQuery.isEmptyObject( events ) ) {
-			dataPriv.remove( elem, "handle events" );
-		}
-	},
-
-	dispatch: function( nativeEvent ) {
-
-		var i, j, ret, matched, handleObj, handlerQueue,
-			args = new Array( arguments.length ),
-
-			// Make a writable jQuery.Event from the native event object
-			event = jQuery.event.fix( nativeEvent ),
-
-			handlers = (
-				dataPriv.get( this, "events" ) || Object.create( null )
-			)[ event.type ] || [],
-			special = jQuery.event.special[ event.type ] || {};
-
-		// Use the fix-ed jQuery.Event rather than the (read-only) native event
-		args[ 0 ] = event;
-
-		for ( i = 1; i < arguments.length; i++ ) {
-			args[ i ] = arguments[ i ];
-		}
-
-		event.delegateTarget = this;
-
-		// Call the preDispatch hook for the mapped type, and let it bail if desired
-		if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) {
-			return;
-		}
-
-		// Determine handlers
-		handlerQueue = jQuery.event.handlers.call( this, event, handlers );
-
-		// Run delegates first; they may want to stop propagation beneath us
-		i = 0;
-		while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) {
-			event.currentTarget = matched.elem;
-
-			j = 0;
-			while ( ( handleObj = matched.handlers[ j++ ] ) &&
-				!event.isImmediatePropagationStopped() ) {
-
-				// If the event is namespaced, then each handler is only invoked if it is
-				// specially universal or its namespaces are a superset of the event's.
-				if ( !event.rnamespace || handleObj.namespace === false ||
-					event.rnamespace.test( handleObj.namespace ) ) {
-
-					event.handleObj = handleObj;
-					event.data = handleObj.data;
-
-					ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle ||
-						handleObj.handler ).apply( matched.elem, args );
-
-					if ( ret !== undefined ) {
-						if ( ( event.result = ret ) === false ) {
-							event.preventDefault();
-							event.stopPropagation();
-						}
-					}
-				}
-			}
-		}
-
-		// Call the postDispatch hook for the mapped type
-		if ( special.postDispatch ) {
-			special.postDispatch.call( this, event );
-		}
-
-		return event.result;
-	},
-
-	handlers: function( event, handlers ) {
-		var i, handleObj, sel, matchedHandlers, matchedSelectors,
-			handlerQueue = [],
-			delegateCount = handlers.delegateCount,
-			cur = event.target;
-
-		// Find delegate handlers
-		if ( delegateCount &&
-
-			// Support: IE <=9
-			// Black-hole SVG <use> instance trees (trac-13180)
-			cur.nodeType &&
-
-			// Support: Firefox <=42
-			// Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861)
-			// https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click
-			// Support: IE 11 only
-			// ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343)
-			!( event.type === "click" && event.button >= 1 ) ) {
-
-			for ( ; cur !== this; cur = cur.parentNode || this ) {
-
-				// Don't check non-elements (#13208)
-				// Don't process clicks on disabled elements (#6911, #8165, #11382, #11764)
-				if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) {
-					matchedHandlers = [];
-					matchedSelectors = {};
-					for ( i = 0; i < delegateCount; i++ ) {
-						handleObj = handlers[ i ];
-
-						// Don't conflict with Object.prototype properties (#13203)
-						sel = handleObj.selector + " ";
-
-						if ( matchedSelectors[ sel ] === undefined ) {
-							matchedSelectors[ sel ] = handleObj.needsContext ?
-								jQuery( sel, this ).index( cur ) > -1 :
-								jQuery.find( sel, this, null, [ cur ] ).length;
-						}
-						if ( matchedSelectors[ sel ] ) {
-							matchedHandlers.push( handleObj );
-						}
-					}
-					if ( matchedHandlers.length ) {
-						handlerQueue.push( { elem: cur, handlers: matchedHandlers } );
-					}
-				}
-			}
-		}
-
-		// Add the remaining (directly-bound) handlers
-		cur = this;
-		if ( delegateCount < handlers.length ) {
-			handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } );
-		}
-
-		return handlerQueue;
-	},
-
-	addProp: function( name, hook ) {
-		Object.defineProperty( jQuery.Event.prototype, name, {
-			enumerable: true,
-			configurable: true,
-
-			get: isFunction( hook ) ?
-				function() {
-					if ( this.originalEvent ) {
-						return hook( this.originalEvent );
-					}
-				} :
-				function() {
-					if ( this.originalEvent ) {
-						return this.originalEvent[ name ];
-					}
-				},
-
-			set: function( value ) {
-				Object.defineProperty( this, name, {
-					enumerable: true,
-					configurable: true,
-					writable: true,
-					value: value
-				} );
-			}
-		} );
-	},
-
-	fix: function( originalEvent ) {
-		return originalEvent[ jQuery.expando ] ?
-			originalEvent :
-			new jQuery.Event( originalEvent );
-	},
-
-	special: {
-		load: {
-
-			// Prevent triggered image.load events from bubbling to window.load
-			noBubble: true
-		},
-		click: {
-
-			// Utilize native event to ensure correct state for checkable inputs
-			setup: function( data ) {
-
-				// For mutual compressibility with _default, replace `this` access with a local var.
-				// `|| data` is dead code meant only to preserve the variable through minification.
-				var el = this || data;
-
-				// Claim the first handler
-				if ( rcheckableType.test( el.type ) &&
-					el.click && nodeName( el, "input" ) ) {
-
-					// dataPriv.set( el, "click", ... )
-					leverageNative( el, "click", returnTrue );
-				}
-
-				// Return false to allow normal processing in the caller
-				return false;
-			},
-			trigger: function( data ) {
-
-				// For mutual compressibility with _default, replace `this` access with a local var.
-				// `|| data` is dead code meant only to preserve the variable through minification.
-				var el = this || data;
-
-				// Force setup before triggering a click
-				if ( rcheckableType.test( el.type ) &&
-					el.click && nodeName( el, "input" ) ) {
-
-					leverageNative( el, "click" );
-				}
-
-				// Return non-false to allow normal event-path propagation
-				return true;
-			},
-
-			// For cross-browser consistency, suppress native .click() on links
-			// Also prevent it if we're currently inside a leveraged native-event stack
-			_default: function( event ) {
-				var target = event.target;
-				return rcheckableType.test( target.type ) &&
-					target.click && nodeName( target, "input" ) &&
-					dataPriv.get( target, "click" ) ||
-					nodeName( target, "a" );
-			}
-		},
-
-		beforeunload: {
-			postDispatch: function( event ) {
-
-				// Support: Firefox 20+
-				// Firefox doesn't alert if the returnValue field is not set.
-				if ( event.result !== undefined && event.originalEvent ) {
-					event.originalEvent.returnValue = event.result;
-				}
-			}
-		}
-	}
-};
-
-// Ensure the presence of an event listener that handles manually-triggered
-// synthetic events by interrupting progress until reinvoked in response to
-// *native* events that it fires directly, ensuring that state changes have
-// already occurred before other listeners are invoked.
-function leverageNative( el, type, expectSync ) {
-
-	// Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add
-	if ( !expectSync ) {
-		if ( dataPriv.get( el, type ) === undefined ) {
-			jQuery.event.add( el, type, returnTrue );
-		}
-		return;
-	}
-
-	// Register the controller as a special universal handler for all event namespaces
-	dataPriv.set( el, type, false );
-	jQuery.event.add( el, type, {
-		namespace: false,
-		handler: function( event ) {
-			var notAsync, result,
-				saved = dataPriv.get( this, type );
-
-			if ( ( event.isTrigger & 1 ) && this[ type ] ) {
-
-				// Interrupt processing of the outer synthetic .trigger()ed event
-				// Saved data should be false in such cases, but might be a leftover capture object
-				// from an async native handler (gh-4350)
-				if ( !saved.length ) {
-
-					// Store arguments for use when handling the inner native event
-					// There will always be at least one argument (an event object), so this array
-					// will not be confused with a leftover capture object.
-					saved = slice.call( arguments );
-					dataPriv.set( this, type, saved );
-
-					// Trigger the native event and capture its result
-					// Support: IE <=9 - 11+
-					// focus() and blur() are asynchronous
-					notAsync = expectSync( this, type );
-					this[ type ]();
-					result = dataPriv.get( this, type );
-					if ( saved !== result || notAsync ) {
-						dataPriv.set( this, type, false );
-					} else {
-						result = {};
-					}
-					if ( saved !== result ) {
-
-						// Cancel the outer synthetic event
-						event.stopImmediatePropagation();
-						event.preventDefault();
-
-						// Support: Chrome 86+
-						// In Chrome, if an element having a focusout handler is blurred by
-						// clicking outside of it, it invokes the handler synchronously. If
-						// that handler calls `.remove()` on the element, the data is cleared,
-						// leaving `result` undefined. We need to guard against this.
-						return result && result.value;
-					}
-
-				// If this is an inner synthetic event for an event with a bubbling surrogate
-				// (focus or blur), assume that the surrogate already propagated from triggering the
-				// native event and prevent that from happening again here.
-				// This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the
-				// bubbling surrogate propagates *after* the non-bubbling base), but that seems
-				// less bad than duplication.
-				} else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) {
-					event.stopPropagation();
-				}
-
-			// If this is a native event triggered above, everything is now in order
-			// Fire an inner synthetic event with the original arguments
-			} else if ( saved.length ) {
-
-				// ...and capture the result
-				dataPriv.set( this, type, {
-					value: jQuery.event.trigger(
-
-						// Support: IE <=9 - 11+
-						// Extend with the prototype to reset the above stopImmediatePropagation()
-						jQuery.extend( saved[ 0 ], jQuery.Event.prototype ),
-						saved.slice( 1 ),
-						this
-					)
-				} );
-
-				// Abort handling of the native event
-				event.stopImmediatePropagation();
-			}
-		}
-	} );
-}
-
-jQuery.removeEvent = function( elem, type, handle ) {
-
-	// This "if" is needed for plain objects
-	if ( elem.removeEventListener ) {
-		elem.removeEventListener( type, handle );
-	}
-};
-
-jQuery.Event = function( src, props ) {
-
-	// Allow instantiation without the 'new' keyword
-	if ( !( this instanceof jQuery.Event ) ) {
-		return new jQuery.Event( src, props );
-	}
-
-	// Event object
-	if ( src && src.type ) {
-		this.originalEvent = src;
-		this.type = src.type;
-
-		// Events bubbling up the document may have been marked as prevented
-		// by a handler lower down the tree; reflect the correct value.
-		this.isDefaultPrevented = src.defaultPrevented ||
-				src.defaultPrevented === undefined &&
-
-				// Support: Android <=2.3 only
-				src.returnValue === false ?
-			returnTrue :
-			returnFalse;
-
-		// Create target properties
-		// Support: Safari <=6 - 7 only
-		// Target should not be a text node (#504, #13143)
-		this.target = ( src.target && src.target.nodeType === 3 ) ?
-			src.target.parentNode :
-			src.target;
-
-		this.currentTarget = src.currentTarget;
-		this.relatedTarget = src.relatedTarget;
-
-	// Event type
-	} else {
-		this.type = src;
-	}
-
-	// Put explicitly provided properties onto the event object
-	if ( props ) {
-		jQuery.extend( this, props );
-	}
-
-	// Create a timestamp if incoming event doesn't have one
-	this.timeStamp = src && src.timeStamp || Date.now();
-
-	// Mark it as fixed
-	this[ jQuery.expando ] = true;
-};
-
-// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding
-// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html
-jQuery.Event.prototype = {
-	constructor: jQuery.Event,
-	isDefaultPrevented: returnFalse,
-	isPropagationStopped: returnFalse,
-	isImmediatePropagationStopped: returnFalse,
-	isSimulated: false,
-
-	preventDefault: function() {
-		var e = this.originalEvent;
-
-		this.isDefaultPrevented = returnTrue;
-
-		if ( e && !this.isSimulated ) {
-			e.preventDefault();
-		}
-	},
-	stopPropagation: function() {
-		var e = this.originalEvent;
-
-		this.isPropagationStopped = returnTrue;
-
-		if ( e && !this.isSimulated ) {
-			e.stopPropagation();
-		}
-	},
-	stopImmediatePropagation: function() {
-		var e = this.originalEvent;
-
-		this.isImmediatePropagationStopped = returnTrue;
-
-		if ( e && !this.isSimulated ) {
-			e.stopImmediatePropagation();
-		}
-
-		this.stopPropagation();
-	}
-};
-
-// Includes all common event props including KeyEvent and MouseEvent specific props
-jQuery.each( {
-	altKey: true,
-	bubbles: true,
-	cancelable: true,
-	changedTouches: true,
-	ctrlKey: true,
-	detail: true,
-	eventPhase: true,
-	metaKey: true,
-	pageX: true,
-	pageY: true,
-	shiftKey: true,
-	view: true,
-	"char": true,
-	code: true,
-	charCode: true,
-	key: true,
-	keyCode: true,
-	button: true,
-	buttons: true,
-	clientX: true,
-	clientY: true,
-	offsetX: true,
-	offsetY: true,
-	pointerId: true,
-	pointerType: true,
-	screenX: true,
-	screenY: true,
-	targetTouches: true,
-	toElement: true,
-	touches: true,
-	which: true
-}, jQuery.event.addProp );
-
-jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) {
-	jQuery.event.special[ type ] = {
-
-		// Utilize native event if possible so blur/focus sequence is correct
-		setup: function() {
-
-			// Claim the first handler
-			// dataPriv.set( this, "focus", ... )
-			// dataPriv.set( this, "blur", ... )
-			leverageNative( this, type, expectSync );
-
-			// Return false to allow normal processing in the caller
-			return false;
-		},
-		trigger: function() {
-
-			// Force setup before trigger
-			leverageNative( this, type );
-
-			// Return non-false to allow normal event-path propagation
-			return true;
-		},
-
-		// Suppress native focus or blur as it's already being fired
-		// in leverageNative.
-		_default: function() {
-			return true;
-		},
-
-		delegateType: delegateType
-	};
-} );
-
-// Create mouseenter/leave events using mouseover/out and event-time checks
-// so that event delegation works in jQuery.
-// Do the same for pointerenter/pointerleave and pointerover/pointerout
-//
-// Support: Safari 7 only
-// Safari sends mouseenter too often; see:
-// https://bugs.chromium.org/p/chromium/issues/detail?id=470258
-// for the description of the bug (it existed in older Chrome versions as well).
-jQuery.each( {
-	mouseenter: "mouseover",
-	mouseleave: "mouseout",
-	pointerenter: "pointerover",
-	pointerleave: "pointerout"
-}, function( orig, fix ) {
-	jQuery.event.special[ orig ] = {
-		delegateType: fix,
-		bindType: fix,
-
-		handle: function( event ) {
-			var ret,
-				target = this,
-				related = event.relatedTarget,
-				handleObj = event.handleObj;
-
-			// For mouseenter/leave call the handler if related is outside the target.
-			// NB: No relatedTarget if the mouse left/entered the browser window
-			if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) {
-				event.type = handleObj.origType;
-				ret = handleObj.handler.apply( this, arguments );
-				event.type = fix;
-			}
-			return ret;
-		}
-	};
-} );
-
-jQuery.fn.extend( {
-
-	on: function( types, selector, data, fn ) {
-		return on( this, types, selector, data, fn );
-	},
-	one: function( types, selector, data, fn ) {
-		return on( this, types, selector, data, fn, 1 );
-	},
-	off: function( types, selector, fn ) {
-		var handleObj, type;
-		if ( types && types.preventDefault && types.handleObj ) {
-
-			// ( event )  dispatched jQuery.Event
-			handleObj = types.handleObj;
-			jQuery( types.delegateTarget ).off(
-				handleObj.namespace ?
-					handleObj.origType + "." + handleObj.namespace :
-					handleObj.origType,
-				handleObj.selector,
-				handleObj.handler
-			);
-			return this;
-		}
-		if ( typeof types === "object" ) {
-
-			// ( types-object [, selector] )
-			for ( type in types ) {
-				this.off( type, selector, types[ type ] );
-			}
-			return this;
-		}
-		if ( selector === false || typeof selector === "function" ) {
-
-			// ( types [, fn] )
-			fn = selector;
-			selector = undefined;
-		}
-		if ( fn === false ) {
-			fn = returnFalse;
-		}
-		return this.each( function() {
-			jQuery.event.remove( this, types, fn, selector );
-		} );
-	}
-} );
-
-
-var
-
-	// Support: IE <=10 - 11, Edge 12 - 13 only
-	// In IE/Edge using regex groups here causes severe slowdowns.
-	// See https://connect.microsoft.com/IE/feedback/details/1736512/
-	rnoInnerhtml = /<script|<style|<link/i,
-
-	// checked="checked" or checked
-	rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i,
-	rcleanScript = /^\s*<!(?:\[CDATA\[|--)|(?:\]\]|--)>\s*$/g;
-
-// Prefer a tbody over its parent table for containing new rows
-function manipulationTarget( elem, content ) {
-	if ( nodeName( elem, "table" ) &&
-		nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) {
-
-		return jQuery( elem ).children( "tbody" )[ 0 ] || elem;
-	}
-
-	return elem;
-}
-
-// Replace/restore the type attribute of script elements for safe DOM manipulation
-function disableScript( elem ) {
-	elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type;
-	return elem;
-}
-function restoreScript( elem ) {
-	if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) {
-		elem.type = elem.type.slice( 5 );
-	} else {
-		elem.removeAttribute( "type" );
-	}
-
-	return elem;
-}
-
-function cloneCopyEvent( src, dest ) {
-	var i, l, type, pdataOld, udataOld, udataCur, events;
-
-	if ( dest.nodeType !== 1 ) {
-		return;
-	}
-
-	// 1. Copy private data: events, handlers, etc.
-	if ( dataPriv.hasData( src ) ) {
-		pdataOld = dataPriv.get( src );
-		events = pdataOld.events;
-
-		if ( events ) {
-			dataPriv.remove( dest, "handle events" );
-
-			for ( type in events ) {
-				for ( i = 0, l = events[ type ].length; i < l; i++ ) {
-					jQuery.event.add( dest, type, events[ type ][ i ] );
-				}
-			}
-		}
-	}
-
-	// 2. Copy user data
-	if ( dataUser.hasData( src ) ) {
-		udataOld = dataUser.access( src );
-		udataCur = jQuery.extend( {}, udataOld );
-
-		dataUser.set( dest, udataCur );
-	}
-}
-
-// Fix IE bugs, see support tests
-function fixInput( src, dest ) {
-	var nodeName = dest.nodeName.toLowerCase();
-
-	// Fails to persist the checked state of a cloned checkbox or radio button.
-	if ( nodeName === "input" && rcheckableType.test( src.type ) ) {
-		dest.checked = src.checked;
-
-	// Fails to return the selected option to the default selected state when cloning options
-	} else if ( nodeName === "input" || nodeName === "textarea" ) {
-		dest.defaultValue = src.defaultValue;
-	}
-}
-
-function domManip( collection, args, callback, ignored ) {
-
-	// Flatten any nested arrays
-	args = flat( args );
-
-	var fragment, first, scripts, hasScripts, node, doc,
-		i = 0,
-		l = collection.length,
-		iNoClone = l - 1,
-		value = args[ 0 ],
-		valueIsFunction = isFunction( value );
-
-	// We can't cloneNode fragments that contain checked, in WebKit
-	if ( valueIsFunction ||
-			( l > 1 && typeof value === "string" &&
-				!support.checkClone && rchecked.test( value ) ) ) {
-		return collection.each( function( index ) {
-			var self = collection.eq( index );
-			if ( valueIsFunction ) {
-				args[ 0 ] = value.call( this, index, self.html() );
-			}
-			domManip( self, args, callback, ignored );
-		} );
-	}
-
-	if ( l ) {
-		fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored );
-		first = fragment.firstChild;
-
-		if ( fragment.childNodes.length === 1 ) {
-			fragment = first;
-		}
-
-		// Require either new content or an interest in ignored elements to invoke the callback
-		if ( first || ignored ) {
-			scripts = jQuery.map( getAll( fragment, "script" ), disableScript );
-			hasScripts = scripts.length;
-
-			// Use the original fragment for the last item
-			// instead of the first because it can end up
-			// being emptied incorrectly in certain situations (#8070).
-			for ( ; i < l; i++ ) {
-				node = fragment;
-
-				if ( i !== iNoClone ) {
-					node = jQuery.clone( node, true, true );
-
-					// Keep references to cloned scripts for later restoration
-					if ( hasScripts ) {
-
-						// Support: Android <=4.0 only, PhantomJS 1 only
-						// push.apply(_, arraylike) throws on ancient WebKit
-						jQuery.merge( scripts, getAll( node, "script" ) );
-					}
-				}
-
-				callback.call( collection[ i ], node, i );
-			}
-
-			if ( hasScripts ) {
-				doc = scripts[ scripts.length - 1 ].ownerDocument;
-
-				// Reenable scripts
-				jQuery.map( scripts, restoreScript );
-
-				// Evaluate executable scripts on first document insertion
-				for ( i = 0; i < hasScripts; i++ ) {
-					node = scripts[ i ];
-					if ( rscriptType.test( node.type || "" ) &&
-						!dataPriv.access( node, "globalEval" ) &&
-						jQuery.contains( doc, node ) ) {
-
-						if ( node.src && ( node.type || "" ).toLowerCase()  !== "module" ) {
-
-							// Optional AJAX dependency, but won't run scripts if not present
-							if ( jQuery._evalUrl && !node.noModule ) {
-								jQuery._evalUrl( node.src, {
-									nonce: node.nonce || node.getAttribute( "nonce" )
-								}, doc );
-							}
-						} else {
-							DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc );
-						}
-					}
-				}
-			}
-		}
-	}
-
-	return collection;
-}
-
-function remove( elem, selector, keepData ) {
-	var node,
-		nodes = selector ? jQuery.filter( selector, elem ) : elem,
-		i = 0;
-
-	for ( ; ( node = nodes[ i ] ) != null; i++ ) {
-		if ( !keepData && node.nodeType === 1 ) {
-			jQuery.cleanData( getAll( node ) );
-		}
-
-		if ( node.parentNode ) {
-			if ( keepData && isAttached( node ) ) {
-				setGlobalEval( getAll( node, "script" ) );
-			}
-			node.parentNode.removeChild( node );
-		}
-	}
-
-	return elem;
-}
-
-jQuery.extend( {
-	htmlPrefilter: function( html ) {
-		return html;
-	},
-
-	clone: function( elem, dataAndEvents, deepDataAndEvents ) {
-		var i, l, srcElements, destElements,
-			clone = elem.cloneNode( true ),
-			inPage = isAttached( elem );
-
-		// Fix IE cloning issues
-		if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) &&
-				!jQuery.isXMLDoc( elem ) ) {
-
-			// We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2
-			destElements = getAll( clone );
-			srcElements = getAll( elem );
-
-			for ( i = 0, l = srcElements.length; i < l; i++ ) {
-				fixInput( srcElements[ i ], destElements[ i ] );
-			}
-		}
-
-		// Copy the events from the original to the clone
-		if ( dataAndEvents ) {
-			if ( deepDataAndEvents ) {
-				srcElements = srcElements || getAll( elem );
-				destElements = destElements || getAll( clone );
-
-				for ( i = 0, l = srcElements.length; i < l; i++ ) {
-					cloneCopyEvent( srcElements[ i ], destElements[ i ] );
-				}
-			} else {
-				cloneCopyEvent( elem, clone );
-			}
-		}
-
-		// Preserve script evaluation history
-		destElements = getAll( clone, "script" );
-		if ( destElements.length > 0 ) {
-			setGlobalEval( destElements, !inPage && getAll( elem, "script" ) );
-		}
-
-		// Return the cloned set
-		return clone;
-	},
-
-	cleanData: function( elems ) {
-		var data, elem, type,
-			special = jQuery.event.special,
-			i = 0;
-
-		for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) {
-			if ( acceptData( elem ) ) {
-				if ( ( data = elem[ dataPriv.expando ] ) ) {
-					if ( data.events ) {
-						for ( type in data.events ) {
-							if ( special[ type ] ) {
-								jQuery.event.remove( elem, type );
-
-							// This is a shortcut to avoid jQuery.event.remove's overhead
-							} else {
-								jQuery.removeEvent( elem, type, data.handle );
-							}
-						}
-					}
-
-					// Support: Chrome <=35 - 45+
-					// Assign undefined instead of using delete, see Data#remove
-					elem[ dataPriv.expando ] = undefined;
-				}
-				if ( elem[ dataUser.expando ] ) {
-
-					// Support: Chrome <=35 - 45+
-					// Assign undefined instead of using delete, see Data#remove
-					elem[ dataUser.expando ] = undefined;
-				}
-			}
-		}
-	}
-} );
-
-jQuery.fn.extend( {
-	detach: function( selector ) {
-		return remove( this, selector, true );
-	},
-
-	remove: function( selector ) {
-		return remove( this, selector );
-	},
-
-	text: function( value ) {
-		return access( this, function( value ) {
-			return value === undefined ?
-				jQuery.text( this ) :
-				this.empty().each( function() {
-					if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
-						this.textContent = value;
-					}
-				} );
-		}, null, value, arguments.length );
-	},
-
-	append: function() {
-		return domManip( this, arguments, function( elem ) {
-			if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
-				var target = manipulationTarget( this, elem );
-				target.appendChild( elem );
-			}
-		} );
-	},
-
-	prepend: function() {
-		return domManip( this, arguments, function( elem ) {
-			if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
-				var target = manipulationTarget( this, elem );
-				target.insertBefore( elem, target.firstChild );
-			}
-		} );
-	},
-
-	before: function() {
-		return domManip( this, arguments, function( elem ) {
-			if ( this.parentNode ) {
-				this.parentNode.insertBefore( elem, this );
-			}
-		} );
-	},
-
-	after: function() {
-		return domManip( this, arguments, function( elem ) {
-			if ( this.parentNode ) {
-				this.parentNode.insertBefore( elem, this.nextSibling );
-			}
-		} );
-	},
-
-	empty: function() {
-		var elem,
-			i = 0;
-
-		for ( ; ( elem = this[ i ] ) != null; i++ ) {
-			if ( elem.nodeType === 1 ) {
-
-				// Prevent memory leaks
-				jQuery.cleanData( getAll( elem, false ) );
-
-				// Remove any remaining nodes
-				elem.textContent = "";
-			}
-		}
-
-		return this;
-	},
-
-	clone: function( dataAndEvents, deepDataAndEvents ) {
-		dataAndEvents = dataAndEvents == null ? false : dataAndEvents;
-		deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents;
-
-		return this.map( function() {
-			return jQuery.clone( this, dataAndEvents, deepDataAndEvents );
-		} );
-	},
-
-	html: function( value ) {
-		return access( this, function( value ) {
-			var elem = this[ 0 ] || {},
-				i = 0,
-				l = this.length;
-
-			if ( value === undefined && elem.nodeType === 1 ) {
-				return elem.innerHTML;
-			}
-
-			// See if we can take a shortcut and just use innerHTML
-			if ( typeof value === "string" && !rnoInnerhtml.test( value ) &&
-				!wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) {
-
-				value = jQuery.htmlPrefilter( value );
-
-				try {
-					for ( ; i < l; i++ ) {
-						elem = this[ i ] || {};
-
-						// Remove element nodes and prevent memory leaks
-						if ( elem.nodeType === 1 ) {
-							jQuery.cleanData( getAll( elem, false ) );
-							elem.innerHTML = value;
-						}
-					}
-
-					elem = 0;
-
-				// If using innerHTML throws an exception, use the fallback method
-				} catch ( e ) {}
-			}
-
-			if ( elem ) {
-				this.empty().append( value );
-			}
-		}, null, value, arguments.length );
-	},
-
-	replaceWith: function() {
-		var ignored = [];
-
-		// Make the changes, replacing each non-ignored context element with the new content
-		return domManip( this, arguments, function( elem ) {
-			var parent = this.parentNode;
-
-			if ( jQuery.inArray( this, ignored ) < 0 ) {
-				jQuery.cleanData( getAll( this ) );
-				if ( parent ) {
-					parent.replaceChild( elem, this );
-				}
-			}
-
-		// Force callback invocation
-		}, ignored );
-	}
-} );
-
-jQuery.each( {
-	appendTo: "append",
-	prependTo: "prepend",
-	insertBefore: "before",
-	insertAfter: "after",
-	replaceAll: "replaceWith"
-}, function( name, original ) {
-	jQuery.fn[ name ] = function( selector ) {
-		var elems,
-			ret = [],
-			insert = jQuery( selector ),
-			last = insert.length - 1,
-			i = 0;
-
-		for ( ; i <= last; i++ ) {
-			elems = i === last ? this : this.clone( true );
-			jQuery( insert[ i ] )[ original ]( elems );
-
-			// Support: Android <=4.0 only, PhantomJS 1 only
-			// .get() because push.apply(_, arraylike) throws on ancient WebKit
-			push.apply( ret, elems.get() );
-		}
-
-		return this.pushStack( ret );
-	};
-} );
-var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" );
-
-var getStyles = function( elem ) {
-
-		// Support: IE <=11 only, Firefox <=30 (#15098, #14150)
-		// IE throws on elements created in popups
-		// FF meanwhile throws on frame elements through "defaultView.getComputedStyle"
-		var view = elem.ownerDocument.defaultView;
-
-		if ( !view || !view.opener ) {
-			view = window;
-		}
-
-		return view.getComputedStyle( elem );
-	};
-
-var swap = function( elem, options, callback ) {
-	var ret, name,
-		old = {};
-
-	// Remember the old values, and insert the new ones
-	for ( name in options ) {
-		old[ name ] = elem.style[ name ];
-		elem.style[ name ] = options[ name ];
-	}
-
-	ret = callback.call( elem );
-
-	// Revert the old values
-	for ( name in options ) {
-		elem.style[ name ] = old[ name ];
-	}
-
-	return ret;
-};
-
-
-var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" );
-
-
-
-( function() {
-
-	// Executing both pixelPosition & boxSizingReliable tests require only one layout
-	// so they're executed at the same time to save the second computation.
-	function computeStyleTests() {
-
-		// This is a singleton, we need to execute it only once
-		if ( !div ) {
-			return;
-		}
-
-		container.style.cssText = "position:absolute;left:-11111px;width:60px;" +
-			"margin-top:1px;padding:0;border:0";
-		div.style.cssText =
-			"position:relative;display:block;box-sizing:border-box;overflow:scroll;" +
-			"margin:auto;border:1px;padding:1px;" +
-			"width:60%;top:1%";
-		documentElement.appendChild( container ).appendChild( div );
-
-		var divStyle = window.getComputedStyle( div );
-		pixelPositionVal = divStyle.top !== "1%";
-
-		// Support: Android 4.0 - 4.3 only, Firefox <=3 - 44
-		reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12;
-
-		// Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3
-		// Some styles come back with percentage values, even though they shouldn't
-		div.style.right = "60%";
-		pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36;
-
-		// Support: IE 9 - 11 only
-		// Detect misreporting of content dimensions for box-sizing:border-box elements
-		boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36;
-
-		// Support: IE 9 only
-		// Detect overflow:scroll screwiness (gh-3699)
-		// Support: Chrome <=64
-		// Don't get tricked when zoom affects offsetWidth (gh-4029)
-		div.style.position = "absolute";
-		scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12;
-
-		documentElement.removeChild( container );
-
-		// Nullify the div so it wouldn't be stored in the memory and
-		// it will also be a sign that checks already performed
-		div = null;
-	}
-
-	function roundPixelMeasures( measure ) {
-		return Math.round( parseFloat( measure ) );
-	}
-
-	var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal,
-		reliableTrDimensionsVal, reliableMarginLeftVal,
-		container = document.createElement( "div" ),
-		div = document.createElement( "div" );
-
-	// Finish early in limited (non-browser) environments
-	if ( !div.style ) {
-		return;
-	}
-
-	// Support: IE <=9 - 11 only
-	// Style of cloned element affects source element cloned (#8908)
-	div.style.backgroundClip = "content-box";
-	div.cloneNode( true ).style.backgroundClip = "";
-	support.clearCloneStyle = div.style.backgroundClip === "content-box";
-
-	jQuery.extend( support, {
-		boxSizingReliable: function() {
-			computeStyleTests();
-			return boxSizingReliableVal;
-		},
-		pixelBoxStyles: function() {
-			computeStyleTests();
-			return pixelBoxStylesVal;
-		},
-		pixelPosition: function() {
-			computeStyleTests();
-			return pixelPositionVal;
-		},
-		reliableMarginLeft: function() {
-			computeStyleTests();
-			return reliableMarginLeftVal;
-		},
-		scrollboxSize: function() {
-			computeStyleTests();
-			return scrollboxSizeVal;
-		},
-
-		// Support: IE 9 - 11+, Edge 15 - 18+
-		// IE/Edge misreport `getComputedStyle` of table rows with width/height
-		// set in CSS while `offset*` properties report correct values.
-		// Behavior in IE 9 is more subtle than in newer versions & it passes
-		// some versions of this test; make sure not to make it pass there!
-		//
-		// Support: Firefox 70+
-		// Only Firefox includes border widths
-		// in computed dimensions. (gh-4529)
-		reliableTrDimensions: function() {
-			var table, tr, trChild, trStyle;
-			if ( reliableTrDimensionsVal == null ) {
-				table = document.createElement( "table" );
-				tr = document.createElement( "tr" );
-				trChild = document.createElement( "div" );
-
-				table.style.cssText = "position:absolute;left:-11111px;border-collapse:separate";
-				tr.style.cssText = "border:1px solid";
-
-				// Support: Chrome 86+
-				// Height set through cssText does not get applied.
-				// Computed height then comes back as 0.
-				tr.style.height = "1px";
-				trChild.style.height = "9px";
-
-				// Support: Android 8 Chrome 86+
-				// In our bodyBackground.html iframe,
-				// display for all div elements is set to "inline",
-				// which causes a problem only in Android 8 Chrome 86.
-				// Ensuring the div is display: block
-				// gets around this issue.
-				trChild.style.display = "block";
-
-				documentElement
-					.appendChild( table )
-					.appendChild( tr )
-					.appendChild( trChild );
-
-				trStyle = window.getComputedStyle( tr );
-				reliableTrDimensionsVal = ( parseInt( trStyle.height, 10 ) +
-					parseInt( trStyle.borderTopWidth, 10 ) +
-					parseInt( trStyle.borderBottomWidth, 10 ) ) === tr.offsetHeight;
-
-				documentElement.removeChild( table );
-			}
-			return reliableTrDimensionsVal;
-		}
-	} );
-} )();
-
-
-function curCSS( elem, name, computed ) {
-	var width, minWidth, maxWidth, ret,
-
-		// Support: Firefox 51+
-		// Retrieving style before computed somehow
-		// fixes an issue with getting wrong values
-		// on detached elements
-		style = elem.style;
-
-	computed = computed || getStyles( elem );
-
-	// getPropertyValue is needed for:
-	//   .css('filter') (IE 9 only, #12537)
-	//   .css('--customProperty) (#3144)
-	if ( computed ) {
-		ret = computed.getPropertyValue( name ) || computed[ name ];
-
-		if ( ret === "" && !isAttached( elem ) ) {
-			ret = jQuery.style( elem, name );
-		}
-
-		// A tribute to the "awesome hack by Dean Edwards"
-		// Android Browser returns percentage for some values,
-		// but width seems to be reliably pixels.
-		// This is against the CSSOM draft spec:
-		// https://drafts.csswg.org/cssom/#resolved-values
-		if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) {
-
-			// Remember the original values
-			width = style.width;
-			minWidth = style.minWidth;
-			maxWidth = style.maxWidth;
-
-			// Put in the new values to get a computed value out
-			style.minWidth = style.maxWidth = style.width = ret;
-			ret = computed.width;
-
-			// Revert the changed values
-			style.width = width;
-			style.minWidth = minWidth;
-			style.maxWidth = maxWidth;
-		}
-	}
-
-	return ret !== undefined ?
-
-		// Support: IE <=9 - 11 only
-		// IE returns zIndex value as an integer.
-		ret + "" :
-		ret;
-}
-
-
-function addGetHookIf( conditionFn, hookFn ) {
-
-	// Define the hook, we'll check on the first run if it's really needed.
-	return {
-		get: function() {
-			if ( conditionFn() ) {
-
-				// Hook not needed (or it's not possible to use it due
-				// to missing dependency), remove it.
-				delete this.get;
-				return;
-			}
-
-			// Hook needed; redefine it so that the support test is not executed again.
-			return ( this.get = hookFn ).apply( this, arguments );
-		}
-	};
-}
-
-
-var cssPrefixes = [ "Webkit", "Moz", "ms" ],
-	emptyStyle = document.createElement( "div" ).style,
-	vendorProps = {};
-
-// Return a vendor-prefixed property or undefined
-function vendorPropName( name ) {
-
-	// Check for vendor prefixed names
-	var capName = name[ 0 ].toUpperCase() + name.slice( 1 ),
-		i = cssPrefixes.length;
-
-	while ( i-- ) {
-		name = cssPrefixes[ i ] + capName;
-		if ( name in emptyStyle ) {
-			return name;
-		}
-	}
-}
-
-// Return a potentially-mapped jQuery.cssProps or vendor prefixed property
-function finalPropName( name ) {
-	var final = jQuery.cssProps[ name ] || vendorProps[ name ];
-
-	if ( final ) {
-		return final;
-	}
-	if ( name in emptyStyle ) {
-		return name;
-	}
-	return vendorProps[ name ] = vendorPropName( name ) || name;
-}
-
-
-var
-
-	// Swappable if display is none or starts with table
-	// except "table", "table-cell", or "table-caption"
-	// See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display
-	rdisplayswap = /^(none|table(?!-c[ea]).+)/,
-	rcustomProp = /^--/,
-	cssShow = { position: "absolute", visibility: "hidden", display: "block" },
-	cssNormalTransform = {
-		letterSpacing: "0",
-		fontWeight: "400"
-	};
-
-function setPositiveNumber( _elem, value, subtract ) {
-
-	// Any relative (+/-) values have already been
-	// normalized at this point
-	var matches = rcssNum.exec( value );
-	return matches ?
-
-		// Guard against undefined "subtract", e.g., when used as in cssHooks
-		Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) :
-		value;
-}
-
-function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) {
-	var i = dimension === "width" ? 1 : 0,
-		extra = 0,
-		delta = 0;
-
-	// Adjustment may not be necessary
-	if ( box === ( isBorderBox ? "border" : "content" ) ) {
-		return 0;
-	}
-
-	for ( ; i < 4; i += 2 ) {
-
-		// Both box models exclude margin
-		if ( box === "margin" ) {
-			delta += jQuery.css( elem, box + cssExpand[ i ], true, styles );
-		}
-
-		// If we get here with a content-box, we're seeking "padding" or "border" or "margin"
-		if ( !isBorderBox ) {
-
-			// Add padding
-			delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles );
-
-			// For "border" or "margin", add border
-			if ( box !== "padding" ) {
-				delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
-
-			// But still keep track of it otherwise
-			} else {
-				extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
-			}
-
-		// If we get here with a border-box (content + padding + border), we're seeking "content" or
-		// "padding" or "margin"
-		} else {
-
-			// For "content", subtract padding
-			if ( box === "content" ) {
-				delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles );
-			}
-
-			// For "content" or "padding", subtract border
-			if ( box !== "margin" ) {
-				delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
-			}
-		}
-	}
-
-	// Account for positive content-box scroll gutter when requested by providing computedVal
-	if ( !isBorderBox && computedVal >= 0 ) {
-
-		// offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border
-		// Assuming integer scroll gutter, subtract the rest and round down
-		delta += Math.max( 0, Math.ceil(
-			elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] -
-			computedVal -
-			delta -
-			extra -
-			0.5
-
-		// If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter
-		// Use an explicit zero to avoid NaN (gh-3964)
-		) ) || 0;
-	}
-
-	return delta;
-}
-
-function getWidthOrHeight( elem, dimension, extra ) {
-
-	// Start with computed style
-	var styles = getStyles( elem ),
-
-		// To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322).
-		// Fake content-box until we know it's needed to know the true value.
-		boxSizingNeeded = !support.boxSizingReliable() || extra,
-		isBorderBox = boxSizingNeeded &&
-			jQuery.css( elem, "boxSizing", false, styles ) === "border-box",
-		valueIsBorderBox = isBorderBox,
-
-		val = curCSS( elem, dimension, styles ),
-		offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 );
-
-	// Support: Firefox <=54
-	// Return a confounding non-pixel value or feign ignorance, as appropriate.
-	if ( rnumnonpx.test( val ) ) {
-		if ( !extra ) {
-			return val;
-		}
-		val = "auto";
-	}
-
-
-	// Support: IE 9 - 11 only
-	// Use offsetWidth/offsetHeight for when box sizing is unreliable.
-	// In those cases, the computed value can be trusted to be border-box.
-	if ( ( !support.boxSizingReliable() && isBorderBox ||
-
-		// Support: IE 10 - 11+, Edge 15 - 18+
-		// IE/Edge misreport `getComputedStyle` of table rows with width/height
-		// set in CSS while `offset*` properties report correct values.
-		// Interestingly, in some cases IE 9 doesn't suffer from this issue.
-		!support.reliableTrDimensions() && nodeName( elem, "tr" ) ||
-
-		// Fall back to offsetWidth/offsetHeight when value is "auto"
-		// This happens for inline elements with no explicit setting (gh-3571)
-		val === "auto" ||
-
-		// Support: Android <=4.1 - 4.3 only
-		// Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602)
-		!parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) &&
-
-		// Make sure the element is visible & connected
-		elem.getClientRects().length ) {
-
-		isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box";
-
-		// Where available, offsetWidth/offsetHeight approximate border box dimensions.
-		// Where not available (e.g., SVG), assume unreliable box-sizing and interpret the
-		// retrieved value as a content box dimension.
-		valueIsBorderBox = offsetProp in elem;
-		if ( valueIsBorderBox ) {
-			val = elem[ offsetProp ];
-		}
-	}
-
-	// Normalize "" and auto
-	val = parseFloat( val ) || 0;
-
-	// Adjust for the element's box model
-	return ( val +
-		boxModelAdjustment(
-			elem,
-			dimension,
-			extra || ( isBorderBox ? "border" : "content" ),
-			valueIsBorderBox,
-			styles,
-
-			// Provide the current computed size to request scroll gutter calculation (gh-3589)
-			val
-		)
-	) + "px";
-}
-
-jQuery.extend( {
-
-	// Add in style property hooks for overriding the default
-	// behavior of getting and setting a style property
-	cssHooks: {
-		opacity: {
-			get: function( elem, computed ) {
-				if ( computed ) {
-
-					// We should always get a number back from opacity
-					var ret = curCSS( elem, "opacity" );
-					return ret === "" ? "1" : ret;
-				}
-			}
-		}
-	},
-
-	// Don't automatically add "px" to these possibly-unitless properties
-	cssNumber: {
-		"animationIterationCount": true,
-		"columnCount": true,
-		"fillOpacity": true,
-		"flexGrow": true,
-		"flexShrink": true,
-		"fontWeight": true,
-		"gridArea": true,
-		"gridColumn": true,
-		"gridColumnEnd": true,
-		"gridColumnStart": true,
-		"gridRow": true,
-		"gridRowEnd": true,
-		"gridRowStart": true,
-		"lineHeight": true,
-		"opacity": true,
-		"order": true,
-		"orphans": true,
-		"widows": true,
-		"zIndex": true,
-		"zoom": true
-	},
-
-	// Add in properties whose names you wish to fix before
-	// setting or getting the value
-	cssProps: {},
-
-	// Get and set the style property on a DOM Node
-	style: function( elem, name, value, extra ) {
-
-		// Don't set styles on text and comment nodes
-		if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) {
-			return;
-		}
-
-		// Make sure that we're working with the right name
-		var ret, type, hooks,
-			origName = camelCase( name ),
-			isCustomProp = rcustomProp.test( name ),
-			style = elem.style;
-
-		// Make sure that we're working with the right name. We don't
-		// want to query the value if it is a CSS custom property
-		// since they are user-defined.
-		if ( !isCustomProp ) {
-			name = finalPropName( origName );
-		}
-
-		// Gets hook for the prefixed version, then unprefixed version
-		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
-
-		// Check if we're setting a value
-		if ( value !== undefined ) {
-			type = typeof value;
-
-			// Convert "+=" or "-=" to relative numbers (#7345)
-			if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) {
-				value = adjustCSS( elem, name, ret );
-
-				// Fixes bug #9237
-				type = "number";
-			}
-
-			// Make sure that null and NaN values aren't set (#7116)
-			if ( value == null || value !== value ) {
-				return;
-			}
-
-			// If a number was passed in, add the unit (except for certain CSS properties)
-			// The isCustomProp check can be removed in jQuery 4.0 when we only auto-append
-			// "px" to a few hardcoded values.
-			if ( type === "number" && !isCustomProp ) {
-				value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" );
-			}
-
-			// background-* props affect original clone's values
-			if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) {
-				style[ name ] = "inherit";
-			}
-
-			// If a hook was provided, use that value, otherwise just set the specified value
-			if ( !hooks || !( "set" in hooks ) ||
-				( value = hooks.set( elem, value, extra ) ) !== undefined ) {
-
-				if ( isCustomProp ) {
-					style.setProperty( name, value );
-				} else {
-					style[ name ] = value;
-				}
-			}
-
-		} else {
-
-			// If a hook was provided get the non-computed value from there
-			if ( hooks && "get" in hooks &&
-				( ret = hooks.get( elem, false, extra ) ) !== undefined ) {
-
-				return ret;
-			}
-
-			// Otherwise just get the value from the style object
-			return style[ name ];
-		}
-	},
-
-	css: function( elem, name, extra, styles ) {
-		var val, num, hooks,
-			origName = camelCase( name ),
-			isCustomProp = rcustomProp.test( name );
-
-		// Make sure that we're working with the right name. We don't
-		// want to modify the value if it is a CSS custom property
-		// since they are user-defined.
-		if ( !isCustomProp ) {
-			name = finalPropName( origName );
-		}
-
-		// Try prefixed name followed by the unprefixed name
-		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
-
-		// If a hook was provided get the computed value from there
-		if ( hooks && "get" in hooks ) {
-			val = hooks.get( elem, true, extra );
-		}
-
-		// Otherwise, if a way to get the computed value exists, use that
-		if ( val === undefined ) {
-			val = curCSS( elem, name, styles );
-		}
-
-		// Convert "normal" to computed value
-		if ( val === "normal" && name in cssNormalTransform ) {
-			val = cssNormalTransform[ name ];
-		}
-
-		// Make numeric if forced or a qualifier was provided and val looks numeric
-		if ( extra === "" || extra ) {
-			num = parseFloat( val );
-			return extra === true || isFinite( num ) ? num || 0 : val;
-		}
-
-		return val;
-	}
-} );
-
-jQuery.each( [ "height", "width" ], function( _i, dimension ) {
-	jQuery.cssHooks[ dimension ] = {
-		get: function( elem, computed, extra ) {
-			if ( computed ) {
-
-				// Certain elements can have dimension info if we invisibly show them
-				// but it must have a current display style that would benefit
-				return rdisplayswap.test( jQuery.css( elem, "display" ) ) &&
-
-					// Support: Safari 8+
-					// Table columns in Safari have non-zero offsetWidth & zero
-					// getBoundingClientRect().width unless display is changed.
-					// Support: IE <=11 only
-					// Running getBoundingClientRect on a disconnected node
-					// in IE throws an error.
-					( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ?
-					swap( elem, cssShow, function() {
-						return getWidthOrHeight( elem, dimension, extra );
-					} ) :
-					getWidthOrHeight( elem, dimension, extra );
-			}
-		},
-
-		set: function( elem, value, extra ) {
-			var matches,
-				styles = getStyles( elem ),
-
-				// Only read styles.position if the test has a chance to fail
-				// to avoid forcing a reflow.
-				scrollboxSizeBuggy = !support.scrollboxSize() &&
-					styles.position === "absolute",
-
-				// To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991)
-				boxSizingNeeded = scrollboxSizeBuggy || extra,
-				isBorderBox = boxSizingNeeded &&
-					jQuery.css( elem, "boxSizing", false, styles ) === "border-box",
-				subtract = extra ?
-					boxModelAdjustment(
-						elem,
-						dimension,
-						extra,
-						isBorderBox,
-						styles
-					) :
-					0;
-
-			// Account for unreliable border-box dimensions by comparing offset* to computed and
-			// faking a content-box to get border and padding (gh-3699)
-			if ( isBorderBox && scrollboxSizeBuggy ) {
-				subtract -= Math.ceil(
-					elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] -
-					parseFloat( styles[ dimension ] ) -
-					boxModelAdjustment( elem, dimension, "border", false, styles ) -
-					0.5
-				);
-			}
-
-			// Convert to pixels if value adjustment is needed
-			if ( subtract && ( matches = rcssNum.exec( value ) ) &&
-				( matches[ 3 ] || "px" ) !== "px" ) {
-
-				elem.style[ dimension ] = value;
-				value = jQuery.css( elem, dimension );
-			}
-
-			return setPositiveNumber( elem, value, subtract );
-		}
-	};
-} );
-
-jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft,
-	function( elem, computed ) {
-		if ( computed ) {
-			return ( parseFloat( curCSS( elem, "marginLeft" ) ) ||
-				elem.getBoundingClientRect().left -
-					swap( elem, { marginLeft: 0 }, function() {
-						return elem.getBoundingClientRect().left;
-					} )
-			) + "px";
-		}
-	}
-);
-
-// These hooks are used by animate to expand properties
-jQuery.each( {
-	margin: "",
-	padding: "",
-	border: "Width"
-}, function( prefix, suffix ) {
-	jQuery.cssHooks[ prefix + suffix ] = {
-		expand: function( value ) {
-			var i = 0,
-				expanded = {},
-
-				// Assumes a single number if not a string
-				parts = typeof value === "string" ? value.split( " " ) : [ value ];
-
-			for ( ; i < 4; i++ ) {
-				expanded[ prefix + cssExpand[ i ] + suffix ] =
-					parts[ i ] || parts[ i - 2 ] || parts[ 0 ];
-			}
-
-			return expanded;
-		}
-	};
-
-	if ( prefix !== "margin" ) {
-		jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber;
-	}
-} );
-
-jQuery.fn.extend( {
-	css: function( name, value ) {
-		return access( this, function( elem, name, value ) {
-			var styles, len,
-				map = {},
-				i = 0;
-
-			if ( Array.isArray( name ) ) {
-				styles = getStyles( elem );
-				len = name.length;
-
-				for ( ; i < len; i++ ) {
-					map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles );
-				}
-
-				return map;
-			}
-
-			return value !== undefined ?
-				jQuery.style( elem, name, value ) :
-				jQuery.css( elem, name );
-		}, name, value, arguments.length > 1 );
-	}
-} );
-
-
-function Tween( elem, options, prop, end, easing ) {
-	return new Tween.prototype.init( elem, options, prop, end, easing );
-}
-jQuery.Tween = Tween;
-
-Tween.prototype = {
-	constructor: Tween,
-	init: function( elem, options, prop, end, easing, unit ) {
-		this.elem = elem;
-		this.prop = prop;
-		this.easing = easing || jQuery.easing._default;
-		this.options = options;
-		this.start = this.now = this.cur();
-		this.end = end;
-		this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" );
-	},
-	cur: function() {
-		var hooks = Tween.propHooks[ this.prop ];
-
-		return hooks && hooks.get ?
-			hooks.get( this ) :
-			Tween.propHooks._default.get( this );
-	},
-	run: function( percent ) {
-		var eased,
-			hooks = Tween.propHooks[ this.prop ];
-
-		if ( this.options.duration ) {
-			this.pos = eased = jQuery.easing[ this.easing ](
-				percent, this.options.duration * percent, 0, 1, this.options.duration
-			);
-		} else {
-			this.pos = eased = percent;
-		}
-		this.now = ( this.end - this.start ) * eased + this.start;
-
-		if ( this.options.step ) {
-			this.options.step.call( this.elem, this.now, this );
-		}
-
-		if ( hooks && hooks.set ) {
-			hooks.set( this );
-		} else {
-			Tween.propHooks._default.set( this );
-		}
-		return this;
-	}
-};
-
-Tween.prototype.init.prototype = Tween.prototype;
-
-Tween.propHooks = {
-	_default: {
-		get: function( tween ) {
-			var result;
-
-			// Use a property on the element directly when it is not a DOM element,
-			// or when there is no matching style property that exists.
-			if ( tween.elem.nodeType !== 1 ||
-				tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) {
-				return tween.elem[ tween.prop ];
-			}
-
-			// Passing an empty string as a 3rd parameter to .css will automatically
-			// attempt a parseFloat and fallback to a string if the parse fails.
-			// Simple values such as "10px" are parsed to Float;
-			// complex values such as "rotate(1rad)" are returned as-is.
-			result = jQuery.css( tween.elem, tween.prop, "" );
-
-			// Empty strings, null, undefined and "auto" are converted to 0.
-			return !result || result === "auto" ? 0 : result;
-		},
-		set: function( tween ) {
-
-			// Use step hook for back compat.
-			// Use cssHook if its there.
-			// Use .style if available and use plain properties where available.
-			if ( jQuery.fx.step[ tween.prop ] ) {
-				jQuery.fx.step[ tween.prop ]( tween );
-			} else if ( tween.elem.nodeType === 1 && (
-				jQuery.cssHooks[ tween.prop ] ||
-					tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) {
-				jQuery.style( tween.elem, tween.prop, tween.now + tween.unit );
-			} else {
-				tween.elem[ tween.prop ] = tween.now;
-			}
-		}
-	}
-};
-
-// Support: IE <=9 only
-// Panic based approach to setting things on disconnected nodes
-Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = {
-	set: function( tween ) {
-		if ( tween.elem.nodeType && tween.elem.parentNode ) {
-			tween.elem[ tween.prop ] = tween.now;
-		}
-	}
-};
-
-jQuery.easing = {
-	linear: function( p ) {
-		return p;
-	},
-	swing: function( p ) {
-		return 0.5 - Math.cos( p * Math.PI ) / 2;
-	},
-	_default: "swing"
-};
-
-jQuery.fx = Tween.prototype.init;
-
-// Back compat <1.8 extension point
-jQuery.fx.step = {};
-
-
-
-
-var
-	fxNow, inProgress,
-	rfxtypes = /^(?:toggle|show|hide)$/,
-	rrun = /queueHooks$/;
-
-function schedule() {
-	if ( inProgress ) {
-		if ( document.hidden === false && window.requestAnimationFrame ) {
-			window.requestAnimationFrame( schedule );
-		} else {
-			window.setTimeout( schedule, jQuery.fx.interval );
-		}
-
-		jQuery.fx.tick();
-	}
-}
-
-// Animations created synchronously will run synchronously
-function createFxNow() {
-	window.setTimeout( function() {
-		fxNow = undefined;
-	} );
-	return ( fxNow = Date.now() );
-}
-
-// Generate parameters to create a standard animation
-function genFx( type, includeWidth ) {
-	var which,
-		i = 0,
-		attrs = { height: type };
-
-	// If we include width, step value is 1 to do all cssExpand values,
-	// otherwise step value is 2 to skip over Left and Right
-	includeWidth = includeWidth ? 1 : 0;
-	for ( ; i < 4; i += 2 - includeWidth ) {
-		which = cssExpand[ i ];
-		attrs[ "margin" + which ] = attrs[ "padding" + which ] = type;
-	}
-
-	if ( includeWidth ) {
-		attrs.opacity = attrs.width = type;
-	}
-
-	return attrs;
-}
-
-function createTween( value, prop, animation ) {
-	var tween,
-		collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ),
-		index = 0,
-		length = collection.length;
-	for ( ; index < length; index++ ) {
-		if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) {
-
-			// We're done with this property
-			return tween;
-		}
-	}
-}
-
-function defaultPrefilter( elem, props, opts ) {
-	var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display,
-		isBox = "width" in props || "height" in props,
-		anim = this,
-		orig = {},
-		style = elem.style,
-		hidden = elem.nodeType && isHiddenWithinTree( elem ),
-		dataShow = dataPriv.get( elem, "fxshow" );
-
-	// Queue-skipping animations hijack the fx hooks
-	if ( !opts.queue ) {
-		hooks = jQuery._queueHooks( elem, "fx" );
-		if ( hooks.unqueued == null ) {
-			hooks.unqueued = 0;
-			oldfire = hooks.empty.fire;
-			hooks.empty.fire = function() {
-				if ( !hooks.unqueued ) {
-					oldfire();
-				}
-			};
-		}
-		hooks.unqueued++;
-
-		anim.always( function() {
-
-			// Ensure the complete handler is called before this completes
-			anim.always( function() {
-				hooks.unqueued--;
-				if ( !jQuery.queue( elem, "fx" ).length ) {
-					hooks.empty.fire();
-				}
-			} );
-		} );
-	}
-
-	// Detect show/hide animations
-	for ( prop in props ) {
-		value = props[ prop ];
-		if ( rfxtypes.test( value ) ) {
-			delete props[ prop ];
-			toggle = toggle || value === "toggle";
-			if ( value === ( hidden ? "hide" : "show" ) ) {
-
-				// Pretend to be hidden if this is a "show" and
-				// there is still data from a stopped show/hide
-				if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) {
-					hidden = true;
-
-				// Ignore all other no-op show/hide data
-				} else {
-					continue;
-				}
-			}
-			orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop );
-		}
-	}
-
-	// Bail out if this is a no-op like .hide().hide()
-	propTween = !jQuery.isEmptyObject( props );
-	if ( !propTween && jQuery.isEmptyObject( orig ) ) {
-		return;
-	}
-
-	// Restrict "overflow" and "display" styles during box animations
-	if ( isBox && elem.nodeType === 1 ) {
-
-		// Support: IE <=9 - 11, Edge 12 - 15
-		// Record all 3 overflow attributes because IE does not infer the shorthand
-		// from identically-valued overflowX and overflowY and Edge just mirrors
-		// the overflowX value there.
-		opts.overflow = [ style.overflow, style.overflowX, style.overflowY ];
-
-		// Identify a display type, preferring old show/hide data over the CSS cascade
-		restoreDisplay = dataShow && dataShow.display;
-		if ( restoreDisplay == null ) {
-			restoreDisplay = dataPriv.get( elem, "display" );
-		}
-		display = jQuery.css( elem, "display" );
-		if ( display === "none" ) {
-			if ( restoreDisplay ) {
-				display = restoreDisplay;
-			} else {
-
-				// Get nonempty value(s) by temporarily forcing visibility
-				showHide( [ elem ], true );
-				restoreDisplay = elem.style.display || restoreDisplay;
-				display = jQuery.css( elem, "display" );
-				showHide( [ elem ] );
-			}
-		}
-
-		// Animate inline elements as inline-block
-		if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) {
-			if ( jQuery.css( elem, "float" ) === "none" ) {
-
-				// Restore the original display value at the end of pure show/hide animations
-				if ( !propTween ) {
-					anim.done( function() {
-						style.display = restoreDisplay;
-					} );
-					if ( restoreDisplay == null ) {
-						display = style.display;
-						restoreDisplay = display === "none" ? "" : display;
-					}
-				}
-				style.display = "inline-block";
-			}
-		}
-	}
-
-	if ( opts.overflow ) {
-		style.overflow = "hidden";
-		anim.always( function() {
-			style.overflow = opts.overflow[ 0 ];
-			style.overflowX = opts.overflow[ 1 ];
-			style.overflowY = opts.overflow[ 2 ];
-		} );
-	}
-
-	// Implement show/hide animations
-	propTween = false;
-	for ( prop in orig ) {
-
-		// General show/hide setup for this element animation
-		if ( !propTween ) {
-			if ( dataShow ) {
-				if ( "hidden" in dataShow ) {
-					hidden = dataShow.hidden;
-				}
-			} else {
-				dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } );
-			}
-
-			// Store hidden/visible for toggle so `.stop().toggle()` "reverses"
-			if ( toggle ) {
-				dataShow.hidden = !hidden;
-			}
-
-			// Show elements before animating them
-			if ( hidden ) {
-				showHide( [ elem ], true );
-			}
-
-			/* eslint-disable no-loop-func */
-
-			anim.done( function() {
-
-				/* eslint-enable no-loop-func */
-
-				// The final step of a "hide" animation is actually hiding the element
-				if ( !hidden ) {
-					showHide( [ elem ] );
-				}
-				dataPriv.remove( elem, "fxshow" );
-				for ( prop in orig ) {
-					jQuery.style( elem, prop, orig[ prop ] );
-				}
-			} );
-		}
-
-		// Per-property setup
-		propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim );
-		if ( !( prop in dataShow ) ) {
-			dataShow[ prop ] = propTween.start;
-			if ( hidden ) {
-				propTween.end = propTween.start;
-				propTween.start = 0;
-			}
-		}
-	}
-}
-
-function propFilter( props, specialEasing ) {
-	var index, name, easing, value, hooks;
-
-	// camelCase, specialEasing and expand cssHook pass
-	for ( index in props ) {
-		name = camelCase( index );
-		easing = specialEasing[ name ];
-		value = props[ index ];
-		if ( Array.isArray( value ) ) {
-			easing = value[ 1 ];
-			value = props[ index ] = value[ 0 ];
-		}
-
-		if ( index !== name ) {
-			props[ name ] = value;
-			delete props[ index ];
-		}
-
-		hooks = jQuery.cssHooks[ name ];
-		if ( hooks && "expand" in hooks ) {
-			value = hooks.expand( value );
-			delete props[ name ];
-
-			// Not quite $.extend, this won't overwrite existing keys.
-			// Reusing 'index' because we have the correct "name"
-			for ( index in value ) {
-				if ( !( index in props ) ) {
-					props[ index ] = value[ index ];
-					specialEasing[ index ] = easing;
-				}
-			}
-		} else {
-			specialEasing[ name ] = easing;
-		}
-	}
-}
-
-function Animation( elem, properties, options ) {
-	var result,
-		stopped,
-		index = 0,
-		length = Animation.prefilters.length,
-		deferred = jQuery.Deferred().always( function() {
-
-			// Don't match elem in the :animated selector
-			delete tick.elem;
-		} ),
-		tick = function() {
-			if ( stopped ) {
-				return false;
-			}
-			var currentTime = fxNow || createFxNow(),
-				remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ),
-
-				// Support: Android 2.3 only
-				// Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497)
-				temp = remaining / animation.duration || 0,
-				percent = 1 - temp,
-				index = 0,
-				length = animation.tweens.length;
-
-			for ( ; index < length; index++ ) {
-				animation.tweens[ index ].run( percent );
-			}
-
-			deferred.notifyWith( elem, [ animation, percent, remaining ] );
-
-			// If there's more to do, yield
-			if ( percent < 1 && length ) {
-				return remaining;
-			}
-
-			// If this was an empty animation, synthesize a final progress notification
-			if ( !length ) {
-				deferred.notifyWith( elem, [ animation, 1, 0 ] );
-			}
-
-			// Resolve the animation and report its conclusion
-			deferred.resolveWith( elem, [ animation ] );
-			return false;
-		},
-		animation = deferred.promise( {
-			elem: elem,
-			props: jQuery.extend( {}, properties ),
-			opts: jQuery.extend( true, {
-				specialEasing: {},
-				easing: jQuery.easing._default
-			}, options ),
-			originalProperties: properties,
-			originalOptions: options,
-			startTime: fxNow || createFxNow(),
-			duration: options.duration,
-			tweens: [],
-			createTween: function( prop, end ) {
-				var tween = jQuery.Tween( elem, animation.opts, prop, end,
-					animation.opts.specialEasing[ prop ] || animation.opts.easing );
-				animation.tweens.push( tween );
-				return tween;
-			},
-			stop: function( gotoEnd ) {
-				var index = 0,
-
-					// If we are going to the end, we want to run all the tweens
-					// otherwise we skip this part
-					length = gotoEnd ? animation.tweens.length : 0;
-				if ( stopped ) {
-					return this;
-				}
-				stopped = true;
-				for ( ; index < length; index++ ) {
-					animation.tweens[ index ].run( 1 );
-				}
-
-				// Resolve when we played the last frame; otherwise, reject
-				if ( gotoEnd ) {
-					deferred.notifyWith( elem, [ animation, 1, 0 ] );
-					deferred.resolveWith( elem, [ animation, gotoEnd ] );
-				} else {
-					deferred.rejectWith( elem, [ animation, gotoEnd ] );
-				}
-				return this;
-			}
-		} ),
-		props = animation.props;
-
-	propFilter( props, animation.opts.specialEasing );
-
-	for ( ; index < length; index++ ) {
-		result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts );
-		if ( result ) {
-			if ( isFunction( result.stop ) ) {
-				jQuery._queueHooks( animation.elem, animation.opts.queue ).stop =
-					result.stop.bind( result );
-			}
-			return result;
-		}
-	}
-
-	jQuery.map( props, createTween, animation );
-
-	if ( isFunction( animation.opts.start ) ) {
-		animation.opts.start.call( elem, animation );
-	}
-
-	// Attach callbacks from options
-	animation
-		.progress( animation.opts.progress )
-		.done( animation.opts.done, animation.opts.complete )
-		.fail( animation.opts.fail )
-		.always( animation.opts.always );
-
-	jQuery.fx.timer(
-		jQuery.extend( tick, {
-			elem: elem,
-			anim: animation,
-			queue: animation.opts.queue
-		} )
-	);
-
-	return animation;
-}
-
-jQuery.Animation = jQuery.extend( Animation, {
-
-	tweeners: {
-		"*": [ function( prop, value ) {
-			var tween = this.createTween( prop, value );
-			adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween );
-			return tween;
-		} ]
-	},
-
-	tweener: function( props, callback ) {
-		if ( isFunction( props ) ) {
-			callback = props;
-			props = [ "*" ];
-		} else {
-			props = props.match( rnothtmlwhite );
-		}
-
-		var prop,
-			index = 0,
-			length = props.length;
-
-		for ( ; index < length; index++ ) {
-			prop = props[ index ];
-			Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || [];
-			Animation.tweeners[ prop ].unshift( callback );
-		}
-	},
-
-	prefilters: [ defaultPrefilter ],
-
-	prefilter: function( callback, prepend ) {
-		if ( prepend ) {
-			Animation.prefilters.unshift( callback );
-		} else {
-			Animation.prefilters.push( callback );
-		}
-	}
-} );
-
-jQuery.speed = function( speed, easing, fn ) {
-	var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : {
-		complete: fn || !fn && easing ||
-			isFunction( speed ) && speed,
-		duration: speed,
-		easing: fn && easing || easing && !isFunction( easing ) && easing
-	};
-
-	// Go to the end state if fx are off
-	if ( jQuery.fx.off ) {
-		opt.duration = 0;
-
-	} else {
-		if ( typeof opt.duration !== "number" ) {
-			if ( opt.duration in jQuery.fx.speeds ) {
-				opt.duration = jQuery.fx.speeds[ opt.duration ];
-
-			} else {
-				opt.duration = jQuery.fx.speeds._default;
-			}
-		}
-	}
-
-	// Normalize opt.queue - true/undefined/null -> "fx"
-	if ( opt.queue == null || opt.queue === true ) {
-		opt.queue = "fx";
-	}
-
-	// Queueing
-	opt.old = opt.complete;
-
-	opt.complete = function() {
-		if ( isFunction( opt.old ) ) {
-			opt.old.call( this );
-		}
-
-		if ( opt.queue ) {
-			jQuery.dequeue( this, opt.queue );
-		}
-	};
-
-	return opt;
-};
-
-jQuery.fn.extend( {
-	fadeTo: function( speed, to, easing, callback ) {
-
-		// Show any hidden elements after setting opacity to 0
-		return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show()
-
-			// Animate to the value specified
-			.end().animate( { opacity: to }, speed, easing, callback );
-	},
-	animate: function( prop, speed, easing, callback ) {
-		var empty = jQuery.isEmptyObject( prop ),
-			optall = jQuery.speed( speed, easing, callback ),
-			doAnimation = function() {
-
-				// Operate on a copy of prop so per-property easing won't be lost
-				var anim = Animation( this, jQuery.extend( {}, prop ), optall );
-
-				// Empty animations, or finishing resolves immediately
-				if ( empty || dataPriv.get( this, "finish" ) ) {
-					anim.stop( true );
-				}
-			};
-
-		doAnimation.finish = doAnimation;
-
-		return empty || optall.queue === false ?
-			this.each( doAnimation ) :
-			this.queue( optall.queue, doAnimation );
-	},
-	stop: function( type, clearQueue, gotoEnd ) {
-		var stopQueue = function( hooks ) {
-			var stop = hooks.stop;
-			delete hooks.stop;
-			stop( gotoEnd );
-		};
-
-		if ( typeof type !== "string" ) {
-			gotoEnd = clearQueue;
-			clearQueue = type;
-			type = undefined;
-		}
-		if ( clearQueue ) {
-			this.queue( type || "fx", [] );
-		}
-
-		return this.each( function() {
-			var dequeue = true,
-				index = type != null && type + "queueHooks",
-				timers = jQuery.timers,
-				data = dataPriv.get( this );
-
-			if ( index ) {
-				if ( data[ index ] && data[ index ].stop ) {
-					stopQueue( data[ index ] );
-				}
-			} else {
-				for ( index in data ) {
-					if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) {
-						stopQueue( data[ index ] );
-					}
-				}
-			}
-
-			for ( index = timers.length; index--; ) {
-				if ( timers[ index ].elem === this &&
-					( type == null || timers[ index ].queue === type ) ) {
-
-					timers[ index ].anim.stop( gotoEnd );
-					dequeue = false;
-					timers.splice( index, 1 );
-				}
-			}
-
-			// Start the next in the queue if the last step wasn't forced.
-			// Timers currently will call their complete callbacks, which
-			// will dequeue but only if they were gotoEnd.
-			if ( dequeue || !gotoEnd ) {
-				jQuery.dequeue( this, type );
-			}
-		} );
-	},
-	finish: function( type ) {
-		if ( type !== false ) {
-			type = type || "fx";
-		}
-		return this.each( function() {
-			var index,
-				data = dataPriv.get( this ),
-				queue = data[ type + "queue" ],
-				hooks = data[ type + "queueHooks" ],
-				timers = jQuery.timers,
-				length = queue ? queue.length : 0;
-
-			// Enable finishing flag on private data
-			data.finish = true;
-
-			// Empty the queue first
-			jQuery.queue( this, type, [] );
-
-			if ( hooks && hooks.stop ) {
-				hooks.stop.call( this, true );
-			}
-
-			// Look for any active animations, and finish them
-			for ( index = timers.length; index--; ) {
-				if ( timers[ index ].elem === this && timers[ index ].queue === type ) {
-					timers[ index ].anim.stop( true );
-					timers.splice( index, 1 );
-				}
-			}
-
-			// Look for any animations in the old queue and finish them
-			for ( index = 0; index < length; index++ ) {
-				if ( queue[ index ] && queue[ index ].finish ) {
-					queue[ index ].finish.call( this );
-				}
-			}
-
-			// Turn off finishing flag
-			delete data.finish;
-		} );
-	}
-} );
-
-jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) {
-	var cssFn = jQuery.fn[ name ];
-	jQuery.fn[ name ] = function( speed, easing, callback ) {
-		return speed == null || typeof speed === "boolean" ?
-			cssFn.apply( this, arguments ) :
-			this.animate( genFx( name, true ), speed, easing, callback );
-	};
-} );
-
-// Generate shortcuts for custom animations
-jQuery.each( {
-	slideDown: genFx( "show" ),
-	slideUp: genFx( "hide" ),
-	slideToggle: genFx( "toggle" ),
-	fadeIn: { opacity: "show" },
-	fadeOut: { opacity: "hide" },
-	fadeToggle: { opacity: "toggle" }
-}, function( name, props ) {
-	jQuery.fn[ name ] = function( speed, easing, callback ) {
-		return this.animate( props, speed, easing, callback );
-	};
-} );
-
-jQuery.timers = [];
-jQuery.fx.tick = function() {
-	var timer,
-		i = 0,
-		timers = jQuery.timers;
-
-	fxNow = Date.now();
-
-	for ( ; i < timers.length; i++ ) {
-		timer = timers[ i ];
-
-		// Run the timer and safely remove it when done (allowing for external removal)
-		if ( !timer() && timers[ i ] === timer ) {
-			timers.splice( i--, 1 );
-		}
-	}
-
-	if ( !timers.length ) {
-		jQuery.fx.stop();
-	}
-	fxNow = undefined;
-};
-
-jQuery.fx.timer = function( timer ) {
-	jQuery.timers.push( timer );
-	jQuery.fx.start();
-};
-
-jQuery.fx.interval = 13;
-jQuery.fx.start = function() {
-	if ( inProgress ) {
-		return;
-	}
-
-	inProgress = true;
-	schedule();
-};
-
-jQuery.fx.stop = function() {
-	inProgress = null;
-};
-
-jQuery.fx.speeds = {
-	slow: 600,
-	fast: 200,
-
-	// Default speed
-	_default: 400
-};
-
-
-// Based off of the plugin by Clint Helfers, with permission.
-// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/
-jQuery.fn.delay = function( time, type ) {
-	time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time;
-	type = type || "fx";
-
-	return this.queue( type, function( next, hooks ) {
-		var timeout = window.setTimeout( next, time );
-		hooks.stop = function() {
-			window.clearTimeout( timeout );
-		};
-	} );
-};
-
-
-( function() {
-	var input = document.createElement( "input" ),
-		select = document.createElement( "select" ),
-		opt = select.appendChild( document.createElement( "option" ) );
-
-	input.type = "checkbox";
-
-	// Support: Android <=4.3 only
-	// Default value for a checkbox should be "on"
-	support.checkOn = input.value !== "";
-
-	// Support: IE <=11 only
-	// Must access selectedIndex to make default options select
-	support.optSelected = opt.selected;
-
-	// Support: IE <=11 only
-	// An input loses its value after becoming a radio
-	input = document.createElement( "input" );
-	input.value = "t";
-	input.type = "radio";
-	support.radioValue = input.value === "t";
-} )();
-
-
-var boolHook,
-	attrHandle = jQuery.expr.attrHandle;
-
-jQuery.fn.extend( {
-	attr: function( name, value ) {
-		return access( this, jQuery.attr, name, value, arguments.length > 1 );
-	},
-
-	removeAttr: function( name ) {
-		return this.each( function() {
-			jQuery.removeAttr( this, name );
-		} );
-	}
-} );
-
-jQuery.extend( {
-	attr: function( elem, name, value ) {
-		var ret, hooks,
-			nType = elem.nodeType;
-
-		// Don't get/set attributes on text, comment and attribute nodes
-		if ( nType === 3 || nType === 8 || nType === 2 ) {
-			return;
-		}
-
-		// Fallback to prop when attributes are not supported
-		if ( typeof elem.getAttribute === "undefined" ) {
-			return jQuery.prop( elem, name, value );
-		}
-
-		// Attribute hooks are determined by the lowercase version
-		// Grab necessary hook if one is defined
-		if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) {
-			hooks = jQuery.attrHooks[ name.toLowerCase() ] ||
-				( jQuery.expr.match.bool.test( name ) ? boolHook : undefined );
-		}
-
-		if ( value !== undefined ) {
-			if ( value === null ) {
-				jQuery.removeAttr( elem, name );
-				return;
-			}
-
-			if ( hooks && "set" in hooks &&
-				( ret = hooks.set( elem, value, name ) ) !== undefined ) {
-				return ret;
-			}
-
-			elem.setAttribute( name, value + "" );
-			return value;
-		}
-
-		if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) {
-			return ret;
-		}
-
-		ret = jQuery.find.attr( elem, name );
-
-		// Non-existent attributes return null, we normalize to undefined
-		return ret == null ? undefined : ret;
-	},
-
-	attrHooks: {
-		type: {
-			set: function( elem, value ) {
-				if ( !support.radioValue && value === "radio" &&
-					nodeName( elem, "input" ) ) {
-					var val = elem.value;
-					elem.setAttribute( "type", value );
-					if ( val ) {
-						elem.value = val;
-					}
-					return value;
-				}
-			}
-		}
-	},
-
-	removeAttr: function( elem, value ) {
-		var name,
-			i = 0,
-
-			// Attribute names can contain non-HTML whitespace characters
-			// https://html.spec.whatwg.org/multipage/syntax.html#attributes-2
-			attrNames = value && value.match( rnothtmlwhite );
-
-		if ( attrNames && elem.nodeType === 1 ) {
-			while ( ( name = attrNames[ i++ ] ) ) {
-				elem.removeAttribute( name );
-			}
-		}
-	}
-} );
-
-// Hooks for boolean attributes
-boolHook = {
-	set: function( elem, value, name ) {
-		if ( value === false ) {
-
-			// Remove boolean attributes when set to false
-			jQuery.removeAttr( elem, name );
-		} else {
-			elem.setAttribute( name, name );
-		}
-		return name;
-	}
-};
-
-jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) {
-	var getter = attrHandle[ name ] || jQuery.find.attr;
-
-	attrHandle[ name ] = function( elem, name, isXML ) {
-		var ret, handle,
-			lowercaseName = name.toLowerCase();
-
-		if ( !isXML ) {
-
-			// Avoid an infinite loop by temporarily removing this function from the getter
-			handle = attrHandle[ lowercaseName ];
-			attrHandle[ lowercaseName ] = ret;
-			ret = getter( elem, name, isXML ) != null ?
-				lowercaseName :
-				null;
-			attrHandle[ lowercaseName ] = handle;
-		}
-		return ret;
-	};
-} );
-
-
-
-
-var rfocusable = /^(?:input|select|textarea|button)$/i,
-	rclickable = /^(?:a|area)$/i;
-
-jQuery.fn.extend( {
-	prop: function( name, value ) {
-		return access( this, jQuery.prop, name, value, arguments.length > 1 );
-	},
-
-	removeProp: function( name ) {
-		return this.each( function() {
-			delete this[ jQuery.propFix[ name ] || name ];
-		} );
-	}
-} );
-
-jQuery.extend( {
-	prop: function( elem, name, value ) {
-		var ret, hooks,
-			nType = elem.nodeType;
-
-		// Don't get/set properties on text, comment and attribute nodes
-		if ( nType === 3 || nType === 8 || nType === 2 ) {
-			return;
-		}
-
-		if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) {
-
-			// Fix name and attach hooks
-			name = jQuery.propFix[ name ] || name;
-			hooks = jQuery.propHooks[ name ];
-		}
-
-		if ( value !== undefined ) {
-			if ( hooks && "set" in hooks &&
-				( ret = hooks.set( elem, value, name ) ) !== undefined ) {
-				return ret;
-			}
-
-			return ( elem[ name ] = value );
-		}
-
-		if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) {
-			return ret;
-		}
-
-		return elem[ name ];
-	},
-
-	propHooks: {
-		tabIndex: {
-			get: function( elem ) {
-
-				// Support: IE <=9 - 11 only
-				// elem.tabIndex doesn't always return the
-				// correct value when it hasn't been explicitly set
-				// https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/
-				// Use proper attribute retrieval(#12072)
-				var tabindex = jQuery.find.attr( elem, "tabindex" );
-
-				if ( tabindex ) {
-					return parseInt( tabindex, 10 );
-				}
-
-				if (
-					rfocusable.test( elem.nodeName ) ||
-					rclickable.test( elem.nodeName ) &&
-					elem.href
-				) {
-					return 0;
-				}
-
-				return -1;
-			}
-		}
-	},
-
-	propFix: {
-		"for": "htmlFor",
-		"class": "className"
-	}
-} );
-
-// Support: IE <=11 only
-// Accessing the selectedIndex property
-// forces the browser to respect setting selected
-// on the option
-// The getter ensures a default option is selected
-// when in an optgroup
-// eslint rule "no-unused-expressions" is disabled for this code
-// since it considers such accessions noop
-if ( !support.optSelected ) {
-	jQuery.propHooks.selected = {
-		get: function( elem ) {
-
-			/* eslint no-unused-expressions: "off" */
-
-			var parent = elem.parentNode;
-			if ( parent && parent.parentNode ) {
-				parent.parentNode.selectedIndex;
-			}
-			return null;
-		},
-		set: function( elem ) {
-
-			/* eslint no-unused-expressions: "off" */
-
-			var parent = elem.parentNode;
-			if ( parent ) {
-				parent.selectedIndex;
-
-				if ( parent.parentNode ) {
-					parent.parentNode.selectedIndex;
-				}
-			}
-		}
-	};
-}
-
-jQuery.each( [
-	"tabIndex",
-	"readOnly",
-	"maxLength",
-	"cellSpacing",
-	"cellPadding",
-	"rowSpan",
-	"colSpan",
-	"useMap",
-	"frameBorder",
-	"contentEditable"
-], function() {
-	jQuery.propFix[ this.toLowerCase() ] = this;
-} );
-
-
-
-
-	// Strip and collapse whitespace according to HTML spec
-	// https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace
-	function stripAndCollapse( value ) {
-		var tokens = value.match( rnothtmlwhite ) || [];
-		return tokens.join( " " );
-	}
-
-
-function getClass( elem ) {
-	return elem.getAttribute && elem.getAttribute( "class" ) || "";
-}
-
-function classesToArray( value ) {
-	if ( Array.isArray( value ) ) {
-		return value;
-	}
-	if ( typeof value === "string" ) {
-		return value.match( rnothtmlwhite ) || [];
-	}
-	return [];
-}
-
-jQuery.fn.extend( {
-	addClass: function( value ) {
-		var classes, elem, cur, curValue, clazz, j, finalValue,
-			i = 0;
-
-		if ( isFunction( value ) ) {
-			return this.each( function( j ) {
-				jQuery( this ).addClass( value.call( this, j, getClass( this ) ) );
-			} );
-		}
-
-		classes = classesToArray( value );
-
-		if ( classes.length ) {
-			while ( ( elem = this[ i++ ] ) ) {
-				curValue = getClass( elem );
-				cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " );
-
-				if ( cur ) {
-					j = 0;
-					while ( ( clazz = classes[ j++ ] ) ) {
-						if ( cur.indexOf( " " + clazz + " " ) < 0 ) {
-							cur += clazz + " ";
-						}
-					}
-
-					// Only assign if different to avoid unneeded rendering.
-					finalValue = stripAndCollapse( cur );
-					if ( curValue !== finalValue ) {
-						elem.setAttribute( "class", finalValue );
-					}
-				}
-			}
-		}
-
-		return this;
-	},
-
-	removeClass: function( value ) {
-		var classes, elem, cur, curValue, clazz, j, finalValue,
-			i = 0;
-
-		if ( isFunction( value ) ) {
-			return this.each( function( j ) {
-				jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) );
-			} );
-		}
-
-		if ( !arguments.length ) {
-			return this.attr( "class", "" );
-		}
-
-		classes = classesToArray( value );
-
-		if ( classes.length ) {
-			while ( ( elem = this[ i++ ] ) ) {
-				curValue = getClass( elem );
-
-				// This expression is here for better compressibility (see addClass)
-				cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " );
-
-				if ( cur ) {
-					j = 0;
-					while ( ( clazz = classes[ j++ ] ) ) {
-
-						// Remove *all* instances
-						while ( cur.indexOf( " " + clazz + " " ) > -1 ) {
-							cur = cur.replace( " " + clazz + " ", " " );
-						}
-					}
-
-					// Only assign if different to avoid unneeded rendering.
-					finalValue = stripAndCollapse( cur );
-					if ( curValue !== finalValue ) {
-						elem.setAttribute( "class", finalValue );
-					}
-				}
-			}
-		}
-
-		return this;
-	},
-
-	toggleClass: function( value, stateVal ) {
-		var type = typeof value,
-			isValidValue = type === "string" || Array.isArray( value );
-
-		if ( typeof stateVal === "boolean" && isValidValue ) {
-			return stateVal ? this.addClass( value ) : this.removeClass( value );
-		}
-
-		if ( isFunction( value ) ) {
-			return this.each( function( i ) {
-				jQuery( this ).toggleClass(
-					value.call( this, i, getClass( this ), stateVal ),
-					stateVal
-				);
-			} );
-		}
-
-		return this.each( function() {
-			var className, i, self, classNames;
-
-			if ( isValidValue ) {
-
-				// Toggle individual class names
-				i = 0;
-				self = jQuery( this );
-				classNames = classesToArray( value );
-
-				while ( ( className = classNames[ i++ ] ) ) {
-
-					// Check each className given, space separated list
-					if ( self.hasClass( className ) ) {
-						self.removeClass( className );
-					} else {
-						self.addClass( className );
-					}
-				}
-
-			// Toggle whole class name
-			} else if ( value === undefined || type === "boolean" ) {
-				className = getClass( this );
-				if ( className ) {
-
-					// Store className if set
-					dataPriv.set( this, "__className__", className );
-				}
-
-				// If the element has a class name or if we're passed `false`,
-				// then remove the whole classname (if there was one, the above saved it).
-				// Otherwise bring back whatever was previously saved (if anything),
-				// falling back to the empty string if nothing was stored.
-				if ( this.setAttribute ) {
-					this.setAttribute( "class",
-						className || value === false ?
-							"" :
-							dataPriv.get( this, "__className__" ) || ""
-					);
-				}
-			}
-		} );
-	},
-
-	hasClass: function( selector ) {
-		var className, elem,
-			i = 0;
-
-		className = " " + selector + " ";
-		while ( ( elem = this[ i++ ] ) ) {
-			if ( elem.nodeType === 1 &&
-				( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) {
-				return true;
-			}
-		}
-
-		return false;
-	}
-} );
-
-
-
-
-var rreturn = /\r/g;
-
-jQuery.fn.extend( {
-	val: function( value ) {
-		var hooks, ret, valueIsFunction,
-			elem = this[ 0 ];
-
-		if ( !arguments.length ) {
-			if ( elem ) {
-				hooks = jQuery.valHooks[ elem.type ] ||
-					jQuery.valHooks[ elem.nodeName.toLowerCase() ];
-
-				if ( hooks &&
-					"get" in hooks &&
-					( ret = hooks.get( elem, "value" ) ) !== undefined
-				) {
-					return ret;
-				}
-
-				ret = elem.value;
-
-				// Handle most common string cases
-				if ( typeof ret === "string" ) {
-					return ret.replace( rreturn, "" );
-				}
-
-				// Handle cases where value is null/undef or number
-				return ret == null ? "" : ret;
-			}
-
-			return;
-		}
-
-		valueIsFunction = isFunction( value );
-
-		return this.each( function( i ) {
-			var val;
-
-			if ( this.nodeType !== 1 ) {
-				return;
-			}
-
-			if ( valueIsFunction ) {
-				val = value.call( this, i, jQuery( this ).val() );
-			} else {
-				val = value;
-			}
-
-			// Treat null/undefined as ""; convert numbers to string
-			if ( val == null ) {
-				val = "";
-
-			} else if ( typeof val === "number" ) {
-				val += "";
-
-			} else if ( Array.isArray( val ) ) {
-				val = jQuery.map( val, function( value ) {
-					return value == null ? "" : value + "";
-				} );
-			}
-
-			hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ];
-
-			// If set returns undefined, fall back to normal setting
-			if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) {
-				this.value = val;
-			}
-		} );
-	}
-} );
-
-jQuery.extend( {
-	valHooks: {
-		option: {
-			get: function( elem ) {
-
-				var val = jQuery.find.attr( elem, "value" );
-				return val != null ?
-					val :
-
-					// Support: IE <=10 - 11 only
-					// option.text throws exceptions (#14686, #14858)
-					// Strip and collapse whitespace
-					// https://html.spec.whatwg.org/#strip-and-collapse-whitespace
-					stripAndCollapse( jQuery.text( elem ) );
-			}
-		},
-		select: {
-			get: function( elem ) {
-				var value, option, i,
-					options = elem.options,
-					index = elem.selectedIndex,
-					one = elem.type === "select-one",
-					values = one ? null : [],
-					max = one ? index + 1 : options.length;
-
-				if ( index < 0 ) {
-					i = max;
-
-				} else {
-					i = one ? index : 0;
-				}
-
-				// Loop through all the selected options
-				for ( ; i < max; i++ ) {
-					option = options[ i ];
-
-					// Support: IE <=9 only
-					// IE8-9 doesn't update selected after form reset (#2551)
-					if ( ( option.selected || i === index ) &&
-
-							// Don't return options that are disabled or in a disabled optgroup
-							!option.disabled &&
-							( !option.parentNode.disabled ||
-								!nodeName( option.parentNode, "optgroup" ) ) ) {
-
-						// Get the specific value for the option
-						value = jQuery( option ).val();
-
-						// We don't need an array for one selects
-						if ( one ) {
-							return value;
-						}
-
-						// Multi-Selects return an array
-						values.push( value );
-					}
-				}
-
-				return values;
-			},
-
-			set: function( elem, value ) {
-				var optionSet, option,
-					options = elem.options,
-					values = jQuery.makeArray( value ),
-					i = options.length;
-
-				while ( i-- ) {
-					option = options[ i ];
-
-					/* eslint-disable no-cond-assign */
-
-					if ( option.selected =
-						jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1
-					) {
-						optionSet = true;
-					}
-
-					/* eslint-enable no-cond-assign */
-				}
-
-				// Force browsers to behave consistently when non-matching value is set
-				if ( !optionSet ) {
-					elem.selectedIndex = -1;
-				}
-				return values;
-			}
-		}
-	}
-} );
-
-// Radios and checkboxes getter/setter
-jQuery.each( [ "radio", "checkbox" ], function() {
-	jQuery.valHooks[ this ] = {
-		set: function( elem, value ) {
-			if ( Array.isArray( value ) ) {
-				return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 );
-			}
-		}
-	};
-	if ( !support.checkOn ) {
-		jQuery.valHooks[ this ].get = function( elem ) {
-			return elem.getAttribute( "value" ) === null ? "on" : elem.value;
-		};
-	}
-} );
-
-
-
-
-// Return jQuery for attributes-only inclusion
-
-
-support.focusin = "onfocusin" in window;
-
-
-var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/,
-	stopPropagationCallback = function( e ) {
-		e.stopPropagation();
-	};
-
-jQuery.extend( jQuery.event, {
-
-	trigger: function( event, data, elem, onlyHandlers ) {
-
-		var i, cur, tmp, bubbleType, ontype, handle, special, lastElement,
-			eventPath = [ elem || document ],
-			type = hasOwn.call( event, "type" ) ? event.type : event,
-			namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : [];
-
-		cur = lastElement = tmp = elem = elem || document;
-
-		// Don't do events on text and comment nodes
-		if ( elem.nodeType === 3 || elem.nodeType === 8 ) {
-			return;
-		}
-
-		// focus/blur morphs to focusin/out; ensure we're not firing them right now
-		if ( rfocusMorph.test( type + jQuery.event.triggered ) ) {
-			return;
-		}
-
-		if ( type.indexOf( "." ) > -1 ) {
-
-			// Namespaced trigger; create a regexp to match event type in handle()
-			namespaces = type.split( "." );
-			type = namespaces.shift();
-			namespaces.sort();
-		}
-		ontype = type.indexOf( ":" ) < 0 && "on" + type;
-
-		// Caller can pass in a jQuery.Event object, Object, or just an event type string
-		event = event[ jQuery.expando ] ?
-			event :
-			new jQuery.Event( type, typeof event === "object" && event );
-
-		// Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true)
-		event.isTrigger = onlyHandlers ? 2 : 3;
-		event.namespace = namespaces.join( "." );
-		event.rnamespace = event.namespace ?
-			new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) :
-			null;
-
-		// Clean up the event in case it is being reused
-		event.result = undefined;
-		if ( !event.target ) {
-			event.target = elem;
-		}
-
-		// Clone any incoming data and prepend the event, creating the handler arg list
-		data = data == null ?
-			[ event ] :
-			jQuery.makeArray( data, [ event ] );
-
-		// Allow special events to draw outside the lines
-		special = jQuery.event.special[ type ] || {};
-		if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) {
-			return;
-		}
-
-		// Determine event propagation path in advance, per W3C events spec (#9951)
-		// Bubble up to document, then to window; watch for a global ownerDocument var (#9724)
-		if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) {
-
-			bubbleType = special.delegateType || type;
-			if ( !rfocusMorph.test( bubbleType + type ) ) {
-				cur = cur.parentNode;
-			}
-			for ( ; cur; cur = cur.parentNode ) {
-				eventPath.push( cur );
-				tmp = cur;
-			}
-
-			// Only add window if we got to document (e.g., not plain obj or detached DOM)
-			if ( tmp === ( elem.ownerDocument || document ) ) {
-				eventPath.push( tmp.defaultView || tmp.parentWindow || window );
-			}
-		}
-
-		// Fire handlers on the event path
-		i = 0;
-		while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) {
-			lastElement = cur;
-			event.type = i > 1 ?
-				bubbleType :
-				special.bindType || type;
-
-			// jQuery handler
-			handle = ( dataPriv.get( cur, "events" ) || Object.create( null ) )[ event.type ] &&
-				dataPriv.get( cur, "handle" );
-			if ( handle ) {
-				handle.apply( cur, data );
-			}
-
-			// Native handler
-			handle = ontype && cur[ ontype ];
-			if ( handle && handle.apply && acceptData( cur ) ) {
-				event.result = handle.apply( cur, data );
-				if ( event.result === false ) {
-					event.preventDefault();
-				}
-			}
-		}
-		event.type = type;
-
-		// If nobody prevented the default action, do it now
-		if ( !onlyHandlers && !event.isDefaultPrevented() ) {
-
-			if ( ( !special._default ||
-				special._default.apply( eventPath.pop(), data ) === false ) &&
-				acceptData( elem ) ) {
-
-				// Call a native DOM method on the target with the same name as the event.
-				// Don't do default actions on window, that's where global variables be (#6170)
-				if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) {
-
-					// Don't re-trigger an onFOO event when we call its FOO() method
-					tmp = elem[ ontype ];
-
-					if ( tmp ) {
-						elem[ ontype ] = null;
-					}
-
-					// Prevent re-triggering of the same event, since we already bubbled it above
-					jQuery.event.triggered = type;
-
-					if ( event.isPropagationStopped() ) {
-						lastElement.addEventListener( type, stopPropagationCallback );
-					}
-
-					elem[ type ]();
-
-					if ( event.isPropagationStopped() ) {
-						lastElement.removeEventListener( type, stopPropagationCallback );
-					}
-
-					jQuery.event.triggered = undefined;
-
-					if ( tmp ) {
-						elem[ ontype ] = tmp;
-					}
-				}
-			}
-		}
-
-		return event.result;
-	},
-
-	// Piggyback on a donor event to simulate a different one
-	// Used only for `focus(in | out)` events
-	simulate: function( type, elem, event ) {
-		var e = jQuery.extend(
-			new jQuery.Event(),
-			event,
-			{
-				type: type,
-				isSimulated: true
-			}
-		);
-
-		jQuery.event.trigger( e, null, elem );
-	}
-
-} );
-
-jQuery.fn.extend( {
-
-	trigger: function( type, data ) {
-		return this.each( function() {
-			jQuery.event.trigger( type, data, this );
-		} );
-	},
-	triggerHandler: function( type, data ) {
-		var elem = this[ 0 ];
-		if ( elem ) {
-			return jQuery.event.trigger( type, data, elem, true );
-		}
-	}
-} );
-
-
-// Support: Firefox <=44
-// Firefox doesn't have focus(in | out) events
-// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787
-//
-// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1
-// focus(in | out) events fire after focus & blur events,
-// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order
-// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857
-if ( !support.focusin ) {
-	jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) {
-
-		// Attach a single capturing handler on the document while someone wants focusin/focusout
-		var handler = function( event ) {
-			jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) );
-		};
-
-		jQuery.event.special[ fix ] = {
-			setup: function() {
-
-				// Handle: regular nodes (via `this.ownerDocument`), window
-				// (via `this.document`) & document (via `this`).
-				var doc = this.ownerDocument || this.document || this,
-					attaches = dataPriv.access( doc, fix );
-
-				if ( !attaches ) {
-					doc.addEventListener( orig, handler, true );
-				}
-				dataPriv.access( doc, fix, ( attaches || 0 ) + 1 );
-			},
-			teardown: function() {
-				var doc = this.ownerDocument || this.document || this,
-					attaches = dataPriv.access( doc, fix ) - 1;
-
-				if ( !attaches ) {
-					doc.removeEventListener( orig, handler, true );
-					dataPriv.remove( doc, fix );
-
-				} else {
-					dataPriv.access( doc, fix, attaches );
-				}
-			}
-		};
-	} );
-}
-var location = window.location;
-
-var nonce = { guid: Date.now() };
-
-var rquery = ( /\?/ );
-
-
-
-// Cross-browser xml parsing
-jQuery.parseXML = function( data ) {
-	var xml, parserErrorElem;
-	if ( !data || typeof data !== "string" ) {
-		return null;
-	}
-
-	// Support: IE 9 - 11 only
-	// IE throws on parseFromString with invalid input.
-	try {
-		xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" );
-	} catch ( e ) {}
-
-	parserErrorElem = xml && xml.getElementsByTagName( "parsererror" )[ 0 ];
-	if ( !xml || parserErrorElem ) {
-		jQuery.error( "Invalid XML: " + (
-			parserErrorElem ?
-				jQuery.map( parserErrorElem.childNodes, function( el ) {
-					return el.textContent;
-				} ).join( "\n" ) :
-				data
-		) );
-	}
-	return xml;
-};
-
-
-var
-	rbracket = /\[\]$/,
-	rCRLF = /\r?\n/g,
-	rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i,
-	rsubmittable = /^(?:input|select|textarea|keygen)/i;
-
-function buildParams( prefix, obj, traditional, add ) {
-	var name;
-
-	if ( Array.isArray( obj ) ) {
-
-		// Serialize array item.
-		jQuery.each( obj, function( i, v ) {
-			if ( traditional || rbracket.test( prefix ) ) {
-
-				// Treat each array item as a scalar.
-				add( prefix, v );
-
-			} else {
-
-				// Item is non-scalar (array or object), encode its numeric index.
-				buildParams(
-					prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]",
-					v,
-					traditional,
-					add
-				);
-			}
-		} );
-
-	} else if ( !traditional && toType( obj ) === "object" ) {
-
-		// Serialize object item.
-		for ( name in obj ) {
-			buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add );
-		}
-
-	} else {
-
-		// Serialize scalar item.
-		add( prefix, obj );
-	}
-}
-
-// Serialize an array of form elements or a set of
-// key/values into a query string
-jQuery.param = function( a, traditional ) {
-	var prefix,
-		s = [],
-		add = function( key, valueOrFunction ) {
-
-			// If value is a function, invoke it and use its return value
-			var value = isFunction( valueOrFunction ) ?
-				valueOrFunction() :
-				valueOrFunction;
-
-			s[ s.length ] = encodeURIComponent( key ) + "=" +
-				encodeURIComponent( value == null ? "" : value );
-		};
-
-	if ( a == null ) {
-		return "";
-	}
-
-	// If an array was passed in, assume that it is an array of form elements.
-	if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) {
-
-		// Serialize the form elements
-		jQuery.each( a, function() {
-			add( this.name, this.value );
-		} );
-
-	} else {
-
-		// If traditional, encode the "old" way (the way 1.3.2 or older
-		// did it), otherwise encode params recursively.
-		for ( prefix in a ) {
-			buildParams( prefix, a[ prefix ], traditional, add );
-		}
-	}
-
-	// Return the resulting serialization
-	return s.join( "&" );
-};
-
-jQuery.fn.extend( {
-	serialize: function() {
-		return jQuery.param( this.serializeArray() );
-	},
-	serializeArray: function() {
-		return this.map( function() {
-
-			// Can add propHook for "elements" to filter or add form elements
-			var elements = jQuery.prop( this, "elements" );
-			return elements ? jQuery.makeArray( elements ) : this;
-		} ).filter( function() {
-			var type = this.type;
-
-			// Use .is( ":disabled" ) so that fieldset[disabled] works
-			return this.name && !jQuery( this ).is( ":disabled" ) &&
-				rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) &&
-				( this.checked || !rcheckableType.test( type ) );
-		} ).map( function( _i, elem ) {
-			var val = jQuery( this ).val();
-
-			if ( val == null ) {
-				return null;
-			}
-
-			if ( Array.isArray( val ) ) {
-				return jQuery.map( val, function( val ) {
-					return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
-				} );
-			}
-
-			return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
-		} ).get();
-	}
-} );
-
-
-var
-	r20 = /%20/g,
-	rhash = /#.*$/,
-	rantiCache = /([?&])_=[^&]*/,
-	rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg,
-
-	// #7653, #8125, #8152: local protocol detection
-	rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/,
-	rnoContent = /^(?:GET|HEAD)$/,
-	rprotocol = /^\/\//,
-
-	/* Prefilters
-	 * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example)
-	 * 2) These are called:
-	 *    - BEFORE asking for a transport
-	 *    - AFTER param serialization (s.data is a string if s.processData is true)
-	 * 3) key is the dataType
-	 * 4) the catchall symbol "*" can be used
-	 * 5) execution will start with transport dataType and THEN continue down to "*" if needed
-	 */
-	prefilters = {},
-
-	/* Transports bindings
-	 * 1) key is the dataType
-	 * 2) the catchall symbol "*" can be used
-	 * 3) selection will start with transport dataType and THEN go to "*" if needed
-	 */
-	transports = {},
-
-	// Avoid comment-prolog char sequence (#10098); must appease lint and evade compression
-	allTypes = "*/".concat( "*" ),
-
-	// Anchor tag for parsing the document origin
-	originAnchor = document.createElement( "a" );
-
-originAnchor.href = location.href;
-
-// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport
-function addToPrefiltersOrTransports( structure ) {
-
-	// dataTypeExpression is optional and defaults to "*"
-	return function( dataTypeExpression, func ) {
-
-		if ( typeof dataTypeExpression !== "string" ) {
-			func = dataTypeExpression;
-			dataTypeExpression = "*";
-		}
-
-		var dataType,
-			i = 0,
-			dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || [];
-
-		if ( isFunction( func ) ) {
-
-			// For each dataType in the dataTypeExpression
-			while ( ( dataType = dataTypes[ i++ ] ) ) {
-
-				// Prepend if requested
-				if ( dataType[ 0 ] === "+" ) {
-					dataType = dataType.slice( 1 ) || "*";
-					( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func );
-
-				// Otherwise append
-				} else {
-					( structure[ dataType ] = structure[ dataType ] || [] ).push( func );
-				}
-			}
-		}
-	};
-}
-
-// Base inspection function for prefilters and transports
-function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) {
-
-	var inspected = {},
-		seekingTransport = ( structure === transports );
-
-	function inspect( dataType ) {
-		var selected;
-		inspected[ dataType ] = true;
-		jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) {
-			var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR );
-			if ( typeof dataTypeOrTransport === "string" &&
-				!seekingTransport && !inspected[ dataTypeOrTransport ] ) {
-
-				options.dataTypes.unshift( dataTypeOrTransport );
-				inspect( dataTypeOrTransport );
-				return false;
-			} else if ( seekingTransport ) {
-				return !( selected = dataTypeOrTransport );
-			}
-		} );
-		return selected;
-	}
-
-	return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" );
-}
-
-// A special extend for ajax options
-// that takes "flat" options (not to be deep extended)
-// Fixes #9887
-function ajaxExtend( target, src ) {
-	var key, deep,
-		flatOptions = jQuery.ajaxSettings.flatOptions || {};
-
-	for ( key in src ) {
-		if ( src[ key ] !== undefined ) {
-			( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ];
-		}
-	}
-	if ( deep ) {
-		jQuery.extend( true, target, deep );
-	}
-
-	return target;
-}
-
-/* Handles responses to an ajax request:
- * - finds the right dataType (mediates between content-type and expected dataType)
- * - returns the corresponding response
- */
-function ajaxHandleResponses( s, jqXHR, responses ) {
-
-	var ct, type, finalDataType, firstDataType,
-		contents = s.contents,
-		dataTypes = s.dataTypes;
-
-	// Remove auto dataType and get content-type in the process
-	while ( dataTypes[ 0 ] === "*" ) {
-		dataTypes.shift();
-		if ( ct === undefined ) {
-			ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" );
-		}
-	}
-
-	// Check if we're dealing with a known content-type
-	if ( ct ) {
-		for ( type in contents ) {
-			if ( contents[ type ] && contents[ type ].test( ct ) ) {
-				dataTypes.unshift( type );
-				break;
-			}
-		}
-	}
-
-	// Check to see if we have a response for the expected dataType
-	if ( dataTypes[ 0 ] in responses ) {
-		finalDataType = dataTypes[ 0 ];
-	} else {
-
-		// Try convertible dataTypes
-		for ( type in responses ) {
-			if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) {
-				finalDataType = type;
-				break;
-			}
-			if ( !firstDataType ) {
-				firstDataType = type;
-			}
-		}
-
-		// Or just use first one
-		finalDataType = finalDataType || firstDataType;
-	}
-
-	// If we found a dataType
-	// We add the dataType to the list if needed
-	// and return the corresponding response
-	if ( finalDataType ) {
-		if ( finalDataType !== dataTypes[ 0 ] ) {
-			dataTypes.unshift( finalDataType );
-		}
-		return responses[ finalDataType ];
-	}
-}
-
-/* Chain conversions given the request and the original response
- * Also sets the responseXXX fields on the jqXHR instance
- */
-function ajaxConvert( s, response, jqXHR, isSuccess ) {
-	var conv2, current, conv, tmp, prev,
-		converters = {},
-
-		// Work with a copy of dataTypes in case we need to modify it for conversion
-		dataTypes = s.dataTypes.slice();
-
-	// Create converters map with lowercased keys
-	if ( dataTypes[ 1 ] ) {
-		for ( conv in s.converters ) {
-			converters[ conv.toLowerCase() ] = s.converters[ conv ];
-		}
-	}
-
-	current = dataTypes.shift();
-
-	// Convert to each sequential dataType
-	while ( current ) {
-
-		if ( s.responseFields[ current ] ) {
-			jqXHR[ s.responseFields[ current ] ] = response;
-		}
-
-		// Apply the dataFilter if provided
-		if ( !prev && isSuccess && s.dataFilter ) {
-			response = s.dataFilter( response, s.dataType );
-		}
-
-		prev = current;
-		current = dataTypes.shift();
-
-		if ( current ) {
-
-			// There's only work to do if current dataType is non-auto
-			if ( current === "*" ) {
-
-				current = prev;
-
-			// Convert response if prev dataType is non-auto and differs from current
-			} else if ( prev !== "*" && prev !== current ) {
-
-				// Seek a direct converter
-				conv = converters[ prev + " " + current ] || converters[ "* " + current ];
-
-				// If none found, seek a pair
-				if ( !conv ) {
-					for ( conv2 in converters ) {
-
-						// If conv2 outputs current
-						tmp = conv2.split( " " );
-						if ( tmp[ 1 ] === current ) {
-
-							// If prev can be converted to accepted input
-							conv = converters[ prev + " " + tmp[ 0 ] ] ||
-								converters[ "* " + tmp[ 0 ] ];
-							if ( conv ) {
-
-								// Condense equivalence converters
-								if ( conv === true ) {
-									conv = converters[ conv2 ];
-
-								// Otherwise, insert the intermediate dataType
-								} else if ( converters[ conv2 ] !== true ) {
-									current = tmp[ 0 ];
-									dataTypes.unshift( tmp[ 1 ] );
-								}
-								break;
-							}
-						}
-					}
-				}
-
-				// Apply converter (if not an equivalence)
-				if ( conv !== true ) {
-
-					// Unless errors are allowed to bubble, catch and return them
-					if ( conv && s.throws ) {
-						response = conv( response );
-					} else {
-						try {
-							response = conv( response );
-						} catch ( e ) {
-							return {
-								state: "parsererror",
-								error: conv ? e : "No conversion from " + prev + " to " + current
-							};
-						}
-					}
-				}
-			}
-		}
-	}
-
-	return { state: "success", data: response };
-}
-
-jQuery.extend( {
-
-	// Counter for holding the number of active queries
-	active: 0,
-
-	// Last-Modified header cache for next request
-	lastModified: {},
-	etag: {},
-
-	ajaxSettings: {
-		url: location.href,
-		type: "GET",
-		isLocal: rlocalProtocol.test( location.protocol ),
-		global: true,
-		processData: true,
-		async: true,
-		contentType: "application/x-www-form-urlencoded; charset=UTF-8",
-
-		/*
-		timeout: 0,
-		data: null,
-		dataType: null,
-		username: null,
-		password: null,
-		cache: null,
-		throws: false,
-		traditional: false,
-		headers: {},
-		*/
-
-		accepts: {
-			"*": allTypes,
-			text: "text/plain",
-			html: "text/html",
-			xml: "application/xml, text/xml",
-			json: "application/json, text/javascript"
-		},
-
-		contents: {
-			xml: /\bxml\b/,
-			html: /\bhtml/,
-			json: /\bjson\b/
-		},
-
-		responseFields: {
-			xml: "responseXML",
-			text: "responseText",
-			json: "responseJSON"
-		},
-
-		// Data converters
-		// Keys separate source (or catchall "*") and destination types with a single space
-		converters: {
-
-			// Convert anything to text
-			"* text": String,
-
-			// Text to html (true = no transformation)
-			"text html": true,
-
-			// Evaluate text as a json expression
-			"text json": JSON.parse,
-
-			// Parse text as xml
-			"text xml": jQuery.parseXML
-		},
-
-		// For options that shouldn't be deep extended:
-		// you can add your own custom options here if
-		// and when you create one that shouldn't be
-		// deep extended (see ajaxExtend)
-		flatOptions: {
-			url: true,
-			context: true
-		}
-	},
-
-	// Creates a full fledged settings object into target
-	// with both ajaxSettings and settings fields.
-	// If target is omitted, writes into ajaxSettings.
-	ajaxSetup: function( target, settings ) {
-		return settings ?
-
-			// Building a settings object
-			ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) :
-
-			// Extending ajaxSettings
-			ajaxExtend( jQuery.ajaxSettings, target );
-	},
-
-	ajaxPrefilter: addToPrefiltersOrTransports( prefilters ),
-	ajaxTransport: addToPrefiltersOrTransports( transports ),
-
-	// Main method
-	ajax: function( url, options ) {
-
-		// If url is an object, simulate pre-1.5 signature
-		if ( typeof url === "object" ) {
-			options = url;
-			url = undefined;
-		}
-
-		// Force options to be an object
-		options = options || {};
-
-		var transport,
-
-			// URL without anti-cache param
-			cacheURL,
-
-			// Response headers
-			responseHeadersString,
-			responseHeaders,
-
-			// timeout handle
-			timeoutTimer,
-
-			// Url cleanup var
-			urlAnchor,
-
-			// Request state (becomes false upon send and true upon completion)
-			completed,
-
-			// To know if global events are to be dispatched
-			fireGlobals,
-
-			// Loop variable
-			i,
-
-			// uncached part of the url
-			uncached,
-
-			// Create the final options object
-			s = jQuery.ajaxSetup( {}, options ),
-
-			// Callbacks context
-			callbackContext = s.context || s,
-
-			// Context for global events is callbackContext if it is a DOM node or jQuery collection
-			globalEventContext = s.context &&
-				( callbackContext.nodeType || callbackContext.jquery ) ?
-				jQuery( callbackContext ) :
-				jQuery.event,
-
-			// Deferreds
-			deferred = jQuery.Deferred(),
-			completeDeferred = jQuery.Callbacks( "once memory" ),
-
-			// Status-dependent callbacks
-			statusCode = s.statusCode || {},
-
-			// Headers (they are sent all at once)
-			requestHeaders = {},
-			requestHeadersNames = {},
-
-			// Default abort message
-			strAbort = "canceled",
-
-			// Fake xhr
-			jqXHR = {
-				readyState: 0,
-
-				// Builds headers hashtable if needed
-				getResponseHeader: function( key ) {
-					var match;
-					if ( completed ) {
-						if ( !responseHeaders ) {
-							responseHeaders = {};
-							while ( ( match = rheaders.exec( responseHeadersString ) ) ) {
-								responseHeaders[ match[ 1 ].toLowerCase() + " " ] =
-									( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] )
-										.concat( match[ 2 ] );
-							}
-						}
-						match = responseHeaders[ key.toLowerCase() + " " ];
-					}
-					return match == null ? null : match.join( ", " );
-				},
-
-				// Raw string
-				getAllResponseHeaders: function() {
-					return completed ? responseHeadersString : null;
-				},
-
-				// Caches the header
-				setRequestHeader: function( name, value ) {
-					if ( completed == null ) {
-						name = requestHeadersNames[ name.toLowerCase() ] =
-							requestHeadersNames[ name.toLowerCase() ] || name;
-						requestHeaders[ name ] = value;
-					}
-					return this;
-				},
-
-				// Overrides response content-type header
-				overrideMimeType: function( type ) {
-					if ( completed == null ) {
-						s.mimeType = type;
-					}
-					return this;
-				},
-
-				// Status-dependent callbacks
-				statusCode: function( map ) {
-					var code;
-					if ( map ) {
-						if ( completed ) {
-
-							// Execute the appropriate callbacks
-							jqXHR.always( map[ jqXHR.status ] );
-						} else {
-
-							// Lazy-add the new callbacks in a way that preserves old ones
-							for ( code in map ) {
-								statusCode[ code ] = [ statusCode[ code ], map[ code ] ];
-							}
-						}
-					}
-					return this;
-				},
-
-				// Cancel the request
-				abort: function( statusText ) {
-					var finalText = statusText || strAbort;
-					if ( transport ) {
-						transport.abort( finalText );
-					}
-					done( 0, finalText );
-					return this;
-				}
-			};
-
-		// Attach deferreds
-		deferred.promise( jqXHR );
-
-		// Add protocol if not provided (prefilters might expect it)
-		// Handle falsy url in the settings object (#10093: consistency with old signature)
-		// We also use the url parameter if available
-		s.url = ( ( url || s.url || location.href ) + "" )
-			.replace( rprotocol, location.protocol + "//" );
-
-		// Alias method option to type as per ticket #12004
-		s.type = options.method || options.type || s.method || s.type;
-
-		// Extract dataTypes list
-		s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ];
-
-		// A cross-domain request is in order when the origin doesn't match the current origin.
-		if ( s.crossDomain == null ) {
-			urlAnchor = document.createElement( "a" );
-
-			// Support: IE <=8 - 11, Edge 12 - 15
-			// IE throws exception on accessing the href property if url is malformed,
-			// e.g. http://example.com:80x/
-			try {
-				urlAnchor.href = s.url;
-
-				// Support: IE <=8 - 11 only
-				// Anchor's host property isn't correctly set when s.url is relative
-				urlAnchor.href = urlAnchor.href;
-				s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !==
-					urlAnchor.protocol + "//" + urlAnchor.host;
-			} catch ( e ) {
-
-				// If there is an error parsing the URL, assume it is crossDomain,
-				// it can be rejected by the transport if it is invalid
-				s.crossDomain = true;
-			}
-		}
-
-		// Convert data if not already a string
-		if ( s.data && s.processData && typeof s.data !== "string" ) {
-			s.data = jQuery.param( s.data, s.traditional );
-		}
-
-		// Apply prefilters
-		inspectPrefiltersOrTransports( prefilters, s, options, jqXHR );
-
-		// If request was aborted inside a prefilter, stop there
-		if ( completed ) {
-			return jqXHR;
-		}
-
-		// We can fire global events as of now if asked to
-		// Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118)
-		fireGlobals = jQuery.event && s.global;
-
-		// Watch for a new set of requests
-		if ( fireGlobals && jQuery.active++ === 0 ) {
-			jQuery.event.trigger( "ajaxStart" );
-		}
-
-		// Uppercase the type
-		s.type = s.type.toUpperCase();
-
-		// Determine if request has content
-		s.hasContent = !rnoContent.test( s.type );
-
-		// Save the URL in case we're toying with the If-Modified-Since
-		// and/or If-None-Match header later on
-		// Remove hash to simplify url manipulation
-		cacheURL = s.url.replace( rhash, "" );
-
-		// More options handling for requests with no content
-		if ( !s.hasContent ) {
-
-			// Remember the hash so we can put it back
-			uncached = s.url.slice( cacheURL.length );
-
-			// If data is available and should be processed, append data to url
-			if ( s.data && ( s.processData || typeof s.data === "string" ) ) {
-				cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data;
-
-				// #9682: remove data so that it's not used in an eventual retry
-				delete s.data;
-			}
-
-			// Add or update anti-cache param if needed
-			if ( s.cache === false ) {
-				cacheURL = cacheURL.replace( rantiCache, "$1" );
-				uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) +
-					uncached;
-			}
-
-			// Put hash and anti-cache on the URL that will be requested (gh-1732)
-			s.url = cacheURL + uncached;
-
-		// Change '%20' to '+' if this is encoded form body content (gh-2658)
-		} else if ( s.data && s.processData &&
-			( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) {
-			s.data = s.data.replace( r20, "+" );
-		}
-
-		// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
-		if ( s.ifModified ) {
-			if ( jQuery.lastModified[ cacheURL ] ) {
-				jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] );
-			}
-			if ( jQuery.etag[ cacheURL ] ) {
-				jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] );
-			}
-		}
-
-		// Set the correct header, if data is being sent
-		if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) {
-			jqXHR.setRequestHeader( "Content-Type", s.contentType );
-		}
-
-		// Set the Accepts header for the server, depending on the dataType
-		jqXHR.setRequestHeader(
-			"Accept",
-			s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ?
-				s.accepts[ s.dataTypes[ 0 ] ] +
-					( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) :
-				s.accepts[ "*" ]
-		);
-
-		// Check for headers option
-		for ( i in s.headers ) {
-			jqXHR.setRequestHeader( i, s.headers[ i ] );
-		}
-
-		// Allow custom headers/mimetypes and early abort
-		if ( s.beforeSend &&
-			( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) {
-
-			// Abort if not done already and return
-			return jqXHR.abort();
-		}
-
-		// Aborting is no longer a cancellation
-		strAbort = "abort";
-
-		// Install callbacks on deferreds
-		completeDeferred.add( s.complete );
-		jqXHR.done( s.success );
-		jqXHR.fail( s.error );
-
-		// Get transport
-		transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR );
-
-		// If no transport, we auto-abort
-		if ( !transport ) {
-			done( -1, "No Transport" );
-		} else {
-			jqXHR.readyState = 1;
-
-			// Send global event
-			if ( fireGlobals ) {
-				globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] );
-			}
-
-			// If request was aborted inside ajaxSend, stop there
-			if ( completed ) {
-				return jqXHR;
-			}
-
-			// Timeout
-			if ( s.async && s.timeout > 0 ) {
-				timeoutTimer = window.setTimeout( function() {
-					jqXHR.abort( "timeout" );
-				}, s.timeout );
-			}
-
-			try {
-				completed = false;
-				transport.send( requestHeaders, done );
-			} catch ( e ) {
-
-				// Rethrow post-completion exceptions
-				if ( completed ) {
-					throw e;
-				}
-
-				// Propagate others as results
-				done( -1, e );
-			}
-		}
-
-		// Callback for when everything is done
-		function done( status, nativeStatusText, responses, headers ) {
-			var isSuccess, success, error, response, modified,
-				statusText = nativeStatusText;
-
-			// Ignore repeat invocations
-			if ( completed ) {
-				return;
-			}
-
-			completed = true;
-
-			// Clear timeout if it exists
-			if ( timeoutTimer ) {
-				window.clearTimeout( timeoutTimer );
-			}
-
-			// Dereference transport for early garbage collection
-			// (no matter how long the jqXHR object will be used)
-			transport = undefined;
-
-			// Cache response headers
-			responseHeadersString = headers || "";
-
-			// Set readyState
-			jqXHR.readyState = status > 0 ? 4 : 0;
-
-			// Determine if successful
-			isSuccess = status >= 200 && status < 300 || status === 304;
-
-			// Get response data
-			if ( responses ) {
-				response = ajaxHandleResponses( s, jqXHR, responses );
-			}
-
-			// Use a noop converter for missing script but not if jsonp
-			if ( !isSuccess &&
-				jQuery.inArray( "script", s.dataTypes ) > -1 &&
-				jQuery.inArray( "json", s.dataTypes ) < 0 ) {
-				s.converters[ "text script" ] = function() {};
-			}
-
-			// Convert no matter what (that way responseXXX fields are always set)
-			response = ajaxConvert( s, response, jqXHR, isSuccess );
-
-			// If successful, handle type chaining
-			if ( isSuccess ) {
-
-				// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
-				if ( s.ifModified ) {
-					modified = jqXHR.getResponseHeader( "Last-Modified" );
-					if ( modified ) {
-						jQuery.lastModified[ cacheURL ] = modified;
-					}
-					modified = jqXHR.getResponseHeader( "etag" );
-					if ( modified ) {
-						jQuery.etag[ cacheURL ] = modified;
-					}
-				}
-
-				// if no content
-				if ( status === 204 || s.type === "HEAD" ) {
-					statusText = "nocontent";
-
-				// if not modified
-				} else if ( status === 304 ) {
-					statusText = "notmodified";
-
-				// If we have data, let's convert it
-				} else {
-					statusText = response.state;
-					success = response.data;
-					error = response.error;
-					isSuccess = !error;
-				}
-			} else {
-
-				// Extract error from statusText and normalize for non-aborts
-				error = statusText;
-				if ( status || !statusText ) {
-					statusText = "error";
-					if ( status < 0 ) {
-						status = 0;
-					}
-				}
-			}
-
-			// Set data for the fake xhr object
-			jqXHR.status = status;
-			jqXHR.statusText = ( nativeStatusText || statusText ) + "";
-
-			// Success/Error
-			if ( isSuccess ) {
-				deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] );
-			} else {
-				deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] );
-			}
-
-			// Status-dependent callbacks
-			jqXHR.statusCode( statusCode );
-			statusCode = undefined;
-
-			if ( fireGlobals ) {
-				globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError",
-					[ jqXHR, s, isSuccess ? success : error ] );
-			}
-
-			// Complete
-			completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] );
-
-			if ( fireGlobals ) {
-				globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] );
-
-				// Handle the global AJAX counter
-				if ( !( --jQuery.active ) ) {
-					jQuery.event.trigger( "ajaxStop" );
-				}
-			}
-		}
-
-		return jqXHR;
-	},
-
-	getJSON: function( url, data, callback ) {
-		return jQuery.get( url, data, callback, "json" );
-	},
-
-	getScript: function( url, callback ) {
-		return jQuery.get( url, undefined, callback, "script" );
-	}
-} );
-
-jQuery.each( [ "get", "post" ], function( _i, method ) {
-	jQuery[ method ] = function( url, data, callback, type ) {
-
-		// Shift arguments if data argument was omitted
-		if ( isFunction( data ) ) {
-			type = type || callback;
-			callback = data;
-			data = undefined;
-		}
-
-		// The url can be an options object (which then must have .url)
-		return jQuery.ajax( jQuery.extend( {
-			url: url,
-			type: method,
-			dataType: type,
-			data: data,
-			success: callback
-		}, jQuery.isPlainObject( url ) && url ) );
-	};
-} );
-
-jQuery.ajaxPrefilter( function( s ) {
-	var i;
-	for ( i in s.headers ) {
-		if ( i.toLowerCase() === "content-type" ) {
-			s.contentType = s.headers[ i ] || "";
-		}
-	}
-} );
-
-
-jQuery._evalUrl = function( url, options, doc ) {
-	return jQuery.ajax( {
-		url: url,
-
-		// Make this explicit, since user can override this through ajaxSetup (#11264)
-		type: "GET",
-		dataType: "script",
-		cache: true,
-		async: false,
-		global: false,
-
-		// Only evaluate the response if it is successful (gh-4126)
-		// dataFilter is not invoked for failure responses, so using it instead
-		// of the default converter is kludgy but it works.
-		converters: {
-			"text script": function() {}
-		},
-		dataFilter: function( response ) {
-			jQuery.globalEval( response, options, doc );
-		}
-	} );
-};
-
-
-jQuery.fn.extend( {
-	wrapAll: function( html ) {
-		var wrap;
-
-		if ( this[ 0 ] ) {
-			if ( isFunction( html ) ) {
-				html = html.call( this[ 0 ] );
-			}
-
-			// The elements to wrap the target around
-			wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true );
-
-			if ( this[ 0 ].parentNode ) {
-				wrap.insertBefore( this[ 0 ] );
-			}
-
-			wrap.map( function() {
-				var elem = this;
-
-				while ( elem.firstElementChild ) {
-					elem = elem.firstElementChild;
-				}
-
-				return elem;
-			} ).append( this );
-		}
-
-		return this;
-	},
-
-	wrapInner: function( html ) {
-		if ( isFunction( html ) ) {
-			return this.each( function( i ) {
-				jQuery( this ).wrapInner( html.call( this, i ) );
-			} );
-		}
-
-		return this.each( function() {
-			var self = jQuery( this ),
-				contents = self.contents();
-
-			if ( contents.length ) {
-				contents.wrapAll( html );
-
-			} else {
-				self.append( html );
-			}
-		} );
-	},
-
-	wrap: function( html ) {
-		var htmlIsFunction = isFunction( html );
-
-		return this.each( function( i ) {
-			jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html );
-		} );
-	},
-
-	unwrap: function( selector ) {
-		this.parent( selector ).not( "body" ).each( function() {
-			jQuery( this ).replaceWith( this.childNodes );
-		} );
-		return this;
-	}
-} );
-
-
-jQuery.expr.pseudos.hidden = function( elem ) {
-	return !jQuery.expr.pseudos.visible( elem );
-};
-jQuery.expr.pseudos.visible = function( elem ) {
-	return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length );
-};
-
-
-
-
-jQuery.ajaxSettings.xhr = function() {
-	try {
-		return new window.XMLHttpRequest();
-	} catch ( e ) {}
-};
-
-var xhrSuccessStatus = {
-
-		// File protocol always yields status code 0, assume 200
-		0: 200,
-
-		// Support: IE <=9 only
-		// #1450: sometimes IE returns 1223 when it should be 204
-		1223: 204
-	},
-	xhrSupported = jQuery.ajaxSettings.xhr();
-
-support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported );
-support.ajax = xhrSupported = !!xhrSupported;
-
-jQuery.ajaxTransport( function( options ) {
-	var callback, errorCallback;
-
-	// Cross domain only allowed if supported through XMLHttpRequest
-	if ( support.cors || xhrSupported && !options.crossDomain ) {
-		return {
-			send: function( headers, complete ) {
-				var i,
-					xhr = options.xhr();
-
-				xhr.open(
-					options.type,
-					options.url,
-					options.async,
-					options.username,
-					options.password
-				);
-
-				// Apply custom fields if provided
-				if ( options.xhrFields ) {
-					for ( i in options.xhrFields ) {
-						xhr[ i ] = options.xhrFields[ i ];
-					}
-				}
-
-				// Override mime type if needed
-				if ( options.mimeType && xhr.overrideMimeType ) {
-					xhr.overrideMimeType( options.mimeType );
-				}
-
-				// X-Requested-With header
-				// For cross-domain requests, seeing as conditions for a preflight are
-				// akin to a jigsaw puzzle, we simply never set it to be sure.
-				// (it can always be set on a per-request basis or even using ajaxSetup)
-				// For same-domain requests, won't change header if already provided.
-				if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) {
-					headers[ "X-Requested-With" ] = "XMLHttpRequest";
-				}
-
-				// Set headers
-				for ( i in headers ) {
-					xhr.setRequestHeader( i, headers[ i ] );
-				}
-
-				// Callback
-				callback = function( type ) {
-					return function() {
-						if ( callback ) {
-							callback = errorCallback = xhr.onload =
-								xhr.onerror = xhr.onabort = xhr.ontimeout =
-									xhr.onreadystatechange = null;
-
-							if ( type === "abort" ) {
-								xhr.abort();
-							} else if ( type === "error" ) {
-
-								// Support: IE <=9 only
-								// On a manual native abort, IE9 throws
-								// errors on any property access that is not readyState
-								if ( typeof xhr.status !== "number" ) {
-									complete( 0, "error" );
-								} else {
-									complete(
-
-										// File: protocol always yields status 0; see #8605, #14207
-										xhr.status,
-										xhr.statusText
-									);
-								}
-							} else {
-								complete(
-									xhrSuccessStatus[ xhr.status ] || xhr.status,
-									xhr.statusText,
-
-									// Support: IE <=9 only
-									// IE9 has no XHR2 but throws on binary (trac-11426)
-									// For XHR2 non-text, let the caller handle it (gh-2498)
-									( xhr.responseType || "text" ) !== "text"  ||
-									typeof xhr.responseText !== "string" ?
-										{ binary: xhr.response } :
-										{ text: xhr.responseText },
-									xhr.getAllResponseHeaders()
-								);
-							}
-						}
-					};
-				};
-
-				// Listen to events
-				xhr.onload = callback();
-				errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" );
-
-				// Support: IE 9 only
-				// Use onreadystatechange to replace onabort
-				// to handle uncaught aborts
-				if ( xhr.onabort !== undefined ) {
-					xhr.onabort = errorCallback;
-				} else {
-					xhr.onreadystatechange = function() {
-
-						// Check readyState before timeout as it changes
-						if ( xhr.readyState === 4 ) {
-
-							// Allow onerror to be called first,
-							// but that will not handle a native abort
-							// Also, save errorCallback to a variable
-							// as xhr.onerror cannot be accessed
-							window.setTimeout( function() {
-								if ( callback ) {
-									errorCallback();
-								}
-							} );
-						}
-					};
-				}
-
-				// Create the abort callback
-				callback = callback( "abort" );
-
-				try {
-
-					// Do send the request (this may raise an exception)
-					xhr.send( options.hasContent && options.data || null );
-				} catch ( e ) {
-
-					// #14683: Only rethrow if this hasn't been notified as an error yet
-					if ( callback ) {
-						throw e;
-					}
-				}
-			},
-
-			abort: function() {
-				if ( callback ) {
-					callback();
-				}
-			}
-		};
-	}
-} );
-
-
-
-
-// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432)
-jQuery.ajaxPrefilter( function( s ) {
-	if ( s.crossDomain ) {
-		s.contents.script = false;
-	}
-} );
-
-// Install script dataType
-jQuery.ajaxSetup( {
-	accepts: {
-		script: "text/javascript, application/javascript, " +
-			"application/ecmascript, application/x-ecmascript"
-	},
-	contents: {
-		script: /\b(?:java|ecma)script\b/
-	},
-	converters: {
-		"text script": function( text ) {
-			jQuery.globalEval( text );
-			return text;
-		}
-	}
-} );
-
-// Handle cache's special case and crossDomain
-jQuery.ajaxPrefilter( "script", function( s ) {
-	if ( s.cache === undefined ) {
-		s.cache = false;
-	}
-	if ( s.crossDomain ) {
-		s.type = "GET";
-	}
-} );
-
-// Bind script tag hack transport
-jQuery.ajaxTransport( "script", function( s ) {
-
-	// This transport only deals with cross domain or forced-by-attrs requests
-	if ( s.crossDomain || s.scriptAttrs ) {
-		var script, callback;
-		return {
-			send: function( _, complete ) {
-				script = jQuery( "<script>" )
-					.attr( s.scriptAttrs || {} )
-					.prop( { charset: s.scriptCharset, src: s.url } )
-					.on( "load error", callback = function( evt ) {
-						script.remove();
-						callback = null;
-						if ( evt ) {
-							complete( evt.type === "error" ? 404 : 200, evt.type );
-						}
-					} );
-
-				// Use native DOM manipulation to avoid our domManip AJAX trickery
-				document.head.appendChild( script[ 0 ] );
-			},
-			abort: function() {
-				if ( callback ) {
-					callback();
-				}
-			}
-		};
-	}
-} );
-
-
-
-
-var oldCallbacks = [],
-	rjsonp = /(=)\?(?=&|$)|\?\?/;
-
-// Default jsonp settings
-jQuery.ajaxSetup( {
-	jsonp: "callback",
-	jsonpCallback: function() {
-		var callback = oldCallbacks.pop() || ( jQuery.expando + "_" + ( nonce.guid++ ) );
-		this[ callback ] = true;
-		return callback;
-	}
-} );
-
-// Detect, normalize options and install callbacks for jsonp requests
-jQuery.ajaxPrefilter( "json jsonp", function( s, originalSettings, jqXHR ) {
-
-	var callbackName, overwritten, responseContainer,
-		jsonProp = s.jsonp !== false && ( rjsonp.test( s.url ) ?
-			"url" :
-			typeof s.data === "string" &&
-				( s.contentType || "" )
-					.indexOf( "application/x-www-form-urlencoded" ) === 0 &&
-				rjsonp.test( s.data ) && "data"
-		);
-
-	// Handle iff the expected data type is "jsonp" or we have a parameter to set
-	if ( jsonProp || s.dataTypes[ 0 ] === "jsonp" ) {
-
-		// Get callback name, remembering preexisting value associated with it
-		callbackName = s.jsonpCallback = isFunction( s.jsonpCallback ) ?
-			s.jsonpCallback() :
-			s.jsonpCallback;
-
-		// Insert callback into url or form data
-		if ( jsonProp ) {
-			s[ jsonProp ] = s[ jsonProp ].replace( rjsonp, "$1" + callbackName );
-		} else if ( s.jsonp !== false ) {
-			s.url += ( rquery.test( s.url ) ? "&" : "?" ) + s.jsonp + "=" + callbackName;
-		}
-
-		// Use data converter to retrieve json after script execution
-		s.converters[ "script json" ] = function() {
-			if ( !responseContainer ) {
-				jQuery.error( callbackName + " was not called" );
-			}
-			return responseContainer[ 0 ];
-		};
-
-		// Force json dataType
-		s.dataTypes[ 0 ] = "json";
-
-		// Install callback
-		overwritten = window[ callbackName ];
-		window[ callbackName ] = function() {
-			responseContainer = arguments;
-		};
-
-		// Clean-up function (fires after converters)
-		jqXHR.always( function() {
-
-			// If previous value didn't exist - remove it
-			if ( overwritten === undefined ) {
-				jQuery( window ).removeProp( callbackName );
-
-			// Otherwise restore preexisting value
-			} else {
-				window[ callbackName ] = overwritten;
-			}
-
-			// Save back as free
-			if ( s[ callbackName ] ) {
-
-				// Make sure that re-using the options doesn't screw things around
-				s.jsonpCallback = originalSettings.jsonpCallback;
-
-				// Save the callback name for future use
-				oldCallbacks.push( callbackName );
-			}
-
-			// Call if it was a function and we have a response
-			if ( responseContainer && isFunction( overwritten ) ) {
-				overwritten( responseContainer[ 0 ] );
-			}
-
-			responseContainer = overwritten = undefined;
-		} );
-
-		// Delegate to script
-		return "script";
-	}
-} );
-
-
-
-
-// Support: Safari 8 only
-// In Safari 8 documents created via document.implementation.createHTMLDocument
-// collapse sibling forms: the second one becomes a child of the first one.
-// Because of that, this security measure has to be disabled in Safari 8.
-// https://bugs.webkit.org/show_bug.cgi?id=137337
-support.createHTMLDocument = ( function() {
-	var body = document.implementation.createHTMLDocument( "" ).body;
-	body.innerHTML = "<form></form><form></form>";
-	return body.childNodes.length === 2;
-} )();
-
-
-// Argument "data" should be string of html
-// context (optional): If specified, the fragment will be created in this context,
-// defaults to document
-// keepScripts (optional): If true, will include scripts passed in the html string
-jQuery.parseHTML = function( data, context, keepScripts ) {
-	if ( typeof data !== "string" ) {
-		return [];
-	}
-	if ( typeof context === "boolean" ) {
-		keepScripts = context;
-		context = false;
-	}
-
-	var base, parsed, scripts;
-
-	if ( !context ) {
-
-		// Stop scripts or inline event handlers from being executed immediately
-		// by using document.implementation
-		if ( support.createHTMLDocument ) {
-			context = document.implementation.createHTMLDocument( "" );
-
-			// Set the base href for the created document
-			// so any parsed elements with URLs
-			// are based on the document's URL (gh-2965)
-			base = context.createElement( "base" );
-			base.href = document.location.href;
-			context.head.appendChild( base );
-		} else {
-			context = document;
-		}
-	}
-
-	parsed = rsingleTag.exec( data );
-	scripts = !keepScripts && [];
-
-	// Single tag
-	if ( parsed ) {
-		return [ context.createElement( parsed[ 1 ] ) ];
-	}
-
-	parsed = buildFragment( [ data ], context, scripts );
-
-	if ( scripts && scripts.length ) {
-		jQuery( scripts ).remove();
-	}
-
-	return jQuery.merge( [], parsed.childNodes );
-};
-
-
-/**
- * Load a url into a page
- */
-jQuery.fn.load = function( url, params, callback ) {
-	var selector, type, response,
-		self = this,
-		off = url.indexOf( " " );
-
-	if ( off > -1 ) {
-		selector = stripAndCollapse( url.slice( off ) );
-		url = url.slice( 0, off );
-	}
-
-	// If it's a function
-	if ( isFunction( params ) ) {
-
-		// We assume that it's the callback
-		callback = params;
-		params = undefined;
-
-	// Otherwise, build a param string
-	} else if ( params && typeof params === "object" ) {
-		type = "POST";
-	}
-
-	// If we have elements to modify, make the request
-	if ( self.length > 0 ) {
-		jQuery.ajax( {
-			url: url,
-
-			// If "type" variable is undefined, then "GET" method will be used.
-			// Make value of this field explicit since
-			// user can override it through ajaxSetup method
-			type: type || "GET",
-			dataType: "html",
-			data: params
-		} ).done( function( responseText ) {
-
-			// Save response for use in complete callback
-			response = arguments;
-
-			self.html( selector ?
-
-				// If a selector was specified, locate the right elements in a dummy div
-				// Exclude scripts to avoid IE 'Permission Denied' errors
-				jQuery( "<div>" ).append( jQuery.parseHTML( responseText ) ).find( selector ) :
-
-				// Otherwise use the full result
-				responseText );
-
-		// If the request succeeds, this function gets "data", "status", "jqXHR"
-		// but they are ignored because response was set above.
-		// If it fails, this function gets "jqXHR", "status", "error"
-		} ).always( callback && function( jqXHR, status ) {
-			self.each( function() {
-				callback.apply( this, response || [ jqXHR.responseText, status, jqXHR ] );
-			} );
-		} );
-	}
-
-	return this;
-};
-
-
-
-
-jQuery.expr.pseudos.animated = function( elem ) {
-	return jQuery.grep( jQuery.timers, function( fn ) {
-		return elem === fn.elem;
-	} ).length;
-};
-
-
-
-
-jQuery.offset = {
-	setOffset: function( elem, options, i ) {
-		var curPosition, curLeft, curCSSTop, curTop, curOffset, curCSSLeft, calculatePosition,
-			position = jQuery.css( elem, "position" ),
-			curElem = jQuery( elem ),
-			props = {};
-
-		// Set position first, in-case top/left are set even on static elem
-		if ( position === "static" ) {
-			elem.style.position = "relative";
-		}
-
-		curOffset = curElem.offset();
-		curCSSTop = jQuery.css( elem, "top" );
-		curCSSLeft = jQuery.css( elem, "left" );
-		calculatePosition = ( position === "absolute" || position === "fixed" ) &&
-			( curCSSTop + curCSSLeft ).indexOf( "auto" ) > -1;
-
-		// Need to be able to calculate position if either
-		// top or left is auto and position is either absolute or fixed
-		if ( calculatePosition ) {
-			curPosition = curElem.position();
-			curTop = curPosition.top;
-			curLeft = curPosition.left;
-
-		} else {
-			curTop = parseFloat( curCSSTop ) || 0;
-			curLeft = parseFloat( curCSSLeft ) || 0;
-		}
-
-		if ( isFunction( options ) ) {
-
-			// Use jQuery.extend here to allow modification of coordinates argument (gh-1848)
-			options = options.call( elem, i, jQuery.extend( {}, curOffset ) );
-		}
-
-		if ( options.top != null ) {
-			props.top = ( options.top - curOffset.top ) + curTop;
-		}
-		if ( options.left != null ) {
-			props.left = ( options.left - curOffset.left ) + curLeft;
-		}
-
-		if ( "using" in options ) {
-			options.using.call( elem, props );
-
-		} else {
-			curElem.css( props );
-		}
-	}
-};
-
-jQuery.fn.extend( {
-
-	// offset() relates an element's border box to the document origin
-	offset: function( options ) {
-
-		// Preserve chaining for setter
-		if ( arguments.length ) {
-			return options === undefined ?
-				this :
-				this.each( function( i ) {
-					jQuery.offset.setOffset( this, options, i );
-				} );
-		}
-
-		var rect, win,
-			elem = this[ 0 ];
-
-		if ( !elem ) {
-			return;
-		}
-
-		// Return zeros for disconnected and hidden (display: none) elements (gh-2310)
-		// Support: IE <=11 only
-		// Running getBoundingClientRect on a
-		// disconnected node in IE throws an error
-		if ( !elem.getClientRects().length ) {
-			return { top: 0, left: 0 };
-		}
-
-		// Get document-relative position by adding viewport scroll to viewport-relative gBCR
-		rect = elem.getBoundingClientRect();
-		win = elem.ownerDocument.defaultView;
-		return {
-			top: rect.top + win.pageYOffset,
-			left: rect.left + win.pageXOffset
-		};
-	},
-
-	// position() relates an element's margin box to its offset parent's padding box
-	// This corresponds to the behavior of CSS absolute positioning
-	position: function() {
-		if ( !this[ 0 ] ) {
-			return;
-		}
-
-		var offsetParent, offset, doc,
-			elem = this[ 0 ],
-			parentOffset = { top: 0, left: 0 };
-
-		// position:fixed elements are offset from the viewport, which itself always has zero offset
-		if ( jQuery.css( elem, "position" ) === "fixed" ) {
-
-			// Assume position:fixed implies availability of getBoundingClientRect
-			offset = elem.getBoundingClientRect();
-
-		} else {
-			offset = this.offset();
-
-			// Account for the *real* offset parent, which can be the document or its root element
-			// when a statically positioned element is identified
-			doc = elem.ownerDocument;
-			offsetParent = elem.offsetParent || doc.documentElement;
-			while ( offsetParent &&
-				( offsetParent === doc.body || offsetParent === doc.documentElement ) &&
-				jQuery.css( offsetParent, "position" ) === "static" ) {
-
-				offsetParent = offsetParent.parentNode;
-			}
-			if ( offsetParent && offsetParent !== elem && offsetParent.nodeType === 1 ) {
-
-				// Incorporate borders into its offset, since they are outside its content origin
-				parentOffset = jQuery( offsetParent ).offset();
-				parentOffset.top += jQuery.css( offsetParent, "borderTopWidth", true );
-				parentOffset.left += jQuery.css( offsetParent, "borderLeftWidth", true );
-			}
-		}
-
-		// Subtract parent offsets and element margins
-		return {
-			top: offset.top - parentOffset.top - jQuery.css( elem, "marginTop", true ),
-			left: offset.left - parentOffset.left - jQuery.css( elem, "marginLeft", true )
-		};
-	},
-
-	// This method will return documentElement in the following cases:
-	// 1) For the element inside the iframe without offsetParent, this method will return
-	//    documentElement of the parent window
-	// 2) For the hidden or detached element
-	// 3) For body or html element, i.e. in case of the html node - it will return itself
-	//
-	// but those exceptions were never presented as a real life use-cases
-	// and might be considered as more preferable results.
-	//
-	// This logic, however, is not guaranteed and can change at any point in the future
-	offsetParent: function() {
-		return this.map( function() {
-			var offsetParent = this.offsetParent;
-
-			while ( offsetParent && jQuery.css( offsetParent, "position" ) === "static" ) {
-				offsetParent = offsetParent.offsetParent;
-			}
-
-			return offsetParent || documentElement;
-		} );
-	}
-} );
-
-// Create scrollLeft and scrollTop methods
-jQuery.each( { scrollLeft: "pageXOffset", scrollTop: "pageYOffset" }, function( method, prop ) {
-	var top = "pageYOffset" === prop;
-
-	jQuery.fn[ method ] = function( val ) {
-		return access( this, function( elem, method, val ) {
-
-			// Coalesce documents and windows
-			var win;
-			if ( isWindow( elem ) ) {
-				win = elem;
-			} else if ( elem.nodeType === 9 ) {
-				win = elem.defaultView;
-			}
-
-			if ( val === undefined ) {
-				return win ? win[ prop ] : elem[ method ];
-			}
-
-			if ( win ) {
-				win.scrollTo(
-					!top ? val : win.pageXOffset,
-					top ? val : win.pageYOffset
-				);
-
-			} else {
-				elem[ method ] = val;
-			}
-		}, method, val, arguments.length );
-	};
-} );
-
-// Support: Safari <=7 - 9.1, Chrome <=37 - 49
-// Add the top/left cssHooks using jQuery.fn.position
-// Webkit bug: https://bugs.webkit.org/show_bug.cgi?id=29084
-// Blink bug: https://bugs.chromium.org/p/chromium/issues/detail?id=589347
-// getComputedStyle returns percent when specified for top/left/bottom/right;
-// rather than make the css module depend on the offset module, just check for it here
-jQuery.each( [ "top", "left" ], function( _i, prop ) {
-	jQuery.cssHooks[ prop ] = addGetHookIf( support.pixelPosition,
-		function( elem, computed ) {
-			if ( computed ) {
-				computed = curCSS( elem, prop );
-
-				// If curCSS returns percentage, fallback to offset
-				return rnumnonpx.test( computed ) ?
-					jQuery( elem ).position()[ prop ] + "px" :
-					computed;
-			}
-		}
-	);
-} );
-
-
-// Create innerHeight, innerWidth, height, width, outerHeight and outerWidth methods
-jQuery.each( { Height: "height", Width: "width" }, function( name, type ) {
-	jQuery.each( {
-		padding: "inner" + name,
-		content: type,
-		"": "outer" + name
-	}, function( defaultExtra, funcName ) {
-
-		// Margin is only for outerHeight, outerWidth
-		jQuery.fn[ funcName ] = function( margin, value ) {
-			var chainable = arguments.length && ( defaultExtra || typeof margin !== "boolean" ),
-				extra = defaultExtra || ( margin === true || value === true ? "margin" : "border" );
-
-			return access( this, function( elem, type, value ) {
-				var doc;
-
-				if ( isWindow( elem ) ) {
-
-					// $( window ).outerWidth/Height return w/h including scrollbars (gh-1729)
-					return funcName.indexOf( "outer" ) === 0 ?
-						elem[ "inner" + name ] :
-						elem.document.documentElement[ "client" + name ];
-				}
-
-				// Get document width or height
-				if ( elem.nodeType === 9 ) {
-					doc = elem.documentElement;
-
-					// Either scroll[Width/Height] or offset[Width/Height] or client[Width/Height],
-					// whichever is greatest
-					return Math.max(
-						elem.body[ "scroll" + name ], doc[ "scroll" + name ],
-						elem.body[ "offset" + name ], doc[ "offset" + name ],
-						doc[ "client" + name ]
-					);
-				}
-
-				return value === undefined ?
-
-					// Get width or height on the element, requesting but not forcing parseFloat
-					jQuery.css( elem, type, extra ) :
-
-					// Set width or height on the element
-					jQuery.style( elem, type, value, extra );
-			}, type, chainable ? margin : undefined, chainable );
-		};
-	} );
-} );
-
-
-jQuery.each( [
-	"ajaxStart",
-	"ajaxStop",
-	"ajaxComplete",
-	"ajaxError",
-	"ajaxSuccess",
-	"ajaxSend"
-], function( _i, type ) {
-	jQuery.fn[ type ] = function( fn ) {
-		return this.on( type, fn );
-	};
-} );
-
-
-
-
-jQuery.fn.extend( {
-
-	bind: function( types, data, fn ) {
-		return this.on( types, null, data, fn );
-	},
-	unbind: function( types, fn ) {
-		return this.off( types, null, fn );
-	},
-
-	delegate: function( selector, types, data, fn ) {
-		return this.on( types, selector, data, fn );
-	},
-	undelegate: function( selector, types, fn ) {
-
-		// ( namespace ) or ( selector, types [, fn] )
-		return arguments.length === 1 ?
-			this.off( selector, "**" ) :
-			this.off( types, selector || "**", fn );
-	},
-
-	hover: function( fnOver, fnOut ) {
-		return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver );
-	}
-} );
-
-jQuery.each(
-	( "blur focus focusin focusout resize scroll click dblclick " +
-	"mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " +
-	"change select submit keydown keypress keyup contextmenu" ).split( " " ),
-	function( _i, name ) {
-
-		// Handle event binding
-		jQuery.fn[ name ] = function( data, fn ) {
-			return arguments.length > 0 ?
-				this.on( name, null, data, fn ) :
-				this.trigger( name );
-		};
-	}
-);
-
-
-
-
-// Support: Android <=4.0 only
-// Make sure we trim BOM and NBSP
-var rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g;
-
-// Bind a function to a context, optionally partially applying any
-// arguments.
-// jQuery.proxy is deprecated to promote standards (specifically Function#bind)
-// However, it is not slated for removal any time soon
-jQuery.proxy = function( fn, context ) {
-	var tmp, args, proxy;
-
-	if ( typeof context === "string" ) {
-		tmp = fn[ context ];
-		context = fn;
-		fn = tmp;
-	}
-
-	// Quick check to determine if target is callable, in the spec
-	// this throws a TypeError, but we will just return undefined.
-	if ( !isFunction( fn ) ) {
-		return undefined;
-	}
-
-	// Simulated bind
-	args = slice.call( arguments, 2 );
-	proxy = function() {
-		return fn.apply( context || this, args.concat( slice.call( arguments ) ) );
-	};
-
-	// Set the guid of unique handler to the same of original handler, so it can be removed
-	proxy.guid = fn.guid = fn.guid || jQuery.guid++;
-
-	return proxy;
-};
-
-jQuery.holdReady = function( hold ) {
-	if ( hold ) {
-		jQuery.readyWait++;
-	} else {
-		jQuery.ready( true );
-	}
-};
-jQuery.isArray = Array.isArray;
-jQuery.parseJSON = JSON.parse;
-jQuery.nodeName = nodeName;
-jQuery.isFunction = isFunction;
-jQuery.isWindow = isWindow;
-jQuery.camelCase = camelCase;
-jQuery.type = toType;
-
-jQuery.now = Date.now;
-
-jQuery.isNumeric = function( obj ) {
-
-	// As of jQuery 3.0, isNumeric is limited to
-	// strings and numbers (primitives or objects)
-	// that can be coerced to finite numbers (gh-2662)
-	var type = jQuery.type( obj );
-	return ( type === "number" || type === "string" ) &&
-
-		// parseFloat NaNs numeric-cast false positives ("")
-		// ...but misinterprets leading-number strings, particularly hex literals ("0x...")
-		// subtraction forces infinities to NaN
-		!isNaN( obj - parseFloat( obj ) );
-};
-
-jQuery.trim = function( text ) {
-	return text == null ?
-		"" :
-		( text + "" ).replace( rtrim, "" );
-};
-
-
-
-// Register as a named AMD module, since jQuery can be concatenated with other
-// files that may use define, but not via a proper concatenation script that
-// understands anonymous AMD modules. A named AMD is safest and most robust
-// way to register. Lowercase jquery is used because AMD module names are
-// derived from file names, and jQuery is normally delivered in a lowercase
-// file name. Do this after creating the global so that if an AMD module wants
-// to call noConflict to hide this version of jQuery, it will work.
-
-// Note that for maximum portability, libraries that are not jQuery should
-// declare themselves as anonymous modules, and avoid setting a global if an
-// AMD loader is present. jQuery is a special case. For more information, see
-// https://github.com/jrburke/requirejs/wiki/Updating-existing-libraries#wiki-anon
-
-if ( typeof define === "function" && define.amd ) {
-	define( "jquery", [], function() {
-		return jQuery;
-	} );
-}
-
-
-
-
-var
-
-	// Map over jQuery in case of overwrite
-	_jQuery = window.jQuery,
-
-	// Map over the $ in case of overwrite
-	_$ = window.$;
-
-jQuery.noConflict = function( deep ) {
-	if ( window.$ === jQuery ) {
-		window.$ = _$;
-	}
-
-	if ( deep && window.jQuery === jQuery ) {
-		window.jQuery = _jQuery;
-	}
-
-	return jQuery;
-};
-
-// Expose jQuery and $ identifiers, even in AMD
-// (#7102#comment:10, https://github.com/jquery/jquery/pull/557)
-// and CommonJS for browser emulators (#13566)
-if ( typeof noGlobal === "undefined" ) {
-	window.jQuery = window.$ = jQuery;
-}
-
-
-
-
-return jQuery;
-} );
diff --git a/doc/_build/html/_static/jquery.js b/doc/_build/html/_static/jquery.js
deleted file mode 100644
index c4c6022f..00000000
--- a/doc/_build/html/_static/jquery.js
+++ /dev/null
@@ -1,2 +0,0 @@
-/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */
-!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType&&"function"!=typeof e.item},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof 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diff --git a/doc/_build/html/_static/language_data.js b/doc/_build/html/_static/language_data.js
deleted file mode 100644
index 2e22b06a..00000000
--- a/doc/_build/html/_static/language_data.js
+++ /dev/null
@@ -1,199 +0,0 @@
-/*
- * language_data.js
- * ~~~~~~~~~~~~~~~~
- *
- * This script contains the language-specific data used by searchtools.js,
- * namely the list of stopwords, stemmer, scorer and splitter.
- *
- * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
- */
-
-var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
-
-
-/* Non-minified version is copied as a separate JS file, is available */
-
-/**
- * Porter Stemmer
- */
-var Stemmer = function() {
-
-  var step2list = {
-    ational: 'ate',
-    tional: 'tion',
-    enci: 'ence',
-    anci: 'ance',
-    izer: 'ize',
-    bli: 'ble',
-    alli: 'al',
-    entli: 'ent',
-    eli: 'e',
-    ousli: 'ous',
-    ization: 'ize',
-    ation: 'ate',
-    ator: 'ate',
-    alism: 'al',
-    iveness: 'ive',
-    fulness: 'ful',
-    ousness: 'ous',
-    aliti: 'al',
-    iviti: 'ive',
-    biliti: 'ble',
-    logi: 'log'
-  };
-
-  var step3list = {
-    icate: 'ic',
-    ative: '',
-    alize: 'al',
-    iciti: 'ic',
-    ical: 'ic',
-    ful: '',
-    ness: ''
-  };
-
-  var c = "[^aeiou]";          // consonant
-  var v = "[aeiouy]";          // vowel
-  var C = c + "[^aeiouy]*";    // consonant sequence
-  var V = v + "[aeiou]*";      // vowel sequence
-
-  var mgr0 = "^(" + C + ")?" + V + C;                      // [C]VC... is m>0
-  var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$";    // [C]VC[V] is m=1
-  var mgr1 = "^(" + C + ")?" + V + C + V + C;              // [C]VCVC... is m>1
-  var s_v   = "^(" + C + ")?" + v;                         // vowel in stem
-
-  this.stemWord = function (w) {
-    var stem;
-    var suffix;
-    var firstch;
-    var origword = w;
-
-    if (w.length < 3)
-      return w;
-
-    var re;
-    var re2;
-    var re3;
-    var re4;
-
-    firstch = w.substr(0,1);
-    if (firstch == "y")
-      w = firstch.toUpperCase() + w.substr(1);
-
-    // Step 1a
-    re = /^(.+?)(ss|i)es$/;
-    re2 = /^(.+?)([^s])s$/;
-
-    if (re.test(w))
-      w = w.replace(re,"$1$2");
-    else if (re2.test(w))
-      w = w.replace(re2,"$1$2");
-
-    // Step 1b
-    re = /^(.+?)eed$/;
-    re2 = /^(.+?)(ed|ing)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      re = new RegExp(mgr0);
-      if (re.test(fp[1])) {
-        re = /.$/;
-        w = w.replace(re,"");
-      }
-    }
-    else if (re2.test(w)) {
-      var fp = re2.exec(w);
-      stem = fp[1];
-      re2 = new RegExp(s_v);
-      if (re2.test(stem)) {
-        w = stem;
-        re2 = /(at|bl|iz)$/;
-        re3 = new RegExp("([^aeiouylsz])\\1$");
-        re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
-        if (re2.test(w))
-          w = w + "e";
-        else if (re3.test(w)) {
-          re = /.$/;
-          w = w.replace(re,"");
-        }
-        else if (re4.test(w))
-          w = w + "e";
-      }
-    }
-
-    // Step 1c
-    re = /^(.+?)y$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      re = new RegExp(s_v);
-      if (re.test(stem))
-        w = stem + "i";
-    }
-
-    // Step 2
-    re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      suffix = fp[2];
-      re = new RegExp(mgr0);
-      if (re.test(stem))
-        w = stem + step2list[suffix];
-    }
-
-    // Step 3
-    re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      suffix = fp[2];
-      re = new RegExp(mgr0);
-      if (re.test(stem))
-        w = stem + step3list[suffix];
-    }
-
-    // Step 4
-    re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
-    re2 = /^(.+?)(s|t)(ion)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      re = new RegExp(mgr1);
-      if (re.test(stem))
-        w = stem;
-    }
-    else if (re2.test(w)) {
-      var fp = re2.exec(w);
-      stem = fp[1] + fp[2];
-      re2 = new RegExp(mgr1);
-      if (re2.test(stem))
-        w = stem;
-    }
-
-    // Step 5
-    re = /^(.+?)e$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      re = new RegExp(mgr1);
-      re2 = new RegExp(meq1);
-      re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
-      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
-        w = stem;
-    }
-    re = /ll$/;
-    re2 = new RegExp(mgr1);
-    if (re.test(w) && re2.test(w)) {
-      re = /.$/;
-      w = w.replace(re,"");
-    }
-
-    // and turn initial Y back to y
-    if (firstch == "y")
-      w = firstch.toLowerCase() + w.substr(1);
-    return w;
-  }
-}
-
diff --git a/doc/_build/html/_static/libindex.html b/doc/_build/html/_static/libindex.html
deleted file mode 100644
index 4cfcd106..00000000
--- a/doc/_build/html/_static/libindex.html
+++ /dev/null
@@ -1,878 +0,0 @@
-<HTML>
-<HEAD><title>On-Line SLICOT Overview</title></HEAD>
-<BODY>
-
-<H1>SLICOT LIBRARY INDEX</H1>
-<HR>
-To go to the beginning of a chapter click on the appropriate letter below: <p>
-<center>
-<A HREF = "#A"><B>A</B></A> ;
-<A HREF = "#B"><B>B</B></A> ;
-<A HREF = "#C"><B>C</B></A> ;
-<A HREF = "#D"><B>D</B></A> ;
-<A HREF = "#F"><B>F</B></A> ;
-<A HREF = "#I"><B>I</B></A> ;
-<A HREF = "#M"><B>M</B></A> ;
-<A HREF = "#N"><B>N</B></A> ;
-<A HREF = "#S"><B>S</B></A> ;
-<A HREF = "#T"><B>T</B></A> ;
-<A HREF = "#U"><B>U</B></A> ;
-</center>
-<BR>
-or <A href="http://www.slicot.org/index.php?site=home">
-<b>Return to SLICOT homepage</b></A>
-<BR>
-or <A href=".\doc\support.html">
-<b>Go to SLICOT Supporting Routines Index</b></A>
-<p>
-<HR>
-<A NAME="A"><H2>A - Analysis Routines</H2></A>
-<h3>AB - State-Space Analysis</h3>
-<h4>Canonical and Quasi Canonical Forms</h4>
-<PRE>
-<A href=".\doc\AB01MD.html">
-<B>AB01MD</B></A>   Orthogonal controllability form for single-input system
-<A href=".\doc\AB01ND.html">
-<B>AB01ND</B></A>   Orthogonal controllability staircase form for multi-input system
-<A href=".\doc\AB01OD.html">
-<B>AB01OD</B></A>   Staircase form for multi-input system using orthogonal transformations
-</PRE>
-<h4>Continuous/Discrete Time</h4>
-<PRE>
-<A href=".\doc\AB04MD.html">
-<B>AB04MD</B></A>   Discrete-time <-> continuous-time conversion by bilinear transformation
-</PRE>
-<h4>Interconnections of Subsystems</h4>
-<PRE>
-<A href=".\doc\AB05MD.html">
-<B>AB05MD</B></A>   Cascade inter-connection of two systems in state-space form
-<A href=".\doc\AB05ND.html">
-<B>AB05ND</B></A>   Feedback inter-connection of two systems in state-space form
-<A href=".\doc\AB05OD.html">
-<B>AB05OD</B></A>   Rowwise concatenation of two systems in state-space form
-<A href=".\doc\AB05PD.html">
-<B>AB05PD</B></A>   Parallel inter-connection of two systems in state-space form
-<A href=".\doc\AB05QD.html">
-<B>AB05QD</B></A>   Appending two systems in state-space form
-<A href=".\doc\AB05RD.html">
-<B>AB05RD</B></A>   Closed-loop system for a mixed output and state feedback control law
-<A href=".\doc\AB05SD.html">
-<B>AB05SD</B></A>   Closed-loop system for an output feedback control law
-</PRE>
-<h4>Inverse and Dual Systems</h4>
-<PRE>
-<A href=".\doc\AB07MD.html">
-<B>AB07MD</B></A>   Dual of a given state-space representation
-<A href=".\doc\AB07ND.html">
-<B>AB07ND</B></A>   Inverse of a given state-space representation
-</PRE>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href=".\doc\AB08MD.html">
-<B>AB08MD</B></A>   Normal rank of the transfer-function matrix of a state space model
-<A href=".\doc\AB08MZ.html">
-<B>AB08MZ</B></A>   Normal rank of the transfer-function matrix of a state space model (complex case)
-<A href=".\doc\AB08ND.html">
-<B>AB08ND</B></A>   System zeros and Kronecker structure of system pencil
-<A href=".\doc\AB08NW.html">
-<B>AB08NW</B></A>   System zeros and singular and infinite Kronecker structure of system pencil
-<A href=".\doc\AB08NZ.html">
-<B>AB08NZ</B></A>   System zeros and Kronecker structure of system pencil (complex case)
-</PRE>
-<h4>Model Reduction</h4>
-<PRE>
-<A href=".\doc\AB09AD.html">
-<B>AB09AD</B></A>   Balance & Truncate model reduction   
-<A href=".\doc\AB09BD.html">
-<B>AB09BD</B></A>   Singular perturbation approximation based model reduction 
-<A href=".\doc\AB09CD.html">
-<B>AB09CD</B></A>   Hankel norm approximation based model reduction 
-<A href=".\doc\AB09DD.html">
-<B>AB09DD</B></A>   Singular perturbation approximation formulas 
-<A href=".\doc\AB09ED.html">
-<B>AB09ED</B></A>   Hankel norm approximation based model reduction of unstable systems
-<A href=".\doc\AB09FD.html">
-<B>AB09FD</B></A>   Balance & Truncate model reduction of coprime factors
-<A href=".\doc\AB09GD.html">
-<B>AB09GD</B></A>   Singular perturbation approximation of coprime factors
-<A href=".\doc\AB09HD.html">
-<B>AB09HD</B></A>   Stochastic balancing based model reduction
-<A href=".\doc\AB09ID.html">
-<B>AB09ID</B></A>   Frequency-weighted model reduction based on balancing techniques
-<A href=".\doc\AB09JD.html">
-<B>AB09JD</B></A>   Frequency-weighted Hankel norm approximation with invertible weights
-<A href=".\doc\AB09KD.html">
-<B>AB09KD</B></A>   Frequency-weighted Hankel-norm approximation
-<A href=".\doc\AB09MD.html">
-<B>AB09MD</B></A>   Balance & Truncate model reduction for the stable part  
-<A href=".\doc\AB09ND.html">
-<B>AB09ND</B></A>   Singular perturbation approximation based model reduction for the   
-         stable part  
-</PRE>
-<h4>System Norms</h4>
-<PRE>
-<A href=".\doc\AB13AD.html">
-<B>AB13AD</B></A>   Hankel-norm of the stable projection   
-<A href=".\doc\AB13BD.html">
-<B>AB13BD</B></A>   H2 or L2 norm of a system 
-<A href=".\doc\AB13CD.html">
-<B>AB13CD</B></A>   H-infinity norm of a continuous-time stable system
-         (obsolete, replaced by AB13DD)
-<A href=".\doc\AB13DD.html">
-<B>AB13DD</B></A>   L-infinity norm of a state space system
-<A href=".\doc\AB13ED.html">
-<B>AB13ED</B></A>   Complex stability radius, using bisection
-<A href=".\doc\AB13FD.html">
-<B>AB13FD</B></A>   Complex stability radius, using bisection and SVD
-<A href=".\doc\AB13ID.html">
-<B>AB13ID</B></A>   Properness of the transfer function matrix of a descriptor system
-<A href=".\doc\AB13MD.html">
-<B>AB13MD</B></A>   Upper bound on the structured singular value for a square 
-         complex matrix
-</PRE>
-<h3>AG - Generalized State-Space Analysis</h3>
-<h4>Inverse and Dual Systems</h4>
-<PRE>
-<A href=".\doc\AG07BD.html">
-<B>AG07BD</B></A>   Descriptor inverse of a state-space or descriptor representation
-</PRE>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href=".\doc\AG08BD.html">
-<B>AG08BD</B></A>   Zeros and Kronecker structure of a descriptor system pencil
-<A href=".\doc\AG08BZ.html">
-<B>AG08BZ</B></A>   Zeros and Kronecker structure of a descriptor system pencil (complex case)
-</PRE>
-
-<HR>
-<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
-<h3>BB - State-space Models</h3>
-<PRE>
-<A href=".\doc\BB01AD.html">
-<B>BB01AD</B></A>   Benchmark examples for continuous-time Riccati equations
-<A href=".\doc\BB02AD.html">
-<B>BB02AD</B></A>   Benchmark examples for discrete-time Riccati equations
-<A href=".\doc\BB03AD.html">
-<B>BB03AD</B></A>   Benchmark examples of (generalized) continuous-time Lyapunov equations
-<A href=".\doc\BB04AD.html">
-<B>BB04AD</B></A>   Benchmark examples of (generalized) discrete-time Lyapunov equations
-</PRE>
-<h3>BD - Generalized State-space Models</h3>
-<PRE>
-<A href=".\doc\BD01AD.html">
-<B>BD01AD</B></A>   Benchmark examples of continuous-time systems
-<A href=".\doc\BD02AD.html">
-<B>BD02AD</B></A>   Benchmark examples of discrete-time systems
-</PRE>
-<HR>
-<A NAME="C"><H2>C - Adaptive Control</H2></A>
-<HR>
-<A NAME="D"><H2>D - Data Analysis</H2></A>
-<h3>DE - Covariances</h3>
-<PRE>
-<A href=".\doc\DE01OD.html">
-<B>DE01OD</B></A>   Convolution or deconvolution of two signals
-<A href=".\doc\DE01PD.html">
-<B>DE01PD</B></A>   Convolution or deconvolution of two real signals using Hartley transform
-</PRE>
-<h3>DF - Spectra</h3>
-<PRE>
-<A href=".\doc\DF01MD.html">
-<B>DF01MD</B></A>   Sine transform or cosine transform of a real signal
-</PRE>
-<h3>DG - Discrete Fourier and Hartley Transforms</h3>
-<PRE>
-<A href=".\doc\DG01MD.html">
-<B>DG01MD</B></A>   Discrete Fourier transform of a complex signal
-<A href=".\doc\DG01ND.html">
-<B>DG01ND</B></A>   Discrete Fourier transform of a real signal
-<A href=".\doc\DG01OD.html">
-<B>DG01OD</B></A>   Scrambled discrete Hartley transform of a real signal
-</PRE>
-<h3>DK - Windowing</h3>
-<PRE>
-<A href=".\doc\DK01MD.html">
-<B>DK01MD</B></A>   Anti-aliasing window applied to a real signal
-</PRE>
-<HR>
-<A NAME="F"><H2>F - Filtering</H2></A>
-<h3>FB - Kalman Filters</h3>
-<PRE>
-<A href=".\doc\FB01QD.html">
-<B>FB01QD</B></A>   Time-varying square root covariance filter (dense matrices)
-<A href=".\doc\FB01RD.html">
-<B>FB01RD</B></A>   Time-invariant square root covariance filter (Hessenberg form) 
-<A href=".\doc\FB01SD.html">
-<B>FB01SD</B></A>   Time-varying square root information filter (dense matrices)
-<A href=".\doc\FB01TD.html">
-<B>FB01TD</B></A>   Time-invariant square root information filter (Hessenberg form) 
-<A href=".\doc\FB01VD.html">
-<B>FB01VD</B></A>   One recursion of the conventional Kalman filter 
-</PRE>
-<h3>FD - Fast Recursive Least Squares Filters</h3>
-<PRE>
-<A href=".\doc\FD01AD.html">
-<B>FD01AD</B></A>   Fast recursive least-squares filter
-</PRE>
-<HR>
-<A NAME="I"><H2>I - Identification</H2></A>
-<h3>IB - Subspace Identification</h3>
-<h4>Time Invariant State-space Systems</h4>
-<PRE>
-<A href=".\doc\IB01AD.html">
-<B>IB01AD</B></A>   Input-output data preprocessing and finding the system order
-<A href=".\doc\IB01BD.html">
-<B>IB01BD</B></A>   Estimating the system matrices, covariances, and Kalman gain
-<A href=".\doc\IB01CD.html">
-<B>IB01CD</B></A>   Estimating the initial state and the system matrices B and D
-</PRE>
-<h4>Wiener Systems</h4>
-<PRE>
-<A href=".\doc\IB03AD.html">
-<B>IB03AD</B></A>   Estimating a Wiener system by a Levenberg-Marquardt algorithm
-         (Cholesky-based or conjugate gradients solver)
-<A href=".\doc\IB03BD.html">
-<B>IB03BD</B></A>   Estimating a Wiener system by a MINPACK-like Levenberg-Marquardt
-         algorithm
-</PRE>
-<HR>
-<A NAME="M"><H2>M - Mathematical Routines</H2></A>
-<h3>MB - Linear Algebra</h3>
-<h4>Basic Linear Algebra Manipulations</h4>
-<PRE>
-<A href=".\doc\MB01PD.html">
-<B>MB01PD</B></A>   Matrix scaling (higher level routine)
-<A href=".\doc\MB01QD.html">
-<B>MB01QD</B></A>   Matrix scaling (lower level routine)
-<A href=".\doc\MB01RB.html">
-<B>MB01RB</B></A>   Computation of a triangle of matrix expression alpha*R + beta*A*B 
-         or alpha*R + beta*B*A ( BLAS 3 version)
-<A href=".\doc\MB01RD.html">
-<B>MB01RD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
-<A href=".\doc\MB01TD.html">
-<B>MB01TD</B></A>   Product of two upper quasi-triangular matrices 
-<A href=".\doc\MB01UD.html">
-<B>MB01UD</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
-         with H an upper Hessenberg matrix
-<A href=".\doc\MB01UX.html">
-<B>MB01UX</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, T quasi-triangular
-<A href=".\doc\MB01UY.html">
-<B>MB01UY</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
-<A href=".\doc\MB01UZ.html">
-<B>MB01UZ</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
-         (complex version)
-<A href=".\doc\MB01WD.html">
-<B>MB01WD</B></A>   Residuals of Lyapunov or Stein equations for Cholesky factored 
-         solutions
-<A href=".\doc\MB01XD.html">
-<B>MB01XD</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
-         lower triangular matrices (block algorithm)
-<A href=".\doc\MB01YD.html">
-<B>MB01YD</B></A>   Symmetric rank k operation C := alpha*A*A' + beta*C, C symmetric
-<A href=".\doc\MB01ZD.html">
-<B>MB01ZD</B></A>   Computation of matrix expressions H := alpha*T*H, or H := alpha*H*T,
-         with H Hessenberg-like, T triangular
-</PRE>
-<h4>Linear Equations and Least Squares</h4>
-<PRE>
-<A href=".\doc\MB02CD.html">
-<B>MB02CD</B></A>   Cholesky factorization of a positive definite block Toeplitz matrix
-<A href=".\doc\MB02DD.html">
-<B>MB02DD</B></A>   Updating Cholesky factorization of a positive definite block 
-         Toeplitz matrix
-<A href=".\doc\MB02ED.html">
-<B>MB02ED</B></A>   Solution of T*X = B or X*T = B, with T a positive definite
-         block Toeplitz matrix
-<A href=".\doc\MB02FD.html">
-<B>MB02FD</B></A>   Incomplete Cholesky factor of a positive definite block Toeplitz matrix
-<A href=".\doc\MB02GD.html">
-<B>MB02GD</B></A>   Cholesky factorization of a banded symmetric positive definite
-         block Toeplitz matrix
-<A href=".\doc\MB02HD.html">
-<B>MB02HD</B></A>   Cholesky factorization of the matrix T'*T, with T a banded
-         block Toeplitz matrix of full rank
-<A href=".\doc\MB02ID.html">
-<B>MB02ID</B></A>   Solution of over- or underdetermined linear systems with a full rank
-         block Toeplitz matrix
-<A href=".\doc\MB02JD.html">
-<B>MB02JD</B></A>   Full QR factorization of a block Toeplitz matrix of full rank
-<A href=".\doc\MB02JX.html">
-<B>MB02JX</B></A>   Low rank QR factorization with column pivoting of a block Toeplitz matrix
-<A href=".\doc\MB02KD.html">
-<B>MB02KD</B></A>   Computation of the product C = alpha*op( T )*B + beta*C, with T
-         a block Toeplitz matrix
-<A href=".\doc\MB02MD.html">
-<B>MB02MD</B></A>   Solution of Total Least-Squares problem using a SVD approach
-<A href=".\doc\MB02ND.html">
-<B>MB02ND</B></A>   Solution of Total Least-Squares problem using a partial SVD approach
-<A href=".\doc\MB02OD.html">
-<B>MB02OD</B></A>   Solution of op(A)*X = alpha*B, or X*op(A) = alpha*B, A triangular 
-<A href=".\doc\MB02PD.html">
-<B>MB02PD</B></A>   Solution of matrix equation op(A)*X = B, with error bounds 
-         and condition estimates
-<A href=".\doc\MB02QD.html">
-<B>MB02QD</B></A>   Solution, optionally corresponding to specified free elements, 
-         of a linear least squares problem
-<A href=".\doc\MB02RD.html">
-<B>MB02RD</B></A>   Solution of a linear system with upper Hessenberg matrix
-<A href=".\doc\MB02RZ.html">
-<B>MB02RZ</B></A>   Solution of a linear system with complex upper Hessenberg matrix
-<A href=".\doc\MB02SD.html">
-<B>MB02SD</B></A>   LU factorization of an upper Hessenberg matrix
-<A href=".\doc\MB02SZ.html">
-<B>MB02SZ</B></A>   LU factorization of a complex upper Hessenberg matrix
-<A href=".\doc\MB02TD.html">
-<B>MB02TD</B></A>   Condition number of an upper Hessenberg matrix
-<A href=".\doc\MB02TZ.html">
-<B>MB02TZ</B></A>   Condition number of a complex upper Hessenberg matrix
-<A href=".\doc\MB02UD.html">
-<B>MB02UD</B></A>   Minimum norm least squares solution of op(R)*X = B, or X*op(R) = B,
-         using singular value decomposition (R upper triangular)
-<A href=".\doc\MB02VD.html">
-<B>MB02VD</B></A>   Solution of X*op(A) = B
-</PRE>
-<h4>Eigenvalues and Eigenvectors</h4>
-<PRE>
-<A href=".\doc\MB03LF.html">
-<B>MB03LF</B></A>   Eigenvalues and right deflating subspace of a real 
-         skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB03FZ.html">
-<B>MB03FZ</B></A>   Eigenvalues and right deflating subspace of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB03LD.html">
-<B>MB03LD</B></A>   Eigenvalues and right deflating subspace of a real 
-         skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB03LP.html">
-<B>MB03LP</B></A>   Eigenvalues and right deflating subspace of a real 
-         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB03LZ.html">
-<B>MB03LZ</B></A>   Eigenvalues and right deflating subspace of a complex 
-         skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB3LZP.html">
-<B>MB3LZP</B></A>   Eigenvalues and right deflating subspace of a complex 
-         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB03MD.html">
-<B>MB03MD</B></A>   Upper bound for L singular values of a bidiagonal matrix
-<A href=".\doc\MB03ND.html">
-<B>MB03ND</B></A>   Number of singular values of a bidiagonal matrix less than a bound
-<A href=".\doc\MB03OD.html">
-<B>MB03OD</B></A>   Matrix rank determination by incremental condition estimation
-<A href=".\doc\MB03PD.html">
-<B>MB03PD</B></A>   Matrix rank determination (row pivoting)
-<A href=".\doc\MB03QD.html">
-<B>MB03QD</B></A>   Reordering of the diagonal blocks of a real Schur matrix
-<A href=".\doc\MB03QG.html">
-<B>MB03QG</B></A>   Reordering of the diagonal blocks of principal subpencil of 
-         a real Schur-triangular matrix pencil
-<A href=".\doc\MB03RD.html">
-<B>MB03RD</B></A>   Reduction of a real Schur matrix to a block-diagonal form
-<A href=".\doc\MB03RZ.html">
-<B>MB03RZ</B></A>   Reduction of a complex Schur matrix to a block-diagonal form
-<A href=".\doc\MB03SD.html">
-<B>MB03SD</B></A>   Eigenvalues of a square-reduced Hamiltonian matrix
-<A href=".\doc\MB03TD.html">
-<B>MB03TD</B></A>   Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
-<A href=".\doc\MB03UD.html">
-<B>MB03UD</B></A>   Singular value decomposition of an upper triangular matrix
-<A href=".\doc\MB03VD.html">
-<B>MB03VD</B></A>   Periodic Hessenberg form of a product of matrices
-<A href=".\doc\MB03VW.html">
-<B>MB03VW</B></A>   Periodic Hessenberg form of a formal product of matrices
-<A href=".\doc\MB03WD.html">
-<B>MB03WD</B></A>   Periodic Schur decomposition and eigenvalues of a product of
-         matrices in periodic Hessenberg form
-<A href=".\doc\MB03XD.html">
-<B>MB03XD</B></A>   Eigenvalues of a Hamiltonian matrix
-<A href=".\doc\MB03XZ.html">
-<B>MB03XZ</B></A>   Eigenvalues of a complex Hamiltonian matrix
-<A href=".\doc\MB03XP.html">
-<B>MB03XP</B></A>   Periodic Schur decomposition and eigenvalues of a matrix product A*B, 
-         A upper Hessenberg and B upper triangular
-<A href=".\doc\MB03YD.html">
-<B>MB03YD</B></A>   Periodic QR iteration
-<A href=".\doc\MB03ZD.html">
-<B>MB03ZD</B></A>   Stable and unstable invariant subspaces for a dichotomic Hamiltonian matrix
-</PRE>
-<h4>Decompositions and Transformations</h4>
-<PRE>
-<A href=".\doc\MB04AD.html">
-<B>MB04AD</B></A>   Eigenvalues and generalized symplectic URV decomposition of a real 
-         skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB04AZ.html">
-<B>MB04AZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB04BD.html">
-<B>MB04BD</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB04BP.html">
-<B>MB04BP</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB04BZ.html">
-<B>MB04BZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB04DL.html">
-<B>MB04DL</B></A>   Balancing a real matrix pencil, optionally avoiding large 
-         norms for the scaled (sub)matrices
-<A href=".\doc\MB4DLZ.html">
-<B>MB4DLZ</B></A>   Balancing a complex matrix pencil, optionally avoiding large 
-         norms for the scaled (sub)matrices 
-<A href=".\doc\MB04DP.html">
-<B>MB04DP</B></A>   Balancing a real skew-Hamiltonian/Hamiltonian matrix pencil, 
-         optionally avoiding large norms for the scaled (sub)matrices
-<A href=".\doc\MB4DPZ.html">
-<B>MB4DPZ</B></A>   Balancing a complex skew-Hamiltonian/Hamiltonian matrix pencil, 
-         optionally avoiding large norms for the scaled (sub)matrices
-<A href=".\doc\MB04ED.html">
-<B>MB04ED</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/skew-Hamiltonian pencil in factored form
-<A href=".\doc\MB04FD.html">
-<B>MB04FD</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/skew-Hamiltonian pencil
-<A href=".\doc\MB04FP.html">
-<B>MB04FP</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB04GD.html">
-<B>MB04GD</B></A>   RQ factorization of a matrix with row pivoting
-<A href=".\doc\MB04ID.html">
-<B>MB04ID</B></A>   QR factorization of a matrix with a lower left zero triangle
-<A href=".\doc\MB04IZ.html">
-<B>MB04IZ</B></A>   QR factorization of a matrix with a lower left zero triangle (complex case)
-<A href=".\doc\MB04JD.html">
-<B>MB04JD</B></A>   LQ factorization of a matrix with an upper right zero triangle
-<A href=".\doc\MB04KD.html">
-<B>MB04KD</B></A>   QR factorization of a special structured block matrix
-<A href=".\doc\MB04LD.html">
-<B>MB04LD</B></A>   LQ factorization of a special structured block matrix
-<A href=".\doc\MB04MD.html">
-<B>MB04MD</B></A>   Balancing a general real matrix
-<A href=".\doc\MB04ND.html">
-<B>MB04ND</B></A>   RQ factorization of a special structured block matrix
-<A href=".\doc\MB04OD.html">
-<B>MB04OD</B></A>   QR factorization of a special structured block matrix (variant)
-<A href=".\doc\MB04PB.html">
-<B>MB04PB</B></A>   Paige/Van Loan form of a Hamiltonian matrix
-<A href=".\doc\MB04TB.html">
-<B>MB04TB</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix
-<A href=".\doc\MB04UD.html">
-<B>MB04UD</B></A>   Unitary column echelon form for a rectangular matrix 
-<A href=".\doc\MB04VD.html">
-<B>MB04VD</B></A>   Upper block triangular form for a rectangular pencil
-<A href=".\doc\MB04XD.html">
-<B>MB04XD</B></A>   Basis for left/right null singular subspace of a matrix  
-<A href=".\doc\MB04YD.html">
-<B>MB04YD</B></A>   Partial diagonalization of a bidiagonal matrix  
-<A href=".\doc\MB04ZD.html">
-<B>MB04ZD</B></A>   Transforming a Hamiltonian matrix into a square-reduced form  
-</PRE>
-<h4>Matrix Functions</h4>
-<PRE>
-<A href=".\doc\MB05MD.html">
-<B>MB05MD</B></A>   Matrix exponential for a real non-defective matrix 
-<A href=".\doc\MB05ND.html">
-<B>MB05ND</B></A>   Matrix exponential and integral for a real matrix 
-<A href=".\doc\MB05OD.html">
-<B>MB05OD</B></A>   Matrix exponential for a real matrix, with accuracy estimate
-</PRE>
-<h3>MC - Polynomial and Rational Function Manipulation</h3>
-<h4>Scalar Polynomials</h4>
-<PRE>
-<A href=".\doc\MC01MD.html">
-<B>MC01MD</B></A>   The leading coefficients of the shifted polynomial  
-<A href=".\doc\MC01ND.html">
-<B>MC01ND</B></A>   Value of a real polynomial at a given complex point  
-<A href=".\doc\MC01OD.html">
-<B>MC01OD</B></A>   Coefficients of a complex polynomial, given its zeros  
-<A href=".\doc\MC01PD.html">
-<B>MC01PD</B></A>   Coefficients of a real polynomial, given its zeros  
-<A href=".\doc\MC01QD.html">
-<B>MC01QD</B></A>   Quotient and remainder polynomials for polynomial division 
-<A href=".\doc\MC01RD.html">
-<B>MC01RD</B></A>   Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)  
-<A href=".\doc\MC01SD.html">
-<B>MC01SD</B></A>   Scaling coefficients of a real polynomial for minimal variation  
-<A href=".\doc\MC01TD.html">
-<B>MC01TD</B></A>   Checking stability of a given real polynomial  
-<A href=".\doc\MC01VD.html">
-<B>MC01VD</B></A>   Roots of a quadratic equation with real coefficients  
-<A href=".\doc\MC01WD.html">
-<B>MC01WD</B></A>   Quotient and remainder polynomials for a quadratic denominator  
-<A href=".\doc\MC01XD.html">
-<B>MC01XD</B></A>   Roots of a third order polynomial  
-</PRE>
-<h4>Polynomial Matrices</h4>
-<PRE>
-<A href=".\doc\MC03MD.html">
-<B>MC03MD</B></A>   Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)  
-<A href=".\doc\MC03ND.html">
-<B>MC03ND</B></A>   Minimal polynomial basis for the right nullspace of a polynomial matrix  
-</PRE>
-<h3>MD - Optimization</h3>
-<h4>Unconstrained Nonlinear Least Squares</h4>
-<PRE>
-<A href=".\doc\MD03AD.html">
-<B>MD03AD</B></A>   Levenberg-Marquardt algorithm (Cholesky-based or conjugate
-         gradients solver)
-<A href=".\doc\MD03BD.html">
-<B>MD03BD</B></A>   Enhanced MINPACK-like Levenberg-Marquardt algorithm 
-</PRE>
-<HR>
-<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
-<h3>NI - Interfaces to Nonlinear Solvers</h3>
-<h4>ODE and DAE Solvers</h4>
-<PRE>
-<A href=".\doc\DAESolver.html">
-<B>DAESolver</B></A>    Interface to DAE Solvers
-<A href=".\doc\ODESolver.html">
-<B>ODESolver</B></A>    Interface to ODE Solvers
-</PRE>
-<h4>Nonlinear Equation Solvers</h4>
-<PRE>
-<A href=".\doc\KINSOL.html">
-<B>KINSOL</B></A>    Interface to KINSOL solver for nonlinear systems of equations
-</PRE>
-<h4>Nonlinear Optimization Solvers</h4>
-<PRE>
-<A href=".\doc\FSQP.html">
-<B>FSQP</B></A>    Interface to FSQP solver for nonlinear optimization
-</PRE>
-<HR>
-<A NAME="S"><H2>S - Synthesis Routines</H2></A>
-<h3>SB - State-Space Synthesis</h3>
-<h4>Eigenvalue/Eigenvector Assignment</h4>
-<PRE>
-<A href=".\doc\SB01BD.html">
-<B>SB01BD</B></A>    Pole assignment for a given matrix pair (A,B)
-<A href=".\doc\SB01DD.html">
-<B>SB01DD</B></A>    Eigenstructure assignment for a controllable matrix pair (A,B) in
-          orthogonal canonical form
-<A href=".\doc\SB01MD.html">
-<B>SB01MD</B></A>    State feedback matrix of a time-invariant single-input system
-</PRE>
-<h4>Riccati Equations</h4>
-<PRE>
-<A href=".\doc\SB02MD.html">
-<B>SB02MD</B></A>    Solution of algebraic Riccati equations (Schur vectors method)
-<A href=".\doc\SB02MT.html">
-<B>SB02MT</B></A>    Conversion of problems with coupling terms to standard problems
-<A href=".\doc\SB02MX.html">
-<B>SB02MX</B></A>    Conversion of problems with coupling terms to standard problems
-          (more flexibility)
-<A href=".\doc\SB02ND.html">
-<B>SB02ND</B></A>    Optimal state feedback matrix for an optimal control problem
-<A href=".\doc\SB02OD.html">
-<B>SB02OD</B></A>    Solution of algebraic Riccati equations (generalized Schur method)
-<A href=".\doc\SB02PD.html">
-<B>SB02PD</B></A>    Solution of continuous algebraic Riccati equations (matrix sign 
-          function method) with condition and forward error bound estimates
-<A href=".\doc\SB02QD.html">
-<B>SB02QD</B></A>    Condition and forward error for continuous Riccati equation solution
-<A href=".\doc\SB02RD.html">
-<B>SB02RD</B></A>    Solution of algebraic Riccati equations (refined Schur vectors method) 
-          with condition and forward error bound estimates
-<A href=".\doc\SB02SD.html">
-<B>SB02SD</B></A>    Condition and forward error for discrete Riccati equation solution
-</PRE>
-<h4>Lyapunov Equations</h4>
-<PRE>
-<A href=".\doc\SB03MD.html">
-<B>SB03MD</B></A>    Solution of Lyapunov equations and separation estimation
-<A href=".\doc\SB03OD.html">
-<B>SB03OD</B></A>    Solution of stable Lyapunov equations (Cholesky factor)
-<A href=".\doc\SB03OZ.html">
-<B>SB03OZ</B></A>    Solution of stable complex Lyapunov equations (Cholesky factor)
-<A href=".\doc\SB03PD.html">
-<B>SB03PD</B></A>    Solution of discrete Lyapunov equations and separation estimation
-<A href=".\doc\SB03QD.html">
-<B>SB03QD</B></A>    Condition and forward error for continuous Lyapunov equations
-<A href=".\doc\SB03RD.html">
-<B>SB03RD</B></A>    Solution of continuous Lyapunov equations and separation estimation
-<A href=".\doc\SB03SD.html">
-<B>SB03SD</B></A>    Condition and forward error for discrete Lyapunov equations
-<A href=".\doc\SB03TD.html">
-<B>SB03TD</B></A>    Solution of continuous Lyapunov equations, condition and forward error 
-          estimation
-<A href=".\doc\SB03UD.html">
-<B>SB03UD</B></A>    Solution of discrete Lyapunov equations, condition and forward error 
-          estimation
-</PRE>
-<h4>Sylvester Equations</h4>
-<PRE>
-<A href=".\doc\SB04MD.html">
-<B>SB04MD</B></A>    Solution of continuous Sylvester equations (Hessenberg-Schur method)
-<A href=".\doc\SB04ND.html">
-<B>SB04ND</B></A>    Solution of continuous Sylvester equations (one matrix in Schur form)
-<A href=".\doc\SB04OD.html">
-<B>SB04OD</B></A>    Solution of generalized Sylvester equations with separation estimation
-<A href=".\doc\SB04PD.html">
-<B>SB04PD</B></A>    Solution of continuous or discrete Sylvester equations (Schur method)
-<A href=".\doc\SB04QD.html">
-<B>SB04QD</B></A>    Solution of discrete Sylvester equations (Hessenberg-Schur method)
-<A href=".\doc\SB04RD.html">
-<B>SB04RD</B></A>    Solution of discrete Sylvester equations (one matrix in Schur form)
-</PRE>
-<h4>Deadbeat Control</h4>
-<PRE>
-<A href=".\doc\SB06ND.html">
-<B>SB06ND</B></A>    Minimum norm deadbeat control state feedback matrix 
-</PRE>
-<h4>Transfer Matrix Factorization</h4>
-<PRE>
-<A href=".\doc\SB08CD.html">
-<B>SB08CD</B></A>    Left coprime factorization with inner denominator
-<A href=".\doc\SB08DD.html">
-<B>SB08DD</B></A>    Right coprime factorization with inner denominator
-<A href=".\doc\SB08ED.html">
-<B>SB08ED</B></A>    Left coprime factorization with prescribed stability degree
-<A href=".\doc\SB08FD.html">
-<B>SB08FD</B></A>    Right coprime factorization with prescribed stability degree
-<A href=".\doc\SB08GD.html">
-<B>SB08GD</B></A>    State-space representation of a left coprime factorization
-<A href=".\doc\SB08HD.html">
-<B>SB08HD</B></A>    State-space representation of a right coprime factorization
-<A href=".\doc\SB08MD.html">
-<B>SB08MD</B></A>    Spectral factorization of polynomials (continuous-time case)
-<A href=".\doc\SB08ND.html">
-<B>SB08ND</B></A>    Spectral factorization of polynomials (discrete-time case)
-</PRE>
-<h4>Realization Methods</h4>
-<PRE>
-<A href=".\doc\SB09MD.html">
-<B>SB09MD</B></A>    Closeness of two multivariable sequences
-
-</PRE>
-<h4>Optimal Regulator Problems</h4>
-<PRE>
-<A href=".\doc\SB10AD.html">
-<B>SB10AD</B></A>    H-infinity optimal controller using modified Glover's and Doyle's
-          formulas (continuous-time)
-<A href=".\doc\SB10DD.html">
-<B>SB10DD</B></A>    H-infinity (sub)optimal state controller for a discrete-time system
-<A href=".\doc\SB10ED.html">
-<B>SB10ED</B></A>    H2 optimal state controller for a discrete-time system
-<A href=".\doc\SB10FD.html">
-<B>SB10FD</B></A>    H-infinity (sub)optimal state controller for a continuous-time system
-<A href=".\doc\SB10HD.html">
-<B>SB10HD</B></A>    H2 optimal state controller for a continuous-time system
-<A href=".\doc\SB10MD.html">
-<B>SB10MD</B></A>    D-step in the D-K iteration for continuous-time case
-<A href=".\doc\SB10ID.html">
-<B>SB10ID</B></A>    Positive feedback controller for a continuous-time system
-<A href=".\doc\SB10KD.html">
-<B>SB10KD</B></A>    Positive feedback controller for a discrete-time system
-<A href=".\doc\SB10ZD.html">
-<B>SB10ZD</B></A>    Positive feedback controller for a discrete-time system (D <> 0)
-
-</PRE>
-<h4>Controller Reduction</h4>
-<PRE>
-<A href=".\doc\SB16AD.html">
-<B>SB16AD</B></A>    Stability/performance enforcing frequency-weighted controller reduction
-<A href=".\doc\SB16BD.html">
-<B>SB16BD</B></A>    Coprime factorization based state feedback controller reduction
-<A href=".\doc\SB16CD.html">
-<B>SB16CD</B></A>    Coprime factorization based frequency-weighted state feedback 
-          controller reduction
-</PRE>
-<h3>SG - Generalized State-Space Synthesis</h3>
-<h4>Riccati Equations</h4>
-<PRE>
-<A href=".\doc\SG02AD.html">
-<B>SG02AD</B></A>    Solution of algebraic Riccati equations for descriptor systems
-<A href=".\doc\SG02CW.html">
-<B>SG02CW</B></A>    Residual of continuous- or discrete-time (generalized) algebraic
-          Riccati equations
-<A href=".\doc\SG02CX.html">
-<B>SG02CX</B></A>    Line search parameter minimizing the residual of (generalized) 
-          continuous- or discrete-time algebraic Riccati equations
-<A href=".\doc\SG02ND.html">
-<B>SG02ND</B></A>    Optimal state feedback matrix for an optimal control problem
-</PRE>
-<h4>Generalized Lyapunov Equations</h4>
-<PRE>
-<A href=".\doc\SG03AD.html">
-<B>SG03AD</B></A>    Solution of generalized Lyapunov equations and separation estimation
-<A href=".\doc\SG03BD.html">
-<B>SG03BD</B></A>    Solution of stable generalized Lyapunov equations (Cholesky factor)
-<A href=".\doc\SG03BZ.html">
-<B>SG03BZ</B></A>    Solution of stable generalized complex Lyapunov equations (Cholesky factor)
-</PRE>
-<HR>
-<A NAME="T"><H2>T - Transformation Routines</H2></A>
-<h3>TB - State-Space</h3>
-<h4>State-Space Transformations</h4>
-<PRE>
-<A href=".\doc\TB01ID.html">
-<B>TB01ID</B></A>   Balancing a system matrix for a given triplet
-<A href=".\doc\TB01IZ.html">
-<B>TB01IZ</B></A>   Balancing a system matrix for a given triplet (complex case)
-<A href=".\doc\TB01KD.html">
-<B>TB01KD</B></A>   Additive spectral decomposition of a state-space system 
-<A href=".\doc\TB01LD.html">
-<B>TB01LD</B></A>   Spectral separation of a state-space system
-<A href=".\doc\TB01MD.html">
-<B>TB01MD</B></A>   Upper/lower controller Hessenberg form
-<A href=".\doc\TB01ND.html">
-<B>TB01ND</B></A>   Upper/lower observer Hessenberg form 
-<A href=".\doc\TB01PD.html">
-<B>TB01PD</B></A>   Minimal, controllable or observable block Hessenberg realization 
-<A href=".\doc\TB01PX.html">
-<B>TB01PX</B></A>   Minimal, controllable or observable block Hessenberg realization (variant)
-<A href=".\doc\TB01TD.html">
-<B>TB01TD</B></A>   Balancing state-space representation by permutations and scalings
-<A href=".\doc\TB01UD.html">
-<B>TB01UD</B></A>   Controllable block Hessenberg realization for a state-space representation
-<A href=".\doc\TB01UY.html">
-<B>TB01UY</B></A>   Controllable block Hessenberg realization for a standard multi-input system
-<A href=".\doc\TB01WD.html">
-<B>TB01WD</B></A>   Reduction of the state dynamics matrix to real Schur form 
-<A href=".\doc\TB01WX.html">
-<B>TB01WX</B></A>   Orthogonal similarity transformation of a standard system to one 
-         with state matrix in a Hessenberg form
-<A href=".\doc\TB01ZD.html">
-<B>TB01ZD</B></A>   Controllable realization for single-input systems 
-</PRE>
-<h4>State-Space to Polynomial Matrix Conversion</h4>
-<PRE>
-<A href=".\doc\TB03AD.html">
-<B>TB03AD</B></A>   Left/right polynomial matrix representation of a state-space representation
-</PRE>
-<h4>State-Space to Rational Matrix Conversion</h4>
-<PRE>
-<A href=".\doc\TB04AD.html">
-<B>TB04AD</B></A>   Transfer matrix of a state-space representation  
-<A href=".\doc\TB04BD.html">
-<B>TB04BD</B></A>   Transfer matrix of a state-space representation, using the pole-zeros method
-<A href=".\doc\TB04CD.html">
-<B>TB04CD</B></A>   Transfer matrix of a state-space representation in the pole-zero-gain form 
-</PRE>
-<h4>State-Space to Frequency Response</h4>
-<PRE>
-<A href=".\doc\TB05AD.html">
-<B>TB05AD</B></A>   Frequency response matrix of a state-space representation 
-</PRE>
-<h3>TC - Polynomial Matrix</h3>
-<h4>Polynomial Matrix Transformations</h4>
-<PRE>
-<A href=".\doc\TC01OD.html">
-<B>TC01OD</B></A>   Dual of a left/right polynomial matrix representation
-</PRE>
-<h4>Polynomial Matrix to State-Space Conversion</h4>
-<PRE>
-<A href=".\doc\TC04AD.html">
-<B>TC04AD</B></A>   State-space representation for left/right polynomial matrix representation
-</PRE>
-<h4>Polynomial Matrix to  Frequency Response</h4>
-<PRE>
-<A href=".\doc\TC05AD.html">
-<B>TC05AD</B></A>   Transfer matrix of a left/right polynomial matrix representation
-</PRE>
-<h3>TD - Rational  Matrix</h3>
-<h4>Rational Matrix to Polynomial Matrix Conversion</h4>
-<PRE>
-<A href=".\doc\TD03AD.html">
-<B>TD03AD</B></A>   Left/right polynomial matrix representation for a proper transfer matrix
-</PRE>
-<h4>Rational Matrix to State-Space Conversion</h4>
-<PRE>
-<A href=".\doc\TD04AD.html">
-<B>TD04AD</B></A>   Minimal state-space representation for a proper transfer matrix 
-</PRE>
-<h4>Rational Matrix to Frequency Response</h4>
-<PRE>
-<A href=".\doc\TD05AD.html">
-<B>TD05AD</B></A>   Evaluation of a transfer function for a specified frequency 
-</PRE>
-<h3>TF - Time Response</h3>
-<PRE>
-<A href=".\doc\TF01MD.html">
-<B>TF01MD</B></A>   Output response of a linear discrete-time system
-<A href=".\doc\TF01ND.html">
-<B>TF01ND</B></A>   Output response of a linear discrete-time system (Hessenberg matrix)
-<A href=".\doc\TF01OD.html">
-<B>TF01OD</B></A>   Block Hankel expansion of a multivariable parameter sequence
-<A href=".\doc\TF01PD.html">
-<B>TF01PD</B></A>   Block Toeplitz expansion of a multivariable parameter sequence
-<A href=".\doc\TF01QD.html">
-<B>TF01QD</B></A>   Markov parameters of a system from transfer function matrix
-<A href=".\doc\TF01RD.html">
-<B>TF01RD</B></A>   Markov parameters of a system from state-space representation
-</PRE>
-<h3>TG - Generalized State-space</h3>
-<h4>Generalized State-space Transformations</h4>
-<PRE>
-<A href=".\doc\TG01AD.html">
-<B>TG01AD</B></A>   Balancing the matrices of the system pencil corresponding to a
-         descriptor triple
-<A href=".\doc\TG01AZ.html">
-<B>TG01AZ</B></A>   Balancing the matrices of the system pencil corresponding to a
-         descriptor triple (complex case)
-<A href=".\doc\TG01BD.html">
-<B>TG01BD</B></A>   Orthogonal reduction of a descriptor system to the generalized 
-         Hessenberg form
-<A href=".\doc\TG01CD.html">
-<B>TG01CD</B></A>   Orthogonal reduction of a descriptor system pair (A-sE,B)
-         to the QR-coordinate form
-<A href=".\doc\TG01DD.html">
-<B>TG01DD</B></A>   Orthogonal reduction of a descriptor system pair (C,A-sE)
-         to the RQ-coordinate form
-<A href=".\doc\TG01ED.html">
-<B>TG01ED</B></A>   Orthogonal reduction of a descriptor system to a SVD coordinate 
-         form
-<A href=".\doc\TG01FD.html">
-<B>TG01FD</B></A>   Orthogonal reduction of a descriptor system to a SVD-like
-         coordinate form
-<A href=".\doc\TG01FZ.html">
-<B>TG01FZ</B></A>   Orthogonal reduction of a descriptor system to a SVD-like 
-         coordinate form (complex case)
-<A href=".\doc\TG01GD.html">
-<B>TG01GD</B></A>   Reduced descriptor representation without non-dynamic modes
-<A href=".\doc\TG01HD.html">
-<B>TG01HD</B></A>   Orthogonal reduction of a descriptor system to the controllability
-         staircase form
-<A href=".\doc\TG01ID.html">
-<B>TG01ID</B></A>   Orthogonal reduction of a descriptor system to the observability
-         staircase form
-<A href=".\doc\TG01JD.html">
-<B>TG01JD</B></A>   Irreducible descriptor representation
-<A href=".\doc\TG01JY.html">
-<B>TG01JY</B></A>   Irreducible descriptor representation (blocked version)
-<A href=".\doc\TG01LD.html">
-<B>TG01LD</B></A>   Finite-infinite decomposition of a descriptor system
-<A href=".\doc\TG01MD.html">
-<B>TG01MD</B></A>   Finite-infinite generalized real Schur form decomposition of a descriptor system
-<A href=".\doc\TG01ND.html">
-<B>TG01ND</B></A>   Finite-infinite block-diagonal decomposition of a descriptor system
-<A href=".\doc\TG01OD.html">
-<B>TG01OD</B></A>   Reducing a SISO descriptor system with E nonsingular so that
-         the obtained feedthrough term has a sufficiently large magnitude
-<A href=".\doc\TG01OZ.html">
-<B>TG01OZ</B></A>   Reducing a complex SISO descriptor system with E nonsingular so that
-         the obtained feedthrough term has a sufficiently large magnitude
-<A href=".\doc\TG01PD.html">
-<B>TG01PD</B></A>   Bi-domain spectral splitting of a subpencil of a descriptor system
-<A href=".\doc\TG01QD.html">
-<B>TG01QD</B></A>   Three-domain spectral splitting of a subpencil of a descriptor system
-<A href=".\doc\TG01WD.html">
-<B>TG01WD</B></A>   Reduction of the descriptor dynamics matrix pair to generalized 
-         real Schur form
-</PRE>
-<HR>
-<A NAME="U"><H2>U - Utility Routines</H2></A>
-<h3>UD - Numerical Data Handling</h3>
-<PRE>
-<A href=".\doc\UD01BD.html">
-<B>UD01BD</B></A>   Reading a matrix polynomial
-<A href=".\doc\UD01CD.html">
-<B>UD01CD</B></A>   Reading a sparse matrix polynomial
-<A href=".\doc\UD01DD.html">
-<B>UD01DD</B></A>   Reading a sparse real matrix
-<A href=".\doc\UD01MD.html">
-<B>UD01MD</B></A>   Printing a real matrix
-<A href=".\doc\UD01MZ.html">
-<B>UD01MZ</B></A>   Printing a real matrix (complex case)
-<A href=".\doc\UD01ND.html">
-<B>UD01ND</B></A>   Printing a matrix polynomial
-<A href=".\doc\UE01MD.html">
-<B>UE01MD</B></A>   Default machine-specific parameters for (skew-)Hamiltonian computation routines
-</PRE>
-<HR>
-</BODY>
-</HTML>
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diff --git a/doc/_build/html/_static/searchtools.js b/doc/_build/html/_static/searchtools.js
deleted file mode 100644
index e89e34d4..00000000
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-/*
- * searchtools.js
- * ~~~~~~~~~~~~~~~~
- *
- * Sphinx JavaScript utilities for the full-text search.
- *
- * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
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- */
-"use strict";
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-/**
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-  }
-  let linkEl = listItem.appendChild(document.createElement("a"));
-  linkEl.href = linkUrl + anchor;
-  linkEl.dataset.score = score;
-  linkEl.innerHTML = title;
-  if (descr)
-    listItem.appendChild(document.createElement("span")).innerHTML =
-      " (" + descr + ")";
-  else if (showSearchSummary)
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-        if (data)
-          listItem.appendChild(
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-          );
-      });
-  Search.output.appendChild(listItem);
-};
-const _finishSearch = (resultCount) => {
-  Search.stopPulse();
-  Search.title.innerText = _("Search Results");
-  if (!resultCount)
-    Search.status.innerText = Documentation.gettext(
-      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
-    );
-  else
-    Search.status.innerText = _(
-      `Search finished, found ${resultCount} page(s) matching the search query.`
-    );
-};
-const _displayNextItem = (
-  results,
-  resultCount,
-  searchTerms
-) => {
-  // results left, load the summary and display it
-  // this is intended to be dynamic (don't sub resultsCount)
-  if (results.length) {
-    _displayItem(results.pop(), searchTerms);
-    setTimeout(
-      () => _displayNextItem(results, resultCount, searchTerms),
-      5
-    );
-  }
-  // search finished, update title and status message
-  else _finishSearch(resultCount);
-};
-
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- * custom function per language.
- *
- * The regular expression works by splitting the string on consecutive characters
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- * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
- */
-if (typeof splitQuery === "undefined") {
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-      .filter(term => term)  // remove remaining empty strings
-}
-
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- */
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-
-  htmlToText: (htmlString) => {
-    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
-    htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
-    const docContent = htmlElement.querySelector('[role="main"]');
-    if (docContent !== undefined) return docContent.textContent;
-    console.warn(
-      "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
-    );
-    return "";
-  },
-
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-    const query = new URLSearchParams(window.location.search).get("q");
-    document
-      .querySelectorAll('input[name="q"]')
-      .forEach((el) => (el.value = query));
-    if (query) Search.performSearch(query);
-  },
-
-  loadIndex: (url) =>
-    (document.body.appendChild(document.createElement("script")).src = url),
-
-  setIndex: (index) => {
-    Search._index = index;
-    if (Search._queued_query !== null) {
-      const query = Search._queued_query;
-      Search._queued_query = null;
-      Search.query(query);
-    }
-  },
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-  hasIndex: () => Search._index !== null,
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-  stopPulse: () => (Search._pulse_status = -1),
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-    if (Search._pulse_status >= 0) return;
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-    const pulse = () => {
-      Search._pulse_status = (Search._pulse_status + 1) % 4;
-      Search.dots.innerText = ".".repeat(Search._pulse_status);
-      if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
-    };
-    pulse();
-  },
-
-  /**
-   * perform a search for something (or wait until index is loaded)
-   */
-  performSearch: (query) => {
-    // create the required interface elements
-    const searchText = document.createElement("h2");
-    searchText.textContent = _("Searching");
-    const searchSummary = document.createElement("p");
-    searchSummary.classList.add("search-summary");
-    searchSummary.innerText = "";
-    const searchList = document.createElement("ul");
-    searchList.classList.add("search");
-
-    const out = document.getElementById("search-results");
-    Search.title = out.appendChild(searchText);
-    Search.dots = Search.title.appendChild(document.createElement("span"));
-    Search.status = out.appendChild(searchSummary);
-    Search.output = out.appendChild(searchList);
-
-    const searchProgress = document.getElementById("search-progress");
-    // Some themes don't use the search progress node
-    if (searchProgress) {
-      searchProgress.innerText = _("Preparing search...");
-    }
-    Search.startPulse();
-
-    // index already loaded, the browser was quick!
-    if (Search.hasIndex()) Search.query(query);
-    else Search.deferQuery(query);
-  },
-
-  /**
-   * execute search (requires search index to be loaded)
-   */
-  query: (query) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
-    const allTitles = Search._index.alltitles;
-    const indexEntries = Search._index.indexentries;
-
-    // stem the search terms and add them to the correct list
-    const stemmer = new Stemmer();
-    const searchTerms = new Set();
-    const excludedTerms = new Set();
-    const highlightTerms = new Set();
-    const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
-    splitQuery(query.trim()).forEach((queryTerm) => {
-      const queryTermLower = queryTerm.toLowerCase();
-
-      // maybe skip this "word"
-      // stopwords array is from language_data.js
-      if (
-        stopwords.indexOf(queryTermLower) !== -1 ||
-        queryTerm.match(/^\d+$/)
-      )
-        return;
-
-      // stem the word
-      let word = stemmer.stemWord(queryTermLower);
-      // select the correct list
-      if (word[0] === "-") excludedTerms.add(word.substr(1));
-      else {
-        searchTerms.add(word);
-        highlightTerms.add(queryTermLower);
-      }
-    });
-
-    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
-      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
-    }
-
-    // console.debug("SEARCH: searching for:");
-    // console.info("required: ", [...searchTerms]);
-    // console.info("excluded: ", [...excludedTerms]);
-
-    // array of [docname, title, anchor, descr, score, filename]
-    let results = [];
-    _removeChildren(document.getElementById("search-progress"));
-
-    const queryLower = query.toLowerCase();
-    for (const [title, foundTitles] of Object.entries(allTitles)) {
-      if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
-        for (const [file, id] of foundTitles) {
-          let score = Math.round(100 * queryLower.length / title.length)
-          results.push([
-            docNames[file],
-            titles[file] !== title ? `${titles[file]} > ${title}` : title,
-            id !== null ? "#" + id : "",
-            null,
-            score,
-            filenames[file],
-          ]);
-        }
-      }
-    }
-
-    // search for explicit entries in index directives
-    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
-      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
-        for (const [file, id] of foundEntries) {
-          let score = Math.round(100 * queryLower.length / entry.length)
-          results.push([
-            docNames[file],
-            titles[file],
-            id ? "#" + id : "",
-            null,
-            score,
-            filenames[file],
-          ]);
-        }
-      }
-    }
-
-    // lookup as object
-    objectTerms.forEach((term) =>
-      results.push(...Search.performObjectSearch(term, objectTerms))
-    );
-
-    // lookup as search terms in fulltext
-    results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
-
-    // let the scorer override scores with a custom scoring function
-    if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
-
-    // now sort the results by score (in opposite order of appearance, since the
-    // display function below uses pop() to retrieve items) and then
-    // alphabetically
-    results.sort((a, b) => {
-      const leftScore = a[4];
-      const rightScore = b[4];
-      if (leftScore === rightScore) {
-        // same score: sort alphabetically
-        const leftTitle = a[1].toLowerCase();
-        const rightTitle = b[1].toLowerCase();
-        if (leftTitle === rightTitle) return 0;
-        return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
-      }
-      return leftScore > rightScore ? 1 : -1;
-    });
-
-    // remove duplicate search results
-    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
-    let seen = new Set();
-    results = results.reverse().reduce((acc, result) => {
-      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
-      if (!seen.has(resultStr)) {
-        acc.push(result);
-        seen.add(resultStr);
-      }
-      return acc;
-    }, []);
-
-    results = results.reverse();
-
-    // for debugging
-    //Search.lastresults = results.slice();  // a copy
-    // console.info("search results:", Search.lastresults);
-
-    // print the results
-    _displayNextItem(results, results.length, searchTerms);
-  },
-
-  /**
-   * search for object names
-   */
-  performObjectSearch: (object, objectTerms) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const objects = Search._index.objects;
-    const objNames = Search._index.objnames;
-    const titles = Search._index.titles;
-
-    const results = [];
-
-    const objectSearchCallback = (prefix, match) => {
-      const name = match[4]
-      const fullname = (prefix ? prefix + "." : "") + name;
-      const fullnameLower = fullname.toLowerCase();
-      if (fullnameLower.indexOf(object) < 0) return;
-
-      let score = 0;
-      const parts = fullnameLower.split(".");
-
-      // check for different match types: exact matches of full name or
-      // "last name" (i.e. last dotted part)
-      if (fullnameLower === object || parts.slice(-1)[0] === object)
-        score += Scorer.objNameMatch;
-      else if (parts.slice(-1)[0].indexOf(object) > -1)
-        score += Scorer.objPartialMatch; // matches in last name
-
-      const objName = objNames[match[1]][2];
-      const title = titles[match[0]];
-
-      // If more than one term searched for, we require other words to be
-      // found in the name/title/description
-      const otherTerms = new Set(objectTerms);
-      otherTerms.delete(object);
-      if (otherTerms.size > 0) {
-        const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
-        if (
-          [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
-        )
-          return;
-      }
-
-      let anchor = match[3];
-      if (anchor === "") anchor = fullname;
-      else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
-
-      const descr = objName + _(", in ") + title;
-
-      // add custom score for some objects according to scorer
-      if (Scorer.objPrio.hasOwnProperty(match[2]))
-        score += Scorer.objPrio[match[2]];
-      else score += Scorer.objPrioDefault;
-
-      results.push([
-        docNames[match[0]],
-        fullname,
-        "#" + anchor,
-        descr,
-        score,
-        filenames[match[0]],
-      ]);
-    };
-    Object.keys(objects).forEach((prefix) =>
-      objects[prefix].forEach((array) =>
-        objectSearchCallback(prefix, array)
-      )
-    );
-    return results;
-  },
-
-  /**
-   * search for full-text terms in the index
-   */
-  performTermsSearch: (searchTerms, excludedTerms) => {
-    // prepare search
-    const terms = Search._index.terms;
-    const titleTerms = Search._index.titleterms;
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
-
-    const scoreMap = new Map();
-    const fileMap = new Map();
-
-    // perform the search on the required terms
-    searchTerms.forEach((word) => {
-      const files = [];
-      const arr = [
-        { files: terms[word], score: Scorer.term },
-        { files: titleTerms[word], score: Scorer.title },
-      ];
-      // add support for partial matches
-      if (word.length > 2) {
-        const escapedWord = _escapeRegExp(word);
-        Object.keys(terms).forEach((term) => {
-          if (term.match(escapedWord) && !terms[word])
-            arr.push({ files: terms[term], score: Scorer.partialTerm });
-        });
-        Object.keys(titleTerms).forEach((term) => {
-          if (term.match(escapedWord) && !titleTerms[word])
-            arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
-        });
-      }
-
-      // no match but word was a required one
-      if (arr.every((record) => record.files === undefined)) return;
-
-      // found search word in contents
-      arr.forEach((record) => {
-        if (record.files === undefined) return;
-
-        let recordFiles = record.files;
-        if (recordFiles.length === undefined) recordFiles = [recordFiles];
-        files.push(...recordFiles);
-
-        // set score for the word in each file
-        recordFiles.forEach((file) => {
-          if (!scoreMap.has(file)) scoreMap.set(file, {});
-          scoreMap.get(file)[word] = record.score;
-        });
-      });
-
-      // create the mapping
-      files.forEach((file) => {
-        if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
-          fileMap.get(file).push(word);
-        else fileMap.set(file, [word]);
-      });
-    });
-
-    // now check if the files don't contain excluded terms
-    const results = [];
-    for (const [file, wordList] of fileMap) {
-      // check if all requirements are matched
-
-      // as search terms with length < 3 are discarded
-      const filteredTermCount = [...searchTerms].filter(
-        (term) => term.length > 2
-      ).length;
-      if (
-        wordList.length !== searchTerms.size &&
-        wordList.length !== filteredTermCount
-      )
-        continue;
-
-      // ensure that none of the excluded terms is in the search result
-      if (
-        [...excludedTerms].some(
-          (term) =>
-            terms[term] === file ||
-            titleTerms[term] === file ||
-            (terms[term] || []).includes(file) ||
-            (titleTerms[term] || []).includes(file)
-        )
-      )
-        break;
-
-      // select one (max) score for the file.
-      const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
-      // add result to the result list
-      results.push([
-        docNames[file],
-        titles[file],
-        "",
-        null,
-        score,
-        filenames[file],
-      ]);
-    }
-    return results;
-  },
-
-  /**
-   * helper function to return a node containing the
-   * search summary for a given text. keywords is a list
-   * of stemmed words.
-   */
-  makeSearchSummary: (htmlText, keywords) => {
-    const text = Search.htmlToText(htmlText);
-    if (text === "") return null;
-
-    const textLower = text.toLowerCase();
-    const actualStartPosition = [...keywords]
-      .map((k) => textLower.indexOf(k.toLowerCase()))
-      .filter((i) => i > -1)
-      .slice(-1)[0];
-    const startWithContext = Math.max(actualStartPosition - 120, 0);
-
-    const top = startWithContext === 0 ? "" : "...";
-    const tail = startWithContext + 240 < text.length ? "..." : "";
-
-    let summary = document.createElement("p");
-    summary.classList.add("context");
-    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
-
-    return summary;
-  },
-};
-
-_ready(Search.init);
diff --git a/doc/_build/html/_static/sphinx_highlight.js b/doc/_build/html/_static/sphinx_highlight.js
deleted file mode 100644
index aae669d7..00000000
--- a/doc/_build/html/_static/sphinx_highlight.js
+++ /dev/null
@@ -1,144 +0,0 @@
-/* Highlighting utilities for Sphinx HTML documentation. */
-"use strict";
-
-const SPHINX_HIGHLIGHT_ENABLED = true
-
-/**
- * highlight a given string on a node by wrapping it in
- * span elements with the given class name.
- */
-const _highlight = (node, addItems, text, className) => {
-  if (node.nodeType === Node.TEXT_NODE) {
-    const val = node.nodeValue;
-    const parent = node.parentNode;
-    const pos = val.toLowerCase().indexOf(text);
-    if (
-      pos >= 0 &&
-      !parent.classList.contains(className) &&
-      !parent.classList.contains("nohighlight")
-    ) {
-      let span;
-
-      const closestNode = parent.closest("body, svg, foreignObject");
-      const isInSVG = closestNode && closestNode.matches("svg");
-      if (isInSVG) {
-        span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
-      } else {
-        span = document.createElement("span");
-        span.classList.add(className);
-      }
-
-      span.appendChild(document.createTextNode(val.substr(pos, text.length)));
-      parent.insertBefore(
-        span,
-        parent.insertBefore(
-          document.createTextNode(val.substr(pos + text.length)),
-          node.nextSibling
-        )
-      );
-      node.nodeValue = val.substr(0, pos);
-
-      if (isInSVG) {
-        const rect = document.createElementNS(
-          "http://www.w3.org/2000/svg",
-          "rect"
-        );
-        const bbox = parent.getBBox();
-        rect.x.baseVal.value = bbox.x;
-        rect.y.baseVal.value = bbox.y;
-        rect.width.baseVal.value = bbox.width;
-        rect.height.baseVal.value = bbox.height;
-        rect.setAttribute("class", className);
-        addItems.push({ parent: parent, target: rect });
-      }
-    }
-  } else if (node.matches && !node.matches("button, select, textarea")) {
-    node.childNodes.forEach((el) => _highlight(el, addItems, text, className));
-  }
-};
-const _highlightText = (thisNode, text, className) => {
-  let addItems = [];
-  _highlight(thisNode, addItems, text, className);
-  addItems.forEach((obj) =>
-    obj.parent.insertAdjacentElement("beforebegin", obj.target)
-  );
-};
-
-/**
- * Small JavaScript module for the documentation.
- */
-const SphinxHighlight = {
-
-  /**
-   * highlight the search words provided in localstorage in the text
-   */
-  highlightSearchWords: () => {
-    if (!SPHINX_HIGHLIGHT_ENABLED) return;  // bail if no highlight
-
-    // get and clear terms from localstorage
-    const url = new URL(window.location);
-    const highlight =
-        localStorage.getItem("sphinx_highlight_terms")
-        || url.searchParams.get("highlight")
-        || "";
-    localStorage.removeItem("sphinx_highlight_terms")
-    url.searchParams.delete("highlight");
-    window.history.replaceState({}, "", url);
-
-    // get individual terms from highlight string
-    const terms = highlight.toLowerCase().split(/\s+/).filter(x => x);
-    if (terms.length === 0) return; // nothing to do
-
-    // There should never be more than one element matching "div.body"
-    const divBody = document.querySelectorAll("div.body");
-    const body = divBody.length ? divBody[0] : document.querySelector("body");
-    window.setTimeout(() => {
-      terms.forEach((term) => _highlightText(body, term, "highlighted"));
-    }, 10);
-
-    const searchBox = document.getElementById("searchbox");
-    if (searchBox === null) return;
-    searchBox.appendChild(
-      document
-        .createRange()
-        .createContextualFragment(
-          '<p class="highlight-link">' +
-            '<a href="javascript:SphinxHighlight.hideSearchWords()">' +
-            _("Hide Search Matches") +
-            "</a></p>"
-        )
-    );
-  },
-
-  /**
-   * helper function to hide the search marks again
-   */
-  hideSearchWords: () => {
-    document
-      .querySelectorAll("#searchbox .highlight-link")
-      .forEach((el) => el.remove());
-    document
-      .querySelectorAll("span.highlighted")
-      .forEach((el) => el.classList.remove("highlighted"));
-    localStorage.removeItem("sphinx_highlight_terms")
-  },
-
-  initEscapeListener: () => {
-    // only install a listener if it is really needed
-    if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return;
-
-    document.addEventListener("keydown", (event) => {
-      // bail for input elements
-      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
-      // bail with special keys
-      if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return;
-      if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) {
-        SphinxHighlight.hideSearchWords();
-        event.preventDefault();
-      }
-    });
-  },
-};
-
-_ready(SphinxHighlight.highlightSearchWords);
-_ready(SphinxHighlight.initEscapeListener);
diff --git a/doc/_build/html/_static/underscore-1.13.1.js b/doc/_build/html/_static/underscore-1.13.1.js
deleted file mode 100644
index ffd77af9..00000000
--- a/doc/_build/html/_static/underscore-1.13.1.js
+++ /dev/null
@@ -1,2042 +0,0 @@
-(function (global, factory) {
-  typeof exports === 'object' && typeof module !== 'undefined' ? module.exports = factory() :
-  typeof define === 'function' && define.amd ? define('underscore', factory) :
-  (global = typeof globalThis !== 'undefined' ? globalThis : global || self, (function () {
-    var current = global._;
-    var exports = global._ = factory();
-    exports.noConflict = function () { global._ = current; return exports; };
-  }()));
-}(this, (function () {
-  //     Underscore.js 1.13.1
-  //     https://underscorejs.org
-  //     (c) 2009-2021 Jeremy Ashkenas, Julian Gonggrijp, and DocumentCloud and Investigative Reporters & Editors
-  //     Underscore may be freely distributed under the MIT license.
-
-  // Current version.
-  var VERSION = '1.13.1';
-
-  // Establish the root object, `window` (`self`) in the browser, `global`
-  // on the server, or `this` in some virtual machines. We use `self`
-  // instead of `window` for `WebWorker` support.
-  var root = typeof self == 'object' && self.self === self && self ||
-            typeof global == 'object' && global.global === global && global ||
-            Function('return this')() ||
-            {};
-
-  // Save bytes in the minified (but not gzipped) version:
-  var ArrayProto = Array.prototype, ObjProto = Object.prototype;
-  var SymbolProto = typeof Symbol !== 'undefined' ? Symbol.prototype : null;
-
-  // Create quick reference variables for speed access to core prototypes.
-  var push = ArrayProto.push,
-      slice = ArrayProto.slice,
-      toString = ObjProto.toString,
-      hasOwnProperty = ObjProto.hasOwnProperty;
-
-  // Modern feature detection.
-  var supportsArrayBuffer = typeof ArrayBuffer !== 'undefined',
-      supportsDataView = typeof DataView !== 'undefined';
-
-  // All **ECMAScript 5+** native function implementations that we hope to use
-  // are declared here.
-  var nativeIsArray = Array.isArray,
-      nativeKeys = Object.keys,
-      nativeCreate = Object.create,
-      nativeIsView = supportsArrayBuffer && ArrayBuffer.isView;
-
-  // Create references to these builtin functions because we override them.
-  var _isNaN = isNaN,
-      _isFinite = isFinite;
-
-  // Keys in IE < 9 that won't be iterated by `for key in ...` and thus missed.
-  var hasEnumBug = !{toString: null}.propertyIsEnumerable('toString');
-  var nonEnumerableProps = ['valueOf', 'isPrototypeOf', 'toString',
-    'propertyIsEnumerable', 'hasOwnProperty', 'toLocaleString'];
-
-  // The largest integer that can be represented exactly.
-  var MAX_ARRAY_INDEX = Math.pow(2, 53) - 1;
-
-  // Some functions take a variable number of arguments, or a few expected
-  // arguments at the beginning and then a variable number of values to operate
-  // on. This helper accumulates all remaining arguments past the function’s
-  // argument length (or an explicit `startIndex`), into an array that becomes
-  // the last argument. Similar to ES6’s "rest parameter".
-  function restArguments(func, startIndex) {
-    startIndex = startIndex == null ? func.length - 1 : +startIndex;
-    return function() {
-      var length = Math.max(arguments.length - startIndex, 0),
-          rest = Array(length),
-          index = 0;
-      for (; index < length; index++) {
-        rest[index] = arguments[index + startIndex];
-      }
-      switch (startIndex) {
-        case 0: return func.call(this, rest);
-        case 1: return func.call(this, arguments[0], rest);
-        case 2: return func.call(this, arguments[0], arguments[1], rest);
-      }
-      var args = Array(startIndex + 1);
-      for (index = 0; index < startIndex; index++) {
-        args[index] = arguments[index];
-      }
-      args[startIndex] = rest;
-      return func.apply(this, args);
-    };
-  }
-
-  // Is a given variable an object?
-  function isObject(obj) {
-    var type = typeof obj;
-    return type === 'function' || type === 'object' && !!obj;
-  }
-
-  // Is a given value equal to null?
-  function isNull(obj) {
-    return obj === null;
-  }
-
-  // Is a given variable undefined?
-  function isUndefined(obj) {
-    return obj === void 0;
-  }
-
-  // Is a given value a boolean?
-  function isBoolean(obj) {
-    return obj === true || obj === false || toString.call(obj) === '[object Boolean]';
-  }
-
-  // Is a given value a DOM element?
-  function isElement(obj) {
-    return !!(obj && obj.nodeType === 1);
-  }
-
-  // Internal function for creating a `toString`-based type tester.
-  function tagTester(name) {
-    var tag = '[object ' + name + ']';
-    return function(obj) {
-      return toString.call(obj) === tag;
-    };
-  }
-
-  var isString = tagTester('String');
-
-  var isNumber = tagTester('Number');
-
-  var isDate = tagTester('Date');
-
-  var isRegExp = tagTester('RegExp');
-
-  var isError = tagTester('Error');
-
-  var isSymbol = tagTester('Symbol');
-
-  var isArrayBuffer = tagTester('ArrayBuffer');
-
-  var isFunction = tagTester('Function');
-
-  // Optimize `isFunction` if appropriate. Work around some `typeof` bugs in old
-  // v8, IE 11 (#1621), Safari 8 (#1929), and PhantomJS (#2236).
-  var nodelist = root.document && root.document.childNodes;
-  if (typeof /./ != 'function' && typeof Int8Array != 'object' && typeof nodelist != 'function') {
-    isFunction = function(obj) {
-      return typeof obj == 'function' || false;
-    };
-  }
-
-  var isFunction$1 = isFunction;
-
-  var hasObjectTag = tagTester('Object');
-
-  // In IE 10 - Edge 13, `DataView` has string tag `'[object Object]'`.
-  // In IE 11, the most common among them, this problem also applies to
-  // `Map`, `WeakMap` and `Set`.
-  var hasStringTagBug = (
-        supportsDataView && hasObjectTag(new DataView(new ArrayBuffer(8)))
-      ),
-      isIE11 = (typeof Map !== 'undefined' && hasObjectTag(new Map));
-
-  var isDataView = tagTester('DataView');
-
-  // In IE 10 - Edge 13, we need a different heuristic
-  // to determine whether an object is a `DataView`.
-  function ie10IsDataView(obj) {
-    return obj != null && isFunction$1(obj.getInt8) && isArrayBuffer(obj.buffer);
-  }
-
-  var isDataView$1 = (hasStringTagBug ? ie10IsDataView : isDataView);
-
-  // Is a given value an array?
-  // Delegates to ECMA5's native `Array.isArray`.
-  var isArray = nativeIsArray || tagTester('Array');
-
-  // Internal function to check whether `key` is an own property name of `obj`.
-  function has$1(obj, key) {
-    return obj != null && hasOwnProperty.call(obj, key);
-  }
-
-  var isArguments = tagTester('Arguments');
-
-  // Define a fallback version of the method in browsers (ahem, IE < 9), where
-  // there isn't any inspectable "Arguments" type.
-  (function() {
-    if (!isArguments(arguments)) {
-      isArguments = function(obj) {
-        return has$1(obj, 'callee');
-      };
-    }
-  }());
-
-  var isArguments$1 = isArguments;
-
-  // Is a given object a finite number?
-  function isFinite$1(obj) {
-    return !isSymbol(obj) && _isFinite(obj) && !isNaN(parseFloat(obj));
-  }
-
-  // Is the given value `NaN`?
-  function isNaN$1(obj) {
-    return isNumber(obj) && _isNaN(obj);
-  }
-
-  // Predicate-generating function. Often useful outside of Underscore.
-  function constant(value) {
-    return function() {
-      return value;
-    };
-  }
-
-  // Common internal logic for `isArrayLike` and `isBufferLike`.
-  function createSizePropertyCheck(getSizeProperty) {
-    return function(collection) {
-      var sizeProperty = getSizeProperty(collection);
-      return typeof sizeProperty == 'number' && sizeProperty >= 0 && sizeProperty <= MAX_ARRAY_INDEX;
-    }
-  }
-
-  // Internal helper to generate a function to obtain property `key` from `obj`.
-  function shallowProperty(key) {
-    return function(obj) {
-      return obj == null ? void 0 : obj[key];
-    };
-  }
-
-  // Internal helper to obtain the `byteLength` property of an object.
-  var getByteLength = shallowProperty('byteLength');
-
-  // Internal helper to determine whether we should spend extensive checks against
-  // `ArrayBuffer` et al.
-  var isBufferLike = createSizePropertyCheck(getByteLength);
-
-  // Is a given value a typed array?
-  var typedArrayPattern = /\[object ((I|Ui)nt(8|16|32)|Float(32|64)|Uint8Clamped|Big(I|Ui)nt64)Array\]/;
-  function isTypedArray(obj) {
-    // `ArrayBuffer.isView` is the most future-proof, so use it when available.
-    // Otherwise, fall back on the above regular expression.
-    return nativeIsView ? (nativeIsView(obj) && !isDataView$1(obj)) :
-                  isBufferLike(obj) && typedArrayPattern.test(toString.call(obj));
-  }
-
-  var isTypedArray$1 = supportsArrayBuffer ? isTypedArray : constant(false);
-
-  // Internal helper to obtain the `length` property of an object.
-  var getLength = shallowProperty('length');
-
-  // Internal helper to create a simple lookup structure.
-  // `collectNonEnumProps` used to depend on `_.contains`, but this led to
-  // circular imports. `emulatedSet` is a one-off solution that only works for
-  // arrays of strings.
-  function emulatedSet(keys) {
-    var hash = {};
-    for (var l = keys.length, i = 0; i < l; ++i) hash[keys[i]] = true;
-    return {
-      contains: function(key) { return hash[key]; },
-      push: function(key) {
-        hash[key] = true;
-        return keys.push(key);
-      }
-    };
-  }
-
-  // Internal helper. Checks `keys` for the presence of keys in IE < 9 that won't
-  // be iterated by `for key in ...` and thus missed. Extends `keys` in place if
-  // needed.
-  function collectNonEnumProps(obj, keys) {
-    keys = emulatedSet(keys);
-    var nonEnumIdx = nonEnumerableProps.length;
-    var constructor = obj.constructor;
-    var proto = isFunction$1(constructor) && constructor.prototype || ObjProto;
-
-    // Constructor is a special case.
-    var prop = 'constructor';
-    if (has$1(obj, prop) && !keys.contains(prop)) keys.push(prop);
-
-    while (nonEnumIdx--) {
-      prop = nonEnumerableProps[nonEnumIdx];
-      if (prop in obj && obj[prop] !== proto[prop] && !keys.contains(prop)) {
-        keys.push(prop);
-      }
-    }
-  }
-
-  // Retrieve the names of an object's own properties.
-  // Delegates to **ECMAScript 5**'s native `Object.keys`.
-  function keys(obj) {
-    if (!isObject(obj)) return [];
-    if (nativeKeys) return nativeKeys(obj);
-    var keys = [];
-    for (var key in obj) if (has$1(obj, key)) keys.push(key);
-    // Ahem, IE < 9.
-    if (hasEnumBug) collectNonEnumProps(obj, keys);
-    return keys;
-  }
-
-  // Is a given array, string, or object empty?
-  // An "empty" object has no enumerable own-properties.
-  function isEmpty(obj) {
-    if (obj == null) return true;
-    // Skip the more expensive `toString`-based type checks if `obj` has no
-    // `.length`.
-    var length = getLength(obj);
-    if (typeof length == 'number' && (
-      isArray(obj) || isString(obj) || isArguments$1(obj)
-    )) return length === 0;
-    return getLength(keys(obj)) === 0;
-  }
-
-  // Returns whether an object has a given set of `key:value` pairs.
-  function isMatch(object, attrs) {
-    var _keys = keys(attrs), length = _keys.length;
-    if (object == null) return !length;
-    var obj = Object(object);
-    for (var i = 0; i < length; i++) {
-      var key = _keys[i];
-      if (attrs[key] !== obj[key] || !(key in obj)) return false;
-    }
-    return true;
-  }
-
-  // If Underscore is called as a function, it returns a wrapped object that can
-  // be used OO-style. This wrapper holds altered versions of all functions added
-  // through `_.mixin`. Wrapped objects may be chained.
-  function _$1(obj) {
-    if (obj instanceof _$1) return obj;
-    if (!(this instanceof _$1)) return new _$1(obj);
-    this._wrapped = obj;
-  }
-
-  _$1.VERSION = VERSION;
-
-  // Extracts the result from a wrapped and chained object.
-  _$1.prototype.value = function() {
-    return this._wrapped;
-  };
-
-  // Provide unwrapping proxies for some methods used in engine operations
-  // such as arithmetic and JSON stringification.
-  _$1.prototype.valueOf = _$1.prototype.toJSON = _$1.prototype.value;
-
-  _$1.prototype.toString = function() {
-    return String(this._wrapped);
-  };
-
-  // Internal function to wrap or shallow-copy an ArrayBuffer,
-  // typed array or DataView to a new view, reusing the buffer.
-  function toBufferView(bufferSource) {
-    return new Uint8Array(
-      bufferSource.buffer || bufferSource,
-      bufferSource.byteOffset || 0,
-      getByteLength(bufferSource)
-    );
-  }
-
-  // We use this string twice, so give it a name for minification.
-  var tagDataView = '[object DataView]';
-
-  // Internal recursive comparison function for `_.isEqual`.
-  function eq(a, b, aStack, bStack) {
-    // Identical objects are equal. `0 === -0`, but they aren't identical.
-    // See the [Harmony `egal` proposal](https://wiki.ecmascript.org/doku.php?id=harmony:egal).
-    if (a === b) return a !== 0 || 1 / a === 1 / b;
-    // `null` or `undefined` only equal to itself (strict comparison).
-    if (a == null || b == null) return false;
-    // `NaN`s are equivalent, but non-reflexive.
-    if (a !== a) return b !== b;
-    // Exhaust primitive checks
-    var type = typeof a;
-    if (type !== 'function' && type !== 'object' && typeof b != 'object') return false;
-    return deepEq(a, b, aStack, bStack);
-  }
-
-  // Internal recursive comparison function for `_.isEqual`.
-  function deepEq(a, b, aStack, bStack) {
-    // Unwrap any wrapped objects.
-    if (a instanceof _$1) a = a._wrapped;
-    if (b instanceof _$1) b = b._wrapped;
-    // Compare `[[Class]]` names.
-    var className = toString.call(a);
-    if (className !== toString.call(b)) return false;
-    // Work around a bug in IE 10 - Edge 13.
-    if (hasStringTagBug && className == '[object Object]' && isDataView$1(a)) {
-      if (!isDataView$1(b)) return false;
-      className = tagDataView;
-    }
-    switch (className) {
-      // These types are compared by value.
-      case '[object RegExp]':
-        // RegExps are coerced to strings for comparison (Note: '' + /a/i === '/a/i')
-      case '[object String]':
-        // Primitives and their corresponding object wrappers are equivalent; thus, `"5"` is
-        // equivalent to `new String("5")`.
-        return '' + a === '' + b;
-      case '[object Number]':
-        // `NaN`s are equivalent, but non-reflexive.
-        // Object(NaN) is equivalent to NaN.
-        if (+a !== +a) return +b !== +b;
-        // An `egal` comparison is performed for other numeric values.
-        return +a === 0 ? 1 / +a === 1 / b : +a === +b;
-      case '[object Date]':
-      case '[object Boolean]':
-        // Coerce dates and booleans to numeric primitive values. Dates are compared by their
-        // millisecond representations. Note that invalid dates with millisecond representations
-        // of `NaN` are not equivalent.
-        return +a === +b;
-      case '[object Symbol]':
-        return SymbolProto.valueOf.call(a) === SymbolProto.valueOf.call(b);
-      case '[object ArrayBuffer]':
-      case tagDataView:
-        // Coerce to typed array so we can fall through.
-        return deepEq(toBufferView(a), toBufferView(b), aStack, bStack);
-    }
-
-    var areArrays = className === '[object Array]';
-    if (!areArrays && isTypedArray$1(a)) {
-        var byteLength = getByteLength(a);
-        if (byteLength !== getByteLength(b)) return false;
-        if (a.buffer === b.buffer && a.byteOffset === b.byteOffset) return true;
-        areArrays = true;
-    }
-    if (!areArrays) {
-      if (typeof a != 'object' || typeof b != 'object') return false;
-
-      // Objects with different constructors are not equivalent, but `Object`s or `Array`s
-      // from different frames are.
-      var aCtor = a.constructor, bCtor = b.constructor;
-      if (aCtor !== bCtor && !(isFunction$1(aCtor) && aCtor instanceof aCtor &&
-                               isFunction$1(bCtor) && bCtor instanceof bCtor)
-                          && ('constructor' in a && 'constructor' in b)) {
-        return false;
-      }
-    }
-    // Assume equality for cyclic structures. The algorithm for detecting cyclic
-    // structures is adapted from ES 5.1 section 15.12.3, abstract operation `JO`.
-
-    // Initializing stack of traversed objects.
-    // It's done here since we only need them for objects and arrays comparison.
-    aStack = aStack || [];
-    bStack = bStack || [];
-    var length = aStack.length;
-    while (length--) {
-      // Linear search. Performance is inversely proportional to the number of
-      // unique nested structures.
-      if (aStack[length] === a) return bStack[length] === b;
-    }
-
-    // Add the first object to the stack of traversed objects.
-    aStack.push(a);
-    bStack.push(b);
-
-    // Recursively compare objects and arrays.
-    if (areArrays) {
-      // Compare array lengths to determine if a deep comparison is necessary.
-      length = a.length;
-      if (length !== b.length) return false;
-      // Deep compare the contents, ignoring non-numeric properties.
-      while (length--) {
-        if (!eq(a[length], b[length], aStack, bStack)) return false;
-      }
-    } else {
-      // Deep compare objects.
-      var _keys = keys(a), key;
-      length = _keys.length;
-      // Ensure that both objects contain the same number of properties before comparing deep equality.
-      if (keys(b).length !== length) return false;
-      while (length--) {
-        // Deep compare each member
-        key = _keys[length];
-        if (!(has$1(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
-      }
-    }
-    // Remove the first object from the stack of traversed objects.
-    aStack.pop();
-    bStack.pop();
-    return true;
-  }
-
-  // Perform a deep comparison to check if two objects are equal.
-  function isEqual(a, b) {
-    return eq(a, b);
-  }
-
-  // Retrieve all the enumerable property names of an object.
-  function allKeys(obj) {
-    if (!isObject(obj)) return [];
-    var keys = [];
-    for (var key in obj) keys.push(key);
-    // Ahem, IE < 9.
-    if (hasEnumBug) collectNonEnumProps(obj, keys);
-    return keys;
-  }
-
-  // Since the regular `Object.prototype.toString` type tests don't work for
-  // some types in IE 11, we use a fingerprinting heuristic instead, based
-  // on the methods. It's not great, but it's the best we got.
-  // The fingerprint method lists are defined below.
-  function ie11fingerprint(methods) {
-    var length = getLength(methods);
-    return function(obj) {
-      if (obj == null) return false;
-      // `Map`, `WeakMap` and `Set` have no enumerable keys.
-      var keys = allKeys(obj);
-      if (getLength(keys)) return false;
-      for (var i = 0; i < length; i++) {
-        if (!isFunction$1(obj[methods[i]])) return false;
-      }
-      // If we are testing against `WeakMap`, we need to ensure that
-      // `obj` doesn't have a `forEach` method in order to distinguish
-      // it from a regular `Map`.
-      return methods !== weakMapMethods || !isFunction$1(obj[forEachName]);
-    };
-  }
-
-  // In the interest of compact minification, we write
-  // each string in the fingerprints only once.
-  var forEachName = 'forEach',
-      hasName = 'has',
-      commonInit = ['clear', 'delete'],
-      mapTail = ['get', hasName, 'set'];
-
-  // `Map`, `WeakMap` and `Set` each have slightly different
-  // combinations of the above sublists.
-  var mapMethods = commonInit.concat(forEachName, mapTail),
-      weakMapMethods = commonInit.concat(mapTail),
-      setMethods = ['add'].concat(commonInit, forEachName, hasName);
-
-  var isMap = isIE11 ? ie11fingerprint(mapMethods) : tagTester('Map');
-
-  var isWeakMap = isIE11 ? ie11fingerprint(weakMapMethods) : tagTester('WeakMap');
-
-  var isSet = isIE11 ? ie11fingerprint(setMethods) : tagTester('Set');
-
-  var isWeakSet = tagTester('WeakSet');
-
-  // Retrieve the values of an object's properties.
-  function values(obj) {
-    var _keys = keys(obj);
-    var length = _keys.length;
-    var values = Array(length);
-    for (var i = 0; i < length; i++) {
-      values[i] = obj[_keys[i]];
-    }
-    return values;
-  }
-
-  // Convert an object into a list of `[key, value]` pairs.
-  // The opposite of `_.object` with one argument.
-  function pairs(obj) {
-    var _keys = keys(obj);
-    var length = _keys.length;
-    var pairs = Array(length);
-    for (var i = 0; i < length; i++) {
-      pairs[i] = [_keys[i], obj[_keys[i]]];
-    }
-    return pairs;
-  }
-
-  // Invert the keys and values of an object. The values must be serializable.
-  function invert(obj) {
-    var result = {};
-    var _keys = keys(obj);
-    for (var i = 0, length = _keys.length; i < length; i++) {
-      result[obj[_keys[i]]] = _keys[i];
-    }
-    return result;
-  }
-
-  // Return a sorted list of the function names available on the object.
-  function functions(obj) {
-    var names = [];
-    for (var key in obj) {
-      if (isFunction$1(obj[key])) names.push(key);
-    }
-    return names.sort();
-  }
-
-  // An internal function for creating assigner functions.
-  function createAssigner(keysFunc, defaults) {
-    return function(obj) {
-      var length = arguments.length;
-      if (defaults) obj = Object(obj);
-      if (length < 2 || obj == null) return obj;
-      for (var index = 1; index < length; index++) {
-        var source = arguments[index],
-            keys = keysFunc(source),
-            l = keys.length;
-        for (var i = 0; i < l; i++) {
-          var key = keys[i];
-          if (!defaults || obj[key] === void 0) obj[key] = source[key];
-        }
-      }
-      return obj;
-    };
-  }
-
-  // Extend a given object with all the properties in passed-in object(s).
-  var extend = createAssigner(allKeys);
-
-  // Assigns a given object with all the own properties in the passed-in
-  // object(s).
-  // (https://developer.mozilla.org/docs/Web/JavaScript/Reference/Global_Objects/Object/assign)
-  var extendOwn = createAssigner(keys);
-
-  // Fill in a given object with default properties.
-  var defaults = createAssigner(allKeys, true);
-
-  // Create a naked function reference for surrogate-prototype-swapping.
-  function ctor() {
-    return function(){};
-  }
-
-  // An internal function for creating a new object that inherits from another.
-  function baseCreate(prototype) {
-    if (!isObject(prototype)) return {};
-    if (nativeCreate) return nativeCreate(prototype);
-    var Ctor = ctor();
-    Ctor.prototype = prototype;
-    var result = new Ctor;
-    Ctor.prototype = null;
-    return result;
-  }
-
-  // Creates an object that inherits from the given prototype object.
-  // If additional properties are provided then they will be added to the
-  // created object.
-  function create(prototype, props) {
-    var result = baseCreate(prototype);
-    if (props) extendOwn(result, props);
-    return result;
-  }
-
-  // Create a (shallow-cloned) duplicate of an object.
-  function clone(obj) {
-    if (!isObject(obj)) return obj;
-    return isArray(obj) ? obj.slice() : extend({}, obj);
-  }
-
-  // Invokes `interceptor` with the `obj` and then returns `obj`.
-  // The primary purpose of this method is to "tap into" a method chain, in
-  // order to perform operations on intermediate results within the chain.
-  function tap(obj, interceptor) {
-    interceptor(obj);
-    return obj;
-  }
-
-  // Normalize a (deep) property `path` to array.
-  // Like `_.iteratee`, this function can be customized.
-  function toPath$1(path) {
-    return isArray(path) ? path : [path];
-  }
-  _$1.toPath = toPath$1;
-
-  // Internal wrapper for `_.toPath` to enable minification.
-  // Similar to `cb` for `_.iteratee`.
-  function toPath(path) {
-    return _$1.toPath(path);
-  }
-
-  // Internal function to obtain a nested property in `obj` along `path`.
-  function deepGet(obj, path) {
-    var length = path.length;
-    for (var i = 0; i < length; i++) {
-      if (obj == null) return void 0;
-      obj = obj[path[i]];
-    }
-    return length ? obj : void 0;
-  }
-
-  // Get the value of the (deep) property on `path` from `object`.
-  // If any property in `path` does not exist or if the value is
-  // `undefined`, return `defaultValue` instead.
-  // The `path` is normalized through `_.toPath`.
-  function get(object, path, defaultValue) {
-    var value = deepGet(object, toPath(path));
-    return isUndefined(value) ? defaultValue : value;
-  }
-
-  // Shortcut function for checking if an object has a given property directly on
-  // itself (in other words, not on a prototype). Unlike the internal `has`
-  // function, this public version can also traverse nested properties.
-  function has(obj, path) {
-    path = toPath(path);
-    var length = path.length;
-    for (var i = 0; i < length; i++) {
-      var key = path[i];
-      if (!has$1(obj, key)) return false;
-      obj = obj[key];
-    }
-    return !!length;
-  }
-
-  // Keep the identity function around for default iteratees.
-  function identity(value) {
-    return value;
-  }
-
-  // Returns a predicate for checking whether an object has a given set of
-  // `key:value` pairs.
-  function matcher(attrs) {
-    attrs = extendOwn({}, attrs);
-    return function(obj) {
-      return isMatch(obj, attrs);
-    };
-  }
-
-  // Creates a function that, when passed an object, will traverse that object’s
-  // properties down the given `path`, specified as an array of keys or indices.
-  function property(path) {
-    path = toPath(path);
-    return function(obj) {
-      return deepGet(obj, path);
-    };
-  }
-
-  // Internal function that returns an efficient (for current engines) version
-  // of the passed-in callback, to be repeatedly applied in other Underscore
-  // functions.
-  function optimizeCb(func, context, argCount) {
-    if (context === void 0) return func;
-    switch (argCount == null ? 3 : argCount) {
-      case 1: return function(value) {
-        return func.call(context, value);
-      };
-      // The 2-argument case is omitted because we’re not using it.
-      case 3: return function(value, index, collection) {
-        return func.call(context, value, index, collection);
-      };
-      case 4: return function(accumulator, value, index, collection) {
-        return func.call(context, accumulator, value, index, collection);
-      };
-    }
-    return function() {
-      return func.apply(context, arguments);
-    };
-  }
-
-  // An internal function to generate callbacks that can be applied to each
-  // element in a collection, returning the desired result — either `_.identity`,
-  // an arbitrary callback, a property matcher, or a property accessor.
-  function baseIteratee(value, context, argCount) {
-    if (value == null) return identity;
-    if (isFunction$1(value)) return optimizeCb(value, context, argCount);
-    if (isObject(value) && !isArray(value)) return matcher(value);
-    return property(value);
-  }
-
-  // External wrapper for our callback generator. Users may customize
-  // `_.iteratee` if they want additional predicate/iteratee shorthand styles.
-  // This abstraction hides the internal-only `argCount` argument.
-  function iteratee(value, context) {
-    return baseIteratee(value, context, Infinity);
-  }
-  _$1.iteratee = iteratee;
-
-  // The function we call internally to generate a callback. It invokes
-  // `_.iteratee` if overridden, otherwise `baseIteratee`.
-  function cb(value, context, argCount) {
-    if (_$1.iteratee !== iteratee) return _$1.iteratee(value, context);
-    return baseIteratee(value, context, argCount);
-  }
-
-  // Returns the results of applying the `iteratee` to each element of `obj`.
-  // In contrast to `_.map` it returns an object.
-  function mapObject(obj, iteratee, context) {
-    iteratee = cb(iteratee, context);
-    var _keys = keys(obj),
-        length = _keys.length,
-        results = {};
-    for (var index = 0; index < length; index++) {
-      var currentKey = _keys[index];
-      results[currentKey] = iteratee(obj[currentKey], currentKey, obj);
-    }
-    return results;
-  }
-
-  // Predicate-generating function. Often useful outside of Underscore.
-  function noop(){}
-
-  // Generates a function for a given object that returns a given property.
-  function propertyOf(obj) {
-    if (obj == null) return noop;
-    return function(path) {
-      return get(obj, path);
-    };
-  }
-
-  // Run a function **n** times.
-  function times(n, iteratee, context) {
-    var accum = Array(Math.max(0, n));
-    iteratee = optimizeCb(iteratee, context, 1);
-    for (var i = 0; i < n; i++) accum[i] = iteratee(i);
-    return accum;
-  }
-
-  // Return a random integer between `min` and `max` (inclusive).
-  function random(min, max) {
-    if (max == null) {
-      max = min;
-      min = 0;
-    }
-    return min + Math.floor(Math.random() * (max - min + 1));
-  }
-
-  // A (possibly faster) way to get the current timestamp as an integer.
-  var now = Date.now || function() {
-    return new Date().getTime();
-  };
-
-  // Internal helper to generate functions for escaping and unescaping strings
-  // to/from HTML interpolation.
-  function createEscaper(map) {
-    var escaper = function(match) {
-      return map[match];
-    };
-    // Regexes for identifying a key that needs to be escaped.
-    var source = '(?:' + keys(map).join('|') + ')';
-    var testRegexp = RegExp(source);
-    var replaceRegexp = RegExp(source, 'g');
-    return function(string) {
-      string = string == null ? '' : '' + string;
-      return testRegexp.test(string) ? string.replace(replaceRegexp, escaper) : string;
-    };
-  }
-
-  // Internal list of HTML entities for escaping.
-  var escapeMap = {
-    '&': '&amp;',
-    '<': '&lt;',
-    '>': '&gt;',
-    '"': '&quot;',
-    "'": '&#x27;',
-    '`': '&#x60;'
-  };
-
-  // Function for escaping strings to HTML interpolation.
-  var _escape = createEscaper(escapeMap);
-
-  // Internal list of HTML entities for unescaping.
-  var unescapeMap = invert(escapeMap);
-
-  // Function for unescaping strings from HTML interpolation.
-  var _unescape = createEscaper(unescapeMap);
-
-  // By default, Underscore uses ERB-style template delimiters. Change the
-  // following template settings to use alternative delimiters.
-  var templateSettings = _$1.templateSettings = {
-    evaluate: /<%([\s\S]+?)%>/g,
-    interpolate: /<%=([\s\S]+?)%>/g,
-    escape: /<%-([\s\S]+?)%>/g
-  };
-
-  // When customizing `_.templateSettings`, if you don't want to define an
-  // interpolation, evaluation or escaping regex, we need one that is
-  // guaranteed not to match.
-  var noMatch = /(.)^/;
-
-  // Certain characters need to be escaped so that they can be put into a
-  // string literal.
-  var escapes = {
-    "'": "'",
-    '\\': '\\',
-    '\r': 'r',
-    '\n': 'n',
-    '\u2028': 'u2028',
-    '\u2029': 'u2029'
-  };
-
-  var escapeRegExp = /\\|'|\r|\n|\u2028|\u2029/g;
-
-  function escapeChar(match) {
-    return '\\' + escapes[match];
-  }
-
-  // In order to prevent third-party code injection through
-  // `_.templateSettings.variable`, we test it against the following regular
-  // expression. It is intentionally a bit more liberal than just matching valid
-  // identifiers, but still prevents possible loopholes through defaults or
-  // destructuring assignment.
-  var bareIdentifier = /^\s*(\w|\$)+\s*$/;
-
-  // JavaScript micro-templating, similar to John Resig's implementation.
-  // Underscore templating handles arbitrary delimiters, preserves whitespace,
-  // and correctly escapes quotes within interpolated code.
-  // NB: `oldSettings` only exists for backwards compatibility.
-  function template(text, settings, oldSettings) {
-    if (!settings && oldSettings) settings = oldSettings;
-    settings = defaults({}, settings, _$1.templateSettings);
-
-    // Combine delimiters into one regular expression via alternation.
-    var matcher = RegExp([
-      (settings.escape || noMatch).source,
-      (settings.interpolate || noMatch).source,
-      (settings.evaluate || noMatch).source
-    ].join('|') + '|$', 'g');
-
-    // Compile the template source, escaping string literals appropriately.
-    var index = 0;
-    var source = "__p+='";
-    text.replace(matcher, function(match, escape, interpolate, evaluate, offset) {
-      source += text.slice(index, offset).replace(escapeRegExp, escapeChar);
-      index = offset + match.length;
-
-      if (escape) {
-        source += "'+\n((__t=(" + escape + "))==null?'':_.escape(__t))+\n'";
-      } else if (interpolate) {
-        source += "'+\n((__t=(" + interpolate + "))==null?'':__t)+\n'";
-      } else if (evaluate) {
-        source += "';\n" + evaluate + "\n__p+='";
-      }
-
-      // Adobe VMs need the match returned to produce the correct offset.
-      return match;
-    });
-    source += "';\n";
-
-    var argument = settings.variable;
-    if (argument) {
-      // Insure against third-party code injection. (CVE-2021-23358)
-      if (!bareIdentifier.test(argument)) throw new Error(
-        'variable is not a bare identifier: ' + argument
-      );
-    } else {
-      // If a variable is not specified, place data values in local scope.
-      source = 'with(obj||{}){\n' + source + '}\n';
-      argument = 'obj';
-    }
-
-    source = "var __t,__p='',__j=Array.prototype.join," +
-      "print=function(){__p+=__j.call(arguments,'');};\n" +
-      source + 'return __p;\n';
-
-    var render;
-    try {
-      render = new Function(argument, '_', source);
-    } catch (e) {
-      e.source = source;
-      throw e;
-    }
-
-    var template = function(data) {
-      return render.call(this, data, _$1);
-    };
-
-    // Provide the compiled source as a convenience for precompilation.
-    template.source = 'function(' + argument + '){\n' + source + '}';
-
-    return template;
-  }
-
-  // Traverses the children of `obj` along `path`. If a child is a function, it
-  // is invoked with its parent as context. Returns the value of the final
-  // child, or `fallback` if any child is undefined.
-  function result(obj, path, fallback) {
-    path = toPath(path);
-    var length = path.length;
-    if (!length) {
-      return isFunction$1(fallback) ? fallback.call(obj) : fallback;
-    }
-    for (var i = 0; i < length; i++) {
-      var prop = obj == null ? void 0 : obj[path[i]];
-      if (prop === void 0) {
-        prop = fallback;
-        i = length; // Ensure we don't continue iterating.
-      }
-      obj = isFunction$1(prop) ? prop.call(obj) : prop;
-    }
-    return obj;
-  }
-
-  // Generate a unique integer id (unique within the entire client session).
-  // Useful for temporary DOM ids.
-  var idCounter = 0;
-  function uniqueId(prefix) {
-    var id = ++idCounter + '';
-    return prefix ? prefix + id : id;
-  }
-
-  // Start chaining a wrapped Underscore object.
-  function chain(obj) {
-    var instance = _$1(obj);
-    instance._chain = true;
-    return instance;
-  }
-
-  // Internal function to execute `sourceFunc` bound to `context` with optional
-  // `args`. Determines whether to execute a function as a constructor or as a
-  // normal function.
-  function executeBound(sourceFunc, boundFunc, context, callingContext, args) {
-    if (!(callingContext instanceof boundFunc)) return sourceFunc.apply(context, args);
-    var self = baseCreate(sourceFunc.prototype);
-    var result = sourceFunc.apply(self, args);
-    if (isObject(result)) return result;
-    return self;
-  }
-
-  // Partially apply a function by creating a version that has had some of its
-  // arguments pre-filled, without changing its dynamic `this` context. `_` acts
-  // as a placeholder by default, allowing any combination of arguments to be
-  // pre-filled. Set `_.partial.placeholder` for a custom placeholder argument.
-  var partial = restArguments(function(func, boundArgs) {
-    var placeholder = partial.placeholder;
-    var bound = function() {
-      var position = 0, length = boundArgs.length;
-      var args = Array(length);
-      for (var i = 0; i < length; i++) {
-        args[i] = boundArgs[i] === placeholder ? arguments[position++] : boundArgs[i];
-      }
-      while (position < arguments.length) args.push(arguments[position++]);
-      return executeBound(func, bound, this, this, args);
-    };
-    return bound;
-  });
-
-  partial.placeholder = _$1;
-
-  // Create a function bound to a given object (assigning `this`, and arguments,
-  // optionally).
-  var bind = restArguments(function(func, context, args) {
-    if (!isFunction$1(func)) throw new TypeError('Bind must be called on a function');
-    var bound = restArguments(function(callArgs) {
-      return executeBound(func, bound, context, this, args.concat(callArgs));
-    });
-    return bound;
-  });
-
-  // Internal helper for collection methods to determine whether a collection
-  // should be iterated as an array or as an object.
-  // Related: https://people.mozilla.org/~jorendorff/es6-draft.html#sec-tolength
-  // Avoids a very nasty iOS 8 JIT bug on ARM-64. #2094
-  var isArrayLike = createSizePropertyCheck(getLength);
-
-  // Internal implementation of a recursive `flatten` function.
-  function flatten$1(input, depth, strict, output) {
-    output = output || [];
-    if (!depth && depth !== 0) {
-      depth = Infinity;
-    } else if (depth <= 0) {
-      return output.concat(input);
-    }
-    var idx = output.length;
-    for (var i = 0, length = getLength(input); i < length; i++) {
-      var value = input[i];
-      if (isArrayLike(value) && (isArray(value) || isArguments$1(value))) {
-        // Flatten current level of array or arguments object.
-        if (depth > 1) {
-          flatten$1(value, depth - 1, strict, output);
-          idx = output.length;
-        } else {
-          var j = 0, len = value.length;
-          while (j < len) output[idx++] = value[j++];
-        }
-      } else if (!strict) {
-        output[idx++] = value;
-      }
-    }
-    return output;
-  }
-
-  // Bind a number of an object's methods to that object. Remaining arguments
-  // are the method names to be bound. Useful for ensuring that all callbacks
-  // defined on an object belong to it.
-  var bindAll = restArguments(function(obj, keys) {
-    keys = flatten$1(keys, false, false);
-    var index = keys.length;
-    if (index < 1) throw new Error('bindAll must be passed function names');
-    while (index--) {
-      var key = keys[index];
-      obj[key] = bind(obj[key], obj);
-    }
-    return obj;
-  });
-
-  // Memoize an expensive function by storing its results.
-  function memoize(func, hasher) {
-    var memoize = function(key) {
-      var cache = memoize.cache;
-      var address = '' + (hasher ? hasher.apply(this, arguments) : key);
-      if (!has$1(cache, address)) cache[address] = func.apply(this, arguments);
-      return cache[address];
-    };
-    memoize.cache = {};
-    return memoize;
-  }
-
-  // Delays a function for the given number of milliseconds, and then calls
-  // it with the arguments supplied.
-  var delay = restArguments(function(func, wait, args) {
-    return setTimeout(function() {
-      return func.apply(null, args);
-    }, wait);
-  });
-
-  // Defers a function, scheduling it to run after the current call stack has
-  // cleared.
-  var defer = partial(delay, _$1, 1);
-
-  // Returns a function, that, when invoked, will only be triggered at most once
-  // during a given window of time. Normally, the throttled function will run
-  // as much as it can, without ever going more than once per `wait` duration;
-  // but if you'd like to disable the execution on the leading edge, pass
-  // `{leading: false}`. To disable execution on the trailing edge, ditto.
-  function throttle(func, wait, options) {
-    var timeout, context, args, result;
-    var previous = 0;
-    if (!options) options = {};
-
-    var later = function() {
-      previous = options.leading === false ? 0 : now();
-      timeout = null;
-      result = func.apply(context, args);
-      if (!timeout) context = args = null;
-    };
-
-    var throttled = function() {
-      var _now = now();
-      if (!previous && options.leading === false) previous = _now;
-      var remaining = wait - (_now - previous);
-      context = this;
-      args = arguments;
-      if (remaining <= 0 || remaining > wait) {
-        if (timeout) {
-          clearTimeout(timeout);
-          timeout = null;
-        }
-        previous = _now;
-        result = func.apply(context, args);
-        if (!timeout) context = args = null;
-      } else if (!timeout && options.trailing !== false) {
-        timeout = setTimeout(later, remaining);
-      }
-      return result;
-    };
-
-    throttled.cancel = function() {
-      clearTimeout(timeout);
-      previous = 0;
-      timeout = context = args = null;
-    };
-
-    return throttled;
-  }
-
-  // When a sequence of calls of the returned function ends, the argument
-  // function is triggered. The end of a sequence is defined by the `wait`
-  // parameter. If `immediate` is passed, the argument function will be
-  // triggered at the beginning of the sequence instead of at the end.
-  function debounce(func, wait, immediate) {
-    var timeout, previous, args, result, context;
-
-    var later = function() {
-      var passed = now() - previous;
-      if (wait > passed) {
-        timeout = setTimeout(later, wait - passed);
-      } else {
-        timeout = null;
-        if (!immediate) result = func.apply(context, args);
-        // This check is needed because `func` can recursively invoke `debounced`.
-        if (!timeout) args = context = null;
-      }
-    };
-
-    var debounced = restArguments(function(_args) {
-      context = this;
-      args = _args;
-      previous = now();
-      if (!timeout) {
-        timeout = setTimeout(later, wait);
-        if (immediate) result = func.apply(context, args);
-      }
-      return result;
-    });
-
-    debounced.cancel = function() {
-      clearTimeout(timeout);
-      timeout = args = context = null;
-    };
-
-    return debounced;
-  }
-
-  // Returns the first function passed as an argument to the second,
-  // allowing you to adjust arguments, run code before and after, and
-  // conditionally execute the original function.
-  function wrap(func, wrapper) {
-    return partial(wrapper, func);
-  }
-
-  // Returns a negated version of the passed-in predicate.
-  function negate(predicate) {
-    return function() {
-      return !predicate.apply(this, arguments);
-    };
-  }
-
-  // Returns a function that is the composition of a list of functions, each
-  // consuming the return value of the function that follows.
-  function compose() {
-    var args = arguments;
-    var start = args.length - 1;
-    return function() {
-      var i = start;
-      var result = args[start].apply(this, arguments);
-      while (i--) result = args[i].call(this, result);
-      return result;
-    };
-  }
-
-  // Returns a function that will only be executed on and after the Nth call.
-  function after(times, func) {
-    return function() {
-      if (--times < 1) {
-        return func.apply(this, arguments);
-      }
-    };
-  }
-
-  // Returns a function that will only be executed up to (but not including) the
-  // Nth call.
-  function before(times, func) {
-    var memo;
-    return function() {
-      if (--times > 0) {
-        memo = func.apply(this, arguments);
-      }
-      if (times <= 1) func = null;
-      return memo;
-    };
-  }
-
-  // Returns a function that will be executed at most one time, no matter how
-  // often you call it. Useful for lazy initialization.
-  var once = partial(before, 2);
-
-  // Returns the first key on an object that passes a truth test.
-  function findKey(obj, predicate, context) {
-    predicate = cb(predicate, context);
-    var _keys = keys(obj), key;
-    for (var i = 0, length = _keys.length; i < length; i++) {
-      key = _keys[i];
-      if (predicate(obj[key], key, obj)) return key;
-    }
-  }
-
-  // Internal function to generate `_.findIndex` and `_.findLastIndex`.
-  function createPredicateIndexFinder(dir) {
-    return function(array, predicate, context) {
-      predicate = cb(predicate, context);
-      var length = getLength(array);
-      var index = dir > 0 ? 0 : length - 1;
-      for (; index >= 0 && index < length; index += dir) {
-        if (predicate(array[index], index, array)) return index;
-      }
-      return -1;
-    };
-  }
-
-  // Returns the first index on an array-like that passes a truth test.
-  var findIndex = createPredicateIndexFinder(1);
-
-  // Returns the last index on an array-like that passes a truth test.
-  var findLastIndex = createPredicateIndexFinder(-1);
-
-  // Use a comparator function to figure out the smallest index at which
-  // an object should be inserted so as to maintain order. Uses binary search.
-  function sortedIndex(array, obj, iteratee, context) {
-    iteratee = cb(iteratee, context, 1);
-    var value = iteratee(obj);
-    var low = 0, high = getLength(array);
-    while (low < high) {
-      var mid = Math.floor((low + high) / 2);
-      if (iteratee(array[mid]) < value) low = mid + 1; else high = mid;
-    }
-    return low;
-  }
-
-  // Internal function to generate the `_.indexOf` and `_.lastIndexOf` functions.
-  function createIndexFinder(dir, predicateFind, sortedIndex) {
-    return function(array, item, idx) {
-      var i = 0, length = getLength(array);
-      if (typeof idx == 'number') {
-        if (dir > 0) {
-          i = idx >= 0 ? idx : Math.max(idx + length, i);
-        } else {
-          length = idx >= 0 ? Math.min(idx + 1, length) : idx + length + 1;
-        }
-      } else if (sortedIndex && idx && length) {
-        idx = sortedIndex(array, item);
-        return array[idx] === item ? idx : -1;
-      }
-      if (item !== item) {
-        idx = predicateFind(slice.call(array, i, length), isNaN$1);
-        return idx >= 0 ? idx + i : -1;
-      }
-      for (idx = dir > 0 ? i : length - 1; idx >= 0 && idx < length; idx += dir) {
-        if (array[idx] === item) return idx;
-      }
-      return -1;
-    };
-  }
-
-  // Return the position of the first occurrence of an item in an array,
-  // or -1 if the item is not included in the array.
-  // If the array is large and already in sort order, pass `true`
-  // for **isSorted** to use binary search.
-  var indexOf = createIndexFinder(1, findIndex, sortedIndex);
-
-  // Return the position of the last occurrence of an item in an array,
-  // or -1 if the item is not included in the array.
-  var lastIndexOf = createIndexFinder(-1, findLastIndex);
-
-  // Return the first value which passes a truth test.
-  function find(obj, predicate, context) {
-    var keyFinder = isArrayLike(obj) ? findIndex : findKey;
-    var key = keyFinder(obj, predicate, context);
-    if (key !== void 0 && key !== -1) return obj[key];
-  }
-
-  // Convenience version of a common use case of `_.find`: getting the first
-  // object containing specific `key:value` pairs.
-  function findWhere(obj, attrs) {
-    return find(obj, matcher(attrs));
-  }
-
-  // The cornerstone for collection functions, an `each`
-  // implementation, aka `forEach`.
-  // Handles raw objects in addition to array-likes. Treats all
-  // sparse array-likes as if they were dense.
-  function each(obj, iteratee, context) {
-    iteratee = optimizeCb(iteratee, context);
-    var i, length;
-    if (isArrayLike(obj)) {
-      for (i = 0, length = obj.length; i < length; i++) {
-        iteratee(obj[i], i, obj);
-      }
-    } else {
-      var _keys = keys(obj);
-      for (i = 0, length = _keys.length; i < length; i++) {
-        iteratee(obj[_keys[i]], _keys[i], obj);
-      }
-    }
-    return obj;
-  }
-
-  // Return the results of applying the iteratee to each element.
-  function map(obj, iteratee, context) {
-    iteratee = cb(iteratee, context);
-    var _keys = !isArrayLike(obj) && keys(obj),
-        length = (_keys || obj).length,
-        results = Array(length);
-    for (var index = 0; index < length; index++) {
-      var currentKey = _keys ? _keys[index] : index;
-      results[index] = iteratee(obj[currentKey], currentKey, obj);
-    }
-    return results;
-  }
-
-  // Internal helper to create a reducing function, iterating left or right.
-  function createReduce(dir) {
-    // Wrap code that reassigns argument variables in a separate function than
-    // the one that accesses `arguments.length` to avoid a perf hit. (#1991)
-    var reducer = function(obj, iteratee, memo, initial) {
-      var _keys = !isArrayLike(obj) && keys(obj),
-          length = (_keys || obj).length,
-          index = dir > 0 ? 0 : length - 1;
-      if (!initial) {
-        memo = obj[_keys ? _keys[index] : index];
-        index += dir;
-      }
-      for (; index >= 0 && index < length; index += dir) {
-        var currentKey = _keys ? _keys[index] : index;
-        memo = iteratee(memo, obj[currentKey], currentKey, obj);
-      }
-      return memo;
-    };
-
-    return function(obj, iteratee, memo, context) {
-      var initial = arguments.length >= 3;
-      return reducer(obj, optimizeCb(iteratee, context, 4), memo, initial);
-    };
-  }
-
-  // **Reduce** builds up a single result from a list of values, aka `inject`,
-  // or `foldl`.
-  var reduce = createReduce(1);
-
-  // The right-associative version of reduce, also known as `foldr`.
-  var reduceRight = createReduce(-1);
-
-  // Return all the elements that pass a truth test.
-  function filter(obj, predicate, context) {
-    var results = [];
-    predicate = cb(predicate, context);
-    each(obj, function(value, index, list) {
-      if (predicate(value, index, list)) results.push(value);
-    });
-    return results;
-  }
-
-  // Return all the elements for which a truth test fails.
-  function reject(obj, predicate, context) {
-    return filter(obj, negate(cb(predicate)), context);
-  }
-
-  // Determine whether all of the elements pass a truth test.
-  function every(obj, predicate, context) {
-    predicate = cb(predicate, context);
-    var _keys = !isArrayLike(obj) && keys(obj),
-        length = (_keys || obj).length;
-    for (var index = 0; index < length; index++) {
-      var currentKey = _keys ? _keys[index] : index;
-      if (!predicate(obj[currentKey], currentKey, obj)) return false;
-    }
-    return true;
-  }
-
-  // Determine if at least one element in the object passes a truth test.
-  function some(obj, predicate, context) {
-    predicate = cb(predicate, context);
-    var _keys = !isArrayLike(obj) && keys(obj),
-        length = (_keys || obj).length;
-    for (var index = 0; index < length; index++) {
-      var currentKey = _keys ? _keys[index] : index;
-      if (predicate(obj[currentKey], currentKey, obj)) return true;
-    }
-    return false;
-  }
-
-  // Determine if the array or object contains a given item (using `===`).
-  function contains(obj, item, fromIndex, guard) {
-    if (!isArrayLike(obj)) obj = values(obj);
-    if (typeof fromIndex != 'number' || guard) fromIndex = 0;
-    return indexOf(obj, item, fromIndex) >= 0;
-  }
-
-  // Invoke a method (with arguments) on every item in a collection.
-  var invoke = restArguments(function(obj, path, args) {
-    var contextPath, func;
-    if (isFunction$1(path)) {
-      func = path;
-    } else {
-      path = toPath(path);
-      contextPath = path.slice(0, -1);
-      path = path[path.length - 1];
-    }
-    return map(obj, function(context) {
-      var method = func;
-      if (!method) {
-        if (contextPath && contextPath.length) {
-          context = deepGet(context, contextPath);
-        }
-        if (context == null) return void 0;
-        method = context[path];
-      }
-      return method == null ? method : method.apply(context, args);
-    });
-  });
-
-  // Convenience version of a common use case of `_.map`: fetching a property.
-  function pluck(obj, key) {
-    return map(obj, property(key));
-  }
-
-  // Convenience version of a common use case of `_.filter`: selecting only
-  // objects containing specific `key:value` pairs.
-  function where(obj, attrs) {
-    return filter(obj, matcher(attrs));
-  }
-
-  // Return the maximum element (or element-based computation).
-  function max(obj, iteratee, context) {
-    var result = -Infinity, lastComputed = -Infinity,
-        value, computed;
-    if (iteratee == null || typeof iteratee == 'number' && typeof obj[0] != 'object' && obj != null) {
-      obj = isArrayLike(obj) ? obj : values(obj);
-      for (var i = 0, length = obj.length; i < length; i++) {
-        value = obj[i];
-        if (value != null && value > result) {
-          result = value;
-        }
-      }
-    } else {
-      iteratee = cb(iteratee, context);
-      each(obj, function(v, index, list) {
-        computed = iteratee(v, index, list);
-        if (computed > lastComputed || computed === -Infinity && result === -Infinity) {
-          result = v;
-          lastComputed = computed;
-        }
-      });
-    }
-    return result;
-  }
-
-  // Return the minimum element (or element-based computation).
-  function min(obj, iteratee, context) {
-    var result = Infinity, lastComputed = Infinity,
-        value, computed;
-    if (iteratee == null || typeof iteratee == 'number' && typeof obj[0] != 'object' && obj != null) {
-      obj = isArrayLike(obj) ? obj : values(obj);
-      for (var i = 0, length = obj.length; i < length; i++) {
-        value = obj[i];
-        if (value != null && value < result) {
-          result = value;
-        }
-      }
-    } else {
-      iteratee = cb(iteratee, context);
-      each(obj, function(v, index, list) {
-        computed = iteratee(v, index, list);
-        if (computed < lastComputed || computed === Infinity && result === Infinity) {
-          result = v;
-          lastComputed = computed;
-        }
-      });
-    }
-    return result;
-  }
-
-  // Sample **n** random values from a collection using the modern version of the
-  // [Fisher-Yates shuffle](https://en.wikipedia.org/wiki/Fisher–Yates_shuffle).
-  // If **n** is not specified, returns a single random element.
-  // The internal `guard` argument allows it to work with `_.map`.
-  function sample(obj, n, guard) {
-    if (n == null || guard) {
-      if (!isArrayLike(obj)) obj = values(obj);
-      return obj[random(obj.length - 1)];
-    }
-    var sample = isArrayLike(obj) ? clone(obj) : values(obj);
-    var length = getLength(sample);
-    n = Math.max(Math.min(n, length), 0);
-    var last = length - 1;
-    for (var index = 0; index < n; index++) {
-      var rand = random(index, last);
-      var temp = sample[index];
-      sample[index] = sample[rand];
-      sample[rand] = temp;
-    }
-    return sample.slice(0, n);
-  }
-
-  // Shuffle a collection.
-  function shuffle(obj) {
-    return sample(obj, Infinity);
-  }
-
-  // Sort the object's values by a criterion produced by an iteratee.
-  function sortBy(obj, iteratee, context) {
-    var index = 0;
-    iteratee = cb(iteratee, context);
-    return pluck(map(obj, function(value, key, list) {
-      return {
-        value: value,
-        index: index++,
-        criteria: iteratee(value, key, list)
-      };
-    }).sort(function(left, right) {
-      var a = left.criteria;
-      var b = right.criteria;
-      if (a !== b) {
-        if (a > b || a === void 0) return 1;
-        if (a < b || b === void 0) return -1;
-      }
-      return left.index - right.index;
-    }), 'value');
-  }
-
-  // An internal function used for aggregate "group by" operations.
-  function group(behavior, partition) {
-    return function(obj, iteratee, context) {
-      var result = partition ? [[], []] : {};
-      iteratee = cb(iteratee, context);
-      each(obj, function(value, index) {
-        var key = iteratee(value, index, obj);
-        behavior(result, value, key);
-      });
-      return result;
-    };
-  }
-
-  // Groups the object's values by a criterion. Pass either a string attribute
-  // to group by, or a function that returns the criterion.
-  var groupBy = group(function(result, value, key) {
-    if (has$1(result, key)) result[key].push(value); else result[key] = [value];
-  });
-
-  // Indexes the object's values by a criterion, similar to `_.groupBy`, but for
-  // when you know that your index values will be unique.
-  var indexBy = group(function(result, value, key) {
-    result[key] = value;
-  });
-
-  // Counts instances of an object that group by a certain criterion. Pass
-  // either a string attribute to count by, or a function that returns the
-  // criterion.
-  var countBy = group(function(result, value, key) {
-    if (has$1(result, key)) result[key]++; else result[key] = 1;
-  });
-
-  // Split a collection into two arrays: one whose elements all pass the given
-  // truth test, and one whose elements all do not pass the truth test.
-  var partition = group(function(result, value, pass) {
-    result[pass ? 0 : 1].push(value);
-  }, true);
-
-  // Safely create a real, live array from anything iterable.
-  var reStrSymbol = /[^\ud800-\udfff]|[\ud800-\udbff][\udc00-\udfff]|[\ud800-\udfff]/g;
-  function toArray(obj) {
-    if (!obj) return [];
-    if (isArray(obj)) return slice.call(obj);
-    if (isString(obj)) {
-      // Keep surrogate pair characters together.
-      return obj.match(reStrSymbol);
-    }
-    if (isArrayLike(obj)) return map(obj, identity);
-    return values(obj);
-  }
-
-  // Return the number of elements in a collection.
-  function size(obj) {
-    if (obj == null) return 0;
-    return isArrayLike(obj) ? obj.length : keys(obj).length;
-  }
-
-  // Internal `_.pick` helper function to determine whether `key` is an enumerable
-  // property name of `obj`.
-  function keyInObj(value, key, obj) {
-    return key in obj;
-  }
-
-  // Return a copy of the object only containing the allowed properties.
-  var pick = restArguments(function(obj, keys) {
-    var result = {}, iteratee = keys[0];
-    if (obj == null) return result;
-    if (isFunction$1(iteratee)) {
-      if (keys.length > 1) iteratee = optimizeCb(iteratee, keys[1]);
-      keys = allKeys(obj);
-    } else {
-      iteratee = keyInObj;
-      keys = flatten$1(keys, false, false);
-      obj = Object(obj);
-    }
-    for (var i = 0, length = keys.length; i < length; i++) {
-      var key = keys[i];
-      var value = obj[key];
-      if (iteratee(value, key, obj)) result[key] = value;
-    }
-    return result;
-  });
-
-  // Return a copy of the object without the disallowed properties.
-  var omit = restArguments(function(obj, keys) {
-    var iteratee = keys[0], context;
-    if (isFunction$1(iteratee)) {
-      iteratee = negate(iteratee);
-      if (keys.length > 1) context = keys[1];
-    } else {
-      keys = map(flatten$1(keys, false, false), String);
-      iteratee = function(value, key) {
-        return !contains(keys, key);
-      };
-    }
-    return pick(obj, iteratee, context);
-  });
-
-  // Returns everything but the last entry of the array. Especially useful on
-  // the arguments object. Passing **n** will return all the values in
-  // the array, excluding the last N.
-  function initial(array, n, guard) {
-    return slice.call(array, 0, Math.max(0, array.length - (n == null || guard ? 1 : n)));
-  }
-
-  // Get the first element of an array. Passing **n** will return the first N
-  // values in the array. The **guard** check allows it to work with `_.map`.
-  function first(array, n, guard) {
-    if (array == null || array.length < 1) return n == null || guard ? void 0 : [];
-    if (n == null || guard) return array[0];
-    return initial(array, array.length - n);
-  }
-
-  // Returns everything but the first entry of the `array`. Especially useful on
-  // the `arguments` object. Passing an **n** will return the rest N values in the
-  // `array`.
-  function rest(array, n, guard) {
-    return slice.call(array, n == null || guard ? 1 : n);
-  }
-
-  // Get the last element of an array. Passing **n** will return the last N
-  // values in the array.
-  function last(array, n, guard) {
-    if (array == null || array.length < 1) return n == null || guard ? void 0 : [];
-    if (n == null || guard) return array[array.length - 1];
-    return rest(array, Math.max(0, array.length - n));
-  }
-
-  // Trim out all falsy values from an array.
-  function compact(array) {
-    return filter(array, Boolean);
-  }
-
-  // Flatten out an array, either recursively (by default), or up to `depth`.
-  // Passing `true` or `false` as `depth` means `1` or `Infinity`, respectively.
-  function flatten(array, depth) {
-    return flatten$1(array, depth, false);
-  }
-
-  // Take the difference between one array and a number of other arrays.
-  // Only the elements present in just the first array will remain.
-  var difference = restArguments(function(array, rest) {
-    rest = flatten$1(rest, true, true);
-    return filter(array, function(value){
-      return !contains(rest, value);
-    });
-  });
-
-  // Return a version of the array that does not contain the specified value(s).
-  var without = restArguments(function(array, otherArrays) {
-    return difference(array, otherArrays);
-  });
-
-  // Produce a duplicate-free version of the array. If the array has already
-  // been sorted, you have the option of using a faster algorithm.
-  // The faster algorithm will not work with an iteratee if the iteratee
-  // is not a one-to-one function, so providing an iteratee will disable
-  // the faster algorithm.
-  function uniq(array, isSorted, iteratee, context) {
-    if (!isBoolean(isSorted)) {
-      context = iteratee;
-      iteratee = isSorted;
-      isSorted = false;
-    }
-    if (iteratee != null) iteratee = cb(iteratee, context);
-    var result = [];
-    var seen = [];
-    for (var i = 0, length = getLength(array); i < length; i++) {
-      var value = array[i],
-          computed = iteratee ? iteratee(value, i, array) : value;
-      if (isSorted && !iteratee) {
-        if (!i || seen !== computed) result.push(value);
-        seen = computed;
-      } else if (iteratee) {
-        if (!contains(seen, computed)) {
-          seen.push(computed);
-          result.push(value);
-        }
-      } else if (!contains(result, value)) {
-        result.push(value);
-      }
-    }
-    return result;
-  }
-
-  // Produce an array that contains the union: each distinct element from all of
-  // the passed-in arrays.
-  var union = restArguments(function(arrays) {
-    return uniq(flatten$1(arrays, true, true));
-  });
-
-  // Produce an array that contains every item shared between all the
-  // passed-in arrays.
-  function intersection(array) {
-    var result = [];
-    var argsLength = arguments.length;
-    for (var i = 0, length = getLength(array); i < length; i++) {
-      var item = array[i];
-      if (contains(result, item)) continue;
-      var j;
-      for (j = 1; j < argsLength; j++) {
-        if (!contains(arguments[j], item)) break;
-      }
-      if (j === argsLength) result.push(item);
-    }
-    return result;
-  }
-
-  // Complement of zip. Unzip accepts an array of arrays and groups
-  // each array's elements on shared indices.
-  function unzip(array) {
-    var length = array && max(array, getLength).length || 0;
-    var result = Array(length);
-
-    for (var index = 0; index < length; index++) {
-      result[index] = pluck(array, index);
-    }
-    return result;
-  }
-
-  // Zip together multiple lists into a single array -- elements that share
-  // an index go together.
-  var zip = restArguments(unzip);
-
-  // Converts lists into objects. Pass either a single array of `[key, value]`
-  // pairs, or two parallel arrays of the same length -- one of keys, and one of
-  // the corresponding values. Passing by pairs is the reverse of `_.pairs`.
-  function object(list, values) {
-    var result = {};
-    for (var i = 0, length = getLength(list); i < length; i++) {
-      if (values) {
-        result[list[i]] = values[i];
-      } else {
-        result[list[i][0]] = list[i][1];
-      }
-    }
-    return result;
-  }
-
-  // Generate an integer Array containing an arithmetic progression. A port of
-  // the native Python `range()` function. See
-  // [the Python documentation](https://docs.python.org/library/functions.html#range).
-  function range(start, stop, step) {
-    if (stop == null) {
-      stop = start || 0;
-      start = 0;
-    }
-    if (!step) {
-      step = stop < start ? -1 : 1;
-    }
-
-    var length = Math.max(Math.ceil((stop - start) / step), 0);
-    var range = Array(length);
-
-    for (var idx = 0; idx < length; idx++, start += step) {
-      range[idx] = start;
-    }
-
-    return range;
-  }
-
-  // Chunk a single array into multiple arrays, each containing `count` or fewer
-  // items.
-  function chunk(array, count) {
-    if (count == null || count < 1) return [];
-    var result = [];
-    var i = 0, length = array.length;
-    while (i < length) {
-      result.push(slice.call(array, i, i += count));
-    }
-    return result;
-  }
-
-  // Helper function to continue chaining intermediate results.
-  function chainResult(instance, obj) {
-    return instance._chain ? _$1(obj).chain() : obj;
-  }
-
-  // Add your own custom functions to the Underscore object.
-  function mixin(obj) {
-    each(functions(obj), function(name) {
-      var func = _$1[name] = obj[name];
-      _$1.prototype[name] = function() {
-        var args = [this._wrapped];
-        push.apply(args, arguments);
-        return chainResult(this, func.apply(_$1, args));
-      };
-    });
-    return _$1;
-  }
-
-  // Add all mutator `Array` functions to the wrapper.
-  each(['pop', 'push', 'reverse', 'shift', 'sort', 'splice', 'unshift'], function(name) {
-    var method = ArrayProto[name];
-    _$1.prototype[name] = function() {
-      var obj = this._wrapped;
-      if (obj != null) {
-        method.apply(obj, arguments);
-        if ((name === 'shift' || name === 'splice') && obj.length === 0) {
-          delete obj[0];
-        }
-      }
-      return chainResult(this, obj);
-    };
-  });
-
-  // Add all accessor `Array` functions to the wrapper.
-  each(['concat', 'join', 'slice'], function(name) {
-    var method = ArrayProto[name];
-    _$1.prototype[name] = function() {
-      var obj = this._wrapped;
-      if (obj != null) obj = method.apply(obj, arguments);
-      return chainResult(this, obj);
-    };
-  });
-
-  // Named Exports
-
-  var allExports = {
-    __proto__: null,
-    VERSION: VERSION,
-    restArguments: restArguments,
-    isObject: isObject,
-    isNull: isNull,
-    isUndefined: isUndefined,
-    isBoolean: isBoolean,
-    isElement: isElement,
-    isString: isString,
-    isNumber: isNumber,
-    isDate: isDate,
-    isRegExp: isRegExp,
-    isError: isError,
-    isSymbol: isSymbol,
-    isArrayBuffer: isArrayBuffer,
-    isDataView: isDataView$1,
-    isArray: isArray,
-    isFunction: isFunction$1,
-    isArguments: isArguments$1,
-    isFinite: isFinite$1,
-    isNaN: isNaN$1,
-    isTypedArray: isTypedArray$1,
-    isEmpty: isEmpty,
-    isMatch: isMatch,
-    isEqual: isEqual,
-    isMap: isMap,
-    isWeakMap: isWeakMap,
-    isSet: isSet,
-    isWeakSet: isWeakSet,
-    keys: keys,
-    allKeys: allKeys,
-    values: values,
-    pairs: pairs,
-    invert: invert,
-    functions: functions,
-    methods: functions,
-    extend: extend,
-    extendOwn: extendOwn,
-    assign: extendOwn,
-    defaults: defaults,
-    create: create,
-    clone: clone,
-    tap: tap,
-    get: get,
-    has: has,
-    mapObject: mapObject,
-    identity: identity,
-    constant: constant,
-    noop: noop,
-    toPath: toPath$1,
-    property: property,
-    propertyOf: propertyOf,
-    matcher: matcher,
-    matches: matcher,
-    times: times,
-    random: random,
-    now: now,
-    escape: _escape,
-    unescape: _unescape,
-    templateSettings: templateSettings,
-    template: template,
-    result: result,
-    uniqueId: uniqueId,
-    chain: chain,
-    iteratee: iteratee,
-    partial: partial,
-    bind: bind,
-    bindAll: bindAll,
-    memoize: memoize,
-    delay: delay,
-    defer: defer,
-    throttle: throttle,
-    debounce: debounce,
-    wrap: wrap,
-    negate: negate,
-    compose: compose,
-    after: after,
-    before: before,
-    once: once,
-    findKey: findKey,
-    findIndex: findIndex,
-    findLastIndex: findLastIndex,
-    sortedIndex: sortedIndex,
-    indexOf: indexOf,
-    lastIndexOf: lastIndexOf,
-    find: find,
-    detect: find,
-    findWhere: findWhere,
-    each: each,
-    forEach: each,
-    map: map,
-    collect: map,
-    reduce: reduce,
-    foldl: reduce,
-    inject: reduce,
-    reduceRight: reduceRight,
-    foldr: reduceRight,
-    filter: filter,
-    select: filter,
-    reject: reject,
-    every: every,
-    all: every,
-    some: some,
-    any: some,
-    contains: contains,
-    includes: contains,
-    include: contains,
-    invoke: invoke,
-    pluck: pluck,
-    where: where,
-    max: max,
-    min: min,
-    shuffle: shuffle,
-    sample: sample,
-    sortBy: sortBy,
-    groupBy: groupBy,
-    indexBy: indexBy,
-    countBy: countBy,
-    partition: partition,
-    toArray: toArray,
-    size: size,
-    pick: pick,
-    omit: omit,
-    first: first,
-    head: first,
-    take: first,
-    initial: initial,
-    last: last,
-    rest: rest,
-    tail: rest,
-    drop: rest,
-    compact: compact,
-    flatten: flatten,
-    without: without,
-    uniq: uniq,
-    unique: uniq,
-    union: union,
-    intersection: intersection,
-    difference: difference,
-    unzip: unzip,
-    transpose: unzip,
-    zip: zip,
-    object: object,
-    range: range,
-    chunk: chunk,
-    mixin: mixin,
-    'default': _$1
-  };
-
-  // Default Export
-
-  // Add all of the Underscore functions to the wrapper object.
-  var _ = mixin(allExports);
-  // Legacy Node.js API.
-  _._ = _;
-
-  return _;
-
-})));
-//# sourceMappingURL=underscore-umd.js.map
diff --git a/doc/_build/html/_static/underscore.js b/doc/_build/html/_static/underscore.js
deleted file mode 100644
index cf177d42..00000000
--- a/doc/_build/html/_static/underscore.js
+++ /dev/null
@@ -1,6 +0,0 @@
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-//     https://underscorejs.org
-//     (c) 2009-2021 Jeremy Ashkenas, Julian Gonggrijp, and DocumentCloud and Investigative Reporters & Editors
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diff --git a/doc/_build/html/genindex.html b/doc/_build/html/genindex.html
deleted file mode 100644
index 2cef4e10..00000000
--- a/doc/_build/html/genindex.html
+++ /dev/null
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-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" />
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Index &mdash; Slycot 0.6 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
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-    <script src="_static/js/theme.js"></script>
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-    <link rel="search" title="Search" href="search.html" /> 
-</head>
-
-<body class="wy-body-for-nav"> 
-  <div class="wy-grid-for-nav">
-    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
-      <div class="wy-side-scroll">
-        <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="index.html" class="icon icon-home">
-            Slycot
-          </a>
-<div role="search">
-  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
-    <input type="hidden" name="check_keywords" value="yes" />
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-  </form>
-</div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <ul>
-<li class="toctree-l1"><a class="reference internal" href="intro.html">Introduction</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
-</ul>
-
-        </div>
-      </div>
-    </nav>
-
-    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
-          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="index.html">Slycot</a>
-      </nav>
-
-      <div class="wy-nav-content">
-        <div class="rst-content">
-          <div role="navigation" aria-label="Page navigation">
-  <ul class="wy-breadcrumbs">
-      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
-      <li class="breadcrumb-item active">Index</li>
-      <li class="wy-breadcrumbs-aside">
-      </li>
-  </ul>
-  <hr/>
-</div>
-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-
-<h1 id="index">Index</h1>
-
-<div class="genindex-jumpbox">
- <a href="#A"><strong>A</strong></a>
- | <a href="#M"><strong>M</strong></a>
- | <a href="#S"><strong>S</strong></a>
- | <a href="#T"><strong>T</strong></a>
- 
-</div>
-<h2 id="A">A</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot._wrapper.ab01nd.html#slycot._wrapper.ab01nd">ab01nd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab01nd.html#slycot.ab01nd">ab01nd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab04md.html#slycot._wrapper.ab04md">ab04md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab04md.html#slycot.ab04md">ab04md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab05md.html#slycot._wrapper.ab05md">ab05md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab05md.html#slycot.ab05md">ab05md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab05nd.html#slycot._wrapper.ab05nd">ab05nd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab05nd.html#slycot.ab05nd">ab05nd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab07nd.html#slycot._wrapper.ab07nd">ab07nd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab07nd.html#slycot.ab07nd">ab07nd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab08nd.html#slycot._wrapper.ab08nd">ab08nd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab08nd.html#slycot.ab08nd">ab08nd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab08nz.html#slycot._wrapper.ab08nz">ab08nz (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab08nz.html#slycot.ab08nz">ab08nz() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab09ad.html#slycot._wrapper.ab09ad">ab09ad (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab09ad.html#slycot.ab09ad">ab09ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab09ax.html#slycot._wrapper.ab09ax">ab09ax (in module slycot._wrapper)</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot.ab09ax.html#slycot.ab09ax">ab09ax() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab09bd.html#slycot._wrapper.ab09bd">ab09bd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab09bd.html#slycot.ab09bd">ab09bd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab09md.html#slycot._wrapper.ab09md">ab09md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab09md.html#slycot.ab09md">ab09md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab09nd.html#slycot._wrapper.ab09nd">ab09nd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab09nd.html#slycot.ab09nd">ab09nd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab13bd.html#slycot._wrapper.ab13bd">ab13bd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab13bd.html#slycot.ab13bd">ab13bd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab13dd.html#slycot._wrapper.ab13dd">ab13dd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab13dd.html#slycot.ab13dd">ab13dd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab13ed.html#slycot._wrapper.ab13ed">ab13ed (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab13ed.html#slycot.ab13ed">ab13ed() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab13fd.html#slycot._wrapper.ab13fd">ab13fd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab13fd.html#slycot.ab13fd">ab13fd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.ab13md.html#slycot._wrapper.ab13md">ab13md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.ab13md.html#slycot.ab13md">ab13md() (in module slycot)</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="M">M</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot._wrapper.mb03rd.html#slycot._wrapper.mb03rd">mb03rd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mb03rd.html#slycot.mb03rd">mb03rd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.mb03vd.html#slycot._wrapper.mb03vd">mb03vd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mb03vd.html#slycot.mb03vd">mb03vd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.mb03vy.html#slycot._wrapper.mb03vy">mb03vy (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mb03vy.html#slycot.mb03vy">mb03vy() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.mb03wd.html#slycot._wrapper.mb03wd">mb03wd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mb03wd.html#slycot.mb03wd">mb03wd() (in module slycot)</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot._wrapper.mb05md.html#slycot._wrapper.mb05md">mb05md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mb05md.html#slycot.mb05md">mb05md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.mb05nd.html#slycot._wrapper.mb05nd">mb05nd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mb05nd.html#slycot.mb05nd">mb05nd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.mc01td.html#slycot._wrapper.mc01td">mc01td (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.mc01td.html#slycot.mc01td">mc01td() (in module slycot)</a>
-</li>
-      <li>
-    module
-
-      <ul>
-        <li><a href="source/reference/slycot_inner.html#module-slycot">slycot</a>, <a href="source/reference/slycot_outer.html#module-slycot">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-</tr></table>
-
-<h2 id="S">S</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot._wrapper.sb01bd.html#slycot._wrapper.sb01bd">sb01bd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb01bd.html#slycot.sb01bd">sb01bd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb02md.html#slycot._wrapper.sb02md">sb02md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb02md.html#slycot.sb02md">sb02md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb02mt.html#slycot.sb02mt">sb02mt() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb02od.html#slycot.sb02od">sb02od() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb03md.html#slycot._wrapper.sb03md">sb03md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb03md.html#slycot.sb03md">sb03md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb03md57.html#slycot.sb03md57">sb03md57() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb03od.html#slycot._wrapper.sb03od">sb03od (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb03od.html#slycot.sb03od">sb03od() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb04md.html#slycot._wrapper.sb04md">sb04md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb04md.html#slycot.sb04md">sb04md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb04qd.html#slycot._wrapper.sb04qd">sb04qd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb04qd.html#slycot.sb04qd">sb04qd() (in module slycot)</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot._wrapper.sb10ad.html#slycot._wrapper.sb10ad">sb10ad (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb10ad.html#slycot.sb10ad">sb10ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb10dd.html#slycot._wrapper.sb10dd">sb10dd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb10dd.html#slycot.sb10dd">sb10dd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb10fd.html#slycot._wrapper.sb10fd">sb10fd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb10fd.html#slycot.sb10fd">sb10fd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sb10hd.html#slycot._wrapper.sb10hd">sb10hd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sb10hd.html#slycot.sb10hd">sb10hd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sg02ad.html#slycot.sg02ad">sg02ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sg03ad.html#slycot._wrapper.sg03ad">sg03ad (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sg03ad.html#slycot.sg03ad">sg03ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.sg03bd.html#slycot._wrapper.sg03bd">sg03bd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.sg03bd.html#slycot.sg03bd">sg03bd() (in module slycot)</a>
-</li>
-      <li>
-    slycot
-
-      <ul>
-        <li><a href="source/reference/slycot_inner.html#module-slycot">module</a>, <a href="source/reference/slycot_outer.html#module-slycot">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-</tr></table>
-
-<h2 id="T">T</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot._wrapper.tb01id.html#slycot._wrapper.tb01id">tb01id (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tb01id.html#slycot.tb01id">tb01id() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.tb01pd.html#slycot._wrapper.tb01pd">tb01pd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tb01pd.html#slycot.tb01pd">tb01pd() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tb03ad.html#slycot.tb03ad">tb03ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tb04ad.html#slycot.tb04ad">tb04ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tb05ad.html#slycot.tb05ad">tb05ad() (in module slycot)</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="source/reference/generated/slycot.tc01od.html#slycot.tc01od">tc01od() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tc04ad.html#slycot.tc04ad">tc04ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.td04ad.html#slycot.td04ad">td04ad() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.tf01md.html#slycot._wrapper.tf01md">tf01md (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tf01md.html#slycot.tf01md">tf01md() (in module slycot)</a>
-</li>
-      <li><a href="source/reference/generated/slycot._wrapper.tf01rd.html#slycot._wrapper.tf01rd">tf01rd (in module slycot._wrapper)</a>
-</li>
-      <li><a href="source/reference/generated/slycot.tf01rd.html#slycot.tf01rd">tf01rd() (in module slycot)</a>
-</li>
-  </ul></td>
-</tr></table>
-
-
-
-           </div>
-          </div>
-          <footer>
-
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-
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diff --git a/doc/_build/html/index.html b/doc/_build/html/index.html
deleted file mode 100644
index 07bfdd47..00000000
--- a/doc/_build/html/index.html
+++ /dev/null
@@ -1,141 +0,0 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" />
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-</ul>
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-</div>
-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <div class="section" id="slycot">
-<h1>Slycot<a class="headerlink" href="#slycot" title="Permalink to this heading"></a></h1>
-<p>Python wrapper for selected SLICOT routines,
-notably including solvers for Riccati, Lyapunov, and Sylvester equations.</p>
-<p class="rubric">Features</p>
-<ul class="simple">
-<li><p>Analysis Routines</p></li>
-<li><p>Benchmark</p></li>
-<li><p>Adaptive Control</p></li>
-<li><p>Data Analysis</p></li>
-<li><p>Filtering</p></li>
-<li><p>Identification</p></li>
-<li><p>Mathematical Routines</p></li>
-<li><p>Nonlinear Systems</p></li>
-<li><p>Synthesis Routines</p></li>
-<li><p>Transformation Routines</p></li>
-<li><p>Utility Routines</p></li>
-</ul>
-<p class="rubric">Documentation</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="intro.html">Introduction</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
-</ul>
-</div>
-</div>
-<div class="section" id="indices-and-tables">
-<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading"></a></h1>
-<ul class="simple">
-<li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
-<li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
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-    </div>
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-    <p>&#169; Copyright 2023, Slycot Developers.</p>
-  </div>
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diff --git a/doc/_build/html/intro.html b/doc/_build/html/intro.html
deleted file mode 100644
index c06ea1b9..00000000
--- a/doc/_build/html/intro.html
+++ /dev/null
@@ -1,167 +0,0 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" />
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Introduction &mdash; Slycot 0.6 documentation</title>
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-<li class="toctree-l1 current"><a class="current reference internal" href="#">Introduction</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#installation">Installation</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#getting-started">Getting started</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/reference/index.html">Slycot reference</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source/dev/index.html">Development</a></li>
-</ul>
-
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-      </li>
-  </ul>
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-</div>
-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <div class="section" id="introduction">
-<h1>Introduction<a class="headerlink" href="#introduction" title="Permalink to this heading"></a></h1>
-<p>Welcome to the Slycot (<cite>slycot</cite>) User’s Manual.
-This manual contains information on using the <cite>slycot</cite> package,
-including documentation for all functions in the package and examples illustrating their use.</p>
-<div class="section" id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
-<p>The <cite>slycot</cite> package can be installed using conda or pip.  The
-package requires <a class="reference external" href="http://www.numpy.org">NumPy</a>.</p>
-<p>For users with the Anaconda distribution of Python, the following
-command can be used:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">conda</span> <span class="n">install</span> <span class="o">-</span><span class="n">c</span> <span class="n">conda</span><span class="o">-</span><span class="n">forge</span> <span class="n">slycot</span>
-</pre></div>
-</div>
-<p>This installs <cite>slycot</cite> from conda-forge, including the
-<cite>openblas</cite> package.  NumPy will also be installed if
-they are not already present.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Mixing packages from conda-forge and the default conda channel
-can sometimes cause problems with dependencies, so it is usually best to
-instally NumPy, SciPy, and Matplotlib from conda-forge as well.</p>
-</div>
-<p>To install using pip:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="n">slycot</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If you install Slycot using pip you’ll need a development
-environment (e.g., Python development files, C and Fortran compilers).
-Pip installation can be particularly complicated for Windows.</p>
-</div>
-<p>Users can check to insure that slycot is installed
-correctly by running the command:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">python</span> <span class="o">-</span><span class="n">c</span> <span class="s2">&quot;import slycot&quot;</span>
-</pre></div>
-</div>
-<p>and verifying that no error message appears. More information on the
-Slycot package can be obtained from the <a class="reference external" href="https://github.com/python-control/Slycot">Slycot project page</a>.</p>
-<p>Alternatively, to install from source, first <a class="reference external" href="https://github.com/python-control/Slycot">download the source</a> and unpack it.
-To install in your home directory, use:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="o">.</span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="getting-started">
-<h2>Getting started<a class="headerlink" href="#getting-started" title="Permalink to this heading"></a></h2>
-<p>There are two different ways to use the package.  For the default interface
-described in <a class="reference internal" href="source/reference/slycot_outer.html#function-ref"><span class="std std-ref">Outer function reference</span></a>, simply import the control package as follows:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
-</pre></div>
-</div>
-</div>
-</div>
-
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-           </div>
-          </div>
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-    </div>
-
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-  <div role="contentinfo">
-    <p>&#169; Copyright 2023, Slycot Developers.</p>
-  </div>
-
-  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
-    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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-             
-  <div class="section" id="contributing-to-slycot">
-<h1>Contributing to Slycot<a class="headerlink" href="#contributing-to-slycot" title="Permalink to this heading"></a></h1>
-<div class="section" id="f2py">
-<h2>F2PY<a class="headerlink" href="#f2py" title="Permalink to this heading"></a></h2>
-<p>Slycot heavily relias on <a class="reference external" href="https://numpy.org/devdocs/f2py/index.html">F2PY</a>.
-<a class="reference external" href="https://numpy.org/devdocs/f2py/index.html">F2PY</a> is currently a part of <a class="reference external" href="http://www.numpy.org">NumPy</a>.</p>
-</div>
-<div class="section" id="development-process-summary">
-<h2>Development process - summary<a class="headerlink" href="#development-process-summary" title="Permalink to this heading"></a></h2>
-<p>Here’s the short summary, complete TOC links are below:</p>
-<ol class="arabic">
-<li><p>If you are a first-time contributor:</p>
-<ul>
-<li><p>Go to <a class="reference external" href="https://github.com/numpy/numpy">https://github.com/numpy/numpy</a> and click the
-“fork” button to create your own copy of the project.</p></li>
-<li><p>Clone the project to your local computer:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">clone</span> <span class="o">--</span><span class="n">recurse</span><span class="o">-</span><span class="n">submodules</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">github</span><span class="o">.</span><span class="n">com</span><span class="o">/</span><span class="n">your</span><span class="o">-</span><span class="n">username</span><span class="o">/</span><span class="n">numpy</span><span class="o">.</span><span class="n">git</span>
-</pre></div>
-</div>
-</li>
-<li><p>Change the directory:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">numpy</span>
-</pre></div>
-</div>
-</li>
-<li><p>Add the upstream repository:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">remote</span> <span class="n">add</span> <span class="n">upstream</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">github</span><span class="o">.</span><span class="n">com</span><span class="o">/</span><span class="n">numpy</span><span class="o">/</span><span class="n">numpy</span><span class="o">.</span><span class="n">git</span>
-</pre></div>
-</div>
-</li>
-<li><p>Now, <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">remote</span> <span class="pre">-v</span></code> will show two remote repositories named:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">upstream</span></code>, which refers to the <code class="docutils literal notranslate"><span class="pre">numpy</span></code> repository</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">origin</span></code>, which refers to your personal fork</p></li>
-</ul>
-</li>
-<li><p>Pull the latest changes from upstream, including tags:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">checkout</span> <span class="n">main</span>
-<span class="n">git</span> <span class="n">pull</span> <span class="n">upstream</span> <span class="n">main</span> <span class="o">--</span><span class="n">tags</span>
-</pre></div>
-</div>
-</li>
-<li><p>Initialize numpy’s submodules:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">submodule</span> <span class="n">update</span> <span class="o">--</span><span class="n">init</span>
-</pre></div>
-</div>
-</li>
-</ul>
-</li>
-<li><p>Develop your contribution:</p>
-<ul>
-<li><p>Create a branch for the feature you want to work on. Since the
-branch name will appear in the merge message, use a sensible name
-such as ‘linspace-speedups’:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">checkout</span> <span class="o">-</span><span class="n">b</span> <span class="n">linspace</span><span class="o">-</span><span class="n">speedups</span>
-</pre></div>
-</div>
-</li>
-<li><p>Commit locally as you progress (<code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">add</span></code> and <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">commit</span></code>)
-Use a <span class="xref std std-ref">properly formatted</span> commit message,
-write tests that fail before your change and pass afterward, run all the
-<span class="xref std std-ref">tests locally</span>. Be sure to document any
-changed behavior in docstrings, keeping to the NumPy docstring
-<span class="xref std std-ref">standard</span>.</p></li>
-</ul>
-</li>
-<li><p>To submit your contribution:</p>
-<ul>
-<li><p>Push your changes back to your fork on GitHub:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">git</span> <span class="n">push</span> <span class="n">origin</span> <span class="n">linspace</span><span class="o">-</span><span class="n">speedups</span>
-</pre></div>
-</div>
-</li>
-<li><p>Enter your GitHub username and password (repeat contributors or advanced
-users can remove this step by connecting to GitHub with
-<span class="xref std std-ref">SSH</span>).</p></li>
-<li><p>Go to GitHub. The new branch will show up with a green Pull Request
-button. Make sure the title and message are clear, concise, and self-
-explanatory. Then click the button to submit it.</p></li>
-<li><p>If your commit introduces a new feature or changes functionality, post on
-the <a href="#id2"><span class="problematic" id="id3">`mailing list`_</span></a> to explain your changes. For bug fixes, documentation
-updates, etc., this is generally not necessary, though if you do not get
-any reaction, do feel free to ask for review.</p></li>
-</ul>
-</li>
-<li><p>Review process:</p>
-<ul class="simple">
-<li><p>Reviewers (the other developers and interested community members) will
-write inline and/or general comments on your Pull Request (PR) to help
-you improve its implementation, documentation and style.  Every single
-developer working on the project has their code reviewed, and we’ve come
-to see it as friendly conversation from which we all learn and the
-overall code quality benefits.  Therefore, please don’t let the review
-discourage you from contributing: its only aim is to improve the quality
-of project, not to criticize (we are, after all, very grateful for the
-time you’re donating!). See our <span class="xref std std-ref">Reviewer Guidelines</span> for more information.</p></li>
-<li><p>To update your PR, make your changes on your local repository, commit,
-<strong>run tests, and only if they succeed</strong> push to your fork. As soon as
-those changes are pushed up (to the same branch as before) the PR will
-update automatically. If you have no idea how to fix the test failures,
-you may push your changes anyway and ask for help in a PR comment.</p></li>
-<li><p>Various continuous integration (CI) services are triggered after each PR
-update to build the code, run unit tests, measure code coverage and check
-coding style of your branch. The CI tests must pass before your PR can be
-merged. If CI fails, you can find out why by clicking on the “failed”
-icon (red cross) and inspecting the build and test log. To avoid overuse
-and waste of this resource,
-<span class="xref std std-ref">test your work</span> locally before
-committing.</p></li>
-<li><p>A PR must be <strong>approved</strong> by at least one core team member before merging.
-Approval means the core team member has carefully reviewed the changes,
-and the PR is ready for merging.</p></li>
-</ul>
-</li>
-<li><p>Document changes</p>
-<p>Beyond changes to a functions docstring and possible description in the
-general documentation, if your change introduces any user-facing
-modifications they may need to be mentioned in the release notes.
-To add your change to the release notes, you need to create a short file
-with a summary and place it in <code class="docutils literal notranslate"><span class="pre">doc/release/upcoming_changes</span></code>.
-The file <code class="docutils literal notranslate"><span class="pre">doc/release/upcoming_changes/README.rst</span></code> details the format and
-filename conventions.</p>
-<p>If your change introduces a deprecation, make sure to discuss this first on
-GitHub or the mailing list first. If agreement on the deprecation is
-reached, follow <span class="xref std std-ref">NEP 23 deprecation policy</span>  to add the deprecation.</p>
-</li>
-<li><p>Cross referencing issues</p>
-<p>If the PR relates to any issues, you can add the text <code class="docutils literal notranslate"><span class="pre">xref</span> <span class="pre">gh-xxxx</span></code> where
-<code class="docutils literal notranslate"><span class="pre">xxxx</span></code> is the number of the issue to github comments. Likewise, if the PR
-solves an issue, replace the <code class="docutils literal notranslate"><span class="pre">xref</span></code> with <code class="docutils literal notranslate"><span class="pre">closes</span></code>, <code class="docutils literal notranslate"><span class="pre">fixes</span></code> or any of
-the other flavors <a class="reference external" href="https://help.github.com/en/articles/closing-issues-using-keywords">github accepts</a>.</p>
-<p>In the source code, be sure to preface any issue or PR reference with
-<code class="docutils literal notranslate"><span class="pre">gh-xxxx</span></code>.</p>
-</li>
-</ol>
-<p>For a more detailed discussion, read on and follow the links at the bottom of
-this page.</p>
-</div>
-</div>
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-      <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/dev/inspect_slycot.ipynb.txt" rel="nofollow"> View page source</a>
-      </li>
-  </ul>
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-           <div itemprop="articleBody">
-             
-  <div class="section" id="Inspect-Slycot">
-<h1>Inspect Slycot<a class="headerlink" href="#Inspect-Slycot" title="Permalink to this heading"></a></h1>
-<p>This notebook shows how to inspect the slycot module. The result gives us a first insight which slicot procedures are implemented. In addition we get some insight about the orginisation of the module.</p>
-<div class="nbinput docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[23]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">slycot</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">slycot</span><span class="o">.</span><span class="n">__version__</span><span class="p">)</span>
-</pre></div>
-</div>
-</div>
-<div class="nboutput nblast docutils container">
-<div class="prompt empty docutils container">
-</div>
-<div class="output_area docutils container">
-<div class="highlight"><pre>
-0.5.5.dev0+g294eae0.d20230726
-</pre></div></div>
-</div>
-<div class="section" id="Inspect-Wrapper-function">
-<h2>Inspect Wrapper function<a class="headerlink" href="#Inspect-Wrapper-function" title="Permalink to this heading"></a></h2>
-<div class="nbinput nblast docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[24]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">get_slycot_method</span><span class="p">(</span><span class="n">sly</span><span class="p">):</span>
-    <span class="n">all_attributes</span> <span class="o">=</span> <span class="nb">dir</span><span class="p">(</span><span class="n">sly</span><span class="p">)</span>
-    <span class="n">r</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">compile</span><span class="p">(</span><span class="s2">&quot;[a-z][a-z][0-9][0-9a-z][a-z][a-z]&quot;</span><span class="p">)</span>
-    <span class="n">matched_attributes</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">filter</span><span class="p">(</span><span class="n">r</span><span class="o">.</span><span class="n">match</span><span class="p">,</span> <span class="n">all_attributes</span><span class="p">))</span> <span class="c1"># Read Note below</span>
-    <span class="k">return</span> <span class="n">matched_attributes</span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="Outer-wrapper">
-<h3>Outer wrapper<a class="headerlink" href="#Outer-wrapper" title="Permalink to this heading"></a></h3>
-<div class="nbinput docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[25]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">slycot_wrapper</span> <span class="o">=</span> <span class="n">get_slycot_method</span><span class="p">(</span><span class="n">slycot</span><span class="p">)</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)</span>
-<br/></pre></div>
-</div>
-</div>
-<div class="nboutput nblast docutils container">
-<div class="prompt empty docutils container">
-</div>
-<div class="output_area docutils container">
-<div class="highlight"><pre>
-Currently there are 50 methods implemented.
-------
-[&#39;ab01nd&#39;, &#39;ab04md&#39;, &#39;ab05md&#39;, &#39;ab05nd&#39;, &#39;ab07nd&#39;, &#39;ab08nd&#39;, &#39;ab08nz&#39;, &#39;ab09ad&#39;, &#39;ab09ax&#39;, &#39;ab09bd&#39;, &#39;ab09md&#39;, &#39;ab09nd&#39;, &#39;ab13bd&#39;, &#39;ab13dd&#39;, &#39;ab13ed&#39;, &#39;ab13fd&#39;, &#39;ab13md&#39;, &#39;mb03rd&#39;, &#39;mb03vd&#39;, &#39;mb03vy&#39;, &#39;mb03wd&#39;, &#39;mb05md&#39;, &#39;mb05nd&#39;, &#39;mc01td&#39;, &#39;sb01bd&#39;, &#39;sb02md&#39;, &#39;sb02mt&#39;, &#39;sb02od&#39;, &#39;sb03md&#39;, &#39;sb03md57&#39;, &#39;sb03od&#39;, &#39;sb04md&#39;, &#39;sb04qd&#39;, &#39;sb10ad&#39;, &#39;sb10dd&#39;, &#39;sb10fd&#39;, &#39;sb10hd&#39;, &#39;sg02ad&#39;, &#39;sg03ad&#39;, &#39;sg03bd&#39;, &#39;tb01id&#39;, &#39;tb01pd&#39;, &#39;tb03ad&#39;, &#39;tb04ad&#39;, &#39;tb05ad&#39;, &#39;tc01od&#39;, &#39;tc04ad&#39;, &#39;td04ad&#39;, &#39;tf01md&#39;, &#39;tf01rd&#39;]
-</pre></div></div>
-</div>
-</div>
-<div class="section" id="Inner-wrapper">
-<h3>Inner wrapper<a class="headerlink" href="#Inner-wrapper" title="Permalink to this heading"></a></h3>
-<div class="nbinput docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[26]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">slycot_f2py_wrapper</span> <span class="o">=</span> <span class="n">get_slycot_method</span><span class="p">(</span><span class="n">slycot</span><span class="o">.</span><span class="n">_wrapper</span><span class="p">)</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span>
-</pre></div>
-</div>
-</div>
-<div class="nboutput nblast docutils container">
-<div class="prompt empty docutils container">
-</div>
-<div class="output_area docutils container">
-<div class="highlight"><pre>
-Currently there are 72 methods implemented.
-------
-[&#39;ab01nd&#39;, &#39;ab04md&#39;, &#39;ab05md&#39;, &#39;ab05nd&#39;, &#39;ab07nd&#39;, &#39;ab08nd&#39;, &#39;ab08nz&#39;, &#39;ab09ad&#39;, &#39;ab09ax&#39;, &#39;ab09bd&#39;, &#39;ab09md&#39;, &#39;ab09nd&#39;, &#39;ab13bd&#39;, &#39;ab13dd&#39;, &#39;ab13ed&#39;, &#39;ab13fd&#39;, &#39;ab13md&#39;, &#39;ag08bd&#39;, &#39;mb03rd&#39;, &#39;mb03vd&#39;, &#39;mb03vy&#39;, &#39;mb03wd&#39;, &#39;mb05md&#39;, &#39;mb05nd&#39;, &#39;mc01td&#39;, &#39;sb01bd&#39;, &#39;sb02md&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_cl&#39;, &#39;sb02mt_n&#39;, &#39;sb02mt_nl&#39;, &#39;sb02od_b&#39;, &#39;sb02od_c&#39;, &#39;sb02od_d&#39;, &#39;sb02od_n&#39;, &#39;sb03md&#39;, &#39;sb03od&#39;, &#39;sb04md&#39;, &#39;sb04qd&#39;, &#39;sb10ad&#39;, &#39;sb10dd&#39;, &#39;sb10fd&#39;, &#39;sb10hd&#39;, &#39;sb10jd&#39;, &#39;sg02ad_bb&#39;, &#39;sg02ad_bc&#39;, &#39;sg02ad_bd&#39;, &#39;sg02ad_bn&#39;, &#39;sg02ad_g&#39;, &#39;sg03ad&#39;, &#39;sg03bd&#39;, &#39;tb01id&#39;, &#39;tb01pd&#39;, &#39;tb03ad_l&#39;, &#39;tb03ad_r&#39;, &#39;tb04ad_c&#39;, &#39;tb04ad_r&#39;, &#39;tb05ad_ag&#39;, &#39;tb05ad_ng&#39;, &#39;tb05ad_nh&#39;, &#39;tc01od_l&#39;, &#39;tc01od_r&#39;, &#39;tc04ad_l&#39;, &#39;tc04ad_r&#39;, &#39;td04ad_c&#39;, &#39;td04ad_r&#39;, &#39;tf01md&#39;, &#39;tf01rd&#39;, &#39;tg01ad&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tg01fd_uu&#39;]
-</pre></div></div>
-</div>
-</div>
-</div>
-<div class="section" id="Generate-Sets-for-the-Venn-Diagramm">
-<h2>Generate Sets for the Venn-Diagramm<a class="headerlink" href="#Generate-Sets-for-the-Venn-Diagramm" title="Permalink to this heading"></a></h2>
-<div class="nbinput nblast docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[27]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
-<span class="kn">from</span> <span class="nn">matplotlib_venn</span> <span class="kn">import</span> <span class="n">venn2</span>
-</pre></div>
-</div>
-</div>
-<div class="nbinput docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[32]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">difference1</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)</span> <span class="o">-</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">))</span>
-<span class="n">difference1</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">difference1</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">difference1</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
-
-<span class="n">difference2</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">-</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
-<span class="n">difference2</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">difference2</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">difference2</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
-
-<span class="n">difference3</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">^</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
-<span class="n">difference3</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">difference3</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">difference3</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
-
-<span class="n">intersection</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">&amp;</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
-<span class="n">intersection</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">intersection</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">intersection</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
-
-<span class="n">union</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)</span> <span class="o">|</span> <span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">))</span>
-
-<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Currently there are </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">union</span><span class="p">)</span><span class="si">}</span><span class="s2"> methods implemented.&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;------&quot;</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="n">union</span><span class="p">)</span>
-<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
-</pre></div>
-</div>
-</div>
-<div class="nboutput nblast docutils container">
-<div class="prompt empty docutils container">
-</div>
-<div class="output_area docutils container">
-<div class="highlight"><pre>
-Currently there are 10 methods implemented.
-------
-[&#39;tb05ad&#39;, &#39;sb02od&#39;, &#39;tb04ad&#39;, &#39;tc01od&#39;, &#39;td04ad&#39;, &#39;sg02ad&#39;, &#39;tc04ad&#39;, &#39;sb02mt&#39;, &#39;tb03ad&#39;, &#39;sb03md57&#39;]
-
-
-Currently there are 32 methods implemented.
-------
-[&#39;td04ad_c&#39;, &#39;tc04ad_r&#39;, &#39;tb04ad_c&#39;, &#39;sg02ad_bn&#39;, &#39;sb02od_b&#39;, &#39;tc01od_r&#39;, &#39;sb02mt_nl&#39;, &#39;tb05ad_nh&#39;, &#39;sg02ad_g&#39;, &#39;sb02od_c&#39;, &#39;tb04ad_r&#39;, &#39;td04ad_r&#39;, &#39;tc04ad_l&#39;, &#39;tc01od_l&#39;, &#39;tg01fd_uu&#39;, &#39;tg01ad&#39;, &#39;sb02od_n&#39;, &#39;sb02od_d&#39;, &#39;ag08bd&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_cl&#39;, &#39;sb02mt_n&#39;, &#39;tb05ad_ag&#39;, &#39;sg02ad_bb&#39;, &#39;sg02ad_bd&#39;, &#39;tb05ad_ng&#39;, &#39;sg02ad_bc&#39;, &#39;tb03ad_r&#39;, &#39;sb10jd&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tb03ad_l&#39;]
-
-
-Currently there are 42 methods implemented.
-------
-[&#39;td04ad_c&#39;, &#39;tc04ad_r&#39;, &#39;tb04ad_c&#39;, &#39;sg02ad_bn&#39;, &#39;tc01od_r&#39;, &#39;sb02mt&#39;, &#39;td04ad&#39;, &#39;sb02od_b&#39;, &#39;sb02mt_nl&#39;, &#39;sb03md57&#39;, &#39;tb05ad_nh&#39;, &#39;sg02ad_g&#39;, &#39;tb04ad&#39;, &#39;sb02od_c&#39;, &#39;tb04ad_r&#39;, &#39;td04ad_r&#39;, &#39;tc04ad_l&#39;, &#39;tc01od_l&#39;, &#39;tg01fd_uu&#39;, &#39;tb05ad&#39;, &#39;tg01ad&#39;, &#39;tc01od&#39;, &#39;sg02ad&#39;, &#39;sb02od_n&#39;, &#39;sb02od_d&#39;, &#39;ag08bd&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_cl&#39;, &#39;sb02mt_n&#39;, &#39;tb05ad_ag&#39;, &#39;sg02ad_bb&#39;, &#39;sb02od&#39;, &#39;sg02ad_bd&#39;, &#39;tb05ad_ng&#39;, &#39;tc04ad&#39;, &#39;tb03ad&#39;, &#39;sg02ad_bc&#39;, &#39;tb03ad_r&#39;, &#39;sb10jd&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tb03ad_l&#39;]
-
-
-Currently there are 40 methods implemented.
-------
-[&#39;ab09md&#39;, &#39;tf01rd&#39;, &#39;ab09nd&#39;, &#39;ab13dd&#39;, &#39;ab13md&#39;, &#39;mb03rd&#39;, &#39;sb03md&#39;, &#39;sb01bd&#39;, &#39;sb10dd&#39;, &#39;ab08nz&#39;, &#39;tb01pd&#39;, &#39;mb03wd&#39;, &#39;ab05md&#39;, &#39;sg03bd&#39;, &#39;ab04md&#39;, &#39;ab09ax&#39;, &#39;ab13bd&#39;, &#39;sb10ad&#39;, &#39;tb01id&#39;, &#39;ab13ed&#39;, &#39;sg03ad&#39;, &#39;ab07nd&#39;, &#39;sb10fd&#39;, &#39;sb04qd&#39;, &#39;ab01nd&#39;, &#39;mb03vd&#39;, &#39;mc01td&#39;, &#39;sb10hd&#39;, &#39;ab09bd&#39;, &#39;tf01md&#39;, &#39;ab05nd&#39;, &#39;ab08nd&#39;, &#39;mb03vy&#39;, &#39;sb02md&#39;, &#39;sb04md&#39;, &#39;ab09ad&#39;, &#39;mb05md&#39;, &#39;ab13fd&#39;, &#39;sb03od&#39;, &#39;mb05nd&#39;]
-
-
-Currently there are 82 methods implemented.
-------
-[&#39;td04ad_c&#39;, &#39;ab09md&#39;, &#39;ab09nd&#39;, &#39;ab13dd&#39;, &#39;ab13md&#39;, &#39;mb03rd&#39;, &#39;td04ad&#39;, &#39;sb02od_b&#39;, &#39;ab08nz&#39;, &#39;tb01pd&#39;, &#39;sb02mt&#39;, &#39;sb02mt_nl&#39;, &#39;sb03md57&#39;, &#39;tb05ad_nh&#39;, &#39;sg03bd&#39;, &#39;sb10ad&#39;, &#39;tb04ad_r&#39;, &#39;td04ad_r&#39;, &#39;tc04ad_l&#39;, &#39;sg03ad&#39;, &#39;ab07nd&#39;, &#39;sb10fd&#39;, &#39;sb02od_n&#39;, &#39;sb04qd&#39;, &#39;sg02ad&#39;, &#39;ab01nd&#39;, &#39;sb02mt_cl&#39;, &#39;mb03vd&#39;, &#39;tb05ad_ag&#39;, &#39;sg02ad_bb&#39;, &#39;ab09bd&#39;, &#39;tf01md&#39;, &#39;sb02od&#39;, &#39;ab05nd&#39;, &#39;tc04ad&#39;, &#39;ab08nd&#39;, &#39;tb03ad&#39;, &#39;mb03vy&#39;, &#39;sb04md&#39;, &#39;tb03ad_r&#39;, &#39;tg01fd_ii&#39;, &#39;tg01fd_nn&#39;, &#39;tb03ad_l&#39;, &#39;tc04ad_r&#39;, &#39;tf01rd&#39;, &#39;sb03md&#39;, &#39;tb04ad_c&#39;, &#39;sb10dd&#39;, &#39;sb01bd&#39;, &#39;sg02ad_bn&#39;, &#39;tc01od_r&#39;, &#39;mb03wd&#39;, &#39;ab05md&#39;, &#39;sg02ad_g&#39;, &#39;ab04md&#39;, &#39;tb04ad&#39;, &#39;ab09ax&#39;, &#39;ab13bd&#39;, &#39;sb02od_c&#39;, &#39;tb01id&#39;, &#39;ab13ed&#39;, &#39;tc01od_l&#39;, &#39;tg01fd_uu&#39;, &#39;tg01ad&#39;, &#39;tb05ad&#39;, &#39;tc01od&#39;, &#39;sb02od_d&#39;, &#39;ag08bd&#39;, &#39;sb02mt_c&#39;, &#39;sb02mt_n&#39;, &#39;mc01td&#39;, &#39;sb10hd&#39;, &#39;sg02ad_bd&#39;, &#39;tb05ad_ng&#39;, &#39;sb02md&#39;, &#39;sg02ad_bc&#39;, &#39;sb10jd&#39;, &#39;ab09ad&#39;, &#39;mb05md&#39;, &#39;ab13fd&#39;, &#39;sb03od&#39;, &#39;mb05nd&#39;]
-
-
-</pre></div></div>
-</div>
-<div class="nbinput docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[33]:
-</pre></div>
-</div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">venn2</span><span class="p">(</span><span class="n">subsets</span> <span class="o">=</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_wrapper</span><span class="p">)),</span>
-                 <span class="nb">len</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">slycot_f2py_wrapper</span><span class="p">)),</span>
-                 <span class="nb">len</span><span class="p">(</span><span class="n">intersection</span><span class="p">)),</span> <span class="n">set_labels</span> <span class="o">=</span> <span class="p">(</span><span class="s1">&#39;slycot_wrapper&#39;</span><span class="p">,</span> <span class="s1">&#39;slycot_f2py_wrapper&#39;</span><span class="p">))</span>
-<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
-</pre></div>
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-    <p>&#169; Copyright 2023, Slycot Developers.</p>
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diff --git a/doc/_build/html/source/dev/inspect_slycot.ipynb b/doc/_build/html/source/dev/inspect_slycot.ipynb
deleted file mode 100644
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--- a/doc/_build/html/source/dev/inspect_slycot.ipynb
+++ /dev/null
@@ -1,262 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "# Inspect Slycot"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "This notebook shows how to inspect the slycot module.\n",
-    "The result gives us a first insight which slicot procedures are implemented.\n",
-    "In addition we get some insight about the orginisation of the module."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 23,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "0.5.5.dev0+g294eae0.d20230726\n"
-     ]
-    }
-   ],
-   "source": [
-    "import slycot\n",
-    "print(slycot.__version__)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Inspect Wrapper function"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 24,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def get_slycot_method(sly):\n",
-    "    all_attributes = dir(sly)\n",
-    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
-    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
-    "    return matched_attributes"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### Outer wrapper"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 25,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 50 methods implemented.\n",
-      "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_wrapper = get_slycot_method(slycot)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(slycot_wrapper)\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### Inner wrapper"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 26,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 72 methods implemented.\n",
-      "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(slycot_f2py_wrapper)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Generate Sets for the Venn-Diagramm"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 27,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import matplotlib.pyplot as plt\n",
-    "from matplotlib_venn import venn2"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 32,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 10 methods implemented.\n",
-      "------\n",
-      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
-      "\n",
-      "\n",
-      "Currently there are 32 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
-      "\n",
-      "\n",
-      "Currently there are 42 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
-      "\n",
-      "\n",
-      "Currently there are 40 methods implemented.\n",
-      "------\n",
-      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
-      "\n",
-      "\n",
-      "Currently there are 82 methods implemented.\n",
-      "------\n",
-      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
-      "\n",
-      "\n"
-     ]
-    }
-   ],
-   "source": [
-    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
-    "difference1\n",
-    "\n",
-    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference1)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
-    "difference2\n",
-    "\n",
-    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference2)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
-    "difference3\n",
-    "\n",
-    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(difference3)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
-    "intersection\n",
-    "\n",
-    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(intersection)\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
-    "\n",
-    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
-    "print(\"------\")\n",
-    "print(union)\n",
-    "print(\"\\n\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 33,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "venn2(subsets = (len(set(slycot_wrapper)), \n",
-    "                 len(set(slycot_f2py_wrapper)), \n",
-    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
-    "plt.show()"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "slycot-dev",
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-   "name": "python3"
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab01nd.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab01nd.html
deleted file mode 100644
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-<h1>slycot._wrapper.ab01nd<a class="headerlink" href="#slycot-wrapper-ab01nd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab01nd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab01nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">jobz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab01nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab01nd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab01nd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>jobz</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(n,3*m)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>ncont</strong> (<em>int</em>)</p></li>
-<li><p><strong>indcon</strong> (<em>int</em>)</p></li>
-<li><p><strong>nblk</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (ldz,n)</em>)</p></li>
-<li><p><strong>tau</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
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diff --git a/doc/_build/html/source/reference/generated/slycot._wrapper.ab04md.html b/doc/_build/html/source/reference/generated/slycot._wrapper.ab04md.html
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-<h1>slycot._wrapper.ab04md<a class="headerlink" href="#slycot-wrapper-ab04md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab04md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab04md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">type_bn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">beta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab04md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab04md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab04md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>type_bn</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>beta</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p,m)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.ab05md<a class="headerlink" href="#slycot-wrapper-ab05md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab05md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab05md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab05md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n1</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m1</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p1</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>n2</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p2</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
-<li><p><strong>b1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
-<li><p><strong>c1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
-<li><p><strong>d1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
-<li><p><strong>a2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
-<li><p><strong>b2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
-<li><p><strong>c2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p2</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
-<li><p><strong>d2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p2</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
-<li><p><strong>uplo</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘U’</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 1</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,n1 + n2)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,m1)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p2,n1 + n2)</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p2,m1)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
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-<h1>slycot._wrapper.ab05nd<a class="headerlink" href="#slycot-wrapper-ab05nd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab05nd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab05nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab05nd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05nd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n1</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m1</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p1</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>n2</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
-<li><p><strong>b1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
-<li><p><strong>c1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>n1</em><em>)</em>) – </p></li>
-<li><p><strong>d1</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p1</em><em>,</em><em>m1</em><em>)</em>) – </p></li>
-<li><p><strong>a2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
-<li><p><strong>b2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n2</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
-<li><p><strong>c2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m1</em><em>,</em><em>n2</em><em>)</em>) – </p></li>
-<li><p><strong>d2</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m1</em><em>,</em><em>p1</em><em>)</em>) – </p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(p1*p1,max(m1*m1,n1*p1))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,n1 + n2)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n1 + n2,m1)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-3 array(‘d’) with bounds (p1,n1,n2)</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p1,m1)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-<h1>slycot._wrapper.ab07nd<a class="headerlink" href="#slycot-wrapper-ab07nd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab07nd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab07nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab07nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab07nd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab07nd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 4*m</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (m,n)</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
-<li><p><strong>rcond</strong> (<em>float</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.ab08nd<a class="headerlink" href="#slycot-wrapper-ab08nd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab08nd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab08nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab08nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab08nd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldb</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldc</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldd</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: n+3*max(m,p)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nu</strong> (<em>int</em>)</p></li>
-<li><p><strong>rank_bn</strong> (<em>int</em>)</p></li>
-<li><p><strong>dinfz</strong> (<em>int</em>)</p></li>
-<li><p><strong>nkror</strong> (<em>int</em>)</p></li>
-<li><p><strong>nkrol</strong> (<em>int</em>)</p></li>
-<li><p><strong>infz</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
-<li><p><strong>kronr</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, m))</em>)</p></li>
-<li><p><strong>kronl</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, p))</em>)</p></li>
-<li><p><strong>af</strong> (<em>rank-2 array(‘d’) with bounds (max(1, m + n),n + min(p, m))</em>)</p></li>
-<li><p><strong>bf</strong> (<em>rank-2 array(‘d’) with bounds (max(1, n + p),m + n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.ab08nz<a class="headerlink" href="#slycot-wrapper-ab08nz" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab08nz">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab08nz</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lzwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab08nz&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab08nz" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nz</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>ldb</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>ldc</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>ldd</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>lzwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(min(p,m)+max(3*m-1,n), max(min(p,n)+max(3*p-1,max(n+p,n+m)), min(m,n)+max(3*m-1,n+m)))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nu</strong> (<em>int</em>)</p></li>
-<li><p><strong>rank_bn</strong> (<em>int</em>)</p></li>
-<li><p><strong>dinfz</strong> (<em>int</em>)</p></li>
-<li><p><strong>nkror</strong> (<em>int</em>)</p></li>
-<li><p><strong>nkrol</strong> (<em>int</em>)</p></li>
-<li><p><strong>infz</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
-<li><p><strong>kronr</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, m))</em>)</p></li>
-<li><p><strong>kronl</strong> (<em>rank-1 array(‘i’) with bounds (1 + max(n, p))</em>)</p></li>
-<li><p><strong>af</strong> (<em>rank-2 array(‘D’) with bounds (max(1, m + n),n + min(p, m))</em>)</p></li>
-<li><p><strong>bf</strong> (<em>rank-2 array(‘D’) with bounds (max(1, n + p),m + n)</em>)</p></li>
-<li><p><strong>zwork</strong> (<em>rank-1 array(‘D’) with bounds (lzwork)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.ab09ad<a class="headerlink" href="#slycot-wrapper-ab09ad" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab09ad">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09ad&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09ad" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09ad</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nr</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
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-<h1>slycot._wrapper.ab09ax<a class="headerlink" href="#slycot-wrapper-ab09ax" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab09ax">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09ax</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09ax&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09ax" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09ax</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nr</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>t</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>ti</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-<h1>slycot._wrapper.ab09bd<a class="headerlink" href="#slycot-wrapper-ab09bd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab09bd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09bd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09bd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol1</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>tol2</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nr</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p,m)</em>)</p></li>
-<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.ab09md<a class="headerlink" href="#slycot-wrapper-ab09md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab09md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nr</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>ns</strong> (<em>int</em>)</p></li>
-<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
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-             
-  <div class="section" id="slycot-wrapper-ab09nd">
-<h1>slycot._wrapper.ab09nd<a class="headerlink" href="#slycot-wrapper-ab09nd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab09nd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab09nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ordsel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_d</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab09nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab09nd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab09nd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>ordsel</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nr</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_d</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol1</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>tol2</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n*(2*n+max(n,max(m,p))+5)+n*(n+1)/2)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nr</strong> (<em>int</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-2 array(‘d’) with bounds (p,m)</em>)</p></li>
-<li><p><strong>ns</strong> (<em>int</em>)</p></li>
-<li><p><strong>hsv</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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-<h1>slycot._wrapper.ab13bd<a class="headerlink" href="#slycot-wrapper-ab13bd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab13bd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">ab13bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13bd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13bd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>jobn</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>ab13bd</strong> (<em>float</em>)</p></li>
-<li><p><strong>nq</strong> (<em>int</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.ab13dd<a class="headerlink" href="#slycot-wrapper-ab13dd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab13dd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobe</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobd</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fpeak</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">e</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13dd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13dd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13dd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>jobe</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>jobd</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>fpeak</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>2</em><em>)</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>e</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>fpeak</strong> (<em>rank-1 array(‘d’) with bounds (2)</em>)</p></li>
-<li><p><strong>gpeak</strong> (<em>rank-1 array(‘d’) with bounds (2)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
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-<h1>slycot._wrapper.ab13ed<a class="headerlink" href="#slycot-wrapper-ab13ed" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab13ed">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13ed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13ed&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13ed" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13ed</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 9</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>low</strong> (<em>float</em>)</p></li>
-<li><p><strong>high</strong> (<em>float</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.ab13fd<a class="headerlink" href="#slycot-wrapper-ab13fd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab13fd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13fd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13fd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13fd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>beta</strong> (<em>float</em>)</p></li>
-<li><p><strong>omega</strong> (<em>float</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
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-<h1>slycot._wrapper.ab13md<a class="headerlink" href="#slycot-wrapper-ab13md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.ab13md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">ab13md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nblock</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">itype</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">ab13md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.ab13md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>fact</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>z</strong> (<em>input rank-2 array</em><em>(</em><em>'D'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>nblock</strong> (<em>input rank-1 array</em><em>(</em><em>'i'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>itype</strong> (<em>input rank-1 array</em><em>(</em><em>'i'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>x</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>-1 + 2 * m</em><em>)</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>x</strong> (<em>rank-1 array(‘d’) with bounds (-1 + 2 * m)</em>)</p></li>
-<li><p><strong>bound</strong> (<em>float</em>)</p></li>
-<li><p><strong>d</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>g</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.mb03rd<a class="headerlink" href="#slycot-wrapper-mb03rd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mb03rd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">jobx</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pmax</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_x</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03rd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03rd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03rd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>jobx</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>sort</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>pmax</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>x</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldx</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_x</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (lda,n)</em>)</p></li>
-<li><p><strong>x</strong> (<em>rank-2 array(‘d’) with bounds (ldx,n)</em>)</p></li>
-<li><p><strong>nblcks</strong> (<em>int</em>)</p></li>
-<li><p><strong>blsize</strong> (<em>rank-1 array(‘i’) with bounds (n)</em>)</p></li>
-<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.mb03vd<a class="headerlink" href="#slycot-wrapper-mb03vd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mb03vd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03vd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03vd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03vd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03vd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ilo</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ihi</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda1</em><em>,</em><em>lda2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-3 array(‘d’) with bounds (lda1,lda2,p)</em>)</p></li>
-<li><p><strong>tau</strong> (<em>rank-2 array(‘d’) with bounds (max(1, -1 + n),p)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.mb03vy<a class="headerlink" href="#slycot-wrapper-mb03vy" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mb03vy">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03vy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tau</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03vy&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03vy" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03vy</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ilo</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ihi</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda1</em><em>,</em><em>lda2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
-<li><p><strong>tau</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldtau</em><em>,</em><em>p</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-3 array(‘d’) with bounds (lda1,lda2,p)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.mb03wd<a class="headerlink" href="#slycot-wrapper-mb03wd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mb03wd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb03wd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">compz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">iloz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihiz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">h</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_h</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_z</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb03wd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb03wd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb03wd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>compz</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ilo</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ihi</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>iloz</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ihiz</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>h</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldh1</em><em>,</em><em>ldh2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
-<li><p><strong>z</strong> (<em>input rank-3 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>ldz1</em><em>,</em><em>ldz2</em><em>,</em><em>p</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_h</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_z</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,ihi-ilo+p-1)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>h</strong> (<em>rank-3 array(‘d’) with bounds (ldh1,ldh2,p)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-3 array(‘d’) with bounds (ldz1,ldz2,p)</em>)</p></li>
-<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
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-<h1>slycot._wrapper.mb05md<a class="headerlink" href="#slycot-wrapper-mb05md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mb05md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">balanc</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb05md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb05md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>balanc</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>delta</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>lda</em><em>,</em><em>*</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (lda,</em>)*)</p></li>
-<li><p><strong>v</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>y</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>valr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>vali</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.mb05nd<a class="headerlink" href="#slycot-wrapper-mb05nd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mb05nd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mb05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_ex</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_exint</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mb05nd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mb05nd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05nd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>delta</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>overwrite_ex</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_exint</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>ex</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>exint</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.mc01td<a class="headerlink" href="#slycot-wrapper-mc01td" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.mc01td">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">mc01td</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dp</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">mc01td&gt;</span></em><a class="headerlink" href="#slycot._wrapper.mc01td" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mc01td</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>dp</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>1 + dp</em><em>)</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>dp</strong> (<em>int</em>)</p></li>
-<li><p><strong>stable</strong> (<em>int</em>)</p></li>
-<li><p><strong>nz</strong> (<em>int</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
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-<h1>slycot._wrapper.sb01bd<a class="headerlink" href="#slycot-wrapper-sb01bd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb01bd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb01bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wi</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_wr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_wi</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb01bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb01bd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb01bd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>alpha</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>wr</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>)</em>) – </p></li>
-<li><p><strong>wi</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_wr</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_wi</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(5*n,2*n+5*m)+1</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (np)</em>)</p></li>
-<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (np)</em>)</p></li>
-<li><p><strong>nfp</strong> (<em>int</em>)</p></li>
-<li><p><strong>nap</strong> (<em>int</em>)</p></li>
-<li><p><strong>nup</strong> (<em>int</em>)</p></li>
-<li><p><strong>f</strong> (<em>rank-2 array(‘d’) with bounds (m,n)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>iwarn</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.sb02md<a class="headerlink" href="#slycot-wrapper-sb02md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb02md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb02md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">g</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">hinv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scal</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb02md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb02md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb02md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>g</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>hinv</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘D’</p></li>
-<li><p><strong>uplo</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘U’</p></li>
-<li><p><strong>scal</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>sort</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘S’</p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(3,6*n)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>q</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>rcond</strong> (<em>float</em>)</p></li>
-<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (2 * n)</em>)</p></li>
-<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (2 * n)</em>)</p></li>
-<li><p><strong>s</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,2 * n)</em>)</p></li>
-<li><p><strong>u</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,2 * n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-<h1>slycot._wrapper.sb03md<a class="headerlink" href="#slycot-wrapper-sb03md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb03md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb03md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trana</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb03md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb03md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb03md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>u</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘X’</p></li>
-<li><p><strong>fact</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>trana</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_u</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(2*n*n,3*n)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>u</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>scale</strong> (<em>float</em>)</p></li>
-<li><p><strong>sep</strong> (<em>float</em>)</p></li>
-<li><p><strong>ferr</strong> (<em>float</em>)</p></li>
-<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.sb03od<a class="headerlink" href="#slycot-wrapper-sb03od" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb03od">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb03od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb03od&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb03od" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb03od</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>fact</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>trans</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,4*n)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>scale</strong> (<em>float</em>)</p></li>
-<li><p><strong>wr</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>wi</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-<h1>slycot._wrapper.sb04md<a class="headerlink" href="#slycot-wrapper-sb04md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb04md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb04md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb04md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb04md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb04md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(2*n*n+8*n,max(5*m,n+m))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.sb04qd<a class="headerlink" href="#slycot-wrapper-sb04qd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb04qd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb04qd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb04qd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb04qd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb04qd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(2*n*n+9*n,max(5*m,n+m))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (m,m)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.sb10ad<a class="headerlink" href="#slycot-wrapper-sb10ad" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb10ad">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">gtol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">liwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10ad&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10ad" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10ad</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>job</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>gamma</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>gtol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>actol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>liwork</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>gamma</strong> (<em>float</em>)</p></li>
-<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
-<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
-<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
-<li><p><strong>ac</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,2 * n)</em>)</p></li>
-<li><p><strong>bc</strong> (<em>rank-2 array(‘d’) with bounds (2 * n,m - ncon)</em>)</p></li>
-<li><p><strong>cc</strong> (<em>rank-2 array(‘d’) with bounds (-nmeas + np,2 * n)</em>)</p></li>
-<li><p><strong>dc</strong> (<em>rank-2 array(‘d’) with bounds (-nmeas + np,m - ncon)</em>)</p></li>
-<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (4)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
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-<h1>slycot._wrapper.sb10dd<a class="headerlink" href="#slycot-wrapper-sb10dd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb10dd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10dd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10dd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10dd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>gamma</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>gamma</strong> (<em>float</em>)</p></li>
-<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
-<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
-<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
-<li><p><strong>x</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (8)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.sb10fd<a class="headerlink" href="#slycot-wrapper-sb10fd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb10fd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10fd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10fd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10fd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>gamma</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
-<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
-<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
-<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (4)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
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-<h1>slycot._wrapper.sb10hd<a class="headerlink" href="#slycot-wrapper-sb10hd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sb10hd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sb10hd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sb10hd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sb10hd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb10hd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>np</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ncon</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nmeas</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>np</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em>) – </p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>ak</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>bk</strong> (<em>rank-2 array(‘d’) with bounds (n,nmeas)</em>)</p></li>
-<li><p><strong>ck</strong> (<em>rank-2 array(‘d’) with bounds (ncon,n)</em>)</p></li>
-<li><p><strong>dk</strong> (<em>rank-2 array(‘d’) with bounds (ncon,nmeas)</em>)</p></li>
-<li><p><strong>rcond</strong> (<em>rank-1 array(‘d’) with bounds (4)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
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-
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-<h1>slycot._wrapper.sg03ad<a class="headerlink" href="#slycot-wrapper-sg03ad" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sg03ad">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sg03ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">e</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sg03ad&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sg03ad" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sg03ad</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>fact</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>trans</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>uplo</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>e</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>z</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>x</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,max(2*n*n,8*n+16))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>e</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>q</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>z</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>x</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>scale</strong> (<em>float</em>)</p></li>
-<li><p><strong>sep</strong> (<em>float</em>)</p></li>
-<li><p><strong>ferr</strong> (<em>float</em>)</p></li>
-<li><p><strong>alphar</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>alphai</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>beta</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-wrapper-sg03bd">
-<h1>slycot._wrapper.sg03bd<a class="headerlink" href="#slycot-wrapper-sg03bd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.sg03bd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">sg03bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">e</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">sg03bd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.sg03bd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sg03bd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>input bytes</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>e</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>q</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>z</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>max</em><em>(</em><em>m</em><em>, </em><em>n</em><em>)</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>fact</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>trans</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘N’</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(4*n,6*n-6)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (max(m, n),n)</em>)</p></li>
-<li><p><strong>scale</strong> (<em>float</em>)</p></li>
-<li><p><strong>alphar</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>alphai</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>beta</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.tb01id<a class="headerlink" href="#slycot-wrapper-tb01id" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.tb01id">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tb01id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">maxred</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tb01id&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tb01id" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01id</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>maxred</strong> (<em>input float</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘A’</p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>maxred</strong> (<em>float</em>)</p></li>
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,m)</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (p,n)</em>)</p></li>
-<li><p><strong>scale</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.tb01pd<a class="headerlink" href="#slycot-wrapper-tb01pd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.tb01pd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tb01pd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">overwrite_c</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tb01pd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tb01pd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01pd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>max</em><em>(</em><em>m</em><em>, </em><em>p</em><em>)</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>max</em><em>(</em><em>p</em><em>, </em><em>m</em><em>)</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>job</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘M’</p></li>
-<li><p><strong>equil</strong> (<em>input bytes</em><em>, </em><em>optional</em>) – Default: ‘S’</p></li>
-<li><p><strong>overwrite_a</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_b</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>overwrite_c</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-<li><p><strong>tol</strong> (<em>input float</em><em>, </em><em>optional</em>) – Default: 0.0</p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: max(1,n+max(n,max(3*m,3*p)))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>a</strong> (<em>rank-2 array(‘d’) with bounds (n,n)</em>)</p></li>
-<li><p><strong>b</strong> (<em>rank-2 array(‘d’) with bounds (n,max(m, p))</em>)</p></li>
-<li><p><strong>c</strong> (<em>rank-2 array(‘d’) with bounds (max(p, m),n)</em>)</p></li>
-<li><p><strong>nr</strong> (<em>int</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
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-<h1>slycot._wrapper.tf01md<a class="headerlink" href="#slycot-wrapper-tf01md" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.tf01md">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tf01md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ny</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">overwrite_x</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tf01md&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tf01md" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tf01md</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>m</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>p</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>ny</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>d</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>p</em><em>,</em><em>m</em><em>)</em>) – </p></li>
-<li><p><strong>u</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>m</em><em>,</em><em>ny</em><em>)</em>) – </p></li>
-<li><p><strong>x</strong> (<em>input rank-1 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>n</em><em>)</em>) – </p></li>
-<li><p><strong>overwrite_x</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 0</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>x</strong> (<em>rank-1 array(‘d’) with bounds (n)</em>)</p></li>
-<li><p><strong>y</strong> (<em>rank-2 array(‘d’) with bounds (ldy,ny)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
-</dl>
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-<h1>slycot._wrapper.tf01rd<a class="headerlink" href="#slycot-wrapper-tf01rd" title="Permalink to this heading"></a></h1>
-<dl class="py data">
-<dt class="sig sig-object py" id="slycot._wrapper.tf01rd">
-<span class="sig-prename descclassname"><span class="pre">slycot._wrapper.</span></span><span class="sig-name descname"><span class="pre">tf01rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">na</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nb</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nc</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">&lt;fortran</span> <span class="pre">function</span> <span class="pre">tf01rd&gt;</span></em><a class="headerlink" href="#slycot._wrapper.tf01rd" title="Permalink to this definition"></a></dt>
-<dd><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tf01rd</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>na</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nb</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>nc</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>n</strong> (<em>input int</em>) – </p></li>
-<li><p><strong>a</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>na</em><em>,</em><em>na</em><em>)</em>) – </p></li>
-<li><p><strong>b</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>na</em><em>,</em><em>nb</em><em>)</em>) – </p></li>
-<li><p><strong>c</strong> (<em>input rank-2 array</em><em>(</em><em>'d'</em><em>) </em><em>with bounds</em><em> (</em><em>nc</em><em>,</em><em>na</em><em>)</em>) – </p></li>
-<li><p><strong>ldwork</strong> (<em>input int</em><em>, </em><em>optional</em>) – Default: 2*na*nc</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>h</strong> (<em>rank-2 array(‘d’) with bounds (nc,n * nb)</em>)</p></li>
-<li><p><strong>info</strong> (<em>int</em>)</p></li>
-</ul>
-</p>
-</dd>
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-  <div class="section" id="slycot-ab01nd">
-<h1>slycot.ab01nd<a class="headerlink" href="#slycot-ab01nd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab01nd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab01nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">jobz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab01nd" title="Permalink to this definition"></a></dt>
-<dd><p>To find a controllable realization for the linear time-invariant
-multi-input system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">dX</span><span class="o">/</span><span class="n">dt</span> <span class="o">=</span> <span class="n">A</span> <span class="o">*</span> <span class="n">X</span> <span class="o">+</span> <span class="n">B</span> <span class="o">*</span> <span class="n">U</span><span class="p">,</span>
-</pre></div>
-</div>
-<p>where A and B are N-by-N and N-by-M matrices, respectively,
-which are reduced by this routine to orthogonal canonical form
-using (and optionally accumulating) orthogonal similarity
-transformations.  Specifically, the pair <code class="docutils literal notranslate"><span class="pre">(A,</span> <span class="pre">B)</span></code> is reduced to
-the pair <code class="docutils literal notranslate"><span class="pre">(Ac,</span> <span class="pre">Bc),</span>&#160; <span class="pre">Ac</span> <span class="pre">=</span> <span class="pre">Z'</span> <span class="pre">*</span> <span class="pre">A</span> <span class="pre">*</span> <span class="pre">Z,</span>&#160; <span class="pre">Bc</span> <span class="pre">=</span> <span class="pre">Z'</span> <span class="pre">*</span> <span class="pre">B</span></code>,  given by</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">[</span> <span class="n">Acont</span>     <span class="o">*</span>    <span class="p">]</span>         <span class="p">[</span> <span class="n">Bcont</span> <span class="p">]</span>
-<span class="n">Ac</span> <span class="o">=</span> <span class="p">[</span>                <span class="p">],</span>   <span class="n">Bc</span> <span class="o">=</span> <span class="p">[</span>       <span class="p">],</span>
-     <span class="p">[</span>   <span class="mi">0</span>    <span class="n">Auncont</span> <span class="p">]</span>         <span class="p">[</span>   <span class="mi">0</span>   <span class="p">]</span>
-
-<span class="ow">and</span>
-
-        <span class="p">[</span> <span class="n">A11</span> <span class="n">A12</span>  <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">A1</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">A1p</span> <span class="p">]</span>         <span class="p">[</span> <span class="n">B1</span> <span class="p">]</span>
-        <span class="p">[</span> <span class="n">A21</span> <span class="n">A22</span>  <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">A2</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">A2p</span> <span class="p">]</span>         <span class="p">[</span> <span class="mi">0</span>  <span class="p">]</span>
-        <span class="p">[</span>  <span class="mi">0</span>  <span class="n">A32</span>  <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">A3</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">A3p</span> <span class="p">]</span>         <span class="p">[</span> <span class="mi">0</span>  <span class="p">]</span>
-<span class="n">Acont</span> <span class="o">=</span> <span class="p">[</span>  <span class="o">.</span>   <span class="o">.</span>   <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>    <span class="o">.</span>     <span class="o">.</span>  <span class="p">],</span>   <span class="n">Bc</span> <span class="o">=</span> <span class="p">[</span> <span class="o">.</span>  <span class="p">],</span>
-        <span class="p">[</span>  <span class="o">.</span>   <span class="o">.</span>     <span class="o">.</span> <span class="o">.</span>    <span class="o">.</span>     <span class="o">.</span>  <span class="p">]</span>         <span class="p">[</span> <span class="o">.</span>  <span class="p">]</span>
-        <span class="p">[</span>  <span class="o">.</span>   <span class="o">.</span>       <span class="o">.</span>    <span class="o">.</span>     <span class="o">.</span>  <span class="p">]</span>         <span class="p">[</span> <span class="o">.</span>  <span class="p">]</span>
-        <span class="p">[</span>  <span class="mi">0</span>   <span class="mi">0</span>   <span class="o">.</span> <span class="o">.</span> <span class="o">.</span>  <span class="n">Ap</span><span class="p">,</span><span class="n">p</span><span class="o">-</span><span class="mi">1</span> <span class="n">App</span> <span class="p">]</span>         <span class="p">[</span> <span class="mi">0</span>  <span class="p">]</span>
-</pre></div>
-</div>
-<p>where the blocks <code class="docutils literal notranslate"><span class="pre">B1,</span> <span class="pre">A21,</span> <span class="pre">...,</span> <span class="pre">Ap,p-1</span></code> have full row ranks and
-<cite>p</cite> is the controllability index of the pair.  The size of the
-block <cite>Auncont</cite> is equal to the dimension of the uncontrollable
-subspace of the pair <code class="docutils literal notranslate"><span class="pre">(A,</span> <span class="pre">B)</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the original state-space representation, i.e.
-the order of the matrix A.  <code class="docutils literal notranslate"><span class="pre">n</span> <span class="pre">&gt;</span> <span class="pre">0</span></code>.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The number of system inputs, or of columns of B.  <code class="docutils literal notranslate"><span class="pre">m</span> <span class="pre">&gt;</span> <span class="pre">0</span></code>.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>array_like</em>) – The original state dynamics matrix A.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>,</em><em>m</em><em>) </em><em>array_like</em>) – The input matrix B.</p></li>
-<li><p><strong>jobz</strong> (<em>{'N'</em><em>, </em><em>'F'</em><em>, </em><em>'I'}</em><em>, </em><em>optional</em>) – <p>Indicates whether the user wishes to accumulate in a matrix Z
-the orthogonal similarity transformations for reducing the system,
-as follows:</p>
-<dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Do not form Z and do not store the orthogonal transformations;
-(default)</p>
-</dd>
-<dt class="field-even">= ‘F’</dt>
-<dd class="field-even"><p>Do not form Z, but store the orthogonal transformations in
-the factored form;</p>
-</dd>
-<dt class="field-odd">= ‘I’</dt>
-<dd class="field-odd"><p>Z is initialized to the unit matrix and the orthogonal
-transformation matrix Z is returned.</p>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The tolerance to be used in rank determination when transforming
-<code class="docutils literal notranslate"><span class="pre">(A,</span> <span class="pre">B)</span></code>. If <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">&lt;=</span> <span class="pre">0</span></code> a default value is used.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. <code class="docutils literal notranslate"><span class="pre">ldwork</span> <span class="pre">&gt;=</span> <span class="pre">max(n,</span> <span class="pre">3*m)</span></code>.
-For optimum performance it should be larger.
-default: <code class="docutils literal notranslate"><span class="pre">ldwork</span> <span class="pre">=</span> <span class="pre">max(n,</span> <span class="pre">3*m)</span></code></p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>Ac</strong> (<em>(n,n) ndarray</em>) – The leading ncont-by-ncont part contains the upper block
-Hessenberg state dynamics matrix Acont in Ac, given by Z’<a href="#id1"><span class="problematic" id="id2">*</span></a>A*Z,
-of a controllable realization for the original system. The
-elements below the first block-subdiagonal are set to zero.</p></li>
-<li><p><strong>Bc</strong> (<em>(n,m) ndarray</em>) – The leading ncont-by-m part of this array contains the transformed
-input matrix Bcont in Bc, given by <code class="docutils literal notranslate"><span class="pre">Z'*B</span></code>, with all elements but the
-first block set to zero.</p></li>
-<li><p><strong>ncont</strong> (<em>int</em>) – The order of the controllable state-space representation.</p></li>
-<li><p><strong>indcon</strong> (<em>int</em>) – The controllability index of the controllable part of the system
-representation.</p></li>
-<li><p><strong>nblk</strong> (<em>(n,) int ndarray</em>) – The leading indcon elements of this array contain the the orders of
-the diagonal blocks of Acont.</p></li>
-<li><p><strong>Z</strong> (<em>(n,n) ndarray</em>) –</p>
-<ul>
-<li><p>If jobz = ‘I’, then the leading N-by-N part of this array contains
-the matrix of accumulated orthogonal similarity transformations
-which reduces the given system to orthogonal canonical form.</p></li>
-<li><p>If jobz = ‘F’, the elements below the diagonal, with the array tau,
-represent the orthogonal transformation matrix as a product of
-elementary reflectors. The transformation matrix can then be
-obtained by calling the LAPACK Library routine DORGQR.</p></li>
-<li><p>If jobz = ‘N’, the array Z is <cite>None</cite>.</p></li>
-</ul>
-</li>
-<li><p><strong>tau</strong> (<em>(n, ) ndarray</em>) – The elements of tau contain the scalar factors of the
-elementary reflectors used in the reduction of B and A.</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-<h1>slycot.ab04md<a class="headerlink" href="#slycot-ab04md" title="Permalink to this heading"></a></h1>
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-  <div class="section" id="slycot-ab05md">
-<h1>slycot.ab05md<a class="headerlink" href="#slycot-ab05md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab05md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab05md" title="Permalink to this definition"></a></dt>
-<dd><p>To obtain the state-space model (A,B,C,D) for the cascaded
-inter-connection of two systems, each given in state-space form.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n1<span class="classifier">input int</span></dt><dd><p>The number of state variables in the first system, i.e. the order
-of the matrix A1.  n1 &gt; 0.</p>
-</dd>
-<dt>m1<span class="classifier">input int</span></dt><dd><p>The number of input variables for the first system. m1 &gt; 0.</p>
-</dd>
-<dt>p1<span class="classifier">input int</span></dt><dd><p>The number of output variables from the first system and the number
-of input variables for the second system. p1 &gt; 0.</p>
-</dd>
-<dt>n2<span class="classifier">input int</span></dt><dd><p>The number of state variables in the second system, i.e. the order
-of the matrix A2.  n2 &gt; 0.</p>
-</dd>
-<dt>p2<span class="classifier">input int</span></dt><dd><p>The number of output variables from the second system. p2 &gt; 0.</p>
-</dd>
-<dt>A1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,n1)</span></dt><dd><p>The leading n1-by-n1 part of this array must contain the state
-transition matrix A1 for the first system.</p>
-</dd>
-<dt>B1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,m1)</span></dt><dd><p>The leading n1-by-m1 part of this array must contain the input/state
-matrix B1 for the first system.</p>
-</dd>
-<dt>C1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,n1)</span></dt><dd><p>The leading p1-by-n1 part of this array must contain the state/output
-matrix C1 for the first system.</p>
-</dd>
-<dt>D1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,m1)</span></dt><dd><p>The leading p1-by-m1 part of this array must contain the input/output
-matrix D1 for the first system.</p>
-</dd>
-<dt>A2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,n2)</span></dt><dd><p>The leading n2-by-n2 part of this array must contain the state
-transition matrix A2 for the second system.</p>
-</dd>
-<dt>B2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,p1)</span></dt><dd><p>The leading n2-by-p1 part of this array must contain the input/state
-matrix B2 for the second system.</p>
-</dd>
-<dt>C2<span class="classifier">input rank-2 array(‘d’) with bounds (p2,n2)</span></dt><dd><p>The leading p2-by-n2 part of this array must contain the state/output
-matrix C2 for the second system.</p>
-</dd>
-<dt>D2<span class="classifier">input rank-2 array(‘d’) with bounds (p2,p1)</span></dt><dd><p>The leading p2-by-p1 part of this array must contain the input/output
-matrix D2 for the second system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl>
-<dt>uplo := ‘U’ input string(len=1)</dt><dd><p>Indicates whether the user wishes to obtain the matrix A in
-the upper or lower block diagonal form, as follows:</p>
-<blockquote>
-<div><p>= ‘U’:  Obtain A in the upper block diagonal form;
-= ‘L’:  Obtain A in the lower block diagonal form.</p>
-</div></blockquote>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">int</span></dt><dd><p>The number of state variables (n1 + n2) in the resulting system,
-i.e. the order of the matrix A, the number of rows of B and
-the number of columns of C.</p>
-</dd>
-<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,n1+n2)</span></dt><dd><p>The leading N-by-N part of this array contains the state transition
-matrix A for the cascaded system.</p>
-</dd>
-<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,m1)</span></dt><dd><p>The leading n-by-m1 part of this array contains the input/state
-matrix B for the cascaded system.</p>
-</dd>
-<dt>C<span class="classifier">rank-2 array(‘d’) with bounds (p2,n1+n2)</span></dt><dd><p>The leading p2-by-n part of this array contains the state/output
-matrix C for the cascaded system.</p>
-</dd>
-<dt>D<span class="classifier">rank-2 array(‘d’) with bounds (p2,m1)</span></dt><dd><p>The leading p2-by-m1 part of this array contains the input/output
-matrix D for the cascaded system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<p class="rubric">Notes</p>
-<p>The implemented methods rely on accuracy enhancing square-root or
-balancing-free square-root techniques.
-The algorithms require less than 30N^3  floating point operations.</p>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-ab05nd">
-<h1>slycot.ab05nd<a class="headerlink" href="#slycot-ab05nd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab05nd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D2</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab05nd" title="Permalink to this definition"></a></dt>
-<dd><p>To obtain the state-space model (A,B,C,D) for the feedback inter-connection
-of two systems, each given in state-space form.</p>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n1<span class="classifier">input int</span></dt><dd><p>The number of state variables in the first system, i.e. the order
-of the matrix A1.  n1 &gt; 0.</p>
-</dd>
-<dt>m1<span class="classifier">input int</span></dt><dd><p>The number of input variables for the first system and the number
-of output variables from the second system. m1 &gt; 0.</p>
-</dd>
-<dt>p1<span class="classifier">input int</span></dt><dd><p>The number of output variables from the first system and the number
-of input variables for the second system. p1 &gt; 0.</p>
-</dd>
-<dt>n2<span class="classifier">input int</span></dt><dd><p>The number of state variables in the second system, i.e. the order
-of the matrix A2.  n2 &gt; 0.</p>
-</dd>
-<dt>A1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,n1)</span></dt><dd><p>The leading n1-by-n1 part of this array must contain the state
-transition matrix A1 for the first system.</p>
-</dd>
-<dt>B1<span class="classifier">input rank-2 array(‘d’) with bounds (n1,m1)</span></dt><dd><p>The leading n1-by-m1 part of this array must contain the input/state
-matrix B1 for the first system.</p>
-</dd>
-<dt>C1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,n1)</span></dt><dd><p>The leading p1-by-n1 part of this array must contain the state/output
-matrix C1 for the first system.</p>
-</dd>
-<dt>D1<span class="classifier">input rank-2 array(‘d’) with bounds (p1,m1)</span></dt><dd><p>The leading p1-by-m1 part of this array must contain the input/output
-matrix D1 for the first system.</p>
-</dd>
-<dt>A2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,n2)</span></dt><dd><p>The leading n2-by-n2 part of this array must contain the state
-transition matrix A2 for the second system.</p>
-</dd>
-<dt>B2<span class="classifier">input rank-2 array(‘d’) with bounds (n2,p1)</span></dt><dd><p>The leading n2-by-p1 part of this array must contain the input/state
-matrix B2 for the second system.</p>
-</dd>
-<dt>C2<span class="classifier">input rank-2 array(‘d’) with bounds (m1,n2)</span></dt><dd><p>The leading m1-by-n2 part of this array must contain the state/output
-matrix C2 for the second system.</p>
-</dd>
-<dt>D2<span class="classifier">input rank-2 array(‘d’) with bounds (m1,p1)</span></dt><dd><p>The leading m1-by-p1 part of this array must contain the input/output
-matrix D2 for the second system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>alpha := 1.0 input float</dt><dd><p>A coefficient multiplying the transfer-function matrix (or the
-output equation) of the second system. i.e alpha = +1 corresponds
-to positive feedback, and alpha = -1 corresponds to negative
-feedback.</p>
-</dd>
-<dt>ldwork := max(p1*p1,m1*m1,n1*p1) input int</dt><dd><p>The length of the cache array. ldwork &gt;= max(p1*p1,m1*m1,n1*p1).</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">int</span></dt><dd><p>The number of state variables (n1 + n2) in the connected system, i.e.
-the order of the matrix A, the number of rows of B and the number of
-columns of C.</p>
-</dd>
-<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,n1+n2)</span></dt><dd><p>The leading n-by-n part of this array contains the state transition
-matrix A for the connected system.</p>
-</dd>
-<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n1+n2,m1)</span></dt><dd><p>The leading n-by-m1 part of this array contains the input/state
-matrix B for the connected system.</p>
-</dd>
-<dt>C<span class="classifier">rank-3 array(‘d’) with bounds (p1,n1,n2)</span></dt><dd><p>The leading p1-by-n part of this array contains the state/output
-matrix C for the connected system.</p>
-</dd>
-<dt>D<span class="classifier">rank-2 array(‘d’) with bounds (p1,m1)</span></dt><dd><p>The leading p1-by-m1 part of this array contains the input/output
-matrix D for the connected system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">1 &lt;= info &lt;= p1</dt>
-<dd class="field-odd"><p></p></dd>
-</dl>
-<p>the system is not completely controllable. That is, the matrix
-<code class="docutils literal notranslate"><span class="pre">(I</span> <span class="pre">+</span> <span class="pre">ALPHA*D1*D2)</span></code> is exactly singular (the element
-<code class="docutils literal notranslate"><span class="pre">U(i,i)``</span></code> of the upper triangular factor of <code class="docutils literal notranslate"><span class="pre">LU`</span></code>
-factorization is exactly zero), possibly due to
-rounding errors.</p>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-ab07nd">
-<h1>slycot.ab07nd<a class="headerlink" href="#slycot-ab07nd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab07nd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab07nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab07nd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the inverse (A_i,B_i,C_i,D_i) of a given system (A,B,C,D).</p>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the state matrix A.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs and outputs.  m &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state matrix
-A of the original system.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input matrix
-B of the original system.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (m,n)</span></dt><dd><p>The leading m-by-n part of this array must contain the output matrix
-C of the original system.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (m,m)</span></dt><dd><p>The leading m-by-m part of this array must contain the feedthrough
-matrix D of the original system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is max(1,4*m),
-for better performance should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>A_i<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array contains the state matrix A_i
-of the inverse system.</p>
-</dd>
-<dt>B_i<span class="classifier">rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array contains the input matrix B_i
-of the inverse system.</p>
-</dd>
-<dt>C_i<span class="classifier">rank-2 array(‘d’) with bounds (m,n)</span></dt><dd><p>The leading m-by-n part of this array contains the output matrix C_i
-of the inverse system.</p>
-</dd>
-<dt>D_i<span class="classifier">rank-2 array(‘d’) with bounds (m,m)</span></dt><dd><p>The leading m-by-m part of this array contains the feedthrough
-matrix D_i of the inverse system.</p>
-</dd>
-<dt>rcond<span class="classifier">float</span></dt><dd><p>The estimated reciprocal condition number of the feedthrough matrix
-D of the original system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">1 &lt;= info &lt;= m</dt>
-<dd class="field-odd"><p>the matrix <cite>D</cite> is exactly singular; the ({info},{info})
-diagonal element is zero, <cite>RCOND</cite> was set to zero;</p>
-</dd>
-<dt class="field-even">info == m+1</dt>
-<dd class="field-even"><p>the matrix <cite>D</cite> is numerically singular, i.e., <cite>RCOND</cite>
-is less than the relative machine precision, <cite>EPS</cite>
-(see LAPACK Library routine DLAMCH). The
-calculations have been completed, but the results
-could be very inaccurate.</p>
-</dd>
-</dl>
-</dd>
-</dl>
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-  <div class="section" id="slycot-ab08nd">
-<h1>slycot.ab08nd<a class="headerlink" href="#slycot-ab08nd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab08nd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab08nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab08nd" title="Permalink to this definition"></a></dt>
-<dd><p>To construct for a linear multivariable system described by a state-space
-model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant
-zeros of the system as generalized eigenvalues.
-The routine also computes the orders of the infinite zeros and the
-right and left Kronecker indices of the system (A,B,C,D).</p>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
-dynamics matrix A of the system.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
-matrix B of the system.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the state/output
-matrix C of the system.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>The leading p-by-m part of this array must contain the direct
-transmission matrix D of the system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>equil := ‘N’ input string(len=1)</dt><dd><p>Specifies whether the user wishes to balance the compound matrix
-as follows:
-= ‘S’:  Perform balancing (scaling);
-= ‘N’:  Do not perform balancing.</p>
-</dd>
-<dt>tol := 0.0 input float</dt><dd><p>A tolerance used in rank decisions to determine the effective rank,
-which is defined as the order of the largest leading (or trailing)
-triangular submatrix in the QR (or RQ) factorization with column
-(or row) pivoting whose estimated condition number is less than 1/tol.</p>
-</dd>
-<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is n + 3*max(m,p),
-for better performance should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>nu<span class="classifier">int</span></dt><dd><p>The number of (finite) invariant zeros.</p>
-</dd>
-<dt>rank<span class="classifier">int</span></dt><dd><p>The normal rank of the transfer function matrix.</p>
-</dd>
-<dt>dinfz<span class="classifier">int</span></dt><dd><p>The maximum degree of infinite elementary divisors.</p>
-</dd>
-<dt>nkror<span class="classifier">int</span></dt><dd><p>The number of right Kronecker indices.</p>
-</dd>
-<dt>nkrol<span class="classifier">int</span></dt><dd><p>The number of left Kronecker indices.</p>
-</dd>
-<dt>infz<span class="classifier">rank-1 array(‘i’) with bounds (n)</span></dt><dd><p>The leading dinfz elements of infz contain information on the
-infinite elementary divisors as follows: the system has infz(i)
-infinite elementary divisors of degree i, where i = 1,2,…,dinfz.</p>
-</dd>
-<dt>kronr<span class="classifier">rank-1 array(‘i’) with bounds (max(n,m)+1)</span></dt><dd><p>the leading nkror elements of this array contain the right kronecker
-(column) indices.</p>
-</dd>
-<dt>kronl<span class="classifier">rank-1 array(‘i’) with bounds (max(n,p)+1)</span></dt><dd><p>the leading nkrol elements of this array contain the left kronecker
-(row) indices.</p>
-</dd>
-<dt>Af<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+m),n+min(p,m))</span></dt><dd><p>the leading nu-by-nu part of this array contains the coefficient
-matrix Af of the reduced pencil. the remainder of the leading
-(n+m)-by-(n+min(p,m)) part is used as internal workspace.</p>
-</dd>
-<dt>Bf<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+p),n+m)</span></dt><dd><p>The leading nu-by-nu part of this array contains the coefficient
-matrix Bf of the reduced pencil. the remainder of the leading
-(n+p)-by-(n+m) part is used as internal workspace.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-ab08nz">
-<h1>slycot.ab08nz<a class="headerlink" href="#slycot-ab08nz" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab08nz">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab08nz</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lzwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab08nz" title="Permalink to this definition"></a></dt>
-<dd><p>To construct for a linear multivariable system described by a state-space
-model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant
-zeros of the system as generalized eigenvalues.
-The routine also computes the orders of the infinite zeros and the
-right and left Kronecker indices of the system (A,B,C,D).</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
-dynamics matrix A of the system.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
-matrix B of the system.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the state/output
-matrix C of the system.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>The leading p-by-m part of this array must contain the direct
-transmission matrix D of the system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl>
-<dt>equil := ‘N’ input string(len=1)</dt><dd><p>Specifies whether the user wishes to balance the compound matrix
-as follows:
-= ‘S’:  Perform balancing (scaling);
-= ‘N’:  Do not perform balancing.</p>
-</dd>
-<dt>tol := 0.0 input float</dt><dd><p>A tolerance used in rank decisions to determine the effective rank,
-which is defined as the order of the largest leading (or trailing)
-triangular submatrix in the QR (or RQ) factorization with column
-(or row) pivoting whose estimated condition number is less than 1/tol.
-If tol is set to less than SQRT((N+P)*(N+M))*EPS
-then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-where EPS is the machine precision (see LAPACK Library
-Routine DLAMCH).</p>
-</dd>
-<dt>lzwork := None input int</dt><dd><p>The length of the internal cache array ZWORK. The default value is
-calculated to</p>
-<blockquote>
-<div><dl class="simple">
-<dt>MAX( 1,</dt><dd><p>MIN(P,M) + MAX(3*M-1,N),
-MIN(P,N) + MAX(3*P-1,N+P,N+M),
-MIN(M,N) + MAX(3*M-1,N+M) )</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>For optimum performance lzwork should be larger.
-If lzwork = -1, then a workspace query is assumed;
-the routine only calculates the optimal size of the
-ZWORK array, and returns this value in lzwork_opt</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>nu<span class="classifier">int</span></dt><dd><p>The number of (finite) invariant zeros.</p>
-</dd>
-<dt>rank<span class="classifier">int</span></dt><dd><p>The normal rank of the transfer function matrix.</p>
-</dd>
-<dt>dinfz<span class="classifier">int</span></dt><dd><p>The maximum degree of infinite elementary divisors.</p>
-</dd>
-<dt>nkror<span class="classifier">int</span></dt><dd><p>The number of right Kronecker indices.</p>
-</dd>
-<dt>nkrol<span class="classifier">int</span></dt><dd><p>The number of left Kronecker indices.</p>
-</dd>
-<dt>infz<span class="classifier">rank-1 array(‘i’) with bounds (n)</span></dt><dd><p>The leading dinfz elements of infz contain information on the
-infinite elementary divisors as follows: the system has infz(i)
-infinite elementary divisors of degree i, where i = 1,2,…,dinfz.</p>
-</dd>
-<dt>kronr<span class="classifier">rank-1 array(‘i’) with bounds (max(n,m)+1)</span></dt><dd><p>the leading nkror elements of this array contain the right kronecker
-(column) indices.</p>
-</dd>
-<dt>kronl<span class="classifier">rank-1 array(‘i’) with bounds (max(n,p)+1)</span></dt><dd><p>the leading nkrol elements of this array contain the left kronecker
-(row) indices.</p>
-</dd>
-<dt>Af<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+m),n+min(p,m))</span></dt><dd><p>the leading nu-by-nu part of this array contains the coefficient
-matrix Af of the reduced pencil. the remainder of the leading
-(n+m)-by-(n+min(p,m)) part is used as internal workspace.</p>
-</dd>
-<dt>Bf<span class="classifier">rank-2 array(‘d’) with bounds (max(1,n+p),n+m)</span></dt><dd><p>The leading nu-by-nu part of this array contains the coefficient
-matrix Bf of the reduced pencil. the remainder of the leading
-(n+p)-by-(n+m) part is used as internal workspace.</p>
-</dd>
-<dt>lzwork_opt<span class="classifier">int</span></dt><dd><p>The optimal value of lzwork.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-ab09ad">
-<h1>slycot.ab09ad<a class="headerlink" href="#slycot-ab09ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab09ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09ad" title="Permalink to this definition"></a></dt>
-<dd><p>Compute reduced order State-Space-Model (Ar, Br, Cr) for a stable system
-(A, B, C) by using either the square-root or the balancing-free square-
-root Balance &amp; truncate (B &amp; T) model reduction method.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>dico<span class="classifier">{‘D’, ‘C’} input string(len=1)</span></dt><dd><p>Indicate whether the system is discrete <cite>D</cite> or continuous <cite>C</cite></p>
-</dd>
-<dt>job<span class="classifier">{‘B’, ‘N’} input string(len=1)</span></dt><dd><p>Balance <cite>B</cite> or not <cite>N</cite></p>
-</dd>
-<dt>equil<span class="classifier">{‘S’, ‘N’} input string(len=1)</span></dt><dd><p>Scale <cite>S</cite> or not <cite>N</cite></p>
-</dd>
-<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
-dynamics matrix A of the system.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
-matrix B of the system.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the
-state/output matrix C of the system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>nr := None input int</dt><dd><p><cite>nr</cite> is the desired order of the resulting reduced order
-system.  <code class="docutils literal notranslate"><span class="pre">0</span> <span class="pre">&lt;=</span> <span class="pre">nr</span> <span class="pre">&lt;=</span> <span class="pre">n</span></code>. Automatically determined by <cite>tol</cite> if
-<code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code> and returned. See return object <cite>nr</cite>.</p>
-</dd>
-<dt>tol := 0 input double precision</dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>tol`contains the tolerance for determining the
-order of the reduced system. For model reduction, th recommended
-value is ``tol = c * HNORM(A, B, C)`</cite>, where <cite>c</cite> is a constan in the
-interval <code class="docutils literal notranslate"><span class="pre">[0.00001,</span> <span class="pre">0.001]</span></code> and <code class="docutils literal notranslate"><span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code> is the
-Hankel-Norm of the given sysstem (computed in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>). For
-computing a minimal realization, the recommended value is
-<code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">=</span> <span class="pre">n</span> <span class="pre">*</span> <span class="pre">eps</span> <span class="pre">*</span> <span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code>, where <cite>eps</cite> is the machine
-precision (see LAPACK Library Routine <cite>DLAMCH</cite>). This value is
-used by default if <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">&lt;=</span> <span class="pre">0</span></code> on entry. If <cite>nr</cite> is specified,
-the value of <cite>tol</cite> is ignored.</p>
-</dd>
-<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is
-<code class="docutils literal notranslate"><span class="pre">n*(2*n+max(n,m,p)+5)</span> <span class="pre">+</span> <span class="pre">n*(n+1)/2</span> <span class="pre">~=</span> <span class="pre">3.5*n**2</span> <span class="pre">+</span> <span class="pre">5*n</span></code>,
-a larger value should lead to better performance.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects :</dt><dd><dl>
-<dt>nr<span class="classifier">output int</span></dt><dd><p><cite>nr</cite> is the order of the resulting reduced order model.
-<cite>nr</cite> is set as follows:
-If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">not</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to <code class="docutils literal notranslate"><span class="pre">MIN(nr,NMIN)</span></code>,
-where <cite>nr</cite> is the desired order on entry and <cite>NMIN</cite> is the order
-of a minimal realization of the given system; <cite>NMIN</cite> is
-determined as the number of Hankel singular values greater
-than <code class="docutils literal notranslate"><span class="pre">n*eps*HNORM(A,B,C)</span></code>, where <cite>eps</cite> is the machine
-precision (see LAPACK Library Routine DLAMCH) and
-<code class="docutils literal notranslate"><span class="pre">HNORM(A,B,C)</span></code> is the Hankel norm of the system (computed
-in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>);
-If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to the number of Hankel
-singular values greater than <code class="docutils literal notranslate"><span class="pre">MAX(tol,n*eps*HNORM(A,B,C))</span></code>.</p>
-</dd>
-<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,nr)</span></code></span></dt><dd><p>This array contains the state dynamics matrix <cite>Ar</cite> of the reduced
-order system.</p>
-</dd>
-<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,m)</span></code></span></dt><dd><p>Tthis array contains the input/state matrix <cite>Br</cite> of the reduced
-order system.</p>
-</dd>
-<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(p,nr)</span></code></span></dt><dd><p>This array contains the state/output matrix <cite>Cr</cite> of the reduced
-order system.</p>
-</dd>
-<dt>hsv<span class="classifier">output double precision array, dimension <code class="docutils literal notranslate"><span class="pre">(n)</span></code></span></dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">INFO</span> <span class="pre">=</span> <span class="pre">0</span></code>, it contains the Hankel singular values of
-the original system ordered decreasingly. <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code> is the
-Hankel norm of the system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1</dt>
-<dd class="field-odd"><p>The reduction of A to the real Schur form failed</p>
-</dd>
-<dt class="field-even">info == 2 and dico == ‘C’</dt>
-<dd class="field-even"><p>The state matrix A is not stable</p>
-</dd>
-<dt class="field-odd">info == 2 and dico == ‘D’</dt>
-<dd class="field-odd"><p>The state matrix A is not convergent</p>
-</dd>
-<dt class="field-even">info == 3</dt>
-<dd class="field-even"><p>The computation of Hankel singular values failed</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn == 1</dt>
-<dd class="field-odd"><p>The selected order {nr} is greater
-than the order of a minimal realization of the
-given system. <cite>nr</cite> was set automatically to {Nr}
-corresponding to the order of a minimal realization
-of the system</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
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-
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-  <div class="section" id="slycot-ab09ax">
-<h1>slycot.ab09ax<a class="headerlink" href="#slycot-ab09ax" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab09ax">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09ax</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09ax" title="Permalink to this definition"></a></dt>
-<dd><p><code class="docutils literal notranslate"><span class="pre">nr,Ar,Br,Cr,hsv,T,Ti</span> <span class="pre">=</span> <span class="pre">ab09ad(dico,job,equil,n,m,p,nr,A,B,C,[nr,tol,ldwork])</span></code></p>
-<p>To compute a reduced order model <code class="docutils literal notranslate"><span class="pre">(Ar,Br,Cr)</span></code> for a stable original
-state-space representation <code class="docutils literal notranslate"><span class="pre">(A,B,C)</span></code> by using either the square-root
-or the balancing-free square-root Balance &amp; Truncate model
-reduction method. The state dynamics matrix <cite>A</cite> of the original
-system is an upper quasi-triangular matrix in <em>real Schur canonical
-form.</em> The matrices of the reduced order system are computed using
-the truncation formulas:</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">Ar</span> <span class="pre">=</span> <span class="pre">TI</span> <span class="pre">*</span> <span class="pre">A</span> <span class="pre">*</span> <span class="pre">T</span> <span class="pre">,</span>&#160; <span class="pre">Br</span> <span class="pre">=</span> <span class="pre">TI</span> <span class="pre">*</span> <span class="pre">B</span> <span class="pre">,</span>&#160; <span class="pre">Cr</span> <span class="pre">=</span> <span class="pre">C</span> <span class="pre">*</span> <span class="pre">T</span></code> .</p>
-</div></blockquote>
-<dl>
-<dt>Required arguments :</dt><dd><dl class="simple">
-<dt>dico<span class="classifier">{‘D’, ‘C’} input string(len=1)</span></dt><dd><p>Indicate whether the system is discrete <cite>D</cite> or continuous <cite>C</cite></p>
-</dd>
-<dt>job<span class="classifier">{‘B’, ‘N’} input string(len=1)</span></dt><dd><p>Balance <cite>B</cite> or not <cite>N</cite></p>
-</dd>
-<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
-dynamics matrix A of the system <em>in real Schur form.</em></p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
-matrix B of the system.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the
-state/output matrix C of the system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>nr := None input int</dt><dd><p><cite>nr</cite> is the desired order of the resulting reduced order
-system.  <code class="docutils literal notranslate"><span class="pre">0</span> <span class="pre">&lt;=</span> <span class="pre">nr</span> <span class="pre">&lt;=</span> <span class="pre">n</span></code>. Automatically determined by <cite>tol</cite> if
-<code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code> and returned. See return object <cite>nr</cite>.</p>
-</dd>
-<dt>tol := 0 input double precision</dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>tol`contains the tolerance for determining the
-order of the reduced system. For model reduction, the recommended
-value is ``tol = c * HNORM(A, B, C)`</cite>, where <cite>c</cite> is a constant in
-the interval <code class="docutils literal notranslate"><span class="pre">[0.00001,</span> <span class="pre">0.001]</span></code> and <code class="docutils literal notranslate"><span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code> is
-the Hankel-Norm of the given sysstem (computed in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>). For
-computing a minimal realization, the recommended value is
-<code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">=</span> <span class="pre">n</span> <span class="pre">*</span> <span class="pre">eps</span> <span class="pre">*</span> <span class="pre">HNORM(A,</span> <span class="pre">B,</span> <span class="pre">C)</span></code>, where <cite>eps</cite> is the machine
-precision (see LAPACK Library Routine <cite>DLAMCH</cite>). This value is
-used by default if <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">&lt;=</span> <span class="pre">0</span></code> on entry. If <cite>nr</cite> is specified,
-the value of <cite>tol</cite> is ignored.</p>
-</dd>
-<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is
-<code class="docutils literal notranslate"><span class="pre">n*(2*n+max(n,m,p)+5)</span> <span class="pre">+</span> <span class="pre">n*(n+1)/2</span> <span class="pre">~=</span> <span class="pre">3.5*n**2</span> <span class="pre">+</span> <span class="pre">5*n</span></code>,
-a larger value should lead to better performance.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects :</dt><dd><dl>
-<dt>nr<span class="classifier">output int</span></dt><dd><p><cite>nr</cite> is the order of the resulting reduced order model.
-<cite>nr</cite> is set as follows:
-If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">not</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to <code class="docutils literal notranslate"><span class="pre">MIN(nr,NMIN)</span></code>,
-where <cite>nr</cite> is the desired order on entry and <cite>NMIN</cite> is the order
-of a minimal realization of the given system; <cite>NMIN</cite> is
-determined as the number of Hankel singular values greater
-than <code class="docutils literal notranslate"><span class="pre">n*eps*HNORM(A,B,C)</span></code>, where <cite>eps</cite> is the machine
-precision (see LAPACK Library Routine DLAMCH) and
-<code class="docutils literal notranslate"><span class="pre">HNORM(A,B,C)</span></code> is the Hankel norm of the system (computed
-in <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code>);
-If on input <code class="docutils literal notranslate"><span class="pre">nr</span> <span class="pre">is</span> <span class="pre">None</span></code>, <cite>nr</cite> is equal to the number of Hankel
-singular values greater than <code class="docutils literal notranslate"><span class="pre">MAX(tol,n*eps*HNORM(A,B,C))</span></code>.</p>
-</dd>
-<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,nr)</span></code></span></dt><dd><p>This array contains the state dynamics matrix <cite>Ar</cite> of the reduced
-order system.</p>
-</dd>
-<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,m)</span></code></span></dt><dd><p>Tthis array contains the input/state matrix <cite>Br</cite> of the reduced
-order system.</p>
-</dd>
-<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(p,nr)</span></code></span></dt><dd><p>This array contains the state/output matrix <cite>Cr</cite> of the reduced
-order system.</p>
-</dd>
-<dt>hsv<span class="classifier">output double precision array, dimension <code class="docutils literal notranslate"><span class="pre">(n)</span></code></span></dt><dd><p>If <code class="docutils literal notranslate"><span class="pre">INFO</span> <span class="pre">=</span> <span class="pre">0</span></code>, it contains the Hankel singular values of
-the original system ordered decreasingly. <code class="docutils literal notranslate"><span class="pre">HSV(1)</span></code> is the
-Hankel norm of the system.</p>
-</dd>
-<dt>T<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(n,nr)</span></code></span></dt><dd><p>This array contains the right truncation matrix <cite>T</cite> of the reduced
-order system.</p>
-</dd>
-<dt>Ti<span class="classifier">rank-2 array(‘d’) with bounds <code class="docutils literal notranslate"><span class="pre">(nr,n)</span></code></span></dt><dd><p>This array contains the left truncation matrix <cite>Ti</cite> of the reduced
-order system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1 and dico == ‘C’</dt>
-<dd class="field-odd"><p>The state matrix A is not stable</p>
-</dd>
-<dt class="field-even">info == 1 and dico == ‘D’</dt>
-<dd class="field-even"><p>The state matrix A is not convergent</p>
-</dd>
-<dt class="field-odd">info == 2</dt>
-<dd class="field-odd"><p>The computation of Hankel singular values failed</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn == 1</dt>
-<dd class="field-odd"><p>The selected order {nr} is greater
-than the order of a minimal realization of the
-given system. <cite>nr</cite> was set automatically to {Nr}
-corresponding to the order of a minimal realization
-of the system</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-ab09bd">
-<h1>slycot.ab09bd<a class="headerlink" href="#slycot-ab09bd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab09bd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09bd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-original state-space representation (A,B,C,D) by using either the
-square-root or the balancing-free square-root Singular
-Perturbation Approximation (SPA) model reduction method.
-Must supply either nr or tolerance values.</p>
-<dl class="simple">
-<dt>Arguments</dt><dd><dl class="simple">
-<dt>Mode Parameters</dt><dd><dl class="simple">
-<dt>dico</dt><dd><p>Specifies the type of the original system as follows:
-= ‘C’:  continuous-time system;
-= ‘D’:  discrete-time system.</p>
-</dd>
-<dt>job</dt><dd><p>Specifies the model reduction approach to be used
-as follows:
-= ‘B’:  use the square-root SPA method;
-= ‘N’:  use the balancing-free square-root SPA method.</p>
-</dd>
-<dt>equil</dt><dd><p>Specifies whether the user wishes to preliminarily
-equilibrate the triplet (A,B,C) as follows:
-= ‘S’:  perform equilibration (scaling);
-= ‘N’:  do not perform equilibration.</p>
-</dd>
-</dl>
-</dd>
-<dt>Required arguments</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the original state-space representation, i.e.
-the order of the matrix A.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>On entry, the leading n-by-n part of this array must
-contain the state dynamics matrix A.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>On entry, the leading n-by-m part of this array must
-contain the original input/state matrix B.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>On entry, the leading p-by-n part of this array must
-contain the original state/output matrix C.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>On entry, the leading p-by-m part of this array must
-contain the original input/output matrix D.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments :</dt><dd><dl class="simple">
-<dt>nr :=None input int</dt><dd><p>nr is the desired order of
-the resulting reduced order system.  0 &lt;= nr &lt;= n.</p>
-</dd>
-<dt>tol1 :=0 input double precision</dt><dd><p>If ordsel = ‘A’, tol1 contains the tolerance for
-determining the order of reduced system.
-For model reduction, the recommended value is
-tol1 = c*hnorm(A,B,C), where c is a constant in the
-interval [0.00001,0.001], and hnorm(A,B,C) is the
-Hankel-norm of the given system (computed in hsv(1)).
-For computing a minimal realization, the recommended
-value is tol1 = n*eps*hnorm(A,B,C), where eps is the
-machine precision (see LAPACK Library Routine DLAMCH).
-This value is used by default if tol1 &lt;= 0 on entry.
-If ordsel = ‘F’, the value of tol1 is ignored.</p>
-</dd>
-<dt>tol2 :=0 input double precision</dt><dd><p>The tolerance for determining the order of a minimal
-realization of the given system. The recommended value is
-tol2 = n*eps*hnorm(A,B,C). This value is used by default
-if tol2 &lt;= 0 on entry.
-If tol2 &gt; 0, then tol2 &lt;= tol1.</p>
-</dd>
-<dt>ldwork := None input int</dt><dd><p>The length of the cache array. The default value is n + 3*max(m,p),
-for better performance should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects</dt><dd><dl class="simple">
-<dt>nr<span class="classifier">output int</span></dt><dd><p>nr is the order of the resulting reduced order model.
-nr is set as follows:
-if ordsel = ‘F’, nr is equal to min(nr,nmin), where nr
-is the desired order on entry and nmin is the order of a
-minimal realization of the given system; nmin is
-determined as the number of Hankel singular values greater
-than n*eps*hnorm(A,B,C), where eps is the machine
-precision (see LAPACK Library Routine DLAMCH) and
-hnorm(A,B,C) is the Hankel norm of the system (computed
-in hsv(1));
-if ordsel = ‘A’, nr is equal to the number of Hankel
-singular values greater than max(tol1,n*eps*hnorm(A,B,C)).</p>
-</dd>
-<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>the leading nr-by-nr part of this array contains the
-state dynamics matrix Ar of the reduced order system.</p>
-</dd>
-<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>the leading nr-by-m part of this array contains the
-input/state matrix Br of the reduced order system.</p>
-</dd>
-<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds (p,nr)</span></dt><dd><p>the leading p-by-nr part of this array contains the
-state/output matrix Cr of the reduced order system.</p>
-</dd>
-<dt>Dr<span class="classifier">rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>the leading p-by-m part of this array contains the
-input/output matrix Dr of the reduced order system.</p>
-</dd>
-<dt>hsv<span class="classifier">output double precision array, dimension (n)</span></dt><dd><p>If info = 0, it contains the Hankel singular values of
-the original system ordered decreasingly. hsv(1) is the
-Hankel norm of the system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1</dt>
-<dd class="field-odd"><p>The reduction of A to the real Schur form failed</p>
-</dd>
-<dt class="field-even">info == 2 and dico == ‘C’</dt>
-<dd class="field-even"><p>The state matrix A is not stable</p>
-</dd>
-<dt class="field-odd">info == 2 and dico == ‘D’</dt>
-<dd class="field-odd"><p>The state matrix A is not convergent</p>
-</dd>
-<dt class="field-even">info == 3</dt>
-<dd class="field-even"><p>The computation of Hankel singular values failed</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn == 1</dt>
-<dd class="field-odd"><p>The selected order {nr} is greater
-than the order of a minimal realization of the
-given system. <cite>nr</cite> was set automatically to {Nr}
-corresponding to the order of a minimal realization
-of the system</p>
-</dd>
-</dl>
-</dd>
-</dl>
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-<h1>slycot.ab09md<a class="headerlink" href="#slycot-ab09md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab09md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09md" title="Permalink to this definition"></a></dt>
-<dd><p>To compute a reduced order model (Ar,Br,Cr) for an original
-state-space representation (A,B,C) by using either the square-root
-or the balancing-free square-root Balance &amp; Truncate (B &amp; T)
-model reduction method for the ALPHA-stable part of the system.</p>
-<dl>
-<dt>Arguments</dt><dd><dl>
-<dt>Mode Parameters</dt><dd><dl>
-<dt>dico</dt><dd><p>Specifies the type of the original system as follows:
-= ‘C’:  continuous-time system;
-= ‘D’:  discrete-time system.</p>
-</dd>
-<dt>job</dt><dd><p>Specifies the model reduction approach to be used
-as follows:
-= ‘B’:  use the square-root Balance &amp; Truncate method;
-= ‘N’:  use the balancing-free square-root</p>
-<blockquote>
-<div><p>Balance &amp; Truncate method.</p>
-</div></blockquote>
-</dd>
-<dt>equil</dt><dd><p>Specifies whether the user wishes to preliminarily
-equilibrate the triplet (A,B,C) as follows:
-= ‘S’:  perform equilibration (scaling);
-= ‘N’:  do not perform equilibration.</p>
-</dd>
-</dl>
-</dd>
-<dt>Required arguments</dt><dd><blockquote>
-<div><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the original state-space representation, i.e.
-the order of the matrix A.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’), dimension (n,n)</span></dt><dd><p>On entry, the leading N-by-N part of this array must
-contain the state dynamics matrix A.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’), dimension (n,m)</span></dt><dd><p>On entry, the leading N-by-M part of this array must
-contain the original input/state matrix B.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’), dimension (p,n)</span></dt><dd><p>On entry, the leading P-by-N part of this array must
-contain the original state/output matrix C.</p>
-</dd>
-</dl>
-</div></blockquote>
-<dl class="simple">
-<dt>Optional arguments</dt><dd><dl class="simple">
-<dt>alpha :=None input double precision</dt><dd><p>Specifies the alpha-stability boundary for the eigenvalues
-of the state dynamics matrix A. For a continuous-time
-system (dico = ‘C’), alpha &lt;= 0 is the boundary value for
-the real parts of eigenvalues, while for a discrete-time
-system (dico = ‘D’), 0 &lt;= alpha &lt;= 1 represents the
-boundary value for the moduli of eigenvalues.
-The alpha-stability domain does not include the boundary.</p>
-</dd>
-<dt>nr := None input int</dt><dd><p>On entry with ordsel = ‘F’, nr is the desired order of the
-resulting reduced order system.  0 &lt;= nr &lt;= n.</p>
-</dd>
-<dt>tol :=0 input double precision</dt><dd><p>If ordsel = ‘A’, tol contains the tolerance for
-determining the order of reduced system.
-For model reduction, the recommended value is
-tol = c*hnorm(As,Bs,Cs), where c is a constant in the
-interval [0.00001,0.001], and hnorm(As,Bs,Cs) is the
-Hankel-norm of the alpha-stable part of the given system
-(computed in hsv(1)).
-If tol &lt;= 0 on entry, the used default value is
-tol = ns*eps*hnorm(As,Bs,Cs), where ns is the number of
-alpha-stable eigenvalues of A and eps is the machine
-precision (see LAPACK Library Routine DLAMCH).
-This value is appropriate to compute a minimal realization
-of the alpha-stable part.
-If ordsel = ‘F’, the value of tol is ignored.</p>
-</dd>
-<dt>ldwork :=None input int</dt><dd><p>The length of the array dwork.
-ldwork &gt;= max(1,n*(2*n+max(n,m,p)+5) + n*(n+1)/2).
-For optimum performance ldwork should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects</dt><dd><dl class="simple">
-<dt>nr<span class="classifier">output int</span></dt><dd><p>On exit, if info = 0, nr is the order of the resulting
-reduced order model. For a system with nu alpha-unstable
-eigenvalues and ns alpha-stable eigenvalues (nu+ns = n),
-nr is set as follows: if ordsel = ‘F’, nr is equal to
-nu+min(max(0,nr-nu),nmin), where nr is the desired order
-on entry, and nmin is the order of a minimal realization
-of the alpha-stable part of the given system; nmin is
-determined as the number of Hankel singular values greater
-than ns*eps*hnorm(As,Bs,Cs), where eps is the machine
-precision (see LAPACK Library Routine DLAMCH) and
-hnorm(As,Bs,Cs) is the Hankel norm of the alpha-stable
-part of the given system (computed in hsv(1));
-if ordsel = ‘A’, nr is the sum of nu and the number of
-Hankel singular values greater than
-max(tol,ns*eps*hnorm(As,Bs,Cs)).</p>
-</dd>
-<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>On exit, if info = 0, the leading nr-by-nr part of this
-array contains the state dynamics matrix Ar of the reduced
-order system.
-The resulting A has a block-diagonal form with two blocks.
-For a system with nu alpha-unstable eigenvalues and
-ns alpha-stable eigenvalues (nu+ns = n), the leading
-nu-by-nu block contains the unreduced part of A
-corresponding to alpha-unstable eigenvalues in an
-upper real Schur form.
-The trailing (nr+ns-n)-by-(nr+ns-n) block contains
-the reduced part of A corresponding to alpha-stable
-eigenvalues.</p>
-</dd>
-<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>On exit, if info = 0, the leading nr-by-m part of this
-array contains the input/state matrix Br of the reduced
-order system.</p>
-</dd>
-<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds (p,nr)</span></dt><dd><p>On exit, if info = 0, the leading p-by-nr part of this
-array contains the state/output matrix Cr of the reduced
-order system.</p>
-</dd>
-<dt>ns<span class="classifier">output int</span></dt><dd><p>The dimension of the alpha-stable subsystem.</p>
-</dd>
-<dt>hsv<span class="classifier">output double precision array, dimension (n)</span></dt><dd><p>If info = 0, the leading ns elements of hsv contain the
-Hankel singular values of the alpha-stable part of the
-original system ordered decreasingly.
-hsv(1) is the Hankel norm of the alpha-stable subsystem.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd>
-<dt>:raises SlycotArithmeticError<span class="classifier">e: :info == 1:</span></dt><dd><blockquote>
-<div><p>The computation of the ordered real Schur form of A failed</p>
-</div></blockquote>
-<dl class="field-list simple">
-<dt class="field-odd">info == 2</dt>
-<dd class="field-odd"><p>The separation of the {alpha}-stable/unstable diagonal
-blocks failed because of very close eigenvalues</p>
-</dd>
-<dt class="field-even">info == 3</dt>
-<dd class="field-even"><p>The computation of Hankel singular values failed</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><p><strong>SlycotResultWarning</strong> (<em>e</em>) –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn == 1</dt>
-<dd class="field-odd"><p>The selected order {nr} is greater
-than <cite>nsmin</cite>, the sum of the order of the
-{alpha}-unstable part and the order of a minimal
-realization of the {alpha}-stable part of the given
-system. The resulting <cite>nr</cite>  is set to <cite>nsmin</cite> = {Nr}</p>
-</dd>
-<dt class="field-even">iwarn == 2</dt>
-<dd class="field-even"><p>The selected order {nr} is less
-than the order of the {alpha}-unstable part of the
-given system. In this case <cite>nr</cite> is set equal to the
-order of the {alpha}-unstable part {Nr}.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
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-</div>
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-  <div class="section" id="slycot-ab09nd">
-<h1>slycot.ab09nd<a class="headerlink" href="#slycot-ab09nd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab09nd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab09nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nr</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab09nd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-state-space representation (A,B,C,D) by using either the
-square-root or the balancing-free square-root Singular
-Perturbation Approximation (SPA) model reduction method for the
-alpha-stable part of the system.</p>
-<dl class="simple">
-<dt>Arguments</dt><dd><dl class="simple">
-<dt>Mode Parameters</dt><dd><dl class="simple">
-<dt>dico</dt><dd><p>Specifies the type of the original system as follows:
-= ‘C’:  continuous-time system;
-= ‘D’:  discrete-time system.</p>
-</dd>
-<dt>job</dt><dd><p>Specifies the model reduction approach to be used
-as follows:
-= ‘B’:  use the square-root SPA method;
-= ‘N’:  use the balancing-free square-root SPA method.</p>
-</dd>
-<dt>equil</dt><dd><p>Specifies whether the user wishes to preliminarily
-equilibrate the triplet (A,B,C) as follows:
-= ‘S’:  perform equilibration (scaling);
-= ‘N’:  do not perform equilibration.</p>
-</dd>
-</dl>
-</dd>
-<dt>Required arguments</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the original state-space representation, i.e.
-the order of the matrix A.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>On entry, the leading n-by-n part of this array must
-contain the state dynamics matrix A.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>On entry, the leading n-by-m part of this array must
-contain the original input/state matrix B.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>On entry, the leading p-by-n part of this array must
-contain the original state/output matrix C.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>On entry, the leading p-by-m part of this array must
-contain the original input/output matrix D.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments</dt><dd><dl class="simple">
-<dt>alpha :=None input double precision</dt><dd><p>Specifies the alpha-stability boundary for the eigenvalues
-of the state dynamics matrix A. For a continuous-time
-system (dico = ‘C’), alpha &lt;= 0 is the boundary value for
-the real parts of eigenvalues, while for a discrete-time
-system (dico = ‘D’), 0 &lt;= alpha &lt;= 1 represents the
-boundary value for the moduli of eigenvalues.
-The alpha-stability domain does not include the boundary.</p>
-</dd>
-<dt>nr :=None input int</dt><dd><p>nr is the desired order of
-the resulting reduced order system.  0 &lt;= nr &lt;= n.</p>
-</dd>
-<dt>tol1 :=0 input double precision</dt><dd><p>If ordsel = ‘A’, tol1 contains the tolerance for
-determining the order of reduced system.
-For model reduction, the recommended value is
-tol1 = c*hnorm(As,Bs,Cs), where c is a constant in the
-interval [0.00001,0.001], and hnorm(As,Bs,Cs) is the
-Hankel-norm of the alpha-stable part of the given system
-(computed in hsv(1)).
-If tol1 &lt;= 0 on entry, the used default value is
-tol1 = ns*eps*hnorm(As,Bs,Cs), where NS is the number of
-alpha-stable eigenvalues of A and eps is the machine
-precision (see LAPACK Library Routine DLAMCH).
-This value is appropriate to compute a minimal realization
-of the alpha-stable part.
-If ordsel = ‘F’, the value of tol1 is ignored.</p>
-</dd>
-<dt>tol2 :=0 input double precision</dt><dd><p>The tolerance for determining the order of a minimal
-realization of the alpha-stable part of the given system.
-The recommended value is tol2 = ns*eps*hnorm(As,Bs,Cs).
-This value is used by default if tol2 &lt;= 0 on entry.
-If tol2 &gt; 0, then tol2 &lt;= tol1.</p>
-</dd>
-<dt>ldwork := None input int</dt><dd><p>The length of the array dwork.
-ldwork &gt;= max(1,n*(2*n+max(n,m,p)+5) + n*(n+1)/2).
-For optimum performance ldwork should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects</dt><dd><dl class="simple">
-<dt>nr<span class="classifier">output int</span></dt><dd><p>nr is the order of the resulting reduced order model.
-nr is set as follows:
-if ordsel = ‘F’, nr is equal to min(nr,nmin), where nr
-is the desired order on entry and nmin is the order of a
-minimal realization of the given system; nmin is
-determined as the number of Hankel singular values greater
-than n*eps*hnorm(A,B,C), where eps is the machine
-precision (see LAPACK Library Routine DLAMCH) and
-hnorm(A,B,C) is the Hankel norm of the system (computed
-in hsv(1));
-if ordsel = ‘A’, nr is equal to the number of Hankel
-singular values greater than max(TOL1,n*eps*hnorm(A,B,C)).</p>
-</dd>
-<dt>Ar<span class="classifier">rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>the leading nr-by-nr part of this array contains the
-state dynamics matrix Ar of the reduced order system.</p>
-</dd>
-<dt>Br<span class="classifier">rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>the leading nr-by-m part of this array contains the
-input/state matrix Br of the reduced order system.</p>
-</dd>
-<dt>Cr<span class="classifier">rank-2 array(‘d’) with bounds (p,nr)</span></dt><dd><p>the leading p-by-nr part of this array contains the
-state/output matrix Cr of the reduced order system.</p>
-</dd>
-<dt>Dr<span class="classifier">rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>the leading p-by-m part of this array contains the
-input/output matrix Dr of the reduced order system.</p>
-</dd>
-<dt>ns<span class="classifier">output int</span></dt><dd><p>The dimension of the alpha-stable subsystem.</p>
-</dd>
-<dt>hsv<span class="classifier">output double precision array, dimension (n)</span></dt><dd><p>If info = 0, it contains the Hankel singular values of
-the original system ordered decreasingly. hsv(1) is the
-Hankel norm of the system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1</dt>
-<dd class="field-odd"><p>The computation of the ordered real Schur form of A failed</p>
-</dd>
-<dt class="field-even">info == 2</dt>
-<dd class="field-even"><p>The separation of the {alpha}-stable/unstable diagonal
-blocks failed because of very close eigenvalues</p>
-</dd>
-<dt class="field-odd">info == 3</dt>
-<dd class="field-odd"><p>The computation of Hankel singular values failed</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn == 1</dt>
-<dd class="field-odd"><p>The selected order {nr} is greater
-than <cite>nsmin</cite>, the sum of the order of the
-{alpha}-unstable part and the order of a minimal
-realization of the {alpha}-stable part of the given
-system. The resulting <cite>nr</cite>  is set to <cite>nsmin</cite> = {Nr}</p>
-</dd>
-<dt class="field-even">iwarn == 2</dt>
-<dd class="field-even"><p>The selected order {nr} is less
-than the order of the {alpha}-unstable part of the
-given system. In this case <cite>nr</cite> is set equal to the
-order of the {alpha}-unstable part {Nr}.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-             
-  <div class="section" id="slycot-ab13bd">
-<h1>slycot.ab13bd<a class="headerlink" href="#slycot-ab13bd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab13bd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13bd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the H2 or L2 norm of the transfer-function matrix G
-of the system (A,B,C,D). G must not have poles on the imaginary
-axis, for a continuous-time system, or on the unit circle, for
-a discrete-time system. If the H2-norm is computed, the system
-must be stable.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>{'D'</em><em>, </em><em>'C'}</em>) – Indicate whether the system is discrete ‘D’ or continuous ‘C’.</p></li>
-<li><p><strong>jobn</strong> (<em>{'H'</em><em>, </em><em>'L'}</em>) – H2-norm ‘H’ or L2-norm ‘L’ to be computed.</p></li>
-<li><p><strong>n</strong> (<em>int</em>) – The number of state variables.  n &gt;= 0.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The number of system inputs.  m &gt;= 0.</p></li>
-<li><p><strong>p</strong> (<em>int</em>) – The number of system outputs.  p &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – The leading n-by-n part of this array must contain the state
-dynamics matrix A of the system.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>,</em><em>m</em><em>) </em><em>ndarray</em>) – The leading n-by-m part of this array must contain the input/state
-matrix B of the system.</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>p</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – The leading p-by-n part of this array must contain the state/output
-matrix C of the system.</p></li>
-<li><p><strong>D</strong> (<em>(</em><em>p</em><em>,</em><em>m</em><em>) </em><em>ndarray</em>) – The leading p-by-m part of this array must contain the direct
-transmission matrix D of the system.</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The absolute tolerance level below which the elements of
-B are considered zero (used for controllability tests).
-If the user sets tol &lt;= 0, then an implicitly computed,
-default tolerance, defined by  toldef = n*eps*norm(B),
-is used instead, where eps is the machine precision
-(see LAPACK Library routine DLAMCH) and norm(B) denotes
-the 1-norm of B.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><strong>norm</strong></p>
-</dd>
-<dt class="field-odd">Return type</dt>
-<dd class="field-odd"><p>H2 or L2 norm of the system (A,B,C,D)</p>
-</dd>
-<dt class="field-even">Raises</dt>
-<dd class="field-even"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1</dt>
-<dd class="field-odd"><p>The reduction of A to a real Schur form failed</p>
-</dd>
-<dt class="field-even">info == 2</dt>
-<dd class="field-even"><p>A failure was detected during the reordering of the
-real Schur form of A, or in the iterative process for
-reordering the eigenvalues of `` Z’<a href="#id1"><span class="problematic" id="id2">*</span></a>(A + B*F)*Z`` along the
-diagonal (see SLICOT routine SB08DD)</p>
-</dd>
-<dt class="field-odd">info == 3 and dico == ‘C’</dt>
-<dd class="field-odd"><p>The matrix A has a controllable eigenvalue on the imaginary axis</p>
-</dd>
-<dt class="field-even">info == 3 and dico == ‘D’</dt>
-<dd class="field-even"><p>The matrix A has a controllable eigenvalue on the unit circle</p>
-</dd>
-<dt class="field-odd">info == 4</dt>
-<dd class="field-odd"><p>The solution of Lyapunov equation failed because the
-equation is singular</p>
-</dd>
-<dt class="field-even">info == 5</dt>
-<dd class="field-even"><p>D is a nonzero matrix</p>
-</dd>
-<dt class="field-odd">info == 6</dt>
-<dd class="field-odd"><p>The system is unstable</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn &gt; 0</dt>
-<dd class="field-odd"><p>{iwarn} violations of the numerical stability condition
-occured during the assignment of eigenvalues in
-computing the right coprime factorization with inner
-denominator of <cite>G</cite> (see the SLICOT subroutine SB08DD).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-ab13dd">
-<h1>slycot.ab13dd<a class="headerlink" href="#slycot-ab13dd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab13dd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobe</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobd</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13dd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the L-infinity norm of a continuous-time or
-discrete-time system, either standard or in the descriptor form,</p>
-<blockquote>
-<div><blockquote>
-<div><p>-1</p>
-</div></blockquote>
-<p>G(lambda) = C*( lambda*E - A ) <a href="#id1"><span class="problematic" id="id2">*</span></a>B + D .</p>
-</div></blockquote>
-<p>The norm is finite if and only if the matrix pair (A,E) has no
-eigenvalue on the boundary of the stability domain, i.e., the
-imaginary axis, or the unit circle, respectively. It is assumed
-that the matrix E is nonsingular.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>dico<span class="classifier">{‘D’, ‘C’} input string(len=1)</span></dt><dd><p>Indicate whether the system is discrete ‘D’ or continuous ‘C’.</p>
-</dd>
-<dt>jobe<span class="classifier">{‘G’, ‘I’} input string(len=1)</span></dt><dd><p>Specifies whether E is a general square or an identity
-matrix, as follows:
-= ‘G’:  E is a general square matrix;
-= ‘I’:  E is the identity matrix.</p>
-</dd>
-<dt>equil<span class="classifier">{‘S’, ‘N’} input string(len=1)</span></dt><dd><p>Specifies whether the user wishes to preliminarily
-equilibrate the system (A,E,B,C) or (A,B,C), as follows:
-= ‘S’:  perform equilibration (scaling);
-= ‘N’:  do not perform equilibration.</p>
-</dd>
-<dt>jobd<span class="classifier">{‘D’, ‘Z’} input string(len=1)</span></dt><dd><p>Specifies whether or not a non-zero matrix D appears in
-the given state space model:
-= ‘D’:  D is present;
-= ‘Z’:  D is assumed a zero matrix.</p>
-</dd>
-<dt>n<span class="classifier">input int</span></dt><dd><p>The number of state variables.  n &gt;= 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt;= 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the state
-dynamics matrix A of the system.</p>
-</dd>
-<dt>E<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>If jobe = ‘G’, the leading N-by-N part of this array must
-contain the descriptor matrix E of the system.
-If jobe = ‘I’, then E is assumed to be the identity
-matrix and is not referenced.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the input/state
-matrix B of the system.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the state/output
-matrix C of the system.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>The leading p-by-m part of this array must contain the direct
-transmission matrix D of the system.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>tol<span class="classifier">Tolerance used to set the accuracy in determining the</span></dt><dd><p>norm.  0 &lt;= tol &lt; 1.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl>
-<dt>gpeak<span class="classifier">float</span></dt><dd><p>The L-infinity norm of the system, i.e., the peak gain
-of the frequency response (as measured by the largest
-singular value in the MIMO case).</p>
-</dd>
-<dt>fpeak<span class="classifier">float</span></dt><dd><p>The frequency where the gain of the frequency response
-achieves its peak value gpeak, i.e.,</p>
-<blockquote>
-<div><p>|| G ( j*fpeak ) || = gpeak ,  if dico = ‘C’, or</p>
-<blockquote>
-<div><p>j*fpeak</p>
-</div></blockquote>
-<p>|| G ( e       ) || = gpeak ,  if dico = ‘D’.</p>
-</div></blockquote>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The matrix E is (numerically) singular</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The (periodic) QR (or QZ) algorithm for computing
-eigenvalues did not converge</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>The SVD algorithm for computing singular values did
-not converge</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>The tolerance is too small and the algorithm did not converge</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-ab13ed">
-<h1>slycot.ab13ed<a class="headerlink" href="#slycot-ab13ed" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab13ed">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13ed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13ed" title="Permalink to this definition"></a></dt>
-<dd><p>To estimate beta(A), the 2-norm distance from a real matrix A to
-the nearest complex matrix with an eigenvalue on the imaginary
-axis. The estimate is given as</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">low</span> <span class="pre">&lt;=</span> <span class="pre">beta(A)</span> <span class="pre">&lt;=</span> <span class="pre">high,</span></code></p>
-</div></blockquote>
-<p>where either</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">(1</span> <span class="pre">+</span> <span class="pre">tol)</span> <span class="pre">*</span> <span class="pre">low</span> <span class="pre">&gt;=</span> <span class="pre">high,</span></code></p>
-</div></blockquote>
-<p>or</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">low</span> <span class="pre">=</span> <span class="pre">0</span>&#160;&#160; <span class="pre">and</span>&#160;&#160; <span class="pre">high</span> <span class="pre">=</span> <span class="pre">delta,</span></code></p>
-</div></blockquote>
-<p>and delta is a small number approximately equal to the square root
-of machine precision times the Frobenius norm (Euclidean norm)
-of A. If A is stable in the sense that all eigenvalues of A lie
-in the open left half complex plane, then beta(A) is the distance
-to the nearest unstable complex matrix, i.e., the complex
-stability radius.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrix A.  <code class="docutils literal notranslate"><span class="pre">n</span> <span class="pre">&gt;=</span> <span class="pre">0.</span></code></p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>array_like</em>) – The leading n-by-n part of this array must contain the matrix A.</p></li>
-<li><p><strong>tol</strong> (<em>float optional</em>) – Specifies the accuracy with which low and high approximate
-beta(A). If the user sets tol to be less than sqrt(eps),
-where eps is the machine precision (see LAPACK Library
-Routine DLAMCH), then the tolerance is taken to be
-sqrt(eps).
-The recommended value is tol = 9, which gives an estimate
-of beta(A) correct to within an order of magnitude.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>low</strong> (<em>float</em>) – A lower bound for beta(A).</p></li>
-<li><p><strong>high</strong> (<em>float</em>) – An upper bound for beta(A).</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p></p></dd>
-</dl>
-<p>The QR algorithm fails to converge</p>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
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-  <div class="section" id="slycot-ab13fd">
-<h1>slycot.ab13fd<a class="headerlink" href="#slycot-ab13fd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab13fd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13fd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute beta(A), the 2-norm distance from a real matrix A to
-the nearest complex matrix with an eigenvalue on the imaginary
-axis. If A is stable in the sense that all eigenvalues of A lie
-in the open left half complex plane, then beta(A) is the complex
-stability radius, i.e., the distance to the nearest unstable
-complex matrix. The value of beta(A) is the minimum of the
-smallest singular value of (A - jwI), taken over all real w.
-The value of w corresponding to the minimum is also computed.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the matrix A.  n &gt;= 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the matrix A.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>tol<span class="classifier">Specifies the accuracy with which beta(A) is to be</span></dt><dd><p>calculated. (See the Numerical Aspects section below.)
-If the user sets tol to be less than eps, where eps is the
-machine precision (see LAPACK Library Routine DLAMCH),
-then the tolerance is taken to be eps.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>beta<span class="classifier">float</span></dt><dd><p>The computed value of beta(A), which actually is an upper
-bound.</p>
-</dd>
-<dt>omega<span class="classifier">float</span></dt><dd><p>The value of w such that the smallest singular value of
-(A - jwI) equals beta(A).</p>
-</dd>
-</dl>
-</dd>
-<dt>Numerical Aspects:</dt><dd><p>In the presence of rounding errors, the computed function value
-beta satisfies</p>
-<blockquote>
-<div><p>beta(A) &lt;= beta + epsilon,
-beta/(1+tol) - delta &lt;= max(beta(A), sqrt(2*n*eps)*norm(A)),</p>
-</div></blockquote>
-<dl class="simple">
-<dt>where norm(A) is the Frobenius norm of A,</dt><dd><p>epsilon = p(n) * eps * norm(A),</p>
-</dd>
-<dt>and</dt><dd><p>delta   = p(n) * sqrt(eps) * norm(A),</p>
-</dd>
-</dl>
-<p>and p(n) is a low degree polynomial. It is recommended to choose
-tol greater than sqrt(eps). Although rounding errors can cause
-AB13FD to fail for smaller values of tol, nevertheless, it usually
-succeeds. Regardless of success or failure, the first inequality
-holds.</p>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 2</dt>
-<dd class="field-odd"><p></p></dd>
-</dl>
-<p>Either the QR or SVD algorithm fails to converge</p>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>Failed to compute beta(A) within the specified tolerance.
-Nevertheless, the returned value is an upper bound on beta(A);</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-ab13md">
-<h1>slycot.ab13md<a class="headerlink" href="#slycot-ab13md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.ab13md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">ab13md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">Z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nblock</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">itype</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.ab13md" title="Permalink to this definition"></a></dt>
-<dd><p>Find an upper bound for the structured singular value of complex
-matrix Z and given block diagonal structure.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>Z</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>complex array</em>) – Matrix to find structured singular value upper bound of</p></li>
-<li><p><strong>nblock</strong> (<em>(</em><em>m</em><em>,</em><em>) </em><em>integer array</em>) – The size of the block diagonals of the uncertainty structure;
-i.e., nblock(i)=p means that the ith block is pxp.</p></li>
-<li><p><strong>itype</strong> (<em>(</em><em>m</em><em>,</em><em>) </em><em>integer array</em>) – The type of each block diagonal uncertainty defined in nblock.
-itype(i)==1 means that the ith block is real, while itype(i)==2
-means the the ith block is complex.  Real blocks must be 1x1,
-i.e., if itype(i)==1, nblock(i) must be 1.</p></li>
-<li><p><strong>x</strong> (<em>(</em><em>q</em><em>,</em><em>) </em><em>real array</em><em> or </em><em>None</em>) – <p>If not None, must be the output of a previous call to ab13md.
-The previous call must have been with the same values of n,
-nblock, and itype; and the previous call’s Z should be “close”
-to the current call’s Z.</p>
-<p>q is determined by the block structure; see SLICOT AB13MD for
-details.</p>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><strong>mubound</strong> (<em>non-negative real scalar</em>) – Upper bound on structure singular value for given arguments</p></li>
-<li><p><strong>d, g</strong> (<em>(n,) real arrays</em>) –</p>
-<dl class="simple">
-<dt>Real arrays such that if D=np.diag(g), G=np.diag(G), and ZH = Z.T.conj(), then</dt><dd><p>ZH &#64; D**2 &#64; Z + 1j * (G&#64;Z - ZH&#64;G) - mu**2 * D**2</p>
-</dd>
-</dl>
-<p>will be negative semi-definite.</p>
-</li>
-<li><p><strong>xout</strong> (<em>(q,) real array</em>) – For use as <code class="docutils literal notranslate"><span class="pre">x</span></code> argument in subsequent call to <code class="docutils literal notranslate"><span class="pre">ab13md</span></code>.</p></li>
-<li><p><em>For scalar Z and real uncertainty (ntype=1, itype=1), returns 0</em></p></li>
-<li><p><em>instead of abs(Z).</em></p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>Block sizes must be positive</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>Block sizes must sum to n</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>Real blocks must be of size 1</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>Block types must be 1 or 2</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>Error in linear equation solution</p>
-</dd>
-<dt class="field-even">info = 6</dt>
-<dd class="field-even"><p>Error in eigenvalue or singular value computation</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-<p class="rubric">Notes</p>
-<p>This wraps SLICOT routine AB13MD, which implements the upper bound
-of [1].</p>
-<p class="rubric">References</p>
-<dl class="citation">
-<dt class="label" id="r3a0a62d04083-1"><span class="brackets">1</span></dt>
-<dd><p>Fan, M.K.H., Tits, A.L., and Doyle, J.C., “Robustness in
-the presence of mixed parametric uncertainty and unmodeled
-dynamics,” IEEE Trans. Automatic Control, vol. AC-36, 1991,
-pp. 25-38.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-mb03rd">
-<h1>slycot.mb03rd<a class="headerlink" href="#slycot-mb03rd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mb03rd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">X</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobx</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pmax</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03rd" title="Permalink to this definition"></a></dt>
-<dd><p>To reduce a matrix <cite>A</cite> in real Schur form to a block-diagonal form
-using well-conditioned non-orthogonal similarity transformations.
-The condition numbers of the transformations used for reduction
-are roughly bounded by <cite>pmax</cite>, where <cite>pmax</cite> is a given value.
-The transformations are optionally postmultiplied in a given
-matrix <cite>X</cite>. The real Schur form is optionally ordered, so that
-clustered eigenvalues are grouped in the same block.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices <cite>A</cite> and <cite>X</cite>.  <cite>n</cite> &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The matrix <cite>A</cite> to be block-diagonalized, in real Schur form.</p></li>
-<li><p><strong>X</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – A given matrix <cite>X</cite>, for accumulation of transformations (only if
-<cite>jobx`=’U’). Default value is identity matrix of order `n</cite>.</p></li>
-<li><p><strong>jobx</strong> (<em>{'N'</em><em>, </em><em>'U'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the transformations are
-accumulated, as follows:</p>
-<dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>The transformations are not accumulated</p>
-</dd>
-<dt class="field-even">= ‘U’</dt>
-<dd class="field-even"><p>The transformations are accumulated in <cite>Xr</cite> (default)</p>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>sort</strong> (<em>{'N'</em><em>, </em><em>'S'</em><em>, </em><em>'C'</em><em>, </em><em>'B'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the diagonal blocks of the real
-Schur form are reordered, as follows:</p>
-<dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>The diagonal blocks are not reordered (default);</p>
-</dd>
-<dt class="field-even">= ‘S’</dt>
-<dd class="field-even"><p>The diagonal blocks are reordered before each
-step of reduction, so that clustered eigenvalues
-appear in the same block;</p>
-</dd>
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>The diagonal blocks are not reordered, but the
-“closest-neighbour” strategy is used instead of
-the standard “closest to the mean” strategy
-(see <a href="#id4"><span class="problematic" id="id5">Notes_</span></a>);</p>
-</dd>
-<dt class="field-even">= ‘B’</dt>
-<dd class="field-even"><p>The diagonal blocks are reordered before each
-step of reduction, and the “closest-neighbour”
-strategy is used (see <a href="#id6"><span class="problematic" id="id7">Notes_</span></a>).</p>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>pmax</strong> (<em>float</em><em>, </em><em>optional</em>) – An upper bound for the infinity norm of elementary
-submatrices of the individual transformations used for
-reduction (see <a href="#id8"><span class="problematic" id="id9">Notes_</span></a>).  <cite>pmax</cite> &gt;= 1.0</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – <p>The tolerance to be used in the ordering of the diagonal
-blocks of the real Schur form matrix.
-If the user sets <cite>tol</cite> &gt; 0, then the given value of <cite>tol</cite> is
-used as an absolute tolerance: a block <cite>i</cite> and a temporarily
-fixed block 1 (the first block of the current trailing
-submatrix to be reduced) are considered to belong to the
-same cluster if their eigenvalues satisfy</p>
-<div class="math">
-<p><img src="_images/math/06a8f1b6c9ddbe9f1821a9da07839c9decbe4136.png" alt="| \lambda_1 - \lambda_i | &lt;= tol."/></p>
-</div><p>If the user sets <cite>tol</cite> &lt; 0, then the given value of tol is
-used as a relative tolerance: a block i and a temporarily
-fixed block 1 are considered to belong to the same cluster
-if their eigenvalues satisfy, for <code class="docutils literal notranslate"><span class="pre">j</span> <span class="pre">=</span> <span class="pre">1,</span> <span class="pre">...,</span> <span class="pre">n</span></code></p>
-<div class="math">
-<p><img src="_images/math/a6604bba12fd2bde0be9924269128594fa445f8d.png" alt="| \lambda_1 - \lambda_i | &lt;= | tol | * \max | \lambda_j |."/></p>
-</div><p>If the user sets <cite>tol</cite> = 0, then an implicitly computed,
-default tolerance, defined by <code class="docutils literal notranslate"><span class="pre">tol</span> <span class="pre">=</span> <span class="pre">SQRT(</span> <span class="pre">SQRT(</span> <span class="pre">EPS</span> <span class="pre">)</span> <span class="pre">)</span></code>
-is used instead, as a relative tolerance, where <cite>EPS</cite> is
-the machine precision (see LAPACK Library routine DLAMCH).
-If <cite>sort</cite> = ‘N’ or ‘C’, this parameter is not referenced.</p>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>Ar</strong> (<em>(n, n) ndarray</em>) – Contains the computed block-diagonal matrix, in real Schur
-canonical form. The non-diagonal blocks are set to zero.</p></li>
-<li><p><strong>Xr</strong> (<em>(n, n) ndarray or None</em>) – Contains the product of the given matrix <cite>X</cite> and the
-transformation matrix that reduced <cite>A</cite> to block-diagonal
-form. The transformation matrix is itself a product of
-non-orthogonal similarity transformations having elements
-with magnitude less than or equal to <cite>pmax</cite>.
-If <cite>jobx</cite> = ‘N’, this array is returned as None</p></li>
-<li><p><strong>blsize</strong> (<em>(n,) ndarray</em>) – The orders of the resulting diagonal blocks of the matrix <cite>Ar</cite>.</p></li>
-<li><p><strong>W</strong> (<em>(n,) complex ndarray</em>) – Contains the complex eigenvalues of the matrix <cite>A</cite>.</p></li>
-</ul>
-</p>
-</dd>
-</dl>
-<p class="rubric">Notes</p>
-<p><strong>Method</strong></p>
-<p>Consider first that <cite>sort</cite> = ‘N’. Let</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="p">(</span> <span class="n">A</span>    <span class="n">A</span>   <span class="p">)</span>
-    <span class="p">(</span>  <span class="mi">11</span>   <span class="mi">12</span> <span class="p">)</span>
-<span class="n">A</span> <span class="o">=</span> <span class="p">(</span>          <span class="p">),</span>
-    <span class="p">(</span> <span class="mi">0</span>    <span class="n">A</span>   <span class="p">)</span>
-    <span class="p">(</span>       <span class="mi">22</span> <span class="p">)</span>
-</pre></div>
-</div>
-<p>be the given matrix in real Schur form, where initially <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/> is the
-first diagonal block of dimension 1-by-1 or 2-by-2. An attempt is
-made to compute a transformation matrix <cite>X</cite> of the form</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="p">(</span> <span class="n">I</span>   <span class="n">P</span> <span class="p">)</span>
-<span class="n">X</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">)</span>                                               <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
-    <span class="p">(</span> <span class="mi">0</span>   <span class="n">I</span> <span class="p">)</span>
-</pre></div>
-</div>
-<p>(partitioned as <cite>A</cite>), so that</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>         <span class="p">(</span> <span class="n">A</span>     <span class="mi">0</span>  <span class="p">)</span>
- <span class="o">-</span><span class="mi">1</span>      <span class="p">(</span>  <span class="mi">11</span>      <span class="p">)</span>
-<span class="n">X</span>  <span class="n">A</span> <span class="n">X</span> <span class="o">=</span> <span class="p">(</span>          <span class="p">),</span>
-         <span class="p">(</span> <span class="mi">0</span>    <span class="n">A</span>   <span class="p">)</span>
-         <span class="p">(</span>       <span class="mi">22</span> <span class="p">)</span>
-</pre></div>
-</div>
-<p>and the elements of <cite>P</cite> do not exceed the value <cite>pmax</cite> in magnitude.
-An adaptation of the standard method for solving Sylvester
-equations <a class="reference internal" href="#r6a90cebc2f55-1" id="id1">[1]</a>, which controls the magnitude of the individual
-elements of the computed solution <a class="reference internal" href="#r6a90cebc2f55-2" id="id2">[2]</a>, is used to obtain matrix <cite>P</cite>.
-When this attempt failed, an 1-by-1 (or 2-by-2) diagonal block of
-<img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>  , whose eigenvalue(s) is (are) the closest to the mean of those
-of <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/>   is selected, and moved by orthogonal similarity
-transformations in the leading position of <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>  ; the moved diagonal
-block is then added to the block <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/>  , increasing its order by 1
-(or 2). Another attempt is made to compute a suitable
-transformation matrix X with the new definitions of the blocks <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/>
-and <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>  . After a successful transformation matrix <cite>X</cite> has been
-obtained, it postmultiplies the current transformation matrix
-(if <cite>jobx</cite> = ‘U’), and the whole procedure is repeated for the
-matrix <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>.</p>
-<p>When <cite>sort</cite> = ‘S’, the diagonal blocks of the real Schur form are
-reordered before each step of the reduction, so that each cluster
-of eigenvalues, defined as specified in the definition of TOL,
-appears in adjacent blocks. The blocks for each cluster are merged
-together, and the procedure described above is applied to the
-larger blocks. Using the option <cite>sort</cite> = ‘S’ will usually provide
-better efficiency than the standard option (<cite>sort</cite> = ‘N’), proposed
-in <a class="reference internal" href="#r6a90cebc2f55-2" id="id3">[2]</a>, because there could be no or few unsuccessful attempts
-to compute individual transformation matrices <cite>X</cite> of the form (1).
-However, the resulting dimensions of the blocks are usually
-larger; this could make subsequent calculations less efficient.</p>
-<p>When <cite>sort</cite> = ‘C’ or ‘B’, the procedure is similar to that for
-<cite>sort</cite> = ‘N’ or ‘S’, respectively, but the block of <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/> whose
-eigenvalue(s) is (are) the closest to those of <img class="math" src="_images/math/0e6e570fe40eb33ee23358ea87ca766ee9edbbb6.png" alt="A_{11}"/> (not to their
-mean) is selected and moved to the leading position of <img class="math" src="_images/math/62298e4eb211e0edc5f0821df1ffd07b8362963f.png" alt="A_{22}"/>. This
-is called the “closest-neighbour” strategy.</p>
-<p><strong>Numerical Aspects</strong></p>
-<p>The algorithm usually requires <img class="math" src="_images/math/87d0fb13b3e293721bca2d361611091ddff991db.png" alt="\mathcal{O}(N^3)"/> operations,
-but <img class="math" src="_images/math/c682306352d61d00dba7b0849edbe8d5a0fd2e0d.png" alt="\mathcal{O}(N^4)"/> are
-possible in the worst case, when all diagonal blocks in the real
-Schur form of <cite>A</cite> are 1-by-1, and the matrix cannot be diagonalized
-by well-conditioned transformations.</p>
-<p><strong>Further Comments</strong></p>
-<p>The individual non-orthogonal transformation matrices used in the
-reduction of <cite>A</cite> to a block-diagonal form have condition numbers
-of the order <cite>pmax`*`pmax</cite>. This does not guarantee that their product
-is well-conditioned enough. The routine can be easily modified to
-provide estimates for the condition numbers of the clusters of
-eigenvalues.</p>
-<p><strong>Contributor</strong></p>
-<p>V. Sima, Katholieke Univ. Leuven, Belgium, June 1998.
-Partly based on the RASP routine BDIAG by A. Varga, German
-Aerospace Center, DLR Oberpfaffenhofen.</p>
-<p><strong>Revisions</strong></p>
-<p>V. Sima, Research Institute for Informatics, Bucharest, Apr. 2003.</p>
-<p class="rubric">References</p>
-<dl class="citation">
-<dt class="label" id="r6a90cebc2f55-1"><span class="brackets"><a class="fn-backref" href="#id1">1</a></span></dt>
-<dd><p>Bartels, R.H. and Stewart, G.W.  T
-Solution of the matrix equation A X + XB = C.
-Comm. A.C.M., 15, pp. 820-826, 1972.</p>
-</dd>
-<dt class="label" id="r6a90cebc2f55-2"><span class="brackets">2</span><span class="fn-backref">(<a href="#id2">1</a>,<a href="#id3">2</a>)</span></dt>
-<dd><p>Bavely, C. and Stewart, G.W.
-An Algorithm for Computing Reducing Subspaces by Block
-Diagonalization.
-SIAM J. Numer. Anal., 16, pp. 359-367, 1979.</p>
-</dd>
-<dt class="label" id="r6a90cebc2f55-3"><span class="brackets">3</span></dt>
-<dd><p>Demmel, J.
-The Condition Number of Equivalence Transformations that
-Block Diagonalize Matrix Pencils.
-SIAM J. Numer. Anal., 20, pp. 599-610, 1983.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-mb03vd">
-<h1>slycot.mb03vd<a class="headerlink" href="#slycot-mb03vd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mb03vd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03vd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03vd" title="Permalink to this definition"></a></dt>
-<dd><p>To reduce a product of p real general matrices A = A_1*A_2*…*A_p
-to upper Hessenberg form, H = H_1*H_2*…*H_p, where H_1 is
-upper Hessenberg, and H_2, …, H_p are upper triangular, by using
-orthogonal similarity transformations on A,</p>
-<blockquote>
-<div><p>Q_1’ * A_1 * Q_2 = H_1,
-Q_2’ * A_2 * Q_3 = H_2,</p>
-<blockquote>
-<div><p>…</p>
-</div></blockquote>
-<p>Q_p’ * A_p * Q_1 = H_p.</p>
-</div></blockquote>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the square matrices A_1, A_2, …, A_p.
-n &gt;= 0.</p></li>
-<li><p><strong>ilo</strong> (<em>int</em>) – It is assumed that all matrices A_j, j = 2, …, p, are
-already upper triangular in rows and columns [:ilo-1] and
-[ihi:n], and A_1 is upper Hessenberg in rows and columns
-[:ilo-1] and [ihi:n], with A_1[ilo-1,ilo-2] = 0 (unless
-ilo = 1), and A_1[ihi,ihi-1] = 0 (unless ihi = n).
-If this is not the case, ilo and ihi should be set to 1
-and n, respectively.
-1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
-<li><p><strong>ihi</strong> (<em>int</em>) – It is assumed that all matrices A_j, j = 2, …, p, are
-already upper triangular in rows and columns [:ilo-1] and
-[ihi:n], and A_1 is upper Hessenberg in rows and columns
-[:ilo-1] and [ihi:n], with A_1[ilo-1,ilo-2] = 0 (unless
-ilo = 1), and A_1[ihi,ihi-1] = 0 (unless ihi = n).
-If this is not the case, ilo and ihi should be set to 1
-and n, respectively.
-1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
-<li><p><strong>A</strong> (<em>ndarray</em>) – A[:n,:n,:p] must contain the matrices of factors to be reduced;
-specifically, A[:,:,j-1] must contain A_j, j = 1, …, p.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>HQ</strong> (<em>ndarray</em>) – 3D array with same shape as A. The upper triangle and the first
-subdiagonal of HQ[:n,:n,0] contain the upper Hessenberg
-matrix H_1, and the elements below the first subdiagonal,
-with the first column of the array Tau represent the
-orthogonal matrix Q_1 as a product of elementary
-reflectors. See FURTHER COMMENTS.
-For j &gt; 1, the upper triangle of HQ[:n,:n,j-1]
-contains the upper triangular matrix H_j, and the elements
-below the diagonal, with the j-th column of the array TAU
-represent the orthogonal matrix Q_j as a product of
-elementary reflectors. See FURTHER COMMENTS.</p></li>
-<li><p><strong>Tau</strong> (<em>ndarray</em>) – 2D array with shape (max(1, n-1), p).
-The leading n-1 elements in the j-th column contain the
-scalar factors of the elementary reflectors used to form
-the matrix Q_j, j = 1, …, p. See FURTHER COMMENTS.</p></li>
-<li><p><em>Further Comments</em></p></li>
-<li><p><em>—————-</em></p></li>
-<li><p><em>Each matrix Q_j is represented as a product of (ihi-ilo)</em></p></li>
-<li><p><em>elementary reflectors,</em> – Q_j = H_j(ilo) H_j(ilo+1) … H_j(ihi-1).</p></li>
-<li><p><em>Each H_j(i), i = ilo, …, ihi-1, has the form</em> – H_j(i) = I - tau_j * v_j * v_j’,</p></li>
-<li><p><em>where tau_j is a real scalar, and v_j is a real vector with</em></p></li>
-<li><p><strong>v_j(1</strong> (<em>i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)</em>)</p></li>
-<li><p><strong>is stored on exit in A_j(i+2</strong> (<em>ihi,i), and tau_j in TAU(i,j).</em>)</p></li>
-<li><p><em>The contents of A_1 are illustrated by the following example</em></p></li>
-<li><p><em>for n = 7, ilo = 2, and ihi = 6</em></p></li>
-<li><p><em>on entry                         on exit</em></p></li>
-<li><p><em>( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )</em></p></li>
-<li><p><em>( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )</em></p></li>
-<li><p><em>where a denotes an element of the original matrix A_1, h denotes</em></p></li>
-<li><p><em>a modified element of the upper Hessenberg matrix H_1, and vi</em></p></li>
-<li><p><em>denotes an element of the vector defining H_1(i).</em></p></li>
-<li><p><em>The contents of A_j, j &gt; 1, are illustrated by the following</em></p></li>
-<li><p><em>example for n = 7, ilo = 2, and ihi = 6</em></p></li>
-<li><p><em>on entry                         on exit</em></p></li>
-<li><p><em>( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )</em></p></li>
-<li><p><em>( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )</em></p></li>
-<li><p><em>( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )</em></p></li>
-<li><p><em>where a denotes an element of the original matrix A_j, h denotes</em></p></li>
-<li><p><em>a modified element of the upper triangular matrix H_j, and vi</em></p></li>
-<li><p><em>denotes an element of the vector defining H_j(i). (The element</em></p></li>
-<li><p><em>(1,2) in A_p is also unchanged for this example.)</em></p></li>
-</ul>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-mb03vy">
-<h1>slycot.mb03vy<a class="headerlink" href="#slycot-mb03vy" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mb03vy">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03vy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Tau</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03vy" title="Permalink to this definition"></a></dt>
-<dd><p>To generate the real orthogonal matrices Q_1, Q_2, …, Q_p,
-which are defined as the product of ihi-ilo elementary reflectors
-of order n, as returned by SLICOT Library routine MB03VD:</p>
-<blockquote>
-<div><p>Q_j = H_j(ilo) H_j(ilo+1) … H_j(ihi-1).</p>
-</div></blockquote>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices Q_1, Q_2, …, Q_p.  N &gt;= 0.</p></li>
-<li><p><strong>ilo</strong> (<em>int</em>) – The values of the indices ilo and ihi, respectively, used
-in the previous call of the SLICOT Library routine MB03VD.
-1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
-<li><p><strong>ihi</strong> (<em>int</em>) – The values of the indices ilo and ihi, respectively, used
-in the previous call of the SLICOT Library routine MB03VD.
-1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p></li>
-<li><p><strong>A</strong> (<em>ndarray</em>) – A[:n,:n,j-1] must contain the vectors which define the
-elementary reflectors used for reducing A_j, as returned
-by SLICOT Library routine MB03VD, j = 1, …, p.</p></li>
-<li><p><strong>Tau</strong> (<em>ndarray</em>) – The leading N-1 elements in the j-th column must contain
-the scalar factors of the elementary reflectors used to
-form the matrix Q_j, as returned by SLICOT Library routine
-MB03VD.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the internal array DWORK.  ldwork &gt;= max(1, n).
-For optimum performance ldwork should be larger.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><strong>Q</strong> – 3D array with same shape as A. Q[:n,:n,j-1] contains the
-N-by-N orthogonal matrix Q_j, j = 1, …, p.</p>
-</dd>
-<dt class="field-odd">Return type</dt>
-<dd class="field-odd"><p>ndarray</p>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-mb03wd">
-<h1>slycot.mb03wd<a class="headerlink" href="#slycot-mb03wd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mb03wd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb03wd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">compz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ilo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihi</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">iloz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ihiz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">H</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb03wd" title="Permalink to this definition"></a></dt>
-<dd><blockquote>
-<div><p>To compute the Schur decomposition and the eigenvalues of a
-product of matrices, H = H_1*H_2*…*H_p, with H_1 an upper
-Hessenberg matrix and H_2, …, H_p upper triangular matrices,
-without evaluating the product. Specifically, the matrices Z_i
-are computed, such that</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Z_1</span><span class="s1">&#39; * H_1 * Z_2 = T_1,</span>
-<span class="n">Z_2</span><span class="s1">&#39; * H_2 * Z_3 = T_2,</span>
-       <span class="o">...</span>
-<span class="n">Z_p</span><span class="s1">&#39; * H_p * Z_1 = T_p,</span>
-</pre></div>
-</div>
-<p>where T_1 is in real Schur form, and T_2, …, T_p are upper
-triangular.</p>
-<p>The routine works primarily with the Hessenberg and triangular
-submatrices in rows and columns ilo to ihi, but optionally applies
-the transformations to all the rows and columns of the matrices
-H_i, i = 1,…,p. The transformations can be optionally
-accumulated.</p>
-</div></blockquote>
-<dl class="field-list">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><dl>
-<dt><strong>job</strong><span class="classifier">{‘E’, ‘S’}</span></dt><dd><p>Indicates whether the user wishes to compute the full
-Schur form or the eigenvalues only, as follows:
-= ‘E’:  Compute the eigenvalues only;
-= ‘S’:  Compute the factors T_1, …, T_p of the full</p>
-<blockquote>
-<div><p>Schur form, T = T_1*T_2*…*T_p.</p>
-</div></blockquote>
-</dd>
-<dt><strong>compz</strong><span class="classifier">{‘N’, ‘I’, ‘V’}</span></dt><dd><blockquote>
-<div><p>Indicates whether or not the user wishes to accumulate
-the matrices Z_1, …, Z_p, as follows:
-= ‘N’:  The matrices Z_1, …, Z_p are not required;
-= ‘I’:  Z_i is initialized to the unit matrix and the</p>
-<blockquote>
-<div><p>orthogonal transformation matrix Z_i is returned,
-i = 1, …, p;</p>
-</div></blockquote>
-<dl class="simple">
-<dt>= ‘V’:  Z_i must contain an orthogonal matrix Q_i on</dt><dd><p>entry, and the product Q_i*Z_i is returned,
-i = 1, …, p.</p>
-</dd>
-</dl>
-</div></blockquote>
-<dl class="simple">
-<dt>n<span class="classifier">int</span></dt><dd><p>The order of the matrix H.  n &gt;= 0</p>
-</dd>
-<dt>ilo, ihi<span class="classifier">int</span></dt><dd><p>It is assumed that all matrices H_j, j = 2, …, p, are
-already upper triangular in rows and columns [:ilo-1] and
-[ihi:n], and H_1 is upper quasi-triangular in rows and
-columns [:ilo-1] and [ihi:n], with H_1[ilo-1,ilo-2] = 0
-(unless ilo = 1), and H_1[ihi,ihi-1] = 0 (unless ihi = n).
-The routine works primarily with the Hessenberg submatrix
-in rows and columns ilo to ihi, but applies the
-transformations to all the rows and columns of the
-matrices H_i, i = 1,…,p, if JOB = ‘S’.
-1 &lt;= ilo &lt;= max(1,n); min(ilo,n) &lt;= ihi &lt;= n.</p>
-</dd>
-<dt>iloz, ihiz<span class="classifier">int</span></dt><dd><p>Specify the rows of Z to which the transformations must be
-applied if compz = ‘I’ or compz = ‘V’.
-1 &lt;= iloz &lt;= ilo; ihi &lt;= ihiz &lt;= n.</p>
-</dd>
-<dt>H<span class="classifier">array_like</span></dt><dd><p>H[:n,:n,0] must contain the upper Hessenberg matrix H_1 and
-H[:n,:n,j-1] for j &gt; 1 must contain the upper triangular matrix
-H_j, j = 2, …, p.</p>
-</dd>
-<dt>Q<span class="classifier">array_like</span></dt><dd><p>If compz = ‘V’, Q[:n,:n,:p] must contain the current matrix Q of
-transformations accumulated by SLICOT Library routine
-MB03VY.
-If compz = ‘I’, Q is ignored</p>
-</dd>
-<dt>ldwork<span class="classifier">int, optional</span></dt><dd><p>The length of the cache array. The default value is
-ihi-ilo+p-1</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><dl class="simple">
-<dt><strong>T</strong><span class="classifier">ndarray</span></dt><dd><p>3D array with the same shape as H.
-If JOB = ‘S’, T[:n,:n,0] is upper quasi-triangular in rows
-and columns [ilo-1:ihi], with any 2-by-2 diagonal blocks
-corresponding to a pair of complex conjugated eigenvalues, and
-T[:n,:n,j-1] for j &gt; 1 contains the resulting upper
-triangular matrix T_j.
-If job = ‘E’, T is None</p>
-</dd>
-<dt><strong>Z</strong><span class="classifier">ndarray</span></dt><dd><p>3D array with the same shape as Q.
-If compz = ‘V’, or compz = ‘I’, the leading
-N-by-N-by-P part of this array contains the transformation
-matrices which produced the Schur form; the
-transformations are applied only to the submatrices
-Z[iloz-1:ihiz,ilo-1:ihi,j-1], j = 1, …, p.
-If compz = ‘N’, Z is None</p>
-</dd>
-<dt><strong>W</strong><span class="classifier">(n,) complex ndarray</span></dt><dd><p>The computed eigenvalues ilo to ihi. If two eigenvalues
-are computed as a complex conjugate pair, they are stored
-in consecutive elements of W say the i-th and
-(i+1)th, with imag(W][i]) &gt; 0 and imag(W[i+1]) &lt; 0.
-If JOB = ‘S’, the eigenvalues are stored in the same order
-as on the diagonal of the Schur form returned in H.</p>
-</dd>
-</dl>
-</dd>
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><dl class="simple">
-<dt>SlycotResultWarning</dt><dd><dl class="field-list simple">
-<dt class="field-odd">info &gt; 0</dt>
-<dd class="field-odd"><p>failed to compute all the eigenvalues {ilo} to {ihi}
-in a total of 30*({ihi}-{ilo}+1) iterations
-the elements Wr[{info}:{ihi}] contains those
-eigenvalues which have been successfully computed.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
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-
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-  <div class="section" id="slycot-mb05md">
-<h1>slycot.mb05md<a class="headerlink" href="#slycot-mb05md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mb05md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb05md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">balanc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'N'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb05md" title="Permalink to this definition"></a></dt>
-<dd><p>Matrix exponential for a real non-defective matrix</p>
-<p>To compute <code class="docutils literal notranslate"><span class="pre">exp(A*delta)</span></code> where <cite>A</cite> is a real N-by-N non-defective
-matrix with real or complex eigenvalues and delta is a scalar
-value. The routine also returns the eigenvalues and eigenvectors
-of <cite>A</cite> as well as (if all eigenvalues are real) the matrix product
-<code class="docutils literal notranslate"><span class="pre">exp(Lambda*delta)</span></code> times the inverse of the eigenvector matrix of
-<cite>A</cite>, where <cite>Lambda</cite> is the diagonal matrix of eigenvalues.
-Optionally, the routine computes a balancing transformation to
-improve the conditioning of the eigenvalues and eigenvectors.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Square matrix</p></li>
-<li><p><strong>delta</strong> (<em>float</em>) – The scalar value delta of the problem.</p></li>
-<li><p><strong>balanc</strong> (<em>{'N'</em><em>, </em><em>'S'}</em><em>, </em><em>optional</em>) – <p>Indicates how the input matrix should be diagonally scaled
-to improve the conditioning of its eigenvalues as follows:</p>
-<dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Do not diagonally scale;</p>
-</dd>
-<dt class="field-even">= ‘S’</dt>
-<dd class="field-even"><p>Diagonally scale the matrix, i.e. replace <cite>A</cite> by
-<code class="docutils literal notranslate"><span class="pre">D*A*D**(-1)</span></code>, where <cite>D</cite> is a diagonal matrix chosen
-to make the rows and columns of A more equal in
-norm. Do not permute.</p>
-</dd>
-</dl>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><strong>Ar</strong> (<em>(n, n) ndarray</em>) – Contains the solution matrix <code class="docutils literal notranslate"><span class="pre">exp(A*delta)</span></code></p></li>
-<li><p><strong>Vr</strong> (<em>(n, n) ndarray</em>) – Contains the eigenvector matrix for <cite>A</cite>.  If the <cite>k</cite>-th
-eigenvalue is real the <cite>k</cite>-th column of the eigenvector
-matrix holds the eigenvector corresponding to the <cite>k</cite>-th
-eigenvalue.  Otherwise, the <cite>k</cite>-th and <cite>(k+1)</cite>-th eigenvalues
-form a complex conjugate pair and the k-th and <cite>(k+1)</cite>-th
-columns of the eigenvector matrix hold the real and
-imaginary parts of the eigenvectors corresponding to these
-eigenvalues as follows.  If <cite>p</cite> and <cite>q</cite> denote the <cite>k</cite>-th and
-<cite>(k+1)</cite>-th columns of the eigenvector matrix, respectively,
-then the eigenvector corresponding to the complex
-eigenvalue with positive (negative) imaginary value is
-given by</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">p</span> <span class="pre">+</span> <span class="pre">q*j</span> <span class="pre">(p</span> <span class="pre">-</span> <span class="pre">q*j),</span> <span class="pre">where</span> <span class="pre">j^2</span>&#160; <span class="pre">=</span> <span class="pre">-1.</span></code></p>
-</div></blockquote>
-</li>
-<li><p><strong>Yr</strong> (<em>(n, n) ndarray</em>) – contains an intermediate result for computing the matrix
-exponential.  Specifically, <code class="docutils literal notranslate"><span class="pre">exp(A*delta)</span></code> is obtained as the
-product <code class="docutils literal notranslate"><span class="pre">V*Y</span></code>, where <cite>V</cite> is the matrix stored in the leading
-<cite>n</cite>-by-<cite>n</cite> part of the array <cite>V</cite>. If all eigenvalues of <cite>A</cite> are
-real, then the leading <cite>n</cite>-by-<cite>n</cite> part of this array contains
-the matrix product <code class="docutils literal notranslate"><span class="pre">exp(Lambda*delta)</span></code> times the inverse of
-the (right) eigenvector matrix of <cite>A</cite>, where <cite>Lambda</cite> is the
-diagonal matrix of eigenvalues.</p></li>
-<li><p><strong>w</strong> (<em>(n, ) real or complex ndarray</em>) – Contains the eigenvalues of the matrix <cite>A</cite>. The eigenvalues
-are unordered except that complex conjugate pairs of values
-appear consecutively with the eigenvalue having positive
-imaginary part first.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">0 &lt; info &lt;=n</dt>
-<dd class="field-odd"><p>the QR algorithm failed to compute all
-the eigenvalues; no eigenvectors have been computed;
-w[{info}:{n}] contains eigenvalues which have converged;</p>
-</dd>
-<dt class="field-even">info == n+1</dt>
-<dd class="field-even"><p>The inverse of the eigenvector matrix could not
-be formed due to an attempt to divide by zero, i.e.,
-the eigenvector matrix is singular;</p>
-</dd>
-<dt class="field-odd">info == n+2</dt>
-<dd class="field-odd"><p>Matrix A is defective, possibly due to rounding errors.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-mb05nd">
-<h1>slycot.mb05nd<a class="headerlink" href="#slycot-mb05nd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mb05nd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mb05nd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1e-7</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mb05nd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">a</span><span class="p">)</span>    <span class="n">F</span><span class="p">(</span><span class="n">delta</span><span class="p">)</span> <span class="o">=</span>  <span class="n">exp</span><span class="p">(</span><span class="n">A</span><span class="o">*</span><span class="n">delta</span><span class="p">)</span> <span class="ow">and</span>
-<span class="p">(</span><span class="n">b</span><span class="p">)</span>    <span class="n">H</span><span class="p">(</span><span class="n">delta</span><span class="p">)</span> <span class="o">=</span>  <span class="n">Int</span><span class="p">[</span><span class="n">F</span><span class="p">(</span><span class="n">s</span><span class="p">)</span> <span class="n">ds</span><span class="p">]</span> <span class="kn">from</span> <span class="nn">s</span> <span class="o">=</span> <span class="mi">0</span> <span class="n">to</span> <span class="n">s</span> <span class="o">=</span> <span class="n">delta</span><span class="p">,</span>
-</pre></div>
-</div>
-<p>where <cite>A</cite> is a real`n`-by-<cite>n</cite> matrix and <cite>delta</cite> is a scalar value.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Square matrix</p></li>
-<li><p><strong>delta</strong> (<em>float</em>) – The scalar value delta of the problem.</p></li>
-<li><p><strong>tol</strong> (<em>float</em>) – Tolerance. A good value is sqrt(eps)</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>F</strong> (<em>(n, n) ndarray</em>) – exp(A*delta)</p></li>
-<li><p><strong>H</strong> (<em>(n, n) ndarray</em>) – Int[F(s) ds] from s = 0 to s = delta,</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">1 &lt; info &lt;=n</dt>
-<dd class="field-odd"><p>the ({info},{info}) element of the denominator of
-the Pade approximation is zero, so the denominator
-is exactly singular;</p>
-</dd>
-<dt class="field-even">info == n+1</dt>
-<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">DELTA</span> <span class="pre">=</span> <span class="pre">(delta</span> <span class="pre">*</span> <span class="pre">frobenius</span> <span class="pre">norm</span> <span class="pre">of</span> <span class="pre">matrix</span> <span class="pre">A)</span></code> is
-probably too large to permit meaningful computation.
-That is, {delta} &gt; SQRT(BIG), where BIG is a
-representable number near the overflow threshold of
-the machine (see LAPACK Library Routine DLAMCH).</p>
-</dd>
-</dl>
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-  <div class="section" id="slycot-mc01td">
-<h1>slycot.mc01td<a class="headerlink" href="#slycot-mc01td" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.mc01td">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">mc01td</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dp</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.mc01td" title="Permalink to this definition"></a></dt>
-<dd><p>To determine whether or not a given polynomial P(x) with real
-coefficients is stable, either in the continuous-time or discrete-
-time case.</p>
-<p>A polynomial is said to be stable in the continuous-time case
-if all its zeros lie in the left half-plane, and stable in the
-discrete-time case if all its zeros lie inside the unit circle.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <p>Indicates whether the stability test to be applied to <cite>P(x)</cite> is in
-the continuous-time or discrete-time case as follows:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">=</span> <span class="s1">&#39;C&#39;</span><span class="p">:</span>  <span class="n">continuous</span><span class="o">-</span><span class="n">time</span> <span class="n">case</span><span class="p">;</span>
-<span class="o">=</span> <span class="s1">&#39;D&#39;</span><span class="p">:</span>  <span class="n">discrete</span><span class="o">-</span><span class="n">time</span> <span class="n">case</span><span class="o">.</span>
-</pre></div>
-</div>
-</p></li>
-<li><p><strong>dp</strong> (<em>int</em>) – The degree of the polynomial <cite>P(x)</cite>.  <code class="docutils literal notranslate"><span class="pre">dp</span> <span class="pre">&gt;=</span> <span class="pre">0</span></code>.</p></li>
-<li><p><strong>p</strong> (<em>(</em><em>dp+1</em><em>, </em><em>) </em><em>array_like</em>) – This array must contain the coefficients of <cite>P(x)</cite> in increasing
-powers of <cite>x</cite>.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>dp</strong> (<em>int</em>) – If <code class="docutils literal notranslate"><span class="pre">P(dp+1)</span> <span class="pre">=</span> <span class="pre">0.0</span></code> on entry, then <cite>dp</cite> contains the index of the
-highest power of <cite>x</cite> for which <code class="docutils literal notranslate"><span class="pre">P(dp+1)</span> <span class="pre">&lt;&gt;</span> <span class="pre">0.0</span></code>.</p></li>
-<li><p><strong>stable</strong> (<em>int</em>) – Equal to 1 if <cite>P(x)</cite> is stable, 0 otherwise.</p></li>
-<li><p><strong>nz</strong> (<em>int</em>) – The number of unstable zeros.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">info == 1</dt>
-<dd class="field-odd"><p>Entry <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> is the zero polynomial.</p>
-</dd>
-<dt class="field-even">info == 2 and dico == ‘C’</dt>
-<dd class="field-even"><p>The polynomial <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> is most probably unstable,
-although it may be stable with one or more zeros
-very close to the imaginary axis.
-The number of unstable zeros (NZ) is not determined.</p>
-</dd>
-<dt class="field-odd">info == 2 and dico == ‘D’</dt>
-<dd class="field-odd"><p>The polynomial <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> is most probably unstable,
-although it may be stable with one or more zeros
-very close to the the unit circle.
-The number of unstable zeros (NZ) is not determined.</p>
-</dd>
-<dt class="field-even">iwarn &gt; 0</dt>
-<dd class="field-even"><p>The degree of the polynomial <code class="docutils literal notranslate"><span class="pre">P(x)</span></code> has been
-reduced to <code class="docutils literal notranslate"><span class="pre">(DB</span> <span class="pre">-</span> <span class="pre">{iwarn})</span></code> because
-<code class="docutils literal notranslate"><span class="pre">P(DB+1-j)</span> <span class="pre">=</span> <span class="pre">0.0</span></code> on entry
-for <code class="docutils literal notranslate"><span class="pre">j</span> <span class="pre">=</span> <span class="pre">0,</span> <span class="pre">1,...,</span> <span class="pre">k-1</span></code> and <code class="docutils literal notranslate"><span class="pre">P(DB+1-k)</span> <span class="pre">&lt;&gt;</span> <span class="pre">0.0</span></code>.</p>
-</dd>
-</dl>
-</dd>
-</dl>
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-  <div class="section" id="slycot-sb01bd">
-<h1>slycot.sb01bd<a class="headerlink" href="#slycot-sb01bd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb01bd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb01bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">alpha</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">w</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb01bd" title="Permalink to this definition"></a></dt>
-<dd><p>To determine the state feedback matrix F for a given system (A,B) such that
-the closed-loop state matrix A+B*F has specified eigenvalues.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The dimension of the state vector, n &gt;= 0.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The dimension of input vector, m &gt;= 0.</p></li>
-<li><p><strong>np</strong> (<em>int</em>) – The number of given eigenvalues. At most n eigenvalues can be
-assigned.  0 &lt;= np &lt;= n.</p></li>
-<li><p><strong>alpha</strong> (<em>float</em>) – Specifies the maximum admissible value, either for real parts,
-if dico = ‘C’, or for moduli, if dico = ‘D’, of the eigenvalues of
-A which will not be modified by the eigenvalue assignment algorithm.
-alpha &gt;= 0 if dico = ‘D’.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – State dynamics matrix.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input/state matrix.</p></li>
-<li><p><strong>w</strong> (<em>(</em><em>np</em><em>, </em><em>) </em><em>complex array_like</em>) – Array of the desired eigenvalues of the closed-loop system state-matrix
-A+B*F. The eigenvalues can be unordered, except that complex conjugate
-pairs must appear consecutively.</p></li>
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
-<dt>Specifies the type of the original system as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>continuous-time system;</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>discrete-time system.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The absolute tolerance level below which the elements of A or B are
-considered zero (used for controllability tests).
-If tol &lt;= 0 the default value is used.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is
-max(1,5*m,5*n,2*n+4*m), for optimum performance it should be larger.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>A_z</strong> (<em>(n, n) ndarray</em>) – This array contains the matrix Z’<a href="#id1"><span class="problematic" id="id2">*</span></a>(A+B*F)*Z in a real Schur form.
-The diagonal block A[:nfp, :nfp] corresponds to the fixed (unmodified)
-eigenvalues having real parts less than alpha, if dico = ‘C’, or moduli
-less than alpha if dico = ‘D’.
-The diagonal block A[n-nup:, n-nup:] corresponds to the uncontrollable
-eigenvalues detected by the eigenvalue assignment algorithm.
-The elements under the first subdiagonal are set to zero.</p></li>
-<li><p><strong>w</strong> (<em>(np, ) complex ndarray</em>) – The first part w[:nap] contain the assigned eigenvalues.
-The rest w[np-nap:] contain the unassigned eigenvalues.</p></li>
-<li><p><strong>nfp</strong> (<em>int</em>) – The number of eigenvalues of A having real parts less than alpha,
-if dico = ‘C’, or moduli less than alpha, if dico = ‘D’. These
-eigenvalues are not modified by the eigenvalue assignment algorithm.</p></li>
-<li><p><strong>nap</strong> (<em>int</em>) – The number of assigned eigenvalues.</p></li>
-<li><p><strong>nup</strong> (<em>int</em>) – The number of uncontrollable eigenvalues detected by the eigenvalue
-assignment algorithm.</p></li>
-<li><p><strong>F</strong> (<em>(m, n) ndarray</em>) – The state feedback F, which assigns nap closed-loop eigenvalues and
-keeps unaltered n-nap open-loop eigenvalues.</p></li>
-<li><p><strong>Z</strong> (<em>(n, n) ndarray</em>) – The orthogonal matrix Z which reduces the closed-loop system state
-matrix A + B*F to upper real Schur form.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>the reduction of A to a real Schur form failed;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>a failure was detected during the ordering of the
-real Schur form of A, or in the iterative process
-for reordering the eigenvalues of Z’<a href="#id3"><span class="problematic" id="id4">*</span></a>(A + B*F)*Z
-along the diagonal.</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>the number of eigenvalues to be assigned is less
-than the number of possibly assignable eigenvalues;
-<a href="#id5"><span class="problematic" id="id6">`</span></a>nap`={nap} eigenvalues have been properly assigned,
-but some assignable eigenvalues remain unmodified.</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>an attempt is made to place a complex conjugate
-pair on the location of a real eigenvalue. This
-situation can only appear when <code class="docutils literal notranslate"><span class="pre">n-nfp</span></code> is odd,
-<code class="docutils literal notranslate"><span class="pre">np</span> <span class="pre">&gt;</span> <span class="pre">n-nfp-nup</span></code> is even, and for the last real
-eigenvalue to be modified there exists no available
-real eigenvalue to be assigned. However, <a href="#id7"><span class="problematic" id="id8">`</span></a>nap`={nap}
-eigenvalues have been already properly assigned.</p>
-</dd>
-<dt class="field-odd">iwarn &gt; 0</dt>
-<dd class="field-odd"><p>{iwarn} violations of the numerical stability condition
-<code class="docutils literal notranslate"><span class="pre">NORM(F)</span> <span class="pre">&lt;=</span> <span class="pre">100*NORM(A)/NORM(B)</span></code> occured during the
-assignment of eigenvalues</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<p class="rubric">Example</p>
-<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">B</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">eig</span><span class="p">(</span><span class="n">A</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># open loop eigenvalues</span>
-<span class="go">array([ 3.11490754,  0.74589831, -0.86080585])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">w</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.4</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">sb01bd</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">A</span><span class="p">,</span> <span class="n">B</span><span class="p">,</span> <span class="n">w</span><span class="p">,</span> <span class="s1">&#39;D&#39;</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">A_fb</span> <span class="o">=</span> <span class="n">A</span> <span class="o">+</span> <span class="n">np</span><span class="o">.</span><span class="n">dot</span><span class="p">(</span><span class="n">B</span><span class="p">,</span> <span class="n">out</span><span class="p">[</span><span class="mi">5</span><span class="p">])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">eig</span><span class="p">(</span><span class="n">A_fb</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># closed loop eigenvalues</span>
-<span class="go">array([ 0.2       ,  0.40000001,  0.5       ])</span>
-</pre></div>
-</div>
-</dd></dl>
-
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-  <div class="section" id="slycot-sb02md">
-<h1>slycot.sb02md<a class="headerlink" href="#slycot-sb02md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb02md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb02md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">G</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">hinv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scal</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb02md" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X either the continuous-time algebraic Riccati
-equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                      <span class="o">-</span><span class="mi">1</span>
-<span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;*X + X*A - X*B*R  B&#39;</span><span class="o">*</span><span class="n">X</span> <span class="o">=</span> <span class="mi">0</span>                            <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>or the discrete-time algebraic Riccati equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                                <span class="o">-</span><span class="mi">1</span>
-<span class="n">X</span> <span class="o">=</span> <span class="n">A</span><span class="s1">&#39;*X*A - A&#39;</span><span class="o">*</span><span class="n">X</span><span class="o">*</span><span class="n">B</span><span class="o">*</span><span class="p">(</span><span class="n">R</span> <span class="o">+</span> <span class="sa">B</span><span class="s1">&#39;*X*B)  B&#39;</span><span class="o">*</span><span class="n">X</span><span class="o">*</span><span class="n">A</span> <span class="o">+</span> <span class="n">Q</span>                <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>where A, B, Q and R are n-by-n, n-by-m, n-by-n and m-by-m matrices
-respectively, with Q symmetric and R symmetric nonsingular; X is
-an n-by-n symmetric matrix.</p>
-<p>The matrix <code class="docutils literal notranslate"><span class="pre">G</span> <span class="pre">=</span> <span class="pre">B*R^{-1}*B'</span></code> must be provided on input, instead of B and
-R, that is, for instance, the continuous-time equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;*X + X*A - X*G*X = 0                                  (3)</span>
-</pre></div>
-</div>
-<p>is solved, where G is an n-by-n symmetric matrix. Slycot Library
-routine sb02mt should be used to compute G, given B and R. sb02mt
-also enables to solve Riccati equations corresponding to optimal
-problems with coupling terms.</p>
-<p>The routine also returns the computed values of the closed-loop
-spectrum of the optimal system, i.e., the stable eigenvalues
-lambda(1),…,lambda(n) of the corresponding Hamiltonian or
-symplectic matrix associated to the optimal problem.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices A, Q, G and X.  n &gt; 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – </p></li>
-<li><p><strong>G</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The upper triangular part (if uplo = ‘U’) or lower triangular
-part (if uplo = ‘L’) of this array must contain the upper
-triangular part or lower triangular part, respectively, of the
-symmetric matrix G.</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The upper triangular part (if uplo = ‘U’) or lower triangular
-part (if uplo = ‘L’) of this array must contain the upper
-triangular part or lower triangular part, respectively,
-of the symmetric matrix Q.</p></li>
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
-<dt>Specifies the type of Riccati equation to be solved as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Equation (3), continuous-time case;</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Equation (2), discrete-time case.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>hinv</strong> (<em>{'D'</em><em>, </em><em>'I'}</em><em>, </em><em>optional</em>) – <p>If dico = ‘D’, specifies which symplectic matrix is to be
-constructed, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘D’</dt>
-<dd class="field-odd"><p>The Hamiltonian or sympletic matrix H is constructed;</p>
-</dd>
-<dt class="field-even">= ‘I’</dt>
-<dd class="field-even"><p>The inverse of the matrix H is constructed.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘D’. hinv is not used if DICO = ‘C’.</p>
-</p></li>
-<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em><em>, </em><em>optional</em>) – <p>Specifies which triangle of the matrices G and Q is stored,
-as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘U’</dt>
-<dd class="field-odd"><p>Upper triangle is stored;</p>
-</dd>
-<dt class="field-even">= ‘L’</dt>
-<dd class="field-even"><p>Lower triangle is stored.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘U’.</p>
-</p></li>
-<li><p><strong>scal</strong> (<em>{'N'</em><em>, </em><em>'G'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not a scaling strategy should be used,
-as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘G’</dt>
-<dd class="field-odd"><p>General scaling should be used;</p>
-</dd>
-<dt class="field-even">= ‘N’</dt>
-<dd class="field-even"><p>No scaling should be used.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘N’.</p>
-</p></li>
-<li><p><strong>sort</strong> (<em>{'S'</em><em>, </em><em>'U'}</em><em>, </em><em>optional</em>) – <p>Specifies which eigenvalues should be obtained in the top of
-the Schur form, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘S’</dt>
-<dd class="field-odd"><p>Stable   eigenvalues come first;</p>
-</dd>
-<dt class="field-even">= ‘U’</dt>
-<dd class="field-even"><p>Unstable eigenvalues come first.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘S’.</p>
-</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is max(3, 6*n),
-for optimum performance it should be larger.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – The solution matrix of the problem.</p></li>
-<li><p><strong>rcond</strong> (<em>float</em>) – An estimate of the reciprocal of the condition number (in
-the 1-norm) of the n-th order system of algebraic
-equations from which the solution matrix X is obtained.</p></li>
-<li><p><strong>w</strong> (<em>(2*n, ) complex ndarray</em>) – This array contain the eigenvalues of the 2n-by-2n matrix S, ordered
-as specified by sort (except for the case hinv = ‘D’, when the order
-is opposite to that specified by sort). The leading n elements of
-this array contain the closed-loop spectrum of the system matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>              <span class="o">-</span><span class="mi">1</span>
-<span class="n">A</span> <span class="o">-</span> <span class="n">B</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="sa">B</span><span class="s1">&#39;*X, if dico = &#39;</span><span class="n">C</span><span class="s1">&#39;,</span>
-
-<span class="ow">or</span> <span class="n">of</span> <span class="n">the</span> <span class="n">matrix</span>
-
-                  <span class="o">-</span><span class="mi">1</span>
-<span class="n">A</span> <span class="o">-</span> <span class="n">B</span><span class="o">*</span><span class="p">(</span><span class="n">R</span> <span class="o">+</span> <span class="sa">B</span><span class="s1">&#39;*X*B)  B&#39;</span><span class="o">*</span><span class="n">X</span><span class="o">*</span><span class="n">A</span><span class="p">,</span> <span class="k">if</span> <span class="n">dico</span> <span class="o">=</span> <span class="s1">&#39;D&#39;</span><span class="o">.</span>
-</pre></div>
-</div>
-</li>
-<li><p><strong>S</strong> (<em>(2*n, 2*n) ndarray</em>) – This array contains the ordered real Schur form S of the Hamiltonian
-or symplectic matrix H.</p></li>
-<li><p><strong>U</strong> (<em>(2*n, 2*n) ndarray</em>) – This array contains the transformation matrix U which reduces the
-Hamiltonian or symplectic matrix H to the ordered real Schur form S.</p></li>
-<li><p><strong>A_inv</strong> (<em>(n, n) ndarray</em>) – The inverse of A if dico = ‘D’ or a copy of A itself otherwise.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>SlycotParameterError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = -i</dt>
-<dd class="field-odd"><p>the i-th argument had an illegal value;</p>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>Matrix A is (numerically) singular in discrete-
-time case;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The Hamiltonian or symplectic matrix H cannot be
-reduced to real Schur form;</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>The real Schur form of the Hamiltonian or
-symplectic matrix H cannot be appropriately ordered;</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>The Hamiltonian or symplectic matrix H has less
-than n stable eigenvalues;</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The n-th order system of linear algebraic
-equations, from which the solution matrix X would
-be obtained, is singular to working precision.</p>
-</dd>
-</dl>
-</p></li>
-</ul>
-</dd>
-</dl>
-<p class="rubric">Example</p>
-<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">Q</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">G</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">sb02md</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="n">A</span><span class="p">,</span> <span class="n">G</span><span class="p">,</span> <span class="n">Q</span><span class="p">,</span> <span class="s1">&#39;C&#39;</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># X</span>
-<span class="go">array([[ 2.,  1.],</span>
-<span class="go">       [ 1.,  2.]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="c1"># rcond</span>
-<span class="go">0.3090169943749475</span>
-</pre></div>
-</div>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb02mt">
-<h1>slycot.sb02mt<a class="headerlink" href="#slycot-sb02mt" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb02mt">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb02mt</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">R</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">L</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobl</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb02mt" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the following matrices</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>       <span class="o">-</span><span class="mi">1</span>
-<span class="n">G</span> <span class="o">=</span> <span class="n">B</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="sa">B</span><span class="s1">&#39;,</span>
-
-             <span class="o">-</span><span class="mi">1</span>
-<span class="n">A_b</span> <span class="o">=</span> <span class="n">A</span> <span class="o">-</span> <span class="n">B</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="n">L</span><span class="s1">&#39;,</span>
-
-             <span class="o">-</span><span class="mi">1</span>
-<span class="n">Q_b</span> <span class="o">=</span> <span class="n">Q</span> <span class="o">-</span> <span class="n">L</span><span class="o">*</span><span class="n">R</span>  <span class="o">*</span><span class="n">L</span><span class="s1">&#39;,</span>
-</pre></div>
-</div>
-<p>where A, B, Q, R, L, and G are n-by-n, n-by-m, n-by-n, m-by-m, n-by-m,
-and n-by-n matrices, respectively, with Q, R and G symmetric matrices.</p>
-<p>When R is well-conditioned with respect to inversion, standard algorithms
-for solving linear-quadratic optimization problems will then also solve
-optimization problems with coupling weighting matrix L.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrices A, Q, and G, and the number of rows of
-the matrices B and L.  n &gt;= 0.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The order of the matrix R, and the number of columns of the matrices
-B and L.  m &gt;= 0.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – </p></li>
-<li><p><strong>R</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – If fact = ‘N’, the upper/lower triangular part of this array must
-contain the upper/lower triangular part, of the symmetric input
-weighting matrix R.
-If fact = ‘C’, the upper/lower triangular part of this array must
-contain the Cholesky factor of the positive definite input weighting
-matrix R.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If jobl = ‘Z’, this matrix is not needed.</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If jobl = ‘Z’, this matrix is not needed. Otherwise the upper/lower
-triangular part of this array (depending on uplo) must contain the
-corresponding part of matrix Q.</p></li>
-<li><p><strong>L</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If jobl = ‘Z’, this matrix is not needed.</p></li>
-<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'C'}</em><em>, </em><em>optional</em>) – <dl class="simple">
-<dt>Specifies how the matrix R is given (factored or not), as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Array R contains the matrix R,</p>
-</dd>
-<dt class="field-even">= ‘C’</dt>
-<dd class="field-even"><p>Array R contains the Cholesky factor of R.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<p>The default value is ‘N’.</p>
-</p></li>
-<li><p><strong>jobl</strong> (<em>{'Z'</em><em>, </em><em>'N'}</em><em>, </em><em>optional</em>) – When equal to ‘Z’, L is considered as a zero matrix and A, Q and L are
-not needed. A, Q and L are required otherwise.The default value is ‘Z’.</p></li>
-<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em><em>, </em><em>optional</em>) – <p>Specifies which triangle of the matrices R and Q (if jobl = ‘N’)
-is stored, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘U’</dt>
-<dd class="field-odd"><p>Upper triangle is stored;</p>
-</dd>
-<dt class="field-even">= ‘L’</dt>
-<dd class="field-even"><p>Lower triangle is stored.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘U’.</p>
-</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. Whenever fact = ‘N’ the default value
-is max(2, 3*m, n*m), for optimum performance it should be larger.
-No cache is needed if fact = ‘C’, defaults at 1.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><strong>A_b</strong> (<em>(n, n) ndarray</em>) – If jobl = ‘Z’, this is None.</p></li>
-<li><p><strong>B_b</strong> (<em>(n, m) ndarray</em>) – If oufact = 1 this array contains the matrix <code class="docutils literal notranslate"><span class="pre">B*chol(R)^{-1}</span></code>.
-It is a copy of input B if oufact = 2.</p></li>
-<li><p><strong>Q_b</strong> (<em>(n, n) ndarray</em>) – If jobl = ‘Z’, this is None. Otherwise the upper/lower triangular part
-of this array contain the corresponding triangular part of matrix Q_b
-(depending on uplo).</p></li>
-<li><p><strong>R_b</strong> (<em>(m, m) ndarray</em>) – If oufact = 1, the upper/lower triangular part of this array contains
-the Cholesky factor of the given input weighting matrix.
-If oufact = 2, the upper/lower triangular part of this array contains
-the factors of the UdU’ or LdL’ factorization, respectively, of the given
-input weighting matrix.
-If fact = ‘C’ it is a copy of input R.</p></li>
-<li><p><strong>L_b</strong> (<em>(n, m) ndarray</em>) – If jobl = ‘Z’, this is None. If oufact = 1, this array contains the matrix
-<code class="docutils literal notranslate"><span class="pre">L*chol(R)^{-1}</span></code>. If oufact = 2 this contains a copy of input L.</p></li>
-<li><p><strong>ipiv</strong> (<em>(m, ) int ndarray</em>) – If oufact = 2, this array contains details of the interchanges
-performed and the block structure of the d factor in the UdU’ or
-LdL’ factorization of matrix R, as produced by LAPACK routine DSYTRF.
-Otherwise it is None.</p></li>
-<li><p><strong>oufact</strong> (<em>int</em>) – Information about the factorization finally used.
-:oufact = 1:  Cholesky factorization of R has been used;
-:oufact = 2:  UdU’ (if uplo = ‘U’) or LdL’ (if uplo = ‘L’)</p>
-<blockquote>
-<div><p>factorization of R has been used.</p>
-</div></blockquote>
-</li>
-<li><p><strong>G</strong> (<em>(n, n) ndarray</em>) – The upper/lower triangular part of this array contains the corresponding
-triangular part of the matrix G.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">1 &lt;= info &lt;= m</dt>
-<dd class="field-odd"><p>The {info}-th element of the <cite>d</cite> factor is
-exactly zero; the <code class="docutils literal notranslate"><span class="pre">UdU'</span> <span class="pre">(or</span> <span class="pre">LdL')</span></code> factorization has
-been completed, but the block diagonal matrix d is
-exactly singular;</p>
-</dd>
-<dt class="field-even">info = m+1</dt>
-<dd class="field-even"><p>The matrix R is numerically singular.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb02od">
-<h1>slycot.sb02od<a class="headerlink" href="#slycot-sb02od" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb02od">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb02od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">R</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">L</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb02od" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X either the continuous-time algebraic Riccati
-equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                      <span class="o">-</span><span class="mi">1</span>
-<span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;X + XA - (L+XB)R  (L+XB)&#39;</span> <span class="o">=</span> <span class="mi">0</span>                       <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>or the discrete-time algebraic Riccati equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                             <span class="o">-</span><span class="mi">1</span>
-<span class="n">X</span> <span class="o">=</span> <span class="n">A</span><span class="s1">&#39;XA - (L+A&#39;</span><span class="n">XB</span><span class="p">)(</span><span class="n">R</span> <span class="o">+</span> <span class="sa">B</span><span class="s1">&#39;XB)  (L+A&#39;</span><span class="n">XB</span><span class="p">)</span><span class="s1">&#39; + Q              (2)</span>
-</pre></div>
-</div>
-<p>where A, B, Q, R, and L are n-by-n, n-by-m, n-by-n, m-by-m and
-n-by-m matrices, respectively, such that Q = C’C, R = D’D and
-L = C’D; X is an n-by-n symmetric matrix.
-The routine also returns the computed values of the closed-loop
-spectrum of the system, i.e., the stable eigenvalues w(1),
-…, w(n) of the corresponding Hamiltonian or symplectic
-pencil, in the continuous-time case or discrete-time case,
-respectively.</p>
-<p>Optionally, Q and/or R may be given in a factored form, Q = C’C,
-R = D’D, and L may be treated as a zero matrix.</p>
-<p>The routine uses the method of deflating subspaces, based on
-reordering the eigenvalues in a generalized Schur matrix pair.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The actual state dimension, i.e. the order of the matrices A, Q,
-and X, and the number of rows of the matrices B and L.  n &gt; 0.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The number of system inputs, the order of the matrix R, and the
-number of columns of the matrix B.  m &gt; 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – The state matrix of the system.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – The input matrix of the system.</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) or </em><em>(</em><em>p</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If fact = ‘N’ or ‘D’, the shape must be (n, n) and the upper/lower
-triangular part (depending on uplo) of this array must contain
-the corresponding triangular part of the symmetric state weighting
-matrix Q.
-If fact = ‘C’ or ‘B’, the shape must be (p, n) and of this array must
-contain the output matrix C of the system.</p></li>
-<li><p><strong>R</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) or </em><em>(</em><em>p</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – If fact = ‘N’ or ‘C’, the shape must be (m, m) and the upper/lower
-triangular part (depending on uplo) of this array must contain the
-corresponding triangular part of the symmetric input weighting matrix R.
-If FACT = ‘D’ or ‘B’, the shape must be (p, m) and this array must
-contain the direct transmission matrix D of the system.</p></li>
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
-<dt>Specifies the type of Riccati equation to be solved as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Equation (2), discrete-time case.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>p</strong> (<em>int</em><em>, </em><em>optional</em>) – The number of system outputs. If fact = ‘C’ or ‘D’ or ‘B’,
-p is the number of rows of the matrices C and/or D. p &gt; 0.
-If fact = ‘N’ it is not needed.</p></li>
-<li><p><strong>L</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em><em>, </em><em>optional</em>) – If L is not specified it will considered as a zero matrix of the
-appropriate dimensions.</p></li>
-<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'C'</em><em>, </em><em>'D'</em><em>, </em><em>'B'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the matrices Q and/or R are factored,
-as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Not factored, Q and R are given;</p>
-</dd>
-<dt class="field-even">= ‘C’</dt>
-<dd class="field-even"><p>C is given, and Q = C’C;</p>
-</dd>
-<dt class="field-odd">= ‘D’</dt>
-<dd class="field-odd"><p>D is given, and R = D’D;</p>
-</dd>
-<dt class="field-even">= ‘B’</dt>
-<dd class="field-even"><p>Both factors C and D are given, Q = C’C, R = D’D.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘N’.</p>
-</p></li>
-<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em><em>, </em><em>optional</em>) – <p>If fact = ‘N’, specifies which triangle of Q and R is stored,
-as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘U’</dt>
-<dd class="field-odd"><p>Upper triangle is stored;</p>
-</dd>
-<dt class="field-even">= ‘L’</dt>
-<dd class="field-even"><p>Lower triangle is stored.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘U’.</p>
-</p></li>
-<li><p><strong>sort</strong> (<em>{'S'</em><em>, </em><em>'U'}</em><em>, </em><em>optional</em>) – <p>Specifies which eigenvalues should be obtained in the top of
-the generalized Schur form, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘S’</dt>
-<dd class="field-odd"><p>Stable   eigenvalues come first;</p>
-</dd>
-<dt class="field-even">= ‘U’</dt>
-<dd class="field-even"><p>Unstable eigenvalues come first.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>The default value is ‘S’.</p>
-</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The tolerance to be used in rank determination of the original
-matrix pencil, specifically of the triangular factor obtained during
-the reduction process. If tol &lt;= 0 a default value is used.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is
-max(7*(2*n+1)+16, 16*n, 2*n+m, 3*m), for optimum performance it should
-be larger.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>X</strong> (<em>(n, n) array_like</em>) – The solution matrix of the problem.</p></li>
-<li><p><strong>rcond</strong> (<em>float</em>) – An estimate of the reciprocal of the condition number (in
-the 1-norm) of the n-th order system of algebraic equations
-from which the solution matrix X is obtained.</p></li>
-<li><p><strong>w</strong> (<em>(2*n, ) complex array_like</em>) – The generalized eigenvalues of the 2n-by-2n matrix pair, ordered as
-specified by sort. For instance, if sort = ‘S’, the leading n
-elements of these arrays contain the closed-loop spectrum of the
-system matrix A - BF, where F is the optimal feedback matrix computed
-based on the solution matrix X.</p></li>
-<li><p><strong>S</strong> (<em>(2*n+m, 2*n) array_like</em>) – This array contains the ordered real Schur form S of the first matrix
-in the reduced matrix pencil associated to the optimal problem, or of
-the corresponding Hamiltonian matrix</p></li>
-<li><p><strong>T</strong> (<em>(2*n+m+1, 2*n) array_like</em>) – This array contains the ordered upper triangular form T of the second
-matrix in the reduced matrix pencil associated to the optimal problem.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The computed extended matrix pencil is singular,
-possibly due to rounding errors;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The QZ (or QR) algorithm failed;</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>Reordering of the (generalized) eigenvalues failed;</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>After reordering, roundoff changed values of
-some complex eigenvalues so that leading eigenvalues
-in the (generalized) Schur form no longer satisfy
-the stability condition; this could also be caused
-due to scaling;</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The computed dimension of the solution does not
-equal n;</p>
-</dd>
-<dt class="field-even">info = 6</dt>
-<dd class="field-even"><p>A singular matrix was encountered during the
-computation of the solution matrix X.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-<p class="rubric">Example</p>
-<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">slycot</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">B</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">C</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">Q</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">dot</span><span class="p">(</span><span class="n">C</span><span class="o">.</span><span class="n">T</span><span class="p">,</span> <span class="n">C</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">R</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">ones</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">sb02od</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">A</span><span class="p">,</span> <span class="n">B</span><span class="p">,</span> <span class="n">Q</span><span class="p">,</span> <span class="n">R</span><span class="p">,</span> <span class="s1">&#39;C&#39;</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="c1"># X</span>
-<span class="go">array([[ 1.73205081,  1.        ],</span>
-<span class="go">       [ 1.        ,  1.73205081]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">out</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="c1"># rcond</span>
-<span class="go">0.4713846564431681</span>
-</pre></div>
-</div>
-</dd></dl>
-
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-
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-             
-  <div class="section" id="slycot-sb03md">
-<h1>slycot.sb03md<a class="headerlink" href="#slycot-sb03md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb03md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb03md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">U</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trana</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb03md" title="Permalink to this definition"></a></dt>
-<dd><div class="deprecated">
-<p><span class="versionmodified deprecated">Deprecated since version 0.5: </span>This function uses a call signature of SB03MD prior to SLICOT version
-5.7. Use <cite>sb03md57</cite> instead.</p>
-</div>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb03md57">
-<h1>slycot.sb03md57<a class="headerlink" href="#slycot-sb03md57" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb03md57">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb03md57</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">U</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dico</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'C'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'X'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'N'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trana</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'N'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb03md57" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X either the real continuous-time Lyapunov equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X + X*op(A) = scale*C                             (1)</span>
-</pre></div>
-</div>
-<p>or the real discrete-time Lyapunov equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X*op(A) - X = scale*C                             (2)</span>
-</pre></div>
-</div>
-<p>and/or estimate an associated condition number, called separation,
-where op(A) = A or A’ (A**T) and C is symmetric (C = C’).
-(A’ denotes the transpose of the matrix A.) A is n-by-n, the right
-hand side C and the solution X are n-by-n, and scale is an output
-scale factor, set less than or equal to 1 to avoid overflow in X.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If fact = ‘F’, then A contains an upper quasi-triangular
-matrix in Schur canonical form; the elements below the upper
-Hessenberg part of the array A are not referenced.</p></li>
-<li><p><strong>U</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If fact = ‘F’, then this array must contain the orthogonal matrix U of
-the real Schur factorization of A.</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – If job = ‘X’ or ‘B’, this array must contain the symmetric matrix C.
-If job = ‘S’, C is not referenced.</p></li>
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
-<dt>Specifies the equation from which X is to be determined as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Equation (2), discrete-time case.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>job</strong> (<em>{'X'</em><em>, </em><em>'S'</em><em>, </em><em>'B'}</em><em>, </em><em>optional</em>) – <dl class="simple">
-<dt>Specifies the computation to be performed, as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘X’</dt>
-<dd class="field-odd"><p>Compute the solution only; (default)</p>
-</dd>
-<dt class="field-even">= ‘S’</dt>
-<dd class="field-even"><p>Compute the separation only;</p>
-</dd>
-<dt class="field-odd">= ‘B’</dt>
-<dd class="field-odd"><p>Compute both the solution and the separation.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'F'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the real Schur factorization of the matrix
-A is supplied on entry, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘F’</dt>
-<dd class="field-odd"><p>On entry, A and U contain the factors from the real Schur
-factorization of the matrix A;</p>
-</dd>
-<dt class="field-even">= ‘N’</dt>
-<dd class="field-even"><p>The Schur factorization of A will be computed and the factors
-will be stored in A and U. (default)</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>trana</strong> (<em>{'N'</em><em>, </em><em>'T'</em><em>, </em><em>'C'}</em><em>, </em><em>optional</em>) – <dl class="simple">
-<dt>Specifies the form of op(A) to be used, as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>op(A) = A    (No transpose, default=</p>
-</dd>
-<dt class="field-even">= ‘T’</dt>
-<dd class="field-even"><p>op(A) = A**T (Transpose);</p>
-</dd>
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>op(A) = A**T (Conjugate transpose = Transpose).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default value is max(2*n*n, 3*n),
-for optimum performance it should be larger.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>Ar</strong> (<em>(n, n) ndarray</em>) – The leading n-by-n upper Hessenberg part of this array
-contains the upper quasi-triangular matrix in Schur canonical form
-from the Schur factorization of A. The content of array A is not
-modified if fact = ‘F’.</p></li>
-<li><p><strong>Ur</strong> (<em>(n, n) ndarray</em>) – If fact = ‘N’, this arrray contains the orthogonal n-by-n matrix
-from the real Schur factorization of A.</p></li>
-<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – If job = ‘X’ or ‘B’, the leading n-by-n part contains the symmetric
-solution matrix.</p></li>
-<li><p><strong>scale</strong> (<em>float</em>) – The scale factor, scale, set less than or equal to 1 to prevent
-the solution from overflowing.</p></li>
-<li><p><strong>sep</strong> (<em>float</em>) – If job = ‘S’ or ‘B’, sep contains the estimated separation of
-the matrices op(A) and -op(A)’, if dico = ‘C’ or of op(A) and op(A)’,
-if dico = ‘D’.</p></li>
-<li><p><strong>ferr</strong> (<em>float</em>) – If job = ‘B’, ferr contains an estimated forward error bound for
-the solution X. If X_true is the true solution, ferr bounds the
-relative error in the computed solution, measured in the Frobenius
-norm:  norm(X - X_true)/norm(X_true).</p></li>
-<li><p><strong>w</strong> (<em>(n, ) complex ndarray</em>) – If fact = ‘N’, this array contains the eigenvalues of A.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Warns</dt>
-<dd class="field-odd"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">0 &lt; info &lt;=n</dt>
-<dd class="field-odd"><p>The QR algorithm failed to compute all
-the eigenvalues (see LAPACK Library routine DGEES);
-w[{info}:{n}] contains eigenvalues which have converged,
-and A contains the partially converged Shur form</p>
-</dd>
-<dt class="field-even">info == n+1 and dico == ‘C’</dt>
-<dd class="field-even"><p>The matrices <cite>A</cite> and <cite>-A’</cite> have common or very close eigenvalues</p>
-</dd>
-<dt class="field-odd">info == n+1 and dico == ‘D’</dt>
-<dd class="field-odd"><p>Matrix A has almost reciprocal eigenvalues
-(that is, <cite>‘lambda(i) = 1/lambda(j)`</cite> for
-some <cite>i</cite> and <cite>j</cite>, where <code class="docutils literal notranslate"><span class="pre">lambda(i)</span></code> and <code class="docutils literal notranslate"><span class="pre">lambda(j)</span></code> are
-eigenvalues of <cite>A</cite> and <code class="docutils literal notranslate"><span class="pre">i</span> <span class="pre">!=</span> <span class="pre">j</span></code>);  perturbed values were
-used to solve the equation (but the matrix A is unchanged).</p>
-</dd>
-</dl>
-</dd>
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-  <div class="section" id="slycot-sb03od">
-<h1>slycot.sb03od<a class="headerlink" href="#slycot-sb03od" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb03od">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb03od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb03od" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X = op(U)’<a href="#id1"><span class="problematic" id="id2">*</span></a>op(U) either the stable non-negative
-definite continuous-time Lyapunov equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="mi">2</span>
-<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X + X*op(A) = -scale *op(B)&#39;</span><span class="o">*</span><span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>                   <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>or the convergent non-negative definite discrete-time Lyapunov
-equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="mi">2</span>
-<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span><span class="s1">&#39;*X*op(A) - X = -scale *op(B)&#39;</span><span class="o">*</span><span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>                   <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>where op(K) = K or K’ (i.e., the transpose of the matrix K), A is
-an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
-triangular matrix containing the Cholesky factor of the solution
-matrix X, X = op(U)’<a href="#id3"><span class="problematic" id="id4">*</span></a>op(U), and scale is an output scale factor,
-set less than or equal to 1 to avoid overflow in X. If matrix B
-has full rank then the solution matrix X will be positive-definite
-and hence the Cholesky factor U will be nonsingular, but if B is
-rank deficient, then X may be only positive semi-definite and U
-will be singular.</p>
-<p>In the case of equation (1) the matrix A must be stable (that
-is, all the eigenvalues of A must have negative real parts),
-and for equation (2) the matrix A must be convergent (that is,
-all the eigenvalues of A must lie inside the unit circle).</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrix A and the number of columns of
-the matrix op(B).  n &gt;= 0.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The number of rows in matrix op(B).  m &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, the leading n-by-n part of this array must
-contain the matrix A. If fact = ‘F’, then A contains
-an upper quasi-triangular matrix S in Schur canonical
-form; the elements below the upper Hessenberg part of the
-array A are then not referenced.
-On exit, the leading n-by-n upper Hessenberg part of this
-array contains the upper quasi-triangular matrix S in
-Schur canonical form from the Shur factorization of A.
-The contents of the array A is not modified if fact = ‘F’.</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n part of
-this array must contain the orthogonal matrix Q of the
-Schur factorization of A.
-Otherwise, Q need not be set on entry.
-On exit, the leading n-by-n part of this array contains
-the orthogonal matrix Q of the Schur factorization of A.
-The contents of the array Q is not modified if fact = ‘F’.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>m</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if trans = ‘N’, the leading m-by-n part of this
-array must contain the coefficient matrix B of the
-equation.
-On entry, if trans = ‘T’, the leading N-by-m part of this
-array must contain the coefficient matrix B of the
-equation.
-On exit, the leading n-by-n part of this array contains
-the upper triangular Cholesky factor U of the solution
-matrix X of the problem, X = op(U)’<a href="#id5"><span class="problematic" id="id6">*</span></a>op(U).
-If m = 0 and n &gt; 0, then U is set to zero.</p></li>
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <p>Specifies the type of Lyapunov equation to be solved as
-follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Equation (2), discrete-time case.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'F'}</em><em>, </em><em>optional</em>) – <p>Specifies whether or not the real Schur factorization
-of the matrix A is supplied on entry, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘F’</dt>
-<dd class="field-odd"><p>On entry, A and Q contain the factors from the</p>
-</dd>
-</dl>
-</div></blockquote>
-<dl class="simple">
-<dt>real Schur factorization of the matrix A;</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>The Schur factorization of A will be computed</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<p>and the factors will be stored in A and Q.</p>
-</p></li>
-<li><p><strong>trans</strong> (<em>{'N'</em><em>, </em><em>'T'}</em><em>, </em><em>optional</em>) – <dl class="simple">
-<dt>Specifies the form of op(K) to be used, as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>op(K) = K    (No transpose, default);</p>
-</dd>
-<dt class="field-even">= ‘T’</dt>
-<dd class="field-even"><p>op(K) = K**T (Transpose).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the array DWORK.
-If m &gt; 0, ldwork &gt;= max(1, 4*n);
-If m = 0, ldwork &gt;= 1.
-For optimum performance ldwork should sometimes be larger.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>U</strong> (<em>(n, n) ndarray</em>) – The leading n-by-n part of this array contains
-the upper triangular Cholesky factor U of the solution
-matrix X of the problem, X = op(U)’<a href="#id7"><span class="problematic" id="id8">*</span></a>op(U).</p></li>
-<li><p><strong>scale</strong> (<em>float</em>) – The scale factor, scale, set less than or equal to 1 to
-prevent the solution overflowing.</p></li>
-<li><p><strong>w</strong> (<em>(n, ) complex ndarray</em>) – The eigenvalues of A.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 4</dt>
-<dd class="field-odd"><p>FACT = ‘F’ and the Schur factor S supplied in
-the array A has two or more consecutive non-zero
-elements on the first subdiagonal, so that there is
-a block larger than 2-by-2 on the diagonal</p>
-</dd>
-<dt class="field-even">info = 5</dt>
-<dd class="field-even"><p>FACT = ‘F’ and the Schur factor S supplied in
-the array A has a 2-by-2 diagonal block with real
-eigenvalues instead of a complex conjugate pair;</p>
-</dd>
-<dt class="field-odd">info = 6</dt>
-<dd class="field-odd"><p>FACT = ‘N’ and the LAPACK Library routine DGEES
-has failed to converge. This failure is not likely
-to occur.</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">info = 1 and dico == ‘C’</dt>
-<dd class="field-odd"><p>The Lyapunov equation is (nearly) singular.
-This means that while the matrix A
-(or the factor S) has computed eigenvalues with
-negative real parts, it is only just stable in the
-sense that small perturbations in A can make one or
-more of the eigenvalues have a non-negative real
-part;
-perturbed values were used to solve the equation;</p>
-</dd>
-<dt class="field-even">info = 1 and dico == ‘D’</dt>
-<dd class="field-even"><p>The Lyapunov equation is (nearly) singular.
-This means that while the matrix A
-(or the factor S) has computed eigenvalues inside
-the unit circle, it is nevertheless only just
-convergent, in the sense that small perturbations
-in A can make one or more of the eigenvalues lie
-outside the unit circle;
-perturbed values were used to solve the equation;</p>
-</dd>
-<dt class="field-odd">info = 2 and fact == ‘N’ and dico == ‘C’</dt>
-<dd class="field-odd"><p>The matrix A is
-not stable (that is, one or more of the eigenvalues
-of A has a non-negative real part), or DICO = ‘D’,
-but the matrix A is not convergent (that is, one or
-more of the eigenvalues of A lies outside the unit
-circle); however, A still has been factored
-and the eigenvalues of A are returned in WR and WI.</p>
-</dd>
-<dt class="field-even">info = 2 and dico == ‘D’</dt>
-<dd class="field-even"><p>The matrix A is not convergent (that is, one or
-more of the eigenvalues of A lies outside the unit
-circle); however, A still has been factored
-and the eigenvalues of A are returned in WR and WI.</p>
-</dd>
-<dt class="field-odd">info = 3 and fact == ‘F’ and dico == ‘C’</dt>
-<dd class="field-odd"><p>The Schur factor S supplied in the array A is not
-stable (that is, one or more of the eigenvalues of
-S has a non-negative real part);
-the eigenvalues of A are still returned in w.</p>
-</dd>
-<dt class="field-even">info = 3 and dico == ‘D’</dt>
-<dd class="field-even"><p>The Schur factor S supplied in the array A is not
-convergent (that is, one or more of the eigenvalues
-of S lies outside the unit circle);
-the eigenvalues of A are still returned in w.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb04md">
-<h1>slycot.sb04md<a class="headerlink" href="#slycot-sb04md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb04md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb04md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb04md" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X the continuous-time Sylvester equation</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">AX</span> <span class="pre">+</span> <span class="pre">XB</span> <span class="pre">=</span> <span class="pre">C</span></code></p>
-</div></blockquote>
-<p>where A, B, C and X are general n-by-n, m-by-m, n-by-m and
-n-by-m matrices respectively.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – row shape</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – column shape</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Matrix A</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix B</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix C</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><strong>X</strong> – Matrix X</p>
-</dd>
-<dt class="field-odd">Return type</dt>
-<dd class="field-odd"><p>(n, m) ndarray</p>
-</dd>
-<dt class="field-even">Raises</dt>
-<dd class="field-even"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">0 &lt; info &lt;= m</dt>
-<dd class="field-odd"><p>The QR algorithm failed to compute all the eigenvalues
-of B (see LAPACK Library routine DGEES)</p>
-</dd>
-<dt class="field-even">info &gt; m</dt>
-<dd class="field-even"><p>A singular matrix was encountered whilst solving
-for the ({info}-{m})-th column of matrix X.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-sb04qd">
-<h1>slycot.sb04qd<a class="headerlink" href="#slycot-sb04qd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb04qd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb04qd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb04qd" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X the discrete-time Sylvester equation</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">AXB</span> <span class="pre">+</span> <span class="pre">X</span> <span class="pre">+</span> <span class="pre">C</span> <span class="pre">=</span> <span class="pre">0,</span></code></p>
-</div></blockquote>
-<p>where A, B, C and X are general n-by-n, m-by-m, n-by-m and
-n-by-m matrices respectively. A Hessenberg-Schur method, which
-reduces A to upper Hessenberg form, H = U’AU, and B’ to real
-Schur form, S = Z’B’Z (with U, Z orthogonal matrices), is used.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – row shape</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – column shape</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Matrix A</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>m</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix B</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Matrix C</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><strong>X</strong> – Matrix X</p>
-</dd>
-<dt class="field-odd">Return type</dt>
-<dd class="field-odd"><p>(n, m) ndarray</p>
-</dd>
-<dt class="field-even">Raises</dt>
-<dd class="field-even"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">0 &lt; info &lt;= m</dt>
-<dd class="field-odd"><p>The QR algorithm failed to compute all the eigenvalues
-of B (see LAPACK Library routine DGEES)</p>
-</dd>
-<dt class="field-even">info &gt; m</dt>
-<dd class="field-even"><p>A singular matrix was encountered whilst solving
-for the ({info}-{m})-th column of matrix X.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-sb10ad">
-<h1>slycot.sb10ad<a class="headerlink" href="#slycot-sb10ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb10ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gtol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">liwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10ad" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the matrices of an H-infinity optimal n-state
-controller</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">Ak</span> <span class="o">|</span> <span class="n">Bk</span> <span class="o">|</span>
-<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
-    <span class="o">|</span> <span class="n">Ck</span> <span class="o">|</span> <span class="n">Dk</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>using modified Glover’s and Doyle’s 1988 formulas, for the system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
-<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span>
-    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span> <span class="n">D11</span> <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
-    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>and for the estimated minimal possible value of gamma with respect
-to gtol, where B2 has as column size the number of control inputs
-(ncon) and C2 has as row size the number of measurements (nmeas)
-being provided to the controller, and then to compute the matrices
-of the closed-loop system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AC</span> <span class="o">|</span> <span class="n">BC</span> <span class="o">|</span>
-<span class="n">G</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
-    <span class="o">|</span> <span class="n">CC</span> <span class="o">|</span> <span class="n">DC</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>if the stabilizing controller exists.</p>
-<p>It is assumed that</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">A1</span><span class="p">)</span> <span class="p">(</span><span class="n">A</span><span class="p">,</span><span class="n">B2</span><span class="p">)</span> <span class="ow">is</span> <span class="n">stabilizable</span> <span class="ow">and</span> <span class="p">(</span><span class="n">C2</span><span class="p">,</span><span class="n">A</span><span class="p">)</span> <span class="ow">is</span> <span class="n">detectable</span><span class="p">,</span>
-
-<span class="p">(</span><span class="n">A2</span><span class="p">)</span> <span class="n">D12</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="ow">and</span> <span class="n">D21</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span><span class="p">,</span>
-
-<span class="p">(</span><span class="n">A3</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span> <span class="n">has</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="p">,</span>
-     <span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
-
-<span class="p">(</span><span class="n">A4</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>  <span class="n">has</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="o">.</span>
-     <span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
-</pre></div>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B.</p></li>
-<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C.</p></li>
-<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
-<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
-<li><p><strong>gamma</strong> (<em>double</em>) – The initial value of gamma on input.  It is assumed that gamma
-is sufficiently large so that the controller is admissible.  gamma &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System matrix</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input matrix</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Output matrix</p></li>
-<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Direct feed-through</p></li>
-<li><p><strong>job</strong> (<em>int</em><em>, </em><em>optional</em>) – <dl class="simple">
-<dt>Specifies the computation to be performed, as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= 1</dt>
-<dd class="field-odd"><p>Use bisection method for decreasing gamma until the closed-loop
-system leaves stability</p>
-</dd>
-<dt class="field-even">= 2</dt>
-<dd class="field-even"><p>Scan from gamma to 0 trying to find the minimal gamma for which
-the closed-loop system retains stability</p>
-</dd>
-<dt class="field-odd">= 3</dt>
-<dd class="field-odd"><p>First bisection, then scanning. (default)</p>
-</dd>
-<dt class="field-even">= 4</dt>
-<dd class="field-even"><p>Find suboptimal controller only.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>gtol</strong> (<em>double</em><em>, </em><em>optional</em>) – Tolerance used for controlling the accuracy of gamma
-and its distance to the estimated minimal possible
-value of gamma.
-If gtol &lt;= 0, then a default value equal to sqrt(eps)
-is used, where eps is the relative machine precision.</p></li>
-<li><p><strong>actol</strong> (<em>double</em><em>, </em><em>optional</em>) – Upper bound for the poles of the closed-loop system used for determining
-if it is stable.  actol &lt;= 0 for stable systems</p></li>
-<li><p><strong>liwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the integer cache array.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the double cache array.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>gamma_est</strong> (<em>double</em>) – The minimal estimated gamma.</p></li>
-<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
-<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
-<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
-<li><p><strong>Dk</strong> (<em>(ncon, nmeas) ndarray</em>) – The controller input/output matrix DK.</p></li>
-<li><p><strong>Ac</strong> (<em>(2*n, 2*n) ndarray</em>) – The closed-loop system state matrix AC.</p></li>
-<li><p><strong>Bc</strong> (<em>(2*n, m-ncon) ndarray</em>) – The closed-loop system input matrix BC.</p></li>
-<li><p><strong>Cc</strong> (<em>(np-nmeas, 2*n) ndarray</em>) – The closed-loop system output matrix CC.</p></li>
-<li><p><strong>Dc</strong> (<em>(np-nmeas, m-ncon) ndarray</em>) – The the closed-loop system input/output matrix DC.</p></li>
-<li><p><strong>rcond</strong> (<em>(4) ndarray</em>) – For the last successful step:</p>
-<ul>
-<li><p>rcond(1) contains the reciprocal condition number of the
-control transformation matrix;</p></li>
-<li><p>rcond(2) contains the reciprocal condition number of the
-measurement transformation matrix;</p></li>
-<li><p>rcond(3) contains an estimate of the reciprocal condition
-number of the X-Riccati equation;</p></li>
-<li><p>rcond(4) contains an estimate of the reciprocal condition
-number of the Y-Riccati equation.</p></li>
-</ul>
-</li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span>
-<span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>had not full column rank in respect to the tolerance eps;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>
-<span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>had not full row rank in respect to the tolerance eps;</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>The matrix D12 had not full column rank in
-respect to the tolerance SQRT(eps);</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>The matrix D21 had not full row rank in respect
-to the tolerance SQRT(eps);</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
-did not converge (when computing the SVD of one of
-the matrices</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span><span class="n">A</span>   <span class="n">B2</span> <span class="o">|</span><span class="p">,</span> <span class="o">|</span><span class="n">A</span>   <span class="n">B1</span> <span class="o">|</span><span class="p">,</span> <span class="n">D12</span> <span class="ow">or</span> <span class="n">D21</span><span class="p">);</span>
-<span class="o">|</span><span class="n">C1</span>  <span class="n">D12</span><span class="o">|</span>  <span class="o">|</span><span class="n">C2</span>  <span class="n">D21</span><span class="o">|</span>
-</pre></div>
-</div>
-</dd>
-<dt class="field-even">info = 6</dt>
-<dd class="field-even"><p>The controller is not admissible (too small value of gamma);</p>
-</dd>
-<dt class="field-odd">info = 7</dt>
-<dd class="field-odd"><p>The X-Riccati equation was not solved
-successfully (the controller is not admissible or
-there are numerical difficulties);</p>
-</dd>
-<dt class="field-even">info = 8</dt>
-<dd class="field-even"><p>The Y-Riccati equation was not solved
-successfully (the controller is not admissible or
-there are numerical difficulties);</p>
-</dd>
-<dt class="field-odd">info = 9</dt>
-<dd class="field-odd"><p>The determinant of Im2 + Tu*D11HAT*Ty*D22 is zero;</p>
-</dd>
-<dt class="field-even">info = 10</dt>
-<dd class="field-even"><p>There are numerical problems when estimating
-singular values of D1111, D1112, D1111’, D1121’;</p>
-</dd>
-<dt class="field-odd">info = 11</dt>
-<dd class="field-odd"><p>The matrices Inp2 - D22*DK or Im2 - DK*D22
-are singular to working precision;</p>
-</dd>
-<dt class="field-even">info = 12</dt>
-<dd class="field-even"><p>A stabilizing controller cannot be found.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb10dd">
-<h1>slycot.sb10dd<a class="headerlink" href="#slycot-sb10dd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb10dd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10dd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10dd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the matrices of an H-infinity (sub)optimal n-state
-controller</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AK</span> <span class="o">|</span> <span class="n">BK</span> <span class="o">|</span>
-<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
-    <span class="o">|</span> <span class="n">CK</span> <span class="o">|</span> <span class="n">DK</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>for the discrete-time system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
-<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span>
-    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span> <span class="n">D11</span> <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
-    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>and for a given value of gamma, where B2 has as column size the
-number of control inputs (NCON) and C2 has as row size the number
-of measurements (NMEAS) being provided to the controller.</p>
-<p>It is assumed that</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">A1</span><span class="p">)</span> <span class="p">(</span><span class="n">A</span><span class="p">,</span><span class="n">B2</span><span class="p">)</span> <span class="ow">is</span> <span class="n">stabilizable</span> <span class="ow">and</span> <span class="p">(</span><span class="n">C2</span><span class="p">,</span><span class="n">A</span><span class="p">)</span> <span class="ow">is</span> <span class="n">detectable</span><span class="p">,</span>
-
-<span class="p">(</span><span class="n">A2</span><span class="p">)</span> <span class="n">D12</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="ow">and</span> <span class="n">D21</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span><span class="p">,</span>
-
-          <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
-<span class="p">(</span><span class="n">A3</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span> <span class="n">has</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span>
-     <span class="o">|</span>    <span class="n">C1</span>         <span class="n">D12</span> <span class="o">|</span>
-
-     <span class="mi">0</span> <span class="o">&lt;=</span> <span class="n">Theta</span> <span class="o">&lt;</span> <span class="mi">2</span><span class="o">*</span><span class="n">Pi</span> <span class="p">,</span>
-
-          <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
-<span class="p">(</span><span class="n">A4</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>  <span class="n">has</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span>
-     <span class="o">|</span>    <span class="n">C2</span>         <span class="n">D21</span> <span class="o">|</span>
-
-     <span class="mi">0</span> <span class="o">&lt;=</span> <span class="n">Theta</span> <span class="o">&lt;</span> <span class="mi">2</span><span class="o">*</span><span class="n">Pi</span> <span class="o">.</span>
-</pre></div>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B.</p></li>
-<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C.</p></li>
-<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
-<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
-<li><p><strong>gamma</strong> (<em>double</em>) – The initial value of gamma on input.  It is assumed that gamma
-is sufficiently large so that the controller is admissible.  gamma &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System matrix</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input matrix</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Output matrix</p></li>
-<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Direct feed-through</p></li>
-<li><p><strong>tol</strong> (<em>double</em><em>, </em><em>optional</em>) – Tolerance used in neglecting the small singular values
-in rank determination. If tol &lt;= 0, then a default value
-equal to 1000*eps is used, where eps is the relative
-machine precision.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the array dwork.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>gamma_est</strong> (<em>double</em>) – The minimal estimated gamma.</p></li>
-<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
-<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
-<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
-<li><p><strong>Dk</strong> (<em>(ncon, nmeas) ndarray</em>) – The controller input/output matrix DK.</p></li>
-<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – The matrix X, solution of the X-Riccati equation.</p></li>
-<li><p><strong>Z</strong> (<em>(n, n) ndarray</em>) – The matrix Z, solution of the Z-Riccati equation.</p></li>
-<li><p><strong>rcond</strong> (<em>(8) ndarray</em>) – rcond contains estimates of the reciprocal condition
-numbers of the matrices which are to be inverted and
-estimates of the reciprocal condition numbers of the
-Riccati equations which have to be solved during the
-computation of the controller. (See the description of
-the algorithm in [2].)</p>
-<ul>
-<li><p>rcond(1) contains the reciprocal condition number of the
-matrix R3;</p></li>
-<li><p>rcond(2) contains the reciprocal condition number of the
-matrix R1 - R2’<a href="#id1"><span class="problematic" id="id2">*</span></a>inv(R3)*R2;</p></li>
-<li><p>rcond(3) contains the reciprocal condition number of the
-matrix V21;</p></li>
-<li><p>rcond(4) contains the reciprocal condition number of the
-matrix St3;</p></li>
-<li><p>rcond(5) contains the reciprocal condition number of the
-matrix V12;</p></li>
-<li><p>rcond(6) contains the reciprocal condition number of the
-matrix Im2 + dkhat*D22</p></li>
-<li><p>rcond(7) contains the reciprocal condition number of the
-X-Riccati equation;</p></li>
-<li><p>rcond(8) contains the reciprocal condition number of the
-Z-Riccati equation.</p></li>
-</ul>
-</li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
-<span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span>
-<span class="o">|</span>      <span class="n">C1</span>       <span class="n">D12</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>had not full column rank;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">j</span><span class="o">*</span><span class="n">Theta</span>
-<span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">e</span>       <span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>
-<span class="o">|</span>      <span class="n">C2</span>       <span class="n">D21</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>had not full row rank;</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>The matrix D12 had not full column rank;</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>The matrix D21 had not full row rank;</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The controller is not admissible (too small value of gamma);</p>
-</dd>
-<dt class="field-even">info = 6</dt>
-<dd class="field-even"><p>The X-Riccati equation was not solved
-successfully (the controller is not admissible or
-there are numerical difficulties);</p>
-</dd>
-<dt class="field-odd">info = 7</dt>
-<dd class="field-odd"><p>The Z-Riccati equation was not solved
-successfully (the controller is not admissible or
-there are numerical difficulties);</p>
-</dd>
-<dt class="field-even">info = 8</dt>
-<dd class="field-even"><p>The matrix Im2 + DKHAT*D22 is singular.</p>
-</dd>
-<dt class="field-odd">info = 9</dt>
-<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
-did not converge (when computing the SVD of one of
-the matrices</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span><span class="n">A</span>   <span class="n">B2</span> <span class="o">|</span><span class="p">,</span> <span class="o">|</span><span class="n">A</span>   <span class="n">B1</span> <span class="o">|</span><span class="p">,</span> <span class="n">D12</span> <span class="ow">or</span> <span class="n">D21</span><span class="p">)</span><span class="o">.</span>
-<span class="o">|</span><span class="n">C1</span>  <span class="n">D12</span><span class="o">|</span>  <span class="o">|</span><span class="n">C2</span>  <span class="n">D21</span><span class="o">|</span>
-</pre></div>
-</div>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb10fd">
-<h1>slycot.sb10fd<a class="headerlink" href="#slycot-sb10fd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb10fd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10fd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10fd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the matrices of an H-infinity (sub)optimal n-state
-controller</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AK</span> <span class="o">|</span> <span class="n">BK</span> <span class="o">|</span>
-<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span><span class="p">,</span>
-    <span class="o">|</span> <span class="n">CK</span> <span class="o">|</span> <span class="n">DK</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>using modified Glover’s and Doyle’s 1988 formulas, for the system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
-<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span>
-    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span> <span class="n">D11</span> <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
-    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>and for a given value of gamma, where B2 has as column size the
-number of control inputs (ncon) and C2 has as row size the number
-of measurements (nmeas) being provided to the controller.</p>
-<p>It is assumed that</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">(</span><span class="n">A1</span><span class="p">)</span> <span class="p">(</span><span class="n">A</span><span class="p">,</span><span class="n">B2</span><span class="p">)</span> <span class="ow">is</span> <span class="n">stabilizable</span> <span class="ow">and</span> <span class="p">(</span><span class="n">C2</span><span class="p">,</span><span class="n">A</span><span class="p">)</span> <span class="ow">is</span> <span class="n">detectable</span><span class="p">,</span>
-
-<span class="p">(</span><span class="n">A2</span><span class="p">)</span> <span class="n">D12</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="ow">and</span> <span class="n">D21</span> <span class="ow">is</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span><span class="p">,</span>
-
-<span class="p">(</span><span class="n">A3</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span> <span class="n">has</span> <span class="n">full</span> <span class="n">column</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="p">,</span>
-     <span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
-
-<span class="p">(</span><span class="n">A4</span><span class="p">)</span> <span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>  <span class="n">has</span> <span class="n">full</span> <span class="n">row</span> <span class="n">rank</span> <span class="k">for</span> <span class="nb">all</span> <span class="n">omega</span><span class="o">.</span>
-     <span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
-</pre></div>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B</p></li>
-<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C</p></li>
-<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
-<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
-<li><p><strong>gamma</strong> (<em>float</em>) – The value of gamma. It is assumed that gamma is
-sufficiently large so that the controller is admissible.
-gamma &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System state matrix</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – System input matrix</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System output matrix</p></li>
-<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – System input/output matrix</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – Tolerance used for controlling the accuracy of the applied
-transformations for computing the normalized form in
-SLICOT Library routine SB10PD. Transformation matrices
-whose reciprocal condition numbers are less than tol are
-not allowed. If tol &lt;= 0, then a default value equal to
-sqrt(eps) is used, where eps is the relative machine
-precision.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <p>The dimension of the cache array:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ldwork</span> <span class="o">&gt;=</span> <span class="n">n</span><span class="o">*</span><span class="n">m</span> <span class="o">+</span> <span class="n">np</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m</span><span class="p">)</span> <span class="o">+</span> <span class="n">m2</span><span class="o">*</span><span class="n">m2</span> <span class="o">+</span> <span class="n">np2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span>
-          <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">lw1</span><span class="p">,</span><span class="n">lw2</span><span class="p">,</span><span class="n">lw3</span><span class="p">,</span><span class="n">lw4</span><span class="p">,</span><span class="n">lw5</span><span class="p">,</span><span class="n">lw6</span><span class="p">),</span> <span class="n">where</span>
-<span class="n">lw1</span> <span class="o">=</span> <span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np1</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m2</span><span class="p">)</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m2</span><span class="p">)</span><span class="o">+</span><span class="n">n</span><span class="o">+</span><span class="n">np1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m2</span><span class="p">)),</span>
-<span class="n">lw2</span> <span class="o">=</span> <span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np2</span><span class="p">)</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">m1</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np2</span><span class="p">)</span><span class="o">+</span><span class="n">n</span><span class="o">+</span><span class="n">m1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">np2</span><span class="p">)),</span>
-<span class="n">lw3</span> <span class="o">=</span> <span class="n">m2</span> <span class="o">+</span> <span class="n">np1</span><span class="o">*</span><span class="n">np1</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="n">np1</span><span class="o">*</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">m1</span><span class="p">),</span><span class="mi">3</span><span class="o">*</span><span class="n">m2</span><span class="o">+</span><span class="n">np1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="n">m2</span><span class="p">),</span>
-<span class="n">lw4</span> <span class="o">=</span> <span class="n">np2</span> <span class="o">+</span> <span class="n">m1</span><span class="o">*</span><span class="n">m1</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">np1</span><span class="p">)</span><span class="o">*</span><span class="n">m1</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">np2</span><span class="o">+</span><span class="n">m1</span><span class="p">,</span><span class="mi">5</span><span class="o">*</span><span class="n">np2</span><span class="p">),</span>
-<span class="n">lw5</span> <span class="o">=</span> <span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span> <span class="o">+</span> <span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="n">m</span><span class="o">+</span><span class="n">np</span><span class="p">)</span> <span class="o">+</span>
-      <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">m</span><span class="o">*</span><span class="n">m</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">m1</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="o">*</span><span class="n">m</span><span class="p">,</span><span class="mi">10</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">12</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">5</span><span class="p">)),</span>
-          <span class="n">np</span><span class="o">*</span><span class="n">np</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">np1</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span> <span class="o">+</span>
-                      <span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="o">*</span><span class="n">np</span><span class="p">,</span><span class="mi">10</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">12</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">5</span><span class="p">))),</span>
-<span class="n">lw6</span> <span class="o">=</span> <span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span> <span class="o">+</span> <span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="n">m</span><span class="o">+</span><span class="n">np</span><span class="p">)</span> <span class="o">+</span>
-      <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">m2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span> <span class="n">np2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span> <span class="n">m2</span><span class="o">*</span><span class="n">m2</span> <span class="o">+</span>
-          <span class="nb">max</span><span class="p">(</span><span class="n">d1</span><span class="o">*</span><span class="n">d1</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">d1</span><span class="p">,</span> <span class="p">(</span><span class="n">d1</span><span class="o">+</span><span class="n">d2</span><span class="p">)</span><span class="o">*</span><span class="n">np2</span><span class="p">),</span>
-              <span class="n">d2</span><span class="o">*</span><span class="n">d2</span> <span class="o">+</span> <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">d2</span><span class="p">,</span> <span class="n">d2</span><span class="o">*</span><span class="n">m2</span><span class="p">),</span> <span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="p">,</span>
-              <span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span> <span class="n">m2</span><span class="p">)</span> <span class="o">+</span>
-              <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">m2</span><span class="p">,</span> <span class="n">m2</span><span class="o">*</span><span class="n">np2</span> <span class="o">+</span>
-                  <span class="nb">max</span><span class="p">(</span><span class="n">m2</span><span class="o">*</span><span class="n">m2</span><span class="o">+</span><span class="mi">3</span><span class="o">*</span><span class="n">m2</span><span class="p">,</span> <span class="n">np2</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">np2</span><span class="o">+</span>
-                      <span class="n">m2</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">np2</span><span class="p">,</span><span class="n">n</span><span class="p">)))))),</span>
-</pre></div>
-</div>
-<p>with <cite>d1 = np1 - m2</cite>, <cite>d2 = m1 - np2</cite>,
-<cite>np1 = np - np2</cite>, <cite>m1 = m - m2</cite>.</p>
-<p>For good performance, ldwork must generally be larger.
-Denoting q = max(m1,m2,np1,np2), an upper bound is:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="mi">2</span><span class="o">*</span><span class="n">q</span><span class="o">*</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="n">q</span><span class="o">+</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="p">)</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,(</span><span class="n">n</span><span class="o">+</span><span class="n">q</span><span class="p">)</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="n">q</span><span class="o">+</span><span class="mi">6</span><span class="p">),</span><span class="n">q</span><span class="o">*</span><span class="p">(</span><span class="n">q</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">q</span><span class="p">,</span><span class="mi">5</span><span class="p">)</span><span class="o">+</span><span class="mi">1</span><span class="p">),</span>
-<span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="p">(</span><span class="n">n</span><span class="o">+</span><span class="mi">2</span><span class="o">*</span><span class="n">q</span><span class="p">)</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">q</span><span class="o">*</span><span class="n">q</span><span class="o">+</span>
-                <span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">q</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">q</span><span class="p">,</span><span class="mi">10</span><span class="o">*</span><span class="n">n</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">12</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">5</span><span class="p">)),</span>
-                <span class="n">q</span><span class="o">*</span><span class="p">(</span><span class="mi">3</span><span class="o">*</span><span class="n">n</span><span class="o">+</span><span class="mi">3</span><span class="o">*</span><span class="n">q</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">q</span><span class="o">+</span><span class="nb">max</span><span class="p">(</span><span class="n">n</span><span class="p">,</span><span class="n">q</span><span class="p">)))))</span><span class="o">.</span>
-</pre></div>
-</div>
-<p>if the default (None) value is used, the size for good performance
-is automatically used, when ldwork is set to zero, the minimum
-cache size will be used.</p>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
-<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
-<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
-<li><p><strong>Dk</strong> (<em>(ncon, nmeas) mdarrau</em>) – The controller input/output matrix Dk.</p></li>
-<li><p><strong>rcond</strong> (<em>(4, ) ndarray</em>) –</p>
-<dl class="simple">
-<dt>rcond[0]</dt><dd><p>contains the reciprocal condition number of the
-control transformation matrix</p>
-</dd>
-<dt>rcond[1]</dt><dd><p>contains the reciprocal condition number of the
-measurement transformation matrix</p>
-</dd>
-<dt>rcond[2]</dt><dd><p>contains an estimate of the reciprocal condition
-number of the X-Riccati equation</p>
-</dd>
-<dt>rcond[3]</dt><dd><p>contains an estimate of the reciprocal condition
-number of the Y-Riccati equation</p>
-</dd>
-</dl>
-</li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>SlycotParameterError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = -27</dt>
-<dd class="field-odd"><p></p></dd>
-</dl>
-<p>The dimension ldwork of the cache array is too small.
-Use ldwork=0 for the minimum size or ldwork=None for automatic
-sizing.</p>
-</p></li>
-<li><p><strong>SlycotArithmeticError</strong> – <dl class="field-list">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B2</span>  <span class="o">|</span>
-<span class="o">|</span>    <span class="n">C1</span>        <span class="n">D12</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>had no full column rank in respect to the tolerance eps</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The matrix</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span> <span class="n">A</span><span class="o">-</span><span class="n">j</span><span class="o">*</span><span class="n">omega</span><span class="o">*</span><span class="n">I</span>  <span class="n">B1</span>  <span class="o">|</span>
-<span class="o">|</span>    <span class="n">C2</span>        <span class="n">D21</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>had not full row rank in respect to the tolerance EPS</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>The matrix D12 has no full column rank in
-respect to the tolerance tol</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>The matrix D21 had no full row rank in respect
-to the tolerance tol</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
-did not converge (when computing the SVD of one of
-the matrices</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">|</span><span class="n">A</span>   <span class="n">B2</span> <span class="o">|</span><span class="p">,</span> <span class="o">|</span><span class="n">A</span>   <span class="n">B1</span> <span class="o">|</span><span class="p">,</span> <span class="n">D12</span> <span class="ow">or</span> <span class="n">D21</span><span class="p">)</span><span class="o">.</span>
-<span class="o">|</span><span class="n">C1</span>  <span class="n">D12</span><span class="o">|</span>  <span class="o">|</span><span class="n">C2</span>  <span class="n">D21</span><span class="o">|</span>
-</pre></div>
-</div>
-</dd>
-<dt class="field-even">info = 6</dt>
-<dd class="field-even"><p>The controller is not admissible (too small value
-of gamma)</p>
-</dd>
-<dt class="field-odd">info = 7</dt>
-<dd class="field-odd"><p>The X-Riccati equation was not solved
-successfully (the controller is not admissible or
-there are numerical difficulties)</p>
-</dd>
-<dt class="field-even">info = 8</dt>
-<dd class="field-even"><p>The Y-Riccati equation was not solved
-successfully (the controller is not admissible or
-there are numerical difficulties)</p>
-</dd>
-<dt class="field-odd">info = 9</dt>
-<dd class="field-odd"><p>The determinant of <code class="docutils literal notranslate"><span class="pre">Im2</span> <span class="pre">+</span> <span class="pre">Tu*D11HAT*Ty*D22</span></code> is zero
-<a class="reference internal" href="#rb961752f270c-3" id="id1">[3]</a>.</p>
-</dd>
-</dl>
-</p></li>
-</ul>
-</dd>
-</dl>
-<p class="rubric">Notes</p>
-<dl class="simple">
-<dt>Method</dt><dd><p>The routine implements the Glover’s and Doyle’s 1988 formulas <a class="reference internal" href="#rb961752f270c-1" id="id2">[1]</a>,
-<a class="reference internal" href="#rb961752f270c-2" id="id3">[2]</a> modified to improve the efficiency as described in <a class="reference internal" href="#rb961752f270c-3" id="id4">[3]</a>.</p>
-</dd>
-<dt>Numerical Aspects</dt><dd><p>The accuracy of the result depends on the condition numbers of the
-input and output transformations and on the condition numbers of
-the two Riccati equations, as given by the values of <cite>rcond[0:4]</cite></p>
-</dd>
-</dl>
-<p class="rubric">References</p>
-<dl class="citation">
-<dt class="label" id="rb961752f270c-1"><span class="brackets"><a class="fn-backref" href="#id2">1</a></span></dt>
-<dd><p>Glover, K. and Doyle, J.C.,
-State-space formulae for all stabilizing controllers that
-satisfy an Hinf norm bound and relations to risk sensitivity.
-Systems and Control Letters, vol. 11, pp. 167-172, 1988.</p>
-</dd>
-<dt class="label" id="rb961752f270c-2"><span class="brackets"><a class="fn-backref" href="#id3">2</a></span></dt>
-<dd><p>Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-Smith, R.,
-mu-Analysis and Synthesis Toolbox.
-The MathWorks Inc., Natick, Mass., 1995.</p>
-</dd>
-<dt class="label" id="rb961752f270c-3"><span class="brackets">3</span><span class="fn-backref">(<a href="#id1">1</a>,<a href="#id4">2</a>)</span></dt>
-<dd><p>Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.,
-Fortran 77 routines for Hinf and H2 design of continuous-time
-linear control systems.
-Rep. 98-14, Department of Engineering, Leicester University,
-Leicester, U.K., 1998.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sb10hd">
-<h1>slycot.sb10hd<a class="headerlink" href="#slycot-sb10hd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sb10hd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sb10hd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">np</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ncon</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nmeas</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sb10hd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the matrices of the H2 optimal n-state controller</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">AK</span> <span class="o">|</span> <span class="n">BK</span> <span class="o">|</span>
-<span class="n">K</span> <span class="o">=</span> <span class="o">|----|----|</span>
-    <span class="o">|</span> <span class="n">CK</span> <span class="o">|</span> <span class="n">DK</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>for the system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="o">|</span> <span class="n">A</span>  <span class="o">|</span> <span class="n">B1</span>  <span class="n">B2</span>  <span class="o">|</span>   <span class="o">|</span> <span class="n">A</span> <span class="o">|</span> <span class="n">B</span> <span class="o">|</span>
-<span class="n">P</span> <span class="o">=</span> <span class="o">|----|---------|</span> <span class="o">=</span> <span class="o">|---|---|</span> <span class="p">,</span>
-    <span class="o">|</span> <span class="n">C1</span> <span class="o">|</span>  <span class="mi">0</span>  <span class="n">D12</span> <span class="o">|</span>   <span class="o">|</span> <span class="n">C</span> <span class="o">|</span> <span class="n">D</span> <span class="o">|</span>
-    <span class="o">|</span> <span class="n">C2</span> <span class="o">|</span> <span class="n">D21</span> <span class="n">D22</span> <span class="o">|</span>
-</pre></div>
-</div>
-<p>where B2 has as column size the number of control inputs (ncon)
-and C2 has as row size the number of measurements (nmeas) being
-provided to the controller.</p>
-<p>It is assumed that</p>
-<ul class="simple">
-<li><p>(A1) (A,B2) is stabilizable and (C2,A) is detectable,</p></li>
-<li><p>(A2) The block D11 of D is zero,</p></li>
-<li><p>(A3) D12 is full column rank and D21 is full row rank.</p></li>
-</ul>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the system. (size of matrix A).</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The column size of the matrix B</p></li>
-<li><p><strong>np</strong> (<em>int</em>) – The row size of the matrix C</p></li>
-<li><p><strong>ncon</strong> (<em>int</em>) – The number of control inputs.  m &gt;= ncon &gt;= 0, np-nmeas &gt;= ncon.</p></li>
-<li><p><strong>nmeas</strong> (<em>int</em>) – The number of measurements.  np &gt;= nmeas &gt;= 0, m-ncon &gt;= nmeas.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – System Matrix</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Input Matrix</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>np</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – Output Matrix</p></li>
-<li><p><strong>D</strong> (<em>(</em><em>np</em><em>, </em><em>m</em><em>) </em><em>array_like</em>) – Throughput Matrix</p></li>
-<li><p><strong>tol</strong> (<em>double</em><em>, </em><em>optional</em>) – Tolerance used for controlling the accuracy of the applied
-transformations for computing the normalized form in
-SLICOT Library routine SB10UD. Transformation matrices
-whose reciprocal condition numbers are less than tol are
-not allowed. If tol &lt;= 0, then a default value equal to
-sqrt(eps) is used, where eps is the relative machine
-precision.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The dimension of the cache array.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>Ak</strong> (<em>(n, n) ndarray</em>) – The controller state matrix Ak.</p></li>
-<li><p><strong>Bk</strong> (<em>(n, nmeas) ndarray</em>) – The controller input matrix Bk.</p></li>
-<li><p><strong>Ck</strong> (<em>(ncon, n) ndarray</em>) – The controller output matrix Ck.</p></li>
-<li><p><strong>Dk</strong> (<em>(ncon, nmeas) ndarray</em>) – The controller input/output matrix Dk.</p></li>
-<li><p><strong>rcond</strong> (<em>(4) ndarray</em>) – For the last successful step:</p>
-<ul>
-<li><p>rcond(1) contains the reciprocal condition number of the
-control transformation matrix;</p></li>
-<li><p>rcond(2) contains the reciprocal condition number of the
-measurement transformation matrix;</p></li>
-<li><p>rcond(3) contains an estimate of the reciprocal condition
-number of the X-Riccati equation;</p></li>
-<li><p>rcond(4) contains an estimate of the reciprocal condition
-number of the Y-Riccati equation.</p></li>
-</ul>
-</li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The matrix D12 had not full column rank in
-respect to the tolerance tol;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The matrix D21 had not full row rank in respect
-to the tolerance tol;</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>The singular value decomposition (SVD) algorithm
-did not converge (when computing the SVD of one of
-the matrices D12 or D21).</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>The X-Riccati equation was not solved successfully;</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The Y-Riccati equation was not solved successfully.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
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-
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-  <div class="section" id="slycot-sg02ad">
-<h1>slycot.sg02ad<a class="headerlink" href="#slycot-sg02ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sg02ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sg02ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobb</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jobl</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scal</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">acc</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">M</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">P</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">R</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">L</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol=-1</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sg02ad" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X either the continuous-time algebraic Riccati
-equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="o">-</span><span class="mi">1</span>
-<span class="n">Q</span> <span class="o">+</span> <span class="n">A</span><span class="s1">&#39;XE + E&#39;</span><span class="n">XA</span> <span class="o">-</span> <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">E</span><span class="s1">&#39;XB)R  (L+E&#39;</span><span class="n">XB</span><span class="p">)</span><span class="s1">&#39; = 0 ,              (1)</span>
-</pre></div>
-</div>
-<p>or the discrete-time algebraic Riccati equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                                <span class="o">-</span><span class="mi">1</span>
-<span class="n">E</span><span class="s1">&#39;XE = A&#39;</span><span class="n">XA</span> <span class="o">-</span> <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">A</span><span class="s1">&#39;XB)(R + B&#39;</span><span class="n">XB</span><span class="p">)</span>  <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">A</span><span class="s1">&#39;XB)&#39;</span> <span class="o">+</span> <span class="n">Q</span> <span class="p">,</span>         <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>where A, E, B, Q, R, and L are N-by-N, N-by-N, N-by-M, N-by-N,
-M-by-M and N-by-M matrices, respectively, such that Q = C’C,
-R = D’D and L = C’D; X is an N-by-N symmetric matrix.
-The routine also returns the computed values of the closed-loop
-spectrum of the system, i.e., the stable eigenvalues
-lambda(1),…,lambda(N) of the pencil (A - BF,E), where F is
-the optimal gain matrix,</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="o">-</span><span class="mi">1</span>
-<span class="n">F</span> <span class="o">=</span> <span class="n">R</span>  <span class="p">(</span><span class="n">L</span><span class="o">+</span><span class="n">E</span><span class="s1">&#39;XB)&#39;</span> <span class="p">,</span>        <span class="k">for</span> <span class="p">(</span><span class="mi">1</span><span class="p">),</span>
-</pre></div>
-</div>
-<p>and</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>            <span class="o">-</span><span class="mi">1</span>
-<span class="n">F</span> <span class="o">=</span> <span class="p">(</span><span class="n">R</span><span class="o">+</span><span class="sa">B</span><span class="s1">&#39;XB)  (L+A&#39;</span><span class="n">XB</span><span class="p">)</span><span class="s1">&#39; , for (2).</span>
-                  <span class="o">-</span><span class="mi">1</span>
-</pre></div>
-</div>
-<p>Optionally, matrix G = BR  B’ may be given instead of B and R.
-Other options include the case with Q and/or R given in a
-factored form, Q = C’C, R = D’D, and with L a zero matrix.</p>
-<p>The routine uses the method of deflating subspaces, based on
-reordering the eigenvalues in a generalized Schur matrix pair.</p>
-<p>It is assumed that E is nonsingular, but this condition is not
-checked. Note that the definition (1) of the continuous-time
-algebraic Riccati equation, and the formula for the corresponding
-optimal gain matrix, require R to be nonsingular, but the
-associated linear quadratic optimal problem could have a unique
-solution even when matrix R is singular, under mild assumptions
-(see METHOD). The routine SG02AD works accordingly in this case.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <p>Specifies the type of Riccati equation to be solved as
-follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Equation (1), continuous-time case;</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Equation (2), discrete-time case.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>jobb</strong> (<em>{'B'</em><em>, </em><em>'G'}</em>) – <p>Specifies whether or not the matrix G is given, instead
-of the matrices B and R, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘B’</dt>
-<dd class="field-odd"><p>B and R are given;</p>
-</dd>
-<dt class="field-even">= ‘G’</dt>
-<dd class="field-even"><p>G is given.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'C'</em><em>, </em><em>'D'</em><em>, </em><em>'B'}</em>) – <p>Specifies whether or not the matrices Q and/or R (if
-JOBB = ‘B’) are factored, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Not factored, Q and R are given;</p>
-</dd>
-<dt class="field-even">= ‘C’</dt>
-<dd class="field-even"><p>C is given, and Q = C’C;</p>
-</dd>
-<dt class="field-odd">= ‘D’</dt>
-<dd class="field-odd"><p>D is given, and R = D’D;</p>
-</dd>
-<dt class="field-even">= ‘B’</dt>
-<dd class="field-even"><p>Both factors C and D are given, Q = C’C, R = D’D.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>uplo</strong> (<em>{'U'</em><em>, </em><em>'L'}</em>) – <p>If JOBB = ‘G’, or FACT = ‘N’, specifies which triangle of
-the matrices G, or Q and R, is stored, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘U’</dt>
-<dd class="field-odd"><p>Upper triangle is stored;</p>
-</dd>
-<dt class="field-even">= ‘L’</dt>
-<dd class="field-even"><p>Lower triangle is stored.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>jobl</strong> (<em>{'Z'</em><em>, </em><em>'N'}</em>) – <dl class="simple">
-<dt>Specifies whether or not the matrix L is zero, as follows:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘Z’</dt>
-<dd class="field-odd"><p>L is zero;</p>
-</dd>
-<dt class="field-even">= ‘N’</dt>
-<dd class="field-even"><p>L is nonzero.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<p>JOBL is not used if JOBB = ‘G’ and JOBL = ‘Z’ is assumed.
-SLICOT Library routine SB02MT should be called just before
-SG02AD, for obtaining the results when JOBB = ‘G’ and
-JOBL = ‘N’.</p>
-</p></li>
-<li><p><strong>scal</strong> (<em>{'G'</em><em>, </em><em>'N'}</em>) – <p>If JOBB = ‘B’, specifies whether or not a scaling strategy
-should be used to scale Q, R, and L, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘G’</dt>
-<dd class="field-odd"><p>General scaling should be used;</p>
-</dd>
-<dt class="field-even">= ‘N’</dt>
-<dd class="field-even"><p>No scaling should be used.</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>SCAL is not used if JOBB = ‘G’.</p>
-</p></li>
-<li><p><strong>sort</strong> (<em>{'S'</em><em>, </em><em>'U'}</em>) – <p>Specifies which eigenvalues should be obtained in the top
-of the generalized Schur form, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘S’</dt>
-<dd class="field-odd"><p>Stable   eigenvalues come first;</p>
-</dd>
-<dt class="field-even">= ‘U’</dt>
-<dd class="field-even"><p>Unstable eigenvalues come first.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>acc</strong> (<em>{'R'</em><em>, </em><em>'N'}</em>) – <p>Specifies whether or not iterative refinement should be
-used to solve the system of algebraic equations giving
-the solution matrix X, as follows:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘R’</dt>
-<dd class="field-odd"><p>Use iterative refinement;</p>
-</dd>
-<dt class="field-even">= ‘N’</dt>
-<dd class="field-even"><p>Do not use iterative refinement.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>N</strong> (<em>int</em>) – The actual state dimension, i.e., the order of the
-matrices A, E, Q, and X, and the number of rows of the
-matrices B and L.  N &gt; 0.</p></li>
-<li><p><strong>M</strong> (<em>int</em>) – The number of system inputs. If JOBB = ‘B’, M is the
-order of the matrix R, and the number of columns of the
-matrix B.  M &gt;= 0.
-M is not used if JOBB = ‘G’.</p></li>
-<li><p><strong>P</strong> (<em>int</em>) – The number of system outputs. If FACT = ‘C’ or ‘D’ or ‘B’,
-P is the number of rows of the matrices C and/or D.
-P &gt;= 0.
-Otherwise, P is not used.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>max</em><em>(</em><em>1</em><em>, </em><em>N</em><em>)</em><em>, </em><em>N</em><em>) </em><em>array_like</em>) – The leading N-by-N part of this array must contain the
-state matrix A of the descriptor system.</p></li>
-<li><p><strong>E</strong> (<em>(</em><em>max</em><em>(</em><em>1</em><em>, </em><em>N</em><em>)</em><em>, </em><em>N</em><em>) </em><em>array_like</em>) – The leading N-by-N part of this array must contain the
-matrix E of the descriptor system.</p></li>
-<li><p><strong>B</strong> ((max(1, N), <a href="#id1"><span class="problematic" id="id2">*</span></a>) array_like) – If JOBB = ‘B’, the leading N-by-M part of this array must
-contain the input matrix B of the system.
-If JOBB = ‘G’, the leading N-by-N upper triangular part
-(if UPLO = ‘U’) or lower triangular part (if UPLO = ‘L’)
-of this array must contain the upper triangular part or
-lower triangular part, respectively, of the matrix
-<code class="docutils literal notranslate"><span class="pre">G</span> <span class="pre">=</span> <span class="pre">BR{^-1}B'</span></code>. The stricly lower triangular part (if
-UPLO = ‘U’) or stricly upper triangular part (if
-UPLO = ‘L’) is not referenced.</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>ldq</em><em>, </em><em>N</em><em>) </em><em>array_like</em>) – <p>If FACT = ‘N’ or ‘D’, the leading N-by-N upper triangular
-part (if UPLO = ‘U’) or lower triangular part (if UPLO =
-‘L’) of this array must contain the upper triangular part
-or lower triangular part, respectively, of the symmetric
-state weighting matrix Q. The stricly lower triangular
-part (if UPLO = ‘U’) or stricly upper triangular part (if
-UPLO = ‘L’) is not referenced.
-If FACT = ‘C’ or ‘B’, the leading P-by-N part of this
-array must contain the output matrix C of the system.
-If JOBB = ‘B’ and SCAL = ‘G’, then Q is modified
-internally, but is restored on exit.
-The leading dimension of array Q:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">LDQ</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">N</span><span class="p">)</span> <span class="k">if</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;N&#39;</span> <span class="ow">or</span> <span class="s1">&#39;D&#39;</span><span class="p">;</span>
-<span class="n">LDQ</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">P</span><span class="p">)</span> <span class="k">if</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;C&#39;</span> <span class="ow">or</span> <span class="s1">&#39;B&#39;</span><span class="o">.</span>
-</pre></div>
-</div>
-</p></li>
-<li><p><strong>R</strong> (<em>(</em><em>ldr</em><em>, </em><em>M</em><em>) </em><em>array_like</em>) – <p>If FACT = ‘N’ or ‘C’, the leading M-by-M upper triangular
-part (if UPLO = ‘U’) or lower triangular part (if UPLO =
-‘L’) of this array must contain the upper triangular part
-or lower triangular part, respectively, of the symmetric
-input weighting matrix R. The stricly lower triangular
-part (if UPLO = ‘U’) or stricly upper triangular part (if
-UPLO = ‘L’) is not referenced.
-If FACT = ‘D’ or ‘B’, the leading P-by-M part of this
-array must contain the direct transmission matrix D of the
-system.
-If JOBB = ‘B’ and SCAL = ‘G’, then R is modified
-internally, but is restored on exit.
-If JOBB = ‘G’, this array is not referenced.
-The leading dimension of array R:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">LDR</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">M</span><span class="p">)</span> <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;B&#39;</span> <span class="ow">and</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;N&#39;</span> <span class="ow">or</span> <span class="s1">&#39;C&#39;</span><span class="p">;</span>
-<span class="n">LDR</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">P</span><span class="p">)</span> <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;B&#39;</span> <span class="ow">and</span> <span class="n">FACT</span> <span class="o">=</span> <span class="s1">&#39;D&#39;</span> <span class="ow">or</span> <span class="s1">&#39;B&#39;</span><span class="p">;</span>
-<span class="n">LDR</span> <span class="o">&gt;=</span> <span class="mi">1</span>        <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;G&#39;</span><span class="o">.</span>
-</pre></div>
-</div>
-</p></li>
-<li><p><strong>L</strong> (<em>(</em><em>n</em><em>, </em><em>M</em><em>) </em><em>array_like</em>) – If JOBL = ‘N’ and JOBB = ‘B’, the leading N-by-M part of
-this array must contain the cross weighting matrix L.
-If JOBB = ‘B’ and SCAL = ‘G’, then L is modified
-internally, but is restored on exit.
-If JOBL = ‘Z’ or JOBB = ‘G’, this array is not referenced.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <p>The length of the array DWORK:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">LDWORK</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">7</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span><span class="o">+</span><span class="mi">16</span><span class="p">,</span><span class="mi">16</span><span class="o">*</span><span class="n">N</span><span class="p">),</span>           <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;G&#39;</span><span class="p">;</span>
-<span class="n">LDWORK</span> <span class="o">&gt;=</span> <span class="n">MAX</span><span class="p">(</span><span class="mi">7</span><span class="o">*</span><span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">+</span><span class="mi">1</span><span class="p">)</span><span class="o">+</span><span class="mi">16</span><span class="p">,</span><span class="mi">16</span><span class="o">*</span><span class="n">N</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">+</span><span class="n">M</span><span class="p">,</span><span class="mi">3</span><span class="o">*</span><span class="n">M</span><span class="p">),</span> <span class="k">if</span> <span class="n">JOBB</span> <span class="o">=</span> <span class="s1">&#39;B&#39;</span><span class="o">.</span>
-</pre></div>
-</div>
-<p>For optimum performance LDWORK should be larger.
-Default:  <code class="docutils literal notranslate"><span class="pre">max(7*(2*n+1)+16,16*n)</span></code></p>
-</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – The tolerance to be used to test for near singularity of
-the original matrix pencil, specifically of the triangular
-M-by-M factor obtained during the reduction process. If
-the user sets TOL &gt; 0, then the given value of TOL is used
-as a lower bound for the reciprocal condition number of
-that matrix; a matrix whose estimated condition number is
-less than 1/TOL is considered to be nonsingular. If the
-user sets TOL &lt;= 0, then a default tolerance, defined by
-TOLDEF = EPS, is used instead, where EPS is the machine
-precision (see LAPACK Library routine DLAMCH).
-This parameter is not referenced if JOBB = ‘G’.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><strong>rcondu</strong> (<em>float</em>) – If N &gt; 0 and INFO = 0 or INFO = 7, an estimate of the
-reciprocal of the condition number (in the 1-norm) of
-the N-th order system of algebraic equations from which
-the solution matrix X is obtained.</p></li>
-<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – If INFO = 0, the leading N-by-N part of this array
-contains the solution matrix X of the problem.</p></li>
-<li><p><strong>alfar, alfai, beta</strong> (<em>(2*n, ) ndarray</em>) – The generalized eigenvalues of the 2N-by-2N matrix pair,
-ordered as specified by SORT (if INFO = 0, or INFO &gt;= 5).
-For instance, if SORT = ‘S’, the leading N elements of
-these arrays contain the closed-loop spectrum of the
-system. Specifically,</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="k">lambda</span><span class="p">(</span><span class="n">k</span><span class="p">)</span> <span class="o">=</span> <span class="p">[</span><span class="n">ALFAR</span><span class="p">(</span><span class="n">k</span><span class="p">)</span><span class="o">+</span><span class="n">j</span><span class="o">*</span><span class="n">ALFAI</span><span class="p">(</span><span class="n">k</span><span class="p">)]</span><span class="o">/</span><span class="n">BETA</span><span class="p">(</span><span class="n">k</span><span class="p">)</span> <span class="k">for</span> <span class="n">k</span> <span class="o">=</span> <span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="o">...</span><span class="p">,</span><span class="n">N</span><span class="o">.</span>
-</pre></div>
-</div>
-</li>
-<li><p><strong>S</strong> (<em>(2*n, 2*n) ndarray</em>) – The leading 2N-by-2N part of this array contains the
-ordered real Schur form S of the first matrix in the
-reduced matrix pencil associated to the optimal problem,
-corresponding to the scaled Q, R, and L, if JOBB = ‘B’
-and SCAL = ‘G’. That is,</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">(</span><span class="n">S</span>   <span class="n">S</span>  <span class="p">)</span>
-     <span class="p">(</span> <span class="mi">11</span>  <span class="mi">12</span><span class="p">)</span>
- <span class="n">S</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">),</span>
-     <span class="p">(</span><span class="mi">0</span>   <span class="n">S</span>  <span class="p">)</span>
-     <span class="p">(</span>     <span class="mi">22</span><span class="p">)</span>
-
-<span class="n">where</span> <span class="n">S</span>  <span class="p">,</span> <span class="n">S</span>   <span class="ow">and</span> <span class="n">S</span>   <span class="n">are</span> <span class="n">N</span><span class="o">-</span><span class="n">by</span><span class="o">-</span><span class="n">N</span> <span class="n">matrices</span><span class="o">.</span>
-       <span class="mi">11</span>   <span class="mi">12</span>      <span class="mi">22</span>
-</pre></div>
-</div>
-<p>Array S must have 2*N+M columns if JOBB = ‘B’, and 2*N
-columns, otherwise.</p>
-</li>
-<li><p><strong>T</strong> (<em>(2*n, 2*n) ndarray</em>) – The leading 2N-by-2N part of this array contains the
-ordered upper triangular form T of the second matrix in
-the reduced matrix pencil associated to the optimal
-problem, corresponding to the scaled Q, R, and L, if
-JOBB = ‘B’ and SCAL = ‘G’. That is,</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">(</span><span class="n">T</span>   <span class="n">T</span>  <span class="p">)</span>
-     <span class="p">(</span> <span class="mi">11</span>  <span class="mi">12</span><span class="p">)</span>
- <span class="n">T</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">),</span>
-     <span class="p">(</span><span class="mi">0</span>   <span class="n">T</span>  <span class="p">)</span>
-     <span class="p">(</span>     <span class="mi">22</span><span class="p">)</span>
-
-<span class="n">where</span> <span class="n">T</span>  <span class="p">,</span> <span class="n">T</span>   <span class="ow">and</span> <span class="n">T</span>   <span class="n">are</span> <span class="n">N</span><span class="o">-</span><span class="n">by</span><span class="o">-</span><span class="n">N</span> <span class="n">matrices</span><span class="o">.</span>
-       <span class="mi">11</span>   <span class="mi">12</span>      <span class="mi">22</span>
-</pre></div>
-</div>
-</li>
-<li><p><strong>U</strong> (<em>(2*n, 2*n) ndarray</em>) – The leading 2N-by-2N part of this array contains the right
-transformation matrix U which reduces the 2N-by-2N matrix
-pencil to the ordered generalized real Schur form (S, T).
-That is,</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="p">(</span><span class="n">U</span>   <span class="n">U</span>  <span class="p">)</span>
-     <span class="p">(</span> <span class="mi">11</span>  <span class="mi">12</span><span class="p">)</span>
- <span class="n">U</span> <span class="o">=</span> <span class="p">(</span>       <span class="p">),</span>
-     <span class="p">(</span><span class="n">U</span>   <span class="n">U</span>  <span class="p">)</span>
-     <span class="p">(</span> <span class="mi">21</span>  <span class="mi">22</span><span class="p">)</span>
-
-<span class="n">where</span> <span class="n">U</span>  <span class="p">,</span> <span class="n">U</span>  <span class="p">,</span> <span class="n">U</span>   <span class="ow">and</span> <span class="n">U</span>   <span class="n">are</span> <span class="n">N</span><span class="o">-</span><span class="n">by</span><span class="o">-</span><span class="n">N</span> <span class="n">matrices</span><span class="o">.</span>
-       <span class="mi">11</span>   <span class="mi">12</span>   <span class="mi">21</span>      <span class="mi">22</span>
-</pre></div>
-</div>
-<p>If JOBB = ‘B’ and SCAL = ‘G’, then U corresponds to the
-scaled pencil. If a basis for the stable deflating
-subspace of the original problem is needed, then the
-submatrix U_21   must be multiplied by the scaling factor
-contained in DWORK(4).</p>
-</li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>The computed extended matrix pencil is singular,
-possibly due to rounding errors</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>The QZ algorithm failed</p>
-</dd>
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>Reordering of the generalized eigenvalues failed</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>After reordering, roundoff changed values of
-some complex eigenvalues so that leading eigenvalues
-in the generalized Schur form no longer satisfy the
-stability condition; this could also be caused due
-to scaling</p>
-</dd>
-<dt class="field-odd">info = 5</dt>
-<dd class="field-odd"><p>The computed dimension of the solution does not
-equal N</p>
-</dd>
-<dt class="field-even">info = 6</dt>
-<dd class="field-even"><p>The spectrum is too close to the boundary of
-the stability domain</p>
-</dd>
-<dt class="field-odd">info = 7</dt>
-<dd class="field-odd"><p>A singular matrix was encountered during the
-computation of the solution matrix X</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">iwarn = 1 and dico == ‘C’</dt>
-<dd class="field-odd"><p>The computed solution may be inaccurate due to poor
-scaling or eigenvalues too close to the boundary of
-the  imaginary axis.</p>
-</dd>
-<dt class="field-even">iwarn = 1 and dico == ‘D’</dt>
-<dd class="field-even"><p>The computed solution may be inaccurate due to poor
-scaling or eigenvalues too close to the boundary of
-the unit circle.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
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-  <div class="section" id="slycot-sg03ad">
-<h1>slycot.sg03ad<a class="headerlink" href="#slycot-sg03ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sg03ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sg03ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uplo</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">X</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sg03ad" title="Permalink to this definition"></a></dt>
-<dd><p>To solve for X either the generalized continuous-time Lyapunov
-equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                <span class="n">T</span>
-<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span> <span class="o">+</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span> <span class="o">=</span> <span class="n">SCALE</span> <span class="o">*</span> <span class="n">Y</span><span class="p">,</span>                <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>or the generalized discrete-time Lyapunov equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                <span class="n">T</span>
-<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span> <span class="o">-</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="n">X</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span> <span class="o">=</span> <span class="n">SCALE</span> <span class="o">*</span> <span class="n">Y</span><span class="p">,</span>                <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>where op(M) is either M or M**T for M = A, E and the right hand
-side Y is symmetric. A, E, Y, and the solution X are N-by-N
-matrices. SCALE is an output scale factor, set to avoid overflow
-in X.</p>
-<p>Estimates of the separation and the relative forward error norm
-are provided.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>dico</strong> (<em>{'C'</em><em>, </em><em>'D'}</em>) – <dl class="simple">
-<dt>Specifies which type of the equation is considered:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Continuous-time equation (1);</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Discrete-time equation (2).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>job</strong> (<em>{'X'</em><em>, </em><em>'S'</em><em>, </em><em>'B'}</em>) – <p>Specifies if the solution is to be computed and if the
-separation is to be estimated:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘X’</dt>
-<dd class="field-odd"><p>Compute the solution only;</p>
-</dd>
-<dt class="field-even">= ‘S’</dt>
-<dd class="field-even"><p>Estimate the separation only;</p>
-</dd>
-<dt class="field-odd">= ‘B’</dt>
-<dd class="field-odd"><p>Compute the solution and estimate the separation.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>fact</strong> (<em>{'F'</em><em>, </em><em>'F'}</em>) – <p>Specifies whether the generalized real Schur
-factorization of the pencil A - lambda * E is supplied
-on entry or not:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Factorization is not supplied;</p>
-</dd>
-<dt class="field-even">= ‘F’</dt>
-<dd class="field-even"><p>Factorization is supplied.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>trans</strong> (<em>{'N'</em><em>, </em><em>'T'}</em>) – <p>Specifies whether the transposed equation is to be solved
-or not:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>op(A) = A,    op(E) = E;</p>
-</dd>
-<dt class="field-even">= ‘T’</dt>
-<dd class="field-even"><p>op(A) = A**T, op(E) = E**T.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>uplo</strong> (<em>{'L'</em><em>, </em><em>'U'}</em>) – <p>Specifies whether the lower or the upper triangle of the
-array X is needed on input:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘L’</dt>
-<dd class="field-odd"><p>Only the lower triangle is needed on input;</p>
-</dd>
-<dt class="field-even">= ‘U’</dt>
-<dd class="field-even"><p>Only the upper triangle is needed on input.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>N</strong> (<em>int</em>) – The order of the matrix A.  N &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N upper
-Hessenberg part of this array must contain the
-generalized Schur factor A_s of the matrix A (see
-definition (3) in section METHOD). A_s must be an upper
-quasitriangular matrix. The elements below the upper
-Hessenberg part of the array A are not referenced.
-If FACT = ‘N’, then the leading N-by-N part of this
-array must contain the matrix A.
-On exit, the leading N-by-N part of this array contains
-the generalized Schur factor A_s of the matrix A. (A_s is
-an upper quasitriangular matrix.)</p></li>
-<li><p><strong>E</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N upper
-triangular part of this array must contain the
-generalized Schur factor E_s of the matrix E (see
-definition (4) in section METHOD). The elements below the
-upper triangular part of the array E are not referenced.
-If FACT = ‘N’, then the leading N-by-N part of this
-array must contain the coefficient matrix E of the
-equation.
-On exit, the leading N-by-N part of this array contains
-the generalized Schur factor E_s of the matrix E. (E_s is
-an upper triangular matrix.)</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N part of
-this array must contain the orthogonal matrix Q from
-the generalized Schur factorization (see definitions (3)
-and (4) in section METHOD).
-If FACT = ‘N’, Q need not be set on entry.
-On exit, the leading N-by-N part of this array contains
-the orthogonal matrix Q from the generalized Schur
-factorization.</p></li>
-<li><p><strong>Z</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if FACT = ‘F’, then the leading N-by-N part of
-this array must contain the orthogonal matrix Z from
-the generalized Schur factorization (see definitions (3)
-and (4) in section METHOD).
-If FACT = ‘N’, Z need not be set on entry.
-On exit, the leading N-by-N part of this array contains
-the orthogonal matrix Z from the generalized Schur
-factorization.</p></li>
-<li><p><strong>X</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if JOB = ‘B’ or ‘X’, then the leading N-by-N
-part of this array must contain the right hand side matrix
-Y of the equation. Either the lower or the upper
-triangular part of this array is needed (see mode
-parameter UPLO).
-If JOB = ‘S’, X is not referenced.
-On exit, if JOB = ‘B’ or ‘X’, and INFO = 0, 3, or 4, then
-the leading N-by-N part of this array contains the
-solution matrix X of the equation.
-If JOB = ‘S’, X is not referenced.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <dl>
-<dt>The length of the array DWORK. The following table</dt><dd><p>contains the minimal work space requirements depending
-on the choice of JOB and FACT.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">JOB</span>        <span class="n">FACT</span>    <span class="o">|</span>  <span class="n">LDWORK</span>
-<span class="o">-------------------+-------------------</span>
-<span class="s1">&#39;X&#39;</span>        <span class="s1">&#39;F&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="n">N</span><span class="p">)</span>
-<span class="s1">&#39;X&#39;</span>        <span class="s1">&#39;N&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">N</span><span class="p">)</span>
-<span class="s1">&#39;B&#39;</span><span class="p">,</span> <span class="s1">&#39;S&#39;</span>   <span class="s1">&#39;F&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">**</span><span class="mi">2</span><span class="p">)</span>
-<span class="s1">&#39;B&#39;</span><span class="p">,</span> <span class="s1">&#39;S&#39;</span>   <span class="s1">&#39;N&#39;</span>     <span class="o">|</span>  <span class="n">MAX</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span><span class="o">**</span><span class="mi">2</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">N</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>For optimum performance, LDWORK should be larger.
-Default: max(1,max(2*n*n,4*n))</p>
-</dd>
-</dl>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>A</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
-the generalized Schur factor A_s of the matrix A. (A_s is
-an upper quasitriangular matrix.)</p></li>
-<li><p><strong>E</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
-the generalized Schur factor E_s of the matrix E. (E_s is
-an upper triangular matrix.)</p></li>
-<li><p><strong>Q</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
-the orthogonal matrix Q from the generalized Schur
-factorization.</p></li>
-<li><p><strong>Z</strong> (<em>(n, n) ndarray</em>) – On exit, the leading N-by-N part of this array contains
-the orthogonal matrix Z from the generalized Schur
-factorization.</p></li>
-<li><p><strong>X</strong> (<em>(n, n) ndarray</em>) – On exit, if JOB = ‘B’ or ‘X’, and INFO = 0, 3, or 4, then
-the leading N-by-N part of this array contains the
-solution matrix X of the equation.
-If JOB = ‘S’, X is not referenced.</p></li>
-<li><p><strong>scale</strong> (<em>float</em>) – The scale factor set to avoid overflow in X.
-(0 &lt; SCALE &lt;= 1)</p></li>
-<li><p><strong>sep</strong> (<em>float</em>) – If JOB = ‘S’ or JOB = ‘B’, and INFO = 0, 3, or 4, then
-SEP contains an estimate of the separation of the
-Lyapunov operator.</p></li>
-<li><p><strong>ferr</strong> (<em>float</em>) – If JOB = ‘B’, and INFO = 0, 3, or 4, then FERR contains an
-estimated forward error bound for the solution X. If XTRUE
-is the true solution, FERR estimates the relative error
-in the computed solution, measured in the Frobenius norm:
-norm(X - XTRUE) / norm(XTRUE)</p></li>
-<li><p><strong>alphar, alphai, beta</strong> (<em>(n, ) ndarray</em>) – If FACT = ‘N’ and INFO = 0, 3, or 4, then
-(ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,…,N, are the
-eigenvalues of the matrix pencil A - lambda * E.
-If FACT = ‘F’, ALPHAR, ALPHAI, and BETA are not
-referenced.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>FACT = ‘F’ and the matrix contained in the upper
-Hessenberg part of the array A is not in upper
-quasitriangular form;</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>FACT = ‘N’ and the pencil A - lambda * E cannot be
-reduced to generalized Schur form: LAPACK routine
-DGEGS has failed to converge;</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">info = 3</dt>
-<dd class="field-odd"><p>DICO = ‘D’ and the pencil A - lambda * E has a
-pair of reciprocal eigenvalues. That is, lambda_i =
-1/lambda_j for some i and j, where lambda_i and
-lambda_j are eigenvalues of A - lambda * E. Hence,
-equation (2) is singular;  perturbed values were
-used to solve the equation (but the matrices A and
-E are unchanged);</p>
-</dd>
-<dt class="field-even">info = 4</dt>
-<dd class="field-even"><p>DICO = ‘C’ and the pencil A - lambda * E has a
-degenerate pair of eigenvalues. That is, lambda_i =
--lambda_j for some i and j, where lambda_i and
-lambda_j are eigenvalues of A - lambda * E. Hence,
-equation (1) is singular;  perturbed values were
-used to solve the equation (but the matrices A and
-E are unchanged).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-  <div class="section" id="slycot-sg03bd">
-<h1>slycot.sg03bd<a class="headerlink" href="#slycot-sg03bd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.sg03bd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">sg03bd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dico</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">Z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">fact</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trans</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.sg03bd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the Cholesky factor U of the matrix X,</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>         <span class="n">T</span>
-<span class="n">X</span> <span class="o">=</span> <span class="n">op</span><span class="p">(</span><span class="n">U</span><span class="p">)</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">U</span><span class="p">),</span>
-</pre></div>
-</div>
-<p>which is the solution of either the generalized
-c-stable continuous-time Lyapunov equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                    <span class="n">T</span>
-<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span> <span class="o">+</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>
-
-         <span class="mi">2</span>        <span class="n">T</span>
-<span class="o">=</span> <span class="o">-</span> <span class="n">SCALE</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">),</span>                                <span class="p">(</span><span class="mi">1</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>or the generalized d-stable discrete-time Lyapunov equation</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     <span class="n">T</span>                    <span class="n">T</span>
-<span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">A</span><span class="p">)</span> <span class="o">-</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>  <span class="o">*</span> <span class="n">X</span> <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">E</span><span class="p">)</span>
-
-         <span class="mi">2</span>        <span class="n">T</span>
-<span class="o">=</span> <span class="o">-</span> <span class="n">SCALE</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">)</span>  <span class="o">*</span> <span class="n">op</span><span class="p">(</span><span class="n">B</span><span class="p">),</span>                                <span class="p">(</span><span class="mi">2</span><span class="p">)</span>
-</pre></div>
-</div>
-<p>without first finding X and without the need to form the matrix
-op(B)**T * op(B).</p>
-<p>op(K) is either K or K**T for K = A, B, E, U. A and E are N-by-N
-matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
-N-by-N upper triangular matrix with non-negative entries on its
-main diagonal. SCALE is an output scale factor set to avoid
-overflow in U.</p>
-<p>In the continuous-time case (1) the pencil A - lambda * E must be
-c-stable (that is, all eigenvalues must have negative real parts).
-In the discrete-time case (2) the pencil A - lambda * E must be
-d-stable (that is, the moduli of all eigenvalues must be smaller
-than one).</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The order of the matrix A.  n &gt;= 0.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The number of rows in the matrix op(B).  m &gt;= 0.</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n upper
-Hessenberg part of this array must contain the
-generalized Schur factor A_s of the matrix A (see
-definition (3) in section METHOD). A_s must be an upper
-quasitriangular matrix. The elements below the upper
-Hessenberg part of the array A are not referenced.
-If fact = ‘N’, then the leading n-by-n part of this
-array must contain the matrix A.</p></li>
-<li><p><strong>E</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n upper
-triangular part of this array must contain the
-generalized Schur factor E_s of the matrix E (see
-definition (4) in section METHOD). The elements below the
-upper triangular part of the array E are not referenced.
-If fact = ‘N’, then the leading n-by-n part of this
-array must contain the coefficient matrix E of the
-equation.
-On exit, the leading n-by-n part of this array contains
-the generalized Schur factor E_s of the matrix E. (E_s is
-an upper triangular matrix.)</p></li>
-<li><p><strong>Q</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n part of
-this array must contain the orthogonal matrix Q from
-the generalized Schur factorization (see definitions (3)
-and (4) in section METHOD).
-If fact = ‘N’, Q need not be set on entry.
-On exit, the leading n-by-n part of this array contains
-the orthogonal matrix Q from the generalized Schur
-factorization.</p></li>
-<li><p><strong>Z</strong> (<em>(</em><em>n</em><em>, </em><em>n</em><em>) </em><em>array_like</em>) – On entry, if fact = ‘F’, then the leading n-by-n part of
-this array must contain the orthogonal matrix Z from
-the generalized Schur factorization (see definitions (3)
-and (4) in section METHOD).
-If fact = ‘N’, Z need not be set on entry.
-On exit, the leading n-by-n part of this array contains
-the orthogonal matrix Z from the generalized Schur
-factorization.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>, </em><em>n1</em><em>) </em><em>array_like</em>) – On entry, if trans = ‘T’, the leading n-by-m part of this
-array must contain the matrix B and n1 &gt;= max(m, n).
-If trans = ‘N’, the leading m-by-n part of this array
-must contain the matrix B and n1 &gt;= n.
-On exit, the leading n-by-n part of this array contains
-the Cholesky factor U of the solution matrix X of the
-problem, X = op(U)**T * op(U).
-If m = 0 and n &gt; 0, then U is set to zero.</p></li>
-<li><p><strong>dico</strong> (<em>{C</em><em>, </em><em>D}</em>) – <dl class="simple">
-<dt>Specifies which type of the equation is considered:</dt><dd><dl class="field-list simple">
-<dt class="field-odd">= ‘C’</dt>
-<dd class="field-odd"><p>Continuous-time equation (1);</p>
-</dd>
-<dt class="field-even">= ‘D’</dt>
-<dd class="field-even"><p>Discrete-time equation (2).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</p></li>
-<li><p><strong>fact</strong> (<em>{'N'</em><em>, </em><em>'F'}</em><em>, </em><em>optional</em>) – <p>Specifies whether the generalized real Schur
-factorization of the pencil A - lambda * E is supplied
-on entry or not:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>Factorization is not supplied;</p>
-</dd>
-<dt class="field-even">= ‘F’</dt>
-<dd class="field-even"><p>Factorization is supplied.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>trans</strong> (<em>{'N'</em><em>, </em><em>'T'}</em><em>, </em><em>optional</em>) – <p>Specifies whether the transposed equation is to be solved
-or not:</p>
-<blockquote>
-<div><dl class="field-list simple">
-<dt class="field-odd">= ‘N’</dt>
-<dd class="field-odd"><p>op(A) = A,    op(E) = E;</p>
-</dd>
-<dt class="field-even">= ‘T’</dt>
-<dd class="field-even"><p>op(A) = A**T, op(E) = E**T.</p>
-</dd>
-</dl>
-</div></blockquote>
-</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – <p>The dimension of the array dwork:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ldwork</span> <span class="o">&gt;=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">4</span><span class="o">*</span><span class="n">n</span><span class="p">,</span><span class="mi">6</span><span class="o">*</span><span class="n">n</span><span class="o">-</span><span class="mi">6</span><span class="p">),</span>  <span class="k">if</span> <span class="n">fact</span> <span class="o">=</span> <span class="s1">&#39;N&#39;</span><span class="p">;</span>
-<span class="n">ldwork</span> <span class="o">&gt;=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="o">*</span><span class="n">n</span><span class="p">,</span><span class="mi">6</span><span class="o">*</span><span class="n">n</span><span class="o">-</span><span class="mi">6</span><span class="p">),</span>  <span class="k">if</span> <span class="n">fact</span> <span class="o">=</span> <span class="s1">&#39;F&#39;</span><span class="o">.</span>
-</pre></div>
-</div>
-<p>For good performance, ldwork should be larger.</p>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>U</strong> (<em>(n, n) ndarray</em>) – The leading n-by-b part of this array contains
-the Cholesky factor U of the solution matrix X of the
-problem, X = op(U)**T * op(U).
-If m = 0 and m &gt; 0, then U is set to zero.</p></li>
-<li><p><strong>scale</strong> (<em>float</em>) – The scale factor set to avoid overflow in U.
-0 &lt; scale &lt;= 1.</p></li>
-<li><p><strong>lambda</strong> (<em>(n, ) complex ndarray</em>) – If INFO = 0, 3, 5, 6, or 7, then
-((j), j=1,…,n, are the
-eigenvalues of the matrix pencil A - lambda * E.</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 2</dt>
-<dd class="field-odd"><p>fact = ‘F’ and the matrix contained in the upper
-Hessenberg part of the array A is not in upper
-quasitriangular form;</p>
-</dd>
-<dt class="field-even">info = 3</dt>
-<dd class="field-even"><p>fact = ‘F’ and there is a 2-by-2 block on the main
-diagonal of the pencil A_s - lambda * E_s whose
-eigenvalues are not conjugate complex;</p>
-</dd>
-<dt class="field-odd">info = 4</dt>
-<dd class="field-odd"><p>fact = ‘N’ and the pencil A - lambda * E cannot be
-reduced to generalized Schur form: LAPACK routine
-DGEGS (or DGGES) has failed to converge;</p>
-</dd>
-<dt class="field-even">info = 5</dt>
-<dd class="field-even"><p>dico = ‘C’ and the pencil A - lambda * E is not
-c-stable;</p>
-</dd>
-<dt class="field-odd">info = 6</dt>
-<dd class="field-odd"><p>dico = ‘D’ and the pencil A - lambda * E is not
-d-stable;</p>
-</dd>
-<dt class="field-even">info = 7</dt>
-<dd class="field-even"><p>the LAPACK routine DSYEVX utilized to factorize M3
-failed to converge in the discrete-time case (see
-section METHOD for SLICOT Library routine SG03BU).
-This error is unlikely to occur.</p>
-</dd>
-</dl>
-</p>
-</dd>
-<dt class="field-even">Warns</dt>
-<dd class="field-even"><p><strong>SlycotResultWarning</strong> –</p>
-<dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>the pencil A - lambda * E is (nearly) singular;
-perturbed values were used to solve the equation
-(but the reduced (quasi)triangular matrices A and E
-are unchanged);</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
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-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <div class="section" id="slycot-tb01id">
-<h1>slycot.tb01id<a class="headerlink" href="#slycot-tb01id" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tb01id">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb01id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">maxred</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb01id" title="Permalink to this definition"></a></dt>
-<dd><p>To reduce the 1-norm of a system matrix</p>
-<blockquote>
-<div><dl class="simple">
-<dt>S =  ( A  B )</dt><dd><p>( C  0 )</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>corresponding to the triple (A,B,C), by balancing. This involves
-a diagonal similarity transformation inv(D)*A*D applied
-iteratively to A to make the rows and columns of</p>
-<blockquote>
-<div><blockquote>
-<div><p>-1</p>
-</div></blockquote>
-<p>diag(D,I)  * S * diag(D,I)</p>
-</div></blockquote>
-<p>as close in norm as possible.</p>
-<p>The balancing can be performed optionally on the following
-particular system matrices</p>
-<blockquote>
-<div><dl class="simple">
-<dt>S = A,    S = ( A  B )    or    S = ( A )</dt><dd><p>( C )</p>
-</dd>
-</dl>
-</div></blockquote>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the matrix A, the number of rows of matrix B and
-the number of columns of matrix C. It represents the dimension of
-the state vector.  n &gt; 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of columns of matrix B. It represents the dimension of
-the input vector.  m &gt; 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of rows of matrix C. It represents the dimension of
-the output vector.  p &gt; 0.</p>
-</dd>
-<dt>maxred<span class="classifier">input float</span></dt><dd><p>The maximum allowed reduction in the 1-norm of S  (in an iteration)
-if zero rows or columns are encountered.
-If maxred &gt; 0.0, maxred must be larger than one (to enable the norm
-reduction).
-If maxred &lt;= 0.0, then the value 10.0 for maxred is used.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the system state
-matrix A.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array must contain the system input
-matrix B.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the system output
-matrix C.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>job := ‘A’ input string(len=1)</dt><dd><p>Indicates which matrices are involved in balancing, as follows:
-= ‘A’:  All matrices are involved in balancing;
-= ‘B’:  B and A matrices are involved in balancing;
-= ‘C’:  C and A matrices are involved in balancing;
-= ‘N’:  B and C matrices are not involved in balancing.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>s_norm<span class="classifier">float</span></dt><dd><p>The 1-norm of the given matrix S is non-zero, the ratio between
-the 1-norm of the given matrix and the 1-norm of the balanced matrix.</p>
-</dd>
-<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array contains the balanced matrix
-inv(D)*A*D.</p>
-</dd>
-<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>The leading n-by-m part of this array contains the balanced matrix
-inv(D)*B.</p>
-</dd>
-<dt>C<span class="classifier">rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array contains the balanced matrix C*D.</p>
-</dd>
-<dt>scale<span class="classifier">rank-1 array(‘d’) with bounds (n)</span></dt><dd><p>The scaling factors applied to S.  If D(j) is the scaling factor
-applied to row and column j, then scale(j) = D(j), for j = 1,…,n.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
-</div>
-
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-          </div>
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-  <div class="section" id="slycot-tb01pd">
-<h1>slycot.tb01pd<a class="headerlink" href="#slycot-tb01pd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tb01pd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb01pd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">job</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb01pd" title="Permalink to this definition"></a></dt>
-<dd><p>To find a reduced (controllable, observable, or minimal) state-
-space representation (Ar,Br,Cr) for any original state-space
-representation (A,B,C). The matrix Ar is in upper block
-Hessenberg form.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>Order of the State-space representation.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>Number of inputs.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>Number of outputs.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>State dynamics matrix.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading n-by-m part of this array must contain the original
-input/state matrix B; the remainder of the leading n-by-max(m,p)
-part is used as internal workspace.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>The leading p-by-n part of this array must contain the original
-state/output matrix C; the remainder of the leading max(1,m,p)-by-n
-part is used as internal workspace.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl>
-<dt>job<span class="classifier">input char*1</span></dt><dd><p>Indicates whether the user wishes to remove the
-uncontrollable and/or unobservable parts as follows:
-= ‘M’:  Remove both the uncontrollable and unobservable</p>
-<blockquote>
-<div><p>parts to get a minimal state-space representation;</p>
-</div></blockquote>
-<dl class="simple">
-<dt>= ‘C’:  Remove the uncontrollable part only to get a</dt><dd><p>controllable state-space representation;</p>
-</dd>
-<dt>= ‘O’:  Remove the unobservable part only to get an</dt><dd><p>observable state-space representation.</p>
-</dd>
-</dl>
-</dd>
-<dt>equil<span class="classifier">input char*1</span></dt><dd><p>Specifies whether the user wishes to preliminarily balance
-the triplet (A,B,C) as follows:
-= ‘S’:  Perform balancing (scaling);
-= ‘N’:  Do not perform balancing.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>Ar<span class="classifier">output rank-2 array(‘d’) with bounds (nr,nr)</span></dt><dd><p>Contains the upper block Hessenberg state dynamics matrix
-Ar of a minimal, controllable, or observable realization
-for the original system, depending on the value of JOB,
-JOB = ‘M’, JOB = ‘C’, or JOB = ‘O’, respectively.</p>
-</dd>
-<dt>Br<span class="classifier">output rank-2 array(‘d’) with bounds (nr,m)</span></dt><dd><p>Contains the transformed input/state matrix Br of a
-minimal, controllable, or observable realization for the
-original system, depending on the value of JOB, JOB = ‘M’,
-JOB = ‘C’, or JOB = ‘O’, respectively.  If JOB = ‘C’, only
-the first IWORK(1) rows of B are nonzero.</p>
-</dd>
-</dl>
-<p>Cr : output rank-2 array(‘d’) with bounds (p,nr)</p>
-<blockquote>
-<div><p>Contains the transformed state/output matrix Cr of a
-minimal, C controllable, or observable realization for the
-original C system, depending on the value of JOB, JOB =
-‘M’, C JOB = ‘C’, or JOB = ‘O’, respectively.  C If JOB =
-‘M’, or JOB = ‘O’, only the last IWORK(1) columns C (in
-the first NR columns) of C are nonzero.</p>
-</div></blockquote>
-<dl class="simple">
-<dt>nr<span class="classifier">output int</span></dt><dd><p>The order of the reduced state-space representation
-(Ar,Br,Cr) of a minimal, controllable, or observable
-realization for the original system, depending on
-JOB = ‘M’, JOB = ‘C’, or JOB = ‘O’.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-tb03ad">
-<h1>slycot.tb03ad<a class="headerlink" href="#slycot-tb03ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tb03ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb03ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">leri</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">equil</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb03ad" title="Permalink to this definition"></a></dt>
-<dd><p>To find a relatively prime left or right polynomial matrix representation
-with the same transfer matrix as that of a given state-space representation,
-i.e. if leri = ‘L’</p>
-<blockquote>
-<div><p>inv(P(s))*Q(s) = C*inv(s*I-A)*B + D</p>
-</div></blockquote>
-<p>or, if leri = ‘R’</p>
-<blockquote>
-<div><p>Q(s)*inv(P(s)) = C*inv(s*I-A)*B + D.</p>
-</div></blockquote>
-<p>Additionally a minimal realization (A_min,B_min,C_min) of the original
-system (A,B,C) is returned.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>The order of the state-space representation, i.e. the order of
-the original state dynamics matrix A.  n &gt; 0.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt; 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt; 0.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array must contain the original
-state dynamics matrix A.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading n-by-m part of this array must contain the original
-input/state matrix B; the remainder of the leading n-by-max(m,p)
-part is used as internal workspace.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (max(m,p),n)</span></dt><dd><p>The leading p-by-n part of this array must contain the original
-state/output matrix C; the remainder of the leading max(m,p)-by-n
-part is used as internal workspace.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (max(m,p),max(m,p))</span></dt><dd><p>The leading p-by-m part of this array must contain the original
-direct transmission matrix D; the remainder of the leading
-max(m,p)-by-max(m,p) part is used as internal workspace.</p>
-</dd>
-<dt>leri<span class="classifier">input string(len=1)</span></dt><dd><p>Indicates whether the left polynomial matrix representation or
-the right polynomial matrix representation is required.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl>
-<dt>equil := ‘N’ input string(len=1)</dt><dd><p>Specifies whether the user wishes to balance the triplet (A,B,C),
-before computing a minimal state-space representation, as follows:
-= ‘S’:  Perform balancing (scaling);
-= ‘N’:  Do not perform balancing.</p>
-</dd>
-<dt>tol := 0.0 input float</dt><dd><p>The tolerance to be used in rank determination when transforming
-(A, B). If tol &lt;= 0 a default value is used.</p>
-</dd>
-<dt>ldwork := max(2*n+3*max(m,p), p*(p+2)) input int</dt><dd><p>The length of the cache array.
-ldwork &gt;= max( n + max(n, 3*m, 3*p), pm*(pm + 2))
-where pm = p, if leri = ‘L’;</p>
-<blockquote>
-<div><p>pm = m, if leri = ‘R’.</p>
-</div></blockquote>
-<p>For optimum performance it should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>A_min<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading nr-by-nr part of this array contains the upper block
-Hessenberg state dynamics matrix A_min of a minimal realization for
-the original system.</p>
-</dd>
-<dt>B_min<span class="classifier">rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading nr-by-m part of this array contains the transformed
-input/state matrix B_min.</p>
-</dd>
-<dt>C_min<span class="classifier">rank-2 array(‘d’) with bounds (max(m,p),n)</span></dt><dd><p>The leading p-by-nr part of this array contains the transformed
-state/output matrix C_min.</p>
-</dd>
-<dt>nr<span class="classifier">int</span></dt><dd><p>The order of the minimal state-space representation
-(A_min,B_min,C_min).</p>
-</dd>
-<dt>index<span class="classifier">rank-1 array(‘i’) with bounds either (p) or (m)</span></dt><dd><p>If leri = ‘L’, index(i), i = 1,2,…,p, contains the maximum degree
-of the polynomials in the i-th row of the denominator matrix P(s)
-of the left polynomial matrix representation. These elements are
-ordered so that index(1) &gt;= index(2) &gt;= … &gt;= index(p).
-If leri = ‘R’, index(i), i = 1,2,…,m, contains the maximum degree
-of the polynomials in the i-th column of the denominator matrix P(s)
-of the right polynomial matrix representation. These elements are
-ordered so that index(1) &gt;= index(2) &gt;= … &gt;= index(m).</p>
-</dd>
-<dt>pcoeff<span class="classifier">rank-3 array(‘d’) with bounds either (p,p,n+1) or (m,m,n+1)</span></dt><dd><p>If leri = ‘L’ then porm = p, otherwise porm = m.
-The leading porm-by-porm-by-kpcoef part of this array contains
-the coefficients of the denominator matrix P(s), where
-kpcoef = max(index) + 1.
-pcoeff(i,j,k) is the coefficient in s**(index(iorj)-k+1) of
-polynomial (i,j) of P(s), where k = 1,2,…,kpcoef; if leri = ‘L’
-then iorj = I, otherwise iorj = J. Thus for leri = ‘L’,
-P(s) = diag(s**index)*(pcoeff(.,.,1)+pcoeff(.,.,2)/s+…).</p>
-</dd>
-<dt>qcoeff<span class="classifier">rank-3 array(‘d’) with bounds (p,m,n + 1) or (max(m,p),max(m,p))</span></dt><dd><p>If leri = ‘L’ then porp = m, otherwise porp = p.
-If leri = ‘L’, the leading porm-by-porp-by-kpcoef part of this array
-contains the coefficients of the numerator matrix Q(s).
-If leri = ‘R’, the leading porp-by-porm-by-kpcoef part of this array
-contains the coefficients of the numerator matrix Q(s).
-qcoeff(i,j,k) is defined as for pcoeff(i,j,k).</p>
-</dd>
-<dt>vcoeff<span class="classifier">rank-3 array(‘d’) with bounds (p,n,n+1) or (m,n,n+1)</span></dt><dd><p>The leading porm-by-nr-by-kpcoef part of this array contains
-the coefficients of the intermediate matrix V(s).
-vcoeff(i,j,k) is defined as for pcoeff(i,j,k).</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1</dt>
-<dd class="field-odd"><p>A singular matrix was encountered during the
-computation of V(s);</p>
-</dd>
-<dt class="field-even">info == 2</dt>
-<dd class="field-even"><p>A singular matrix was encountered during the
-computation of P(s).</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-tb04ad">
-<h1>slycot.tb04ad<a class="headerlink" href="#slycot-tb04ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tb04ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb04ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb04ad" title="Permalink to this definition"></a></dt>
-<dd><p>Convert a state-space system to a tranfer function or matrix of transfer functions.
-The transfer function is given as rows over common denominators.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Returns</dt>
-<dd class="field-odd"><dl class="simple">
-<dt><strong>nr</strong><span class="classifier">int</span></dt><dd><p>state dimension of the controllable subsystem</p>
-</dd>
-<dt><strong>Ar</strong><span class="classifier">rank-2 array, shape(nr,nr)</span></dt><dd><p>state dynamics matrix of the controllable subsystem</p>
-</dd>
-<dt><strong>Br</strong><span class="classifier">rank-2 array, shape (nr,m)</span></dt><dd><p>input matrix of the controllable subsystem</p>
-</dd>
-<dt><strong>Cr</strong><span class="classifier">rank-2 array, shape (p,nr)</span></dt><dd><p>output matri of the controllable subsystem</p>
-</dd>
-<dt><strong>index</strong><span class="classifier">rank-1 array, shape (p)</span></dt><dd><p>array of orders of the denominator polynomials</p>
-</dd>
-<dt><strong>dcoeff</strong><span class="classifier">rank-2 array, shape (p,max(index)+1)</span></dt><dd><p>array of denominator coefficients</p>
-</dd>
-<dt><strong>ucoeff</strong><span class="classifier">rank-3 array, shape (p,m,max(index)+1)</span></dt><dd><p>array of numerator coefficients</p>
-</dd>
-</dl>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-tb05ad">
-<h1>slycot.tb05ad<a class="headerlink" href="#slycot-tb05ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tb05ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tb05ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">jomega</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">job</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'NG'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tb05ad" title="Permalink to this definition"></a></dt>
-<dd><p>To find the complex frequency response matrix (transfer matrix)
-G(freq) of the state-space representation (A,B,C) given by</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>                           <span class="o">-</span><span class="mi">1</span>
-<span class="n">G</span><span class="p">(</span><span class="n">freq</span><span class="p">)</span> <span class="o">=</span> <span class="n">C</span> <span class="o">*</span> <span class="p">((</span><span class="n">freq</span><span class="o">*</span><span class="n">I</span> <span class="o">-</span> <span class="n">A</span><span class="p">)</span>  <span class="p">)</span> <span class="o">*</span> <span class="n">B</span>
-</pre></div>
-</div>
-<p>where A, B and C are real N-by-N, N-by-M and P-by-N matrices
-respectively and freq is a complex scalar.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>n</strong> (<em>int</em>) – The number of states, i.e. the order of the state
-transition matrix A.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – The number of inputs, i.e. the number of columns in the
-matrix B.</p></li>
-<li><p><strong>p</strong> (<em>int</em>) – The number of outputs, i.e. the number of rows in the
-matrix C.</p></li>
-<li><p><strong>jomega</strong> (<em>complex float</em>) – The frequency at which the frequency response matrix
-(transfer matrix) is to be evaluated. For continuous time
-systems, this is j*omega, where omega is the frequency to
-be evaluated. For discrete time systems,
-freq = exp(j*omega*Ts)</p></li>
-<li><p><strong>A</strong> (<em>(</em><em>n</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – On entry, this array must contain the state transition
-matrix A.</p></li>
-<li><p><strong>B</strong> (<em>(</em><em>n</em><em>,</em><em>m</em><em>) </em><em>ndarray</em>) – On entry, this array must contain the input/state matrix B.</p></li>
-<li><p><strong>C</strong> (<em>(</em><em>p</em><em>,</em><em>n</em><em>) </em><em>ndarray</em>) – On entry, of this array must contain the state/output matrix C.</p></li>
-<li><p><strong>job</strong> (<em>{'AG'</em><em>, </em><em>'NG'</em><em>, </em><em>'NH'}</em>) – <p>If job = ‘AG’ (i.e., ‘all’, ‘general matrix’), the A matrix is
-first balanced. The balancing transformation
-is then appropriately applied to matrices B and C. The A matrix
-is (again) transformed to an upper Hessenberg representation and
-the B and C matrices are also transformed. In addition,
-the condition number of the problem is calculated as well as the
-eigenvalues of A.</p>
-<p>If job=’NG’ (i.e., ‘none’, ‘general matrix’), no balancing is done.
-Neither the condition number nor the eigenvalues are calculated.
-The routine still transforms A into upper Hessenberg form. The
-matrices B and C are also appropriately transformed.</p>
-<p>If job = ‘NH’ (i.e., ‘none’, ‘hessenberg matrix’), the function
-assumes the matrices have already been transformed into Hessenberg
-form, i.e., by a previous function call tb05ad. If this not the
-case, the routine will return a wrong result without warning.</p>
-</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul>
-<li><p><em>if job = ‘AG’</em></p></li>
-<li><p><em>————–</em> –</p>
-<dl>
-<dt>At:  The A matrix which has been both balanced and</dt><dd><p>transformed to upper Hessenberg form. The balancing
-transforms A according to</p>
-<blockquote>
-<div><p>A1 =   P^-1 * A * P.</p>
-</div></blockquote>
-<dl class="simple">
-<dt>The transformation to upper Hessenberg form then yields</dt><dd><p>At = Q^T * (P^-1 * A * P ) * Q.</p>
-</dd>
-</dl>
-<p>Note that the lower triangle of At is in general not zero.
-Rather, it contains information on the orthogonal matrix Q
-used to transform A1 to Hessenberg form. See docs for lappack
-DGEHRD():
-<a class="reference external" href="http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html">http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html</a>
-However, it does not apparently contain information on P, the
-matrix used in the balancing procedure.</p>
-</dd>
-<dt>Bt:  The matrix B transformed according to</dt><dd><p>Bt = Q^T * P^-1 * B.</p>
-</dd>
-<dt>Ct:  The matrix C transformed according to</dt><dd><p>Ct = C * P * Q</p>
-</dd>
-<dt>rcond: RCOND contains an estimate of the reciprocal of the</dt><dd><dl class="simple">
-<dt>condition number of matrix H with respect to inversion, where</dt><dd><p>H = (j*freq * I - A)</p>
-</dd>
-</dl>
-</dd>
-<dt>g_jw: complex p-by-m array, which contains the frequency response</dt><dd><p>matrix G(freq).</p>
-</dd>
-</dl>
-<p>ev:   Eigenvalues of the matrix A.</p>
-<dl>
-<dt>hinvb<span class="classifier">complex n-by-m array, which  contains the product</span></dt><dd><blockquote>
-<div><p>-1</p>
-</div></blockquote>
-<p>H  B.</p>
-</dd>
-</dl>
-</li>
-<li><p><em>if job = ‘NG’</em></p></li>
-<li><p><em>————–</em> –</p>
-<dl>
-<dt>At:    The matrix A transformed to upper Hessenberg form according</dt><dd><dl class="simple">
-<dt>to</dt><dd><p>At = Q^T  * A  * Q.</p>
-</dd>
-</dl>
-<p>The lower triangle is not zero. It containts info on the
-orthoganal transformation. See docs for linpack DGEHRD()
-<a class="reference external" href="http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html">http://www.netlib.org/lapack/explore-3.1.1-html/dgehrd.f.html</a></p>
-</dd>
-<dt>Bt:    The matrix B transformed according to</dt><dd><p>Bt = Q^T * B.</p>
-</dd>
-<dt>Ct:    The matrix C transformed according to</dt><dd><p>Ct = C * Q</p>
-</dd>
-<dt>g_jw:  complex array with dim p-by-m which contains the frequency</dt><dd><p>response matrix G(freq).</p>
-</dd>
-<dt>hinvb<span class="classifier">complex array with dimension p-by-m.</span></dt><dd><blockquote>
-<div><dl class="simple">
-<dt>This array contains the</dt><dd><p>-1</p>
-</dd>
-</dl>
-</div></blockquote>
-<p>product H  B.</p>
-</dd>
-</dl>
-</li>
-<li><p><em>if job = ‘NH’</em></p></li>
-<li><p><em>————–</em> –</p>
-<dl>
-<dt>g_jw:  complex p-by-m array which contains the frequency</dt><dd><p>response matrix G(freq).</p>
-</dd>
-<dt>hinvb<span class="classifier">complex p-by-m array which contains the</span></dt><dd><blockquote>
-<div><p>-1</p>
-</div></blockquote>
-<p>product H  B.</p>
-</dd>
-</dl>
-</li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info = 1</dt>
-<dd class="field-odd"><p>More than {n30} (30*`n`) iterations were required to isolate the
-eigenvalues of A. The computations are continued.</p>
-</dd>
-<dt class="field-even">info = 2</dt>
-<dd class="field-even"><p>Either <cite>freq`={jomega} is too near to an eigenvalue of A,
-or `rcond</cite> is less than the machine precision EPS.</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-<p class="rubric">Example</p>
-<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">],</span>
-<span class="go">            [-100.0,   -20.1]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">B</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">0.</span><span class="p">],[</span><span class="mi">100</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">C</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">1.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]])</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">n</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">shape</span><span class="p">(</span><span class="n">A</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">m</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">shape</span><span class="p">(</span><span class="n">B</span><span class="p">)[</span><span class="mi">1</span><span class="p">]</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">p</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">shape</span><span class="p">(</span><span class="n">C</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">jw_s</span> <span class="o">=</span> <span class="p">[</span><span class="mi">1</span><span class="n">j</span><span class="o">*</span><span class="mi">10</span><span class="p">,</span> <span class="mi">1</span><span class="n">j</span><span class="o">*</span><span class="mi">15</span><span class="p">]</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">at</span><span class="p">,</span> <span class="n">bt</span><span class="p">,</span> <span class="n">ct</span><span class="p">,</span> <span class="n">g_1</span><span class="p">,</span> <span class="n">hinvb</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">tb05ad</span><span class="p">(</span><span class="n">n</span><span class="p">,</span> <span class="n">m</span><span class="p">,</span> <span class="n">p</span><span class="p">,</span> <span class="n">jw_s</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
-<span class="go">                                                A, B, C, job=&#39;NG&#39;)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">g_2</span><span class="p">,</span> <span class="n">hinv2</span><span class="p">,</span><span class="n">info</span> <span class="o">=</span> <span class="n">slycot</span><span class="o">.</span><span class="n">tb05ad</span><span class="p">(</span><span class="n">n</span><span class="p">,</span> <span class="n">m</span><span class="p">,</span> <span class="n">p</span><span class="p">,</span> <span class="n">jw_s</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">at</span><span class="p">,</span> <span class="n">bt</span><span class="p">,</span> <span class="n">ct</span><span class="p">,</span> <span class="n">job</span><span class="o">=</span><span class="s1">&#39;NH&#39;</span><span class="p">)</span>
-</pre></div>
-</div>
-</dd></dl>
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-  <div class="section" id="slycot-tc01od">
-<h1>slycot.tc01od<a class="headerlink" href="#slycot-tc01od" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tc01od">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tc01od</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">indlim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">leri</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tc01od" title="Permalink to this definition"></a></dt>
-<dd><p>To find the dual right (left) polynomial matrix representation of a given
-left (right) polynomial matrix representation, where the right and left
-polynomial matrix representations are of the form Q(s)*inv(P(s)) and
-inv(P(s))*Q(s) respectively.</p>
-<dl>
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt; 0.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>The number of system outputs.  p &gt; 0.</p>
-</dd>
-<dt>indlim<span class="classifier">input int</span></dt><dd><p>The highest value of k for which pcoeff(.,.,k) and qcoeff(.,.,k)
-are to be transposed.
-k = kpcoef + 1, where kpcoef is the maximum degree of the polynomials
-in P(s).  indlim &gt; 0.</p>
-</dd>
-<dt>pcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (p,p,indlim) or (m,m,indlim)</span></dt><dd><p>If leri = ‘L’ then porm = p, otherwise porm = m.
-On entry, the leading porm-by-porm-by-indlim part of this array
-must contain the coefficients of the denominator matrix P(s).
-pcoeff(i,j,k) is the coefficient in s**(indlim-k) of polynomial
-(i,j) of P(s), where k = 1,2,…,indlim.</p>
-</dd>
-<dt>qcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (max(m,p),max(m,p),indlim)</span></dt><dd><p>On entry, the leading p-by-m-by-indlim part of this array must
-contain the coefficients of the numerator matrix Q(s).
-qcoeff(i,j,k) is the coefficient in s**(indlim-k) of polynomial
-(i,j) of Q(s), where k = 1,2,…,indlim.</p>
-</dd>
-</dl>
-<p>leri : input string(len=1)</p>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>pcoeff<span class="classifier">rank-3 array(‘d’) with bounds (p,p,indlim)</span></dt><dd><p>On exit, the leading porm-by-porm-by-indlim part of this array
-contains the coefficients of the denominator matrix P’(s) of
-the dual system.</p>
-</dd>
-<dt>qcoeff<span class="classifier">rank-3 array(‘d’) with bounds (max(m,p),max(m,p),indlim)</span></dt><dd><p>On exit, the leading m-by-p-by-indlim part of the array contains
-the coefficients of the numerator matrix Q’(s) of the dual system.</p>
-</dd>
-<dt>info<span class="classifier">int</span></dt><dd><p>= 0:  successful exit;
-&lt; 0:  if info = -i, the i-th argument had an illegal value.</p>
-</dd>
-</dl>
-</dd>
-</dl>
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-  <div class="section" id="slycot-tc04ad">
-<h1>slycot.tc04ad<a class="headerlink" href="#slycot-tc04ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tc04ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tc04ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">index</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">leri</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tc04ad" title="Permalink to this definition"></a></dt>
-<dd><p>To find a state-space representation (A,B,C,D) with the same
-transfer matrix as that of a given left or right polynomial
-matrix representation, i.e.</p>
-<blockquote>
-<div><p>C*inv(sI-A)*B + D = inv(P(s))*Q(s)</p>
-</div></blockquote>
-<p>or</p>
-<blockquote>
-<div><p>C*inv(sI-A)*B + D = Q(s)*inv(P(s))</p>
-</div></blockquote>
-<p>respectively.</p>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>m<span class="classifier">input int</span></dt><dd><p>The number of system inputs.  m &gt; 0.</p>
-</dd>
-<dt>p := len(index) input int</dt><dd><p>The number of system outputs.  p &gt; 0.</p>
-</dd>
-<dt>index<span class="classifier">input rank-1 array(‘i’) with bounds (p) or (m)</span></dt><dd><p>If leri = ‘L’, index(i), i = 1,2,…,p, must contain the maximum
-degree of the polynomials in the I-th row of the denominator matrix
-P(s) of the given left polynomial matrix representation.
-If leri = ‘R’, index(i), i = 1,2,…,m, must contain the maximum
-degree of the polynomials in the I-th column of the denominator
-matrix P(s) of the given right polynomial matrix representation.</p>
-</dd>
-<dt>pcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (p,p,*) or (m,m,*)</span></dt><dd><p>If leri = ‘L’ then porm = p, otherwise porm = m. The leading
-porm-by-porm-by-kpcoef part of this array must contain
-the coefficients of the denominator matrix P(s). pcoeff(i,j,k) is
-the coefficient in s**(index(iorj)-K+1) of polynomial (I,J) of P(s),
-where k = 1,2,…,kpcoef and kpcoef = max(index) + 1; if leri = ‘L’
-then iorj = i, otherwise iorj = j. Thus for leri = ‘L’,
-P(s) = diag(s**index)*(pcoeff(.,.,1)+pcoeff(.,.,2)/s+…).
-If leri = ‘R’, pcoeff is modified by the routine but restored on exit.</p>
-</dd>
-<dt>qcoeff<span class="classifier">input rank-3 array(‘d’) with bounds (p,m,*) or (max(m,p),max(m,p),*)</span></dt><dd><p>If leri = ‘L’ then porp = m, otherwise porp = p. The leading
-porm-by-porp-by-kpcoef part of this array must contain
-the coefficients of the numerator matrix Q(s).
-qcoeff(i,j,k) is defined as for pcoeff(i,j,k).
-If leri = ‘R’, qcoeff is modified by the routine but restored on exit.</p>
-</dd>
-<dt>leri<span class="classifier">input string(len=1)</span></dt><dd><p>Indicates whether a left polynomial matrix representation or a right
-polynomial matrix representation is input as follows:
-= ‘L’:  A left matrix fraction is input;
-= ‘R’:  A right matrix fraction is input.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><dl class="simple">
-<dt>ldwork := max(m,p)*(max(m,p)+4) input int</dt><dd><p>The length of the cache array. ldwork &gt;= max(m,p)*(max(m,p)+4)
-For optimum performance it should be larger.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">int</span></dt><dd><p>The order of the resulting state-space representation.
-That is, n = sum(index).</p>
-</dd>
-<dt>rcond<span class="classifier">float</span></dt><dd><p>The estimated reciprocal of the condition number of the leading row
-(if leri = ‘L’) or the leading column (if leri = ‘R’) coefficient
-matrix of P(s).
-If rcond is nearly zero, P(s) is nearly row or column non-proper.</p>
-</dd>
-<dt>A<span class="classifier">rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>The leading n-by-n part of this array contains the state dynamics matrix A.</p>
-</dd>
-<dt>B<span class="classifier">rank-2 array(‘d’) with bounds (n,max(m,p))</span></dt><dd><p>The leading n-by-n part of this array contains the input/state matrix B;
-the remainder of the leading n-by-max(m,p) part is used as internal
-workspace.</p>
-</dd>
-<dt>C<span class="classifier">rank-2 array(‘d’) with bounds (max(m,p),n)</span></dt><dd><p>The leading p-by-n part of this array contains the state/output matrix C;
-the remainder of the leading max(m,p)-by-n part is used as internal
-workspace.</p>
-</dd>
-<dt>D<span class="classifier">rank-2 array(‘d’) with bounds (max(m,p),max(m,p))</span></dt><dd><p>The leading p-by-m part of this array contains the direct transmission
-matrix D; the remainder of the leading max(m,p)-by-max(m,p) part is
-used as internal workspace.</p>
-</dd>
-</dl>
-</dd>
-</dl>
-<dl class="field-list simple">
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info == 1 and leri = ‘L’</dt>
-<dd class="field-odd"><p>P(s) is not row proper</p>
-</dd>
-<dt class="field-even">info == 1 and leri = ‘R’</dt>
-<dd class="field-even"><p>P(s) is not column proper</p>
-</dd>
-</dl>
-</p>
-</dd>
-</dl>
-</dd></dl>
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-  <div class="section" id="slycot-td04ad">
-<h1>slycot.td04ad<a class="headerlink" href="#slycot-td04ad" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.td04ad">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">td04ad</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rowcol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">index</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dcoeff</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ucoeff</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.td04ad" title="Permalink to this definition"></a></dt>
-<dd><p>Convert a transfer function or matrix of transfer functions to
-a minimum state space realization.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>rowcol</strong> (<em>{R'</em><em>, </em><em>'C'}</em>) – indicates whether the transfer matrix T(s) is given
-as rows (‘R’) or colums (‘C’) over common denominators.</p></li>
-<li><p><strong>m</strong> (<em>int</em>) – input dimension</p></li>
-<li><p><strong>p</strong> (<em>int</em>) – output dimension</p></li>
-<li><p><strong>index</strong> (<em>(</em><em>p</em><em>,</em><em>) or </em><em>(</em><em>m</em><em>,</em><em>) </em><em>array_like</em>) – array of orders of the denominator polynomials. Different
-shapes corresponding to rowcol==’R’ and rowcol==’C’
-respectively.</p></li>
-<li><p><strong>dcoeff</strong> (<em>(</em><em>p</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) or </em><em>(</em><em>m</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) </em><em>ndarray</em>) – array of denominator coefficients. Different shapes
-corresponding to rowcol==’R’ and rowcol==’C’ respectively.</p></li>
-<li><p><strong>ucoeff</strong> (<em>(</em><em>p</em><em>,</em><em>m</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) or </em><em>(</em><em>max</em><em>(</em><em>p</em><em>,</em><em>m</em><em>)</em><em>,</em><em>max</em><em>(</em><em>p</em><em>,</em><em>m</em><em>)</em><em>,</em><em>max</em><em>(</em><em>index</em><em>)</em><em>+1</em><em>) </em><em>ndarray</em>) – array of numerator coefficients. Different shapes
-corresponding to rowcol==’R’ and rowcol==’C’ respectively.</p></li>
-<li><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – tolerance in determining the state space system,
-when set to 0, a default value is used.</p></li>
-<li><p><strong>ldwork</strong> (<em>int</em><em>, </em><em>optional</em>) – The length of the cache array. The default values is
-max(1,sum(index)+max(sum(index),max(3*m,3*p)))</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns</dt>
-<dd class="field-even"><p><ul class="simple">
-<li><p><strong>nr</strong> (<em>int</em>) – minimal state dimension</p></li>
-<li><p><strong>A</strong> (<em>(nr,nr) ndarray</em>) – state dynamics matrix.</p></li>
-<li><p><strong>B</strong> (<em>(nr,m) ndarray</em>) – input matrix</p></li>
-<li><p><strong>C</strong> (<em>(p,nr) ndarray</em>) – output matrix</p></li>
-<li><p><strong>D</strong> (<em>(p,m) ndarray</em>) – direct transmission matrix</p></li>
-</ul>
-</p>
-</dd>
-<dt class="field-odd">Raises</dt>
-<dd class="field-odd"><p><strong>SlycotArithmeticError</strong> – <dl class="field-list simple">
-<dt class="field-odd">info &gt; 0</dt>
-<dd class="field-odd"><p></p></dd>
-</dl>
-<p>i={info} is the first index of <cite>dcoeff</cite> for which
-<code class="docutils literal notranslate"><span class="pre">abs(</span> <span class="pre">dcoeff(i,1)</span> <span class="pre">)</span></code> is so small that the calculations
-would overflow (see SLICOT Library routine TD03AY);
-that is, the leading coefficient of a polynomial is
-nearly zero;</p>
-</p>
-</dd>
-</dl>
-</dd></dl>
-
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-  <div class="section" id="slycot-tf01md">
-<h1>slycot.tf01md<a class="headerlink" href="#slycot-tf01md" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tf01md">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tf01md</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">D</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">u</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x0</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tf01md" title="Permalink to this definition"></a></dt>
-<dd><p>To compute the output sequence of a linear time-invariant
-open-loop system given by its discrete-time state-space model</p>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>Order of the State-space representation.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>Number of inputs.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>Number of outputs.</p>
-</dd>
-<dt>N<span class="classifier">input int</span></dt><dd><p>Number of output samples to be computed.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>State dynamics matrix.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>Input/state matrix.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>State/output matrix.</p>
-</dd>
-<dt>D<span class="classifier">input rank-2 array(‘d’) with bounds (p,m)</span></dt><dd><p>Direct transmission matrix.</p>
-</dd>
-<dt>u<span class="classifier">input rank-2 array(‘d’) with bounds (m,N)</span></dt><dd><p>Input signal.</p>
-</dd>
-<dt>x0<span class="classifier">input rank-1 array(‘d’) with bounds (n)</span></dt><dd><p>Initial state, at time 0.</p>
-</dd>
-</dl>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>xf<span class="classifier">rank-1 array(‘d’) with bounds (n)</span></dt><dd><p>Final state, at time N+1.</p>
-</dd>
-<dt>y<span class="classifier">rank-2 array(‘d’) with bounds (p,N)</span></dt><dd><p>Output signal.</p>
-</dd>
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-  <div class="section" id="slycot-tf01rd">
-<h1>slycot.tf01rd<a class="headerlink" href="#slycot-tf01rd" title="Permalink to this heading"></a></h1>
-<dl class="py function">
-<dt class="sig sig-object py" id="slycot.tf01rd">
-<span class="sig-prename descclassname"><span class="pre">slycot.</span></span><span class="sig-name descname"><span class="pre">tf01rd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">A</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">B</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">C</span></span></em><span class="optional">[</span>, <em class="sig-param"><span class="n"><span class="pre">ldwork</span></span></em><span class="optional">]</span><span class="sig-paren">)</span><a class="headerlink" href="#slycot.tf01rd" title="Permalink to this definition"></a></dt>
-<dd><p>To compute N Markov parameters M_1, M_2,…, M_N from the
-parameters (A,B,C) of a linear time-invariant system, where each
-M_k is an p-by-m matrix and k = 1,2,…,N.</p>
-<p>All matrices are treated as dense, and hence TF01RD is not
-intended for large sparse problems.</p>
-<dl class="simple">
-<dt>Required arguments:</dt><dd><dl class="simple">
-<dt>n<span class="classifier">input int</span></dt><dd><p>Order of the State-space representation.</p>
-</dd>
-<dt>m<span class="classifier">input int</span></dt><dd><p>Number of inputs.</p>
-</dd>
-<dt>p<span class="classifier">input int</span></dt><dd><p>Number of outputs.</p>
-</dd>
-<dt>N<span class="classifier">input int</span></dt><dd><p>Number of Markov parameters to be computed.</p>
-</dd>
-<dt>A<span class="classifier">input rank-2 array(‘d’) with bounds (n,n)</span></dt><dd><p>State dynamics matrix.</p>
-</dd>
-<dt>B<span class="classifier">input rank-2 array(‘d’) with bounds (n,m)</span></dt><dd><p>Input/state matrix.</p>
-</dd>
-<dt>C<span class="classifier">input rank-2 array(‘d’) with bounds (p,n)</span></dt><dd><p>State/output matrix.</p>
-</dd>
-</dl>
-</dd>
-<dt>Optional arguments:</dt><dd><p>ldwork := 2*na*nc input int</p>
-</dd>
-<dt>Return objects:</dt><dd><dl class="simple">
-<dt>H<span class="classifier">rank-2 array(‘d’) with bounds (p,N*m)</span></dt><dd><p>H[:,(k-1)*m : k*m] contains the k-th Markov parameter,
-for k = 1,2…N.</p>
-</dd>
-</dl>
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-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab09nd.html">slycot._wrapper.ab09nd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13bd.html">slycot._wrapper.ab13bd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13dd.html">slycot._wrapper.ab13dd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13ed.html">slycot._wrapper.ab13ed</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13fd.html">slycot._wrapper.ab13fd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.ab13md.html">slycot._wrapper.ab13md</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#mathematical-routines">Mathematical routines</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mc01td.html">slycot._wrapper.mc01td</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03rd.html">slycot._wrapper.mb03rd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03vd.html">slycot._wrapper.mb03vd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03vy.html">slycot._wrapper.mb03vy</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb03wd.html">slycot._wrapper.mb03wd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb05md.html">slycot._wrapper.mb05md</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.mb05nd.html">slycot._wrapper.mb05nd</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#synthesis">Synthesis</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb01bd.html">slycot._wrapper.sb01bd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb02md.html">slycot._wrapper.sb02md</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb03md.html">slycot._wrapper.sb03md</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb03od.html">slycot._wrapper.sb03od</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb04md.html">slycot._wrapper.sb04md</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb04qd.html">slycot._wrapper.sb04qd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10ad.html">slycot._wrapper.sb10ad</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10dd.html">slycot._wrapper.sb10dd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10fd.html">slycot._wrapper.sb10fd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sb10hd.html">slycot._wrapper.sb10hd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sg03ad.html">slycot._wrapper.sg03ad</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.sg03bd.html">slycot._wrapper.sg03bd</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#transformation-routines">Transformation Routines</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tb01id.html">slycot._wrapper.tb01id</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tf01md.html">slycot._wrapper.tf01md</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tf01rd.html">slycot._wrapper.tf01rd</a></li>
-<li class="toctree-l4"><a class="reference internal" href="generated/slycot._wrapper.tb01pd.html">slycot._wrapper.tb01pd</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
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-      <li class="breadcrumb-item active">Inner function reference</li>
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-  <div class="section" id="inner-function-reference">
-<span id="inner-function-ref"></span><h1>Inner function reference<a class="headerlink" href="#inner-function-reference" title="Permalink to this heading"></a></h1>
-<span class="target" id="module-slycot"></span><div class="section" id="analysis">
-<h2>Analysis<a class="headerlink" href="#analysis" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab01nd</span></code>.</p></td>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab05nd</span></code>.</p></td>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab08nd</span></code>.</p></td>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">ab13bd</span></code>.</p></td>
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-</tbody>
-</table>
-</div>
-<div class="section" id="mathematical-routines">
-<h2>Mathematical routines<a class="headerlink" href="#mathematical-routines" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mc01td</span></code>.</p></td>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">mb05nd</span></code>.</p></td>
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-</tbody>
-</table>
-</div>
-<div class="section" id="synthesis">
-<h2>Synthesis<a class="headerlink" href="#synthesis" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">sb01bd</span></code>.</p></td>
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-</tbody>
-</table>
-</div>
-<div class="section" id="transformation-routines">
-<h2>Transformation Routines<a class="headerlink" href="#transformation-routines" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
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-<td><p>Wrapper for <code class="docutils literal notranslate"><span class="pre">tb01id</span></code>.</p></td>
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-  <div class="section" id="outer-function-reference">
-<span id="function-ref"></span><h1>Outer function reference<a class="headerlink" href="#outer-function-reference" title="Permalink to this heading"></a></h1>
-<span class="target" id="module-slycot"></span><div class="section" id="analysis">
-<h2>Analysis<a class="headerlink" href="#analysis" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab01nd.html#slycot.ab01nd" title="slycot.ab01nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab01nd</span></code></a>(n,m,A,B,[jobz,tol,ldwork])</p></td>
-<td><p>To find a controllable realization for the linear time-invariant multi-input system</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab04md.html#slycot.ab04md" title="slycot.ab04md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab04md</span></code></a>()</p></td>
-<td><p></p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab05md.html#slycot.ab05md" title="slycot.ab05md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab05md</span></code></a>(...)</p></td>
-<td><p>To obtain the state-space model (A,B,C,D) for the cascaded inter-connection of two systems, each given in state-space form.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab05nd.html#slycot.ab05nd" title="slycot.ab05nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab05nd</span></code></a>(...)</p></td>
-<td><p>To obtain the state-space model (A,B,C,D) for the feedback inter-connection of two systems, each given in state-space form.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab07nd.html#slycot.ab07nd" title="slycot.ab07nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab07nd</span></code></a>(n,m,A,B,C,D,[ldwork])</p></td>
-<td><p>To compute the inverse (A_i,B_i,C_i,D_i) of a given system (A,B,C,D).</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab08nd.html#slycot.ab08nd" title="slycot.ab08nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab08nd</span></code></a>(n,m,p,A,B,C,D,[equil,tol,ldwork])</p></td>
-<td><p>To construct for a linear multivariable system described by a state-space model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant zeros of the system as generalized eigenvalues.</p></td>
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-<td><p>To construct for a linear multivariable system described by a state-space model (A,B,C,D) a regular pencil (Af - lambda*Bf ) which has the invariant zeros of the system as generalized eigenvalues.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab09ad.html#slycot.ab09ad" title="slycot.ab09ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09ad</span></code></a>(...)</p></td>
-<td><p>Compute reduced order State-Space-Model (Ar, Br, Cr) for a stable system (A, B, C) by using either the square-root or the balancing-free square- root Balance &amp; truncate (B &amp; T) model reduction method.</p></td>
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-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab09ax.html#slycot.ab09ax" title="slycot.ab09ax"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09ax</span></code></a>(dico, job, n, m, p, A, B, C[, nr, ...])</p></td>
-<td><p><code class="docutils literal notranslate"><span class="pre">nr,Ar,Br,Cr,hsv,T,Ti</span> <span class="pre">=</span> <span class="pre">ab09ad(dico,job,equil,n,m,p,nr,A,B,C,[nr,tol,ldwork])</span></code></p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab09bd.html#slycot.ab09bd" title="slycot.ab09bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09bd</span></code></a>(...)</p></td>
-<td><p>To compute a reduced order model (Ar,Br,Cr,Dr) for a stable original state-space representation (A,B,C,D) by using either the square-root or the balancing-free square-root Singular Perturbation Approximation (SPA) model reduction method.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab09md.html#slycot.ab09md" title="slycot.ab09md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09md</span></code></a>(...)</p></td>
-<td><p>To compute a reduced order model (Ar,Br,Cr) for an original state-space representation (A,B,C) by using either the square-root or the balancing-free square-root Balance &amp; Truncate (B &amp; T) model reduction method for the ALPHA-stable part of the system.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab09nd.html#slycot.ab09nd" title="slycot.ab09nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab09nd</span></code></a>(...)</p></td>
-<td><p>To compute a reduced order model (Ar,Br,Cr,Dr) for an original state-space representation (A,B,C,D) by using either the square-root or the balancing-free square-root Singular Perturbation Approximation (SPA) model reduction method for the alpha-stable part of the system.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab13bd.html#slycot.ab13bd" title="slycot.ab13bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13bd</span></code></a>(dico, jobn, n, m, p, A, B, C, D, [tol])</p></td>
-<td><p>To compute the H2 or L2 norm of the transfer-function matrix G of the system (A,B,C,D).</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab13dd.html#slycot.ab13dd" title="slycot.ab13dd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13dd</span></code></a>(dico, jobe, equil, jobd, n, m, p, A, ...)</p></td>
-<td><p>To compute the L-infinity norm of a continuous-time or discrete-time system, either standard or in the descriptor form,</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab13ed.html#slycot.ab13ed" title="slycot.ab13ed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13ed</span></code></a>(n, A, [tol])</p></td>
-<td><p>To estimate beta(A), the 2-norm distance from a real matrix A to the nearest complex matrix with an eigenvalue on the imaginary axis.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.ab13fd.html#slycot.ab13fd" title="slycot.ab13fd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13fd</span></code></a>(n, A, [tol])</p></td>
-<td><p>To compute beta(A), the 2-norm distance from a real matrix A to the nearest complex matrix with an eigenvalue on the imaginary axis.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.ab13md.html#slycot.ab13md" title="slycot.ab13md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ab13md</span></code></a>(Z, nblock, itype, [x])</p></td>
-<td><p>Find an upper bound for the structured singular value of complex matrix Z and given block diagonal structure.</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="mathematical-routines">
-<h2>Mathematical routines<a class="headerlink" href="#mathematical-routines" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mc01td.html#slycot.mc01td" title="slycot.mc01td"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mc01td</span></code></a>(dico, dp, p)</p></td>
-<td><p>To determine whether or not a given polynomial P(x) with real coefficients is stable, either in the continuous-time or discrete- time case.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.mb03rd.html#slycot.mb03rd" title="slycot.mb03rd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03rd</span></code></a>(n, A, [X, jobx, sort, pmax, tol])</p></td>
-<td><p>To reduce a matrix <cite>A</cite> in real Schur form to a block-diagonal form using well-conditioned non-orthogonal similarity transformations.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mb03vd.html#slycot.mb03vd" title="slycot.mb03vd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03vd</span></code></a>(n, ilo, ihi, A)</p></td>
-<td><p>To reduce a product of p real general matrices A = A_1*A_2*...*A_p to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is upper Hessenberg, and H_2, ..., H_p are upper triangular, by using orthogonal similarity transformations on A,</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.mb03vy.html#slycot.mb03vy" title="slycot.mb03vy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03vy</span></code></a>(n, ilo, ihi, A, Tau, [ldwork])</p></td>
-<td><p>To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p, which are defined as the product of ihi-ilo elementary reflectors of order n, as returned by SLICOT Library routine MB03VD:</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mb03wd.html#slycot.mb03wd" title="slycot.mb03wd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb03wd</span></code></a>(job, compz, n, ilo, ihi, iloz, ihiz, ...)</p></td>
-<td><p>To compute the Schur decomposition and the eigenvalues of a</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.mb05md.html#slycot.mb05md" title="slycot.mb05md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb05md</span></code></a>(a, delta[, balanc])</p></td>
-<td><p>Matrix exponential for a real non-defective matrix</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.mb05nd.html#slycot.mb05nd" title="slycot.mb05nd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mb05nd</span></code></a>(n, a, delta[, tol])</p></td>
-<td><p>To compute</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="synthesis">
-<h2>Synthesis<a class="headerlink" href="#synthesis" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb01bd.html#slycot.sb01bd" title="slycot.sb01bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb01bd</span></code></a>(n,m,np,alpha,A,B,w,dico,[tol,ldwork])</p></td>
-<td><p>To determine the state feedback matrix F for a given system (A,B) such that the closed-loop state matrix A+B*F has specified eigenvalues.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb02md.html#slycot.sb02md" title="slycot.sb02md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb02md</span></code></a>(dico,n,A,G,Q,[hinv,uplo,scal,sort,ldwork])</p></td>
-<td><p>To solve for X either the continuous-time algebraic Riccati equation</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb02mt.html#slycot.sb02mt" title="slycot.sb02mt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb02mt</span></code></a>(n,m,B,R,[A,Q,L,fact,jobl,uplo,ldwork])</p></td>
-<td><p>To compute the following matrices</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb02od.html#slycot.sb02od" title="slycot.sb02od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb02od</span></code></a>(...)</p></td>
-<td><p>To solve for X either the continuous-time algebraic Riccati equation</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb03md.html#slycot.sb03md" title="slycot.sb03md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb03md</span></code></a>(n,C,A,U,dico,[job,fact,trana,ldwork])</p></td>
-<td><p><div class="deprecated">
-<p><span class="versionmodified deprecated">Deprecated since version 0.5.</span></p>
-</div>
-</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb03md57.html#slycot.sb03md57" title="slycot.sb03md57"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb03md57</span></code></a>(A[, U, C, dico, job, fact, trana, ...])</p></td>
-<td><p>To solve for X either the real continuous-time Lyapunov equation</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb03od.html#slycot.sb03od" title="slycot.sb03od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb03od</span></code></a>(dico,n,m,A,Q,B,[fact,trans,ldwork])</p></td>
-<td><p>To solve for X = op(U)'<a href="#id1"><span class="problematic" id="id2">*</span></a>op(U) either the stable non-negative definite continuous-time Lyapunov equation</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb04md.html#slycot.sb04md" title="slycot.sb04md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb04md</span></code></a>(n,m,A,B,C[,ldwork])</p></td>
-<td><p>To solve for X the continuous-time Sylvester equation</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb04qd.html#slycot.sb04qd" title="slycot.sb04qd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb04qd</span></code></a>(n,m,A,B,C[,ldwork])</p></td>
-<td><p>To solve for X the discrete-time Sylvester equation</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb10ad.html#slycot.sb10ad" title="slycot.sb10ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10ad</span></code></a>(...)</p></td>
-<td><p>To compute the matrices of an H-infinity optimal n-state controller</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb10dd.html#slycot.sb10dd" title="slycot.sb10dd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10dd</span></code></a>(...)</p></td>
-<td><p>To compute the matrices of an H-infinity (sub)optimal n-state controller</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sb10fd.html#slycot.sb10fd" title="slycot.sb10fd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10fd</span></code></a>(...)</p></td>
-<td><p>To compute the matrices of an H-infinity (sub)optimal n-state controller</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sb10hd.html#slycot.sb10hd" title="slycot.sb10hd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sb10hd</span></code></a>(n,m,np,ncon,nmeas,a,b,c,d,[tol,ldwork])</p></td>
-<td><p>To compute the matrices of the H2 optimal n-state controller</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sg02ad.html#slycot.sg02ad" title="slycot.sg02ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sg02ad</span></code></a>(...)</p></td>
-<td><p>To solve for X either the continuous-time algebraic Riccati equation</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.sg03ad.html#slycot.sg03ad" title="slycot.sg03ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sg03ad</span></code></a>(...)</p></td>
-<td><p>To solve for X either the generalized continuous-time Lyapunov equation</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.sg03bd.html#slycot.sg03bd" title="slycot.sg03bd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sg03bd</span></code></a>(dico,n,m,A,E,Q,Z,B,[fact,trans,ldwork])</p></td>
-<td><p>To compute the Cholesky factor U of the matrix X,</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="transformation-routines">
-<h2>Transformation Routines<a class="headerlink" href="#transformation-routines" title="Permalink to this heading"></a></h2>
-<table class="autosummary longtable docutils align-default">
-<colgroup>
-<col style="width: 10%" />
-<col style="width: 90%" />
-</colgroup>
-<tbody>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tb01id.html#slycot.tb01id" title="slycot.tb01id"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb01id</span></code></a>(n,m,p,maxred,A,B,C,[job])</p></td>
-<td><p>To reduce the 1-norm of a system matrix</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tb03ad.html#slycot.tb03ad" title="slycot.tb03ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb03ad</span></code></a>(n,m,p,A,B,C,D,leri,[equil,tol,ldwork])</p></td>
-<td><p>To find a relatively prime left or right polynomial matrix representation with the same transfer matrix as that of a given state-space representation, i.e. if leri = 'L'.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tb04ad.html#slycot.tb04ad" title="slycot.tb04ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb04ad</span></code></a>(n,m,p,A,B,C,D,[tol1,tol2,ldwork])</p></td>
-<td><p>Convert a state-space system to a tranfer function or matrix of transfer functions.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tb05ad.html#slycot.tb05ad" title="slycot.tb05ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb05ad</span></code></a>(n, m, p, jomega, A, B, C[, job])</p></td>
-<td><p>To find the complex frequency response matrix (transfer matrix) G(freq) of the state-space representation (A,B,C) given by</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tc04ad.html#slycot.tc04ad" title="slycot.tc04ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tc04ad</span></code></a>(m,p,index,pcoeff,qcoeff,leri,[ldwork])</p></td>
-<td><p>To find a state-space representation (A,B,C,D) with the same transfer matrix as that of a given left or right polynomial matrix representation, i.e.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tc01od.html#slycot.tc01od" title="slycot.tc01od"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tc01od</span></code></a>(m, p, indlim, pcoeff, qcoeff, leri)</p></td>
-<td><p>To find the dual right (left) polynomial matrix representation of a given left (right) polynomial matrix representation, where the right and left polynomial matrix representations are of the form Q(s)*inv(P(s)) and inv(P(s))*Q(s) respectively.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.tf01md.html#slycot.tf01md" title="slycot.tf01md"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tf01md</span></code></a>(n, m, p, N, A, B, C, D, u, x0)</p></td>
-<td><p>To compute the output sequence of a linear time-invariant open-loop system given by its discrete-time state-space model</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tf01rd.html#slycot.tf01rd" title="slycot.tf01rd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tf01rd</span></code></a>(n,m,p,N,A,B,C,[ldwork])</p></td>
-<td><p>To compute N Markov parameters M_1, M_2,..., M_N from the parameters (A,B,C) of a linear time-invariant system, where each M_k is an p-by-m matrix and k = 1,2,...,N.</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="generated/slycot.td04ad.html#slycot.td04ad" title="slycot.td04ad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">td04ad</span></code></a>(...)</p></td>
-<td><p>Convert a transfer function or matrix of transfer functions to a minimum state space realization.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="generated/slycot.tb01pd.html#slycot.tb01pd" title="slycot.tb01pd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tb01pd</span></code></a>(n,m,p,A,B,C,[job,equil,tol,ldwork])</p></td>
-<td><p>To find a reduced (controllable, observable, or minimal) state- space representation (Ar,Br,Cr) for any original state-space representation (A,B,C).</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
-
-
-           </div>
-          </div>
-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
-        <a href="index.html" class="btn btn-neutral float-left" title="Slycot reference" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
-        <a href="generated/slycot.ab01nd.html" class="btn btn-neutral float-right" title="slycot.ab01nd" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
-    </div>
-
-  <hr/>
-
-  <div role="contentinfo">
-    <p>&#169; Copyright 2023, Slycot Developers.</p>
-  </div>
-
-  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
-    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
-    provided by <a href="https://readthedocs.org">Read the Docs</a>.
-   
-
-</footer>
-        </div>
-      </div>
-    </section>
-  </div>
-  <script>
-      jQuery(function () {
-          SphinxRtdTheme.Navigation.enable(true);
-      });
-  </script> 
-
-</body>
-</html>
\ No newline at end of file
diff --git a/doc/index.rst b/doc/index.rst
index 717595b6..a8c77d8d 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -31,6 +31,7 @@ notably including solvers for Riccati, Lyapunov, and Sylvester equations.
    intro
    source/reference/index
    source/dev/index
+   source/examples/index
 
 Indices and tables
 ==================
diff --git a/doc/source/examples/ab13dd_nb.ipynb b/doc/source/examples/ab13dd_nb.ipynb
new file mode 120000
index 00000000..255c0e77
--- /dev/null
+++ b/doc/source/examples/ab13dd_nb.ipynb
@@ -0,0 +1 @@
+../../../examples/ab13dd_nb.ipynb
\ No newline at end of file
diff --git a/doc/source/examples/ad13dd_example.rst b/doc/source/examples/ad13dd_example.rst
new file mode 100644
index 00000000..53f05964
--- /dev/null
+++ b/doc/source/examples/ad13dd_example.rst
@@ -0,0 +1,10 @@
+**************
+ad13dd_example
+**************
+
+Code
+====
+
+.. literalinclude:: ../../../examples/ab13dd_example.py
+   :language: python
+   :linenos:
\ No newline at end of file
diff --git a/doc/source/examples/index.rst b/doc/source/examples/index.rst
new file mode 100644
index 00000000..59877bd8
--- /dev/null
+++ b/doc/source/examples/index.rst
@@ -0,0 +1,21 @@
+********
+Examples
+********
+
+
+Python scripts
+==============
+
+.. toctree::
+   :maxdepth: 1
+
+   ad13dd_example
+
+
+Jupyter notebooks
+=================
+
+.. toctree::
+   :maxdepth: 1
+
+   ab13dd_nb
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab01nd.rst b/doc/source/reference/generated/slycot._wrapper.ab01nd.rst
deleted file mode 100644
index a55a56f1..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab01nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab01nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab01nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab04md.rst b/doc/source/reference/generated/slycot._wrapper.ab04md.rst
deleted file mode 100644
index 314998aa..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab04md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab04md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab05md.rst b/doc/source/reference/generated/slycot._wrapper.ab05md.rst
deleted file mode 100644
index 30e0f6b6..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab05md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab05md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab05nd.rst b/doc/source/reference/generated/slycot._wrapper.ab05nd.rst
deleted file mode 100644
index 5a438973..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab05nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab05nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab07nd.rst b/doc/source/reference/generated/slycot._wrapper.ab07nd.rst
deleted file mode 100644
index e9fe5ee2..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab07nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab07nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab07nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab08nd.rst b/doc/source/reference/generated/slycot._wrapper.ab08nd.rst
deleted file mode 100644
index a1bd288c..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab08nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab08nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab08nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab08nz.rst b/doc/source/reference/generated/slycot._wrapper.ab08nz.rst
deleted file mode 100644
index f1ccf66f..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab08nz.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab08nz
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab08nz
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09ad.rst b/doc/source/reference/generated/slycot._wrapper.ab09ad.rst
deleted file mode 100644
index 42441c76..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab09ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09ad
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09ax.rst b/doc/source/reference/generated/slycot._wrapper.ab09ax.rst
deleted file mode 100644
index a57ee1e6..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab09ax.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09ax
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09ax
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09bd.rst b/doc/source/reference/generated/slycot._wrapper.ab09bd.rst
deleted file mode 100644
index 1fed82d6..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab09bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09md.rst b/doc/source/reference/generated/slycot._wrapper.ab09md.rst
deleted file mode 100644
index 796cc3e4..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab09md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab09nd.rst b/doc/source/reference/generated/slycot._wrapper.ab09nd.rst
deleted file mode 100644
index d8470bed..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab09nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab09nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab09nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13bd.rst b/doc/source/reference/generated/slycot._wrapper.ab13bd.rst
deleted file mode 100644
index 3b5c0d74..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab13bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13dd.rst b/doc/source/reference/generated/slycot._wrapper.ab13dd.rst
deleted file mode 100644
index 4cf1e41a..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab13dd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13dd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13ed.rst b/doc/source/reference/generated/slycot._wrapper.ab13ed.rst
deleted file mode 100644
index 2b2bc3a5..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab13ed.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13ed
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13ed
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13fd.rst b/doc/source/reference/generated/slycot._wrapper.ab13fd.rst
deleted file mode 100644
index fd5c7480..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab13fd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13fd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.ab13md.rst b/doc/source/reference/generated/slycot._wrapper.ab13md.rst
deleted file mode 100644
index b787f7e4..00000000
--- a/doc/source/reference/generated/slycot._wrapper.ab13md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.ab13md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: ab13md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03rd.rst b/doc/source/reference/generated/slycot._wrapper.mb03rd.rst
deleted file mode 100644
index ff60bcaf..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mb03rd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03rd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03rd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03vd.rst b/doc/source/reference/generated/slycot._wrapper.mb03vd.rst
deleted file mode 100644
index 62d1e8bd..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mb03vd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03vd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03vd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03vy.rst b/doc/source/reference/generated/slycot._wrapper.mb03vy.rst
deleted file mode 100644
index 755d3431..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mb03vy.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03vy
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03vy
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb03wd.rst b/doc/source/reference/generated/slycot._wrapper.mb03wd.rst
deleted file mode 100644
index 0fe89582..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mb03wd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb03wd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb03wd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb05md.rst b/doc/source/reference/generated/slycot._wrapper.mb05md.rst
deleted file mode 100644
index 0e4e132f..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mb05md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb05md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mb05nd.rst b/doc/source/reference/generated/slycot._wrapper.mb05nd.rst
deleted file mode 100644
index 540ca4b8..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mb05nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mb05nd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mb05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.mc01td.rst b/doc/source/reference/generated/slycot._wrapper.mc01td.rst
deleted file mode 100644
index 1a3226ff..00000000
--- a/doc/source/reference/generated/slycot._wrapper.mc01td.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.mc01td
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: mc01td
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb01bd.rst b/doc/source/reference/generated/slycot._wrapper.sb01bd.rst
deleted file mode 100644
index efbca2d7..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb01bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb01bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb01bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb02md.rst b/doc/source/reference/generated/slycot._wrapper.sb02md.rst
deleted file mode 100644
index 09b215f8..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb02md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb02md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb02md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb03md.rst b/doc/source/reference/generated/slycot._wrapper.sb03md.rst
deleted file mode 100644
index 4dc8c353..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb03md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb03md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb03md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb03od.rst b/doc/source/reference/generated/slycot._wrapper.sb03od.rst
deleted file mode 100644
index deb21be2..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb03od.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb03od
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb03od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb04md.rst b/doc/source/reference/generated/slycot._wrapper.sb04md.rst
deleted file mode 100644
index 322184f5..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb04md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb04md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb04qd.rst b/doc/source/reference/generated/slycot._wrapper.sb04qd.rst
deleted file mode 100644
index c5eda28b..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb04qd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb04qd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb04qd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10ad.rst b/doc/source/reference/generated/slycot._wrapper.sb10ad.rst
deleted file mode 100644
index 5cab10ca..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb10ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10ad
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10dd.rst b/doc/source/reference/generated/slycot._wrapper.sb10dd.rst
deleted file mode 100644
index fd684585..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb10dd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10dd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10fd.rst b/doc/source/reference/generated/slycot._wrapper.sb10fd.rst
deleted file mode 100644
index 4387b3b6..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb10fd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10fd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sb10hd.rst b/doc/source/reference/generated/slycot._wrapper.sb10hd.rst
deleted file mode 100644
index 3a6b490c..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sb10hd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sb10hd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sb10hd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sg03ad.rst b/doc/source/reference/generated/slycot._wrapper.sg03ad.rst
deleted file mode 100644
index ce2e4fed..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sg03ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sg03ad
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sg03ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.sg03bd.rst b/doc/source/reference/generated/slycot._wrapper.sg03bd.rst
deleted file mode 100644
index bbcd23e9..00000000
--- a/doc/source/reference/generated/slycot._wrapper.sg03bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.sg03bd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: sg03bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tb01id.rst b/doc/source/reference/generated/slycot._wrapper.tb01id.rst
deleted file mode 100644
index 35d8afcb..00000000
--- a/doc/source/reference/generated/slycot._wrapper.tb01id.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tb01id
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tb01id
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tb01pd.rst b/doc/source/reference/generated/slycot._wrapper.tb01pd.rst
deleted file mode 100644
index c2650aca..00000000
--- a/doc/source/reference/generated/slycot._wrapper.tb01pd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tb01pd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tb01pd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tf01md.rst b/doc/source/reference/generated/slycot._wrapper.tf01md.rst
deleted file mode 100644
index 810b6efc..00000000
--- a/doc/source/reference/generated/slycot._wrapper.tf01md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tf01md
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tf01md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot._wrapper.tf01rd.rst b/doc/source/reference/generated/slycot._wrapper.tf01rd.rst
deleted file mode 100644
index 456db05e..00000000
--- a/doc/source/reference/generated/slycot._wrapper.tf01rd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.\_wrapper.tf01rd
-=======================
-
-.. currentmodule:: slycot._wrapper
-
-.. autodata:: tf01rd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab01nd.rst b/doc/source/reference/generated/slycot.ab01nd.rst
deleted file mode 100644
index 8cc04a87..00000000
--- a/doc/source/reference/generated/slycot.ab01nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab01nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab01nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab04md.rst b/doc/source/reference/generated/slycot.ab04md.rst
deleted file mode 100644
index dcf23eed..00000000
--- a/doc/source/reference/generated/slycot.ab04md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab04md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab05md.rst b/doc/source/reference/generated/slycot.ab05md.rst
deleted file mode 100644
index ca5e95ce..00000000
--- a/doc/source/reference/generated/slycot.ab05md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab05md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab05nd.rst b/doc/source/reference/generated/slycot.ab05nd.rst
deleted file mode 100644
index fd887720..00000000
--- a/doc/source/reference/generated/slycot.ab05nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab05nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab07nd.rst b/doc/source/reference/generated/slycot.ab07nd.rst
deleted file mode 100644
index 700f3ca5..00000000
--- a/doc/source/reference/generated/slycot.ab07nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab07nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab07nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab08nd.rst b/doc/source/reference/generated/slycot.ab08nd.rst
deleted file mode 100644
index 3028f945..00000000
--- a/doc/source/reference/generated/slycot.ab08nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab08nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab08nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab08nz.rst b/doc/source/reference/generated/slycot.ab08nz.rst
deleted file mode 100644
index a6d9021f..00000000
--- a/doc/source/reference/generated/slycot.ab08nz.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab08nz
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab08nz
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09ad.rst b/doc/source/reference/generated/slycot.ab09ad.rst
deleted file mode 100644
index f767ba66..00000000
--- a/doc/source/reference/generated/slycot.ab09ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09ax.rst b/doc/source/reference/generated/slycot.ab09ax.rst
deleted file mode 100644
index c48d929d..00000000
--- a/doc/source/reference/generated/slycot.ab09ax.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09ax
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09ax
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09bd.rst b/doc/source/reference/generated/slycot.ab09bd.rst
deleted file mode 100644
index 3368b8dc..00000000
--- a/doc/source/reference/generated/slycot.ab09bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09md.rst b/doc/source/reference/generated/slycot.ab09md.rst
deleted file mode 100644
index 245e2cdc..00000000
--- a/doc/source/reference/generated/slycot.ab09md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab09nd.rst b/doc/source/reference/generated/slycot.ab09nd.rst
deleted file mode 100644
index db830a48..00000000
--- a/doc/source/reference/generated/slycot.ab09nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab09nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab09nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13bd.rst b/doc/source/reference/generated/slycot.ab13bd.rst
deleted file mode 100644
index b0f3a67d..00000000
--- a/doc/source/reference/generated/slycot.ab13bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13dd.rst b/doc/source/reference/generated/slycot.ab13dd.rst
deleted file mode 100644
index fe31df49..00000000
--- a/doc/source/reference/generated/slycot.ab13dd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13dd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13ed.rst b/doc/source/reference/generated/slycot.ab13ed.rst
deleted file mode 100644
index 7b0b3b89..00000000
--- a/doc/source/reference/generated/slycot.ab13ed.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13ed
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13ed
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13fd.rst b/doc/source/reference/generated/slycot.ab13fd.rst
deleted file mode 100644
index da4caac6..00000000
--- a/doc/source/reference/generated/slycot.ab13fd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13fd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.ab13md.rst b/doc/source/reference/generated/slycot.ab13md.rst
deleted file mode 100644
index 308bda9f..00000000
--- a/doc/source/reference/generated/slycot.ab13md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.ab13md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: ab13md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03rd.rst b/doc/source/reference/generated/slycot.mb03rd.rst
deleted file mode 100644
index 63905d81..00000000
--- a/doc/source/reference/generated/slycot.mb03rd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03rd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03rd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03vd.rst b/doc/source/reference/generated/slycot.mb03vd.rst
deleted file mode 100644
index c12057bc..00000000
--- a/doc/source/reference/generated/slycot.mb03vd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03vd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03vd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03vy.rst b/doc/source/reference/generated/slycot.mb03vy.rst
deleted file mode 100644
index 1668d20c..00000000
--- a/doc/source/reference/generated/slycot.mb03vy.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03vy
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03vy
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb03wd.rst b/doc/source/reference/generated/slycot.mb03wd.rst
deleted file mode 100644
index 9bac3c02..00000000
--- a/doc/source/reference/generated/slycot.mb03wd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb03wd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb03wd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb05md.rst b/doc/source/reference/generated/slycot.mb05md.rst
deleted file mode 100644
index cf0b2dea..00000000
--- a/doc/source/reference/generated/slycot.mb05md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb05md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb05md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mb05nd.rst b/doc/source/reference/generated/slycot.mb05nd.rst
deleted file mode 100644
index fb426fe3..00000000
--- a/doc/source/reference/generated/slycot.mb05nd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mb05nd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mb05nd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.mc01td.rst b/doc/source/reference/generated/slycot.mc01td.rst
deleted file mode 100644
index 3c8f4166..00000000
--- a/doc/source/reference/generated/slycot.mc01td.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.mc01td
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: mc01td
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb01bd.rst b/doc/source/reference/generated/slycot.sb01bd.rst
deleted file mode 100644
index 67305692..00000000
--- a/doc/source/reference/generated/slycot.sb01bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb01bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb01bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb02md.rst b/doc/source/reference/generated/slycot.sb02md.rst
deleted file mode 100644
index fe01793a..00000000
--- a/doc/source/reference/generated/slycot.sb02md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb02md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb02md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb02mt.rst b/doc/source/reference/generated/slycot.sb02mt.rst
deleted file mode 100644
index ffd9125a..00000000
--- a/doc/source/reference/generated/slycot.sb02mt.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb02mt
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb02mt
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb02od.rst b/doc/source/reference/generated/slycot.sb02od.rst
deleted file mode 100644
index 339038a1..00000000
--- a/doc/source/reference/generated/slycot.sb02od.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb02od
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb02od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb03md.rst b/doc/source/reference/generated/slycot.sb03md.rst
deleted file mode 100644
index b0bb067f..00000000
--- a/doc/source/reference/generated/slycot.sb03md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb03md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb03md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb03md57.rst b/doc/source/reference/generated/slycot.sb03md57.rst
deleted file mode 100644
index 90b465e0..00000000
--- a/doc/source/reference/generated/slycot.sb03md57.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb03md57
-===============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb03md57
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb03od.rst b/doc/source/reference/generated/slycot.sb03od.rst
deleted file mode 100644
index 5f226e18..00000000
--- a/doc/source/reference/generated/slycot.sb03od.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb03od
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb03od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb04md.rst b/doc/source/reference/generated/slycot.sb04md.rst
deleted file mode 100644
index 52f051b2..00000000
--- a/doc/source/reference/generated/slycot.sb04md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb04md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb04md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb04qd.rst b/doc/source/reference/generated/slycot.sb04qd.rst
deleted file mode 100644
index 81ea9ce2..00000000
--- a/doc/source/reference/generated/slycot.sb04qd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb04qd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb04qd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10ad.rst b/doc/source/reference/generated/slycot.sb10ad.rst
deleted file mode 100644
index 9b2c9db0..00000000
--- a/doc/source/reference/generated/slycot.sb10ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10dd.rst b/doc/source/reference/generated/slycot.sb10dd.rst
deleted file mode 100644
index 0ae6c505..00000000
--- a/doc/source/reference/generated/slycot.sb10dd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10dd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10dd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10fd.rst b/doc/source/reference/generated/slycot.sb10fd.rst
deleted file mode 100644
index add3f262..00000000
--- a/doc/source/reference/generated/slycot.sb10fd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10fd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10fd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sb10hd.rst b/doc/source/reference/generated/slycot.sb10hd.rst
deleted file mode 100644
index 058a3e55..00000000
--- a/doc/source/reference/generated/slycot.sb10hd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sb10hd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sb10hd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sg02ad.rst b/doc/source/reference/generated/slycot.sg02ad.rst
deleted file mode 100644
index ea5d3a75..00000000
--- a/doc/source/reference/generated/slycot.sg02ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sg02ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sg02ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sg03ad.rst b/doc/source/reference/generated/slycot.sg03ad.rst
deleted file mode 100644
index 60858134..00000000
--- a/doc/source/reference/generated/slycot.sg03ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sg03ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sg03ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.sg03bd.rst b/doc/source/reference/generated/slycot.sg03bd.rst
deleted file mode 100644
index 453efaf2..00000000
--- a/doc/source/reference/generated/slycot.sg03bd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.sg03bd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: sg03bd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb01id.rst b/doc/source/reference/generated/slycot.tb01id.rst
deleted file mode 100644
index ef722024..00000000
--- a/doc/source/reference/generated/slycot.tb01id.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb01id
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb01id
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb01pd.rst b/doc/source/reference/generated/slycot.tb01pd.rst
deleted file mode 100644
index 5ce6e253..00000000
--- a/doc/source/reference/generated/slycot.tb01pd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb01pd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb01pd
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb03ad.rst b/doc/source/reference/generated/slycot.tb03ad.rst
deleted file mode 100644
index 23befaf2..00000000
--- a/doc/source/reference/generated/slycot.tb03ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb03ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb03ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb04ad.rst b/doc/source/reference/generated/slycot.tb04ad.rst
deleted file mode 100644
index 461e7fab..00000000
--- a/doc/source/reference/generated/slycot.tb04ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb04ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb04ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tb05ad.rst b/doc/source/reference/generated/slycot.tb05ad.rst
deleted file mode 100644
index fabf59d2..00000000
--- a/doc/source/reference/generated/slycot.tb05ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tb05ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tb05ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tc01od.rst b/doc/source/reference/generated/slycot.tc01od.rst
deleted file mode 100644
index 3018d0fe..00000000
--- a/doc/source/reference/generated/slycot.tc01od.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tc01od
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tc01od
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tc04ad.rst b/doc/source/reference/generated/slycot.tc04ad.rst
deleted file mode 100644
index 7f6630e1..00000000
--- a/doc/source/reference/generated/slycot.tc04ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tc04ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tc04ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.td04ad.rst b/doc/source/reference/generated/slycot.td04ad.rst
deleted file mode 100644
index 03234571..00000000
--- a/doc/source/reference/generated/slycot.td04ad.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.td04ad
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: td04ad
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tf01md.rst b/doc/source/reference/generated/slycot.tf01md.rst
deleted file mode 100644
index 41b88949..00000000
--- a/doc/source/reference/generated/slycot.tf01md.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tf01md
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tf01md
\ No newline at end of file
diff --git a/doc/source/reference/generated/slycot.tf01rd.rst b/doc/source/reference/generated/slycot.tf01rd.rst
deleted file mode 100644
index f85bc71f..00000000
--- a/doc/source/reference/generated/slycot.tf01rd.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-slycot.tf01rd
-=============
-
-.. currentmodule:: slycot
-
-.. autofunction:: tf01rd
\ No newline at end of file
diff --git a/examples/ab13dd_example.py b/examples/ab13dd_example.py
new file mode 100644
index 00000000..33855de5
--- /dev/null
+++ b/examples/ab13dd_example.py
@@ -0,0 +1,25 @@
+# Enrico Avventi 2010
+
+import numpy as np
+import slycot
+
+A = np.array([[    0 ,       1 ,  0 ,        0 ,  0 ,         0 ],
+            [ -0.5 , -0.0002 ,  0 ,        0 ,  0 ,         0 ],
+            [    0 ,       0 ,  0 ,        1 ,  0 ,         0 ],
+            [    0 ,       0 , -1 , -0.00002 ,  0 ,         0 ],
+            [    0 ,       0 ,  0 ,        0 ,  0 ,         1 ],
+            [    0 ,       0 ,  0 ,        0 , -2 , -0.000002 ]])
+B = np.array([[ 1 ],
+            [ 0 ],
+            [ 1 ],
+            [ 0 ],
+            [ 1 ],
+            [ 0 ]])
+C = np.array([[ 1 , 0 , 1 , 0 , 1 , 0 ]])
+D = np.array([[ 0 ]])
+out = slycot.ab13dd('C', 'I', 'N', 'D', 6, 1, 1, A, np.eye(6), B, C, D)
+print('--- Example for ab13dd ---')
+print('The L_infty norm of the system is')
+print(out[0])
+print('The peak frequency is')
+print(out[1])
\ No newline at end of file
diff --git a/examples/ab13dd_nb.ipynb b/examples/ab13dd_nb.ipynb
new file mode 100644
index 00000000..84af663b
--- /dev/null
+++ b/examples/ab13dd_nb.ipynb
@@ -0,0 +1,200 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# ab13dd Example\n",
+    "\n",
+    "Johannes Kaisinger, 26 July 2023"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "import scipy.linalg as linalg\n",
+    "import slycot"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "A = np.array([\n",
+    "    [-1, 10],\n",
+    "    [0, -1]\n",
+    "])\n",
+    "\n",
+    "B = np.array([\n",
+    "    [0],\n",
+    "    [1]])\n",
+    "\n",
+    "C = np.array([\n",
+    "    [1, 0]])\n",
+    "D = np.zeros((1,1))\n",
+    "\n",
+    "n, m = B.shape\n",
+    "p, _ = C.shape"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Slycot H-infinity Norm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "10.0\n"
+     ]
+    }
+   ],
+   "source": [
+    "out = slycot.ab13dd('C', 'I', 'N', 'D', n, m, p, A, np.eye(n), B, C, D)\n",
+    "norm_sylcot, _ = out\n",
+    "print(norm_sylcot)"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Bisection algorithm H-infinity Norm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def H_inf(A,B,C,D,gam_l,gam_h,emin):\n",
+    "    \"\"\"naive implementation of bisection algorithm for H-infinity norm\n",
+    "\n",
+    "    Args:\n",
+    "        A (_type_): _description_\n",
+    "        B (_type_): _description_\n",
+    "        C (_type_): _description_\n",
+    "        D (_type_): _description_\n",
+    "        gam_l (_type_): _description_\n",
+    "        gam_h (_type_): _description_\n",
+    "        emin (_type_): _description_\n",
+    "\n",
+    "    Returns:\n",
+    "        _type_: _description_\n",
+    "    \"\"\"\n",
+    "    gam_last_stable = None\n",
+    "    while (gam_h - gam_l) > emin:\n",
+    "        gam = (gam_l+gam_h)/2\n",
+    "        R = gam**2*np.eye(1)-D.T@D\n",
+    "        R_inv = linalg.inv(R)\n",
+    "        Mgam = np.vstack((\n",
+    "        np.hstack((A+B@R_inv@D.T@C, B@R_inv@B.T)),\n",
+    "        np.hstack((-C.T@(np.eye(1)+D@R_inv@D.T)@C, -(A+B@R_inv@D.T@C).T))))\n",
+    "        d = linalg.eigvals(Mgam)\n",
+    "        if np.any(np.imag(d)):\n",
+    "            gam_l = gam\n",
+    "        else:\n",
+    "            gam_h = gam\n",
+    "            gam_last_stable = gam\n",
+    "    return gam_last_stable"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "10.000000000000638\n"
+     ]
+    }
+   ],
+   "source": [
+    "norm_bi = H_inf(A,B,C,D,0.001,100,1e-10)\n",
+    "print(norm_bi)"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Compare"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "10.0\n",
+      "10.000000000000638\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 7,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# compare results\n",
+    "print(norm_sylcot)\n",
+    "print(norm_bi)\n",
+    "np.allclose(norm_sylcot,norm_bi)\n"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.6"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

From 224221ea2c0cb852b4c72f30192d7a03f71fd077 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 27 Jul 2023 00:28:54 +0200
Subject: [PATCH 03/23] Update gitignore

---
 .gitignore | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 1250bad8..bff4fb3a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 doc/_build
-doc/*/generated
+doc/generated
+doc/source/reference/generated/
 .DS_Store*
 MANIFEST
 dist/

From c76407751b9e0a75396cb45cab86b679f8fc4484 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 27 Jul 2023 01:10:03 +0200
Subject: [PATCH 04/23] DOC: Add slicot and slycot inspection

---
 doc/source/dev/basic.rst             |   4 -
 doc/source/dev/f2py.rst              |   8 +
 doc/source/dev/index.rst             |   3 +-
 doc/source/dev/inspect_slycot.ipynb  |  34 +-
 doc/source/dev/slicot_procedures.txt | 607 +++++++++++++++++++++++++++
 doc/source/dev/slicot_slycot.ipynb   | 250 +++++++++++
 6 files changed, 888 insertions(+), 18 deletions(-)
 create mode 100644 doc/source/dev/f2py.rst
 create mode 100644 doc/source/dev/slicot_procedures.txt
 create mode 100644 doc/source/dev/slicot_slycot.ipynb

diff --git a/doc/source/dev/basic.rst b/doc/source/dev/basic.rst
index 4443fdb3..f30e061e 100644
--- a/doc/source/dev/basic.rst
+++ b/doc/source/dev/basic.rst
@@ -2,10 +2,6 @@
 Contributing to Slycot
 **********************
 
-F2PY
-====
-Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
-`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
 
 Development process - summary
 =============================
diff --git a/doc/source/dev/f2py.rst b/doc/source/dev/f2py.rst
new file mode 100644
index 00000000..e0776622
--- /dev/null
+++ b/doc/source/dev/f2py.rst
@@ -0,0 +1,8 @@
+***************
+F2PY for Slycot
+***************
+
+F2PY
+====
+Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
+`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
\ No newline at end of file
diff --git a/doc/source/dev/index.rst b/doc/source/dev/index.rst
index 94c73c5f..05d599c4 100644
--- a/doc/source/dev/index.rst
+++ b/doc/source/dev/index.rst
@@ -6,5 +6,6 @@ Development
    :maxdepth: 1
 
    basic
+   f2py
    inspect_slycot
-
+   slicot_slycot
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index 8eee9351..97544c5f 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -1,6 +1,7 @@
 {
  "cells": [
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -8,6 +9,7 @@
    ]
   },
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -18,23 +20,25 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.5.5.dev0+g294eae0.d20230726\n"
+      "0.1.dev603+ga60cee4\n"
      ]
     }
    ],
    "source": [
+    "import re\n",
     "import slycot\n",
     "print(slycot.__version__)"
    ]
   },
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -43,7 +47,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 24,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -55,6 +59,7 @@
    ]
   },
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -63,7 +68,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 25,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
@@ -85,6 +90,7 @@
    ]
   },
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -93,7 +99,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 26,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [
     {
@@ -115,6 +121,7 @@
    ]
   },
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -122,13 +129,14 @@
    ]
   },
   {
+   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": []
   },
   {
    "cell_type": "code",
-   "execution_count": 27,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -138,7 +146,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 32,
+   "execution_count": 10,
    "metadata": {},
    "outputs": [
     {
@@ -147,27 +155,27 @@
      "text": [
       "Currently there are 10 methods implemented.\n",
       "------\n",
-      "['tb05ad', 'sb02od', 'tb04ad', 'tc01od', 'td04ad', 'sg02ad', 'tc04ad', 'sb02mt', 'tb03ad', 'sb03md57']\n",
+      "['tc04ad', 'td04ad', 'tb04ad', 'tb05ad', 'tc01od', 'sb03md57', 'sb02od', 'sg02ad', 'sb02mt', 'tb03ad']\n",
       "\n",
       "\n",
       "Currently there are 32 methods implemented.\n",
       "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'sb02od_b', 'tc01od_r', 'sb02mt_nl', 'tb05ad_nh', 'sg02ad_g', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sg02ad_bd', 'tb05ad_ng', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "['tg01fd_nn', 'tc04ad_l', 'tb04ad_c', 'tb04ad_r', 'sb02od_n', 'sb02mt_nl', 'ag08bd', 'sg02ad_g', 'td04ad_r', 'sb02od_d', 'tb05ad_ng', 'tc04ad_r', 'tb05ad_nh', 'tg01fd_uu', 'sb10jd', 'tb03ad_r', 'sb02od_c', 'sg02ad_bb', 'sb02od_b', 'tb03ad_l', 'sb02mt_n', 'tb05ad_ag', 'td04ad_c', 'tg01ad', 'tc01od_l', 'sg02ad_bc', 'tc01od_r', 'sg02ad_bn', 'tg01fd_ii', 'sb02mt_c', 'sg02ad_bd', 'sb02mt_cl']\n",
       "\n",
       "\n",
       "Currently there are 42 methods implemented.\n",
       "------\n",
-      "['td04ad_c', 'tc04ad_r', 'tb04ad_c', 'sg02ad_bn', 'tc01od_r', 'sb02mt', 'td04ad', 'sb02od_b', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg02ad_g', 'tb04ad', 'sb02od_c', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'tc01od_l', 'tg01fd_uu', 'tb05ad', 'tg01ad', 'tc01od', 'sg02ad', 'sb02od_n', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'tb05ad_ag', 'sg02ad_bb', 'sb02od', 'sg02ad_bd', 'tb05ad_ng', 'tc04ad', 'tb03ad', 'sg02ad_bc', 'tb03ad_r', 'sb10jd', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l']\n",
+      "['tg01fd_nn', 'tc04ad_l', 'tb04ad_c', 'sb03md57', 'tc01od', 'tb04ad_r', 'sb02od', 'sb02od_n', 'sb02mt_nl', 'tb03ad', 'ag08bd', 'sg02ad_g', 'td04ad', 'td04ad_r', 'sb02od_d', 'tg01ad', 'tb05ad_ng', 'tc04ad_r', 'sg02ad', 'tb05ad_nh', 'tg01fd_uu', 'sb10jd', 'tb03ad_r', 'sb02od_c', 'sg02ad_bb', 'sb02od_b', 'tb03ad_l', 'sb02mt_n', 'tb05ad_ag', 'sb02mt', 'tc01od_l', 'td04ad_c', 'sg02ad_bc', 'tc04ad', 'tb04ad', 'sg02ad_bn', 'tb05ad', 'tc01od_r', 'tg01fd_ii', 'sb02mt_c', 'sg02ad_bd', 'sb02mt_cl']\n",
       "\n",
       "\n",
       "Currently there are 40 methods implemented.\n",
       "------\n",
-      "['ab09md', 'tf01rd', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'sb03md', 'sb01bd', 'sb10dd', 'ab08nz', 'tb01pd', 'mb03wd', 'ab05md', 'sg03bd', 'ab04md', 'ab09ax', 'ab13bd', 'sb10ad', 'tb01id', 'ab13ed', 'sg03ad', 'ab07nd', 'sb10fd', 'sb04qd', 'ab01nd', 'mb03vd', 'mc01td', 'sb10hd', 'ab09bd', 'tf01md', 'ab05nd', 'ab08nd', 'mb03vy', 'sb02md', 'sb04md', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "['sb02md', 'tf01rd', 'sb10ad', 'ab07nd', 'ab09bd', 'sb04qd', 'sb03od', 'tb01id', 'tb01pd', 'sb01bd', 'sb10hd', 'sb10dd', 'tf01md', 'ab08nz', 'ab13fd', 'mb03rd', 'mb03vy', 'ab04md', 'ab05nd', 'sb03md', 'mb03wd', 'ab13md', 'ab08nd', 'mb05md', 'ab13ed', 'ab05md', 'mb05nd', 'mb03vd', 'ab01nd', 'ab09md', 'ab09nd', 'ab13bd', 'ab09ad', 'ab09ax', 'sg03bd', 'sb10fd', 'sb04md', 'sg03ad', 'mc01td', 'ab13dd']\n",
       "\n",
       "\n",
       "Currently there are 82 methods implemented.\n",
       "------\n",
-      "['td04ad_c', 'ab09md', 'ab09nd', 'ab13dd', 'ab13md', 'mb03rd', 'td04ad', 'sb02od_b', 'ab08nz', 'tb01pd', 'sb02mt', 'sb02mt_nl', 'sb03md57', 'tb05ad_nh', 'sg03bd', 'sb10ad', 'tb04ad_r', 'td04ad_r', 'tc04ad_l', 'sg03ad', 'ab07nd', 'sb10fd', 'sb02od_n', 'sb04qd', 'sg02ad', 'ab01nd', 'sb02mt_cl', 'mb03vd', 'tb05ad_ag', 'sg02ad_bb', 'ab09bd', 'tf01md', 'sb02od', 'ab05nd', 'tc04ad', 'ab08nd', 'tb03ad', 'mb03vy', 'sb04md', 'tb03ad_r', 'tg01fd_ii', 'tg01fd_nn', 'tb03ad_l', 'tc04ad_r', 'tf01rd', 'sb03md', 'tb04ad_c', 'sb10dd', 'sb01bd', 'sg02ad_bn', 'tc01od_r', 'mb03wd', 'ab05md', 'sg02ad_g', 'ab04md', 'tb04ad', 'ab09ax', 'ab13bd', 'sb02od_c', 'tb01id', 'ab13ed', 'tc01od_l', 'tg01fd_uu', 'tg01ad', 'tb05ad', 'tc01od', 'sb02od_d', 'ag08bd', 'sb02mt_c', 'sb02mt_n', 'mc01td', 'sb10hd', 'sg02ad_bd', 'tb05ad_ng', 'sb02md', 'sg02ad_bc', 'sb10jd', 'ab09ad', 'mb05md', 'ab13fd', 'sb03od', 'mb05nd']\n",
+      "['sb02md', 'ab07nd', 'ab09bd', 'sb03od', 'tc01od', 'sb02od', 'tb01pd', 'sb01bd', 'sb10hd', 'ag08bd', 'sg02ad_g', 'td04ad', 'sb02od_d', 'sb10dd', 'tf01md', 'ab08nz', 'mb03rd', 'sg02ad', 'tb05ad_nh', 'sb03md', 'mb03wd', 'tb03ad_r', 'tb03ad_l', 'sb02mt_n', 'sb02mt', 'ab09md', 'ab09nd', 'tc01od_l', 'tc04ad', 'sg03bd', 'tb04ad', 'sb04md', 'tb05ad', 'sb02mt_c', 'sg02ad_bd', 'sb02mt_cl', 'ab13dd', 'tf01rd', 'sb10ad', 'tg01fd_nn', 'sb04qd', 'tc04ad_l', 'tb04ad_c', 'tb04ad_r', 'sb02od_n', 'sb03md57', 'sb02mt_nl', 'tb01id', 'tb03ad', 'td04ad_r', 'ab13fd', 'tb05ad_ng', 'mb03vy', 'tc04ad_r', 'ab04md', 'ab05nd', 'ab13md', 'ab08nd', 'tg01fd_uu', 'mb05md', 'sb10jd', 'ab13ed', 'ab05md', 'sb02od_c', 'sg02ad_bb', 'sb02od_b', 'mb05nd', 'mb03vd', 'ab01nd', 'tb05ad_ag', 'td04ad_c', 'tg01ad', 'ab13bd', 'sg02ad_bc', 'ab09ad', 'ab09ax', 'sb10fd', 'tc01od_r', 'sg02ad_bn', 'tg01fd_ii', 'sg03ad', 'mc01td']\n",
       "\n",
       "\n"
      ]
@@ -216,7 +224,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 33,
+   "execution_count": 11,
    "metadata": {},
    "outputs": [
     {
diff --git a/doc/source/dev/slicot_procedures.txt b/doc/source/dev/slicot_procedures.txt
new file mode 100644
index 00000000..43bc7fe3
--- /dev/null
+++ b/doc/source/dev/slicot_procedures.txt
@@ -0,0 +1,607 @@
+mb01wd
+tg01gd
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+sg03ay
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+mb02fd
+tg01oa
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+ud01cd
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+mb04iy
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+mb03kc
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+ma02ez
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+ma02cz
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+ib01bd
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diff --git a/doc/source/dev/slicot_slycot.ipynb b/doc/source/dev/slicot_slycot.ipynb
new file mode 100644
index 00000000..e396d7fb
--- /dev/null
+++ b/doc/source/dev/slicot_slycot.ipynb
@@ -0,0 +1,250 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# SLICOT vs Slycot"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0.1.dev603+ga60cee4'"
+      ]
+     },
+     "execution_count": 14,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "import re\n",
+    "import matplotlib.pyplot as plt\n",
+    "from matplotlib_venn import venn2\n",
+    "\n",
+    "import slycot\n",
+    "slycot.__version__"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "['mb01wd', 'tg01gd', 'ab13fd', 'sg03ay', 'mb01oe', 'mb02fd', 'tg01oa', 'dg01ny', 'sg03ax', 'fb01qd', 'ma02az', 'mc01md', 'md03by', 'tf01mx', 'ib01nd', 'mb02rz', 'mb04bp', 'tb01kd', 'ab09gd', 'ma02jz', 'ud01cd', 'ib01rd', 'nf01bx', 'mb02rd', 'ma02es', 'mb04iy', 'tg01id', 'mb01rd', 'mc01xd', 'mb04wr', 'sg03bs', 'mb03kc', 'ma02cd', 'tb04ad', 'md03bx', 'mb03vy', 'ab09cd', 'tf01nd', 'sb09md', 'sb03ot', 'mb04pu', 'mb04yd', 'mb02pd', 'mb04tu', 'mb02ud', 'ib01cd', 'mb04dp', 'tg01fz', 'sb04od', 'nf01ad', 'mb03qd', 'ab09bd', 'mb02jd', 'sb02mw', 'ma02ad', 'mb04dl', 'sb08ed', 'tb01uy', 'md03ba', 'ab05nd', 'mb03pd', 'sb02mx', 'sb04ow', 'ma02mz', 'mb02cy', 'ag08by', 'mb03bb', 'ab09cx', 'mb01kd', 'sb02sd', 'mb01xd', 'sb01md', 'mb02ny', 'sb02ox', 'sb10pd', 'ma01cd', 'tg01hd', 'mb02nd', 'sb02cx', 'sb04px', 'mb03qg', 'tg01hx', 'mb03ag', 'mc01py', 'mb03kb', 'mb04jd', 'tg01bd', 'tb03ay', 'ab13ed', 'sb03rd', 'ma02id', 'ma02md', 'sb03os', 'mb02cv', 'mb05oy', 'sb06nd', 'nf01bp', 'sb02od', 'mb03md', 'fb01vd', 'ma02iz', 'tb01ld', 'mb02sd', 'tb01nd', 'ud01md', 'mb02xd', 'mb02md', 'sg03br', 'mb04az', 'sb02ru', 'sb10qd', 'sg03bu', 'sb04qr', 'mb03lf', 'ma01ad', 'sb04rd', 'ma02gd', 'sb04ry', 'ab13ad', 'ab13md', 'nf01by', 'mb04nd', 'mb03yt', 'sg02cx', 'tg01hu', 'ab09kx', 'mb04hd', 'mb03gd', 'sb08cd', 'mb03od', 'sb04mr', 'mb02kd', 'ab09jx', 'ud01bd', 'fb01sd', 'mb03rd', 'ab07nd', 'mb03fd', 'sb03ou', 'mb03ya', 'mb01rh', 'sb08hd', 'ab08nw', 'ab07md', 'ab05qd', 'mb02qy', 'mb03id', 'ma02bd', 'ma02dd', 'mb04ed', 'sb03td', 'mb04tv', 'td04ad', 'tb01ud', 'tc01od', 'nf01bs', 'ma02oz', 'sg02nd', 'mb04ru', 'mc01rd', 'mb03bd', 'mb04tt', 'sb08ny', 'tg01ad', 'sb04qu', 'nf01bf', 'tg01qd', 'mc01td', 'mb04fp', 'mb03ud', 'mb3lzp', 'sb04nv', 'mb04qb', 'mb04wp', 'mc01sy', 'sb10dd', 'mb02sz', 'mb04kd', 'tb04bw', 'mb01ry', 'sb03mv', 'tb03ad', 'mb03gz', 'mb01ot', 'mb03be', 'tb01zd', 'ab04md', 'mb01os', 'sb03qx', 'mb04pb', 'nf01bu', 'mb04su', 'mc01od', 'sb16bd', 'mb02td', 'sg03ad', 'sb03qy', 'mb03xs', 'md03bb', 'mb04qc', 'mb03jd', 'sb01by', 'ab09nd', 'sb03md', 'mb04oy', 'mb05nd', 'ab08nx', 'mb01rb', 'dg01md', 'mb02wd', 'sb03ud', 'mb03py', 'mc01pd', 'ma02pz', 'ab09iy', 'ma02od', 'sb10td', 'tf01my', 'sb16cy', 'tg01oz', 'ab05pd', 'mb04cd', 'sb16ay', 'sb10hd', 'mb02gd', 'mc03md', 'mb03bc', 'sb04nx', 'mc01qd', 'ab01od', 'ab09jd', 'sb16ad', 'sg03bv', 'nf01bb', 'ab09dd', 'mb03lp', 'md03bf', 'mb03ah', 'mb3jzp', 'sb04mu', 'ab09kd', 'sb03ov', 'sb03pd', 'fd01ad', 'sb03sd', 'td05ad', 'mb02hd', 'mb02cd', 'mb03qx', 'sb04nd', 'mb04tb', 'sb04pd', 'tg01jy', 'tb04cd', 'tg01dd', 'ab09ed', 'mb03wx', 'tg01pd', 'tf01pd', 'sb08fd', 'ab13ax', 'nf01ba', 'sb08md', 'mb04dy', 'sb04my', 'ab09fd', 'mb04vd', 'mb01md', 'ib01oy', 'mb04ld', 'sb01bd', 'sb02mu', 'sg03bx', 'tg01ed', 'mb02qd', 'mb01ss', 'mb01rw', 'sb10ud', 'mb03cz', 'ag8byz', 'sb02ow', 'mb02dd', 'sb08nd', 'mb03my', 'mb03yd', 'tg01od', 'mc01sw', 'ma02bz', 'ib01ad', 'ab09hd', 'ud01mz', 'td03ad', 'sb03my', 'ib03bd', 'mb04dd', 'mb04xd', 'ma02hd', 'ab09ax', 'tg01hy', 'mc01sx', 'tb01ux', 'df01md', 'mb04vx', 'mb04wd', 'ab08md', 'tb01vd', 'nf01ay', 'md03bd', 'mb03rz', 'ab09ix', 'ab13dd', 'tb01iz', 'nf01bw', 'mb04qf', 'ab05sd', 'mb04db', 'mb03ai', 'sb08gd', 'mb02od', 'mb04ty', 'mb02uv', 'ib01px', 'tb01ty', 'sb03oy', 'sb03mu', 'tg01nd', 'ab09hx', 'ab09id', 'mb04id', 'mb03ed', 'mb04di', 'mb04tx', 'sb03od', 'mb04xy', 'mb03hz', 'tc04ad', 'mb01rx', 'sb02ov', 'mb03zd', 'mb03jp', 'mb02yd', 'mb04ox', 'bd01ad', 'mb04fd', 'ab05md', 'tb04bx', 'dg01od', 'sb10zd', 'mb01rt', 'sb02mr', 'ab01nd', 'mb04bz', 'ma01bz', 'ma02ed', 'mb03ld', 'tb01md', 'tb01xz', 'mb04qs', 'ab09md', 'sb10id', 'sb03sx', 'mb02cu', 'ab13bd', 'mb3oyz', 'mb02tz', 'tb01px', 'mb03iz', 'sg03bw', 'mb04dz', 'nf01bv', 'bd02ad', 'tf01md', 'mb03wd', 'mb4dbz', 'mb04tw', 'mb03vd', 'mb01oo', 'fb01rd', 'mb04rb', 'mb03ry', 'mb01xy', 'tb05ad', 'ib03ad', 'mb03xz', 'mb05md', 'mb02ed', 'sb03mw', 'sg03bd', 'mb01ru', 'mb01oc', 'bb02ad', 'ab09jw', 'mb03cd', 'mb04pa', 'sb10yd', 'mb02jx', 'tg01az', 'sg02ad', 'ma02hz', 'mb03dz', 'tg01md', 'sb08my', 'tb04ay', 'sb02nd', 'sb02mt', 'sb04rw', 'mb04wu', 'nf01be', 'de01pd', 'sb02mv', 'sb10ed', 'sb10zp', 'mb03lz', 'sb02oy', 'sb04md', 'mb03bg', 'mb03ad', 'mb01uw', 'sb10kd', 'ma02jd', 'ma02gz', 'tf01qd', 'mb03td', 'mb04gd', 'tb04bv', 'tg01ld', 'mb03ba', 'ue01md', 'mb3pyz', 'mb03xp', 'sb02ou', 'mb01nd', 'sg02cw', 'mb04yw', 'sb04mw', 'mb01uy', 'sg03by', 'ib01py', 'mb02uw', 'tg01ob', 'mb03jz', 'mb04ad', 'tg01fd', 'mb03sd', 'ab13id', 'ab08ny', 'mb03za', 'mb02uu', 'ab08nd', 'mc01wd', 'tg01ly', 'mb01uz', 'mb03xu', 'mb03nd', 'ag07bd', 'sg03bt', 'mb03xd', 'ma02nz', 'ab13dx', 'ab08nz', 'sb04ny', 'mb03ts', 'sb04qy', 'mb03rx', 'mb03af', 'ib01md', 'mb03ke', 'sb02pd', 'sb16cd', 'ab8nxz', 'mb04bd', 'tf01rd', 'mb01ux', 'mb03bz', 'sb03sy', 'mc03ny', 'sb10ld', 'ma02fd', 'td03ay', 'bb04ad', 'mb03ab', 'dk01md', 'ab05od', 'mc03nx', 'mb01td', 'tb01id', 'tg01cd', 'mb04ow', 'sb04nw', 'mb03ae', 'mb03rw', 'mb03qy', 'sb04py', 'nf01bq', 'mb03dd', 'tb01kx', 'mb01ud', 'ma01bd', 'mb03ny', 'ab08mz', 'sb02rd', 'sb04qd', 'tb01wx', 'ag08bz', 'tg01wd', 'tb04bd', 'sb02md', 'bb01ad', 'mc01sd', 'mc01vd', 'sb10ad', 'mb01vd', 'de01od', 'ib01pd', 'mb03bf', 'sb02ms', 'mb04py', 'mc03nd', 'tb01wd', 'mc01nd', 'dg01nd', 'ab09ad', 'mb02id', 'tb01yd', 'sb03mx', 'mb03vw', 'sg02cv', 'ab05rd', 'mb04ds', 'mb01od', 'mb4dpz', 'mb03oy', 'sb03qd', 'sb01bx', 'sb08dd', 'ib01od', 'sb10md', 'mb01ld', 'mb04iz', 'mb05od', 'tb01td', 'mb02vd', 'mb03fz', 'mb05my', 'mb01oh', 'mb04zd', 'sb03oz', 'tg01kz', 'mb02cx', 'tg01jd', 'mb01zd', 'mb01pd', 'sb01dd', 'mb03hd', 'sb02qd', 'mb03qw', 'tb01xd', 'ud01nd', 'sb10rd', 'ib01my', 'tf01od', 'ud01dd', 'tb01vy', 'ab09hy', 'sb04rx', 'ib01qd', 'mb04od', 'mb03qv', 'sg03bz', 'sb03or', 'mb03kd', 'ab13cd', 'tg01kd', 'mb03wa', 'mb04ts', 'mb03ka', 'mb4dlz', 'mb04qu', 'sb10fd', 'ma02pd', 'sb10jd', 'mb01qd', 'ab09jv', 'sb10vd', 'fb01td', 'ma02ez', 'tc05ad', 'sb10wd', 'md03ad', 'nf01bd', 'ma02cz', 'mb04ny', 'sb04rv', 'nf01br', 'tb01pd', 'ab01md', 'ib01bd', 'mb01yd', 'tg01nx', 'sb01fy', 'mb04md', 'sb10sd', 'mb04ud', 'mb01sd', 'ag08bd', 'ab09bx', 'bb03ad']\n",
+      "Derzeit in Slicot 607 Routinen implementiert.\n"
+     ]
+    }
+   ],
+   "source": [
+    "with open('slicot_procedures.txt') as f:\n",
+    "    lines = f.readlines()\n",
+    "\n",
+    "slicot_methods = [x.split(\"\\n\")[0] for x in lines]\n",
+    "\n",
+    "print(slicot_methods)\n",
+    "print(f\"Derzeit in Slicot {len(slicot_methods)} Routinen implementiert.\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
+      "Derzeit in Slycot 50 Methoden implementiert.\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_slycot_method(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes\n",
+    "\n",
+    "slycot_methods = get_slycot_method(slycot)\n",
+    "\n",
+    "print(slycot_methods)\n",
+    "print(f\"Derzeit in Slycot {len(slycot_methods)} Methoden implementiert.\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "slicot_methods_count = {'m': 281, 't': 77, 'a': 60, 's': 131, 'd': 8, 'f': 6, 'i': 15, 'u': 7, 'n': 16, 'b': 6}\n",
+      "slycot_methods_count = {'a': 17, 'm': 7, 's': 16, 't': 10}\n"
+     ]
+    }
+   ],
+   "source": [
+    "def count_methods(list_methods):\n",
+    "    d = {}\n",
+    "    for w in list_methods:\n",
+    "        if w:\n",
+    "            if w[0] in d:\n",
+    "                d[w[0]] = d[w[0]] + 1\n",
+    "            else:\n",
+    "                d[w[0]] = 1\n",
+    "    return d\n",
+    "\n",
+    "slicot_methods_count = count_methods(slicot_methods)\n",
+    "slycot_methods_count = count_methods(slycot_methods)\n",
+    "print(f\"{slicot_methods_count = }\")\n",
+    "print(f\"{slycot_methods_count = }\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "from collections import OrderedDict\n",
+    "\n",
+    "slicot_full_names = {\n",
+    "    \"a\": \"Analysis Routines\",\n",
+    "    \"b\": \"Benchmark\",\n",
+    "    \"c\": \"Adaptive Control\",\n",
+    "    \"d\": \"Data Analysis\",\n",
+    "    \"f\": \"Filtering\",\n",
+    "    \"i\": \"Identification\",\n",
+    "    \"m\": \"Mathematical routines\",\n",
+    "    \"n\": \"Nonlinear Systems\",\n",
+    "    \"s\": \"Synthesis Routines\",\n",
+    "    \"t\": \"Transformation Routines\",\n",
+    "    \"u\": \"Utility Routines\",\n",
+    "}\n",
+    "\n",
+    "names_sli = list(slicot_methods_count.keys())\n",
+    "values_sli = list(slicot_methods_count.values())\n",
+    "\n",
+    "names_sly = list(slycot_methods_count.keys())\n",
+    "values_sly = list(slycot_methods_count.values())\n",
+    "\n",
+    "\n",
+    "plt.barh(range(len(slicot_methods_count)), values_sli, tick_label=[slicot_full_names[x] for x in names_sli])\n",
+    "plt.barh(range(len(slycot_methods_count)), values_sly)\n",
+    "plt.legend((\"slicot\",\"slycot\"))\n",
+    "plt.title(\"Slicot vs Slycot\")\n",
+    "plt.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 19,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 608 methods implemented.\n",
+      "------\n",
+      "['sb03sx', 'mc01rd', 'ag08by', 'ab01od', 'tb04ad', 'mb02jd', 'mb4dbz', 'ib03ad', 'mb03qy', 'sb08ny', 'mb01xy', 'mb03kd', 'ab09ix', 'mb02id', 'sb03oz', 'mb04pa', 'ab09fd', 'tb01iz', 'ab05md', 'sb04md', 'sb04qy', 'mb04tb', 'mb03be', 'tg01az', 'mb04ru', 'tg01ob', 'mb01pd', 'mb02td', 'mb03td', 'sb03ot', 'mb02wd', 'mb04qb', 'mb03od', 'mb03rd', 'mb03bf', 'md03bf', 'sb02mr', 'ab09hy', 'ab08nd', 'mb03ka', 'md03bx', 'sb03mw', 'ib01py', 'ib01nd', 'mb01zd', 'mb02qy', 'tg01od', 'mb02uw', 'dg01nd', 'ab09kx', 'ab09iy', 'mb02od', 'sb10pd', 'mb04dd', 'sb06nd', 'tb01ud', 'mb03ai', 'sg03bz', 'tf01rd', 'de01od', 'ma02iz', 'mb04ds', 'sg03bd', 'ma02oz', 'sb03qy', 'sb02ru', 'mb04jd', 'tb01zd', 'ma02pz', 'mb03ud', 'mc01sw', 'ma01bz', 'mc01td', 'ma02nz', 'mb04dl', 'ab09cx', 'ib01px', 'sg03bw', 'tg01hd', 'ue01md', 'dk01md', 'ma01ad', 'tb04bv', 'sb08dd', 'mb03nd', 'mb04bd', 'ab09nd', 'mb04pu', 'ab09ed', 'sb03qx', 'mb02nd', 'mb01ot', 'mb02cx', 'mb03py', 'ma02ez', 'ab08md', 'sb02ms', 'mb02hd', 'tc01od', 'mb01yd', 'ma02hz', 'mb02sd', 'tg01wd', 'tb05ad', 'sb04ow', 'sb02mv', 'ma01bd', 'mb04qu', 'tb01ty', 'mb03ah', 'ab13dd', 'sb03od', 'tb04bx', 'mb03jz', 'mb04py', 'sb01by', 'mb03cz', 'mb01rx', 'df01md', 'sb16cd', 'sb02sd', 'mb03xu', 'mb02vd', 'sg03ay', 'sb04od', 'mb02cu', 'sb10kd', 'ab09jw', 'tb03ay', 'sb10qd', 'sb04my', 'mb01uw', 'tb01vd', 'mb01oc', 'ab09jx', 'tf01my', 'mb04ed', 'nf01bs', 'sb01md', 'tg01md', 'nf01bv', 'mb02gd', 'ab13fd', 'ag07bd', 'ab07nd', 'mb04wp', 'sb02mt', 'sb10sd', 'tb01ld', 'mb03cd', 'mc01py', 'ab01nd', 'mb05md', 'mb02tz', 'sb03my', 'mb04qf', 'mb03bc', 'sb04rw', 'mb01rd', 'sb02pd', 'mb01xd', 'tg01dd', 'ma02bd', 'ib01pd', 'mb04tx', 'bb01ad', 'tb01nd', 'mb04ty', 'tb01yd', 'mb04oy', 'bb03ad', 'sb03or', 'sb16ad', 'ab09hd', 'sb10ed', 'mb01oh', 'sb10rd', 'mc01sy', 'tf01nd', 'nf01ad', 'mc01vd', 'mb03wa', 'mc01qd', 'mb01ld', 'fb01sd', 'mb04tw', 'sb10yd', 'mb04tv', 'mb04rb', 'fb01rd', 'tb01wd', 'mb03qv', 'mb3pyz', 'mb03fd', 'sb04mu', 'nf01br', 'ab05od', 'ma02od', 'mb03vw', 'mb03bd', 'tg01hx', 'mb04id', 'mb02cy', 'sb16cy', 'mb04db', 'ab13id', 'ab13ed', 'tb01id', 'sb10td', 'td03ad', 'tb01kx', 'td05ad', 'sb03mu', 'sb08fd', 'mb02rz', 'tg01nd', 'mb03af', 'sg03bu', 'bb04ad', 'mb03ad', 'ab8nxz', 'sb03ud', 'tf01od', 'tg01cd', 'mc01sd', 'mb04fd', 'ud01cd', 'tg01nx', 'mb01rh', 'sb10zp', 'mb03jd', 'mb03rx', 'sb03rd', 'mb02uu', 'ab13ad', 'mb03lp', 'sb10hd', 'tb04cd', 'mb03pd', 'mb03lf', 'td04ad', 'ab09kd', 'mb03fz', 'ma02jz', 'mb03sd', 'ab09ad', 'ab09ax', 'ab05qd', 'sg03by', 'ib01my', 'mb01oe', 'mb01ry', 'mb05od', 'sb02ow', 'ma02cd', 'fd01ad', 'mb02dd', 'ud01dd', 'sb04ry', 'ab13ax', 'mb04xy', 'mb03dz', 'mb04bp', 'sb04py', 'nf01bd', 'mb03ae', 'tg01fz', 'tb04bw', 'sb02md', 'mb04xd', 'sb04qr', 'sb04mr', 'mb01wd', 'tg01ad', 'tg01kz', 'nf01bx', 'td03ay', 'sg02cx', 'mb03wx', 'sb03td', 'ab09hx', 'ib01cd', 'sb10md', 'mb03xs', 'mb03xp', 'sb10vd', 'tg01bd', 'sg03ad', 'mb01md', 'mb04ad', 'mb03hz', 'sg02cv', 'sb08ed', 'sb03oy', 'mb04hd', 'tc04ad', 'tf01pd', 'mb02ny', 'ab08ny', 'ab09jv', 'mb04od', 'sb08nd', 'sb02mw', 'sb09md', 'mc01wd', 'ab05sd', 'ma02hd', 'mb03xz', 'mb02kd', 'mb04yw', 'mb01rt', 'nf01bq', 'mb03bb', 'tg01ed', 'mb03vd', 'sb02ov', 'sb01bd', 'mb01ru', 'ma02gz', 'sb04mw', 'ab09cd', 'ma02cz', 'md03bd', 'sb03md57', 'mb04ow', 'sg02cw', 'mb04iz', 'sb10jd', 'sg03br', 'mb04bz', 'ab09jd', 'sb01fy', 'tg01id', 'tb01wx', 'ib01oy', 'mb04qc', 'mb01kd', 'tb01md', 'sb04nx', 'mb04dy', 'ab09dd', 'nf01ba', 'mb02cv', 'sb02od', 'mb03ny', 'ab05rd', 'sb03md', 'fb01vd', 'mb01ud', 'tg01ly', 'tf01qd', 'mb04fp', 'ab07md', 'ma02ed', 'ag08bz', 'sb03mv', 'tg01oz', 'mb03zd', 'mb02yd', 'mb03bg', 'mb04wd', 'md03bb', 'mb03ba', 'ma02pd', 'sb02rd', 'mb01rw', 'mb01td', 'ud01mz', 'nf01be', 'mb02rd', 'mb02uv', 'mb03ya', 'sg02nd', 'sb04qd', 'mb03yt', 'md03ad', 'mb01oo', 'mb03wd', 'mc03nx', 'tf01mx', 'bd01ad', 'nf01bb', 'sb02ou', 'mb05oy', 'mb04ts', 'nf01bu', 'mb02xd', 'ab01md', 'mb01rb', 'md03ba', 'tg01hu', 'mb04qs', 'mb04kd', 'mb04vd', 'sb03os', 'tg01hy', 'tb01ux', 'ab05pd', 'sb04nw', 'mb04zd', 'sb16bd', 'sb10fd', 'mb4dlz', 'tc05ad', 'mb02md', 'sb04rv', 'mb04yd', 'mb03my', 'mb01nd', 'ag08bd', 'mb01qd', 'mb04wr', 'mb01ux', 'nf01bw', 'sb03ou', 'sb03sy', 'ma02dd', 'sg02ad', 'mb03ry', 'mb04ny', 'ma02md', 'ma01cd', 'mb03ts', 'mc01nd', 'mb02jx', 'mb01vd', 'sb04nv', 'fb01qd', 'ab08nz', 'sb04ny', 'tg01jd', 'mb03qg', 'mb04iy', 'sg03bt', 'tb04ay', 'mb03qw', 'mb03ke', 'mb03bz', 'mb05nd', 'sb02nd', 'ma02az', 'sb02ox', 'mb01ss', 'tb01uy', 'mb02sz', 'ag8byz', 'bb02ad', 'nf01bp', 'ab08nw', 'tb04bd', 'ma02bz', 'sb08cd', 'mb03iz', 'sb10ld', 'sb10id', 'mb02qd', 'mb3oyz', 'sg03bs', 'mc01od', 'mb04wu', 'ib01qd', 'bd02ad', 'mb04su', 'tb01xz', 'mb3lzp', 'ab09id', 'sb02mu', 'mb03kb', 'nf01bf', 'mb03id', 'mb03jp', 'ib01bd', 'mb04cd', 'ib01ad', 'ab13dx', 'ab05nd', 'mb04tt', 'ab09gd', 'mb04ld', 'mb03md', 'ma02es', 'sg03ax', 'sg03bx', 'tb01px', 'md03by', 'mb03oy', 'mb04md', 'mb03kc', 'tg01pd', 'ma02jd', 'ma02id', 'tg01ld', 'mb03qx', 'sb08my', 'tb01vy', 'mb03gd', 'mb03ab', 'ab08mz', 'ab13md', 'mb05my', 'mb3jzp', 'ab09bd', 'sb03pd', 'mb04tu', 'mb02ud', 'sb03sd', 'sb08md', 'de01pd', 'dg01md', 'ab09bx', 'tb03ad', 'sb04pd', 'ab04md', 'sb02oy', 'sb03qd', 'ud01md', 'sb10dd', 'mb01uy', 'tg01jy', 'mb03ed', 'sb01bx', 'sb02cx', 'mc01pd', 'sb04nd', 'mb03vy', 'mb03xd', 'mb03hd', 'mc03nd', 'ma02ad', 'mb04pb', 'sb10ud', 'mb01sd', 'mb03lz', 'sb03ov', 'tb01pd', 'mc01md', 'ma02mz', 'sb04qu', 'ud01bd', 'mb01od', 'tg01gd', 'mb03rz', 'mb03gz', 'sb10wd', 'ud01nd', 'sb02qd', 'sb10ad', 'mb04nd', 'ab09md', 'tg01qd', 'mb03ld', 'sb04rx', 'mb03dd', 'fb01td', 'dg01od', 'mb01uz', 'sb16ay', 'mb01os', 'sg03bv', 'tb01kd', 'ib01rd', 'sb03mx', 'sb04px', 'sb01dd', 'mb03yd', 'ab13bd', 'mb04az', 'sb08gd', 'ib01md', 'mb04ox', 'ib01od', 'mc01sx', 'tb01td', 'dg01ny', 'tg01fd', 'mb02fd', 'sb04rd', 'nf01ay', 'mb04vx', 'ab08nx', 'tf01md', 'mb03ag', 'mb04ud', 'nf01by', 'mc03ny', 'tg01kd', 'ma02gd', 'mb03qd', 'mc01xd', 'sb08hd', 'tg01oa', 'ib03bd', 'mb04gd', 'ab13cd', 'sb10zd', 'mb04dp', 'mb03za', 'mb02ed', 'mb04dz', 'mb02cd', 'mc03md', 'mb02pd', 'mb04di', 'mb03rw', 'tb01xd', 'sb02mx', 'mb4dpz', 'ma02fd']\n",
+      "\n",
+      "\n",
+      "Currently there are 49 methods implemented.\n",
+      "------\n",
+      "['sg02ad', 'ab01nd', 'mb05md', 'ab13bd', 'ab08nd', 'mb03wd', 'sb02od', 'tb01pd', 'ab09nd', 'sb03md', 'tb04ad', 'sb10hd', 'ab13md', 'td04ad', 'ab09bd', 'ab09ad', 'tf01md', 'ab09ax', 'mb03vd', 'tc01od', 'sb01bd', 'sb10ad', 'ab05md', 'ab08nz', 'ab13ed', 'sb04md', 'tb01id', 'tb03ad', 'sb10fd', 'ab04md', 'ab09md', 'tf01rd', 'sg03bd', 'tb05ad', 'sg03ad', 'ab13fd', 'sb10dd', 'ab07nd', 'tc04ad', 'ab13dd', 'mb05nd', 'mc01td', 'ab05nd', 'sb04qd', 'sb02mt', 'sb03od', 'mb03vy', 'sb02md', 'mb03rd']\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "union = list(set(slicot_methods) | set(slycot_methods))\n",
+    "\n",
+    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(union)\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "intersection = list(set(slicot_methods) & set(slycot_methods))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(intersection)\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 20,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "venn2(subsets = (len(set(slicot_methods)), \n",
+    "                 len(set(slycot_methods)), \n",
+    "                 len(intersection)), set_labels = ('slicot', 'slycot'))\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.6"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

From 40450360e120bfccfae80c1aa0b059d476f00a9d Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 8 Aug 2023 11:42:32 +0200
Subject: [PATCH 05/23] Update inspection notebooks

---
 doc/source/dev/inspect_slycot.ipynb | 193 +++++++++++-----
 doc/source/dev/slicot_slycot.ipynb  | 326 +++++++++++++++++++++++++---
 2 files changed, 430 insertions(+), 89 deletions(-)

diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index 97544c5f..d6b4029e 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -20,14 +20,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.1.dev603+ga60cee4\n"
+      "0.1.dev606+g8b31df8\n"
      ]
     }
    ],
@@ -47,7 +47,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -58,6 +58,22 @@
     "    return matched_attributes"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def print_list_chunks(l, n=6):\n",
+    "      \n",
+    "    start = 0\n",
+    "    end = len(l)\n",
+    "    step = n\n",
+    "    for i in range(start, end, step):\n",
+    "        x = i\n",
+    "        print(l[x:x+step])\n"
+   ]
+  },
   {
    "attachments": {},
    "cell_type": "markdown",
@@ -68,16 +84,25 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 50 methods implemented.\n",
+      "Currently there are 49 methods implemented.\n",
       "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n"
+      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
+      "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
+      "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd']\n",
+      "['mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd']\n",
+      "['sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od']\n",
+      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd']\n",
+      "['sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad']\n",
+      "['tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md']\n",
+      "['tf01rd']\n",
+      "None\n"
      ]
     }
    ],
@@ -86,7 +111,7 @@
     "\n",
     "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
     "print(\"------\")\n",
-    "print(slycot_wrapper)\n"
+    "print(print_list_chunks(slycot_wrapper))"
    ]
   },
   {
@@ -99,16 +124,28 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 72 methods implemented.\n",
+      "Currently there are 71 methods implemented.\n",
       "------\n",
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n"
+      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
+      "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
+      "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd']\n",
+      "['mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td']\n",
+      "['sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl']\n",
+      "['sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od']\n",
+      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd']\n",
+      "['sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g']\n",
+      "['sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r']\n",
+      "['tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l']\n",
+      "['tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md']\n",
+      "['tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n",
+      "None\n"
      ]
     }
    ],
@@ -117,7 +154,7 @@
     "\n",
     "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
     "print(\"------\")\n",
-    "print(slycot_f2py_wrapper)"
+    "print(print_list_chunks(slycot_f2py_wrapper))"
    ]
   },
   {
@@ -128,15 +165,9 @@
     "## Generate Sets for the Venn-Diagramm"
    ]
   },
-  {
-   "attachments": {},
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": []
-  },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -146,90 +177,140 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 10 methods implemented.\n",
-      "------\n",
-      "['tc04ad', 'td04ad', 'tb04ad', 'tb05ad', 'tc01od', 'sb03md57', 'sb02od', 'sg02ad', 'sb02mt', 'tb03ad']\n",
-      "\n",
-      "\n",
-      "Currently there are 32 methods implemented.\n",
-      "------\n",
-      "['tg01fd_nn', 'tc04ad_l', 'tb04ad_c', 'tb04ad_r', 'sb02od_n', 'sb02mt_nl', 'ag08bd', 'sg02ad_g', 'td04ad_r', 'sb02od_d', 'tb05ad_ng', 'tc04ad_r', 'tb05ad_nh', 'tg01fd_uu', 'sb10jd', 'tb03ad_r', 'sb02od_c', 'sg02ad_bb', 'sb02od_b', 'tb03ad_l', 'sb02mt_n', 'tb05ad_ag', 'td04ad_c', 'tg01ad', 'tc01od_l', 'sg02ad_bc', 'tc01od_r', 'sg02ad_bn', 'tg01fd_ii', 'sb02mt_c', 'sg02ad_bd', 'sb02mt_cl']\n",
-      "\n",
-      "\n",
-      "Currently there are 42 methods implemented.\n",
+      "Currently there are 10 routines implemented in slycot_wrapper which are not in slycot_f2py_wrapper.\n",
       "------\n",
-      "['tg01fd_nn', 'tc04ad_l', 'tb04ad_c', 'sb03md57', 'tc01od', 'tb04ad_r', 'sb02od', 'sb02od_n', 'sb02mt_nl', 'tb03ad', 'ag08bd', 'sg02ad_g', 'td04ad', 'td04ad_r', 'sb02od_d', 'tg01ad', 'tb05ad_ng', 'tc04ad_r', 'sg02ad', 'tb05ad_nh', 'tg01fd_uu', 'sb10jd', 'tb03ad_r', 'sb02od_c', 'sg02ad_bb', 'sb02od_b', 'tb03ad_l', 'sb02mt_n', 'tb05ad_ag', 'sb02mt', 'tc01od_l', 'td04ad_c', 'sg02ad_bc', 'tc04ad', 'tb04ad', 'sg02ad_bn', 'tb05ad', 'tc01od_r', 'tg01fd_ii', 'sb02mt_c', 'sg02ad_bd', 'sb02mt_cl']\n",
+      "['tb05ad', 'sb02od', 'td04ad', 'tc04ad', 'tc01od', 'sb02mt']\n",
+      "['sb03md57', 'tb04ad', 'sg02ad', 'tb03ad']\n",
+      "None\n",
       "\n",
       "\n",
-      "Currently there are 40 methods implemented.\n",
+      "Currently there are 32 routines implemented in slycot_f2py_wrapper which are not in slycot_wrapper.\n",
       "------\n",
-      "['sb02md', 'tf01rd', 'sb10ad', 'ab07nd', 'ab09bd', 'sb04qd', 'sb03od', 'tb01id', 'tb01pd', 'sb01bd', 'sb10hd', 'sb10dd', 'tf01md', 'ab08nz', 'ab13fd', 'mb03rd', 'mb03vy', 'ab04md', 'ab05nd', 'sb03md', 'mb03wd', 'ab13md', 'ab08nd', 'mb05md', 'ab13ed', 'ab05md', 'mb05nd', 'mb03vd', 'ab01nd', 'ab09md', 'ab09nd', 'ab13bd', 'ab09ad', 'ab09ax', 'sg03bd', 'sb10fd', 'sb04md', 'sg03ad', 'mc01td', 'ab13dd']\n",
+      "['sg02ad_bd', 'tc01od_r', 'sg02ad_bc', 'sb02od_n', 'sg02ad_g', 'tg01ad']\n",
+      "['tb05ad_nh', 'sb10jd', 'td04ad_r', 'sb02mt_nl', 'tb05ad_ng', 'tb04ad_r']\n",
+      "['tb03ad_r', 'td04ad_c', 'tg01fd_uu', 'ag08bd', 'tb03ad_l', 'sb02od_b']\n",
+      "['sb02mt_n', 'tg01fd_nn', 'sb02mt_c', 'tb05ad_ag', 'tc04ad_r', 'sb02od_d']\n",
+      "['tg01fd_ii', 'sg02ad_bb', 'tc04ad_l', 'sb02mt_cl', 'tb04ad_c', 'tc01od_l']\n",
+      "['sb02od_c', 'sg02ad_bn']\n",
+      "None\n",
       "\n",
       "\n",
-      "Currently there are 82 methods implemented.\n",
+      "Currently there are 42 routines implemented in slycot_wrapper or slycot_f2py_wrapper.\n",
       "------\n",
-      "['sb02md', 'ab07nd', 'ab09bd', 'sb03od', 'tc01od', 'sb02od', 'tb01pd', 'sb01bd', 'sb10hd', 'ag08bd', 'sg02ad_g', 'td04ad', 'sb02od_d', 'sb10dd', 'tf01md', 'ab08nz', 'mb03rd', 'sg02ad', 'tb05ad_nh', 'sb03md', 'mb03wd', 'tb03ad_r', 'tb03ad_l', 'sb02mt_n', 'sb02mt', 'ab09md', 'ab09nd', 'tc01od_l', 'tc04ad', 'sg03bd', 'tb04ad', 'sb04md', 'tb05ad', 'sb02mt_c', 'sg02ad_bd', 'sb02mt_cl', 'ab13dd', 'tf01rd', 'sb10ad', 'tg01fd_nn', 'sb04qd', 'tc04ad_l', 'tb04ad_c', 'tb04ad_r', 'sb02od_n', 'sb03md57', 'sb02mt_nl', 'tb01id', 'tb03ad', 'td04ad_r', 'ab13fd', 'tb05ad_ng', 'mb03vy', 'tc04ad_r', 'ab04md', 'ab05nd', 'ab13md', 'ab08nd', 'tg01fd_uu', 'mb05md', 'sb10jd', 'ab13ed', 'ab05md', 'sb02od_c', 'sg02ad_bb', 'sb02od_b', 'mb05nd', 'mb03vd', 'ab01nd', 'tb05ad_ag', 'td04ad_c', 'tg01ad', 'ab13bd', 'sg02ad_bc', 'ab09ad', 'ab09ax', 'sb10fd', 'tc01od_r', 'sg02ad_bn', 'tg01fd_ii', 'sg03ad', 'mc01td']\n",
+      "['sg02ad_bd', 'tc04ad', 'tc01od_r', 'sb02mt', 'sb02od_n', 'sg02ad_bc']\n",
+      "['sg02ad_g', 'tg01ad', 'tb05ad_nh', 'sb10jd', 'td04ad_r', 'sb02mt_nl']\n",
+      "['tb05ad_ng', 'td04ad', 'tb04ad_r', 'tb03ad_r', 'td04ad_c', 'tg01fd_uu']\n",
+      "['ag08bd', 'tb04ad', 'sg02ad', 'sb02od_b', 'tb03ad_l', 'sb02od']\n",
+      "['sb02mt_n', 'tg01fd_nn', 'tb05ad_ag', 'sb02mt_c', 'tc04ad_r', 'sb03md57']\n",
+      "['tg01fd_ii', 'sb02od_d', 'sg02ad_bb', 'tc04ad_l', 'tb05ad', 'sb02mt_cl']\n",
+      "['tb04ad_c', 'tc01od_l', 'sb02od_c', 'tc01od', 'sg02ad_bn', 'tb03ad']\n",
+      "None\n",
       "\n",
       "\n"
      ]
     }
    ],
    "source": [
-    "difference1 = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
-    "difference1\n",
+    "in_slycot_wrapper = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
+    "in_slycot_wrapper\n",
     "\n",
-    "print(f\"Currently there are {len(difference1)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(in_slycot_wrapper)} routines implemented in slycot_wrapper which are not in slycot_f2py_wrapper.\")\n",
     "print(\"------\")\n",
-    "print(difference1)\n",
+    "print(print_list_chunks(in_slycot_wrapper))\n",
     "print(\"\\n\")\n",
     "\n",
-    "difference2 = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
-    "difference2\n",
+    "in_slycot_f2py_wrapper = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
+    "in_slycot_f2py_wrapper\n",
     "\n",
-    "print(f\"Currently there are {len(difference2)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(in_slycot_f2py_wrapper)} routines implemented in slycot_f2py_wrapper which are not in slycot_wrapper.\")\n",
     "print(\"------\")\n",
-    "print(difference2)\n",
+    "print(print_list_chunks(in_slycot_f2py_wrapper))\n",
     "print(\"\\n\")\n",
     "\n",
-    "difference3 = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
-    "difference3\n",
+    "diff = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
+    "diff\n",
     "\n",
-    "print(f\"Currently there are {len(difference3)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(diff)} routines implemented in slycot_wrapper or slycot_f2py_wrapper.\")\n",
     "print(\"------\")\n",
-    "print(difference3)\n",
-    "print(\"\\n\")\n",
-    "\n",
+    "print(print_list_chunks(diff))\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 39 routines implemented in slycot_wrapper and in slycot_f2py_wrapper.\n",
+      "------\n",
+      "['tf01md', 'ab13ed', 'mb05md', 'ab13fd', 'mb03vd', 'ab07nd']\n",
+      "['mb03rd', 'ab09bd', 'ab05md', 'sg03bd', 'ab08nz', 'sb10hd']\n",
+      "['mb05nd', 'ab09md', 'mc01td', 'tb01id', 'ab08nd', 'ab13dd']\n",
+      "['sb02md', 'ab09ax', 'sb10ad', 'sb10dd', 'ab09ad', 'ab13md']\n",
+      "['sb01bd', 'tf01rd', 'ab13bd', 'sg03ad', 'sb03md', 'tb01pd']\n",
+      "['ab01nd', 'ab05nd', 'sb03od', 'sb04qd', 'ab09nd', 'mb03vy']\n",
+      "['sb10fd', 'mb03wd', 'sb04md']\n",
+      "None\n",
+      "\n",
+      "\n",
+      "Currently there are 81 routines implemented in slycot_wrapper or in slycot_f2py_wrapper.\n",
+      "------\n",
+      "['sg02ad_bd', 'ab13ed', 'tc04ad', 'ab13fd', 'mb03vd', 'tc01od_r']\n",
+      "['sb02mt', 'mb03rd', 'sb02od_n', 'sg02ad_g', 'tg01ad', 'tb05ad_nh']\n",
+      "['ab08nz', 'sb10hd', 'td04ad', 'tb04ad_r', 'tb03ad_r', 'tb04ad']\n",
+      "['ab09md', 'ab08nd', 'ab13dd', 'mc01td', 'sb02od_b', 'tb01id']\n",
+      "['tb03ad_l', 'sb02md', 'sb10dd', 'ab09ad', 'sb02mt_c', 'tb05ad_ag']\n",
+      "['tb01pd', 'sg02ad_bb', 'ab05nd', 'tb05ad', 'sb03od', 'sb04qd']\n",
+      "['sb02od_c', 'ab09nd', 'mb03vy', 'sg02ad_bn', 'mb03wd', 'sb04md']\n",
+      "['tf01md', 'mb05md', 'ab07nd', 'sg02ad_bc', 'ab09bd', 'ab05md']\n",
+      "['sb10jd', 'td04ad_r', 'sb02mt_nl', 'sg03bd', 'tb05ad_ng', 'td04ad_c']\n",
+      "['tg01fd_uu', 'mb05nd', 'ag08bd', 'sg02ad', 'ab09ax', 'sb02od']\n",
+      "['sb10ad', 'sb02mt_n', 'tg01fd_nn', 'ab13md', 'sb01bd', 'tc04ad_r']\n",
+      "['sb02od_d', 'ab13bd', 'sg03ad', 'sb03md', 'tf01rd', 'tg01fd_ii']\n",
+      "['sb03md57', 'ab01nd', 'tc04ad_l', 'sb02mt_cl', 'tb04ad_c', 'tc01od_l']\n",
+      "['sb10fd', 'tc01od', 'tb03ad']\n",
+      "None\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
     "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
     "intersection\n",
     "\n",
-    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(intersection)} routines implemented in slycot_wrapper and in slycot_f2py_wrapper.\")\n",
     "print(\"------\")\n",
-    "print(intersection)\n",
+    "print(print_list_chunks(intersection))\n",
     "print(\"\\n\")\n",
     "\n",
     "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
     "\n",
-    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(union)} routines implemented in slycot_wrapper or in slycot_f2py_wrapper.\")\n",
     "print(\"------\")\n",
-    "print(union)\n",
+    "print(print_list_chunks(union))\n",
     "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -262,7 +343,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.6"
+   "version": "3.10.12"
   },
   "orig_nbformat": 4
  },
diff --git a/doc/source/dev/slicot_slycot.ipynb b/doc/source/dev/slicot_slycot.ipynb
index e396d7fb..9954a074 100644
--- a/doc/source/dev/slicot_slycot.ipynb
+++ b/doc/source/dev/slicot_slycot.ipynb
@@ -10,16 +10,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0.1.dev603+ga60cee4'"
+       "'0.1.dev606+g8b31df8'"
       ]
      },
-     "execution_count": 14,
+     "execution_count": 1,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -33,17 +33,143 @@
     "slycot.__version__"
    ]
   },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect function"
+   ]
+  },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def print_list_chunks(l, n=6):\n",
+    "      \n",
+    "    start = 0\n",
+    "    end = len(l)\n",
+    "    step = n\n",
+    "    for i in range(start, end, step):\n",
+    "        x = i\n",
+    "        print(l[x:x+step])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "['mb01wd', 'tg01gd', 'ab13fd', 'sg03ay', 'mb01oe', 'mb02fd', 'tg01oa', 'dg01ny', 'sg03ax', 'fb01qd', 'ma02az', 'mc01md', 'md03by', 'tf01mx', 'ib01nd', 'mb02rz', 'mb04bp', 'tb01kd', 'ab09gd', 'ma02jz', 'ud01cd', 'ib01rd', 'nf01bx', 'mb02rd', 'ma02es', 'mb04iy', 'tg01id', 'mb01rd', 'mc01xd', 'mb04wr', 'sg03bs', 'mb03kc', 'ma02cd', 'tb04ad', 'md03bx', 'mb03vy', 'ab09cd', 'tf01nd', 'sb09md', 'sb03ot', 'mb04pu', 'mb04yd', 'mb02pd', 'mb04tu', 'mb02ud', 'ib01cd', 'mb04dp', 'tg01fz', 'sb04od', 'nf01ad', 'mb03qd', 'ab09bd', 'mb02jd', 'sb02mw', 'ma02ad', 'mb04dl', 'sb08ed', 'tb01uy', 'md03ba', 'ab05nd', 'mb03pd', 'sb02mx', 'sb04ow', 'ma02mz', 'mb02cy', 'ag08by', 'mb03bb', 'ab09cx', 'mb01kd', 'sb02sd', 'mb01xd', 'sb01md', 'mb02ny', 'sb02ox', 'sb10pd', 'ma01cd', 'tg01hd', 'mb02nd', 'sb02cx', 'sb04px', 'mb03qg', 'tg01hx', 'mb03ag', 'mc01py', 'mb03kb', 'mb04jd', 'tg01bd', 'tb03ay', 'ab13ed', 'sb03rd', 'ma02id', 'ma02md', 'sb03os', 'mb02cv', 'mb05oy', 'sb06nd', 'nf01bp', 'sb02od', 'mb03md', 'fb01vd', 'ma02iz', 'tb01ld', 'mb02sd', 'tb01nd', 'ud01md', 'mb02xd', 'mb02md', 'sg03br', 'mb04az', 'sb02ru', 'sb10qd', 'sg03bu', 'sb04qr', 'mb03lf', 'ma01ad', 'sb04rd', 'ma02gd', 'sb04ry', 'ab13ad', 'ab13md', 'nf01by', 'mb04nd', 'mb03yt', 'sg02cx', 'tg01hu', 'ab09kx', 'mb04hd', 'mb03gd', 'sb08cd', 'mb03od', 'sb04mr', 'mb02kd', 'ab09jx', 'ud01bd', 'fb01sd', 'mb03rd', 'ab07nd', 'mb03fd', 'sb03ou', 'mb03ya', 'mb01rh', 'sb08hd', 'ab08nw', 'ab07md', 'ab05qd', 'mb02qy', 'mb03id', 'ma02bd', 'ma02dd', 'mb04ed', 'sb03td', 'mb04tv', 'td04ad', 'tb01ud', 'tc01od', 'nf01bs', 'ma02oz', 'sg02nd', 'mb04ru', 'mc01rd', 'mb03bd', 'mb04tt', 'sb08ny', 'tg01ad', 'sb04qu', 'nf01bf', 'tg01qd', 'mc01td', 'mb04fp', 'mb03ud', 'mb3lzp', 'sb04nv', 'mb04qb', 'mb04wp', 'mc01sy', 'sb10dd', 'mb02sz', 'mb04kd', 'tb04bw', 'mb01ry', 'sb03mv', 'tb03ad', 'mb03gz', 'mb01ot', 'mb03be', 'tb01zd', 'ab04md', 'mb01os', 'sb03qx', 'mb04pb', 'nf01bu', 'mb04su', 'mc01od', 'sb16bd', 'mb02td', 'sg03ad', 'sb03qy', 'mb03xs', 'md03bb', 'mb04qc', 'mb03jd', 'sb01by', 'ab09nd', 'sb03md', 'mb04oy', 'mb05nd', 'ab08nx', 'mb01rb', 'dg01md', 'mb02wd', 'sb03ud', 'mb03py', 'mc01pd', 'ma02pz', 'ab09iy', 'ma02od', 'sb10td', 'tf01my', 'sb16cy', 'tg01oz', 'ab05pd', 'mb04cd', 'sb16ay', 'sb10hd', 'mb02gd', 'mc03md', 'mb03bc', 'sb04nx', 'mc01qd', 'ab01od', 'ab09jd', 'sb16ad', 'sg03bv', 'nf01bb', 'ab09dd', 'mb03lp', 'md03bf', 'mb03ah', 'mb3jzp', 'sb04mu', 'ab09kd', 'sb03ov', 'sb03pd', 'fd01ad', 'sb03sd', 'td05ad', 'mb02hd', 'mb02cd', 'mb03qx', 'sb04nd', 'mb04tb', 'sb04pd', 'tg01jy', 'tb04cd', 'tg01dd', 'ab09ed', 'mb03wx', 'tg01pd', 'tf01pd', 'sb08fd', 'ab13ax', 'nf01ba', 'sb08md', 'mb04dy', 'sb04my', 'ab09fd', 'mb04vd', 'mb01md', 'ib01oy', 'mb04ld', 'sb01bd', 'sb02mu', 'sg03bx', 'tg01ed', 'mb02qd', 'mb01ss', 'mb01rw', 'sb10ud', 'mb03cz', 'ag8byz', 'sb02ow', 'mb02dd', 'sb08nd', 'mb03my', 'mb03yd', 'tg01od', 'mc01sw', 'ma02bz', 'ib01ad', 'ab09hd', 'ud01mz', 'td03ad', 'sb03my', 'ib03bd', 'mb04dd', 'mb04xd', 'ma02hd', 'ab09ax', 'tg01hy', 'mc01sx', 'tb01ux', 'df01md', 'mb04vx', 'mb04wd', 'ab08md', 'tb01vd', 'nf01ay', 'md03bd', 'mb03rz', 'ab09ix', 'ab13dd', 'tb01iz', 'nf01bw', 'mb04qf', 'ab05sd', 'mb04db', 'mb03ai', 'sb08gd', 'mb02od', 'mb04ty', 'mb02uv', 'ib01px', 'tb01ty', 'sb03oy', 'sb03mu', 'tg01nd', 'ab09hx', 'ab09id', 'mb04id', 'mb03ed', 'mb04di', 'mb04tx', 'sb03od', 'mb04xy', 'mb03hz', 'tc04ad', 'mb01rx', 'sb02ov', 'mb03zd', 'mb03jp', 'mb02yd', 'mb04ox', 'bd01ad', 'mb04fd', 'ab05md', 'tb04bx', 'dg01od', 'sb10zd', 'mb01rt', 'sb02mr', 'ab01nd', 'mb04bz', 'ma01bz', 'ma02ed', 'mb03ld', 'tb01md', 'tb01xz', 'mb04qs', 'ab09md', 'sb10id', 'sb03sx', 'mb02cu', 'ab13bd', 'mb3oyz', 'mb02tz', 'tb01px', 'mb03iz', 'sg03bw', 'mb04dz', 'nf01bv', 'bd02ad', 'tf01md', 'mb03wd', 'mb4dbz', 'mb04tw', 'mb03vd', 'mb01oo', 'fb01rd', 'mb04rb', 'mb03ry', 'mb01xy', 'tb05ad', 'ib03ad', 'mb03xz', 'mb05md', 'mb02ed', 'sb03mw', 'sg03bd', 'mb01ru', 'mb01oc', 'bb02ad', 'ab09jw', 'mb03cd', 'mb04pa', 'sb10yd', 'mb02jx', 'tg01az', 'sg02ad', 'ma02hz', 'mb03dz', 'tg01md', 'sb08my', 'tb04ay', 'sb02nd', 'sb02mt', 'sb04rw', 'mb04wu', 'nf01be', 'de01pd', 'sb02mv', 'sb10ed', 'sb10zp', 'mb03lz', 'sb02oy', 'sb04md', 'mb03bg', 'mb03ad', 'mb01uw', 'sb10kd', 'ma02jd', 'ma02gz', 'tf01qd', 'mb03td', 'mb04gd', 'tb04bv', 'tg01ld', 'mb03ba', 'ue01md', 'mb3pyz', 'mb03xp', 'sb02ou', 'mb01nd', 'sg02cw', 'mb04yw', 'sb04mw', 'mb01uy', 'sg03by', 'ib01py', 'mb02uw', 'tg01ob', 'mb03jz', 'mb04ad', 'tg01fd', 'mb03sd', 'ab13id', 'ab08ny', 'mb03za', 'mb02uu', 'ab08nd', 'mc01wd', 'tg01ly', 'mb01uz', 'mb03xu', 'mb03nd', 'ag07bd', 'sg03bt', 'mb03xd', 'ma02nz', 'ab13dx', 'ab08nz', 'sb04ny', 'mb03ts', 'sb04qy', 'mb03rx', 'mb03af', 'ib01md', 'mb03ke', 'sb02pd', 'sb16cd', 'ab8nxz', 'mb04bd', 'tf01rd', 'mb01ux', 'mb03bz', 'sb03sy', 'mc03ny', 'sb10ld', 'ma02fd', 'td03ay', 'bb04ad', 'mb03ab', 'dk01md', 'ab05od', 'mc03nx', 'mb01td', 'tb01id', 'tg01cd', 'mb04ow', 'sb04nw', 'mb03ae', 'mb03rw', 'mb03qy', 'sb04py', 'nf01bq', 'mb03dd', 'tb01kx', 'mb01ud', 'ma01bd', 'mb03ny', 'ab08mz', 'sb02rd', 'sb04qd', 'tb01wx', 'ag08bz', 'tg01wd', 'tb04bd', 'sb02md', 'bb01ad', 'mc01sd', 'mc01vd', 'sb10ad', 'mb01vd', 'de01od', 'ib01pd', 'mb03bf', 'sb02ms', 'mb04py', 'mc03nd', 'tb01wd', 'mc01nd', 'dg01nd', 'ab09ad', 'mb02id', 'tb01yd', 'sb03mx', 'mb03vw', 'sg02cv', 'ab05rd', 'mb04ds', 'mb01od', 'mb4dpz', 'mb03oy', 'sb03qd', 'sb01bx', 'sb08dd', 'ib01od', 'sb10md', 'mb01ld', 'mb04iz', 'mb05od', 'tb01td', 'mb02vd', 'mb03fz', 'mb05my', 'mb01oh', 'mb04zd', 'sb03oz', 'tg01kz', 'mb02cx', 'tg01jd', 'mb01zd', 'mb01pd', 'sb01dd', 'mb03hd', 'sb02qd', 'mb03qw', 'tb01xd', 'ud01nd', 'sb10rd', 'ib01my', 'tf01od', 'ud01dd', 'tb01vy', 'ab09hy', 'sb04rx', 'ib01qd', 'mb04od', 'mb03qv', 'sg03bz', 'sb03or', 'mb03kd', 'ab13cd', 'tg01kd', 'mb03wa', 'mb04ts', 'mb03ka', 'mb4dlz', 'mb04qu', 'sb10fd', 'ma02pd', 'sb10jd', 'mb01qd', 'ab09jv', 'sb10vd', 'fb01td', 'ma02ez', 'tc05ad', 'sb10wd', 'md03ad', 'nf01bd', 'ma02cz', 'mb04ny', 'sb04rv', 'nf01br', 'tb01pd', 'ab01md', 'ib01bd', 'mb01yd', 'tg01nx', 'sb01fy', 'mb04md', 'sb10sd', 'mb04ud', 'mb01sd', 'ag08bd', 'ab09bx', 'bb03ad']\n",
-      "Derzeit in Slicot 607 Routinen implementiert.\n"
+      "Currently there are 607 routines implemented.\n",
+      "['mb01wd', 'tg01gd', 'ab13fd', 'sg03ay', 'mb01oe', 'mb02fd']\n",
+      "['tg01oa', 'dg01ny', 'sg03ax', 'fb01qd', 'ma02az', 'mc01md']\n",
+      "['md03by', 'tf01mx', 'ib01nd', 'mb02rz', 'mb04bp', 'tb01kd']\n",
+      "['ab09gd', 'ma02jz', 'ud01cd', 'ib01rd', 'nf01bx', 'mb02rd']\n",
+      "['ma02es', 'mb04iy', 'tg01id', 'mb01rd', 'mc01xd', 'mb04wr']\n",
+      "['sg03bs', 'mb03kc', 'ma02cd', 'tb04ad', 'md03bx', 'mb03vy']\n",
+      "['ab09cd', 'tf01nd', 'sb09md', 'sb03ot', 'mb04pu', 'mb04yd']\n",
+      "['mb02pd', 'mb04tu', 'mb02ud', 'ib01cd', 'mb04dp', 'tg01fz']\n",
+      "['sb04od', 'nf01ad', 'mb03qd', 'ab09bd', 'mb02jd', 'sb02mw']\n",
+      "['ma02ad', 'mb04dl', 'sb08ed', 'tb01uy', 'md03ba', 'ab05nd']\n",
+      "['mb03pd', 'sb02mx', 'sb04ow', 'ma02mz', 'mb02cy', 'ag08by']\n",
+      "['mb03bb', 'ab09cx', 'mb01kd', 'sb02sd', 'mb01xd', 'sb01md']\n",
+      "['mb02ny', 'sb02ox', 'sb10pd', 'ma01cd', 'tg01hd', 'mb02nd']\n",
+      "['sb02cx', 'sb04px', 'mb03qg', 'tg01hx', 'mb03ag', 'mc01py']\n",
+      "['mb03kb', 'mb04jd', 'tg01bd', 'tb03ay', 'ab13ed', 'sb03rd']\n",
+      "['ma02id', 'ma02md', 'sb03os', 'mb02cv', 'mb05oy', 'sb06nd']\n",
+      "['nf01bp', 'sb02od', 'mb03md', 'fb01vd', 'ma02iz', 'tb01ld']\n",
+      "['mb02sd', 'tb01nd', 'ud01md', 'mb02xd', 'mb02md', 'sg03br']\n",
+      "['mb04az', 'sb02ru', 'sb10qd', 'sg03bu', 'sb04qr', 'mb03lf']\n",
+      "['ma01ad', 'sb04rd', 'ma02gd', 'sb04ry', 'ab13ad', 'ab13md']\n",
+      "['nf01by', 'mb04nd', 'mb03yt', 'sg02cx', 'tg01hu', 'ab09kx']\n",
+      "['mb04hd', 'mb03gd', 'sb08cd', 'mb03od', 'sb04mr', 'mb02kd']\n",
+      "['ab09jx', 'ud01bd', 'fb01sd', 'mb03rd', 'ab07nd', 'mb03fd']\n",
+      "['sb03ou', 'mb03ya', 'mb01rh', 'sb08hd', 'ab08nw', 'ab07md']\n",
+      "['ab05qd', 'mb02qy', 'mb03id', 'ma02bd', 'ma02dd', 'mb04ed']\n",
+      "['sb03td', 'mb04tv', 'td04ad', 'tb01ud', 'tc01od', 'nf01bs']\n",
+      "['ma02oz', 'sg02nd', 'mb04ru', 'mc01rd', 'mb03bd', 'mb04tt']\n",
+      "['sb08ny', 'tg01ad', 'sb04qu', 'nf01bf', 'tg01qd', 'mc01td']\n",
+      "['mb04fp', 'mb03ud', 'mb3lzp', 'sb04nv', 'mb04qb', 'mb04wp']\n",
+      "['mc01sy', 'sb10dd', 'mb02sz', 'mb04kd', 'tb04bw', 'mb01ry']\n",
+      "['sb03mv', 'tb03ad', 'mb03gz', 'mb01ot', 'mb03be', 'tb01zd']\n",
+      "['ab04md', 'mb01os', 'sb03qx', 'mb04pb', 'nf01bu', 'mb04su']\n",
+      "['mc01od', 'sb16bd', 'mb02td', 'sg03ad', 'sb03qy', 'mb03xs']\n",
+      "['md03bb', 'mb04qc', 'mb03jd', 'sb01by', 'ab09nd', 'sb03md']\n",
+      "['mb04oy', 'mb05nd', 'ab08nx', 'mb01rb', 'dg01md', 'mb02wd']\n",
+      "['sb03ud', 'mb03py', 'mc01pd', 'ma02pz', 'ab09iy', 'ma02od']\n",
+      "['sb10td', 'tf01my', 'sb16cy', 'tg01oz', 'ab05pd', 'mb04cd']\n",
+      "['sb16ay', 'sb10hd', 'mb02gd', 'mc03md', 'mb03bc', 'sb04nx']\n",
+      "['mc01qd', 'ab01od', 'ab09jd', 'sb16ad', 'sg03bv', 'nf01bb']\n",
+      "['ab09dd', 'mb03lp', 'md03bf', 'mb03ah', 'mb3jzp', 'sb04mu']\n",
+      "['ab09kd', 'sb03ov', 'sb03pd', 'fd01ad', 'sb03sd', 'td05ad']\n",
+      "['mb02hd', 'mb02cd', 'mb03qx', 'sb04nd', 'mb04tb', 'sb04pd']\n",
+      "['tg01jy', 'tb04cd', 'tg01dd', 'ab09ed', 'mb03wx', 'tg01pd']\n",
+      "['tf01pd', 'sb08fd', 'ab13ax', 'nf01ba', 'sb08md', 'mb04dy']\n",
+      "['sb04my', 'ab09fd', 'mb04vd', 'mb01md', 'ib01oy', 'mb04ld']\n",
+      "['sb01bd', 'sb02mu', 'sg03bx', 'tg01ed', 'mb02qd', 'mb01ss']\n",
+      "['mb01rw', 'sb10ud', 'mb03cz', 'ag8byz', 'sb02ow', 'mb02dd']\n",
+      "['sb08nd', 'mb03my', 'mb03yd', 'tg01od', 'mc01sw', 'ma02bz']\n",
+      "['ib01ad', 'ab09hd', 'ud01mz', 'td03ad', 'sb03my', 'ib03bd']\n",
+      "['mb04dd', 'mb04xd', 'ma02hd', 'ab09ax', 'tg01hy', 'mc01sx']\n",
+      "['tb01ux', 'df01md', 'mb04vx', 'mb04wd', 'ab08md', 'tb01vd']\n",
+      "['nf01ay', 'md03bd', 'mb03rz', 'ab09ix', 'ab13dd', 'tb01iz']\n",
+      "['nf01bw', 'mb04qf', 'ab05sd', 'mb04db', 'mb03ai', 'sb08gd']\n",
+      "['mb02od', 'mb04ty', 'mb02uv', 'ib01px', 'tb01ty', 'sb03oy']\n",
+      "['sb03mu', 'tg01nd', 'ab09hx', 'ab09id', 'mb04id', 'mb03ed']\n",
+      "['mb04di', 'mb04tx', 'sb03od', 'mb04xy', 'mb03hz', 'tc04ad']\n",
+      "['mb01rx', 'sb02ov', 'mb03zd', 'mb03jp', 'mb02yd', 'mb04ox']\n",
+      "['bd01ad', 'mb04fd', 'ab05md', 'tb04bx', 'dg01od', 'sb10zd']\n",
+      "['mb01rt', 'sb02mr', 'ab01nd', 'mb04bz', 'ma01bz', 'ma02ed']\n",
+      "['mb03ld', 'tb01md', 'tb01xz', 'mb04qs', 'ab09md', 'sb10id']\n",
+      "['sb03sx', 'mb02cu', 'ab13bd', 'mb3oyz', 'mb02tz', 'tb01px']\n",
+      "['mb03iz', 'sg03bw', 'mb04dz', 'nf01bv', 'bd02ad', 'tf01md']\n",
+      "['mb03wd', 'mb4dbz', 'mb04tw', 'mb03vd', 'mb01oo', 'fb01rd']\n",
+      "['mb04rb', 'mb03ry', 'mb01xy', 'tb05ad', 'ib03ad', 'mb03xz']\n",
+      "['mb05md', 'mb02ed', 'sb03mw', 'sg03bd', 'mb01ru', 'mb01oc']\n",
+      "['bb02ad', 'ab09jw', 'mb03cd', 'mb04pa', 'sb10yd', 'mb02jx']\n",
+      "['tg01az', 'sg02ad', 'ma02hz', 'mb03dz', 'tg01md', 'sb08my']\n",
+      "['tb04ay', 'sb02nd', 'sb02mt', 'sb04rw', 'mb04wu', 'nf01be']\n",
+      "['de01pd', 'sb02mv', 'sb10ed', 'sb10zp', 'mb03lz', 'sb02oy']\n",
+      "['sb04md', 'mb03bg', 'mb03ad', 'mb01uw', 'sb10kd', 'ma02jd']\n",
+      "['ma02gz', 'tf01qd', 'mb03td', 'mb04gd', 'tb04bv', 'tg01ld']\n",
+      "['mb03ba', 'ue01md', 'mb3pyz', 'mb03xp', 'sb02ou', 'mb01nd']\n",
+      "['sg02cw', 'mb04yw', 'sb04mw', 'mb01uy', 'sg03by', 'ib01py']\n",
+      "['mb02uw', 'tg01ob', 'mb03jz', 'mb04ad', 'tg01fd', 'mb03sd']\n",
+      "['ab13id', 'ab08ny', 'mb03za', 'mb02uu', 'ab08nd', 'mc01wd']\n",
+      "['tg01ly', 'mb01uz', 'mb03xu', 'mb03nd', 'ag07bd', 'sg03bt']\n",
+      "['mb03xd', 'ma02nz', 'ab13dx', 'ab08nz', 'sb04ny', 'mb03ts']\n",
+      "['sb04qy', 'mb03rx', 'mb03af', 'ib01md', 'mb03ke', 'sb02pd']\n",
+      "['sb16cd', 'ab8nxz', 'mb04bd', 'tf01rd', 'mb01ux', 'mb03bz']\n",
+      "['sb03sy', 'mc03ny', 'sb10ld', 'ma02fd', 'td03ay', 'bb04ad']\n",
+      "['mb03ab', 'dk01md', 'ab05od', 'mc03nx', 'mb01td', 'tb01id']\n",
+      "['tg01cd', 'mb04ow', 'sb04nw', 'mb03ae', 'mb03rw', 'mb03qy']\n",
+      "['sb04py', 'nf01bq', 'mb03dd', 'tb01kx', 'mb01ud', 'ma01bd']\n",
+      "['mb03ny', 'ab08mz', 'sb02rd', 'sb04qd', 'tb01wx', 'ag08bz']\n",
+      "['tg01wd', 'tb04bd', 'sb02md', 'bb01ad', 'mc01sd', 'mc01vd']\n",
+      "['sb10ad', 'mb01vd', 'de01od', 'ib01pd', 'mb03bf', 'sb02ms']\n",
+      "['mb04py', 'mc03nd', 'tb01wd', 'mc01nd', 'dg01nd', 'ab09ad']\n",
+      "['mb02id', 'tb01yd', 'sb03mx', 'mb03vw', 'sg02cv', 'ab05rd']\n",
+      "['mb04ds', 'mb01od', 'mb4dpz', 'mb03oy', 'sb03qd', 'sb01bx']\n",
+      "['sb08dd', 'ib01od', 'sb10md', 'mb01ld', 'mb04iz', 'mb05od']\n",
+      "['tb01td', 'mb02vd', 'mb03fz', 'mb05my', 'mb01oh', 'mb04zd']\n",
+      "['sb03oz', 'tg01kz', 'mb02cx', 'tg01jd', 'mb01zd', 'mb01pd']\n",
+      "['sb01dd', 'mb03hd', 'sb02qd', 'mb03qw', 'tb01xd', 'ud01nd']\n",
+      "['sb10rd', 'ib01my', 'tf01od', 'ud01dd', 'tb01vy', 'ab09hy']\n",
+      "['sb04rx', 'ib01qd', 'mb04od', 'mb03qv', 'sg03bz', 'sb03or']\n",
+      "['mb03kd', 'ab13cd', 'tg01kd', 'mb03wa', 'mb04ts', 'mb03ka']\n",
+      "['mb4dlz', 'mb04qu', 'sb10fd', 'ma02pd', 'sb10jd', 'mb01qd']\n",
+      "['ab09jv', 'sb10vd', 'fb01td', 'ma02ez', 'tc05ad', 'sb10wd']\n",
+      "['md03ad', 'nf01bd', 'ma02cz', 'mb04ny', 'sb04rv', 'nf01br']\n",
+      "['tb01pd', 'ab01md', 'ib01bd', 'mb01yd', 'tg01nx', 'sb01fy']\n",
+      "['mb04md', 'sb10sd', 'mb04ud', 'mb01sd', 'ag08bd', 'ab09bx']\n",
+      "['bb03ad']\n",
+      "None\n"
      ]
     }
    ],
@@ -53,21 +179,30 @@
     "\n",
     "slicot_methods = [x.split(\"\\n\")[0] for x in lines]\n",
     "\n",
-    "print(slicot_methods)\n",
-    "print(f\"Derzeit in Slicot {len(slicot_methods)} Routinen implementiert.\")"
+    "print(f\"Currently there are {len(slicot_methods)} routines implemented.\")\n",
+    "print(print_list_chunks(slicot_methods))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
-      "Derzeit in Slycot 50 Methoden implementiert.\n"
+      "Currently there are 49 routines implemented.\n",
+      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
+      "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
+      "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd']\n",
+      "['mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd']\n",
+      "['sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od']\n",
+      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd']\n",
+      "['sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad']\n",
+      "['tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md']\n",
+      "['tf01rd']\n",
+      "None\n"
      ]
     }
    ],
@@ -80,13 +215,13 @@
     "\n",
     "slycot_methods = get_slycot_method(slycot)\n",
     "\n",
-    "print(slycot_methods)\n",
-    "print(f\"Derzeit in Slycot {len(slycot_methods)} Methoden implementiert.\")"
+    "print(f\"Currently there are {len(slycot_methods)} routines implemented.\")\n",
+    "print(print_list_chunks(slycot_methods))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
@@ -94,7 +229,7 @@
      "output_type": "stream",
      "text": [
       "slicot_methods_count = {'m': 281, 't': 77, 'a': 60, 's': 131, 'd': 8, 'f': 6, 'i': 15, 'u': 7, 'n': 16, 'b': 6}\n",
-      "slycot_methods_count = {'a': 17, 'm': 7, 's': 16, 't': 10}\n"
+      "slycot_methods_count = {'a': 16, 'm': 7, 's': 16, 't': 10}\n"
      ]
     }
    ],
@@ -117,12 +252,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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tWrTItTw+Pp4mTZpYvVa4WbNmpKam8vPPPxdY/LdKia2IiIiIjbG3t2fbtm1s3ryZ6tWrM3fuXEJDQzl16lSe57m6ut6mCAuHElsRERERG2SxWGjWrBkTJ07k0KFDODk5sXbt2jzPqVWrFllZWezcuTPX8rCwMPbu3Wu1Vnf37t14eHhQoUIFAJycnMjMzCy4C7kJSmxFREREbMy+ffuYOnUqBw4cICkpiTVr1vDbb78RFhaW53lBQUH079+fgQMHsm7dOk6dOkVcXByrVq0CYOjQoZw+fZonnniC7777jvXr1zN+/Hiefvpp7OzszDb27dtHYmIiv//+O1lZWYV+vdl085iIiIjITSrIN4EVBk9PT3bt2sXs2bNJSUkhMDCQWbNm0a5dOz744IM8z12wYAHPP/88Q4cO5dy5c1SsWJHnn38egPLly7Np0yaeffZZwsPDKVWqFI899hgvvviief6oUaPo378/1atX56+//uLUqVMEBQUV5uWaLEZ+nvsgYiNSUlLw8vIiYOQq7Jzd8qx7p/+nJSIihe/y5cucOnWK4OBgXFxcijocm5bXWGf//r548SKenp7XbUNLESRXcXFxWCwWLly4UNShmKKioujSpUtRhyEiIiJ3KCW2d6CoqCjzbR0WiwUfHx8iIyP55ptvijo0ERERkTuWEts7VGRkJMnJySQnJxMbG4uDgwMdO3Ys6rCKRGZm5m1deC4iIiJ3JyW2dyhnZ2f8/Pzw8/OjTp06jBkzhtOnT/Pbb78BcPr0aXr16oW3tzelSpWic+fOVu9izv7Y/tVXX8Xf3x8fHx+GDRtGRkaGWedG74IGOHjwIA0aNMDNzY2mTZuSkJBglk2YMIE6derw7rvvUrFiRdzd3Rk6dCiZmZnMnDkTPz8/ypQpw5QpU6zafO2116hVqxYlSpQgICCAoUOHkpqaapbHxMTg7e3Nhg0bqF69Os7OziQlJeUYo/379+Pr68uMGTP+1ViLiIiIbVBiexdITU3lvffeo0qVKvj4+JCRkUFERAQeHh58/vnn7N69G3d3dyIjI7ly5Yp53o4dOzh58iQ7duxgyZIlxMTEEBMTY5b369ePFStWMGfOHOLj41m4cCHu7u5Wfb/wwgvMmjWLAwcO4ODgwMCBA63KT548yebNm9myZQsrVqxg8eLFdOjQgZ9//pmdO3cyY8YMXnzxRfbt22eeY2dnx5w5c/j2229ZsmQJn332GaNHj7ZqNy0tjRkzZvDOO+/w7bffUqZMGavyzz77jLZt2zJlyhSee+65645deno6KSkpVpuIiIjYJj3u6w61ceNGM8m8dOkS/v7+bNy4ETs7O95//32ysrJ45513zFfaRUdH4+3tTVxcHA888AAAJUuWZN68edjb21OtWjU6dOhAbGwsgwcPvuG7oLNNmTLFfK3emDFj6NChA5cvXzbvVszKyuLdd9/Fw8OD6tWr06pVKxISEti0aRN2dnaEhoYyY8YMduzYQePGjQEYOXKk2X5QUBAvv/wyQ4YMYf78+ebxjIwM5s+fT3h4eI6Y1q5dS79+/XjnnXfo3bt3nuM4bdo0Jk6cmK8xFxERkbubZmzvUK1ateLw4cMcPnyYr776ioiICNq1a8dPP/3EkSNH+OGHH/Dw8MDd3R13d3dKlSrF5cuXOXnypNlGjRo1sLe3N/f9/f05e/YscON3QWerXbu21fmA2QZcS0w9PDzM/bJly1K9enXzIc3Zx/5+zvbt22ndujXly5fHw8ODRx99lHPnzpGWlmbWcXJysuo72759++jZsyfLli27YVILMHbsWC5evGhup0+fvuE5IiIicnfSjO0dqkSJElSpUsXcf+edd/Dy8mLRokWkpqZSv359li9fnuM8X19f82tHR0erMovFYt6Eld93Qf+9jezZ4b/fyJVbH3n1m5iYSMeOHXn88ceZMmUKpUqV4osvvuCxxx7jypUruLm5mfFl9/d3lStXxsfHh3fffZcOHTrk6OufnJ2dcXZ2zte1ioiIyN1NM7Z3CYvFgp2dHX/99Rf16tXjxIkTlClThipVqlhtXl5e+WrvRu+CLiwHDx4kKyuLWbNmcc899xASEsIvv/yS7/NLly7NZ599xg8//ECvXr2sboYTERGR4k0ztneo9PR0fv31VwDOnz/PvHnzSE1NpVOnTjRq1IhXXnmFzp07M2nSJCpUqMBPP/3EmjVrGD16NBUqVLhh+39/F/ScOXMIDw/np59+4uzZs/Tq1avQrqtKlSpkZGQwd+5cOnXqxO7du3nrrbduqo0yZcrw2Wef0apVK/r06cPKlStxcNCPsoiI3EYT8jeRVHD9XSywpqKiorhw4QLr1q0rsDbvFJqxvUNt2bIFf39//P39ady4Mfv37+fDDz+kZcuWuLm5sWvXLipWrEi3bt0ICwvjscce4/Lly3m+Zu6fFixYQI8ePRg6dCjVqlVj8ODBXLp0qRCvCsLDw3nttdeYMWMGNWvWZPny5UybNu2m2/Hz8+Ozzz7j6NGj9O3bl8zMzEKIVkRERP6t7Md43g4WwzCM29KTyB0g+13TASNXYefslmfdxOkdblNUIiJyp7p8+TKnTp0iODjYfCIQoBnbmxATE8PIkSO5cOFCnvWuO9b8/+/vixcv5jmJpxlbERERERv00UcfUatWLVxdXfHx8aFNmzY5PpldunQpPj4+pKenWx3v0qULjz76qLn/8ccf07BhQ1xcXChdujRdu3Y1y86fP0+/fv0oWbIkbm5utGvXjhMnTgAQFxfHgAEDuHjxIhaLBYvFwoQJEwrtmpXYioiIiNiY5ORk+vTpw8CBA4mPjycuLo5u3brxzw/qe/bsSWZmJhs2bDCPnT17lk8++cR8KdMnn3xC165dad++PYcOHSI2NpZGjRqZ9aOiojhw4AAbNmxg7969GIZB+/btycjIoGnTpsyePRtPT0+Sk5NJTk5m1KhRhXbduuNGRERExMYkJydz9epVunXrRmBgIHDtiUj/5OrqysMPP0x0dDQ9e/YE4L333qNixYq0bNkSuPaypoceesjqhUfZL1A6ceIEGzZsYPfu3TRt2hSA5cuXExAQwLp16+jZsydeXl5YLBb8/PwK85IBzdiKiIiI2Jzw8HBat25NrVq16NmzJ4sWLeL8+fO51h08eDCffvop//vf/4Bra2KjoqLM58kfPnyY1q1b53pufHw8Dg4O5ttFAXx8fAgNDSU+Pr6Ar+rGlNiKiIiI2Bh7e3u2bdvG5s2bqV69OnPnziU0NJRTp07lqFu3bl3Cw8NZunQpBw8e5NtvvyUqKsosz+9Lne4ESmxFREREbJDFYqFZs2ZMnDiRQ4cO4eTkxNq1a3OtO2jQIGJiYoiOjqZNmzYEBASYZbVr1yY2NjbX88LCwrh69Sr79u0zj507d46EhASqV68OgJOT0217LKcSWxEREREbs2/fPqZOncqBAwdISkpizZo1/Pbbb4SFheVa/+GHH+bnn39m0aJF5k1j2caPH8+KFSsYP3488fHxHD16lBkzZgBQtWpVOnfuzODBg/niiy84cuQIjzzyCOXLl6dz587AtZdCpaamEhsby++//05aWlqhXbduHpNi6djEiJt6mYWIiIiVAnyubGHw9PRk165dzJ49m5SUFAIDA5k1axbt2rXjgw8+yFHfy8uL7t2788knn9ClSxerspYtW/Lhhx8yefJkpk+fjqenJ82bNzfLo6OjefLJJ+nYsSNXrlyhefPmbNq0CUdHRwCaNm3KkCFD6N27N+fOnWP8+PGF9sgvvaBBipX8PuBZREQE8n5pgK1p3bo1NWrUYM6cOUXSf0G8oEEztiIiIiLF2Pnz54mLiyMuLo758+cXdTj/ihJbERERkWKsbt26nD9/nhkzZhAaGlrU4fwrSmxFREREirHExMSiDqHA6KkIIiIiImITlNiKiIiI3IDutS98BTHGWoogxVLN8Vuxc3Yr1D4Sp3co1PZFRKTwZT+yKi0t7a56A9fdKPv5ttljfiuU2IqIiIhch729Pd7e3pw9exYANzc3LBZLEUdlWwzDIC0tjbNnz+Lt7Y29vf0tt6XEVkRERCQPfn5+AGZyK4XD29vbHOtbpcRWREREJA8WiwV/f3/KlClDRkZGUYdjkxwdHf/VTG02JbYiIiIi+WBvb18gyZcUHj0VQURERERsghJbEREREbEJSmxFRERExCYosRURERERm6DE9hYkJiZisVg4fPgwAHFxcVgsFi5cuFCkcYmIiIgUZzaT2EZFRWGxWJg+fbrV8XXr1hX6g5SbNm1KcnIyXl5ehdrPv7Fo0SLCw8Nxd3fH29ubunXrMm3atAJpW4m9iIiI3AlsJrEFcHFxYcaMGZw/f/629uvk5ISfn1+Rv4nkypUruR5/9913GTlyJCNGjODw4cPs3r2b0aNHk5qaepsjFBERESk8NpXYtmnTBj8/vxvORK5evZoaNWrg7OxMUFAQs2bNsioPCgpi6tSpDBw4EA8PDypWrMjbb7993fb+OWMZExODt7c3W7duJSwsDHd3dyIjI0lOTrY675133iEsLAwXFxeqVavG/Pnzrcqfe+45QkJCcHNzo1KlSrz00ktWD4aeMGECderU4Z133iE4OBgXF5dc49uwYQO9evXiscceo0qVKtSoUYM+ffowZcoUAHbt2oWjoyO//vqr1XkjR47kvvvuA+Cnn36iU6dOlCxZkhIlSlCjRg02bdpEYmIirVq1AqBkyZJYLBaioqIAyMrKYtq0aQQHB+Pq6kp4eDgfffRRjnHbunUrdevWxdXVlfvvv5+zZ8+yefNmwsLC8PT05OGHHzbfHw3w0UcfUatWLVxdXfHx8aFNmzZcunQp12tPT08nJSXFahMRERHbZFOJrb29PVOnTmXu3Ln8/PPPudY5ePAgvXr14qGHHuLo0aNMmDCBl156iZiYGKt6s2bNokGDBhw6dIihQ4fy+OOPk5CQkO9Y0tLSePXVV1m2bBm7du0iKSmJUaNGmeXLly9n3LhxTJkyhfj4eKZOncpLL73EkiVLzDoeHh7ExMRw/Phx3njjDRYtWsTrr79u1c8PP/zA6tWrWbNmjbnm95/8/Pz48ssv+emnn3Itb968OZUqVWLZsmXmsYyMDJYvX87AgQMBGDZsGOnp6ezatYujR48yY8YM3N3dCQgIYPXq1QAkJCSQnJzMG2+8AcC0adNYunQpb731Ft9++y1PPfUUjzzyCDt37rTqf8KECcybN489e/Zw+vRpevXqxezZs3n//ff55JNP+PTTT5k7dy4AycnJ9OnTh4EDBxIfH09cXBzdunXDMIxcr23atGl4eXmZW0BAQK71RERE5O5nc28e69q1K3Xq1GH8+PEsXrw4R/lrr71G69ateemllwAICQnh+PHjvPLKK+ZMI0D79u0ZOnQocG3m9PXXX2fHjh2EhobmK46MjAzeeustKleuDMDw4cOZNGmSWT5+/HhmzZpFt27dAAgODub48eMsXLiQ/v37A/Diiy+a9YOCghg1ahQrV65k9OjR5vErV66wdOlSfH19rxvL+PHj6datG0FBQYSEhNCkSRPat29Pjx49sLO79rfNY489RnR0NM8++ywAH3/8MZcvX6ZXr14AJCUl0b17d2rVqgVApUqVzPZLlSoFQJkyZfD29gauzZROnTqV7du306RJE/OcL774goULF9KiRQvz/JdffplmzZqZcYwdO5aTJ0+affTo0YMdO3bw3HPPkZyczNWrV+nWrRuBgYEAZky5GTt2LE8//bS5n5KSouRWRETERtnUjG22GTNmsGTJEuLj43OUxcfHm0lUtmbNmnHixAkyMzPNY7Vr1za/tlgs+Pn5cfbs2XzH4ObmZia1AP7+/ub5ly5d4uTJkzz22GO4u7ub28svv8zJkyfNcz744AOaNWuGn58f7u7uvPjiiyQlJVn1ExgYmGdSm9333r17OXr0KE8++SRXr16lf//+REZGkpWVBVy7+e6HH37gyy+/BK4tp+jVqxclSpQAYMSIEWYCOn78eL755ps8+/zhhx9IS0ujbdu2Vte4dOlSq2sE67EuW7asufTi78eyxy48PJzWrVtTq1YtevbsyaJFi/JcU+3s7Iynp6fVJiIiIrbJJhPb5s2bExERwdixY2+5DUdHR6t9i8ViJoG3en72x+XZN20tWrSIw4cPm9uxY8fMxHLv3r307duX9u3bs3HjRg4dOsQLL7yQ4wax7MQzP2rWrMnQoUN577332LZtG9u2bTOXBZQpU4ZOnToRHR3NmTNn2Lx5s7kMAWDQoEH8+OOPPProoxw9epQGDRqYywNyk32Nn3zyidU1Hj9+3Gqd7T/HymKx5Dn29vb2bNu2jc2bN1O9enXmzp1LaGgop06dyvc4iIiIiG2yuaUI2aZPn06dOnVyLB0ICwtj9+7dVsd2795NSEgI9vb2tyW2smXLUq5cOX788Uf69u2ba509e/YQGBjICy+8YB673hrZW1G9enUAq5uuBg0aRJ8+fahQoQKVK1fOMbMdEBDAkCFDGDJkCGPHjmXRokU88cQTODk5AVjNeFevXh1nZ2eSkpKslh0UBIvFQrNmzWjWrBnjxo0jMDCQtWvXWi05EBERkeLHZhPbWrVq0bdvX+bMmWN1/JlnnqFhw4ZMnjyZ3r17s3fvXubNm5fjiQSFbeLEiYwYMQIvLy8iIyNJT0/nwIEDnD9/nqeffpqqVauSlJTEypUradiwIZ988glr1669pb4ef/xxypUrx/3330+FChVITk7m5ZdfxtfX11z/ChAREYGnpycvv/yy1XpguPaEhHbt2hESEsL58+fZsWMHYWFhwLXlEBaLhY0bN9K+fXtcXV3x8PBg1KhRPPXUU2RlZXHvvfdy8eJFdu/ejaenp7mO+Gbt27eP2NhYHnjgAcqUKcO+ffv47bffzFhERESk+LLJpQjZJk2alGP5QL169Vi1ahUrV66kZs2ajBs3jkmTJlndOHY7DBo0iHfeeYfo6Ghq1apFixYtiImJITg4GIAHH3yQp556iuHDh1OnTh327Nlj3vB2s9q0acOXX35Jz549CQkJoXv37ri4uBAbG4uPj49Zz87OjqioKDIzM+nXr59VG5mZmQwbNoywsDAiIyMJCQkx/xgoX748EydOZMyYMZQtW5bhw4cDMHnyZF566SWmTZtmnvfJJ5+Y13grPD092bVrF+3btyckJIQXX3yRWbNm0a5du1tuU0RERGyDxbjec5KkWHrsscf47bff2LBhQ1GHUihSUlKuPfZr5CrsnN0Kta/E6R0KtX0REZHiIvv398WLF/O8EdxmlyLIzbl48SJHjx7l/ffft9mkVkRERGybElsBoHPnznz11VcMGTKEtm3bFnU4IiIiIjdNia0A115vKyIiInI3s+mbx0RERESk+FBiKyIiIiI2QYmtiIiIiNgErbGVYunYxIg8HxciIiIidx/N2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEJbYiIiIiYhOU2IqIiIiITVBiKyIiIiI2QY/7kmKp5vit2Dm73bBe4vQOtyEaERERKQiasRURERERm6DEVkRERERsghJbEREREbEJSmxFRERExCYosRURERERm6DEVkRERERsghJbEREREbEJSmxFRERExCYosb1NEhMTsVgsHD58GIC4uDgsFgsXLlwAICYmBm9v7yKLr7BERUXRpUuXog5DREREigEltjehZcuWjBw5MsfxfyaluSVzAQEBJCcnU7NmzVzb7t27N99//725P2HCBOrUqfOvY85OoLM3X19f2rdvz9GjR/9123/3z8Q92xtvvEFMTEyB9iUiIiKSGyW2t4m9vT1+fn44OOT+FmNXV1fKlClTaP0nJCSQnJzM1q1bSU9Pp0OHDly5cqXQ+svm5eVlkzPRIiIicudRYlvAJkyYwJIlS1i/fr05SxoXF3fdGc1sf5/1jYmJYeLEiRw5csRsIyYmhoEDB9KxY0er8zIyMihTpgyLFy/OM64yZcrg5+dHvXr1GDlyJKdPn+a7774zy1evXk2NGjVwdnYmKCiIWbNmWZ1vsVhYt26d1TFvb29zNjY4OBiAunXrYrFYaNmyJZBz9rply5aMGDGC0aNHU6pUKfz8/JgwYYJVuxcuXGDQoEH4+vri6enJ/fffz5EjR8zyI0eO0KpVKzw8PPD09KR+/focOHAgz+sXERER25f79KHcslGjRhEfH09KSgrR0dEAlCpVil9++SXfbfTu3Ztjx46xZcsWtm/fDlyb+QwJCaF58+YkJyfj7+8PwMaNG0lLS6N37975avvixYusXLkSACcnJwAOHjxIr169mDBhAr1792bPnj0MHToUHx8foqKi8tXuV199RaNGjdi+fTs1atQw287NkiVLePrpp9m3bx979+4lKiqKZs2a0bZtWwB69uyJq6srmzdvxsvLi4ULF9K6dWu+//57SpUqRd++falbty4LFizA3t6ew4cP4+jomGtf6enppKenm/spKSn5uh4RERG5+yixLWDu7u64urqSnp6On5/fLbXh6uqKu7s7Dg4OVm00bdqU0NBQli1bxujRowGIjo6mZ8+euLu759lmhQoVALh06RIADz74INWqVQPgtddeo3Xr1rz00ksAhISEcPz4cV555ZV8J7a+vr4A+Pj43PC6a9euzfjx4wGoWrUq8+bNIzY2lrZt2/LFF1/w1VdfcfbsWZydnQF49dVXWbduHR999BH/+c9/SEpK4tlnnzXjr1q16nX7mjZtGhMnTszXNYiIiMjdTUsR7jKDBg0yZ4LPnDnD5s2bGThw4A3P+/zzzzl48CAxMTGEhITw1ltvmWXx8fE0a9bMqn6zZs04ceIEmZmZBXsBXEts/87f35+zZ88C15YZpKam4uPjg7u7u7mdOnWKkydPAvD0008zaNAg2rRpw/Tp083juRk7diwXL140t9OnTxf49YiIiMidQTO2N8HT05OLFy/mOH7hwgW8vLxuSwz9+vVjzJgx7N27lz179hAcHMx99913w/OCg4Px9vYmNDSUs2fP0rt3b3bt2pXvfi0WC4ZhWB3LyMi46fiBHMsGLBYLWVlZAKSmpuLv709cXFyO87LXIE+YMIGHH36YTz75hM2bNzN+/HhWrlxJ165dc5zj7OxszvyKiIiIbdOM7U0IDQ3l66+/znH866+/JiQkxNx3cnL61zOd12vDx8eHLl26EB0dTUxMDAMGDLjptocNG8axY8dYu3YtAGFhYezevduqzu7duwkJCcHe3h64ttQgOTnZLD9x4gRpaWlW8QL/+rrr1avHr7/+ioODA1WqVLHaSpcubdYLCQnhqaee4tNPP6Vbt27mLLaIiIgUX0psb8Ljjz/O999/z4gRI/jmm29ISEjgtddeY8WKFTzzzDNmvaCgILP8999/v6WZzaCgIE6dOsXhw4f5/fffrW6AGjRoEEuWLCE+Pp7+/fvfdNtubm4MHjyY8ePHYxgGzzzzDLGxsUyePJnvv/+eJUuWMG/ePEaNGmWec//99zNv3jwOHTrEgQMHGDJkiNXMa5kyZXB1dWXLli2cOXMm15nt/GjTpg1NmjShS5cufPrppyQmJrJnzx5eeOEFDhw4wF9//cXw4cOJi4vjp59+Yvfu3ezfv5+wsLBb6k9ERERshxLbm1CpUiV27drFd999R5s2bWjcuDGrVq3iww8/JDIy0qw3ePBgQkNDadCgAb6+vjlmQ/Oje/fuREZG0qpVK3x9fVmxYoVZ1qZNG/z9/YmIiKBcuXK3dC3Dhw8nPj6eDz/8kHr16rFq1SpWrlxJzZo1GTduHJMmTbK6cWzWrFkEBARw33338fDDDzNq1Cjc3NzMcgcHB+bMmcPChQspV64cnTt3vqW4LBYLmzZtonnz5gwYMICQkBAeeughfvrpJ8qWLYu9vT3nzp2jX79+hISE0KtXL9q1a6cbxERERASL8c+Fk3LHS01NpXz58kRHR9OtW7eiDueukpKSgpeXFwEjV2Hn7HbD+onTO9yGqERERCQv2b+/L168iKen53Xr6eaxu0hWVha///47s2bNwtvbmwcffLCoQxIRERG5YyixvYskJSURHBxMhQoViImJue7reUVERESKI2VGd5GgoKAcj9wSERERkWt085iIiIiI2AQltiIiIiJiE5TYioiIiIhN0BpbKZaOTYzI83EhIiIicvfRjK2IiIiI2AQltiIiIiJiE5TYioiIiIhNUGIrIiIiIjZBia2IiIiI2AQltiIiIiJiE/S4LymWao7fip2zW6G1nzi9Q6G1LSIiIrnTjK2IiIiI2AQltiIiIiJiE5TYioiIiIhNUGIrIiIiIjZBia2IiIiI2AQltiIiIiJiE5TYioiIiIhNUGIrIiIiIjZBie0doGXLlowcObLQ+0lMTMRisXD48GHz2O7du6lVqxaOjo506dKFuLg4LBYLFy5cKNRYoqKi6NKlS6H2ISIiIsWL3jx2G0RFRXHhwgXWrVtXpH0GBASQnJxM6dKlzWNPP/00derUYfPmzbi7u+Pm5kZycjJeXl4FEkdiYiLBwcEcOnSIOnXqmMffeOMNDMMokD5EREREQIltsWJvb4+fn5/VsZMnTzJkyBAqVKhgHvtnncJQUImziIiISDYtRbjNLl26RL9+/XB3d8ff359Zs2blqJOens6oUaMoX748JUqUoHHjxsTFxZnlMTExeHt7s3XrVsLCwnB3dycyMpLk5GQAJkyYwJIlS1i/fj0WiwWLxUJcXJzVUoTsr8+dO8fAgQOxWCzExMTkuhRh9+7dtGzZEjc3N0qWLElERATnz58HYMuWLdx77714e3vj4+NDx44dOXnypHlucHAwAHXr1sVisdCyZUsg51KE9PR0RowYQZkyZXBxceHee+9l//79Znl2XLGxsTRo0AA3NzeaNm1KQkLCv/2WiIiIiI1QYnubPfvss+zcuZP169fz6aefEhcXx9dff21VZ/jw4ezdu5eVK1fyzTff0LNnTyIjIzlx4oRZJy0tjVdffZVly5axa9cukpKSGDVqFACjRo2iV69eZrKbnJxM06ZNrfrIXpbg6enJ7NmzSU5Opnfv3jniPXz4MK1bt6Z69ers3buXL774gk6dOpGZmQlcS9SffvppDhw4QGxsLHZ2dnTt2pWsrCwAvvrqKwC2b99OcnIya9asyXVcRo8ezerVq1myZAlff/01VapUISIigj/++MOq3gsvvMCsWbM4cOAADg4ODBw4MM/xTk9PJyUlxWoTERER26SlCLdRamoqixcv5r333qN169YALFmyxGoZQFJSEtHR0SQlJVGuXDngWqK6ZcsWoqOjmTp1KgAZGRm89dZbVK5cGbiWDE+aNAkAd3d3XF1dSU9Pv+6yguxlCRaLBS8vr+vWmzlzJg0aNGD+/PnmsRo1aphfd+/e3ar+u+++i6+vL8ePH6dmzZr4+voC4OPjc90+Ll26xIIFC4iJiaFdu3YALFq0iG3btrF48WKeffZZs+6UKVNo0aIFAGPGjKFDhw5cvnwZFxeXXNueNm0aEydOzLVMREREbItmbG+jkydPcuXKFRo3bmweK1WqFKGhoeb+0aNHyczMJCQkBHd3d3PbuXOn1Uf8bm5uZlIL4O/vz9mzZws85uwZ2+s5ceIEffr0oVKlSnh6ehIUFARcS9Dz6+TJk2RkZNCsWTPzmKOjI40aNSI+Pt6qbu3atc2v/f39AfK87rFjx3Lx4kVzO336dL7jEhERkbuLZmzvMKmpqdjb23Pw4EHs7e2tytzd3c2vHR0drcosFkuhPGXA1dU1z/JOnToRGBjIokWLKFeuHFlZWdSsWZMrV64UeCxgfd0WiwXAXPaQG2dnZ5ydnQslFhEREbmzaMb2NqpcuTKOjo7s27fPPHb+/Hm+//57c79u3bpkZmZy9uxZqlSpYrXdzNMKnJyczHWw/0bt2rWJjY3NtezcuXMkJCTw4osv0rp1a8LCwsybyv4eB5BnLJUrV8bJyYndu3ebxzIyMti/fz/Vq1f/19cgIiIixYNmbG8jd3d3HnvsMZ599ll8fHwoU6YML7zwAnZ2///3RUhICH379qVfv37MmjWLunXr8ttvvxEbG0vt2rXp0KFDvvoKCgpi69atJCQk4OPjc8uP1xo7diy1atVi6NChDBkyBCcnJ3bs2EHPnj0pVaoUPj4+vP322/j7+5OUlMSYMWOszi9Tpgyurq5s2bKFChUq4OLikiOWEiVK8Pjjj/Pss89SqlQpKlasyMyZM0lLS+Oxxx67pbhFRESk+NGM7W32yiuvcN9999GpUyfatGnDvffeS/369a3qREdH069fP5555hlCQ0Pp0qUL+/fvp2LFivnuZ/DgwYSGhtKgQQN8fX2tZkNvRkhICJ9++ilHjhyhUaNGNGnShPXr1+Pg4ICdnR0rV67k4MGD1KxZk6eeeopXXnnF6nwHBwfmzJnDwoULKVeuHJ07d861n+nTp9O9e3ceffRR6tWrxw8//MDWrVspWbLkLcUtIiIixY/F0OufpBhJSUnBy8uLgJGrsHN2K7R+Eqfnb2ZdREREbiz79/fFixfx9PS8bj3N2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEJbYiIiIiYhOU2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEvXlMiqVjEyPyfA6eiIiI3H00YysiIiIiNkGJrYiIiIjYBCW2IiIiImITlNiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBD3uS4qlmuO3YufslmedxOkdblM0IiIiUhA0YysiIiIiNkGJrYiIiIjYBCW2IiIiImITlNiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBCW2IiIiImITlNgKAC1btmTkyJHmflBQELNnzy6UvuLi4rBYLFy4cKFQ2hcREZHiSYltMRMVFYXFYsmxzZw5k8mTJ1/3PIvFwrp16wokhqZNm5KcnIyXl1eBtCciIiICevNYsRQZGUl0dLTVMV9fX+zt7Qu974yMDJycnPDz8yv0vkRERKR40YxtMeTs7Iyfn5/V1rp1a6ulCH8XFBQEQNeuXbFYLOY+wPr166lXrx4uLi5UqlSJiRMncvXqVbPcYrGwYMECHnzwQUqUKMGUKVNyLEWIiYnB29ubrVu3EhYWhru7O5GRkSQnJ5vtXL16lREjRuDt7Y2Pjw/PPfcc/fv3p0uXLgU8OiIiInK3UmIrN7R//34AoqOjSU5ONvc///xz+vXrx5NPPsnx48dZuHAhMTExTJkyxer8CRMm0LVrV44ePcrAgQNz7SMtLY1XX32VZcuWsWvXLpKSkhg1apRZPmPGDJYvX050dDS7d+8mJSUlX0sj0tPTSUlJsdpERETENimxLYY2btyIu7u7ufXs2TPP+r6+vgB4e3vj5+dn7k+cOJExY8bQv39/KlWqRNu2bZk8eTILFy60Ov/hhx9mwIABVKpUiYoVK+baR0ZGBm+99RYNGjSgXr16DB8+nNjYWLN87ty5jB07lq5du1KtWjXmzZuHt7f3Da912rRpeHl5mVtAQMANzxEREZG7k9bYFkOtWrViwYIF5n6JEiXo06fPTbdz5MgRdu/ebTVDm5mZyeXLl0lLS8PNzQ2ABg0a3LAtNzc3KleubO77+/tz9uxZAC5evMiZM2do1KiRWW5vb0/9+vXJysrKs92xY8fy9NNPm/spKSlKbkVERGyUEttiqESJElSpUuVft5OamsrEiRPp1q1bjjIXFxer/m7E0dHRat9isWAYxr+O0dnZGWdn53/djoiIiNz5lNhKvjg6OpKZmWl1rF69eiQkJBRIkpwXLy8vypYty/79+2nevDlwbWb466+/pk6dOoXat4iIiNw9lNhKvgQFBREbG0uzZs1wdnamZMmSjBs3jo4dO1KxYkV69OiBnZ0dR44c4dixY7z88ssF2v8TTzzBtGnTqFKlCtWqVWPu3LmcP38ei8VSoP2IiIjI3Us3j0m+zJo1i23bthEQEEDdunUBiIiIYOPGjXz66ac0bNiQe+65h9dff53AwMAC7/+5556jT58+9OvXjyZNmuDu7k5ERITVkgcREREp3ixGQSxkFLnNsrKyCAsLo1evXnm+Me2fUlJSrj0dYeQq7Jzd8qybOL3Dvw1TRERECkD27++LFy/i6el53XpaiiB3hZ9++olPP/2UFi1akJ6ezrx58zh16hQPP/xwUYcmIiIidwgtRZC7gp2dHTExMTRs2JBmzZpx9OhRtm/fTlhYWFGHJiIiIncIzdjKXSEgIIDdu3cXdRgiIiJyB9OMrYiIiIjYBCW2IiIiImITlNiKiIiIiE1QYisiIiIiNkE3j0mxdGxiRJ7PwRMREZG7j2ZsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpsRURERMQmKLEVEREREZugx31JsVRz/FbsnN3yXT9xeodCjEZEREQKgmZsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpspVBYLBbWrVtXIG21bNmSkSNHFkhbIiIiYruU2BaCqKgoLBYLFosFR0dHypYtS9u2bXn33XfJysq6qbZiYmLw9vYu0PhWrFiBvb09w4YNK9B2C8uaNWuYPHlyUYchIiIidzgltoUkMjKS5ORkEhMT2bx5M61ateLJJ5+kY8eOXL16tUhjW7x4MaNHj2bFihVcvny5SGPJj1KlSuHh4VHUYYiIiMgdToltIXF2dsbPz4/y5ctTr149nn/+edavX8/mzZuJiYkx67322mvUqlWLEiVKEBAQwNChQ0lNTQUgLi6OAQMGcPHiRXMGeMKECQAsW7aMBg0a4OHhgZ+fHw8//DBnz569YVynTp1iz549jBkzhpCQENasWWNVnj1DvHXrVsLCwnB3dzeT9Gz79++nbdu2lC5dGi8vL1q0aMHXX3993T7vv/9+hg8fbnXst99+w8nJidjYWADmz59P1apVcXFxoWzZsvTo0cOs+8+lCHnVFRERkeJLie1tdP/99xMeHm6VTNrZ2TFnzhy+/fZblixZwmeffcbo0aMBaNq0KbNnz8bT05Pk5GSSk5MZNWoUABkZGUyePJkjR46wbt06EhMTiYqKumEM0dHRdOjQAS8vLx555BEWL16co05aWhqvvvoqy5YtY9euXSQlJZn9Avz555/079+fL774gi+//JKqVavSvn17/vzzz1z7HDRoEO+//z7p6enmsffee4/y5ctz//33c+DAAUaMGMGkSZNISEhgy5YtNG/ePNe2bqYuQHp6OikpKVabiIiI2CaHog6guKlWrRrffPONuf/3mcigoCBefvllhgwZwvz583FycsLLywuLxYKfn59VOwMHDjS/rlSpEnPmzKFhw4akpqbi7u6ea99ZWVnExMQwd+5cAB566CGeeeYZTp06RXBwsFkvIyODt956i8qVKwMwfPhwJk2aZJbff//9Vu2+/fbbeHt7s3PnTjp27Jij327dujF8+HDWr19Pr169gGszw9lrkZOSkihRogQdO3bEw8ODwMBA6tatm+s13ExdgGnTpjFx4sTrlouIiIjt0IztbWYYBhaLxdzfvn07rVu3pnz58nh4ePDoo49y7tw50tLS8mzn4MGDdOrUiYoVK+Lh4UGLFi2Aa4nf9Wzbto1Lly7Rvn17AEqXLm3e1PZ3bm5uZlIL4O/vb7XM4cyZMwwePJiqVavi5eWFp6cnqamp1+3bxcWFRx991Ozn66+/5tixY+YMc9u2bQkMDKRSpUo8+uijLF++/LrXfzN1AcaOHcvFixfN7fTp09etKyIiInc3Jba3WXx8vDk7mpiYSMeOHalduzarV6/m4MGDvPnmmwBcuXLlum1cunSJiIgIPD09Wb58Ofv372ft2rU3PG/x4sX88ccfuLq64uDggIODA5s2bWLJkiVWT2twdHS0Os9isWAYhrnfv39/Dh8+zBtvvMGePXs4fPgwPj4+efY9aNAgtm3bxs8//0x0dDT3338/gYGBAHh4ePD111+zYsUK/P39GTduHOHh4Vy4cCFHOzdTF66tdfb09LTaRERExDYpsb2NPvvsM44ePUr37t2Ba7OuWVlZzJo1i3vuuYeQkBB++eUXq3OcnJzIzMy0Ovbdd99x7tw5pk+fzn333Ue1atVueOPYuXPnWL9+PStXruTw4cPmdujQIc6fP8+nn36a7+vYvXs3I0aMoH379tSoUQNnZ2d+//33PM+pVasWDRo0YNGiRbz//vtWSykAHBwcaNOmDTNnzuSbb74hMTGRzz77LNe2bqauiIiIFB9aY1tI0tPT+fXXX8nMzOTMmTNs2bKFadOm0bFjR/r16wdAlSpVyMjIYO7cuXTq1Indu3fz1ltvWbUTFBREamoqsbGxhIeH4+bmRsWKFXFycmLu3LkMGTKEY8eO3fA5r8uWLcPHx4devXpZLYUAaN++PYsXLyYyMjJf11a1alXzqQwpKSk8++yzuLq63vC8QYMGMXz4cEqUKEHXrl3N4xs3buTHH3+kefPmlCxZkk2bNpGVlUVoaGiONm6mroiIiBQvmrEtJFu2bMHf35+goCAiIyPZsWMHc+bMYf369djb2wMQHh7Oa6+9xowZM6hZsybLly9n2rRpVu00bdqUIUOG0Lt3b3x9fZk5cya+vr7ExMTw4YcfUr16daZPn86rr76aZzzvvvsuXbt2zZHUAnTv3p0NGzbccNY12+LFizl//jz16tXj0UcfZcSIEZQpU+aG5/Xp0wcHBwf69OmDi4uLedzb25s1a9Zw//33ExYWxltvvcWKFSuoUaNGjjZupq6IiIgULxbj74snRQpRYmIilStXZv/+/dSrV69IYkhJScHLy4uAkauwc3bL93mJ0zsUYlQiIiKSl+zf3xcvXszzfhktRZBCl5GRwblz53jxxRe55557iiypFREREdumpQhS6Hbv3o2/vz/79+/PsYZYREREpKBoxlYKXcuWLdGKFxERESlsmrEVEREREZugxFZEREREbIISWxERERGxCVpjK8XSsYkRer2uiIiIjdGMrYiIiIjYBCW2IiIiImITlNiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBCW2IiIiImIT9LgvKZ6mVQBnyy2dGnT5/QIORsR2JU7vUNQhiEgxohlbEREREbEJSmxFRERExCYosRURERERm6DEVkRERERsghJbEREREbEJSmxFRERExCYosRURERERm6DEVkRERERsghLbf2nChAnUqVOn0NpPTEzEYrFw+PDhQuujMFksFtatW1fUYYiIiEgxYBOJ7W+//cbjjz9OxYoVcXZ2xs/Pj4iICHbv3l2g/RRFkhYQEEBycjI1a9a8pfOjoqKwWCxYLBYcHR0JDg5m9OjRXL58uUDjvF6Cn5ycTLt27Qq0LxEREZHc2MQrdbt3786VK1dYsmQJlSpV4syZM8TGxnLu3LmiDu1fs7e3x8/P71+1ERkZSXR0NBkZGRw8eJD+/ftjsViYMWNGAUV5ff82dhEREZH8uutnbC9cuMDnn3/OjBkzaNWqFYGBgTRq1IixY8fy4IMPAjBw4EA6duxodV5GRgZlypRh8eLFALRs2ZIRI0YwevRoSpUqhZ+fHxMmTDDrBwUFAdC1a1csFou5n23ZsmUEBQXh5eXFQw89xJ9//mmWZWVlMW3aNIKDg3F1dSU8PJyPPvrILD9//jx9+/bF19cXV1dXqlatSnR0NJBzKUJeda8nexY7ICCALl260KZNG7Zt22aWp6enM2LECMqUKYOLiwv33nsv+/fvN8tjYmLw9va2anPdunVYLBazfOLEiRw5csScHY6JiQGsZ7mzr2XNmjW0atUKNzc3wsPD2bt3r1XbX3zxBffddx+urq4EBAQwYsQILl26ZJbPnz+fqlWr4uLiQtmyZenRo0ee1y8iIiLFw12f2Lq7u+Pu7s66detIT0/Ptc6gQYPYsmULycnJ5rGNGzeSlpZG7969zWNLliyhRIkS7Nu3j5kzZzJp0iQzAcxO9KKjo0lOTrZK/E6ePMm6devYuHEjGzduZOfOnUyfPt0snzZtGkuXLuWtt97i22+/5amnnuKRRx5h586dALz00kscP36czZs3Ex8fz4IFCyhdunSu13IzdXNz7Ngx9uzZg5OTk3ls9OjRrF69miVLlvD1119TpUoVIiIi+OOPP/LVZu/evXnmmWeoUaMGycnJJCcnW43rP73wwguMGjWKw4cPExISQp8+fbh69SpwbSwjIyPp3r0733zzDR988AFffPEFw4cPB+DAgQOMGDGCSZMmkZCQwJYtW2jevPl1+0pPTyclJcVqExEREdt01y9FcHBwICYmhsGDB/PWW29Rr149WrRowUMPPUTt2rUBaNq0KaGhoSxbtozRo0cD1xLUnj174u7ubrZVu3Ztxo8fD0DVqlWZN28esbGxtG3bFl9fXwC8vb1zfLyelZVFTEwMHh4eADz66KPExsYyZcoU0tPTmTp1Ktu3b6dJkyYAVKpUiS+++IKFCxfSokULkpKSqFu3Lg0aNADIMRv8dzdTN9vGjRtxd3fn6tWrpKenY2dnx7x58wC4dOkSCxYsICYmxlwLu2jRIrZt28bixYt59tlnb9i+q6sr7u7uODg45GvpwahRo+jQoQMAEydOpEaNGvzwww9Uq1aNadOm0bdvX0aOHAlc+z7MmTOHFi1asGDBApKSkihRogQdO3bEw8ODwMBA6tate92+pk2bxsSJE28Yk4iIiNz97voZW7i2xvaXX35hw4YNREZGEhcXR7169cyPw+HarG32R/Znzpxh8+bNDBw40Kqd7EQ4m7+/P2fPnr1h/0FBQWZS+8/zfvjhB9LS0mjbtq05u+zu7s7SpUs5efIkAI8//jgrV66kTp06jB49mj179ly3r5upm61Vq1YcPnyYffv20b9/fwYMGED37t2BazOkGRkZNGvWzKzv6OhIo0aNiI+Pv2Hbt+Lv4+zv7w9gjteRI0eIiYmxGquIiAiysrI4deoUbdu2JTAwkEqVKvHoo4+yfPly0tLSrtvX2LFjuXjxormdPn26UK5JREREip5NJLYALi4utG3blpdeeok9e/YQFRVlzr4C9OvXjx9//JG9e/fy3nvvERwczH333WfVhqOjo9W+xWIhKyvrhn3ndV5qaioAn3zyCYcPHza348ePm+ts27Vrx08//cRTTz3FL7/8QuvWrRk1alSufd1M3WwlSpSgSpUqhIeH8+6777Jv3z5zbXF+2NnZYRiG1bGMjIx8n/9Pfx+v7HW6fx+v//73v1ZjdeTIEU6cOEHlypXx8PDg66+/ZsWKFfj7+zNu3DjCw8O5cOFCrn05Ozvj6elptYmIiIhtspnE9p+qV69udcORj48PXbp0ITo6mpiYGAYMGHDTbTo6OpKZmXnTcTg7O5OUlESVKlWstoCAALOer68v/fv357333mP27Nm8/fbb123zZur+k52dHc8//zwvvvgif/31F5UrV8bJycnq0WgZGRns37+f6tWrm/39+eefVuP5z+fqOjk53fTY5KZevXocP348x1hVqVLFXBfs4OBAmzZtmDlzJt988w2JiYl89tln/7pvERERubvd9Wtsz507R8+ePRk4cCC1a9fGw8ODAwcOMHPmTDp37mxVd9CgQXTs2JHMzEz69+9/030FBQURGxtLs2bNcHZ2pmTJkjc8x8PDg1GjRvHUU0+RlZXFvffey8WLF9m9ezeenp7079+fcePGUb9+fWrUqEF6ejobN24kLCws1/Zupu719OzZk2effZY333yTUaNG8fjjj/Pss89SqlQpKlasyMyZM0lLS+Oxxx4DoHHjxri5ufH8888zYsQI9u3bZ7XMI3tsTp06xeHDh6lQoQIeHh44OzvfVFwAzz33HPfccw/Dhw9n0KBBlChRguPHj7Nt2zbmzZvHxo0b+fHHH2nevDklS5Zk06ZNZGVlERoaetN9iYiIiG2562ds3d3dady4Ma+//jrNmzenZs2avPTSSwwePNi8QSpbmzZt8Pf3JyIignLlyt10X7NmzWLbtm0EBATkecPSP02ePJmXXnqJadOmERYWRmRkJJ988gnBwcHAtdnOsWPHUrt2bZo3b469vT0rV67Mta2bqXs9Dg4ODB8+nJkzZ3Lp0iWmT59O9+7defTRR6lXrx4//PADW7duNRP3UqVK8d5777Fp0yZq1arFihUrrB6FBtfWOUdGRtKqVSt8fX1ZsWLFTcWUrXbt2uzcuZPvv/+e++67j7p16zJu3Djz++Xt7c2aNWu4//77CQsL46233mLFihXUqFHjlvoTERER22Ex/rl40oalpqZSvnx5oqOj6datW1GHI0UgJSUFLy8vLo7xwNPZckttBF1+v4CjErFdidM7FHUIImIDzN/fFy/meb/MXb8UIT+ysrL4/fffmTVrFt7e3uaLG0RERETEdhSLxDYpKYng4GAqVKhATEwMDg7F4rJFREREipVikeEFBQXleFyViIiIiNiWu/7mMRERERERUGIrIiIiIjZCia2IiIiI2AQltiIiIiJiE4rFzWMiOYz9GfJ4Dl5eEgs2EhERESkgmrEVEREREZugxFZEREREbIISWxERERGxCUpsRURERMQmKLEVEREREZugpyJI8TStAjhbCrWLoMvvF2r7tiJxeoeiDkFERGyEZmxFRERExCYosRURERERm6DEVkRERERsghJbEREREbEJSmxFRERExCYosRURERERm6DEVkRERERsghJbEREREbEJSmwLQVBQELNnzy6QtqKioujSpUuBtHW7TZgwgTp16hR1GCIiIlJMFLvEdu/evdjb29Ohw93xtqM33niDmJiYWzo3MTERi8VibqVKlaJFixZ8/vnnBRskYLFYWLdundWxUaNGERsbW+B9iYiIiOSm2CW2ixcv5oknnmDXrl388ssvRR3ODXl5eeHt7f2v2ti+fTvJycns2rWLcuXK0bFjR86cOVMwAebB3d0dHx+fQu9HREREBIpZYpuamsoHH3zA448/TocOHXLMhMbFxWGxWIiNjaVBgwa4ubnRtGlTEhISzDonT56kc+fOlC1bFnd3dxo2bMj27duv2+fAgQPp2LGj1bGMjAzKlCnD4sWLAfjoo4+oVasWrq6u+Pj40KZNGy5dugTkXIqQV93r8fHxwc/Pj5o1a/L888+TkpLCvn37zPKdO3fSqFEjnJ2d8ff3Z8yYMVy9etUsz21pRZ06dZgwYYJZDtC1a1csFou5/8+lCNnX8uqrr+Lv74+Pjw/Dhg0jIyPDrJOens6oUaMoX748JUqUoHHjxsTFxZnlP/30E506daJkyZKUKFGCGjVqsGnTpjyvX0RERIqHYpXYrlq1imrVqhEaGsojjzzCu+++i2EYOeq98MILzJo1iwMHDuDg4MDAgQPNstTUVNq3b09sbCyHDh0iMjKSTp06kZSUlGufgwYNYsuWLSQnJ5vHNm7cSFpaGr179yY5OZk+ffowcOBA4uPjiYuLo1u3brnGdTN1c/PXX3+xdOlSAJycnAD43//+R/v27WnYsCFHjhxhwYIFLF68mJdffjlfbQLs378fgOjoaJKTk8393OzYsYOTJ0+yY8cOlixZQkxMjNUfGMOHD2fv3r2sXLmSb775hp49exIZGcmJEycAGDZsGOnp6ezatYujR48yY8YM3N3dr9tfeno6KSkpVpuIiIjYJoeiDuB2Wrx4MY888ggAkZGRXLx4kZ07d9KyZUurelOmTKFFixYAjBkzhg4dOnD58mVcXFwIDw8nPDzcrDt58mTWrl3Lhg0bGD58eI4+mzZtSmhoKMuWLWP06NHAtQSwZ8+euLu78/3333P16lW6detGYGAgALVq1co1/uTk5HzX/WcMdnZ2pKWlYRgG9evXp3Xr1gDMnz+fgIAA5s2bh8VioVq1avzyyy8899xzjBs3Dju7G//t4+vrC4C3tzd+fn551i1ZsiTz5s3D3t6eatWq0aFDB2JjYxk8eDBJSUlER0eTlJREuXLlgGvrdLds2UJ0dDRTp04lKSmJ7t27m9ddqVKlPPubNm0aEydOvOE1iIiIyN2v2MzYJiQk8NVXX9GnTx8AHBwc6N27t7kc4O9q165tfu3v7w/A2bNngWsztqNGjSIsLAxvb2/c3d2Jj4+/7owtXJu1jY6OBuDMmTNs3rzZnAUODw+ndevW1KpVi549e7Jo0SLOnz+fazs3U/fvPvjgAw4dOsTq1aupUqUKMTExODo6AhAfH0+TJk2wWCxm/WbNmpGamsrPP/98w7ZvVo0aNbC3tzf3/f39zbE9evQomZmZhISE4O7ubm47d+7k5MmTAIwYMYKXX36ZZs2aMX78eL755ps8+xs7diwXL140t9OnTxf4NYmIiMidodgktosXL+bq1auUK1cOBwcHHBwcWLBgAatXr+bixYtWdbOTPsBM+LKysoBrM4hr165l6tSpfP755xw+fJhatWpx5cqV6/bdr18/fvzxR/bu3ct7771HcHAw9913HwD29vZs27aNzZs3U716debOnUtoaCinTp3K0c7N1P27gIAAqlatSteuXZk6dSpdu3YlPT09fwMH2NnZ5Vju8Pd1sTfj72ML18Y3e2xTU1Oxt7fn4MGDHD582Nzi4+N54403gGt/JPz44488+uijHD16lAYNGjB37tzr9ufs7Iynp6fVJiIiIrapWCS2V69eZenSpcyaNcsqYTpy5AjlypVjxYoV+W5r9+7dREVF0bVrV2rVqoWfnx+JiYl5nuPj40OXLl2Ijo4mJiaGAQMGWJVbLBaaNWvGxIkTOXToEE5OTqxduzbXtm6mbm569OiBg4MD8+fPByAsLIy9e/daJa67d+/Gw8ODChUqANeWGvx9jXBKSkqOZNrR0ZHMzMx8x5GbunXrkpmZydmzZ6lSpYrV9vclDgEBAQwZMoQ1a9bwzDPPsGjRon/Vr4iIiNiGYpHYbty4kfPnz/PYY49Rs2ZNq6179+65Lke4nqpVq7JmzRozMX744YfNGce8DBo0iCVLlhAfH0///v3N4/v27WPq1KkcOHCApKQk1qxZw2+//UZYWFiONm6m7vVYLBZGjBjB9OnTSUtLY+jQoZw+fZonnniC7777jvXr1zN+/Hiefvppc33t/fffz7Jly/j88885evQo/fv3t1pOANeejBAbG8uvv/6ar+URuQkJCaFv377069ePNWvWcOrUKb766iumTZvGJ598AsDIkSPZunUrp06d4uuvv2bHjh03df0iIiJiu4pFYrt48WLatGmDl5dXjrLu3btz4MCBG67VzPbaa69RsmRJmjZtSqdOnYiIiKBevXo3PK9Nmzb4+/sTERFh3hgF4Onpya5du2jfvj0hISG8+OKLzJo1i3bt2uVo42bq5qV///5kZGQwb948ypcvz6ZNm/jqq68IDw9nyJAhPPbYY7z44otm/bFjx9KiRQs6duxIhw4d6NKlC5UrV7Zqc9asWWzbto2AgADq1q17U/H8XXR0NP369eOZZ54hNDSULl26sH//fipWrAhAZmYmw4YNIywsjMjISEJCQszZZxERESneLEZ+nxUl/0pqairly5cnOjqabt26FXU4xVZKSgpeXl5cHOOBp7Plxif8C0GX3y/U9m1F4vS74y2AIiJSdMzf3xcv5nm/TLF63FdRyMrK4vfff2fWrFl4e3vz4IMPFnVIIiIiIjZJiW0hS0pKIjg4mAoVKhATE4ODg4ZcREREpDAoyypkQUFB+X4zmIiIiIjcumJx85iIiIiI2D4ltiIiIiJiE5TYioiIiIhNUGIrIiIiIjZBN49J8TT2Z8jjOXgFIbFQWxcREZF/0oytiIiIiNgEJbYiIiIiYhOU2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEJbYiIiIiYhP0uC8pnqZVAGfLDasFXX7/NgQjt1vi9A5FHYKIiBQCzdiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBCW2IiIiImITlNiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBCW2IiIiImIT7vrE9tdff6Vt27aUKFECb2/vog4n32JiYu6qeG9FYmIiFouFw4cPF3UoIiIiUgzkO7G1WCx5bhMmTCjEMK/v9ddfJzk5mcOHD/P9998XSQw3EhQUxOzZs62O9e7d+7bE27JlS/N75OLiQkhICNOmTcMwjALtJyoqii5dulgdCwgIIDk5mZo1axZoXyIiIiK5yfcrdZOTk82vP/jgA8aNG0dCQoJ5zN3d3fzaMAwyMzNxcCj8N/aePHmS+vXrU7Vq1Vtu48qVKzg5ORVgVDfm6uqKq6vrbelr8ODBTJo0ifT0dD777DP+85//4O3tzeOPP16o/drb2+Pn51eofYiIiIhky/eMrZ+fn7l5eXlhsVjM/e+++w4PDw82b95M/fr1cXZ25osvvuDkyZN07tyZsmXL4u7uTsOGDdm+fbtVu0FBQUydOpWBAwfi4eFBxYoVefvtt83yK1euMHz4cPz9/XFxcSEwMJBp06aZ565evZqlS5disViIiooCICkpic6dO+Pu7o6npye9evXizJkzZpsTJkygTp06vPPOOwQHB+Pi4gJcm5VeuHAhHTt2xM3NjbCwMPbu3csPP/xAy5YtKVGiBE2bNuXkyZNmWze6xpYtW/LTTz/x1FNPmTOnkPtShAULFlC5cmWcnJwIDQ1l2bJlVuUWi4V33nmHrl274ubmRtWqVdmwYcMNv3dubm74+fkRGBjIgAEDqF27Ntu2bTPLz58/T79+/ShZsiRubm60a9eOEydO5Bivv5s9ezZBQUFm+ZIlS1i/fr15jXFxcTmWIsTFxWGxWIiNjaVBgwa4ubnRtGlTqz+QANavX0+9evVwcXGhUqVKTJw4katXrwLX/miaMGECFStWxNnZmXLlyjFixIjrXnt6ejopKSlWm4iIiNimAl1jO2bMGKZPn058fDy1a9cmNTWV9u3bExsby6FDh4iMjKRTp04kJSVZnTdr1iwaNGjAoUOHGDp0KI8//riZ7MyZM4cNGzawatUqEhISWL58uZlQ7d+/n8jISHr16kVycjJvvPEGWVlZdO7cmT/++IOdO3eybds2fvzxR3r37m3V5w8//MDq1atZs2aN1RrQyZMn069fPw4fPky1atV4+OGH+e9//8vYsWM5cOAAhmEwfPhws/6NrnHNmjVUqFCBSZMmkZycbDXz/Xdr167lySef5JlnnuHYsWP897//ZcCAAezYscOq3sSJE+nVqxfffPMN7du3p2/fvvzxxx/5+v4YhsHnn3/Od999ZzVDHRUVxYEDB9iwYQN79+7FMAzat29PRkZGvtodNWoUvXr1IjIy0rzGpk2bXrf+Cy+8wKxZszhw4AAODg4MHDjQLPv888/p168fTz75JMePH2fhwoXExMQwZcoUAFavXs3rr7/OwoULOXHiBOvWraNWrVrX7WvatGl4eXmZW0BAQL6uSURERO4+BbpWYNKkSbRt29bcL1WqFOHh4eb+5MmTWbt2LRs2bLBKDtu3b8/QoUMBeO6553j99dfZsWMHoaGhJCUlUbVqVe69914sFguBgYHmeb6+vjg7O+Pq6mp+5L1t2zaOHj3KqVOnzCRm6dKl1KhRg/3799OwYUPg2kzw0qVL8fX1tbqGAQMG0KtXLzOWJk2a8NJLLxEREQHAk08+yYABA8z64eHheV5jqVKlsLe3x8PDI8+P5V999VWioqLMcXj66af58ssvefXVV2nVqpVZLyoqij59+gAwdepU5syZw1dffUVkZOR1254/fz7vvPMOV65cISMjAxcXF3OW88SJE2zYsIHdu3ebyejy5csJCAhg3bp19OzZ87rtZnN3d8fV1ZX09PR8LT2YMmUKLVq0AK79MdShQwcuX76Mi4sLEydOZMyYMfTv3x+ASpUqMXnyZEaPHs348eNJSkrCz8+PNm3a4OjoSMWKFWnUqNF1+xo7dixPP/20uZ+SkqLkVkRExEYV6IxtgwYNrPZTU1MZNWoUYWFheHt74+7uTnx8fI4Z29q1a5tfZy9xOHv2LHAtkTt8+DChoaGMGDGCTz/9NM8Y4uPjCQgIsEpeqlevjre3N/Hx8eaxwMDAHEntP2MpW7YsgNWMYNmyZbl8+bL5kXZ+r/FG4uPjadasmdWxZs2aWcX8z/hKlCiBp6enOVbX07dvXw4fPszu3btp164dL7zwgpnExsfH4+DgQOPGjc36Pj4+hIaG5ui7oPz9Gvz9/QHMazhy5AiTJk3C3d3d3AYPHkxycjJpaWn07NmTv/76i0qVKjF48GDWrl1rLlPIjbOzM56enlabiIiI2KYCnbEtUaKE1f6oUaPYtm0br776KlWqVMHV1ZUePXpw5coVq3qOjo5W+xaLhaysLADq1avHqVOn2Lx5M9u3b6dXr160adOGjz76qEBjzS2W7PWwuR3Lji+/11hQ8hqr6/Hy8qJKlSoArFq1iipVqnDPPffQpk2bfPVpZ2eX4ykK+V2mkJu8xjM1NZWJEyfSrVu3HOe5uLgQEBBAQkIC27dvZ9u2bQwdOpRXXnmFnTt35hgbERERKV4K9Tm2u3fvJioqiq5du1KrVi38/PxITEy86XY8PT3p3bs3ixYt4oMPPmD16tXXXVcaFhbG6dOnOX36tHns+PHjXLhwgerVq9/qpVxXfq7RycmJzMzMPNsJCwtj9+7dOdou6Jjd3d158sknGTVqFIZhEBYWxtWrV9m3b59Z59y5cyQkJJh9+/r68uuvv1olt/98Nm1+rjE/6tWrR0JCAlWqVMmx2dld+3F1dXWlU6dOzJkzh7i4OPbu3cvRo0f/dd8iIiJydyvU53FVrVqVNWvW0KlTJywWCy+99NINZxf/6bXXXsPf35+6detiZ2fHhx9+iJ+f33VfbtCmTRtq1apF3759mT17NlevXmXo0KG0aNEix1KJgpCfawwKCmLXrl089NBDODs7U7p06RztPPvss/Tq1Yu6devSpk0bPv74Y9asWZPjKRIF4b///S+TJ09m9erV9OjRg86dOzN48GAWLlyIh4cHY8aMoXz58nTu3Bm49mSH3377jZkzZ9KjRw+2bNnC5s2brT7WDwoKYuvWrSQkJODj44OXl9ctxTZu3Dg6duxIxYoV6dGjB3Z2dhw5coRjx47x8ssvExMTQ2ZmJo0bN8bNzY333nsPV1dXq7XXIiIiUjwV6ozta6+9RsmSJWnatCmdOnUiIiKCevXq3VQbHh4ezJw5kwYNGtCwYUMSExPZtGmTOXv3TxaLhfXr11OyZEmaN29OmzZtqFSpEh988EFBXFIO+bnGSZMmkZiYSOXKlXNd1wvQpUsX3njjDV599VVq1KjBwoULiY6OpmXLlgUec6lSpejXrx8TJkwgKyuL6Oho6tevT8eOHWnSpAmGYbBp0ybzo/2wsDDmz5/Pm2++SXh4OF999RWjRo2yanPw4MGEhobSoEEDfH19c8w+51dERAQbN27k008/pWHDhtxzzz28/vrrZuLq7e3NokWLaNasGbVr12b79u18/PHH+Pj4/LtBERERkbuexSjoV1CJ3MFSUlLw8vLi4hgPPJ0tN6wfdPn92xCV3G6J0zsUdQgiInITzN/fFy/meSN4oc7YioiIiIjcLkpsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpsRURERMQmFOoLGkTuWGN/hjweF5ItsfAjERERkQKiGVsRERERsQlKbEVERETEJiixFRERERGboMRWRERERGyCElsRERERsQlKbEVERETEJuhxX1I8TasAzpbb0lXQ5fdvSz8iIiJFKXF6h6IOQTO2IiIiImIblNiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBCW2IiIiImITlNiKiIiIiE1QYisiIiIiNkGJrYiIiIjYBJtJbKOioujSpUtRh3FTWrZsyciRIwusvTttDBITE7FYLBw+fLioQxEREZFioNAT26ioKCwWC0OGDMlRNmzYMCwWC1FRUflu725MluLi4rBYLFy4cMHq+Jo1a5g8eXLRBFXAckuqAwICSE5OpmbNmkUTlIiIiBQrt2XGNiAggJUrV/LXX3+Zxy5fvsz7779PxYoVb0cId6RSpUrh4eFRZP1nZmaSlZVVaO3b29vj5+eHg4Pe3CwiIiKF77YktvXq1SMgIIA1a9aYx9asWUPFihWpW7euVd0tW7Zw77334u3tjY+PDx07duTkyZNmeXBwMAB169bFYrHQsmVLq/NfffVV/P398fHxYdiwYWRkZJhl6enpjBo1ivLly1OiRAkaN25MXFycWR4TE4O3tzcbN24kNDQUNzc3evToQVpaGkuWLCEoKIiSJUsyYsQIMjMzzfOWLVtGgwYN8PDwwM/Pj4cffpizZ88C12aYW7VqBUDJkiWtZqj/uRQhPT2d5557joCAAJydnalSpQqLFy8GriWhjz32GMHBwbi6uhIaGsobb7xxU9+H7OvbsGED1atXx9nZmaSkJM6fP0+/fv0oWbIkbm5utGvXjhMnTpjnTZgwgTp16li1NXv2bIKCgszyJUuWsH79eiwWCxaLhbi4uByz69kz17GxsTRo0AA3NzeaNm1KQkKCVdvr16+nXr16uLi4UKlSJSZOnMjVq1cBMAyDCRMmULFiRZydnSlXrhwjRoy4qXEQERER23Tb1tgOHDiQ6Ohoc//dd99lwIABOepdunSJp59+mgMHDhAbG4udnR1du3Y1Zxa/+uorALZv305ycrJVsrxjxw5OnjzJjh07WLJkCTExMcTExJjlw4cPZ+/evaxcuZJvvvmGnj17EhkZaZXEpaWlMWfOHFauXMmWLVuIi4uja9eubNq0iU2bNrFs2TIWLlzIRx99ZJ6TkZHB5MmTOXLkCOvWrSMxMdFMXgMCAli9ejUACQkJJCcnXzch7devHytWrGDOnDnEx8ezcOFC3N3dAcjKyqJChQp8+OGHHD9+nHHjxvH888+zatWqm/k2kJaWxowZM3jnnXf49ttvKVOmDFFRURw4cIANGzawd+9eDMOgffv2Vn8U5GXUqFH06tWLyMhIkpOTSU5OpmnTptet/8ILLzBr1iwOHDiAg4MDAwcONMs+//xz+vXrx5NPPsnx48dZuHAhMTExTJkyBYDVq1fz+uuvs3DhQk6cOMG6deuoVavWdftKT08nJSXFahMRERHbdNs+I37kkUcYO3YsP/30EwC7d+9m5cqVVjOmAN27d7faf/fdd/H19eX48ePUrFkTX19fAHx8fPDz87OqW7JkSebNm4e9vT3VqlWjQ4cOxMbGMnjwYJKSkoiOjiYpKYly5coB1xKyLVu2EB0dzdSpU4FrSeqCBQuoXLkyAD169GDZsmWcOXMGd3d3qlevTqtWrdixYwe9e/cGsErMKlWqxJw5c2jYsCGpqam4u7tTqlQpAMqUKYO3t3eu4/P999+zatUqtm3bRps2bcy2sjk6OjJx4kRzPzg4mL1797Jq1Sp69ep1g9H/fxkZGcyfP5/w8HAATpw4wYYNG9i9e7eZjC5fvpyAgADWrVtHz549b9imu7s7rq6upKen5/ie5GbKlCm0aNECgDFjxtChQwcuX76Mi4sLEydOZMyYMfTv398cg8mTJzN69GjGjx9PUlISfn5+tGnTBkdHRypWrEijRo2u29e0adOsxk1ERERs122bsfX19aVDhw7ExMQQHR1Nhw4dKF26dI56J06coE+fPlSqVAlPT0/z4+6kpKQb9lGjRg3s7e3NfX9/f3NJwNGjR8nMzCQkJAR3d3dz27lzp9VSBzc3NzOpBShbtixBQUHmzGn2sex2AQ4ePEinTp2oWLEiHh4eZtKWn5izHT58GHt7e/Pc3Lz55pvUr18fX19f3N3defvtt2+qDwAnJydq165t7sfHx+Pg4EDjxo3NYz4+PoSGhhIfH39TbefX3/v39/cHMMfzyJEjTJo0yep7NHjwYJKTk0lLS6Nnz5789ddfVKpUicGDB7N27VpzmUJuxo4dy8WLF83t9OnThXJNIiIiUvRu6109AwcOZPjw4cC1JC03nTp1IjAwkEWLFlGuXDmysrKoWbMmV65cuWH7jo6OVvsWi8VcwpCamoq9vT0HDx60Sn4Bq6Q1tzbyavfSpUtEREQQERHB8uXL8fX1JSkpiYiIiHzFnM3V1TXP8pUrVzJq1ChmzZpFkyZN8PDw4JVXXmHfvn357iO7H4vFclPn2NnZYRiG1bH8LlPIzd/HMzuWv3+fJk6cSLdu3XKc5+LiQkBAAAkJCWzfvp1t27YxdOhQXnnlFXbu3Jnj+wTg7OyMs7PzLccqIiIid4/bmthGRkZy5coVLBYLEREROcrPnTtHQkICixYt4r777gPgiy++sKrj5OQEYHXzVn7UrVuXzMxMzp49a7ZdEL777jvOnTvH9OnTCQgIAODAgQNWdfITc61atcjKymLnzp3mUoS/y14qMHToUPPY32eab1VYWBhXr15l37595lKE7O9D9erVgWuz7b/++iuGYZiJ6D8ft+bk5HTT35Pc1KtXj4SEBKpUqXLdOq6urnTq1IlOnToxbNgwqlWrxtGjR6lXr96/7l9ERETuXrc1sbW3tzc/3v7nrClcWyPr4+PD22+/jb+/P0lJSYwZM8aqTpkyZXB1dWXLli1UqFABFxcXvLy8bth3SEgIffv2pV+/fsyaNYu6devy22+/ERsbS+3atenQocMtXVPFihVxcnJi7ty5DBkyhGPHjuV4Nm1gYCAWi4WNGzfSvn17XF1drWaJAYKCgujfvz8DBw5kzpw5hIeH89NPP3H27Fl69epF1apVWbp0KVu3biU4OJhly5axf/9+8ykRt6pq1ap07tyZwYMHs3DhQjw8PBgzZgzly5enc+fOwLWnN/z222/MnDmTHj16sGXLFjZv3oynp6dV/Fu3biUhIQEfH598fU9yM27cODp27EjFihXp0aMHdnZ2HDlyhGPHjvHyyy8TExNDZmYmjRs3xs3Njffeew9XV1cCAwP/1TiIiIjI3e+2v3nM09PTKiH6Ozs7O1auXMnBgwepWbMmTz31FK+88opVHQcHB+bMmcPChQspV66cmXzlR3R0NP369eOZZ54hNDSULl26sH///n/1LF1fX19iYmL48MMPqV69OtOnT+fVV1+1qlO+fHnzpqiyZcuayzH+acGCBfTo0YOhQ4dSrVo1Bg8ezKVLlwD473//S7du3ejduzeNGzfm3LlzVrO3/0Z0dDT169enY8eONGnSBMMw2LRpk/nRflhYGPPnz+fNN98kPDycr776ilGjRlm1MXjwYEJDQ2nQoAG+vr7s3r37lmKJiIhg48aNfPrppzRs2JB77rmH119/3Uxcvb29WbRoEc2aNaN27dps376djz/+GB8fn383CCIiInLXsxj/XDwpYsNSUlLw8vLi4hgPPJ1vbq3xrQq6/P5t6UdERKQoJU6/tU+/88P8/X3x4nUnSKEIZmxFRERERAqDElsRERERsQlKbEVERETEJiixFRERERGboMRWRERERGyCElsRERERsQm39QUNIneMsT9DHo8LKUiJt6UXERER0YytiIiIiNgEJbYiIiIiYhOU2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEJbYiIiIiYhOU2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEJbYiIiIiYhOU2IqIiIiITVBiKyIiIiI2QYmtiIiIiNgEJbYiIiIiYhOU2IqIiIiITXAo6gBEbifDMABISUkp4khEREQkv7J/b2f/Hr8eJbZSrJw7dw6AgICAIo5EREREbtaff/6Jl5fXdcuV2EqxUqpUKQCSkpLy/Ich+ZOSkkJAQACnT5/G09OzqMO562k8C5bGs2BpPAuWxvPmGIbBn3/+Sbly5fKsp8RWihU7u2vLyr28vPQfSQHy9PTUeBYgjWfB0ngWLI1nwdJ45l9+JqR085iIiIiI2AQltiIiIiJiE5TYSrHi7OzM+PHjcXZ2LupQbILGs2BpPAuWxrNgaTwLlsazcFiMGz03QURERETkLqAZWxERERGxCUpsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpspdh48803CQoKwsXFhcaNG/PVV18VdUh3hQkTJmCxWKy2atWqmeWXL19m2LBh+Pj44O7uTvfu3Tlz5kwRRnxn2bVrF506daJcuXJYLBbWrVtnVW4YBuPGjcPf3x9XV1fatGnDiRMnrOr88ccf9O3bF09PT7y9vXnsscdITU29jVdx57jReEZFReX4eY2MjLSqo/H8f9OmTaNhw4Z4eHhQpkwZunTpQkJCglWd/PwbT0pKokOHDri5uVGmTBmeffZZrl69ejsv5Y6Qn/Fs2bJljp/RIUOGWNXReN46JbZSLHzwwQc8/fTTjB8/nq+//prw8HAiIiI4e/ZsUYd2V6hRowbJycnm9sUXX5hlTz31FB9//DEffvghO3fu5JdffqFbt25FGO2d5dKlS4SHh/Pmm2/mWj5z5kzmzJnDW2+9xb59+yhRogQRERFcvnzZrNO3b1++/fZbtm3bxsaNG9m1axf/+c9/btcl3FFuNJ4AkZGRVj+vK1assCrXeP6/nTt3MmzYML788ku2bdtGRkYGDzzwAJcuXTLr3OjfeGZmJh06dODKlSvs2bOHJUuWEBMTw7hx44rikopUfsYTYPDgwVY/ozNnzjTLNJ7/kiFSDDRq1MgYNmyYuZ+ZmWmUK1fOmDZtWhFGdXcYP368ER4enmvZhQsXDEdHR+PDDz80j8XHxxuAsXfv3tsU4d0DMNauXWvuZ2VlGX5+fsYrr7xiHrtw4YLh7OxsrFixwjAMwzh+/LgBGPv37zfrbN682bBYLMb//ve/2xb7neif42kYhtG/f3+jc+fO1z1H45m3s2fPGoCxc+dOwzDy929806ZNhp2dnfHrr7+adRYsWGB4enoa6enpt/cC7jD/HE/DMIwWLVoYTz755HXP0Xj+O5qxFZt35coVDh48SJs2bcxjdnZ2tGnThr179xZhZHePEydOUK5cOSpVqkTfvn1JSkoC4ODBg2RkZFiNbbVq1ahYsaLGNh9OnTrFr7/+ajV+Xl5eNG7c2By/vXv34u3tTYMGDcw6bdq0wc7Ojn379t32mO8GcXFxlClThtDQUB5//HHOnTtnlmk883bx4kUASpUqBeTv3/jevXupVasWZcuWNetERESQkpLCt99+exujv/P8czyzLV++nNKlS1OzZk3Gjh1LWlqaWabx/HccijoAkcL2+++/k5mZafWfBEDZsmX57rvviiiqu0fjxo2JiYkhNDSU5ORkJk6cyH333cexY8f49ddfcXJywtvb2+qcsmXL8uuvvxZNwHeR7DHK7Wczu+zXX3+lTJkyVuUODg6UKlVKY5yLyMhIunXrRnBwMCdPnuT555+nXbt27N27F3t7e41nHrKyshg5ciTNmjWjZs2aAPn6N/7rr7/m+jOcXVZc5TaeAA8//DCBgYGUK1eOb775hueee46EhATWrFkDaDz/LSW2IpKndu3amV/Xrl2bxo0bExgYyKpVq3B1dS3CyERyeuihh8yva9WqRe3atalcuTJxcXG0bt26CCO78w0bNoxjx45ZraGXW3e98fz7eu5atWrh7+9P69atOXnyJJUrV77dYdocLUUQm1e6dGns7e1z3MV75swZ/Pz8iiiqu5e3tzchISH88MMP+Pn5ceXKFS5cuGBVR2ObP9ljlNfPpp+fX46bHK9evcoff/yhMc6HSpUqUbp0aX744QdA43k9w4cPZ+PGjezYsYMKFSqYx/Pzb9zPzy/Xn+HssuLoeuOZm8aNGwNY/YxqPG+dEluxeU5OTtSvX5/Y2FjzWFZWFrGxsTRp0qQII7s7paamcvLkSfz9/alfvz6Ojo5WY5uQkEBSUpLGNh+Cg4Px8/OzGr+UlBT27dtnjl+TJk24cOECBw8eNOt89tlnZGVlmb8Q5fp+/vlnzp07h7+/P6Dx/CfDMBg+fDhr167ls88+Izg42Ko8P//GmzRpwtGjR63+YNi2bRuenp5Ur1799lzIHeJG45mbw4cPA1j9jGo8/4WivntN5HZYuXKl4ezsbMTExBjHjx83/vOf/xje3t5Wd51K7p555hkjLi7OOHXqlLF7926jTZs2RunSpY2zZ88ahmEYQ4YMMSpWrGh89tlnxoEDB4wmTZoYTZo0KeKo7xx//vmncejQIePQoUMGYLz22mvGoUOHjJ9++skwDMOYPn264e3tbaxfv9745ptvjM6dOxvBwcHGX3/9ZbYRGRlp1K1b19i3b5/xxRdfGFWrVjX69OlTVJdUpPIazz///NMYNWqUsXfvXuPUqVPG9u3bjXr16hlVq1Y1Ll++bLah8fx/jz/+uOHl5WXExcUZycnJ5paWlmbWudG/8atXrxo1a9Y0HnjgAePw4cPGli1bDF9fX2Ps2LFFcUlF6kbj+cMPPxiTJk0yDhw4YJw6dcpYv369UalSJaN58+ZmGxrPf0eJrRQbc+fONSpWrGg4OTkZjRo1Mr788suiDumu0Lt3b8Pf399wcnIyypcvb/Tu3dv44YcfzPK//vrLGDp0qFGyZEnDzc3N6Nq1q5GcnFyEEd9ZduzYYQA5tv79+xuGce2RXy+99JJRtmxZw9nZ2WjdurWRkJBg1ca5c+eMPn36GO7u7oanp6cxYMAA488//yyCqyl6eY1nWlqa8cADDxi+vr6Go6OjERgYaAwePDjHH7Aaz/+X21gCRnR0tFknP//GExMTjXbt2hmurq5G6dKljWeeecbIyMi4zVdT9G40nklJSUbz5s2NUqVKGc7OzkaVKlWMZ5991rh48aJVOxrPW2cxDMO4ffPDIiIiIiKFQ2tsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpsRURERMQmKLEVEREREZugxFZEREREbIISWxERERGxCUpsRURERMQmKLEVEREREZugxFZEREREbML/Aa5UjshidxyJAAAAAElFTkSuQmCC",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -164,21 +299,118 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 608 methods implemented.\n",
+      "Currently there are 608 routines implemented.\n",
       "------\n",
-      "['sb03sx', 'mc01rd', 'ag08by', 'ab01od', 'tb04ad', 'mb02jd', 'mb4dbz', 'ib03ad', 'mb03qy', 'sb08ny', 'mb01xy', 'mb03kd', 'ab09ix', 'mb02id', 'sb03oz', 'mb04pa', 'ab09fd', 'tb01iz', 'ab05md', 'sb04md', 'sb04qy', 'mb04tb', 'mb03be', 'tg01az', 'mb04ru', 'tg01ob', 'mb01pd', 'mb02td', 'mb03td', 'sb03ot', 'mb02wd', 'mb04qb', 'mb03od', 'mb03rd', 'mb03bf', 'md03bf', 'sb02mr', 'ab09hy', 'ab08nd', 'mb03ka', 'md03bx', 'sb03mw', 'ib01py', 'ib01nd', 'mb01zd', 'mb02qy', 'tg01od', 'mb02uw', 'dg01nd', 'ab09kx', 'ab09iy', 'mb02od', 'sb10pd', 'mb04dd', 'sb06nd', 'tb01ud', 'mb03ai', 'sg03bz', 'tf01rd', 'de01od', 'ma02iz', 'mb04ds', 'sg03bd', 'ma02oz', 'sb03qy', 'sb02ru', 'mb04jd', 'tb01zd', 'ma02pz', 'mb03ud', 'mc01sw', 'ma01bz', 'mc01td', 'ma02nz', 'mb04dl', 'ab09cx', 'ib01px', 'sg03bw', 'tg01hd', 'ue01md', 'dk01md', 'ma01ad', 'tb04bv', 'sb08dd', 'mb03nd', 'mb04bd', 'ab09nd', 'mb04pu', 'ab09ed', 'sb03qx', 'mb02nd', 'mb01ot', 'mb02cx', 'mb03py', 'ma02ez', 'ab08md', 'sb02ms', 'mb02hd', 'tc01od', 'mb01yd', 'ma02hz', 'mb02sd', 'tg01wd', 'tb05ad', 'sb04ow', 'sb02mv', 'ma01bd', 'mb04qu', 'tb01ty', 'mb03ah', 'ab13dd', 'sb03od', 'tb04bx', 'mb03jz', 'mb04py', 'sb01by', 'mb03cz', 'mb01rx', 'df01md', 'sb16cd', 'sb02sd', 'mb03xu', 'mb02vd', 'sg03ay', 'sb04od', 'mb02cu', 'sb10kd', 'ab09jw', 'tb03ay', 'sb10qd', 'sb04my', 'mb01uw', 'tb01vd', 'mb01oc', 'ab09jx', 'tf01my', 'mb04ed', 'nf01bs', 'sb01md', 'tg01md', 'nf01bv', 'mb02gd', 'ab13fd', 'ag07bd', 'ab07nd', 'mb04wp', 'sb02mt', 'sb10sd', 'tb01ld', 'mb03cd', 'mc01py', 'ab01nd', 'mb05md', 'mb02tz', 'sb03my', 'mb04qf', 'mb03bc', 'sb04rw', 'mb01rd', 'sb02pd', 'mb01xd', 'tg01dd', 'ma02bd', 'ib01pd', 'mb04tx', 'bb01ad', 'tb01nd', 'mb04ty', 'tb01yd', 'mb04oy', 'bb03ad', 'sb03or', 'sb16ad', 'ab09hd', 'sb10ed', 'mb01oh', 'sb10rd', 'mc01sy', 'tf01nd', 'nf01ad', 'mc01vd', 'mb03wa', 'mc01qd', 'mb01ld', 'fb01sd', 'mb04tw', 'sb10yd', 'mb04tv', 'mb04rb', 'fb01rd', 'tb01wd', 'mb03qv', 'mb3pyz', 'mb03fd', 'sb04mu', 'nf01br', 'ab05od', 'ma02od', 'mb03vw', 'mb03bd', 'tg01hx', 'mb04id', 'mb02cy', 'sb16cy', 'mb04db', 'ab13id', 'ab13ed', 'tb01id', 'sb10td', 'td03ad', 'tb01kx', 'td05ad', 'sb03mu', 'sb08fd', 'mb02rz', 'tg01nd', 'mb03af', 'sg03bu', 'bb04ad', 'mb03ad', 'ab8nxz', 'sb03ud', 'tf01od', 'tg01cd', 'mc01sd', 'mb04fd', 'ud01cd', 'tg01nx', 'mb01rh', 'sb10zp', 'mb03jd', 'mb03rx', 'sb03rd', 'mb02uu', 'ab13ad', 'mb03lp', 'sb10hd', 'tb04cd', 'mb03pd', 'mb03lf', 'td04ad', 'ab09kd', 'mb03fz', 'ma02jz', 'mb03sd', 'ab09ad', 'ab09ax', 'ab05qd', 'sg03by', 'ib01my', 'mb01oe', 'mb01ry', 'mb05od', 'sb02ow', 'ma02cd', 'fd01ad', 'mb02dd', 'ud01dd', 'sb04ry', 'ab13ax', 'mb04xy', 'mb03dz', 'mb04bp', 'sb04py', 'nf01bd', 'mb03ae', 'tg01fz', 'tb04bw', 'sb02md', 'mb04xd', 'sb04qr', 'sb04mr', 'mb01wd', 'tg01ad', 'tg01kz', 'nf01bx', 'td03ay', 'sg02cx', 'mb03wx', 'sb03td', 'ab09hx', 'ib01cd', 'sb10md', 'mb03xs', 'mb03xp', 'sb10vd', 'tg01bd', 'sg03ad', 'mb01md', 'mb04ad', 'mb03hz', 'sg02cv', 'sb08ed', 'sb03oy', 'mb04hd', 'tc04ad', 'tf01pd', 'mb02ny', 'ab08ny', 'ab09jv', 'mb04od', 'sb08nd', 'sb02mw', 'sb09md', 'mc01wd', 'ab05sd', 'ma02hd', 'mb03xz', 'mb02kd', 'mb04yw', 'mb01rt', 'nf01bq', 'mb03bb', 'tg01ed', 'mb03vd', 'sb02ov', 'sb01bd', 'mb01ru', 'ma02gz', 'sb04mw', 'ab09cd', 'ma02cz', 'md03bd', 'sb03md57', 'mb04ow', 'sg02cw', 'mb04iz', 'sb10jd', 'sg03br', 'mb04bz', 'ab09jd', 'sb01fy', 'tg01id', 'tb01wx', 'ib01oy', 'mb04qc', 'mb01kd', 'tb01md', 'sb04nx', 'mb04dy', 'ab09dd', 'nf01ba', 'mb02cv', 'sb02od', 'mb03ny', 'ab05rd', 'sb03md', 'fb01vd', 'mb01ud', 'tg01ly', 'tf01qd', 'mb04fp', 'ab07md', 'ma02ed', 'ag08bz', 'sb03mv', 'tg01oz', 'mb03zd', 'mb02yd', 'mb03bg', 'mb04wd', 'md03bb', 'mb03ba', 'ma02pd', 'sb02rd', 'mb01rw', 'mb01td', 'ud01mz', 'nf01be', 'mb02rd', 'mb02uv', 'mb03ya', 'sg02nd', 'sb04qd', 'mb03yt', 'md03ad', 'mb01oo', 'mb03wd', 'mc03nx', 'tf01mx', 'bd01ad', 'nf01bb', 'sb02ou', 'mb05oy', 'mb04ts', 'nf01bu', 'mb02xd', 'ab01md', 'mb01rb', 'md03ba', 'tg01hu', 'mb04qs', 'mb04kd', 'mb04vd', 'sb03os', 'tg01hy', 'tb01ux', 'ab05pd', 'sb04nw', 'mb04zd', 'sb16bd', 'sb10fd', 'mb4dlz', 'tc05ad', 'mb02md', 'sb04rv', 'mb04yd', 'mb03my', 'mb01nd', 'ag08bd', 'mb01qd', 'mb04wr', 'mb01ux', 'nf01bw', 'sb03ou', 'sb03sy', 'ma02dd', 'sg02ad', 'mb03ry', 'mb04ny', 'ma02md', 'ma01cd', 'mb03ts', 'mc01nd', 'mb02jx', 'mb01vd', 'sb04nv', 'fb01qd', 'ab08nz', 'sb04ny', 'tg01jd', 'mb03qg', 'mb04iy', 'sg03bt', 'tb04ay', 'mb03qw', 'mb03ke', 'mb03bz', 'mb05nd', 'sb02nd', 'ma02az', 'sb02ox', 'mb01ss', 'tb01uy', 'mb02sz', 'ag8byz', 'bb02ad', 'nf01bp', 'ab08nw', 'tb04bd', 'ma02bz', 'sb08cd', 'mb03iz', 'sb10ld', 'sb10id', 'mb02qd', 'mb3oyz', 'sg03bs', 'mc01od', 'mb04wu', 'ib01qd', 'bd02ad', 'mb04su', 'tb01xz', 'mb3lzp', 'ab09id', 'sb02mu', 'mb03kb', 'nf01bf', 'mb03id', 'mb03jp', 'ib01bd', 'mb04cd', 'ib01ad', 'ab13dx', 'ab05nd', 'mb04tt', 'ab09gd', 'mb04ld', 'mb03md', 'ma02es', 'sg03ax', 'sg03bx', 'tb01px', 'md03by', 'mb03oy', 'mb04md', 'mb03kc', 'tg01pd', 'ma02jd', 'ma02id', 'tg01ld', 'mb03qx', 'sb08my', 'tb01vy', 'mb03gd', 'mb03ab', 'ab08mz', 'ab13md', 'mb05my', 'mb3jzp', 'ab09bd', 'sb03pd', 'mb04tu', 'mb02ud', 'sb03sd', 'sb08md', 'de01pd', 'dg01md', 'ab09bx', 'tb03ad', 'sb04pd', 'ab04md', 'sb02oy', 'sb03qd', 'ud01md', 'sb10dd', 'mb01uy', 'tg01jy', 'mb03ed', 'sb01bx', 'sb02cx', 'mc01pd', 'sb04nd', 'mb03vy', 'mb03xd', 'mb03hd', 'mc03nd', 'ma02ad', 'mb04pb', 'sb10ud', 'mb01sd', 'mb03lz', 'sb03ov', 'tb01pd', 'mc01md', 'ma02mz', 'sb04qu', 'ud01bd', 'mb01od', 'tg01gd', 'mb03rz', 'mb03gz', 'sb10wd', 'ud01nd', 'sb02qd', 'sb10ad', 'mb04nd', 'ab09md', 'tg01qd', 'mb03ld', 'sb04rx', 'mb03dd', 'fb01td', 'dg01od', 'mb01uz', 'sb16ay', 'mb01os', 'sg03bv', 'tb01kd', 'ib01rd', 'sb03mx', 'sb04px', 'sb01dd', 'mb03yd', 'ab13bd', 'mb04az', 'sb08gd', 'ib01md', 'mb04ox', 'ib01od', 'mc01sx', 'tb01td', 'dg01ny', 'tg01fd', 'mb02fd', 'sb04rd', 'nf01ay', 'mb04vx', 'ab08nx', 'tf01md', 'mb03ag', 'mb04ud', 'nf01by', 'mc03ny', 'tg01kd', 'ma02gd', 'mb03qd', 'mc01xd', 'sb08hd', 'tg01oa', 'ib03bd', 'mb04gd', 'ab13cd', 'sb10zd', 'mb04dp', 'mb03za', 'mb02ed', 'mb04dz', 'mb02cd', 'mc03md', 'mb02pd', 'mb04di', 'mb03rw', 'tb01xd', 'sb02mx', 'mb4dpz', 'ma02fd']\n",
-      "\n",
-      "\n",
-      "Currently there are 49 methods implemented.\n",
-      "------\n",
-      "['sg02ad', 'ab01nd', 'mb05md', 'ab13bd', 'ab08nd', 'mb03wd', 'sb02od', 'tb01pd', 'ab09nd', 'sb03md', 'tb04ad', 'sb10hd', 'ab13md', 'td04ad', 'ab09bd', 'ab09ad', 'tf01md', 'ab09ax', 'mb03vd', 'tc01od', 'sb01bd', 'sb10ad', 'ab05md', 'ab08nz', 'ab13ed', 'sb04md', 'tb01id', 'tb03ad', 'sb10fd', 'ab04md', 'ab09md', 'tf01rd', 'sg03bd', 'tb05ad', 'sg03ad', 'ab13fd', 'sb10dd', 'ab07nd', 'tc04ad', 'ab13dd', 'mb05nd', 'mc01td', 'ab05nd', 'sb04qd', 'sb02mt', 'sb03od', 'mb03vy', 'sb02md', 'mb03rd']\n",
+      "['ib01nd', 'ab09gd', 'sb04nx', 'mb02cy', 'mb01qd', 'mb04ox']\n",
+      "['td03ad', 'ma02dd', 'mb03lp', 'mb03vw', 'sb08my', 'mb03bg']\n",
+      "['ab08md', 'sb03sd', 'mb03af', 'ma01cd', 'sb16ay', 'sg03bv']\n",
+      "['mb03ah', 'tg01kd', 'mb04md', 'mb01xy', 'ab09dd', 'mb02cu']\n",
+      "['ma02od', 'ab09id', 'nf01bv', 'ma02iz', 'ud01dd', 'mb02wd']\n",
+      "['mb03be', 'sb03oz', 'tg01oa', 'mb03xp', 'sb03td', 'mb3jzp']\n",
+      "['sb10dd', 'sb03qx', 'mb03vd', 'mb01xd', 'mb02rd', 'mb01yd']\n",
+      "['sb02nd', 'ma01ad', 'sb03mw', 'sb02sd', 'mb01rh', 'ab09jd']\n",
+      "['bd01ad', 'mb02tz', 'mb04id', 'mb03ed', 'nf01by', 'mb02hd']\n",
+      "['sb08md', 'md03bx', 'tb01ld', 'sb04ow', 'mb03xs', 'mc01sy']\n",
+      "['sg03br', 'fb01sd', 'mb04hd', 'sb10id', 'mb03my', 'mb04kd']\n",
+      "['sb08ed', 'ma02jz', 'sb03os', 'sb01dd', 'mb02dd', 'mb03xz']\n",
+      "['tb04bx', 'ib03bd', 'mb04xd', 'sg02cw', 'tg01ad', 'tb03ad']\n",
+      "['ma02pz', 'sb10hd', 'ab05qd', 'tb01pd', 'mb03qd', 'sb01bx']\n",
+      "['mb02ny', 'tg01ob', 'sb08nd', 'mb03wx', 'ag08bz', 'md03bd']\n",
+      "['sg03by', 'tb01td', 'sb04ry', 'ud01nd', 'mb05md', 'mb01rw']\n",
+      "['mb03kd', 'mb01md', 'sb10ud', 'mb03id', 'mb01ry', 'sb04nd']\n",
+      "['tf01mx', 'fb01td', 'mb04pa', 'mb4dbz', 'mb04gd', 'mb03dd']\n",
+      "['mb04db', 'sg03ax', 'ab09fd', 'ab08nx', 'mb03fz', 'mb03qx']\n",
+      "['mb02yd', 'ab09ad', 'mc01qd', 'ib01md', 'mb02ed', 'sb08gd']\n",
+      "['ma01bz', 'tb01nd', 'sg03bx', 'mb02qd', 'tb01ty', 'mb03qw']\n",
+      "['sb10fd', 'tg01md', 'mb04wp', 'ib03ad', 'mc03nd', 'ab09hy']\n",
+      "['mb04ud', 'fb01vd', 'ib01od', 'mb04ds', 'sb03ou', 'mb04rb']\n",
+      "['tg01oz', 'ma02hz', 'mb02sd', 'sb03rd', 'mb03gd', 'ma02ed']\n",
+      "['sb02mw', 'bb02ad', 'tb01iz', 'tg01nd', 'tg01jd', 'ib01my']\n",
+      "['tg01dd', 'ma02ad', 'mb03ts', 'ib01cd', 'tg01ed', 'sb03md']\n",
+      "['sb10ed', 'mb04ld', 'mb01nd', 'tg01wd', 'sb10rd', 'mb03wd']\n",
+      "['ab07md', 'mb04qb', 'tg01od', 'fb01qd', 'sb08hd', 'tb04cd']\n",
+      "['mc03nx', 'nf01bu', 'ab07nd', 'mb01oc', 'ag8byz', 'ma02mz']\n",
+      "['mc01md', 'mb03pd', 'sg03ay', 'sb01md', 'sb16ad', 'ab09ed']\n",
+      "['sb02ou', 'ab01md', 'mb04fp', 'ab04md', 'sb16cy', 'ab09ax']\n",
+      "['tg01hy', 'mb02qy', 'mc01vd', 'mb01vd', 'sb04rx', 'ab01od']\n",
+      "['sb10jd', 'mb04qu', 'mb04zd', 'sb03md57', 'mb03td', 'mb04dp']\n",
+      "['sb04rd', 'mb02sz', 'sb02ow', 'mb02uw', 'sb08dd', 'mb03md']\n",
+      "['tg01hd', 'mb01zd', 'mb03jd', 'ag07bd', 'sb10pd', 'mb04tw']\n",
+      "['mb04xy', 'sb04od', 'mb03ke', 'mb04jd', 'sg03bw', 'ab08mz']\n",
+      "['mc01xd', 'mb01pd', 'nf01br', 'mb04ty', 'tg01az', 'ib01ad']\n",
+      "['nf01bd', 'fb01rd', 'tb04ay', 'mb03ae', 'ma02hd', 'mb04su']\n",
+      "['mb01ru', 'mb04qc', 'sb03or', 'nf01be', 'mb01ud', 'sb02oy']\n",
+      "['tg01kz', 'sb04pd', 'mb04oy', 'mb3lzp', 'sb10wd', 'sb03oy']\n",
+      "['ma02ez', 'ab13id', 'tg01pd', 'ab09jw', 'sg03bt', 'mb04di']\n",
+      "['mb03lf', 'tb01id', 'mb03kc', 'de01od', 'tb01md', 'sg03bd']\n",
+      "['nf01bf', 'tc04ad', 'mb03rd', 'sb04qr', 'ma02bd', 'mb03bf']\n",
+      "['mb04od', 'mb01rd', 'ma02bz', 'tg01cd', 'sb02mx', 'sb04py']\n",
+      "['ab13ed', 'mb04vd', 'tg01id', 'mb3oyz', 'mb01uw', 'md03bf']\n",
+      "['sb08cd', 'mb05oy', 'sb03mu', 'mb03ka', 'mc03md', 'sb04ny']\n",
+      "['mb03vy', 'mb02cx', 'mb02nd', 'mb03qy', 'ma01bd', 'sb10sd']\n",
+      "['mb02od', 'ib01bd', 'mb04vx', 'mb03jp', 'mb02rz', 'mb03hd']\n",
+      "['sb02qd', 'ab05pd', 'sb01bd', 'mb01oe', 'mb04ru', 'mb03wa']\n",
+      "['mb04yw', 'mb05my', 'sb04nv', 'mb02cv', 'sb02ov', 'tf01md']\n",
+      "['sb02ru', 'sg02ad', 'mb01kd', 'mb01rt', 'mb03lz', 'tg01fz']\n",
+      "['sb10zd', 'ab09jv', 'tg01gd', 'de01pd', 'nf01ad', 'ud01bd']\n",
+      "['mb03ai', 'ma02gz', 'tb01xz', 'tf01nd', 'sg02nd', 'md03bb']\n",
+      "['tb05ad', 'mb03jz', 'sb10vd', 'mb02xd', 'nf01ay', 'sb10zp']\n",
+      "['sb09md', 'ab8nxz', 'sg03bz', 'bb01ad', 'mb02jd', 'mb04bd']\n",
+      "['sb02od', 'sb04mr', 'mb01sd', 'mb03fd', 'mb01rb', 'tb04bd']\n",
+      "['tb01vy', 'mb04dz', 'td04ad', 'nf01bb', 'sb02md', 'dg01od']\n",
+      "['sb02cx', 'sb04qu', 'ma02id', 'mb04pb', 'mb03ry', 'sb10ad']\n",
+      "['tb04bw', 'sb08fd', 'ab13ax', 'tb01xd', 'mb4dpz', 'mb04tx']\n",
+      "['sb03sx', 'ma02gd', 'mb01oo', 'ma02oz', 'sb02ox', 'sb04mw']\n",
+      "['mb04wr', 'mb03cz', 'sb04rw', 'sb03mv', 'dg01nd', 'tg01ly']\n",
+      "['mb03qv', 'mb01ot', 'mb03py', 'bb03ad', 'tc01od', 'mb04bp']\n",
+      "['ab09kx', 'mb03sd', 'mb03rw', 'mb02id', 'ab13fd', 'mb03iz']\n",
+      "['mb03qg', 'nf01bx', 'mb4dlz', 'sb02mt', 'ab09iy', 'sb16bd']\n",
+      "['mb03ag', 'tb01wd', 'sb04qy', 'mb04qs', 'bb04ad', 'mb05od']\n",
+      "['ag08by', 'sb10yd', 'mb03zd', 'ab01nd', 'tb04bv', 'mb04ny']\n",
+      "['mb03od', 'nf01bw', 'mb03bd', 'sb10td', 'mb01uy', 'sb01fy']\n",
+      "['mb04py', 'sb04mu', 'ma02pd', 'mc01od', 'ab05sd', 'tb01kd']\n",
+      "['tb01uy', 'dg01ny', 'mb04az', 'sb03pd', 'sb10ld', 'ib01px']\n",
+      "['mb03bc', 'tg01ld', 'ab08nz', 'mb04cd', 'mb04nd', 'mb04tt']\n",
+      "['mb04wd', 'sb04my', 'tb01vd', 'mb03yd', 'sb02pd', 'tb01wx']\n",
+      "['mc01py', 'mb01rx', 'tg01fd', 'mb03ny', 'tb01ux', 'tg01nx']\n",
+      "['mb03hz', 'sb03od', 'mb03dz', 'mb03rx', 'ma02md', 'nf01bp']\n",
+      "['ib01qd', 'mb04iz', 'sb04rv', 'mb04wu', 'ma02az', 'tg01hu']\n",
+      "['mb04yd', 'ma02jd', 'ma02cd', 'mb03ad', 'mb04tb', 'mc01sd']\n",
+      "['ag08bd', 'sb04nw', 'mb02cd', 'mb01od', 'mb02md', 'tf01my']\n",
+      "['sb02rd', 'ud01mz', 'mb03ld', 'mb04ad', 'tc05ad', 'ma02es']\n",
+      "['mc01sx', 'ab05od', 'mb03ya', 'ud01md', 'mc01sw', 'mb01oh']\n",
+      "['ab13md', 'sb02mr', 'sg03ad', 'tb01ud', 'dg01md', 'mb04bz']\n",
+      "['mb03xd', 'mb02fd', 'mb03bz', 'sb10kd', 'ab13ad', 'sb04qd']\n",
+      "['ab09bx', 'td05ad', 'sb03qd', 'bd02ad', 'ab09hx', 'ud01cd']\n",
+      "['mb04ed', 'ab09md', 'ab09cd', 'mb03oy', 'ab09ix', 'ab13dd']\n",
+      "['mb03ab', 'ma02cz', 'ab09nd', 'sb04px', 'mb03kb', 'sb03ov']\n",
+      "['mb02uv', 'ib01pd', 'nf01bs', 'tb01yd', 'ab05md', 'mb02kd']\n",
+      "['ma02nz', 'md03ba', 'tg01jy', 'mb04qf', 'mb04dd', 'ue01md']\n",
+      "['tb01zd', 'mb04ow', 'dk01md', 'sb03mx', 'sb06nd', 'ab08nw']\n",
+      "['mb01uz', 'tg01hx', 'mb03gz', 'mb04tv', 'mc01pd', 'mc01td']\n",
+      "['ab09hd', 'mb01td', 'sb02mu', 'fd01ad', 'ab13dx', 'sg02cx']\n",
+      "['ma02fd', 'mb01ss', 'tg01qd', 'mb02jx', 'ab05nd', 'df01md']\n",
+      "['ab08nd', 'mb02pd', 'tf01od', 'mb04ts', 'ab13bd', 'mb04iy']\n",
+      "['mb04dy', 'mb05nd', 'mc03ny', 'mb02td', 'mb03nd', 'tf01pd']\n",
+      "['sb03qy', 'sb16cd', 'mb01ld', 'tb03ay', 'mc01nd', 'nf01ba']\n",
+      "['mb02gd', 'sb02ms', 'mb03bb', 'mb03cd', 'md03by', 'sb03my']\n",
+      "['ab05rd', 'md03ad', 'ab09bd', 'sb08ny', 'sg02cv', 'ab09jx']\n",
+      "['sg03bs', 'sb04md', 'sb03ot', 'ab09kd', 'sb10qd', 'mc01wd']\n",
+      "['td03ay', 'mb3pyz', 'nf01bq', 'mb03yt', 'tb01px', 'ab09cx']\n",
+      "['tf01qd', 'ab08ny', 'mb03xu', 'mb03ba', 'tf01rd', 'mb02vd']\n",
+      "['sb01by', 'mb03ud', 'mb03za', 'mb04pu', 'mb02uu', 'mb03rz']\n",
+      "['sb10md', 'mb01os', 'mc01rd', 'sb03ud', 'mb01ux', 'tb01kx']\n",
+      "['mb04tu', 'tg01bd', 'mb04dl', 'ib01oy', 'sg03bu', 'sb02mv']\n",
+      "['ib01py', 'ab13cd', 'sb03sy', 'mb04fd', 'tb04ad', 'ib01rd']\n",
+      "['mb01wd', 'mb02ud']\n",
+      "None\n",
       "\n",
       "\n"
      ]
@@ -187,28 +419,56 @@
    "source": [
     "union = list(set(slicot_methods) | set(slycot_methods))\n",
     "\n",
-    "print(f\"Currently there are {len(union)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(union)} routines implemented.\")\n",
     "print(\"------\")\n",
-    "print(union)\n",
-    "print(\"\\n\")\n",
+    "print(print_list_chunks(union))\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 48 routines which are found in slicot and slycot.\n",
+      "------\n",
+      "['ab09bd', 'tc04ad', 'mb03rd', 'mc01td', 'ab07nd', 'sb01bd']\n",
+      "['sb04md', 'sb04qd', 'sb03od', 'td04ad', 'sb02mt', 'sb02md']\n",
+      "['sb10dd', 'ab05nd', 'sb10ad', 'sg02ad', 'tf01md', 'ab01nd']\n",
+      "['ab08nd', 'ab13ed', 'tf01rd', 'ab09md', 'ab13bd', 'mb03vd']\n",
+      "['ab13dd', 'ab09nd', 'ab08nz', 'mb05nd', 'ab09ax', 'ab09ad']\n",
+      "['sb03md', 'sb10hd', 'tb03ad', 'mb03vy', 'tb01pd', 'ab05md']\n",
+      "['mb03wd', 'tb05ad', 'tc01od', 'ab13fd', 'ab13md', 'sb10fd']\n",
+      "['sg03ad', 'sb02od', 'tb01id', 'mb05md', 'tb04ad', 'sg03bd']\n",
+      "None\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
     "\n",
     "intersection = list(set(slicot_methods) & set(slycot_methods))\n",
     "intersection\n",
     "\n",
-    "print(f\"Currently there are {len(intersection)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(intersection)} routines which are found in slicot and slycot.\")\n",
     "print(\"------\")\n",
-    "print(intersection)\n",
+    "print(print_list_chunks(intersection))\n",
     "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -241,7 +501,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.6"
+   "version": "3.10.12"
   },
   "orig_nbformat": 4
  },

From 8427bc05aac7ec26d2743cae171f362fbfb2487e Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 8 Aug 2023 17:00:01 +0200
Subject: [PATCH 06/23] Update development info

---
 doc/source/dev/basic.rst              | 136 --------------------------
 doc/source/dev/contributing.rst       |  29 ++++++
 doc/source/dev/f2py.rst               |   8 --
 doc/source/dev/index.rst              |   3 +-
 doc/source/reference/slycot_inner.rst |   1 -
 doc/source/reference/slycot_outer.rst |   1 -
 6 files changed, 30 insertions(+), 148 deletions(-)
 delete mode 100644 doc/source/dev/basic.rst
 create mode 100644 doc/source/dev/contributing.rst
 delete mode 100644 doc/source/dev/f2py.rst

diff --git a/doc/source/dev/basic.rst b/doc/source/dev/basic.rst
deleted file mode 100644
index f30e061e..00000000
--- a/doc/source/dev/basic.rst
+++ /dev/null
@@ -1,136 +0,0 @@
-**********************
-Contributing to Slycot
-**********************
-
-
-Development process - summary
-=============================
-
-Here's the short summary, complete TOC links are below:
-
-1. If you are a first-time contributor:
-
-   * Go to `https://github.com/numpy/numpy
-     <https://github.com/numpy/numpy>`_ and click the
-     "fork" button to create your own copy of the project.
-
-   * Clone the project to your local computer::
-
-      git clone --recurse-submodules https://github.com/your-username/numpy.git
-
-   * Change the directory::
-
-      cd numpy
-
-   * Add the upstream repository::
-
-      git remote add upstream https://github.com/numpy/numpy.git
-
-   * Now, ``git remote -v`` will show two remote repositories named:
-
-     - ``upstream``, which refers to the ``numpy`` repository
-     - ``origin``, which refers to your personal fork
-
-   * Pull the latest changes from upstream, including tags::
-
-      git checkout main
-      git pull upstream main --tags
-
-   * Initialize numpy's submodules::
-
-      git submodule update --init
-
-2. Develop your contribution:
-
-   * Create a branch for the feature you want to work on. Since the
-     branch name will appear in the merge message, use a sensible name
-     such as 'linspace-speedups'::
-
-      git checkout -b linspace-speedups
-
-   * Commit locally as you progress (``git add`` and ``git commit``)
-     Use a :ref:`properly formatted<writing-the-commit-message>` commit message,
-     write tests that fail before your change and pass afterward, run all the
-     :ref:`tests locally<development-environment>`. Be sure to document any
-     changed behavior in docstrings, keeping to the NumPy docstring
-     :ref:`standard<howto-document>`.
-
-3. To submit your contribution:
-
-   * Push your changes back to your fork on GitHub::
-
-      git push origin linspace-speedups
-
-   * Enter your GitHub username and password (repeat contributors or advanced
-     users can remove this step by connecting to GitHub with
-     :ref:`SSH<set-up-and-configure-a-github-account>`).
-
-   * Go to GitHub. The new branch will show up with a green Pull Request
-     button. Make sure the title and message are clear, concise, and self-
-     explanatory. Then click the button to submit it.
-
-   * If your commit introduces a new feature or changes functionality, post on
-     the `mailing list`_ to explain your changes. For bug fixes, documentation
-     updates, etc., this is generally not necessary, though if you do not get
-     any reaction, do feel free to ask for review.
-
-4. Review process:
-
-   * Reviewers (the other developers and interested community members) will
-     write inline and/or general comments on your Pull Request (PR) to help
-     you improve its implementation, documentation and style.  Every single
-     developer working on the project has their code reviewed, and we've come
-     to see it as friendly conversation from which we all learn and the
-     overall code quality benefits.  Therefore, please don't let the review
-     discourage you from contributing: its only aim is to improve the quality
-     of project, not to criticize (we are, after all, very grateful for the
-     time you're donating!). See our :ref:`Reviewer Guidelines
-     <reviewer-guidelines>` for more information.
-
-   * To update your PR, make your changes on your local repository, commit,
-     **run tests, and only if they succeed** push to your fork. As soon as
-     those changes are pushed up (to the same branch as before) the PR will
-     update automatically. If you have no idea how to fix the test failures,
-     you may push your changes anyway and ask for help in a PR comment.
-
-   * Various continuous integration (CI) services are triggered after each PR
-     update to build the code, run unit tests, measure code coverage and check
-     coding style of your branch. The CI tests must pass before your PR can be
-     merged. If CI fails, you can find out why by clicking on the "failed"
-     icon (red cross) and inspecting the build and test log. To avoid overuse
-     and waste of this resource,
-     :ref:`test your work<recommended-development-setup>` locally before
-     committing.
-
-   * A PR must be **approved** by at least one core team member before merging.
-     Approval means the core team member has carefully reviewed the changes,
-     and the PR is ready for merging.
-
-5. Document changes
-
-   Beyond changes to a functions docstring and possible description in the
-   general documentation, if your change introduces any user-facing
-   modifications they may need to be mentioned in the release notes.
-   To add your change to the release notes, you need to create a short file
-   with a summary and place it in ``doc/release/upcoming_changes``.
-   The file ``doc/release/upcoming_changes/README.rst`` details the format and
-   filename conventions.
-
-   If your change introduces a deprecation, make sure to discuss this first on
-   GitHub or the mailing list first. If agreement on the deprecation is
-   reached, follow :ref:`NEP 23 deprecation policy <NEP23>`  to add the deprecation.
-
-6. Cross referencing issues
-
-   If the PR relates to any issues, you can add the text ``xref gh-xxxx`` where
-   ``xxxx`` is the number of the issue to github comments. Likewise, if the PR
-   solves an issue, replace the ``xref`` with ``closes``, ``fixes`` or any of
-   the other flavors `github accepts <https://help.github.com/en/articles/
-   closing-issues-using-keywords>`_.
-
-   In the source code, be sure to preface any issue or PR reference with
-   ``gh-xxxx``.
-
-For a more detailed discussion, read on and follow the links at the bottom of
-this page.
-
diff --git a/doc/source/dev/contributing.rst b/doc/source/dev/contributing.rst
new file mode 100644
index 00000000..d7b97152
--- /dev/null
+++ b/doc/source/dev/contributing.rst
@@ -0,0 +1,29 @@
+**********************
+Contributing to Slycot
+**********************
+
+
+Development process and tools
+=============================
+
+The development process is currently described on the `slycot github repo <https://github.com/python-control/Slycot>`_ and the `slycot github wiki <https://github.com/python-control/Slycot/wiki>`_.
+You should be familiar with following topics:
+
+- `git <https://git-scm.com/>`_
+- `github <https://skills.github.com/>`_
+- `Sphinx <https://www.sphinx-doc.org/en/master/index.html>`_
+- `reStructuredText <https://www.sphinx-doc.org/en/master/usage/restructuredtext/index.html>`_
+- `numpydoc <https://numpydoc.readthedocs.io/en/latest/>`_
+- `f2py <https://numpy.org/devdocs/f2py/index.html>`_
+
+numpydoc
+========
+
+Slycot uses numpydoc for the docstring style in order to provide support the Numpy docstring format in sphinx,
+`see numpydoc example <https://numpydoc.readthedocs.io/en/latest/example.html>`_.
+
+F2PY
+====
+
+Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
+`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
\ No newline at end of file
diff --git a/doc/source/dev/f2py.rst b/doc/source/dev/f2py.rst
deleted file mode 100644
index e0776622..00000000
--- a/doc/source/dev/f2py.rst
+++ /dev/null
@@ -1,8 +0,0 @@
-***************
-F2PY for Slycot
-***************
-
-F2PY
-====
-Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
-`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
\ No newline at end of file
diff --git a/doc/source/dev/index.rst b/doc/source/dev/index.rst
index 05d599c4..b236236a 100644
--- a/doc/source/dev/index.rst
+++ b/doc/source/dev/index.rst
@@ -5,7 +5,6 @@ Development
 .. toctree::
    :maxdepth: 1
 
-   basic
-   f2py
+   contributing
    inspect_slycot
    slicot_slycot
diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
index 4d2329ca..907e2317 100644
--- a/doc/source/reference/slycot_inner.rst
+++ b/doc/source/reference/slycot_inner.rst
@@ -16,7 +16,6 @@ Analysis
    :toctree: generated/
 
     _wrapper.ab01nd
-    _wrapper.ab04md
     _wrapper.ab05md
     _wrapper.ab05nd
     _wrapper.ab07nd
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
index e87f210e..075aeb7c 100644
--- a/doc/source/reference/slycot_outer.rst
+++ b/doc/source/reference/slycot_outer.rst
@@ -16,7 +16,6 @@ Analysis
    :toctree: generated/
 
     ab01nd
-    ab04md
     ab05md
     ab05nd
     ab07nd

From 07271278629c6dfd58c422d1f90b6183296e2c0c Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 8 Aug 2023 20:48:57 +0200
Subject: [PATCH 07/23] Improve inspection notebooks, Minor update of docs

---
 doc/index.rst                         |  30 +-
 doc/intro.rst                         |  13 +-
 doc/requirements.txt                  |   1 +
 doc/source/dev/inspect_slycot.ipynb   | 122 ++++---
 doc/source/dev/slicot_slycot.ipynb    | 498 +++++++++++++++-----------
 doc/source/reference/index.rst        |   6 +
 doc/source/reference/slycot_inner.rst |  14 +-
 7 files changed, 390 insertions(+), 294 deletions(-)

diff --git a/doc/index.rst b/doc/index.rst
index a8c77d8d..28579d4d 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -6,22 +6,24 @@
 Slycot
 ======
 
-Python wrapper for selected SLICOT routines, 
+Python wrapper for selected `SLICOT <https://github.com/SLICOT/SLICOT-Reference>`_ routines, 
 notably including solvers for Riccati, Lyapunov, and Sylvester equations.
 
-.. rubric:: Features
-
-- Analysis Routines
-- Benchmark
-- Adaptive Control
-- Data Analysis
-- Filtering
-- Identification
-- Mathematical Routines
-- Nonlinear Systems
-- Synthesis Routines
-- Transformation Routines
-- Utility Routines
+.. rubric:: Chapters
+
+The Slycot library is organised by chapters. Each chapter can be identified by a single letter. The following chapters are included:
+
+- ``A`` : Analysis Routines
+- ``B`` : Benchmark
+- ``C`` : Adaptive Control
+- ``D`` : Data Analysis
+- ``F`` : Filtering
+- ``I`` : Identification
+- ``M`` : Mathematical Routines
+- ``N`` : Nonlinear Systems
+- ``S`` : Synthesis Routines
+- ``T`` : Transformation Routines
+- ``U`` : Utility Routines
 
 .. rubric:: Documentation
 
diff --git a/doc/intro.rst b/doc/intro.rst
index 33b7c311..f92429a0 100644
--- a/doc/intro.rst
+++ b/doc/intro.rst
@@ -53,7 +53,14 @@ To install in your home directory, use::
 Getting started
 ===============
 
-There are two different ways to use the package.  For the default interface
-described in :ref:`function-ref`, simply import the control package as follows::
+There are two different ways to use the package. For the default interface
+described in :ref:`function-ref`, simply import the slycot package as follows::
 
-    >>> import slycot
\ No newline at end of file
+    >>> import slycot
+
+.. warning::
+  In general, the second way is not recommended.
+
+  To access the f2py interface described in :ref:`inner_function-ref`, simply import the slycot package as follows::
+
+    >>> import slycot._wrapper
\ No newline at end of file
diff --git a/doc/requirements.txt b/doc/requirements.txt
index e996d364..60d6e9cc 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -1,6 +1,7 @@
 sphinx>=3.4
 numpy
 scipy
+pandas
 matplotlib
 matplotlib_venn
 sphinx_rtd_theme
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index d6b4029e..8d28451a 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -15,7 +15,7 @@
    "source": [
     "This notebook shows how to inspect the slycot module.\n",
     "The result gives us a first insight which slicot procedures are implemented.\n",
-    "In addition we get some insight about the orginisation of the module."
+    "In addition we get some insight about the organization of the slycot module."
    ]
   },
   {
@@ -27,7 +27,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.1.dev606+g8b31df8\n"
+      "0.1.dev607+g25317fd.d20230808\n"
      ]
     }
    ],
@@ -42,7 +42,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Inspect Wrapper function"
+    "##  Helper functions"
    ]
   },
   {
@@ -51,7 +51,23 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "def get_slycot_method(sly):\n",
+    "def print_list_chunks(routines_list, n=6):\n",
+    "    \"\"\"Print list in chunks of lists.\"\"\"\n",
+    "    start = 0\n",
+    "    end = len(routines_list)\n",
+    "    step = n\n",
+    "    for i in range(start, end, step):\n",
+    "        x = i\n",
+    "        print(routines_list[x:x+step])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_routines(sly):\n",
     "    all_attributes = dir(sly)\n",
     "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
     "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
@@ -59,19 +75,11 @@
    ]
   },
   {
-   "cell_type": "code",
-   "execution_count": 3,
+   "attachments": {},
+   "cell_type": "markdown",
    "metadata": {},
-   "outputs": [],
    "source": [
-    "def print_list_chunks(l, n=6):\n",
-    "      \n",
-    "    start = 0\n",
-    "    end = len(l)\n",
-    "    step = n\n",
-    "    for i in range(start, end, step):\n",
-    "        x = i\n",
-    "        print(l[x:x+step])\n"
+    "## Inspect Wrapper function"
    ]
   },
   {
@@ -91,7 +99,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 49 methods implemented.\n",
+      "Currently there are 49 routines implemented.\n",
       "------\n",
       "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
       "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
@@ -107,9 +115,9 @@
     }
    ],
    "source": [
-    "slycot_wrapper = get_slycot_method(slycot)\n",
+    "slycot_wrapper = get_slycot_routines(slycot)\n",
     "\n",
-    "print(f\"Currently there are {len(slycot_wrapper)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(slycot_wrapper)} routines implemented.\")\n",
     "print(\"------\")\n",
     "print(print_list_chunks(slycot_wrapper))"
    ]
@@ -131,7 +139,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 71 methods implemented.\n",
+      "Currently there are 71 routines implemented.\n",
       "------\n",
       "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
       "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
@@ -150,9 +158,9 @@
     }
    ],
    "source": [
-    "slycot_f2py_wrapper = get_slycot_method(slycot._wrapper)\n",
+    "slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)\n",
     "\n",
-    "print(f\"Currently there are {len(slycot_f2py_wrapper)} methods implemented.\")\n",
+    "print(f\"Currently there are {len(slycot_f2py_wrapper)} routines implemented.\")\n",
     "print(\"------\")\n",
     "print(print_list_chunks(slycot_f2py_wrapper))"
    ]
@@ -186,31 +194,31 @@
      "text": [
       "Currently there are 10 routines implemented in slycot_wrapper which are not in slycot_f2py_wrapper.\n",
       "------\n",
-      "['tb05ad', 'sb02od', 'td04ad', 'tc04ad', 'tc01od', 'sb02mt']\n",
-      "['sb03md57', 'tb04ad', 'sg02ad', 'tb03ad']\n",
+      "['tb04ad', 'tb05ad', 'sb02mt', 'td04ad', 'tc04ad', 'tc01od']\n",
+      "['sg02ad', 'tb03ad', 'sb02od', 'sb03md57']\n",
       "None\n",
       "\n",
       "\n",
       "Currently there are 32 routines implemented in slycot_f2py_wrapper which are not in slycot_wrapper.\n",
       "------\n",
-      "['sg02ad_bd', 'tc01od_r', 'sg02ad_bc', 'sb02od_n', 'sg02ad_g', 'tg01ad']\n",
-      "['tb05ad_nh', 'sb10jd', 'td04ad_r', 'sb02mt_nl', 'tb05ad_ng', 'tb04ad_r']\n",
-      "['tb03ad_r', 'td04ad_c', 'tg01fd_uu', 'ag08bd', 'tb03ad_l', 'sb02od_b']\n",
-      "['sb02mt_n', 'tg01fd_nn', 'sb02mt_c', 'tb05ad_ag', 'tc04ad_r', 'sb02od_d']\n",
-      "['tg01fd_ii', 'sg02ad_bb', 'tc04ad_l', 'sb02mt_cl', 'tb04ad_c', 'tc01od_l']\n",
-      "['sb02od_c', 'sg02ad_bn']\n",
+      "['td04ad_c', 'sb02mt_cl', 'sg02ad_bb', 'sb02mt_c', 'tc04ad_l', 'tg01fd_nn']\n",
+      "['tc01od_r', 'sb02od_c', 'tb04ad_r', 'ag08bd', 'sb02mt_n', 'sg02ad_bn']\n",
+      "['td04ad_r', 'tb03ad_l', 'sg02ad_bc', 'sb02od_d', 'tc04ad_r', 'tg01fd_ii']\n",
+      "['tc01od_l', 'tb05ad_ng', 'sb02od_n', 'sb02mt_nl', 'sb10jd', 'sb02od_b']\n",
+      "['tb05ad_ag', 'tb05ad_nh', 'tg01fd_uu', 'tb04ad_c', 'tg01ad', 'tb03ad_r']\n",
+      "['sg02ad_bd', 'sg02ad_g']\n",
       "None\n",
       "\n",
       "\n",
       "Currently there are 42 routines implemented in slycot_wrapper or slycot_f2py_wrapper.\n",
       "------\n",
-      "['sg02ad_bd', 'tc04ad', 'tc01od_r', 'sb02mt', 'sb02od_n', 'sg02ad_bc']\n",
-      "['sg02ad_g', 'tg01ad', 'tb05ad_nh', 'sb10jd', 'td04ad_r', 'sb02mt_nl']\n",
-      "['tb05ad_ng', 'td04ad', 'tb04ad_r', 'tb03ad_r', 'td04ad_c', 'tg01fd_uu']\n",
-      "['ag08bd', 'tb04ad', 'sg02ad', 'sb02od_b', 'tb03ad_l', 'sb02od']\n",
-      "['sb02mt_n', 'tg01fd_nn', 'tb05ad_ag', 'sb02mt_c', 'tc04ad_r', 'sb03md57']\n",
-      "['tg01fd_ii', 'sb02od_d', 'sg02ad_bb', 'tc04ad_l', 'tb05ad', 'sb02mt_cl']\n",
-      "['tb04ad_c', 'tc01od_l', 'sb02od_c', 'tc01od', 'sg02ad_bn', 'tb03ad']\n",
+      "['td04ad_c', 'tb05ad', 'sb02mt_cl', 'sg02ad_bb', 'sb02mt', 'sb02mt_c']\n",
+      "['tc04ad_l', 'tg01fd_nn', 'tc01od_r', 'tb03ad', 'ag08bd', 'sb02od_c']\n",
+      "['tb04ad_r', 'sb03md57', 'sb02mt_n', 'tb04ad', 'td04ad', 'sg02ad_bn']\n",
+      "['td04ad_r', 'tb03ad_l', 'sg02ad_bc', 'sb02od_d', 'tc04ad_r', 'tg01fd_ii']\n",
+      "['tc01od_l', 'tb05ad_ng', 'sb02od_n', 'sg02ad', 'sb02od', 'sb02mt_nl']\n",
+      "['sb10jd', 'sb02od_b', 'tb05ad_ag', 'tb05ad_nh', 'tg01fd_uu', 'tc04ad']\n",
+      "['tb04ad_c', 'tg01ad', 'tb03ad_r', 'sg02ad_bd', 'tc01od', 'sg02ad_g']\n",
       "None\n",
       "\n",
       "\n"
@@ -254,32 +262,32 @@
      "text": [
       "Currently there are 39 routines implemented in slycot_wrapper and in slycot_f2py_wrapper.\n",
       "------\n",
-      "['tf01md', 'ab13ed', 'mb05md', 'ab13fd', 'mb03vd', 'ab07nd']\n",
-      "['mb03rd', 'ab09bd', 'ab05md', 'sg03bd', 'ab08nz', 'sb10hd']\n",
-      "['mb05nd', 'ab09md', 'mc01td', 'tb01id', 'ab08nd', 'ab13dd']\n",
-      "['sb02md', 'ab09ax', 'sb10ad', 'sb10dd', 'ab09ad', 'ab13md']\n",
-      "['sb01bd', 'tf01rd', 'ab13bd', 'sg03ad', 'sb03md', 'tb01pd']\n",
-      "['ab01nd', 'ab05nd', 'sb03od', 'sb04qd', 'ab09nd', 'mb03vy']\n",
-      "['sb10fd', 'mb03wd', 'sb04md']\n",
+      "['mc01td', 'sb04qd', 'ab13dd', 'ab13md', 'ab13fd', 'sb03od']\n",
+      "['sg03bd', 'ab08nz', 'tb01id', 'mb03rd', 'tb01pd', 'mb05nd']\n",
+      "['sb04md', 'tf01rd', 'sb01bd', 'mb03vd', 'mb05md', 'ab05nd']\n",
+      "['mb03vy', 'ab08nd', 'ab05md', 'ab09ax', 'sb02md', 'sg03ad']\n",
+      "['ab09md', 'sb10dd', 'sb03md', 'ab09bd', 'tf01md', 'ab09ad']\n",
+      "['sb10hd', 'sb10ad', 'ab07nd', 'ab01nd', 'mb03wd', 'ab09nd']\n",
+      "['ab13ed', 'ab13bd', 'sb10fd']\n",
       "None\n",
       "\n",
       "\n",
       "Currently there are 81 routines implemented in slycot_wrapper or in slycot_f2py_wrapper.\n",
       "------\n",
-      "['sg02ad_bd', 'ab13ed', 'tc04ad', 'ab13fd', 'mb03vd', 'tc01od_r']\n",
-      "['sb02mt', 'mb03rd', 'sb02od_n', 'sg02ad_g', 'tg01ad', 'tb05ad_nh']\n",
-      "['ab08nz', 'sb10hd', 'td04ad', 'tb04ad_r', 'tb03ad_r', 'tb04ad']\n",
-      "['ab09md', 'ab08nd', 'ab13dd', 'mc01td', 'sb02od_b', 'tb01id']\n",
-      "['tb03ad_l', 'sb02md', 'sb10dd', 'ab09ad', 'sb02mt_c', 'tb05ad_ag']\n",
-      "['tb01pd', 'sg02ad_bb', 'ab05nd', 'tb05ad', 'sb03od', 'sb04qd']\n",
-      "['sb02od_c', 'ab09nd', 'mb03vy', 'sg02ad_bn', 'mb03wd', 'sb04md']\n",
-      "['tf01md', 'mb05md', 'ab07nd', 'sg02ad_bc', 'ab09bd', 'ab05md']\n",
-      "['sb10jd', 'td04ad_r', 'sb02mt_nl', 'sg03bd', 'tb05ad_ng', 'td04ad_c']\n",
-      "['tg01fd_uu', 'mb05nd', 'ag08bd', 'sg02ad', 'ab09ax', 'sb02od']\n",
-      "['sb10ad', 'sb02mt_n', 'tg01fd_nn', 'ab13md', 'sb01bd', 'tc04ad_r']\n",
-      "['sb02od_d', 'ab13bd', 'sg03ad', 'sb03md', 'tf01rd', 'tg01fd_ii']\n",
-      "['sb03md57', 'ab01nd', 'tc04ad_l', 'sb02mt_cl', 'tb04ad_c', 'tc01od_l']\n",
-      "['sb10fd', 'tc01od', 'tb03ad']\n",
+      "['mc01td', 'td04ad_c', 'sg02ad_bb', 'sb02mt', 'sb02mt_c', 'tc01od_r']\n",
+      "['ab13md', 'ag08bd', 'ab08nz', 'tb01id', 'mb03rd', 'tb04ad']\n",
+      "['td04ad', 'sb04md', 'tf01rd', 'mb03vd', 'ab05nd', 'tc04ad_r']\n",
+      "['sb02md', 'sg03ad', 'tg01fd_ii', 'tc01od_l', 'tb05ad_ng', 'sb02od_n']\n",
+      "['sb03md', 'sb02mt_nl', 'sb10jd', 'tf01md', 'sb02od_b', 'ab09ad']\n",
+      "['tb05ad_ag', 'sb10hd', 'tb04ad_c', 'sb10ad', 'ab01nd', 'tg01ad']\n",
+      "['ab13ed', 'tb03ad', 'sg02ad_bd', 'tb05ad', 'sb02mt_cl', 'sb04qd']\n",
+      "['tc04ad_l', 'tg01fd_nn', 'ab13dd', 'ab13fd', 'sb03od', 'sb02od_c']\n",
+      "['tb04ad_r', 'sg03bd', 'sb02mt_n', 'sb03md57', 'tb01pd', 'mb05nd']\n",
+      "['sg02ad_bn', 'td04ad_r', 'sb01bd', 'tb03ad_l', 'mb05md', 'sg02ad_bc']\n",
+      "['sb02od_d', 'mb03vy', 'ab08nd', 'ab05md', 'ab09ax', 'ab09md']\n",
+      "['sb10dd', 'sg02ad', 'ab09bd', 'sb02od', 'tb05ad_nh', 'tg01fd_uu']\n",
+      "['tc04ad', 'ab07nd', 'mb03wd', 'ab09nd', 'tb03ad_r', 'ab13bd']\n",
+      "['sb10fd', 'tc01od', 'sg02ad_g']\n",
       "None\n",
       "\n",
       "\n"
diff --git a/doc/source/dev/slicot_slycot.ipynb b/doc/source/dev/slicot_slycot.ipynb
index 9954a074..98c6b4d0 100644
--- a/doc/source/dev/slicot_slycot.ipynb
+++ b/doc/source/dev/slicot_slycot.ipynb
@@ -5,27 +5,37 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# SLICOT vs Slycot"
+    "# Inspect SLICOT and Slycot"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook shows how to inspect the slicot libary and the slycot module.\n",
+    "The result gives us a insight which slicot routines are implemented slycot."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": 19,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0.1.dev606+g8b31df8'"
+       "'0.1.dev607+g25317fd.d20230808'"
       ]
      },
-     "execution_count": 1,
+     "execution_count": 19,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
     "import re\n",
+    "import pandas as pd\n",
     "import matplotlib.pyplot as plt\n",
     "from matplotlib_venn import venn2\n",
     "\n",
@@ -38,28 +48,49 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Inspect function"
+    "##  Helper function"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 20,
    "metadata": {},
    "outputs": [],
    "source": [
-    "def print_list_chunks(l, n=6):\n",
-    "      \n",
+    "def print_list_chunks(routines_list, n=6):\n",
+    "    \"\"\"Print list in chunks of lists.\"\"\"\n",
     "    start = 0\n",
-    "    end = len(l)\n",
+    "    end = len(routines_list)\n",
     "    step = n\n",
     "    for i in range(start, end, step):\n",
     "        x = i\n",
-    "        print(l[x:x+step])"
+    "        print(routines_list[x:x+step])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 21,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_routines(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect function"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 22,
    "metadata": {},
    "outputs": [
     {
@@ -177,22 +208,23 @@
     "with open('slicot_procedures.txt') as f:\n",
     "    lines = f.readlines()\n",
     "\n",
-    "slicot_methods = [x.split(\"\\n\")[0] for x in lines]\n",
+    "slicot_routines = [x.split(\"\\n\")[0] for x in lines]\n",
     "\n",
-    "print(f\"Currently there are {len(slicot_methods)} routines implemented.\")\n",
-    "print(print_list_chunks(slicot_methods))"
+    "print(f\"Currently there are {len(slicot_routines)} routines implemented.\")\n",
+    "print(print_list_chunks(slicot_routines))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 23,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 49 routines implemented.\n",
+      "Currently there are 49 methods implemented.\n",
+      "------\n",
       "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
       "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
       "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd']\n",
@@ -207,209 +239,197 @@
     }
    ],
    "source": [
-    "def get_slycot_method(sly):\n",
-    "    all_attributes = dir(sly)\n",
-    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
-    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
-    "    return matched_attributes\n",
+    "slycot_routines = get_slycot_routines(slycot)\n",
     "\n",
-    "slycot_methods = get_slycot_method(slycot)\n",
-    "\n",
-    "print(f\"Currently there are {len(slycot_methods)} routines implemented.\")\n",
-    "print(print_list_chunks(slycot_methods))"
+    "print(f\"Currently there are {len(slycot_routines)} methods implemented.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(slycot_routines))"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Generate Sets for the Venn-Diagramm"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 24,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "slicot_methods_count = {'m': 281, 't': 77, 'a': 60, 's': 131, 'd': 8, 'f': 6, 'i': 15, 'u': 7, 'n': 16, 'b': 6}\n",
-      "slycot_methods_count = {'a': 16, 'm': 7, 's': 16, 't': 10}\n"
+      "Currently there are 608 routines implemented.\n",
+      "------\n",
+      "['sb03os', 'sb04py', 'mb04md', 'tb04cd', 'sb10ud', 'tg01nx']\n",
+      "['ud01md', 'mb02id', 'mb04tb', 'sb08md', 'ma02dd', 'ib01my']\n",
+      "['ab09jw', 'sb10ed', 'ib01od', 'sb02mu', 'mb03td', 'mb04py']\n",
+      "['ab09jx', 'mb01ot', 'mb03gz', 'mb04kd', 'sb03qx', 'tb04bv']\n",
+      "['ab05od', 'mb01nd', 'mb02sz', 'tb01xz', 'sb10hd', 'tf01mx']\n",
+      "['tg01fd', 'mb01vd', 'sb02ox', 'fd01ad', 'mb3lzp', 'mb02nd']\n",
+      "['sb03ot', 'mb03my', 'ma02pd', 'mb04az', 'mb03qy', 'mb02hd']\n",
+      "['mb04ru', 'mc03nx', 'mc01md', 'tb01wd', 'sg03bz', 'mb03fd']\n",
+      "['mb04tt', 'ab04md', 'sb16cy', 'mb03bb', 'ma01bd', 'sb08my']\n",
+      "['sb03ou', 'sb04od', 'sb03oz', 'mb03ya', 'mb01ry', 'sb04ry']\n",
+      "['mb04od', 'sb04rv', 'mb04pb', 'ib01nd', 'mb04iy', 'ab13bd']\n",
+      "['sg03bd', 'tg01hd', 'tc04ad', 'mb04bd', 'mc01sw', 'mb04ow']\n",
+      "['sg03bv', 'tg01kz', 'tg01hx', 'sb10wd', 'tb04ad', 'nf01by']\n",
+      "['sb04rd', 'mb04wp', 'ab05md', 'sb09md', 'sb10fd', 'tg01ly']\n",
+      "['sg03ad', 'mb04ox', 'mb02cv', 'td05ad', 'sb03my', 'mb02gd']\n",
+      "['sb04qd', 'mb05my', 'bb04ad', 'mb04id', 'ag08by', 'mb04ld']\n",
+      "['mb03ud', 'mb04qb', 'mc01sd', 'mb04vx', 'nf01bw', 'td03ay']\n",
+      "['tf01od', 'tb01ty', 'sb03mv', 'ab08nz', 'mb3oyz', 'mb03pd']\n",
+      "['sb10qd', 'mc01wd', 'mb03lf', 'mb04xy', 'mb01oo', 'mb03ry']\n",
+      "['sb08dd', 'nf01bv', 'ag07bd', 'ab09nd', 'sb03ud', 'mb04wr']\n",
+      "['mb3jzp', 'mb02xd', 'sb04qy', 'sb16cd', 'mb01xy', 'ab09jd']\n",
+      "['mb02uw', 'ma02jz', 'ab09iy', 'mb03ah', 'mb03zd', 'ib01pd']\n",
+      "['sb01md', 'sb04rx', 'tg01kd', 'sb10sd', 'mb01oc', 'ma02id']\n",
+      "['sb04nd', 'mb03ld', 'mb03rw', 'mb01uy', 'mb02cx', 'ab13id']\n",
+      "['mb04bz', 'sb10kd', 'ma01bz', 'mb04cd', 'ab09bd', 'nf01be']\n",
+      "['sb03od', 'tb01nd', 'mb01zd', 'ab09kx', 'tb01xd', 'mb04ed']\n",
+      "['nf01br', 'sb04mr', 'sb04nx', 'sb02ou', 'mb01rw', 'sb02qd']\n",
+      "['sb03mw', 'ag08bd', 'mb02td', 'bd02ad', 'mb04su', 'mb02sd']\n",
+      "['de01pd', 'mb04ds', 'ma02hz', 'mb03cz', 'ab08nx', 'ma02pz']\n",
+      "['ab09cx', 'dg01od', 'mb01kd', 'mb01ux', 'mb02cy', 'tb04bx']\n",
+      "['dk01md', 'ma02gz', 'mc01pd', 'tg01pd', 'md03bf', 'sb04qr']\n",
+      "['sb10jd', 'ma02ed', 'sb04mu', 'sb08fd', 'nf01ay', 'ab09hx']\n",
+      "['sg03ay', 'mb03id', 'mb04yd', 'ab13ad', 'sb03qy', 'sg03by']\n",
+      "['ib01py', 'mb03ab', 'mb05md', 'mb01oe', 'sb02rd', 'tb01ud']\n",
+      "['tb01px', 'sb10vd', 'sb03md57', 'tb01pd', 'mb01os', 'mb03ny']\n",
+      "['ma02gd', 'mb01uz', 'mb04hd', 'tb01ld', 'mb02md', 'ab09hd']\n",
+      "['mb04fd', 'mb03ai', 'sb02pd', 'mb01sd', 'ud01dd', 'sb04px']\n",
+      "['mb03md', 'ag8byz', 'mb03qx', 'ma02ad', 'ud01bd', 'mb04di']\n",
+      "['mb04wd', 'sb03sx', 'mc01td', 'mc01sx', 'ma02md', 'tg01hy']\n",
+      "['sb02oy', 'ab13fd', 'sb03pd', 'sb02mt', 'ib01px', 'ab08nw']\n",
+      "['ma02cz', 'ma02nz', 'mb03xu', 'tc01od', 'mb03qv', 'sg03bu']\n",
+      "['nf01bx', 'sb01bd', 'sb04ny', 'mb03oy', 'sb10yd', 'mb03qg']\n",
+      "['sb02cx', 'sb04nw', 'mb03wx', 'bd01ad', 'tg01nd', 'mb01ld']\n",
+      "['tg01dd', 'ud01mz', 'mb03xz', 'mb4dlz', 'sb01by', 'ab09id']\n",
+      "['mb03jd', 'mb03bc', 'ab09ax', 'mb02vd', 'sg02ad', 'mb04nd']\n",
+      "['mb01ud', 'mc01nd', 'mb04oy', 'md03ba', 'sb10md', 'ab13dd']\n",
+      "['ib01oy', 'ab13md', 'sb04nv', 'mb01yd', 'tb01id', 'tg01gd']\n",
+      "['mb03jp', 'sb10pd', 'nf01bu', 'mc01xd', 'mb05oy', 'mb02ed']\n",
+      "['sb04my', 'fb01td', 'ab09gd', 'nf01ad', 'mb03vy', 'ab07nd']\n",
+      "['mb05nd', 'mb01rd', 'tb01ux', 'mb03kb', 'ib03ad', 'sb10zd']\n",
+      "['ab13ax', 'mb03bz', 'ud01nd', 'sb08cd', 'sg02cx', 'mb04tw']\n",
+      "['mb01rh', 'mb03rd', 'tg01ob', 'mb02ny', 'mb04qf', 'ma02fd']\n",
+      "['tg01bd', 'mb02jd', 'mb04ad', 'mb02qy', 'ma02es', 'ab05sd']\n",
+      "['tb01wx', 'mb03ed', 'tf01nd', 'tg01od', 'sb10ad', 'tb01md']\n",
+      "['mb04tx', 'mb03yt', 'nf01bb', 'sb02ow', 'bb02ad', 'ab09bx']\n",
+      "['ab05nd', 'mb03xp', 'tg01hu', 'ab08ny', 'sb02md', 'sb16ay']\n",
+      "['mb03xs', 'sb03sd', 'sb02ms', 'mc03md', 'mb04ty', 'mb01rx']\n",
+      "['ab09cd', 'mb02cu', 'mb4dpz', 'mb02wd', 'mc01qd', 'sb04qu']\n",
+      "['nf01bf', 'tc05ad', 'ab09md', 'tb01zd', 'mb02tz', 'mb04iz']\n",
+      "['mb03lp', 'mb01rt', 'mc03nd', 'mb03wd', 'mb02ud', 'mb03iz']\n",
+      "['mc01py', 'td04ad', 'sb02ov', 'ib01md', 'ud01cd', 'mb02pd']\n",
+      "['ab09hy', 'sb10ld', 'ab09jv', 'mb03jz', 'mb04qu', 'sb03oy']\n",
+      "['sg02cw', 'mb03py', 'sb02mv', 'mb03wa', 'tg01id', 'tb01vd']\n",
+      "['ab09ed', 'mb03kd', 'mb03af', 'mc03ny', 'mb03bd', 'sb10dd']\n",
+      "['ab01od', 'sb03or', 'mb04fp', 'tg01qd', 'mb04tv', 'bb03ad']\n",
+      "['ab07md', 'tb01uy', 'tb05ad', 'ue01md', 'nf01bd', 'ma02ez']\n",
+      "['tg01az', 'mb03gd', 'ib01qd', 'mc01rd', 'mb03ba', 'mb03bf']\n",
+      "['mb04zd', 'ag08bz', 'mb03ad', 'fb01sd', 'mb03qd', 'tg01ad']\n",
+      "['mb04pa', 'tg01jy', 'tb01kd', 'ib01cd', 'mb04dp', 'tf01rd']\n",
+      "['mb02kd', 'ma02bd', 'ab13cd', 'mb03nd', 'nf01ba', 'mb03hz']\n",
+      "['mb04yw', 'mb01xd', 'ab09dd', 'md03bx', 'md03bb', 'tg01ed']\n",
+      "['sb08ny', 'sg03bt', 'de01od', 'mb03fz', 'ma02az', 'mc01sy']\n",
+      "['tb03ay', 'tb01yd', 'dg01md', 'fb01rd', 'mb03za', 'ab05qd']\n",
+      "['tb04bw', 'tg01oa', 'ab09kd', 'mb01md', 'mb03dd', 'sg03ax']\n",
+      "['mb03be', 'sg03bx', 'sb03rd', 'tf01qd', 'tg01jd', 'mb03hd']\n",
+      "['sg03br', 'nf01bp', 'mb01uw', 'mb04dz', 'sg03bs', 'sb08gd']\n",
+      "['df01md', 'sb02mx', 'mb03dz', 'mb04dd', 'ab01nd', 'mb02rz']\n",
+      "['dg01ny', 'mb03ke', 'sg02cv', 'ab01md', 'sb04rw', 'fb01qd']\n",
+      "['ma02iz', 'ib01rd', 'ib01ad', 'sb02sd', 'mb02uu', 'ab08nd']\n",
+      "['mb01ru', 'sb16ad', 'mb04ny', 'ab09ad', 'mb04tu', 'bb01ad']\n",
+      "['tb01iz', 'mb04rb', 'mb04dl', 'mc01vd', 'sb02mr', 'fb01vd']\n",
+      "['mb01oh', 'mb04qc', 'mb04gd', 'ab13dx', 'sb03mu', 'tf01md']\n",
+      "['mb04ud', 'mb03cd', 'mb03qw', 'mb04vd', 'sb02ru', 'mb02qd']\n",
+      "['mb03yd', 'mb01pd', 'sb03md', 'tg01md', 'mb04ts', 'sb03td']\n",
+      "['mb04pu', 'tb04bd', 'ma02jd', 'ma02od', 'sb03mx', 'sb01fy']\n",
+      "['mb02rd', 'mb02cd', 'mb02jx', 'mb03rx', 'mb02yd', 'tg01ld']\n",
+      "['md03ad', 'mb04dy', 'mb04jd', 'mb03lz', 'md03bd', 'mb03ka']\n",
+      "['mb02uv', 'tb01kx', 'ab09fd', 'sb04pd', 'sb10id', 'mb01od']\n",
+      "['mb01qd', 'mb04db', 'mb01wd', 'mb03ae', 'ab8nxz', 'ma02cd']\n",
+      "['mb05od', 'sb01dd', 'ab08md', 'nf01bs', 'mb03ag', 'mc01od']\n",
+      "['sb10rd', 'mb03ts', 'sb04md', 'ma02hd', 'mb03xd', 'sb02mw']\n",
+      "['sb04mw', 'md03by', 'mb02od', 'sb01bx', 'mb01ss', 'tg01fz']\n",
+      "['ma02oz', 'tf01pd', 'sb08nd', 'tb01vy', 'sg03bw', 'mb3pyz']\n",
+      "['tg01wd', 'td03ad', 'mb02dd', 'sb08hd', 'ma02bz', 'mb04bp']\n",
+      "['ma02mz', 'mb03kc', 'mb03sd', 'tf01my', 'sb03ov', 'sb04ow']\n",
+      "['ab13ed', 'sb10zp', 'dg01nd', 'sb06nd', 'tg01oz', 'tg01cd']\n",
+      "['ma01cd', 'sb02od', 'mb03vw', 'sb02nd', 'mb01rb', 'mb4dbz']\n",
+      "['ab05rd', 'ab05pd', 'mb03od', 'mb04wu', 'mb01td', 'sb03sy']\n",
+      "['mb02fd', 'mb03rz', 'tb04ay', 'sb16bd', 'ib01bd', 'ab08mz']\n",
+      "['mb04qs', 'tb03ad', 'mb03bg', 'sb03qd', 'mb03vd', 'sg02nd']\n",
+      "['ab09ix', 'ma01ad', 'mb04xd', 'nf01bq', 'sb10td', 'ib03bd']\n",
+      "['sb08ed', 'tb01td']\n",
+      "None\n",
+      "\n",
+      "\n"
      ]
     }
    ],
    "source": [
-    "def count_methods(list_methods):\n",
-    "    d = {}\n",
-    "    for w in list_methods:\n",
-    "        if w:\n",
-    "            if w[0] in d:\n",
-    "                d[w[0]] = d[w[0]] + 1\n",
-    "            else:\n",
-    "                d[w[0]] = 1\n",
-    "    return d\n",
+    "union = list(set(slicot_routines) | set(slycot_routines))\n",
     "\n",
-    "slicot_methods_count = count_methods(slicot_methods)\n",
-    "slycot_methods_count = count_methods(slycot_methods)\n",
-    "print(f\"{slicot_methods_count = }\")\n",
-    "print(f\"{slycot_methods_count = }\")"
+    "print(f\"Currently there are {len(union)} routines implemented.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(union))\n",
+    "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 25,
    "metadata": {},
    "outputs": [
     {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Currently there are 48 routines which are found in slicot and slycot.\n",
+      "------\n",
+      "['ab09bd', 'sb02md', 'ab01nd', 'ab13bd', 'sg03bd', 'tb05ad']\n",
+      "['sb03od', 'sb02od', 'ab09nd', 'tc04ad', 'sb03md', 'ab09ax']\n",
+      "['sb04md', 'sg02ad', 'ab08nd', 'mc01td', 'tb04ad', 'mb03rd']\n",
+      "['ab09ad', 'ab05md', 'ab13dd', 'ab13fd', 'ab13md', 'sb02mt']\n",
+      "['sb10fd', 'sb10hd', 'sg03ad', 'tb01id', 'mb05md', 'sb04qd']\n",
+      "['tc01od', 'sb10dd', 'tf01rd', 'ab09md', 'tb01pd', 'sb10ad']\n",
+      "['sb01bd', 'tb03ad', 'mb03vd', 'mb03vy', 'ab13ed', 'ab07nd']\n",
+      "['mb03wd', 'mb05nd', 'tf01md', 'td04ad', 'ab08nz', 'ab05nd']\n",
+      "None\n",
+      "\n",
+      "\n"
+     ]
     }
    ],
    "source": [
-    "from collections import OrderedDict\n",
-    "\n",
-    "slicot_full_names = {\n",
-    "    \"a\": \"Analysis Routines\",\n",
-    "    \"b\": \"Benchmark\",\n",
-    "    \"c\": \"Adaptive Control\",\n",
-    "    \"d\": \"Data Analysis\",\n",
-    "    \"f\": \"Filtering\",\n",
-    "    \"i\": \"Identification\",\n",
-    "    \"m\": \"Mathematical routines\",\n",
-    "    \"n\": \"Nonlinear Systems\",\n",
-    "    \"s\": \"Synthesis Routines\",\n",
-    "    \"t\": \"Transformation Routines\",\n",
-    "    \"u\": \"Utility Routines\",\n",
-    "}\n",
-    "\n",
-    "names_sli = list(slicot_methods_count.keys())\n",
-    "values_sli = list(slicot_methods_count.values())\n",
-    "\n",
-    "names_sly = list(slycot_methods_count.keys())\n",
-    "values_sly = list(slycot_methods_count.values())\n",
     "\n",
+    "intersection = list(set(slicot_routines) & set(slycot_routines))\n",
+    "intersection\n",
     "\n",
-    "plt.barh(range(len(slicot_methods_count)), values_sli, tick_label=[slicot_full_names[x] for x in names_sli])\n",
-    "plt.barh(range(len(slycot_methods_count)), values_sly)\n",
-    "plt.legend((\"slicot\",\"slycot\"))\n",
-    "plt.title(\"Slicot vs Slycot\")\n",
-    "plt.show()"
+    "print(f\"Currently there are {len(intersection)} routines which are found in slicot and slycot.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(intersection))\n",
+    "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 26,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 608 routines implemented.\n",
+      "Currently there are 1 routines which are found in slicot and slycot.\n",
       "------\n",
-      "['ib01nd', 'ab09gd', 'sb04nx', 'mb02cy', 'mb01qd', 'mb04ox']\n",
-      "['td03ad', 'ma02dd', 'mb03lp', 'mb03vw', 'sb08my', 'mb03bg']\n",
-      "['ab08md', 'sb03sd', 'mb03af', 'ma01cd', 'sb16ay', 'sg03bv']\n",
-      "['mb03ah', 'tg01kd', 'mb04md', 'mb01xy', 'ab09dd', 'mb02cu']\n",
-      "['ma02od', 'ab09id', 'nf01bv', 'ma02iz', 'ud01dd', 'mb02wd']\n",
-      "['mb03be', 'sb03oz', 'tg01oa', 'mb03xp', 'sb03td', 'mb3jzp']\n",
-      "['sb10dd', 'sb03qx', 'mb03vd', 'mb01xd', 'mb02rd', 'mb01yd']\n",
-      "['sb02nd', 'ma01ad', 'sb03mw', 'sb02sd', 'mb01rh', 'ab09jd']\n",
-      "['bd01ad', 'mb02tz', 'mb04id', 'mb03ed', 'nf01by', 'mb02hd']\n",
-      "['sb08md', 'md03bx', 'tb01ld', 'sb04ow', 'mb03xs', 'mc01sy']\n",
-      "['sg03br', 'fb01sd', 'mb04hd', 'sb10id', 'mb03my', 'mb04kd']\n",
-      "['sb08ed', 'ma02jz', 'sb03os', 'sb01dd', 'mb02dd', 'mb03xz']\n",
-      "['tb04bx', 'ib03bd', 'mb04xd', 'sg02cw', 'tg01ad', 'tb03ad']\n",
-      "['ma02pz', 'sb10hd', 'ab05qd', 'tb01pd', 'mb03qd', 'sb01bx']\n",
-      "['mb02ny', 'tg01ob', 'sb08nd', 'mb03wx', 'ag08bz', 'md03bd']\n",
-      "['sg03by', 'tb01td', 'sb04ry', 'ud01nd', 'mb05md', 'mb01rw']\n",
-      "['mb03kd', 'mb01md', 'sb10ud', 'mb03id', 'mb01ry', 'sb04nd']\n",
-      "['tf01mx', 'fb01td', 'mb04pa', 'mb4dbz', 'mb04gd', 'mb03dd']\n",
-      "['mb04db', 'sg03ax', 'ab09fd', 'ab08nx', 'mb03fz', 'mb03qx']\n",
-      "['mb02yd', 'ab09ad', 'mc01qd', 'ib01md', 'mb02ed', 'sb08gd']\n",
-      "['ma01bz', 'tb01nd', 'sg03bx', 'mb02qd', 'tb01ty', 'mb03qw']\n",
-      "['sb10fd', 'tg01md', 'mb04wp', 'ib03ad', 'mc03nd', 'ab09hy']\n",
-      "['mb04ud', 'fb01vd', 'ib01od', 'mb04ds', 'sb03ou', 'mb04rb']\n",
-      "['tg01oz', 'ma02hz', 'mb02sd', 'sb03rd', 'mb03gd', 'ma02ed']\n",
-      "['sb02mw', 'bb02ad', 'tb01iz', 'tg01nd', 'tg01jd', 'ib01my']\n",
-      "['tg01dd', 'ma02ad', 'mb03ts', 'ib01cd', 'tg01ed', 'sb03md']\n",
-      "['sb10ed', 'mb04ld', 'mb01nd', 'tg01wd', 'sb10rd', 'mb03wd']\n",
-      "['ab07md', 'mb04qb', 'tg01od', 'fb01qd', 'sb08hd', 'tb04cd']\n",
-      "['mc03nx', 'nf01bu', 'ab07nd', 'mb01oc', 'ag8byz', 'ma02mz']\n",
-      "['mc01md', 'mb03pd', 'sg03ay', 'sb01md', 'sb16ad', 'ab09ed']\n",
-      "['sb02ou', 'ab01md', 'mb04fp', 'ab04md', 'sb16cy', 'ab09ax']\n",
-      "['tg01hy', 'mb02qy', 'mc01vd', 'mb01vd', 'sb04rx', 'ab01od']\n",
-      "['sb10jd', 'mb04qu', 'mb04zd', 'sb03md57', 'mb03td', 'mb04dp']\n",
-      "['sb04rd', 'mb02sz', 'sb02ow', 'mb02uw', 'sb08dd', 'mb03md']\n",
-      "['tg01hd', 'mb01zd', 'mb03jd', 'ag07bd', 'sb10pd', 'mb04tw']\n",
-      "['mb04xy', 'sb04od', 'mb03ke', 'mb04jd', 'sg03bw', 'ab08mz']\n",
-      "['mc01xd', 'mb01pd', 'nf01br', 'mb04ty', 'tg01az', 'ib01ad']\n",
-      "['nf01bd', 'fb01rd', 'tb04ay', 'mb03ae', 'ma02hd', 'mb04su']\n",
-      "['mb01ru', 'mb04qc', 'sb03or', 'nf01be', 'mb01ud', 'sb02oy']\n",
-      "['tg01kz', 'sb04pd', 'mb04oy', 'mb3lzp', 'sb10wd', 'sb03oy']\n",
-      "['ma02ez', 'ab13id', 'tg01pd', 'ab09jw', 'sg03bt', 'mb04di']\n",
-      "['mb03lf', 'tb01id', 'mb03kc', 'de01od', 'tb01md', 'sg03bd']\n",
-      "['nf01bf', 'tc04ad', 'mb03rd', 'sb04qr', 'ma02bd', 'mb03bf']\n",
-      "['mb04od', 'mb01rd', 'ma02bz', 'tg01cd', 'sb02mx', 'sb04py']\n",
-      "['ab13ed', 'mb04vd', 'tg01id', 'mb3oyz', 'mb01uw', 'md03bf']\n",
-      "['sb08cd', 'mb05oy', 'sb03mu', 'mb03ka', 'mc03md', 'sb04ny']\n",
-      "['mb03vy', 'mb02cx', 'mb02nd', 'mb03qy', 'ma01bd', 'sb10sd']\n",
-      "['mb02od', 'ib01bd', 'mb04vx', 'mb03jp', 'mb02rz', 'mb03hd']\n",
-      "['sb02qd', 'ab05pd', 'sb01bd', 'mb01oe', 'mb04ru', 'mb03wa']\n",
-      "['mb04yw', 'mb05my', 'sb04nv', 'mb02cv', 'sb02ov', 'tf01md']\n",
-      "['sb02ru', 'sg02ad', 'mb01kd', 'mb01rt', 'mb03lz', 'tg01fz']\n",
-      "['sb10zd', 'ab09jv', 'tg01gd', 'de01pd', 'nf01ad', 'ud01bd']\n",
-      "['mb03ai', 'ma02gz', 'tb01xz', 'tf01nd', 'sg02nd', 'md03bb']\n",
-      "['tb05ad', 'mb03jz', 'sb10vd', 'mb02xd', 'nf01ay', 'sb10zp']\n",
-      "['sb09md', 'ab8nxz', 'sg03bz', 'bb01ad', 'mb02jd', 'mb04bd']\n",
-      "['sb02od', 'sb04mr', 'mb01sd', 'mb03fd', 'mb01rb', 'tb04bd']\n",
-      "['tb01vy', 'mb04dz', 'td04ad', 'nf01bb', 'sb02md', 'dg01od']\n",
-      "['sb02cx', 'sb04qu', 'ma02id', 'mb04pb', 'mb03ry', 'sb10ad']\n",
-      "['tb04bw', 'sb08fd', 'ab13ax', 'tb01xd', 'mb4dpz', 'mb04tx']\n",
-      "['sb03sx', 'ma02gd', 'mb01oo', 'ma02oz', 'sb02ox', 'sb04mw']\n",
-      "['mb04wr', 'mb03cz', 'sb04rw', 'sb03mv', 'dg01nd', 'tg01ly']\n",
-      "['mb03qv', 'mb01ot', 'mb03py', 'bb03ad', 'tc01od', 'mb04bp']\n",
-      "['ab09kx', 'mb03sd', 'mb03rw', 'mb02id', 'ab13fd', 'mb03iz']\n",
-      "['mb03qg', 'nf01bx', 'mb4dlz', 'sb02mt', 'ab09iy', 'sb16bd']\n",
-      "['mb03ag', 'tb01wd', 'sb04qy', 'mb04qs', 'bb04ad', 'mb05od']\n",
-      "['ag08by', 'sb10yd', 'mb03zd', 'ab01nd', 'tb04bv', 'mb04ny']\n",
-      "['mb03od', 'nf01bw', 'mb03bd', 'sb10td', 'mb01uy', 'sb01fy']\n",
-      "['mb04py', 'sb04mu', 'ma02pd', 'mc01od', 'ab05sd', 'tb01kd']\n",
-      "['tb01uy', 'dg01ny', 'mb04az', 'sb03pd', 'sb10ld', 'ib01px']\n",
-      "['mb03bc', 'tg01ld', 'ab08nz', 'mb04cd', 'mb04nd', 'mb04tt']\n",
-      "['mb04wd', 'sb04my', 'tb01vd', 'mb03yd', 'sb02pd', 'tb01wx']\n",
-      "['mc01py', 'mb01rx', 'tg01fd', 'mb03ny', 'tb01ux', 'tg01nx']\n",
-      "['mb03hz', 'sb03od', 'mb03dz', 'mb03rx', 'ma02md', 'nf01bp']\n",
-      "['ib01qd', 'mb04iz', 'sb04rv', 'mb04wu', 'ma02az', 'tg01hu']\n",
-      "['mb04yd', 'ma02jd', 'ma02cd', 'mb03ad', 'mb04tb', 'mc01sd']\n",
-      "['ag08bd', 'sb04nw', 'mb02cd', 'mb01od', 'mb02md', 'tf01my']\n",
-      "['sb02rd', 'ud01mz', 'mb03ld', 'mb04ad', 'tc05ad', 'ma02es']\n",
-      "['mc01sx', 'ab05od', 'mb03ya', 'ud01md', 'mc01sw', 'mb01oh']\n",
-      "['ab13md', 'sb02mr', 'sg03ad', 'tb01ud', 'dg01md', 'mb04bz']\n",
-      "['mb03xd', 'mb02fd', 'mb03bz', 'sb10kd', 'ab13ad', 'sb04qd']\n",
-      "['ab09bx', 'td05ad', 'sb03qd', 'bd02ad', 'ab09hx', 'ud01cd']\n",
-      "['mb04ed', 'ab09md', 'ab09cd', 'mb03oy', 'ab09ix', 'ab13dd']\n",
-      "['mb03ab', 'ma02cz', 'ab09nd', 'sb04px', 'mb03kb', 'sb03ov']\n",
-      "['mb02uv', 'ib01pd', 'nf01bs', 'tb01yd', 'ab05md', 'mb02kd']\n",
-      "['ma02nz', 'md03ba', 'tg01jy', 'mb04qf', 'mb04dd', 'ue01md']\n",
-      "['tb01zd', 'mb04ow', 'dk01md', 'sb03mx', 'sb06nd', 'ab08nw']\n",
-      "['mb01uz', 'tg01hx', 'mb03gz', 'mb04tv', 'mc01pd', 'mc01td']\n",
-      "['ab09hd', 'mb01td', 'sb02mu', 'fd01ad', 'ab13dx', 'sg02cx']\n",
-      "['ma02fd', 'mb01ss', 'tg01qd', 'mb02jx', 'ab05nd', 'df01md']\n",
-      "['ab08nd', 'mb02pd', 'tf01od', 'mb04ts', 'ab13bd', 'mb04iy']\n",
-      "['mb04dy', 'mb05nd', 'mc03ny', 'mb02td', 'mb03nd', 'tf01pd']\n",
-      "['sb03qy', 'sb16cd', 'mb01ld', 'tb03ay', 'mc01nd', 'nf01ba']\n",
-      "['mb02gd', 'sb02ms', 'mb03bb', 'mb03cd', 'md03by', 'sb03my']\n",
-      "['ab05rd', 'md03ad', 'ab09bd', 'sb08ny', 'sg02cv', 'ab09jx']\n",
-      "['sg03bs', 'sb04md', 'sb03ot', 'ab09kd', 'sb10qd', 'mc01wd']\n",
-      "['td03ay', 'mb3pyz', 'nf01bq', 'mb03yt', 'tb01px', 'ab09cx']\n",
-      "['tf01qd', 'ab08ny', 'mb03xu', 'mb03ba', 'tf01rd', 'mb02vd']\n",
-      "['sb01by', 'mb03ud', 'mb03za', 'mb04pu', 'mb02uu', 'mb03rz']\n",
-      "['sb10md', 'mb01os', 'mc01rd', 'sb03ud', 'mb01ux', 'tb01kx']\n",
-      "['mb04tu', 'tg01bd', 'mb04dl', 'ib01oy', 'sg03bu', 'sb02mv']\n",
-      "['ib01py', 'ab13cd', 'sb03sy', 'mb04fd', 'tb04ad', 'ib01rd']\n",
-      "['mb01wd', 'mb02ud']\n",
+      "['sb03md57']\n",
       "None\n",
       "\n",
       "\n"
@@ -417,58 +437,120 @@
     }
    ],
    "source": [
-    "union = list(set(slicot_methods) | set(slycot_methods))\n",
+    "not_in_slicot =  list(set(slycot_routines)- set(slicot_routines))\n",
+    "not_in_slicot\n",
     "\n",
-    "print(f\"Currently there are {len(union)} routines implemented.\")\n",
+    "print(f\"Currently there are {len(not_in_slicot)} routines which are found in slicot and slycot.\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(union))\n",
+    "print(print_list_chunks(not_in_slicot))\n",
     "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 27,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 48 routines which are found in slicot and slycot.\n",
-      "------\n",
-      "['ab09bd', 'tc04ad', 'mb03rd', 'mc01td', 'ab07nd', 'sb01bd']\n",
-      "['sb04md', 'sb04qd', 'sb03od', 'td04ad', 'sb02mt', 'sb02md']\n",
-      "['sb10dd', 'ab05nd', 'sb10ad', 'sg02ad', 'tf01md', 'ab01nd']\n",
-      "['ab08nd', 'ab13ed', 'tf01rd', 'ab09md', 'ab13bd', 'mb03vd']\n",
-      "['ab13dd', 'ab09nd', 'ab08nz', 'mb05nd', 'ab09ax', 'ab09ad']\n",
-      "['sb03md', 'sb10hd', 'tb03ad', 'mb03vy', 'tb01pd', 'ab05md']\n",
-      "['mb03wd', 'tb05ad', 'tc01od', 'ab13fd', 'ab13md', 'sb10fd']\n",
-      "['sg03ad', 'sb02od', 'tb01id', 'mb05md', 'tb04ad', 'sg03bd']\n",
-      "None\n",
-      "\n",
-      "\n"
+      "slicot_routines_dict = {'a': 60, 'b': 6, 'c': 0, 'd': 8, 'f': 6, 'i': 15, 'm': 281, 'n': 16, 's': 131, 't': 77, 'u': 7}\n",
+      "slycot_routines_dict = {'a': 16, 'b': 0, 'c': 0, 'd': 0, 'f': 0, 'i': 0, 'm': 7, 'n': 0, 's': 15, 't': 10, 'u': 0}\n",
+      "                      names  slycot routines  slicot routines\n",
+      "0         Analysis Routines               60               16\n",
+      "1                 Benchmark                6                0\n",
+      "2          Adaptive Control                0                0\n",
+      "3             Data Analysis                8                0\n",
+      "4                 Filtering                6                0\n",
+      "5            Identification               15                0\n",
+      "6     Mathematical routines              281                7\n",
+      "7         Nonlinear Systems               16                0\n",
+      "8        Synthesis Routines              131               15\n",
+      "9   Transformation Routines               77               10\n",
+      "10         Utility Routines                7                0\n"
      ]
+    },
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
     }
    ],
    "source": [
+    "slicot_full_names = {\n",
+    "    \"a\": \"Analysis Routines\",\n",
+    "    \"b\": \"Benchmark\",\n",
+    "    \"c\": \"Adaptive Control\",\n",
+    "    \"d\": \"Data Analysis\",\n",
+    "    \"f\": \"Filtering\",\n",
+    "    \"i\": \"Identification\",\n",
+    "    \"m\": \"Mathematical routines\",\n",
+    "    \"n\": \"Nonlinear Systems\",\n",
+    "    \"s\": \"Synthesis Routines\",\n",
+    "    \"t\": \"Transformation Routines\",\n",
+    "    \"u\": \"Utility Routines\",\n",
+    "}\n",
     "\n",
-    "intersection = list(set(slicot_methods) & set(slycot_methods))\n",
-    "intersection\n",
+    "def count_methods(list_routines, keys):\n",
+    "    d = {key: 0 for key in keys}\n",
+    "    for w in list_routines:\n",
+    "        if w:\n",
+    "            if w[0] in d:\n",
+    "                d[w[0]] = d[w[0]] + 1\n",
+    "            else:\n",
+    "                d[w[0]] = 1\n",
+    "    return d\n",
     "\n",
-    "print(f\"Currently there are {len(intersection)} routines which are found in slicot and slycot.\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(intersection))\n",
-    "print(\"\\n\")"
+    "slicot_routines_dict = count_methods(slicot_routines, keys=slicot_full_names.keys())\n",
+    "slycot_routines_dict = count_methods(slycot_routines, keys=slicot_full_names.keys())\n",
+    "slycot_routines_dict['s'] -= 1\n",
+    "\n",
+    "print(f\"{slicot_routines_dict = }\")\n",
+    "print(f\"{slycot_routines_dict = }\")\n",
+    "\n",
+    "df = pd.DataFrame(\n",
+    "    {\n",
+    "        \"names\": slicot_full_names.values(),\n",
+    "        \"slycot routines\": slicot_routines_dict.values(),\n",
+    "        \"slicot routines\": slycot_routines_dict.values(),\n",
+    "    }\n",
+    ")\n",
+    "print(df)\n",
+    "\n",
+    "\n",
+    "\n",
+    "names_sli = list(slicot_routines_dict.keys())\n",
+    "names_sli.reverse()\n",
+    "values_sli = list(slicot_routines_dict.values())\n",
+    "values_sli.reverse()\n",
+    "\n",
+    "names_sly = list(slycot_routines_dict.keys())\n",
+    "names_sly.reverse()\n",
+    "values_sly = list(slycot_routines_dict.values())\n",
+    "values_sly.reverse()\n",
+    "\n",
+    "\n",
+    "plt.barh(range(len(slicot_routines_dict)), values_sli, tick_label=[slicot_full_names[x] for x in names_sli])\n",
+    "plt.barh(range(len(slycot_routines_dict)), values_sly)\n",
+    "plt.legend((\"SLICOT\",\"Slycot\"))\n",
+    "plt.title(\"SLICOT vs Slycot\")\n",
+    "plt.show()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 28,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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sI6DPBSNHzx7FqqOrZJcRF/oKPo72iEyvfoAbrRb9LMBwBYPwQJ+nI+w/sx/rjxvvvFMGHxHpRlOeG00JPuE8FvJ1dp3vfNurt6Oi3lidsvQVfCdPyq6AiCQJJjtQn6Sfkd75vPqc7Wy36ugqNAYaZZcRM/oJvvp6tikjMqmoRUFtrprwZtOxkhzW9yKRYCRoqMUu+gk+TnMSmVb9ABdC0O/eMlcoCEWfmd2u1ldrmOt9DD4i0jRflktTrch6Q4mqSIN2DqftrZ01O3Gk4YjsMvpMP8F3+rTsCogowSJ2C+pS9TvSO1+Gqr/9fB1ZU7lG951d9BF8gQCv7xGZ0Nl+TunHC8VKalQ/fTs74wv5sOXUFtll9Ik+gq+uTnYFRJRgwRQHmuz6nuI8X3LIGAEOADtqdqDB3yC7jF7TR/DV18uugIgSrC7bGCOkNq5QSPcLXNpE1SjKj5XLLqPX9BF8HPERmUpzjls3Lcm6S4lGkarof4FLm+ONx3W70IXBR0SaogI4m6LvxROXY5QFLm3WH18PVYfHxDH4iEhTfNluhKHzVieXkRox1vRtY6ARh+oPyS6jx7QffC0tQFD7R48QUWyc1Xt/r04YaYFLm61VW2WX0GPaDz6O9ohMw5ep7w4tXXGFjPfa6lrrUHm2UnYZPcLgIyLNaEw1Ri/Iy7FEo0hVjbPApc3Omp2yS+gRBh8RaUIwyY6AYvzLGmk6PZuvM8cbj6O+VT/bzrQffNzDR2QKLenGWvF4OS7VWAtc2uyt3Su7hG7TdvCpKoOPyARUAC1O44/2AMBlkNZlFzvccFh2Cd2m7eDz+YCI8VZBEdGF/Bkuw/Tk7Iojqr99b93RHGxGTUuN7DK6RdvB12qcPn1EdHktXmOOgjpi1OADgIr6CtkldAuDj4ikUgG0Wo3Vnqwz9qhxV64y+GKBwUdkeEGvA1EYNwwuZjPw5Ru9THdqO/j8ftkVEFGctXrNsZqzjTUS0fgbb98cbTgqu4QuafvnzxEfkeH5HcYdAV2OWzXeXr42HPH1FYOPyNCiNovhjh/qDo8BN7G3Oe07rfkTGxh8RCRNMMlc05xt3Bp/6+2LYCSo+dPZtf3TZ/ARGVrQY87gM2r3ljZan+7UdvBxcQuRoYUc2p4SixejB191S7XsEjql7eDjiI/I0IJW45691xkjb2IHgFpfrewSOqXd4AsG2a6MyMBUACGFwWdETYEm2SV0SrvBx9EekaFFXDaoMHYAXI6Ru7cAQCASQCSq3YGLdoMvYL4lzkRmEnFo9+0n3hQT5H1LqEV2CZel3b95Bv+NiMjsojbtvv1Q37UEtRt82l1LrPENkNQ9J+rrMf+dd/Dhrl3wBYMYnJ2N1+66C+OLiwEAqqriF++/j/9evRoNra24ZtAgvPLtb2NIbi4AYOW+fZj2m990+NwbH30UE756HtKfiD2xKxv/76KP8Owfl2DeP0zHL354BwCgpu4sfv3q21i9eQ9aWv0Y2D8X//Lt2Zh17RVxrUVR4/+L/UcLPsKS3y/B9G9Nxx3/Kl7v6eOnsfjFxTi49SDCoTBGXD0C//TIP8Gb6Y3599fyiE+7wccRn+7Vt7Tgmueew7ShQ/Hhgw8iOyUFB2pqkJ6U1P6YZ5cvx28/+wyv3303SrKy8NjSpZj5299i9y9/CZfdjsmDBuHUs89e8LyPLV2KT/fuxfiiokS/JIqhiDVxwbdt7xH85YNVKB3Y/4L7//WZ19DY3Ir/+Y8fIsObjPc+24gfPfkqlr78bxg5pDBu9SiI72s/susIVr2zCv2HnHu9gdYAXvzRi+g/tD9+8l8/AQC898p7ePnHL2P+gvmwWGI7AtfyiE+7cw0c8eneM8uXY0B6Ol67+25MLClBSVYWbhg+HIOyswGI0d6Ln36Kn8+ejVvGjsXo/v3xp3nzcLKhAe9u3QoAcNhsyEtNbb9lJifjvW3bMG/yZCiKsfdCGV00QV27Wlr9ePjXf8T/+fGdSE32XPC1zbsqcNet0zC2tASF+dl48Dtz4E3yYOeByrjWpMTx/c3v8+OPj/0Rd/77nfCknHu9h7YdwplTZ3D3L+5GweACFAwuwLxfzcPRPUexb9O+mNcRioZi/pyxot3g44hP95Zu347xRUX45h/+gJyf/hTjnnwS/716dfvXD9fWoqqxEdeXlbXfl+p2Y1JJCdZVdHyu19Jt23CmuRnzJk+Oe/0UX4naw/3Ybxdh2qRRmHJl2SVfu3LEQPzvyi/Q0NiCaDSKpSs2IRAK4aoxQ+NbVByDb9EzizDqmlEom3Th6w0FQ1AUBTbHuYk+m8MGxaLg4NaDMa8jmoDp3N7SbvBxxKd7FadP45XPP8eQnBwsf+ghPHDttXjozTfx+rp1AICqxkYAQK73wusLuV4vqs6e7fA5/7h2LWaOGIH+6enxLZ4SIP7/xpeu2IRdByrxs3tu6/Drv3/sPoTCEYz9h59g6Kwf4d9feAN/+OUDKC7IiWtd8cr8Tcs3oXJvJW77l0tf78BRA+FwOfDO795B0B9EoDWAxS8uRjQSxdnajv+99YWWg0+71/hI96KqivFFRXj6NvGPcFxhIXaePIn/+vxz3HX11T1+vuP19Vi+axf+dt99sS6VDOhkTR2eePlN/PnZh+Fy2Dt8zG9eew+NLT4sfPZhpKcm4+O1W/Gj/3gVb73wCEoHFiS44r6pq6rDm8+/iYdffhh256WvNyU9Bfc/cz8W/nohVvx1BRSLggk3TEBhaSEUi7kuG2g3+Hj9Rvf6paZieL9+F9xX1q8f3v7ySwBA3lcjverGRvRLTW1/THVjI8YOGHDJ871WXo7M5GTcPGZMHKumhInzgG/HgUrUNjThxh881X5fJBrFxh0H8Kd3V+KzBU/g9fdW4uP/+QWGFucDAIYPGoBNOw7iT0tX4umH/zlutalxGPNV7q1EU10TnvrOudcbjURx4MsDWPm3lXi5/GUMv2o4nnrvKTQ3NMNitcCT4sEjMx9BVkFWzOuJ9wKevtBu8MV4hREl3jWDBmFf9YXNavdXV6MoIwMAUJKVhTyvF5/u3dsedI2trdhw+DAe+NrXLvhzqqritfJyfPeqq2C3GvcsMzOJ9xvjNeNKsfy/H7/gvkeeex2DCvPwgztmotUfBABYLvol22KxQI33GoM4vPTSCaV4/K8Xvt7Xn3gdeUV5mHnXTFis595Tk9OSAQB7N+1FU10Txlwb+18mLYp238O1G3wc8enej6+/HpOfeQZPL1uG28ePx8YjR/Dq6tV49TvfAQAoioKHr7sOTy5bhiE5OWI7w3vvIT8tDbeOHXvBc322dy8O19binilTJLwSigdLnLMl2ePCsJILpyvdLifSvEkYVlKAUDiC4oIc/NuLb+Df7p+LdK+Y6lyzZQ/+35M/imtt8XjpriQXCgZf+HqdLieS0pLa71+7dC36lfRDSnoKDm0/hL89/zdc9+3rkFecF/N6bBbtxot2K2Pw6d6E4mIseeABPLpkCZ744AOUZGXhxdtvxz9PmtT+mJ/NnImWYBD3vfEGGnw+TBk8GB899BBc9guvUfxx7VpMHjQIpXmx/wdKcljCchc/2G1WvPbUv+CZ/1mCe37+Mlr8ARTl5+D5n92NaZNGxfebS3p/qz5ajXdffhctZ1uQmZ+JWfNm4fp/vj4u3yvJkdT1gyRRVK2eEV9VBSxdKrsKIooTX6YLp9PMeeZmwOHASk9QdhlxNWfIHBR4tblASLuTsLzGR2Ro1pB2l7vHmxlOpdDyiE+76eJwyK6AiOLIzMEXv5182pFkZ/D1nNstuwIiiiOrP2yCt/+OhQy+b85hdcBu7XjvpBZoN/icTk53EhmYogI2mHNmJ2Q19nublkd7gJaDDwBcLtkVEFEcOSLm3JMZMPiIL8sT+w3xsaTt4ON0J5GhOYLGDoDLCRj8CPacpPj2Ou0rBh8RSWNvNecCFz+DTyptBx+nOokMzdFs7L1sl9OqGDfwbRYbMj2ZssvolLaDz+Pp+jFEpFvWUBR2Vbur/+LFF5emZdqQ5cnSdJ9OQOvBxxEfkeG5Q2YMvrDsEuJG69OcgNaDj9f4iAzP1RyRXUJCRaxWA4/3gP7e/rJL6BKDj4ikcp0NavrstlgLG/hYLZfNhfyUfNlldInBR0RSKVEVrqhTdhkJEzZwY47itGLNX98DGHxEpAFJzeYZ8QWtxn2tA9MHyi6hW7QdfB4P25YRmYD7jB8Wjb8dxUrQoGeN6mWaE9B68FksQGqq7CqIKM4sURWekDmmO/3aftftNb1McwJaDz4AyMiQXQERJUDyWSOvdTzHqF1bhmUOk11Ct2k/+NLTZVdARAngPBuAHcbf09eoGG8PX7YnG7nJubLL6DbtBx9HfESm4W22yS4hrlSLgno1JLuMmBuZM1J2CT3C4CMizUiqaYUNxg2/gN0O1WBrW5IdyRiUMUh2GT2i/eDzegGbcf8hENE5igqk+Ix7OG2LzXib10fnjtbNopY2+qiW1/mITCO5uhVWGC8gAOCswV6W2+ZGaVap7DJ6TB/Bx+lOItOwRFV4W425taFOMVZf0ivzr4TNor8ZOQYfEWlOyimf4VZ4qoqCesU45w9mebJQllUmu4xe0UfwcaqTyFQUFUivM9a8YMBuN9SpDNcMuAaKTrvQ6CP4OOIjMh13vR+eiHHO5GyxGyfIh2YO1dW+vYvpI/g8Hh5KS2RC6VVhwxxZZJSFLQ6rA5MKJskuo0/0EXwAkJUluwIiSjCbP4w0nzFOaam3GGNhy4T8CXDb9f3/RD/Bl6+Prt9EFFveUz64ozqf8VGAOuh/YUtxWjFG5IyQXUafMfiISPMyjwd1vbcvYHfofmFLiiMFXy/+uuwyYkI/wZedDTiM29GBiC7PGoois06/2xv0vrDFolhw3cDr4LAa4z1YP8GnKBz1EZmYu94Pb9Aju4xeadR37mFiwUTkJOXILiNm9BN8AFBQILsCIpIo7ZgPHh1e7ztl0e+JDCVpJRidO1p2GTHF4CMi3VAAZB4NwAH9TLkF7XY0Qp9n8OWn5GN6yXTZZcScvoIvLQ1ISpJdBRFJZImqyDkW0c3xRfVOfV6bzPJkYeagmbBadD5P2wF9BR/AUR8RwRqMIOckdLHSs8qmv/17aa40zB4yG3arPkO7Kww+ItIle2sYuScVTY/8IlYrqtWA7DJ6JNmRjNlDZsNl09+11O5i8BGRbtlbw8g9Ac2GX6PLoasT11McKZgzZA6SHcmyS4kr/QWfxyOu9RERQbQ1yzuuavIYoxpt5nGHMt2ZuKX0FqS6UmWXEnf6Cz6Aoz4iuoA1EEFuZQQuVUMH2CrACfhlV9EtBSkFuGnYTfDY9blPsqf0GXwDBsiugIg0xhqKIudwACkhbbx5tzhdCCmq7DK6NDx7OGYNmWWYrizdoaOB+Hn69wecTiCgr4vGRBRfigpkVPrgyHGjLsUPFfKCp9ah7Yt7VsWKqwdcjeHZw2WXknD6DD6LBSguBvbtk10JEWlQck0r7H4HarOjCEvaPH5cw91asjxZmFY8DenudNmlSKHPqU4AGDRIdgVEpGHOxiD6HY4gJZT4s+MCDgeaNditRYGCsXljcWvpraYNPUCvIz5ALHBxuQC/Pi4eE1HiWaIqMipb4Ulz4kxmJGGjv3qHDdDY+XspjhRMK5mGvOQ82aVIp9/gUxRg4EBg927ZlRCRxrkaAujXqOBsgQdNDl/cr/ydsmlntGez2DAqZxTG5o01bCeWntJv8AFiupPBR0TdYImqSD/mQ7LbhrO5drRYW+PyfcJWG2o0MNpToGBo5lCMzx+PJAd7HJ9P38HXrx+QkgI0NcmuhIh0wt4aRtaRMLwpDtRnK/ArsV0dftptByRf3xvgHYBJ/Schw50htQ6t0nfwAcCQIcCWLbKrICKdcTQFkdsE+NOcaEpX4LPEZr3AYauc1ZwWxYKi1CKMzBmJfin9pNSgF/oPvqFDGXxE1GuuhgBcDUDYbUNTlgPNDj+iiPbquZpdTjTFeATZFY/dg9KsUpRllXFKs5v0H3xeL5CXB1RVya6EiHTM1hpG+rEwUi0KfFlu+JJU+C3+Hi2EOeFMzA4xBQryU/JRmlWKkvQSWBT97kyTQf/BBwDDhjH4iCgmLFEVyTWtSAYQtVngy3DC54nCbw122gkmYrWiUonPghkAsFvsKPAWoDitGIWphYY+NijejBF8AwcCa9cCYe0sISYi/bOEo+0hqCpA0OtEIMkKvzOKoCWECM4dMnvG7UQUvph97yR7EjI9mcjyZKEgpQC5ybkc2cWIoqqq9ruodseaNdzaQEQJFfLYEXJbEXJacLBsAKoizWgKNsEX8iEc7fwXcZvFBpfNBafVCZfNhSRHEjLdmcj0ZCLDncERXRwZJ/gaG4E33wQM8nKISEcKCoA5cy65OxKNIKJGEI6G2z+3W+xw2pywWYwx4aZHxvnJe72icfXhw7IrISKzGTmyw7utFiussJrqyB89MNaE8ZgxsisgIrPxeoHCQtlVUA8YK/hycsTWBiKiRBk+XPQOJt0wVvABwNixsisgIrOw2YDSUtlVUA8ZL/gKC4G0NNlVEJEZDB0KOHj9Tm+MF3wAr/URUfxZrZxh0iljBt+QIYDHI7sKIjKy0lIgOVl2FdQLxgw+i+Wyy4uJiPrMZgPGjZNdBfWSMYMPECut7DxtmIjiYMQIzirpmHGDz+EAyspkV0FERmO3cx2Bzhk3+ABg9GgxJUFEFCujRgEu9tHUM2MHn8fDVVdEFDtOp/iFOgGKi4tx9913J+R7mY2xgw8Qf0m58oqIYmHMmJjs29uxYwfmzp2LoqIiuFwuFBQUYMaMGfjd734XgyJj5+TJk/jlL3+JrVu3yi4lpowffDYbMHGi7CqISO/c7pisFi8vL8f48eOxbds23Hvvvfj973+Pe+65BxaLBS+99FIMCo2dkydP4le/+pXhgs8cF8AGDwZ27gRqamRXQkR6NXZsTNYMPPXUU0hNTcWmTZuQdlGXqRq+RyWE8Ud8ba6+WnYFRKRXSUlii1QMHDp0CCNGjLgk9AAgJyenwz9TUVEBRVHwwgsvXPK18vJyKIqCRYsWtd934sQJfP/730d+fj6cTidKSkrwwAMPIBgMXvCc3/zmN5GRkQGPx4OrrroKH3zwQfvXV65ciQkTJgAA5s2bB0VRoCgKFixY0MtXrh3mCb7cXGDQINlVEJEeXXGFaFEWA0VFRdi8eTN27tzZ7T8zcOBAXHPNNVi4cOElX1u4cCFSUlJwyy23ABDTkxMnTsRf//pX3HHHHfjtb3+LO++8E59//jl8Ph8AoLq6GpMnT8by5cvxwx/+EE899RT8fj9uvvlmLFmyBABQVlaGJ554AgBw33334c9//jP+/Oc/49prr+3rj0A645zA3h3NzeKU9khEdiVEpBc5OcAtt8Ts6KG///3vmDVrFgBg4sSJmDp1Kq677jpMmzYN9vOabhQXF+PrX/96+wjr1Vdfxf333489e/ag9KsTIUKhEPLz8zFnzpz2x91111144403sGHDBowfP/6C762qKhRFwY9//GO8+OKLWL16NaZMmQIAaG5uxujRo6GqKg4dOgSLxYIvvvgCEyZMwGuvvWaoFabmGfEBYnVngpYiE5EBWCzAtdfG9Ly9GTNmYN26dbj55puxbds2PPvss5g5cyYKCgqwdOnSy/6522+/HS6X64JR3/Lly1FbW4vvfOc7AIBoNIp3330XN9100yWhBwDKV69j2bJlmDhxYnvoAUBycjLuu+8+HDlyBLt3747Vy9UkcwUfIC5Qs9UQEXXH6NFARkbMn3bChAl45513UF9fj40bN+LRRx9FU1MT5s6de9nQSUtLw0033YS//OUv7fctXLgQBQUFmD59OgDg9OnTaGxsxMguVp8ePXoUw4YNu+T+sq+6XR09erS3L00XzBd8djvw1QVbIqLL8nrFtb04cjgcmDBhAp5++mm88sorCIVCeOutty77+O9+97uoqKhAeXk5mpqasHTpUnzrW9+CxWK+t/K+MOdPa+hQICtLdhVEpGVTpiS05WHb1OSpU6cu+5hvfOMbyM7OxsKFC7FkyRL4fD7ceeed7V/Pzs6G1+vtcuFMUVER9u3bd8n9e/fubf86cG5q1GjMGXyKIubt+VsSEXVk8GCgf/+4PPWKFSvQ0ZrCZcuWAUCHU5BtbDYbvvWtb+Fvf/sbFixYgFGjRmH0eesWLBYLbr31Vrz//vv44osvLvnzbd939uzZ2LhxI9atW9f+tZaWFrz66qsoLi7G8K+2biQlJQEAGhoaev5CNcxcqzovtmUL0MFfDiIyMZcLuP32uDWiHjlyJHw+H2677TaUlpYiGAyivLwcb775JgYMGIAvv/wSaWlpl6zqbLN58+b20eEzzzyDn/3sZxd8/cSJExg/fjwaGxtx3333oaysDKdOncJbb72FNWvWIC0tDdXV1RgzZgz8fj8eeughZGRk4PXXX8e2bdvw9ttv47bbbgMgVo3m5OQgNzcXjzzyCJKSkjBp0iSUlJTE5WeTKOYOPlUF3nuPHV2I6JyvfQ3oZNTVVx999BHeeustlJeX4/jx4wgGgygsLMSsWbPw85//vH0T++WCDxDhuWfPHlRWVqKgoOCSr1dWVuKxxx7Dhx9+iMbGRhQUFGDWrFn4zW9+A8dXvUYrKiowf/58fPLJJ/D7/Rg9ejQef/xxzJkz54LnWrp0KR599FHs378f4XDYEFsbzB18ANDQALzzDhAOy66EiGTLzwduvFF2FV0aN24cMjIy8Omnn8ouRZd4kSstjU2siUh0Zpk6VXYVXfriiy+wdetWfPe735Vdim5xxNfmgw+AEydkV0FEsowfH/ftC32xc+dObN68Gc8//zxqa2tRUVEBFw/E7RWO+Np87WsxOWeLiHQoN1fzh1YvXrwY8+bNQygUwqJFixh6fcAR3/n27wdWrpRdBRElkssF/OM/ihMYyBQ44jvf0KFAcbHsKogokaZPZ+iZDIPvYtdeK05aJiLjGzcubhvVSbsYfBdzuXSxsouI+ig/XyxoIdNh8HWkuBgYNUp2FUQULx6PmOI0aC9K6hyD73ImTRK/ERKRsSiKCD0eT2ZaDL7LsViA668Xh9cSkXFceSV/qTU5Bl9nXC7ghhtERwci0r8BAzS9SZ0Sg8HXlawsLnYhMoKkJGDaNNlVkAYw+Lpj6FAudiHSs7ZLF+x2QmDwdd9VVwGFhbKrIKLe+PrXRVsyIjD4uk9RgOuuAzIzZVdCRD0xcaI4UZ3oKwy+nrDbgZkzuQyaSC/KyjTffJoSj8HXU8nJIvxsNtmVEFFnCguBKVNkV0EaxODrjexssQHWwh8fkSZlZ4vFLOzMQh3gO3dvFRez5RGRFqWlAbNmcVaGLovB1xcDB4p9QQw/Im1ITgbmzOG2BeoUg6+vBg8Wp7cTkVxutwg9nq1HXWDwxcLQoeIcPyKSw+EQ05upqbIrIR1g8MVKaSlXkBHJYLMB3/iGaC9I1A28+htLw4cDkQiwbp3sSojMwekUI72cHNmVkI4w+GJt1CggGgU2bJBdCZGxeTzA7NlARobsSkhnGHzxMGaMCL9Nm2RXQmRMKSliIYvXK7sS0iEGX7yMGyemPbdskV0JkbGkp4vQY+tA6iVFVVVVdhGGtnOnuObHHzNR3+XkiGt6TqfsSkjHGHyJcPQo8OmnQDgsuxIi/SooAG64QTSLJ+oDBl+i1NYCH30E+HyyKyHSn+JicSyY1Sq7EjIABl8iNTeL8Kurk10JkX4MHSq6I7E1IMUIgy/RgkHgk0+A48dlV0KkfaNGAVdfLbsKMhgGnwzRKLB2LbBnj+xKiLTJahWdkIYNk10JGRCDT6Zt27jRnehiKSnAjBlsQUZxw+CTraICWLFC7PkjMrv+/cUiFm5XoDhi8GlBTQ3w8cdc8UnmdsUVwJVXchELxR2DTyv8fmDlSqCyUnYlRInlcIgDnYuKZFdCJsHg05pdu4D16zn1SeaQkSE2pbPnJiUQg0+L6upEp5f6etmVEMXP4MHiAGcbWwZTYjH4tCocFiO/3btlV0IUWxYLcNVVwMiRsishk2Lwad2RI8DnnwOBgOxKiPouI0N0YcnOll0JmRiDTw9aWsSWh5MnZVdC1DsWi1i1OXas+JxIIgafXqgqsHUrsHmz6PxCpBc5OWKUl54uuxIiAAw+/ampEdseGhpkV0LUOZsNGD9e9Nvk3jzSEAafHkWjot3Zl1/yjD/Spvx8sWKT2xRIgxh8etbYKJpdHzsmuxIiweEAJk0CyspkV0J0WQw+I6ioAMrL2fKM5CosBKZOBZKSZFdC1CkGn1GEQsCWLcCOHVz8QomVlCRGeYMHy66EqFsYfEbT2AisWwccPSq7EjI6u11sTxg1it1XSFcYfEZ1/LiY/uTqT4o1iwUoLRUnKbjdsqsh6jEGn5FFo+KU961bxSZ4or4qKhLTmmlpsish6jUGnxlEo8C+fSIAm5pkV0N6VFAATJggNqMT6RyDz0yiUeDgQbH/7+xZ2dWQHuTlicDr1092JUQxw+AzI1UFDh0SAcijj6gjOTniGt6AAbIrIYo5Bp/ZHT4stkGcOSO7EpLNYgFKSsRxQbm5sqshihsGHwlHj4oRYE2N7Eoo0dxu0Wll+HDA45FdDVHcMfjoQidOAHv3inMAIxHZ1VA8ZWWJ0d2gQYDVKrsaooRh8FHHAgHgwAGxGpTToMZhsQDFxSLw8vJkV0MkBYOPulZbK0aBBw8CwaDsaqg3XC6x6XzECPbSJNNj8FH3RSJiMcy+fWJKlLTN4RAbzgcOBPr353Qm0VcYfNQ7TU0iAPfvB5qbZVdDbRh2RF1i8FHfqKpYCVpZKW68Hph4Doe4btcWdhaL7IqINI3BR7Hl84kAPHZMTIfymmB8MOyIeo3BR/ETjQJVVeeCkF1ies9qBbKzReuwfv2A/HyGHVEvMfgocZqbz02JVlVxNNgZh0N0T8nLE0GXnc3rdUQxwuAjeRoaxPXBmhrg9GlxfdCsp8e73SLg8vLELTMTUBTZVREZEoOPtCMSEeF3/q2uDgiFZFcWW8nJQHq6uGVkiJFdaqrsqohMg8FH2tfYKAKwoUFMl7a0iFtzM+D3y66uY04n4PUCKSniY1qaCLq0NMBul10dkakx+EjfIpFzQXj+rS0gfT7xmGj03Mee/pW3WMQ1N4dDBNr5H8//3O0WIef1iv8mIk1i8JH5qOq5EDw/EM+/z2o9F2o2m+yKiSiGGHxERGQq3AhERESmwuAjIiJTYfAREZGpMPiIiMhUGHxERGQqDD4iIjIVBh8REZkKg4+IiEyFwUdERKbC4CMiIlNh8BERkakw+KhbduzYgblz56KoqAgulwsFBQWYMWMGfve737U/pri4GDfeeGOnz3P33XcjOTm5w68tWbIEs2bNQlZWFhwOB/Lz83H77bfjs88+u+SxlZWV+MEPfoDi4mI4nU7k5OTg1ltvxdq1ay94XHFxMRRF6fK2YMGCnv9QiEiX2HaeulReXo5p06ahsLAQ9957L/Ly8nDs2DGsX78eL730Eh588ME+Pb+qqvje976HBQsWYNy4cfjJT36CvLw8nDp1CkuWLMF1112HtWvXYvLkyQCAtWvXYvbs2QCAe+65B8OHD0dVVRUWLFiAqVOnXlDTiy++iObm5vbvtWzZMixatAgvvPACsrKy2u9ve24iMgGVqAuzZ89Ws7Oz1fr6+ku+Vl1d3f55UVGROmfOnE6f66677lKTkpIuuO+5555TAagPP/ywGo1GL/kzf/rTn9QNGzaoqqqqdXV1al5enpqbm6sePHjwgsf5fD516tSpqsViUdeuXdvh92/7XocPH+60TiIyLk51UpcOHTqEESNGIC0t7ZKv5eTk9Om5W1tb8etf/xqlpaX4z//8TyiKcslj7rzzTkycOBEA8Ic//AFVVVV47rnnMGjQoAse53a78frrr0NRFDzxxBN9qouIjIvBR10qKirC5s2bsXPnzpg/95o1a1BXV4dvf/vbsFqtXT7+/fffh8vlwu23397h10tKSjBlyhR89tlnaG1tjXW5RGQADD7q0k9/+lP4fD6MHTsWkydPxvz58/Hxxx8jFAr1+bn37NkDABg1alS3Hr97924MGzYMTqfzso8ZM2YMQqEQDh482Of6iMh4GHzUpRkzZmDdunW4+eabsW3bNjz77LOYOXMmCgoKsHTp0j49d2NjIwAgJSWlW49vamrq8rFtX297biKi8zH4qFsmTJiAd955B/X19di4cSMeffRRNDU1Ye7cudi9e3evn9fr9QIQgdYdKSkpXT627evdDVMiMhcGH/WIw+HAhAkT8PTTT+OVV15BKBTCW2+91evnKy0tBSD2CXZHWVkZ9u3bh0AgcNnHbN++HXa7HUOGDOl1XURkXAw+6rXx48cDAE6dOtXr55gyZQrS09OxaNEiRCKRLh9/4403wu/3XzZsjxw5gtWrV2P69Olwu929rouIjIvBR11asWIFVFW95P5ly5YBAIYNG9br5/Z4PJg/fz727NmD+fPnd/h93njjDWzcuBEAcP/99yMnJwePPPIIKioqLnic3+/HvHnzoKoqHn/88V7XRETGxs4t1KUHH3wQPp8Pt912G0pLSxEMBlFeXo4333wTxcXFmDdvXvtjDx48iCeffPKS5xg3bhzmzJnT4fM/8sgj2LVrF55//nmsWLECc+fORV5eHqqqqvDuu+9i48aNKC8vBwBkZmZi8eLFmDNnDq644opLOrccPHgQL730EjuxENHlSd5ATzrw4Ycfqt/73vfU0tJSNTk5WXU4HOrgwYPVBx988JLOLQA6vH3/+99XVbXjzi1tFi9erN5www1qRkaGarPZ1H79+ql33HGHunLlyksee/jwYfXee+9VCwsLVbvdrmZlZak333yzunr16k5fCzu3EJGiqh3MLRERERkUr/EREZGpMPiIiMhUGHxERGQqDD4iIjIVBh8REZkKg4+IiEyFwUdERKbC4CMiIlNh8BERkakw+IiIyFQYfEREZCoMPiIiMpX/D+bmrS0HWWnlAAAAAElFTkSuQmCC",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -478,9 +560,9 @@
     }
    ],
    "source": [
-    "venn2(subsets = (len(set(slicot_methods)), \n",
-    "                 len(set(slycot_methods)), \n",
-    "                 len(intersection)), set_labels = ('slicot', 'slycot'))\n",
+    "venn2(subsets = (len(set(slicot_routines)), \n",
+    "                 len(set(slycot_routines)), \n",
+    "                 len(intersection)), set_labels = ('SLICOT', 'Slycot'))\n",
     "plt.show()"
    ]
   }
diff --git a/doc/source/reference/index.rst b/doc/source/reference/index.rst
index 61163b3d..dcfbbb86 100644
--- a/doc/source/reference/index.rst
+++ b/doc/source/reference/index.rst
@@ -2,10 +2,16 @@
 Slycot reference
 ******************
 
+For most users only the :ref:`function-ref` is important.
+
 .. toctree::
    :maxdepth: 1
 
    slycot_outer
    slycot_inner
 
+For advanced users and developer also the :ref:`inner_function-ref` and the
+
 `SLICOT-Reference <../../_static/libindex.html>`_ (non-generated HTML file)
+
+can be important.
diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
index 907e2317..4f97b785 100644
--- a/doc/source/reference/slycot_inner.rst
+++ b/doc/source/reference/slycot_inner.rst
@@ -1,8 +1,8 @@
 .. _inner_function-ref:
 
-******************
+************************
 Inner function reference
-******************
+************************
 
 .. automodule:: slycot
    :no-members:
@@ -54,10 +54,7 @@ Synthesis
 
     _wrapper.sb01bd
     _wrapper.sb02md
-    _wrapper.sb02mt
-    _wrapper.sb02od
     _wrapper.sb03md
-    _wrapper.sb03md57
     _wrapper.sb03od
     _wrapper.sb04md
     _wrapper.sb04qd
@@ -65,7 +62,6 @@ Synthesis
     _wrapper.sb10dd
     _wrapper.sb10fd
     _wrapper.sb10hd
-    _wrapper.sg02ad
     _wrapper.sg03ad
     _wrapper.sg03bd
 
@@ -76,12 +72,6 @@ Transformation Routines
    :toctree: generated/
 
     _wrapper.tb01id
-    _wrapper.tb03ad
-    _wrapper.tb04ad
-    _wrapper.tb05ad
-    _wrapper.tc04ad
-    _wrapper.tc01od
     _wrapper.tf01md
     _wrapper.tf01rd
-    _wrapper.td04ad
     _wrapper.tb01pd
\ No newline at end of file

From a4d302b14ee7f358b077ea05a400a7de87a10d2d Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Wed, 9 Aug 2023 18:18:56 +0200
Subject: [PATCH 08/23] Remove SLICOT help html files from _static, add link to
 online SLICOT help

---
 doc/_static/doc/AB01MD.html           |  295 ---
 doc/_static/doc/AB01ND.html           |  368 ----
 doc/_static/doc/AB01OD.html           |  404 ----
 doc/_static/doc/AB04MD.html           |  318 ---
 doc/_static/doc/AB05MD.html           |  455 ----
 doc/_static/doc/AB05ND.html           |  445 ----
 doc/_static/doc/AB05OD.html           |  419 ----
 doc/_static/doc/AB05PD.html           |  382 ----
 doc/_static/doc/AB05QD.html           |  416 ----
 doc/_static/doc/AB05RD.html           |  446 ----
 doc/_static/doc/AB05SD.html           |  206 --
 doc/_static/doc/AB07MD.html           |  259 ---
 doc/_static/doc/AB07ND.html           |  264 ---
 doc/_static/doc/AB08MD.html           |  188 --
 doc/_static/doc/AB08MZ.html           |  190 --
 doc/_static/doc/AB08ND.html           |  532 -----
 doc/_static/doc/AB08NW.html           |  545 -----
 doc/_static/doc/AB08NX.html           |  205 --
 doc/_static/doc/AB08NY.html           |  244 ---
 doc/_static/doc/AB08NZ.html           |  534 -----
 doc/_static/doc/AB09AD.html           |  395 ----
 doc/_static/doc/AB09AX.html           |  282 ---
 doc/_static/doc/AB09BD.html           |  426 ----
 doc/_static/doc/AB09BX.html           |  299 ---
 doc/_static/doc/AB09CD.html           |  427 ----
 doc/_static/doc/AB09CX.html           |  275 ---
 doc/_static/doc/AB09DD.html           |  302 ---
 doc/_static/doc/AB09ED.html           |  488 -----
 doc/_static/doc/AB09FD.html           |  488 -----
 doc/_static/doc/AB09GD.html           |  523 -----
 doc/_static/doc/AB09HD.html           |  581 ------
 doc/_static/doc/AB09HX.html           |  348 ----
 doc/_static/doc/AB09HY.html           |  192 --
 doc/_static/doc/AB09ID.html           |  888 --------
 doc/_static/doc/AB09IX.html           |  363 ----
 doc/_static/doc/AB09IY.html           |  416 ----
 doc/_static/doc/AB09JD.html           |  812 --------
 doc/_static/doc/AB09JV.html           |  365 ----
 doc/_static/doc/AB09JW.html           |  366 ----
 doc/_static/doc/AB09JX.html           |  143 --
 doc/_static/doc/AB09KD.html           |  760 -------
 doc/_static/doc/AB09KX.html           |  395 ----
 doc/_static/doc/AB09MD.html           |  449 ----
 doc/_static/doc/AB09ND.html           |  481 -----
 doc/_static/doc/AB13AD.html           |  322 ---
 doc/_static/doc/AB13AX.html           |  170 --
 doc/_static/doc/AB13BD.html           |  358 ----
 doc/_static/doc/AB13CD.html           |  294 ---
 doc/_static/doc/AB13DD.html           |  452 ----
 doc/_static/doc/AB13DX.html           |  250 ---
 doc/_static/doc/AB13ED.html           |  256 ---
 doc/_static/doc/AB13FD.html           |  257 ---
 doc/_static/doc/AB13ID.html           |  602 ------
 doc/_static/doc/AB13MD.html           |  272 ---
 doc/_static/doc/AB8NXZ.html           |  207 --
 doc/_static/doc/AG07BD.html           |  194 --
 doc/_static/doc/AG08BD.html           |  754 -------
 doc/_static/doc/AG08BY.html           |  261 ---
 doc/_static/doc/AG08BZ.html           |  739 -------
 doc/_static/doc/AG8BYZ.html           |  265 ---
 doc/_static/doc/BB01AD.html           |  629 ------
 doc/_static/doc/BB02AD.html           |  588 ------
 doc/_static/doc/BB03AD.html           |  386 ----
 doc/_static/doc/BB04AD.html           |  386 ----
 doc/_static/doc/BD01AD.html           |  352 ----
 doc/_static/doc/BD02AD.html           |  334 ---
 doc/_static/doc/DAESolver.html        | 1408 -------------
 doc/_static/doc/DE01OD.html           |  186 --
 doc/_static/doc/DE01PD.html           |  203 --
 doc/_static/doc/DF01MD.html           |  282 ---
 doc/_static/doc/DG01MD.html           |  205 --
 doc/_static/doc/DG01ND.html           |  296 ---
 doc/_static/doc/DG01OD.html           |  211 --
 doc/_static/doc/DK01MD.html           |  188 --
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diff --git a/doc/_static/doc/AB01MD.html b/doc/_static/doc/AB01MD.html
deleted file mode 100644
index 96cb1b41..00000000
--- a/doc/_static/doc/AB01MD.html
+++ /dev/null
@@ -1,295 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB01MD">AB01MD</A></H2>
-<H3>
-Controllable realization for single-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  single-input system
-
-          dX/dt = A * X + B * U,
-
-  where A is an N-by-N matrix and B is an N element vector which
-  are reduced by this routine to orthogonal canonical form using
-  (and optionally accumulating) orthogonal similarity
-  transformations.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INFO, LDA, LDZ, LDWORK, N, NCONT
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), TAU(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT upper Hessenberg
-          part of this array contains the canonical form of the
-          state dynamics matrix, given by Z' * A * Z, of a
-          controllable realization for the original system. The
-          elements below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, the original input/state vector B.
-          On exit, the leading NCONT elements of this array contain
-          canonical form of the input/state vector, given by Z' * B,
-          with all elements but B(1) set to zero.
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this array
-          contains the matrix of accumulated orthogonal similarity
-          transformations which reduces the given system to
-          orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of (A,B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as an absolute tolerance;
-          elements with absolute value less than TOL are considered
-          neglijible. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by
-          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder matrix which reduces all but the first element
-  of vector B to zero is found and this orthogonal similarity
-  transformation is applied to the matrix A. The resulting A is then
-  reduced to upper Hessenberg form by a sequence of Householder
-  transformations. Finally, the order of the controllable state-
-  space representation (NCONT) is determined by finding the position
-  of the first sub-diagonal element of A which is below an
-  appropriate zero threshold, either TOL or TOLDEF (see parameter
-  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
-  zero, and no computations for reducing the system to orthogonal
-  canonical form are performed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Hammarling, S.J.
-      Notes on the use of orthogonal similarity transformations in
-      control.
-      NPL Report DITC 8/82, August 1982.
-
-  [3] Paige, C.C
-      Properties of numerical algorithms related to computing
-      controllability.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDZ
-      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), TAU(NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB01MD, DORGQR
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
-*        Find a controllable realization for the given system.
-         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, TAU, TOL,
-     $                DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) NCONT
-            DO 20 I = 1, NCONT
-               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
-            IF ( LSAME( JOBZ, 'F' ) )
-     $         CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK, INFO )
-            IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01MD = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
-     $       'ble realization is ')
-99996 FORMAT (/' The input/state vector B of a controllable realizatio',
-     $       'n is ',/(1X,F8.4))
-99995 FORMAT (/' The similarity transformation matrix Z is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB01MD EXAMPLE PROGRAM DATA
-   3     0.0     I
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB01MD EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  3
-
- The state dynamics matrix A of a controllable realization is 
-   1.0000   1.4142   0.0000
-   2.8284  -1.0000   2.8284
-   0.0000   1.4142   1.0000
-
- The input/state vector B of a controllable realization is 
-  -1.4142
-   0.0000
-   0.0000
-
- The similarity transformation matrix Z is 
-  -0.7071   0.0000  -0.7071
-   0.0000  -1.0000   0.0000
-  -0.7071   0.0000   0.7071
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB01ND.html b/doc/_static/doc/AB01ND.html
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@@ -1,368 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB01ND">AB01ND</A></H2>
-<H3>
-Controllable realization for multi-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  multi-input system
-
-          dX/dt = A * X + B * U,
-
-  where A and B are N-by-N and N-by-M matrices, respectively,
-  which are reduced by this routine to orthogonal canonical form
-  using (and optionally accumulating) orthogonal similarity
-  transformations.  Specifically, the pair (A, B) is reduced to
-  the pair (Ac, Bc),  Ac = Z' * A * Z,  Bc = Z' * B,  given by
-
-          [ Acont     *    ]         [ Bcont ]
-     Ac = [                ],   Bc = [       ],
-          [   0    Auncont ]         [   0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
-             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
-             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
-     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
-             [  .   .     . .    .     .  ]         [ .  ]
-             [  .   .       .    .     .  ]         [ .  ]
-             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
-
-  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
-  p is the controllability index of the pair.  The size of the
-  block  Auncont is equal to the dimension of the uncontrollable
-  subspace of the pair (A, B).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
-     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INDCON, INFO, LDA, LDB, LDWORK, LDZ, M, N, NCONT
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), Z(LDZ,*)
-      INTEGER           IWORK(*), NBLK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT part contains the
-          upper block Hessenberg state dynamics matrix Acont in Ac,
-          given by Z' * A * Z, of a controllable realization for
-          the original system. The elements below the first block-
-          subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading NCONT-by-M part of this array
-          contains the transformed input matrix Bcont in Bc, given
-          by Z' * B, with all elements but the first block set to
-          zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  INDCON  (output) INTEGER
-          The controllability index of the controllable part of the
-          system representation.
-
-  NBLK    (output) INTEGER array, dimension (N)
-          The leading INDCON elements of this array contain the
-          the orders of the diagonal blocks of Acont.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this
-          array contains the matrix of accumulated orthogonal
-          similarity transformations which reduces the given system
-          to orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N, 3*M).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix B is first QR-decomposed and the appropriate orthogonal
-  similarity transformation applied to the matrix A. Leaving the
-  first rank(B) states unchanged, the remaining lower left block
-  of A is then QR-decomposed and the new orthogonal matrix, Q1,
-  is also applied to the right of A to complete the similarity
-  transformation. By continuing in this manner, a completely
-  controllable state-space pair (Acont, Bcont) is found for the
-  given (A, B), where Acont is upper block Hessenberg with each
-  subdiagonal block of full row rank, and Bcont is zero apart from
-  its (independent) first rank(B) rows.
-  NOTE that the system controllability indices are easily
-  calculated from the dimensions of the blocks of Acont.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Paige, C.C.
-      Properties of numerical algorithms related to computing
-      controllablity.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
-      Postlethwaite, I.
-      Optimal Pole Assignment Design of Linear Multi-Input Systems.
-      Leicester University, Report 99-11, May 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, INDCON, J, M, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
-     $                 TAU(NMAX), Z(LDZ,NMAX)
-      INTEGER          IWORK(LIWORK), NBLK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB01ND, DORGQR
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-*           Find a controllable ssr for the given system.
-            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
-     $                   NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NCONT
-               WRITE ( NOUT, FMT = 99996 )
-               DO 20 I = 1, NCONT
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
-               WRITE ( NOUT, FMT = 99993 )
-               DO 40 I = 1, NCONT
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99992 ) INDCON
-               IF ( LSAME( JOBZ, 'F' ) )
-     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                         INFO )
-               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01ND = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
-     $       'le realization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
-     $       /20(1X,I2))
-99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
-     $       'e realization is ')
-99992 FORMAT (/' The controllability index of the transformed system r',
-     $       'epresentation = ',I2)
-99991 FORMAT (/' The similarity transformation matrix Z is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB01ND EXAMPLE PROGRAM DATA
-   3     2     0.0     I
-  -1.0   0.0   0.0
-  -2.0  -2.0  -2.0
-  -1.0   0.0  -3.0
-   1.0   0.0   0.0
-   0.0   2.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB01ND EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  2
-
- The transformed state dynamics matrix of a controllable realization is 
-  -3.0000   2.2361
-   0.0000  -1.0000
-
- and the dimensions of its diagonal blocks are 
-  2
-
- The transformed input/state matrix B of a controllable realization is 
-   0.0000  -2.2361
-   1.0000   0.0000
-
- The controllability index of the transformed system representation =  1
-
- The similarity transformation matrix Z is 
-   0.0000   1.0000   0.0000
-  -0.8944   0.0000  -0.4472
-  -0.4472   0.0000   0.8944
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB01OD">AB01OD</A></H2>
-<H3>
-Staircase form for multi-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices A and B using (and optionally accumulating)
-  state-space and input-space transformations U and V respectively,
-  such that the pair of matrices
-
-     Ac = U' * A * U,    Bc = U' * B * V
-
-  are in upper "staircase" form. Specifically,
-
-          [ Acont     *    ]         [ Bcont ]
-     Ac = [                ],   Bc = [       ],
-          [   0    Auncont ]         [   0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
-             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
-             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
-     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
-             [  .   .     . .    .     .  ]         [ .  ]
-             [  .   .       .    .     .  ]         [ .  ]
-             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
-
-  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
-  p is the controllability index of the pair.  The size of the
-  block Auncont is equal to the dimension of the uncontrollable
-  subspace of the pair (A, B).  The first stage of the reduction,
-  the "forward" stage, accomplishes the reduction to the orthogonal
-  canonical form (see SLICOT library routine AB01ND). The blocks
-  B1, A21, ..., Ap,p-1 are further reduced in a second, "backward"
-  stage to upper triangular form using RQ factorization. Each of
-  these stages is optional.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
-     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV, STAGES
-      INTEGER           INDCON, INFO, LDA, LDB, LDU, LDV, LDWORK, M, N,
-     $                  NCONT
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*), KSTAIR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STAGES  CHARACTER*1
-          Specifies the reduction stages to be performed as follows:
-          = 'F':  Perform the forward stage only;
-          = 'B':  Perform the backward stage only;
-          = 'A':  Perform both (all) stages.
-
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the state-space transformations as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is internally initialized to the unit matrix (if
-                  STAGES &lt;&gt; 'B'), or updated (if STAGES = 'B'), and
-                  the orthogonal transformation matrix U is
-                  returned.
-
-  JOBV    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix V the input-space transformations as follows:
-          = 'N':  Do not form V;
-          = 'I':  V is initialized to the unit matrix and the
-                  orthogonal transformation matrix V is returned.
-          JOBV is not referenced if STAGES = 'F'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The actual input dimension.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A to be transformed.
-          If STAGES = 'B', A should be in the orthogonal canonical
-          form, as returned by SLICOT library routine AB01ND.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state transition matrix U' * A * U.
-          The leading NCONT-by-NCONT part contains the upper block
-          Hessenberg state matrix Acont in Ac, given by U' * A * U,
-          of a controllable realization for the original system.
-          The elements below the first block-subdiagonal are set to
-          zero.  If STAGES &lt;&gt; 'F', the subdiagonal blocks of A are
-          triangularized by RQ factorization, and the annihilated
-          elements are explicitly zeroed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B to be transformed.
-          If STAGES = 'B', B should be in the orthogonal canonical
-          form, as returned by SLICOT library routine AB01ND.
-          On exit with STAGES = 'F', the leading N-by-M part of
-          this array contains the transformed input matrix U' * B,
-          with all elements but the first block set to zero.
-          On exit with STAGES &lt;&gt; 'F', the leading N-by-M part of
-          this array contains the transformed input matrix
-          U' * B * V, with all elements but the first block set to
-          zero and the first block in upper triangular form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          If STAGES &lt;&gt; 'B' or JOBU = 'N', then U need not be set
-          on entry.
-          If STAGES = 'B' and JOBU = 'I', then, on entry, the
-          leading N-by-N part of this array must contain the
-          transformation matrix U that reduced the pair to the
-          orthogonal canonical form.
-          On exit, if JOBU = 'I', the leading N-by-N part of this
-          array contains the transformation matrix U that performed
-          the specified reduction.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          If JOBU = 'I', LDU &gt;= MAX(1,N);  if JOBU = 'N', LDU &gt;= 1.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
-          If JOBV = 'I', then the leading M-by-M part of this array
-          contains the transformation matrix V.
-          If STAGES = 'F', or JOBV = 'N', the array V is not
-          referenced and can be supplied as a dummy array (i.e. set
-          parameter  LDV = 1 and declare this array to be V(1,1) in
-          the calling program).
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          If STAGES &lt;&gt; 'F' and JOBV = 'I', LDV &gt;= MAX(1,M);
-          if STAGES = 'F' or JOBV = 'N', LDV &gt;= 1.
-
-  NCONT   (input/output) INTEGER
-          The order of the controllable state-space representation.
-          NCONT is input only if STAGES = 'B'.
-
-  INDCON  (input/output) INTEGER
-          The number of stairs in the staircase form (also, the
-          controllability index of the controllable part of the
-          system representation).
-          INDCON is input only if STAGES = 'B'.
-
-  KSTAIR  (input/output) INTEGER array, dimension (N)
-          The leading INDCON elements of this array contain the
-          dimensions of the stairs, or, also, the orders of the
-          diagonal blocks of Acont.
-          KSTAIR is input if STAGES = 'B', and output otherwise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-          TOL is not referenced if STAGES = 'B'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          IWORK is not referenced if STAGES = 'B'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If STAGES &lt;&gt; 'B', LDWORK &gt;= MAX(1, N + MAX(N,3*M));
-          If STAGES =  'B', LDWORK &gt;= MAX(1, M + MAX(N,M)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Staircase reduction of the pencil [B|sI - A] is used. Orthogonal
-  transformations U and V are constructed such that
-
-                     |B |sI-A      *  . . .  *      *       |
-                     | 1|    11       .      .      .       |
-                     |  |  A    sI-A    .    .      .       |
-                     |  |   21      22    .  .      .       |
-                     |  |        .     .     *      *       |
-  [U'BV|sI - U'AU] = |0 |     0    .     .                  |
-                     |  |            A     sI-A     *       |
-                     |  |             p,p-1    pp           |
-                     |  |                                   |
-                     |0 |         0          0   sI-A       |
-                     |  |                            p+1,p+1|
-
-  where the i-th diagonal block of U'AU has dimension KSTAIR(i),
-  for i = 1,...,p. The value of p is returned in INDCON. The last
-  block contains the uncontrollable modes of the (A,B)-pair which
-  are also the generalized eigenvalues of the above pencil.
-
-  The complete reduction is performed in two stages. The first,
-  forward stage accomplishes the reduction to the orthogonal
-  canonical form. The second, backward stage consists in further
-  reduction to triangular form by applying left and right orthogonal
-  transformations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      The generalized eigenvalue problem in linear system theory.
-      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
-
-  [2] Miminis, G. and Paige, C.
-      An algorithm for pole assignment of time-invariant multi-input
-      linear systems.
-      Proc. 21st IEEE CDC, Orlando, Florida, 1, pp. 62-67, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + M) x N**2) operations and is
-  backward stable (see [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDU, LDV
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
-     $                   LDV = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INDCON, INFO, J, M, N, NCONT
-      CHARACTER*1      JOBU, JOBV, STAGES
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
-     $                 U(LDU,NMAX), V(LDV,MMAX)
-      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB01OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, STAGES, JOBU, JOBV
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-*           Reduce the matrices A and B to upper "staircase" form.
-            CALL AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
-     $                   LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99994 ) INDCON
-               WRITE ( NOUT, FMT = 99993 ) ( KSTAIR(I), I = 1,INDCON )
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01OD = ',I2)
-99997 FORMAT (' The transformed state transition matrix is ')
-99996 FORMAT (/' The transformed input matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The number of stairs in the staircase form = ',I3,/)
-99993 FORMAT (' The dimensions of the stairs are ',/(20(I3,2X)))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB01OD EXAMPLE PROGRAM DATA
-   5     2     0.0     F     N     N
-   17.0   24.0    1.0    8.0   15.0
-   23.0    5.0    7.0   14.0   16.0
-    4.0    6.0   13.0   20.0   22.0
-   10.0   12.0   19.0   21.0    3.0
-   11.0   18.0   25.0    2.0    9.0
-   -1.0   -4.0
-    4.0    9.0
-   -9.0  -16.0
-   16.0   25.0
-  -25.0  -36.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB01OD EXAMPLE PROGRAM RESULTS
-
- The transformed state transition matrix is 
-  12.8848   3.2345  11.8211   3.3758  -0.8982
-   4.4741 -12.5544   5.3509   5.9403   1.4360
-  14.4576   7.6855  23.1452  26.3872 -29.9557
-   0.0000   1.4805  27.4668  22.6564  -0.0072
-   0.0000   0.0000 -30.4822   0.6745  18.8680
-
- The transformed input matrix is 
-  31.1199  47.6865
-   3.2480   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The number of stairs in the staircase form =   3
-
- The dimensions of the stairs are 
-  2    2    1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB04MD.html b/doc/_static/doc/AB04MD.html
deleted file mode 100644
index 7ab9526f..00000000
--- a/doc/_static/doc/AB04MD.html
+++ /dev/null
@@ -1,318 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB04MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB04MD">AB04MD</A></H2>
-<H3>
-Discrete-time <--> continuous-time systems conversion by a bilinear transformation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a transformation on the parameters (A,B,C,D) of a
-  system, which is equivalent to a bilinear transformation of the
-  corresponding transfer function matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          Indicates the type of the original system and the
-          transformation to be performed as follows:
-          = 'D':  discrete-time   -&gt; continuous-time;
-          = 'C':  continuous-time -&gt; discrete-time.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  ALPHA,  (input) DOUBLE PRECISION
-  BETA    Parameters specifying the bilinear transformation.
-          Recommended values for stable systems: ALPHA = 1,
-          BETA = 1.  ALPHA &lt;&gt; 0, BETA &lt;&gt; 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A of the original system.
-          On exit, the leading N-by-N part of this array contains
-                           _
-          the state matrix A of the transformed system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the original system.
-          On exit, the leading N-by-M part of this array contains
-                           _
-          the input matrix B of the transformed system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C of the original system.
-          On exit, the leading P-by-N part of this array contains
-                            _
-          the output matrix C of the transformed system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix D for the original system.
-          On exit, the leading P-by-M part of this array contains
-                                  _
-          the input/output matrix D of the transformed system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK &gt;= MAX(1,N*NB), where NB
-          is the optimal blocksize.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix (ALPHA*I + A) is exactly singular;
-          = 2:  if the matrix  (BETA*I - A) is exactly singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The parameters of the discrete-time system are transformed into
-  the parameters of the continuous-time system (TYPE = 'D'), or
-  vice-versa (TYPE = 'C') by the transformation:
-
-  1.  Discrete -&gt; continuous
-      _                     -1
-      A = beta*(alpha*I + A)  * (A - alpha*I)
-      _                                     -1
-      B = sqrt(2*alpha*beta) * (alpha*I + A)  * B
-      _                                         -1
-      C = sqrt(2*alpha*beta) * C * (alpha*I + A)
-      _                        -1
-      D = D - C * (alpha*I + A)  * B
-
-  which is equivalent to the bilinear transformation
-
-                    z - alpha
-      z -&gt; s = beta ---------  .
-                    z + alpha
-
-  of one transfer matrix onto the other.
-
-  2.  Continuous -&gt; discrete
-      _                     -1
-      A = alpha*(beta*I - A)  * (beta*I + A)
-      _                                    -1
-      B = sqrt(2*alpha*beta) * (beta*I - A)  * B
-      _                                        -1
-      C = sqrt(2*alpha*beta) * C * (beta*I - A)
-      _                       -1
-      D = D + C * (beta*I - A)  * B
-
-  which is equivalent to the bilinear transformation
-
-                   beta + s
-    s -&gt; z = alpha -------- .
-                   beta - s
-
-  of one transfer matrix onto the other.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Al-Saggaf, U.M. and Franklin, G.F.
-      Model reduction via balanced realizations: a extension and
-      frequency weighting techniques.
-      IEEE Trans. Autom. Contr., AC-33, pp. 687-692, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                   3
-  The time taken is approximately proportional to N .
-  The accuracy depends mainly on the condition number of the matrix
-  to be inverted.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB04MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, BETA
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER*1      TYPE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB04MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TYPE, ALPHA, BETA
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
-               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
-*              Transform the parameters (A,B,C,D).
-               CALL AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB,
-     $                      C, LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB04MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB04MD = ',I2)
-99997 FORMAT (' The transformed state matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed input matrix is ')
-99994 FORMAT (/' The transformed output matrix is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-99990 FORMAT (/' The transformed input/output matrix is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB04MD EXAMPLE PROGRAM DATA
-   2     2     2     C     1.0D0     1.0D0
-   1.0  0.5
-   0.5  1.0
-   0.0 -1.0
-   1.0  0.0
-  -1.0  0.0
-   0.0  1.0
-   1.0  0.0
-   0.0 -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB04MD EXAMPLE PROGRAM RESULTS
-
- The transformed state matrix is 
-  -1.0000  -4.0000
-  -4.0000  -1.0000
-
- The transformed input matrix is 
-   2.8284   0.0000
-   0.0000  -2.8284
-
- The transformed output matrix is 
-   0.0000   2.8284
-  -2.8284   0.0000
-
- The transformed input/output matrix is 
-  -1.0000   0.0000
-   0.0000  -3.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB05MD.html b/doc/_static/doc/AB05MD.html
deleted file mode 100644
index e1db4e19..00000000
--- a/doc/_static/doc/AB05MD.html
+++ /dev/null
@@ -1,455 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05MD">AB05MD</A></H2>
-<H3>
-Cascade inter-connection of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To obtain the state-space model (A,B,C,D) for the cascaded
-  inter-connection of two systems, each given in state-space form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER, UPLO
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
-     $                  N2, P1, P2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
-     $                  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes to obtain the matrix A
-          in the upper or lower block diagonal form, as follows:
-          = 'U':  Obtain A in the upper block diagonal form;
-          = 'L':  Obtain A in the lower block diagonal form.
-
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D (for UPLO = 'L'), or A2
-                  and A, B2 and B, C2 and C, and D2 and D (for
-                  UPLO = 'U'), i.e. the same name is effectively
-                  used for each pair (for all pairs) in the routine
-                  call.  In this case, setting LDA1 = LDA,
-                  LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD, or
-                  LDA2 = LDA, LDB2 = LDB, LDC2 = LDC, and LDD2 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables for the first system.
-          M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables from the first system and
-          the number of input variables for the second system.
-          P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2.  N2 &gt;= 0.
-
-  P2      (input) INTEGER
-          The number of output variables from the second system.
-          P2 &gt;= 0.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
-          The leading N2-by-P1 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P2-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
-          The leading P2-by-P1 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the resulting
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the cascaded system.
-          If OVER = 'O', the array A can overlap A1, if UPLO = 'L',
-          or A2, if UPLO = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
-          The leading N-by-M1 part of this array contains the
-          input/state matrix B for the cascaded system.
-          If OVER = 'O', the array B can overlap B1, if UPLO = 'L',
-          or B2, if UPLO = 'U'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P2-by-N part of this array contains the
-          state/output matrix C for the cascaded system.
-          If OVER = 'O', the array C can overlap C1, if UPLO = 'L',
-          or C2, if UPLO = 'U'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P2) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
-          The leading P2-by-M1 part of this array contains the
-          input/output matrix D for the cascaded system.
-          If OVER = 'O', the array D can overlap D1, if UPLO = 'L',
-          or D2, if UPLO = 'U'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P2).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          The array DWORK is not referenced if OVER = 'N'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, P1*MAX(N1, M1, N2, P2) ) if OVER = 'O'.
-          LDWORK &gt;= 1 if OVER = 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After cascaded inter-connection of the two systems
-
-  X1'     = A1*X1 + B1*U
-  V       = C1*X1 + D1*U
-
-  X2'     = A2*X2 + B2*V
-  Y       = C2*X2 + D2*V
-
-  (where  '  denotes differentiation with respect to time)
-
-  the following state-space model will be obtained:
-
-  X'      = A*X + B*U
-  Y       = C*X + D*U
-
-  where matrix  A  has the form   ( A1     0 ),
-                                  ( B2*C1  A2)
-
-        matrix  B  has the form  (  B1   ),
-                                 ( B2*D1 )
-
-        matrix  C  has the form  ( D2*C1  C2 ) and
-
-        matrix  D  has the form  ( D2*D1 ).
-
-  This form is returned by the routine when UPLO = 'L'.  Note that
-  when A1 and A2 are block lower triangular, the resulting state
-  matrix is also block lower triangular.
-
-  By applying a similarity transformation to the system above,
-  using the matrix  ( 0  I ),  where  I  is the identity matrix of
-                    ( J  0 )
-  order  N2,  and  J  is the identity matrix of order  N1,  the
-  system matrices become
-
-        A = ( A2  B2*C1 ),
-            ( 0     A1  )
-
-        B = ( B2*D1 ),
-            (  B1   )
-
-        C = ( C2  D2*C1 ) and
-
-        D = ( D2*D1 ).
-
-  This form is returned by the routine when UPLO = 'U'.  Note that
-  when A1 and A2 are block upper triangular (for instance, in the
-  real Schur form), the resulting state matrix is also block upper
-  triangular.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires P1*(N1+M1)*(N2+P2) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX, P2MAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, P1MAX = 20, P2MAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2, LDWORK
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX,LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = P2MAX, LDC1 = P1MAX, LDC2 = P2MAX,
-     $                   LDD = P2MAX, LDD1 = P1MAX, LDD2 = P2MAX,
-     $                   LDWORK = P1MAX*N1MAX )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER, UPLO
-      INTEGER          I, INFO, J, M1, N, N1, N2, P1, P2
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB05MD
-*     .. Executable Statements ..
-*
-      UPLO = 'Lower'
-      OVER = 'N'
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2, P2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
-                  IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
-                     WRITE ( NOUT, FMT = 99988 ) P2
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
-                     READ ( NIN, FMT = * )
-     $                    ( ( D2(I,J), J = 1,P1 ), I = 1,P2 )
-*                    Find the state-space model (A,B,C,D).
-                     CALL AB05MD( UPLO, OVER, N1, M1, P1, N2, P2, A1,
-     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
-     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
-     $                            LDD2, N, A, LDA, B, LDB, C, LDC, D,
-     $                            LDD, DWORK, LDWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99997 )
-                        DO 20 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( A(I,J), J = 1,N )
-   20                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( B(I,J), J = 1,M1 )
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99994 )
-                        DO 60 I = 1, P2
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( C(I,J), J = 1,N )
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99993 )
-                        DO 80 I = 1, P2
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( D(I,J), J = 1,M1 )
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05MD = ',I2)
-99997 FORMAT (' The state transition matrix of the cascaded system is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the cascaded system is ')
-99994 FORMAT (/' The state/output matrix of the cascaded system is ')
-99993 FORMAT (/' The input/output matrix of the cascaded system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-99988 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05MD EXAMPLE PROGRAM DATA
-   3     2     2     3     2
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05MD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the cascaded system is 
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000  -3.0000   0.0000   0.0000
-  -3.0000   2.0000  -1.0000   1.0000   0.0000   1.0000
-   0.0000   2.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the cascaded system is 
-   1.0000   2.0000
-   1.0000   0.0000
-   0.0000   1.0000
-   0.0000   1.0000
-  -1.0000   0.0000
-   0.0000   2.0000
-
- The state/output matrix of the cascaded system is 
-   3.0000  -1.0000   1.0000   1.0000   1.0000   0.0000
-   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the cascaded system is 
-   1.0000   1.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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+++ /dev/null
@@ -1,445 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05ND">AB05ND</A></H2>
-<H3>
-Feedback inter-connection of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To obtain the state-space model (A,B,C,D) for the feedback
-  inter-connection of two systems, each given in state-space form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
-     $                  N2, P1
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*),
-     $                  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables for the first system and the
-          number of output variables from the second system.
-          M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables from the first system and
-          the number of input variables for the second system.
-          P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2.  N2 &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          A coefficient multiplying the transfer-function matrix
-          (or the output equation) of the second system.
-          ALPHA = +1 corresponds to positive feedback, and
-          ALPHA = -1 corresponds to negative feedback.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
-          The leading N2-by-P1 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading M1-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,M1) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
-          The leading M1-by-P1 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,M1).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the connected
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the connected system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
-          The leading N-by-M1 part of this array contains the
-          input/state matrix B for the connected system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P1-by-N part of this array contains the
-          state/output matrix C for the connected system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
-          The leading P1-by-M1 part of this array contains the
-          input/output matrix D for the connected system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.             If OVER = 'N',
-          LDWORK &gt;= MAX(1, P1*P1, M1*M1, N1*P1), and if OVER = 'O',
-          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*M1, N1*P1) ),
-                                                     if M1 &lt;= N*N2;
-          LDWORK &gt;= MAX(1, N1*P1 + MAX( P1*P1, M1*(M1+1), N1*P1) ),
-                                                     if M1 &gt;  N*N2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= P1, the system is not
-                completely controllable. That is, the matrix
-                (I + ALPHA*D1*D2) is exactly singular (the element
-                U(i,i) of the upper triangular factor of LU
-                factorization is exactly zero), possibly due to
-                rounding errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After feedback inter-connection of the two systems,
-
-  X1'     = A1*X1 + B1*U1
-  Y1      = C1*X1 + D1*U1
-
-  X2'     = A2*X2 + B2*U2
-  Y2      = C2*X2 + D2*U2
-
-  (where  '  denotes differentiation with respect to time)
-
-  the following state-space model will be obtained:
-
-  X'      = A*X  +  B*U
-  Y       = C*X  +  D*U
-
-  where       U = U1 + alpha*Y2,    X  =  ( X1 ),
-              Y = Y1 = U2,                ( X2 )
-
-  matrix  A  has the form
-
-  ( A1  -  alpha*B1*E12*D2*C1       -  alpha*B1*E12*C2    ),
-  (        B2*E21*C1            A2  -  alpha*B2*E21*D1*C2 )
-
-  matrix  B  has the form
-
-  (  B1*E12    ),
-  (  B2*E21*D1 )
-
-  matrix  C  has the form
-
-  (  E21*C1     -  alpha*E21*D1*C2 ),
-
-  matrix D  has the form
-
-  (  E21*D1 ),
-
-  E21  =  ( I + alpha*D1*D2 )-INVERSE and
-  E12  =  ( I + alpha*D2*D1 )-INVERSE = I - alpha*D2*E21*D1.
-
-  Taking N1 = 0 and/or N2 = 0 on the routine call will solve the
-  constant plant and/or constant feedback cases.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, P1MAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = M1MAX,
-     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = M1MAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = P1MAX*P1MAX )
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE=1.0D0 )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M1, N, N1, N2, P1
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      INTEGER          IWORK(P1MAX)
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB05ND
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      ALPHA = ONE
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,M1 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( D2(I,J), J = 1,P1 ), I = 1,M1 )
-*                 Find the state-space model (A,B,C,D).
-                  CALL AB05ND( OVER, N1, M1, P1, N2, ALPHA, A1, LDA1,
-     $                         B1, LDB1, C1, LDC1, D1, LDD1, A2, LDA2,
-     $                         B2, LDB2, C2, LDC2, D2, LDD2, N, A, LDA,
-     $                         B, LDB, C, LDC, D, LDD, IWORK, DWORK,
-     $                         LDWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 20 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M1 )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 60 I = 1, P1
-                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 80 I = 1, P1
-                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M1 )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05ND = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05ND EXAMPLE PROGRAM DATA
-   3     2     2     3
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05ND EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-  -0.5000  -0.2500  -1.5000  -1.2500  -1.2500   0.7500
-  -1.5000  -0.2500   0.5000  -0.2500  -0.2500  -0.2500
-   1.0000   0.5000   2.0000  -0.5000  -0.5000   0.5000
-   0.0000   0.5000   0.0000  -3.5000  -0.5000   0.5000
-  -1.5000   1.2500  -0.5000   1.2500   0.2500   1.2500
-   0.0000   1.0000   0.0000  -1.0000  -2.0000   3.0000
-
- The input/state matrix of the connected system is 
-   0.5000   0.7500
-   0.5000  -0.2500
-   0.0000   0.5000
-   0.0000   0.5000
-  -0.5000   0.2500
-   0.0000   1.0000
-
- The state/output matrix of the connected system is 
-   1.5000  -1.2500   0.5000  -0.2500  -0.2500  -0.2500
-   0.0000   0.5000   0.0000  -0.5000  -0.5000   0.5000
-
- The input/output matrix of the connected system is 
-   0.5000  -0.2500
-   0.0000   0.5000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB05OD.html b/doc/_static/doc/AB05OD.html
deleted file mode 100644
index 4fb9b2b5..00000000
--- a/doc/_static/doc/AB05OD.html
+++ /dev/null
@@ -1,419 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05OD">AB05OD</A></H2>
-<H3>
-Rowwise concatenation of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To obtain the state-space model (A,B,C,D) for rowwise
-  concatenation (parallel inter-connection on outputs, with separate
-  inputs) of two systems, each given in state-space form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, M, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
-     $                  N2, P1
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables for the first system.
-          M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables from each system.  P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2.  N2 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of input variables for the second system.
-          M2 &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          A coefficient multiplying the transfer-function matrix
-          (or the output equation) of the second system.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
-          The leading N2-by-M2 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P1-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P1) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
-          The leading P1-by-M2 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P1).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the connected
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  M       (output) INTEGER
-          The number of input variables (M1 + M2) for the connected
-          system, i.e. the number of columns of B and D.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the connected system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
-          The leading N-by-M part of this array contains the
-          input/state matrix B for the connected system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P1-by-N part of this array contains the
-          state/output matrix C for the connected system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P1) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
-          The leading P1-by-M part of this array contains the
-          input/output matrix D for the connected system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After rowwise concatenation (parallel inter-connection with
-  separate inputs) of the two systems,
-
-  X1'     = A1*X1 + B1*U
-  Y1      = C1*X1 + D1*U
-
-  X2'     = A2*X2 + B2*V
-  Y2      = C2*X2 + D2*V
-
-  (where  '  denotes differentiation with respect to time),
-
-  with the output equation for the second system multiplied by a
-  scalar alpha, the following state-space model will be obtained:
-
-  X'      = A*X + B*(U)
-                    (V)
-
-  Y       = C*X + D*(U)
-                    (V)
-
-  where matrix  A  has the form    ( A1   0  ),
-                                   ( 0    A2 )
-
-        matrix  B  has the form    ( B1   0  ),
-                                   ( 0    B2 )
-
-        matrix  C  has the form    ( C1   alpha*C2 ) and
-
-        matrix  D  has the form    ( D1   alpha*D2 ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
-     $                   P1MAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = P1MAX,
-     $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = P1MAX )
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE=1.0D0 )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P1
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB05OD
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      ALPHA = ONE
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
-                     WRITE ( NOUT, FMT = 99989 ) M2
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
-                     READ ( NIN, FMT = * )
-     $                    ( ( C2(I,J), J = 1,N2 ), I = 1,P1 )
-                     READ ( NIN, FMT = * )
-     $                    ( ( D2(I,J), J = 1,M2 ), I = 1,P1 )
-*                       Find the state-space model (A,B,C,D).
-                     CALL AB05OD( OVER, N1, M1, P1, N2, M2, ALPHA, A1,
-     $                            LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
-     $                            A2, LDA2, B2, LDB2, C2, LDC2, D2,
-     $                            LDD2, N, M, A, LDA, B, LDB, C, LDC,
-     $                            D, LDD, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99997 )
-                        DO 20 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( A(I,J), J = 1,N )
-   20                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( B(I,J), J = 1,M )
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99994 )
-                        DO 60 I = 1, P1
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( C(I,J), J = 1,N )
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99993 )
-                        DO 80 I = 1, P1
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( D(I,J), J = 1,M )
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05OD = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05OD EXAMPLE PROGRAM DATA
-   3     2     2     3     2
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05OD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the connected system is 
-   1.0000   2.0000   0.0000   0.0000
-   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000
-   0.0000   0.0000  -1.0000   0.0000
-   0.0000   0.0000   0.0000   2.0000
-
- The state/output matrix of the connected system is 
-   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
-   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the connected system is 
-   1.0000   0.0000   1.0000   1.0000
-   0.0000   1.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB05PD.html b/doc/_static/doc/AB05PD.html
deleted file mode 100644
index 2faccc5e..00000000
--- a/doc/_static/doc/AB05PD.html
+++ /dev/null
@@ -1,382 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05PD">AB05PD</A></H2>
-<H3>
-Parallel inter-connection of two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the state-space model G = (A,B,C,D) corresponding to
-  the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and
-  G2 = (A2,B2,C2,D2).  G, G1, and G2 are the transfer-function
-  matrices of the corresponding state-space models.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1,
-     $                   C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2,
-     $                   LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1, the number of rows of B1 and
-          the number of columns of C1.  N1 &gt;= 0.
-
-  M       (input) INTEGER
-          The number of input variables of the two systems, i.e. the
-          number of columns of matrices B1, D1, B2 and D2.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of output variables of the two systems, i.e.
-          the number of rows of matrices C1, D1, C2 and D2.  P &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2, the number of rows of B2 and
-          the number of columns of C2.  N2 &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The coefficient multiplying G2.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M)
-          The leading N1-by-M part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M)
-          The leading N2-by-M part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the resulting
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the resulting system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the
-          input/state matrix B for the resulting system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P-by-N part of this array contains the
-          state/output matrix C for the resulting system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          input/output matrix D for the resulting system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the resulting systems are determined as:
-
-        ( A1   0  )             ( B1 )
-    A = (         ) ,       B = (    ) ,
-        ( 0    A2 )             ( B2 )
-
-    C = ( C1  alpha*C2 ) ,  D = D1 + alpha*D2 .
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, MMAX, PMAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = PMAX, LDC1 = PMAX,  LDC2 = PMAX,
-     $                   LDD = PMAX, LDD1 = PMAX,  LDD2 = PMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M, N, N1, N2, P
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,MMAX), B1(LDB1,MMAX), B2(LDB2,MMAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,MMAX), D1(LDD1,MMAX), D2(LDD2,MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB05PD
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M, P, N2, ALPHA
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M ), I = 1,P )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  READ ( NIN, FMT = * )
-     $                 ( ( B2(I,J), I = 1,N2 ), J = 1,M )
-                  READ ( NIN, FMT = * )
-     $                 ( ( C2(I,J), J = 1,N2 ), I = 1,P )
-                  READ ( NIN, FMT = * )
-     $                 ( ( D2(I,J), J = 1,M ), I = 1,P )
-*                    Find the state-space model (A,B,C,D).
-                  CALL AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1,
-     $                         LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2,
-     $                         LDB2, C2, LDC2, D2, LDD2, N, A, LDA, B,
-     $                         LDB, C, LDC, D, LDD, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 20 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( A(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( B(I,J), J = 1,M )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 60 I = 1, P
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( C(I,J), J = 1,N )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 80 I = 1, P
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( D(I,J), J = 1,M )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05PD = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05PD EXAMPLE PROGRAM DATA
-   3     2     2     3     1.0D0
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05PD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the connected system is 
-   1.0000   2.0000
-   1.0000   0.0000
-   0.0000   1.0000
-   0.0000   1.0000
-  -1.0000   0.0000
-   0.0000   2.0000
-
- The state/output matrix of the connected system is 
-   3.0000  -2.0000   1.0000   1.0000   1.0000   0.0000
-   0.0000   1.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the connected system is 
-   2.0000   1.0000
-   0.0000   2.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB05QD.html b/doc/_static/doc/AB05QD.html
deleted file mode 100644
index 0cf6926f..00000000
--- a/doc/_static/doc/AB05QD.html
+++ /dev/null
@@ -1,416 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05QD">AB05QD</A></H2>
-<H3>
-Appending two systems in state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To append two systems G1 and G2 in state-space form together.
-  If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the state-space
-  models of the given two systems having the transfer-function
-  matrices G1 and G2, respectively, this subroutine constructs the
-  state-space model G = (A,B,C,D) which corresponds to the
-  transfer-function matrix
-
-                        ( G1 0  )
-                    G = (       )
-                        ( 0  G2 )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
-     $                  N2, P, P1, P2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  OVER    CHARACTER*1
-          Indicates whether the user wishes to overlap pairs of
-          arrays, as follows:
-          = 'N':  Do not overlap;
-          = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-                  C1 and C, and D1 and D, i.e. the same name is
-                  effectively used for each pair (for all pairs)
-                  in the routine call.  In this case, setting
-                  LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-                  will give maximum efficiency.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The number of state variables in the first system, i.e.
-          the order of the matrix A1, the number of rows of B1 and
-          the number of columns of C1.  N1 &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of input variables in the first system, i.e.
-          the number of columns of matrices B1 and D1.  M1 &gt;= 0.
-
-  P1      (input) INTEGER
-          The number of output variables in the first system, i.e.
-          the number of rows of matrices C1 and D1.  P1 &gt;= 0.
-
-  N2      (input) INTEGER
-          The number of state variables in the second system, i.e.
-          the order of the matrix A2, the number of rows of B2 and
-          the number of columns of C2.  N2 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of input variables in the second system, i.e.
-          the number of columns of matrices B2 and D2.  M2 &gt;= 0.
-
-  P2      (input) INTEGER
-          The number of output variables in the second system, i.e.
-          the number of rows of matrices C2 and D2.  P2 &gt;= 0.
-
-  A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-          The leading N1-by-N1 part of this array must contain the
-          state transition matrix A1 for the first system.
-
-  LDA1    INTEGER
-          The leading dimension of array A1.  LDA1 &gt;= MAX(1,N1).
-
-  B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-          The leading N1-by-M1 part of this array must contain the
-          input/state matrix B1 for the first system.
-
-  LDB1    INTEGER
-          The leading dimension of array B1.  LDB1 &gt;= MAX(1,N1).
-
-  C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-          The leading P1-by-N1 part of this array must contain the
-          state/output matrix C1 for the first system.
-
-  LDC1    INTEGER
-          The leading dimension of array C1.
-          LDC1 &gt;= MAX(1,P1) if N1 &gt; 0.
-          LDC1 &gt;= 1 if N1 = 0.
-
-  D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-          The leading P1-by-M1 part of this array must contain the
-          input/output matrix D1 for the first system.
-
-  LDD1    INTEGER
-          The leading dimension of array D1.  LDD1 &gt;= MAX(1,P1).
-
-  A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-          The leading N2-by-N2 part of this array must contain the
-          state transition matrix A2 for the second system.
-
-  LDA2    INTEGER
-          The leading dimension of array A2.  LDA2 &gt;= MAX(1,N2).
-
-  B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
-          The leading N2-by-M2 part of this array must contain the
-          input/state matrix B2 for the second system.
-
-  LDB2    INTEGER
-          The leading dimension of array B2.  LDB2 &gt;= MAX(1,N2).
-
-  C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-          The leading P2-by-N2 part of this array must contain the
-          state/output matrix C2 for the second system.
-
-  LDC2    INTEGER
-          The leading dimension of array C2.
-          LDC2 &gt;= MAX(1,P2) if N2 &gt; 0.
-          LDC2 &gt;= 1 if N2 = 0.
-
-  D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
-          The leading P2-by-M2 part of this array must contain the
-          input/output matrix D2 for the second system.
-
-  LDD2    INTEGER
-          The leading dimension of array D2.  LDD2 &gt;= MAX(1,P2).
-
-  N       (output) INTEGER
-          The number of state variables (N1 + N2) in the resulting
-          system, i.e. the order of the matrix A, the number of rows
-          of B and the number of columns of C.
-
-  M       (output) INTEGER
-          The number of input variables (M1 + M2) in the resulting
-          system, i.e. the number of columns of B and D.
-
-  P       (output) INTEGER
-          The number of output variables (P1 + P2) of the resulting
-          system, i.e. the number of rows of C and D.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-          The leading N-by-N part of this array contains the state
-          transition matrix A for the resulting system.
-          The array A can overlap A1 if OVER = 'O'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N1+N2).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
-          The leading N-by-M part of this array contains the
-          input/state matrix B for the resulting system.
-          The array B can overlap B1 if OVER = 'O'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1+N2).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-          The leading P-by-N part of this array contains the
-          state/output matrix C for the resulting system.
-          The array C can overlap C1 if OVER = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P1+P2) if N1+N2 &gt; 0.
-          LDC &gt;= 1 if N1+N2 = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
-          The leading P-by-M part of this array contains the
-          input/output matrix D for the resulting system.
-          The array D can overlap D1 if OVER = 'O'.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P1+P2).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the resulting systems are determined as:
-
-        ( A1   0  )         ( B1  0  )
-    A = (         ) ,   B = (        ) ,
-        ( 0    A2 )         ( 0   B2 )
-
-        ( C1   0  )         ( D1  0  )
-    C = (         ) ,   D = (        ) .
-        ( 0    C2 )         ( 0   D2 )
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          N1MAX, N2MAX, NMAX, M1MAX, M2MAX, MMAX, P1MAX,
-     $                 P2MAX, PMAX
-      PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
-     $                   M1MAX = 20, M2MAX = 20, MMAX = M1MAX+M2MAX,
-     $                   P1MAX = 20, P2MAX = 20, PMAX = P1MAX+P2MAX )
-      INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
-     $                 LDC2, LDD, LDD1, LDD2
-      PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
-     $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
-     $                   LDC = PMAX, LDC1 = P1MAX, LDC2 = P1MAX,
-     $                   LDD = PMAX, LDD1 = P1MAX, LDD2 = P1MAX )
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE=1.0D0 )
-*     .. Local Scalars ..
-      CHARACTER*1      OVER
-      INTEGER          I, INFO, J, M, M1, M2, N, N1, N2, P, P1, P2
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
-     $                 B(LDB,MMAX), B1(LDB1,M1MAX), B2(LDB2,M2MAX),
-     $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
-     $                 D(LDD,MMAX), D1(LDD1,M1MAX), D2(LDD2,M2MAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB05QD
-*     .. Executable Statements ..
-*
-      OVER = 'N'
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N1, M1, P1, N2, M2, P2
-      IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N1
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
-         IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M1
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
-            IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P1
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
-               READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
-               IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N2
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
-                  IF ( M2.LE.0 .OR. M2.GT.M2MAX ) THEN
-                     WRITE ( NOUT, FMT = 99988 ) M2
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( B2(I,J), I = 1,N2 ), J = 1,M2 )
-                     IF ( P2.LE.0 .OR. P2.GT.P2MAX ) THEN
-                        WRITE ( NOUT, FMT = 99987 ) P2
-                     ELSE
-                        READ ( NIN, FMT = * )
-     $                       ( ( C2(I,J), J = 1,N2 ), I = 1,P2 )
-                        READ ( NIN, FMT = * )
-     $                       ( ( D2(I,J), J = 1,M2 ), I = 1,P2 )
-*                          Find the state-space model (A,B,C,D).
-                        CALL AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1,
-     $                               LDA1, B1, LDB1, C1, LDC1, D1, LDD1,
-     $                               A2, LDA2, B2, LDB2, C2, LDC2, D2,
-     $                               LDD2, N, M, P, A, LDA, B, LDB, C,
-     $                               LDC, D, LDD, INFO )
-*
-                        IF ( INFO.NE.0 ) THEN
-                           WRITE ( NOUT, FMT = 99998 ) INFO
-                        ELSE
-                           WRITE ( NOUT, FMT = 99997 )
-                           DO 20 I = 1, N
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( A(I,J), J = 1,N )
-   20                      CONTINUE
-                           WRITE ( NOUT, FMT = 99995 )
-                           DO 40 I = 1, N
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( B(I,J), J = 1,M )
-   40                      CONTINUE
-                           WRITE ( NOUT, FMT = 99994 )
-                           DO 60 I = 1, P
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( C(I,J), J = 1,N )
-   60                      CONTINUE
-                           WRITE ( NOUT, FMT = 99993 )
-                           DO 80 I = 1, P
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( D(I,J), J = 1,M )
-   80                      CONTINUE
-                        END IF
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05QD = ',I2)
-99997 FORMAT (' The state transition matrix of the connected system is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the connected system is ')
-99994 FORMAT (/' The state/output matrix of the connected system is ')
-99993 FORMAT (/' The input/output matrix of the connected system is ')
-99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
-99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
-99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
-99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
-99988 FORMAT (/' M2 is out of range.',/' M2 = ',I5)
-99987 FORMAT (/' P2 is out of range.',/' P2 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05QD EXAMPLE PROGRAM DATA
-   3     2     2     3     2     2
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-  -3.0   0.0   0.0
-   1.0   0.0   1.0
-   0.0  -1.0   2.0
-   0.0  -1.0   0.0
-   1.0   0.0   2.0
-   1.0   1.0   0.0
-   1.0   1.0  -1.0
-   1.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05QD EXAMPLE PROGRAM RESULTS
-
- The state transition matrix of the connected system is
-   1.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000  -1.0000   1.0000   0.0000   0.0000   0.0000
-   1.0000   1.0000   2.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -3.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   2.0000
-
- The input/state matrix of the connected system is 
-   1.0000   2.0000   0.0000   0.0000
-   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000
-   0.0000   0.0000  -1.0000   0.0000
-   0.0000   0.0000   0.0000   2.0000
-
- The state/output matrix of the connected system is 
-   3.0000  -2.0000   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   1.0000  -1.0000
-
- The input/output matrix of the connected system is 
-   1.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   1.0000   1.0000
-   0.0000   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB05RD.html b/doc/_static/doc/AB05RD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,446 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05RD">AB05RD</A></H2>
-<H3>
-Closed-loop system for a mixed output and state feedback control law
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a given state space system (A,B,C,D) the closed-
-  loop system (Ac,Bc,Cc,Dc) corresponding to the mixed output and
-  state feedback control law
-
-       u = alpha*F*y + beta*K*x + G*v
-       z = H*y.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA, BETA, A,
-     $                   LDA, B, LDB, C, LDC, D, LDD, F, LDF, K, LDK,
-     $                   G, LDG, H, LDH, RCOND, BC, LDBC, CC, LDCC,
-     $                   DC, LDDC, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FBTYPE, JOBD
-      INTEGER           INFO, LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC,
-     $                  LDF, LDG, LDH, LDK, LDWORK, M, MV, N, P, PZ
-      DOUBLE PRECISION  ALPHA, BETA, RCOND
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BC(LDBC,*), C(LDC,*),
-     $                  CC(LDCC,*), D(LDD,*), DC(LDDC,*), DWORK(*),
-     $                  F(LDF,*), G(LDG,*), H(LDH,*), K(LDK,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FBTYPE  CHARACTER*1
-          Specifies the type of the feedback law as follows:
-          = 'I':  Unitary output feedback (F = I);
-          = 'O':  General output feedback.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears
-          in the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of state vector x, i.e. the order of the
-          matrix A, the number of rows of B and the number of
-          columns of C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector u, i.e. the number of
-          columns of matrices B and D, and the number of rows of F.
-          M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector y, i.e. the number of rows
-          of matrices C and D, and the number of columns of F.
-          P &gt;= 0 and P = M if FBTYPE = 'I'.
-
-  MV      (input) INTEGER
-          The dimension of the new input vector v, i.e. the number
-          of columns of matrix G.  MV &gt;= 0.
-
-  PZ      (input) INTEGER.
-          The dimension of the new output vector z, i.e. the number
-          of rows of matrix H.  PZ &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The coefficient alpha in the output feedback law.
-
-  BETA    (input) DOUBLE PRECISION.
-          The coefficient beta in the state feedback law.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state transition matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the state matrix Ac of the closed-loop system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the intermediary input matrix B1 (see METHOD).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the intermediary output matrix C1+BETA*D1*K (see METHOD).
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P) if N &gt; 0.
-          LDC &gt;= 1 if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the system direct input/output
-          transmission matrix D.
-          On exit, the leading P-by-M part of this array contains
-          the intermediary direct input/output transmission matrix
-          D1 (see METHOD).
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P) if JOBD = 'D'.
-          LDD &gt;= 1 if JOBD = 'Z'.
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
-          If FBTYPE = 'O', the leading M-by-P part of this array
-          must contain the output feedback matrix F.
-          If FBTYPE = 'I', then the feedback matrix is assumed to be
-          an M x M order identity matrix.
-          The array F is not referenced if FBTYPE = 'I'  or
-          ALPHA = 0.
-
-  LDF     INTEGER
-          The leading dimension of array F.
-          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
-          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
-
-  K       (input) DOUBLE PRECISION array, dimension (LDK,N)
-          The leading M-by-N part of this array must contain the
-          state feedback matrix K.
-          The array K is not referenced if BETA = 0.
-
-  LDK     INTEGER
-          The leading dimension of the array K.
-          LDK &gt;= MAX(1,M) if BETA &lt;&gt; 0.
-          LDK &gt;= 1 if BETA = 0.
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,MV)
-          The leading M-by-MV part of this array must contain the
-          system input scaling matrix G.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,M).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,P)
-          The leading PZ-by-P part of this array must contain the
-          system output scaling matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,PZ).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal condition number of the matrix
-          I - alpha*D*F.
-
-  BC      (output) DOUBLE PRECISION array, dimension (LDBC,MV)
-          The leading N-by-MV part of this array contains the input
-          matrix Bc of the closed-loop system.
-
-  LDBC    INTEGER
-          The leading dimension of array BC.  LDBC &gt;= MAX(1,N).
-
-  CC      (output) DOUBLE PRECISION array, dimension (LDCC,N)
-          The leading PZ-by-N part of this array contains the
-          system output matrix Cc of the closed-loop system.
-
-  LDCC    INTEGER
-          The leading dimension of array CC.
-          LDCC &gt;= MAX(1,PZ) if N &gt; 0.
-          LDCC &gt;= 1 if N = 0.
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,MV)
-          If JOBD = 'D', the leading PZ-by-MV part of this array
-          contains the direct input/output transmission matrix Dc
-          of the closed-loop system.
-          The array DC is not referenced if JOBD = 'Z'.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.
-          LDDC &gt;= MAX(1,PZ) if JOBD = 'D'.
-          LDDC &gt;= 1 if JOBD = 'Z'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
-          LIWORK &gt;= 1 if JOBD = 'Z'.
-          IWORK is not referenced if JOBD = 'Z'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= wspace, where
-                wspace = MAX( 1, M, P*MV, P*P + 4*P ) if JOBD = 'D',
-                wspace = MAX( 1, M ) if JOBD = 'Z'.
-          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix I - alpha*D*F is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the closed-loop system have the expressions:
-
-  Ac = A1 + beta*B1*K,      Bc = B1*G,
-  Cc = H*(C1 + beta*D1*K),  Dc = H*D1*G,
-
-  where
-
-  A1 = A + alpha*B*F*E*C,   B1 = B + alpha*B*F*E*D,
-  C1 = E*C,                 D1 = E*D,
-
-  with E = (I - alpha*D*F)**-1.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of computations basically depends on the conditioning
-  of the matrix I - alpha*D*F. If RCOND is very small, it is likely
-  that the computed results are inaccurate.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB05RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, MVMAX, PMAX, PZMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, MVMAX = 20,
-     $                   PMAX = 20, PZMAX = 20 )
-      INTEGER          LDA, LDB, LDBC, LDC, LDCC, LDD, LDDC, LDF, LDG,
-     $                 LDH, LDK, LDWORK, LIWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBC = NMAX,
-     $                   LDC = PMAX, LDCC = PZMAX,
-     $                   LDD = PMAX, LDDC = PZMAX, LDF = MMAX,
-     $                   LDG = MMAX, LDH  = PZMAX, LDK = MMAX,
-     $                   LDWORK = MAX( MMAX, PMAX*MVMAX,
-     $                   PMAX*PMAX + 4*PMAX ), LIWORK = 2*PMAX )
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-*     .. Local Scalars ..
-      LOGICAL          LJOBD, OUTPF
-      CHARACTER*1      FBTYPE, JOBD
-      INTEGER          I, INFO, J, M, MV, N, P, PZ
-      DOUBLE PRECISION ALPHA, BETA, RCOND
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), BC(LDBC,MVMAX),
-     $                 C(LDC,NMAX), CC(LDCC,NMAX),
-     $                 D(LDD,MMAX), DC(LDDC,MVMAX),  DWORK(LDWORK),
-     $                 F(LDF,PMAX), G(LDG,MVMAX), H(LDH,PMAX),
-     $                 K(LDK,NMAX)
-*     .. External functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB05RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, MV, PZ, ALPHA, BETA, FBTYPE, JOBD
-      OUTPF = LSAME( FBTYPE, 'O' )
-      LJOBD = LSAME( JOBD, 'D' )
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( BETA.NE.ZERO )
-     $         READ ( NIN, FMT = * ) ( ( K(I,J), J = 1,N ), I = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LJOBD )
-     $            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF ( OUTPF.AND.ALPHA.NE.ZERO )
-     $            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,P ), I = 1,M )
-               IF ( MV.LE.0 .OR. MV.GT.MVMAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) MV
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( G(I,J), J = 1,MV ), I = 1,M )
-                  IF ( PZ.LE.0 .OR. PZ.GT.PZMAX ) THEN
-                     WRITE ( NOUT, FMT = 99988 ) PZ
-                  ELSE
-                     READ ( NIN, FMT = * )
-     $                    ( ( H(I,J), J = 1,P ), I = 1,PZ )
-*                       Find the state-space model (A,B,C,D).
-                     CALL AB05RD( FBTYPE, JOBD, N, M, P, MV, PZ, ALPHA,
-     $                            BETA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                            F, LDF, K, LDK, G, LDG, H, LDH, RCOND,
-     $                            BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
-     $                            DWORK, LDWORK, INFO )
-*
-                     WRITE ( NOUT, FMT = 99987 ) RCOND
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99997 )
-                        DO 20 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( A(I,J), J = 1,N )
-   20                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( BC(I,J), J = 1,MV )
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99994 )
-                        DO 60 I = 1, PZ
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( CC(I,J), J = 1,N )
-   60                   CONTINUE
-                        IF ( LJOBD ) THEN
-                           WRITE ( NOUT, FMT = 99993 )
-                           DO 80 I = 1, PZ
-                              WRITE ( NOUT, FMT = 99996 )
-     $                              ( DC(I,J), J = 1,MV )
-   80                      CONTINUE
-                        END IF
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB05RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB05RD = ',I2)
-99997 FORMAT (' The state transition matrix of the closed-loop system is
-     $')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the closed-loop system is ')
-99994 FORMAT (/' The state/output matrix of the closed-loop system is ')
-99993 FORMAT (/' The input/output matrix of the closed-loop system is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-99989 FORMAT (/' MV is out of range.',/' MV = ',I5)
-99988 FORMAT (/' PZ is out of range.',/' PZ = ',I5)
-99987 FORMAT ( ' The reciprocal condition number of the matrix ',
-     $         ' I - alpha*D*F is',F8.4,/1X)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB05RD EXAMPLE PROGRAM DATA
-   3     2     2     2     2   1.0   1.0    O     D
-   1.0   0.0  -1.0
-   0.0  -1.0   1.0
-   1.0   1.0   2.0
-   1.0   1.0   0.0
-   2.0   0.0   1.0
-   2.0   1.0   0.0
-   1.0   0.0   1.0
-   3.0  -2.0   1.0
-   0.0   1.0   0.0
-   1.0   0.0
-   0.0   1.0
-   1.0   2.0
-   3.0   4.0
-   1.0   1.0
-   0.0   1.0
-   4.0   3.0
-   2.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB05RD EXAMPLE PROGRAM RESULTS
-
- The reciprocal condition number of the matrix  I - alpha*D*F is  0.2000
-
- The state transition matrix of the closed-loop system is
-  -4.8333   0.1667  -2.8333
-  -0.8333   0.1667   0.1667
-  -1.5000   0.5000   1.5000
-
- The input/state matrix of the closed-loop system is 
-  -0.5000  -0.8333
-   0.5000   0.1667
-  -0.5000  -0.5000
-
- The state/output matrix of the closed-loop system is 
-   1.1667  -1.8333  -0.8333
-   1.8333  -1.1667  -0.1667
-
- The input/output matrix of the closed-loop system is 
-   0.5000  -0.8333
-   0.5000  -0.1667
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB05SD.html b/doc/_static/doc/AB05SD.html
deleted file mode 100644
index 0bf13817..00000000
--- a/doc/_static/doc/AB05SD.html
+++ /dev/null
@@ -1,206 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB05SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB05SD">AB05SD</A></H2>
-<H3>
-Closed-loop system for an output feedback control law
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a given state space system (A,B,C,D) the closed-
-  loop system (Ac,Bc,Cc,Dc) corresponding to the output feedback
-  control law
-
-       u = alpha*F*y + v.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB05SD( FBTYPE, JOBD, N, M, P, ALPHA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, F, LDF, RCOND, IWORK, DWORK,
-     $                   LDWORK, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         FBTYPE, JOBD
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDF, LDWORK, M, N, P
-      DOUBLE PRECISION  ALPHA, RCOND
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), F(LDF,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FBTYPE  CHARACTER*1
-          Specifies the type of the feedback law as follows:
-          = 'I':  Unitary output feedback (F = I);
-          = 'O':  General output feedback.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e. the order of the
-          matrix A, the number of rows of B and the number of
-          columns of C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of input variables, i.e. the number of columns
-          of matrices B and D, and the number of rows of F.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of output variables, i.e. the number of rows of
-          matrices C and D, and the number of columns of F.  P &gt;= 0
-          and P = M if FBTYPE = 'I'.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The coefficient alpha in the output feedback law.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state transition matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the state matrix Ac of the closed-loop system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the input matrix Bc of the closed-loop system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the output matrix Cc of the closed-loop system.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P) if N &gt; 0.
-          LDC &gt;= 1 if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the system direct input/output transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading P-by-M part of this
-          array contains the direct input/output transmission
-          matrix Dc of the closed-loop system.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P) if JOBD = 'D'.
-          LDD &gt;= 1 if JOBD = 'Z'.
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,P)
-          If FBTYPE = 'O', the leading M-by-P part of this array
-          must contain the output feedback matrix F.
-          If FBTYPE = 'I', then the feedback matrix is assumed to be
-          an M x M order identity matrix.
-          The array F is not referenced if FBTYPE = 'I' or
-          ALPHA = 0.
-
-  LDF     INTEGER
-          The leading dimension of array F.
-          LDF &gt;= MAX(1,M) if FBTYPE = 'O' and ALPHA &lt;&gt; 0.
-          LDF &gt;= 1 if FBTYPE = 'I' or ALPHA = 0.
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal condition number of the matrix
-          I - alpha*D*F.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,2*P) if JOBD = 'D'.
-          LIWORK &gt;= 1 if JOBD = 'Z'.
-          IWORK is not referenced if JOBD = 'Z'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= wspace, where
-                    wspace = MAX( 1, M, P*P + 4*P ) if JOBD = 'D',
-                    wspace = MAX( 1, M ) if JOBD = 'Z'.
-          For best performance, LDWORK &gt;= MAX( wspace, N*M, N*P ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix I - alpha*D*F is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the closed-loop system have the expressions:
-
-  Ac = A + alpha*B*F*E*C,  Bc = B + alpha*B*F*E*D,
-  Cc = E*C,                Dc = E*D,
-
-  where E = (I - alpha*D*F)**-1.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of computations basically depends on the conditioning
-  of the matrix I - alpha*D*F.  If RCOND is very small, it is likely
-  that the computed results are inaccurate.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB07MD.html b/doc/_static/doc/AB07MD.html
deleted file mode 100644
index 523e6b4a..00000000
--- a/doc/_static/doc/AB07MD.html
+++ /dev/null
@@ -1,259 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB07MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB07MD">AB07MD</A></H2>
-<H3>
-Dual of a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the dual of a given state-space representation.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBD
-      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the dual state dynamics matrix A'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-P part of this array contains
-          the dual input/state matrix C'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the dual state/output matrix B'.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1 if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (LDD,MAX(M,P))
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the original direct transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading M-by-P part of this
-          array contains the dual direct transmission matrix D'.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
-          LDD &gt;= 1 if JOBD = 'Z'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the given state-space representation is the M-input/P-output
-  (A,B,C,D), its dual is simply the P-input/M-output (A',C',B',D').
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB07MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBD
-      INTEGER          I, INFO, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP)
-*     .. External functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB07MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBD
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the dual of the ssr (A,B,C,D).
-               CALL AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,P )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  IF ( LSAME( JOBD, 'D' ) ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 80 I = 1, M
-                        WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,P )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB07MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB07MD = ',I2)
-99997 FORMAT (' The dual state dynamics matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The dual input/state matrix is ')
-99994 FORMAT (/' The dual state/output matrix is ')
-99993 FORMAT (/' The dual direct transmission matrix is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB07MD EXAMPLE PROGRAM DATA
-   3     1     2     D
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB07MD EXAMPLE PROGRAM RESULTS
-
- The dual state dynamics matrix is 
-   1.0000   4.0000   0.0000
-   2.0000  -1.0000   0.0000
-   0.0000   0.0000   1.0000
-
- The dual input/state matrix is 
-   0.0000   0.0000
-   1.0000   0.0000
-  -1.0000   1.0000
-
- The dual state/output matrix is 
-   1.0000   0.0000   1.0000
-
- The dual direct transmission matrix is 
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB07ND.html b/doc/_static/doc/AB07ND.html
deleted file mode 100644
index cb00ceac..00000000
--- a/doc/_static/doc/AB07ND.html
+++ /dev/null
@@ -1,264 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB07ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB07ND">AB07ND</A></H2>
-<H3>
-Inverse of a given linear system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   RCOND
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs and outputs.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A of the original system.
-          On exit, the leading N-by-N part of this array contains
-          the state matrix Ai of the inverse system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the original system.
-          On exit, the leading N-by-M part of this array contains
-          the input matrix Bi of the inverse system.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the output matrix C of the original system.
-          On exit, the leading M-by-N part of this array contains
-          the output matrix Ci of the inverse system.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading M-by-M part of this array must
-          contain the feedthrough matrix D of the original system.
-          On exit, the leading M-by-M part of this array contains
-          the feedthrough matrix Di of the inverse system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimated reciprocal condition number of the
-          feedthrough matrix D of the original system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,4*M).
-          For good performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  the matrix D is exactly singular; the (i,i) diagonal
-                element is zero, i &lt;= M; RCOND was set to zero;
-          = M+1:  the matrix D is numerically singular, i.e., RCOND
-                is less than the relative machine precision, EPS
-                (see LAPACK Library routine DLAMCH). The
-                calculations have been completed, but the results
-                could be very inaccurate.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the inverse system are computed with the formulas:
-                -1              -1         -1           -1
-    Ai = A - B*D  *C,  Bi = -B*D  ,  Ci = D  *C,  Di = D  .
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy depends mainly on the condition number of the matrix
-  D to be inverted. The estimated reciprocal condition number is
-  returned in RCOND.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB07ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MMAX,
-     $                   LDD = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      DOUBLE PRECISION RCOND
-*     .. Local Arrays ..
-      INTEGER          IWORK(2*MMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB07ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
-*           Find the inverse of the ssr (A,B,C,D).
-            CALL AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
-     $                   IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 60 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 80 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-   80          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB07ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB07ND = ',I2)
-99997 FORMAT (' The state dynamics matrix of the inverse system is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix of the inverse system is ')
-99994 FORMAT (/' The state/output matrix of the inverse system is ')
-99993 FORMAT (/' The feedthrough matrix of the inverse system is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB07ND EXAMPLE PROGRAM DATA
-   3     2
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0
-   0.0   1.0
-   1.0   0.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-   4.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB07ND EXAMPLE PROGRAM RESULTS
-
- The state dynamics matrix of the inverse system is 
-   1.0000   1.7500   0.2500
-   4.0000  -1.0000  -1.0000
-   0.0000  -0.2500   1.2500
-
- The input/state matrix of the inverse system is 
-  -0.2500   0.0000
-   0.0000  -1.0000
-  -0.2500   0.0000
-
- The state/output matrix of the inverse system is 
-   0.0000   0.2500  -0.2500
-   0.0000   0.0000   1.0000
-
- The feedthrough matrix of the inverse system is 
-   0.2500   0.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08MD.html b/doc/_static/doc/AB08MD.html
deleted file mode 100644
index 806edf12..00000000
--- a/doc/_static/doc/AB08MD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08MD">AB08MD</A></H2>
-<H3>
-Normal rank of the transfer-function matrix of a state space model
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the normal rank of the transfer-function matrix of a
-  state-space model (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08MD( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   RANK, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer-function matrix.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (N+P)*(N+M) +
-                    MAX( MIN(P,M) + MAX(3*M-1,N), 1,
-                         MIN(P,N) + MAX(3*P-1,N+P,N+M) )
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
-                                                         (D  C)
-
-  to one with the same invariant zeros and with D of full row rank.
-  The normal rank of the transfer-function matrix is the rank of D.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08MZ.html b/doc/_static/doc/AB08MZ.html
deleted file mode 100644
index e7ea0407..00000000
--- a/doc/_static/doc/AB08MZ.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08MZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08MZ">AB08MZ</A></H2>
-<H3>
-Normal rank of the transfer-function matrix of a state space model (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the normal rank of the transfer-function matrix of a
-  state-space model (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08MZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   RANK, TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LZWORK, M, N, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) COMPLEX*16 array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) COMPLEX*16 array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) COMPLEX*16 array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer-function matrix.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= (N+P)*(N+M) + MAX(MIN(P,M) + MAX(3*M-1,N), 1,
-                                      MIN(P,N) + MAX(3*P-1,N+P,N+M))
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
-                                                         (D  C)
-
-  to one with the same invariant zeros and with D of full row rank.
-  The normal rank of the transfer-function matrix is the rank of D.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08ND.html b/doc/_static/doc/AB08ND.html
deleted file mode 100644
index 64e80e4b..00000000
--- a/doc/_static/doc/AB08ND.html
+++ /dev/null
@@ -1,532 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08ND">AB08ND</A></H2>
-<H3>
-Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a linear multivariable system described by a
-  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
-                                                 f          f
-  has the invariant zeros of the system as generalized eigenvalues.
-  The routine also computes the orders of the infinite zeros and the
-  right and left Kronecker indices of the system (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
-     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
-     $                  LDWORK, M, N, NKROL, NKROR, NU, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
-     $                  C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NU      (output) INTEGER
-          The number of (finite) invariant zeros.
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer function matrix.
-
-  DINFZ   (output) INTEGER
-          The maximum degree of infinite elementary divisors.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors
-          of degree i, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-  AF      (output) DOUBLE PRECISION array, dimension
-          (LDAF,N+MIN(P,M))
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix A  of the reduced pencil. The remainder
-                              f
-          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
-          internal workspace.
-
-  LDAF    INTEGER
-          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
-
-  BF      (output) DOUBLE PRECISION array, dimension (LDBF,N+M)
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix B  of the reduced pencil. The
-                              f
-          remainder of the leading (N+P)-by-(N+M) part is used as
-          internal workspace.
-
-  LDBF    INTEGER
-          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
-                            MIN(M,N) + MAX(3*M-1,N+M) ).
-          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
-          s = MAX(M,P).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a state-space
-  system (A,B,C,D) a regular pencil A - lambda*B  which has the
-                                     f          f
-  invariant zeros of the system as generalized eigenvalues as
-  follows:
-
-     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
-                                                      (D  C)
-
-     (b) reduce the above system to one with the same invariant
-         zeros and with D of full row rank;
-
-     (c) pertranspose the system;
-
-     (d) reduce the system to one with the same invariant zeros and
-         with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-         (A - lambda*I  B) in order to reduce it to
-         (      C       D)
-
-         (A  - lambda*B   X)
-         ( f           f   ), with Y and B  square invertible;
-         (      0         Y)              f
-
-     (f) compute the right and left Kronecker indices of the system
-         (A,B,C,D), which together with the orders of the infinite
-         zeros (determined by steps (a) - (e)) constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the invariant zeros of the system explicitly,
-  a call to this routine may be followed by a call to the LAPACK
-  Library routine DGGEV with A = A , B = B  and N = NU.
-                                  f       f
-  If RANK = 0, the routine DGEEV can be used (since B = I).
-                                                     f
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB08ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
-     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( MAX( MPMAX+1, NMAX ) +
-     $                                 MAX( 3*(MPMAX+1), NMAX+MPMAX ),
-     $                                 8*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
-     $                 NU, P, RANK
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALFI(NMAX),
-     $                 ALFR(NMAX), B(LDB,MMAX), BETA(NMAX),
-     $                 BF(LDBF,MMAX+NMAX), C(LDC,NMAX), D(LDD,MMAX),
-     $                 DWORK(LDWORK), Q(LDQ,1), Z(LDZ,1)
-      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
-     $                 KRONR(NMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AB08ND, DGEGV
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AB08ND( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) N - NU
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   20                CONTINUE
-                  END IF
-               END IF
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AB08ND( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99987 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99986 ) N - NU
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 40 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   40                CONTINUE
-                  END IF
-               END IF
-*              Compute the structural invariants of the given system.
-               CALL AB08ND( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99984 ) NU
-                  IF ( NU.GT.0 ) THEN
-*                    Compute the invariant zeros of the given system.
-*                    Workspace: need 8*NU.
-                     WRITE ( NOUT, FMT = 99983 )
-                     CALL DGEGV( 'No vectors', 'No vectors', NU, AF,
-     $                           LDAF, BF, LDBF, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 60 I = 1, NU
-                           IF ( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99982 )
-                     END IF
-                  END IF
-                  NINFZ = 0
-                  DO 80 I = 1, DINFZ
-                     IF ( INFZ(I).GT.0 ) THEN
-                        NINFZ = NINFZ + INFZ(I)*I
-                     END IF
-   80             CONTINUE
-                  WRITE ( NOUT, FMT = 99978 ) NINFZ
-                  IF ( NINFZ.GT.0 ) THEN
-                     DO 100 I = 1, DINFZ
-                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  100                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                      ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                      ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AB08ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB08ND = ',I2)
-99997 FORMAT (' INFO on exit from DGEGV = ',I2)
-99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
-99993 FORMAT (/' The system (A,C) is completely observable ')
-99992 FORMAT (/' The dimension of the observable subspace = ',I3)
-99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
-     $       'e matrix AF. ')
-99990 FORMAT (/' The matrix AF is ')
-99989 FORMAT (20(1X,F8.4))
-99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
-     $       ))
-99987 FORMAT (/' The system (A,B) is completely controllable ')
-99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' matrix AF. ')
-99984 FORMAT (//' The number of finite invariant zeros = ',I3)
-99983 FORMAT (/' The finite invariant zeros are ')
-99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
-     $       'ambda*BF - AF).')
-99981 FORMAT (/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4)
-99979 FORMAT (1X,F9.4,6X,F9.4)
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08ND EXAMPLE PROGRAM DATA
-   6     2     3     0.0     N
-   1.0   0.0   0.0   0.0   0.0   0.0
-   0.0   1.0   0.0   0.0   0.0   0.0
-   0.0   0.0   3.0   0.0   0.0   0.0
-   0.0   0.0   0.0  -4.0   0.0   0.0
-   0.0   0.0   0.0   0.0  -1.0   0.0
-   0.0   0.0   0.0   0.0   0.0   3.0
-   0.0  -1.0
-  -1.0   0.0
-   1.0  -1.0
-   0.0   0.0
-   0.0   1.0
-  -1.0  -1.0
-   1.0   0.0   0.0   1.0   0.0   0.0
-   0.0   1.0   0.0   1.0   0.0   1.0
-   0.0   0.0   1.0   0.0   0.0   1.0
-   0.0   0.0
-   0.0   0.0
-   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB08ND EXAMPLE PROGRAM RESULTS
-
- The left Kronecker indices of (A,C) are 
-  1    2    2
-
- The dimension of the observable subspace =   5
-
- The output decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -1.0000
-
-
- The right Kronecker indices of (A,B) are 
-  2    3
-
- The dimension of the controllable subspace =   5
-
- The input decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -4.0000
-
-
- The number of finite invariant zeros =   2
-
- The finite invariant zeros are 
-
- real  part     imag  part 
-    2.0000
-   -1.0000
-
- which correspond to the generalized eigenvalues of (lambda*BF - AF).
-
-
- The number of infinite zeros =   2
-
- The orders of the infinite zeros are 
-  1    1
-
- The number of right Kronecker indices =   0
-
- The number of left Kronecker indices =   1
-
- The left Kronecker (row) indices of (A,B,C,D) are 
-  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08NW.html b/doc/_static/doc/AB08NW.html
deleted file mode 100644
index f8220f3c..00000000
--- a/doc/_static/doc/AB08NW.html
+++ /dev/null
@@ -1,545 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NW">AB08NW</A></H2>
-<H3>
-Construction of a regular pencil such that its generalized eigenvalues are finite Smith zeros of a system (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the system pencil
-
-                    ( A-lambda*I B )
-        S(lambda) = (              )
-                    (      C     D )
-
-  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
-  S(lambda) as generalized eigenvalues. The routine also computes
-  the orders of the infinite Smith zeros and determines the singular
-  and infinite Kronecker structure of the system pencil, i.e., the
-  right and left Kronecker indices, and the multiplicities of the
-  infinite eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE, NKROL,
-     $                   INFZ, KRONR, INFE, KRONL, E, LDE, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFE(*),  INFZ(*),  IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the system
-          matrix as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER.
-          The order of the square matrix A, the number of rows of
-          the matrix B, and number of columns of the matrix C.
-          N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Af of the reduced pencil.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 1, and
-          LDB &gt;= MAX(1,N), if M &gt; 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  NFZ     (output) INTEGER
-          The number of finite zeros.
-
-  NRANK   (output) INTEGER
-          The normal rank of the system pencil.
-
-  NIZ     (output) INTEGER
-          The number of infinite zeros.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite Smith zeros.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NINFE   (output) INTEGER
-          The number of elementary infinite blocks.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N+1)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors in
-          the Smith form of degree i, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (N+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  INFE    (output) INTEGER array, dimension (N+1)
-          The leading NINFE elements of INFE contain the
-          multiplicities of infinite eigenvalues.
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading NFZ-by-NFZ part of this array contains the
-          matrix Ef of the reduced pencil.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance  TOLDEF = MAX(N+P,N+M)**2*EPS,  is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MAX(N,M,P) = 0; otherwise,
-          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
-                         MIN(P,N) + MAX(N + MAX(P,M), 3*P - 1 ) ) +
-                         MAX(P+N,M+N)*MAX(P+N,M+N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a state space
-  system, (A-lambda*I,B,C,D), a regular pencil Af-lambda*Ef, which
-  has the finite zeros of the system as generalized eigenvalues.
-  The procedure has the following main computational steps:
-
-     (a) construct the (N+P)-by-(M+N) system pencil
-
-          S(lambda) = (B  A)-lambda*( 0  I );
-                      (D  C)        ( 0  0 )
-
-     (b) reduce S(lambda) to S1(lambda) with the same finite zeros
-         and right Kronecker structure, but with D of full row rank;
-
-     (c) reduce the pencil S1(lambda) to S2(lambda) with the same
-         finite zeros and with D square invertible;
-
-     (d) perform a unitary transformation on the columns of
-         S2(lambda) = (A-lambda*I   B), in order to reduce it to
-                      (     C       D)
-
-         (Af-lambda*Ef   X), with Y and Ef square invertible;
-         (     0         Y)
-
-     (e) compute the right and left Kronecker indices of the system
-         matrix, which, together with the multiplicities of the
-         finite and infinite eigenvalues, constitute the complete
-         set of structural invariants under strict equivalence
-         transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of the
-      Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the finite Smith zeros of the system
-  explicitly, a call to this routine may be followed by a call to
-  the LAPACK Library routine DGGEV.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB08NW EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = NMAX, LDQ = 1, LDZ = 1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( MAX( MIN( PMAX, MMAX ) + MMAX +
-     $                                      MAX( 2*MMAX, NMAX ) - 1,
-     $                                      MIN( PMAX, NMAX ) +
-     $                                      MAX( NMAX + MPMAX,
-     $                                           3*PMAX - 1 ) ) +
-     $                                 ( NMAX + MPMAX )**2, 8*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, M, N, NFZ, NINFE, NIZ, NKROL,
-     $                 NKROR, NRANK, P
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
-     $                 AS(LDA,NMAX), B(LDB,MMAX), BS(LDB,MMAX),
-     $                 BETA(NMAX), C(LDC,NMAX), CS(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 Q(LDQ,1), Z(LDZ,1)
-      INTEGER          INFE(NMAX+1), INFZ(NMAX+1), IWORK(MPMAX),
-     $                 KRONL(NMAX+1), KRONR(NMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AB08NW, DLACPY, DGEGV
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Save the matrices A, B, and C.
-               CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
-               CALL DLACPY( 'Full', N, M, B, LDB, BS, LDB )
-               CALL DLACPY( 'Full', P, N, C, LDC, CS, LDC )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AB08NW( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
-     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
-                  IF ( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) N - NFZ
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   20                CONTINUE
-                  END IF
-               END IF
-*              Restore the matrices A and C.
-               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
-               CALL DLACPY( 'Full', P, N, CS, LDC, C, LDC )
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AB08NW( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
-     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
-                  IF ( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99987 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99986 ) N - NFZ
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 40 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   40                CONTINUE
-                  END IF
-               END IF
-*              Restore the matrices A and B.
-               CALL DLACPY( 'Full', N, N, AS, LDA, A, LDA )
-               CALL DLACPY( 'Full', N, M, BS, LDB, B, LDB )
-*              Compute the structural invariants of the given system.
-               CALL AB08NW( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NFZ, NRANK, NIZ, DINFZ, NKROR, NINFE,
-     $                      NKROL, INFZ, KRONR, INFE, KRONL, E, LDE,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99984 ) NFZ
-                  IF ( NFZ.GT.0 ) THEN
-*                    Compute the invariant zeros of the given system.
-*                    Workspace: need 8*NFZ.
-                     WRITE ( NOUT, FMT = 99983 )
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 60 I = 1, NFZ
-                           IF ( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99982 )
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99978 ) NIZ
-                  IF ( NIZ.GT.0 ) THEN
-                     DO 100 I = 1, DINFZ
-                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  100                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                      ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                      ( KRONL(I), I = 1,NKROL )
-                  IF ( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99969 )
-     $                                      ( INFE(I), I = 1,NINFE )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AB08NW EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB08NW = ',I2)
-99997 FORMAT (' INFO on exit from DGEGV = ',I2)
-99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
-99993 FORMAT (/' The system (A,C) is completely observable ')
-99992 FORMAT (/' The dimension of the observable subspace = ',I3)
-99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
-     $       'e matrix AF. ')
-99990 FORMAT (/' The matrix AF is ')
-99989 FORMAT (20(1X,F8.4))
-99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
-     $       ))
-99987 FORMAT (/' The system (A,B) is completely controllable ')
-99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' matrix AF. ')
-99984 FORMAT (//' The number of finite invariant zeros = ',I3)
-99983 FORMAT (/' The finite invariant zeros are ')
-99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
-     $       'ambda*EF - AF).')
-99981 FORMAT (/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4)
-99979 FORMAT (1X,F9.4,6X,F9.4)
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-99969 FORMAT (/' Multiplicities of infinite eigenvalues',/(20(I3,2X))) 
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08NW EXAMPLE PROGRAM DATA
-   6     2     3     0.0     N
-   1.0   0.0   0.0   0.0   0.0   0.0
-   0.0   1.0   0.0   0.0   0.0   0.0
-   0.0   0.0   3.0   0.0   0.0   0.0
-   0.0   0.0   0.0  -4.0   0.0   0.0
-   0.0   0.0   0.0   0.0  -1.0   0.0
-   0.0   0.0   0.0   0.0   0.0   3.0
-   0.0  -1.0
-  -1.0   0.0
-   1.0  -1.0
-   0.0   0.0
-   0.0   1.0
-  -1.0  -1.0
-   1.0   0.0   0.0   1.0   0.0   0.0
-   0.0   1.0   0.0   1.0   0.0   1.0
-   0.0   0.0   1.0   0.0   0.0   1.0
-   0.0   0.0
-   0.0   0.0
-   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB08NW EXAMPLE PROGRAM RESULTS
-
- The left Kronecker indices of (A,C) are 
-  1    2    2
-
- The dimension of the observable subspace =   5
-
- The output decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -1.0000
-
-
- The right Kronecker indices of (A,B) are 
-  2    3
-
- The dimension of the controllable subspace =   5
-
- The input decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-  -4.0000
-
-
- The number of finite invariant zeros =   2
-
- The finite invariant zeros are 
-
- real  part     imag  part 
-    2.0000
-   -1.0000
-
- which correspond to the generalized eigenvalues of (lambda*EF - AF).
-
-
- The number of infinite zeros =   2
-   2 infinite zero(s) of order   1
-
- The number of right Kronecker indices =   0
-
- The number of left Kronecker indices =   1
-
- The left Kronecker (row) indices of (A,B,C,D) are 
-  2
-
- Multiplicities of infinite eigenvalues
-  2    2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08NX.html b/doc/_static/doc/AB08NX.html
deleted file mode 100644
index 9b840294..00000000
--- a/doc/_static/doc/AB08NX.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NX">AB08NX</A></H2>
-<H3>
-Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) system
-               ( B  A )
-               ( D  C )
-  an (NU+MU)-by-(M+NU) "reduced" system
-               ( B' A')
-               ( D' C')
-  having the same transmission zeros but with D' of full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NX( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
-     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDABCD, LDWORK, M, MU, N, NINFZ, NKROL,
-     $                  NU, P, RO, SIGMA
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  RO      (input/output) INTEGER
-          On entry,
-          = P     for the original system;
-          = MAX(P-M, 0) for the pertransposed system.
-          On exit, RO contains the last computed rank.
-
-  SIGMA   (input/output) INTEGER
-          On entry,
-          = 0  for the original system;
-          = M  for the pertransposed system.
-          On exit, SIGMA contains the last computed value sigma in
-          the algorithm.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) DOUBLE PRECISION array, dimension
-          (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound input matrix of the system.
-          On exit, the leading (NU+MU)-by-(M+NU) part of this array
-          contains the reduced compound input matrix of the system.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  NINFZ   (input/output) INTEGER
-          On entry, the currently computed number of infinite zeros.
-          It should be initialized to zero on the first call.
-          NINFZ &gt;= 0.
-          On exit, the number of infinite zeros.
-
-  INFZ    (input/output) INTEGER array, dimension (N)
-          On entry, INFZ(i) must contain the current number of
-          infinite zeros of degree i, where i = 1,2,...,N, found in
-          the previous call(s) of the routine. It should be
-          initialized to zero on the first call.
-          On exit, INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,N.
-
-  KRONL   (input/output) INTEGER array, dimension (N+1)
-          On entry, this array must contain the currently computed
-          left Kronecker (row) indices found in the previous call(s)
-          of the routine. It should be initialized to zero on the
-          first call.
-          On exit, the leading NKROL elements of this array contain
-          the left Kronecker (row) indices.
-
-  MU      (output) INTEGER
-          The normal rank of the transfer function matrix of the
-          original system.
-
-  NU      (output) INTEGER
-          The dimension of the reduced system matrix and the number
-          of (finite) invariant zeros if D' is invertible.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08NY.html b/doc/_static/doc/AB08NY.html
deleted file mode 100644
index e7672a0d..00000000
--- a/doc/_static/doc/AB08NY.html
+++ /dev/null
@@ -1,244 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NY">AB08NY</A></H2>
-<H3>
-Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) system pencil
-               ( B  A-lambda*I )
-               ( D      C      )
-  an (NR+PR)-by-(M+NR) "reduced" system pencil,
-               ( Br Ar-lambda*I ),
-               ( Dr     Cr      )
-  having the same transmission zeros, but with Dr of full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, NINFZ,
-     $                   NR, PR, DINFZ, NKRONL, INFZ, KRONL, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           FIRST
-      INTEGER           DINFZ, INFO, LDABCD, LDWORK, M, N, NINFZ,
-     $                  NKRONL, NR, P, PR
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FIRST   LOGICAL
-          Specifies if AB08NY is called first time, or it is called
-          for an already reduced system, with D of full column rank,
-          with the last M rows in upper triangular form:
-          FIRST = .TRUE.  :  first time called;
-          FIRST = .FALSE. :  not first time called.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C, and the order of the square matrix A.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and D.  M &gt;= 0.
-          M &lt;= P, if FIRST = .FALSE.
-
-  P       (input) INTEGER
-          The number of rows of the matrices C and D.  P &gt;= 0.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          An estimate of the largest singular value of the original
-          matrix ABCD (for instance, the Frobenius norm of ABCD).
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) DOUBLE PRECISION array, dimension
-          (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound matrix
-                   (  B   A  ),
-                   (  D   C  )
-          where A is an N-by-N matrix, B is an N-by-M matrix,
-          C is a P-by-N matrix, and D is a P-by-M matrix.
-          If FIRST = .FALSE., then D must be a full column rank
-          matrix, with the last M rows in an upper triangular form.
-          On exit, the leading (NR+PR)-by-(M+NR) part of this array
-          contains the reduced compound matrix
-                    (  Br  Ar ),
-                    (  Dr  Cr )
-          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
-          Cr is a PR-by-NR matrix, and Dr is a PR-by-M full row rank
-          left upper-trapezoidal matrix, with the first PR columns
-          in an upper triangular form.
-
-  LDABCD  INTEGER
-          The leading dimension of the array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  NINFZ   (input/output) INTEGER
-          On entry, the currently computed number of infinite zeros.
-          It should be initialized to zero on the first call.
-          NINFZ &gt;= 0.
-          If FIRST = .FALSE., then NINFZ is not modified.
-          On exit, the number of infinite zeros.
-
-  NR      (output) INTEGER
-          The order of the reduced matrix Ar; also, the number of
-          rows of the reduced matrix Br and the number of columns of
-          the reduced matrix Cr.
-          If Dr is invertible, NR is also the number of finite Smith
-          zeros.
-
-  PR      (output) INTEGER
-          The normal rank of the transfer-function matrix of the
-          original system; also, the number of rows of the reduced
-          matrices Cr and Dr.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite zeros.
-          DINFZ = 0 if FIRST = .FALSE. .
-
-  NKRONL  (output) INTEGER
-          The maximal dimension of left elementary Kronecker blocks.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          INFZ(i) contains the number of infinite zeros of degree i,
-          where i = 1,2,...,DINFZ.
-          INFZ is not referenced if FIRST = .FALSE. .
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          KRONL(i) contains the number of left elementary Kronecker
-          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).
-          If the user sets TOL to be less than or equal to zero,
-          then the tolerance is taken as (N+P)*(N+M)*EPS, where EPS
-          is the machine precision (see LAPACK Library Routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MIN(P, MAX(N,M)) = 0; otherwise,
-          LDWORK &gt;= MAX( MIN(P,M) + M + MAX(2*M,N) - 1,
-                         MIN(P,N) + MAX(N + MAX( P, M), 3*P - 1 ) ).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of the
-      Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( (P+N)*(M+N)*N )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite zeros is computed (if FIRST = .TRUE.) as
-
-                DINFZ
-     NINFZ =     Sum  (INFZ(i)*i .
-                 i=1
-
-  Note that each infinite zero of multiplicity k corresponds to an
-  infinite eigenvalue of multiplicity k+1.
-  The multiplicities of the infinite eigenvalues can be determined
-  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
-
-                  DINFZ
-  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
-                   i=1
-
-  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
-    for i = 1, ..., DINFZ.
-
-  The left Kronecker indices are:
-
-  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
-  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB08NZ.html b/doc/_static/doc/AB08NZ.html
deleted file mode 100644
index 6d812520..00000000
--- a/doc/_static/doc/AB08NZ.html
+++ /dev/null
@@ -1,534 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB08NZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB08NZ">AB08NZ</A></H2>
-<H3>
-Construction of a regular pencil for a given system such that its generalized eigenvalues are invariant zeros of the system (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct for a linear multivariable system described by a
-  state-space model (A,B,C,D) a regular pencil (A - lambda*B ) which
-                                                 f          f
-  has the invariant zeros of the system as generalized eigenvalues.
-  The routine also computes the orders of the infinite zeros and the
-  right and left Kronecker indices of the system (A,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NU, RANK, DINFZ, NKROR, NKROL, INFZ, KRONR,
-     $                   KRONL, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, LDA, LDAF, LDB, LDBF, LDC, LDD,
-     $                  LZWORK, M, N, NKROL, NKROR, NU, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      COMPLEX*16        A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
-     $                  C(LDC,*), D(LDD,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the compound
-          matrix (see METHOD) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) COMPLEX*16 array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) COMPLEX*16 array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) COMPLEX*16 array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NU      (output) INTEGER
-          The number of (finite) invariant zeros.
-
-  RANK    (output) INTEGER
-          The normal rank of the transfer function matrix.
-
-  DINFZ   (output) INTEGER
-          The maximum degree of infinite elementary divisors.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors
-          of degree i, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (MAX(N,M)+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  KRONL   (output) INTEGER array, dimension (MAX(N,P)+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-  AF      (output) COMPLEX*16 array, dimension (LDAF,N+MIN(P,M))
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix A  of the reduced pencil. The remainder
-                              f
-          of the leading (N+M)-by-(N+MIN(P,M)) part is used as
-          internal workspace.
-
-  LDAF    INTEGER
-          The leading dimension of array AF.  LDAF &gt;= MAX(1,N+M).
-
-  BF      (output) COMPLEX*16 array, dimension (LDBF,N+M)
-          The leading NU-by-NU part of this array contains the
-          coefficient matrix B  of the reduced pencil. The
-                              f
-          remainder of the leading (N+P)-by-(N+M) part is used as
-          internal workspace.
-
-  LDBF    INTEGER
-          The leading dimension of array BF.  LDBF &gt;= MAX(1,N+P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-          then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*MAX(P,M)))
-
-  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M),
-                            MIN(M,N) + MAX(3*M-1,N+M) ).
-          An upper bound is MAX(s,N) + MAX(3*s-1,N+s), with
-          s = MAX(M,P).
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a state-space
-  system (A,B,C,D) a regular pencil A - lambda*B  which has the
-                                     f          f
-  invariant zeros of the system as generalized eigenvalues as
-  follows:
-
-     (a) construct the (N+P)-by-(N+M) compound matrix (B  A);
-                                                      (D  C)
-
-     (b) reduce the above system to one with the same invariant
-         zeros and with D of full row rank;
-
-     (c) pertranspose the system;
-
-     (d) reduce the system to one with the same invariant zeros and
-         with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-         (A - lambda*I  B) in order to reduce it to
-         (      C       D)
-
-         (A  - lambda*B   X)
-         ( f           f   ), with Y and B  square invertible;
-         (     0          Y)              f
-
-     (f) compute the right and left Kronecker indices of the system
-         (A,B,C,D), which together with the orders of the infinite
-         zeros (determined by steps (a) - (e)) constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [2] and [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the invariant zeros of the system explicitly,
-  a call to this routine may be followed by a call to the LAPACK
-  Library routine ZGGEV with A = A , B = B  and N = NU.
-                                  f       f
-  If RANK = 0, the routine ZGEEV can be used (since B = I).
-                                                     f
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB08NZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDAF, LDBF, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDAF = NMAX+MPMAX,
-     $                   LDBF = NMAX+PMAX, LDQ = 1, LDZ = 1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK =
-     $                   MAX( MIN( PMAX, MMAX ) +
-     $                        MAX( 3*MMAX - 1, NMAX ),
-     $                        MIN( PMAX, NMAX ) +
-     $                        MAX( 3*PMAX, NMAX+PMAX, NMAX+MMAX ),
-     $                        MIN( MMAX, NMAX ) +
-     $                        MAX( 3*MMAX, NMAX+MMAX ), 1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, M, N, NINFZ, NKROL, NKROR,
-     $                 NU, P, RANK
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), AF(LDAF,NMAX+PMAX), ALPHA(NMAX),
-     $                 B(LDB,MMAX), BETA(NMAX), BF(LDBF,MMAX+NMAX),
-     $                 C(LDC,NMAX), D(LDD,MMAX), Q(LDQ,1), Z(LDZ,1),
-     $                 ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK)
-      INTEGER          INFZ(NMAX), IWORK(MPMAX+1), KRONL(NMAX+1),
-     $                 KRONR(NMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AB08NZ, ZGEGV
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AB08NZ( EQUIL, N, 0, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,P )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99993 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) N - NU
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   20                CONTINUE
-                  END IF
-               END IF
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AB08NZ( EQUIL, N, M, 0, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,M )
-                  IF ( NU.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99987 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99986 ) N - NU
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 40 I = 1, NU
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( AF(I,J), J = 1,NU )
-   40                CONTINUE
-                  END IF
-               END IF
-*              Compute the structural invariants of the given system.
-               CALL AB08NZ( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NU, RANK, DINFZ, NKROR, NKROL, INFZ,
-     $                      KRONR, KRONL, AF, LDAF, BF, LDBF, TOL,
-     $                      IWORK, DWORK, ZWORK, LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99984 ) NU
-                  IF ( NU.GT.0 ) THEN
-*                    Compute the invariant zeros of the given system.
-*                    Complex Workspace: need 2*NU.
-*                    Real Workspace:    need 8*NU.
-                     WRITE ( NOUT, FMT = 99983 )
-                     CALL ZGEGV( 'No vectors', 'No vectors', NU, AF,
-     $                           LDAF, BF, LDBF, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF ( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 60 I = 1, NU
-                           WRITE ( NOUT, FMT = 99980 ) ALPHA(I)/BETA(I)
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99982 )
-                     END IF
-                  END IF
-                  NINFZ = 0
-                  DO 80 I = 1, DINFZ
-                     IF ( INFZ(I).GT.0 ) THEN
-                        NINFZ = NINFZ + INFZ(I)*I
-                     END IF
-   80             CONTINUE
-                  WRITE ( NOUT, FMT = 99978 ) NINFZ
-                  IF ( NINFZ.GT.0 ) THEN
-                     DO 100 I = 1, DINFZ
-                        WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  100                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF ( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                      ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF ( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                      ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AB08NZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB08NZ = ',I2)
-99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
-99994 FORMAT (' The left Kronecker indices of (A,C) are ',/(20(I3,2X)))
-99993 FORMAT (/' The system (A,C) is completely observable ')
-99992 FORMAT (/' The dimension of the observable subspace = ',I3)
-99991 FORMAT (/' The output decoupling zeros are the eigenvalues of th',
-     $       'e matrix AF. ')
-99990 FORMAT (/' The matrix AF is ')
-99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99988 FORMAT (//' The right Kronecker indices of (A,B) are ',/(20(I3,2X)
-     $       ))
-99987 FORMAT (/' The system (A,B) is completely controllable ')
-99986 FORMAT (/' The dimension of the controllable subspace = ',I3)
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' matrix AF. ')
-99984 FORMAT (//' The number of finite invariant zeros = ',I3)
-99983 FORMAT (/' The finite invariant zeros are ')
-99982 FORMAT (/' which correspond to the generalized eigenvalues of (l',
-     $       'ambda*BF - AF).')
-99981 FORMAT (/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker (column) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker (row) indices of (A,B,C,D) are ',
-     $       /(20(I3,2X)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08NZ EXAMPLE PROGRAM DATA
-   6     2     3    0.0    N
-  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-4.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0) (-1.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (0.0,0.0)  (3.0,0.0)
-  (0.0,0.0) (-1.0,0.0)
- (-1.0,0.0)  (0.0,0.0)
-  (1.0,0.0) (-1.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (1.0,0.0)
- (-1.0,0.0) (-1.0,0.0)
-  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (1.0,0.0)
-  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)  (0.0,0.0)  (0.0,0.0)  (1.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-  (0.0,0.0)  (0.0,0.0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB08NZ EXAMPLE PROGRAM RESULTS
-
- The left Kronecker indices of (A,C) are 
-  1    2    2
-
- The dimension of the observable subspace =   5
-
- The output decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-   -1.0000  +0.0000i 
-
-
- The right Kronecker indices of (A,B) are 
-  2    3
-
- The dimension of the controllable subspace =   5
-
- The input decoupling zeros are the eigenvalues of the matrix AF. 
-
- The matrix AF is 
-   -4.0000  +0.0000i 
-
-
- The number of finite invariant zeros =   2
-
- The finite invariant zeros are 
-
- real  part     imag  part 
-    2.0000  +0.0000i 
-   -1.0000  +0.0000i 
-
- which correspond to the generalized eigenvalues of (lambda*BF - AF).
-
-
- The number of infinite zeros =   2
-
- The orders of the infinite zeros are 
-  1    1
-
- The number of right Kronecker indices =   0
-
- The number of left Kronecker indices =   1
-
- The left Kronecker (row) indices of (A,B,C,D) are 
-  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,395 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09AD">AB09AD</A></H2>
-<H3>
-Balance & Truncate model reduction for stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for a stable original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate (B & T)
-  model reduction method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
-     $                   B, LDB, C, LDC, HSV, TOL, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0, if JOB = 'B';
-          LIWORK = N, if JOB = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to the real Schur form failed;
-          = 2:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09AD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the square-root Balance & Truncate method of [1]
-  is used and, for DICO = 'C', the resulting model is balanced.
-  By setting TOL &lt;= 0, the routine can be used to compute balanced
-  minimal state-space realizations of stable systems.
-
-  If JOB = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used.
-  By setting TOL &lt;= 0, the routine can be used to compute minimal
-  state-space realizations of stable systems.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
-     $                            MAX( NMAX, MMAX, PMAX ) ) +
-     $                          ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NR, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, TOL, DICO, JOB, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      A, LDA, B, LDB, C, LDC, HSV, TOL, IWORK,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09AD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values HSV are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09AD EXAMPLE PROGRAM DATA (Continuous system)
-  7     2     3     0   1.E-1      C     N     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09AD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values HSV are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-
- The reduced state dynamics matrix Ar is 
-   1.3451   5.0399   0.0000   0.0000   4.5315
-  -4.0214  -3.6604   0.0000   0.0000  -0.9056
-   0.0000   0.0000   0.5124   1.7910   0.0000
-   0.0000   0.0000  -4.2167  -2.9900   0.0000
-   1.2402   1.6416   0.0000   0.0000  -0.0586
-
- The reduced input/state matrix Br is 
-  -0.3857   0.3857
-  -3.1753   3.1753
-  -0.7447  -0.7447
-  -3.6872  -3.6872
-   1.8197  -1.8197
-
- The reduced state/output matrix Cr is 
-  -0.6704   0.1828  -0.6582   0.2222  -0.0104
-   0.1089   0.4867   0.0000   0.0000   0.8651
-   0.6704  -0.1828  -0.6582   0.2222   0.0104
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09AX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09AX">AB09AX</A></H2>
-<H3>
-Balance & Truncate model reduction for stable systems with state matrix in real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for a stable original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate model
-  reduction method. The state dynamics matrix A of the original
-  system is an upper quasi-triangular matrix in real Schur canonical
-  form. The matrices of the reduced order system are computed using
-  the truncation formulas:
-
-       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09AX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, HSV, T, LDT, TI, LDTI, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDT, LDTI, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*),
-     $                  T(LDT,*), TI(LDTI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
-          array contains the right truncation matrix T.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
-          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
-          array contains the left truncation matrix TI.
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0, if JOB = 'B', or
-          LIWORK = N, if JOB = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09AX determines for
-  the given system (1), the matrices of a reduced NR order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the square-root Balance & Truncate method of [1]
-  is used and, for DICO = 'C', the resulting model is balanced.
-  By setting TOL &lt;= 0, the routine can be used to compute balanced
-  minimal state-space realizations of stable systems.
-
-  If JOB = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used.
-  By setting TOL &lt;= 0, the routine can be used to compute minimal
-  state-space realizations of stable systems.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09BD.html b/doc/_static/doc/AB09BD.html
deleted file mode 100644
index b586658e..00000000
--- a/doc/_static/doc/AB09BD.html
+++ /dev/null
@@ -1,426 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09BD">AB09BD</A></H2>
-<H3>
-Singular Perturbation Approximation based model reduction for stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root Singular
-  Perturbation Approximation (SPA) model reduction method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
-     $                   B, LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root SPA method;
-          = 'N':  use the balancing-free square-root SPA method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to the real Schur form failed;
-          = 2:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09BD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the balancing-based square-root SPA method of [1]
-  is used and the resulting model is balanced.
-
-  If JOB = 'N', the balancing-free square-root SPA method of [2]
-  is used.
-  By setting TOL1 = TOL2, the routine can be used to compute
-  Balance & Truncate approximations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems,
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX + 5 +
-     $                            MAX( NMAX, MMAX, PMAX ) ) +
-     $                          ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, JOB, EQUIL,
-     $                      ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09BD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
-     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09BD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09BD EXAMPLE PROGRAM DATA (Continuous system)
-  7     2     3     0   1.E-1  1.E-14      C     N     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09BD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-
- The reduced state dynamics matrix Ar is 
-   1.3960   5.1248   0.0000   0.0000   4.4331
-  -4.1411  -3.8605   0.0000   0.0000  -0.6738
-   0.0000   0.0000   0.5847   1.9230   0.0000
-   0.0000   0.0000  -4.3823  -3.2922   0.0000
-   1.3261   1.7851   0.0000   0.0000  -0.2249
-
- The reduced input/state matrix Br is 
-  -0.2901   0.2901
-  -3.4004   3.4004
-  -0.6379  -0.6379
-  -3.9315  -3.9315
-   1.9813  -1.9813
-
- The reduced state/output matrix Cr is 
-  -0.6570   0.2053  -0.6416   0.2526  -0.0364
-   0.1094   0.4875   0.0000   0.0000   0.8641
-   0.6570  -0.2053  -0.6416   0.2526   0.0364
-
- The reduced input/output matrix Dr is 
-   0.0498  -0.0007
-   0.0010  -0.0010
-  -0.0007   0.0498
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09BX.html b/doc/_static/doc/AB09BX.html
deleted file mode 100644
index 9f0df127..00000000
--- a/doc/_static/doc/AB09BX.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09BX">AB09BX</A></H2>
-<H3>
-Singular Perturbation Approximation based model reduction for stable systems with state matrix in real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root
-  Singular Perturbation Approximation (SPA) model reduction method.
-  The state dynamics matrix A of the original system is an upper
-  quasi-triangular matrix in real Schur canonical form. The matrices
-  of a minimal realization are computed using the truncation
-  formulas:
-
-       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .      (1)
-
-  Am, Bm, Cm and D serve further for computing the SPA of the given
-  system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09BX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
-     $                  LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root SPA method;
-          = 'N':  use the balancing-free square-root SPA method.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
-          array contains the right truncation matrix T in (1).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
-          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
-          array contains the left truncation matrix TI in (1).
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                              (2)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09BX determines for
-  the given system (1), the matrices of a reduced NR order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                          (3)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the balancing-based square-root SPA method of [1]
-  is used and the resulting model is balanced.
-
-  If JOB = 'N', the balancing-free square-root SPA method of [2]
-  is used.
-  By setting TOL1 = TOL2, the routine can be also used to compute
-  Balance & Truncate approximations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems,
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09CD">AB09CD</A></H2>
-<H3>
-Optimal Hankel-norm approximation based model reduction for stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using the
-  optimal Hankel-norm approximation method in conjunction with
-  square-root balancing.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
-          where KR is the multiplicity of the Hankel singular value
-          HSV(NR+1), NR is the desired order on entry, and NMIN is
-          the order of a minimal realization of the given system;
-          NMIN is determined as the number of Hankel singular values
-          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M),   if DICO = 'C';
-          LIWORK = MAX(1,N,M), if DICO = 'D'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2 ), where
-          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
-          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is set
-                automatically to a value corresponding to the order
-                of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to the real Schur form failed;
-          = 2:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed;
-          = 4:  the computation of stable projection failed;
-          = 5:  the order of computed stable projection differs
-                from the order of Hankel-norm approximation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09CD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The optimal Hankel-norm approximation method of [1], based on the
-  square-root balancing projection formulas of [2], is employed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [2] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
-     $                                 MAX( NMAX, MMAX, PMAX ) + 5 ) +
-     $                               ( NMAX*( NMAX + 1 ) )/2,
-     $                            NMAX*( MMAX + PMAX + 2 ) +
-     $                            2*MMAX*PMAX +
-     $                            MIN( NMAX, MMAX ) + MAX( 3*MMAX + 1,
-     $                            MIN( NMAX, MMAX ) + PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, P
-      CHARACTER*1      DICO, EQUIL, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, TOL1, TOL2, DICO, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09CD( DICO, EQUIL, ORDSEL, N, M, P, NR,
-     $                      A, LDA, B, LDB, C, LDC, D, LDD, HSV, TOL1,
-     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09CD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09CD EXAMPLE PROGRAM DATA (Continuous system)
-  7     2     3     0   1.E-1  1.E-14      C     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09CD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5038  -5.3070  -3.2250   0.0000   0.0000
-   1.8355  -0.5038  -2.6289   0.0000   0.0000
-   0.0000   0.0000  -1.5171   0.0000   0.0000
-   0.0000   0.0000   0.0000  -1.2925  -9.0718
-   0.0000   0.0000   0.0000   0.5047  -1.2925
-
- The reduced input/state matrix Br is 
-  -1.5343   1.5343
-  -0.3614   0.3614
-  -1.1096   1.1096
-  -4.5325  -4.5325
-  -0.7396  -0.7396
-
- The reduced state/output matrix Cr is 
-   1.8971  -0.3055  -2.1124   0.4421  -2.1023
-  -0.0394   1.1112  -0.3119   0.0000   0.0000
-  -1.8971   0.3055   2.1124   0.4421  -2.1023
-
- The reduced input/output matrix Dr is 
-   0.0126  -0.0126
-   0.0005  -0.0005
-  -0.0126   0.0126
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09CX.html b/doc/_static/doc/AB09CX.html
deleted file mode 100644
index 23cac5da..00000000
--- a/doc/_static/doc/AB09CX.html
+++ /dev/null
@@ -1,275 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09CX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09CX">AB09CX</A></H2>
-<H3>
-Optimal Hankel-norm approximation based model reduction for stable systems with state matrix in real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for a stable
-  original state-space representation (A,B,C,D) by using the optimal
-  Hankel-norm approximation method in conjunction with square-root
-  balancing. The state dynamics matrix A of the original system is
-  an upper quasi-triangular matrix in real Schur canonical form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09CX( DICO, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, HSV, TOL1, TOL2, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(MAX(0,NR-KR+1),NMIN),
-          where KR is the multiplicity of the Hankel singular value
-          HSV(NR+1), NR is the desired order on entry, and NMIN is
-          the order of a minimal realization of the given system;
-          NMIN is determined as the number of Hankel singular values
-          greater than N*EPS*HNORM(A,B,C), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(A,B,C) is the Hankel norm of the system (computed
-          in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(A,B,C)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values of
-          the original system ordered decreasingly. HSV(1) is the
-          Hankel norm of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(A,B,C), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(A,B,C) is the
-          Hankel-norm of the given system (computed in HSV(1)).
-          For computing a minimal realization, the recommended
-          value is TOL1 = N*EPS*HNORM(A,B,C), where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH).
-          This value is used by default if TOL1 &lt;= 0 on entry.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the given system. The recommended value is
-          TOL2 = N*EPS*HNORM(A,B,C). This value is used by default
-          if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M),   if DICO = 'C';
-          LIWORK = MAX(1,N,M), if DICO = 'D'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1,LDW2 ), where
-          LDW1 = N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2,
-          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is set
-                automatically to a value corresponding to the order
-                of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed;
-          = 3:  the computation of stable projection failed;
-          = 4:  the order of computed stable projection differs
-                from the order of Hankel-norm approximation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09CX determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The optimal Hankel-norm approximation method of [1], based on the
-  square-root balancing projection formulas of [2], is employed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [2] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09DD.html b/doc/_static/doc/AB09DD.html
deleted file mode 100644
index 7f7afe05..00000000
--- a/doc/_static/doc/AB09DD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09DD">AB09DD</A></H2>
-<H3>
-Computation of a reduced order model using singular perturbation approximation formulas
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model by using singular perturbation
-  approximation formulas.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, RCOND, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, NR, P
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A; also the number of rows of matrix B and the
-          number of columns of the matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows of
-          matrices C and D.  P &gt;= 0.
-
-  NR      (input) INTEGER
-          The order of the reduced order system.  N &gt;= NR &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix of the original system.
-          On exit, the leading NR-by-NR part of this array contains
-          the state dynamics matrix Ar of the reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix of the original system.
-          On exit, the leading NR-by-M part of this array contains
-          the input/state matrix Br of the reduced order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix of the original system.
-          On exit, the leading P-by-NR part of this array contains
-          the state/output matrix Cr of the reduced order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix of the original system.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix Dr of the reduced order system.
-          If NR = 0 and the given system is stable, then D contains
-          the steady state gain of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal condition number of the matrix A22-g*I
-          (see METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*(N-NR))
-
-  DWORK   DOUBLE PRECISION array, dimension (4*(N-NR))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1: if the matrix A22-g*I (see METHOD) is numerically
-               singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the system (A,B,C,D), partition the system matrices as
-
-         ( A11 A12 )        ( B1 )
-     A = (         ) ,  B = (    ) ,  C = ( C1  C2 ),
-         ( A21 A22 )        ( B2 )
-
-  where A11 is NR-by-NR, B1 is NR-by-M, C1 is P-by-NR, and the other
-  submatrices have appropriate dimensions.
-
-  The matrices of the reduced order system (Ar,Br,Cr,Dr) are
-  computed according to the following residualization formulas:
-                             -1                               -1
-     Ar = A11 + A12*(g*I-A22)  *A21 ,  Br = B1 + A12*(g*I-A22)  *B2
-                           -1                               -1
-     Cr = C1 + C2*(g*I-A22)  *A21   ,  Dr = D + C2*(g*I-A22)  *B2
-
-  where g = 0 if DICO = 'C' and g = 1 if DICO = 'D'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, M, N, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09DD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09DD( DICO, N, M, P, NR, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, RCOND, IWORK, DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) RCOND
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09DD = ',I2)
-99997 FORMAT (' The computed reciprocal condition number = ',1PD12.5)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09DD EXAMPLE PROGRAM DATA  (Continuous system)
-  7     2     3     5      C
-  -0.04165    4.9200   -4.9200         0         0         0         0
-         0   -3.3300         0         0         0    3.3300         0
-    0.5450         0         0   -0.5450         0         0         0
-         0         0    4.9200  -0.04165    4.9200         0         0
-         0         0         0         0   -3.3300         0    3.3300
-   -5.2100         0         0         0         0  -12.5000         0
-         0         0         0   -5.2100         0         0  -12.5000
-         0         0   
-         0         0   
-         0         0   
-         0         0   
-         0         0   
-   12.5000         0   
-         0   12.5000   
-     1     0     0     0     0     0     0
-     0     0     1     0     0     0     0
-     0     0     0     1     0     0     0
-     0     0     
-     0     0     
-     0     0     
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09DD EXAMPLE PROGRAM RESULTS
-
- The computed reciprocal condition number =  1.00000D+00
-
- The reduced state dynamics matrix Ar is 
-  -0.0416   4.9200  -4.9200   0.0000   0.0000
-  -1.3879  -3.3300   0.0000   0.0000   0.0000
-   0.5450   0.0000   0.0000  -0.5450   0.0000
-   0.0000   0.0000   4.9200  -0.0416   4.9200
-   0.0000   0.0000   0.0000  -1.3879  -3.3300
-
- The reduced input/state matrix Br is 
-   0.0000   0.0000
-   3.3300   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   3.3300
-
- The reduced state/output matrix Cr is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000
-
- The reduced input/output matrix Dr is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09ED.html b/doc/_static/doc/AB09ED.html
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@@ -1,488 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09ED">AB09ED</A></H2>
-<H3>
-Optimal Hankel-norm approximation based model reduction for unstable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the optimal
-  Hankel-norm approximation method in conjunction with square-root
-  balancing for the ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, NS, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
-          multiplicity of the Hankel singular value HSV(NR-NU+1),
-          NR is the desired order on entry, and NMIN is the order
-          of a minimal realization of the ALPHA-stable part of the
-          given system; NMIN is determined as the number of Hankel
-          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
-          ALPHA-stable part of the given system (computed in
-          HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the given system
-          (computed in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          This value is appropriate to compute a minimal realization
-          of the ALPHA-stable part.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M),   if DICO = 'C';
-          LIWORK = MAX(1,N,M), if DICO = 'D'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2 ), where
-          LDW1 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
-          LDW2 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computed ALPHA-stable part is just stable,
-                having stable eigenvalues very near to the imaginary
-                axis (if DICO = 'C') or to the unit circle
-                (if DICO = 'D');
-          = 4:  the computation of Hankel singular values failed;
-          = 5:  the computation of stable projection in the
-                Hankel-norm approximation algorithm failed;
-          = 6:  the order of computed stable projection in the
-                Hankel-norm approximation algorithm differs
-                from the order of Hankel-norm approximation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09ED determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1.
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the ALPHA-stable part G1, the optimal Hankel-norm
-  approximation method of [1], based on the square-root
-  balancing projection formulas of [2], is employed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [2] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX, MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( 2*NMAX +
-     $                                        MAX( NMAX, MMAX, PMAX ) +
-     $                                 5 ) + ( NMAX*( NMAX + 1 ) )/2,
-     $                                 NMAX*( MMAX + PMAX + 2 ) +
-     $                                 2*MMAX*PMAX + MIN( NMAX, MMAX ) +
-     $                                 MAX( 3*MMAX + 1,
-     $                                      MIN( NMAX, MMAX ) +
-     $                                      PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
-     $                      DICO, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09ED( DICO, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                      A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
-     $                      TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09ED = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09ED EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   -0.6D0 1.E-1  1.E-14 C  N  A  
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000  0.0000
-  0.0000  0.0000
-  0.0000  0.0000
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09ED EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of ALPHA-stable part are
-   1.9178   0.8621   0.7666   0.0336   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5181  -1.1084   0.0000   0.0000   0.0000
-   8.8157  -0.5181   0.0000   0.0000   0.0000
-   0.0000   0.0000  -1.2769   7.3264   0.0000
-   0.0000   0.0000  -0.6203  -1.2769   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.5496
-
- The reduced input/state matrix Br is 
-  -1.2837   1.2837
-  -0.7522   0.7522
-   3.2016   3.2016
-  -0.7640  -0.7640
-   1.3415  -1.3415
-
- The reduced state/output matrix Cr is 
-  -0.1380  -0.6445  -0.6247  -2.0857  -0.8964
-   0.6246   0.0196   0.0000   0.0000   0.6131
-   0.1380   0.6445  -0.6247  -2.0857   0.8964
-
- The reduced input/output matrix Dr is 
-   0.0168  -0.0168
-   0.0008  -0.0008
-  -0.0168   0.0168
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09FD">AB09FD</A></H2>
-<H3>
-Balance & Truncate model reduction for unstable systems in conjunction with coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for an original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate (B & T)
-  model reduction method in conjunction with stable coprime
-  factorization techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
-     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, NQ, HSV,
-     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NQ,
-     $                  NR, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization is
-          to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  FACT    CHARACTER*1
-          Specifies the type of coprime factorization to be computed
-          as follows:
-          = 'S':  compute a coprime factorization with prescribed
-                  stability degree ALPHA;
-          = 'I':  compute a coprime factorization with inner
-                  denominator.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
-          is the desired order on entry, NQ is the order of the
-          computed coprime factorization of the given system, and
-          NMIN is the order of a minimal realization of the extended
-          system (see METHOD); NMIN is determined as the number of
-          Hankel singular values greater than NQ*EPS*HNORM(Ge),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
-          extended system (computed in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          If FACT = 'S', the desired stability degree for the
-          factors of the coprime factorization (see SLICOT Library
-          routines SB08ED/SB08FD).
-          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
-          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
-          If FACT = 'I', ALPHA is not used.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the computed extended system Ge (see METHOD).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the NQ Hankel singular values of
-          the extended system Ge ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced extended system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(Ge), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(Ge) is the
-          Hankel-norm of the extended system (computed in HSV(1)).
-          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
-          TOL1 &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B or C are considered zero (used for controllability or
-          observability tests).
-          If the user sets TOL2 &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF is used:
-          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
-          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
-          where EPS is the machine precision, and NORM(.) denotes
-          the 1-norm of a matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = PM,        if JOBMR = 'B',
-          LIWORK = MAX(N,PM), if JOBMR = 'N', where
-          PM = P, if JOBCF = 'L',
-          PM = M, if JOBCF = 'R'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
-          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
-          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
-          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
-          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
-          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
-          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 10*K+I:
-            I = 1:  with ORDSEL = 'F', the selected order NR is
-                    greater than the order of the computed coprime
-                    factorization of the given system. In this case,
-                    the resulting NR is set automatically to a value
-                    corresponding to the order of a minimal
-                    realization of the system;
-            K &gt; 0:  K violations of the numerical stability
-                    condition occured when computing the coprime
-                    factorization using pole assignment (see SLICOT
-                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
-                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
-          = 3:  the matrix A has an observable or controllable
-                eigenvalue on the imaginary axis if DICO = 'C' or
-                on the unit circle if DICO = 'D';
-          = 4:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The subroutine AB09FD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  with the transfer-function matrix Gr, by using the
-  balanced-truncation model reduction method in conjunction with
-  a left coprime factorization (LCF) or a right coprime
-  factorization (RCF) technique:
-
-  1. Compute the appropriate stable coprime factorization of G:
-                  -1                   -1
-             G = R  *Q (LCF) or G = Q*R   (RCF).
-
-  2. Perform the model reduction algorithm on the extended system
-                                        ( Q )
-             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
-
-     to obtain a reduced extended system with reduced factors
-                                            ( Qr )
-             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
-
-  3. Recover the reduced system from the reduced factors as
-                    -1                       -1
-             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
-
-  The approximation error for the extended system satisfies
-
-     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
-
-  where INFNORM(G) is the infinity-norm of G.
-
-  If JOBMR = 'B', the square-root Balance & Truncate method of [1]
-  is used for model reduction.
-  If JOBMR = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used for model reduction.
-
-  If FACT = 'S', the stable coprime factorization with prescribed
-  stability degree ALPHA is computed by using the algorithm of [3].
-  If FACT = 'I', the stable coprime factorization with inner
-  denominator is computed by using the algorithm of [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
-      pp. 42-46, 1991.
-
-  [3] Varga A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-  [4] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX, MMAX, PMAX ) )
-*     The formula below uses that NMAX = MMAX = PMAX.
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09FD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
-     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09FD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
-     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                      NQ, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09FD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of coprime factors are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08FD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3  0 -1.e-1  .1 1.E-10 C L I B S A
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09FD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of coprime factors are
-  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
-
- The reduced state dynamics matrix Ar is 
-   0.0520  -0.1491   0.0037  -0.0232   0.0168
-   0.2340   0.2618   0.0010  -0.0153  -0.0318
-   0.1197   0.0075  -0.5752   2.0119  -0.7779
-   0.1571  -0.2019  -2.1282  -2.1192  -0.3618
-   0.0368  -0.4810   0.8395  -0.2790  -2.8796
-
- The reduced input/state matrix Br is 
-   1.0454   0.5860
-  -0.0489  -1.9194
-  -1.4282   0.0541
-  -1.6144  -0.7533
-   0.5916  -1.9242
-
- The reduced state/output matrix Cr is 
-   0.4368   0.1122  -1.2917   1.5888  -0.6354
-   1.1170   0.3963   0.6115   0.1249  -0.0859
-   0.0756  -1.8904   0.0144   0.7964   1.9085
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09GD">AB09GD</A></H2>
-<H3>
-Singular Perturbation Approximation based model reduction for unstable systems in conjunction with coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root Singular
-  Perturbation Approximation (SPA) model reduction method in
-  conjunction with stable coprime factorization techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL, N, M,
-     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NQ, HSV, TOL1, TOL2, TOL3, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M, N,
-     $                  NQ, NR, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2, TOL3
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization is
-          to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  FACT    CHARACTER*1
-          Specifies the type of coprime factorization to be computed
-          as follows:
-          = 'S':  compute a coprime factorization with prescribed
-                  stability degree ALPHA;
-          = 'I':  compute a coprime factorization with inner
-                  denominator.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NQ,NMIN), where NR
-          is the desired order on entry, NQ is the order of the
-          computed coprime factorization of the given system, and
-          NMIN is the order of a minimal realization of the extended
-          system (see METHOD); NMIN is determined as the number of
-          Hankel singular values greater than NQ*EPS*HNORM(Ge),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
-          extended system (computed in HSV(1));
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,NQ*EPS*HNORM(Ge)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          If FACT = 'S', the desired stability degree for the
-          factors of the coprime factorization (see SLICOT Library
-          routines SB08ED/SB08FD).
-          ALPHA &lt; 0 for a continuous-time system (DICO = 'C'), and
-          0 &lt;= ALPHA &lt; 1 for a discrete-time system (DICO = 'D').
-          If FACT = 'I', ALPHA is not used.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the computed extended system Ge (see METHOD).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the NQ Hankel singular values of
-          the extended system Ge ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced extended system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(Ge), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(Ge) is the
-          Hankel-norm of the extended system (computed in HSV(1)).
-          The value TOL1 = NQ*EPS*HNORM(Ge) is used by default if
-          TOL1 &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the extended system Ge (see METHOD).
-          The recommended value is TOL2 = NQ*EPS*HNORM(Ge).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-  TOL3    DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B or C are considered zero (used for controllability or
-          observability tests by the coprime factorization method).
-          If the user sets TOL3 &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF is used:
-          TOLDEF = N*EPS*NORM(C'), if JOBCF = 'L', or
-          TOLDEF = N*EPS*NORM(B),  if JOBCF = 'R',
-          where EPS is the machine precision, and NORM(.) denotes
-          the 1-norm of a matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N,PM))
-          where  PM = P, if JOBCF = 'L',
-                 PM = M, if JOBCF = 'R'.
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,LW1) if JOBCF = 'L' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW2) if JOBCF = 'L' and FACT = 'I',
-          LDWORK &gt;= MAX(1,LW3) if JOBCF = 'R' and FACT = 'S',
-          LDWORK &gt;= MAX(1,LW4) if JOBCF = 'R' and FACT = 'I', where
-          LW1 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), 5*P, 4*M), LWR ),
-          LW2 = N*(2*MAX(M,P) + P) + MAX(M,P)*(MAX(M,P) + P) +
-                MAX( N*P+MAX(N*(N+5), P*(P+2), 4*P, 4*M), LWR ),
-          LW3 = (N+M)*(M+P) + MAX( 5*M, 4*P, LWR ),
-          LW4 = (N+M)*(M+P) + MAX( M*(M+2), 4*M, 4*P, LWR ), and
-          LWR = 2*N*N + N*(MAX(N,M+P)+5) + N*(N+1)/2.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 10*K+I:
-            I = 1:  with ORDSEL = 'F', the selected order NR is
-                    greater than the order of the computed coprime
-                    factorization of the given system. In this case,
-                    the resulting NR is set automatically to a value
-                    corresponding to the order of a minimal
-                    realization of the system;
-            K &gt; 0:  K violations of the numerical stability
-                    condition occured when computing the coprime
-                    factorization using pole assignment (see SLICOT
-                    Library routines SB08CD/SB08ED, SB08DD/SB08FD).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                (or Z'*(A + B*F)*Z) along the diagonal; see SLICOT
-                Library routines SB08CD/SB08ED (or SB08DD/SB08FD);
-          = 3:  the matrix A has an observable or controllable
-                eigenvalue on the imaginary axis if DICO = 'C' or
-                on the unit circle if DICO = 'D';
-          = 4:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                       (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The subroutine AB09GD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                   (2)
-
-  with the transfer-function matrix Gr, by using the
-  singular perturbation approximation (SPA) method in conjunction
-  with a left coprime factorization (LCF) or a right coprime
-  factorization (RCF) technique:
-
-  1. Compute the appropriate stable coprime factorization of G:
-                  -1                   -1
-             G = R  *Q (LCF) or G = Q*R   (RCF).
-
-  2. Perform the model reduction algorithm on the extended system
-                                        ( Q )
-             Ge = ( Q R ) (LCF) or Ge = ( R )  (RCF)
-
-     to obtain a reduced extended system with reduced factors
-                                            ( Qr )
-             Ger = ( Qr Rr ) (LCF) or Ger = ( Rr )  (RCF).
-
-  3. Recover the reduced system from the reduced factors as
-                    -1                       -1
-             Gr = Rr  *Qr (LCF) or Gr = Qr*Rr   (RCF).
-
-  The approximation error for the extended system satisfies
-
-     HSV(NR) &lt;= INFNORM(Ge-Ger) &lt;= 2*[HSV(NR+1) + ... + HSV(NQ)],
-
-  where INFNORM(G) is the infinity-norm of G.
-
-  If JOBMR = 'B', the balancing-based square-root SPA method of [1]
-  is used for model reduction.
-  If JOBMR = 'N', the balancing-free square-root SPA method of [2]
-  is used for model reduction.
-  By setting TOL1 = TOL2, the routine can be used to compute
-  Balance & Truncate approximations.
-
-  If FACT = 'S', the stable coprime factorization with prescribed
-  stability degree ALPHA is computed by using the algorithm of [3].
-  If FACT = 'I', the stable coprime factorization with inner
-  denominator is computed by using the algorithm of [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems.
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991, Vol. 2,
-      pp. 1062-1065.
-
-  [3] Varga A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-  [4] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, MMAX, PMAX ) )
-*     The formula below uses that NMAX = MMAX = PMAX.
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 10*NMAX*NMAX + 5*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2, TOL3
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO, EQUIL, FACT, JOBCF, JOBMR, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09GD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2, TOL3,
-     $                      DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09GD( DICO, JOBCF, FACT, JOBMR, EQUIL, ORDSEL,
-     $                      N, M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, NQ, HSV, TOL1, TOL2, TOL3, IWORK,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NQ )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09GD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of coprime factors are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB08GD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3  0 -1.e-1  .1 1.E-10 1.E-10 C L I B S A
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09GD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of coprime factors are
-  13.6047   9.4106   1.7684   0.7456   0.6891   0.0241   0.0230
-
- The reduced state dynamics matrix Ar is 
-   0.0521  -0.1491   0.0032  -0.0242   0.0181
-   0.2341   0.2615   0.0009  -0.0171  -0.0362
-   0.1170   0.0076  -0.5471   2.0904  -0.8098
-   0.1675  -0.2122  -2.2113  -2.4097  -0.4139
-   0.0390  -0.5061   0.8787  -0.3166  -3.2955
-
- The reduced input/state matrix Br is 
-   1.0449   0.5863
-  -0.0490  -1.9210
-  -1.3930   0.0540
-  -1.7206  -0.8039
-   0.6358  -2.0542
-
- The reduced state/output matrix Cr is 
-   0.4331   0.1125  -1.2534   1.6965  -0.6773
-   1.1171   0.3963   0.6102   0.1213  -0.0841
-   0.0736  -1.8815   0.0134   0.8457   2.0413
-
- The reduced input/output matrix Dr is 
-   0.0480   0.0003
-  -0.0017   0.0001
-   0.0005   0.0460
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09HD">AB09HD</A></H2>
-<H3>
-Stochastic balancing based model reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the stochastic
-  balancing approach in conjunction with the square-root or
-  the balancing-free square-root Balance & Truncate (B&T)
-  or Singular Perturbation Approximation (SPA) model reduction
-  methods for the ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   BETA, A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV,
-     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, NS, P
-      DOUBLE PRECISION  ALPHA, BETA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-      LOGICAL           BWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'F':  use the balancing-free square-root
-                  Balance & Truncate method;
-          = 'S':  use the square-root Singular Perturbation
-                  Approximation method;
-          = 'P':  use the balancing-free square-root
-                  Singular Perturbation Approximation method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-          P &lt;= M if BETA = 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, and NMIN is the order of a minimal realization
-          of the ALPHA-stable part of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than NS*EPS, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH);
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than MAX(TOL1,NS*EPS);
-          NR can be further reduced to ensure that
-          HSV(NR-NU) &gt; HSV(NR+1-NU).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  BETA    (input) DOUBLE PRECISION
-          BETA &gt; 0 specifies the absolute/relative error weighting
-          parameter. A large positive value of BETA favours the
-          minimization of the absolute approximation error, while a
-          small value of BETA is appropriate for the minimization
-          of the relative error.
-          BETA = 0 means a pure relative error method and can be
-          used only if rank(D) = P.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues in an
-          upper real Schur form.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the phase system corresponding
-          to the ALPHA-stable part of the original system.
-          The Hankel singular values are ordered decreasingly.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value of TOL1 lies
-          in the interval [0.00001,0.001].
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS, where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-          TOL1 &lt; 1.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the phase system (see METHOD) corresponding
-          to the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-          TOL2 &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains RCOND, the reciprocal
-          condition number of the U11 matrix from the expression
-          used to compute the solution X = U21*inv(U11) of the
-          Riccati equation for spectral factorization.
-          A small value RCOND indicates possible ill-conditioning
-          of the respective Riccati equation.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N*N + MB*(N+P) + MAX( 2, N*(MAX(N,MB,P)+5),
-                                 2*N*P+MAX(P*(MB+2),10*N*(N+1) ) ),
-          where MB = M if BETA = 0 and MB = M+P if BETA &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension 2*N
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system; in this case, the resulting NR is set equal
-                to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NR corresponds
-                to repeated singular values for the ALPHA-stable
-                part, which are neither all included nor all
-                excluded from the reduced model; in this case, the
-                resulting NR is automatically decreased to exclude
-                all repeated singular values;
-          = 3:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system; in this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the reduction of the Hamiltonian matrix to real
-                Schur form failed;
-          = 3:  the reordering of the real Schur form of the
-                Hamiltonian matrix failed;
-          = 4:  the Hamiltonian matrix has less than N stable
-                eigenvalues;
-          = 5:  the coefficient matrix U11 in the linear system
-                X*U11 = U21 to determine X is singular to working
-                precision;
-          = 6:  BETA = 0 and D has not a maximal row rank;
-          = 7:  the computation of Hankel singular values failed;
-          = 8:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 9:  the resulting order of reduced stable part is less
-                than the number of unstable zeros of the stable
-                part.
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                      (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09HD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                  (2)
-
-  such that
-
-       INFNORM[inv(conj(W))*(G-Gr)] &lt;=
-                    (1+HSV(NR+NS-N+1)) / (1-HSV(NR+NS-N+1)) + ...
-                    + (1+HSV(NS)) / (1-HSV(NS)) - 1,
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, W is the right, minimum
-  phase spectral factor satisfying
-
-      G1*conj(G1) = conj(W)* W,                      (3)
-
-  G1 is the NS-order ALPHA-stable part of G, and INFNORM(G) is the
-  infinity-norm of G. HSV(1), ... , HSV(NS) are the Hankel-singular
-  values of the stable part of the phase system (Ap,Bp,Cp)
-  with the transfer-function matrix
-
-       P = inv(conj(W))*G1.
-
-  If BETA &gt; 0, then the model reduction is performed on [G BETA*I]
-  instead of G. This is the recommended approach to be used when D
-  has not a maximal row rank or when a certain balance between
-  relative and absolute approximation errors is desired. For
-  increasingly large values of BETA, the obtained reduced system
-  assymptotically approaches that computed by using the
-  Balance & Truncate or Singular Perturbation Approximation methods.
-
-  Note: conj(G)  denotes either G'(-s) for a continuous-time system
-        or G'(1/z) for a discrete-time system.
-        inv(G) is the inverse of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2,
-
-     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1 using the balancing stochastic method
-     in conjunction with either the B&T [1,2] or SPA methods [3].
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  Note: The employed stochastic truncation algorithm [2,3] has the
-  property that right half plane zeros of G1 remain as right half
-  plane zeros of G1r. Thus, the order can not be chosen smaller than
-  the sum of the number of unstable poles of G and the number of
-  unstable zeros of G1.
-
-  The reduction of the ALPHA-stable part G1 is done as follows.
-
-  If JOB = 'B', the square-root stochastic Balance & Truncate
-  method of [1] is used.
-  For an ALPHA-stable continuous-time system (DICO = 'C'),
-  the resulting reduced model is stochastically balanced.
-
-  If JOB = 'F', the balancing-free square-root version of the
-  stochastic Balance & Truncate method [1] is used to reduce
-  the ALPHA-stable part G1.
-
-  If JOB = 'S', the stochastic balancing method is used to reduce
-  the ALPHA-stable part G1, in conjunction with the square-root
-  version of the Singular Perturbation Approximation method [3,4].
-
-  If JOB = 'P', the stochastic balancing method is used to reduce
-  the ALPHA-stable part G1, in conjunction with the balancing-free
-  square-root version of the Singular Perturbation Approximation
-  method [3,4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A. and Fasol K.H.
-      A new square-root balancing-free stochastic truncation model
-      reduction algorithm.
-      Proc. 12th IFAC World Congress, Sydney, 1993.
-
-  [2] Safonov M. G. and Chiang R. Y.
-      Model reduction for robust control: a Schur relative error
-      method.
-      Int. J. Adapt. Contr. Sign. Proc., vol. 2, pp. 259-272, 1988.
-
-  [3] Green M. and Anderson B. D. O.
-      Generalized balanced stochastic truncation.
-      Proc. 29-th CDC, Honolulu, Hawaii, pp. 476-481, 1990.
-
-  [4] Varga A.
-      Balancing-free square-root algorithm for computing
-      singular perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques. The effectiveness of the
-  accuracy enhancing technique depends on the accuracy of the
-  solution of a Riccati equation. An ill-conditioned Riccati
-  solution typically results when [D BETA*I] is nearly
-  rank deficient.
-                                   3
-  The algorithm requires about 100N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                 LDD = PMAX )
-      INTEGER          LBWORK, LIWORK
-      PARAMETER        ( LBWORK = 2*NMAX, LIWORK = 2*NMAX )
-      INTEGER          LDWORK, MBMAX
-      PARAMETER        ( MBMAX = MMAX + PMAX )
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + MBMAX*(NMAX+PMAX) +
-     $                      MAX( NMAX*(MAX( NMAX, MMAX, PMAX) + 5),
-     $                     2*NMAX*PMAX + MAX( PMAX*(MBMAX+2),
-     $                                        10*NMAX*(NMAX+1) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, BETA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      LOGICAL          BWORK(LBWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, BETA, TOL1, TOL2,
-     $                      DICO, JOB, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09HD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      ALPHA, BETA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      BWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09HD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The stochastic Hankel singular values of ALPHA-stable'
-     $        ,' part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09HD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   0.0   1.0  0.1E0  0.0    C     F     N     A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09HD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The stochastic Hankel singular values of ALPHA-stable part are
-   0.8803   0.8506   0.8038   0.4494   0.3973   0.0214   0.0209
-
- The reduced state dynamics matrix Ar is 
-   1.2729   0.0000   6.5947   0.0000  -3.4229
-   0.0000   0.8169   0.0000   2.4821   0.0000
-  -2.9889   0.0000  -2.9028   0.0000  -0.3692
-   0.0000  -3.3921   0.0000  -3.1126   0.0000
-  -1.4767   0.0000  -2.0339   0.0000  -0.6107
-
- The reduced input/state matrix Br is 
-   0.1331  -0.1331
-  -0.0862  -0.0862
-  -2.6777   2.6777
-  -3.5767  -3.5767
-  -2.3033   2.3033
-
- The reduced state/output matrix Cr is 
-  -0.6907  -0.6882   0.0779   0.0958  -0.0038
-   0.0676   0.0000   0.6532   0.0000  -0.7522
-   0.6907  -0.6882  -0.0779   0.0958   0.0038
-
- The reduced input/output matrix Dr is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09HX.html b/doc/_static/doc/AB09HX.html
deleted file mode 100644
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--- a/doc/_static/doc/AB09HX.html
+++ /dev/null
@@ -1,348 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09HX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09HX">AB09HX</A></H2>
-<H3>
-Stochastic balancing model reduction of stable systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  stable state-space representation (A,B,C,D) by using the
-  stochastic balancing approach in conjunction with the square-root
-  or the balancing-free square-root Balance & Truncate (B&T) or
-  Singular Perturbation Approximation (SPA) model reduction methods.
-  The state dynamics matrix A of the original system is an upper
-  quasi-triangular matrix in real Schur canonical form and D must be
-  full row rank.
-
-  For the B&T approach, the matrices of the reduced order system
-  are computed using the truncation formulas:
-
-       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
-
-  For the SPA approach, the matrices of a minimal realization
-  (Am,Bm,Cm) are computed using the truncation formulas:
-
-       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
-
-  Am, Bm, Cm and D serve further for computing the SPA of the given
-  system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09HX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, HSV, T, LDT, TI, LDTI, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, BWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
-     $                  LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
-      LOGICAL           BWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'F':  use the balancing-free square-root
-                  Balance & Truncate method;
-          = 'S':  use the square-root Singular Perturbation
-                  Approximation method;
-          = 'P':  use the balancing-free square-root
-                  Singular Perturbation Approximation method.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  M &gt;= P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-          is the desired order on entry and NMIN is the order of a
-          minimal realization of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than N*EPS, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH);
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in a real Schur
-          canonical form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values,
-          ordered decreasingly, of the phase system. All singular
-          values are less than or equal to 1.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          If INFO = 0 and NR &gt; 0, the leading N-by-NR part of this
-          array contains the right truncation matrix T in (1), for
-          the B&T approach, or in (2), for the SPA approach.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  TI      (output) DOUBLE PRECISION array, dimension (LDTI,N)
-          If INFO = 0 and NR &gt; 0, the leading NR-by-N part of this
-          array contains the left truncation matrix TI in (1), for
-          the B&T approach, or in (2), for the SPA approach.
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value lies in the
-          interval [0.00001,0.001].
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = N*EPS, where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the phase system (see METHOD) corresponding
-          to the given system.
-          The recommended value is TOL2 = N*EPS.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit with INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains RCOND, the reciprocal
-          condition number of the U11 matrix from the expression
-          used to compute the solution X = U21*inv(U11) of the
-          Riccati equation for spectral factorization.
-          A small value RCOND indicates possible ill-conditioning
-          of the respective Riccati equation.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
-                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension 2*N
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than the order of a minimal realization of the
-                given system. In this case, the resulting NR is
-                set automatically to a value corresponding to the
-                order of a minimal realization of the system.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D'), or it is not in
-                a real Schur form;
-          = 2:  the reduction of Hamiltonian matrix to real
-                Schur form failed;
-          = 3:  the reordering of the real Schur form of the
-                Hamiltonian matrix failed;
-          = 4:  the Hamiltonian matrix has less than N stable
-                eigenvalues;
-          = 5:  the coefficient matrix U11 in the linear system
-                X*U11 = U21, used to determine X, is singular to
-                working precision;
-          = 6:  the feedthrough matrix D has not a full row rank P;
-          = 7:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (3)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09HX determines for
-  the given system (3), the matrices of a reduced NR-rder system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
-
-  such that
-
-        HSV(NR) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+1) + ... + HSV(N)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  If JOB = 'B', the square-root stochastic Balance & Truncate
-  method of [1] is used and the resulting model is balanced.
-
-  If JOB = 'F', the balancing-free square-root version of the
-  stochastic Balance & Truncate method [1] is used.
-
-  If JOB = 'S', the stochastic balancing method, in conjunction
-  with the square-root version of the Singular Perturbation
-  Approximation method [2,3] is used.
-
-  If JOB = 'P', the stochastic balancing method, in conjunction
-  with the balancing-free square-root version of the Singular
-  Perturbation Approximation method [2,3] is used.
-
-  By setting TOL1 = TOL2, the routine can be also used to compute
-  Balance & Truncate approximations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A. and Fasol K.H.
-      A new square-root balancing-free stochastic truncation
-      model reduction algorithm.
-      Proc. of 12th IFAC World Congress, Sydney, 1993.
-
-  [2] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of balanced systems.
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [3] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on accuracy enhancing square-root
-  or balancing-free square-root methods. The effectiveness of the
-  accuracy enhancing technique depends on the accuracy of the
-  solution of a Riccati equation. Ill-conditioned Riccati solution
-  typically results when D is nearly rank deficient.
-                                   3
-  The algorithm requires about 100N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09HY.html b/doc/_static/doc/AB09HY.html
deleted file mode 100644
index 4b6ba31f..00000000
--- a/doc/_static/doc/AB09HY.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09HY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09HY">AB09HY</A></H2>
-<H3>
-Cholesky factors of the controllability and observability Grammians
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factors Su and Ru of the controllability
-  Grammian P = Su*Su' and observability Grammian Q = Ru'*Ru,
-  respectively, satisfying
-
-         A*P  + P*A' +  scalec^2*B*B'   = 0,       (1)
-
-         A'*Q + Q*A  +  scaleo^2*Cw'*Cw = 0,       (2)
-
-  where
-         Cw = Hw - Bw'*X,
-         Hw = inv(Dw)*C,
-         Bw = (B*D' + P*C')*inv(Dw'),
-         D*D' = Dw*Dw' (Dw upper triangular),
-
-  and, with Aw = A - Bw*Hw, X is the stabilizing solution of the
-  Riccati equation
-
-         Aw'*X + X*Aw + Hw'*Hw + X*Bw*Bw'*X = 0.   (3)
-
-  The P-by-M matrix D must have full row rank. Matrix A must be
-  stable and in a real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09HY( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   SCALEC, SCALEO, S, LDS, R, LDR, IWORK,
-     $                   DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDD, LDR, LDS, LDWORK, M, N,
-     $                 P
-      DOUBLE PRECISION SCALEC, SCALEO
-C     .. Array Arguments ..
-      INTEGER          IWORK(*)
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                 DWORK(*), R(LDR,*), S(LDS,*)
-      LOGICAL          BWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of state-space representation, i.e.,
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  M &gt;= P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          stable state dynamics matrix A in a real Schur canonical
-          form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B, corresponding to the Schur matrix A.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C, corresponding to the Schur
-          matrix A.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must
-          contain the full row rank input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian in (1).
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian in (2).
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Su of the cotrollability
-          Grammian P = Su*Su' satisfying (1).
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Ru of the observability
-          Grammian Q = Ru'*Ru satisfying (2).
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains RCOND, the reciprocal
-          condition number of the U11 matrix from the expression
-          used to compute X = U21*inv(U11). A small value RCOND
-          indicates possible ill-conditioning of the Riccati
-          equation (3).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 2, N*(MAX(N,M,P)+5),
-                         2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension 2*N
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable or is not in a
-                real Schur form;
-          = 2:  the reduction of Hamiltonian matrix to real Schur
-                form failed;
-          = 3:  the reordering of the real Schur form of the
-                Hamiltonian matrix failed;
-          = 4:  the Hamiltonian matrix has less than N stable
-                eigenvalues;
-          = 5:  the coefficient matrix U11 in the linear system
-                X*U11 = U21, used to determine X, is singular to
-                working precision;
-          = 6:  the feedthrough matrix D has not a full row rank P.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09ID">AB09ID</A></H2>
-<H3>
-Frequency-weighted model reduction based on balancing techniques
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the frequency
-  weighted square-root or balancing-free square-root
-  Balance & Truncate (B&T) or Singular Perturbation Approximation
-  (SPA) model reduction methods. The algorithm tries to minimize
-  the norm of the frequency-weighted error
-
-        ||V*(G-Gr)*W||
-
-  where G and Gr are the transfer-function matrices of the original
-  and reduced order models, respectively, and V and W are
-  frequency-weighting transfer-function matrices. V and W must not
-  have poles on the imaginary axis for a continuous-time
-  system or on the unit circle for a discrete-time system.
-  If G is unstable, only the ALPHA-stable part of G is reduced.
-  In case of possible pole-zero cancellations in V*G and/or G*W,
-  the absolute values of parameters ALPHAO and/or ALPHAC must be
-  different from 1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL, ORDSEL,
-     $                   N, M, P, NV, PV, NW, MW, NR, ALPHA, ALPHAC,
-     $                   ALPHAO, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
-      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, MW,
-     $                  N, NR, NS, NV, NW, P, PV
-      DOUBLE PRECISION  ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
-     $                  HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'F':  use the balancing-free square-root
-                  Balance & Truncate method;
-          = 'S':  use the square-root Singular Perturbation
-                  Approximation method;
-          = 'P':  use the balancing-free square-root
-                  Singular Perturbation Approximation method.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the matrix AV. Also the number of rows of
-          the matrix BV and the number of columns of the matrix CV.
-          NV represents the dimension of the state vector of the
-          system with the transfer-function matrix V.  NV &gt;= 0.
-
-  PV      (input) INTEGER
-          The number of rows of the matrices CV and DV.  PV &gt;= 0.
-          PV represents the dimension of the output vector of the
-          system with the transfer-function matrix V.
-
-  NW      (input) INTEGER
-          The order of the matrix AW. Also the number of rows of
-          the matrix BW and the number of columns of the matrix CW.
-          NW represents the dimension of the state vector of the
-          system with the transfer-function matrix W.  NW &gt;= 0.
-
-  MW      (input) INTEGER
-          The number of columns of the matrices BW and DW.  MW &gt;= 0.
-          MW represents the dimension of the input vector of the
-          system with the transfer-function matrix W.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, NMIN is the number of frequency-weighted Hankel
-          singular values greater than NS*EPS*S1, EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH)
-          and S1 is the largest Hankel singular value (computed
-          in HSV(1)); NR can be further reduced to ensure
-          HSV(NR-NU) &gt; HSV(NR+1-NU);
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than MAX(TOL1,NS*EPS*S1).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  ALPHAC  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted controllability Grammian (see METHOD);
-          ABS(ALPHAC) &lt;= 1.
-
-  ALPHAO  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted observability Grammian (see METHOD);
-          ABS(ALPHAO) &lt;= 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
-          part of this array must contain the state matrix AV of
-          the system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NVR-by-NVR part of this array
-          contains the state matrix of a minimal realization of V
-          in a real Schur form. NVR is returned in IWORK(2).
-          AV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDAV    INTEGER
-          The leading dimension of array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
-          of this array must contain the input matrix BV of the
-          system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NVR-by-P part of this array contains
-          the input matrix of a minimal realization of V.
-          BV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDBV    INTEGER
-          The leading dimension of array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading PV-by-NV
-          part of this array must contain the output matrix CV of
-          the system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading PV-by-NVR part of this array
-          contains the output matrix of a minimal realization of V.
-          CV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDCV    INTEGER
-          The leading dimension of array CV.
-          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
-          array must contain the feedthrough matrix DV of the system
-          with the transfer-function matrix V.
-          DV is not referenced if WEIGHT = 'R' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDDV    INTEGER
-          The leading dimension of array DV.
-          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
-          part of this array must contain the state matrix AW of
-          the system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NWR-by-NWR part of this array
-          contains the state matrix of a minimal realization of W
-          in a real Schur form. NWR is returned in IWORK(3).
-          AW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDAW    INTEGER
-          The leading dimension of array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,MW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-MW
-          part of this array must contain the input matrix BW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading NWR-by-MW part of this array
-          contains the input matrix of a minimal realization of W.
-          BW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDBW    INTEGER
-          The leading dimension of array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
-          of this array must contain the output matrix CW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', MIN(N,M,P) &gt; 0 and
-          INFO = 0, the leading M-by-NWR part of this array contains
-          the output matrix of a minimal realization of W.
-          CW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDCW    INTEGER
-          The leading dimension of array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
-          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
-          array must contain the feedthrough matrix DW of the system
-          with the transfer-function matrix W.
-          DW is not referenced if WEIGHT = 'L' or 'N',
-          or MIN(N,M,P) = 0.
-
-  LDDW    INTEGER
-          The leading dimension of array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of this array contain
-          the frequency-weighted Hankel singular values, ordered
-          decreasingly, of the ALPHA-stable part of the original
-          system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*S1, where c is a constant in the
-          interval [0.00001,0.001], and S1 is the largest
-          frequency-weighted Hankel singular value of the
-          ALPHA-stable part of the original system (computed
-          in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*S1, where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*S1.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension
-          ( MAX( 3, LIWRK1, LIWRK2, LIWRK3 ) ), where
-          LIWRK1 = 0,             if JOB = 'B';
-          LIWRK1 = N,             if JOB = 'F';
-          LIWRK1 = 2*N,           if JOB = 'S' or 'P';
-          LIWRK2 = 0,             if WEIGHT = 'R' or 'N' or  NV = 0;
-          LIWRK2 = NV+MAX(P,PV),  if WEIGHT = 'L' or 'B' and NV &gt; 0;
-          LIWRK3 = 0,             if WEIGHT = 'L' or 'N' or  NW = 0;
-          LIWRK3 = NW+MAX(M,MW),  if WEIGHT = 'R' or 'B' and NW &gt; 0.
-          On exit, if INFO = 0, IWORK(1) contains the order of a
-          minimal realization of the stable part of the system,
-          IWORK(2) and IWORK(3) contain the actual orders
-          of the state space realizations of V and W, respectively.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LMINL, LMINR, LRCF,
-                         2*N*N + MAX( 1, LLEFT, LRIGHT, 2*N*N+5*N,
-                                      N*MAX(M,P) ) ),
-          where
-          LMINL  = 0, if WEIGHT = 'R' or 'N' or NV = 0; otherwise,
-          LMINL  = MAX(LLCF,NV+MAX(NV,3*P))           if P =  PV;
-          LMINL  = MAX(P,PV)*(2*NV+MAX(P,PV))+
-                   MAX(LLCF,NV+MAX(NV,3*P,3*PV))      if P &lt;&gt; PV;
-          LRCF   = 0, and
-          LMINR  = 0, if WEIGHT = 'L' or 'N' or NW = 0; otherwise,
-          LMINR  = NW+MAX(NW,3*M)                     if M =  MW;
-          LMINR  = 2*NW*MAX(M,MW)+NW+MAX(NW,3*M,3*MW) if M &lt;&gt; MW;
-          LLCF   = PV*(NV+PV)+PV*NV+MAX(NV*(NV+5), PV*(PV+2),
-                                        4*PV, 4*P);
-          LRCF   = MW*(NW+MW)+MAX(NW*(NW+5),MW*(MW+2),4*MW,4*M)
-          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
-                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
-          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
-          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
-                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
-          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system; in this case, the resulting NR is set equal
-                to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NR corresponds
-                to repeated singular values for the ALPHA-stable
-                part, which are neither all included nor all
-                excluded from the reduced model; in this case, the
-                resulting NR is automatically decreased to exclude
-                all repeated singular values;
-          = 3:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system; in this case NR is set equal to the
-                order of the ALPHA-unstable part.
-          = 10+K:  K violations of the numerical stability condition
-                occured during the assignment of eigenvalues in the
-                SLICOT Library routines SB08CD and/or SB08DD.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable
-                diagonal blocks failed because of very close
-                eigenvalues;
-          = 3:  the reduction to a real Schur form of the state
-                matrix of a minimal realization of V failed;
-          = 4:  a failure was detected during the ordering of the
-                real Schur form of the state matrix of a minimal
-                realization of V or in the iterative process to
-                compute a left coprime factorization with inner
-                denominator;
-          = 5:  if DICO = 'C' and the matrix AV has an observable
-                eigenvalue on the imaginary axis, or DICO = 'D' and
-                AV has an observable eigenvalue on the unit circle;
-          = 6:  the reduction to a real Schur form of the state
-                matrix of a minimal realization of W failed;
-          = 7:  a failure was detected during the ordering of the
-                real Schur form of the state matrix of a minimal
-                realization of W or in the iterative process to
-                compute a right coprime factorization with inner
-                denominator;
-          = 8:  if DICO = 'C' and the matrix AW has a controllable
-                eigenvalue on the imaginary axis, or DICO = 'D' and
-                AW has a controllable eigenvalue on the unit circle;
-          = 9:  the computation of eigenvalues failed;
-          = 10: the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let G be the transfer-function matrix of the original
-  linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                          (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09ID determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
-
-  such that the corresponding transfer-function matrix Gr minimizes
-  the norm of the frequency-weighted error
-
-          V*(G-Gr)*W,                                    (3)
-
-  where V and W are transfer-function matrices without poles on the
-  imaginary axis in continuous-time case or on the unit circle in
-  discrete-time case.
-
-  The following procedure is used to reduce G:
-
-  1) Decompose additively G, of order N, as
-
-       G = G1 + G2,
-
-     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
-     G2 = (A2,B2,C2,0), of order NU, has only ALPHA-unstable poles.
-
-  2) Compute for G1 a B&T or SPA frequency-weighted approximation
-     G1r of order NR-NU using the combination method or the
-     modified combination method of [4].
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  For the frequency-weighted reduction of the ALPHA-stable part,
-  several methods described in [4] can be employed in conjunction
-  with the combination method and modified combination method
-  proposed in [4].
-
-  If JOB = 'B', the square-root B&T method is used.
-  If JOB = 'F', the balancing-free square-root version of the
-  B&T method is used.
-  If JOB = 'S', the square-root version of the SPA method is used.
-  If JOB = 'P', the balancing-free square-root version of the
-  SPA method is used.
-
-  For each of these methods, left and right truncation matrices
-  are determined using the Cholesky factors of an input
-  frequency-weighted controllability Grammian P and an output
-  frequency-weighted observability Grammian Q.
-  P and Q are computed from the controllability Grammian Pi of G*W
-  and the observability Grammian Qo of V*G. Using special
-  realizations of G*W and V*G, Pi and Qo are computed in the
-  partitioned forms
-
-        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
-             ( P12' P22 )               ( Q12' Q22 )
-
-  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
-  respectively. Let P0 and Q0 be non-negative definite matrices
-  defined below
-                                     -1
-         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
-                                     -1
-         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
-
-  The frequency-weighted controllability and observability
-  Grammians, P and Q, respectively, are defined as follows:
-  P = P0 if JOBC = 'S' (standard combination method [4]);
-  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
-  Grammian defined to enforce stability for a modified combination
-  method of [4];
-  Q = Q0 if JOBO = 'S' (standard combination method [4]);
-  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
-  Grammian defined to enforce stability for a modified combination
-  method of [4].
-
-  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
-  Grammians corresponds to the method of Enns [1], while if
-  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds
-  to the method of Lin and Chiu [2,3].
-
-  If JOBC = 'S' and ALPHAC = 1, no pole-zero cancellations must
-  occur in G*W. If JOBO = 'S' and ALPHAO = 1, no pole-zero
-  cancellations must occur in V*G. The presence of pole-zero
-  cancellations leads to meaningless results and must be avoided.
-
-  The frequency-weighted Hankel singular values HSV(1), ....,
-  HSV(N) are computed as the square roots of the eigenvalues
-  of the product P*Q.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Lin, C.-A. and Chiu, T.-Y.
-      Model reduction via frequency-weighted balanced realization.
-      Control Theory and Advanced Technology, vol. 8,
-      pp. 341-351, 1992.
-
-  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
-      New results on frequency weighted balanced reduction
-      technique.
-      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
-
-  [4] Varga, A. and Anderson, B.D.O.
-      Square-root balancing-free methods for the frequency-weighted
-      balancing related model reduction.
-      (report in preparation)
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root
-  techniques.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, MWMAX, NMAX, NVMAX, NWMAX, PMAX, PVMAX
-      PARAMETER        ( MMAX = 20, MWMAX = 20,
-     $                   NMAX = 20, NVMAX = 20, NWMAX = 20,
-     $                   PMAX = 20, PVMAX = 20 )
-      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
-      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
-     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
-     $                   LDC = PMAX, LDCV = PVMAX, LDCW = MMAX,
-     $                   LDD = PMAX, LDDV = PVMAX, LDDW = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX,
-     $                                 NVMAX + MAX( PMAX, PVMAX ),
-     $                                 NWMAX + MAX( MMAX, MWMAX ) ) )
-      INTEGER          LDW1, LDW2, LDW3, LDW4, LDW5, LDW6, LDW7, LDW8,
-     $                 LDWORK
-      PARAMETER        ( LDW1 = NMAX + NVMAX, LDW2 = NMAX + NWMAX,
-     $                   LDW3 = MAX( LDW1*( LDW1 + MAX( LDW1, PVMAX ) +
-     $                               5 ), NMAX*( PMAX + 5 ) ),
-     $                   LDW4 = MAX( LDW2*( LDW2 + MAX( LDW2, MWMAX ) +
-     $                               5 ), NMAX*( MMAX + 5 ) ),
-     $                   LDW5 = PVMAX*( NVMAX + PVMAX ) + PVMAX*NVMAX +
-     $                          MAX( NVMAX*( NVMAX + 5 ), 4*PVMAX,
-     $                               PVMAX*( PVMAX + 2 ), 4*PMAX ),
-     $                   LDW6 = MAX( PMAX, PVMAX )*( 2*NVMAX +
-     $                               MAX( PMAX, PVMAX ) ) +
-     $                               MAX( LDW5, NVMAX +
-     $                                    MAX( NVMAX, 3*PMAX, 3*PVMAX )
-     $                                       ),
-     $                   LDW7 = MAX( NWMAX + MAX( NWMAX, 3*MMAX ),
-     $                               2*NWMAX*MAX( MMAX, MWMAX ) +
-     $                               NWMAX + MAX( NWMAX, 3*MMAX,
-     $                                                   3*MWMAX ) ),
-     $                   LDW8 = MWMAX*( NWMAX + MWMAX ) +
-     $                          MAX( NWMAX*( NWMAX + 5 ), 4*MWMAX,
-     $                               MWMAX*( MWMAX + 2 ), 4*MMAX ) )
-      PARAMETER        ( LDWORK = MAX( LDW6, LDW7, LDW8,
-     $                                 2*NMAX*NMAX +
-     $                                   MAX( 1, LDW3, LDW4,
-     $                                        2*NMAX*NMAX + 5*NMAX,
-     $                                        NMAX*MAX( MMAX, PMAX ) ) )
-     $                  )
-*     .. Local Scalars ..
-      LOGICAL          LEFTW, RIGHTW
-      DOUBLE PRECISION ALPHA, ALPHAC, ALPHAO, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, MW, N, NR, NS, NV, NW, P,
-     $                 PV
-      CHARACTER*1      DICO, EQUIL, JOB, JOBC, JOBO, ORDSEL, WEIGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
-     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MWMAX),
-     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
-     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MWMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB09ID
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NV, PV, NW, MW, NR,
-     $                      ALPHA, ALPHAC, ALPHAO, TOL1, TOL2,
-     $                      DICO, JOBC, JOBO, JOB, WEIGHT,
-     $                      EQUIL, ORDSEL
-      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
-      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( LEFTW ) THEN
-                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
-                     WRITE ( NOUT, FMT = 99986 ) NV
-                  ELSE
-                     IF( NV.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                    ( ( BV(I,J), J = 1,P ),  I = 1,NV )
-                        IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
-                           WRITE ( NOUT, FMT = 99985 ) PV
-                        ELSE
-                           READ ( NIN, FMT = * )
-     $                       ( ( CV(I,J), J = 1,NV ), I = 1,PV )
-                        END IF
-                     END IF
-                     IF( PV.LE.0 .OR. PV.GT.PVMAX ) THEN
-                        WRITE ( NOUT, FMT = 99985 ) PV
-                     ELSE
-                        READ ( NIN, FMT = * )
-     $                    ( ( DV(I,J), J = 1,P ), I = 1,PV )
-                     END IF
-                  END IF
-               END IF
-               IF( RIGHTW ) THEN
-                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
-                     WRITE ( NOUT, FMT = 99984 ) NW
-                  ELSE
-                     IF( NW.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
-                        IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
-                           WRITE ( NOUT, FMT = 99983 ) MW
-                        ELSE
-                           READ ( NIN, FMT = * )
-     $                       ( ( BW(I,J), J = 1,MW ), I = 1,NW )
-                        END IF
-                        READ ( NIN, FMT = * )
-     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
-                     END IF
-                     IF( MW.LE.0 .OR. MW.GT.MWMAX ) THEN
-                        WRITE ( NOUT, FMT = 99983 ) MW
-                     ELSE
-                        READ ( NIN, FMT = * )
-     $                     ( ( DW(I,J), J = 1,MW ), I = 1,M )
-                     END IF
-                  END IF
-               END IF
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09ID( DICO, JOBC, JOBO, JOB, WEIGHT, EQUIL,
-     $                      ORDSEL, N, M, P, NV, PV, NW, MW, NR, ALPHA,
-     $                      ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                      AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99982 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09ID = ',I2)
-99997 FORMAT (/' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
-99985 FORMAT (/' PV is out of range.',/' PV = ',I5)
-99984 FORMAT (/' NW is out of range.',/' NW = ',I5)
-99983 FORMAT (/' MW is out of range.',/' MW = ',I5)
-99982 FORMAT (' IWARN on exit from AB09ID = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09ID EXAMPLE PROGRAM DATA (Continuous system)
-  3  1  1   6  1  0  0   2   0.0  0.0  0.0 0.1E0  0.0    C   S  S   F   L  S  F 
-  -26.4000    6.4023    4.3868
-   32.0000         0         0
-         0    8.0000         0
-    16
-     0
-     0
-    9.2994    1.1624    0.1090
-     0
-   -1.0000         0    4.0000   -9.2994   -1.1624   -0.1090
-         0    2.0000         0   -9.2994   -1.1624   -0.1090
-         0         0   -3.0000   -9.2994   -1.1624   -0.1090
-   16.0000   16.0000   16.0000  -26.4000    6.4023    4.3868
-         0         0         0   32.0000         0         0
-         0         0         0         0    8.0000         0
-     1
-     1
-     1
-     0
-     0
-     0
-     1     1     1     0     0     0
-     0
-
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09ID EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced model =  2
-
- The Hankel singular values of weighted ALPHA-stable part are
-   3.8253   0.2005
-
- The reduced state dynamics matrix Ar is 
-   9.1900   0.0000
-   0.0000 -34.5297
-
- The reduced input/state matrix Br is 
-  11.9593
-  16.9329
-
- The reduced state/output matrix Cr is 
-   2.8955   6.9152
-
- The reduced input/output matrix Dr is 
-   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,363 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09IX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09IX">AB09IX</A></H2>
-<H3>
-Accuracy enhanced balancing related model reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the square-root or
-  balancing-free square-root Balance & Truncate (B&T) or
-  Singular Perturbation Approximation (SPA) model reduction methods.
-  The computation of truncation matrices TI and T is based on
-  the Cholesky factor S of a controllability Grammian P = S*S'
-  and the Cholesky factor R of an observability Grammian Q = R'*R,
-  where S and R are given upper triangular matrices.
-
-  For the B&T approach, the matrices of the reduced order system
-  are computed using the truncation formulas:
-
-       Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)
-
-  For the SPA approach, the matrices of a minimal realization
-  (Am,Bm,Cm) are computed using the truncation formulas:
-
-       Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)
-
-  Am, Bm, Cm and D serve further for computing the SPA of the given
-  system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09IX( DICO, JOB, FACT, ORDSEL, N, M, P, NR,
-     $                   SCALEC, SCALEO, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   TI, LDTI, T, LDT, NMINR, HSV, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
-     $                  LDWORK, M, N, NMINR, NR, P
-      DOUBLE PRECISION  SCALEC, SCALEO, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method;
-          = 'S':  use the square-root SPA method;
-          = 'P':  use the balancing-free square-root SPA method.
-
-  FACT    CHARACTER*1
-          Specifies whether or not, on entry, the matrix A is in a
-          real Schur form, as follows:
-          = 'S':  A is in a real Schur form;
-          = 'N':  A is a general dense square matrix.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. NR is set as follows:
-          if ORDSEL = 'F', NR is equal to MIN(NR,NMINR), where NR
-          is the desired order on entry and NMINR is the number of
-          the Hankel singular values greater than N*EPS*S1, where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and S1 is the largest Hankel singular value
-          (computed in HSV(1));
-          NR can be further reduced to ensure HSV(NR) &gt; HSV(NR+1);
-          if ORDSEL = 'A', NR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*S1).
-
-  SCALEC  (input) DOUBLE PRECISION
-          Scaling factor for the Cholesky factor S of the
-          controllability Grammian, i.e., S/SCALEC is used to
-          compute the Hankel singular values.  SCALEC &gt; 0.
-
-  SCALEO  (input) DOUBLE PRECISION
-          Scaling factor for the Cholesky factor R of the
-          observability Grammian, i.e., R/SCALEO is used to
-          compute the Hankel singular values.  SCALEO &gt; 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A. If FACT = 'S',
-          A is in a real Schur form.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOB = 'S' or JOB = 'P', the leading P-by-M
-          part of this array must contain the original input/output
-          matrix D.
-          On exit, if INFO = 0 and JOB = 'S' or JOB = 'P', the
-          leading P-by-M part of this array contains the
-          input/output matrix Dr of the reduced order system.
-          If JOB = 'B' or JOB = 'F', this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= 1,        if JOB = 'B' or JOB = 'F';
-          LDD &gt;= MAX(1,P), if JOB = 'S' or JOB = 'P'.
-
-  TI      (input/output) DOUBLE PRECISION array, dimension (LDTI,N)
-          On entry, the leading N-by-N upper triangular part of
-          this array must contain the Cholesky factor S of a
-          controllability Grammian P = S*S'.
-          On exit, if INFO = 0, and NR &gt; 0, the leading NMINR-by-N
-          part of this array contains the left truncation matrix
-          TI in (1), for the B&T approach, or in (2), for the
-          SPA approach.
-
-  LDTI    INTEGER
-          The leading dimension of array TI.  LDTI &gt;= MAX(1,N).
-
-  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
-          On entry, the leading N-by-N upper triangular part of
-          this array must contain the Cholesky factor R of an
-          observability Grammian Q = R'*R.
-          On exit, if INFO = 0, and NR &gt; 0, the leading N-by-NMINR
-          part of this array contains the right truncation matrix
-          T in (1), for the B&T approach, or in (2), for the
-          SPA approach.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  NMINR   (output) INTEGER
-          The number of Hankel singular values greater than
-          MAX(TOL2,N*EPS*S1).
-          Note: If S and R are the Cholesky factors of the
-          controllability and observability Grammians of the
-          original system (A,B,C,D), respectively, then NMINR is
-          the order of a minimal realization of the original system.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the Hankel singular values,
-          ordered decreasingly. The Hankel singular values are
-          singular values of the product R*S.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of the reduced system.
-          For model reduction, the recommended value lies in the
-          interval [0.00001,0.001].
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = N*EPS*S1, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH) and S1 is the largest
-          Hankel singular value (computed in HSV(1)).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the system.
-          The recommended value is TOL2 = N*EPS*S1.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = 0,   if JOB = 'B';
-          LIWORK = N,   if JOB = 'F';
-          LIWORK = 2*N, if JOB = 'S' or 'P'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 2*N*N + 5*N, N*MAX(M,P) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NMINR, the order of a minimal realization of
-                the given system; in this case, the resulting NR is
-                set automatically to NMINR;
-          = 2:  with ORDSEL = 'F', the selected order NR corresponds
-                to repeated singular values, which are neither all
-                included nor all excluded from the reduced model;
-                in this case, the resulting NR is set automatically
-                to the largest value such that HSV(NR) &gt; HSV(NR+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (3)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09IX determines for
-  the given system (3), the matrices of a reduced NR order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                         (4)
-
-  by using the square-root or balancing-free square-root
-  Balance & Truncate (B&T) or Singular Perturbation Approximation
-  (SPA) model reduction methods.
-
-  The projection matrices TI and T are determined using the
-  Cholesky factors S and R of a controllability Grammian P and an
-  observability Grammian Q.
-  The Hankel singular values HSV(1), ...., HSV(N) are computed as
-  singular values of the product R*S.
-
-  If JOB = 'B', the square-root Balance & Truncate technique
-  of [1] is used.
-
-  If JOB = 'F', the balancing-free square-root version of the
-  Balance & Truncate technique [2] is used.
-
-  If JOB = 'S', the square-root version of the Singular Perturbation
-  Approximation method [3,4] is used.
-
-  If JOB = 'P', the balancing-free square-root version of the
-  Singular Perturbation Approximation method [3,4] is used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudni, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-  [3] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of balanced systems.
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [4] Varga A.
-      Balancing-free square-root algorithm for computing singular
-      perturbation approximations.
-      Proc. 30-th CDC, Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on accuracy enhancing square-root
-  or balancing-free square-root methods.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09IY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09IY">AB09IY</A></H2>
-<H3>
-Cholesky factors of the frequency-weighted controllability and observability Grammians
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for given state-space representations
-  (A,B,C,0), (AV,BV,CV,DV), and (AW,BW,CW,DW) of the
-  transfer-function matrices G, V and W, respectively,
-  the Cholesky factors of the frequency-weighted
-  controllability and observability Grammians corresponding
-  to a frequency-weighted model reduction problem.
-  G, V and W must be stable transfer-function matrices with
-  the state matrices A, AV, and AW in real Schur form.
-  It is assumed that the state space realizations (AV,BV,CV,DV)
-  and (AW,BW,CW,DW) are minimal. In case of possible pole-zero
-  cancellations in forming V*G and/or G*W, the parameters for the
-  choice of frequency-weighted Grammians ALPHAO and/or ALPHAC,
-  respectively, must be different from 1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09IY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NV, PV,
-     $                   NW, MW, ALPHAC, ALPHAO, A, LDA, B, LDB, C, LDC,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   SCALEC, SCALEO, S, LDS, R, LDR,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBC, JOBO, WEIGHT
-      INTEGER          INFO, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDDV, LDDW, LDR, LDS, LDWORK,
-     $                 M, MW, N, NV, NW, P, PV
-      DOUBLE PRECISION ALPHAC, ALPHAO, SCALEC, SCALEO
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                 B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                 C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                           DV(LDDV,*), DW(LDDW,*),
-     $                 DWORK(*), R(LDR,*),   S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G, V and W are continuous-time systems;
-          = 'D':  G, V and W are discrete-time systems.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to a combination method [4]
-                 of the approaches of Enns [1] and Lin-Chiu [2,3];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [4].
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation of G, i.e.,
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B and
-          the number of rows of the matrices CW and DW.  M &gt;= 0.
-          M represents the dimension of the input vector of the
-          system with the transfer-function matrix G and
-          also the dimension of the output vector of the system
-          with the transfer-function matrix W.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C and the
-          number of columns of the matrices BV and DV.  P &gt;= 0.
-          P represents the dimension of the output vector of the
-          system with the transfer-function matrix G and
-          also the dimension of the input vector of the system
-          with the transfer-function matrix V.
-
-  NV      (input) INTEGER
-          The order of the matrix AV. Also the number of rows of
-          the matrix BV and the number of columns of the matrix CV.
-          NV represents the dimension of the state vector of the
-          system with the transfer-function matrix V.  NV &gt;= 0.
-
-  PV      (input) INTEGER
-          The number of rows of the matrices CV and DV.  PV &gt;= 0.
-          PV represents the dimension of the output vector of the
-          system with the transfer-function matrix V.
-
-  NW      (input) INTEGER
-          The order of the matrix AW. Also the number of rows of
-          the matrix BW and the number of columns of the matrix CW.
-          NW represents the dimension of the state vector of the
-          system with the transfer-function matrix W.  NW &gt;= 0.
-
-  MW      (input) INTEGER
-          The number of columns of the matrices BW and DW.  MW &gt;= 0.
-          MW represents the dimension of the input vector of the
-          system with the transfer-function matrix W.
-
-  ALPHAC  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted controllability Grammian (see METHOD);
-          ABS(ALPHAC) &lt;= 1.
-
-  ALPHAO  (input) DOUBLE PRECISION
-          Combination method parameter for defining the
-          frequency-weighted observability Grammian (see METHOD);
-          ABS(ALPHAO) &lt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must
-          contain the state matrix A (of the system with the
-          transfer-function matrix G) in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  AV      (input) DOUBLE PRECISION array, dimension (LDAV,NV)
-          If WEIGHT = 'L' or 'B', the leading NV-by-NV part of this
-          array must contain the state matrix AV (of the system with
-          the transfer-function matrix V) in a real Schur form.
-          AV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input) DOUBLE PRECISION array, dimension (LDBV,P)
-          If WEIGHT = 'L' or 'B', the leading NV-by-P part of this
-          array must contain the input matrix BV of the system with
-          the transfer-function matrix V.
-          BV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input) DOUBLE PRECISION array, dimension (LDCV,NV)
-          If WEIGHT = 'L' or 'B', the leading PV-by-NV part of this
-          array must contain the output matrix CV of the system with
-          the transfer-function matrix V.
-          CV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of array CV.
-          LDCV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If WEIGHT = 'L' or 'B', the leading PV-by-P part of this
-          array must contain the feedthrough matrix DV of the system
-          with the transfer-function matrix V.
-          DV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of array DV.
-          LDDV &gt;= MAX(1,PV), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  AW      (input) DOUBLE PRECISION array, dimension (LDAW,NW)
-          If WEIGHT = 'R' or 'B', the leading NW-by-NW part of this
-          array must contain the state matrix AW (of the system with
-          the transfer-function matrix W) in a real Schur form.
-          AW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input) DOUBLE PRECISION array, dimension (LDBW,MW)
-          If WEIGHT = 'R' or 'B', the leading NW-by-MW part of this
-          array must contain the input matrix BW of the system with
-          the transfer-function matrix W.
-          BW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input) DOUBLE PRECISION array, dimension (LDCW,NW)
-          If WEIGHT = 'R' or 'B', the leading M-by-NW part of this
-          array must contain the output matrix CW of the system with
-          the transfer-function matrix W.
-          CW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,MW)
-          If WEIGHT = 'R' or 'B', the leading M-by-MW part of this
-          array must contain the feedthrough matrix DW of the system
-          with the transfer-function matrix W.
-          DW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian in (1)
-          or (3). See METHOD.
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian in (2)
-          or (4). See METHOD.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor S of the frequency-weighted
-          cotrollability Grammian P = S*S'. See METHOD.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor R of the frequency-weighted
-          observability Grammian Q = R'*R. See METHOD.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, LLEFT, LRIGHT ),
-          where
-          LLEFT  = (N+NV)*(N+NV+MAX(N+NV,PV)+5)
-                           if WEIGHT = 'L' or 'B' and PV &gt; 0;
-          LLEFT  = N*(P+5) if WEIGHT = 'R' or 'N' or  PV = 0;
-          LRIGHT = (N+NW)*(N+NW+MAX(N+NW,MW)+5)
-                           if WEIGHT = 'R' or 'B' and MW &gt; 0;
-          LRIGHT = N*(M+5) if WEIGHT = 'L' or 'N' or  MW = 0.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the state matrices A and/or AV are not stable or
-                not in a real Schur form;
-          = 2:  if the state matrices A and/or AW are not stable or
-                not in a real Schur form;
-          = 3:  eigenvalues computation failure.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let Pi = Si*Si' and Qo = Ro'*Ro be the Cholesky factored
-  controllability and observability Grammians satisfying
-  in the continuous-time case
-
-         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0,       (1)
-
-         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0,       (2)
-
-  and in the discrete-time case
-
-         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,       (3)
-
-         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,       (4)
-
-  where
-
-        Ai = ( A  B*Cw ) ,   Bi = ( B*Dw ) ,
-             ( 0   Aw  )          (  Bw  )
-
-        Ao = (  A   0  ) ,   Co = ( Dv*C  Cv ) .
-             ( Bv*C Av )
-
-  Consider the partitioned Grammians
-
-        Pi = ( P11  P12 )   and    Qo = ( Q11  Q12 ) ,
-             ( P12' P22 )               ( Q12' Q22 )
-
-  where P11 and Q11 are the leading N-by-N parts of Pi and Qo,
-  respectively, and let P0 and Q0 be non-negative definite matrices
-  defined in the combination method [4]
-                                     -1
-         P0 = P11 - ALPHAC**2*P12*P22 *P21 ,
-                                     -1
-         Q0 = Q11 - ALPHAO**2*Q12*Q22 *Q21.
-
-  The frequency-weighted controllability and observability
-  Grammians, P and Q, respectively, are defined as follows:
-  P = P0 if JOBC = 'S' (standard combination method [4]);
-  P = P1 &gt;= P0 if JOBC = 'E', where P1 is the controllability
-  Grammian defined to enforce stability for a modified combination
-  method of [4];
-  Q = Q0 if JOBO = 'S' (standard combination method [4]);
-  Q = Q1 &gt;= Q0 if JOBO = 'E', where Q1 is the observability
-  Grammian defined to enforce stability for a modified combination
-  method of [4].
-
-  If JOBC = JOBO = 'S' and ALPHAC = ALPHAO = 0, the choice of
-  Grammians corresponds to the method of Enns [1], while if
-  ALPHAC = ALPHAO = 1, the choice of Grammians corresponds to the
-  method of Lin and Chiu [2,3].
-
-  The routine computes directly the Cholesky factors S and R
-  such that P = S*S' and Q = R'*R according to formulas
-  developed in [4]. No matrix inversions are involved.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Lin, C.-A. and Chiu, T.-Y.
-      Model reduction via frequency-weighted balanced realization.
-      Control Theory and Advanced Technology, vol. 8,
-      pp. 341-351, 1992.
-
-  [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
-      New results on frequency weighted balanced reduction
-      technique.
-      Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
-
-  [4] Varga, A. and Anderson, B.D.O.
-      Square-root balancing-free methods for the frequency-weighted
-      balancing related model reduction.
-      (report in preparation)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JD">AB09JD</A></H2>
-<H3>
-Frequency-weighted Hankel norm approximation with invertible weights
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the frequency
-  weighted optimal Hankel-norm approximation method.
-  The Hankel norm of the weighted error
-
-        op(V)*(G-Gr)*op(W)
-
-  is minimized, where G and Gr are the transfer-function matrices
-  of the original and reduced systems, respectively, V and W are
-  invertible transfer-function matrices representing the left and
-  right frequency weights, and op(X) denotes X, inv(X), conj(X) or
-  conj(inv(X)). V and W are specified by their state space
-  realizations (AV,BV,CV,DV) and (AW,BW,CW,DW), respectively.
-  When minimizing ||V*(G-Gr)*W||, V and W must be antistable.
-  When minimizing inv(V)*(G-Gr)*inv(W), V and W must have only
-  antistable zeros.
-  When minimizing conj(V)*(G-Gr)*conj(W), V and W must be stable.
-  When minimizing conj(inv(V))*(G-Gr)*conj(inv(W)), V and W must
-  be minimum-phase.
-  If the original system is unstable, then the frequency weighted
-  Hankel-norm approximation is computed only for the
-  ALPHA-stable part of the system.
-
-  For a transfer-function matrix G, conj(G) denotes the conjugate
-  of G given by G'(-s) for a continuous-time system or G'(1/z)
-  for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL,
-     $                   N, NV, NW, M, P, NR, ALPHA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AV, LDAV, BV, LDBV,
-     $                   CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
-     $                   CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
-     $                  NR, NS, NV, NW, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
-     $                  HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBV    CHARACTER*1
-          Specifies the left frequency-weighting as follows:
-          = 'N':  V = I;
-          = 'V':  op(V) = V;
-          = 'I':  op(V) = inv(V);
-          = 'C':  op(V) = conj(V);
-          = 'R':  op(V) = conj(inv(V)).
-
-  JOBW    CHARACTER*1
-          Specifies the right frequency-weighting as follows:
-          = 'N':  W = I;
-          = 'W':  op(W) = W;
-          = 'I':  op(W) = inv(W);
-          = 'C':  op(W) = conj(W);
-          = 'R':  op(W) = conj(inv(W)).
-
-  JOBINV  CHARACTER*1
-          Specifies the computational approach to be used as
-          follows:
-          = 'N':  use the inverse free descriptor system approach;
-          = 'I':  use the inversion based standard approach;
-          = 'A':  switch automatically to the inverse free
-                  descriptor approach in case of badly conditioned
-                  feedthrough matrices in V or W (see METHOD).
-
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the realization of the left frequency
-          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
-
-  NW      (input) INTEGER
-          The order of the realization of the right frequency
-          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
-          multiplicity of the Hankel singular value HSV(NR-NU+1),
-          NR is the desired order on entry, and NMIN is the order
-          of a minimal realization of the ALPHA-stable part of the
-          given system; NMIN is determined as the number of Hankel
-          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
-          ALPHA-stable part of the weighted system (computed in
-          HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-NV part of
-          this array must contain the state matrix AV of a state
-          space realization of the left frequency weighting V.
-          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
-          NV-by-NV part of this array contains the real Schur form
-          of AV.
-          AV is not referenced if JOBV = 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.
-          LDAV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
-          LDAV &gt;= 1,         if JOBV =  'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if JOBV &lt;&gt; 'N', the leading NV-by-P part of
-          this array must contain the input matrix BV of a state
-          space realization of the left frequency weighting V.
-          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
-          NV-by-P part of this array contains the transformed
-          input matrix BV corresponding to the transformed AV.
-          BV is not referenced if JOBV = 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.
-          LDBV &gt;= MAX(1,NV), if JOBV &lt;&gt; 'N';
-          LDBV &gt;= 1,         if JOBV =  'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if JOBV &lt;&gt; 'N', the leading P-by-NV part of
-          this array must contain the output matrix CV of a state
-          space realization of the left frequency weighting V.
-          On exit, if JOBV &lt;&gt; 'N', and INFO = 0, the leading
-          P-by-NV part of this array contains the transformed output
-          matrix CV corresponding to the transformed AV.
-          CV is not referenced if JOBV = 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
-          LDCV &gt;= 1,        if JOBV =  'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If JOBV &lt;&gt; 'N', the leading P-by-P part of this array
-          must contain the feedthrough matrix DV of a state space
-          realization of the left frequency weighting V.
-          DV is not referenced if JOBV = 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,P), if JOBV &lt;&gt; 'N';
-          LDDV &gt;= 1,        if JOBV =  'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-NW part of
-          this array must contain the state matrix AW of a state
-          space realization of the right frequency weighting W.
-          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
-          NW-by-NW part of this array contains the real Schur form
-          of AW.
-          AW is not referenced if JOBW = 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.
-          LDAW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
-          LDAW &gt;= 1,         if JOBW =  'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
-          On entry, if JOBW &lt;&gt; 'N', the leading NW-by-M part of
-          this array must contain the input matrix BW of a state
-          space realization of the right frequency weighting W.
-          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
-          NW-by-M part of this array contains the transformed
-          input matrix BW corresponding to the transformed AW.
-          BW is not referenced if JOBW = 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.
-          LDBW &gt;= MAX(1,NW), if JOBW &lt;&gt; 'N';
-          LDBW &gt;= 1,         if JOBW =  'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if JOBW &lt;&gt; 'N', the leading M-by-NW part of
-          this array must contain the output matrix CW of a state
-          space realization of the right frequency weighting W.
-          On exit, if JOBW &lt;&gt; 'N', and INFO = 0, the leading
-          M-by-NW part of this array contains the transformed output
-          matrix CW corresponding to the transformed AW.
-          CW is not referenced if JOBW = 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
-          LDCW &gt;= 1,        if JOBW =  'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
-          If JOBW &lt;&gt; 'N', the leading M-by-M part of this array
-          must contain the feedthrough matrix DW of a state space
-          realization of the right frequency weighting W.
-          DW is not referenced if JOBW = 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of the array DW.
-          LDDW &gt;= MAX(1,M), if JOBW &lt;&gt; 'N';
-          LDDW &gt;= 1,        if JOBW =  'N'.
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of this array contain
-          the Hankel singular values, ordered decreasingly, of the
-          projection G1s of op(V)*G1*op(W) (see METHOD), where G1
-          is the ALPHA-stable part of the original system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(G1s), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(G1s) is the
-          Hankel-norm of the projection G1s of op(V)*G1*op(W)
-          (see METHOD), computed in HSV(1).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(G1s), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-          TOL1 &lt; 1.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(G1s).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-          TOL2 &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M,c,d),    if DICO = 'C',
-          LIWORK = MAX(1,N,M,c,d),  if DICO = 'D', where
-             c = 0,                          if JOBV =  'N',
-             c = MAX(2*P,NV+P+N+6,2*NV+P+2), if JOBV &lt;&gt; 'N',
-             d = 0,                          if JOBW =  'N',
-             d = MAX(2*M,NW+M+N+6,2*NW+M+2), if JOBW &lt;&gt; 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
-          for NVP = NV+P and NWM = NW+M we have
-          LDW1 = 0 if JOBV =  'N' and
-          LDW1 = 2*NVP*(NVP+P) + P*P +
-                 MAX( 2*NVP*NVP + MAX( 11*NVP+16, P*NVP ),
-                       NVP*N + MAX( NVP*N+N*N, P*N, P*M ) )
-                   if JOBV &lt;&gt; 'N',
-          LDW2 = 0 if JOBW =  'N' and
-          LDW2 = 2*NWM*(NWM+M) + M*M +
-                 MAX( 2*NWM*NWM + MAX( 11*NWM+16, M*NWM ),
-                       NWM*N + MAX( NWM*N+N*N, M*N, P*M ) )
-                   if JOBW &lt;&gt; 'N',
-          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
-          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the computation of the ordered real Schur form of A
-                 failed;
-          =  2:  the separation of the ALPHA-stable/unstable
-                 diagonal blocks failed because of very close
-                 eigenvalues;
-          =  3:  the reduction of AV to a real Schur form failed;
-          =  4:  the reduction of AW to a real Schur form failed;
-          =  5:  the reduction to generalized Schur form of the
-                 descriptor pair corresponding to the inverse of V
-                 failed;
-          =  6:  the reduction to generalized Schur form of the
-                 descriptor pair corresponding to the inverse of W
-                 failed;
-          =  7:  the computation of Hankel singular values failed;
-          =  8:  the computation of stable projection in the
-                 Hankel-norm approximation algorithm failed;
-          =  9:  the order of computed stable projection in the
-                 Hankel-norm approximation algorithm differs
-                 from the order of Hankel-norm approximation;
-          = 10:  the reduction of AV-BV*inv(DV)*CV to a
-                 real Schur form failed;
-          = 11:  the reduction of AW-BW*inv(DW)*CW to a
-                 real Schur form failed;
-          = 12:  the solution of the Sylvester equation failed
-                 because the poles of V (if JOBV = 'V') or of
-                 conj(V) (if JOBV = 'C') are not distinct from
-                 the poles of G1 (see METHOD);
-          = 13:  the solution of the Sylvester equation failed
-                 because the poles of W (if JOBW = 'W') or of
-                 conj(W) (if JOBW = 'C') are not distinct from
-                 the poles of G1 (see METHOD);
-          = 14:  the solution of the Sylvester equation failed
-                 because the zeros of V (if JOBV = 'I') or of
-                 conj(V) (if JOBV = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 15:  the solution of the Sylvester equation failed
-                 because the zeros of W (if JOBW = 'I') or of
-                 conj(W) (if JOBW = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 16:  the solution of the generalized Sylvester system
-                 failed because the zeros of V (if JOBV = 'I') or
-                 of conj(V) (if JOBV = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 17:  the solution of the generalized Sylvester system
-                 failed because the zeros of W (if JOBW = 'I') or
-                 of conj(W) (if JOBW = 'R') are not distinct from
-                 the poles of G1sr (see METHOD);
-          = 18:  op(V) is not antistable;
-          = 19:  op(W) is not antistable;
-          = 20:  V is not invertible;
-          = 21:  W is not invertible.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let G be the transfer-function matrix of the original
-  linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                          (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09JD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
-
-  such that the corresponding transfer-function matrix Gr minimizes
-  the Hankel-norm of the frequency-weighted error
-
-          op(V)*(G-Gr)*op(W).                            (3)
-
-  For minimizing (3) with op(V) = V and op(W) = W, V and W are
-  assumed to have poles distinct from those of G, while with
-  op(V) = conj(V) and op(W) = conj(W), conj(V) and conj(W) are
-  assumed to have poles distinct from those of G. For minimizing (3)
-  with op(V) = inv(V) and op(W) = inv(W), V and W are assumed to
-  have zeros distinct from the poles of G, while with
-  op(V) = conj(inv(V)) and op(W) = conj(inv(W)), conj(V) and conj(W)
-  are assumed to have zeros distinct from the poles of G.
-
-  Note: conj(G) = G'(-s) for a continuous-time system and
-        conj(G) = G'(1/z) for a discrete-time system.
-
-  The following procedure is used to reduce G (see [1]):
-
-  1) Decompose additively G as
-
-       G = G1 + G2,
-
-     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
-     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
-
-  2) Compute G1s, the projection of op(V)*G1*op(W) containing the
-     poles of G1, using explicit formulas [4] or the inverse-free
-     descriptor system formulas of [5].
-
-  3) Determine G1sr, the optimal Hankel-norm approximation of G1s,
-     of order r.
-
-  4) Compute G1r, the projection of inv(op(V))*G1sr*inv(op(W))
-     containing the poles of G1sr, using explicit formulas [4]
-     or the inverse-free descriptor system formulas of [5].
-
-  5) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the weighted ALPHA-stable part G1s at step 3, the
-  optimal Hankel-norm approximation method of [2], based on the
-  square-root balancing projection formulas of [3], is employed.
-
-  The optimal weighted approximation error satisfies
-
-       HNORM[op(V)*(G-Gr)*op(W)] &gt;= S(r+1),
-
-  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
-  transfer-function matrix computed at step 2 of the above
-  procedure, and HNORM(.) denotes the Hankel-norm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Latham, G.A. and Anderson, B.D.O.
-      Frequency-weighted optimal Hankel-norm approximation of stable
-      transfer functions.
-      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
-
-  [2] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [3] Tombs, M.S. and Postlethwaite, I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [4] Varga, A.
-      Explicit formulas for an efficient implementation
-      of the frequency-weighting model reduction approach.
-      Proc. 1993 European Control Conference, Groningen, NL,
-      pp. 693-696, 1993.
-
-  [5] Varga, A.
-      Efficient and numerically reliable implementation of the
-      frequency-weighted Hankel-norm approximation model reduction
-      approach.
-      Proc. 2001 ECC, Porto, Portugal, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09JD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, NVMAX, NVPMAX, NWMAX, NWMMAX, PMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
-     $                   PMAX = 20, NVPMAX = NVMAX + PMAX,
-     $                   NWMMAX = NWMAX + MMAX )
-      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
-      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
-     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
-     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
-     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
-      INTEGER          LIW1, LIW2, LIW3, LIWORK
-      PARAMETER        ( LIW1 = 2*MAX( MMAX, PMAX ),
-     $                   LIW2 = MAX( NVPMAX, NWMMAX ) + NMAX + 6,
-     $                   LIW3 = MAX( 2*NVMAX + PMAX + 2,
-     $                               2*NWMAX + MMAX + 2 ) )
-      PARAMETER        ( LIWORK = MAX( LIW1, LIW2, LIW3 ) )
-      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
-      PARAMETER        ( LDW1 = 2*NVPMAX*( NVPMAX + PMAX ) + PMAX*PMAX +
-     $                          MAX( 2*NVPMAX*NVPMAX +
-     $                               MAX( 11*NVPMAX + 16, PMAX*NVPMAX ),
-     $                               NVPMAX*NMAX +
-     $                               MAX( NVPMAX*NMAX + NMAX*NMAX,
-     $                                    PMAX*NMAX, PMAX*MMAX ) ) )
-      PARAMETER        ( LDW2 = 2*NWMMAX*( NWMMAX + MMAX ) + MMAX*MMAX +
-     $                          MAX( 2*NWMMAX*NWMMAX +
-     $                               MAX( 11*NWMMAX + 16, MMAX*NWMMAX ),
-     $                               NWMMAX*NMAX +
-     $                               MAX( NWMMAX*NMAX + NMAX*NMAX,
-     $                                    MMAX*NMAX, PMAX*MMAX ) ) )
-      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
-     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
-      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
-     $                          MIN( NMAX, MMAX ) +
-     $                          MAX( 3*MMAX + 1,
-     $                               MIN( NMAX, MMAX ) + PMAX ) )
-      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
-*     .. Local Scalars ..
-      LOGICAL          LEFTW, RIGHTW
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
-      CHARACTER*1      DICO, EQUIL, JOBINV, JOBV, JOBW, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
-     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
-     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
-     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB09JD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
-     $                      JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL
-      LEFTW  = .NOT.LSAME( JOBV, 'N' )
-      RIGHTW = .NOT.LSAME( JOBW, 'N' )
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( LEFTW ) THEN
-                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
-                     WRITE ( NOUT, FMT = 99986 ) NV
-                  ELSE
-                     IF( NV.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                     ( ( AV(I,J), J = 1,NV ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                     ( ( BV(I,J), J = 1,P  ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                     ( ( CV(I,J), J = 1,NV ), I = 1,P )
-                     END IF
-                     IF( LEFTW )
-     $                  READ ( NIN, FMT = * )
-     $                     ( ( DV(I,J), J = 1,P ), I = 1,P )
-                  END IF
-               END IF
-               IF( RIGHTW ) THEN
-                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
-                     WRITE ( NOUT, FMT = 99985 ) NW
-                  ELSE
-                     IF( NW.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                     ( ( AW(I,J), J = 1,NW ), I = 1,NW )
-                        READ ( NIN, FMT = * )
-     $                     ( ( BW(I,J), J = 1,M  ), I = 1,NW )
-                        READ ( NIN, FMT = * )
-     $                     ( ( CW(I,J), J = 1,NW ), I = 1,M )
-                     END IF
-                     READ ( NIN, FMT = * )
-     $                     ( ( DW(I,J), J = 1,M  ), I = 1,M )
-                  END IF
-               END IF
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09JD( JOBV, JOBW, JOBINV, DICO, EQUIL, ORDSEL, N,
-     $                      NV, NW, M, P, NR, ALPHA,  A, LDA, B, LDB,
-     $                      C, LDC, D, LDD, AV, LDAV, BV, LDBV,
-     $                      CV, LDCV, DV, LDDV, AW, LDAW, BW, LDBW,
-     $                      CW, LDCW, DW, LDDW, NS, HSV, TOL1, TOL2,
-     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, NR
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 40 I = 1, NR
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 60 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60                CONTINUE
-                  END IF
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09JD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09JD = ',I2)
-99997 FORMAT (/' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' IWARN on exit from AB09JD = ',I2)
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
-99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09JD EXAMPLE PROGRAM DATA (Continuous system)
-  6     1     1     2   0     0   0.0  1.E-1  1.E-14    V   N   I   C    S   A
-   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
-    1.0000         0         0         0         0         0
-         0    1.0000         0         0         0         0
-         0         0    1.0000         0         0         0
-         0         0         0    1.0000         0         0
-         0         0         0         0    1.0000         0
-         1
-         0
-         0
-         0
-         0
-         0
-         0         0         0         0         0         1
-         0
-    0.2000   -1.0000
-    1.0000         0
-     1
-     0
-   -1.8000         0
-     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09JD EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced model =  4
-
- The Hankel singular values of weighted ALPHA-stable part are
-   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
-
- The reduced state dynamics matrix Ar is 
-  -0.2391   0.3072   1.1630   1.1967
-  -2.9709  -0.2391   2.6270   3.1027
-   0.0000   0.0000  -0.5137  -1.2842
-   0.0000   0.0000   0.1519  -0.5137
-
- The reduced input/state matrix Br is 
-  -1.0497
-  -3.7052
-   0.8223
-   0.7435
-
- The reduced state/output matrix Cr is 
-  -0.4466   0.0143  -0.4780  -0.2013
-
- The reduced input/output matrix Dr is 
-   0.0219
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,365 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09JV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JV">AB09JV</A></H2>
-<H3>
-State-space representation of a projection of a left weighted transfer-function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a state-space representation (A,BS,CS,DS) of the
-  projection of V*G or conj(V)*G containing the poles of G, from the
-  state-space representations (A,B,C,D) and (AV-lambda*EV,BV,CV,DV),
-  of the transfer-function matrices G and V, respectively.
-  G is assumed to be a stable transfer-function matrix and
-  the state matrix A must be in a real Schur form.
-  When computing the stable projection of V*G, it is assumed
-  that G and V have completely distinct poles.
-  When computing the stable projection of conj(V)*G, it is assumed
-  that G and conj(V) have completely distinct poles.
-
-  Note: For a transfer-function matrix G, conj(G) denotes the
-  conjugate of G given by G'(-s) for a continuous-time system or
-  G'(1/z) for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JV( JOB, DICO, JOBEV, STBCHK, N, M, P, NV, PV,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, AV, LDAV,
-     $                   EV, LDEV, BV, LDBV, CV, LDCV, DV, LDDV, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, JOBEV, STBCHK
-      INTEGER           INFO, LDA, LDAV, LDB, LDBV, LDC, LDCV,
-     $                  LDD, LDDV, LDEV, LDWORK, M, N, NV, P, PV
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), B(LDB,*), BV(LDBV,*),
-     $                  C(LDC,*), CV(LDCV,*), D(LDD,*), DV(LDDV,*),
-     $                  DWORK(*), EV(LDEV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the projection to be computed as follows:
-          = 'V':  compute the projection of V*G containing
-                  the poles of G;
-          = 'C':  compute the projection of conj(V)*G containing
-                  the poles of G.
-
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G and V are continuous-time systems;
-          = 'D':  G and V are discrete-time systems.
-
-  JOBEV   CHARACTER*1
-          Specifies whether EV is a general square or an identity
-          matrix as follows:
-          = 'G':  EV is a general square matrix;
-          = 'I':  EV is the identity matrix.
-
-  STBCHK  CHARACTER*1
-          Specifies whether stability/antistability of V is to be
-          checked as follows:
-          = 'C':  check stability if JOB = 'C' or antistability if
-                  JOB = 'V';
-          = 'N':  do not check stability or antistability.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector of the system with
-          the transfer-function matrix G.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of the input vector of the system with
-          the transfer-function matrix G.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of the output vector of the system with the
-          transfer-function matrix G, and also the dimension of
-          the input vector if JOB = 'V', or of the output vector
-          if JOB = 'C', of the system with the transfer-function
-          matrix V.  P &gt;= 0.
-
-  NV      (input) INTEGER
-          The dimension of the state vector of the system with
-          the transfer-function matrix V.  NV &gt;= 0.
-
-  PV      (input) INTEGER
-          The dimension of the output vector, if JOB = 'V', or
-          of the input vector, if JOB = 'C', of the system with
-          the transfer-function matrix V.  PV &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system with the transfer-function
-          matrix G in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain
-          the input/state matrix B of the system with the
-          transfer-function matrix G. The matrix BS is equal to B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading PV-by-N part of this
-          array contains the output matrix CS of the projection of
-          V*G, if JOB = 'V', or of conj(V)*G, if JOB = 'C'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P,PV).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the feedthrough matrix D of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading PV-by-M part of
-          this array contains the feedthrough matrix DS of the
-          projection of V*G, if JOB = 'V', or of conj(V)*G,
-          if JOB = 'C'.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P,PV).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, the leading NV-by-NV part of this array must
-          contain the state matrix AV of the system with the
-          transfer-function matrix V.
-          On exit, if INFO = 0, the leading NV-by-NV part of this
-          array contains a condensed matrix as follows:
-          if JOBEV = 'I', it contains the real Schur form of AV;
-          if JOBEV = 'G' and JOB = 'V', it contains a quasi-upper
-          triangular matrix representing the real Schur matrix
-          in the real generalized Schur form of the pair (AV,EV);
-          if JOBEV = 'G', JOB = 'C' and DICO = 'C', it contains a
-          quasi-upper triangular matrix corresponding to the
-          generalized real Schur form of the pair (AV',EV');
-          if JOBEV = 'G', JOB = 'C' and DICO = 'D', it contains an
-          upper triangular matrix corresponding to the generalized
-          real Schur form of the pair (EV',AV').
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.  LDAV &gt;= MAX(1,NV).
-
-  EV      (input/output) DOUBLE PRECISION array, dimension (LDEV,NV)
-          On entry, if JOBEV = 'G', the leading NV-by-NV part of
-          this array must contain the descriptor matrix EV of the
-          system with the transfer-function matrix V.
-          If JOBEV = 'I', EV is assumed to be an identity matrix
-          and is not referenced.
-          On exit, if INFO = 0 and JOBEV = 'G', the leading NV-by-NV
-          part of this array contains a condensed matrix as follows:
-          if JOB = 'V', it contains an upper triangular matrix
-          corresponding to the real generalized Schur form of the
-          pair (AV,EV);
-          if JOB = 'C' and DICO = 'C', it contains an upper
-          triangular matrix corresponding to the generalized real
-          Schur form of the pair (AV',EV');
-          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
-          triangular matrix corresponding to the generalized
-          real Schur form of the pair (EV',AV').
-
-  LDEV    INTEGER
-          The leading dimension of the array EV.
-          LDEV &gt;= MAX(1,NV), if JOBEV = 'G';
-          LDEV &gt;= 1,         if JOBEV = 'I'.
-
-  BV      (input/output) DOUBLE PRECISION array,
-          dimension (LDBV,MBV), where MBV = P, if JOB = 'V', and
-          MBV = PV, if JOB = 'C'.
-          On entry, the leading NV-by-MBV part of this array must
-          contain the input matrix BV of the system with the
-          transfer-function matrix V.
-          On exit, if INFO = 0, the leading NV-by-MBV part of this
-          array contains Q'*BV, where Q is the orthogonal matrix
-          that reduces AV to the real Schur form or the left
-          orthogonal matrix used to reduce the pair (AV,EV),
-          (AV',EV') or (EV',AV') to the generalized real Schur form.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.  LDBV &gt;= MAX(1,NV).
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, the leading PCV-by-NV part of this array must
-          contain the output matrix CV of the system with the
-          transfer-function matrix V, where PCV = PV, if JOB = 'V',
-          or PCV = P, if JOB = 'C'.
-          On exit, if INFO = 0, the leading PCV-by-NV part of this
-          array contains CV*Q, where Q is the orthogonal matrix that
-          reduces AV to the real Schur form, or CV*Z, where Z is the
-          right orthogonal matrix used to reduce the pair (AV,EV),
-          (AV',EV') or (EV',AV') to the generalized real Schur form.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,PV) if JOB = 'V';
-          LDCV &gt;= MAX(1,P)  if JOB = 'C'.
-
-  DV      (input) DOUBLE PRECISION array,
-          dimension (LDDV,MBV), where MBV = P, if JOB = 'V', and
-          MBV = PV, if JOB = 'C'.
-          The leading PCV-by-MBV part of this array must contain
-          the feedthrough matrix DV of the system with the
-          transfer-function matrix V, where PCV = PV, if JOB = 'V',
-          or PCV = P, if JOB = 'C'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,PV) if JOB = 'V';
-          LDDV &gt;= MAX(1,P)  if JOB = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK =   0,    if JOBEV = 'I';
-          LIWORK = NV+N+6, if JOBEV = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= LW1, if JOBEV = 'I',
-          LDWORK &gt;= LW2, if JOBEV = 'G', where
-            LW1 = MAX( 1, NV*(NV+5), NV*N + MAX( a, PV*N, PV*M ) )
-                  a = 0,    if DICO = 'C' or  JOB = 'V',
-                  a = 2*NV, if DICO = 'D' and JOB = 'C';
-            LW2 = MAX( 2*NV*NV + MAX( 11*NV+16, P*NV, PV*NV ),
-                       NV*N + MAX( NV*N+N*N, PV*N, PV*M ) ).
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the reduction of the pair (AV,EV) to the real
-                 generalized Schur form failed (JOBEV = 'G'),
-                 or the reduction of the matrix AV to the real
-                 Schur form failed (JOBEV = 'I);
-          =  2:  the solution of the Sylvester equation failed
-                 because the matrix A and the pencil AV-lambda*EV
-                 have common eigenvalues (if JOB = 'V'), or the
-                 pencil -AV-lambda*EV and A have common eigenvalues
-                 (if JOB = 'C' and DICO = 'C'), or the pencil
-                 AV-lambda*EV has an eigenvalue which is the
-                 reciprocal of one of eigenvalues of A
-                 (if JOB = 'C' and DICO = 'D');
-          =  3:  the solution of the Sylvester equation failed
-                 because the matrices A and AV have common
-                 eigenvalues (if JOB = 'V'), or the matrices A
-                 and -AV have common eigenvalues (if JOB = 'C' and
-                 DICO = 'C'), or the matrix A has an eigenvalue
-                 which is the reciprocal of one of eigenvalues of AV
-                 (if JOB = 'C' and DICO = 'D');
-          =  4:  JOB = 'V' and the pair (AV,EV) has not completely
-                 unstable generalized eigenvalues, or JOB = 'C' and
-                 the pair (AV,EV) has not completely stable
-                 generalized eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOB = 'V', the matrices of the stable projection of V*G are
-  computed as
-
-    BS = B,  CS = CV*X + DV*C,  DS = DV*D,
-
-  where X satisfies the generalized Sylvester equation
-
-    AV*X - EV*X*A + BV*C = 0.
-
-  If JOB = 'C', the matrices of the stable projection of conj(V)*G
-  are computed using the following formulas:
-
-  - for a continuous-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B,  CS = BV'*X + DV'*C,  DS = DV'*D,
-
-    where X satisfies the generalized Sylvester equation
-
-      AV'*X + EV'*X*A + CV'*C = 0.
-
-  - for a discrete-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B,  CS = BV'*X*A + DV'*C,  DS = DV'*D + BV'*X*B,
-
-    where X satisfies the generalized Sylvester equation
-
-      EV'*X - AV'*X*A = CV'*C.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Efficient and numerically reliable implementation of the
-      frequency-weighted Hankel-norm approximation model reduction
-      approach.
-      Proc. 2001 ECC, Porto, Portugal, 2001.
-
-  [2] Zhou, K.
-      Frequency-weighted H-infinity norm and optimal Hankel norm
-      model reduction.
-      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on numerically stable algorithms.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09JW.html b/doc/_static/doc/AB09JW.html
deleted file mode 100644
index a6cf8bc8..00000000
--- a/doc/_static/doc/AB09JW.html
+++ /dev/null
@@ -1,366 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09JW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JW">AB09JW</A></H2>
-<H3>
-State-space representation of a projection of a right weighted transfer-function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a state-space representation (A,BS,CS,DS) of the
-  projection of G*W or G*conj(W) containing the poles of G, from the
-  state-space representations (A,B,C,D) and (AW-lambda*EW,BW,CW,DW),
-  of the transfer-function matrices G and W, respectively.
-  G is assumed to be a stable transfer-function matrix and
-  the state matrix A must be in a real Schur form.
-  When computing the stable projection of G*W, it is assumed
-  that G and W have completely distinct poles.
-  When computing the stable projection of G*conj(W), it is assumed
-  that G and conj(W) have completely distinct poles.
-
-  Note: For a transfer-function matrix G, conj(G) denotes the
-  conjugate of G given by G'(-s) for a continuous-time system or
-  G'(1/z) for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JW( JOB, DICO, JOBEW, STBCHK, N, M, P, NW, MW,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, AW, LDAW,
-     $                   EW, LDEW, BW, LDBW, CW, LDCW, DW, LDDW, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, JOBEW, STBCHK
-      INTEGER           INFO, LDA, LDAW, LDB, LDBW, LDC, LDCW,
-     $                  LDD, LDDW, LDEW, LDWORK, M, MW, N, NW, P
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AW(LDAW,*), B(LDB,*), BW(LDBW,*),
-     $                  C(LDC,*), CW(LDCW,*), D(LDD,*), DW(LDDW,*),
-     $                  DWORK(*), EW(LDEW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the projection to be computed as follows:
-          = 'W':  compute the projection of G*W containing
-                  the poles of G;
-          = 'C':  compute the projection of G*conj(W) containing
-                  the poles of G.
-
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G and W are continuous-time systems;
-          = 'D':  G and W are discrete-time systems.
-
-  JOBEW   CHARACTER*1
-          Specifies whether EW is a general square or an identity
-          matrix as follows:
-          = 'G':  EW is a general square matrix;
-          = 'I':  EW is the identity matrix.
-
-  STBCHK  CHARACTER*1
-          Specifies whether stability/antistability of W is to be
-          checked as follows:
-          = 'C':  check stability if JOB = 'C' or antistability if
-                  JOB = 'W';
-          = 'N':  do not check stability or antistability.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector of the system with
-          the transfer-function matrix G.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of the input vector of the system with
-          the transfer-function matrix G, and also the dimension
-          of the output vector if JOB = 'W', or of the input vector
-          if JOB = 'C', of the system with the transfer-function
-          matrix W.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of the output vector of the system with the
-          transfer-function matrix G.  P &gt;= 0.
-
-  NW      (input) INTEGER
-          The dimension of the state vector of the system with the
-          transfer-function matrix W.  NW &gt;= 0.
-
-  MW      (input) INTEGER
-          The dimension of the input vector, if JOB = 'W', or of
-          the output vector, if JOB = 'C', of the system with the
-          transfer-function matrix W.  MW &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system with the transfer-function
-          matrix G in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array,
-          dimension (LDB,MAX(M,MW))
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading N-by-MW part of this
-          array contains the input matrix BS of the projection of
-          G*W, if JOB = 'W', or of G*conj(W), if JOB = 'C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain
-          the output/state matrix C of the system with the
-          transfer-function matrix G. The matrix CS is equal to C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array,
-          dimension (LDB,MAX(M,MW))
-          On entry, the leading P-by-M part of this array must
-          contain the feedthrough matrix D of the system with
-          the transfer-function matrix G.
-          On exit, if INFO = 0, the leading P-by-MW part of
-          this array contains the feedthrough matrix DS of the
-          projection of G*W, if JOB = 'W', or of G*conj(W),
-          if JOB = 'C'.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, the leading NW-by-NW part of this array must
-          contain the state matrix AW of the system with the
-          transfer-function matrix W.
-          On exit, if INFO = 0, the leading NW-by-NW part of this
-          array contains a condensed matrix as follows:
-          if JOBEW = 'I', it contains the real Schur form of AW;
-          if JOBEW = 'G' and JOB = 'W', it contains a quasi-upper
-          triangular matrix representing the real Schur matrix
-          in the real generalized Schur form of the pair (AW,EW);
-          if JOBEW = 'G', JOB = 'C' and DICO = 'C', it contains a
-          quasi-upper triangular matrix corresponding to the
-          generalized real Schur form of the pair (AW',EW');
-          if JOBEW = 'G', JOB = 'C' and DICO = 'D', it contains an
-          upper triangular matrix corresponding to the generalized
-          real Schur form of the pair (EW',AW').
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.  LDAW &gt;= MAX(1,NW).
-
-  EW      (input/output) DOUBLE PRECISION array, dimension (LDEW,NW)
-          On entry, if JOBEW = 'G', the leading NW-by-NW part of
-          this array must contain the descriptor matrix EW of the
-          system with the transfer-function matrix W.
-          If JOBEW = 'I', EW is assumed to be an identity matrix
-          and is not referenced.
-          On exit, if INFO = 0 and JOBEW = 'G', the leading NW-by-NW
-          part of this array contains a condensed matrix as follows:
-          if JOB = 'W', it contains an upper triangular matrix
-          corresponding to the real generalized Schur form of the
-          pair (AW,EW);
-          if JOB = 'C' and DICO = 'C', it contains an upper
-          triangular matrix corresponding to the generalized real
-          Schur form of the pair (AW',EW');
-          if JOB = 'C' and DICO = 'D', it contains a quasi-upper
-          triangular matrix corresponding to the generalized
-          real Schur form of the pair (EW',AW').
-
-  LDEW    INTEGER
-          The leading dimension of the array EW.
-          LDEW &gt;= MAX(1,NW), if JOBEW = 'G';
-          LDEW &gt;= 1,         if JOBEW = 'I'.
-
-  BW      (input/output) DOUBLE PRECISION array,
-          dimension (LDBW,MBW), where MBW = MW, if JOB = 'W', and
-          MBW = M, if JOB = 'C'.
-          On entry, the leading NW-by-MBW part of this array must
-          contain the input matrix BW of the system with the
-          transfer-function matrix W.
-          On exit, if INFO = 0, the leading NW-by-MBW part of this
-          array contains Q'*BW, where Q is the orthogonal matrix
-          that reduces AW to the real Schur form or the left
-          orthogonal matrix used to reduce the pair (AW,EW),
-          (AW',EW') or (EW',AW') to the generalized real Schur form.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.  LDBW &gt;= MAX(1,NW).
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, the leading PCW-by-NW part of this array must
-          contain the output matrix CW of the system with the
-          transfer-function matrix W, where PCW = M if JOB = 'W' or
-          PCW = MW if JOB = 'C'.
-          On exit, if INFO = 0, the leading PCW-by-NW part of this
-          array contains CW*Q, where Q is the orthogonal matrix that
-          reduces AW to the real Schur form, or CW*Z, where Z is the
-          right orthogonal matrix used to reduce the pair (AW,EW),
-          (AW',EW') or (EW',AW') to the generalized real Schur form.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
-          PCW = MW if JOB = 'C'.
-
-  DW      (input) DOUBLE PRECISION array,
-          dimension (LDDW,MBW), where MBW = MW if JOB = 'W', and
-          MBW = M if JOB = 'C'.
-          The leading PCW-by-MBW part of this array must contain
-          the feedthrough matrix DW of the system with the
-          transfer-function matrix W, where PCW = M if JOB = 'W',
-          or PCW = MW if JOB = 'C'.
-
-  LDDW    INTEGER
-          LDDW &gt;= MAX(1,PCW), where PCW = M if JOB = 'W', or
-          PCW = MW if JOB = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK =   0,    if JOBEW = 'I';
-          LIWORK = NW+N+6, if JOBEW = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= LW1, if JOBEW = 'I',
-          LDWORK &gt;= LW2, if JOBEW = 'G', where
-            LW1 = MAX( 1, NW*(NW+5), NW*N + MAX( a, N*MW, P*MW ) )
-                  a = 0,    if DICO = 'C' or  JOB = 'W',
-                  a = 2*NW, if DICO = 'D' and JOB = 'C';
-            LW2 = MAX( 2*NW*NW + MAX( 11*NW+16, NW*M, MW*NW ),
-                       NW*N + MAX( NW*N+N*N, MW*N, P*MW ) ).
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the reduction of the pair (AW,EW) to the real
-                 generalized Schur form failed (JOBEW = 'G'),
-                 or the reduction of the matrix AW to the real
-                 Schur form failed (JOBEW = 'I);
-          =  2:  the solution of the Sylvester equation failed
-                 because the matrix A and the pencil AW-lambda*EW
-                 have common eigenvalues (if JOB = 'W'), or the
-                 pencil -AW-lambda*EW and A have common eigenvalues
-                 (if JOB = 'C' and DICO = 'C'), or the pencil
-                 AW-lambda*EW has an eigenvalue which is the
-                 reciprocal of one of eigenvalues of A
-                 (if JOB = 'C' and DICO = 'D');
-          =  3:  the solution of the Sylvester equation failed
-                 because the matrices A and AW have common
-                 eigenvalues (if JOB = 'W'), or the matrices A
-                 and -AW have common eigenvalues (if JOB = 'C' and
-                 DICO = 'C'), or the matrix A has an eigenvalue
-                 which is the reciprocal of one of eigenvalues of AW
-                 (if JOB = 'C' and DICO = 'D');
-          =  4:  JOB = 'W' and the pair (AW,EW) has not completely
-                 unstable generalized eigenvalues, or JOB = 'C' and
-                 the pair (AW,EW) has not completely stable
-                 generalized eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOB = 'W', the matrices of the stable projection of G*W are
-  computed as
-
-    BS = B*DW + Y*BW,  CS = C,  DS = D*DW,
-
-  where Y satisfies the generalized Sylvester equation
-
-    -A*Y*EW + Y*AW + B*CW = 0.
-
-  If JOB = 'C', the matrices of the stable projection of G*conj(W)
-  are computed using the following formulas:
-
-  - for a continuous-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B*DW' + Y*CW',  CS = C,  DS = D*DW',
-
-    where Y satisfies the generalized Sylvester equation
-
-      A*Y*EW' + Y*AW' + B*BW' = 0.
-
-  - for a discrete-time system, the matrices BS, CS and DS of
-    the stable projection are computed as
-
-      BS = B*DW' + A*Y*CW',  CS = C,  DS = D*DW' + C*Y*CW',
-
-    where Y satisfies the generalized Sylvester equation
-
-      Y*EW' - A*Y*AW' = B*BW'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Efficient and numerically reliable implementation of the
-      frequency-weighted Hankel-norm approximation model reduction
-      approach.
-      Proc. 2001 ECC, Porto, Portugal, 2001.
-
-  [2] Zhou, K.
-      Frequency-weighted H-infinity norm and optimal Hankel norm
-      model reduction.
-      IEEE Trans. Autom. Control, vol. 40, pp. 1687-1699, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on numerically stable algorithms.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09JX.html b/doc/_static/doc/AB09JX.html
deleted file mode 100644
index 311d2689..00000000
--- a/doc/_static/doc/AB09JX.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09JX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09JX">AB09JX</A></H2>
-<H3>
-Check stability/antistability of finite eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check stability/antistability of finite eigenvalues with
-  respect to a given stability domain.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09JX( DICO, STDOM, EVTYPE, N, ALPHA, ER, EI, ED,
-     $                   TOLINF, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, EVTYPE, STDOM
-      INTEGER          INFO, N
-      DOUBLE PRECISION ALPHA, TOLINF
-C     .. Array Arguments ..
-      DOUBLE PRECISION ED(*), EI(*), ER(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the stability domain as follows:
-          = 'C':  for a continuous-time system;
-          = 'D':  for a discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  EVTYPE  CHARACTER*1
-          Specifies whether the eigenvalues arise from a standard
-          or a generalized eigenvalue problem as follows:
-          = 'S':  standard eigenvalue problem;
-          = 'G':  generalized eigenvalue problem;
-          = 'R':  reciprocal generalized eigenvalue problem.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of vectors ER, EI and ED.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the boundary of the domain of interest for the
-          eigenvalues. For a continuous-time system
-          (DICO = 'C'), ALPHA is the boundary value for the real
-          parts of eigenvalues, while for a discrete-time system
-          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
-          the moduli of eigenvalues.
-
-  ER, EI, (input) DOUBLE PRECISION arrays, dimension (N)
-  ED      If EVTYPE = 'S', ER(j) + EI(j)*i, j = 1,...,N, are
-          the eigenvalues of a real matrix.
-          ED is not referenced and is implicitly considered as
-          a vector having all elements equal to one.
-          If EVTYPE = 'G' or EVTYPE = 'R', (ER(j) + EI(j)*i)/ED(j),
-          j = 1,...,N, are the generalized eigenvalues of a pair of
-          real matrices. If ED(j) is zero, then the j-th generalized
-          eigenvalue is infinite.
-          Complex conjugate pairs of eigenvalues must appear
-          consecutively.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOLINF  DOUBLE PRECISION
-          If EVTYPE = 'G' or 'R', TOLINF contains the tolerance for
-          detecting infinite generalized eigenvalues.
-          0 &lt;= TOLINF &lt; 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit, i.e., all eigenvalues lie within
-                 the domain of interest defined by DICO, STDOM
-                 and ALPHA;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  some eigenvalues lie outside the domain of interest
-                 defined by DICO, STDOM and ALPHA.
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The domain of interest for an eigenvalue lambda is defined by the
-  parameters ALPHA, DICO and STDOM as follows:
-     - for a continuous-time system (DICO = 'C'):
-            Real(lambda) &lt; ALPHA if STDOM = 'S';
-            Real(lambda) &gt; ALPHA if STDOM = 'U';
-     - for a discrete-time system (DICO = 'D'):
-            Abs(lambda) &lt; ALPHA if STDOM = 'S';
-            Abs(lambda) &gt; ALPHA if STDOM = 'U'.
-  If EVTYPE = 'R', the same conditions apply for 1/lambda.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09KD">AB09KD</A></H2>
-<H3>
-Frequency-weighted Hankel-norm approximation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using the frequency
-  weighted optimal Hankel-norm approximation method.
-  The Hankel norm of the weighted error
-
-        V*(G-Gr)*W    or    conj(V)*(G-Gr)*conj(W)
-
-  is minimized, where G and Gr are the transfer-function matrices
-  of the original and reduced systems, respectively, and V and W
-  are the transfer-function matrices of the left and right frequency
-  weights, specified by their state space realizations (AV,BV,CV,DV)
-  and (AW,BW,CW,DW), respectively. When minimizing the weighted
-  error V*(G-Gr)*W, V and W must be antistable transfer-function
-  matrices. When minimizing conj(V)*(G-Gr)*conj(W), V and W must be
-  stable transfer-function matrices.
-  Additionally, V and W must be invertible transfer-function
-  matrices, with the feedthrough matrices DV and DW invertible.
-  If the original system is unstable, then the frequency weighted
-  Hankel-norm approximation is computed only for the
-  ALPHA-stable part of the system.
-
-  For a transfer-function matrix G, conj(G) denotes the conjugate
-  of G given by G'(-s) for a continuous-time system or G'(1/z)
-  for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW, M,
-     $                   P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL, WEIGHT
-      INTEGER           INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                  LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
-     $                  NR, NS, NV, NW, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AV(LDAV,*), AW(LDAW,*),
-     $                  B(LDB,*), BV(LDBV,*), BW(LDBW,*),
-     $                  C(LDC,*), CV(LDCV,*), CW(LDCW,*),
-     $                  D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
-     $                  HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the frequency-weighting problem as follows:
-          = 'N':  solve min||V*(G-Gr)*W||_H;
-          = 'C':  solve min||conj(V)*(G-Gr)*conj(W)||_H.
-
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the realization of the left frequency
-          weighting V, i.e., the order of the matrix AV.  NV &gt;= 0.
-
-  NW      (input) INTEGER
-          The order of the realization of the right frequency
-          weighting W, i.e., the order of the matrix AW.  NW &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of
-          the resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
-          multiplicity of the Hankel singular value HSV(NR-NU+1),
-          NR is the desired order on entry, and NMIN is the order
-          of a minimal realization of the ALPHA-stable part of the
-          given system; NMIN is determined as the number of Hankel
-          singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
-          EPS is the machine precision (see LAPACK Library Routine
-          DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
-          ALPHA-stable part of the weighted system (computed in
-          HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the
-          reduced order system in a real Schur form.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
-          part of this array must contain the state matrix AV of a
-          state space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-NV part of this array contains a real Schur form
-          of the state matrix of a state space realization of the
-          inverse of V.
-          AV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
-          of this array must contain the input matrix BV of a state
-          space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-P part of this array contains the input matrix of a
-          state space realization of the inverse of V.
-          BV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
-          of this array must contain the output matrix CV of a state
-          space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          P-by-NV part of this array contains the output matrix of a
-          state space realization of the inverse of V.
-          CV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  DV      (input/output) DOUBLE PRECISION array, dimension (LDDV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading P-by-P part
-          of this array must contain the feedthrough matrix DV of a
-          state space realization of the left frequency weighting V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          P-by-P part of this array contains the feedthrough matrix
-          of a state space realization of the inverse of V.
-          DV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
-          part of this array must contain the state matrix AW of
-          a state space realization of the right frequency
-          weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-NW part of this array contains a real Schur form of
-          the state matrix of a state space realization of the
-          inverse of W.
-          AW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
-          of this array must contain the input matrix BW of a state
-          space realization of the right frequency weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-M part of this array contains the input matrix of a
-          state space realization of the inverse of W.
-          BW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
-          of this array must contain the output matrix CW of a state
-          space realization of the right frequency weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          M-by-NW part of this array contains the output matrix of a
-          state space realization of the inverse of W.
-          CW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input/output) DOUBLE PRECISION array, dimension (LDDW,M)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-M part
-          of this array must contain the feedthrough matrix DW of
-          a state space realization of the right frequency
-          weighting W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          M-by-M part of this array contains the feedthrough matrix
-          of a state space realization of the inverse of W.
-          DW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of the array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of this array contain
-          the Hankel singular values, ordered decreasingly, of the
-          ALPHA-stable part of the weighted original system.
-          HSV(1) is the Hankel norm of the ALPHA-stable weighted
-          subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the weighted
-          original system (computed in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = MAX(1,M,c),      if DICO = 'C',
-          LIWORK = MAX(1,N,M,c),    if DICO = 'D',
-          where  c = 0,             if WEIGHT = 'N',
-                 c = 2*P,           if WEIGHT = 'L',
-                 c = 2*M,           if WEIGHT = 'R',
-                 c = MAX(2*M,2*P),  if WEIGHT = 'B'.
-          On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
-          the computed minimal realization.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( LDW1, LDW2, LDW3, LDW4 ), where
-          LDW1 = 0 if WEIGHT = 'R' or 'N' and
-          LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
-                 if WEIGHT = 'L' or WEIGHT = 'B',
-          LDW2 = 0 if WEIGHT = 'L' or 'N' and
-          LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
-                 if WEIGHT = 'R' or WEIGHT = 'B', with
-             a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
-             a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C';
-          LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
-          LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
-                 MAX( 3*M+1, MIN(N,M)+P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system; in this case, the resulting NR is set equal
-                to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system; in this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the computation of the ordered real Schur form of A
-                 failed;
-          =  2:  the separation of the ALPHA-stable/unstable
-                 diagonal blocks failed because of very close
-                 eigenvalues;
-          =  3:  the reduction of AV or AV-BV*inv(DV)*CV to a
-                 real Schur form failed;
-          =  4:  the reduction of AW or AW-BW*inv(DW)*CW to a
-                 real Schur form failed;
-          =  5:  JOB = 'N' and AV is not antistable, or
-                 JOB = 'C' and AV is not stable;
-          =  6:  JOB = 'N' and AW is not antistable, or
-                 JOB = 'C' and AW is not stable;
-          =  7:  the computation of Hankel singular values failed;
-          =  8:  the computation of stable projection in the
-                 Hankel-norm approximation algorithm failed;
-          =  9:  the order of computed stable projection in the
-                 Hankel-norm approximation algorithm differs
-                 from the order of Hankel-norm approximation;
-          = 10:  DV is singular;
-          = 11:  DW is singular;
-          = 12:  the solution of the Sylvester equation failed
-                 because the zeros of V (if JOB = 'N') or of conj(V)
-                 (if JOB = 'C') are not distinct from the poles
-                 of G1sr (see METHOD);
-          = 13:  the solution of the Sylvester equation failed
-                 because the zeros of W (if JOB = 'N') or of conj(W)
-                 (if JOB = 'C') are not distinct from the poles
-                 of G1sr (see METHOD).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let G be the transfer-function matrix of the original
-  linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                          (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09KD determines
-  the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t),                      (2)
-
-  such that the corresponding transfer-function matrix Gr minimizes
-  the Hankel-norm of the frequency-weighted error
-
-          V*(G-Gr)*W,                                    (3)
-  or
-          conj(V)*(G-Gr)*conj(W).                        (4)
-
-  For minimizing (3), V and W are assumed to be antistable, while
-  for minimizing (4), V and W are assumed to be stable transfer-
-  function matrices.
-
-  Note: conj(G) = G'(-s) for a continuous-time system and
-        conj(G) = G'(1/z) for a discrete-time system.
-
-  The following procedure is used to reduce G (see [1]):
-
-  1) Decompose additively G as
-
-       G = G1 + G2,
-
-     such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
-     G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
-
-  2) Compute G1s, the stable projection of V*G1*W or
-     conj(V)*G1*conj(W), using explicit formulas [4].
-
-  3) Determine G1sr, the optimal Hankel-norm approximation of G1s
-     of order r.
-
-  4) Compute G1r, the stable projection of either inv(V)*G1sr*inv(W)
-     or conj(inv(V))*G1sr*conj(inv(W)), using explicit formulas [4].
-
-  5) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the weighted ALPHA-stable part G1s at step 3, the
-  optimal Hankel-norm approximation method of [2], based on the
-  square-root balancing projection formulas of [3], is employed.
-
-  The optimal weighted approximation error satisfies
-
-       HNORM[V*(G-Gr)*W] = S(r+1),
-  or
-       HNORM[conj(V)*(G-Gr)*conj(W)] = S(r+1),
-
-  where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
-  transfer-function matrix computed at step 2 of the above
-  procedure, and HNORM(.) denotes the Hankel-norm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Latham, G.A. and Anderson, B.D.O.
-      Frequency-weighted optimal Hankel-norm approximation of stable
-      transfer functions.
-      Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
-
-  [2] Glover, K.
-      All optimal Hankel norm approximation of linear
-      multivariable systems and their L-infinity error bounds.
-      Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
-
-  [3] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [4] Varga A.
-      Explicit formulas for an efficient implementation
-      of the frequency-weighting model reduction approach.
-      Proc. 1993 European Control Conference, Groningen, NL,
-      pp. 693-696, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on an accuracy enhancing square-root
-  technique.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, NVMAX, NWMAX, PMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
-     $                   PMAX = 20 )
-      INTEGER          LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW
-      PARAMETER        ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
-     $                   LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
-     $                   LDC = PMAX, LDCV = PMAX,  LDCW = MMAX,
-     $                   LDD = PMAX, LDDV = PMAX,  LDDW = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( MMAX, PMAX ) )
-      INTEGER          LDW1, LDW2, LDW3, LDW4, LDWORK
-      PARAMETER        ( LDW1 = MAX( NVMAX*( NVMAX + 5 ), NVMAX*NMAX +
-     $                          MAX( 2*NVMAX, PMAX*NMAX, PMAX*MMAX ) ))
-      PARAMETER        ( LDW2 = MAX( NWMAX*( NWMAX + 5 ), NWMAX*NMAX +
-     $                          MAX( 2*NWMAX, MMAX*NMAX, PMAX*MMAX ) ))
-      PARAMETER        ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
-     $                                 + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
-      PARAMETER        ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
-     $                          MIN( NMAX, MMAX ) +
-     $                          MAX( 3*MMAX + 1,
-     $                               MIN( NMAX, MMAX ) + PMAX ) )
-      PARAMETER        ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
-*     .. Local Scalars ..
-      LOGICAL          LEFTW, RIGHTW
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL, WEIGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
-     $                 B(LDB,MMAX), BV(LDBV,PMAX),  BW(LDBW,MMAX),
-     $                 C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
-     $                 D(LDD,MMAX), DV(LDDV,PMAX),  DW(LDDW,MMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB09KD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NV, NW, NR, ALPHA, TOL1, TOL2,
-     $                      JOB, DICO, WEIGHT, EQUIL, ORDSEL
-      LEFTW  = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
-      RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF( P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( LEFTW .OR. NV.GT.0 ) THEN
-                  IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
-                     WRITE ( NOUT, FMT = 99986 ) NV
-                  ELSE
-                     IF( NV.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AV(I,J), J = 1,NV ), I = 1,NV )
-                        READ ( NIN, FMT = * )
-     $                    ( ( BV(I,J), J = 1,P ), I = 1, NV )
-                        READ ( NIN, FMT = * )
-     $                    ( ( CV(I,J), J = 1,NV ), I = 1,P )
-                     END IF
-                     IF( LEFTW )  READ ( NIN, FMT = * )
-     $                    ( ( DV(I,J), J = 1,P ), I = 1,P )
-                  END IF
-               END IF
-               IF( RIGHTW ) THEN
-                  IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
-                     WRITE ( NOUT, FMT = 99985 ) NW
-                  ELSE
-                     IF( NW.GT.0 ) THEN
-                        READ ( NIN, FMT = * )
-     $                    ( ( AW(I,J), J = 1,NW ), I = 1,NW )
-                        READ ( NIN, FMT = * )
-     $                    ( ( BW(I,J), J = 1,M ), I = 1, NW )
-                        READ ( NIN, FMT = * )
-     $                    ( ( CW(I,J), J = 1,NW ), I = 1,M )
-                     END IF
-                     READ ( NIN, FMT = * )
-     $                    ( ( DW(I,J), J = 1,M ), I = 1,M )
-                  END IF
-               END IF
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW,
-     $                      M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, AV, LDAV, BV, LDBV, CV, LDCV,
-     $                      DV, LDDV, AW, LDAW, BW, LDBW, CW, LDCW,
-     $                      DW, LDDW, NS, HSV, TOL1, TOL2, IWORK,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09KD = ',I2)
-99997 FORMAT (/' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
-99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
-99984 FORMAT (' IWARN on exit from AB09KD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09KD EXAMPLE PROGRAM DATA (Continuous system)
-  6     1     1     2   0   0   0.0  1.E-1  1.E-14    N   C    L    S     A
-   -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
-    1.0000         0         0         0         0         0
-         0    1.0000         0         0         0         0
-         0         0    1.0000         0         0         0
-         0         0         0    1.0000         0         0
-         0         0         0         0    1.0000         0
-         1
-         0
-         0
-         0
-         0
-         0
-         0         0         0         0         0         1
-         0
-    0.2000   -1.0000
-    1.0000         0
-     1
-     0
-   -1.8000         0
-     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09KD EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced model =  4
-
- The Hankel singular values of weighted ALPHA-stable part are
-   2.6790   2.1589   0.8424   0.1929   0.0219   0.0011
-
- The reduced state dynamics matrix Ar is 
-  -0.2391   0.3072   1.1630   1.1967
-  -2.9709  -0.2391   2.6270   3.1027
-   0.0000   0.0000  -0.5137  -1.2842
-   0.0000   0.0000   0.1519  -0.5137
-
- The reduced input/state matrix Br is 
-  -1.0497
-  -3.7052
-   0.8223
-   0.7435
-
- The reduced state/output matrix Cr is 
-  -0.4466   0.0143  -0.4780  -0.2013
-
- The reduced input/output matrix Dr is 
-   0.0219
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,395 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09KX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09KX">AB09KX</A></H2>
-<H3>
-Stable projection of V G W or conj(V) G conj(W)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a state-space representation (A,BS,CS,DS) of the
-  stable projection of V*G*W or conj(V)*G*conj(W) from the
-  state-space representations (A,B,C,D), (AV,BV,CV,DV), and
-  (AW,BW,CW,DW) of the transfer-function matrices G, V and W,
-  respectively. G is assumed to be a stable transfer-function
-  matrix and the state matrix A must be in a real Schur form.
-  When computing the stable projection of V*G*W, V and W are assumed
-  to be completely unstable transfer-function matrices.
-  When computing the stable projection of conj(V)*G*conj(W),
-  V and W are assumed to be stable transfer-function matrices.
-
-  For a transfer-function matrix G, conj(G) denotes the conjugate
-  of G given by G'(-s) for a continuous-time system or G'(1/z)
-  for a discrete-time system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09KX( JOB, DICO, WEIGHT, N, NV, NW, M, P,
-     $                   A,  LDA,  B,  LDB,  C,  LDC,  D,  LDD,
-     $                   AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
-     $                   AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOB, WEIGHT
-      INTEGER          INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
-     $                 LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
-     $                 NV, NW, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*),   B(LDB,*),   C(LDC,*),   D(LDD,*),
-     $                 AV(LDAV,*), BV(LDBV,*), CV(LDCV,*), DV(LDDV,*),
-     $                 AW(LDAW,*), BW(LDBW,*), CW(LDCW,*), DW(LDDW,*),
-     $                 DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies which projection to be computed as follows:
-          = 'N':  compute the stable projection of V*G*W;
-          = 'C':  compute the stable projection of
-                  conj(V)*G*conj(W).
-
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G, V and W are continuous-time systems;
-          = 'D':  G, V and W are discrete-time systems.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'L':  only left weighting V is used (W = I);
-          = 'R':  only right weighting W is used (V = I);
-          = 'B':  both left and right weightings V and W are used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. Also the number of rows of
-          the matrix B and the number of columns of the matrix C.
-          N represents the dimension of the state vector of the
-          system with the transfer-function matrix G.  N &gt;= 0.
-
-  NV      (input) INTEGER
-          The order of the matrix AV. Also the number of rows of
-          the matrix BV and the number of columns of the matrix CV.
-          NV represents the dimension of the state vector of the
-          system with the transfer-function matrix V.  NV &gt;= 0.
-
-  NW      (input) INTEGER
-          The order of the matrix AW. Also the number of rows of
-          the matrix BW and the number of columns of the matrix CW.
-          NW represents the dimension of the state vector of the
-          system with the transfer-function matrix W.  NW &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B, D, BW and DW
-          and number of rows of the matrices CW and DW.  M &gt;= 0.
-          M represents the dimension of input vectors of the
-          systems with the transfer-function matrices G and W and
-          also the dimension of the output vector of the system
-          with the transfer-function matrix W.
-
-  P       (input) INTEGER
-          The number of rows of the matrices C, D, CV and DV and the
-          number of columns of the matrices BV and DV.  P &gt;= 0.
-          P represents the dimension of output vectors of the
-          systems with the transfer-function matrices G and V and
-          also the dimension of the input vector of the system
-          with the transfer-function matrix V.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must
-          contain the state matrix A of the system with the
-          transfer-function matrix G in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the input matrix BS of the stable
-          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
-          if JOB = 'C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading P-by-N part of this
-          array contains the output matrix CS of the stable
-          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
-          if JOB = 'C'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the feedthrough matrix D of the system with the
-          transfer-function matrix G.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the feedthrough matrix DS of the stable
-          projection of V*G*W if JOB = 'N', and of conj(V)*G*conj(W)
-          if JOB = 'C'.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  AV      (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
-          part of this array must contain the state matrix AV of
-          the system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-NV part of this array contains a real Schur form
-          of AV.
-          AV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDAV    INTEGER
-          The leading dimension of the array AV.
-          LDAV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDAV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  BV      (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
-          On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
-          of this array must contain the input matrix BV of the
-          system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          NV-by-P part of this array contains the transformed input
-          matrix BV.
-          BV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDBV    INTEGER
-          The leading dimension of the array BV.
-          LDBV &gt;= MAX(1,NV), if WEIGHT = 'L' or 'B';
-          LDBV &gt;= 1,         if WEIGHT = 'R' or 'N'.
-
-  CV      (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
-          On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
-          of this array must contain the output matrix CV of the
-          system with the transfer-function matrix V.
-          On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
-          P-by-NV part of this array contains the transformed output
-          matrix CV.
-          CV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDCV    INTEGER
-          The leading dimension of the array CV.
-          LDCV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDCV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  DV      (input) DOUBLE PRECISION array, dimension (LDDV,P)
-          If WEIGHT = 'L' or 'B', the leading P-by-P part of this
-          array must contain the feedthrough matrix DV of the system
-          with the transfer-function matrix V.
-          DV is not referenced if WEIGHT = 'R' or 'N'.
-
-  LDDV    INTEGER
-          The leading dimension of the array DV.
-          LDDV &gt;= MAX(1,P), if WEIGHT = 'L' or 'B';
-          LDDV &gt;= 1,        if WEIGHT = 'R' or 'N'.
-
-  AW      (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
-          part of this array must contain the state matrix AW of
-          the system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-NW part of this array contains a real Schur form
-          of AW.
-          AW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDAW    INTEGER
-          The leading dimension of the array AW.
-          LDAW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDAW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  BW      (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
-          On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
-          of this array must contain the input matrix BW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          NW-by-M part of this array contains the transformed input
-          matrix BW.
-          BW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDBW    INTEGER
-          The leading dimension of the array BW.
-          LDBW &gt;= MAX(1,NW), if WEIGHT = 'R' or 'B';
-          LDBW &gt;= 1,         if WEIGHT = 'L' or 'N'.
-
-  CW      (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
-          On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
-          of this array must contain the output matrix CW of the
-          system with the transfer-function matrix W.
-          On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
-          M-by-NW part of this array contains the transformed output
-          matrix CW.
-          CW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDCW    INTEGER
-          The leading dimension of the array CW.
-          LDCW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDCW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-  DW      (input) DOUBLE PRECISION array, dimension (LDDW,M)
-          If WEIGHT = 'R' or 'B', the leading M-by-M part of this
-          array must contain the feedthrough matrix DW of the system
-          with the transfer-function matrix W.
-          DW is not referenced if WEIGHT = 'L' or 'N'.
-
-  LDDW    INTEGER
-          The leading dimension of the array DW.
-          LDDW &gt;= MAX(1,M), if WEIGHT = 'R' or 'B';
-          LDDW &gt;= 1,        if WEIGHT = 'L' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, LDW1, LDW2 ), where
-            LDW1 = 0 if WEIGHT = 'R' or 'N' and
-            LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
-                   if WEIGHT = 'L' or WEIGHT = 'B',
-            LDW2 = 0 if WEIGHT = 'L' or 'N' and
-            LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
-                   if WEIGHT = 'R' or WEIGHT = 'B',
-            a = 0,    b = 0,     if DICO = 'C' or  JOB = 'N',
-            a = 2*NV, b = 2*NW,  if DICO = 'D' and JOB = 'C'.
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          =  0:  no warning;
-          =  1:  JOB = 'N' and AV is not completely unstable, or
-                 JOB = 'C' and AV is not stable;
-          =  2:  JOB = 'N' and AW is not completely unstable, or
-                 JOB = 'C' and AW is not stable;
-          =  3:  both above conditions appear.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the reduction of AV to a real Schur form failed;
-          =  2:  the reduction of AW to a real Schur form failed;
-          =  3:  the solution of the Sylvester equation failed
-                 because the matrices A and AV have common
-                 eigenvalues (if JOB = 'N'), or -AV and A have
-                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
-                 or AV has an eigenvalue which is the reciprocal of
-                 one of the eigenvalues of A (if JOB = 'C' and
-                 DICO = 'D');
-          =  4:  the solution of the Sylvester equation failed
-                 because the matrices A and AW have common
-                 eigenvalues (if JOB = 'N'), or -AW and A have
-                 common eigenvalues (if JOB = 'C' and DICO = 'C'),
-                 or AW has an eigenvalue which is the reciprocal of
-                 one of the eigenvalues of A (if JOB = 'C' and
-                 DICO = 'D').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the stable projection of V*G*W are computed as
-
-    BS = B*DW + Y*BW,  CS = CV*X + DV*C,  DS = DV*D*DW,
-
-  where X and Y satisfy the continuous-time Sylvester equations
-
-    AV*X - X*A  + BV*C = 0,
-    -A*Y + Y*AW + B*CW = 0.
-
-  The matrices of the stable projection of conj(V)*G*conj(W) are
-  computed using the explicit formulas established in [1].
-
-  For a continuous-time system, the matrices BS, CS and DS of
-  the stable projection are computed as
-
-    BS = B*DW' + Y*CW',  CS = BV'*X + DV'*C,  DS = DV'*D*DW',
-
-  where X and Y satisfy the continuous-time Sylvester equations
-
-    AV'*X + X*A   + CV'*C = 0,
-      A*Y + Y*AW' + B*BW' = 0.
-
-  For a discrete-time system, the matrices BS, CS and DS of
-  the stable projection are computed as
-
-    BS = B*DW' + A*Y*CW',  CS = BV'*X*A + DV'*C,
-    DS = DV'*D*DW' + BV'*X*B*DW' + DV'*C*Y*CW' + BV'*X*A*Y*CW',
-
-  where X and Y satisfy the discrete-time Sylvester equations
-
-    AV'*X*A + CV'*C = X,
-    A*Y*AW' + B*BW' = Y.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Explicit formulas for an efficient implementation
-      of the frequency-weighting model reduction approach.
-      Proc. 1993 European Control Conference, Groningen, NL,
-      pp. 693-696, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on numerically stable algorithms.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The matrix A must be stable, but its stability is not checked by
-  this routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>AB09MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09MD">AB09MD</A></H2>
-<H3>
-Balance & Truncate model reduction for the stable part of a system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr) for an original
-  state-space representation (A,B,C) by using either the square-root
-  or the balancing-free square-root Balance & Truncate (B & T)
-  model reduction method for the ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   A, LDA, B, LDB, C, LDC, NS, HSV, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR,
-     $                  NS, P
-      DOUBLE PRECISION  ALPHA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root Balance & Truncate method;
-          = 'N':  use the balancing-free square-root
-                  Balance & Truncate method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, and NMIN is the order of a minimal realization
-          of the ALPHA-stable part of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
-          part of the given system (computed in HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues in an
-          upper real Schur form.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the given system
-          (computed in HSV(1)).
-          If TOL &lt;= 0 on entry, the used default value is
-          TOL = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          This value is appropriate to compute a minimal realization
-          of the ALPHA-stable part.
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0, if JOB = 'B';
-          LIWORK = N, if JOB = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09MD determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t)                             (2)
-
-  such that
-
-  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1.
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
-  Balance & Truncate method of [1] is used, and for an ALPHA-stable
-  continuous-time system (DICO = 'C'), the resulting reduced model
-  is balanced. For ALPHA-stable systems, setting TOL &lt; 0, the
-  routine can be used to compute balanced minimal state-space
-  realizations.
-
-  If JOB = 'N', the balancing-free square-root version of the
-  Balance & Truncate method [2] is used to reduce the ALPHA-stable
-  part G1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-      Vol. 2, pp. 42-46.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
-     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
-     $                            ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL, DICO, JOB, EQUIL,
-     $                      ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a reduced ssr for (A,B,C).
-               CALL AB09MD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      ALPHA, A, LDA, B, LDB, C, LDC, NS, HSV,
-     $                      TOL, IWORK, DWORK, LDWORK, IWARN, INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09MD = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09MD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   -.6D0 1.D-1  C  N  N  A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09MD EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of ALPHA-stable part are
-   1.9178   0.8621   0.7666   0.0336   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5181  -1.1084   0.0000   0.0000   0.0000
-   8.8157  -0.5181   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.5124   0.0000   1.7910
-   0.0000   0.0000   0.0000  -1.4460   0.0000
-   0.0000   0.0000  -4.2167   0.0000  -2.9900
-
- The reduced input/state matrix Br is 
-  -1.2837   1.2837
-  -0.7522   0.7522
-  -0.7447  -0.7447
-   1.9275  -1.9275
-  -3.6872  -3.6872
-
- The reduced state/output matrix Cr is 
-  -0.1380  -0.6445  -0.6582  -0.5771   0.2222
-   0.6246   0.0196   0.0000   0.4131   0.0000
-   0.1380   0.6445  -0.6582   0.5771   0.2222
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB09ND.html b/doc/_static/doc/AB09ND.html
deleted file mode 100644
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@@ -1,481 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB09ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB09ND">AB09ND</A></H2>
-<H3>
-Singular perturbation approximation based model reduction for the stable part of a system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order model (Ar,Br,Cr,Dr) for an original
-  state-space representation (A,B,C,D) by using either the
-  square-root or the balancing-free square-root Singular
-  Perturbation Approximation (SPA) model reduction method for the
-  ALPHA-stable part of the system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, ALPHA,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, NS, HSV, TOL1,
-     $                   TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK,
-     $                  M, N, NR, NS, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOB     CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root SPA method;
-          = 'N':  use the balancing-free square-root SPA method.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NR is fixed;
-          = 'A':  the resulting order NR is automatically determined
-                  on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NR      (input/output) INTEGER
-          On entry with ORDSEL = 'F', NR is the desired order of the
-          resulting reduced order system.  0 &lt;= NR &lt;= N.
-          On exit, if INFO = 0, NR is the order of the resulting
-          reduced order model. For a system with NU ALPHA-unstable
-          eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
-          NR is set as follows: if ORDSEL = 'F', NR is equal to
-          NU+MIN(MAX(0,NR-NU),NMIN), where NR is the desired order
-          on entry, and NMIN is the order of a minimal realization
-          of the ALPHA-stable part of the given system; NMIN is
-          determined as the number of Hankel singular values greater
-          than NS*EPS*HNORM(As,Bs,Cs), where EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH) and
-          HNORM(As,Bs,Cs) is the Hankel norm of the ALPHA-stable
-          part of the given system (computed in HSV(1));
-          if ORDSEL = 'A', NR is the sum of NU and the number of
-          Hankel singular values greater than
-          MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading NR-by-NR part of this
-          array contains the state dynamics matrix Ar of the reduced
-          order system.
-          The resulting A has a block-diagonal form with two blocks.
-          For a system with NU ALPHA-unstable eigenvalues and
-          NS ALPHA-stable eigenvalues (NU+NS = N), the leading
-          NU-by-NU block contains the unreduced part of A
-          corresponding to ALPHA-unstable eigenvalues in an
-          upper real Schur form.
-          The trailing (NR+NS-N)-by-(NR+NS-N) block contains
-          the reduced part of A corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading NR-by-M part of this
-          array contains the input/state matrix Br of the reduced
-          order system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-NR part of this
-          array contains the state/output matrix Cr of the reduced
-          order system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original input/output matrix D.
-          On exit, if INFO = 0, the leading P-by-M part of this
-          array contains the input/output matrix Dr of the reduced
-          order system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of reduced system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
-          Hankel-norm of the ALPHA-stable part of the given system
-          (computed in HSV(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
-          ALPHA-stable eigenvalues of A and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          This value is appropriate to compute a minimal realization
-          of the ALPHA-stable part.
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given system.
-          The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0, then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,2*N))
-          On exit, if INFO = 0, IWORK(1) contains the order of the
-          minimal realization of the ALPHA-stable part of the
-          system.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(2*N+MAX(N,M,P)+5) + N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                system. In this case, the resulting NR is set equal
-                to NSMIN.
-          = 2:  with ORDSEL = 'F', the selected order NR is less
-                than the order of the ALPHA-unstable part of the
-                given system. In this case NR is set equal to the
-                order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t)                           (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system. The subroutine AB09ND determines for
-  the given system (1), the matrices of a reduced order system
-
-       d[z(t)] = Ar*z(t) + Br*u(t)
-       yr(t)   = Cr*z(t) + Dr*u(t)                       (2)
-
-  such that
-
-  HSV(NR+NS-N) &lt;= INFNORM(G-Gr) &lt;= 2*[HSV(NR+NS-N+1)+...+HSV(NS)],
-
-  where G and Gr are transfer-function matrices of the systems
-  (A,B,C,D) and (Ar,Br,Cr,Dr), respectively, and INFNORM(G) is the
-  infinity-norm of G.
-
-  The following procedure is used to reduce a given G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs,D) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu,0) has only ALPHA-unstable poles.
-
-  2) Determine G1r, a reduced order approximation of the
-     ALPHA-stable part G1.
-
-  3) Assemble the reduced model Gr as
-
-        Gr = G1r + G2.
-
-  To reduce the ALPHA-stable part G1, if JOB = 'B', the square-root
-  balancing-based SPA method of [1] is used, and for an ALPHA-stable
-  system, the resulting reduced model is balanced.
-
-  If JOB = 'N', the balancing-free square-root SPA method of [2]
-  is used to reduce the ALPHA-stable part G1.
-  By setting TOL1 = TOL2, the routine can be used to compute
-  Balance & Truncate approximations as well.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu Y. and Anderson B.D.O.
-      Singular Perturbation Approximation of Balanced Systems,
-      Int. J. Control, Vol. 50, pp. 1379-1405, 1989.
-
-  [2] Varga A.
-      Balancing-free square-root algorithm for computing
-      singular perturbation approximations.
-      Proc. 30-th IEEE CDC,  Brighton, Dec. 11-13, 1991,
-      Vol. 2, pp. 1062-1065.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB09ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                 LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX +
-     $                            MAX( NMAX, MMAX, PMAX ) + 5 ) +
-     $                            ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NR, NS, P
-      CHARACTER*1      DICO, EQUIL, JOB, ORDSEL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB09ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NR, ALPHA, TOL1, TOL2,
-     $                      DICO, JOB, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL AB09ND( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR,
-     $                      ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB09ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB09ND = ',I2)
-99997 FORMAT (' The order of reduced model = ',I2)
-99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' The reduced input/output matrix Dr is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-stable part are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB09ND EXAMPLE PROGRAM DATA (Continuous system)
-  7  2   3   0   -.6D0 1.D-1  1.E-14  C  N  N  A
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB09ND EXAMPLE PROGRAM RESULTS
-
- The order of reduced model =  5
-
- The Hankel singular values of ALPHA-stable part are
-   1.9178   0.8621   0.7666   0.0336   0.0246
-
- The reduced state dynamics matrix Ar is 
-  -0.5181  -1.1084   0.0000   0.0000   0.0000
-   8.8157  -0.5181   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.5847   0.0000   1.9230
-   0.0000   0.0000   0.0000  -1.6606   0.0000
-   0.0000   0.0000  -4.3823   0.0000  -3.2922
-
- The reduced input/state matrix Br is 
-  -1.2837   1.2837
-  -0.7522   0.7522
-  -0.6379  -0.6379
-   2.0656  -2.0656
-  -3.9315  -3.9315
-
- The reduced state/output matrix Cr is 
-  -0.1380  -0.6445  -0.6416  -0.6293   0.2526
-   0.6246   0.0196   0.0000   0.4107   0.0000
-   0.1380   0.6445  -0.6416   0.6293   0.2526
-
- The reduced input/output matrix Dr is 
-   0.0582  -0.0090
-   0.0015  -0.0015
-  -0.0090   0.0582
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13AD.html b/doc/_static/doc/AB13AD.html
deleted file mode 100644
index 4e3645d5..00000000
--- a/doc/_static/doc/AB13AD.html
+++ /dev/null
@@ -1,322 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13AD">AB13AD</A></H2>
-<H3>
-Hankel-norm of a stable projection
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Hankel-norm of the ALPHA-stable projection of the
-  transfer-function matrix G of the state-space system (A,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13AD( DICO, EQUIL, N, M, P, ALPHA, A,
-     $                                  LDA, B, LDB, C, LDC, NS, HSV,
-     $                                  DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NS, P
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13AD  DOUBLE PRECISION
-          The Hankel-norm of the ALPHA-stable projection of G
-          (if INFO = 0).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix A. For a continuous-time
-          system (DICO = 'C'), ALPHA &lt;= 0 is the boundary value for
-          the real parts of eigenvalues, while for a discrete-time
-          system (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary
-          (see the Note below).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the state dynamics matrix A in a block
-          diagonal real Schur form with its eigenvalues reordered
-          and separated. The resulting A has two diagonal blocks.
-          The leading NS-by-NS part of A has eigenvalues in the
-          ALPHA-stability domain and the trailing (N-NS) x (N-NS)
-          part has eigenvalues outside the ALPHA-stability domain.
-          Note: The ALPHA-stability domain is defined either
-                as the open half complex plane left to ALPHA,
-                for a continous-time system (DICO = 'C'), or the
-                interior of the ALPHA-radius circle centered in the
-                origin, for a discrete-time system (DICO = 'D').
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the input/state matrix B of the transformed
-          system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, if INFO = 0, the leading P-by-N part of this
-          array contains the state/output matrix C of the
-          transformed system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NS      (output) INTEGER
-          The dimension of the ALPHA-stable subsystem.
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, the leading NS elements of HSV contain the
-          Hankel singular values of the ALPHA-stable part of the
-          original system ordered decreasingly.
-          HSV(1) is the Hankel norm of the ALPHA-stable subsystem.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the computation of the ordered real Schur form of A
-                failed;
-          = 2:  the separation of the ALPHA-stable/unstable diagonal
-                blocks failed because of very close eigenvalues;
-          = 3:  the computed ALPHA-stable part is just stable,
-                having stable eigenvalues very near to the imaginary
-                axis (if DICO = 'C') or to the unit circle
-                (if DICO = 'D');
-          = 4:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the following linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The following procedure is used to
-  compute the Hankel-norm of the ALPHA-stable projection of G:
-
-  1) Decompose additively G as
-
-       G = G1 + G2
-
-     such that G1 = (As,Bs,Cs) has only ALPHA-stable poles and
-     G2 = (Au,Bu,Cu) has only ALPHA-unstable poles.
-     For the computation of the additive decomposition, the
-     algorithm presented in [1] is used.
-
-  2) Compute the Hankel-norm of ALPHA-stable projection G1 as the
-     the maximum Hankel singular value of the system (As,Bs,Cs).
-     The computation of the Hankel singular values is performed
-     by using the square-root method of [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Safonov, M.G., Jonckheere, E.A., Verma, M. and Limebeer, D.J.
-      Synthesis of positive real multivariable feedback systems,
-      Int. J. Control, Vol. 45, pp. 817-842, 1987.
-
-  [2] Tombs, M.S. and Postlethwaite, I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on a square-root technique.
-                                  3
-  The algorithms require about 17N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( MAX( NMAX, MMAX, PMAX ) + 5 )
-     $                        + ( NMAX*( NMAX + 1 ) )/2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, SHNORM
-      INTEGER          I, INFO, J, M, N, NS, P
-      CHARACTER*1      DICO, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), HSV(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION AB13AD
-      EXTERNAL         AB13AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Compute the Hankel-norm of the ALPHA-stable projection of
-*              (A,B,C).
-               SHNORM = AB13AD( DICO, EQUIL, N, M, P, ALPHA, A, LDA, B,
-     $                          LDB, C, LDC, NS, HSV, DWORK, LDWORK,
-     $                          INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) SHNORM
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,NS )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13AD = ',I2)
-99997 FORMAT (' The Hankel-norm of the ALPHA-projection = ',1PD14.5)
-99995 FORMAT (20(1X,F8.4))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of ALPHA-projection are')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13AD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   0.0  C  N
- -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
-  0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13AD EXAMPLE PROGRAM RESULTS
-
- The Hankel-norm of the ALPHA-projection =    2.51388D+00
-
- The Hankel singular values of ALPHA-projection are
-   2.5139   2.0846   1.9178   0.7666   0.5473   0.0253   0.0246
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13AX.html b/doc/_static/doc/AB13AX.html
deleted file mode 100644
index 7b6d1891..00000000
--- a/doc/_static/doc/AB13AX.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13AX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13AX">AB13AX</A></H2>
-<H3>
-Hankel-norm of a stable system with the state dynamics matrix in real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Hankel-norm of the transfer-function matrix G of
-  a stable state-space system (A,B,C). The state dynamics matrix A
-  of the given system is an upper quasi-triangular matrix in
-  real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13AX( DICO, N, M, P, A, LDA, B, LDB,
-     $                                  C, LDC, HSV, DWORK, LDWORK,
-     $                                  INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13AX  DOUBLE PRECISION
-          The Hankel-norm of G (if INFO = 0).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A in a real Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, this array contains the Hankel singular
-          values of the given system ordered decreasingly.
-          HSV(1) is the Hankel norm of the given system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(MAX(N,M,P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the state matrix A is not stable (if DICO = 'C')
-                or not convergent (if DICO = 'D');
-          = 2:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the stable linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t)                               (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let G be the corresponding
-  transfer-function matrix. The Hankel-norm of G is computed as the
-  the maximum Hankel singular value of the system (A,B,C).
-  The computation of the Hankel singular values is performed
-  by using the square-root method of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method relies on a square-root technique.
-                                  3
-  The algorithms require about 17N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13BD.html b/doc/_static/doc/AB13BD.html
deleted file mode 100644
index e2c1f0fa..00000000
--- a/doc/_static/doc/AB13BD.html
+++ /dev/null
@@ -1,358 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13BD">AB13BD</A></H2>
-<H3>
-H2 or L2 norm of a system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the H2 or L2 norm of the transfer-function matrix G
-  of the system (A,B,C,D). G must not have poles on the imaginary
-  axis, for a continuous-time system, or on the unit circle, for
-  a discrete-time system. If the H2-norm is computed, the system
-  must be stable.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13BD( DICO, JOBN, N, M, P, A, LDA,
-     $                                  B, LDB, C, LDC, D, LDD, NQ, TOL,
-     $                                  DWORK, LDWORK, IWARN, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOBN
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDWORK, M,
-     $                  N, NQ, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13BD   DOUBLE PRECISION
-           The H2-norm of G, if JOBN = 'H', or the L2-norm of G,
-           if JOBN = 'L' (if INFO = 0).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBN    CHARACTER*1
-          Specifies the norm to be computed as follows:
-          = 'H':  the H2-norm;
-          = 'L':  the L2-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of the
-          matrix B, and the number of columns of the matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and D.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices C and D.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix of the system.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the state dynamics matrix (in a real Schur form) of the
-          numerator factor Q of the right coprime factorization with
-          inner denominator of G (see METHOD).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix of the system.
-          On exit, the leading NQ-by-M part of this array contains
-          the input/state matrix of the numerator factor Q of the
-          right coprime factorization with inner denominator of G
-          (see METHOD).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix of the system.
-          On exit, the leading P-by-NQ part of this array contains
-          the state/output matrix of the numerator factor Q of the
-          right coprime factorization with inner denominator of G
-          (see METHOD).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix of the system.
-          If DICO = 'C', D must be a null matrix.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix of the numerator factor Q of
-          the right coprime factorization with inner denominator
-          of G (see METHOD).
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting numerator Q of the right
-          coprime factorization with inner denominator of G (see
-          METHOD).
-          Generally, NQ = N - NS, where NS is the number of
-          uncontrollable unstable eigenvalues.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
-          the 1-norm of B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, M*(N+M) + MAX( N*(N+5), M*(M+2), 4*P ),
-                            N*( MAX( N, P ) + 4 ) + MIN( N, P ) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                occured during the assignment of eigenvalues in
-                computing the right coprime factorization with inner
-                denominator of G (see the SLICOT subroutine SB08DD).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the reordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal (see SLICOT routine SB08DD);
-          = 3:  if DICO = 'C' and the matrix A has a controllable
-                eigenvalue on the imaginary axis, or DICO = 'D'
-                and A has a controllable eigenvalue on the unit
-                circle;
-          = 4:  the solution of Lyapunov equation failed because
-                the equation is singular;
-          = 5:  if DICO = 'C' and D is a nonzero matrix;
-          = 6:  if JOBN = 'H' and the system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the algorithms proposed in [1] and [2].
-
-  If the given transfer-function matrix G is unstable, then a right
-  coprime factorization with inner denominator of G is first
-  computed
-            -1
-     G = Q*R  ,
-
-  where Q and R are stable transfer-function matrices and R is
-  inner. If G is stable, then Q = G and R = I.
-  Let (AQ,BQ,CQ,DQ) be the state-space representation of Q.
-
-  If DICO = 'C', then the L2-norm of G is computed as
-
-     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ)),
-
-  where X satisfies the continuous-time Lyapunov equation
-
-     AQ'*X + X*AQ + CQ'*CQ = 0.
-
-  If DICO = 'D', then the l2-norm of G is computed as
-
-     NORM2(G) = NORM2(Q) = SQRT(TRACE(BQ'*X*BQ+DQ'*DQ)),
-
-  where X satisfies the discrete-time Lyapunov equation
-
-     AQ'*X*AQ - X + CQ'*CQ = 0.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      On computing 2-norms of transfer-function matrices.
-      Proc. 1992 ACC, Chicago, June 1992.
-
-  [2] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( MMAX*( NMAX + MMAX ) +
-     $                                 MAX( NMAX*( NMAX + 5 ),
-     $                                      MMAX*( MMAX + 2 ), 4*PMAX ),
-     $                                 NMAX*( MAX( NMAX, PMAX ) + 4 ) +
-     $                                 MIN( NMAX, PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION S2NORM, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, P
-      CHARACTER*1      DICO, JOBN
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION AB13BD
-      EXTERNAL         AB13BD, LSAME
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Compute the H2 or L2 norm of (A,B,C,D).
-               S2NORM = AB13BD( DICO, JOBN, N, M, P, A, LDA, B, LDB,
-     *                          C, LDC, D, LDD, NQ, TOL, DWORK, LDWORK,
-     *                          IWARN, INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( LSAME( JOBN, 'H' ) ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) S2NORM
-                  ELSE
-                     WRITE ( NOUT, FMT = 99996 ) S2NORM
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13BD = ',I2)
-99997 FORMAT (' The H2-norm of the system = ',1PD14.5)
-99996 FORMAT (' The L2-norm of the system = ',1PD14.5)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13BD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   1.E-10 C L
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13BD EXAMPLE PROGRAM RESULTS
-
- The L2-norm of the system =    7.93948D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,294 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13CD">AB13CD</A></H2>
-<H3>
-H-infinity norm of a continuous-time stable system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the H-infinity norm of the continuous-time stable
-  system
-
-                       | A | B |
-                G(s) = |---|---| .
-                       | C | D |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13CD( N, M, NP, A, LDA, B, LDB, C,
-     $                                  LDC, D, LDD, TOL, IWORK, DWORK,
-     $                                  LDWORK, CWORK, LCWORK, BWORK,
-     $                                  INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LCWORK, LDD, LDWORK, M, N,
-     $                   NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      COMPLEX*16         CWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13CD  DOUBLE PRECISION
-          If INFO = 0, the H-infinity norm of the system, HNORM,
-          i.e., the peak gain of the frequency response (as measured
-          by the largest singular value in the MIMO case).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used to set the accuracy in determining the
-          norm.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK, and DWORK(2) contains the frequency where the
-          gain of the frequency response achieves its peak value
-          HNORM.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(2,4*N*N+2*M*M+3*M*N+M*NP+2*(N+NP)*NP+10*N+
-                          6*max(M,NP)).
-          For good performance, LDWORK must generally be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) contains the optimal value
-          of LCWORK.
-
-  LCWORK  INTEGER
-          The dimension of the array CWORK.
-          LCWORK &gt;= max(1,(N+M)*(N+NP)+3*max(M,NP)).
-          For good performance, LCWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the system is unstable;
-          = 2:  the tolerance is too small (the algorithm for
-                computing the H-infinity norm did not converge);
-          = 3:  errors in computing the eigenvalues of A or of the
-                Hamiltonian matrix (the QR algorithm did not
-                converge);
-          = 4:  errors in computing singular values.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bruinsma, N.A. and Steinbuch, M.
-      A fast algorithm to compute the Hinfinity-norm of a transfer
-      function matrix.
-      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If the algorithm does not converge (INFO = 2), the tolerance must
-  be increased.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LCWORK
-      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
-     $                              3*MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX*NMAX + 2*MMAX*MMAX +
-     $                            2*PMAX*PMAX + 3*NMAX*MMAX +
-     $                            2*NMAX*PMAX + MMAX*PMAX + 10*NMAX +
-     $                            6*MAX( MMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FPEAK, HNORM, TOL
-      INTEGER          I, INFO, J, M, N, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK)
-      COMPLEX*16       CWORK( LCWORK )
-*     .. External Functions ..
-      DOUBLE PRECISION AB13CD
-      EXTERNAL         AB13CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) TOL
-*        Computing the Hinf norm
-         HNORM = AB13CD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, TOL,
-     $                   IWORK, DWORK, LDWORK, CWORK, LCWORK, BWORK,
-     $                   INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99991 ) HNORM
-            FPEAK = DWORK(2)
-            WRITE ( NOUT, FMT = 99996 )
-            WRITE ( NOUT, FMT = 99991 ) FPEAK
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from AB13CD =',I2)
-99997 FORMAT (/' The H_infty norm of the system is'/)
-99996 FORMAT (/' The peak frequency is'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT (D17.10)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13CD EXAMPLE PROGRAM DATA
-   6     1     1   
-   0.0  1.0     0.0   0.0      0.0  0.0
-  -0.5 -0.0002  0.0   0.0      0.0  0.0
-   0.0  0.0     0.0   1.0      0.0  0.0
-   0.0  0.0    -1.0  -0.00002  0.0  0.0
-   0.0  0.0     0.0   0.0      0.0  1.0
-   0.0  0.0     0.0   0.0     -2.0 -0.000002
-   1.0 
-   0.0  
-   1.0 
-   0.0 
-   1.0 
-   0.0
-   1.0  0.0  1.0  0.0  1.0  0.0
-   0.0
- 0.000000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13CD EXAMPLE PROGRAM RESULTS
-
-
- The H_infty norm of the system is
-
- 0.5000000006D+06
-
- The peak frequency is
-
- 0.1414213562D+01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13DD.html b/doc/_static/doc/AB13DD.html
deleted file mode 100644
index 28c690af..00000000
--- a/doc/_static/doc/AB13DD.html
+++ /dev/null
@@ -1,452 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13DD">AB13DD</A></H2>
-<H3>
-L-infinity norm of a state space system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the L-infinity norm of a continuous-time or
-  discrete-time system, either standard or in the descriptor form,
-
-                                  -1
-     G(lambda) = C*( lambda*E - A ) *B + D .
-
-  The norm is finite if and only if the matrix pair (A,E) has no
-  eigenvalue on the boundary of the stability domain, i.e., the
-  imaginary axis, or the unit circle, respectively. It is assumed
-  that the matrix E is nonsingular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK,
-     $                   A, LDA, E, LDE, B, LDB, C, LDC, D, LDD, GPEAK,
-     $                   TOL, IWORK, DWORK, LDWORK, CWORK, LCWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DICO, EQUIL, JOBD, JOBE
-      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                   M, N, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         CWORK(  * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK(  * ), E( LDE, * ),
-     $                   FPEAK(  2 ), GPEAK(  2 )
-      INTEGER            IWORK(  * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system, as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general square or an identity
-          matrix, as follows:
-          = 'G':  E is a general square matrix;
-          = 'I':  E is the identity matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the system (A,E,B,C) or (A,B,C), as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The row size of the matrix C.  P &gt;= 0.
-
-  FPEAK   (input/output) DOUBLE PRECISION array, dimension (2)
-          On entry, this parameter must contain an estimate of the
-          frequency where the gain of the frequency response would
-          achieve its peak value. Setting FPEAK(2) = 0 indicates an
-          infinite frequency. An accurate estimate could reduce the
-          number of iterations of the iterative algorithm. If no
-          estimate is available, set FPEAK(1) = 0, and FPEAK(2) = 1.
-          FPEAK(1) &gt;= 0, FPEAK(2) &gt;= 0.
-          On exit, if INFO = 0, this array contains the frequency
-          OMEGA, where the gain of the frequency response achieves
-          its peak value GPEAK, i.e.,
-
-              || G ( j*OMEGA ) || = GPEAK ,  if DICO = 'C', or
-
-                      j*OMEGA
-              || G ( e       ) || = GPEAK ,  if DICO = 'D',
-
-          where OMEGA = FPEAK(1), if FPEAK(2) &gt; 0, and OMEGA is
-          infinite, if FPEAK(2) = 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'G', the leading N-by-N part of this array must
-          contain the descriptor matrix E of the system.
-          If JOBE = 'I', then E is assumed to be the identity
-          matrix and is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this array must
-          contain the direct transmission matrix D.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  GPEAK   (output) DOUBLE PRECISION array, dimension (2)
-          The L-infinity norm of the system, i.e., the peak gain
-          of the frequency response (as measured by the largest
-          singular value in the MIMO case), coded in the same way
-          as FPEAK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used to set the accuracy in determining the
-          norm.  0 &lt;= TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= K, where K can be computed using the following
-          pseudo-code (or the Fortran code included in the routine)
-
-             d = 6*MIN(P,M);
-             c = MAX( 4*MIN(P,M) + MAX(P,M), d );
-             if ( MIN(P,M) = 0 ) then
-                K = 1;
-             else if( N = 0 or B = 0 or C = 0 ) then
-                if( JOBD = 'D' ) then
-                   K = P*M + c;
-                else
-                   K = 1;
-                end
-             else
-                if ( DICO = 'D' ) then
-                   b = 0;  e = d;
-                else
-                   b = N*(N+M);  e = c;
-                   if ( JOBD = Z' ) then  b = b + P*M;  end
-                end
-                if ( JOBD = 'D' ) then
-                   r = P*M;
-                   if ( JOBE = 'I', DICO = 'C',
-                        N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0 ) then
-                      K = P*P + M*M;
-                      r = r + N*(P+M);
-                   else
-                      K = 0;
-                   end
-                   K = K + r + c;  r = r + MIN(P,M);
-                else
-                   r = 0;  K = 0;
-                end
-                r = r + N*(N+P+M);
-                if ( JOBE = 'G' ) then
-                   r = r + N*N;
-                   if ( EQUIL = 'S' ) then
-                      K = MAX( K, r + 9*N );
-                   end
-                   K = MAX( K, r + 4*N + MAX( M, 2*N*N, N+b+e ) );
-                else
-                   K = MAX( K, r + N +
-                               MAX( M, P, N*N+2*N, 3*N+b+e ) );
-                end
-                w = 0;
-                if ( JOBE = 'I', DICO = 'C' ) then
-                   w = r + 4*N*N + 11*N;
-                   if ( JOBD = 'D' ) then
-                      w = w + MAX(M,P) + N*(P+M);
-                   end
-                end
-                if ( JOBE = 'E' or DICO = 'D' or JOBD = 'D' ) then
-                   w = MAX( w, r + 6*N + (2*N+P+M)*(2*N+P+M) +
-                            MAX( 2*(N+P+M), 8*N*N + 16*N ) );
-                end
-                K = MAX( 1, K, w, r + 2*N + e );
-             end
-
-          For good performance, LDWORK must generally be larger.
-
-          An easily computable upper bound is
-
-          K = MAX( 1, 15*N*N + P*P + M*M + (6*N+3)*(P+M) + 4*P*M +
-                      N*M + 22*N + 7*MIN(P,M) ).
-
-          The smallest workspace is obtained for DICO = 'C',
-          JOBE = 'I', and JOBD = 'Z', namely
-
-          K = MAX( 1, N*N + N*P + N*M + N +
-                      MAX( N*N + N*M + P*M + 3*N + c,
-                           4*N*N + 10*N ) ).
-
-          for which an upper bound is
-
-          K = MAX( 1, 6*N*N + N*P + 2*N*M + P*M + 11*N + MAX(P,M) +
-                      6*MIN(P,M) ).
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) contains the optimal
-          LCWORK.
-
-  LCWORK  INTEGER
-          The dimension of the array CWORK.
-          LCWORK &gt;= 1,  if N = 0, or B = 0, or C = 0;
-          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
-                        otherwise.
-          For good performance, LCWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix E is (numerically) singular;
-          = 2:  the (periodic) QR (or QZ) algorithm for computing
-                eigenvalues did not converge;
-          = 3:  the SVD algorithm for computing singular values did
-                not converge;
-          = 4:  the tolerance is too small and the algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1], with
-  extensions and refinements for improving numerical robustness and
-  efficiency. Structure-exploiting eigenvalue computations for
-  Hamiltonian matrices are used if JOBE = 'I', DICO = 'C', and the
-  symmetric matrices to be implicitly inverted are not too ill-
-  conditioned. Otherwise, generalized eigenvalue computations are
-  used in the iterative algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bruinsma, N.A. and Steinbuch, M.
-      A fast algorithm to compute the Hinfinity-norm of a transfer
-      function matrix.
-      Systems & Control Letters, vol. 14, pp. 287-293, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If the algorithm does not converge in MAXIT = 30 iterations
-  (INFO = 4), the tolerance must be increased.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the matrix E is singular, other SLICOT Library routines
-  could be used before calling AB13DD, for removing the singular
-  part of the system.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LCWORK
-      PARAMETER        ( LCWORK = ( NMAX + MMAX )*( NMAX + PMAX ) +
-     $                             2*MIN( PMAX, MMAX ) +
-     $                             MAX( PMAX, MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 15*NMAX*NMAX + PMAX*PMAX + MMAX*MMAX +
-     $                            ( 6*NMAX + 3 )*( PMAX + MMAX ) +
-     $                            4*PMAX*MMAX + NMAX*MMAX + 22*NMAX +
-     $                            7*MIN( PMAX, MMAX ) )
-      DOUBLE PRECISION   ZERO
-      PARAMETER          ( ZERO = 0.0D+0 )
-
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER        DICO, EQUIL, JOBD, JOBE
-*     .. Local Arrays ..
-      INTEGER          IWORK( LIWORK )
-      DOUBLE PRECISION A( LDA, NMAX ), B( LDB, MMAX ),  C( LDC, NMAX ),
-     $                 D( LDD, MMAX ), DWORK( LDWORK ), E( LDE, NMAX ),
-     $                 FPEAK( 2 ), GPEAK( 2 )
-      COMPLEX*16       CWORK( LCWORK )
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB13DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, FPEAK, TOL, DICO, JOBE, EQUIL, JOBD
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) P
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOBE, 'G' ) )
-     $      READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-         IF ( LSAME( JOBD, 'D' ) )
-     $      READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*        Computing the Linf norm.
-         CALL AB13DD( DICO, JOBE, EQUIL, JOBD, N, M, P, FPEAK, A, LDA,
-     $                E, LDE, B, LDB, C, LDC, D, LDD, GPEAK, TOL, IWORK,
-     $                DWORK, LDWORK, CWORK, LCWORK, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            IF ( GPEAK( 2 ).EQ.ZERO ) THEN
-               WRITE ( NOUT, FMT = 99991 )
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               WRITE ( NOUT, FMT = 99995 ) GPEAK( 1 )
-            END IF
-            IF ( FPEAK( 2 ).EQ.ZERO ) THEN
-               WRITE ( NOUT, FMT = 99990 )
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               WRITE ( NOUT, FMT = 99995 ) FPEAK( 1 )
-            END IF
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from AB13DD =',I2)
-99997 FORMAT (/' The L_infty norm of the system is'/)
-99996 FORMAT (/' The peak frequency is'/)
-99995 FORMAT (D17.10)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' The L_infty norm of the system is infinite')
-99990 FORMAT (/' The peak frequency is infinite'/)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13CD EXAMPLE PROGRAM DATA
-   6     1     1     0.0     1.0   0.000000001     C     I     N     D   
-   0.0  1.0     0.0   0.0      0.0  0.0
-  -0.5 -0.0002  0.0   0.0      0.0  0.0
-   0.0  0.0     0.0   1.0      0.0  0.0
-   0.0  0.0    -1.0  -0.00002  0.0  0.0
-   0.0  0.0     0.0   0.0      0.0  1.0
-   0.0  0.0     0.0   0.0     -2.0 -0.000002
-   1.0 
-   0.0  
-   1.0 
-   0.0 
-   1.0 
-   0.0
-   1.0  0.0  1.0  0.0  1.0  0.0
-   0.0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13DD EXAMPLE PROGRAM RESULTS
-
-
- The L_infty norm of the system is
-
- 0.5000000001D+06
-
- The peak frequency is
-
- 0.1414213562D+01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13DX.html b/doc/_static/doc/AB13DX.html
deleted file mode 100644
index 26f861c7..00000000
--- a/doc/_static/doc/AB13DX.html
+++ /dev/null
@@ -1,250 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13DX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13DX">AB13DX</A></H2>
-<H3>
-Maximum singular value of a transfer-function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the maximum singular value of a given continuous-time
-  or discrete-time transfer-function matrix, either standard or in
-  the descriptor form,
-
-                                  -1
-     G(lambda) = C*( lambda*E - A ) *B + D ,
-
-  for a given complex value lambda, where lambda = j*omega, in the
-  continuous-time case, and lambda = exp(j*omega), in the
-  discrete-time case. The matrices A, E, B, C, and D are real
-  matrices of appropriate dimensions. Matrix A must be in an upper
-  Hessenberg form, and if JOBE ='G', the matrix E must be upper
-  triangular. The matrices B and C must correspond to the system
-  in (generalized) Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION AB13DX( DICO, JOBE, JOBD, N, M, P,
-     $                                  OMEGA, A, LDA, E, LDE, B, LDB,
-     $                                  C, LDC, D, LDD, IWORK, DWORK,
-     $                                  LDWORK, CWORK, LCWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DICO, JOBD, JOBE
-      INTEGER            INFO, LCWORK, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                   M, N, P
-      DOUBLE PRECISION   OMEGA
-C     .. Array Arguments ..
-      COMPLEX*16         CWORK(  * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK(  * ), E( LDE, * )
-      INTEGER            IWORK(  * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13DX   DOUBLE PRECISION
-           The maximum singular value of G(lambda).
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system, as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'G':  E is a general upper triangular matrix;
-          = 'I':  E is the identity matrix.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The row size of the matrix C.  P &gt;= 0.
-
-  OMEGA   (input) DOUBLE PRECISION
-          The frequency value for which the calculations should be
-          done.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the state dynamics matrix A in upper
-          Hessenberg form. The elements below the subdiagonal are
-          not referenced.
-          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
-          and C &lt;&gt; 0, the leading N-by-N upper Hessenberg part of
-          this array contains the factors L and U from the LU
-          factorization of A (A = P*L*U); the unit diagonal elements
-          of L are not stored, L is lower bidiagonal, and P is
-          stored in IWORK (see SLICOT Library routine MB02SD).
-          Otherwise, this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'G', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular descriptor
-          matrix E of the system. The elements of the strict lower
-          triangular part of this array are not referenced.
-          If JOBE = 'I', then E is assumed to be the identity
-          matrix and is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, if M &gt; 0, P &gt; 0, OMEGA = 0, DICO = 'C', B &lt;&gt; 0,
-          C &lt;&gt; 0, and INFO = 0 or N+1, the leading N-by-M part of
-          this array contains the solution of the system A*X = B.
-          Otherwise, this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the direct transmission matrix D.
-          On exit, if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
-          or (OMEGA = 0, DICO = 'C', JOBD = 'D', and INFO = 0 or
-          N+1), the contents of this array is destroyed.
-          Otherwise, this array is unchanged on exit.
-          This array is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = N, if N &gt; 0, M &gt; 0, P &gt; 0, B &lt;&gt; 0, and C &lt;&gt; 0;
-          LIWORK = 0, otherwise.
-          This array contains the pivot indices in the LU
-          factorization of the matrix lambda*E - A; for 1 &lt;= i &lt;= N,
-          row i of the matrix was interchanged with row IWORK(i).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK, and DWORK(2), ..., DWORK(MIN(P,M)) contain the
-          singular values of G(lambda), except for the first one,
-          which is returned in the function value AB13DX.
-          If (N = 0, or B = 0, or C = 0) and JOBD = 'Z', the last
-          MIN(P,M)-1 zero singular values of G(lambda) are not
-          stored in DWORK(2), ..., DWORK(MIN(P,M)).
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1, LDW1 + LDW2 ),
-          LDW1 = P*M, if N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0,
-                         DICO = 'C', and JOBD = 'Z';
-          LDW1 = 0,   otherwise;
-          LDW2 = MIN(P,M) + MAX(3*MIN(P,M) + MAX(P,M), 5*MIN(P,M)),
-                      if (N = 0, or B = 0, or C = 0) and JOBD = 'D',
-                      or (N &gt; 0, B &lt;&gt; 0, C &lt;&gt; 0, OMEGA = 0, and
-                          DICO = 'C');
-          LDW2 = 0,   if (N = 0, or B = 0, or C = 0) and JOBD = 'Z',
-                      or MIN(P,M) = 0;
-          LDW2 = 6*MIN(P,M), otherwise.
-          For good performance, LDWORK must generally be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) contains the optimal
-          LCWORK.
-
-  LCWORK  INTEGER
-          The dimension of the array CWORK.
-          LCWORK &gt;= 1, if N = 0, or B = 0, or C = 0, or (OMEGA = 0
-                          and DICO = 'C') or MIN(P,M) = 0;
-          LCWORK &gt;= MAX(1, (N+M)*(N+P) + 2*MIN(P,M) + MAX(P,M)),
-                       otherwise.
-          For good performance, LCWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero; the LU
-                factorization of the matrix lambda*E - A has been
-                completed, but the factor U is exactly singular,
-                i.e., the matrix lambda*E - A is exactly singular;
-          = N+1:  the SVD algorithm for computing singular values
-                did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements standard linear algebra calculations,
-  taking problem structure into account. LAPACK Library routines
-  DGESVD and ZGESVD are used for finding the singular values.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13ED.html b/doc/_static/doc/AB13ED.html
deleted file mode 100644
index 4d1940ca..00000000
--- a/doc/_static/doc/AB13ED.html
+++ /dev/null
@@ -1,256 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13ED">AB13ED</A></H2>
-<H3>
-Estimating the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using bisection
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate beta(A), the 2-norm distance from a real matrix A to
-  the nearest complex matrix with an eigenvalue on the imaginary
-  axis. The estimate is given as
-
-         LOW &lt;= beta(A) &lt;= HIGH,
-
-  where either
-
-         (1 + TOL) * LOW &gt;= HIGH,
-
-  or
-
-         LOW = 0   and   HIGH = delta,
-
-  and delta is a small number approximately equal to the square root
-  of machine precision times the Frobenius norm (Euclidean norm)
-  of A. If A is stable in the sense that all eigenvalues of A lie
-  in the open left half complex plane, then beta(A) is the distance
-  to the nearest unstable complex matrix, i.e., the complex
-  stability radius.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  HIGH, LOW, TOL
-      INTEGER           INFO, LDA, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  LOW     (output) DOUBLE PRECISION
-          A lower bound for beta(A).
-
-  HIGH    (output) DOUBLE PRECISION
-          An upper bound for beta(A).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Specifies the accuracy with which LOW and HIGH approximate
-          beta(A). If the user sets TOL to be less than SQRT(EPS),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH), then the tolerance is taken to be
-          SQRT(EPS).
-          The recommended value is TOL = 9, which gives an estimate
-          of beta(A) correct to within an order of magnitude.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 3*N*(N+1) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QR algorithm (LAPACK Library routine DHSEQR)
-                fails to converge; this error is very rare.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let beta(A) be the 2-norm distance from a real matrix A to the
-  nearest complex matrix with an eigenvalue on the imaginary axis.
-  It is known that beta(A) = minimum of the smallest singular
-  value of (A - jwI), where I is the identity matrix and j**2 = -1,
-  and the minimum is taken over all real w.
-  The algorithm computes a lower bound LOW and an upper bound HIGH
-  for beta(A) by a bisection method in the following way. Given a
-  non-negative real number sigma, the Hamiltonian matrix H(sigma)
-  is constructed:
-
-                    |   A      -sigma*I |     | A   G  |
-        H(sigma) =  |                   | :=  |        | .
-                    | sigma*I    -A'    |     | F  -A' |
-
-  It can be shown [1] that H(sigma) has an eigenvalue whose real
-  part is zero if and only if sigma &gt;= beta. Any lower and upper
-  bounds on beta(A) can be improved by choosing a number between
-  them and checking to see if H(sigma) has an eigenvalue with zero
-  real part.  This decision is made by computing the eigenvalues of
-  H(sigma) using the square reduced algorithm of Van Loan [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Byers, R.
-      A bisection method for measuring the distance of a stable
-      matrix to the unstable matrices.
-      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
-
-  [2] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of a
-      Hamiltonian matrix.
-      Linear Algebra and its Applications, Vol 61, 233-251, 1984.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Due to rounding errors the computed values of LOW and HIGH can be
-  proven to satisfy
-
-         LOW - p(n) * sqrt(e) * norm(A) &lt;= beta(A)
-  and
-         beta(A) &lt;= HIGH + p(n) * sqrt(e) * norm(A),
-
-  where p(n) is a modest polynomial of degree 3, e is the machine
-  precision and norm(A) is the Frobenius norm of A, see [1].
-  The recommended value for TOL is 9 which gives an estimate of
-  beta(A) correct to within an order of magnitude.
-  AB13ED requires approximately 38*N**3 flops for TOL = 9.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 1 ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION HIGH, LOW, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB13ED, UD01MD
-*     ..
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-*     Read N, TOL and next A (row wise).
-      READ ( NIN, FMT = * ) N, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         DO 10 I = 1, N
-            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
-   10    CONTINUE
-*
-         WRITE ( NOUT, FMT = 99998 ) N, TOL
-         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'Matrix A', INFO )
-*
-         CALL AB13ED( N, A, LDA, LOW, HIGH, TOL, DWORK, LDWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) LOW, HIGH
-         ELSE
-            WRITE ( NOUT, FMT = 99996 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13ED EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' N =', I4, 2X, 'TOL =', D10.3)
-99997 FORMAT (' LOW  =', D18.11, /' HIGH =', D18.11)
-99996 FORMAT (' INFO on exit from AB13ED = ', I2)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-AB13ED EXAMPLE PROGRAM DATA
-5, 9.0D0
-1.0D-01  1.0D-00  0.0D-00  0.0D-00  0.0D-00
-0.0D-00  1.0D-01  1.0D-00  0.0D-00  0.0D-00
-0.0D-00  0.0D-00  1.0D-01  1.0D-00  0.0D-00
-0.0D-00  0.0D-00  0.0D-00  1.0D-01  1.0D-00
-0.0D-00  0.0D-00  0.0D-00  0.0D-00  1.0D-01
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13ED EXAMPLE PROGRAM RESULTS
-
- N =   5  TOL = 0.900D+01
- Matrix A ( 5X 5)
-
-            1              2              3              4              5
-  1    0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00  0.1000000D+01
-  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+00
- 
- LOW  = 0.20929379255D-05
- HIGH = 0.20793050504D-04
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13FD.html b/doc/_static/doc/AB13FD.html
deleted file mode 100644
index b6a32d41..00000000
--- a/doc/_static/doc/AB13FD.html
+++ /dev/null
@@ -1,257 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13FD">AB13FD</A></H2>
-<H3>
-Computing the distance from a real matrix to the nearest complex matrix with an eigenvalue on the imaginary axis, using SVD
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute beta(A), the 2-norm distance from a real matrix A to
-  the nearest complex matrix with an eigenvalue on the imaginary
-  axis. If A is stable in the sense that all eigenvalues of A lie
-  in the open left half complex plane, then beta(A) is the complex
-  stability radius, i.e., the distance to the nearest unstable
-  complex matrix. The value of beta(A) is the minimum of the
-  smallest singular value of (A - jwI), taken over all real w.
-  The value of w corresponding to the minimum is also computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK,
-     $                   CWORK, LCWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LCWORK, LDA, LDWORK, N
-      DOUBLE PRECISION  BETA, OMEGA, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*)
-      COMPLEX*16        CWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  BETA    (output) DOUBLE PRECISION
-          The computed value of beta(A), which actually is an upper
-          bound.
-
-  OMEGA   (output) DOUBLE PRECISION
-          The value of w such that the smallest singular value of
-          (A - jwI) equals beta(A).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Specifies the accuracy with which beta(A) is to be
-          calculated. (See the Numerical Aspects section below.)
-          If the user sets TOL to be less than EPS, where EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH),
-          then the tolerance is taken to be EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          If DWORK(1) is not needed, the first 2*N*N entries of
-          DWORK may overlay CWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 3*N*(N+2) ).
-          For optimum performance LDWORK should be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0, CWORK(1) returns the optimal value
-          of LCWORK.
-          If CWORK(1) is not needed, the first N*N entries of
-          CWORK may overlay DWORK.
-
-  LCWORK  INTEGER
-          The length of the array CWORK.
-          LCWORK &gt;= MAX( 1, N*(N+3) ).
-          For optimum performance LCWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the routine fails to compute beta(A) within the
-                specified tolerance. Nevertheless, the returned
-                value is an upper bound on beta(A);
-          = 2:  either the QR or SVD algorithm (LAPACK Library
-                routines DHSEQR, DGESVD or ZGESVD) fails to
-                converge; this error is very rare.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  AB13FD combines the methods of [1] and [2] into a provably
-  reliable, quadratically convergent algorithm. It uses the simple
-  bisection strategy of [1] to find an interval which contains
-  beta(A), and then switches to the modified bisection strategy of
-  [2] which converges quadratically to a minimizer. Note that the
-  efficiency of the strategy degrades if there are several local
-  minima that are near or equal the global minimum.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Byers, R.
-      A bisection method for measuring the distance of a stable
-      matrix to the unstable matrices.
-      SIAM J. Sci. Stat. Comput., Vol. 9, No. 5, pp. 875-880, 1988.
-
-  [2] Boyd, S. and Balakrishnan, K.
-      A regularity result for the singular values of a transfer
-      matrix and a quadratically convergent algorithm for computing
-      its L-infinity norm.
-      Systems and Control Letters, Vol. 15, pp. 1-7, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  In the presence of rounding errors, the computed function value
-  BETA  satisfies
-
-        beta(A) &lt;= BETA + epsilon,
-
-        BETA/(1+TOL) - delta &lt;= MAX(beta(A), SQRT(2*N*EPS)*norm(A)),
-
-  where norm(A) is the Frobenius norm of A,
-
-        epsilon = p(N) * EPS * norm(A),
-  and
-        delta   = p(N) * SQRT(EPS) * norm(A),
-
-  and p(N) is a low degree polynomial. It is recommended to choose
-  TOL greater than SQRT(EPS). Although rounding errors can cause
-  AB13FD to fail for smaller values of TOL, nevertheless, it usually
-  succeeds. Regardless of success or failure, the first inequality
-  holds.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX*( NMAX + 2 ) )
-      INTEGER          LCWORK
-      PARAMETER        ( LCWORK = NMAX*( NMAX + 3 ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION BETA, OMEGA, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
-      COMPLEX*16       CWORK(LCWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB13FD, UD01MD
-*     ..
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-*     Read N, TOL and next A (row wise).
-      READ ( NIN, FMT = * ) N, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         DO 10 I = 1, N
-            READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
-   10    CONTINUE
-*
-         WRITE ( NOUT, FMT = 99998 ) N, TOL
-         CALL UD01MD( N, N, 5, NOUT, A, LDA, 'A', INFO )
-*
-         CALL AB13FD( N, A, LDA, BETA, OMEGA, TOL, DWORK, LDWORK, CWORK,
-     $                LCWORK, INFO )
-*
-         IF ( INFO.NE.0 )
-     $      WRITE ( NOUT, FMT = 99996 ) INFO
-         WRITE ( NOUT, FMT = 99997 ) BETA, OMEGA
-      END IF
-*
-99999 FORMAT (' AB13FD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' N =', I2, 3X, 'TOL =', D10.3)
-99997 FORMAT (' Stability radius :', D18.11, /
-     *        ' Minimizing omega :', D18.11)
-99996 FORMAT (' INFO on exit from AB13FD = ', I2)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-AB13FD EXAMPLE PROGRAM DATA
-4   0.0D-00   0.0D-00
-     246.500        242.500        202.500       -197.500
-    -252.500       -248.500       -207.500        202.500
-    -302.500       -297.500       -248.500        242.500
-    -307.500       -302.500       -252.500        246.500
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13FD EXAMPLE PROGRAM RESULTS
-
- N = 4   TOL = 0.000D+00
- A ( 4X 4)
-
-            1              2              3              4
-  1    0.2465000D+03  0.2425000D+03  0.2025000D+03 -0.1975000D+03
-  2   -0.2525000D+03 -0.2485000D+03 -0.2075000D+03  0.2025000D+03
-  3   -0.3025000D+03 -0.2975000D+03 -0.2485000D+03  0.2425000D+03
-  4   -0.3075000D+03 -0.3025000D+03 -0.2525000D+03  0.2465000D+03
- 
- Stability radius : 0.39196472317D-02
- Minimizing omega : 0.98966520430D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,602 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13ID">AB13ID</A></H2>
-<H3>
-Testing properness of the transfer function matrix of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check whether the transfer function
-
-                                  -1
-    G(lambda) := C*( lambda*E - A ) *B
-
-  of a given linear time-invariant descriptor system with
-  generalized state space realization (lambda*E-A,B,C) is proper.
-  Optionally, if JOBEIG = 'A', the system (lambda*E-A,B,C) is
-  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) with only
-  controllable and observable eigenvalues in order to use it for a
-  subsequent L_inf-norm computation; if JOBEIG = 'I', the system is
-  reduced to an equivalent one (lambda*Er-Ar,Br,Cr) without
-  uncontrollable and unobservable infinite eigenvalues. In this
-  case, intended mainly for checking the properness, the returned
-  system is not fully reduced, unless UPDATE = 'U'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      LOGICAL FUNCTION AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
-     $                         UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                         C, LDC, NR, RANKE, TOL, IWORK, DWORK,
-     $                         LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
-      INTEGER            INFO, IWARN, LDA, LDB, LDC, LDE, LDWORK, M, N,
-     $                   NR, P, RANKE
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), TOL( * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  AB13ID  LOGICAL
-          Indicates whether the transfer function is proper.
-          If AB13ID = .TRUE., the transfer function is proper;
-          otherwise, it is improper.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBSYS  CHARACTER*1
-          Indicates whether the system (lambda*E-A,B,C) is already
-          in the reduced form which is obtained as stated in
-          JOBEIG, as follows.
-          = 'R': The system is not in a reduced form, the reduction
-                 step is performed;
-          = 'N': The system is in a reduced form; the reduction step
-                 is omitted.
-
-  JOBEIG  CHARACTER*1
-          Indicates which kind of eigenvalues of the matrix pencil
-          lambda*E-A should be removed if JOBSYS = 'R', as follows:
-          = 'A': All uncontrollable and unobservable eigenvalues
-                 are removed; the reduced system is returned in
-                 the arrays A, E, B, C;
-          = 'I': Only all uncontrollable and unobservable infinite
-                 eigenvalues are removed; the returned system is not
-                 fully reduced if UPDATE = 'N'.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily scale
-          the system (lambda*E-A,B,C) as follows:
-          = 'S': Perform scaling;
-          = 'N': Do not perform scaling.
-
-  CKSING  CHARACTER*1
-          Specifies whether the user wishes to check if the pencil
-          (lambda*E-A) is singular as follows:
-          = 'C':  Check singularity;
-          = 'N':  Do not check singularity.
-          If the pencil is singular, the reduced system computed for
-          CKSING = 'N' may have completely different eigenvalues
-          than the given system.
-          The test is performed only if JOBSYS = 'R'.
-
-  RESTOR  CHARACTER*1
-          Specifies whether the user wishes to save the system
-          matrices before each reduction phase (if JOBSYS = 'R') and
-          restore them if no order reduction took place as follows:
-          = 'R':  Save and restore;
-          = 'N':  Do not save the matrices.
-          This option is ineffective if JOBSYS = 'N'.
-
-  UPDATE  CHARACTER*1
-          Specifies whether the user wishes to update the matrices
-          A, B, and C if JOBEIG = 'I' as follows:
-          = 'U':  Update the matrices A, B and C;
-          = 'N':  Do not update the matrices A, B and C when
-                  performing URV decomposition of the matrix E
-                  (see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of the descriptor system input vector; also
-          the number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of the descriptor system output vector; also
-          the number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          NR-by-NR part of this array contains the reduced order
-          state matrix Ar of a fully controllable and observable
-          realization for the original system. If JOBSYS = 'R' and
-          JOBEIG = 'I', the leading NR-by-NR part of this array
-          contains the reduced order state matrix Ar of a
-          transformed system without uncontrollable and unobservable
-          infinite poles. In this case, the matrix Ar does not
-          correspond to the returned matrix Er (obtained after a
-          URV decomposition), unless UPDATE = 'U' or RANKE &lt; NR.
-          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or UPDATE = 'U'
-          or RANKE &lt; N), the leading N-by-N part of this array
-          contains the transformed matrix A corresponding to the
-          URV decomposition of E (see (2) in METHOD), and if
-          JOBEIG = 'I' and UPDATE = 'N', the submatrix A22 in (2) is
-          further transformed to estimate its rank.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          NR-by-NR part of this array contains the reduced order
-          descriptor matrix Er of a completely controllable and
-          observable realization for the original system. The
-          reduced matrix Er is in upper triangular form.
-          If JOBSYS = 'R' and JOBEIG = 'I', the leading NR-by-NR
-          part of this array contains the reduced order descriptor
-          matrix Er of a transformed system without uncontrollable
-          and unobservable infinite poles. The reduced matrix Er is
-          upper triangular. In both cases, or if JOBSYS = 'N', the
-          matrix Er results from a URV decomposition of the matrix E
-          (see METHOD).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B; the remainder of the leading
-          N-by-MAX(M,P) part is used as internal workspace.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          NR-by-M part of this array contains the reduced input
-          matrix Br of a completely controllable and observable
-          realization for the original system. If JOBSYS = 'R' and
-          JOBEIG = 'I', the leading NR-by-M part of this array
-          contains the transformed input matrix Br obtained after
-          removing the uncontrollable and unobservable infinite
-          poles; the transformations for the URV decomposition of
-          the matrix E are not applied if UPDATE = 'N'.
-          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
-          UPDATE = 'U'), the leading N-by-M part of this array
-          contains the transformed matrix B corresponding to the
-          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
-          and UPDATE = 'N', the array B is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C; the remainder of the leading
-          MAX(M,P)-by-N part is used as internal workspace.
-          On exit, if JOBSYS = 'R' and JOBEIG = 'A', the leading
-          P-by-NR part of this array contains the transformed output
-          matrix Cr of a completely controllable and observable
-          realization for the original system. If JOBSYS = 'R' and
-          JOBEIG = 'I', the leading P-by-NR part of this array
-          contains the transformed output matrix Cr obtained after
-          removing the uncontrollable and unobservable infinite
-          poles; the transformations for the URV decomposition of
-          the matrix E are not applied if UPDATE = 'N'.
-          On exit, if JOBSYS = 'N' and (JOBEIG = 'A' or
-          UPDATE = 'U'), the leading P-by-N part of this array
-          contains the transformed matrix C corresponding to the
-          URV decomposition of E, but if JOBEIG = 'I', EQUIL = 'N'
-          and UPDATE = 'N', the array C is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0;
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced generalized state space
-          representation (lambda*Er-Ar,Br,Cr) as stated in JOBEIG.
-          If JOBEIG = 'A', NR denotes the order of a reduced system
-          without any uncontrollable or unobservable eigenvalues; if
-          JOBEIG = 'I', NR denotes the order of the reduced system
-          without any uncontrollable or unobservable infinite
-          eigenvalues. If JOBSYS = 'N', then NR = N.
-
-  RANKE   (output) INTEGER
-          The effective (estimated) rank of the reduced matrix Er.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension 3
-          TOL(1) is the tolerance to be used in rank determinations
-          when transforming (lambda*E-A,B,C). If the user sets
-          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
-          lower bound for reciprocal condition numbers in rank
-          determinations; a (sub)matrix whose estimated condition
-          number is less than 1/TOL(1) is considered to be of full
-          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
-          is used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
-          TOL(2) is the tolerance to be used for checking pencil
-          singularity when CKSING = 'C', or singularity of the
-          matrices A and E when CKSING = 'N'. If the user sets
-          TOL(2) &gt; 0, then the given value of TOL(2) is used.
-          If the user sets TOL(2) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
-          is used instead.  TOL(2) &lt; 1.
-          TOL(3) is the threshold value for magnitude of the matrix
-          elements, if EQUIL = 'S': elements with magnitude less
-          than or equal to TOL(3) are ignored for scaling. If the
-          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
-          used. If the user sets TOL(3) &lt; 0, then an implicitly
-          computed, default threshold, defined by  THRESH = c*EPS,
-          where c = MAX(norm_1(A,E,B,C)) is used instead.
-          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
-          TOL(3) is not used if EQUIL = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          If JOBSYS = 'R',  LIWORK &gt;= 2*N+MAX(M,P)+7;
-          If JOBSYS = 'N',  LIWORK &gt;= N.
-          If JOBSYS = 'R', the first 7 elements of IWORK contain
-          information on performed reduction and on structure of
-          resulting system matrices after removing the specified
-          eigenvalues (see the description of the parameter INFRED
-          of the SLICOT Library routine TG01JY).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If JOBSYS = 'R', and EQUIL = 'S',
-             LDWORK &gt;= MAX(w+4*N+4,8*N,x,y),
-          where w = N*N,                  if JOBEIG = 'A',
-                w = 0,                    if JOBEIG = 'I',
-                x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
-                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
-                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
-                y = 0,                    if CKSING = 'N',
-                z = 2*N*N+N*M+N*P;
-          if JOBSYS = 'R', and EQUIL = 'N',
-             LDWORK &gt;= MAX(w+4*N+4,x,y);
-          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
-                           and EQUIL  = 'S',
-             LDWORK &gt;= MAX(N*N+4*N+4,8*N,N+M,N+P);
-          if JOBSYS = 'N', and JOBEIG = 'A'  or UPDATE = 'U',
-                           and EQUIL  = 'N',
-             LDWORK &gt;= MAX(N*N+4*N+4,N+M,N+P);
-          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
-                           and EQUIL  = 'S',
-             LDWORK &gt;= MAX(4*N+4,8*N);
-          if JOBSYS = 'N', and JOBEIG = 'I' and UPDATE = 'N',
-                           and EQUIL  = 'N',
-             LDWORK &gt;= 4*N+4.
-          If JOBSYS = 'R' and ( RESTOR = 'R' or
-          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1) ),
-          then more accurate results are to be expected by
-          considering only those reduction phases in the SLICOT
-          Library routine TG01JY, where effective order reduction
-          occurs. This is achieved by saving the system matrices
-          before each phase (after orthogonally triangularizing the
-          matrix A or the matrix E, if RESTOR = 'N') and restoring
-          them if no order reduction took place. However, higher
-          global accuracy is not guaranteed.
-          For good performance, LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA. The optimal workspace includes the
-          extra space for improving the accuracy.
-
-  Error/Warning Indicator
-
-  IWARN   INTEGER
-          = 0: When determining the rank of a matrix, the distance
-               between the tolerance TOL(1) and the estimated
-               singular values is sufficiently large. The rank can
-               be safely determined;
-          = 1: When determining the rank of a matrix, there exist
-               estimated singular values which are very close to the
-               tolerance TOL(1). The computed rank is possibly
-               incorrect.
-
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the given pencil A - lambda*E is numerically
-               singular and the reduced system is not computed.
-               However, the system is considered improper, and
-               AB13ID is set to .FALSE.
-               This error can be returned only if CKSING = 'C'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOBSYS = 'R', the routine first removes uncontrollable and
-  unobservable infinite eigenvalues of the pencil lambda*E-A. If, in
-  addition, JOBEIG = 'A', uncontrollable and unobservable zero
-  eigenvalues are also removed. Then, or if JOBSYS = 'N', a
-  URV decomposition of the matrix E is performed, i.e., orthogonal
-  matrices U and V are computed, such that
-
-            ( T  0 )
-    U*E*V = (      ) with a full-rank matrix T.                  (1)
-            ( 0  0 )
-
-  Then the matrix A (or a copy of A if JOBEIG = 'A' or UPDATE = 'U')
-  is updated and partioned as in (1), i.e.,
-
-            ( A11  A12 )
-    U*A*V = (          ) ,                                       (2)
-            ( A21  A22 )
-
-  and the rank of A22 is computed. If A22 is invertible, the
-  transfer function is proper, otherwise it is improper. If
-  required (i.e., JOBEIG = 'A' or UPDATE = 'U'), the matrices B and
-  C are updated as well in order to obtain an equivalent reduced
-  system with the same transfer function. See also Chapter 3 in [1],
-  [2] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Voigt, M.
-      L_inf-Norm Computation for Descriptor Systems.
-      Diploma Thesis, Chemnitz University of Technology, Department
-      of Mathematics, Germany, July 2010.
-
-  [2] Benner, P., Sima, V., Voigt, M.
-      L_infinity-norm computation for continuous-time descriptor
-      systems using structured matrix pencils.
-      IEEE Trans. Automat. Contr., vol. 57, pp. 233-238, 2012.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations. During
-  the algorithm it is necessary to determine the rank of certain
-  matrices. Therefore it is crucial to use an appropriate tolerance
-  TOL(1) to make correct rank decisions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX,
-     $                   LDC = MAX( MMAX, PMAX ), LDE = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
-     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
-     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
-     $                                 10*NMAX + MAX( NMAX, 23 ) ),
-     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) + 7 )
-*     .. Local Scalars ..
-      LOGICAL          LISPRP
-      CHARACTER        CKSING, EQUIL, JOBEIG, JOBSYS, RESTOR, UPDATE
-      INTEGER          I, INFO, IWARN, J, M, N, NO, NR, P, RANKE
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAX(MMAX,PMAX)), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
-
-*     .. External Functions ..
-      LOGICAL          AB13ID, LSAME
-      EXTERNAL         AB13ID, LSAME
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOBSYS,
-     $                      JOBEIG, EQUIL, CKSING, RESTOR, UPDATE
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Check whether the transfer function of the descriptor
-*              system is proper.
-               LISPRP = AB13ID( JOBSYS, JOBEIG, EQUIL, CKSING, RESTOR,
-     $                          UPDATE, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                          C, LDC, NR, RANKE, TOL, IWORK, DWORK,
-     $                          LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( LISPRP ) THEN
-                     WRITE ( NOUT, FMT = 99991 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99990 )
-                  END IF
-                  WRITE ( NOUT, FMT = 99994 ) NR
-                  WRITE ( NOUT, FMT = 99989 ) RANKE
-                  IF ( LSAME( JOBSYS, 'N' ).AND.( LSAME( JOBEIG, 'A' )
-     $             .OR.LSAME( UPDATE, 'U' ) ) ) THEN
-                     NO = N
-                  ELSE
-                     NO = NR
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, NO
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NO )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   20             CONTINUE
-                  IF ( LSAME( JOBSYS, 'N' ).AND.LSAME( JOBEIG, 'I' )
-     $                                     .AND.LSAME( EQUIL,  'S' )
-     $                                     .AND.LSAME( UPDATE, 'N' ) )
-     $               NO = N
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   40             CONTINUE
-                  IF ( IWARN.NE.0 )
-     $               WRITE ( NOUT, FMT = 99998 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13ID = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99996 FORMAT (/' The reduced descriptor matrix Er is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Order of reduced system =', I5 )
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT ( ' The system is proper')
-99990 FORMAT ( ' The system is improper')
-99989 FORMAT (' Rank of matrix E =', I5 )
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-AB13ID EXAMPLE PROGRAM DATA
-  9    2    2     0.0    0.0    0.0    R  I  N  N  N  U
-    -2    -3     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     0    -2    -3     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     1     0
-     0     0
-     0     1
-     0     0
-    -1     0
-     0     0
-     0    -1
-     0     0
-     0     0
-     1     0     1    -3     0     1     0     2     0
-     0     1     1     3     0     1     0     0     1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13ID EXAMPLE PROGRAM RESULTS
-
- The system is improper
-
- Order of reduced system =    7
- Rank of matrix E =    5
-
- The reduced state dynamics matrix Ar is 
-   0.2202   0.4554  -0.6171  -0.3695  -1.3751   0.8121   0.1953
-   0.6175   0.1352  -0.8444  -0.0262  -1.3999  -0.4013   0.3339
-  -0.6362  -1.1518   0.6708  -0.2221   0.8680  -0.0430   0.1827
-   0.1430  -0.0480  -0.3290  -0.1625  -0.6986   0.0008  -0.9031
-   0.0986  -0.8665   0.4541   0.6647   1.4067   0.4214  -0.0381
-  -0.6979  -0.0079  -0.1915   0.6588  -0.2054   0.0000   0.0000
-  -0.1861  -0.0021  -0.8313  -0.3063   0.4248   0.0000   0.0000
-
- The reduced descriptor matrix Er is 
-  -1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-
- The reduced input/state matrix Br is 
-  -0.2140  -0.3805
-  -0.2558  -0.2539
-   0.1844   0.4001
-  -0.1115  -0.1176
-   0.1879   0.5325
-  -0.9954  -0.0961
-   0.0961  -0.9954
-
- The reduced state/output matrix Cr is 
-   0.0439  -3.8727   0.0000   0.0000   0.0000   0.6508   0.7593
-   0.1184   2.0671  -0.8971  -0.8236  -2.2869   1.4100   0.1085
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB13MD.html b/doc/_static/doc/AB13MD.html
deleted file mode 100644
index b8c1d379..00000000
--- a/doc/_static/doc/AB13MD.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB13MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB13MD">AB13MD</A></H2>
-<H3>
-Upper bound on the structured singular value for a square complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an upper bound on the structured singular value for a
-  given square complex matrix and a given block structure of the
-  uncertainty.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB13MD( FACT, N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D,
-     $                   G, IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT
-      INTEGER            INFO, LDWORK, LDZ, LZWORK, M, N
-      DOUBLE PRECISION   BOUND
-C     .. Array Arguments ..
-      INTEGER            ITYPE( * ), IWORK( * ), NBLOCK( * )
-      COMPLEX*16         Z( LDZ, * ), ZWORK( * )
-      DOUBLE PRECISION   D( * ), DWORK( * ), G( * ), X( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FACT    CHARACTER*1
-          Specifies whether or not an information from the
-          previous call is supplied in the vector X.
-          = 'F':  On entry, X contains information from the
-                  previous call.
-          = 'N':  On entry, X does not contain an information from
-                  the previous call.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix Z.  N &gt;= 0.
-
-  Z       (input) COMPLEX*16 array, dimension (LDZ,N)
-          The leading N-by-N part of this array must contain the
-          complex matrix Z for which the upper bound on the
-          structured singular value is to be computed.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
-
-  M       (input) INTEGER
-          The number of diagonal blocks in the block structure of
-          the uncertainty.  M &gt;= 1.
-
-  NBLOCK  (input) INTEGER array, dimension (M)
-          The vector of length M containing the block structure
-          of the uncertainty. NBLOCK(I), I = 1:M, is the size of
-          each block.
-
-  ITYPE   (input) INTEGER array, dimension (M)
-          The vector of length M indicating the type of each block.
-          For I = 1:M,
-          ITYPE(I) = 1 indicates that the corresponding block is a
-                       real block, and
-          ITYPE(I) = 2 indicates that the corresponding block is a
-                       complex block.
-          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          ( M + MR - 1 ), where MR is the number of the real blocks.
-          On entry, if FACT = 'F' and NBLOCK(1) &lt; N, this array
-          must contain information from the previous call to AB13MD.
-          If NBLOCK(1) = N, this array is not used.
-          On exit, if NBLOCK(1) &lt; N, this array contains information
-          that can be used in the next call to AB13MD for a matrix
-          close to Z.
-
-  BOUND   (output) DOUBLE PRECISION
-          The upper bound on the structured singular value.
-
-  D, G    (output) DOUBLE PRECISION arrays, dimension (N)
-          The vectors of length N containing the diagonal entries
-          of the diagonal N-by-N matrices D and G, respectively,
-          such that the matrix
-          Z'*D^2*Z + sqrt(-1)*(G*Z-Z'*G) - BOUND^2*D^2
-          is negative semidefinite.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(4*M-2,N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 11*N + 33*M - 11.
-          For best performance
-          LDWORK &gt;= 2*N*N*M - N*N + 9*M*M + N*M + 6*N + 33*M - 11 +
-                    MAX( 5*N,2*N*NB )
-          where NB is the optimal blocksize returned by ILAENV.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) contains the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 6*N - 3.
-          For best performance
-          LZWORK &gt;= 6*N*N*M + 12*N*N + 6*M + 3*N - 3 +
-                    MAX( 3*N,N*NB )
-          where NB is the optimal blocksize returned by ILAENV.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the block sizes must be positive integers;
-          = 2:  the sum of block sizes must be equal to N;
-          = 3:  the size of a real block must be equal to 1;
-          = 4:  the block type must be either 1 or 2;
-          = 5:  errors in solving linear equations or in matrix
-                inversion;
-          = 6:  errors in computing eigenvalues or singular values.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the upper bound proposed in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Fan, M.K.H., Tits, A.L., and Doyle, J.C.
-      Robustness in the presence of mixed parametric uncertainty
-      and unmodeled dynamics.
-      IEEE Trans. Automatic Control, vol. AC-36, 1991, pp. 25-38.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy and speed of computation depend on the value of
-  the internal threshold TOL.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AB13MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDZ
-      PARAMETER        ( LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 4*MMAX-2, NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX*MMAX - NMAX*NMAX +
-     $                            9*MMAX*MMAX + NMAX*MMAX + 11*NMAX +
-     $                            33*MMAX - 11 )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = 6*NMAX*NMAX*MMAX + 12*NMAX*NMAX +
-     $                            6*MMAX + 6*NMAX - 3 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      DOUBLE PRECISION BOUND
-*     .. Local Arrays ..
-      INTEGER          ITYPE(MMAX), IWORK(LIWORK), NBLOCK(MMAX)
-      DOUBLE PRECISION D(NMAX), DWORK(LDWORK), G(NMAX), X(2*MMAX-1)
-      COMPLEX*16       Z(LDZ,NMAX), ZWORK(LZWORK)
-*     .. External Subroutines ..
-      EXTERNAL         AB13MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( NBLOCK(I), I = 1, M )
-         READ ( NIN, FMT = * ) ( ITYPE(I), I = 1, M )
-         READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-*        Computing mu.
-         CALL AB13MD( 'N', N, Z, LDZ, M, NBLOCK, ITYPE, X, BOUND, D, G,
-     $               IWORK, DWORK, LDWORK, ZWORK, LZWORK, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99991 ) BOUND
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' AB13MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB13MD =',I2)
-99997 FORMAT (' The value of the structured singular value is'/)
-99991 FORMAT (D17.10)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AB13MD EXAMPLE PROGRAM DATA
-   6     5
-   1     1     2     1     1
-   1     1     2     2     2
-   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
-   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
-   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
-   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
-   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
-   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
-   (-1.0D0,6.0D0)  (2.0D0,-3.0D0)  (3.0D0,8.0D0)
-   (3.0D0,8.0D0)   (-5.0D0,-9.0D0) (-6.0D0,2.0D0)
-   (4.0D0,2.0D0)   (-2.0D0,5.0D0)  (-6.0D0,-7.0D0)
-   (-4.0D0,11.0D0) (8.0D0,-7.0D0)  (12.0D0,-1.0D0)
-   (5.0D0,-4.0D0)  (-4.0D0,-8.0D0) (1.0D0,-3.0D0)
-   (-6.0D0,14.0D0) (2.0D0,-5.0D0)  (4.0D0,16.0D0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- AB13MD EXAMPLE PROGRAM RESULTS
-
- The value of the structured singular value is
-
- 0.4174753408D+02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AB8NXZ.html b/doc/_static/doc/AB8NXZ.html
deleted file mode 100644
index 3fb41924..00000000
--- a/doc/_static/doc/AB8NXZ.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>AB8NXZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AB8NXZ">AB8NXZ</A></H2>
-<H3>
-Construction of a reduced system (Ar,Br,Cr,Dr), having the same transmission zeros as (A,B,C,D), but with Dr of full row rank (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) system
-               ( B  A )
-               ( D  C )
-  an (NU+MU)-by-(M+NU) "reduced" system
-               ( B' A')
-               ( D' C')
-  having the same transmission zeros but with D' of full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AB8NXZ( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
-     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
-     $                   DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDABCD, LZWORK, M, MU, N, NINFZ, NKROL,
-     $                  NU, P, RO, SIGMA
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      COMPLEX*16        ABCD(LDABCD,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of state variables.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  RO      (input/output) INTEGER
-          On entry,
-          = P     for the original system;
-          = MAX(P-M, 0) for the pertransposed system.
-          On exit, RO contains the last computed rank.
-
-  SIGMA   (input/output) INTEGER
-          On entry,
-          = 0  for the original system;
-          = M  for the pertransposed system.
-          On exit, SIGMA contains the last computed value sigma in
-          the algorithm.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound input matrix of the system.
-          On exit, the leading (NU+MU)-by-(M+NU) part of this array
-          contains the reduced compound input matrix of the system.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  NINFZ   (input/output) INTEGER
-          On entry, the currently computed number of infinite zeros.
-          It should be initialized to zero on the first call.
-          NINFZ &gt;= 0.
-          On exit, the number of infinite zeros.
-
-  INFZ    (input/output) INTEGER array, dimension (N)
-          On entry, INFZ(i) must contain the current number of
-          infinite zeros of degree i, where i = 1,2,...,N, found in
-          the previous call(s) of the routine. It should be
-          initialized to zero on the first call.
-          On exit, INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,N.
-
-  KRONL   (input/output) INTEGER array, dimension (N+1)
-          On entry, this array must contain the currently computed
-          left Kronecker (row) indices found in the previous call(s)
-          of the routine. It should be initialized to zero on the
-          first call.
-          On exit, the leading NKROL elements of this array contain
-          the left Kronecker (row) indices.
-
-  MU      (output) INTEGER
-          The normal rank of the transfer function matrix of the
-          original system.
-
-  NU      (output) INTEGER
-          The dimension of the reduced system matrix and the number
-          of (finite) invariant zeros if D' is invertible.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (2*MAX(M,P))
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-                            MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Svaricek, F.
-      Computation of the Structural Invariants of Linear
-      Multivariable Systems with an Extended Version of
-      the Program ZEROS.
-      System & Control Letters, 6, pp. 261-266, 1985.
-
-  [2] Emami-Naeini, A. and Van Dooren, P.
-      Computation of Zeros of Linear Multivariable Systems.
-      Automatica, 18, pp. 415-430, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AG07BD.html b/doc/_static/doc/AG07BD.html
deleted file mode 100644
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--- a/doc/_static/doc/AG07BD.html
+++ /dev/null
@@ -1,194 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG07BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG07BD">AG07BD</A></H2>
-<H3>
-Descriptor inverse of a state-space or descriptor representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the inverse (Ai-lambda*Ei,Bi,Ci,Di) of a given
-  descriptor system (A-lambda*E,B,C,D).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG07BD( JOBE, N, M, A, LDA, E, LDE, B, LDB, C, LDC,
-     $                   D, LDD, AI, LDAI, EI, LDEI, BI, LDBI, CI, LDCI,
-     $                   DI, LDDI, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBE
-      INTEGER            INFO, LDA, LDAI, LDB, LDBI, LDC, LDCI,
-     $                   LDD, LDDI, LDE, LDEI, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), AI(LDAI,*), B(LDB,*), BI(LDBI,*),
-     $                   C(LDC,*), CI(LDCI,*), D(LDD,*), DI(LDDI,*),
-     $                   E(LDE,*), EI(LDEI,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general square or an identity
-          matrix as follows:
-          = 'G':  E is a general square matrix;
-          = 'I':  E is the identity matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrices A and E;
-          also the number of rows of matrix B and the number of
-          columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs and outputs, i.e., the number
-          of columns of matrices B and D and the number of rows of
-          matrices C and D.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the original system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'G', the leading N-by-N part of this array must
-          contain the descriptor matrix E of the original system.
-          If JOBE = 'I', then E is assumed to be the identity
-          matrix and is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the original system.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading M-by-N part of this array must contain the
-          output matrix C of the original system.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading M-by-M part of this array must contain the
-          feedthrough matrix D of the original system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
-
-  AI      (output) DOUBLE PRECISION array, dimension (LDAI,N+M)
-          The leading (N+M)-by-(N+M) part of this array contains
-          the state matrix Ai of the inverse system.
-          If LDAI = LDA &gt;= N+M, then AI and A can share the same
-          storage locations.
-
-  LDAI    INTEGER
-          The leading dimension of the array AI.
-          LDAI &gt;= MAX(1,N+M).
-
-  EI      (output) DOUBLE PRECISION array, dimension (LDEI,N+M)
-          The leading (N+M)-by-(N+M) part of this array contains
-          the descriptor matrix Ei of the inverse system.
-          If LDEI = LDE &gt;= N+M, then EI and E can share the same
-          storage locations.
-
-  LDEI    INTEGER
-          The leading dimension of the array EI.
-          LDEI &gt;= MAX(1,N+M).
-
-  BI      (output) DOUBLE PRECISION array, dimension (LDBI,M)
-          The leading (N+M)-by-M part of this array contains
-          the input matrix Bi of the inverse system.
-          If LDBI = LDB &gt;= N+M, then BI and B can share the same
-          storage locations.
-
-  LDBI    INTEGER
-          The leading dimension of the array BI.
-          LDBI &gt;= MAX(1,N+M).
-
-  CI      (output) DOUBLE PRECISION array, dimension (LDCI,N+M)
-          The leading M-by-(N+M) part of this array contains
-          the output matrix Ci of the inverse system.
-          If LDCI = LDC, CI and C can share the same storage
-          locations.
-
-  LDCI    INTEGER
-          The leading dimension of the array CI.  LDCI &gt;= MAX(1,M).
-
-  DI      (output) DOUBLE PRECISION array, dimension (LDDI,M)
-          The leading M-by-M part of this array contains
-          the feedthrough matrix Di = 0 of the inverse system.
-          DI and D can share the same storage locations.
-
-  LDDI    INTEGER
-          The leading dimension of the array DI.  LDDI &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices of the inverse system are computed with the formulas
-
-             ( E  0 )        ( A  B )         (  0 )
-        Ei = (      ) , Ai = (      ) ,  Bi = (    ),
-             ( 0  0 )        ( C  D )         ( -I )
-
-        Ci = ( 0  I ),  Di = 0.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The routine does not perform an invertibility test. This check can
-  be performed by using the SLICOT routines AB08NX or AG08BY.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AG08BD.html b/doc/_static/doc/AG08BD.html
deleted file mode 100644
index 46104083..00000000
--- a/doc/_static/doc/AG08BD.html
+++ /dev/null
@@ -1,754 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG08BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG08BD">AG08BD</A></H2>
-<H3>
-Zeros and Kronecker structure of a descriptor system pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the system pencil
-
-                    ( A-lambda*E B )
-        S(lambda) = (              )
-                    (      C     D )
-
-  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
-  S(lambda) as generalized eigenvalues. The routine also computes
-  the orders of the infinite Smith zeros and determines the singular
-  and infinite Kronecker structure of system pencil, i.e., the right
-  and left Kronecker indices, and the multiplicities of infinite
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
-     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LDWORK,
-     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the system
-          matrix as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Af of the reduced pencil.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Ef of the reduced pencil.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0;
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NFZ     (output) INTEGER
-          The number of finite zeros.
-
-  NRANK   (output) INTEGER
-          The normal rank of the system pencil.
-
-  NIZ     (output) INTEGER
-          The number of infinite zeros.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite Smith zeros.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NINFE   (output) INTEGER
-          The number of elementary infinite blocks.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N+1)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors of
-          degree i in the Smith form, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (N+M+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
-          The leading NINFE elements of INFE contain the
-          multiplicities of infinite eigenvalues.
-
-  KRONL   (output) INTEGER array, dimension (L+P+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then default tolerances are
-          used instead, as follows: TOLDEF = L*N*EPS in TG01FD
-          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
-          in the rest, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+max(1,M))
-          On output, IWORK(1) contains the normal rank of the
-          transfer function matrix.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 4*(L+N), LDW ), if EQUIL = 'S',
-          LDWORK &gt;= LDW,                 if EQUIL = 'N', where
-          LDW = max(L+P,M+N)*(M+N) + max(1,5*max(L+P,M+N)).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a descriptor
-  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
-  has the finite zeros of the system as generalized eigenvalues.
-  The procedure has the following main computational steps:
-
-     (a) construct the (L+P)-by-(N+M) system pencil
-
-          S(lambda) = ( B  A )-lambda*( 0  E );
-                      ( D  C )        ( 0  0 )
-
-     (b) reduce S(lambda) to S1(lambda) with the same finite
-         zeros and right Kronecker structure but with E
-         upper triangular and nonsingular;
-
-     (c) reduce S1(lambda) to S2(lambda) with the same finite
-         zeros and right Kronecker structure but with D of
-         full row rank;
-
-     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
-         and with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-
-         S3(lambda) = (A-lambda*E   B) in order to reduce it to
-                      (     C       D)
-
-         (Af-lambda*Ef   X), with Y and Ef square invertible;
-         (     0         Y)
-
-     (f) compute the right and left Kronecker indices of the system
-         matrix, which together with the multiplicities of the
-         finite and infinite eigenvalues constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the finite Smith zeros of the system
-  explicitly, a call to this routine may be followed by a
-  call to the LAPACK Library routines DGEGV or DGGEV.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AG08BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, MMAX, NMAX, PMAX
-      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
-     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ),  8*NMAX,
-     $                                 LDAEMX*LDAEMX +
-     $                                 MAX( 1, 5*LDAEMX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
-     $                 NKROL, NKROR, NRANK, P
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFI(NMAX), ALFR(NMAX),
-     $                 ASAVE(LDA,NMAX), B(LDB,MMAX), BETA(NMAX),
-     $                 BSAVE(LDB,MMAX), C(LDC,NMAX), CSAVE(LDC,NMAX),
-     $                 D(LDD,MMAX), DSAVE(LDD,MMAX), DWORK(LDWORK),
-     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1)
-      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
-     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
-     $                 KRONR(NMAX+MMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AG08BD, DGEGV, DLACPY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
-      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
-     $   THEN
-         WRITE ( NOUT, FMT = 99972 ) L, N
-      ELSE
-         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               CALL DLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
-               CALL DLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
-               CALL DLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
-               CALL DLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
-               CALL DLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
-*              Compute poles (call the routine with M = 0, P = 0).
-               CALL AG08BD( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99968 ) NIZ
-                  DO 10 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
-     $                                      ( INFE(I), I = 1,NINFE )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99965 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99966 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 30 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   30                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 40 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   40                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AG08BD( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99964 ) NIZ
-                  DO 50 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99957 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 70 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   70                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 80 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AG08BD( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99963 ) NIZ
-                  DO 90  I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   90             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99956 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 100 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  100                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 110 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  110                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99982 )
-                        DO 120 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-  120                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL DLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL DLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL DLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
-               CALL DLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-               CALL DLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
-*              Compute the structural invariants of the given system.
-               CALL AG08BD( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( L.EQ.N ) THEN
-                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
-                  ELSE
-                     WRITE ( NOUT, FMT = 99955 ) NRANK
-                  END IF
-                  WRITE ( NOUT, FMT = 99984 ) NFZ
-                  IF( NFZ.GT.0 ) THEN
-*                    Compute the finite zeros of the given system.
-*                    Workspace: need 8*NFZ.
-                     WRITE ( NOUT, FMT = 99983 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 130 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  130                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 140 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  140                CONTINUE
-                     CALL DGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALFR, ALFI, BETA, Q,
-     $                           LDQ, Z, LDZ, DWORK, LDWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 150 I = 1, NFZ
-                           IF( ALFI(I).EQ.ZERO ) THEN
-                              WRITE ( NOUT, FMT = 99980 )
-     $                                ALFR(I)/BETA(I)
-                           ELSE
-                              WRITE ( NOUT, FMT = 99979 )
-     $                                ALFR(I)/BETA(I),
-     $                                ALFI(I)/BETA(I)
-                           END IF
-  150                   CONTINUE
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99978 ) NIZ
-                  DO 160 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  160             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                     ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                     ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AG08BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AG08BD = ',I2)
-99997 FORMAT (' INFO on exit from DGEGV = ',I2)
-99996 FORMAT (/'Unobservable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99995 FORMAT (/' The matrix Ef is ')
-99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
-     $          /(20(I3,2X)))
-99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
-99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
-     $       ,' of the pair (Af,Ef). ')
-99990 FORMAT (/' The matrix Af is ')
-99989 FORMAT (20(1X,F8.4))
-99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
-     $        /( 20(I3,2X) ) )
-99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $       ' pair (Af,Ef). ')
-99984 FORMAT (/' The number of finite zeros = ',I3)
-99983 FORMAT (/' The finite zeros are the eigenvalues ',
-     $         'of the pair (Af,Ef)')
-99982 FORMAT (/'Uncontrollable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99981 FORMAT (/'Finite zeros'/' real  part     imag  part ')
-99980 FORMAT (1X,F9.4)
-99979 FORMAT (1X,F9.4,6X,F9.4)
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ', /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ',  /(20(I3,2X)))
-99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
-99968 FORMAT (//' The number of infinite poles = ',I3)
-99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
-99966 FORMAT (/' The finite poles are the eigenvalues',
-     $       ' of the pair (Af,Ef). ')
-99965 FORMAT (/' The system has no finite poles ')
-99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
-99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
-99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
-99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
-99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
-99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
-99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
-     $         ,' are ', /(20(I3,2X)))
-99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
-     $         ' decoupling zeros ')
-99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
-     $         ' decoupling zeros ')
-99955 FORMAT (/' Normal rank  of system pencil = ',I3)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AG08BD EXAMPLE PROGRAM DATA
-   9    9    3     3     1.e-7     N
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     0     0     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-    -1     0     0
-     0     0     0
-     0     0     0
-     0    -1     0
-     0     0     0
-     0     0     0
-     0     0    -1
-     0     0     0
-     0     0     0
-     0     1     1     0     3     4     0     0     2
-     0     1     0     0     4     0     0     2     0
-     0     0     1     0    -1     4     0    -2     2
-     1     2    -2
-     0    -1    -2
-     0     0     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AG08BD EXAMPLE PROGRAM RESULTS
-
-
-
- The number of infinite poles =   6
-   0 infinite pole(s) of order   1
-   3 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of A-lambda*E are 
-  3    3    3
-
- The system has no finite poles 
-
-
- The number of unobservable infinite poles =   4
-   0 infinite pole(s) of order   1
-   2 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
-  1    3    3
-
- The left Kronecker indices of [A-lambda*E;C] are 
-  0    1    1
-
- The system (A-lambda*E,C) has no finite output decoupling zeros 
-
-
- The number of uncontrollable infinite poles =   0
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
-  1    1    1
-
- The right Kronecker indices of [A-lambda*E,B] are 
-  2    2    2
-
- The system (A-lambda*E,B) has no finite input decoupling zeros 
-
- Normal rank  of transfer function matrix =   2
-
- The number of finite zeros =   1
-
- The finite zeros are the eigenvalues of the pair (Af,Ef)
-
- The matrix Af is 
-   0.7705
-
- The matrix Ef is 
-   0.7705
-
-Finite zeros
- real  part     imag  part 
-    1.0000
-
-
- The number of infinite zeros =   2
-   0 infinite zero(s) of order   1
-   1 infinite zero(s) of order   2
-
- The number of infinite Kronecker blocks =   5
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
-  1    1    1    1    3
-
- The number of right Kronecker indices =   1
-
- Right Kronecker indices of [A-lambda*E,B;C,D] are 
-  2
-
- The number of left Kronecker indices =   1
-
- The left Kronecker indices of [A-lambda*E,B;C,D] are 
-  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AG08BY.html b/doc/_static/doc/AG08BY.html
deleted file mode 100644
index 9bc112e4..00000000
--- a/doc/_static/doc/AG08BY.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG08BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG08BY">AG08BY</A></H2>
-<H3>
-Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) descriptor system pencil
-
-     S(lambda) = ( B   A - lambda*E  )
-                 ( D        C        )
-
-  with E nonsingular and upper triangular a
-  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
-
-                        ( Br  Ar-lambda*Er )
-           Sr(lambda) = (                  )
-                        ( Dr     Cr        )
-
-  having the same finite Smith zeros as the pencil
-  S(lambda) but with Dr, a PR-by-M full row rank
-  left upper trapezoidal matrix, and Er, an NR-by-NR
-  upper triangular nonsingular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG08BY( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
-     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DINFZ, INFO, LDABCD, LDE, LDWORK, M, N, NINFZ,
-     $                   NKRONL, NR, P, PR
-      DOUBLE PRECISION   SVLMAX, TOL
-      LOGICAL            FIRST
-C     .. Array Arguments ..
-      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
-      DOUBLE PRECISION   ABCD( LDABCD, * ), DWORK( * ), E( LDE, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FIRST   LOGICAL
-          Specifies if AG08BY is called first time or it is called
-          for an already reduced system, with D full column rank
-          with the last M rows in upper triangular form:
-          FIRST = .TRUE.,  first time called;
-          FIRST = .FALSE., not first time called.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of matrix B, the number of columns of
-          matrix C and the order of square matrices A and E.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrices B and D.  M &gt;= 0.
-          M &lt;= P if FIRST = .FALSE. .
-
-  P       (input) INTEGER
-          The number of rows of matrices C and D.  P &gt;= 0.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) DOUBLE PRECISION array, dimension
-          (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound matrix
-                   (  B   A  ) ,
-                   (  D   C  )
-          where A is an N-by-N matrix, B is an N-by-M matrix,
-          C is a P-by-N matrix and D is a P-by-M matrix.
-          If FIRST = .FALSE., then D must be a full column
-          rank matrix with the last M rows in upper triangular form.
-          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
-          contains the reduced compound matrix
-                    (  Br  Ar ) ,
-                    (  Dr  Cr )
-          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
-          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
-          left upper trapezoidal matrix with the first PR columns
-          in upper triangular form.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular nonsingular matrix E.
-          On exit, the leading NR-by-NR part contains the reduced
-          upper triangular nonsingular matrix Er.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ar and Er; also the
-          number of rows of the reduced matrix Br and the number
-          of columns of the reduced matrix Cr.
-          If Dr is invertible, NR is also the number of finite
-          Smith zeros.
-
-  PR      (output) INTEGER
-          The rank of the resulting matrix Dr; also the number of
-          rows of reduced matrices Cr and Dr.
-
-  NINFZ   (output) INTEGER
-          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite zeros.
-          DINFZ = 0 if FIRST = .FALSE. .
-
-  NKRONL  (output) INTEGER
-          The maximal dimension of left elementary Kronecker blocks.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,DINFZ.
-          INFZ is not referenced if FIRST = .FALSE. .
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          KRONL(i) contains the number of left elementary Kronecker
-          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
-          instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FIRST = .FALSE., IWORK is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if P = 0; otherwise
-          LDWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 5*P ),
-                                          if FIRST = .TRUE.;
-          LDWORK &gt;= MAX( 1, N+M-1, 5*P ), if FIRST = .FALSE. .
-          The second term is not needed if M = 0.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( (P+N)*(M+N)*N )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite zeros is computed as
-
-                DINFZ
-     NINFZ =     Sum  (INFZ(i)*i) .
-                 i=1
-  Note that each infinite zero of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-  The multiplicities of the infinite eigenvalues can be determined
-  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
-
-                  DINFZ
-  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
-                   i=1
-
-  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
-    for i = 1, ..., DINFZ.
-
-  The left Kronecker indices are:
-
-  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
-  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,739 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG08BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG08BZ">AG08BZ</A></H2>
-<H3>
-Zeros and Kronecker structure of a descriptor system pencil (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the system pencil
-
-                    ( A-lambda*E B )
-        S(lambda) = (              )
-                    (      C     D )
-
-  a regular pencil Af-lambda*Ef which has the finite Smith zeros of
-  S(lambda) as generalized eigenvalues. The routine also computes
-  the orders of the infinite Smith zeros and determines the singular
-  and infinite Kronecker structure of system pencil, i.e., the right
-  and left Kronecker indices, and the multiplicities of infinite
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ, NKROR,
-     $                   NINFE, NKROL, INFZ, KRONR, INFE, KRONL,
-     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           DINFZ, INFO, L, LDA, LDB, LDC, LDD, LDE, LZWORK,
-     $                  M, N, NFZ, NINFE, NIZ, NKROL, NKROR, NRANK, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFE(*), INFZ(*), IWORK(*), KRONL(*), KRONR(*)
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the system
-          matrix as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Af of the reduced pencil.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E of the system.
-          On exit, the leading NFZ-by-NFZ part of this array
-          contains the matrix Ef of the reduced pencil.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0;
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the system.
-          On exit, this matrix does not contain useful information.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) COMPLEX*16 array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct transmission matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NFZ     (output) INTEGER
-          The number of finite zeros.
-
-  NRANK   (output) INTEGER
-          The normal rank of the system pencil.
-
-  NIZ     (output) INTEGER
-          The number of infinite zeros.
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite Smith zeros.
-
-  NKROR   (output) INTEGER
-          The number of right Kronecker indices.
-
-  NINFE   (output) INTEGER
-          The number of elementary infinite blocks.
-
-  NKROL   (output) INTEGER
-          The number of left Kronecker indices.
-
-  INFZ    (output) INTEGER array, dimension (N+1)
-          The leading DINFZ elements of INFZ contain information
-          on the infinite elementary divisors as follows:
-          the system has INFZ(i) infinite elementary divisors of
-          degree i in the Smith form, where i = 1,2,...,DINFZ.
-
-  KRONR   (output) INTEGER array, dimension (N+M+1)
-          The leading NKROR elements of this array contain the
-          right Kronecker (column) indices.
-
-  INFE    (output) INTEGER array, dimension (1+MIN(L+P,N+M))
-          The leading NINFE elements of INFE contain the
-          multiplicities of infinite eigenvalues.
-
-  KRONL   (output) INTEGER array, dimension (L+P+1)
-          The leading NKROL elements of this array contain the
-          left Kronecker (row) indices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then default tolerances are
-          used instead, as follows: TOLDEF = L*N*EPS in TG01FZ
-          (to determine the rank of E) and TOLDEF = (L+P)*(N+M)*EPS
-          in the rest, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+max(1,M))
-          On output, IWORK(1) contains the normal rank of the
-          transfer function matrix.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          LDWORK &gt;= max(4*(L+N), 2*max(L+P,M+N))), if EQUIL = 'S',
-          LDWORK &gt;= 2*max(L+P,M+N)),               if EQUIL = 'N'.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= max( max(L+P,M+N)*(M+N) +
-                         max(min(L+P,M+N) + max(min(L,N),3*(M+N)-1),
-                             3*(L+P), 1))
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine extracts from the system matrix of a descriptor
-  system (A-lambda*E,B,C,D) a regular pencil Af-lambda*Ef which
-  has the finite zeros of the system as generalized eigenvalues.
-  The procedure has the following main computational steps:
-
-     (a) construct the (L+P)-by-(N+M) system pencil
-
-          S(lambda) = ( B  A )-lambda*( 0  E );
-                      ( D  C )        ( 0  0 )
-
-     (b) reduce S(lambda) to S1(lambda) with the same finite
-         zeros and right Kronecker structure but with E
-         upper triangular and nonsingular;
-
-     (c) reduce S1(lambda) to S2(lambda) with the same finite
-         zeros and right Kronecker structure but with D of
-         full row rank;
-
-     (d) reduce S2(lambda) to S3(lambda) with the same finite zeros
-         and with D square invertible;
-
-     (e) perform a unitary transformation on the columns of
-
-         S3(lambda) = (A-lambda*E   B) in order to reduce it to
-                      (     C       D)
-
-         (Af-lambda*Ef   X), with Y and Ef square invertible;
-         (     0         Y)
-
-     (f) compute the right and left Kronecker indices of the system
-         matrix, which together with the multiplicities of the
-         finite and infinite eigenvalues constitute the
-         complete set of structural invariants under strict
-         equivalence transformations of a linear system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable (see [1]).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order to compute the finite Smith zeros of the system
-  explicitly, a call to this routine may be followed by a
-  call to the LAPACK Library routines ZGEGV or ZGGEV.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     AG08BZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, MMAX, NMAX, PMAX
-      PARAMETER        ( LMAX = 20, MMAX = 20, NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDAEMX, LDB, LDC, LDD, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = LMAX, LDQ = 1, LDZ = 1,
-     $                   LDAEMX = MAX( PMAX + LMAX, NMAX + MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 4*( LMAX + NMAX ), 2*LDAEMX,
-     $                                 8*NMAX ) )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = MAX( 1, LDAEMX*LDAEMX +
-     $                                 MAX( MIN( LMAX+PMAX, MMAX+NMAX )+
-     $                                      MAX( MIN( LMAX, NMAX ),
-     $                                           3*( MMAX+NMAX )-1 ),
-     $                                      3*( LMAX+PMAX ) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DINFZ, I, INFO, J, L, M, N, NFZ, NINFE, NIZ,
-     $                 NKROL, NKROR, NRANK, P
-      CHARACTER*1      EQUIL
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), ALPHA(NMAX), ASAVE(LDA,NMAX),
-     $                 B(LDB,MMAX),  BETA(NMAX), BSAVE(LDB,MMAX),
-     $                 C(LDC,NMAX), CSAVE(LDC,NMAX),
-     $                 D(LDD,MMAX), DSAVE(LDD,MMAX),
-     $                 E(LDE,NMAX), ESAVE(LDE,NMAX), Q(LDQ,1), Z(LDZ,1),
-     $                 ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK)
-      INTEGER          INFE(1+LMAX+PMAX), INFZ(NMAX+1),
-     $                 IWORK(NMAX+MMAX), KRONL(LMAX+PMAX+1),
-     $                 KRONR(NMAX+MMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         AG08BZ, ZGEGV, ZLACPY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL, EQUIL
-      IF( ( L.LT.0 .OR. L.GT.LMAX ) .OR. ( N.LT.0 .OR. N.GT.NMAX ) )
-     $   THEN
-         WRITE ( NOUT, FMT = 99972 ) L, N
-      ELSE
-         IF( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            IF( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99970 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               CALL ZLACPY( 'F', L, N, A, LDA, ASAVE, LDA )
-               CALL ZLACPY( 'F', L, N, E, LDE, ESAVE, LDE )
-               CALL ZLACPY( 'F', L, M, B, LDB, BSAVE, LDB )
-               CALL ZLACPY( 'F', P, N, C, LDC, CSAVE, LDC )
-               CALL ZLACPY( 'F', P, M, D, LDD, DSAVE, LDD )
-*              Compute poles (call the routine with M = 0, P = 0).
-               CALL AG08BZ( EQUIL, L, N, 0, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99968 ) NIZ
-                  DO 10 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99958 )
-     $                                      ( INFE(I), I = 1,NINFE )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99965 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99966 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 20 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 30 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   30                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 40 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-   40                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-*              Check the observability and compute the ordered set of
-*              the observability indices (call the routine with M = 0).
-               CALL AG08BZ( EQUIL, L, N, 0, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99964 ) NIZ
-                  DO 50 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99960 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99994 ) ( KRONL(I), I = 1,NKROL )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99993 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99957 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-   60                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 70 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-   70                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99996 )
-                        DO 80 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-*              Check the controllability and compute the ordered set of
-*              the controllability indices (call the routine with P = 0)
-               CALL AG08BZ( EQUIL, L, N, M, 0, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99963 ) NIZ
-                  DO 90  I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99967 ) INFZ(I), I
-   90             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99959 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99988 ) ( KRONR(I), I = 1,NKROR )
-                  IF( NFZ+NINFE.EQ.0 ) WRITE ( NOUT, FMT = 99987 )
-                  IF( NFZ.EQ.0 ) THEN
-                     WRITE ( NOUT, FMT = 99956 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99985 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 100 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  100                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 110 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  110                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99982 )
-                        DO 120 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-  120                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-               CALL ZLACPY( 'F', L, N, ASAVE, LDA, A, LDA )
-               CALL ZLACPY( 'F', L, N, ESAVE, LDE, E, LDE )
-               CALL ZLACPY( 'F', L, M, BSAVE, LDB, B, LDB )
-               CALL ZLACPY( 'F', P, N, CSAVE, LDC, C, LDC )
-               CALL ZLACPY( 'F', P, M, DSAVE, LDD, D, LDD )
-*              Compute the structural invariants of the given system.
-               CALL AG08BZ( EQUIL, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, D, LDD, NFZ, NRANK, NIZ, DINFZ,
-     $                      NKROR, NINFE, NKROL, INFZ, KRONR, INFE,
-     $                      KRONL, TOL, IWORK, DWORK, ZWORK, LZWORK,
-     $                      INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( L.EQ.N ) THEN
-                     WRITE ( NOUT, FMT = 99969 ) NRANK - N
-                  ELSE
-                     WRITE ( NOUT, FMT = 99955 ) NRANK
-                  END IF
-                  WRITE ( NOUT, FMT = 99984 ) NFZ
-                  IF( NFZ.GT.0 ) THEN
-*                    Compute the finite zeros of the given system.
-*                    Workspace: need 8*NFZ.
-                     WRITE ( NOUT, FMT = 99983 )
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 130 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( A(I,J), J = 1,NFZ )
-  130                CONTINUE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 140 I = 1, NFZ
-                        WRITE ( NOUT, FMT = 99989 )
-     $                        ( E(I,J), J = 1,NFZ )
-  140                CONTINUE
-                     CALL ZGEGV( 'No vectors', 'No vectors', NFZ, A,
-     $                           LDA, E, LDE, ALPHA, BETA, Q, LDQ,
-     $                           Z, LDZ, ZWORK, LZWORK, DWORK, INFO )
-*
-                     IF( INFO.NE.0 ) THEN
-                        WRITE ( NOUT, FMT = 99997 ) INFO
-                     ELSE
-                        WRITE ( NOUT, FMT = 99981 )
-                        DO 150 I = 1, NFZ
-                           WRITE ( NOUT, FMT = 99979 ) ALPHA(I)/BETA(I)
-  150                   CONTINUE
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99978 ) NIZ
-                  DO 160 I = 1, DINFZ
-                     WRITE ( NOUT, FMT = 99977 ) INFZ(I), I
-  160             CONTINUE
-                  WRITE ( NOUT, FMT = 99962 ) NINFE
-                  IF( NINFE.GT.0 ) WRITE ( NOUT, FMT = 99961 )
-     $                                     ( INFE(I), I = 1,NINFE )
-                  WRITE ( NOUT, FMT = 99976 ) NKROR
-                  IF( NKROR.GT.0 ) WRITE ( NOUT, FMT = 99975 )
-     $                                     ( KRONR(I), I = 1,NKROR )
-                  WRITE ( NOUT, FMT = 99974 ) NKROL
-                  IF( NKROL.GT.0 ) WRITE ( NOUT, FMT = 99973 )
-     $                                     ( KRONL(I), I = 1,NKROL )
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' AG08BZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AG08BZ = ',I2)
-99997 FORMAT (' INFO on exit from ZGEGV = ',I2)
-99996 FORMAT (/' Unobservable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99995 FORMAT (/' The matrix Ef is ')
-99994 FORMAT (/' The left Kronecker indices of [A-lambda*E;C] are ',
-     $          /(20(I3,2X)))
-99993 FORMAT (/' The system (A-lambda*E,C) is completely observable ')
-99991 FORMAT (/' The finite output decoupling zeros are the eigenvalues'
-     $       , ' of the pair (Af,Ef). ')
-99990 FORMAT (/' The matrix Af is ')
-99989 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99988 FORMAT (/' The right Kronecker indices of [A-lambda*E,B] are ',
-     $        /( 20(I3,2X) ) )
-99987 FORMAT (/' The system (A-lambda*E,B) is completely controllable ')
-99985 FORMAT (/' The input decoupling zeros are the eigenvalues of the',
-     $         ' pair (Af,Ef). ')
-99984 FORMAT (/' The number of finite zeros = ',I3)
-99983 FORMAT (/' The finite zeros are the eigenvalues ',
-     $         'of the pair (Af,Ef)')
-99982 FORMAT (/' Uncontrollable finite eigenvalues'/
-     $         ' real  part     imag  part ')
-99981 FORMAT (/' Finite zeros'/' real  part     imag  part ')
-99979 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-99978 FORMAT (//' The number of infinite zeros = ',I3)
-99977 FORMAT ( I4,' infinite zero(s) of order ',I3)
-99976 FORMAT (/' The number of right Kronecker indices = ',I3)
-99975 FORMAT (/' Right Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ', /(20(I3,2X)))
-99974 FORMAT (/' The number of left Kronecker indices = ',I3)
-99973 FORMAT (/' The left Kronecker indices of [A-lambda*E,B;C,D]'
-     $         ,' are ',  /(20(I3,2X)))
-99972 FORMAT (/' L or N is out of range.',/' L = ', I5, '  N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-99970 FORMAT (/' P is out of range.',/' P = ',I5)
-99969 FORMAT (/' Normal rank  of transfer function matrix = ',I3)
-99968 FORMAT (//' The number of infinite poles = ',I3)
-99967 FORMAT ( I4,' infinite pole(s) of order ',I3)
-99966 FORMAT (/' The finite poles are the eigenvalues',
-     $         ' of the pair (Af,Ef). ')
-99965 FORMAT (/' The system has no finite poles ')
-99964 FORMAT (//' The number of unobservable infinite poles = ',I3)
-99963 FORMAT (//' The number of uncontrollable infinite poles = ',I3)
-99962 FORMAT (/' The number of infinite Kronecker blocks = ',I3)
-99961 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B;C,D] are ', /(20(I3,2X)))
-99960 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E;C] are ', /(20(I3,2X)))
-99959 FORMAT (/' Multiplicities of infinite eigenvalues of '
-     $         ,'[A-lambda*E,B] are ', /(20(I3,2X)))
-99958 FORMAT (/' Multiplicities of infinite eigenvalues of A-lambda*E'
-     $         ,' are ', /(20(I3,2X)))
-99957 FORMAT (/' The system (A-lambda*E,C) has no finite output',
-     $         ' decoupling zeros ')
-99956 FORMAT (/' The system (A-lambda*E,B) has no finite input',
-     $         ' decoupling zeros ')
-99955 FORMAT (/' Normal rank  of system pencil = ',I3)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- AG08BZ EXAMPLE PROGRAM DATA
-   9    9    3     3     1.e-7     N
-    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (0,0)   (1,0)   (0,0)
-   (-1,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)  (-1,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)  (-1,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (0,0)   (0,0)
-    (0,0)   (1,0)   (1,0)   (0,0)   (3,0)    (4,0)    (0,0)   (0,0)    (2,0)
-    (0,0)   (1,0)   (0,0)   (0,0)   (4,0)    (0,0)    (0,0)   (2,0)    (0,0)
-    (0,0)   (0,0)   (1,0)   (0,0)  (-1,0)    (4,0)    (0,0)  (-2,0)    (2,0)
-    (1,0)   (2,0)  (-2,0)
-    (0,0)  (-1,0)  (-2,0)
-    (0,0)   (0,0)   (0,0)
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- AG08BZ EXAMPLE PROGRAM RESULTS
-
-
-
- The number of infinite poles =   6
-   0 infinite pole(s) of order   1
-   3 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of A-lambda*E are 
-  3    3    3
-
- The system has no finite poles 
-
-
- The number of unobservable infinite poles =   4
-   0 infinite pole(s) of order   1
-   2 infinite pole(s) of order   2
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E;C] are 
-  1    3    3
-
- The left Kronecker indices of [A-lambda*E;C] are 
-  0    1    1
-
- The system (A-lambda*E,C) has no finite output decoupling zeros 
-
-
- The number of uncontrollable infinite poles =   0
-
- The number of infinite Kronecker blocks =   3
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B] are 
-  1    1    1
-
- The right Kronecker indices of [A-lambda*E,B] are 
-  2    2    2
-
- The system (A-lambda*E,B) has no finite input decoupling zeros 
-
- Normal rank  of transfer function matrix =   2
-
- The number of finite zeros =   1
-
- The finite zeros are the eigenvalues of the pair (Af,Ef)
-
- The matrix Af is 
-   -0.7705  +0.0000i 
-
- The matrix Ef is 
-   -0.7705  +0.0000i 
-
-Finite zeros
- real  part     imag  part 
-    1.0000  +0.0000i 
-
-
- The number of infinite zeros =   2
-   0 infinite zero(s) of order   1
-   1 infinite zero(s) of order   2
-
- The number of infinite Kronecker blocks =   5
-
- Multiplicities of infinite eigenvalues of [A-lambda*E,B;C,D] are 
-  1    1    1    1    3
-
- The number of right Kronecker indices =   1
-
- Right Kronecker indices of [A-lambda*E,B;C,D] are 
-  2
-
- The number of left Kronecker indices =   1
-
- The left Kronecker indices of [A-lambda*E,B;C,D] are 
-  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/AG8BYZ.html b/doc/_static/doc/AG8BYZ.html
deleted file mode 100644
index 24e889c4..00000000
--- a/doc/_static/doc/AG8BYZ.html
+++ /dev/null
@@ -1,265 +0,0 @@
-<HTML>
-<HEAD><TITLE>AG8BYZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="AG8BYZ">AG8BYZ</A></H2>
-<H3>
-Construction of a reduced system with input/output matrix Dr of full row rank, preserving the finite Smith zeros of the descriptor system (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To extract from the (N+P)-by-(M+N) descriptor system pencil
-
-     S(lambda) = ( B   A - lambda*E  )
-                 ( D        C        )
-
-  with E nonsingular and upper triangular a
-  (NR+PR)-by-(M+NR) "reduced" descriptor system pencil
-
-                        ( Br  Ar-lambda*Er )
-           Sr(lambda) = (                  )
-                        ( Dr     Cr        )
-
-  having the same finite Smith zeros as the pencil
-  S(lambda) but with Dr, a PR-by-M full row rank
-  left upper trapezoidal matrix, and Er, an NR-by-NR
-  upper triangular nonsingular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE AG8BYZ( FIRST, N, M, P, SVLMAX, ABCD, LDABCD, E, LDE,
-     $                   NR, PR, NINFZ, DINFZ, NKRONL, INFZ, KRONL,
-     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DINFZ, INFO, LDABCD, LDE, LZWORK, M, N, NINFZ,
-     $                   NKRONL, NR, P, PR
-      DOUBLE PRECISION   SVLMAX, TOL
-      LOGICAL            FIRST
-C     .. Array Arguments ..
-      INTEGER            INFZ( * ), IWORK(*), KRONL( * )
-      DOUBLE PRECISION   DWORK( * )
-      COMPLEX*16         ABCD( LDABCD, * ), E( LDE, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FIRST   LOGICAL
-          Specifies if AG8BYZ is called first time or it is called
-          for an already reduced system, with D full column rank
-          with the last M rows in upper triangular form:
-          FIRST = .TRUE.,  first time called;
-          FIRST = .FALSE., not first time called.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of matrix B, the number of columns of
-          matrix C and the order of square matrices A and E.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrices B and D.  M &gt;= 0.
-          M &lt;= P if FIRST = .FALSE. .
-
-  P       (input) INTEGER
-          The number of rows of matrices C and D.  P &gt;= 0.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          During each reduction step, the rank-revealing QR
-          factorization of a matrix stops when the estimated minimum
-          singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-          where EMSV is the estimated maximum singular value.
-          SVLMAX &gt;= 0.
-
-  ABCD    (input/output) COMPLEX*16 array, dimension (LDABCD,M+N)
-          On entry, the leading (N+P)-by-(M+N) part of this array
-          must contain the compound matrix
-                   (  B   A  ) ,
-                   (  D   C  )
-          where A is an N-by-N matrix, B is an N-by-M matrix,
-          C is a P-by-N matrix and D is a P-by-M matrix.
-          If FIRST = .FALSE., then D must be a full column
-          rank matrix with the last M rows in upper triangular form.
-          On exit, the leading (NR+PR)-by-(M+NR) part of ABCD
-          contains the reduced compound matrix
-                    (  Br  Ar ) ,
-                    (  Dr  Cr )
-          where Ar is an NR-by-NR matrix, Br is an NR-by-M matrix,
-          Cr is a PR-by-NR matrix, Dr is a PR-by-M full row rank
-          left upper trapezoidal matrix with the first PR columns
-          in upper triangular form.
-
-  LDABCD  INTEGER
-          The leading dimension of array ABCD.
-          LDABCD &gt;= MAX(1,N+P).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular nonsingular matrix E.
-          On exit, the leading NR-by-NR part contains the reduced
-          upper triangular nonsingular matrix Er.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ar and Er; also the
-          number of rows of the reduced matrix Br and the number
-          of columns of the reduced matrix Cr.
-          If Dr is invertible, NR is also the number of finite
-          Smith zeros.
-
-  PR      (output) INTEGER
-          The rank of the resulting matrix Dr; also the number of
-          rows of reduced matrices Cr and Dr.
-
-  NINFZ   (output) INTEGER
-          Number of infinite zeros.  NINFZ = 0 if FIRST = .FALSE. .
-
-  DINFZ   (output) INTEGER
-          The maximal multiplicity of infinite zeros.
-          DINFZ = 0 if FIRST = .FALSE. .
-
-  NKRONL  (output) INTEGER
-          The maximal dimension of left elementary Kronecker blocks.
-
-  INFZ    (output) INTEGER array, dimension (N)
-          INFZ(i) contains the number of infinite zeros of
-          degree i, where i = 1,2,...,DINFZ.
-          INFZ is not referenced if FIRST = .FALSE. .
-
-  KRONL   (output) INTEGER array, dimension (N+1)
-          KRONL(i) contains the number of left elementary Kronecker
-          blocks of dimension i-by-(i-1), where i = 1,2,...,NKRONL.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR (or RQ) factorization with column (or row) pivoting
-          whose estimated condition number is less than 1/TOL.
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance TOLDEF = (N+P)*(N+M)*EPS,  is used
-          instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-          NOTE that when SVLMAX &gt; 0, the estimated ranks could be
-          less than those defined above (see SVLMAX).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FIRST = .FALSE., IWORK is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          LDWORK &gt;= 2*MAX(M,P), if FIRST = .TRUE.;
-          LDWORK &gt;= 2*P,        if FIRST = .FALSE. .
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= 1, if P = 0; otherwise
-          LZWORK &gt;= MAX( 1, N+M-1, MIN(P,M) + MAX(3*M-1,N), 3*P ),
-                                          if FIRST = .TRUE.;
-          LZWORK &gt;= MAX( 1, N+M-1, 3*P ), if FIRST = .FALSE. .
-          The second term is not needed if M = 0.
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] P. Misra, P. Van Dooren and A. Varga.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( (P+N)*(M+N)*N )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite zeros is computed as
-
-                DINFZ
-     NINFZ =     Sum  (INFZ(i)*i) .
-                 i=1
-  Note that each infinite zero of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-  The multiplicities of the infinite eigenvalues can be determined
-  from PR, DINFZ and INFZ(i), i = 1, ..., DINFZ, as follows:
-
-                  DINFZ
-  - there are PR - Sum (INFZ(i)) simple infinite eigenvalues;
-                   i=1
-
-  - there are INFZ(i) infinite eigenvalues with multiplicity i+1,
-    for i = 1, ..., DINFZ.
-
-  The left Kronecker indices are:
-
-  [ 0  0 ...  0  | 1  1  ...  1 |  .... | NKRONL  ...  NKRONL ]
-  |&lt;- KRONL(1) -&gt;|&lt;- KRONL(2) -&gt;|       |&lt;-  KRONL(NKRONL)  -&gt;|
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>BB01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB01AD">BB01AD</A></H2>
-<H3>
-Benchmark examples for continuous-time algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate the benchmark examples for the numerical solution of
-  continuous-time algebraic Riccati equations (CAREs) of the form
-
-    0 = Q + A'X + XA - XGX
-
-  corresponding to the Hamiltonian matrix
-
-         (  A   G  )
-     H = (       T ).
-         (  Q  -A  )
-
-  A,G,Q,X are real N-by-N matrices, Q and G are symmetric and may
-  be given in factored form
-
-                -1 T                         T
-   (I)   G = B R  B  ,           (II)   Q = C W C .
-
-  Here, C is P-by-N, W P-by-P, B N-by-M, and R M-by-M, where W
-  and R are symmetric. In linear-quadratic optimal control problems,
-  usually W is positive semidefinite and R positive definite.  The
-  factorized form can be used if the CARE is solved using the
-  deflating subspaces of the extended Hamiltonian pencil
-
-               (  A   0   B  )       (  I   0   0  )
-               (       T     )       (             )
-     H - s K = (  Q   A   0  )  -  s (  0  -I   0  ) ,
-               (       T     )       (             )
-               (  0   B   R  )       (  0   0   0  )
-
-  where I and 0 denote the identity and zero matrix, respectively,
-  of appropriate dimensions.
-
-  NOTE: the formulation of the CARE and the related matrix (pencils)
-        used here does not include CAREs as they arise in robust
-        control (H_infinity optimization).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB01AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
-     1                  A, LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX,
-     2                  DWORK, LDWORK, INFO)
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDG, LDQ, LDWORK, LDX, M, N,
-     $                 P
-      CHARACTER        DEF
-C     .. Array Arguments ..
-      INTEGER          IPAR(4), NR(2)
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
-     1                 G(*), Q(*), X(LDX,*)
-      CHARACTER        CHPAR*(*)
-      LOGICAL          BPAR(6), VEC(9)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER
-          This parameter specifies if the default parameters are
-          to be used or not.
-          = 'N' or 'n' : The parameters given in the input vectors
-                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
-          = 'D' or 'd' : The default parameters for the example
-                         are used.
-          This parameter is not meaningful if NR(1) = 1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          This array determines the example for which CAREX returns
-          data. NR(1) is the group of examples.
-          NR(1) = 1 : parameter-free problems of fixed size.
-          NR(1) = 2 : parameter-dependent problems of fixed size.
-          NR(1) = 3 : parameter-free problems of scalable size.
-          NR(1) = 4 : parameter-dependent problems of scalable size.
-          NR(2) is the number of the example in group NR(1).
-          Let NEXi be the number of examples in group i. Currently,
-          NEX1 = 6, NEX2 = 9, NEX3 = 2, NEX4 = 4.
-          1 &lt;= NR(1) &lt;= 4;
-          1 &lt;= NR(2) &lt;= NEXi , where i = NR(1).
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
-          Double precision parameter vector. For explanation of the
-          parameters see [1].
-          DPAR(1)           : defines the parameters
-                              'delta' for NR(1) = 3,
-                              'q' for NR(1).NR(2) = 4.1,
-                              'a' for NR(1).NR(2) = 4.2, and
-                              'mu' for NR(1).NR(2) = 4.3.
-          DPAR(2)           : defines parameters
-                              'r' for NR(1).NR(2) = 4.1,
-                              'b' for NR(1).NR(2) = 4.2, and
-                              'delta' for NR(1).NR(2) = 4.3.
-          DPAR(3)           : defines parameters
-                              'c' for NR(1).NR(2) = 4.2 and
-                              'kappa' for NR(1).NR(2) = 4.3.
-          DPAR(j), j=4,5,6,7: These arguments are only used to
-                              generate Example 4.2 and define in
-                              consecutive order the intervals
-                              ['beta_1', 'beta_2'],
-                              ['gamma_1', 'gamma_2'].
-          NOTE that if DEF = 'D' or 'd', the values of DPAR entries
-          on input are ignored and, on output, they are overwritten
-          with the default parameters.
-
-  IPAR    (input/output) INTEGER array, dimension (4)
-          On input, IPAR(1) determines the actual state dimension,
-          i.e., the order of the matrix A as follows, where
-          NO = NR(1).NR(2).
-          NR(1) = 1 or 2.1-2.8: IPAR(1) is ignored.
-          NO = 2.9            : IPAR(1) = 1 generates the CARE for
-                                optimal state feedback (default);
-                                IPAR(1) = 2 generates the Kalman
-                                filter CARE.
-          NO = 3.1            : IPAR(1) is the number of vehicles
-                                (parameter 'l' in the description
-                                 in [1]).
-          NO = 3.2, 4.1 or 4.2: IPAR(1) is the order of the matrix
-                                A.
-          NO = 4.3 or 4.4     : IPAR(1) determines the dimension of
-                                the second-order system, i.e., the
-                                order of the stiffness matrix for
-                                Examples 4.3 and 4.4 (parameter 'l'
-                                in the description in [1]).
-
-          The order of the output matrix A is N = 2*IPAR(1) for
-          Example 4.3 and N = 2*IPAR(1)-1 for Examples 3.1 and 4.4.
-          NOTE that IPAR(1) is overwritten for Examples 1.1-2.8. For
-          the other examples, IPAR(1) is overwritten if the default
-          parameters are to be used.
-          On output, IPAR(1) contains the order of the matrix A.
-
-          On input, IPAR(2) is the number of colums in the matrix B
-          in (I) (in control problems, the number of inputs of the
-          system). Currently, IPAR(2) is fixed or determined by
-          IPAR(1) for all examples and thus is not referenced on
-          input.
-          On output, IPAR(2) is the number of columns of the
-          matrix B from (I).
-          NOTE that currently IPAR(2) is overwritten and that
-          rank(G) &lt;= IPAR(2).
-
-          On input, IPAR(3) is the number of rows in the matrix C
-          in (II) (in control problems, the number of outputs of the
-          system). Currently, IPAR(3) is fixed or determined by
-          IPAR(1) for all examples and thus is not referenced on
-          input.
-          On output, IPAR(3) contains the number of rows of the
-          matrix C in (II).
-          NOTE that currently IPAR(3) is overwritten and that
-          rank(Q) &lt;= IPAR(3).
-
-          On input, if NR(1) = NR(2) = 4, and other data file than
-          that used by default is desired, then IPAR(4) is the
-          length of the character string in CHPAR specifying the
-          file name.
-
-  BPAR    (input) BOOLEAN array, dimension (6)
-          This array defines the form of the output of the examples
-          and the storage mode of the matrices G and Q.
-          BPAR(1) = .TRUE.  : G is returned.
-          BPAR(1) = .FALSE. : G is returned in factored form, i.e.,
-                              B and R from (I) are returned.
-          BPAR(2) = .TRUE.  : The matrix returned in array G (i.e.,
-                              G if BPAR(1) = .TRUE. and R if
-                              BPAR(1) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(2) = .FALSE. : The matrix returned in array G is
-                              provided in packed storage mode.
-          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
-                              returned in array G is stored in upper
-                              packed mode, i.e., the upper triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              G(i,j) is stored in the array entry
-                              G(i+j*(j-1)/2) for i &lt;= j.
-                              Otherwise, this entry is ignored.
-          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
-                              returned in array G is stored in lower
-                              packed mode, i.e., the lower triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              G(i,j) is stored in the array entry
-                              G(i+(2*n-j)*(j-1)/2) for j &lt;= i.
-                              Otherwise, this entry is ignored.
-          BPAR(4) = .TRUE.  : Q is returned.
-          BPAR(4) = .FALSE. : Q is returned in factored form, i.e.,
-                              C and W from (II) are returned.
-          BPAR(5) = .TRUE.  : The matrix returned in array Q (i.e.,
-                              Q if BPAR(4) = .TRUE. and W if
-                              BPAR(4) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(5) = .FALSE. : The matrix returned in array Q is
-                              provided in packed storage mode.
-          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
-                              returned in array Q is stored in upper
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
-                              returned in array Q is stored in lower
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          NOTE that there are no default values for BPAR.  If all
-          entries are declared to be .TRUE., then matrices G and Q
-          are returned in conventional storage mode, i.e., as
-          N-by-N arrays where the array element Z(I,J) contains the
-          matrix entry Z_{i,j}.
-
-  CHPAR   (input/output) CHARACTER*255
-          On input, this is the name of a data file supplied by the
-          user.
-          In the current version, only Example 4.4 allows a
-          user-defined data file. This file must contain
-          consecutively DOUBLE PRECISION vectors mu, delta, gamma,
-          and kappa. The length of these vectors is determined by
-          the input value for IPAR(1).
-          If on entry, IPAR(1) = L, then mu and delta must each
-          contain L DOUBLE PRECISION values, and gamma and kappa
-          must each contain L-1 DOUBLE PRECISION values.
-          On output, this string contains short information about
-          the chosen example.
-
-  VEC     (output) LOGICAL array, dimension (9)
-          Flag vector which displays the availability of the output
-          data:
-          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
-          are always .TRUE.
-          VEC(4) refers to A and is always .TRUE.
-          VEC(5) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors B
-          and R from (I) are returned.
-          VEC(6) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors C
-          and W from (II) are returned.
-          VEC(7) refers to G and is always .TRUE.
-          VEC(8) refers to Q and is always .TRUE.
-          VEC(9) refers to X and is .TRUE. if the exact solution
-          matrix is available.
-          NOTE that VEC(i) = .FALSE. for i = 1 to 9 if on exit
-          INFO .NE. 0.
-
-  N       (output) INTEGER
-          The order of the matrices A, X, G if BPAR(1) = .TRUE., and
-          Q if BPAR(4) = .TRUE.
-
-  M       (output) INTEGER
-          The number of columns in the matrix B (or the dimension of
-          the control input space of the underlying dynamical
-          system).
-
-  P       (output) INTEGER
-          The number of rows in the matrix C (or the dimension of
-          the output space of the underlying dynamical system).
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          coefficient matrix A of the CARE.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If (BPAR(1) = .FALSE.), then the leading N-by-M part of
-          this array contains the matrix B of the factored form (I)
-          of G. Otherwise, B is used as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          If (BPAR(4) = .FALSE.), then the leading P-by-N part of
-          this array contains the matrix C of the factored form (II)
-          of Q. Otherwise, C is used as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= P, where P is the number of rows of the matrix C,
-          i.e., the output value of IPAR(3). (For all examples,
-          P &lt;= N, where N equals the output value of the argument
-          IPAR(1), i.e., LDC &gt;= LDA is always safe.)
-
-  G       (output) DOUBLE PRECISION array, dimension (NG)
-          If (BPAR(2) = .TRUE.)  then NG = LDG*N.
-          If (BPAR(2) = .FALSE.) then NG = N*(N+1)/2.
-          If (BPAR(1) = .TRUE.), then array G contains the
-          coefficient matrix G of the CARE.
-          If (BPAR(1) = .FALSE.), then array G contains the 'control
-          weighting matrix' R of G's factored form as in (I). (For
-          all examples, M &lt;= N.) The symmetric matrix contained in
-          array G is stored according to BPAR(2) and BPAR(3).
-
-  LDG     INTEGER
-          If conventional storage mode is used for G, i.e.,
-          BPAR(2) = .TRUE., then G is stored like a 2-dimensional
-          array with leading dimension LDG. If packed symmetric
-          storage mode is used, then LDG is not referenced.
-          LDG &gt;= N if BPAR(2) = .TRUE..
-
-  Q       (output) DOUBLE PRECISION array, dimension (NQ)
-          If (BPAR(5) = .TRUE.)  then NQ = LDQ*N.
-          If (BPAR(5) = .FALSE.) then NQ = N*(N+1)/2.
-          If (BPAR(4) = .TRUE.), then array Q contains the
-          coefficient matrix Q of the CARE.
-          If (BPAR(4) = .FALSE.), then array Q contains the 'output
-          weighting matrix' W of Q's factored form as in (II).
-          The symmetric matrix contained in array Q is stored
-          according to BPAR(5) and BPAR(6).
-
-  LDQ     INTEGER
-          If conventional storage mode is used for Q, i.e.,
-          BPAR(5) = .TRUE., then Q is stored like a 2-dimensional
-          array with leading dimension LDQ. If packed symmetric
-          storage mode is used, then LDQ is not referenced.
-          LDQ &gt;= N if BPAR(5) = .TRUE..
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,IPAR(1))
-          If an exact solution is available (NR = 1.1, 1.2, 2.1,
-          2.3-2.6, 3.2), then the leading N-by-N part of this array
-          contains the solution matrix X in conventional storage
-          mode. Otherwise, X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 1, and
-          LDX &gt;= N if NR = 1.1, 1.2, 2.1, 2.3-2.6, 3.2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= N*MAX(4,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0 : successful exit;
-          &lt; 0 : if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : data file could not be opened or had wrong format;
-          = 2 : division by zero;
-          = 3 : G can not be computed as in (I) due to a singular R
-                matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Abels, J. and Benner, P.
-      CAREX - A Collection of Benchmark Examples for Continuous-Time
-      Algebraic Riccati Equations (Version 2.0).
-      SLICOT Working Note 1999-14, November 1999. Available from
-      http://www.win.tue.nl/niconet/NIC2/reports.html.
-
-  This is an updated and extended version of
-
-  [2] Benner, P., Laub, A.J., and Mehrmann, V.
-      A Collection of Benchmark Examples for the Numerical Solution
-      of Algebraic Riccati Equations I: Continuous-Time Case.
-      Technical Report SPC 95_22, Fak. f. Mathematik,
-      TU Chemnitz-Zwickau (Germany), October 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If the original data as taken from the literature is given via
-  matrices G and Q, but factored forms are requested as output, then
-  these factors are obtained from Cholesky or LDL' decompositions of
-  G and Q, i.e., the output data will be corrupted by roundoff
-  errors.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Some benchmark examples read data from the data files provided
-  with the collection.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     BB01AD EXAMPLE PROGRAM TEXT
-*
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
-      INTEGER          LDA, LDB, LDC, LDG, LDQ, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDG = NMAX, LDQ = NMAX, LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*MAX( 4, NMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
-     $                 DPAR(7), DWORK(LDWORK), G(LDG, NMAX),
-     $                 Q(LDQ, NMAX), X(LDX, NMAX)
-      INTEGER          IPAR(4), NR(2)
-      LOGICAL          BPAR(6), VEC(9)
-      CHARACTER        CHPAR*255
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         BB01AD, MA02DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ( NIN, FMT = '()' )
-      READ( NIN, FMT = * ) DEF
-      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
-      IF( LSAME( DEF, 'N' ) ) THEN
-        READ( NIN, FMT = * ) LBPAR
-        IF( LBPAR.GT.0 )  READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
-        READ( NIN, FMT = * ) LDPAR
-        IF( LDPAR.GT.0 )  READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
-        READ( NIN, FMT = * ) LIPAR
-        IF( LIPAR.GT.0 )  READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
-      END IF
-*     Generate benchmark example
-      CALL BB01AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
-     $             LDA, B, LDB, C, LDC, G, LDG, Q, LDQ, X, LDX, DWORK,
-     $             LDWORK, INFO )
-*
-      IF( INFO.NE.0 ) THEN
-        WRITE( NOUT, FMT = 99998 ) INFO
-      ELSE
-        WRITE( NOUT, FMT = * ) CHPAR(1:70)
-        WRITE( NOUT, FMT = 99997 ) N
-        WRITE( NOUT, FMT = 99996 ) M
-        WRITE( NOUT, FMT = 99995 ) P
-        WRITE( NOUT, FMT = 99994 )
-        DO 10  I = 1, N
-          WRITE( NOUT, FMT = 99979 ) ( A(I,J), J = 1, N )
-   10   CONTINUE
-        IF( VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99993 )
-          DO 20  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( B(I,J), J = 1, M )
-   20     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99992 )
-        END IF
-        IF( VEC(6) ) THEN
-          WRITE( NOUT,FMT = 99991 )
-          DO 30  I = 1, P
-            WRITE( NOUT, FMT = 99979 ) ( C(I,J), J = 1, N )
-   30     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99990 )
-        END IF
-        IF( .NOT.VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99989 )
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, G, LDG, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, G, LDG, DWORK )
-            END IF
-          END IF
-          DO 40  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
-   40     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99988 )
-        END IF
-        IF( .NOT.VEC(6) ) THEN
-          IF( .NOT. BPAR(5) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99987 )
-          DO 50  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
-   50     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99986 )
-        END IF
-        IF( VEC(6) ) THEN
-          IF( .NOT.BPAR(5) ) THEN
-            ISYMM = ( P * ( P + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99985 )
-          DO 60  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( Q(I,J), J = 1, N )
-   60     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99984 )
-        END IF
-        IF( VEC(5) ) THEN
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( M * ( M + 1 ) ) / 2
-            CALL DCOPY( ISYMM, G, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', M, G, LDG, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', M, G, LDG, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99983 )
-          DO 70  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( G(I,J), J = 1, N )
-   70     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99982 )
-        END IF
-        IF( VEC(9) ) THEN
-          WRITE( NOUT, FMT = 99981 )
-          DO 80  I = 1, N
-            WRITE( NOUT, FMT = 99979 ) ( X(I,J), J = 1, N )
-   80     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99980 )
-        END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' BB01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB03AD = ', I3)
-99997 FORMAT (/' Order of matrix A:              N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
-99994 FORMAT (' A  = ')
-99993 FORMAT (' B  = ')
-99992 FORMAT (' B is not provided.')
-99991 FORMAT (' C  = ')
-99990 FORMAT (' C is not provided.')
-99989 FORMAT (' G  = ')
-99988 FORMAT (' G is not provided.')
-99987 FORMAT (' Q  = ')
-99986 FORMAT (' Q is not provided.')
-99985 FORMAT (' W  = ')
-99984 FORMAT (' W is not provided.')
-99983 FORMAT (' R  = ')
-99982 FORMAT (' R is not provided.')
-99981 FORMAT (' X  = ')
-99980 FORMAT (' X is not provided.')
-99979 FORMAT (20(1X,F8.4))
-*
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB01AD EXAMPLE PROGRAM DATA
-N
-2 3
-6
-.T. .T. .T. .F. .F. .T.
-1
-.1234
-0
-
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB01AD EXAMPLE PROGRAM RESULTS
-
- Kenney/Laub/Wette 1989, Ex.2: ARE ill conditioned for EPS -> oo       
-
- Order of matrix A:              N  =   2
- Number of columns in matrix B:  M  =   1
- Number of rows in matrix C:     P  =   2
- A  = 
-   0.0000   0.1234
-   0.0000   0.0000
- B is not provided.
- C  = 
-   1.0000   0.0000
-   0.0000   1.0000
- G  = 
-   0.0000   0.0000
-   0.0000   1.0000
- Q is not provided.
- W  = 
-   1.0000   0.0000
-   0.0000   1.0000
- R is not provided.
- X  = 
-   9.0486   1.0000
-   1.0000   1.1166
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/BB02AD.html b/doc/_static/doc/BB02AD.html
deleted file mode 100644
index 5f32bb08..00000000
--- a/doc/_static/doc/BB02AD.html
+++ /dev/null
@@ -1,588 +0,0 @@
-<HTML>
-<HEAD><TITLE>BB02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB02AD">BB02AD</A></H2>
-<H3>
-Benchmark examples for discrete-time algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate the benchmark examples for the numerical solution of
-  discrete-time algebraic Riccati equations (DAREs) of the form
-
-         T                T               T    -1  T       T
-  0  =  A X A  -  X  -  (A X B + S) (R + B X B)  (B X A + S )  +  Q
-
-  as presented in [1]. Here, A,Q,X are real N-by-N matrices, B,S are
-  N-by-M, and R is M-by-M. The matrices Q and R are symmetric and Q
-  may be given in factored form
-
-                T
-  (I)    Q  =  C Q0 C .
-
-  Here, C is P-by-N and Q0 is P-by-P. If R is nonsingular and S = 0,
-  the DARE can be rewritten equivalently as
-
-               T             -1
-  0  =  X  -  A X (I_n + G X)  A  -  Q,
-
-  where I_n is the N-by-N identity matrix and
-
-                -1  T
-  (II)   G = B R   B .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB02AD(DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P,
-     1                  A, LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS,
-     2                  X, LDX, DWORK, LDWORK, INFO)
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDQ, LDR, LDS, LDWORK, LDX,
-     $                 M, N, P
-      CHARACTER        DEF
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DPAR(*), DWORK(*),
-     1                 Q(*), R(*), S(LDS,*), X(LDX,*)
-      INTEGER          IPAR(3), NR(2)
-      CHARACTER        CHPAR*255
-      LOGICAL          BPAR(7), VEC(10)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER
-          This parameter specifies if the default parameters are
-          to be used or not.
-          = 'N' or 'n' : The parameters given in the input vectors
-                         xPAR (x = 'D', 'I', 'B', 'CH') are used.
-          = 'D' or 'd' : The default parameters for the example
-                         are used.
-          This parameter is not meaningful if NR(1) = 1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          This array determines the example for which DAREX returns
-          data. NR(1) is the group of examples.
-          NR(1) = 1 : parameter-free problems of fixed size.
-          NR(1) = 2 : parameter-dependent problems of fixed size.
-          NR(1) = 3 : parameter-free problems of scalable size.
-          NR(1) = 4 : parameter-dependent problems of scalable size.
-          NR(2) is the number of the example in group NR(1).
-          Let NEXi be the number of examples in group i. Currently,
-          NEX1 = 13, NEX2 = 5, NEX3 = 0, NEX4 = 1.
-          1 &lt;= NR(1) &lt;= 4;
-          0 &lt;= NR(2) &lt;= NEXi, where i = NR(1).
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (4)
-          Double precision parameter vector. For explanation of the
-          parameters see [1].
-          DPAR(1) defines the parameter 'epsilon' for
-          examples NR = 2.2,2.3,2.4, the parameter 'tau'
-          for NR = 2.5, and the 1-by-1 matrix R for NR = 2.1,4.1.
-          For Example 2.5, DPAR(2) - DPAR(4) define in
-          consecutive order 'D', 'K', and 'r'.
-          NOTE that DPAR is overwritten with default values
-          if DEF = 'D' or 'd'.
-
-  IPAR    (input/output) INTEGER array, dimension (3)
-          On input, IPAR(1) determines the actual state dimension,
-          i.e., the order of the matrix A as follows:
-          NR(1) = 1, NR(1) = 2   : IPAR(1) is ignored.
-          NR = NR(1).NR(2) = 4.1 : IPAR(1) determines the order of
-                                   the output matrix A.
-          NOTE that IPAR(1) is overwritten for Examples 1.1-2.3. For
-          the other examples, IPAR(1) is overwritten if the default
-          parameters are to be used.
-          On output, IPAR(1) contains the order of the matrix A.
-
-          On input, IPAR(2) is the number of colums in the matrix B
-          and the order of the matrix R (in control problems, the
-          number of inputs of the system). Currently, IPAR(2) is
-          fixed for all examples and thus is not referenced on
-          input.
-          On output, IPAR(2) is the number of columns of the
-          matrix B from (I).
-
-          On input, IPAR(3) is the number of rows in the matrix C
-          (in control problems, the number of outputs of the
-          system). Currently, IPAR(3) is fixed for all examples
-          and thus is not referenced on input.
-          On output, IPAR(3) is the number of rows of the matrix C
-          from (I).
-
-          NOTE that IPAR(2) and IPAR(3) are overwritten and
-          IPAR(2) &lt;= IPAR(1) and IPAR(3) &lt;= IPAR(1) for all
-          examples.
-
-  BPAR    (input) LOGICAL array, dimension (7)
-          This array defines the form of the output of the examples
-          and the storage mode of the matrices Q, G or R.
-          BPAR(1) = .TRUE.  : Q is returned.
-          BPAR(1) = .FALSE. : Q is returned in factored form, i.e.,
-                              Q0 and C from (I) are returned.
-          BPAR(2) = .TRUE.  : The matrix returned in array Q (i.e.,
-                              Q if BPAR(1) = .TRUE. and Q0 if
-                              BPAR(1) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(2) = .FALSE. : The matrix returned in array Q is
-                              provided in packed storage mode.
-          BPAR(3) = .TRUE.  : If BPAR(2) = .FALSE., the matrix
-                              returned in array Q is stored in upper
-                              packed mode, i.e., the upper triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              Q(i,j) is stored in the array entry
-                              Q(i+j*(j-1)/2) for i &lt;= j.
-                              Otherwise, this entry is ignored.
-          BPAR(3) = .FALSE. : If BPAR(2) = .FALSE., the matrix
-                              returned in array Q is stored in lower
-                              packed mode, i.e., the lower triangle
-                              of a symmetric n-by-n matrix is stored
-                              by columns, e.g., the matrix entry
-                              Q(i,j) is stored in the array entry
-                              Q(i+(2*n-j)*(j-1)/2) for j &lt;= i.
-                              Otherwise, this entry is ignored.
-          BPAR(4) = .TRUE.  : The product G in (II) is returned.
-          BPAR(4) = .FALSE. : G is returned in factored form, i.e.,
-                              B and R from (II) are returned.
-          BPAR(5) = .TRUE.  : The matrix returned in array R (i.e.,
-                              G if BPAR(4) = .TRUE. and R if
-                              BPAR(4) = .FALSE.) is stored as full
-                              matrix.
-          BPAR(5) = .FALSE. : The matrix returned in array R is
-                              provided in packed storage mode.
-          BPAR(6) = .TRUE.  : If BPAR(5) = .FALSE., the matrix
-                              returned in array R is stored in upper
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          BPAR(6) = .FALSE. : If BPAR(5) = .FALSE., the matrix
-                              returned in array R is stored in lower
-                              packed mode (see above).
-                              Otherwise, this entry is ignored.
-          BPAR(7) = .TRUE.  : The coefficient matrix S of the DARE
-                              is returned in array S.
-          BPAR(7) = .FALSE. : The coefficient matrix S of the DARE
-                              is not returned.
-          NOTE that there are no default values for BPAR.  If all
-          entries are declared to be .TRUE., then matrices Q, G or R
-          are returned in conventional storage mode, i.e., as
-          N-by-N or M-by-M arrays where the array element Z(I,J)
-          contains the matrix entry Z_{i,j}.
-
-  CHPAR   (output) CHARACTER*255
-          On output, this string contains short information about
-          the chosen example.
-
-  VEC     (output) LOGICAL array, dimension (10)
-          Flag vector which displays the availability of the output
-          data:
-          VEC(j), j=1,2,3, refer to N, M, and P, respectively, and
-          are always .TRUE.
-          VEC(4) refers to A and is always .TRUE.
-          VEC(5) is .TRUE. if BPAR(4) = .FALSE., i.e., the factors B
-          and R from (II) are returned.
-          VEC(6) is .TRUE. if BPAR(1) = .FALSE., i.e., the factors C
-          and Q0 from (I) are returned.
-          VEC(7) refers to Q and is always .TRUE.
-          VEC(8) refers to R and is always .TRUE.
-          VEC(9) is .TRUE. if BPAR(7) = .TRUE., i.e., the matrix S
-          is returned.
-          VEC(10) refers to X and is .TRUE. if the exact solution
-          matrix is available.
-          NOTE that VEC(i) = .FALSE. for i = 1 to 10 if on exit
-          INFO .NE. 0.
-
-  N       (output) INTEGER
-          The order of the matrices A, X, G if BPAR(4) = .TRUE., and
-          Q if BPAR(1) = .TRUE.
-
-  M       (output) INTEGER
-          The number of columns in the matrix B (or the dimension of
-          the control input space of the underlying dynamical
-          system).
-
-  P       (output) INTEGER
-          The number of rows in the matrix C (or the dimension of
-          the output space of the underlying dynamical system).
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          coefficient matrix A of the DARE.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If (BPAR(4) = .FALSE.), then the leading N-by-M part
-          of this array contains the coefficient matrix B of
-          the DARE.  Otherwise, B is used as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          If (BPAR(1) = .FALSE.), then the leading P-by-N part
-          of this array contains the matrix C of the factored
-          form (I) of Q.  Otherwise, C is used as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= P.
-
-  Q       (output) DOUBLE PRECISION array, dimension (NQ)
-          If (BPAR(1) = .TRUE.) and (BPAR(2) = .TRUE.), then
-          NQ = LDQ*N.
-          IF (BPAR(1) = .TRUE.) and (BPAR(2) = .FALSE.), then
-          NQ = N*(N+1)/2.
-          If (BPAR(1) = .FALSE.) and (BPAR(2) = .TRUE.), then
-          NQ = LDQ*P.
-          IF (BPAR(1) = .FALSE.) and (BPAR(2) = .FALSE.), then
-          NQ = P*(P+1)/2.
-          The symmetric matrix contained in array Q is stored
-          according to BPAR(2) and BPAR(3).
-
-  LDQ     INTEGER
-          If conventional storage mode is used for Q, i.e.,
-          BPAR(2) = .TRUE., then Q is stored like a 2-dimensional
-          array with leading dimension LDQ. If packed symmetric
-          storage mode is used, then LDQ is irrelevant.
-          LDQ &gt;= N if BPAR(1) = .TRUE.;
-          LDQ &gt;= P if BPAR(1) = .FALSE..
-
-  R       (output) DOUBLE PRECISION array, dimension (MR)
-          If (BPAR(4) = .TRUE.) and (BPAR(5) = .TRUE.), then
-          MR = LDR*N.
-          IF (BPAR(4) = .TRUE.) and (BPAR(5) = .FALSE.), then
-          MR = N*(N+1)/2.
-          If (BPAR(4) = .FALSE.) and (BPAR(5) = .TRUE.), then
-          MR = LDR*M.
-          IF (BPAR(4) = .FALSE.) and (BPAR(5) = .FALSE.), then
-          MR = M*(M+1)/2.
-          The symmetric matrix contained in array R is stored
-          according to BPAR(5) and BPAR(6).
-
-  LDR     INTEGER
-          If conventional storage mode is used for R, i.e.,
-          BPAR(5) = .TRUE., then R is stored like a 2-dimensional
-          array with leading dimension LDR. If packed symmetric
-          storage mode is used, then LDR is irrelevant.
-          LDR &gt;= N  if BPAR(4) =  .TRUE.;
-          LDR &gt;= M  if BPAR(4) = .FALSE..
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,M)
-          If (BPAR(7) = .TRUE.), then the leading N-by-M part of
-          this array contains the coefficient matrix S of the DARE.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= 1, and
-          LDS &gt;= N if BPAR(7) = .TRUE..
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,NX)
-          If an exact solution is available (NR = 1.1,1.3,1.4,2.1,
-          2.3,2.4,2.5,4.1), then NX = N and the leading N-by-N part
-          of this array contains the solution matrix X.
-          Otherwise, X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 1, and
-          LDX &gt;= N if an exact solution is available.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= N*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0 : successful exit;
-          &lt; 0 : if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : data file could not be opened or had wrong format;
-          = 2 : division by zero;
-          = 3 : G can not be computed as in (II) due to a singular R
-                matrix. This error can only occur if
-                BPAR(4) = .TRUE..
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Abels, J. and Benner, P.
-      DAREX - A Collection of Benchmark Examples for Discrete-Time
-      Algebraic Riccati Equations (Version 2.0).
-      SLICOT Working Note 1999-16, November 1999. Available from
-      http://www.win.tue.nl/niconet/NIC2/reports.html.
-
-  This is an updated and extended version of
-
-  [2] Benner, P., Laub, A.J., and Mehrmann, V.
-      A Collection of Benchmark Examples for the Numerical Solution
-      of Algebraic Riccati Equations II: Discrete-Time Case.
-      Technical Report SPC 95_23, Fak. f. Mathematik,
-      TU Chemnitz-Zwickau (Germany), December 1995.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Some benchmark examples read data from the data files provided
-  with the collection.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     BB02AD EXAMPLE PROGRAM TEXT
-*
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 100, NMAX = 100, PMAX = 100 )
-      INTEGER          LDA, LDB, LDC, LDQ, LDR, LDS, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDQ = NMAX, LDR = NMAX, LDS = NMAX,
-     $                   LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*NMAX )
-*     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, ISYMM, J, LBPAR, LDPAR, LIPAR, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB,MMAX), C(LDC, NMAX),
-     $                 DPAR(4), DWORK(LDWORK), Q(LDQ, NMAX),
-     $                 R(LDR, NMAX), S(LDS, NMAX), X(LDX, NMAX)
-      INTEGER          IPAR(3), NR(2)
-      LOGICAL          BPAR(7), VEC(10)
-      CHARACTER        CHPAR(255)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         BB02AD, MA02DD
-*     .. Executable Statements ..
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ( NIN, FMT = '()' )
-      READ( NIN, FMT = * ) DEF
-      READ( NIN, FMT = * ) ( NR(I), I = 1, 2 )
-      IF( LSAME( DEF, 'N' ) ) THEN
-        READ( NIN, FMT = * ) LBPAR
-        IF( LBPAR.GT.0 ) READ( NIN, FMT = * ) ( BPAR(I), I = 1, LBPAR )
-        READ( NIN, FMT = * ) LDPAR
-        IF( LDPAR.GT.0 ) READ( NIN, FMT = * ) ( DPAR(I), I = 1, LDPAR )
-        READ( NIN, FMT = * ) LIPAR
-        IF( LIPAR.GT.0 ) READ( NIN, FMT = * ) ( IPAR(I), I = 1, LIPAR )
-      END IF
-*     Generate benchmark example
-      CALL BB02AD( DEF, NR, DPAR, IPAR, BPAR, CHPAR, VEC, N, M, P, A,
-     $             LDA, B, LDB, C, LDC, Q, LDQ, R, LDR, S, LDS, X, LDX,
-     $             DWORK, LDWORK, INFO )
-*
-      IF( INFO.NE.0 ) THEN
-        WRITE( NOUT, FMT = 99998 ) INFO
-      ELSE
-        WRITE( NOUT, FMT = * ) CHPAR(1:70)
-        WRITE( NOUT, FMT = 99997 ) N
-        WRITE( NOUT, FMT = 99996 ) M
-        WRITE( NOUT, FMT = 99995 ) P
-        WRITE( NOUT, FMT = 99994 )
-        DO 10  I = 1, N
-          WRITE( NOUT, FMT = 99977 ) ( A(I,J), J = 1, N )
-   10   CONTINUE
-        IF( VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99993 )
-          DO 20  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( B(I,J), J = 1, M )
-   20     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99992 )
-        END IF
-        IF( VEC(6) ) THEN
-          WRITE( NOUT,FMT = 99991 )
-          DO 30  I = 1, P
-            WRITE( NOUT, FMT = 99977 ) ( C(I,J), J = 1, N )
-   30     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99990 )
-        END IF
-        IF( .NOT.VEC(5) ) THEN
-          WRITE( NOUT, FMT = 99989 )
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, R, LDR, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, R, LDR, DWORK )
-            END IF
-          END IF
-          DO 40  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, N )
-   40     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99988 )
-        END IF
-        IF( .NOT.VEC(6) ) THEN
-          IF( .NOT.BPAR(5) ) THEN
-            ISYMM = ( N * ( N + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', N, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', N, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99987 )
-          DO 50  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, N )
-   50     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99986 )
-        END IF
-        IF( VEC(6) ) THEN
-          IF( .NOT.BPAR(5) ) THEN
-            ISYMM = ( P * ( P + 1 ) ) / 2
-            CALL DCOPY( ISYMM, Q, 1, DWORK, 1 )
-            IF( BPAR(6) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', P, Q, LDQ, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', P, Q, LDQ, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99985 )
-          DO 60  I = 1, P
-            WRITE( NOUT, FMT = 99977 ) ( Q(I,J), J = 1, P )
-   60     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99984 )
-        END IF
-        IF( VEC(5) ) THEN
-          IF( .NOT.BPAR(2) ) THEN
-            ISYMM = ( M * ( M + 1 ) ) / 2
-            CALL DCOPY( ISYMM, R, 1, DWORK, 1 )
-            IF( BPAR(3) ) THEN
-              CALL MA02DD( 'Unpack', 'Upper', M, R, LDR, DWORK )
-            ELSE
-              CALL MA02DD( 'Unpack', 'Lower', M, R, LDR, DWORK )
-            END IF
-          END IF
-          WRITE( NOUT, FMT = 99983 )
-          DO 70  I = 1, M
-            WRITE( NOUT, FMT = 99977 ) ( R(I,J), J = 1, M )
-   70     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99982 )
-        END IF
-        IF( VEC(9) ) THEN
-          WRITE( NOUT, FMT = 99981 )
-          DO 80  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( S(I,J), J = 1, M )
-   80     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99980 )
-        END IF
-        IF( VEC(10) ) THEN
-          WRITE( NOUT, FMT = 99979 )
-          DO 90  I = 1, N
-            WRITE( NOUT, FMT = 99977 ) ( X(I,J), J = 1, N )
-   90     CONTINUE
-        ELSE
-          WRITE( NOUT, FMT = 99978 )
-        END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' BB02AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB02AD = ', I3)
-99997 FORMAT (/' Order of matrix A:              N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:  M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:     P  = ', I3)
-99994 FORMAT (' A  = ')
-99993 FORMAT (' B  = ')
-99992 FORMAT (' B is not provided.')
-99991 FORMAT (' C  = ')
-99990 FORMAT (' C is not provided.')
-99989 FORMAT (' G  = ')
-99988 FORMAT (' G is not provided.')
-99987 FORMAT (' Q  = ')
-99986 FORMAT (' Q is not provided.')
-99985 FORMAT (' Q0  = ')
-99984 FORMAT (' Q0 is not provided.')
-99983 FORMAT (' R  = ')
-99982 FORMAT (' R is not provided.')
-99981 FORMAT (' S  = ')
-99980 FORMAT (' S is not provided.')
-99979 FORMAT (' X  = ')
-99978 FORMAT (' X is not provided.')
-99977 FORMAT (20(1X,F8.4))
-*
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB02AD EXAMPLE PROGRAM DATA
-N
-2 3
-7
-.T. .T. .T. .F. .F. .T. .T.
-1
-.1234
-0
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB02AD EXAMPLE PROGRAM RESULTS
-
- increasingly bad scaled system as eps -> oo                           
-
- Order of matrix A:              N  =   2
- Number of columns in matrix B:  M  =   1
- Number of rows in matrix C:     P  =   2
- A  = 
-   0.0000   0.1234
-   0.0000   0.0000
- B  = 
-   0.0000
-   1.0000
- C is not provided.
- G is not provided.
- Q  = 
-   1.0000   0.0000
-   0.0000   1.0000
- Q0 is not provided.
- R  = 
-   1.0000
- S  = 
-   0.0000
-   0.0000
- X  = 
-   1.0000   0.0000
-   0.0000   1.0152
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/BB03AD.html b/doc/_static/doc/BB03AD.html
deleted file mode 100644
index c4132431..00000000
--- a/doc/_static/doc/BB03AD.html
+++ /dev/null
@@ -1,386 +0,0 @@
-<HTML>
-<HEAD><TITLE>BB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB03AD">BB03AD</A></H2>
-<H3>
-Benchmark examples of (generalized) continuous-time Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples of (generalized) continuous-time
-  Lyapunov equations
-
-     T           T
-    A  X  E  +  E  X A  =  Y .
-
-  In some examples, the right hand side has the form
-
-             T
-    Y  =  - B  B
-
-  and the solution can be represented as a product of Cholesky
-  factors
-
-           T
-    X  =  U  U .
-
-  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
-  that E can be the identity matrix. For some examples, B, X, or U
-  are not provided.
-
-  This routine is an implementation of the benchmark library
-  CTLEX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
-     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
-     2                  LDWORK, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
-     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          DEF = 'D' or 'd': Default values are used.
-          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension 2
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on real parameters, then the array DPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
-          respectively.
-          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
-          's', respectively.
-          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
-          't'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on real parameters, then the array DPAR is
-          overwritten by the default values given in [1].
-
-  IPAR    (input/output) INTEGER array of DIMENSION at least 1
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on integer parameters, then the array IPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
-          For Example 4.4, IPAR(1) defines 'q'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on integer parameters, then the array IPAR is
-          overwritten by the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension 8
-          Flag vector which displays the availability of the output
-          data:
-          VEC(1) and VEC(2) refer to N and M, respectively, and are
-          always .TRUE.
-          VEC(3) is .TRUE. iff E is NOT the identity matrix.
-          VEC(4) and VEC(5) refer to A and Y, respectively, and are
-          always .TRUE.
-          VEC(6) is .TRUE. iff B is provided.
-          VEC(7) is .TRUE. iff the solution matrix X is provided.
-          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of rows in the matrix B. If B is not provided
-          for the desired example, M = 0 is returned.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(3) = .FALSE.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the
-          matrix Y.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading M-by-N part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= M.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the
-          matrix X.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= N.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          matrix U.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
-          required.
-          For the other examples, no workspace is needed, i.e.,
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
-       CTLEX - a Collection of Benchmark Examples for Continuous-
-       Time Lyapunov Equations.
-       SLICOT Working Note 1999-6, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BB03AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX
-      PARAMETER        (NMAX = 100, MMAX = 100)
-      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
-      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
-     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
-     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
-     2                 DPAR(2), DWORK(LDWORK)
-      INTEGER          NR(2), IPAR(1)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BB03AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BB03AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
-     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
-     2            INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        IF (VEC(3)) THEN
-          WRITE (NOUT, FMT = 99995)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99994)
-        END IF
-        WRITE (NOUT,FMT = 99993)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
-20      CONTINUE
-        IF (VEC(6)) THEN
-          WRITE (NOUT,FMT = 99992)
-          DO 30  I = 1, M
-            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
-30        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99991)
-        END IF
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, N
-          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(7)) THEN
-          WRITE (NOUT, FMT = 99989)
-          DO 50  I = 1, N
-            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-        IF (VEC(8)) THEN
-          WRITE (NOUT, FMT = 99987)
-          DO 60  I = 1, N
-            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
-60        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99986)
-        END IF
-      END IF
-C
-99999 FORMAT (' BB03AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB03AD = ', I3)
-99997 FORMAT (/' Order of matrix A:            N  = ', I3)
-99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
-99995 FORMAT (/' E  = ')
-99994 FORMAT (/' E is the identity matrix.')
-99993 FORMAT (' A  = ')
-99992 FORMAT (' B  = ')
-99991 FORMAT (' B is not provided.')
-99990 FORMAT (' Y  = ')
-99989 FORMAT (' X  = ')
-99988 FORMAT (' X is not provided.')
-99987 FORMAT (' U  = ')
-99986 FORMAT (' U is not provided.')
-99985 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB03AD EXAMPLE PROGRAM DATA
-N
-4 1
-2
-.15D1
-.15D1
-1
-5
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB03AD EXAMPLE PROGRAM RESULTS
-
- CTLEX: Example 4.1                                                    
-
- Order of matrix A:            N  =   5
- Number of rows in matrix B:   M  =   1
-
- E is the identity matrix.
- A  = 
-  -3.6360  -0.6921  -1.1933  -0.8137   0.3507
-   0.1406  -2.9375   0.9063   0.1562   0.3438
-  -2.5735  -1.4421  -2.8183  -1.1887   1.2257
-  -0.3779   0.0810   0.5544  -1.5891   0.0660
-   0.8961   1.1586   1.6279   0.5631  -2.2066
- B  = 
-  -3.6914  -3.9753  -0.0247  -1.9012   1.1111
- Y  = 
- -13.6261 -14.6743  -0.0911  -7.0181   4.1015
- -14.6743 -15.8031  -0.0982  -7.5580   4.4170
-  -0.0911  -0.0982  -0.0006  -0.0469   0.0274
-  -7.0181  -7.5580  -0.0469  -3.6147   2.1125
-   4.1015   4.4170   0.0274   2.1125  -1.2346
- X  = 
-   1.7737   1.9307  -0.0703   1.0497  -0.4681
-   1.9307   2.1036  -0.0752   1.1489  -0.5069
-  -0.0703  -0.0752   0.0076  -0.0428   0.0178
-   1.0497   1.1489  -0.0428   0.6509  -0.2651
-  -0.4681  -0.5069   0.0178  -0.2651   0.1284
- U is not provided.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/BB04AD.html b/doc/_static/doc/BB04AD.html
deleted file mode 100644
index 84849172..00000000
--- a/doc/_static/doc/BB04AD.html
+++ /dev/null
@@ -1,386 +0,0 @@
-<HTML>
-<HEAD><TITLE>BB04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BB04AD">BB04AD</A></H2>
-<H3>
-Benchmark examples of (generalized) discrete-time Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples of (generalized) discrete-time
-  Lyapunov equations
-
-     T           T
-    A  X  A  -  E  X E  =  Y .
-
-  In some examples, the right hand side has the form
-
-             T
-    Y  =  - B  B
-
-  and the solution can be represented as a product of Cholesky
-  factors
-
-           T
-    X  =  U  U .
-
-  E, A, Y, X, and U are real N-by-N matrices, and B is M-by-N. Note
-  that E can be the identity matrix. For some examples, B, X, or U
-  are not provided.
-
-  This routine is an implementation of the benchmark library
-  DTLEX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA,
-     1                  Y, LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK,
-     2                  LDWORK, INFO)
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDE, LDU, LDWORK, LDX, LDY, M, N
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DPAR(*), DWORK(LDWORK),
-     1                  E(LDE,*), U(LDU,*), X(LDX,*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          DEF = 'D' or 'd': Default values are used.
-          DEF = 'N' or 'n': Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension 2
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension 2
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on real parameters, then the array DPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 4.1, DPAR(1) and DPAR(2) define 'r' and 's',
-          respectively.
-          For Example 4.2, DPAR(1) and DPAR(2) define 'lambda' and
-          's', respectively.
-          For Examples 4.3 and 4.4, DPAR(1) defines the parameter
-          't'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on real parameters, then the array DPAR is
-          overwritten by the default values given in [1].
-
-  IPAR    (input/output) INTEGER array of DIMENSION at least 1
-          On entry, if DEF = 'N' or 'n' and the desired example
-          depends on integer parameters, then the array IPAR must
-          contain the values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 4.1, 4.2, and 4.3, IPAR(1) defines 'n'.
-          For Example 4.4, IPAR(1) defines 'q'.
-          On exit, if DEF = 'D' or 'd' and the desired example
-          depends on integer parameters, then the array IPAR is
-          overwritten by the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension 8
-          Flag vector which displays the availability of the output
-          data:
-          VEC(1) and VEC(2) refer to N and M, respectively, and are
-          always .TRUE.
-          VEC(3) is .TRUE. iff E is NOT the identity matrix.
-          VEC(4) and VEC(5) refer to A and Y, respectively, and are
-          always .TRUE.
-          VEC(6) is .TRUE. iff B is provided.
-          VEC(7) is .TRUE. iff the solution matrix X is provided.
-          VEC(8) is .TRUE. iff the Cholesky factor U is provided.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of rows in the matrix B. If B is not provided
-          for the desired example, M = 0 is returned.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(3) = .FALSE.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the
-          matrix Y.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading M-by-N part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= M.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the
-          matrix X.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= N.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          matrix U.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          For Examples 4.1 and 4.2., LDWORK &gt;= 2*IPAR(1) is
-          required.
-          For the other examples, no workspace is needed, i.e.,
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  D. Kressner, V. Mehrmann, and T. Penzl.
-       DTLEX - a Collection of Benchmark Examples for Discrete-
-       Time Lyapunov Equations.
-       SLICOT Working Note 1999-7, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BB04AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX
-      PARAMETER        (NMAX = 100, MMAX = 100)
-      INTEGER          LDE, LDA, LDY, LDB, LDX, LDU, LDWORK
-      PARAMETER        (LDE = NMAX, LDA = NMAX, LDY = NMAX, LDB = MMAX,
-     1                  LDX = NMAX, LDU = NMAX, LDWORK = 2*NMAX)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          INFO, N, M, I, J, LDPAR, LIPAR
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION E(LDE,NMAX), A(LDA, NMAX), Y(LDY, NMAX),
-     1                 B(LDB,NMAX), X(LDX, NMAX), U(LDU, NMAX),
-     2                 DPAR(2), DWORK(LDWORK)
-      INTEGER          NR(2), IPAR(1)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BB04AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BB04AD(DEF, NR, DPAR, IPAR, VEC, N, M, E, LDE, A, LDA, Y,
-     1            LDY, B, LDB, X, LDX, U, LDU, NOTE, DWORK, LDWORK,
-     2            INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        IF (VEC(3)) THEN
-          WRITE (NOUT, FMT = 99995)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99985) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99994)
-        END IF
-        WRITE (NOUT,FMT = 99993)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99985) (A(I,J), J = 1, N)
-20      CONTINUE
-        IF (VEC(6)) THEN
-          WRITE (NOUT,FMT = 99992)
-          DO 30  I = 1, M
-            WRITE (NOUT, FMT = 99985) (B(I,J), J = 1, N)
-30        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99991)
-        END IF
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, N
-          WRITE (NOUT, FMT = 99985) (Y(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(7)) THEN
-          WRITE (NOUT, FMT = 99989)
-          DO 50  I = 1, N
-            WRITE (NOUT, FMT = 99985) (X(I,J), J = 1, N)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-        IF (VEC(8)) THEN
-          WRITE (NOUT, FMT = 99987)
-          DO 60  I = 1, N
-            WRITE (NOUT, FMT = 99985) (U(I,J), J = 1, N)
-60        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99986)
-        END IF
-      END IF
-C
-99999 FORMAT (' BB04AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BB04AD = ', I3)
-99997 FORMAT (/' Order of matrix A:            N  = ', I3)
-99996 FORMAT (' Number of rows in matrix B:   M  = ', I3)
-99995 FORMAT (/' E  = ')
-99994 FORMAT (/' E is the identity matrix.')
-99993 FORMAT (' A  = ')
-99992 FORMAT (' B  = ')
-99991 FORMAT (' B is not provided.')
-99990 FORMAT (' Y  = ')
-99989 FORMAT (' X  = ')
-99988 FORMAT (' X is not provided.')
-99987 FORMAT (' U  = ')
-99986 FORMAT (' U is not provided.')
-99985 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BB04AD EXAMPLE PROGRAM DATA
-N
-4 1
-2
-.15D1
-.15D1
-1
-5
-</PRE>
-<B>Program Results</B>
-<PRE>
- BB04AD EXAMPLE PROGRAM RESULTS
-
- DTLEX: Example 4.1                                                    
-
- Order of matrix A:            N  =   5
- Number of rows in matrix B:   M  =   1
-
- E is the identity matrix.
- A  = 
-   0.4562   0.0308   0.1990   0.0861   0.0217
-   0.0637   0.5142  -0.1828   0.0096  -0.1148
-   0.3139   0.1287   0.3484   0.1653  -0.1975
-   0.1500   0.0053  -0.1838   0.2501  -0.0687
-   0.0568  -0.1006  -0.3735  -0.0202   0.2285
- B  = 
-   0.3086   0.0247  -0.4691   0.1728  -0.3704
- Y  = 
-  -0.0953  -0.0076   0.1448  -0.0533   0.1143
-  -0.0076  -0.0006   0.0116  -0.0043   0.0091
-   0.1448   0.0116  -0.2201   0.0811  -0.1738
-  -0.0533  -0.0043   0.0811  -0.0299   0.0640
-   0.1143   0.0091  -0.1738   0.0640  -0.1372
- X  = 
-   0.0953   0.0076  -0.1448   0.0533  -0.1143
-   0.0076   0.0006  -0.0116   0.0043  -0.0091
-  -0.1448  -0.0116   0.2201  -0.0811   0.1738
-   0.0533   0.0043  -0.0811   0.0299  -0.0640
-  -0.1143  -0.0091   0.1738  -0.0640   0.1372
- U is not provided.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/BD01AD.html b/doc/_static/doc/BD01AD.html
deleted file mode 100644
index 2268c1a8..00000000
--- a/doc/_static/doc/BD01AD.html
+++ /dev/null
@@ -1,352 +0,0 @@
-<HTML>
-<HEAD><TITLE>BD01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BD01AD">BD01AD</A></H2>
-<H3>
-Benchmark examples for time-invariant continuous-time dynamical systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples for time-invariant,
-  continuous-time dynamical systems
-
-      .
-    E x(t) = A x(t) + B u(t)
-
-      y(t) = C x(t) + D u(t)
-
-  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
-  D is P-by-M. In many examples, E is the identity matrix and D is
-  the zero matrix.
-
-  This routine is an implementation of the benchmark library
-  CTDSX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BD01AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
-     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
-     2                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
-     1                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          = 'D':  Default values defined in [1] are used;
-          = 'N':  Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
-          On entry, if DEF = 'N' and the desired example depends on
-          real parameters, then the array DPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 2.1 and 2.2, DPAR(1) defines the parameter
-          'epsilon'.
-          For Example 2.4, DPAR(1), ..., DPAR(7) define 'b', 'mu',
-          'r', 'r_c', 'k_l', 'sigma', 'a', respectively.
-          For Example 2.7, DPAR(1) and DPAR(2) define 'mu' and 'nu',
-          respectively.
-          For Example 4.1, DPAR(1), ..., DPAR(7) define 'a', 'b',
-          'c', 'beta_1', 'beta_2', 'gamma_1', 'gamma_2',
-          respectively.
-          For Example 4.2, DPAR(1), ..., DPAR(3) define 'mu',
-          'delta', 'kappa', respectively.
-          On exit, if DEF = 'D' and the desired example depends on
-          real parameters, then the array DPAR is overwritten by the
-          default values given in [1].
-
-  IPAR    (input/output) INTEGER array, dimension (1)
-          On entry, if DEF = 'N' and the desired example depends on
-          integer parameters, then the array IPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Examples 2.3, 2.5, and 2.6, IPAR(1) defines the
-          parameter 's'.
-          For Example 3.1, IPAR(1) defines 'q'.
-          For Examples 3.2 and 3.3, IPAR(1) defines 'n'.
-          For Example 3.4, IPAR(1) defines 'l'.
-          For Example 4.1, IPAR(1) defines 'n'.
-          For Example 4.2, IPAR(1) defines 'l'.
-          On exit, if DEF = 'D' and the desired example depends on
-          integer parameters, then the array IPAR is overwritten by
-          the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension (8)
-          Flag vector which displays the availabilty of the output
-          data:
-          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
-          and are always .TRUE..
-          VEC(4) is .TRUE. iff E is NOT the identity matrix.
-          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
-          and are always .TRUE..
-          VEC(8) is .TRUE. iff D is NOT the zero matrix.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of columns in the matrices B and D.
-
-  P       (output) INTEGER
-          The number of rows in the matrices C and D.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(4) = .FALSE..
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= P.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          matrix D.
-          NOTE that this array is overwritten (by the zero
-          matrix), if VEC(8) = .FALSE..
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= P.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          For Example 3.4, LDWORK &gt;= 4*IPAR(1) is required.
-          For the other examples, no workspace is needed, i.e.,
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value;
-          = 1:  data file can not be opened or has wrong format.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
-       CTDSX - a Collection of Benchmark Examples for State-Space
-       Realizations of Continuous-Time Dynamical Systems.
-       SLICOT Working Note 1998-9. 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BD01AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
-      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     1                  LDE = NMAX, LDWORK = 4*NMAX)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
-      INTEGER          NR(2), IPAR(7)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BD01AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BD01AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
-     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        WRITE (NOUT, FMT = 99995) P
-        IF (VEC(4)) THEN
-          WRITE (NOUT, FMT = 99994)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99993)
-        END IF
-        WRITE (NOUT,FMT = 99992)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
-20      CONTINUE
-        WRITE (NOUT,FMT = 99991)
-        DO 30  I = 1, N
-          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
-30      CONTINUE
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, P
-          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(8)) THEN
-          WRITE (NOUT,FMT = 99989)
-          DO 50  I = 1, P
-            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-      END IF
-C
-99999 FORMAT (' BD01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BD01AD = ', I3)
-99997 FORMAT (/' Order of matrix A:               N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
-99994 FORMAT (/' E  = ')
-99993 FORMAT (/' E is the identity matrix.')
-99992 FORMAT (' A  = ')
-99991 FORMAT (' B  = ')
-99990 FORMAT (' C  = ')
-99989 FORMAT (' D  = ')
-99988 FORMAT (' D is of zeros.')
-99987 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BD01AD EXAMPLE PROGRAM DATA
-D
-1 1
-</PRE>
-<B>Program Results</B>
-<PRE>
- BD01AD EXAMPLE PROGRAM RESULTS
-
- Laub 1979, Ex.1                                                       
-
- Order of matrix A:               N  =   2
- Number of columns in matrix B:   M  =   1
- Number of rows in matrix C:      P  =   2
-
- E is the identity matrix.
- A  = 
-   0.0000   1.0000
-   0.0000   0.0000
- B  = 
-   0.0000
-   1.0000
- C  = 
-   1.0000   0.0000
-   0.0000   1.0000
- D is of zeros.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/BD02AD.html b/doc/_static/doc/BD02AD.html
deleted file mode 100644
index 1e67379d..00000000
--- a/doc/_static/doc/BD02AD.html
+++ /dev/null
@@ -1,334 +0,0 @@
-<HTML>
-<HEAD><TITLE>BD02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="BD02AD">BD02AD</A></H2>
-<H3>
-Benchmark examples for time-invariant discrete-time dynamical systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate benchmark examples for time-invariant,
-  discrete-time dynamical systems
-
-    E x_k+1 = A x_k + B u_k
-
-        y_k = C x_k + D u_k
-
-  E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
-  D is P-by-M. In many examples, E is the identity matrix and D is
-  the zero matrix.
-
-  This routine is an implementation of the benchmark library
-  DTDSX (Version 1.0) described in [1].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE BD02AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
-     1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
-     2                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DEF
-      CHARACTER*70      NOTE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
-C     .. Array Arguments ..
-      LOGICAL           VEC(8)
-      INTEGER           IPAR(*), NR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
-     1                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DEF     CHARACTER*1
-          Specifies the kind of values used as parameters when
-          generating parameter-dependent and scalable examples
-          (i.e., examples with NR(1) = 2, 3, or 4):
-          = 'D':  Default values defined in [1] are used;
-          = 'N':  Values set in DPAR and IPAR are used.
-          This parameter is not referenced if NR(1) = 1.
-          Note that the scaling parameter of examples with
-          NR(1) = 3 or 4 is considered as a regular parameter in
-          this context.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NR      (input) INTEGER array, dimension (2)
-          Specifies the index of the desired example according
-          to [1].
-          NR(1) defines the group:
-                1 : parameter-free problems of fixed size
-                2 : parameter-dependent problems of fixed size
-                3 : parameter-free problems of scalable size
-                4 : parameter-dependent problems of scalable size
-          NR(2) defines the number of the benchmark example
-          within a certain group according to [1].
-
-  DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
-          On entry, if DEF = 'N' and the desired example depends on
-          real parameters, then the array DPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 2.1, DPAR(1), ..., DPAR(3) define the
-          parameters 'tau', 'delta', 'K', respectively.
-          On exit, if DEF = 'D' and the desired example depends on
-          real parameters, then the array DPAR is overwritten by the
-          default values given in [1].
-
-  IPAR    (input/output) INTEGER array, dimension (1)
-          On entry, if DEF = 'N' and the desired example depends on
-          integer parameters, then the array IPAR must contain the
-          values for these parameters.
-          For an explanation of the parameters see [1].
-          For Example 3.1, IPAR(1) defines the parameter 'n'.
-          On exit, if DEF = 'D' and the desired example depends on
-          integer parameters, then the array IPAR is overwritten by
-          the default values given in [1].
-
-  VEC     (output) LOGICAL array, dimension (8)
-          Flag vector which displays the availabilty of the output
-          data:
-          VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
-          and are always .TRUE..
-          VEC(4) is .TRUE. iff E is NOT the identity matrix.
-          VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
-          and are always .TRUE..
-          VEC(8) is .TRUE. iff D is NOT the zero matrix.
-
-  N       (output) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices E and A.
-
-  M       (output) INTEGER
-          The number of columns in the matrices B and D.
-
-  P       (output) INTEGER
-          The number of rows in the matrices C and D.
-
-  E       (output) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array contains the
-          matrix E.
-          NOTE that this array is overwritten (by the identity
-          matrix), if VEC(4) = .FALSE..
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= N.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= P.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          matrix D.
-          NOTE that this array is overwritten (by the zero
-          matrix), if VEC(8) = .FALSE..
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= P.
-
-  NOTE    (output) CHARACTER*70
-          String containing short information about the chosen
-          example.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          NOTE that DWORK is not used in the current version
-          of BD02AD.
-
-  LDWORK  INTEGER
-          LDWORK &gt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; in particular, INFO = -3 or -4 indicates
-                that at least one of the parameters in DPAR or
-                IPAR, respectively, has an illegal value;
-          = 1:  data file can not be opened or has wrong format.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  Kressner, D., Mehrmann, V. and Penzl, T.
-       DTDSX - a Collection of Benchmark Examples for State-Space
-       Realizations of Discrete-Time Dynamical Systems.
-       SLICOT Working Note 1998-10. 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-C     BD02AD EXAMPLE PROGRAM TEXT
-C
-C     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        (NIN = 5, NOUT = 6)
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
-      PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     1                  LDE = NMAX, LDWORK = 1)
-C     .. Local Scalars ..
-      CHARACTER        DEF
-      INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
-      CHARACTER*70     NOTE
-C     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
-      INTEGER          NR(2), IPAR(7)
-      LOGICAL          VEC(8)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-C     .. External Subroutines ..
-      EXTERNAL         BD02AD
-C     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999)
-C     Skip the heading in the data file and read the data.
-      READ (NIN, FMT = '()')
-      READ (NIN, FMT = *) DEF
-      READ (NIN, FMT = *) (NR(I), I = 1, 2)
-      IF (LSAME(DEF,'N')) THEN
-        READ (NIN, FMT = *) LDPAR
-        IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
-        READ (NIN, FMT = *) LIPAR
-        IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
-      END IF
-C     Generate benchmark example
-      CALL BD02AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
-     1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
-C
-      IF (INFO .NE. 0) THEN
-        WRITE (NOUT, FMT = 99998) INFO
-      ELSE
-        WRITE (NOUT, FMT = *) NOTE
-        WRITE (NOUT, FMT = 99997) N
-        WRITE (NOUT, FMT = 99996) M
-        WRITE (NOUT, FMT = 99995) P
-        IF (VEC(4)) THEN
-          WRITE (NOUT, FMT = 99994)
-          DO 10  I = 1, N
-            WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
-10        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99993)
-        END IF
-        WRITE (NOUT,FMT = 99992)
-        DO 20  I = 1, N
-          WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
-20      CONTINUE
-        WRITE (NOUT,FMT = 99991)
-        DO 30  I = 1, N
-          WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
-30      CONTINUE
-        WRITE (NOUT,FMT = 99990)
-        DO 40  I = 1, P
-          WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
-40      CONTINUE
-        IF (VEC(8)) THEN
-          WRITE (NOUT,FMT = 99989)
-          DO 50  I = 1, P
-            WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
-50        CONTINUE
-        ELSE
-          WRITE (NOUT, FMT = 99988)
-        END IF
-      END IF
-C
-99999 FORMAT (' BD02AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from BD02AD = ', I3)
-99997 FORMAT (/' Order of matrix A:               N  = ', I3)
-99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
-99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
-99994 FORMAT (/' E  = ')
-99993 FORMAT (/' E is the identity matrix.')
-99992 FORMAT (' A  = ')
-99991 FORMAT (' B  = ')
-99990 FORMAT (' C  = ')
-99989 FORMAT (' D  = ')
-99988 FORMAT (' D is of zeros.')
-99987 FORMAT (20(1X,F8.4))
-C
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-BD02AD EXAMPLE PROGRAM DATA
-D
-1 1
-</PRE>
-<B>Program Results</B>
-<PRE>
- BD02AD EXAMPLE PROGRAM RESULTS
-
- Laub 1979, Ex. 2: uncontrollable-unobservable data                    
-
- Order of matrix A:               N  =   2
- Number of columns in matrix B:   M  =   1
- Number of rows in matrix C:      P  =   1
-
- E is the identity matrix.
- A  = 
-   4.0000   3.0000
-  -4.5000  -3.5000
- B  = 
-   1.0000
-  -1.0000
- C  = 
-   3.0000   2.0000
- D is of zeros.
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DAESolver.html b/doc/_static/doc/DAESolver.html
deleted file mode 100644
index aaa78f78..00000000
--- a/doc/_static/doc/DAESolver.html
+++ /dev/null
@@ -1,1408 +0,0 @@
-<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
-<html>
-<head>
-   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
-   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
-   <title>DAESolver - SLICOT Library Routine Documentation</title>
-</head>
-<body>
-
-<h2>
-<a NAME="DAESolver"></a>DAESolver</h2>
-
-<h3>
-Solver for Algebraic Differential Equations (driver)</h3>
-<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
-<p><b><font size=+1>Purpose</font></b>
-<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
-&nbsp; defining Differential Algebraic Equations using several packages.</pre>
-
-<pre>&nbsp; The equations follow the form (CASE A):
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t) = 0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
-
-&nbsp; for the most general model which can only be solved by DASSL and
-&nbsp; DASSPK.
-
-&nbsp; A restricted case can be solved with RADAU5, LSODI, LSOIBT, if
-&nbsp; the system is expressed as (CASE B):
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(x(t), u(t), p, t)*dx(t)/dt = A(x(t), u(t), p, t)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(dx(t)/dx, x(t), u(t), p, t)
-
-&nbsp; And finally, the GELDA package is able to solve DAEs with the&nbsp;
-&nbsp; expression (CASE C):
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; F(u(t), p, t)*dx(t)/dt = A(u(t), p, t)*x(t) + E(u(t), p, t)
-
-&nbsp; The user must define the subroutines:
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDF:&nbsp;&nbsp;&nbsp; F(dx(t)/dt, x(t), u(t), p, t)&nbsp; for CASES: A, B and C
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDA:&nbsp;&nbsp;&nbsp; A(x(t), u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: B and C
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDE:&nbsp;&nbsp;&nbsp; E(u(t), p, t)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for CASES: C
-&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT:&nbsp;&nbsp; g(dx(t)/dx, x(t), u(t), p, t)
-&nbsp; and the Jacobians (JACFX, JACFU, JACFP) if used. The interface&nbsp;
-&nbsp; adapts the structure to fit all the codes</pre>
-<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAESolver(ISOLVER,CDAEDF_,CDAEDA_,CDAEDE_,CDAEOUT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_,CJACFU_,CJACFP_,CJACFXDOT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP, TINI, TOUT,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X, XDOTI, Y, U, P,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, RPAR, RTOL, ATOL,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)&nbsp;
-&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
-&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; TINI, TOUT
-&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, NP,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF_, CDAEDA_,CDAEDE_, CDAEOUT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX_, CJACFU_, CJACFP_, CJACFXDOT_,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF, CDAEDA,CDAEDE, CDAEOUT,
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX, CJACFU, CJACFP, CJACFXDOT
-&nbsp;&nbsp;&nbsp; .. Array Arguments ..
-&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp;&nbsp; DWORK(LDWORK), RPAR(*), ATOL(*), RTOL(*)
-&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), XDOTI(NX), Y(NY), U(NU), P(NP)
-&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)</pre>
-<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
-<p><b>Mode Parameters</b>
-<pre>&nbsp;&nbsp; ISOLVER INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver packages to be used
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODI,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSOIBT,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: RADAU5,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: DASSL,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASPK,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DGELDA.</pre>
-<b>Input/Output Parameters</b>
-<br>&nbsp;
-<pre><tt>&nbsp;&nbsp;&nbsp;&nbsp; DAEDF&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the F(dx(t)/dt, x(t), u(t), p, t).
-
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDA&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the A(x(t), u(t), p, t).
-
-&nbsp;&nbsp;&nbsp;&nbsp; DAEDE&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the E(u(t), p, t).
-
-&nbsp;&nbsp;&nbsp;&nbsp; DAEOUT&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.
-
-&nbsp;&nbsp;&nbsp;&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.
-
-&nbsp;&nbsp;&nbsp;&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.
-
-&nbsp;&nbsp;&nbsp;&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the parameter vector.
-
-&nbsp;&nbsp;&nbsp;&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.
-
-&nbsp;&nbsp;&nbsp;&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; XDOTI&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NX)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing dx(t)/dt at initial point.
-
-&nbsp;&nbsp;&nbsp;&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.
-
-&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NP)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the parameter variables.
-&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (201)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
-&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both rtol and atol are scalars
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : rtol is a scalar and atol is a vector
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both rtol and atol are vectors
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values only at TOUT (and not
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; at the intermediate step). (1:Yes, 0:No)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mfjac, Method flag for jacobian
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (Note: IPAR(6) and IPAR(7) are obligatories only if the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian matrix is banded)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of residual evaluations.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for RADAU5, ODEPACK and DGELDA:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9), mfmass, Method flag for mass-matrix
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No mass-matrix used (non-stiff method).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full mass-matrix (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded mass-matrix (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : Identity mass-matrix is used (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(10), mlmass, lower half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(11), mumass, upper half-bandwithds of the banded
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; mass matrix, excluding the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12), Maximum number of steps allowed during one
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(13), Maximum order to be allowed.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default values : 12 if meth = 1
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; In DASSL, DASPK and DGELDA : (1 .LE. MAXORD .LE. 5)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK package:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs, must be 0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBIT
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(24), mb, block size.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (mb .GE. 1) and mb*IPAR(28) = NX
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(25), nb, number of blocks in the main diagonal.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (nb .ge. 4) and nb*IPAR(27) = NX
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to Hessenberg
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; form.(Only if IPAR(9)=1 and IPAR(3)=1 or 10)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations in
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; each step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .EQ. 0 -> is taken the extrapolated collocation
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .NE. 0 -> zero values are used.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables( >0 ).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1 (default 0).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2 (default(M2=M1).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL, DASPK and DGELDA solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity constraints:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforze nonnegativity in X during the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (dense or band)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp; (iterative)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac (iterative)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38) > 0:&nbsp;&nbsp;&nbsp; 0: Yes
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; variables:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0:Yes
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Extra printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, no printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, for minimal printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2, for full printing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(44), maximum number of iterations in the SPIGMR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (.LE. NX)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(45), number of vectors on which orthogonalization
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; is done in the SPIGMR algorithm. (.LE. IPAR(44))
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(46), maximum number of restarts of the SPIGMR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm per nonlinear iteration. (.GE. 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(47), maximum number of Newton iterations per
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Jacobian or preconditioner evaluation. (> 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(48), maximum number of Jacobian or preconditioner
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; evaluations. (> 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(49), maximum number of values of the artificial
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; stepsize parameter H to be tried if IPAR(38) = 1.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (> 0).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(50), flag to turn off the linesearch algorithm.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : ON
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : OFF (default)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DGELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(51), contains the strangeness index.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(52), number of differential components
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(53), number of algebraic components
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(54), number of undetermined components
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(55), method used:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 1 then uses the BDF solver
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 then uses the Runge-Kutta solver
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(56), E(t) and A(t) are: 1&nbsp; time dependent
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0&nbsp; constants
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(57), Maximum index of the problem. ( .GE. 0 )
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(58), Step size strategy:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0, Mod. predictive controlled of Gustafsson(safer)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1, classical step size control(faster)
-
-&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (201)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1), Initial step size guess.Obligatory in RADAU5.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(2), Maximum absolute step size allowed.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL, DASPK and DGELDA:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(111), Step size in t last used (successfully).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(112), Step size to be attempted on the next step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(113), Current value of the independent variable
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(16), Critical value of t which the solver is not
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(17), Minimum absolute step size allowed.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(18), Tolerance scale factor, greater than 1.0.
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(26), The rounding unit, default 1E-16.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(27), The safety factor in step size prediction,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(28), Decides whether the jacobian should be
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Increase when jacobian evaluations are costly
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; For small systems should be smaller.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(29), Stopping criterion for Newton's method,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(30), RPAR(31): This saves, together with a
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large RPAR(28), LU-decompositions and computing
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Small systems: RPAR(30)=1.D0, RPAR(31)=1.2D0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Large full systems: RPAR(30)=0.99D0, RPAR(31)=2.D0
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; might be good.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(32), RPAR(33), Parameters for step size
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.Condition: RPAR(32)&lt;=HNEW/HOLD&lt;=RPAR(33)
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL, DASPK and DGELDA solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(36), Stopping point (Tstop)
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(37), convergence test constant in SPIGMR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; algorithm. (0 .LT. RPAR(37) .LT. 1.0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(38), minimum scaled step in linesearch algorithm.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; The default is&nbsp; = (unit roundoff)**(2/3). (> 0)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(39), swing factor in the Newton iteration
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; convergence test. (default 0.1) (> 0)
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASPK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(40), safety factor used in step size prediction.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(41) and RPAR(42) restric the relation between the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; new and old stepsize in step size selection.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1/RPAR(41) .LE. Hnew/Hold .LE. 1/RPAR(42)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(43), RPAR(44) QUOT1 and QUOT2 repectively.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If QUOT1 &lt; Hnew/Hold &lt; QUOT2 and A and E are
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; constants, the work can be saved by setting
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hnew=Hold and using the system matrix of the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; previous step.</tt></pre>
-<b>Tolerances</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.
-
-&nbsp;&nbsp;&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PRECISION
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
-<b>Workspace</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)
-
-&nbsp;&nbsp;&nbsp;&nbsp; LIWORK&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Minimum size of DWORK, depending on solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI, LSOIBT, DASSL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + NX
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3*N+20
-
-&nbsp;&nbsp;&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PRECISION array, dimension (LDWORK)
-
-&nbsp;&nbsp;&nbsp;&nbsp; LDWORK&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODI
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 +&nbsp; 9*NX + NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , IPAR(3) = 1 or 10
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22 + 10*NX + (2*ML + MU)*NX&nbsp;&nbsp;&nbsp; , IPAR(3) = 2 or 11
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSOIBT
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + nyh*(maxord + 1) + 3*NX + lenw&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nyh&nbsp;&nbsp;&nbsp; = Initial value of NX
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; maxord = Maximum order allowed(default or IPAR(13)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lenw&nbsp;&nbsp; = 3*mb*mb*nb + 2&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - RADAU5
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; N*(LJAC+LMAS+3*LE+12)+20
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; where&nbsp; LJAC=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (full jacobian)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LJAC=MLJAC+MUJAC+1&nbsp;&nbsp; if (banded jacobian)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LMAS=0&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 10 or 11)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LMAS=MLMAS+MUMAS+1&nbsp;&nbsp; if (IPAR(9) = 2)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and&nbsp; LE=N&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if (IPAR(9) = 1 or 10)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LE=2*MLJAC+MUJAC+1&nbsp;&nbsp; if (IPAR(9) = 2 or 11)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
-<b>Warning Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; LSODI/LSOIBT/RADAU5 do not use the input vector as argument;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; LSODI/LSOIBT do not use the param vector as argument;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; RTOL and ATOL are used as scalars;</pre>
-<b>Error Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Method (IPAR(9)) is not allowed for ODEPACK/RADAU5;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) is not allowed for LSODE/RADAU5/DASSL;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Option not allowed for IPAR(37);
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(38);
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: RADAU5 returned -ERROR;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: DASSL returned -ERROR;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DASPK returned -ERROR;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DGELDA returned -ERROR.</pre>
-<a NAME="Method"></a><b><font size=+1>Method</font></b>
-<pre><tt><font color="#000000">Since the package integrates 8 different solvers, it is possible to solve differential&nbsp;
-equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
-iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
-equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
-the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
-and efficient integrated package.</font></tt></pre>
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-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
-<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
-<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
-&nbsp; different packages integrated. Several packages are more robust
-&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
-&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
-&nbsp; of each method is recommended to check the references above.</pre>
-<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
-<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
-&nbsp; The interface checks the suitability of the methods to the&nbsp;
-&nbsp; parameters and show a warning message if problems could arise.</pre>
-<a NAME="Example"></a><b><font size=+1>Example</font></b>
-<p><b>Program Text</b>
-<br>&nbsp;
-<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DAESOLVER EXAMPLE PROGRAM TEXT FOR LSODIX
-PROBLEM</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
-Error: ',NAME(1:8),' &lt;solver>'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
-: LSODI, LSOIBT, RADAU5, DASSL, DASPK, GELD</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;A'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
-LSODIX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
-'LSODI') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODI_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'LSOIBT') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSOIBT_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'RADAU5') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'GELDA') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(GELDA_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASSL') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASPK') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
-'Error: Solver: ', SOLVER,' unknown'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>*</tt>
-<br><tt>99999 FORMAT (' DAESOLVER EXAMPLE PROGRAM RESULTS FOR LSODIX PROBLEM'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,/1X)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine DAESolver</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Indicates the nonlinear solver package to be used:</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 1: LSODI,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 2: LSOIBT,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 3: RADAU5,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 4: DASSL,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 5: DASPK,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 6: DGELDA.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MD, ND, LPAR, LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( MD = 400, ND = 100, LPAR = 201,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-LWORK = 10000 )</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER2</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER2</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWARN, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL, RTOL, NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NUMJAC, NUMMAS, CONSIS</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 CDAEDF,CDAEDA,CDAEDE,CDAEOUT,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CJACFX,CJACFU,CJACFP,CJACFXDOT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
-DWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
-Y(MD), U(MD), P(MD), SOLU(MD)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DNRM2</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-PLSODIX, ILSODIX, SLSODIX</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DAXPY</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER2 = ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; P(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL=1D-6</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(12)= 10000</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. LSODI_ .OR. ISOLVER
-.EQ. RADAU5_) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(9)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16)=1</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (ISOLVER
-.EQ. DASSL_ .OR. ISOLVER .EQ. DASPK_)</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36)=0</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37)=0</tt>
-<br><tt>C&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODIX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODIX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(1) = 1.0d0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(2) = 0.0d0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; x(3) = 0.0d0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(1) = -0.04D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(2) =&nbsp; 0.04D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; xprime(3) =&nbsp; 0.0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODIX(NEQN,T(1),SOLU)</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'DAE' ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99998 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDF=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDA=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEDE=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CDAEOUT=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFX=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFP=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFXDOT=''</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL DAESolver(
-ISOLVER, CDAEDF, CDAEDA, CDAEDE, CDAEOUT,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CJACFX, CJACFU, CJACFP, CJACFXDOT,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NEQN, NEQN, NEQN, T(0), T(1),</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-X, XPRIME, Y, U, P,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR, RPAR, RTOL, ATOL,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
-) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99996 ) INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( IWARN.NE.0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NEQN .LE. 30 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99994 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DO 80 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99993 ) I, X(I), SOLU(I)</tt>
-<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,SOLU,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NORM.EQ.0D0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=1D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CALL DAXPY(NEQN,-1D0,X,1,SOLU,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,SOLU,1)/NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99992 ) NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>*</tt>
-<br><tt>99998 FORMAT (' ERROR: This test is only intended for DAE problems')</tt>
-<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
-<br><tt>99996 FORMAT (' INFO on exit from DAESolver = ',I3)</tt>
-<br><tt>99995 FORMAT (' IWARN on exit from DAESolver = ',I3)</tt>
-<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
-<br><tt>99993 FORMAT (I,F,F)</tt>
-<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,E,/1X)</tt>
-<br><tt>* *** Last line of TEST ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDA_( RPAR, NRP, IPAR,
-NIP, X, NX, U, NU, P, NP,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-F, LDF, T, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
-the problem function FEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array, dimension (NRP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array, dimension (NIP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The resulting function value f(T,X).</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of F.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the function is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns values of error from FEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDF, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
-U(NU), P(NP),</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-FLSODIX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODIX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of DAEDA_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE DAEDF_( RPAR, NRP, IPAR,
-NIP, X, XPRIME, NX,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-U, NU, P, NP, T, F, LDF, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
-the problem function MEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array, dimension (NRP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and MEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array, dimension (NIP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and MEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
-array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables derivative.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the function is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The resulting function value f(T,X).</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDF&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of F.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns values of error from MEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDF, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION RPAR(NRP), X(NX),
-XPRIME(NX), U(NU), P(NP),</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp; F(LDF,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-I</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MLSODIX, RLSODIX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (ISOLVER .EQ. DASSL_ .OR. ISOLVER
-.EQ. DASPK_) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL RLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL MLSODIX(LDF,NX,T,X,XPRIME,F,INFO,RPAR,IPAR)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>* *** Last line of DAEDF_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NRP, NIP,
-RPAR, IPAR, NX, NU,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NP, X, U, P, T, FX, LDFX,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between DAESolver and
-the problem function JEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and JEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and JEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the derivative is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The array with the resulting Jacobian matrix.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of the array FX.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns values of error from JEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDFX, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), P(NP),
-RPAR(NRP), FX(LDFX,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-JLSODIX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODIX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of JACFX_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE JACFXDOT_( NRP, NIP, RPAR,
-IPAR,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NX, NU, NP, XPRIME, U, P, T, J, LDJ, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; MATJACFXDOT routine for TRANSAMP problem</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NRP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of RPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NIP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of IPAR array.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication with the driver.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication with the driver.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NP&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the parameter vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; XPRIME&nbsp;&nbsp; (input) DOUBLE PRECISION
-array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the derivative of the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; P&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NP)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the parameter values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the derivative is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; J&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDJ,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The array with the resulting derivative matrix.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDJ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of the array J.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Returns 1 in case a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Common variables ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; COMMON /TESTING/ ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODI_, LSOIBT_, RADAU5_,
-DASSL_, DASPK_, GELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODI_&nbsp; = 1, LSOIBT_
-= 2)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 3, DASSL_&nbsp;
-= 4, DASPK_&nbsp; = 5)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (GELDA_&nbsp; = 6)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NRP, NIP, NX, NU, NP, LDJ, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(NIP)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION XPRIME(NX), U(NU),
-P(NP), RPAR(NRP), J(LDJ,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JDOTLSODIX(LDJ,NX,T,XPRIME,XPRIME,J,INFO,RPAR,IPAR)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>* *** Last line of JACFXDOT_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br><tt></tt>&nbsp;
-<p><b>Program Data</b>
-<pre>No data required</pre>
-<b>Program Results</b>
-<pre>&nbsp;DAESOLVER EXAMPLE PROGRAM RESULTS
-&nbsp;
-&nbsp;Problem: LSODIX&nbsp;&nbsp; Solver: LSODI&nbsp;&nbsp;
-&nbsp;lsodix&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (lsodix&nbsp;&nbsp; , DAE) with SOLVER&nbsp; 1
-&nbsp;IWARN on exit from DAESolver =&nbsp;&nbsp; 2
-&nbsp;Solution: (calculated) (reference)
-&nbsp;6.462112224297606E-07
-&nbsp;1.255974374648338E-10
-&nbsp;6.117680951077711E-07
-&nbsp;Relative error comparing with the reference solution:&nbsp;&nbsp;&nbsp; .8898590685949503E-06</pre>
-
-<hr>
-<p><!--Click <b><a href="../../SLICOT/arc/DAESolver.tgz">here</a></b> to get a compressed (gzip)
-tar file containing the source code of the routine, the example program,
-data, documentation, and related files.-->
-<br><b><a href="..\libindex.html">Return to index</a></b>
-</body>
-</html>
diff --git a/doc/_static/doc/DE01OD.html b/doc/_static/doc/DE01OD.html
deleted file mode 100644
index f6b2d1a7..00000000
--- a/doc/_static/doc/DE01OD.html
+++ /dev/null
@@ -1,186 +0,0 @@
-<HTML>
-<HEAD><TITLE>DE01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DE01OD">DE01OD</A></H2>
-<H3>
-Convolution or deconvolution of two real signals
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the convolution or deconvolution of two real signals
-  A and B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DE01OD( CONV, N, A, B, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CONV
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CONV    CHARACTER*1
-          Indicates whether convolution or deconvolution is to be
-          performed as follows:
-          = 'C':  Convolution;
-          = 'D':  Deconvolution.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N must be a power of 2.  N &gt;= 2.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the first signal.
-          On exit, this array contains the convolution (if
-          CONV = 'C') or deconvolution (if CONV = 'D') of the two
-          signals.
-
-  B       (input) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the second signal.
-          NOTE that this array is overwritten.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine computes the convolution or deconvolution of two real
-  signals A and B using an FFT algorithm (SLICOT Library routine
-  DG01MD).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DE01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      CONV
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), B(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DE01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, CONV
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
-*        Perform convolution on A and B.
-         CALL DE01OD( CONV, N, A, B, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( CONV, 'C' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-            END IF
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DE01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DE01OD = ',I2)
-99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
-99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
-99995 FORMAT (I4,1X,F8.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DE01OD EXAMPLE PROGRAM DATA
-   8     C
-   0.4862   0.2288
-   0.1948   0.3671
-   0.5788   0.6417
-  -0.5861   0.3875
-   0.8254   0.2380
-   0.1815   0.4682
-   0.2904   0.5312
-  -0.3599   0.6116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DE01OD EXAMPLE PROGRAM RESULTS
-
-   Convolution 
-
-   i    A(i)
-
-   1   0.5844
-   2   0.5769
-   3   0.6106
-   4   1.0433
-   5   0.6331
-   6   0.4531
-   7   0.7027
-   8   0.9929
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DE01PD.html b/doc/_static/doc/DE01PD.html
deleted file mode 100644
index d5a23237..00000000
--- a/doc/_static/doc/DE01PD.html
+++ /dev/null
@@ -1,203 +0,0 @@
-<HTML>
-<HEAD><TITLE>DE01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DE01PD">DE01PD</A></H2>
-<H3>
-Convolution or deconvolution of two real signals using Hartley transform
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the convolution or deconvolution of two real signals
-  A and B using the Hartley transform.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DE01PD( CONV, WGHT, N, A, B, W, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CONV, WGHT
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*), W(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CONV    CHARACTER*1
-          Indicates whether convolution or deconvolution is to be
-          performed as follows:
-          = 'C':  Convolution;
-          = 'D':  Deconvolution.
-
-  WGHT    CHARACTER*1
-          Indicates whether the precomputed weights are available
-          or not, as follows:
-          = 'A':  available;
-          = 'N':  not available.
-          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
-          set to 'A' on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N must be a power of 2.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the first signal.
-          On exit, this array contains the convolution (if
-          CONV = 'C') or deconvolution (if CONV = 'D') of the two
-          signals.
-
-  B       (input) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the second signal.
-          NOTE that this array is overwritten.
-
-  W       (input/output) DOUBLE PRECISION array,
-                         dimension (N - LOG2(N))
-          On entry with WGHT = 'A', this array must contain the long
-          weight vector computed by a previous call of this routine
-          or of the SLICOT Library routine DG01OD.f, with the same
-          value of N. If WGHT = 'N', the contents of this array on
-          entry is ignored.
-          On exit, this array contains the long weight vector.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine computes the convolution or deconvolution of two
-  real signals A and B using three scrambled Hartley transforms
-  (SLICOT Library routine DG01OD).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, Charles.
-      Computational frameworks for the fast Fourier transform.
-      SIAM, 1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N log(N)) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DE01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      CONV, WGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), B(NMAX), W(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DE01PD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, CONV, WGHT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), B(I), I = 1,N )
-*        Perform convolution on A and B.
-         CALL DE01PD( CONV, WGHT, N, A, B, W, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( CONV, 'C' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-            END IF
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DE01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DE01PD = ',I2)
-99997 FORMAT ('   Convolution ',//'   i    A(i)',/)
-99996 FORMAT ('   Deconvolution ',//'   i    A(i)',/)
-99995 FORMAT (I4,1X,F8.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DE01PD EXAMPLE PROGRAM DATA
-   8     C     N
-   0.4862   0.2288
-   0.1948   0.3671
-   0.5788   0.6417
-  -0.5861   0.3875
-   0.8254   0.2380
-   0.1815   0.4682
-   0.2904   0.5312
-  -0.3599   0.6116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DE01PD EXAMPLE PROGRAM RESULTS
-
-   Convolution 
-
-   i    A(i)
-
-   1   0.5844
-   2   0.5769
-   3   0.6106
-   4   1.0433
-   5   0.6331
-   6   0.4531
-   7   0.7027
-   8   0.9929
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DF01MD.html b/doc/_static/doc/DF01MD.html
deleted file mode 100644
index 62fa6629..00000000
--- a/doc/_static/doc/DF01MD.html
+++ /dev/null
@@ -1,282 +0,0 @@
-<HTML>
-<HEAD><TITLE>DF01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DF01MD">DF01MD</A></H2>
-<H3>
-Sine transform or cosine transform of a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the sine transform or cosine transform of a real
-  signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DF01MD( SICO, N, DT, A, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SICO
-      INTEGER           INFO, N
-      DOUBLE PRECISION  DT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SICO    CHARACTER*1
-          Indicates whether the sine transform or cosine transform
-          is to be computed as follows:
-          = 'S':  The sine transform is computed;
-          = 'C':  The cosine transform is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N must be a power of 2 plus 1.
-          N &gt;= 5.
-
-  DT      (input) DOUBLE PRECISION
-          The sampling time of the signal.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the signal to be
-          processed.
-          On exit, this array contains either the sine transform, if
-          SICO = 'S', or the cosine transform, if SICO = 'C', of the
-          given signal.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N+1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A(1), A(2),..., A(N) be a real signal of N samples.
-
-  If SICO = 'S', the routine computes the sine transform of A as
-  follows. First, transform A(i), i = 1,2,...,N, into the complex
-  signal B(i), i = 1,2,...,(N+1)/2, where
-
-     B(1) = -2*A(2),
-     B(i) = {A(2i-2) - A(2i)} - j*A(2i-1) for i = 2,3,...,(N-1)/2,
-     B((N+1)/2) = 2*A(N-1) and j**2 = -1.
-
-  Next, perform a discrete inverse Fourier transform on B(i) by
-  calling SLICOT Library Routine DG01ND, to give the complex signal
-  Z(i), i = 1,2,...,(N-1)/2, from which the real signal C(i) may be
-  obtained as follows:
-
-     C(2i-1) = Re(Z(i)),  C(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
-
-  Finally, compute the sine transform coefficients S ,S ,...,S
-                                                    1  2      N
-  given by
-
-     S  = 0,
-      1
-             {                     [C(k) + C(N+1-k)]     }
-     S  = DT*{[C(k) - C(N+1-k)] - -----------------------},
-      k      {                    [2*sin(pi*(k-1)/(N-1))]}
-
-        for k = 2,3,...,N-1, and
-
-     S = 0.
-      N
-
-  If SICO = 'C', the routine computes the cosine transform of A as
-  follows. First, transform A(i), i = 1,2,...,N, into the complex
-  signal B(i), i = 1,2,...,(N+1)/2, where
-
-     B(1) = 2*A(1),
-     B(i) = 2*A(2i-1) + 2*j*{[A(2i-2) - A(2i)]}
-     for i = 2,3,...,(N-1)/2 and B((N+1)/2) = 2*A(N).
-
-  Next, perform a discrete inverse Fourier transform on B(i) by
-  calling SLICOT Library Routine DG01ND, to give the complex signal
-  Z(i), i = 1,2,...,(N-1)/2, from which the real signal D(i) may be
-  obtained as follows:
-
-     D(2i-1) = Re(Z(i)),  D(2i) = Im(Z(i)) for i = 1,2,...,(N-1)/2.
-
-  Finally, compute the cosine transform coefficients S ,S ,...,S
-                                                      1  2      N
-  given by
-
-     S  = 2*DT*[D(1) + A0],
-      1
-             {                     [D(k) - D(N+1-k)]     }
-     S  = DT*{[D(k) + D(N+1-k)] - -----------------------},
-      k      {                    [2*sin(pi*(k-1)/(N-1))]}
-
-        for k = 2,3,...,N-1, and
-
-     S  = 2*DT*[D(1) - A0],
-      N
-              (N-1)/2
-  where A0 = 2*SUM   A(2i).
-               i=1
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-  [2] Oppenheim, A.V. and Schafer, R.W.
-      Discrete-Time Signal Processing.
-      Prentice-Hall Signal Processing Series, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DF01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 129 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DT
-      INTEGER          I, INFO, N
-      CHARACTER*1      SICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), DWORK(NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DF01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DT, SICO
-      IF ( N.LE.1 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
-*        Compute the sine/cosine transform of the given real signal.
-         CALL DF01MD( SICO, N, DT, A, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( SICO, 'S' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   20          CONTINUE
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) I, A(I)
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' DF01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DF01MD = ',I2)
-99997 FORMAT (' Components of sine transform are',//'   i',6X,'A(i)',/)
-99996 FORMAT (' Components of cosine transform are',//'   i',6X,'A(i)',
-     $       /)
-99995 FORMAT (I4,3X,F8.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DF01MD EXAMPLE PROGRAM DATA
-  17     1.0     C
-  -0.1862
-   0.1288
-   0.3948
-   0.0671
-   0.6788
-  -0.2417
-   0.1861
-   0.8875
-   0.7254
-   0.9380
-   0.5815
-  -0.2682
-   0.4904
-   0.9312
-  -0.9599
-  -0.3116
-   0.8743
-</PRE>
-<B>Program Results</B>
-<PRE>
- DF01MD EXAMPLE PROGRAM RESULTS
-
- Components of cosine transform are
-
-   i      A(i)
-
-   1    28.0536
-   2     3.3726
-   3   -20.8158
-   4     6.0566
-   5     5.7317
-   6    -3.9347
-   7   -12.8074
-   8    -6.8780
-   9    16.2892
-  10   -17.0788
-  11    21.7836
-  12   -20.8203
-  13    -7.3277
-  14    -2.5325
-  15    -0.3636
-  16     7.8792
-  17    11.0048
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DG01MD.html b/doc/_static/doc/DG01MD.html
deleted file mode 100644
index f5293c6f..00000000
--- a/doc/_static/doc/DG01MD.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>DG01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DG01MD">DG01MD</A></H2>
-<H3>
-Discrete Fourier transform, or inverse transform, of a complex signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the discrete Fourier transform, or inverse transform,
-  of a complex signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DG01MD( INDI, N, XR, XI, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         INDI
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  XI(*), XR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INDI    CHARACTER*1
-          Indicates whether a Fourier transform or inverse Fourier
-          transform is to be performed as follows:
-          = 'D':  (Direct) Fourier transform;
-          = 'I':  Inverse Fourier transform.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of complex samples.  N must be a power of 2.
-          N &gt;= 2.
-
-  XR      (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the real part of either
-          the complex signal z if INDI = 'D', or f(z) if INDI = 'I'.
-          On exit, this array contains either the real part of the
-          computed Fourier transform f(z) if INDI = 'D', or the
-          inverse Fourier transform z of f(z) if INDI = 'I'.
-
-  XI      (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the imaginary part of
-          either z if INDI = 'D', or f(z) if INDI = 'I'.
-          On exit, this array contains either the imaginary part of
-          f(z) if INDI = 'D', or z if INDI = 'I'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INDI = 'D', then the routine performs a discrete Fourier
-  transform on the complex signal Z(i), i = 1,2,...,N. If the result
-  is denoted by FZ(k), k = 1,2,...,N, then the relationship between
-  Z and FZ is given by the formula:
-
-                  N            ((k-1)*(i-1))
-         FZ(k) = SUM ( Z(i) * V              ),
-                 i=1
-                                  2
-  where V = exp( -2*pi*j/N ) and j  = -1.
-
-  If INDI = 'I', then the routine performs an inverse discrete
-  Fourier transform on the complex signal FZ(k), k = 1,2,...,N. If
-  the result is denoted by Z(i), i = 1,2,...,N, then the
-  relationship between Z and FZ is given by the formula:
-
-                 N             ((k-1)*(i-1))
-         Z(i) = SUM ( FZ(k) * W              ),
-                k=1
-
-  where W = exp( 2*pi*j/N ).
-
-  Note that a discrete Fourier transform, followed by an inverse
-  discrete Fourier transform, will result in a signal which is a
-  factor N larger than the original input signal.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DG01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      INDI
-*     .. Local Arrays ..
-      DOUBLE PRECISION XI(NMAX), XR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DG01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, INDI
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( XR(I), XI(I), I = 1,N )
-*        Find the Fourier transform of the given complex signal.
-         CALL DG01MD( INDI, N, XR, XI, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DG01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DG01MD = ',I2)
-99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
-     $       'XR(i)',6X,'XI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DG01MD EXAMPLE PROGRAM DATA
-   8     D
-  -0.1862   0.1288
-   0.3948   0.0671
-   0.6788  -0.2417
-   0.1861   0.8875
-   0.7254   0.9380
-   0.5815  -0.2682
-   0.4904   0.9312
-  -0.9599  -0.3116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DG01MD EXAMPLE PROGRAM RESULTS
-
- Components of Fourier transform are
-
-   i      XR(i)      XI(i)
-
-   1     1.9109     2.1311
-   2    -1.9419    -2.2867
-   3    -1.4070    -1.3728
-   4     2.2886    -0.6883
-   5     1.5059     1.3815
-   6    -2.2271     0.2915
-   7     0.1470     2.1274
-   8    -1.7660    -0.5533
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DG01ND.html b/doc/_static/doc/DG01ND.html
deleted file mode 100644
index cf67b29d..00000000
--- a/doc/_static/doc/DG01ND.html
+++ /dev/null
@@ -1,296 +0,0 @@
-<HTML>
-<HEAD><TITLE>DG01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DG01ND">DG01ND</A></H2>
-<H3>
-Discrete Fourier transform, or inverse Fourier transform, of a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the discrete Fourier transform, or inverse Fourier
-  transform, of a real signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DG01ND( INDI, N, XR, XI, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         INDI
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  XI(*), XR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INDI    CHARACTER*1
-          Indicates whether a Fourier transform or inverse Fourier
-          transform is to be performed as follows:
-          = 'D':  (Direct) Fourier transform;
-          = 'I':  Inverse Fourier transform.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Half the number of real samples.  N must be a power of 2.
-          N &gt;= 2.
-
-  XR      (input/output) DOUBLE PRECISION array, dimension (N+1)
-          On entry with INDI = 'D', the first N elements of this
-          array must contain the odd part of the input signal; for
-          example, XR(I) = A(2*I-1) for I = 1,2,...,N.
-          On entry with INDI = 'I', the first N+1 elements of this
-          array must contain the the real part of the input discrete
-          Fourier transform (computed, for instance, by a previous
-          call of the routine).
-          On exit with INDI = 'D', the first N+1 elements of this
-          array contain the real part of the output signal, that is
-          of the computed discrete Fourier transform.
-          On exit with INDI = 'I', the first N elements of this
-          array contain the odd part of the output signal, that is
-          of the computed inverse discrete Fourier transform.
-
-  XI      (input/output) DOUBLE PRECISION array, dimension (N+1)
-          On entry with INDI = 'D', the first N elements of this
-          array must contain the even part of the input signal; for
-          example, XI(I) = A(2*I) for I = 1,2,...,N.
-          On entry with INDI = 'I', the first N+1 elements of this
-          array must contain the the imaginary part of the input
-          discrete Fourier transform (computed, for instance, by a
-          previous call of the routine).
-          On exit with INDI = 'D', the first N+1 elements of this
-          array contain the imaginary part of the output signal,
-          that is of the computed discrete Fourier transform.
-          On exit with INDI = 'I', the first N elements of this
-          array contain the even part of the output signal, that is
-          of the computed inverse discrete Fourier transform.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A(1),....,A(2*N) be a real signal of 2*N samples. Then the
-  first N+1 samples of the discrete Fourier transform of this signal
-  are given by the formula:
-
-               2*N           ((m-1)*(i-1))
-       FA(m) = SUM ( A(i) * W              ),
-               i=1
-                                               2
-  where m = 1,2,...,N+1, W = exp(-pi*j/N) and j = -1.
-
-  This transform can be computed as follows. First, transform A(i),
-  i = 1,2,...,2*N, into the complex signal Z(i) = (X(i),Y(i)),
-  i = 1,2,...,N. That is, X(i) = A(2*i-1) and Y(i) = A(2*i). Next,
-  perform a discrete Fourier transform on Z(i) by calling SLICOT
-  Library routine DG01MD. This gives a new complex signal FZ(k),
-  such that
-
-                N            ((k-1)*(i-1))
-       FZ(k) = SUM ( Z(i) * V              ),
-               i=1
-
-  where k = 1,2,...,N, V = exp(-2*pi*j/N).  Using the values of
-  FZ(k), the components of the discrete Fourier transform FA can be
-  computed by simple linear relations, implemented in the DG01NY
-  subroutine.
-
-  Finally, let
-
-       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)),   k = 1,2,...,N,
-
-  be the contents of the arrays XR and XI on entry to DG01NY with
-  INDI = 'D', then on exit XR and XI contain the real and imaginary
-  parts of the Fourier transform of the original real signal A.
-  That is,
-
-       XR(m) = Re(FA(m)),  XI(m) = Im(FA(m)),
-
-  where m = 1,2,...,N+1.
-
-  If INDI = 'I', then the routine evaluates the inverse Fourier
-  transform of a complex signal which may itself be the discrete
-  Fourier transform of a real signal.
-
-  Let FA(m), m = 1,2,...,2*N, denote the full discrete Fourier
-  transform of a real signal A(i), i=1,2,...,2*N. The relationship
-  between FA and A is given by the formula:
-
-              2*N            ((m-1)*(i-1))
-       A(i) = SUM ( FA(m) * W              ),
-              m=1
-
-  where W = exp(pi*j/N).
-
-  Let
-
-       XR(m) = Re(FA(m)) and XI(m) = Im(FA(m)) for m = 1,2,...,N+1,
-
-  be the contents of the arrays XR and XI on entry to the routine
-  DG01NY with INDI = 'I', then on exit the first N samples of the
-  complex signal FZ are returned in XR and XI such that
-
-       XR(k) = Re(FZ(k)), XI(k) = Im(FZ(k)) and k = 1,2,...,N.
-
-  Next, an inverse Fourier transform is performed on FZ (e.g. by
-  calling SLICOT Library routine DG01MD), to give the complex signal
-  Z, whose i-th component is given by the formula:
-
-               N             ((k-1)*(i-1))
-       Z(i) = SUM ( FZ(k) * V              ),
-              k=1
-
-  where i = 1,2,...,N and V = exp(2*pi*j/N).
-
-  Finally, the 2*N samples of the real signal A can then be obtained
-  directly from Z. That is,
-
-       A(2*i-1) = Re(Z(i)) and A(2*i) = Im(Z(i)), for i = 1,2,...N.
-
-  Note that a discrete Fourier transform, followed by an inverse
-  transform will result in a signal which is a factor 2*N larger
-  than the original input signal.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N*log(N) ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DG01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, IEND, INFO, N
-      CHARACTER*1      INDI
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(2*NMAX), XI(NMAX+1), XR(NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DG01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, INDI
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,2*N )
-*        Copy the odd and even parts of A into XR and XI respectively.
-         DO 20 I = 1, N
-            XR(I) = A(2*I-1)
-            XI(I) = A(2*I)
-   20    CONTINUE
-*        Find the Fourier transform of the given real signal.
-         CALL DG01ND( INDI, N, XR, XI, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            IEND = N
-            IF ( LSAME( INDI, 'D' ) ) IEND = N + 1
-            DO 40 I = 1, IEND
-               WRITE ( NOUT, FMT = 99996 ) I, XR(I), XI(I)
-   40       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DG01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DG01ND = ',I2)
-99997 FORMAT (' Components of Fourier transform are',//'   i',6X,
-     $       'XR(i)',6X,'XI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DG01ND EXAMPLE PROGRAM DATA
-   8     D
-  -0.1862
-   0.1288
-   0.3948
-   0.0671
-   0.6788
-  -0.2417
-   0.1861
-   0.8875
-   0.7254
-   0.9380
-   0.5815
-  -0.2682
-   0.4904
-   0.9312
-  -0.9599
-  -0.3116
-</PRE>
-<B>Program Results</B>
-<PRE>
- DG01ND EXAMPLE PROGRAM RESULTS
-
- Components of Fourier transform are
-
-   i      XR(i)      XI(i)
-
-   1     4.0420     0.0000
-   2    -3.1322    -0.2421
-   3     0.1862    -1.4675
-   4    -2.1312    -1.1707
-   5     1.5059    -1.3815
-   6     2.1927    -0.1908
-   7    -1.4462     2.0327
-   8    -0.5757     1.4914
-   9    -0.2202     0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DG01OD.html b/doc/_static/doc/DG01OD.html
deleted file mode 100644
index df0f089d..00000000
--- a/doc/_static/doc/DG01OD.html
+++ /dev/null
@@ -1,211 +0,0 @@
-<HTML>
-<HEAD><TITLE>DG01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DG01OD">DG01OD</A></H2>
-<H3>
-Scrambled discrete Hartley transform of a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the (scrambled) discrete Hartley transform of
-  a real signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DG01OD( SCR, WGHT, N, A, W, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SCR, WGHT
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), W(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SCR     CHARACTER*1
-          Indicates whether the signal is scrambled on input or
-          on output as follows:
-          = 'N':  the signal is not scrambled at all;
-          = 'I':  the input signal is bit-reversed;
-          = 'O':  the output transform is bit-reversed.
-
-  WGHT    CHARACTER*1
-          Indicates whether the precomputed weights are available
-          or not, as follows:
-          = 'A':  available;
-          = 'N':  not available.
-          Note that if N &gt; 1 and WGHT = 'N' on entry, then WGHT is
-          set to 'A' on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Number of real samples. N must be a power of 2.
-          N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry with SCR = 'N' or SCR = 'O', this array must
-          contain the input signal.
-          On entry with SCR = 'I', this array must contain the
-          bit-reversed input signal.
-          On exit with SCR = 'N' or SCR = 'I', this array contains
-          the Hartley transform of the input signal.
-          On exit with SCR = 'O', this array contains the
-          bit-reversed Hartley transform.
-
-  W       (input/output) DOUBLE PRECISION array,
-                         dimension (N - LOG2(N))
-          On entry with WGHT = 'A', this array must contain the long
-          weight vector computed by a previous call of this routine
-          with the same value of N. If WGHT = 'N', the contents of
-          this array on entry is ignored.
-          On exit, this array contains the long weight vector.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine uses a Hartley butterfly algorithm as described
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, Charles.
-      Computational frameworks for the fast Fourier transform.
-      SIAM, 1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable and requires O(N log(N))
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DG01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 128 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, N
-      CHARACTER*1      SCR, WGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX), W(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DG01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, SCR, WGHT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
-*        Compute the Hartley transform.
-         CALL DG01OD( SCR, WGHT, N, A, W, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, A(I)
-   10       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DG01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DG01OD = ',I2)
-99997 FORMAT ('   Hartley transform ',//'   i    A(i)',/)
-99996 FORMAT (I4,1X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DG01OD EXAMPLE
-  16      N      N
- 1.0
- 2.0
- 3.0
- 4.0
- 5.0
- 6.0
- 7.0
- 8.0
- 9.0
-10.0
-11.0
-12.0
-13.0
-14.0
-15.0
-16.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- DG01OD EXAMPLE PROGRAM RESULTS
-
-   Hartley transform 
-
-   i    A(i)
-
-   1 136.0000
-   2 -48.2187
-   3 -27.3137
-   4 -19.9728
-   5 -16.0000
-   6 -13.3454
-   7 -11.3137
-   8  -9.5913
-   9  -8.0000
-  10  -6.4087
-  11  -4.6863
-  12  -2.6546
-  13   0.0000
-  14   3.9728
-  15  11.3137
-  16  32.2187
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/DK01MD.html b/doc/_static/doc/DK01MD.html
deleted file mode 100644
index 1c4310b0..00000000
--- a/doc/_static/doc/DK01MD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>DK01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="DK01MD">DK01MD</A></H2>
-<H3>
-Anti-aliasing window applied to a real signal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply an anti-aliasing window to a real signal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE DK01MD( TYPE, N, A, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPE
-      INTEGER           INFO, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          Indicates the type of window to be applied to the signal
-          as follows:
-          = 'M':  Hamming window;
-          = 'N':  Hann window;
-          = 'Q':  Quadratic window.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of samples.  N &gt;= 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the signal to be
-          processed.
-          On exit, this array contains the windowing function.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If TYPE = 'M', then a Hamming window is applied to A(1),...,A(N),
-  which yields
-    _
-    A(i) = (0.54 + 0.46*cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
-
-  If TYPE = 'N', then a Hann window is applied to A(1),...,A(N),
-  which yields
-    _
-    A(i) = 0.5*(1 + cos(pi*(i-1)/(N-1)))*A(i), i = 1,2,...,N.
-
-  If TYPE = 'Q', then a quadratic window is applied to A(1),...,
-  A(N), which yields
-    _
-    A(i) = (1 - 2*((i-1)/(N-1))**2)*(1 - (i-1)/(N-1))*A(i),
-                                          i = 1,2,...,(N-1)/2+1;
-    _
-    A(i) = 2*(1 - ((i-1)/(N-1))**3)*A(i), i = (N-1)/2+2,...,N.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Rabiner, L.R. and Rader, C.M.
-      Digital Signal Processing.
-      IEEE Press, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0( N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     DK01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-*     .. Local Scalars ..
-      CHARACTER*1      TYPE
-      INTEGER          I, INFO, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DK01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, TYPE
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,N )
-*        Apply a Hamming window to the given signal.
-         CALL DK01MD( TYPE, N, A, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, A(I)
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' DK01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DK01MD = ',I2)
-99997 FORMAT (' Components of the windowing function are',//'   k     ',
-     $       ' A(k)',/)
-99996 FORMAT (I4,3X,F8.4)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- DK01MD EXAMPLE PROGRAM DATA
-   8     M
-   0.3262
-   0.8723
-  -0.7972
-   0.6673
-  -0.1722
-   0.3237
-   0.5263
-  -0.3275
-</PRE>
-<B>Program Results</B>
-<PRE>
- DK01MD EXAMPLE PROGRAM RESULTS
-
- Components of the windowing function are
-
-   k      A(k)
-
-   1     0.3262
-   2     0.8326
-   3    -0.6591
-   4     0.4286
-   5    -0.0754
-   6     0.0820
-   7     0.0661
-   8    -0.0262
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FB01QD.html b/doc/_static/doc/FB01QD.html
deleted file mode 100644
index 96e74984..00000000
--- a/doc/_static/doc/FB01QD.html
+++ /dev/null
@@ -1,459 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01QD">FB01QD</A></H2>
-<H3>
-Time-varying square root covariance Kalman filter (dense matrices)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-varying Kalman filter. This update is given
-  for the square root covariance filter, using dense matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
-     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBK, MULTBQ
-      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
-     $                  M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBK    CHARACTER*1
-          Indicates whether the user wishes to compute the Kalman
-          filter gain matrix K  as follows:
-                              i
-          = 'K':  K  is computed and stored in array K;
-                   i
-          = 'N':  K  is not required.
-                   i
-
-  MULTBQ  CHARACTER*1                    1/2
-          Indicates how matrices B  and Q    are to be passed to
-                                  i      i
-          the routine as follows:
-          = 'P':  Array Q is not used and the array B must contain
-                                 1/2
-                  the product B Q   ;
-                               i i
-          = 'N':  Arrays B and Q must contain the matrices as
-                  described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices S    and A .  N &gt;= 0.
-                    i-1      i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           1/2
-          Q   .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           1/2
-          R   .  P &gt;= 0.
-           i
-
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
-          On entry, the leading N-by-N lower triangular part of this
-          array must contain S   , the square root (left Cholesky
-                              i-1
-          factor) of the state covariance matrix at instant (i-1).
-          On exit, the leading N-by-N lower triangular part of this
-          array contains S , the square root (left Cholesky factor)
-                          i
-          of the state covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain A ,
-                                                              i
-          the state transition matrix of the discrete system at
-          instant i.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                     1/2      i
-          the input weight matrix (or the product B Q    if
-                                                   i i
-          MULTBQ = 'P') of the discrete system at instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
-          If MULTBQ = 'N', then the leading M-by-M lower triangular
-                                           1/2
-          part of this array must contain Q   , the square root
-                                           i
-          (left Cholesky factor) of the input (process) noise
-          covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-          If MULTBQ = 'P', Q is not referenced and can be supplied
-          as a dummy array (i.e., set parameter LDQ = 1 and declare
-          this array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
-          LDQ &gt;= 1        if MULTBQ = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C , the
-                                                              i
-          output weight matrix of the discrete system at instant i.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
-          On entry, the leading P-by-P lower triangular part of this
-                              1/2
-          array must contain R   , the square root (left Cholesky
-                              i
-          factor) of the output (measurement) noise covariance
-          matrix at instant i.
-          On exit, the leading P-by-P lower triangular part of this
-                                 1/2
-          array contains (RINOV )   , the square root (left Cholesky
-                               i
-          factor) of the covariance matrix of the innovations at
-          instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,P).
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
-          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
-          of this array contains K , the Kalman filter gain matrix
-                                  i
-          at instant i.
-          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
-          leading N-by-P part of this array contains AK , a matrix
-                                                       i
-          related to the Kalman filter gain matrix at instant i (see
-                                                         -1/2
-          METHOD). Specifically, AK  = A P     C'(RINOV')    .
-                                   i    i i|i-1 i      i
-
-  LDK     INTEGER
-          The leading dimension of array K.   LDK &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBK = 'K', then TOL is used to test for near
-                                            1/2
-          singularity of the matrix (RINOV )   . If the user sets
-                                          i
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK),
-          where LIWORK = P if JOBK = 'K',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                                     1/2
-          (in the 1-norm) of (RINOV )   .
-                                   i
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(P+N)+2*P,N*(N+M+2)),     if JOBK = 'N';
-          LDWORK &gt;= MAX(2,N*(P+N)+2*P,N*(N+M+2),3*P), if JOBK = 'K'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                                     1/2
-          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
-                                                   i           1/2
-                i.e., the condition number estimate of (RINOV )
-                                                             i
-                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
-                            1/2                                   i
-                and (RINOV )    have been computed.
-                          i
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root covariance
-  filter algorithm, summarized as follows:
-
-   |  1/2                      |     |         1/2          |
-   | R      C x S      0       |     | (RINOV )     0     0 |
-   |  i      i   i-1           |     |       i              |
-   |                      1/2  | T = |                      |
-   | 0      A x S    B x Q     |     |     AK       S     0 |
-   |         i   i-1  i   i    |     |       i       i      |
-
-       (Pre-array)                      (Post-array)
-
-  where T is an orthogonal transformation triangularizing the
-  pre-array.
-
-  The state covariance matrix P    is factorized as
-                               i|i-1
-     P     = S  S'
-      i|i-1   i  i
-
-  and one combined time and measurement update for the state X
-                                                              i|i-1
-  is given by
-
-     X     = A X      + K (Y - C X     ),
-      i+1|i   i i|i-1    i  i   i i|i-1
-
-                       -1/2
-  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
-         i    i      i                                            i
-  is the observed output of the system.
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires
-
-        3    2                               2   2
-  (7/6)N  + N  x (5/2 x P + M) + N x (1/2 x M + P )
-
-  operations and is backward stable (see [2]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDK = NMAX, LDQ = MMAX, LDR = PMAX,
-     $                   LDS = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX)+2*PMAX,
-     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBK, MULTBQ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
-     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
-      INTEGER          IWORK(PMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = *)
-     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
-*              Save the strict lower triangle of R in its strict upper
-*              triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, P
-                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
-   10          CONTINUE
-               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter recursion
-*              (in square root covariance form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01QD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
-     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
-     $                         TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the lower triangle of R.
-                     DO 30 I = 2, P
-                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
-   30                CONTINUE
-                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBK, 'K' ) ) THEN
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01QD = ',I2)
-99997 FORMAT (' The square root of the state covariance matrix is ')
-99996 FORMAT (/' The Kalman gain matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01QD EXAMPLE PROGRAM DATA
-   4     2     2     K     0.0     N
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.2113  0.8497  0.7263  0.8833
-   0.7560  0.6857  0.1985  0.6525
-   0.0002  0.8782  0.5442  0.3076
-   0.3303  0.0683  0.2320  0.9329
-   0.5618  0.5042
-   0.5896  0.3493
-   0.6853  0.3873
-   0.8906  0.9222
-   1.0000  0.0000
-   0.0000  1.0000
-   0.3616  0.5664  0.5015  0.2693
-   0.2922  0.4826  0.4368  0.6325
-   0.9488  0.0000
-   0.3760  0.7340
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01QD EXAMPLE PROGRAM RESULTS
-
- The square root of the state covariance matrix is 
-  -1.2936   0.0000   0.0000   0.0000
-  -1.1382  -0.2579   0.0000   0.0000
-  -0.9622  -0.1529   0.2974   0.0000
-  -1.3076   0.0936   0.4508  -0.4897
-
- The Kalman gain matrix is 
-   0.3638   0.9469
-   0.3532   0.8179
-   0.2471   0.5542
-   0.1982   0.6471
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FB01RD.html b/doc/_static/doc/FB01RD.html
deleted file mode 100644
index 5bc4d5e4..00000000
--- a/doc/_static/doc/FB01RD.html
+++ /dev/null
@@ -1,481 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01RD">FB01RD</A></H2>
-<H3>
-Time-invariant square root covariance Kalman filter (observer Hessenberg form)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-invariant Kalman filter. This update is
-  given for the square root covariance filter, using the condensed
-  observer Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA, B,
-     $                   LDB, Q, LDQ, C, LDC, R, LDR, K, LDK, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBK, MULTBQ
-      INTEGER           INFO, LDA, LDB, LDC, LDK, LDQ, LDR, LDS, LDWORK,
-     $                  M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  K(LDK,*), Q(LDQ,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBK    CHARACTER*1
-          Indicates whether the user wishes to compute the Kalman
-          filter gain matrix K  as follows:
-                              i
-          = 'K':  K  is computed and stored in array K;
-                   i
-          = 'N':  K  is not required.
-                   i
-
-  MULTBQ  CHARACTER*1                    1/2
-          Indicates how matrices B  and Q    are to be passed to
-                                  i      i
-          the routine as follows:
-          = 'P':  Array Q is not used and the array B must contain
-                                 1/2
-                  the product B Q   ;
-                               i i
-          = 'N':  Arrays B and Q must contain the matrices as
-                  described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices S    and A.  N &gt;= 0.
-                    i-1
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           1/2
-          Q   .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           1/2
-          R   .  P &gt;= 0.
-           i
-
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
-          On entry, the leading N-by-N lower triangular part of this
-          array must contain S   , the square root (left Cholesky
-                              i-1
-          factor) of the state covariance matrix at instant (i-1).
-          On exit, the leading N-by-N lower triangular part of this
-          array contains S , the square root (left Cholesky factor)
-                          i
-          of the state covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain A,
-          the state transition matrix of the discrete system in
-          lower observer Hessenberg form (e.g., as produced by
-          SLICOT Library Routine TB01ND).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                     1/2      i
-          the input weight matrix (or the product B Q    if
-                                                   i i
-          MULTBQ = 'P') of the discrete system at instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,*)
-          If MULTBQ = 'N', then the leading M-by-M lower triangular
-                                           1/2
-          part of this array must contain Q   , the square root
-                                           i
-          (left Cholesky factor) of the input (process) noise
-          covariance matrix at instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-          Otherwise, Q is not referenced and can be supplied as a
-          dummy array (i.e., set parameter LDQ = 1 and declare this
-          array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,M) if MULTBQ = 'N';
-          LDQ &gt;= 1        if MULTBQ = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C,
-          the output weight matrix of the discrete system in lower
-          observer Hessenberg form (e.g., as produced by SLICOT
-          Library routine TB01ND).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,P)
-          On entry, the leading P-by-P lower triangular part of this
-                              1/2
-          array must contain R   , the square root (left Cholesky
-                              i
-          factor) of the output (measurement) noise covariance
-          matrix at instant i.
-          On exit, the leading P-by-P lower triangular part of this
-                                 1/2
-          array contains (RINOV )   , the square root (left Cholesky
-                               i
-          factor) of the covariance matrix of the innovations at
-          instant i.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,P).
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,P)
-          If JOBK = 'K', and INFO = 0, then the leading N-by-P part
-          of this array contains K , the Kalman filter gain matrix
-                                  i
-          at instant i.
-          If JOBK = 'N', or JOBK = 'K' and INFO = 1, then the
-          leading N-by-P part of this array contains AK ,  a matrix
-                                                       i
-          related to the Kalman filter gain matrix at instant i (see
-                                                         -1/2
-          METHOD). Specifically, AK  = A P     C'(RINOV')    .
-                                   i      i|i-1        i
-
-  LDK     INTEGER
-          The leading dimension of array K.  LDK &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBK = 'K', then TOL is used to test for near
-                                            1/2
-          singularity of the matrix (RINOV )   . If the user sets
-                                          i
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = P*P*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          where LIWORK = P if JOBK = 'K',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBK = 'K', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                                     1/2
-          (in the 1-norm) of (RINOV )   .
-                                   i
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2)),
-                        if JOBK = 'N';
-          LDWORK &gt;= MAX(2,N*(P+N+1),N*(P+N)+2*P,N*(N+M+2),3*P),
-                        if JOBK = 'K'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                                     1/2
-          = 1:  if JOBK = 'K' and the matrix (RINOV )   is singular,
-                                                   i           1/2
-                i.e., the condition number estimate of (RINOV )
-                                                             i
-                (in the 1-norm) exceeds 1/TOL.  The matrices S, AK ,
-                            1/2                                   i
-                and (RINOV )    have been computed.
-                          i
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root covariance
-  filter algorithm, summarized as follows:
-
-   |  1/2                     |     |         1/2          |
-   | R      0        C x S    |     | (RINOV )     0     0 |
-   |  i                   i-1 |     |       i              |
-   |             1/2          | T = |                      |
-   | 0      B x Q    A x S    |     |     AK       S     0 |
-   |         i   i        i-1 |     |       i       i      |
-
-        (Pre-array)                      (Post-array)
-
-  where T is unitary and (A,C) is in lower observer Hessenberg form.
-
-  An example of the pre-array is given below (where N = 6, P = 2
-  and M = 3):
-
-       |x   |      | x          |
-       |x x |      | x x        |
-       |____|______|____________|
-       |    | x x x| x x x      |
-       |    | x x x| x x x x    |
-       |    | x x x| x x x x x  |
-       |    | x x x| x x x x x x|
-       |    | x x x| x x x x x x|
-       |    | x x x| x x x x x x|
-
-  The corresponding state covariance matrix P      is then
-                                             i|i-1
-  factorized as
-
-      P     = S  S'
-       i|i-1   i  i
-
-  and one combined time and measurement update for the state X
-                                                              i|i-1
-  is given by
-
-      X     = A X      + K (Y - C X     )
-       i+1|i     i|i-1    i  i     i|i-1
-
-                       -1/2
-  where K = AK (RINOV )     is the Kalman filter gain matrix and Y
-         i    i      i                                            i
-  is the observed output of the system.
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Van Dooren, P. and Verhaegen, M.H.G.
-      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
-      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
-
-  [3] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires
-
-         3    2                           2         3
-  1/6 x N  + N x (3/2 x P + M) + 2 x N x P + 2/3 x P
-
-  operations and is backward stable (see [3]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDK, LDQ, LDR, LDS
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDK = NMAX,
-     $                   LDQ = MMAX, LDR = PMAX, LDS = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(PMAX+NMAX+1),
-     $                                 NMAX*(PMAX+NMAX)+2*PMAX,
-     $                                 NMAX*(NMAX+MMAX+2), 3*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBK, MULTBQ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DIAG(PMAX), DWORK(LDWORK), K(LDK,PMAX),
-     $                 Q(LDQ,MMAX), R(LDR,PMAX), S(LDS,NMAX)
-      INTEGER          IWORK(PMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBK, TOL, MULTBQ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( LSAME( MULTBQ, 'N' ) ) READ ( NIN, FMT = * )
-     $                               ( ( Q(I,J), J = 1,M ), I = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,P ), I = 1,P )
-*              Save the strict lower triangle of R in its strict upper
-*              triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, P
-                  CALL DCOPY( I, R(I,1), LDR, R(1,I), 1 )
-   10          CONTINUE
-               CALL DCOPY( P, R, LDR+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter recursion
-*              (in square root covariance form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01RD( JOBK, MULTBQ, N, M, P, S, LDS, A, LDA,
-     $                         B, LDB, Q, LDQ, C, LDC, R, LDR, K, LDK,
-     $                         TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the lower triangle of R.
-                     DO 30 I = 2, P
-                        CALL DCOPY( I, R(1,I), 1, R(I,1), LDR )
-   30                CONTINUE
-                     CALL DCOPY( P, DIAG, 1, R, LDR+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( S(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBK, 'K' ) ) THEN
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( K(I,J), J = 1,P )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01QD = ',I2)
-99997 FORMAT (' The square root of the state covariance matrix is ')
-99996 FORMAT (/' The Kalman gain matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01RD EXAMPLE PROGRAM DATA
-   4     2     2     K     0.0     N
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.0000  0.0000  0.0000  0.0000
-   0.2113  0.8497  0.7263  0.0000
-   0.7560  0.6857  0.1985  0.6525
-   0.0002  0.8782  0.5442  0.3076
-   0.3303  0.0683  0.2320  0.9329
-   0.5618  0.5042
-   0.5896  0.3493
-   0.6853  0.3873
-   0.8906  0.9222
-   1.0000  0.0000
-   0.0000  1.0000
-   0.3616  0.0000  0.0000  0.0000
-   0.2922  0.4826  0.0000  0.0000
-   0.9488  0.0000
-   0.3760  0.7340
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01RD EXAMPLE PROGRAM RESULTS
-
- The square root of the state covariance matrix is 
-  -1.7223   0.0000   0.0000   0.0000
-  -2.1073   0.5467   0.0000   0.0000
-  -1.7649   0.1412  -0.1710   0.0000
-  -1.8291   0.2058  -0.1497   0.7760
-
- The Kalman gain matrix is 
-  -0.2135   1.6649
-  -0.2345   2.1442
-  -0.2147   1.7069
-  -0.1345   1.4777
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FB01SD.html b/doc/_static/doc/FB01SD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,528 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01SD">FB01SD</A></H2>
-<H3>
-Time-varying square root information Kalman filter (dense matrices)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-varying Kalman filter. This update is given
-  for the square root information filter, using dense matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV, LDSINV,
-     $                   AINV, LDAINV, B, LDB, RINV, LDRINV, C, LDC,
-     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBX, MULTAB, MULTRC
-      INTEGER           INFO, LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV,
-     $                  LDWORK, M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  AINV(LDAINV,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  E(*), QINV(LDQINV,*), RINV(LDRINV,*), RINVY(*),
-     $                  SINV(LDSINV,*), X(*), Z(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Indicates whether X    is to be computed as follows:
-                             i+1
-          = 'X':  X    is computed and stored in array X;
-                   i+1
-          = 'N':  X    is not required.
-                   i+1
-
-  MULTAB  CHARACTER*1             -1
-          Indicates how matrices A   and B  are to be passed to
-                                  i       i
-          the routine as follows:                       -1
-          = 'P':  Array AINV must contain the matrix   A    and the
-                                                    -1  i
-                  array B must contain the product A  B ;
-                                                    i  i
-          = 'N':  Arrays AINV and B must contain the matrices
-                  as described below.
-
-  MULTRC  CHARACTER*1             -1/2
-          Indicates how matrices R     and C    are to be passed to
-                                  i+1       i+1
-          the routine as follows:
-          = 'P':  Array RINV is not used and the array C must
-                                       -1/2
-                  contain the product R    C   ;
-                                       i+1  i+1
-          = 'N':  Arrays RINV and C must contain the matrices
-                  as described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-                    -1      -1
-          matrices S   and A  .  N &gt;= 0.
-                    i       i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           -1/2
-          Q    .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           -1/2
-          R    .  P &gt;= 0.
-           i+1
-
-  SINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDSINV,N)
-          On entry, the leading N-by-N upper triangular part of this
-                              -1
-          array must contain S  , the inverse of the square root
-                              i
-          (right Cholesky factor) of the state covariance matrix
-          P    (hence the information square root) at instant i.
-           i|i
-          On exit, the leading N-by-N upper triangular part of this
-                          -1
-          array contains S   , the inverse of the square root (right
-                          i+1
-          Cholesky factor) of the state covariance matrix P
-                                                           i+1|i+1
-          (hence the information square root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDSINV  INTEGER
-          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
-
-  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
-                                                              -1
-          The leading N-by-N part of this array must contain A  ,
-                                                              i
-          the inverse of the state transition matrix of the discrete
-          system at instant i.
-
-  LDAINV  INTEGER
-          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                   -1         i
-          the input weight matrix (or the product A  B  if
-                                                   i  i
-          MULTAB = 'P') of the discrete system at instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
-          If MULTRC = 'N', then the leading P-by-P upper triangular
-                                           -1/2
-          part of this array must contain R    , the inverse of the
-                                           i+1
-          covariance square root (right Cholesky factor) of the
-          output (measurement) noise (hence the information square
-          root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-          Otherwise, RINV is not referenced and can be supplied as a
-          dummy array (i.e., set parameter LDRINV = 1 and declare
-          this array to be RINV(1,1) in the calling program).
-
-  LDRINV  INTEGER
-          The leading dimension of array RINV.
-          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
-          LDRINV &gt;= 1        if MULTRC = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C   ,
-                                                    -1/2      i+1
-          the output weight matrix (or the product R    C    if
-                                                    i+1  i+1
-          MULTRC = 'P') of the discrete system at instant i+1.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  QINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDQINV,M)
-          On entry, the leading M-by-M upper triangular part of this
-                              -1/2
-          array must contain Q    , the inverse of the covariance
-                              i
-          square root (right Cholesky factor) of the input (process)
-          noise (hence the information square root) at instant i.
-          On exit, the leading M-by-M upper triangular part of this
-                                 -1/2
-          array contains (QINOV )    , the inverse of the covariance
-                               i
-          square root (right Cholesky factor) of the process noise
-          innovation (hence the information square root) at
-          instant i.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDQINV  INTEGER
-          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain X , the estimated
-                                             i
-          filtered state at instant i.
-          On exit, if JOBX = 'X', and INFO = 0, then this array
-          contains X   , the estimated filtered state at
-                    i+1
-          instant i+1.
-          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
-                               -1
-          this array contains S   X   .
-                               i+1 i+1
-
-  RINVY   (input) DOUBLE PRECISION array, dimension (P)
-                                   -1/2
-          This array must contain R    Y   , the product of the
-                                   i+1  i+1
-                                   -1/2
-          upper triangular matrix R     and the measured output
-                                   i+1
-          vector Y    at instant i+1.
-                  i+1
-
-  Z       (input) DOUBLE PRECISION array, dimension (M)
-          This array must contain Z , the mean value of the state
-                                   i
-          process noise at instant i.
-
-  E       (output) DOUBLE PRECISION array, dimension (P)
-          This array contains E   , the estimated error at instant
-                               i+1
-          i+1.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBX = 'X', then TOL is used to test for near
-                                     -1
-          singularity of the matrix S   . If the user sets
-                                     i+1
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          where LIWORK = N if JOBX = 'X',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                              -1
-          (in the 1-norm) of S   .
-                              i+1
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N),
-                        if JOBX = 'N';
-          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+2*N,3*N),
-                        if JOBX = 'X'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;                        -1
-          = 1:  if JOBX = 'X' and the matrix S   is singular,
-                                              i+1       -1
-                i.e., the condition number estimate of S    (in the
-                                                        i+1
-                                                      -1    -1/2
-                1-norm) exceeds 1/TOL.  The matrices S   , Q
-                                                      i+1   i
-                and E have been computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root information
-  filter algorithm, summarized as follows:
-
-    |    -1/2             -1/2    |     |         -1/2             |
-    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
-    |    i                i    i  |     |       i                  |
-    |                             |     |                          |
-    |  -1 -1     -1 -1    -1      |     |             -1    -1     |
-  T | S  A  B   S  A     S  X     |  =  |    0       S     S   X   |
-    |  i  i  i   i  i     i  i    |     |             i+1   i+1 i+1|
-    |                             |     |                          |
-    |           -1/2      -1/2    |     |                          |
-    |    0     R    C    R    Y   |     |    0         0     E     |
-    |           i+1  i+1  i+1  i+1|     |                     i+1  |
-
-               (Pre-array)                      (Post-array)
-
-  where T is an orthogonal transformation triangularizing the
-                     -1/2
-  pre-array, (QINOV )     is the inverse of the covariance square
-                   i
-  root (right Cholesky factor) of the process noise innovation
-  (hence the information square root) at instant i, and E    is the
-                                                         i+1
-  estimated error at instant i+1.
-
-  The inverse of the corresponding state covariance matrix P
-                                                            i+1|i+1
-  (hence the information matrix I) is then factorized as
-
-                -1         -1     -1
-     I       = P       = (S   )' S
-      i+1|i+1   i+1|i+1    i+1    i+1
-
-  and one combined time and measurement update for the state is
-  given by X   .
-            i+1
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [3] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-        3    2                              2   2
-  (7/6)N  + N x (7/2 x M + P) + N x (1/2 x P + M )
-
-  operations and is backward stable (see [2]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDAINV, LDB, LDC, LDQINV, LDRINV, LDSINV
-      PARAMETER        ( LDAINV = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
-     $                                (NMAX + PMAX)*(NMAX + 1) + 2*NMAX,
-     $                                 3*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBX, MULTAB, MULTRC
-*     .. Local Arrays ..
-      DOUBLE PRECISION AINV(LDAINV,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DIAG(MMAX), DWORK(LDWORK), E(PMAX),
-     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
-     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01SD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTAB, MULTRC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
-     $                               ( ( RINV(I,J), J = 1,P ), I = 1,P )
-            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
-               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
-               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
-*              Save the strict upper triangle of QINV in its strict
-*              lower triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, M
-                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
-   10          CONTINUE
-               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter recursion
-*              (in square root information form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01SD( JOBX, MULTAB, MULTRC, N, M, P, SINV,
-     $                         LDSINV, AINV, LDAINV, B, LDB, RINV,
-     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
-     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the upper triangle of QINV.
-                     DO 30 I = 2, M
-                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
-   30                CONTINUE
-                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBX, 'X' ) ) THEN
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 50 I = 1, N
-                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
-   50                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01SD = ',I2)
-99997 FORMAT (' The inverse of the square root of the state covariance',
-     $       ' matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The components of the estimated filtered state are ',
-     $       //'   k       X(k)',/)
-99994 FORMAT (I4,3X,F8.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01SD EXAMPLE PROGRAM DATA
-   4     2     2     X     0.0     P     N
-   0.2113  0.7560  0.0002  0.3303
-   0.8497  0.6857  0.8782  0.0683
-   0.7263  0.1985  0.5442  0.2320
-   0.8833  0.6525  0.3076  0.9329
-   0.3616  0.5664  0.5015  0.2693
-   0.2922  0.4826  0.4368  0.6325
-   1.0000  0.0000
-   0.0000  1.0000
-  -0.8805  1.3257
-   2.1039  0.5207
-  -0.6075  1.0386
-  -0.8531  1.1688
-   1.1159  0.2305
-   0.0000  0.6597
-   1.0000  0.0000  0.0000  0.0000
-   0.0000  1.0000  0.0000  0.0000
-   0.0000  0.0000  1.0000  0.0000
-   0.0000  0.0000  0.0000  1.0000
-   0.0019
-   0.5075
-   0.4076
-   0.8408
-   0.5017
-   0.9128
-   0.2129
-   0.5591
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01SD EXAMPLE PROGRAM RESULTS
-
- The inverse of the square root of the state covariance matrix is 
-   0.6897   0.7721   0.7079   0.6102
-   0.0000  -0.3363  -0.2252  -0.2642
-   0.0000   0.0000  -0.1650   0.0319
-   0.0000   0.0000   0.0000   0.3708
-
- The components of the estimated filtered state are 
-
-   k       X(k)
-
-   1    -0.7125
-   2    -1.8324
-   3     1.7500
-   4     1.5854
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FB01TD.html b/doc/_static/doc/FB01TD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,542 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01TD">FB01TD</A></H2>
-<H3>
-Time-invariant square root information Kalman filter (controller Hessenberg form)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a combined measurement and time update of one
-  iteration of the time-invariant Kalman filter. This update is
-  given for the square root information filter, using the condensed
-  controller Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV, AINV,
-     $                   LDAINV, AINVB, LDAINB, RINV, LDRINV, C, LDC,
-     $                   QINV, LDQINV, X, RINVY, Z, E, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBX, MULTRC
-      INTEGER           INFO, LDAINB, LDAINV, LDC, LDQINV, LDRINV,
-     $                  LDSINV, LDWORK, M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  AINV(LDAINV,*), AINVB(LDAINB,*), C(LDC,*),
-     $                  DWORK(*), E(*), QINV(LDQINV,*), RINV(LDRINV,*),
-     $                  RINVY(*), SINV(LDSINV,*), X(*), Z(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Indicates whether X    is to be computed as follows:
-                             i+1
-          = 'X':  X    is computed and stored in array X;
-                   i+1
-          = 'N':  X    is not required.
-                   i+1
-
-  MULTRC  CHARACTER*1             -1/2
-          Indicates how matrices R     and C    are to be passed to
-                                  i+1       i+1
-          the routine as follows:
-          = 'P':  Array RINV is not used and the array C must
-                                       -1/2
-                  contain the product R    C   ;
-                                       i+1  i+1
-          = 'N':  Arrays RINV and C must contain the matrices
-                  as described below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-                    -1      -1
-          matrices S   and A  .  N &gt;= 0.
-                    i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-           -1/2
-          Q    .  M &gt;= 0.
-           i
-
-  P       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-           -1/2
-          R    .  P &gt;= 0.
-           i+1
-
-  SINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDSINV,N)
-          On entry, the leading N-by-N upper triangular part of this
-                              -1
-          array must contain S  , the inverse of the square root
-                              i
-          (right Cholesky factor) of the state covariance matrix
-          P    (hence the information square root) at instant i.
-           i|i
-          On exit, the leading N-by-N upper triangular part of this
-                          -1
-          array contains S   , the inverse of the square root (right
-                          i+1
-          Cholesky factor) of the state covariance matrix P
-                                                           i+1|i+1
-          (hence the information square root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDSINV  INTEGER
-          The leading dimension of array SINV.  LDSINV &gt;= MAX(1,N).
-
-  AINV    (input) DOUBLE PRECISION array, dimension (LDAINV,N)
-                                                              -1
-          The leading N-by-N part of this array must contain A  ,
-          the inverse of the state transition matrix of the discrete
-          system in controller Hessenberg form (e.g., as produced by
-          SLICOT Library Routine TB01MD).
-
-  LDAINV  INTEGER
-          The leading dimension of array AINV.  LDAINV &gt;= MAX(1,N).
-
-  AINVB   (input) DOUBLE PRECISION array, dimension (LDAINB,M)
-                                                               -1
-          The leading N-by-M part of this array must contain  A  B,
-                          -1
-          the product of A   and the input weight matrix B of the
-          discrete system, in upper controller Hessenberg form
-          (e.g., as produced by SLICOT Library Routine TB01MD).
-
-  LDAINB  INTEGER
-          The leading dimension of array AINVB.  LDAINB &gt;= MAX(1,N).
-
-  RINV    (input) DOUBLE PRECISION array, dimension (LDRINV,*)
-          If MULTRC = 'N', then the leading P-by-P upper triangular
-                                           -1/2
-          part of this array must contain R    , the inverse of the
-                                           i+1
-          covariance square root (right Cholesky factor) of the
-          output (measurement) noise (hence the information square
-          root) at instant i+1.
-          The strict lower triangular part of this array is not
-          referenced.
-          Otherwise, RINV is not referenced and can be supplied as a
-          dummy array (i.e., set parameter LDRINV = 1 and declare
-          this array to be RINV(1,1) in the calling program).
-
-  LDRINV  INTEGER
-          The leading dimension of array RINV.
-          LDRINV &gt;= MAX(1,P) if MULTRC = 'N';
-          LDRINV &gt;= 1        if MULTRC = 'P'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain C   ,
-                                                    -1/2      i+1
-          the output weight matrix (or the product R    C    if
-                                                    i+1  i+1
-          MULTRC = 'P') of the discrete system at instant i+1.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  QINV    (input/output) DOUBLE PRECISION array, dimension
-          (LDQINV,M)
-          On entry, the leading M-by-M upper triangular part of this
-                              -1/2
-          array must contain Q    , the inverse of the covariance
-                              i
-          square root (right Cholesky factor) of the input (process)
-          noise (hence the information square root) at instant i.
-          On exit, the leading M-by-M upper triangular part of this
-                                 -1/2
-          array contains (QINOV )    , the inverse of the covariance
-                               i
-          square root (right Cholesky factor) of the process noise
-          innovation (hence the information square root) at
-          instant i.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDQINV  INTEGER
-          The leading dimension of array QINV.  LDQINV &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain X , the estimated
-                                             i
-          filtered state at instant i.
-          On exit, if JOBX = 'X', and INFO = 0, then this array
-          contains X   , the estimated filtered state at
-                    i+1
-          instant i+1.
-          On exit, if JOBX = 'N', or JOBX = 'X' and INFO = 1, then
-                               -1
-          this array contains S   X   .
-                               i+1 i+1
-
-  RINVY   (input) DOUBLE PRECISION array, dimension (P)
-                                   -1/2
-          This array must contain R    Y   , the product of the
-                                   i+1  i+1
-                                   -1/2
-          upper triangular matrix R     and the measured output
-                                   i+1
-          vector Y    at instant i+1.
-                  i+1
-
-  Z       (input) DOUBLE PRECISION array, dimension (M)
-          This array must contain Z , the mean value of the state
-                                   i
-          process noise at instant i.
-
-  E       (output) DOUBLE PRECISION array, dimension (P)
-          This array contains E   , the estimated error at instant
-                               i+1
-          i+1.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If JOBX = 'X', then TOL is used to test for near
-                                     -1
-          singularity of the matrix S   . If the user sets
-                                     i+1
-          TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = N*N*EPS, is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-          Otherwise, TOL is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          where LIWORK = N if JOBX = 'X',
-          and   LIWORK = 1 otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.  If INFO = 0 and JOBX = 'X', DWORK(2) returns
-          an estimate of the reciprocal of the condition number
-                              -1
-          (in the 1-norm) of S   .
-                              i+1
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1)),
-                              if JOBX = 'N';
-          LDWORK &gt;= MAX(2,N*(N+2*M)+3*M,(N+P)*(N+1)+N+MAX(N-1,M+1),
-                        3*N), if JOBX = 'X'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;                        -1
-          = 1:  if JOBX = 'X' and the matrix S    is singular,
-                                              i+1       -1
-                i.e., the condition number estimate of S    (in the
-                                                        i+1
-                                                      -1    -1/2
-                1-norm) exceeds 1/TOL.  The matrices S   , Q
-                                                      i+1   i
-                and E have been computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs one recursion of the square root information
-  filter algorithm, summarized as follows:
-
-    |    -1/2             -1/2    |     |         -1/2             |
-    |   Q         0      Q    Z   |     | (QINOV )     *     *     |
-    |    i                i    i  |     |       i                  |
-    |                             |     |                          |
-    |           -1/2      -1/2    |     |             -1    -1     |
-  T |    0     R    C    R    Y   |  =  |    0       S     S   X   |
-    |           i+1  i+1  i+1  i+1|     |             i+1   i+1 i+1|
-    |                             |     |                          |
-    |  -1 -1     -1 -1    -1      |     |                          |
-    | S  A  B   S  A     S  X     |     |    0         0     E     |
-    |  i         i        i  i    |     |                     i+1  |
-
-                (Pre-array)                      (Post-array)
-
-  where T is an orthogonal transformation triangularizing the
-                     -1/2
-  pre-array, (QINOV )     is the inverse of the covariance square
-                   i
-  root (right Cholesky factor) of the process noise innovation
-                                                         -1  -1
-  (hence the information square root) at instant i and (A  ,A  B) is
-  in upper controller Hessenberg form.
-
-  An example of the pre-array is given below (where N = 6, M = 2,
-  and P = 3):
-
-      |x x |             | x|
-      |  x |             | x|
-      _______________________
-      |    | x x x x x x | x|
-      |    | x x x x x x | x|
-      |    | x x x x x x | x|
-      _______________________
-      |x x | x x x x x x | x|
-      |  x | x x x x x x | x|
-      |    | x x x x x x | x|
-      |    |   x x x x x | x|
-      |    |     x x x x | x|
-      |    |       x x x | x|
-
-  The inverse of the corresponding state covariance matrix P
-                                                            i+1|i+1
-  (hence the information matrix I) is then factorized as
-
-                 -1         -1     -1
-      I       = P       = (S   )' S
-       i+1|i+1   i+1|i+1    i+1    i+1
-
-  and one combined time and measurement update for the state is
-  given by X   .
-            i+1
-
-  The triangularization is done entirely via Householder
-  transformations exploiting the zero pattern of the pre-array.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Van Dooren, P. and Verhaegen, M.H.G.
-      Condensed Forms for Efficient Time-Invariant Kalman Filtering.
-      SIAM J. Sci. Stat. Comp., 9. pp. 516-530, 1988.
-
-  [3] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, Oct. 1986.
-
-  [4] Vanbegin, M., Van Dooren, P., and Verhaegen, M.H.G.
-      Algorithm 675: FORTRAN Subroutines for Computing the Square
-      Root Covariance Filter and Square Root Information Filter in
-      Dense or Hessenberg Forms.
-      ACM Trans. Math. Software, 15, pp. 243-256, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-        3    2                           2          3
-  (1/6)N  + N x (3/2 x M + P) + 2 x N x M  + 2/3 x M
-
-  operations and is backward stable (see [3]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDAINB, LDAINV, LDC, LDQINV, LDRINV, LDSINV
-      PARAMETER        ( LDAINB = NMAX, LDAINV = NMAX, LDC = PMAX,
-     $                   LDQINV = MMAX, LDRINV = PMAX, LDSINV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*(NMAX + 2*MMAX) + 3*MMAX,
-     $                                (NMAX + PMAX)*(NMAX + 1) + NMAX +
-     $                                 MAX( NMAX - 1, MMAX + 1 ),
-     $                                 3*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, ISTEP, J, M, N, P
-      CHARACTER*1      JOBX, MULTRC
-*     .. Local Arrays ..
-      DOUBLE PRECISION AINV(LDAINV,NMAX), AINVB(LDAINB,MMAX),
-     $                 C(LDC,NMAX), DIAG(MMAX), DWORK(LDWORK), E(PMAX),
-     $                 QINV(LDQINV,MMAX), RINV(LDRINV,PMAX),
-     $                 RINVY(PMAX), SINV(LDSINV,NMAX), X(NMAX), Z(MMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01TD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOBX, TOL, MULTRC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( AINV(I,J), J = 1,N ), I = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-            IF ( LSAME( MULTRC, 'N' ) ) READ ( NIN, FMT = * )
-     $                         ( ( RINV(I,J), J = 1,P ), I = 1,P )
-            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) M
-            ELSE
-               READ ( NIN, FMT = * )
-     $                              ( ( AINVB(I,J), J = 1,M ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( QINV(I,J), J = 1,M ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( SINV(I,J), J = 1,N ), I = 1,N )
-               READ ( NIN, FMT = * ) ( Z(J), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(J), J = 1,N )
-               READ ( NIN, FMT = * ) ( RINVY(J), J = 1,P )
-*              Save the strict upper triangle of QINV in its strict
-*              lower triangle and the diagonal in the array DIAG.
-               DO 10 I = 2, M
-                  CALL DCOPY( I, QINV(1,I), 1, QINV(I,1), LDQINV )
-   10          CONTINUE
-               CALL DCOPY( M, QINV, LDQINV+1, DIAG, 1 )
-*              Perform three iterations of the (Kalman) filter
-*              recursion (in square root information form).
-               ISTEP = 1
-   20          CONTINUE
-                  CALL FB01TD( JOBX, MULTRC, N, M, P, SINV, LDSINV,
-     $                         AINV, LDAINV, AINVB, LDAINB, RINV,
-     $                         LDRINV, C, LDC, QINV, LDQINV, X, RINVY,
-     $                         Z, E, TOL, IWORK, DWORK, LDWORK, INFO )
-                  ISTEP = ISTEP + 1
-                  IF ( INFO.EQ.0 .AND. ISTEP.LE.3 ) THEN
-*                    Restore the upper triangle of QINV.
-                     DO 30 I = 2, M
-                        CALL DCOPY( I, QINV(I,1), LDQINV, QINV(1,I), 1 )
-   30                CONTINUE
-                     CALL DCOPY( M, DIAG, 1, QINV, LDQINV+1 )
-                     GO TO 20
-                  END IF
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( SINV(I,J), J = 1,N )
-   40             CONTINUE
-                  IF ( LSAME( JOBX, 'X' ) ) THEN
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 50 I = 1, N
-                        WRITE ( NOUT, FMT = 99994 ) I, X(I)
-   50                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01TD = ',I2)
-99997 FORMAT (' The inverse of the square root of the state covariance',
-     $       ' matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The components of the estimated filtered state are ',
-     $       //'   k       X(k)',/)
-99994 FORMAT (I4,3X,F8.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01TD EXAMPLE PROGRAM DATA
-   4     2     2     X     0.0     N
-   0.2113  0.7560  0.0002  0.3303
-   0.8497  0.6857  0.8782  0.0683
-   0.7263  0.1985  0.5442  0.2320
-   0.0000  0.6525  0.3076  0.9329
-   0.3616  0.5664  0.5015  0.2693
-   0.2922  0.4826  0.4368  0.6325
-   1.0000  0.0000
-   0.0000  1.0000
-  -0.8805  1.3257
-   0.0000  0.5207
-   0.0000  0.0000
-   0.0000  0.0000
-   1.1159  0.2305
-   0.0000  0.6597
-   1.0000  0.0000  0.0000  0.0000
-   0.0000  1.0000  0.0000  0.0000
-   0.0000  0.0000  1.0000  0.0000
-   0.0000  0.0000  0.0000  1.0000
-   0.0019
-   0.5075
-   0.4076
-   0.8408
-   0.5017
-   0.9128
-   0.2129
-   0.5591
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01TD EXAMPLE PROGRAM RESULTS
-
- The inverse of the square root of the state covariance matrix is 
-  -0.8731  -1.1461  -1.0260  -0.8901
-   0.0000  -0.2763  -0.1929  -0.3763
-   0.0000   0.0000  -0.1110  -0.1051
-   0.0000   0.0000   0.0000   0.3120
-
- The components of the estimated filtered state are 
-
-   k       X(k)
-
-   1    -2.0688
-   2    -0.7814
-   3     2.2181
-   4     0.9298
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FB01VD.html b/doc/_static/doc/FB01VD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,380 +0,0 @@
-<HTML>
-<HEAD><TITLE>FB01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FB01VD">FB01VD</A></H2>
-<H3>
-One recursion of the conventional Kalman filter
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one recursion of the conventional Kalman filter
-  equations. This is one update of the Riccati difference equation
-  and the Kalman filter gain.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC, Q,
-     $                   LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LDC, LDK, LDP, LDQ, LDR,
-     $                  LDWORK, M, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  K(LDK,*), P(LDP,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices P      and A .  N &gt;= 0.
-                    i|i-1      i
-
-  M       (input) INTEGER
-          The actual input dimension, i.e., the order of the matrix
-          Q .  M &gt;= 0.
-           i
-
-  L       (input) INTEGER
-          The actual output dimension, i.e., the order of the matrix
-          R .  L &gt;= 0.
-           i
-
-  P       (input/output) DOUBLE PRECISION array, dimension (LDP,N)
-          On entry, the leading N-by-N part of this array must
-          contain P     , the state covariance matrix at instant
-                   i|i-1
-          (i-1). The upper triangular part only is needed.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains P     , the state covariance matrix at
-                          i+1|i
-          instant i. The strictly lower triangular part is not set.
-          Otherwise, the leading N-by-N part of this array contains
-          P     , its input value.
-           i|i-1
-
-  LDP     INTEGER
-          The leading dimension of array P.  LDP &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain A ,
-                                                              i
-          the state transition matrix of the discrete system at
-          instant i.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain B ,
-                                                              i
-          the input weight matrix of the discrete system at
-          instant i.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array must contain C ,
-                                                              i
-          the output weight matrix of the discrete system at
-          instant i.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,L).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,M)
-          The leading M-by-M part of this array must contain Q ,
-                                                              i
-          the input (process) noise covariance matrix at instant i.
-          The diagonal elements of this array are modified by the
-          routine, but are restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,M).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
-          On entry, the leading L-by-L part of this array must
-          contain R , the output (measurement) noise covariance
-                   i
-          matrix at instant i.
-          On exit, if INFO = 0, or INFO = L+1, the leading L-by-L
-                                                               1/2
-          upper triangular part of this array contains (RINOV )   ,
-                                                             i
-          the square root (left Cholesky factor) of the covariance
-          matrix of the innovations at instant i.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,L).
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,L)
-          If INFO = 0, the leading N-by-L part of this array
-          contains K , the Kalman filter gain matrix at instant i.
-                    i
-          If INFO &gt; 0, the leading N-by-L part of this array
-          contains the matrix product P     C'.
-                                       i|i-1 i
-
-  LDK     INTEGER
-          The leading dimension of array K.  LDK &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the matrix RINOV . If the user sets TOL &gt; 0, then the
-                          i
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number of that matrix; a matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be nonsingular. If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = L*L*EPS, is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (L)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, or INFO = L+1, DWORK(1) returns an
-          estimate of the reciprocal of the condition number (in the
-          1-norm) of the matrix RINOV .
-                                     i
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,L*N+3*L,N*N,N*M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value;
-          = k:  if INFO = k, 1 &lt;= k &lt;= L, the leading minor of order
-                k of the matrix RINOV  is not positive-definite, and
-                                     i
-                its Cholesky factorization could not be completed;
-          = L+1: the matrix RINOV  is singular, i.e., the condition
-                                 i
-                number estimate of RINOV  (in the 1-norm) exceeds
-                                        i
-                1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The conventional Kalman filter gain used at the i-th recursion
-  step is of the form
-
-                         -1
-     K  = P     C'  RINOV  ,
-      i    i|i-1 i       i
-
-  where RINOV  = C P     C' + R , and the state covariance matrix
-             i    i i|i-1 i    i
-
-  P      is updated by the discrete-time difference Riccati equation
-   i|i-1
-
-     P      = A  (P      - K C P     ) A'  + B Q B'.
-      i+1|i    i   i|i-1    i i i|i-1   i     i i i
-
-  Using these two updates, the combined time and measurement update
-  of the state X      is given by
-                i|i-1
-
-     X      = A X      + A K (Y  - C X     ),
-      i+1|i    i i|i-1    i i  i    i i|i-1
-
-  where Y  is the new observation at step i.
-         i
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, B.D.O. and Moore, J.B.
-      Optimal Filtering,
-      Prentice Hall, Englewood Cliffs, New Jersey, 1979.
-
-  [2] Verhaegen, M.H.G. and Van Dooren, P.
-      Numerical Aspects of Different Kalman Filter Implementations.
-      IEEE Trans. Auto. Contr., AC-31, pp. 907-917, 1986.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-          3   2
-   3/2 x N + N  x (3 x L + M/2)
-
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FB01VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, LMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, LMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDK, LDP, LDQ, LDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = LMAX, LDK = NMAX,
-     $                   LDP = NMAX, LDQ = MMAX, LDR = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( LMAX*NMAX + 3*LMAX, NMAX*NMAX,
-     $                                 MMAX*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, L, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), K(LDK,LMAX), P(LDP,NMAX),
-     $                 Q(LDQ,MMAX), R(LDR,LMAX)
-      INTEGER          IWORK(LMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, FB01VD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, L, TOL
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( P(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,M ), I = 1,M )
-            IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) L
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,L )
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,L ), I = 1,L )
-*              Perform one iteration of the (Kalman) filter recursion.
-               CALL FB01VD( N, M, L, P, LDP, A, LDA, B, LDB, C, LDC,
-     $                      Q, LDQ, R, LDR, K, LDK, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     CALL DCOPY( I-1, P(1,I), 1, P(I,1), LDP )
-                     WRITE ( NOUT, FMT = 99994 ) ( P(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( K(I,J), J = 1,L )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, L
-                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1,L )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FB01VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from FB01VD = ',I3)
-99997 FORMAT (' The state covariance matrix is ')
-99996 FORMAT (/' The Kalman filter gain matrix is ')
-99995 FORMAT (/' The square root of the covariance matrix of the innov',
-     $          'ations is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' L is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FB01VD EXAMPLE PROGRAM DATA
-   4     3     2     0.0
-   0.5015  0.4368  0.2693  0.6325
-   0.4368  0.4818  0.2639  0.4148
-   0.2693  0.2639  0.1121  0.6856
-   0.6325  0.4148  0.6856  0.8906
-   0.2113  0.8497  0.7263  0.8833
-   0.7560  0.6857  0.1985  0.6525
-   0.0002  0.8782  0.5442  0.3076
-   0.3303  0.0683  0.2320  0.9329
-   0.0437  0.7783  0.5618
-   0.4818  0.2119  0.5896
-   0.2639  0.1121  0.6853
-   0.4148  0.6856  0.8906
-   0.9329  0.2146  0.3126
-   0.2146  0.2922  0.5664
-   0.3126  0.5664  0.5935
-   0.3873  0.9488  0.3760  0.0881
-   0.9222  0.3435  0.7340  0.4498
-   1.0000  0.0000
-   0.0000  1.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- FB01VD EXAMPLE PROGRAM RESULTS
-
- The state covariance matrix is 
-   1.6007   1.3283   1.1153   1.7177
-   1.3283   1.2763   1.0132   1.5137
-   1.1153   1.0132   0.8222   1.2722
-   1.7177   1.5137   1.2722   2.1562
-
- The Kalman filter gain matrix is 
-   0.1648   0.2241
-   0.2115   0.1610
-   0.0728   0.1673
-   0.1304   0.3892
-
- The square root of the covariance matrix of the innovations is 
-   1.5091   1.1543
-   0.0000   1.5072
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FD01AD.html b/doc/_static/doc/FD01AD.html
deleted file mode 100644
index 82afe5cf..00000000
--- a/doc/_static/doc/FD01AD.html
+++ /dev/null
@@ -1,398 +0,0 @@
-<HTML>
-<HEAD><TITLE>FD01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FD01AD">FD01AD</A></H2>
-<H3>
-Fast recursive least-squares filtering
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the least-squares filtering problem recursively in time.
-  Each subroutine call implements one time update of the solution.
-  The algorithm uses a fast QR-decomposition based approach.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
-     $                   CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JP
-      INTEGER           INFO, IWARN, L
-      DOUBLE PRECISION  EFOR, EOUT, EPOS, LAMBDA, XIN, YIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CTETA(*), EPSBCK(*), SALPH(*), STETA(*), XF(*),
-     $                  YQ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JP      CHARACTER*1
-          Indicates whether the user wishes to apply both prediction
-          and filtering parts, as follows:
-          = 'B':  Both prediction and filtering parts are to be
-                  applied;
-          = 'P':  Only the prediction section is to be applied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The length of the impulse response of the equivalent
-          transversal filter model.  L &gt;= 1.
-
-  LAMBDA  (input) DOUBLE PRECISION
-          Square root of the forgetting factor.
-          For tracking capabilities and exponentially stable error
-          propagation, LAMBDA &lt; 1.0 (strict inequality) should
-          be used.  0.0 &lt; LAMBDA &lt;= 1.0.
-
-  XIN     (input) DOUBLE PRECISION
-          The input sample at instant n.
-          (The situation just before and just after the call of
-          the routine are denoted by instant (n-1) and instant n,
-          respectively.)
-
-  YIN     (input) DOUBLE PRECISION
-          If JP = 'B', then YIN must contain the reference sample
-          at instant n.
-          Otherwise, YIN is not referenced.
-
-  EFOR    (input/output) DOUBLE PRECISION
-          On entry, this parameter must contain the square root of
-          exponentially weighted forward prediction error energy
-          at instant (n-1).  EFOR &gt;= 0.0.
-          On exit, this parameter contains the square root of the
-          exponentially weighted forward prediction error energy
-          at instant n.
-
-  XF      (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, this array must contain the transformed forward
-          prediction variables at instant (n-1).
-          On exit, this array contains the transformed forward
-          prediction variables at instant n.
-
-  EPSBCK  (input/output) DOUBLE PRECISION array, dimension (L+1)
-          On entry, the leading L elements of this array must
-          contain the normalized a posteriori backward prediction
-          error residuals of orders zero through L-1, respectively,
-          at instant (n-1), and EPSBCK(L+1) must contain the
-          square-root of the so-called "conversion factor" at
-          instant (n-1).
-          On exit, this array contains the normalized a posteriori
-          backward prediction error residuals, plus the square root
-          of the conversion factor at instant n.
-
-  CTETA   (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, this array must contain the cosines of the
-          rotation angles used in time updates, at instant (n-1).
-          On exit, this array contains the cosines of the rotation
-          angles at instant n.
-
-  STETA   (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, this array must contain the sines of the
-          rotation angles used in time updates, at instant (n-1).
-          On exit, this array contains the sines of the rotation
-          angles at instant n.
-
-  YQ      (input/output) DOUBLE PRECISION array, dimension (L)
-          On entry, if JP = 'B', then this array must contain the
-          orthogonally transformed reference vector at instant
-          (n-1). These elements are also the tap multipliers of an
-          equivalent normalized lattice least-squares filter.
-          Otherwise, YQ is not referenced and can be supplied as
-          a dummy array (i.e., declare this array to be YQ(1) in
-          the calling program).
-          On exit, if JP = 'B', then this array contains the
-          orthogonally transformed reference vector at instant n.
-
-  EPOS    (output) DOUBLE PRECISION
-          The a posteriori forward prediction error residual.
-
-  EOUT    (output) DOUBLE PRECISION
-          If JP = 'B', then EOUT contains the a posteriori output
-          error residual from the least-squares filter at instant n.
-
-  SALPH   (output) DOUBLE PRECISION array, dimension (L)
-          The element SALPH(i), i=1,...,L, contains the opposite of
-          the i-(th) reflection coefficient for the least-squares
-          normalized lattice predictor (whose value is -SALPH(i)).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  an element to be annihilated by a rotation is less
-                than the machine precision (see LAPACK Library
-                routine DLAMCH).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The output error EOUT at instant n, denoted by EOUT(n), is the
-  reference sample minus a linear combination of L successive input
-  samples:
-
-                        L-1
-     EOUT(n) = YIN(n) - SUM h_i * XIN(n-i),
-                        i=0
-
-  where YIN(n) and XIN(n) are the scalar samples at instant n.
-  A least-squares filter uses those h_0,...,h_{L-1} which minimize
-  an exponentially weighted sum of successive output errors squared:
-
-      n
-     SUM [LAMBDA**(2(n-k)) * EOUT(k)**2].
-     k=1
-
-  Each subroutine call performs a time update of the least-squares
-  filter using a fast least-squares algorithm derived from a
-  QR decomposition, as described in references [1] and [2] (the
-  notation from [2] is followed in the naming of the arrays).
-  The algorithm does not compute the parameters h_0,...,h_{L-1} from
-  the above formula, but instead furnishes the parameters of an
-  equivalent normalized least-squares lattice filter, which are
-  available from the arrays SALPH (reflection coefficients) and YQ
-  (tap multipliers), as well as the exponentially weighted input
-  signal energy
-
-      n                                              L
-     SUM [LAMBDA**(2(n-k)) * XIN(k)**2] = EFOR**2 + SUM XF(i)**2.
-     k=1                                            i=1
-
-  For more details on reflection coefficients and tap multipliers,
-  references [2] and [4] are recommended.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1]  Proudler, I. K., McWhirter, J. G., and Shepherd, T. J.
-       Fast QRD based algorithms for least-squares linear
-       prediction.
-       Proceedings IMA Conf. Mathematics in Signal Processing
-       Warwick, UK, December 1988.
-
-  [2]  Regalia, P. A., and Bellanger, M. G.
-       On the duality between QR methods and lattice methods in
-       least-squares adaptive filtering.
-       IEEE Trans. Signal Processing, SP-39, pp. 879-891,
-       April 1991.
-
-  [3]  Regalia, P. A.
-       Numerical stability properties of a QR-based fast
-       least-squares algorithm.
-       IEEE Trans. Signal Processing, SP-41, June 1993.
-
-  [4]  Lev-Ari, H., Kailath, T., and Cioffi, J.
-       Least-squares adaptive lattice and transversal filters:
-       A unified geometric theory.
-       IEEE Trans. Information Theory, IT-30, pp. 222-236,
-       March 1984.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(L) operations for each subroutine call.
-  It is backward consistent for all input sequences XIN, and
-  backward stable for persistently exciting input sequences,
-  assuming LAMBDA &lt; 1.0 (see [3]).
-  If the condition of the signal is very poor (IWARN = 1), then the
-  results are not guaranteed to be reliable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  1.  For tracking capabilities and exponentially stable error
-      propagation, LAMBDA &lt; 1.0 should be used.  LAMBDA is typically
-      chosen slightly less than 1.0 so that "past" data are
-      exponentially forgotten.
-  2.  Prior to the first subroutine call, the variables must be
-      initialized. The following initial values are recommended:
-
-      XF(i) = 0.0,        i=1,...,L
-      EPSBCK(i) = 0.0     i=1,...,L
-      EPSBCK(L+1) = 1.0
-      CTETA(i) = 1.0      i=1,...,L
-      STETA(i) = 0.0      i=1,...,L
-      YQ(i) = 0.0         i=1,...,L
-
-      EFOR = 0.0          (exact start)
-      EFOR = "small positive constant" (soft start).
-
-      Soft starts are numerically more reliable, but result in a
-      biased least-squares solution during the first few iterations.
-      This bias decays exponentially fast provided LAMBDA &lt; 1.0.
-      If sigma is the standard deviation of the input sequence
-      XIN, then initializing EFOR = sigma*1.0E-02 usually works
-      well.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     FD01AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT, NOUT1
-      PARAMETER        ( NIN = 5, NOUT = 6, NOUT1 = 7 )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          IMAX, LMAX
-      PARAMETER        ( IMAX = 500, LMAX = 10 )
-      DOUBLE PRECISION LAMBDA
-      PARAMETER        ( LAMBDA = 0.99D0 )
-*     .. Local Scalars ..
-      CHARACTER        JP
-      INTEGER          I, INFO, IWARN, L
-      DOUBLE PRECISION DELTA, EFOR, EOUT, EPOS, XIN, YIN
-*     .. Local Arrays ..
-      DOUBLE PRECISION CTETA(LMAX), EPSBCK(LMAX+1), SALPH(LMAX),
-     $                 STETA(LMAX), XF(LMAX), YQ(LMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION XFCN, YFCN
-      EXTERNAL         XFCN, YFCN
-*     NOTE: XFCN() generates at each iteration the next sample of the
-*           input sequence. YFCN() generates at each iteration the next
-*           sample of the reference sequence. These functions are user
-*           defined (obtained from data acquisition devices, for
-*           example).
-*     .. External Subroutines ..
-      EXTERNAL         FD01AD
-*
-*     .. File for the output error sequence ..
-      OPEN ( UNIT = NOUT1, FILE = 'ERR.OUT', STATUS = 'REPLACE' )
-*     ..  Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, DELTA, JP
-      IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) L
-      ELSE
-         IF ( DELTA.LT.ZERO ) THEN
-            WRITE ( NOUT, FMT = 99991 )
-         ELSE
-*
-            DO 10 I = 1, L
-               CTETA(I)  = ONE
-               STETA(I)  = ZERO
-               EPSBCK(I) = ZERO
-               XF(I) = ZERO
-               YQ(I) = ZERO
-   10       CONTINUE
-            EPSBCK(L+1) = ONE
-            EFOR = DELTA
-*           .. Run least squares filter.
-            DO 20 I = 1, IMAX
-               XIN = XFCN(I)
-               YIN = YFCN(I)
-               CALL FD01AD( JP, L, LAMBDA, XIN, YIN, EFOR, XF, EPSBCK,
-     $                      CTETA, STETA, YQ, EPOS, EOUT, SALPH, IWARN,
-     $                      INFO)
-               WRITE(NOUT1,*) EOUT
-   20       CONTINUE
-            CLOSE(NOUT1)
-*           NOTE:  File 'ERR.OUT' now contains the output error
-*                  sequence.
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 30 I = 1, L
-                  WRITE ( NOUT, FMT = 99996 ) I, XF(I), YQ(I), EPSBCK(I)
-   30          CONTINUE
-               WRITE ( NOUT, FMT = 99995 ) L+1, EPSBCK(L+1)
-               WRITE ( NOUT, FMT = 99994 ) EFOR
-               IF ( IWARN.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99993 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' FD01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from FD01AD = ', I2)
-99997 FORMAT ('  i', 7X, 'XF(i)', 7X, 'YQ(i)', 6X, 'EPSBCK(i)', /1X)
-99996 FORMAT ( I3, 2X, 3(2X, F10.6))
-99995 FORMAT ( I3, 28X, F10.6, /1X)
-99994 FORMAT (' EFOR = ', D10.3)
-99993 FORMAT (' IWARN on exit from FD01AD = ', I2)
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' The exponentially weighted forward prediction error',
-     $         '  energy must be non-negative.' )
-*
-      END
-*
-*     .. Example functions ..
-*
-      DOUBLE PRECISION FUNCTION XFCN( I )
-*     .. Intrinsic Functions ..
-      INTRINSIC        DBLE, SIN
-*     .. Local Scalar ..
-      INTEGER          I
-*     .. Executable Statements ..
-      XFCN = SIN( 0.3D0*DBLE( I ) )
-* *** Last line of XFCN ***
-      END
-*
-      DOUBLE PRECISION FUNCTION YFCN( I )
-*     .. Intrinsic Functions ..
-      INTRINSIC        DBLE, SIN
-*     .. Local Scalar ..
-      INTEGER          I
-*     .. Executable Statements ..
-      YFCN = 0.5D0 * SIN( 0.3D0*DBLE( I ) ) +
-     $       2.0D0 * SIN( 0.3D0*DBLE( I-1 ) )
-* *** Last line of YFCN ***
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- FD01AD EXAMPLE PROGRAM DATA
-   2    1.0D-2     B
-</PRE>
-<B>Program Results</B>
-<PRE>
- FD01AD EXAMPLE PROGRAM RESULTS
-
-  i       XF(i)       YQ(i)      EPSBCK(i)
-
-  1      4.880088   12.307615   -0.140367
-  2     -1.456881    2.914057   -0.140367
-  3                              0.980099
-
- EFOR =  0.197D-02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/FSQP.html b/doc/_static/doc/FSQP.html
deleted file mode 100644
index b78b4858..00000000
--- a/doc/_static/doc/FSQP.html
+++ /dev/null
@@ -1,438 +0,0 @@
-<HTML>
-<HEAD><TITLE>FSQP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="FSQP">FSQP</A></H2>
-<H3>
-Minimization of the maximum of a set of smooth objective functions
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the minimization of the maximum of a set of smooth
-  objective functions (possibly a single one or none at all) subject
-  to nonlinear equality and inequality constraints, linear equality
-  and inequality constraints, and simple bounds on the variables.
-  Specifically, the problem to solve is of the form
-
-                           min max{f (x)}
-                                i   i
-
-                                            n
-  where 1 &lt;= i &lt;= NF, and x is a vector in R  subject to the
-  following constraints
-
-   bl &lt;= x &lt;= bu
-
-   g (x)&lt;=0,    j = 1 ... NINEQN
-    j
-   g (x)&lt;=0,    j = NINEQN+1 ... NINEQ
-    j
-   h (x)=0,     j = 1 ... NEQN
-    j
-   h (x)=0,     j = NEQN+1 ... NEQ
-    j
-
-                                  n
-  where bl and bu are vectors in R , and
-
-       n
-  f : R -&gt; R,   j = 1 ... NF,           smooth
-   j    
-       n
-  g : R -&gt; R,   j = 1 ... NINEQN,       nonlinear and smooth 
-   j 
-       n
-  g : R -&gt; R,   j = NINEQN+1 ... NINEQ, linear
-   j 
-       n
-  h : R -&gt; R,   j = 1 ... NEQN,         nonlinear and smooth 
-   j 
-       n
-  h : R -&gt; R,   j = NEQN+1 ... NEQ,     linear
-   j 
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE FSQP( MODE, IPRINT, OBJ, CONSTR, GRADOB, GRADCN,
-     &                 NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MITER,
-     &                 UDELTA, BIGBND, BL, BU, X, F, G, TOL1, TOL2,
-     &                 IWORK, LIWORK, DWORK, LDWORK, INFO)
-C     .. Scalar Arguments ..
-      INTEGER           NPARAM, NF, NINEQN, NINEQ, NEQN, NEQ, MODE,
-     &                  IPRINT, MITER, INFO, LIWORK, LDWORK
-      DOUBLE PRECISION  BIGBND, TOL1, TOL2, UDELTA
-C     .. Array Arguments ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  BL(*), BU(*), X(*), F(*), G(*), DWORK(LDWORK)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  MODE    (input) INTEGER
-          mode = CBA (a 3-digit number) with the following meaning
-          (see [1] for more details):
-
-          A specifies the problem to be solved:
-          A = 0: The problem is that described above.
-          A = 1: In the problem described above, the function to
-                 minimize is replaced by
-                           min max{ABS(f (x))}
-                                i       i
-                 i.e., absolute values of the objective functions
-                 are taken.
-
-          B indicates the method to be used:
-          B = 0: Algorithm FFSQP-AL is selected (see METHOD below).
-          B = 1: Algorithm FFSQP-NL is selected (see METHOD below).
-
-          C indicates the order of evaluation of objective
-          functions and constraints during the line search:
-          C = 1: The function that caused the previous value of t
-                 to be rejected is checked first and all functions
-                 of the same type ("objective" or "constraint") as
-                 the latter will then be checked first (recommended
-                 for most users).
-          C = 2: Constraints will be always checked first at each
-                 trial point during the line search. If it is a
-                 contraint that caused the previous value of t to
-                 be rejected, that constraint will be checked first
-                 (useful when objective functions are not defined or
-                 are difficult to evaluate outside of the feasible
-                 region).
-
-  IPRINT  (input) INTEGER
-          Parameter indicating the desired output (see [1] for a
-          more complete description of the output).
-          IPRINT = 0: No information except for user-input errors
-             is displayed. This value is imposed during phase 1.
-          IPRINT = 1: Objective and constraint values at the
-             initial feasible point are displayed. At the end of
-             execution, status (INFO), iterate, objective values,
-             constraint values, number of evaluations of objectives
-             and nonlinear constraints, norm of the Kuhn-Tucker
-             vector, and sum of feasibility violation are
-             displayed.
-          IPRINT = 2: At the end of each iteration, the same
-             information as with IPRINT = 1 is displayed.
-          IPRINT = 3: At each iteration, the same information as
-             with IPRINT = 2,including detailed information on the
-             search direction computation, on the line search, and
-             on the update, is displayed.
-          IPRINT = 10*N +M: N any positive integer, M=2 or 3.
-             Information corresponding to IPRINT=M is displayed at
-             every (10*N)th iteration and at the last iteration.
-
-</PRE>
-<B>User-supplied Subroutines</B>
-<PRE>
-  OBJ     SUBROUTINE
-          Computes the value of the objective functions. If NF = 0,
-          a (dummy) subroutine must be provided anyway. The 
-          specification of OBJ is
-
-          SUBROUTINE OBJ(NPARAM,J,X,FJ)
-          INTEGER NPARAM, J
-          DOUBLE PRECISION X(NPARAM),FJ
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of the objective to be computed.
-          X (Input) Current iterate.
-          FJ (Output) Value of the jth objective function at X.
-
-  CONSTR  SUBROUTINE
-          Computes the value of the constraints. If there are no
-          constraints, a (dummy) subroutine must be provided anyway.
-          The specification of CONSTR is as follows.
-
-          SUBROUTINE CONSTR(NPARAM,J,X,GJ)
-          INTEGER NPARAM,J
-          DOUBLE PRECISION X(NPARAM),GJ
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of the constraint to be computed.
-          X (Input) Current iterate.
-          GJ (Output) Value of the jth constraint at X.
-
-          The order of the constraints must be as follows. First
-          the NINEQN (possibly zero) nonlinear inequality
-          constraints. Then the NINEQ-NINEQN (possibly zero) linear
-          inequality constraints. Finally, the NEQN (possibly zero)
-          nonlinear equality constraints followed by the NEQ-NEQN
-          (possibly zero) linear equality constraints.
-
-  GRADOB  SUBROUTINE
-          Computes the gradients of the objective functions. The
-          user must pass the subroutine name GROBFD, if he/she
-          wishes that FSQP evaluate these gradients automatically,
-          by forward finite differences. The specification of GRADOB
-          is as follows.
-
-          SUBROUTINE GRADOB(NPARAM,J,X,GRADFJ,DUMMY)
-          INTEGER NPARAM,J
-          DOUBLE PRECISION X(NPARAM),GRADFJ(NPARAM)
-          DOUBLE PRECISION DUMMY
-          EXTERNAL DUMMY
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of objective for which gradient is to be
-                computed.
-          X (Input) Current iterate.
-          GRADFJ (Output) Gradient of the jth objective function at
-                X.
-          DUMMY (Input) Used by GROBFD (internally assigned the 
-                name of the objective function subroutine by FFSQP).
-
-          Note that DUMMY is passed as argument to GRADOB to allow
-          for forward finite difference computation of the gradient.
-
-  GRADCN  SUBROUTINE
-          Computes the gradients of the constraints. The
-          user must pass the subroutine name GRCNFD, if he/she
-          wishes that FSQP evaluate these gradients automatically,
-          by forward finite differences. The specification of GRADCN
-          is as follows
-
-          SUBROUTINE GRADCN (NPARAM,J,X,GRADGJ,DUMMY)
-          INTEGER NPARAM,J
-          DOUBLE PRECISION X(NPARAM),GRADGJ(NPARAM)
-          DOUBLE PRECISION DUMMY
-          EXTERNAL DUMMY
-
-          Arguments:
-          NPARAM (Input) Dimension of X.
-          J (Input) Number of constraint for which gradient is to
-                be computed.
-          X (Input) Current iterate.
-          GRADGJ (Output) Gradient of the jth constraint evaluated
-                at X.
-          DUMMY (Input) Used by GRCNFD (internally assigned the
-                name of the constraint function subroutine by
-                FFSQP).
-
-          Note that DUMMY is passed as argument to GRADCN to allow
-          for forward finite difference computation of the gradients.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NPARAM  (input) INTEGER
-          Number of free variables, i.e., the dimension of X.
-
-  NF      (input) INTEGER
-          Number of objective functions (possibly zero).
-
-  NINEQN  (input) INTEGER
-          Number (possibly zero) of nonlinear inequality 
-          constraints.
-
-  NINEQ   (input) INTEGER
-          Total number (possibly equal to nineqn) of inequality
-          constraints.
-
-  NEQN    (input) INTEGER
-          Number (possibly zero) of nonlinear equality constraints.
-
-  NEQ     (input) INTEGER
-          Total number (possibly equal to neqn) of equality
-          constraints.
-
-  MITER   (input) INTEGER
-          Maximum number of iterations allowed by the user before
-          termination of execution.
-
-  UDELTA  (input) DOUBLE PRECISION
-          The perturbation size the user suggests to use in 
-          approximating gradients by finite difference. UDELTA 
-          should be set to zero if the user has no idea how to 
-          choose it. See [1] for details.
-
-  BIGBND  (input) DOUBLE PRECISION
-          It plays the role of Infinite Bound (see also BL and BU
-          below). 
-
-  BL      (input) DOUBLE PRECISION array, dimension (NPARAM)
-          Lower bounds for the components of X. To specify a non-
-          existent lower bound for some j, the value used must
-          satisfy BL(j) &lt;= -BIGBND.
-
-  BU      (input) DOUBLE PRECISION array, dimension (NPARAM)
-          Upper bounds for the components of X. To specify a non-
-          existent upper bound for some j, the value used must
-          satisfy BU(j) &gt;= BIGBND.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (NPARAM)
-          On entry, this is the initial guess.
-          On exit, this is the iterate at the end of execution.
-
-  F       (output) DOUBLE PRECISION array, dimension ( MAX(1,NF) )
-          Value of functions f_i, i = 1, ..., NF, at X at the end
-          of execution.
-
-  G       (output) DOUBLE PRECISION array, dimension 
-          ( MAX(1,NINEQ+NEQ) )
-          Value of constraint functions at X at the end of
-          execution.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          Corresponds to argument EPS in [1].
-          Final norm requirement for the Newton direction (see [1],
-          argument EPS). It must be bigger than the machine 
-          precision epsmac (computed by FSQP). If the user does
-          not have a good feeling of what value should be chosen,
-          a very small number could be provided and IPRINT = 2 be
-          selected so that the user would be able to keep track of
-          the process of optimization and terminate FSQP at
-          appropriate time.
-
-  TOL2    DOUBLE PRECISION
-          Corresponds to argument EPSEQN in [1].
-          Maximum violation of nonlinear equality constraints
-          allowed by the user at an optimal point. It is in effect
-          only if NEQN &gt; 0 and must be bigger than the machine
-          precision epsmac (computed by FSQP).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          Corresponds to argument IW in [1].
-
-  LIWORK  INTEGER
-          Corresponds to argument IWSIZE in [1].
-          The length of array IWORK. It must be at least as big as 
-          6*NPARAM + 8*max(1,NINEQ+NEQ) + 7*max(1,NF) + 30. This
-          estimate is usually very conservative and the smallest
-          suitable value will be displayed if the user-supplied
-          value is too small.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          Corresponds to argument W in [1].
-          On exit, it will contain estimates of Lagrange
-          multipliers at the end of execution. These multipliers
-          will be placed in the first NPARAM + NINEQ + NEQ + NFF
-          entries; where NFF = 0 if (in mode) A = 0 and NF = 1, and
-          NFF = NF otherwise. See [1] for details.
-
-  LDWORK  INTEGER
-          Corresponds to argument NWSIZE in [1].
-          The length of array DWORK. It must be at least as big as
-          4*SQR(NPARAM) + 5*MAX(1,NINEQ+NEQ)*NPARAM + 
-          3*MAX(1,NF)*NPARAM + 26*(NPARAM+MAX(1,NF)) + 
-          45*MAX(1,NINEQ+NEQ) + 100.
-          This estimate is usually very conservative and the 
-          smallest suitable value will be displayed if the user-
-          supplied value is too small.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          Corresponds to argument INFORM in [1].
-          INFO = 0: Normal termination of execution.
-          INFO = 1: The user-provided initial guess is infeasible
-             for linear constraints and FFSQP is unable to generate
-             a point satisfying all these constraints.
-          INFO = 2: The user-provided initial guess is infeasible
-             for nonlinear inequality constraints and linear
-             constraints; and FFSQP is unable to generate a point
-             satisfying all these constraints.
-          INFO = 3: The maximum number miter of iterations has
-             been reached before a solution is obtained.
-          INFO = 4: The line search fails to find a new iterate
-             (trial step size being smaller than the machine
-             precision epsmac computed by FFSQP).
-          INFO = 5: Failure of the QP solver in attempting to
-             construct d0. A more robust QP solver may succeed.
-          INFO = 6: Failure of the QP solver in attempting to
-             construct d1 . A more robust QP solver may succeed.
-          INFO = 7: Input data are not consistent (with printout
-             indicating the error).
-          INFO = 8: Two consecutive iterates are numerically
-             equivalent before a stopping criterion is satisfied.
-          INFO = 9: One of the penalty parameters exceeded
-             BIGBND. The algorithm is having trouble satisfying a
-             nonlinear equality constraint.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the initial guess provided by the user is infeasible for
-  nonlinear inequality constraints and linear constraints, FFSQP
-  first generates a point satisfying all these constraints by
-  iterating on the problem of minimizing the maximum of these
-  constraints.
-
-  Then, using Mayne-Polak's scheme, nonlinear equality
-  constraints are turned into nonlinear inequality constraints
-  and the original objective function is replaced by a modified
-  objective function.
-
-  After obtaining feasibility, either (i) an Armijo-type line
-  search may be used (algorithm FFSQP-AL), yielding a monotone
-  decrease of the objective function at each iteration; or (ii) a
-  nonmonotone line search may be selected (algorithm FFSQP-NL),
-  forcing a decrease of the objective function within at most four
-  iterations.
-  
-  See [1] for further details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] J. L. Zhou, A. L. Tits and C. T. Lawrence
-      User's Guide for FFSQP Version 3.7 : A Fortran Code for
-      Solving Optimization Programs, Possibly Minimax, with General
-      Inequality Constraints and Linear Equality Constraints,
-      Generating Feasible Iterates
-      Institute for Systems Research, University of Maryland,
-      Technical Report SRC-TR-92-107r5, 1997.
-      (Available at http://gachinese.com/aemdesign/FSQPframe.htm)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
-of the routine and related files.-->
-</p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01AD">IB01AD</A></H2>
-<H3>
-Upper triangular factor in the QR factorization of the block-Hankel matrix (driver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To preprocess the input-output data for estimating the matrices
-  of a linear time-invariant dynamical system and to find an
-  estimate of the system order. The input-output data can,
-  optionally, be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U, LDU, Y, LDY, N, R, LDR, SV, RCOND,
-     $                   TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   RCOND, TOL
-      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, N,
-     $                   NOBR, NSMP
-      CHARACTER          ALG, BATCH, CONCT, CTRL, JOBD, METH
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*), U(LDU, *),
-     $                   Y(LDY, *)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  ALG     CHARACTER*1
-          Specifies the algorithm for computing the triangular
-          factor R, as follows:
-          = 'C':  Cholesky algorithm applied to the correlation
-                  matrix of the input-output data;
-          = 'F':  Fast QR algorithm;
-          = 'Q':  QR algorithm applied to the concatenated block
-                  Hankel matrices.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not the matrices B and D should later
-          be computed using the MOESP approach, as follows:
-          = 'M':  the matrices B and D should later be computed
-                  using the MOESP approach;
-          = 'N':  the matrices B and D should not be computed using
-                  the MOESP approach.
-          This parameter is not relevant for METH = 'N'.
-
-  BATCH   CHARACTER*1
-          Specifies whether or not sequential data processing is to
-          be used, and, for sequential processing, whether or not
-          the current data block is the first block, an intermediate
-          block, or the last block, as follows:
-          = 'F':  the first block in sequential data processing;
-          = 'I':  an intermediate block in sequential data
-                  processing;
-          = 'L':  the last block in sequential data processing;
-          = 'O':  one block only (non-sequential data processing).
-          NOTE that when  100  cycles of sequential data processing
-               are completed for  BATCH = 'I',  a warning is
-               issued, to prevent for an infinite loop.
-
-  CONCT   CHARACTER*1
-          Specifies whether or not the successive data blocks in
-          sequential data processing belong to a single experiment,
-          as follows:
-          = 'C':  the current data block is a continuation of the
-                  previous data block and/or it will be continued
-                  by the next data block;
-          = 'N':  there is no connection between the current data
-                  block and the previous and/or the next ones.
-          This parameter is not used if BATCH = 'O'.
-
-  CTRL    CHARACTER*1
-          Specifies whether or not the user's confirmation of the
-          system order estimate is desired, as follows:
-          = 'C':  user's confirmation;
-          = 'N':  no confirmation.
-          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
-          is indirectly called (by SLICOT Library routine IB01OD),
-          and, after inspecting the singular values and system order
-          estimate,  n,  the user may accept  n  or set a new value.
-          IB01OY  is not called if CTRL = 'N'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices to be processed.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-          When M = 0, no system inputs are processed.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t). (When sequential data processing is used,
-          NSMP  is the number of samples of the current data
-          block.)
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
-                                       processing;
-          NSMP &gt;= 2*NOBR,  for sequential processing.
-          The total number of samples when calling the routine with
-          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
-          The  NSMP  argument may vary from a cycle to another in
-          sequential data processing, but  NOBR, M,  and  L  should
-          be kept constant. For efficiency, it is advisable to use
-          NSMP  as large as possible.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NSMP-by-M part of this array must contain the
-          t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= NSMP, if M &gt; 0;
-          LDU &gt;= 1,    if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= NSMP.
-
-  N       (output) INTEGER
-          The estimated order of the system.
-          If  CTRL = 'C',  the estimated order has been reset to a
-          value specified by the user.
-
-  R       (output or input/output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the current upper triangular part of the
-          correlation matrix in sequential data processing.
-          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
-          referenced.
-          On exit, if INFO = 0, ALG = 'Q', and BATCH = 'F' or 'I',
-          the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular
-          part of this array contains the current upper triangular
-          factor R from the QR factorization of the concatenated
-          block Hankel matrices. Denote  R_ij, i,j = 1:4,  the
-          ij submatrix of  R,  partitioned by M*NOBR,  M*NOBR,
-          L*NOBR,  and  L*NOBR  rows and columns.
-          On exit, if INFO = 0 and BATCH = 'L' or 'O', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
-          this array contains the matrix S, the processed upper
-          triangular factor R from the QR factorization of the
-          concatenated block Hankel matrices, as required by other
-          subroutines. Specifically, let  S_ij, i,j = 1:4,  be the
-          ij submatrix of  S,  partitioned by M*NOBR,  L*NOBR,
-          M*NOBR,  and  L*NOBR  rows and columns. The submatrix
-          S_22  contains the matrix of left singular vectors needed
-          subsequently. Useful information is stored in  S_11  and
-          in the block-column  S_14 : S_44.  For METH = 'M' and
-          JOBD = 'M', the upper triangular part of  S_31  contains
-          the upper triangular factor in the QR factorization of the
-          matrix  R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12
-          contains the corresponding leading part of the transformed
-          matrix  R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',
-          the subarray  S_41 : S_43  contains the transpose of the
-          matrix contained in  S_14 : S_34.
-          The details of the contents of R need not be known if this
-          routine is followed by SLICOT Library routine IB01BD.
-          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
-          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
-          triangular part of this array must contain the upper
-          triangular matrix R computed at the previous call of this
-          routine in sequential data processing. The array R need
-          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
-                               for METH = 'M' and JOBD = 'M';
-          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
-                               for METH = 'N'.
-
-  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
-          The singular values used to estimate the system order.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  RCOND   DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  RCOND &gt; 0,  the given value
-          of  RCOND  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/RCOND  is considered to
-          be of full rank.  If the user sets  RCOND &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          RCONDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not used for  METH = 'M'.
-
-  TOL     DOUBLE PRECISION
-          Absolute tolerance used for determining an estimate of
-          the system order. If  TOL &gt;= 0,  the estimate is
-          indicated by the index of the last singular value greater
-          than or equal to  TOL.  (Singular values less than  TOL
-          are considered as zero.) When  TOL = 0,  an internally
-          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
-          where  SV(1)  is the maximal singular value, and  EPS  is
-          the relative machine precision (see LAPACK Library routine
-          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
-          index of the singular value that has the largest
-          logarithmic gap to its successor.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(3,(M+L)*NOBR), if METH = 'N';
-          LIWORK &gt;= MAX(3,M+L), if METH = 'M' and ALG = 'F';
-          LIWORK &gt;= 3,   if METH = 'M' and ALG = 'C' or 'Q'.
-          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
-          must contain the values of ICYCLE, MAXWRK, and NSMPSM
-          set by the previous call of this routine.
-          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
-          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
-          used by the next call of the routine.
-          ICYCLE  counts the cycles for  BATCH = 'I'.
-          MAXWRK  stores the current optimal workspace.
-          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
-          The first three elements of  IWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and, for  METH = 'N',  and  BATCH = 'L'  or
-          'O',  DWORK(2)  and  DWORK(3)  contain the reciprocal
-          condition numbers of the triangular factors of the
-          matrices  U_f  and  r_1  [6].
-          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          Let
-          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
-          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
-          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
-          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
-          The first (M+L)*k elements of  DWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  'I',  till the final call with  BATCH = 'L'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH = 'F' or
-                          'I' and CONCT = 'C';
-          LDWORK &gt;= 1, if ALG = 'C', BATCH = 'F' or 'I' and
-                          CONCT = 'N';
-          LDWORK &gt;= max((4*NOBR-2)*(M+L), 5*L*NOBR), if METH = 'M',
-                          ALG = 'C', BATCH = 'L' and CONCT = 'C';
-          LDWORK &gt;= max((2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR),
-                          if METH = 'M', JOBD = 'M', ALG = 'C',
-                           BATCH = 'O', or
-                          (BATCH = 'L' and CONCT = 'N');
-          LDWORK &gt;= 5*L*NOBR, if METH = 'M', JOBD = 'N', ALG = 'C',
-                           BATCH = 'O', or
-                          (BATCH = 'L' and CONCT = 'N');
-          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'C', and
-                          BATCH = 'L' or 'O';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-                          BATCH &lt;&gt; 'O' and CONCT = 'C';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-                          BATCH = 'F', 'I' and CONCT = 'N';
-          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-                          BATCH = 'L' and CONCT = 'N', or
-                          BATCH = 'O';
-          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F', and
-                          LDR &gt;= NS = NSMP - 2*NOBR + 1;
-          LDWORK &gt;= max(4*(M+L)*NOBR, 5*L*NOBR), if METH = 'M',
-                          ALG = 'Q', BATCH = 'O', and LDR &gt;= NS;
-          LDWORK &gt;= 5*(M+L)*NOBR+1, if METH = 'N', ALG = 'Q',
-                          BATCH = 'O', and LDR &gt;= NS;
-          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', (BATCH = 'F' or 'O',
-                          and LDR &lt; NS), or (BATCH = 'I' or
-                          'L' and CONCT = 'N');
-          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
-                          or 'L' and CONCT = 'C'.
-          The workspace used for ALG = 'Q' is
-                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
-          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
-          value LDRWRK = NS, assuming a large enough cache size.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the number of 100 cycles in sequential data
-                processing has been exhausted without signaling
-                that the last block of data was get; the cycle
-                counter was reinitialized;
-          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
-                but it failed, and the QR algorithm was then used
-                (non-sequential data processing);
-          = 3:  all singular values were exactly zero, hence  N = 0
-                (both input and output were identically zero);
-          = 4:  the least squares problems with coefficient matrix
-                U_f,  used for computing the weighted oblique
-                projection (for METH = 'N'), have a rank-deficient
-                coefficient matrix;
-          = 5:  the least squares problem with coefficient matrix
-                r_1  [6], used for computing the weighted oblique
-                projection (for METH = 'N'), has a rank-deficient
-                coefficient matrix.
-          NOTE: the values 4 and 5 of IWARN have no significance
-                for the identification problem.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
-                in sequential data processing, but it failed; the
-                routine can be repeatedly called again using the
-                standard QR algorithm;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The procedure consists in three main steps, the first step being
-  performed by one of the three algorithms included.
-
-  1.a) For non-sequential data processing using QR algorithm, a
-  t x 2(m+l)s  matrix H is constructed, where
-
-       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
-               s+1,2s,t    1,s,t   1,2s,t
-
-       H = [ U'       Y'      ],              for METH = 'N',
-              1,2s,t   1,2s,t
-
-  and  Up     , Uf        , U      , and  Y        are block Hankel
-         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
-  matrices defined in terms of the input and output data [3].
-  A QR factorization is used to compress the data.
-  The fast QR algorithm uses a QR factorization which exploits
-  the block-Hankel structure. Actually, the Cholesky factor of H'*H
-  is computed.
-
-  1.b) For sequential data processing using QR algorithm, the QR
-  decomposition is done sequentially, by updating the upper
-  triangular factor  R.  This is also performed internally if the
-  workspace is not large enough to accommodate an entire batch.
-
-  1.c) For non-sequential or sequential data processing using
-  Cholesky algorithm, the correlation matrix of input-output data is
-  computed (sequentially, if requested), taking advantage of the
-  block Hankel structure [7].  Then, the Cholesky factor of the
-  correlation matrix is found, if possible.
-
-  2) A singular value decomposition (SVD) of a certain matrix is
-  then computed, which reveals the order  n  of the system as the
-  number of "non-zero" singular values. For the MOESP approach, this
-  matrix is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
-  where  R  is the upper triangular factor  R  constructed by SLICOT
-  Library routine  IB01MD.  For the N4SID approach, a weighted
-  oblique projection is computed from the upper triangular factor  R
-  and its SVD is then found.
-
-  3) The singular values are compared to the given, or default TOL,
-  and the estimated order  n  is returned, possibly after user's
-  confirmation.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Peternell, K., Scherrer, W. and Deistler, M.
-      Statistical Analysis of Novel Subspace Identification Methods.
-      Signal Processing, 52, pp. 161-177, 1996.
-
-  [6] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-  [7] Sima, V.
-      Cholesky or QR Factorization for Data Compression in
-      Subspace-based Identification ?
-      Proceedings of the Second NICONET Workshop on ``Numerical
-      Control Software: SLICOT, a Useful Tool in Industry'',
-      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable (when QR algorithm is
-  used), reliable and efficient. The fast Cholesky or QR algorithms
-  are more efficient, but the accuracy could diminish by forming the
-  correlation matrix.
-  The most time-consuming computational step is step 1:
-                                     2
-  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
-                                        2              3
-  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
-  point operations.
-                                       2           3 2
-  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
-  point operations.
-                                             3
-  Step 2 of the algorithm requires 0(((m+l)s) ) floating point
-  operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
-  calculations could be rather inefficient if only minimal workspace
-  (see argument LDWORK) is provided. It is advisable to provide as
-  much workspace as possible. Almost optimal efficiency can be
-  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
-  cache size is large enough to accommodate R, U, Y, and DWORK.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB01AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LDR, LDU, LDWORK, LDY, LIWORK, LMAX, MMAX,
-     $                 NOBRMX, NSMPMX
-      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
-     $                   LDR = MAX( 2*( MMAX + LMAX )*NOBRMX,
-     $                              3*MMAX*NOBRMX ), LDU = NSMPMX,
-     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
-     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
-     $                                 ( MMAX + LMAX + 1 ) + 2*NOBRMX ),
-     $                                 ( MMAX + LMAX )*4*NOBRMX*
-     $                                 ( NOBRMX + 1 ) ),
-     $                   LDY = NSMPMX, LIWORK = ( MMAX + LMAX )*NOBRMX )
-*     .. Local Scalars ..
-      LOGICAL          NGIVEN
-      CHARACTER        ALG, BATCH, CONCT, CTRL, JOBD, METH
-      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
-     $                 NGIV, NOBR, NSAMPL, NSMP
-      DOUBLE PRECISION RCOND, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
-     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), Y(LDY, LMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         IB01AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     If the value of N is positive, it will be taken as system order.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL, METH, ALG,
-     $                      JOBD, BATCH, CONCT, CTRL
-      IF ( LSAME( BATCH, 'F' ) ) THEN
-         READ ( NIN, FMT = * ) NCYCLE
-      ELSE
-         NCYCLE = 1
-      END IF
-      NSAMPL = NCYCLE*NSMP
-*
-      NGIVEN = N.GT.0
-      IF( NGIVEN )
-     $   NGIV = N
-      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) NOBR
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) L
-      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
-     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'O' ) ) .OR.
-     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'L' ) ) .OR.
-     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
-     $                                 LSAME( BATCH, 'I' ) ) ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NSMP
-      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NCYCLE
-      ELSE
-*        Read the matrices U and Y from the input file.
-         IF ( M.GT.0 )
-     $      READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
-         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
-*        Compute the  R  factor from a QR (or Cholesky) factorization
-*        of the Hankel-like matrix (or correlation matrix).
-         DO 10 ICYCLE = 1, NCYCLE
-            II = ( ICYCLE - 1 )*NSMP + 1
-            IF ( NCYCLE.GT.1 ) THEN
-               IF ( ICYCLE.GT.1 )      BATCH = 'I'
-               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
-            END IF
-            CALL IB01AD( METH, ALG, JOBD, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
-     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-   10    CONTINUE
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99990 ) IWARN
-            IF( NGIVEN )
-     $         N = NGIV
-            WRITE ( NOUT, FMT = 99992 ) N
-            WRITE ( NOUT, FMT = 99991 ) ( SV(I), I = 1,L*NOBR )
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( ' IB01AD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
-99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
-99996 FORMAT (/' M is out of range.',/' M = ', I5)
-99995 FORMAT (/' L is out of range.',/' L = ', I5)
-99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
-99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
-99992 FORMAT ( ' The order of the system is ', I5)
-99991 FORMAT ( ' The singular values are ',/ (8(1X,F8.4)))
-99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB01AD EXAMPLE PROGRAM DATA
-  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
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-   5.752669
-   5.845469
-   5.928499
-   6.006639
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-   5.518239
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-   4.458409
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-   5.027399
-   4.705049
-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB01AD EXAMPLE PROGRAM RESULTS
-
- The order of the system is     4
- The singular values are 
-  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
-   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01BD">IB01BD</A></H2>
-<H3>
-Estimating system matrices, Kalman gain, and covariances (driver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the system matrices A, C, B, and D, the noise
-  covariance matrices Q, Ry, and S, and the Kalman gain matrix K
-  of a linear time-invariant state space model, using the
-  processed triangular factor R of the concatenated block Hankel
-  matrices, provided by SLICOT Library routine IB01AD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMPL, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
-     $                   RY, LDRY, S, LDS, K, LDK, TOL, IWORK, DWORK,
-     $                   LDWORK, BWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDK, LDQ,
-     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
-      CHARACTER          JOB, JOBCK, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  K(LDK, *), Q(LDQ, *), R(LDR, *),
-     $                   RY(LDRY, *), S(LDS, *)
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm;
-          = 'C':  combined method:  MOESP  algorithm for finding the
-                  matrices A and C, and  N4SID  algorithm for
-                  finding the matrices B and D.
-
-  JOB     CHARACTER*1
-          Specifies which matrices should be computed, as follows:
-          = 'A':  compute all system matrices, A, B, C, and D;
-          = 'C':  compute the matrices A and C only;
-          = 'B':  compute the matrix B only;
-          = 'D':  compute the matrices B and D only.
-
-  JOBCK   CHARACTER*1
-          Specifies whether or not the covariance matrices and the
-          Kalman gain matrix are to be computed, as follows:
-          = 'C':  the covariance matrices only should be computed;
-          = 'K':  the covariance matrices and the Kalman gain
-                  matrix should be computed;
-          = 'N':  the covariance matrices and the Kalman gain matrix
-                  should not be computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMPL   (input) INTEGER
-          If  JOBCK = 'C' or 'K',  the total number of samples used
-          for calculating the covariance matrices.
-          NSMPL &gt;= 2*(M+L)*NOBR.
-          This parameter is not meaningful if  JOBCK = 'N'.
-
-  R       (input/workspace) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
-          of this array must contain the relevant data for the MOESP
-          or N4SID algorithms, as constructed by SLICOT Library
-          routine IB01AD. Let  R_ij,  i,j = 1:4,  be the
-          ij submatrix of  R  (denoted  S  in IB01AD),  partitioned
-          by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR  rows and
-          columns. The submatrix  R_22  contains the matrix of left
-          singular vectors used. Also needed, for  METH = 'N'  or
-          JOBCK &lt;&gt; 'N',  are the submatrices  R_11,  R_14 : R_44,
-          and, for  METH = 'M' or 'C'  and  JOB &lt;&gt; 'C', the
-          submatrices  R_31  and  R_12,  containing the processed
-          matrices  R_1c  and  R_2c,  respectively, as returned by
-          SLICOT Library routine IB01AD.
-          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
-          block-row  R_41 : R_43  must contain the transpose of the
-          block-column  R_14 : R_34  as returned by SLICOT Library
-          routine IB01AD.
-          The remaining part of  R  is used as workspace.
-          On exit, part of this array is overwritten. Specifically,
-          if  METH = 'M',  R_22  and  R_31  are overwritten if
-              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
-              and possibly  R_11  are overwritten if  JOBCK &lt;&gt; 'N';
-          if  METH = 'N',  all needed submatrices are overwritten.
-          The details of the contents of  R  need not be known if
-          this routine is called once just after calling the SLICOT
-          Library routine IB01AD.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-  A       (input or output) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
-          the leading N-by-N part of this array must contain the
-          system state matrix.
-          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
-          or 'C'),  this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
-          leading N-by-N part of this array contains the system
-          state matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
-                         and  JOB = 'B' or 'D';
-          LDA &gt;= 1,  otherwise.
-
-  C       (input or output) DOUBLE PRECISION array, dimension
-          (LDC,N)
-          On entry, if  METH = 'N' or 'C'  and  JOB = 'B' or 'D',
-          the leading L-by-N part of this array must contain the
-          system output matrix.
-          If  METH = 'M'  or  (METH = 'N' or 'C'  and JOB = 'A'
-          or 'C'),  this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
-          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
-          L-by-N part of this array contains the system output
-          matrix.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N' or 'C'
-                         and  JOB = 'B' or 'D';
-          LDC &gt;= 1,  otherwise.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
-          leading N-by-M part of this array contains the system
-          input matrix. If  M = 0  or  JOB = 'C',  this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
-          not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
-          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If  JOBCK = 'C' or 'K',  the leading N-by-N part of this
-          array contains the positive semidefinite state covariance
-          matrix. If  JOBCK = 'K',  this matrix has been used as
-          state weighting matrix for computing the Kalman gain.
-          This parameter is not referenced if JOBCK = 'N'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= N,  if JOBCK = 'C' or 'K';
-          LDQ &gt;= 1,  if JOBCK = 'N'.
-
-  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
-          If  JOBCK = 'C' or 'K',  the leading L-by-L part of this
-          array contains the positive (semi)definite output
-          covariance matrix. If  JOBCK = 'K',  this matrix has been
-          used as output weighting matrix for computing the Kalman
-          gain.
-          This parameter is not referenced if JOBCK = 'N'.
-
-  LDRY    INTEGER
-          The leading dimension of the array RY.
-          LDRY &gt;= L,  if JOBCK = 'C' or 'K';
-          LDRY &gt;= 1,  if JOBCK = 'N'.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
-          If  JOBCK = 'C' or 'K',  the leading N-by-L part of this
-          array contains the state-output cross-covariance matrix.
-          If  JOBCK = 'K',  this matrix has been used as state-
-          output weighting matrix for computing the Kalman gain.
-          This parameter is not referenced if JOBCK = 'N'.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= N,  if JOBCK = 'C' or 'K';
-          LDS &gt;= 1,  if JOBCK = 'N'.
-
-  K       (output) DOUBLE PRECISION array, dimension ( LDK,L )
-          If  JOBCK = 'K',  the leading  N-by-L  part of this array
-          contains the estimated Kalman gain matrix.
-          If  JOBCK = 'C' or 'N',  this array is not referenced.
-
-  LDK     INTEGER
-          The leading dimension of the array  K.
-          LDK &gt;= N,  if JOBCK = 'K';
-          LDK &gt;= 1,  if JOBCK = 'C' or 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= max(LIW1,LIW2), where
-          LIW1 = N,                     if METH &lt;&gt; 'N' and M = 0
-                                     or JOB = 'C' and JOBCK = 'N';
-          LIW1 = M*NOBR+N,              if METH &lt;&gt; 'N', JOB = 'C',
-                                        and JOBCK &lt;&gt; 'N';
-          LIW1 = max(L*NOBR,M*NOBR),    if METH = 'M', JOB &lt;&gt; 'C',
-                                        and JOBCK = 'N';
-          LIW1 = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
-                                        and JOBCK = 'C' or 'K';
-          LIW1 = max(M*NOBR+N,M*(N+L)), if METH = 'N', or METH = 'C'
-                                        and JOB  &lt;&gt; 'C';
-          LIW2 = 0,                     if JOBCK &lt;&gt; 'K';
-          LIW2 = N*N,                   if JOBCK =  'K'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
-          DWORK(5)  contain the reciprocal condition numbers of the
-          triangular factors of the following matrices (defined in
-          SLICOT Library routine IB01PD and in the lower level
-          routines):
-             GaL  (GaL = Un(1:(s-1)*L,1:n)),
-             R_1c (if  METH = 'M' or 'C'),
-             M    (if  JOBCK = 'C' or 'K'  or  METH = 'N'),  and
-             Q or T  (see SLICOT Library routine IB01PY or IB01PX),
-          respectively.
-          If  METH = 'N',  DWORK(3)  is set to one without any
-          calculations. Similarly, if  METH = 'M'  and  JOBCK = 'N',
-          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
-          DWORK(3)  and  DWORK(5)  are set to one.
-          If  JOBCK = 'K'  and  INFO = 0,  DWORK(6)  to  DWORK(13)
-          contain information about the accuracy of the results when
-          computing the Kalman gain matrix, as follows:
-             DWORK(6)  - reciprocal condition number of the matrix
-                         U11  of the Nth order system of algebraic
-                         equations from which the solution matrix  X
-                         of the Riccati equation is obtained;
-             DWORK(7)  - reciprocal pivot growth factor for the LU
-                         factorization of the matrix  U11;
-             DWORK(8)  - reciprocal condition number of the matrix
-                         As = A - S*inv(Ry)*C,  which is inverted by
-                         the standard Riccati solver;
-             DWORK(9)  - reciprocal pivot growth factor for the LU
-                         factorization of the matrix  As;
-             DWORK(10) - reciprocal condition number of the matrix
-                         Ry;
-             DWORK(11) - reciprocal condition number of the matrix
-                         Ry + C*X*C';
-             DWORK(12) - reciprocal condition number for the Riccati
-                         equation solution;
-             DWORK(13) - forward error bound for the Riccati
-                         equation solution.
-          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( LDW1,LDW2,LDW3 ), where, if METH = 'M',
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
-                  if JOB = 'C' or JOB = 'A' and M = 0;
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
-                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
-                       max( L+M*NOBR, L*NOBR +
-                                      max( 3*L*NOBR+1, M ) ) ),
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDW2 &gt;= 0,                          if JOBCK = 'N';
-          LDW2 &gt;= L*NOBR*N+
-                  max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
-                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
-                                              if JOBCK = 'C' or 'K',
-          where Aw = N+N*N, if M = 0 or JOB = 'C';
-                Aw = 0,     otherwise;
-          if METH = 'N',
-          LDW1 &gt;= L*NOBR*N+max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
-                                2*(L*NOBR-L)*N+N*N+8*N,
-                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L );
-          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
-          LDW2 &gt;= L*NOBR*N+M*NOBR*(N+L)*(M*(N+L)+1)+
-                             max( (N+L)**2, 4*M*(N+L)+1 ),
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          and, if METH = 'C', LDW1 as
-          max( LDW1 for METH = 'M', JOB = 'C', LDW1 for METH = 'N'),
-          and LDW2 for METH = 'N' are used;
-          LDW3 &gt;= 0,                     if JOBCK &lt;&gt; 'K';
-          LDW3 &gt;= max(  4*N*N+2*N*L+L*L+max( 3*L,N*L ),
-                       14*N*N+12*N+5 ),  if JOBCK =  'K'.
-          For good performance,  LDWORK  should be larger.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK = 2*N, if JOBCK =  'K';
-          LBWORK = 0,   if JOBCK &lt;&gt; 'K'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  a least squares problem to be solved has a
-                rank-deficient coefficient matrix;
-          = 5:  the computed covariance matrices are too small.
-                The problem seems to be a deterministic one; the
-                gain matrix is set to zero.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge;
-          = 3:  a singular upper triangular matrix was found;
-          = 3+i:  if  JOBCK = 'K'  and the associated Riccati
-                equation could not be solved, where i = 1,...,6;
-                (see the description of the parameter INFO for the
-                SLICOT Library routine SB02RD for the meaning of
-                the i values);
-          = 10: the QR algorithm did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In the MOESP approach, the matrices  A  and  C  are first
-  computed from an estimated extended observability matrix [1],
-  and then, the matrices  B  and  D  are obtained by solving an
-  extended linear system in a least squares sense.
-  In the N4SID approach, besides the estimated extended
-  observability matrix, the solutions of two least squares problems
-  are used to build another least squares problem, whose solution
-  is needed to compute the system matrices  A,  C,  B,  and  D.  The
-  solutions of the two least squares problems are also optionally
-  used by both approaches to find the covariance matrices.
-  The Kalman gain matrix is obtained by solving a discrete-time
-  algebraic Riccati equation.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-  [4] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method consists in numerically stable steps.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The covariance matrices are computed using the N4SID approach.
-  Therefore, for efficiency reasons, it is advisable to set
-  METH = 'N',  if the Kalman gain matrix or covariance matrices
-  are needed  (JOBCK = 'K', or 'C').  When  JOBCK = 'N',  it could
-  be more efficient to use the combined method,  METH = 'C'.
-  Often, this combination will also provide better accuracy than
-  MOESP algorithm.
-  In some applications, it is useful to compute the system matrices
-  using two calls to this routine, the first one with  JOB = 'C',
-  and the second one with  JOB = 'B' or 'D'.  This is slightly less
-  efficient than using a single call with  JOB = 'A',  because some
-  calculations are repeated. If  METH = 'N',  all the calculations
-  at the first call are performed again at the second call;
-  moreover, it is required to save the needed submatrices of  R
-  before the first call and restore them before the second call.
-  If the covariance matrices and/or the Kalman gain are desired,
-  JOBCK  should be set to  'C'  or  'K'  at the second call.
-  If  B  and  D  are both needed, they should be computed at once.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB01BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LDA, LDB, LDC, LDD, LDK, LDQ, LDR, LDRY, LDS,
-     $                 LDU, LDW1, LDW2, LDW3, LDWORK, LDY, LIWORK, LMAX,
-     $                 MMAX, NMAX, NOBRMX, NSMPMX
-      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
-     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
-     $                   LDC  = LMAX, LDD  = LMAX, LDK = NMAX,
-     $                   LDQ  = NMAX, LDRY = LMAX, LDS = NMAX,
-     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
-     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
-     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
-     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
-     $                               LMAX*NOBRMX*NMAX +
-     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    3*NMAX + LMAX +
-     $                                    ( 2*MMAX + LMAX )*NOBRMX,
-     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    NMAX*NMAX + 8*NMAX,
-     $                                    NMAX +
-     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
-     $                   LDW2 = LMAX*NOBRMX*NMAX +
-     $                          MMAX*NOBRMX*( NMAX + LMAX )*
-     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                          MAX( ( NMAX + LMAX )**2,
-     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                   LDW3 = MAX( 4*NMAX*NMAX + 2*NMAX*LMAX +
-     $                               LMAX*LMAX +
-     $                               MAX( 3*LMAX, NMAX*LMAX ),
-     $                               14*NMAX*NMAX + 12*NMAX + 5 ),
-     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
-     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
-     $                                 ( MMAX + LMAX + 2 ) - 2 ),
-     $                                 ( MMAX + LMAX )*4*NOBRMX*
-     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
-     $                                 LDW3 ),
-     $                   LDY = NSMPMX,
-     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
-     $                                 MMAX*NOBRMX + NMAX, LMAX*NOBRMX,
-     $                                 MMAX*( NMAX + LMAX ), NMAX*NMAX )
-     $                 )
-*     .. Local Scalars ..
-      LOGICAL          NGIVEN
-      CHARACTER        ALG, BATCH, CONCT, CTRL, JOB, JOBCK, JOBD, JOBDA,
-     $                 METH, METHA
-      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
-     $                 NGIV, NOBR, NSAMPL, NSMP
-      DOUBLE PRECISION RCOND, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
-     $                 D(LDD, MMAX), DWORK(LDWORK), K(LDK, LMAX),
-     $                 Q(LDQ, NMAX), R(LDR, 2*(MMAX+LMAX)*NOBRMX),
-     $                 RY(LDRY, LMAX), S(LDS, LMAX), SV(LMAX*NOBRMX),
-     $                 U(LDU, MMAX), Y(LDY, LMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(2*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         IB01AD, IB01BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     If the value of N is positive, it will be taken as system order.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
-      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
-     $                      JOBCK
-      IF ( LSAME( BATCH, 'F' ) ) THEN
-         READ ( NIN, FMT = * ) NCYCLE
-      ELSE
-         NCYCLE = 1
-      END IF
-      NSAMPL = NCYCLE*NSMP
-*
-      NGIVEN = N.GT.0
-      IF( NGIVEN )
-     $   NGIV = N
-      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) NOBR
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) L
-      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
-     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'O' ) ) .OR.
-     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'L' ) ) .OR.
-     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
-     $                                 LSAME( BATCH, 'I' ) ) ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NSMP
-      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NCYCLE
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99980 ) N
-      ELSE
-*        Read the matrices U and Y from the input file.
-         IF ( M.GT.0 )
-     $      READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
-         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
-*        Read A and C matrices, if METH <> 'M' and JOB = 'B' or 'D'.
-         IF ( .NOT.LSAME( METH, 'M' ) .AND.
-     $           ( LSAME( JOB,  'B' ) .OR. LSAME( JOB, 'D' ) ) ) THEN
-            DO 10 I = 1, N
-               READ ( NIN, FMT = * ) ( A(I,J), J = 1, N )
-   10       CONTINUE
-            DO 20 I = 1, L
-               READ ( NIN, FMT = * ) ( C(I,J), J = 1, N )
-   20       CONTINUE
-         END IF
-*        Force some options for IB01AD, depending on the specifications.
-         IF ( LSAME( METH, 'C' ) ) THEN
-            METHA = 'M'
-            JOBDA = 'N'
-         ELSE
-            METHA = METH
-            JOBDA = JOBD
-         END IF
-*        Compute the  R  factor from a QR (or Cholesky) factorization
-*        of the Hankel-like matrix (or correlation matrix).
-         DO 30 ICYCLE = 1, NCYCLE
-            II = ( ICYCLE - 1 )*NSMP + 1
-            IF ( NCYCLE.GT.1 ) THEN
-               IF ( ICYCLE.GT.1 )      BATCH = 'I'
-               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
-            END IF
-            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
-     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-   30    CONTINUE
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99990 ) IWARN
-            IF( NGIVEN )
-     $         N = NGIV
-*           Compute the system matrices.
-            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
-     $                   RY, LDRY, S, LDS, K, LDK, RCOND, IWORK, DWORK,
-     $                   LDWORK, BWORK, IWARN, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99992 ) INFO
-            ELSE
-               IF ( IWARN.NE.0 )
-     $            WRITE ( NOUT, FMT = 99991 ) IWARN
-               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99987 )
-                  DO 50 I = 1, L
-                     WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
-   50             CONTINUE
-               END IF
-               IF ( .NOT.LSAME( JOB, 'C' ) ) THEN
-                  WRITE ( NOUT, FMT = 99986 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-               END IF
-               IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'D' ) ) THEN
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, L
-                     WRITE ( NOUT, FMT = 99988 ) ( D(I,J), J = 1,M )
-   70             CONTINUE
-               END IF
-               IF ( LSAME( JOBCK, 'K' ) ) THEN
-                  WRITE ( NOUT, FMT = 99984 )
-                  DO 80 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( K(I,J), J = 1,L )
-   80             CONTINUE
-               END IF
-               IF ( .NOT.LSAME( JOBCK, 'N' ) ) THEN
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 90 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( Q(I,J), J = 1,N )
-   90             CONTINUE
-                  WRITE ( NOUT, FMT = 99982 )
-                  DO 100 I = 1, L
-                     WRITE ( NOUT, FMT = 99988 ) ( RY(I,J), J = 1,L )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99981 )
-                  DO 110 I = 1, N
-                     WRITE ( NOUT, FMT = 99988 ) ( S(I,J), J = 1,L )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( ' IB01BD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
-99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
-99996 FORMAT (/' M is out of range.',/' M = ', I5)
-99995 FORMAT (/' L is out of range.',/' L = ', I5)
-99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
-99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
-99992 FORMAT ( ' INFO on exit from IB01BD = ',I2)
-99991 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
-99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
-99989 FORMAT (/' The system state matrix A is ')
-99988 FORMAT (20(1X,F8.4))
-99987 FORMAT (/' The system output matrix C is ')
-99986 FORMAT (/' The system input matrix B is ')
-99985 FORMAT (/' The system input-output matrix D is ')
-99984 FORMAT (/' The Kalman gain matrix K is ')
-99983 FORMAT (/' The state covariance matrix Q is ')
-99982 FORMAT (/' The output covariance matrix Ry is ')
-99981 FORMAT (/' The state-output cross-covariance matrix S is ')
-99980 FORMAT (/' N is out of range.',/' N = ', I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB01BD EXAMPLE PROGRAM DATA
-  15     0     1     1  1000    0.0   -1.0
-   C     C     N     O     N     N     A     K
-   6.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   6.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   3.41
-   6.41
-   6.41
-   6.41
-   3.41
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-   3.652549
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-   4.223979
-   4.424219
-   4.429109
-   4.319219
-   4.138509
-   3.965129
-   3.886979
-   3.801509
-   3.701389
-   3.640339
-   3.767319
-   4.150719
-   4.648889
-   4.990769
-   5.088449
-   5.022509
-   4.783199
-   4.685519
-   4.665979
-   4.707499
-   4.912619
-   5.195899
-   5.415679
-   5.623249
-   5.740459
-   5.899189
-   5.928499
-   6.050599
-   6.153159
-   5.965129
-   5.586619
-   5.381489
-   5.371719
-   5.486489
-   5.567079
-   5.821049
-   5.913839
-   5.994429
-   6.011519
-   5.999309
-   6.018849
-   5.821049
-   5.728249
-   5.740459
-   5.764879
-   5.882099
-   5.926049
-   5.750229
-   5.415679
-   4.995649
-   4.861339
-   4.902859
-   5.103099
-   5.364389
-   5.596379
-   5.752669
-   5.845469
-   5.928499
-   6.006639
-   5.840579
-   5.518239
-   5.173919
-   4.739239
-   4.458409
-   4.426669
-   4.602489
-   4.822269
-   5.183689
-   5.430329
-   5.652549
-   5.821049
-   5.706269
-   5.369279
-   5.027399
-   4.705049
-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB01BD EXAMPLE PROGRAM RESULTS
-
-
- The system state matrix A is 
-   0.8924   0.3887   0.1285   0.1716
-  -0.0837   0.6186  -0.6273  -0.4582
-   0.0052   0.1307   0.6685  -0.6755
-   0.0055   0.0734  -0.2148   0.4788
-
- The system output matrix C is 
-  -0.4442   0.6663   0.3961   0.4102
-
- The system input matrix B is 
-  -0.2142
-  -0.1968
-   0.0525
-   0.0361
-
- The system input-output matrix D is 
-  -0.0041
-
- The Kalman gain matrix K is 
-  -1.9513
-  -0.1867
-   0.6348
-  -0.3486
-
- The state covariance matrix Q is 
-   0.0052   0.0005  -0.0017   0.0009
-   0.0005   0.0000  -0.0002   0.0001
-  -0.0017  -0.0002   0.0006  -0.0003
-   0.0009   0.0001  -0.0003   0.0002
-
- The output covariance matrix Ry is 
-   0.0012
-
- The state-output cross-covariance matrix S is 
-  -0.0025
-  -0.0002
-   0.0008
-  -0.0005
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01CD">IB01CD</A></H2>
-<H3>
-Estimating the initial state and system matrices B and D using A, B, and input-output data (driver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the initial state and, optionally, the system matrices
-  B  and  D  of a linear time-invariant (LTI) discrete-time system,
-  given the system matrices  (A,B,C,D),  or (when  B  and  D  are
-  estimated) only the matrix pair  (A,C),  and the input and output
-  trajectories of the system. The model structure is :
-
-        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
-        y(k)   = Cx(k) + Du(k),
-
-  where  x(k)  is the  n-dimensional state vector (at time k),
-         u(k)  is the  m-dimensional input vector,
-         y(k)  is the  l-dimensional output vector,
-  and  A, B, C, and D  are real matrices of appropriate dimensions.
-  The input-output data can internally be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01CD( JOBX0, COMUSE, JOB, N, M, L, NSMP, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0, V,
-     $                   LDV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU, LDV,
-     $                   LDWORK, LDY, M, N, NSMP
-      CHARACTER          COMUSE, JOB, JOBX0
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  U(LDU, *), V(LDV, *), X0(*),
-     $                   Y(LDY, *)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX0   CHARACTER*1
-          Specifies whether or not the initial state should be
-          computed, as follows:
-          = 'X':  compute the initial state x(0);
-          = 'N':  do not compute the initial state (possibly,
-                  because x(0) is known to be zero).
-
-  COMUSE  CHARACTER*1
-          Specifies whether the system matrices B and D should be
-          computed or used, as follows:
-          = 'C':  compute the system matrices B and D, as specified
-                  by JOB;
-          = 'U':  use the system matrices B and D, as specified by
-                  JOB;
-          = 'N':  do not compute/use the matrices B and D.
-          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'N',  then  x(0)  is set
-          to zero.
-          If  JOBX0 = 'N'  and  COMUSE =  'N',  then  x(0)  is
-          neither computed nor set to zero.
-
-  JOB     CHARACTER*1
-          If  COMUSE = 'C'  or  'U',  specifies which of the system
-          matrices  B and D  should be computed or used, as follows:
-          = 'B':  compute/use the matrix B only (D is known to be
-                  zero);
-          = 'D':  compute/use the matrices B and D.
-          The value of  JOB  is irrelevant if  COMUSE = 'N'  or if
-          JOBX0 = 'N'  and  COMUSE = 'U'.
-          The combinations of options, the data used, and the
-          returned results, are given in the table below, where
-          '*'  denotes an irrelevant value.
-
-           JOBX0   COMUSE    JOB     Data used    Returned results
-          ----------------------------------------------------------
-             X       C        B       A,C,u,y          x,B
-             X       C        D       A,C,u,y          x,B,D
-             N       C        B       A,C,u,y          x=0,B
-             N       C        D       A,C,u,y          x=0,B,D
-          ----------------------------------------------------------
-             X       U        B      A,B,C,u,y            x
-             X       U        D      A,B,C,D,u,y          x
-             N       U        *          -               x=0
-          ----------------------------------------------------------
-             X       N        *        A,C,y              x
-             N       N        *          -                -
-          ----------------------------------------------------------
-
-          For  JOBX0 = 'N'  and  COMUSE = 'N',  the routine just
-          sets  DWORK(1)  to 2 and  DWORK(2)  to 1, and returns
-          (see the parameter DWORK).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t).
-          NSMP &gt;= 0,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
-          NSMP &gt;= N,            if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
-          NSMP &gt;= N*M + a + e,  if  COMUSE = 'C',
-          where   a = 0,  if  JOBX0 = 'N';
-                  a = N,  if  JOBX0 = 'X';
-                  e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
-                  e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
-                  e = M,  if  JOB   = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading N-by-N
-          part of this array must contain the system state matrix A.
-          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
-          array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C';
-          LDA &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-  B       (input or output) DOUBLE PRECISION array, dimension
-          (LDB,M)
-          If  JOBX0 = 'X'  and  COMUSE = 'U',  B  is an input
-          parameter and, on entry, the leading N-by-M part of this
-          array must contain the system input matrix  B.
-          If  COMUSE = 'C',  B  is an output parameter and, on exit,
-          if  INFO = 0,  the leading N-by-M part of this array
-          contains the estimated system input matrix  B.
-          If  min(N,M) = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
-          or  COMUSE = 'N',  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N),  if  M &gt; 0,  COMUSE = 'U',  JOBX0 = 'X',
-                            or  M &gt; 0,  COMUSE = 'C';
-          LDB &gt;= 1,         if  min(N,M) = 0,  or  COMUSE = 'N',
-                            or  JOBX0  = 'N'  and  COMUSE = 'U'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If  JOBX0 = 'X'  or  COMUSE = 'C',  the leading L-by-N
-          part of this array must contain the system output
-          matrix  C.
-          If  N = 0,  or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this
-          array is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= L,  if  N &gt; 0, and  JOBX0 = 'X'  or  COMUSE = 'C';
-          LDC &gt;= 1,  if  N = 0, or  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-  D       (input or output) DOUBLE PRECISION array, dimension
-          (LDD,M)
-          If  JOBX0 = 'X',  COMUSE = 'U',  and  JOB = 'D',  D  is an
-          input parameter and, on entry, the leading L-by-M part of
-          this array must contain the system input-output matrix  D.
-          If  COMUSE = 'C'  and  JOB = 'D',  D  is an output
-          parameter and, on exit, if  INFO = 0,  the leading
-          L-by-M part of this array contains the estimated system
-          input-output matrix  D.
-          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
-          COMUSE = 'N',  or  JOB = 'B',  this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if  M &gt; 0,   JOBX0 = 'X',  COMUSE = 'U',  and
-                                                JOB = 'D',  or
-                     if  M &gt; 0,  COMUSE = 'C',  and  JOB = 'D';
-          LDD &gt;= 1,  if  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',
-                     or  COMUSE = 'N',  or  JOB = 'B'.
-
-  U       (input or input/output) DOUBLE PRECISION array, dimension
-          (LDU,M)
-          On entry, if  COMUSE = 'C',  or  JOBX0 = 'X'  and
-          COMUSE = 'U',  the leading NSMP-by-M part of this array
-          must contain the t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          On exit, if  COMUSE = 'C'  and  JOB = 'D',  the leading
-          NSMP-by-M part of this array contains details of the
-          QR factorization of the t-by-m matrix  U,  possibly
-          computed sequentially (see METHOD).
-          If  COMUSE = 'C'  and  JOB = 'B',  or  COMUSE = 'U',  this
-          array is unchanged on exit.
-          If  M = 0,  or  JOBX0 = 'N'  and  COMUSE = 'U',  or
-          COMUSE = 'N',  this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,NSMP),  if  M &gt; 0    and  COMUSE = 'C'  or
-                               JOBX0 = 'X'  and  COMUSE = 'U;
-          LDU &gt;= 1,            if  M = 0,   or   COMUSE = 'N',  or
-                               JOBX0 = 'N'  and  COMUSE = 'U'.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          On entry, if  JOBX0 = 'X'  or  COMUSE = 'C',  the leading
-          NSMP-by-L part of this array must contain the t-by-l
-          output-data sequence matrix  Y,  Y = [y_1 y_2 ... y_l].
-          Column  j  of  Y  contains the  NSMP  values of the j-th
-          output component for consecutive time increments.
-          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
-          referenced.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.
-          LDY &gt;= MAX(1,NSMP),  if  JOBX0 = 'X'  or   COMUSE = 'C;
-          LDY &gt;= 1,            if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          If  INFO = 0  and  JOBX0 = 'X',  this array contains the
-          estimated initial state of the system,  x(0).
-          If  JOBX0 = 'N'  and  COMUSE = 'C',  this array is used as
-          workspace and finally it is set to zero.
-          If  JOBX0 = 'N'  and  COMUSE = 'U',  then  x(0)  is set to
-          zero without any calculations.
-          If  JOBX0 = 'N'  and  COMUSE = 'N',  this array is not
-          referenced.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
-          On exit, if  INFO = 0  or 2,  JOBX0 = 'X'  or
-          COMUSE = 'C',  the leading N-by-N part of this array
-          contains the orthogonal matrix V of a real Schur
-          factorization of the matrix  A.
-          If  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  this array is not
-          referenced.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,N),  if  JOBX0 = 'X'  or   COMUSE =  'C;
-          LDV &gt;= 1,         if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  a matrix whose estimated condition
-          number is less than  1/TOL  is considered to be of full
-          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
-          instead, where  EPS  is the relative machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= 0,          if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C';
-          LIWORK &gt;= N,          if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C';
-          LIWORK &gt;= N*M + a,        if COMUSE = 'C' and JOB = 'B',
-          LIWORK &gt;= max(N*M + a,M), if COMUSE = 'C' and JOB = 'D',
-          with  a = 0,  if  JOBX0 = 'N';
-                a = N,  if  JOBX0 = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK;  DWORK(2)  contains the reciprocal condition
-          number of the triangular factor of the QR factorization of
-          the matrix  W2,  if  COMUSE = 'C',  or of the matrix
-          Gamma,  if  COMUSE = 'U'  (see METHOD); if  JOBX0 = 'N'
-          and  COMUSE &lt;&gt; 'C',  DWORK(2)  is set to one;
-          if  COMUSE = 'C',  M &gt; 0,  and  JOB = 'D',   DWORK(3)
-          contains the reciprocal condition number of the triangular
-          factor of the QR factorization of  U;  denoting
-             g = 2,  if  JOBX0  = 'X'  and  COMUSE &lt;&gt; 'C'  or
-                         COMUSE = 'C'  and  M = 0  or   JOB = 'B',
-             g = 3,  if  COMUSE = 'C'  and  M &gt; 0  and  JOB = 'D',
-          then  DWORK(i), i = g+1:g+N*N,
-                DWORK(j), j = g+1+N*N:g+N*N+L*N,  and
-                DWORK(k), k = g+1+N*N+L*N:g+N*N+L*N+N*M,
-          contain the transformed system matrices  At, Ct, and Bt,
-          respectively, corresponding to the real Schur form of the
-          given system state matrix  A,  i.e.,
-             At = V'*A*V,  Bt = V'*B,  Ct = C*V.
-          The matrices  At, Ct, Bt  are not computed if  JOBX0 = 'N'
-          and  COMUSE &lt;&gt; 'C'.
-          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2,  if  JOBX0 = 'N'  and  COMUSE &lt;&gt; 'C',  or
-                        if  max( N, M ) = 0.
-          Otherwise,
-          LDWORK &gt;= LDW1 + N*( N + M + L ) +
-                           max( 5*N, LDW1, min( LDW2, LDW3 ) ),
-          where, if  COMUSE = 'C',  then
-          LDW1 = 2,          if  M = 0  or   JOB = 'B',
-          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
-          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
-          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
-          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-          LDWb = (b + r)*(r + 1) +
-                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
-          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
-          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-             r = N*M + a,
-             a = 0,                  if  JOBX0 = 'N',
-             a = N,                  if  JOBX0 = 'X';
-             b = 0,                  if  JOB   = 'B',
-             b = L*M,                if  JOB   = 'D';
-             c = 0,                  if  JOBX0 = 'N',
-             c = L*N,                if  JOBX0 = 'X';
-             d = 0,                  if  JOBX0 = 'N',
-             d = 2*N*N + N,          if  JOBX0 = 'X';
-             f = 2*r,                if  JOB   = 'B'   or  M = 0,
-             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
-             q = b + r*L;
-          and, if  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  then
-          LDW1 = 2,
-          LDW2 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
-          LDW3 = N*(N + 1) + 2*N + max( q*(N + 1) + 2*N*N + L*N,
-                                        4*N ),
-             q = N*L.
-          For good performance,  LDWORK  should be larger.
-          If  LDWORK &gt;= LDW2,  or if  COMUSE = 'C'  and
-              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
-                        max( d, f ),
-          then standard QR factorizations of the matrices  U  and/or
-          W2,  if  COMUSE = 'C',  or of the matrix  Gamma,  if
-          JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C'  (see METHOD), are used.
-          Otherwise, the QR factorizations are computed sequentially
-          by performing  NCYCLE  cycles, each cycle (except possibly
-          the last one) processing  s &lt; t  samples, where  s  is
-          chosen by equating  LDWORK  to the first term of  LDWb,
-          if  COMUSE = 'C',  or of  LDW3,  if  COMUSE &lt;&gt; 'C',  for
-          q  replaced by  s*L.  (s  is larger than or equal to the
-          minimum value of  NSMP.)  The computational effort may
-          increase and the accuracy may slightly decrease with the
-          decrease of  s.  Recommended value is  LDWORK = LDW2,
-          assuming a large enough cache size, to also accommodate
-          A,  (B,)  C,  (D,)  U,  and  Y.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix;
-          = 6:  the matrix  A  is unstable;  the estimated  x(0)
-                and/or  B and D  could be inaccurate.
-          NOTE: the value 4 of  IWARN  has no significance for the
-                identification problem.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the QR algorithm failed to compute all the
-                eigenvalues of the matrix A (see LAPACK Library
-                routine DGEES); the locations  DWORK(i),  for
-                i = g+1:g+N*N,  contain the partially converged
-                Schur form;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix  A  is initially reduced to a real Schur form, A = V*At*V',
-  and the given system matrices are transformed accordingly. For the
-  reduced system, an extension and refinement of the method in [1,2]
-  is used. Specifically, for  JOBX0 = 'X',  COMUSE = 'C',  and
-  JOB = 'D',  denoting
-
-        X = [ vec(D')' vec(B)' x0' ]',
-
-  where  vec(M)  is the vector obtained by stacking the columns of
-  the matrix  M,  then  X  is the least squares solution of the
-  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
-  defined by
-
-        ( U         |     | ... |     |     | ... |     |         )
-        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
-    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
-        (       :   |     | ... |     |     | ... |     |         )
-        (         U |     | ... |     |     | ... |     |         )
-                                                                  ij
-  diag(U)  having  L  block rows and columns.  In this formula,  y
-  are the outputs of the system for zero initial state computed
-  using the following model, for j = 1:m, and for i = 1:n,
-         ij          ij                    ij
-        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
-
-         ij          ij
-        y  (k)   = Cx  (k),
-
-  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
-  given by
-
-             (     C     )
-             (    C*A    )
-     Gamma = (   C*A^2   ),
-             (     :     )
-             ( C*A^(t-1) )
-
-  and  P  is a permutation matrix that groups together the rows of
-  Gamma  depending on the same row of  C,  namely
-  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
-  The first block column,  diag(U),  is not explicitly constructed,
-  but its structure is exploited. The last block column is evaluated
-  using powers of A with exponents 2^k. No interchanges are applied.
-  A special QR decomposition of the matrix  S  is computed. Let
-  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
-  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
-  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
-  matrix  S  becomes
-
-     ( diag(r)  W1 )
-     (    0     W2 ),
-
-  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
-  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
-  The intermediate results and the QR decomposition of  U  are
-  needed to find  D.  If a triangular factor is too ill conditioned,
-  then singular value decomposition (SVD) is employed. SVD is not
-  generally needed if the input sequence is sufficiently
-  persistently exciting and  NSMP  is large enough.
-  If the matrix  W  cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
-  computed sequentially.
-  For  JOBX0 = 'N'  and  COMUSE = 'C',  or  JOB = 'B',  a simpler
-  problem is solved efficiently.
-
-  For  JOBX0 = 'X'  and  COMUSE &lt;&gt; 'C',  a simpler method is used.
-  Specifically, the output y0(k) of the system for zero initial
-  state is computed for k = 0, 1, ...,  t-1 using the given model.
-  Then the following least squares problem is solved for x(0)
-
-                      (   y(0) - y0(0)   )
-                      (   y(1) - y0(1)   )
-     Gamma * x(0)  =  (        :         ).
-                      (        :         )
-                      ( y(t-1) - y0(t-1) )
-
-  The coefficient matrix  Gamma  is evaluated using powers of A with
-  exponents 2^k. The QR decomposition of this matrix is computed.
-  If its triangular factor  R  is too ill conditioned, then singular
-  value decomposition of  R  is used.
-  If the coefficient matrix cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW2),  the QR decomposition is computed sequentially.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Varga, A.
-      Some Experience with the MOESP Class of Subspace Model
-      Identification Methods in Identifying the BO105 Helicopter.
-      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
-
-  [2] Sima, V., and Varga, A.
-      RASP-IDENT : Subspace Model Identification Programs.
-      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
-      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The algorithm for computing the system matrices  B  and  D  is
-  less efficient than the MOESP or N4SID algorithms implemented in
-  SLICOT Library routines IB01BD/IB01PD, because a large least
-  squares problem has to be solved, but the accuracy is better, as
-  the computed matrices  B  and  D  are fitted to the input and
-  output trajectories. However, if matrix  A  is unstable, the
-  computed matrices  B  and  D  could be inaccurate.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB01CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LDA, LDB, LDC, LDD, LDR, LDU, LDV, LDW1, LDW2,
-     $                 LDW4, LDW5, LDWORK, LDY, LIWORK, LMAX, MMAX,
-     $                 NMAX, NOBRMX, NSMPMX
-      PARAMETER        ( LMAX = 5, MMAX = 5, NOBRMX = 20, NSMPMX = 2000,
-     $                   NMAX = NOBRMX - 1, LDA = NMAX, LDB = NMAX,
-     $                   LDC  = LMAX, LDD = LMAX, LDV = NMAX,
-     $                   LDR  = MAX( 2*( MMAX + LMAX )*NOBRMX,
-     $                               3*MMAX*NOBRMX ), LDU = NSMPMX,
-     $                   LDW1 = MAX( LMAX*( NOBRMX - 1 )*NMAX + NMAX +
-     $                               MAX( 6*MMAX, 4*LMAX )*NOBRMX,
-     $                               LMAX*NOBRMX*NMAX +
-     $                               MAX( LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    3*NMAX + LMAX +
-     $                                    ( 2*MMAX + LMAX )*NOBRMX,
-     $                                    2*LMAX*( NOBRMX - 1 )*NMAX +
-     $                                    NMAX*NMAX + 8*NMAX,
-     $                                    NMAX +
-     $                                    4*( MMAX*NOBRMX + NMAX ) ) ),
-     $                   LDW2 = LMAX*NOBRMX*NMAX +
-     $                          MMAX*NOBRMX*( NMAX + LMAX )*
-     $                          ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                          MAX( ( NMAX + LMAX )**2,
-     $                          4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                   LDW4 = NSMPMX*LMAX*NMAX*( MMAX + 1 ) +
-     $                          MAX( NMAX +
-     $                               MAX( 2*NMAX*NMAX + NMAX,
-     $                                    MMAX +
-     $                                    MAX( 2*NMAX*( MMAX + 1 ),
-     $                                         MMAX ),
-     $                                    6*NMAX*( MMAX + 1 ) ),
-     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
-     $                   LDW5 = ( LMAX*MMAX + NMAX*( MMAX + 1 ) )*
-     $                          NMAX*( MMAX + 1 ) +
-     $                          MAX( ( LMAX*MMAX +
-     $                               LMAX*NMAX*( MMAX + 1 ) )*
-     $                               NMAX*( MMAX + 1 ) +
-     $                               NMAX*NMAX*MMAX + LMAX*NMAX +
-     $                               MAX( 2*NMAX*NMAX + NMAX,
-     $                                    MMAX +
-     $                                    MAX( 2*NMAX*( MMAX + 1 ),
-     $                                         MMAX ),
-     $                                    6*NMAX*( MMAX + 1 ) ),
-     $                               2*MMAX*MMAX*NMAX + 6*MMAX ),
-     $                   LDWORK = MAX( 6*( MMAX + LMAX )*NOBRMX,
-     $                                 ( MMAX + LMAX )*( 4*NOBRMX*
-     $                                 ( MMAX + LMAX + 2 ) - 2 ),
-     $                                 ( MMAX + LMAX )*4*NOBRMX*
-     $                                 ( NOBRMX + 1 ), LDW1, LDW2,
-     $                                 3 + ( NMAX + MMAX + LMAX )*NMAX +
-     $                                 MAX( 5*NMAX, 3,
-     $                                      MIN( LDW4, LDW5 ) ) ),
-     $                   LDY = NSMPMX,
-     $                   LIWORK = MAX( ( MMAX + LMAX )*NOBRMX,
-     $                                 MMAX*NOBRMX + NMAX,
-     $                                 MMAX*( NMAX + LMAX ),
-     $                                 NMAX*MMAX + NMAX, MMAX )
-     $                 )
-*     .. Local Scalars ..
-      LOGICAL          NGIVEN
-      CHARACTER        ALG, BATCH, COMUSE, CONCT, CTRL, JOB, JOBBD,
-     $                 JOBCK, JOBD, JOBDA, JOBX0, METH, METHA
-      INTEGER          I, ICYCLE, II, INFO, IWARN, J, L, M, N, NCYCLE,
-     $                 NGIV, NOBR, NSAMPL, NSMP
-      DOUBLE PRECISION RCOND, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, MMAX), C(LDC, NMAX),
-     $                 D(LDD, MMAX), DUM(1), DWORK(LDWORK),
-     $                 R(LDR, 2*(MMAX+LMAX)*NOBRMX),
-     $                 SV(LMAX*NOBRMX), U(LDU, MMAX), V(LDV, NMAX),
-     $                 X0(NMAX), Y(LDY, LMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         IB01AD, IB01BD, IB01CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     If the value of N is positive, it will be taken as system order.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, N, M, L, NSMP, RCOND, TOL
-      READ ( NIN, FMT = * ) METH, ALG, JOBD, BATCH, CONCT, CTRL, JOB,
-     $                      COMUSE, JOBX0
-      IF ( LSAME( BATCH, 'F' ) ) THEN
-         READ ( NIN, FMT = * ) NCYCLE
-      ELSE
-         NCYCLE = 1
-      END IF
-      NSAMPL = NCYCLE*NSMP
-*
-      NGIVEN = N.GT.0
-      IF( NGIVEN )
-     $   NGIV = N
-      IF ( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) NOBR
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) L
-      ELSE IF ( NSMP.LT.0 .OR. NSMP.GT.NSMPMX .OR.
-     $        ( NSMP.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'O' ) ) .OR.
-     $        ( NSAMPL.LT.2*( M + L + 1 )*NOBR - 1 .AND.
-     $          LSAME( BATCH, 'L' ) ) .OR.
-     $          NSMP.LT.2*NOBR .AND. ( LSAME( BATCH, 'F' ) .OR.
-     $                                 LSAME( BATCH, 'I' ) ) ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NSMP
-      ELSE IF ( NCYCLE.LE.0 .OR. NSAMPL.GT.NSMPMX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NCYCLE
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) N
-      ELSE
-*        Read the matrices U and Y from the input file.
-         IF ( M.GT.0 )
-     $      READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1, M ), I = 1, NSAMPL )
-         READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1, L ), I = 1, NSAMPL )
-*        Force some options, depending on the specifications.
-         IF ( LSAME( METH, 'C' ) ) THEN
-            METHA = 'M'
-            JOBDA = 'N'
-         ELSE
-            METHA = METH
-            JOBDA = JOBD
-         END IF
-*        The covariances and Kalman gain matrix are not computed.
-         JOBCK = 'N'
-         IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
-            JOBBD = 'D'
-         ELSE
-            JOBBD = JOB
-         END IF
-         IF ( LSAME( COMUSE, 'C' ) ) THEN
-            JOB = 'C'
-         ELSE IF ( LSAME( COMUSE, 'U' ) ) THEN
-            JOB = 'A'
-         END IF
-*        Compute the  R  factor from a QR (or Cholesky) factorization
-*        of the Hankel-like matrix (or correlation matrix).
-         DO 10 ICYCLE = 1, NCYCLE
-            II = ( ICYCLE - 1 )*NSMP + 1
-            IF ( NCYCLE.GT.1 ) THEN
-               IF ( ICYCLE.GT.1 )      BATCH = 'I'
-               IF ( ICYCLE.EQ.NCYCLE ) BATCH = 'L'
-            END IF
-            CALL IB01AD( METHA, ALG, JOBDA, BATCH, CONCT, CTRL, NOBR, M,
-     $                   L, NSMP, U(II,1), LDU, Y(II,1), LDY, N, R, LDR,
-     $                   SV, RCOND, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-   10    CONTINUE
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99990 ) IWARN
-            IF( NGIVEN )
-     $         N = NGIV
-*           Compute the system matrices and x0.
-            CALL IB01BD( METH, JOB, JOBCK, NOBR, N, M, L, NSMP, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, DUM, 1,
-     $                   DUM, 1, DUM, 1, DUM, 1, RCOND, IWORK, DWORK,
-     $                   LDWORK, BWORK, IWARN, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99982 ) INFO
-            ELSE
-               IF ( IWARN.NE.0 )
-     $            WRITE ( NOUT, FMT = 99981 ) IWARN
-               CALL IB01CD( JOBX0, COMUSE, JOBBD, N, M, L, NSMP, A, LDA,
-     $                      B, LDB, C, LDC, D, LDD, U, LDU, Y, LDY, X0,
-     $                      V, LDV, RCOND, IWORK, DWORK, LDWORK, IWARN,
-     $                      INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) INFO
-               ELSE
-                  IF ( IWARN.NE.0 )
-     $               WRITE ( NOUT, FMT = 99991 ) IWARN
-                  IF ( LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' ) ) THEN
-                     WRITE ( NOUT, FMT = 99989 )
-                     DO 20 I = 1, N
-                        WRITE ( NOUT, FMT = 99988 ) ( A(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99987 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99988 ) ( C(I,J), J = 1,N )
-   30                CONTINUE
-                  END IF
-                  IF ( LSAME( COMUSE, 'C' ) ) THEN
-                     WRITE ( NOUT, FMT = 99986 )
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99988 ) ( B(I,J), J = 1,M )
-   40                CONTINUE
-                     IF ( LSAME( JOBBD, 'D' ) ) THEN
-                        WRITE ( NOUT, FMT = 99985 )
-                        DO 50 I = 1, L
-                           WRITE ( NOUT, FMT = 99988 )
-     $                           ( D(I,J), J = 1,M )
-   50                   CONTINUE
-                     END IF
-                  END IF
-                  IF ( LSAME( JOBX0, 'X' ) ) THEN
-                     WRITE ( NOUT, FMT = 99984 )
-                     WRITE ( NOUT, FMT = 99988 ) ( X0(I), I = 1,N )
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( ' IB01CD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT ( ' INFO on exit from IB01AD = ',I2)
-99997 FORMAT (/' NOBR is out of range.',/' NOBR = ', I5)
-99996 FORMAT (/' M is out of range.',/' M = ', I5)
-99995 FORMAT (/' L is out of range.',/' L = ', I5)
-99994 FORMAT (/' NSMP is out of range.',/' NSMP = ', I5)
-99993 FORMAT (/' NCYCLE is out of range.',/' NCYCLE = ', I5)
-99992 FORMAT ( ' INFO on exit from IB01CD = ',I2)
-99991 FORMAT ( ' IWARN on exit from IB01CD = ',I2)
-99990 FORMAT ( ' IWARN on exit from IB01AD = ',I2)
-99989 FORMAT (/' The system state matrix A is ')
-99988 FORMAT (20(1X,F8.4))
-99987 FORMAT (/' The system output matrix C is ')
-99986 FORMAT (/' The system input matrix B is ')
-99985 FORMAT (/' The system input-output matrix D is ')
-99984 FORMAT (/' The initial state vector x0 is ')
-99983 FORMAT (/' N is out of range.',/' N = ', I5)
-99982 FORMAT ( ' INFO on exit from IB01BD = ',I2)
-99981 FORMAT ( ' IWARN on exit from IB01BD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB01CD EXAMPLE PROGRAM DATA
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-   5.752669
-   5.845469
-   5.928499
-   6.006639
-   5.840579
-   5.518239
-   5.173919
-   4.739239
-   4.458409
-   4.426669
-   4.602489
-   4.822269
-   5.183689
-   5.430329
-   5.652549
-   5.821049
-   5.706269
-   5.369279
-   5.027399
-   4.705049
-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB01CD EXAMPLE PROGRAM RESULTS
-
-
- The system state matrix A is 
-   0.8924   0.3887   0.1285   0.1716
-  -0.0837   0.6186  -0.6273  -0.4582
-   0.0052   0.1307   0.6685  -0.6755
-   0.0055   0.0734  -0.2148   0.4788
-
- The system output matrix C is 
-  -0.4442   0.6663   0.3961   0.4102
-
- The system input matrix B is 
-  -0.2150
-  -0.1962
-   0.0511
-   0.0373
-
- The system input-output matrix D is 
-  -0.0018
-
- The initial state vector x0 is 
- -11.4329  -0.6767   0.0472   0.3600
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01MD">IB01MD</A></H2>
-<H3>
-Upper triangular factor in the QR factorization of the block-Hankel matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct an upper triangular factor  R  of the concatenated
-  block Hankel matrices using input-output data.  The input-output
-  data can, optionally, be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01MD( METH, ALG, BATCH, CONCT, NOBR, M, L, NSMP, U,
-     $                   LDU, Y, LDY, R, LDR, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
-     $                   NSMP
-      CHARACTER          ALG, BATCH, CONCT, METH
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  ALG     CHARACTER*1
-          Specifies the algorithm for computing the triangular
-          factor R, as follows:
-          = 'C':  Cholesky algorithm applied to the correlation
-                  matrix of the input-output data;
-          = 'F':  Fast QR algorithm;
-          = 'Q':  QR algorithm applied to the concatenated block
-                  Hankel matrices.
-
-  BATCH   CHARACTER*1
-          Specifies whether or not sequential data processing is to
-          be used, and, for sequential processing, whether or not
-          the current data block is the first block, an intermediate
-          block, or the last block, as follows:
-          = 'F':  the first block in sequential data processing;
-          = 'I':  an intermediate block in sequential data
-                  processing;
-          = 'L':  the last block in sequential data processing;
-          = 'O':  one block only (non-sequential data processing).
-          NOTE that when  100  cycles of sequential data processing
-               are completed for  BATCH = 'I',  a warning is
-               issued, to prevent for an infinite loop.
-
-  CONCT   CHARACTER*1
-          Specifies whether or not the successive data blocks in
-          sequential data processing belong to a single experiment,
-          as follows:
-          = 'C':  the current data block is a continuation of the
-                  previous data block and/or it will be continued
-                  by the next data block;
-          = 'N':  there is no connection between the current data
-                  block and the previous and/or the next ones.
-          This parameter is not used if BATCH = 'O'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices to be processed.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-          When M = 0, no system inputs are processed.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t). (When sequential data processing is used,
-          NSMP  is the number of samples of the current data
-          block.)
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
-                                       processing;
-          NSMP &gt;= 2*NOBR,  for sequential processing.
-          The total number of samples when calling the routine with
-          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
-          The  NSMP  argument may vary from a cycle to another in
-          sequential data processing, but  NOBR, M,  and  L  should
-          be kept constant. For efficiency, it is advisable to use
-          NSMP  as large as possible.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NSMP-by-M part of this array must contain the
-          t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= NSMP, if M &gt; 0;
-          LDU &gt;= 1,    if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= NSMP.
-
-  R       (output or input/output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On exit, if INFO = 0 and ALG = 'Q', or (ALG = 'C' or 'F',
-          and BATCH = 'L' or 'O'), the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of
-          this array contains the (current) upper triangular factor
-          R from the QR factorization of the concatenated block
-          Hankel matrices. The diagonal elements of R are positive
-          when the Cholesky algorithm was successfully used.
-          On exit, if ALG = 'C' and BATCH = 'F' or 'I', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the current upper triangular part of the
-          correlation matrix in sequential data processing.
-          If ALG = 'F' and BATCH = 'F' or 'I', the array R is not
-          referenced.
-          On entry, if ALG = 'C', or ALG = 'Q', and BATCH = 'I' or
-          'L', the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  upper
-          triangular part of this array must contain the upper
-          triangular matrix R computed at the previous call of this
-          routine in sequential data processing. The array R need
-          not be set on entry if ALG = 'F' or if BATCH = 'F' or 'O'.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(3,M+L), if ALG = 'F';
-          LIWORK &gt;= 3,          if ALG = 'C' or 'Q'.
-          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
-          must contain the values of ICYCLE, MAXWRK, and NSMPSM
-          set by the previous call of this routine.
-          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
-          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
-          used by the next call of the routine.
-          ICYCLE  counts the cycles for  BATCH = 'I'.
-          MAXWRK  stores the current optimal workspace.
-          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
-          The first three elements of  IWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          Let
-          k = 0,               if CONCT = 'N' and ALG = 'C' or 'Q';
-          k = 2*NOBR-1,        if CONCT = 'C' and ALG = 'C' or 'Q';
-          k = 2*NOBR*(M+L+1),  if CONCT = 'N' and ALG = 'F';
-          k = 2*NOBR*(M+L+2),  if CONCT = 'C' and ALG = 'F'.
-          The first (M+L)*k elements of  DWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  'I',  till the final call with  BATCH = 'L'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (4*NOBR-2)*(M+L), if ALG = 'C', BATCH &lt;&gt; 'O' and
-                                  CONCT = 'C';
-          LDWORK &gt;= 1,            if ALG = 'C', BATCH = 'O' or
-                                  CONCT = 'N';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-                                  BATCH &lt;&gt; 'O' and CONCT = 'C';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-                                  BATCH = 'F', 'I' and CONCT = 'N';
-          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-                                  BATCH = 'L' and CONCT = 'N', or
-                                  BATCH = 'O';
-          LDWORK &gt;= 4*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
-                                  and LDR &gt;= NS = NSMP - 2*NOBR + 1;
-          LDWORK &gt;= 6*(M+L)*NOBR, if ALG = 'Q', BATCH = 'F' or 'O',
-                                  and LDR &lt; NS, or BATCH = 'I' or
-                                  'L' and CONCT = 'N';
-          LDWORK &gt;= 4*(NOBR+1)*(M+L)*NOBR, if ALG = 'Q', BATCH = 'I'
-                                  or 'L' and CONCT = 'C'.
-          The workspace used for ALG = 'Q' is
-                    LDRWRK*2*(M+L)*NOBR + 4*(M+L)*NOBR,
-          where LDRWRK = LDWORK/(2*(M+L)*NOBR) - 2; recommended
-          value LDRWRK = NS, assuming a large enough cache size.
-          For good performance,  LDWORK  should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the number of 100 cycles in sequential data
-                processing has been exhausted without signaling
-                that the last block of data was get; the cycle
-                counter was reinitialized;
-          = 2:  a fast algorithm was requested (ALG = 'C' or 'F'),
-                but it failed, and the QR algorithm was then used
-                (non-sequential data processing).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  a fast algorithm was requested (ALG = 'C', or 'F')
-                in sequential data processing, but it failed. The
-                routine can be repeatedly called again using the
-                standard QR algorithm.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  1) For non-sequential data processing using QR algorithm, a
-  t x 2(m+l)s  matrix H is constructed, where
-
-       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
-               s+1,2s,t    1,s,t   1,2s,t
-
-       H = [ U'       Y'      ],              for METH = 'N',
-              1,2s,t   1,2s,t
-
-  and  Up     , Uf        , U      , and  Y        are block Hankel
-         1,s,t    s+1,2s,t   1,2s,t        1,2s,t
-  matrices defined in terms of the input and output data [3].
-  A QR factorization is used to compress the data.
-  The fast QR algorithm uses a QR factorization which exploits
-  the block-Hankel structure. Actually, the Cholesky factor of H'*H
-  is computed.
-
-  2) For sequential data processing using QR algorithm, the QR
-  decomposition is done sequentially, by updating the upper
-  triangular factor  R.  This is also performed internally if the
-  workspace is not large enough to accommodate an entire batch.
-
-  3) For non-sequential or sequential data processing using
-  Cholesky algorithm, the correlation matrix of input-output data is
-  computed (sequentially, if requested), taking advantage of the
-  block Hankel structure [7].  Then, the Cholesky factor of the
-  correlation matrix is found, if possible.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Peternell, K., Scherrer, W. and Deistler, M.
-      Statistical Analysis of Novel Subspace Identification Methods.
-      Signal Processing, 52, pp. 161-177, 1996.
-
-  [6] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-  [7] Sima, V.
-      Cholesky or QR Factorization for Data Compression in
-      Subspace-based Identification ?
-      Proceedings of the Second NICONET Workshop on ``Numerical
-      Control Software: SLICOT, a Useful Tool in Industry'',
-      December 3, 1999, INRIA Rocquencourt, France, pp. 75-80, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable (when QR algorithm is
-  used), reliable and efficient. The fast Cholesky or QR algorithms
-  are more efficient, but the accuracy could diminish by forming the
-  correlation matrix.
-                                     2
-  The QR algorithm needs 0(t(2(m+l)s) ) floating point operations.
-                                        2              3
-  The Cholesky algorithm needs 0(2t(m+l) s)+0((2(m+l)s) ) floating
-  point operations.
-                                       2           3 2
-  The fast QR algorithm needs 0(2t(m+l) s)+0(4(m+l) s ) floating
-  point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For ALG = 'Q', BATCH = 'O' and LDR &lt; NS, or BATCH &lt;&gt; 'O', the
-  calculations could be rather inefficient if only minimal workspace
-  (see argument LDWORK) is provided. It is advisable to provide as
-  much workspace as possible. Almost optimal efficiency can be
-  obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
-  cache size is large enough to accommodate R, U, Y, and DWORK.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01MY.html b/doc/_static/doc/IB01MY.html
deleted file mode 100644
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--- a/doc/_static/doc/IB01MY.html
+++ /dev/null
@@ -1,293 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01MY">IB01MY</A></H2>
-<H3>
-Upper triangular factor in the QR factorization of the block Hankel matrix, using a fast QR algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct an upper triangular factor  R  of the concatenated
-  block Hankel matrices using input-output data, via a fast QR
-  algorithm based on displacement rank.  The input-output data can,
-  optionally, be processed sequentially.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01MY( METH, BATCH, CONCT, NOBR, M, L, NSMP, U, LDU,
-     $                   Y, LDY, R, LDR, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, IWARN, L, LDR, LDU, LDWORK, LDY, M, NOBR,
-     $                   NSMP
-      CHARACTER          BATCH, CONCT, METH
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), U(LDU, *), Y(LDY, *)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  BATCH   CHARACTER*1
-          Specifies whether or not sequential data processing is to
-          be used, and, for sequential processing, whether or not
-          the current data block is the first block, an intermediate
-          block, or the last block, as follows:
-          = 'F':  the first block in sequential data processing;
-          = 'I':  an intermediate block in sequential data
-                  processing;
-          = 'L':  the last block in sequential data processing;
-          = 'O':  one block only (non-sequential data processing).
-          NOTE that when  100  cycles of sequential data processing
-               are completed for  BATCH = 'I',  a warning is
-               issued, to prevent for an infinite loop.
-
-  CONCT   CHARACTER*1
-          Specifies whether or not the successive data blocks in
-          sequential data processing belong to a single experiment,
-          as follows:
-          = 'C':  the current data block is a continuation of the
-                  previous data block and/or it will be continued
-                  by the next data block;
-          = 'N':  there is no connection between the current data
-                  block and the previous and/or the next ones.
-          This parameter is not used if BATCH = 'O'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices to be processed.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n, the
-          estimated dimension of state vector.)
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-          When M = 0, no system inputs are processed.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t). (When sequential data processing is used,
-          NSMP  is the number of samples of the current data
-          block.)
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1,  for non-sequential
-                                       processing;
-          NSMP &gt;= 2*NOBR,  for sequential processing.
-          The total number of samples when calling the routine with
-          BATCH = 'L'  should be at least  2*(M+L+1)*NOBR - 1.
-          The  NSMP  argument may vary from a cycle to another in
-          sequential data processing, but  NOBR, M,  and  L  should
-          be kept constant. For efficiency, it is advisable to use
-          NSMP  as large as possible.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NSMP-by-M part of this array must contain the
-          t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= NSMP, if M &gt; 0;
-          LDU &gt;= 1,    if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= NSMP.
-
-  R       (output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          If INFO = 0 and BATCH = 'L' or 'O', the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the upper triangular factor R from the
-          QR factorization of the concatenated block Hankel
-          matrices.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension MAX(3,M+L)
-          On entry with  BATCH = 'I'  or  BATCH = 'L',  IWORK(1:3)
-          must contain the values of ICYCLE, MAXWRK, and NSMPSM
-          set by the previous call of this routine.
-          On exit with  BATCH = 'F'  or  BATCH = 'I',  IWORK(1:3)
-          contains the values of ICYCLE, MAXWRK, and NSMPSM to be
-          used by the next call of the routine.
-          ICYCLE  counts the cycles for  BATCH = 'I'.
-          MAXWRK  stores the current optimal workspace.
-          NSMPSM  sums up the  NSMP  values for  BATCH &lt;&gt; 'O'.
-          The first three elements of  IWORK  should be preserved
-          during successive calls of the routine with  BATCH = 'F'
-          or  BATCH = 'I',  till the final call with   BATCH = 'L'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          The first (M+L)*2*NOBR*(M+L+c) elements of  DWORK  should
-          be preserved during successive calls of the routine
-          with  BATCH = 'F'  or  'I',  till the final call with
-          BATCH = 'L',  where
-          c = 1,  if the successive data blocks do not belong to a
-                  single experiment  (CONCT = 'N');
-          c = 2,  if the successive data blocks belong to a single
-                  experiment  (CONCT = 'C').
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+3),
-                           if BATCH &lt;&gt; 'O' and CONCT = 'C';
-          LDWORK &gt;= (M+L)*2*NOBR*(M+L+1),
-                           if BATCH = 'F' or 'I' and CONCT = 'N';
-          LDWORK &gt;= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR,
-                           if BATCH = 'L' and CONCT = 'N',
-                           or BATCH = 'O'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA. The workspace query should be done
-          for BATCH = 'L' or BATCH = 'O'. To get it in advance, use
-          BATCH = 'O'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the number of 100 cycles in sequential data
-                processing has been exhausted without signaling
-                that the last block of data was get.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the fast QR factorization algorithm failed. The
-                matrix H'*H is not (numerically) positive definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Consider the  t x 2(m+l)s  matrix H of concatenated block Hankel
-  matrices
-
-       H = [ Uf'         Up'      Y'      ],  for METH = 'M',
-               s+1,2s,t    1,s,t   1,2s,t
-
-       H = [ U'       Y'      ],              for METH = 'N',
-              1,2s,t   1,2s,t
-
-  where  Up     , Uf        , U      , and  Y        are block
-           1,s,t    s+1,2s,t   1,2s,t        1,2s,t
-  Hankel matrices defined in terms of the input and output data [3].
-  The fast QR algorithm uses a factorization of H'*H which exploits
-  the block-Hankel structure, via a displacement rank technique [5].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Kressner, D., Mastronardi, N., Sima, V., Van Dooren, P., and
-      Van Huffel, S.
-      A Fast Algorithm for Subspace State-space System
-      Identification via Exploitation of the Displacement Structure.
-      J. Comput. Appl. Math., Vol.132, No.1, pp. 71-81, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is reliable and efficient. Numerical
-  difficulties are possible when the matrix H'*H is nearly rank
-  defficient. The method cannot be used if the matrix H'*H is not
-  numerically positive definite.
-                                  2           3 2
-  The algorithm requires 0(2t(m+l) s)+0(4(m+l) s ) floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01ND.html b/doc/_static/doc/IB01ND.html
deleted file mode 100644
index 1d0187f1..00000000
--- a/doc/_static/doc/IB01ND.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01ND">IB01ND</A></H2>
-<H3>
-Singular value decomposition giving the system order
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the singular value decomposition (SVD) giving the system
-  order, using the triangular factor of the concatenated block
-  Hankel matrices. Related preliminary calculations needed for
-  computing the system matrices are also performed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01ND( METH, JOBD, NOBR, M, L, R, LDR, SV, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDR, LDWORK, M, NOBR
-      CHARACTER          JOBD, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK(*), R(LDR, *), SV(*)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not the matrices B and D should later
-          be computed using the MOESP approach, as follows:
-          = 'M':  the matrices B and D should later be computed
-                  using the MOESP approach;
-          = 'N':  the matrices B and D should not be computed using
-                  the MOESP approach.
-          This parameter is not relevant for METH = 'N'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          block Hankel matrices.  NOBR &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On entry, the leading 2*(M+L)*NOBR-by-2*(M+L)*NOBR upper
-          triangular part of this array must contain the upper
-          triangular factor R from the QR factorization of the
-          concatenated block Hankel matrices. Denote  R_ij,
-          i,j = 1:4,  the ij submatrix of  R,  partitioned by
-          M*NOBR,  M*NOBR,  L*NOBR,  and  L*NOBR  rows and columns.
-          On exit, if INFO = 0, the leading
-          2*(M+L)*NOBR-by-2*(M+L)*NOBR upper triangular part of this
-          array contains the matrix S, the processed upper
-          triangular factor R, as required by other subroutines.
-          Specifically, let  S_ij, i,j = 1:4,  be the ij submatrix
-          of  S,  partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and
-          L*NOBR  rows and columns. The submatrix  S_22  contains
-          the matrix of left singular vectors needed subsequently.
-          Useful information is stored in  S_11  and in the
-          block-column  S_14 : S_44.  For METH = 'M' and JOBD = 'M',
-          the upper triangular part of  S_31  contains the upper
-          triangular factor in the QR factorization of the matrix
-          R_1c = [ R_12'  R_22'  R_11' ]',  and  S_12  contains the
-          corresponding leading part of the transformed matrix
-          R_2c = [ R_13'  R_23'  R_14' ]'.  For  METH = 'N',  the
-          subarray  S_41 : S_43  contains the transpose of the
-          matrix contained in  S_14 : S_34.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= MAX( 2*(M+L)*NOBR, 3*M*NOBR ),
-                               for METH = 'M' and JOBD = 'M';
-          LDR &gt;= 2*(M+L)*NOBR, for METH = 'M' and JOBD = 'N' or
-                               for METH = 'N'.
-
-  SV      (output) DOUBLE PRECISION array, dimension ( L*NOBR )
-          The singular values of the relevant part of the triangular
-          factor from the QR factorization of the concatenated block
-          Hankel matrices.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not used for  METH = 'M'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ((M+L)*NOBR)
-          This parameter is not referenced for METH = 'M'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and, for  METH = 'N',  DWORK(2)  and  DWORK(3)
-          contain the reciprocal condition numbers of the
-          triangular factors of the matrices  U_f  and  r_1  [6].
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( (2*M-1)*NOBR, (M+L)*NOBR, 5*L*NOBR ),
-                                      if METH = 'M' and JOBD = 'M';
-          LDWORK &gt;=  5*L*NOBR,        if METH = 'M' and JOBD = 'N';
-          LDWORK &gt;=  5*(M+L)*NOBR+1,  if METH = 'N'.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problems with coefficient matrix
-                U_f,  used for computing the weighted oblique
-                projection (for METH = 'N'), have a rank-deficient
-                coefficient matrix;
-          = 5:  the least squares problem with coefficient matrix
-                r_1  [6], used for computing the weighted oblique
-                projection (for METH = 'N'), has a rank-deficient
-                coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A singular value decomposition (SVD) of a certain matrix is
-  computed, which reveals the order  n  of the system as the number
-  of "non-zero" singular values. For the MOESP approach, this matrix
-  is  [ R_24'  R_34' ]' := R(ms+1:(2m+l)s,(2m+l)s+1:2(m+l)s),
-  where  R  is the upper triangular factor  R  constructed by SLICOT
-  Library routine  IB01MD.  For the N4SID approach, a weighted
-  oblique projection is computed from the upper triangular factor  R
-  and its SVD is then found.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Verhaegen M.
-      Subspace Model Identification. Part 3: Analysis of the
-      ordinary output-error state-space model identification
-      algorithm.
-      Int. J. Control, 58, pp. 555-586, 1993.
-
-  [3] Verhaegen M.
-      Identification of the deterministic part of MIMO state space
-      models given in innovations form from input-output data.
-      Automatica, Vol.30, No.1, pp.61-74, 1994.
-
-  [4] Van Overschee, P., and De Moor, B.
-      N4SID: Subspace Algorithms for the Identification of
-      Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [5] Van Overschee, P., and De Moor, B.
-      Subspace Identification for Linear Systems: Theory -
-      Implementation - Applications.
-      Kluwer Academic Publishers, Boston/London/Dordrecht, 1996.
-
-  [6] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                                   3
-  The algorithm requires 0(((m+l)s) ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01OD.html b/doc/_static/doc/IB01OD.html
deleted file mode 100644
index 9dff68ec..00000000
--- a/doc/_static/doc/IB01OD.html
+++ /dev/null
@@ -1,133 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01OD">IB01OD</A></H2>
-<H3>
-Estimating the system order
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the system order, based on the singular values of the
-  relevant part of the triangular factor of the concatenated block
-  Hankel matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01OD( CTRL, NOBR, L, SV, N, TOL, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, N, NOBR
-      CHARACTER          CTRL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CTRL    CHARACTER*1
-          Specifies whether or not the user's confirmation of the
-          system order estimate is desired, as follows:
-          = 'C':  user's confirmation;
-          = 'N':  no confirmation.
-          If  CTRL = 'C',  a reverse communication routine,  IB01OY,
-          is called, and, after inspecting the singular values and
-          system order estimate,  n,  the user may accept  n  or set
-          a new value.
-          IB01OY  is not called by the routine if CTRL = 'N'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the processed input and
-          output block Hankel matrices.  NOBR &gt; 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  SV      (input) DOUBLE PRECISION array, dimension ( L*NOBR )
-          The singular values of the relevant part of the triangular
-          factor from the QR factorization of the concatenated block
-          Hankel matrices.
-
-  N       (output) INTEGER
-          The estimated order of the system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Absolute tolerance used for determining an estimate of
-          the system order. If  TOL &gt;= 0,  the estimate is
-          indicated by the index of the last singular value greater
-          than or equal to  TOL.  (Singular values less than  TOL
-          are considered as zero.) When  TOL = 0,  an internally
-          computed default value,  TOL = NOBR*EPS*SV(1),  is used,
-          where  SV(1)  is the maximal singular value, and  EPS  is
-          the relative machine precision (see LAPACK Library routine
-          DLAMCH). When  TOL &lt; 0,  the estimate is indicated by the
-          index of the singular value that has the largest
-          logarithmic gap to its successor.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 3:  all singular values were exactly zero, hence  N = 0.
-                (Both input and output were identically zero.)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The singular values are compared to the given, or default TOL, and
-  the estimated order  n  is returned, possibly after user's
-  confirmation.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01OY.html b/doc/_static/doc/IB01OY.html
deleted file mode 100644
index 3ea8fb47..00000000
--- a/doc/_static/doc/IB01OY.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01OY">IB01OY</A></H2>
-<H3>
-User's confirmation of the system order
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To ask for user's confirmation of the system order found by
-  SLICOT Library routine IB01OD. This routine may be modified,
-  but its interface must be preserved.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01OY( NS, NMAX, N, SV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, N, NMAX, NS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   SV( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NS      (input) INTEGER
-          The number of singular values.  NS &gt; 0.
-
-  NMAX    (input) INTEGER
-          The maximum value of the system order.  0 &lt;= NMAX &lt;= NS.
-
-  N       (input/output) INTEGER
-          On entry, the estimate of the system order computed by
-          IB01OD routine.  0 &lt;= N &lt;= NS.
-          On exit, the user's estimate of the system order, which
-          could be identical with the input value of  N.
-          Note that the output value of  N  should be less than
-          or equal to  NMAX.
-
-  SV      (input) DOUBLE PRECISION array, dimension ( NS )
-          The singular values, in descending order, used for
-          determining the system order.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01PD.html b/doc/_static/doc/IB01PD.html
deleted file mode 100644
index acb3f1ce..00000000
--- a/doc/_static/doc/IB01PD.html
+++ /dev/null
@@ -1,406 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01PD">IB01PD</A></H2>
-<H3>
-Estimating system matrices and covariances
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the matrices A, C, B, and D of a linear time-invariant
-  (LTI) state space model, using the singular value decomposition
-  information provided by other routines. Optionally, the system and
-  noise covariance matrices, needed for the Kalman gain, are also
-  determined.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01PD( METH, JOB, JOBCV, NOBR, N, M, L, NSMPL, R,
-     $                   LDR, A, LDA, C, LDC, B, LDB, D, LDD, Q, LDQ,
-     $                   RY, LDRY, S, LDS, O, LDO, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDO, LDQ,
-     $                   LDR, LDRY, LDS, LDWORK, M, N, NOBR, NSMPL
-      CHARACTER          JOB, JOBCV, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  O(LDO, *), Q(LDQ, *), R(LDR, *),
-     $                   RY(LDRY, *), S(LDS, *)
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  JOB     CHARACTER*1
-          Specifies which matrices should be computed, as follows:
-          = 'A':  compute all system matrices, A, B, C, and D;
-          = 'C':  compute the matrices A and C only;
-          = 'B':  compute the matrix B only;
-          = 'D':  compute the matrices B and D only.
-
-  JOBCV   CHARACTER*1
-          Specifies whether or not the covariance matrices are to
-          be computed, as follows:
-          = 'C':  the covariance matrices should be computed;
-          = 'N':  the covariance matrices should not be computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMPL   (input) INTEGER
-          If JOBCV = 'C', the total number of samples used for
-          calculating the covariance matrices.
-          NSMPL &gt;= 2*(M+L)*NOBR.
-          This parameter is not meaningful if  JOBCV = 'N'.
-
-  R       (input/workspace) DOUBLE PRECISION array, dimension
-          ( LDR,2*(M+L)*NOBR )
-          On entry, the leading  2*(M+L)*NOBR-by-2*(M+L)*NOBR  part
-          of this array must contain the relevant data for the MOESP
-          or N4SID algorithms, as constructed by SLICOT Library
-          routines IB01AD or IB01ND. Let  R_ij,  i,j = 1:4,  be the
-          ij submatrix of  R  (denoted  S  in IB01AD and IB01ND),
-          partitioned by  M*NOBR,  L*NOBR,  M*NOBR,  and  L*NOBR
-          rows and columns. The submatrix  R_22  contains the matrix
-          of left singular vectors used. Also needed, for
-          METH = 'N'  or  JOBCV = 'C',  are the submatrices  R_11,
-          R_14 : R_44,  and, for  METH = 'M'  and  JOB &lt;&gt; 'C',  the
-          submatrices  R_31  and  R_12,  containing the processed
-          matrices  R_1c  and  R_2c,  respectively, as returned by
-          SLICOT Library routines IB01AD or IB01ND.
-          Moreover, if  METH = 'N'  and  JOB = 'A' or 'C',  the
-          block-row  R_41 : R_43  must contain the transpose of the
-          block-column  R_14 : R_34  as returned by SLICOT Library
-          routines IB01AD or IB01ND.
-          The remaining part of  R  is used as workspace.
-          On exit, part of this array is overwritten. Specifically,
-          if  METH = 'M',  R_22  and  R_31  are overwritten if
-              JOB = 'B' or 'D',  and  R_12,  R_22,  R_14 : R_34,
-              and possibly  R_11  are overwritten if  JOBCV = 'C';
-          if  METH = 'N',  all needed submatrices are overwritten.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= 2*(M+L)*NOBR.
-
-  A       (input or output) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
-          leading N-by-N part of this array must contain the system
-          state matrix.
-          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
-          this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  the
-          leading N-by-N part of this array contains the system
-          state matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= N,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
-                         JOB = 'B' or 'D';
-          LDA &gt;= 1,  otherwise.
-
-  C       (input or output) DOUBLE PRECISION array, dimension
-          (LDC,N)
-          On entry, if  METH = 'N'  and  JOB = 'B' or 'D',  the
-          leading L-by-N part of this array must contain the system
-          output matrix.
-          If  METH = 'M'  or  (METH = 'N'  and JOB = 'A' or 'C'),
-          this array need not be set on input.
-          On exit, if  JOB = 'A' or 'C'  and  INFO = 0,  or
-          INFO = 3  (or  INFO &gt;= 0,  for  METH = 'M'),  the leading
-          L-by-N part of this array contains the system output
-          matrix.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= L,  if  JOB = 'A' or 'C',  or  METH = 'N'  and
-                         JOB = 'B' or 'D';
-          LDC &gt;= 1,  otherwise.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If  M &gt; 0,  JOB = 'A', 'B', or 'D'  and  INFO = 0,  the
-          leading N-by-M part of this array contains the system
-          input matrix. If  M = 0  or  JOB = 'C',  this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDB &gt;= 1,  if M = 0 or  JOB = 'C'.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          If  M &gt; 0,  JOB = 'A' or 'D'  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix. If  M = 0  or  JOB = 'C' or 'B',  this array is
-          not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if M &gt; 0 and JOB = 'A' or 'D';
-          LDD &gt;= 1,  if M = 0 or  JOB = 'C' or 'B'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If JOBCV = 'C', the leading N-by-N part of this array
-          contains the positive semidefinite state covariance matrix
-          to be used as state weighting matrix when computing the
-          Kalman gain.
-          This parameter is not referenced if JOBCV = 'N'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= N,  if JOBCV = 'C';
-          LDQ &gt;= 1,  if JOBCV = 'N'.
-
-  RY      (output) DOUBLE PRECISION array, dimension (LDRY,L)
-          If JOBCV = 'C', the leading L-by-L part of this array
-          contains the positive (semi)definite output covariance
-          matrix to be used as output weighting matrix when
-          computing the Kalman gain.
-          This parameter is not referenced if JOBCV = 'N'.
-
-  LDRY    INTEGER
-          The leading dimension of the array RY.
-          LDRY &gt;= L,  if JOBCV = 'C';
-          LDRY &gt;= 1,  if JOBCV = 'N'.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,L)
-          If JOBCV = 'C', the leading N-by-L part of this array
-          contains the state-output cross-covariance matrix to be
-          used as cross-weighting matrix when computing the Kalman
-          gain.
-          This parameter is not referenced if JOBCV = 'N'.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= N,  if JOBCV = 'C';
-          LDS &gt;= 1,  if JOBCV = 'N'.
-
-  O       (output) DOUBLE PRECISION array, dimension ( LDO,N )
-          If  METH = 'M'  and  JOBCV = 'C',  or  METH = 'N',
-          the leading  L*NOBR-by-N  part of this array contains
-          the estimated extended observability matrix, i.e., the
-          first  N  columns of the relevant singular vectors.
-          If  METH = 'M'  and  JOBCV = 'N',  this array is not
-          referenced.
-
-  LDO     INTEGER
-          The leading dimension of the array  O.
-          LDO &gt;= L*NOBR,  if  JOBCV = 'C'  or  METH = 'N';
-          LDO &gt;= 1,       otherwise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = N,                   if METH = 'M' and M = 0
-                                     or JOB = 'C' and JOBCV = 'N';
-          LIWORK = M*NOBR+N,            if METH = 'M', JOB = 'C',
-                                        and JOBCV = 'C';
-          LIWORK = max(L*NOBR,M*NOBR),  if METH = 'M', JOB &lt;&gt; 'C',
-                                        and JOBCV = 'N';
-          LIWORK = max(L*NOBR,M*NOBR+N),  if METH = 'M', JOB &lt;&gt; 'C',
-                                          and JOBCV = 'C';
-          LIWORK = max(M*NOBR+N,M*(N+L)), if METH = 'N'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and  DWORK(2),  DWORK(3),  DWORK(4),  and
-          DWORK(5)  contain the reciprocal condition numbers of the
-          triangular factors of the matrices, defined in the code,
-          GaL  (GaL = Un(1:(s-1)*L,1:n)),  R_1c  (if  METH = 'M'),
-          M  (if  JOBCV = 'C'  or  METH = 'N'),  and  Q  or  T  (see
-          SLICOT Library routines IB01PY or IB01PX),  respectively.
-          If  METH = 'N',  DWORK(3)  is set to one without any
-          calculations. Similarly, if  METH = 'M'  and  JOBCV = 'N',
-          DWORK(4)  is set to one. If  M = 0  or  JOB = 'C',
-          DWORK(3)  and  DWORK(5)  are set to one.
-          On exit, if  INFO = -30,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( LDW1,LDW2 ), where, if METH = 'M',
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N ),
-                  if JOB = 'C' or JOB = 'A' and M = 0;
-          LDW1 &gt;= max( 2*(L*NOBR-L)*N+N*N+7*N,
-                       (L*NOBR-L)*N+N+6*M*NOBR, (L*NOBR-L)*N+N+
-                       max( L+M*NOBR, L*NOBR +
-                                      max( 3*L*NOBR+1, M ) ) )
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D';
-          LDW2 &gt;= 0,                                 if JOBCV = 'N';
-          LDW2 &gt;= max( (L*NOBR-L)*N+Aw+2*N+max(5*N,(2*M+L)*NOBR+L),
-                       4*(M*NOBR+N)+1, M*NOBR+2*N+L ),
-                                                     if JOBCV = 'C',
-          where Aw = N+N*N, if M = 0 or JOB = 'C';
-                Aw = 0,     otherwise;
-          and, if METH = 'N',
-          LDW1 &gt;= max( (L*NOBR-L)*N+2*N+(2*M+L)*NOBR+L,
-                       2*(L*NOBR-L)*N+N*N+8*N, N+4*(M*NOBR+N)+1,
-                       M*NOBR+3*N+L );
-          LDW2 &gt;= 0, if M = 0 or JOB = 'C';
-          LDW2 &gt;= M*NOBR*(N+L)*(M*(N+L)+1)+
-                  max( (N+L)**2, 4*M*(N+L)+1 ),
-                  if M &gt; 0 and JOB = 'A', 'B', or 'D'.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  a least squares problem to be solved has a
-                rank-deficient coefficient matrix;
-          = 5:  the computed covariance matrices are too small.
-                The problem seems to be a deterministic one.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge;
-          = 3:  a singular upper triangular matrix was found.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In the MOESP approach, the matrices  A  and  C  are first
-  computed from an estimated extended observability matrix [1],
-  and then, the matrices  B  and  D  are obtained by solving an
-  extended linear system in a least squares sense.
-  In the N4SID approach, besides the estimated extended
-  observability matrix, the solutions of two least squares problems
-  are used to build another least squares problem, whose solution
-  is needed to compute the system matrices  A,  C,  B,  and  D.  The
-  solutions of the two least squares problems are also optionally
-  used by both approaches to find the covariance matrices.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error state-
-      space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-  [4] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In some applications, it is useful to compute the system matrices
-  using two calls to this routine, the first one with  JOB = 'C',
-  and the second one with  JOB = 'B' or 'D'.  This is slightly less
-  efficient than using a single call with  JOB = 'A',  because some
-  calculations are repeated. If  METH = 'N',  all the calculations
-  at the first call are performed again at the second call;
-  moreover, it is required to save the needed submatrices of  R
-  before the first call and restore them before the second call.
-  If the covariance matrices are desired,  JOBCV  should be set
-  to  'C'  at the second call. If  B  and  D  are both needed, they
-  should be computed at once.
-  It is possible to compute the matrices A and C using the MOESP
-  algorithm (METH = 'M'), and the matrices B and D using the N4SID
-  algorithm (METH = 'N'). This combination could be slightly more
-  efficient than N4SID algorithm alone and it could be more accurate
-  than MOESP algorithm. No saving/restoring is needed in such a
-  combination, provided  JOBCV  is set to  'N'  at the first call.
-  Recommended usage:  either one call with  JOB = 'A',  or
-     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
-     second call with  METH = 'M',  JOB = 'D',  JOBCV = 'C',  or
-     first  call with  METH = 'M',  JOB = 'C',  JOBCV = 'N',
-     second call with  METH = 'N',  JOB = 'D',  JOBCV = 'C'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01PX.html b/doc/_static/doc/IB01PX.html
deleted file mode 100644
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--- a/doc/_static/doc/IB01PX.html
+++ /dev/null
@@ -1,305 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01PX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01PX">IB01PX</A></H2>
-<H3>
-Estimating system matrices B and D using Kronecker products
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To build and solve the least squares problem  T*X = Kv,  and
-  estimate the matrices B and D of a linear time-invariant (LTI)
-  state space model, using the solution  X,  and the singular
-  value decomposition information and other intermediate results,
-  provided by other routines.
-
-  The matrix  T  is computed as a sum of Kronecker products,
-
-     T = T + kron(Uf(:,(i-1)*m+1:i*m),N_i),  for i = 1 : s,
-
-  (with  T  initialized by zero), where  Uf  is the triangular
-  factor of the QR factorization of the future input part (see
-  SLICOT Library routine IB01ND),  N_i  is given by the i-th block
-  row of the matrix
-
-         [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ]   [ I_L  0  ]
-         [ Q_12  Q_13  ...  Q_1,s-1    Q_1s    0   ]   [         ]
-     N = [ Q_13  Q_14  ...    Q_1s      0      0   ] * [         ],
-         [  :     :            :        :      :   ]   [         ]
-         [ Q_1s   0    ...     0        0      0   ]   [  0  GaL ]
-
-  and where
-
-            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
-     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
-            [ I_L - L_2|1 ]          [     -L_2|i    ]
-
-  are  (n+L)-by-L  matrices, and  GaL  is built from the first  n
-  relevant singular vectors,  GaL = Un(1:L(s-1),1:n),  computed
-  by IB01ND.
-
-  The vector  Kv  is vec(K), with the matrix  K  defined by
-
-     K = [ K_1  K_2  K_3  ...  K_s ],
-
-  where  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
-  The given matrices are  Uf,  GaL,  and
-
-         [ L_1|1  ...  L_1|s ]
-     L = [                   ],   (n+L)-by-L*s,
-         [ L_2|1  ...  L_2|s ]
-
-     M = [ M_1  ...  M_s-1 ],      n-by-L*(s-1),  and
-     K,                            (n+L)-by-m*s.
-
-  Matrix  M  is the pseudoinverse of the matrix  GaL,  computed by
-  SLICOT Library routine IB01PD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01PX( JOB, NOBR, N, M, L, UF, LDUF, UN, LDUN, UL,
-     $                   LDUL, PGAL, LDPGAL, K, LDK, R, LDR, X, B, LDB,
-     $                   D, LDD, TOL, IWORK, DWORK, LDWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDB, LDD, LDK, LDPGAL, LDR,
-     $                   LDUF, LDUL, LDUN, LDWORK, M, N, NOBR
-      CHARACTER          JOB
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), K(LDK, *),
-     $                   PGAL(LDPGAL, *), R(LDR, *), UF(LDUF, *),
-     $                   UL(LDUL, *), UN(LDUN, *), X(*)
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies which of the matrices B and D should be
-          computed, as follows:
-          = 'B':  compute the matrix B, but not the matrix D;
-          = 'D':  compute both matrices B and D.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  UF      (input/output) DOUBLE PRECISION array, dimension
-          ( LDUF,M*NOBR )
-          On entry, the leading  M*NOBR-by-M*NOBR  upper triangular
-          part of this array must contain the upper triangular
-          factor of the QR factorization of the future input part,
-          as computed by SLICOT Library routine IB01ND.
-          The strict lower triangle need not be set to zero.
-          On exit, the leading  M*NOBR-by-M*NOBR  upper triangular
-          part of this array is unchanged, and the strict lower
-          triangle is set to zero.
-
-  LDUF    INTEGER
-          The leading dimension of the array  UF.
-          LDUF &gt;= MAX( 1, M*NOBR ).
-
-  UN      (input) DOUBLE PRECISION array, dimension ( LDUN,N )
-          The leading  L*(NOBR-1)-by-N  part of this array must
-          contain the matrix  GaL,  i.e., the leading part of the
-          first  N  columns of the matrix  Un  of relevant singular
-          vectors.
-
-  LDUN    INTEGER
-          The leading dimension of the array  UN.
-          LDUN &gt;= L*(NOBR-1).
-
-  UL      (input/output) DOUBLE PRECISION array, dimension
-          ( LDUL,L*NOBR )
-          On entry, the leading  (N+L)-by-L*NOBR  part of this array
-          must contain the given matrix  L.
-          On exit, if  M &gt; 0,  the leading  (N+L)-by-L*NOBR  part of
-          this array is overwritten by the matrix
-          [ Q_11  Q_12  ...  Q_1,s-2  Q_1,s-1  Q_1s ].
-
-  LDUL    INTEGER
-          The leading dimension of the array  UL.  LDUL &gt;= N+L.
-
-  PGAL    (input) DOUBLE PRECISION array, dimension
-          ( LDPGAL,L*(NOBR-1) )
-          The leading  N-by-L*(NOBR-1)  part of this array must
-          contain the pseudoinverse of the matrix  GaL,  computed by
-          SLICOT Library routine IB01PD.
-
-  LDPGAL  INTEGER
-          The leading dimension of the array  PGAL.  LDPGAL &gt;= N.
-
-  K       (input) DOUBLE PRECISION array, dimension ( LDK,M*NOBR )
-          The leading  (N+L)-by-M*NOBR  part of this array must
-          contain the given matrix  K.
-
-  LDK     INTEGER
-          The leading dimension of the array  K.  LDK &gt;= N+L.
-
-  R       (output) DOUBLE PRECISION array, dimension ( LDR,M*(N+L) )
-          The leading  (N+L)*M*NOBR-by-M*(N+L)  part of this array
-          contains details of the complete orthogonal factorization
-          of the coefficient matrix  T  of the least squares problem
-          which is solved for getting the system matrices B and D.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.
-          LDR &gt;= MAX( 1, (N+L)*M*NOBR ).
-
-  X       (output) DOUBLE PRECISION array, dimension
-          ( (N+L)*M*NOBR )
-          The leading  M*(N+L)  elements of this array contain the
-          least squares solution of the system  T*X = Kv.
-          The remaining elements are used as workspace (to store the
-          corresponding part of the vector Kv = vec(K)).
-
-  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
-          The leading N-by-M part of this array contains the system
-          input matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
-          If  JOB = 'D',  the leading L-by-M part of this array
-          contains the system input-output matrix.
-          If  JOB = 'B',  this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L, if  JOB = 'D';
-          LDD &gt;= 1, if  JOB = 'B'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ( M*(N+L) )
-
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK,  and, if  M &gt; 0,  DWORK(2)  contains the
-          reciprocal condition number of the triangular factor of
-          the matrix  T.
-          On exit, if  INFO = -26,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( (N+L)*(N+L), 4*M*(N+L)+1 ).
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix  T  is computed, evaluating the sum of Kronecker
-  products, and then the linear system  T*X = Kv  is solved in a
-  least squares sense. The matrices  B  and  D  are then directly
-  obtained from the least squares solution.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01PY.html b/doc/_static/doc/IB01PY.html
deleted file mode 100644
index a6320d93..00000000
--- a/doc/_static/doc/IB01PY.html
+++ /dev/null
@@ -1,389 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01PY">IB01PY</A></H2>
-<H3>
-Estimating system matrices B and D using a structure exploiting QR factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  1. To compute the triangular  (QR)  factor of the  p-by-L*s
-  structured matrix  Q,
-
-      [ Q_1s  Q_1,s-1  Q_1,s-2  ...  Q_12  Q_11 ]
-      [  0      Q_1s   Q_1,s-1  ...  Q_13  Q_12 ]
-  Q = [  0       0       Q_1s   ...  Q_14  Q_13 ],
-      [  :       :        :           :     :   ]
-      [  0       0        0     ...   0    Q_1s ]
-
-  and apply the transformations to the p-by-m matrix  Kexpand,
-
-            [ K_1 ]
-            [ K_2 ]
-  Kexpand = [ K_3 ],
-            [  :  ]
-            [ K_s ]
-
-  where, for MOESP approach (METH = 'M'), p = s*(L*s-n), and
-  Q_1i = u2(L*(i-1)+1:L*i,:)'  is  (Ls-n)-by-L,  for  i = 1:s,
-  u2 = Un(1:L*s,n+1:L*s),  K_i = K(:,(i-1)*m+1:i*m)  (i = 1:s)
-  is  (Ls-n)-by-m, and for N4SID approach (METH = 'N'), p = s*(n+L),
-  and
-
-            [   -L_1|1    ]          [ M_i-1 - L_1|i ]
-     Q_11 = [             ],  Q_1i = [               ],  i = 2:s,
-            [ I_L - L_2|1 ]          [     -L_2|i    ]
-
-  are  (n+L)-by-L  matrices, and
-  K_i = K(:,(i-1)*m+1:i*m),  i = 1:s,  is  (n+L)-by-m.
-  The given matrices are:
-  For  METH = 'M',  u2 = Un(1:L*s,n+1:L*s),
-                    K(1:Ls-n,1:m*s);
-
-                        [ L_1|1  ...  L_1|s ]
-  For  METH = 'N',  L = [                   ],   (n+L)-by-L*s,
-                        [ L_2|1  ...  L_2|s ]
-
-                    M = [ M_1  ...  M_s-1 ],  n-by-L*(s-1),  and
-                    K,                        (n+L)-by-m*s.
-                    Matrix M is the pseudoinverse of the matrix GaL,
-                    built from the first  n  relevant singular
-                    vectors,  GaL = Un(1:L(s-1),1:n),  and computed
-                    by SLICOT Library routine IB01PD for METH = 'N'.
-
-  Matrix  Q  is triangularized  (in  R),  exploiting its structure,
-  and the transformations are applied from the left to  Kexpand.
-
-  2. To estimate the matrices B and D of a linear time-invariant
-  (LTI) state space model, using the factor  R,  transformed matrix
-  Kexpand, and the singular value decomposition information provided
-  by other routines.
-
-  IB01PY  routine is intended for speed and efficient use of the
-  memory space. It is generally not recommended for  METH = 'N',  as
-  IB01PX  routine can produce more accurate results.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01PY( METH, JOB, NOBR, N, M, L, RANKR1, UL, LDUL,
-     $                   R1, LDR1, TAU1, PGAL, LDPGAL, K, LDK, R, LDR,
-     $                   H, LDH, B, LDB, D, LDD, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDB, LDD, LDH, LDK, LDPGAL,
-     $                   LDR, LDR1, LDUL, LDWORK, M, N, NOBR, RANKR1
-      CHARACTER          JOB, METH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B(LDB, *), D(LDD, *), DWORK(*), H(LDH, *),
-     $                   K(LDK, *), PGAL(LDPGAL, *), R(LDR, *),
-     $                   R1(LDR1, *), TAU1(*), UL(LDUL, *)
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  METH    CHARACTER*1
-          Specifies the subspace identification method to be used,
-          as follows:
-          = 'M':  MOESP  algorithm with past inputs and outputs;
-          = 'N':  N4SID  algorithm.
-
-  JOB     CHARACTER*1
-          Specifies whether or not the matrices B and D should be
-          computed, as follows:
-          = 'B':  compute the matrix B, but not the matrix D;
-          = 'D':  compute both matrices B and D;
-          = 'N':  do not compute the matrices B and D, but only the
-                  R  factor of  Q  and the transformed Kexpand.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          The number of block rows,  s,  in the input and output
-          Hankel matrices processed by other routines.  NOBR &gt; 1.
-
-  N       (input) INTEGER
-          The order of the system.  NOBR &gt; N &gt; 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  RANKR1  (input) INTEGER
-          The effective rank of the upper triangular matrix  r1,
-          i.e., the triangular QR factor of the matrix  GaL,
-          computed by SLICOT Library routine IB01PD. It is also
-          the effective rank of the matrix  GaL.  0 &lt;= RANKR1 &lt;= N.
-          If  JOB = 'N',  or  M = 0,  or  METH = 'N',  this
-          parameter is not used.
-
-  UL      (input/workspace) DOUBLE PRECISION array, dimension
-          ( LDUL,L*NOBR )
-          On entry, if  METH = 'M',  the leading  L*NOBR-by-L*NOBR
-          part of this array must contain the matrix  Un  of
-          relevant singular vectors. The first  N  columns of  UN
-          need not be specified for this routine.
-          On entry, if  METH = 'N',  the leading  (N+L)-by-L*NOBR
-          part of this array must contain the given matrix  L.
-          On exit, the leading  LDF-by-L*(NOBR-1) part of this array
-          is overwritten by the matrix  F  of the algorithm in [4],
-          where  LDF = MAX( 1, L*NOBR-N-L ), if  METH = 'M';
-                 LDF = N,                    if  METH = 'N'.
-
-  LDUL    INTEGER
-          The leading dimension of the array  UL.
-          LDUL &gt;= L*NOBR, if  METH = 'M';
-          LDUL &gt;= N+L,    if  METH = 'N'.
-
-  R1      (input) DOUBLE PRECISION array, dimension ( LDR1,N )
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
-          the leading  L*(NOBR-1)-by-N  part of this array must
-          contain details of the QR factorization of the matrix
-          GaL,  as computed by SLICOT Library routine IB01PD.
-          Specifically, the leading N-by-N upper triangular part
-          must contain the upper triangular factor  r1  of  GaL,
-          and the lower  L*(NOBR-1)-by-N  trapezoidal part, together
-          with array TAU1, must contain the factored form of the
-          orthogonal matrix  Q1  in the QR factorization of  GaL.
-          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
-          and  RANKR1 &lt; N,  this array is not referenced.
-
-  LDR1    INTEGER
-          The leading dimension of the array  R1.
-          LDR1 &gt;= L*(NOBR-1), if  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',
-                              and  RANKR1 = N;
-          LDR1 &gt;= 1,          otherwise.
-
-  TAU1    (input) DOUBLE PRECISION array, dimension ( N )
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M',  and  RANKR1 = N,
-          this array must contain the scalar factors of the
-          elementary reflectors used in the QR factorization of the
-          matrix  GaL,  computed by SLICOT Library routine IB01PD.
-          If  JOB = 'N',  or  M = 0,  or  METH = 'N', or  METH = 'M'
-          and  RANKR1 &lt; N,  this array is not referenced.
-
-  PGAL    (input) DOUBLE PRECISION array, dimension
-          ( LDPGAL,L*(NOBR-1) )
-          If  METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and
-          RANKR1 &lt; N,  the leading  N-by-L*(NOBR-1)  part of this
-          array must contain the pseudoinverse of the matrix  GaL,
-          as computed by SLICOT Library routine IB01PD.
-          If  METH = 'M'  and  JOB = 'N',  or  M = 0,  or
-          RANKR1 = N,  this array is not referenced.
-
-  LDPGAL  INTEGER
-          The leading dimension of the array  PGAL.
-          LDPGAL &gt;= N,  if   METH = 'N',  or  JOB &lt;&gt; 'N',  M &gt; 0,
-                        and  METH = 'M'  and RANKR1 &lt; N;
-          LDPGAL &gt;= 1,  otherwise.
-
-  K       (input/output) DOUBLE PRECISION array, dimension
-          ( LDK,M*NOBR )
-          On entry, the leading  (p/s)-by-M*NOBR  part of this array
-          must contain the given matrix  K  defined above.
-          On exit, the leading  (p/s)-by-M*NOBR  part of this array
-          contains the transformed matrix  K.
-
-  LDK     INTEGER
-          The leading dimension of the array  K.  LDK &gt;= p/s.
-
-  R       (output) DOUBLE PRECISION array, dimension ( LDR,L*NOBR )
-          If  JOB = 'N',  or  M = 0,  or  Q  has full rank, the
-          leading  L*NOBR-by-L*NOBR  upper triangular part of this
-          array contains the  R  factor of the QR factorization of
-          the matrix  Q.
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  Q  has not a full rank, the
-          leading  L*NOBR-by-L*NOBR  upper trapezoidal part of this
-          array contains details of the complete orhogonal
-          factorization of the matrix  Q,  as constructed by SLICOT
-          Library routines MB03OD and MB02QY.
-
-  LDR     INTEGER
-          The leading dimension of the array  R.  LDR &gt;= L*NOBR.
-
-  H       (output) DOUBLE PRECISION array, dimension ( LDH,M )
-          If  JOB = 'N'  or  M = 0,  the leading  L*NOBR-by-M  part
-          of this array contains the updated part of the matrix
-          Kexpand  corresponding to the upper triangular factor  R
-          in the QR factorization of the matrix  Q.
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  and  METH = 'N'  or  METH = 'M'
-          and  RANKR1 &lt; N,  the leading  L*NOBR-by-M  part of this
-          array contains the minimum norm least squares solution of
-          the linear system  Q*X = Kexpand,  from which the matrices
-          B  and  D  are found. The first  NOBR-1  row blocks of  X
-          appear in the reverse order in  H.
-          If  JOB &lt;&gt; 'N',  M &gt; 0,  METH = 'M'  and  RANKR1 = N,  the
-          leading  L*(NOBR-1)-by-M  part of this array contains the
-          matrix product  Q1'*X,  and the subarray
-          L*(NOBR-1)+1:L*NOBR-by-M  contains the  corresponding
-          submatrix of  X,  with  X  defined in the phrase above.
-
-  LDH     INTEGER
-          The leading dimension of the array  H.  LDH &gt;= L*NOBR.
-
-  B       (output) DOUBLE PRECISION array, dimension ( LDB,M )
-          If  M &gt; 0,  JOB = 'B' or 'D'  and  INFO = 0,  the leading
-          N-by-M part of this array contains the system input
-          matrix.
-          If  M = 0  or  JOB = 'N',  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N, if  M &gt; 0 and JOB = 'B' or 'D';
-          LDB &gt;= 1, if  M = 0 or  JOB = 'N'.
-
-  D       (output) DOUBLE PRECISION array, dimension ( LDD,M )
-          If  M &gt; 0,  JOB = 'D'  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix.
-          If  M = 0  or  JOB = 'B'  or  'N',  this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L, if  M &gt; 0 and JOB = 'D';
-          LDD &gt;= 1, if  M = 0 or  JOB = 'B' or 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  an m-by-n matrix whose estimated
-          condition number is less than  1/TOL  is considered to
-          be of full rank.  If the user sets  TOL &lt;= 0,  then an
-          implicitly computed, default tolerance, defined by
-          TOLDEF = m*n*EPS,  is used instead, where  EPS  is the
-          relative machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not used if  M = 0  or  JOB = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ( LIWORK )
-          where  LIWORK &gt;= 0,       if  JOB =  'N',  or   M = 0;
-                 LIWORK &gt;= L*NOBR,  if  JOB &lt;&gt; 'N',  and  M &gt; 0.
-
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of  LDWORK,  and, if  JOB &lt;&gt; 'N',  and  M &gt; 0,  DWORK(2)
-          contains the reciprocal condition number of the triangular
-          factor of the matrix  R.
-          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 2*L, L*NOBR, L+M*NOBR ),
-                                      if  JOB = 'N',  or  M = 0;
-          LDWORK &gt;= MAX( L+M*NOBR, L*NOBR + MAX( 3*L*NOBR+1, M ) ),
-                                      if  JOB &lt;&gt; 'N',  and  M &gt; 0.
-          For good performance,  LDWORK  should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  a singular upper triangular matrix was found.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The QR factorization is computed exploiting the structure,
-  as described in [4].
-  The matrices  B  and  D  are then obtained by solving certain
-  linear systems in a least squares sense.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Dewilde, P.
-      Subspace Model Identification. Part 1: The output-error
-      state-space model identification class of algorithms.
-      Int. J. Control, 56, pp. 1187-1210, 1992.
-
-  [2] Van Overschee, P., and De Moor, B.
-      N4SID: Two Subspace Algorithms for the Identification
-      of Combined Deterministic-Stochastic Systems.
-      Automatica, Vol.30, No.1, pp. 75-93, 1994.
-
-  [3] Van Overschee, P.
-      Subspace Identification : Theory - Implementation -
-      Applications.
-      Ph. D. Thesis, Department of Electrical Engineering,
-      Katholieke Universiteit Leuven, Belgium, Feb. 1995.
-
-  [4] Sima, V.
-      Subspace-based Algorithms for Multivariable System
-      Identification.
-      Studies in Informatics and Control, 5, pp. 335-344, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method for computing the triangular factor and
-  updating Kexpand is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The computed matrices B and D are not the least squares solutions
-  delivered by either MOESP or N4SID algorithms, except for the
-  special case n = s - 1, L = 1. However, the computed B and D are
-  frequently good enough estimates, especially for  METH = 'M'.
-  Better estimates could be obtained by calling SLICOT Library
-  routine IB01PX, but it is less efficient, and requires much more
-  workspace.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01QD">IB01QD</A></H2>
-<H3>
-Estimating initial state and system matrices B and D, given A, C, and input-output trajectories
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the initial state and the system matrices  B  and  D
-  of a linear time-invariant (LTI) discrete-time system, given the
-  matrix pair  (A,C)  and the input and output trajectories of the
-  system. The model structure is :
-
-        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
-        y(k)   = Cx(k) + Du(k),
-
-  where  x(k)  is the  n-dimensional state vector (at time k),
-         u(k)  is the  m-dimensional input vector,
-         y(k)  is the  l-dimensional output vector,
-  and  A, B, C, and D  are real matrices of appropriate dimensions.
-  Matrix  A  is assumed to be in a real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01QD( JOBX0, JOB, N, M, L, NSMP, A, LDA, C, LDC, U,
-     $                   LDU, Y, LDY, X0, B, LDB, D, LDD, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
-     $                   LDWORK, LDY, M, N, NSMP
-      CHARACTER          JOB, JOBX0
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX0   CHARACTER*1
-          Specifies whether or not the initial state should be
-          computed, as follows:
-          = 'X':  compute the initial state x(0);
-          = 'N':  do not compute the initial state (x(0) is known
-                  to be zero).
-
-  JOB     CHARACTER*1
-          Specifies which matrices should be computed, as follows:
-          = 'B':  compute the matrix B only (D is known to be zero);
-          = 'D':  compute the matrices B and D.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples,  t).
-          NSMP &gt;= N*M + a + e,  where
-          a = 0,  if  JOBX0 = 'N';
-          a = N,  if  JOBX0 = 'X';
-          e = 0,  if  JOBX0 = 'X'  and  JOB = 'B';
-          e = 1,  if  JOBX0 = 'N'  and  JOB = 'B';
-          e = M,  if  JOB   = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix  A  in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array must contain the
-          system output matrix  C  (corresponding to the real Schur
-          form of  A).
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= L.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,M)
-          On entry, the leading NSMP-by-M part of this array must
-          contain the t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          On exit, if  JOB = 'D',  the leading NSMP-by-M part of
-          this array contains details of the QR factorization of
-          the t-by-m matrix  U, possibly computed sequentially
-          (see METHOD).
-          If  JOB = 'B',  this array is unchanged on exit.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
-          LDU &gt;= 1,            if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          If  JOBX0 = 'X',  the estimated initial state of the
-          system,  x(0).
-          If  JOBX0 = 'N',  x(0)  is set to zero without any
-          calculations.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          If  N &gt; 0,  M &gt; 0,  and  INFO = 0,  the leading N-by-M
-          part of this array contains the system input matrix  B
-          in the coordinates corresponding to the real Schur form
-          of  A.
-          If  N = 0  or  M = 0,  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
-          LDB &gt;= 1,  if  N = 0  or   M = 0.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          If  M &gt; 0,  JOB = 'D',  and  INFO = 0,  the leading
-          L-by-M part of this array contains the system input-output
-          matrix  D.
-          If  M = 0  or  JOB = 'B',  this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'D';
-          LDD &gt;= 1,  if  M = 0  or   JOB = 'B'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  a matrix whose estimated condition
-          number is less than  1/TOL  is considered to be of full
-          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
-          instead, where  EPS  is the relative machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= N*M + a,            if  JOB = 'B',
-          LIWORK &gt;= max( N*M + a, M ),  if  JOB = 'D',
-          with  a = 0,  if  JOBX0 = 'N';
-                a = N,  if  JOBX0 = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK;  DWORK(2)  contains the reciprocal condition
-          number of the triangular factor of the QR factorization of
-          the matrix  W2  (see METHOD); if  M &gt; 0  and  JOB = 'D',
-          DWORK(3)  contains the reciprocal condition number of the
-          triangular factor of the QR factorization of  U.
-          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( LDW1, min( LDW2, LDW3 ) ),  where
-          LDW1 = 2,          if  M = 0  or   JOB = 'B',
-          LDW1 = 3,          if  M &gt; 0  and  JOB = 'D',
-          LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
-          LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
-          LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-          LDWb = (b + r)*(r + 1) +
-                  max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
-          LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
-          LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
-                             if  M &gt; 0  and JOB = 'D',
-             r = N*M + a,
-             a = 0,                  if  JOBX0 = 'N',
-             a = N,                  if  JOBX0 = 'X';
-             b = 0,                  if  JOB   = 'B',
-             b = L*M,                if  JOB   = 'D';
-             c = 0,                  if  JOBX0 = 'N',
-             c = L*N,                if  JOBX0 = 'X';
-             d = 0,                  if  JOBX0 = 'N',
-             d = 2*N*N + N,          if  JOBX0 = 'X';
-             f = 2*r,                if  JOB   = 'B'   or  M = 0,
-             f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M &gt; 0;
-             q = b + r*L.
-          For good performance,  LDWORK  should be larger.
-          If  LDWORK &gt;= LDW2  or
-              LDWORK &gt;= t*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
-                        max( d, f ),
-          then standard QR factorizations of the matrices  U  and/or
-          W2  (see METHOD) are used.
-          Otherwise, the QR factorizations are computed sequentially
-          by performing  NCYCLE  cycles, each cycle (except possibly
-          the last one) processing  s &lt; t  samples, where  s  is
-          chosen from the equation
-            LDWORK = s*L*(r + 1) + (b + r)*(r + 1) + N*N*M + c +
-                     max( d, f ).
-          (s  is at least  N*M+a+e,  the minimum value of  NSMP.)
-          The computational effort may increase and the accuracy may
-          decrease with the decrease of  s.  Recommended value is
-          LDWORK = LDW2,  assuming a large enough cache size, to
-          also accommodate  A,  C,  U,  and  Y.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension and refinement of the method in [1,2] is used.
-  Specifically, denoting
-
-        X = [ vec(D')' vec(B)' x0' ]',
-
-  where  vec(M)  is the vector obtained by stacking the columns of
-  the matrix  M,  then  X  is the least squares solution of the
-  system  S*X = vec(Y),  with the matrix  S = [ diag(U)  W ],
-  defined by
-
-        ( U         |     | ... |     |     | ... |     |         )
-        (   U       |  11 | ... |  n1 |  12 | ... |  nm |         )
-    S = (     :     | y   | ... | y   | y   | ... | y   | P*Gamma ),
-        (       :   |     | ... |     |     | ... |     |         )
-        (         U |     | ... |     |     | ... |     |         )
-                                                                  ij
-  diag(U)  having  L  block rows and columns.  In this formula,  y
-  are the outputs of the system for zero initial state computed
-  using the following model, for j = 1:m, and for i = 1:n,
-         ij          ij                    ij
-        x  (k+1) = Ax  (k) + e_i u_j(k),  x  (0) = 0,
-
-         ij          ij
-        y  (k)   = Cx  (k),
-
-  where  e_i  is the i-th n-dimensional unit vector,  Gamma  is
-  given by
-
-             (     C     )
-             (    C*A    )
-     Gamma = (   C*A^2   ),
-             (     :     )
-             ( C*A^(t-1) )
-
-  and  P  is a permutation matrix that groups together the rows of
-  Gamma  depending on the same row of  C,  namely
-  [ c_j;  c_j*A;  c_j*A^2; ...  c_j*A^(t-1) ],  for j = 1:L.
-  The first block column,  diag(U),  is not explicitly constructed,
-  but its structure is exploited. The last block column is evaluated
-  using powers of A with exponents 2^k. No interchanges are applied.
-  A special QR decomposition of the matrix  S  is computed. Let
-  U = q*[ r' 0 ]'  be the QR decomposition of  U,  if  M &gt; 0,  where
-  r  is  M-by-M.   Then,  diag(q')  is applied to  W  and  vec(Y).
-  The block-rows of  S  and  vec(Y)  are implicitly permuted so that
-  matrix  S  becomes
-
-     ( diag(r)  W1 )
-     (    0     W2 ),
-
-  where  W1  has L*M rows. Then, the QR decomposition of  W2 is
-  computed (sequentially, if  M &gt; 0) and used to obtain  B  and  x0.
-  The intermediate results and the QR decomposition of  U  are
-  needed to find  D.  If a triangular factor is too ill conditioned,
-  then singular value decomposition (SVD) is employed. SVD is not
-  generally needed if the input sequence is sufficiently
-  persistently exciting and  NSMP  is large enough.
-  If the matrix  W  cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW2),  the QR decompositions of  W2  and  U  are
-  computed sequentially.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Varga, A.
-      Some Experience with the MOESP Class of Subspace Model
-      Identification Methods in Identifying the BO105 Helicopter.
-      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
-
-  [2] Sima, V., and Varga, A.
-      RASP-IDENT : Subspace Model Identification Programs.
-      Deutsche Forschungsanstalt fur Luft- und Raumfahrt e. V.,
-      Report TR R888-94, DLR Oberpfaffenhofen, Oct. 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The algorithm for computing the system matrices  B  and  D  is
-  less efficient than the MOESP or N4SID algorithms implemented in
-  SLICOT Library routine IB01PD, because a large least squares
-  problem has to be solved, but the accuracy is better, as the
-  computed matrices  B  and  D  are fitted to the input and output
-  trajectories. However, if matrix  A  is unstable, the computed
-  matrices  B  and  D  could be inaccurate.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB01RD.html b/doc/_static/doc/IB01RD.html
deleted file mode 100644
index 5a07e58e..00000000
--- a/doc/_static/doc/IB01RD.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB01RD">IB01RD</A></H2>
-<H3>
-Estimating initial state, given A, B, C, D, and input-output trajectories
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the initial state of a linear time-invariant (LTI)
-  discrete-time system, given the system matrices  (A,B,C,D)  and
-  the input and output trajectories of the system. The model
-  structure is :
-
-        x(k+1) = Ax(k) + Bu(k),   k &gt;= 0,
-        y(k)   = Cx(k) + Du(k),
-
-  where  x(k)  is the  n-dimensional state vector (at time k),
-         u(k)  is the  m-dimensional input vector,
-         y(k)  is the  l-dimensional output vector,
-  and  A, B, C, and D  are real matrices of appropriate dimensions.
-  Matrix  A  is assumed to be in a real Schur form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB01RD( JOB, N, M, L, NSMP, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, U, LDU, Y, LDY, X0, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, IWARN, L, LDA, LDB, LDC, LDD, LDU,
-     $                   LDWORK, LDY, M, N, NSMP
-      CHARACTER          JOB
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA, *), B(LDB, *), C(LDC, *), D(LDD, *),
-     $                   DWORK(*),  U(LDU, *), X0(*), Y(LDY, *)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether or not the matrix D is zero, as follows:
-          = 'Z':  the matrix  D  is zero;
-          = 'N':  the matrix  D  is not zero.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt; 0.
-
-  NSMP    (input) INTEGER
-          The number of rows of matrices  U  and  Y  (number of
-          samples used,  t).  NSMP &gt;= N.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix  A  in a real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix  B  (corresponding to the real Schur
-          form of  A).
-          If  N = 0  or  M = 0,  this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= N,  if  N &gt; 0  and  M &gt; 0;
-          LDB &gt;= 1,  if  N = 0  or   M = 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array must contain the
-          system output matrix  C  (corresponding to the real Schur
-          form of  A).
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= L.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading L-by-M part of this array must contain the
-          system input-output matrix.
-          If  M = 0  or  JOB = 'Z',  this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= L,  if  M &gt; 0  and  JOB = 'N';
-          LDD &gt;= 1,  if  M = 0  or   JOB = 'Z'.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          If  M &gt; 0,  the leading NSMP-by-M part of this array must
-          contain the t-by-m input-data sequence matrix  U,
-          U = [u_1 u_2 ... u_m].  Column  j  of  U  contains the
-          NSMP  values of the j-th input component for consecutive
-          time increments.
-          If M = 0, this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,NSMP),  if M &gt; 0;
-          LDU &gt;= 1,            if M = 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,L)
-          The leading NSMP-by-L part of this array must contain the
-          t-by-l output-data sequence matrix  Y,
-          Y = [y_1 y_2 ... y_l].  Column  j  of  Y  contains the
-          NSMP  values of the j-th output component for consecutive
-          time increments.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          The estimated initial state of the system,  x(0).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for estimating the rank of
-          matrices. If the user sets  TOL &gt; 0,  then the given value
-          of  TOL  is used as a lower bound for the reciprocal
-          condition number;  a matrix whose estimated condition
-          number is less than  1/TOL  is considered to be of full
-          rank.  If the user sets  TOL &lt;= 0,  then  EPS  is used
-          instead, where  EPS  is the relative machine precision
-          (see LAPACK Library routine DLAMCH).  TOL &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK and  DWORK(2)  contains the reciprocal condition
-          number of the triangular factor of the QR factorization of
-          the matrix  Gamma  (see METHOD).
-          On exit, if  INFO = -22,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 2, min( LDW1, LDW2 ) ),  where
-          LDW1 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
-          LDW2 =   N*(N + 1) + 2*N +
-                   max( q*(N + 1) + 2*N*N + L*N, 4*N ),
-             q = N*L.
-          For good performance,  LDWORK  should be larger.
-          If  LDWORK &gt;= LDW1,  then standard QR factorization of
-          the matrix  Gamma  (see METHOD) is used. Otherwise, the
-          QR factorization is computed sequentially by performing
-          NCYCLE  cycles, each cycle (except possibly the last one)
-          processing  s  samples, where  s  is chosen by equating
-          LDWORK  to  LDW2,  for  q  replaced by  s*L.
-          The computational effort may increase and the accuracy may
-          decrease with the decrease of  s.  Recommended value is
-          LDRWRK = LDW1,  assuming a large enough cache size, to
-          also accommodate  A, B, C, D, U,  and  Y.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 4:  the least squares problem to be solved has a
-                rank-deficient coefficient matrix.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  the singular value decomposition (SVD) algorithm did
-                not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension and refinement of the method in [1] is used.
-  Specifically, the output y0(k) of the system for zero initial
-  state is computed for k = 0, 1, ...,  t-1 using the given model.
-  Then the following least squares problem is solved for x(0)
-
-                      (     C     )            (   y(0) - y0(0)   )
-                      (    C*A    )            (   y(1) - y0(1)   )
-     Gamma * x(0)  =  (     :     ) * x(0)  =  (        :         ).
-                      (     :     )            (        :         )
-                      ( C*A^(t-1) )            ( y(t-1) - y0(t-1) )
-
-  The coefficient matrix  Gamma  is evaluated using powers of A with
-  exponents 2^k. The QR decomposition of this matrix is computed.
-  If its triangular factor  R  is too ill conditioned, then singular
-  value decomposition of  R  is used.
-
-  If the coefficient matrix cannot be stored in the workspace (i.e.,
-  LDWORK &lt; LDW1),  the QR decomposition is computed sequentially.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Verhaegen M., and Varga, A.
-      Some Experience with the MOESP Class of Subspace Model
-      Identification Methods in Identifying the BO105 Helicopter.
-      Report TR R165-94, DLR Oberpfaffenhofen, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/IB03AD.html b/doc/_static/doc/IB03AD.html
deleted file mode 100644
index 46f96992..00000000
--- a/doc/_static/doc/IB03AD.html
+++ /dev/null
@@ -1,2727 +0,0 @@
-<HTML>
-<HEAD><TITLE>IB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB03AD">IB03AD</A></H2>
-<H3>
-Estimating parameters of a Wiener system using Levenberg-Marquardt algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a set of parameters for approximating a Wiener system
-  in a least-squares sense, using a neural network approach and a
-  Levenberg-Marquardt algorithm. Conjugate gradients (CG) or
-  Cholesky algorithms are used to solve linear systems of equations.
-  The Wiener system is represented as
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t)   = f(z(t),wb(1:L)),
-
-  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
-  evaluated by the SLICOT Library routine NF01AY. The parameter
-  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
-  where wb(i), i = 1 : L, correspond to the nonlinear part, and
-  theta corresponds to the linear part. See SLICOT Library routine
-  NF01AD for further details.
-
-  The sum of squares of the error functions, defined by
-
-     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
-
-  is minimized, where Y(t) is the measured output vector. The
-  functions and their Jacobian matrices are evaluated by SLICOT
-  Library routine NF01BB (the FCN routine in the call of MD03AD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
-     $                   ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX,
-     $                   TOL1, TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ALG, INIT, STOR
-      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
-     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INIT    CHARACTER*1
-          Specifies which parts have to be initialized, as follows:
-          = 'L' : initialize the linear part only, X already
-                  contains an initial approximation of the
-                  nonlinearity;
-          = 'S' : initialize the static nonlinearity only, X
-                  already contains an initial approximation of the
-                  linear part;
-          = 'B' : initialize both linear and nonlinear parts;
-          = 'N' : do not initialize anything, X already contains
-                  an initial approximation.
-          If INIT = 'S' or 'B', the error functions for the
-          nonlinear part, and their Jacobian matrices, are evaluated
-          by SLICOT Library routine NF01BA (used as a second FCN
-          routine in the MD03AD call for the initialization step,
-          see METHOD).
-
-  ALG     CHARACTER*1
-          Specifies the algorithm used for solving the linear
-          systems involving a Jacobian matrix J, as follows:
-          = 'D' :  a direct algorithm, which computes the Cholesky
-                   factor of the matrix J'*J + par*I is used, where
-                   par is the Levenberg factor;
-          = 'I' :  an iterative Conjugate Gradients algorithm, which
-                   only needs the matrix J, is used.
-          In both cases, matrix J is stored in a compressed form.
-
-  STOR    CHARACTER*1
-          If ALG = 'D', specifies the storage scheme for the
-          symmetric matrix J'*J, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-          The option STOR = 'F' usually ensures a faster execution.
-          This parameter is not relevant if ALG = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
-          in the input and output block Hankel matrices to be
-          processed for estimating the linear part.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-          This parameter is ignored if INIT is 'S' or 'N'.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
-          INIT = 'L' or 'B'.
-
-  NSMP    (input) INTEGER
-          The number of input and output samples, t.  NSMP &gt;= 0, and
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
-
-  N       (input/output) INTEGER
-          The order of the linear part.
-          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
-          assumed unknown and it will be found by the routine.
-          Otherwise, the input value will be used. If INIT = 'S'
-          or 'N', N must be non-negative. The values N &gt;= NOBR,
-          or N = 0, are not acceptable if INIT = 'L' or 'B'.
-
-  NN      (input) INTEGER
-          The number of neurons which shall be used to approximate
-          the nonlinear part.  NN &gt;= 0.
-
-  ITMAX1  (input) INTEGER
-          The maximum number of iterations for the initialization of
-          the static nonlinearity.
-          This parameter is ignored if INIT is 'N' or 'L'.
-          Otherwise, ITMAX1 &gt;= 0.
-
-  ITMAX2  (input) INTEGER
-          The maximum number of iterations.  ITMAX2 &gt;= 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          and the current error norm is printed. Other intermediate
-          results could be printed by modifying the corresponding
-          FCN routine (NF01BA and/or NF01BB). If NPRINT &lt;= 0, no
-          special calls of FCN with IFLAG = 0 are made.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array must contain the
-          set of output samples,
-          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X       (input/output) DOUBLE PRECISION array dimension (LX)
-          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
-          of this array must contain the initial parameters for
-          the nonlinear part of the system.
-          On entry, if INIT = 'S', the elements lin1 : lin2 of this
-          array must contain the initial parameters for the linear
-          part of the system, corresponding to the output normal
-          form, computed by SLICOT Library routine TB01VD, where
-             lin1 = (NN*(L+2) + 1)*L + 1;
-             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
-          On entry, if INIT = 'N', the elements 1 : lin2 of this
-          array must contain the initial parameters for the
-          nonlinear part followed by the initial parameters for the
-          linear part of the system, as specified above.
-          This array need not be set on entry if INIT = 'B'.
-          On exit, the elements 1 : lin2 of this array contain the
-          optimal parameters for the nonlinear part followed by the
-          optimal parameters for the linear part of the system, as
-          specified above.
-
-  LX      (input/output) INTEGER
-          On entry, this parameter must contain the intended length
-          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
-          If N is unknown (N &lt; 0 on entry), a large enough estimate
-          of N should be used in the formula of lin2.
-          On exit, if N &lt; 0 on entry, but LX is not large enough,
-          then this parameter contains the actual length of X,
-          corresponding to the computed N. Otherwise, its value
-          is unchanged.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
-          which measures the relative error desired in the sum of
-          squares, for the initialization step of nonlinear part.
-          Termination occurs when the actual relative reduction in
-          the sum of squares is at most TOL1. In addition, if
-          ALG = 'I', TOL1 also measures the relative residual of
-          the solutions computed by the CG algorithm (for the
-          initialization step). Termination of a CG process occurs
-          when the relative residual is at most TOL1.
-          If the user sets  TOL1 &lt; 0,  then  SQRT(EPS)  is used
-          instead TOL1, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-          This parameter is ignored if INIT is 'N' or 'L'.
-
-  TOL2    DOUBLE PRECISION
-          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
-          relative error desired in the sum of squares, for the
-          whole optimization process. Termination occurs when the
-          actual relative reduction in the sum of squares is at
-          most TOL2.
-          If ALG = 'I', TOL2 also measures the relative residual of
-          the solutions computed by the CG algorithm (for the whole
-          optimization). Termination of a CG process occurs when the
-          relative residual is at most TOL2.
-          If the user sets  TOL2 &lt; 0,  then  SQRT(EPS)  is used
-          instead TOL2. This default value could require many
-          iterations, especially if TOL1 is larger. If INIT = 'S'
-          or 'B', it is advisable that TOL2 be larger than TOL1,
-          and spend more time with cheaper iterations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX( 3, LIW1, LIW2 )), where
-          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
-          LIW1 = M+L;
-          LIW2 = MAX(M*NOBR+N,M*(N+L)).
-          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
-          (total) number of function and Jacobian evaluations,
-          respectively (including the initialization step, if it was
-          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
-          specifies how many locations of DWORK contain reciprocal
-          condition number estimates (see below); otherwise,
-          IWORK(3) = 0.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On entry, if desired, and if INIT = 'S' or 'B', the
-          entries DWORK(1:4) are set to initialize the random
-          numbers generator for the nonlinear part parameters (see
-          the description of the argument XINIT of SLICOT Library
-          routine MD03AD); this enables to obtain reproducible
-          results. The same seed is used for all outputs.
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, DWORK(4) returns the number of conjugate
-          gradients iterations performed, and DWORK(5) returns the
-          final Levenberg factor, for optimizing the parameters of
-          both the linear part and the static nonlinearity part.
-          If INIT = 'S' or INIT = 'B' and INFO = 0, then the
-          elements DWORK(6) to DWORK(10) contain the corresponding
-          five values for the initialization step (see METHOD).
-          (If L &gt; 1, DWORK(10) contains the maximum of the Levenberg
-          factors for all outputs.) If INIT = 'L' or INIT = 'B', and
-          INFO = 0, DWORK(11) to DWORK(10+IWORK(3)) contain
-          reciprocal condition number estimates set by SLICOT
-          Library routines IB01AD, IB01BD, and IB01CD.
-          On exit, if  INFO = -23,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          In the formulas below, N should be taken not larger than
-          NOBR - 1, if N &lt; 0 on entry.
-          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
-          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
-          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
-                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
-                     MAX( LDW1, LDW2 ),
-                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
-                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
-              where,
-              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
-                           L*NOBR*N +
-                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
-                                2*(L*NOBR-L)*N+N*N+8*N,
-                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
-              LDW2 &gt;= 0,                                  if M = 0;
-              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
-                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
-              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
-              LDW4 = N*(N+1) + 2*N +
-                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
-              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
-              LDW6 = NSMP*L + (N+L)*(N+M) + N +
-                     MAX(1, N*N*L + N*L + N, N*N +
-                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
-                             N*M));
-          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
-          LW2 = NSMP*L +
-                MAX( 5, NSMP + 2*BSN + NSMP*BSN +
-                        MAX( 2*NN + BSN, LDW7 ) );
-              LDW7 = BSN*BSN,       if ALG = 'D' and STOR = 'F';
-              LDW7 = BSN*(BSN+1)/2, if ALG = 'D' and STOR = 'P';
-              LDW7 = 3*BSN + NSMP,  if ALG = 'I';
-          LW3 = MAX( LDW8, NSMP*L + (N+L)*(2*N+M) + 2*N );
-              LDW8 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
-              LDW8 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
-          LW4 = MAX( 5, NSMP*L + 2*NX + NSMP*L*( BSN + LTHS ) +
-                        MAX( L1 + NX, NSMP*L + L1, L2 ) ),
-               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
-               L0 = MAX( N*(N+L), L ),        if M = 0;
-               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
-               L2 = NX*NX,          if ALG = 'D' and STOR = 'F';
-               L2 = NX*(NX+1)/2,    if ALG = 'D' and STOR = 'P';
-               L2 = 3*NX + NSMP*L,  if ALG = 'I',
-               with BSN  = NN*( L + 2 ) + 1,
-                    LTHS = N*( L + M + 1 ) + L*M.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          &lt; 0:  the user set IFLAG = IWARN in (one of) the
-                subroutine(s) FCN, i.e., NF01BA, if INIT = 'S'
-                or 'B', and/or NF01BB; this value cannot be returned
-                without changing the FCN routine(s);
-                otherwise, IWARN has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning (where TOL* denotes TOL1 or TOL2,
-                and similarly for ITMAX*):
-          = 1:  the number of iterations has reached ITMAX* without
-                satisfying the convergence condition;
-          = 2:  if alg = 'I' and in an iteration of the Levenberg-
-                Marquardt algorithm, the CG algorithm finished
-                after 3*NX iterations (or 3*(lin1-1) iterations, for
-                the initialization phase), without achieving the
-                precision required in the call;
-          = 3:  the cosine of the angle between the vector of error
-                function values and any column of the Jacobian is at
-                most FACTOR*EPS in absolute value (FACTOR = 100);
-          = 4:  TOL* is too small: no further reduction in the sum
-                of squares is possible.
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 6 (see IB01AD, IB01BD
-          and IB01CD). In all these cases, the entries DWORK(1:5),
-          DWORK(6:10) (if INIT = 'S' or 'B'), and
-          DWORK(11:10+IWORK(3)) (if INIT = 'L' or 'B'), are set as
-          described above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                otherwise, INFO has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning:
-          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 1;
-          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 2;
-          = 3:  ALG = 'D' and SLICOT Library routines MB02XD or
-                NF01BU (or NF01BV, if INIT = 'S' or 'B') or
-                ALG = 'I' and SLICOT Library routines MB02WD or
-                NF01BW (or NF01BX, if INIT = 'S' or 'B') returned
-                with INFO &lt;&gt; 0.
-          In addition, if INIT = 'L' or 'B', i could also be
-          = 4:  if a Lyapunov equation could not be solved;
-          = 5:  if the identified linear system is unstable;
-          = 6:  if the QR algorithm failed on the state matrix
-                of the identified linear system.
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INIT = 'L' or 'B', the linear part of the system is
-  approximated using the combined MOESP and N4SID algorithm. If
-  necessary, this algorithm can also choose the order, but it is
-  advantageous if the order is already known.
-
-  If INIT = 'S' or 'B', the output of the approximated linear part
-  is computed and used to calculate an approximation of the static
-  nonlinearity using the Levenberg-Marquardt algorithm [1].
-  This step is referred to as the (nonlinear) initialization step.
-
-  As last step, the Levenberg-Marquardt algorithm is used again to
-  optimize the parameters of the linear part and the static
-  nonlinearity as a whole. Therefore, it is necessary to parametrise
-  the matrices of the linear part. The output normal form [2]
-  parameterisation is used.
-
-  The Jacobian is computed analytically, for the nonlinear part, and
-  numerically, for the linear part.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kelley, C.T.
-      Iterative Methods for Optimization.
-      Society for Industrial and Applied Mathematics (SIAM),
-      Philadelphia (Pa.), 1999.
-
-  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
-      Balanced realizations of discrete-time stable all-pass
-      systems and the tangential Schur algorithm.
-      Proceedings of the European Control Conference,
-      31 August - 3 September 1999, Karlsruhe, Germany.
-      Session CP-6, Discrete-time Systems, 1999.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           LDU, LDY, LIWORK, LMAX, MMAX, NMAX, NNMAX,
-     $                  NOBRMX, NSMPMX
-      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
-     $                    NMAX = 4, NSMPMX = 1024,
-     $                    LDU  = NSMPMX, LDY = NSMPMX,
-     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
-     $                                  MMAX*( NMAX + LMAX ) ) )
-      INTEGER           BSNM, L0, L1M, L2M, LDW1, LDW2, LDW3, LDW4,
-     $                  LDW5, LDW6, LDW7, LDW8, LDWORK, LTHS, LW1, LW2,
-     $                  LW3, LW4, LXM
-      PARAMETER         ( BSNM = NNMAX*( LMAX + 2 ) + 1,
-     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
-     $                    L0   = MAX( NMAX*( NMAX + LMAX ),
-     $                                NMAX + MMAX + LMAX ),
-     $                    L1M  = NSMPMX*LMAX +
-     $                           MAX( 2*NNMAX,
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                2*NMAX + L0 ),
-     $                    LXM  = BSNM*LMAX + LTHS,
-     $                    L2M  = MAX( LXM*LXM, 3*LXM + NSMPMX*LMAX ),
-     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                2*NMAX,
-     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                NMAX*NMAX + 7*NMAX,
-     $                                LMAX*NOBRMX*NMAX +
-     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                     2*NMAX + LMAX +
-     $                                     ( 2*MMAX + LMAX )*NOBRMX,
-     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
-     $                                   + NMAX*NMAX + 8*NMAX,
-     $                                     NMAX + 4*( MMAX*NOBRMX +
-     $                                                NMAX ) + 1,
-     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
-     $                              ),
-     $                    LDW2 = LMAX*NOBRMX*NMAX +
-     $                           MMAX*NOBRMX*( NMAX + LMAX )*
-     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                           MAX( ( NMAX + LMAX )**2,
-     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
-     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
-     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
-     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + NMAX +
-     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
-     $                                NMAX, NMAX*NMAX +
-     $                                MAX( NMAX*NMAX +
-     $                                     NMAX*MAX( NMAX, LMAX ) +
-     $                                     6*NMAX + MIN( NMAX, LMAX ),
-     $                                     NMAX*MMAX ) ),
-     $                    LDW7 = MAX( BSNM*BSNM, 3*BSNM + NSMPMX ),
-     $                    LDW8 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
-     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
-     $                                  + 3 ) + LMAX*NOBRMX,
-     $                                4*( MMAX + LMAX )*NOBRMX*
-     $                                ( MMAX + LMAX )*NOBRMX +
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                MAX( LDW1, LDW2 ),
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                NMAX + NMAX*NMAX + 2 +
-     $                                NMAX*( NMAX + MMAX + LMAX ) +
-     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
-     $                                     LDW5, LDW6 ) ),
-     $                    LW2  = NSMPMX*LMAX +
-     $                           MAX( 5, NSMPMX + 2*BSNM + NSMPMX*BSNM +
-     $                                   MAX( 2*NNMAX + BSNM, LDW7 ) ),
-     $                    LW3  = MAX( LDW8, NSMPMX*LMAX +
-     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
-     $                                2*NMAX ),
-     $                    LW4  = MAX( 5, NSMPMX*LMAX + 2*LXM +
-     $                                NSMPMX*LMAX*( BSNM + LTHS ) +
-     $                                MAX( L1M + LXM, NSMPMX*LMAX + L1M,
-     $                                     L2M ) ),
-     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
-*     .. Local Scalars ..
-      LOGICAL           INIT1, INITB, INITL, INITN, INITS
-      CHARACTER*1       ALG, INIT, STOR
-      INTEGER           BSN, I, INFO, INI, ITER, ITERCG, ITMAX1, ITMAX2,
-     $                  IWARN, J, L, L1, L2, LPAR, LX, M, N, NN, NOBR,
-     $                  NPRINT, NS, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-*     .. Array Arguments ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          IB03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
-     $                      NPRINT, TOL1, TOL2, INIT, ALG, STOR
-      INITL = LSAME( INIT, 'L' )
-      INITS = LSAME( INIT, 'S' )
-      INITB = LSAME( INIT, 'B' )
-      INITN = LSAME( INIT, 'N' )
-      INIT1 = INITL .OR. INITB
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) L
-         ELSE
-            NS = N
-            IF( INIT1 ) THEN
-               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NOBR
-                  STOP
-               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-               IF ( N.LT.0 )
-     $            N = NOBR - 1
-            ELSE
-               IF( NSMP.LT.0 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-            END IF
-            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) NN
-            ELSE
-               BSN = NN*( L + 2 ) + 1
-               L1  = BSN*L
-               L2  = N*( L + M + 1 ) + L*M
-               LX  = L1 + L2
-               INI = 1
-               IF ( INITL ) THEN
-                  LPAR = L1
-               ELSEIF ( INITS ) THEN
-                  INI  = L1 + 1
-                  LPAR = L2
-               ELSEIF ( INITN ) THEN
-                  LPAR = LX
-               END IF
-               IF( INIT1 )
-     $            N = NS
-*              Read the input-output data, initial parameters, and seed.
-               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
-               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
-               IF ( .NOT.INITB )
-     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
-               IF ( INITS .OR. INITB )
-     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
-*              Solve a Wiener system identification problem.
-               CALL IB03AD( INIT, ALG, STOR, NOBR, M, L, NSMP, N, NN,
-     $                      ITMAX1, ITMAX2, NPRINT, U, LDU, Y, LDY,
-     $                      X, LX, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
-                  ITER   = DWORK(3)
-                  ITERCG = DWORK(4)
-                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-                  WRITE ( NOUT, FMT = 99996 ) ITER, ITERCG,
-     $                                        IWORK(1), IWORK(2)
-*                 Recompute LX is necessary.
-                  IF ( INIT1 .AND. NS.LT.0 )
-     $               LX = L1 + N*( L + M + 1 ) + L*M
-                  WRITE ( NOUT, FMT = 99994 )
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' IB03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from IB03AD = ',I4)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' Number of iterations                     = ', I7,
-     $        /' Number of conjugate gradients iterations = ', I7,
-     $        /' Number of function evaluations           = ', I7,
-     $        /' Number of Jacobian evaluations           = ', I7)
-99995 FORMAT (10(1X,F8.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
-99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
-99989 FORMAT (/' N is out of range.',/' N = ',I5)
-99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
-99987 FORMAT (' IWARN on exit from IB03AD = ',I4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB03AD EXAMPLE PROGRAM DATA
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-   3.3620966e-02
-  -8.3194568e-02
-  -1.6716420e-01
- 1998.   1999.   2000.   2001.
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB03AD EXAMPLE PROGRAM RESULTS
-
-
- Final 2-norm of the residuals =   0.2970365D+00
-
- Number of iterations                     =      87
- Number of conjugate gradients iterations =       0
- Number of function evaluations           =    1322
- Number of Jacobian evaluations           =     105
-
- Final approximate solution is 
-  -0.9728   0.6465  -1.2888  -0.4296  -0.8530   0.3181   0.9778   0.4570  -0.1420   0.8984
-  -0.6031   0.0697  -1.0822   0.4465   0.6036   0.3792   0.2532  -0.0285   0.4129   0.4833
-   0.1746   0.5626   0.2150  -0.3343   0.4013  -0.3679   0.5653   0.8092  -0.2363  -0.6361
-  -0.6818   0.6110  -0.5506   0.9914   0.0352   0.1968  -0.2502   7.0067 -10.7378   2.6900
- -59.8756  -0.9898  -0.8296   2.3429   1.3456  -0.2531  -1.1265   0.0326   0.5617   0.1045
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>IB03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="IB03BD">IB03BD</A></H2>
-<H3>
-Wiener system identification using a MINPACK-like Levenberg-Marquardt algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a set of parameters for approximating a Wiener system
-  in a least-squares sense, using a neural network approach and a
-  MINPACK-like Levenberg-Marquardt algorithm. The Wiener system
-  consists of a linear part and a static nonlinearity, and it is
-  represented as
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t)   = f(z(t),wb(1:L)),
-
-  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
-  evaluated by the SLICOT Library routine NF01AY. The parameter
-  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
-  where theta corresponds to the linear part, and wb(i), i = 1 : L,
-  correspond to the nonlinear part. See SLICOT Library routine
-  NF01AD for further details.
-
-  The sum of squares of the error functions, defined by
-
-     e(t) = y(t) - Y(t),  t = 1, 2, ..., NSMP,
-
-  is minimized, where Y(t) is the measured output vector. The
-  functions and their Jacobian matrices are evaluated by SLICOT
-  Library routine NF01BF (the FCN routine in the call of MD03BD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
-     $                   NPRINT, U, LDU, Y, LDY, X, LX, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         INIT
-      INTEGER           INFO, ITMAX1, ITMAX2, IWARN, L, LDU, LDWORK,
-     $                  LDY, LX, M, N, NN, NOBR, NPRINT, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), U(LDU, *), X(*), Y(LDY, *)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  INIT    CHARACTER*1
-          Specifies which parts have to be initialized, as follows:
-          = 'L' : initialize the linear part only, X already
-                  contains an initial approximation of the
-                  nonlinearity;
-          = 'S' : initialize the static nonlinearity only, X
-                  already contains an initial approximation of the
-                  linear part;
-          = 'B' : initialize both linear and nonlinear parts;
-          = 'N' : do not initialize anything, X already contains
-                  an initial approximation.
-          If INIT = 'S' or 'B', the error functions for the
-          nonlinear part, and their Jacobian matrices, are evaluated
-          by SLICOT Library routine NF01BE (used as a second FCN
-          routine in the MD03BD call for the initialization step,
-          see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NOBR    (input) INTEGER
-          If INIT = 'L' or 'B', NOBR is the number of block rows, s,
-          in the input and output block Hankel matrices to be
-          processed for estimating the linear part.  NOBR &gt; 0.
-          (In the MOESP theory,  NOBR  should be larger than  n,
-          the estimated dimension of state vector.)
-          This parameter is ignored if INIT is 'S' or 'N'.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0, and L &gt; 0, if
-          INIT = 'L' or 'B'.
-
-  NSMP    (input) INTEGER
-          The number of input and output samples, t.  NSMP &gt;= 0, and
-          NSMP &gt;= 2*(M+L+1)*NOBR - 1, if INIT = 'L' or 'B'.
-
-  N       (input/output) INTEGER
-          The order of the linear part.
-          If INIT = 'L' or 'B', and N &lt; 0 on entry, the order is
-          assumed unknown and it will be found by the routine.
-          Otherwise, the input value will be used. If INIT = 'S'
-          or 'N', N must be non-negative. The values N &gt;= NOBR,
-          or N = 0, are not acceptable if INIT = 'L' or 'B'.
-
-  NN      (input) INTEGER
-          The number of neurons which shall be used to approximate
-          the nonlinear part.  NN &gt;= 0.
-
-  ITMAX1  (input) INTEGER
-          The maximum number of iterations for the initialization of
-          the static nonlinearity.
-          This parameter is ignored if INIT is 'N' or 'L'.
-          Otherwise, ITMAX1 &gt;= 0.
-
-  ITMAX2  (input) INTEGER
-          The maximum number of iterations.  ITMAX2 &gt;= 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          and the current error norm is printed. Other intermediate
-          results could be printed by modifying the corresponding
-          FCN routine (NF01BE and/or NF01BF). If NPRINT &lt;= 0, no
-          special calls of FCN with IFLAG = 0 are made.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array must contain the
-          set of output samples,
-          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NSMP).
-
-  X       (input/output) DOUBLE PRECISION array dimension (LX)
-          On entry, if INIT = 'L', the leading (NN*(L+2) + 1)*L part
-          of this array must contain the initial parameters for
-          the nonlinear part of the system.
-          On entry, if INIT = 'S', the elements lin1 : lin2 of this
-          array must contain the initial parameters for the linear
-          part of the system, corresponding to the output normal
-          form, computed by SLICOT Library routine TB01VD, where
-             lin1 = (NN*(L+2) + 1)*L + 1;
-             lin2 = (NN*(L+2) + 1)*L + N*(L+M+1) + L*M.
-          On entry, if INIT = 'N', the elements 1 : lin2 of this
-          array must contain the initial parameters for the
-          nonlinear part followed by the initial parameters for the
-          linear part of the system, as specified above.
-          This array need not be set on entry if INIT = 'B'.
-          On exit, the elements 1 : lin2 of this array contain the
-          optimal parameters for the nonlinear part followed by the
-          optimal parameters for the linear part of the system, as
-          specified above.
-
-  LX      (input/output) INTEGER
-          On entry, this parameter must contain the intended length
-          of X. If N &gt;= 0, then LX &gt;= NX := lin2 (see parameter X).
-          If N is unknown (N &lt; 0 on entry), a large enough estimate
-          of N should be used in the formula of lin2.
-          On exit, if N &lt; 0 on entry, but LX is not large enough,
-          then this parameter contains the actual length of X,
-          corresponding to the computed N. Otherwise, its value
-          is unchanged.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If INIT = 'S' or 'B' and TOL1 &gt;= 0, TOL1 is the tolerance
-          which measures the relative error desired in the sum of
-          squares, as well as the relative error desired in the
-          approximate solution, for the initialization step of
-          nonlinear part. Termination occurs when either both the
-          actual and predicted relative reductions in the sum of
-          squares, or the relative error between two consecutive
-          iterates are at most TOL1. If the user sets  TOL1 &lt; 0,
-          then  SQRT(EPS)  is used instead TOL1, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          This parameter is ignored if INIT is 'N' or 'L'.
-
-  TOL2    DOUBLE PRECISION
-          If TOL2 &gt;= 0, TOL2 is the tolerance which measures the
-          relative error desired in the sum of squares, as well as
-          the relative error desired in the approximate solution,
-          for the whole optimization process. Termination occurs
-          when either both the actual and predicted relative
-          reductions in the sum of squares, or the relative error
-          between two consecutive iterates are at most TOL2. If the
-          user sets TOL2 &lt; 0, then  SQRT(EPS)  is used instead TOL2.
-          This default value could require many iterations,
-          especially if TOL1 is larger. If INIT = 'S' or 'B', it is
-          advisable that TOL2 be larger than TOL1, and spend more
-          time with cheaper iterations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX( LIW1, LIW2, LIW3 )), where
-          LIW1 = LIW2 = 0,  if INIT = 'S' or 'N'; otherwise,
-          LIW1 = M+L;
-          LIW2 = MAX(M*NOBR+N,M*(N+L));
-          LIW3 = 3+MAX(NN*(L+2)+2,NX+L), if INIT = 'S' or 'B';
-          LIW3 = 3+NX+L,                 if INIT = 'L' or 'N'.
-          On output, if INFO = 0, IWORK(1) and IWORK(2) return the
-          (total) number of function and Jacobian evaluations,
-          respectively (including the initialization step, if it was
-          performed), and if INIT = 'L' or INIT = 'B', IWORK(3)
-          specifies how many locations of DWORK contain reciprocal
-          condition number estimates (see below); otherwise,
-          IWORK(3) = 0. If INFO = 0, the entries 4 to 3+NX of IWORK
-          define a permutation matrix P such that J*P = Q*R, where
-          J is the final calculated Jacobian, Q is an orthogonal
-          matrix (not stored), and R is upper triangular with
-          diagonal elements of nonincreasing magnitude (possibly
-          for each block column of J). Column j of P is column
-          IWORK(3+j) of the identity matrix. Moreover, the entries
-          4+NX:3+NX+L of this array contain the ranks of the final
-          submatrices S_k (see description of LMPARM in MD03BD).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On entry, if desired, and if INIT = 'S' or 'B', the
-          entries DWORK(1:4) are set to initialize the random
-          numbers generator for the nonlinear part parameters (see
-          the description of the argument XINIT of SLICOT Library
-          routine MD03BD); this enables to obtain reproducible
-          results. The same seed is used for all outputs.
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, and DWORK(4) returns the final Levenberg
-          factor, for optimizing the parameters of both the linear
-          part and the static nonlinearity part. If INIT = 'S' or
-          INIT = 'B' and INFO = 0, then the elements DWORK(5) to
-          DWORK(8) contain the corresponding four values for the
-          initialization step (see METHOD). (If L &gt; 1, DWORK(8)
-          contains the maximum of the Levenberg factors for all
-          outputs.) If INIT = 'L' or INIT = 'B', and INFO = 0,
-          DWORK(9) to DWORK(8+IWORK(3)) contain reciprocal condition
-          number estimates set by SLICOT Library routines IB01AD,
-          IB01BD, and IB01CD.
-          On exit, if  INFO = -21,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          In the formulas below, N should be taken not larger than
-          NOBR - 1, if N &lt; 0 on entry.
-          LDWORK = MAX( LW1, LW2, LW3, LW4 ), where
-          LW1 = 0, if INIT = 'S' or 'N'; otherwise,
-          LW1 = MAX( 2*(M+L)*NOBR*(2*(M+L)*(NOBR+1)+3) + L*NOBR,
-                     4*(M+L)*NOBR*(M+L)*NOBR + (N+L)*(N+M) +
-                     MAX( LDW1, LDW2 ),
-                     (N+L)*(N+M) + N + N*N + 2 + N*(N+M+L) +
-                     MAX( 5*N, 2, MIN( LDW3, LDW4 ), LDW5, LDW6 ),
-              where,
-              LDW1 &gt;= MAX( 2*(L*NOBR-L)*N+2*N, (L*NOBR-L)*N+N*N+7*N,
-                           L*NOBR*N +
-                           MAX( (L*NOBR-L)*N+2*N + (2*M+L)*NOBR+L,
-                                2*(L*NOBR-L)*N+N*N+8*N,
-                                N+4*(M*NOBR+N)+1, M*NOBR+3*N+L ) )
-              LDW2 &gt;= 0,                                  if M = 0;
-              LDW2 &gt;= L*NOBR*N + M*NOBR*(N+L)*(M*(N+L)+1) +
-                      MAX( (N+L)**2, 4*M*(N+L)+1 ),       if M &gt; 0;
-              LDW3 = NSMP*L*(N+1) + 2*N + MAX( 2*N*N, 4*N ),
-              LDW4 = N*(N+1) + 2*N +
-                     MAX( N*L*(N+1) + 2*N*N + L*N, 4*N );
-              LDW5 = NSMP*L + (N+L)*(N+M) + 3*N+M+L;
-              LDW6 = NSMP*L + (N+L)*(N+M) + N +
-                     MAX(1, N*N*L + N*L + N, N*N +
-                         MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
-                             N*M));
-          LW2 = LW3 = 0, if INIT = 'L' or 'N'; otherwise,
-          LW2 = NSMP*L + BSN +
-                MAX( 4, NSMP +
-                        MAX( NSMP*BSN + MAX( 2*NN, 5*BSN + 1 ),
-                             BSN**2 + BSN +
-                             MAX( NSMP + 2*NN, 5*BSN ) ) );
-          LW3 = MAX( LDW7, NSMP*L + (N+L)*(2*N+M) + 2*N );
-              LDW7 = NSMP*L + (N+L)*(N+M) + 3*N+M+L,  if M &gt; 0;
-              LDW7 = NSMP*L + (N+L)*N + 2*N+L,        if M = 0;
-          LW4 = NSMP*L + NX +
-                MAX( 4, NSMP*L +
-                        MAX( NSMP*L*( BSN + LTHS ) +
-                             MAX( NSMP*L + L1, L2 + NX ),
-                                  NX*( BSN + LTHS ) + NX +
-                                  MAX( NSMP*L + L1, NX + L3 ) ) ),
-               L0 = MAX( N*(N+L), N+M+L ),    if M &gt; 0;
-               L0 = MAX( N*(N+L), L ),        if M = 0;
-               L1 = NSMP*L + MAX( 2*NN, (N+L)*(N+M) + 2*N + L0);
-               L2 = 4*NX + 1,  if L &lt;= 1 or BSN = 0; otherwise,
-               L2 = BSN + MAX(3*BSN+1,LTHS);
-               L2 = MAX(L2,4*LTHS+1),         if NSMP &gt; BSN;
-               L2 = MAX(L2,(NSMP-BSN)*(L-1)), if BSN &lt; NSMP &lt; 2*BSN;
-               L3 = 4*NX,                     if L &lt;= 1 or BSN = 0;
-               L3 = LTHS*BSN + 2*NX + 2*MAX(BSN,LTHS),
-                                              if L &gt; 1 and BSN &gt; 0,
-               with BSN  = NN*( L + 2 ) + 1,
-                    LTHS = N*( L + M + 1 ) + L*M.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          &lt; 0:  the user set IFLAG = IWARN in (one of) the
-                subroutine(s) FCN, i.e., NF01BE, if INIT = 'S'
-                or 'B', and/or NF01BF; this value cannot be returned
-                without changing the FCN routine(s);
-                otherwise, IWARN has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning (where TOL* denotes TOL1 or TOL2,
-                and similarly for ITMAX*):
-          = 1:  both actual and predicted relative reductions in
-                the sum of squares are at most TOL*;
-          = 2:  relative error between two consecutive iterates is
-                at most TOL*;
-          = 3:  conditions for i or j = 1 and i or j = 2 both hold;
-          = 4:  the cosine of the angle between the vector of error
-                function values and any column of the Jacobian is at
-                most EPS in absolute value;
-          = 5:  the number of iterations has reached ITMAX* without
-                satisfying any convergence condition;
-          = 6:  TOL* is too small: no further reduction in the sum
-                of squares is possible;
-          = 7:  TOL* is too small: no further improvement in the
-                approximate solution X is possible;
-          = 8:  the vector of function values e is orthogonal to the
-                columns of the Jacobian to machine precision.
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 6 (see IB01AD, IB01BD
-          and IB01CD). In all these cases, the entries DWORK(1:4),
-          DWORK(5:8) (if INIT = 'S' or 'B'), and DWORK(9:8+IWORK(3))
-          (if INIT = 'L' or 'B'), are set as described above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                otherwise, INFO has the value k*100 + j*10 + i,
-                where k is defined below, i refers to the whole
-                optimization process, and j refers to the
-                initialization step (j = 0, if INIT = 'L' or 'N'),
-                and the possible values for i and j have the
-                following meaning:
-          = 1:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 1;
-          = 2:  the routine FCN returned with INFO &lt;&gt; 0 for
-                IFLAG = 2;
-          = 3:  the routine QRFACT returned with INFO &lt;&gt; 0;
-          = 4:  the routine LMPARM returned with INFO &lt;&gt; 0.
-          In addition, if INIT = 'L' or 'B', i could also be
-          = 5:  if a Lyapunov equation could not be solved;
-          = 6:  if the identified linear system is unstable;
-          = 7:  if the QR algorithm failed on the state matrix
-                of the identified linear system.
-          QRFACT and LMPARM are generic names for SLICOT Library
-          routines NF01BS and NF01BP, respectively, for the whole
-          optimization process, and MD03BA and MD03BB, respectively,
-          for the initialization step (if INIT = 'S' or 'B').
-          The digit k is normally 0, but if INIT = 'L' or 'B', it
-          can have a value in the range 1 to 10 (see IB01AD/IB01BD).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INIT = 'L' or 'B', the linear part of the system is
-  approximated using the combined MOESP and N4SID algorithm. If
-  necessary, this algorithm can also choose the order, but it is
-  advantageous if the order is already known.
-
-  If INIT = 'S' or 'B', the output of the approximated linear part
-  is computed and used to calculate an approximation of the static
-  nonlinearity using the Levenberg-Marquardt algorithm [1,3].
-  This step is referred to as the (nonlinear) initialization step.
-
-  As last step, the Levenberg-Marquardt algorithm is used again to
-  optimize the parameters of the linear part and the static
-  nonlinearity as a whole. Therefore, it is necessary to parametrise
-  the matrices of the linear part. The output normal form [2]
-  parameterisation is used.
-
-  The Jacobian is computed analytically, for the nonlinear part, and
-  numerically, for the linear part.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-  [2] Peeters, R.L.M., Hanzon, B., and Olivi, M.
-      Balanced realizations of discrete-time stable all-pass
-      systems and the tangential Schur algorithm.
-      Proceedings of the European Control Conference,
-      31 August - 3 September 1999, Karlsruhe, Germany.
-      Session CP-6, Discrete-time Systems, 1999.
-
-  [3] More, J.J.
-      The Levenberg-Marquardt algorithm: implementation and theory.
-      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
-      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
-      and New York, pp. 105-116, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The Levenberg-Marquardt algorithm described in [3] is scaling
-  invariant and globally convergent to (maybe local) minima.
-  The convergence rate near a local minimum is quadratic, if the
-  Jacobian is computed analytically, and linear, if the Jacobian
-  is computed numerically.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     IB03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           BSNM, LDU, LDY, LIWORK, LMAX, LTHS, LXM, MMAX,
-     $                  NMAX, NNMAX, NOBRMX, NSMPMX
-      PARAMETER         ( LMAX = 2, MMAX = 3, NOBRMX = 10, NNMAX = 12,
-     $                    NMAX = 4, NSMPMX = 1024,
-     $                    BSNM = NNMAX*( LMAX + 2 ) + 1,
-     $                    LTHS = NMAX*( LMAX + MMAX + 1 ) + LMAX*MMAX,
-     $                    LDU  = NSMPMX, LDY = NSMPMX,
-     $                    LXM  = BSNM*LMAX + LTHS,
-     $                    LIWORK = MAX( MMAX + LMAX, MMAX*NOBRMX + NMAX,
-     $                                  MMAX*( NMAX + LMAX ), 3 +
-     $                                  MAX( BSNM + 1, LXM + LMAX ) ) )
-      INTEGER           L0, L1M, L2M, L3M, LDW1, LDW2, LDW3, LDW4, LDW5,
-     $                  LDW6, LDW7, LDWORK, LW1, LW2, LW3, LW4
-      PARAMETER         ( L0   = MAX( NMAX*( NMAX + LMAX ),
-     $                                NMAX + MMAX + LMAX ),
-     $                    L1M  = NSMPMX*LMAX +
-     $                           MAX( 2*NNMAX,
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                2*NMAX + L0 ),
-     $                    L2M  = MAX( 4*LXM + 1, BSNM +
-     $                                MAX( 3*BSNM + 1, LTHS ),
-     $                                     NSMPMX*( LMAX - 1 ) ),
-     $                    L3M  = MAX( 4*LXM, LTHS*BSNM + 2*LXM +
-     $                                2*MAX( BSNM, LTHS ) ),
-     $                    LDW1 = MAX( 2*( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                2*NMAX,
-     $                                ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                NMAX*NMAX + 7*NMAX,
-     $                                LMAX*NOBRMX*NMAX +
-     $                                MAX( ( LMAX*NOBRMX - LMAX )*NMAX +
-     $                                     2*NMAX + LMAX +
-     $                                     ( 2*MMAX + LMAX )*NOBRMX,
-     $                                     2*( LMAX*NOBRMX - LMAX )*NMAX
-     $                                   + NMAX*NMAX + 8*NMAX,
-     $                                     NMAX + 4*( MMAX*NOBRMX +
-     $                                                NMAX ) + 1,
-     $                                     MMAX*NOBRMX + 3*NMAX + LMAX )
-     $                              ),
-     $                    LDW2 = LMAX*NOBRMX*NMAX +
-     $                           MMAX*NOBRMX*( NMAX + LMAX )*
-     $                           ( MMAX*( NMAX + LMAX ) + 1 ) +
-     $                           MAX( ( NMAX + LMAX )**2,
-     $                           4*MMAX*( NMAX + LMAX ) + 1 ),
-     $                    LDW3 = NSMPMX*LMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( 2*NMAX*NMAX, 4*NMAX ),
-     $                    LDW4 = NMAX*( NMAX + 1 ) + 2*NMAX +
-     $                           MAX( NMAX*LMAX*( NMAX + 1 ) +
-     $                           2*NMAX*NMAX + LMAX*NMAX, 4*NMAX ),
-     $                    LDW5 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LDW6 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + NMAX +
-     $                           MAX( 1, NMAX*NMAX*LMAX + NMAX*LMAX +
-     $                                NMAX, NMAX*NMAX +
-     $                                MAX( NMAX*NMAX +
-     $                                     NMAX*MAX( NMAX, LMAX ) +
-     $                                     6*NMAX + MIN( NMAX, LMAX ),
-     $                                     NMAX*MMAX ) ),
-     $                    LDW7 = NSMPMX*LMAX + ( NMAX + LMAX )*
-     $                           ( NMAX + MMAX ) + 3*NMAX + MMAX + LMAX,
-     $                    LW1  = MAX( 2*( MMAX + LMAX )*NOBRMX*
-     $                                ( 2*( MMAX + LMAX )*( NOBRMX + 1 )
-     $                                  + 3 ) + LMAX*NOBRMX,
-     $                                4*( MMAX + LMAX )*NOBRMX*
-     $                                ( MMAX + LMAX )*NOBRMX +
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                MAX( LDW1, LDW2 ),
-     $                                ( NMAX + LMAX )*( NMAX + MMAX ) +
-     $                                NMAX + NMAX*NMAX + 2 +
-     $                                NMAX*( NMAX + MMAX + LMAX ) +
-     $                                MAX( 5*NMAX, 2, MIN( LDW3, LDW4 ),
-     $                                     LDW5, LDW6 ) ),
-     $                    LW2  = NSMPMX*LMAX + BSNM +
-     $                           MAX( 4, NSMPMX +
-     $                                MAX( NSMPMX*BSNM +
-     $                                     MAX( 2*NNMAX, 5*BSNM + 1 ),
-     $                                     BSNM**2 + BSNM +
-     $                                     MAX( NSMPMX + 2*NNMAX,
-     $                                          5*BSNM ) ) ),
-     $                    LW3  = MAX( LDW7, NSMPMX*LMAX +
-     $                                ( NMAX + LMAX )*( 2*NMAX + MMAX )+
-     $                                2*NMAX ),
-     $                    LW4  = NSMPMX*LMAX + LXM +
-     $                           MAX( 4, NSMPMX*LMAX +
-     $                                MAX( NSMPMX*LMAX*( BSNM + LTHS ) +
-     $                                     MAX( NSMPMX*LMAX + L1M,
-     $                                          L2M + LXM ),
-     $                                          LXM*( BSNM + LTHS ) +
-     $                                          LXM +
-     $                                          MAX( NSMPMX*LMAX + L1M,
-     $                                               LXM + L3M ) ) ),
-     $                    LDWORK = MAX( LW1, LW2, LW3, LW4 ) )
-*     .. Local Scalars ..
-      LOGICAL           INIT1, INITB, INITL, INITN, INITS
-      CHARACTER*1       INIT
-      INTEGER           BSN, I, INFO, INI, ITER, ITMAX1, ITMAX2, IWARN,
-     $                  J, L, L1, L2, LPAR, LX, M, N, NN, NOBR, NPRINT,
-     $                  NS, NSMP
-      DOUBLE PRECISION  TOL1, TOL2
-*     .. Array Arguments ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  DWORK(LDWORK), U(LDU,MMAX), X(LXM), Y(LDY,LMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          IB03BD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NOBR, M, L, NSMP, N, NN, ITMAX1, ITMAX2,
-     $                      NPRINT, TOL1, TOL2, INIT
-      INITL = LSAME( INIT, 'L' )
-      INITS = LSAME( INIT, 'S' )
-      INITB = LSAME( INIT, 'B' )
-      INITN = LSAME( INIT, 'N' )
-      INIT1 = INITL .OR. INITB
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) L
-         ELSE
-            NS = N
-            IF( INIT1 ) THEN
-               IF( NOBR.LE.0 .OR. NOBR.GT.NOBRMX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NOBR
-                  STOP
-               ELSEIF( NSMP.LT.2*( M + L + 1 )*NOBR - 1 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.EQ.0 .OR. N.GE.NOBR ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-               IF ( N.LT.0 )
-     $            N = NOBR - 1
-            ELSE
-               IF( NSMP.LT.0 ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) NSMP
-                  STOP
-               ELSEIF( N.LT.0 .OR. N.GT.NMAX ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) N
-                  STOP
-               END IF
-            END IF
-            IF( NN.LT.0 .OR. NN.GT.NNMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) NN
-            ELSE
-               BSN = NN*( L + 2 ) + 1
-               L1  = BSN*L
-               L2  = N*( L + M + 1 ) + L*M
-               LX  = L1 + L2
-               INI = 1
-               IF ( INITL ) THEN
-                  LPAR = L1
-               ELSEIF ( INITS ) THEN
-                  INI  = L1 + 1
-                  LPAR = L2
-               ELSEIF ( INITN ) THEN
-                  LPAR = LX
-               END IF
-               IF( INIT1 )
-     $            N = NS
-*              Read the input-output data, initial parameters, and seed.
-               READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,NSMP )
-               READ ( NIN, FMT = * ) ( ( Y(I,J), J = 1,L ), I = 1,NSMP )
-               IF ( .NOT.INITB )
-     $            READ ( NIN, FMT = * ) ( X(I), I = INI,INI+LPAR-1 )
-               IF ( INITS .OR. INITB )
-     $            READ ( NIN, FMT = * ) ( DWORK(I), I = 1,4 )
-*              Solve a Wiener system identification problem.
-               CALL IB03BD( INIT, NOBR, M, L, NSMP, N, NN, ITMAX1,
-     $                      ITMAX2, NPRINT, U, LDU, Y, LDY, X, LX, TOL1,
-     $                      TOL2, IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99987 ) IWARN
-                  ITER = DWORK(3)
-                  WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-                  WRITE ( NOUT, FMT = 99996 ) ITER, IWORK(1), IWORK(2)
-*                 Recompute LX is necessary.
-                  IF ( INIT1 .AND. NS.LT.0 )
-     $               LX = L1 + N*( L + M + 1 ) + L*M
-                  WRITE ( NOUT, FMT = 99994 )
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, LX )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' IB03BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from IB03BD = ',I4)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' Number of iterations                     = ', I7,
-     $        /' Number of function evaluations           = ', I7,
-     $        /' Number of Jacobian evaluations           = ', I7)
-99995 FORMAT (10(1X,F9.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' NOBR is out of range.',/' NOBR = ',I5)
-99990 FORMAT (/' NSMP is out of range.',/' NSMP = ',I5)
-99989 FORMAT (/' N is out of range.',/' N = ',I5)
-99988 FORMAT (/' NN is out of range.',/' NN = ',I5)
-99987 FORMAT (' IWARN on exit from IB03BD = ',I4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- IB03BD EXAMPLE PROGRAM DATA
- 10     1     1  1024    4   12   500  1000     0  .00001  .00001   B
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-   3.9027807e-02
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-   2.2819642e-01
-   1.9830143e-01
-   4.8505476e-02
-  -1.2763594e-01
-  -2.2560309e-01
-  -1.9560311e-01
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-   6.0380807e-02
-   1.2445307e-01
-   1.0835168e-01
-   5.5609724e-02
-   1.7269294e-02
-   9.3997346e-03
-   1.1223045e-02
-  -4.3543819e-03
-  -4.2668837e-02
-  -8.5657964e-02
-  -1.0909342e-01
-  -9.7154374e-02
-  -4.6781850e-02
-   3.1101930e-02
-   1.0973840e-01
-   1.5122945e-01
-   1.2531404e-01
-   3.3620966e-02
-  -8.3194568e-02
-  -1.6716420e-01
- 1998.   1999.   2000.   2001.
-</PRE>
-<B>Program Results</B>
-<PRE>
- IB03BD EXAMPLE PROGRAM RESULTS
-
- IWARN on exit from IB03BD =   12
-
- Final 2-norm of the residuals =   0.2995840D+00
-
- Number of iterations                     =      42
- Number of function evaluations           =     898
- Number of Jacobian evaluations           =     295
-
- Final approximate solution is 
-   14.1294    1.1232    6.4322  -11.2418    7.6380  -33.4730  -64.7203  747.1515   -0.4623  -92.6092
-    6.1682   -0.7672    0.1194    0.3558    0.9091    0.2948    1.3465    0.0093    0.0560   -0.0035
-   -0.4179   -0.0455   -2.0871   -0.9196    1.0777    0.9213    0.5373    1.0412   -0.3978    7.6832
-   -6.8614  -31.6119   -0.1092   -9.8984    0.1257    0.4056    0.0472    7.5819  -13.3969    2.4869
-  -66.0727   -0.8411   -0.7040    1.9641    1.3059   -0.2046   -0.9326    0.0040    0.4032    0.1479
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>KINSOL - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="KINSOL">KINSOL</A></H2>
-<H3>
-Solving a nonlinear system of equations using Krylov Inexact Newton techniques
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a nonlinear system of equations F(u)=0, where F(u) is
-                             n    n
-  a nonlinear function from R to R , using Krylov Inexact Newton
-  techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE KINSOL (GSTRAT, LINSU, NEQ, OPTIN, MAXL, MAXLRST,
-     &                   MSBPRE, UU, USCALE, FSCALE, CONSTR,
-     &                   IOPT, ROPT, TOL1, TOL2, INFO)
-C     .. Scalar Arguments ..
-      LOGICAL           OPTIN
-      INTEGER           INFO, GSTRAT, MAXL, MAXLRST, MSBPRE, NEQ
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IOPT(40)
-      DOUBLE PRECISION  CONSTR(NEQ), FSCALE(NEQ), ROPT(40), USCALE(NEQ),
-     $                  UU(NEQ)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
- 
-<B>Input/Output Parameters</B>
-<PRE>
-  GSTRAT  (input) INTEGER
-          Indicates the global strategy to apply the computed
-          increment delta in the solution UU.  Choices are:
-          0 - Inexact Newton.
-          1 - Linesearch.
-
-  LINSU   SUBROUTINE
-          Linear Solver Set-up Routine. This is the KINSOL routine
-          to be called to set-up the linear solver. The user should
-          specify here one of the 6 different Fortran-callable
-          routines provided by KINSOL for this purpose. The choice
-          to be used depends on which of the optional user-defined
-          routines are provided by the user (see User-defined
-          routines below).
-          LINSU can be one of the following routines: FKINSPGMR00,
-          FKINSPGMR01, FKINSPGMR10, FKINSPGMR11, FKINSPGMR20, and
-          FKINSPGMR21, where the first digit in the name of the
-          function is: 0 if neither KPSOL nor KPRECO routines are
-          provided; 1 if only the preconditioner solve routine
-          (KPSOL) is provided; and 2 if both the preconditioner
-          solve (KPSOL) and setup (KPRECO) routines are provided.
-          The second digit is: 0 if a function FATIMES is not
-          provided; and 1 if a function FATIMES is provided.
-
-  NEQ     (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system.
-
-  OPTIN   (input) LOGICAL
-          Flag indicating whether optional inputs from the user in
-          the arrays IOPT and ROPT are to be used.
-          Pass FALSE to ignore all optional inputs and TRUE to use
-          all optional inputs that are present. Either choice does
-          NOT affect outputs in other positions of IOPT or ROPT.
-
-  MAXL    (input) INTEGER
-          Maximum Krylov dimension for the Linear Solver. Pass 0
-          to use the default value MIN(Neq, 10). 
-
-  MAXLRST (input) INTEGER
-          Maximum number of linear solver restarts allowed. Values
-          outside the range 0 to 2*NEQ/MAXL will be restricted to
-          that range. 0, meaning no restarts, is a safe starting
-          value.
-
-  MSBPRE  (input) INTEGER
-          Maximum number of steps calling the solver KPSOL
-          without calling the preconditioner KPRECO. (The default is
-          10).
-
-  UU      (input/output) DOUBLE PRECISION array, dimension (NEQ)
-          On entry, UU is the initial guess.
-          On exit, if no errors ocurr, UU is the solution of
-          the system KFUN(UU) = 0.
-
-  USCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
-          Array of diagonal elements of the scaling matrix for UU.
-          The elements of USCALE must be positive values. The
-          scaling matrix USCALE should be chosen so that 
-          USCALE * UU (as a matrix multiplication) should have all
-          its components with roughly the same magnitude when UU is
-          close to a root of KFUN.
-
-  FSCALE  (input) DOUBLE PRECISION array, dimension (NEQ)
-          Array of diagonal elements of the scaling matrix for
-          KFUN. The elements of FSCALE must be positive values.
-          The scaling matrix FSCALE should be chosen so that
-          FSCALE * KFUN(UU) (as a matrix multiplication) should
-          have all its components with roughly the same magnitude
-          when UU is NOT too near a root of KFUN.
-
-  CONSTR  (input) DOUBLE PRECISION array, dimension (NEQ)
-          Constraints on UU.
-          A positive value in CONSTR(I) implies that the Ith
-          component of UU is to be constrained &gt; 0.
-          A negative value in CONSTR(I) implies that the Ith
-          component of UU is to be constrained &lt; 0.
-          A zero value in CONSTR(I) implies there is no constraint
-          on UU(I). 
-
-  IOPT    (input/output) INTEGER array, dimension (40)
-          Array of optional integer inputs and outputs.
-          If OPTIN is TRUE, the user should preset to 0 those
-          locations for which default values are to be used.
-          See Optional Inputs and Outputs, below. 
-
-  ROPT    (input/output) DOUBLE PRECISION array, dimension (40)
-          Array of optional double precision inputs and outputs.
-          If OPTIN is TRUE, the user should preset to 0 those
-          locations for which default values are to be used.
-          See Optional Inputs and Outputs, below. 
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          Stopping tolerance on maxnorm( FSCALE * KFUN(UU) ).
-          If TOL1 is input as 0., then a default value of
-          (uround) to the 1/3 power will be used. uround is the
-          unit roundoff for the machine in use for the calculation.
-
-  TOL2    DOUBLE PRECISION
-          Stopping tolerance on the maximum scaled step 
-          UU(K) - UU(K-1). 
-          If TOL2 is input as 0., then a default value of (uround)
-          to the 2/3 power will be used. uround is the unit 
-          roundoff for the machine in use for the calculation.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          See Termination Codes below.
-
-  ---------------------------------------------------------------
-
-  Termination Codes
-
-  (Note: in this documentation we use named constants for 
-  certain integer constant values. To see the values of these
-  symbols see Named constants below.)
-
-  The termination values KINS_***** are now given. These are the
-  values of the INFO argument.
-
-  SUCCESS :    means maxnorm(FSCALE*KFUN(UU) &lt;= TOL1, where
-               maxnorm() is the maximum norm function N_VMaxNorm.
-               Therefore, UU is probably an approximate root of
-               KFUN.
-
-  INITIAL_GUESS_OK: means the initial guess UU has been found
-               to already satisfy the system to the desired
-               accuracy. No calculation was performed other
-               than testing UU.
-
-  STEP_LT_STPTOL:  means the scaled distance between the last
-               two steps is less than TOL2.  UU may be an
-               approximate root of KFUN, but it is also possible
-               that the algorithm is making very slow progress
-               and is not near a root or that TOL2 is too
-               large
-
-  LNSRCH_NONCONV: means the LineSearch module failed to reduce
-               norm(KFUN) sufficiently on the last global step.
-               Either UU is close to a root of F and no more
-               accuracy is possible, or the finite-difference
-               approximation to J*v is inaccurate, or TOL2
-               is too large. Check the outputs NCFL and NNI: if
-               NCFL is close to NNI, it may be the case that the
-               Krylov iteration is converging very slowly. In
-               this case, the user may want to use precondition-
-               ing and/or increase the MAXL argument (that is,
-               increase the max dimension of the Krylov subspace)
-               by setting MAXL to nonzero (thus not using the
-               default value of KINSPGMR_MAXL) or if MAXL is being
-               set, increase its value.
-
-  MAXITER_REACHED: means that the maximum allowable number of
-               nonlinear iterations has been reached. This is by
-               default 200, but may be changed through optional
-               input IOPT(MXITER).
-
-  MXNEWT_5X_EXCEEDED: means 5 consecutive steps of length mxnewt
-               (maximum Newton stepsize limit) have been taken.
-               Either norm(F) asymptotes from above to a finite
-               value in some direction, or mxnewt is too small.
-               Mxnewt is computed internally (by default) as
-               mxnewt = 1000*max(norm(USCALE*UU0),1), where
-               UU0 is the initial guess for UU, and norm() is
-               the Euclidean norm. Mxnewt can be  set by the
-               user through optional input ROPT(MXNEWTSTEP).
-
-  LINESEARCH_BCFAIL: means that more than the allowed maximum
-               number of failures (MXNBCF) occurred when trying
-               to satisfy the beta condition in the linesearch
-               algorithm. It is likely that the iteration is
-               making poor progress.
-
-  KRYLOV_FAILURE: means there was a failure of the Krylov
-               iteration process to converge.
-
-  PRECONDSET_FAILURE: means there was a nonrecoverable
-               error in PrecondSet causing the iteration to halt.
-
-  PRECONDSOLVE_FAILURE: means there was a nonrecoverable
-            error in PrecondSolve causing the iteration to halt.
-
-  NO_MEM:    the KINSol memory pointer received was NULL.
-
-  INPUT_ERROR: one or more input parameters or arrays was in
-               error. See the program output for further info.
-
-  LSOLV_NO_MEM: The linear solver memory pointer (lmem) was
-             received as NULL. The return value from the linear
-             solver needs to be checked and the cause found.
-
-  ---------------------------------------------------------------
-
-</PRE>
-<B>Optional inputs and outputs</B>
-<PRE>
-  (Note: in this documentation we use named constants for 
-  certain integer constant values. To see the values of these
-  symbols see Named constants below.)
-
-  The user should declare two arrays for optional input and
-  output, an IOPT array for optional integer input and output
-  and an ROPT array for optional real input and output. These
-  arrays should both be of size OPT_SIZE.
-  So the user's declaration should look like:
-
-  INTEGER          IOPT(OPT_SIZE)
-  DOUBLE PRECISION ROPT(OPT_SIZE)
-
-  The following definitions are indices into the IOPT and ROPT
-  arrays. A brief description of the contents of these positions
-  follows.
-
-  IOPT(PRINTFL)  (input)  Allows user to select from 4 levels
-                 of output.
-                 =0 no statistics printed   (DEFAULT)
-                 =1 output the nonlinear iteration count, the
-                    scaled norm of KFUN(UU), and number of
-                    KFUN calls.
-                 =2 same as 1 with the addition of global
-                    strategy statistics:
-                    f1 = 0.5*norm(FSCALE*KFUN(UU))**2   and
-                    f1new = 0.5*norm(FSCALE*KFUN(unew))**2 .
-                 =3 same as 2 with the addition of further
-                    Krylov iteration statistics.
-
-  IOPT(MXITER)   (input) Maximum allowable number of nonlinear
-                  iterations. The default is MXITER_DEFAULT.
-
-  IOPT(PRECOND_NO_INIT) (input) Set to 1 to prevent the initial
-                   call to the routine KPRECO upon a given
-                   call to KINSol. Set to 0 or leave unset to
-                   force the initial call to KPRECO.
-                   Use the choice of 1 only after beginning the
-                   first of a series of calls with a 0 value.
-                   If a value other than 0 or 1 is encountered,
-                   the default, 0, is set in this element of
-                   IOPT and thus the routine KPRECO will
-                   be called upon every call to KINSol, unless
-                   IOPT(PRECOND_NO_INIT) is changed by the user.
-
-  IOPT(ETACHOICE) (input) A flag indicating which of three
-                   methods to use for computing eta, the
-                   coefficient in the linear solver
-                   convergence tolerance eps, given by
-                     eps = (eta+u_round)*norm(KFUN(UU)).
-                   Here, all norms are  the scaled L2 norm.
-                   The linear solver attempts to produce a step
-                   p such that norm(KFUN(UU)+J(UU)*p) &lt;= eps.
-                   Two of the methods for computing eta
-                   calculate a value based on the convergence
-                   process in the routine KINForcingTerm.
-                   The third method does not require
-                   calculation; a constant eta is selected.
-
-                   The default if IOPT(ETACHOICE) is  not
-                   specified is ETACHOICE1, (see below).
-
-                   The allowed values (methods)  are:
-              ETACONSTANT  constant eta, default of 0.1 or user
-                 supplied choice, for which see ROPT(ETACONST),
-
-              ETACHOICE1 (default) which uses choice 1 of
-                 Eisenstat and Walker's paper of SIAM J. Sci.
-                 Comput.,17 (1996), pp 16-32 wherein eta is:
-                         eta(k) =
-  ABS( norm(KFUN(UU(k))) - norm(KFUN(UU(k-1))+J(UU(k-1))*p) )
-                      / norm(KFUN(UU(k-1))),
-
-              ETACHOICE2   which uses choice 2 of
-                 Eisenstat and Walker wherein eta is:
-                 eta(k) = egamma *
-             ( norm(KFUN(UU(k))) / norm(KFUN(u(k-1))) )^ealpha
-
-                 egamma and ealpha for choice 2, both required,
-                 are from either defaults (egamma = 0.9 ,
-                 ealpha = 2)  or from  user input,
-                 see ROPT(ETAALPHA) and ROPT(ETAGAMMA), below.
-
-                 For eta(k) determined by either Choice 1 or
-                 Choice 2, a value eta_safe is determined, and
-                 the safeguard   eta(k) &lt;- max(eta_safe,eta(k))
-                 is applied to prevent eta(k) from becoming too
-                 small too quickly.
-                  For Choice 1,
-                    eta_safe = eta(k-1)^((1.+sqrt(5.))/2.)
-           and    for Choice 2,
-                    eta_safe = egamma*eta(k-1)^ealpha.
-                 (These safeguards are turned off if they drop
-                 below 0.1 . Also, eta is never allowed to be
-                 less than eta_min = 1.e-4).
-
-  IOPT(NO_MIN_EPS) (input) Set to 1 or greater to remove
-                 protection agains eps becoming too small.
-                 This option is useful for debugging linear
-                 and nonlinear solver interactions. Set to 0
-                 for standard eps minimum value testing.
-
-  IOPT(NNI)      (output) Total number of nonlinear iterations.
-
-  IOPT(NFE)      (output) Total number of calls to the user-
-                  supplied system function KFUN.
-
-  IOPT(NBCF)     (output) Total number of times the beta
-                  condition could not be met in the linesearch
-                  algorithm. The nonlinear iteration is halted
-                  if this value ever exceeds MXNBCF (10).
-
-  IOPT(NBKTRK)   (output) Total number of backtracks in the
-                  linesearch algorithm.
-
-  IOPT(SPGMR_NLI) (output) Number of linear iterations.
-
-  IOPT(SPGMR_NPE) (output) Number of preconditioner evaluations.
-
-  IOPT(SPGMR_NPS) (output) Number of calls made to user's psolve
-                  function.
-
-  IOPT(SPGMR_NCFL) (output) Number of linear convergence failures.
-
-  ROPT(MXNEWTSTEP) (input) Maximum allowable length of a Newton
-                  step. The default value is calculated from
-                  1000*max(norm(USCALE*UU(0),norm(USCALE)).
-
-  ROPT(RELFUNC)  (input) Relative error in computing KFUN(UU)
-                  if known. Default is the machine epsilon.
-
-  ROPT(RELU)     (input) A scalar constraint which restricts
-                  the update of UU to  del(UU)/UU &lt; ROPT(RELU)
-                  The default is no constraint on the relative
-                  step in UU.
-
-  ROPT(ETAGAMMA) (input) The coefficient egamma in the eta
-                  computation. See routine KINForcingTerm
-           (SEE IOPT(ETACHOICE) above for additional info).
-
-  ROPT(ETAALPHA) (input) The coefficient ealpha in the eta
-                  computation. See routine KINForcingTerm
-           (SEE IOPT(ETACHOICE) above for additional info).
-
-  ROPT(ETACONST) (input) A user specified constant value for
-                   eta, used in lieu of that computed by
-                       routine KINForcingTerm
-           (SEE IOPT(ETACHOICE) above for additional info).
-
-  ROPT(FNORM)    (output) The scaled norm at a given iteration:
-                  norm(FSCALE(KFUN(UU)).
-
-  ROPT(STEPL)    (output) Last step length in the global
-                  strategy routine:
-                  KINLineSearch or KINInexactNewton.
-
-  ---------------------------------------------------------------
-
-</PRE>
-<B>User-defined routines</B>
-<PRE>
-  In order to use this routine, some user-defined routines have to
-  be provided. One of them is required, while the others are
-  optional. These routines are described next.
-
-  KFUN    Required
-
-          SUBROUTINE KFUN (NEQ, UU, FVAL)
-          INTEGER           NEQ
-          DOUBLE PRECISION  UU(NEQ), FVAL(NEQ)
-
-          PURPOSE
-
-          Evaluates the KFUN function which defines the system
-          to be solved:
-                            KFUN(UU)=0
-
-          ARGUMENTS
-
-          NEQ
-          (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          independent variable vector
-
-          FVAL
-          (output) DOUBLE PRECISION array, dimension (NEQ)
-          Result of KFUN(UU)
-
-  KPRECO  Optional
-
-          SUBROUTINE KPRECO (NEQ, UU, USCALE, FVAL, FSCALE,
-                             VTEMP1, VTEMP2, UROUND, NFE, IER)
-          INTEGER           NEQ, NFE, IER
-          DOUBLE PRECISION  UROUND
-          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
-                            FSCALE(NEQ), VTEMP1(NEQ), VTEMP2(NEQ)
-
-          PURPOSE
-
-          The user-supplied preconditioner setup function KPRECO and
-          the user-supplied preconditioner solve function KPSOL
-          together must define the right preconditoner matrix P
-          chosen so as to provide an easier system for the Krylov
-          solver to solve. KPRECO is called to provide any matrix
-          data required by the subsequent call(s) to KPSOL. The
-          data is expected to be stored in variables within a
-          COMMON block and the definition of those variables is up
-          to the user. More specifically, the user-supplied
-          preconditioner setup function KPRECO is to evaluate and
-          preprocess any Jacobian-related data needed by the
-          preconditioner solve function KPSOL. This might include
-          forming a crude approximate Jacobian, and performing an
-          LU factorization on the resulting approximation to J.
-          This function will not be called in advance of every call
-          to KPSOL, but instead will be called only as often as
-          necessary to achieve convergence within the Newton
-          iteration in KINSol.  If the KPSOL function needs no
-          preparation, the KPRECO function need not be provided.
-
-          KPRECO should not modify the contents of the arrays
-          UU or FVAL as those arrays are used elsewhere in the
-          iteration process.
-
-          Each call to the KPRECO function is preceded by a call to
-          the system function KFUN. Thus the KPRECO function can use
-          any auxiliary data that is computed by the KFUN function
-          and saved in a way accessible to KPRECO.
-
-          The two scaling arrays, FSCALE and USCALE, and unit
-          roundoff UROUND are provided to the KPRECO function for
-          possible use in approximating Jacobian data, e.g. by
-          difference quotients. These arrays should also not be
-          altered
-
-          ARGUMENTS
-
-          NEQ
-          (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system.
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Independent variable vector.
-
-          USCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See USCALE above.
-
-          FVAL
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Current value of KFUN(UU).
-
-          FSCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See FSCALE above.
-
-          VTEMP1
-          DOUBLE PRECISION array, dimension (NEQ)
-          Temporary work array.
-
-          VTEMP2
-          DOUBLE PRECISION array, dimension (NEQ)
-          Temporary work array.
-
-          UROUND
-          (input) DOUBLE PRECISION
-          Machine unit roundoff.
-
-          NFE
-          (input/output) INTEGER
-          Number of calls to KFUN made by the package. The KPRECO
-          routine should update this counter by adding on the
-          number of KFUN calls made in order to approximate the
-          Jacobian, if any.  For example, if the routine calls
-          KFUN a total of W times, then the update is 
-          NFE = NFE + W.
-
-          IER
-          (output) INTEGER
-          Error indicator. 
-          0 if successful,
-          1 if failure, in which case KINSOL stops.
-
-  KPSOL   Optional
-
-          SUBROUTINE KPSOL (NEQ, UU, USCALE, FVAL, FSCALE, VTEM,
-                            FTEM, UROUND, NFE, IER)
-          INTEGER           NEQ, NFE, IER
-          DOUBLE PRECISION  UU(NEQ), USCALE(NEQ), FVAL(NEQ),
-                            FSCALE(NEQ), VTEM(NEQ), FTEM(NEQ)
-
-          PURPOSE
-
-          The user-supplied preconditioner solve function KPSOL
-          is to solve a linear system P x = r in which the matrix
-          P is the (right) preconditioner matrix P.
-
-          KPSOL should not modify the contents of the iterate
-          array UU  or the current function value array  FVAL as
-          those are used elsewhere in the iteration process.
-
-          ARGUMENTS
-
-          NEQ
-          (input) INTEGER
-          Number of equations (and unknowns) in the algebraic
-          system.
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Independent variable vector.
-
-          USCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See USCALE above.
-
-          FVAL
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Current value of KFUN(UU).
-
-          FSCALE
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          See FSCALE above.
-
-          VTEM
-          (input/output) DOUBLE PRECISION array, dimension (NEQ)
-          On entry, holds the RHS vector r.
-          On exit, holds the result x.
-
-          FTEM
-          DOUBLE PRECISION array, dimension (NEQ)
-          Temporary work array.
-
-          UROUND
-          (input) DOUBLE PRECISION
-          Machine unit roundoff.
-
-          NFE
-          (input/output) INTEGER
-          Number of calls to KFUN made by the package. The KPRECO
-          routine should update this counter by adding on the
-          number of KFUN calls made in order to carry out the
-          solution, if any.  For example, if the routine calls
-          KFUN a total of W times, then the update is 
-          NFE = NFE + W.
-
-          IER
-          (output) INTEGER
-          Error indicator. 
-          0 if successful,
-          1 if failure, in which case KINSOL stops.
-
-  FATIMES Optional
-
-          SUBROUTINE FATIMES(V, Z, NEWU, UU, IER)
-          INTEGER           NEWU, IER
-          DOUBLE PRECISION  V(:), Z(:), UU(:)
-
-          PURPOSE
-
-          The user-supplied A times V routine (optional) where
-          A is the Jacobian matrix dF/du, or an approximation to
-          it, and V is a given  vector.  This routine computes the
-          product Z = J V.
-
-          ARGUMENTS
-
-          V
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Vector to be multiplied by J
-          (preconditioned and unscaled as received).
-
-          Z
-          (output) DOUBLE PRECISION array, dimension (NEQ)
-          Vector resulting from the application of J to V.
-
-          NEW_UU
-          (input) INTEGER
-          Flag indicating whether or not the UU vector has been
-          changed since the last call to this function (0 means
-          FALSE, 1 TRUE).
-          If this function computes and saves Jacobian data, then
-          this computation can be skipped if NEW_UU = FALSE.
-
-          UU
-          (input) DOUBLE PRECISION array, dimension (NEQ)
-          Current iterate u.
-
-          IER
-          (output) INTEGER
-          Error indicator. 
-          0 if successful,
-          1 if failure, in which case KINSOL stops.
-
-  ---------------------------------------------------------------
-
-</PRE>
-<B>Named constants</B>
-<PRE>
-  Here we specify the value of the named integer constants used
-  in this documentation. We use Fortran code for the specification,
-  so that the user can copy and paste these lines in order to
-  use the named constants in his/her programs.
-
-   KINSOL return values
-   Note that the value of these constants differ from those of
-   the KINSOL package. This is due to the adaptation to the 
-   SLICOT standards.
-   INTEGER KINS_NO_MEM, KINS_INPUT_ERROR, KINS_LSOLV_NO_MEM, 
-  &        KINS_SUCCESS, KINS_INITIAL_GUESS_OK,KINS_STEP_LT_STPTOL,
-  &        KINS_LNSRCH_NONCONV, KINS_MAXITER_REACHED, 
-  &        KINS_MXNEWT_5X_EXCEEDED, KINS_LINESEARCH_BCFAIL,
-  &        KINS_KRYLOV_FAILURE, KINS_PRECONDSET_FAILURE, 
-  &        KINS_PRECONDSOLVE_FAILURE}
-
-   PARAMETER(KINS_NO_MEM=101)
-   PARAMETER(KINS_INPUT_ERROR=102)
-   PARAMETER(KINS_LSOLV_NO_MEM=103)
-   PARAMETER(KINS_SUCCESS=0)
-   PARAMETER(KINS_INITIAL_GUESS_OK=2)
-   PARAMETER(KINS_STEP_LT_STPTOL=3)
-   PARAMETER(KINS_LNSRCH_NONCONV=4)
-   PARAMETER(KINS_MAXITER_REACHED=5)
-   PARAMETER(KINS_MXNEWT_5X_EXCEEDED=6)
-   PARAMETER(KINS_LINESEARCH_BCFAIL=7)
-   PARAMETER(KINS_KRYLOV_FAILURE = 8)
-   PARAMETER(KINS_PRECONDSET_FAILURE=9)
-   PARAMETER(KINS_PRECONDSOLVE_FAILURE=10)
-
-   Size of IOPT, ROPT
-   INTEGER OPT_SIZE
-   PARAMETER(OPT_SIZE=40)
-
-   IOPT indices
-   INTEGER PRINTFL, MXITER, PRECOND_NO_INIT, NNI ,NFE ,NBCF, NBKTRK,
-  &        ETACHOICE, NO_MIN_EPS
-   INTEGER SPGMR_NLI, SPGMR_NPE, SPGMR_NPS, SPGMR_NCFL
-
-   PARAMETER(PRINTFL=1)
-   PARAMETER(MXITER=2)
-   PARAMETER(PRECOND_NO_INIT=3)
-   PARAMETER(NNI=4)
-   PARAMETER(NFE=5)
-   PARAMETER(NBCF=6)
-   PARAMETER(NBKTRK=7)
-   PARAMETER(ETACHOICE=8)
-   PARAMETER(NO_MIN_EPS=9)
-   PARAMETER(SPGMR_NLI=11)
-   PARAMETER(SPGMR_NPE=12)
-   PARAMETER(SPGMR_NPS=13)
-   PARAMETER(SPGMR_NCFL=14)
-
-   ROPT indices
-   INTEGER MXNEWTSTEP , RELFUNC , RELU , FNORM , STEPL,
-  &        ETACONST, ETAGAMMA, ETAALPHA
-
-   PARAMETER(MXNEWTSTEP=1)
-   PARAMETER(RELFUNC=2)
-   PARAMETER(RELU=3)
-   PARAMETER(FNORM=4)
-   PARAMETER(STEPL=5)
-   PARAMETER(ETACONST=6)
-   PARAMETER(ETAGAMMA=7)
-   PARAMETER(ETAALPHA=8)
-
-   Values for IOPT(ETACHOICE)
-   INTEGER ETACHOICE1, ETACHOICE2, ETACONSTANT
-
-   PARAMETER(ETACHOICE1=0)
-   PARAMETER(ETACHOICE2=1)
-   PARAMETER(ETACONSTANT=2)
-   
-  ---------------------------------------------------------------
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  KINSOL (Krylov Inexact Newton SOLver) is a general purpose
-  solver for nonlinear systems of equations. Its most notable
-  feature is that it uses Krylov Inexact Newton techniques in the
-  system's approximate solution. 
-  The Newton method used results in the solution of linear systems
-  of the form
-                          J(u)*x = b
-  where J(u) is the Jacobian of F at u. The solution of these
-  systems by a Krylov method requires products of the form J(u)*v,
-  which are approximated by a difference quotient of the form
-                       F(u+sigma*v)-F(u)
-                       -----------------
-                            sigma
-  Thus, the Jacobian need not be formed explicitly.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Allan G. Taylor and Alan C. Hindmarsh, "User Documentation
-      for KINSOL, a Nonlinear Solver for Sequential and Parallel
-      Computers", Center for Applied Scientific Computing, L-561,
-      LLNL, Livermore, CA 94551.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<!--Click <a href=../../SLICOT/arc/TaskVB.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
-of the routine and related files.-->
-</p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA01AD.html b/doc/_static/doc/MA01AD.html
deleted file mode 100644
index 03a92d75..00000000
--- a/doc/_static/doc/MA01AD.html
+++ /dev/null
@@ -1,83 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01AD">MA01AD</A></H2>
-<H3>
-Complex square root of a complex number in real arithmetic
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the complex square root YR + i*YI of a complex number
-  XR + i*XI  in real arithmetic.  The returned result is so that
-  YR &gt;= 0.0  and  SIGN(YI) = SIGN(XI).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA01AD( XR, XI, YR, YI )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  XR, XI, YR, YI
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  XR      (input) DOUBLE PRECISION
-  XI      (input) DOUBLE PRECISION
-          These scalars define the real and imaginary part of the
-          complex number of which the square root is sought.
-
-  YR      (output) DOUBLE PRECISION
-  YI      (output) DOUBLE PRECISION
-          These scalars define the real and imaginary part of the
-          complex square root.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The complex square root YR + i*YI of the complex number XR + i*XI
-  is computed in real arithmetic, taking care to avoid overflow.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  Adapted from EISPACK subroutine CSROOT.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA01BD.html b/doc/_static/doc/MA01BD.html
deleted file mode 100644
index 41b844a6..00000000
--- a/doc/_static/doc/MA01BD.html
+++ /dev/null
@@ -1,97 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01BD">MA01BD</A></H2>
-<H3>
-Safely computing the general product of K real scalars
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the general product of K real scalars without over-
-  or underflow.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA01BD( BASE, LGBAS, K, S, A, INCA, ALPHA, BETA, SCAL )
-C     .. Scalar Arguments ..
-      INTEGER           INCA, K, SCAL
-      DOUBLE PRECISION  ALPHA, BASE, BETA, LGBAS
-C     .. Array Arguments ..
-      INTEGER           S(*)
-      DOUBLE PRECISION  A(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  BASE    (input)  DOUBLE PRECISION
-          Machine base.
-
-  LGBAS   (input)  DOUBLE PRECISION
-          Logarithm of BASE.
-
-  K       (input)  INTEGER
-          The number of scalars.  K &gt;= 1.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  A       (input)  DOUBLE PRECISION array, dimension (K)
-          Vector of real scalars.
-
-  INCA    (input)  INTEGER
-          Increment for the array A. INCA &lt;&gt; 0.
-
-  ALPHA   (output)  DOUBLE PRECISION
-          ALPHA is a real scalar such that
-
-             ALPHA / BETA * BASE**(SCAL)
-
-          is the general product of the scalars in the array A.
-
-  BETA    (output)  DOUBLE PRECISION
-          BETA is either 0.0 or 1.0.
-          See also the description of ALPHA.
-
-  SCAL    (output)  INTEGER
-          Scaling factor exponent, see ALPHA.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA01BZ.html b/doc/_static/doc/MA01BZ.html
deleted file mode 100644
index fce60286..00000000
--- a/doc/_static/doc/MA01BZ.html
+++ /dev/null
@@ -1,96 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01BZ">MA01BZ</A></H2>
-<H3>
-Safely computing the general product of K complex scalars
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the general product of K complex scalars trying to
-  avoid over- and underflow.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA01BZ( BASE, K, S, A, INCA, ALPHA, BETA, SCAL )
-C     .. Scalar Arguments ..
-      INTEGER           INCA, K, SCAL
-      DOUBLE PRECISION  BASE
-      COMPLEX*16        ALPHA, BETA
-C     .. Array Arguments ..
-      INTEGER           S(*)
-      COMPLEX*16        A(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  BASE    (input)  DOUBLE PRECISION
-          Machine base.
-
-  K       (input)  INTEGER
-          The number of scalars.  K &gt;= 1.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  A       (input)  COMPLEX*16 array, dimension (K)
-          Vector of complex scalars.
-
-  INCA    (input)  INTEGER
-          Increment for the array A. INCA &lt;&gt; 0.
-
-  ALPHA   (output)  COMPLEX*16
-          ALPHA is a complex scalar with ABS(ALPHA) = 0, or
-          1.0 &lt;= ABS(ALPHA) &lt; BASE, such that
-
-             ALPHA / BETA * BASE**(SCAL)
-
-          is the general product of the scalars in the array A.
-
-  BETA    (output)  COMPLEX*16
-          BETA is either 0.0 or 1.0.
-          See also the description of ALPHA.
-
-  SCAL    (output)  INTEGER
-          Scaling factor exponent, see ALPHA.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA01CD.html b/doc/_static/doc/MA01CD.html
deleted file mode 100644
index 1b009d37..00000000
--- a/doc/_static/doc/MA01CD.html
+++ /dev/null
@@ -1,89 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA01CD">MA01CD</A></H2>
-<H3>
-Safely computing the sign of a sum of two real numbers represented using integer powers of a base
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, without over- or underflow, the sign of the sum of two
-  real numbers represented using integer powers of a base (usually,
-  the machine base). Any base can be used, but it should the same
-  for both numbers. The result is an integer with value 1, 0, or -1,
-  depending on the sum being found as positive, zero, or negative,
-  respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MA01CD( A, IA, B, IB )
-C     .. Scalar Arguments ..
-      INTEGER           IA, IB
-      DOUBLE PRECISION  A, B
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA01CD  INTEGER
-          The sign of the sum of the two numbers, which is usually
-          either 1, or -1. If both numbers are 0, or if they have
-          the same exponent and their sum is 0, the returned value
-          is 0.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input)  DOUBLE PRECISION
-          The first real scalar.
-
-  IA      (input)  INTEGER
-          Exponent of the base for the first real scalar. The scalar
-          is represented as A * BASE**(IA).
-
-  B       (input)  DOUBLE PRECISION
-          The first real scalar.
-
-  IB      (input)  INTEGER
-          Exponent of the base for the first real scalar. The scalar
-          is represented as B * BASE**(IB).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02AD.html b/doc/_static/doc/MA02AD.html
deleted file mode 100644
index 4dd24d03..00000000
--- a/doc/_static/doc/MA02AD.html
+++ /dev/null
@@ -1,93 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02AD">MA02AD</A></H2>
-<H3>
-Matrix transposition
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To transpose all or part of a two-dimensional matrix A into
-  another matrix B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02AD( JOB, M, N, A, LDA, B, LDB )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            LDA, LDB, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be transposed into B
-          as follows:
-          = 'U': Upper triangular part;
-          = 'L': Lower triangular part;
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
-         The m-by-n matrix A.  If JOB = 'U', only the upper
-         triangle or trapezoid is accessed; if JOB = 'L', only the
-         lower triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B      (output) DOUBLE PRECISION array, dimension (LDB,M)
-         B = A' in the locations specified by JOB.
-
-  LDB    INTEGER
-         The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02AZ.html b/doc/_static/doc/MA02AZ.html
deleted file mode 100644
index 647c9d33..00000000
--- a/doc/_static/doc/MA02AZ.html
+++ /dev/null
@@ -1,101 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02AZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02AZ">MA02AZ</A></H2>
-<H3>
-Complex matrix (conjugate) transposition
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To (conjugate) transpose all or part of a two-dimensional complex
-  matrix A into another matrix B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02AZ( TRANS, JOB, M, N, A, LDA, B, LDB )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, TRANS
-      INTEGER            LDA, LDB, M, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*), B(LDB,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies if a transpose or conjugate transpose operation
-          should be performed as follows:
-          = 'T':  transpose operation;
-          = 'C':  conjugate transpose operation.
-
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be transposed into B
-          as follows:
-          = 'U': Upper triangular part;
-          = 'L': Lower triangular part;
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  A      (input) COMPLEX*16 array, dimension (LDA,N)
-         The m-by-n matrix A.  If JOB = 'U', only the upper
-         triangle or trapezoid is accessed; if JOB = 'L', only the
-         lower triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B      (output) COMPLEX*16 array, dimension (LDB,M)
-         B = A' in the locations specified by JOB, where ' denotes
-         the transpose or conjugate transpose operation, as
-         as specified by TRANS.
-
-  LDB    INTEGER
-         The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02BD.html b/doc/_static/doc/MA02BD.html
deleted file mode 100644
index 64b5c840..00000000
--- a/doc/_static/doc/MA02BD.html
+++ /dev/null
@@ -1,95 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02BD">MA02BD</A></H2>
-<H3>
-Reversing the order of rows and/or columns of a matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reverse the order of rows and/or columns of a given matrix A
-  by pre-multiplying and/or post-multiplying it, respectively, with
-  a permutation matrix P, where P is a square matrix of appropriate
-  order, with ones down the secondary diagonal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02BD( SIDE, M, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SIDE
-      INTEGER            LDA, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies the operation to be performed, as follows:
-          = 'L': the order of rows of A is to be reversed by
-                 pre-multiplying A with P;
-          = 'R': the order of columns of A is to be reversed by
-                 post-multiplying A with P;
-          = 'B': both the order of rows and the order of columns
-                 of A is to be reversed by pre-multiplying and
-                 post-multiplying A with P.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix whose rows and/or columns are to
-          be permuted.
-          On exit, the leading M-by-N part of this array contains
-          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
-          P*A*P if SIDE = 'B'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02BZ.html b/doc/_static/doc/MA02BZ.html
deleted file mode 100644
index 578d3ad1..00000000
--- a/doc/_static/doc/MA02BZ.html
+++ /dev/null
@@ -1,95 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02BZ">MA02BZ</A></H2>
-<H3>
-Reversing the order of rows and/or columns of a matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reverse the order of rows and/or columns of a given matrix A
-  by pre-multiplying and/or post-multiplying it, respectively, with
-  a permutation matrix P, where P is a square matrix of appropriate
-  order, with ones down the secondary diagonal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02BZ( SIDE, M, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SIDE
-      INTEGER            LDA, M, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies the operation to be performed, as follows:
-          = 'L': the order of rows of A is to be reversed by
-                 pre-multiplying A with P;
-          = 'R': the order of columns of A is to be reversed by
-                 post-multiplying A with P;
-          = 'B': both the order of rows and the order of columns
-                 of A is to be reversed by pre-multiplying and
-                 post-multiplying A with P.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix whose rows and/or columns are to
-          be permuted.
-          On exit, the leading M-by-N part of this array contains
-          the matrix P*A if SIDE = 'L', or A*P if SIDE = 'R', or
-          P*A*P if SIDE = 'B'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02CD.html b/doc/_static/doc/MA02CD.html
deleted file mode 100644
index dd3650b9..00000000
--- a/doc/_static/doc/MA02CD.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02CD">MA02CD</A></H2>
-<H3>
-Pertransposing the central band of a square matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the pertranspose of a central band of a square matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02CD( N, KL, KU, A, LDA )
-C     .. Scalar Arguments ..
-      INTEGER          KL, KU, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrix A.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be pertransposed.
-          0 &lt;= KL &lt;= N-1.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be pertransposed.
-          0 &lt;= KU &lt;= N-1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a square matrix whose central band formed from
-          the KL subdiagonals, the main diagonal and the KU
-          superdiagonals will be pertransposed.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A with its central band (the KL subdiagonals,
-          the main diagonal and the KU superdiagonals) pertransposed
-          (that is the elements of each antidiagonal appear in
-          reversed order). This is equivalent to forming P*B'*P,
-          where B is the matrix formed from the central band of A
-          and P is a permutation matrix with ones down the secondary
-          diagonal.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02CZ.html b/doc/_static/doc/MA02CZ.html
deleted file mode 100644
index 63c0dfde..00000000
--- a/doc/_static/doc/MA02CZ.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02CZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02CZ">MA02CZ</A></H2>
-<H3>
-Pertransposing the central band of a square matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the pertranspose of a central band of a square matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02CZ( N, KL, KU, A, LDA )
-C     .. Scalar Arguments ..
-      INTEGER          KL, KU, LDA, N
-C     .. Array Arguments ..
-      COMPLEX*16       A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrix A.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be pertransposed.
-          0 &lt;= KL &lt;= N-1.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be pertransposed.
-          0 &lt;= KU &lt;= N-1.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a square matrix whose central band formed from
-          the KL subdiagonals, the main diagonal and the KU
-          superdiagonals will be pertransposed.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A with its central band (the KL subdiagonals,
-          the main diagonal and the KU superdiagonals) pertransposed
-          (that is the elements of each antidiagonal appear in
-          reversed order). This is equivalent to forming P*B'*P,
-          where B is the matrix formed from the central band of A
-          and P is a permutation matrix with ones down the secondary
-          diagonal.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02DD.html b/doc/_static/doc/MA02DD.html
deleted file mode 100644
index 25b613e3..00000000
--- a/doc/_static/doc/MA02DD.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02DD">MA02DD</A></H2>
-<H3>
-Pack/unpack the upper or lower triangle of a symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To pack/unpack the upper or lower triangle of a symmetric matrix.
-  The packed matrix is stored column-wise in the one-dimensional
-  array AP.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02DD( JOB, UPLO, N, A, LDA, AP )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), AP(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether the matrix should be packed or unpacked,
-          as follows:
-          = 'P':  The matrix should be packed;
-          = 'U':  The matrix should be unpacked.
-
-  UPLO    CHARACTER*1
-          Specifies the part of the matrix to be packed/unpacked,
-          as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input or output) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          This array is an input parameter if JOB = 'P', and an
-          output parameter if JOB = 'U'.
-          On entry, if JOB = 'P', the leading N-by-N upper
-          triangular part (if UPLO = 'U'), or lower triangular part
-          (if UPLO = 'L'), of this array must contain the
-          corresponding upper or lower triangle of the symmetric
-          matrix A, and the other strictly triangular part is not
-          referenced.
-          On exit, if JOB = 'U', the leading N-by-N upper triangular
-          part (if UPLO = 'U'), or lower triangular part (if
-          UPLO = 'L'), of this array contains the corresponding
-          upper or lower triangle of the symmetric matrix A; the
-          other strictly triangular part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  AP      (output or input) DOUBLE PRECISION array, dimension
-          (N*(N+1)/2)
-          This array is an output parameter if JOB = 'P', and an
-          input parameter if JOB = 'U'.
-          On entry, if JOB = 'U', the leading N*(N+1)/2 elements of
-          this array must contain the upper (if UPLO = 'U') or lower
-          (if UPLO = 'L') triangle of the symmetric matrix A, packed
-          column-wise. That is, the elements are stored in the order
-          11, 12, 22, ..., 1n, 2n, 3n, ..., nn,      if UPLO = 'U';
-          11, 21, 31, ..., n1, 22, 32, ..., n2, ..., if UPLO = 'L'.
-          On exit, if JOB = 'P', the leading N*(N+1)/2 elements of
-          this array contain the upper (if UPLO = 'U') or lower
-          (if UPLO = 'L') triangle of the symmetric matrix A, packed
-          column-wise, as described above.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02ED.html b/doc/_static/doc/MA02ED.html
deleted file mode 100644
index 288dfeeb..00000000
--- a/doc/_static/doc/MA02ED.html
+++ /dev/null
@@ -1,86 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02ED">MA02ED</A></H2>
-<H3>
-Store by symmetry the upper or lower triangle of a symmetric matrix, given the other triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To store by symmetry the upper or lower triangle of a symmetric
-  matrix, given the other triangle.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02ED( UPLO, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix is given as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-          For all other values, the array A is not referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the symmetric matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the symmetric matrix A with all elements stored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02ES.html b/doc/_static/doc/MA02ES.html
deleted file mode 100644
index daf1f72c..00000000
--- a/doc/_static/doc/MA02ES.html
+++ /dev/null
@@ -1,87 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02ES - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02ES">MA02ES</A></H2>
-<H3>
-Store by skew-symmetry the upper or lower triangle of a skew-symmetric real matrix, given the other triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To store by skew-symmetry the upper or lower triangle of a
-  skew-symmetric matrix, given the other triangle. The diagonal
-  entries are set to zero.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02ES( UPLO, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix is given as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-          For all other values, the array A is not referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the skew-symmetric matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the skew-symmetric matrix A with all elements stored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02EZ.html b/doc/_static/doc/MA02EZ.html
deleted file mode 100644
index cf547f0f..00000000
--- a/doc/_static/doc/MA02EZ.html
+++ /dev/null
@@ -1,105 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02EZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02EZ">MA02EZ</A></H2>
-<H3>
-Store by (skew-)symmetry the upper or lower triangle of a (skew-)symmetric/Hermitian complex matrix, given the other triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To store by (skew-)symmetry the upper or lower triangle of a
-  (skew-)symmetric/Hermitian complex matrix, given the other
-  triangle. The option SKEW = 'G' allows to suitably deal with the
-  diagonal of a general square triangular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02EZ( UPLO, TRANS, SKEW, N, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW, TRANS, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix is given as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-          For all other values, the array A is not referenced.
-
-  TRANS   CHARACTER*1
-          Specifies whether to use transposition or conjugate
-          transposition as follows:
-          = 'T':  Use transposition;
-          = 'C':  Use conjugate transposition.
-
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is symmetric/Hermitian or
-          skew-symmetric/Hermitian as follows:
-          = 'G':  The matrix is not symmetric/Hermitian (general);
-          = 'N':  The matrix is symmetric/Hermitian;
-          = 'S':  The matrix is skew-symmetric/Hermitian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the (skew-)symmetric/Hermitian matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the (skew-)symmetric/Hermitian matrix A with all elements
-          stored. If the resulted matrix should be Hermitian, the
-          imaginary parts of the diagonal entries are set to zero.
-          If the resulted matrix should be skew-Hermitian, the real
-          parts of the diagonal entries are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02FD.html b/doc/_static/doc/MA02FD.html
deleted file mode 100644
index 1fe6b300..00000000
--- a/doc/_static/doc/MA02FD.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02FD">MA02FD</A></H2>
-<H3>
-Hyperbolic plane rotation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients c and s (c^2 + s^2 = 1) for a modified
-  hyperbolic plane rotation, such that,
-
-      y1 := 1/c * x1 - s/c * x2 = sqrt(x1^2 - x2^2),
-      y2 :=  -s * y1 +  c  * x2 = 0,
-
-  given two real numbers x1 and x2, satisfying either x1 = x2 = 0,
-  or abs(x2) &lt; abs(x1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02FD( X1, X2, C, S, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  X1, X2, C, S
-      INTEGER           INFO
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  X1      (input/output) DOUBLE PRECISION
-          On entry, the real number x1.
-          On exit, the real number y1.
-
-  X2      (input) DOUBLE PRECISION
-          The real number x2.
-          The values x1 and x2 should satisfy either x1 = x2 = 0, or
-          abs(x2) &lt; abs(x1).
-
-  C       (output) DOUBLE PRECISION
-          The cosines c of the modified hyperbolic plane rotation.
-
-  S       (output) DOUBLE PRECISION
-          The sines s of the modified hyperbolic plane rotation.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  succesful exit;
-          = 1:  if abs(x2) &gt;= abs(x1) and either x1 &lt;&gt; 0 or x2 &lt;&gt; 0.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02GD.html b/doc/_static/doc/MA02GD.html
deleted file mode 100644
index 0455a4aa..00000000
--- a/doc/_static/doc/MA02GD.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02GD">MA02GD</A></H2>
-<H3>
-Column interchanges in a matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a series of column interchanges on the matrix A.
-  One column interchange is initiated for each of columns K1 through
-  K2 of A. This is useful for solving linear systems X*A = B, when
-  the matrix A has already been factored by LAPACK Library routine
-  DGETRF.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02GD( N, A, LDA, K1, K2, IPIV, INCX )
-C     .. Scalar Arguments ..
-      INTEGER            INCX, K1, K2, LDA, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,*)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A to which the column interchanges will
-          be applied, where M is the largest element of IPIV(K), for
-          K = K1, ..., K2.
-          On exit, the leading N-by-M part of this array contains
-          the permuted matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  K1      (input) INTEGER
-          The first element of IPIV for which a column interchange
-          will be done.
-
-  K2      (input) INTEGER
-          The last element of IPIV for which a column interchange
-          will be done.
-
-  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
-          The vector of interchanging (pivot) indices.  Only the
-          elements in positions K1 through K2 of IPIV are accessed.
-          IPIV(K) = L implies columns K and L are to be
-          interchanged.
-
-  INCX    (input) INTEGER
-          The increment between successive values of IPIV.
-          If INCX is negative, the interchanges are applied in
-          reverse order.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
-  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is the column-oriented counterpart of the LAPACK
-  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
-  be used in this context. To solve the system X*A = B, where A and
-  B are N-by-N and M-by-N, respectively, the following statements
-  can be used:
-
-      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
-      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
-      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
-      CALL MA02GD( M, B, LDB, 1, N, IPIV, -1 )
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02GZ.html b/doc/_static/doc/MA02GZ.html
deleted file mode 100644
index c49d09e6..00000000
--- a/doc/_static/doc/MA02GZ.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02GZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02GZ">MA02GZ</A></H2>
-<H3>
-Column interchanges in a complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a series of column interchanges on the matrix A.
-  One column interchange is initiated for each of columns K1 through
-  K2 of A. This is useful for solving linear systems X*A = B, when
-  the matrix A has already been factored by LAPACK Library routine
-  DGETRF.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02GZ( N, A, LDA, K1, K2, IPIV, INCX )
-C     .. Scalar Arguments ..
-      INTEGER            INCX, K1, K2, LDA, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      COMPLEX*16         A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,*)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A to which the column interchanges will
-          be applied, where M is the largest element of IPIV(K), for
-          K = K1, ..., K2.
-          On exit, the leading N-by-M part of this array contains
-          the permuted matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  K1      (input) INTEGER
-          The first element of IPIV for which a column interchange
-          will be done.
-
-  K2      (input) INTEGER
-          The last element of IPIV for which a column interchange
-          will be done.
-
-  IPIV    (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
-          The vector of interchanging (pivot) indices.  Only the
-          elements in positions K1 through K2 of IPIV are accessed.
-          IPIV(K) = L implies columns K and L are to be
-          interchanged.
-
-  INCX    (input) INTEGER
-          The increment between successive values of IPIV.
-          If INCX is negative, the interchanges are applied in
-          reverse order.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
-  INCX = 1 (and similarly, for INCX &lt;&gt; 1).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is the column-oriented counterpart of the LAPACK
-  Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
-  be used in this context. To solve the system X*A = B, where A and
-  B are N-by-N and M-by-N, respectively, the following statements
-  can be used:
-
-      CALL DGETRF( N, N, A, LDA, IPIV, INFO )
-      CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
-      CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
-      CALL MA02GZ( M, B, LDB, 1, N, IPIV, -1 )
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02HD.html b/doc/_static/doc/MA02HD.html
deleted file mode 100644
index c92a0501..00000000
--- a/doc/_static/doc/MA02HD.html
+++ /dev/null
@@ -1,106 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02HD">MA02HD</A></H2>
-<H3>
-Check if a matrix is a scalar multiple of an identity-like matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
-  the diagonal and zeros elsewhere.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      LOGICAL FUNCTION MA02HD( JOB, M, N, DIAG, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            LDA, M, N
-      DOUBLE PRECISION   DIAG
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02HD  LOGICAL
-          The function value is set to .TRUE. if A = DIAG*I, and to
-          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be checked out,
-          as follows:
-          = 'U': Upper triangular/trapezoidal part;
-          = 'L': Lower triangular/trapezoidal part.
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  DIAG   (input) DOUBLE PRECISION
-         The scalar DIAG.
-
-  A      (input) DOUBLE PRECISION array, dimension (LDA,N)
-         The leading M-by-N part of this array must contain the
-         matrix A.  If JOB = 'U', only the upper triangle or
-         trapezoid is accessed; if JOB = 'L', only the lower
-         triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine returns immediately after detecting a diagonal element
-  which differs from DIAG, or a nonzero off-diagonal element in the
-  searched part of A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02HZ.html b/doc/_static/doc/MA02HZ.html
deleted file mode 100644
index c4ab8f40..00000000
--- a/doc/_static/doc/MA02HZ.html
+++ /dev/null
@@ -1,107 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02HZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02HZ">MA02HZ</A></H2>
-<H3>
-Check if a matrix is a scalar multiple of an identity-like matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To check if A = DIAG*I, where I is an M-by-N matrix with ones on
-  the diagonal and zeros elsewhere, A is a complex matrix and DIAG
-  is a complex scalar.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      LOGICAL FUNCTION MA02HZ( JOB, M, N, DIAG, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            LDA, M, N
-      COMPLEX*16         DIAG
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02HZ  LOGICAL
-          The function value is set to .TRUE. if A = DIAG*I, and to
-          .FALSE., otherwise. If min(M,N) = 0, the value is .FALSE.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the part of the matrix A to be checked out,
-          as follows:
-          = 'U': Upper triangular/trapezoidal part;
-          = 'L': Lower triangular/trapezoidal part.
-          Otherwise:  All of the matrix A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix A.  M &gt;= 0.
-
-  N      (input) INTEGER
-         The number of columns of the matrix A.  N &gt;= 0.
-
-  DIAG   (input) COMPLEX*16
-         The scalar DIAG.
-
-  A      (input) COMPLEX*16 array, dimension (LDA,N)
-         The leading M-by-N part of this array must contain the
-         matrix A.  If JOB = 'U', only the upper triangle or
-         trapezoid is accessed; if JOB = 'L', only the lower
-         triangle or trapezoid is accessed.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine returns immediately after detecting a diagonal element
-  which differs from DIAG, or a nonzero off-diagonal element in the
-  searched part of A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02ID.html b/doc/_static/doc/MA02ID.html
deleted file mode 100644
index ed25e609..00000000
--- a/doc/_static/doc/MA02ID.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02ID">MA02ID</A></H2>
-<H3>
-Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a real skew-Hamiltonian matrix
-
-                [  A   G  ]          T         T
-          X  =  [       T ],   G = -G,   Q = -Q,
-                [  Q   A  ]
-
-  or of a real Hamiltonian matrix
-
-                [  A   G  ]          T         T
-          X  =  [       T ],   G =  G,   Q =  Q,
-                [  Q  -A  ]
-
-  where A, G and Q are real n-by-n matrices.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02ID( TYP, NORM, N, A, LDA, QG,
-     $                                  LDQG, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, TYP
-      INTEGER            LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02ID  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYP     CHARACTER*1
-          Specifies the type of the input matrix X:
-          = 'S':         X is skew-Hamiltonian;
-          = 'H':         X is Hamiltonian.
-
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02ID:
-          = '1' or 'O':  one norm of X;
-          = 'F' or 'E':  Frobenius norm of X;
-          = 'I':         infinity norm of X;
-          = 'M':         max(abs(X(i,j)).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G. If TYP = 'S', the parts containing the
-          diagonal and the first supdiagonal of this array are not
-          referenced.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
-          NORM = 'O'; otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02IZ.html b/doc/_static/doc/MA02IZ.html
deleted file mode 100644
index 3f808c7e..00000000
--- a/doc/_static/doc/MA02IZ.html
+++ /dev/null
@@ -1,134 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02IZ">MA02IZ</A></H2>
-<H3>
-Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a complex skew-Hamiltonian matrix
-
-                [  A   G  ]          H         H
-          X  =  [       H ],   G = -G,   Q = -Q,
-                [  Q   A  ]
-
-  or of a complex Hamiltonian matrix
-
-                [  A   G  ]          H         H
-          X  =  [       H ],   G =  G,   Q =  Q,
-                [  Q  -A  ]
-
-  where A, G and Q are complex n-by-n matrices.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02IZ( TYP, NORM, N, A, LDA, QG,
-     $                                  LDQG, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, TYP
-      INTEGER            LDA, LDQG, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*), QG(LDQG,*)
-      DOUBLE PRECISION   DWORK(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02IZ  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYP     CHARACTER*1
-          Specifies the type of the input matrix X:
-          = 'S':         X is skew-Hamiltonian;
-          = 'H':         X is Hamiltonian.
-
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02IZ:
-          = '1' or 'O':  one norm of X;
-          = 'F' or 'E':  Frobenius norm of X;
-          = 'I':         infinity norm of X;
-          = 'M':         max(abs(X(i,j)).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input) COMPLEX*16 array, dimension (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G. If TYP = 'S', the real parts of the
-          entries on the diagonal and the first superdiagonal of
-          this array, which should be zero, need not be set, since
-          they are not used. Similarly, if TYP = 'H', the imaginary
-          parts of the entries on the diagonal and the first
-          superdiagonal of this array, which should be zero, need
-          not be set.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK &gt;= 2*N when NORM = '1', NORM = 'I' or
-          NORM = 'O'; otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02JD.html b/doc/_static/doc/MA02JD.html
deleted file mode 100644
index 3b6e862d..00000000
--- a/doc/_static/doc/MA02JD.html
+++ /dev/null
@@ -1,119 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02JD">MA02JD</A></H2>
-<H3>
-Test if a matrix is an orthogonal symplectic matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute || Q^T Q - I ||_F for a matrix of the form
-
-                    [  op( Q1 )  op( Q2 ) ]
-               Q =  [                     ],
-                    [ -op( Q2 )  op( Q1 ) ]
-
-  where Q1 and Q2 are N-by-N matrices. This residual can be used to
-  test wether Q is numerically an orthogonal symplectic matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02JD( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
-     $                                  LDQ2, RES, LDRES )
-C     .. Scalar Arguments ..
-      LOGICAL           LTRAN1, LTRAN2
-      INTEGER           LDQ1, LDQ2, LDRES, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02JD  DOUBLE PRECISION
-          The computed residual.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN1  LOGICAL
-          Specifies the form of op( Q1 ) as follows:
-          = .FALSE.:  op( Q1 ) = Q1;
-          = .TRUE. :  op( Q1 ) = Q1'.
-
-  LTRAN2  LOGICAL
-          Specifies the form of op( Q2 ) as follows:
-          = .FALSE.:  op( Q2 ) = Q2;
-          = .TRUE. :  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices Q1 and Q2.  N &gt;= 0.
-
-  Q1      (input) DOUBLE PRECISION array, dimension (LDQ1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q1 ).
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
-
-  Q2      (input) DOUBLE PRECISION array, dimension (LDQ2,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q2 ).
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  RES     DOUBLE PRECISION array, dimension (LDRES,N)
-
-  LDRES   INTEGER
-          The leading dimension of the array RES.  LDRES &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the residual by simple elementary operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02JZ.html b/doc/_static/doc/MA02JZ.html
deleted file mode 100644
index 1e021ca5..00000000
--- a/doc/_static/doc/MA02JZ.html
+++ /dev/null
@@ -1,120 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02JZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02JZ">MA02JZ</A></H2>
-<H3>
-Test if a matrix is a unitary symplectic matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute || Q^H Q - I ||_F for a complex matrix of the form
-
-                    [  op( Q1 )  op( Q2 ) ]
-               Q =  [                     ],
-                    [ -op( Q2 )  op( Q1 ) ]
-
-  where Q1 and Q2 are N-by-N matrices. This residual can be used to
-  test wether Q is numerically a unitary symplectic matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02JZ( LTRAN1, LTRAN2, N, Q1, LDQ1, Q2,
-     $                                  LDQ2, RES, LDRES )
-C     .. Scalar Arguments ..
-      LOGICAL           LTRAN1, LTRAN2
-      INTEGER           LDQ1, LDQ2, LDRES, N
-C     .. Array Arguments ..
-      COMPLEX*16        Q1(LDQ1,*), Q2(LDQ2,*), RES(LDRES,*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02JZ  DOUBLE PRECISION
-          The computed residual.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN1  LOGICAL
-          Specifies the form of op( Q1 ) as follows:
-          = .FALSE.:  op( Q1 ) = Q1;
-          = .TRUE. :  op( Q1 ) = Q1'.
-
-  LTRAN2  LOGICAL
-          Specifies the form of op( Q2 ) as follows:
-          = .FALSE.:  op( Q2 ) = Q2;
-          = .TRUE. :  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices Q1 and Q2.  N &gt;= 0.
-
-  Q1      (input) COMPLEX*16 array, dimension (LDQ1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q1 ).
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
-
-  Q2      (input) COMPLEX*16 array, dimension (LDQ2,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix op( Q2 ).
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  RES     DOUBLE PRECISION array, dimension (LDRES,N)
-
-  LDRES   INTEGER
-          The leading dimension of the array RES.
-          LDRES &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the residual by simple elementary operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02MD.html b/doc/_static/doc/MA02MD.html
deleted file mode 100644
index 6326a1b8..00000000
--- a/doc/_static/doc/MA02MD.html
+++ /dev/null
@@ -1,114 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02MD">MA02MD</A></H2>
-<H3>
-Compute norms of a real skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a real skew-symmetric matrix.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02MD( NORM, UPLO, N, A, LDA, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02MD  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02MD:
-          = '1' or 'O':  one norm of A;
-          = 'F' or 'E':  Frobenius norm of A;
-          = 'I':         infinity norm of A;
-          = 'M':         max(abs(A(i,j)).
-
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the skew-symmetric matrix A is to be referenced.
-          = 'U':  Upper triangular part of A is referenced;
-          = 'L':  Lower triangular part of A is referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MD is
-          set to zero.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The skew-symmetric matrix A.  If UPLO = 'U', the leading
-          N-by-N strictly upper triangular part of A contains the
-          strictly upper triangular part of the matrix A, and the
-          lower triangular part of A is not referenced.
-          If UPLO = 'L', the leading N-by-N strictly lower
-          triangular part of A contains the strictly lower
-          triangular part of the matrix A, and the upper triangular
-          part of A is not referenced.
-          The diagonal of A need not be set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
-          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
-          otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02MZ.html b/doc/_static/doc/MA02MZ.html
deleted file mode 100644
index e7de44a9..00000000
--- a/doc/_static/doc/MA02MZ.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02MZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02MZ">MA02MZ</A></H2>
-<H3>
-Compute norms of a complex skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the one norm, or the Frobenius norm, or
-  the infinity norm, or the element of largest absolute value
-  of a complex skew-Hermitian matrix.
-
-  Note that for this kind of matrices the infinity norm is equal
-  to the one norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MA02MZ( NORM, UPLO, N, A, LDA, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK( * )
-      COMPLEX*16         A( LDA, * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02MZ  DOUBLE PRECISION
-          The computed norm.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies the value to be returned in MA02MZ:
-          = '1' or 'O':  one norm of A;
-          = 'F' or 'E':  Frobenius norm of A;
-          = 'I':         infinity norm of A;
-          = 'M':         max(abs(A(i,j)).
-
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the skew-Hermitian matrix A is to be referenced.
-          = 'U':  Upper triangular part of A is referenced;
-          = 'L':  Lower triangular part of A is referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.  When N = 0, MA02MZ is
-          set to zero.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The skew-Hermitian matrix A.  If UPLO = 'U', the leading
-          N-by-N upper triangular part of A contains the upper
-          triangular part of the matrix A, and the strictly lower
-          triangular part of A is not referenced. If UPLO = 'L', the
-          leading N-by-N lower triangular part of A contains the
-          lower triangular part of the matrix A, and the strictly
-          upper triangular part of A is not referenced.
-          The real parts of the diagonal elements of A need not be
-          set and are assumed to be zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK)),
-          where LDWORK &gt;= N when NORM = 'I' or '1' or 'O';
-          otherwise, DWORK is not referenced.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02NZ.html b/doc/_static/doc/MA02NZ.html
deleted file mode 100644
index 3ec660f1..00000000
--- a/doc/_static/doc/MA02NZ.html
+++ /dev/null
@@ -1,112 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02NZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02NZ">MA02NZ</A></H2>
-<H3>
-Permute two rows and corresponding columns of a (skew-)symmetric/Hermitian complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To permute two specified rows and corresponding columns of a
-  (skew-)symmetric/Hermitian complex matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02NZ( UPLO, TRANS, SKEW, N, K, L, A, LDA )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW, TRANS, UPLO
-      INTEGER            K, L, LDA, N
-C     .. Array Arguments ..
-      COMPLEX*16         A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the (skew-)symmetric/Hermitian matrix A is to be
-          referenced, as follows:
-          = 'U':  Upper triangular part of A is referenced;
-          = 'L':  Lower triangular part of A is referenced.
-
-  TRANS   CHARACTER*1
-          Specifies whether to use transposition or conjugate
-          transposition as follows:
-          = 'T':  Use transposition;
-          = 'C':  Use conjugate transposition.
-
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is symmetric/Hermitian or
-          skew-symmetric/Hermitian as follows:
-          = 'N':  The matrix is symmetric/Hermitian;
-          = 'S':  The matrix is skew-symmetric/skew-Hermitian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The smaller index of the pair of rows and columns to be
-          permuted.  0 &lt;= K &lt;= L. If K = 0, the routine returns.
-
-  L       (input) INTEGER
-          The larger index of the pair of rows and columns to be
-          permuted.  K &lt;= L &lt;= N.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
-          of this array must contain the corresponding upper or
-          lower triangle of the (skew-)symmetric/Hermitian matrix A.
-          On exit, the leading N-by-N upper or lower triangular part
-          of this array (depending on UPLO) contains the
-          corresponding part of the permuted matrix A.
-          Note that a Hermitian matrix has the imaginary parts of
-          the diagonal entries zero. Similarly, a skew-Hermitian
-          matrix has the real parts of the diagonal entries zero.
-          The routine does not check out this conditions.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(N,1).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02OD.html b/doc/_static/doc/MA02OD.html
deleted file mode 100644
index ee30c419..00000000
--- a/doc/_static/doc/MA02OD.html
+++ /dev/null
@@ -1,105 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02OD">MA02OD</A></H2>
-<H3>
-Compute the number of zero rows (and zero columns) of a real (skew-)Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows (and zero columns) of a real
-  (skew-)Hamiltonian matrix,
-
-        (  A    D   )
-    H = (           ).
-        (  E  +/-A' )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MA02OD( SKEW, M, A, LDA, DE, LDDE )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW
-      INTEGER            LDA, LDDE, M
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), DE( LDDE, * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02OD  INTEGER
-          The number of zero rows.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is Hamiltonian or skew-
-          Hamiltonian as follows:
-          = 'H':  The matrix is Hamiltonian;
-          = 'S':  The matrix is skew-Hamiltonian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A, D, and E.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  DE      (input) DOUBLE PRECISION array, dimension (LDDE,M+1)
-          The leading M-by-M lower triangular part of this array
-          must contain the lower triangular part of the (skew-)
-          symmetric matrix E, and the M-by-M upper triangular
-          part of the submatrix in the columns 2 to M+1 of this
-          array must contain the upper triangular part of the
-          (skew-)symmetric matrix D. If S is skew-Hamiltonian, the
-          parts containing the diagonal and the first superdiagonal
-          of this array, which should be zero, are not referenced.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02OZ.html b/doc/_static/doc/MA02OZ.html
deleted file mode 100644
index c86b4812..00000000
--- a/doc/_static/doc/MA02OZ.html
+++ /dev/null
@@ -1,108 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02OZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02OZ">MA02OZ</A></H2>
-<H3>
-Compute the number of zero rows (and zero columns) of a complex (skew-)Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows (and zero columns) of a complex
-  (skew-)Hamiltonian matrix,
-
-        (  A    D   )
-    H = (           ).
-        (  E  +/-A' )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MA02OZ( SKEW, M, A, LDA, DE, LDDE )
-C     .. Scalar Arguments ..
-      CHARACTER          SKEW
-      INTEGER            LDA, LDDE, M
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), DE( LDDE, * )
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MA02OZ  INTEGER
-          The number of zero rows.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SKEW    CHARACTER*1
-          Specifies whether the matrix is Hamiltonian or skew-
-          Hamiltonian as follows:
-          = 'H':  The matrix is Hamiltonian;
-          = 'S':  The matrix is skew-Hamiltonian.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A, D, and E.  M &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  DE      (input) COMPLEX*16 array, dimension (LDDE,M+1)
-          The leading M-by-M lower triangular part of this array
-          must contain the lower triangular part of the (skew-)
-          Hermitian matrix E, and the M-by-M upper triangular
-          part of the submatrix in the columns 2 to M+1 of this
-          array must contain the upper triangular part of the
-          (skew-)Hermitian matrix D. If S is skew-Hamiltonian, the
-          real parts of the entries on the diagonal and the first
-          superdiagonal of this array, which should be zero, are
-          not used. If S is Hamiltonian, the imaginary parts of the
-          entries on the diagonal and the first superdiagonal of
-          this array, which should be zero, are not used.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1,M).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02PD.html b/doc/_static/doc/MA02PD.html
deleted file mode 100644
index 091ca812..00000000
--- a/doc/_static/doc/MA02PD.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02PD">MA02PD</A></H2>
-<H3>
-Compute the number of zero rows and zero columns of a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows and zero columns of a real
-  matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02PD( M, N, A, LDA, NZR, NZC )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, M, N, NZC, NZR
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  NZR     (output) INTEGER
-          The number of zero rows of the matrix A.
-
-  NZC     (output) INTEGER
-          The number of zero columns of the matrix A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MA02PZ.html b/doc/_static/doc/MA02PZ.html
deleted file mode 100644
index 3876910c..00000000
--- a/doc/_static/doc/MA02PZ.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<HTML>
-<HEAD><TITLE>MA02PZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MA02PZ">MA02PZ</A></H2>
-<H3>
-Compute the number of zero rows and zero columns of a complex matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the number of zero rows and zero columns of a complex
-  matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MA02PZ( M, N, A, LDA, NZR, NZC )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, M, N, NZC, NZR
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  NZR     (output) INTEGER
-          The number of zero rows of the matrix A.
-
-  NZC     (output) INTEGER
-          The number of zero columns of the matrix A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01KD.html b/doc/_static/doc/MB01KD.html
deleted file mode 100644
index f1d07457..00000000
--- a/doc/_static/doc/MB01KD.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01KD">MB01KD</A></H2>
-<H3>
-Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C, with A and C skew-symmetric matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform one of the skew-symmetric rank 2k operations
-
-      C := alpha*A*B' - alpha*B*A' + beta*C,
-
-  or
-
-      C := alpha*A'*B - alpha*B'*A + beta*C,
-
-  where alpha and beta are scalars, C is a real N-by-N skew-
-  symmetric matrix and A, B are N-by-K matrices in the first case
-  and K-by-N matrices in the second case.
-
-  This is a modified version of the vanilla implemented BLAS
-  routine DSYR2K written by Jack Dongarra, Iain Duff,
-  Jeremy Du Croz and Sven Hammarling.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01KD( UPLO, TRANS, N, K, ALPHA, A, LDA, B, LDB, BETA,
-     $                   C, LDC, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO, TRANS
-      INTEGER           INFO, K, LDA, LDB, LDC, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the array C is to be referenced, as follows:
-          = 'U':  only the strictly upper triangular part of C is to
-                  be referenced;
-          = 'L':  only the striclty lower triangular part of C is to
-                  be referenced.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed, as follows:
-          = 'N':         C := alpha*A*B' - alpha*B*A' + beta*C;
-          = 'T' or 'C':  C := alpha*A'*B - alpha*B'*A + beta*C.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix C.  N &gt;= 0.
-
-  K       (input) INTEGER
-          If TRANS = 'N' the number of columns of A and B; and if
-          TRANS = 'T' or TRANS = 'C' the number of rows of A and B.
-          K &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. If alpha is zero, or N &lt;= 1, or K = 0,
-          A and B are not referenced.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA,KA),
-          where KA is K when TRANS = 'N', and is N otherwise.
-          On entry with TRANS = 'N', the leading N-by-K part of
-          of this array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          K-by-N part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N),  if TRANS = 'N';
-          LDA &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
-
-  B       (input)  DOUBLE PRECISION array, dimension (LDB,KB),
-          where KB is K when TRANS = 'N', and is N otherwise.
-          On entry with TRANS = 'N', the leading N-by-K part of
-          of this array must contain the matrix B.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          K-by-N part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N),  if TRANS = 'N';
-          LDB &gt;= MAX(1,K),  if TRANS = 'T' or TRANS = 'C'.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. If beta is zero C need not be set before
-          entry.
-
-  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with UPLO = 'U', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the matrix C. The lower triangular part of this array is
-          not referenced.
-          On entry with UPLO = 'L', the leading N-by-N part of this
-          array must contain the strictly lower triangular part of
-          the matrix C. The upper triangular part of this array is
-          not referenced.
-          On exit with UPLO = 'U', the leading N-by-N part of this
-          array contains the strictly upper triangular part of the
-          updated matrix C.
-          On exit with UPLO = 'L', the leading N-by-N part of this
-          array contains the strictly lower triangular part of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Though being almost identical with the vanilla implementation
-  of the BLAS routine DSYR2K the performance of this routine could
-  be significantly lower in the case of vendor supplied, highly
-  optimized BLAS.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01LD.html b/doc/_static/doc/MB01LD.html
deleted file mode 100644
index a12ac34b..00000000
--- a/doc/_static/doc/MB01LD.html
+++ /dev/null
@@ -1,209 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01LD">MB01LD</A></H2>
-<H3>
-Computation of matrix expression alpha*R + beta*A*X*trans(A) with skew-symmetric matrices R and X
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-     _
-     R = alpha*R + beta*op( A )*X*op( A )',
-                                              _
-  where alpha and beta are scalars, R, X, and R are skew-symmetric
-  matrices, A is a general matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01LD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the skew-symmetric matrices R
-          and X are given, as follows:
-          = 'U':  the strictly upper triangular part is given;
-          = 'L':  the strictly lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R and the number of rows
-          of the matrix op( A ).  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix X and the number of columns of the
-          matrix op( A ).  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero or N &lt;= 1, or M &lt;= 1,
-          then A and X are not referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M strictly
-          upper triangular part of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix R. The lower triangle is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M strictly
-          lower triangular part of this array must contain the
-          strictly lower triangular part of the skew-symmetric
-          matrix R. The upper triangle is not referenced.
-          On exit, the leading M-by-M strictly upper triangular part
-          (if UPLO = 'U'), or strictly lower triangular part
-          (if UPLO = 'L'), of this array contains the corresponding
-                                                          _
-          strictly triangular part of the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
-          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
-          TRANS = 'C'.
-          On entry with TRANS = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,k),
-          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
-          TRANS = 'C'.
-
-  X       (input or input/output) DOUBLE PRECISION array, dimension
-          (LDX,K), where K = N, if UPLO = 'U' or  LDWORK &gt;= M*(N-1),
-               or K = MAX(N,M), if UPLO = 'L' and LDWORK &lt;  M*(N-1).
-          On entry, if UPLO = 'U', the leading N-by-N strictly upper
-          triangular part of this array must contain the strictly
-          upper triangular part of the skew-symmetric matrix X and
-          the lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N strictly lower
-          triangular part of this array must contain the strictly
-          lower triangular part of the skew-symmetric matrix X and
-          the upper triangular part of the array is not referenced.
-          If LDWORK &lt; M*(N-1), this array is overwritten with the
-          matrix op(A)*X, if UPLO = 'U', or X*op(A)', if UPLO = 'L'.
-
-  LDX     INTEGER
-          The leading dimension of the array X.
-          LDX &gt;= MAX(1,N),   if UPLO = 'L' or  LDWORK &gt;= M*(N-1);
-          LDX &gt;= MAX(1,N,M), if UPLO = 'U' and LDWORK &lt;  M*(N-1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or M &lt;= 1, or
-          N &lt;= 1.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N, if  beta &lt;&gt; 0, and M &gt; 0, and N &gt;  1;
-          LDWORK &gt;= 0, if  beta =  0, or  M = 0, or  N &lt;= 1.
-          For optimum performance, LDWORK &gt;= M*(N-1), if  beta &lt;&gt; 0,
-          M &gt; 1, and N &gt; 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the skew-
-  symmetry into account. If LDWORK &gt;= M*(N-1), a BLAS 3 like
-  implementation is used. Specifically, let X = T - T', with T a
-  strictly upper or strictly lower triangular matrix, defined by
-
-     T = striu( X ),  if UPLO = 'U',
-     T = stril( X ),  if UPLO = 'L',
-
-  where striu and stril denote the strictly upper triangular part
-  and strictly lower triangular part of X, respectively. Then,
-
-     A*X*A' = ( A*T )*A' - A*( A*T )',  for TRANS = 'N',
-     A'*X*A = A'*( T*A ) - ( T*A )'*A,  for TRANS = 'T', or 'C',
-
-  which involve BLAS 3 operations DTRMM and the skew-symmetric
-  correspondent of DSYR2K (with a Fortran implementation available
-  in the SLICOT Library routine MB01KD).
-  If LDWORK &lt; M*(N-1), a BLAS 2 implementation is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-                2         2
-     3/2 x M x N + 1/2 x M
-
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01MD.html b/doc/_static/doc/MB01MD.html
deleted file mode 100644
index 85246208..00000000
--- a/doc/_static/doc/MB01MD.html
+++ /dev/null
@@ -1,136 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01MD">MB01MD</A></H2>
-<H3>
-Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the matrix-vector operation
-
-     y := alpha*A*x + beta*y,
-
-  where alpha and beta are scalars, x and y are vectors of length
-  n and A is an n-by-n skew-symmetric matrix.
-
-  This is a modified version of the vanilla implemented BLAS
-  routine DSYMV written by Jack Dongarra, Jeremy Du Croz,
-  Sven Hammarling, and Richard Hanson.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01MD( UPLO, N, ALPHA, A, LDA, X, INCX, BETA, Y,
-     $                   INCY )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   ALPHA, BETA
-      INTEGER            INCX, INCY, LDA, N
-      CHARACTER          UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), X(*), Y(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the array A is to be referenced as follows:
-          = 'U':  only the strictly upper triangular part of A is to
-                  be referenced;
-          = 'L':  only the strictly lower triangular part of A is to
-                  be referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. If alpha is zero the array A is not
-          referenced.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry with UPLO = 'U', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the matrix A. The lower triangular part of this array is
-          not referenced.
-          On entry with UPLO = 'L', the leading N-by-N part of this
-          array must contain the strictly lower triangular part of
-          the matrix A. The upper triangular part of this array is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
-
-  X       (input) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCX ) ).
-          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
-          this array must contain the elements of the vector X.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X. IF INCX &lt; 0 then the
-          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. If beta is zero then Y need not be set on
-          input.
-
-  Y       (input/output) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCY ) ).
-          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
-          this array must contain the elements of the vector Y.
-          On exit, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
-          this array contain the updated elements of the vector Y.
-
-  INCY    (input) INTEGER
-          The increment for the elements of Y. IF INCY &lt; 0 then the
-          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Though being almost identical with the vanilla implementation
-  of the BLAS routine DSYMV the performance of this routine could
-  be significantly lower in the case of vendor supplied, highly
-  optimized BLAS.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01ND.html b/doc/_static/doc/MB01ND.html
deleted file mode 100644
index 14e758ba..00000000
--- a/doc/_static/doc/MB01ND.html
+++ /dev/null
@@ -1,135 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01ND">MB01ND</A></H2>
-<H3>
-Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a skew-symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the skew-symmetric rank 2 operation
-
-       A := alpha*x*y' - alpha*y*x' + A,
-
-  where alpha is a scalar, x and y are vectors of length n and A is
-  an n-by-n skew-symmetric matrix.
-
-  This is a modified version of the vanilla implemented BLAS
-  routine DSYR2 written by Jack Dongarra, Jeremy Du Croz,
-  Sven Hammarling, and Richard Hanson.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01ND( UPLO, N, ALPHA, X, INCX, Y, INCY, A, LDA )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   ALPHA
-      INTEGER            INCX, INCY, LDA, N
-      CHARACTER          UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), X( * ), Y( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangular part of
-          the array A is to be referenced as follows:
-          = 'U':  only the strictly upper triangular part of A is to
-                  be referenced;
-          = 'L':  only the strictly lower triangular part of A is to
-                  be referenced.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. If alpha is zero X and Y are not
-          referenced.
-
-  X       (input) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCX ) ).
-          On entry, elements 1, INCX+1, .., ( N - 1 )*INCX + 1 of
-          this array must contain the elements of the vector X.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X. IF INCX &lt; 0 then the
-          elements of X are accessed in reversed order.  INCX &lt;&gt; 0.
-
-  Y       (input) DOUBLE PRECISION array, dimension
-          ( 1 + ( N - 1 )*abs( INCY ) ).
-          On entry, elements 1, INCY+1, .., ( N - 1 )*INCY + 1 of
-          this array must contain the elements of the vector Y.
-
-  INCY    (input) INTEGER
-          The increment for the elements of Y. IF INCY &lt; 0 then the
-          elements of Y are accessed in reversed order.  INCY &lt;&gt; 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry with UPLO = 'U', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the matrix A. The lower triangular part of this array is
-          not referenced.
-          On entry with UPLO = 'L', the leading N-by-N part of this
-          array must contain the strictly lower triangular part of
-          the matrix A. The upper triangular part of this array is
-          not referenced.
-          On exit with UPLO = 'U', the leading N-by-N part of this
-          array contains the strictly upper triangular part of the
-          updated matrix A.
-          On exit with UPLO = 'L', the leading N-by-N part of this
-          array contains the strictly lower triangular part of the
-          updated matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N)
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Though being almost identical with the vanilla implementation
-  of the BLAS routine DSYR2 the performance of this routine could
-  be significantly lower in the case of vendor supplied, highly
-  optimized BLAS.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OC.html b/doc/_static/doc/MB01OC.html
deleted file mode 100644
index 6aac163b..00000000
--- a/doc/_static/doc/MB01OC.html
+++ /dev/null
@@ -1,155 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OC">MB01OC</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) with R, X symmetric and H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform one of the special symmetric rank 2k operations
-
-     R := alpha*R + beta*H*X + beta*X*H',
-  or
-     R := alpha*R + beta*H'*X + beta*X*H,
-
-  where alpha and beta are scalars, R and X are N-by-N symmetric
-  matrices, and H is an N-by-N upper Hessenberg matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OC( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, X,
-     $                   LDX, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDH, LDR, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed as follows:
-          = 'N':         R := alpha*R + beta*H*X  + beta*X*H';
-          = 'T' or 'C':  R := alpha*R + beta*H'*X + beta*X*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, H, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  structure into account, and using inline code and BLAS1 routines.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine acts as a specialization of BLAS Library routine
-  DSYR2K.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OD.html b/doc/_static/doc/MB01OD.html
deleted file mode 100644
index 15863783..00000000
--- a/doc/_static/doc/MB01OD.html
+++ /dev/null
@@ -1,206 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OD">MB01OD</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' ) with R, X symmetric, H upper Hessenberg, and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-
-    R := alpha*R + beta*( op( H )*X*op( E )' + op( E )*X*op( H )' ),
-
-  where alpha and beta are scalars, R and X are symmetric matrices,
-  H is an upper Hessenberg matrix, E is an upper triangular matrix,
-  and op( M ) is one of
-
-    op( M ) = M   or   op( M ) = M'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OD( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
-     $                   X, LDX, E, LDE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDE, LDH, LDR, LDWORK, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(LDE,*), H(LDH,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( M ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( M ) = M;
-          = 'T':  op( M ) = M';
-          = 'C':  op( M ) = M'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, H, E, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          If TRANS = 'N', the entries 3, 4,..., N of the first
-          column are modified internally, but are restored on exit.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = U + L, with U and L upper and
-  lower triangular matrices, defined by
-
-     U = triu( X ) - (1/2)*diag( X ),
-     L = tril( X ) - (1/2)*diag( X ),
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-  if UPLO = 'U',
-
-    H*X*E' + E*X*H' = (H*U)*E' + E*(H*U)' + H*(E*U)' + (E*U)*H',
-                      for TRANS = 'N',
-    H'*X*E + E'*X*H = H'*(U*E) + (U*E)'*H + (U*H)'*E + E'*(U*H),
-                      for TRANS = 'T', or 'C',
-
-  and if UPLO = 'L',
-
-    H*X*E' + E*X*H' = (H*L')*E' + E*(H*L')' + H*(E*L')' + (E*L')*H',
-                      for TRANS = 'N',
-    H'*X*E + E'*X*H = H'*(L'*E) + (L'*E)'*H + (L'*H)'*E + E'*(L'*H),
-                      for TRANS = 'T', or 'C',
-
-  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
-  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
-  are upper Hessenberg, and E*U, U*E, E*L', or L'*E are upper
-  triangular.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OE.html b/doc/_static/doc/MB01OE.html
deleted file mode 100644
index 5fc57a69..00000000
--- a/doc/_static/doc/MB01OE.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OE">MB01OE</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' ) with R symmetric, H upper Hessenberg, and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the symmetric rank 2k operations
-
-     R := alpha*R + beta*H*E' + beta*E*H',
-
-  or
-
-     R := alpha*R + beta*H'*E + beta*E'*H,
-
-  where alpha and beta are scalars, R, E, and H are N-by-N matrices,
-  with H upper Hessenberg and E upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OE( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, E,
-     $                   LDE )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  ALPHA, BETA
-      INTEGER           LDE, LDH, LDR, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(LDE,*), H(LDH,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix R is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of H to be used in the matrix
-          multiplication as follows:
-          = 'N':  R := alpha*R + beta*H*E' + beta*E*H';
-          = 'T':  R := alpha*R + beta*H'*E + beta*E'*H;
-          = 'C':  R := alpha*R + beta*H'*E + beta*E'*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, E, and H.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then E and H are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  E particularization of the algorithm used in the BLAS 3 routine
-  DSYR2K is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OH.html b/doc/_static/doc/MB01OH.html
deleted file mode 100644
index 4c8303bd..00000000
--- a/doc/_static/doc/MB01OH.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OH - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OH">MB01OH</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) with R symmetric, and A, H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the symmetric rank 2k operations
-
-     R := alpha*R + beta*H*A' + beta*A*H',
-
-  or
-
-     R := alpha*R + beta*H'*A + beta*A'*H,
-
-  where alpha and beta are scalars, R, A, and H are N-by-N matrices,
-  with A and H upper Hessenberg.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH, A,
-     $                   LDA )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  ALPHA, BETA
-      INTEGER           LDA, LDH, LDR, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), H(LDH,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix R is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of H to be used in the matrix
-          multiplication as follows:
-          = 'N':  R := alpha*R + beta*H*A' + beta*A*H';
-          = 'T':  R := alpha*R + beta*H'*A + beta*A'*H;
-          = 'C':  R := alpha*R + beta*H'*A + beta*A'*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, A, and H.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and H are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N)
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix A.
-          The remaining part of this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A particularization of the algorithm used in the BLAS 3 routine
-  DSYR2K is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OO.html b/doc/_static/doc/MB01OO.html
deleted file mode 100644
index 7051494a..00000000
--- a/doc/_static/doc/MB01OO.html
+++ /dev/null
@@ -1,145 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OO - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OO">MB01OO</A></H2>
-<H3>
-Computation of P or P' with P = op(H) X op(E)' with X symmetric, H upper Hessenberg, and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either P or P', with P defined by the matrix formula
-
-     P = op( H )*X*op( E )',
-
-  where H is an upper Hessenberg matrix, X is a symmetric matrix,
-  E is an upper triangular matrix, and op( M ) is one of
-
-     op( M ) = M   or   op( M ) = M'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OO( UPLO, TRANS, N, H, LDH, X, LDX, E, LDE, P, LDP,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDE, LDH, LDP, LDX, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(LDE,*), H(LDH,*), P(LDP,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix X is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed as follows:
-          = 'N':         compute P  = H*X*E';
-          = 'T' or 'C':  compute P' = E'*X*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices H, X, E, and P.  N &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
-          On exit, the leading N-by-N part of this array contains
-          the computed matrix P  = H*X*E', if TRANS = 'N', or
-          the computed matrix P' = E'*X*H, if TRANS = 'T'.
-
-  LDP     INTEGER
-          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  structure into account, and using BLAS and SLICOT routines.
-  Let W = H*X, or W = X*H, computed using SLICOT Library routine
-  MB01OS. The result is then obtained calling BLAS 3 routine DTRMM.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OS.html b/doc/_static/doc/MB01OS.html
deleted file mode 100644
index 5ff250b6..00000000
--- a/doc/_static/doc/MB01OS.html
+++ /dev/null
@@ -1,135 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OS">MB01OS</A></H2>
-<H3>
-Computation of matrix expression P = H X or P = X H, with X symmetric and H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute P = H*X or P = X*H, where H is an upper Hessenberg
-  matrix and X is a symmetric matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OS( UPLO, TRANS, N, H, LDH, X, LDX, P, LDP, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDH, LDP, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), P(LDP,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix X is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the operation to be performed as follows:
-          = 'N':         compute P = H*X;
-          = 'T' or 'C':  compute P = X*H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices H, X, and P.  N &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  P       (output) DOUBLE PRECISION array, dimension (LDP,N)
-          On exit, the leading N-by-N part of this array contains
-          the computed matrix P.
-
-  LDP     INTEGER
-          The leading dimension of the array P.  LDP &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  structure into account, and using inline code and BLAS routines.
-  Let X = U + sL, where U is upper triangular and sL is strictly
-  lower triangular. Then, P = H*X = H*U + H*sL = H*U + H*sU', where
-  sU is the strictly upper triangular part of X.
-  Similarly, P = X*H = L'*H + sL*H, where L is lower triangular, and
-  X = L + sL'. Note that H*U and L'*H are both upper Hessenberg.
-  However, when UPLO = 'L' and TRANS = 'N', or when UPLO = 'U' and
-  TRANS = 'T', then the matrix P is full. The computations are done
-  similarly.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01OT.html b/doc/_static/doc/MB01OT.html
deleted file mode 100644
index c7e431c6..00000000
--- a/doc/_static/doc/MB01OT.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01OT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01OT">MB01OT</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) with R symmetric and E, T upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the symmetric rank 2k operations
-
-     R := alpha*R + beta*E*T' + beta*T*E',
-
-  or
-
-     R := alpha*R + beta*E'*T + beta*T'*E,
-
-  where alpha and beta are scalars, R, T, and E are N-by-N matrices,
-  with T and E upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01OT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE, T,
-     $                   LDT )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  ALPHA, BETA
-      INTEGER           LDE, LDR, LDT, N
-      CHARACTER         TRANS, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(LDE,*), R(LDR,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix R is
-          given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of E to be used in the matrix
-          multiplication as follows:
-          = 'N':  R := alpha*R + beta*E*T' + beta*T*E';
-          = 'T':  R := alpha*R + beta*E'*T + beta*T'*E;
-          = 'C':  R := alpha*R + beta*E'*T + beta*T'*E.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, T, and E.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then T and E are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix T.
-          The remaining part of this array is not referenced.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A particularization of the algorithm used in the BLAS 3 routine
-  DSYR2K is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/3 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01PD.html b/doc/_static/doc/MB01PD.html
deleted file mode 100644
index 0a3bb43b..00000000
--- a/doc/_static/doc/MB01PD.html
+++ /dev/null
@@ -1,155 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01PD">MB01PD</A></H2>
-<H3>
-Matrix scaling (higher level routine)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale a matrix or undo scaling.  Scaling is performed, if
-  necessary, so that the matrix norm will be in a safe range of
-  representable numbers.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01PD( SCUN, TYPE, M, N, KL, KU, ANRM, NBL, NROWS, A,
-     $                   LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          SCUN, TYPE
-      INTEGER            INFO, KL, KU, LDA, M, MN, N, NBL
-      DOUBLE PRECISION   ANRM
-C     .. Array Arguments ..
-      INTEGER            NROWS ( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SCUN    CHARACTER*1
-          SCUN indicates the operation to be performed.
-          = 'S':  scale the matrix.
-          = 'U':  undo scaling of the matrix.
-
-  TYPE    CHARACTER*1
-          TYPE indicates the storage type of the input matrix.
-          = 'G':  A is a full matrix.
-          = 'L':  A is a (block) lower triangular matrix.
-          = 'U':  A is an (block) upper triangular matrix.
-          = 'H':  A is an (block) upper Hessenberg matrix.
-          = 'B':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  lower half stored.
-          = 'Q':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  upper half stored.
-          = 'Z':  A is a band matrix with lower bandwidth KL and
-                  upper bandwidth KU.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A. N &gt;= 0.
-
-  KL      (input) INTEGER
-          The lower bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  KU      (input) INTEGER
-          The upper bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  ANRM    (input) DOUBLE PRECISION
-          The norm of the initial matrix A.  ANRM &gt;= 0.
-          When  ANRM = 0  then an immediate return is effected.
-          ANRM should be preserved between the call of the routine
-          with SCUN = 'S' and the corresponding one with SCUN = 'U'.
-
-  NBL     (input) INTEGER
-          The number of diagonal blocks of the matrix A, if it has a
-          block structure.  To specify that matrix A has no block
-          structure, set NBL = 0.  NBL &gt;= 0.
-
-  NROWS   (input) INTEGER array, dimension max(1,NBL)
-          NROWS(i) contains the number of rows and columns of the
-          i-th diagonal block of matrix A.  The sum of the values
-          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
-          The elements of the array  NROWS  are not referenced if
-          NBL = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M by N part of this array must
-          contain the matrix to be scaled/unscaled.
-          On exit, the leading M by N part of A will contain
-          the modified matrix.
-          The storage mode of A is specified by TYPE.
-
-  LDA     (input) INTEGER
-          The leading dimension of the array A.  LDA  &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Denote by ANRM the norm of the matrix, and by SMLNUM and BIGNUM,
-  two positive numbers near the smallest and largest safely
-  representable numbers, respectively.  The matrix is scaled, if
-  needed, such that the norm of the result is in the range
-  [SMLNUM, BIGNUM].  The scaling factor is represented as a ratio
-  of two numbers, one of them being ANRM, and the other one either
-  SMLNUM or BIGNUM, depending on ANRM being less than SMLNUM or
-  larger than BIGNUM, respectively.  For undoing the scaling, the
-  norm is again compared with SMLNUM or BIGNUM, and the reciprocal
-  of the previous scaling factor is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01QD.html b/doc/_static/doc/MB01QD.html
deleted file mode 100644
index 316df71d..00000000
--- a/doc/_static/doc/MB01QD.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01QD">MB01QD</A></H2>
-<H3>
-Matrix scaling (lower level routine)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To multiply the M by N real matrix A by the real scalar CTO/CFROM.
-  This is done without over/underflow as long as the final result
-  CTO*A(I,J)/CFROM does not over/underflow. TYPE specifies that
-  A may be full, (block) upper triangular, (block) lower triangular,
-  (block) upper Hessenberg, or banded.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01QD( TYPE, M, N, KL, KU, CFROM, CTO, NBL, NROWS, A,
-     $                   LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TYPE
-      INTEGER            INFO, KL, KU, LDA, M, N, NBL
-      DOUBLE PRECISION   CFROM, CTO
-C     .. Array Arguments ..
-      INTEGER            NROWS ( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          TYPE indices the storage type of the input matrix.
-          = 'G':  A is a full matrix.
-          = 'L':  A is a (block) lower triangular matrix.
-          = 'U':  A is a (block) upper triangular matrix.
-          = 'H':  A is a (block) upper Hessenberg matrix.
-          = 'B':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  lower half stored.
-          = 'Q':  A is a symmetric band matrix with lower bandwidth
-                  KL and upper bandwidth KU and with the only the
-                  upper half stored.
-          = 'Z':  A is a band matrix with lower bandwidth KL and
-                  upper bandwidth KU.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The lower bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  KU      (input) INTEGER
-          The upper bandwidth of A.  Referenced only if TYPE = 'B',
-          'Q' or 'Z'.
-
-  CFROM   (input) DOUBLE PRECISION
-  CTO     (input) DOUBLE PRECISION
-          The matrix A is multiplied by CTO/CFROM. A(I,J) is
-          computed without over/underflow if the final result
-          CTO*A(I,J)/CFROM can be represented without over/
-          underflow.  CFROM must be nonzero.
-
-  NBL     (input) INTEGER
-          The number of diagonal blocks of the matrix A, if it has a
-          block structure.  To specify that matrix A has no block
-          structure, set NBL = 0.  NBL &gt;= 0.
-
-  NROWS   (input) INTEGER array, dimension max(1,NBL)
-          NROWS(i) contains the number of rows and columns of the
-          i-th diagonal block of matrix A.  The sum of the values
-          NROWS(i),  for  i = 1: NBL,  should be equal to min(M,N).
-          The array  NROWS  is not referenced if NBL = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          The matrix to be multiplied by CTO/CFROM.  See TYPE for
-          the storage type.
-
-  LDA     (input) INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          Not used in this implementation.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is multiplied by the real scalar CTO/CFROM, taking into
-  account the specified storage mode of the matrix.
-  MB01QD is a version of the LAPACK routine DLASCL, modified for
-  dealing with block triangular, or block Hessenberg matrices.
-  For efficiency, no tests of the input scalar parameters are
-  performed.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RB.html b/doc/_static/doc/MB01RB.html
deleted file mode 100644
index a2e1c9f0..00000000
--- a/doc/_static/doc/MB01RB.html
+++ /dev/null
@@ -1,194 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RB">MB01RB</A></H2>
-<H3>
-Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either the upper or lower triangular part of one of the
-  matrix formulas
-     _
-     R = alpha*R + beta*op( A )*B,                               (1)
-     _
-     R = alpha*R + beta*B*op( A ),                               (2)
-                                          _
-  where alpha and beta are scalars, R and R are m-by-m matrices,
-  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
-  and m-by-n matrices for (2), respectively, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A',  the transpose of A.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RB( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
-     $                   A, LDA, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDR, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the matrix A appears on the left or
-          right in the matrix product as follows:
-                  _
-          = 'L':  R = alpha*R + beta*op( A )*B;
-                  _
-          = 'R':  R = alpha*R + beta*B*op( A ).
-
-  UPLO    CHARACTER*1                               _
-          Specifies which triangles of the matrices R and R are
-          computed and given, respectively, as follows:
-          = 'U':  the upper triangular part;
-          = 'L':  the lower triangular part.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R, the number of rows of
-          the matrix op( A ) and the number of columns of the
-          matrix B, for SIDE = 'L', or the number of rows of the
-          matrix B and the number of columns of the matrix op( A ),
-          for SIDE = 'R'.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix B and the number of
-          columns of the matrix op( A ), for SIDE = 'L', or the
-          number of rows of the matrix op( A ) and the number of
-          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and B are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix R; the strictly lower
-          triangular part of the array is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix R; the strictly upper
-          triangular part of the array is not referenced.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
-          k = N  when  SIDE = 'L', and TRANS =  'N', or
-                       SIDE = 'R', and TRANS &lt;&gt; 'T';
-          k = M  when  SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
-          On entry, if SIDE = 'L', and TRANS =  'N', or
-                       SIDE = 'R', and TRANS &lt;&gt; 'T',
-          the leading M-by-N part of this array must contain the
-          matrix A.
-          On entry, if SIDE = 'R', and TRANS =  'N', or
-                       SIDE = 'L', and TRANS &lt;&gt; 'T',
-          the leading N-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
-          l = M  when  SIDE = 'L', and TRANS =  'N', or
-                       SIDE = 'R', and TRANS &lt;&gt; 'T';
-          l = N  when  SIDE = 'R', and TRANS =  'N', or
-                       SIDE = 'L', and TRANS &lt;&gt; 'T'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
-          p = M  when  SIDE = 'L';
-          p = N  when  SIDE = 'R'.
-          On entry, the leading N-by-M part, if SIDE = 'L', or
-          M-by-N part, if SIDE = 'R', of this array must contain the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N), if SIDE = 'L';
-          LDB &gt;= MAX(1,M), if SIDE = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is evaluated taking the triangular
-  structure into account. A block algorithm is used.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The main application of this routine is when the result should
-  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
-  B = op( A )'*X, for (2), where B is already available and X = X'.
-  The required triangle only is computed and overwritten, contrary
-  to a general matrix multiplication operation.
-
-  This is a BLAS 3 version of the SLICOT Library routine MB01RX.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RD.html b/doc/_static/doc/MB01RD.html
deleted file mode 100644
index 6a85bc75..00000000
--- a/doc/_static/doc/MB01RD.html
+++ /dev/null
@@ -1,219 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RD">MB01RD</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-     _
-     R = alpha*R + beta*op( A )*X*op( A )',
-                                              _
-  where alpha and beta are scalars, R, X, and R are symmetric
-  matrices, A is a general matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RD( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1                                         _
-          Specifies which triangles of the symmetric matrices R, R,
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R and the number of rows
-          of the matrix op( A ).  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix X and the number of columns of the
-          the matrix op( A ).  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call (which is possible only in this case).
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R; the strictly
-          lower triangular part of the array is used as workspace.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R; the strictly
-          upper triangular part of the array is used as workspace.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R. If beta &lt;&gt; 0, the remaining
-          strictly triangular part of this array contains the
-          corresponding part of the matrix expression
-          beta*op( A )*T*op( A )', where T is the triangular matrix
-          defined in the Method section.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
-          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
-          TRANS = 'C'.
-          On entry with TRANS = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,l),
-          where l is M when TRANS = 'N' and is N when TRANS = 'T' or
-          TRANS = 'C'.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          On exit, each diagonal element of this array has half its
-          input value, but the other elements are not modified.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array (with the leading dimension MAX(1,M)) returns the
-          matrix product beta*op( A )*T, where T is the triangular
-          matrix defined in the Method section.
-          This array is not referenced when beta = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,M*N), if  beta &lt;&gt; 0;
-          LDWORK &gt;= 1,          if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = T + T', with T an upper or
-  lower triangular matrix, defined by
-
-     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
-     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-
-     op( A )*X*op( A )' = B + B',
-
-  where B := op( A )*T*op( A )'. Matrix B is not symmetric, but it
-  can be written as tri( B ) + stri( B ), where tri denotes the
-  triangular part specified by UPLO, and stri denotes the remaining
-  strictly triangular part. Let R = V + V', with V defined as T
-  above. Then, the required triangular part of the result can be
-  written as
-
-     alpha*V + beta*tri( B )  + beta*(stri( B ))' +
-              alpha*diag( V ) + beta*diag( tri( B ) ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-      2             2
-     M x N + 1/2 x N x M
-
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RH.html b/doc/_static/doc/MB01RH.html
deleted file mode 100644
index 38ad03c9..00000000
--- a/doc/_static/doc/MB01RH.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RH - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RH">MB01RH</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta op(H) X op(H)' with R, X symmetric and H upper Hessenberg
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-
-     R := alpha*R + beta*op( H )*X*op( H )',
-
-  where alpha and beta are scalars, R and X are symmetric matrices,
-  H is an upper Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RH( UPLO, TRANS, N, ALPHA, BETA, R, LDR, H, LDH,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDH, LDR, LDWORK, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), H(LDH,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, H, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R. 
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the leading N-by-N upper Hessenberg part of this
-          array must contain the upper Hessenberg matrix H.
-          If TRANS = 'N', the entries 3, 4,..., N of the first
-          column are modified internally, but are restored on exit.
-          The remaining part of this array is not referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = U + L, with U and L upper and
-  lower triangular matrices, defined by
-
-     U = triu( X ) - (1/2)*diag( X ),
-     L = tril( X ) - (1/2)*diag( X ),
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-  if UPLO = 'U',
-
-     H*X*H' = ( H*U )*H' + H*( H*U )',  for TRANS = 'N',
-     H'*X*H = H'*( U*H ) + ( U*H )'*H,  for TRANS = 'T', or 'C',
-
-  and if UPLO = 'L',
-
-     H*X*H' = ( H*L' )*H' + H*( H*L' )',  for TRANS = 'N',
-     H'*X*H = H'*( L'*H ) + ( L'*H )'*H,  for TRANS = 'T', or 'C',
-
-  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
-  This approach ensures that the matrices H*U, U*H, H*L', or L'*H
-  are upper Hessenberg.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RT.html b/doc/_static/doc/MB01RT.html
deleted file mode 100644
index d8f60d68..00000000
--- a/doc/_static/doc/MB01RT.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RT">MB01RT</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta op(E) X op(E)' with R, X symmetric and E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-
-     R := alpha*R + beta*op( E )*X*op( E )',
-
-  where alpha and beta are scalars, R and X are symmetric matrices,
-  E is an upper triangular matrix, and op( E ) is one of
-
-     op( E ) = E   or   op( E ) = E'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RT( UPLO, TRANS, N, ALPHA, BETA, R, LDR, E, LDE,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDE, LDR, LDWORK, LDX, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(LDE,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( E ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( E ) = E;
-          = 'T':  op( E ) = E';
-          = 'C':  op( E ) = E'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, E, and X.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then E and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          In both cases, the other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix E.
-          The remaining part of this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = U + L, with U and L upper and
-  lower triangular matrices, defined by
-
-     U = triu( X ) - (1/2)*diag( X ),
-     L = tril( X ) - (1/2)*diag( X ),
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-  if UPLO = 'U',
-
-     E*X*E' = ( E*U )*E' + E*( E*U )',  for TRANS = 'N',
-     E'*X*E = E'*( U*E ) + ( U*E )'*E,  for TRANS = 'T', or 'C',
-
-  and if UPLO = 'L',
-
-     E*X*E' = ( E*L' )*E' + E*( E*L' )',  for TRANS = 'N',
-     E'*X*E = E'*( L'*E ) + ( L'*E )'*E,  for TRANS = 'T', or 'C',
-
-  which involve operations like in BLAS 2 and 3 (DTRMV and DSYR2K).
-  This approach ensures that the matrices E*U, U*E, E*L', or L'*E
-  are upper triangular.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately N**3/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RU.html b/doc/_static/doc/MB01RU.html
deleted file mode 100644
index 0a94bafd..00000000
--- a/doc/_static/doc/MB01RU.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RU">MB01RU</A></H2>
-<H3>
-Computation of matrix expression alpha R + beta A X trans(A), R, X symmetric (MB01RD variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-     _
-     R = alpha*R + beta*op( A )*X*op( A )',
-                                              _
-  where alpha and beta are scalars, R, X, and R are symmetric
-  matrices, A is a general matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RU( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
-     $                   X, LDX, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDWORK, LDX, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R
-          and X are given as follows:
-          = 'U':  the upper triangular part is given;
-          = 'L':  the lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R and the number of rows
-          of the matrix op( A ).  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix X and the number of columns of the
-          the matrix op( A ).  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry, except when R is identified with X in
-          the call.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and X are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R. When R is identified with X in
-          the call, after exit, the diagonal entries of R must be
-          divided by 2.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k)
-          where k is N when TRANS = 'N' and is M when TRANS = 'T' or
-          TRANS = 'C'.
-          On entry with TRANS = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,k),
-          where k is M when TRANS = 'N' and is N when TRANS = 'T' or
-          TRANS = 'C'.
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          The diagonal elements of this array are modified
-          internally, but are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This array is not referenced when beta = 0, or M*N = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= M*N, if  beta &lt;&gt; 0;
-          LDWORK &gt;= 0,   if  beta =  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the symmetry
-  into account. Specifically, let X = T + T', with T an upper or
-  lower triangular matrix, defined by
-
-     T = triu( X ) - (1/2)*diag( X ),  if UPLO = 'U',
-     T = tril( X ) - (1/2)*diag( X ),  if UPLO = 'L',
-
-  where triu, tril, and diag denote the upper triangular part, lower
-  triangular part, and diagonal part of X, respectively. Then,
-
-     A*X*A' = ( A*T )*A' + A*( A*T )',  for TRANS = 'N',
-     A'*X*A = A'*( T*A ) + ( T*A )'*A,  for TRANS = 'T', or 'C',
-
-  which involve BLAS 3 operations (DTRMM and DSYR2K).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-
-      2             2
-     M x N + 1/2 x N x M
-
-  operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This is a simpler version for MB01RD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RW.html b/doc/_static/doc/MB01RW.html
deleted file mode 100644
index c1693b7e..00000000
--- a/doc/_static/doc/MB01RW.html
+++ /dev/null
@@ -1,130 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RW">MB01RW</A></H2>
-<H3>
-Computation of matrix expression alpha A X trans(A), X symmetric (BLAS 2 version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transformation of the symmetric matrix A by the
-  matrix Z in the form
-
-     A := op(Z)*A*op(Z)',
-
-  where op(Z) is either Z or its transpose, Z'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RW( UPLO, TRANS, M, N, A, LDA, Z, LDZ, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS, UPLO
-      INTEGER           INFO, LDA, LDZ, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies whether the upper or lower triangle of A
-          is stored:
-          = 'U':  Upper triangle of A is stored;
-          = 'L':  Lower triangle of A is stored.
-
-  TRANS   CHARACTER*1
-          Specifies whether op(Z) is Z or its transpose Z':
-          = 'N':  op(Z) = Z;
-          = 'T':  op(Z) = Z'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the resulting symmetric matrix op(Z)*A*op(Z)'
-          and the number of rows of the matrix Z, if TRANS = 'N',
-          or the number of columns of the matrix Z, if TRANS = 'T'.
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the symmetric matrix A and the number of
-          columns of the matrix Z, if TRANS = 'N', or the number of
-          rows of the matrix Z, if TRANS = 'T'.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA,MAX(M,N))
-          On entry, the leading N-by-N upper or lower triangular
-          part of this array must contain the upper (UPLO = 'U')
-          or lower (UPLO = 'L') triangular part of the symmetric
-          matrix A.
-          On exit, the leading M-by-M upper or lower triangular
-          part of this array contains the upper (UPLO = 'U') or
-          lower (UPLO = 'L') triangular part of the symmetric
-          matrix op(Z)*A*op(Z)'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M,N).
-
-  Z       (input) DOUBLE PRECISION array, dimension (LDQ,K)
-          where K = N if TRANS = 'N' and K = M if TRANS = 'T'.
-          The leading M-by-N part, if TRANS = 'N', or N-by-M part,
-          if TRANS = 'T', of this array contains the matrix Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= MAX(1,M) if TRANS = 'N' and
-          LDZ &gt;= MAX(1,N) if TRANS = 'T'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This is a simpler, BLAS 2 version for MB01RD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RX.html b/doc/_static/doc/MB01RX.html
deleted file mode 100644
index 04c6c921..00000000
--- a/doc/_static/doc/MB01RX.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RX">MB01RX</A></H2>
-<H3>
-Computation of a triangle of matrix expression alpha R + beta A B or alpha R + beta B A
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either the upper or lower triangular part of one of the
-  matrix formulas
-     _
-     R = alpha*R + beta*op( A )*B,                               (1)
-     _
-     R = alpha*R + beta*B*op( A ),                               (2)
-                                          _
-  where alpha and beta are scalars, R and R are m-by-m matrices,
-  op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
-  and m-by-n matrices for (2), respectively, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A',  the transpose of A.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RX( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
-     $                   A, LDA, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDR, M, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the matrix A appears on the left or
-          right in the matrix product as follows:
-                  _
-          = 'L':  R = alpha*R + beta*op( A )*B;
-                  _
-          = 'R':  R = alpha*R + beta*B*op( A ).
-
-  UPLO    CHARACTER*1                               _
-          Specifies which triangles of the matrices R and R are
-          computed and given, respectively, as follows:
-          = 'U':  the upper triangular part;
-          = 'L':  the lower triangular part.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R and R, the number of rows of
-          the matrix op( A ) and the number of columns of the
-          matrix B, for SIDE = 'L', or the number of rows of the
-          matrix B and the number of columns of the matrix op( A ),
-          for SIDE = 'R'.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix B and the number of
-          columns of the matrix op( A ), for SIDE = 'L', or the
-          number of rows of the matrix op( A ) and the number of
-          columns of the matrix B, for SIDE = 'R'.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then A and B are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix R; the strictly lower
-          triangular part of the array is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix R; the strictly upper
-          triangular part of the array is not referenced.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k), where
-          k = N  when  SIDE = 'L', and TRANS = 'N', or
-                       SIDE = 'R', and TRANS = 'T';
-          k = M  when  SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS = 'T'.
-          On entry, if SIDE = 'L', and TRANS = 'N', or
-                       SIDE = 'R', and TRANS = 'T',
-          the leading M-by-N part of this array must contain the
-          matrix A.
-          On entry, if SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS = 'T',
-          the leading N-by-M part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,l), where
-          l = M  when  SIDE = 'L', and TRANS = 'N', or
-                       SIDE = 'R', and TRANS = 'T';
-          l = N  when  SIDE = 'R', and TRANS = 'N', or
-                       SIDE = 'L', and TRANS = 'T'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,p), where
-          p = M  when  SIDE = 'L';
-          p = N  when  SIDE = 'R'.
-          On entry, the leading N-by-M part, if SIDE = 'L', or
-          M-by-N part, if SIDE = 'R', of this array must contain the
-          matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N), if SIDE = 'L';
-          LDB &gt;= MAX(1,M), if SIDE = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is evaluated taking the triangular
-  structure into account. BLAS 2 operations are used. A block
-  algorithm can be easily constructed; it can use BLAS 3 GEMM
-  operations for most computations, and calls of this BLAS 2
-  algorithm for computing the triangles.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The main application of this routine is when the result should
-  be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
-  B = op( A )'*X, for (2), where B is already available and X = X'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01RY.html b/doc/_static/doc/MB01RY.html
deleted file mode 100644
index 1ae0683d..00000000
--- a/doc/_static/doc/MB01RY.html
+++ /dev/null
@@ -1,174 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01RY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01RY">MB01RY</A></H2>
-<H3>
-Computation of a triangle of matrix expression alpha R + beta H B or alpha R + beta B H, H upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute either the upper or lower triangular part of one of the
-  matrix formulas
-     _
-     R = alpha*R + beta*op( H )*B,                               (1)
-     _
-     R = alpha*R + beta*B*op( H ),                               (2)
-                                                 _
-  where alpha and beta are scalars, H, B, R, and R are m-by-m
-  matrices, H is an upper Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H',  the transpose of H.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01RY( SIDE, UPLO, TRANS, M, ALPHA, BETA, R, LDR, H,
-     $                   LDH, B, LDB, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDB, LDH, LDR, M
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), DWORK(*), H(LDH,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the Hessenberg matrix H appears on the
-          left or right in the matrix product as follows:
-                  _
-          = 'L':  R = alpha*R + beta*op( H )*B;
-                  _
-          = 'R':  R = alpha*R + beta*B*op( H ).
-
-  UPLO    CHARACTER*1                               _
-          Specifies which triangles of the matrices R and R are
-          computed and given, respectively, as follows:
-          = 'U':  the upper triangular part;
-          = 'L':  the lower triangular part.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER           _
-          The order of the matrices R, R, H and B.  M &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then R need not be
-          set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then H and B are not
-          referenced.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry with UPLO = 'U', the leading M-by-M upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix R; the strictly lower
-          triangular part of the array is not referenced.
-          On entry with UPLO = 'L', the leading M-by-M lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix R; the strictly upper
-          triangular part of the array is not referenced.
-          On exit, the leading M-by-M upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,M)
-          On entry, the leading M-by-M upper Hessenberg part of
-          this array must contain the upper Hessenberg part of the
-          matrix H.
-          The elements below the subdiagonal are not referenced,
-          except possibly for those in the first column, which
-          could be overwritten, but are restored on exit.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading M-by-M part of this array must
-          contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          LDWORK &gt;= M, if  beta &lt;&gt; 0 and SIDE = 'L';
-          LDWORK &gt;= 0, if  beta =  0 or  SIDE = 'R'.
-          This array is not referenced when beta = 0 or SIDE = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression is efficiently evaluated taking the
-  Hessenberg/triangular structure into account. BLAS 2 operations
-  are used. A block algorithm can be constructed; it can use BLAS 3
-  GEMM operations for most computations, and calls of this BLAS 2
-  algorithm for computing the triangles.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The main application of this routine is when the result should
-  be a symmetric matrix, e.g., when B = X*op( H )', for (1), or
-  B = op( H )'*X, for (2), where B is already available and X = X'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01SD.html b/doc/_static/doc/MB01SD.html
deleted file mode 100644
index 63b45d63..00000000
--- a/doc/_static/doc/MB01SD.html
+++ /dev/null
@@ -1,97 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01SD">MB01SD</A></H2>
-<H3>
-Scaling a rectangular matrix using given row and column scaling factors
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale a general M-by-N matrix A using the row and column
-  scaling factors in the vectors R and C.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01SD( JOBS, M, N, A, LDA, R, C )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBS
-      INTEGER            LDA, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), C(*), R(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBS    CHARACTER*1
-          Specifies the scaling operation to be done, as follows:
-          = 'R':  row scaling, i.e., A will be premultiplied
-                  by diag(R);
-          = 'C':  column scaling, i.e., A will be postmultiplied
-                  by diag(C);
-          = 'B':  both row and column scaling, i.e., A will be
-                  replaced by diag(R) * A * diag(C).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the M-by-N matrix A.
-          On exit, the scaled matrix.  See JOBS for the form of the
-          scaled matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  R       (input) DOUBLE PRECISION array, dimension (M)
-          The row scale factors for A.
-          R is not referenced if JOBS = 'C'.
-
-  C       (input) DOUBLE PRECISION array, dimension (N)
-          The column scale factors for A.
-          C is not referenced if JOBS = 'R'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01SS.html b/doc/_static/doc/MB01SS.html
deleted file mode 100644
index 1b5534c9..00000000
--- a/doc/_static/doc/MB01SS.html
+++ /dev/null
@@ -1,103 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01SS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01SS">MB01SS</A></H2>
-<H3>
-Symmetric scaling of a symmetric matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale a symmetric N-by-N matrix A using the row and column
-  scaling factors stored in the vector D.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01SS( JOBS, UPLO, N, A, LDA, D )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBS, UPLO
-      INTEGER            LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBS    CHARACTER*1
-          Specifies the scaling operation to be done, as follows:
-          = 'D':  row and column scaling with D, i.e., A will be
-                  transformed to diag(D)*A*diag(D);
-          = 'I':  row and column scaling with inv(D), i.e., A will
-                  be transformed to inv(diag(D))*A*inv(diag(D)).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrix A is stored, as
-          follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the symmetric
-          matrix A.
-          On exit, the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array contains the corresponding triangular part
-          of the matrix diag(D)*A*diag(D), if JOBS = 'D', or of the
-          matrix inv(diag(D))*A*inv(diag(D)), JOBS = 'I'.
-          The stricly lower triangular part (if UPLO = 'U') or
-          stricly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (N)
-          The diagonal elements of the diagonal matrix D.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01TD.html b/doc/_static/doc/MB01TD.html
deleted file mode 100644
index 40f38c3d..00000000
--- a/doc/_static/doc/MB01TD.html
+++ /dev/null
@@ -1,176 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01TD">MB01TD</A></H2>
-<H3>
-Computation of A B in B, with A and B upper quasi-triangular matrices with the same structure
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product A * B, where A and B are upper
-  quasi-triangular matrices (that is, block upper triangular with
-  1-by-1 or 2-by-2 diagonal blocks) with the same structure.
-  The result is returned in the array B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix A. The elements below the
-          subdiagonal are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix B, with the same
-          structure as matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the computed product A * B, with the same structure as
-          on entry.
-          The elements below the subdiagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N-1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrices A and B have not the same structure,
-                and/or A and B are not upper quasi-triangular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product A * B is computed column by column, using
-  BLAS 2 and BLAS 1 operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine can be used, for instance, for computing powers of
-  a real Schur form matrix.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB01TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX-1 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         MB01TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-*        Compute the matrix product A*B.
-         CALL MB01TD( N, A, LDA, B, LDB, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB01TD = ',I2)
-99997 FORMAT (' The matrix product A*B is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB01TD EXAMPLE PROGRAM DATA
-   5
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   0.    0.    1.    5.    1.
-   0.    0.    0.    0.   -4.
-   0.    0.    0.   20.    4.
-   5.    5.    1.    5.    1.
-  -2.    1.    3.    0.   -4.
-   0.    0.    4.   20.    4.
-   0.    0.    0.    3.    5.
-   0.    0.    0.    1.   -2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB01TD EXAMPLE PROGRAM RESULTS
-
- The matrix product A*B is 
-   1.0000   7.0000  31.0000 139.0000  22.0000
-  -8.0000 -11.0000  -9.0000 -32.0000   2.0000
-   0.0000   0.0000   4.0000  36.0000  27.0000
-   0.0000   0.0000   0.0000  -4.0000   8.0000
-   0.0000   0.0000   0.0000  64.0000  92.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01UD.html b/doc/_static/doc/MB01UD.html
deleted file mode 100644
index 7dcd7c4e..00000000
--- a/doc/_static/doc/MB01UD.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UD">MB01UD</A></H2>
-<H3>
-Computation of matrix expressions alpha H A or alpha A H, H Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-     B = alpha*op( H ) * A, or B = alpha*A * op( H ),
-
-  where alpha is a scalar, A and B are m-by-n matrices, H is an
-  upper Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H',  the transpose of H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UD( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA, B,
-     $                   LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS
-      INTEGER           INFO, LDA, LDB, LDH, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the Hessenberg matrix H appears on the
-          left or right in the matrix product as follows:
-          = 'L':  B = alpha*op( H ) * A;
-          = 'R':  B = alpha*A * op( H ).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices A and B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices A and B.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then H is not
-          referenced and A need not be set before entry.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with SIDE = 'L', the leading M-by-M upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          On entry with SIDE = 'R', the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          The elements below the subdiagonal are not referenced,
-          except possibly for those in the first column, which
-          could be overwritten, but are restored on exit.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading M-by-N part of this array contains the
-          computed product.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The required matrix product is computed in two steps. In the first
-  step, the upper triangle of H is used; in the second step, the
-  contribution of the subdiagonal is added. A fast BLAS 3 DTRMM
-  operation is used in the first step.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01UW.html b/doc/_static/doc/MB01UW.html
deleted file mode 100644
index b010a40e..00000000
--- a/doc/_static/doc/MB01UW.html
+++ /dev/null
@@ -1,154 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UW">MB01UW</A></H2>
-<H3>
-Computation of matrix expressions alpha H A or alpha A H, over A, H Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-     A : = alpha*op( H ) * A, or A : = alpha*A * op( H ),
-
-  where alpha is a scalar, A is an m-by-n matrix, H is an upper
-  Hessenberg matrix, and op( H ) is one of
-
-     op( H ) = H   or   op( H ) = H',  the transpose of H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UW( SIDE, TRANS, M, N, ALPHA, H, LDH, A, LDA,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS
-      INTEGER           INFO, LDA, LDH, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the Hessenberg matrix H appears on the
-          left or right in the matrix product as follows:
-          = 'L':  A := alpha*op( H ) * A;
-          = 'R':  A := alpha*A * op( H ).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( H ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( H ) = H;
-          = 'T':  op( H ) = H';
-          = 'C':  op( H ) = H'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then H is not
-          referenced and A need not be set before entry.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,k)
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with SIDE = 'L', the leading M-by-M upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          On entry with SIDE = 'R', the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg matrix H.
-          The elements below the subdiagonal are not referenced,
-          except possibly for those in the first column, which
-          could be overwritten, but are restored on exit.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the computed product.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, alpha &lt;&gt; 0, and LDWORK &gt;= M*N &gt; 0,
-          DWORK contains a copy of the matrix A, having the leading
-          dimension M.
-          This array is not referenced when alpha = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= 0,   if  alpha =  0 or MIN(M,N) = 0;
-          LDWORK &gt;= M-1, if  SIDE  = 'L';
-          LDWORK &gt;= N-1, if  SIDE  = 'R'.
-          For maximal efficiency LDWORK should be at least M*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The required matrix product is computed in two steps. In the first
-  step, the upper triangle of H is used; in the second step, the
-  contribution of the subdiagonal is added. If the workspace can
-  accomodate a copy of A, a fast BLAS 3 DTRMM operation is used in
-  the first step.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01UX.html b/doc/_static/doc/MB01UX.html
deleted file mode 100644
index 2ed581ae..00000000
--- a/doc/_static/doc/MB01UX.html
+++ /dev/null
@@ -1,184 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UX">MB01UX</A></H2>
-<H3>
-Computation of matrix expressions alpha T A or alpha A T, over A, T quasi-triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-    A : = alpha*op( T ) * A, or A : = alpha*A * op( T ),
-
-  where alpha is a scalar, A is an m-by-n matrix, T is a quasi-
-  triangular matrix, and op( T ) is one of
-
-     op( T ) = T   or   op( T ) = T',  the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UX( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDT, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the upper quasi-triangular matrix H
-          appears on the left or right in the matrix product as
-          follows:
-          = 'L':  A := alpha*op( T ) * A;
-          = 'R':  A := alpha*A * op( T ).
-
-  UPLO    CHARACTER*1.
-          Specifies whether the matrix T is an upper or lower
-          quasi-triangular matrix as follows:
-          = 'U':  T is an upper quasi-triangular matrix;
-          = 'L':  T is a lower quasi-triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then T is not
-          referenced and A need not be set before entry.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,k)
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with UPLO = 'U', the leading k-by-k upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T. The elements below the
-          subdiagonal are not referenced.
-          On entry with UPLO = 'L', the leading k-by-k lower
-          Hessenberg part of this array must contain the lower
-          quasi-triangular matrix T. The elements above the
-          supdiagonal are not referenced.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the computed product.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 and ALPHA&lt;&gt;0,  DWORK(1)  returns the
-          optimal value of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          This array is not referenced when alpha = 0.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= 1,       if alpha =  0 or MIN(M,N) = 0;
-          LDWORK &gt;= 2*(M-1), if SIDE  = 'L';
-          LDWORK &gt;= 2*(N-1), if SIDE  = 'R'.
-          For maximal efficiency LDWORK should be at least
-          NOFF*N + M - 1,    if SIDE  = 'L';
-          NOFF*M + N - 1,    if SIDE  = 'R';
-          where NOFF is the number of nonzero elements on the
-          subdiagonal (if UPLO = 'U') or supdiagonal (if UPLO = 'L')
-          of T.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The technique used in this routine is similiar to the technique
-  used in the SLICOT [1] subroutine MB01UW developed by Vasile Sima.
-  The required matrix product is computed in two steps. In the first
-  step, the triangle of T specified by UPLO is used; in the second
-  step, the contribution of the sub-/supdiagonal is added. If the
-  workspace can accommodate parts of A, a fast BLAS 3 DTRMM
-  operation is used in the first step.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., Sima, V., Van Huffel, S., and
-      Varga, A.
-      SLICOT - A subroutine library in systems and control theory.
-      In: Applied and computational control, signals, and circuits,
-      Vol. 1, pp. 499-539, Birkhauser, Boston, 1999.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01UY.html b/doc/_static/doc/MB01UY.html
deleted file mode 100644
index 6b676cdc..00000000
--- a/doc/_static/doc/MB01UY.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UY">MB01UY</A></H2>
-<H3>
-Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
-
-  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
-  matrix, and op( T ) is one of
-
-     op( T ) = T   or   op( T ) = T',  the transpose of T.
-
-  A block-row/column algorithm is used, if possible. The result
-  overwrites the array T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UY( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDT, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the triangular matrix T appears on the
-          left or right in the matrix product, as follows:
-          = 'L':  T := alpha*op( T ) * A;
-          = 'R':  T := alpha*A * op( T ).
-
-  UPLO    CHARACTER*1.
-          Specifies whether the matrix T is an upper or lower
-          triangular matrix, as follows:
-          = 'U':  T is an upper triangular matrix;
-          = 'L':  T is a lower triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then T and A need not
-          be set before entry.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,max(K,N)), when SIDE = 'L', and
-          (LDT,K),        when SIDE = 'R',
-          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
-          On entry with UPLO = 'U', the leading K-by-K upper
-          triangular part of this array must contain the upper
-          triangular matrix T. The elements below the diagonal
-          do not need to be zero.
-          On entry with UPLO = 'L', the leading K-by-K lower
-          triangular part of this array must contain the lower
-          triangular matrix T. The elements above the diagonal
-          do not need to be zero.
-          On exit, the leading M-by-N part of this array contains
-          the corresponding product defined by SIDE, UPLO, and
-          TRANS.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= max(1,M),    if SIDE = 'L';
-          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
-          LDWORK &gt;= M, if SIDE = 'L';
-          LDWORK &gt;= N, if SIDE = 'R'.
-          For good performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A block-row/column size is found based on the available workspace.
-  BLAS 3 gemm and trmm are used if possible.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01UZ.html b/doc/_static/doc/MB01UZ.html
deleted file mode 100644
index e737b56a..00000000
--- a/doc/_static/doc/MB01UZ.html
+++ /dev/null
@@ -1,171 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01UZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01UZ">MB01UZ</A></H2>
-<H3>
-Computation of matrix expressions alpha T A or alpha A T, over T, T upper triangular (complex version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute one of the matrix products
-
-    T : = alpha*op( T ) * A, or T : = alpha*A * op( T ),
-
-  where alpha is a scalar, A is an M-by-N matrix, T is a triangular
-  matrix, and op( T ) is one of
-
-     op( T ) = T,  or  op( T ) = T',  the transpose of T, or
-     op( T ) = conj(T'),              the conjugate transpose of T.
-
-  A block-row/column algorithm is used, if possible. The result
-  overwrites the array T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01UZ( SIDE, UPLO, TRANS, M, N, ALPHA, T, LDT, A, LDA,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         SIDE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDT, LZWORK, M, N
-      COMPLEX*16        ALPHA
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), T(LDT,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the triangular matrix T appears on the
-          left or right in the matrix product, as follows:
-          = 'L':  T := alpha * op( T ) * A;
-          = 'R':  T := alpha * A * op( T ).
-
-  UPLO    CHARACTER*1.
-          Specifies whether the matrix T is an upper or lower
-          triangular matrix, as follows:
-          = 'U':  T is an upper triangular matrix;
-          = 'L':  T is a lower triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = conj(T').
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  ALPHA   (input) COMPLEX*16
-          The scalar alpha. When alpha is zero then T and A need not
-          be set before entry.
-
-  T       (input/output) COMPLEX*16 array, dimension
-          (LDT,max(K,N)), when SIDE = 'L', and
-          (LDT,K),        when SIDE = 'R',
-          where K is M if SIDE = 'L' and is N if SIDE = 'R'.
-          On entry with UPLO = 'U', the leading K-by-K upper
-          triangular part of this array must contain the upper
-          triangular matrix T. The elements below the diagonal
-          do not need to be zero.
-          On entry with UPLO = 'L', the leading K-by-K lower
-          triangular part of this array must contain the lower
-          triangular matrix T. The elements above the diagonal
-          do not need to be zero.
-          On exit, the leading M-by-N part of this array contains
-          the corresponding product defined by SIDE, UPLO, and
-          TRANS.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= max(1,M),    if SIDE = 'L';
-          LDT &gt;= max(1,M,N),  if SIDE = 'R'.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0,  ZWORK(1)  returns the optimal value
-          of LZWORK.
-          On exit, if  INFO = -12,  ZWORK(1)  returns the minimum
-          value of LZWORK.
-
-  LZWORK  The length of the array ZWORK.
-          LZWORK &gt;= 1, if alpha =  0 or MIN(M,N) = 0;
-          LZWORK &gt;= M, if SIDE  = 'L';
-          LZWORK &gt;= N, if SIDE  = 'R'.
-          For good performance, LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A block-row/column size is found based on the available workspace.
-  BLAS 3 gemm and trmm are used if possible.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01VD.html b/doc/_static/doc/MB01VD.html
deleted file mode 100644
index 2e4840db..00000000
--- a/doc/_static/doc/MB01VD.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01VD">MB01VD</A></H2>
-<H3>
-Kronecker product of two matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the following matrix operation
-
-     C = alpha*kron( op(A), op(B) ) + beta*C,
-
-  where alpha and beta are real scalars, op(M) is either matrix M or
-  its transpose, M', and kron( X, Y ) denotes the Kronecker product
-  of the matrices X and Y.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01VD( TRANA, TRANB, MA, NA, MB, NB, ALPHA, BETA,
-     $                   A, LDA, B, LDB, C, LDC, MC, NC, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANA, TRANB
-      INTEGER           INFO, LDA, LDB, LDC, MA, MB, MC, NA, NB, NC
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used as follows:
-          = 'N':  op(A) = A;
-          = 'T':  op(A) = A';
-          = 'C':  op(A) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op(B) to be used as follows:
-          = 'N':  op(B) = B;
-          = 'T':  op(B) = B';
-          = 'C':  op(B) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MA      (input) INTEGER
-          The number of rows of the matrix op(A).  MA &gt;= 0.
-
-  NA      (input) INTEGER
-          The number of columns of the matrix op(A).  NA &gt;= 0.
-
-  MB      (input) INTEGER
-          The number of rows of the matrix op(B).  MB &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns of the matrix op(B).  NB &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then A and B need not
-          be set before entry.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then C need not be
-          set before entry.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,ka),
-          where ka is NA when TRANA = 'N', and is MA otherwise.
-          If TRANA = 'N', the leading MA-by-NA part of this array
-          must contain the matrix A; otherwise, the leading NA-by-MA
-          part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= max(1,MA), if TRANA = 'N';
-          LDA &gt;= max(1,NA), if TRANA = 'T' or 'C'.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,kb)
-          where kb is NB when TRANB = 'N', and is MB otherwise.
-          If TRANB = 'N', the leading MB-by-NB part of this array
-          must contain the matrix B; otherwise, the leading NB-by-MB
-          part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= max(1,MB), if TRANB = 'N';
-          LDB &gt;= max(1,NB), if TRANB = 'T' or 'C'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
-          On entry, if beta is nonzero, the leading MC-by-NC part of
-          this array must contain the given matric C, where
-          MC = MA*MB and NC = NA*NB.
-          On exit, the leading MC-by-NC part of this array contains
-          the computed matrix expression
-          C = alpha*kron( op(A), op(B) ) + beta*C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= max(1,MC).
-
-  MC      (output) INTEGER
-          The number of rows of the matrix C.  MC = MA*MB.
-
-  NC      (output) INTEGER
-          The number of columns of the matrix C.  NC = NA*NB.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Kronecker product of the matrices op(A) and op(B) is computed
-  column by column.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The multiplications by zero elements in A are avoided, if the
-  matrix A is considered to be sparse, i.e., if
-  (number of zeros in A)/(MA*NA) &gt;= SPARST = 0.8. The code makes
-  NB+1 passes through the matrix A, and MA*NA passes through the
-  matrix B. If LDA and/or LDB are very large, and op(A) = A' and/or
-  op(B) = B', it could be more efficient to transpose A and/or B
-  before calling this routine, and use the 'N' values for TRANA
-  and/or TRANB.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01WD.html b/doc/_static/doc/MB01WD.html
deleted file mode 100644
index 442ec939..00000000
--- a/doc/_static/doc/MB01WD.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01WD">MB01WD</A></H2>
-<H3>
-Residuals of Lyapunov or Stein equations for Cholesky factored solutions
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix formula
-  _
-  R = alpha*( op( A )'*op( T )'*op( T ) + op( T )'*op( T )*op( A ) )
-      + beta*R,                                                  (1)
-
-  if DICO = 'C', or
-  _
-  R = alpha*( op( A )'*op( T )'*op( T )*op( A ) -  op( T )'*op( T ))
-      + beta*R,                                                  (2)
-                                                          _
-  if DICO = 'D', where alpha and beta are scalars, R, and R are
-  symmetric matrices, T is a triangular matrix, A is a general or
-  Hessenberg matrix, and op( M ) is one of
-
-     op( M ) = M   or   op( M ) = M'.
-
-  The result is overwritten on R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01WD( DICO, UPLO, TRANS, HESS, N, ALPHA, BETA, R,
-     $                   LDR, A, LDA, T, LDT, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HESS, TRANS, UPLO
-      INTEGER           INFO, LDA, LDR, LDT, N
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), R(LDR,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the formula to be evaluated, as follows:
-          = 'C':  formula (1), "continuous-time" case;
-          = 'D':  formula (2), "discrete-time" case.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrix R and
-          triangular matrix T are given, as follows:
-          = 'U':  the upper triangular parts of R and T are given;
-          = 'L':  the lower triangular parts of R and T are given;
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( M ) to be used, as follows:
-          = 'N':  op( M ) = M;
-          = 'T':  op( M ) = M';
-          = 'C':  op( M ) = M'.
-
-  HESS    CHARACTER*1
-          Specifies the form of the matrix A, as follows:
-          = 'F':  matrix A is full;
-          = 'H':  matrix A is Hessenberg (or Schur), either upper
-                  (if UPLO = 'U'), or lower (if UPLO = 'L').
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices R, A, and T.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then the arrays A
-          and T are not referenced.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then the array R need
-          not be set before entry.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix R.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix R.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-                              _
-          the computed matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If HESS = 'H' the elements below the
-          first subdiagonal, if UPLO = 'U', or above the first
-          superdiagonal, if UPLO = 'L', need not be set to zero,
-          and are not referenced if DICO = 'D'.
-          On exit, the leading N-by-N part of this array contains
-          the following matrix product
-             alpha*T'*T*A, if TRANS = 'N', or
-             alpha*A*T*T', otherwise,
-          if DICO = 'C', or
-             T*A, if TRANS = 'N', or
-             A*T, otherwise,
-          if DICO = 'D' (and in this case, these products have a
-          Hessenberg form, if HESS = 'H').
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular matrix T and
-          the strictly lower triangular part need not be set to zero
-          (and it is not referenced).
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular matrix T and
-          the strictly upper triangular part need not be set to zero
-          (and it is not referenced).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expression (1) or (2) is efficiently evaluated taking
-  the structure into account. BLAS 3 operations (DTRMM, DSYRK and
-  their specializations) are used throughout.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If A is a full matrix, the algorithm requires approximately
-   3
-  N  operations, if DICO = 'C';
-         3
-  7/6 x N  operations, if DICO = 'D'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01XD.html b/doc/_static/doc/MB01XD.html
deleted file mode 100644
index cbbd339c..00000000
--- a/doc/_static/doc/MB01XD.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01XD">MB01XD</A></H2>
-<H3>
-Computing U' U or L L', with U and L upper and lower triangular matrices (block algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product U' * U or L * L', where U and L are
-  upper and lower triangular matrices, respectively, stored in the
-  corresponding upper or lower triangular part of the array A.
-
-  If UPLO = 'U' then the upper triangle of the result is stored,
-  overwriting the matrix U in A.
-  If UPLO = 'L' then the lower triangle of the result is stored,
-  overwriting the matrix L in A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01XD( UPLO, N, A, LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle (U or L) is given in the array A,
-          as follows:
-          = 'U':  the upper triangular part U is given;
-          = 'L':  the lower triangular part L is given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the triangular matrices U or L.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular matrix U.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular matrix L.
-          On exit, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the product U' * U. The strictly lower
-          triangular part is not referenced.
-          On exit, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array contains the lower
-          triangular part of the product L * L'. The strictly upper
-          triangular part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product U' * U or L * L' is computed using BLAS 3
-  operations as much as possible (a block algorithm).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a counterpart of LAPACK Library routine DLAUUM,
-  which computes the matrix product U * U' or L' * L.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01XY.html b/doc/_static/doc/MB01XY.html
deleted file mode 100644
index ce736900..00000000
--- a/doc/_static/doc/MB01XY.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01XY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01XY">MB01XY</A></H2>
-<H3>
-Computing U' U or L L', with U and L upper and lower triangular matrices (unblock algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product U' * U or L * L', where U and L are
-  upper and lower triangular matrices, respectively, stored in the
-  corresponding upper or lower triangular part of the array A.
-
-  If UPLO = 'U' then the upper triangle of the result is stored,
-  overwriting the matrix U in A.
-  If UPLO = 'L' then the lower triangle of the result is stored,
-  overwriting the matrix L in A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01XY( UPLO, N, A, LDA, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle (U or L) is given in the array A,
-          as follows:
-          = 'U':  the upper triangular part U is given;
-          = 'L':  the lower triangular part L is given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the triangular matrices U or L.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular matrix U.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular matrix L.
-          On exit, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the product U' * U. The strictly lower
-          triangular part is not referenced.
-          On exit, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array contains the lower
-          triangular part of the product L * L'. The strictly upper
-          triangular part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product U' * U or L * L' is computed using BLAS 2 and
-  BLAS 1 operations (an unblocked algorithm).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a counterpart of LAPACK Library routine DLAUU2,
-  which computes the matrix product U * U' or L' * L.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01YD.html b/doc/_static/doc/MB01YD.html
deleted file mode 100644
index 82d1d351..00000000
--- a/doc/_static/doc/MB01YD.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01YD">MB01YD</A></H2>
-<H3>
-Symmetric rank k operation C := alpha op( A ) op( A )' + beta C, C symmetric
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the symmetric rank k operations
-
-     C := alpha*op( A )*op( A )' + beta*C,
-
-  where alpha and beta are scalars, C is an n-by-n symmetric matrix,
-  op( A ) is an n-by-k matrix, and op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  The matrix A has l nonzero codiagonals, either upper or lower.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01YD( UPLO, TRANS, N, K, L, ALPHA, BETA, A, LDA, C,
-     $                   LDC, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS, UPLO
-      INTEGER            INFO, LDA, LDC, K, L, N
-      DOUBLE PRECISION   ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies which triangle of the symmetric matrix C
-          is given and computed, as follows:
-          = 'U':  the upper triangular part is given/computed;
-          = 'L':  the lower triangular part is given/computed.
-          UPLO also defines the pattern of the matrix A (see below).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used, as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix C.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of columns of the matrix op( A ).  K &gt;= 0.
-
-  L       (input) INTEGER
-          If UPLO = 'U', matrix A has L nonzero subdiagonals.
-          If UPLO = 'L', matrix A has L nonzero superdiagonals.
-          MAX(0,NR-1) &gt;= L &gt;= 0, if UPLO = 'U',
-          MAX(0,NC-1) &gt;= L &gt;= 0, if UPLO = 'L',
-          where NR and NC are the numbers of rows and columns of the
-          matrix A, respectively.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then the array A is
-          not referenced.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then the array C need
-          not be set before entry.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,NC), where
-          NC is K when TRANS = 'N', and is N otherwise.
-          If TRANS = 'N', the leading N-by-K part of this array must
-          contain the matrix A, otherwise the leading K-by-N part of
-          this array must contain the matrix A.
-          If UPLO = 'U', only the upper triangular part and the
-          first L subdiagonals are referenced, and the remaining
-          subdiagonals are assumed to be zero.
-          If UPLO = 'L', only the lower triangular part and the
-          first L superdiagonals are referenced, and the remaining
-          superdiagonals are assumed to be zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,NR),
-          where NR = N, if TRANS = 'N', and NR = K, otherwise.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix C.
-          On entry with UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix C.
-          On exit, the leading N-by-N upper triangular part (if
-          UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
-          this array contains the corresponding triangular part of
-          the updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The calculations are efficiently performed taking the symmetry
-  and structure into account.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The matrix A may have the following patterns, when n = 7, k = 5,
-  and l = 2 are used for illustration:
-
-  UPLO = 'U', TRANS = 'N'         UPLO = 'L', TRANS = 'N'
-
-         [ x x x x x ]                   [ x x x 0 0 ]
-         [ x x x x x ]                   [ x x x x 0 ]
-         [ x x x x x ]                   [ x x x x x ]
-     A = [ 0 x x x x ],              A = [ x x x x x ],
-         [ 0 0 x x x ]                   [ x x x x x ]
-         [ 0 0 0 x x ]                   [ x x x x x ]
-         [ 0 0 0 0 x ]                   [ x x x x x ]
-
-  UPLO = 'U', TRANS = 'T'         UPLO = 'L', TRANS = 'T'
-
-         [ x x x x x x x ]               [ x x x 0 0 0 0 ]
-         [ x x x x x x x ]               [ x x x x 0 0 0 ]
-     A = [ x x x x x x x ],          A = [ x x x x x 0 0 ].
-         [ 0 x x x x x x ]               [ x x x x x x 0 ]
-         [ 0 0 x x x x x ]               [ x x x x x x x ]
-
-  If N = K, the matrix A is upper or lower triangular, for L = 0,
-  and upper or lower Hessenberg, for L = 1.
-
-  This routine is a specialization of the BLAS 3 routine DSYRK.
-  BLAS 1 calls are used when appropriate, instead of in-line code,
-  in order to increase the efficiency. If the matrix A is full, or
-  its zero triangle has small order, an optimized DSYRK code could
-  be faster than MB01YD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB01ZD.html b/doc/_static/doc/MB01ZD.html
deleted file mode 100644
index 72bd0d55..00000000
--- a/doc/_static/doc/MB01ZD.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB01ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB01ZD">MB01ZD</A></H2>
-<H3>
-Computing H := alpha op( T ) H, or H := alpha H op( T ), with H Hessenberg-like, T triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product
-
-     H := alpha*op( T )*H,   or   H := alpha*H*op( T ),
-
-  where alpha is a scalar, H is an m-by-n upper or lower
-  Hessenberg-like matrix (with l nonzero subdiagonals or
-  superdiagonals, respectively), T is a unit, or non-unit,
-  upper or lower triangular matrix, and op( T ) is one of
-
-     op( T ) = T   or   op( T ) = T'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB01ZD( SIDE, UPLO, TRANST, DIAG, M, N, L, ALPHA, T,
-     $                   LDT, H, LDH, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DIAG, SIDE, TRANST, UPLO
-      INTEGER            INFO, L, LDH, LDT, M, N
-      DOUBLE PRECISION   ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION   H( LDH, * ), T( LDT, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether the triangular matrix T appears on the
-          left or right in the matrix product, as follows:
-          = 'L':  the product alpha*op( T )*H is computed;
-          = 'R':  the product alpha*H*op( T ) is computed.
-
-  UPLO    CHARACTER*1
-          Specifies the form of the matrices T and H, as follows:
-          = 'U':  the matrix T is upper triangular and the matrix H
-                  is upper Hessenberg-like;
-          = 'L':  the matrix T is lower triangular and the matrix H
-                  is lower Hessenberg-like.
-
-  TRANST  CHARACTER*1
-          Specifies the form of op( T ) to be used, as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-  DIAG    CHARACTER*1.
-          Specifies whether or not T is unit triangular, as follows:
-          = 'U':  the matrix T is assumed to be unit triangular;
-          = 'N':  the matrix T is not assumed to be unit triangular.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of H.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of H.  N &gt;= 0.
-
-  L       (input) INTEGER
-          If UPLO = 'U', matrix H has L nonzero subdiagonals.
-          If UPLO = 'L', matrix H has L nonzero superdiagonals.
-          MAX(0,M-1) &gt;= L &gt;= 0, if UPLO = 'U';
-          MAX(0,N-1) &gt;= L &gt;= 0, if UPLO = 'L'.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then T is not
-          referenced and H need not be set before entry.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,k), where
-          k is m when SIDE = 'L' and is n when SIDE = 'R'.
-          If UPLO = 'U', the leading k-by-k upper triangular part
-          of this array must contain the upper triangular matrix T
-          and the strictly lower triangular part is not referenced.
-          If UPLO = 'L', the leading k-by-k lower triangular part
-          of this array must contain the lower triangular matrix T
-          and the strictly upper triangular part is not referenced.
-          Note that when DIAG = 'U', the diagonal elements of T are
-          not referenced either, but are assumed to be unity.
-
-  LDT     INTEGER
-          The leading dimension of array T.
-          LDT &gt;= MAX(1,M), if SIDE = 'L';
-          LDT &gt;= MAX(1,N), if SIDE = 'R'.
-
-  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, if UPLO = 'U', the leading M-by-N upper
-          Hessenberg part of this array must contain the upper
-          Hessenberg-like matrix H.
-          On entry, if UPLO = 'L', the leading M-by-N lower
-          Hessenberg part of this array must contain the lower
-          Hessenberg-like matrix H.
-          On exit, the leading M-by-N part of this array contains
-          the matrix product alpha*op( T )*H, if SIDE = 'L',
-          or alpha*H*op( T ), if SIDE = 'R'. If TRANST = 'N', this
-          product has the same pattern as the given matrix H;
-          the elements below the L-th subdiagonal (if UPLO = 'U'),
-          or above the L-th superdiagonal (if UPLO = 'L'), are not
-          referenced in this case. If TRANST = 'T', the elements
-          below the (N+L)-th row (if UPLO = 'U', SIDE = 'R', and
-          M &gt; N+L), or at the right of the (M+L)-th column
-          (if UPLO = 'L', SIDE = 'L', and N &gt; M+L), are not set to
-          zero nor referenced.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= max(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The calculations are efficiently performed taking the problem
-  structure into account.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The matrix H may have the following patterns, when m = 7, n = 6,
-  and l = 2 are used for illustration:
-
-            UPLO = 'U'                    UPLO = 'L'
-
-         [ x x x x x x ]               [ x x x 0 0 0 ]
-         [ x x x x x x ]               [ x x x x 0 0 ]
-         [ x x x x x x ]               [ x x x x x 0 ]
-     H = [ 0 x x x x x ],          H = [ x x x x x x ].
-         [ 0 0 x x x x ]               [ x x x x x x ]
-         [ 0 0 0 x x x ]               [ x x x x x x ]
-         [ 0 0 0 0 x x ]               [ x x x x x x ]
-
-  The products T*H or H*T have the same pattern as H, but the
-  products T'*H or H*T' may be full matrices.
-
-  If m = n, the matrix H is upper or lower triangular, for l = 0,
-  and upper or lower Hessenberg, for l = 1.
-
-  This routine is a specialization of the BLAS 3 routine DTRMM.
-  BLAS 1 calls are used when appropriate, instead of in-line code,
-  in order to increase the efficiency. If the matrix H is full, or
-  its zero triangle has small order, an optimized DTRMM code could
-  be faster than MB01ZD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02CD.html b/doc/_static/doc/MB02CD.html
deleted file mode 100644
index e9a3202f..00000000
--- a/doc/_static/doc/MB02CD.html
+++ /dev/null
@@ -1,337 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CD">MB02CD</A></H2>
-<H3>
-Cholesky factorization of a positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor and the generator and/or the
-  Cholesky factor of the inverse of a symmetric positive definite
-  (s.p.d.) block Toeplitz matrix T, defined by either its first
-  block row, or its first block column, depending on the routine
-  parameter TYPET. Transformation information is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
-     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, TYPET
-      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
-     $                  T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine, as follows:
-          = 'G':  only computes the generator G of the inverse;
-          = 'R':  computes the generator G of the inverse and the
-                  Cholesky factor R of T, i.e., if TYPET = 'R',
-                  then R'*R = T, and if TYPET = 'C', then R*R' = T;
-          = 'L':  computes the generator G and the Cholesky factor L
-                  of the inverse, i.e., if TYPET = 'R', then
-                  L'*L = inv(T), and if TYPET = 'C', then
-                  L*L' = inv(T);
-          = 'A':  computes the generator G, the Cholesky factor L
-                  of the inverse and the Cholesky factor R of T;
-          = 'O':  only computes the Cholesky factor R of T.
-
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix; if demanded, the Cholesky factors
-                  R and L are upper and lower triangular,
-                  respectively, and G contains the transposed
-                  generator of the inverse;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix; if demanded, the Cholesky
-                  factors R and L are lower and upper triangular,
-                  respectively, and G contains the generator of the
-                  inverse. This choice results in a column oriented
-                  algorithm which is usually faster.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,N*K) / (LDT,K)
-          On entry, the leading K-by-N*K / N*K-by-K part of this
-          array must contain the first block row / column of an
-          s.p.d. block Toeplitz matrix.
-          On exit, if INFO = 0, then the leading K-by-N*K / N*K-by-K
-          part of this array contains, in the first K-by-K block,
-          the upper / lower Cholesky factor of T(1:K,1:K), and in
-          the remaining part, the Householder transformations
-          applied during the process.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),    if TYPET = 'R';
-          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
-
-  G       (output)  DOUBLE PRECISION array, dimension
-          (LDG,N*K) / (LDG,2*K)
-          If INFO = 0 and JOB = 'G', 'R', 'L', or 'A', the leading
-          2*K-by-N*K / N*K-by-2*K part of this array contains, in
-          the first K-by-K block of the second block row / column,
-          the lower right block of L (necessary for updating
-          factorizations in SLICOT Library routine MB02DD), and
-          in the remaining part, the generator of the inverse of T.
-          Actually, to obtain a generator one has to set
-              G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
-              G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
-
-  LDG     INTEGER
-          The leading dimension of the array G.
-          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and
-                                 JOB = 'G', 'R', 'L', or 'A';
-          LDG &gt;= MAX(1,N*K),  if TYPET = 'C' and
-                                 JOB = 'G', 'R', 'L', or 'A';
-          LDG &gt;= 1,           if JOB = 'O'.
-
-  R       (output)  DOUBLE PRECISION array, dimension (LDR,N*K)
-          If INFO = 0 and JOB = 'R', 'A', or 'O', then the leading
-          N*K-by-N*K part of this array contains the upper / lower
-          Cholesky factor of T.
-          The elements in the strictly lower / upper triangular part
-          are not referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,N*K),  if JOB = 'R', 'A', or 'O';
-          LDR &gt;= 1,           if JOB = 'G', or 'L'.
-
-  L       (output)  DOUBLE PRECISION array, dimension (LDL,N*K)
-          If INFO = 0 and JOB = 'L', or 'A', then the leading
-          N*K-by-N*K part of this array contains the lower / upper
-          Cholesky factor of the inverse of T.
-          The elements in the strictly upper / lower triangular part
-          are not referenced.
-
-  LDL     INTEGER
-          The leading dimension of the array L.
-          LDL &gt;= MAX(1,N*K),  if JOB = 'L', or 'A';
-          LDL &gt;= 1,           if JOB = 'G', 'R', or 'O'.
-
-  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
-          If INFO = 0, then the leading 3*(N-1)*K part of this
-          array contains information about the hyperbolic rotations
-          and Householder transformations applied during the
-          process. This information is needed for updating the
-          factorizations in SLICOT Library routine MB02DD.
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 3*(N-1)*K.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N-1)*K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                            3 2
-  The algorithm requires 0(K N ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, NMAX
-      PARAMETER        ( KMAX = 20, NMAX = 20 )
-      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
-      PARAMETER        ( LDG = 2*KMAX, LDL = NMAX*KMAX, LDR = NMAX*KMAX,
-     $                   LDT = KMAX, LDWORK = ( NMAX - 1 )*KMAX )
-      PARAMETER        ( LCS = 3*LDWORK )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N
-      CHARACTER        JOB, TYPET
-*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
-      DOUBLE PRECISION CS(LCS), DWORK(LDWORK), G(LDG, NMAX*KMAX),
-     $                 L(LDL, NMAX*KMAX), R(LDR, NMAX*KMAX),
-     $                 T(LDT, NMAX*KMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLASET, MB02CD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, JOB
-      TYPET = 'R'
-      M = N*K
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) K
-         ELSE
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-*           Compute the Cholesky factor(s) and/or the generator.
-            CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
-     $                   LDL, CS, LCS, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF ( LSAME( JOB, 'G' ) .OR. LSAME( JOB, 'A' ) .OR.
-     $              LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'R' ) ) THEN
-                  WRITE ( NOUT, FMT = 99997 )
-                  CALL DLASET( 'Full', K, K, ZERO, ZERO, G(K+1,1), LDG )
-                  DO 10  I = 1, 2*K
-                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1, M )
-   10             CONTINUE
-               END IF
-               IF ( LSAME( JOB, 'L' ) .OR. LSAME( JOB, 'A' ) ) THEN
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20  I = 1, M
-                     WRITE ( NOUT, FMT = 99994 ) ( L(I,J), J = 1, M )
-   20             CONTINUE
-               END IF
-               IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' )
-     $                                .OR. LSAME( JOB, 'O' ) ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 30  I = 1, M
-                     WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
-   30             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02CD = ',I2)
-99997 FORMAT (' The generator of the inverse of block Toeplitz matrix',
-     $        ' is ')
-99996 FORMAT (/' The lower Cholesky factor of the inverse is ')
-99995 FORMAT (/' The upper Cholesky factor of block Toeplitz matrix is '
-     $       )
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02CD EXAMPLE PROGRAM DATA
-  3    2     A
-  3.0000    1.0000    0.1000    0.1000    0.2000    0.0500
-  1.0000    4.0000    0.4000    0.1000    0.0400    0.2000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02CD EXAMPLE PROGRAM RESULTS
-
- The generator of the inverse of block Toeplitz matrix is 
-  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
-  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
-   0.0000   0.0000  -0.0387   0.0052   0.0003  -0.0575
-   0.0000   0.0000   0.0119  -0.0265  -0.0110   0.0076
-
- The lower Cholesky factor of the inverse is 
-   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
-  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
-  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
-   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
-
- The upper Cholesky factor of block Toeplitz matrix is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
-   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02CU.html b/doc/_static/doc/MB02CU.html
deleted file mode 100644
index 5ff2d3f4..00000000
--- a/doc/_static/doc/MB02CU.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CU">MB02CU</A></H2>
-<H3>
-Bringing the first blocks of a generator in proper form (extended version of MB02CX)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To bring the first blocks of a generator to proper form.
-  The positive part of the generator is contained in the arrays A1
-  and A2. The negative part of the generator is contained in B.
-  Transformation information will be stored and can be applied
-  via SLICOT Library routine MB02CV.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CU( TYPEG, K, P, Q, NB, A1, LDA1, A2, LDA2, B, LDB,
-     $                   RNK, IPVT, CS, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TYPEG
-      INTEGER            INFO, K, LDA1, LDA2, LDB, LDWORK, NB, P, Q, RNK
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IPVT(*)
-      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
-     $                   DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPEG   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'D':  generator is column oriented and rank
-                  deficiencies are expected;
-          = 'C':  generator is column oriented and rank
-                  deficiencies are not expected;
-          = 'R':  generator is row oriented and rank
-                  deficiencies are not expected.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in A1 to be processed.  K &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of columns of the positive generator.  P &gt;= K.
-
-  Q       (input)  INTEGER
-          The number of columns in B containing the negative
-          generators.
-          If TYPEG = 'D',        Q &gt;= K;
-          If TYPEG = 'C' or 'R', Q &gt;= 0.
-
-  NB      (input)  INTEGER
-          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
-          the block size to be used in the blocked parts of the
-          algorithm. If NB &lt;= 0, an unblocked algorithm is used.
-
-  A1      (input/output)  DOUBLE PRECISION array, dimension
-          (LDA1, K)
-          On entry, the leading K-by-K part of this array must
-          contain the leading submatrix of the positive part of the
-          generator. If TYPEG = 'C', A1 is assumed to be lower
-          triangular and the strictly upper triangular part is not
-          referenced. If TYPEG = 'R', A1 is assumed to be upper
-          triangular and the strictly lower triangular part is not
-          referenced.
-          On exit, if TYPEG = 'D', the leading K-by-RNK part of this
-          array contains the lower trapezoidal part of the proper
-          generator and information for the Householder
-          transformations applied during the reduction process.
-          On exit, if TYPEG = 'C', the leading K-by-K part of this
-          array contains the leading lower triangular part of the
-          proper generator.
-          On exit, if TYPEG = 'R', the leading K-by-K part of this
-          array contains the leading upper triangular part of the
-          proper generator.
-
-  LDA1    INTEGER
-          The leading dimension of the array A1.  LDA1 &gt;= MAX(1,K).
-
-  A2      (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
-          if TYPEG = 'R',                   dimension (LDA2, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-(P-K) part of this array must contain the (K+1)-st
-          to P-th columns of the positive part of the generator.
-          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
-          this array must contain the (K+1)-st to P-th rows of the
-          positive part of the generator.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-(P-K) part of this array contains information for
-          Householder transformations.
-          On exit, if TYPEG = 'R', the leading (P-K)-by-K part of
-          this array contains information for Householder
-          transformations.
-
-  LDA2    INTEGER
-          The leading dimension of the array A2.
-          If P = K,                   LDA2 &gt;= 1;
-          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
-                                      LDA2 &gt;= MAX(1,K);
-          if P &gt; K and TYPEG = 'R',   LDA2 &gt;= P-K.
-
-  B       (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
-          if TYPEG = 'R',                   dimension (LDB, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-Q part of this array must contain the negative part
-          of the generator.
-          On entry, if TYPEG = 'R', the leading Q-by-K part of this
-          array must contain the negative part of the generator.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-Q part of this array contains information for
-          Householder transformations.
-          On exit, if TYPEG = 'R', the leading Q-by-K part of this
-          array contains information for Householder transformations.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If Q = 0,                  LDB &gt;= 1;
-          if Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDB &gt;= MAX(1,K);
-          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
-
-  RNK     (output)  INTEGER
-          If TYPEG = 'D', the number of columns in the reduced
-          generator which are found to be linearly independent.
-          If TYPEG = 'C' or TYPEG = 'R', then RNK is not set.
-
-  IPVT    (output)  INTEGER array, dimension (K)
-          If TYPEG = 'D', then if IPVT(i) = k, the k-th row of the
-          proper generator is the reduced i-th row of the input
-          generator.
-          If TYPEG = 'C' or TYPEG = 'R', this array is not
-          referenced.
-
-  CS      (output)  DOUBLE PRECISION array, dimension (x)
-          If TYPEG = 'D' and P = K,                   x = 3*K;
-          if TYPEG = 'D' and P &gt; K,                   x = 5*K;
-          if (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
-          if (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
-          On exit, the first x elements of this array contain
-          necessary information for the SLICOT library routine
-          MB02CV (Givens and modified hyperbolic rotation
-          parameters, scalar factors of the Householder
-          transformations).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If TYPEG = 'D', this number specifies the used tolerance
-          for handling deficiencies. If the hyperbolic norm
-          of two diagonal elements in the positive and negative
-          generators appears to be less than or equal to TOL, then
-          the corresponding columns are not reduced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -17,  DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,4*K),         if TYPEG = 'D';
-          LDWORK &gt;= MAX(1,MAX(NB,1)*K), if TYPEG = 'C' or 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if TYPEG = 'D', the generator represents a
-                (numerically) indefinite matrix; and if TYPEG = 'C'
-                or TYPEG = 'R', the generator represents a
-                (numerically) semidefinite matrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If TYPEG = 'C' or TYPEG = 'R', blocked Householder transformations
-  and modified hyperbolic rotations are used to downdate the
-  matrix [ A1  A2  sqrt(-1)*B ], cf. [1], [2].
-  If TYPEG = 'D', then an algorithm with row pivoting is used. In
-  the first stage it maximizes the hyperbolic norm of the active
-  row. As soon as the hyperbolic norm is below the threshold TOL,
-  the strategy is changed. Now, in the second stage, the algorithm
-  applies an LQ decomposition with row pivoting on B such that
-  the Euclidean norm of the active row is maximized.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(K *( P + Q )) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02CV.html b/doc/_static/doc/MB02CV.html
deleted file mode 100644
index bb994065..00000000
--- a/doc/_static/doc/MB02CV.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CV">MB02CV</A></H2>
-<H3>
-Applying the MB02CU transformations on other columns / rows of the generator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the transformations created by the SLICOT Library routine
-  MB02CU on other columns / rows of the generator, contained in the
-  arrays F1, F2 and G.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CV( TYPEG, STRUCG, K, N, P, Q, NB, RNK, A1, LDA1,
-     $                   A2, LDA2, B, LDB, F1, LDF1, F2, LDF2, G, LDG,
-     $                   CS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          STRUCG, TYPEG
-      INTEGER            INFO, K, LDA1, LDA2, LDB, LDF1, LDF2, LDG,
-     $                   LDWORK, N, NB, P, Q, RNK
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A1(LDA1,*), A2(LDA2,*), B(LDB,*), CS(*),
-     $                   DWORK(*), F1(LDF1,*), F2(LDF2,*), G(LDG,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPEG   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'D':  generator is column oriented and rank
-                  deficient;
-          = 'C':  generator is column oriented and not rank
-                  deficient;
-          = 'R':  generator is row oriented and not rank
-                  deficient.
-          Note that this parameter must be equivalent with the
-          used TYPEG in the call of MB02CU.
-
-  STRUCG  CHARACTER*1
-          Information about the structure of the generators,
-          as follows:
-          = 'T':  the trailing block of the positive generator
-                  is upper / lower triangular, and the trailing
-                  block of the negative generator is zero;
-          = 'N':  no special structure to mention.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in A1 to be processed.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          If TYPEG = 'D'  or  TYPEG = 'C', the number of rows in F1;
-          if TYPEG = 'R', the number of columns in F1.  N &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of columns of the positive generator.  P &gt;= K.
-
-  Q       (input)  INTEGER
-          The number of columns in B.
-          If TYPEG = 'D',        Q &gt;= K;
-          If TYPEG = 'C' or 'R', Q &gt;= 0.
-
-  NB      (input)  INTEGER
-          On entry, if TYPEG = 'C'  or  TYPEG = 'R', NB specifies
-          the block size to be used in the blocked parts of the
-          algorithm. NB must be equivalent with the used block size
-          in the routine MB02CU.
-
-  RNK     (input)  INTEGER
-          If TYPEG = 'D', the number of linearly independent columns
-          in the generator as returned by MB02CU.  0 &lt;= RNK &lt;= K.
-          If TYPEG = 'C' or 'R', the value of this parameter is
-          irrelevant.
-
-  A1      (input)  DOUBLE PRECISION array, dimension
-          (LDA1, K)
-          On entry, if TYPEG = 'D', the leading K-by-K part of this
-          array must contain the matrix A1 as returned by MB02CU.
-          If TYPEG = 'C' or 'R', this array is not referenced.
-
-  LDA1    INTEGER
-          The leading dimension of the array A1.
-          If TYPEG = 'D',                   LDA1 &gt;= MAX(1,K);
-          if TYPEG = 'C'  or  TYPEG = 'R',  LDA1 &gt;= 1.
-
-  A2      (input)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDA2, P-K);
-          if TYPEG = 'R',                   dimension (LDA2, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-(P-K) part of this array must contain the matrix
-          A2 as returned by MB02CU.
-          On entry, if TYPEG = 'R', the leading (P-K)-by-K part of
-          this array must contain the matrix A2 as returned by
-          MB02CU.
-
-  LDA2    INTEGER
-          The leading dimension of the array A2.
-          If P = K,                  LDA2 &gt;= 1;
-          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDA2 &gt;= MAX(1,K);
-          if P &gt; K and TYPEG = 'R',  LDA2 &gt;= P-K.
-
-  B       (input)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDB, Q);
-          if TYPEG = 'R',                   dimension (LDB, K).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          K-by-Q part of this array must contain the matrix B as
-          returned by MB02CU.
-          On entry, if TYPEG = 'R', the leading Q-by-K part of this
-          array must contain the matrix B as returned by MB02CU.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If Q = 0,                  LDB &gt;= 1;
-          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDB &gt;= MAX(1,K);
-          if Q &gt; 0 and TYPEG = 'R',  LDB &gt;= Q.
-
-  F1      (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF1, K);
-          if TYPEG = 'R',                   dimension (LDF1, N).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-K part of this array must contain the first part
-          of the positive generator to be processed.
-          On entry, if TYPEG = 'R', the leading K-by-N part of this
-          array must contain the first part of the positive
-          generator to be processed.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-K part of this array contains the first part of the
-          transformed positive generator.
-          On exit, if TYPEG = 'R', the leading K-by-N part of this
-          array contains the first part of the transformed positive
-          generator.
-
-  LDF1    INTEGER
-          The leading dimension of the array F1.
-          If TYPEG = 'D'  or  TYPEG = 'C',   LDF1 &gt;= MAX(1,N);
-          if TYPEG = 'R',                    LDF1 &gt;= MAX(1,K).
-
-  F2      (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDF2, P-K);
-          if TYPEG = 'R',                   dimension (LDF2, N).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-(P-K) part of this array must contain the second part
-          of the positive generator to be processed.
-          On entry, if TYPEG = 'R', the leading (P-K)-by-N part of
-          this array must contain the second part of the positive
-          generator to be processed.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-(P-K) part of this array contains the second part of
-          the transformed positive generator.
-          On exit, if TYPEG = 'R', the leading (P-K)-by-N part of
-          this array contains the second part of the transformed
-          positive generator.
-
-  LDF2    INTEGER
-          The leading dimension of the array F2.
-          If P = K,                  LDF2 &gt;= 1;
-          If P &gt; K and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDF2 &gt;= MAX(1,N);
-          if P &gt; K and TYPEG = 'R',  LDF2 &gt;= P-K.
-
-  G       (input/output)  DOUBLE PRECISION array,
-          if TYPEG = 'D'  or  TYPEG = 'C',  dimension (LDG, Q);
-          if TYPEG = 'R',                   dimension (LDG, N).
-          On entry, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-Q part of this array must contain the negative part
-          of the generator to be processed.
-          On entry, if TYPEG = 'R', the leading Q-by-N part of this
-          array must contain the negative part of the generator to
-          be processed.
-          On exit, if TYPEG = 'D'  or  TYPEG = 'C', the leading
-          N-by-Q part of this array contains the transformed
-          negative generator.
-          On exit, if TYPEG = 'R', the leading Q-by-N part of this
-          array contains the transformed negative generator.
-
-  LDG     INTEGER
-          The leading dimension of the array G.
-          If Q = 0,                  LDG &gt;= 1;
-          If Q &gt; 0 and (TYPEG = 'D' or TYPEG = 'C'),
-                                     LDG &gt;= MAX(1,N);
-          if Q &gt; 0 and TYPEG = 'R',  LDG &gt;= Q.
-
-  CS      (input)  DOUBLE PRECISION array, dimension (x)
-          If TYPEG = 'D' and P = K,                   x = 3*K;
-          If TYPEG = 'D' and P &gt; K,                   x = 5*K;
-          If (TYPEG = 'C' or TYPEG = 'R') and P = K,  x = 4*K;
-          If (TYPEG = 'C' or TYPEG = 'R') and P &gt; K,  x = 6*K.
-          On entry, the first x elements of this array must contain
-          Givens and modified hyperbolic rotation parameters, and
-          scalar factors of the Householder transformations as
-          returned by MB02CU.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -23,  DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          TYPEG = 'D':               LDWORK &gt;= MAX(1,N);
-          (TYPEG = 'C' or TYPEG = 'R')  and  NB &lt;= 0:
-                                     LDWORK &gt;= MAX(1,N);
-          (TYPEG = 'C' or TYPEG = 'R')  and  NB &gt;= 1:
-                                     LDWORK &gt;= MAX(1,( N + K )*NB).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N*K*( P + Q )) floating point operations.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder transformations and modified hyperbolic rotations
-  computed by SLICOT Library routine MB02CU are applied to the
-  corresponding parts of the matrices F1, F2 and G.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02CX.html b/doc/_static/doc/MB02CX.html
deleted file mode 100644
index c413f111..00000000
--- a/doc/_static/doc/MB02CX.html
+++ /dev/null
@@ -1,173 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CX">MB02CX</A></H2>
-<H3>
-Bringing the first blocks of a generator in proper form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To bring the first blocks of a generator in proper form.
-  The columns / rows of the positive and negative generators
-  are contained in the arrays A and B, respectively.
-  Transformation information will be stored and can be applied
-  via SLICOT Library routine MB02CY.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CX( TYPET, P, Q, K, A, LDA, B, LDB, CS, LCS,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPET
-      INTEGER           INFO, K, LDA, LDB, LCS, LDWORK, P, Q
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'R':  A and B are the first blocks of the rows of the
-                  positive and negative generators;
-          = 'C':  A and B are the first blocks of the columns of the
-                  positive and negative generators.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input)  INTEGER
-          The number of rows / columns in A containing the positive
-          generators.  P &gt;= 0.
-
-  Q       (input)  INTEGER
-          The number of rows / columns in B containing the negative
-          generators.  Q &gt;= 0.
-
-  K       (input)  INTEGER
-          The number of columns / rows in A and B to be processed.
-          Normally, the size of the first block.  P &gt;= K &gt;= 0.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-          (LDA, K) / (LDA, P)
-          On entry, the leading P-by-K upper / K-by-P lower
-          triangular part of this array must contain the rows /
-          columns of the positive part in the first block of the
-          generator.
-          On exit, the leading P-by-K upper / K-by-P lower
-          triangular part of this array contains the rows / columns
-          of the positive part in the first block of the proper
-          generator.
-          The lower / upper trapezoidal part is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,P),    if TYPET = 'R';
-          LDA &gt;= MAX(1,K),    if TYPET = 'C'.
-
-  B       (input/output)  DOUBLE PRECISION array, dimension
-          (LDB, K) / (LDB, Q)
-          On entry, the leading Q-by-K / K-by-Q part of this array
-          must contain the rows / columns of the negative part in
-          the first block of the generator.
-          On exit, the leading Q-by-K / K-by-Q part of this array
-          contains part of the necessary information for the
-          Householder transformations.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
-          LDB &gt;= MAX(1,K),    if TYPET = 'C'.
-
-  CS      (output)  DOUBLE PRECISION array, dimension (LCS)
-          On exit, the leading 2*K + MIN(K,Q) part of this array
-          contains necessary information for the SLICOT Library
-          routine MB02CY (modified hyperbolic rotation parameters
-          and scalar factors of the Householder transformations).
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  succesful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The matrix
-                associated with the generator is not (numerically)
-                positive definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If  TYPET = 'R',  a QR decomposition of B is first computed.
-  Then, the elements below the first row of each column i of B
-  are annihilated by a Householder transformation modifying the
-  first element in that column. This first element, in turn, is
-  then annihilated by a modified hyperbolic rotation, acting also
-  on the i-th row of A.
-
-  If  TYPET = 'C',  an LQ decomposition of B is first computed.
-  Then, the elements on the right of the first column of each row i
-  of B are annihilated by a Householder transformation modifying the
-  first element in that row. This first element, in turn, is
-  then annihilated by a modified hyperbolic rotation, acting also
-  on the i-th column of A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02CY.html b/doc/_static/doc/MB02CY.html
deleted file mode 100644
index 72bd1e06..00000000
--- a/doc/_static/doc/MB02CY.html
+++ /dev/null
@@ -1,173 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02CY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02CY">MB02CY</A></H2>
-<H3>
-Applying the MB02CX transformations on other columns / rows of the generator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the transformations created by the SLICOT Library
-  routine MB02CX on other columns / rows of the generator,
-  contained in the arrays A and B of positive and negative
-  generators, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02CY( TYPET, STRUCG, P, Q, N, K, A, LDA, B, LDB, H,
-     $                   LDH, CS, LCS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K, LDA, LDB, LCS, LDH, LDWORK, N, P, Q
-      CHARACTER         STRUCG, TYPET
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA, *), B(LDB, *), CS(*), DWORK(*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of the generator, as follows:
-          = 'R':  A and B are additional columns of the generator;
-          = 'C':  A and B are additional rows of the generator.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-  STRUCG  CHARACTER*1
-          Information about the structure of the two generators,
-          as follows:
-          = 'T':  the trailing block of the positive generator
-                  is lower / upper triangular, and the trailing
-                  block of the negative generator is zero;
-          = 'N':  no special structure to mention.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input)  INTEGER
-          The number of rows / columns in A containing the positive
-          generators.  P &gt;= 0.
-
-  Q       (input)  INTEGER
-          The number of rows / columns in B containing the negative
-          generators.  Q &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of columns / rows in A and B to be processed.
-          N &gt;= 0.
-
-  K       (input)  INTEGER
-          The number of columns / rows in H.  P &gt;= K &gt;= 0.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-          (LDA, N) / (LDA, P)
-          On entry, the leading P-by-N / N-by-P part of this array
-          must contain the positive part of the generator.
-          On exit, the leading P-by-N / N-by-P part of this array
-          contains the transformed positive part of the generator.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,P),    if TYPET = 'R';
-          LDA &gt;= MAX(1,N),    if TYPET = 'C'.
-
-  B       (input/output)  DOUBLE PRECISION array, dimension
-          (LDB, N) / (LDB, Q)
-          On entry, the leading Q-by-N / N-by-Q part of this array
-          must contain the negative part of the generator.
-          On exit, the leading Q-by-N / N-by-Q part of this array
-          contains the transformed negative part of the generator.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,Q),    if TYPET = 'R';
-          LDB &gt;= MAX(1,N),    if TYPET = 'C'.
-
-  H       (input)  DOUBLE PRECISION array, dimension
-          (LDH, K) / (LDH, Q)
-          The leading Q-by-K / K-by-Q part of this array must
-          contain part of the necessary information for the
-          Householder transformations computed by SLICOT Library
-          routine MB02CX.
-
-  LDH     INTEGER
-          The leading dimension of the array H.
-          LDH &gt;= MAX(1,Q),    if TYPET = 'R';
-          LDH &gt;= MAX(1,K),    if TYPET = 'C'.
-
-  CS      (input)  DOUBLE PRECISION array, dimension (LCS)
-          The leading 2*K + MIN(K,Q) part of this array must
-          contain the necessary information for modified hyperbolic
-          rotations and the scalar factors of the Householder
-          transformations computed by SLICOT Library routine MB02CX.
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 2*K + MIN(K,Q).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  succesful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder transformations and modified hyperbolic rotations
-  computed by SLICOT Library routine MB02CX are applied to the
-  corresponding parts of the matrices A and B.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02DD.html b/doc/_static/doc/MB02DD.html
deleted file mode 100644
index 51646be9..00000000
--- a/doc/_static/doc/MB02DD.html
+++ /dev/null
@@ -1,477 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02DD">MB02DD</A></H2>
-<H3>
-Updating Cholesky factorization of a positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To update the Cholesky factor and the generator and/or the
-  Cholesky factor of the inverse of a symmetric positive definite
-  (s.p.d.) block Toeplitz matrix T, given the information from
-  a previous factorization and additional blocks in TA of its first
-  block row, or its first block column, depending on the routine
-  parameter TYPET. Transformation information is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02DD( JOB, TYPET, K, M, N, TA, LDTA, T, LDT, G,
-     $                   LDG, R, LDR, L, LDL, CS, LCS, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, TYPET
-      INTEGER           INFO, K, LCS, LDG, LDL, LDR, LDT, LDTA, LDWORK,
-     $                  M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), G(LDG, *), L(LDL,*), R(LDR,*),
-     $                  T(LDT,*), TA(LDTA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine, as follows:
-          = 'R':  updates the generator G of the inverse and
-                  computes the new columns / rows for the Cholesky
-                  factor R of T;
-          = 'A':  updates the generator G, computes the new
-                  columns / rows for the Cholesky factor R of T and
-                  the new rows / columns for the Cholesky factor L
-                  of the inverse;
-          = 'O':  only computes the new columns / rows for the
-                  Cholesky factor R of T.
-
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  the first block row of an s.p.d. block Toeplitz
-                  matrix was/is defined; if demanded, the Cholesky
-                  factors R and L are upper and lower triangular,
-                  respectively, and G contains the transposed
-                  generator of the inverse;
-          = 'C':  the first block column of an s.p.d. block Toeplitz
-                  matrix was/is defined; if demanded, the Cholesky
-                  factors R and L are lower and upper triangular,
-                  respectively, and G contains the generator of the
-                  inverse. This choice results in a column oriented
-                  algorithm which is usually faster.
-          Note:   in this routine, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  M       (input)  INTEGER
-          The number of blocks in TA.  M &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  TA      (input/output)  DOUBLE PRECISION array, dimension
-          (LDTA,M*K) / (LDTA,K)
-          On entry, the leading K-by-M*K / M*K-by-K part of this
-          array must contain the (N+1)-th to (N+M)-th blocks in the
-          first block row / column of an s.p.d. block Toeplitz
-          matrix.
-          On exit, if INFO = 0, the leading K-by-M*K / M*K-by-K part
-          of this array contains information on the Householder
-          transformations used, such that the array
-
-                     [ T  TA ]    /    [ T  ]
-                                       [ TA ]
-
-          serves as the new transformation matrix T for further
-          applications of this routine.
-
-  LDTA    INTEGER
-          The leading dimension of the array TA.
-          LDTA &gt;= MAX(1,K),   if TYPET = 'R';
-          LDTA &gt;= MAX(1,M*K), if TYPET = 'C'.
-
-  T       (input)  DOUBLE PRECISION array, dimension (LDT,N*K) /
-          (LDT,K)
-          The leading K-by-N*K / N*K-by-K part of this array must
-          contain transformation information generated by the SLICOT
-          Library routine MB02CD, i.e., in the first K-by-K block,
-          the upper / lower Cholesky factor of T(1:K,1:K), and in
-          the remaining part, the Householder transformations
-          applied during the initial factorization process.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),    if TYPET = 'R';
-          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
-
-  G       (input/output)  DOUBLE PRECISION array, dimension
-          (LDG,( N + M )*K) / (LDG,2*K)
-          On entry, if JOB = 'R', or 'A', then the leading
-          2*K-by-N*K / N*K-by-2*K part of this array must contain,
-          in the first K-by-K block of the second block row /
-          column, the lower right block of the Cholesky factor of
-          the inverse of T, and in the remaining part, the generator
-          of the inverse of T.
-          On exit, if INFO = 0 and JOB = 'R', or 'A', then the
-          leading 2*K-by-( N + M )*K / ( N + M )*K-by-2*K part of
-          this array contains the same information as on entry, now
-          for the updated Toeplitz matrix. Actually, to obtain a
-          generator of the inverse one has to set
-            G(K+1:2*K, 1:K) = 0,    if TYPET = 'R';
-            G(1:K, K+1:2*K) = 0,    if TYPET = 'C'.
-
-  LDG     INTEGER
-          The leading dimension of the array G.
-          LDG &gt;= MAX(1,2*K),  if TYPET = 'R' and JOB = 'R', or 'A';
-          LDG &gt;= MAX(1,( N + M )*K),
-                              if TYPET = 'C' and JOB = 'R', or 'A';
-          LDG &gt;= 1,           if JOB = 'O'.
-
-  R       (input/output)  DOUBLE PRECISION array, dimension
-          (LDR,M*K) / (LDR,( N + M )*K)
-          On input, the leading N*K-by-K part of R(K+1,1) /
-          K-by-N*K part of R(1,K+1) contains the last block column /
-          row of the previous Cholesky factor R.
-          On exit, if INFO = 0, then the leading
-          ( N + M )*K-by-M*K / M*K-by-( N + M )*K part of this
-          array contains the last M*K columns / rows of the upper /
-          lower Cholesky factor of T. The elements in the strictly
-          lower / upper triangular part are not referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1, ( N + M )*K), if TYPET = 'R';
-          LDR &gt;= MAX(1, M*K),         if TYPET = 'C'.
-
-  L       (output)  DOUBLE PRECISION array, dimension
-          (LDL,( N + M )*K) / (LDL,M*K)
-          If INFO = 0 and JOB = 'A', then the leading
-          M*K-by-( N + M )*K / ( N + M )*K-by-M*K part of this
-          array contains the last M*K rows / columns of the lower /
-          upper Cholesky factor of the inverse of T. The elements
-          in the strictly upper / lower triangular part are not
-          referenced.
-
-  LDL     INTEGER
-          The leading dimension of the array L.
-          LDL &gt;= MAX(1, M*K),         if TYPET = 'R' and JOB = 'A';
-          LDL &gt;= MAX(1, ( N + M )*K), if TYPET = 'C' and JOB = 'A';
-          LDL &gt;= 1,                   if JOB = 'R', or 'O'.
-
-  CS      (input/output)  DOUBLE PRECISION array, dimension (LCS)
-          On input, the leading 3*(N-1)*K part of this array must
-          contain the necessary information about the hyperbolic
-          rotations and Householder transformations applied
-          previously by SLICOT Library routine MB02CD.
-          On exit, if INFO = 0, then the leading 3*(N+M-1)*K part of
-          this array contains information about all the hyperbolic
-          rotations and Householder transformations applied during
-          the whole process.
-
-  LCS     INTEGER
-          The length of the array CS.  LCS &gt;= 3*(N+M-1)*K.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N+M-1)*K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The block Toeplitz
-                matrix associated with [ T  TA ] / [ T'  TA' ]' is
-                not (numerically) positive definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                            3         2
-  The algorithm requires 0(K ( N M + M ) ) floating point
-  operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For min(K,N,M) = 0, the routine sets DWORK(1) = 1 and returns.
-  Although the calculations could still be performed when N = 0,
-  but min(K,M) &gt; 0, this case is not considered as an "update".
-  SLICOT Library routine MB02CD should be called with the argument
-  M instead of N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, MMAX, NMAX
-      PARAMETER        ( KMAX = 20, MMAX = 20, NMAX = 20 )
-      INTEGER          LCS, LDG, LDL, LDR, LDT, LDWORK
-      PARAMETER        ( LDG = KMAX*( MMAX + NMAX ),
-     $                   LDL = KMAX*( MMAX + NMAX ),
-     $                   LDR = KMAX*( MMAX + NMAX ),
-     $                   LDT = KMAX*( MMAX + NMAX ),
-     $                   LDWORK = ( MMAX + NMAX - 1 )*KMAX )
-      PARAMETER        ( LCS = 3*LDWORK )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N, S
-      CHARACTER        JOB, TYPET
-*     .. Local Arrays ..
-*     The arrays are dimensioned for both TYPET = 'R' and TYPET = 'C'.
-*     Arrays G and T could be smaller.
-*     For array G, it is assumed that MMAX + NMAX >= 2.
-*     The matrix TA is also stored in the array T.
-      DOUBLE PRECISION CS(LCS), DWORK(LDWORK),
-     $                 G(LDG, KMAX*( MMAX + NMAX )),
-     $                 L(LDL, KMAX*( MMAX + NMAX )),
-     $                 R(LDR, KMAX*( MMAX + NMAX )),
-     $                 T(LDT, KMAX*( MMAX + NMAX ))
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLACPY, MB02CD, MB02DD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, M, JOB, TYPET
-      S = ( N + M )*K
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) N
-      ELSE
-         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) K
-         ELSE
-            IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               IF ( LSAME( TYPET, 'R' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,S ), I = 1,K )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,S )
-               END IF
-*              Compute the Cholesky factors.
-               CALL MB02CD( JOB, TYPET, K, N, T, LDT, G, LDG, R, LDR, L,
-     $                      LDL, CS, LCS, DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 10  I = 1, N*K
-                     WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, N*K )
-   10             CONTINUE
-                  IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) ) THEN
-                     WRITE ( NOUT, FMT = 99995 )
-                     IF ( LSAME( TYPET, 'R' ) ) THEN
-                        DO 20  I = 1, 2*K
-                           WRITE ( NOUT, FMT = 99990 )
-     $                           ( G(I,J), J = 1, N*K )
-   20                   CONTINUE
-                     ELSE
-                        DO 30  I = 1, N*K
-                           WRITE ( NOUT, FMT = 99990 )
-     $                           ( G(I,J), J = 1, 2*K )
-   30                   CONTINUE
-                     END IF
-                  END IF
-                  IF ( LSAME( JOB, 'A' ) ) THEN
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 40  I = 1, N*K
-                        WRITE ( NOUT, FMT = 99990 )
-     $                        ( L(I,J), J = 1, N*K )
-   40                CONTINUE
-                  END IF
-*                 Update the Cholesky factors.
-                  IF ( LSAME( TYPET, 'R' ) ) THEN
-*                    Copy the last block column of R.
-                     CALL DLACPY( 'All', N*K, K, R(1,(N-1)*K+1), LDR,
-     $                            R(K+1,N*K+1), LDR )
-                     CALL MB02DD( JOB, TYPET, K, M, N, T(1,N*K+1), LDT,
-     $                            T, LDT, G, LDG, R(1,N*K+1), LDR,
-     $                            L(N*K+1,1), LDL, CS, LCS, DWORK,
-     $                            LDWORK, INFO )
-                  ELSE
-*                    Copy the last block row of R.
-                     CALL DLACPY( 'All', K, N*K, R((N-1)*K+1,1), LDR,
-     $                            R(N*K+1,K+1), LDR )
-                     CALL MB02DD( JOB, TYPET, K, M, N, T(N*K+1,1), LDT,
-     $                            T, LDT, G, LDG, R(N*K+1,1), LDR,
-     $                            L(1,N*K+1), LDL, CS, LCS, DWORK,
-     $                            LDWORK, INFO )
-                  END IF
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 50  I = 1, S
-                        WRITE ( NOUT, FMT = 99990 ) ( R(I,J), J = 1, S )
-   50                CONTINUE
-                     IF ( LSAME( JOB, 'R' ) .OR. LSAME( JOB, 'A' ) )
-     $                       THEN
-                        WRITE ( NOUT, FMT = 99992 )
-                        IF ( LSAME( TYPET, 'R' ) ) THEN
-                           DO 60  I = 1, 2*K
-                              WRITE ( NOUT, FMT = 99990 )
-     $                              ( G(I,J), J = 1, S )
-   60                      CONTINUE
-                        ELSE
-                           DO 70  I = 1, S
-                              WRITE ( NOUT, FMT = 99990 )
-     $                              ( G(I,J), J = 1, 2*K )
-   70                      CONTINUE
-                        END IF
-                     END IF
-                     IF ( LSAME( JOB, 'A' ) ) THEN
-                        WRITE ( NOUT, FMT = 99991 )
-                        DO 80  I = 1, S
-                           WRITE ( NOUT, FMT = 99990 )
-     $                           ( L(I,J), J = 1, S )
-   80                   CONTINUE
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( ' MB02DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT ( ' INFO on exit from MB02CD = ',I2)
-99997 FORMAT ( ' INFO on exit from MB02DD = ',I2)
-99996 FORMAT ( ' The Cholesky factor is ')
-99995 FORMAT (/' The inverse generator is ')
-99994 FORMAT (/' The inverse Cholesky factor is ')
-99993 FORMAT (/' The updated Cholesky factor is ')
-99992 FORMAT (/' The updated inverse generator is ')
-99991 FORMAT (/' The updated inverse Cholesky factor is ')
-99990 FORMAT (20(1X,F8.4))
-99989 FORMAT (/' N is out of range.',/' N = ',I5)
-99988 FORMAT (/' K is out of range.',/' K = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02DD EXAMPLE PROGRAM DATA
-        3       2       2       A       R
-    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500    0.1000    0.0400    0.01   0.02
-    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000    0.0300    0.0200    0.03   0.01
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02DD EXAMPLE PROGRAM RESULTS
-
- The Cholesky factor is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357
-   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118
-
- The inverse generator is 
-  -0.2355   0.5231  -0.0642   0.0077   0.0187  -0.0265
-  -0.5568  -0.0568   0.0229   0.0060   0.0363   0.0000
-   0.5825   0.0000  -0.0387   0.0052   0.0003  -0.0575
-  -0.1754   0.5231   0.0119  -0.0265  -0.0110   0.0076
-
- The inverse Cholesky factor is 
-   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000
-  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000
-  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000
-   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231
-
- The updated Cholesky factor is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.0577   0.0231   0.0058   0.0115
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957  -0.0017   0.0035   0.0139   0.0017
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1145   0.0279   0.0564   0.0227
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0152   0.0953  -0.0017   0.0033
-   0.0000   0.0000   0.0000   0.0000   1.7169   0.5759   0.0523   0.0453   0.1146   0.0273
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1902   0.0357  -0.0157   0.0955
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757   0.0526   0.0450
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9118   0.1901   0.0357
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.7159   0.5757
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.9117
-
- The updated inverse generator is 
-  -0.5599   0.3310  -0.0305   0.0098   0.0392  -0.0209   0.0191  -0.0010  -0.0045   0.0035
-  -0.2289  -0.4091   0.0612  -0.0012   0.0125   0.0182   0.0042   0.0017   0.0014   0.0000
-   0.5828   0.0000   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580
-  -0.1755   0.5231  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077
-
- The updated inverse Cholesky factor is 
-   0.5774   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.1741   0.5222   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.0581   0.5812   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.0142   0.0080  -0.1747   0.5224   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.0387   0.0052   0.0003  -0.0575   0.5825   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0119  -0.0265  -0.0110   0.0076  -0.1754   0.5231   0.0000   0.0000   0.0000   0.0000
-  -0.0199   0.0073  -0.0391   0.0056   0.0017  -0.0580   0.5828   0.0000   0.0000   0.0000
-   0.0007  -0.0023   0.0122  -0.0265  -0.0110   0.0077  -0.1755   0.5231   0.0000   0.0000
-   0.0027  -0.0029  -0.0195   0.0072  -0.0393   0.0057   0.0016  -0.0580   0.5828   0.0000
-  -0.0037   0.0022   0.0005  -0.0022   0.0125  -0.0266  -0.0109   0.0077  -0.1755   0.5231
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02ED.html b/doc/_static/doc/MB02ED.html
deleted file mode 100644
index e95f0b5d..00000000
--- a/doc/_static/doc/MB02ED.html
+++ /dev/null
@@ -1,287 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02ED">MB02ED</A></H2>
-<H3>
-Solution of T X = B or X T = B with a positive definite block Toeplitz matrix T
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of linear equations  T*X = B  or  X*T = B  with
-  a symmetric positive definite (s.p.d.) block Toeplitz matrix T.
-  T is defined either by its first block row or its first block
-  column, depending on the parameter TYPET.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPET
-      INTEGER           INFO, K, LDB, LDT, LDWORK, N, NRHS
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), DWORK(*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix, and the system X*T = B is solved;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix, and the system T*X = B is
-                  solved.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  NRHS    (input)  INTEGER
-          The number of right hand sides.  NRHS &gt;= 0.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,N*K) / (LDT,K)
-          On entry, the leading K-by-N*K / N*K-by-K part of this
-          array must contain the first block row / column of an
-          s.p.d. block Toeplitz matrix.
-          On exit, if  INFO = 0  and  NRHS &gt; 0,  then the leading
-          K-by-N*K / N*K-by-K part of this array contains the last
-          row / column of the Cholesky factor of inv(T).
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),    if TYPET = 'R';
-          LDT &gt;= MAX(1,N*K),  if TYPET = 'C'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,N*K) / (LDB,NRHS)
-          On entry, the leading NRHS-by-N*K / N*K-by-NRHS part of
-          this array must contain the right hand side matrix B.
-          On exit, the leading NRHS-by-N*K / N*K-by-NRHS part of
-          this array contains the solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,NRHS),  if TYPET = 'R';
-          LDB &gt;= MAX(1,N*K),   if TYPET = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N*K*K+(N+2)*K).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations, modified hyperbolic rotations and
-  block Gaussian eliminations are used in the Schur algorithm [1],
-  [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically equivalent with forming
-  the Cholesky factor R and the inverse Cholesky factor of T, using
-  the generalized Schur algorithm, and solving the systems of
-  equations  R*X = L*B  or  X*R = B*L by a blocked backward
-  substitution algorithm.
-                            3 2    2 2
-  The algorithm requires 0(K N  + K N NRHS) floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, NMAX
-      PARAMETER        ( KMAX = 20, NMAX = 20 )
-      INTEGER          LDB, LDT, LDWORK
-      PARAMETER        ( LDB = KMAX*NMAX, LDT = KMAX*NMAX,
-     $                   LDWORK = NMAX*KMAX*KMAX + ( NMAX+2 )*KMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N, NRHS
-      CHARACTER        TYPET
-*     .. Local Arrays ..
-*     The arrays B and T are dimensioned for both TYPET = 'R' and
-*     TYPET = 'C'.
-*     NRHS is assumed to be not larger than KMAX*NMAX.
-      DOUBLE PRECISION B(LDB, KMAX*NMAX), DWORK(LDWORK),
-     $                 T(LDT, KMAX*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02ED
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, NRHS, TYPET
-      M = N*K
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( K.LE.0 .OR. K.GT.KMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) K
-         ELSE
-            IF ( NRHS.LE.0 .OR. NRHS.GT.KMAX*NMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) NRHS
-            ELSE
-               IF ( LSAME( TYPET, 'R' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,K ), I = 1,M )
-               END IF
-               IF ( LSAME( TYPET, 'R' ) ) THEN
-                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,
-     $                                   NRHS )
-               ELSE
-                  READ (NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,
-     $                                   M )
-               END IF
-*              Compute the solution of X T = B or T X = B.
-               CALL MB02ED( TYPET, K, N, NRHS, T, LDT, B, LDB, DWORK,
-     $                      LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( LSAME( TYPET, 'R' ) ) THEN
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10  I = 1, NRHS
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   10                CONTINUE
-                  ELSE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20  I = 1, M
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,
-     $                                                NRHS )
-   20                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02ED = ',I2)
-99997 FORMAT (' The solution of X*T = B is ')
-99996 FORMAT (' The solution of T*X = B is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' K is out of range.',/' K = ',I5)
-99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02ED EXAMPLE PROGRAM DATA
-  3    3    2     C
-    3.0000    1.0000    0.2000
-    1.0000    4.0000    0.4000
-    0.2000    0.4000    5.0000
-    0.1000    0.1000    0.2000
-    0.2000    0.0400    0.0300
-    0.0500    0.2000    0.1000
-    0.1000    0.0300    0.1000
-    0.0400    0.0200    0.2000
-    0.0100    0.0300    0.0200
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-    1.0000    2.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02ED EXAMPLE PROGRAM RESULTS
-
- The solution of T*X = B is 
-   0.2408   0.4816
-   0.1558   0.3116
-   0.1534   0.3068
-   0.2302   0.4603
-   0.1467   0.2934
-   0.1537   0.3075
-   0.2349   0.4698
-   0.1498   0.2995
-   0.1653   0.3307
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02FD.html b/doc/_static/doc/MB02FD.html
deleted file mode 100644
index bb98c7e0..00000000
--- a/doc/_static/doc/MB02FD.html
+++ /dev/null
@@ -1,362 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02FD">MB02FD</A></H2>
-<H3>
-Incomplete Cholesky factor of a positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the incomplete Cholesky (ICC) factor of a symmetric
-  positive definite (s.p.d.) block Toeplitz matrix T, defined by
-  either its first block row, or its first block column, depending
-  on the routine parameter TYPET.
-
-  By subsequent calls of this routine, further rows / columns of
-  the Cholesky factor can be added.
-  Furthermore, the generator of the Schur complement of the leading
-  (P+S)*K-by-(P+S)*K block in T is available, which can be used,
-  e.g., for measuring the quality of the ICC factorization.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02FD( TYPET, K, N, P, S, T, LDT, R, LDR, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPET
-      INTEGER           INFO, K, LDR, LDT, LDWORK, N, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), R(LDR,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix; the ICC factor R is upper
-                  trapezoidal;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix; the ICC factor R is lower
-                  trapezoidal; this choice leads to better
-                  localized memory references and hence a faster
-                  algorithm.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of previously computed block rows / columns
-          of R.  0 &lt;= P &lt;= N.
-
-  S       (input)  INTEGER
-          The number of block rows / columns of R to compute.
-          0 &lt;= S &lt;= N-P.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,(N-P)*K) / (LDT,K)
-          On entry, if P = 0, then the leading K-by-N*K / N*K-by-K
-          part of this array must contain the first block row /
-          column of an s.p.d. block Toeplitz matrix.
-          If P &gt; 0, the leading K-by-(N-P)*K / (N-P)*K-by-K must
-          contain the negative generator of the Schur complement of
-          the leading P*K-by-P*K part in T, computed from previous
-          calls of this routine.
-          On exit, if INFO = 0, then the leading K-by-(N-P)*K /
-          (N-P)*K-by-K part of this array contains, in the first
-          K-by-K block, the upper / lower Cholesky factor of
-          T(1:K,1:K), in the following S-1 K-by-K blocks, the
-          Householder transformations applied during the process,
-          and in the remaining part, the negative generator of the
-          Schur complement of the leading (P+S)*K-by(P+S)*K part
-          in T.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K),        if TYPET = 'R';
-          LDT &gt;= MAX(1,(N-P)*K),  if TYPET = 'C'.
-
-  R       (input/output)  DOUBLE PRECISION array, dimension
-          (LDR, N*K)       / (LDR, S*K )     if P = 0;
-          (LDR, (N-P+1)*K) / (LDR, (S+1)*K ) if P &gt; 0.
-          On entry, if P &gt; 0, then the leading K-by-(N-P+1)*K /
-          (N-P+1)*K-by-K part of this array must contain the
-          nonzero blocks of the last block row / column in the
-          ICC factor from a previous call of this routine. Note that
-          this part is identical with the positive generator of
-          the Schur complement of the leading P*K-by-P*K part in T.
-          If P = 0, then R is only an output parameter.
-          On exit, if INFO = 0 and P = 0, then the leading
-          S*K-by-N*K / N*K-by-S*K part of this array contains the
-          upper / lower trapezoidal ICC factor.
-          On exit, if INFO = 0 and P &gt; 0, then the leading
-          (S+1)*K-by-(N-P+1)*K / (N-P+1)*K-by-(S+1)*K part of this
-          array contains the upper / lower trapezoidal part of the
-          P-th to (P+S)-th block rows / columns of the ICC factor.
-          The elements in the strictly lower / upper trapezoidal
-          part are not referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1, S*K ),        if TYPET = 'R' and P = 0;
-          LDR &gt;= MAX(1, (S+1)*K ),    if TYPET = 'R' and P &gt; 0;
-          LDR &gt;= MAX(1, N*K ),        if TYPET = 'C' and P = 0;
-          LDR &gt;= MAX(1, (N-P+1)*K ),  if TYPET = 'C' and P &gt; 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -11,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N+1)*K,4*K),   if P = 0;
-          LDWORK &gt;= MAX(1,(N-P+2)*K,4*K), if P &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed; the Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite in its leading (P+S)*K-by-(P+S)*K part.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                            3
-  The algorithm requires 0(K S (N-P)) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          ITMAX, KMAX, NMAX
-      PARAMETER        ( ITMAX = 10, KMAX = 20, NMAX = 20 )
-      INTEGER          LDR, LDT, LDWORK
-      PARAMETER        ( LDR = NMAX*KMAX, LDT = KMAX,
-     $                   LDWORK = ( NMAX + 1 )*KMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, IT, J, K, LEN, M, N, P, PIT, POS, POSR,
-     $                 S1, SCIT
-      CHARACTER        TYPET
-      DOUBLE PRECISION NNRM
-*     .. Local Arrays .. (Dimensioned for TYPET = 'R'.)
-      INTEGER          S(ITMAX)
-      DOUBLE PRECISION DWORK(LDWORK), R(LDR, NMAX*KMAX),
-     $                 T(LDT, NMAX*KMAX), V(NMAX*KMAX), W(NMAX*KMAX),
-     $                 Z(NMAX*KMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DNRM2
-      EXTERNAL         DNRM2, LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DAXPY, DCOPY, DGEMV, DLASET, DSCAL, DTRMV, MB02FD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, K, IT
-      TYPET = 'R'
-      M = N*K
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) K
-      ELSE IF( IT.LE.0 .OR. IT.GT.ITMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) IT
-      ELSE
-         READ ( NIN, FMT = * ) ( S(I), I = 1, IT )
-         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-         P   = 0
-         POS = 1
-         WRITE ( NOUT, FMT = 99997 )
-         DO 90  SCIT = 1, IT
-            CALL MB02FD( TYPET, K, N, P, S(SCIT), T(1,POS), LDT,
-     $                   R(POS,POS), LDR, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-               STOP
-            END IF
-            S1 = S(SCIT) + P
-            IF ( S1.EQ.0 ) THEN
-*              Estimate the 2-norm of the Toeplitz matrix with 5 power
-*              iterations.
-               LEN = N*K
-               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
-               DO 30  PIT = 1, 5
-                  DO 10  I = 1, N
-                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE, T,
-     $                           LDT, V((I-1)*K+1), 1, ZERO,
-     $                           W((I-1)*K+1), 1 )
-   10             CONTINUE
-                  DO 20 I = 1, N-1
-                     CALL DGEMV( 'Transpose', K, (N-I)*K, ONE,
-     $                           T(1,K+1), LDT, V((I-1)*K+1), 1,
-     $                           ONE, W(I*K+1), 1 )
-   20             CONTINUE
-                  CALL DCOPY( LEN, W, 1, V, 1 )
-                  NNRM = DNRM2( LEN, V, 1 )
-                  CALL DSCAL( LEN, ONE/NNRM, V, 1 )
-   30          CONTINUE
-            ELSE
-*              Estimate the 2-norm of the Schur complement with 5 power
-*              iterations.
-               LEN = ( N - S1 )*K
-               CALL DLASET( 'All', LEN, 1, ONE, ONE, V, 1 )
-               DO 80  PIT = 1, 5
-                  POSR = ( S1 - 1 )*K + 1
-                  DO 40  I = 1, N - S1
-                     CALL DGEMV( 'NoTranspose', K, LEN-(I-1)*K, ONE,
-     $                           T(1,POSR+K), LDT, V((I-1)*K+1), 1,
-     $                           ZERO, W((I-1)*K+1), 1 )
-   40             CONTINUE
-                  DO 50  I = 1, N - S1
-                     CALL DTRMV( 'Upper', 'NoTranspose', 'NonUnit', K,
-     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
-                     CALL DGEMV( 'NoTranspose', K, LEN-I*K, ONE,
-     $                           R(POSR,POSR+K), LDR, V(I*K+1), 1, ONE,
-     $                           V((I-1)*K+1), 1 )
-   50             CONTINUE
-                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, Z, 1 )
-                  DO 60  I = 1, N - S1
-                     CALL DGEMV( 'Transpose', K, LEN-I*K, ONE,
-     $                           R(POSR,POSR+K), LDR, V((I-1)*K+1), 1,
-     $                           ONE, Z(I*K+1), 1 )
-                     CALL DTRMV( 'Upper', 'Transpose', 'NonUnit', K,
-     $                           R(POSR,POSR), LDR, V((I-1)*K+1), 1 )
-                     CALL DAXPY( K, ONE, V((I-1)*K+1), 1, Z((I-1)*K+1),
-     $                           1 )
-   60             CONTINUE
-                  CALL DLASET( 'All', LEN, 1, ZERO, ZERO, V, 1 )
-                  DO 70  I = 1, N - S1
-                     CALL DGEMV( 'Transpose', K, LEN-(I-1)*K, ONE,
-     $                           T(1,POSR+K), LDT, W((I-1)*K+1), 1,
-     $                           ONE, V((I-1)*K+1), 1 )
-   70             CONTINUE
-                  CALL DAXPY( LEN, -ONE, Z, 1, V, 1 )
-                  NNRM = DNRM2( LEN, V, 1 )
-                  CALL DSCAL( LEN, -ONE/NNRM, V, 1 )
-   80          CONTINUE
-               POS = ( S1 - 1 )*K + 1
-               P   = S1
-            END IF
-            WRITE ( NOUT, FMT = 99995 ) P*K, NNRM
-   90    CONTINUE
-         WRITE ( NOUT, FMT = 99996 )
-         DO 100  I = 1, P*K
-            WRITE ( NOUT, FMT = 99994 ) ( R(I,J), J = 1, M )
-  100    CONTINUE
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02FD = ',I2)
-99997 FORMAT ('   Incomplete Cholesky factorization ',
-     $         //'   rows    norm(Schur complement)',/)
-99996 FORMAT (/' The upper ICC factor of the block Toeplitz matrix is '
-     $       )
-99995 FORMAT (I4,5X,F8.4)
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' K is out of range.',/' K = ',I5)
-99991 FORMAT (/' IT is out of range.',/' IT = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02FD EXAMPLE
-4 2 3
-0 1 1
-    3.0000    1.0000    0.1000    0.1000    0.2000    0.0500   0.2000   0.3000
-    1.0000    4.0000    0.4000    0.1000    0.0400    0.2000   0.1000   0.2000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02FD EXAMPLE PROGRAM RESULTS
-
-   Incomplete Cholesky factorization 
-
-   rows    norm(Schur complement)
-
-   0       5.5509
-   2       5.1590
-   4       4.8766
-
- The upper ICC factor of the block Toeplitz matrix is 
-   1.7321   0.5774   0.0577   0.0577   0.1155   0.0289   0.1155   0.1732
-   0.0000   1.9149   0.1915   0.0348  -0.0139   0.0957   0.0174   0.0522
-   0.0000   0.0000   1.7205   0.5754   0.0558   0.0465   0.1104   0.0174
-   0.0000   0.0000   0.0000   1.9142   0.1890   0.0357  -0.0161   0.0931
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02GD.html b/doc/_static/doc/MB02GD.html
deleted file mode 100644
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--- a/doc/_static/doc/MB02GD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02GD">MB02GD</A></H2>
-<H3>
-Cholesky factorization of a banded symmetric positive definite block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor of a banded symmetric positive
-  definite (s.p.d.) block Toeplitz matrix, defined by either its
-  first block row, or its first block column, depending on the
-  routine parameter TYPET.
-
-  By subsequent calls of this routine the Cholesky factor can be
-  computed block column by block column.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02GD( TYPET, TRIU, K, N, NL, P, S, T, LDT, RB, LDRB,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRIU, TYPET
-      INTEGER           INFO, K, LDRB, LDT, LDWORK, N, NL, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPET   CHARACTER*1
-          Specifies the type of T, as follows:
-          = 'R':  T contains the first block row of an s.p.d. block
-                  Toeplitz matrix; the Cholesky factor is upper
-                  triangular;
-          = 'C':  T contains the first block column of an s.p.d.
-                  block Toeplitz matrix; the Cholesky factor is
-                  lower triangular. This choice results in a column
-                  oriented algorithm which is usually faster.
-          Note:   in the sequel, the notation x / y means that
-                  x corresponds to TYPET = 'R' and y corresponds to
-                  TYPET = 'C'.
-
-  TRIU    CHARACTER*1
-          Specifies the structure of the last block in T, as
-          follows:
-          = 'N':  the last block has no special structure;
-          = 'T':  the last block is lower / upper triangular.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows / columns in T, which should be equal
-          to the blocksize.  K &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in T.  N &gt;= 1.
-          If TRIU = 'N',   N &gt;= 1;
-          if TRIU = 'T',   N &gt;= 2.
-
-  NL      (input)  INTEGER
-          The lower block bandwidth, i.e., NL + 1 is the number of
-          nonzero blocks in the first block column of the block
-          Toeplitz matrix.
-          If TRIU = 'N',   0 &lt;= NL &lt; N;
-          if TRIU = 'T',   1 &lt;= NL &lt; N.
-
-  P       (input)  INTEGER
-          The number of previously computed block rows / columns of
-          the Cholesky factor.  0 &lt;= P &lt;= N.
-
-  S       (input)  INTEGER
-          The number of block rows / columns of the Cholesky factor
-          to compute.  0 &lt;= S &lt;= N - P.
-
-  T       (input/output)  DOUBLE PRECISION array, dimension
-          (LDT,(NL+1)*K) / (LDT,K)
-          On entry, if P = 0, the leading K-by-(NL+1)*K /
-          (NL+1)*K-by-K part of this array must contain the first
-          block row / column of an s.p.d. block Toeplitz matrix.
-          On entry, if P &gt; 0, the leading K-by-(NL+1)*K /
-          (NL+1)*K-by-K part of this array must contain the P-th
-          block row / column of the Cholesky factor.
-          On exit, if INFO = 0, then the leading K-by-(NL+1)*K /
-          (NL+1)*K-by-K part of this array contains the (P+S)-th
-          block row / column of the Cholesky factor.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= MAX(1,K) / MAX(1,(NL+1)*K).
-
-  RB      (input/output)  DOUBLE PRECISION array, dimension
-          (LDRB,MIN(P+NL+S,N)*K) / (LDRB,MIN(P+S,N)*K)
-          On entry, if TYPET = 'R'  and  TRIU = 'N'  and  P &gt; 0,
-          the leading (NL+1)*K-by-MIN(NL,N-P)*K part of this array
-          must contain the (P*K+1)-st to ((P+NL)*K)-th columns
-          of the upper Cholesky factor in banded format from a
-          previous call of this routine.
-          On entry, if TYPET = 'R'  and  TRIU = 'T'  and  P &gt; 0,
-          the leading (NL*K+1)-by-MIN(NL,N-P)*K part of this array
-          must contain the (P*K+1)-st to (MIN(P+NL,N)*K)-th columns
-          of the upper Cholesky factor in banded format from a
-          previous call of this routine.
-          On exit, if TYPET = 'R'  and  TRIU = 'N', the leading
-          (NL+1)*K-by-MIN(NL+S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
-          upper Cholesky factor in banded format.
-          On exit, if TYPET = 'R'  and  TRIU = 'T', the leading
-          (NL*K+1)-by-MIN(NL+S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+NL+S,N)*K)-th columns of the
-          upper Cholesky factor in banded format.
-          On exit, if TYPET = 'C'  and  TRIU = 'N', the leading
-          (NL+1)*K-by-MIN(S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
-          Cholesky factor in banded format.
-          On exit, if TYPET = 'C'  and  TRIU = 'T', the leading
-          (NL*K+1)-by-MIN(S,N-P)*K part of this array contains
-          the (P*K+1)-st to (MIN(P+S,N)*K)-th columns of the lower
-          Cholesky factor in banded format.
-          For further details regarding the band storage scheme see
-          the documentation of the LAPACK routine DPBTF2.
-
-  LDRB    INTEGER
-          The leading dimension of the array RB.
-          If TRIU = 'N',   LDRB &gt;= MAX( (NL+1)*K,1 );
-          if TRIU = 'T',   LDRB &gt;= NL*K+1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          The first 1 + ( NL + 1 )*K*K elements of DWORK should be
-          preserved during successive calls of the routine.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1 + ( NL + 1 )*K*K + NL*K.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is not (numerically) positive
-                definite.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-                             3
-  The algorithm requires O( K *N*NL ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, NMAX, NLMAX
-      PARAMETER        ( KMAX = 20, NMAX = 20, NLMAX = 20 )
-      INTEGER          LDRB, LDT, LDWORK
-      PARAMETER        ( LDRB = ( NLMAX + 1 )*KMAX, LDT = KMAX*NMAX,
-     $                   LDWORK = ( NLMAX + 1 )*KMAX*KMAX +
-     $                            ( 3 + NLMAX )*KMAX )
-*     .. Local Scalars ..
-      INTEGER          I, J, INFO, K, M, N, NL, SIZR
-      CHARACTER        TRIU, TYPET
-*     .. Local Arrays dimensioned for TYPET = 'R' ..
-      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB, NMAX*KMAX),
-     $                 T(LDT, NMAX*KMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02GD
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, N, NL, TRIU
-      TYPET = 'R'
-      M = ( NL + 1 )*K
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE IF( NL.LE.0 .OR. NL.GT.NLMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NL
-      ELSE IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) K
-      ELSE
-         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,M ), I = 1,K )
-*        Compute the banded Cholesky factor.
-         CALL MB02GD( TYPET, TRIU, K, N, NL, 0, N, T, LDT, RB, LDRB,
-     $                DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            IF ( LSAME( TRIU, 'T' ) ) THEN
-               SIZR = NL*K + 1
-            ELSE
-               SIZR = ( NL + 1 )*K
-            END IF
-            DO 10  I = 1, SIZR
-               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1, N*K )
-   10       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02GD = ',I2)
-99997 FORMAT (/' The upper Cholesky factor in banded storage format ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' NL is out of range.',/' NL = ',I5)
-99993 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02GD EXAMPLE PROGRAM DATA
-  2    4    2    T
-  3.0000    1.0000    0.1000    0.4000    0.2000    0.0000
-  0.0000    4.0000    0.1000    0.1000    0.0500    0.2000
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02GD EXAMPLE PROGRAM RESULTS
-
-
- The upper Cholesky factor in banded storage format 
-   0.0000   0.0000   0.0000   0.0000   0.1155   0.1044   0.1156   0.1051
-   0.0000   0.0000   0.0000   0.2309  -0.0087   0.2290  -0.0084   0.2302
-   0.0000   0.0000   0.0577  -0.0174   0.0541  -0.0151   0.0544  -0.0159
-   0.0000   0.5774   0.0348   0.5704   0.0222   0.5725   0.0223   0.5724
-   1.7321   1.9149   1.7307   1.9029   1.7272   1.8996   1.7272   1.8995
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02HD.html b/doc/_static/doc/MB02HD.html
deleted file mode 100644
index 67447f5d..00000000
--- a/doc/_static/doc/MB02HD.html
+++ /dev/null
@@ -1,332 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02HD">MB02HD</A></H2>
-<H3>
-Cholesky factorization of the matrix T' T, with T a banded block Toeplitz matrix of full rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a banded K*M-by-L*N block Toeplitz matrix T with
-  block size (K,L), specified by the nonzero blocks of its first
-  block column TC and row TR, a LOWER triangular matrix R (in band
-  storage scheme) such that
-                       T          T
-                      T  T  =  R R .                             (1)
-
-  It is assumed that the first MIN(M*K, N*L) columns of T are
-  linearly independent.
-
-  By subsequent calls of this routine, the matrix R can be computed
-  block column by block column.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02HD( TRIU, K, L, M, ML, N, NU, P, S, TC, LDTC, TR,
-     $                   LDTR, RB, LDRB, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRIU
-      INTEGER           INFO, K, L, LDRB, LDTC, LDTR, LDWORK, M, ML, N,
-     $                  NU, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), RB(LDRB,*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRIU    CHARACTER*1
-          Specifies the structure, if any, of the last blocks in TC
-          and TR, as follows:
-          = 'N':  TC and TR have no special structure;
-          = 'T':  TC and TR are upper and lower triangular,
-                  respectively. Depending on the block sizes, two
-                  different shapes of the last blocks in TC and TR
-                  are possible, as illustrated below:
-
-                  1)    TC       TR     2)   TC         TR
-
-                       x x x    x 0 0      x x x x    x 0 0 0
-                       0 x x    x x 0      0 x x x    x x 0 0
-                       0 0 x    x x x      0 0 x x    x x x 0
-                       0 0 0    x x x
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of rows in the blocks of T.  K &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the blocks of T.  L &gt;= 0.
-
-  M       (input) INTEGER
-          The number of blocks in the first block column of T.
-          M &gt;= 1.
-
-  ML      (input) INTEGER
-          The lower block bandwidth, i.e., ML + 1 is the number of
-          nonzero blocks in the first block column of T.
-          0 &lt;= ML &lt; M and (ML + 1)*K &gt;= L and
-          if ( M*K &lt;= N*L ),  ML &gt;= M - INT( ( M*K - 1 )/L ) - 1;
-                              ML &gt;= M - INT( M*K/L ) or
-                              MOD( M*K, L ) &gt;= K;
-          if ( M*K &gt;= N*L ),  ML*K &gt;= N*( L - K ).
-
-  N       (input) INTEGER
-          The number of blocks in the first block row of T.
-          N &gt;= 1.
-
-  NU      (input) INTEGER
-          The upper block bandwidth, i.e., NU + 1 is the number of
-          nonzero blocks in the first block row of T.
-          If TRIU = 'N',   0 &lt;= NU &lt; N and
-                           (M + NU)*L &gt;= MIN( M*K, N*L );
-          if TRIU = 'T',   MAX(1-ML,0) &lt;= NU &lt; N and
-                           (M + NU)*L &gt;= MIN( M*K, N*L ).
-
-  P       (input)  INTEGER
-          The number of previously computed block columns of R.
-          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
-
-  S       (input)  INTEGER
-          The number of block columns of R to compute.
-          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
-
-  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
-          On entry, if P = 0, the leading (ML+1)*K-by-L part of this
-          array must contain the nonzero blocks in the first block
-          column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,(ML+1)*K),  if P = 0.
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,NU*L)
-          On entry, if P = 0, the leading K-by-NU*L part of this
-          array must contain the 2nd to the (NU+1)-st blocks of
-          the first block row of T.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.
-          LDTR &gt;= MAX(1,K),  if P = 0.
-
-  RB      (output)  DOUBLE PRECISION array, dimension
-          (LDRB,MIN( S*L,MIN( M*K,N*L )-P*L ))
-          On exit, if INFO = 0 and TRIU = 'N', the leading
-          MIN( ML+NU+1,N )*L-by-MIN( S*L,MIN( M*K,N*L )-P*L ) part
-          of this array contains the (P+1)-th to (P+S)-th block
-          column of the lower R factor (1) in band storage format.
-          On exit, if INFO = 0 and TRIU = 'T', the leading
-          MIN( (ML+NU)*L+1,N*L )-by-MIN( S*L,MIN( M*K,N*L )-P*L )
-          part of this array contains the (P+1)-th to (P+S)-th block
-          column of the lower R factor (1) in band storage format.
-          For further details regarding the band storage scheme see
-          the documentation of the LAPACK routine DPBTF2.
-
-  LDRB    INTEGER
-          The leading dimension of the array RB.
-          LDRB &gt;= MAX( MIN( ML+NU+1,N )*L,1 ),      if TRIU = 'N';
-          LDRB &gt;= MAX( MIN( (ML+NU)*L+1,N*L ),1 ),  if TRIU = 'T'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
-          value of LDWORK.
-          The first 1 + 2*MIN( ML+NU+1,N )*L*(K+L) elements of DWORK
-          should be preserved during successive calls of the routine.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          Let x = MIN( ML+NU+1,N ), then
-          LDWORK &gt;= 1 + MAX( x*L*L + (2*NU+1)*L*K,
-                             2*x*L*(K+L) + (6+x)*L ),  if P = 0;
-          LDWORK &gt;= 1 + 2*x*L*(K+L) + (6+x)*L,         if P &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the full rank condition for the first MIN(M*K, N*L)
-                columns of T is (numerically) violated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method yields a factor R which has comparable
-  accuracy with the Cholesky factor of T^T * T.
-  The algorithm requires
-            2                                  2
-        O( L *K*N*( ML + NU ) + N*( ML + NU )*L *( L + K ) )
-
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, MLMAX, NMAX, NUMAX
-      PARAMETER        ( KMAX = 20, LMAX  = 20, MMAX = 20, MLMAX = 10,
-     $                   NMAX = 20, NUMAX = 10 )
-      INTEGER          LDRB, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDRB = ( MLMAX + NUMAX + 1 )*LMAX,
-     $                   LDTC = ( MLMAX + 1 )*KMAX, LDTR = KMAX )
-      PARAMETER        ( LDWORK = LDRB*LMAX + ( 2*NUMAX + 1 )*LMAX*KMAX
-     $                            + 2*LDRB*( KMAX + LMAX ) + LDRB
-     $                            + 6*LMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, LENR, M, ML, N, NU, S
-      CHARACTER        TRIU
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), RB(LDRB,NMAX*LMAX),
-     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, L, M, ML, N, NU, TRIU
-      IF( K.LT.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) K
-      ELSE IF( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( ML.LT.0 .OR. ML.GT.MLMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) ML
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF( NU.LT.0 .OR. NU.GT.NUMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NU
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,(ML+1)*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,NU*L ), I = 1,K )
-         S = ( MIN( M*K, N*L ) + L - 1 ) / L
-*        Compute the banded R factor.
-         CALL MB02HD( TRIU, K, L, M, ML, N, NU, 0, S, TC, LDTC, TR,
-     $                LDTR, RB, LDRB, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            LENR = ( ML + NU + 1 )*L
-            IF ( LSAME( TRIU, 'T' ) )  LENR = ( ML + NU )*L + 1
-            LENR = MIN( LENR, N*L )
-            DO 10  I = 1, LENR
-               WRITE ( NOUT, FMT = 99996 ) ( RB(I,J), J = 1,
-     $                                       MIN( N*L, M*K ) )
-   10       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02HD = ',I2)
-99997 FORMAT (/' The lower triangular factor R in banded storage ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' NU is out of range.',/' NU = ',I5)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ML is out of range.',/' ML = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' L is out of range.',/' L = ',I5)
-99990 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02HD EXAMPLE PROGRAM DATA
-   2  2  6  2  5   1  N
-     4.0     4.0
-     1.0     3.0
-     2.0     1.0
-     2.0     2.0
-     4.0     4.0
-     3.0     4.0
-     1.0     3.0   
-     2.0     1.0     
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02HD EXAMPLE PROGRAM RESULTS
-
-
- The lower triangular factor R in banded storage 
-  -7.0711  -2.4125   6.0822   2.9967   5.9732   2.8593   5.8497   2.7914   2.7298   1.9557
-  -7.4953  -0.0829   5.8986  -0.5571   5.5329   0.2059   5.6797   0.3414   0.9565   0.0000
-  -4.2426   0.9202   2.4747  -1.6425   2.9472  -1.0052   2.4396  -0.7785   0.0000   0.0000
-  -5.2326   0.6218   2.8391  -0.0820   3.2670   0.6327   2.7067   0.0000   0.0000   0.0000
-  -3.5355   0.8207   3.1160  -0.4451   3.5758   0.5701   0.0000   0.0000   0.0000   0.0000
-  -4.6669  -0.5803   3.9454   0.7682   4.5481   0.0000   0.0000   0.0000   0.0000   0.0000
-  -1.4142  -0.0415   1.6441   0.4848   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -2.1213   0.0000   2.4662   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02ID.html b/doc/_static/doc/MB02ID.html
deleted file mode 100644
index 50146327..00000000
--- a/doc/_static/doc/MB02ID.html
+++ /dev/null
@@ -1,367 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02ID">MB02ID</A></H2>
-<H3>
-Solution of over- or underdetermined linear systems with a full rank block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the overdetermined or underdetermined real linear systems
-  involving an M*K-by-N*L block Toeplitz matrix T that is specified
-  by its first block column and row. It is assumed that T has full
-  rank.
-  The following options are provided:
-
-  1. If JOB = 'O' or JOB = 'A' :  find the least squares solution of
-     an overdetermined system, i.e., solve the least squares problem
-
-               minimize || B - T*X ||.                           (1)
-
-  2. If JOB = 'U' or JOB = 'A' :  find the minimum norm solution of
-     the undetermined system
-                T
-               T * X = C.                                        (2)
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
-     $                   LDB, C, LDC, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
-     $                  RB, RC
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(LDWORK), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the problem to be solved as follows
-          = 'O':  solve the overdetermined system (1);
-          = 'U':  solve the underdetermined system (2);
-          = 'A':  solve (1) and (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of rows in the blocks of T.  K &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the blocks of T.  L &gt;= 0.
-
-  M       (input) INTEGER
-          The number of blocks in the first block column of T.
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of blocks in the first block row of T.
-          0 &lt;= N &lt;= M*K / L.
-
-  RB      (input) INTEGER
-          If JOB = 'O' or 'A', the number of columns in B.  RB &gt;= 0.
-
-  RC      (input) INTEGER
-          If JOB = 'U' or 'A', the number of columns in C.  RC &gt;= 0.
-
-  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
-          On entry, the leading M*K-by-L part of this array must
-          contain the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.  LDTC &gt;= MAX(1,M*K)
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
-          On entry, the leading K-by-(N-1)*L part of this array must
-          contain the 2nd to the N-th blocks of the first block row
-          of T.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
-
-  B       (input/output)  DOUBLE PRECISION array, dimension (LDB,RB)
-          On entry, if JOB = 'O' or JOB = 'A', the leading M*K-by-RB
-          part of this array must contain the right hand side
-          matrix B of the overdetermined system (1).
-          On exit, if JOB = 'O' or JOB = 'A', the leading N*L-by-RB
-          part of this array contains the solution of the
-          overdetermined system (1).
-          This array is not referenced if JOB = 'U'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,M*K),  if JOB = 'O'  or  JOB = 'A';
-          LDB &gt;= 1,           if JOB = 'U'.
-
-  C       (input)  DOUBLE PRECISION array, dimension (LDC,RC)
-          On entry, if JOB = 'U' or JOB = 'A', the leading N*L-by-RC
-          part of this array must contain the right hand side
-          matrix C of the underdetermined system (2).
-          On exit, if JOB = 'U' or JOB = 'A', the leading M*K-by-RC
-          part of this array contains the solution of the
-          underdetermined system (2).
-          This array is not referenced if JOB = 'O'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDB &gt;= 1,           if JOB = 'O';
-          LDB &gt;= MAX(1,M*K),  if JOB = 'U'  or  JOB = 'A'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -17,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          Let x = MAX( 2*N*L*(L+K) + (6+N)*L,(N*L+M*K+1)*L + M*K )
-          and y = N*M*K*L + N*L, then
-          if MIN( M,N ) = 1 and JOB = 'O',
-                      LDWORK &gt;= MAX( y + MAX( M*K,RB ),1 );
-          if MIN( M,N ) = 1 and JOB = 'U',
-                      LDWORK &gt;= MAX( y + MAX( M*K,RC ),1 );
-          if MIN( M,N ) = 1 and JOB = 'A',
-                      LDWORK &gt;= MAX( y +MAX( M*K,MAX( RB,RC ),1 );
-          if MIN( M,N ) &gt; 1 and JOB = 'O',
-                      LDWORK &gt;= MAX( x,N*L*RB + 1 );
-          if MIN( M,N ) &gt; 1 and JOB = 'U',
-                      LDWORK &gt;= MAX( x,N*L*RC + 1 );
-          if MIN( M,N ) &gt; 1 and JOB = 'A',
-                      LDWORK &gt;= MAX( x,N*L*MAX( RB,RC ) + 1 ).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction algorithm failed. The Toeplitz matrix
-                associated with T is (numerically) not of full rank.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O( L*L*K*(N+M)*log(N+M) + N*N*L*L*(L+K) )
-  and additionally
-
-  if JOB = 'O' or JOB = 'A',
-               O( (K*L+RB*L+K*RB)*(N+M)*log(N+M) + N*N*L*L*RB );
-  if JOB = 'U' or JOB = 'A',
-               O( (K*L+RC*L+K*RC)*(N+M)*log(N+M) + N*N*L*L*RC );
-
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX, RBMAX, RCMAX
-      PARAMETER        ( KMAX  = 20, LMAX  = 20, MMAX = 20, NMAX = 20,
-     $                   RBMAX = 20, RCMAX = 20 )
-      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDB  = KMAX*MMAX, LDC  = KMAX*MMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = 2*NMAX*LMAX*( LMAX + KMAX ) +
-     $                            ( 6 + NMAX )*LMAX +
-     $                            MMAX*KMAX*( LMAX + 1 ) +
-     $                            RBMAX + RCMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, M, N, RB, RC
-      CHARACTER        JOB
-      DOUBLE PRECISION B(LDB,RBMAX),  C(LDC,RCMAX), DWORK(LDWORK),
-     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02ID
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  K, L, M, N, RB, RC, JOB
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF ( ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) )
-     $          .AND. ( ( RB.LE.0 ) .OR. ( RB.GT.RBMAX ) ) ) THEN
-         WRITE ( NOUT, FMT = 99990 ) RB
-      ELSE IF ( ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) )
-     $          .AND. ( ( RC.LE.0 ) .OR. ( RC.GT.RCMAX ) ) ) THEN
-         WRITE ( NOUT, FMT = 99989 ) RC
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ), I = 1,K )
-         IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,RB ), I = 1,M*K )
-         END IF
-         IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,RC ), I = 1,N*L )
-         END IF
-         CALL MB02ID( JOB, K, L, M, N, RB, RC, TC, LDTC, TR, LDTR, B,
-     $                LDB, C, LDC, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( JOB, 'O' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, N*L
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, RB )
-   10          CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'U' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 20  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, RC )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02ID = ',I2)
-99997 FORMAT (' The least squares solution of T * X = B is ')
-99996 FORMAT (' The minimum norm solution of T^T * X = C is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' K is out of range.',/' K = ',I5)
-99993 FORMAT (/' L is out of range.',/' L = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' RB is out of range.',/' RB = ',I5)
-99989 FORMAT (/' RC is out of range.',/' RC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02ID EXAMPLE PROGRAM DATA
-   3   2   4   3   1   1   A
-     5.0     2.0
-     1.0     2.0
-     4.0     3.0
-     4.0     0.0
-     2.0     2.0
-     3.0     3.0
-     5.0     1.0
-     3.0     3.0
-     1.0     1.0
-     2.0     3.0
-     1.0     3.0
-     2.0     2.0
-     1.0     4.0     2.0     3.0
-     2.0     2.0     2.0     4.0
-     3.0     1.0     0.0     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-     1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02ID EXAMPLE PROGRAM RESULTS
-
- The least squares solution of T * X = B is 
-   0.0379
-   0.1677
-   0.0485
-  -0.0038
-   0.0429
-   0.1365
- The minimum norm solution of T^T * X = C is 
-   0.0509
-   0.0547
-   0.0218
-   0.0008
-   0.0436
-   0.0404
-   0.0031
-   0.0451
-   0.0421
-   0.0243
-   0.0556
-   0.0472
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02JD.html b/doc/_static/doc/MB02JD.html
deleted file mode 100644
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--- a/doc/_static/doc/MB02JD.html
+++ /dev/null
@@ -1,338 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02JD">MB02JD</A></H2>
-<H3>
-Full QR factorization of a block Toeplitz matrix of full rank
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a lower triangular matrix R and a matrix Q with
-  Q^T Q = I such that
-                                 T
-                        T  =  Q R ,
-
-  where T is a K*M-by-L*N block Toeplitz matrix with blocks of size
-  (K,L). The first column of T will be denoted by TC and the first
-  row by TR. It is assumed that the first MIN(M*K, N*L) columns of T
-  have full rank.
-
-  By subsequent calls of this routine the factors Q and R can be
-  computed block column by block column.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02JD( JOB, K, L, M, N, P, S, TC, LDTC, TR, LDTR, Q,
-     $                   LDQ, R, LDR, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK,
-     $                  M, N, P, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine as follows:
-          = 'Q':  computes Q and R;
-          = 'R':  only computes R.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in one block of T.  K &gt;= 0.
-
-  L       (input)  INTEGER
-          The number of columns in one block of T.  L &gt;= 0.
-
-  M       (input)  INTEGER
-          The number of blocks in one block column of T.  M &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in one block row of T.  N &gt;= 0.
-
-  P       (input)  INTEGER
-          The number of previously computed block columns of R.
-          P*L &lt; MIN( M*K,N*L ) + L and P &gt;= 0.
-
-  S       (input)  INTEGER
-          The number of block columns of R to compute.
-          (P+S)*L &lt; MIN( M*K,N*L ) + L and S &gt;= 0.
-
-  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
-          On entry, if P = 0, the leading M*K-by-L part of this
-          array must contain the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,M*K).
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
-          On entry, if P = 0, the leading K-by-(N-1)*L part of this
-          array must contain the first block row of T without the
-          leading K-by-L block.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.
-          LDTR &gt;= MAX(1,K).
-
-  Q       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDQ,MIN( S*L, MIN( M*K,N*L )-P*L ))
-          On entry, if JOB = 'Q'  and  P &gt; 0, the leading M*K-by-L
-          part of this array must contain the last block column of Q
-          from a previous call of this routine.
-          On exit, if JOB = 'Q'  and  INFO = 0, the leading
-          M*K-by-MIN( S*L, MIN( M*K,N*L )-P*L ) part of this array
-          contains the P-th to (P+S)-th block columns of the factor
-          Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= MAX(1,M*K), if JOB = 'Q';
-          LDQ &gt;= 1,          if JOB = 'R'.
-
-  R       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDR,MIN( S*L, MIN( M*K,N*L )-P*L ))
-          On entry, if P &gt; 0, the leading (N-P+1)*L-by-L
-          part of this array must contain the nozero part of the
-          last block column of R from a previous call of this
-          routine.
-          One exit, if INFO = 0, the leading
-          MIN( N, N-P+1 )*L-by-MIN( S*L, MIN( M*K,N*L )-P*L )
-          part of this array contains the nonzero parts of the P-th
-          to (P+S)-th block columns of the lower triangular
-          factor R.
-          Note that elements in the strictly upper triangular part
-          will not be referenced.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX( 1, MIN( N, N-P+1 )*L )
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -17,  DWORK(1) returns the minimum
-          value of LDWORK.
-          If JOB = 'Q', the first 1 + ( (N-1)*L + M*K )*( 2*K + L )
-          elements of DWORK should be preserved during successive
-          calls of the routine.
-          If JOB = 'R', the first 1 + (N-1)*L*( 2*K + L ) elements
-          of DWORK should be preserved during successive calls of
-          the routine.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          JOB = 'Q':
-             LDWORK &gt;= 1 + ( M*K + ( N - 1 )*L )*( L + 2*K ) + 6*L
-                         + MAX( M*K,( N - MAX( 1,P )*L ) );
-          JOB = 'R':
-             If P = 0,
-                LDWORK &gt;= MAX( 1 + ( N - 1 )*L*( L + 2*K ) + 6*L
-                                 + (N-1)*L, M*K*( L + 1 ) + L );
-             If P &gt; 0,
-                LDWORK &gt;= 1 + (N-1)*L*( L + 2*K ) + 6*L + (N-P)*L.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the full rank condition for the first MIN(M*K, N*L)
-                columns of T is (numerically) violated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Block Householder transformations and modified hyperbolic
-  rotations are used in the Schur algorithm [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method yields a factor R which has comparable
-  accuracy with the Cholesky factor of T^T * T. Q is implicitly
-  computed from the formula Q = T * inv(R^T R) * R, i.e., for ill
-  conditioned problems this factor is of very limited value.
-                              2
-  The algorithm requires 0(K*L *M*N) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02JD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX
-      PARAMETER        ( KMAX = 10, LMAX = 10, MMAX = 20, NMAX = 20 )
-      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
-     $                            *( LMAX + 2*KMAX ) + 6*LMAX
-     $                            + MMAX*KMAX + NMAX*LMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, M, N, S
-      CHARACTER        JOB
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
-     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
-     $                 TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02JD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, L, M, N, JOB
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
-     $                             I = 1,K )
-         S = ( MIN( M*K, N*L ) + L - 1 ) / L
-*        Compute the required part of the QR factorization.
-         CALL MB02JD( JOB, K, L, M, N, 0, S, TC, LDTC, TR, LDTR, Q, LDQ,
-     $                R, LDR, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( JOB, 'Q' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99995 )
-     $                  ( Q(I,J), J = 1, MIN( N*L, M*K ) )
-   10          CONTINUE
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N*L
-               WRITE ( NOUT, FMT = 99995 )
-     $               ( R(I,J), J = 1, MIN( N*L, M*K ) )
-   20       CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB02JD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02JD = ',I2)
-99997 FORMAT (/' The factor Q is ')
-99996 FORMAT (/' The factor R is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' K is out of range.',/' K = ',I5)
-99993 FORMAT (/' L is out of range.',/' L = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02JD EXAMPLE PROGRAM DATA
-    2   3    4    3    Q
-     1.0     4.0     0.0
-     4.0     1.0     2.0
-     4.0     2.0     2.0
-     5.0     3.0     2.0
-     2.0     4.0     4.0
-     5.0     3.0     4.0
-     2.0     2.0     5.0
-     4.0     2.0     3.0
-     3.0     4.0     2.0     5.0     0.0     4.0
-     5.0     1.0     1.0     2.0     4.0     1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02JD EXAMPLE PROGRAM RESULTS
-
-
- The factor Q is 
-  -0.0967   0.7166  -0.4651   0.1272   0.4357   0.0435   0.2201   0.0673
-  -0.3867  -0.3108  -0.0534   0.5251   0.0963  -0.3894   0.1466   0.5412
-  -0.3867  -0.0990  -0.1443  -0.7021   0.3056  -0.3367  -0.3233   0.1249
-  -0.4834  -0.0178  -0.3368  -0.1763  -0.5446   0.5100   0.1503   0.2054
-  -0.1933   0.5859   0.3214   0.1156  -0.4670  -0.3199  -0.4185   0.0842
-  -0.4834  -0.0178   0.1072   0.0357  -0.0575  -0.2859   0.4339  -0.6928
-  -0.1933   0.1623   0.7251  -0.1966   0.2736   0.3058   0.3398   0.2968
-  -0.3867  -0.0990   0.0777   0.3615   0.3386   0.4421  -0.5693  -0.2641
-
- The factor R is 
- -10.3441   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -6.3805   4.7212   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -7.3472   1.9320   4.5040   0.0000   0.0000   0.0000   0.0000   0.0000
- -10.0541   2.5101   0.5065   3.6550   0.0000   0.0000   0.0000   0.0000
-  -6.5738   3.6127   1.2702  -1.3146   3.5202   0.0000   0.0000   0.0000
-  -5.2204   2.4764   2.4113   1.3890   1.2780   2.4976   0.0000   0.0000
-  -9.6674   3.2445  -0.5099  -0.0224   2.6548   2.9491   1.0049   0.0000
-  -6.3805   0.6968   1.9483   0.3050   0.7002  -2.0220  -2.8246   2.3147
-  -4.1570   2.4309  -0.7190  -0.1455   3.0149   0.5454   0.9394  -0.0548
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02JX.html b/doc/_static/doc/MB02JX.html
deleted file mode 100644
index b6666153..00000000
--- a/doc/_static/doc/MB02JX.html
+++ /dev/null
@@ -1,361 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02JX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02JX">MB02JX</A></H2>
-<H3>
-Low rank QR factorization with column pivoting of a block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a low rank QR factorization with column pivoting of a
-  K*M-by-L*N block Toeplitz matrix T with blocks of size (K,L);
-  specifically,
-                                  T
-                        T P =  Q R ,
-
-  where R is lower trapezoidal, P is a block permutation matrix
-  and Q^T Q = I. The number of columns in R is equivalent to the
-  numerical rank of T with respect to the given tolerance TOL1.
-  Note that the pivoting scheme is local, i.e., only columns
-  belonging to the same block in T are permuted.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q,
-     $                   LDQ, R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, K, L, LDQ, LDR, LDTC, LDTR, LDWORK, M, N,
-     $                  RNK
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(LDWORK), Q(LDQ,*), R(LDR,*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-      INTEGER           JPVT(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the output of the routine as follows:
-          = 'Q':  computes Q and R;
-          = 'R':  only computes R.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of rows in one block of T.  K &gt;= 0.
-
-  L       (input)  INTEGER
-          The number of columns in one block of T.  L &gt;= 0.
-
-  M       (input)  INTEGER
-          The number of blocks in one block column of T.  M &gt;= 0.
-
-  N       (input)  INTEGER
-          The number of blocks in one block row of T.  N &gt;= 0.
-
-  TC      (input) DOUBLE PRECISION array, dimension (LDTC, L)
-          The leading M*K-by-L part of this array must contain
-          the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,M*K).
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,(N-1)*L)
-          The leading K-by-(N-1)*L part of this array must contain
-          the first block row of T without the leading K-by-L
-          block.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
-
-  RNK     (output)  INTEGER
-          The number of columns in R, which is equivalent to the
-          numerical rank of T.
-
-  Q       (output)  DOUBLE PRECISION array, dimension (LDQ,RNK)
-          If JOB = 'Q', then the leading M*K-by-RNK part of this
-          array contains the factor Q.
-          If JOB = 'R', then this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= MAX(1,M*K),  if JOB = 'Q';
-          LDQ &gt;= 1,           if JOB = 'R'.
-
-  R       (output)  DOUBLE PRECISION array, dimension (LDR,RNK)
-          The leading N*L-by-RNK part of this array contains the
-          lower trapezoidal factor R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,N*L)
-
-  JPVT    (output)  INTEGER array, dimension (MIN(M*K,N*L))
-          This array records the column pivoting performed.
-          If JPVT(j) = k, then the j-th column of T*P was
-          the k-th column of T.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If TOL1 &gt;= 0.0, the user supplied diagonal tolerance;
-          if TOL1 &lt; 0.0, a default diagonal tolerance is used.
-
-  TOL2    DOUBLE PRECISION
-          If TOL2 &gt;= 0.0, the user supplied offdiagonal tolerance;
-          if TOL2 &lt; 0.0, a default offdiagonal tolerance is used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK;  DWORK(2) and DWORK(3) return the used values
-          for TOL1 and TOL2, respectively.
-          On exit, if INFO = -19,  DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 3, ( M*K + ( N - 1 )*L )*( L + 2*K ) + 9*L
-                              + MAX(M*K,(N-1)*L) ),    if JOB = 'Q';
-          LDWORK &gt;= MAX( 3, ( N - 1 )*L*( L + 2*K + 1 ) + 9*L,
-                              M*K*( L + 1 ) + L ),     if JOB = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  due to perturbations induced by roundoff errors, or
-                removal of nearly linearly dependent columns of the
-                generator, the Schur algorithm encountered a
-                situation where a diagonal element in the negative
-                generator is larger in magnitude than the
-                corresponding diagonal element in the positive
-                generator (modulo TOL1);
-          = 2:  due to perturbations induced by roundoff errors, or
-                removal of nearly linearly dependent columns of the
-                generator, the Schur algorithm encountered a
-                situation where diagonal elements in the positive
-                and negative generator are equal in magnitude
-                (modulo TOL1), but the offdiagonal elements suggest
-                that these columns are not linearly dependent
-                (modulo TOL2*ABS(diagonal element)).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and modified hyperbolic rotations
-  are used in the Schur algorithm [1], [2].
-  If, during the process, the hyperbolic norm of a row in the
-  leading part of the generator is found to be less than or equal
-  to TOL1, then this row is not reduced. If the difference of the
-  corresponding columns has a norm less than or equal to TOL2 times
-  the magnitude of the leading element, then this column is removed
-  from the generator, as well as from R. Otherwise, the algorithm
-  breaks down. TOL1 is set to norm(TC)*sqrt(eps) and TOL2 is set
-  to N*L*sqrt(eps) by default.
-  If M*K &gt; L, the columns of T are permuted so that the diagonal
-  elements in one block column of R have decreasing magnitudes.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kailath, T. and Sayed, A.
-      Fast Reliable Algorithms for Matrices with Structure.
-      SIAM Publications, Philadelphia, 1999.
-
-  [2] Kressner, D. and Van Dooren, P.
-      Factorizations and linear system solvers for matrices with
-      Toeplitz structure.
-      SLICOT Working Note 2000-2, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(K*RNK*L*M*N) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02JX EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX
-      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20 )
-      INTEGER          LDR, LDQ, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDR  = NMAX*LMAX, LDQ  = MMAX*KMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = ( MMAX*KMAX + NMAX*LMAX )
-     $                            *( LMAX + 2*KMAX ) + 5*LMAX
-     $                            + MMAX*KMAX + NMAX*LMAX )
-*     .. Local Scalars ..
-      CHARACTER        JOB
-      INTEGER          I, INFO, J, K, L, M, N, RNK
-      DOUBLE PRECISION TOL1, TOL2
-*     .. Local Arrays ..
-      INTEGER          JPVT(NMAX*LMAX)
-      DOUBLE PRECISION DWORK(LDWORK), Q(LDQ,NMAX*LMAX),
-     $                 R(LDR,NMAX*LMAX), TC(LDTC,LMAX),
-     $                 TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02JX
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K, L, M, N, TOL1, TOL2, JOB
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-         READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,( N - 1 )*L ),
-     $                             I = 1,K )
-*        Compute the required part of the QR factorization.
-         CALL MB02JX( JOB, K, L, M, N, TC, LDTC, TR, LDTR, RNK, Q, LDQ,
-     $                R, LDR, JPVT, TOL1, TOL2, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99994 ) RNK
-            IF ( LSAME( JOB, 'Q' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99993 ) ( Q(I,J), J = 1, RNK )
-   10          CONTINUE
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N*L
-               WRITE ( NOUT, FMT = 99993 ) ( R(I,J), J = 1, RNK )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            WRITE ( NOUT, FMT = 99992 ) ( JPVT(I),
-     $                                    I = 1, MIN( M*K, N*L ) )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02JX EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02JX = ',I2)
-99997 FORMAT (/' The factor Q is ')
-99996 FORMAT (/' The factor R is ')
-99995 FORMAT (/' The column permutation is ')
-99994 FORMAT (/' Numerical rank ',/' RNK = ',I5)
-99993 FORMAT (20(1X,F8.4))
-99992 FORMAT (20(1X,I4))
-99991 FORMAT (/' K is out of range.',/' K = ',I5)
-99990 FORMAT (/' L is out of range.',/' L = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02JX EXAMPLE PROGRAM DATA
-   3   3   4   4  -1.0D0  -1.0D0   Q
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     2.0     3.0
-     1.0     0.0     1.0
-     1.0     1.0     0.0
-     2.0     2.0     0.0
-     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     1.0
-     1.0     2.0     3.0     1.0     2.0     3.0     1.0     2.0     1.0
-     1.0     2.0     3.0     1.0     2.0     3.0     1.0     1.0     1.0
-     1.0     2.0     3.0     1.0     2.0     3.0     0.0     1.0     0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02JX EXAMPLE PROGRAM RESULTS
-
-
- Numerical rank 
- RNK =     7
-
- The factor Q is 
-  -0.3313  -0.0105  -0.0353   0.0000  -0.4714  -0.8165   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082   0.7071
-  -0.3313  -0.0105  -0.0353   0.0000  -0.4714   0.4082  -0.7071
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.3313  -0.0105  -0.0353   0.0000   0.2357   0.0000   0.0000
-  -0.1104   0.2824   0.9529   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.4288  -0.1271   0.8944   0.0000   0.0000   0.0000
-   0.0000   0.8576  -0.2541  -0.4472   0.0000   0.0000   0.0000
-
- The factor R is 
-  -9.0554   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -3.0921   2.3322   0.0000   0.0000   0.0000   0.0000   0.0000
-  -5.9633   1.9557  -1.2706   0.0000   0.0000   0.0000   0.0000
-  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
-  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
-  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
-  -9.2762   4.4238   0.7623   1.3416   0.0000   0.0000   0.0000
-  -6.1842   2.9492   0.5082   0.8944   0.0000   0.0000   0.0000
-  -3.0921   1.4746   0.2541   0.4472   0.0000   0.0000   0.0000
-  -7.2885   4.4866   0.9741   1.3416   2.8284   0.0000   0.0000
-  -2.7608   1.4851   0.2894   0.4472   0.4714   0.8165   0.0000
-  -5.5216   2.9701   0.5788   0.8944   0.9428   0.4082   0.7071
-
- The column permutation is 
-    3    1    2    6    5    4    9    8    7   12   10   11
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02KD.html b/doc/_static/doc/MB02KD.html
deleted file mode 100644
index 5cf32bab..00000000
--- a/doc/_static/doc/MB02KD.html
+++ /dev/null
@@ -1,346 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02KD">MB02KD</A></H2>
-<H3>
-Computation of the product C = alpha op( T ) B + beta C, with T a block Toeplitz matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix product
-
-            C = alpha*op( T )*B + beta*C,
-
-  where alpha and beta are scalars and T is a block Toeplitz matrix
-  specified by its first block column TC and first block row TR;
-  B and C are general matrices of appropriate dimensions.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA,
-     $                   TC, LDTC, TR, LDTR, B, LDB, C, LDC, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LDBLK, TRANS
-      INTEGER           INFO, K, L, LDB, LDC, LDTC, LDTR, LDWORK, M, N,
-     $                  R
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), C(LDC,*), DWORK(*), TC(LDTC,*),
-     $                  TR(LDTR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LDBLK   CHARACTER*1
-          Specifies where the (1,1)-block of T is stored, as
-          follows:
-          = 'C':  in the first block of TC;
-          = 'R':  in the first block of TR.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( T ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( T ) = T;
-          = 'T':  op( T ) = T';
-          = 'C':  op( T ) = T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of rows in the blocks of T.  K &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the blocks of T.  L &gt;= 0.
-
-  M       (input) INTEGER
-          The number of blocks in the first block column of T.
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of blocks in the first block row of T.  N &gt;= 0.
-
-  R       (input) INTEGER
-          The number of columns in B and C.  R &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then TC, TR and B
-          are not referenced.
-
-  BETA    (input) DOUBLE PRECISION
-          The scalar beta. When beta is zero then C need not be set
-          before entry.
-
-  TC      (input)  DOUBLE PRECISION array, dimension (LDTC,L)
-          On entry with LDBLK = 'C', the leading M*K-by-L part of
-          this array must contain the first block column of T.
-          On entry with LDBLK = 'R', the leading (M-1)*K-by-L part
-          of this array must contain the 2nd to the M-th blocks of
-          the first block column of T.
-
-  LDTC    INTEGER
-          The leading dimension of the array TC.
-          LDTC &gt;= MAX(1,M*K),      if LDBLK = 'C';
-          LDTC &gt;= MAX(1,(M-1)*K),  if LDBLK = 'R'.
-
-  TR      (input)  DOUBLE PRECISION array, dimension (LDTR,k)
-          where k is (N-1)*L when LDBLK = 'C' and is N*L when
-          LDBLK = 'R'.
-          On entry with LDBLK = 'C', the leading K-by-(N-1)*L part
-          of this array must contain the 2nd to the N-th blocks of
-          the first block row of T.
-          On entry with LDBLK = 'R', the leading K-by-N*L part of
-          this array must contain the first block row of T.
-
-  LDTR    INTEGER
-          The leading dimension of the array TR.  LDTR &gt;= MAX(1,K).
-
-  B       (input)  DOUBLE PRECISION array, dimension (LDB,R)
-          On entry with TRANS = 'N', the leading N*L-by-R part of
-          this array must contain the matrix B.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          M*K-by-R part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N*L),  if TRANS = 'N';
-          LDB &gt;= MAX(1,M*K),  if TRANS = 'T' or TRANS = 'C'.
-
-  C       (input/output)  DOUBLE PRECISION array, dimension (LDC,R)
-          On entry with TRANS = 'N', the leading M*K-by-R part of
-          this array must contain the matrix C.
-          On entry with TRANS = 'T' or TRANS = 'C', the leading
-          N*L-by-R part of this array must contain the matrix C.
-          On exit with TRANS = 'N', the leading M*K-by-R part of
-          this array contains the updated matrix C.
-          On exit with TRANS = 'T' or TRANS = 'C', the leading
-          N*L-by-R part of this array contains the updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M*K),  if TRANS = 'N';
-          LDC &gt;= MAX(1,N*L),  if TRANS = 'T' or TRANS = 'C'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For point Toeplitz matrices or sufficiently large block Toeplitz
-  matrices, this algorithm uses convolution algorithms based on
-  the fast Hartley transforms [1]. Otherwise, TC is copied in
-  reversed order into the workspace such that C can be computed from
-  barely M matrix-by-matrix multiplications.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, Charles.
-      Computational frameworks for the fast Fourier transform.
-      SIAM, 1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O( (K*L+R*L+K*R)*(N+M)*log(N+M) + K*L*R )
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION  ZERO, ONE
-      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX, LMAX, MMAX, NMAX, RMAX
-      PARAMETER        ( KMAX = 20, LMAX = 20, MMAX = 20, NMAX = 20,
-     $                   RMAX = 20 )
-      INTEGER          LDB, LDC, LDTC, LDTR, LDWORK
-      PARAMETER        ( LDB  = LMAX*NMAX, LDC  = KMAX*MMAX,
-     $                   LDTC = MMAX*KMAX, LDTR = KMAX,
-     $                   LDWORK = 2*( KMAX*LMAX + KMAX*RMAX
-     $                            + LMAX*RMAX + 1 )*( MMAX + NMAX ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, M, N, R
-      CHARACTER        LDBLK, TRANS
-      DOUBLE PRECISION ALPHA, BETA
-*     .. Local Arrays .. (Dimensioned for TRANS = 'N'.)
-      DOUBLE PRECISION B(LDB,RMAX), C(LDC,RMAX), DWORK(LDWORK),
-     $                 TC(LDTC,LMAX), TR(LDTR,NMAX*LMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02KD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  K, L, M, N, R, LDBLK, TRANS
-      IF( K.LE.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) K
-      ELSE IF( L.LE.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) L
-      ELSE IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF( R.LE.0 .OR. R.GT.RMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         IF ( LSAME( LDBLK, 'R' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ),
-     $                              I = 1,(M-1)*K )
-            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,N*L ), I = 1,K )
-         ELSE
-            READ ( NIN, FMT = * ) ( ( TC(I,J), J = 1,L ), I = 1,M*K )
-            READ ( NIN, FMT = * ) ( ( TR(I,J), J = 1,(N-1)*L ),
-     $                              I = 1,K )
-         END IF
-         IF ( LSAME( TRANS, 'N' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,N*L )
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,R ), I = 1,M*K )
-         END IF
-         ALPHA = ONE
-         BETA  = ZERO
-         CALL MB02KD( LDBLK, TRANS, K, L, M, N, R, ALPHA, BETA, TC,
-     $                LDTC, TR, LDTR, B, LDB, C, LDC, DWORK, LDWORK,
-     $                INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( TRANS, 'N' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, M*K
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
-   10          CONTINUE
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 20  I = 1, N*L
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,R )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02KD = ',I2)
-99997 FORMAT (' The product C = T * B is ')
-99996 FORMAT (' The product C = T^T * B is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' K is out of range.',/' K = ',I5)
-99993 FORMAT (/' L is out of range.',/' L = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' R is out of range.',/' R = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB02KD EXAMPLE PROGRAM DATA
-   3    2   4    5    1    C    N
-     4.0     1.0
-     3.0     5.0
-     2.0     1.0
-     4.0     1.0
-     3.0     4.0
-     2.0     4.0
-     3.0     1.0
-     3.0     0.0
-     4.0     4.0
-     5.0     1.0
-     3.0     1.0
-     4.0     3.0
-     5.0     2.0     2.0     2.0     2.0     1.0     1.0     3.0
-     4.0     1.0     5.0     4.0     5.0     4.0     1.0     2.0
-     2.0     3.0     4.0     1.0     3.0     3.0     3.0     3.0
-     0.0
-     2.0
-     2.0
-     2.0
-     1.0
-     3.0
-     3.0
-     4.0
-     2.0
-     3.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02KD EXAMPLE PROGRAM RESULTS
-
- The product C = T * B is 
-  45.0000
-  76.0000
-  55.0000
-  44.0000
-  84.0000
-  56.0000
-  52.0000
-  70.0000
-  54.0000
-  49.0000
-  63.0000
-  59.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02MD.html b/doc/_static/doc/MB02MD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,462 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02MD">MB02MD</A></H2>
-<H3>
-Solution of Total Least-Squares problem using a SVD approach
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Total Least Squares (TLS) problem using a Singular
-  Value Decomposition (SVD) approach.
-  The TLS problem assumes an overdetermined set of linear equations
-  AX = B, where both the data matrix A as well as the observation
-  matrix B are inaccurate. The routine also solves determined and
-  underdetermined sets of equations by computing the minimum norm
-  solution.
-  It is assumed that all preprocessing measures (scaling, coordinate
-  transformations, whitening, ... ) of the data have been performed
-  in advance.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  C(LDC,*), DWORK(*), S(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Determines whether the values of the parameters RANK and
-          TOL are to be specified by the user or computed by the
-          routine as follows:
-          = 'R':  Compute RANK only;
-          = 'T':  Compute TOL only;
-          = 'B':  Compute both RANK and TOL;
-          = 'N':  Compute neither RANK nor TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the data matrix A and the
-          observation matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the data matrix A.  N &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the observation matrix B.
-          L &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if JOB = 'T' or JOB = 'N', then RANK must
-          specify r, the rank of the TLS approximation [A+DA|B+DB].
-          RANK &lt;= min(M,N).
-          Otherwise, r is computed by the routine.
-          On exit, if JOB = 'R' or JOB = 'B', and INFO = 0, then
-          RANK contains the computed (effective) rank of the TLS
-          approximation [A+DA|B+DB].
-          Otherwise, the user-supplied value of RANK may be
-          changed by the routine on exit if the RANK-th and the
-          (RANK+1)-th singular values of C = [A|B] are considered
-          to be equal, or if the upper triangular matrix F (as
-          defined in METHOD) is (numerically) singular.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
-          On entry, the leading M-by-(N+L) part of this array must
-          contain the matrices A and B. Specifically, the first N
-          columns must contain the data matrix A and the last L
-          columns the observation matrix B (right-hand sides).
-          On exit, the leading (N+L)-by-(N+L) part of this array
-          contains the (transformed) right singular vectors,
-          including null space vectors, if any, of C = [A|B].
-          Specifically, the leading (N+L)-by-RANK part of this array
-          always contains the first RANK right singular vectors,
-          corresponding to the largest singular values of C. If
-          L = 0, or if RANK = 0 and IWARN &lt;&gt; 2, the remaining
-          (N+L)-by-(N+L-RANK) top-right part of this array contains
-          the remaining N+L-RANK right singular vectors. Otherwise,
-          this part contains the matrix V2 transformed as described
-          in Step 3 of the TLS algorithm (see METHOD).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
-
-  S       (output) DOUBLE PRECISION array, dimension (min(M,N+L))
-          If INFO = 0, the singular values of matrix C, ordered
-          such that S(1) &gt;= S(2) &gt;= ... &gt;= S(p-1) &gt;= S(p) &gt;= 0,
-          where p = min(M,N+L).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
-          If INFO = 0, the leading N-by-L part of this array
-          contains the solution X to the TLS problem specified
-          by A and B.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= max(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used to determine the rank of the TLS
-          approximation [A+DA|B+DB] and to check the multiplicity
-          of the singular values of matrix C. Specifically, S(i)
-          and S(j) (i &lt; j) are considered to be equal if
-          SQRT(S(i)**2 - S(j)**2) &lt;= TOL, and the TLS approximation
-          [A+DA|B+DB] has rank r if S(i) &gt; TOL*S(1) (or S(i) &gt; TOL,
-          if TOL specifies sdev (see below)), for i = 1,2,...,r.
-          TOL is also used to check the singularity of the upper
-          triangular matrix F (as defined in METHOD).
-          If JOB = 'R' or JOB = 'N', then TOL must specify the
-          desired tolerance. If the user sets TOL to be less than or
-          equal to 0, the tolerance is taken as EPS, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH).
-          Otherwise, the tolerance is computed by the routine and
-          the user must supply the non-negative value sdev, i.e. the
-          estimated standard deviation of the error on each element
-          of the matrix C, as input value of TOL.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (L)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2) returns the reciprocal of the
-          condition number of the matrix F.
-          If INFO &gt; 0, DWORK(1:min(M,N+L)-1) contain the unconverged
-          non-diagonal elements of the bidiagonal matrix whose
-          diagonal is in S (see LAPACK Library routine DGESVD).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max(2, 3*(N+L) + M, 5*(N+L)),       if M &gt;= N+L;
-          LDWORK = max(2, M*(N+L) + max( 3M+N+L, 5*M), 3*L),
-                                                       if M &lt;  N+L.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 1:  if the rank of matrix C has been lowered because a
-                singular value of multiplicity greater than 1 was
-                found;
-          = 2:  if the rank of matrix C has been lowered because the
-                upper triangular matrix F is (numerically) singular.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if the SVD algorithm (in LAPACK Library routine
-                DBDSQR) has failed to converge. In this case, S(1),
-                S(2), ..., S(INFO) may not have been found
-                correctly and the remaining singular values may
-                not be the smallest. This failure is not likely
-                to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is an extension (see [3,4,5]) of the classical
-  TLS algorithm proposed by Golub and Van Loan [1].
-
-  Let [A|B] denote the matrix formed by adjoining the columns of B
-  to the columns of A on the right.
-
-  Total Least Squares (TLS) definition:
-  -------------------------------------
-
-    Given matrices A and B, find a matrix X satisfying
-
-         (A + DA) X = B + DB,
-
-    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
-    and X is an N-by-L matrix.
-    The solution X must be such that the Frobenius norm of [DA|DB]
-    is a minimum and each column of B + DB is in the range of
-    A + DA. Whenever the solution is not unique, the routine singles
-    out the minimum norm solution X.
-
-  Define matrix C = [A|B] and s(i) as its i-th singular value for
-  i = 1,2,...,min(M,NL), where NL = N + L. If M &lt; NL, then s(j) = 0
-  for j = M+1,...,NL.
-
-  The Classical TLS algorithm proceeds as follows (see [3,4,5]):
-
-  Step 1: Compute part of the singular value decomposition (SVD)
-          USV' of C = [A|B], namely compute S and V'. (An initial
-          QR factorization of C is used when M is larger enough
-          than NL.)
-
-  Step 2: If not fixed by the user, compute the rank r0 of the data
-          [A|B] based on TOL as follows: if JOB = 'R' or JOB = 'N',
-
-             s(1) &gt;= ... &gt;= s(r0) &gt; TOL*s(1) &gt;= ... &gt;= s(NL).
-
-          Otherwise, using [2], TOL can be computed from the
-          standard deviation sdev of the errors on [A|B]:
-
-             TOL = SQRT(2 * max(M,NL)) * sdev,
-
-          and the rank r0 is determined (if JOB = 'R' or 'B') using
-
-             s(1) &gt;= ... &gt;= s(r0) &gt; TOL &gt;= ... &gt;= s(NL).
-
-          The rank r of the approximation [A+DA|B+DB] is then equal
-          to the minimum of N and r0.
-
-  Step 3: Let V2 be the matrix of the columns of V corresponding to
-          the (NL - r) smallest singular values of C, i.e. the last
-          (NL - r) columns of V.
-          Compute with Householder transformations the orthogonal
-          matrix Q such that:
-
-                    |VH   Y|
-           V2 x Q = |      |
-                    |0    F|
-
-          where VH is an N-by-(N - r) matrix, Y is an N-by-L matrix
-          and F is an L-by-L upper triangular matrix.
-          If F is singular, then lower the rank r with the
-          multiplicity of s(r) and repeat this step.
-
-  Step 4: If F is nonsingular then the solution X is obtained by
-          solving the following equations by forward elimination:
-
-             X F = -Y.
-
-  Notes :
-  The TLS solution is unique if r = N, F is nonsingular and
-  s(N) &gt; s(N+1).
-  If F is singular, however, then the computed solution is infinite
-  and hence does not satisfy the second TLS criterion (see TLS
-  definition). For these cases, Golub and Van Loan [1] claim that
-  the TLS problem has no solution. The properties of these so-called
-  nongeneric problems are described in [4] and the TLS computations
-  are generalized in order to solve them. As proven in [4], the
-  proposed generalization satisfies the TLS criteria for any
-  number L of observation vectors in B provided that, in addition,
-  the solution | X| is constrained to be orthogonal to all vectors
-               |-I|
-  of the form |w| which belong to the space generated by the columns
-              |0|
-  of the submatrix |Y|.
-                   |F|
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      An Analysis of the Total Least-Squares Problem.
-      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
-
-  [2] Staar, J., Vandewalle, J. and Wemans, M.
-      Realization of Truncated Impulse Response Sequences with
-      Prescribed Uncertainty.
-      Proc. 8th IFAC World Congress, Kyoto, I, pp. 7-12, 1981.
-
-  [3] Van Huffel, S.
-      Analysis of the Total Least Squares Problem and its Use in
-      Parameter Estimation.
-      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
-      Universiteit Leuven, Belgium, June 1987.
-
-  [4] Van Huffel, S. and Vandewalle, J.
-      Analysis and Solution of the Nongeneric Total Least Squares
-      Problem.
-      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
-
-  [5] Van Huffel, S. and Vandewalle, J.
-      The Total Least Squares Problem: Computational Aspects and
-      Analysis.
-      Series "Frontiers in Applied Mathematics", Vol. 9,
-      SIAM, Philadelphia, 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm consists in (backward) stable steps.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, LMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
-      INTEGER          LDC, LDX
-      PARAMETER        ( LDC = MAX( MMAX,NMAX+LMAX ), LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MMAX*(NMAX+LMAX) +
-     $                            MAX( 3*MIN(MMAX,NMAX+LMAX) +
-     $                                   MAX(MMAX,NMAX+LMAX),
-     $                                 5*MIN(MMAX,NMAX+LMAX),
-     $                                 3*LMAX ) )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = LMAX )
-      INTEGER          LENGS
-      PARAMETER        ( LENGS = MIN( MMAX, NMAX+LMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SDEV, TOL
-      INTEGER          I, INFO, IWARN, J, L, M, N, RANK
-      CHARACTER*1      JOB
-*     .. Local Arrays ..
-      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK), S(LENGS),
-     $                 X(LDX,LMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, L, JOB
-*
-      IF ( LSAME( JOB, 'R' ) ) THEN
-         READ ( NIN, FMT = * ) TOL
-      ELSE IF ( LSAME( JOB, 'T' ) ) THEN
-         READ ( NIN, FMT = * ) RANK, SDEV
-         TOL = SDEV
-      ELSE IF ( LSAME( JOB, 'N' ) ) THEN
-         READ ( NIN, FMT = * ) RANK, TOL
-      ELSE
-         READ ( NIN, FMT = * ) SDEV
-         TOL = SDEV
-      END IF
-*
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
-*        Compute the solution to the TLS problem Ax = b.
-         CALL MB02MD( JOB, M, N, L, RANK, C, LDC, S, X, LDX, TOL, IWORK,
-     $                DWORK, LDWORK, IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) RANK
-            ELSE
-               IF ( ( LSAME( JOB, 'R' ) ) .OR. ( LSAME( JOB, 'B' ) ) )
-     $            WRITE ( NOUT, FMT = 99996 ) RANK
-            END IF
-            WRITE ( NOUT, FMT = 99995 )
-            DO 40 J = 1, L
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) X(I,J)
-   20          CONTINUE
-               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99993 )
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99992 ) ( S(J),J = 1, MIN( M, N+L ) )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02MD = ',I2)
-99997 FORMAT (' IWARN on exit from MB02MD = ',I2,/)
-99996 FORMAT (' The computed rank of the TLS approximation = ',I3,/)
-99995 FORMAT (' The solution X to the TLS problem is ',/)
-99994 FORMAT (1X,F8.4)
-99993 FORMAT (' ')
-99992 FORMAT (/' The singular values of C are ',//(1X,F8.4))
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02MD EXAMPLE PROGRAM DATA
-   6     3     1     B
-   0.0
-   0.80010  0.39985  0.60005  0.89999
-   0.29996  0.69990  0.39997  0.82997
-   0.49994  0.60003  0.20012  0.79011
-   0.90013  0.20016  0.79995  0.85002
-   0.39998  0.80006  0.49985  0.99016
-   0.20002  0.90007  0.70009  1.02994
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02MD EXAMPLE PROGRAM RESULTS
-
- The computed rank of the TLS approximation =   3
-
- The solution X to the TLS problem is 
-
-   0.5003
-   0.8003
-   0.2995
-
- The singular values of C are 
-
-   3.2281
-   0.8716
-   0.3697
-   0.0001
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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@@ -1,583 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02ND">MB02ND</A></H2>
-<H3>
-Solution of Total Least-Squares problem using a partial SVD approach
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Total Least Squares (TLS) problem using a Partial
-  Singular Value Decomposition (PSVD) approach.
-  The TLS problem assumes an overdetermined set of linear equations
-  AX = B, where both the data matrix A as well as the observation
-  matrix B are inaccurate. The routine also solves determined and
-  underdetermined sets of equations by computing the minimum norm
-  solution.
-  It is assumed that all preprocessing measures (scaling, coordinate
-  transformations, whitening, ... ) of the data have been performed
-  in advance.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
-     $                   TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IWARN, L, LDC, LDWORK, LDX, M, N, RANK
-      DOUBLE PRECISION  RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*), INUL(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  C(LDC,*), DWORK(*), Q(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the data matrix A and the
-          observation matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the data matrix A.  N &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns in the observation matrix B.
-          L &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if RANK &lt; 0, then the rank of the TLS
-          approximation [A+DA|B+DB] (r say) is computed by the
-          routine.
-          Otherwise, RANK must specify the value of r.
-          RANK &lt;= min(M,N).
-          On exit, if RANK &lt; 0 on entry and INFO = 0, then RANK
-          contains the computed rank of the TLS approximation
-          [A+DA|B+DB].
-          Otherwise, the user-supplied value of RANK may be
-          changed by the routine on exit if the RANK-th and the
-          (RANK+1)-th singular values of C = [A|B] are considered
-          to be equal, or if the upper triangular matrix F (as
-          defined in METHOD) is (numerically) singular.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, if RANK &lt; 0, then the rank of the TLS
-          approximation [A+DA|B+DB] is computed using THETA as
-          (min(M,N+L) - d), where d is the number of singular
-          values of [A|B] &lt;= THETA. THETA &gt;= 0.0.
-          Otherwise, THETA is an initial estimate (t say) for
-          computing a lower bound on the RANK largest singular
-          values of [A|B]. If THETA &lt; 0.0 on entry however, then
-          t is computed by the routine.
-          On exit, if RANK &gt;= 0 on entry, then THETA contains the
-          computed bound such that precisely RANK singular values
-          of C = [A|B] are greater than THETA + TOL.
-          Otherwise, THETA is unchanged.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N+L)
-          On entry, the leading M-by-(N+L) part of this array must
-          contain the matrices A and B. Specifically, the first N
-          columns must contain the data matrix A and the last L
-          columns the observation matrix B (right-hand sides).
-          On exit, if INFO = 0, the first N+L components of the
-          columns of this array whose index i corresponds with
-          INUL(i) = .TRUE., are the possibly transformed (N+L-RANK)
-          base vectors of the right singular subspace corresponding
-          to the singular values of C = [A|B] which are less than or
-          equal to THETA. Specifically, if L = 0, or if RANK = 0 and
-          IWARN &lt;&gt; 2, these vectors are indeed the base vectors
-          above. Otherwise, these vectors form the matrix V2,
-          transformed as described in Step 4 of the PTLS algorithm
-          (see METHOD). The TLS solution is computed from these
-          vectors. The other columns of array C contain no useful
-          information.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= max(1,M,N+L).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,L)
-          If INFO = 0, the leading N-by-L part of this array
-          contains the solution X to the TLS problem specified by
-          A and B.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= max(1,N).
-
-  Q       (output) DOUBLE PRECISION array, dimension
-          (max(1,2*min(M,N+L)-1))
-          This array contains the partially diagonalized bidiagonal
-          matrix J computed from C, at the moment that the desired
-          singular subspace has been found. Specifically, the
-          leading p = min(M,N+L) entries of Q contain the diagonal
-          elements q(1),q(2),...,q(p) and the entries Q(p+1),Q(p+2),
-          ...,Q(2*p-1) contain the superdiagonal elements e(1),e(2),
-          ...,e(p-1) of J.
-
-  INUL    (output) LOGICAL array, dimension (N+L)
-          The indices of the elements of this array with value
-          .TRUE. indicate the columns in C containing the base
-          vectors of the right singular subspace of C from which
-          the TLS solution has been computed.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width. TOL is also taken
-          as an absolute tolerance for negligible elements in the
-          QR/QL iterations. If the user sets TOL to be less than or
-          equal to 0, then the tolerance is taken as specified in
-          SLICOT Library routine MB04YD document.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged. If the user sets RELTOL to be less than
-          BASE * EPS, where BASE is machine radix and EPS is machine
-          precision (see LAPACK Library routine DLAMCH), then the
-          tolerance is taken as BASE * EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+2*L)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2) returns the reciprocal of the
-          condition number of the matrix F.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max(2, max(M,N+L) + 2*min(M,N+L),
-                       min(M,N+L) + LW + max(6*(N+L)-5,
-                                             L*L+max(N+L,3*L)),
-          where
-          LW = (N+L)*(N+L-1)/2,  if M &gt;= N+L,
-          LW = M*(N+L-(M-1)/2),  if M &lt;  N+L.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N+L)
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 1:  if the rank of matrix C has been lowered because a
-                singular value of multiplicity greater than 1 was
-                found;
-          = 2:  if the rank of matrix C has been lowered because the
-                upper triangular matrix F is (numerically) singular.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the maximum number of QR/QL iteration steps
-                (30*MIN(M,N)) has been exceeded;
-          = 2:  if the computed rank of the TLS approximation
-                [A+DA|B+DB] exceeds MIN(M,N). Try increasing the
-                value of THETA or set the value of RANK to min(M,N).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Partial Total Least Squares (PTLS) approach
-  proposed by Van Huffel and Vandewalle [5].
-
-  Let C = [A|B] denote the matrix formed by adjoining the columns of
-  B to the columns of A on the right.
-
-  Total Least Squares (TLS) definition:
-  -------------------------------------
-
-    Given matrices A and B, find a matrix X satisfying
-
-         (A + DA) X = B + DB,
-
-    where A and DA are M-by-N matrices, B and DB are M-by-L matrices
-    and X is an N-by-L matrix.
-    The solution X must be such that the Frobenius norm of [DA|DB]
-    is a minimum and each column of B + DB is in the range of
-    A + DA. Whenever the solution is not unique, the routine singles
-    out the minimum norm solution X.
-
-  Let V denote the right singular subspace of C. Since the TLS
-  solution can be computed from any orthogonal basis of the subspace
-  of V corresponding to the smallest singular values of C, the
-  Partial Singular Value Decomposition (PSVD) can be used instead of
-  the classical SVD. The dimension of this subspace of V may be
-  determined by the rank of C or by an upper bound for those
-  smallest singular values.
-
-  The PTLS algorithm proceeds as follows (see [2 - 5]):
-
-  Step 1: Bidiagonalization phase
-          -----------------------
-   (a) If M is large enough than N + L, transform C into upper
-       triangular form R by Householder transformations.
-   (b) Transform C (or R) into upper bidiagonal form
-       (p = min(M,N+L)):
-
-                  |q(1) e(1)  0   ...  0   |
-             (0)  | 0   q(2) e(2)      .   |
-            J   = | .                  .   |
-                  | .                e(p-1)|
-                  | 0             ... q(p) |
-
-       if M &gt;= N + L, or lower bidiagonal form:
-
-                  |q(1)  0    0   ...  0     0   |
-             (0)  |e(1) q(2)  0        .     .   |
-            J   = | .                  .     .   |
-                  | .                 q(p)   .   |
-                  | 0             ... e(p-1) q(p)|
-
-       if M &lt; N + L, using Householder transformations.
-       In the second case, transform the matrix to the upper
-       bidiagonal form by applying Givens rotations.
-   (c) Initialize the right singular base matrix with the identity
-       matrix.
-
-  Step 2: Partial diagonalization phase
-          -----------------------------
-  If the upper bound THETA is not given, then compute THETA such
-  that precisely p - RANK singular values (p=min(M,N+L)) of the
-  bidiagonal matrix are less than or equal to THETA, using a
-  bisection method [5]. Diagonalize the given bidiagonal matrix J
-  partially, using either QL iterations (if the upper left diagonal
-  element of the considered bidiagonal submatrix is smaller than the
-  lower right diagonal element) or QR iterations, such that J is
-  split into unreduced bidiagonal submatrices whose singular values
-  are either all larger than THETA or are all less than or equal
-  to THETA. Accumulate the Givens rotations in V.
-
-  Step 3: Back transformation phase
-          -------------------------
-  Apply the Householder transformations of Step 1(b) onto the base
-  vectors of V associated with the bidiagonal submatrices with all
-  singular values less than or equal to THETA.
-
-  Step 4: Computation of F and Y
-          ----------------------
-  Let V2 be the matrix of the columns of V corresponding to the
-  (N + L - RANK) smallest singular values of C.
-  Compute with Householder transformations the matrices F and Y
-  such that:
-
-                    |VH   Y|
-           V2 x Q = |      |
-                    |0    F|
-
-  where Q is an orthogonal matrix, VH is an N-by-(N-RANK) matrix,
-  Y is an N-by-L matrix and F is an L-by-L upper triangular matrix.
-  If F is singular, then reduce the value of RANK by one and repeat
-  Steps 2, 3 and 4.
-
-  Step 5: Computation of the TLS solution
-          -------------------------------
-  If F is non-singular then the solution X is obtained by solving
-  the following equations by forward elimination:
-
-           X F = -Y.
-
-  Notes:
-  If RANK is lowered in Step 4, some additional base vectors must
-  be computed in Step 2. The additional computations are kept to
-  a minimum.
-  If RANK is lowered in Step 4 but the multiplicity of the RANK-th
-  singular value is larger than 1, then the value of RANK is further
-  lowered with its multiplicity defined by the parameter TOL. This
-  is done at the beginning of Step 2 by calling SLICOT Library
-  routine MB03MD (from MB04YD), which estimates THETA using a
-  bisection method. If F in Step 4 is singular, then the computed
-  solution is infinite and hence does not satisfy the second TLS
-  criterion (see TLS definition). For these cases, Golub and
-  Van Loan [1] claim that the TLS problem has no solution. The
-  properties of these so-called nongeneric problems are described
-  in [6] and the TLS computations are generalized in order to solve
-  them. As proven in [6], the proposed generalization satisfies the
-  TLS criteria for any number L of observation vectors in B provided
-  that, in addition, the solution | X| is constrained to be
-                                  |-I|
-  orthogonal to all vectors of the form |w| which belong to the
-                                        |0|
-  space generated by the columns of the submatrix |Y|.
-                                                  |F|
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      An Analysis of the Total Least-Squares Problem.
-      SIAM J. Numer. Anal., 17, pp. 883-893, 1980.
-
-  [2] Van Huffel, S., Vandewalle, J. and Haegemans, A.
-      An Efficient and Reliable Algorithm for Computing the
-      Singular Subspace of a Matrix Associated with its Smallest
-      Singular Values.
-      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
-
-  [3] Van Huffel, S.
-      Analysis of the Total Least Squares Problem and its Use in
-      Parameter Estimation.
-      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
-      Universiteit Leuven, Belgium, June 1987.
-
-  [4] Chan, T.F.
-      An Improved Algorithm for Computing the Singular Value
-      Decomposition.
-      ACM TOMS, 8, pp. 72-83, 1982.
-
-  [5] Van Huffel, S. and Vandewalle, J.
-      The Partial Total Least Squares Algorithm.
-      J. Comput. Appl. Math., 21, pp. 333-341, 1988.
-
-  [6] Van Huffel, S. and Vandewalle, J.
-      Analysis and Solution of the Nongeneric Total Least Squares
-      Problem.
-      SIAM J. Matr. Anal. and Appl., 9, pp. 360-372, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The computational efficiency of the PTLS algorithm compared with
-  the classical TLS algorithm (see [2 - 5]) is obtained by making
-  use of PSVD (see [1]) instead of performing the entire SVD.
-  Depending on the gap between the RANK-th and the (RANK+1)-th
-  singular values of C, the number (N + L - RANK) of base vectors to
-  be computed with respect to the column dimension (N + L) of C and
-  the desired accuracy RELTOL, the algorithm used by this routine is
-  approximately twice as fast as the classical TLS algorithm at the
-  expense of extra storage requirements, namely:
-    (N + L) x (N + L - 1)/2  if M &gt;= N + L or
-    M x (N + L - (M - 1)/2)  if M &lt;  N + L.
-  This is because the Householder transformations performed on the
-  rows of C in the bidiagonalization phase (see Step 1) must be kept
-  until the end (Step 5).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, LMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, LMAX = 20 )
-      INTEGER          LDC, LDX
-      PARAMETER        ( LDC = MAX( MMAX, NMAX+LMAX ), LDX = NMAX )
-      INTEGER          LENGQ
-      PARAMETER        ( LENGQ = 2*MIN(MMAX,NMAX+LMAX)-1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX+2*LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(2, MAX( MMAX, NMAX+LMAX ) +
-     $                            2*MIN( MMAX, NMAX+LMAX ),
-     $                            MIN( MMAX, NMAX+LMAX ) +
-     $                            MAX( ( NMAX+LMAX )*( NMAX+LMAX-1 )/2,
-     $                              MMAX*( NMAX+LMAX-( MMAX-1 )/2 ) ) +
-     $                            MAX( 6*(NMAX+LMAX)-5, LMAX*LMAX +
-     $                                 MAX( NMAX+LMAX, 3*LMAX ) ) ) )
-      INTEGER          LBWORK
-      PARAMETER        ( LBWORK = NMAX+LMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
-      INTEGER          I, INFO, IWARN, J, K, L, LOOP, M, MINMNL, N,
-     $                 RANK, RANK1
-*     .. Local Arrays ..
-      DOUBLE PRECISION C(LDC,NMAX+LMAX), DWORK(LDWORK),
-     $                 Q(LENGQ), X(LDX,LMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LBWORK), INUL(NMAX+LMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB02ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, L, RANK, THETA, TOL, RELTOL
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99982 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) N
-      ELSE IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99981 ) L
-      ELSE IF ( RANK.GT.MIN( MMAX, NMAX ) ) THEN
-         WRITE ( NOUT, FMT = 99980 ) RANK
-      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
-         WRITE ( NOUT, FMT = 99979 ) THETA
-      ELSE
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N+L ), I = 1,M )
-         RANK1 = RANK
-         THETA1 = THETA
-*        Compute the solution to the TLS problem Ax = b.
-         CALL MB02ND( M, N, L, RANK, THETA, C, LDC, X, LDX, Q, INUL,
-     $                TOL, RELTOL, IWORK, DWORK, LDWORK, BWORK, IWARN,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) RANK
-            ELSE
-               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
-            END IF
-            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
-            WRITE ( NOUT, FMT = 99994 )
-            MINMNL = MIN( M, N+L )
-            LOOP = MINMNL - 1
-            DO 20 I = 1, LOOP
-               K = I + MINMNL
-               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99992 ) MINMNL, MINMNL, Q(MINMNL)
-            WRITE ( NOUT, FMT = 99991 )
-            DO 60 J = 1, L
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) X(I,J)
-   40          CONTINUE
-               IF ( J.LT.L ) WRITE ( NOUT, FMT = 99989 )
-   60       CONTINUE
-            WRITE ( NOUT, FMT = 99987 ) N + L, N + L
-            WRITE ( NOUT, FMT = 99985 )
-            DO 80 I = 1, MAX( M, N + L )
-               WRITE ( NOUT, FMT = 99984 ) ( C(I,J), J = 1,N+L )
-   80       CONTINUE
-            WRITE ( NOUT, FMT = 99986 )
-            DO 100 J = 1, N + L
-               WRITE ( NOUT, FMT = 99988 ) J, INUL(J)
-  100       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02ND = ',I2)
-99997 FORMAT (' IWARN on exit from MB02ND = ',I2,/)
-99996 FORMAT (' The computed rank of the TLS approximation  = ',I3,/)
-99995 FORMAT (' The computed value of THETA = ',F7.4,/)
-99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
-     $       'matrix are',/)
-99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
-99991 FORMAT (' The solution X to the TLS problem is ',/)
-99990 FORMAT (1X,F8.4)
-99989 FORMAT (' ')
-99988 FORMAT (I3,L8)
-99987 FORMAT (/' Right singular subspace corresponds to the first ',I2,
-     $       ' components of the j-th ',/' column of C for which INUL(',
-     $       'j) = .TRUE., j = 1,...,',I2,/)
-99986 FORMAT (/'  j    INUL(j)',/)
-99985 FORMAT (' Matrix C',/)
-99984 FORMAT (20(1X,F8.4))
-99983 FORMAT (/' N is out of range.',/' N = ',I5)
-99982 FORMAT (/' M is out of range.',/' M = ',I5)
-99981 FORMAT (/' L is out of range.',/' L = ',I5)
-99980 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
-99979 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02ND EXAMPLE PROGRAM DATA
-   6     3     1     -1     0.001     0.0     0.0
-   0.80010  0.39985  0.60005  0.89999
-   0.29996  0.69990  0.39997  0.82997
-   0.49994  0.60003  0.20012  0.79011
-   0.90013  0.20016  0.79995  0.85002
-   0.39998  0.80006  0.49985  0.99016
-   0.20002  0.90007  0.70009  1.02994
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02ND EXAMPLE PROGRAM RESULTS
-
- The computed rank of the TLS approximation  =   3
-
- The elements of the partially diagonalized bidiagonal matrix are
-
- (1,1) =  3.2280   (1,2) = -0.0287
- (2,2) =  0.8714   (2,3) =  0.0168
- (3,3) =  0.3698   (3,4) =  0.0000
- (4,4) =  0.0001
-
- The solution X to the TLS problem is 
-
-   0.5003
-   0.8003
-   0.2995
-
- Right singular subspace corresponds to the first  4 components of the j-th 
- column of C for which INUL(j) = .TRUE., j = 1,..., 4
-
- Matrix C
-
-  -0.3967  -0.7096   0.4612  -0.3555
-   0.9150  -0.2557   0.2414  -0.5687
-  -0.0728   0.6526   0.5215  -0.2128
-   0.0000   0.0720   0.6761   0.7106
-   0.1809   0.3209   0.0247  -0.4139
-   0.0905   0.4609  -0.3528   0.5128
-
-  j    INUL(j)
-
-  1       F
-  2       F
-  3       F
-  4       T
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02NY.html b/doc/_static/doc/MB02NY.html
deleted file mode 100644
index 2de98dd8..00000000
--- a/doc/_static/doc/MB02NY.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02NY">MB02NY</A></H2>
-<H3>
-Separation of a zero singular value of a bidiagonal submatrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To separate a zero singular value of a bidiagonal submatrix of
-  order k, k &lt;= p, of the bidiagonal matrix
-
-            |Q(1) E(1)  0    ...   0   |
-            | 0   Q(2) E(2)        .   |
-        J = | .                    .   |
-            | .                  E(p-1)|
-            | 0   ...  ...   ...  Q(p) |
-
-  with p = MIN(M,N), by annihilating one or two superdiagonal
-  elements E(i-1) (if i &gt; 1) and/or E(i) (if i &lt; k).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02NY( UPDATU, UPDATV, M, N, I, K, Q, E, U, LDU, V,
-     $                   LDV, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           UPDATU, UPDATV
-      INTEGER           I, K, LDU, LDV, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPDATU  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix U the left-hand Givens rotations S, as follows:
-          = .FALSE.:  Do not form U;
-          = .TRUE. :  The given matrix U is updated (postmultiplied)
-                      by the left-hand Givens rotations S.
-
-  UPDATV  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix V the right-hand Givens rotations T, as follows:
-          = .FALSE.:  Do not form V;
-          = .TRUE. :  The given matrix V is updated (postmultiplied)
-                      by the right-hand Givens rotations T.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix U.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix V.  N &gt;= 0.
-
-  I       (input) INTEGER
-          The index of the negligible diagonal entry Q(I) of the
-          bidiagonal matrix J, I &lt;= p.
-
-  K       (input) INTEGER
-          The index of the last diagonal entry of the considered
-          bidiagonal submatrix of J, i.e., E(K-1) is considered
-          negligible, K &lt;= p.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (p)
-          where p = MIN(M,N).
-          On entry, Q must contain the diagonal entries of the
-          bidiagonal matrix J.
-          On exit, Q contains the diagonal entries of the
-          transformed bidiagonal matrix S' J T.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
-          On entry, E must contain the superdiagonal entries of J.
-          On exit, E contains the superdiagonal entries of the
-          transformed bidiagonal matrix S' J T.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
-          On entry, if UPDATU = .TRUE., U must contain the M-by-p
-          left transformation matrix.
-          On exit, if UPDATU = .TRUE., the Givens rotations S on the
-          left, annihilating E(i) if i &lt; k, have been postmultiplied
-          into U.
-          U is not referenced if UPDATU = .FALSE..
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
-          LDU &gt;= 1        if UPDATU = .FALSE..
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
-          On entry, if UPDATV = .TRUE., V must contain the N-by-p
-          right transformation matrix.
-          On exit, if UPDATV = .TRUE., the Givens rotations T on the
-          right, annihilating E(i-1) if i &gt; 1,  have been
-          postmultiplied into V.
-          V is not referenced if UPDATV = .FALSE..
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
-          LDV &gt;= 1        if UPDATV = .FALSE..
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
-          LDWORK &gt;= 2*MAX(K-I,I-1),  if UPDATV = UPDATU = .TRUE.;
-          LDWORK &gt;= 2*(K-I), if UPDATU = .TRUE., UPDATV = .FALSE.;
-          LDWORK &gt;= 2*(I-1), if UPDATV = .TRUE., UPDATU = .FALSE.;
-          LDWORK &gt;= 1,       if UPDATU = UPDATV = .FALSE..
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let the considered bidiagonal submatrix be
-
-            |Q(1) E(1)  0                    ...   0   |
-            | 0   Q(2) E(2)                        .   |
-            | .                                    .   |
-            | .           Q(i-1) E(i-1)            .   |
-       Jk = | .                   Q(i) E(i)        .   |.
-            | .                       Q(i+1) .     .   |
-            | .                              ..    .   |
-            | .                                  E(k-1)|
-            | 0    ...                       ...  Q(k) |
-
-  A zero singular value of Jk manifests itself by a zero diagonal
-  entry Q(i) or in practice, a negligible value of Q(i).
-  When a negligible diagonal element Q(i) in Jk is present, the
-  bidiagonal submatrix Jk is split by the routine into 2 or 3
-  unreduced bidiagonal submatrices by annihilating E(i) (if i &lt; k)
-  using Givens rotations S on the left and by annihilating E(i-1)
-  (if i &gt; 1) using Givens rotations T on the right until Jk is
-  reduced to the form:
-
-            |Q(1) E(1)  0                ...   0   |
-            | 0         .                ...   .   |
-            | .                          ...   .   |
-            | .       Q(i-1) 0                 .   |
-  S' Jk T = | .              0   0             .   |.
-            | .                 Q(i+1)   .     .   |
-            | .                          ..    .   |
-            | .                              E(k-1)|
-            | 0    ...                   ...  Q(k) |
-
-  For more details, see [1, pp.11.12-11.14].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Dongarra, J.J., Bunch, J.R., Moler C.B. and Stewart, G.W.
-      LINPACK User's Guide.
-      SIAM, Philadelphia, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02OD.html b/doc/_static/doc/MB02OD.html
deleted file mode 100644
index f6b323c6..00000000
--- a/doc/_static/doc/MB02OD.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02OD">MB02OD</A></H2>
-<H3>
-Solution of matrix equations A X = alpha B, or X A = alpha B, A triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve (if well-conditioned) one of the matrix equations
-
-     op( A )*X = alpha*B,   or   X*op( A ) = alpha*B,
-
-  where alpha is a scalar, X and B are m-by-n matrices, A is a unit,
-  or non-unit, upper or lower triangular matrix and op( A ) is one
-  of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  An estimate of the reciprocal of the condition number of the
-  triangular matrix A, in either the 1-norm or the infinity-norm, is
-  also computed as
-
-     RCOND = 1 / ( norm(A) * norm(inv(A)) ).
-
-  and the specified matrix equation is solved only if RCOND is
-  larger than a given tolerance TOL.  In that case, the matrix X is
-  overwritten on B.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02OD( SIDE, UPLO, TRANS, DIAG, NORM, M, N, ALPHA, A,
-     $                   LDA, B, LDB, RCOND, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DIAG, NORM, SIDE, TRANS, UPLO
-      INTEGER            INFO, LDA, LDB, M, N
-      DOUBLE PRECISION   ALPHA, RCOND, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specifies whether op( A ) appears on the left or right
-          of X as follows:
-          = 'L':  op( A )*X = alpha*B;
-          = 'R':  X*op( A ) = alpha*B.
-
-  UPLO    CHARACTER*1
-          Specifies whether the matrix A is an upper or lower
-          triangular matrix as follows:
-          = 'U':  A is an upper triangular matrix;
-          = 'L':  A is a lower triangular matrix.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op( A ) to be used in the matrix
-          multiplication as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-  DIAG    CHARACTER*1
-          Specifies whether or not A is unit triangular as follows:
-          = 'U':  A is assumed to be unit triangular;
-          = 'N':  A is not assumed to be unit triangular.
-
-  NORM    CHARACTER*1
-          Specifies whether the 1-norm condition number or the
-          infinity-norm condition number is required:
-          = '1' or 'O':  1-norm;
-          = 'I':         Infinity-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of B.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar  alpha. When alpha is zero then A is not
-          referenced and B need not be set before entry.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,k),
-          where k is M when SIDE = 'L' and is N when SIDE = 'R'.
-          On entry with UPLO = 'U', the leading k-by-k upper
-          triangular part of this array must contain the upper
-          triangular matrix and the strictly lower triangular part
-          of A is not referenced.
-          On entry with UPLO = 'L', the leading k-by-k lower
-          triangular part of this array must contain the lower
-          triangular matrix and the strictly upper triangular part
-          of A is not referenced.
-          Note that when DIAG = 'U', the diagonal elements of A are
-          not referenced either, but are assumed to be unity.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= max(1,M) when SIDE = 'L';
-          LDA &gt;= max(1,N) when SIDE = 'R'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand side matrix B.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X.
-          Otherwise, this array is not modified by the routine.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal of the condition number of the matrix A,
-          computed as RCOND = 1/(norm(A) * norm(inv(A))).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the matrix A. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the reciprocal
-          condition number of that matrix; a matrix whose estimated
-          condition number is less than 1/TOL is considered to be
-          nonsingular. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF = k*k*EPS,
-          is used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (k)
-
-  DWORK   DOUBLE PRECISION array, dimension (3*k)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix A is numerically singular, i.e. the
-                condition number estimate of A (in the specified
-                norm) exceeds 1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An estimate of the reciprocal of the condition number of the
-  triangular matrix A (in the specified norm) is computed, and if
-  this estimate is larger then the given (or default) tolerance,
-  the specified matrix equation is solved using Level 3 BLAS
-  routine DTRSM.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                          2
-  The algorithm requires k N/2 operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02PD.html b/doc/_static/doc/MB02PD.html
deleted file mode 100644
index d2d77c6b..00000000
--- a/doc/_static/doc/MB02PD.html
+++ /dev/null
@@ -1,335 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02PD">MB02PD</A></H2>
-<H3>
-Solution of matrix equation op(A) X = B, with error bounds and condition estimates
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve (if well-conditioned) the matrix equations
-
-     op( A )*X = B,
-
-  where X and B are N-by-NRHS matrices, A is an N-by-N matrix and
-  op( A ) is one of
-
-     op( A ) = A   or   op( A ) = A'.
-
-  Error bounds on the solution and a condition estimate are also
-  provided.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02PD( FACT, TRANS, N, NRHS, A, LDA, AF, LDAF, IPIV,
-     $                   EQUED, R, C, B, LDB, X, LDX, RCOND, FERR, BERR,
-     $                   IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUED, FACT, TRANS
-      INTEGER           INFO, LDA, LDAF, LDB, LDX, N, NRHS
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      INTEGER           IPIV( * ), IWORK( * )
-      DOUBLE PRECISION  A( LDA, * ), AF( LDAF, * ), B( LDB, * ),
-     $                  BERR( * ), C( * ), DWORK( * ), FERR( * ),
-     $                  R( * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FACT    CHARACTER*1
-          Specifies whether or not the factored form of the matrix A
-          is supplied on entry, and if not, whether the matrix A
-          should be equilibrated before it is factored.
-          = 'F':  On entry, AF and IPIV contain the factored form
-                  of A. If EQUED is not 'N', the matrix A has been
-                  equilibrated with scaling factors given by R
-                  and C. A, AF, and IPIV are not modified.
-          = 'N':  The matrix A will be copied to AF and factored.
-          = 'E':  The matrix A will be equilibrated if necessary,
-                  then copied to AF and factored.
-
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations as follows:
-          = 'N':  A * X = B     (No transpose);
-          = 'T':  A**T * X = B  (Transpose);
-          = 'C':  A**H * X = B  (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of linear equations, i.e., the order of the
-          matrix A.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrices B and X.  NRHS &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.  If FACT = 'F' and EQUED is not 'N',
-          then A must have been equilibrated by the scaling factors
-          in R and/or C.  A is not modified if FACT = 'F' or 'N',
-          or if FACT = 'E' and EQUED = 'N' on exit.
-          On exit, if EQUED .NE. 'N', the leading N-by-N part of
-          this array contains the matrix A scaled as follows:
-          EQUED = 'R':  A := diag(R) * A;
-          EQUED = 'C':  A := A * diag(C);
-          EQUED = 'B':  A := diag(R) * A * diag(C).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  AF      (input or output) DOUBLE PRECISION array, dimension
-          (LDAF,N)
-          If FACT = 'F', then AF is an input argument and on entry
-          the leading N-by-N part of this array must contain the
-          factors L and U from the factorization A = P*L*U as
-          computed by DGETRF.  If EQUED .NE. 'N', then AF is the
-          factored form of the equilibrated matrix A.
-          If FACT = 'N', then AF is an output argument and on exit
-          the leading N-by-N part of this array contains the factors
-          L and U from the factorization A = P*L*U of the original
-          matrix A.
-          If FACT = 'E', then AF is an output argument and on exit
-          the leading N-by-N part of this array contains the factors
-          L and U from the factorization A = P*L*U of the
-          equilibrated matrix A (see the description of A for the
-          form of the equilibrated matrix).
-
-  LDAF    (input) INTEGER
-          The leading dimension of the array AF.  LDAF &gt;= max(1,N).
-
-  IPIV    (input or output) INTEGER array, dimension (N)
-          If FACT = 'F', then IPIV is an input argument and on entry
-          it must contain the pivot indices from the factorization
-          A = P*L*U as computed by DGETRF; row i of the matrix was
-          interchanged with row IPIV(i).
-          If FACT = 'N', then IPIV is an output argument and on exit
-          it contains the pivot indices from the factorization
-          A = P*L*U of the original matrix A.
-          If FACT = 'E', then IPIV is an output argument and on exit
-          it contains the pivot indices from the factorization
-          A = P*L*U of the equilibrated matrix A.
-
-  EQUED   (input or output) CHARACTER*1
-          Specifies the form of equilibration that was done as
-          follows:
-          = 'N':  No equilibration (always true if FACT = 'N');
-          = 'R':  Row equilibration, i.e., A has been premultiplied
-                  by diag(R);
-          = 'C':  Column equilibration, i.e., A has been
-                  postmultiplied by diag(C);
-          = 'B':  Both row and column equilibration, i.e., A has
-                  been replaced by diag(R) * A * diag(C).
-          EQUED is an input argument if FACT = 'F'; otherwise, it is
-          an output argument.
-
-  R       (input or output) DOUBLE PRECISION array, dimension (N)
-          The row scale factors for A.  If EQUED = 'R' or 'B', A is
-          multiplied on the left by diag(R); if EQUED = 'N' or 'C',
-          R is not accessed.  R is an input argument if FACT = 'F';
-          otherwise, R is an output argument.  If FACT = 'F' and
-          EQUED = 'R' or 'B', each element of R must be positive.
-
-  C       (input or output) DOUBLE PRECISION array, dimension (N)
-          The column scale factors for A.  If EQUED = 'C' or 'B',
-          A is multiplied on the right by diag(C); if EQUED = 'N'
-          or 'R', C is not accessed.  C is an input argument if
-          FACT = 'F'; otherwise, C is an output argument.  If
-          FACT = 'F' and EQUED = 'C' or 'B', each element of C must
-          be positive.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,NRHS)
-          On entry, the leading N-by-NRHS part of this array must
-          contain the right-hand side matrix B.
-          On exit,
-          if EQUED = 'N', B is not modified;
-          if TRANS = 'N' and EQUED = 'R' or 'B', the leading
-          N-by-NRHS part of this array contains diag(R)*B;
-          if TRANS = 'T' or 'C' and EQUED = 'C' or 'B', the leading
-          N-by-NRHS part of this array contains diag(C)*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,NRHS)
-          If INFO = 0 or INFO = N+1, the leading N-by-NRHS part of
-          this array contains the solution matrix X to the original
-          system of equations.  Note that A and B are modified on
-          exit if EQUED .NE. 'N', and the solution to the
-          equilibrated system is inv(diag(C))*X if TRANS = 'N' and
-          EQUED = 'C' or 'B', or inv(diag(R))*X if TRANS = 'T' or
-          'C' and EQUED = 'R' or 'B'.
-
-  LDX     (input) INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimate of the reciprocal condition number of the
-          matrix A after equilibration (if done).  If RCOND is less
-          than the machine precision (in particular, if RCOND = 0),
-          the matrix is singular to working precision.  This
-          condition is indicated by a return code of INFO &gt; 0.
-          For efficiency reasons, RCOND is computed only when the
-          matrix A is factored, i.e., for FACT = 'N' or 'E'.  For
-          FACT = 'F', RCOND is not used, but it is assumed that it
-          has been computed and checked before the routine call.
-
-  FERR    (output) DOUBLE PRECISION array, dimension (NRHS)
-          The estimated forward error bound for each solution vector
-          X(j) (the j-th column of the solution matrix X).
-          If XTRUE is the true solution corresponding to X(j),
-          FERR(j) is an estimated upper bound for the magnitude of
-          the largest element in (X(j) - XTRUE) divided by the
-          magnitude of the largest element in X(j).  The estimate
-          is as reliable as the estimate for RCOND, and is almost
-          always a slight overestimate of the true error.
-
-  BERR    (output) DOUBLE PRECISION array, dimension (NRHS)
-          The componentwise relative backward error of each solution
-          vector X(j) (i.e., the smallest relative change in
-          any element of A or B that makes X(j) an exact solution).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (4*N)
-          On entry, if FACT = 'F', DWORK(1) contains the reciprocal
-          pivot growth factor norm(A)/norm(U), computed previously
-          by this routine, with FACT &lt;&gt; 'N', for the same matrix A.
-          On exit, DWORK(1) contains the reciprocal pivot growth
-          factor norm(A)/norm(U). The "max absolute element" norm is
-          used. If DWORK(1) is much less than 1, then the stability
-          of the LU factorization of the (equilibrated) matrix A
-          could be poor. This also means that the solution X,
-          condition estimator RCOND, and forward error bound FERR
-          could be unreliable. If factorization fails with
-          0 &lt; INFO &lt;= N, then DWORK(1) contains the reciprocal pivot
-          growth factor for the leading INFO columns of A.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, and i is
-                &lt;= N:  U(i,i) is exactly zero.  The factorization
-                       has been completed, but the factor U is
-                       exactly singular, so the solution and error
-                       bounds could not be computed. RCOND = 0 is
-                       returned.
-                = N+1: U is nonsingular, but RCOND is less than
-                       machine precision, meaning that the matrix is
-                       singular to working precision.  Nevertheless,
-                       the solution and error bounds are computed
-                       because there are a number of situations
-                       where the computed solution can be more
-                       accurate than the value of RCOND would
-                       suggest.
-          The positive values for INFO are set only when the
-          matrix A is factored, i.e., for FACT = 'N' or 'E'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The following steps are performed:
-
-  1. If FACT = 'E', real scaling factors are computed to equilibrate
-     the system:
-
-     TRANS = 'N':  diag(R)*A*diag(C)     *inv(diag(C))*X = diag(R)*B
-     TRANS = 'T': (diag(R)*A*diag(C))**T *inv(diag(R))*X = diag(C)*B
-     TRANS = 'C': (diag(R)*A*diag(C))**H *inv(diag(R))*X = diag(C)*B
-
-     Whether or not the system will be equilibrated depends on the
-     scaling of the matrix A, but if equilibration is used, A is
-     overwritten by diag(R)*A*diag(C) and B by diag(R)*B
-     (if TRANS='N') or diag(C)*B (if TRANS = 'T' or 'C').
-
-  2. If FACT = 'N' or 'E', the LU decomposition is used to factor
-     the matrix A (after equilibration if FACT = 'E') as
-        A = P * L * U,
-     where P is a permutation matrix, L is a unit lower triangular
-     matrix, and U is upper triangular.
-
-  3. If some U(i,i)=0, so that U is exactly singular, then the
-     routine returns with INFO = i. Otherwise, the factored form
-     of A is used to estimate the condition number of the matrix A.
-     If the reciprocal of the condition number is less than machine
-     precision, INFO = N+1 is returned as a warning, but the routine
-     still goes on to solve for X and compute error bounds as
-     described below.
-
-  4. The system of equations is solved for X using the factored form
-     of A.
-
-  5. Iterative refinement is applied to improve the computed
-     solution matrix and calculate error bounds and backward error
-     estimates for it.
-
-  6. If equilibration was used, the matrix X is premultiplied by
-     diag(C) (if TRANS = 'N') or diag(R) (if TRANS = 'T' or 'C') so
-     that it solves the original system before equilibration.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., Sorensen, D.
-      LAPACK Users' Guide: Second Edition, SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This is a simplified version of the LAPACK Library routine DGESVX,
-  useful when several sets of matrix equations with the same
-  coefficient matrix  A and/or A'  should be solved.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB02QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02QD">MB02QD</A></H2>
-<H3>
-Solution of a linear least squares problem corresponding to specified free elements
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a solution, optionally corresponding to specified free
-  elements, to a real linear least squares problem:
-
-      minimize || A * X - B ||
-
-  using a complete orthogonal factorization of the M-by-N matrix A,
-  which may be rank-deficient.
-
-  Several right hand side vectors b and solution vectors x can be
-  handled in a single call; they are stored as the columns of the
-  M-by-NRHS right hand side matrix B and the N-by-NRHS solution
-  matrix X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A, LDA,
-     $                   B, LDB, Y, JPVT, RANK, SVAL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          INIPER, JOB
-      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   SVAL( 3 ), Y ( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether or not a standard least squares solution
-          must be computed, as follows:
-          = 'L':  Compute a standard least squares solution (Y = 0);
-          = 'F':  Compute a solution with specified free elements
-                  (given in Y).
-
-  INIPER  CHARACTER*1
-          Specifies whether an initial column permutation, defined
-          by JPVT, must be performed, as follows:
-          = 'P':  Perform an initial column permutation;
-          = 'N':  Do not perform an initial column permutation.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrices B and X.  NRHS &gt;= 0.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix C, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of C
-          (for instance, the Frobenius norm of C).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading M-by-N part of this array contains
-          details of its complete orthogonal factorization:
-          the leading RANK-by-RANK upper triangular part contains
-          the upper triangular factor T11 (see METHOD);
-          the elements below the diagonal, with the entries 2 to
-          min(M,N)+1 of the array DWORK, represent the orthogonal
-          matrix Q as a product of min(M,N) elementary reflectors
-          (see METHOD);
-          the elements of the subarray A(1:RANK,RANK+1:N), with the
-          next RANK entries of the array DWORK, represent the
-          orthogonal matrix Z as a product of RANK elementary
-          reflectors (see METHOD).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,NRHS)
-          On entry, the leading M-by-NRHS part of this array must
-          contain the right hand side matrix B.
-          On exit, the leading N-by-NRHS part of this array contains
-          the solution matrix X.
-          If M &gt;= N and RANK = N, the residual sum-of-squares for
-          the solution in the i-th column is given by the sum of
-          squares of elements N+1:M in that column.
-          If NRHS = 0, this array is not referenced, and the routine
-          returns the effective rank of A, and its QR factorization.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,M,N).
-
-  Y       (input) DOUBLE PRECISION array, dimension ( N*NRHS )
-          If JOB = 'F', the elements Y(1:(N-RANK)*NRHS) are used as
-          free elements in computing the solution (see METHOD).
-          The remaining elements are not referenced.
-          If JOB = 'L', or NRHS = 0, this array is not referenced.
-
-  JPVT    (input/output) INTEGER array, dimension (N)
-          On entry with INIPER = 'P', if JPVT(i) &lt;&gt; 0, the i-th
-          column of A is an initial column, otherwise it is a free
-          column.  Before the QR factorization of A, all initial
-          columns are permuted to the leading positions; only the
-          remaining free columns are moved as a result of column
-          pivoting during the factorization.
-          If INIPER = 'N', JPVT need not be set on entry.
-          On exit, if JPVT(i) = k, then the i-th column of A*P
-          was the k-th column of A.
-
-  RANK    (output) INTEGER
-          The effective rank of A, i.e., the order of the submatrix
-          R11.  This is the same as the order of the submatrix T11
-          in the complete orthogonal factorization of A.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R11:
-          SVAL(1): largest singular value of  R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and the entries 2 to min(M,N) + RANK + 1
-          contain the scalar factors of the elementary reflectors
-          used in the complete orthogonal factorization of A.
-          Among the entries 2 to min(M,N) + 1, only the first RANK
-          elements are useful, if INIPER = 'N'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( min(M,N)+3*N+1, 2*min(M,N)+NRHS )
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If INIPER = 'P', the routine first computes a QR factorization
-  with column pivoting:
-      A * P = Q * [ R11 R12 ]
-                  [  0  R22 ]
-  with R11 defined as the largest leading submatrix whose estimated
-  condition number is less than 1/RCOND.  The order of R11, RANK,
-  is the effective rank of A.
-  If INIPER = 'N', the effective rank is estimated during a
-  truncated QR factorization (with column pivoting) process, and
-  the submatrix R22 is not upper triangular, but full and of small
-  norm. (See SLICOT Library routines MB03OD or MB03OY, respectively,
-  for further details.)
-
-  Then, R22 is considered to be negligible, and R12 is annihilated
-  by orthogonal transformations from the right, arriving at the
-  complete orthogonal factorization:
-     A * P = Q * [ T11 0 ] * Z
-                 [  0  0 ]
-  The solution is then
-     X = P * Z' [ inv(T11)*Q1'*B ]
-                [        Y       ]
-  where Q1 consists of the first RANK columns of Q, and Y contains
-  free elements (if JOB = 'F'), or is zero (if JOB = 'L').
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Significant gain in efficiency is possible for small-rank problems
-  using truncated QR factorization (option INIPER = 'N').
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, NRHSMX
-      PARAMETER        ( NMAX = 20, MMAX = 20, NRHSMX = 20 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = MMAX, LDB = MAX( MMAX, NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(   MIN( MMAX, NMAX) + 3*NMAX + 1,
-     $                                 2*MIN( MMAX, NMAX) + NRHSMX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND, SVLMAX
-      INTEGER          I, INFO, J, M, N, NRHS, RANK
-      CHARACTER*1      INIPER, JOB
-*     .. Local Arrays ..
-      INTEGER          JPVT(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NRHSMX), DWORK(LDWORK),
-     $                 SVAL(3), Y(NMAX*NRHSMX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB02QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, NRHS, RCOND, SVLMAX, JOB, INIPER
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) N
-         ELSE
-            IF ( NRHS.LT.0 .OR. NRHS.GT.NRHSMX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) NRHS
-            ELSE
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,M )
-               IF ( LSAME( JOB, 'F' ) )
-     $            READ ( NIN, FMT = * ) ( Y(I),  I = 1,N*NRHS )
-               IF ( LSAME( INIPER, 'P' ) )
-     $            READ ( NIN, FMT = * ) ( JPVT(I),  I = 1,N )
-*              Find the least squares solution.
-               CALL MB02QD( JOB, INIPER, M, N, NRHS, RCOND, SVLMAX, A,
-     $                      LDA, B, LDB, Y, JPVT, RANK, SVAL, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) RANK, SVAL
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,NRHS )
-   10             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02QD =',I2)
-99997 FORMAT (' The effective rank of A =',I2,/
-     $        ' Estimates of the singular values SVAL = '/3(1X,F8.4))
-99996 FORMAT (' The least squares solution is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02QD EXAMPLE PROGRAM DATA
-   4   3   2 2.3D-16     0.0     L     N
-   2.0  2.0 -3.0 
-   3.0  3.0 -1.0 
-   4.0  4.0 -5.0 
-  -1.0 -1.0 -2.0 
-   1.0  0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02QD EXAMPLE PROGRAM RESULTS
-
- The effective rank of A = 2
- Estimates of the singular values SVAL = 
-   7.8659   2.6698   0.0000
- The least squares solution is
-  -0.0034  -0.1054
-  -0.0034  -0.1054
-  -0.0816  -0.1973
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02QY.html b/doc/_static/doc/MB02QY.html
deleted file mode 100644
index 3e56a7cb..00000000
--- a/doc/_static/doc/MB02QY.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02QY">MB02QY</A></H2>
-<H3>
-Minimum-norm solution to a linear least squares problem, given a rank-revealing QR factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine the minimum-norm solution to a real linear least
-  squares problem:
-
-      minimize || A * X - B ||,
-
-  using the rank-revealing QR factorization of a real general
-  M-by-N matrix  A,  computed by SLICOT Library routine  MB03OD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02QY( M, N, NRHS, RANK, A, LDA, JPVT, B, LDB, TAU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDWORK, M, N, NRHS, RANK
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices A and B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of columns of the matrix B.  NRHS &gt;= 0.
-
-  RANK    (input) INTEGER
-          The effective rank of  A,  as returned by SLICOT Library
-          routine  MB03OD.  min(M,N) &gt;= RANK &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry, the leading min(M,N)-by-N upper trapezoidal
-          part of this array contains the triangular factor  R,  as
-          returned by SLICOT Library routine  MB03OD.  The strict
-          lower trapezoidal part of  A  is not referenced.
-          On exit, if  RANK &lt; N,  the leading  RANK-by-RANK  upper
-          triangular part of this array contains the upper
-          triangular matrix  R  of the complete orthogonal
-          factorization of  A,  and the submatrix  (1:RANK,RANK+1:N)
-          of this array, with the array  TAU,  represent the
-          orthogonal matrix  Z  (of the complete orthogonal
-          factorization of  A),  as a product of  RANK  elementary
-          reflectors.
-          On exit, if  RANK = N,  this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  JPVT    (input) INTEGER array, dimension ( N )
-          The recorded permutations performed by SLICOT Library
-          routine  MB03OD;  if  JPVT(i) = k,  then the i-th column
-          of  A*P  was the k-th column of the original matrix  A.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          ( LDB, NRHS )
-          On entry, if  NRHS &gt; 0,  the leading M-by-NRHS part of
-          this array must contain the matrix  B  (corresponding to
-          the transformed matrix  A,  returned by SLICOT Library
-          routine  MB03OD).
-          On exit, if  NRHS &gt; 0,  the leading N-by-NRHS part of this
-          array contains the solution matrix X.
-          If  M &gt;= N  and  RANK = N,  the residual sum-of-squares
-          for the solution in the i-th column is given by the sum
-          of squares of elements  N+1:M  in that column.
-          If  NRHS = 0,  the array  B  is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= max(1,M,N),  if  NRHS &gt; 0.
-          LDB &gt;= 1,           if  NRHS = 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( min(M,N) )
-          The scalar factors of the elementary reflectors.
-          If  RANK = N,  the array  TAU  is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 1, N, NRHS ).
-          For good performance,  LDWORK  should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses a QR factorization with column pivoting:
-
-     A * P = Q * R = Q * [ R11 R12 ],
-                         [  0  R22 ]
-
-  where  R11  is an upper triangular submatrix of estimated rank
-  RANK,  the effective rank of  A.  The submatrix  R22  can be
-  considered as negligible.
-
-  If  RANK &lt; N,  then  R12  is annihilated by orthogonal
-  transformations from the right, arriving at the complete
-  orthogonal factorization:
-
-     A * P = Q * [ T11 0 ] * Z.
-                 [  0  0 ]
-
-  The minimum-norm solution is then
-
-     X = P * Z' [ inv(T11)*Q1'*B ],
-                [        0       ]
-
-  where Q1 consists of the first  RANK  columns of Q.
-
-  The input data for  MB02QY  are the transformed matrices  Q' * A
-  (returned by SLICOT Library routine  MB03OD)  and  Q' * B.
-  Matrix  Q  is not needed.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02RD.html b/doc/_static/doc/MB02RD.html
deleted file mode 100644
index a40219dc..00000000
--- a/doc/_static/doc/MB02RD.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02RD">MB02RD</A></H2>
-<H3>
-Solution of a system of linear equations with upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of linear equations
-     H * X = B  or  H' * X = B
-  with an upper Hessenberg N-by-N matrix H using the LU
-  factorization computed by MB02SD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS
-      INTEGER            INFO, LDB, LDH, N, NRHS
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      DOUBLE PRECISION   B( LDB, * ), H( LDH, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations:
-          = 'N':  H * X = B  (No transpose)
-          = 'T':  H'* X = B  (Transpose)
-          = 'C':  H'* X = B  (Conjugate transpose = Transpose)
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrix B.  NRHS &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SD.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices from MB02SD; for 1&lt;=i&lt;=N, row i of the
-          matrix was interchanged with row IPIV(i).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,NRHS)
-          On entry, the right hand side matrix B.
-          On exit, the solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses the factorization
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N x NRHS ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02RZ.html b/doc/_static/doc/MB02RZ.html
deleted file mode 100644
index 0515435e..00000000
--- a/doc/_static/doc/MB02RZ.html
+++ /dev/null
@@ -1,125 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02RZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02RZ">MB02RZ</A></H2>
-<H3>
-Solution of a system of linear equations with complex upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of linear equations
-     H * X = B,  H' * X = B  or  H**H * X = B
-  with a complex upper Hessenberg N-by-N matrix H using the LU
-  factorization computed by MB02SZ.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02RZ( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS
-      INTEGER            INFO, LDB, LDH, N, NRHS
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      COMPLEX*16         B( LDB, * ), H( LDH, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations:
-          = 'N':  H * X = B  (No transpose)
-          = 'T':  H'* X = B  (Transpose)
-          = 'C':  H**H * X = B  (Conjugate transpose)
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of right hand sides, i.e., the number of
-          columns of the matrix B.  NRHS &gt;= 0.
-
-  H       (input) COMPLEX*16 array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SZ.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices from MB02SZ; for 1&lt;=i&lt;=N, row i of the
-          matrix was interchanged with row IPIV(i).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,NRHS)
-          On entry, the right hand side matrix B.
-          On exit, the solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  INFO    (output) INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses the factorization
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N x NRHS ) complex operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02SD.html b/doc/_static/doc/MB02SD.html
deleted file mode 100644
index 26145134..00000000
--- a/doc/_static/doc/MB02SD.html
+++ /dev/null
@@ -1,208 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02SD">MB02SD</A></H2>
-<H3>
-LU factorization of an upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LU factorization of an n-by-n upper Hessenberg
-  matrix H using partial pivoting with row interchanges.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02SD( N, H, LDH, IPIV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, N
-C     .. Array Arguments ..
-      INTEGER           IPIV(*)
-      DOUBLE PRECISION  H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  H       (input/output) DOUBLE PRECISION array, dimension (LDH,N)
-          On entry, the n-by-n upper Hessenberg matrix to be
-          factored.
-          On exit, the factors L and U from the factorization
-          H = P*L*U; the unit diagonal elements of L are not stored,
-          and L is lower bidiagonal.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
-                factorization has been completed, but the factor U
-                is exactly singular, and division by zero will occur
-                if it is used to solve a system of equations.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The factorization has the form
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-  This is the right-looking Level 1 BLAS version of the algorithm
-  (adapted after DGETF2).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NRHMAX
-      PARAMETER        ( NMAX = 20, NRHMAX = 20 )
-      INTEGER          LDB, LDH
-      PARAMETER        ( LDB = NMAX, LDH = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION HNORM, RCOND
-      INTEGER          I, INFO, INFO1, J, N, NRHS
-      CHARACTER*1      NORM, TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION H(LDH,NMAX), B(LDB,NRHMAX), DWORK(LDWORK)
-      INTEGER          IPIV(NMAX), IWORK(LIWORK)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAMCH, DLANHS
-      EXTERNAL         DLAMCH, DLANHS
-*     .. External Subroutines ..
-      EXTERNAL         DLASET, MB02RD, MB02SD, MB02TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NRHS, NORM, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( H(I,J), J = 1,N ), I = 1,N )
-         IF ( NRHS.LT.0 .OR. NRHS.GT.NRHMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) NRHS
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,NRHS ), I = 1,N )
-            IF ( N.GT.2 )
-     $         CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, H(3,1), LDH )
-*           Compute the LU factorization of the upper Hessenberg matrix.
-            CALL MB02SD( N, H, LDH, IPIV, INFO )
-*           Estimate the reciprocal condition number of the matrix.
-            HNORM = DLANHS( NORM, N, H, LDH, DWORK )
-            CALL MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
-     $                   DWORK, INFO1 )
-            IF ( INFO.EQ.0 .AND. RCOND.GT.DLAMCH( 'Epsilon' ) ) THEN
-*              Solve the linear system.
-               CALL MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
-*
-               WRITE ( NOUT, FMT = 99997 )
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,NRHS )
-   10          CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) RCOND
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02SD = ',I2)
-99997 FORMAT (' The solution matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' Reciprocal condition number = ',D12.4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' NRHS is out of range.',/' NRHS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02SD EXAMPLE PROGRAM DATA
-   5    4      O      N
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   0.    3.    1.    5.    1.
-   0.    0.    2.    0.   -4.
-   0.    0.    0.    1.    4.
-   5.    5.    1.    5.
-  -2.    1.    3.    1.
-   0.    0.    4.    5.
-   2.    1.    1.    3.
-  -1.    3.    3.    1.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02SD EXAMPLE PROGRAM RESULTS
-
- The solution matrix is 
-   0.0435   1.2029   1.6377   1.1014
-   1.0870  -4.4275  -5.5580  -2.9638
-   0.9130   0.7609  -0.1087   0.6304
-  -0.8261   2.4783   4.2174   2.7391
-  -0.0435   0.1304  -0.3043  -0.4348
-
- Reciprocal condition number =   0.1554D-01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02SZ.html b/doc/_static/doc/MB02SZ.html
deleted file mode 100644
index 32c44b1a..00000000
--- a/doc/_static/doc/MB02SZ.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02SZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02SZ">MB02SZ</A></H2>
-<H3>
-LU factorization of a complex upper Hessenberg matrix H
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LU factorization of a complex n-by-n upper
-  Hessenberg matrix H using partial pivoting with row interchanges.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02SZ( N, H, LDH, IPIV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, N
-C     .. Array Arguments ..
-      INTEGER           IPIV(*)
-      COMPLEX*16        H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  H       (input/output) COMPLEX*16 array, dimension (LDH,N)
-          On entry, the n-by-n upper Hessenberg matrix to be
-          factored.
-          On exit, the factors L and U from the factorization
-          H = P*L*U; the unit diagonal elements of L are not stored,
-          and L is lower bidiagonal.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero. The
-                factorization has been completed, but the factor U
-                is exactly singular, and division by zero will occur
-                if it is used to solve a system of equations.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The factorization has the form
-     H = P * L * U
-  where P is a permutation matrix, L is lower triangular with unit
-  diagonal elements (and one nonzero subdiagonal), and U is upper
-  triangular.
-
-  This is the right-looking Level 2 BLAS version of the algorithm
-  (adapted after ZGETF2).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) complex operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02TD.html b/doc/_static/doc/MB02TD.html
deleted file mode 100644
index 26c90ad0..00000000
--- a/doc/_static/doc/MB02TD.html
+++ /dev/null
@@ -1,131 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02TD">MB02TD</A></H2>
-<H3>
-Estimation of the reciprocal condition number of an upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the reciprocal of the condition number of an upper
-  Hessenberg matrix H, in either the 1-norm or the infinity-norm,
-  using the LU factorization computed by MB02SD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02TD( NORM, N, HNORM, H, LDH, IPIV, RCOND, IWORK,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM
-      INTEGER            INFO, LDH, N
-      DOUBLE PRECISION   HNORM, RCOND
-C     .. Array Arguments ..
-      INTEGER            IPIV( * ), IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), H( LDH, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies whether the 1-norm condition number or the
-          infinity-norm condition number is required:
-          = '1' or 'O':  1-norm;
-          = 'I':         Infinity-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  HNORM   (input) DOUBLE PRECISION
-          If NORM = '1' or 'O', the 1-norm of the original matrix H.
-          If NORM = 'I', the infinity-norm of the original matrix H.
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SD.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal of the condition number of the matrix H,
-          computed as RCOND = 1/(norm(H) * norm(inv(H))).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (3*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An estimate is obtained for norm(inv(H)), and the reciprocal of
-  the condition number is computed as
-     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02TZ.html b/doc/_static/doc/MB02TZ.html
deleted file mode 100644
index 6c99885e..00000000
--- a/doc/_static/doc/MB02TZ.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02TZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02TZ">MB02TZ</A></H2>
-<H3>
-Estimation of the reciprocal condition number of a complex upper Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the reciprocal of the condition number of a complex
-  upper Hessenberg matrix H, in either the 1-norm or the
-  infinity-norm, using the LU factorization computed by MB02SZ.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02TZ( NORM, N, HNORM, H, LDH, IPIV, RCOND, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          NORM
-      INTEGER            INFO, LDH, N
-      DOUBLE PRECISION   HNORM, RCOND
-C     .. Array Arguments ..
-      INTEGER            IPIV(*)
-      DOUBLE PRECISION   DWORK( * )
-      COMPLEX*16         H( LDH, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  NORM    CHARACTER*1
-          Specifies whether the 1-norm condition number or the
-          infinity-norm condition number is required:
-          = '1' or 'O':  1-norm;
-          = 'I':         Infinity-norm.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  HNORM   (input) DOUBLE PRECISION
-          If NORM = '1' or 'O', the 1-norm of the original matrix H.
-          If NORM = 'I', the infinity-norm of the original matrix H.
-
-  H       (input) COMPLEX*16 array, dimension (LDH,N)
-          The factors L and U from the factorization H = P*L*U
-          as computed by MB02SZ.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the matrix
-          was interchanged with row IPIV(i).
-
-  RCOND   (output) DOUBLE PRECISION
-          The reciprocal of the condition number of the matrix H,
-          computed as RCOND = 1/(norm(H) * norm(inv(H))).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-  ZWORK   COMPLEX*16 array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An estimate is obtained for norm(inv(H)), and the reciprocal of
-  the condition number is computed as
-     RCOND = 1 / ( norm(H) * norm(inv(H)) ).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  -
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                             2
-  The algorithm requires 0( N ) complex operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02UD.html b/doc/_static/doc/MB02UD.html
deleted file mode 100644
index 1f09cfe9..00000000
--- a/doc/_static/doc/MB02UD.html
+++ /dev/null
@@ -1,251 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UD">MB02UD</A></H2>
-<H3>
-Minimum norm least squares solution of op(R) X = alpha B, or X op(R) = alpha B, with R upper triangular, using singular value decomposition
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the minimum norm least squares solution of one of the
-  following linear systems
-
-     op(R)*X = alpha*B,                                          (1)
-     X*op(R) = alpha*B,                                          (2)
-
-  where alpha is a real scalar, op(R) is either R or its transpose,
-  R', R is an L-by-L real upper triangular matrix, B is an M-by-N
-  real matrix, and L = M for (1), or L = N for (2). Singular value
-  decomposition, R = Q*S*P', is used, assuming that R is rank
-  deficient.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UD( FACT, SIDE, TRANS, JOBP, M, N, ALPHA, RCOND,
-     $                   RANK, R, LDR, Q, LDQ, SV, B, LDB, RP, LDRP,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FACT, JOBP, SIDE, TRANS
-      INTEGER           INFO, LDB, LDQ, LDR, LDRP, LDWORK, M, N, RANK
-      DOUBLE PRECISION  ALPHA, RCOND
-C     .. Array Arguments ..
-      DOUBLE PRECISION  B(LDB,*), DWORK(*), Q(LDQ,*), R(LDR,*),
-     $                  RP(LDRP,*), SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FACT    CHARACTER*1
-          Specifies whether R has been previously factored or not,
-          as follows:
-          = 'F':  R has been factored and its rank and singular
-                  value decomposition, R = Q*S*P', are available;
-          = 'N':  R has not been factored and its singular value
-                  decomposition, R = Q*S*P', should be computed.
-
-  SIDE    CHARACTER*1
-          Specifies whether op(R) appears on the left or right
-          of X as follows:
-          = 'L':  Solve op(R)*X = alpha*B  (op(R) is on the left);
-          = 'R':  Solve X*op(R) = alpha*B  (op(R) is on the right).
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(R) to be used as follows:
-          = 'N':  op(R) = R;
-          = 'T':  op(R) = R';
-          = 'C':  op(R) = R'.
-
-  JOBP    CHARACTER*1
-          Specifies whether or not the pseudoinverse of R is to be
-          computed or it is available as follows:
-          = 'P':  Compute pinv(R), if FACT = 'N', or
-                  use pinv(R),     if FACT = 'F';
-          = 'N':  Do not compute or use pinv(R).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix B.  N &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar alpha. When alpha is zero then B need not be
-          set before entry.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of R.
-          Singular values of R satisfying Sv(i) &lt;= RCOND*Sv(1) are
-          treated as zero. If RCOND &lt;= 0, then EPS is used instead,
-          where EPS is the relative machine precision (see LAPACK
-          Library routine DLAMCH).  RCOND &lt;= 1.
-          RCOND is not used if FACT = 'F'.
-
-  RANK    (input or output) INTEGER
-          The rank of matrix R.
-          RANK is an input parameter when FACT = 'F', and an output
-          parameter when FACT = 'N'.  L &gt;= RANK &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,L)
-          On entry, if FACT = 'F', the leading L-by-L part of this
-          array must contain the L-by-L orthogonal matrix P' from
-          singular value decomposition, R = Q*S*P', of the matrix R;
-          if JOBP = 'P', the first RANK rows of P' are assumed to be
-          scaled by inv(S(1:RANK,1:RANK)).
-          On entry, if FACT = 'N', the leading L-by-L upper
-          triangular part of this array must contain the upper
-          triangular matrix R.
-          On exit, if INFO = 0, the leading L-by-L part of this
-          array contains the L-by-L orthogonal matrix P', with its
-          first RANK rows scaled by inv(S(1:RANK,1:RANK)), when
-          JOBP = 'P'.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,L).
-
-  Q       (input or output) DOUBLE PRECISION array, dimension
-          (LDQ,L)
-          On entry, if FACT = 'F', the leading L-by-L part of this
-          array must contain the L-by-L orthogonal matrix Q from
-          singular value decomposition, R = Q*S*P', of the matrix R.
-          If FACT = 'N', this array need not be set on entry, and
-          on exit, if INFO = 0, the leading L-by-L part of this
-          array contains the orthogonal matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
-
-  SV      (input or output) DOUBLE PRECISION array, dimension (L)
-          On entry, if FACT = 'F', the first RANK entries of this
-          array must contain the reciprocal of the largest RANK
-          singular values of the matrix R, and the last L-RANK
-          entries of this array must contain the remaining singular
-          values of R sorted in descending order.
-          If FACT = 'N', this array need not be set on input, and
-          on exit, if INFO = 0, the first RANK entries of this array
-          contain the reciprocal of the largest RANK singular values
-          of the matrix R, and the last L-RANK entries of this array
-          contain the remaining singular values of R sorted in
-          descending order.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, if ALPHA &lt;&gt; 0, the leading M-by-N part of this
-          array must contain the matrix B.
-          On exit, if INFO = 0 and RANK &gt; 0, the leading M-by-N part
-          of this array contains the M-by-N solution matrix X.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  RP      (input or output) DOUBLE PRECISION array, dimension
-          (LDRP,L)
-          On entry, if FACT = 'F', JOBP = 'P', and RANK &gt; 0, the
-          leading L-by-L part of this array must contain the L-by-L
-          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
-          On exit, if FACT = 'N', JOBP = 'P', and RANK &gt; 0, the
-          leading L-by-L part of this array contains the L-by-L
-          matrix pinv(R), the Moore-Penrose pseudoinverse of R.
-          If JOBP = 'N', this array is not referenced.
-
-  LDRP    INTEGER
-          The leading dimension of array RP.
-          LDRP &gt;= MAX(1,L), if JOBP = 'P'.
-          LDRP &gt;= 1,        if JOBP = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          if INFO = i, 1 &lt;= i &lt;= L, then DWORK(2:L) contain the
-          unconverged superdiagonal elements of an upper bidiagonal
-          matrix D whose diagonal is in SV (not necessarily sorted).
-          D satisfies R = Q*D*P', so it has the same singular
-          values as R, and singular vectors related by Q and P'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,L),   if FACT = 'F';
-          LDWORK &gt;= MAX(1,5*L), if FACT = 'N'.
-          For optimum performance LDWORK should be larger than
-          MAX(1,L,M*N),   if FACT = 'F';
-          MAX(1,5*L,M*N), if FACT = 'N'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i = 1:L, the SVD algorithm has failed
-                to converge. In this case INFO specifies how many
-                superdiagonals did not converge (see the description
-                of DWORK); this failure is not likely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The L-by-L upper triangular matrix R is factored as  R = Q*S*P',
-  if FACT = 'N', using SLICOT Library routine MB03UD, where Q and P
-  are L-by-L orthogonal matrices and S is an L-by-L diagonal matrix
-  with non-negative diagonal elements, SV(1), SV(2), ..., SV(L),
-  ordered decreasingly. Then, the effective rank of R is estimated,
-  and matrix (or matrix-vector) products and scalings are used to
-  compute X. If FACT = 'F', only matrix (or matrix-vector) products
-  and scalings are performed.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Option JOBP = 'P' should be used only if the pseudoinverse is
-  really needed. Usually, it is possible to avoid the use of
-  pseudoinverse, by computing least squares solutions.
-  The routine uses BLAS 3 calculations if LDWORK &gt;= M*N, and BLAS 2
-  calculations, otherwise. No advantage of any additional workspace
-  larger than L is taken for matrix products, but the routine can
-  be called repeatedly for chunks of columns of B, if LDWORK &lt; M*N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02UU.html b/doc/_static/doc/MB02UU.html
deleted file mode 100644
index a9e90e06..00000000
--- a/doc/_static/doc/MB02UU.html
+++ /dev/null
@@ -1,98 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UU">MB02UU</A></H2>
-<H3>
-Solution of a system of linear equations using LU factorization with complete pivoting
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for x in A * x = scale * RHS, using the LU factorization
-  of the N-by-N matrix A computed by SLICOT Library routine MB02UV.
-  The factorization has the form A = P * L * U * Q, where P and Q
-  are permutation matrices, L is unit lower triangular and U is
-  upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UU( N, A, LDA, RHS, IPIV, JPIV, SCALE )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      INTEGER            IPIV( * ), JPIV( * )
-      DOUBLE PRECISION   A( LDA, * ), RHS( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
-          The leading N-by-N part of this array must contain
-          the LU part of the factorization of the matrix A computed
-          by SLICOT Library routine MB02UV:  A = P * L * U * Q.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1, N).
-
-  RHS     (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the right hand side
-          of the system.
-          On exit, this array contains the solution of the system.
-
-  IPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
-          matrix has been interchanged with row IPIV(i).
-
-  JPIV    (input) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
-          matrix has been interchanged with column JPIV(j).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, chosen 0 &lt; SCALE &lt;= 1 to prevent
-          overflow in the solution.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interest of speed, this routine does not check the input
-  for errors. It should only be used if the order of the matrix A
-  is very small.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02UV.html b/doc/_static/doc/MB02UV.html
deleted file mode 100644
index 5d3759ec..00000000
--- a/doc/_static/doc/MB02UV.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UV">MB02UV</A></H2>
-<H3>
-LU factorization with complete pivoting of a general matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LU factorization, using complete pivoting, of the
-  N-by-N matrix A. The factorization has the form A = P * L * U * Q,
-  where P and Q are permutation matrices, L is lower triangular with
-  unit diagonal elements and U is upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UV( N, A, LDA, IPIV, JPIV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * ), JPIV( * )
-      DOUBLE PRECISION   A( LDA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A to be factored.
-          On exit, the leading N-by-N part of this array contains
-          the factors L and U from the factorization A = P*L*U*Q;
-          the unit diagonal elements of L are not stored. If U(k, k)
-          appears to be less than SMIN, U(k, k) is given the value
-          of SMIN, giving a nonsingular perturbed system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1, N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= i &lt;= N, row i of the
-          matrix has been interchanged with row IPIV(i).
-
-  JPIV    (output) INTEGER array, dimension (N)
-          The pivot indices; for 1 &lt;= j &lt;= N, column j of the
-          matrix has been interchanged with column JPIV(j).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = k:  U(k, k) is likely to produce owerflow if one tries
-                to solve for x in Ax = b. So U is perturbed to get
-                a nonsingular system. This is a warning.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interests of speed, this routine does not check the input
-  for errors. It should only be used to factorize matrices A of
-  very small order.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02UW.html b/doc/_static/doc/MB02UW.html
deleted file mode 100644
index 27bcbd9c..00000000
--- a/doc/_static/doc/MB02UW.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02UW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02UW">MB02UW</A></H2>
-<H3>
-Solving a set of linear systems of order at most 2 with possible scaling and perturbation of system matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of the form  A X = s B  or  A' X = s B  with
-  possible scaling ("s") and perturbation of A.  (A' means
-  A-transpose.)  A is an N-by-N real matrix, and X and B are
-  N-by-M matrices.  N may be 1 or 2.  The scalar "s" is a scaling
-  factor (.LE. 1), computed by this subroutine, which is so chosen
-  that X can be computed without overflow.  X is further scaled if
-  necessary to assure that norm(A)*norm(X) is less than overflow.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02UW( LTRANS, N, M, PAR, A, LDA, B, LDB, SCALE,
-     $                   IWARN )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRANS
-      INTEGER            IWARN, LDA, LDB, N, M
-      DOUBLE PRECISION   SCALE, SMIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), PAR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRANS  LOGICAL
-          Specifies if A or A-transpose is to be used, as follows:
-          =.TRUE. :  A-transpose will be used;
-          =.FALSE.:  A will be used (not transposed).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  It may (only) be 1 or 2.
-
-  M       (input) INTEGER
-          The number of right hand size vectors.
-
-  PAR     (input) DOUBLE PRECISION array, dimension (3)
-          Machine related parameters:
-          PAR(1) =: PREC  (machine precision)*base, DLAMCH( 'P' );
-          PAR(2) =: SFMIN safe minimum,             DLAMCH( 'S' );
-          PAR(3) =: SMIN  The desired lower bound on the singular
-                          values of A.  This should be a safe
-                          distance away from underflow or overflow,
-                          say, between (underflow/machine precision)
-                          and (machine precision * overflow).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B (right-hand side).
-          On exit, the leading N-by-M part of this array contains
-          the N-by-M matrix X (unknowns).
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor that B must be multiplied by to insure
-          that overflow does not occur when computing X.  Thus,
-          A X  will be SCALE*B, not B (ignoring perturbations of A).
-          SCALE will be at most 1.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings (A did not have to be perturbed);
-          = 1:  A had to be perturbed to make its smallest (or only)
-                singular value greater than SMIN (see below).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with complete pivoting is used. The matrix A
-  is slightly perturbed if it is (close to being) singular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If both singular values of A are less than SMIN, SMIN*identity
-  will be used instead of A.  If only one singular value is less
-  than SMIN, one element of A will be perturbed enough to make the
-  smallest singular value roughly SMIN.  If both singular values
-  are at least SMIN, A will not be perturbed.  In any case, the
-  perturbation will be at most some small multiple of
-  max( SMIN, EPS*norm(A) ), where EPS is the machine precision
-  (see LAPACK Library routine DLAMCH).  The singular values are
-  computed by infinity-norm approximations, and thus will only be
-  correct to a factor of 2 or so.
-
-  Note: all input quantities are assumed to be smaller than overflow
-  by a reasonable factor.  (See BIGNUM.)  In the interests of speed,
-  this routine does not check the inputs for errors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02VD.html b/doc/_static/doc/MB02VD.html
deleted file mode 100644
index 43141218..00000000
--- a/doc/_static/doc/MB02VD.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02VD">MB02VD</A></H2>
-<H3>
-Solution of linear equations X op(A) = B
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the solution to a real system of linear equations
-     X * op(A) = B,
-  where op(A) is either A or its transpose, A is an N-by-N matrix,
-  and X and B are M-by-N matrices.
-  The LU decomposition with partial pivoting and row interchanges,
-  A = P * L * U, is used, where P is a permutation matrix, L is unit
-  lower triangular, and U is upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANS
-      INTEGER            INFO, LDA, LDB, M, N
-C     .. Array Arguments ..
-      INTEGER            IPIV( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies the form of op(A) to be used as follows:
-          = 'N':  op(A) = A;
-          = 'T':  op(A) = A';
-          = 'C':  op(A) = A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix B, and the order of
-          the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the factors L and U from the factorization A = P*L*U;
-          the unit diagonal elements of L are not stored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  IPIV    (output) INTEGER array, dimension (N)
-          The pivot indices that define the permutation matrix P;
-          row i of the matrix was interchanged with row IPIV(i).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix B.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X.
-
-  LDB     (input) INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,M).
-
-  INFO    (output) INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, U(i,i) is exactly zero.  The
-                factorization has been completed, but the factor U
-                is exactly singular, so the solution could not be
-                computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The LU decomposition with partial pivoting and row interchanges is
-  used to factor A as
-     A = P * L * U,
-  where P is a permutation matrix, L is unit lower triangular, and
-  U is upper triangular.  The factored form of A is then used to
-  solve the system of equations X * A = B or X * A' = B.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine enables to solve the system X * A = B or X * A' = B
-  as easily and efficiently as possible; it is similar to the LAPACK
-  Library routine DGESV, which solves A * X = B.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB02VD EXAMPLE PROGRAM TEXT
-*
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,NMAX)
-      INTEGER          IPIV(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB02VD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
-*           Solve the linear system using the LU factorization.
-            CALL MB02VD( TRANS, M, N, A, LDA, IPIV, B, LDB, INFO )
-*
-            IF ( INFO.EQ.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
-   10          CONTINUE
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB02VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB02VD = ',I2)
-99997 FORMAT (' The solution matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB02VD EXAMPLE PROGRAM DATA
-   5    4      N
-   1.    2.    6.    3.
-  -2.   -1.   -1.    0.
-   2.    3.    1.    5.
-   1.   -1.    2.    0.
-   0.    0.    0.    1.
-   5.    5.    1.    5.
-  -2.    1.    3.    1.
-   0.    0.    4.    5.
-   2.    1.    1.    3.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB02VD EXAMPLE PROGRAM RESULTS
-
- The solution matrix is 
-  -0.0690   0.3333   0.2414   0.2529
-  -0.1724  -1.6667   1.1034  -0.3678
-   0.9655   0.6667  -0.3793  -0.8736
-   0.3448   1.6667   0.7931   1.4023
-  -0.2069   0.0000   0.7241   0.7586
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02WD.html b/doc/_static/doc/MB02WD.html
deleted file mode 100644
index 8f838678..00000000
--- a/doc/_static/doc/MB02WD.html
+++ /dev/null
@@ -1,308 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02WD">MB02WD</A></H2>
-<H3>
-Solution of Ax = b or f(A, x) = b, for a positive definite linear mapping, using conjugate gradients
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the system of linear equations Ax = b, with A symmetric,
-  positive definite, or, in the implicit form, f(A, x) = b, where
-  y = f(A, x) is a symmetric positive definite linear mapping
-  from x to y, using the conjugate gradient (CG) algorithm without
-  preconditioning.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02WD( FORM, F, N, IPAR, LIPAR, DPAR, LDPAR, ITMAX,
-     $                   A, LDA, B, INCB, X, INCX, TOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FORM
-      INTEGER           INCB, INCX, INFO, ITMAX, IWARN, LDA, LDPAR,
-     $                  LDWORK, LIPAR, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), DPAR(*), DWORK(*), X(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FORM     CHARACTER*1
-           Specifies the form of the system of equations, as
-           follows:
-           = 'U' :  Ax = b, the upper triagular part of A is used;
-           = 'L' :  Ax = b, the lower triagular part of A is used;
-           = 'F' :  the implicit, function form, f(A, x) = b.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  F       EXTERNAL
-          If FORM = 'F', then F is a subroutine which calculates the
-          value of f(A, x), for given A and x.
-          If FORM &lt;&gt; 'F', then F is not called.
-
-          F must have the following interface:
-
-          SUBROUTINE F( N, IPAR, LIPAR, DPAR, LDPAR, A, LDA, X,
-         $              INCX, DWORK, LDWORK, INFO )
-
-          where
-
-          N       (input) INTEGER
-                  The dimension of the vector x.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the matrix A.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-                  The real parameters needed for solving the
-                  problem.
-
-          LDPAR   (input) INTEGER
-                  The length of the array DPAR.  LDPAR &gt;= 0.
-
-          A       (input) DOUBLE PRECISION array, dimension
-                  (LDA, NC), where NC is the number of columns.
-                  The leading NR-by-NC part of this array must
-                  contain the (compressed) representation of the
-                  matrix A, where NR is the number of rows of A
-                  (function of IPAR entries).
-
-          LDA     (input) INTEGER
-                  The leading dimension of the array A.
-                  LDA &gt;= MAX(1,NR).
-
-          X       (input/output) DOUBLE PRECISION array, dimension
-                  (1+(N-1)*INCX)
-                  On entry, this incremented array must contain the
-                  vector x.
-                  On exit, this incremented array contains the value
-                  of the function f, y = f(A, x).
-
-          INCX    (input) INTEGER
-                  The increment for the elements of X.  INCX &gt; 0.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine F.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine F).
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input scalar argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine F. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the vector x.  N &gt;= 0.
-          If FORM = 'U' or FORM = 'L', N is also the number of rows
-          and columns of the matrix A.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          If FORM = 'F', the integer parameters describing the
-          structure of the matrix A.
-          This parameter is ignored if FORM = 'U' or FORM = 'L'.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 0.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          If FORM = 'F', the real parameters needed for solving
-          the problem.
-          This parameter is ignored if FORM = 'U' or FORM = 'L'.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 0.
-
-  ITMAX   (input) INTEGER
-          The maximal number of iterations to do.  ITMAX &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array,
-                  dimension (LDA, NC), if FORM = 'F',
-                  dimension (LDA, N),  otherwise.
-          If FORM = 'F', the leading NR-by-NC part of this array
-          must contain the (compressed) representation of the
-          matrix A, where NR and NC are the number of rows and
-          columns, respectively, of the matrix A. The array A is
-          not referenced by this routine itself, except in the
-          calls to the routine F.
-          If FORM &lt;&gt; 'F', the leading N-by-N part of this array
-          must contain the matrix A, assumed to be symmetric;
-          only the triangular part specified by FORM is referenced.
-
-  LDA     (input) INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,NR), if FORM = 'F';
-          LDA &gt;= MAX(1,N),  if FORM = 'U' or FORM = 'L'.
-
-  B       (input) DOUBLE PRECISION array, dimension (1+(N-1)*INCB)
-          The incremented vector b.
-
-  INCB    (input) INTEGER
-          The increment for the elements of B.  INCB &gt; 0.
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          (1+(N-1)*INCX)
-          On entry, this incremented array must contain an initial
-          approximation of the solution. If an approximation is not
-          known, setting all elements of x to zero is recommended.
-          On exit, this incremented array contains the computed
-          solution x of the system of linear equations.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X.  INCX &gt; 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If TOL &gt; 0, absolute tolerance for the iterative process.
-          The algorithm will stop if || Ax - b ||_2 &lt;= TOL. Since
-          it is advisable to use a relative tolerance, say TOLER,
-          TOL should be chosen as TOLER*|| b ||_2.
-          If TOL &lt;= 0, a default relative tolerance,
-          TOLDEF = N*EPS*|| b ||_2,  is used, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the number of
-          iterations performed and DWORK(2) returns the remaining
-          residual, || Ax - b ||_2.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(2,3*N + DWORK(F)),  if FORM = 'F',
-                    where DWORK(F) is the workspace needed by F;
-          LDWORK &gt;= MAX(2,3*N),       if FORM = 'U' or FORM = 'L'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the algorithm finished after ITMAX &gt; 0 iterations,
-                without achieving the desired precision TOL;
-          = 2:  ITMAX is zero; in this case, DWORK(2) is not set.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then F returned with INFO = i.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The following CG iteration is used for solving Ax = b:
-
-  Start: q(0) = r(0) = Ax - b
-
-                &lt; q(k),  r(k) &gt;
-  ALPHA(k) = - ----------------
-                &lt; q(k), Aq(k) &gt;
-  x(k+1)   = x(k) - ALPHA(k) * q(k)
-  r(k+1)   = r(k) - ALPHA(k) * Aq(k)
-              &lt; r(k+1), r(k+1) &gt;
-  BETA(k)  = --------------------
-              &lt; r(k)  , r(k)   &gt;
-  q(k+1)   = r(k+1) + BETA(k) * q(k)
-
-  where &lt;.,.&gt; denotes the scalar product.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
-      1996.
-
-  [2] Luenberger, G.
-      Introduction to Linear and Nonlinear Programming.
-      Addison-Wesley, Reading, MA, p.187, York, 1973.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Since the residuals are orthogonal in the scalar product
-  &lt;x, y&gt; = y'Ax, the algorithm is theoretically finite. But rounding
-  errors cause a loss of orthogonality, so a finite termination
-  cannot be guaranteed. However, one can prove [2] that
-
-     || x-x_k ||_A := sqrt( (x-x_k)' * A * (x-x_k) )
-
-                                          sqrt( kappa_2(A) ) - 1
-                   &lt;=  2 || x-x_0 ||_A * ------------------------ ,
-                                          sqrt( kappa_2(A) ) + 1
-
-  where kappa_2 is the condition number.
-
-  The approximate number of floating point operations is
-     (k*(N**2 + 15*N) + N**2 + 3*N)/2, if FORM &lt;&gt; 'F',
-     k*(f + 7*N) + f,                  if FORM =  'F',
-  where k is the number of CG iterations performed, and f is the
-  number of floating point operations required by the subroutine F.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02XD.html b/doc/_static/doc/MB02XD.html
deleted file mode 100644
index f063b94a..00000000
--- a/doc/_static/doc/MB02XD.html
+++ /dev/null
@@ -1,304 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02XD">MB02XD</A></H2>
-<H3>
-Solution of A' A X = B, or f(A) X = B, using symmetric Gaussian elimination
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a set of systems of linear equations, A'*A*X = B, or,
-  in the implicit form, f(A)*X = B, with A'*A or f(A) positive
-  definite, using symmetric Gaussian elimination.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02XD( FORM, STOR, UPLO, F, M, N, NRHS, IPAR, LIPAR,
-     $                   DPAR, LDPAR, A, LDA, B, LDB, ATA, LDATA, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FORM, STOR, UPLO
-      INTEGER           INFO, LDA, LDATA, LDB, LDPAR, LDWORK, LIPAR, M,
-     $                  N, NRHS
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ATA(*), B(LDB,*), DPAR(*), DWORK(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  FORM    CHARACTER*1
-          Specifies the form in which the matrix A is provided, as
-          follows:
-          = 'S' :  standard form, the matrix A is given;
-          = 'F' :  the implicit, function form f(A) is provided.
-          If FORM = 'F', then the routine F is called to compute the
-          matrix A'*A.
-
-  STOR    CHARACTER*1
-          Specifies the storage scheme for the symmetric
-          matrix A'*A, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix A'*A is stored, as
-          follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  F       EXTERNAL
-          If FORM = 'F', then F is a subroutine which calculates the
-          value of f(A) = A'*A, for given A.
-          If FORM = 'S', then F is not called.
-
-          F must have the following interface:
-
-          SUBROUTINE F( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, A,
-         $              LDA, ATA, LDATA, DWORK, LDWORK, INFO )
-
-          where
-
-          STOR    (input) CHARACTER*1
-                  Specifies the storage scheme for the symmetric
-                  matrix A'*A, as follows:
-                  = 'F' :  full storage is used;
-                  = 'P' :  packed storage is used.
-
-          UPLO    (input) CHARACTER*1
-                  Specifies which part of the matrix A'*A is stored,
-                  as follows:
-                  = 'U' :  the upper triagular part is stored;
-                  = 'L' :  the lower triagular part is stored.
-
-          N       (input) INTEGER
-                  The order of the matrix A'*A.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the matrix A.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-                  The real parameters needed for solving the
-                  problem.
-
-          LDPAR   (input) INTEGER
-                  The length of the array DPAR.  LDPAR &gt;= 0.
-
-          A       (input) DOUBLE PRECISION array, dimension
-                  (LDA, NC), where NC is the number of columns.
-                  The leading NR-by-NC part of this array must
-                  contain the (compressed) representation of the
-                  matrix A, where NR is the number of rows of A
-                  (function of IPAR entries).
-
-          LDA     (input) INTEGER
-                  The leading dimension of the array A.
-                  LDA &gt;= MAX(1,NR).
-
-          ATA     (output) DOUBLE PRECISION array,
-                           dimension (LDATA,N),    if STOR = 'F',
-                           dimension (N*(N+1)/2),  if STOR = 'P'.
-                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
-                  (if STOR = 'P') part of this array contains the
-                  upper or lower triangle of the matrix A'*A,
-                  depending on UPLO = 'U', or UPLO = 'L',
-                  respectively, stored either as a two-dimensional,
-                  or one-dimensional array, depending on STOR.
-
-          LDATA   (input) INTEGER
-                  The leading dimension of the array ATA.
-                  LDATA &gt;= MAX(1,N), if STOR = 'F'.
-                  LDATA &gt;= 1,        if STOR = 'P'.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine F.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine F).
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input scalar argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine F. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix A'*A, the number of columns of the
-          matrix A, and the number of rows of the matrix X.  N &gt;= 0.
-
-  NRHS    (input) INTEGER
-          The number of columns of the matrices B and X.  NRHS &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          If FORM = 'F', the integer parameters describing the
-          structure of the matrix A.
-          This parameter is ignored if FORM = 'S'.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 0.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          If FORM = 'F', the real parameters needed for solving
-          the problem.
-          This parameter is ignored if FORM = 'S'.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array,
-                  dimension (LDA, N),  if FORM = 'S',
-                  dimension (LDA, NC), if FORM = 'F', where NC is
-                  the number of columns.
-          If FORM = 'S', the leading M-by-N part of this array
-          must contain the matrix A.
-          If FORM = 'F', the leading NR-by-NC part of this array
-          must contain an appropriate representation of matrix A,
-          where NR is the number of rows.
-          If FORM = 'F', this array is not referenced by this
-          routine itself, except in the call to the routine F.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,M),  if FORM = 'S';
-          LDA &gt;= MAX(1,NR), if FORM = 'F'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB, NRHS)
-          On entry, the leading N-by-NRHS part of this array must
-          contain the right hand side matrix B.
-          On exit, if INFO = 0 and M (or NR) is nonzero, the leading
-          N-by-NRHS part of this array contains the solution X of
-          the set of systems of linear equations A'*A*X = B or
-          f(A)*X = B. If M (or NR) is zero, then B is unchanged.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  ATA     (output) DOUBLE PRECISION array,
-                   dimension (LDATA,N),    if STOR = 'F',
-                   dimension (N*(N+1)/2),  if STOR = 'P'.
-          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
-          STOR = 'P') part of this array contains the upper or lower
-          triangular Cholesky factor of the matrix A'*A, depending
-          on UPLO = 'U', or UPLO = 'L', respectively, stored either
-          as a two-dimensional, or one-dimensional array, depending
-          on STOR.
-
-  LDATA   INTEGER
-          The leading dimension of the array ATA.
-          LDATA &gt;= MAX(1,N), if STOR = 'F'.
-          LDATA &gt;= 1,        if STOR = 'P'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then the (i,i) element of the
-                triangular factor of the matrix A'*A is exactly
-                zero (the matrix A'*A is exactly singular);
-                if INFO = j &gt; n, then F returned with INFO = j-n.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A'*A is built either directly (if FORM = 'S'), or
-  implicitly, by calling the routine F. Then, A'*A is Cholesky
-  factored and its factor is used to solve the set of systems of
-  linear equations, A'*A*X = B.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, 1996.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Blackford, Demmel, J.,
-      Dongarra, J., Du Croz, J., Greenbaum, A., Hammarling, S.,
-      McKenney, A., Sorensen, D.
-      LAPACK Users' Guide: Third Edition, SIAM, Philadelphia, 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  For speed, this routine does not check for near singularity of the
-  matrix A'*A. If the matrix A is nearly rank deficient, then the
-  computed X could be inaccurate. Estimates of the reciprocal
-  condition numbers of the matrices A and A'*A can be obtained
-  using LAPACK routines DGECON and DPOCON (DPPCON), respectively.
-
-  The approximate number of floating point operations is
-     (M+3)*N**2/2 + N**3/6 + NRHS*N**2, if FORM = 'S',
-     f + N**3/6 + NRHS*N**2,            if FORM = 'F',
-  where M is the number of rows of A, and f is the number of
-  floating point operations required by the subroutine F.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB02YD.html b/doc/_static/doc/MB02YD.html
deleted file mode 100644
index bb1d581c..00000000
--- a/doc/_static/doc/MB02YD.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB02YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB02YD">MB02YD</A></H2>
-<H3>
-Solving the linear system A x = b, D x = 0, D diagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a vector x which solves the system of linear
-  equations
-
-        A*x = b ,     D*x = 0 ,
-
-  in the least squares sense, where A is an m-by-n matrix,
-  D is an n-by-n diagonal matrix, and b is an m-vector.
-  It is assumed that a QR factorization, with column pivoting, of A
-  is available, that is, A*P = Q*R, where P is a permutation matrix,
-  Q has orthogonal columns, and R is an upper triangular matrix
-  with diagonal elements of nonincreasing magnitude.
-  The routine needs the full upper triangle of R, the permutation
-  matrix P, and the first n components of Q'*b (' denotes the
-  transpose). The system A*x = b, D*x = 0, is then equivalent to
-
-        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
-
-  where x = P*z. If this system does not have full rank, then a
-  least squares solution is obtained. On output, MB02YD also
-  provides an upper triangular matrix S such that
-
-        P'*(A'*A + D*D)*P = S'*S .
-
-  The system (1) is equivalent to S*z = c , where c contains the
-  first n components of the vector obtained by applying to
-  [ (Q'*b)'  0 ]' the transformations which triangularized
-  [ R'  P'*D*P ]', getting S.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB02YD( COND, N, R, LDR, IPVT, DIAG, QTB, RANK, X, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, N, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IPVT(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the matrix S should be
-          estimated, as follows:
-          = 'E' :  use incremental condition estimation and store
-                   the numerical rank of S in RANK;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of S for zero values;
-          = 'U' :  use the rank already stored in RANK.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the full upper triangle is unaltered, and the
-          strict lower triangle contains the strict upper triangle
-          (transposed) of the upper triangular matrix S.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          A*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  RANK    (input or output) INTEGER
-          On entry, if COND = 'U', this parameter must contain the
-          (numerical) rank of the matrix S.
-          On exit, if COND = 'E' or 'N', this parameter contains
-          the numerical rank of the matrix S, estimated according
-          to the value of COND.
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system A*x = b, D*x = 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          rank of the matrix S. If the user sets TOL &gt; 0, then the
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S, and
-          the next N elements contain the solution z.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 4*N, if COND =  'E';
-          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Standard plane rotations are used to annihilate the elements of
-  the diagonal matrix D, updating the upper triangular matrix R
-  and the first n elements of the vector Q'*b. A basic least squares
-  solution is computed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a LAPACK-based modification of QRSOLV from the
-  MINPACK package [1], and with optional condition estimation.
-  The option COND = 'U' is useful when dealing with several
-  right-hand side vectors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AB.html b/doc/_static/doc/MB03AB.html
deleted file mode 100644
index 5f6b5f1d..00000000
--- a/doc/_static/doc/MB03AB.html
+++ /dev/null
@@ -1,148 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AB">MB03AB</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with explicit shifts) 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is needed for the real
-  Wilkinson single shift polynomial (see the SLICOT Library routines
-  MB03BE or MB03BF). The shifts are defined based on the eigenvalues
-  (computed externally by the SLICOT Library routine MB03BB) of the
-  trailing 2-by-2 submatrix of the matrix product. See the
-  definitions of the arguments W1 and W2.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AB( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, W1,
-     $                   W2, C1, S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2, W1, W2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number and type of shifts employed by the
-          shift polynomial, as follows:
-          = 'C':  two complex conjugate shifts;
-          = 'D':  two real identical shifts;
-          = 'R':  two real shifts;
-          = 'S':  one real shift.
-          When the eigenvalues are complex conjugate, this argument
-          must be set to 'C'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors in the array A.
-          N &gt;= 2, for a single shift polynomial;
-          N &gt;= 3, for a double shift polynomial.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix, defined
-          by A(:,:,AMAP(1)).
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain an
-          n-by-n product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  W1      (input)  DOUBLE PRECISION
-          The real part of the first eigenvalue.
-          If SHFT = 'S', this argument is not used.
-
-  W2      (input)  DOUBLE PRECISION
-          The second eigenvalue, if both eigenvalues are real, else
-          the imaginary part of the complex conjugate pair.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, C2 and S2 contain the parameters for the second
-          Givens rotation. If SHFT = 'S', C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are properly computed and applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AD.html b/doc/_static/doc/MB03AD.html
deleted file mode 100644
index 248509ef..00000000
--- a/doc/_static/doc/MB03AD.html
+++ /dev/null
@@ -1,133 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AD">MB03AD</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routine
-  MB03BE).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AD( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors in the array A.
-          N &gt;= 2, for a single shift polynomial;
-          N &gt;= 3, for a double shift polynomial.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
-          parameters for the second Givens rotation. Otherwise,
-          C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Two Givens rotations are properly computed and applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AE.html b/doc/_static/doc/MB03AE.html
deleted file mode 100644
index 3c95c503..00000000
--- a/doc/_static/doc/MB03AE.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AE">MB03AE</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the first one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
-  submatrix and the five nonzero elements in the first two columns
-  of the matrix product are evaluated when a double shift is used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AE( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
-          parameters for the second Givens rotation. Otherwise,
-          C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double/single shift
-  polynomial are computed, and suitable Givens rotations are found.
-  For numerical reasons, this routine should be called when
-  convergence difficulties are encountered.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AF.html b/doc/_static/doc/MB03AF.html
deleted file mode 100644
index 7dad33cb..00000000
--- a/doc/_static/doc/MB03AF.html
+++ /dev/null
@@ -1,134 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AF">MB03AF</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant, Hessenberg factor is the last one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AF( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two real shifts;
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors in the array A.
-          N &gt;= 2, for a single shift polynomial;
-          N &gt;= 3, for a double shift polynomial.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(K) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-          S(K) is not used, but assumed to be 1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array must
-          contain a n-by-n product (implicitly represented by its K
-          factors) in periodic upper Hessenberg form. The Hessenberg
-          matrix is assumed to be the last one in the product.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D', C2 and S2 contain the parameters
-          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are properly computed and applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AG.html b/doc/_static/doc/MB03AG.html
deleted file mode 100644
index 2b3d9e9b..00000000
--- a/doc/_static/doc/MB03AG.html
+++ /dev/null
@@ -1,146 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AG - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AG">MB03AG</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the first one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The matrix product
-  is evaluated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AG( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2, IWORK, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), IWORK(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(1) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D', C2 and S2 contain the parameters
-          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (2*N*N)
-          On exit, DWORK(N*N+1:N*N+N) and DWORK(N*N+N+1:N*N+2*N)
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of the matrix product.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double shift
-  polynomial are computed, and suitable Givens rotations are
-  found. For numerical reasons, this routine should be called
-  when convergence difficulties are encountered for small order
-  matrices and small K, e.g., N, K &lt;= 6.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AH.html b/doc/_static/doc/MB03AH.html
deleted file mode 100644
index a00c044d..00000000
--- a/doc/_static/doc/MB03AH.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AH - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AH">MB03AH</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with partial evaluation, Hessenberg factor is the last one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2) such that the
-  orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The trailing 2-by-2
-  submatrix and the five nonzero elements in the first two columns
-  of the matrix product are evaluated when a double shift is used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AH( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2 )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(K) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D' and N &gt; 2, C2 and S2 contain the
-          parameters for the second Givens rotation. Otherwise,
-          C2 = 1, S2 = 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double/single shift
-  polynomial are computed, and suitable Givens rotations are found.
-  For numerical reasons, this routine should be called when
-  convergence difficulties are encountered. For a double shift, if
-  there are two real eigenvalues of the trailing 2-by-2 part of the
-  product, both shifts are chosen equal to the eigenvalue with
-  minimum modulus. The trailing element of the product is used as a
-  single shift. If SINV is negative, the shift(s) correspond to the
-  reciprocals of the eigenvalues of the product, as required by the
-  SLICOT Library routine MB03BD.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03AI.html b/doc/_static/doc/MB03AI.html
deleted file mode 100644
index 5dfcde8e..00000000
--- a/doc/_static/doc/MB03AI.html
+++ /dev/null
@@ -1,141 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03AI - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03AI">MB03AI</A></H2>
-<H3>
-Reducing the first column of a real Wilkinson shift polynomial for a product of matrices to the first unit vector (variant with evaluation, Hessenberg factor is the last one)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute two Givens rotations (C1,S1) and (C2,S2)
-  such that the orthogonal matrix
-
-            [ Q  0 ]        [  C1  S1  0 ]   [ 1  0   0  ]
-        Z = [      ],  Q := [ -S1  C1  0 ] * [ 0  C2  S2 ],
-            [ 0  I ]        [  0   0   1 ]   [ 0 -S2  C2 ]
-
-  makes the first column of the real Wilkinson double shift
-  polynomial of the product of matrices in periodic upper Hessenberg
-  form, stored in the array A, parallel to the first unit vector.
-  Only the rotation defined by C1 and S1 is used for the real
-  Wilkinson single shift polynomial (see SLICOT Library routines
-  MB03BE or MB03BF). All factors whose exponents differ from that of 
-  the Hessenberg factor are assumed nonsingular. The matrix product
-  is evaluated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03AI( SHFT, K, N, AMAP, S, SINV, A, LDA1, LDA2, C1,
-     $                   S1, C2, S2, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         SHFT
-      INTEGER           K, LDA1, LDA2, N, SINV
-      DOUBLE PRECISION  C1, C2, S1, S2
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SHFT    CHARACTER*1
-          Specifies the number of shifts employed by the shift
-          polynomial, as follows:
-          = 'D':  two shifts (assumes N &gt; 2);
-          = 'S':  one real shift.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of the factors.  N &gt;= 2.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-          AMAP(K) is the pointer to the Hessenberg matrix.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          The leading N-by-N-by-K part of this array must contain
-          the product (implicitly represented by its K factors)
-          in periodic upper Hessenberg form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= N.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= N.
-
-  C1      (output)  DOUBLE PRECISION
-  S1      (output)  DOUBLE PRECISION
-          On exit, C1 and S1 contain the parameters for the first
-          Givens rotation.
-
-  C2      (output)  DOUBLE PRECISION
-  S2      (output)  DOUBLE PRECISION
-          On exit, if SHFT = 'D', C2 and S2 contain the parameters
-          for the second Givens rotation. Otherwise, C2 = 1, S2 = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N*(N+2))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The necessary elements of the real Wilkinson double shift
-  polynomial are computed, and suitable Givens rotations are 
-  found. For numerical reasons, this routine should be called
-  when convergence difficulties are encountered for small order
-  matrices and small K, e.g., N, K &lt;= 6. 
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BA.html b/doc/_static/doc/MB03BA.html
deleted file mode 100644
index 9203ca6e..00000000
--- a/doc/_static/doc/MB03BA.html
+++ /dev/null
@@ -1,87 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BA">MB03BA</A></H2>
-<H3>
-Computing maps for Hessenberg index and signature array
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the suitable maps for Hessenberg index H and
-  signature array S. Auxiliary routine for the periodic QZ
-  algorithms.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BA( K, H, S, SMULT, AMAP, QMAP )
-C     .. Scalar Arguments ..
-      INTEGER           K, H, SMULT
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), QMAP(*), S(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  H       (input)  INTEGER
-          Index which corresponds to A_1.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SMULT   (output)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SMULT.
-
-  AMAP    (output)  INTEGER array, dimension (K)
-          The map for accessing the factors, that is,
-          if AMAP(I) = J, then the factor A_I is stored at the J-th
-          position in A.
-
-  QMAP    (output)  INTEGER array, dimension (K)
-          The map for accessing the orthognal transformation
-          matrices, that is, if QMAP(I) = J, then the matrix Q_I is
-          stored at the J-th position in Q.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BB.html b/doc/_static/doc/MB03BB.html
deleted file mode 100644
index 0195f613..00000000
--- a/doc/_static/doc/MB03BB.html
+++ /dev/null
@@ -1,140 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BB">MB03BB</A></H2>
-<H3>
-Eigenvalues of a 2-by-2 matrix product via a complex single shifted periodic QZ algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a general 2-by-2 matrix product via
-  a complex single shifted periodic QZ algorithm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BB( BASE, LGBAS, ULP, K, AMAP, S, SINV, A, LDA1,
-     $                   LDA2, ALPHAR, ALPHAI, BETA, SCAL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K, LDA1, LDA2, SINV
-      DOUBLE PRECISION  BASE, LGBAS, ULP
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(2), ALPHAR(2), BETA(2),
-     $                  DWORK(*)
-      INTEGER           AMAP(*), S(*), SCAL(2)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  BASE    (input)  DOUBLE PRECISION
-          Machine base.
-
-  LGBAS   (input)  DOUBLE PRECISION
-          Logarithm of BASE.
-
-  ULP     (input)  DOUBLE PRECISION
-          Machine precision.
-
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input)  DOUBLE PRECISION array, dimension (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg-triangular form.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-  ALPHAR  (output)  DOUBLE PRECISION array, dimension (2)
-          On exit, this array contains the scaled real part of the
-          two eigenvalues. If BETA(I) &lt;&gt; 0, then the I-th eigenvalue
-          (I = 1 : 2) is given by
-              (ALPHAR(I) + ALPHAI(I)*SQRT(-1) ) * (BASE)**SCAL(I).
-
-  ALPHAI  (output)  DOUBLE PRECISION array, dimension (2)
-          On exit, this array contains the scaled imaginary part of
-          the two eigenvalues. ALPHAI(1) &gt;= 0.
-
-  BETA    (output)  DOUBLE PRECISION array, dimension (2)
-          On exit, this array contains information about infinite
-          eigenvalues. If BETA(I) = 0, then the I-th eigenvalue is
-          infinite. Otherwise, BETA(I) = 1.0.
-
-  SCAL    (output)  INTEGER array, dimension (2)
-          On exit, this array contains the scaling exponents for the
-          two eigenvalues.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (8*K)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  the periodic QZ algorithm did not converge;
-          = 2:  the computed eigenvalues might be inaccurate.
-                Both values might be taken as warnings, since
-                approximations of eigenvalues are returned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A complex single shifted periodic QZ iteration is applied.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BC.html b/doc/_static/doc/MB03BC.html
deleted file mode 100644
index 6543cd0e..00000000
--- a/doc/_static/doc/MB03BC.html
+++ /dev/null
@@ -1,151 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BC">MB03BC</A></H2>
-<H3>
-Product singular value decomposition of K-1 triangular factors of order 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the product singular value decomposition of the K-1
-  triangular factors corresponding to a 2-by-2 product of K
-  factors in upper Hessenberg-triangular form.
-  For a general product of 2-by-2 triangular matrices
-
-                     S(2)        S(3)            S(K)
-         A = A(:,:,2)    A(:,:,3)    ... A(:,:,K),
-
-  Givens rotations are computed so that
-                                                       S(i)
-    [  CV(i-1) SV(i-1) ] [ A(1,1,i)(in)  A(1,2,i)(in) ]
-    [ -SV(i-1) CV(i-1) ] [     0         A(2,2,i)(in) ]
-                                   S(i)
-    [ A(1,1,i)(out) A(1,2,i)(out) ]    [  CV(i) SV(i) ]
-  = [     0         A(2,2,i)(out) ]    [ -SV(i) CV(i) ]
-
-  stays upper triangular and
-
-    [  CV(1) SV(1) ]       [ CV(K) -SV(K) ]
-    [ -SV(1) CV(1) ] * A * [ SV(K)  CV(K) ]
-
-  is diagonal.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BC( K, AMAP, S, SINV, A, LDA1, LDA2, MACPAR, CV,
-     $                   SV, DWORK )
-C     .. Scalar Arguments ..
-      INTEGER           K, LDA1, LDA2, SINV
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), CV(*), DWORK(*), MACPAR(*),
-     $                  SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input) INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input) INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg-triangular form.
-          On exit, the leading 2-by-2-by-K part of this array
-          contains modified triangular factors such that their
-          product is diagonal.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-  MACPAR  (input)  DOUBLE PRECISION array, dimension (5)
-          Machine parameters:
-          MACPAR(1)  overflow threshold,         DLAMCH( 'O' );
-          MACPAR(2)  underflow threshold,        DLAMCH( 'U' );
-          MACPAR(3)  safe minimum,               DLAMCH( 'S' );
-          MACPAR(4)  relative machine precision, DLAMCH( 'E' );
-          MACPAR(5)  base of the machine,        DLAMCH( 'B' ).
-
-  CV      (output)  DOUBLE PRECISION array, dimension (K)
-          On exit, the first K elements of this array contain the
-          cosines of the Givens rotations.
-
-  SV      (output)  DOUBLE PRECISION array, dimension (K)
-          On exit, the first K elements of this array contain the
-          sines of the Givens rotations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*(K-1))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The product singular value decomposition of the K-1
-  triangular factors are computed as described in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A. and Van Dooren, P.
-      On propagating orthogonal transformations in a product of 2x2
-      triangular matrices.
-      In Reichel, Ruttan and Varga: 'Numerical Linear Algebra',
-      pp. 1-9, 1993.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BD.html b/doc/_static/doc/MB03BD.html
deleted file mode 100644
index daae4de6..00000000
--- a/doc/_static/doc/MB03BD.html
+++ /dev/null
@@ -1,507 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BD">MB03BD</A></H2>
-<H3>
-Finding eigenvalues of a generalized matrix product in Hessenberg-triangular form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the eigenvalues of the generalized matrix product
-
-               S(1)           S(2)                 S(K)
-       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
-
-  where A(:,:,H) is upper Hessenberg and A(:,:,i), i &lt;&gt; H, is upper
-  triangular, using a double-shift version of the periodic
-  QZ method. In addition, A may be reduced to periodic Schur form:
-  A(:,:,H) is upper quasi-triangular and all the other factors
-  A(:,:,I) are upper triangular. Optionally, the 2-by-2 triangular
-  matrices corresponding to 2-by-2 diagonal blocks in A(:,:,H)
-  are so reduced that their product is a 2-by-2 diagonal matrix.
-
-  If COMPQ = 'U' or COMPQ = 'I', then the orthogonal factors are
-  computed and stored in the array Q so that for S(I) = 1,
-
-                      T
-          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
-                                                              T  (1)
-      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
-
-  and for S(I) = -1,
-
-                               T
-          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
-                                                              T  (2)
-      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
-
-  A partial generation of the orthogonal factors can be realized
-  via the array QIND.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S,
-     $                   A, LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI,
-     $                   BETA, SCAL, IWORK, LIWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPQ, DEFL, JOB
-      INTEGER           H, IHI, ILO, INFO, IWARN, K, LDA1, LDA2, LDQ1,
-     $                  LDQ2, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*), QIND(*), S(*), SCAL(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), ALPHAI(*), ALPHAR(*), BETA(*),
-     $                  DWORK(*), Q(LDQ1,LDQ2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; A will not
-                 necessarily be put into periodic Schur form;
-          = 'S': put A into periodic Schur form, and return the
-                 eigenvalues in ALPHAR, ALPHAI, BETA, and SCAL;
-          = 'T': as JOB = 'S', but A is put into standardized
-                 periodic Schur form, that is, the general product
-                 of the 2-by-2 triangular matrices corresponding to
-                 a complex eigenvalue is diagonal.
-
-  DEFL    CHARACTER*1
-          Specifies the deflation strategy to be used, as follows:
-          = 'C': apply a careful deflation strategy, that is,
-                 the criteria are based on the magnitudes of
-                 neighboring elements and infinite eigenvalues are
-                 only deflated at the top; this is the recommended
-                 option;
-          = 'A': apply a more aggressive strategy, that is,
-                 elements on the subdiagonal or diagonal are set
-                 to zero as soon as they become smaller in magnitude
-                 than eps times the norm of the corresponding
-                 factor; this option is only recommended if
-                 balancing is applied beforehand and convergence
-                 problems are observed.
-
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N': do not modify Q;
-          = 'U': modify (update) the array Q by the orthogonal
-                 transformations that are applied to the matrices in
-                 the array A to reduce them to periodic Schur form;
-          = 'I': like COMPQ = 'U', except that each matrix in the
-                 array Q will be first initialized to the identity
-                 matrix;
-          = 'P': use the parameters as encoded in QIND.
-
-  QIND    INTEGER array, dimension (K)
-          If COMPQ = 'P', then this array describes the generation
-          of the orthogonal factors as follows:
-             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
-          modified by the transformations corresponding to the
-          i-th orthogonal factor in (1) and (2).
-             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
-          initialized to the identity and modified by the
-          transformations corresponding to the i-th orthogonal
-          factor in (1) and (2).
-             If QIND(I) = 0, then the transformations corresponding
-          to the i-th orthogonal factor in (1), (2) are not applied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of each factor in the array A.  N &gt;= 0.
-
-  H       (input)  INTEGER
-          Hessenberg index. The factor A(:,:,H) is on entry in upper
-          Hessenberg form.  1 &lt;= H &lt;= K.
-
-  ILO     (input)  INTEGER
-  IHI     (input)  INTEGER
-          It is assumed that each factor in A is already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
-          ILO = 1 and IHI  = 0, if N = 0.
-
-  S       (input)  INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array
-          must contain the factors in upper Hessenberg-triangular
-          form, that is, A(:,:,H) is upper Hessenberg and the other
-          factors are upper triangular.
-          On exit, if JOB = 'S' and INFO = 0, the leading
-          N-by-N-by-K part of this array contains the factors of
-          A in periodic Schur form, that is, A(:,:,H) is upper quasi
-          triangular and the other factors are upper triangular.
-          On exit, if JOB = 'T' and INFO = 0, the leading
-          N-by-N-by-K part of this array contains the factors of
-          A as for the option JOB = 'S', but the product of the
-          triangular factors corresponding to a 2-by-2 block in
-          A(:,:,H) is diagonal.
-          On exit, if JOB = 'E', then the leading N-by-N-by-K part
-          of this array contains meaningless elements in the off-
-          diagonal blocks. Consequently, the formulas (1) and (2)
-          do not hold for the returned A and Q (if COMPQ &lt;&gt; 'N')
-          in this case.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= MAX(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= MAX(1,N).
-
-  Q       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDQ1,LDQ2,K)
-          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
-          of this array must contain the initial orthogonal factors
-          as described in (1) and (2).
-          On entry, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part of this array must contain some
-          orthogonal factors as described by the parameters QIND.
-          If COMPQ = 'I', this array should not be set on entry.
-          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
-          N-by-N-by-K part of this array contains the modified
-          orthogonal factors as described in (1) and (2).
-          On exit, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part contain some modified orthogonal factors
-          as described by the parameters QIND.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ1    INTEGER
-          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
-
-  LDQ2    INTEGER
-          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain the scaled real parts of the eigenvalues of the
-          matrix product A. The i-th eigenvalue of A is given by
-
-          (ALPHAR(I) + ALPHAI(I)*SQRT(-1))/BETA(I) * BASE**SCAL(I),
-
-          where BASE is the machine base (often 2.0). Complex
-          conjugate eigenvalues appear in consecutive locations.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain the scaled imaginary parts of the eigenvalues
-          of A.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain indicators for infinite eigenvalues. That is, if
-          BETA(I) = 0.0, then the i-th eigenvalue is infinite.
-          Otherwise BETA(I) is set to 1.0.
-
-  SCAL    (output) INTEGER array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this array
-          contain the scaling parameters for the eigenvalues of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 0, IWORK(1) returns the optimal LIWORK,
-          and if IWARN &gt; N, the nonzero absolute values in IWORK(2),
-          ..., IWORK(N+1) are indices of the possibly inaccurate
-          eigenvalues, as well as of the corresponding 1-by-1 or
-          2-by-2 diagonal blocks of the factors in the array A.
-          The 2-by-2 blocks correspond to negative values in IWORK.
-          One negative value is stored for each such eigenvalue
-          pair. Its modulus indicates the starting index of a
-          2-by-2 block. This is also done for any value of IWARN,
-          if a 2-by-2 block is found to have two real eigenvalues.
-          On exit, if INFO = -22, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The length of the array IWORK.  LIWORK  &gt;= 2*K+N.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK,
-          and DWORK(2), ..., DWORK(1+K) contain the Frobenius norms
-          of the factors of the formal matrix product used by the
-          algorithm.
-          On exit, if INFO = -24, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= K + MAX( 2*N, 8*K ).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0        :  no warnings;
-          = 1,..,N-1 :  A is in periodic Schur form, but the
-                        algorithm was not able to reveal information
-                        about the eigenvalues from the 2-by-2
-                        blocks.
-                        ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i),
-                        can be incorrect for i = 1, ..., IWARN+1;
-          = N        :  some eigenvalues might be inaccurate;
-          = N+1      :  some eigenvalues might be inaccurate, and
-                        details can be found in IWORK.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0      :  succesful exit;
-          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
-                      value;
-          = 1,..,N :  the periodic QZ iteration did not converge.
-                      A is not in periodic Schur form, but
-                      ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i), for
-                      i = INFO+1,...,N should be correct.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A modified version of the periodic QZ algorithm is used [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
-      2001), Como (Italy), August 27-28 2001. Periodic Control
-      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-                              3
-  The algorithm requires 0(K N ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            KMAX, NMAX
-      PARAMETER          ( KMAX = 6, NMAX = 50 )
-      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
-      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                     LDQ2 = NMAX,
-     $                     LDWORK = KMAX + MAX( 2*NMAX, 8*KMAX ),
-     $                     LIWORK = 2*KMAX + NMAX )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, DEFL, JOB
-      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK ), QIND( KMAX ), S( KMAX ),
-     $                   SCAL( NMAX )
-      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
-     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
-     $                   Q( LDQ1, LDQ2, KMAX )
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03BD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, K, N, H, ILO, IHI
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
-         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
-     $                                I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'U' ) )
-     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
-     $                                   I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'P' ) ) THEN
-            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
-            DO 10 L = 1, K
-               IF( QIND( L ).GT.0 )
-     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
-     $                                    J = 1, N ), I = 1, N )
-   10       CONTINUE
-         END IF
-*        Compute the eigenvalues and the transformed matrices, if
-*        required.
-         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
-     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
-     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE IF( IWARN.EQ.0 ) THEN
-            IF( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 30 L = 1, K
-                  WRITE( NOUT, FMT = 99988 ) L
-                  DO 20 I = 1, N
-                     WRITE( NOUT, FMT = 99995 ) ( A( I, J, L ), J = 1, N
-     $                                          )
-   20             CONTINUE
-   30          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99994 )
-               DO 50 L = 1, K
-                  WRITE( NOUT, FMT = 99988 ) L
-                  DO 40 I = 1, N
-                     WRITE( NOUT, FMT = 99995 ) ( Q( I, J, L ), J = 1, N
-     $                                          )
-   40             CONTINUE
-   50          CONTINUE
-            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
-               WRITE( NOUT, FMT = 99994 )
-               DO 70 L = 1, K
-                  IF( QIND( L ).GT.0 ) THEN
-                     WRITE( NOUT, FMT = 99988 ) QIND( L )
-                     DO 60 I = 1, N
-                        WRITE( NOUT, FMT = 99995 )
-     $                       ( Q( I, J, QIND( L ) ), J = 1, N )
-   60                CONTINUE
-                  END IF
-   70          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) (   SCAL( I ), I = 1, N )
-         ELSE
-            WRITE( NOUT, FMT = 99987 ) IWARN
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03BD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
-99996 FORMAT( 'The matrix A on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix Q on exit is ' )
-99993 FORMAT( 'The vector ALPHAR is ' )
-99992 FORMAT( 'The vector ALPHAI is ' )
-99991 FORMAT( 'The vector BETA is ' )
-99990 FORMAT( 'The vector SCAL is ' )
-99989 FORMAT( 50( 1X, I8 ) )
-99988 FORMAT( 'The factor ', I2, ' is ' )
-99987 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03BD EXAMPLE PROGRAM DATA
-   S   C   I   3   3   2   1   3
-  -1     1    -1
-   2.0   0.0   1.0
-   0.0  -2.0  -1.0
-   0.0   0.0   3.0
-   1.0   2.0   0.0
-   4.0  -1.0   3.0
-   0.0   3.0   1.0
-   1.0   0.0   1.0
-   0.0   4.0  -1.0
-   0.0   0.0  -2.0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03BD EXAMPLE PROGRAM RESULTS
-The matrix A on exit is 
-The factor  1 is 
-  -2.1306   0.8205   0.7462
-   0.0000   2.8786   1.0564
-   0.0000   0.0000   1.9566
-The factor  2 is 
-  -4.0763  -1.0376  -2.6948
-  -1.9525   1.8283   2.2987
-   0.0000   0.0000   1.8990
-The factor  3 is 
-   3.3463  -2.3239  -0.5623
-   0.0000   1.0778  -0.0646
-   0.0000   0.0000  -2.2180
-The matrix Q on exit is 
-The factor  1 is 
-   0.2594   0.7715  -0.5809
-  -0.9552   0.1162  -0.2723
-  -0.1426   0.6255   0.7671
-The factor  2 is 
-  -0.1766   0.8037  -0.5683
-  -0.9636  -0.0234   0.2664
-   0.2008   0.5946   0.7785
-The factor  3 is 
-   0.6295   0.7315   0.2619
-  -0.7394   0.4605   0.4911
-   0.2386  -0.5028   0.8308
-The vector ALPHAR is 
-   0.3230   0.3230  -0.8752
-The vector ALPHAI is 
-   0.5694  -0.5694   0.0000
-The vector BETA is 
-   1.0000   1.0000   1.0000
-The vector SCAL is 
-        0        0       -1
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BE.html b/doc/_static/doc/MB03BE.html
deleted file mode 100644
index 62a7410c..00000000
--- a/doc/_static/doc/MB03BE.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BE">MB03BE</A></H2>
-<H3>
-Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply at most 20 iterations of a real single shifted
-  periodic QZ algorithm to the 2-by-2 product of matrices stored
-  in the array A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BE( K, AMAP, S, SINV, A, LDA1, LDA2 )
-C     .. Scalar Arguments ..
-      INTEGER           K, LDA1, LDA2, SINV
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg form.
-          On exit, the leading 2-by-2-by-K part of this array
-          contains the product after at most 20 iterations of a real
-          shifted periodic QZ algorithm.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Ten iterations of a real single shifted periodic QZ algorithm are
-  applied to the 2-by-2 matrix product A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BF.html b/doc/_static/doc/MB03BF.html
deleted file mode 100644
index 74850311..00000000
--- a/doc/_static/doc/MB03BF.html
+++ /dev/null
@@ -1,106 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BF">MB03BF</A></H2>
-<H3>
-Applying iterations of a real single shifted periodic QZ algorithm to a 2-by-2 matrix product, with Hessenberg factor the last one
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply at most 20 iterations of a real single shifted
-  periodic QZ algorithm to the 2-by-2 product of matrices stored
-  in the array A. The Hessenberg matrix is the last one of the
-  formal matrix product.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BF( K, AMAP, S, SINV, A, LDA1, LDA2, ULP )
-C     .. Scalar Arguments ..
-      INTEGER           K, LDA1, LDA2, SINV
-      DOUBLE PRECISION  ULP
-C     .. Array Arguments ..
-      INTEGER           AMAP(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  AMAP    (input)  INTEGER array, dimension (K)
-          The map for accessing the factors, i.e., if AMAP(I) = J,
-          then the factor A_I is stored at the J-th position in A.
-
-  S       (input)  INTEGER array, dimension (K)
-          The signature array. Each entry of S must be 1 or -1.
-
-  SINV    (input)  INTEGER
-          Signature multiplier. Entries of S are virtually
-          multiplied by SINV.
-
-  A       (input/output)  DOUBLE PRECISION array, dimension
-                          (LDA1,LDA2,K)
-          On entry, the leading 2-by-2-by-K part of this array must
-          contain a 2-by-2 product (implicitly represented by its K
-          factors) in upper Hessenberg form. The Hessenberg matrix
-          is the last one of the formal matrix product.
-          On exit, the leading 2-by-2-by-K part of this array
-          contains the product after at most 20 iterations of a real
-          shifted periodic QZ algorithm.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.  LDA1 &gt;= 2.
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.  LDA2 &gt;= 2.
-
-  ULP     INTEGER
-          The machine relation precision.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Twenty iterations of a real single shifted periodic QZ algorithm
-  are applied to the 2-by-2 matrix product A.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03BZ.html b/doc/_static/doc/MB03BZ.html
deleted file mode 100644
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+++ /dev/null
@@ -1,396 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03BZ">MB03BZ</A></H2>
-<H3>
-Finding eigenvalues of a complex generalized matrix product in Hessenberg-triangular form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the eigenvalues of the complex generalized matrix product
-
-               S(1)           S(2)                 S(K)
-       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)    ,  S(1) = 1,
-
-  where A(:,:,1) is upper Hessenberg and A(:,:,i) is upper
-  triangular, i = 2, ..., K, using a single-shift version of the
-  periodic QZ method. In addition, A may be reduced to periodic
-  Schur form by unitary transformations: all factors A(:,:,i) become
-  upper triangular.
-
-  If COMPQ = 'V' or COMPQ = 'I', then the unitary factors are
-  computed and stored in the array Q so that for S(I) = 1,
-
-                      H
-          Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
-                       H                                        (1)
-      =   Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out),
-
-  and for S(I) = -1,
-
-                               H
-          Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
-                                H                               (2)
-      =   Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
-     $                   Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK,
-     $                   LDWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPQ, JOB
-      INTEGER           IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
-     $                  LDWORK, LZWORK, N
-C     .. Array Arguments ..
-      INTEGER           S(*), SCAL(*)
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA1, LDA2, *), ALPHA(*), BETA(*),
-     $                  Q(LDQ1, LDQ2, *), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; A will not
-                 necessarily be put into periodic Schur form;
-          = 'S': put A into periodic Schur form, and return the
-                 eigenvalues in ALPHA, BETA, and SCAL.
-
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N': do not modify Q;
-          = 'V': modify the array Q by the unitary transformations
-                 that are applied to the matrices in the array A to
-                 reduce them to periodic Schur form;
-          = 'I': like COMPQ = 'V', except that each matrix in the
-                 array Q will be first initialized to the identity
-                 matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input)  INTEGER
-          The number of factors.  K &gt;= 1.
-
-  N       (input)  INTEGER
-          The order of each factor in the array A.  N &gt;= 0.
-
-  ILO     (input)  INTEGER
-  IHI     (input)  INTEGER
-          It is assumed that each factor in A is already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
-          ILO = 1 and IHI  = 0, if N = 0.
-
-  S       (input)  INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1. By definition, S(1) must be set to 1.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array
-          must contain the factors in upper Hessenberg-triangular
-          form, that is, A(:,:,1) is upper Hessenberg and the other
-          factors are upper triangular.
-          On exit, if JOB = 'S' and INFO = 0, the leading
-          N-by-N-by-K part of this array contains the factors of
-          A in periodic Schur form. All factors are reduced to
-          upper triangular form and, moreover, A(:,:,2), ...,
-          A(:,:,K) are normalized so that their diagonals contain
-          nonnegative real numbers.
-          On exit, if JOB = 'E', then the leading N-by-N-by-K part
-          of this array contains meaningless elements.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= MAX(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= MAX(1,N).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ1,LDQ2,K)
-          On entry, if COMPQ = 'V', the leading N-by-N-by-K part
-          of this array must contain the initial unitary factors
-          as described in (1) and (2).
-          On exit, if COMPQ = 'V' or COMPQ = 'I', the leading
-          N-by-N-by-K part of this array contains the modified
-          unitary factors as described in (1) and (2).
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ1    INTEGER
-          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
-
-  LDQ2    INTEGER
-          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
-
-  ALPHA   (output) COMPLEX*16 array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this
-          array contain the scaled eigenvalues of the matrix
-          product A. The i-th eigenvalue of A is given by
-
-          ALPHA(I) / BETA(I) * BASE**(SCAL(I)),
-
-          where ABS(ALPHA(I)) = 0.0 or 1.0 &lt;= ABS(ALPHA(I)) &lt; BASE,
-          and BASE is the machine base (normally 2.0).
-
-  BETA    (output) COMPLEX*16 array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this
-          array contain indicators for infinite eigenvalues. That
-          is, if BETA(I) = 0.0, then the i-th eigenvalue is
-          infinite. Otherwise BETA(I) is set to 1.0.
-
-  SCAL    (output) INTEGER array, dimension (N)
-          On exit, if INFO = 0, the leading N elements of this
-          array contain the scaling parameters for the eigenvalues
-          of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the minimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the minimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.  LZWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0      :  succesful exit;
-          &lt; 0      :  if INFO = -i, the i-th argument had an illegal
-                      value;
-          = 1,..,N :  the periodic QZ iteration did not converge.
-                      A is not in periodic Schur form, but
-                      ALPHA(I), BETA(I), and SCAL(I), for
-                      I = INFO+1,...,N should be correct.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A slightly modified version of the periodic QZ algorithm is
-  used. For more details, see [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
-      2001), Como (Italy), August 27-28 2001. Periodic Control
-      Systems 2001 (IFAC Proceedings Volumes), Pergamon.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-                              3
-  The algorithm requires 0(K N ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03BZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            KMAX, NMAX
-      PARAMETER          ( KMAX = 6, NMAX = 50 )
-      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LZWORK
-      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                     LDQ2 = NMAX, LDWORK = NMAX, LZWORK = NMAX )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            I, IHI, ILO, INFO, J, K, L, N
-*
-*     .. Local Arrays ..
-      COMPLEX*16         A( LDA1, LDA2, KMAX ), ALPHA( NMAX ),
-     $                   BETA( NMAX ), Q( LDQ1, LDQ2, KMAX ),
-     $                   ZWORK( LZWORK )
-      DOUBLE PRECISION   DWORK( LDWORK)
-      INTEGER            S( KMAX ), SCAL( NMAX )
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03BZ
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, K, N, ILO, IHI
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
-         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
-     $                                I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'V' ) )
-     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
-     $                                   I = 1, N ), L = 1, K )
-*        Compute the eigenvalues and the transformed matrices, if
-*        required.
-         CALL MB03BZ( JOB, COMPQ, K, N, ILO, IHI, S, A, LDA1, LDA2,
-     $                Q, LDQ1, LDQ2, ALPHA, BETA, SCAL, DWORK, LDWORK,
-     $                ZWORK, LZWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( JOB, 'S' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 20 L = 1, K
-                  WRITE( NOUT, FMT = 99995 ) L
-                  DO 10 I = 1, N
-                     WRITE( NOUT, FMT = 99994 ) ( A( I, J, L ), J = 1, N
-     $                                          )
-   10             CONTINUE
-   20          CONTINUE
-            END IF
-            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99993 )
-               DO 40 L = 1, K
-                  WRITE( NOUT, FMT = 99995 ) L
-                  DO 30 I = 1, N
-                     WRITE( NOUT, FMT = 99994 ) ( Q( I, J, L ), J = 1, N
-     $                                          )
-   30             CONTINUE
-   40          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99994 ) ( ALPHA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99994 ) (  BETA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) (  SCAL( I ), I = 1, N )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03BZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03BZ = ', I2 )
-99996 FORMAT(/'The matrix A on exit is ' )
-99995 FORMAT( 'The factor ', I2, ' is ' )
-99994 FORMAT( 50( 1X, F9.4, SP, F9.4, S, 'i ') )
-99993 FORMAT(/'The matrix Q on exit is ' )
-99992 FORMAT(/'The vector ALPHA is ' )
-99991 FORMAT( 'The vector BETA is ' )
-99990 FORMAT( 'The vector SCAL is ' )
-99989 FORMAT( 50( 1X, I8 ) )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03BZ EXAMPLE PROGRAM DATA
-	S	I	3	4	1	4
-	1	-1	1
-   (0.8637,0.9326)   (0.8819,0.4850)   (0.5920,0.8826)   (0.8991,0.9040)
-   (0.6994,0.8588)   (0.9527,0.2672)   (0.5087,0.0621)   (0.9653,0.5715)
-        0            (0.1561,0.1898)   (0.9514,0.9266)   (0.6582,0.3102)
-        0                  0           (0.8649,0.1265)   (0.1701,0.0013)
-   (0.5113,0.7375)   (0.6869,0.7692)   (0.7812,0.1467)   (0.7216,0.9498)
-        0            (0.1319,0.9137)   (0.5879,0.0201)   (0.9834,0.0549)
-        0                  0           (0.7711,0.2422)   (0.9468,0.3280)
-        0                  0                  0          (0.2219,0.3971)
-   (0.0158,0.4042)   (0.0082,0.2033)   (0.1028,0.9913)   (0.6954,0.1987)
-        0            (0.5066,0.4587)   (0.1060,0.6949)   (0.5402,0.0970)
-        0                  0           (0.4494,0.3700)   (0.8492,0.4882)
-        0                  0                  0          (0.2110,0.5824)
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03BZ EXAMPLE PROGRAM RESULTS
-
-The matrix A on exit is 
-The factor  1 is 
-    0.6053  +1.0311i    -1.7227  -0.5753i     1.2428  -1.2632i     0.9445  -0.4317i 
-    0.0000  +0.0000i    -0.2596  +1.0235i     0.4673  -0.2403i    -0.5579  -1.1564i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.3336  -0.3367i     0.0687  +0.0261i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.2014  +0.0057i 
-The factor  2 is 
-    1.1118  +0.0000i    -1.4173  +1.1607i     0.3271  -0.5800i     0.5291  -0.6341i 
-    0.0000  +0.0000i     0.9051  +0.0000i     0.1710  +0.1014i    -0.2696  -0.3549i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.3599  +0.0000i     0.0231  -0.5865i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8410  +0.0000i 
-The factor  3 is 
-    1.1554  +0.0000i    -0.7577  +0.0825i     0.1284  -0.0063i     1.1175  -0.0778i 
-    0.0000  +0.0000i     0.5216  +0.0000i    -0.5761  +0.2972i    -0.3534  -0.3595i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.2750  +0.0000i     0.2587  -0.1664i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6015  +0.0000i 
-
-The matrix Q on exit is 
-The factor  1 is 
-    0.6033  -0.4021i     0.3478  -0.1834i    -0.0029  -0.4458i    -0.3157  +0.1462i 
-    0.1519  -0.3002i     0.6010  +0.1411i     0.0134  +0.5692i     0.4223  -0.0574i 
-    0.1002  -0.5387i    -0.4199  +0.3933i     0.1148  +0.2694i    -0.3713  -0.3810i 
-   -0.0599  -0.2395i    -0.0968  +0.3521i     0.2342  -0.5801i     0.6247  -0.1555i 
-The factor  2 is 
-    0.3325  +0.6289i     0.0930  +0.3421i    -0.1849  -0.1715i    -0.5470  -0.0734i 
-    0.3247  -0.4396i     0.1766  -0.1691i     0.2307  -0.3746i    -0.2617  -0.6160i 
-    0.2180  -0.2074i    -0.3853  +0.1978i    -0.6852  +0.2781i     0.1492  -0.3909i 
-   -0.0268  -0.3223i    -0.0623  +0.7893i     0.0957  -0.4323i     0.1716  +0.2072i 
-The factor  3 is 
-    0.6791  +0.1138i     0.0183  +0.2703i     0.3289  -0.2770i    -0.2355  -0.4605i 
-    0.5111  -0.1775i     0.3990  +0.1941i    -0.0851  +0.4779i     0.4563  +0.2580i 
-    0.2687  -0.3788i    -0.7974  -0.0691i    -0.2836  +0.1192i     0.1765  -0.1340i 
-    0.1098  -0.0739i    -0.2845  -0.0903i     0.6651  +0.2062i    -0.2810  +0.5741i 
-
-The vector ALPHA is 
-    0.6290  +1.0715i    -0.2992  +1.1797i    -1.0195  -1.0290i    -1.1523  +0.0326i 
-The vector BETA is 
-    1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i     1.0000  +0.0000i 
-The vector SCAL is 
-        0       -1       -2       -3
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,226 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03CD">MB03CD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2,
-  3-by-3, or 4-by-4 regular block upper triangular pencil
-
-                 ( A11 A12 ) ( B11 B12 )     ( D11 D12 )
-    aAB - bD = a (         ) (         ) - b (         ),        (1)
-                 (  0  A22 ) (  0  B22 )     (  0  D22 )
-
-  such that the pencil a(Q3' A Q2 )(Q2' B Q1 ) - b(Q3' D Q1) is
-  still in block upper triangular form, but the eigenvalues in
-  Spec(A11 B11, D11), Spec(A22 B22, D22) are exchanged, where
-  Spec(X,Y) denotes the spectrum of the matrix pencil (X,Y), and M'
-  denotes the transpose of the matrix M.
-
-  Optionally, to upper triangularize the real regular pencil in
-  block lower triangular form
-
-               ( A11  0  ) ( B11  0  )     ( D11  0  )
-  aAB - bD = a (         ) (         ) - b (         ),          (2)
-               ( A21 A22 ) ( B21 B22 )     ( D21 D22 )
-
-  while keeping the eigenvalues in the same diagonal position.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03CD( UPLO, N1, N2, PREC, A, LDA, B, LDB, D, LDD, Q1,
-     $                   LDQ1, Q2, LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
-     $                   N1, N2
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   Q3( LDQ3, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies if the pencil is in lower or upper block
-          triangular form on entry, as follows:
-          = 'U': Upper block triangular, eigenvalues are exchanged
-                 on exit;
-          = 'L': Lower block triangular, eigenvalues are not
-                 exchanged on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input/output) INTEGER
-          Size of the upper left block, N1 &lt;= 2.
-          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
-          N1 and N2 are exchanged on exit; otherwise, N1 is
-          unchanged on exit.
-
-  N2      (input/output) INTEGER
-          Size of the lower right block, N2 &lt;= 2.
-          If UPLO = 'U' and INFO = 0, or UPLO = 'L' and INFO &lt;&gt; 0,
-          N1 and N2 are exchanged on exit; otherwise, N2 is
-          unchanged on exit.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input or input/output) DOUBLE PRECISION array, dimension
-             (LDA, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix A of the pencil aAB - bD.
-          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
-          UPLO = 'L', need not be set to zero.
-          On exit, if N1 = N2 = 1, this array contains the matrix
-                            [  0 1 ]
-          J' A J, where J = [ -1 0 ]; otherwise, this array is
-          unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N1+N2.
-
-  B       (input or input/output) DOUBLE PRECISION array, dimension
-             (LDB, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix B of the pencil aAB - bD.
-          The (2,1) block, if UPLO = 'U', or the (1,2) block, if
-          UPLO = 'L', need not be set to zero.
-          On exit, if N1 = N2 = 1, this array contains the matrix
-          J' B J; otherwise, this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N1+N2.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-             (LDD, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix D of the pencil aAB - bD.
-          On exit, if N1 = 2 or N2 = 2, the leading
-          (N1+N2)-by-(N1+N2) part of this array contains the
-          transformed matrix D in real Schur form. If N1 = 1 and
-          N2 = 1, this array contains the matrix J' D J.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= N1+N2.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the first orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the second orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
-
-  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the third orthogonal transformation matrix.
-
-  LDQ3    INTEGER
-          The leading dimension of the array Q3.  LDQ3 &gt;= N1+N2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N1+N2 = 2 then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N1+N2 = 2, then LDWORK = 0; otherwise,
-          LDWORK &gt;= 16*N1 + 10*N2 + 23, UPLO = 'U';
-          LDWORK &gt;= 10*N1 + 16*N2 + 23, UPLO = 'L'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the QZ iteration failed in the LAPACK routine DGGEV;
-          = 2: another error occured while executing a routine in
-               DGGEV;
-          = 3: the QZ iteration failed in the LAPACK routine DGGES;
-          = 4: another error occured during execution of DGGES;
-          = 5: reordering of aA*B - bD in the LAPACK routine DTGSEN
-               failed because the transformed matrix pencil
-               aA*B - bD would be too far from generalized Schur
-               form; the problem is very ill-conditioned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described in [2]
-  (page 21). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
-  always acts on an upper block triangular pencil.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03CZ.html b/doc/_static/doc/MB03CZ.html
deleted file mode 100644
index 6abdc2b6..00000000
--- a/doc/_static/doc/MB03CZ.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03CZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03CZ">MB03CZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute unitary matrices Q1, Q2, and Q3 for a complex 2-by-2
-  regular pencil aAB - bD, with A, B, D upper triangular, such that
-  Q3' A Q2, Q2' B Q1, Q3' D Q1 are still upper triangular, but the
-  eigenvalues are in reversed order. The matrices Q1, Q2, and Q3 are
-  represented by
-
-       (  CO1  SI1  )       (  CO2  SI2  )       (  CO3  SI3  )
-  Q1 = (            ), Q2 = (            ), Q3 = (            ).
-       ( -SI1' CO1  )       ( -SI2' CO2  )       ( -SI3' CO3  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03CZ( A, LDA, B, LDB, D, LDD, CO1, SI1, CO2, SI2,
-     $                   CO3, SI3 )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, LDB, LDD
-      DOUBLE PRECISION   CO1, CO2, CO3
-      COMPLEX*16         SI1, SI2, SI3
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) COMPLEX*16 array, dimension (LDA, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix A of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  B       (input) COMPLEX*16 array, dimension (LDB, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix B of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  D       (input) COMPLEX*16 array, dimension (LDD, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix D of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= 2.
-
-  CO1     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q1.
-
-  SI1     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q1.
-
-  CO2     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q2.
-
-  SI2     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q2.
-
-  CO3     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q3.
-
-  SI3     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q3.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary transformations as described on page 37
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03DD.html b/doc/_static/doc/MB03DD.html
deleted file mode 100644
index b598a467..00000000
--- a/doc/_static/doc/MB03DD.html
+++ /dev/null
@@ -1,208 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03DD">MB03DD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper triangular pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2,
-  3-by-3, or 4-by-4 regular block upper triangular pencil
-
-                 ( A11 A12 )     ( B11 B12 )
-    aA - bB =  a (         ) - b (         ),                    (1)
-                 (  0  A22 )     (  0  B22 )
-
-  such that the pencil a(Q2' A Q1) - b(Q2' B Q1) is still in block
-  upper triangular form, but the eigenvalues in Spec(A11, B11),
-  Spec(A22, B22) are exchanged, where Spec(X,Y) denotes the spectrum
-  of the matrix pencil (X,Y) and the notation M' denotes the
-  transpose of the matrix M.
-
-  Optionally, to upper triangularize the real regular pencil in
-  block lower triangular form
-
-                ( A11  0  )     ( B11  0  )
-    aA - bB = a (         ) - b (         ),                     (2)
-                ( A21 A22 )     ( B21 B22 )
-
-  while keeping the eigenvalues in the same diagonal position.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03DD( UPLO, N1, N2, PREC, A, LDA, B, LDB, Q1, LDQ1,
-     $                   Q2, LDQ2, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          UPLO
-      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N1, N2
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Specifies if the pencil is in lower or upper block
-          triangular form on entry, as follows:
-          = 'U': Upper block triangular, eigenvalues are exchanged
-                 on exit;
-          = 'T': Upper block triangular, B triangular, eigenvalues
-                 are exchanged on exit;
-          = 'L': Lower block triangular, eigenvalues are not
-                 exchanged on exit.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input/output) INTEGER
-          Size of the upper left block, N1 &lt;= 2.
-          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
-          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
-          N1 is unchanged on exit.
-
-  N2      (input/output) INTEGER
-          Size of the lower right block, N2 &lt;= 2.
-          If UPLO = 'U' or UPLO = 'T' and INFO = 0, or UPLO = 'L'
-          and INFO &lt;&gt; 0, N1 and N2 are exchanged on exit; otherwise,
-          N2 is unchanged on exit.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-             (LDA, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix A of the pencil aA - bB.
-          On exit, if N1 = N2 = 1, this array is unchanged, if
-          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
-                                       [  0 1 ]
-          the matrix J' A J, where J = [ -1 0 ]; otherwise, this
-          array contains the transformed quasi-triangular matrix in
-          generalized real Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N1+N2.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-             (LDB, N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix B of the pencil aA - bB.
-          On exit, if N1 = N2 = 1, this array is unchanged, if
-          UPLO = 'U' or UPLO = 'T', but, if UPLO = 'L', it contains
-          the matrix J' B J; otherwise, this array contains the
-          transformed upper triangular matrix in generalized real
-          Schur form.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N1+N2.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the first orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N1+N2.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N1+N2)
-          The leading (N1+N2)-by-(N1+N2) part of this array contains
-          the second orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N1+N2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N1+N2 = 2 then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N1+N2 = 2, then LDWORK = 0; otherwise,
-          LDWORK &gt;= 16*N1 + 10*N2 + 23, if UPLO = 'U';
-          LDWORK &gt;=  7*N1 +  7*N2 + 16, if UPLO = 'T';
-          LDWORK &gt;= 10*N1 + 16*N2 + 23, if UPLO = 'L'.
-          For good performance LDWORK should be generally larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 3: the QZ iteration failed in the LAPACK routine DGGES
-               (if UPLO &lt;&gt; 'T') or DHGEQZ (if UPLO = 'T');
-          = 4: another error occured during execution of DHGEQZ;
-          = 5: reordering of aA - bB in the LAPACK routine DTGSEN
-               failed because the transformed matrix pencil aA - bB
-               would be too far from generalized Schur form;
-               the problem is very ill-conditioned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described in [2]
-  (page 30). The QZ algorithm is used for N1 = 2 or N2 = 2, but it
-  always acts on an upper block triangular pencil.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03DZ.html b/doc/_static/doc/MB03DZ.html
deleted file mode 100644
index c4c89395..00000000
--- a/doc/_static/doc/MB03DZ.html
+++ /dev/null
@@ -1,121 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03DZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03DZ">MB03DZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute unitary matrices Q1 and Q2 for a complex 2-by-2 regular
-  pencil aA - bB with A, B upper triangular, such that
-  Q2' (aA - bB) Q1 is still upper triangular but the eigenvalues are
-  in reversed order. The matrices Q1 and Q2 are represented by
-
-       (  CO1  SI1  )       (  CO2  SI2  )
-  Q1 = (            ), Q2 = (            ).
-       ( -SI1' CO1  )       ( -SI2' CO2  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03DZ( A, LDA, B, LDB, CO1, SI1, CO2, SI2 )
-C     .. Scalar Arguments ..
-      INTEGER            LDA, LDB
-      DOUBLE PRECISION   CO1, CO2
-      COMPLEX*16         SI1, SI2
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) COMPLEX*16 array, dimension (LDA, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix A of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  B       (input) COMPLEX*16 array, dimension (LDB, 2)
-          On entry, the leading 2-by-2 upper triangular part of
-          this array must contain the matrix B of the pencil.
-          The (2,1) entry is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  CO1     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q1.
-
-  SI1     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q1.
-
-  CO2     (output) DOUBLE PRECISION
-          The upper left element of the unitary matrix Q2.
-
-  SI2     (output) COMPLEX*16
-          The upper right element of the unitary matrix Q2.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary transformations as described on page 42
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03ED.html b/doc/_static/doc/MB03ED.html
deleted file mode 100644
index ff2b697e..00000000
--- a/doc/_static/doc/MB03ED.html
+++ /dev/null
@@ -1,183 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ED">MB03ED</A></H2>
-<H3>
-Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1, Q2, Q3 for a real 2-by-2 or
-  4-by-4 regular pencil
-
-                 ( A11  0  ) ( B11  0  )     (  0  D12 )
-    aAB - bD = a (         ) (         ) - b (         ),        (1)
-                 (  0  A22 ) (  0  B22 )     ( D21  0  )
-
-  such that Q3' A Q2 and Q2' B Q1 are upper triangular, Q3' D Q1 is
-  upper quasi-triangular, and the eigenvalues with negative real
-  parts (if there are any) are allocated on the top. The notation M'
-  denotes the transpose of the matrix M. The submatrices A11, A22,
-  B11, B22 and D12 are upper triangular. If D21 is 2-by-2, then all
-  other blocks are nonsingular and the product
-     -1        -1    -1        -1
-  A22   D21 B11   A11   D12 B22   has a pair of complex conjugate
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ED( N, PREC, A, LDA, B, LDB, D, LDD, Q1, LDQ1, Q2,
-     $                   LDQ2, Q3, LDQ3, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
-     $                   N
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   Q3( LDQ3, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the input pencil, N = 2 or N = 4.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
-          The leading N-by-N upper triangular part of this array
-          must contain the upper triangular matrix A of the pencil
-          aAB - bD. The strictly lower triangular part and the
-          entries of the (1,2) block are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
-          The leading N-by-N upper triangular part of this array
-          must contain the upper triangular matrix B of the pencil
-          aAB - bD. The strictly lower triangular part and the
-          entries of the (1,2) block are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix D of the pencil aAB - bD.
-          On exit, if N = 4, the leading N-by-N part of this array
-          contains the transformed matrix D in real Schur form.
-          If N = 2, this array is unchanged on exit.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= N.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          The leading N-by-N part of this array contains the first
-          orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          The leading N-by-N part of this array contains the second
-          orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N.
-
-  Q3      (output) DOUBLE PRECISION array, dimension (LDQ3, N)
-          The leading N-by-N part of this array contains the third
-          orthogonal transformation matrix.
-
-  LDQ3    INTEGER
-          The leading dimension of the array Q3.  LDQ3 &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N = 2, then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N = 4, then LDWORK &gt;= 79. For good performance LDWORK
-          should be generally larger.
-          If N = 2, then LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the QZ iteration failed in the LAPACK routine DGGES;
-          = 2: another error occured during execution of DGGES.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  20 in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03FD.html b/doc/_static/doc/MB03FD.html
deleted file mode 100644
index d278e9f3..00000000
--- a/doc/_static/doc/MB03FD.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03FD">MB03FD</A></H2>
-<H3>
-Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving eigenvalues with negative real parts to the top
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal matrices Q1 and Q2 for a real 2-by-2 or
-  4-by-4 regular pencil
-
-                ( A11  0  )     (  0  B12 )
-    aA - bB = a (         ) - b (         ),                     (1)
-                (  0  A22 )     ( B21  0  )
-
-  such that Q2' A Q1 is upper triangular, Q2' B Q1 is upper quasi-
-  triangular, and the eigenvalues with negative real parts (if there
-  are any) are allocated on the top. The notation M' denotes the
-  transpose of the matrix M. The submatrices A11, A22, and B12 are
-  upper triangular. If B21 is 2-by-2, then all the other blocks are
-                                 -1        -1
-  nonsingular and the product A11   B12 A22   B21 has a pair of
-  complex conjugate eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03FD( N, PREC, A, LDA, B, LDB, Q1, LDQ1, Q2, LDQ2,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, N
-      DOUBLE PRECISION   PREC
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the input pencil, N = 2 or N = 4.
-
-  PREC    (input) DOUBLE PRECISION
-          The machine precision, (relative machine precision)*base.
-          See the LAPACK Library routine DLAMCH.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A of the pencil aA - bB.
-          If N = 2, the diagonal elements only are referenced.
-          On exit, if N = 4, the leading N-by-N part of this array
-          contains the transformed upper triangular matrix of the
-          generalized real Schur form of the pencil aA - bB.
-          If N = 2, this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B of the pencil aA - bB.
-          If N = 2, the anti-diagonal elements only are referenced.
-          On exit, if N = 4, the leading N-by-N part of this array
-          contains the transformed real Schur matrix of the
-          generalized real Schur form of the pencil aA - bB.
-          If N = 2, this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  Q1      (output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          The leading N-by-N part of this array contains the first
-          orthogonal transformation matrix.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= N.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          The leading N-by-N part of this array contains the second
-          orthogonal transformation matrix.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N = 2, then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If N = 4, then LDWORK &gt;= 63. For good performance LDWORK
-          should be generally larger.
-          If N = 2, then LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the QZ iteration failed in the LAPACK routine DGGES;
-          = 2: another error occured during execution of DGGES.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  29 in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03FZ.html b/doc/_static/doc/MB03FZ.html
deleted file mode 100644
index ec88a798..00000000
--- a/doc/_static/doc/MB03FZ.html
+++ /dev/null
@@ -1,584 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03FZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03FZ">MB03FZ</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-                          (  B  F  )      (  Z11  Z12  )
-    S = J Z' J' Z and H = (        ), Z = (            ),
-                          (  G -B' )      (  Z21  Z22  )
-                                                                (1)
-        (  0  I  )
-    J = (        ).
-        ( -I  0  )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-                                                         
-  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z' J' B_Z,
-
-          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
-          (                     |                     )
-          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
-          (                     |                     )
-    B_Z = (---------------------+---------------------) ,
-          (                     |                     )
-          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
-          (                     |                     )
-          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |                 )
-          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
-          (                 |                 )
-          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
-
-  is determined and used to compute the eigenvalues. Optionally, if
-  COMPQ = 'C', an orthonormal basis of the right deflating subspace,
-  Def_-(S, H), of the pencil aS - bH in (1), corresponding to the
-  eigenvalues with strictly negative real part, is computed. Namely,
-  after transforming aB_S - bB_H, in the factored form, by unitary
-  matrices, we have B_Sout = J B_Zout' J' B_Zout,
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Zout = (         ) and B_Hout = (         ),               (3)
-             (  0  BC  )              (  0 -BB' )
-
-  and the eigenvalues with strictly negative real part of the
-  complex pencil aB_Sout - bB_Hout are moved to the top. The 
-  notation M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPU = 'C', an orthonormal basis of the companion
-  subspace, range(P_U) [1], which corresponds to the eigenvalues
-  with negative real part, is computed. The embedding doubles the
-  multiplicities of the eigenvalues of the pencil aS - bH.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
-     $                   LDFG, NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU,
-     $                   ALPHAR, ALPHAI, BETA, IWORK, LIWORK, DWORK,
-     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
-     $                   LDZ, LIWORK, LZWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
-     $                   Z( LDZ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the deflating subspace;
-          = 'C': compute the deflating subspace and store it in the
-                 leading subarray of Q.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the companion subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the companion subspace;
-          = 'C': compute the companion subspace and store it in the
-                 leading subarray of U.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C' or COMPU = 'C', specifies the technique for
-          computing the orthonormal bases of the deflating subspace
-          and companion subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
-          used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the non-trivial factor Z in the factorization
-          S = J Z' J' Z of the skew-Hamiltonian matrix S.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the upper triangular
-          matrix BA in (3) (see also METHOD). The strictly lower
-          triangular part is not zeroed.
-          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
-          on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the upper triangular
-          matrix BB in (3) (see also METHOD). The strictly lower
-          triangular part is not zeroed. 
-          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
-          on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the Hermitian matrix
-          BF in (3) (see also METHOD). The strictly lower triangular
-          part of the input matrix is preserved. The diagonal
-          elements might have tiny imaginary parts.
-          If COMPQ = 'N' and COMPU = 'N', this array is unchanged
-          on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
-          in aS - bH with strictly negative real part.
-
-  D       (output) COMPLEX*16 array, dimension (LDD, N)
-          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
-          this array contains the matrix BD in (3) (see METHOD).
-          If COMPQ = 'N' and COMPU = 'N', this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
-          LDD &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
-
-  C       (output) COMPLEX*16 array, dimension (LDC, N)
-          If COMPQ = 'C' or COMPU = 'C', the leading N-by-N part of
-          this array contains the lower triangular matrix BC in (3)
-          (see also METHOD). The strictly upper triangular part is
-          not zeroed. 
-          If COMPQ = 'N' and COMPU = 'N', this array is not
-          referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,         if COMPQ = 'N' and COMPU = 'N';
-          LDC &gt;= MAX(1, N), if COMPQ = 'C' or  COMPU = 'C'.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the right
-          deflating subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part.
-          The remaining entries are meaningless.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
-          On exit, if COMPU = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the companion
-          subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part. The
-          remaining entries are meaningless.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,         if COMPU = 'N';
-          LDU &gt;= MAX(1, N), if COMPU = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -26, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
-                    c = 18, if                 COMPU = 'C';
-                    c = 16, if COMPQ = 'C' and COMPU = 'N';
-                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -28, ZWORK(1) returns the minimum
-          value of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 8*N + 28, if COMPQ = 'C';
-          LZWORK &gt;= 6*N + 28, if COMPQ = 'N' and COMPU = 'C';
-          LZWORK &gt;= 1,        if COMPQ = 'N' and COMPU = 'N'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0, if COMPQ = 'N' and COMPU = 'N';
-          LBWORK &gt;= N, if COMPQ = 'C' or  COMPU = 'C'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the algorithm was not able to reveal information
-               about the eigenvalues from the 2-by-2 blocks in the
-               SLICOT Library routine MB03BD (called by MB04ED);
-          = 2: periodic QZ iteration failed in the SLICOT Library
-               routines MB03BD or MB03BZ when trying to
-               triangularize the 2-by-2 blocks;
-          = 3: the singular value decomposition failed in the LAPACK
-               routine ZGESVD (for ORTH = 'S').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT 
-  Library routine MB04ED is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~                (  BZ11  BZ12  )
-  B_Z = U' B_Z Q = (              ) and
-                   (    0   BZ22  )
-
-  ~                     (  T11  T12  )
-  B_T = J Q' J' B_T Q = (            ),
-                        (   0   T11' )
-
-  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
-  BZ22' are upper triangular and T11 is upper quasi-triangular.
-
-  Second, the SLICOT Library routine MB03IZ is applied, to compute a
-                 ~                                 ~
-  unitary matrix Q and a unitary symplectic matrix U, such that
-
-                ~    ~
-  ~  ~   ~   (  Z11  Z12  )
-  U' B_Z Q = (       ~    ) =: B_Zout,
-             (   0   Z22  )
-
-    ~        ~    ~   (  H11  H12  )
-  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
-                      (   0  -H11' )
-       ~    ~   
-  with Z11, Z22', H11 upper triangular, and such that the spectrum
-
-           ~       ~       ~
-  Spec_-(J B_Z' J' B_Z, -i*B_T) is contained in the spectrum of the
-                                                ~    ~
-  2*NEIG-by-2*NEIG leading principal subpencil aZ22'*Z11 - bH11.
-
-  Finally, the right deflating subspace and the companion subspace
-  are computed. See also page 21 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03FZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
-     $                   LIWORK, LZWORK
-      PARAMETER          ( LDB  = NMAX, LDC =   NMAX, LDD = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
-     $                     LDWORK = 18*NMAX*NMAX + NMAX + 3 +
-     $                              MAX( 2*NMAX, 24 ), LDZ  = NMAX,
-     $                     LIWORK = 2*NMAX + 9, LZWORK = 8*NMAX + 28 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            I, INFO, J, M, N, NEIG
-*
-*     .. Local Arrays ..
-      COMPLEX*16         B( LDB, NMAX ), C( LDC, NMAX ), D( LDD, NMAX ),
-     $                   FG( LDFG, NMAX ), Q( LDQ, 2*NMAX ),
-     $                   U( LDU, 2*NMAX ), Z( LDZ, NMAX ),
-     $                   ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ),  ALPHAR( NMAX ), BETA( NMAX ),
-     $                   DWORK( LDWORK )
-      INTEGER            IWORK( LIWORK )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03FZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues and orthogonal bases of the right
-*        deflating subspace and companion subspace of a complex
-*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
-*        eigenvalues with strictly negative real part.
-         CALL MB03FZ( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                NEIG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
-     $                ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
-     $                LZWORK, BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
-   10       CONTINUE
-            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( D( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( C( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
-   40          CONTINUE
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99987 )
-            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99986 )
-               DO 60 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   60          CONTINUE
-            END IF
-            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99985 )
-               DO 70 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
-   70          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
-     $         WRITE( NOUT, FMT = 99984 ) NEIG
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( 'MB03FZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB03FZ = ', I2 )
-99996 FORMAT (/'The matrix Z on exit is ' )
-99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
-99994 FORMAT (/'The matrix D is ' )
-99993 FORMAT (/'The matrix C is ' )
-99992 FORMAT (/'The matrix B on exit is ' )
-99991 FORMAT (/'The matrix F on exit is ' )
-99990 FORMAT (/'The vector ALPHAR is ' )
-99989 FORMAT ( 50( 1X, F8.4 ) )
-99988 FORMAT (/'The vector ALPHAI is ' )
-99987 FORMAT (/'The vector BETA is ' )
-99986 FORMAT (/'The deflating subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99985 FORMAT (/'The companion subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99984 FORMAT (/'The number of eigenvalues in the initial pencil with ',
-     $         'negative real part is ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03FZ EXAMPLE PROGRAM DATA
-	C	C	P	4
-   (0.0328,0.9611)   (0.6428,0.2585)   (0.7033,0.4254)   (0.2552,0.7053)
-   (0.0501,0.2510)   (0.2827,0.8865)   (0.4719,0.5387)   (0.0389,0.5676)
-   (0.5551,0.4242)   (0.0643,0.2716)   (0.1165,0.7875)   (0.9144,0.3891)
-   (0.0539,0.7931)   (0.0408,0.2654)   (0.9912,0.0989)   (0.0991,0.6585)
-   (0.0547,0.8726)   (0.4008,0.8722)
-   (0.7423,0.6166)   (0.2631,0.5872)
-    0.8740            0.3697           (0.9178,0.6418)
-   (0.7748,0.5358)    0.1652            0.2441          
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03FZ EXAMPLE PROGRAM RESULTS
-
-The matrix Z on exit is 
-    1.1347  -0.1694i     0.0920  -0.0894i     0.5253  +0.0280i    -0.0597  +0.1098i 
-    0.0000  +0.0000i    -0.9874  -0.6015i     0.2523  -0.0600i     0.3178  -0.0902i 
-    0.5551  +0.4242i     0.0643  +0.2716i     0.7553  -0.3356i     0.4772  -0.3177i 
-    0.0539  +0.7931i     0.0408  +0.2654i     0.9912  +0.0989i     0.9064  -0.1055i 
-
-The matrix D is 
-   -0.7634  -0.2773i    -0.8466  -0.9586i    -0.0308  -0.0175i    -0.2754  -0.0715i 
-    1.2612  -0.2643i    -0.7291  -0.3165i     0.0282  -0.1748i     0.4091  +0.0233i 
-    0.3773  -0.1536i    -0.3937  -0.0480i    -0.1635  +0.1617i    -0.1775  +0.1277i 
-    0.7540  -0.0280i    -0.6860  -0.8306i    -0.2446  +0.0943i    -0.0722  +0.0517i 
-
-The matrix C is 
-    0.5063  +0.1548i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -0.0046  +0.1049i     0.3884  +0.3420i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -1.1206  +0.1313i    -0.2270  -0.1753i     0.4300  -0.6107i     0.0000  +0.0000i 
-   -0.6127  -0.1939i    -0.5713  -0.7913i     0.3739  -0.2943i    -1.1501  -0.0850i 
-
-The matrix B on exit is 
-    0.3322  +1.9093i    -0.1216  -0.1193i    -0.0030  +0.0330i     0.0405  +0.0592i 
-    0.0000  +0.0000i     0.1863  -1.8998i     0.2983  +0.2974i     0.6636  +0.5916i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.4459  -0.7452i    -0.0625  +0.2197i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1418  +0.7392i 
-
-The matrix F on exit is 
-    0.0258  +0.0000i    -0.0878  +0.1090i     0.3547  +0.5306i    -0.0138  -0.8770i 
-    0.7748  +0.5358i     0.0864  +0.0000i    -0.3788  -0.2829i    -0.3303  -0.0415i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0184  +0.0000i     0.1077  -0.0795i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0938  +0.0000i 
-
-The vector ALPHAR is 
-   0.4295  -0.4295   0.0000   0.0000
-
-The vector ALPHAI is 
-   1.5363   1.5363  -1.4069  -0.7153
-
-The vector BETA is 
-   0.5000   0.5000   1.0000   1.0000
-
-The deflating subspace corresponding to the eigenvalues with negative real part is 
-   -0.2249  +0.4158i 
-   -0.1984  -0.3100i 
-    0.7286  -0.0427i 
-    0.3282  -0.0251i 
-
-The companion subspace corresponding to the eigenvalues with negative real part is 
-   -0.1542  -0.0712i 
-   -0.4162  -0.3021i 
-   -0.0806  -0.6946i 
-   -0.4580  -0.0889i 
-
-The number of eigenvalues in the initial pencil with negative real part is  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03GD.html b/doc/_static/doc/MB03GD.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03GD.html
+++ /dev/null
@@ -1,152 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03GD">MB03GD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an orthogonal matrix Q and an orthogonal symplectic
-  matrix U for a real regular 2-by-2 or 4-by-4 skew-Hamiltonian/
-  Hamiltonian pencil a J B' J' B - b D with
-
-        ( B11  B12 )      (  D11  D12  )      (  0  I  )
-    B = (          ), D = (            ), J = (        ),
-        (  0   B22 )      (   0  -D11' )      ( -I  0  )
-
-  such that J Q' J' D Q and U' B Q keep block triangular form, but
-  the eigenvalues are reordered. The notation M' denotes the
-  transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03GD( N, B, LDB, D, LDD, MACPAR, Q, LDQ, U, LDU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDB, LDD, LDQ, LDU, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), D( LDD, * ), DWORK( * ),
-     $                   MACPAR( * ), Q( LDQ, * ), U( LDU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil a J B' J' B - b D. N = 2 or N = 4.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
-          The leading N-by-N part of this array must contain the
-          non-trivial factor of the decomposition of the
-          skew-Hamiltonian input matrix J B' J' B. The (2,1) block
-          is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD, N)
-          The leading N/2-by-N part of this array must contain the
-          first block row of the second matrix of a J B' J' B - b D.
-          The matrix D has to be Hamiltonian. The strict lower
-          triangle of the (1,2) block is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= N/2.
-
-  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
-          Machine parameters:
-          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
-          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
-          This argument is not used for N = 2.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= N.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU, N)
-          The leading N-by-N part of this array contains the
-          orthogonal symplectic transformation matrix U.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          If N = 2 then DWORK is not referenced.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If N = 2 then LDWORK &gt;= 0; if N = 4 then LDWORK &gt;= 12.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: B11 or B22 is a (numerically) singular matrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  22 in [1], but with an improved implementation.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03GZ.html b/doc/_static/doc/MB03GZ.html
deleted file mode 100644
index 1cc5aee6..00000000
--- a/doc/_static/doc/MB03GZ.html
+++ /dev/null
@@ -1,127 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03GZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03GZ">MB03GZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a unitary matrix Q and a unitary symplectic matrix U
-  for a complex regular 2-by-2 skew-Hamiltonian/Hamiltonian pencil
-  aS - bH with S = J Z' J' Z, where
-
-         (  Z11  Z12  )         (  H11  H12  )
-     Z = (            ) and H = (            ),
-         (   0   Z22  )         (   0  -H11' )
-
-  such that U' Z Q, (J Q J' )' H Q are both upper triangular, but the  
-  eigenvalues of (J Q J')' ( aS - bH ) Q are in reversed order.
-  The matrices Q and U are represented by
-
-         (  CO1  SI1  )         (  CO2  SI2  )
-     Q = (            ) and U = (            ), respectively.
-         ( -SI1' CO1  )         ( -SI2' CO2  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03GZ( Z11, Z12, Z22, H11, H12, CO1, SI1, CO2, SI2 )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   CO1, CO2
-      COMPLEX*16         H11, H12, SI1, SI2, Z11, Z12, Z22
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  Z11     (input) COMPLEX*16
-          Upper left element of the non-trivial factor Z in the
-          factorization of S.
-
-  Z12     (input) COMPLEX*16
-          Upper right element of the non-trivial factor Z in the
-          factorization of S.
-
-  Z22     (input) COMPLEX*16
-          Lower right element of the non-trivial factor Z in the
-          factorization of S.
-
-  H11     (input) COMPLEX*16
-          Upper left element of the Hamiltonian matrix H.
-
-  H12     (input) COMPLEX*16
-          Upper right element of the Hamiltonian matrix H.
-
-  CO1     (output) DOUBLE PRECISION
-          Upper left element of Q.
-
-  SI1     (output) COMPLEX*16
-          Upper right element of Q.
-
-  CO2     (output) DOUBLE PRECISION
-          Upper left element of U.
-
-  SI2     (output) COMPLEX*16
-          Upper right element of U.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary and unitary symplectic transformations
-  as described on page 37 in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03HD.html b/doc/_static/doc/MB03HD.html
deleted file mode 100644
index 704d7b67..00000000
--- a/doc/_static/doc/MB03HD.html
+++ /dev/null
@@ -1,149 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03HD">MB03HD</A></H2>
-<H3>
-Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine an orthogonal matrix Q, for a real regular 2-by-2 or
-  4-by-4 skew-Hamiltonian/Hamiltonian pencil
-
-                  ( A11 A12  )     ( B11  B12  )
-      aA - bB = a (          ) - b (           )
-                  (  0  A11' )     (  0  -B11' )
-
-  in structured Schur form, such that  J Q' J' (aA - bB) Q  is still
-  in structured Schur form but the eigenvalues are exchanged. The
-  notation M' denotes the transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03HD( N, A, LDA, B, LDB, MACPAR, Q, LDQ, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDQ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   MACPAR( * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aA - bB.  N = 2 or N = 4.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA, N)
-          If N = 4, the leading N/2-by-N upper trapezoidal part of
-          this array must contain the first block row of the skew-
-          Hamiltonian matrix A of the pencil aA - bB in structured
-          Schur form. Only the entries (1,1), (1,2), (1,4), and
-          (2,2) are referenced.
-          If N = 2, this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N/2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N)
-          The leading N/2-by-N part of this array must contain the
-          first block row of the Hamiltonian matrix B of the
-          pencil aA - bB in structured Schur form. The entry (2,3)
-          is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= N/2.
-
-  MACPAR  (input)  DOUBLE PRECISION array, dimension (2)
-          Machine parameters:
-          MACPAR(1)  (machine precision)*base, DLAMCH( 'P' );
-          MACPAR(2)  safe minimum,             DLAMCH( 'S' ).
-          This argument is not used for N = 2.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (24)
-          If N = 2, then DWORK is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          = 1: the leading N/2-by-N/2 block of the matrix B is
-               numerically singular, but slightly perturbed values
-               have been used. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses orthogonal transformations as described on page
-  31 in [2]. The structure is exploited.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical computation of deflating subspaces of skew-
-      Hamiltonian/Hamiltonian pencils.
-      SIAM J. Matrix Anal. Appl., 24 (1), pp. 165-190, 2002.
-
-  [2] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03HZ.html b/doc/_static/doc/MB03HZ.html
deleted file mode 100644
index 0e3ea013..00000000
--- a/doc/_static/doc/MB03HZ.html
+++ /dev/null
@@ -1,113 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03HZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03HZ">MB03HZ</A></H2>
-<H3>
-Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/Hamiltonian pencil in structured Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a unitary matrix Q for a complex regular 2-by-2 
-  skew-Hamiltonian/Hamiltonian pencil aS - bH with
-
-      (  S11  S12  )        (  H11  H12  )
-  S = (            ),   H = (            ),
-      (   0   S11' )        (   0  -H11' )
-
-  such that J Q' J' (aS - bH) Q is upper triangular but the
-  eigenvalues are in reversed order. The matrix Q is represented by
-
-      (  CO  SI  )
-  Q = (          ).
-      ( -SI' CO  )
-
-  The notation M' denotes the conjugate transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03HZ( S11, S12, H11, H12, CO, SI )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   CO
-      COMPLEX*16         H11, H12, S11, S12, SI
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  S11     (input) COMPLEX*16
-          Upper left element of the skew-Hamiltonian matrix S.
-
-  S12     (input) COMPLEX*16
-          Upper right element of the skew-Hamiltonian matrix S.
-
-  H11     (input) COMPLEX*16
-          Upper left element of the Hamiltonian matrix H.
-
-  H12     (input) COMPLEX*16
-          Upper right element of the Hamiltonian matrix H.
-
-  CO      (output) DOUBLE PRECISION
-          Upper left element of Q.
-
-  SI      (output) COMPLEX*16
-          Upper right element of Q.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses unitary transformations as described on page 43
-  in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03ID.html b/doc/_static/doc/MB03ID.html
deleted file mode 100644
index 8d67226b..00000000
--- a/doc/_static/doc/MB03ID.html
+++ /dev/null
@@ -1,321 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ID">MB03ID</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form, with
-
-                       (  0  I  )      (  A  D  )      (  B  F  )
-    S = J Z' J' Z, J = (        ), Z = (        ), H = (        ),
-                       ( -I  0  )      (  0  C  )      (  0 -B' )
-
-  to the leading principal subpencil, while keeping the triangular
-  form. Above, A is upper triangular, B is upper quasi-triangular,
-  and C is lower triangular.
-  The matrices Z and H are transformed by an orthogonal symplectic
-  matrix U and an orthogonal matrix Q such that
-
-                    (  Aout  Dout  )
-    Zout = U' Z Q = (              ), and
-                    (    0   Cout  )
-                                                                 (1)
-                         (  Bout  Fout  )
-    Hout = J Q' J' H Q = (              ),
-                         (    0  -Bout' )
-
-  where Aout, Bout and Cout remain in triangular form. The notation
-  M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
-  that fulfills (1) is computed.
-  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
-  symplectic matrix
-
-        (  U1  U2  )
-    U = (          )
-        ( -U2  U1  )
-
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ID( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
-     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
-     $                   IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
-     $                   LDWORK, LIWORK, N, NEIG
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( *  ), F( LDF, * ),
-     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-  COMPU   CHARACTER*1
-          Specifies whether or not the orthogonal symplectic
-          transformations should be accumulated in the arrays U1 and
-          U2, as follows:
-          = 'N':  U1 and U2 are not computed;
-          = 'I':  the arrays U1 and U2 are initialized internally,
-                  and the submatrices U1 and U2 defining the
-                  orthogonal symplectic matrix U are returned;
-          = 'U':  the arrays U1 and U2 contain the corresponding
-                  submatrices of an orthogonal symplectic matrix U0
-                  on entry, and the updated submatrices U1 and U2
-                  of the matrix product U0*U are returned, where U
-                  is the product of the orthogonal symplectic
-                  transformations that are applied to the pencil
-                  aS - bH to reorder the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A. The elements of the
-          strictly lower triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                         (LDC, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the lower triangular matrix C. The elements of the
-          strictly upper triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Cout.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                         (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper quasi-triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper quasi-triangular part of
-          the matrix Bout.
-          The part below the first subdiagonal of this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) DOUBLE PRECISION array, dimension
-                         (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the symmetric matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced, except for the element F(N/2,N/2-1), but its
-          initial value is preserved.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices Z and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU1, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper left block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U1 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U1 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= 1,           if COMPU = 'N';
-          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU2, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper right block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U2 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U2 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= 1,           if COMPU = 'N';
-          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= N+1.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If COMPQ = 'N',
-             LDWORK &gt;= MAX(2*N+48,171);
-          if COMPQ = 'I' or COMPQ = 'U',
-             LDWORK &gt;= MAX(4*N+48,171).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm did not converge in SLICOT
-               Library routine MB03BB;
-          = 2: an error occured during the execution of MB03CD;
-          = 3: an error occured during the execution of MB03GD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts in the pencil aS - bH.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aC'*A - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues of the R-th block to the (MM+1)-th
-          block, where R denotes the number of upper quasi-
-          triangular blocks in aC'*A - bB and MM denotes the current
-          number of blocks in aC'*A - bB with eigenvalues with
-          negative real parts.
-
-  The algorithm uses a sequence of orthogonal transformations as
-  described on page 25 in [1]. To achieve those transformations the
-  elementary subroutines MB03CD and MB03GD are called for the
-  corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03IZ.html b/doc/_static/doc/MB03IZ.html
deleted file mode 100644
index 95dbad4e..00000000
--- a/doc/_static/doc/MB03IZ.html
+++ /dev/null
@@ -1,305 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03IZ">MB03IZ</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (factored version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form, with
-
-                             (  0  I  )
-    S = J Z' J' Z, where J = (        ),
-                             ( -I  0  )
-
-  to the leading principal subpencil, while keeping the triangular
-  form. On entry, we have
-
-        (  A  D  )      (  B  F  )
-    Z = (        ), H = (        ),
-        (  0  C  )      (  0 -B' )
-
-  where A and B are upper triangular and C is lower triangular.
-  Z and H are transformed by a unitary symplectic matrix U and a
-  unitary matrix Q such that
-
-                    (  Aout  Dout  )
-    Zout = U' Z Q = (              ), and
-                    (    0   Cout  )
-                                                                 (1)
-                         (  Bout  Fout  )
-    Hout = J Q' J' H Q = (              ), 
-                         (    0  -Bout' )
-
-  where Aout, Bout and Cout remain in triangular form. The notation
-  M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
-  that fulfills (1) is computed.
-  Optionally, if COMPU = 'I' or COMPU = 'U', the unitary symplectic
-  matrix 
-
-        (  U1  U2  )
-    U = (          )
-        ( -U2  U1  )   
-
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03IZ( COMPQ, COMPU, N, A, LDA, C, LDC, D, LDD, B,
-     $                   LDB, F, LDF, Q, LDQ, U1, LDU1, U2, LDU2, NEIG,
-     $                   TOL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDQ, LDU1, LDU2,
-     $                   N, NEIG
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), F( LDF, * ), Q( LDQ, * ),
-     $                   U1( LDU1, * ), U2( LDU2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the unitary matrix Q is returned;
-          = 'U':  the array Q contains a unitary matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the unitary transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-  COMPU   CHARACTER*1
-          Specifies whether or not the unitary symplectic
-          transformations should be accumulated in the arrays U1 and
-          U2, as follows:
-          = 'N':  U1 and U2 are not computed;
-          = 'I':  the arrays U1 and U2 are initialized internally,
-                  and the submatrices U1 and U2 defining the
-                  unitary symplectic matrix U are returned;
-          = 'U':  the arrays U1 and U2 contain the corresponding
-                  submatrices of a unitary symplectic matrix U0
-                  on entry, and the updated submatrices U1 and U2
-                  of the matrix product U0*U are returned, where U
-                  is the product of the unitary symplectic
-                  transformations that are applied to the pencil
-                  aS - bH to reorder the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the lower triangular matrix C.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Cout.
-          The strictly upper triangular part of this array is not
-          referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N/2).
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Bout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the Hermitian matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the unitary transformation matrix Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  U1      (input/output) COMPLEX*16 array, dimension (LDU1, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper left block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U1 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices S and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U1 of the
-          unitary symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= 1,           if COMPU = 'N';
-          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  U2      (input/output) COMPLEX*16 array, dimension (LDU2, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper right block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U2 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices S and H.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U2 of the
-          unitary symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= 1,           if COMPU = 'N';
-          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance used to decide the sign of the eigenvalues.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by MIN(N,10)*EPS, is
-          used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH). A larger value might be
-          needed for pencils with multiple eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-                                                     
-  Step 1: Reorder the eigenvalues in the subpencil aC'*A - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aC'*A - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
-          place, where MM denotes the current number of eigenvalues
-          with negative real parts in aC'*A - bB.
-
-  The algorithm uses a sequence of unitary transformations as
-  described on page 38 in [1]. To achieve those transformations the
-  elementary SLICOT Library subroutines MB03CZ and MB03GZ are called
-  for the corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03JD.html b/doc/_static/doc/MB03JD.html
deleted file mode 100644
index 2c23d6f5..00000000
--- a/doc/_static/doc/MB03JD.html
+++ /dev/null
@@ -1,250 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03JD">MB03JD</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form,
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  with A upper triangular and B upper quasi-triangular, to the
-  leading principal subpencil, while keeping the triangular form.
-  The notation M' denotes the transpose of the matrix M.
-  The matrices S and H are transformed by an orthogonal matrix Q
-  such that
-
-                         (  Aout  Dout  )  
-    Sout = J Q' J' S Q = (              ),
-                         (    0   Aout' )  
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (  0    -Bout' )           ( -I  0  )
-
-  where Aout is upper triangular and Bout is upper quasi-triangular.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
-  that fulfills (1), is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03JD( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
-     $                   N, NEIG
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A. The elements of the
-          strictly lower triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                        (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-symmetric
-          matrix D. The diagonal need not be set to zero.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Dout.
-          The strictly lower triangular part of this array is
-          not referenced, except for the element D(N/2,N/2-1), but
-          its initial value is preserved.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper quasi-triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper quasi-triangular part of
-          the matrix Bout.
-          The part below the first subdiagonal of this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) DOUBLE PRECISION array, dimension
-                        (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the symmetric matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced, except for the element F(N/2,N/2-1), but its
-          initial value is preserved.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= N+1.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If COMPQ = 'N',
-             LDWORK &gt;= MAX(2*N+32,108);
-          if COMPQ = 'I' or COMPQ = 'U',
-             LDWORK &gt;= MAX(4*N+32,108).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: error occured during execution of MB03DD;
-          = 2: error occured during execution of MB03HD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts in the pencil aS - bH.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues of the R-th block to the (MM+1)-th
-          block, where R denotes the number of upper quasi-
-          triangular blocks in aA - bB and MM denotes the current
-          number of blocks in aA - bB with eigenvalues with negative
-          real parts.
-
-  The algorithm uses a sequence of orthogonal transformations as
-  described on page 33 in [1]. To achieve those transformations the
-  elementary subroutines MB03DD and MB03HD are called for the
-  corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03JP.html b/doc/_static/doc/MB03JP.html
deleted file mode 100644
index 0806d945..00000000
--- a/doc/_static/doc/MB03JP.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03JP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03JP">MB03JP</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a real skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N real skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form,
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  with A upper triangular and B upper quasi-triangular, to the
-  leading principal subpencil, while keeping the triangular form.
-  The notation M' denotes the transpose of the matrix M.
-  The matrices S and H are transformed by an orthogonal matrix Q
-  such that
-
-                         (  Aout  Dout  )  
-    Sout = J Q' J' S Q = (              ),
-                         (    0   Aout' )  
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (  0    -Bout' )           ( -I  0  )
-
-  where Aout is upper triangular and Bout is upper quasi-triangular.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal matrix Q
-  that fulfills (1), is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03JP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, LDWORK, LIWORK,
-     $                   N, NEIG
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ),  F( LDF, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A. The elements of the
-          strictly lower triangular part of this array are not used.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                        (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-symmetric
-          matrix D. The diagonal need not be set to zero.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Dout.
-          The strictly lower triangular part of this array is
-          not referenced, except for the element D(N/2,N/2-1), but
-          its initial value is preserved.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper quasi-triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper quasi-triangular part of
-          the matrix Bout.
-          The part below the first subdiagonal of this array is
-          not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) DOUBLE PRECISION array, dimension
-                        (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the symmetric matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed upper triangular part of the
-          matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced, except for the element F(N/2,N/2-1), but its
-          initial value is preserved.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= 3*N-3.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If COMPQ = 'N',
-             LDWORK &gt;= MAX(2*N+32,108)+5*N/2;
-          if COMPQ = 'I' or COMPQ = 'U',
-             LDWORK &gt;= MAX(4*N+32,108)+5*N/2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: error occured during execution of MB03DD;
-          = 2: error occured during execution of MB03HD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real
-          parts in the pencil aS - bH.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues of the R-th block to the (MM+1)-th
-          block, where R denotes the number of upper quasi-
-          triangular blocks in aA - bB and MM denotes the current
-          number of blocks in aA - bB with eigenvalues with negative
-          real parts.
-
-  The algorithm uses a sequence of orthogonal transformations as
-  described on page 33 in [1]. To achieve those transformations the
-  elementary subroutines MB03DD and MB03HD are called for the
-  corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03JZ.html b/doc/_static/doc/MB03JZ.html
deleted file mode 100644
index e04bc525..00000000
--- a/doc/_static/doc/MB03JZ.html
+++ /dev/null
@@ -1,228 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03JZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03JZ">MB03JZ</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form to the leading principal subpencil, while
-  keeping the triangular form. On entry, we have
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  where A and B are upper triangular.
-  S and H are transformed by a unitary matrix Q such that
-
-                         (  Aout  Dout  )
-    Sout = J Q' J' S Q = (              ), and
-                         (    0   Aout' )
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (    0  -Bout' )           ( -I  0  )
-
-  where Aout and Bout remain in upper triangular form. The notation
-  M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03JZ( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, TOL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   F( LDF, * ), Q( LDQ, * ) 
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the unitary matrix Q is returned;
-          = 'U':  the array Q contains a unitary matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the unitary transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-Hermitian
-          matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Bout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the Hermitian matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the unitary transformation matrix Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance used to decide the sign of the eigenvalues.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by MIN(N,10)*EPS, is
-          used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH). A larger value might be
-          needed for pencils with multiple eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real parts.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
-          place, where MM denotes the current number of eigenvalues
-          with negative real parts in aA - bB.
-
-  The algorithm uses a sequence of unitary transformations as
-  described on page 43 in [1]. To achieve those transformations the
-  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
-  for the corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03KA.html b/doc/_static/doc/MB03KA.html
deleted file mode 100644
index eebb1ff8..00000000
--- a/doc/_static/doc/MB03KA.html
+++ /dev/null
@@ -1,270 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KA">MB03KA</A></H2>
-<H3>
-Moving diagonal blocks at a specified position in a formal matrix product to another position
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the formal matrix product
-
-     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
-
-  of length K, in the generalized periodic Schur form
-
-           [  T11_k  T12_k  T13_k  ]
-     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
-           [    0      0    T33_k  ]
-
-  where
-
-  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
-    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
-    infinite eigenvalues,
-  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
-    which are generically neither zero nor infinite,
-  - the submatrices T33_k contain dimension-induced zero
-    eigenvalues,
-
-  such that the block with starting row index IFST in (1) is moved
-  to row index ILST. The indices refer to the T22_k submatrices.
-
-  Optionally, the transformation matrices Q_1,...,Q_K from the
-  reduction into generalized periodic Schur form are updated with
-  respect to the performed reordering.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KA( COMPQ, WHICHQ, WS, K, NC, KSCHUR, IFST, ILST,
-     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      LOGICAL            WS
-      INTEGER            IFST, ILST, INFO, K, KSCHUR, LDWORK, NC
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
-     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
-      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N': do not compute any of the matrices Q_k;
-          = 'U': each coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the products Q1_k*Q_k are
-                 returned, where Q_k, k = 1, ..., K, performed the
-                 reordering;
-          = 'W': the computation of each Q_k is specified
-                 individually in the array WHICHQ.
-
-  WHICHQ  INTEGER array, dimension (K)
-          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
-          as follows:
-          = 0:   do not compute Q_k;
-          &gt; 0:   the kth coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the product Q1_k*Q_k is
-                 returned.
-          This array is not referenced if COMPQ &lt;&gt; 'W'.
-
-  WS      LOGICAL
-          = .FALSE. : do not perform the strong stability tests;
-          = .TRUE.  : perform the strong stability tests; often,
-                      this is not needed, and omitting them can save
-                      some computations.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences T and Q (the
-          number of factors in the matrix product).  K &gt;= 2.
-          (For K = 1, a standard eigenvalue reordering problem is
-          obtained.)
-
-  NC      (input) INTEGER
-          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
-
-  KSCHUR  (input) INTEGER
-          The index for which the matrix T22_kschur is upper quasi-
-          triangular. All other T22 matrices are upper triangular.
-
-  IFST    (input/output) INTEGER
-  ILST    (input/output) INTEGER
-          Specify the reordering of the diagonal blocks, as follows:
-          The block with starting row index IFST in (1) is moved to
-          row index ILST by a sequence of direct swaps between adjacent
-          blocks in the product.
-          On exit, if IFST pointed on entry to the second row of a
-          2-by-2 block in the product, it is changed to point to the
-          first row; ILST always points to the first row of the block
-          in its final position in the product (which may differ from
-          its input value by +1 or -1).
-          1 &lt;= IFST &lt;= NC, 1 &lt;= ILST &lt;= NC.
-
-  N       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the formal matrix product T,
-          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
-          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
-          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
-
-  NI      (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the matrix sequence T11_k.
-          N(k) &gt;= NI(k) + NC &gt;= 0.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequence. Each entry in S must be either 1 or -1;
-          the value S(k) = -1 corresponds to using the inverse of
-          the factor T_k.
-
-  T       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXT(k) the
-          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
-          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
-          Schur form.
-          On exit, the matrices T_k are overwritten by the reordered
-          periodic Schur form.
-
-  LDT     INTEGER array, dimension (K)
-          The leading dimensions of the matrices T_k in the one-
-          dimensional array T.
-          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
-          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
-
-  IXT     INTEGER array, dimension (K)
-          Start indices of the matrices T_k in the one-dimensional
-          array T.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXQ(k) a
-          matrix Q_k of size at least N(k)-by-N(k), provided that
-          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
-          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
-          Q_k is post-multiplied with the orthogonal matrix that
-          performed the reordering.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ     INTEGER array, dimension (K)
-          The leading dimensions of the matrices Q_k in the one-
-          dimensional array Q.
-          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
-                                                    WHICHQ(k) &gt; 0;
-          This array is not referenced if COMPQ = 'N'.
-
-  IXQ     INTEGER array, dimension (K)
-          Start indices of the matrices Q_k in the one-dimensional
-          array Q.
-          This array is not referenced if COMPQ = 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension (3)
-          This array contains tolerance parameters. The weak and
-          strong stability tests use a threshold computed by the
-          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
-          NRM is the Frobenius norm of the current matrix formed by
-          concatenating K pairs of adjacent diagonal blocks of sizes
-          1 and/or 2 in the T22_k submatrices from (2), which are
-          swapped, and EPS and SMLNUM are the machine precision and
-          safe minimum divided by EPS, respectively (see LAPACK
-          Library routine DLAMCH). The norm NRM is computed by this
-          routine; the other values are stored in the array TOL.
-          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
-          respectively. TOL(1) should normally be at least 10.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*K)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 10*K + MN, if all blocks between IFST and ILST
-                               have order 1;
-          LDWORK &gt;= 25*K + MN, if there is at least a block of
-                               order 2, but no adjacent blocks of
-                               order 2 can appear between IFST and
-                               ILST during reordering;
-          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if at least a pair of
-                               adjacent blocks of order 2 can appear
-                               between IFST and ILST during
-                               reordering;
-          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
-          MXN = MAX(N(k),k=1,...,K).
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -21, the LDWORK argument was too small;
-          = 1:  the reordering of T failed because some eigenvalues
-                are too close to separate (the problem is very ill-
-                conditioned); T may have been partially reordered.
-                The returned value of ILST is the index where this
-                was detected.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An adaptation of the LAPACK Library routine DTGEXC is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03KB.html b/doc/_static/doc/MB03KB.html
deleted file mode 100644
index b6143337..00000000
--- a/doc/_static/doc/MB03KB.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KB">MB03KB</A></H2>
-<H3>
-Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in a formal matrix product
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the formal matrix product
-
-     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1)              (1)
-
-  of length K in the generalized periodic Schur form
-
-           [  T11_k  T12_k  T13_k  ]
-     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
-           [    0      0    T33_k  ]
-
-  where
-
-  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
-    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
-    infinite eigenvalues,
-  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
-    which are generically neither zero nor infinite,
-  - the submatrices T33_k contain dimension-induced zero
-    eigenvalues,
-
-  such that pairs of adjacent diagonal blocks of sizes 1 and/or 2 in
-  the product (1) are swapped.
-
-  Optionally, the transformation matrices Q_1,...,Q_K from the
-  reduction into generalized periodic Schur form are updated with
-  respect to the performed reordering.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KB( COMPQ, WHICHQ, WS, K, NC, KSCHUR, J1, N1, N2,
-     $                   N, NI, S, T, LDT, IXT, Q, LDQ, IXQ, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      LOGICAL            WS
-      INTEGER            INFO, J1, K, KSCHUR, LDWORK, N1, N2, NC
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
-     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
-      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * ), TOL( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N': do not compute any of the matrices Q_k;
-          = 'U': each coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the products Q1_k*Q_k are
-                 returned, where Q_k, k = 1, ..., K, performed the
-                 reordering;
-          = 'W': the computation of each Q_k is specified
-                 individually in the array WHICHQ.
-
-  WHICHQ  INTEGER array, dimension (K)
-          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
-          as follows:
-          = 0:   do not compute Q_k;
-          &gt; 0:   the kth coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the product Q1_k*Q_k is
-                 returned.
-          This array is not referenced if COMPQ &lt;&gt; 'W'.
-
-  WS      LOGICAL
-          = .FALSE. : do not perform the strong stability tests;
-          = .TRUE.  : perform the strong stability tests; often,
-                      this is not needed, and omitting them can save
-                      some computations.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences T and Q (the
-          number of factors in the matrix product).  K &gt;= 2.
-          (For K = 1, a standard eigenvalue reordering problem is
-          obtained.)
-
-  NC      (input) INTEGER
-          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
-
-  KSCHUR  (input) INTEGER
-          The index for which the matrix T22_kschur is upper quasi-
-          triangular.
-
-  J1      (input) INTEGER
-          The index of the first row and column of the first block
-          to swap in T22_k.
-          1 &lt;= J1 &lt;= NC-N1-N2+1.
-
-  N1      (input) INTEGER
-          The order of the first block to swap.   N1 = 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of the second block to swap.  N2 = 0, 1 or 2.
-
-  N       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the formal matrix product T,
-          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
-          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
-          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
-
-  NI      (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the matrix sequence T11_k.
-          N(k) &gt;= NI(k) + NC &gt;= 0.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequence. Each entry in S must be either 1 or -1;
-          the value S(k) = -1 corresponds to using the inverse of
-          the factor T_k.
-
-  T       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXT(k) the
-          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
-          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
-          Schur form.
-          On exit, the matrices T_k are overwritten by the reordered
-          periodic Schur form.
-
-  LDT     INTEGER array, dimension (K)
-          The leading dimensions of the matrices T_k in the one-
-          dimensional array T.
-          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
-          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
-
-  IXT     INTEGER array, dimension (K)
-          Start indices of the matrices T_k in the one-dimensional
-          array T.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXQ(k) a
-          matrix Q_k of size at least N(k)-by-N(k), provided that
-          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0.
-          On exit, if COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) &gt; 0,
-          Q_k is post-multiplied with the orthogonal matrix that
-          performed the reordering.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ     INTEGER array, dimension (K)
-          The leading dimensions of the matrices Q_k in the one-
-          dimensional array Q.  LDQ(k) &gt;= 1, and
-          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'U', or COMPQ = 'W' and
-                                                    WHICHQ(k) &gt; 0;
-          This array is not referenced if COMPQ = 'N'.
-
-  IXQ     INTEGER array, dimension (K)
-          Start indices of the matrices Q_k in the one-dimensional
-          array Q.
-          This array is not referenced if COMPQ = 'N'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension (3)
-          This array contains tolerance parameters. The weak and
-          strong stability tests use a threshold computed by the
-          formula  MAX( c*EPS*NRM, SMLNUM ),  where c is a constant,
-          NRM is the Frobenius norm of the matrix formed by
-          concatenating K pairs of adjacent diagonal blocks of sizes
-          1 and/or 2 in the T22_k submatrices from (2), which are
-          swapped, and EPS and SMLNUM are the machine precision and
-          safe minimum divided by EPS, respectively (see LAPACK
-          Library routine DLAMCH). The norm NRM is computed by this
-          routine; the other values are stored in the array TOL.
-          TOL(1), TOL(2), and TOL(3) contain c, EPS, and SMLNUM,
-          respectively. TOL(1) should normally be at least 10.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*K)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 10*K + MN,                 if N1 = 1, N2 = 1;
-          LDWORK &gt;= 25*K + MN,                 if N1 = 1, N2 = 2;
-          LDWORK &gt;= MAX(23*K + MN, 25*K - 12), if N1 = 2, N2 = 1;
-          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if N1 = 2, N2 = 2;
-          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
-          MXN = MAX(N(k),k=1,...,K).
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -22, then LDWORK is too small; appropriate
-                value for LDWORK is returned in DWORK(1); the other
-                arguments are not tested, for efficiency;
-          = 1:  the swap was rejected from stability reasons; the
-                blocks are not swapped and T and Q are unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm described in [1] is used. Both weak and strong
-  stability tests are performed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Granat, R., Kagstrom, B. and Kressner, D.
-      Computing periodic deflating subspaces associated with a
-      specified set of eigenvalues.
-      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-                               3
-  The algorithm requires 0(K NC ) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03KC.html b/doc/_static/doc/MB03KC.html
deleted file mode 100644
index e71ab7ad..00000000
--- a/doc/_static/doc/MB03KC.html
+++ /dev/null
@@ -1,143 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KC">MB03KC</A></H2>
-<H3>
-Reducing a 2-by-2 formal matrix product to periodic Hessenberg-triangular form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a 2-by-2 general, formal matrix product A of length K,
-
-     A_K^s(K) * A_K-1^s(K-1) * ... * A_1^s(1),
-
-  to the periodic Hessenberg-triangular form using a K-periodic
-  sequence of elementary reflectors (Householder matrices). The
-  matrices A_k, k = 1, ..., K, are stored in the N-by-N-by-K array A
-  starting in the R-th row and column, and N can be 3 or 4.
-
-  Each elementary reflector H_k is represented as
-
-     H_k = I - tau_k * v_k * v_k',                               (1)
-
-  where I is the 2-by-2 identity, tau_k is a real scalar, and v_k is
-  a vector of length 2, k = 1,...,K, and it is constructed such that
-  the following holds for k = 1,...,K:
-
-         H_{k+1} * A_k * H_k = T_k, if s(k) = 1,
-                                                                 (2)
-         H_k * A_k * H_{k+1} = T_k, if s(k) = -1,
-
-  with H_{K+1} = H_1 and all T_k upper triangular except for
-  T_{khess} which is full. Clearly,
-
-     T_K^s(K) *...* T_1^s(1) = H_1 * A_K^s(K) *...* A_1^s(1) * H_1.
-
-  The reflectors are suitably applied to the whole, extended N-by-N
-  matrices Ae_k, not only to the submatrices A_k, k = 1, ..., K.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KC( K, KHESS, N, R, S, A, LDA, V, TAU )
-C     .. Scalar Arguments ..
-      INTEGER            K, KHESS, LDA, N, R
-C     .. Array Arguments ..
-      INTEGER            S( * )
-      DOUBLE PRECISION   A( * ), TAU( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of matrices in the sequence A_k.  K &gt;= 2.
-
-  KHESS   (input) INTEGER
-          The index for which the returned matrix A_khess should be
-          in the Hessenberg form on output.  1 &lt;= KHESS &lt;= K.
-
-  N       (input) INTEGER
-          The order of the extended matrices.  N = 3 or N = 4.
-
-  R       (input) INTEGER
-          The starting row and column index for the
-          2-by-2 submatrices.  R = 1, or R = N-1.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1; the value S(k) = -1 corresponds to using the
-          inverse of the factor A_k.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXA(k) =
-          (k-1)*N*LDA+1 the N-by-N matrix Ae_k stored with leading
-          dimension LDA.
-          On exit, this array contains at position IXA(k) the
-          N-by-N matrix Te_k stored with leading dimension LDA.
-
-  LDA     INTEGER
-          Leading dimension of the matrices Ae_k and Te_k in the
-          one-dimensional array A.  LDA &gt;= N.
-
-  V       (output) DOUBLE PRECISION array, dimension (2*K)
-          On exit, this array contains the K vectors v_k,
-          k = 1,...,K, defining the elementary reflectors H_k as
-          in (1). The k-th reflector is stored in V(2*k-1:2*k).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (K)
-          On exit, this array contains the K values of tau_k,
-          k = 1,...,K, defining the elementary reflectors H_k
-          as in (1).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A K-periodic sequence of elementary reflectors (Householder
-  matrices) is used. The computations start for k = khess with the
-  left reflector in (1), which is the identity matrix.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03KD.html b/doc/_static/doc/MB03KD.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03KD.html
+++ /dev/null
@@ -1,521 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KD">MB03KD</A></H2>
-<H3>
-Reordering the diagonal blocks of a formal matrix product using periodic QZ algorithm
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the formal matrix product
-
-     T22_K^S(K) * T22_K-1^S(K-1) * ... * T22_1^S(1),             (1)
-
-  of length K, in the generalized periodic Schur form,
-
-           [  T11_k  T12_k  T13_k  ]
-     T_k = [    0    T22_k  T23_k  ],    k = 1, ..., K,          (2)
-           [    0      0    T33_k  ]
-
-  where
-
-  - the submatrices T11_k are NI(k+1)-by-NI(k), if S(k) = 1, or
-    NI(k)-by-NI(k+1), if S(k) = -1, and contain dimension-induced
-    infinite eigenvalues,
-  - the submatrices T22_k are NC-by-NC and contain core eigenvalues,
-    which are generically neither zero nor infinite,
-  - the submatrices T33_k contain dimension-induced zero
-    eigenvalues,
-
-  such that the M selected eigenvalues pointed to by the logical
-  vector SELECT end up in the leading part of the matrix sequence
-  T22_k.
-
-  Given that N(k) = N(k+1) for all k where S(k) = -1, the T11_k are
-  void and the first M columns of the updated orthogonal
-  transformation matrix sequence Q_1, ..., Q_K span a periodic
-  deflating subspace corresponding to the same eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KD( COMPQ, WHICHQ, STRONG, K, NC, KSCHUR, N, NI, S,
-     $                   SELECT, T, LDT, IXT, Q, LDQ, IXQ, M, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, STRONG
-      INTEGER            INFO, K, KSCHUR, LDWORK, M, NC
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      LOGICAL            SELECT( * )
-      INTEGER            IWORK( * ), IXQ( * ), IXT( * ), LDQ( * ),
-     $                   LDT( * ), N( * ), NI( * ), S( * ), WHICHQ( * )
-      DOUBLE PRECISION   DWORK( * ), Q( * ), T( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrices Q_k, as follows:
-          = 'N': do not compute any of the matrices Q_k;
-          = 'I': each coefficient of Q is initialized internally to
-                 the identity matrix, and the orthogonal matrices
-                 Q_k are returned, where Q_k, k = 1, ..., K,
-                 performed the reordering;
-          = 'U': each coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the products Q1_k*Q_k are
-                 returned;
-          = 'W': the computation of each Q_k is specified
-                 individually in the array WHICHQ.
-
-  WHICHQ  INTEGER array, dimension (K)
-          If COMPQ = 'W', WHICHQ(k) specifies the computation of Q_k
-          as follows:
-          = 0:   do not compute Q_k;
-          = 1:   the kth coefficient of Q is initialized to the
-                 identity matrix, and the orthogonal matrix Q_k is
-                 returned;
-          = 2:   the kth coefficient of Q must contain an orthogonal
-                 matrix Q1_k on entry, and the product Q1_k*Q_k is
-                 returned.
-          This array is not referenced if COMPQ &lt;&gt; 'W'.
-
-  STRONG  CHARACTER*1
-          Specifies whether to perform the strong stability tests,
-          as follows:
-          = 'N': do not perform the strong stability tests;
-          = 'S': perform the strong stability tests; often, this is
-                 not needed, and omitting them can save some
-                 computations.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences T and Q (the
-          number of factors in the matrix product).  K &gt;= 2.
-          (For K = 1, a standard eigenvalue reordering problem is
-          obtained.)
-
-  NC      (input) INTEGER
-          The number of core eigenvalues.  0 &lt;= NC &lt;= min(N).
-
-  KSCHUR  (input) INTEGER
-          The index for which the matrix T22_kschur is upper quasi-
-          triangular. All other T22 matrices are upper triangular.
-
-  N       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the formal matrix product T,
-          such that the k-th coefficient T_k is an N(k+1)-by-N(k)
-          matrix, if S(k) = 1, or an N(k)-by-N(k+1) matrix,
-          if S(k) = -1, k = 1, ..., K, where N(K+1) = N(1).
-
-  NI      (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          dimensions of the factors of the matrix sequence T11_k.
-          N(k) &gt;= NI(k) + NC &gt;= 0.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequence. Each entry in S must be either 1 or -1;
-          the value S(k) = -1 corresponds to using the inverse of
-          the factor T_k.
-
-  SELECT  (input) LOGICAL array, dimension (NC)
-          SELECT specifies the eigenvalues in the selected cluster.
-          To select a real eigenvalue w(j), SELECT(j) must be set to
-          .TRUE.. To select a complex conjugate pair of eigenvalues
-          w(j) and w(j+1), corresponding to a 2-by-2 diagonal block,
-          either SELECT(j) or SELECT(j+1) or both must be set to
-          .TRUE.; a complex conjugate pair of eigenvalues must be
-          either both included in the cluster or both excluded.
-
-  T       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXT(k) the
-          matrix T_k, which is at least N(k+1)-by-N(k), if S(k) = 1,
-          or at least N(k)-by-N(k+1), if S(k) = -1, in periodic
-          Schur form.
-          On exit, the matrices T_k are overwritten by the reordered
-          periodic Schur form.
-
-  LDT     INTEGER array, dimension (K)
-          The leading dimensions of the matrices T_k in the one-
-          dimensional array T.
-          LDT(k) &gt;= max(1,N(k+1)),  if S(k) =  1,
-          LDT(k) &gt;= max(1,N(k)),    if S(k) = -1.
-
-  IXT     INTEGER array, dimension (K)
-          Start indices of the matrices T_k in the one-dimensional
-          array T.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (*)
-          On entry, this array must contain at position IXQ(k) a
-          matrix Q_k of size at least N(k)-by-N(k), provided that
-          COMPQ = 'U', or COMPQ = 'W' and WHICHQ(k) = 2.
-          On exit, if COMPQ = 'I' or COMPQ = 'W' and WHICHQ(k) = 1,
-          Q_k contains the orthogonal matrix that performed the
-          reordering. If COMPQ = 'U', or COMPQ = 'W' and
-          WHICHQ(k) = 2, Q_k is post-multiplied with the orthogonal
-          matrix that performed the reordering.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ     INTEGER array, dimension (K)
-          The leading dimensions of the matrices Q_k in the one-
-          dimensional array Q.
-          LDQ(k) &gt;= max(1,N(k)), if COMPQ = 'I', or COMPQ = 'U', or
-                                    COMPQ = 'W' and WHICHQ(k) &gt; 0;
-          This array is not referenced if COMPQ = 'N'.
-
-  IXQ     INTEGER array, dimension (K)
-          Start indices of the matrices Q_k in the one-dimensional
-          array Q.
-          This array is not referenced if COMPQ = 'N'.
-
-  M       (output) INTEGER
-          The number of selected core eigenvalues which were
-          reordered to the top of T22_k.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance parameter c. The weak and strong stability
-          tests performed for checking the reordering use a
-          threshold computed by the formula  MAX(c*EPS*NRM, SMLNUM),
-          where NRM is the varying Frobenius norm of the matrices
-          formed by concatenating K pairs of adjacent diagonal
-          blocks of sizes 1 and/or 2 in the T22_k submatrices from
-          (2), which are swapped, and EPS and SMLNUM are the machine
-          precision and safe minimum divided by EPS, respectively
-          (see LAPACK Library routine DLAMCH). The value c should
-          normally be at least 10.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*K)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 10*K + MN, if all blocks involved in reordering
-                               have order 1;
-          LDWORK &gt;= 25*K + MN, if there is at least a block of
-                               order 2, but no adjacent blocks of
-                               order 2 are involved in reordering;
-          LDWORK &gt;= MAX(42*K + MN, 80*K - 48), if there is at least
-                               a pair of adjacent blocks of order 2
-                               involved in reordering;
-          where MN = MXN, if MXN &gt; 10, and MN = 0, otherwise, with
-          MXN = MAX(N(k),k=1,...,K).
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reordering of T failed because some eigenvalues
-                are too close to separate (the problem is very ill-
-                conditioned); T may have been partially reordered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An adaptation of the LAPACK Library routine DTGSEN is used.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            KMAX, NMAX
-      PARAMETER          ( KMAX = 6, NMAX = 50 )
-      INTEGER            LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
-      PARAMETER          ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                     LDQ2 = NMAX,
-     $                     LDWORK = MAX( 42*KMAX + NMAX, 80*KMAX - 48,
-     $                                   KMAX + MAX( 2*NMAX, 8*KMAX ) ),
-     $                     LIWORK = MAX( 4*KMAX, 2*KMAX + NMAX ) )
-      DOUBLE PRECISION   HUND, ZERO
-      PARAMETER          ( HUND = 1.0D2, ZERO = 0.0D0 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, DEFL, JOB, STRONG
-      INTEGER            H, I, IHI, ILO, INFO, IWARN, J, K, L, M, N, P
-      DOUBLE PRECISION   TOL
-*
-*     .. Local Arrays ..
-      LOGICAL            SELECT( NMAX )
-      INTEGER            IWORK( LIWORK ), IXQ( KMAX ), IXT( KMAX ),
-     $                   LDQ( KMAX ), LDT( KMAX ), ND( KMAX ),
-     $                   NI( KMAX ), QIND( KMAX ), S( KMAX ),
-     $                   SCAL( NMAX )
-      DOUBLE PRECISION   A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
-     $                   ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
-     $                   Q( LDQ1, LDQ2, KMAX ), QK( NMAX*NMAX*KMAX ),
-     $                   T( NMAX*NMAX*KMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           DLACPY, MB03BD, MB03KD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          INT, MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, DEFL, COMPQ, STRONG, K, N, H, ILO, IHI
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         TOL = HUND
-         READ( NIN, FMT = * ) ( S( I ), I = 1, K )
-         READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
-     $                                I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'U' ) )
-     $      READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
-     $                                   I = 1, N ), L = 1, K )
-         IF( LSAME( COMPQ, 'P' ) ) THEN
-            READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
-            DO 10 L = 1, K
-               IF( QIND( L ).GT.0 )
-     $            READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
-     $                                    J = 1, N ), I = 1, N )
-   10       CONTINUE
-         END IF
-         IF( LSAME( JOB, 'E' ) )
-     $      JOB = 'S'
-*        Compute the eigenvalues and the transformed matrices.
-         CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
-     $                LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
-     $                SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE IF( IWARN.EQ.0 ) THEN
-*           Prepare the data for calling MB03KD, which uses different
-*           data structures and reverse ordering of the factors.
-            DO 20 L = 1, K
-               ND(  L ) = MAX( 1, N )
-               NI(  L ) = 0
-               LDT( L ) = MAX( 1, N )
-               IXT( L ) = ( L - 1 )*LDT( L )*N + 1
-               LDQ( L ) = MAX( 1, N )
-               IXQ( L ) = IXT( L )
-               IF( L.LE.INT( K/2 ) ) THEN
-                  I = S( K - L + 1 )
-                  S( K - L + 1 ) = S( L )
-                  S( L ) = I
-               END IF
-   20       CONTINUE
-            DO 30 L = 1, K
-               CALL DLACPY( 'Full', N, N, A( 1, 1, K-L+1 ), LDA1,
-     $                      T( IXT( L ) ), LDT( L ) )
-   30       CONTINUE
-            IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
-               COMPQ = 'U'
-               DO 40 L = 1, K
-                  CALL DLACPY( 'Full', N, N, Q( 1, 1, K-L+1 ), LDQ1,
-     $                         QK( IXQ( L ) ), LDQ( L ) )
-   40          CONTINUE
-            ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
-               COMPQ = 'W'
-               DO 50 L = 1, K
-                  IF( QIND( L ).LT.0 )
-     $                QIND( L ) = 2
-                  P = QIND( L )
-                  IF( P.NE.0 )
-     $               CALL DLACPY( 'Full', N, N, Q( 1, 1, K-P+1 ), LDQ1,
-     $                            QK( IXQ( P ) ), LDQ( P ) )
-   50          CONTINUE
-            END IF
-*           Select eigenvalues with negative real part.
-            DO 60 I = 1, N
-               SELECT( I ) = ALPHAR( I ).LT.ZERO
-   60       CONTINUE
-            WRITE( NOUT, FMT = 99996 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99994 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99991 ) (   SCAL( I ), I = 1, N )
-*           Compute the transformed matrices, after reordering the
-*           eigenvalues.
-            CALL MB03KD( COMPQ, QIND, STRONG, K, N, H, ND, NI, S,
-     $                   SELECT, T, LDT, IXT, QK, LDQ, IXQ, M, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-            IF( INFO.NE.0 ) THEN
-               WRITE( NOUT, FMT = 99990 ) INFO
-            ELSE
-               WRITE( NOUT, FMT = 99989 )
-               DO 80 L = 1, K
-                  P = K - L + 1
-                  WRITE( NOUT, FMT = 99988 ) L
-                  DO 70 I = 1, N
-                     WRITE( NOUT, FMT = 99995 )
-     $                    ( T( IXT( P ) + I - 1 + ( J - 1 )*LDT( P ) ),
-     $                       J = 1, N )
-   70             CONTINUE
-   80          CONTINUE
-               IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
-                  WRITE( NOUT, FMT = 99987 )
-                  DO 100 L = 1, K
-                     P = K - L + 1
-                     WRITE( NOUT, FMT = 99988 ) L
-                     DO 90 I = 1, N
-                        WRITE( NOUT, FMT = 99995 )
-     $                       ( QK( IXQ( P ) + I - 1 +
-     $                           ( J - 1 )*LDQ( P ) ), J = 1, N )
-   90                CONTINUE
-  100             CONTINUE
-               ELSE IF( LSAME( COMPQ, 'W' ) ) THEN
-                  WRITE( NOUT, FMT = 99987 )
-                  DO 120 L = 1, K
-                     IF( QIND( L ).GT.0 ) THEN
-                        P = K - QIND( L ) + 1
-                        WRITE( NOUT, FMT = 99988 ) QIND( L )
-                        DO 110 I = 1, N
-                           WRITE( NOUT, FMT = 99995 )
-     $                          ( QK( IXQ( P ) + I - 1 +
-     $                              ( J - 1 )*LDQ( P ) ), J = 1, N )
-  110                   CONTINUE
-                     END IF
-  120             CONTINUE
-               END IF
-            END IF
-         ELSE
-            WRITE( NOUT, FMT = 99979 ) IWARN
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03KD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
-99996 FORMAT( 'The vector ALPHAR is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The vector ALPHAI is ' )
-99993 FORMAT( 'The vector BETA is ' )
-99992 FORMAT( 'The vector SCAL is ' )
-99991 FORMAT( 50( 1X, I5 ) )
-99990 FORMAT( 'INFO on exit from MB03KD = ', I2 )
-99989 FORMAT( 'The matrix A on exit is ' )
-99988 FORMAT( 'The factor ', I2, ' is ' )
-99987 FORMAT( 'The matrix Q on exit is ' )
-99986 FORMAT( 'LDT', 3I5 )
-99985 FORMAT( 'IXT', 3I5 )
-99984 FORMAT( 'LDQ', 3I5 )
-99983 FORMAT( 'IXQ', 3I5 )
-99982 FORMAT( 'ND' , 3I5 )
-99981 FORMAT( 'NI' , 3I5)
-99980 FORMAT( 'SELECT', 3L5 )
-99979 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03KD EXAMPLE PROGRAM DATA
-   S   C   I   N   3   3   2   1   3
-  -1     1    -1
-   2.0   0.0   1.0
-   0.0  -2.0  -1.0
-   0.0   0.0   3.0
-   1.0   2.0   0.0
-   4.0  -1.0   3.0
-   0.0   3.0   1.0
-   1.0   0.0   1.0
-   0.0   4.0  -1.0
-   0.0   0.0  -2.0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03KD EXAMPLE PROGRAM RESULTS
-The vector ALPHAR is 
-   0.3230   0.3230  -0.8752
-The vector ALPHAI is 
-   0.5694  -0.5694   0.0000
-The vector BETA is 
-   1.0000   1.0000   1.0000
-The vector SCAL is 
-     0     0    -1
-The matrix A on exit is 
-The factor  1 is 
-   2.5997  -0.0087   1.6898
-   0.0000   1.9846   0.1942
-   0.0000   0.0000   2.3259
-The factor  2 is 
-  -2.0990  -1.0831  -2.5601
-   0.0000   3.4838   0.2950
-   0.0000   3.4552  -2.1690
-The factor  3 is 
-   1.8451   0.9260   1.2717
-   0.0000   1.3976  -2.3544
-   0.0000   0.0000  -3.1023
-The matrix Q on exit is 
-The factor  1 is 
-  -0.2052   0.4647  -0.8614
-   0.2033   0.8811   0.4270
-  -0.9574   0.0875   0.2753
-The factor  2 is 
-  -0.7743  -0.1384   0.6176
-   0.6070  -0.4386   0.6627
-   0.1791   0.8880   0.4236
-The factor  3 is 
-  -0.6714   0.7225  -0.1651
-  -0.3658  -0.5168  -0.7740
-  -0.6446  -0.4593   0.6112
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03KE.html b/doc/_static/doc/MB03KE.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03KE.html
+++ /dev/null
@@ -1,191 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03KE - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03KE">MB03KE</A></H2>
-<H3>
-Solving periodic Sylvester-like equations with matrices of order at most 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve small periodic Sylvester-like equations (PSLE)
-
-   op(A(i))*X( i ) + isgn*X(i+1)*op(B(i)) = -scale*C(i), S(i) =  1,
-   op(A(i))*X(i+1) + isgn*X( i )*op(B(i)) = -scale*C(i), S(i) = -1.
-
-  i = 1, ..., K, where op(A) means A or A**T, for the K-periodic
-  matrix sequence X(i) = X(i+K), where A, B and C are K-periodic
-  matrix sequences and A and B are in periodic real Schur form. The
-  matrices A(i) are M-by-M and B(i) are N-by-N, with 1 &lt;= M, N &lt;= 2.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03KE( TRANA, TRANB, ISGN, K, M, N, PREC, SMIN, S, A,
-     $                   B, C, SCALE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            TRANA, TRANB
-      INTEGER            INFO, ISGN, K, LDWORK, M, N
-      DOUBLE PRECISION   PREC, SCALE, SMIN
-C     .. Array Arguments ..
-      INTEGER            S( * )
-      DOUBLE PRECISION   A( * ), B( * ), C( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   LOGICAL
-          Specifies the form of op(A) to be used, as follows:
-          = .FALSE.:  op(A) = A,
-          = .TRUE. :  op(A) = A**T.
-
-  TRANB   LOGICAL
-          Specifies the form of op(B) to be used, as follows:
-          = .FALSE.:  op(B) = B,
-          = .TRUE. :  op(B) = B**T.
-
-  ISGN    INTEGER
-          Specifies which sign variant of the equations to solve.
-          ISGN = 1 or ISGN = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The period of the periodic matrix sequences A, B, C and X.
-          K &gt;= 2. (For K = 1, a standard Sylvester equation is
-          obtained.)
-
-  M       (input) INTEGER
-          The order of the matrices A(i) and the number of rows of
-          the matrices C(i) and X(i), i = 1, ..., K.  1 &lt;= M &lt;= 2.
-
-  N       (input) INTEGER
-          The order of the matrices B(i) and the number of columns
-          of the matrices C(i) and X(i), i = 1, ..., K.
-          1 &lt;= N &lt;= 2.
-
-  PREC    (input) DOUBLE PRECISION
-          The relative machine precision. See the LAPACK Library
-          routine DLAMCH.
-
-  SMIN    (input) DOUBLE PRECISION
-          The machine safe minimum divided by PREC.
-
-  S       (input) INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures (exponents) of the factors in the K-periodic
-          matrix sequences for A and B. Each entry in S must be
-          either 1 or -1. Notice that it is assumed that the same
-          exponents are tied to both A and B on reduction to the
-          periodic Schur form.
-
-  A       (input) DOUBLE PRECISION array, dimension (M*M*K)
-          On entry, this array must contain the M-by-M matrices
-          A(i), for i = 1, ..., K, stored with the leading dimension
-          M. Matrix A(i) is stored starting at position M*M*(i-1)+1.
-
-  B       (input) DOUBLE PRECISION array, dimension (N*N*K)
-          On entry, this array must contain the N-by-N matrices
-          B(i), for i = 1, ..., K, stored with the leading dimension
-          N. Matrix B(i) is stored starting at position N*N*(i-1)+1.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (M*N*K)
-          On entry, this array must contain the M-by-N matrices
-          C(i), for i = 1, ..., K, stored with the leading dimension
-          M. Matrix C(i) is stored starting at position M*N*(i-1)+1.
-          On exit, the matrices C(i) are overwritten by the solution
-          sequence X(i).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          avoid overflow in X.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= (4*K-3) * (M*N)**2 + K * M*N.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -21, then LDWORK is too small; appropriate
-                value for LDWORK is returned in DWORK(1); the other
-                arguments are not tested, for efficiency;
-          = 1:  the solution would overflow with scale = 1, so
-                SCALE was set less than 1. This is a warning, not
-                an error.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A version of the algorithm described in [1] is used. The routine
-  uses a sparse Kronecker product representation Z of the PSLE and
-  solves for X(i) from an associated linear system Z*x = c using
-  structured (overlapping) variants of QR factorization and backward
-  substitution.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Granat, R., Kagstrom, B. and Kressner, D.
-      Computing periodic deflating subspaces associated with a
-      specified set of eigenvalues.
-      BIT Numerical Mathematics, vol. 47, 763-791, 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03LD.html b/doc/_static/doc/MB03LD.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03LD.html
+++ /dev/null
@@ -1,491 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LD">MB03LD</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the relevant eigenvalues of a real N-by-N skew-
-  Hamiltonian/Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ),                           (1)
-        (  E  A' )         (  G -B' )
-
-  where the notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'C', an orthogonal basis of the right
-  deflating subspace of aS - bH corresponding to the eigenvalues
-  with strictly negative real part is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LIWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N':  do not compute the deflating subspace;
-          = 'C':  compute the deflating subspace and store it in the
-                  leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthogonal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix Aout
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix A obtained just before the application of the
-          periodic QZ algorithm (see SLICOT Library routine MB04BD).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-symmetric matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of the
-          skew-symmetric matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper quasi-triangular matrix C2out (see
-          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
-          of the submatrix in the columns 3 to N/2+1 of this array
-          contains the strictly upper triangular part of the
-          skew-symmetric matrix Dout (see METHOD), without the main
-          diagonal, which is zero.
-          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper Hessenberg matrix C2, and the
-          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
-          in the columns 3 to N/2+1 of this array contains the
-          strictly upper triangular part of the skew-symmetric
-          matrix D (without the main diagonal) just before the
-          application of the periodic QZ algorithm.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix C1out
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix C1 obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix F.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          the submatrix in the columns 2 to N/2+1 of this array
-          contains the matrix Vout (see METHOD); otherwise, it
-          contains the matrix V obtained just before the application
-          of the periodic QZ algorithm.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the right
-          deflating subspace corresponding to the eigenvalues of
-          aA - bB with strictly negative real part. The remaining
-          part of this array is used as workspace.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = -19, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
-          LIWORK &gt;= MAX( N + 12, 2*N + 3 ),     if COMPQ = 'N',
-          LIWORK &gt;= MAX( 32, 2*N + 3 ),         if COMPQ = 'C'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
-          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
-                                                     if COMPQ = 'N',
-          where     L = 4*N + 4, if N/2 is even, and
-                    L = 4*N    , if N/2 is odd; 
-          LDWORK &gt;= 8*N**2 + MAX( 8*N + 32, 272 ),   if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: periodic QZ iteration failed in the SLICOT Library
-               routines MB04BD or MB04HD (QZ iteration did not
-               converge or computation of the shifts failed);
-          = 2: standard QZ iteration failed in the SLICOT Library
-               routines MB04HD or MB03DD (called by MB03JD);
-          = 3: a numerically singular matrix was found in the SLICOT
-               Library routine MB03HD (called by MB03JD);
-          = 4: the singular value decomposition failed in the LAPACK
-               routine DGESVD (for ORTH = 'S');
-          = 5: some eigenvalues might be inaccurate. This is a
-               warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the decompositions of S and H are computed via orthogonal
-  transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        ),
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric.
-
-  Then, orthogonal matrices Q3 and Q4 are found, for the extended
-  matrices
-
-         (  Aout   0  )          (    0   C1out )
-    Se = (            ) and He = (              ),
-         (   0   Bout )          ( -C2out   0   )
-
-  such that S11 := Q4' Se Q3 is upper triangular and
-  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
-  are computed:
-
-               (  Dout   0  )                   (   0   Vout )
-    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
-               (   0   Fout )                   ( Vout'   0  )
-
-  Then, an orthogonal matrix Q is found such that the eigenvalues
-  with strictly negative real parts of the pencil
-
-      (  S11  S12  )     (  H11  H12  )
-    a (            ) - b (            )
-      (   0   S11' )     (   0  -H11' )
-
-  are moved to the top of this pencil.
-
-  Finally, an orthogonal basis of the right deflating subspace
-  corresponding to the eigenvalues with strictly negative real part
-  is computed. See also page 12 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03LD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LIWORK
-      PARAMETER          (  LDA = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
-     $                     LDFG = NMAX/2, LDQ = 2*NMAX,
-     $                     LDWORK = 8*NMAX*NMAX +
-     $                              MAX( 8*NMAX + 32, NMAX/2 + 168,
-     $                                   272 ),
-     $                     LIWORK = MAX( 32, NMAX + 12, NMAX*2 + 3 ) )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            I, INFO, J, M, N, NEIG
-*
-*     .. Local Arrays ..
-      LOGICAL            BWORK( NMAX/2 )
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
-     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
-     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
-     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, 2*NMAX )
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03LD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, ORTH, N
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues and an orthogonal basis of the right
-*        deflating subspace of a real skew-Hamiltonian/Hamiltonian
-*        pencil, corresponding to the eigenvalues with strictly negative
-*        real part.
-         CALL MB03LD( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                LIWORK, DWORK, LDWORK, BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, M+1 )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
-   30       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            DO 40 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 2, M+1 )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99989 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99988 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   50          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB03LD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB03LD = ', I2 )
-99996 FORMAT( 'The matrix A on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix DE on exit is ' )
-99993 FORMAT( 'The matrix C1 on exit is ' )
-99992 FORMAT( 'The matrix V on exit is ' )
-99991 FORMAT( 'The vector ALPHAR is ' )
-99990 FORMAT( 'The vector ALPHAI is ' )
-99989 FORMAT( 'The vector BETA is ' )
-99988 FORMAT( 'The matrix Q is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03LD EXAMPLE PROGRAM DATA
-   C   P   8
-   3.1472   1.3236   4.5751   4.5717
-   4.0579  -4.0246   4.6489  -0.1462
-  -3.7301  -2.2150  -3.4239   3.0028
-   4.1338   0.4688   4.7059  -3.5811
-   0.0000   0.0000  -1.5510  -4.5974  -2.5127
-   3.5071   0.0000   0.0000   1.5961   2.4490  
-  -3.1428   2.5648   0.0000   0.0000  -0.0596 
-   3.0340   2.4892  -1.1604   0.0000   0.0000
-   0.6882  -3.3782  -3.3435   1.8921
-  -0.3061   2.9428   1.0198   2.4815
-  -4.8810  -1.8878  -2.3703  -0.4946
-  -1.6288   0.2853   1.5408  -4.1618
-  -2.4013  -2.7102   0.3834  -3.9335   3.1730
-  -3.1815  -2.3620   4.9613   4.6190   3.6869
-   3.6929   0.7970   0.4986  -4.9537  -4.1556
-   3.5303   1.2206  -1.4905   0.1325  -1.0022
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03LD EXAMPLE PROGRAM RESULTS
-The matrix A on exit is 
-  -4.7460   4.1855   3.2696  -0.2244
-   0.0000   6.4157   2.8287   1.4553
-   0.0000   0.0000   7.4626   1.5726
-   0.0000   0.0000   0.0000   8.8702
-The matrix DE on exit is 
-  -5.4562   2.5550  -1.3137  -6.3615  -0.8940
-  -2.1348  -7.9616   0.0000   1.0704  -0.0659
-   4.9694   1.1516   4.8504   0.0000  -0.6922
-  -2.2744   3.4912   0.5046   4.4394   0.0000
-The matrix C1 on exit is 
-   6.9525  -4.9881   2.3661   4.2188
-   0.0000   8.5009   0.7182   5.5533
-   0.0000   0.0000  -4.6650  -2.8177
-   0.0000   0.0000   0.0000   1.5124
-The matrix V on exit is 
-   0.9136   4.1106  -0.0079   3.5789
-  -1.1553  -1.4785  -1.5155  -0.8018
-  -2.2167   4.8029   1.3645   2.5202
-  -1.0994  -0.6144   0.3970   2.0730
-The vector ALPHAR is 
-   0.8314  -0.8314   0.8131   0.0000
-The vector ALPHAI is 
-   0.4372   0.4372   0.0000   0.9164
-The vector BETA is 
-   0.7071   0.7071   1.4142   2.8284
-The matrix Q is 
-  -0.5844  -0.2949   0.1692
-   0.5470  -0.2324  -0.4524
-   0.0382   0.4673  -0.3092
-  -0.0378   0.0904  -0.4451
-  -0.0255   0.1497  -0.1929
-  -0.1286  -0.6067  -0.2275
-  -0.2260   0.4901   0.0951
-   0.5367  -0.0430   0.6123
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03LF.html b/doc/_static/doc/MB03LF.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03LF.html
+++ /dev/null
@@ -1,509 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LF">MB03LF</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the relevant eigenvalues of a real N-by-N skew-
-  Hamiltonian/Hamiltonian pencil aS - bH, with
-
-                                (  B  F  )      (  0  I  )
-    S = T Z = J Z' J' Z and H = (        ), J = (        ),      (1)
-                                (  G -B' )      ( -I  0  )
-
-  where the notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'C', an orthogonal basis of the right
-  deflating subspace of aS - bH corresponding to the eigenvalues
-  with strictly negative real part is computed. Optionally, if
-  COMPU = 'C', an orthonormal basis of the companion subspace,
-  range(P_U) [1], which corresponds to the eigenvalues with strictly
-  negative real part, is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
-     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, BWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            INFO, IWARN, LDB, LDFG, LDQ, LDU, LDWORK, LDZ,
-     $                   LIWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
-     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
-     $                   Q( LDQ, * ), U( LDU, * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N':  do not compute the deflating subspace;
-          = 'C':  compute the deflating subspace and store it in the
-                  leading subarray of Q.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the companion subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the companion subspace;
-          = 'C': compute the companion subspace and store it in the
-                 leading subarray of U.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C' and/or COMPU = 'C', specifies the technique
-          for computing the orthogonal basis of the deflating
-          subspace, and/or of the companion subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N' and COMPU = 'N', the ORTH value is not
-          used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the non-trivial factor Z in the factorization
-          S = J Z' J' Z of the skew-Hamiltonian matrix S.
-          On exit, if COMPQ = 'C' or COMPU = 'C', the leading
-          N-by-N part of this array contains the transformed upper
-                            ~
-          triangular matrix Z11 (see METHOD), after moving the
-          eigenvalues with strictly negative real part to the top
-          of the pencil (3). The strictly lower triangular part is
-          not zeroed.
-          If COMPQ = 'N' and COMPU = 'N', the leading N-by-N part of
-          this array contains the matrix Z obtained by the SLICOT
-          Library routine MB04AD just before the application of the
-          periodic QZ algorithm. The elements of the (2,1) block,
-          i.e., in the rows N/2+1 to N and in the columns 1 to N/2
-          are not set to zero, but are unchanged on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input) DOUBLE PRECISION array, dimension (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix F.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C' or COMPU = 'C', the number of eigenvalues
-          in aS - bH with strictly negative real part.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the right
-          deflating subspace corresponding to the eigenvalues of
-          aS - bH with strictly negative real part. The remaining
-          part of this array is used as workspace.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU, 2*N)
-          On exit, if COMPU = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the companion
-          subspace corresponding to the eigenvalues of aS - bH with
-          strictly negative real part. The remaining part of this
-          array is used as workspace.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,         if COMPU = 'N';
-          LDU &gt;= MAX(1, N), if COMPU = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = -20, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= N + 18,      if COMPQ = 'N' and COMPU = 'N';
-          LIWORK &gt;= MAX( 2*N+1, 48 ), otherwise.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -22, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= b*N*N + 3*N*N/2 + MAX( 6*N, 54 ),
-                                    if COMPQ = 'N' and COMPU = 'N';
-          LDWORK &gt;= d*N*N + MAX( N/2+252, 432 ), otherwise, where
-                    b = a,   d = c,   if COMPU = 'N',
-                    b = a+1, d = c+1, if COMPU = 'C', and
-                    a = 2,   c = 7,   if COMPQ = 'N',
-                    a = 4,   c = 10,  if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0: no warning;
-          = 1: some eigenvalues might be unreliable. More details
-               can be obtained by running the SLICOT routine MB04AD.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: periodic QZ iteration failed in the SLICOT Library
-               routines MB04AD, MB04CD or MB03BB (QZ iteration did
-               not converge or computation of the shifts failed);
-          = 2: standard QZ iteration failed in the SLICOT Library
-               routines MB04CD or MB03CD (called by MB03ID);
-          = 3: a numerically singular matrix was found in the SLICOT
-               Library routine MB03GD (called by MB03ID);
-          = 4: the singular value decomposition failed in the LAPACK
-               routine DGESVD (for ORTH = 'S').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the decompositions of S and H are computed via orthogonal
-  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2,
-  such that
-
-                                ( T11  T12 )
-    Q1' T U1 = Q1' J Z' J' U1 = (          ),
-                                (  0   T22 )
-
-               ( Z11  Z12 )
-    U2' Z Q2 = (          ),                                     (2)
-               (  0   Z22 )
-
-               ( H11  H12 )
-    Q1' H Q2 = (          ),
-               (  0   H22 )
-
-  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
-  upper quasi-triangular.
-
-  Then, orthogonal matrices Q3, Q4 and U3 are found, for the
-  matrices
-
-    ~     ( T22'  0  )  ~     ( T11'  0  )  ~   (   0   H11 )
-    Z11 = (          ), Z22 = (          ), H = (           ),
-          (  0   Z11 )        (  0   Z22 )      ( -H22'  0  )
-
-            ~          ~       ~          ~
-  such that Z11 := U3' Z11 Q4, Z22 := U3' Z22 Q3 are upper
-                 ~          ~
-  triangular and H11 := Q3' H Q4 is upper quasi-triangular. The
-  following matrices are computed:
-
-    ~          ( -T12'  0  )        ~          (  0   H12 )
-    Z12 := U3' (           ) Q3 and H12 := Q3' (          ) Q3.
-               (  0    Z12 )                   ( H12'  0  )
-
-  Then, an orthogonal matrix Q and an orthogonal symplectic matrix U
-  are found such that the eigenvalues with strictly negative real
-  parts of the pencil
-
-          ~    ~          ~    ~           ~    ~
-        ( Z11  Z12 )'   ( Z11  Z12 )     ( H11  H12  )
-    a J (      ~   ) J' (      ~   ) - b (      ~    )           (3)
-        (  0   Z22 )    (  0   Z22 )     (  0  -H11' )
-
-  are moved to the top of this pencil.
-
-  Finally, an orthogonal basis of the right deflating subspace
-  and an orthogonal basis of the companion subspace corresponding to
-  the eigenvalues with strictly negative real part are computed.
-  See also page 11 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03LF EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDB, LDFG, LDQ, LDU, LDWORK, LDZ, LIWORK
-      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2, LDQ = 2*NMAX,
-     $                     LDU = NMAX,   LDZ  = NMAX,
-     $                     LDWORK = 10*NMAX*NMAX +
-     $                              MAX( NMAX*NMAX +
-     $                                   MAX( NMAX/2 + 252, 432 ),
-     $                                   MAX( 8*NMAX +  48, 171 ) ),
-     $                     LIWORK = MAX( NMAX + 18, NMAX/2 + 48,
-     $                                   5*NMAX/2 + 1 ) )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, ORTH
-      INTEGER            I, INFO, IWARN, J, M, N, NEIG
-*
-*     .. Local Arrays ..
-      LOGICAL            BWORK( NMAX/2 )
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX/2 ),  ALPHAR( NMAX/2 ),
-     $                   B( LDB, NMAX/2 ),    BETA( NMAX/2 ),
-     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
-     $                   Z( LDZ, NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03LF
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, COMPU, ORTH, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N   ), I = 1, N )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues and orthogonal bases of the right
-*        deflating subspace and companion subspace of a real
-*        skew-Hamiltonian/Hamiltonian pencil, corresponding to the
-*        eigenvalues with strictly negative real part.
-         CALL MB03LF( COMPQ, COMPU, ORTH, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                NEIG, Q, LDQ, U, LDU, ALPHAR, ALPHAI, BETA, IWORK,
-     $                LIWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   20          CONTINUE
-            END IF
-            IF( LSAME( COMPU, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, NEIG )
-   30          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) .OR. LSAME( COMPU, 'C' ) )
-     $         WRITE( NOUT, FMT = 99989 ) NEIG
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( 'MB03LF EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB03LF = ', I2 )
-99996 FORMAT (/'The matrix Z on exit is ' )
-99995 FORMAT ( 50( 1X, F8.4 ) )
-99994 FORMAT (/'The vector ALPHAR is ' )
-99993 FORMAT (/'The vector ALPHAI is ' )
-99992 FORMAT (/'The vector BETA is ' )
-99991 FORMAT (/'The deflating subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99990 FORMAT (/'The companion subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99989 FORMAT (/'The number of eigenvalues in the initial pencil with ',
-     $         'negative real part is ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03LF EXAMPLE PROGRAM DATA
-   C   C   P   8
-   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
-   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
-  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
-   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
-   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
-  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
-  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
-   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
-   0.6882  -3.3782  -3.3435   1.8921
-  -0.3061   2.9428   1.0198   2.4815
-  -4.8810  -1.8878  -2.3703  -0.4946
-  -1.6288   0.2853   1.5408  -4.1618
-  -2.4013  -2.7102   0.3834  -3.9335   3.1730
-  -3.1815  -2.3620   4.9613   4.6190   3.6869
-   3.6929   0.7970   0.4986  -4.9537  -4.1556
-   3.5303   1.2206  -1.4905   0.1325  -1.0022
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03LF EXAMPLE PROGRAM RESULTS
-
-The matrix Z on exit is 
-   4.4128   0.1059  -1.8709   1.2963  -4.3448   2.7633   2.3580   2.1931
-   0.0000  10.0337  -1.9797   1.8052  -1.0112   1.1335   1.2374   0.3107
-   0.0000   0.0000   8.9476   1.8523  -1.8578  -0.5807  -1.4157   1.3007
-   0.0000   0.0000   0.0000  -7.0889  -2.1193  -2.1634  -2.4393   0.1148
-   0.0765   1.0139   0.0000  -1.5390  -8.3187  -5.0172   0.7738  -2.8626
-   1.1884  -0.9225   0.0000   0.2905   0.0000   6.4090   2.1994  -2.5933
-  -0.5931   0.1981   0.0000  -0.5280   0.0000   0.0000   4.7155   2.3817
-   1.8591  -1.8416   0.0000  -0.0807   0.0000   0.0000   0.0000  -5.3153
-
-The vector ALPHAR is 
-   0.7353   0.0000   0.5168  -0.5168
-
-The vector ALPHAI is 
-   0.0000   0.7190   0.5610   0.5610
-
-The vector BETA is 
-   2.0000   2.8284  11.3137  11.3137
-
-The deflating subspace corresponding to the eigenvalues with negative real part is 
-  -0.2509   0.3670   0.0416
-  -0.3267  -0.7968  -0.1019
-   0.0263   0.0338  -0.5795
-  -0.0139  -0.0491  -0.5217
-  -0.4637   0.2992  -0.4403
-  -0.1345   0.3071  -0.0917
-  -0.1364   0.2013   0.3447
-  -0.7601  -0.0495   0.2426
-
-The companion subspace corresponding to the eigenvalues with negative real part is 
-  -0.3219   0.6590   0.1693
-  -0.5216  -0.1829  -0.0689
-  -0.0413  -0.4664  -0.1359
-   0.1310  -0.1702   0.4543
-  -0.3598   0.2660   0.3355
-  -0.5082  -0.0512  -0.6035
-  -0.3582  -0.4513   0.4649
-   0.2991   0.0932  -0.2207
-
-The number of eigenvalues in the initial pencil with negative real part is  3
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03LP.html b/doc/_static/doc/MB03LP.html
deleted file mode 100644
index 8ead974e..00000000
--- a/doc/_static/doc/MB03LP.html
+++ /dev/null
@@ -1,339 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LP">MB03LP</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the relevant eigenvalues of a real N-by-N skew-
-  Hamiltonian/Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ),                           (1)
-        (  E  A' )         (  G -B' )
-
-  where the notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'C', an orthogonal basis of the right
-  deflating subspace of aS - bH corresponding to the eigenvalues
-  with strictly negative real part is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, LIWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LIWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the right deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N':  do not compute the deflating subspace;
-          = 'C':  compute the deflating subspace and store it in the
-                  leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthogonal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix Aout
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix A obtained just before the application of the
-          periodic QZ algorithm (see SLICOT Library routine MB04BP).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-symmetric matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of the
-          skew-symmetric matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper quasi-triangular matrix C2out (see
-          METHOD), and the (N/2-1)-by-(N/2-1) upper triangular part
-          of the submatrix in the columns 3 to N/2+1 of this array
-          contains the strictly upper triangular part of the
-          skew-symmetric matrix Dout (see METHOD), without the main
-          diagonal, which is zero.
-          On exit, if COMPQ = 'N', the leading N/2-by-N/2 lower
-          triangular part and the first superdiagonal contain the
-          transpose of the upper Hessenberg matrix C2, and the
-          (N/2-1)-by-(N/2-1) upper triangular part of the submatrix
-          in the columns 3 to N/2+1 of this array contains the
-          strictly upper triangular part of the skew-symmetric
-          matrix D (without the main diagonal) just before the
-          application of the periodic QZ algorithm.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          this array contains the upper triangular matrix C1out
-          (see METHOD); otherwise, it contains the upper triangular
-          matrix C1 obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix F.
-          On exit, if COMPQ = 'C', the leading N/2-by-N/2 part of
-          the submatrix in the columns 2 to N/2+1 of this array
-          contains the matrix Vout (see METHOD); otherwise, it
-          contains the matrix V obtained just before the application
-          of the periodic QZ algorithm.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthogonal basis of the right
-          deflating subspace corresponding to the eigenvalues of
-          aA - bB with strictly negative real part. The remaining
-          part of this array is used as workspace.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = -19, IWORK(1) returns the minimum value
-          of LIWORK.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK = 1, if N = 0,
-          LIWORK &gt;= MAX( N + 12, 2*N + 3 ), if COMPQ = 'N',
-          LIWORK &gt;= MAX( 32, 6*N - 3 ),     if COMPQ = 'C'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.  LDWORK = 1, if N = 0,
-          LDWORK &gt;= 3*(N/2)**2 + N**2 + MAX( L, 36 ),
-                                                     if COMPQ = 'N',
-          where     L = 4*N + 4, if N/2 is even, and
-                    L = 4*N    , if N/2 is odd; 
-          LDWORK &gt;= 8*N**2 + MAX( 13*N + 32, 272 ),  if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: periodic QZ iteration failed in the SLICOT Library
-               routines MB04BP or MB04HD (QZ iteration did not
-               converge or computation of the shifts failed);
-          = 2: standard QZ iteration failed in the SLICOT Library
-               routines MB04HD or MB03DD (called by MB03JP);
-          = 3: a numerically singular matrix was found in the SLICOT
-               Library routine MB03HD (called by MB03JP);
-          = 4: the singular value decomposition failed in the LAPACK
-               routine DGESVD (for ORTH = 'S');
-          = 5: some eigenvalues might be inaccurate. This is a
-               warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the decompositions of S and H are computed via orthogonal
-  transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        ),
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric.
-
-  Then, orthogonal matrices Q3 and Q4 are found, for the extended
-  matrices
-
-         (  Aout   0  )          (    0   C1out )
-    Se = (            ) and He = (              ),
-         (   0   Bout )          ( -C2out   0   )
-
-  such that S11 := Q4' Se Q3 is upper triangular and
-  H11 := Q4' He Q3 is upper quasi-triangular. The following matrices
-  are computed:
-
-               (  Dout   0  )                   (   0   Vout )
-    S12 := Q4' (            ) Q4 and H12 := Q4' (            ) Q4.
-               (   0   Fout )                   ( Vout'   0  )
-
-  Then, an orthogonal matrix Q is found such that the eigenvalues
-  with strictly negative real parts of the pencil
-
-      (  S11  S12  )     (  H11  H12  )
-    a (            ) - b (            )
-      (   0   S11' )     (   0  -H11' )
-
-  are moved to the top of this pencil.
-
-  Finally, an orthogonal basis of the right deflating subspace
-  corresponding to the eigenvalues with strictly negative real part
-  is computed. See also page 12 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03LZ.html b/doc/_static/doc/MB03LZ.html
deleted file mode 100644
index b470c5a8..00000000
--- a/doc/_static/doc/MB03LZ.html
+++ /dev/null
@@ -1,504 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03LZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03LZ">MB03LZ</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  G -B' )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-  skew-Hamiltonian pencil aB_S - bB_T, defined as
-
-          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
-          (                 |                 )
-          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
-          (                 |                 )
-    B_S = (-----------------+-----------------) , and
-          (                 |                 )
-          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
-          (                 |                 )
-          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |                 )
-          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
-          (                 |                 )
-          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
-
-  is determined and used to compute the eigenvalues. The notation M'
-  denotes the conjugate transpose of the matrix M. Optionally,
-  if COMPQ = 'C', an orthonormal basis of the right deflating
-  subspace of the pencil aS - bH, corresponding to the eigenvalues
-  with strictly negative real part, is computed. Namely, after
-  transforming aB_S - bB_H by unitary matrices, we have
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Sout = (         ) and B_Hout = (         ),               (3)
-             (  0  BA' )              (  0 -BB' )
-
-  and the eigenvalues with strictly negative real part of the
-  complex pencil aB_Sout - bB_Hout are moved to the top. The
-  embedding doubles the multiplicities of the eigenvalues of the
-  pencil aS - bH.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LZWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the deflating subspace; compute the
-                 eigenvalues only;
-          = 'C': compute the deflating subspace and store it in the
-                 leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthonormal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; it is preserved in the leading N/2-by-N/2 part.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of
-          the skew-Hermitian matrix D.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the skew-Hermitian matrix BD in (3) (see
-          also METHOD). The strictly lower triangular part of the
-          input matrix is preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; the elements below the first subdiagonal of the
-          input matrix are preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the right
-          deflating subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part.
-          The remaining entries are meaningless.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -20, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
-          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -22, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,       if COMPQ = 'N';
-          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0,     if COMPQ = 'N';
-          LBWORK &gt;= N - 1, if COMPQ = 'C'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the SLICOT Library routine
-               MB04FD (QZ iteration did not converge or computation
-               of the shifts failed);
-          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
-               trying to triangularize the 2-by-2 blocks;
-          = 3: the singular value decomposition failed in the LAPACK
-               routine ZGESVD (for ORTH = 'S');
-          = 4: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04FD is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~                     (  S11  S12  )
-  B_S = J Q' J' B_S Q = (            ) and
-                        (   0   S11' )
-
-  ~                     (  T11  T12  )           (  0  I  )
-  B_T = J Q' J' B_T Q = (            ), with J = (        ),
-                        (   0   T11' )           ( -I  0  )
-
-  where Q is real orthogonal, S11 is upper triangular, and T11 is
-  upper quasi-triangular.
-
-  Second, the SLICOT Library routine MB03JZ is applied, to compute a
-                 ~
-  unitary matrix Q, such that
-
-                     ~    ~
-    ~     ~   ~   (  S11  S12  )
-  J Q' J' B_S Q = (       ~    ) =: B_Sout,
-                  (   0   S11' )
-
-    ~        ~    ~   (  H11  H12  )
-  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
-                      (   0  -H11' )
-       ~                                               ~       ~
-  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
-  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
-                       ~
-  principal subpencil aS11 - bH11.
-
-  Finally, the right deflating subspace is computed.
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03LZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
-      PARAMETER          ( LDA = NMAX, LDB = NMAX, LDDE = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX,
-     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
-     $                     LZWORK =  8*NMAX + 4 )
-*
-*     .. Local Scalars ..
-      CHARACTER*1        COMPQ, ORTH
-      INTEGER            I, INFO, J, N, NEIG
-*
-*     .. Local Arrays ..
-      COMPLEX*16         A( LDA, NMAX ), B( LDB, NMAX ),
-     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
-     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ), BETA( NMAX ),
-     $                   DWORK( LDWORK )
-      INTEGER            IWORK( NMAX + 1 )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB03LZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MOD
-*
-*     .. Executable statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*
-*     Skip first line in data file.
-*
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) COMPQ, ORTH, N
-      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-*        Compute the eigenvalues and an orthogonal basis of the right
-*        deflating subspace of a complex skew-Hamiltonian/Hamiltonian
-*        pencil, corresponding to the eigenvalues with strictly negative
-*        real part.
-         CALL MB03LZ( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( COMPQ, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
-   10          CONTINUE
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   40          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99991 )
-            WRITE( NOUT, FMT = 99990 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99989 )
-            WRITE( NOUT, FMT = 99990 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99990 ) (   BETA( I ), I = 1, N )
-            IF( LSAME( COMPQ, 'C' ) .AND. NEIG.GT.0 ) THEN
-               WRITE( NOUT, FMT = 99987 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, NEIG )
-   50          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) )
-     $         WRITE( NOUT, FMT = 99986 ) NEIG
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( 'MB03LZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB03LZ = ', I2 )
-99996 FORMAT (/'The matrix A on exit is ' )
-99995 FORMAT ( 20( 1X, F9.4, SP, F9.4, S, 'i ') )
-99994 FORMAT (/'The matrix D on exit is ' )
-99993 FORMAT (/'The matrix B on exit is ' )
-99992 FORMAT (/'The matrix F on exit is ' )
-99991 FORMAT ( 'The vector ALPHAR is ' )
-99990 FORMAT ( 50( 1X, F8.4 ) )
-99989 FORMAT (/'The vector ALPHAI is ' )
-99988 FORMAT (/'The vector BETA is ' )
-99987 FORMAT (/'The deflating subspace corresponding to the ',
-     $         'eigenvalues with negative real part is ' )
-99986 FORMAT (/'The number of eigenvalues in the initial pencil with ',
-     $         'negative real part is ', I2 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03LZ EXAMPLE PROGRAM DATA
-   C   P   4
-   (0.0604,0.6568)   (0.5268,0.2919)
-   (0.3992,0.6279)   (0.4167,0.4316)
-        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
-   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
-   (0.2691,0.4177)   (0.5478,0.3014)
-   (0.4228,0.9830)   (0.9427,0.7010)
-    0.6663            0.6981           (0.1781,0.8818)
-   (0.5391,0.1711)    0.6665            0.1280         
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03LZ EXAMPLE PROGRAM RESULTS
-
-The matrix A on exit is 
-    0.7430  +0.0000i    -0.1431  -0.1304i    -0.4169  -0.0495i     0.0650  -0.0262i 
-    0.3992  +0.6279i     0.7398  -1.2647i    -0.0861  -0.1075i     0.2826  +0.7725i 
-    0.0000  +0.0000i     0.0000  +0.0000i     1.4799  +0.1442i    -0.1094  -0.1061i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.6816  +0.2278i 
-
-The matrix D on exit is 
-    0.0000  -0.6858i    -0.3122  -0.1018i    -0.7813  -0.4163i    -0.1343  +0.3259i 
-    0.9840  +0.3394i     0.0000  +0.1465i    -0.1678  +0.2971i    -0.0728  -0.6524i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0000  +0.2979i    -0.0728  +0.3971i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2414i 
-
-The matrix B on exit is 
-   -1.5832  +0.5069i    -0.0819  -0.1073i     0.7749  -0.0519i     0.0635  -0.0052i 
-    0.0000  +0.0000i    -0.1916  -0.0106i    -0.0074  +0.0165i    -0.1546  -0.6817i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0716  -0.1811i     0.3146  +0.1558i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -1.6078  -0.0203i 
-
-The matrix F on exit is 
-    0.3382   0.0000i    -0.0622  +0.8488i     0.0042  +0.9053i    -0.1584  +0.0726i 
-    0.5391  +0.1711i    -0.5888  +0.0000i     0.4089  +0.2018i    -0.6913  -0.5011i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.2712  +0.0000i     0.5114  +0.3726i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5218  +0.0000i 
-The vector ALPHAR is 
-  -1.5832   1.5832  -0.0842   0.0842
-
-The vector ALPHAI is 
-   0.5069   0.5069  -0.1642  -0.1642
-
-The vector BETA is 
-   0.7430   0.7430   1.4085   1.4085
-
-The deflating subspace corresponding to the eigenvalues with negative real part is 
-   -0.0793  -0.1949i     0.4845  -0.5472i 
-    0.4349  +0.1710i    -0.2878  +0.0952i 
-   -0.1266  +0.1505i     0.1364  -0.4776i 
-   -0.5035  +0.6671i     0.1628  +0.3174i 
-
-The number of eigenvalues in the initial pencil with negative real part is  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03MD">MB03MD</A></H2>
-<H3>
-Upper bound for L singular values of a bidiagonal matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an upper bound THETA using a bisection method such that
-  the bidiagonal matrix
-
-           |q(1) e(1)  0    ...   0   |
-           | 0   q(2) e(2)        .   |
-       J = | .                    .   |
-           | .                  e(N-1)|
-           | 0   ...        ...  q(N) |
-
-  has precisely L singular values less than or equal to THETA plus
-  a given tolerance TOL.
-
-  This routine is mainly intended to be called only by other SLICOT
-  routines.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IWARN, L, N
-      DOUBLE PRECISION  PIVMIN, RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E(*), E2(*), Q(*), Q2(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the bidiagonal matrix J.  N &gt;= 0.
-
-  L       (input/output) INTEGER
-          On entry, L must contain the number of singular values
-          of J which must be less than or equal to the upper bound
-          computed by the routine.  0 &lt;= L &lt;= N.
-          On exit, L may be increased if the L-th smallest singular
-          value of J has multiplicity greater than 1. In this case,
-          L is increased by the number of singular values of J which
-          are larger than its L-th smallest one and approach the
-          L-th smallest singular value of J within a distance less
-          than TOL.
-          If L has been increased, then the routine returns with
-          IWARN set to 1.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, THETA must contain an initial estimate for the
-          upper bound to be computed. If THETA &lt; 0.0 on entry, then
-          one of the following default values is used.
-          If L = 0, THETA is set to 0.0 irrespective of the input
-          value of THETA; if L = 1, then THETA is taken as
-          MIN(ABS(Q(i))), for i = 1,2,...,N; otherwise, THETA is
-          taken as ABS(Q(N-L+1)).
-          On exit, THETA contains the computed upper bound such that
-          the bidiagonal matrix J has precisely L singular values
-          less than or equal to THETA + TOL.
-
-  Q       (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements q(1),
-          q(2),...,q(N) of the bidiagonal matrix J. That is,
-          Q(i) = J(i,i) for i = 1,2,...,N.
-
-  E       (input) DOUBLE PRECISION array, dimension (N-1)
-          This array must contain the superdiagonal elements
-          e(1),e(2),...,e(N-1) of the bidiagonal matrix J. That is,
-          E(k) = J(k,k+1) for k = 1,2,...,N-1.
-
-  Q2      (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the squares of the diagonal
-          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
-          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
-
-  E2      (input) DOUBLE PRECISION array, dimension (N-1)
-          This array must contain the squares of the superdiagonal
-          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
-          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
-
-  PIVMIN  (input) DOUBLE PRECISION
-          The minimum absolute value of a "pivot" in the Sturm
-          sequence loop.
-          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
-          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
-          least the smallest number that can divide one without
-          overflow (see LAPACK Library routine DLAMCH).
-          Note that this condition is not checked by the routine.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width.  TOL &gt;= 0.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged.
-          RELTOL &gt;= BASE * EPS, where BASE is machine radix and EPS
-          is machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 1:  if the value of L has been increased as the L-th
-                smallest singular value of J coincides with the
-                (L+1)-th smallest one.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let s(i), i = 1,2,...,N, be the N non-negative singular values of
-  the bidiagonal matrix J arranged so that s(1) &gt;= ... &gt;= s(N) &gt;= 0.
-  The routine then computes an upper bound T such that s(N-L) &gt; T &gt;=
-  s(N-L+1) as follows (see [2]).
-  First, if the initial estimate of THETA is not specified by the
-  user then the routine initialises THETA to be an estimate which
-  is close to the requested value of THETA if s(N-L) &gt;&gt; s(N-L+1).
-  Second, a bisection method (see [1, 8.5]) is used which generates
-  a sequence of shrinking intervals [Y,Z] such that either THETA in
-  [Y,Z] was found (so that J has L singular values less than or
-  equal to THETA), or
-
-     (number of s(i) &lt;= Y) &lt; L &lt; (number of s(i) &lt;= Z).
-
-  This bisection method is applied to an associated 2N-by-2N
-  symmetric tridiagonal matrix T" whose eigenvalues (see [1]) are
-  given by s(1),s(2),...,s(N),-s(1),-s(2),...,-s(N). One of the
-  starting values for the bisection method is the initial value of
-  THETA. If this value is an upper bound, then the initial lower
-  bound is set to zero, else the initial upper bound is computed
-  from the Gershgorin Circle Theorem [1, Theorem 7.2-1], applied to
-  T". The computation of the "number of s(i) &lt;= Y (or Z)" is
-  achieved by calling SLICOT Library routine MB03ND, which applies
-  Sylvester's Law of Inertia or equivalently Sturm sequences
-  [1, 8.5] to the associated matrix T". If
-
-     Z - Y &lt;= MAX( TOL, PIVMIN, RELTOL*MAX( ABS( Y ), ABS( Z ) ) )
-
-  at some stage of the bisection method, then at least two singular
-  values of J lie in the interval [Y,Z] within a distance less than
-  TOL from each other. In this case, s(N-L) and s(N-L+1) are assumed
-  to coincide, the upper bound T is set to the value of Z, the value
-  of L is increased and IWARN is set to 1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      Matrix Computations.
-      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
-
-  [2] Van Huffel, S. and Vandewalle, J.
-      The Partial Total Least Squares Algorithm.
-      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION PIVMIN, RELTOL, SAFMIN, THETA, TOL
-      INTEGER          I, INFO, IWARN, L, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAMCH
-      EXTERNAL         DLAMCH
-*     .. External Subroutines ..
-      EXTERNAL         MB03MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, THETA, L, TOL, RELTOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE IF ( L.LT.0 .OR. L.GT.N ) THEN
-         WRITE ( NOUT, FMT = 99990 ) L
-      ELSE
-         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
-*        Print out the bidiagonal matrix J.
-         WRITE ( NOUT, FMT = 99997 )
-         DO 20 I = 1, N - 1
-            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
-   20    CONTINUE
-         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
-*        Compute Q**2, E**2, and PIVMIN.
-         Q2(N) = Q(N)**2
-         PIVMIN = Q2(N)
-         DO 40 I = 1, N - 1
-            Q2(I) = Q(I)**2
-            E2(I) = E(I)**2
-            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
-   40    CONTINUE
-         SAFMIN = DLAMCH( 'Safe minimum' )
-         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
-         TOL = MAX( TOL, ZERO )
-         IF ( RELTOL.LE.ZERO )
-     $      RELTOL = DLAMCH( 'Base' )*DLAMCH( 'Epsilon' )
-*        Compute an upper bound THETA such that J has 3 singular values
-*        < =  THETA.
-         CALL MB03MD( N, L, THETA, Q, E, Q2, E2, PIVMIN, TOL, RELTOL,
-     $                IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99994 ) IWARN
-            WRITE ( NOUT, FMT = 99993 ) THETA
-            WRITE ( NOUT, FMT = 99992 ) L
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB03MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03MD = ',I2)
-99997 FORMAT (' The Bidiagonal Matrix J is',/)
-99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
-99994 FORMAT (' IWARN on exit from MB03MD = ',I2,/)
-99993 FORMAT (/' The computed value of THETA is ',F7.4)
-99992 FORMAT (/' J has ',I2,' singular values < =  THETA')
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' L is out of range.',/' L = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03MD EXAMPLE PROGRAM DATA
-   5     -3.0     3     0.0     0.0
-   1.0  2.0  3.0  4.0  5.0
-   2.0  3.0  4.0  5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03MD EXAMPLE PROGRAM RESULTS
-
- The Bidiagonal Matrix J is
-
- (1,1) =  1.0000   (1,2) =  2.0000
- (2,2) =  2.0000   (2,3) =  3.0000
- (3,3) =  3.0000   (3,4) =  4.0000
- (4,4) =  4.0000   (4,5) =  5.0000
- (5,5) =  5.0000
-
- The computed value of THETA is  4.7500
-
- J has  3 singular values < =  THETA
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03ND.html b/doc/_static/doc/MB03ND.html
deleted file mode 100644
index da02281c..00000000
--- a/doc/_static/doc/MB03ND.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ND">MB03ND</A></H2>
-<H3>
-Number of singular values of a bidiagonal matrix less than a bound
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the number of singular values of the bidiagonal matrix
-
-           |q(1) e(1)  .    ...    0   |
-           | 0   q(2) e(2)         .   |
-       J = | .                     .   |
-           | .                   e(N-1)|
-           | 0   ...     ...   0  q(N) |
-
-  which are less than or equal to a given bound THETA.
-
-  This routine is intended to be called only by other SLICOT
-  routines.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, N
-      DOUBLE PRECISION  PIVMIN, THETA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  E2(*), Q2(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the bidiagonal matrix J.  N &gt;= 0.
-
-  THETA   (input) DOUBLE PRECISION
-          Given bound.
-          Note: If THETA &lt; 0.0 on entry, then MB03ND is set to 0
-                as the singular values of J are non-negative.
-
-  Q2      (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the squares of the diagonal
-          elements q(1),q(2),...,q(N) of the bidiagonal matrix J.
-          That is, Q2(i) = J(i,i)**2 for i = 1,2,...,N.
-
-  E2      (input) DOUBLE PRECISION array, dimension (N-1)
-          This array must contain the squares of the superdiagonal
-          elements e(1),e(2),...,e(N-1) of the bidiagonal matrix J.
-          That is, E2(k) = J(k,k+1)**2 for k = 1,2,...,N-1.
-
-  PIVMIN  (input) DOUBLE PRECISION
-          The minimum absolute value of a "pivot" in the Sturm
-          sequence loop.
-          PIVMIN &gt;= max( max( |q(i)|, |e(k)| )**2*sf_min, sf_min ),
-          where i = 1,2,...,N, k = 1,2,...,N-1, and sf_min is at
-          least the smallest number that can divide one without
-          overflow (see LAPACK Library routine DLAMCH).
-          Note that this condition is not checked by the routine.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The computation of the number of singular values s(i) of J which
-  are less than or equal to THETA is based on applying Sylvester's
-  Law of Inertia, or equivalently, Sturm sequences [1,p.52] to the
-  unreduced symmetric tridiagonal matrices associated with J as
-  follows. Let T be the following 2N-by-2N symmetric matrix
-  associated with J:
-
-            | 0   J'|
-       T =  |       |.
-            | J   0 |
-
-  (The eigenvalues of T are given by s(1),s(2),...,s(N),-s(1),-s(2),
-  ...,-s(N)). Then, by permuting the rows and columns of T into the
-  order 1, N+1, 2, N+2, ..., N, 2N it follows that T is orthogonally
-  similar to the tridiagonal matrix T" with zeros on its diagonal
-  and q(1), e(1), q(2), e(2), ..., e(N-1), q(N) on its offdiagonals
-  [3,4]. If q(1),q(2),...,q(N) and e(1),e(2),...,e(N-1) are nonzero,
-  Sylvester's Law of Inertia may be applied directly to T".
-  Otherwise, T" is block diagonal and each diagonal block (which is
-  then unreduced) must be analysed separately by applying
-  Sylvester's Law of Inertia.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Parlett, B.N.
-      The Symmetric Eigenvalue Problem.
-      Prentice Hall, Englewood Cliffs, New Jersey, 1980.
-
-  [2] Demmel, J. and Kahan, W.
-      Computing Small Singular Values of Bidiagonal Matrices with
-      Guaranteed High Relative Accuracy.
-      Technical Report, Courant Inst., New York, March 1988.
-
-  [3] Van Huffel, S. and Vandewalle, J.
-      The Partial Total Least-Squares Algorithm.
-      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
-
-  [4] Golub, G.H. and Kahan, W.
-      Calculating the Singular Values and Pseudo-inverse of a
-      Matrix.
-      SIAM J. Numer. Anal., Ser. B, 2, pp. 205-224, 1965.
-
-  [5] Demmel, J.W., Dhillon, I. and Ren, H.
-      On the Correctness of Parallel Bisection in Floating Point.
-      Computer Science Division Technical Report UCB//CSD-94-805,
-      University of California, Berkeley, CA 94720, March 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The singular values s(i) could also be obtained with the use of
-  the symmetric tridiagonal matrix T = J'J, whose eigenvalues are
-  the squared singular values of J [4,p.213]. However, the method
-  actually used by the routine is more accurate and equally
-  efficient (see [2]).
-
-  To avoid overflow, matrix J should be scaled so that its largest
-  element is no greater than  overflow**(1/2) * underflow**(1/4)
-  in absolute value (and not much smaller than that, for maximal
-  accuracy).
-
-  With respect to accuracy the following condition holds (see [2]):
-
-  If the established value is denoted by p, then at least p
-  singular values of J are less than or equal to
-  THETA/(1 - (3 x N - 1.5) x EPS) and no more than p singular values
-  are less than or equal to
-  THETA x (1 - (6 x N-2) x EPS)/(1 - (3 x N - 1.5) x EPS).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION PIVMIN, SAFMIN, THETA
-      INTEGER          I, INFO, N, NUMSV
-*     .. Local Arrays ..
-      DOUBLE PRECISION E(NMAX-1), E2(NMAX-1), Q(NMAX), Q2(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAMCH
-      EXTERNAL         DLAMCH
-*     .. External Functions ..
-      INTEGER          MB03ND
-      EXTERNAL         MB03ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, THETA
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( Q(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( E(I), I = 1,N-1 )
-*        Print out the bidiagonal matrix J.
-         WRITE ( NOUT, FMT = 99997 )
-         DO 20 I = 1, N - 1
-            WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
-   20    CONTINUE
-         WRITE ( NOUT, FMT = 99995 ) N, N, Q(N)
-*        Compute Q**2, E**2, and PIVMIN.
-         Q2(N) = Q(N)**2
-         PIVMIN = Q2(N)
-         DO 40 I = 1, N - 1
-            Q2(I) = Q(I)**2
-            E2(I) = E(I)**2
-            PIVMIN = MAX( PIVMIN, Q2(I), E2(I) )
-   40    CONTINUE
-         SAFMIN = DLAMCH( 'Safe minimum' )
-         PIVMIN = MAX( PIVMIN*SAFMIN, SAFMIN )
-*        Compute the number of singular values of J < =  THETA.
-         NUMSV = MB03ND( N, THETA, Q2, E2, PIVMIN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99994 ) NUMSV, THETA
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB03ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03ND = ',I2)
-99997 FORMAT (' The Bidiagonal Matrix J is',/)
-99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
-99994 FORMAT (/' J has ',I2,' singular values < =  ',F7.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03ND EXAMPLE PROGRAM DATA
-   5     5.0     0.0     0.0
-   1.0  2.0  3.0  4.0  5.0
-   2.0  3.0  4.0  5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03ND EXAMPLE PROGRAM RESULTS
-
- The Bidiagonal Matrix J is
-
- (1,1) =  1.0000   (1,2) =  2.0000
- (2,2) =  2.0000   (2,3) =  3.0000
- (3,3) =  3.0000   (3,4) =  4.0000
- (4,4) =  4.0000   (4,5) =  5.0000
- (5,5) =  5.0000
-
- J has  3 singular values < =   5.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03NY.html b/doc/_static/doc/MB03NY.html
deleted file mode 100644
index 6439978e..00000000
--- a/doc/_static/doc/MB03NY.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03NY">MB03NY</A></H2>
-<H3>
-Computing the smallest singular value of A - jwI
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the smallest singular value of A - jwI.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      DOUBLE PRECISION FUNCTION MB03NY( N, OMEGA, A, LDA, S, DWORK,
-     $                                  LDWORK, CWORK, LCWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER                INFO, LCWORK, LDA, LDWORK, N
-      DOUBLE PRECISION       OMEGA
-C     .. Array Arguments ..
-      DOUBLE PRECISION       A(LDA,*), DWORK(*), S(*)
-      COMPLEX*16             CWORK(*)
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  MB03NY  DOUBLE PRECISION
-          The smallest singular value of A - jwI (if INFO = 0).
-          If N = 0, the function value is set to zero.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the the matrix A.  N &gt;= 0.
-
-  OMEGA   (input) DOUBLE PRECISION
-          The constant factor of A - jwI.
-
-  A       (input/workspace) DOUBLE PRECISION array, dimension
-          (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, if OMEGA = 0, the contents of this array are
-          destroyed. Otherwise, this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  S       (output) DOUBLE PRECISION array, dimension (N)
-          The singular values of A - jwI in decreasing order.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX( 1, 5*N ).
-          For optimum performance LDWORK should be larger.
-
-  CWORK   COMPLEX*16 array, dimension (LCWORK)
-          On exit, if INFO = 0 and OMEGA &lt;&gt; 0, CWORK(1) returns the
-          optimal value of LCWORK.
-          If OMEGA is zero, this array is not referenced.
-
-  LCWORK  INTEGER
-          The length of the array CWORK.
-          LCWORK &gt;= 1,                 if OMEGA =  0;
-          LCWORK &gt;= MAX( 1, N*N+3*N ), if OMEGA &lt;&gt; 0.
-          For optimum performance LCWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  The SVD algorithm (in either LAPACK Library routine
-                DGESVD or ZGESVD) fails to converge; this error is
-                very rare.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This procedure simply constructs the matrix A - jwI, and calls
-  ZGESVD if w is not zero, or DGESVD if w = 0.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is not very efficient because it computes all
-  singular values, but it is very accurate. The routine is intended
-  to be called only from the SLICOT Library routine AB13FD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03OD.html b/doc/_static/doc/MB03OD.html
deleted file mode 100644
index 40a12f94..00000000
--- a/doc/_static/doc/MB03OD.html
+++ /dev/null
@@ -1,288 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03OD">MB03OD</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute (optionally) a rank-revealing QR factorization of a
-  real general M-by-N matrix  A,  which may be rank-deficient,
-  and estimate its effective rank using incremental condition
-  estimation.
-
-  The routine uses a QR factorization with column pivoting:
-     A * P = Q * R,  where  R = [ R11 R12 ],
-                                [  0  R22 ]
-  with R11 defined as the largest leading submatrix whose estimated
-  condition number is less than 1/RCOND.  The order of R11, RANK,
-  is the effective rank of A.
-
-  MB03OD  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBQR
-      INTEGER            INFO, LDA, LDWORK, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBQR   CHARACTER*1
-          = 'Q':  Perform a QR factorization with column pivoting;
-          = 'N':  Do not perform the QR factorization (but assume
-                  that it has been done outside).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry with JOBQR = 'Q', the leading M by N part of this
-          array must contain the given matrix A.
-          On exit with JOBQR = 'Q', the leading min(M,N) by N upper
-          triangular part of A contains the triangular factor R,
-          and the elements below the diagonal, with the array TAU,
-          represent the orthogonal matrix Q as a product of
-          min(M,N) elementary reflectors.
-          On entry and on exit with JOBQR = 'N', the leading
-          min(M,N) by N upper triangular part of A contains the
-          triangular factor R, as determined by the QR factorization
-          with pivoting.  The elements below the diagonal of A are
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  JPVT    (input/output) INTEGER array, dimension ( N )
-          On entry with JOBQR = 'Q', if JPVT(i) &lt;&gt; 0, the i-th
-          column of A is an initial column, otherwise it is a free
-          column. Before the QR factorization of A, all initial
-          columns are permuted to the leading positions; only the
-          remaining free columns are moved as a result of column
-          pivoting during the factorization.  For rank determination
-          it is preferable that all columns be free.
-          On exit with JOBQR = 'Q', if JPVT(i) = k, then the i-th
-          column of A*P was the k-th column of A.
-          Array JPVT is not referenced when JOBQR = 'N'.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          RCOND &gt;= 0.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          On exit with JOBQR = 'Q', the leading min(M,N) elements of
-          TAU contain the scalar factors of the elementary
-          reflectors.
-          Array TAU is not referenced when JOBQR = 'N'.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e. the order of
-          the submatrix R11.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 3*N + 1,                 if JOBQR = 'Q';
-          LDWORK &gt;= max( 1, 2*min( M, N ) ), if JOBQR = 'N'.
-          For good performance when JOBQR = 'Q', LDWORK should be
-          larger. Specifically, LDWORK &gt;= 2*N + ( N + 1 )*NB, where
-          NB is the optimal block size for the LAPACK Library
-          routine DGEQP3.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes or uses a QR factorization with column
-  pivoting of A,  A * P = Q * R,  with  R  defined above, and then
-  finds the largest leading submatrix whose estimated condition
-  number is less than 1/RCOND, taking the possible positive value of
-  SVLMAX into account.  This is performed using the LAPACK
-  incremental condition estimation scheme and a slightly modified
-  rank decision test.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDTAU
-      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX + 1 )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBQR
-      INTEGER          I, INFO, J, M, N, RANK
-      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
-*     ..
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
-      INTEGER          JPVT(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB03OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, JOBQR, RCOND, SVLMAX
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-*           QR with column pivoting.
-            DO 10 I = 1, N
-               JPVT(I) = 0
-   10       CONTINUE
-            CALL MB03OD( JOBQR, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99995 ) RANK
-               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,N )
-               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03OD = ',I2)
-99995 FORMAT (' The rank is ',I5)
-99994 FORMAT (' Column permutations are ',/(20(I3,2X)))
-99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03OD EXAMPLE PROGRAM DATA
-   6     5     Q  5.D-16     0.0
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   5.    5.    1.    5.    1.
-  -2.   -1.   -1.    0.   -2.
-   4.    8.    4.   20.    4.
-  -2.   -1.   -1.    0.   -2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03OD EXAMPLE PROGRAM RESULTS
-
- The rank is     4
- Column permutations are 
-  4    3    1    5    2
- SVAL vector is 
-    22.7257     1.4330     0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03OY.html b/doc/_static/doc/MB03OY.html
deleted file mode 100644
index e2d9e478..00000000
--- a/doc/_static/doc/MB03OY.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03OY">MB03OY</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing QR factorization of a real general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated QR factorization with column pivoting
-                                [ R11 R12 ]
-     A * P = Q * R,  where  R = [         ],
-                                [  0  R22 ]
-  with R11 defined as the largest leading upper triangular submatrix
-  whose estimated condition number is less than 1/RCOND.  The order
-  of R11, RANK, is the effective rank of A.  Condition estimation is
-  performed during the QR factorization process.  Matrix R22 is full
-  (but of small norm), or empty.
-
-  MB03OY  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03OY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading RANK-by-RANK upper triangular part
-          of A contains the triangular factor R11, and the elements
-          below the diagonal in the first  RANK  columns, with the
-          array TAU, represent the orthogonal matrix Q as a product
-          of  RANK  elementary reflectors.
-          The remaining  N-RANK  columns contain the result of the
-          QR factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R11.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-  JPVT    (output) INTEGER array, dimension ( N )
-          If JPVT(i) = k, then the i-th column of A*P was the k-th
-          column of A.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          The leading  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 3*N-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
-  during this process, finds the largest leading submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using the LAPACK incremental condition estimation scheme and a
-  slightly modified rank decision test.  The factorization process
-  stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
-  A(i+1:m,i), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth column of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For a matrix with a small norm, the rank is set to zero if the
-  largest column Euclidean norm is smaller than or equal to RCOND.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03PD.html b/doc/_static/doc/MB03PD.html
deleted file mode 100644
index 91e23de6..00000000
--- a/doc/_static/doc/MB03PD.html
+++ /dev/null
@@ -1,318 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03PD">MB03PD</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation (row pivoting)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute (optionally) a rank-revealing RQ factorization of a
-  real general M-by-N matrix  A,  which may be rank-deficient,
-  and estimate its effective rank using incremental condition
-  estimation.
-
-  The routine uses an RQ factorization with row pivoting:
-     P * A = R * Q,  where  R = [ R11 R12 ],
-                                [  0  R22 ]
-  with R22 defined as the largest trailing submatrix whose estimated
-  condition number is less than 1/RCOND.  The order of R22, RANK,
-  is the effective rank of A.
-
-  MB03PD  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBRQ
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), SVAL( 3 ), TAU( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBRQ   CHARACTER*1
-          = 'R':  Perform an RQ factorization with row pivoting;
-          = 'N':  Do not perform the RQ factorization (but assume
-                  that it has been done outside).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry with JOBRQ = 'R', the leading M-by-N part of this
-          array must contain the given matrix A.
-          On exit with JOBRQ = 'R',
-          if M &lt;= N, the upper triangle of the subarray
-          A(1:M,N-M+1:N) contains the M-by-M upper triangular
-          matrix R;
-          if M &gt;= N, the elements on and above the (M-N)-th
-          subdiagonal contain the M-by-N upper trapezoidal matrix R;
-          the remaining elements, with the array TAU, represent the
-          orthogonal matrix Q as a product of min(M,N) elementary
-          reflectors (see METHOD).
-          On entry and on exit with JOBRQ = 'N',
-          if M &lt;= N, the upper triangle of the subarray
-          A(1:M,N-M+1:N) must contain the M-by-M upper triangular
-          matrix R;
-          if M &gt;= N, the elements on and above the (M-N)-th
-          subdiagonal must contain the M-by-N upper trapezoidal
-          matrix R;
-          the remaining elements are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  JPVT    (input/output) INTEGER array, dimension ( M )
-          On entry with JOBRQ = 'R', if JPVT(i) &lt;&gt; 0, the i-th row
-          of A is a final row, otherwise it is a free row. Before
-          the RQ factorization of A, all final rows are permuted
-          to the trailing positions; only the remaining free rows
-          are moved as a result of row pivoting during the
-          factorization.  For rank determination it is preferable
-          that all rows be free.
-          On exit with JOBRQ = 'R', if JPVT(i) = k, then the i-th
-          row of P*A was the k-th row of A.
-          Array JPVT is not referenced when JOBRQ = 'N'.
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest trailing triangular
-          submatrix R22 in the RQ factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          RCOND &gt;= 0.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          On exit with JOBRQ = 'R', the leading min(M,N) elements of
-          TAU contain the scalar factors of the elementary
-          reflectors.
-          Array TAU is not referenced when JOBRQ = 'N'.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e. the order of
-          the submatrix R22.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(2): smallest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
-                   if RANK &lt; MIN( M, N ), or of
-                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the trailing rows were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(M-RANK+1:M,N-RANK+1:N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( LDWORK )
-          where LDWORK = max( 1, 3*M ),           if JOBRQ = 'R';
-                LDWORK = max( 1, 3*min( M, N ) ), if JOBRQ = 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes or uses an RQ factorization with row
-  pivoting of A,  P * A = R * Q,  with  R  defined above, and then
-  finds the largest trailing submatrix whose estimated condition
-  number is less than 1/RCOND, taking the possible positive value of
-  SVLMAX into account.  This is performed using an adaptation of the
-  LAPACK incremental condition estimation scheme and a slightly
-  modified rank decision test.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
-  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          LDTAU
-      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*MMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBRQ
-      INTEGER          I, INFO, J, M, N, RANK
-      DOUBLE PRECISION RCOND, SVAL(3), SVLMAX
-*     ..
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
-      INTEGER          JPVT(MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB03PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, JOBRQ, RCOND, SVLMAX
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-*           RQ with row pivoting.
-            DO 10 I = 1, M
-               JPVT(I) = 0
-   10       CONTINUE
-            CALL MB03PD( JOBRQ, M, N, A, LDA, JPVT, RCOND, SVLMAX, TAU,
-     $                   RANK, SVAL, DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99995 ) RANK
-               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
-               WRITE ( NOUT, FMT = 99993 ) ( SVAL(I), I = 1,3 )
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03PD = ',I2)
-99995 FORMAT (' The rank is ',I5)
-99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
-99993 FORMAT (' SVAL vector is ',/(20(1X,F10.4)))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03PD EXAMPLE PROGRAM DATA
-   6     5     R  5.D-16     0.0
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   5.    5.    1.    5.    1.
-  -2.   -1.   -1.    0.   -2.
-   4.    8.    4.   20.    4.
-  -2.   -1.   -1.    0.   -2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03PD EXAMPLE PROGRAM RESULTS
-
- The rank is     4
- Row permutations are 
-  2    4    6    3    1    5
- SVAL vector is 
-    24.5744     0.9580     0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03PY.html b/doc/_static/doc/MB03PY.html
deleted file mode 100644
index 95f34355..00000000
--- a/doc/_static/doc/MB03PY.html
+++ /dev/null
@@ -1,211 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03PY">MB03PY</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing RQ factorization of a real general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated RQ factorization with row pivoting:
-                                [ R11 R12 ]
-     P * A = R * Q,  where  R = [         ],
-                                [  0  R22 ]
-  with R22 defined as the largest trailing upper triangular
-  submatrix whose estimated condition number is less than 1/RCOND.
-  The order of R22, RANK, is the effective rank of A.  Condition
-  estimation is performed during the RQ factorization process.
-  Matrix R11 is full (but of small norm), or empty.
-
-  MB03PY  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03PY( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), SVAL( 3 ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the upper triangle of the subarray
-          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
-          triangular matrix R22;  the remaining elements in the last
-          RANK  rows, with the array TAU, represent the orthogonal
-          matrix Q as a product of  RANK  elementary reflectors
-          (see METHOD).  The first  M-RANK  rows contain the result
-          of the RQ factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest trailing triangular
-          submatrix R22 in the RQ factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R22.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(2): smallest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
-                   if RANK &lt; MIN( M, N ), or of
-                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the trailing rows were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(M-RANK+1:M,N-RANK+1:N).
-
-  JPVT    (output) INTEGER array, dimension ( M )
-          If JPVT(i) = k, then the i-th row of P*A was the k-th row
-          of A.
-
-  TAU     (output) DOUBLE PRECISION array, dimension ( MIN( M, N ) )
-          The trailing  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 3*M-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated RQ factorization with row
-  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
-  during this process, finds the largest trailing submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using an adaptation of the LAPACK incremental condition estimation
-  scheme and a slightly modified rank decision test.  The
-  factorization process stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(k-rank+1) H(k-rank+2) . . . H(k), where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
-  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03QD.html b/doc/_static/doc/MB03QD.html
deleted file mode 100644
index 05a684e4..00000000
--- a/doc/_static/doc/MB03QD.html
+++ /dev/null
@@ -1,301 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QD">MB03QD</A></H2>
-<H3>
-Reordering the diagonal blocks of a principal submatrix of an upper quasi-triangular matrix to have eigenvalues in a specified domain
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of a principal submatrix of an
-  upper quasi-triangular matrix A together with their eigenvalues by
-  constructing an orthogonal similarity transformation UT.
-  After reordering, the leading block of the selected submatrix of A
-  has eigenvalues in a suitably defined domain of interest, usually
-  related to stability/instability in a continuous- or discrete-time
-  sense.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBU, STDOM
-      INTEGER          INFO, LDA, LDU, N, NDIM, NLOW, NSUP
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the spectrum separation to be
-          performed as follows:
-          = 'C':  continuous-time sense;
-          = 'D':  discrete-time sense.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBU    CHARACTER*1
-          Indicates how the performed orthogonal transformations UT
-          are accumulated, as follows:
-          = 'I':  U is initialized to the unit matrix and the matrix
-                  UT is returned in U;
-          = 'U':  the given matrix U is updated and the matrix U*UT
-                  is returned in U.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and U.  N &gt;= 1.
-
-  NLOW,   (input) INTEGER
-  NSUP    NLOW and NSUP specify the boundary indices for the rows
-          and columns of the principal submatrix of A whose diagonal
-          blocks are to be reordered.  1 &lt;= NLOW &lt;= NSUP &lt;= N.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the eigenvalues
-          of A. If DICO = 'C', ALPHA is the boundary value for the
-          real parts of eigenvalues, while for DICO = 'D',
-          ALPHA &gt;= 0 represents the boundary value for the moduli of
-          eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a matrix in a real Schur form whose 1-by-1 and
-          2-by-2 diagonal blocks between positions NLOW and NSUP
-          are to be reordered.
-          On exit, the leading N-by-N part contains the ordered
-          real Schur matrix UT' * A * UT with the elements below the
-          first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal submatrix
-          D = A(NLOW:NSUP,NLOW:NSUP) has eigenvalues in the domain
-          of interest and the trailing part of this submatrix has
-          eigenvalues outside the domain of interest.
-          The domain of interest for lambda(D), the eigenvalues of
-          D, is defined by the parameters ALPHA, DICO and STDOM as
-          follows:
-            For DICO = 'C':
-               Real(lambda(D)) &lt; ALPHA if STDOM = 'S';
-               Real(lambda(D)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(lambda(D)) &lt; ALPHA if STDOM = 'S';
-               Abs(lambda(D)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry with JOBU = 'U', the leading N-by-N part of this
-          array must contain a transformation matrix (e.g. from a
-          previous call to this routine).
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the product of the input matrix U and the
-          orthogonal matrix UT used to reorder the diagonal blocks
-          of A.
-          On exit, if JOBU = 'I', the leading N-by-N part of this
-          array contains the matrix UT of the performed orthogonal
-          transformations.
-          Array U need not be set on entry if JOBU = 'I'.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  NDIM    (output) INTEGER
-          The number of eigenvalues of the selected principal
-          submatrix lying inside the domain of interest.
-          If NLOW = 1, NDIM is also the dimension of the invariant
-          subspace corresponding to the eigenvalues of the leading
-          NDIM-by-NDIM submatrix. In this case, if U is the
-          orthogonal transformation matrix used to compute and
-          reorder the real Schur form of A, its first NDIM columns
-          form an orthonormal basis for the above invariant
-          subspace.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  A(NLOW,NLOW-1) is nonzero, i.e. A(NLOW,NLOW) is not
-                the leading element of a 1-by-1 or 2-by-2 diagonal
-                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.
-                A(NSUP,NSUP) is not the bottom element of a 1-by-1
-                or 2-by-2 diagonal block of A;
-          = 2:  two adjacent blocks are too close to swap (the
-                problem is very ill-conditioned).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an upper quasi-triangular matrix A with 1-by-1 or 2-by-2
-  diagonal blocks, the routine reorders its diagonal blocks along
-  with its eigenvalues by performing an orthogonal similarity
-  transformation UT' * A * UT. The column transformation UT is also
-  performed on the given (initial) transformation U (resulted from
-  a possible previous step or initialized as the identity matrix).
-  After reordering, the eigenvalues inside the region specified by
-  the parameters ALPHA, DICO and STDOM appear at the top of
-  the selected diagonal block between positions NLOW and NSUP.
-  In other words, lambda(A(NLOW:NSUP,NLOW:NSUP)) are ordered such
-  that lambda(A(NLOW:NLOW+NDIM-1,NLOW:NLOW+NDIM-1)) are inside and
-  lambda(A(NLOW+NDIM:NSUP,NLOW+NDIM:NSUP)) are outside the domain
-  of interest. If NLOW = 1, the first NDIM columns of U*UT span the
-  corresponding invariant subspace of A.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Stewart, G.W.
-      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
-      ordering the eigenvalues of a real upper Hessenberg matrix.
-      ACM TOMS, 2, pp. 275-280, 1976.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3
-  The algorithm requires less than 4*N  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDU
-      PARAMETER        ( LDA = NMAX, LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBU, STDOM
-      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), U(LDU,NMAX),
-     $                 WI(NMAX), WR(NMAX)
-      LOGICAL          BWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, MB03QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Compute Schur form, eigenvalues and Schur vectors.
-         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, NDIM,
-     $               WR, WI, U, LDU, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-*           Block reordering.
-            CALL MB03QD( DICO, STDOM, JOBU, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, U, LDU, NDIM, DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99996 ) NDIM
-               WRITE ( NOUT, FMT = 99994 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DGEES  = ',I2)
-99997 FORMAT (' INFO on exit from MB03QD = ',I2)
-99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' The ordered Schur form matrix is ')
-99993 FORMAT (/' The transformation matrix is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03QD EXAMPLE PROGRAM DATA
-   4     1     4      0.0      C      S      U
-  -1.0  37.0 -12.0 -12.0
-  -1.0 -10.0   0.0   4.0
-   2.0  -4.0   7.0  -6.0
-   2.0   2.0   7.0  -9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03QD EXAMPLE PROGRAM RESULTS
-
- The number of eigenvalues in the domain is     4
-
- The ordered Schur form matrix is 
-          -3.1300 -26.5066  27.2262 -16.2009
-           0.9070  -3.1300  13.6254   8.9206
-           0.0000   0.0000  -3.3700   0.3419
-           0.0000   0.0000  -1.7879  -3.3700
-
- The transformation matrix is 
-           0.9611   0.1784   0.2064  -0.0440
-          -0.1468  -0.2704   0.8116  -0.4965
-          -0.2224   0.7675   0.4555   0.3924
-          -0.0733   0.5531  -0.3018  -0.7730
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03QG.html b/doc/_static/doc/MB03QG.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03QG.html
+++ /dev/null
@@ -1,394 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QG - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QG">MB03QG</A></H2>
-<H3>
-Reorder diagonal blocks of a principal subpencil of an upper quasi-triangular matrix pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of a principal subpencil of an
-  upper quasi-triangular matrix pencil A-lambda*E together with
-  their generalized eigenvalues, by constructing orthogonal
-  similarity transformations UT and VT.
-  After reordering, the leading block of the selected subpencil of
-  A-lambda*E has generalized eigenvalues in a suitably defined
-  domain of interest, usually related to stability/instability in a
-  continuous- or discrete-time sense.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBU, JOBV, STDOM
-      INTEGER          INFO, LDA, LDE, LDU, LDV, LDWORK, N, NDIM, NLOW,
-     $                 NSUP
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), DWORK(*), E(LDE,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the spectrum separation to be
-          performed, as follows:
-          = 'C':  continuous-time sense;
-          = 'D':  discrete-time sense.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle), as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBU    CHARACTER*1
-          Indicates how the performed orthogonal transformations UT
-          are accumulated, as follows:
-          = 'I':  U is initialized to the unit matrix and the matrix
-                  UT is returned in U;
-          = 'U':  the given matrix U is updated and the matrix U*UT
-                  is returned in U.
-
-  JOBV    CHARACTER*1
-          Indicates how the performed orthogonal transformations VT
-          are accumulated, as follows:
-          = 'I':  V is initialized to the unit matrix and the matrix
-                  VT is returned in V;
-          = 'U':  the given matrix V is updated and the matrix V*VT
-                  is returned in V.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, U, and V.  N &gt;= 0.
-
-  NLOW,   (input) INTEGER
-  NSUP    (input) INTEGER
-          NLOW and NSUP specify the boundary indices for the rows
-          and columns of the principal subpencil  of A - lambda*E
-          whose diagonal blocks are to be reordered.
-          0 &lt;= NLOW &lt;= NSUP &lt;= N.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the eigenvalues
-          of A. If DICO = 'C', ALPHA is the boundary value for the
-          real parts of the generalized eigenvalues, while for
-          DICO = 'D', ALPHA &gt;= 0 represents the boundary value for
-          the moduli of the generalized eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain a matrix in a real Schur form whose 1-by-1 and
-          2-by-2 diagonal blocks between positions NLOW and NSUP
-          are to be reordered.
-          On exit, the leading N-by-N part of this array contains
-          a real Schur matrix UT' * A * VT, with the elements below
-          the first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP),
-          C := E(NLOW:NSUP,NLOW:NSUP), has generalized eigenvalues
-          in the domain of interest and the trailing part of this
-          subpencil has generalized eigenvalues outside the domain
-          of interest.
-          The domain of interest for eig(B,C), the generalized
-          eigenvalues of the pair (B,C), is defined by the
-          parameters ALPHA, DICO and STDOM as follows:
-            For DICO = 'C':
-               Real(eig(B,C)) &lt; ALPHA if STDOM = 'S';
-               Real(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(eig(B,C)) &lt; ALPHA if STDOM = 'S';
-               Abs(eig(B,C)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain a matrix in an upper triangular form.
-          On exit, the leading N-by-N part of this array contains an
-          upper triangular matrix UT' * E * VT, with the elements
-          below the diagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          B - lambda*C, defined with B := A(NLOW:NSUP,NLOW:NSUP)
-          C := E(NLOW:NSUP,NLOW:NSUP) has generalized eigenvalues
-          in the domain of interest and the trailing part of this
-          subpencil has generalized eigenvalues outside the domain
-          of interest (see description of A).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry with JOBU = 'U', the leading N-by-N part of this
-          array must contain a transformation matrix (e.g., from a
-          previous call to this routine).
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the product of the input matrix U and the
-          orthogonal matrix UT used to reorder the diagonal blocks
-          of A - lambda*E.
-          On exit, if JOBU = 'I', the leading N-by-N part of this
-          array contains the matrix UT of the performed orthogonal
-          transformations.
-          Array U need not be set on entry if JOBU = 'I'.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= MAX(1,N).
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
-          On entry with JOBV = 'U', the leading N-by-N part of this
-          array must contain a transformation matrix (e.g., from a
-          previous call to this routine).
-          On exit, if JOBV = 'U', the leading N-by-N part of this
-          array contains the product of the input matrix V and the
-          orthogonal matrix VT used to reorder the diagonal blocks
-          of A - lambda*E.
-          On exit, if JOBV = 'I', the leading N-by-N part of this
-          array contains the matrix VT of the performed orthogonal
-          transformations.
-          Array V need not be set on entry if JOBV = 'I'.
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= MAX(1,N).
-
-  NDIM    (output) INTEGER
-          The number of generalized eigenvalues of the selected
-          principal subpencil lying inside the domain of interest.
-          If NLOW = 1, NDIM is also the dimension of the deflating
-          subspace corresponding to the generalized eigenvalues of
-          the leading NDIM-by-NDIM subpencil. In this case, if U and
-          V are the orthogonal transformation matrices used to
-          compute and reorder the generalized real Schur form of the
-          pair (A,E), then the first NDIM columns of V form an
-          orthonormal basis for the above deflating subspace.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 1,
-          LDWORK &gt;= 4*N + 16.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  A(NLOW,NLOW-1) is nonzero, i.e., A(NLOW,NLOW) is not
-                the leading element of a 1-by-1 or 2-by-2 diagonal
-                block of A, or A(NSUP+1,NSUP) is nonzero, i.e.,
-                A(NSUP,NSUP) is not the bottom element of a 1-by-1
-                or 2-by-2 diagonal block of A;
-          = 2:  two adjacent blocks are too close to swap (the
-                problem is very ill-conditioned).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an upper quasi-triangular matrix pencil A - lambda*E with
-  1-by-1 or 2-by-2 diagonal blocks, the routine reorders its
-  diagonal blocks along with its eigenvalues by performing an
-  orthogonal equivalence transformation UT'*(A - lambda*E)* VT.
-  The column transformations UT and VT are also performed on the
-  given (initial) transformations U and V (resulted from a
-  possible previous step or initialized as identity matrices).
-  After reordering, the generalized eigenvalues inside the region
-  specified by the parameters ALPHA, DICO and STDOM appear at the
-  top of the selected diagonal subpencil between positions NLOW and
-  NSUP. In other words, lambda(A(Select,Select),E(Select,Select))
-  are ordered such that lambda(A(Inside,Inside),E(Inside,Inside))
-  are inside, and lambda(A(Outside,Outside),E(Outside,Outside)) are
-  outside the domain of interest, where Select = NLOW:NSUP,
-  Inside = NLOW:NLOW+NDIM-1, and Outside = NLOW+NDIM:NSUP.
-  If NLOW = 1, the first NDIM columns of V*VT span the corresponding
-  right deflating subspace of (A,E).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Stewart, G.W.
-      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
-      ordering the eigenvalues of a real upper Hessenberg matrix.
-      ACM TOMS, 2, pp. 275-280, 1976.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3
-  The algorithm requires less than 4*N  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03QG EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDE, LDU, LDV
-      PARAMETER        ( LDA = NMAX, LDE = NMAX, LDU = NMAX, LDV = NMAX)
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX + 16 )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBU, JOBV, STDOM
-      INTEGER          I, INFO, J, N, NDIM, NLOW, NSUP
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
-     $                 E(LDE,NMAX), U(LDU,NMAX), V(LDV,NMAX), WI(NMAX),
-     $                 WR(NMAX)
-      LOGICAL          BWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          DELCTG
-*     .. External Subroutines ..
-      EXTERNAL         DGGES, MB03QG
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NLOW, NSUP, ALPHA, DICO, STDOM, JOBU,
-     $                      JOBV
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-*        Compute Schur form, eigenvalues and Schur vectors.
-         CALL DGGES( 'Vectors', 'Vectors', 'Not sorted', DELCTG, N,
-     $               A, LDA, E, LDE, NDIM, WR, WI, BETA, U, LDU, V, LDV,
-     $               DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-*           Block reordering.
-            CALL MB03QG( DICO, STDOM, JOBU, JOBV, N, NLOW, NSUP, ALPHA,
-     $                   A, LDA, E, LDE, U, LDU, V, LDV, NDIM, DWORK,
-     $                   LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99996 ) NDIM
-               WRITE ( NOUT, FMT = 99994 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99992 )
-               DO 30 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   30          CONTINUE
-               WRITE ( NOUT, FMT = 99991 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( V(I,J), J = 1,N )
-   40          CONTINUE
-           END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03QG EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DGEES  = ',I2)
-99997 FORMAT (' INFO on exit from MB03QG = ',I2)
-99996 FORMAT (' The number of eigenvalues in the domain is ',I5)
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' The ordered Schur form matrix is ')
-99993 FORMAT (/' The ordered triangular matrix is ')
-99992 FORMAT (/' The transformation matrix U is ')
-99991 FORMAT (/' The transformation matrix V is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03QG EXAMPLE PROGRAM DATA
-   4     1     4      0.0      C      S      U      U
-  -1.0  37.0 -12.0 -12.0
-  -1.0 -10.0   0.0   4.0
-   2.0  -4.0   7.0  -6.0
-   2.0   2.0   7.0  -9.0
-   1.0   3.0   2.0  -1.0
-  -2.0   5.0   3.0   2.0
-   2.0   4.0   5.0   6.0
-   3.0   7.0   6.0   9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03QG EXAMPLE PROGRAM RESULTS
-
- The number of eigenvalues in the domain is     2
-
- The ordered Schur form matrix is 
-          -1.4394   2.5550 -12.5655  -4.0714
-           2.8887  -1.1242   9.2819  -2.6724
-           0.0000   0.0000 -19.7785  36.4447
-           0.0000   0.0000   0.0000   3.5537
-
- The ordered triangular matrix is 
-         -16.0178   0.0000   2.3850   4.7645
-           0.0000   3.2809  -1.5640   1.9954
-           0.0000   0.0000  -3.0652   0.3039
-           0.0000   0.0000   0.0000   1.1671
-
- The transformation matrix U is 
-          -0.1518  -0.0737  -0.9856   0.0140
-          -0.2865  -0.9466   0.1136  -0.0947
-          -0.5442   0.0924   0.0887   0.8292
-          -0.7738   0.3000   0.0890  -0.5508
-
- The transformation matrix V is 
-           0.2799   0.9041   0.2685   0.1794
-           0.4009  -0.0714   0.3780  -0.8315
-           0.7206  -0.4006   0.2628   0.5012
-           0.4917   0.1306  -0.8462  -0.1588
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03QV.html b/doc/_static/doc/MB03QV.html
deleted file mode 100644
index 028c50d8..00000000
--- a/doc/_static/doc/MB03QV.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QV">MB03QV</A></H2>
-<H3>
-Compute eigenvalues of an upper quasi-triangular matrix pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of an upper quasi-triangular matrix
-  pencil.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QV( N, S, LDS, T, LDT, ALPHAR, ALPHAI, BETA, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDS, LDT, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*), S(LDS,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S and T.  N &gt;= 0.
-
-  S       (input) DOUBLE PRECISION array, dimension(LDS,N)
-          The upper quasi-triangular matrix S.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= max(1,N).
-
-  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
-          The upper triangular matrix T.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
-          are the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and  BETA(j),j=1,...,N, are the
-          diagonals of the complex Schur form (S,T) that would
-          result if the 2-by-2 diagonal blocks of the real Schur
-          form of (A,B) were further reduced to triangular form
-          using 2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03QW.html b/doc/_static/doc/MB03QW.html
deleted file mode 100644
index a01f408c..00000000
--- a/doc/_static/doc/MB03QW.html
+++ /dev/null
@@ -1,153 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QW">MB03QW</A></H2>
-<H3>
-Reduce a 2-by-2 diagonal block pair of an upper quasi-triangular pencil to standard form and compute eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a selected 2-by-2 diagonal block
-  pair of an upper quasi-triangular pencil, to reduce the selected
-  block pair to the standard form and to split it in the case of
-  real eigenvalues, by constructing orthogonal matrices UT and VT.
-  The transformations UT and VT are applied to the pair (A,E) by
-  computing (UT'*A*VT, UT'*E*VT ), to the matrices U and V,
-  by computing U*UT and V*VT.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QW( N, L, A, LDA, E, LDE, U, LDU, V, LDV,
-     $                   ALPHAR, ALPHAI, BETA, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, L, LDA, LDE, LDU, LDV, N
-      DOUBLE PRECISION ALPHAI(*), ALPHAR(*), BETA(*)
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), E(LDE,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, UT and VT.  N &gt;= 2.
-
-  L       (input) INTEGER
-          Specifies the position of the block.  1 &lt;= L &lt; N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A whose
-          selected 2-by-2 diagonal block is to be processed.
-          On exit, the leading N-by-N part of this array contains
-          the upper quasi-triangular matrix A after its selected
-          block has been split and/or put in the LAPACK standard
-          form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= N.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix E whose selected
-          2-by-2 diagonal block is to be processed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix E (in the LAPACK
-          standard form).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= N.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain a transformation matrix U.
-          On exit, the leading N-by-N part of this array contains
-          U*UT, where UT is the transformation matrix used to
-          split and/or standardize the selected block pair.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= N.
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,N)
-          On entry, the leading N-by-N part of this array must
-          contain a transformation matrix V.
-          On exit, the leading N-by-N part of this array contains
-          V*VT, where VT is the transformation matrix used to
-          split and/or standardize the selected block pair.
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= N.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
-  BETA    (output) DOUBLE PRECISION array, dimension (2)
-          (ALPHAR(k)+i*ALPHAI(k))/BETA(k) are the eigenvalues of the
-          block pair of the pencil (A,B), k=1,2, i = sqrt(-1).
-          Note that BETA(k) may be zero.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A1 = ( A(L,L)    A(L,L+1)   ), E1 = ( E(L,L)    E(L,L+1)   ),
-           ( A(L+1,L)  A(L+1,L+1) )       ( E(L+1,L)  E(L+1,L+1) )
-  be the specified 2-by-2 diagonal block pair of the pencil (A,B).
-  If the eigenvalues of (A1,E1) are complex, then they are computed
-  and stored in ER and EI, where the real part is stored in ER and
-  the positive imaginary part in EI. The 2-by-2 block pair is
-  reduced if necessary to the standard form, such that
-  A(L,L) = A(L+1,L+1), and A(L,L+1) and A(L+1,L) have oposite signs.
-  If the eigenvalues are real, the 2-by-2 block pair is reduced to
-  upper triangular form such that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
-  In both cases, an orthogonal rotation U1' is constructed such that
-  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
-  to an N-by-N orthogonal matrix, using identity submatrices. Then A
-  and E are replaced by UT'*A*UT and UT'*E*UT, and the contents of
-  the arrays U and V are U * UT and V * VT, respectively.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03QX.html b/doc/_static/doc/MB03QX.html
deleted file mode 100644
index d173240a..00000000
--- a/doc/_static/doc/MB03QX.html
+++ /dev/null
@@ -1,86 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QX">MB03QX</A></H2>
-<H3>
-Eigenvalues of an upper quasi-triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of an upper quasi-triangular matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QX( N, T, LDT, WR, WI, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDT, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION T(LDT, *), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix T.  N &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension(LDT,N)
-          The upper quasi-triangular matrix T.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of T. The eigenvalues are stored in the same
-          order as on the diagonal of T. If T(i:i+1,i:i+1) is a
-          2-by-2 diagonal block with complex conjugated eigenvalues
-          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03QY.html b/doc/_static/doc/MB03QY.html
deleted file mode 100644
index ba00b01e..00000000
--- a/doc/_static/doc/MB03QY.html
+++ /dev/null
@@ -1,127 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03QY">MB03QY</A></H2>
-<H3>
-Transformation to the Schur canonical form of a selected 2-by-2 diagonal block of an upper quasi-triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a selected 2-by-2 diagonal block
-  of an upper quasi-triangular matrix, to reduce the selected block
-  to the standard form and to split the block in the case of real
-  eigenvalues by constructing an orthogonal transformation UT.
-  This transformation is applied to A (by similarity) and to
-  another matrix U from the right.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03QY( N, L, A, LDA, U, LDU, E1, E2, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, L, LDA, LDU, N
-      DOUBLE PRECISION E1, E2
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and UT.  N &gt;= 2.
-
-  L       (input) INTEGER
-          Specifies the position of the block.  1 &lt;= L &lt; N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A whose
-          selected 2-by-2 diagonal block is to be processed.
-          On exit, the leading N-by-N part of this array contains
-          the upper quasi-triangular matrix A after its selected
-          block has been splitt and/or put in the LAPACK standard
-          form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain a transformation matrix U.
-          On exit, the leading N-by-N part of this array contains
-          U*UT, where UT is the transformation matrix used to
-          split and/or standardize the selected block.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= N.
-
-  E1, E2  (output) DOUBLE PRECISION
-          E1 and E2 contain either the real eigenvalues or the real
-          and positive imaginary parts, respectively, of the complex
-          eigenvalues of the selected 2-by-2 diagonal block of A.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let A1 = ( A(L,L)    A(L,L+1)   )
-           ( A(L+1,L)  A(L+1,L+1) )
-  be the specified 2-by-2 diagonal block of matrix A.
-  If the eigenvalues of A1 are complex, then they are computed and
-  stored in E1 and E2, where the real part is stored in E1 and the
-  positive imaginary part in E2. The 2-by-2 block is reduced if
-  necessary to the standard form, such that A(L,L) = A(L+1,L+1), and
-  A(L,L+1) and A(L+1,L) have oposite signs. If the eigenvalues are
-  real, the 2-by-2 block is reduced to an upper triangular form such
-  that ABS(A(L,L)) &gt;= ABS(A(L+1,L+1)).
-  In both cases, an orthogonal rotation U1' is constructed such that
-  U1'*A1*U1 has the appropriate form. Let UT be an extension of U1
-  to an N-by-N orthogonal matrix, using identity submatrices. Then A
-  is replaced by UT'*A*UT and the contents of array U is U * UT.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03RD.html b/doc/_static/doc/MB03RD.html
deleted file mode 100644
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--- a/doc/_static/doc/MB03RD.html
+++ /dev/null
@@ -1,387 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RD">MB03RD</A></H2>
-<H3>
-Reduction of a real Schur form matrix to a block-diagonal form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a matrix A in real Schur form to a block-diagonal form
-  using well-conditioned non-orthogonal similarity transformations.
-  The condition numbers of the transformations used for reduction
-  are roughly bounded by PMAX, where PMAX is a given value.
-  The transformations are optionally postmultiplied in a given
-  matrix X. The real Schur form is optionally ordered, so that
-  clustered eigenvalues are grouped in the same block.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
-     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBX, SORT
-      INTEGER           INFO, LDA, LDX, N, NBLCKS
-      DOUBLE PRECISION  PMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           BLSIZE(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Specifies whether or not the transformations are
-          accumulated, as follows:
-          = 'N':  The transformations are not accumulated;
-          = 'U':  The transformations are accumulated in X (the
-                  given matrix X is updated).
-
-  SORT    CHARACTER*1
-          Specifies whether or not the diagonal blocks of the real
-          Schur form are reordered, as follows:
-          = 'N':  The diagonal blocks are not reordered;
-          = 'S':  The diagonal blocks are reordered before each
-                  step of reduction, so that clustered eigenvalues
-                  appear in the same block;
-          = 'C':  The diagonal blocks are not reordered, but the
-                  "closest-neighbour" strategy is used instead of
-                  the standard "closest to the mean" strategy
-                  (see METHOD);
-          = 'B':  The diagonal blocks are reordered before each
-                  step of reduction, and the "closest-neighbour"
-                  strategy is used (see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the infinity norm of elementary
-          submatrices of the individual transformations used for
-          reduction (see METHOD).  PMAX &gt;= 1.0D0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A to be block-diagonalized, in real
-          Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the computed block-diagonal matrix, in real Schur
-          canonical form. The non-diagonal blocks are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if JOBX = 'U', the leading N-by-N part of this
-          array must contain a given matrix X.
-          On exit, if JOBX = 'U', the leading N-by-N part of this
-          array contains the product of the given matrix X and the
-          transformation matrix that reduced A to block-diagonal
-          form. The transformation matrix is itself a product of
-          non-orthogonal similarity transformations having elements
-          with magnitude less than or equal to PMAX.
-          If JOBX = 'N', this array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOBX = 'N';
-          LDX &gt;= MAX(1,N), if JOBX = 'U'.
-
-  NBLCKS  (output) INTEGER
-          The number of diagonal blocks of the matrix A.
-
-  BLSIZE  (output) INTEGER array, dimension (N)
-          The first NBLCKS elements of this array contain the orders
-          of the resulting diagonal blocks of the matrix A.
-
-  WR,     (output) DOUBLE PRECISION arrays, dimension (N)
-  WI      These arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the matrix A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in the ordering of the diagonal
-          blocks of the real Schur form matrix.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used as an absolute tolerance: a block i and a temporarily
-          fixed block 1 (the first block of the current trailing
-          submatrix to be reduced) are considered to belong to the
-          same cluster if their eigenvalues satisfy
-
-            | lambda_1 - lambda_i | &lt;= TOL.
-
-          If the user sets TOL &lt; 0, then the given value of TOL is
-          used as a relative tolerance: a block i and a temporarily
-          fixed block 1 are considered to belong to the same cluster
-          if their eigenvalues satisfy, for j = 1, ..., N,
-
-            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
-
-          If the user sets TOL = 0, then an implicitly computed,
-          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
-          is used instead, as a relative tolerance, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH).
-          If SORT = 'N' or 'C', this parameter is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Consider first that SORT = 'N'. Let
-
-         ( A    A   )
-         (  11   12 )
-     A = (          ),
-         ( 0    A   )
-         (       22 )
-
-  be the given matrix in real Schur form, where initially A   is the
-                                                           11
-  first diagonal block of dimension 1-by-1 or 2-by-2. An attempt is
-  made to compute a transformation matrix X of the form
-
-         ( I   P )
-     X = (       )                                               (1)
-         ( 0   I )
-
-  (partitioned as A), so that
-
-              ( A     0  )
-      -1      (  11      )
-     X  A X = (          ),
-              ( 0    A   )
-              (       22 )
-
-  and the elements of P do not exceed the value PMAX in magnitude.
-  An adaptation of the standard method for solving Sylvester
-  equations [1], which controls the magnitude of the individual
-  elements of the computed solution [2], is used to obtain matrix P.
-  When this attempt failed, an 1-by-1 (or 2-by-2) diagonal block of
-  A  , whose eigenvalue(s) is (are) the closest to the mean of those
-   22
-  of A   is selected, and moved by orthogonal similarity
-      11
-  transformations in the leading position of A  ; the moved diagonal
-                                              22
-  block is then added to the block A  , increasing its order by 1
-                                    11
-  (or 2). Another attempt is made to compute a suitable
-  transformation matrix X with the new definitions of the blocks A
-                                                                  11
-  and A  . After a successful transformation matrix X has been
-       22
-  obtained, it postmultiplies the current transformation matrix
-  (if JOBX = 'U'), and the whole procedure is repeated for the
-  matrix A  .
-          22
-
-  When SORT = 'S', the diagonal blocks of the real Schur form are
-  reordered before each step of the reduction, so that each cluster
-  of eigenvalues, defined as specified in the definition of TOL,
-  appears in adjacent blocks. The blocks for each cluster are merged
-  together, and the procedure described above is applied to the
-  larger blocks. Using the option SORT = 'S' will usually provide
-  better efficiency than the standard option (SORT = 'N'), proposed
-  in [2], because there could be no or few unsuccessful attempts
-  to compute individual transformation matrices X of the form (1).
-  However, the resulting dimensions of the blocks are usually
-  larger; this could make subsequent calculations less efficient.
-
-  When SORT = 'C' or 'B', the procedure is similar to that for
-  SORT = 'N' or 'S', respectively, but the block of A   whose
-                                                     22
-  eigenvalue(s) is (are) the closest to those of A   (not to their
-                                                  11
-  mean) is selected and moved to the leading position of A  . This
-                                                          22
-  is called the "closest-neighbour" strategy.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-  [3] Demmel, J.
-      The Condition Number of Equivalence Transformations that
-      Block Diagonalize Matrix Pencils.
-      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                    3                     4
-  The algorithm usually requires 0(N ) operations, but 0(N ) are
-  possible in the worst case, when all diagonal blocks in the real
-  Schur form of A are 1-by-1, and the matrix cannot be diagonalized
-  by well-conditioned transformations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The individual non-orthogonal transformation matrices used in the
-  reduction of A to a block-diagonal form have condition numbers
-  of the order PMAX. This does not guarantee that their product
-  is well-conditioned enough. The routine can be easily modified to
-  provide estimates for the condition numbers of the clusters of
-  eigenvalues.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDX
-      PARAMETER        ( LDA = NMAX, LDX = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBX, SORT
-      INTEGER          I, INFO, J, N, NBLCKS, SDIM
-      DOUBLE PRECISION PMAX, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), WI(NMAX), WR(NMAX),
-     $                 X(LDX,NMAX)
-      INTEGER          BLSIZE(NMAX)
-      LOGICAL          BWORK(NMAX)
-*     .. External Functions ..
-      LOGICAL          SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, MB03RD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, PMAX, TOL, JOBX, SORT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Compute Schur form, eigenvalues and Schur vectors.
-         CALL DGEES( 'Vectors', 'Not sorted', SELECT, N, A, LDA, SDIM,
-     $               WR, WI, X, LDX, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-*           Block-diagonalization.
-            CALL MB03RD( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
-     $                   BLSIZE, WR, WI, TOL, DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99995 ) NBLCKS
-               WRITE ( NOUT, FMT = 99994 ) ( BLSIZE(I), I = 1,NBLCKS )
-               WRITE ( NOUT, FMT = 99993 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99991 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99992 ) ( X(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from DGEES  = ',I2)
-99997 FORMAT (' INFO on exit from MB03RD = ',I2)
-99995 FORMAT (' The number of blocks is ',I5)
-99994 FORMAT (' The orders of blocks are ',/(20(I3,2X)))
-99993 FORMAT (' The block-diagonal matrix is ')
-99992 FORMAT (8X,20(1X,F8.4))
-99991 FORMAT (' The transformation matrix is ')
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03RD EXAMPLE PROGRAM DATA
-   8   1.D03   1.D-2     U     S
-   1.   -1.    1.    2.    3.    1.    2.    3.
-   1.    1.    3.    4.    2.    3.    4.    2.
-   0.    0.    1.   -1.    1.    5.    4.    1.
-   0.    0.    0.    1.   -1.    3.    1.    2.
-   0.    0.    0.    1.    1.    2.    3.   -1.
-   0.    0.    0.    0.    0.    1.    5.    1.
-   0.    0.    0.    0.    0.    0.    0.99999999   -0.99999999
-   0.    0.    0.    0.    0.    0.    0.99999999    0.99999999
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03RD EXAMPLE PROGRAM RESULTS
-
- The number of blocks is     2
- The orders of blocks are 
-  6    2
- The block-diagonal matrix is 
-           1.0000  -1.0000  -1.2247  -0.7071  -3.4186   1.4577   0.0000   0.0000
-           1.0000   1.0000   0.0000   1.4142  -5.1390   3.1637   0.0000   0.0000
-           0.0000   0.0000   1.0000  -1.7321  -0.0016   2.0701   0.0000   0.0000
-           0.0000   0.0000   0.5774   1.0000   0.7516   1.1379   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   1.0000  -5.8606   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   0.1706   1.0000   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000  -0.8850
-           0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
- The transformation matrix is 
-           1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.9045   0.1957
-           0.0000   1.0000   0.0000   0.0000   0.0000   0.0000  -0.3015   0.9755
-           0.0000   0.0000   0.8165   0.0000  -0.5768  -0.0156  -0.3015   0.0148
-           0.0000   0.0000  -0.4082   0.7071  -0.5768  -0.0156   0.0000  -0.0534
-           0.0000   0.0000  -0.4082  -0.7071  -0.5768  -0.0156   0.0000   0.0801
-           0.0000   0.0000   0.0000   0.0000  -0.0276   0.9805   0.0000   0.0267
-           0.0000   0.0000   0.0000   0.0000   0.0332  -0.0066   0.0000   0.0000
-           0.0000   0.0000   0.0000   0.0000   0.0011   0.1948   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03RW.html b/doc/_static/doc/MB03RW.html
deleted file mode 100644
index dbd26a89..00000000
--- a/doc/_static/doc/MB03RW.html
+++ /dev/null
@@ -1,176 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RW">MB03RW</A></H2>
-<H3>
-Solution of a Sylvester equation -AX + XB = C, with A and B in complex Schur form, aborting the computations when the norm of X is too large
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Sylvester equation -AX + XB = C, where A and B are
-  complex M-by-M and N-by-N matrices, respectively, in Schur form.
-
-  This routine is intended to be called only by SLICOT Library
-  routine MB03RZ. For efficiency purposes, the computations are
-  aborted when the absolute value of an element of X is greater than
-  a given value PMAX.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RW( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, M, N
-      DOUBLE PRECISION  PMAX
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A and the number of rows of the
-          matrices C and X.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B and the number of columns of the
-          matrices C and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the absolute value of the elements of X
-          (see METHOD).
-
-  A       (input) COMPLEX*16 array, dimension (LDA,M)
-          The leading M-by-M upper triangular part of this array
-          must contain the matrix A of the Sylvester equation.
-          The elements below the diagonal are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) COMPLEX*16 array, dimension (LDB,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the matrix B of the Sylvester equation.
-          The elements below the diagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix C of the Sylvester equation.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X of the Sylvester
-          equation, and each element of X (see METHOD) has the
-          absolute value less than or equal to PMAX.
-          On exit, if INFO = 1, the solution matrix X has not been
-          computed completely, because an element of X had the
-          absolute value greater than PMAX. Part of the matrix C has
-          possibly been overwritten with the corresponding part
-          of X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  an element of X had the absolute value greater than
-                the given value PMAX.
-          = 2:  A and B have common or very close eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrices A and B are unchanged). This is a
-                warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses an adaptation of the standard method for solving
-  Sylvester equations [1], which controls the magnitude of the
-  individual elements of the computed solution [2]. The equation
-  -AX + XB = C can be rewritten as
-                               m            l-1
-    -A  X   + X  B   = C   +  sum  A  X   - sum  X  B
-      kk kl    kl ll    kl   i=k+1  ki il   j=1   kj jl
-
-  for l = 1:n, and k = m:-1:1, where A  , B  , C  , and X  , are the
-                                      kk   ll   kl       kl
-  elements defined by the partitioning induced by the Schur form
-  of A and B. So, the elements of X are found column by column,
-  starting from the bottom. If any such element has the absolute
-  value greater than the given value PMAX, the calculations are
-  ended.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2      2
-  The algorithm requires 0(M N + MN ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Let
-
-         ( A   C )       ( I   X )
-     M = (       ),  Y = (       ).
-         ( 0   B )       ( 0   I )
-
-  Then
-
-      -1      ( A   0 )
-     Y  M Y = (       ),
-              ( 0   B )
-
-  hence Y is a non-unitary transformation matrix which performs the
-  reduction of M to a block-diagonal form. Bounding a norm of X is
-  equivalent to setting an upper bound to the condition number of
-  the transformation matrix Y.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03RX.html b/doc/_static/doc/MB03RX.html
deleted file mode 100644
index cb031e95..00000000
--- a/doc/_static/doc/MB03RX.html
+++ /dev/null
@@ -1,167 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RX">MB03RX</A></H2>
-<H3>
-Reordering the diagonal blocks of a principal submatrix of a real Schur form matrix (the last block is moved in the leading position)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder the diagonal blocks of the principal submatrix between
-  the indices KL and KU (KU &gt;= KL) of a real Schur form matrix A
-  together with their eigenvalues, using orthogonal similarity
-  transformations, such that the block specified by KU is moved in
-  the position KL. The transformations are optionally postmultiplied
-  in a given matrix X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RX( JOBV, N, KL, KU, A, LDA, X, LDX, WR, WI,
-     $                   DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBV
-      INTEGER           KL, KU, LDA, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), WI(*), WR(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBV    CHARACTER*1
-          Specifies whether or not the transformations are
-          accumulated, as follows:
-          = 'N':  The transformations are not accumulated;
-          = 'V':  The transformations are accumulated in X (the
-                  given matrix X is updated).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  KL      (input) INTEGER
-          The lower boundary index for the rows and columns of the
-          principal submatrix of A whose diagonal blocks are to be
-          reordered, and also the target position for the block to
-          be moved.  1 &lt;= KL &lt;= KU &lt;= N.
-
-  KU      (input/output) INTEGER
-          On entry, KU specifies the upper boundary index for the
-          rows and columns of the principal submatrix of A whose
-          diagonal blocks are to be reordered, and also the original
-          position for the block to be moved.  1 &lt;= KL &lt;= KU &lt;= N.
-          On exit, KU specifies the upper boundary index for the
-          rows and columns of the principal submatrix of A whose
-          diagonal blocks have been reordered. The given value will
-          be increased by 1 if the moved block was 2-by-2 and it has
-          been replaced by two 1-by-1 blocks. Otherwise, its input
-          value is preserved.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A in real Schur canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the ordered real Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if JOBV = 'V', the leading N-by-N part of this
-          array must contain a given matrix X.
-          On exit, if JOBV = 'V', the leading N-by-N part of this
-          array contains the product of the given matrix X and the
-          transformation matrix that performed the reordering of A.
-          If JOBV = 'N', this array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOBV = 'N';
-          LDX &gt;= MAX(1,N), if JOBV = 'V'.
-
-  WR,     (input/output) DOUBLE PRECISION arrays, dimension (N)
-  WI      On entry, these arrays must contain the real and imaginary
-          parts, respectively, of the eigenvalues of the matrix A.
-          On exit, these arrays contain the real and imaginary
-          parts, respectively, of the eigenvalues of the matrix A,
-          possibly reordered.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An attempt is made to move the block in the position (KU,KU) to
-  the position (KL,KL) by a sequence of orthogonal similarity
-  transformations, each swapping two consecutive blocks. The
-  standard algorithm [1], [2] usually succeeds to perform this
-  reordering. A failure of this algorithm means that two consecutive
-  blocks (one of them being the desired block possibly moved) are
-  too close to swap. In such a case, the leading block of the two
-  is tried to be moved in the position (KL,KL) and the procedure is
-  repeated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Stewart, G.W.
-      HQR3 and EXCHQZ: FORTRAN subroutines for calculating and
-      ordering the eigenvalues of a real upper Hessenberg matrix.
-      ACM TOMS, 2, pp. 275-280, 1976.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable. If some eigenvalues are
-  ill-conditioned, their returned values could differ much from
-  their input values.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03RY.html b/doc/_static/doc/MB03RY.html
deleted file mode 100644
index 62357d1a..00000000
--- a/doc/_static/doc/MB03RY.html
+++ /dev/null
@@ -1,173 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RY">MB03RY</A></H2>
-<H3>
-Solution of a Sylvester equation -AX + XB = C, with A and B in real Schur form, aborting the computations when the norm of X is too large
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the Sylvester equation -AX + XB = C, where A and B are
-  M-by-M and N-by-N matrices, respectively, in real Schur form.
-
-  This routine is intended to be called only by SLICOT Library
-  routine MB03RD. For efficiency purposes, the computations are
-  aborted when the infinity norm of an elementary submatrix of X is
-  greater than a given value PMAX.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RY( M, N, PMAX, A, LDA, B, LDB, C, LDC, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, M, N
-      DOUBLE PRECISION  PMAX
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A and the number of rows of the
-          matrices C and X.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B and the number of columns of the
-          matrices C and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the infinity norm of an elementary
-          submatrix of X (see METHOD).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          matrix A of the Sylvester equation, in real Schur form.
-          The elements below the real Schur form are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain the
-          matrix B of the Sylvester equation, in real Schur form.
-          The elements below the real Schur form are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix C of the Sylvester equation.
-          On exit, if INFO = 0, the leading M-by-N part of this
-          array contains the solution matrix X of the Sylvester
-          equation, and each elementary submatrix of X (see METHOD)
-          has the infinity norm less than or equal to PMAX.
-          On exit, if INFO = 1, the solution matrix X has not been
-          computed completely, because an elementary submatrix of X
-          had the infinity norm greater than PMAX. Part of the
-          matrix C has possibly been overwritten with the
-          corresponding part of X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  an elementary submatrix of X had the infinity norm
-                greater than the given value PMAX.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses an adaptation of the standard method for solving
-  Sylvester equations [1], which controls the magnitude of the
-  individual elements of the computed solution [2]. The equation
-  -AX + XB = C can be rewritten as
-                              p            l-1
-    -A  X   + X  B   = C   + sum  A  X   - sum  X  B
-      kk kl    kl ll    kl  i=k+1  ki il   j=1   kj jl
-
-  for l = 1:q, and k = p:-1:1, where A  , B  , C  , and X  , are
-                                      kk   ll   kl       kl
-  block submatrices defined by the partitioning induced by the Schur
-  form of A and B, and p and q are the numbers of the diagonal
-  blocks of A and B, respectively. So, the elementary submatrices of
-  X are found block column by block column, starting from the
-  bottom. If any such elementary submatrix has the infinity norm
-  greater than the given value PMAX, the calculations are ended.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2      2
-  The algorithm requires 0(M N + MN ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Let
-
-         ( A   C )       ( I   X )
-     M = (       ),  Y = (       ).
-         ( 0   B )       ( 0   I )
-
-  Then
-
-      -1      ( A   0 )
-     Y  M Y = (       ),
-              ( 0   B )
-
-  hence Y is an non-orthogonal transformation matrix which performs
-  the reduction of M to a block-diagonal form. Bounding a norm of
-  X is equivalent to setting an upper bound to the condition number
-  of the transformation matrix Y.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03RZ.html b/doc/_static/doc/MB03RZ.html
deleted file mode 100644
index 9223e6c3..00000000
--- a/doc/_static/doc/MB03RZ.html
+++ /dev/null
@@ -1,279 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03RZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03RZ">MB03RZ</A></H2>
-<H3>
-Reduction of a complex Schur form matrix to a block-diagonal form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce an upper triangular complex matrix A (Schur form) to a
-  block-diagonal form using well-conditioned non-unitary similarity
-  transformations. The condition numbers of the transformations used
-  for reduction are roughly bounded by PMAX, where PMAX is a given
-  value. The transformations are optionally postmultiplied in a
-  given matrix X. The Schur form is optionally ordered, so that
-  clustered eigenvalues are grouped in the same block.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03RZ( JOBX, SORT, N, PMAX, A, LDA, X, LDX, NBLCKS,
-     $                   BLSIZE, W, TOL, INFO )C     .. Scalar Arguments ..
-      CHARACTER         JOBX, SORT
-      INTEGER           INFO, LDA, LDX, N, NBLCKS
-      DOUBLE PRECISION  PMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           BLSIZE(*)
-      COMPLEX*16        A(LDA,*), W(*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBX    CHARACTER*1
-          Specifies whether or not the transformations are
-          accumulated, as follows:
-          = 'N':  The transformations are not accumulated;
-          = 'U':  The transformations are accumulated in X (the
-                  given matrix X is updated).
-
-  SORT    CHARACTER*1
-          Specifies whether or not the diagonal elements of the
-          Schur form are reordered, as follows:
-          = 'N':  The diagonal elements are not reordered;
-          = 'S':  The diagonal elements are reordered before each
-                  step of reduction, so that clustered eigenvalues
-                  appear in the same block;
-          = 'C':  The diagonal elements are not reordered, but the
-                  "closest-neighbour" strategy is used instead of
-                  the standard "closest to the mean" strategy (see
-                  METHOD);
-          = 'B':  The diagonal elements are reordered before each
-                  step of reduction, and the "closest-neighbour"
-                  strategy is used (see METHOD).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  PMAX    (input) DOUBLE PRECISION
-          An upper bound for the absolute value of the elements of
-          the individual transformations used for reduction
-          (see METHOD). PMAX &gt;= 1.0D0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix A to be
-          block-diagonalized.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the computed block-diagonal matrix, in
-          Schur form.
-          The strictly lower triangular part is used as workspace,
-          but it is set to zero before exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  X       (input/output) COMPLEX*16 array, dimension (LDX,*)
-          On entry, if JOBX = 'U', the leading N-by-N part of this
-          array must contain a given matrix X.
-          On exit, if JOBX = 'U', the leading N-by-N part of this
-          array contains the product of the given matrix X and the
-          transformation matrix that reduced A to block-diagonal
-          form. The transformation matrix is itself a product of
-          non-unitary similarity transformations having elements
-          with magnitude less than or equal to PMAX.
-          If JOBX = 'N', this array is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOBX = 'N';
-          LDX &gt;= MAX(1,N), if JOBX = 'U'.
-
-  NBLCKS  (output) INTEGER
-          The number of diagonal blocks of the matrix A.
-
-  BLSIZE  (output) INTEGER array, dimension (N)
-          The first NBLCKS elements of this array contain the orders
-          of the resulting diagonal blocks of the matrix A.
-
-  W       (output) COMPLEX*16 array, dimension (N)
-          This array contains the eigenvalues of the matrix A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in the ordering of the diagonal
-          elements of the upper triangular matrix.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used as an absolute tolerance: an eigenvalue i and a
-          temporarily fixed eigenvalue 1 (the first element of the
-          current trailing submatrix to be reduced) are considered
-          to belong to the same cluster if they satisfy
-
-            | lambda_1 - lambda_i | &lt;= TOL.
-
-          If the user sets TOL &lt; 0, then the given value of TOL is
-          used as a relative tolerance: an eigenvalue i and a
-          temporarily fixed eigenvalue 1 are considered to belong to
-          the same cluster if they satisfy, for j = 1, ..., N,
-
-            | lambda_1 - lambda_i | &lt;= | TOL | * max | lambda_j |.
-
-          If the user sets TOL = 0, then an implicitly computed,
-          default tolerance, defined by TOL = SQRT( SQRT( EPS ) )
-          is used instead, as a relative tolerance, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH).
-          If SORT = 'N' or 'C', this parameter is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Consider first that SORT = 'N'. Let
-
-         ( A    A   )
-         (  11   12 )
-     A = (          ),
-         ( 0    A   )
-         (       22 )
-
-  be the given matrix in Schur form, where initially A   is the
-                                                      11
-  first diagonal element. An attempt is made to compute a
-  transformation matrix X of the form
-
-         ( I   P )
-     X = (       )                                               (1)
-         ( 0   I )
-
-  (partitioned as A), so that
-
-              ( A     0  )
-      -1      (  11      )
-     X  A X = (          ),
-              ( 0    A   )
-              (       22 )
-
-  and the elements of P do not exceed the value PMAX in magnitude.
-  An adaptation of the standard method for solving Sylvester
-  equations [1], which controls the magnitude of the individual
-  elements of the computed solution [2], is used to obtain matrix P.
-  When this attempt failed, a diagonal element of A  , closest to
-                                                   22
-  the mean of those of A   is selected, and moved by unitary
-                        11
-  similarity transformations in the leading position of A  ; the
-                                                         22
-  moved diagonal element is then added to the block A  , increasing
-                                                     11
-  its order by 1. Another attempt is made to compute a suitable
-  transformation matrix X with the new definitions of the blocks A
-                                                                  11
-  and A  . After a successful transformation matrix X has been
-       22
-  obtained, it postmultiplies the current transformation matrix
-  (if JOBX = 'U'), and the whole procedure is repeated for the
-  block A  .
-         22
-
-  When SORT = 'S', the diagonal elements of the Schur form are
-  reordered before each step of the reduction, so that each cluster
-  of eigenvalues, defined as specified in the definition of TOL,
-  appears in adjacent elements. The elements for each cluster are
-  merged together, and the procedure described above is applied to
-  the larger blocks. Using the option SORT = 'S' will usually
-  provide better efficiency than the standard option (SORT = 'N'),
-  proposed in [2], because there could be no or few unsuccessful
-  attempts to compute individual transformation matrices X of the
-  form (1). However, the resulting dimensions of the blocks are
-  usually larger; this could make subsequent calculations less
-  efficient.
-
-  When SORT = 'C' or 'B', the procedure is similar to that for
-  SORT = 'N' or 'S', respectively, but the block of A   whose
-                                                     22
-  eigenvalue(s) is (are) the closest to those of A   (not to their
-                                                  11
-  mean) is selected and moved to the leading position of A  . This
-                                                          22
-  is called the "closest-neighbour" strategy.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Bavely, C. and Stewart, G.W.
-      An Algorithm for Computing Reducing Subspaces by Block
-      Diagonalization.
-      SIAM J. Numer. Anal., 16, pp. 359-367, 1979.
-
-  [3] Demmel, J.
-      The Condition Number of Equivalence Transformations that
-      Block Diagonalize Matrix Pencils.
-      SIAM J. Numer. Anal., 20, pp. 599-610, 1983.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                    3                     4
-  The algorithm usually requires 0(N ) operations, but 0(N ) are
-  possible in the worst case, when the matrix cannot be diagonalized
-  by well-conditioned transformations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The individual non-unitary transformation matrices used in the
-  reduction of A to a block-diagonal form have condition numbers of
-  the order PMAX. This does not guarantee that their product is
-  well-conditioned enough. The routine can be easily modified to
-  provide estimates for the condition numbers of the clusters of
-  eigenvalues.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03SD.html b/doc/_static/doc/MB03SD.html
deleted file mode 100644
index 3ca3ef82..00000000
--- a/doc/_static/doc/MB03SD.html
+++ /dev/null
@@ -1,274 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03SD">MB03SD</A></H2>
-<H3>
-Eigenvalues of a square-reduced Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of an N-by-N square-reduced Hamiltonian
-  matrix
-
-             ( A'   G'  )
-      H'  =  (        T ).                                       (1)
-             ( Q'  -A'  )
-
-  Here, A' is an N-by-N matrix, and G' and Q' are symmetric N-by-N
-  matrices.  It is assumed without a check that H' is square-
-  reduced, i.e., that
-
-        2    ( A''   G'' )
-      H'  =  (         T )    with A'' upper Hessenberg.         (2)
-             ( 0    A''  )
-
-                         T                2
-  (Equivalently, Q'A'- A' Q' = 0, A'' = A' + G'Q', and for i &gt; j+1,
-   A''(i,j) = 0.)  Ordinarily, H' is the output from SLICOT Library
-  routine MB04ZD. The eigenvalues of H' are computed as the square
-  roots of the eigenvalues of A''.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDQG, LDWORK, N
-      CHARACTER         JOBSCL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBSCL  CHARACTER*1
-          Specifies whether or not balancing operations should
-          be performed by the LAPACK subroutine DGEBAL on the
-          Hessenberg matrix A'' in (2), as follows:
-          = 'N':  do not use balancing;
-          = 'S':  do scaling in order to equilibrate the rows
-                  and columns of A''.
-          See LAPACK subroutine DGEBAL and Section METHOD below.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper left block A' of the square-reduced Hamiltonian
-          matrix H' in (1), as produced by SLICOT Library routine
-          MB04ZD.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input) DOUBLE PRECISION array, dimension (LDQG,N+1)
-          The leading N-by-N lower triangular part of this array
-          must contain the lower triangle of the lower left
-          symmetric block Q' of the square-reduced Hamiltonian
-          matrix H' in (1), and the N-by-N upper triangular part of
-          the submatrix in the columns 2 to N+1 of this array must
-          contain the upper triangle of the upper right symmetric
-          block G' of the square-reduced Hamiltonian matrix H'
-          in (1), as produced by SLICOT Library routine MB04ZD.
-          So, if i &gt;= j, then Q'(i,j) is stored in QG(i,j) and
-          G'(i,j) is stored in QG(j,i+1).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The arrays WR and WI contain the real and imaginary parts,
-          respectively, of the N eigenvalues of H' with non-negative
-          real part.  The remaining N eigenvalues are the negatives
-          of these eigenvalues.
-          Eigenvalues are stored in WR and WI in decreasing order of
-          magnitude of the real parts, i.e., WR(I) &gt;= WR(I+1).
-          (In particular, an eigenvalue closest to the imaginary
-           axis is WR(N)+WI(N)i.)
-          In addition, eigenvalues with zero real part are sorted in
-          decreasing order of magnitude of imaginary parts.  Note
-          that non-real eigenvalues with non-zero real part appear
-          in complex conjugate pairs, but eigenvalues with zero real
-          part do not, in general, appear in complex conjugate
-          pairs.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1,N*(N+1)).
-          For good performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO =  i, i &lt;= N, then LAPACK subroutine DHSEQR
-                failed to converge while computing the i-th
-                eigenvalue.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine forms the upper Hessenberg matrix A'' in (2) and calls
-  LAPACK subroutines to calculate its eigenvalues.  The eigenvalues
-  of H' are the square roots of the eigenvalues of A''.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C. F.
-      A Symplectic Method for Approximating All the Eigenvalues of
-      a Hamiltonian Matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Byers, R.
-      Hamiltonian and Symplectic Algorithms for the Algebraic
-      Riccati Equation.
-      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
-
-  [3] Benner, P., Byers, R., and Barth, E.
-      Fortran 77 Subroutines for Computing the Eigenvalues of
-      Hamiltonian Matrices. I: The Square-Reduced Method.
-      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires (32/3)*N**3 + O(N**2) floating point
-  operations.
-  Eigenvalues computed by this subroutine are exact eigenvalues
-  of a perturbed Hamiltonian matrix  H' + E  where
-
-              || E || &lt;= c sqrt(eps) || H' ||,
-
-  c is a modest constant depending on the dimension N and eps is the
-  machine precision. Moreover, if the norm of H' and an eigenvalue
-  are of roughly the same magnitude, the computed eigenvalue is
-  essentially as accurate as the computed eigenvalue obtained by
-  traditional methods. See [1] or [2].
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03SD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX+1 ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      JOBSCL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
-     $                 WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB03SD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-*     NOTE: input must define a square-reduced Hamiltonian matrix.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOBSCL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99998 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
-*        Compute the eigenvalues.
-         CALL MB03SD( JOBSCL, N, A, LDA, QG, LDQG, WR, WI, DWORK,
-     $                LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-*           Show the computed eigenvalues.
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99995 )  WR(I), ' + (',  WI(I), ')i'
-10          CONTINUE
-            DO 20 I = N, 1, -1
-               WRITE ( NOUT, FMT = 99995 ) -WR(I), ' + (', -WI(I), ')i'
-20          CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB03SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' N is out of range.',/' N = ',I5)
-99997 FORMAT (' INFO on exit from MB03SD = ',I2)
-99996 FORMAT (/' The eigenvalues are ')
-99995 FORMAT (1X,F8.4,A,F8.4,A)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03SD EXAMPLE PROGRAM DATA
- 3 S
-  2.0  0.0  0.0
-  0.0  1.0  2.0
-  0.0 -1.0  3.0
-  1.0  0.0  0.0  2.0  3.0  4.0
- -2.0  0.0  0.0  0.0  0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03SD EXAMPLE PROGRAM RESULTS
-
-
- The eigenvalues are 
-   2.0000 + (  1.0000)i
-   2.0000 + ( -1.0000)i
-   1.4142 + (  0.0000)i
-  -1.4142 + (  0.0000)i
-  -2.0000 + (  1.0000)i
-  -2.0000 + ( -1.0000)i
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03TD.html b/doc/_static/doc/MB03TD.html
deleted file mode 100644
index 210bcc3d..00000000
--- a/doc/_static/doc/MB03TD.html
+++ /dev/null
@@ -1,393 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03TD">MB03TD</A></H2>
-<H3>
-Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reorder a matrix X in skew-Hamiltonian Schur form:
-
-                [  A   G  ]          T
-          X  =  [       T ],   G = -G,
-                [  0   A  ]
-
-  or in Hamiltonian Schur form:
-
-                [  A   G  ]          T
-          X  =  [       T ],   G =  G,
-                [  0  -A  ]
-
-  where A is in upper quasi-triangular form, so that a selected
-  cluster of eigenvalues appears in the leading diagonal blocks
-  of the matrix A (in X) and the leading columns of [ U1; -U2 ] form
-  an orthonormal basis for the corresponding right invariant
-  subspace.
-
-  If X is skew-Hamiltonian, then each eigenvalue appears twice; one
-  copy corresponds to the j-th diagonal element and the other to the
-  (n+j)-th diagonal element of X. The logical array LOWER controls
-  which copy is to be reordered to the leading part of A.
-
-  If X is Hamiltonian then the eigenvalues appear in pairs
-  (lambda,-lambda); lambda corresponds to the j-th diagonal
-  element and -lambda to the (n+j)-th diagonal element of X.
-  The logical array LOWER controls whether lambda or -lambda is to
-  be reordered to the leading part of A.
-
-  The matrix A must be in Schur canonical form (as returned by the
-  LAPACK routine DHSEQR), that is, block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG,
-     $                   U1, LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPU, TYP
-      INTEGER           INFO, LDA, LDG, LDU1, LDU2, LDWORK, M, N
-C     .. Array Arguments ..
-      LOGICAL           LOWER(*), SELECT(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
-     $                  U2(LDU2,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYP     CHARACTER*1
-          Specifies the type of the input matrix X:
-          = 'S': X is skew-Hamiltonian;
-          = 'H': X is Hamiltonian.
-
-  COMPU   CHARACTER*1
-          = 'U': update the matrices U1 and U2 containing the
-                 Schur vectors;
-          = 'N': do not update U1 and U2.
-
-  SELECT  (input/output) LOGICAL array, dimension (N)
-          SELECT specifies the eigenvalues in the selected cluster.
-          To select a real eigenvalue w(j), SELECT(j) must be set
-          to .TRUE.. To select a complex conjugate pair of
-          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
-          diagonal block, both SELECT(j) and SELECT(j+1) must be set
-          to .TRUE.; a complex conjugate pair of eigenvalues must be
-          either both included in the cluster or both excluded.
-
-  LOWER   (input/output) LOGICAL array, dimension (N)
-          LOWER controls which copy of a selected eigenvalue is
-          included in the cluster. If SELECT(j) is set to .TRUE.
-          for a real eigenvalue w(j); then LOWER(j) must be set to
-          .TRUE. if the eigenvalue corresponding to the (n+j)-th
-          diagonal element of X is to be reordered to the leading
-          part; and LOWER(j) must be set to .FALSE. if the
-          eigenvalue corresponding to the j-th diagonal element of
-          X is to be reordered to the leading part. Similarly, for
-          a complex conjugate pair of eigenvalues w(j) and w(j+1),
-          both LOWER(j) and LOWER(j+1) must be set to .TRUE. if the
-          eigenvalues corresponding to the (n+j:n+j+1,n+j:n+j+1)
-          diagonal block of X are to be reordered to the leading
-          part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A in Schur
-          canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the reordered matrix A, again in Schur canonical form,
-          with the selected eigenvalues in the diagonal blocks.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, if TYP = 'S', the leading N-by-N part of this
-          array must contain the strictly upper triangular part of
-          the skew-symmetric matrix G. The rest of this array is not
-          referenced.
-          On entry, if TYP = 'H', the leading N-by-N part of this
-          array must contain the upper triangular part of the
-          symmetric matrix G. The rest of this array is not
-          referenced.
-          On exit, if TYP = 'S', the leading N-by-N part of this
-          array contains the strictly upper triangular part of the
-          skew-symmetric matrix G, updated by the orthogonal
-          symplectic transformation which reorders X.
-          On exit, if TYP = 'H', the leading N-by-N part of this
-          array contains the upper triangular part of the symmetric
-          matrix G, updated by the orthogonal symplectic
-          transformation which reorders X.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, if COMPU = 'U', the leading N-by-N part of this
-          array must contain U1, the (1,1) block of an orthogonal
-          symplectic matrix U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U', the leading N-by-N part of this
-          array contains the (1,1) block of the matrix U,
-          postmultiplied by the orthogonal symplectic transformation
-          which reorders X. The leading M columns of U form an
-          orthonormal basis for the specified invariant subspace.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= MAX(1,N),  if COMPU = 'U';
-          LDU1 &gt;= 1,         otherwise.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, if COMPU = 'U', the leading N-by-N part of this
-          array must contain U2, the (1,2) block of an orthogonal
-          symplectic matrix U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U', the leading N-by-N part of this
-          array contains the (1,2) block of the matrix U,
-          postmultiplied by the orthogonal symplectic transformation
-          which reorders X.
-          If COMPU = 'N', this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= MAX(1,N),  if COMPU = 'U';
-          LDU2 &gt;= 1,         otherwise.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The real and imaginary parts, respectively, of the
-          reordered eigenvalues of A. The eigenvalues are stored
-          in the same order as on the diagonal of A, with
-          WR(i) = A(i,i) and, if A(i:i+1,i:i+1) is a 2-by-2 diagonal
-          block, WI(i) &gt; 0 and WI(i+1) = -WI(i). Note that if an
-          eigenvalue is sufficiently ill-conditioned, then its value
-          may differ significantly from its value before reordering.
-
-  M       (output) INTEGER
-          The dimension of the specified invariant subspace.
-          0 &lt;= M &lt;= N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          = 1:  reordering of X failed because some eigenvalue pairs
-                are too close to separate (the problem is very
-                ill-conditioned); X may have been partially
-                reordered, and WR and WI contain the eigenvalues in
-                the same order as in X.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bai, Z. and Demmel, J.W.
-      On Swapping Diagonal Blocks in Real Schur Form.
-      Linear Algebra Appl., 186, pp. 73-95, 1993.
-
-  [2] Benner, P., Kressner, D., and Mehrmann, V.
-      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
-      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDG, LDRES, LDU1, LDU2, LDWORK
-      PARAMETER        ( LDA  = NMAX, LDG  = NMAX, LDRES  = NMAX,
-     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 8*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPU, TYP
-      INTEGER          I, INFO, J, N, M
-*     .. Local Arrays ..
-      LOGICAL          LOWER(NMAX), SELECT(NMAX)
-      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), G(LDG, NMAX),
-     $                 RES(LDRES,NMAX), U1(LDU1,NMAX), U2(LDU2,NMAX),
-     $                 WR(NMAX), WI(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION MA02JD
-      EXTERNAL         LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         MB03TD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, TYP, COMPU
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( SELECT(J), J = 1,N )
-         READ ( NIN, FMT = * ) ( LOWER(J), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( COMPU, 'U' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
-         END IF
-         CALL MB03TD( TYP, COMPU, SELECT, LOWER, N, A, LDA, G, LDG, U1,
-     $                LDU1, U2, LDU2, WR, WI, M, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( COMPU, 'U' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 10  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10             CONTINUE
-               DO 20  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20             CONTINUE
-               WRITE ( NOUT, FMT = 99992 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-            END IF
-*
-            WRITE ( NOUT, FMT = 99996 )
-            DO 30  I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
-30          CONTINUE
-*
-            WRITE ( NOUT, FMT = 99995 )
-            IF ( LSAME( TYP, 'S' ) ) THEN
-               DO 40  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $               ( -G(J,I), J = 1,I-1 ), ZERO, ( G(I,J), J = I+1,N )
-40             CONTINUE
-            ELSE
-               DO 50  I = 1, N
-                  WRITE ( NOUT, FMT = 99994 )
-     $               ( G(J,I), J = 1,I-1 ), ( G(I,J), J = I,N )
-50             CONTINUE
-           END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03TD = ',I2)
-99997 FORMAT (' The orthogonal symplectic factor U is ')
-99996 FORMAT (/' The matrix A in reordered Schur canonical form is ')
-99995 FORMAT (/' The matrix G is ')
-99994 FORMAT (20(1X,F9.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03TD EXAMPLE PROGRAM DATA
-	5	S	U
-	.F. .T. .T. .F. .F.
-	.F. .T. .T. .F. .F.
-    0.9501    0.7621    0.6154    0.4057    0.0579
-         0    0.4565    0.7919    0.9355    0.3529
-         0   -0.6822    0.4565    0.9169    0.8132
-         0         0         0    0.4103    0.0099
-         0         0         0         0    0.1389
-         0   -0.1834   -0.1851    0.5659    0.3040
-         0         0    0.4011   -0.9122    0.2435
-         0         0         0    0.4786   -0.2432
-         0         0         0         0   -0.5272
-         0         0         0         0         0
-     1     0     0     0     0
-     0     1     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-     0     0     0     0     1
-     0     0     0     0     0
-     0     0     0     0     0
-     0     0     0     0     0
-     0     0     0     0     0
-     0     0     0     0     0
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03TD EXAMPLE PROGRAM RESULTS
-
-The orthogonal symplectic factor U is 
-   0.0407    0.4847    0.8737    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-   0.1245   -0.3866    0.2087    0.4509   -0.1047    0.3229    0.1248   -0.0843    0.1967    0.6415
-  -0.0933    0.4089   -0.2225   -0.4085    0.0709   -0.2171    0.2156   -0.1095    0.4348    0.5551
-  -0.1059   -0.5250    0.2962   -0.0295    0.2207   -0.6789    0.1133   -0.0312    0.2979   -0.1112
-   0.3937    0.3071   -0.1887    0.5332   -0.4351   -0.4423    0.0600   -0.0127    0.1679   -0.1179
-   0.0000    0.0000    0.0000    0.0000    0.0000    0.0407    0.4847    0.8737    0.0000    0.0000
-  -0.3229   -0.1248    0.0843   -0.1967   -0.6415    0.1245   -0.3866    0.2087    0.4509   -0.1047
-   0.2171   -0.2156    0.1095   -0.4348   -0.5551   -0.0933    0.4089   -0.2225   -0.4085    0.0709
-   0.6789   -0.1133    0.0312   -0.2979    0.1112   -0.1059   -0.5250    0.2962   -0.0295    0.2207
-   0.4423   -0.0600    0.0127   -0.1679    0.1179    0.3937    0.3071   -0.1887    0.5332   -0.4351
-
-Orthogonality of U: || U'*U - I ||_F = .21E-14
-
-The matrix A in reordered Schur canonical form is 
-   0.4565   -0.4554    0.2756   -0.8651   -1.2050
-   1.1863    0.4565    0.2186   -0.0233    0.8293
-   0.0000    0.0000    0.9501    0.0625   -0.0064
-   0.0000    0.0000    0.0000    0.4103    0.5597
-   0.0000    0.0000    0.0000    0.0000    0.1389
-
-The matrix G is 
-   0.0000    0.3298   -0.0292   -0.1571    0.1751
-  -0.3298    0.0000   -0.0633   -0.2951    0.2396
-   0.0292    0.0633    0.0000    0.9567    0.7485
-   0.1571    0.2951   -0.9567    0.0000    0.2960
-  -0.1751   -0.2396   -0.7485   -0.2960    0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03TS.html b/doc/_static/doc/MB03TS.html
deleted file mode 100644
index f06e4346..00000000
--- a/doc/_static/doc/MB03TS.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03TS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03TS">MB03TS</A></H2>
-<H3>
-Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian canonical Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To swap diagonal blocks A11 and A22 of order 1 or 2 in the upper
-  quasi-triangular matrix A contained in a skew-Hamiltonian matrix
-
-                [  A   G  ]          T
-          X  =  [       T ],   G = -G,
-                [  0   A  ]
-
-  or in a Hamiltonian matrix
-
-                [  A   G  ]          T
-          X  =  [       T ],   G =  G.
-                [  0  -A  ]
-
-  This routine is a modified version of the LAPACK subroutine
-  DLAEX2.
-
-  The matrix A must be in Schur canonical form (as returned by the
-  LAPACK routine DHSEQR), that is, block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03TS( ISHAM, WANTU, N, A, LDA, G, LDG, U1, LDU1, U2,
-     $                   LDU2, J1, N1, N2, DWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            ISHAM, WANTU
-      INTEGER            INFO, J1, LDA, LDG, LDU1, LDU2, N, N1, N2
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), DWORK(*), G(LDG,*), U1(LDU1,*),
-     $                   U2(LDU2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ISHAM   LOGIGAL
-          Specifies the type of X:
-          = .TRUE.:   X is a Hamiltonian matrix;
-          = .FALSE.:  X is a skew-Hamiltonian matrix.
-
-  WANTU   LOGIGAL
-          = .TRUE.:   update the matrices U1 and U2 containing the
-                      Schur vectors;
-          = .FALSE.:  do not update U1 and U2.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A, in Schur
-          canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the reordered matrix A, again in Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular part of the symmetric
-          matrix G, if ISHAM = .TRUE., or the strictly upper
-          triangular part of the skew-symmetric matrix G, otherwise.
-          The rest of this array is not referenced.
-          On exit, the leading N-by-N part of this array contains
-          the upper or strictly upper triangular part of the
-          symmetric or skew-symmetric matrix G, respectively,
-          updated by the orthogonal transformation which reorders A.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, if WANTU = .TRUE., the leading N-by-N part of
-          this array must contain the matrix U1.
-          On exit, if WANTU = .TRUE., the leading N-by-N part of
-          this array contains U1, postmultiplied by the orthogonal
-          transformation which reorders A. See the description in
-          the SLICOT subroutine MB03TD for further details.
-          If WANTU = .FALSE., this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= MAX(1,N),  if WANTU = .TRUE.;
-          LDU1 &gt;= 1,         otherwise.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, if WANTU = .TRUE., the leading N-by-N part of
-          this array must contain the matrix U2.
-          On exit, if WANTU = .TRUE., the leading N-by-N part of
-          this array contains U2, postmultiplied by the orthogonal
-          transformation which reorders A.
-          If WANTU = .FALSE., this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= MAX(1,N),  if WANTU = .TRUE.;
-          LDU2 &gt;= 1,         otherwise.
-
-  J1      (input) INTEGER
-          The index of the first row of the first block A11.
-          If J1+N1 &lt; N, then A11 is swapped with the block starting
-          at (J1+N1+1)-th diagonal element.
-          If J1+N1 &gt; N, then A11 is the last block in A and swapped
-          with -A11', if ISHAM = .TRUE.,
-          or    A11', if ISHAM = .FALSE..
-
-  N1      (input) INTEGER
-          The order of the first block A11. N1 = 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of the second block A22. N2 = 0, 1 or 2.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  the transformed matrix A would be too far from Schur
-                form; the blocks are not swapped and A, G, U1 and
-                U2 are unchanged.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bai, Z., and Demmel, J.W.
-     On swapping diagonal blocks in real Schur form.
-     Linear Algebra Appl., 186, pp. 73-95, 1993.
-
-  [2] Benner, P., Kressner, D., and Mehrmann, V.
-      Skew-Hamiltonian and Hamiltonian Eigenvalue Problems: Theory,
-      Algorithms and Applications. Techn. Report, TU Berlin, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03UD.html b/doc/_static/doc/MB03UD.html
deleted file mode 100644
index 2d635a59..00000000
--- a/doc/_static/doc/MB03UD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03UD">MB03UD</A></H2>
-<H3>
-Computation of the singular value decomposition of a real upper triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute all, or part, of the singular value decomposition of a
-  real upper triangular matrix.
-
-  The N-by-N upper triangular matrix A is factored as  A = Q*S*P',
-  where Q and P are N-by-N orthogonal matrices and S is an
-  N-by-N diagonal matrix with non-negative diagonal elements,
-  SV(1), SV(2), ..., SV(N), ordered such that
-
-     SV(1) &gt;= SV(2) &gt;= ... &gt;= SV(N) &gt;= 0.
-
-  The columns of Q are the left singular vectors of A, the diagonal
-  elements of S are the singular values of A and the columns of P
-  are the right singular vectors of A.
-
-  Either or both of Q and P' may be requested.
-  When P' is computed, it is returned in A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBP, JOBQ
-      INTEGER           INFO, LDA, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(LDQ,*), SV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBQ    CHARACTER*1
-          Specifies whether the user wishes to compute the matrix Q
-          of left singular vectors as follows:
-          = 'V':  Left singular vectors are computed;
-          = 'N':  No left singular vectors are computed.
-
-  JOBP    CHARACTER*1
-          Specifies whether the user wishes to compute the matrix P'
-          of right singular vectors as follows:
-          = 'V':  Right singular vectors are computed;
-          = 'N':  No right singular vectors are computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix A.
-          On exit, if JOBP = 'V', the leading N-by-N part of this
-          array contains the N-by-N orthogonal matrix  P'; otherwise
-          the N-by-N upper triangular part of A is used as internal
-          workspace. The strictly lower triangular part of A is set
-          internally to zero before the reduction to bidiagonal form
-          is performed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If JOBQ = 'V', the leading N-by-N part of this array
-          contains the orthogonal matrix Q.
-          If JOBQ = 'N', Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,  and when JOBQ = 'V',  LDQ &gt;= MAX(1,N).
-
-  SV      (output) DOUBLE PRECISION array, dimension (N)
-          The N singular values of the matrix A, sorted in
-          descending order.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          if INFO &gt; 0, DWORK(2:N) contains the unconverged
-          superdiagonal elements of an upper bidiagonal matrix B
-          whose diagonal is in SV (not necessarily sorted).
-          B satisfies A = Q*B*P', so it has the same singular
-          values as A, and singular vectors related by Q and P'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,5*N).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  the QR algorithm has failed to converge. In this
-                case INFO specifies how many superdiagonals did not
-                converge (see the description of DWORK).
-                This failure is not likely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine reduces A to bidiagonal form by means of elementary
-  reflectors and then uses the QR algorithm on the bidiagonal form.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDQ
-      PARAMETER        ( LDA = NMAX, LDQ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 5*NMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBQ, JOBP
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LDQ,NMAX),
-     $                 SV(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB03UD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOBQ, JOBP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Compute the singular values and vectors.
-         CALL MB03UD( JOBQ, JOBP, N, A, LDA, Q, LDQ, SV, DWORK,
-     $                LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99995 ) ( SV(I), I = 1,N )
-            IF ( LSAME( JOBP, 'V' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10          CONTINUE
-            END IF
-            IF ( LSAME( JOBQ, 'V' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03UD = ',I2)
-99997 FORMAT (' Singular values are ',I5)
-99996 FORMAT (/' The transpose of the right singular vectors matrix is '
-     $       )
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' The left singular vectors matrix is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB03UD EXAMPLE PROGRAM DATA
-   4     V      V
-  -1.0  37.0 -12.0 -12.0
-   0.0 -10.0   0.0   4.0
-   0.0   0.0   7.0  -6.0
-   0.0   0.0   0.0  -9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03UD EXAMPLE PROGRAM RESULTS
-
- Singular values are 
-          42.0909  11.7764   5.4420   0.2336
-
- The transpose of the right singular vectors matrix is 
-           0.0230  -0.9084   0.2759   0.3132
-           0.0075  -0.1272   0.5312  -0.8376
-           0.0092   0.3978   0.8009   0.4476
-           0.9997   0.0182  -0.0177  -0.0050
-
- The left singular vectors matrix is 
-          -0.9671  -0.0882  -0.0501  -0.2335
-           0.2456  -0.1765  -0.4020  -0.8643
-           0.0012   0.7425   0.5367  -0.4008
-          -0.0670   0.6401  -0.7402   0.1945
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03VD.html b/doc/_static/doc/MB03VD.html
deleted file mode 100644
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-<HTML>
-<HEAD><TITLE>MB03VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03VD">MB03VD</A></H2>
-<H3>
-Periodic Hessenberg form of a product of p matrices using orthogonal similarity transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a product of p real general matrices A = A_1*A_2*...*A_p
-  to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is
-  upper Hessenberg, and H_2, ..., H_p are upper triangular, by using
-  orthogonal similarity transformations on A,
-
-          Q_1' * A_1 * Q_2 = H_1,
-          Q_2' * A_2 * Q_3 = H_2,
-                 ...
-          Q_p' * A_p * Q_1 = H_p.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the square matrices A_1, A_2, ..., A_p.
-          N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of matrices in the product A_1*A_2*...*A_p.
-          P &gt;= 1.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that all matrices A_j, j = 2, ..., p, are
-          already upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N, and A_1 is upper Hessenberg in rows and columns
-          1:ILO-1 and IHI+1:N, with A_1(ILO,ILO-1) = 0 (unless
-          ILO = 1), and A_1(IHI+1,IHI) = 0 (unless IHI = N).
-          If this is not the case, ILO and IHI should be set to 1
-          and N, respectively.
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA1,LDA2,P)
-          On entry, the leading N-by-N-by-P part of this array must
-          contain the matrices of factors to be reduced;
-          specifically, A(*,*,j) must contain A_j, j = 1, ..., p.
-          On exit, the leading N-by-N upper triangle and the first
-          subdiagonal of A(*,*,1) contain the upper Hessenberg
-          matrix H_1, and the elements below the first subdiagonal,
-          with the first column of the array TAU represent the
-          orthogonal matrix Q_1 as a product of elementary
-          reflectors. See FURTHER COMMENTS.
-          For j &gt; 1, the leading N-by-N upper triangle of A(*,*,j)
-          contains the upper triangular matrix H_j, and the elements
-          below the diagonal, with the j-th column of the array TAU
-          represent the orthogonal matrix Q_j as a product of
-          elementary reflectors. See FURTHER COMMENTS.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= max(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= max(1,N).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (LDTAU,P)
-          The leading N-1 elements in the j-th column contain the
-          scalar factors of the elementary reflectors used to form
-          the matrix Q_j, j = 1, ..., P. See FURTHER COMMENTS.
-
-  LDTAU   INTEGER
-          The leading dimension of the array TAU.
-          LDTAU &gt;= max(1,N-1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm consists in ihi-ilo major steps. In each such
-  step i, ilo &lt;= i &lt;= ihi-1, the subdiagonal elements in the i-th
-  column of A_j are annihilated using a Householder transformation
-  from the left, which is also applied to A_(j-1) from the right,
-  for j = p:-1:2. Then, the elements below the subdiagonal of the
-  i-th column of A_1 are annihilated, and the Householder
-  transformation is also applied to A_p from the right.
-  See FURTHER COMMENTS.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      Periodic Schur form and some matrix equations.
-      Proc. of the Symposium on the Mathematical Theory of Networks
-      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
-      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Each matrix Q_j is represented as a product of (ihi-ilo)
-  elementary reflectors,
-
-     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
-
-  Each H_j(i), i = ilo, ..., ihi-1, has the form
-
-     H_j(i) = I - tau_j * v_j * v_j',
-
-  where tau_j is a real scalar, and v_j is a real vector with
-  v_j(1:i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)
-  is stored on exit in A_j(i+2:ihi,i), and tau_j in TAU(i,j).
-
-  The contents of A_1 are illustrated by the following example
-  for n = 7, ilo = 2, and ihi = 6:
-
-  on entry                         on exit
-
-  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
-  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )
-  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
-  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
-
-  where a denotes an element of the original matrix A_1, h denotes
-  a modified element of the upper Hessenberg matrix H_1, and vi
-  denotes an element of the vector defining H_1(i).
-
-  The contents of A_j, j &gt; 1, are illustrated by the following
-  example for n = 7, ilo = 2, and ihi = 6:
-
-  on entry                         on exit
-
-  ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
-  ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
-  ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )
-  ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
-
-  where a denotes an element of the original matrix A_j, h denotes
-  a modified element of the upper triangular matrix H_j, and vi
-  denotes an element of the vector defining H_j(i). (The element
-  (1,2) in A_p is also unchanged for this example.)
-
-  Note that for P = 1, the LAPACK Library routine DGEHRD could be
-  more efficient on some computer architectures than this routine
-  (a BLAS 2 version).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA1, LDA2, LDQ1, LDQ2, LDTAU
-      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
-     $                   LDQ2 = NMAX, LDTAU = NMAX-1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SSQ
-      INTEGER          I, IHI, ILO, INFO, J, K, KP1, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
-     $                 DWORK(LDWORK), Q(LDQ1,LDQ2,PMAX),
-     $                 QTA(LDQ1,NMAX), TAU(LDTAU,PMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE, DLAPY2
-      EXTERNAL         DLANGE, DLAPY2
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, MB03VD, MB03VY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, ILO, IHI
-      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) P
-         ELSE
-*           Read matrices A_1, ..., A_p from the input file.
-            DO 10 K = 1, P
-               READ ( NIN, FMT = * )
-     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
-               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
-   10       CONTINUE
-*           Reduce to the periodic Hessenberg form.
-            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 30 K = 1, P
-                  CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Q(1,1,K),
-     $                         LDQ1 )
-                  IF ( N.GT.1 ) THEN
-                     IF ( N.GT.2 .AND. K.EQ.1 ) THEN
-                        CALL DLASET( 'L', N-2, N-2, ZERO, ZERO,
-     $                               A(3,1,K), LDA1 )
-                     ELSE IF ( K.GT.1 ) THEN
-                        CALL DLASET( 'L', N-1, N-1, ZERO, ZERO,
-     $                               A(2,1,K), LDA1 )
-                     END IF
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 ) K
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( A(I,J,K), J = 1, N )
-   20             CONTINUE
-   30          CONTINUE
-*              Accumulate the transformations.
-               CALL MB03VY( N, P, ILO, IHI, Q, LDQ1, LDQ2, TAU, LDTAU,
-     $                      DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 50 K = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) K
-                     DO 40 I = 1, N
-                        WRITE ( NOUT, FMT = 99994 )
-     $                        ( Q(I,J,K), J = 1, N )
-   40                CONTINUE
-   50             CONTINUE
-*                 Compute error.
-                  SSQ = ZERO
-                  DO 60 K = 1, P
-                     KP1 = K+1
-                     IF( KP1.GT.P ) KP1 = 1
-*                    Compute NORM (Z' * A * Z - Aout)
-                     CALL DGEMM( 'T', 'N', N, N, N, ONE, Q(1,1,K), LDQ1,
-     $                           AS(1,1,K), LDA1, ZERO, QTA, LDQ1 )
-                     CALL DGEMM( 'N', 'N', N, N, N, ONE, QTA, LDQ1,
-     $                           Q(1,1,KP1), LDQ1, -ONE, A(1,1,K),
-     $                           LDA1 )
-                     SSQ = DLAPY2( SSQ,
-     $                             DLANGE( 'Frobenius', N, N, A(1,1,K),
-     $                                     LDA1, DWORK ) )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 ) SSQ
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT (' MB03VD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from MB03VD = ', I2)
-99997 FORMAT (' INFO on exit from MB03VY = ', I2)
-99996 FORMAT (' Reduced matrices')
-99995 FORMAT (/' K = ', I5)
-99994 FORMAT (8F8.4)
-99993 FORMAT (/' Transformation matrices')
-99992 FORMAT (/,' NORM (Q''*A*Q - Aout) = ', 1PD12.5)
-99991 FORMAT (/, ' N is out of range.',/' N = ', I5)
-99990 FORMAT (/, ' P is out of range.',/' P = ', I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03VD EXAMPLE PROGRAM DATA
-4 2 1 4
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03VD EXAMPLE PROGRAM RESULTS
-
- Reduced matrices
-
- K =     1
- -2.3926  2.7042 -0.9598 -1.2335
-  4.1417 -1.7046  1.3001 -1.3120
-  0.0000 -1.6247 -0.2534  1.6453
-  0.0000  0.0000 -0.0169 -0.4451
-
- K =     2
- -2.5495  2.3402  4.7021  0.2329
-  0.0000  1.9725 -0.2483 -2.3493
-  0.0000  0.0000 -0.6290 -0.5975
-  0.0000  0.0000  0.0000 -0.4426
-
- Transformation matrices
-
- K =     1
-  1.0000  0.0000  0.0000  0.0000
-  0.0000 -0.7103  0.5504 -0.4388
-  0.0000 -0.4735 -0.8349 -0.2807
-  0.0000 -0.5209  0.0084  0.8536
-
- K =     2
- -0.5883  0.2947  0.7528 -0.0145
- -0.3922 -0.8070  0.0009 -0.4415
- -0.5883  0.4292 -0.6329 -0.2630
- -0.3922 -0.2788 -0.1809  0.8577
-
- NORM (Q'*A*Q - Aout) =  2.93760D-15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03VW.html b/doc/_static/doc/MB03VW.html
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@@ -1,233 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03VW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03VW">MB03VW</A></H2>
-<H3>
-Periodic Hessenberg form of a formal product of p matrices using orthogonal similarity transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the generalized matrix product
-
-               S(1)           S(2)                 S(K)
-       A(:,:,1)     * A(:,:,2)     * ... * A(:,:,K)
-
-  to upper Hessenberg-triangular form, where A is N-by-N-by-K and S
-  is the signature array with values 1 or -1. The H-th matrix of A
-  is reduced to upper Hessenberg form while the other matrices are
-  triangularized. Unblocked version.
-
-  If COMPQ = 'U' or COMPZ = 'I', then the orthogonal factors are
-  computed and stored in the array Q so that for S(I) = 1,
-                                                           T
-        Q(:,:,I)(in)   A(:,:,I)(in)   Q(:,:,MOD(I,K)+1)(in)
-                                                            T    (1)
-     =  Q(:,:,I)(out)  A(:,:,I)(out)  Q(:,:,MOD(I,K)+1)(out) ,
-
-  and for S(I) = -1,
-                                                           T
-        Q(:,:,MOD(I,K)+1)(in)   A(:,:,I)(in)   Q(:,:,I)(in)
-                                                            T    (2)
-     =  Q(:,:,MOD(I,K)+1)(out)  A(:,:,I)(out)  Q(:,:,I)(out) .
-
-  A partial generation of the orthogonal factors can be realized via
-  the array QIND.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03VW( COMPQ, QIND, TRIU, N, K, H, ILO, IHI, S, A,
-     $                   LDA1, LDA2, Q, LDQ1, LDQ2, IWORK, LIWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPQ, TRIU
-      INTEGER           H, IHI, ILO, INFO, K, LDA1, LDA2, LDQ1, LDQ2,
-     $                  LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*), QIND(*), S(*)
-      DOUBLE PRECISION  A(LDA1,LDA2,*), DWORK(LDWORK), Q(LDQ1,LDQ2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the orthogonal transformations
-          should be accumulated in the array Q, as follows:
-          = 'N': do not modify Q;
-          = 'U': modify (update) the array Q by the orthogonal
-                 transformations that are applied to the matrices in
-                 the array A to reduce them to periodic Hessenberg-
-                 triangular form;
-          = 'I': like COMPQ = 'U', except that each matrix in the
-                 array Q will be first initialized to the identity
-                 matrix;
-          = 'P': use the parameters as encoded in QIND.
-
-  QIND    INTEGER array, dimension (K)
-          If COMPQ = 'P', then this array describes the generation
-          of the orthogonal factors as follows:
-             If QIND(I) &gt; 0, then the array Q(:,:,QIND(I)) is
-          modified by the transformations corresponding to the
-          i-th orthogonal factor in (1) and (2).
-             If QIND(I) &lt; 0, then the array Q(:,:,-QIND(I)) is
-          initialized to the identity and modified by the
-          transformations corresponding to the i-th orthogonal
-          factor in (1) and (2).
-             If QIND(I) = 0, then the transformations corresponding
-          to the i-th orthogonal factor in (1), (2) are not applied.
-
-  TRIU    CHARACTER*1
-          Indicates how many matrices are reduced to upper
-          triangular form in the first stage of the algorithm,
-          as follows
-          = 'N':  only matrices with negative signature;
-          = 'A':  all possible N - 1 matrices.
-          The first choice minimizes the computational costs of the
-          algorithm, whereas the second is more cache efficient and
-          therefore faster on modern architectures.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input)  INTEGER
-          The order of each factor in the array A.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of factors.  K &gt;= 0.
-
-  H       (input/output) INTEGER
-          On entry, if H is in the interval [1,K] then the H-th
-          factor of A will be transformed to upper Hessenberg form.
-          Otherwise the most efficient H is chosen.
-          On exit, H indicates the factor of A which is in upper
-          Hessenberg form.
-
-  ILO     (input)  INTEGER
-  IHI     (input)  INTEGER
-          It is assumed that each factor in A is already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0;
-          ILO = 1 and IHI  = 0, if N = 0.
-          If ILO = IHI, all factors are upper triangular.
-
-  S       (input)  INTEGER array, dimension (K)
-          The leading K elements of this array must contain the
-          signatures of the factors. Each entry in S must be either
-          1 or -1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA1,LDA2,K)
-          On entry, the leading N-by-N-by-K part of this array must
-          contain the factors of the general product to be reduced.
-          On exit, A(:,:,H) is overwritten by an upper Hessenberg
-          matrix and each A(:,:,I), for I not equal to H, is
-          overwritten by an upper triangular matrix.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= MAX(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension
-                         (LDQ1,LDQ2,K)
-          On entry, if COMPQ = 'U', the leading N-by-N-by-K part
-          of this array must contain the initial orthogonal factors
-          as described in (1) and (2).
-          On entry, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part of this array must contain some
-          orthogonal factors as described by the parameters QIND.
-          If COMPQ = 'I', this array should not be set on entry.
-          On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
-          N-by-N-by-K part of this array contains the modified
-          orthogonal factors as described in (1) and (2).
-          On exit, if COMPQ = 'P', only parts of the leading
-          N-by-N-by-K part contain some modified orthogonal factors
-          as described by the parameters QIND.
-          This array is not referenced if COMPQ = 'N'.
-
-  LDQ1    INTEGER
-          The first leading dimension of the array Q.  LDQ1 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ1 &gt;= MAX(1,N).
-
-  LDQ2    INTEGER
-          The second leading dimension of the array Q.  LDQ2 &gt;= 1,
-          and, if COMPQ &lt;&gt; 'N', LDQ2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if  INFO = -17,  IWORK(1)  returns the needed
-          value of LIWORK.
-
-  LIWORK  INTEGER
-          The length of the array IWORK.  LIWORK &gt;= MAX(1,3*K).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LIWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. 
-          LDWORK &gt;= 1, if MIN(N,K) = 0, or N = 1 or ILO = IHI;
-          LDWORK &gt;= M+MAX(IHI,N-ILO+1)), otherwise, where
-                    M = IHI-ILO+1.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03VY.html b/doc/_static/doc/MB03VY.html
deleted file mode 100644
index 6cea7cec..00000000
--- a/doc/_static/doc/MB03VY.html
+++ /dev/null
@@ -1,157 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03VY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03VY">MB03VY</A></H2>
-<H3>
-Orthogonal matrices for reduction to periodic Hessenberg form of a product of matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p,
-  which are defined as the product of ihi-ilo elementary reflectors
-  of order n, as returned by SLICOT Library routine MB03VD:
-
-     Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03VY( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           IHI, ILO, INFO, LDA1, LDA2, LDTAU, LDWORK, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA1, LDA2, * ), DWORK( * ), TAU( LDTAU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices Q_1, Q_2, ..., Q_p.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number p of transformation matrices.  P &gt;= 1.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          The values of the indices ilo and ihi, respectively, used
-          in the previous call of the SLICOT Library routine MB03VD.
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA1,LDA2,N)
-          On entry, the leading N-by-N strictly lower triangular
-          part of A(*,*,j) must contain the vectors which define the
-          elementary reflectors used for reducing A_j, as returned
-          by SLICOT Library routine MB03VD, j = 1, ..., p.
-          On exit, the leading N-by-N part of A(*,*,j) contains the
-          N-by-N orthogonal matrix Q_j, j = 1, ..., p.
-
-  LDA1    INTEGER
-          The first leading dimension of the array A.
-          LDA1 &gt;= max(1,N).
-
-  LDA2    INTEGER
-          The second leading dimension of the array A.
-          LDA2 &gt;= max(1,N).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (LDTAU,P)
-          The leading N-1 elements in the j-th column must contain
-          the scalar factors of the elementary reflectors used to
-          form the matrix Q_j, as returned by SLICOT Library routine
-          MB03VD.
-
-  LDTAU   INTEGER
-          The leading dimension of the array TAU.
-          LDTAU &gt;= max(1,N-1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Each matrix Q_j is generated as the product of the elementary
-  reflectors used for reducing A_j. Standard LAPACK routines for
-  Hessenberg and QR decompositions are used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      Periodic Schur form and some matrix equations.
-      Proc. of the Symposium on the Mathematical Theory of Networks
-      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
-      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03WA.html b/doc/_static/doc/MB03WA.html
deleted file mode 100644
index 977ee3f8..00000000
--- a/doc/_static/doc/MB03WA.html
+++ /dev/null
@@ -1,180 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03WA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03WA">MB03WA</A></H2>
-<H3>
-Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To swap adjacent diagonal blocks A11*B11 and A22*B22 of size
-  1-by-1 or 2-by-2 in an upper (quasi) triangular matrix product
-  A*B by an orthogonal equivalence transformation.
-
-  (A, B) must be in periodic real Schur canonical form (as returned
-  by SLICOT Library routine MB03XP), i.e., A is block upper
-  triangular with 1-by-1 and 2-by-2 diagonal blocks, and B is upper
-  triangular.
-
-  Optionally, the matrices Q and Z of generalized Schur vectors are
-  updated.
-
-      Q(in) * A(in) * Z(in)' = Q(out) * A(out) * Z(out)',
-      Z(in) * B(in) * Q(in)' = Z(out) * B(out) * Q(out)'.
-
-  This routine is largely based on the LAPACK routine DTGEX2
-  developed by Bo Kagstrom and Peter Poromaa.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03WA( WANTQ, WANTZ, N1, N2, A, LDA, B, LDB, Q, LDQ,
-     $                   Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            WANTQ, WANTZ
-      INTEGER            INFO, LDA, LDB, LDQ, LDZ, N1, N2
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WANTQ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = .TRUE. :  The matrix Q is updated;
-          = .FALSE.:  the matrix Q is not required.
-
-  WANTZ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = .TRUE. :  The matrix Z is updated;
-          = .FALSE.:  the matrix Z is not required.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The order of the first block A11*B11. N1 = 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of the second block A22*B22. N2 = 0, 1 or 2.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA,N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix A.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the matrix A of the reordered pair.
-
-  LDA     INTEGER
-          The leading dimension of the array A. LDA &gt;= MAX(1,N1+N2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,N1+N2)
-          On entry, the leading (N1+N2)-by-(N1+N2) part of this
-          array must contain the matrix B.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the matrix B of the reordered pair.
-
-  LDB     INTEGER
-          The leading dimension of the array B. LDB &gt;= MAX(1,N1+N2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension
-          (LDQ,N1+N2)
-          On entry, if WANTQ = .TRUE., the leading
-          (N1+N2)-by-(N1+N2) part of this array must contain the
-          orthogonal matrix Q.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the updated matrix Q. Q will be a rotation
-          matrix for N1=N2=1.
-          This array is not referenced if WANTQ = .FALSE..
-
-  LDQ     INTEGER
-          The leading dimension of the array Q. LDQ &gt;= 1.
-          If WANTQ = .TRUE., LDQ &gt;= N1+N2.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension
-          (LDZ,N1+N2)
-          On entry, if WANTZ = .TRUE., the leading
-          (N1+N2)-by-(N1+N2) part of this array must contain the
-          orthogonal matrix Z.
-          On exit, the leading (N1+N2)-by-(N1+N2) part of this array
-          contains the updated matrix Z. Z will be a rotation
-          matrix for N1=N2=1.
-          This array is not referenced if WANTZ = .FALSE..
-
-  LDZ     INTEGER
-          The leading dimension of the array Z. LDZ &gt;= 1.
-          If WANTZ = .TRUE., LDZ &gt;= N1+N2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  the transformed matrix (A, B) would be
-                too far from periodic Schur form; the blocks are
-                not swapped and (A,B) and (Q,Z) are unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In the current code both weak and strong stability tests are
-  performed. The user can omit the strong stability test by changing
-  the internal logical parameter WANDS to .FALSE.. See ref. [2] for
-  details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B.
-      A direct method for reordering eigenvalues in the generalized
-      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
-      et al (eds.), Linear Algebra for Large Scale and Real-Time
-      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
-
-  [2] Kagstrom, B., and Poromaa, P.
-      Computing eigenspaces with specified eigenvalues of a regular
-      matrix pair (A, B) and condition estimation: Theory,
-      algorithms and software, Numer. Algorithms, 1996, vol. 12,
-      pp. 369-407.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03WD.html b/doc/_static/doc/MB03WD.html
deleted file mode 100644
index 0a047a30..00000000
--- a/doc/_static/doc/MB03WD.html
+++ /dev/null
@@ -1,432 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03WD">MB03WD</A></H2>
-<H3>
-Schur decomposition and eigenvalues of a product of matrices in periodic Hessenberg form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Schur decomposition and the eigenvalues of a
-  product of matrices, H = H_1*H_2*...*H_p, with H_1 an upper
-  Hessenberg matrix and H_2, ..., H_p upper triangular matrices,
-  without evaluating the product. Specifically, the matrices Z_i
-  are computed, such that
-
-          Z_1' * H_1 * Z_2 = T_1,
-          Z_2' * H_2 * Z_3 = T_2,
-                 ...
-          Z_p' * H_p * Z_1 = T_p,
-
-  where T_1 is in real Schur form, and T_2, ..., T_p are upper
-  triangular.
-
-  The routine works primarily with the Hessenberg and triangular
-  submatrices in rows and columns ILO to IHI, but optionally applies
-  the transformations to all the rows and columns of the matrices
-  H_i, i = 1,...,p. The transformations can be optionally
-  accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ, IHIZ, H,
-     $                   LDH1, LDH2, Z, LDZ1, LDZ2, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPZ, JOB
-      INTEGER           IHI, IHIZ, ILO, ILOZ, INFO, LDH1, LDH2, LDWORK,
-     $                  LDZ1, LDZ2, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK( * ), H( LDH1, LDH2, * ), WI( * ),
-     $                  WR( * ), Z( LDZ1, LDZ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = 'E':  Compute the eigenvalues only;
-          = 'S':  Compute the factors T_1, ..., T_p of the full
-                  Schur form, T = T_1*T_2*...*T_p.
-
-  COMPZ   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrices Z_1, ..., Z_p, as follows:
-          = 'N':  The matrices Z_1, ..., Z_p are not required;
-          = 'I':  Z_i is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z_i is returned,
-                  i = 1, ..., p;
-          = 'V':  Z_i must contain an orthogonal matrix Q_i on
-                  entry, and the product Q_i*Z_i is returned,
-                  i = 1, ..., p.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix H.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of matrices in the product H_1*H_2*...*H_p.
-          P &gt;= 1.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that all matrices H_j, j = 2, ..., p, are
-          already upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N, and H_1 is upper quasi-triangular in rows and
-          columns 1:ILO-1 and IHI+1:N, with H_1(ILO,ILO-1) = 0
-          (unless ILO = 1), and H_1(IHI+1,IHI) = 0 (unless IHI = N).
-          The routine works primarily with the Hessenberg submatrix
-          in rows and columns ILO to IHI, but applies the
-          transformations to all the rows and columns of the
-          matrices H_i, i = 1,...,p, if JOB = 'S'.
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  ILOZ    (input) INTEGER
-  IHIZ    (input) INTEGER
-          Specify the rows of Z to which the transformations must be
-          applied if COMPZ = 'I' or COMPZ = 'V'.
-          1 &lt;= ILOZ &lt;= ILO; IHI &lt;= IHIZ &lt;= N.
-
-  H       (input/output) DOUBLE PRECISION array, dimension
-          (LDH1,LDH2,P)
-          On entry, the leading N-by-N part of H(*,*,1) must contain
-          the upper Hessenberg matrix H_1 and the leading N-by-N
-          part of H(*,*,j) for j &gt; 1 must contain the upper
-          triangular matrix H_j, j = 2, ..., p.
-          On exit, if JOB = 'S', the leading N-by-N part of H(*,*,1)
-          is upper quasi-triangular in rows and columns ILO:IHI,
-          with any 2-by-2 diagonal blocks corresponding to a pair of
-          complex conjugated eigenvalues, and the leading N-by-N
-          part of H(*,*,j) for j &gt; 1 contains the resulting upper
-          triangular matrix T_j.
-          If JOB = 'E', the contents of H are unspecified on exit.
-
-  LDH1    INTEGER
-          The first leading dimension of the array H.
-          LDH1 &gt;= max(1,N).
-
-  LDH2    INTEGER
-          The second leading dimension of the array H.
-          LDH2 &gt;= max(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension
-          (LDZ1,LDZ2,P)
-          On entry, if COMPZ = 'V', the leading N-by-N-by-P part of
-          this array must contain the current matrix Q of
-          transformations accumulated by SLICOT Library routine
-          MB03VY.
-          If COMPZ = 'I', Z need not be set on entry.
-          On exit, if COMPZ = 'V', or COMPZ = 'I', the leading
-          N-by-N-by-P part of this array contains the transformation
-          matrices which produced the Schur form; the
-          transformations are applied only to the submatrices
-          Z_j(ILOZ:IHIZ,ILO:IHI), j = 1, ..., P.
-          If COMPZ = 'N', Z is not referenced.
-
-  LDZ1    INTEGER
-          The first leading dimension of the array Z.
-          LDZ1 &gt;= 1,        if COMPZ = 'N';
-          LDZ1 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
-
-  LDZ2    INTEGER
-          The second leading dimension of the array Z.
-          LDZ2 &gt;= 1,        if COMPZ = 'N';
-          LDZ2 &gt;= max(1,N), if COMPZ = 'I' or COMPZ = 'V'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The real and imaginary parts, respectively, of the
-          computed eigenvalues ILO to IHI are stored in the
-          corresponding elements of WR and WI. If two eigenvalues
-          are computed as a complex conjugate pair, they are stored
-          in consecutive elements of WR and WI, say the i-th and
-          (i+1)th, with WI(i) &gt; 0 and WI(i+1) &lt; 0. If JOB = 'S', the
-          eigenvalues are stored in the same order as on the
-          diagonal of the Schur form returned in H.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= IHI-ILO+P-1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, ILO &lt;= i &lt;= IHI, the QR algorithm
-                failed to compute all the eigenvalues ILO to IHI
-                in a total of 30*(IHI-ILO+1) iterations;
-                the elements i+1:IHI of WR and WI contain those
-                eigenvalues which have been successfully computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A refined version of the QR algorithm proposed in [1] and [2] is
-  used. The elements of the subdiagonal, diagonal, and the first
-  supradiagonal of current principal submatrix of H are computed
-  in the process.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      Periodic Schur form and some matrix equations.
-      Proc. of the Symposium on the Mathematical Theory of Networks
-      and Systems (MTNS'93), Regensburg, Germany (U. Helmke,
-      R. Mennicken and J. Saurer, Eds.), Vol. 1, pp. 339-362, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Note that for P = 1, the LAPACK Library routine DHSEQR could be
-  more efficient on some computer architectures than this routine,
-  because DHSEQR uses a block multishift QR algorithm.
-  When P is large and JOB = 'S', it could be more efficient to
-  compute the product matrix H, and use the LAPACK Library routines.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03WD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA1, LDA2, LDTAU, LDZ1, LDZ2, LDZTA
-      PARAMETER        ( LDA1 = NMAX, LDA2 = NMAX, LDTAU = NMAX-1,
-     $                   LDZ1 = NMAX, LDZ2 = NMAX, LDZTA = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, NMAX + PMAX - 2 ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SSQ
-      INTEGER          I, IHI, IHIZ, ILO, ILOZ, INFO, J, K, KP1, N, P
-      CHARACTER        COMPZ, JOB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA1,LDA2,PMAX), AS(LDA1,LDA2,PMAX),
-     $                 DWORK(LDWORK), TAU(LDTAU,PMAX), WI(NMAX),
-     $                 WR(NMAX), Z(LDZ1,LDZ2,PMAX), ZTA(LDZTA,NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE, DLAPY2
-      LOGICAL          LSAME
-      EXTERNAL         DLANGE, DLAPY2, LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, MB03VD, MB03VY, MB03WD, MB03WX
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-      WRITE (NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, ILO, IHI, ILOZ, IHIZ, JOB, COMPZ
-      IF ( N.LT.0 .OR. N.GT.MIN( LDA1, LDA2 ) ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) P
-         ELSE
-*           Read matrices A_1, ..., A_p from the input file.
-            DO 10 K = 1, P
-               READ ( NIN, FMT = * )
-     $            ( ( A(I,J,K), J = 1, N ), I = 1, N )
-               CALL DLACPY( 'F', N, N, A(1,1,K), LDA1, AS(1,1,K), LDA1 )
-   10       CONTINUE
-*           Reduce to the periodic Hessenberg form.
-            CALL MB03VD( N, P, ILO, IHI, A, LDA1, LDA2, TAU, LDTAU,
-     $                   DWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               IF ( LSAME( COMPZ, 'V' ) ) THEN
-                  DO 20 K = 1, P
-                     CALL DLACPY( 'L', N, N, A(1,1,K), LDA1, Z(1,1,K),
-     $                            LDZ1 )
-   20             CONTINUE
-*                 Accumulate the transformations.
-                  CALL MB03VY( N, P, ILO, IHI, Z, LDZ1, LDZ2, TAU,
-     $                         LDTAU, DWORK, LDWORK, INFO )
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99996 ) INFO
-                     STOP
-                  ELSE
-*                    Reduce to the periodic Schur form.
-                     CALL MB03WD( JOB, COMPZ, N, P, ILO, IHI, ILOZ,
-     $                            IHIZ, A, LDA1, LDA2, Z, LDZ1, LDZ2,
-     $                            WR, WI, DWORK, LDWORK, INFO )
-                     IF ( INFO.GT.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                        WRITE ( NOUT, FMT = 99991 )
-                        DO 30 I = MAX( ILO, INFO + 1 ), IHI
-                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
-   30                   CONTINUE
-                        STOP
-                     END IF
-                     IF ( INFO.LT.0 ) THEN
-                        WRITE ( NOUT, FMT = 99998 ) INFO
-                     ELSE
-*                       Store the isolated eigenvalues.
-                        CALL MB03WX( ILO-1, P, A, LDA1, LDA2, WR, WI,
-     $                               INFO )
-                        IF ( IHI.LT.N )
-     $                     CALL MB03WX( N-IHI, P, A(IHI+1,IHI+1,1),
-     $                                  LDA1, LDA2, WR(IHI+1),
-     $                                  WI(IHI+1), INFO )
-                        WRITE ( NOUT, FMT = 99991 )
-                        DO 40 I = 1, N
-                           WRITE ( NOUT, FMT = 99990 ) WR(I), WI(I)
-   40                   CONTINUE
-                        WRITE ( NOUT, FMT = 99995 )
-                        DO 60 K = 1, P
-                           WRITE ( NOUT, FMT = 99994 ) K
-                           DO 50 I = 1, N
-                              WRITE ( NOUT, FMT = 99993 )
-     $                              ( A(I,J,K), J = 1, N )
-   50                      CONTINUE
-   60                   CONTINUE
-                        WRITE ( NOUT, FMT = 99992 )
-                        DO 80 K = 1, P
-                           WRITE ( NOUT, FMT = 99994 ) K
-                           DO 70 I = 1, N
-                              WRITE ( NOUT, FMT = 99993 )
-     $                              ( Z(I,J,K), J = 1, N )
-   70                      CONTINUE
-   80                   CONTINUE
-*                       Compute error.
-                        SSQ = ZERO
-                        DO 90 K = 1, P
-                           KP1 = K+1
-                           IF( KP1.GT.P ) KP1 = 1
-*                          Compute NORM (Z' * A * Z - Aout)
-                           CALL DGEMM( 'T', 'N', N, N, N, ONE, Z(1,1,K),
-     $                                 LDZ1, AS(1,1,K), LDA1, ZERO, ZTA,
-     $                                 LDZTA )
-                           CALL DGEMM( 'N', 'N', N, N, N, ONE, ZTA,
-     $                                 LDZTA, Z(1,1,KP1), LDZ1, -ONE,
-     $                                 A(1,1,K), LDA1 )
-                           SSQ = DLAPY2( SSQ,
-     $                                   DLANGE( 'Frobenius', N, N,
-     $                                           A(1,1,K), LDA1,
-     $                                           DWORK ) )
-   90                   CONTINUE
-                        WRITE ( NOUT, FMT = 99989 ) SSQ
-                     END IF
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT (' MB03WD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from MB03WD = ', I2)
-99997 FORMAT (' INFO on exit from MB03VD = ', I2)
-99996 FORMAT (' INFO on exit from MB03VY = ', I2)
-99995 FORMAT (/' Reduced matrices')
-99994 FORMAT (/' K = ', I5)
-99993 FORMAT (8F8.4)
-99992 FORMAT (/' Transformation matrices')
-99991 FORMAT ( ' Computed eigenvalues'/)
-99990 FORMAT (4X,'( ', F17.6,' ,', F17.6,' )')
-99989 FORMAT (/,' NORM (Z''*A*Z - Aout) = ', 1PD12.5)
-99988 FORMAT (/, ' N is out of range.',/' N = ', I5)
-99987 FORMAT (/, ' P is out of range.',/' P = ', I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03WD EXAMPLE PROGRAM DATA
-4 2 1 4 1 4 S V
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-1.5 -.7 3.5 -.7 
-1.  0.  2.  3. 
-1.5 -.7 2.5 -.3 
-1.  0.  2.  1. 
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03WD EXAMPLE PROGRAM RESULTS
-
- Computed eigenvalues
-
-    (          6.449861 ,         7.817717 )
-    (          6.449861 ,        -7.817717 )
-    (          0.091315 ,         0.000000 )
-    (          0.208964 ,         0.000000 )
-
- Reduced matrices
-
- K =     1
-  2.2112  4.3718 -2.3362  0.8907
- -0.9179  2.7688 -0.6570 -2.2426
-  0.0000  0.0000  0.3022  0.1932
-  0.0000  0.0000  0.0000 -0.4571
-
- K =     2
-  2.9169  3.4539  2.2016  1.2367
-  0.0000  3.4745  1.0209 -2.0720
-  0.0000  0.0000  0.3022 -0.1932
-  0.0000  0.0000  0.0000 -0.4571
-
- Transformation matrices
-
- K =     1
-  0.3493  0.6751 -0.6490  0.0327
-  0.7483 -0.4863 -0.1249 -0.4336
-  0.2939  0.5504  0.7148 -0.3158
-  0.4813 -0.0700  0.2286  0.8433
-
- K =     2
-  0.2372  0.7221  0.6490  0.0327
-  0.8163 -0.3608  0.1249 -0.4336
-  0.2025  0.5902 -0.7148 -0.3158
-  0.4863  0.0076 -0.2286  0.8433
-
- NORM (Z'*A*Z - Aout) =  7.18432D-15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03WX.html b/doc/_static/doc/MB03WX.html
deleted file mode 100644
index 3df87c44..00000000
--- a/doc/_static/doc/MB03WX.html
+++ /dev/null
@@ -1,103 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03WX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03WX">MB03WX</A></H2>
-<H3>
-Eigenvalues of a product of matrices in periodic Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a product of matrices,
-  T = T_1*T_2*...*T_p, where T_1 is an upper quasi-triangular
-  matrix and T_2, ..., T_p are upper triangular matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03WX( N, P, T, LDT1, LDT2, WR, WI, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDT1, LDT2, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION T( LDT1, LDT2, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix T.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of matrices in the product T_1*T_2*...*T_p.
-          P &gt;= 1.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT1,LDT2,P)
-          The leading N-by-N part of T(*,*,1) must contain the upper
-          quasi-triangular matrix T_1 and the leading N-by-N part of
-          T(*,*,j) for j &gt; 1 must contain the upper-triangular
-          matrix T_j, j = 2, ..., p.
-          The elements below the subdiagonal of T(*,*,1) and below
-          the diagonal of T(*,*,j), j = 2, ..., p, are not
-          referenced.
-
-  LDT1    INTEGER
-          The first leading dimension of the array T.
-          LDT1 &gt;= max(1,N).
-
-  LDT2    INTEGER
-          The second leading dimension of the array T.
-          LDT2 &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of T. The eigenvalues are stored in the same
-          order as on the diagonal of T_1. If T(i:i+1,i:i+1,1) is a
-          2-by-2 diagonal block with complex conjugated eigenvalues
-          then WI(i) &gt; 0 and WI(i+1) = -WI(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03XD.html b/doc/_static/doc/MB03XD.html
deleted file mode 100644
index caa94ae2..00000000
--- a/doc/_static/doc/MB03XD.html
+++ /dev/null
@@ -1,524 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XD">MB03XD</A></H2>
-<H3>
-Computing the eigenvalues of a Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a Hamiltonian matrix,
-
-                [  A   G  ]         T        T
-          H  =  [       T ],   G = G,   Q = Q,                  (1)
-                [  Q  -A  ]
-
-  where A, G and Q are real n-by-n matrices.
-
-  Due to the structure of H all eigenvalues appear in pairs
-  (lambda,-lambda). This routine computes the eigenvalues of H
-  using an algorithm based on the symplectic URV and the periodic
-  Schur decompositions as described in [1],
-
-        T       [  T   G  ]
-       U H V =  [       T ],                                    (2)
-                [  0   S  ]
-
-  where U and V are 2n-by-2n orthogonal symplectic matrices,
-  S is in real Schur form and T is upper triangular.
-
-  The algorithm is backward stable and preserves the eigenvalue
-  pairings in finite precision arithmetic.
-
-  Optionally, a symplectic balancing transformation to improve the
-  conditioning of eigenvalues is computed (see MB04DD). In this
-  case, the matrix H in decomposition (2) must be replaced by the
-  balanced matrix.
-
-  The SLICOT Library routine MB03ZD can be used to compute invariant
-  subspaces of H from the output of this routine.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
-     $                   T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
-     $                   WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          BALANC, JOB, JOBU, JOBV
-      INTEGER            ILO, INFO, LDA, LDQG, LDT, LDU1, LDU2, LDV1,
-     $                   LDV2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), DWORK(*), QG(LDQG,*), SCALE(*),
-     $                   T(LDT,*), U1(LDU1,*), U2(LDU2,*), V1(LDV1,*),
-     $                   V2(LDV2,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how H should be diagonally scaled and/or
-          permuted to reduce its norm.
-          = 'N': Do not diagonally scale or permute;
-          = 'P': Perform symplectic permutations to make the matrix
-                 closer to Hamiltonian Schur form. Do not diagonally
-                 scale;
-          = 'S': Diagonally scale the matrix, i.e., replace A, G and
-                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
-                 D is a diagonal matrix chosen to make the rows and
-                 columns of H more equal in norm. Do not permute;
-          = 'B': Both diagonally scale and permute A, G and Q.
-          Permuting does not change the norm of H, but scaling does.
-
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          decomposition (2) or the eigenvalues only, as follows:
-          = 'E': compute the eigenvalues only;
-          = 'S': compute matrices T and S of (2);
-          = 'G': compute matrices T, S and G of (2).
-
-  JOBU    CHARACTER*1
-          Indicates whether or not the user wishes to compute the
-          orthogonal symplectic matrix U of (2) as follows:
-          = 'N': the matrix U is not computed;
-          = 'U': the matrix U is computed.
-
-  JOBV    CHARACTER*1
-          Indicates whether or not the user wishes to compute the
-          orthogonal symplectic matrix V of (2) as follows:
-          = 'N': the matrix V is not computed;
-          = 'V': the matrix V is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, this array is overwritten. If JOB = 'S' or
-          JOB = 'G', the leading N-by-N part of this array contains
-          the matrix S in real Schur form of decomposition (2).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G.
-          On exit, this array is overwritten. If JOB = 'G', the
-          leading N-by-N+1 part of this array contains in columns
-          2:N+1 the matrix G of decomposition (2).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= max(1,N).
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,N)
-          On exit, if JOB = 'S' or JOB = 'G', the leading N-by-N
-          part of this array contains the upper triangular matrix T
-          of the decomposition (2). Otherwise, this array is used as
-          workspace.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the (1,1) block of the orthogonal
-          symplectic matrix U of decomposition (2).
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= 1.
-          LDU1 &gt;= N,    if JOBU = 'U'.
-
-  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the (2,1) block of the orthogonal
-          symplectic matrix U of decomposition (2).
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= 1.
-          LDU2 &gt;= N,    if JOBU = 'U'.
-
-  V1      (output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On exit, if JOBV = 'V', the leading N-by-N part of this
-          array contains the (1,1) block of the orthogonal
-          symplectic matrix V of decomposition (2).
-
-  LDV1    INTEGER
-          The leading dimension of the array V1.  LDV1 &gt;= 1.
-          LDV1 &gt;= N,    if JOBV = 'V'.
-
-  V2      (output) DOUBLE PRECISION array, dimension (LDV2,N)
-          On exit, if JOBV = 'V', the leading N-by-N part of this
-          array contains the (2,1) block of the orthogonal
-          symplectic matrix V of decomposition (2).
-
-  LDV2    INTEGER
-          The leading dimension of the array V2.  LDV2 &gt;= 1.
-          LDV2 &gt;= N,    if JOBV = 'V'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          On exit, the leading N elements of WR and WI contain the
-          real and imaginary parts, respectively, of N eigenvalues
-          that have nonnegative imaginary part. Their complex
-          conjugate eigenvalues are not stored. If imaginary parts
-          are zero (i.e., for real eigenvalues), only positive
-          eigenvalues are stored.
-
-  ILO     (output) INTEGER
-          ILO is an integer value determined when H was balanced.
-          The balanced A(i,j) = 0 if I &gt; J and J = 1,...,ILO-1.
-          The balanced Q(i,j) = 0 if J = 1,...,ILO-1 or
-          I = 1,...,ILO-1.
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
-          array contain details of the permutation and/or scaling
-          factors applied when balancing H, see MB04DD.
-          This array is not referenced if BALANC = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
-          scaled (if BALANC = 'S' or 'B') Hamiltonian matrix.
-          On exit, if  INFO = -25,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  (input) INTEGER
-          The dimension of the array DWORK. LDWORK &gt;= max( 2, 8*N ).
-          Moreover:
-          If JOB = 'E' or 'S' and JOBU = 'N' and JOBV = 'N',
-             LDWORK &gt;= 7*N+N*N.
-          If JOB = 'G' and JOBU = 'N' and JOBV = 'N',
-             LDWORK &gt;= max( 7*N+N*N, 2*N+3*N*N ).
-          If JOB = 'G' and JOBU = 'U' and JOBV = 'N',
-             LDWORK &gt;= 7*N+2*N*N.
-          If JOB = 'G' and JOBU = 'N' and JOBV = 'V',
-             LDWORK &gt;= 7*N+2*N*N.
-          If JOB = 'G' and JOBU = 'U' and JOBV = 'V',
-             LDWORK &gt;= 7*N+N*N.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO     (output) INTEGER
-           = 0:  successful exit;
-           &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-           &gt; 0:  if INFO = i, the periodic QR algorithm failed to
-                 compute all the eigenvalues, elements i+1:N of WR
-                 and WI contain eigenvalues which have converged.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils.
-      Numer. Math., Vol. 78(3), pp. 329-358, 1998.
-
-  [2] Benner, P., Mehrmann, V., and Xu, H.
-      A new method for computing the stable invariant subspace of a
-      real Hamiltonian matrix,  J. Comput. Appl. Math., vol. 86,
-      pp. 17-43, 1997.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03XD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG, LDRES, LDT, LDU1, LDU2, LDV1, LDV2,
-     $                 LDWORK
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDRES = NMAX,
-     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDV1 = NMAX, LDV2 = NMAX,
-     $                   LDWORK = 3*NMAX*NMAX + 7*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      BALANC, JOB, JOBU, JOBV
-      INTEGER          I, ILO, INFO, J, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DWORK(LDWORK), QG(LDQG, NMAX+1),
-     $                 RES(LDRES,3*NMAX+1), SCALE(NMAX), T(LDT,NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), V1(LDV1,NMAX),
-     $                 V2(LDV2, NMAX), WI(NMAX), WR(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
-      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, MB03XD, MB04DD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU, JOBV
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
-         INFO = 0
-         CALL MB03XD( BALANC, JOB, JOBU, JOBV, N, A, LDA, QG, LDQG,
-     $                T, LDT, U1, LDU1, U2, LDU2, V1, LDV1, V2, LDV2,
-     $                WR, WI, ILO, SCALE, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
-20          CONTINUE
-            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) ( A(I,J), J = 1,N )
-30             CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 40  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) ( T(I,J), J = 1,N )
-40             CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99993 )
-               DO 50  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 ) ( QG(I,J+1), J = 1,N )
-50             CONTINUE
-            END IF
-C
-            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ).AND.
-     $           LSAME( JOBV, 'V' ) ) THEN
-               CALL MB04DD( BALANC, N, RES(1,N+1), LDRES, RES(1,2*N+1),
-     $                      LDRES, I, DWORK, INFO )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     RES(1,N+1), LDRES, V1, LDV1, ZERO, RES,
-     $                     LDRES )
-               CALL DSYMM ( 'Left', 'Upper', N, N, -ONE, RES(1,2*N+2),
-     $                      LDRES, V2, LDV2, ONE, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                     -ONE, U1, LDU1, T, LDT, ONE, RES, LDRES )
-               TEMP = DLANGE( 'Frobenius', N, N, RES, LDRES, DWORK )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     RES(1,N+1), LDRES, V2, LDV2, ZERO, RES,
-     $                     LDRES )
-               CALL DSYMM( 'Left', 'Upper', N, N, ONE, RES(1,2*N+2),
-     $                     LDRES, V1, LDV1, ONE, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                     -ONE, U1, LDU1, QG(1,2), LDQG, ONE, RES,
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                     -ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
-     $                                      LDRES, DWORK ) )
-               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
-     $                     LDRES, V1, LDV1, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE,
-     $                     RES(1,N+1), LDRES, V2, LDV2, ONE, RES,
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, T, LDT, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
-     $                                      LDRES, DWORK ) )
-
-
-               CALL DSYMM( 'Left', 'Lower', N, N, ONE, RES(1,2*N+1),
-     $                     LDRES, V2, LDV2, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, -ONE,
-     $                     RES(1,N+1), LDRES, V1, LDV1, ONE, RES,
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, QG(1,2), LDQG, ONE, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N, RES,
-     $                                      LDRES, DWORK ) )
-               WRITE ( NOUT, FMT = 99987 ) TEMP
-            END IF
-C
-            IF ( LSAME( JOBU, 'U' ) ) THEN
-               WRITE ( NOUT, FMT = 99992 )
-               DO 60  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-60             CONTINUE
-               DO 70  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-70             CONTINUE
-               WRITE ( NOUT, FMT = 99986 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-            END IF
-            IF ( LSAME( JOBV, 'V' ) ) THEN
-               WRITE ( NOUT, FMT = 99991 )
-               DO 80  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( V1(I,J), J = 1,N ), ( V2(I,J), J = 1,N )
-80             CONTINUE
-               DO 90  I = 1, N
-                  WRITE ( NOUT, FMT = 99990 )
-     $               ( -V2(I,J), J = 1,N ), ( V1(I,J), J = 1,N )
-90             CONTINUE
-               WRITE ( NOUT, FMT = 99985 ) MA02JD( .FALSE., .FALSE., N,
-     $                 V1, LDV1, V2, LDV2, RES, LDRES )
-            END IF
-            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99989 )
-               DO 100  I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
-100            CONTINUE
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03XD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03XD = ',I2)
-99997 FORMAT (' The eigenvalues are',//'   i',6X,
-     $        'WR(i)',6X,'WI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' The matrix S of the reduced matrix is')
-99994 FORMAT (/' The matrix T of the reduced matrix is')
-99993 FORMAT (/' The matrix G of the reduced matrix is')
-99992 FORMAT (/' The orthogonal symplectic factor U is')
-99991 FORMAT (/' The orthogonal symplectic factor V is')
-99990 FORMAT (20(1X,F19.16))
-99989 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
-     $        'SCALE(i)',/)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
-99986 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
-99985 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03XD EXAMPLE PROGRAM DATA
-	5	N	G	U	V
-  3.7588548168313685e-001  9.1995720669587144e-001  1.9389317998466821e-001  5.4878212553858818e-001  6.2731478808399666e-001
-  9.8764628987858052e-003  8.4472150190817474e-001  9.0481233416635698e-001  9.3158335257969060e-001  6.9908013774533750e-001
-  4.1985780631021896e-001  3.6775288246828447e-001  5.6920574967174709e-001  3.3519743020639464e-001  3.9718395379261456e-001
-  7.5366962581358721e-001  6.2080133182114383e-001  6.3178992922175603e-001  6.5553105501201447e-001  4.1362889533818031e-001
-  7.9387177473231862e-001  7.3127726446634478e-001  2.3441295540825388e-001  3.9190420688900335e-001  6.5521294635567051e-001
-  1.8015558545989005e-001  4.1879254941592853e-001  2.7203760737317784e-001  2.8147214090719214e-001  1.7731904815580199e-001  3.4718672159409536e-001
-  2.7989257702981651e-001  3.5042861661866559e-001  2.5565572408444881e-001  4.3977750345993827e-001  2.8855026075967616e-001  2.1496327083014577e-001
-  1.7341073886969158e-001  3.9913855375815932e-001  4.0151317011596516e-001  4.0331887464437133e-001  2.6723538667317948e-001  3.7110275606849241e-001
-  3.7832182695699140e-001  3.3812641389556752e-001  8.4360396433341395e-002  4.3672540277019672e-001  7.0022228267365608e-002  3.8210230186291916e-001
-  1.9548216143135175e-001  2.9055490787446736e-001  4.7670819669167425e-001  1.4636498713707141e-001  2.7670398401519275e-001  2.9431082727794898e-002
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03XD EXAMPLE PROGRAM RESULTS
-
- The eigenvalues are
-
-   i      WR(i)      WI(i)
-
-   1     3.1941     0.0000
-   2     0.1350     0.3179
-   3    -0.1350     0.3179
-   4     0.0595     0.2793
-   5    -0.0595     0.2793
-
- The matrix S of the reduced matrix is
- -3.1844761777714723  0.1612357243439330 -0.0628592203751083  0.2449004200921966  0.1974400149992633
-  0.0000000000000000 -0.1510667773167795  0.4260444411622876 -0.1775026035208666  0.3447278421198404
-  0.0000000000000000 -0.1386140422054281 -0.3006779624777419  0.2944143257134117  0.3456440339120381
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740589  0.0933189808067083
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359630  0.2004347508746724
-
- The matrix T of the reduced matrix is
-  3.2038208121776366  0.1805955192510636  0.2466389119377562 -0.2539149302433404 -0.0359238844381174
-  0.0000000000000000 -0.7196686433290822  0.0000000000000000  0.2428659121580382 -0.0594190100670709
-  0.0000000000000000  0.0000000000000000 -0.1891741194498124 -0.3309578443491325 -0.0303520731950498
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961496  0.0000000000000000
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
-
- The matrix G of the reduced matrix is
- -0.0370982242678458  0.0917788436945730 -0.0560402416315236  0.1345152517579191  0.0256668227276665
-  0.0652183678916926 -0.0700457231988328  0.0350041175858816 -0.2233868768749277 -0.1171980260782820
- -0.0626428681377074  0.2327575351902838 -0.1251515732208133 -0.0177816046663209  0.3696921118421109
-  0.0746042309265569 -0.0828007611045243  0.0217427473546003 -0.1157775118548850 -0.3161183681200607
-  0.1374372236164838  0.1002727885506978  0.4021556774753987 -0.0431072263235625  0.1067394572547804
-
- Residual: || H*V - U*R ||_F = .38E-14
-
- The orthogonal symplectic factor U is
-  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499 -0.1795922007470744  0.1908329820840935  0.0868799433942041  0.3114741142062469 -0.2579907627915116
-  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881 -0.2447897730222852 -0.1028403314750053 -0.1157840914576285 -0.1873268885694422  0.1700708002861556
-  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478 -0.2243335325285329  0.3180998613802498  0.3315380214794935  0.1977859924739816  0.5072476567310036
-  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014 -0.2128397588651423 -0.2740560593051884  0.1941418870268831 -0.3096684962457407 -0.0581576193198820
-  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056 -0.2002027567371933 -0.0040094115506845 -0.3979373387545256  0.1520881534833996 -0.2010804514091296
-  0.1795922007470744 -0.1908329820840935 -0.0868799433942041 -0.3114741142062469  0.2579907627915116  0.3806883009357249 -0.0347810363019666 -0.5014665065895627  0.5389691288472425  0.2685446895251499
-  0.2447897730222852  0.1028403314750053  0.1157840914576285  0.1873268885694422 -0.1700708002861556  0.4642712665555327 -0.5942766860716397  0.4781179763952658  0.2334370556238072  0.0166790369048881
-  0.2243335325285329 -0.3180998613802498 -0.3315380214794935 -0.1977859924739816 -0.5072476567310036  0.2772789197782788 -0.0130145392695854 -0.2123817030594153 -0.2550292626960007 -0.5049268366774478
-  0.2128397588651423  0.2740560593051884 -0.1941418870268831  0.3096684962457407  0.0581576193198820  0.4209268575081797  0.1499593172661210 -0.1925590746592206 -0.5472292877802408  0.4543329704184014
-  0.2002027567371933  0.0040094115506845  0.3979373387545256 -0.1520881534833996  0.2010804514091296  0.3969669479129447  0.6321903535930841  0.3329156356041941  0.0163533225344391 -0.2638879466190056
-
- Orthogonality of U: || U^T U - I ||_F = .28E-14
-
- The orthogonal symplectic factor V is
-  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
-  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576  0.0299719306696789 -0.2322624725320732 -0.0280846899680330 -0.3044255686880015 -0.1077641482535463
-  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027 -0.0069083614679702  0.3351358347080169 -0.4922707032978909  0.4293545450291777  0.4372821269061838
-  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154  0.0167847133528844  0.2843629278945263  0.5958979805231206  0.3097336757510830 -0.2086733033047175
-  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708  0.0248567764822071 -0.2810759958040465 -0.1653113624869875 -0.3528780198620394 -0.0254898556119200
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4447147692018332 -0.6830166755147445 -0.0002576861753461  0.5781954611783305 -0.0375091627893695
- -0.0299719306696789  0.2322624725320732  0.0280846899680330  0.3044255686880015  0.1077641482535463  0.5121756358795815  0.0297197140254867  0.4332229148788674 -0.3240527006890555  0.5330850295256576
-  0.0069083614679702 -0.3351358347080169  0.4922707032978909 -0.4293545450291777 -0.4372821269061838  0.3664711365265602  0.3288511296455134  0.0588396016404466  0.1134221597062252  0.1047567336850027
- -0.0167847133528844 -0.2843629278945263 -0.5958979805231206 -0.3097336757510830  0.2086733033047175  0.4535357098437908  0.1062866148880810 -0.3964092656837799 -0.2211800890450648  0.0350667323996154
- -0.0248567764822071  0.2810759958040465  0.1653113624869875  0.3528780198620394  0.0254898556119200  0.4450432900616098  0.2950206358263727 -0.1617837757183794 -0.0376369332204945 -0.6746752660482708
-
- Orthogonality of V: || V^T V - I ||_F = .25E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03XP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XP">MB03XP</A></H2>
-<H3>
-Computing periodic Schur decomposition and eigenvalues of a matrix product A B, with A upper Hessenberg and B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the periodic Schur decomposition and the eigenvalues of
-  a product of matrices, H = A*B, with A upper Hessenberg and B
-  upper triangular without evaluating any part of the product.
-  Specifically, the matrices Q and Z are computed, so that
-
-       Q' * A * Z = S,    Z' * B * Q = T
-
-  where S is in real Schur form, and T is upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XP( JOB, COMPQ, COMPZ, N, ILO, IHI, A, LDA, B, LDB,
-     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOB
-      INTEGER            IHI, ILO, INFO, LDA, LDB, LDQ, LDWORK, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = 'E':  Compute the eigenvalues only;
-          = 'S':  compute the factors S and T of the full
-                  Schur form.
-
-  COMPQ   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = 'N':  The matrix Q is not required;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'V':  Q must contain an orthogonal matrix U on entry,
-                  and the product U*Q is returned.
-
-  COMPZ   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = 'N':  The matrix Z is not required;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'V':  Z must contain an orthogonal matrix U on entry,
-                  and the product U*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B. N &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that the matrices A and B are already upper
-          triangular in rows and columns 1:ILO-1 and IHI+1:N.
-          The routine works primarily with the submatrices in rows
-          and columns ILO to IHI, but applies the transformations to
-          all the rows and columns of the matrices A and B, if
-          JOB = 'S'.
-          1 &lt;= ILO &lt;= max(1,N+1); min(ILO,N) &lt;= IHI &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array A must
-          contain the upper Hessenberg matrix A.
-          On exit, if JOB = 'S', the leading N-by-N part of this
-          array is upper quasi-triangular with any 2-by-2 diagonal
-          blocks corresponding to a pair of complex conjugated
-          eigenvalues.
-          If JOB = 'E', the diagonal elements and 2-by-2 diagonal
-          blocks of A will be correct, but the remaining parts of A
-          are unspecified on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array B must
-          contain the upper triangular matrix B.
-          On exit, if JOB = 'S', the leading N-by-N part of this
-          array contains the transformed upper triangular matrix.
-          2-by-2 blocks in B corresponding to 2-by-2 blocks in A
-          will be reduced to positive diagonal form. (I.e., if
-          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
-          and B(j+1,j+1) will be positive.)
-          If JOB = 'E', the elements corresponding to diagonal
-          elements and 2-by-2 diagonal blocks in A will be correct,
-          but the remaining parts of B are unspecified on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if COMPQ = 'V', then the leading N-by-N part of
-          this array must contain a matrix Q which is assumed to be
-          equal to the unit matrix except for the submatrix
-          Q(ILO:IHI,ILO:IHI).
-          If COMPQ = 'I', Q need not be set on entry.
-          On exit, if COMPQ = 'V' or COMPQ = 'I' the leading N-by-N
-          part of this array contains the transformation matrix
-          which produced the Schur form.
-          If COMPQ = 'N', Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= 1.
-          If COMPQ &lt;&gt; 'N', LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if COMPZ = 'V', then the leading N-by-N part of
-          this array must contain a matrix Z which is assumed to be
-          equal to the unit matrix except for the submatrix
-          Z(ILO:IHI,ILO:IHI).
-          If COMPZ = 'I', Z need not be set on entry.
-          On exit, if COMPZ = 'V' or COMPZ = 'I' the leading N-by-N
-          part of this array contains the transformation matrix
-          which produced the Schur form.
-          If COMPZ = 'N', Z is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= 1.
-          If COMPZ &lt;&gt; 'N', LDZ &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The i-th (1 &lt;= i &lt;= N) computed eigenvalue is given by
-          BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
-          eigenvalues are computed as a complex conjugate pair,
-          they are stored in consecutive elements of ALPHAR, ALPHAI
-          and BETA. If JOB = 'S', the eigenvalues are stored in the
-          same order as on the diagonales of the Schur forms of A
-          and B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then MB03XP failed to compute the Schur
-                form in a total of 30*(IHI-ILO+1) iterations;
-                elements 1:ilo-1 and i+1:n of ALPHAR, ALPHAI and
-                BETA contain successfully computed eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm is a multi-shift version of the periodic
-  QR algorithm described in [1,3] with some minor modifications
-  proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
-      The periodic Schur decomposition: Algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. Proc. of the IFAC Workshop on Periodic Control
-      Systems, pp. 187-192, 2001.
-
-  [3] Van Loan, C.
-      Generalized Singular Values with Algorithms and Applications.
-      Ph. D. Thesis, University of Michigan, 1973.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03XP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 200 )
-      INTEGER          LDA, LDB, LDQ, LDRES, LDZ, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDQ = NMAX,
-     $                   LDRES = NMAX, LDWORK = NMAX, LDZ = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, IHI, ILO, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDA,NMAX), BETA(NMAX), DWORK(LDWORK),
-     $                 Q(LDQ,NMAX), RES(LDRES,3*NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE
-      EXTERNAL         DLANGE
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, MB03XP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, ILO, IHI
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, B, LDB, RES(1,2*N+1), LDRES )
-         CALL MB03XP( 'S', 'I', 'I', N, ILO, IHI, A, LDA, B, LDB, Q,
-     $                LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK, LDWORK,
-     $                INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( A(I,J), J = 1,N )
-10          CONTINUE
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                  RES(1,N+1), LDRES, Z, LDZ, ZERO, RES, LDRES )
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
-     $                  Q, LDQ, A, LDA, ONE, RES, LDRES )
-            WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99995 )
-            DO 20  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( B(I,J), J = 1,N )
-20          CONTINUE
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                  RES(1,2*N+1), LDRES, Q, LDQ, ZERO, RES, LDRES )
-            CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, -ONE,
-     $                  Z, LDZ, B, LDB, ONE, RES, LDRES )
-            WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99994 )
-            DO 30  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( Q(I,J), J = 1,N )
-30          CONTINUE
-            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Q,
-     $                  LDQ, Q, LDQ, ONE, RES, LDRES )
-            DO 40  I = 1, N
-               RES(I,I) = RES(I,I) - ONE
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99987 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99993 )
-            DO 50  I = 1, N
-               WRITE (NOUT, FMT = 99991) ( Z(I,J), J = 1,N )
-50          CONTINUE
-            CALL DGEMM( 'Transpose', 'No Transpose', N, N, N, ONE, Z,
-     $                  LDZ, Z, LDZ, ONE, RES, LDRES )
-            DO 60 I = 1, N
-               RES(I,I) = RES(I,I) - ONE
-60          CONTINUE
-            WRITE ( NOUT, FMT = 99986 ) DLANGE( 'Frobenius', N, N, RES,
-     $                                          LDRES, DWORK )
-            WRITE ( NOUT, FMT = 99992 )
-            DO 70  I = 1, N
-               WRITE ( NOUT, FMT = 99991 )
-     $                 ALPHAR(I), ALPHAI(I), BETA(I)
-70          CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB03XP EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03XP = ',I2)
-99996 FORMAT (' The reduced matrix A is ')
-99995 FORMAT (/' The reduced matrix B is ')
-99994 FORMAT (/' The orthogonal factor Q is ')
-99993 FORMAT (/' The orthogonal factor Z is ')
-99992 FORMAT (/4X,'ALPHAR',4X,'ALPHAI',4X,'BETA')
-99991 FORMAT (1000(1X,F9.4))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' Residual: || A*Z - Q*S ||_F = ',G7.2)
-99988 FORMAT (/' Residual: || B*Q - Z*T ||_F = ',G7.2)
-99987 FORMAT (/' Orthogonality of Q: || Q''*Q - I ||_F = ',G7.2)
-99986 FORMAT (/' Orthogonality of Z: || Z''*Z - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03XP EXAMPLE PROGRAM DATA
-        8       1       8
-    0.9708   -1.1156   -0.0884   -0.2684    0.2152    0.0402    0.0333    0.5141
-   -1.6142    2.8635    1.0420   -0.2295   -0.3560    0.4885    0.1026   -0.0164
-         0    1.1138    0.3509   -0.0963    0.0875    0.2158    0.2444   -0.2838
-         0         0   -0.5975    0.1021   -0.1026   -0.0062   -0.2646   -0.0745
-         0         0         0    0.6181    0.1986    0.3612   -0.1750    0.3332
-         0         0         0         0   -0.7387   -0.5201    0.0713    0.0501
-         0         0         0         0         0   -0.2677   -0.4918   -0.2838
-         0         0         0         0         0         0    0.3011    0.3389
-    0.9084    0.1739    0.5915    0.8729    0.8188    0.1911    0.4122    0.5527
-         0    0.1708    0.1197    0.2379    0.4302    0.4225    0.9016    0.4001
-         0         0    0.0381    0.6458    0.8903    0.8560    0.0056    0.1988
-         0         0         0    0.9669    0.7349    0.4902    0.2974    0.6252
-         0         0         0         0    0.6873    0.8159    0.0492    0.7334
-         0         0         0         0         0    0.4608    0.6932    0.3759
-         0         0         0         0         0         0    0.6501    0.0099
-         0         0         0         0         0         0         0    0.4199
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03XP EXAMPLE PROGRAM RESULTS
-
- The reduced matrix A is 
-   -0.6290   -0.1397   -0.0509    0.1603   -0.3248    0.2381    0.0694    0.0103
-    1.5112   -3.4273   -0.4485   -0.4357   -0.3456    0.4619    0.5998    0.5654
-    0.0000    0.0000    0.0547   -0.4360    0.1714   -0.2103   -0.0900   -0.4011
-    0.0000    0.0000    0.6623    0.2038    0.2796   -0.2629    0.3837    0.2382
-    0.0000    0.0000    0.0000    0.0000   -0.6315    0.2071   -0.0174   -0.3538
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.5850   -0.1813    0.2435
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000   -0.7884    0.1535
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.2832
-
- Residual: || A*Z - Q*S ||_F = .60E-14
-
- The reduced matrix B is 
-   -0.9231    0.0000   -0.9834    0.1805    0.4428    0.3655   -0.4300    0.8498
-    0.0000   -0.1837   -0.1873    0.0681    0.8412   -0.0556    0.0538    0.6113
-    0.0000    0.0000   -1.8997    0.0000    0.5651   -0.2785    0.2882    1.0458
-    0.0000    0.0000    0.0000   -0.2602    0.3527   -0.0020   -0.3396    0.2739
-    0.0000    0.0000    0.0000    0.0000    0.8521   -0.0164    0.2115    0.5446
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0283   -0.5128    0.0153
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.4153    0.4587
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.5894
-
- Residual: || B*Q - Z*T ||_F = .55E-14
-
- The orthogonal factor Q is 
-   -0.5333    0.3661   -0.1179    0.0264    0.0026    0.7527    0.0018    0.0189
-    0.0583   -0.8833   -0.0666   -0.0007    0.0017    0.4603    0.0050    0.0092
-   -0.8414   -0.2927    0.0347    0.0452   -0.0005   -0.4498   -0.0269    0.0001
-    0.0077    0.0046   -0.5687   -0.4810    0.0227   -0.0708   -0.6500    0.1312
-    0.0598    0.0059   -0.6128    0.7656    0.1348   -0.0863    0.0038    0.0954
-   -0.0242   -0.0016   -0.4295   -0.4163    0.3871   -0.0709    0.6964   -0.0417
-    0.0027    0.0001    0.3109    0.0620    0.8615    0.0378   -0.2267    0.3231
-    0.0012    0.0000    0.0188   -0.0514   -0.2987   -0.0172    0.2010    0.9312
-
- Orthogonality of Q: || Q'*Q - I ||_F = .63E-14
-
- The orthogonal factor Z is 
-    0.9957   -0.0786    0.0397   -0.0032    0.0006    0.0227    0.0104    0.0123
-    0.0764    0.9956    0.0200    0.0073   -0.0009    0.0389    0.0263    0.0193
-   -0.0062    0.0235    0.6714   -0.0229    0.0271   -0.4461   -0.5354   -0.2486
-   -0.0445   -0.0437    0.6098    0.4197   -0.0656    0.6125    0.1248    0.2302
-   -0.0242   -0.0148    0.4049   -0.6041    0.2808   -0.1328    0.5972    0.1311
-    0.0096    0.0037   -0.0183    0.6539    0.5114   -0.4136    0.3620   -0.0913
-   -0.0019   -0.0004   -0.1055   -0.1544    0.7891    0.2944   -0.4436    0.2426
-   -0.0005    0.0000   -0.0039    0.0826   -0.1786   -0.3853   -0.1119    0.8946
-
- Orthogonality of Z: || Z'*Z - I ||_F = .78E-14
-
-    ALPHAR    ALPHAI    BETA
-    0.4723    0.1464    1.2811
-    0.4723   -0.1464    1.2811
-   -0.0318    0.1527    2.4691
-   -0.0318   -0.1527    2.4691
-   -0.6315    0.0000    0.8521
-   -0.5850    0.0000    0.0283
-   -0.7884    0.0000    0.4153
-    0.2832    0.0000    0.5894
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HEAD><TITLE>MB03XS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XS">MB03XS</A></H2>
-<H3>
-Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues and real skew-Hamiltonian Schur form of
-  a skew-Hamiltonian matrix,
-
-                [  A   G  ]
-          W  =  [       T ],
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices. Specifically, an orthogonal symplectic matrix U is
-  computed so that
-
-            T       [  Aout  Gout  ]
-           U W U =  [            T ] ,
-                    [    0   Aout  ]
-
-  where Aout is in Schur canonical form (as returned by the LAPACK
-  routine DHSEQR). That is, Aout is block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-  Optionally, the matrix U is returned in terms of its first N/2
-  rows
-
-                   [  U1   U2 ]
-               U = [          ].
-                   [ -U2   U1 ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XS( JOBU, N, A, LDA, QG, LDQG, U1, LDU1, U2, LDU2,
-     $                   WR, WI, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU
-      INTEGER           INFO, LDA, LDQG, LDU1, LDU2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U1(LDU1,*),
-     $                  U2(LDU2,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Specifies whether matrix U is computed or not, as follows:
-          = 'N': transformation matrix U is not computed;
-          = 'U': transformation matrix U is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout in Schur canonical form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          in columns 2:N+1 the strictly upper triangular part of the
-          skew-symmetric matrix Gout. The part which contained the
-          matrix Q is set to zero.
-          Note that the parts containing the diagonal and the first
-          superdiagonal of this array are not overwritten by zeros
-          only if JOBU = 'U' or LDWORK &gt;= 2*N*N - N.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  U1      (output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the matrix U1.
-          If JOBU = 'N', this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= MAX(1,N),  if JOBU = 'U';
-          LDU1 &gt;= 1,         if JOBU = 'N'.
-
-  U2      (output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On exit, if JOBU = 'U', the leading N-by-N part of this
-          array contains the matrix U2.
-          If JOBU = 'N', this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= MAX(1,N),  if JOBU = 'U';
-          LDU2 &gt;= 1,         if JOBU = 'N'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of Aout, which are half of the eigenvalues
-          of W. The eigenvalues are stored in the same order as on
-          the diagonal of Aout, with WR(i) = Aout(i,i) and, if
-          Aout(i:i+1,i:i+1) is a 2-by-2 diagonal block, WI(i) &gt; 0
-          and WI(i+1) = -WI(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -14,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,(N+5)*N),      if JOBU = 'U';
-          LDWORK &gt;= MAX(1,5*N,(N+1)*N),  if JOBU = 'N'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, DHSEQR failed to compute all of the
-                eigenvalues.  Elements 1:ILO-1 and i+1:N of WR
-                and WI contain those eigenvalues which have been
-                successfully computed. The matrix A (and QG) has
-                been partially reduced; namely, A is upper
-                Hessenberg in the rows and columns ILO through i.
-                (See DHSEQR for details.)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, using the SLICOT Library routine MB04RB, an orthogonal
-  symplectic matrix UP is computed so that
-
-             T      [  AP  GP  ]
-         UP W UP =  [        T ]
-                    [  0   AP  ]
-
-  is in Paige/Van Loan form. Next, the LAPACK routine DHSEQR is
-  applied to the matrix AP to compute an orthogonal matrix V so
-  that Aout = V'*AP*V is in Schur canonical form.
-  Finally, the transformations
-
-                    [ V  0 ]
-          U =  UP * [      ],     Gout = V'*G*V,
-                    [ 0  V ]
-
-  using the SLICOT Library routine MB01LD for the latter, are
-  performed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03XU.html b/doc/_static/doc/MB03XU.html
deleted file mode 100644
index fbfa7a51..00000000
--- a/doc/_static/doc/MB03XU.html
+++ /dev/null
@@ -1,304 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03XU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XU">MB03XU</A></H2>
-<H3>
-Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by orthogonal symplectic transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce 2*nb columns and rows of a real (k+2n)-by-(k+2n)
-  matrix H:
-
-          [ op(A)   G   ]
-      H = [             ],
-          [  Q    op(B) ]
-
-  so that elements in the first nb columns below the k-th
-  subdiagonal of the (k+n)-by-n matrix op(A), in the first nb
-  columns and rows of the n-by-n matrix Q and in the first nb rows
-  above the diagonal of the n-by-(k+n) matrix op(B) are zero.
-  The reduction is performed by orthogonal symplectic
-  transformations UU'*H*VV and matrices U, V, YA, YB, YG, YQ, XA,
-  XB, XG, and XQ are returned so that
-
-                 [ op(Aout)+U*YA'+XA*V'     G+U*YG'+XG*V'    ]
-      UU' H VV = [                                           ].
-                 [   Qout+U*YQ'+XQ*V'   op(Bout)+U*YB'+XB*V' ]
-
-  This is an auxiliary routine called by MB04TB.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XU( LTRA, LTRB, N, K, NB, A, LDA, B, LDB, G, LDG,
-     $                   Q, LDQ, XA, LDXA, XB, LDXB, XG, LDXG, XQ, LDXQ,
-     $                   YA, LDYA, YB, LDYB, YG, LDYG, YQ, LDYQ, CSL,
-     $                   CSR, TAUL, TAUR, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           LTRA, LTRB
-      INTEGER           K, LDA, LDB, LDG, LDQ, LDXA, LDXB, LDXG, LDXQ,
-     $                  LDYA, LDYB, LDYG, LDYQ, N, NB
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
-     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*),
-     $                  XA(LDXA,*), XB(LDXB,*), XG(LDXG,*), XQ(LDXQ,*),
-     $                  YA(LDYA,*), YB(LDYB,*), YG(LDYG,*), YQ(LDYQ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRA    LOGICAL
-          Specifies the form of op( A ) as follows:
-          = .FALSE.:  op( A ) = A;
-          = .TRUE.:   op( A ) = A'.
-
-  LTRB    LOGICAL
-          Specifies the form of op( B ) as follows:
-          = .FALSE.:  op( B ) = B;
-          = .TRUE.:   op( B ) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix Q. N &gt;= 0.
-
-  K       (input) INTEGER
-          The offset of the reduction. Elements below the K-th
-          subdiagonal in the first NB columns of op(A) are
-          reduced to zero. K &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns/rows to be reduced. N &gt; NB &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                  (LDA,N)     if LTRA = .FALSE.
-                  (LDA,K+N)   if LTRA = .TRUE.
-          On entry with LTRA = .FALSE., the leading (K+N)-by-N part
-          of this array must contain the matrix A.
-          On entry with LTRA = .TRUE., the leading N-by-(K+N) part
-          of this array must contain the matrix A.
-          On exit with LTRA = .FALSE., the leading (K+N)-by-N part
-          of this array contains the matrix Aout and, in the zero
-          parts, information about the elementary reflectors used to
-          compute the reduction.
-          On exit with LTRA = .TRUE., the leading N-by-(K+N) part of
-          this array contains the matrix Aout and in the zero parts
-          information about the elementary reflectors.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,K+N),  if LTRA = .FALSE.;
-          LDA &gt;= MAX(1,N),    if LTRA = .TRUE..
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                  (LDB,K+N)   if LTRB = .FALSE.
-                  (LDB,N)     if LTRB = .TRUE.
-          On entry with LTRB = .FALSE., the leading N-by-(K+N) part
-          of this array must contain the matrix B.
-          On entry with LTRB = .TRUE., the leading (K+N)-by-N part
-          of this array must contain the matrix B.
-          On exit with LTRB = .FALSE., the leading N-by-(K+N) part
-          of this array contains the matrix Bout and, in the zero
-          parts, information about the elementary reflectors used to
-          compute the reduction.
-          On exit with LTRB = .TRUE., the leading (K+N)-by-N part of
-          this array contains the matrix Bout and in the zero parts
-          information about the elementary reflectors.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N),    if LTRB = .FALSE.;
-          LDB &gt;= MAX(1,K+N),  if LTRB = .TRUE..
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix G.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Gout.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Q.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Qout and in the zero parts information about
-          the elementary reflectors used to compute the reduction.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XA.
-
-  LDXA    INTEGER
-          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
-
-  XB      (output) DOUBLE PRECISION array, dimension (LDXB,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix XB.
-
-  LDXB    INTEGER
-          The leading dimension of the array XB. LDXB &gt;= MAX(1,K+N).
-
-  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix XG.
-
-  LDXG    INTEGER
-          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
-
-  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XQ.
-
-  LDXQ    INTEGER
-          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
-
-  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix YA.
-
-  LDYA    INTEGER
-          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
-
-  YB      (output) DOUBLE PRECISION array, dimension (LDYB,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix YB.
-
-  LDYB    INTEGER
-          The leading dimension of the array YB.  LDYB &gt;= MAX(1,N).
-
-  YG      (output) DOUBLE PRECISION array, dimension (LDYG,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix YG.
-
-  LDYG    INTEGER
-          The leading dimension of the array YG. LDYG &gt;= MAX(1,K+N).
-
-  YQ      (output) DOUBLE PRECISION array, dimension (LDYQ,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix YQ.
-
-  LDYQ    INTEGER
-          The leading dimension of the array YQ.  LDYQ &gt;= MAX(1,N).
-
-  CSL     (output) DOUBLE PRECISION array, dimension (2*NB)
-          On exit, the first 2NB elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the left-hand side used to compute the
-          reduction.
-
-  CSR     (output) DOUBLE PRECISION array, dimension (2*NB)
-          On exit, the first 2NB-2 elements of this array contain
-          the cosines and sines of the symplectic Givens rotations
-          applied from the right-hand side used to compute the
-          reduction.
-
-  TAUL    (output) DOUBLE PRECISION array, dimension (NB)
-          On exit, the first NB elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the left-hand side.
-
-  TAUR    (output) DOUBLE PRECISION array, dimension (NB)
-          On exit, the first NB-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (5*NB)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For details regarding the representation of the orthogonal
-  symplectic matrices UU and VV within the arrays A, B, CSL, CSR, Q,
-  TAUL and TAUR see the description of MB04TB.
-
-  The contents of A, B, G and Q on exit are illustrated by the
-  following example with op(A) = A, op(B) = B, n = 5, k = 2 and
-  nb = 2:
-
-       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( a  r  r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( r  r  r  r  r  )       ( r  r  r  r  r  r  r  )
-   A = ( u2 r  r  r  r  ),  G = ( r  r  r  r  r  r  r  ),
-       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
-       ( u2 u2 r  a  a  )       ( g  g  g  r  r  g  g  )
-
-       ( t  t  v1 v1 v1 )       ( r  r  r  r  r  v2 v2 )
-       ( u1 t  t  v1 v1 )       ( r  r  r  r  r  r  v2 )
-   Q = ( u1 u1 r  q  q  ),  B = ( b  b  b  r  r  b  b  ).
-       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
-       ( u1 u1 r  q  q  )       ( b  b  b  r  r  b  b  )
-
-  where a, b, g and q denote elements of the original matrices, r
-  denotes a modified element, t denotes a scalar factor of an
-  applied elementary reflector, ui and vi denote elements of the
-  matrices U and V, respectively.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires ( 16*K + 32*N + 42 )*N*NB +
-  ( 16*K + 112*N - 208/3*NB - 69 )*NB*NB - 29/3*NB floating point
-  operations and is numerically backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils.
-      Numer. Math., Vol. 78 (3), pp. 329-358, 1998.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT Numerical Mathematics, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03XZ.html b/doc/_static/doc/MB03XZ.html
deleted file mode 100644
index c4a8e8c3..00000000
--- a/doc/_static/doc/MB03XZ.html
+++ /dev/null
@@ -1,609 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03XZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03XZ">MB03XZ</A></H2>
-<H3>
-Eigenvalues of a complex Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a Hamiltonian matrix,
-
-                [  A   G  ]         H        H
-          H  =  [       H ],   G = G ,  Q = Q ,                  (1)
-                [  Q  -A  ]
-
-  where A, G and Q are complex n-by-n matrices.
-
-  Due to the structure of H, if lambda is an eigenvalue, then
-  -conjugate(lambda) is also an eigenvalue. This does not mean that
-  purely imaginary eigenvalues are necessarily multiple. The routine
-  computes the eigenvalues of H using an embedding to a real skew-
-  Hamiltonian matrix He,
-
-                 [  Ae   Ge  ]            T            T
-          He  =  [         T ],   Ge = -Ge ,   Qe = -Qe ,        (2)
-                 [  Qe   Ae  ]
-
-  where Ae, Ge, and Qe are real 2*n-by-2*n matrices, defined by
-
-                 [   Im(A)   Re(A)  ]
-          Ae  =  [                  ],
-                 [  -Re(A)   Im(A)  ]
-
-                 [  triu(Im(G))     Re(G)     ]
-     triu(Ge) =  [                            ],
-                 [       0       triu(Im(G))  ]
-
-                 [  tril(Im(Q))       0       ]
-     tril(Qe) =  [                            ], 
-                 [     -Re(Q)    tril(Im(Q))  ]
-
-  and triu and tril denote the upper and lower triangle,
-  respectively. Then, an orthogonal symplectic matrix Ue is used to
-  reduce He to the structured real Schur form
-
-        T          [  Se   De ]            T
-       Ue He Ue =  [        T ],   De = -De ,                    (3)
-                   [  0    Se ]
-
-  where Ue is a 4n-by-4n real symplectic matrix, and Se is upper
-  quasi-triangular (real Schur form).
-
-  Optionally, if JOB = 'S', or JOB = 'G', the matrix i*He is further
-  transformed to the structured complex Schur form
-
-        H            [  Sc  Gc ]           H
-       U (i*He) U =  [       H ],   Gc = Gc ,                    (4)
-                     [  0  -Sc ]
-
-  where U is a 4n-by-4n unitary symplectic matrix, and Sc is upper
-  triangular (Schur form).
-
-  The algorithm is backward stable and preserves the spectrum
-  structure in finite precision arithmetic.
-
-  Optionally, a symplectic balancing transformation to improve the
-  conditioning of eigenvalues is computed (see the SLICOT Library
-  routine MB04DZ). In this case, the matrix He in decompositions (3)
-  and (4) must be replaced by the balanced matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1,
-     $                   LDU1, U2, LDU2, WR, WI, ILO, SCALE, DWORK,
-     $                   LDWORK, ZWORK, LZWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          BALANC, JOB, JOBU
-      INTEGER            ILO, INFO, LDA, LDQG, LDU1, LDU2, LDWORK,
-     $                   LZWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   DWORK( * ), SCALE( * ), WI( * ), WR( * )
-      COMPLEX*16         A( LDA, * ), QG( LDQG, * ), U1( LDU1, * ),
-     $                   U2( LDU2, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how H should be diagonally scaled and/or
-          permuted to reduce its norm.
-          = 'N': Do not diagonally scale or permute;
-          = 'P': Perform symplectic permutations to make the matrix
-                 closer to skew-Hamiltonian Schur form. Do not
-                 diagonally scale;
-          = 'S': Diagonally scale the matrix, i.e., replace A, G and
-                 Q by D*A*D**(-1), D*G*D and D**(-1)*Q*D**(-1) where
-                 D is a diagonal matrix chosen to make the rows and
-                 columns of H more equal in norm. Do not permute;
-          = 'B': Both diagonally scale and permute A, G and Q.
-          Permuting does not change the norm of H, but scaling does.
-
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to compute the full
-          decomposition (4) or the eigenvalues only, as follows:
-          = 'E': compute the eigenvalues only;
-          = 'S': compute the matrix Sc of (4);
-          = 'G': compute the matrices Sc and Gc of (4).
-
-  JOBU    CHARACTER*1
-          Indicates whether or not the user wishes to compute the
-          symplectic matrix Ue of (3), if JOB = 'E', or U of (4),
-          if JOB = 'S' or JOB = 'G', as follows:
-          = 'N': the matrix Ue or U is not computed;
-          = 'U': the matrix Ue or U is computed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,K)
-          where K = N, if JOB = 'E', and K = 2*N, if JOB &lt;&gt; 'E'.
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'E', the leading N-by-N part of this
-          array is unchanged, if BALANC = 'N', or it contains the
-          balanced (permuted and/or scaled) matrix A, if
-          BALANC &lt;&gt; 'N'.
-          On exit, if JOB = 'S' or JOB = 'G', the leading 2*N-by-2*N
-          upper triangular part of this array contains the matrix Sc
-          (complex Schur form) of decomposition (4).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,K).
-
-  QG      (input/output) COMPLEX*16 array, dimension
-                         (LDQG,min(K+1,2*N))
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the lower triangular part of the
-          matrix Q and in columns 2:N+1 the upper triangular part
-          of the matrix G.
-          On exit, if JOB &lt;&gt; 'G', the leading N-by-N+1 part of this
-          array is unchanged, if BALANC = 'N', or it contains the
-          balanced (permuted and/or scaled) parts of the matrices
-          Q and G (as above), if BALANC &lt;&gt; 'N'.
-          On exit, JOB = 'G', the leading 2*N-by-2*N upper
-          triangular part of this array contains the upper
-          triangular part of the matrix Gc in the decomposition (4).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= max(1,K).
-
-  U1      (output) COMPLEX*16 array, dimension (LDU1,2*N)
-          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
-          leading 2*N-by-2*N part of this array contains the (1,1)
-          block of the unitary symplectic matrix U of the
-          decomposition (4).
-          If JOB = 'E' or JOBU = 'N', this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= 1.
-          LDU1 &gt;= 2*N,    if JOBU = 'U'.
-
-  U2      (output) COMPLEX*16 array, dimension (LDU2,2*N)
-          On exit, if JOB = 'S' or JOB = 'G', and JOBU = 'U', the
-          leading 2*N-by-2*N part of this array contains the (1,2)
-          block of the unitary symplectic matrix U of the
-          decomposition (4).
-          If JOB = 'E' or JOBU = 'N', this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= 1.
-          LDU2 &gt;= 2*N,    if JOBU = 'U'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (2*N)
-  WI      (output) DOUBLE PRECISION array, dimension (2*N)
-          On exit, the leading 2*N elements of WR and WI contain the
-          real and imaginary parts, respectively, of the eigenvalues
-          of the Hamiltonian matrix H.
-
-  ILO     (output) INTEGER
-          ILO is an integer value determined when H was balanced.
-          The balanced A(I,J) = 0 if I &gt; J and J = 1,...,ILO-1.
-          The balanced Q(I,J) = 0 if J = 1,...,ILO-1 or
-          I = 1,...,ILO-1.
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if BALANC &lt;&gt; 'N', the leading N elements of this
-          array contain details of the permutation and/or scaling
-          factors applied when balancing H, see MB04DZ.
-          This array is not referenced if BALANC = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, and   DWORK(2)  returns the 1-norm of the
-          (scaled, if BALANC = 'S' or 'B') Hamiltonian matrix.
-          Moreover, the next locations of this array have the
-          following content:
-          - The leading 2*N-by-2*N upper Hessenberg part in the
-          locations 3:2+4*N*N contains the upper Hessenberg part of
-          the real Schur matrix Se in the decomposition (3);
-          - the leading 2*N-by-2*N upper triangular part in the
-          locations 3+4*N*N+2*N:2+8*N*N+2*N contains the upper
-          triangular part of the skew-symmetric matrix De in the
-          decomposition (3).
-          - If JOBU = 'U', the leading 2*N-by-2*N part in the
-          locations 3+8*N*N+2*N:2+12*N*N+2*N contains the (1,1)
-          block of the orthogonal symplectic matrix Ue of
-          decomposition (3).
-          - the leading 2*N-by-2*N part in the locations
-          3+12*N*N+2*N:2+16*N*N+2*N contains the (2,1) block of the
-          orthogonal symplectic matrix Ue.
-          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( 12*N**2 + 4*N, 8*N**2 + 12*N ) + 2,
-                                 if JOB = 'E' and JOBU = 'N';
-          LDWORK &gt;= MAX( 2, 12*N**2 + 4*N, 8*N**2 + 12*N ),
-                                 if JOB = 'S' or 'G' and JOBU = 'N';
-          LDWORK &gt;= 20*N**2 + 12*N + 2,
-                                 if JOB = 'E' and JOBU = 'U';
-          LDWORK &gt;= MAX( 2, 20*N**2 + 12*N ),
-                                 if JOB = 'S' or 'G' and JOBU = 'U'.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0,  ZWORK(1)  returns the optimal
-          value of LZWORK.
-          On exit, if  INFO = -20,  ZWORK(1)  returns the minimum
-          value of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,                  if JOB = 'E';
-          LZWORK &gt;= MAX( 1, 12*N - 6 ), if JOB = 'S' and JOBU = 'N';
-          LZWORK &gt;= MAX( 1, 12*N - 2 ), if JOB = 'G' or  JOBU = 'U'.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0,     if JOB = 'E';
-          LBWORK &gt;= 2*N-1, if JOB = 'S' or JOB = 'G'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO     INTEGER
-           = 0:  successful exit;
-           &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-           &gt; 0:  if INFO = i, the QR algorithm failed to compute
-                 all the eigenvalues; elements i+1:2*N of WR and
-                 WI contain eigenvalues which have converged;
-           = 2*N+1:  the QR algorithm failed to compute the
-                 eigenvalues of a 2-by-2 real block.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the extended matrix He in (2) is built. Then, the
-  structured real Schur form in (3) is computed, using the SLICOT
-  Library routine MB03XS. The eigenvalues of Se immediately give
-  the eigenvalues of H. Finally, if required, Se is further
-  transformed by using the complex QR algorithm to triangularize
-  its 2-by-2 blocks, and Ge and U are updated, to obtain (4).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V. and Xu, H.
-      A note on the numerical solution of complex Hamiltonian and
-      skew-Hamiltonian eigenvalue problems.
-      Electr. Trans. Num. Anal., 8, pp. 115-126, 1999.
-
-  [2] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03XZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZER
-      PARAMETER        ( ZER = 0.0D0 )
-      COMPLEX*16       ZERO, ONE
-      PARAMETER        ( ZERO = (0.0D0,0.0D0), ONE = (1.0D0,0.0D0) )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDAE, LDAS, LDGE, LDQG, LDQGE, LDQGS, LDRES,
-     $                 LDU1, LDU2, LDWORK, LZWORK
-      PARAMETER        ( LDA   = 2*NMAX, LDAE  = 2*NMAX, LDAS  = NMAX,
-     $                   LDGE  = 2*NMAX, LDQG  = 2*NMAX, LDQGE = 2*NMAX,
-     $                   LDQGS  = NMAX,  LDRES = 2*NMAX, LDU1  = 2*NMAX,
-     $                   LDU2   = 2*NMAX,
-     $                   LDWORK = 20*NMAX*NMAX + 12*NMAX + 2,
-     $                   LZWORK = 12*NMAX - 2 )
-*     .. Local Scalars ..
-      CHARACTER*1      BALANC, JOB, JOBU
-      INTEGER          I, ILO, INFO, J, M, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, 2*NMAX), AE(LDAE, 2*NMAX), AS(LDAS, NMAX),
-     $                 GE(LDGE, 2*NMAX), QG(LDQG, 2*NMAX+1),
-     $                 QGE(LDQGE, 2*NMAX+1), QGS(LDQGS, NMAX+1),
-     $                 RES(LDRES,2*NMAX), U1(LDU1,2*NMAX),
-     $                 U2(LDU2,  2*NMAX), ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK), SCALE(NMAX), WI(2*NMAX),
-     $                 WR(2*NMAX)
-      LOGICAL          BWORK(2*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLAPY2, MA02JZ, ZLANGE
-      EXTERNAL         DLAPY2, LSAME, MA02JZ, ZLANGE
-*     .. External Subroutines ..
-      EXTERNAL         MA02EZ, MB03XZ, MB04DZ, ZCOPY, ZGEMM, ZLACPY,
-     $                 ZLASET
-*     ..Intrinsic Functions..
-      INTRINSIC        DBLE, DCMPLX, DIMAG
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, BALANC, JOB, JOBU
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         M = 2*N
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL ZLACPY( 'All', N, N, A, LDA, AS, LDAS )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL ZLACPY( 'All', N, N+1, QG, LDQG, QGS, LDQGS )
-*        Compute the eigenvalues and the transformed Hamiltonian matrix.
-         CALL MB03XZ( BALANC, JOB, JOBU, N, A, LDA, QG, LDQG, U1, LDU1,
-     $                U2, LDU2, WR, WI, ILO, SCALE, DWORK, LDWORK,
-     $                ZWORK, LZWORK, BWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, M
-               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
-   10       CONTINUE
-            IF ( LSAME( JOB, 'S' ).OR.LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 20  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 ) ( A(I,J), J = 1,M )
-   20          CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'G' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 )
-               DO 30  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 ) ( QG(I,J), J = 1,M )
-   30          CONTINUE
-            END IF
-*
-            IF ( LSAME( JOB, 'G' ).AND.LSAME( JOBU, 'U' ) ) THEN
-*              Compute the residual of the formula (4) in MB03XZ.
-               CALL MB04DZ( BALANC, N, AS, LDAS, QGS, LDQGS, I, DWORK,
-     $                      INFO )
-               CALL ZLASET( 'Lower', M-1, M-1, ZERO, ZERO, A(2,1), LDA )
-               CALL MA02EZ( 'Upper', 'Conjugate', 'Not skew', M, QG,
-     $                      LDQG )
-*              Compute Ae, Ge, and Qe.
-               DO 60  J = 1, N
-                  DO 40  I = 1, N
-                     AE(I,J) = DCMPLX( ZER, DIMAG( AS(I,J) ) )
-   40             CONTINUE
-                  DO 50  I = 1, N
-                     AE(I+N,J) = -DCMPLX( ZER, DBLE( AS(I,J) ) )
-   50             CONTINUE
-   60          CONTINUE
-*
-               DO 90  J = 1, N
-                  DO 70  I = 1, N
-                     AE(I,J+N) = -AE(I+N,J)
-   70             CONTINUE
-                  DO 80  I = 1, N
-                     AE(I+N,J+N) = AE(I,J)
-   80             CONTINUE
-   90          CONTINUE
-*
-               DO 120  J = 1, N+1
-                  DO 100  I = 1, N
-                     QGE(I,J) = DCMPLX( ZER, DIMAG( QGS(I,J) ) )
-  100             CONTINUE
-                  DO 110  I = J, N
-                     QGE(I+N,J) = -DCMPLX( ZER, DBLE( QGS(I,J) ) )
-  110             CONTINUE
-  120          CONTINUE
-*
-               DO 150  J = 1, N
-                  DO 130  I = 1, J
-                     QGE(I,J+N+1) = DCMPLX( ZER, DBLE( QGS(I,J+1) ) )
-  130             CONTINUE
-                  DO 140  I = 1, N
-                     QGE(I+N,J+N+1) = QGE(I,J+1)
-  140             CONTINUE
-  150          CONTINUE
-               CALL ZCOPY( N, QGE, 1, QGE(N+1,N+1), 1 )
-               CALL MA02EZ( 'Lower', 'Transpose', 'Not Skew', N,
-     $                      QGE(N+1,1), LDQGE )
-               CALL MA02EZ( 'Upper', 'Transpose', 'Not Skew', N,
-     $                      QGE(1,N+2), LDQGE )
-*
-               CALL ZLACPY( 'Upper', M, M, QGE(1,2), LDQGE, GE, LDGE )
-               CALL MA02EZ( 'Upper', 'Transpose', 'Skew', M, GE, LDGE )
-               CALL MA02EZ( 'Lower', 'Transpose', 'Skew', M, QGE,
-     $                      LDQGE )
-*              Compute the residual of the (1,1) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     AE, LDAE, U1, LDU1, ZERO, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, GE, LDGE, U2, LDU2, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
-               TEMP = ZLANGE( 'Frobenius', M, M, RES, LDRES, DWORK )
-*              Compute the residual of the (1,2) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     AE, LDAE, U2, LDU2, ZERO, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     GE, LDGE, U1, LDU1, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, U1, LDU1, QG, LDQG, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
-     $                     ONE, U2, LDU2, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
-     $                                      LDRES, DWORK ) )
-*              Compute the residual of the (2,1) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     QGE, LDQGE, U1, LDU1, ZERO, RES, LDRES )
-               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M,
-     $                     -ONE, AE, LDAE, U2, LDU2, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     U2, LDU2, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
-     $                                      LDRES, DWORK ) )
-*              Compute the residual of the (2,2) block in (4).
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     QGE, LDQGE, U2, LDU2, ZERO, RES, LDRES )
-               CALL ZGEMM( 'Transpose', 'No Transpose', M, M, M, ONE,
-     $                     AE, LDAE, U1, LDU1, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'No Transpose', M, M, M, ONE,
-     $                     U2, LDU2, QG, LDQG, ONE, RES, LDRES )
-               CALL ZGEMM( 'No Transpose', 'Conj Transpose', M, M, M,
-     $                     ONE, U1, LDU1, A, LDA, ONE, RES, LDRES )
-               TEMP = DLAPY2( TEMP, ZLANGE( 'Frobenius', M, M, RES,
-     $                                      LDRES, DWORK ) )
-               WRITE ( NOUT, FMT = 99989 ) TEMP
-            END IF
-*
-            IF ( .NOT.LSAME( JOB, 'E' ).AND.LSAME( JOBU, 'U' ) ) THEN
-               WRITE ( NOUT, FMT = 99993 )
-               DO 160  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 )
-     $               ( U1(I,J), J = 1,M ), ( U2(I,J), J = 1,M )
-  160          CONTINUE
-               DO 170  I = 1, M
-                  WRITE ( NOUT, FMT = 99992 )
-     $               ( -U2(I,J), J = 1,M ), ( U1(I,J), J = 1,M )
-  170          CONTINUE
-               WRITE ( NOUT, FMT = 99988 ) MA02JZ( .FALSE., .FALSE., M,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-            END IF
-            IF ( LSAME( BALANC, 'S' ).OR.LSAME( BALANC, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99991 )
-               DO 180  I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) I, SCALE(I)
-  180          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03XZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03XZ = ',I2)
-99997 FORMAT (' The eigenvalues are',//'   i',6X,
-     $        'WR(i)',6X,'WI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' The transformed matrix S is')
-99994 FORMAT (/' The transformed matrix G is')
-99993 FORMAT (/' The unitary symplectic factor U is')
-99992 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99991 FORMAT (/' The diagonal scaling factors are ',//'   i',6X,
-     $        'SCALE(i)',/)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' Residual: || i*He*U - U*Hc ||_F = ',G9.2)
-99988 FORMAT (/' Orthogonality of U: || U^H U - I ||_F = ',G9.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03XZ EXAMPLE PROGRAM DATA
-	4	N	G	U
-   (0.8147,0.4217)   (0.6323,0.6557)   (0.9575,0.6787)   (0.9571,0.6554)
-   (0.9057,0.9157)   (0.0975,0.0357)   (0.9648,0.7577)   (0.4853,0.1711)
-   (0.1269,0.7922)   (0.2784,0.8491)   (0.1576,0.7431)   (0.8002,0.7060)
-   (0.9133,0.9594)   (0.5468,0.9339)   (0.9705,0.3922)   (0.1418,0.0318)
-    0.2769            0.6948           (0.4387,0.7513)   (0.1869,0.8909)   (0.7094,0.1493)
-   (0.0462,0.1626)    0.3171            0.3816           (0.4898,0.9593)   (0.7547,0.2575)
-   (0.0971,0.1190)   (0.9502,0.5853)    0.7655            0.4456           (0.2760,0.8407)         
-   (0.8235,0.4984)   (0.0344,0.2238)   (0.7952,0.6991)    0.6463            0.6797
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB03XZ EXAMPLE PROGRAM RESULTS
-
- The eigenvalues are
-
-   i      WR(i)      WI(i)
-
-   1     3.0844     2.7519
-   2    -3.0844     2.7519
-   3     0.5241    -1.3026
-   4    -0.5241    -1.3026
-   5     0.8824    -0.6918
-   6    -0.8824    -0.6918
-   7     0.4459     0.4748
-   8    -0.4459     0.4748
-
- The transformed matrix S is
-    3.0844  +2.7519i     0.0618  +0.0000i    -0.1952  +0.1977i     0.0439  +0.0628i     0.0599  -0.0344i    -0.1543  -0.7126i    -0.3906  +0.3615i     0.2877  +0.5766i 
-    0.0000  +0.0000i    -3.0844  +2.7519i    -0.0458  -0.0727i    -0.2607  +0.0867i     0.1505  -0.7137i    -0.0717  +0.0066i    -0.4008  +0.4356i     0.2819  +0.5317i 
-    0.1269  +0.7922i     0.0000  +0.0000i     0.5241  -1.3026i    -0.0175  +0.0350i    -0.0676  +0.1183i     0.3695  -0.0335i    -0.3138  -0.4268i     0.2973  -0.0042i 
-    0.9133  +0.9594i     0.5468  +0.9339i     0.0000  +0.0000i    -0.5241  -1.3026i     0.1453  +0.3375i     0.0590  -0.1483i     0.2795  +0.3002i    -0.4594  -0.0099i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.8824  -0.6918i    -0.1193  +0.0000i    -0.1672  -0.0189i    -0.1008  -0.2026i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8824  -0.6918i     0.0539  -0.1852i     0.1978  -0.0688i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.4459  +0.4748i     0.2987  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.4459  +0.4748i 
-
- The transformed matrix G is
-   -0.2169  +0.0000i    -0.0022  +0.0000i    -0.2082  -0.0281i     0.0691  +0.0092i     0.0362  -0.0426i    -0.2374  +0.4904i    -0.2678  -0.5870i    -0.2567  +0.3258i 
-    0.0462  +0.1626i     0.2169  +0.0000i     0.0128  -0.0651i    -0.0654  +0.2006i     0.2348  +0.4861i    -0.0545  -0.0706i     0.1557  +0.4895i     0.3329  -0.4499i 
-    0.0971  +0.1190i     0.9502  +0.5853i     0.1341  +0.0000i    -0.0022  +0.0045i    -0.0232  +0.0320i     0.3395  -0.3847i    -0.0646  -0.2900i    -0.0920  -0.1605i 
-    0.8235  +0.4984i     0.0344  +0.2238i     0.7952  +0.6991i    -0.1341  +0.0000i    -0.1893  +0.4728i     0.0127  -0.0720i    -0.0923  -0.0258i    -0.3361  +0.0706i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.5145  +0.0000i     0.0348  +0.0000i    -0.0662  -0.2049i     0.2987  -0.0488i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.5145  +0.0000i    -0.3004  +0.0327i    -0.0524  -0.2070i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0241  +0.0000i     0.0081  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0241  +0.0000i 
-
- Residual: || i*He*U - U*Hc ||_F = .11E-13
-
- The unitary symplectic factor U is
-   -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i     0.0570  -0.0194i     0.0576  +0.0192i    -0.1622  +0.3576i     0.3834  +0.0034i     0.0436  +0.0676i     0.0408  -0.0723i    -0.2802  +0.1272i    -0.3893  -0.0915i 
-   -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i     0.0887  -0.0452i     0.0896  +0.0448i     0.0357  +0.0168i    -0.0021  +0.0404i    -0.0614  +0.0720i    -0.0574  -0.0770i     0.2713  -0.1920i     0.3769  +0.1382i 
-   -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i     0.1763  -0.0047i     0.1781  +0.0046i     0.1017  -0.2162i    -0.2335  +0.0013i     0.1817  +0.0174i     0.1699  -0.0186i     0.0902  +0.1296i     0.1253  -0.0933i 
-    0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i    -0.0148  -0.0576i    -0.0150  +0.0570i     0.0145  -0.2255i    -0.2011  -0.0837i     0.0523  +0.0093i     0.0488  -0.0099i     0.0689  +0.2345i     0.0957  -0.1688i 
-    0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i    -0.0226  -0.1038i    -0.0228  +0.1027i     0.1693  +0.2699i     0.1539  +0.2735i    -0.1978  -0.0842i    -0.1849  +0.0901i     0.0400  -0.1732i     0.0556  +0.1246i 
-   -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i    -0.0669  -0.1453i    -0.0676  +0.1439i     0.1604  +0.0320i    -0.0469  +0.1627i    -0.0078  -0.1319i    -0.0073  +0.1411i    -0.0086  -0.4118i    -0.0120  +0.2963i 
-    0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i    -0.0318  -0.2136i    -0.0321  +0.2115i    -0.1467  +0.0498i     0.1110  -0.1148i    -0.0279  +0.2616i    -0.0261  -0.2799i     0.0611  +0.3196i     0.0849  -0.2300i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.3728  +0.1313i    -0.3766  -0.1300i     0.1039  +0.2714i     0.1856  +0.2134i     0.4599  -0.0392i     0.4298  +0.0419i     0.1896  +0.1017i     0.2634  -0.0732i 
-   -0.0570  +0.0194i    -0.0576  -0.0192i     0.1622  -0.3576i    -0.3834  -0.0034i    -0.0436  -0.0676i    -0.0408  +0.0723i     0.2802  -0.1272i     0.3893  +0.0915i    -0.3079  +0.0989i    -0.3110  -0.0979i    -0.0062  +0.0288i     0.0277  +0.0067i    -0.2041  +0.1907i    -0.1908  -0.2040i    -0.1357  -0.0260i    -0.1886  +0.0187i 
-   -0.0887  +0.0452i    -0.0896  -0.0448i    -0.0357  -0.0168i     0.0021  -0.0404i     0.0614  -0.0720i     0.0574  +0.0770i    -0.2713  +0.1920i    -0.3769  -0.1382i    -0.2929  -0.0333i    -0.2958  +0.0330i     0.1727  -0.3337i    -0.3677  +0.0166i     0.1022  +0.0500i     0.0956  -0.0535i    -0.2588  -0.0951i    -0.3596  +0.0684i 
-   -0.1763  +0.0047i    -0.1781  -0.0046i    -0.1017  +0.2162i     0.2335  -0.0013i    -0.1817  -0.0174i    -0.1699  +0.0186i    -0.0902  -0.1296i    -0.1253  +0.0933i    -0.3061  +0.1212i    -0.3092  -0.1200i    -0.1737  -0.1180i    -0.0210  -0.2121i    -0.3424  -0.1782i    -0.3201  +0.1906i     0.1698  +0.1487i     0.2359  -0.1070i 
-    0.0148  +0.0576i     0.0150  -0.0570i    -0.0145  +0.2255i     0.2011  +0.0837i    -0.0523  -0.0093i    -0.0488  +0.0099i    -0.0689  -0.2345i    -0.0957  +0.1688i     0.1153  +0.3771i     0.1164  -0.3734i     0.3105  +0.0106i    -0.1350  +0.2928i    -0.0741  +0.3559i    -0.0692  -0.3808i     0.0178  +0.0002i     0.0247  -0.0002i 
-    0.0226  +0.1038i     0.0228  -0.1027i    -0.1693  -0.2699i    -0.1539  -0.2735i     0.1978  +0.0842i     0.1849  -0.0901i    -0.0400  +0.1732i    -0.0556  -0.1246i     0.0856  +0.3022i     0.0864  -0.2992i     0.1935  +0.0888i    -0.0133  +0.2179i    -0.1613  -0.2850i    -0.1508  +0.3049i    -0.0548  +0.2795i    -0.0761  -0.2011i 
-    0.0669  +0.1453i     0.0676  -0.1439i    -0.1604  -0.0320i     0.0469  -0.1627i     0.0078  +0.1319i     0.0073  -0.1411i     0.0086  +0.4118i     0.0120  -0.2963i    -0.0241  +0.2666i    -0.0243  -0.2639i    -0.3169  -0.0146i     0.1346  -0.3005i     0.0045  +0.1961i     0.0042  -0.2098i     0.0873  -0.3068i     0.1213  +0.2208i 
-    0.0318  +0.2136i     0.0321  -0.2115i     0.1467  -0.0498i    -0.1110  +0.1148i     0.0279  -0.2616i     0.0261  +0.2799i    -0.0611  -0.3196i    -0.0849  +0.2300i     0.1102  +0.2727i     0.1113  -0.2699i    -0.2494  -0.0928i     0.0359  -0.2715i     0.1998  -0.2115i     0.1867  +0.2263i    -0.0988  -0.1334i    -0.1373  +0.0960i 
-
- Orthogonality of U: || U^H U - I ||_F = .39E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,213 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03YA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03YA">MB03YA</A></H2>
-<H3>
-Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix corresponding to zero elements on the diagonal of a triangular matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To annihilate one or two entries on the subdiagonal of the
-  Hessenberg matrix A for dealing with zero elements on the diagonal
-  of the triangular matrix B.
-
-  MB03YA is an auxiliary routine called by SLICOT Library routines
-  MB03XP and MB03YD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03YA( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
-     $                   POS, A, LDA, B, LDB, Q, LDQ, Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            WANTQ, WANTT, WANTZ
-      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ, LDZ,
-     $                   N, POS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WANTT   LOGICAL
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = .TRUE. :  Compute the full Schur form;
-          = .FALSE.:  compute the eigenvalues only.
-
-  WANTQ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = .TRUE. :  The matrix Q is updated;
-          = .FALSE.:  the matrix Q is not required.
-
-  WANTZ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = .TRUE. :  The matrix Z is updated;
-          = .FALSE.:  the matrix Z is not required.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B. N &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that the matrices A and B are already
-          (quasi) upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N. The routine works primarily with the submatrices
-          in rows and columns ILO to IHI, but applies the
-          transformations to all the rows and columns of the
-          matrices A and B, if WANTT = .TRUE..
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  ILOQ    (input) INTEGER
-  IHIQ    (input) INTEGER
-          Specify the rows of Q and Z to which transformations
-          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
-          respectively.
-          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
-
-  POS     (input) INTEGER
-          The position of the zero element on the diagonal of B.
-          ILO &lt;= POS &lt;= IHI.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper Hessenberg matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the updated matrix A where A(POS,POS-1) = 0, if POS &gt; ILO,
-          and A(POS+1,POS) = 0, if POS &lt; IHI.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain an upper triangular matrix B with B(POS,POS) = 0.
-          On exit, the leading N-by-N part of this array contains
-          the updated upper triangular matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Q of
-          transformations accumulated by MB03XP.
-          On exit, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Q updated in the
-          submatrix Q(ILOQ:IHIQ,ILO:IHI).
-          If WANTQ = .FALSE., Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= 1.
-          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Z of
-          transformations accumulated by MB03XP.
-          On exit, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Z updated in the
-          submatrix Z(ILOQ:IHIQ,ILO:IHI).
-          If WANTZ = .FALSE., Z is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= 1.
-          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method is illustrated by Wilkinson diagrams for N = 5,
-  POS = 3:
-
-        [ x x x x x ]       [ x x x x x ]
-        [ x x x x x ]       [ o x x x x ]
-    A = [ o x x x x ],  B = [ o o o x x ].
-        [ o o x x x ]       [ o o o x x ]
-        [ o o o x x ]       [ o o o o x ]
-
-  First, a QR factorization is applied to A(1:3,1:3) and the
-  resulting nonzero in the updated matrix B is immediately
-  annihilated by a Givens rotation acting on columns 1 and 2:
-
-        [ x x x x x ]       [ x x x x x ]
-        [ x x x x x ]       [ o x x x x ]
-    A = [ o o x x x ],  B = [ o o o x x ].
-        [ o o x x x ]       [ o o o x x ]
-        [ o o o x x ]       [ o o o o x ]
-
-  Secondly, an RQ factorization is applied to A(4:5,4:5) and the
-  resulting nonzero in the updated matrix B is immediately
-  annihilated by a Givens rotation acting on rows 4 and 5:
-
-        [ x x x x x ]       [ x x x x x ]
-        [ x x x x x ]       [ o x x x x ]
-    A = [ o o x x x ],  B = [ o o o x x ].
-        [ o o o x x ]       [ o o o x x ]
-        [ o o o x x ]       [ o o o o x ]
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
-      The periodic Schur decomposition: Algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**2) floating point operations and is
-  backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03YD.html b/doc/_static/doc/MB03YD.html
deleted file mode 100644
index e81d27e3..00000000
--- a/doc/_static/doc/MB03YD.html
+++ /dev/null
@@ -1,230 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03YD">MB03YD</A></H2>
-<H3>
-Periodic QR iteration
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To deal with small subtasks of the product eigenvalue problem.
-
-  MB03YD is an auxiliary routine called by SLICOT Library routine
-  MB03XP.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03YD( WANTT, WANTQ, WANTZ, N, ILO, IHI, ILOQ, IHIQ,
-     $                   A, LDA, B, LDB, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI,
-     $                   BETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            WANTQ, WANTT, WANTZ
-      INTEGER            IHI, IHIQ, ILO, ILOQ, INFO, LDA, LDB, LDQ,
-     $                   LDWORK, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                   BETA(*), DWORK(*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WANTT   LOGICAL
-          Indicates whether the user wishes to compute the full
-          Schur form or the eigenvalues only, as follows:
-          = .TRUE. :  Compute the full Schur form;
-          = .FALSE.:  compute the eigenvalues only.
-
-  WANTQ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Q as follows:
-          = .TRUE. :  The matrix Q is updated;
-          = .FALSE.:  the matrix Q is not required.
-
-  WANTZ   LOGICAL
-          Indicates whether or not the user wishes to accumulate
-          the matrix Z as follows:
-          = .TRUE. :  The matrix Z is updated;
-          = .FALSE.:  the matrix Z is not required.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and B. N &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that the matrices A and B are already
-          (quasi) upper triangular in rows and columns 1:ILO-1 and
-          IHI+1:N. The routine works primarily with the submatrices
-          in rows and columns ILO to IHI, but applies the
-          transformations to all the rows and columns of the
-          matrices A and B, if WANTT = .TRUE..
-          1 &lt;= ILO &lt;= max(1,N); min(ILO,N) &lt;= IHI &lt;= N.
-
-  ILOQ    (input) INTEGER
-  IHIQ    (input) INTEGER
-          Specify the rows of Q and Z to which transformations
-          must be applied if WANTQ = .TRUE. and WANTZ = .TRUE.,
-          respectively.
-          1 &lt;= ILOQ &lt;= ILO; IHI &lt;= IHIQ &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper Hessenberg matrix A.
-          On exit, if WANTT = .TRUE., the leading N-by-N part of
-          this array is upper quasi-triangular in rows and columns
-          ILO:IHI.
-          If WANTT = .FALSE., the diagonal elements and 2-by-2
-          diagonal blocks of A will be correct, but the remaining
-          parts of A are unspecified on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix B.
-          On exit, if WANTT = .TRUE., the leading N-by-N part of
-          this array contains the transformed upper triangular
-          matrix. 2-by-2 blocks in B corresponding to 2-by-2 blocks
-          in A will be reduced to positive diagonal form. (I.e., if
-          A(j+1,j) is non-zero, then B(j+1,j)=B(j,j+1)=0 and B(j,j)
-          and B(j+1,j+1) will be positive.)
-          If WANTT = .FALSE., the elements corresponding to diagonal
-          elements and 2-by-2 diagonal blocks in A will be correct,
-          but the remaining parts of B are unspecified on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Q of
-          transformations accumulated by MB03XP.
-          On exit, if WANTQ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Q updated in the
-          submatrix Q(ILOQ:IHIQ,ILO:IHI).
-          If WANTQ = .FALSE., Q is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= 1.
-          If WANTQ = .TRUE., LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array must contain the current matrix Z of
-          transformations accumulated by MB03XP.
-          On exit, if WANTZ = .TRUE., then the leading N-by-N part
-          of this array contains the matrix Z updated in the
-          submatrix Z(ILOQ:IHIQ,ILO:IHI).
-          If WANTZ = .FALSE., Z is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= 1.
-          If WANTZ = .TRUE., LDZ &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The i-th (ILO &lt;= i &lt;= IHI) computed eigenvalue is given
-          by BETA(I) * ( ALPHAR(I) + sqrt(-1)*ALPHAI(I) ). If two
-          eigenvalues are computed as a complex conjugate pair,
-          they are stored in consecutive elements of ALPHAR, ALPHAI
-          and BETA. If WANTT = .TRUE., the eigenvalues are stored in
-          the same order as on the diagonals of the Schur forms of
-          A and B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = -19,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then MB03YD failed to compute the Schur
-                form in a total of 30*(IHI-ILO+1) iterations;
-                elements i+1:n of ALPHAR, ALPHAI and BETA contain
-                successfully computed eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm is a double-shift version of the
-  periodic QR algorithm described in [1,3] with some minor
-  modifications [2]. The eigenvalues are computed via an implicit
-  complex single shift algorithm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bojanczyk, A.W., Golub, G.H., and Van Dooren, P.
-      The periodic Schur decomposition: Algorithms and applications.
-      Proc. of the SPIE Conference (F.T. Luk, Ed.), 1770, pp. 31-42,
-      1992.
-
-  [2] Kressner, D.
-      An efficient and reliable implementation of the periodic QZ
-      algorithm. Proc. of the IFAC Workshop on Periodic Control
-      Systems, pp. 187-192, 2001.
-
-  [3] Van Loan, C.
-      Generalized Singular Values with Algorithms and Applications.
-      Ph. D. Thesis, University of Michigan, 1973.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03YT.html b/doc/_static/doc/MB03YT.html
deleted file mode 100644
index db0d80a3..00000000
--- a/doc/_static/doc/MB03YT.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03YT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03YT">MB03YT</A></H2>
-<H3>
-Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) with B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the periodic Schur factorization of a real 2-by-2
-  matrix pair (A,B) where B is upper triangular. This routine
-  computes orthogonal (rotation) matrices given by CSL, SNL and CSR,
-  SNR such that
-
-  1) if the pair (A,B) has two real eigenvalues, then
-
-     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
-     [  0  a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
-
-     [ b11 b12 ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
-     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ],
-
-  2) if the pair (A,B) has a pair of complex conjugate eigenvalues,
-     then
-
-     [ a11 a12 ] := [  CSL  SNL ] [ a11 a12 ] [  CSR -SNR ]
-     [ a21 a22 ]    [ -SNL  CSL ] [ a21 a22 ] [  SNR  CSR ]
-
-     [ b11  0  ] := [  CSR  SNR ] [ b11 b12 ] [  CSL -SNL ]
-     [  0  b22 ]    [ -SNR  CSR ] [  0  b22 ] [  SNL  CSL ].
-
-  This is a modified version of the LAPACK routine DLAGV2 for
-  computing the real, generalized Schur decomposition of a
-  two-by-two matrix pencil.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03YT( A, LDA, B, LDB, ALPHAR, ALPHAI, BETA, CSL, SNL,
-     $                   CSR, SNR )
-C     .. Scalar Arguments ..
-      INTEGER           LDA, LDB
-      DOUBLE PRECISION  CSL, CSR, SNL, SNR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(2), ALPHAR(2), B(LDB,*),
-     $                  BETA(2)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,2)
-          On entry, the leading 2-by-2 part of this array must
-          contain the matrix A.
-          On exit, the leading 2-by-2 part of this array contains
-          the matrix A of the pair in periodic Schur form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,2)
-          On entry, the leading 2-by-2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading 2-by-2 part of this array contains
-          the matrix B of the pair in periodic Schur form.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (2)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (2)
-  BETA    (output) DOUBLE PRECISION array, dimension (2)
-          (ALPHAR(k)+i*ALPHAI(k))*BETA(k) are the eigenvalues of the
-          pair (A,B), k=1,2, i = sqrt(-1). ALPHAI(1) &gt;= 0.
-
-  CSL     (output) DOUBLE PRECISION
-          The cosine of the first rotation matrix.
-
-  SNL     (output) DOUBLE PRECISION
-          The sine of the first rotation matrix.
-
-  CSR     (output) DOUBLE PRECISION
-          The cosine of the second rotation matrix.
-
-  SNR     (output) DOUBLE PRECISION
-          The sine of the second rotation matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.
-      Generalized Singular Values with Algorithms and Applications.
-      Ph. D. Thesis, University of Michigan, 1973.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB03ZA.html b/doc/_static/doc/MB03ZA.html
deleted file mode 100644
index 0c51f6c2..00000000
--- a/doc/_static/doc/MB03ZA.html
+++ /dev/null
@@ -1,310 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB03ZA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ZA">MB03ZA</A></H2>
-<H3>
-Reordering a selected cluster of eigenvalues of a given matrix pair in periodic Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  1. To compute, for a given matrix pair (A,B) in periodic Schur
-     form, orthogonal matrices Ur and Vr so that
-
-         T           [ A11  A12 ]     T           [ B11  B12 ]
-       Vr * A * Ur = [          ],  Ur * B * Vr = [          ], (1)
-                     [  0   A22 ]                 [  0   B22 ]
-
-     is in periodic Schur form, and the eigenvalues of A11*B11
-     form a selected cluster of eigenvalues.
-
-  2. To compute an orthogonal matrix W so that
-
-                T  [  0  -A11 ]       [  R11   R12 ]
-               W * [          ] * W = [            ],           (2)
-                   [ B11   0  ]       [   0    R22 ]
-
-     where the eigenvalues of R11 and -R22 coincide and have
-     positive real part.
-
-  Optionally, the matrix C is overwritten by Ur'*C*Vr.
-
-  All eigenvalues of A11*B11 must either be complex or real and
-  negative.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ZA( COMPC, COMPU, COMPV, COMPW, WHICH, SELECT, N,
-     $                   A, LDA, B, LDB, C, LDC, U1, LDU1, U2, LDU2, V1,
-     $                   LDV1, V2, LDV2, W, LDW, WR, WI, M, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPC, COMPU, COMPV, COMPW, WHICH
-      INTEGER           INFO, LDA, LDB, LDC, LDU1, LDU2, LDV1, LDV2,
-     $                  LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      LOGICAL           SELECT(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  U1(LDU1,*), U2(LDU2,*), V1(LDV1,*), V2(LDV2,*),
-     $                  W(LDW,*), WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPC   CHARACTER*1
-          = 'U':  update the matrix C;
-          = 'N':  do not update C.
-
-  COMPU   CHARACTER*1
-          = 'U':  update the matrices U1 and U2;
-          = 'N':  do not update U1 and U2.
-          See the description of U1 and U2.
-
-  COMPV   CHARACTER*1
-          = 'U':  update the matrices V1 and V2;
-          = 'N':  do not update V1 and V2.
-          See the description of V1 and V2.
-
-  COMPW   CHARACTER*1
-          Indicates whether or not the user wishes to accumulate
-          the matrix W as follows:
-          = 'N':  the matrix W is not required;
-          = 'I':  W is initialized to the unit matrix and the
-                  orthogonal transformation matrix W is returned;
-          = 'V':  W must contain an orthogonal matrix Q on entry,
-                  and the product Q*W is returned.
-
-  WHICH   CHARACTER*1
-          = 'A':  select all eigenvalues, this effectively means
-                  that Ur and Vr are identity matrices and A11 = A,
-                  B11 = B;
-          = 'S':  select a cluster of eigenvalues specified by
-                  SELECT.
-
-  SELECT  LOGICAL array, dimension (N)
-          If WHICH = 'S', then SELECT specifies the eigenvalues of
-          A*B in the selected cluster. To select a real eigenvalue
-          w(j), SELECT(j) must be set to .TRUE.. To select a complex
-          conjugate pair of eigenvalues w(j) and w(j+1),
-          corresponding to a 2-by-2 diagonal block in A, both
-          SELECT(j) and SELECT(j+1) must be set to .TRUE.; a complex
-          conjugate pair of eigenvalues must be either both included
-          in the cluster or both excluded.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi-triangular matrix A of the matrix
-          pair (A,B) in periodic Schur form.
-          On exit, the leading M-by-M part of this array contains
-          the matrix R22 in (2).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix B of the matrix pair
-          (A,B) in periodic Schur form.
-          On exit, the leading N-by-N part of this array is
-          overwritten.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, if COMPC = 'U', the leading N-by-N part of this
-          array must contain a general matrix C.
-          On exit, if COMPC = 'U', the leading N-by-N part of this
-          array contains the updated matrix Ur'*C*Vr.
-          If COMPC = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= 1.
-          LDC &gt;= N,  if COMPC = 'U' and WHICH = 'S'.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain U1, the (1,1)
-          block of an orthogonal symplectic matrix
-          U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains U1*Ur.
-          If COMPU = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= 1.
-          LDU1 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain U2, the (1,2)
-          block of an orthogonal symplectic matrix
-          U = [ U1, U2; -U2, U1 ].
-          On exit, if COMPU = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains U2*Ur.
-          If COMPU = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= 1.
-          LDU2 &gt;= N,  if COMPU = 'U' and WHICH = 'S'.
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On entry, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain V1, the (1,1)
-          block of an orthogonal symplectic matrix
-          V = [ V1, V2; -V2, V1 ].
-          On exit, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains V1*Vr.
-          If COMPV = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1.  LDV1 &gt;= 1.
-          LDV1 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,N)
-          On entry, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array must contain V2, the (1,2)
-          block of an orthogonal symplectic matrix
-          V = [ V1, V2; -V2, V1 ].
-          On exit, if COMPV = 'U' and WHICH = 'S', the leading
-          N-by-N part of this array contains V2*Vr.
-          If COMPV = 'N' or WHICH = 'A', this array is not
-          referenced.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2.  LDV2 &gt;= 1.
-          LDV2 &gt;= N,  if COMPV = 'U' and WHICH = 'S'.
-
-  W       (input/output) DOUBLE PRECISION array, dimension (LDW,2*M)
-          On entry, if COMPW = 'V', then the leading 2*M-by-2*M part
-          of this array must contain a matrix W.
-          If COMPW = 'I', then W need not be set on entry, W is set
-          to the identity matrix.
-          On exit, if COMPW = 'I' or 'V' the leading 2*M-by-2*M part
-          of this array is post-multiplied by the transformation
-          matrix that produced (2).
-          If COMPW = 'N', this array is not referenced.
-
-  LDW     INTEGER
-          The leading dimension of the array W.  LDW &gt;= 1.
-          LDW &gt;= 2*M,  if COMPW = 'I' or COMPW = 'V'.
-
-  WR      (output) DOUBLE PRECISION array, dimension (M)
-  WI      (output) DOUBLE PRECISION array, dimension (M)
-          The real and imaginary parts, respectively, of the
-          eigenvalues of R11. The eigenvalues are stored in the same
-          order as on the diagonal of R22, with
-          WR(i) = -R22(i,i) and, if R22(i:i+1,i:i+1) is a 2-by-2
-          diagonal block, WI(i) &gt; 0 and WI(i+1) = -WI(i).
-          In exact arithmetic, these eigenvalue are the positive
-          square roots of the selected eigenvalues of the product
-          A*B. However, if an eigenvalue is sufficiently
-          ill-conditioned, then its value may differ significantly.
-
-  M       (output) INTEGER
-          The number of selected eigenvalues.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = -28,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, 4*N, 8*M ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  reordering of the product A*B in Step 1 failed
-                because some eigenvalues are too close to separate;
-          = 2:  reordering of some submatrix in Step 2 failed
-                because some eigenvalues are too close to separate;
-          = 3:  the QR algorithm failed to compute the Schur form
-                of some submatrix in Step 2;
-          = 4:  the condition that all eigenvalues of A11*B11 must
-                either be complex or real and negative is
-                numerically violated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Step 1 is performed using a reordering technique analogous to the
-  LAPACK routine DTGSEN for reordering matrix pencils [1,2]. Step 2
-  is an implementation of Algorithm 2 in [3]. It requires O(M*N*N)
-  floating point operations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B.
-      A direct method for reordering eigenvalues in the generalized
-      real Schur form of a regular matrix pair (A,B), in M.S. Moonen
-      et al (eds), Linear Algebra for Large Scale and Real-Time
-      Applications, Kluwer Academic Publ., 1993, pp. 195-218.
-
-  [2] Kagstrom, B. and Poromaa P.:
-      Computing eigenspaces with specified eigenvalues of a regular
-      matrix pair (A, B) and condition estimation: Theory,
-      algorithms and software, Numer. Algorithms, 1996, vol. 12,
-      pp. 369-407.
-
-  [3] Benner, P., Mehrmann, V., and Xu, H.
-      A new method for computing the stable invariant subspace of a
-      real Hamiltonian matrix,  J. Comput. Appl. Math., 86,
-      pp. 17-43, 1997.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB03ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB03ZD">MB03ZD</A></H2>
-<H3>
-Computing the stable and unstable invariant subspaces for a Hamiltonian matrix with no eigenvalues on the imaginary axis
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the stable and unstable invariant subspaces for a
-  Hamiltonian matrix with no eigenvalues on the imaginary axis,
-  using the output of the SLICOT Library routine MB03XD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N,
-     $                   MM, ILO, SCALE, S, LDS, T, LDT, G, LDG, U1,
-     $                   LDU1, U2, LDU2, V1, LDV1, V2, LDV2, M, WR, WI,
-     $                   US, LDUS, UU, LDUU, LWORK, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC, METH, ORTBAL, STAB, WHICH
-      INTEGER           ILO, INFO, LDG, LDS, LDT, LDU1, LDU2, LDUS,
-     $                  LDUU, LDV1, LDV2, LDWORK, M, MM, N
-C     .. Array Arguments ..
-      LOGICAL           LWORK(*), SELECT(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  DWORK(*), G(LDG,*), S(LDS,*), SCALE(*),
-     $                  T(LDT,*), U1(LDU1,*), U2(LDU2,*), US(LDUS,*),
-     $                  UU(LDUU,*), V1(LDV1,*), V2(LDV2,*), WI(*),
-     $                  WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  WHICH   CHARACTER*1
-          Specifies the cluster of eigenvalues for which the
-          invariant subspaces are computed:
-          = 'A':  select all n eigenvalues;
-          = 'S':  select a cluster of eigenvalues specified by
-                  SELECT.
-
-  METH    CHARACTER*1
-          If WHICH = 'A' this parameter specifies the method to be
-          used for computing bases of the invariant subspaces:
-          = 'S':  compute the n-dimensional basis from a set of
-                  n vectors;
-          = 'L':  compute the n-dimensional basis from a set of
-                  2*n vectors;
-          = 'Q':  quick return of the set of n vectors;
-          = 'R':  quick return of the set of 2*n vectors.
-          When in doubt, use METH = 'S'. In some cases, METH = 'L'
-          may result in more accurately computed invariant
-          subspaces, see [1].
-          Options METH = 'Q' or METH = 'R' return the range vectors
-          Y = [ Y1; Y2 ], where Y1 and Y2 have 2*n rows and n or 2*n
-          columns, respectively, which can be directly used, e.g.,
-          for finding the (stabilizing) solution of a Riccati
-          equation, by solving X*Y1 = Y2. Note that Y1 might be
-          singular when METH = 'Q'.
-
-  STAB    CHARACTER*1
-          Specifies the type of invariant subspaces to be computed:
-          = 'S':  compute the stable invariant subspace, i.e., the
-                  invariant subspace belonging to those selected
-                  eigenvalues that have negative real part;
-          = 'U':  compute the unstable invariant subspace, i.e.,
-                  the invariant subspace belonging to those
-                  selected eigenvalues that have positive real
-                  part;
-          = 'B':  compute both the stable and unstable invariant
-                  subspaces.
-
-  BALANC  CHARACTER*1
-          Specifies the type of inverse balancing transformation
-          required:
-          = 'N':  do nothing;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          BALANC must be the same as the argument BALANC supplied to
-          MB03XD. Note that if the data is further post-processed,
-          e.g., for solving an algebraic Riccati equation, it is
-          recommended to delay inverse balancing (in particular the
-          scaling part) and apply it to the final result only,
-          see [2]. Inverse balancing is not used by this routine
-          if METH = 'Q' or METH = 'R'.
-
-  ORTBAL  CHARACTER*1
-          If BALANC &lt;&gt; 'N', this option specifies how inverse
-          balancing is applied to the computed invariant subspaces:
-          = 'B':  apply inverse balancing before orthogonal bases
-                  for the invariant subspaces are computed;
-          = 'A':  apply inverse balancing after orthogonal bases
-                  for the invariant subspaces have been computed;
-                  this may yield non-orthogonal bases if
-                  BALANC = 'S' or BALANC = 'B'.
-
-  SELECT  (input) LOGICAL array, dimension (N)
-          If WHICH = 'S', SELECT specifies the eigenvalues
-          corresponding to the positive and negative square
-          roots of the eigenvalues of S*T in the selected cluster.
-          To select a real eigenvalue w(j), SELECT(j) must be set
-          to .TRUE.. To select a complex conjugate pair of
-          eigenvalues w(j) and w(j+1), corresponding to a 2-by-2
-          diagonal block, both SELECT(j) and SELECT(j+1) must be set
-          to .TRUE.; a complex conjugate pair of eigenvalues must be
-          either both included in the cluster or both excluded.
-          This array is not referenced if WHICH = 'A'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S, T and G. N &gt;= 0.
-
-  MM      (input) INTEGER
-          The number of columns in the arrays US and/or UU.
-          If WHICH = 'A' and (METH = 'S' or METH = 'Q'),  MM =   N;
-          if WHICH = 'A' and (METH = 'L' or METH = 'R'),  MM = 2*N;
-          if WHICH = 'S',                                 MM =   M.
-          The values above for MM give the numbers of vectors to be
-          returned, if METH = 'Q' or METH = 'R', or the numbers of
-          vectors to be used for computing a basis for the invariant
-          subspace(s), if METH = 'S' or METH = 'L', or WHICH = 'S'.
-
-  ILO     (input) INTEGER
-          If BALANC &lt;&gt; 'N', then ILO is the integer returned by
-          MB03XD.  1 &lt;= ILO &lt;= N+1.
-
-  SCALE   (input) DOUBLE PRECISION array, dimension (N)
-          If BALANC &lt;&gt; 'N', the leading N elements of this array
-          must contain details of the permutation and scaling
-          factors, as returned by MB03XD.
-          This array is not referenced if BALANC = 'N'.
-
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix S in real Schur form.
-          On exit, the leading N-by-N part of this array is
-          overwritten.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= max(1,N).
-
-  T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix T.
-          On exit, the leading N-by-N part of this array is
-          overwritten.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, if METH = 'L' or METH = 'R', the leading N-by-N
-          part of this array must contain a general matrix G.
-          On exit, if METH = 'L' or METH = 'R', the leading N-by-N
-          part of this array is overwritten.
-          This array is not referenced if METH = 'S' or METH = 'Q'.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= 1.
-          LDG &gt;= max(1,N) if METH = 'L' or METH = 'R'.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (1,1) block of an orthogonal symplectic
-          matrix U.
-          On exit, this array is overwritten.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (2,1) block of an orthogonal symplectic
-          matrix U.
-          On exit, this array is overwritten.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (1,1) block of an orthogonal symplectic
-          matrix V.
-          On exit, this array is overwritten.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1.  LDV1 &gt;= MAX(1,N).
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV1,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (2,1) block of an orthogonal symplectic
-          matrix V.
-          On exit, this array is overwritten.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2.  LDV2 &gt;= MAX(1,N).
-
-  M       (output) INTEGER
-          The number of selected eigenvalues.
-
-  WR      (output) DOUBLE PRECISION array, dimension (M)
-  WI      (output) DOUBLE PRECISION array, dimension (M)
-          On exit, the leading M elements of WR and WI contain the
-          real and imaginary parts, respectively, of the selected
-          eigenvalues that have nonpositive real part. Complex
-          conjugate pairs of eigenvalues with real part not equal
-          to zero will appear consecutively with the eigenvalue
-          having the positive imaginary part first. Note that, due
-          to roundoff errors, these numbers may differ from the
-          eigenvalues computed by MB03XD.
-
-  US      (output) DOUBLE PRECISION array, dimension (LDUS,MM)
-          On exit, if STAB = 'S' or STAB = 'B', the leading
-          2*N-by-MM part of this array contains a basis for the
-          stable invariant subspace belonging to the selected
-          eigenvalues, if METH = 'S' or METH = 'L', or the range
-          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
-          METH). This basis is orthogonal unless ORTBAL = 'A'.
-
-  LDUS    INTEGER
-          The leading dimension of the array US.  LDUS &gt;= 1.
-          If STAB = 'S' or STAB = 'B',  LDUS &gt;= 2*N.
-
-  UU      (output) DOUBLE PRECISION array, dimension (LDUU,MM)
-          On exit, if STAB = 'U' or STAB = 'B', the leading
-          2*N-by-MM part of this array contains a basis for the
-          unstable invariant subspace belonging to the selected
-          eigenvalues, if METH = 'S' or METH = 'L', or the range
-          vectors Y, if METH = 'Q' or METH = 'R' (see parameter
-          METH). This basis is orthogonal unless ORTBAL = 'A'.
-
-  LDUU    INTEGER
-          The leading dimension of the array UU.  LDUU &gt;= 1.
-          If STAB = 'U' or STAB = 'B',  LDUU &gt;= 2*N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  LWORK   LOGICAL array, dimension (2*N)
-          This array is only referenced if WHICH = 'A' and
-          (METH = 'L' or METH = 'R').
-
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 2*N, if WHICH = 'A' and METH = 'L';
-          LIWORK = N,   if WHICH = 'A' and METH = 'S';
-          LIWORK = 0,   if WHICH = 'A' and METH = 'Q' or METH = 'R';
-          LIWORK = M,   if WHICH = 'S'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -35,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If WHICH = 'S' or METH = 'S' or METH = 'Q':
-             LDWORK &gt;= MAX( 1, 4*M*M + MAX( 8*M, 4*N ) ).
-          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
-             ( STAB = 'U' or STAB = 'S' ):
-             LDWORK &gt;= MAX( 1, 2*N*N + 2*N, 8*N ).
-          If WHICH = 'A' and (METH = 'L' or METH = 'R') and
-             STAB = 'B':
-             LDWORK &gt;= 8*N + 1.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  some of the selected eigenvalues are on or too close
-                to the imaginary axis;
-          = 2:  reordering of the product S*T in routine MB03ZA
-                failed because some eigenvalues are too close to
-                separate;
-          = 3:  the QR algorithm failed to compute some Schur form
-                in MB03ZA;
-          = 4:  reordering of the Hamiltonian Schur form in routine
-                MB03TD failed because some eigenvalues are too close
-                to separate;
-          = 5:  the computed stable invariant subspace for
-                METH = 'S' is inaccurate. This may be taken as a
-                warning and a suggestion to try METH = 'L';
-          = 6:  the computed unstable invariant subspace for
-                METH = 'S' is inaccurate. This may be taken as a
-                warning and a suggestion to try METH = 'L'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This is an implementation of Algorithm 1 in [1].
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The method is strongly backward stable for an embedded
-  (skew-)Hamiltonian matrix, see [1]. Although good results have
-  been reported if the eigenvalues are not too close to the
-  imaginary axis, the method is not backward stable for the original
-  Hamiltonian matrix itself.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A new method for computing the stable invariant subspace of a
-      real Hamiltonian matrix, J. Comput. Appl. Math., 86,
-      pp. 17-43, 1997.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB03ZD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 200 )
-      INTEGER          LDG, LDRES, LDS, LDT, LDU1, LDU2, LDUS, LDUU,
-     $                 LDV1, LDV2, LDWORK
-      PARAMETER        ( LDG = NMAX, LDRES = 2*NMAX, LDS = NMAX,
-     $                   LDT = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDUS = 2*NMAX, LDUU = 2*NMAX, LDV1 = NMAX,
-     $                   LDV2 = NMAX, LDWORK = 3*NMAX*NMAX + 7*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      BALANC, METH, ORTBAL, STAB, WHICH
-      INTEGER          I, ILO, INFO, J, M, N
-*     .. Local Arrays ..
-      LOGICAL          LWORK(2*NMAX), SELECT(NMAX)
-      INTEGER          IWORK(2*NMAX)
-      DOUBLE PRECISION DWORK(LDWORK), G(LDG, NMAX), RES(LDRES,NMAX),
-     $                 S(LDS, NMAX), SCALE(NMAX), T(LDT,NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX), US(LDUS,2*NMAX),
-     $                 UU(LDUU,2*NMAX), V1(LDV1,NMAX), V2(LDV2, NMAX),
-     $                 WI(NMAX), WR(NMAX)
-*     .. External Functions ..
-      EXTERNAL         DLANGE, LSAME
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE
-*     .. External Subroutines ..
-      EXTERNAL         MB03ZD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, ILO, WHICH, METH, STAB, BALANC, ORTBAL
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-*
-         IF ( LSAME( WHICH, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( SELECT(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( S(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( WHICH, 'A' ).AND.LSAME( METH, 'L' ) )
-     $      READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( BALANC, 'P' ).OR.LSAME( BALANC, 'S' ).OR.
-     $        LSAME( BALANC, 'B' ) )
-     $      READ ( NIN, FMT = * ) ( SCALE(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( U1(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( U2(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( V1(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( V2(I,J), J = 1,N ), I = 1,N )
-*
-         CALL MB03ZD( WHICH, METH, STAB, BALANC, ORTBAL, SELECT, N, 2*N,
-     $                ILO, SCALE, S, LDS, T, LDT, G, LDG, U1, LDU1, U2,
-     $                LDU2, V1, LDV1, V2, LDV2, M, WR, WI, US, LDUS,
-     $                UU, LDUU, LWORK, IWORK, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) I, WR(I), WI(I)
-20          CONTINUE
-*
-            IF ( LSAME( STAB, 'S' ).OR.LSAME( STAB, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, 2*N
-                  WRITE ( NOUT, FMT = 99993 ) ( US(I,J), J = 1,M )
-30             CONTINUE
-               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
-     $            LSAME( BALANC, 'P' ) ) THEN
-                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
-     $                        ONE, US, LDUS, US, LDUS, ZERO, RES,
-     $                        LDRES )
-                  DO 40  I = 1, M
-                     RES(I,I) = RES(I,I) - ONE
-40                CONTINUE
-                  WRITE ( NOUT, FMT = 99991 ) DLANGE( 'Frobenius', M, M,
-     $                    RES, LDRES, DWORK )
-               END IF
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
-     $                     US, LDUS, US(N+1,1), LDUS, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
-     $                     US(N+1,1), LDUS, US, LDUS, ONE, RES, LDRES )
-               WRITE ( NOUT, FMT = 99990 ) DLANGE( 'Frobenius', M, M,
-     $                 RES, LDRES, DWORK )
-            END IF
-*
-            IF ( LSAME( STAB, 'U' ).OR.LSAME( STAB, 'B' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 )
-               DO 50  I = 1, 2*N
-                  WRITE ( NOUT, FMT = 99993 ) ( UU(I,J), J = 1,M )
-50             CONTINUE
-               IF ( LSAME( ORTBAL, 'B' ).OR.LSAME( BALANC, 'N' ).OR.
-     $            LSAME( BALANC, 'P' ) ) THEN
-                  CALL DGEMM( 'Transpose', 'No Transpose', M, M, 2*N,
-     $                        ONE, UU, LDUU, UU, LDUU, ZERO, RES,
-     $                        LDRES )
-                  DO 60  I = 1, M
-                     RES(I,I) = RES(I,I) - ONE
-60                CONTINUE
-                  WRITE ( NOUT, FMT = 99989 ) DLANGE( 'Frobenius', M, M,
-     $                    RES, LDRES, DWORK )
-               END IF
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, ONE,
-     $                     UU, LDUU, UU(N+1,1), LDUU, ZERO, RES, LDRES )
-               CALL DGEMM( 'Transpose', 'No Transpose', M, M, N, -ONE,
-     $                     UU(N+1,1), LDUU, UU, LDUU, ONE, RES, LDRES )
-               WRITE ( NOUT, FMT = 99988 ) DLANGE( 'Frobenius', M, M,
-     $                 RES, LDRES, DWORK )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB03ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB03ZD = ',I2)
-99997 FORMAT (' The stable eigenvalues are',//'   i',6X,
-     $        'WR(i)',6X,'WI(i)',/)
-99996 FORMAT (I4,3X,F8.4,3X,F8.4)
-99995 FORMAT (/' A basis for the stable invariant subspace is')
-99994 FORMAT (/' A basis for the unstable invariant subspace is')
-99993 FORMAT (20(1X,F9.3))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of US: || US''*US - I ||_F = ',G7.2)
-99990 FORMAT (/' Symplecticity of US: || US''*J*US   ||_F = ',G7.2)
-99989 FORMAT (/' Orthogonality of UU: || UU''*UU - I ||_F = ',G7.2)
-99988 FORMAT (/' Symplecticity of UU: || UU''*J*UU   ||_F = ',G7.2)
-
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB03ZD EXAMPLE PROGRAM DATA
-	5	1	A	L	B	N	B
- -3.1844761777714732  0.1612357243439331 -0.0628592203751138  0.2449004200921981  0.1974400149992579
-  0.0000000000000000 -0.1510667773167784  0.4260444411622838 -0.1775026035208615  0.3447278421198472
-  0.0000000000000000 -0.1386140422054264 -0.3006779624777515  0.2944143257134196  0.3456440339120323
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.2710128384740570  0.0933189808067138
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.4844146572359603  0.2004347508746697
-  3.2038208121776366  0.1805955192510651  0.2466389119377561 -0.2539149302433368 -0.0359238844381195
-  0.0000000000000000 -0.7196686433290816  0.0000000000000000  0.2428659121580384 -0.0594190100670832
-  0.0000000000000000  0.0000000000000000 -0.1891741194498107 -0.3309578443491266 -0.0303520731950515
-  0.0000000000000000  0.0000000000000000  0.0000000000000000 -0.4361574461961550  0.0000000000000000
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.1530894573304220
- -0.0370982242678464  0.0917788436945724 -0.0560402416315252  0.1345152517579192  0.0256668227276700
-  0.0652183678916931 -0.0700457231988297  0.0350041175858839 -0.2233868768749268 -0.1171980260782843
- -0.0626428681377119  0.2327575351902772 -0.1251515732208170 -0.0177816046663201  0.3696921118421182
-  0.0746042309265599 -0.0828007611045140  0.0217427473546043 -0.1157775118548851 -0.3161183681200527
-  0.1374372236164812  0.1002727885506992  0.4021556774753973 -0.0431072263235579  0.1067394572547867
-  0.3806883009357247 -0.0347810363019649 -0.5014665065895758  0.5389691288472394  0.2685446895251367
-  0.4642712665555326 -0.5942766860716395  0.4781179763952615  0.2334370556238151  0.0166790369048933
-  0.2772789197782788 -0.0130145392695876 -0.2123817030594055 -0.2550292626960107 -0.5049268366774490
-  0.4209268575081796  0.1499593172661228 -0.1925590746592156 -0.5472292877802402  0.4543329704184054
-  0.3969669479129449  0.6321903535930828  0.3329156356041961  0.0163533225344433 -0.2638879466190024
- -0.1795922007470742  0.1908329820840911  0.0868799433942070  0.3114741142062388 -0.2579907627915167
- -0.2447897730222852 -0.1028403314750045 -0.1157840914576285 -0.1873268885694406  0.1700708002861580
- -0.2243335325285328  0.3180998613802520  0.3315380214794822  0.1977859924739963  0.5072476567310013
- -0.2128397588651423 -0.2740560593051881  0.1941418870268881 -0.3096684962457369 -0.0581576193198714
- -0.2002027567371932 -0.0040094115506855 -0.3979373387545264  0.1520881534833910 -0.2010804514091372
-  0.4447147692018334 -0.6830166755147440 -0.0002576861753487  0.5781954611783305 -0.0375091627893805
-  0.5121756358795817  0.0297197140254773  0.4332229148788766 -0.3240527006890552  0.5330850295256511
-  0.3664711365265602  0.3288511296455119  0.0588396016404451  0.1134221597062257  0.1047567336850078
-  0.4535357098437908  0.1062866148880792 -0.3964092656837774 -0.2211800890450674  0.0350667323996222
-  0.4450432900616097  0.2950206358263853 -0.1617837757183893 -0.0376369332204927 -0.6746752660482623
-  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000  0.0000000000000000
-  0.0299719306696789 -0.2322624725320701 -0.0280846899680325 -0.3044255686880000 -0.1077641482535519
- -0.0069083614679702  0.3351358347080056 -0.4922707032978891  0.4293545450291714  0.4372821269062001
-  0.0167847133528843  0.2843629278945327  0.5958979805231146  0.3097336757510886 -0.2086733033047188
-  0.0248567764822071 -0.2810759958040470 -0.1653113624869834 -0.3528780198620412 -0.0254898556119252
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB03ZD EXAMPLE PROGRAM RESULTS
-
-The stable eigenvalues are
-
-  i      WR(i)      WI(i)
-
-  1    -3.1941     0.0000
-  2    -0.1350     0.3179
-  3    -0.1350    -0.3179
-  4    -0.0595     0.2793
-  5    -0.0595    -0.2793
-
-A basis for the stable invariant subspace is
-   -0.102    -0.116     0.627     0.118    -0.605
-   -0.100    -0.510    -0.266     0.504     0.124
-   -0.179     0.015    -0.112    -0.142     0.413
-   -0.055     0.252     0.182    -0.134     0.100
-   -0.078     0.576    -0.271    -0.252    -0.177
-    0.340    -0.135     0.053    -0.234    -0.110
-    0.528     0.108    -0.205     0.219    -0.096
-    0.397    -0.429     0.161    -0.598     0.199
-    0.444     0.342     0.447     0.406     0.440
-    0.434     0.014    -0.383     0.072    -0.391
-
-Orthogonality of US: || US'*US - I ||_F = .62E-15
-
-Symplecticity of US: || US'*J*US   ||_F = .23E-14
-
-A basis for the unstable invariant subspace is
-   -0.428     0.383     0.048     0.105     0.187
-   -0.506    -0.100     0.541     0.245     0.223
-   -0.334    -0.524    -0.044    -0.153     0.126
-   -0.453     0.076     0.103    -0.525    -0.268
-   -0.436     0.098    -0.752     0.209    -0.251
-   -0.093    -0.089     0.258    -0.114    -0.725
-   -0.112    -0.196    -0.186    -0.302     0.394
-   -0.120    -0.286     0.027     0.680    -0.119
-   -0.102     0.630     0.079     0.040     0.127
-   -0.091    -0.171    -0.136    -0.136     0.231
-
-Orthogonality of UU: || UU'*UU - I ||_F = .69E-15
-
-Symplecticity of UU: || UU'*J*UU   ||_F = .10E-13
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04AD.html b/doc/_static/doc/MB04AD.html
deleted file mode 100644
index ac58fc3a..00000000
--- a/doc/_static/doc/MB04AD.html
+++ /dev/null
@@ -1,688 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04AD">MB04AD</A></H2>
-<H3>
-Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH with
-
-                                   (  0  I  )
-    S = T Z = J Z' J' Z, where J = (        ),                   (1)
-                                   ( -I  0  )
-
-  via generalized symplectic URV decomposition. That is, orthogonal
-  matrices Q1 and Q2 and orthogonal symplectic matrices U1 and U2
-  are computed such that
-
-                                ( T11  T12 )
-    Q1' T U1 = Q1' J Z' J' U1 = (          ) = Tout,
-                                (  0   T22 )
-
-               ( Z11  Z12 )
-    U2' Z Q2 = (          ) = Zout,                              (2)
-               (  0   Z22 )
-
-               ( H11  H12 )
-    Q1' H Q2 = (          ) = Hout,
-               (  0   H22 )
-
-  where T11, T22', Z11, Z22', H11 are upper triangular and H22' is
-  upper quasi-triangular. The notation M' denotes the transpose of
-  the matrix M.
-  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', the orthogonal
-  transformation matrix Q1 will be computed.
-  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', the orthogonal
-  transformation matrix Q2 will be computed.
-  Optionally, if COMPU1 = 'I' or COMPU1 = 'U', the orthogonal
-  symplectic transformation matrix
-
-         (  U11  U12  )
-    U1 = (            )
-         ( -U12  U11  )
-
-  will be computed.
-  Optionally, if COMPU2 = 'I' or COMPU2 = 'U', the orthogonal
-  symplectic transformation matrix
-
-         (  U21  U22  )
-    U2 = (            )
-         ( -U22  U21  )
-
-  will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ,
-     $                   H, LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12,
-     $                   LDU12, U21, LDU21, U22, LDU22, T, LDT, ALPHAR,
-     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
-      INTEGER            INFO, LDH, LDQ1, LDQ2, LDT, LDU11, LDU12,
-     $                   LDU21, LDU22, LDWORK, LDZ, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ),
-     $                   DWORK( * ), H( LDH, * ), Q1( LDQ1, * ),
-     $                   Q2( LDQ2, * ), T( LDT, * ), U11( LDU11, * ),
-     $                   U12( LDU12, * ), U21( LDU21, * ),
-     $                   U22( LDU22, * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; Z, T, and H will not
-                 necessarily be put into the forms in (2); H22' is
-                 upper Hessenberg;
-          = 'T': put Z, T, and H into the forms in (2), and return
-                 the eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N': Q1 is not computed;
-          = 'I': the array Q1 is initialized internally to the unit
-                 matrix, and the orthogonal matrix Q1 is returned;
-          = 'U': the array Q1 contains an orthogonal matrix Q01 on
-                 entry, and the product Q01*Q1 is returned, where Q1
-                 is the product of the orthogonal transformations
-                 that are applied to the pencil aT*Z - bH on the
-                 left to reduce T, Z, and H to the forms in (2),
-                 for COMPQ1 = 'I'.
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N': Q2 is not computed;
-          = 'I': the array Q2 is initialized internally to the unit
-                 matrix, and the orthogonal matrix Q2 is returned;
-          = 'U': the array Q2 contains an orthogonal matrix Q02 on
-                 entry, and the product Q02*Q2 is returned, where Q2
-                 is the product of the orthogonal transformations
-                 that are applied to the pencil aT*Z - bH on the
-                 right to reduce T, Z, and H to the forms in (2),
-                 for COMPQ2 = 'I'.
-
-  COMPU1  CHARACTER*1
-          Specifies whether to compute the orthogonal symplectic
-          transformation matrix U1, as follows:
-          = 'N': U1 is not computed;
-          = 'I': the arrays U11 and U12 are initialized internally
-                 to the unit and zero matrices, respectively, and
-                 the corresponding submatrices of the orthogonal
-                 symplectic matrix U1 are returned;
-          = 'U': the arrays U11 and U12 contain the corresponding
-                 submatrices of an orthogonal symplectic matrix U01
-                 on entry, and the updated submatrices U11 and U12
-                 of the matrix product U01*U1 are returned, where U1
-                 is the product of the orthogonal symplectic
-                 transformations that are applied to the pencil
-                 aT*Z - bH to reduce T, Z, and H to the forms in
-                 (2), for COMPU1 = 'I'.
-
-  COMPU2  CHARACTER*1
-          Specifies whether to compute the orthogonal symplectic
-          transformation matrix U2, as follows:
-          = 'N': U2 is not computed;
-          = 'I': the arrays U21 and U22 are initialized internally
-                 to the unit and zero matrices, respectively, and
-                 the corresponding submatrices of the orthogonal
-                 symplectic matrix U2 are returned;
-          = 'U': the arrays U21 and U22 contain the corresponding
-                 submatrices of an orthogonal symplectic matrix U02
-                 on entry, and the updated submatrices U21 and U22
-                 of the matrix product U02*U2 are returned, where U2
-                 is the product of the orthogonal symplectic
-                 transformations that are applied to the pencil
-                 aT*Z - bH to reduce T, Z, and H to the forms in
-                 (2), for COMPU2 = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Z.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the matrix Zout; otherwise, it contains the
-          matrix Z obtained just before the application of the
-          periodic QZ algorithm.
-          The elements of the (2,1) block, i.e., in the rows N/2+1
-          to N and in the columns 1 to N/2 are not set to zero, but
-          are unchanged on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  H       (input/output) DOUBLE PRECISION array, dimension (LDH, N)
-          On entry, the leading N-by-N part of this array must
-          contain the Hamiltonian matrix H (H22 = -H11', H12 = H12',
-          H21 = H21').
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the matrix Hout; otherwise, it contains the
-          matrix H obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= MAX(1, N).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q01, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q01 and the transformation matrix Q1
-          used to transform the matrices Z, T and H.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N', this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q02, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q02 and the transformation matrix Q2
-          used to transform the matrices Z, T and H.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N', this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  U11     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU11, N/2)
-          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper left block of a
-          given matrix U01, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U11 of
-          the product of the input matrix U01 and the transformation
-          matrix U1 used to transform the matrices Z, T, and H.
-          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U11 of the
-          orthogonal symplectic transformation matrix U1.
-          If COMPU1 = 'N' this array is not referenced.
-
-  LDU11   INTEGER
-          The leading dimension of the array U11.
-          LDU11 &gt;= 1,           if COMPU1 = 'N';
-          LDU11 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
-
-  U12     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU12, N/2)
-          On entry, if COMPU1 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper right block of a
-          given matrix U01, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U12
-          of the product of the input matrix U01 and the
-          transformation matrix U1 used to transform the matrices
-          Z, T, and H.
-          On exit, if COMPU1 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U12 of the
-          orthogonal symplectic transformation matrix U1.
-          If COMPU1 = 'N' this array is not referenced.
-
-  LDU12   INTEGER
-          The leading dimension of the array U12.
-          LDU12 &gt;= 1,           if COMPU1 = 'N';
-          LDU12 &gt;= MAX(1, N/2), if COMPU1 = 'I' or COMPU1 = 'U'.
-
-  U21     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU21, N/2)
-          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper left block of a
-          given matrix U02, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U21 of
-          the product of the input matrix U02 and the transformation
-          matrix U2 used to transform the matrices Z, T, and H.
-          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U21 of the
-          orthogonal symplectic transformation matrix U2.
-          If COMPU2 = 'N' this array is not referenced.
-
-  LDU21   INTEGER
-          The leading dimension of the array U21.
-          LDU21 &gt;= 1,           if COMPU2 = 'N';
-          LDU21 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
-
-  U22     (input/output) DOUBLE PRECISION array, dimension
-                         (LDU22, N/2)
-          On entry, if COMPU2 = 'U', then the leading N/2-by-N/2
-          part of this array must contain the upper right block of a
-          given matrix U02, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U22
-          of the product of the input matrix U02 and the
-          transformation matrix U2 used to transform the matrices
-          Z, T, and H.
-          On exit, if COMPU2 = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U22 of the
-          orthogonal symplectic transformation matrix U2.
-          If COMPU2 = 'N' this array is not referenced.
-
-  LDU22   INTEGER
-          The leading dimension of the array U22.
-          LDU22 &gt;= 1,           if COMPU2 = 'N';
-          LDU22 &gt;= MAX(1, N/2), if COMPU2 = 'I' or COMPU2 = 'U'.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT, N)
-          If JOB = 'T', the leading N-by-N part of this array
-          contains the matrix Tout; otherwise, it contains the
-          matrix T obtained just before the application of the
-          periodic QZ algorithm.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1, N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta defining the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th quadruple of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.   LIWORK &gt;= N+18.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(7) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(8), ...,
-          DWORK(7+6*s) contain the s sextuple values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained from
-          -i*sqrt((a1/a2/a3)*(a4/a5/a6)), but always taking a
-          positive sign, where a1, ..., a6 are the corresponding
-          sextuple values.
-          Moreover, DWORK(8+6*s), ..., DWORK(7+6*s+24*t) contain the
-          t groups of sextuple 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
-          positive imaginary parts, where ev are the eigenvalues of
-          the product A1*inv(A2)*inv(A3)*A4*inv(A5)*inv(A6), where
-          A1, ..., A6 define the corresponding 2-by-2 matrix
-          sextuple.
-          On exit, if INFO = -31, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N' and
-          COMPU1 = 'N' and COMPU2 = 'N', then
-                LDWORK &gt;= 3/2*N**2 + MAX(6*N,54);
-          else, LDWORK &gt;=   3*N**2 + MAX(6*N,54).
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm was not able to reveal
-               information about the eigenvalues from the 2-by-2
-               blocks in the SLICOT Library routine MB03BD;
-          = 2: the periodic QZ algorithm did not converge in the
-               SLICOT Library routine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in T, Z, and H such that T11, T22', Z11, Z22',
-  and H11 are upper triangular and H22' is upper Hessenberg. Finally
-  the periodic QZ algorithm is applied to transform H22' to upper
-  quasi-triangular form while T11, T22', Z11, Z22', and H11 stay in
-  upper triangular form.
-  See also page 17 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDH, LDQ1, LDQ2, LDT, LDU11, LDU12, LDU21,
-     $                   LDU22, LDWORK, LDZ, LIWORK
-      PARAMETER          ( LDH = NMAX, LDQ1  = NMAX,   LDQ2 = NMAX,
-     $                     LDT = NMAX, LDU11 = NMAX/2, LDU12 = NMAX/2,
-     $                     LDU21  = NMAX/2, LDU22 = NMAX/2,
-     $                     LDWORK = 3*NMAX*NMAX + MAX( NMAX, 48 ) + 6,
-     $                     LDZ = NMAX,  LIWORK = NMAX + 18 )
-      DOUBLE PRECISION  ZERO
-      PARAMETER         ( ZERO = 0.0D0 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ1, COMPQ2, COMPU1, COMPU2, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX/2 ), ALPHAR( NMAX/2 ),
-     $                   BETA( NMAX/2 ), DWORK( LDWORK ),
-     $                   H( LDH, NMAX ), Q1( LDQ1, NMAX ),
-     $                   Q2( LDQ2, NMAX ), T( LDT, NMAX ),
-     $                   U11( LDU11, NMAX/2 ), U12( LDU12, NMAX/2 ),
-     $                   U21( LDU21, NMAX/2 ), U22( LDU22, NMAX/2 ),
-     $                   Z( LDZ, NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           DLASET, MB04AD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( ( Z( I, J ), J = 1, N ), I = 1, N )
-         READ( NIN, FMT = * ) ( ( H( I, J ), J = 1, N ), I = 1, N )
-*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
-*        pencil (factored version).
-         CALL MB04AD( JOB, COMPQ1, COMPQ2, COMPU1, COMPU2, N, Z, LDZ, H,
-     $                LDH, Q1, LDQ1, Q2, LDQ2, U11, LDU11, U12, LDU12,
-     $                U21, LDU21, U22, LDU22, T, LDT, ALPHAR, ALPHAI,
-     $                BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            M = N/2
-            CALL DLASET( 'Full', M, M, ZERO, ZERO, Z( M+1, 1 ), LDZ )
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( T( I, J ), J = 1, N )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z( I, J ), J = 1, N )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( H( I, J ), J = 1, N )
-   30       CONTINUE
-            IF( LSAME( COMPQ1, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
-   40          CONTINUE
-            END IF
-            IF( LSAME( COMPQ2, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            IF( LSAME( COMPU1, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 60 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U11( I, J ), J = 1, M )
-   60          CONTINUE
-               WRITE( NOUT, FMT = 99989 )
-               DO 70 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U12( I, J ), J = 1, M )
-   70          CONTINUE
-            END IF
-            IF( LSAME( COMPU2, 'I' ) ) THEN
-               WRITE( NOUT, FMT = 99988 )
-               DO 80 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U21( I, J ), J = 1, M )
-   80          CONTINUE
-               WRITE( NOUT, FMT = 99987 )
-               DO 90 I = 1, M
-                  WRITE( NOUT, FMT = 99995 ) ( U22( I, J ), J = 1, M )
-   90          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99986 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99985 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99984 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-         END IF
-      END IF
-      STOP
-* 
-99999 FORMAT( 'MB04AD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB04AD = ', I2 )
-99996 FORMAT( 'The matrix T on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix Z on exit is ' )
-99993 FORMAT( 'The matrix H is ' )
-99992 FORMAT( 'The matrix Q1 is ' )
-99991 FORMAT( 'The matrix Q2 is ' )
-99990 FORMAT( 'The upper left block of the matrix U1 is ' )
-99989 FORMAT( 'The upper right block of the matrix U1 is ' )
-99988 FORMAT( 'The upper left block of the matrix U2 is ' )
-99987 FORMAT( 'The upper right block of the matrix U2 is ' )
-99986 FORMAT( 'The vector ALPHAR is ' )
-99985 FORMAT( 'The vector ALPHAI is ' )
-99984 FORMAT( 'The vector BETA is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04AD EXAMPLE PROGRAM DATA
-   T   I   I   I   I   8
-   3.1472    4.5751   -0.7824    1.7874   -2.2308   -0.6126    2.0936    4.5974
-   4.0579    4.6489    4.1574    2.5774   -4.5383   -1.1844    2.5469   -1.5961
-  -3.7301   -3.4239    2.9221    2.4313   -4.0287    2.6552   -2.2397    0.8527
-   4.1338    4.7059    4.5949   -1.0777    3.2346    2.9520    1.7970   -2.7619
-   1.3236    4.5717    1.5574    1.5548    1.9483   -3.1313    1.5510    2.5127
-  -4.0246   -0.1462   -4.6429   -3.2881   -1.8290   -0.1024   -3.3739   -2.4490
-  -2.2150    3.0028    3.4913    2.0605    4.5022   -0.5441   -3.8100    0.0596
-   0.4688   -3.5811    4.3399   -4.6817   -4.6555    1.4631   -0.0164    1.9908
-   3.9090   -3.5071    3.1428   -3.0340   -1.4834    3.7401   -0.1715    0.4026
-   4.5929   -2.4249   -2.5648   -2.4892    3.7401   -2.1416    1.6251    2.6645
-   0.4722    3.4072    4.2926    1.1604   -0.1715    1.6251   -4.2415   -0.0602
-  -3.6138   -2.4572   -1.5002   -0.2671    0.4026    2.6645   -0.0602   -3.7009
-   0.6882   -1.8421   -4.1122    0.1317   -3.9090   -4.5929   -0.4722    3.6138
-  -1.8421    2.9428   -0.4340    1.3834    3.5071    2.4249   -3.4072    2.4572
-  -4.1122   -0.4340   -2.3703    0.5231   -3.1428    2.5648   -4.2926    1.5002
-   0.1317    1.3834    0.5231   -4.1618    3.0340    2.4892   -1.1604    0.2671
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04AD EXAMPLE PROGRAM RESULTS
-The matrix T on exit is 
-  -3.9699   3.7658   5.5815  -1.7750  -0.8818  -0.0511  -4.2158   1.9054
-   0.0000   5.3686  -5.9166   4.9163   1.3839   0.8870   3.9458  -4.9167
-   0.0000   0.0000   5.9641   1.9432  -2.0680   2.4402  -1.4091   5.8512
-   0.0000   0.0000   0.0000   5.9983  -3.8172   4.0147  -2.0739  -1.2570
-   0.0000   0.0000   0.0000   0.0000   8.2005   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   1.5732   8.0098   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.6017   2.4397   5.9751   0.0000
-   0.0000   0.0000   0.0000   0.0000  -2.5869   0.5598   0.2544   5.2129
-The matrix Z on exit is 
-  -6.4705  -2.5511  -4.0551  -1.9895  -2.7642   0.7532  -4.1047  -2.2046
-   0.0000   7.3589  -4.4480  -2.7491  -1.5465  -1.4345  -0.9272   1.3121
-   0.0000   0.0000   4.9125  -0.4968   5.3574   3.8579   5.2547  -1.7324
-   0.0000   0.0000   0.0000   9.0822   0.0460  -0.3382   3.9302   3.1084
-   0.0000   0.0000   0.0000   0.0000   6.1869   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   5.5573   6.6549   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   2.7456  -3.5789   4.3432   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.1549   3.5335   3.1346   4.1062
-The matrix H is 
-  -7.4834   0.4404   2.3558   1.6724  -0.4630   1.9533   1.5724  -2.7254
-   0.0000  -7.3500   3.7414   3.7466   0.2837   0.6849   0.7727  -4.2140
-   0.0000   0.0000  -2.3493  -3.7994  -0.6872   1.1773  -2.6901  -5.1494
-   0.0000   0.0000   0.0000  -3.4719   5.3322   0.4182   1.9779   1.5175
-   0.0000   0.0000   0.0000   0.0000  -6.1880   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000  -3.3324   9.0833   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8703   0.0799  -2.8180   0.0000
-   0.0000   0.0000   0.0000   0.0000  -2.3477   3.3110   0.6561   0.7281
-The matrix Q1 is 
-  -0.2489  -0.1409   0.3615   0.6458   0.0113   0.6063  -0.0470   0.0238
-  -0.2436   0.1294  -0.0874  -0.4103   0.3408   0.3628  -0.3267   0.6272
-  -0.4316  -0.2352   0.5553  -0.2811  -0.2198  -0.2880  -0.4564  -0.1773
-   0.1992  -0.2176  -0.5198   0.1561  -0.1523   0.1299  -0.7281  -0.2197
-   0.0161   0.7390   0.1125  -0.2226  -0.1003   0.3608  -0.1118  -0.4886
-  -0.5824   0.0984  -0.3052   0.1996   0.5889  -0.2442   0.0060  -0.3341
-  -0.3246   0.4661  -0.1835   0.3523  -0.5153  -0.3034  -0.0865   0.3931
-  -0.4559  -0.2961  -0.3790  -0.3127  -0.4356   0.3452   0.3642  -0.1467
-The matrix Q2 is 
-   0.0288  -0.1842  -0.6791  -0.2115  -0.4790   0.4212  -0.0417  -0.2253
-  -0.0666  -0.0787  -0.3711   0.1737  -0.0482  -0.5770  -0.6785   0.1607
-   0.1506   0.6328   0.0518  -0.6266   0.0652  -0.0790  -0.2854  -0.2994
-  -0.2900  -0.2737  -0.0076  -0.3671  -0.2017  -0.6241   0.4521  -0.2675
-   0.3353   0.4107   0.0326   0.1400  -0.6447  -0.2043   0.2561   0.4187
-   0.0905  -0.1648  -0.2363  -0.5323   0.3180   0.0286   0.1252   0.7126
-  -0.7246   0.0468   0.3328  -0.1794  -0.3639   0.2257  -0.2623   0.2786
-   0.4922  -0.5353   0.4803  -0.2501  -0.2723   0.0199  -0.3194  -0.0371
-The upper left block of the matrix U1 is 
-   0.4144   0.2249   0.6015  -0.1964
-  -0.0198   0.5131  -0.2823  -0.3058
-  -0.6620   0.1508   0.2237   0.0240
-  -0.0743  -0.4323  -0.0332  -0.7263
-The upper right block of the matrix U1 is 
-  -0.3474   0.1306  -0.3391  -0.3530
-  -0.3760   0.1550   0.6087  -0.1646
-   0.1707   0.6553  -0.1262  -0.1177
-   0.3048  -0.0773   0.0767  -0.4173
-The upper left block of the matrix U2 is 
-   0.1403  -0.6447  -0.6536  -0.3707
-   0.7069   0.2609  -0.0091  -0.1702
-  -0.1218  -0.1120   0.3766  -0.5154
-   0.0773   0.6349  -0.5070  -0.1810
-The upper right block of the matrix U2 is 
-   0.0000   0.0000   0.0000   0.0000
-   0.1182   0.1587   0.1930  -0.5716
-   0.6051  -0.2720   0.3364   0.1089
-   0.2823  -0.0386  -0.1529   0.4434
-The vector ALPHAR is 
-   0.0000   0.7122   0.0000   0.7450
-The vector ALPHAI is 
-   0.7540   0.0000   0.7465   0.0000
-The vector BETA is 
-   4.0000   4.0000   8.0000  16.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB04AZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04AZ">MB04AZ</A></H2>
-<H3>
-Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-           H  T           (  B  F  )       (  Z11  Z12  )
-    S = J Z  J  Z and H = (      H ), Z =: (            ).       (1)
-                          (  G -B  )       (  Z21  Z22  )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-                                                        H  T
-  skew-Hamiltonian pencil, aB_S - bB_T, with B_S = J B_Z  J  B_Z,
-
-          (  Re(Z11)  -Im(Z11)  |  Re(Z12)  -Im(Z12)  )
-          (                     |                     )
-          (  Im(Z11)   Re(Z11)  |  Im(Z12)   Re(Z12)  )
-          (                     |                     )
-    B_Z = (---------------------+---------------------) ,
-          (                     |                     )
-          (  Re(Z21)  -Im(Z21)  |  Re(Z22)  -Im(Z22)  )
-          (                     |                     )
-          (  Im(Z21)   Re(Z21)  |  Im(Z22)   Re(Z22)  )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |      T       T  )
-          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
-          (                 |      T       T  )
-          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
-
-  is determined and used to compute the eigenvalues. Optionally,
-  if JOB = 'T', the pencil aB_S - bB_H is transformed by a unitary
-  matrix Q and a unitary symplectic matrix U to the structured Schur
-                                                H  T
-  form aB_Sout - bB_Hout, with B_Sout = J B_Zout  J  B_Zout,
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Zout = (         ) and B_Hout = (       H ),               (3)
-             (  0  BC  )              (  0 -BB  )
-
-  where BA and BB are upper triangular, BC is lower triangular,
-  and BF is Hermitian. B_H above is defined as B_H = -i*B_T.
-  The embedding doubles the multiplicities of the eigenvalues of
-  the pencil aS - bH.
-  Optionally, if COMPQ = 'C', the unitary matrix Q is computed.
-  Optionally, if COMPU = 'C', the unitary symplectic matrix U is
-  computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG,
-     $                   LDFG, D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR,
-     $                   ALPHAI, BETA, IWORK, LIWORK, DWORK, LDWORK,
-     $                   ZWORK, LZWORK, BWORK, INFO )C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            INFO, LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK,
-     $                   LDZ, LIWORK, LZWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         B( LDB, * ), C( LDC, * ), D( LDD, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), U( LDU, * ),
-     $                   Z( LDZ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (3).
-          = 'T': put S and H into the forms in (3) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the unitary transformation
-          matrix Q, as follows:
-          = 'N': do not compute the unitary matrix Q;
-          = 'C': the array Q is initialized internally to the unit
-                 matrix, and the unitary matrix Q is returned.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the unitary symplectic
-          transformation matrix U, as follows:
-          = 'N': do not compute the unitary symplectic matrix U;
-          = 'C': the array U is initialized internally to the unit
-                 matrix, and the unitary symplectic matrix U is
-                 returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aS - bH.  N &gt;= 0, even.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the non-trivial factor Z in the factorization
-                 H  T
-          S = J Z  J  Z of the skew-Hamiltonian matrix S.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3)
-          (see also METHOD). The strictly lower triangular part is
-          not zeroed. The submatrix in the rows N/2+1 to N and the
-          first N/2 columns is unchanged, except possibly for the
-          entry (N/2+1,N/2), which might be set to zero.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, K), where
-          K = N, if JOB = 'T', and K = M, if JOB = 'E'.
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3)
-          (see also METHOD).
-          The strictly lower triangular part is not zeroed.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1, M), if JOB = 'E';
-          LDB &gt;= MAX(1, N), if JOB = 'T'.
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, P),
-          where P = MAX(M+1,N), if JOB = 'T', and
-                P = M+1,        if JOB = 'E'.
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F. Accidental nonzero imaginary parts on
-          the main diagonals of F and G do not perturb the results.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts, since they have not been annihilated.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, M), if JOB = 'E';
-          LDFG &gt;= MAX(1, N), if JOB = 'T'.
-
-  D       (output) COMPLEX*16 array, dimension (LDD, N)
-          If JOB = 'T', the leading N-by-N part of this array
-          contains the matrix BD in (3) (see also METHOD).
-          If JOB = 'E', this array is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= 1,         if JOB = 'E';
-          LDD &gt;= MAX(1, N), if JOB = 'T'.
-
-  C       (output) COMPLEX*16 array, dimension (LDC, N)
-          If JOB = 'T', the leading N-by-N part of this array
-          contains the lower triangular matrix BC in (3) (see also
-          METHOD). The part over the first superdiagonal is not set.
-          If JOB = 'E', this array is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,         if JOB = 'E';
-          LDC &gt;= MAX(1, N), if JOB = 'T'.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C' and JOB = 'T', then the leading
-          2*N-by-2*N part of this array contains the unitary
-          transformation matrix Q.
-          If COMPQ = 'C' and JOB = 'E', this array contains the
-          orthogonal transformation which reduced B_Z and B_T
-          in the first step of the algorithm (see METHOD).
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  U       (output) COMPLEX*16 array, dimension (LDU, 2*N)
-          On exit, if COMPU = 'C' and JOB = 'T', then the leading
-          N-by-2*N part of this array contains the leading N-by-2*N
-          part of the unitary symplectic transformation matrix U.
-          If COMPU = 'C' and JOB = 'E', this array contains the
-          first N rows of the transformation U which reduced B_Z
-          and B_T in the first step of the algorithm (see METHOD).
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,         if COMPU = 'N';
-          LDU &gt;= MAX(1, N), if COMPU = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue. The blocks are those in B_T and B_S.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th triplet of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= 2*N+9.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(5), ...,
-          DWORK(4+3*s) contain the s triplet values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained as -a1/a2/a3*i,
-          where a1, ..., a3 are the corresponding triplet values,
-          and i is the purely imaginary unit.
-          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
-          t groups of triplet 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is given by imag( ev ) - real( ev )*i,
-          where ev is the spectrum of the matrix product
-          A1*inv(A2)*inv(A3), and A1, ..., A3 define the
-          corresponding 2-by-2 matrix triplet.
-          On exit, if INFO = -25, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= c*N**2 + N + MAX(6*N, 27), where
-                    c = 18, if                 COMPU = 'C';
-                    c = 16, if COMPQ = 'C' and COMPU = 'N';
-                    c = 13, if COMPQ = 'N' and COMPU = 'N'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -27, ZWORK(1) returns the minimum
-          value of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 8*N + 28, if JOB = 'T' and COMPQ = 'C';
-          LZWORK &gt;= 6*N + 28, if JOB = 'T' and COMPQ = 'N';
-          LZWORK &gt;= 1,        if JOB = 'E'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0, if JOB = 'E';
-          LBWORK &gt;= N, if JOB = 'T'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the algorithm was not able to reveal information
-               about the eigenvalues from the 2-by-2 blocks in the
-               SLICOT Library routine MB03BD (called by MB04ED);
-          = 2: periodic QZ iteration failed in the SLICOT Library
-               routines MB03BD or MB03BZ when trying to
-               triangularize the 2-by-2 blocks;
-          = 3: some eigenvalues might be inaccurate. This is a
-               warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First T = i*H is set. Then, the embeddings, B_Z and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04ED is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~      T         (  BZ11  BZ12  )
-  B_Z = U  B_Z Q = (              ) and
-                   (    0   BZ22  )
-
-  ~        T  T         (  T11  T12  )
-  B_T = J Q  J  B_T Q = (          T ),
-                        (   0   T11  )
-
-  where Q is real orthogonal, U is real orthogonal symplectic, BZ11,
-  BZ22' are upper triangular and T11 is upper quasi-triangular.
-  If JOB = 'T', the 2-by-2 blocks are triangularized using the
-  periodic QZ algorithm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04AZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDB, LDC, LDD, LDFG, LDQ, LDU, LDWORK, LDZ,
-     $                   LIWORK, LZWORK
-      PARAMETER          ( LDB = NMAX,  LDC =   NMAX, LDD = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX, LDU = NMAX,
-     $                     LDWORK = 18*NMAX*NMAX + NMAX + MAX( 2*NMAX,
-     $                                                         24 ) + 3,
-     $                     LDZ = NMAX, LIWORK = 2*NMAX + 9,
-     $                     LZWORK = 8*NMAX + 28 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      COMPLEX*16         B( LDB,   NMAX ),  C( LDC,   NMAX ),
-     $                   D( LDD,   NMAX ), FG( LDFG,  NMAX ),
-     $                   Q( LDQ, 2*NMAX ),  U( LDU, 2*NMAX ),
-     $                   Z( LDZ,   NMAX ), ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
-     $                   BETA(   NMAX ), DWORK(LDWORK )
-      INTEGER            IWORK( LIWORK )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04AZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I=1, N )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I=1, N/2 )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I=1, N/2 )
-*        Compute the eigenvalues of a complex skew-Hamiltonian/
-*        Hamiltonian pencil (factored version).
-         CALL MB04AZ( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                D, LDD, C, LDC, Q, LDQ, U, LDU, ALPHAR, ALPHAI,
-     $                BETA, IWORK, LIWORK, DWORK, LDWORK, ZWORK, LZWORK,
-     $                BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            M = N/2
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  Z( I, J ), J = 1, N )
-   10          CONTINUE
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  B( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  D( I, J ), J = 1, N )
-   40          CONTINUE
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) (  C( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 60 I = 1, 2*N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
-   60          CONTINUE
-            END IF
-            IF( LSAME( COMPU, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99989 )
-               DO 70 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( U( I, J ), J = 1, 2*N )
-   70          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99987 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99986 )
-            WRITE( NOUT, FMT = 99987 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99985 )
-            WRITE( NOUT, FMT = 99987 ) (   BETA( I ), I = 1, N )
-         END IF
-      END IF
-      STOP
-* 
-99999 FORMAT ( 'MB04AZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04AZ = ', I2 )
-99996 FORMAT (/' The transformed matrix Z is' )
-99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99994 FORMAT (/' The transformed matrix B is' )
-99993 FORMAT (/' The transformed matrix FG is' )
-99992 FORMAT (/' The matrix D is' )
-99991 FORMAT (/' The matrix C is' )
-99990 FORMAT (/' The matrix Q is' )
-99989 FORMAT (/' The upper part of the matrix U is' )
-99988 FORMAT (/' The vector ALPHAR is ' )
-99987 FORMAT ( 50( 1X, F8.4 ) )
-99986 FORMAT (/' The vector ALPHAI is ' )
-99985 FORMAT (/' The vector BETA is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04AZ EXAMPLE PROGRAM DATA
-	T	C	C	4
-   (0.4941,0.8054)   (0.8909,0.8865)   (0.0305,0.9786)   (0.9047,0.0596)
-   (0.7790,0.5767)   (0.3341,0.0286)   (0.7440,0.7126)   (0.6098,0.6819)
-   (0.7150,0.1829)   (0.6987,0.4899)   (0.5000,0.5004)   (0.6176,0.0424)
-   (0.9037,0.2399)   (0.1978,0.1679)   (0.4799,0.4710)   (0.8594,0.0714)
-   (0.5216,0.7224)   (0.8181,0.6596)
-   (0.0967,0.1498)   (0.8175,0.5185)
-    0.9729            0.8003           (0.4323,0.8313)
-   (0.6489,0.1331)    0.4537            0.8253          
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04AZ EXAMPLE PROGRAM RESULTS
-
- The transformed matrix Z is
-    0.4545  +0.0000i     0.7904  +0.0000i    -0.1601  +0.0000i    -0.2691  +0.0000i 
-    0.7790  +0.5767i     0.4273  +0.0000i     0.1459  +0.0000i     0.1298  +0.0000i 
-    0.7150  +0.1829i     0.6987  +0.4899i     0.6715  +0.0000i    -0.3001  +0.0000i 
-    0.9037  +0.2399i     0.1978  +0.1679i     0.4799  +0.4710i     0.7924  +0.0000i 
-
- The transformed matrix B is
-    0.0000  -1.7219i     0.0000  +0.7762i     0.0000  +0.5342i     0.0000  +0.0845i 
-    0.0000  +0.0000i     0.0000  +0.8862i     0.0000  +0.5186i     0.0000  -0.1429i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +1.1122i     0.0000  +0.2898i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.4889i 
-
- The transformed matrix FG is
-    0.0000  +0.0000i     0.0000  +0.4145i     0.0000  -0.7921i     0.0000  +0.5630i 
-    0.6489  +0.1331i     0.0000  +0.0000i     0.0000  +1.5982i     0.0000  +0.5818i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.5819i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-
- The matrix D is
-    2.2139  +0.0000i     0.0402  +0.0000i    -0.2787  +0.0000i     1.0465  +0.0000i 
-   -0.5021  +0.0000i     0.5502  +0.0000i    -0.2771  +0.0000i    -0.4521  +0.0000i 
-   -0.0398  +0.0000i     0.4046  +0.0000i     0.0149  +0.0000i     0.7577  +0.0000i 
-   -0.1550  +0.0000i     2.0660  +0.0000i     1.6075  +0.0000i     0.5836  +0.0000i 
-
- The matrix C is
-    0.3159  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.7819  +0.0000i    -0.7575  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-   -0.3494  +0.0000i     0.8622  +0.0000i     0.7539  +0.0000i     0.0000  +0.0000i 
-    1.1178  +0.0000i     0.3133  +0.0000i     0.4638  +0.0000i     1.2348  +0.0000i 
-
- The matrix Q is
-   -0.4983  +0.0000i     0.3694  +0.0000i    -0.4754  +0.0000i     0.2791  +0.0000i     0.1950  +0.0000i     0.2416  +0.0000i     0.1869  +0.0000i     0.4242  +0.0000i 
-   -0.1045  +0.0000i     0.3309  +0.0000i     0.5730  +0.0000i    -0.5566  +0.0000i     0.0877  +0.0000i     0.3543  +0.0000i     0.1761  +0.0000i     0.2779  +0.0000i 
-   -0.2586  +0.0000i    -0.4457  +0.0000i    -0.2838  +0.0000i    -0.5436  +0.0000i     0.5524  +0.0000i    -0.1064  +0.0000i    -0.2040  +0.0000i     0.0205  +0.0000i 
-   -0.0040  +0.0000i     0.3845  +0.0000i     0.2469  +0.0000i     0.2965  +0.0000i     0.5799  +0.0000i     0.0840  +0.0000i    -0.4788  +0.0000i    -0.3614  +0.0000i 
-    0.7958  +0.0000i     0.1597  +0.0000i    -0.3420  +0.0000i    -0.1047  +0.0000i     0.3370  +0.0000i     0.1813  +0.0000i     0.2275  +0.0000i     0.1229  +0.0000i 
-   -0.0600  +0.0000i    -0.4599  +0.0000i     0.3487  +0.0000i     0.3910  +0.0000i     0.4005  +0.0000i     0.1010  +0.0000i     0.5819  +0.0000i    -0.0345  +0.0000i 
-   -0.0539  +0.0000i     0.3817  +0.0000i     0.0501  +0.0000i    -0.1114  +0.0000i     0.1751  +0.0000i    -0.8212  +0.0000i     0.3606  +0.0000i    -0.0380  +0.0000i 
-    0.1846  +0.0000i    -0.1577  +0.0000i     0.2510  +0.0000i     0.2293  +0.0000i     0.0911  +0.0000i    -0.2834  +0.0000i    -0.3779  +0.0000i     0.7708  +0.0000i 
-
- The upper part of the matrix U is
-   -0.2544  +0.0000i    -0.1844  +0.0000i     0.7632  +0.0000i     0.5646  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.4272  +0.0000i    -0.0454  +0.0000i    -0.2918  +0.0000i     0.5721  +0.0000i     0.1446  +0.0000i    -0.1611  +0.0000i     0.3609  +0.0000i    -0.4752  +0.0000i 
-    0.6936  +0.0000i     0.3812  +0.0000i     0.2606  +0.0000i     0.0848  +0.0000i    -0.3359  +0.0000i    -0.1592  +0.0000i    -0.3242  +0.0000i     0.2348  +0.0000i 
-    0.2320  +0.0000i    -0.4483  +0.0000i    -0.1629  +0.0000i     0.1784  +0.0000i    -0.2898  +0.0000i     0.7525  +0.0000i    -0.0511  +0.0000i     0.1841  +0.0000i 
-
- The vector ALPHAR is 
-   0.0000   0.0000   0.0000   0.0000
-
- The vector ALPHAI is 
-  -1.4991  -1.3690   1.0985   0.9993
-
- The vector BETA is 
-   0.1250   0.5000   0.5000   2.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,602 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04BD">MB04BD</A></H2>
-<H3>
-Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  W -C' )
-
-  Optionally, if JOB = 'T', decompositions of S and H will be
-  computed via orthogonal transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        )
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric. The notation M'
-  denotes the transpose of the matrix M.
-  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
-  transformation matrix Q1 will be computed.
-  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
-  transformation matrix Q2 will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
-     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
-     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, JOB
-      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
-     $                   LDQ2, LDVW, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
-     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
-     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   VW( LDVW, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (2).
-          = 'T': put S and H into the forms in (2) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q on
-                  entry, and the product Q*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reduce
-                  S and H to the forms in (2), for COMPQ1 = 'I'.
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  on exit, the array Q2 contains the orthogonal
-                  matrix Q2;
-          = 'U':  on exit, the array Q2 contains the matrix product
-                  J*Q*J'*Q2, where Q2 is the product of the
-                  orthogonal transformations that are applied to
-                  the pencil aS - bH to reduce S and H to the forms
-                  in (2), for COMPQ2 = 'I'.
-                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains the
-          upper triangular matrix A obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N/2+1 of this array contains the strictly upper triangular
-          part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the periodic QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  C1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDC1, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix C1 = C.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C1out; otherwise, it contains
-          the upper triangular matrix C1 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC1    INTEGER
-          The leading dimension of the array C1.
-          LDC1 &gt;= MAX(1, N/2).
-
-  VW      (input/output) DOUBLE PRECISION array, dimension
-                         (LDVW, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix W, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix V.
-          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
-          2 to N/2+1 of this array contains the matrix Vout.
-          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
-          N/2+1 of this array contains the matrix V just before the
-          application of the periodic QZ algorithm.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.
-          LDVW &gt;= MAX(1, N/2).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q and the transformation matrix Q1
-          used to transform the matrices S and H.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N', this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array contains the product of the matrix J*Q*J' and
-          the transformation matrix Q2 used to transform the
-          matrices S and H.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N', this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains the
-          upper triangular matrix B obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of this array contains the strictly
-          upper triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix F just before
-          the application of the periodic QZ algorithm.
-          The entries on the leading N/2-by-N/2 lower triangular
-          part of this array are not referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C2out; otherwise, it contains
-          the upper Hessenberg matrix C2 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC2    INTEGER
-          The leading dimension of the array C2.
-          LDC2 &gt;= MAX(1, N/2).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the (i-q-1)-th quadruple
-          of 1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= N+12.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(6), ...,
-          DWORK(5+4*s) contain the s quadruple values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained from
-          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
-          where a1, ..., a4 are the corresponding quadruple values.
-          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
-          t groups of quadruple 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
-          positive imaginary parts, where ev are the eigenvalues of
-          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
-          define the corresponding 2-by-2 matrix quadruple.
-          On exit, if INFO = -27, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
-             LDWORK &gt;= N**2 + MAX(L,36);
-          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
-             LDWORK &gt;= 2*N**2 + MAX(L,36);
-          where
-             L = 4*N + 4, if N/2 is even, and
-             L = 4*N,     if N/2 is odd.
-          For good performance LDWORK should generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: problem during computation of the eigenvalues;
-          = 2: periodic QZ algorithm did not converge in the SLICOT
-               Library subroutine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S, T, and H such that A, B, and C1 are
-  upper triangular and C2 is upper Hessenberg. Finally, the periodic
-  QZ algorithm is applied to transform C2 to upper quasi-triangular
-  form while A, B, and C1 stay in upper triangular form.
-  See also page 27 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1, LDQ2,
-     $                   LDVW, LDWORK, LIWORK
-      PARAMETER          (  LDA = NMAX/2,  LDB = NMAX/2, LDC1 = NMAX/2,
-     $                     LDC2 = NMAX/2, LDDE = NMAX/2,  LDF = NMAX/2,
-     $                     LDQ1 = NMAX, LDQ2 = NMAX, LDVW = NMAX/2,
-     $                     LDWORK = 2*NMAX*NMAX + MAX( 4*NMAX, 36 ),
-     $                     LIWORK = MAX( NMAX + 12, 2*NMAX + 3 ) )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ1, COMPQ2, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   A( LDA, NMAX/2 ), ALPHAI( NMAX/2 ),
-     $                   ALPHAR( NMAX/2 ), B( LDB, NMAX/2 ),
-     $                   BETA( NMAX/2 ), C1( LDC1, NMAX/2 ),
-     $                   C2( LDC2, NMAX/2 ), DE( LDDE, NMAX/2+1 ),
-     $                   DWORK( LDWORK ),  F( LDF, NMAX/2 ),
-     $                   Q1( LDQ1, NMAX ), Q2( LDQ2, NMAX ),
-     $                   VW( LDVW, NMAX/2+1 )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04BD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ1, COMPQ2, N
-      IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( C1( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( VW( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues of a real skew-Hamiltonian/Hamiltonian
-*        pencil.
-         CALL MB04BD( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
-     $                LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
-     $                LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
-     $                LIWORK, DWORK, LDWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, M )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 2, M+1 )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, M )
-   30       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            DO 40 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( F( I, J ), J = 1, M )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99991 )
-            DO 50 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( C1( I, J ), J = 1, M )
-   50       CONTINUE
-            WRITE( NOUT, FMT = 99990 )
-            DO 60 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( C2( I, J ), J = 1, M )
-   60       CONTINUE
-            WRITE( NOUT, FMT = 99989 )
-            DO 70 I = 1, M
-               WRITE( NOUT, FMT = 99995 ) ( VW( I, J ), J = 2, M+1 )
-   70       CONTINUE
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99987 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99986 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA( I ), I = 1, M )
-            WRITE( NOUT, FMT = 99985 )
-            IF( .NOT.LSAME( COMPQ1, 'N' ) ) THEN
-               DO 80 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q1( I, J ), J = 1, N )
-   80          CONTINUE
-            END IF
-            IF( .NOT.LSAME( COMPQ2, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99984 )
-               DO 90 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q2( I, J ), J = 1, N )
-   90          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT( 'MB04BD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT( 'INFO on exit from MB04BD = ', I2 )
-99996 FORMAT( 'The matrix A on exit is ' )
-99995 FORMAT( 50( 1X, F8.4 ) )
-99994 FORMAT( 'The matrix D on exit is ' )
-99993 FORMAT( 'The matrix B on exit is ' )
-99992 FORMAT( 'The matrix F on exit is ' )
-99991 FORMAT( 'The matrix C1 on exit is ' )
-99990 FORMAT( 'The matrix C2 on exit is ' )
-99989 FORMAT( 'The matrix V on exit is ' )
-99988 FORMAT( 'The vector ALPHAR is ' )
-99987 FORMAT( 'The vector ALPHAI is ' )
-99986 FORMAT( 'The vector BETA is ' )
-99985 FORMAT( 'The matrix Q1 is ' )
-99984 FORMAT( 'The matrix Q2 is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04BD EXAMPLE PROGRAM DATA
-   T   I   I   8
-   3.1472   1.3236   4.5751   4.5717
-   4.0579  -4.0246   4.6489  -0.1462
-  -3.7301  -2.2150  -3.4239   3.0028
-   4.1338   0.4688   4.7059  -3.5811
-   0.0000   0.0000  -1.5510  -4.5974  -2.5127
-   3.5071   0.0000   0.0000   1.5961   2.4490  
-  -3.1428   2.5648   0.0000   0.0000  -0.0596 
-   3.0340   2.4892  -1.1604   0.0000   0.0000
-   0.6882  -3.3782  -3.3435   1.8921
-  -0.3061   2.9428   1.0198   2.4815
-  -4.8810  -1.8878  -2.3703  -0.4946
-  -1.6288   0.2853   1.5408  -4.1618
-  -2.4013  -2.7102   0.3834  -3.9335   3.1730
-  -3.1815  -2.3620   4.9613   4.6190   3.6869
-   3.6929   0.7970   0.4986  -4.9537  -4.1556
-   3.5303   1.2206  -1.4905   0.1325  -1.0022
-
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04BD EXAMPLE PROGRAM RESULTS
-The matrix A on exit is 
-  -4.7460   4.1855   3.2696  -0.2244
-   0.0000   6.4157   2.8287   1.4553
-   0.0000   0.0000   7.4626   1.5726
-   0.0000   0.0000   0.0000   8.8702
-The matrix D on exit is 
-   0.0000  -1.3137  -6.3615  -0.8940
-   0.0000   0.0000   1.0704  -0.0659
-   4.4324   0.0000   0.0000  -0.6922
-   0.5254   1.6653   0.0000   0.0000
-The matrix B on exit is 
-  -6.4937  -2.1982  -1.3881   1.3477
-   0.0000   4.6929   0.6650  -4.1191
-   0.0000   0.0000   9.1725   3.4721
-   0.0000   0.0000   0.0000   7.2106
-The matrix F on exit is 
-   0.0000  -1.1367   2.2966  -1.0744
-   0.0000   0.0000   3.7875   0.9427
-   0.0000   0.0000   0.0000  -4.7136
-   0.0000   0.0000   0.0000   0.0000
-The matrix C1 on exit is 
-   6.9525  -4.9881   2.3661   4.2188
-   0.0000   8.5009   0.7182   5.5533
-   0.0000   0.0000  -4.6650  -2.8177
-   0.0000   0.0000   0.0000   1.5124
-The matrix C2 on exit is 
-  -5.4562  -2.1348   4.9694  -2.2744
-   2.5550  -7.9616   1.1516   3.4912
-   0.0000   0.0000   4.8504   0.5046
-   0.0000   0.0000   0.0000   4.4394
-The matrix V on exit is 
-   0.9136   4.1106  -0.0079   3.5789
-  -1.1553  -1.4785  -1.5155  -0.8018
-  -2.2167   4.8029   1.3645   2.5202
-  -1.0994  -0.6144   0.3970   2.0730
-The vector ALPHAR is 
-   0.8314  -0.8314   0.8131   0.0000
-The vector ALPHAI is 
-   0.4372   0.4372   0.0000   0.9164
-The vector BETA is 
-   0.7071   0.7071   1.4142   2.8284
-The matrix Q1 is 
-  -0.0098   0.1978   0.2402   0.5274   0.1105  -0.0149  -0.1028   0.7759
-  -0.6398   0.2356   0.2765  -0.1301  -0.5351  -0.3078   0.2435   0.0373
-   0.1766  -0.4781   0.2657  -0.5415   0.0968  -0.4663  -0.0983   0.3741
-   0.3207  -0.1980   0.1141   0.0240  -0.1712   0.2630   0.8513   0.1451
-  -0.6551  -0.2956  -0.0288  -0.1169   0.5593   0.3381   0.1753   0.1055
-  -0.0246  -0.2759   0.2470  -0.1408  -0.4837   0.6567  -0.4042   0.1172
-  -0.0772  -0.0121  -0.8394  -0.1852  -0.2673   0.0046   0.0159   0.4282
-   0.1442   0.6884   0.1257  -0.5860   0.2110   0.2699   0.0363   0.1657
-The matrix Q2 is 
-  -0.2891   0.3096   0.6312   0.6498   0.0000   0.0000   0.0000   0.0000
-   0.1887   0.1936  -0.3857   0.3664   0.5660   0.1238  -0.2080  -0.5148
-  -0.2492  -0.2877  -0.0874   0.1110  -0.1081  -0.2999   0.6800  -0.5207
-  -0.7430  -0.0646  -0.4689   0.1556  -0.2401   0.0181  -0.3724   0.0562
-  -0.0999  -0.2026  -0.0355   0.0866   0.5587  -0.6625  -0.0114   0.4349
-  -0.4357   0.1209   0.0489  -0.2990   0.5094   0.5191   0.3837   0.1661
-  -0.2429   0.4131   0.2549  -0.5525   0.0749  -0.3829  -0.2690  -0.4190
-   0.0889   0.7439  -0.3960   0.0697  -0.1821  -0.1988   0.3687   0.2616
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04BP.html b/doc/_static/doc/MB04BP.html
deleted file mode 100644
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+++ /dev/null
@@ -1,400 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04BP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04BP">MB04BP</A></H2>
-<H3>
-Eigenvalues of a real skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  W -C' )
-
-  Optionally, if JOB = 'T', decompositions of S and H will be
-  computed via orthogonal transformations Q1 and Q2 as follows:
-
-                    (  Aout  Dout  )
-    Q1' S J Q1 J' = (              ),
-                    (   0    Aout' )
-
-                    (  Bout  Fout  )
-    J' Q2' J S Q2 = (              ) =: T,                       (2)
-                    (   0    Bout' )
-
-               (  C1out  Vout  )            (  0  I  )
-    Q1' H Q2 = (               ), where J = (        )
-               (  0     C2out' )            ( -I  0  )
-
-  and Aout, Bout, C1out are upper triangular, C2out is upper quasi-
-  triangular and Dout and Fout are skew-symmetric. The notation M'
-  denotes the transpose of the matrix M.
-  Optionally, if COMPQ1 = 'I' or COMPQ1 = 'U', then the orthogonal
-  transformation matrix Q1 will be computed.
-  Optionally, if COMPQ2 = 'I' or COMPQ2 = 'U', then the orthogonal
-  transformation matrix Q2 will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04BP( JOB, COMPQ1, COMPQ2, N, A, LDA, DE, LDDE, C1,
-     $                   LDC1, VW, LDVW, Q1, LDQ1, Q2, LDQ2, B, LDB, F,
-     $                   LDF, C2, LDC2, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, JOB
-      INTEGER            INFO, LDA, LDB, LDC1, LDC2, LDDE, LDF, LDQ1,
-     $                   LDQ2, LDVW, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), C1( LDC1, * ),
-     $                   C2( LDC2, * ), DE( LDDE, * ), DWORK( * ),
-     $                   F( LDF, * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   VW( LDVW, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (2).
-          = 'T': put S and H into the forms in (2) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q on
-                  entry, and the product Q*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bH to reduce
-                  S and H to the forms in (2), for COMPQ1 = 'I'.
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  on exit, the array Q2 contains the orthogonal
-                  matrix Q2;
-          = 'U':  on exit, the array Q2 contains the matrix product
-                  J*Q*J'*Q2, where Q2 is the product of the
-                  orthogonal transformations that are applied to
-                  the pencil aS - bH to reduce S and H to the forms
-                  in (2), for COMPQ2 = 'I'.
-                  Setting COMPQ2 &lt;&gt; 'N' assumes COMPQ2 = COMPQ1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains the
-          upper triangular matrix A obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N/2+1 of this array contains the strictly upper triangular
-          part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the periodic QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  C1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDC1, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix C1 = C.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C1out; otherwise, it contains
-          the upper triangular matrix C1 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC1    INTEGER
-          The leading dimension of the array C1.
-          LDC1 &gt;= MAX(1, N/2).
-
-  VW      (input/output) DOUBLE PRECISION array, dimension
-                         (LDVW, N/2+1)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix W, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix V.
-          On exit, if JOB = 'T', the N/2-by-N/2 part in the columns
-          2 to N/2+1 of this array contains the matrix Vout.
-          If JOB = 'E', the N/2-by-N/2 part in the columns 2 to
-          N/2+1 of this array contains the matrix V just before the
-          application of the periodic QZ algorithm.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.
-          LDVW &gt;= MAX(1, N/2).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q and the transformation matrix Q1
-          used to transform the matrices S and H.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N', this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On exit, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array contains the product of the matrix J*Q*J' and
-          the transformation matrix Q2 used to transform the
-          matrices S and H.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N', this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains the
-          upper triangular matrix B obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of this array contains the strictly
-          upper triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix F just before
-          the application of the periodic QZ algorithm.
-          The entries on the leading N/2-by-N/2 lower triangular
-          part of this array are not referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  C2      (output) DOUBLE PRECISION array, dimension (LDC2, N/2)
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix C2out; otherwise, it contains
-          the upper Hessenberg matrix C2 obtained just before the
-          application of the periodic QZ algorithm.
-
-  LDC2    INTEGER
-          The leading dimension of the array C2.
-          LDC2 &gt;= MAX(1, N/2).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/Hamiltonian structure of the
-          pencil, for every eigenvalue lambda, -lambda is also an
-          eigenvalue, and thus it has only to be saved once in
-          ALPHAR, ALPHAI and BETA.
-          Specifically, only eigenvalues with imaginary parts
-          greater than or equal to zero are stored; their conjugate
-          eigenvalues are not stored. If imaginary parts are zero
-          (i.e., for real eigenvalues), only positive eigenvalues
-          are stored. The remaining eigenvalues have opposite signs.
-          As a consequence, pairs of complex eigenvalues, stored in
-          consecutive locations, are not complex conjugate.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th quadruple of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= N+12.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(5) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(6), ...,
-          DWORK(5+4*s) contain the s quadruple values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained from
-          -i*sqrt(a1*a3/a2/a4), but always taking a positive sign,
-          where a1, ..., a4 are the corresponding quadruple values.
-          Moreover, DWORK(6+4*s), ..., DWORK(5+4*s+16*t) contain the
-          t groups of quadruple 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is obtained as -1i*sqrt(ev), but taking
-          positive imaginary parts, where ev are the eigenvalues of
-          the product A1*inv(A2)*A3*inv(A4), where A1, ..., A4
-          define the corresponding 2-by-2 matrix quadruple.
-          On exit, if INFO = -27, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ1 = 'N' and COMPQ2 = 'N',
-             LDWORK &gt;= N**2 + MAX(L,36);
-          if JOB = 'T' or COMPQ1 &lt;&gt; 'N' or COMPQ2 &lt;&gt; 'N',
-             LDWORK &gt;= 2*N**2 + MAX(L,36);
-          where
-             L = 4*N + 4, if N/2 is even, and
-             L = 4*N,     if N/2 is odd.
-          For good performance LDWORK should generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: problem during computation of the eigenvalues;
-          = 2: periodic QZ algorithm did not converge in the SLICOT
-               Library subroutine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S, T, and H such that A, B, and C1 are
-  upper triangular and C2 is upper Hessenberg. Finally, the periodic
-  QZ algorithm is applied to transform C2 to upper quasi-triangular
-  form while A, B, and C1 stay in upper triangular form.
-  See also page 27 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations
-  for reducing T on panels of columns. The user may specify in INFO
-  the desired number of columns. If on entry INFO &lt; 0, then the
-  routine estimates a suitable value of this number. If INFO = 0,
-  the routine MB04BD is directly called.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>MB04BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04BZ">MB04BZ</A></H2>
-<H3>
-Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (      H ) and H = (      H ).                           (1)
-        (  E  A  )         (  G -B  )
-
-  This routine computes the eigenvalues using an embedding to a real
-  skew-Hamiltonian/skew-Hamiltonian pencil aB_S - bB_T, defined as
-
-          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
-          (                 |                 )
-          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
-          (                 |                 )
-    B_S = (-----------------+-----------------) , and
-          (                 |      T       T  )
-          (  Re(E)  -Im(E)  |  Re(A )  Im(A ) )
-          (                 |      T       T  )
-          (  Im(E)   Re(E)  | -Im(A )  Re(A ) )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H.
-          (                 |      T       T  )
-          ( -Im(G)  -Re(G)  | -Im(B )  Re(B ) )
-          (                 |      T       T  )
-          (  Re(G)  -Im(G)  | -Re(B ) -Im(B ) )
-
-  Optionally, if JOB = 'T', the pencil aB_S - bB_H (B_H = -i*B_T) is
-  transformed by a unitary matrix Q to the structured Schur form
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Sout = (       H ) and B_Hout = (       H ),               (3)
-             (  0  BA  )              (  0 -BB  )
-
-  where BA and BB are upper triangular, BD is skew-Hermitian, and
-  BF is Hermitian. The embedding doubles the multiplicities of the
-  eigenvalues of the pencil aS - bH. Optionally, if COMPQ = 'C', the
-  unitary matrix Q is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   DWORK, LDWORK, ZWORK, LZWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LZWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E': compute the eigenvalues only; S and H will not
-                 necessarily be transformed as in (3).
-          = 'T': put S and H into the forms in (3) and return the
-                 eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the unitary transformation
-          matrix Q, as follows:
-          = 'N':  Q is not computed;
-          = 'C':  compute the unitary transformation matrix Q.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, K)
-          where K = N/2, if JOB = 'E', and K = N, if JOB = 'T'.
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed, but it is preserved.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, K).
-
-  DE      (input/output) COMPLEX*16 array, dimension
-                         (LDDE, MIN(K+1,N))
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of
-          the skew-Hermitian matrix D.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the skew-Hermitian matrix BD in (3) (see
-          also METHOD). The strictly lower triangular part of the
-          input matrix is preserved.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, K).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, K)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; the elements below the first subdiagonal of the
-          input matrix are preserved.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, K).
-
-  FG      (input/output) COMPLEX*16 array, dimension
-                         (LDFG, MIN(K+1,N))
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts.
-          If JOB = 'E', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, K).
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading 2*N-by-2*N part of
-          this array contains the unitary transformation matrix Q
-          that reduced the matrices B_S and B_H to the form in (3).
-          However, if JOB = 'E', the reduction was possibly not
-          completed: the matrix B_H may have 2-by-2 diagonal blocks,
-          and the array Q returns the orthogonal matrix that
-          performed the partial reduction.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+4)
-          On exit, IWORK(1) contains the number, q, of unreliable,
-          possibly inaccurate (pairs of) eigenvalues, and the
-          absolute values in IWORK(2), ..., IWORK(q+1) are their
-          indices, as well as of the corresponding 1-by-1 and 2-by-2
-          diagonal blocks of the arrays B and A on exit, if
-          JOB = 'T'. Specifically, a positive value is an index of
-          a real or purely imaginary eigenvalue, corresponding to a
-          1-by-1 block, while the absolute value of a negative entry
-          in IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. Moreover, IWORK(q+2),..., IWORK(2*q+1)
-          contain pointers to the starting elements in DWORK where
-          each block pair is stored. Specifically, if IWORK(i+1) &gt; 0
-          then DWORK(r) and DWORK(r+1) store corresponding diagonal
-          elements of T11 and S11, respectively, and if
-          IWORK(i+1) &lt; 0, then DWORK(r:r+3) and DWORK(r+4:r+7) store
-          the elements of the block in T11 and S11, respectively
-          (see Section METHOD), where r = IWORK(q+1+i). Moreover,
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2) and DWORK(3) contain the
-          Frobenius norms of the matrices B_S and B_T. These norms
-          are used in the tests to decide that some eigenvalues are
-          considered as numerically unreliable. Moreover, DWORK(4),
-          ..., DWORK(3+2*s) contain the s pairs of values of the
-          1-by-1 diagonal elements of T11 and S11. The eigenvalue of
-          such a block pair is obtained from -i*T11(i,i)/S11(i,i).
-          Similarly, DWORK(4+2*s), ..., DWORK(3+2*s+8*t) contain the
-          t groups of pairs of 2-by-2 diagonal submatrices of T11
-          and S11, stored column-wise. The spectrum of such a block
-          pair is obtained from -i*ev, where ev are the eigenvalues
-          of (T11(i:i+1,i:i+1),S11(i:i+1,i:i+1)).
-          On exit, if INFO = -19, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK. If COMPQ = 'N',
-          LDWORK &gt;= MAX( 3,  4*N*N + 3*N ), if   JOB = 'E';
-          LDWORK &gt;= MAX( 3,  5*N*N + 3*N ), if   JOB = 'T';
-          LDWORK &gt;= MAX( 3, 11*N*N + 2*N ), if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -21, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,       if JOB = 'E'; otherwise,
-          LZWORK &gt;= 6*N + 4, if COMPQ = 'N';
-          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0, if JOB = 'E';
-          LBWORK &gt;= N, if JOB = 'T'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the SLICOT Library routine
-               MB04FD (QZ iteration did not converge or computation
-               of the shifts failed);
-          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
-               trying to triangularize the 2-by-2 blocks;
-          = 3: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04FD is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~        T  T         (  S11  S12  )
-  B_S = J Q  J  B_S Q = (          T ) and
-                        (   0   S11  )
-
-  ~        T  T         (  T11  T12  )
-  B_T = J Q  J  B_T Q = (          T ),
-                        (   0   T11  )
-
-  where Q is real orthogonal, S11 is upper triangular, and T11 is
-  upper quasi-triangular. If JOB = 'T', then the matrices above are
-                                                     ~
-  further transformed so that the 2-by-2 blocks in i*B_T are split
-  into 1-by-1 blocks.  If COMPQ = 'C', the transformations are
-  accumulated in the unitary matrix Q.
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The returned eigenvalues are those of the pencil (-i*T11,S11),
-  where i is the purely imaginary unit.
-
-  If JOB = 'E', the returned matrix T11 is quasi-triangular. Note
-  that the off-diagonal elements of the 2-by-2 blocks of S11 are
-  zero by construction.
-
-  If JOB = 'T', the returned eigenvalues correspond to the diagonal
-  elements of BB and BA.
-
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04BZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK, LZWORK
-      PARAMETER          ( LDA  = NMAX, LDB = NMAX, LDDE = NMAX,
-     $                     LDFG = NMAX, LDQ = 2*NMAX,
-     $                     LDWORK = 11*NMAX*NMAX + 2*NMAX,
-     $                     LZWORK = 8*NMAX + 4 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            I, INFO, J, M, N
-*
-*     .. Local Arrays ..
-      COMPLEX*16         A(  LDA,  NMAX ), B(  LDB,  NMAX ),
-     $                   DE( LDDE, NMAX ), FG( LDFG, NMAX ),
-     $                   Q( LDQ, 2*NMAX ), ZWORK( LZWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX ), ALPHAR( NMAX ),
-     $                   BETA(   NMAX ), DWORK( LDWORK )
-      INTEGER            IWORK( 2*NMAX+3 )
-      LOGICAL            BWORK( NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04BZ
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MOD
-*
-*     .. Executable Statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, N
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-         M = N/2
-         READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, M+1 ), I = 1, M )
-         READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, M   ), I = 1, M )
-         READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, M+1 ), I = 1, M )
-*        Compute the eigenvalues of a complex skew-Hamiltonian/
-*        Hamiltonian pencil.
-         CALL MB04BZ( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
-     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
-     $                LDWORK, ZWORK, LZWORK, BWORK, INFO )
-*
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N )
-   10          CONTINUE
-               WRITE( NOUT, FMT = 99994 )
-               DO 20 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N )
-   20          CONTINUE
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N )
-   30          CONTINUE
-               WRITE( NOUT, FMT = 99992 )
-               DO 40 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N )
-   40          CONTINUE
-            END IF
-            IF( LSAME( COMPQ, 'C' ) ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, 2*N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, 2*N )
-   50          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAR( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99988 )
-            WRITE( NOUT, FMT = 99989 ) ( ALPHAI( I ), I = 1, N )
-            WRITE( NOUT, FMT = 99987 )
-            WRITE( NOUT, FMT = 99989 ) (   BETA( I ), I = 1, N )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT ( 'MB04BZ EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04BZ = ', I2 )
-99996 FORMAT (/'The matrix A on exit is ' )
-99995 FORMAT (20( 1X, F9.4, SP, F9.4, S, 'i ') )
-99994 FORMAT (/'The matrix D on exit is ' )
-99993 FORMAT (/'The matrix B on exit is ' )
-99992 FORMAT (/'The matrix F on exit is ' )
-99991 FORMAT (/'The matrix Q is ' )
-99990 FORMAT (/'The vector ALPHAR is ' )
-99989 FORMAT ( 50( 1X, F8.4 ) )
-99988 FORMAT (/'The vector ALPHAI is ' )
-99987 FORMAT (/'The vector BETA is ' )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04BZ EXAMPLE PROGRAM DATA
-	T	C	4
-   (0.0604,0.6568)   (0.5268,0.2919)
-   (0.3992,0.6279)   (0.4167,0.4316)
-        (0,0.4896)        (0,0.9516)   (0.3724,0.0526)
-   (0.9840,0.3394)        (0,0.9203)        (0,0.7378)
-   (0.2691,0.4177)   (0.5478,0.3014)
-   (0.4228,0.9830)   (0.9427,0.7010)
-    0.6663            0.6981           (0.1781,0.8818)
-   (0.5391,0.1711)    0.6665            0.1280          
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04BZ EXAMPLE PROGRAM RESULTS
-
-The matrix A on exit is 
-    0.7430  +0.0000i     0.0389  -0.4330i    -0.1155  -0.1366i    -0.6586  -0.3210i 
-    0.3992  +0.6279i     0.7548  +0.0000i     0.6099  -0.2308i     0.2140  +0.1260i 
-    0.0000  +0.0000i     0.0000  +0.0000i     1.4085  +0.0000i     0.0848  +0.4972i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.4725  +0.0000i 
-
-The matrix D on exit is 
-    0.0000  -0.6858i     0.1839  -0.0474i    -0.4428  -0.1290i     0.4759  +0.0380i 
-    0.9840  +0.3394i     0.0000  +0.6858i    -0.6339  +0.1358i     0.4204  -0.2140i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  -0.2110i    -0.0159  -0.0338i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.2110i 
-
-The matrix B on exit is 
-   -1.5832  +0.5069i    -0.0097  +0.0866i     0.1032  -0.1431i    -0.0426  +0.7942i 
-    0.0000  +0.0000i     1.6085  +0.5150i    -0.1342  -0.8180i     0.5143  +0.0178i 
-    0.0000  +0.0000i     0.0000  +0.0000i    -0.0842  -0.1642i     0.0246  -0.0264i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0880  -0.1716i 
-
-The matrix F on exit is 
-    0.3382   0.0000i     0.0234  +0.0907i    -0.1619  +0.9033i    -0.8227  +0.0204i 
-    0.5391  +0.1711i    -0.3382  +0.0000i    -0.6525  +0.2455i    -0.3532  -0.6409i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0120   0.0000i     0.0019  -0.0009i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.0120  +0.0000i 
-
-The matrix Q is 
-    0.1422  +0.5446i    -0.3877  -0.1273i    -0.4363  +0.1705i     0.0348  -0.5440i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.1594  -0.2382i     0.1967  -0.2467i    -0.1376  -0.0961i    -0.1070  -0.2058i    -0.1273  +0.0585i    -0.0852  +0.1020i     0.6125  -0.1059i    -0.0172  +0.5589i 
-   -0.3659  -0.0211i    -0.0291  +0.4967i    -0.0729  +0.4236i     0.3169  -0.0008i     0.2947  -0.1080i     0.1614  -0.2342i     0.2867  -0.0578i    -0.0170  +0.2603i 
-    0.1846  +0.4089i    -0.2815  -0.2018i     0.3220  -0.1600i    -0.0526  +0.3937i     0.2747  -0.0655i     0.1045  -0.2159i     0.2085  -0.3104i    -0.3052  +0.1463i 
-   -0.0201  -0.2898i     0.2131  -0.0081i    -0.2165  -0.1055i    -0.1324  -0.3133i     0.1660  -0.1635i     0.2250  -0.1390i    -0.1590  -0.4634i    -0.5310  -0.2239i 
-    0.1342  -0.1295i     0.1128  -0.1990i    -0.0712  -0.1686i    -0.1490  -0.1336i     0.6198  +0.0113i     0.0281  -0.4762i    -0.0462  +0.3244i     0.3464  +0.0086i 
-    0.2305  -0.1358i     0.1292  -0.3311i    -0.0106  +0.4992i     0.3906  +0.0997i     0.1429  +0.3376i    -0.4310  -0.0866i    -0.0894  -0.1336i    -0.1601  -0.1055i 
-   -0.2601  +0.0835i    -0.0940  +0.3652i    -0.0213  -0.3116i    -0.2502  -0.0995i     0.1361  +0.4589i    -0.5898  -0.0730i     0.0294  -0.1192i    -0.1253  +0.0085i 
-
-The vector ALPHAR is 
-  -1.5832   1.5832  -0.0842   0.0842
-
-The vector ALPHAI is 
-   0.5069   0.5069  -0.1642  -0.1642
-
-The vector BETA is 
-   0.7430   0.7430   1.4085   1.4085
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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@@ -1,362 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04CD">MB04CD</A></H2>
-<H3>
-Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil in factored form to generalized Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transformed matrices A, B and D, using orthogonal
-  matrices Q1, Q2 and Q3 for a real N-by-N regular pencil
-
-                  ( A11   0  ) ( B11   0  )     (  0   D12 )
-    aA*B - bD = a (          ) (          ) - b (          ),    (1)
-                  (  0   A22 ) (  0   B22 )     ( D21   0  )
-
-  where A11, A22, B11, B22 and D12 are upper triangular, D21 is
-  upper quasi-triangular and the generalized matrix product 
-     -1        -1    -1        -1
-  A11   D12 B22   A22   D21 B11   is upper quasi-triangular, such
-  that Q3' A Q2, Q2' B Q1 are upper triangular, Q3' D Q1 is upper
-  quasi-triangular and the transformed pencil
-  a(Q3' A B Q1) - b(Q3' D Q1) is in generalized Schur form. The
-  notation M' denotes the transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04CD( COMPQ1, COMPQ2, COMPQ3, N, A, LDA, B, LDB, D,
-     $                   LDD, Q1, LDQ1, Q2, LDQ2, Q3, LDQ3, IWORK,
-     $                   LIWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2, COMPQ3
-      INTEGER            INFO, LDA, LDB, LDD, LDQ1, LDQ2, LDQ3, LDWORK,
-     $                   LIWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   DWORK( * ), Q1( LDQ1, * ), Q2( LDQ2, * ),
-     $                   Q3( LDQ3, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
-                  entry, and the matrix Q01*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied on the right to the pencil
-                  aA*B - bD in (1).
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  the array Q2 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q2 is returned;
-          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
-                  entry, and the matrix Q02*Q2 is returned, where Q2
-                  is the product of the orthogonal transformations
-                  that are applied on the left to the pencil
-                  aA*B - bD in (1).
-
-  COMPQ3  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q3, as follows:
-          = 'N':  Q3 is not computed;
-          = 'I':  the array Q3 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q3 is returned;
-          = 'U':  the array Q3 contains an orthogonal matrix Q01 on
-                  entry, and the matrix Q03*Q3 is returned, where Q3
-                  is the product of the orthogonal transformations
-                  that are applied on the right to the pencil
-                  aA*B - bD in (1).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aA*B - bD.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N block diagonal part of this
-          array must contain the matrix A in (1). The off-diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N block diagonal part of this
-          array must contain the matrix B in (1). The off-diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD, N)
-          On entry, the leading N-by-N block anti-diagonal part of
-          this array must contain the matrix D in (1). The diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper quasi-triangular matrix.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q01, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q01 and the transformation matrix Q1
-          used to transform the matrices A, B, and D.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N' this array is not referenced.
-
-  LDQ1    INTEGER
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q02, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q02 and the transformation matrix Q2
-          used to transform the matrices A, B, and D.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N' this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-  Q3      (input/output) DOUBLE PRECISION array, dimension (LDQ3, N)
-          On entry, if COMPQ3 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q03, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q03 and the transformation matrix Q3
-          used to transform the matrices A, B and D.
-          On exit, if COMPQ3 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q3.
-          If COMPQ3 = 'N' this array is not referenced.
-
-  LDQ3    INTEGER
-          The leading dimension of the array Q3.
-          LDQ3 &gt;= 1,         if COMPQ3 = 'N';
-          LDQ3 &gt;= MAX(1, N), if COMPQ3 = 'I' or COMPQ3 = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= MAX( N/2+1, 48 ).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -20, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 3*N*N + MAX( N/2 + 252, 432 ).
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the 
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA. 
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm failed to reorder the
-               eigenvalues (the problem is very ill-conditioned) in
-               the SLICOT Library routine MB03KD;
-          = 2: the standard QZ algorithm failed in the LAPACK
-               routine DGGEV, called by the SLICOT routine MB03CD;
-          = 3: the standard QZ algorithm failed in the LAPACK
-               routines DGGES, called by the SLICOT routines MB03CD
-               or MB03ED;
-          = 4: the standard QZ algorithm failed to reorder the
-               eigenvalues in the LAPACK routine DTGSEN, called by
-               the SLICOT routine MB03CD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the periodic QZ algorithm (see also [2] and [3]) is applied
-                                  -1        -1    -1        -1
-  to the formal matrix product A11   D12 B22   A22   D21 B11   to
-  reorder the eigenvalues, i.e., orthogonal matrices V1, V2, V3, V4,
-  V5 and V6 are computed such that V2' A11 V1, V2' D12 V3,
-  V4' B22 V3, V5' A22 V4, V5' D21 V6 and V1' B11 V6 keep the
-  triangular form, but they can be partitioned into 2-by-2 block
-  forms and the last diagonal blocks correspond to all nonpositive
-  real eigenvalues of the formal product, and the first diagonal
-  blocks correspond to the remaining eigenvalues.
-
-  Second, Q1 = diag(V6, V3), Q2 = diag(V1, V4), Q3 = diag(V2, V5)
-  and
-
-                   ( AA11 AA12   0    0  )
-                   (                     )
-                   (   0  AA22   0    0  )
-  A := Q3' A Q2 =: (                     ),
-                   (   0    0  AA33 AA34 )
-                   (                     )
-                   (   0    0    0  AA44 )
-
-                   ( BB11 BB12   0    0  )
-                   (                     )
-                   (   0  BB22   0    0  )
-  B := Q2' B Q1 =: (                     ),
-                   (   0    0  BB33 BB34 )
-                   (                     )
-                   (   0    0    0  BB44 )
-
-                   (   0    0  DD13 DD14 )
-                   (                     )
-                   (   0    0    0  DD24 )
-  D := Q3' D Q1 =: (                     ),
-                   ( DD31 DD32   0    0  )
-                   (                     )
-                   (   0  DD42   0    0  )
-
-                         -1          -1     -1          -1
-  are set, such that AA22   DD24 BB44   AA44   DD42 BB22   has only
-  nonpositive real eigenvalues.
-
-  Third, the permutation matrix
-
-      (  I  0  0  0  )
-      (              )
-      (  0  0  I  0  )
-  P = (              ),
-      (  0  I  0  0  )
-      (              )
-      (  0  0  0  I  )
-
-  where I denotes the identity matrix of appropriate size is used to
-  transform aA*B - bD to block upper triangular form
-
-                ( AA11   0  | AA12   0  )
-                (           |           )
-                (   0  AA33 |   0  AA34 )   ( AA1  *  )
-  A := P' A P = (-----------+-----------) = (         ),
-                (   0    0  | AA22   0  )   (  0  AA2 )
-                (           |           )
-                (   0    0  |   0  AA44 )
-
-                ( BB11   0  | BB12   0  )
-                (           |           )
-                (   0  BB33 |   0  BB34 )   ( BB1  *  )
-  B := P' B P = (-----------+-----------) = (         ),
-                (   0    0  | BB22   0  )   (  0  BB2 )
-                (           |           )
-                (   0    0  |   0  BB44 )
-
-                (   0  DD13 |   0  DD14 )
-                (           |           )
-                ( DD31   0  | DD32   0  )   ( DD1  *  )
-  D := P' D P = (-----------+-----------) = (         ).
-                (   0    0  |   0  DD24 )   (  0  DD2 )
-                (           |           )
-                (   0    0  | DD42   0  )
-
-  Then, further orthogonal transformations that are provided by the
-  SLICOT Library routines MB03ED and MB03CD are used to
-  triangularize the subpencil aAA1 BB1 - bDD1.
-
-  Finally, the subpencil aAA2 BB2 - bDD2 is triangularized by
-  applying a special permutation matrix.
-
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [3] Hench, J. J. and Laub, A. J.
-      Numerical Solution of the discrete-time periodic Riccati
-      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DB.html b/doc/_static/doc/MB04DB.html
deleted file mode 100644
index 97f16053..00000000
--- a/doc/_static/doc/MB04DB.html
+++ /dev/null
@@ -1,147 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DB">MB04DB</A></H2>
-<H3>
-Inverse of a balancing transformation for a real skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply from the left the inverse of a balancing transformation,
-  computed by the SLICOT Library routine MB04DP, to the matrix
-
-            [   V1   ]
-            [        ],
-            [ sgn*V2 ]
-
-  where sgn is either +1 or -1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DB( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
-     $                   V2, LDV2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, SGN
-      INTEGER           ILO, INFO, LDV1, LDV2, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  LSCALE(*), RSCALE(*), V1(LDV1,*), V2(LDV2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of inverse transformation required:
-          = 'N':  do nothing, return immediately;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          JOB must be the same as the argument JOB supplied to
-          MB04DP.
-
-  SGN     CHARACTER*1
-          Specifies the sign to use for V2:
-          = 'P':  sgn = +1;
-          = 'N':  sgn = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrices V1 and V2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          The integer ILO determined by MB04DP.
-          1 &lt;= ILO &lt;= N+1.
-
-  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the left, as returned by MB04DP.
-
-  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the right, as returned by MB04DP.
-
-  M       (input) INTEGER
-          The number of columns of the matrices V1 and V2.  M &gt;= 0.
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V1.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V1 of the transformed
-          matrix.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V2.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V2 of the transformed
-          matrix.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DD.html b/doc/_static/doc/MB04DD.html
deleted file mode 100644
index 9f57032e..00000000
--- a/doc/_static/doc/MB04DD.html
+++ /dev/null
@@ -1,235 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DD">MB04DD</A></H2>
-<H3>
-Balancing a real Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a real Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       T ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N symmetric
-  matrices. This involves, first, permuting H by a symplectic
-  similarity transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A; and second, applying a
-  diagonal similarity transformation to rows and columns
-  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
-  as possible. Both steps are optional.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           ILO, INFO, LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on H:
-          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced Hamiltonian. In particular,
-          the strictly lower triangular part of the first ILO-1
-          columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the lower and upper triangular parts of the matrices Q and
-          G, respectively, of the balanced Hamiltonian. In
-          particular, the lower triangular part of the first ILO-1
-          columns of QG is zero.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced Hamiltonian matrix.
-
-  SCALE   (output) DOUBLE PRECISION array of dimension (N)
-          Details of the permutations and scaling factors applied to
-          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
-          then rows and columns P(j) and P(j)+N are interchanged
-          with rows and columns j and j+N, respectively. If
-          P(j) &gt; N, then row and column P(j)-N are interchanged with
-          row and column j+N by a generalized symplectic
-          permutation. For j = ILO,...,N the j-th element of SCALE
-          contains the factor of the scaling applied to row and
-          column j.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
-     $                 SCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANTR, DLAPY2
-      EXTERNAL         DLANTR, DLAPY2
-*     .. External Subroutines ..
-      EXTERNAL         MB04DD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DD( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 30  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE (NOUT, FMT = 99993)  ILO
-            IF ( ILO.GT.1 ) THEN
-                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
-     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
-     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
-     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DD = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix QG is ')
-99995 FORMAT (20(1X,F12.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ILO = ',I4)
-99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DD EXAMPLE PROGRAM DATA
-       6       B
-         0         0         0         0         0         0
-    0.0994         0         0         0         0    0.9696
-    0.3248         0         0         0    0.4372    0.8308
-         0         0         0    0.0717         0         0
-         0         0         0         0         0    0.1976
-         0         0         0         0         0         0
-         0         0         0         0         0         0         0
-         0         0         0         0    0.0651         0         0
-         0         0         0         0         0         0         0
-         0         0    0.0444         0         0    0.1957         0
-    0.8144         0         0         0    0.3652         0    0.9121
-    0.9023         0         0         0         0         0    1.0945
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DD EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.9696
-       0.0000       0.0000       0.0000       0.0000      -0.8144      -0.9023
-       0.0000       0.0000       0.0000       0.0000       0.1093       0.2077
-       0.0000       0.0000       0.0000       0.0717       0.0000       0.0000
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.1976
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
-
- The balanced matrix QG is 
-       0.0000       0.0000       0.0994       0.0000       0.0651       0.0000       0.0000
-       0.0000       0.0000       0.0000       0.0812       0.0000       0.0000       0.0000
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000
-       0.0000       0.0000       0.1776       0.0000       0.0000       0.1957       0.0000
-       0.0000       0.0000       0.0000       0.0000       0.3652       0.0000       0.9121
-       0.0000       0.0000       0.0000       0.0000       0.0000       0.0000       1.0945
-
- ILO =    3
-
- Norm of subdiagonal blocks: 0.0    
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DI.html b/doc/_static/doc/MB04DI.html
deleted file mode 100644
index 9376f7b5..00000000
--- a/doc/_static/doc/MB04DI.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DI - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DI">MB04DI</A></H2>
-<H3>
-Applying the inverse of a balancing transformation for a real Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the inverse of a balancing transformation, computed by
-  the SLICOT Library routines MB04DD or MB04DS, to a 2*N-by-M matrix
-
-            [   V1   ]
-            [        ],
-            [ sgn*V2 ]
-
-  where sgn is either +1 or -1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DI( JOB, SGN, N, ILO, SCALE, M, V1, LDV1, V2, LDV2,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, SGN
-      INTEGER           ILO, INFO, LDV1, LDV2, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  SCALE(*), V1(LDV1,*), V2(LDV2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of inverse transformation required:
-          = 'N':  do nothing, return immediately;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          JOB must be the same as the argument JOB supplied to
-          MB04DD or MB04DS.
-
-  SGN     CHARACTER*1
-          Specifies the sign to use for V2:
-          = 'P':  sgn = +1;
-          = 'N':  sgn = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrices V1 and V2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          The integer ILO determined by MB04DD or MB04DS.
-          1 &lt;= ILO &lt;= N+1.
-
-  SCALE   (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors, as
-          returned by MB04DD or MB04DS.
-
-  M       (input) INTEGER
-          The number of columns of the matrices V1 and V2.  M &gt;= 0.
-
-  V1      (input/output) DOUBLE PRECISION array, dimension (LDV1,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V1.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V1 of the transformed
-          matrix.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
-
-  V2      (input/output) DOUBLE PRECISION array, dimension (LDV2,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V2.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V2 of the transformed
-          matrix.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DL.html b/doc/_static/doc/MB04DL.html
deleted file mode 100644
index 7e483173..00000000
--- a/doc/_static/doc/MB04DL.html
+++ /dev/null
@@ -1,374 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DL - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DL">MB04DL</A></H2>
-<H3>
-Balancing a real pencil, optionally avoiding large norms for the scaled (sub)matrices 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a pair of N-by-N real matrices (A,B). This involves,
-  first, permuting A and B by equivalence transformations to isolate
-  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
-  on the diagonal of A and B; and second, applying a diagonal
-  equivalence transformation to rows and columns ILO to IHI to make
-  the rows and columns as close in 1-norm as possible. Both steps
-  are optional. Balancing may reduce the 1-norms of the matrices,
-  and improve the accuracy of the computed eigenvalues and/or
-  eigenvectors in the generalized eigenvalue problem
-  A*x = lambda*B*x.
-
-  This routine may optionally improve the conditioning of the
-  scaling transformation compared to the LAPACK routine DGGBAL.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
-     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), DWORK(*), LSCALE(*),
-     $                   RSCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on A and B:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for I = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A and B.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(A(s,s),1)/norm(B(s,s),1),
-                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where A(s,s) and B(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in LSCALE(s) and RSCALE(s), will be
-          at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix A.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix B.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of B is zero.
-          If JOB = 'N', the arrays A and B are not referenced.
-
-  LDB    INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-  IHI     (output) INTEGER
-          ILO and IHI are set to integers such that on exit
-          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
-          j = 1,...,ILO-1 or i = IHI+1,...,N.
-          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the left side of A and B.  If P(j) is the index of the
-          row interchanged with row j, and D(j) is the scaling
-          factor applied to row j, then
-            LSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the right side of A and B.  If P(j) is the index of the
-          column interchanged with column j, and D(j) is the scaling
-          factor applied to column j, then
-            RSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of A(s,s) and B(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = IHI).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying an equivalence transformation
-  to isolate eigenvalues and/or to make the 1-norms of the rows
-  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
-  a search is performed to find those scaling factors giving the
-  smallest norm ratio or product defined above (see the description
-  of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-     Dl*A*Dr and Dl*B*Dr.
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than DGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  No rounding errors appear if JOB = 'P'.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DL EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), DWORK(8*NMAX),
-     $                 LSCALE(NMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04DL
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL MB04DL( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
-     $                RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )  ILO
-            WRITE ( NOUT, FMT = 99993 )  IHI
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99995 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DL EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DL = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix B is ')
-99995 FORMAT (20(1X,G12.4))
-99994 FORMAT (/' ILO = ',I4)
-99993 FORMAT (/' IHI = ',I4)
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB04DL = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DL EXAMPLE PROGRAM DATA
-       4       B      -3
-         1         0    -1e-12         0
-         0        -2         0         0
-        -1        -1        -1         0
-        -1        -1         0         2
-         1         0         0         0
-         0         1         0         0
-         0         0         1         0
-         0         0         0         1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DL EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    2.000       -1.000        0.000       -1.000    
-    0.000        1.000      -0.1000E-11    0.000    
-    0.000       -1.000       -1.000       -1.000    
-    0.000        0.000        0.000       -2.000    
-
- The balanced matrix B is 
-    1.000        0.000        0.000        0.000    
-    0.000        1.000        0.000        0.000    
-    0.000        0.000        1.000        0.000    
-    0.000        0.000        0.000        1.000    
-
- ILO =    2
-
- IHI =    3
-
- The permutations and left scaling factors are 
-    2.000        1.000        1.000        2.000    
-
- The permutations and right scaling factors are 
-    2.000        1.000        1.000        2.000    
-
- The initial 1-norms of the (sub)matrices are 
-    2.000        1.000    
-
- The final 1-norms of the (sub)matrices are 
-    2.000        1.000    
-
- The threshold value finally used is 
-   0.2500E-12
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DP.html b/doc/_static/doc/MB04DP.html
deleted file mode 100644
index acbd1800..00000000
--- a/doc/_static/doc/MB04DP.html
+++ /dev/null
@@ -1,439 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DP">MB04DP</A></H2>
-<H3>
-Balancing a real skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the 2*N-by-2*N skew-Hamiltonian/Hamiltonian pencil
-  aS - bH, with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ),  A, C N-by-N,             (1)
-        (  E  A' )         (  W -C' )
-
-  where D and E are skew-symmetric, and V and W are symmetric
-  matrices. This involves, first, permuting aS - bH by a symplectic
-  equivalence transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A and C; and second, applying
-  a diagonal equivalence transformation to make the pairs of rows
-  and columns ILO:N and N+ILO:2*N as close in 1-norm as possible.
-  Both steps are optional. Balancing may reduce the 1-norms of the
-  matrices S and H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), C(LDC,*), DE(LDDE,*), DWORK(*),
-     $                   LSCALE(*), RSCALE(*), VW(LDVW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on S and H:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for i = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(H(s,s),1)/norm(S(s,s),1),
-                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where S(s,s) and H(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
-          will be at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced skew-Hamiltonian matrix S.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N+1)
-          On entry, the leading N-by-N strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N-by-N strictly upper triangular part of the submatrix
-          in the columns 2 to N+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array need not be set, but are assumed to be zero.
-          On exit, the leading N-by-N strictly lower triangular
-          part of this array contains the strictly lower triangular
-          part of the balanced matrix E, and the N-by-N strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N+1 of this array contains the strictly upper triangular
-          part of the balanced matrix D. In particular, the strictly
-          lower triangular part of the first ILO-1 columns of DE is
-          zero.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix C.
-          On exit, the leading N-by-N part of this array contains
-          the matrix C of the balanced Hamiltonian matrix H.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of C is zero.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
-
-  VW      (input/output) DOUBLE PRECISION array, dimension
-                         (LDVW, N+1)
-          On entry, the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          symmetric matrix W, and the N-by-N upper triangular
-          part of the submatrix in the columns 2 to N+1 of this
-          array must contain the upper triangular part of the
-          symmetric matrix V.
-          On exit, the leading N-by-N lower triangular part of this
-          array contains the lower triangular part of the balanced
-          matrix W, and the N-by-N upper triangular part of the
-          submatrix in the columns 2 to N+1 of this array contains
-          the upper triangular part of the balanced matrix V. In
-          particular, the lower triangular part of the first ILO-1
-          columns of VW is zero.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
-          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
-          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of LSCALE contains the factor of the scaling applied to
-          row j of the matrices A, D, C, and V.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
-          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of RSCALE contains the factor of the scaling applied to
-          column j of the matrices A, E, C, and W.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of S(s,s) and H(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = N).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a (symplectic) equivalence
-  transformation to isolate eigenvalues and/or to make the 1-norms
-  of each pair of rows and columns indexed by s of S and H nearly
-  equal. If THRESH &lt; 0, a search is performed to find those scaling
-  factors giving the smallest norm ratio or product defined above
-  (see the description of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
-    (       ) (       ) (       ),  (       ) (       ) (       ).
-    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine DGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than DGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The transformations used preserve the skew-Hamiltonian/Hamiltonian
-  structure and do not introduce significant rounding errors.
-  No rounding errors appear if JOB = 'P'. If T is the global
-  transformation matrix applied to the right, then J'*T*J is the
-  global transformation matrix applied to the left, where
-  J = [ 0 I; -I 0 ], with blocks of order N.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDC, LDDE, LDVW
-      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
-     $                   LDVW = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DWORK(8*NMAX), C(LDC, NMAX),
-     $                 DE(LDDE, NMAX+1), LSCALE(NMAX), RSCALE(NMAX),
-     $                 VW(LDVW, NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04DP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DP( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
-20          CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99992 )  ILO
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99993 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99993 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99993 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DP EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DP = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix DE is ')
-99995 FORMAT (' The balanced matrix C is ')
-99994 FORMAT (/' The balanced matrix VW is ')
-99993 FORMAT (20(1X,G12.4))
-99992 FORMAT (/' ILO = ',I4)
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB04DP = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DP EXAMPLE PROGRAM DATA
-       2       B      -3
-         1         0
-         0         1
-         0         0         0
-         0         0         0
-         1         0
-         0        -2
-        -1  -1.0e-12         0
-        -1        -1         0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DP EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    1.000        0.000    
-    0.000        1.000    
-
- The balanced matrix DE is 
-    0.000        0.000        0.000    
-    0.000        0.000        0.000    
- The balanced matrix C is 
-    2.000        1.000    
-    0.000        1.000    
-
- The balanced matrix VW is 
-    0.000        1.000        0.000    
-    0.000       -1.000      -0.1000E-11
-
- ILO =    2
-
- The permutations and left scaling factors are 
-    4.000        1.000    
-
- The permutations and right scaling factors are 
-    4.000        1.000    
-
- The initial 1-norms of the (sub)matrices are 
-    1.000        2.000    
-
- The final 1-norms of the (sub)matrices are 
-    1.000        2.000    
-
- The threshold value finally used is 
-   -3.000    
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DS.html b/doc/_static/doc/MB04DS.html
deleted file mode 100644
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@@ -1,238 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DS">MB04DS</A></H2>
-<H3>
-Balancing a real skew-Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a real skew-Hamiltonian matrix
-
-                [  A   G  ]
-           S =  [       T ] ,
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices. This involves, first, permuting S by a symplectic
-  similarity transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A; and second, applying a
-  diagonal similarity transformation to rows and columns
-  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
-  as possible. Both steps are optional.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           ILO, INFO, LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), QG(LDQG,*), SCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on S:
-          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced skew-Hamiltonian. In
-          particular, the strictly lower triangular part of the
-          first ILO-1 columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G. The parts containing the
-          diagonal and the first supdiagonal of this array are not
-          referenced.
-          On exit, the leading N-by-N+1 part of this array contains
-          the strictly lower and strictly upper triangular parts of
-          the matrices Q and G, respectively, of the balanced
-          skew-Hamiltonian. In particular, the strictly lower
-          triangular part of the first ILO-1 columns of QG is zero.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced skew-Hamiltonian matrix.
-
-  SCALE   (output) DOUBLE PRECISION array of dimension (N)
-          Details of the permutations and scaling factors applied to
-          S.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
-          then rows and columns P(j) and P(j)+N are interchanged
-          with rows and columns j and j+N, respectively. If
-          P(j) &gt; N, then row and column P(j)-N are interchanged with
-          row and column j+N by a generalized symplectic
-          permutation. For j = ILO,...,N the j-th element of SCALE
-          contains the factor of the scaling applied to row and
-          column j.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DS EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), DUMMY(1), QG(LDQG, NMAX+1),
-     $                 SCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANTR, DLAPY2
-      EXTERNAL         DLANTR, DLAPY2
-*     .. External Subroutines ..
-      EXTERNAL         MB04DS
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DS( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 30  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE (NOUT, FMT = 99993)  ILO
-            IF ( ILO.GT.1 ) THEN
-                WRITE (NOUT, FMT = 99992) DLAPY2( DLANTR( 'Frobenius',
-     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
-     $                 DUMMY ), DLANTR( 'Frobenius', 'Lower', 'No Unit',
-     $                 N-1, ILO-1, QG(2,1), LDQG, DUMMY ) )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DS EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DS = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix QG is ')
-99995 FORMAT (20(1X,F9.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ILO = ',I4)
-99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DS EXAMPLE PROGRAM DATA
-       6       B
-    0.0576         0    0.5208         0    0.7275   -0.7839
-    0.1901    0.0439    0.1663    0.0928    0.6756   -0.5030
-    0.5962         0    0.4418         0   -0.5955    0.7176
-    0.5869         0    0.3939    0.0353    0.6992   -0.0147
-    0.2222         0   -0.3663         0    0.5548   -0.4608
-         0         0         0         0         0    0.1338
-         0         0   -0.9862   -0.4544   -0.4733    0.4435         0
-         0         0         0   -0.6927    0.6641    0.4453         0
-   -0.3676         0         0         0    0.0841    0.3533         0
-         0         0         0         0         0    0.0877         0
-    0.9561         0    0.4784         0         0         0         0
-   -0.0164   -0.4514   -0.8289   -0.6831   -0.1536         0         0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DS EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    0.1338    0.4514    0.6831    0.8289    0.1536    0.0164
-    0.0000    0.0439    0.0928    0.1663    0.6756    0.1901
-    0.0000    0.0000    0.0353    0.3939    0.6992    0.5869
-    0.0000    0.0000    0.0000    0.4418   -0.5955    0.5962
-    0.0000    0.0000    0.0000   -0.3663    0.5548    0.2222
-    0.0000    0.0000    0.0000    0.5208    0.7275    0.0576
-
- The balanced matrix QG is 
-    0.0000    0.0000    0.5030    0.0147   -0.7176    0.4608    0.7839
-    0.0000    0.0000    0.0000    0.6641   -0.6927    0.4453    0.9862
-    0.0000    0.0000    0.0000    0.0000   -0.0841    0.0877    0.4733
-    0.0000    0.0000    0.0000    0.0000    0.0000    0.3533    0.4544
-    0.0000    0.0000    0.0000    0.4784    0.0000    0.0000   -0.4435
-    0.0000    0.0000    0.0000    0.3676   -0.9561    0.0000    0.0000
-
- ILO =    4
-
- Norm of subdiagonal blocks: 0.0    
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DY.html b/doc/_static/doc/MB04DY.html
deleted file mode 100644
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@@ -1,301 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DY">MB04DY</A></H2>
-<H3>
-Symplectic scaling of a Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform a symplectic scaling on the Hamiltonian matrix
-
-           ( A    G  )
-       H = (       T ),                                          (1)
-           ( Q   -A  )
-
-  i.e., perform either the symplectic scaling transformation
-
-                                -1
-              ( A'   G'  )   ( D   0 ) ( A   G  ) ( D  0   )
-       H' &lt;-- (        T ) = (       ) (      T ) (     -1 ),    (2)
-              ( Q'  -A'  )   ( 0   D ) ( Q  -A  ) ( 0  D   )
-
-  where D is a diagonal scaling matrix, or the symplectic norm
-  scaling transformation
-
-               ( A''   G''  )    1  (   A   G/tau )
-       H'' &lt;-- (          T ) = --- (           T ),             (3)
-               ( Q''  -A''  )   tau ( tau Q   -A  )
-
-  where tau is a real scalar.  Note that if tau is not equal to 1,
-  then (3) is NOT a similarity transformation.  The eigenvalues
-  of H are then tau times the eigenvalues of H''.
-
-  For symplectic scaling (2), D is chosen to give the rows and
-  columns of A' approximately equal 1-norms and to give Q' and G'
-  approximately equal norms.  (See METHOD below for details.) For
-  norm scaling, tau = MAX(1, ||A||, ||G||, ||Q||) where ||.||
-  denotes the 1-norm (column sum norm).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDQG, N
-      CHARACTER         JOBSCL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(*), QG(LDQG,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBSCL  CHARACTER*1
-          Indicates which scaling strategy is used, as follows:
-          = 'S'       :  do the symplectic scaling (2);
-          = '1' or 'O':  do the 1-norm scaling (3);
-          = 'N'       :  do nothing; set INFO and return.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
-          this array must contain the upper left block A of the
-          Hamiltonian matrix H in (1).
-          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N part of
-          this array contains the leading N-by-N part of the scaled
-          Hamiltonian matrix H' in (2) or H'' in (3), depending on
-          the setting of JOBSCL.
-          If JOBSCL = 'N', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
-          LDA &gt;= 1,        if JOBSCL =  'N'.
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-          (LDQG,N+1)
-          On input, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangle of the lower left symmetric block Q of the
-          Hamiltonian matrix H in (1), and the N-by-N upper
-          triangular part of the submatrix in the columns 2 to N+1
-          of this array must contain the upper triangle of the upper
-          right symmetric block G of H in (1).
-          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
-          and G(i,j) = G(j,i) is stored in QG(j,i+1).
-          On output, if JOBSCL &lt;&gt; 'N', the leading N-by-N lower
-          triangular part of this array contains the lower triangle
-          of the lower left symmetric block Q' or Q'', and the
-          N-by-N upper triangular part of the submatrix in the
-          columns 2 to N+1 of this array contains the upper triangle
-          of the upper right symmetric block G' or G'' of the scaled
-          Hamiltonian matrix H' in (2) or H'' in (3), depending on
-          the setting of JOBSCL.
-          If JOBSCL = 'N', this array is not referenced.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.
-          LDQG &gt;= MAX(1,N), if JOBSCL &lt;&gt; 'N';
-          LDQG &gt;= 1,        if JOBSCL =  'N'.
-
-  D       (output) DOUBLE PRECISION array, dimension (nd)
-          If JOBSCL = 'S', then nd = N and D contains the diagonal
-          elements of the diagonal scaling matrix in (2).
-          If JOBSCL = '1' or 'O', then nd = 1 and D(1) is set to tau
-          from (3). In this case, no other elements of D are
-          referenced.
-          If JOBSCL = 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-          If JOBSCL = 'N', this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  1. Symplectic scaling (JOBSCL = 'S'):
-
-  First, LAPACK subroutine DGEBAL is used to equilibrate the 1-norms
-  of the rows and columns of A using a diagonal scaling matrix D_A.
-  Then, H is similarily transformed by the symplectic diagonal
-  matrix D1 = diag(D_A,D_A**(-1)).  Next, the off-diagonal blocks of
-  the resulting Hamiltonian matrix are equilibrated in the 1-norm
-  using the symplectic diagonal matrix D2 of the form
-
-              ( I/rho    0   )
-         D2 = (              )
-              (   0    rho*I )
-
-  where rho is a real scalar. Thus, in (2), D = D1*D2.
-
-  2. Norm scaling (JOBSCL = '1' or 'O'):
-
-  The norm of the matrices A and G of (1) is reduced by setting
-  A := A/tau  and  G := G/(tau**2) where tau is the power of the
-  base of the arithmetic closest to MAX(1, ||A||, ||G||, ||Q||) and
-  ||.|| denotes the 1-norm.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., and Barth, E.
-      Fortran 77 Subroutines for Computing the Eigenvalues of
-      Hamiltonian Matrices. I: The Square-Reduced Method.
-      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  For symplectic scaling, the complexity of the used algorithms is
-  hard to estimate and depends upon how well the rows and columns of
-  A in (1) are equilibrated.  In one sweep, each row/column of A is
-  scaled once, i.e., the cost of one sweep is N**2 multiplications.
-  Usually, 3-6 sweeps are enough to equilibrate the norms of the
-  rows and columns of a matrix.  Roundoff errors are possible as
-  LAPACK routine DGEBAL does NOT use powers of the machine base for
-  scaling. The second stage (equilibrating ||G|| and ||Q||) requires
-  N**2 multiplications.
-  For norm scaling, 3*N**2 + O(N) multiplications are required and
-  NO rounding errors occur as all multiplications are performed with
-  powers of the machine base.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DY EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      JOBSCL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), D(NMAX), DWORK(LDWORK),
-     $                 QG(LDQG,NMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04DY
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOBSCL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99998 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
-*        Scale the Hamiltonian matrix.
-         CALL MB04DY( JOBSCL, N, A, LDA, QG, LDQG, D, DWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-*           Show the scaled Hamiltonian matrix.
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-              WRITE ( NOUT, FMT = 99993 )  ( A(I,J),    J = 1,N ),
-     $           ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
-10          CONTINUE
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) (  QG(I,J), J = 1,I-1 ),
-     $               ( QG(J,I), J = I,N ), ( -A(J,I),  J = 1,N )
-20          CONTINUE
-*           Show the scaling factors.
-            IF ( LSAME( JOBSCL, 'S' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-               WRITE ( NOUT, FMT = 99993 ) ( D(I), I = 1,N )
-            ELSE IF ( LSAME( JOBSCL, '1' ) .OR. LSAME( JOBSCL, 'O' ) )
-     $            THEN
-               WRITE ( NOUT, FMT = 99994 )
-               WRITE ( NOUT, FMT = 99993 ) D(1)
-            END IF
-         ENDIF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04DY EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' N is out of range.',/' N = ',I5)
-99997 FORMAT (' INFO on exit from MB04DY = ',I2)
-99996 FORMAT (/' The scaled Hamiltonian is ')
-99995 format (/' The scaling factors are ')
-99994 format (/' The scaling factor tau is ')
-99993 FORMAT (1X,8(F10.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DY EXAMPLE PROGRAM DATA
-3 S
--0.4   0.05  0.0007   
--4.7   0.8   0.025   
-81.0  29.0  -0.9        
-0.0034  0.0014  0.00077 -0.005  0.0004  0.003
--18.0 -12.0  43.0  99.0  420.0  -200.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DY EXAMPLE PROGRAM RESULTS
-
-
- The scaled Hamiltonian is 
-    -0.4000    0.4000    0.3584  418.4403   21.5374    0.1851
-    -0.5875    0.8000    1.6000   21.5374   -9.6149    0.0120
-     0.1582    0.4531   -0.9000    0.1851    0.0120    0.0014
-    -0.0001   -0.0008    0.1789    0.4000    0.5875   -0.1582
-    -0.0008    0.0515   13.9783   -0.4000   -0.8000   -0.4531
-     0.1789   13.9783 -426.0056   -0.3584   -1.6000    0.9000
-
- The scaling factors are 
-     0.0029    0.0228    1.4595
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04DZ.html b/doc/_static/doc/MB04DZ.html
deleted file mode 100644
index c9c21863..00000000
--- a/doc/_static/doc/MB04DZ.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04DZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04DZ">MB04DZ</A></H2>
-<H3>
-Balancing a complex Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a complex Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       H ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N Hermitian
-  matrices. This involves, first, permuting H by a symplectic
-  similarity transformation to isolate eigenvalues in the first
-  1:ILO-1 elements on the diagonal of A; and second, applying a
-  diagonal similarity transformation to rows and columns
-  ILO:N, N+ILO:2*N to make the rows and columns as close in 1-norm
-  as possible. Both steps are optional. Assuming ILO = 1, let D be a
-  diagonal matrix of order N with the scaling factors on the
-  diagonal. The scaled Hamiltonian is defined by
-
-                 [  D**-1*A*D   D**-1*G*D**-1  ]
-           Hs =  [                   H         ] .
-                 [    D*Q*D      -D*A *D**-1   ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           ILO, INFO, LDA, LDQG, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  SCALE(*)
-      COMPLEX*16        A(LDA,*), QG(LDQG,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on H:
-          = 'N':  none, set ILO = 1, SCALE(I) = 1.0, I = 1 .. N;
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced Hamiltonian. In particular,
-          the strictly lower triangular part of the first ILO-1
-          columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) COMPLEX*16 array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the lower and upper triangular parts of the matrices Q and
-          G, respectively, of the balanced Hamiltonian. In
-          particular, the lower triangular part of the first ILO-1
-          columns of QG is zero.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced Hamiltonian matrix.
-
-  SCALE   (output) DOUBLE PRECISION array of dimension (N)
-          Details of the permutations and scaling factors applied to
-          H.  For j = 1,...,ILO-1 let P(j) = SCALE(j). If P(j) &lt;= N,
-          then rows and columns P(j) and P(j)+N are interchanged
-          with rows and columns j and j+N, respectively. If
-          P(j) &gt; N, then row and column P(j)-N are interchanged with
-          row and column j+N by a generalized symplectic
-          permutation. For j = ILO,...,N the j-th element of SCALE
-          contains the factor of the scaling applied to row and
-          column j.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04DZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, J, N
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, NMAX), QG(LDQG, NMAX+1)
-      DOUBLE PRECISION DUMMY(1), SCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLAPY2, ZLANTR
-      EXTERNAL         DLAPY2, ZLANTR
-*     .. External Subroutines ..
-      EXTERNAL         MB04DZ
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB04DZ( JOB, N, A, LDA, QG, LDQG, ILO, SCALE, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( A(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N
-               WRITE (NOUT, FMT = 99995) ( QG(I,J), J = 1,N+1 )
-   20       CONTINUE
-            WRITE (NOUT, FMT = 99993)  ILO
-            IF ( ILO.GT.1 ) THEN
-                WRITE (NOUT, FMT = 99992) DLAPY2( ZLANTR( 'Frobenius',
-     $                 'Lower', 'No Unit', N-1, ILO-1, A(2,1), LDA,
-     $                 DUMMY ), ZLANTR( 'Frobenius', 'Lower', 'No Unit',
-     $                 N, ILO-1, QG(1,1), LDQG, DUMMY ) )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB04DZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04DZ = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix QG is ')
-99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' ILO = ',I4)
-99992 FORMAT (/' Norm of subdiagonal blocks: ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04DZ EXAMPLE PROGRAM DATA
-       6       B
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-  (.0994,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.9696,0)
-  (.3248,0)  (0,0)      (0,0)      (0,0)  (.4372,0)  (.8308,0)
-      (0,0)  (0,0)      (0,0)  (.0717,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)  (.1976,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)  (.0651,0)      (0,0)      (0,0)
-      (0,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)      (0,0)
-      (0,0)  (0,0)  (.0444,0)      (0,0)      (0,0)  (.1957,0)      (0,0)
-  (.8144,0)  (0,0)      (0,0)      (0,0)  (.3652,0)      (0,0)  (.9121,0)
-  (.9023,0)  (0,0)      (0,0)      (0,0)      (0,0)      (0,0)  1.0945,0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04DZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.9696  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i    -0.8144  +0.0000i    -0.9023  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1093  +0.0000i     0.2077  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0717  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1976  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-
- The balanced matrix QG is 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0994  +0.0000i     0.0000  +0.0000i     0.0651  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0812  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.1776  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.1957  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3652  +0.0000i     0.0000  +0.0000i     0.9121  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     1.0945  +0.0000i 
-
- ILO =    3
-
- Norm of subdiagonal blocks: 0.0    
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,543 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ED">MB04ED</A></H2>
-<H3>
-Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil in factored form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  skew-Hamiltonian pencil aS - bT with
-
-                          (  B  F  )            (  0  I  )
-    S = J Z' J' Z and T = (        ), where J = (        ).      (1)
-                          (  G  B' )            ( -I  0  )
-
-  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
-  to the structured Schur form: an orthogonal transformation matrix
-  Q and an orthogonal symplectic transformation matrix U are
-  computed, such that
-
-             (  Z11  Z12  )
-    U' Z Q = (            ) = Zout, and
-             (   0   Z22  )
-                                                                 (2)
-                  (  Bout  Fout  )
-    J Q' J' T Q = (              ),
-                  (   0    Bout' )
-
-  where Z11 and Z22' are upper triangular and Bout is upper quasi-
-  triangular. The notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I', the orthogonal transformation matrix Q
-  will be computed.
-  Optionally, if COMPU = 'I' or COMPU = 'U', the orthogonal
-  symplectic transformation matrix
-
-        (  U1  U2  )
-    U = (          )
-        ( -U2  U1  )
-
-  will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG,
-     $                   Q, LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI,
-     $                   BETA, IWORK, LIWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            INFO, LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
-     $                   LIWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), B( LDB, * ),
-     $                   BETA( * ), DWORK( * ), FG( LDFG, * ),
-     $                   Q( LDQ, * ), U1( LDU1, * ), U2( LDU2, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E':  compute the eigenvalues only; Z and T will not
-                  necessarily be put into the forms in (2);
-          = 'T':  put Z and T into the forms in (2), and return the
-                  eigenvalues in ALPHAR, ALPHAI and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned.
-
-  COMPU   CHARACTER*1
-          Specifies whether to compute the orthogonal symplectic
-          transformation matrix U as follows:
-          = 'N':  U is not computed;
-          = 'I':  the array U is initialized internally to the unit
-                  matrix, and the orthogonal matrix U is returned;
-          = 'U':  the arrays U1 and U2 contain the corresponding
-                  submatrices of an orthogonal symplectic matrix U0
-                  on entry, and the updated submatrices U1 and U2
-                  of the matrix product U0*U are returned, where U
-                  is the product of the orthogonal symplectic
-                  transformations that are applied to the pencil
-                  aS - bT to reduce Z and T to the forms in (2), for
-                  COMPU = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bT.  N &gt;= 0, even.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Z.
-          On exit, if JOB = 'T', the leading N-by-N part of this
-          array contains the matrix Zout; otherwise, it contains the
-          matrix Z just before the application of the periodic QZ
-          algorithm. The entries in the rows N/2+1 to N and the
-          first N/2 columns are unchanged.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1, N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains the
-          matrix B just before the application of the periodic QZ
-          algorithm.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix G, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix F.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns 2 to
-          N/2+1 of this array contains the strictly upper triangular
-          part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix F just before the application
-          of the QZ algorithm.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          Moreover, the diagonal and the first subdiagonal of this
-          array on exit coincide to the corresponding diagonals of
-          this array on entry.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On exit, if COMPQ = 'I', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix Q.
-          On exit, if COMPQ = 'N', the leading N-by-N part of this
-          array contains the orthogonal matrix Q1, such that
-
-                   (  Z11  Z12  )
-            Z*Q1 = (            ),
-                   (   0   Z22  )
-
-          where Z11 and Z22' are upper triangular (the first step
-          of the algorithm).
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1, N).
-
-  U1      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU1, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper left block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper left block U1 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and T.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper left block U1 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.
-          LDU1 &gt;= 1,           if COMPU = 'N';
-          LDU1 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  U2      (input/output) DOUBLE PRECISION array, dimension
-                         (LDU2, N/2)
-          On entry, if COMPU = 'U', then the leading N/2-by-N/2 part
-          of this array must contain the upper right block of a
-          given matrix U0, and on exit, the leading N/2-by-N/2 part
-          of this array contains the updated upper right block U2 of
-          the product of the input matrix U0 and the transformation
-          matrix U used to transform the matrices Z and T.
-          On exit, if COMPU = 'I', then the leading N/2-by-N/2 part
-          of this array contains the upper right block U2 of the
-          orthogonal symplectic transformation matrix U.
-          If COMPU = 'N' this array is not referenced.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.
-          LDU2 &gt;= 1,           if COMPU = 'N';
-          LDU2 &gt;= MAX(1, N/2), if COMPU = 'I' or COMPU = 'U'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bT.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bT.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) = -ALPHAI(j).
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bT.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bT, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
-          the pencil, every eigenvalue occurs twice and thus it has
-          only to be saved once in ALPHAR, ALPHAI and BETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          On exit, if INFO = 3, IWORK(1) contains the number of
-          (pairs of) possibly inaccurate eigenvalues, q &lt;= N/2, and
-          IWORK(2), ..., IWORK(q+1) indicate their indices.
-          Specifically, a positive value is an index of a real or
-          purely imaginary eigenvalue, corresponding to a 1-by-1
-          block, while the absolute value of a negative entry in
-          IWORK is an index to the first eigenvalue in a pair of
-          consecutively stored eigenvalues, corresponding to a
-          2-by-2 block. A 2-by-2 block may have two complex, two
-          real, two purely imaginary, or one real and one purely
-          imaginary eigenvalue.
-          For i = q+2, ..., 2*q+1, IWORK(i) contains a pointer to
-          the starting location in DWORK of the i-th triplet of
-          1-by-1 blocks, if IWORK(i-q) &gt; 0, or 2-by-2 blocks,
-          if IWORK(i-q) &lt; 0, defining unreliable eigenvalues.
-          IWORK(2*q+2) contains the number of the 1-by-1 blocks, and
-          IWORK(2*q+3) contains the number of the 2-by-2 blocks,
-          corresponding to unreliable eigenvalues. IWORK(2*q+4)
-          contains the total number t of the 2-by-2 blocks.
-          If INFO = 0, then q = 0, therefore IWORK(1) = 0.
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.  LIWORK &gt;= N+9.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 3, DWORK(1) returns the
-          optimal LDWORK, and DWORK(2), ..., DWORK(4) contain the
-          Frobenius norms of the factors of the formal matrix
-          product used by the algorithm. In addition, DWORK(5), ...,
-          DWORK(4+3*s) contain the s triplet values corresponding
-          to the 1-by-1 blocks. Their eigenvalues are real or purely
-          imaginary. Such an eigenvalue is obtained as a1/a2/a3,
-          where a1, ..., a3 are the corresponding triplet values.
-          Moreover, DWORK(5+3*s), ..., DWORK(4+3*s+12*t) contain the
-          t groups of triplet 2-by-2 matrices corresponding to the
-          2-by-2 blocks. Their eigenvalue pairs are either complex,
-          or placed on the real and imaginary axes. Such an
-          eigenvalue pair is the spectrum of the matrix product
-          A1*inv(A2)*inv(A3), where A1, ..., A3 define the
-          corresponding 2-by-2 matrix triplet.
-          On exit, if INFO = -23, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'E' and COMPQ = 'N' and COMPU = 'N',
-                LDWORK &gt;= 3/4*N**2+MAX(3*N, 27);
-          else, LDWORK &gt;= 3/2*N**2+MAX(3*N, 27).
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: problem during computation of the eigenvalues;
-          = 2: periodic QZ algorithm did not converge in the SLICOT
-               Library subroutine MB03BD;
-          = 3: some eigenvalues might be inaccurate, and details can
-               be found in IWORK and DWORK. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in Z and T such that Z is in a special block
-  triangular form and T is in skew-Hamiltonian Hessenberg form:
-
-      (  Z11  Z12  )      (  B1  F1  )
-  Z = (            ), T = (          ),
-      (   0   Z22  )      (   0  B1' )
-
-  with Z11 and Z22' upper triangular and B1 upper Hessenberg.
-  Subsequently, the periodic QZ algorithm is applied to the pencil
-  aZ22' Z11 - bB1 to determine orthogonal matrices Q1, Q2 and U such
-  that U' Z11 Q1, Q2' Z22' U are upper triangular and Q2' B1 Q1 is
-  upper quasi-triangular. See also page 35 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 60 )
-      INTEGER            LDB, LDFG, LDQ, LDU1, LDU2, LDWORK, LDZ,
-     $                   LIWORK
-      PARAMETER          ( LDB = NMAX/2, LDFG = NMAX/2,
-     $                     LDQ = NMAX,   LDU1 = NMAX/2, LDU2 = NMAX/2,
-     $                     LDWORK = 3*NMAX**2/2 + MAX( NMAX, 24 ) + 3,
-     $                     LDZ = NMAX, LIWORK = NMAX + 9 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, COMPU, JOB
-      INTEGER            I, INFO, J, N
-*
-*     .. Local Arrays ..
-      INTEGER            IWORK( LIWORK )
-      DOUBLE PRECISION   ALPHAI( NMAX/2 ),   ALPHAR( NMAX/2 ),
-     $                   B( LDB, NMAX/2 ),     BETA( NMAX/2 ),
-     $                   DWORK( LDWORK ),  FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, NMAX ),   U1( LDU1, NMAX/2 ),
-     $                   U2( LDU2, NMAX/2 ), Z( LDZ, NMAX )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04ED
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MAX, MOD
-*
-*     .. Executable statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*
-*     Skip first line in data file.
-*
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, COMPU, N
-      READ( NIN, FMT = * ) ( (  Z( I, J ), J = 1, N ),     I = 1, N )
-      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      IF( LSAME( COMPU, 'U' ) ) THEN
-         READ( NIN, FMT = * ) ( ( U1( I, J ), J = 1, N/2 ), I = 1, N/2 )
-         READ( NIN, FMT = * ) ( ( U2( I, J ), J = 1, N/2 ), I = 1, N/2 )
-      END IF
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-*
-*        Test of MB04ED.
-*
-         CALL MB04ED( JOB, COMPQ, COMPU, N, Z, LDZ, B, LDB, FG, LDFG, Q,
-     $                LDQ, U1, LDU1, U2, LDU2, ALPHAR, ALPHAI, BETA,
-     $                IWORK, LIWORK, DWORK, LDWORK, INFO )
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Z(I,J), J = 1, N )
-   10       CONTINUE
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( B(I,J), J = 1, N/2 )
-   20       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            DO 30 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( FG(I,J), J = 1, N/2+1 )
-   30       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99991 )
-            DO 40 I = 1, N
-               WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
-   40       CONTINUE
-            IF ( .NOT.LSAME( COMPU, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99990 )
-               DO 50 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( U1( I, J ), J = 1, N/2 )
-   50          CONTINUE
-               WRITE( NOUT, FMT = 99989 )
-               DO 60 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( U2( I, J ), J = 1, N/2 )
-   60          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( 'MB04ED EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04ED = ', I2 )
-99996 FORMAT (/' The transformed matrix Z is' )
-99995 FORMAT ( 60( 1X, F8.4 ) )
-99994 FORMAT (/' The transformed matrix B is' )
-99993 FORMAT (/' The transformed matrix FG is' )
-99992 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
-     $       )
-99991 FORMAT (/' The matrix Q is ' )
-99990 FORMAT (/' The upper left block of the matrix U is ' )
-99989 FORMAT (/' The upper right block of the matrix U is ' )
-      END
- 
- 
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04ED EXAMPLE PROGRAM DATA
-   T   I   I   8
-   0.0949    3.3613   -4.7663   -0.5534    0.6408   -3.2793    3.4253    2.9654
-   0.1138   -1.5903    2.1837   -4.1648   -4.3775   -1.7454    0.1744    2.3262
-   2.7505    4.4048    4.4183    3.0478    2.7728    2.3048   -0.6451   -1.2045
-   3.6091   -4.1716    3.4461    3.6880   -0.0985    3.8458    0.2528   -1.3859
-   0.4352   -3.2829    3.7246    0.4794   -0.3690   -1.5562   -3.4817   -2.2902
-   1.3080   -3.9881   -3.5497    3.5020    2.2582    4.4764   -4.4080   -1.6818
-   1.1308   -1.5087    2.4730    2.1553   -1.7129   -4.8669   -2.4102    4.2274
-   4.7933   -4.3671   -0.0473   -2.0092    1.2439   -4.7385    3.4242   -0.2764
-   2.0936    1.5510    4.5974    2.5127
-   2.5469   -3.3739   -1.5961   -2.4490
-  -2.2397   -3.8100    0.8527    0.0596
-   1.7970   -0.0164   -2.7619    1.9908
-   1.0000    2.0000   -4.0500    1.3353    0.2899
-  -0.4318    2.0000    2.0000   -2.9860   -0.0160
-   1.0241    0.9469    2.0000    2.0000    1.3303
-   0.0946   -0.1272   -4.4003    2.0000    2.0000
- 
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04ED EXAMPLE PROGRAM RESULTS
-
- The transformed matrix Z is
-  -2.5678  -2.9888   0.4304  -2.8719   2.7331   1.3072   1.7565   2.8246
-   0.0000  -3.8520  -6.0992   6.2935  -3.0386  -5.5317  -1.2189   3.9973
-   0.0000   0.0000   4.4560   4.4602   0.6080  -4.4326   3.7959  -0.6297
-   0.0000   0.0000   0.0000   7.0155   1.5557   2.1441   3.6649  -2.3864
-   0.4352  -3.2829   3.7246   0.4794  -5.3205   0.0000   0.0000   0.0000
-   1.3080  -3.9881  -3.5497   3.5020   2.2466   6.9633   0.0000   0.0000
-   1.1308  -1.5087   2.4730   2.1553  -1.7204  -0.8164   8.1468   0.0000
-   4.7933  -4.3671  -0.0473  -2.0092  -3.9547   0.2664   1.0382   5.5977
-
- The transformed matrix B is
-   3.8629  -1.3266   0.1253   2.1882
-   0.0000   3.7258  -3.5913  -2.4583
-   0.0000  -3.6551  -2.5063  -0.8378
-   0.0000   0.0000   0.0000  -6.7384
-
- The transformed matrix FG is
-   1.0000   2.0000  -0.7448  -1.2359  -1.3653
-   0.0158   2.0000   2.0000   3.4030   3.2344
-  -1.1665   2.5791   2.0000   2.0000  -0.4096
-   3.3823  -1.2344   3.9016   2.0000   2.0000
-
- The real, imaginary, and beta parts of eigenvalues are
-   1.1310  -0.0697  -0.0697  -0.6864
-   0.0000   0.6035  -0.6035   0.0000
-   4.0000   4.0000   4.0000   4.0000
-
- The matrix Q is 
-  -0.6042  -0.4139  -0.4742   0.1400  -0.2947   0.3462  -0.0980   0.0534
-  -0.3706   0.1367   0.4442  -0.1381  -0.1210   0.2913   0.7248  -0.0524
-   0.1325  -0.2735  -0.0515  -0.5084  -0.3163  -0.2855   0.1638   0.6619
-   0.2373   0.5514  -0.4988   0.3373  -0.3852  -0.0007   0.3329   0.1339
-   0.4777  -0.4517   0.2739   0.5172  -0.0775   0.3874   0.1088   0.2395
-  -0.0116  -0.4372  -0.1843   0.2474   0.1236  -0.6052   0.4772  -0.3228
-   0.1237  -0.0310  -0.4300  -0.2090   0.7209   0.3408   0.2898   0.1883
-   0.4245  -0.1871  -0.1803  -0.4655  -0.3304   0.2849   0.0623  -0.5843
-
- The upper left block of the matrix U is 
-   0.0154  -0.5058  -0.5272   0.6826
-   0.4829  -0.1519  -0.2921  -0.3491
-   0.4981   0.1532   0.1019   0.1810
-  -0.0188   0.6270  -0.5260   0.0587
-
- The upper right block of the matrix U is 
-   0.0000   0.0000   0.0000   0.0000
-   0.3179  -0.4312  -0.1802  -0.4659
-   0.5644   0.0873   0.4480   0.3979
-  -0.3137  -0.3330   0.3413   0.0239
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04FD.html b/doc/_static/doc/MB04FD.html
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@@ -1,472 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04FD">MB04FD</A></H2>
-<H3>
-Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  skew-Hamiltonian pencil aS - bT with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and T = (        ).                           (1)
-        (  E  A' )         (  G  B' )
-
-  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
-  to the structured Schur form: an orthogonal transformation matrix
-  Q is computed such that
-
-                  (  Aout  Dout  )
-    J Q' J' S Q = (              ), and
-                  (   0    Aout' )
-                                                                 (2)
-                  (  Bout  Fout  )            (  0  I  )
-    J Q' J' T Q = (              ), where J = (        ),
-                  (   0    Bout' )            ( -I  0  )
-
-  Aout is upper triangular, and Bout is upper quasi-triangular. The
-  notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
-  transformation matrix Q will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E':  compute the eigenvalues only; S and T will not
-                  necessarily be put into skew-Hamiltonian
-                  triangular form (2);
-          = 'T':  put S and T into skew-Hamiltonian triangular form
-                  (2), and return the eigenvalues in ALPHAR, ALPHAI
-                  and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the product Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bT to reduce
-                  S and T to the forms in (2), for COMPQ = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bT.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains
-          meaningless elements, except for the diagonal blocks,
-          which are correctly set.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains
-          meaningless elements, except for the diagonal 1-by-1 and
-          2-by-2 blocks, which are correctly set.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix G, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix F.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix F just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and T.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bT.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bT.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bT.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bT, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
-          the pencil, every eigenvalue occurs twice and thus it has
-          only to be saved once in ALPHAR, ALPHAI and BETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N/2+1)
-          On exit, IWORK(1) contains the number of (pairs of)
-          possibly inaccurate eigenvalues, q &lt;= N/2, and the
-          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
-          indices of the possibly inaccurate eigenvalues, as well as
-          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
-          the arrays A and B on exit. The 2-by-2 blocks correspond
-          to negative values in IWORK. One negative value is stored
-          for each such eigenvalue pair. Its modulus indicates the
-          starting index of a 2-by-2 block.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          DWORK(2) and DWORK(3) contain the Frobenius norms of the
-          matrices S and T on entry. These norms are used in the
-          tests to decide that some eigenvalues are considered as
-          unreliable.
-          On exit, if INFO = -19, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(3,N/2),        if JOB = 'E' and COMPQ = 'N';
-          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
-          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the LAPACK Library routine
-               DHGEQZ. (QZ iteration did not converge or computation
-               of the shifts failed.)
-          = 2: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S and T such that S is in skew-Hamiltonian
-  triangular form and T is in skew-Hamiltonian Hessenberg form:
-
-      (  A1  D1  )      (  B1  F1  )
-  S = (          ), T = (          ),
-      (   0  A1' )      (   0  B1' )
-
-  where A1 is upper triangular and B1 is upper Hessenberg.
-  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
-  to determine orthogonal matrices Q1 and Q2 such that
-  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
-  triangular.
-  See also page 40 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  real floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER            NIN, NOUT
-      PARAMETER          ( NIN = 5, NOUT = 6 )
-      INTEGER            NMAX
-      PARAMETER          ( NMAX = 50 )
-      INTEGER            LDA, LDB, LDDE, LDFG, LDQ, LDWORK
-      PARAMETER          ( LDA  = NMAX/2, LDB = NMAX/2, LDDE = NMAX/2,
-     $                     LDFG = NMAX/2, LDQ = NMAX, LDWORK =
-     $                     3*NMAX*NMAX/4 )
-*
-*     .. Local Scalars ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            I, INFO, J, N
-*
-*     .. Local Arrays ..
-      DOUBLE PRECISION   A( LDA, NMAX/2 ),  ALPHAI( NMAX/2 ),
-     $                   ALPHAR( NMAX/2 ),  B( LDB, NMAX/2 ),
-     $                   BETA( NMAX/2 ),  DE( LDDE, NMAX/2+1 ),
-     $                   DWORK( LDWORK ), FG( LDFG, NMAX/2+1 ),
-     $                   Q( LDQ, NMAX )
-      INTEGER            IWORK( NMAX/2+1 )
-*
-*     .. External Functions ..
-      LOGICAL            LSAME
-      EXTERNAL           LSAME
-*
-*     .. External Subroutines ..
-      EXTERNAL           MB04FD
-*
-*     .. Intrinsic Functions ..
-      INTRINSIC          MOD
-*
-*     .. Executable statements ..
-*
-      WRITE( NOUT, FMT = 99999 )
-*
-*     Skip first line in data file.
-*
-      READ( NIN, FMT = * )
-      READ( NIN, FMT = * ) JOB, COMPQ, N
-      READ( NIN, FMT = * ) ( (  A( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( DE( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      READ( NIN, FMT = * ) ( (  B( I, J ), J = 1, N/2 ),   I = 1, N/2 )
-      READ( NIN, FMT = * ) ( ( FG( I, J ), J = 1, N/2+1 ), I = 1, N/2 )
-      IF( LSAME( COMPQ, 'U' ) )
-     $   READ( NIN, FMT = * ) ( ( Q( I, J ), J = 1, N ), I = 1, N )
-      IF( N.LT.0 .OR. N.GT.NMAX .OR. MOD( N, 2 ).NE.0 ) THEN
-         WRITE( NOUT, FMT = 99998 ) N
-      ELSE
-*
-*        Test of MB04FD.
-*
-         CALL MB04FD( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG, LDFG,
-     $                Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK, DWORK,
-     $                LDWORK, INFO )
-         IF( INFO.NE.0 ) THEN
-            WRITE( NOUT, FMT = 99997 ) INFO
-         ELSE
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99996 )
-               DO 10 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( A( I, J ), J = 1, N/2 )
-   10          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99994 )
-            DO 20 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( DE( I, J ), J = 1, N/2+1 )
-   20       CONTINUE
-            IF( LSAME( JOB, 'T' ) ) THEN
-               WRITE( NOUT, FMT = 99993 )
-               DO 30 I = 1, N/2
-                  WRITE( NOUT, FMT = 99995 ) ( B( I, J ), J = 1, N/2 )
-   30          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99992 )
-            DO 40 I = 1, N/2
-               WRITE( NOUT, FMT = 99995 ) ( FG( I, J ), J = 1, N/2+1 )
-   40       CONTINUE
-            IF( .NOT.LSAME( COMPQ, 'N' ) ) THEN
-               WRITE( NOUT, FMT = 99991 )
-               DO 50 I = 1, N
-                  WRITE( NOUT, FMT = 99995 ) ( Q( I, J ), J = 1, N )
-   50          CONTINUE
-            END IF
-            WRITE( NOUT, FMT = 99990 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAR(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) ( ALPHAI(I), I = 1, N/2 )
-            WRITE( NOUT, FMT = 99995 ) (   BETA(I), I = 1, N/2 )
-         END IF
-      END IF
-      STOP
-99999 FORMAT ( 'MB04FD EXAMPLE PROGRAM RESULTS', 1X )
-99998 FORMAT ( 'N is out of range.', /, 'N = ', I5 )
-99997 FORMAT ( 'INFO on exit from MB04FD = ', I2 )
-99996 FORMAT (/' The transformed matrix A is' )
-99995 FORMAT ( 51( 1X, F8.4 ) )
-99994 FORMAT (/' The transformed matrix DE is' )
-99993 FORMAT (/' The transformed matrix B is' )
-99992 FORMAT (/' The transformed matrix FG is' )
-99991 FORMAT (/' The transformed matrix Q is ' )
-99990 FORMAT (/' The real, imaginary, and beta parts of eigenvalues are'
-     $       )
-      END
- 
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04FD EXAMPLE PROGRAM DATA
-   T   I  8
-    0.8147    0.6323    0.9575    0.9571
-    0.9057    0.0975    0.9648    0.4853
-    0.1269    0.2784    0.1576    0.8002
-    0.9133    0.5468    0.9705    0.1418
-    0.4217    0.6557    0.6787    0.6554    0.2769
-    0.9157    0.0357    0.7577    0.1711    0.0461
-    0.7922    0.8491    0.7431    0.7060    0.0971
-    0.9594    0.9339    0.3922    0.0318    0.8234
-    0.6948    0.4387    0.1868    0.7093
-    0.3170    0.3815    0.4897    0.7546
-    0.9502    0.7655    0.4455    0.2760
-    0.0344    0.7951    0.6463    0.6797
-    0.6550    0.9597    0.7512    0.8909    0.1492
-    0.1626    0.3403    0.2550    0.9592    0.2575
-    0.1189    0.5852    0.5059    0.5472    0.8407
-    0.4983    0.2238    0.6990    0.1386    0.2542
-</PRE>
-<B>Program Results</B>
-<PRE>
-MB04FD EXAMPLE PROGRAM RESULTS
-
- The transformed matrix A is
-   0.0550  -0.3064   0.1543   0.2170
-   0.0000   1.2189   0.3267  -1.3622
-   0.0000   0.0000   0.7734  -0.6215
-   0.0000   0.0000   0.0000   2.5172
-
- The transformed matrix DE is
-   0.4217   0.6557   0.4277  -0.2877  -0.3980
-  -1.5448   0.0357   0.7577  -0.2582  -0.4775
-   0.3220   1.1004   0.7431   0.7060  -1.1102
-   0.3899   0.3463   0.4843   0.0318   0.8234
-
- The transformed matrix B is
-   0.8482  -0.4425  -0.3643   0.8333
-   0.0000  -0.5919  -0.0987  -0.7923
-   0.0000   0.0000   1.1021   0.1926
-   0.0000   0.0000   0.0000   1.9788
-
- The transformed matrix FG is
-   0.6550   0.9597   0.3266  -0.6059  -0.9618
-  -0.3151   0.3403   0.2550  -0.4771  -0.3005
-   0.1987  -0.0141   0.5059   0.5472  -0.4172
-   0.7914   0.0371   0.0000   0.1386   0.2542
-
- The transformed matrix Q is 
-   0.0762   0.7824  -0.2771  -0.5526   0.0000   0.0000   0.0000   0.0000
-   0.1786  -0.2450   0.4261  -0.5360   0.1843  -0.5857   0.2437  -0.0522
-  -0.2452   0.1425   0.4831  -0.0742  -0.1834  -0.0856  -0.6529   0.4620
-  -0.2123  -0.3870  -0.6431  -0.2548   0.3061  -0.1791  -0.2518   0.3707
-  -0.4085   0.0154   0.0784  -0.0738   0.3908   0.0160  -0.3950  -0.7157
-   0.6418  -0.2868   0.0258  -0.3305  -0.0286   0.4768  -0.3901  -0.1253
-  -0.0077  -0.1340  -0.2740  -0.0534  -0.7708  -0.3910  -0.1981  -0.3432
-  -0.5275  -0.2394   0.1131  -0.4684  -0.3018   0.4869   0.3216   0.0252
-
- The real, imaginary, and beta parts of eigenvalues are
-   0.8482  -0.5919   1.1021   1.9788
-   0.0000   0.0000   0.0000   0.0000
-   0.0550   1.2189   0.7734   2.5172
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04FP.html b/doc/_static/doc/MB04FP.html
deleted file mode 100644
index c8b75f5d..00000000
--- a/doc/_static/doc/MB04FP.html
+++ /dev/null
@@ -1,314 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04FP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04FP">MB04FP</A></H2>
-<H3>
-Eigenvalues and orthogonal decomposition of a real skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a real N-by-N skew-Hamiltonian/
-  skew-Hamiltonian pencil aS - bT with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and T = (        ).                           (1)
-        (  E  A' )         (  G  B' )
-
-  Optionally, if JOB = 'T', the pencil aS - bT will be transformed
-  to the structured Schur form: an orthogonal transformation matrix
-  Q is computed such that
-
-                  (  Aout  Dout  )
-    J Q' J' S Q = (              ), and
-                  (   0    Aout' )
-                                                                 (2)
-                  (  Bout  Fout  )            (  0  I  )
-    J Q' J' T Q = (              ), where J = (        ),
-                  (   0    Bout' )            ( -I  0  )
-
-  Aout is upper triangular, and Bout is upper quasi-triangular. The
-  notation M' denotes the transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the orthogonal
-  transformation matrix Q will be computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04FP( JOB, COMPQ, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, Q, LDQ, ALPHAR, ALPHAI, BETA, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, JOB
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), ALPHAI( * ), ALPHAR( * ),
-     $                   B( LDB, * ), BETA( * ), DE( LDDE, * ),
-     $                   DWORK( * ), FG( LDFG, * ), Q( LDQ, * )
-      INTEGER            IWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'E':  compute the eigenvalues only; S and T will not
-                  necessarily be put into skew-Hamiltonian
-                  triangular form (2);
-          = 'T':  put S and T into skew-Hamiltonian triangular form
-                  (2), and return the eigenvalues in ALPHAR, ALPHAI
-                  and BETA.
-
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q is returned;
-          = 'U':  the array Q contains an orthogonal matrix Q0 on
-                  entry, and the product Q0*Q is returned, where Q
-                  is the product of the orthogonal transformations
-                  that are applied to the pencil aS - bT to reduce
-                  S and T to the forms in (2), for COMPQ = 'I'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bT.  N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                         (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Aout; otherwise, it contains
-          meaningless elements, except for the diagonal blocks,
-          which are correctly set.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  DE      (input/output) DOUBLE PRECISION array, dimension
-                         (LDDE, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix E, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix D.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Dout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix D just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.
-          LDDE &gt;= MAX(1, N/2).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                         (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 part of this
-          array contains the matrix Bout; otherwise, it contains
-          meaningless elements, except for the diagonal 1-by-1 and
-          2-by-2 blocks, which are correctly set.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  FG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDFG, N/2+1)
-          On entry, the leading N/2-by-N/2 strictly lower triangular
-          part of this array must contain the strictly lower
-          triangular part of the skew-symmetric matrix G, and the
-          N/2-by-N/2 strictly upper triangular part of the submatrix
-          in the columns 2 to N/2+1 of this array must contain the
-          strictly upper triangular part of the skew-symmetric
-          matrix F.
-          The entries on the diagonal and the first superdiagonal of
-          this array are not referenced, but are assumed to be zero.
-          On exit, if JOB = 'T', the leading N/2-by-N/2 strictly
-          upper triangular part of the submatrix in the columns
-          2 to N/2+1 of this array contains the strictly upper
-          triangular part of the skew-symmetric matrix Fout.
-          If JOB = 'E', the leading N/2-by-N/2 strictly upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array contains the strictly upper triangular part
-          of the skew-symmetric matrix F just before the application
-          of the QZ algorithm. The remaining entries are
-          meaningless.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.
-          LDFG &gt;= MAX(1, N/2).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and T.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N/2)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bT.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N/2)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bT.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real; if
-          positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N/2)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bT.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bT, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-          Due to the skew-Hamiltonian/skew-Hamiltonian structure of
-          the pencil, every eigenvalue occurs twice and thus it has
-          only to be saved once in ALPHAR, ALPHAI and BETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N/2+1)
-          On exit, IWORK(1) contains the number of (pairs of)
-          possibly inaccurate eigenvalues, q &lt;= N/2, and the
-          nonzero absolute values in IWORK(2), ..., IWORK(N/2+1) are
-          indices of the possibly inaccurate eigenvalues, as well as
-          of the corresponding 1-by-1 or 2-by-2 diagonal blocks in
-          the arrays A and B on exit. The 2-by-2 blocks correspond
-          to negative values in IWORK. One negative value is stored
-          for each such eigenvalue pair. Its modulus indicates the
-          starting index of a 2-by-2 block.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK;
-          DWORK(2) and DWORK(3) contain the Frobenius norms of the
-          matrices S and T on entry. These norms are used in the
-          tests to decide that some eigenvalues are considered as
-          unreliable.
-          On exit, if INFO = -19, DWORK(1) returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(3,N/2,2*N-6),  if JOB = 'E' and COMPQ = 'N';
-          LDWORK &gt;= MAX(3,N**2/4+N/2), if JOB = 'T' and COMPQ = 'N';
-          LDWORK &gt;= MAX(1,3*N**2/4),   if               COMPQ&lt;&gt; 'N'.
-          For good performance LDWORK should generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the LAPACK Library routine
-               DHGEQZ. (QZ iteration did not converge or computation
-               of the shifts failed.)
-          = 2: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses Givens rotations and Householder reflections to
-  annihilate elements in S and T such that S is in skew-Hamiltonian
-  triangular form and T is in skew-Hamiltonian Hessenberg form:
-
-      (  A1  D1  )      (  B1  F1  )
-  S = (          ), T = (          ),
-      (   0  A1' )      (   0  B1' )
-
-  where A1 is upper triangular and B1 is upper Hessenberg.
-  Subsequently, the QZ algorithm is applied to the pencil aA1 - bB1
-  to determine orthogonal matrices Q1 and Q2 such that
-  Q2' A1 Q1 is upper triangular and Q2' B1 Q1 is upper quasi-
-  triangular.
-  See also page 40 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  real floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations
-  for reducing T on panels of columns. The user may specify in INFO
-  the desired number of columns. If on entry INFO &lt;= 0, then the
-  routine estimates a suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04GD.html b/doc/_static/doc/MB04GD.html
deleted file mode 100644
index c649241f..00000000
--- a/doc/_static/doc/MB04GD.html
+++ /dev/null
@@ -1,232 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04GD">MB04GD</A></H2>
-<H3>
-RQ factorization with row pivoting of a matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an RQ factorization with row pivoting of a
-  real m-by-n matrix A: P*A = R*Q.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the m-by-n matrix A.
-          On exit,
-          if m &lt;= n, the upper triangle of the subarray
-          A(1:m,n-m+1:n) contains the m-by-m upper triangular
-          matrix R;
-          if m &gt;= n, the elements on and above the (m-n)-th
-          subdiagonal contain the m-by-n upper trapezoidal matrix R;
-          the remaining elements, with the array TAU, represent the
-          orthogonal matrix Q as a product of min(m,n) elementary
-          reflectors (see METHOD).
-
-  LDA     INTEGER
-          The leading dimension of the array A. LDA &gt;= max(1,M).
-
-  JPVT    (input/output) INTEGER array, dimension (M)
-          On entry, if JPVT(i) .ne. 0, the i-th row of A is permuted
-          to the bottom of P*A (a trailing row); if JPVT(i) = 0,
-          the i-th row of A is a free row.
-          On exit, if JPVT(i) = k, then the i-th row of P*A
-          was the k-th row of A.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
-          The scalar factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; v(1:n-k+i-1) is stored on exit
-  in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = MMAX )
-      INTEGER          LDTAU
-      PARAMETER        ( LDTAU = MIN(MMAX,NMAX) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), TAU(LDTAU)
-      INTEGER          JPVT(MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DLASET, MB04GD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99972 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99971 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-            READ ( NIN, FMT = * ) ( JPVT(I), I = 1,M )
-*           RQ with row pivoting.
-            CALL MB04GD( M, N, A, LDA, JPVT, TAU, DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99994 ) ( JPVT(I), I = 1,M )
-               WRITE ( NOUT, FMT = 99990 )
-               IF ( M.GE.N ) THEN
-                  IF ( N.GT.1 )
-     $               CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
-     $                            A(M-N+2,1), LDA )
-                ELSE
-                   CALL DLASET( 'Full', M, N-M-1, ZERO, ZERO, A, LDA )
-                   CALL DLASET( 'Lower', M, M, ZERO, ZERO, A(1,N-M),
-     $                          LDA )
-               END IF
-               DO 20 I = 1, M
-                  WRITE ( NOUT, FMT = 99989 ) ( A(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB04GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04GD = ',I2)
-99994 FORMAT (' Row permutations are ',/(20(I3,2X)))
-99990 FORMAT (/' The matrix A is ')
-99989 FORMAT (20(1X,F8.4))
-99972 FORMAT (/' N is out of range.',/' N = ',I5)
-99971 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04GD EXAMPLE PROGRAM DATA
-   6     5 
-   1.    2.    6.    3.    5.
-  -2.   -1.   -1.    0.   -2.
-   5.    5.    1.    5.    1.
-  -2.   -1.   -1.    0.   -2.
-   4.    8.    4.   20.    4.
-  -2.   -1.   -1.    0.   -2.
-   0     0     0     0     0     0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04GD EXAMPLE PROGRAM RESULTS
-
- Row permutations are 
-  2    4    6    3    1    5
-
- The matrix A is 
-   0.0000  -1.0517  -1.8646  -1.9712   1.2374
-   0.0000  -1.0517  -1.8646  -1.9712   1.2374
-   0.0000  -1.0517  -1.8646  -1.9712   1.2374
-   0.0000   0.0000   4.6768   0.0466  -7.4246
-   0.0000   0.0000   0.0000   6.7059  -5.4801
-   0.0000   0.0000   0.0000   0.0000 -22.6274
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04HD.html b/doc/_static/doc/MB04HD.html
deleted file mode 100644
index 620254b3..00000000
--- a/doc/_static/doc/MB04HD.html
+++ /dev/null
@@ -1,305 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04HD">MB04HD</A></H2>
-<H3>
-Reducing a special real block (anti-)diagonal skew-Hamiltonian/Hamiltonian pencil to generalized Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transformed matrices A and B, using orthogonal
-  matrices Q1 and Q2 for a real N-by-N regular pencil
-
-                ( A11   0  )     (  0   B12 )
-    aA - bB = a (          ) - b (          ),                   (1)
-                (  0   A22 )     ( B21   0  )
-
-  where A11, A22 and B12 are upper triangular, B21 is upper
-  quasi-triangular and the generalized matrix product
-     -1        -1
-  A11   B12 A22   B21 is in periodic Schur form, such that the
-  matrix Q2' A Q1 is upper triangular, Q2' B Q1 is upper
-  quasi-triangular and the transformed pencil
-  a(Q2' A Q1) - b(Q2' B Q1) is in generalized Schur form. The
-  notation M' denotes the transpose of the matrix M.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04HD( COMPQ1, COMPQ2, N, A, LDA, B, LDB, Q1, LDQ1,
-     $                   Q2, LDQ2, IWORK, LIWORK, DWORK, LDWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ1, COMPQ2
-      INTEGER            INFO, LDA, LDB, LDQ1, LDQ2, LDWORK, LIWORK, N
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   Q1( LDQ1, * ), Q2( LDQ2, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ1  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q1, as follows:
-          = 'N':  Q1 is not computed;
-          = 'I':  the array Q1 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q1 is returned;
-          = 'U':  the array Q1 contains an orthogonal matrix Q01 on
-                  entry, and the matrix Q01*Q1 is returned, where Q1
-                  is the product of the orthogonal transformations
-                  that are applied on the right to the pencil
-                  aA - bB in (1).
-
-  COMPQ2  CHARACTER*1
-          Specifies whether to compute the orthogonal transformation
-          matrix Q2, as follows:
-          = 'N':  Q2 is not computed;
-          = 'I':  the array Q2 is initialized internally to the unit
-                  matrix, and the orthogonal matrix Q2 is returned;
-          = 'U':  the array Q2 contains an orthogonal matrix Q02 on
-                  entry, and the matrix Q02*Q2 is returned, where Q2
-                  is the product of the orthogonal transformations
-                  that are applied on the left to the pencil aA - bB
-                  in (1).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          Order of the pencil aA - bB, N &gt;= 0, even.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA, N)
-          On entry, the leading N-by-N block diagonal part of this
-          array must contain the matrix A in (1). The off-diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper triangular matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB, N)
-          On entry, the leading N-by-N block anti-diagonal part of
-          this array must contain the matrix B in (1). The diagonal
-          blocks need not be set to zero.
-          On exit, the leading N-by-N part of this array contains
-          the transformed upper quasi-triangular matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1, N)
-          On entry, if COMPQ1 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q01, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q01 and the transformation matrix Q1
-          used to transform the matrices A and B.
-          On exit, if COMPQ1 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q1.
-          If COMPQ1 = 'N' this array is not referenced.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= 1,         if COMPQ1 = 'N';
-          LDQ1 &gt;= MAX(1, N), if COMPQ1 = 'I' or COMPQ1 = 'U'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2, N)
-          On entry, if COMPQ2 = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q02, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q02 and the transformation matrix Q2
-          used to transform the matrices A and B.
-          On exit, if COMPQ2 = 'I', then the leading N-by-N part of
-          this array contains the orthogonal transformation matrix
-          Q2.
-          If COMPQ2 = 'N' this array is not referenced.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= 1,         if COMPQ2 = 'N';
-          LDQ2 &gt;= MAX(1, N), if COMPQ2 = 'I' or COMPQ2 = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= MAX( N/2+1, 32 ).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -16, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 2*N*N + MAX( N/2 + 168, 272 ).
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1  a workspace query is assumed; the 
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA. 
-
-  BWORK   LOGICAL array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the periodic QZ algorithm failed to reorder the
-               eigenvalues (the problem is very ill-conditioned) in
-               the SLICOT Library routine MB03KD;
-          = 2: the standard QZ algorithm failed in the LAPACK
-               routines DGGES or DHGEQZ, called by the SLICOT
-               routines MB03DD or MB03FD;
-          = 3: the eigenvalue reordering failed in the LAPACK
-               routine DTGEX2, called by the SLICOT routine MB03FD;
-          = 4: the standard QZ algorithm failed to reorder the
-               eigenvalues in the LAPACK routine DTGSEN, called by
-               the SLICOT routine MB03DD.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the periodic QZ algorithm (see also [2] and [3]) is applied
-                                  -1        -1
-  to the formal matrix product A11   B12 A22   B21 to reorder the
-  eigenvalues, i.e., orthogonal matrices V1, V2, V3 and V4 are
-  computed such that V2' A11 V1, V2' B12 V3, V4' A22 V3 and
-  V4' B21 V1 keep the triangular form, but they can be partitioned
-  into 2-by-2 block forms and the last diagonal blocks correspond to
-  all nonpositive real eigenvalues of the formal product, and the
-  first diagonal blocks correspond to the remaining eigenvalues.
-
-  Second, Q1 = diag(V1, V3), Q2 = diag(V2, V4) and
-
-                   ( AA11 AA12   0    0  )
-                   (                     )
-                   (   0  AA22   0    0  )
-  A := Q2' A Q1 =: (                     ),
-                   (   0    0  AA33 AA34 )
-                   (                     )
-                   (   0    0    0  AA44 )
-
-                   (   0    0  BB13 BB14 )
-                   (                     )
-                   (   0    0    0  BB24 )
-  B := Q2' B Q1 =: (                     ),
-                   ( BB31 BB32   0    0  )
-                   (                     )
-                   (   0  BB42   0    0  )
-
-                         -1          -1
-  are set, such that AA22   BB24 AA44   BB42 has only nonpositive
-  real eigenvalues.
-
-  Third, the permutation matrix
-
-      (  I  0  0  0  )
-      (              )
-      (  0  0  I  0  )
-  P = (              ),
-      (  0  I  0  0  )
-      (              )
-      (  0  0  0  I  )
-
-  where I denotes the identity matrix of appropriate size, is used
-  to transform aA - bB to block upper triangular form
-
-                ( AA11   0  | AA12   0  )
-                (           |           )
-                (   0  AA33 |   0  AA34 )   ( AA1  *  )
-  A := P' A P = (-----------+-----------) = (         ),
-                (   0    0  | AA22   0  )   (  0  AA2 )
-                (           |           )
-                (   0    0  |   0  AA44 )
-
-                (   0  BB13 |   0  BB14 )
-                (           |           )
-                ( BB31   0  | BB32   0  )   ( BB1  *  )
-  B := P' B P = (-----------+-----------) = (         ).
-                (   0    0  |   0  BB24 )   (  0  BB2 )
-                (           |           )
-                (   0    0  | BB42   0  )
-
-  Then, further orthogonal transformations that are provided by
-  MB03FD and MB03DD are used to triangularize the subpencil
-  aAA1 - bBB1.
-
-  Finally, the subpencil aAA2 - bBB2 is triangularized by applying a
-  special permutation matrix.
-
-  See also page 31 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Losse, P., Mehrmann, V. and Xu, H.
-      Numerical Solution of Real Skew-Hamiltonian/Hamiltonian
-      Eigenproblems.
-      Tech. Rep., Technical University Chemnitz, Germany,
-      Nov. 2007.
-
-  [2] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
-      The periodic Schur decomposition: algorithms and applications.
-      In F.T. Luk (editor), Advanced Signal Processing Algorithms,
-      Architectures, and Implementations III, Proc. SPIE Conference,
-      vol. 1770, pp. 31-42, 1992.
-
-  [3] Hench, J. J. and Laub, A. J.
-      Numerical Solution of the discrete-time periodic Riccati
-      equation. IEEE Trans. Automat. Control, 39, 1197-1210, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N ) real
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04ID.html b/doc/_static/doc/MB04ID.html
deleted file mode 100644
index baa29bbf..00000000
--- a/doc/_static/doc/MB04ID.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ID">MB04ID</A></H2>
-<H3>
-QR factorization of a matrix with a lower left-hand side zero triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
-  having a p-by-min(p,m) zero triangle in the lower left-hand side
-  corner, as shown below, for n = 8, m = 7, and p = 2:
-
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-     A = [ x x x x x x x ],
-         [ x x x x x x x ]
-         [ 0 x x x x x x ]
-         [ 0 0 x x x x x ]
-
-  and optionally apply the transformations to an n-by-l matrix B
-  (from the left). The problem structure is exploited. This
-  computation is useful, for instance, in combined measurement and
-  time update of one iteration of the time-invariant Kalman filter
-  (square root information filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ID( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix A.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The order of the zero triagle.  P &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns of the matrix B.  L &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A. The elements corresponding to the
-          zero P-by-MIN(P,M) lower trapezoidal/triangular part
-          (if P &gt; 0) are not referenced.
-          On exit, the elements on and above the diagonal of this
-          array contain the MIN(N,M)-by-M upper trapezoidal matrix
-          R (R is upper triangular, if N &gt;= M) of the QR
-          factorization, and the relevant elements below the
-          diagonal contain the trailing components (the vectors v,
-          see Method) of the elementary reflectors used in the
-          factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,L)
-          On entry, the leading N-by-L part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-L part of this array contains
-          the updated matrix B.
-          If L = 0, this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if L &gt; 0;
-          LDB &gt;= 1        if L = 0.
-
-  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,M-1,M-P,L).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses min(N,M) Householder transformations exploiting
-  the zero pattern of the matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an (N-P+I-2)-vector.  The components of v  are stored
-         i                                             i
-  in the i-th column of A, beginning from the location i+1, and
-  tau  is stored in TAU(i).
-     i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04IY.html b/doc/_static/doc/MB04IY.html
deleted file mode 100644
index 8efa1a98..00000000
--- a/doc/_static/doc/MB04IY.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04IY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04IY">MB04IY</A></H2>
-<H3>
-Applying the product of elementary reflectors used for QR factorization of a matrix having a lower left zero triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To overwrite the real n-by-m matrix  C  with  Q' * C,  Q * C,
-  C * Q',  or  C * Q,  according to the following table
-
-                  SIDE = 'L'     SIDE = 'R'
-  TRANS = 'N':      Q * C          C * Q
-  TRANS = 'T':      Q'* C          C * Q'
-
-  where  Q  is a real orthogonal matrix defined as the product of
-  k elementary reflectors
-
-     Q = H(1) H(2) . . . H(k)
-
-  as returned by SLICOT Library routine MB04ID.  Q  is of order n
-  if  SIDE = 'L'  and of order m if  SIDE = 'R'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04IY( SIDE, TRANS, N, M, K, P, A, LDA, TAU, C, LDC,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, K, LDA, LDC, LDWORK, M, N, P
-      CHARACTER          SIDE, TRANS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ), TAU( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Specify if  Q  or  Q'  is applied from the left or right,
-          as follows:
-          = 'L':  apply  Q  or  Q'  from the left;
-          = 'R':  apply  Q  or  Q'  from the right.
-
-  TRANS   CHARACTER*1
-          Specify if  Q  or  Q'  is to be applied, as follows:
-          = 'N':  apply  Q   (No transpose);
-          = 'T':  apply  Q'  (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix C.  M &gt;= 0.
-
-  K       (input) INTEGER
-          The number of elementary reflectors whose product defines
-          the matrix Q.
-          N &gt;= K &gt;= 0,  if  SIDE = 'L';
-          M &gt;= K &gt;= 0,  if  SIDE = 'R'.
-
-  P       (input) INTEGER
-          The order of the zero triagle (or the number of rows of
-          the zero trapezoid) in the matrix triangularized by SLICOT
-          Library routine MB04ID.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,K)
-          On input, the elements in the rows  i+1:min(n,n-p-1+i)  of
-          the  i-th  column, and  TAU(i),  represent the orthogonal
-          reflector  H(i),  so that matrix  Q  is the product of
-          elementary reflectors:  Q = H(1) H(2) . . . H(k).
-          A is modified by the routine but restored on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array  A.
-          LDA &gt;= max(1,N),  if  SIDE = 'L';
-          LDA &gt;= max(1,M),  if  SIDE = 'R'.
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          The scalar factors of the elementary reflectors.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix  C.
-          On exit, the leading N-by-M part of this array contains
-          the updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array  C.  LDC &gt;= max(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,M),  if  SIDE = 'L';
-          LDWORK &gt;= MAX(1,N),  if  SIDE = 'R'.
-          For optimum performance LDWORK &gt;= M*NB if SIDE = 'L',
-          or LDWORK &gt;= N*NB if SIDE = 'R', where NB is the optimal
-          block size.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If  SIDE = 'L',  each elementary reflector  H(i)  modifies
-  n-p  elements of each column of  C,  for  i = 1:p+1,  and
-  n-i+1  elements, for  i = p+2:k.
-  If  SIDE = 'R',  each elementary reflector  H(i)  modifies
-  m-p  elements of each row of  C,  for  i = 1:p+1,  and
-  m-i+1  elements, for  i = p+2:k.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented method is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04IZ.html b/doc/_static/doc/MB04IZ.html
deleted file mode 100644
index 77845f86..00000000
--- a/doc/_static/doc/MB04IZ.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04IZ">MB04IZ</A></H2>
-<H3>
-QR factorization of a matrix with a lower left-hand side zero triangle (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a QR factorization of an n-by-m matrix A (A = Q * R),
-  having a p-by-min(p,m) zero triangle in the lower left-hand side
-  corner, as shown below, for n = 8, m = 7, and p = 2:
-
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-     A = [ x x x x x x x ],
-         [ x x x x x x x ]
-         [ 0 x x x x x x ]
-         [ 0 0 x x x x x ]
-
-  and optionally apply the transformations to an n-by-l matrix B
-  (from the left). The problem structure is exploited. This
-  computation is useful, for instance, in combined measurement and
-  time update of one iteration of the time-invariant Kalman filter
-  (square root information filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04IZ( N, M, P, L, A, LDA, B, LDB, TAU, ZWORK, LZWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LZWORK, M, N, P
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(LDB,*), TAU(*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix A.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The order of the zero triagle.  P &gt;= 0.
-
-  L       (input) INTEGER
-          The number of columns of the matrix B.  L &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A. The elements corresponding to the
-          zero P-by-MIN(P,M) lower trapezoidal/triangular part
-          (if P &gt; 0) are not referenced.
-          On exit, the elements on and above the diagonal of this
-          array contain the MIN(N,M)-by-M upper trapezoidal matrix
-          R (R is upper triangular, if N &gt;= M) of the QR
-          factorization, and the relevant elements below the
-          diagonal contain the trailing components (the vectors v,
-          see Method) of the elementary reflectors used in the
-          factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,L)
-          On entry, the leading N-by-L part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-L part of this array contains
-          the updated matrix B.
-          If L = 0, this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if L &gt; 0;
-          LDB &gt;= 1        if L = 0.
-
-  TAU     (output) COMPLEX*16 array, dimension MIN(N,M)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  The length of the array ZWORK.
-          LZWORK &gt;= MAX(1,M-1,M-P,L).
-          For optimum performance LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses min(N,M) Householder transformations exploiting
-  the zero pattern of the matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an (N-P+I-2)-vector.  The components of v  are stored
-         i                                             i
-  in the i-th column of A, beginning from the location i+1, and
-  tau  is stored in TAU(i).
-     i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04JD.html b/doc/_static/doc/MB04JD.html
deleted file mode 100644
index d4b3ec1a..00000000
--- a/doc/_static/doc/MB04JD.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04JD">MB04JD</A></H2>
-<H3>
-LQ factorization of a matrix with an upper right-hand side zero triangle
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an LQ factorization of an n-by-m matrix A (A = L * Q),
-  having a min(n,p)-by-p zero triangle in the upper right-hand side
-  corner, as shown below, for n = 8, m = 7, and p = 2:
-
-         [ x x x x x 0 0 ]
-         [ x x x x x x 0 ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-     A = [ x x x x x x x ],
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-         [ x x x x x x x ]
-
-  and optionally apply the transformations to an l-by-m matrix B
-  (from the right). The problem structure is exploited. This
-  computation is useful, for instance, in combined measurement and
-  time update of one iteration of the time-invariant Kalman filter
-  (square root covariance filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04JD( N, M, P, L, A, LDA, B, LDB, TAU, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, LDB, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix A.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The order of the zero triagle.  P &gt;= 0.
-
-  L       (input) INTEGER
-          The number of rows of the matrix B.  L &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix A. The elements corresponding to the
-          zero MIN(N,P)-by-P upper trapezoidal/triangular part
-          (if P &gt; 0) are not referenced.
-          On exit, the elements on and below the diagonal of this
-          array contain the N-by-MIN(N,M) lower trapezoidal matrix
-          L (L is lower triangular, if N &lt;= M) of the LQ
-          factorization, and the relevant elements above the
-          diagonal contain the trailing components (the vectors v,
-          see Method) of the elementary reflectors used in the
-          factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the updated matrix B.
-          If L = 0, this array is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,L).
-
-  TAU     (output) DOUBLE PRECISION array, dimension MIN(N,M)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N-1,N-P,L).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses min(N,M) Householder transformations exploiting
-  the zero pattern of the matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an (M-P+I-2)-vector.  The components of v  are stored
-         i                                             i
-  in the i-th row of A, beginning from the location i+1, and tau
-                                                                i
-  is stored in TAU(i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04KD.html b/doc/_static/doc/MB04KD.html
deleted file mode 100644
index c3628c8e..00000000
--- a/doc/_static/doc/MB04KD.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04KD">MB04KD</A></H2>
-<H3>
-QR factorization of a special structured block matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a QR factorization of the first block column and
-  apply the orthogonal transformations (from the left) also to the
-  second block column of a structured matrix, as follows
-                       _
-         [ R   0 ]   [ R   C ]
-    Q' * [       ] = [       ]
-         [ A   B ]   [ 0   D ]
-              _
-  where R and R are upper triangular. The matrix A can be full or
-  upper trapezoidal/triangular. The problem structure is exploited.
-  This computation is useful, for instance, in combined measurement
-  and time update of one iteration of the Kalman filter (square
-  root information filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04KD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  R(LDR,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'U':  Matrix A is upper trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices R and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B, C and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices A, B and D.  P &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-                                                     _
-          array contains the upper triangular matrix R.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'F', the leading P-by-N part of this
-          array must contain the matrix A. If UPLO = 'U', the
-          leading MIN(P,N)-by-N part of this array must contain the
-          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
-          and the elements below the diagonal are not referenced.
-          On exit, the leading P-by-N part (upper trapezoidal or
-          triangular, if UPLO = 'U') of this array contains the
-          trailing components (the vectors v, see Method) of the
-          elementary reflectors used in the factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,P).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading P-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading P-by-M part of this array contains
-          the computed matrix D.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,P).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array contains the
-          computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is a P-vector, if UPLO = 'F', or an min(i,P)-vector, if
-         i
-  UPLO = 'U'.  The components of v  are stored in the i-th column
-                                  i
-  of A, and tau  is stored in TAU(i).
-               i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04LD.html b/doc/_static/doc/MB04LD.html
deleted file mode 100644
index 2d7b8f5d..00000000
--- a/doc/_static/doc/MB04LD.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04LD">MB04LD</A></H2>
-<H3>
-LQ factorization of a special structured block matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate an LQ factorization of the first block row and apply
-  the orthogonal transformations (from the right) also to the second
-  block row of a structured matrix, as follows
-                     _
-     [ L   A ]     [ L   0 ]
-     [       ]*Q = [       ]
-     [ 0   B ]     [ C   D ]
-              _
-  where L and L are lower triangular. The matrix A can be full or
-  lower trapezoidal/triangular. The problem structure is exploited.
-  This computation is useful, for instance, in combined measurement
-  and time update of one iteration of the Kalman filter (square
-  root covariance filter).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04LD( UPLO, N, M, P, L, LDL, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDL, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  L(LDL,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'L':  Matrix A is lower trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices L and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices A, B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices B, C and D.  P &gt;= 0.
-
-  L       (input/output) DOUBLE PRECISION array, dimension (LDL,N)
-          On entry, the leading N-by-N lower triangular part of this
-          array must contain the lower triangular matrix L.
-          On exit, the leading N-by-N lower triangular part of this
-                                                     _
-          array contains the lower triangular matrix L.
-          The strict upper triangular part of this array is not
-          referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.  LDL &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, if UPLO = 'F', the leading N-by-M part of this
-          array must contain the matrix A. If UPLO = 'L', the
-          leading N-by-MIN(N,M) part of this array must contain the
-          lower trapezoidal (lower triangular if N &lt;= M) matrix A,
-          and the elements above the diagonal are not referenced.
-          On exit, the leading N-by-M part (lower trapezoidal or
-          triangular, if UPLO = 'L') of this array contains the
-          trailing components (the vectors v, see Method) of the
-          elementary reflectors used in the factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading P-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading P-by-M part of this array contains
-          the computed matrix D.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,P).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 ),
-     H  = I - tau *u *u',    u  = ( v )
-      i          i  i  i      i   (  i)
-
-  where v  is an M-vector, if UPLO = 'F', or an min(i,M)-vector, if
-         i
-  UPLO = 'L'.  The components of v  are stored in the i-th row of A,
-                                  i
-  and tau  is stored in TAU(i).
-         i
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04MD.html b/doc/_static/doc/MB04MD.html
deleted file mode 100644
index e2e703e3..00000000
--- a/doc/_static/doc/MB04MD.html
+++ /dev/null
@@ -1,197 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04MD">MB04MD</A></H2>
-<H3>
-Balancing a general real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the 1-norm of a general real matrix A by balancing.
-  This involves diagonal similarity transformations applied
-  iteratively to A to make the rows and columns as close in norm as
-  possible.
-
-  This routine can be used instead LAPACK Library routine DGEBAL,
-  when no reduction of the 1-norm of the matrix is possible with
-  DGEBAL, as for upper triangular matrices. LAPACK Library routine
-  DGEBAK, with parameters ILO = 1, IHI = N, and JOB = 'S', should
-  be used to apply the backward transformation.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, N
-      DOUBLE PRECISION   MAXRED
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), SCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  MAXRED  (input/output) DOUBLE PRECISION
-          On entry, the maximum allowed reduction in the 1-norm of
-          A (in an iteration) if zero rows or columns are
-          encountered.
-          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
-          the norm reduction).
-          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
-          used.
-          On exit, if the 1-norm of the given matrix A is non-zero,
-          the ratio between the 1-norm of the given matrix and the
-          1-norm of the balanced matrix. Usually, this ratio will be
-          larger than one, but it can sometimes be one, or even less
-          than one (for instance, for some companion matrices).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the input matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to A.  If D(j) is the scaling
-          factor applied to row and column j, then SCALE(j) = D(j),
-          for j = 1,...,N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation inv(D) * A * D to make the 1-norms of each row
-  of A and its corresponding column nearly equal.
-
-  Information about the diagonal matrix D is returned in the vector
-  SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04MD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION MAXRED
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), SCALE(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB04MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, MAXRED
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Balance matrix A.
-         CALL MB04MD( N, MAXRED, A, LDA, SCALE, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) ( SCALE(I), I = 1,N )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04MD = ',I2)
-99997 FORMAT (' The balanced matrix is ')
-99996 FORMAT (20(1X,F10.4))
-99994 FORMAT (/' SCALE is ',/20(1X,F10.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04MD EXAMPLE PROGRAM DATA
-   4    0.0
-   1.0   0.0   0.0   0.0
- 300.0 400.0 500.0 600.0
-   1.0   2.0   0.0   0.0
-   1.0   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04MD EXAMPLE PROGRAM RESULTS
-
- The balanced matrix is 
-     1.0000     0.0000     0.0000     0.0000
-    30.0000   400.0000    50.0000    60.0000
-     1.0000    20.0000     0.0000     0.0000
-     1.0000    10.0000     1.0000     1.0000
-
- SCALE is 
-     1.0000    10.0000     1.0000     1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04ND.html b/doc/_static/doc/MB04ND.html
deleted file mode 100644
index 2f7c8656..00000000
--- a/doc/_static/doc/MB04ND.html
+++ /dev/null
@@ -1,175 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ND">MB04ND</A></H2>
-<H3>
-RQ factorization of a special structured block matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate an RQ factorization of the first block row and
-  apply the orthogonal transformations (from the right) also to the
-  second block row of a structured matrix, as follows
-                           _
-    [ A   R ]        [ 0   R ]
-    [       ] * Q' = [ _   _ ]
-    [ C   B ]        [ C   B ]
-              _
-  where R and R are upper triangular. The matrix A can be full or
-  upper trapezoidal/triangular. The problem structure is exploited.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ND( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  R(LDR,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'U':  Matrix A is upper trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices R and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows of the matrices B and C.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of columns of the matrices A and C.  P &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-                                                     _
-          array contains the upper triangular matrix R.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,P)
-          On entry, if UPLO = 'F', the leading N-by-P part of this
-          array must contain the matrix A. For UPLO = 'U', if
-          N &lt;= P, the upper triangle of the subarray A(1:N,P-N+1:P)
-          must contain the N-by-N upper triangular matrix A, and if
-          N &gt;= P, the elements on and above the (N-P)-th subdiagonal
-          must contain the N-by-P upper trapezoidal matrix A.
-          On exit, if UPLO = 'F', the leading N-by-P part of this
-          array contains the trailing components (the vectors v, see
-          METHOD) of the elementary reflectors used in the
-          factorization. If UPLO = 'U', the upper triangle of the
-          subarray A(1:N,P-N+1:P) (if N &lt;= P), or the elements on
-          and above the (N-P)-th subdiagonal (if N &gt;= P), contain
-          the trailing components (the vectors v, see METHOD) of the
-          elementary reflectors used in the factorization.
-          The remaining elements are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-                              _
-          the computed matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,P)
-          On entry, the leading M-by-P part of this array must
-          contain the matrix C.
-          On exit, the leading M-by-P part of this array contains
-                              _
-          the computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 )
-     H  = I - tau *u *u',    u  = ( v ),
-      i          i  i  i      i   (  i)
-
-  where v  is a P-vector, if UPLO = 'F', or a min(N-i+1,P)-vector,
-         i
-  if UPLO = 'U'.  The components of v  are stored in the i-th row
-                                     i
-  of A, and tau  is stored in TAU(i), i = N,N-1,...,1.
-               i
-  In-line code for applying Householder transformations is used
-  whenever possible (see MB04NY routine).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04NY.html b/doc/_static/doc/MB04NY.html
deleted file mode 100644
index f57683d3..00000000
--- a/doc/_static/doc/MB04NY.html
+++ /dev/null
@@ -1,124 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04NY">MB04NY</A></H2>
-<H3>
-Applying an elementary reflector (using in-line code for a low order) to a matrix C = ( A B ), from the right, where A has one column
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a real elementary reflector H to a real m-by-(n+1)
-  matrix C = [ A  B ], from the right, where A has one column. H is
-  represented in the form
-                                     ( 1 )
-        H = I - tau * u *u',    u  = (   ),
-                                     ( v )
-  where tau is a real scalar and v is a real n-vector.
-
-  If tau = 0, then H is taken to be the unit matrix.
-
-  In-line code is used if H has order &lt; 11.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04NY( M, N, V, INCV, TAU, A, LDA, B, LDB, DWORK )
-C     .. Scalar Arguments ..
-      INTEGER           INCV, LDA, LDB, M, N
-      DOUBLE PRECISION  TAU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices A and B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix B.  N &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-          (1+(N-1)*ABS( INCV ))
-          The vector v in the representation of H.
-
-  INCV    (input) INTEGER
-          The increment between the elements of v.  INCV &lt;&gt; 0.
-
-  TAU     (input) DOUBLE PRECISION
-          The scalar factor of the elementary reflector H.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,1)
-          On entry, the leading M-by-1 part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-1 part of this array contains
-          the updated matrix A (the first column of C * H).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-          the updated matrix B (the last n columns of C * H).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (M)
-          DWORK is not referenced if H has order less than 11.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine applies the elementary reflector H, taking the special
-  structure of C into account.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04OD.html b/doc/_static/doc/MB04OD.html
deleted file mode 100644
index 7d9b325f..00000000
--- a/doc/_static/doc/MB04OD.html
+++ /dev/null
@@ -1,271 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OD">MB04OD</A></H2>
-<H3>
-QR factorization of a special structured block matrix (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate a QR factorization of the first block column and
-  apply the orthogonal transformations (from the left) also to the
-  second block column of a structured matrix, as follows
-                       _   _
-         [ R   B ]   [ R   B ]
-    Q' * [       ] = [     _ ]
-         [ A   C ]   [ 0   C ]
-              _
-  where R and R are upper triangular. The matrix A can be full or
-  upper trapezoidal/triangular. The problem structure is exploited.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C, LDC,
-     $                   TAU, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           LDA, LDB, LDC, LDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  R(LDR,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates if the matrix A is or not triangular as follows:
-          = 'U':  Matrix A is upper trapezoidal/triangular;
-          = 'F':  Matrix A is full.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER                 _
-          The order of the matrices R and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and C.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrices A and C.  P &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-                                                     _
-          array contains the upper triangular matrix R.
-          The strict lower triangular part of this array is not
-          referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if UPLO = 'F', the leading P-by-N part of this
-          array must contain the matrix A. If UPLO = 'U', the
-          leading MIN(P,N)-by-N part of this array must contain the
-          upper trapezoidal (upper triangular if P &gt;= N) matrix A,
-          and the elements below the diagonal are not referenced.
-          On exit, the leading P-by-N part (upper trapezoidal or
-          triangular, if UPLO = 'U') of this array contains the
-          trailing components (the vectors v, see Method) of the
-          elementary reflectors used in the factorization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,P).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-M part of this array contains
-                              _
-          the computed matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading P-by-M part of this array must
-          contain the matrix C.
-          On exit, the leading P-by-M part of this array contains
-                              _
-          the computed matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The scalar factors of the elementary reflectors used.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N-1,M))
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses N Householder transformations exploiting the zero
-  pattern of the block matrix.  A Householder matrix has the form
-
-                                  ( 1 )
-     H  = I - tau *u *u',    u  = ( v ),
-      i          i  i  i      i   (  i)
-
-  where v  is a P-vector, if UPLO = 'F', or a min(i,P)-vector, if
-         i
-  UPLO = 'U'.  The components of v  are stored in the i-th column
-                                  i
-  of A, and tau  is stored in TAU(i).
-               i
-  In-line code for applying Householder transformations is used
-  whenever possible (see MB04OY routine).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04OD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        (ZERO  = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDR
-      PARAMETER        ( LDA = PMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDR = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX-1,MMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      UPLO
-      INTEGER          I, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK), R(LDR,NMAX), TAU(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB04OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,N ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,P )
-*              Compute and apply QR factorization.
-               CALL MB04OD( UPLO, N, M, P, R, LDR, A, LDA, B, LDB, C,
-     $                      LDC,  TAU, DWORK )
-*
-               WRITE ( NOUT, FMT = 99997 )
-               DO 40 I = 1, N
-                  DO 20 J = 1, I-1
-                     R(I,J) = ZERO
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 ) ( R(I,J), J = 1,N )
-   40          CONTINUE
-               IF ( M.GT.0 ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-                  IF ( P.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99994 )
-                     DO 80 I = 1, P
-                        WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04OD EXAMPLE PROGRAM RESULTS',/1X)
-99997 FORMAT (' The updated matrix R is ')
-99996 FORMAT (20(1X,F10.4))
-99995 FORMAT (' The updated matrix B is ')
-99994 FORMAT (' The updated matrix C is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04OD EXAMPLE PROGRAM DATA
-   3     2     2     F
-   3.    2.    1.
-   0.    2.    1.
-   0.    0.    1.
-   2.    3.    1.
-   4.    6.    5.
-   3.    2.
-   1.    3.
-   3.    2.
-   1.    3.
-   3.    2.
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04OD EXAMPLE PROGRAM RESULTS
-
- The updated matrix R is 
-    -5.3852    -6.6850    -4.6424
-     0.0000    -2.8828    -2.0694
-     0.0000     0.0000    -1.7793
- The updated matrix B is 
-    -4.2710    -3.7139
-    -0.1555    -2.1411
-    -1.6021     0.9398
- The updated matrix C is 
-     0.5850     1.0141
-    -2.7974    -3.1162
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04OW.html b/doc/_static/doc/MB04OW.html
deleted file mode 100644
index 2ac7b7c2..00000000
--- a/doc/_static/doc/MB04OW.html
+++ /dev/null
@@ -1,168 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OW">MB04OW</A></H2>
-<H3>
-Rank-one update of a Cholesky factorization (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the QR factorization
-
-     ( U  ) = Q*( R ),  where  U = ( U1  U2 ),  R = ( R1  R2 ),
-     ( x' )     ( 0 )              ( 0   T  )       ( 0   R3 )
-
-  where U and R are (m+n)-by-(m+n) upper triangular matrices, x is
-  an m+n element vector, U1 is m-by-m, T is n-by-n, stored
-  separately, and Q is an (m+n+1)-by-(m+n+1) orthogonal matrix.
-
-  The matrix ( U1 U2 ) must be supplied in the m-by-(m+n) upper
-  trapezoidal part of the array A and this is overwritten by the
-  corresponding part ( R1 R2 ) of R. The remaining upper triangular
-  part of R, R3, is overwritten on the array T.
-
-  The transformations performed are also applied to the (m+n+1)-by-p
-  matrix ( B' C' d )' (' denotes transposition), where B, C, and d'
-  are m-by-p, n-by-p, and 1-by-p matrices, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OW( M, N, P, A, LDA, T, LDT, X, INCX, B, LDB,
-     $                   C, LDC, D, INCD )
-C     .. Scalar Arguments ..
-      INTEGER            INCD, INCX, LDA, LDB, LDC, LDT, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(*), T(LDT,*),
-     $                   X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M      (input) INTEGER
-         The number of rows of the matrix ( U1  U2 ).  M &gt;= 0.
-
-  N      (input) INTEGER
-         The order of the matrix T.  N &gt;= 0.
-
-  P      (input) INTEGER
-         The number of columns of the matrices B and C.  P &gt;= 0.
-
-  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-         On entry, the leading M-by-(M+N) upper trapezoidal part of
-         this array must contain the upper trapezoidal matrix
-         ( U1 U2 ).
-         On exit, the leading M-by-(M+N) upper trapezoidal part of
-         this array contains the upper trapezoidal matrix ( R1 R2 ).
-         The strict lower triangle of A is not referenced.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  T      (input/output) DOUBLE PRECISION array, dimension (LDT,N)
-         On entry, the leading N-by-N upper triangular part of this
-         array must contain the upper triangular matrix T.
-         On exit, the leading N-by-N upper triangular part of this
-         array contains the upper triangular matrix R3.
-         The strict lower triangle of T is not referenced.
-
-  LDT    INTEGER
-         The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  X      (input/output) DOUBLE PRECISION array, dimension
-         (1+(M+N-1)*INCX), if M+N &gt; 0, or dimension (0), if M+N = 0.
-         On entry, the incremented array X must contain the
-         vector x. On exit, the content of X is changed.
-
-  INCX   (input) INTEGER
-         Specifies the increment for the elements of X.  INCX &gt; 0.
-
-  B      (input/output) DOUBLE PRECISION array, dimension (LDB,P)
-         On entry, the leading M-by-P part of this array must
-         contain the matrix B.
-         On exit, the leading M-by-P part of this array contains
-         the transformed matrix B.
-         If M = 0 or P = 0, this array is not referenced.
-
-  LDB    INTEGER
-         The leading dimension of the array B.
-         LDB &gt;= max(1,M), if P &gt; 0;
-         LDB &gt;= 1,        if P = 0.
-
-  C      (input/output) DOUBLE PRECISION array, dimension (LDC,P)
-         On entry, the leading N-by-P part of this array must
-         contain the matrix C.
-         On exit, the leading N-by-P part of this array contains
-         the transformed matrix C.
-         If N = 0 or P = 0, this array is not referenced.
-
-  LDC    INTEGER
-         The leading dimension of the array C.
-         LDC &gt;= max(1,N), if P &gt; 0;
-         LDC &gt;= 1,        if P = 0.
-
-  D      (input/output) DOUBLE PRECISION array, dimension
-         (1+(P-1)*INCD), if P &gt; 0, or dimension (0), if P = 0.
-         On entry, the incremented array D must contain the
-         vector d.
-         On exit, this incremented array contains the transformed
-         vector d.
-         If P = 0, this array is not referenced.
-
-  INCD   (input) INTEGER
-         Specifies the increment for the elements of D.  INCD &gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let q = m+n. The matrix Q is formed as a sequence of plane
-  rotations in planes (1, q+1), (2, q+1), ..., (q, q+1), the
-  rotation in the (j, q+1)th plane, Q(j), being chosen to
-  annihilate the jth element of x.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0((M+N)*(M+N+P)) operations and is backward
-  stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For P = 0, this routine produces the same result as SLICOT Library
-  routine MB04OX, but matrix T may not be stored in the array A.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04OX.html b/doc/_static/doc/MB04OX.html
deleted file mode 100644
index 14e36012..00000000
--- a/doc/_static/doc/MB04OX.html
+++ /dev/null
@@ -1,100 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OX">MB04OX</A></H2>
-<H3>
-Rank-one update of a Cholesky factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the QR factorization
-
-     (U ) = Q*(R),
-     (x')     (0)
-
-  where U and R are n-by-n upper triangular matrices, x is an
-  n element vector and Q is an (n+1)-by-(n+1) orthogonal matrix.
-
-  U must be supplied in the n-by-n upper triangular part of the
-  array A and this is overwritten by R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OX( N, A, LDA, X, INCX )
-C     .. Scalar Arguments ..
-      INTEGER            INCX, LDA, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N      (input) INTEGER
-         The number of elements of X and the order of the square
-         matrix A.  N &gt;= 0.
-
-  A      (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-         On entry, the leading N-by-N upper triangular part of this
-         array must contain the upper triangular matrix U.
-         On exit, the leading N-by-N upper triangular part of this
-         array contains the upper triangular matrix R.
-         The strict lower triangle of A is not referenced.
-
-  LDA    INTEGER
-         The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  X      (input/output) DOUBLE PRECISION array, dimension
-         (1+(N-1)*INCX)
-         On entry, the incremented array X must contain the
-         vector x. On exit, the content of X is changed.
-
-  INCX   (input) INTEGER.
-         Specifies the increment for the elements of X.  INCX &gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix Q is formed as a sequence of plane rotations in planes
-  (1, n+1), (2, n+1), ..., (n, n+1), the rotation in the (j, n+1)th
-  plane, Q(j), being chosen to annihilate the jth element of x.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04OY.html b/doc/_static/doc/MB04OY.html
deleted file mode 100644
index 89aac245..00000000
--- a/doc/_static/doc/MB04OY.html
+++ /dev/null
@@ -1,121 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04OY">MB04OY</A></H2>
-<H3>
-Applying an elementary reflector (using in-line code for a low order) to a matrix C = trans( trans(A) trans(B) ), from the left, where A has one row
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a real elementary reflector H to a real (m+1)-by-n
-  matrix C = [ A ], from the left, where A has one row. H is
-             [ B ]
-  represented in the form
-                                     ( 1 )
-        H = I - tau * u *u',    u  = (   ),
-                                     ( v )
-  where tau is a real scalar and v is a real m-vector.
-
-  If tau = 0, then H is taken to be the unit matrix.
-
-  In-line code is used if H has order &lt; 11.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04OY( M, N, V, TAU, A, LDA, B, LDB, DWORK )
-C     .. Scalar Arguments ..
-      INTEGER           LDA, LDB, M, N
-      DOUBLE PRECISION  TAU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA, * ), B( LDB, * ), DWORK( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix B.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices A and B.  N &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension (M)
-          The vector v in the representation of H.
-
-  TAU     (input) DOUBLE PRECISION
-          The scalar factor of the elementary reflector H.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading 1-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading 1-by-N part of this array contains
-          the updated matrix A (the first row of H * C).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= 1.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-          the updated matrix B (the last m rows of H * C).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-          DWORK is not referenced if H has order less than 11.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine applies the elementary reflector H, taking the special
-  structure of C into account.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04PA.html b/doc/_static/doc/MB04PA.html
deleted file mode 100644
index 42c3ac25..00000000
--- a/doc/_static/doc/MB04PA.html
+++ /dev/null
@@ -1,218 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PA">MB04PA</A></H2>
-<H3>
-Special reduction of a (skew-)Hamiltonian like matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a Hamiltonian like matrix
-
-                [  A   G  ]           T          T
-           H =  [       T ] ,    G = G ,    Q = Q,
-                [  Q  -A  ]
-
-  or a skew-Hamiltonian like matrix
-
-                [  A   G  ]            T          T
-           W =  [       T ] ,    G = -G ,   Q = -Q,
-                [  Q   A  ]
-
-  so that elements below the (k+1)-th subdiagonal in the first nb
-  columns of the (k+n)-by-n matrix A, and offdiagonal elements
-  in the first nb columns and rows of the n-by-n matrix Q are zero.
-
-  The reduction is performed by an orthogonal symplectic
-  transformation UU'*H*UU and matrices U, XA, XG, XQ, and YA are
-  returned so that
-
-                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'+ XG*U' ]
-      UU'*H*UU = [                                           ].
-                 [ Qout + U*XQ'+ XQ*U'  -Aout'- XA*U'- U*YA' ]
-
-  Similarly,
-
-                 [ Aout + U*XA'+ YA*U'   Gout + U*XG'- XG*U' ]
-      UU'*W*UU = [                                           ].
-                 [ Qout + U*XQ'- XQ*U'   Aout'+ XA*U'+ U*YA' ]
-
-  This is an auxiliary routine called by MB04PB.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PA( LHAM, N, K, NB, A, LDA, QG, LDQG, XA, LDXA,
-     $                   XG, LDXG, XQ, LDXQ, YA, LDYA, CS, TAU, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           LHAM
-      INTEGER           K, LDA, LDQG, LDXA, LDXG, LDXQ, LDYA, N, NB
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*),
-     $                  XA(LDXA,*), XG(LDXG,*), XQ(LDXQ,*), YA(LDYA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LHAM    LOGICAL
-          Specifies the type of matrix to be reduced:
-          = .FALSE. :  skew-Hamiltonian like W;
-          = .TRUE.  :  Hamiltonian like H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  K       (input) INTEGER
-          The offset of the reduction. Elements below the (K+1)-th
-          subdiagonal in the first NB columns of A are reduced
-          to zero.  K &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns/rows to be reduced.  N &gt; NB &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading (K+N)-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading (K+N)-by-N part of this array
-          contains the matrix Aout and in the zero part
-          information about the elementary reflectors used to
-          compute the reduction.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,K+N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N+K-by-N+1 part of this array must
-          contain in the bottom left part the lower triangular part
-          of the N-by-N matrix Q and in the remainder the upper
-          trapezoidal part of the last N columns of the N+K-by-N+K
-          matrix G.
-          On exit, the leading N+K-by-N+1 part of this array
-          contains parts of the matrices Q and G in the same fashion
-          as on entry only that the zero parts of Q contain
-          information about the elementary reflectors used to
-          compute the reduction. Note that if LHAM = .FALSE. then
-          the (K-1)-th and K-th subdiagonals are not referenced.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG. LDQG &gt;= MAX(1,N+K).
-
-  XA      (output) DOUBLE PRECISION array, dimension (LDXA,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XA.
-
-  LDXA    INTEGER
-          The leading dimension of the array XA.  LDXA &gt;= MAX(1,N).
-
-  XG      (output) DOUBLE PRECISION array, dimension (LDXG,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix XG.
-
-  LDXG    INTEGER
-          The leading dimension of the array XG. LDXG &gt;= MAX(1,K+N).
-
-  XQ      (output) DOUBLE PRECISION array, dimension (LDXQ,2*NB)
-          On exit, the leading N-by-(2*NB) part of this array
-          contains the matrix XQ.
-
-  LDXQ    INTEGER
-          The leading dimension of the array XQ.  LDXQ &gt;= MAX(1,N).
-
-  YA      (output) DOUBLE PRECISION array, dimension (LDYA,2*NB)
-          On exit, the leading (K+N)-by-(2*NB) part of this array
-          contains the matrix YA.
-
-  LDYA    INTEGER
-          The leading dimension of the array YA. LDYA &gt;= MAX(1,K+N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2*NB)
-          On exit, the first 2*NB elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the reduction.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (NB)
-          On exit, the first NB elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*NB)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For details regarding the representation of the orthogonal
-  symplectic matrix UU within the arrays A, QG, CS, TAU see the
-  description of MB04PU.
-
-  The contents of A and QG on exit are illustrated by the following
-  example with n = 5, k = 2 and nb = 2:
-
-        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
-        ( a  r  r  a  a  )         ( g  g  r  r  g  g  )
-        ( a  r  r  a  a  )         ( q  g  r  r  g  g  )
-    A = ( r  r  r  r  r  ),   QG = ( t  r  r  r  r  r  ),
-        ( u2 r  r  r  r  )         ( u1 t  r  r  r  r  )
-        ( u2 u2 r  a  a  )         ( u1 u1 r  q  g  g  )
-        ( u2 u2 r  a  a  )         ( u1 u1 r  q  q  g  )
-
-  where a, g and q denote elements of the original matrices, r
-  denotes a modified element, t denotes a scalar factor of an
-  applied elementary reflector and ui denote elements of the
-  matrix U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] D. KRESSNER:
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04PB.html b/doc/_static/doc/MB04PB.html
deleted file mode 100644
index ac11f5b7..00000000
--- a/doc/_static/doc/MB04PB.html
+++ /dev/null
@@ -1,384 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PB">MB04PB</A></H2>
-<H3>
-Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (block algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       T ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
-  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
-  is computed so that
-
-            T       [  Aout   Gout  ]
-           U H U =  [             T ] ,
-                    [  Qout  -Aout  ]
-
-  where Aout is upper Hessenberg and Qout is diagonal.
-  Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the diagonal of the matrix Qout, the upper triangular part
-          of the matrix Gout and, in the zero parts of Qout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
-          block size determined by the function UE01MD.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  QG(i+2:n,i), and tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  A(i+2:n,i), and nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
-  where the cosine is stored in CS(2*i-1) and the sine in
-  CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] D. KRESSNER:
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04PB/MB04WP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE, TWO
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NBMAX
-      PARAMETER        ( NMAX = 7, NBMAX = 3 )
-      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
-      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES = NMAX,
-     $                   LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDWORK = 8*NBMAX*NMAX + 3*NBMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
-     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION MA02ID, MA02JD
-      EXTERNAL         MA02ID, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
-     $                 DSYR2K, DTRMM, MB04PB, MB04WP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
-         CALL MB04PB( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
-     $                INFO )
-         INFO = 0
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
-            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               IF ( N.GT.2 )
-     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
-     $                         LDA )
-               IF ( N.GT.1 )
-     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
-     $                         LDQG )
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10             CONTINUE
-               DO 20  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20             CONTINUE
-               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
-30             CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 40  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
-40             CONTINUE
-C
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
-     $                      U1, LDU1, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
-               DO 50 I = 1, N
-                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
-50             CONTINUE
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
-               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
-               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
-               DO 60  I = 1, N
-                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
-     $                       RES(1,2*N+1), LDRES )
-60             CONTINUE
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
-               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
-               DO 70  I = 1, N
-                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
-     $                       RES(1,2*N+2), LDRES )
-70             CONTINUE
-C
-               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
-     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
-     $                LDRES, DWORK )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' TMB04PB EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04PB = ',I2)
-99997 FORMAT (' INFO on exit from MB04WP = ',I2)
-99996 FORMAT (' The symplectic orthogonal factor U is ')
-99995 FORMAT (/' The reduced matrix A is ')
-99994 FORMAT (/' The reduced matrix QG is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04PB EXAMPLE PROGRAM DATA
-        5
-    0.9501    0.7621    0.6154    0.4057    0.0579
-    0.2311    0.4565    0.7919    0.9355    0.3529
-    0.6068    0.0185    0.9218    0.9169    0.8132
-    0.4860    0.8214    0.7382    0.4103    0.0099
-    0.8913    0.4447    0.1763    0.8936    0.1389
-    0.3869    0.4055    0.2140    1.0224    1.1103    0.7016
-    1.3801    0.7567    1.4936    1.2913    0.9515    1.1755
-    0.7993    1.7598    1.6433    1.0503    0.8839    1.1010
-    1.2019    1.1956    0.9346    0.6824    0.7590    1.1364
-    0.8780    0.9029    1.6565    1.1022    0.7408    0.3793
-</PRE>
-<B>Program Results</B>
-<PRE>
- TMB04PB EXAMPLE PROGRAM RESULTS
-
- The symplectic orthogonal factor U is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.0927    0.2098    0.5594   -0.0226    0.0000    0.5538    0.3184    0.2519   -0.4031
-    0.0000   -0.2435    0.4745   -0.6362   -0.2542    0.0000    0.3207   -0.2455    0.0595   -0.2819
-    0.0000   -0.1950   -0.1770   -0.1519   -0.2857    0.0000    0.4823    0.4122   -0.2060    0.6173
-    0.0000   -0.3576   -0.0480    0.2302    0.4512    0.0000    0.3523   -0.6047   -0.3110    0.1635
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.5538   -0.3184   -0.2519    0.4031    0.0000   -0.0927    0.2098    0.5594   -0.0226
-    0.0000   -0.3207    0.2455   -0.0595    0.2819    0.0000   -0.2435    0.4745   -0.6362   -0.2542
-    0.0000   -0.4823   -0.4122    0.2060   -0.6173    0.0000   -0.1950   -0.1770   -0.1519   -0.2857
-    0.0000   -0.3523    0.6047    0.3110   -0.1635    0.0000   -0.3576   -0.0480    0.2302    0.4512
-
- Orthogonality of U: || U'*U - I ||_F = .77E-15
-
- The reduced matrix A is 
-    0.9501   -1.5494    0.5268    0.3187   -0.6890
-   -2.4922    2.0907   -1.3598    0.5682    0.5618
-    0.0000   -1.7723    0.3960   -0.2624   -0.3709
-    0.0000    0.0000   -0.2648    0.2136   -0.3226
-    0.0000    0.0000    0.0000   -0.2308    0.2319
-
- The reduced matrix QG is 
-    0.3869    0.4055    0.0992    0.5237   -0.4110   -0.4861
-    0.0000   -3.7784   -4.1609    0.3614    0.3606   -0.0696
-    0.0000    0.0000    1.2192   -0.0848    0.2007    0.3735
-    0.0000    0.0000    0.0000   -0.8646    0.1538   -0.1970
-    0.0000    0.0000    0.0000    0.0000   -0.4527    0.0743
-
- Residual: || H - U*R*U' ||_F = .33E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04PU.html b/doc/_static/doc/MB04PU.html
deleted file mode 100644
index 972a83ac..00000000
--- a/doc/_static/doc/MB04PU.html
+++ /dev/null
@@ -1,371 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PU">MB04PU</A></H2>
-<H3>
-Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix (unblocked algorithm)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a Hamiltonian matrix,
-
-                [  A   G  ]
-           H =  [       T ] ,
-                [  Q  -A  ]
-
-  where A is an N-by-N matrix and G,Q are N-by-N symmetric matrices,
-  to Paige/Van Loan (PVL) form. That is, an orthogonal symplectic U
-  is computed so that
-
-            T       [  Aout   Gout  ]
-           U H U =  [             T ] ,
-                    [  Qout  -Aout  ]
-
-  where Aout is upper Hessenberg and Qout is diagonal.
-  Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain the lower triangular part of the matrix Q and
-          the upper triangular part of the matrix G.
-          On exit, the leading N-by-N+1 part of this array contains
-          the diagonal of the matrix Qout, the upper triangular part
-          of the matrix Gout and, in the zero parts of Qout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  QG(i+2:n,i), and tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  A(i+2:n,i), and nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1,
-  where the cosine is stored in CS(2*i-1) and the sine in
-  CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 40/3 N**3 + O(N) floating point operations
-  and is strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04PU/MB04WP EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE, TWO
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 100 )
-      INTEGER          LDA, LDQG, LDRES, LDU1, LDU2, LDWORK
-      PARAMETER        ( LDA  = NMAX, LDQG = NMAX, LDRES  = NMAX,
-     $                   LDU1 = NMAX, LDU2 = NMAX, LDWORK = 2*NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), CS(2*NMAX), DWORK(LDWORK),
-     $                 QG(LDQG, NMAX+1), RES(LDRES,3*NMAX+1), TAU(NMAX),
-     $                 U1(LDU1,NMAX), U2(LDU2, NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION MA02ID, MA02JD
-      EXTERNAL         MA02ID, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, DSCAL, DSYMM, DSYR,
-     $                 DSYR2K, DTRMM, MB04PU, MB04WP
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( QG(I,J), J = 1,N+1 ), I = 1,N )
-         CALL DLACPY( 'All', N, N+1, QG, LDQG, RES(1,2*N+1), LDRES )
-         CALL MB04PU( N, 1, A, LDA, QG, LDQG, CS, TAU, DWORK, LDWORK,
-     $                INFO )
-         INFO = 0
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'Lower', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'Lower', N, N, QG, LDQG, U2, LDU2 )
-            CALL MB04WP( N, 1, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               IF ( N.GT.2 )
-     $            CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1),
-     $                         LDA )
-               IF ( N.GT.1 )
-     $            CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO, QG(2,1),
-     $                         LDQG )
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10             CONTINUE
-               DO 20  I = 1, N
-                  WRITE (NOUT, FMT = 99993)
-     $                  ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20             CONTINUE
-               WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE., .FALSE., N,
-     $                 U1, LDU1, U2, LDU2, RES, LDRES )
-               WRITE ( NOUT, FMT = 99995 )
-               DO 30  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( A(I,J), J = 1,N )
-30             CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 40  I = 1, N
-                  WRITE (NOUT, FMT = 99993) ( QG(I,J), J = 1,N+1 )
-40             CONTINUE
-C
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DSYMM ( 'Right', 'Upper', N, N, ONE, QG(1,2), LDQG,
-     $                      U1, LDU1, ZERO, RES, LDRES )
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U2, LDU2, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DLACPY( 'All', N, N, U2, LDU2, RES, LDRES )
-               DO 50 I = 1, N
-                   CALL DSCAL( N, QG(I,I), RES(1,I), 1 )
-50             CONTINUE
-               CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, -ONE,
-     $                     RES, LDRES, U1, LDU1, ONE, RES(1,N+1),
-     $                     LDRES )
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U2, LDU2, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+1), LDRES )
-               CALL DSCAL( N, ONE/TWO, QG(1,2), LDQG+1 )
-               CALL DLACPY( 'Full', N, N, U2, LDU2, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Lower', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+1), LDRES )
-               DO 60  I = 1, N
-                  CALL DSYR( 'Lower', N, -QG(I,I), U1(1,I), 1,
-     $                       RES(1,2*N+1), LDRES )
-60             CONTINUE
-               CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N, ONE,
-     $                     U1, LDU1, A, LDA, ZERO, RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, ONE, RES,
-     $                      LDRES, U2, LDU2, ONE, RES(1,2*N+2), LDRES )
-               CALL DLACPY( 'Full', N, N, U1, LDU1, RES, LDRES )
-               CALL DTRMM(  'Right', 'Upper' , 'No Transpose',
-     $                      'Not unit', N, N, ONE, QG(1,2), LDQG,
-     $                       RES, LDRES )
-               CALL DSYR2K( 'Upper', 'No Transpose', N, N, -ONE, RES,
-     $                      LDRES, U1, LDU1, ONE, RES(1,2*N+2), LDRES )
-               DO 70  I = 1, N
-                  CALL DSYR( 'Upper', N, QG(I,I), U2(1,I), 1,
-     $                       RES(1,2*N+2), LDRES )
-70             CONTINUE
-C
-               WRITE ( NOUT, FMT = 99990 )  MA02ID( 'Hamiltonian',
-     $                'Frobenius', N, RES(1,N+1), LDRES, RES(1,2*N+1),
-     $                LDRES, DWORK )
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' TMB04PU EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04PU = ',I2)
-99997 FORMAT (' INFO on exit from MB04WP = ',I2)
-99996 FORMAT (' The symplectic orthogonal factor U is ')
-99995 FORMAT (/' The reduced matrix A is ')
-99994 FORMAT (/' The reduced matrix QG is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U''*U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H - U*R*U'' ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04PU EXAMPLE PROGRAM DATA
-        5
-    0.9501    0.7621    0.6154    0.4057    0.0579
-    0.2311    0.4565    0.7919    0.9355    0.3529
-    0.6068    0.0185    0.9218    0.9169    0.8132
-    0.4860    0.8214    0.7382    0.4103    0.0099
-    0.8913    0.4447    0.1763    0.8936    0.1389
-    0.4055    0.3869    1.3801    0.7993    1.2019    0.8780
-    0.2140    1.4936    0.7567    1.7598    1.1956    0.9029
-    1.0224    1.2913    1.0503    1.6433    0.9346    1.6565
-    1.1103    0.9515    0.8839    0.7590    0.6824    1.1022
-    0.7016    1.1755    1.1010    1.1364    0.3793    0.7408
-</PRE>
-<B>Program Results</B>
-<PRE>
- TMB04PU EXAMPLE PROGRAM RESULTS
-
- The symplectic orthogonal factor U is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.1119    0.7763   -0.2005   -0.0001    0.0000    0.1036   -0.2783   -0.2583    0.4356
-    0.0000   -0.2937    0.2320    0.4014    0.5541    0.0000    0.4949    0.1187   -0.0294   -0.3632
-    0.0000   -0.2352   -0.2243   -0.7056   -0.0500    0.0000    0.5374    0.3102   -0.0893    0.0318
-    0.0000   -0.4314   -0.0354    0.2658   -0.6061    0.0000    0.3396   -0.3230    0.3931    0.0207
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.1036    0.2783    0.2583   -0.4356    0.0000   -0.1119    0.7763   -0.2005   -0.0001
-    0.0000   -0.4949   -0.1187    0.0294    0.3632    0.0000   -0.2937    0.2320    0.4014    0.5541
-    0.0000   -0.5374   -0.3102    0.0893   -0.0318    0.0000   -0.2352   -0.2243   -0.7056   -0.0500
-    0.0000   -0.3396    0.3230   -0.3931   -0.0207    0.0000   -0.4314   -0.0354    0.2658   -0.6061
-
- Orthogonality of U: || U'*U - I ||_F = .16E-14
-
- The reduced matrix A is 
-    0.9501   -1.8690    0.8413   -0.0344   -0.0817
-   -2.0660    2.7118   -1.6646    0.7606   -0.0285
-    0.0000   -2.4884    0.4115   -0.4021    0.3964
-    0.0000    0.0000   -0.5222    0.1767   -0.3081
-    0.0000    0.0000    0.0000    0.1915   -0.3426
-
- The reduced matrix QG is 
-    0.4055    0.3869   -0.4295    0.9242   -0.7990   -0.0268
-    0.0000   -3.0834   -2.5926    0.0804    0.1386   -0.1630
-    0.0000    0.0000    1.3375    0.9618   -0.0263    0.1829
-    0.0000    0.0000    0.0000   -0.3556    0.6662    0.2123
-    0.0000    0.0000    0.0000    0.0000    0.1337   -0.8622
-
- Residual: || H - U*R*U' ||_F = .60E-14
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04PY.html b/doc/_static/doc/MB04PY.html
deleted file mode 100644
index d2896830..00000000
--- a/doc/_static/doc/MB04PY.html
+++ /dev/null
@@ -1,123 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04PY">MB04PY</A></H2>
-<H3>
-Applying an elementary reflector (using in-line code for a low order) to a matrix, from either the left or the right
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a real elementary reflector H to a real m-by-n matrix
-  C, from either the left or the right. H is represented in the form
-                                     ( 1 )
-        H = I - tau * u *u',    u  = (   ),
-                                     ( v )
-  where tau is a real scalar and v is a real vector.
-
-  If tau = 0, then H is taken to be the unit matrix.
-
-  In-line code is used if H has order &lt; 11.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04PY( SIDE, M, N, V, TAU, C, LDC, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER          SIDE
-      INTEGER            LDC, M, N
-      DOUBLE PRECISION   TAU
-C     .. Array Arguments ..
-      DOUBLE PRECISION   C( LDC, * ), DWORK( * ), V( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  SIDE    CHARACTER*1
-          Indicates whether the elementary reflector should be
-          applied from the left or from the right, as follows:
-          = 'L':  Compute H * C;
-          = 'R':  Compute C * H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix C.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix C.  N &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-          (M-1), if SIDE = 'L', or
-          (N-1), if SIDE = 'R'.
-          The vector v in the representation of H.
-
-  TAU     (input) DOUBLE PRECISION
-          The scalar factor of the elementary reflector H.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the matrix H * C, if SIDE = 'L', or C * H, if SIDE = 'R'.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N), if SIDE = 'L', or
-                                            (M), if SIDE = 'R'.
-          DWORK is not referenced if H has order less than 11.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine applies the elementary reflector H, taking its special
-  structure into account. The multiplications by the first component
-  of u (which is 1) are avoided, to increase the efficiency.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04QB.html b/doc/_static/doc/MB04QB.html
deleted file mode 100644
index e1caa590..00000000
--- a/doc/_static/doc/MB04QB.html
+++ /dev/null
@@ -1,238 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QB">MB04QB</A></H2>
-<H3>
-Applying a product of symplectic reflectors and Givens rotations to two general real matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To overwrite general real m-by-n matrices C and D, or their
-  transposes, with
-
-            [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'N', or
-            [ op(D) ]
-
-       T    [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'T',
-            [ op(D) ]
-
-  where Q is defined as the product of symplectic reflectors and
-  Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QB( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
-     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
-      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
-     $                  V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANC   CHARACTER*1
-          Specifies the form of op( C ) as follows:
-          = 'N':  op( C ) = C;
-          = 'T':  op( C ) = C';
-          = 'C':  op( C ) = C'.
-
-  TRAND   CHARACTER*1
-          Specifies the form of op( D ) as follows:
-          = 'N':  op( D ) = D;
-          = 'T':  op( D ) = D';
-          = 'C':  op( D ) = D'.
-
-  TRANQ   CHARACTER*1
-          = 'N':  apply Q;
-          = 'T':  apply Q'.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in V are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in W are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(C) and op(D).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(C) and op(D).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of elementary reflectors whose product defines
-          the matrix Q.  M &gt;= K &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,M) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors F(i).
-          On entry with STOREV = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors F(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M),  if STOREV = 'C';
-          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,M) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors H(i).
-          On entry with STOREW = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors H(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,M),  if STOREW = 'C';
-          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                  (LDC,N) if TRANC = 'N',
-                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
-          On entry with TRANC = 'N', the leading M-by-N part of
-          this array must contain the matrix C.
-          On entry with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix C.
-          On exit with TRANC = 'N', the leading M-by-N part of
-          this array contains the updated matrix C.
-          On exit with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M),  if TRANC = 'N';
-          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                  (LDD,N) if TRAND = 'N',
-                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
-          On entry with TRAND = 'N', the leading M-by-N part of
-          this array must contain the matrix D.
-          On entry with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix D.
-          On exit with TRAND = 'N', the leading M-by-N part of
-          this array contains the updated matrix D.
-          On exit with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= MAX(1,M),  if TRAND = 'N';
-          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04QC.html b/doc/_static/doc/MB04QC.html
deleted file mode 100644
index 28c7cdf6..00000000
--- a/doc/_static/doc/MB04QC.html
+++ /dev/null
@@ -1,230 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QC - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QC">MB04QC</A></H2>
-<H3>
-Premultiplying a real matrix with an orthogonal symplectic block reflector
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the orthogonal symplectic block reflector
-
-           [  I+V*T*V'  V*R*S*V'  ]
-      Q =  [                      ]
-           [ -V*R*S*V'  I+V*T*V'  ]
-
-  or its transpose to a real 2m-by-n matrix [ op(A); op(B) ] from
-  the left.
-  The k-by-k upper triangular blocks of the matrices
-
-                              [ S1 ]       [ T11 T12 T13 ]
-      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
-                              [ S3 ]       [ T31 T32 T33 ]
-
-  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
-  are stored rowwise in the arrays RS and T, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QC( STRAB, TRANA, TRANB, TRANQ, DIRECT, STOREV,
-     $                   STOREW, M, N, K, V, LDV, W, LDW, RS, LDRS, T,
-     $                   LDT, A, LDA, B, LDB, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         DIRECT, STOREV, STOREW, STRAB, TRANA, TRANB,
-     $                  TRANQ
-      INTEGER           K, LDA, LDB, LDRS, LDT, LDV, LDW, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), RS(LDRS,*),
-     $                  T(LDT,*), V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STRAB   CHARACTER*1
-          Specifies the structure of the first blocks of A and B:
-          = 'Z':  the leading K-by-N submatrices of op(A) and op(B)
-                  are (implicitly) assumed to be zero;
-          = 'N';  no structure to mention.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op( A ) as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op( B ) as follows:
-          = 'N':  op( B ) = B;
-          = 'T':  op( B ) = B';
-          = 'C':  op( B ) = B'.
-
-  DIRECT  CHARACTER*1
-          This is a dummy argument, which is reserved for future
-          extensions of this subroutine. Not referenced.
-
-  TRANQ   CHARACTER*1
-          = 'N':  apply Q;
-          = 'T':  apply Q'.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in V are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in W are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(A) and op(B).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(A) and op(B).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The order of the triangular matrices defining R, S and T.
-          M &gt;= K &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,M) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflector used to form parts of Q.
-          On entry with STOREV = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflector used to form parts of Q.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M),  if STOREV = 'C';
-          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,M) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflector used to form parts of Q.
-          On entry with STOREW = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflector used to form parts of Q.
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,M),  if STOREW = 'C';
-          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
-
-  RS      (input) DOUBLE PRECISION array, dimension (K,6*K)
-          On entry, the leading K-by-6*K part of this array must
-          contain the upper triangular matrices defining the factors
-          R and S of the symplectic block reflector Q. The
-          (strictly) lower portions of this array are not
-          referenced.
-
-  LDRS    INTEGER
-          The leading dimension of the array RS.  LDRS &gt;= MAX(1,K).
-
-  T       (input) DOUBLE PRECISION array, dimension (K,9*K)
-          On entry, the leading K-by-9*K part of this array must
-          contain the upper triangular matrices defining the factor
-          T of the symplectic block reflector Q. The (strictly)
-          lower portions of this array are not referenced.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,K).
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-                  (LDA,N) if TRANA = 'N',
-                  (LDA,M) if TRANA = 'C' or TRANA = 'T'
-          On entry with TRANA = 'N', the leading M-by-N part of this
-          array must contain the matrix A.
-          On entry with TRANA = 'T' or TRANA = 'C', the leading
-          N-by-M part of this array must contain the matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,M),  if TRANA = 'N';
-          LDA &gt;= MAX(1,N),  if TRANA = 'C' or TRANA = 'T'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-                  (LDB,N) if TRANB = 'N',
-                  (LDB,M) if TRANB = 'C' or TRANB = 'T'
-          On entry with TRANB = 'N', the leading M-by-N part of this
-          array must contain the matrix B.
-          On entry with TRANB = 'T' or TRANB = 'C', the leading
-          N-by-M part of this array must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,M),  if TRANB = 'N';
-          LDB &gt;= MAX(1,N),  if TRANB = 'C' or TRANB = 'T'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
-          LDWORK &gt;= 8*N*K,   if STRAB = 'Z',
-          LDWORK &gt;= 9*N*K,   if STRAB = 'N'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 16*( M - K )*N + ( 26*K - 4 )*K*N floating
-  point operations if STRAB = 'Z' and additional ( 12*K + 2 )*K*N
-  floating point operations if STRAB = 'N'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04QF.html b/doc/_static/doc/MB04QF.html
deleted file mode 100644
index 1a1605b0..00000000
--- a/doc/_static/doc/MB04QF.html
+++ /dev/null
@@ -1,182 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QF - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QF">MB04QF</A></H2>
-<H3>
-Forming the triangular block factors of a symplectic block reflector
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To form the triangular block factors R, S and T of a symplectic
-  block reflector SH, which is defined as a product of 2k
-  concatenated Householder reflectors and k Givens rotations,
-
-      SH = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-           diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                             ....
-           diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  The upper triangular blocks of the matrices
-
-                              [ S1 ]       [ T11 T12 T13 ]
-      R  = [ R1 R2 R3 ],  S = [ S2 ],  T = [ T21 T22 T23 ],
-                              [ S3 ]       [ T31 T32 T33 ]
-
-  with R2 unit and S1, R3, T21, T31, T32 strictly upper triangular,
-  are stored rowwise in the arrays RS and T, respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QF( DIRECT, STOREV, STOREW, N, K, V, LDV, W, LDW,
-     $                   CS, TAU, RS, LDRS, T, LDT, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         DIRECT, STOREV, STOREW
-      INTEGER           K, LDRS, LDT, LDV, LDW, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), RS(LDRS,*), T(LDT,*),
-     $                  TAU(*), V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DIRECT  CHARACTER*1
-          This is a dummy argument, which is reserved for future
-          extensions of this subroutine. Not referenced.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder F(i) reflectors are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder H(i) reflectors are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the Householder reflectors F(i) and H(i).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of Givens rotations.  K &gt;= 1.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,N) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading N-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector F(i).
-          On entry with STOREV = 'R', the leading K-by-N part of
-          this array must contain in its i-th row the vector
-          which defines the elementary reflector F(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,N),  if STOREV = 'C';
-          LDV &gt;= K,         if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,N) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading N-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector H(i).
-          On entry with STOREV = 'R', the leading K-by-N part of
-          this array must contain in its i-th row the vector
-          which defines the elementary reflector H(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,N),  if STOREW = 'C';
-          LDW &gt;= K,         if STOREW = 'R'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-  RS      (output) DOUBLE PRECISION array, dimension (K,6*K)
-          On exit, the leading K-by-6*K part of this array contains
-          the upper triangular matrices defining the factors R and
-          S of the symplectic block reflector SH. The (strictly)
-          lower portions of this array are not used.
-
-  LDRS    INTEGER
-          The leading dimension of the array RS.  LDRS &gt;= K.
-
-  T       (output) DOUBLE PRECISION array, dimension (K,9*K)
-          On exit, the leading K-by-9*K part of this array contains
-          the upper triangular matrices defining the factor T of the
-          symplectic block reflector SH. The (strictly) lower
-          portions of this array are not used.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= K.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*K)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires ( 4*K - 2 )*K*N + 19/3*K*K*K + 1/2*K*K
-  + 43/6*K - 4 floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04QS.html b/doc/_static/doc/MB04QS.html
deleted file mode 100644
index e66031c4..00000000
--- a/doc/_static/doc/MB04QS.html
+++ /dev/null
@@ -1,208 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QS">MB04QS</A></H2>
-<H3>
-Multiplication with a product of symplectic reflectors and Givens rotations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Overwrites general real m-by-n/n-by-m matrices C and D with
-
-            [ op(C) ]
-      U  *  [       ]   if TRANU = 'N', or
-            [ op(D) ]
-
-       T    [ op(C) ]
-      U  *  [       ]   if TRANU = 'T',
-            [ op(D) ]
-
-  where U is defined as the product of symplectic reflectors and
-  Givens rotations,
-
-      U = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
-
-  with k = m-1, as returned by the SLICOT Library routines MB04PU
-  or MB04RU.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QS( TRANC, TRAND, TRANU, M, N, ILO, V, LDV, W, LDW,
-     $                   C, LDC, D, LDD, CS, TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANC, TRAND, TRANU
-      INTEGER           ILO, INFO, LDC, LDD, LDV, LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  C(LDC,*), CS(*), D(LDD,*), DWORK(*), TAU(*),
-     $                  V(LDV,*), W(LDW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANC   CHARACTER*1
-          Specifies the form of op( C ) as follows:
-          = 'N':  op( C ) = C; 
-          = 'T':  op( C ) = C';
-          = 'C':  op( C ) = C'.
-
-  TRAND   CHARACTER*1
-          Specifies the form of op( D ) as follows:
-          = 'N':  op( D ) = D; 
-          = 'T':  op( D ) = D';
-          = 'C':  op( D ) = D'.
-
-  TRANU   CHARACTER*1
-          Specifies whether U or U' is applied as follows:
-          = 'N':  apply U;
-          = 'T':  apply U'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(C) and op(D).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(C) and op(D).
-          N &gt;= 0.
-
-  ILO     (input) INTEGER
-          ILO must have the same value as in the previous call of
-          MB04PU or MB04RU. U is equal to the unit matrix except in
-          the submatrix
-          U([ilo+1:m m+ilo+1:2*m], [ilo+1:m m+ilo+1:2*m]).
-          1 &lt;= ILO &lt;= M+1.
-
-  V       (input) DOUBLE PRECISION array, dimension (LDV,M)
-          On entry, the leading M-by-M part of this array must
-          contain in its columns the vectors which define the
-          elementary reflectors H(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= MAX(1,M).
-
-  W       (input) DOUBLE PRECISION array, dimension (LDW,M)
-          On entry, the leading M-by-M part of this array must
-          contain in its columns the vectors which define the
-          elementary reflectors F(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.  LDW &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                  (LDC,N) if TRANC = 'N',
-                  (LDC,M) if TRANC = 'T' or TRANC = 'C'.
-          On entry with TRANC = 'N', the leading M-by-N part of this
-          array must contain the matrix C.
-          On entry with TRANC = 'T' or TRANC = 'C', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix C.
-          On exit with TRANC = 'N', the leading M-by-N part of this
-          array contains the updated matrix C.
-          On exit with TRANC = 'T' or TRANC = 'C', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M),  if TRANC = 'N';
-          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                  (LDD,N) if TRAND = 'N',
-                  (LDD,M) if TRAND = 'T' or TRAND = 'C'.
-          On entry with TRAND = 'N', the leading M-by-N part of this
-          array must contain the matrix D.
-          On entry with TRAND = 'T' or TRAND = 'C', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix D.
-          On exit with TRAND = 'N', the leading M-by-N part of this
-          array contains the updated matrix D.
-          On exit with TRAND = 'T' or TRAND = 'C', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= MAX(1,M),  if TRAND = 'N';
-          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*N-2)
-          On entry, the first 2*N-2 elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i), as returned by MB04PU or MB04RU.
-
-  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
-          On entry, the first N-1 elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i), as returned by MB04PU or MB04RU.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if  INFO = -18,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04QU.html b/doc/_static/doc/MB04QU.html
deleted file mode 100644
index b2e64de5..00000000
--- a/doc/_static/doc/MB04QU.html
+++ /dev/null
@@ -1,225 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04QU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04QU">MB04QU</A></H2>
-<H3>
-Applying a product of symplectic reflectors and Givens rotations to two general real matrices (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To overwrite general real m-by-n matrices C and D, or their
-  transposes, with
-
-            [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'N', or
-            [ op(D) ]
-
-       T    [ op(C) ]
-      Q  *  [       ]   if TRANQ = 'T',
-            [ op(D) ]
-
-  where Q is defined as the product of symplectic reflectors and
-  Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04QU( TRANC, TRAND, TRANQ, STOREV, STOREW, M, N, K,
-     $                   V, LDV, W, LDW, C, LDC, D, LDD, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOREV, STOREW, TRANC, TRAND, TRANQ
-      INTEGER           INFO, K, LDC, LDD, LDV, LDW, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), C(LDC,*), D(LDD,*), V(LDV,*),
-     $                  W(LDW,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANC   CHARACTER*1
-          Specifies the form of op( C ) as follows:
-          = 'N':  op( C ) = C;
-          = 'T':  op( C ) = C';
-          = 'C':  op( C ) = C'.
-
-  STOREV  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in V are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  STOREW  CHARACTER*1
-          Specifies how the vectors which define the concatenated
-          Householder reflectors contained in W are stored:
-          = 'C':  columnwise;
-          = 'R':  rowwise.
-
-  TRAND   CHARACTER*1
-          Specifies the form of op( D ) as follows:
-          = 'N':  op( D ) = D;
-          = 'T':  op( D ) = D';
-          = 'C':  op( D ) = D'.
-
-  TRANQ   CHARACTER*1
-          = 'N':  apply Q;
-          = 'T':  apply Q'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices op(C) and op(D).
-          M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices op(C) and op(D).
-          N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of elementary reflectors whose product defines
-          the matrix Q.  M &gt;= K &gt;= 0.
-
-  V       (input) DOUBLE PRECISION array, dimension
-                  (LDV,K) if STOREV = 'C',
-                  (LDV,M) if STOREV = 'R'
-          On entry with STOREV = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors F(i).
-          On entry with STOREV = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors F(i).
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M),  if STOREV = 'C';
-          LDV &gt;= MAX(1,K),  if STOREV = 'R'.
-
-  W       (input) DOUBLE PRECISION array, dimension
-                  (LDW,K) if STOREW = 'C',
-                  (LDW,M) if STOREW = 'R'
-          On entry with STOREW = 'C', the leading M-by-K part of
-          this array must contain in its columns the vectors which
-          define the elementary reflectors H(i).
-          On entry with STOREW = 'R', the leading K-by-M part of
-          this array must contain in its rows the vectors which
-          define the elementary reflectors H(i).
-
-  LDW     INTEGER
-          The leading dimension of the array W.
-          LDW &gt;= MAX(1,M),  if STOREW = 'C';
-          LDW &gt;= MAX(1,K),  if STOREW = 'R'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-                  (LDC,N) if TRANC = 'N',
-                  (LDC,M) if TRANC = 'T' or TRANC = 'C'
-          On entry with TRANC = 'N', the leading M-by-N part of
-          this array must contain the matrix C.
-          On entry with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix C.
-          On exit with TRANC = 'N', the leading M-by-N part of
-          this array contains the updated matrix C.
-          On exit with TRANC = 'C' or TRANC = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M),  if TRANC = 'N';
-          LDC &gt;= MAX(1,N),  if TRANC = 'T' or TRANC = 'C'.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-                  (LDD,N) if TRAND = 'N',
-                  (LDD,M) if TRAND = 'T' or TRAND = 'C'
-          On entry with TRAND = 'N', the leading M-by-N part of
-          this array must contain the matrix D.
-          On entry with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array must contain the transpose of
-          the matrix D.
-          On exit with TRAND = 'N', the leading M-by-N part of
-          this array contains the updated matrix D.
-          On exit with TRAND = 'C' or TRAND = 'T', the leading
-          N-by-M part of this array contains the transpose of the
-          updated matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.
-          LDD &gt;= MAX(1,M),  if TRAND = 'N';
-          LDD &gt;= MAX(1,N),  if TRAND = 'T' or TRAND = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -20,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04RB.html b/doc/_static/doc/MB04RB.html
deleted file mode 100644
index a9d8f984..00000000
--- a/doc/_static/doc/MB04RB.html
+++ /dev/null
@@ -1,203 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04RB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04RB">MB04RB</A></H2>
-<H3>
-Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (blocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a skew-Hamiltonian matrix,
-
-                [  A   G  ]
-          W  =  [       T ] ,
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
-  symplectic matrix U is computed so that
-
-            T       [  Aout  Gout  ]
-           U W U =  [            T ] ,
-                    [    0   Aout  ]
-
-  where Aout is in upper Hessenberg form.
-  Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04RB( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to the SLICOT Library routine MB04DS;
-          otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout,
-          information about the elementary reflectors used to
-          compute the PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G. The parts containing the
-          diagonal and the first superdiagonal of this array are not
-          referenced.
-          On exit, the leading N-by-N+1 part of this array contains
-          in its first N-1 columns information about the elementary
-          reflectors used to compute the PVL factorization and in
-          its last N columns the strictly upper triangular part of
-          the matrix Gout.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK, 8*N*NB + 3*NB, where NB is the optimal
-          block size.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An algorithm similar to the block algorithm for the symplectic
-  URV factorization described in [2] is used.
-
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with v(1:i) = 0
-  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
-  tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with w(1:i) = 0
-  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
-  nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
-  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43(4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04RU.html b/doc/_static/doc/MB04RU.html
deleted file mode 100644
index f8782e32..00000000
--- a/doc/_static/doc/MB04RU.html
+++ /dev/null
@@ -1,189 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04RU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04RU">MB04RU</A></H2>
-<H3>
-Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a skew-Hamiltonian matrix,
-
-                [  A   G  ]
-          W  =  [       T ] ,
-                [  Q   A  ]
-
-  where A is an N-by-N matrix and G, Q are N-by-N skew-symmetric
-  matrices, to Paige/Van Loan (PVL) form. That is, an orthogonal
-  symplectic matrix U is computed so that
-
-            T       [  Aout  Gout  ]
-           U W U =  [            T ] ,
-                    [    0   Aout  ]
-
-  where Aout is in upper Hessenberg form.
-  Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04RU( N, ILO, A, LDA, QG, LDQG, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDA, LDQG, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), CS(*), DWORK(*), QG(LDQG,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that A is already upper triangular and Q is
-          zero in rows and columns 1:ILO-1. ILO is normally set by a
-          previous call to the SLICOT Library routine MB04DS;
-          otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Aout and, in the zero part of Aout, information
-          about the elementary reflectors used to compute the
-          PVL factorization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-                         (LDQG,N+1)
-          On entry, the leading N-by-N+1 part of this array must
-          contain in columns 1:N the strictly lower triangular part
-          of the matrix Q and in columns 2:N+1 the strictly upper
-          triangular part of the matrix G. The parts containing the
-          diagonal and the first superdiagonal of this array are not
-          referenced.
-          On exit, the leading N-by-N+1 part of this array contains
-          in its first N-1 columns information about the elementary
-          reflectors used to compute the PVL factorization and in
-          its last N columns the strictly upper triangular part of
-          the matrix Gout.
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations used
-          to compute the PVL factorization.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N-1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix U is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  U = diag( H(1),H(1) )     G(1)   diag( F(1),F(1) )
-      diag( H(2),H(2) )     G(2)   diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with v(1:i) = 0
-  and v(i+1) = 1; v(i+2:n) is stored on exit in QG(i+2:n,i), and
-  tau in QG(i+1,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with w(1:i) = 0
-  and w(i+1) = 1; w(i+2:n) is stored on exit in A(i+2:n,i), and
-  nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i+1 and n+i+1, where
-  the cosine is stored in CS(2*i-1) and the sine in CS(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 40/3 N**3 + O(N) floating point operations
-  and is strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C.F.
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04SU.html b/doc/_static/doc/MB04SU.html
deleted file mode 100644
index d0bea471..00000000
--- a/doc/_static/doc/MB04SU.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04SU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04SU">MB04SU</A></H2>
-<H3>
-Symplectic QR decomposition of a real 2M-by-N matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a symplectic QR decomposition of a real 2M-by-N matrix
-  [A; B],
-
-            [ A ]             [ R11  R12 ]
-            [   ] = Q * R = Q [          ],
-            [ B ]             [ R21  R22 ]
-
-  where Q is a symplectic orthogonal matrix, R11 is upper triangular
-  and R21 is strictly upper triangular.
-  If [A; B] is symplectic then, theoretically, R21 = 0 and
-  R22 = inv(R11)^T. Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04SU( M, N, A, LDA, B, LDB, CS, TAU, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CS(*), DWORK(*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of A and B. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of A and B. N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the matrix [ R11  R12 ] and, in the zero parts of R,
-          information about the elementary reflectors used to
-          compute the symplectic QR decomposition.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading M-by-N part of this array contains
-          the matrix [ R21  R22 ] and, in the zero parts of B,
-          information about the elementary reflectors used to
-          compute the symplectic QR decomposition.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,M).
-
-  CS      (output) DOUBLE PRECISION array, dimension (2 * min(M,N))
-          On exit, the first 2*min(M,N) elements of this array
-          contain the cosines and sines of the symplectic Givens
-          rotations used to compute the symplectic QR decomposition.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (min(M,N))
-          On exit, the first min(M,N) elements of this array
-          contain the scalar factors of some of the elementary
-          reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix Q is represented as a product of symplectic reflectors
-  and Givens rotations
-
-  Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-      diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                        ....
-      diag( H(k),H(k) ) G(k) diag( F(k),F(k) ),
-
-  where k = min(m,n).
-
-  Each H(i) has the form
-
-        H(i) = I - tau * w * w'
-
-  where tau is a real scalar, and w is a real vector with
-  w(1:i-1) = 0 and w(i) = 1; w(i+1:m) is stored on exit in
-  B(i+1:m,i), and tau in B(i,i).
-
-  Each F(i) has the form
-
-        F(i) = I - nu * v * v'
-
-  where nu is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
-  A(i+1:m,i), and nu in TAU(i).
-
-  Each G(i) is a Givens rotation acting on rows i of A and B,
-  where the cosine is stored in CS(2*i-1) and the sine in
-  CS(2*i).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bunse-Gerstner, A.
-      Matrix factorizations for symplectic QR-like methods.
-      Linear Algebra Appl., 83, pp. 49-77, 1986.
-
-  [2] Byers, R.
-      Hamiltonian and Symplectic Algorithms for the Algebraic
-      Riccati Equation.
-      Ph.D. Dissertation, Center for Applied Mathematics,
-      Cornell University, Ithaca, NY, 1983.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires
-     8*M*N*N - 8/3*N*N*N +  2*M*N + 6*N*N + 8/3*N,  if M &gt;= N,
-     8*M*M*N - 8/3*M*M*M + 14*M*N - 6*M*M + 8/3*N,  if M &lt;= N,
-  floating point operations and is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04TB.html b/doc/_static/doc/MB04TB.html
deleted file mode 100644
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--- a/doc/_static/doc/MB04TB.html
+++ /dev/null
@@ -1,559 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04TB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04TB">MB04TB</A></H2>
-<H3>
-Symplectic URV decomposition of a real 2N-by-2N matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a symplectic URV (SURV) decomposition of a real
-  2N-by-2N matrix H,
-
-         [ op(A)   G   ]                 [ op(R11)   R12   ]
-     H = [             ] = U R V'  = U * [                 ] * V' ,
-         [  Q    op(B) ]                 [   0     op(R22) ]
-
-  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
-  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
-  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
-  matrices. Blocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04TB( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
-     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANA, TRANB
-      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
-     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op( A ) as follows:
-          = 'N':  op( A ) = A;
-          = 'T':  op( A ) = A';
-          = 'C':  op( A ) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op( B ) as follows:
-          = 'N':  op( B ) = B;
-          = 'T':  op( B ) = B';
-          = 'C':  op( B ) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that op(A) is already upper triangular,
-          op(B) is lower triangular and Q is zero in rows and
-          columns 1:ILO-1. ILO is normally set by a previous call
-          to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N+1, if N &gt; 0; ILO = 1, if N = 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the triangular matrix R11, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the Hessenberg matrix R22, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix G.
-          On exit, the leading N-by-N part of this array contains
-          the matrix R12.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Q.
-          On exit, the leading N-by-N part of this array contains
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  CSL     (output) DOUBLE PRECISION array, dimension (2N)
-          On exit, the first 2N elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the left-hand side used to compute the SURV
-          decomposition.
-
-  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the right-hand side used to compute the SURV
-          decomposition.
-
-  TAUL    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, the first N elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the left-hand side.
-
-  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied form the right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, (16*N + 5)*NB, where NB is the optimal
-          block size determined by the function UE01MD.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices U and V are represented as products of symplectic
-  reflectors and Givens rotations
-
-  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
-      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
-                           ....
-      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
-
-  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
-      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
-                                ....
-      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
-
-  Each HU(i) has the form
-
-        HU(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
-  Q(i+1:n,i), and tau in Q(i,i).
-
-  Each FU(i) has the form
-
-        FU(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
-  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
-  scalar nu is stored in TAUL(i).
-
-  Each GU(i) is a Givens rotation acting on rows i and n+i,
-  where the cosine is stored in CSL(2*i-1) and the sine in
-  CSL(2*i).
-
-  Each HV(i) has the form
-
-        HV(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  Q(i,i+2:n), and tau in Q(i,i+1).
-
-  Each FV(i) has the form
-
-        FV(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
-  The scalar nu is stored in TAUR(i).
-
-  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
-  where the cosine is stored in CSR(2*i-1) and the sine in
-  CSR(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 80/3*N**3 + ( 64*NB + 77 )*N**2 +
-  ( -16*NB + 48 )*NB*N + O(N) floating point operations, where
-  NB is the used block size, and is numerically backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04TB/MB04WR EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NBMAX, NMAX
-      PARAMETER        ( NBMAX = 64, NMAX = 421 )
-      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
-     $                 LDV2, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDV1 = NMAX, LDV2 = NMAX,
-     $                   LDWORK = NBMAX*( 16*NMAX + 1 ) )
-*     .. Local Scalars ..
-      CHARACTER*1      TRANA, TRANB, TRANV1
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
-     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG, NMAX),
-     $                 Q(LDQ, NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
-     $                 TAUR(NMAX), U1(LDU1, NMAX), U2(LDU2, NMAX),
-     $                 V1(LDV1, NMAX), V2(LDV2, NMAX)
-*     .. External Functions ..
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
-      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TB, MB04WR
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, TRANA, TRANB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
-         CALL MB04TB( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
-     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
-            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
-     $                   TAUL, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
-               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
-               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
-     $                      CSR, TAUR, DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     DO 10  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10                   CONTINUE
-                     DO 20  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 30  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
-30                   CONTINUE
-                     DO 40  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
-40                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 )
-                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
-     $                            A(2,1), LDA )
-                     DO 50  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
-50                   CONTINUE
-                  ELSE
-                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
-     $                            A(1,2), LDA )
-                     DO 60  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
-60                   CONTINUE
-                  END IF
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     IF ( N.GT.1 ) THEN
-                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
-     $                               B(1,3), LDB )
-                     END IF
-                     DO 70  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
-70                   CONTINUE
-                  ELSE
-                     IF ( N.GT.1 ) THEN
-C                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
-C     $                               B(3,1), LDB )
-                     END IF
-                     DO 80  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
-80                   CONTINUE
-                  END IF
-C
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     TRANV1 = 'T'
-                  ELSE
-                     TRANV1 = 'N'
-                  END IF
-                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
-     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
-     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
-     $                           LDRES, DWORK )
-                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
-     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
-     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
-     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
-     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
-     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
-     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
-     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  WRITE ( NOUT, FMT = 99990 ) TEMP
-C
-                  WRITE ( NOUT, FMT = 99994 )
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     DO 90  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
-90                   CONTINUE
-                     DO 100  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
-100                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 110  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
-110                  CONTINUE
-                     DO 120  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
-120                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB04TB EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04TB = ',I2)
-99997 FORMAT (' INFO on exit from MB04WR = ',I2)
-99996 FORMAT (' The orthogonal symplectic factor U is ')
-99995 FORMAT (/' The factor R is ')
-99994 FORMAT (/' The orthogonal symplectic factor V is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
-99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04TB EXAMPLE PROGRAM DATA
-        5       N       N
-    0.4643    0.3655    0.6853    0.5090    0.3718
-    0.3688    0.6460    0.4227    0.6798    0.5135
-    0.7458    0.5043    0.9419    0.9717    0.9990
-    0.7140    0.4941    0.7802    0.5272    0.1220
-    0.7418    0.0339    0.7441    0.0436    0.6564
-   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
-   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
-   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
-   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
-   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
-    0.7933    1.5765    1.0711    1.0794    0.8481
-    1.5765    0.1167    1.5685    0.8756    0.5037
-    1.0711    1.5685    0.9902    0.3858    0.2109
-    1.0794    0.8756    0.3858    1.8834    1.4338
-    0.8481    0.5037    0.2109    1.4338    0.1439
-    1.0786    1.5264    1.1721    1.5343    0.4756
-    1.5264    0.8644    0.6872    1.1379    0.6499
-    1.1721    0.6872    1.5194    1.1197    1.0158
-    1.5343    1.1379    1.1197    0.6612    0.2004
-    0.4756    0.6499    1.0158    0.2004    1.2188
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04TB EXAMPLE PROGRAM RESULTS
-
- The orthogonal symplectic factor U is 
-   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
-   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
-   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
-   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
-   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
-   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
-   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
-   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
-   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
-   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
-
- Orthogonality of U: || U^T U - I ||_F = .17E-14
-
- The factor R is 
-   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
-    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
-    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
-    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
-    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
-    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
-
- Residual: || H*V - U*R ||_F = .76E-14
-
- The orthogonal symplectic factor V is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
-    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
-    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
-    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
-    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
-    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
-    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
-
- Orthogonality of V: || V^T V - I ||_F = .17E-14
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04TS.html b/doc/_static/doc/MB04TS.html
deleted file mode 100644
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+++ /dev/null
@@ -1,544 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04TS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04TS">MB04TS</A></H2>
-<H3>
-Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a symplectic URV (SURV) decomposition of a real
-  2N-by-2N matrix H:
-
-          [ op(A)   G   ]        T       [ op(R11)   R12   ]    T
-      H = [             ] = U R V  = U * [                 ] * V ,
-          [  Q    op(B) ]                [   0     op(R22) ]
-
-  where A, B, G, Q, R12 are real N-by-N matrices, op(R11) is a real
-  N-by-N upper triangular matrix, op(R22) is a real N-by-N lower
-  Hessenberg matrix and U, V are 2N-by-2N orthogonal symplectic
-  matrices. Unblocked version.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04TS( TRANA, TRANB, N, ILO, A, LDA, B, LDB, G, LDG,
-     $                   Q, LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANA, TRANB
-      INTEGER           ILO, INFO, LDA, LDB, LDG, LDQ, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), CSL(*), CSR(*), DWORK(*),
-     $                  G(LDG,*), Q(LDQ,*), TAUL(*), TAUR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op( A ) as follows:
-          = 'N': op( A ) = A;
-          = 'T': op( A ) = A';
-          = 'C': op( A ) = A'.
-
-  TRANB   CHARACTER*1
-          Specifies the form of op( B ) as follows:
-          = 'N': op( B ) = B;
-          = 'T': op( B ) = B';
-          = 'C': op( B ) = B'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          It is assumed that op(A) is already upper triangular,
-          op(B) is lower triangular and Q is zero in rows and
-          columns 1:ILO-1. ILO is normally set by a previous call
-          to MB04DD; otherwise it should be set to 1.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO=1, if N=0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the triangular matrix R11, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the Hessenberg matrix R22, and in the zero part
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix G.
-          On exit, the leading N-by-N part of this array contains
-          the matrix R12.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix Q.
-          On exit, the leading N-by-N part of this array contains
-          information about the elementary reflectors used to
-          compute the SURV decomposition.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDG &gt;= MAX(1,N).
-
-  CSL     (output) DOUBLE PRECISION array, dimension (2N)
-          On exit, the first 2N elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the left-hand side used to compute the SURV
-          decomposition.
-
-  CSR     (output) DOUBLE PRECISION array, dimension (2N-2)
-          On exit, the first 2N-2 elements of this array contain the
-          cosines and sines of the symplectic Givens rotations
-          applied from the right-hand side used to compute the SURV
-          decomposition.
-
-  TAUL    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, the first N elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied from the left-hand side.
-
-  TAUR    (output) DOUBLE PRECISION array, dimension (N-1)
-          On exit, the first N-1 elements of this array contain the
-          scalar factors of some of the elementary reflectors
-          applied from the right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -16,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices U and V are represented as products of symplectic
-  reflectors and Givens rotations
-
-  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
-      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
-                           ....
-      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
-
-  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
-      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
-                                ....
-      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ).
-
-  Each HU(i) has the form
-
-        HU(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:n) is stored on exit in
-  Q(i+1:n,i), and tau in Q(i,i).
-
-  Each FU(i) has the form
-
-        FU(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i-1) = 0 and w(i) = 1; w(i+1:n) is stored on exit in
-  A(i+1:n,i), if op(A) = 'N', and in A(i,i+1:n), otherwise. The
-  scalar nu is stored in TAUL(i).
-
-  Each GU(i) is a Givens rotation acting on rows i and n+i,
-  where the cosine is stored in CSL(2*i-1) and the sine in
-  CSL(2*i).
-
-  Each HV(i) has the form
-
-        HV(i) = I - tau * v * v'
-
-  where tau is a real scalar, and v is a real vector with
-  v(1:i) = 0 and v(i+1) = 1; v(i+2:n) is stored on exit in
-  Q(i,i+2:n), and tau in Q(i,i+1).
-
-  Each FV(i) has the form
-
-        FV(i) = I - nu * w * w'
-
-  where nu is a real scalar, and w is a real vector with
-  w(1:i) = 0 and w(i+1) = 1; w(i+2:n) is stored on exit in
-  B(i,i+2:n), if op(B) = 'N', and in B(i+2:n,i), otherwise.
-  The scalar nu is stored in TAUR(i).
-
-  Each GV(i) is a Givens rotation acting on columns i+1 and n+i+1,
-  where the cosine is stored in CSR(2*i-1) and the sine in
-  CSR(2*i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 80/3 N**3 + 20 N**2 + O(N) floating point
-  operations and is numerically backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04TS/MB04WR EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 200 )
-      INTEGER          LDA, LDB, LDG, LDQ, LDRES, LDU1, LDU2, LDV1,
-     $                 LDV2, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDRES = NMAX, LDU1 = NMAX, LDU2 = NMAX,
-     $                   LDV1 = NMAX, LDV2 = NMAX, LDWORK = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      TRANA, TRANB, TRANV1
-      INTEGER          I, INFO, J, N
-      DOUBLE PRECISION TEMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA, NMAX), B(LDB, NMAX), CSL(2*NMAX),
-     $                 CSR(2*NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), RES(LDRES,5*NMAX), TAUL(NMAX),
-     $                 TAUR(NMAX), U1(LDU1,NMAX), U2(LDU2, NMAX),
-     $                 V1(LDV1, NMAX), V2(LDV2,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLANGE, DLAPY2, MA02JD
-      EXTERNAL         DLANGE, DLAPY2, LSAME, MA02JD
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, DLASET, MB04TS, MB04WR
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, TRANA, TRANB
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, A, LDA, RES, LDRES )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, B, LDB, RES(1,N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, G, LDG, RES(1,2*N+1), LDRES )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'All', N, N, Q, LDQ, RES(1,3*N+1), LDRES )
-         CALL MB04TS( TRANA, TRANB, N, 1, A, LDA, B, LDB, G, LDG, Q,
-     $                LDQ, CSL, CSR, TAUL, TAUR, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            CALL DLACPY( 'All', N, N, A, LDA, U1, LDU1 )
-            CALL DLACPY( 'All', N, N, Q, LDQ, U2, LDU2 )
-            CALL MB04WR( 'U', TRANA, N, 1, U1, LDU1, U2, LDU2, CSL,
-     $                   TAUL, DWORK, LDWORK, INFO )
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO
-            ELSE
-               CALL DLACPY( 'All', N, N, Q, LDQ, V2, LDV2 )
-               CALL DLACPY( 'All', N, N, B, LDB, V1, LDV1 )
-               CALL MB04WR( 'V', TRANB, N, 1, V1, LDV1, V2, LDV2,
-     $                      CSR, TAUR, DWORK, LDWORK, INFO )
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     DO 10  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(I,J), J = 1,N ), ( U2(I,J), J = 1,N )
-10                   CONTINUE
-                     DO 20  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(I,J), J = 1,N )
-20                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .FALSE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 30  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( U1(J,I), J = 1,N ), ( U2(I,J), J = 1,N )
-30                   CONTINUE
-                     DO 40  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -U2(I,J), J = 1,N ), ( U1(J,I), J = 1,N )
-40                   CONTINUE
-                     WRITE ( NOUT, FMT = 99991 ) MA02JD( .TRUE.,
-     $                       .FALSE., N, U1, LDU1, U2, LDU2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 )
-                  CALL DLASET( 'All', N, N, ZERO, ZERO, Q, LDQ )
-                  IF ( LSAME( TRANA, 'N' ) ) THEN
-                     CALL DLASET( 'Lower', N-1, N-1, ZERO, ZERO,
-     $                            A(2,1), LDA )
-                     DO 50  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(I,J), J = 1,N ), ( G(I,J), J = 1,N )
-50                   CONTINUE
-                  ELSE
-                     CALL DLASET( 'Upper', N-1, N-1, ZERO, ZERO,
-     $                            A(1,2), LDA )
-                     DO 60  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( A(J,I), J = 1,N ), ( G(I,J), J = 1,N )
-60                   CONTINUE
-                  END IF
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     IF ( N.GT.1 ) THEN
-                        CALL DLASET( 'Upper', N-2, N-2, ZERO, ZERO,
-     $                               B(1,3), LDB )
-                     END IF
-                     DO 70  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(I,J), J = 1,N )
-70                   CONTINUE
-                  ELSE
-                     IF ( N.GT.1 ) THEN
-                        CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO,
-     $                               B(3,1), LDB )
-                     END IF
-                     DO 80  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( Q(I,J), J = 1,N ), ( B(J,I), J = 1,N )
-80                   CONTINUE
-                  END IF
-C
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     TRANV1 = 'T'
-                  ELSE
-                     TRANV1 = 'N'
-                  END IF
-                  CALL DGEMM( TRANA, TRANV1, N, N, N, ONE, RES, LDRES,
-     $                        V1, LDV1, ZERO, RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N,
-     $                        -ONE, RES(1,2*N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, TRANA, N, N, N, -ONE, U1, LDU1,
-     $                        A, LDA, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLANGE( 'Frobenius', N, N, RES(1,4*N+1),
-     $                           LDRES, DWORK )
-                  CALL DGEMM( TRANA, 'Transpose', N, N, N, ONE, RES,
-     $                        LDRES, V2, LDV2, ZERO, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,2*N+1), LDRES, V1, LDV1, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANA, 'No Transpose', N, N, N, -ONE,
-     $                        U1, LDU1, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', TRANB, N, N, N, -ONE,
-     $                        U2, LDU2, B, LDB, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', TRANV1, N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V1, LDV1, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, 'Transpose', N, N, N, -ONE,
-     $                        RES(1,N+1), LDRES, V2, LDV2, ONE,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( 'No Transpose', TRANA, N, N, N, ONE,
-     $                        U2, LDU2, A, LDA, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  CALL DGEMM( 'No Transpose', 'Transpose', N, N, N, ONE,
-     $                        RES(1,3*N+1), LDRES, V2, LDV2, ZERO,
-     $                        RES(1,4*N+1), LDRES )
-                  CALL DGEMM( TRANB, TRANV1, N, N, N, ONE, RES(1,N+1),
-     $                        LDRES, V1, LDV1, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( 'No Transpose', 'No Transpose', N, N, N,
-     $                        ONE, U2, LDU2, G, LDG, ONE, RES(1,4*N+1),
-     $                        LDRES )
-                  CALL DGEMM( TRANA, TRANB, N, N, N, -ONE, U1, LDU1,
-     $                        B, LDB, ONE, RES(1,4*N+1), LDRES )
-                  TEMP = DLAPY2( TEMP, DLANGE( 'Frobenius', N, N,
-     $                                 RES(1,4*N+1), LDRES, DWORK ) )
-                  WRITE ( NOUT, FMT = 99990 ) TEMP
-C
-                  WRITE ( NOUT, FMT = 99994 )
-                  IF ( LSAME( TRANB, 'N' ) ) THEN
-                     DO 90  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(J,I), J = 1,N ), ( V2(J,I), J = 1,N )
-90                   CONTINUE
-                     DO 100  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(J,I), J = 1,N )
-100                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .TRUE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  ELSE
-                     DO 110  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( V1(I,J), J = 1,N ), ( V2(J,I), J = 1,N )
-110                  CONTINUE
-                     DO 120  I = 1, N
-                        WRITE (NOUT, FMT = 99993)
-     $                     ( -V2(J,I), J = 1,N ), ( V1(I,J), J = 1,N )
-120                  CONTINUE
-                     WRITE ( NOUT, FMT = 99989 ) MA02JD( .FALSE.,
-     $                       .TRUE., N, V1, LDV1, V2, LDV2,
-     $                       RES(1,4*N+1), LDRES )
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MB04TS EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04TS = ',I2)
-99997 FORMAT (' INFO on exit from MB04WR = ',I2)
-99996 FORMAT (' The orthogonal symplectic factor U is ')
-99995 FORMAT (/' The factor R is ')
-99994 FORMAT (/' The orthogonal symplectic factor V is ')
-99993 FORMAT (20(1X,F9.4))
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' Orthogonality of U: || U^T U - I ||_F = ',G7.2)
-99990 FORMAT (/' Residual: || H*V - U*R ||_F = ',G7.2)
-99989 FORMAT (/' Orthogonality of V: || V^T V - I ||_F = ',G7.2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04TB EXAMPLE PROGRAM DATA
-        5       N       N
-    0.4643    0.3655    0.6853    0.5090    0.3718
-    0.3688    0.6460    0.4227    0.6798    0.5135
-    0.7458    0.5043    0.9419    0.9717    0.9990
-    0.7140    0.4941    0.7802    0.5272    0.1220
-    0.7418    0.0339    0.7441    0.0436    0.6564
-   -0.4643   -0.3688   -0.7458   -0.7140   -0.7418
-   -0.3655   -0.6460   -0.5043   -0.4941   -0.0339
-   -0.6853   -0.4227   -0.9419   -0.7802   -0.7441
-   -0.5090   -0.6798   -0.9717   -0.5272   -0.0436
-   -0.3718   -0.5135   -0.9990   -0.1220   -0.6564
-    0.7933    1.5765    1.0711    1.0794    0.8481
-    1.5765    0.1167    1.5685    0.8756    0.5037
-    1.0711    1.5685    0.9902    0.3858    0.2109
-    1.0794    0.8756    0.3858    1.8834    1.4338
-    0.8481    0.5037    0.2109    1.4338    0.1439
-    1.0786    1.5264    1.1721    1.5343    0.4756
-    1.5264    0.8644    0.6872    1.1379    0.6499
-    1.1721    0.6872    1.5194    1.1197    1.0158
-    1.5343    1.1379    1.1197    0.6612    0.2004
-    0.4756    0.6499    1.0158    0.2004    1.2188
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04TS EXAMPLE PROGRAM RESULTS
-
- The orthogonal symplectic factor U is 
-   -0.1513    0.0756   -0.0027    0.1694   -0.2999    0.3515   -0.4843    0.6545   -0.1995   -0.1627
-   -0.1202    0.2320    0.1662   -0.2835   -0.0508    0.4975    0.3319   -0.2686   -0.4186   -0.4649
-   -0.2431    0.2724    0.3439    0.3954    0.0236    0.3820   -0.2863   -0.4324    0.3706    0.1984
-   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393    0.5000    0.3659    0.1429    0.0493    0.6015
-   -0.2418   -0.2928   -0.0836   -0.5549    0.4824    0.1550   -0.4441   -0.0396    0.2376   -0.1702
-   -0.3515    0.4843   -0.6545    0.1995    0.1627   -0.1513    0.0756   -0.0027    0.1694   -0.2999
-   -0.4975   -0.3319    0.2686    0.4186    0.4649   -0.1202    0.2320    0.1662   -0.2835   -0.0508
-   -0.3820    0.2863    0.4324   -0.3706   -0.1984   -0.2431    0.2724    0.3439    0.3954    0.0236
-   -0.5000   -0.3659   -0.1429   -0.0493   -0.6015   -0.2327   -0.1509   -0.3710   -0.1240   -0.0393
-   -0.1550    0.4441    0.0396   -0.2376    0.1702   -0.2418   -0.2928   -0.0836   -0.5549    0.4824
-
- Orthogonality of U: || U^T U - I ||_F = .24E-14
-
- The factor R is 
-   -3.0684    4.6724   -0.2613   -0.1996    0.0208   -0.1071   -0.1355   -0.1400    0.4652   -0.5032
-    0.0000   -1.8037   -0.0301   -0.1137    0.1771    0.0277    0.3929    0.5424    0.5220   -0.4843
-    0.0000    0.0000   -0.7617   -0.1874    0.2557    0.1244   -0.0012    0.4091    0.5123   -0.3522
-    0.0000    0.0000    0.0000   -0.6931   -0.4293   -0.3718    0.1542   -0.3635    0.0336   -0.9832
-    0.0000    0.0000    0.0000    0.0000    0.6469    0.2074    0.0266    0.2028    0.1995    0.2517
-    0.0000    0.0000    0.0000    0.0000    0.0000    2.6325   -4.7377    0.0000    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.2702    0.9347   -1.1210    0.0000    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.3219   -0.5394    0.1748   -0.4788    0.0000
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1431   -0.1021    0.4974   -0.3565   -0.6402
-    0.0000    0.0000    0.0000    0.0000    0.0000   -0.1622   -0.2368    0.6126   -0.7369    0.6915
-
- Residual: || H*V - U*R ||_F = .87E-14
-
- The orthogonal symplectic factor V is 
-    1.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.4740    0.6013   -0.2299   -0.4282    0.0000    0.0061   -0.1732    0.3134    0.2220
-    0.0000   -0.5553   -0.2623    0.6622   -0.3042    0.0000   -0.0382    0.2453   -0.1662    0.0509
-    0.0000   -0.5563    0.0322   -0.1431    0.4461    0.0000   -0.0665   -0.4132   -0.3100   -0.4457
-    0.0000   -0.3872   -0.4022   -0.4194    0.3541    0.0000   -0.0406    0.3820    0.3006    0.3861
-    0.0000    0.0000    0.0000    0.0000    0.0000    1.0000    0.0000    0.0000    0.0000    0.0000
-    0.0000   -0.0061    0.1732   -0.3134   -0.2220    0.0000   -0.4740    0.6013   -0.2299   -0.4282
-    0.0000    0.0382   -0.2453    0.1662   -0.0509    0.0000   -0.5553   -0.2623    0.6622   -0.3042
-    0.0000    0.0665    0.4132    0.3100    0.4457    0.0000   -0.5563    0.0322   -0.1431    0.4461
-    0.0000    0.0406   -0.3820   -0.3006   -0.3861    0.0000   -0.3872   -0.4022   -0.4194    0.3541
-
- Orthogonality of V: || V^T V - I ||_F = .14E-14
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04TU.html b/doc/_static/doc/MB04TU.html
deleted file mode 100644
index dc8544de..00000000
--- a/doc/_static/doc/MB04TU.html
+++ /dev/null
@@ -1,69 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04TU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04TU">MB04TU</A></H2>
-<H3>
-Applying a row-permuted Givens transformation to two row vectors
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the Givens transformation, defined by C (cos) and S
-  (sin), and interchange the vectors involved, i.e.
-
-     |X(i)|    | 0   1 |   | C   S |   |X(i)|
-     |    | := |       | x |       | x |    |, i = 1,...N.
-     |Y(i)|    | 1   0 |   |-S   C |   |Y(i)|
-
-  REMARK. This routine is a modification of DROT from BLAS.
-          This routine is called only by the SLICOT routines MB04TX
-          and MB04VX.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04TU( N, X, INCX, Y, INCY, C, S )
-C     .. Scalar Arguments ..
-      INTEGER           INCX, INCY, N
-      DOUBLE PRECISION  C, S
-C     .. Array Arguments ..
-      DOUBLE PRECISION  X(*), Y(*)
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04UD.html b/doc/_static/doc/MB04UD.html
deleted file mode 100644
index cb27d657..00000000
--- a/doc/_static/doc/MB04UD.html
+++ /dev/null
@@ -1,310 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04UD">MB04UD</A></H2>
-<H3>
-Column echelon form by unitary transformations for a rectangular matrix (added functionality)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformations Q and Z such that the
-  transformed pencil Q'(sE-A)Z has the E matrix in column echelon
-  form, where E and A are M-by-N matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ,
-     $                   Z, LDZ, RANKE, ISTAIR, TOL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBQ, JOBZ
-      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, RANKE
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           ISTAIR(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBQ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the unitary row permutations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  unitary row permutation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the unitary
-                  row permutations used in the reduction.
-
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the unitary column transformations, as follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  unitary transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the unitary
-                  transformations used in the reduction.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the matrices A, E and the order of
-          the matrix Q.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the matrices A, E and the order
-          of the matrix Z.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the A matrix of the pencil sE-A.
-          On exit, the leading M-by-N part of this array contains
-          the unitary transformed matrix Q' * A * Z.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading M-by-N part of this array must
-          contain the E matrix of the pencil sE-A, to be reduced to
-          column echelon form.
-          On exit, the leading M-by-N part of this array contains
-          the unitary transformed matrix Q' * E * Z, which is in
-          column echelon form.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,M).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
-          On entry, if JOBQ = 'U', then the leading M-by-M part of
-          this array must contain a given matrix Q (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading M-by-M part of this array contains the product of
-          the input matrix Q and the row permutation matrix used to
-          transform the rows of matrix E.
-          On exit, if JOBQ = 'I', then the leading M-by-M part of
-          this array contains the matrix of accumulated unitary
-          row transformations performed.
-          If JOBQ = 'N', the array Q is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDQ = 1 and
-          declare this array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q. If JOBQ = 'U' or
-          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          On entry, if JOBZ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Z (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix Z and the column transformation matrix
-          used to transform the columns of matrix E.
-          On exit, if JOBZ = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated unitary
-          column transformations performed.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'U' or
-          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  RANKE   (output) INTEGER
-          The computed rank of the unitary transformed matrix E.
-
-  ISTAIR  (output) INTEGER array, dimension (M)
-          This array contains information on the column echelon form
-          of the unitary transformed matrix E. Specifically,
-          ISTAIR(i) = +j if the first non-zero element E(i,j)
-          is a corner point and -j otherwise, for i = 1,2,...,M.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance below which matrix elements are considered
-          to be zero. If the user sets TOL to be less than (or
-          equal to) zero then the tolerance is taken as
-          EPS * MAX(ABS(E(I,J))), where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH),
-          I = 1,2,...,M and J = 1,2,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(M,N))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an M-by-N matrix pencil sE-A with E not necessarily regular,
-  the routine computes a unitary transformed pencil Q'(sE-A)Z such
-  that the matrix Q' * E * Z is in column echelon form (trapezoidal
-  form).  Further details can be found in [1].
-
-  [An M-by-N matrix E with rank(E) = r is said to be in column
-  echelon form if the following conditions are satisfied:
-  (a) the first (N - r) columns contain only zero elements; and
-  (b) if E(i(k),k) is the last nonzero element in column k for
-      k = N-r+1,...,N, i.e. E(i(k),k) &lt;&gt; 0 and E(j,k) = 0 for
-      j &gt; i(k), then 1 &lt;= i(N-r+1) &lt; i(N-r+2) &lt; ... &lt; i(N) &lt;= M.]
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Beelen, Th. and Van Dooren, P.
-      An improved algorithm for the computation of Kronecker's
-      canonical form of a singular pencil.
-      Linear Algebra and Applications, 105, pp. 9-65, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  It is shown in [1] that the algorithm is numerically backward
-  stable. The operations count is proportional to (MAX(M,N))**3.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = MMAX, LDE = MMAX, LDQ = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
-*     PARAMETER        ( LDWORK = NMAX+MMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, RANKE
-      CHARACTER*1      JOBQ, JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
-      INTEGER          ISTAIR(MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB04UD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, TOL
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
-         JOBQ = 'N'
-         JOBZ = 'N'
-*        Reduce E to column echelon form and compute Q'*A*Z.
-         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
-     $                RANKE, ISTAIR, TOL, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99991 )
-            DO 10 I = 1, M
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 100 I = 1, M
-               WRITE ( NOUT, FMT = 99996 ) ( E(I,J), J = 1,N )
-  100       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) RANKE
-            WRITE ( NOUT, FMT = 99994 ) ( ISTAIR(I), I = 1,M )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04UD = ',I2)
-99997 FORMAT (' The transformed matrix E is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The computed rank of E = ',I2)
-99994 FORMAT (/' ISTAIR is ',/20(1X,I5))
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (' The transformed matrix A is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04UD EXAMPLE PROGRAM DATA
-   4     4     0.0
-   2.0  0.0  2.0 -2.0
-   0.0 -2.0  0.0  2.0
-   2.0  0.0 -2.0  0.0
-   2.0 -2.0  0.0  2.0
-   1.0  0.0  1.0 -1.0
-   0.0 -1.0  0.0  1.0
-   1.0  0.0 -1.0  0.0
-   1.0 -1.0  0.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04UD EXAMPLE PROGRAM RESULTS
-
- The transformed matrix A is 
-   0.5164   1.0328   1.1547  -2.3094
-   0.0000  -2.5820   0.0000  -1.1547
-   0.0000   0.0000  -3.4641   0.0000
-   0.0000   0.0000   0.0000  -3.4641
- The transformed matrix E is 
-   0.2582   0.5164   0.5774  -1.1547
-   0.0000  -1.2910   0.0000  -0.5774
-   0.0000   0.0000  -1.7321   0.0000
-   0.0000   0.0000   0.0000  -1.7321
-
- The computed rank of E =  4
-
- ISTAIR is 
-     1     2     3     4
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,504 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04VD">MB04VD</A></H2>
-<H3>
-Upper block triangular form for a rectangular pencil sE-A, with E in column echelon form (added functionality)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformations Q and Z such that the
-  transformed pencil Q'(sE-A)Z is in upper block triangular form,
-  where E is an M-by-N matrix in column echelon form (see SLICOT
-  Library routine MB04UD) and A is an M-by-N matrix.
-
-  If MODE = 'B', then the matrices A and E are transformed into the
-  following generalized Schur form by unitary transformations Q1
-  and Z1 :
-
-                   | sE(eps,inf)-A(eps,inf) |      X     |
-     Q1'(sE-A)Z1 = |------------------------|------------|.   (1)
-                   |            O           | sE(r)-A(r) |
-
-  The pencil sE(eps,inf)-A(eps,inf) is in staircase form, and it
-  contains all Kronecker column indices and infinite elementary
-  divisors of the pencil sE-A. The pencil sE(r)-A(r) contains all
-  Kronecker row indices and elementary divisors of sE-A.
-  Note: X is a pencil.
-
-  If MODE = 'T', then the submatrices having full row and column
-  rank in the pencil sE(eps,inf)-A(eps,inf) in (1) are
-  triangularized by applying unitary transformations Q2 and Z2 to
-  Q1'*(sE-A)*Z1.
-
-  If MODE = 'S', then the pencil sE(eps,inf)-A(eps,inf) in (1) is
-  separated into sE(eps)-A(eps) and sE(inf)-A(inf) by applying
-  unitary transformations Q3 and Z3 to Q2'*Q1'*(sE-A)*Z1*Z2.
-
-  This gives
-
-             | sE(eps)-A(eps) |        X       |      X     |
-             |----------------|----------------|------------|
-             |        O       | sE(inf)-A(inf) |      X     |
-  Q'(sE-A)Z =|=================================|============| (2)
-             |                                 |            |
-             |                O                | sE(r)-A(r) |
-
-  where Q = Q1*Q2*Q3 and Z = Z1*Z2*Z3.
-  Note: the pencil sE(r)-A(r) is not reduced further.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
-     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
-     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBQ, JOBZ, MODE
-      INTEGER           INFO, LDA, LDE, LDQ, LDZ, M, N, NBLCKI, NBLCKS,
-     $                  RANKE
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IMUK(*), IMUK0(*), INUK(*), ISTAIR(*), IWORK(*),
-     $                  MNEI(*)
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  MODE    CHARACTER*1
-          Specifies the desired structure of the transformed
-          pencil Q'(sE-A)Z to be computed as follows:
-          = 'B':  Basic reduction given by (1);
-          = 'T':  Further reduction of (1) to triangular form;
-          = 'S':  Further separation of sE(eps,inf)-A(eps,inf)
-                  in (1) into the two pencils in (2).
-
-  JOBQ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the orthogonal row transformations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the orthogonal
-                  row transformations used in the reduction.
-
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal column transformations, as
-          follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the orthogonal
-                  transformations used in the reduction.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in the matrices A, E and the order of
-          the matrix Q.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in the matrices A, E and the order
-          of the matrix Z.  N &gt;= 0.
-
-  RANKE   (input) INTEGER
-          The rank of the matrix E in column echelon form.
-          RANKE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix to be row compressed.
-          On exit, the leading M-by-N part of this array contains
-          the matrix that has been row compressed while keeping
-          matrix E in column echelon form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading M-by-N part of this array must
-          contain the matrix in column echelon form to be
-          transformed equivalent to matrix A.
-          On exit, the leading M-by-N part of this array contains
-          the matrix that has been transformed equivalent to matrix
-          A.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,M).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
-          On entry, if JOBQ = 'U', then the leading M-by-M part of
-          this array must contain a given matrix Q (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading M-by-M part of this array contains the product of
-          the input matrix Q and the row transformation matrix used
-          to transform the rows of matrices A and E.
-          On exit, if JOBQ = 'I', then the leading M-by-M part of
-          this array contains the matrix of accumulated orthogonal
-          row transformations performed.
-          If JOBQ = 'N', the array Q is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDQ = 1 and
-          declare this array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q. If JOBQ = 'U' or
-          JOBQ = 'I', LDQ &gt;= MAX(1,M); if JOBQ = 'N', LDQ &gt;= 1.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          On entry, if JOBZ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Z (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix Z and the column transformation matrix
-          used to transform the columns of matrices A and E.
-          On exit, if JOBZ = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated orthogonal
-          column transformations performed.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'U' or
-          JOBZ = 'I', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  ISTAIR  (input/output) INTEGER array, dimension (M)
-          On entry, this array must contain information on the
-          column echelon form of the unitary transformed matrix E.
-          Specifically, ISTAIR(i) must be set to +j if the first
-          non-zero element E(i,j) is a corner point and -j
-          otherwise, for i = 1,2,...,M.
-          On exit, this array contains no useful information.
-
-  NBLCKS  (output) INTEGER
-          The number of submatrices having full row rank greater
-          than or equal to 0 detected in matrix A in the pencil
-          sE(x)-A(x),
-             where  x = eps,inf  if MODE = 'B' or 'T',
-             or     x = eps      if MODE = 'S'.
-
-  NBLCKI  (output) INTEGER
-          If MODE = 'S', the number of diagonal submatrices in the
-          pencil sE(inf)-A(inf). If MODE = 'B' or 'T' then
-          NBLCKI = 0.
-
-  IMUK    (output) INTEGER array, dimension (MAX(N,M+1))
-          The leading NBLCKS elements of this array contain the
-          column dimensions mu(1),...,mu(NBLCKS) of the submatrices
-          having full column rank in the pencil sE(x)-A(x),
-             where  x = eps,inf  if MODE = 'B' or 'T',
-             or     x = eps      if MODE = 'S'.
-
-  INUK    (output) INTEGER array, dimension (MAX(N,M+1))
-          The leading NBLCKS elements of this array contain the
-          row dimensions nu(1),...,nu(NBLCKS) of the submatrices
-          having full row rank in the pencil sE(x)-A(x),
-             where  x = eps,inf  if MODE = 'B' or 'T',
-             or     x = eps      if MODE = 'S'.
-
-  IMUK0   (output) INTEGER array, dimension (limuk0),
-          where limuk0 = N if MODE = 'S' and 1, otherwise.
-          If MODE = 'S', then the leading NBLCKI elements of this
-          array contain the dimensions mu0(1),...,mu0(NBLCKI)
-          of the square diagonal submatrices in the pencil
-          sE(inf)-A(inf).
-          Otherwise, IMUK0 is not referenced and can be supplied
-          as a dummy array.
-
-  MNEI    (output) INTEGER array, dimension (3)
-          If MODE = 'B' or 'T' then
-          MNEI(1) contains the row dimension of
-                  sE(eps,inf)-A(eps,inf);
-          MNEI(2) contains the column dimension of
-                  sE(eps,inf)-A(eps,inf);
-          MNEI(3) = 0.
-          If MODE = 'S', then
-          MNEI(1) contains the row    dimension of sE(eps)-A(eps);
-          MNEI(2) contains the column dimension of sE(eps)-A(eps);
-          MNEI(3) contains the order of the regular pencil
-                  sE(inf)-A(inf).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance below which matrix elements are considered
-          to be zero. If the user sets TOL to be less than (or
-          equal to) zero then the tolerance is taken as
-          EPS * MAX( ABS(A(I,J)), ABS(E(I,J)) ), where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH),
-          I = 1,2,...,M and J = 1,2,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          &gt; 0:  if incorrect rank decisions were revealed during the
-                triangularization phase. This failure is not likely
-                to occur. The possible values are:
-          = 1:  if incorrect dimensions of a full column rank
-                submatrix;
-          = 2:  if incorrect dimensions of a full row rank
-                submatrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let sE - A be an arbitrary pencil. Prior to calling the routine,
-  this pencil must be transformed into a pencil with E in column
-  echelon form. This may be accomplished by calling the SLICOT
-  Library routine MB04UD. Depending on the value of MODE,
-  submatrices of A and E are then reduced to one of the forms
-  described above. Further details can be found in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Beelen, Th. and Van Dooren, P.
-      An improved algorithm for the computation of Kronecker's
-      canonical form of a singular pencil.
-      Linear Algebra and Applications, 105, pp. 9-65, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  It is shown in [1] that the algorithm is numerically backward
-  stable. The operations count is proportional to (MAX(M,N))**3.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The difference mu(k)-nu(k), for k = 1,2,...,NBLCKS, is the number
-  of elementary Kronecker blocks of size k x (k+1).
-
-  If MODE = 'B' or 'T' on entry, then the difference nu(k)-mu(k+1),
-  for k = 1,2,...,NBLCKS, is the number of infinite elementary
-  divisors of degree k (with mu(NBLCKS+1) = 0).
-
-  If MODE = 'S' on entry, then the difference mu0(k)-mu0(k+1),
-  for k = 1,2,...,NBLCKI, is the number of infinite elementary
-  divisors of degree k (with mu0(NBLCKI+1) = 0).
-  In the pencil sE(r)-A(r), the pencils sE(f)-A(f) and
-  sE(eta)-A(eta) can be separated by pertransposing the pencil
-  sE(r)-A(r) and calling the routine with MODE set to 'B'. The
-  result has got to be pertransposed again. (For more details see
-  [1]).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDE, LDQ, LDZ
-      PARAMETER        ( LDA  = MMAX, LDE = MMAX, LDQ = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LINUK
-      PARAMETER        ( LINUK = MAX( NMAX,MMAX+1 ) )
-*     PARAMETER        ( LINUK = NMAX+MMAX+1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX,MMAX ) )
-*     PARAMETER        ( LDWORK = NMAX+MMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NBLCKI, NBLCKS, RANKE
-      CHARACTER*1      JOBQ, JOBZ, MODE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 Q(LDQ,MMAX), Z(LDZ,NMAX)
-      INTEGER          IMUK(LINUK), IMUK0(NMAX), INUK(LINUK),
-     $                 ISTAIR(MMAX), IWORK(LIWORK), MNEI(3)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04UD, MB04VD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, TOL, MODE
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99984 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,M )
-         JOBQ = 'I'
-         JOBZ = 'I'
-*        Reduce E to column echelon form and compute Q'*A*Z.
-         CALL MB04UD( JOBQ, JOBZ, M, N, A, LDA, E, LDE, Q, LDQ, Z, LDZ,
-     $                RANKE, ISTAIR, TOL, DWORK, INFO )
-         JOBQ = 'U'
-         JOBZ = 'U'
-*
-         IF ( INFO.EQ.0 ) THEN
-*           Compute a unitary transformed pencil Q'*(s*E-A)*Z.
-            CALL MB04VD( MODE, JOBQ, JOBZ, M, N, RANKE, A, LDA, E, LDE,
-     $                   Q, LDQ, Z, LDZ, ISTAIR, NBLCKS, NBLCKI, IMUK,
-     $                   INUK, IMUK0, MNEI, TOL, IWORK, INFO )
-*
-            IF ( INFO.EQ.0 ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               WRITE ( NOUT, FMT = 99995 )
-               DO 140 I = 1, M
-                  WRITE ( NOUT, FMT = 99994 ) ( Q(I,J), J = 1,M )
-  140          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 160 I = 1, M
-                  WRITE ( NOUT, FMT = 99994 ) ( E(I,J), J = 1,N )
-  160          CONTINUE
-               WRITE ( NOUT, FMT = 99992 )
-               DO 180 I = 1, M
-                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,N )
-  180          CONTINUE
-               WRITE ( NOUT, FMT = 99991 )
-               DO 200 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
-  200          CONTINUE
-               WRITE ( NOUT, FMT = 99990 ) NBLCKS
-               IF ( .NOT. LSAME( MODE, 'S' ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 ) ( IMUK(I),  I = 1,NBLCKS )
-                  WRITE ( NOUT, FMT = 99988 ) ( INUK(I),  I = 1,NBLCKS )
-               ELSE
-                  WRITE ( NOUT, FMT = 99987 ) ( IMUK(I),  I = 1,NBLCKS )
-                  WRITE ( NOUT, FMT = 99986 ) ( INUK(I),  I = 1,NBLCKS )
-                  WRITE ( NOUT, FMT = 99982 ) ( IMUK0(I), I = 1,NBLCKI )
-                  WRITE ( NOUT, FMT = 99985 ) ( MNEI(I),  I = 1,3 )
-               END IF
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04VD = ',I2)
-99997 FORMAT (' INFO on exit from MB04UD = ',I2)
-99996 FORMAT (' The unitary transformed pencil is Q''*(s*E-A)*Z, where',
-     $          /)
-99995 FORMAT (' Matrix Q',/)
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' Matrix E',/)
-99992 FORMAT (/' Matrix A',/)
-99991 FORMAT (/' Matrix Z',/)
-99990 FORMAT (/' The number of submatrices having full row rank detect',
-     $       'ed in matrix A = ',I3)
-99989 FORMAT (/' The column dimensions of the submatrices having full ',
-     $       'column rank in the pencil',/' sE(eps,inf) - A(eps,inf) a',
-     $       're',/20(1X,I5))
-99988 FORMAT (/' The row dimensions of the submatrices having full row',
-     $       ' rank in the pencil',/' sE(eps,inf) - A(eps,inf) are',
-     $       /20(1X,I5))
-99987 FORMAT (/' The column dimensions of the submatrices having full ',
-     $       'column rank in the pencil',/' sE(eps) - A(eps) are',
-     $       /20(1X,I5))
-99986 FORMAT (/' The row dimensions of the submatrices having full row',
-     $       ' rank in the pencil',/' sE(eps) - A(eps) are',/20(1X,I5))
-99985 FORMAT (/' MNEI is ',/20(1X,I5))
-99984 FORMAT (/' M is out of range.',/' M = ',I5)
-99983 FORMAT (/' N is out of range.',/' N = ',I5)
-99982 FORMAT (/' The orders of the diagonal submatrices in the pencil ',
-     $       'sE(inf) - A(inf) are',/20(1X,I5))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04VD EXAMPLE PROGRAM DATA
-   2     4     0.0     S
-   1.0  0.0 -1.0  0.0
-   1.0  1.0  0.0 -1.0
-   0.0 -1.0  0.0  0.0
-   0.0 -1.0  0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04VD EXAMPLE PROGRAM RESULTS
-
- The unitary transformed pencil is Q'*(s*E-A)*Z, where
-
- Matrix Q
-
-   0.7071  -0.7071
-   0.7071   0.7071
-
- Matrix E
-
-   0.0000   0.0000  -1.1547   0.8165
-   0.0000   0.0000   0.0000   0.0000
-
- Matrix A
-
-   0.0000   1.7321   0.5774  -0.4082
-   0.0000   0.0000   0.0000  -1.2247
-
- Matrix Z
-
-   0.5774   0.8165   0.0000   0.0000
-   0.0000   0.0000   0.8165  -0.5774
-   0.5774  -0.4082  -0.4082  -0.5774
-   0.5774  -0.4082   0.4082   0.5774
-
- The number of submatrices having full row rank detected in matrix A =   2
-
- The column dimensions of the submatrices having full column rank in the pencil
- sE(eps) - A(eps) are
-     2     1
-
- The row dimensions of the submatrices having full row rank in the pencil
- sE(eps) - A(eps) are
-     1     0
-
- The orders of the diagonal submatrices in the pencil sE(inf) - A(inf) are
-     1
-
- MNEI is 
-     1     3     1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04WD.html b/doc/_static/doc/MB04WD.html
deleted file mode 100644
index 263bf41c..00000000
--- a/doc/_static/doc/MB04WD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WD">MB04WD</A></H2>
-<H3>
-Generating an orthogonal basis spanning an isotropic subspace
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate a matrix Q with orthogonal columns (spanning an
-  isotropic subspace), which is defined as the first n columns
-  of a product of symplectic reflectors and Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  The matrix Q is returned in terms of its first 2*M rows
-
-                   [  op( Q1 )   op( Q2 ) ]
-               Q = [                      ].
-                   [ -op( Q2 )   op( Q1 ) ]
-
-  Blocked version of the SLICOT Library routine MB04WU.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WD( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
-     $                   CS, TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANQ1, TRANQ2
-      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANQ1  CHARACTER*1
-          Specifies the form of op( Q1 ) as follows:
-          = 'N':  op( Q1 ) = Q1;
-          = 'T':  op( Q1 ) = Q1';
-          = 'C':  op( Q1 ) = Q1'.
-
-  TRANQ2  CHARACTER*1
-          Specifies the form of op( Q2 ) as follows:
-          = 'N':  op( Q2 ) = Q2;
-          = 'T':  op( Q2 ) = Q2';
-          = 'C':  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices Q1 and Q2.
-          M &gt;= N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of symplectic Givens rotations whose product
-          partly defines the matrix Q. N &gt;= K &gt;= 0.
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ1,N) if TRANQ1 = 'N',
-                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
-          On entry with TRANQ1 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector F(i).
-          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row
-          the vector which defines the elementary reflector F(i).
-          On exit with TRANQ1 = 'N', the leading M-by-N part of this
-          array contains the matrix Q1.
-          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          N-by-M part of this array contains the matrix Q1'.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
-          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ2,N) if TRANQ2 = 'N',
-                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
-          On entry with TRANQ2 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector H(i) and, on the
-          diagonal, the scalar factor of H(i).
-          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row the
-          vector which defines the elementary reflector H(i) and, on
-          the diagonal, the scalar factor of H(i).
-          On exit with TRANQ2 = 'N', the leading M-by-N part of this
-          array contains the matrix Q2.
-          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          N-by-M part of this array contains the matrix Q2'.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
-          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK, MAX(M+N,8*N*NB + 15*NB*NB), where NB is
-          the optimal block size determined by the function UE01MD.
-          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04WP.html b/doc/_static/doc/MB04WP.html
deleted file mode 100644
index 3f64f325..00000000
--- a/doc/_static/doc/MB04WP.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WP">MB04WP</A></H2>
-<H3>
-Generating an orthogonal symplectic matrix which performed the reduction in MB04PU
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate an orthogonal symplectic matrix U, which is defined as
-  a product of symplectic reflectors and Givens rotations
-
-  U = diag( H(1),H(1) )      G(1)  diag( F(1),F(1) )
-      diag( H(2),H(2) )      G(2)  diag( F(2),F(2) )
-                             ....
-      diag( H(n-1),H(n-1) ) G(n-1) diag( F(n-1),F(n-1) ).
-
-  as returned by MB04PU. The matrix U is returned in terms of its
-  first N rows
-
-                   [  U1   U2 ]
-               U = [          ].
-                   [ -U2   U1 ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WP( N, ILO, U1, LDU1, U2, LDU2, CS, TAU, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           ILO, INFO, LDU1, LDU2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), U1(LDU1,*), U2(LDU2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices U1 and U2.  N &gt;= 0.
-
-  ILO     (input) INTEGER
-          ILO must have the same value as in the previous call of
-          MB04PU. U is equal to the unit matrix except in the
-          submatrix
-          U([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]).
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  U1      (input/output) DOUBLE PRECISION array, dimension (LDU1,N)
-          On entry, the leading N-by-N part of this array must
-          contain in its i-th column the vector which defines the
-          elementary reflector F(i).
-          On exit, the leading N-by-N part of this array contains
-          the matrix U1.
-
-  LDU1    INTEGER
-          The leading dimension of the array U1.  LDU1 &gt;= MAX(1,N).
-
-  U2      (input/output) DOUBLE PRECISION array, dimension (LDU2,N)
-          On entry, the leading N-by-N part of this array must
-          contain in its i-th column the vector which defines the
-          elementary reflector H(i) and, on the subdiagonal, the
-          scalar factor of H(i).
-          On exit, the leading N-by-N part of this array contains
-          the matrix U2.
-
-  LDU2    INTEGER
-          The leading dimension of the array U2.  LDU2 &gt;= MAX(1,N).
-
-  CS      (input) DOUBLE PRECISION array, dimension (2N-2)
-          On entry, the first 2N-2 elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (N-1)
-          On entry, the first N-1 elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -10,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,2*(N-ILO)).
-          For optimum performance LDWORK should be larger. (See
-          SLICOT Library routine MB04WD).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O(N**3) floating point operations and is
-  strongly backward stable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] C. F. VAN LOAN:
-      A symplectic method for approximating all the eigenvalues of
-      a Hamiltonian matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] D. KRESSNER:
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04WR.html b/doc/_static/doc/MB04WR.html
deleted file mode 100644
index 9e876c32..00000000
--- a/doc/_static/doc/MB04WR.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WR">MB04WR</A></H2>
-<H3>
-Generating orthogonal symplectic matrices defined as products of symplectic reflectors and Givens rotations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate orthogonal symplectic matrices U or V, defined as
-  products of symplectic reflectors and Givens rotations
-
-  U = diag( HU(1),HU(1) )  GU(1)  diag( FU(1),FU(1) )
-      diag( HU(2),HU(2) )  GU(2)  diag( FU(2),FU(2) )
-                           ....
-      diag( HU(n),HU(n) )  GU(n)  diag( FU(n),FU(n) ),
-
-  V = diag( HV(1),HV(1) )       GV(1)   diag( FV(1),FV(1) )
-      diag( HV(2),HV(2) )       GV(2)   diag( FV(2),FV(2) )
-                                ....
-      diag( HV(n-1),HV(n-1) )  GV(n-1)  diag( FV(n-1),FV(n-1) ),
-
-  as returned by the SLICOT Library routines MB04TS or MB04TB. The
-  matrices U and V are returned in terms of their first N/2 rows:
-
-              [  U1   U2 ]           [  V1   V2 ]
-          U = [          ],      V = [          ].
-              [ -U2   U1 ]           [ -V2   V1 ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WR( JOB, TRANS, N, ILO, Q1, LDQ1, Q2, LDQ2, CS,
-     $                   TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, TRANS
-      INTEGER           ILO, INFO, LDQ1, LDQ2, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies whether the matrix U or the matrix V is
-          required:
-          = 'U':  generate U;
-          = 'V':  generate V.
-
-  TRANS   CHARACTER*1
-          If  JOB = 'U'  then TRANS must have the same value as
-          the argument TRANA in the previous call of MB04TS or
-          MB04TB.
-          If  JOB = 'V'  then TRANS must have the same value as
-          the argument TRANB in the previous call of MB04TS or
-          MB04TB.
-
-  N       (input) INTEGER
-          The order of the matrices Q1 and Q2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          ILO must have the same value as in the previous call of
-          MB04TS or MB04TB. U and V are equal to the unit matrix
-          except in the submatrices
-          U([ilo:n n+ilo:2*n], [ilo:n n+ilo:2*n]) and
-          V([ilo+1:n n+ilo+1:2*n], [ilo+1:n n+ilo+1:2*n]),
-          respectively.
-          1 &lt;= ILO &lt;= N, if N &gt; 0; ILO = 1, if N = 0.
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension (LDQ1,N)
-          On entry, if  JOB = 'U'  and  TRANS = 'N'  then the
-          leading N-by-N part of this array must contain in its i-th
-          column the vector which defines the elementary reflector
-          FU(i).
-          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array must contain in its i-th
-          row the vector which defines the elementary reflector
-          FU(i).
-          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
-          part of this array must contain in its i-th row the vector
-          which defines the elementary reflector FV(i).
-          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array must contain in its i-th
-          column the vector which defines the elementary reflector
-          FV(i).
-          On exit, if  JOB = 'U'  and  TRANS = 'N'  then the leading
-          N-by-N part of this array contains the matrix U1.
-          If  JOB = 'U'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array contains the matrix
-          U1**T.
-          If  JOB = 'V'  and  TRANS = 'N'  then the leading N-by-N
-          part of this array contains the matrix V1**T.
-          If  JOB = 'V'  and  TRANS = 'T'  or  TRANS = 'C' then the
-          leading N-by-N part of this array contains the matrix V1.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.  LDQ1 &gt;= MAX(1,N).
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension (LDQ2,N)
-          On entry, if  JOB = 'U'  then the leading N-by-N part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector HU(i).
-          If  JOB = 'V'  then the leading N-by-N part of this array
-          must contain in its i-th row the vector which defines the
-          elementary reflector HV(i).
-          On exit, if  JOB = 'U'  then the leading N-by-N part of
-          this array contains the matrix U2.
-          If  JOB = 'V'  then the leading N-by-N part of this array
-          contains the matrix V2**T.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.  LDQ2 &gt;= MAX(1,N).
-
-  CS      (input) DOUBLE PRECISION array, dimension (2N)
-          On entry, if  JOB = 'U'  then the first 2N elements of
-          this array must contain the cosines and sines of the
-          symplectic Givens rotations GU(i).
-          If  JOB = 'V'  then the first 2N-2 elements of this array
-          must contain the cosines and sines of the symplectic
-          Givens rotations GV(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (N)
-          On entry, if  JOB = 'U'  then the first N elements of
-          this array must contain the scalar factors of the
-          elementary reflectors FU(i).
-          If  JOB = 'V'  then the first N-1 elements of this array
-          must contain the scalar factors of the elementary
-          reflectors FV(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -12,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,2*(N-ILO+1)).
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Mehrmann, V., and Xu, H.
-      A numerically stable, structure preserving method for
-      computing the eigenvalues of real Hamiltonian or symplectic
-      pencils. Numer. Math., Vol 78 (3), pp. 329-358, 1998.
-
-  [2] Kressner, D.
-      Block algorithms for orthogonal symplectic factorizations.
-      BIT, 43 (4), pp. 775-790, 2003.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04WU.html b/doc/_static/doc/MB04WU.html
deleted file mode 100644
index e058126b..00000000
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+++ /dev/null
@@ -1,179 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04WU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04WU">MB04WU</A></H2>
-<H3>
-Generating an orthogonal basis spanning an isotropic subspace (unblocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To generate a matrix Q with orthogonal columns (spanning an
-  isotropic subspace), which is defined as the first n columns
-  of a product of symplectic reflectors and Givens rotations,
-
-      Q = diag( H(1),H(1) ) G(1) diag( F(1),F(1) )
-          diag( H(2),H(2) ) G(2) diag( F(2),F(2) )
-                            ....
-          diag( H(k),H(k) ) G(k) diag( F(k),F(k) ).
-
-  The matrix Q is returned in terms of its first 2*M rows
-
-                   [  op( Q1 )   op( Q2 ) ]
-               Q = [                      ].
-                   [ -op( Q2 )   op( Q1 ) ]
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04WU( TRANQ1, TRANQ2, M, N, K, Q1, LDQ1, Q2, LDQ2,
-     $                   CS, TAU, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANQ1, TRANQ2
-      INTEGER           INFO, K, LDQ1, LDQ2, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  CS(*), DWORK(*), Q1(LDQ1,*), Q2(LDQ2,*), TAU(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANQ1  CHARACTER*1
-          Specifies the form of op( Q1 ) as follows:
-          = 'N':  op( Q1 ) = Q1;
-          = 'T':  op( Q1 ) = Q1';
-          = 'C':  op( Q1 ) = Q1'.
-
-  TRANQ2  CHARACTER*1
-          Specifies the form of op( Q2 ) as follows:
-          = 'N':  op( Q2 ) = Q2;
-          = 'T':  op( Q2 ) = Q2';
-          = 'C':  op( Q2 ) = Q2'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrices Q1 and Q2. M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices Q1 and Q2.
-          M &gt;= N &gt;= 0.
-
-  K       (input) INTEGER
-          The number of symplectic Givens rotations whose product
-          partly defines the matrix Q. N &gt;= K &gt;= 0.
-
-  Q1      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ1,N) if TRANQ1 = 'N',
-                  (LDQ1,M) if TRANQ1 = 'T' or TRANQ1 = 'C'
-          On entry with TRANQ1 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector F(i).
-          On entry with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row
-          the vector which defines the elementary reflector F(i).
-          On exit with TRANQ1 = 'N', the leading M-by-N part of this
-          array contains the matrix Q1.
-          On exit with TRANQ1 = 'T' or TRANQ1 = 'C', the leading
-          N-by-M part of this array contains the matrix Q1'.
-
-  LDQ1    INTEGER
-          The leading dimension of the array Q1.
-          LDQ1 &gt;= MAX(1,M),  if TRANQ1 = 'N';
-          LDQ1 &gt;= MAX(1,N),  if TRANQ1 = 'T' or TRANQ1 = 'C'.
-
-  Q2      (input/output) DOUBLE PRECISION array, dimension
-                  (LDQ2,N) if TRANQ2 = 'N',
-                  (LDQ2,M) if TRANQ2 = 'T' or TRANQ2 = 'C'
-          On entry with TRANQ2 = 'N', the leading M-by-K part of
-          this array must contain in its i-th column the vector
-          which defines the elementary reflector H(i) and, on the
-          diagonal, the scalar factor of H(i).
-          On entry with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          K-by-M part of this array must contain in its i-th row the
-          vector which defines the elementary reflector H(i) and, on
-          the diagonal, the scalar factor of H(i).
-          On exit with TRANQ2 = 'N', the leading M-by-N part of this
-          array contains the matrix Q2.
-          On exit with TRANQ2 = 'T' or TRANQ2 = 'C', the leading
-          N-by-M part of this array contains the matrix Q2'.
-
-  LDQ2    INTEGER
-          The leading dimension of the array Q2.
-          LDQ2 &gt;= MAX(1,M),  if TRANQ2 = 'N';
-          LDQ2 &gt;= MAX(1,N),  if TRANQ2 = 'T' or TRANQ2 = 'C'.
-
-  CS      (input) DOUBLE PRECISION array, dimension (2*K)
-          On entry, the first 2*K elements of this array must
-          contain the cosines and sines of the symplectic Givens
-          rotations G(i).
-
-  TAU     (input) DOUBLE PRECISION array, dimension (K)
-          On entry, the first K elements of this array must
-          contain the scalar factors of the elementary reflectors
-          F(i).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0,  DWORK(1)  returns the optimal
-          value of LDWORK.
-          On exit, if  INFO = -13,  DWORK(1)  returns the minimum
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,M+N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bunse-Gerstner, A.
-      Matrix factorizations for symplectic QR-like methods.
-      Linear Algebra Appl., 83, pp. 49-77, 1986.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04XD.html b/doc/_static/doc/MB04XD.html
deleted file mode 100644
index c05a0908..00000000
--- a/doc/_static/doc/MB04XD.html
+++ /dev/null
@@ -1,567 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04XD">MB04XD</A></H2>
-<H3>
-Basis for left/right singular subspace of a matrix corresponding to its smallest singular values
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a basis for the left and/or right singular subspace of
-  an M-by-N matrix A corresponding to its smallest singular values.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU,
-     $                   V, LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV
-      INTEGER           INFO, IWARN, LDA, LDU, LDV, LDWORK, M, N, RANK
-      DOUBLE PRECISION  RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      LOGICAL           INUL(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), Q(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Specifies whether to compute the left singular subspace
-          as follows:
-          = 'N':  Do not compute the left singular subspace;
-          = 'A':  Return the (M - RANK) base vectors of the desired
-                  left singular subspace in U;
-          = 'S':  Return the first (min(M,N) - RANK) base vectors
-                  of the desired left singular subspace in U.
-
-  JOBV    CHARACTER*1
-          Specifies whether to compute the right singular subspace
-          as follows:
-          = 'N':  Do not compute the right singular subspace;
-          = 'A':  Return the (N - RANK) base vectors of the desired
-                  right singular subspace in V;
-          = 'S':  Return the first (min(M,N) - RANK) base vectors
-                  of the desired right singular subspace in V.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns in matrix A.  N &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if RANK &lt; 0, then the rank of matrix A is
-          computed by the routine as the number of singular values
-          greater than THETA.
-          Otherwise, RANK must specify the rank of matrix A.
-          RANK &lt;= min(M,N).
-          On exit, if RANK &lt; 0 on entry, then RANK contains the
-          computed rank of matrix A. That is, the number of singular
-          values of A greater than THETA.
-          Otherwise, the user-supplied value of RANK may be changed
-          by the routine on exit if the RANK-th and the (RANK+1)-th
-          singular values of A are considered to be equal.
-          See also the description of parameter TOL below.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, if RANK &lt; 0, then THETA must specify an upper
-          bound on the smallest singular values of A corresponding
-          to the singular subspace to be computed.  THETA &gt;= 0.0.
-          Otherwise, THETA must specify an initial estimate (t say)
-          for computing an upper bound on the (min(M,N) - RANK)
-          smallest singular values of A. If THETA &lt; 0.0, then t is
-          computed by the routine.
-          On exit, if RANK &gt;= 0 on entry, then THETA contains the
-          computed upper bound such that precisely RANK singular
-          values of A are greater than THETA + TOL.
-          Otherwise, THETA is unchanged.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix A from which the basis of a desired singular
-          subspace is to be computed.
-          NOTE that this array is destroyed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,M).
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
-          If JOBU = 'A', then the leading M-by-M part of this array
-          contains the (M - RANK) M-dimensional base vectors of the
-          desired left singular subspace of A corresponding to its
-          singular values less than or equal to THETA. These vectors
-          are stored in the i-th column(s) of U for which
-          INUL(i) = .TRUE., where i = 1,2,...,M.
-
-          If JOBU = 'S', then the leading M-by-min(M,N) part of this
-          array contains the first (min(M,N) - RANK) M-dimensional
-          base vectors of the desired left singular subspace of A
-          corresponding to its singular values less than or equal to
-          THETA. These vectors are stored in the i-th column(s) of U
-          for which INUL(i) = .TRUE., where i = 1,2,..., min(M,N).
-
-          Otherwise, U is not referenced (since JOBU = 'N') and can
-          be supplied as a dummy array (i.e. set parameter LDU = 1
-          and declare this array to be U(1,1) in the calling
-          program).
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= max(1,M) if JOBU = 'A' or JOBU = 'S',
-          LDU &gt;= 1        if JOBU = 'N'.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
-          If JOBV = 'A', then the leading N-by-N part of this array
-          contains the (N - RANK) N-dimensional base vectors of the
-          desired right singular subspace of A corresponding to its
-          singular values less than or equal to THETA. These vectors
-          are stored in the i-th column(s) of V for which
-          INUL(i) = .TRUE., where i = 1,2,...,N.
-
-          If JOBV = 'S', then the leading N-by-min(M,N) part of this
-          array contains the first (min(M,N) - RANK) N-dimensional
-          base vectors of the desired right singular subspace of A
-          corresponding to its singular values less than or equal to
-          THETA. These vectors are stored in the i-th column(s) of V
-          for which INUL(i) = .TRUE., where i = 1,2,...,MIN( M,N).
-
-          Otherwise, V is not referenced (since JOBV = 'N') and can
-          be supplied as a dummy array (i.e. set parameter LDV = 1
-          and declare this array to be V(1,1) in the calling
-          program).
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          LDV &gt;= max(1,N) if JOBV = 'A' or JOBV = 'S',
-          LDV &gt;= 1        if JOBV = 'N'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (2*min(M,N)-1)
-          This array contains the partially diagonalized bidiagonal
-          matrix J computed from A, at the moment that the desired
-          singular subspace has been found. Specifically, the
-          leading p = min(M,N) entries of Q contain the diagonal
-          elements q(1),q(2),...,q(p) and the entries Q(p+1),
-          Q(p+2),...,Q(2*p-1) contain the superdiagonal elements
-          e(1),e(2),...,e(p-1) of J.
-
-  INUL    (output) LOGICAL array, dimension (max(M,N))
-          If JOBU &lt;&gt; 'N' or JOBV &lt;&gt; 'N', then the indices of the
-          elements of this array with value .TRUE. indicate the
-          columns in U and/or V containing the base vectors of the
-          desired left and/or right singular subspace of A. They
-          also equal the indices of the diagonal elements of the
-          bidiagonal submatrices in the array Q, which correspond
-          to the computed singular subspaces.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width. TOL is also taken
-          as an absolute tolerance for negligible elements in the
-          QR/QL iterations. If the user sets TOL to be less than or
-          equal to 0, then the tolerance is taken as specified in
-          SLICOT Library routine MB04YD document.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged. If the user sets RELTOL to be less than
-          BASE * EPS, where BASE is machine radix and EPS is machine
-          precision (see LAPACK Library routine DLAMCH), then the
-          tolerance is taken as BASE * EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max(1, LDW + max(2*P + max(M,N), LDY)), where
-               P = min(M,N);
-             LDW = max(2*N, N*(N+1)/2), if JOBU &lt;&gt; 'N' and M large
-                                                     enough than N;
-             LDW = 0,                   otherwise;
-             LDY = 8*P - 5, if JOBU &lt;&gt; 'N' or  JOBV &lt;&gt; 'N';
-             LDY = 6*P - 3, if JOBU =  'N' and JOBV =  'N'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  if the rank of matrix A (as specified by the user)
-                has been lowered because a singular value of
-                multiplicity greater than 1 was found.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the maximum number of QR/QL iteration steps
-                (30*MIN(M,N)) has been exceeded.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Partial Singular Value Decomposition (PSVD)
-  approach proposed by Van Huffel, Vandewalle and Haegemans, which
-  is an efficient technique (see [1]) for computing the singular
-  subspace of a matrix corresponding to its smallest singular
-  values. It differs from the classical SVD algorithm [3] at three
-  points, which results in high efficiency. Firstly, the Householder
-  transformations of the bidiagonalization need only to be applied
-  on the base vectors of the desired singular subspaces; secondly,
-  the bidiagonal matrix need only be partially diagonalized; and
-  thirdly, the convergence rate of the iterative diagonalization can
-  be improved by an appropriate choice between QL and QR iterations.
-  (Note, however, that LAPACK Library routine DGESVD, for computing
-  SVD, also uses either QL and QR iterations.) Depending on the gap,
-  the desired numerical accuracy and the dimension of the desired
-  singular subspace, the PSVD can be up to three times faster than
-  the classical SVD algorithm.
-
-  The PSVD algorithm [1-2] for an M-by-N matrix A proceeds as
-  follows:
-
-  Step 1: Bidiagonalization phase
-          -----------------------
-   (a) If M is large enough than N, transform A into upper
-       triangular form R.
-
-   (b) Transform A (or R) into bidiagonal form:
-
-             |q(1) e(1)  0   ...  0   |
-        (0)  | 0   q(2) e(2)      .   |
-       J   = | .                  .   |
-             | .                e(N-1)|
-             | 0            ...  q(N) |
-
-  if M &gt;= N, or
-
-             |q(1)  0    0   ...  0     0   |
-        (0)  |e(1) q(2)  0        .     .   |
-       J   = | .                  .     .   |
-             | .                 q(M-1) .   |
-             | 0             ... e(M-1) q(M)|
-
-  if M &lt; N, using Householder transformations.
-  In the second case, transform the matrix to the upper bidiagonal
-  form by applying Givens rotations.
-
-   (c) If U is requested, initialize U with the identity matrix.
-       If V is requested, initialize V with the identity matrix.
-
-  Step 2: Partial diagonalization phase
-          -----------------------------
-  If the upper bound THETA is not given, then compute THETA such
-  that precisely (min(M,N) - RANK) singular values of the bidiagonal
-  matrix are less than or equal to THETA, using a bisection method
-  [4]. Diagonalize the given bidiagonal matrix J partially, using
-  either QR iterations (if the upper left diagonal element of the
-  considered bidiagonal submatrix is larger than the lower right
-  diagonal element) or QL iterations, such that J is split into
-  unreduced bidiagonal submatrices whose singular values are either
-  all larger than THETA or all less than or equal to THETA.
-  Accumulate the Givens rotations in U and/or V (if desired).
-
-  Step 3: Back transformation phase
-          -------------------------
-   (a) Apply the Householder transformations of Step 1(b) onto the
-       columns of U and/or V associated with the bidiagonal
-       submatrices with all singular values less than or equal to
-       THETA (if U and/or V is desired).
-
-   (b) If M is large enough than N, and U is desired, then apply the
-       Householder transformations of Step 1(a) onto each computed
-       column of U in Step 3(a).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
-      An efficient and reliable algorithm for computing the singular
-      subspace of a matrix associated with its smallest singular
-      values.
-      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
-
-  [2] Van Huffel, S.
-      Analysis of the total least squares problem and its use in
-      parameter estimation.
-      Doctoral dissertation, Dept. of Electr. Eng., Katholieke
-      Universiteit Leuven, Belgium, June 1987.
-
-  [3] Chan, T.F.
-      An improved algorithm for computing the singular value
-      decomposition.
-      ACM TOMS, 8, pp. 72-83, 1982.
-
-  [4] Van Huffel, S. and Vandewalle, J.
-      The partial total least squares algorithm.
-      J. Comput. and Appl. Math., 21, pp. 333-341, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Using the PSVD a large reduction in computation time can be
-  gained in total least squares applications (cf [2 - 4]), in the
-  computation of the null space of a matrix and in solving
-  (non)homogeneous linear equations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04XD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDU, LDV
-      PARAMETER        ( LDA = MMAX, LDU = MMAX, LDV = NMAX )
-      INTEGER          MAXMN, MNMIN
-      PARAMETER        ( MAXMN = MAX( MMAX, NMAX ),
-     $                   MNMIN = MIN( MMAX, NMAX ) )
-      INTEGER          LENGQ
-      PARAMETER        ( LENGQ = 2*MNMIN-1 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 2*NMAX, NMAX*( NMAX+1 )/2 )
-     $                          + MAX( 2*MNMIN + MAXMN, 8*MNMIN - 5 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RELTOL, THETA, THETA1, TOL
-      INTEGER          I, INFO, IWARN, J, K, LOOP, M, MINMN, N, NCOLU,
-     $                 NCOLV, RANK, RANK1
-      CHARACTER*1      JOBU, JOBV
-      LOGICAL          LJOBUA, LJOBUS, LJOBVA, LJOBVS, WANTU, WANTV
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), Q(LENGQ),
-     $                 U(LDU,MMAX), V(LDV,NMAX)
-      LOGICAL          INUL(MAXMN)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04XD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, RANK, THETA, TOL, RELTOL, JOBU, JOBV
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99982 ) N
-      ELSE IF ( RANK.GT.MNMIN ) THEN
-         WRITE ( NOUT, FMT = 99981 ) RANK
-      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
-         WRITE ( NOUT, FMT = 99980 ) THETA
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-         RANK1 = RANK
-         THETA1 = THETA
-*        Compute a basis for the left and right singular subspace of A.
-         CALL MB04XD( JOBU, JOBV, M, N, RANK, THETA, A, LDA, U, LDU, V,
-     $                LDV, Q, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) RANK
-            ELSE
-               IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99996 ) RANK
-            END IF
-            IF ( THETA1.LT.ZERO ) WRITE ( NOUT, FMT = 99995 ) THETA
-            LJOBUA = LSAME( JOBU, 'A' )
-            LJOBUS = LSAME( JOBU, 'S' )
-            LJOBVA = LSAME( JOBV, 'A' )
-            LJOBVS = LSAME( JOBV, 'S' )
-            WANTU = LJOBUA.OR.LJOBUS
-            WANTV = LJOBVA.OR.LJOBVS
-            WRITE ( NOUT, FMT = 99994 )
-            MINMN = MIN( M, N )
-            LOOP = MINMN - 1
-            DO 20 I = 1, LOOP
-               K = I + MINMN
-               WRITE ( NOUT, FMT = 99993 ) I, I, Q(I), I, I + 1, Q(K)
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99992 ) MINMN, MINMN, Q(MINMN)
-            IF ( WANTU ) THEN
-               NCOLU = M
-               IF ( LJOBUS ) NCOLU = MINMN
-               WRITE ( NOUT, FMT = 99986 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99985 ) ( U(I,J), J = 1,NCOLU )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99991 ) NCOLU
-               WRITE ( NOUT, FMT = 99990 )
-               DO 60 I = 1, NCOLU
-                  WRITE ( NOUT, FMT = 99989 ) I, INUL(I)
-   60          CONTINUE
-            END IF
-            IF ( WANTV ) THEN
-               NCOLV = N
-               IF ( LJOBVS ) NCOLV = MINMN
-               WRITE ( NOUT, FMT = 99984 )
-               DO 80 I = 1, N
-                  WRITE ( NOUT, FMT = 99985 ) ( V(I,J), J = 1,NCOLV )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99988 ) NCOLV
-               WRITE ( NOUT, FMT = 99987 )
-               DO 100 J = 1, NCOLV
-                  WRITE ( NOUT, FMT = 99989 ) J, INUL(J)
-  100          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04XD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04XD = ',I2)
-99997 FORMAT (' IWARN on exit from MB04XD = ',I2,/)
-99996 FORMAT (' The computed rank of matrix A = ',I3,/)
-99995 FORMAT (' The computed value of THETA = ',F7.4,/)
-99994 FORMAT (' The elements of the partially diagonalized bidiagonal ',
-     $       'matrix are',/)
-99993 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99992 FORMAT (' (',I1,',',I1,') = ',F7.4,/)
-99991 FORMAT (/' Left singular subspace corresponds to the i-th column',
-     $       '(s) of U for which ',/' INUL(i) = .TRUE., i = 1,...,',I1,
-     $       /)
-99990 FORMAT ('  i    INUL(i)',/)
-99989 FORMAT (I3,L8)
-99988 FORMAT (/' Right singular subspace corresponds to the j-th colum',
-     $       'n(s) of V for which ',/' INUL(j) = .TRUE., j = 1,...,',I1,
-     $       /)
-99987 FORMAT ('  j    INUL(j)',/)
-99986 FORMAT (' Matrix U',/)
-99985 FORMAT (20(1X,F8.4))
-99984 FORMAT (/' Matrix V',/)
-99983 FORMAT (/' M is out of range.',/' M = ',I5)
-99982 FORMAT (/' N is out of range.',/' N = ',I5)
-99981 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
-99980 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04XD EXAMPLE PROGRAM DATA
-   6     4     -1     0.001     0.0     0.0     A     A
-   0.80010  0.39985  0.60005  0.89999
-   0.29996  0.69990  0.39997  0.82997
-   0.49994  0.60003  0.20012  0.79011
-   0.90013  0.20016  0.79995  0.85002
-   0.39998  0.80006  0.49985  0.99016
-   0.20002  0.90007  0.70009  1.02994
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04XD EXAMPLE PROGRAM RESULTS
-
- The computed rank of matrix A =   3
-
- The elements of the partially diagonalized bidiagonal matrix are
-
- (1,1) =  3.2280   (1,2) = -0.0287
- (2,2) =  0.8714   (2,3) =  0.0168
- (3,3) =  0.3698   (3,4) =  0.0000
- (4,4) =  0.0001
-
- Matrix U
-
-   0.8933   0.4328  -0.1209   0.2499  -0.5812   0.4913
-  -0.4493   0.8555  -0.2572   0.1617  -0.4608  -0.7379
-  -0.0079   0.2841   0.9588  -0.5352   0.1892   0.0525
-   0.0000   0.0000   0.0003  -0.1741   0.3389  -0.3397
-   0.0000   0.0000   0.0000   0.6482   0.5428   0.1284
-   0.0000   0.0000   0.0000  -0.4176  -0.0674   0.2819
-
- Left singular subspace corresponds to the i-th column(s) of U for which 
- INUL(i) = .TRUE., i = 1,...,6
-
-  i    INUL(i)
-
-  1       F
-  2       F
-  3       F
-  4       T
-  5       T
-  6       T
-
- Matrix V
-
-  -0.3967  -0.7096   0.4612  -0.3555
-   0.9150  -0.2557   0.2414  -0.5687
-  -0.0728   0.6526   0.5215  -0.2128
-   0.0000   0.0720   0.6761   0.7106
-
- Right singular subspace corresponds to the j-th column(s) of V for which 
- INUL(j) = .TRUE., j = 1,...,4
-
-  j    INUL(j)
-
-  1       F
-  2       F
-  3       F
-  4       T
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04XY.html b/doc/_static/doc/MB04XY.html
deleted file mode 100644
index 3eaade2c..00000000
--- a/doc/_static/doc/MB04XY.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04XY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04XY">MB04XY</A></H2>
-<H3>
-Applying the Householder transformations for bidiagonalization (stored in factored form) to specified one or two matrices, from the left
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply the Householder transformations Pj stored in factored
-  form into the columns of the array X, to the desired columns of
-  the matrix U by premultiplication, and/or the Householder
-  transformations Qj stored in factored form into the rows of the
-  array X, to the desired columns of the matrix V by
-  premultiplication. The Householder transformations Pj and Qj
-  are stored as produced by LAPACK Library routine DGEBRD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04XY( JOBU, JOBV, M, N, X, LDX, TAUP, TAUQ, U,
-     $                   LDU, V, LDV, INUL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV
-      INTEGER           INFO, LDU, LDV, LDX, M, N
-C     .. Array Arguments ..
-      LOGICAL           INUL(*)
-      DOUBLE PRECISION  TAUP(*), TAUQ(*), U(LDU,*), V(LDV,*),
-     $                  X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Specifies whether to transform the columns in U as
-          follows:
-          = 'N':  Do not transform the columns in U;
-          = 'A':  Transform the columns in U (U has M columns);
-          = 'S':  Transform the columns in U (U has min(M,N)
-                  columns).
-
-  JOBV    CHARACTER*1
-          Specifies whether to transform the columns in V as
-          follows:
-          = 'N':  Do not transform the columns in V;
-          = 'A':  Transform the columns in V (V has N columns);
-          = 'S':  Transform the columns in V (V has min(M,N)
-                  columns).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix X.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix X.  N &gt;= 0.
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading M-by-N part contains in the columns of its
-          lower triangle the Householder transformations Pj, and
-          in the rows of its upper triangle the Householder
-          transformations Qj in factored form.
-          X is modified by the routine but restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of the array X.   LDX &gt;= MAX(1,M).
-
-  TAUP    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
-          The scalar factors of the Householder transformations Pj.
-
-  TAUQ    (input) DOUBLE PRECISION array, dimension (MIN(M,N))
-          The scalar factors of the Householder transformations Qj.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, U contains the M-by-M (if JOBU = 'A') or
-          M-by-min(M,N) (if JOBU = 'S') matrix U.
-          On exit, the Householder transformations Pj have been
-          applied to each column i of U corresponding to a parameter
-          INUL(i) = .TRUE.
-          NOTE that U is not referenced if JOBU = 'N'.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,M), if JOBU = 'A' or JOBU = 'S';
-          LDU &gt;= 1,        if JOBU = 'N'.
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
-          On entry, V contains the N-by-N (if JOBV = 'A') or
-          N-by-min(M,N) (if JOBV = 'S') matrix V.
-          On exit, the Householder transformations Qj have been
-          applied to each column i of V corresponding to a parameter
-          INUL(i) = .TRUE.
-          NOTE that V is not referenced if JOBV = 'N'.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= MAX(1,M), if JOBV = 'A' or JOBV = 'S';
-          LDV &gt;= 1,        if JOBV = 'N'.
-
-  INUL    (input) LOGICAL array, dimension (MAX(M,N))
-          INUL(i) = .TRUE. if the i-th column of U and/or V is to be
-          transformed, and INUL(i) = .FALSE., otherwise.
-          (1 &lt;= i &lt;= MAX(M,N)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder transformations Pj or Qj are applied to the
-  columns of U or V indexed by I for which INUL(I) = .TRUE..
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04YD.html b/doc/_static/doc/MB04YD.html
deleted file mode 100644
index a1cb0bee..00000000
--- a/doc/_static/doc/MB04YD.html
+++ /dev/null
@@ -1,444 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04YD">MB04YD</A></H2>
-<H3>
-Partial diagonalization of a bidiagonal matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To partially diagonalize the bidiagonal matrix
-
-            |q(1) e(1)  0    ...       0      |
-            | 0   q(2) e(2)            .      |
-        J = | .                        .      |                  (1)
-            | .                  e(MIN(M,N)-1)|
-            | 0   ...        ...  q(MIN(M,N)) |
-
-  using QR or QL iterations in such a way that J is split into
-  unreduced bidiagonal submatrices whose singular values are either
-  all larger than a given bound or are all smaller than (or equal
-  to) this bound. The left- and right-hand Givens rotations
-  performed on J (corresponding to each QR or QL iteration step) may
-  be optionally accumulated in the arrays U and V.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
-     $                   LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, JOBV
-      INTEGER           INFO, IWARN, LDU, LDV, LDWORK, M, N, RANK
-      DOUBLE PRECISION  RELTOL, THETA, TOL
-C     .. Array Arguments ..
-      LOGICAL           INUL(*)
-      DOUBLE PRECISION  DWORK(*), E(*), Q(*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the left-hand Givens rotations, as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is initialized to the M-by-MIN(M,N) submatrix of
-                  the unit matrix and the left-hand Givens rotations
-                  are accumulated in U;
-          = 'U':  The given matrix U is updated by the left-hand
-                  Givens rotations used in the calculation.
-
-  JOBV    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix V the right-hand Givens rotations, as follows:
-          = 'N':  Do not form V;
-          = 'I':  V is initialized to the N-by-MIN(M,N) submatrix of
-                  the unit matrix and the right-hand Givens
-                  rotations are accumulated in V;
-          = 'U':  The given matrix V is updated by the right-hand
-                  Givens rotations used in the calculation.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows in matrix U.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows in matrix V.  N &gt;= 0.
-
-  RANK    (input/output) INTEGER
-          On entry, if RANK &lt; 0, then the rank of matrix J is
-          computed by the routine as the number of singular values
-          larger than THETA.
-          Otherwise, RANK must specify the rank of matrix J.
-          RANK &lt;= MIN(M,N).
-          On exit, if RANK &lt; 0 on entry, then RANK contains the
-          computed rank of J. That is, the number of singular
-          values of J larger than THETA.
-          Otherwise, the user-supplied value of RANK may be
-          changed by the routine on exit if the RANK-th and the
-          (RANK+1)-th singular values of J are considered to be
-          equal. See also the parameter TOL.
-
-  THETA   (input/output) DOUBLE PRECISION
-          On entry, if RANK &lt; 0, then THETA must specify an upper
-          bound on the smallest singular values of J. THETA &gt;= 0.0.
-          Otherwise, THETA must specify an initial estimate (t say)
-          for computing an upper bound such that precisely RANK
-          singular values are greater than this bound.
-          If THETA &lt; 0.0, then t is computed by the routine.
-          On exit, if RANK &gt;= 0 on entry, then THETA contains the
-          computed upper bound such that precisely RANK singular
-          values of J are greater than THETA + TOL.
-          Otherwise, THETA is unchanged.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension
-          (MIN(M,N))
-          On entry, this array must contain the diagonal elements
-          q(1),q(2),...,q(MIN(M,N)) of the bidiagonal matrix J. That
-          is, Q(i) = J(i,i) for i = 1,2,...,MIN(M,N).
-          On exit, this array contains the leading diagonal of the
-          transformed bidiagonal matrix J.
-
-  E       (input/output) DOUBLE PRECISION array, dimension
-          (MIN(M,N)-1)
-          On entry, this array must contain the superdiagonal
-          elements e(1),e(2),...,e(MIN(M,N)-1) of the bidiagonal
-          matrix J. That is, E(k) = J(k,k+1) for k = 1,2,...,
-          MIN(M,N)-1.
-          On exit, this array contains the superdiagonal of the
-          transformed bidiagonal matrix J.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if JOBU = 'U', the leading M-by-MIN(M,N) part
-          of this array must contain a left transformation matrix
-          applied to the original matrix of the problem, and
-          on exit, the leading M-by-MIN(M,N) part of this array
-          contains the product of the input matrix U and the
-          left-hand Givens rotations.
-          On exit, if JOBU = 'I', then the leading M-by-MIN(M,N)
-          part of this array contains the matrix of accumulated
-          left-hand Givens rotations used.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U. If JOBU = 'U' or
-          JOBU = 'I', LDU &gt;= MAX(1,M); if JOBU = 'N', LDU &gt;= 1.
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,*)
-          On entry, if JOBV = 'U', the leading N-by-MIN(M,N) part
-          of this array must contain a right transformation matrix
-          applied to the original matrix of the problem, and
-          on exit, the leading N-by-MIN(M,N) part of this array
-          contains the product of the input matrix V and the
-          right-hand Givens rotations.
-          On exit, if JOBV = 'I', then the leading N-by-MIN(M,N)
-          part of this array contains the matrix of accumulated
-          right-hand Givens rotations used.
-          If JOBV = 'N', the array V is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDV = 1 and
-          declare this array to be V(1,1) in the calling program).
-
-  LDV     INTEGER
-          The leading dimension of array V. If JOBV = 'U' or
-          JOBV = 'I', LDV &gt;= MAX(1,N); if JOBV = 'N', LDV &gt;= 1.
-
-  INUL    (input/output) LOGICAL array, dimension (MIN(M,N))
-          On entry, the leading MIN(M,N) elements of this array must
-          be set to .FALSE. unless the i-th columns of U (if JOBU =
-          'U') and V (if JOBV = 'U') already contain a computed base
-          vector of the desired singular subspace of the original
-          matrix, in which case INUL(i) must be set to .TRUE.
-          for 1 &lt;= i &lt;= MIN(M,N).
-          On exit, the indices of the elements of this array with
-          value .TRUE. indicate the indices of the diagonal entries
-          of J which belong to those bidiagonal submatrices whose
-          singular values are all less than or equal to THETA.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          This parameter defines the multiplicity of singular values
-          by considering all singular values within an interval of
-          length TOL as coinciding. TOL is used in checking how many
-          singular values are less than or equal to THETA. Also in
-          computing an appropriate upper bound THETA by a bisection
-          method, TOL is used as a stopping criterion defining the
-          minimum (absolute) subinterval width. TOL is also taken
-          as an absolute tolerance for negligible elements in the
-          QR/QL iterations. If the user sets TOL to be less than or
-          equal to 0, then the tolerance is taken as
-          EPS * MAX(ABS(Q(i)), ABS(E(k))), where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH),
-          i = 1,2,...,MIN(M,N) and k = 1,2,...,MIN(M,N)-1.
-
-  RELTOL  DOUBLE PRECISION
-          This parameter specifies the minimum relative width of an
-          interval. When an interval is narrower than TOL, or than
-          RELTOL times the larger (in magnitude) endpoint, then it
-          is considered to be sufficiently small and bisection has
-          converged. If the user sets RELTOL to be less than
-          BASE * EPS, where BASE is machine radix and EPS is machine
-          precision (see LAPACK Library routine DLAMCH), then the
-          tolerance is taken as BASE * EPS.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,6*MIN(M,N)-5), if JOBU = 'I' or 'U', or
-                                            JOBV = 'I' or 'U';
-          LDWORK &gt;= MAX(1,4*MIN(M,N)-3), if JOBU = 'N' and
-                                            JOBV = 'N'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  if the rank of the bidiagonal matrix J (as specified
-                by the user) has been lowered because a singular
-                value of multiplicity larger than 1 was found.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value; this includes values like RANK &gt; MIN(M,N), or
-                THETA &lt; 0.0 and RANK &lt; 0;
-          = 1:  if the maximum number of QR/QL iteration steps
-                (30*MIN(M,N)) has been exceeded.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the upper bound THETA is not specified by the user, then it is
-  computed by the routine (using a bisection method) such that
-  precisely (MIN(M,N) - RANK) singular values of J are less than or
-  equal to THETA + TOL.
-
-  The method used by the routine (see [1]) then proceeds as follows.
-
-  The unreduced bidiagonal submatrices of J(j), where J(j) is the
-  transformed bidiagonal matrix after the j-th iteration step, are
-  classified into the following three classes:
-
-  - C1 contains the bidiagonal submatrices with all singular values
-    &gt; THETA,
-  - C2 contains the bidiagonal submatrices with all singular values
-    &lt;= THETA and
-  - C3 contains the bidiagonal submatrices with singular values
-    &gt; THETA and also singular values &lt;= THETA.
-
-  If C3 is empty, then the partial diagonalization is complete, and
-  RANK is the sum of the dimensions of the bidiagonal submatrices of
-  C1.
-  Otherwise, QR or QL iterations are performed on each bidiagonal
-  submatrix of C3, until this bidiagonal submatrix has been split
-  into two bidiagonal submatrices. These two submatrices are then
-  classified and the iterations are restarted.
-  If the upper left diagonal element of the bidiagonal submatrix is
-  larger than its lower right diagonal element, then QR iterations
-  are performed, else QL iterations are used. The shift is taken as
-  the smallest diagonal element of the bidiagonal submatrix (in
-  magnitude) unless its value exceeds THETA, in which case it is
-  taken as zero.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Huffel, S., Vandewalle, J. and Haegemans, A.
-      An efficient and reliable algorithm for computing the
-      singular subspace of a matrix associated with its smallest
-      singular values.
-      J. Comput. and Appl. Math., 19, pp. 313-330, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-  To avoid overflow, matrix J is scaled so that its largest element
-  is no greater than  overflow**(1/2) * underflow**(1/4) in absolute
-  value (and not much smaller than that, for maximal accuracy).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04YD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          MNMIN
-      PARAMETER        ( MNMIN = MIN( MMAX, NMAX ) )
-      INTEGER          LDU, LDV
-      PARAMETER        ( LDU = MMAX, LDV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 6*MNMIN - 5 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RELTOL, THETA, TOL
-      INTEGER          I, INFO, IWARN, J, M, MINMN, N, RANK, RANK1
-      CHARACTER*1      JOBU, JOBV
-      LOGICAL          LJOBUU, LJOBVU
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), E(MNMIN-1), Q(MNMIN),
-     $                 U(LDU,MNMIN), V(LDV,MNMIN)
-      LOGICAL          INUL(MNMIN)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB04YD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, THETA, RANK, TOL, RELTOL, JOBU, JOBV
-      MINMN = MIN( M, N )
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) N
-      ELSE IF ( RANK.GT.MINMN ) THEN
-         WRITE ( NOUT, FMT = 99986 ) RANK
-      ELSE IF ( RANK.LT.0 .AND. THETA.LT.ZERO ) THEN
-         WRITE ( NOUT, FMT = 99985 ) THETA
-      ELSE
-         READ ( NIN, FMT = * ) ( Q(I), I = 1,MINMN )
-         READ ( NIN, FMT = * ) ( E(I), I = 1,MINMN-1 )
-         RANK1 = RANK
-         LJOBUU = LSAME( JOBU, 'U' )
-         LJOBVU = LSAME( JOBV, 'U' )
-         IF ( LJOBUU ) READ ( NIN, FMT = * )
-     $                      ( ( U(I,J), J = 1,MINMN ), I = 1,M )
-         IF ( LJOBVU ) READ ( NIN, FMT = * )
-     $                      ( ( V(I,J), J = 1,MINMN ), I = 1,N )
-*        Initialise the array INUL.
-         DO 20 I = 1, MINMN
-            INUL(I) = .FALSE.
-   20    CONTINUE
-         IF ( LJOBUU.OR.LJOBVU ) READ ( NIN, FMT = * )
-     $                                ( INUL(I), I = 1,MINMN )
-*        Compute the number of singular values of J > THETA.
-         CALL MB04YD( JOBU, JOBV, M, N, RANK, THETA, Q, E, U, LDU, V,
-     $                LDV, INUL, TOL, RELTOL, DWORK, LDWORK, IWARN,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99993 ) IWARN
-               WRITE ( NOUT, FMT = 99984 ) RANK
-            END IF
-            WRITE ( NOUT, FMT = 99997 )
-            DO 160 I = 1, MINMN - 1
-               WRITE ( NOUT, FMT = 99996 ) I, I, Q(I), I, (I+1), E(I)
-  160       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) MINMN, MINMN, Q(MINMN)
-            IF ( RANK1.LT.0 ) WRITE ( NOUT, FMT = 99994 ) RANK, THETA
-            IF ( .NOT.LSAME( JOBV, 'N' ) ) THEN
-               WRITE ( NOUT, FMT = 99992 )
-               DO 180 I = 1, N
-                  WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,MINMN )
-  180          CONTINUE
-            END IF
-            IF ( ( .NOT.LSAME( JOBU, 'N' ) ) .AND.
-     $           ( .NOT.LSAME( JOBV, 'N' ) ) )
-     $           WRITE ( NOUT, FMT = 99990 )
-            IF ( .NOT.LSAME( JOBU, 'N' ) ) THEN
-               WRITE ( NOUT, FMT = 99989 )
-               DO 200 I = 1, M
-                  WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,MINMN )
-  200          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04YD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB04YD = ',I2)
-99997 FORMAT (' The transformed bidiagonal matrix J is',/)
-99996 FORMAT (2(' (',I1,',',I1,') = ',F7.4,2X))
-99995 FORMAT (' (',I1,',',I1,') = ',F7.4)
-99994 FORMAT (/' J has ',I2,' singular values >',F7.4,/)
-99993 FORMAT (' IWARN on exit from MB04YD = ',I2,/)
-99992 FORMAT (' The product of the right-hand Givens rotation matrices',
-     $       ' equals ')
-99991 FORMAT (20(1X,F8.4))
-99990 FORMAT (' ')
-99989 FORMAT (' The product of the left-hand Givens rotation matrices ',
-     $       'equals ')
-99988 FORMAT (/' M is out of range.',/' M = ',I5)
-99987 FORMAT (/' N is out of range.',/' N = ',I5)
-99986 FORMAT (/' RANK is out of range.',/' RANK = ',I5)
-99985 FORMAT (/' THETA must be at least zero.',/' THETA = ',F8.4)
-99984 FORMAT (/' The computed rank of matrix J = ',I3,/)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB04YD EXAMPLE PROGRAM DATA
-   5     5     2.0     -1     0.0     0.0     N     N
-   1.0  2.0  3.0  4.0  5.0
-   2.0  3.0  4.0  5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04YD EXAMPLE PROGRAM RESULTS
-
- The transformed bidiagonal matrix J is
-
- (1,1) =  0.4045   (1,2) =  0.0000
- (2,2) =  1.9839   (2,3) =  0.0000
- (3,3) =  3.4815   (3,4) =  0.0128
- (4,4) =  5.3723   (4,5) =  0.0273
- (5,5) =  7.9948
-
- J has  3 singular values > 2.0000
-
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,214 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04YW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04YW">MB04YW</A></H2>
-<H3>
-Performing either one QR or QL iteration step onto an unreduced bidiagonal submatrix of a bidiagonal matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform either one QR or QL iteration step onto the unreduced
-  bidiagonal submatrix Jk:
-
-           |D(l) E(l)    0  ...    0   |
-           | 0   D(l+1) E(l+1)     .   |
-      Jk = | .                     .   |
-           | .                     .   |
-           | .                   E(k-1)|
-           | 0   ...        ...   D(k) |
-
-  with k &lt;= p and l &gt;= 1, p = MIN(M,N), of the bidiagonal matrix J:
-
-           |D(1) E(1)  0    ...   0   |
-           | 0   D(2) E(2)        .   |
-       J = | .                    .   |.
-           | .                    .   |
-           | .                  E(p-1)|
-           | 0   ...        ...  D(p) |
-
-  Hereby, Jk is transformed to  S' Jk T with S and T products of
-  Givens rotations. These Givens rotations S (respectively, T) are
-  postmultiplied into U (respectively, V), if UPDATU (respectively,
-  UPDATV) is .TRUE..
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04YW( QRIT, UPDATU, UPDATV, M, N, L, K, SHIFT, D, E,
-     $                   U, LDU, V, LDV, DWORK )
-C     .. Scalar Arguments ..
-      LOGICAL           QRIT, UPDATU, UPDATV
-      INTEGER           K, L, LDU, LDV, M, N
-      DOUBLE PRECISION  SHIFT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  D( * ), DWORK( * ), E( * ), U( LDU, * ),
-     $                  V( LDV, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  QRIT    LOGICAL
-          Indicates whether a QR or QL iteration step is to be
-          taken (from larger end diagonal element towards smaller),
-          as follows:
-          = .TRUE. :  QR iteration step (chase bulge from top to
-                      bottom);
-          = .FALSE.:  QL iteration step (chase bulge from bottom to
-                      top).
-
-  UPDATU  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix U the left-hand Givens rotations S, as follows:
-          = .FALSE.:  Do not form U;
-          = .TRUE. :  The given matrix U is updated (postmultiplied)
-                      by the left-hand Givens rotations S.
-
-  UPDATV  LOGICAL
-          Indicates whether the user wishes to accumulate in a
-          matrix V the right-hand Givens rotations S, as follows:
-          = .FALSE.:  Do not form V;
-          = .TRUE. :  The given matrix V is updated (postmultiplied)
-                      by the right-hand Givens rotations T.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix U.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of rows of the matrix V.  N &gt;= 0.
-
-  L       (input) INTEGER
-          The index of the first diagonal entry of the considered
-          unreduced bidiagonal submatrix Jk of J.
-
-  K       (input) INTEGER
-          The index of the last diagonal entry of the considered
-          unreduced bidiagonal submatrix Jk of J.
-
-  SHIFT   (input) DOUBLE PRECISION
-          Value of the shift used in the QR or QL iteration step.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (p)
-          where p = MIN(M,N)
-          On entry, D must contain the diagonal entries of the
-          bidiagonal matrix J.
-          On exit, D contains the diagonal entries of the
-          transformed bidiagonal matrix S' J T.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (p-1)
-          On entry, E must contain the superdiagonal entries of J.
-          On exit, E contains the superdiagonal entries of the
-          transformed matrix S' J T.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,p)
-          On entry, if UPDATU = .TRUE., U must contain the M-by-p
-          left transformation matrix.
-          On exit, if UPDATU = .TRUE., the Givens rotations S on the
-          left have been postmultiplied into U, i.e., U * S is
-          returned.
-          U is not referenced if UPDATU = .FALSE..
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= max(1,M) if UPDATU = .TRUE.;
-          LDU &gt;= 1        if UPDATU = .FALSE..
-
-  V       (input/output) DOUBLE PRECISION array, dimension (LDV,p)
-          On entry, if UPDATV = .TRUE., V must contain the N-by-p
-          right transformation matrix.
-          On exit, if UPDATV = .TRUE., the Givens rotations T on the
-          right have been postmultiplied into V, i.e., V * T is
-          returned.
-          V is not referenced if UPDATV = .FALSE..
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= max(1,N) if UPDATV = .TRUE.;
-          LDV &gt;= 1        if UPDATV = .FALSE..
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,LDWORK))
-          LDWORK &gt;= 4*MIN(M,N)-4, if UPDATU = UPDATV = .TRUE.;
-          LDWORK &gt;= 2*MIN(M,N)-2, if
-                          UPDATU = .TRUE. and UPDATV = .FALSE. or
-                          UPDATV = .TRUE. and UPDATU = .FALSE.;
-          LDWORK &gt;= 1, if UPDATU = UPDATV = .FALSE..
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  QR iterations diagonalize the bidiagonal matrix by zeroing the
-  super-diagonal elements of Jk from bottom to top.
-  QL iterations diagonalize the bidiagonal matrix by zeroing the
-  super-diagonal elements of Jk from top to bottom.
-  The routine overwrites Jk with the bidiagonal matrix S' Jk T,
-  where S and T are products of Givens rotations.
-  T is essentially the orthogonal matrix that would be obtained by
-  applying one implicit symmetric shift QR (QL) step onto the matrix
-  Jk'Jk. This step factors the matrix (Jk'Jk - shift*I) into a
-  product of an orthogonal matrix T and a upper (lower) triangular
-  matrix. See [1,Sec.8.2-8.3] and [2] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and Van Loan, C.F.
-      Matrix Computations.
-      The Johns Hopkins University Press, Baltimore, Maryland, 1983.
-
-  [2] Bowdler, H., Martin, R.S. and Wilkinson, J.H.
-      The QR and QL algorithms for symmetric matrices.
-      Numer. Math., 11, pp. 293-306, 1968.
-
-  [3] Demmel, J. and Kahan, W.
-      Computing small singular values of bidiagonal matrices with
-      guaranteed high relative accuracy.
-      SIAM J. Sci. Statist. Comput., 11, pp. 873-912, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB04ZD.html b/doc/_static/doc/MB04ZD.html
deleted file mode 100644
index f7357fe6..00000000
--- a/doc/_static/doc/MB04ZD.html
+++ /dev/null
@@ -1,355 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB04ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB04ZD">MB04ZD</A></H2>
-<H3>
-Transforming a Hamiltonian matrix into a square-reduced Hamiltonian matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To transform a Hamiltonian matrix
-
-            ( A   G  )
-        H = (      T )                                           (1)
-            ( Q  -A  )
-
-  into a square-reduced Hamiltonian matrix
-
-             ( A'  G'  )
-        H' = (       T )                                         (2)
-             ( Q' -A'  )
-                                                              T
-  by an orthogonal symplectic similarity transformation H' = U H U,
-  where
-            (  U1   U2 )
-        U = (          ).                                        (3)
-            ( -U2   U1 )
-                                                           T
-  The square-reduced Hamiltonian matrix satisfies Q'A' - A' Q' = 0,
-  and
-
-        2       T     2     ( A''   G''  )
-      H'  :=  (U  H U)   =  (          T ).
-                            ( 0     A''  )
-
-  In addition, A'' is upper Hessenberg and G'' is skew symmetric.
-  The square roots of the eigenvalues of A'' = A'*A' + G'*Q' are the
-  eigenvalues of H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO
-     $                 )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDQG, LDU, N
-      CHARACTER         COMPU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), QG(LDQG,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPU   CHARACTER*1
-          Indicates whether the orthogonal symplectic similarity
-          transformation matrix U in (3) is returned or
-          accumulated into an orthogonal symplectic matrix, or if
-          the transformation matrix is not required, as follows:
-          = 'N':         U is not required;
-          = 'I' or 'F':  on entry, U need not be set;
-                         on exit, U contains the orthogonal
-                         symplectic matrix U from (3);
-          = 'V' or 'A':  the orthogonal symplectic similarity
-                         transformations are accumulated into U;
-                         on input, U must contain an orthogonal
-                         symplectic matrix S;
-                         on exit, U contains S*U with U from (3).
-          See the description of U below for details.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On input, the leading N-by-N part of this array must
-          contain the upper left block A of the Hamiltonian matrix H
-          in (1).
-          On output, the leading N-by-N part of this array contains
-          the upper left block A' of the square-reduced Hamiltonian
-          matrix H' in (2).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  QG      (input/output) DOUBLE PRECISION array, dimension
-          (LDQG,N+1)
-          On input, the leading N-by-N lower triangular part of this
-          array must contain the lower triangle of the lower left
-          symmetric block Q of the Hamiltonian matrix H in (1), and
-          the N-by-N upper triangular part of the submatrix in the
-          columns 2 to N+1 of this array must contain the upper
-          triangle of the upper right symmetric block G of H in (1).
-          So, if i &gt;= j, then Q(i,j) = Q(j,i) is stored in QG(i,j)
-          and G(i,j) = G(j,i) is stored in QG(j,i+1).
-          On output, the leading N-by-N lower triangular part of
-          this array contains the lower triangle of the lower left
-          symmetric block Q', and the N-by-N upper triangular part
-          of the submatrix in the columns 2 to N+1 of this array
-          contains the upper triangle of the upper right symmetric
-          block G' of the square-reduced Hamiltonian matrix H'
-          in (2).
-
-  LDQG    INTEGER
-          The leading dimension of the array QG.  LDQG &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          If COMPU = 'N', then this array is not referenced.
-          If COMPU = 'I' or 'F', then the input contents of this
-          array are not specified.  On output, the leading
-          N-by-(2*N) part of this array contains the first N rows
-          of the orthogonal symplectic matrix U in (3).
-          If COMPU = 'V' or 'A', then, on input, the leading
-          N-by-(2*N) part of this array must contain the first N
-          rows of an orthogonal symplectic matrix S. On output, the
-          leading N-by-(2*N) part of this array contains the first N
-          rows of the product S*U where U is the orthogonal
-          symplectic matrix from (3).
-          The storage scheme implied by (3) is used for orthogonal
-          symplectic matrices, i.e., only the first N rows are
-          stored, as they contain all relevant information.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= MAX(1,N), if COMPU &lt;&gt; 'N';
-          LDU &gt;= 1,        if COMPU =  'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, then the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Hamiltonian matrix H is transformed into a square-reduced
-  Hamiltonian matrix H' using the implicit version of Van Loan's
-  method as proposed in [1,2,3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Loan, C. F.
-      A Symplectic Method for Approximating All the Eigenvalues of
-      a Hamiltonian Matrix.
-      Linear Algebra and its Applications, 61, pp. 233-251, 1984.
-
-  [2] Byers, R.
-      Hamiltonian and Symplectic Algorithms for the Algebraic
-      Riccati Equation.
-      Ph. D. Thesis, Cornell University, Ithaca, NY, January 1983.
-
-  [3] Benner, P., Byers, R., and Barth, E.
-      Fortran 77 Subroutines for Computing the Eigenvalues of
-      Hamiltonian Matrices. I: The Square-Reduced Method.
-      ACM Trans. Math. Software, 26, 1, pp. 49-77, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  This algorithm requires approximately 20*N**3 flops for
-  transforming H into square-reduced form. If the transformations
-  are required, this adds another 8*N**3 flops. The method is
-  strongly backward stable in the sense that if H' and U are the
-  computed square-reduced Hamiltonian and computed orthogonal
-  symplectic similarity transformation, then there is an orthogonal
-  symplectic matrix T and a Hamiltonian matrix M such that
-
-               H T  =  T M
-
-     || T - U ||   &lt;=  c1 * eps
-
-     || H' - M ||  &lt;=  c2 * eps * || H ||
-
-  where c1, c2 are modest constants depending on the dimension N and
-  eps is the machine precision.
-
-  Eigenvalues computed by explicitly forming the upper Hessenberg
-  matrix  A'' = A'A' + G'Q', with A', G', and Q' as in (2), and
-  applying the Hessenberg QR iteration to A'' are exactly
-  eigenvalues of a perturbed Hamiltonian matrix H + E,  where
-
-     || E ||  &lt;=  c3 * sqrt(eps) * || H ||,
-
-  and c3 is a modest constant depending on the dimension N and eps
-  is the machine precision.  Moreover, if the norm of H and an
-  eigenvalue lambda are of roughly the same magnitude, the computed
-  eigenvalue is essentially as accurate as the computed eigenvalue
-  from traditional methods.  See [1] or [2].
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB04ZD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDQG, LDU
-      PARAMETER        ( LDA = NMAX, LDQG = NMAX, LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = ( NMAX+NMAX )*( NMAX+NMAX+1 ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, IJ, J, JI, N, POS, WPOS
-      CHARACTER*1      COMPU
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), QG(LDQG,NMAX+1),
-     $                 U(LDU,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         DCOPY, DGEMM, DSYMV, MB04ZD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, COMPU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99998 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),    J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(J,I+1), I = J,N ), J = 1,N )
-         READ ( NIN, FMT = * ) ( ( QG(I,J),   I = J,N ), J = 1,N )
-*        Square-reduce by symplectic orthogonal similarity.
-         CALL MB04ZD( COMPU, N, A, LDA, QG, LDQG, U, LDU, DWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-*           Show the square-reduced Hamiltonian.
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99994 )  ( A(I,J),    J = 1,N ),
-     $            ( QG(J,I+1), J = 1,I-1 ), ( QG(I,J+1), J = I,N )
-10          CONTINUE
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( QG(I,J), J = 1,I-1 ),
-     $               ( QG(J,I), J = I,N ), ( -A(J,I), J = 1,N )
-20          CONTINUE
-*           Show the square of H.
-            WRITE ( NOUT, FMT = 99995 )
-            WPOS = ( NMAX+NMAX )*( NMAX+NMAX )
-*                                                    T
-*           Compute N11 = A*A + G*Q and set N22 = N11 .
-            CALL DGEMM( 'N', 'N', N, N, N, ONE, A, LDA, A, LDA, ZERO,
-     $                  DWORK, N+N )
-            DO 30 I = 1, N
-               CALL DCOPY( N-I+1, QG(I,I), 1, DWORK(WPOS+I), 1 )
-               CALL DCOPY( I-1, QG(I,1), LDQG, DWORK(WPOS+1), 1 )
-               CALL DSYMV( 'U', N, ONE, QG(1,2), LDQG, DWORK(WPOS+1), 1,
-     $                     ONE, DWORK((I-1)*(N+N)+1), 1 )
-               POS = N*( N+N ) + N + I
-               CALL DCOPY( N, DWORK((I-1)*(N+N)+1), 1, DWORK(POS), N+N )
-30          CONTINUE
-            DO 40 I = 1, N
-               CALL DSYMV( 'U', N, -ONE, QG(1,2), LDQG, A(I,1), LDA,
-     $                     ZERO, DWORK((N+I-1)*(N+N)+1), 1 )
-               CALL DSYMV( 'L', N, ONE, QG, LDQG, A(1,I), 1, ZERO,
-     $                     DWORK((I-1)*(N+N)+N+1), 1 )
-40          CONTINUE
-            DO 60 J = 1, N
-               DO 50 I = J, N
-                  IJ = ( N+J-1 )*( N+N ) + I
-                  JI = ( N+I-1 )*( N+N ) + J
-                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
-                  DWORK(JI) = -DWORK(IJ)
-                  IJ = N + I + ( J-1 )*( N+N )
-                  JI = N + J + ( I-1 )*( N+N )
-                  DWORK(IJ) =  DWORK(IJ) - DWORK(JI)
-                  DWORK(JI) = -DWORK(IJ)
-50             CONTINUE
-60          CONTINUE
-            DO 70 I = 1, N+N
-               WRITE ( NOUT, FMT = 99994 )
-     $               ( DWORK(I+(J-1)*(N+N) ), J = 1,N+N )
-70          CONTINUE
-         ENDIF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB04ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' N is out of range.',/' N = ',I5)
-99997 FORMAT (' INFO on exit from MB04ZD = ',I2)
-99996 FORMAT (/' The square-reduced Hamiltonian is ')
-99995 FORMAT (/' The square of the square-reduced Hamiltonian is ')
-99994 FORMAT (1X,8(F10.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB04ZD EXAMPLE PROGRAM DATA
-3 N
-1.0 2.0 3.0 
-4.0 5.0 6.0
-7.0 8.0 9.0
-1.0 1.0 1.0 2.0 2.0 3.0
-7.0 6.0 5.0 8.0 4.0 9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB04ZD EXAMPLE PROGRAM RESULTS
-
-
- The square-reduced Hamiltonian is 
-     1.0000    3.3485    0.3436    1.0000    1.9126   -0.1072
-     6.7566   11.0750   -0.3014    1.9126    8.4479   -1.0790
-     2.3478    1.6899   -2.3868   -0.1072   -1.0790   -2.9871
-     7.0000    8.6275   -0.6352   -1.0000   -6.7566   -2.3478
-     8.6275   16.2238   -0.1403   -3.3485  -11.0750   -1.6899
-    -0.6352   -0.1403    1.2371   -0.3436    0.3014    2.3868
-
- The square of the square-reduced Hamiltonian is 
-    48.0000   80.6858   -2.5217    0.0000    1.8590  -10.5824
-   167.8362  298.4815   -4.0310   -1.8590    0.0000  -33.1160
-     0.0000    4.5325    2.5185   10.5824   33.1160    0.0000
-     0.0000    0.0000    0.0000   48.0000  167.8362    0.0000
-     0.0000    0.0000    0.0000   80.6858  298.4815    4.5325
-     0.0000    0.0000    0.0000   -2.5217   -4.0310    2.5185
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB05MD.html b/doc/_static/doc/MB05MD.html
deleted file mode 100644
index f522e9a7..00000000
--- a/doc/_static/doc/MB05MD.html
+++ /dev/null
@@ -1,298 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05MD">MB05MD</A></H2>
-<H3>
-Matrix exponential for a real non-defective matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute exp(A*delta) where A is a real N-by-N non-defective
-  matrix with real or complex eigenvalues and delta is a scalar
-  value. The routine also returns the eigenvalues and eigenvectors
-  of A as well as (if all eigenvalues are real) the matrix product
-  exp(Lambda*delta) times the inverse of the eigenvector matrix
-  of A, where Lambda is the diagonal matrix of eigenvalues.
-  Optionally, the routine computes a balancing transformation to
-  improve the conditioning of the eigenvalues and eigenvectors.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
-     $                   VALI, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC
-      INTEGER           INFO, LDA, LDV, LDWORK, LDY, N
-      DOUBLE PRECISION  DELTA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), V(LDV,*), VALI(*), VALR(*),
-     $                  Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how the input matrix should be diagonally scaled
-          to improve the conditioning of its eigenvalues as follows:
-          = 'N':  Do not diagonally scale;
-          = 'S':  Diagonally scale the matrix, i.e. replace A by
-                  D*A*D**(-1), where D is a diagonal matrix chosen
-                  to make the rows and columns of A more equal in
-                  norm. Do not permute.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  DELTA   (input) DOUBLE PRECISION
-          The scalar value delta of the problem.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A of the problem.
-          On exit, the leading N-by-N part of this array contains
-          the solution matrix exp(A*delta).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
-          The leading N-by-N part of this array contains the
-          eigenvector matrix for A.
-          If the k-th eigenvalue is real the k-th column of the
-          eigenvector matrix holds the eigenvector corresponding
-          to the k-th eigenvalue.
-          Otherwise, the k-th and (k+1)-th eigenvalues form a
-          complex conjugate pair and the k-th and (k+1)-th columns
-          of the eigenvector matrix hold the real and imaginary
-          parts of the eigenvectors corresponding to these
-          eigenvalues as follows.
-          If p and q denote the k-th and (k+1)-th columns of the
-          eigenvector matrix, respectively, then the eigenvector
-          corresponding to the complex eigenvalue with positive
-          (negative) imaginary value is given by
-                                    2
-          p + q*j (p - q*j), where j  = -1.
-
-  LDV     INTEGER
-          The leading dimension of array V.  LDV &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains an
-          intermediate result for computing the matrix exponential.
-          Specifically, exp(A*delta) is obtained as the product V*Y,
-          where V is the matrix stored in the leading N-by-N part of
-          the array V. If all eigenvalues of A are real, then the
-          leading N-by-N part of this array contains the matrix
-          product exp(Lambda*delta) times the inverse of the (right)
-          eigenvector matrix of A, where Lambda is the diagonal
-          matrix of eigenvalues.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= max(1,N).
-
-  VALR    (output) DOUBLE PRECISION array, dimension (N)
-  VALI    (output) DOUBLE PRECISION array, dimension (N)
-          These arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the matrix A. The
-          eigenvalues are unordered except that complex conjugate
-          pairs of values appear consecutively with the eigenvalue
-          having positive imaginary part first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and if N &gt; 0, DWORK(2) returns the reciprocal
-          condition number of the triangular matrix used to obtain
-          the inverse of the eigenvector matrix.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
-          For good performance, LDWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues; no eigenvectors have been computed;
-                elements i+1:N of VALR and VALI contain eigenvalues
-                which have converged;
-          = N+1:  if the inverse of the eigenvector matrix could not
-                be formed due to an attempt to divide by zero, i.e.,
-                the eigenvector matrix is singular;
-          = N+2:  if the matrix A is defective, possibly due to
-                rounding errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine is an implementation of "Method 15" of the set of
-  methods described in reference [1], which uses an eigenvalue/
-  eigenvector decomposition technique. A modification of LAPACK
-  Library routine DGEEV is used for obtaining the right eigenvector
-  matrix. A condition estimate is then employed to determine if the
-  matrix A is near defective and hence the exponential solution is
-  inaccurate. In this case the routine returns with the Error
-  Indicator (INFO) set to N+2, and SLICOT Library routines MB05ND or
-  MB05OD are the preferred alternative routines to be used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Moler, C.B. and Van Loan, C.F.
-      Nineteen dubious ways to compute the exponential of a matrix.
-      SIAM Review, 20, pp. 801-836, 1978.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB05MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDV, LDY
-      PARAMETER        ( LDA = NMAX, LDV = NMAX, LDY = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DELTA
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      BALANC
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), V(LDV,NMAX),
-     $                 VALI(NMAX), VALR(NMAX), Y(LDY,NMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB05MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      BALANC = 'N'
-      READ ( NIN, FMT = * ) N, DELTA
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Find the exponential of the real non-defective matrix A*DELTA.
-         CALL MB05MD( BALANC, N, DELTA, A, LDA, V, LDV, Y, LDY, VALR,
-     $                VALI, IWORK, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) ( VALR(I), VALI(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99993 )
-            DO 60 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( Y(I,J), J = 1,N )
-   60       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB05MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB05MD = ',I2)
-99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The eigenvalues of A are ',/20(2F5.1,'*j  '))
-99994 FORMAT (/' The eigenvector matrix for A is ')
-99993 FORMAT (/' The inverse eigenvector matrix for A (premultiplied by'
-     $        ,' exp(Lambda*DELTA)) is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB05MD EXAMPLE PROGRAM DATA
-   4     1.0
-   0.5   0.0   2.3  -2.6
-   0.0   0.5  -1.4  -0.7
-   2.3  -1.4   0.5   0.0
-  -2.6  -0.7   0.0   0.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB05MD EXAMPLE PROGRAM RESULTS
-
- The solution matrix exp(A*DELTA) is 
-  26.8551  -3.2824  18.7409 -19.4430
-  -3.2824   4.3474  -5.1848   0.2700
-  18.7409  -5.1848  15.6012 -11.7228
- -19.4430   0.2700 -11.7228  15.6012
-
- The eigenvalues of A are 
- -3.0  0.0*j    4.0  0.0*j   -1.0  0.0*j    2.0  0.0*j  
-
- The eigenvector matrix for A is 
-  -0.7000   0.7000   0.1000  -0.1000
-   0.1000  -0.1000   0.7000  -0.7000
-   0.5000   0.5000   0.5000   0.5000
-  -0.5000  -0.5000   0.5000   0.5000
-
- The inverse eigenvector matrix for A (premultiplied by exp(Lambda*DELTA)) is 
-  -0.0349   0.0050   0.0249  -0.0249
-  38.2187  -5.4598  27.2991 -27.2991
-   0.0368   0.2575   0.1839   0.1839
-  -0.7389  -5.1723   3.6945   3.6945
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB05MY.html b/doc/_static/doc/MB05MY.html
deleted file mode 100644
index ec3da91c..00000000
--- a/doc/_static/doc/MB05MY.html
+++ /dev/null
@@ -1,178 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05MY">MB05MY</A></H2>
-<H3>
-Computation of the orthogonal matrix reducing a given matrix to real Schur form T, of the eigenvalues, and of the upper triangular matrix of right eigenvectors of T
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for an N-by-N real nonsymmetric matrix A, the
-  orthogonal matrix Q reducing it to real Schur form T, the
-  eigenvalues, and the right eigenvectors of T.
-
-  The right eigenvector r(j) of T satisfies
-                   T * r(j) = lambda(j) * r(j)
-  where lambda(j) is its eigenvalue.
-
-  The matrix of right eigenvectors R is upper triangular, by
-  construction.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05MY( BALANC, N, A, LDA, WR, WI, R, LDR, Q, LDQ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC
-      INTEGER           INFO, LDA, LDQ, LDR, LDWORK, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A( LDA, * ), DWORK( * ), Q( LDQ, * ),
-     $                  R( LDR, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Indicates how the input matrix should be diagonally scaled
-          to improve the conditioning of its eigenvalues as follows:
-          = 'N':  Do not diagonally scale;
-          = 'S':  Diagonally scale the matrix, i.e. replace A by
-                  D*A*D**(-1), where D is a diagonal matrix chosen
-                  to make the rows and columns of A more equal in
-                  norm. Do not permute.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading N-by-N upper quasi-triangular part of
-          this array contains the real Schur canonical form of A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues. Complex
-          conjugate pairs of eigenvalues appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the matrix of right eigenvectors R, in the same
-          order as their eigenvalues. The real and imaginary parts
-          of a complex eigenvector corresponding to an eigenvalue
-          with positive imaginary part are stored in consecutive
-          columns. (The corresponding conjugate eigenvector is not
-          stored.) The eigenvectors are not backward transformed
-          for balancing (when BALANC = 'S').
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= max(1,N).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Q which has reduced A to real Schur
-          form.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          If BALANC = 'S' and LDWORK &gt; 0, DWORK(2),...,DWORK(N+1)
-          return the scaling factors used for balancing.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= max(1,4*N).
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues, and no eigenvectors have been
-                computed; elements i+1:N of WR and WI contain
-                eigenvalues which have converged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine uses the QR algorithm to obtain the real Schur form
-  T of matrix A. Then, the right eigenvectors of T are computed,
-  but they are not backtransformed into the eigenvectors of A.
-  MB05MY is a modification of the LAPACK driver routine DGEEV.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB05ND.html b/doc/_static/doc/MB05ND.html
deleted file mode 100644
index 1732b164..00000000
--- a/doc/_static/doc/MB05ND.html
+++ /dev/null
@@ -1,246 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05ND">MB05ND</A></H2>
-<H3>
-Matrix exponential and integral for a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute
-
-  (a)    F(delta) =  exp(A*delta) and
-
-  (b)    H(delta) =  Int[F(s) ds] from s = 0 to s = delta,
-
-  where A is a real N-by-N matrix and delta is a scalar value.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDEX, LDEXIN, LDWORK, N
-      DOUBLE PRECISION  DELTA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), EX(LDEX,*), EXINT(LDEXIN,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  DELTA   (input) DOUBLE PRECISION
-          The scalar value delta of the problem.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A of the problem. (Array A need not be set if
-          DELTA = 0.)
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,N).
-
-  EX      (output) DOUBLE PRECISION array, dimension (LDEX,N)
-          The leading N-by-N part of this array contains an
-          approximation to F(delta).
-
-  LDEX    INTEGER
-          The leading dimension of array EX.  LDEX &gt;= MAX(1,N).
-
-  EXINT   (output) DOUBLE PRECISION array, dimension (LDEXIN,N)
-          The leading N-by-N part of this array contains an
-          approximation to H(delta).
-
-  LDEXIN  INTEGER
-          The leading dimension of array EXINT.  LDEXIN &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the order of the
-          Pade approximation to H(t), where t is a scale factor
-          determined by the routine. A reasonable value for TOL may
-          be SQRT(EPS), where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,N*(N+1)).
-          For optimum performance LDWORK should be larger (2*N*N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the (i,i) element of the denominator of
-                the Pade approximation is zero, so the denominator
-                is exactly singular;
-          = N+1:  if DELTA = (delta * frobenius norm of matrix A) is
-                probably too large to permit meaningful computation.
-                That is, DELTA &gt; SQRT(BIG), where BIG is a
-                representable number near the overflow threshold of
-                the machine (see LAPACK Library Routine DLAMCH).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  This routine uses a Pade approximation to H(t) for some small
-  value of t (where 0 &lt; t &lt;= delta) and then calculates F(t) from
-  H(t). Finally, the results are re-scaled to give F(delta) and
-  H(delta). For a detailed description of the implementation of this
-  algorithm see [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benson, C.J.
-      The numerical evaluation of the matrix exponential and its
-      integral.
-      Report 82/03, Control Systems Research Group,
-      School of Electronic Engineering and Computer
-      Science, Kingston Polytechnic, January 1982.
-
-  [2] Ward, R.C.
-      Numerical computation of the matrix exponential with accuracy
-      estimate.
-      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
-
-  [3] Moler, C.B. and Van Loan, C.F.
-      Nineteen Dubious Ways to Compute the Exponential of a Matrix.
-      SIAM Rev., 20, pp. 801-836, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB05ND EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDEX, LDEXIN, LDWORK
-      PARAMETER        ( LDA = NMAX, LDEX = NMAX, LDEXIN = NMAX,
-     $                   LDWORK = NMAX*( NMAX+1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DELTA, TOL
-      INTEGER          I, INFO, J, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), EX(LDEX,NMAX),
-     $                 EXINT(LDEXIN,NMAX)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB05ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DELTA, TOL
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Find the matrix exponential of A*DELTA and its integral.
-         CALL MB05ND( N, DELTA, A, LDA, EX, LDEX, EXINT, LDEXIN, TOL,
-     $                IWORK, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( EX(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 40 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( EXINT(I,J), J = 1,N )
-   40       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB05ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB05ND = ',I2)
-99997 FORMAT (' The solution matrix exp(A*DELTA) is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' and its integral is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB05ND EXAMPLE PROGRAM DATA
-   5     0.1     0.0001
-   5.0   4.0   3.0   2.0   1.0
-   1.0   6.0   0.0   4.0   3.0
-   2.0   0.0   7.0   6.0   5.0
-   1.0   3.0   1.0   8.0   7.0
-   2.0   5.0   7.0   1.0   9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB05ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix exp(A*DELTA) is 
-   1.8391   0.9476   0.7920   0.8216   0.7811
-   0.3359   2.2262   0.4013   1.0078   1.0957
-   0.6335   0.6776   2.6933   1.6155   1.8502
-   0.4804   1.1561   0.9110   2.7461   2.0854
-   0.7105   1.4244   1.8835   1.0966   3.4134
-
- and its integral is 
-   0.1347   0.0352   0.0284   0.0272   0.0231
-   0.0114   0.1477   0.0104   0.0369   0.0368
-   0.0218   0.0178   0.1624   0.0580   0.0619
-   0.0152   0.0385   0.0267   0.1660   0.0732
-   0.0240   0.0503   0.0679   0.0317   0.1863
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB05OD.html b/doc/_static/doc/MB05OD.html
deleted file mode 100644
index 1db8b15f..00000000
--- a/doc/_static/doc/MB05OD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05OD">MB05OD</A></H2>
-<H3>
-Matrix exponential for a real matrix, with accuracy estimate
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute exp(A*delta) where A is a real N-by-N matrix and delta
-  is a scalar value. The routine also returns the minimal number of
-  accurate digits in the 1-norm of exp(A*delta) and the number of
-  accurate digits in the 1-norm of exp(A*delta) at 95% confidence
-  level.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALANC
-      INTEGER           IDIG, INFO, IWARN, LDA, LDWORK, MDIG, N,
-     $                  NDIAG
-      DOUBLE PRECISION  DELTA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALANC  CHARACTER*1
-          Specifies whether or not a balancing transformation (done
-          by SLICOT Library routine MB04MD) is required, as follows:
-          = 'N', do not use balancing;
-          = 'S', use balancing (scaling).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  NDIAG   (input) INTEGER
-          The specified order of the diagonal Pade approximant.
-          In the absence of further information NDIAG should
-          be set to 9.  NDIAG should not exceed 15.  NDIAG &gt;= 1.
-
-  DELTA   (input) DOUBLE PRECISION
-          The scalar value delta of the problem.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On input, the leading N-by-N part of this array must
-          contain the matrix A of the problem. (This is not needed
-          if DELTA = 0.)
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the solution matrix exp(A*delta).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  MDIG    (output) INTEGER
-          The minimal number of accurate digits in the 1-norm of
-          exp(A*delta).
-
-  IDIG    (output) INTEGER
-          The number of accurate digits in the 1-norm of
-          exp(A*delta) at 95% confidence level.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= N*(2*N+NDIAG+1)+NDIAG, if N &gt;  1.
-          LDWORK &gt;= 1,                     if N &lt;= 1.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  if MDIG = 0 and IDIG &gt; 0, warning for possible
-                inaccuracy (the exponential has been computed);
-          = 2:  if MDIG = 0 and IDIG = 0, warning for severe
-                inaccuracy (the exponential has been computed);
-          = 3:  if balancing has been requested, but it failed to
-                reduce the matrix norm and was not actually used.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the norm of matrix A*delta (after a possible
-                balancing) is too large to obtain an accurate
-                result;
-          = 2:  if the coefficient matrix (the denominator of the
-                Pade approximant) is exactly singular; try a
-                different value of NDIAG;
-          = 3:  if the solution exponential would overflow, possibly
-                due to a too large value DELTA; the calculations
-                stopped prematurely. This error is not likely to
-                appear.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The exponential of the matrix A is evaluated from a diagonal Pade
-  approximant. This routine is a modification of the subroutine
-  PADE, described in reference [1]. The routine implements an
-  algorithm which exploits the identity
-
-      (exp[(2**-m)*A]) ** (2**m) = exp(A),
-
-  where m is an integer determined by the algorithm, to improve the
-  accuracy for matrices with large norms.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Ward, R.C.
-      Numerical computation of the matrix exponential with accuracy
-      estimate.
-      SIAM J. Numer. Anal., 14, pp. 600-610, 1977.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB05OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-      INTEGER          NDIAG
-      PARAMETER        ( NDIAG = 9 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( 2*NMAX+NDIAG+1 )+NDIAG )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DELTA
-      INTEGER          I, IDIG, INFO, IWARN, J, MDIG, N
-      CHARACTER*1      BALANC
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK)
-      INTEGER          IWORK(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MB05OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DELTA, BALANC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-*        Find the exponential of the real defective matrix A*DELTA.
-         CALL MB05OD( BALANC, N, NDIAG, DELTA, A, LDA, MDIG, IDIG,
-     $                IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 )
-     $         WRITE ( NOUT, FMT = 99993 ) IWARN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) MDIG, IDIG
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MB05OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB05OD = ',I2)
-99997 FORMAT (' The solution matrix E = exp(A*DELTA) is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' Minimal number of accurate digits in the norm of E =',
-     $       I4,/' Number of accurate digits in the norm of E',/'     ',
-     $       '            at 95 per cent confidence interval =',I4)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (' IWARN on exit from MB05OD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MB05OD EXAMPLE PROGRAM DATA
-   3     1.0     S
-   2.0   1.0   1.0
-   0.0   3.0   2.0
-   1.0   0.0   4.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB05OD EXAMPLE PROGRAM RESULTS
-
- The solution matrix E = exp(A*DELTA) is 
-  22.5984  17.2073  53.8144
-  24.4047  27.6033  83.2241
-  29.4097  12.2024  81.4177
-
- Minimal number of accurate digits in the norm of E =  12
- Number of accurate digits in the norm of E
-                 at 95 per cent confidence interval =  15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB05OY.html b/doc/_static/doc/MB05OY.html
deleted file mode 100644
index 39c94ff8..00000000
--- a/doc/_static/doc/MB05OY.html
+++ /dev/null
@@ -1,128 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB05OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB05OY">MB05OY</A></H2>
-<H3>
-Restoring a matrix after balancing transformations (permutations and scalings)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To restore a matrix after it has been transformed by applying
-  balancing transformations (permutations and scalings), as
-  determined by LAPACK Library routine DGEBAL.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB05OY( JOB, N, LOW, IGH, A, LDA, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB
-      INTEGER           IGH, INFO, LDA, LOW, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), SCALE(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of backward transformation required,
-          as follows:
-          = 'N', do nothing, return immediately;
-          = 'P', do backward transformation for permutation only;
-          = 'S', do backward transformation for scaling only;
-          = 'B', do backward transformations for both permutation
-                 and scaling.
-          JOB must be the same as the argument JOB supplied
-          to DGEBAL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  LOW     (input) INTEGER
-  IGH     (input) INTEGER
-          The integers LOW and IGH determined by DGEBAL.
-          1 &lt;= LOW &lt;= IGH &lt;= N, if N &gt; 0; LOW=1 and IGH=0, if N=0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix to be back-transformed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  SCALE   (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors, as
-          returned by DGEBAL.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let P be a permutation matrix, and D a diagonal matrix of scaling
-  factors, both of order N. The routine computes
-                  -1
-     A &lt;-- P D A D  P'.
-
-  where the permutation and scaling factors are encoded in the
-  array SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires O(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB3JZP.html b/doc/_static/doc/MB3JZP.html
deleted file mode 100644
index 30c069bd..00000000
--- a/doc/_static/doc/MB3JZP.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB3JZP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3JZP">MB3JZP</A></H2>
-<H3>
-Moving eigenvalues with negative real parts of a complex skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the leading subpencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To move the eigenvalues with strictly negative real parts of an
-  N-by-N complex skew-Hamiltonian/Hamiltonian pencil aS - bH in
-  structured Schur form to the leading principal subpencil, while
-  keeping the triangular form. On entry, we have
-
-        (  A  D  )      (  B  F  )
-    S = (        ), H = (        ),
-        (  0  A' )      (  0 -B' )
-
-  where A and B are upper triangular.
-  S and H are transformed by a unitary matrix Q such that
-
-                         (  Aout  Dout  )
-    Sout = J Q' J' S Q = (              ), and
-                         (    0   Aout' )
-                                                                 (1)
-                         (  Bout  Fout  )           (  0  I  )
-    Hout = J Q' J' H Q = (              ), with J = (        ),
-                         (    0  -Bout' )           ( -I  0  )
-
-  where Aout and Bout remain in upper triangular form. The notation
-  M' denotes the conjugate transpose of the matrix M.
-  Optionally, if COMPQ = 'I' or COMPQ = 'U', the unitary matrix Q
-  that fulfills (1) is computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3JZP( COMPQ, N, A, LDA, D, LDD, B, LDB, F, LDF, Q,
-     $                   LDQ, NEIG, TOL, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, LDA, LDB, LDD, LDF, LDQ, N, NEIG
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), D( LDD, * ),
-     $                   F( LDF, * ), Q( LDQ, * ), ZWORK( * ) 
-      DOUBLE PRECISION   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether or not the unitary transformations
-          should be accumulated in the array Q, as follows:
-          = 'N':  Q is not computed;
-          = 'I':  the array Q is initialized internally to the unit
-                  matrix, and the unitary matrix Q is returned;
-          = 'U':  the array Q contains a unitary matrix Q0 on
-                  entry, and the matrix Q0*Q is returned, where Q
-                  is the product of the unitary transformations
-                  that are applied to the pencil aS - bH to reorder
-                  the eigenvalues.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix A.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Aout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N/2).
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the skew-Hermitian
-          matrix D.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Dout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1, N/2).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular matrix B.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Bout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N/2).
-
-  F       (input/output) COMPLEX*16 array, dimension (LDF, N/2)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the upper triangular part of the Hermitian matrix
-          F.
-          On exit, the leading  N/2-by-N/2 part of this array
-          contains the transformed matrix Fout.
-          The strictly lower triangular part of this array is not
-          referenced.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1, N/2).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ, N)
-          On entry, if COMPQ = 'U', then the leading N-by-N part of
-          this array must contain a given matrix Q0, and on exit,
-          the leading N-by-N part of this array contains the product
-          of the input matrix Q0 and the transformation matrix Q
-          used to transform the matrices S and H.
-          On exit, if COMPQ = 'I', then the leading N-by-N part of
-          this array contains the unitary transformation matrix Q.
-          If COMPQ = 'N' this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,         if COMPQ = 'N';
-          LDQ &gt;= MAX(1, N), if COMPQ = 'I' or COMPQ = 'U'.
-
-  NEIG    (output) INTEGER
-          The number of eigenvalues in aS - bH with strictly
-          negative real part.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance used to decide the sign of the eigenvalues.
-          If the user sets TOL &gt; 0, then the given value of TOL is
-          used. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by MIN(N,10)*EPS, is
-          used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH). A larger value might be
-          needed for pencils with multiple eigenvalues.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N/2)
-
-  ZWORK   COMPLEX*16 array, dimension (N/2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm reorders the eigenvalues like the following scheme:
-
-  Step 1: Reorder the eigenvalues in the subpencil aA - bB.
-       I. Reorder the eigenvalues with negative real parts to the
-          top.
-      II. Reorder the eigenvalues with positive real parts to the
-          bottom.
-
-  Step 2: Reorder the remaining eigenvalues with negative real parts.
-       I. Exchange the eigenvalues between the last diagonal block
-          in aA - bB and the last diagonal block in aS - bH.
-      II. Move the eigenvalues in the N/2-th place to the (MM+1)-th
-          place, where MM denotes the current number of eigenvalues
-          with negative real parts in aA - bB.
-
-  The algorithm uses a sequence of unitary transformations as
-  described on page 43 in [1]. To achieve those transformations the
-  elementary SLICOT Library subroutines MB03DZ and MB03HZ are called
-  for the corresponding matrix structures.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB3LZP.html b/doc/_static/doc/MB3LZP.html
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-<HTML>
-<HEAD><TITLE>MB3LZP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3LZP">MB3LZP</A></H2>
-<H3>
-Eigenvalues and right deflating subspace of a complex skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the eigenvalues of a complex N-by-N skew-Hamiltonian/
-  Hamiltonian pencil aS - bH, with
-
-        (  A  D  )         (  B  F  )
-    S = (        ) and H = (        ).                           (1)
-        (  E  A' )         (  G -B' )
-
-  The structured Schur form of the embedded real skew-Hamiltonian/
-  skew-Hamiltonian pencil aB_S - bB_T, defined as
-
-          (  Re(A)  -Im(A)  |  Re(D)  -Im(D)  )
-          (                 |                 )
-          (  Im(A)   Re(A)  |  Im(D)   Re(D)  )
-          (                 |                 )
-    B_S = (-----------------+-----------------) , and
-          (                 |                 )
-          (  Re(E)  -Im(E)  |  Re(A')  Im(A') )
-          (                 |                 )
-          (  Im(E)   Re(E)  | -Im(A')  Re(A') )
-                                                                 (2)
-          ( -Im(B)  -Re(B)  | -Im(F)  -Re(F)  )
-          (                 |                 )
-          (  Re(B)  -Im(B)  |  Re(F)  -Im(F)  )
-          (                 |                 )
-    B_T = (-----------------+-----------------) ,  T = i*H,
-          (                 |                 )
-          ( -Im(G)  -Re(G)  | -Im(B')  Re(B') )
-          (                 |                 )
-          (  Re(G)  -Im(G)  | -Re(B') -Im(B') )
-
-  is determined and used to compute the eigenvalues. The notation M'
-  denotes the conjugate transpose of the matrix M. Optionally,
-  if COMPQ = 'C', an orthonormal basis of the right deflating
-  subspace of the pencil aS - bH, corresponding to the eigenvalues
-  with strictly negative real part, is computed. Namely, after
-  transforming aB_S - bB_H by unitary matrices, we have
-
-             ( BA  BD  )              ( BB  BF  )
-    B_Sout = (         ) and B_Hout = (         ),               (3)
-             (  0  BA' )              (  0 -BB' )
-
-  and the eigenvalues with strictly negative real part of the
-  complex pencil aB_Sout - bB_Hout are moved to the top. The
-  embedding doubles the multiplicities of the eigenvalues of the
-  pencil aS - bH.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3LZP( COMPQ, ORTH, N, A, LDA, DE, LDDE, B, LDB, FG,
-     $                   LDFG, NEIG, Q, LDQ, ALPHAR, ALPHAI, BETA,
-     $                   IWORK, DWORK, LDWORK, ZWORK, LZWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, ORTH
-      INTEGER            INFO, LDA, LDB, LDDE, LDFG, LDQ, LDWORK,
-     $                   LZWORK, N, NEIG
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   ALPHAI( * ), ALPHAR( * ), BETA( * ), DWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), DE( LDDE, * ),
-     $                   FG( LDFG, * ), Q( LDQ, * ), ZWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          Specifies whether to compute the deflating subspace
-          corresponding to the eigenvalues of aS - bH with strictly
-          negative real part.
-          = 'N': do not compute the deflating subspace; compute the
-                 eigenvalues only;
-          = 'C': compute the deflating subspace and store it in the
-                 leading subarray of Q.
-
-  ORTH    CHARACTER*1
-          If COMPQ = 'C', specifies the technique for computing an
-          orthonormal basis of the deflating subspace, as follows:
-          = 'P':  QR factorization with column pivoting;
-          = 'S':  singular value decomposition.
-          If COMPQ = 'N', the ORTH value is not used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the pencil aS - bH.  N &gt;= 0, even.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix A.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BA in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; it is preserved in the leading N/2-by-N/2 part.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1, N).
-
-  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N/2-by-N/2 upper
-          triangular part of the submatrix in the columns 2 to N/2+1
-          of this array must contain the upper triangular part of
-          the skew-Hermitian matrix D.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the skew-Hermitian matrix BD in (3) (see
-          also METHOD). The strictly lower triangular part of the
-          input matrix is preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N/2-by-N/2 part of this array must
-          contain the matrix B.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the upper triangular matrix BB in (3) (see
-          also METHOD). The strictly lower triangular part is not
-          zeroed; the elements below the first subdiagonal of the
-          input matrix are preserved.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  FG      (input/output) COMPLEX*16 array, dimension (LDFG, N)
-          On entry, the leading N/2-by-N/2 lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix G, and the N/2-by-N/2 upper triangular
-          part of the submatrix in the columns 2 to N/2+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix F.
-          On exit, if COMPQ = 'C', the leading N-by-N part of this
-          array contains the Hermitian matrix BF in (3) (see also
-          METHOD). The strictly lower triangular part of the input
-          matrix is preserved. The diagonal elements might have tiny
-          imaginary parts.
-          If COMPQ = 'N', this array is unchanged on exit.
-
-  LDFG    INTEGER
-          The leading dimension of the array FG.  LDFG &gt;= MAX(1, N).
-
-  NEIG    (output) INTEGER
-          If COMPQ = 'C', the number of eigenvalues in aS - bH with
-          strictly negative real part.
-
-  Q       (output) COMPLEX*16 array, dimension (LDQ, 2*N)
-          On exit, if COMPQ = 'C', the leading N-by-NEIG part of
-          this array contains an orthonormal basis of the right
-          deflating subspace corresponding to the eigenvalues of the
-          pencil aS - bH with strictly negative real part.
-          The remaining entries are meaningless.
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,           if COMPQ = 'N';
-          LDQ &gt;= MAX(1, 2*N), if COMPQ = 'C'.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          The real parts of each scalar alpha defining an eigenvalue
-          of the pencil aS - bH.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          The imaginary parts of each scalar alpha defining an
-          eigenvalue of the pencil aS - bH.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          The scalars beta that define the eigenvalues of the pencil
-          aS - bH.
-          Together, the quantities alpha = (ALPHAR(j),ALPHAI(j)) and
-          beta = BETA(j) represent the j-th eigenvalue of the pencil
-          aS - bH, in the form lambda = alpha/beta. Since lambda may
-          overflow, the ratios should not, in general, be computed.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+1)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-          On exit, if INFO = -20, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( 4*N*N + 2*N + MAX(3,N) ), if COMPQ = 'N';
-          LDWORK &gt;= MAX( 1, 11*N*N + 2*N ),        if COMPQ = 'C'.
-          For good performance LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal LZWORK.
-          On exit, if INFO = -22, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= 1,       if COMPQ = 'N';
-          LZWORK &gt;= 8*N + 4, if COMPQ = 'C'.
-          For good performance LZWORK should be generally larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 0,     if COMPQ = 'N';
-          LBWORK &gt;= N - 1, if COMPQ = 'C'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: succesful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: QZ iteration failed in the SLICOT Library routine
-               MB04FP (QZ iteration did not converge or computation
-               of the shifts failed);
-          = 2: QZ iteration failed in the LAPACK routine ZHGEQZ when
-               trying to triangularize the 2-by-2 blocks;
-          = 3: the singular value decomposition failed in the LAPACK
-               routine ZGESVD (for ORTH = 'S');
-          = 4: warning: the pencil is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, T = i*H is set. Then, the embeddings, B_S and B_T, of the
-  matrices S and T, are determined and, subsequently, the SLICOT
-  Library routine MB04FP is applied to compute the structured Schur
-  form, i.e., the factorizations
-
-  ~                     (  S11  S12  )
-  B_S = J Q' J' B_S Q = (            ) and
-                        (   0   S11' )
-
-  ~                     (  T11  T12  )           (  0  I  )
-  B_T = J Q' J' B_T Q = (            ), with J = (        ),
-                        (   0   T11' )           ( -I  0  )
-
-  where Q is real orthogonal, S11 is upper triangular, and T11 is
-  upper quasi-triangular.
-
-  Second, the SLICOT Library routine MB3JZP is applied, to compute a
-                 ~
-  unitary matrix Q, such that
-
-                     ~    ~
-    ~     ~   ~   (  S11  S12  )
-  J Q' J' B_S Q = (       ~    ) =: B_Sout,
-                  (   0   S11' )
-
-    ~        ~    ~   (  H11  H12  )
-  J Q' J'(-i*B_T) Q = (            ) =: B_Hout,
-                      (   0  -H11' )
-       ~                                               ~       ~
-  with S11, H11 upper triangular, and such that Spec_-(B_S, -i*B_T)
-  is contained in the spectrum of the 2*NEIG-by-2*NEIG leading
-                       ~
-  principal subpencil aS11 - bH11.
-
-  Finally, the right deflating subspace is computed.
-  See also page 22 in [1] for more details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P., Byers, R., Mehrmann, V. and Xu, H.
-      Numerical Computation of Deflating Subspaces of Embedded
-      Hamiltonian Pencils.
-      Tech. Rep. SFB393/99-15, Technical University Chemnitz,
-      Germany, June 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                                            3
-  The algorithm is numerically backward stable and needs O(N )
-  complex floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine does not perform any scaling of the matrices. Scaling
-  might sometimes be useful, and it should be done externally.
-  For large values of N, the routine applies the transformations on
-  panels of columns. The user may specify in INFO the desired number
-  of columns. If on entry INFO &lt;= 0, then the routine estimates a
-  suitable value of this number.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB3OYZ.html b/doc/_static/doc/MB3OYZ.html
deleted file mode 100644
index 299f1963..00000000
--- a/doc/_static/doc/MB3OYZ.html
+++ /dev/null
@@ -1,211 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB3OYZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3OYZ">MB3OYZ</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted QR factorization process (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing QR factorization of a complex general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated QR factorization with column pivoting
-                                [ R11 R12 ]
-     A * P = Q * R,  where  R = [         ],
-                                [  0  R22 ]
-  with R11 defined as the largest leading upper triangular submatrix
-  whose estimated condition number is less than 1/RCOND.  The order
-  of R11, RANK, is the effective rank of A.  Condition estimation is
-  performed during the QR factorization process.  Matrix R22 is full
-  (but of small norm), or empty.
-
-  MB3OYZ  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3OYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
-      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the leading RANK-by-RANK upper triangular part
-          of A contains the triangular factor R11, and the elements
-          below the diagonal in the first  RANK  columns, with the
-          array TAU, represent the unitary matrix Q as a product
-          of  RANK  elementary reflectors.
-          The remaining  N-RANK  columns contain the result of the
-          QR factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest leading triangular
-          submatrix R11 in the QR factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R11.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of R(1:RANK,1:RANK);
-          SVAL(2): smallest singular value of R(1:RANK,1:RANK);
-          SVAL(3): smallest singular value of R(1:RANK+1,1:RANK+1),
-                   if RANK &lt; MIN( M, N ), or of R(1:RANK,1:RANK),
-                   otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the leading columns were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(1:RANK,1:RANK).
-
-  JPVT    (output) INTEGER array, dimension ( N )
-          If JPVT(i) = k, then the i-th column of A*P was the k-th
-          column of A.
-
-  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
-          The leading  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 2*N )
-
-  ZWORK   COMPLEX*16 array, dimension ( 3*N-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of A,  A * P = Q * R,  with  R  defined above, and,
-  during this process, finds the largest leading submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using the LAPACK incremental condition estimation scheme and a
-  slightly modified rank decision test.  The factorization process
-  stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(1) H(2) . . . H(k), where k = rank &lt;= min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a complex scalar, and v is a complex vector with
-  v(1:i-1) = 0 and v(i) = 1; v(i+1:m) is stored on exit in
-  A(i+1:m,i), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth column of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB3PYZ.html b/doc/_static/doc/MB3PYZ.html
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-<HTML>
-<HEAD><TITLE>MB3PYZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB3PYZ">MB3PYZ</A></H2>
-<H3>
-Matrix rank determination by incremental condition estimation, during the pivoted RQ factorization process (row pivoting, complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a rank-revealing RQ factorization of a complex general
-  M-by-N matrix  A,  which may be rank-deficient, and estimate its
-  effective rank using incremental condition estimation.
-
-  The routine uses a truncated RQ factorization with row pivoting:
-                                [ R11 R12 ]
-     P * A = R * Q,  where  R = [         ],
-                                [  0  R22 ]
-  with R22 defined as the largest trailing upper triangular
-  submatrix whose estimated condition number is less than 1/RCOND.
-  The order of R22, RANK, is the effective rank of A.  Condition
-  estimation is performed during the RQ factorization process.
-  Matrix R11 is full (but of small norm), or empty.
-
-  MB3PYZ  does not perform any scaling of the matrix A.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB3PYZ( M, N, A, LDA, RCOND, SVLMAX, RANK, SVAL, JPVT,
-     $                   TAU, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, M, N, RANK
-      DOUBLE PRECISION   RCOND, SVLMAX
-C     .. Array Arguments ..
-      INTEGER            JPVT( * )
-      COMPLEX*16         A( LDA, * ), TAU( * ), ZWORK( * )
-      DOUBLE PRECISION   DWORK( * ), SVAL( 3 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension ( LDA, N )
-          On entry, the leading M-by-N part of this array must
-          contain the given matrix A.
-          On exit, the upper triangle of the subarray
-          A(M-RANK+1:M,N-RANK+1:N) contains the RANK-by-RANK upper
-          triangular matrix R22;  the remaining elements in the last
-          RANK  rows, with the array TAU, represent the unitary
-          matrix Q as a product of  RANK  elementary reflectors
-          (see METHOD).  The first  M-RANK  rows contain the result
-          of the RQ factorization process used.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,M).
-
-  RCOND   (input) DOUBLE PRECISION
-          RCOND is used to determine the effective rank of A, which
-          is defined as the order of the largest trailing triangular
-          submatrix R22 in the RQ factorization with pivoting of A,
-          whose estimated condition number is less than 1/RCOND.
-          0 &lt;= RCOND &lt;= 1.
-          NOTE that when SVLMAX &gt; 0, the estimated rank could be
-          less than that defined above (see SVLMAX).
-
-  SVLMAX  (input) DOUBLE PRECISION
-          If A is a submatrix of another matrix B, and the rank
-          decision should be related to that matrix, then SVLMAX
-          should be an estimate of the largest singular value of B
-          (for instance, the Frobenius norm of B).  If this is not
-          the case, the input value SVLMAX = 0 should work.
-          SVLMAX &gt;= 0.
-
-  RANK    (output) INTEGER
-          The effective (estimated) rank of A, i.e., the order of
-          the submatrix R22.
-
-  SVAL    (output) DOUBLE PRECISION array, dimension ( 3 )
-          The estimates of some of the singular values of the
-          triangular factor R:
-          SVAL(1): largest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(2): smallest singular value of
-                   R(M-RANK+1:M,N-RANK+1:N);
-          SVAL(3): smallest singular value of R(M-RANK:M,N-RANK:N),
-                   if RANK &lt; MIN( M, N ), or of
-                   R(M-RANK+1:M,N-RANK+1:N), otherwise.
-          If the triangular factorization is a rank-revealing one
-          (which will be the case if the trailing rows were well-
-          conditioned), then SVAL(1) will also be an estimate for
-          the largest singular value of A, and SVAL(2) and SVAL(3)
-          will be estimates for the RANK-th and (RANK+1)-st singular
-          values of A, respectively.
-          By examining these values, one can confirm that the rank
-          is well defined with respect to the chosen value of RCOND.
-          The ratio SVAL(1)/SVAL(2) is an estimate of the condition
-          number of R(M-RANK+1:M,N-RANK+1:N).
-
-  JPVT    (output) INTEGER array, dimension ( M )
-          If JPVT(i) = k, then the i-th row of P*A was the k-th row
-          of A.
-
-  TAU     (output) COMPLEX*16 array, dimension ( MIN( M, N ) )
-          The trailing  RANK  elements of TAU contain the scalar
-          factors of the elementary reflectors.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension ( 2*M )
-
-  ZWORK   COMPLEX*16 array, dimension ( 3*M-1 )
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated RQ factorization with row
-  pivoting of A,  P * A = R * Q,  with  R  defined above, and,
-  during this process, finds the largest trailing submatrix whose
-  estimated condition number is less than 1/RCOND, taking the
-  possible positive value of SVLMAX into account.  This is performed
-  using an adaptation of the LAPACK incremental condition estimation
-  scheme and a slightly modified rank decision test.  The
-  factorization process stops when  RANK  has been determined.
-
-  The matrix Q is represented as a product of elementary reflectors
-
-     Q = H(k-rank+1)' H(k-rank+2)' . . . H(k)', where k = min(m,n).
-
-  Each H(i) has the form
-
-     H = I - tau * v * v'
-
-  where tau is a complex scalar, and v is a complex vector with
-  v(n-k+i+1:n) = 0 and v(n-k+i) = 1; conjg(v(1:n-k+i-1)) is stored
-  on exit in A(m-k+i,1:n-k+i-1), and tau in TAU(i).
-
-  The matrix P is represented in jpvt as follows: If
-     jpvt(j) = i
-  then the jth row of P is the ith canonical unit vector.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bischof, C.H. and P. Tang.
-      Generalizing Incremental Condition Estimation.
-      LAPACK Working Notes 32, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-132,
-      May 1991.
-
-  [2] Bischof, C.H. and P. Tang.
-      Robust Incremental Condition Estimation.
-      LAPACK Working Notes 33, Mathematics and Computer Science
-      Division, Argonne National Laboratory, UT, CS-91-133,
-      May 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB4DBZ.html b/doc/_static/doc/MB4DBZ.html
deleted file mode 100644
index 160b78da..00000000
--- a/doc/_static/doc/MB4DBZ.html
+++ /dev/null
@@ -1,149 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB4DBZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB4DBZ">MB4DBZ</A></H2>
-<H3>
-Inverse of a balancing transformation for a complex skew-Hamiltonian/Hamiltonian pencil
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply from the left the inverse of a balancing transformation,
-  computed by the SLICOT Library routine MB4DPZ, to the complex
-  matrix
-
-            [   V1   ]
-            [        ],
-            [ sgn*V2 ]
-
-  where sgn is either +1 or -1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB4DBZ( JOB, SGN, N, ILO, LSCALE, RSCALE, M, V1, LDV1,
-     $                   V2, LDV2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOB, SGN
-      INTEGER           ILO, INFO, LDV1, LDV2, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  LSCALE(*), RSCALE(*)
-      COMPLEX*16        V1(LDV1,*), V2(LDV2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the type of inverse transformation required:
-          = 'N':  do nothing, return immediately;
-          = 'P':  do inverse transformation for permutation only;
-          = 'S':  do inverse transformation for scaling only;
-          = 'B':  do inverse transformations for both permutation
-                  and scaling.
-          JOB must be the same as the argument JOB supplied to
-          MB4DPZ.
-
-  SGN     CHARACTER*1
-          Specifies the sign to use for V2:
-          = 'P':  sgn = +1;
-          = 'N':  sgn = -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrices V1 and V2. N &gt;= 0.
-
-  ILO     (input) INTEGER
-          The integer ILO determined by MB4DPZ.
-          1 &lt;= ILO &lt;= N+1.
-
-  LSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the left, as returned by MB4DPZ.
-
-  RSCALE  (input) DOUBLE PRECISION array, dimension (N)
-          Details of the permutation and scaling factors applied
-          from the right, as returned by MB4DPZ.
-
-  M       (input) INTEGER
-          The number of columns of the matrices V1 and V2.  M &gt;= 0.
-
-  V1      (input/output) COMPLEX*16 array, dimension (LDV1,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V1.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V1 of the transformed
-          matrix.
-
-  LDV1    INTEGER
-          The leading dimension of the array V1. LDV1 &gt;= max(1,N).
-
-  V2      (input/output) COMPLEX*16 array, dimension (LDV2,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix V2.
-          On exit, the leading N-by-M part of this array is
-          overwritten by the updated matrix V2 of the transformed
-          matrix.
-
-  LDV2    INTEGER
-          The leading dimension of the array V2. LDV2 &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MB4DLZ.html b/doc/_static/doc/MB4DLZ.html
deleted file mode 100644
index 98d219b3..00000000
--- a/doc/_static/doc/MB4DLZ.html
+++ /dev/null
@@ -1,375 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB4DLZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB4DLZ">MB4DLZ</A></H2>
-<H3>
-Balancing a complex pencil, optionally avoiding large norms for the scaled (sub)matrices 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance a pair of N-by-N complex matrices (A,B). This involves,
-  first, permuting A and B by equivalence transformations to isolate
-  eigenvalues in the first 1 to ILO-1 and last IHI+1 to N elements
-  on the diagonal of A and B; and second, applying a diagonal
-  equivalence transformation to rows and columns ILO to IHI to make
-  the rows and columns as close in 1-norm as possible. Both steps
-  are optional. Balancing may reduce the 1-norms of the matrices,
-  and improve the accuracy of the computed eigenvalues and/or
-  eigenvectors in the generalized eigenvalue problem
-  A*x = lambda*B*x.
-
-  This routine may optionally improve the conditioning of the
-  scaling transformation compared to the LAPACK routine ZGGBAL.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI,
-     $                   LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            IHI, ILO, INFO, IWARN, LDA, LDB, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
-      COMPLEX*16         A(LDA,*), B(LDB,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on A and B:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for I = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A and B.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices A(s,s) and B(s,s), with s = ILO:IHI.
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(A(s,s),1)/norm(B(s,s),1),
-                  norm(B(s,s),1)/norm(S(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where A(s,s) and B(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(A(s,s),1)*norm(B(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in LSCALE(s) and RSCALE(s), will be
-          at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix A.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix B.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns and the last N-IHI rows of B is zero.
-          If JOB = 'N', the arrays A and B are not referenced.
-
-  LDB    INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-  IHI     (output) INTEGER
-          ILO and IHI are set to integers such that on exit
-          A(i,j) = 0 and B(i,j) = 0 if i &gt; j and
-          j = 1,...,ILO-1 or i = IHI+1,...,N.
-          If JOB = 'N' or 'S', ILO = 1 and IHI = N.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the left side of A and B.  If P(j) is the index of the
-          row interchanged with row j, and D(j) is the scaling
-          factor applied to row j, then
-            LSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations and scaling factors applied
-          to the right side of A and B.  If P(j) is the index of the
-          column interchanged with column j, and D(j) is the scaling
-          factor applied to column j, then
-            RSCALE(j) = P(j)    for j = 1,...,ILO-1
-                      = D(j)    for j = ILO,...,IHI
-                      = P(j)    for j = IHI+1,...,N.
-          The order in which the interchanges are made is N to
-          IHI+1, then 1 to ILO-1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of A(s,s) and B(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = IHI).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying an equivalence transformation
-  to isolate eigenvalues and/or to make the 1-norms of the rows
-  and columns ILO,...,IHI of A and B nearly equal. If THRESH &lt; 0,
-  a search is performed to find those scaling factors giving the
-  smallest norm ratio or product defined above (see the description
-  of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-     Dl*A*Dr and Dl*B*Dr.
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than ZGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  No rounding errors appear if JOB = 'P'.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB4DLZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDB
-      PARAMETER        ( LDA = NMAX, LDB = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, NMAX ), B( LDB, NMAX )
-      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB4DLZ
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-         CALL MB4DLZ( JOB, N, THRESH, A, LDA, B, LDB, ILO, IHI, LSCALE,
-     $                RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,N )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )  ILO
-            WRITE ( NOUT, FMT = 99993 )  IHI
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99992 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99992 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99992 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB4DLZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB4DLZ = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix B is ')
-99995 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
-99994 FORMAT (/' ILO = ',I4)
-99993 FORMAT (/' IHI = ',I4)
-99992 FORMAT (20(1X,G11.4))
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB4DLZ = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB4DLZ EXAMPLE PROGRAM DATA
-       4       B      -3
-   (1,0.5)         0    -1e-12         0
-         0   (-2,-1)         0         0
-         1 (-1,-0.5)  (-1,0.5)         0
-  (-1,0.5)        -1         0    (2,-1)
-   (1,0.5)         0         0         0
-         0   (1,0.5)         0         0
-         0         0  (1,-0.5)         0
-         0         0         0  (1,-0.5)
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB4DLZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-   2.000       -1.000i   -1.000       +0.500i    0.000       +0.000i   -1.000       +0.000i 
-   0.000       +0.000i    1.000       +0.500i  -0.1000E-11   +0.000i    0.000       +0.000i 
-   0.000       +0.000i    1.000       +0.000i   -1.000       +0.500i   -1.000       -0.500i 
-   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i   -2.000       -1.000i 
-
- The balanced matrix B is 
-   1.000       -0.500i    0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
-   0.000       +0.000i    1.000       +0.500i    0.000       +0.000i    0.000       +0.000i 
-   0.000       +0.000i    0.000       +0.000i    1.000       -0.500i    0.000       +0.000i 
-   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i    1.000       +0.500i 
-
- ILO =    2
-
- IHI =    3
-
- The permutations and left scaling factors are 
-   2.000       1.000       1.000       2.000    
-
- The permutations and right scaling factors are 
-   2.000       1.000       1.000       2.000    
-
- The initial 1-norms of the (sub)matrices are 
-   2.118       1.118    
-
- The final 1-norms of the (sub)matrices are 
-   2.118       1.118    
-
- The threshold value finally used is 
-  0.2229E-12
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,437 +0,0 @@
-<HTML>
-<HEAD><TITLE>MB4DPZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MB4DPZ">MB4DPZ</A></H2>
-<H3>
-Balancing a complex skew-Hamiltonian/Hamiltonian pencil, exploiting the structure 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the 2*N-by-2*N complex skew-Hamiltonian/Hamiltonian
-  pencil aS - bH, with
-
-        (  A  D  )         (  C  V  )
-    S = (        ) and H = (        ),  A, C N-by-N,             (1)
-        (  E  A' )         (  W -C' )
-
-  where D and E are skew-Hermitian, V and W are Hermitian matrices,
-  and ' denotes conjugate transpose. This involves, first, permuting
-  aS - bH by a symplectic equivalence transformation to isolate
-  eigenvalues in the first 1:ILO-1 elements on the diagonal of A
-  and C; and second, applying a diagonal equivalence transformation
-  to make the pairs of rows and columns ILO:N and N+ILO:2*N as close
-  in 1-norm as possible. Both steps are optional. Balancing may
-  reduce the 1-norms of the matrices S and H.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                   LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            ILO, INFO, IWARN, LDA, LDC, LDDE, LDVW, N
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   DWORK(*), LSCALE(*), RSCALE(*)
-      COMPLEX*16         A(LDA,*), C(LDC,*), DE(LDDE,*), VW(LDVW,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the operations to be performed on S and H:
-          = 'N':  none:  simply set ILO = 1, LSCALE(I) = 1.0 and
-                  RSCALE(I) = 1.0 for i = 1,...,N.
-          = 'P':  permute only;
-          = 'S':  scale only;
-          = 'B':  both permute and scale.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of matrices A, D, E, C, V, and W.  N &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and THRESH &gt;= 0, threshold
-          value for magnitude of the elements to be considered in
-          the scaling process: elements with magnitude less than or
-          equal to THRESH*MXNORM are ignored for scaling, where
-          MXNORM is the maximum of the 1-norms of the original
-          submatrices S(s,s) and H(s,s), with s = [ILO:N,N+ILO:2*N].
-          If THRESH &lt; 0, the subroutine finds the scaling factors
-          for which some conditions, detailed below, are fulfilled.
-          A sequence of increasing strictly positive threshold
-          values is used.
-          If THRESH = -1, the condition is that
-             max( norm(H(s,s),1)/norm(S(s,s),1),
-                  norm(S(s,s),1)/norm(H(s,s),1) )                (1)
-          has the smallest value, for the threshold values used,
-          where S(s,s) and H(s,s) are the scaled submatrices.
-          If THRESH = -2, the norm ratio reduction (1) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, if this seems suitable. See the description
-          of the argument IWARN and FURTHER COMMENTS.
-          If THRESH = -3, the condition is that
-             norm(H(s,s),1)*norm(S(s,s),1)                       (2)
-          has the smallest value for the scaled submatrices.
-          If THRESH = -4, the norm reduction in (2) is tried, but
-          the subroutine may return IWARN = 1 and reset the scaling
-          factors to 1, as for THRESH = -2 above.
-          If THRESH = -VALUE, with VALUE &gt;= 10, the condition
-          numbers of the left and right scaling transformations will
-          be bounded by VALUE, i.e., the ratios between the largest
-          and smallest entries in [LSCALE(ILO:N); RSCALE(ILO:N)]
-          will be at most VALUE. VALUE should be a power of 10.
-          If JOB = 'N' or JOB = 'P', the value of THRESH is
-          irrelevant.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix A of the balanced skew-Hamiltonian matrix S.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of A is zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  DE      (input/output) COMPLEX*16 array, dimension (LDDE, N+1)
-          On entry, the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          skew-Hermitian matrix E, and the N-by-N upper triangular
-          part of the submatrix in the columns 2 to N+1 of this
-          array must contain the upper triangular part of the
-          skew-Hermitian matrix D. The real parts of the entries on
-          the diagonal and the first superdiagonal of this array
-          should be zero.
-          On exit, the leading N-by-N lower triangular part of this
-          array contains the lower triangular part of the balanced
-          matrix E, and the N-by-N upper triangular part of the 
-          submatrix in the columns 2 to N+1 of this array contains
-          the upper triangular part of the balanced matrix D.
-          In particular, the lower triangular part of the first
-          ILO-1 columns of DE is zero.
-
-  LDDE    INTEGER
-          The leading dimension of the array DE.  LDDE &gt;= MAX(1, N).
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC, N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix C.
-          On exit, the leading N-by-N part of this array contains
-          the matrix C of the balanced Hamiltonian matrix H.
-          In particular, the strictly lower triangular part of the
-          first ILO-1 columns of C is zero.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1, N).
-
-  VW      (input/output) COMPLEX*16 array, dimension (LDVW, N+1)
-          On entry, the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          Hermitian matrix W, and the N-by-N upper triangular
-          part of the submatrix in the columns 2 to N+1 of this
-          array must contain the upper triangular part of the
-          Hermitian matrix V. The imaginary parts of the entries on
-          the diagonal and the first superdiagonal of this array
-          should be zero.
-          On exit, the leading N-by-N lower triangular part of this
-          array contains the lower triangular part of the balanced
-          matrix W, and the N-by-N upper triangular part of the
-          submatrix in the columns 2 to N+1 of this array contains
-          the upper triangular part of the balanced matrix V. In
-          particular, the lower triangular part of the first ILO-1
-          columns of VW is zero.
-
-  LDVW    INTEGER
-          The leading dimension of the array VW.  LDVW &gt;= MAX(1, N).
-
-  ILO     (output) INTEGER
-          ILO-1 is the number of deflated eigenvalues in the
-          balanced skew-Hamiltonian/Hamiltonian matrix pencil.
-          ILO is set to 1 if JOB = 'N' or JOB = 'S'.
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, D, C, and V from the left. For j = 1,...,ILO-1 let
-          P(j) = LSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of LSCALE contains the factor of the scaling applied to
-          row j of the matrices A, D, C, and V.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          Details of the permutations of S and H and scaling applied
-          to A, E, C, and W from the right. For j = 1,...,ILO-1 let
-          P(j) = RSCALE(j). If P(j) &lt;= N, then rows and columns P(j)
-          and P(j)+N are interchanged with rows and columns j and
-          j+N, respectively. If P(j) &gt; N, then row and column P(j)-N
-          are interchanged with row and column j+N by a generalized
-          symplectic permutation. For j = ILO,...,N the j-th element
-          of RSCALE contains the factor of the scaling applied to
-          column j of the matrices A, E, C, and W.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK) where
-          LDWORK = 0,   if  JOB = 'N' or JOB = 'P', or N = 0;
-          LDWORK = 6*N, if (JOB = 'S' or JOB = 'B') and THRESH &gt;= 0;
-          LDWORK = 8*N, if (JOB = 'S' or JOB = 'B') and THRESH &lt;  0.
-          On exit, if JOB = 'S' or JOB = 'B', DWORK(1) and DWORK(2)
-          contain the initial 1-norms of S(s,s) and H(s,s), and
-          DWORK(3) and DWORK(4) contain their final 1-norms,
-          respectively. Moreover, DWORK(5) contains the THRESH value
-          used (irrelevant if IWARN = 1 or ILO = N).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  scaling has been requested, for THRESH = -2 or
-                THRESH = -4, but it most probably would not improve
-                the accuracy of the computed solution for a related
-                eigenproblem (since maximum norm increased
-                significantly compared to the original pencil
-                matrices and (very) high and/or small scaling
-                factors occurred). The returned scaling factors have
-                been reset to 1, but information about permutations,
-                if requested, has been preserved.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a (symplectic) equivalence
-  transformation to isolate eigenvalues and/or to make the 1-norms
-  of each pair of rows and columns indexed by s of S and H nearly
-  equal. If THRESH &lt; 0, a search is performed to find those scaling
-  factors giving the smallest norm ratio or product defined above
-  (see the description of the parameter THRESH).
-
-  Assuming JOB = 'S', let Dl and Dr be diagonal matrices containing
-  the vectors LSCALE and RSCALE, respectively. The returned matrices
-  are obtained using the equivalence transformation
-
-    ( Dl  0 ) ( A  D  ) ( Dr  0 )   ( Dl  0 ) ( C  V  ) ( Dr  0 )
-    (       ) (       ) (       ),  (       ) (       ) (       ).
-    ( 0  Dr ) ( E  A' ) ( 0  Dl )   ( 0  Dr ) ( W -C' ) ( 0  Dl )
-
-  For THRESH = 0, the routine returns essentially the same results
-  as the LAPACK subroutine ZGGBAL [1]. Setting THRESH &lt; 0, usually
-  gives better results than ZGGBAL for badly scaled matrix pencils.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] Benner, P.
-      Symplectic balancing of Hamiltonian matrices.
-      SIAM J. Sci. Comput., 22 (5), pp. 1885-1904, 2001.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The transformations used preserve the skew-Hamiltonian/Hamiltonian
-  structure and do not introduce significant rounding errors.
-  No rounding errors appear if JOB = 'P'. If T is the global
-  transformation matrix applied to the right, then J'*T*J is the
-  global transformation matrix applied to the left, where
-  J = [ 0 I; -I 0 ], with blocks of order N.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If THRESH = -2, the increase of the maximum norm of the scaled
-  submatrices, compared to the maximum norm of the initial
-  submatrices, is bounded by MXGAIN = 100.
-  If THRESH = -2, or THRESH = -4, the maximum condition number of
-  the scaling transformations is bounded by MXCOND = 1/SQRT(EPS),
-  where EPS is the machine precision (see LAPACK Library routine
-  DLAMCH).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MB4DPZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 10 )
-      INTEGER          LDA, LDC, LDDE, LDVW
-      PARAMETER        ( LDA  = NMAX, LDC = NMAX, LDDE = NMAX,
-     $                   LDVW = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, ILO, INFO, IWARN, J, N
-      DOUBLE PRECISION THRESH
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA, NMAX ), C( LDC, NMAX ), DE(LDDE, NMAX),
-     $                 VW(LDVW, NMAX)
-      DOUBLE PRECISION DWORK(8*NMAX), LSCALE(NMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MB4DPZ
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * )  N, JOB, THRESH
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( DE(I,J), J = 1,N+1 ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J),  J = 1,N ),   I = 1,N )
-         READ ( NIN, FMT = * ) ( ( VW(I,J), J = 1,N+1 ), I = 1,N )
-         CALL MB4DPZ( JOB, N, THRESH, A, LDA, DE, LDDE, C, LDC, VW,
-     $                LDVW, ILO, LSCALE, RSCALE, DWORK, IWARN, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( A(I,J), J = 1,N )
-10          CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( DE(I,J), J = 1,N+1 )
-20          CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( C(I,J), J = 1,N )
-30          CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40  I = 1, N
-               WRITE ( NOUT, FMT = 99993 ) ( VW(I,J), J = 1,N+1 )
-40          CONTINUE
-            WRITE ( NOUT, FMT = 99992 )  ILO
-            WRITE ( NOUT, FMT = 99991 )
-            WRITE ( NOUT, FMT = 99984 ) ( LSCALE(I), I = 1,N )
-            WRITE ( NOUT, FMT = 99990 )
-            WRITE ( NOUT, FMT = 99984 ) ( RSCALE(I), I = 1,N )
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'B' ) ) THEN
-               IF ( .NOT.( THRESH.EQ.-2 .OR. THRESH.EQ.-4 ) ) THEN
-                  WRITE ( NOUT, FMT = 99989 )
-                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 1,2 )
-                  WRITE ( NOUT, FMT = 99988 )
-                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(I), I = 3,4 )
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99984 ) ( DWORK(5) )
-               ELSE
-                  WRITE ( NOUT, FMT = 99986 ) IWARN
-               END IF
-            END IF
-         END IF
-      END IF
-*
-99999 FORMAT (' MB4DPZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MB4DPZ = ',I2)
-99997 FORMAT (' The balanced matrix A is ')
-99996 FORMAT (/' The balanced matrix DE is ')
-99995 FORMAT (' The balanced matrix C is ')
-99994 FORMAT (/' The balanced matrix VW is ')
-99993 FORMAT (20( 1X, G11.4, SP, F9.3, S, 'i ') )
-99992 FORMAT (/' ILO = ',I4)
-99991 FORMAT (/' The permutations and left scaling factors are ')
-99990 FORMAT (/' The permutations and right scaling factors are ')
-99989 FORMAT (/' The initial 1-norms of the (sub)matrices are ')
-99988 FORMAT (/' The final 1-norms of the (sub)matrices are ')
-99987 FORMAT (/' The threshold value finally used is ')
-99986 FORMAT (/' IWARN on exit from MB4DPZ = ',I2)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-99984 FORMAT (20(1X,G11.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-MB4DPZ EXAMPLE PROGRAM DATA
-       2       B      -3
-   (1,0.5)         0
-         0   (1,0.5)
-         0         0         0
-         0         0         0
-   (1,0.5)         0
-         0   (-2,-1)
-         1   -1.e-12         0
-  (-1,0.5)        -1         0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MB4DPZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A is 
-   1.000       -0.500i    0.000        0.000i 
-   0.000        0.000i    1.000       +0.500i 
-
- The balanced matrix DE is 
-   0.000        0.000i    0.000       +0.000i    0.000       +0.000i 
-   0.000       +0.000i    0.000       +0.000i    0.000       +0.000i 
- The balanced matrix C is 
-   2.000       -1.000i    1.000       -0.500i 
-   0.000        0.000i    1.000       +0.500i 
-
- The balanced matrix VW is 
-   0.000        0.000i    1.000       +0.000i    0.000        0.000i 
-   0.000        0.000i    1.000       +0.000i  -0.1000E-11   +0.000i 
-
- ILO =    2
-
- The permutations and left scaling factors are 
-   4.000       1.000    
-
- The permutations and right scaling factors are 
-   4.000       1.000    
-
- The initial 1-norms of the (sub)matrices are 
-   1.118       2.118    
-
- The final 1-norms of the (sub)matrices are 
-   1.118       2.118    
-
- The threshold value finally used is 
-  -3.000    
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01MD.html b/doc/_static/doc/MC01MD.html
deleted file mode 100644
index 7879b138..00000000
--- a/doc/_static/doc/MC01MD.html
+++ /dev/null
@@ -1,199 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01MD">MC01MD</A></H2>
-<H3>
-The leading coefficients of the shifted polynomial for a given real polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate, for a given real polynomial P(x) and a real scalar
-  alpha, the leading K coefficients of the shifted polynomial
-                                                            K-1
-     P(x) = q(1) + q(2) * (x-alpha) + ... + q(K) * (x-alpha)   + ...
-
-  using Horner's algorithm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01MD( DP, ALPHA, K, P, Q, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, K
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(*), Q(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar value alpha of the problem.
-
-  K       (input) INTEGER
-          The number of coefficients of the shifted polynomial to be
-          computed.  1 &lt;= K &lt;= DP+1.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of P(x) in
-          increasing powers of x.
-
-  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
-          The leading K elements of this array contain the first
-          K coefficients of the shifted polynomial in increasing
-          powers of (x - alpha), and the next (DP-K+1) elements
-          are used as internal workspace.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the real polynomial
-                                      2                    DP
-     P(x) = p(1) + p(2) * x + p(3) * x  + ... + p(DP+1) * x  ,
-
-  the routine computes the leading K coefficients of the shifted
-  polynomial
-                                                                K-1
-     P(x) = q(1) + q(2) * (x - alpha) + ... + q(K) * (x - alpha)
-
-  as follows.
-
-  Applying Horner's algorithm (see [1]) to P(x), i.e. dividing P(x)
-  by (x-alpha), yields
-
-     P(x) = q(1) + (x-alpha) * D(x),
-
-  where q(1) is the value of the constant term of the shifted
-  polynomial and D(x) is the quotient polynomial of degree (DP-1)
-  given by
-                                      2                     DP-1
-     D(x) = d(2) + d(3) * x + d(4) * x  + ... +  d(DP+1) * x    .
-
-  Applying Horner's algorithm to D(x) and subsequent quotient
-  polynomials yields q(2) and q(3), q(4), ..., q(K) respectively.
-
-  It follows immediately that q(1) = P(alpha), and in general
-             (i-1)
-     q(i) = P     (alpha) / (i - 1)! for i = 1, 2, ..., K.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] STOER, J. and BULIRSCH, R.
-      Introduction to Numerical Analysis.
-      Springer-Verlag. 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA
-      INTEGER          DP, I, INFO, K
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01MD
-*     .. Executable Statements ..
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP, ALPHA, K
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Compute the leading K coefficients of the shifted polynomial.
-         CALL MC01MD( DP, ALPHA, K, P, Q, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) ALPHA
-            DO 20 I = 1, K
-               WRITE ( NOUT, FMT = 99996 ) I - 1, Q(I)
-   20       CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01MD = ',I2)
-99997 FORMAT (' ALPHA = ',F8.4,//' The coefficients of the shifted pol',
-     $       'ynomial are ',//' power of (x-ALPHA)     coefficient ')
-99996 FORMAT (5X,I5,15X,F9.4)
-99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01MD EXAMPLE PROGRAM DATA
-   5     2.0     6
-   6.0  5.0  4.0  3.0  2.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01MD EXAMPLE PROGRAM RESULTS
-
- ALPHA =   2.0000
-
- The coefficients of the shifted polynomial are 
-
- power of (x-ALPHA)     coefficient 
-         0                120.0000
-         1                201.0000
-         2                150.0000
-         3                 59.0000
-         4                 12.0000
-         5                  1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01ND.html b/doc/_static/doc/MC01ND.html
deleted file mode 100644
index 2dd56456..00000000
--- a/doc/_static/doc/MC01ND.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01ND">MC01ND</A></H2>
-<H3>
-Value of a real polynomial at a given complex point
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the value of the real polynomial P(x) at a given
-  complex point x = x0 using Horner's algorithm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01ND( DP, XR, XI, P, VR, VI, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO
-      DOUBLE PRECISION  VI, VR, XI, XR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  XR      (input) DOUBLE PRECISION
-  XI      (input) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of x0.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of the polynomial
-          P(x) in increasing powers of x.
-
-  VR      (output) DOUBLE PRECISION
-  VI      (output) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of P(x0).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the real polynomial
-                                      2                   DP
-     P(x) = p(1) + p(2) * x + p(3) * x + ... + p(DP+1) * x  ,
-
-  the routine computes the value of P(x0) using the recursion
-
-     q(DP+1) = p(DP+1),
-     q(i) = x0*q(i+1) + p(i) for i = DP, DP-1, ..., 1,
-
-  which is known as Horner's algorithm (see [1]). Then q(1) = P(x0).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] STOER, J and BULIRSCH, R.
-      Introduction to Numerical Analysis.
-      Springer-Verlag. 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires DP operations for real arguments and 4*DP
-  for complex arguments.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION VI, VR, XI, XR
-      INTEGER          DP, I, INFO
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(DPMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP, XR, XI
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Evaluate the polynomial at the given (complex) point.
-         CALL MC01ND( DP, XR, XI, P, VR, VI, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) XR, XI, VR
-            WRITE ( NOUT, FMT = 99996 ) XR, XI, VI
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01ND = ',I2)
-99997 FORMAT (' Real      part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
-99996 FORMAT (/' Imaginary part of P(',F6.2,SP,F6.2,'*j ) = ',SS,F8.4)
-99995 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01ND EXAMPLE PROGRAM DATA
-   4     -1.56     0.29
-   5.0  3.0  -1.0  2.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01ND EXAMPLE PROGRAM RESULTS
-
- Real      part of P( -1.56 +0.29*j ) =  -4.1337
-
- Imaginary part of P( -1.56 +0.29*j ) =   1.7088
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01OD.html b/doc/_static/doc/MC01OD.html
deleted file mode 100644
index 272a1052..00000000
--- a/doc/_static/doc/MC01OD.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01OD">MC01OD</A></H2>
-<H3>
-Coefficients of a complex polynomial, given its zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a complex polynomial P(x) from its
-  zeros.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), IMP(*), IMZ(*), REP(*), REZ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of zeros (and hence the degree) of P(x).
-          K &gt;= 0.
-
-  REZ     (input) DOUBLE PRECISION array, dimension (K)
-  IMZ     (input) DOUBLE PRECISION array, dimension (K)
-          The real and imaginary parts of the i-th zero of P(x)
-          must be stored in REZ(i) and IMZ(i), respectively, where
-          i = 1, 2, ..., K. The zeros may be supplied in any order.
-
-  REP     (output) DOUBLE PRECISION array, dimension (K+1)
-  IMP     (output) DOUBLE PRECISION array, dimension (K+1)
-          These arrays contain the real and imaginary parts,
-          respectively, of the coefficients of P(x) in increasing
-          powers of x. If K = 0, then REP(1) is set to one and
-          IMP(1) is set to zero.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*K+2)
-          If K = 0, this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the coefficients of the complex K-th degree
-  polynomial P(x) as
-
-     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
-
-  where r(i) = (REZ(i),IMZ(i)), using real arithmetic.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX
-      PARAMETER        ( KMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, K
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(2*KMAX+2), IMP(KMAX+1), IMZ(KMAX),
-     $                 REP(KMAX+1), REZ(KMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MC01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K
-      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) K
-      ELSE
-         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
-*        Compute the coefficients of P(x) from the given zeros.
-         CALL MC01OD( K, REZ, IMZ, REP, IMP, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99996 )
-     $            ( I, REP(I+1), IMP(I+1), I = 0,K )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01OD = ',I2)
-99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
-     $       'r of x     real part     imag part ')
-99996 FORMAT (2X,I5,8X,F9.4,5X,F9.4)
-99995 FORMAT (/' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01OD EXAMPLE PROGRAM DATA
-   5
-   1.1   0.9
-   0.6  -0.7
-  -2.0   0.3
-  -0.8   2.5
-  -0.3  -0.4
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01OD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial P(x) are 
-
- power of x     real part     imag part 
-      0           2.7494       -2.1300
-      1          -1.7590       -5.4205
-      2           0.0290        2.8290
-      3          -1.6500       -1.7300
-      4           1.4000       -2.6000
-      5           1.0000        0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01PD.html b/doc/_static/doc/MC01PD.html
deleted file mode 100644
index 7aefe569..00000000
--- a/doc/_static/doc/MC01PD.html
+++ /dev/null
@@ -1,172 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01PD">MC01PD</A></H2>
-<H3>
-Coefficients of a real polynomial, given its zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a real polynomial P(x) from its
-  zeros.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01PD( K, REZ, IMZ, P, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of zeros (and hence the degree) of P(x).
-          K &gt;= 0.
-
-  REZ     (input) DOUBLE PRECISION array, dimension (K)
-  IMZ     (input) DOUBLE PRECISION array, dimension (K)
-          The real and imaginary parts of the i-th zero of P(x)
-          must be stored in REZ(i) and IMZ(i), respectively, where
-          i = 1, 2, ..., K. The zeros may be supplied in any order,
-          except that complex conjugate zeros must appear
-          consecutively.
-
-  P       (output) DOUBLE PRECISION array, dimension (K+1)
-          This array contains the coefficients of P(x) in increasing
-          powers of x. If K = 0, then P(1) is set to one.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (K+1)
-          If K = 0, this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
-                (REZ(i-1),IMZ(i-1)) is not its conjugate.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the coefficients of the real K-th degree
-  polynomial P(x) as
-
-     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
-
-  where r(i) = (REZ(i),IMZ(i)).
-
-  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
-  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
-  if r(i) is real.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          KMAX
-      PARAMETER        ( KMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, K
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(KMAX+1), IMZ(KMAX), P(KMAX+1), REZ(KMAX)
-*     .. External Subroutines ..
-      EXTERNAL         MC01PD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) K
-      IF ( K.LT.0 .OR. K.GT.KMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) K
-      ELSE
-         READ ( NIN, FMT = * ) ( REZ(I), IMZ(I), I = 1,K )
-*        Compute the coefficients of P(x) from the given zeros.
-         CALL MC01PD( K, REZ, IMZ, P, DWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            WRITE ( NOUT, FMT = 99996 ) ( I, P(I+1), I = 0,K )
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01PD = ',I2)
-99997 FORMAT (' The coefficients of the polynomial P(x) are ',//' powe',
-     $       'r of x     coefficient ')
-99996 FORMAT (2X,I5,9X,F9.4)
-99995 FORMAT (' K is out of range.',/' K = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01PD EXAMPLE PROGRAM DATA
-   5
-   0.0   1.0
-   0.0  -1.0
-   2.0   0.0
-   1.0   3.0
-   1.0  -3.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01PD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial P(x) are 
-
- power of x     coefficient 
-      0          -20.0000
-      1           14.0000
-      2          -24.0000
-      3           15.0000
-      4           -4.0000
-      5            1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01PY.html b/doc/_static/doc/MC01PY.html
deleted file mode 100644
index 8a26d2e6..00000000
--- a/doc/_static/doc/MC01PY.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01PY">MC01PY</A></H2>
-<H3>
-Coefficients of a real polynomial, stored in decreasing order, given its zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a real polynomial P(x) from its
-  zeros. The coefficients are stored in decreasing order of the
-  powers of x.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01PY( K, REZ, IMZ, P, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, K
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  K       (input) INTEGER
-          The number of zeros (and hence the degree) of P(x).
-          K &gt;= 0.
-
-  REZ     (input) DOUBLE PRECISION array, dimension (K)
-  IMZ     (input) DOUBLE PRECISION array, dimension (K)
-          The real and imaginary parts of the i-th zero of P(x)
-          must be stored in REZ(i) and IMZ(i), respectively, where
-          i = 1, 2, ..., K. The zeros may be supplied in any order,
-          except that complex conjugate zeros must appear
-          consecutively.
-
-  P       (output) DOUBLE PRECISION array, dimension (K+1)
-          This array contains the coefficients of P(x) in decreasing
-          powers of x.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (K)
-          If K = 0, this array is not referenced.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
-                (REZ(i-1),IMZ(i-1)) is not its conjugate.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the coefficients of the real K-th degree
-  polynomial P(x) as
-
-     P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
-
-  where r(i) = (REZ(i),IMZ(i)).
-
-  Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
-  form a complex conjugate pair (where i &lt;&gt; j), and that IMZ(i) = 0
-  if r(i) is real.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01QD.html b/doc/_static/doc/MC01QD.html
deleted file mode 100644
index b0faa8b2..00000000
--- a/doc/_static/doc/MC01QD.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01QD">MC01QD</A></H2>
-<H3>
-Quotient and remainder polynomials for polynomial division
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for two given real polynomials A(x) and B(x), the
-  quotient polynomial Q(x) and the remainder polynomial R(x) of
-  A(x) divided by B(x).
-
-  The polynomials Q(x) and R(x) satisfy the relationship
-
-     A(x) = B(x) * Q(x) + R(x),
-
-  where the degree of R(x) is less than the degree of B(x).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DA, DB, INFO, IWARN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*), RQ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DA      (input) INTEGER
-          The degree of the numerator polynomial A(x).  DA &gt;= -1.
-
-  DB      (input/output) INTEGER
-          On entry, the degree of the denominator polynomial B(x).
-          DB &gt;= 0.
-          On exit, if B(DB+1) = 0.0 on entry, then DB contains the
-          index of the highest power of x for which B(DB+1) &lt;&gt; 0.0.
-
-  A       (input) DOUBLE PRECISION array, dimension (DA+1)
-          This array must contain the coefficients of the
-          numerator polynomial A(x) in increasing powers of x
-          unless DA = -1 on entry, in which case A(x) is taken
-          to be the zero polynomial.
-
-  B       (input) DOUBLE PRECISION array, dimension (DB+1)
-          This array must contain the coefficients of the
-          denominator polynomial B(x) in increasing powers of x.
-
-  RQ      (output) DOUBLE PRECISION array, dimension (DA+1)
-          If DA &lt; DB on exit, then this array contains the
-          coefficients of the remainder polynomial R(x) in
-          increasing powers of x; Q(x) is the zero polynomial.
-          Otherwise, the leading DB elements of this array contain
-          the coefficients of R(x) in increasing powers of x, and
-          the next (DA-DB+1) elements contain the coefficients of
-          Q(x) in increasing powers of x.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = k:  if the degree of the denominator polynomial B(x) has
-                been reduced to (DB - k) because B(DB+1-j) = 0.0 on
-                entry for j = 0, 1, ..., k-1 and B(DB+1-k) &lt;&gt; 0.0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, DB &gt;= 0 and B(i) = 0.0, where
-                i = 1, 2, ..., DB+1.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given real polynomials
-                                               DA
-     A(x) = a(1) + a(2) * x + ... + a(DA+1) * x
-
-  and
-                                               DB
-     B(x) = b(1) + b(2) * x + ... + b(DB+1) * x
-
-  where b(DB+1) is non-zero, the routine computes the coeffcients of
-  the quotient polynomial
-                                                  DA-DB
-     Q(x) = q(1) + q(2) * x + ... + q(DA-DB+1) * x
-
-  and the remainder polynomial
-                                             DB-1
-     R(x) = r(1) + r(2) * x + ... + r(DB) * x
-
-  such that A(x) = B(x) * Q(x) + R(x).
-
-  The algorithm used is synthetic division of polynomials (see [1]),
-  which involves the following steps:
-
-     (a) compute q(k+1) = a(DB+k+1) / b(DB+1)
-
-  and
-
-     (b) set a(j) = a(j) - q(k+1) * b(j-k) for j = k+1, ..., DB+k.
-
-  Steps (a) and (b) are performed for k = DA-DB, DA-DB-1, ..., 0 and
-  the algorithm terminates with r(i) = a(i) for i = 1, 2, ..., DB.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Knuth, D.E.
-      The Art of Computer Programming, (Vol. 2, Seminumerical
-      Algorithms).
-      Addison-Wesley, Reading, Massachusetts (2nd Edition), 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DAMAX, DBMAX
-      PARAMETER        ( DAMAX = 10, DBMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          DA, DB, DBB, DQ, DR, I, IMAX, INFO, IWARN
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(DAMAX+1), B(DBMAX+1), RQ(DAMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DA
-      IF ( DA.LE.-2 .OR. DA.GT.DAMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) DA
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
-         READ ( NIN, FMT = * ) DB
-         DBB = DB
-         IF ( DB.LE.-1 .OR. DB.GT.DBMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) DB
-         ELSE
-            READ ( NIN, FMT = * ) ( B(I), I = 1,DB+1 )
-*           Compute Q(x) and R(x) from the given A(x) and B(x).
-            CALL MC01QD( DA, DB, A, B, RQ, IWARN, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF ( IWARN.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) IWARN
-                  WRITE ( NOUT, FMT = 99996 ) DBB, DB
-               END IF
-               WRITE ( NOUT, FMT = 99995 )
-               DQ = DA - DB
-               DR = DB - 1
-               IMAX = DQ
-               IF ( DR.GT.IMAX ) IMAX = DR
-               DO 20 I = 0, IMAX
-                  IF ( I.LE.DQ .AND. I.LE.DR ) THEN
-                     WRITE ( NOUT, FMT = 99994 ) I, RQ(DB+I+1), RQ(I+1)
-                  ELSE IF ( I.LE.DQ ) THEN
-                     WRITE ( NOUT, FMT = 99993 ) I, RQ(DB+I+1)
-                  ELSE
-                     WRITE ( NOUT, FMT = 99992 ) I, RQ(I+1)
-                  END IF
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01QD = ',I2)
-99997 FORMAT (' IWARN on exit from MC01QD = ',I2,/)
-99996 FORMAT (' The degree of the denominator polynomial B(x) has been',
-     $       ' reduced from ',I2,' to ',I2,/)
-99995 FORMAT (' The coefficients of the polynomials Q(x) and R(x) are ',
-     $       //'                    Q(x)            R(x) ',/' power of',
-     $       ' x     coefficient     coefficient ')
-99994 FORMAT (2X,I5,9X,F9.4,7X,F9.4)
-99993 FORMAT (2X,I5,9X,F9.4)
-99992 FORMAT (2X,I5,25X,F9.4)
-99991 FORMAT (/' DA is out of range.',/' DA = ',I5)
-99990 FORMAT (/' DB is out of range.',/' DB = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01QD EXAMPLE PROGRAM DATA
-   4
-   2.0  2.0  -1.0  2.0  1.0
-   2
-   1.0  -1.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01QD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomials Q(x) and R(x) are 
-
-                    Q(x)            R(x) 
- power of x     coefficient     coefficient 
-      0            1.0000          1.0000
-      1            3.0000          0.0000
-      2            1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01RD.html b/doc/_static/doc/MC01RD.html
deleted file mode 100644
index d66a8409..00000000
--- a/doc/_static/doc/MC01RD.html
+++ /dev/null
@@ -1,251 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01RD">MC01RD</A></H2>
-<H3>
-Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of the polynomial
-
-     P(x) = P1(x) * P2(x) + alpha * P3(x),
-
-  where P1(x), P2(x) and P3(x) are given real polynomials and alpha
-  is a real scalar.
-
-  Each of the polynomials P1(x), P2(x) and P3(x) may be the zero
-  polynomial.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP1, DP2, DP3, INFO
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P1(*), P2(*), P3(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP1     (input) INTEGER
-          The degree of the polynomial P1(x).  DP1 &gt;= -1.
-
-  DP2     (input) INTEGER
-          The degree of the polynomial P2(x).  DP2 &gt;= -1.
-
-  DP3     (input/output) INTEGER
-          On entry, the degree of the polynomial P3(x).  DP3 &gt;= -1.
-          On exit, the degree of the polynomial P(x).
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar value alpha of the problem.
-
-  P1      (input) DOUBLE PRECISION array, dimension (lenp1)
-          where lenp1 = DP1 + 1 if DP1 &gt;= 0 and 1 otherwise.
-          If DP1 &gt;= 0, then this array must contain the
-          coefficients of P1(x) in increasing powers of x.
-          If DP1 = -1, then P1(x) is taken to be the zero
-          polynomial, P1 is not referenced and can be supplied
-          as a dummy array.
-
-  P2      (input) DOUBLE PRECISION array, dimension (lenp2)
-          where lenp2 = DP2 + 1 if DP2 &gt;= 0 and 1 otherwise.
-          If DP2 &gt;= 0, then this array must contain the
-          coefficients of P2(x) in increasing powers of x.
-          If DP2 = -1, then P2(x) is taken to be the zero
-          polynomial, P2 is not referenced and can be supplied
-          as a dummy array.
-
-  P3      (input/output) DOUBLE PRECISION array, dimension (lenp3)
-          where lenp3 = MAX(DP1+DP2,DP3,0) + 1.
-          On entry, if DP3 &gt;= 0, then this array must contain the
-          coefficients of P3(x) in increasing powers of x.
-          On entry, if DP3 = -1, then P3(x) is taken to be the zero
-          polynomial.
-          On exit, the leading (DP3+1) elements of this array
-          contain the coefficients of P(x) in increasing powers of x
-          unless DP3 = -1 on exit, in which case the coefficients of
-          P(x) (the zero polynomial) are not stored in the array.
-          This is the case, for instance, when ALPHA = 0.0 and
-          P1(x) or P2(x) is the zero polynomial.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given real polynomials
-
-             DP1           i           DP2           i
-     P1(x) = SUM a(i+1) * x ,  P2(x) = SUM b(i+1) * x  and
-             i=0                       i=0
-
-             DP3           i
-     P3(x) = SUM c(i+1) * x ,
-             i=0
-
-  the routine computes the coefficents of P(x) = P1(x) * P2(x) +
-                  DP3            i
-  alpha * P3(x) = SUM  d(i+1) * x  as follows.
-                  i=0
-
-  Let e(i) = c(i) for 1 &lt;= i &lt;= DP3+1 and e(i) = 0 for i &gt; DP3+1.
-  Then if DP1 &gt;= DP2,
-
-             i
-     d(i) = SUM a(k) * b(i-k+1) + f(i), for i = 1, ..., DP2+1,
-            k=1
-
-              i
-     d(i)  = SUM a(k) * b(i-k+1) + f(i), for i = DP2+2, ..., DP1+1
-            k=i-DP2
-
-  and
-             DP1+1
-     d(i)  = SUM a(k) * b(i-k+1) + f(i) for i = DP1+2,...,DP1+DP2+1,
-            k=i-DP2
-
-  where f(i) = alpha * e(i).
-
-  Similar formulas hold for the case DP1 &lt; DP2.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DP1MAX, DP2MAX, DP3MAX
-      PARAMETER        ( DP1MAX = 10, DP2MAX = 10, DP3MAX = 10 )
-      INTEGER          LENP3
-      PARAMETER        ( LENP3 = MAX(DP1MAX+DP2MAX,DP3MAX)+1 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA
-      INTEGER          DP1, DP2, DP3, I, INFO
-*     .. Local Arrays ..
-      DOUBLE PRECISION P1(DP1MAX+1), P2(DP2MAX+1), P3(LENP3)
-*    $                 P3(DP1MAX+DP2MAX+DP3MAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP1
-      IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) DP1
-      ELSE
-         READ ( NIN, FMT = * ) ( P1(I), I = 1,DP1+1 )
-         READ ( NIN, FMT = * ) DP2
-         IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) DP2
-         ELSE
-            READ ( NIN, FMT = * ) ( P2(I), I = 1,DP2+1 )
-            READ ( NIN, FMT = * ) DP3
-            IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) DP3
-            ELSE
-               READ ( NIN, FMT = * ) ( P3(I), I = 1,DP3+1 )
-            END IF
-            READ ( NIN, FMT = * ) ALPHA
-*           Compute the coefficients of the polynomial P(x).
-            CALL MC01RD( DP1, DP2, DP3, ALPHA, P1, P2, P3, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) DP3
-               IF ( DP3.GE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 0, DP3
-                     WRITE ( NOUT, FMT = 99995 ) I, P3(I+1)
-   20             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01RD = ',I2)
-99997 FORMAT (' Degree of the resulting polynomial P(x) = ',I2)
-99996 FORMAT (/' The coefficients of P(x) are ',//' power of x     coe',
-     $       'fficient ')
-99995 FORMAT (2X,I5,9X,F9.4)
-99994 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
-99993 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
-99992 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01RD EXAMPLE PROGRAM DATA
-   1
-   1.00  2.50
-   2
-   1.00  0.10  -0.40
-   1
-   1.15  1.50
-  -2.20
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01RD EXAMPLE PROGRAM RESULTS
-
- Degree of the resulting polynomial P(x) =  3
-
- The coefficients of P(x) are 
-
- power of x     coefficient 
-      0           -1.5300
-      1           -0.7000
-      2           -0.1500
-      3           -1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01SD.html b/doc/_static/doc/MC01SD.html
deleted file mode 100644
index f6ed2ca8..00000000
--- a/doc/_static/doc/MC01SD.html
+++ /dev/null
@@ -1,229 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01SD">MC01SD</A></H2>
-<H3>
-Scaling coefficients of a real polynomial for having minimal variation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To scale the coefficients of the real polynomial P(x) such that
-  the coefficients of the scaled polynomial Q(x) = sP(tx) have
-  minimal variation, where s and t are real scalars.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, S, T
-C     .. Array Arguments ..
-      INTEGER           E(*), IWORK(*)
-      DOUBLE PRECISION  MANT(*), P(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  P       (input/output) DOUBLE PRECISION array, dimension (DP+1)
-          On entry, this array must contain the coefficients of P(x)
-          in increasing powers of x.
-          On exit, this array contains the coefficients of the
-          scaled polynomial Q(x) in increasing powers of x.
-
-  S       (output) INTEGER
-          The exponent of the floating-point representation of the
-          scaling factor s = BASE**S, where BASE is the base of the
-          machine representation of floating-point numbers (see
-          LAPACK Library Routine DLAMCH).
-
-  T       (output) INTEGER
-          The exponent of the floating-point representation of the
-          scaling factor t = BASE**T.
-
-  MANT    (output) DOUBLE PRECISION array, dimension (DP+1)
-          This array contains the mantissas of the standard
-          floating-point representation of the coefficients of the
-          scaled polynomial Q(x) in increasing powers of x.
-
-  E       (output) INTEGER array, dimension (DP+1)
-          This array contains the exponents of the standard
-          floating-point representation of the coefficients of the
-          scaled polynomial Q(x) in increasing powers of x.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (DP+1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, P(x) is the zero polynomial.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Define the variation of the coefficients of the real polynomial
-
-                                      2                DP
-     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
-
-  whose non-zero coefficients can be represented as
-                       e(i)
-     p(i) = m(i) * BASE     (where 1 &lt;= ABS(m(i)) &lt; BASE)
-
-  by
-
-     V = max(e(i)) - min(e(i)),
-
-  where max and min are taken over the indices i for which p(i) is
-  non-zero.
-                                     DP         i    i
-  For the scaled polynomial P(cx) = SUM p(i) * c  * x  with
-                                    i=0
-             j
-  c  = (BASE) , the variation V(j) is given by
-
-    V(j) = max(e(i) + j * i) - min(e(i) + j * i).
-
-  Using the fact that V(j) is a convex function of j, the routine
-  determines scaling factors s = (BASE)**S and t = (BASE)**T such
-  that the coefficients of the scaled polynomial Q(x) = sP(tx)
-  satisfy the following conditions:
-
-    (a) 1 &lt;= q(0) &lt; BASE and
-
-    (b) the variation of the coefficients of Q(x) is minimal.
-
-  Further details can be found in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Dunaway, D.K.
-      Calculation of Zeros of a Real Polynomial through
-      Factorization using Euclid's Algorithm.
-      SIAM J. Numer. Anal., 11, pp. 1087-1104, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  Since the scaling is performed on the exponents of the floating-
-  point representation of the coefficients of P(x), no rounding
-  errors occur during the computation of the coefficients of Q(x).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The scaling factors s and t are BASE dependent.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          BETA, DP, I, INFO, S, T
-*     .. Local Arrays ..
-      DOUBLE PRECISION MANT(DPMAX+1), P(DPMAX+1)
-      INTEGER          E(DPMAX+1), IWORK(DPMAX+1)
-C     .. External Functions ..
-      DOUBLE PRECISION DLAMCH
-      EXTERNAL         DLAMCH
-*     .. External Subroutines ..
-      EXTERNAL         MC01SD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Compute the coefficients of the scaled polynomial Q(x).
-         CALL MC01SD( DP, P, S, T, MANT, E, IWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            BETA = DLAMCH( 'Base' )
-            WRITE ( NOUT, FMT = 99995 ) BETA, S, T
-            WRITE ( NOUT,FMT = 99997 )
-            DO 20 I = 0, DP
-               WRITE ( NOUT, FMT = 99996 ) I, P(I+1)
-   20       CONTINUE
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01SD = ',I2)
-99997 FORMAT (/' The coefficients of the scaled polynomial Q(x) = s*P(',
-     $       'tx) are ',//' power of x     coefficient ')
-99996 FORMAT (2X,I5,9X,F9.4)
-99995 FORMAT (' The base of the machine (BETA) = ',I2,//' The scaling ',
-     $       'factors are s = BETA**(',I3,') and t = BETA**(',I3,')')
-99994 FORMAT (/' DP is out of range.',/' DP =',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01SD EXAMPLE PROGRAM DATA
-   5
-  10.0  -40.5  159.5  0.0  2560.0  -10236.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01SD EXAMPLE PROGRAM RESULTS
-
- The base of the machine (BETA) =  2
-
- The scaling factors are s = BETA**( -3) and t = BETA**( -2)
-
- The coefficients of the scaled polynomial Q(x) = s*P(tx) are 
-
- power of x     coefficient 
-      0            1.2500
-      1           -1.2656
-      2            1.2461
-      3            0.0000
-      4            1.2500
-      5           -1.2496
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01TD.html b/doc/_static/doc/MC01TD.html
deleted file mode 100644
index a5224f76..00000000
--- a/doc/_static/doc/MC01TD.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01TD">MC01TD</A></H2>
-<H3>
-Checking stability of a given real polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine whether or not a given polynomial P(x) with real
-  coefficients is stable, either in the continuous-time or discrete-
-  time case.
-
-  A polynomial is said to be stable in the continuous-time case
-  if all its zeros lie in the left half-plane, and stable in the
-  discrete-time case if all its zeros lie inside the unit circle.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      LOGICAL           STABLE
-      INTEGER           DP, INFO, IWARN, NZ
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), P(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Indicates whether the stability test to be applied to
-          P(x) is in the continuous-time or discrete-time case as
-          follows:
-          = 'C':  Continuous-time case;
-          = 'D':  Discrete-time case.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input/output) INTEGER
-          On entry, the degree of the polynomial P(x).  DP &gt;= 0.
-          On exit, if P(DP+1) = 0.0 on entry, then DP contains the
-          index of the highest power of x for which P(DP+1) &lt;&gt; 0.0.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of P(x) in
-          increasing powers of x.
-
-  STABLE  (output) LOGICAL
-          Contains the value .TRUE. if P(x) is stable and the value
-          .FALSE. otherwise (see also NUMERICAL ASPECTS).
-
-  NZ      (output) INTEGER
-          If INFO = 0, contains the number of unstable zeros - that
-          is, the number of zeros of P(x) in the right half-plane if
-          DICO = 'C' or the number of zeros of P(x) outside the unit
-          circle if DICO = 'D' (see also NUMERICAL ASPECTS).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*DP+2)
-          The leading (DP+1) elements of DWORK contain the Routh
-          coefficients, if DICO = 'C', or the constant terms of
-          the Schur-Cohn transforms, if DICO = 'D'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = k:  if the degree of the polynomial P(x) has been
-                reduced to (DB - k) because P(DB+1-j) = 0.0 on entry
-                for j = 0, 1,..., k-1 and P(DB+1-k) &lt;&gt; 0.0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, P(x) is the zero polynomial;
-          = 2:  if the polynomial P(x) is most probably unstable,
-                although it may be stable with one or more zeros
-                very close to either the imaginary axis if
-                DICO = 'C' or the unit circle if DICO = 'D'.
-                The number of unstable zeros (NZ) is not determined.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The stability of the real polynomial
-                                      2                DP
-     P(x) = p(0) + p(1) * x + p(2) * x  + ... + p(DP) x
-
-  is determined as follows.
-
-  In the continuous-time case (DICO = 'C') the Routh algorithm
-  (see [1]) is used. The routine computes the Routh coefficients and
-  if they are non-zero then the number of sign changes in the
-  sequence of the coefficients is equal to the number of zeros with
-  positive imaginary part.
-
-  In the discrete-time case (DICO = 'D') the Schur-Cohn
-  algorithm (see [2] and [3]) is applied to the reciprocal
-  polynomial
-                                             2               DP
-     Q(x) = p(DP) + p(DP-1) * x + p(DP-2) * x  + ... + p(0) x  .
-
-  The routine computes the constant terms of the Schur transforms
-  and if all of them are non-zero then the number of zeros of P(x)
-  with modulus greater than unity is obtained from the sequence of
-  constant terms.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Gantmacher, F.R.
-      Applications of the Theory of Matrices.
-      Interscience Publishers, New York, 1959.
-
-  [2] Kucera, V.
-      Discrete Linear Control. The Algorithmic Approach.
-      John Wiley & Sons, Chichester, 1979.
-
-  [3] Henrici, P.
-      Applied and Computational Complex Analysis (Vol. 1).
-      John Wiley & Sons, New York, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm used by the routine is numerically stable.
-
-  Note that if some of the Routh coefficients (DICO = 'C') or
-  some of the constant terms of the Schur-Cohn transforms (DICO =
-  'D') are small relative to EPS (the machine precision), then
-  the number of unstable zeros (and hence the value of STABLE) may
-  be incorrect.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 10 )
-*     .. Local Scalars ..
-      INTEGER          DP, DPP, I, INFO, IWARN, NZ
-      LOGICAL          STABLE
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(2*DPMAX+2), P(DPMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         MC01TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = * )
-      READ ( NIN, FMT = * ) DP, DICO
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-         DPP = DP
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-*        Determine whether or not the given polynomial P(x) is stable.
-         CALL MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( IWARN.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) IWARN
-               WRITE ( NOUT, FMT = 99996 ) DPP, DP
-            END IF
-            IF ( STABLE ) THEN
-               WRITE ( NOUT, FMT = 99995 )
-            ELSE
-               WRITE ( NOUT, FMT = 99994 )
-               IF ( LSAME( DICO, 'D' ) ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) NZ
-               ELSE
-                  WRITE ( NOUT, FMT = 99991 ) NZ
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01TD = ',I2)
-99997 FORMAT (' IWARN on exit from MC01TD = ',I2,/)
-99996 FORMAT (' The degree of the polynomial P(x) has been reduced fro',
-     $       'm ',I2,' to ',I2,/)
-99995 FORMAT (' The polynomial P(x) is stable ')
-99994 FORMAT (' The polynomial P(x) is unstable ')
-99993 FORMAT (/' DP is out of range. ',/' DP = ',I5)
-99992 FORMAT (/' The number of zeros of P(x) outside the unit ',
-     $       'circle = ',I2)
-99991 FORMAT (/' The number of zeros of P(x) in the right ',
-     $       'half-plane = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01TD EXAMPLE PROGRAM DATA
-   4     C
-   2.0  0.0  1.0  -1.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01TD EXAMPLE PROGRAM RESULTS
-
- The polynomial P(x) is unstable 
-
- The number of zeros of P(x) in the right half-plane =  2
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01VD.html b/doc/_static/doc/MC01VD.html
deleted file mode 100644
index e6838f9e..00000000
--- a/doc/_static/doc/MC01VD.html
+++ /dev/null
@@ -1,168 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01VD">MC01VD</A></H2>
-<H3>
-Roots of a quadratic equation with real coefficients
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the roots of a quadratic equation with real
-  coefficients.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO
-      DOUBLE PRECISION  A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) DOUBLE PRECISION
-          The value of the coefficient of the quadratic term.
-
-  B       (input) DOUBLE PRECISION
-          The value of the coefficient of the linear term.
-
-  C       (input) DOUBLE PRECISION
-          The value of the coefficient of the constant term.
-
-  Z1RE    (output) DOUBLE PRECISION
-  Z1IM    (output) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of the largest
-          root in magnitude.
-
-  Z2RE    (output) DOUBLE PRECISION
-  Z2IM    (output) DOUBLE PRECISION
-          The real and imaginary parts, respectively, of the
-          smallest root in magnitude.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if on entry, either A = B = 0.0 or A = 0.0 and the
-                root -C/B overflows; in this case Z1RE, Z1IM, Z2RE
-                and Z2IM are unassigned;
-          = 2:  if on entry, A = 0.0; in this case Z1RE contains
-                BIG and Z1IM contains zero, where BIG is a
-                representable number near the overflow threshold
-                of the machine (see LAPACK Library Routine DLAMCH);
-          = 3:  if on entry, either C = 0.0 and the root -B/A
-                overflows or A, B and C are non-zero and the largest
-                real root in magnitude cannot be computed without
-                overflow; in this case Z1RE contains BIG and Z1IM
-                contains zero;
-          = 4:  if the roots cannot be computed without overflow; in
-                this case Z1RE, Z1IM, Z2RE and Z2IM are unassigned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the roots (r1 and r2) of the real quadratic
-  equation
-          2
-     a * x  + b * x + c = 0
-
-  as
-          - b - SIGN(b) * SQRT(b * b - 4 * a * c)             c
-     r1 = ---------------------------------------  and r2 = ------
-                           2 * a                            a * r1
-
-  unless a = 0, in which case
-
-          -c
-     r1 = --.
-           b
-
-  Precautions are taken to avoid overflow and underflow wherever
-  possible.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01VD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION A, B, C, Z1IM, Z1RE, Z2IM, Z2RE
-      INTEGER          INFO
-*     .. External Subroutines ..
-      EXTERNAL         MC01VD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) A, B, C
-*     Solve the quadratic equation A*x**2 + B*x + C = 0.
-      CALL MC01VD( A, B, C, Z1RE, Z1IM, Z2RE, Z2IM, INFO )
-*
-      IF ( INFO.NE.0 ) THEN
-         WRITE ( NOUT, FMT = 99998 ) INFO
-      ELSE
-         WRITE ( NOUT, FMT = 99997 )
-         WRITE ( NOUT, FMT = 99996 ) Z1RE, Z1IM, Z2RE, Z2IM
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01VD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01VD = ',I2)
-99997 FORMAT (' The roots of the quadratic equation are ')
-99996 FORMAT (/' x = ',F8.4,2X,SP,F8.4,'*j',SS,/' x = ',F8.4,2X,SP,F8.4,
-     $       '*j')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01VD EXAMPLE PROGRAM DATA
-   0.5  -1.0  2.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01VD EXAMPLE PROGRAM RESULTS
-
- The roots of the quadratic equation are 
-
- x =   1.0000   +1.7321*j
- x =   1.0000   -1.7321*j
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01WD.html b/doc/_static/doc/MC01WD.html
deleted file mode 100644
index 0f0c0fe7..00000000
--- a/doc/_static/doc/MC01WD.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01WD">MC01WD</A></H2>
-<H3>
-Quotient and remainder polynomials for a quadratic denominator polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given real polynomial P(x) and a quadratic
-  polynomial B(x), the quotient polynomial Q(x) and the linear
-  remainder polynomial R(x) such that
-
-     P(x) = B(x) * Q(x) + R(x),
-
-                              2
-  where B(x) = u1 + u2 * x + x , R(x) = q(1) + q(2) * (u2 + x)
-  and u1, u2, q(1) and q(2) are real scalars.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01WD( DP, P, U1, U2, Q, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO
-      DOUBLE PRECISION  U1, U2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(*), Q(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DP      (input) INTEGER
-          The degree of the polynomial P(x).  DP &gt;= 0.
-
-  P       (input) DOUBLE PRECISION array, dimension (DP+1)
-          This array must contain the coefficients of P(x) in
-          increasing powers of x.
-
-  U1      (input) DOUBLE PRECISION
-          The value of the constant term of the quadratic
-          polynomial B(x).
-
-  U2      (input) DOUBLE PRECISION
-          The value of the coefficient of x of the quadratic
-          polynomial B(x).
-
-  Q       (output) DOUBLE PRECISION array, dimension (DP+1)
-          If DP &gt;= 1 on entry, then elements Q(1) and Q(2) contain
-          the coefficients q(1) and q(2), respectively, of the
-          remainder polynomial R(x), and the next (DP-1) elements
-          of this array contain the coefficients of the quotient
-          polynomial Q(x) in increasing powers of x.
-          If DP = 0 on entry, then element Q(1) contains the
-          coefficient q(1) of the remainder polynomial R(x) = q(1);
-          Q(x) is the zero polynomial.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given the real polynomials
-
-             DP           i                           2
-     P(x) = SUM p(i+1) * x  and B(x) = u1 + u2 * x + x
-            i=0
-
-  the routine uses the recurrence relationships
-
-     q(DP+1) = p(DP+1),
-
-     q(DP) = p(DP) - u2 * q(DP+1) and
-
-     q(i)  = p(i) - u2 * q(i+1) - u1 * q(i+2) for i = DP-1, ..., 1
-
-  to determine the coefficients of the quotient polynomial
-
-            DP-2          i
-     Q(x) = SUM q(i+3) * x
-            i=0
-
-  and the remainder polynomial
-
-     R(x) = q(1) + q(2) * (u2 + x).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01WD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX
-      PARAMETER        ( DPMAX = 10 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION U1, U2
-      INTEGER          DP, I, INFO
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(DPMAX+1), Q(DPMAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC01WD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT,FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) DP
-      IF ( DP.LE.-1 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) DP
-      ELSE
-         READ ( NIN, FMT = * ) ( P(I), I = 1,DP+1 )
-         READ ( NIN, FMT = * ) U1, U2
-*        Compute Q(x) and R(x) from P(x) = (x**2+U2*x+U1) * Q(x) + R(x).
-         CALL MC01WD( DP, P, U1, U2, Q, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 0, DP - 2
-               WRITE ( NOUT, FMT = 99996 ) I, Q(I+3)
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 ) Q(1) + Q(2)*U2, Q(2)
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC01WD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01WD = ',I2)
-99997 FORMAT (' The coefficients of the quotient polynomial Q(x) are ',
-     $       //' power of x     coefficient ')
-99996 FORMAT (2X,I5,9X,F9.4)
-99995 FORMAT (/' The coefficients of the remainder polynomial R(x) are '
-     $       ,//' power of x     coefficient ',/'      0         ',F9.4,
-     $       /'      1         ',F9.4)
-99994 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01WD EXAMPLE PROGRAM DATA
-   6
-   0.62  1.10  1.64  1.88  2.12  1.70  1.00
-   0.60  0.80
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01WD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the quotient polynomial Q(x) are 
-
- power of x     coefficient 
-      0            0.6000
-      1            0.7000
-      2            0.8000
-      3            0.9000
-      4            1.0000
-
- The coefficients of the remainder polynomial R(x) are 
-
- power of x     coefficient 
-      0            0.2600
-      1            0.2000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC01XD.html b/doc/_static/doc/MC01XD.html
deleted file mode 100644
index 4a09722c..00000000
--- a/doc/_static/doc/MC01XD.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC01XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC01XD">MC01XD</A></H2>
-<H3>
-The roots of a third order polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the roots of the polynomial
-
-      P(t) = ALPHA + BETA*t + GAMMA*t^2 + DELTA*t^3 .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDWORK
-      DOUBLE PRECISION  ALPHA, BETA, DELTA, GAMMA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), EVI(3), EVQ(3), EVR(3)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  ALPHA   (input) DOUBLE PRECISION
-  BETA    (input) DOUBLE PRECISION
-  GAMMA   (input) DOUBLE PRECISION
-  DELTA   (input) DOUBLE PRECISION
-          The coefficients of the polynomial P.
-
-  EVR     (output) DOUBLE PRECISION array, DIMENSION at least 3
-  EVI     (output) DOUBLE PRECISION array, DIMENSION at least 3
-  EVQ     (output) DOUBLE PRECISION array, DIMENSION at least 3
-          On output, the kth root of P will be equal to
-          (EVR(K) + i*EVI(K))/EVQ(K) if EVQ(K) .NE. ZERO. Note that
-          the quotient may over- or underflow. If P has a degree d
-          less than 3, then 3-d computed roots will be infinite.
-          EVQ(K) &gt;= 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, DIMENSION (LDWORK)
-          On exit, if LDWORK = -1 on input, then DWORK(1) returns
-          the optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.  LDWORK &gt;= 42.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = j, 1 &lt;= j &lt;= 6, an error occurred during
-                the call to one of the LAPACK Library routines DGGEV
-                or DGEEV (1 &lt;= j &lt;= 3). If INFO &lt; 3, the values
-                returned in EVR(K), EVI(K), and EVQ(K) should be
-                correct for K = INFO+1,...,3.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A matrix pencil is built, whose eigenvalues are the roots of the
-  given polynomial, and they are computed using the QZ algorithm.
-  However, when the ratio between the largest and smallest (in
-  magnitude) polynomial coefficients is relatively big, and either
-  ALPHA or DELTA has the largest magnitude, then a standard
-  eigenproblem is solved using the QR algorithm, and EVQ(I) are set
-  to 1, for I = 1,2,3.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC01XD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NEV
-      PARAMETER        ( NEV = 3 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 42 )
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J
-      DOUBLE PRECISION ALPHA, BETA, DELTA, GAMMA
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), EVI(NEV), EVQ(NEV), EVR(NEV),
-     $                 RT(2)
-*     .. External Subroutines ..
-      EXTERNAL         MC01XD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) ALPHA, BETA, GAMMA, DELTA
-*     Compute the roots of the polynomial.
-      CALL MC01XD( ALPHA, BETA, GAMMA, DELTA, EVR, EVI, EVQ,
-     $             DWORK, LDWORK, INFO )
-*
-      IF ( INFO.NE.0 ) THEN
-         WRITE ( NOUT, FMT = 99998 ) INFO
-      ELSE
-         WRITE ( NOUT, FMT = 99995 )
-         WRITE ( NOUT, FMT = 99996 ) ( EVR(J), J = 1, 3 )
-*
-         WRITE ( NOUT, FMT = 99994 )
-         WRITE ( NOUT, FMT = 99996 ) ( EVI(J), J = 1, 3 )
-*
-         WRITE ( NOUT, FMT = 99993 )
-         WRITE ( NOUT, FMT = 99996 ) ( EVQ(J), J = 1, 3 )
-*
-         WRITE ( NOUT, FMT = 99992 )
-         DO 20 I = 1, 3
-            IF ( EVQ(I).NE.ZERO ) THEN
-               RT(1) = EVR(I)/EVQ(I)
-               RT(2) = EVI(I)/EVQ(I)
-               WRITE ( NOUT, FMT = 99996 ) ( RT(J), J = 1, 2 )
-            END IF
-   20    CONTINUE
-*
-      END IF
-      STOP
-*
-99999 FORMAT (' MC01XD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC01XD = ',I2)
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (' Real part of the numerators of the roots')
-99994 FORMAT (' Imaginary part of the numerators of the roots')
-99993 FORMAT (' Denominators of the roots')
-99992 FORMAT (' Roots of the polynomial',/1X)
-      END
-
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC01XD EXAMPLE PROGRAM DATA
-   -3098110792.0746     4649783048.0746     -2327508384.0000     388574551.8120
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC01XD EXAMPLE PROGRAM RESULTS
-
- Real part of the numerators of the roots
-   1.0185   1.1048   0.5911
- Imaginary part of the numerators of the roots
-   0.0000   0.0455  -0.0244
- Denominators of the roots
-   0.5110   0.5528   0.2958
- Roots of the polynomial
-
-   1.9931   0.0000
-   1.9984   0.0823
-   1.9984  -0.0823
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC03MD.html b/doc/_static/doc/MC03MD.html
deleted file mode 100644
index 83f281f0..00000000
--- a/doc/_static/doc/MC03MD.html
+++ /dev/null
@@ -1,358 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC03MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC03MD">MC03MD</A></H2>
-<H3>
-Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of the real polynomial matrix
-
-     P(x) = P1(x) * P2(x) + alpha * P3(x),
-
-  where P1(x), P2(x) and P3(x) are given real polynomial matrices
-  and alpha is a real scalar.
-
-  Each of the polynomial matrices P1(x), P2(x) and P3(x) may be the
-  zero matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
-     $                   LDP11, LDP12, P2, LDP21, LDP22, P3, LDP31,
-     $                   LDP32, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           CP1, CP2, DP1, DP2, DP3, INFO, LDP11, LDP12,
-     $                  LDP21, LDP22, LDP31, LDP32, RP1
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), P1(LDP11,LDP12,*), P2(LDP21,LDP22,*),
-     $                  P3(LDP31,LDP32,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  RP1     (input) INTEGER
-          The number of rows of the matrices P1(x) and P3(x).
-          RP1 &gt;= 0.
-
-  CP1     (input) INTEGER
-          The number of columns of matrix P1(x) and the number of
-          rows of matrix P2(x).  CP1 &gt;= 0.
-
-  CP2     (input) INTEGER
-          The number of columns of the matrices P2(x) and P3(x).
-          CP2 &gt;= 0.
-
-  DP1     (input) INTEGER
-          The degree of the polynomial matrix P1(x).  DP1 &gt;= -1.
-
-  DP2     (input) INTEGER
-          The degree of the polynomial matrix P2(x).  DP2 &gt;= -1.
-
-  DP3     (input/output) INTEGER
-          On entry, the degree of the polynomial matrix P3(x).
-          DP3 &gt;= -1.
-          On exit, the degree of the polynomial matrix P(x).
-
-  ALPHA   (input) DOUBLE PRECISION
-          The scalar value alpha of the problem.
-
-  P1      (input) DOUBLE PRECISION array, dimension (LDP11,LDP12,*)
-          If DP1 &gt;= 0, then the leading RP1-by-CP1-by-(DP1+1) part
-          of this array must contain the coefficients of the
-          polynomial matrix P1(x). Specifically, P1(i,j,k) must
-          contain the coefficient of x**(k-1) of the polynomial
-          which is the (i,j)-th element of P1(x), where i = 1,2,...,
-          RP1, j = 1,2,...,CP1 and k = 1,2,...,DP1+1.
-          If DP1 = -1, then P1(x) is taken to be the zero polynomial
-          matrix, P1 is not referenced and can be supplied as a
-          dummy array (i.e. set the parameters LDP11 = LDP12 = 1 and
-          declare this array to be P1(1,1,1) in the calling
-          program).
-
-  LDP11   INTEGER
-          The leading dimension of array P1.
-          LDP11 &gt;= MAX(1,RP1) if DP1 &gt;= 0,
-          LDP11 &gt;= 1          if DP1 = -1.
-
-  LDP12   INTEGER
-          The second dimension of array P1.
-          LDP12 &gt;= MAX(1,CP1) if DP1 &gt;= 0,
-          LDP12 &gt;= 1          if DP1 = -1.
-
-  P2      (input) DOUBLE PRECISION array, dimension (LDP21,LDP22,*)
-          If DP2 &gt;= 0, then the leading CP1-by-CP2-by-(DP2+1) part
-          of this array must contain the coefficients of the
-          polynomial matrix P2(x). Specifically, P2(i,j,k) must
-          contain the coefficient of x**(k-1) of the polynomial
-          which is the (i,j)-th element of P2(x), where i = 1,2,...,
-          CP1, j = 1,2,...,CP2 and k = 1,2,...,DP2+1.
-          If DP2 = -1, then P2(x) is taken to be the zero polynomial
-          matrix, P2 is not referenced and can be supplied as a
-          dummy array (i.e. set the parameters LDP21 = LDP22 = 1 and
-          declare this array to be P2(1,1,1) in the calling
-          program).
-
-  LDP21   INTEGER
-          The leading dimension of array P2.
-          LDP21 &gt;= MAX(1,CP1) if DP2 &gt;= 0,
-          LDP21 &gt;= 1          if DP2 = -1.
-
-  LDP22   INTEGER
-          The second dimension of array P2.
-          LDP22 &gt;= MAX(1,CP2) if DP2 &gt;= 0,
-          LDP22 &gt;= 1          if DP2 = -1.
-
-  P3      (input/output) DOUBLE PRECISION array, dimension
-          (LDP31,LDP32,n), where n = MAX(DP1+DP2,DP3,0)+1.
-          On entry, if DP3 &gt;= 0, then the leading
-          RP1-by-CP2-by-(DP3+1) part of this array must contain the
-          coefficients of the polynomial matrix P3(x). Specifically,
-          P3(i,j,k) must contain the coefficient of x**(k-1) of the
-          polynomial which is the (i,j)-th element of P3(x), where
-          i = 1,2,...,RP1, j = 1,2,...,CP2 and k = 1,2,...,DP3+1.
-          If DP3 = -1, then P3(x) is taken to be the zero polynomial
-          matrix.
-          On exit, if DP3 &gt;= 0 on exit (ALPHA &lt;&gt; 0.0 and DP3 &lt;&gt; -1,
-          on entry, or DP1 &lt;&gt; -1 and DP2 &lt;&gt; -1), then the leading
-          RP1-by-CP2-by-(DP3+1) part of this array contains the
-          coefficients of P(x). Specifically, P3(i,j,k) contains the
-          coefficient of x**(k-1) of the polynomial which is the
-          (i,j)-th element of P(x), where i = 1,2,...,RP1, j = 1,2,
-          ...,CP2 and k = 1,2,...,DP3+1.
-          If DP3 = -1 on exit, then the coefficients of P(x) (the
-          zero polynomial matrix) are not stored in the array.
-
-  LDP31   INTEGER
-          The leading dimension of array P3.  LDP31 &gt;= MAX(1,RP1).
-
-  LDP32   INTEGER
-          The second dimension of array P3.   LDP32 &gt;= MAX(1,CP2).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (CP1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given real polynomial matrices
-
-             DP1            i
-     P1(x) = SUM (A(i+1) * x ),
-             i=0
-
-             DP2            i
-     P2(x) = SUM (B(i+1) * x ),
-             i=0
-
-             DP3            i
-     P3(x) = SUM (C(i+1) * x )
-             i=0
-
-  and a real scalar alpha, the routine computes the coefficients
-  d ,d ,..., of the polynomial matrix
-   1  2
-
-     P(x) = P1(x) * P2(x) + alpha * P3(x)
-
-  from the formula
-
-              s
-     d    =  SUM (A(k+1) * B(i-k+1)) + alpha * C(i+1),
-      i+1    k=r
-
-  where i = 0,1,...,DP1+DP2 and r and s depend on the value of i
-  (e.g. if i &lt;= DP1 and i &lt;= DP2, then r = 0 and s = i).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Other elementary operations involving polynomial matrices can
-  easily be obtained by calling the appropriate BLAS routine(s).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC03MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          CP1MAX, CP2MAX, DP1MAX, DP2MAX, DP3MAX, RP1MAX
-      PARAMETER        ( CP1MAX = 10, CP2MAX = 10, DP1MAX = 10,
-     $                   DP2MAX = 10, DP3MAX = 20, RP1MAX = 10 )
-      INTEGER          LDP11, LDP12, LDP21, LDP22, LDP31, LDP32
-      PARAMETER        ( LDP11 = RP1MAX, LDP12 = CP1MAX,
-     $                   LDP21 = CP1MAX, LDP22 = CP2MAX,
-     $                   LDP31 = RP1MAX, LDP32 = CP2MAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA
-      INTEGER          CP1, CP2, DP1, DP2, DP3, I, INFO, J, K, RP1
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(CP1MAX),
-     $                 P1(LDP11,LDP12,DP1MAX+1),
-     $                 P2(LDP21,LDP22,DP2MAX+1),
-     $                 P3(LDP31,LDP32,DP3MAX+1)
-*     .. External Subroutines ..
-      EXTERNAL         MC03MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) RP1, CP1, CP2
-      IF ( RP1.LT.0 .OR. RP1.GT.RP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) RP1
-      ELSE IF ( CP1.LT.0 .OR. CP1.GT.CP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) CP1
-      ELSE IF ( CP2.LT.0 .OR. CP2.GT.CP2MAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) CP2
-      ELSE
-         READ ( NIN, FMT = * ) DP1
-         IF ( DP1.LE.-2 .OR. DP1.GT.DP1MAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) DP1
-         ELSE
-            DO 40 K = 1, DP1 + 1
-               DO 20 J = 1, CP1
-                  READ ( NIN, FMT = * ) ( P1(I,J,K), I = 1,RP1 )
-   20          CONTINUE
-   40       CONTINUE
-            READ ( NIN, FMT = * ) DP2
-            IF ( DP2.LE.-2 .OR. DP2.GT.DP2MAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) DP2
-            ELSE
-               DO 80 K = 1, DP2 + 1
-                  DO 60 J = 1, CP2
-                     READ ( NIN, FMT = * ) ( P2(I,J,K), I = 1,CP1 )
-   60             CONTINUE
-   80          CONTINUE
-               READ ( NIN, FMT = * ) DP3
-               IF ( DP3.LE.-2 .OR. DP3.GT.DP3MAX ) THEN
-                  WRITE ( NOUT, FMT = 99990 ) DP3
-               ELSE
-                  DO 120 K = 1, DP3 + 1
-                     DO 100 J = 1, CP2
-                        READ ( NIN, FMT = * ) ( P3(I,J,K), I = 1,RP1 )
-  100                CONTINUE
-  120             CONTINUE
-                  READ ( NIN, FMT = * ) ALPHA
-*                 Compute the coefficients of the polynomial matrix P(x)
-                  CALL MC03MD( RP1, CP1, CP2, DP1, DP2, DP3, ALPHA, P1,
-     $                         LDP11, LDP12, P2, LDP21, LDP22, P3,
-     $                         LDP31, LDP32, DWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 ) DP3,
-     $                     ( I-1, I = 1,DP3+1 )
-                     DO 160 I = 1, RP1
-                        DO 140 J = 1, CP2
-                           WRITE ( NOUT, FMT = 99996 ) I, J,
-     $                       ( P3(I,J,K), K = 1,DP3+1 )
-  140                   CONTINUE
-  160                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' MC03MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC03MD = ',I2)
-99997 FORMAT (' The polynomial matrix P(x) (of degree ',I2,') is ',
-     $       //' power of x         ',20I8)
-99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
-99995 FORMAT (/' RP1 is out of range.',/' RP1 = ',I5)
-99994 FORMAT (/' CP1 is out of range.',/' CP1 = ',I5)
-99993 FORMAT (/' CP2 is out of range.',/' CP2 = ',I5)
-99992 FORMAT (/' DP1 is out of range.',/' DP1 = ',I5)
-99991 FORMAT (/' DP2 is out of range.',/' DP2 = ',I5)
-99990 FORMAT (/' DP3 is out of range.',/' DP3 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC03MD EXAMPLE PROGRAM DATA
-   3     2     2
-   2
-   1.0   0.0   3.0
-   2.0  -1.0   2.0
-  -2.0   4.0   9.0
-   3.0   7.0  -2.0
-   6.0   2.0  -3.0
-   1.0   2.0   4.0
-   1
-   6.0   1.0
-   1.0   7.0
-  -9.0  -6.0
-   7.0   8.0
-   1
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-  -1.0   1.0   1.0
-  -1.0  -1.0   1.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC03MD EXAMPLE PROGRAM RESULTS
-
- The polynomial matrix P(x) (of degree  3) is 
-
- power of x                0       1       2       3
-
- element ( 1, 1) is     9.00  -31.00   37.00  -60.00
-
- element ( 1, 2) is    15.00   41.00   23.00   50.00
-
- element ( 2, 1) is     0.00   38.00  -64.00  -30.00
-
- element ( 2, 2) is    -6.00   44.00  100.00   30.00
-
- element ( 3, 1) is    20.00   14.00  -83.00    3.00
-
- element ( 3, 2) is    18.00   33.00   72.00   11.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC03ND.html b/doc/_static/doc/MC03ND.html
deleted file mode 100644
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@@ -1,424 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC03ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC03ND">MC03ND</A></H2>
-<H3>
-Minimal polynomial basis for the right nullspace of a polynomial matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the coefficients of a minimal polynomial basis
-                                              DK
-      K(s) = K(0) + K(1) * s + ... + K(DK) * s
-
-  for the right nullspace of the MP-by-NP polynomial matrix of
-  degree DP, given by
-                                              DP
-      P(s) = P(0) + P(1) * s + ... + P(DP) * s  ,
-
-  which corresponds to solving the polynomial matrix equation
-  P(s) * K(s) = 0.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
-     $                   LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DK, DP, INFO, LDKER1, LDKER2, LDNULL, LDP1,
-     $                  LDP2, LDWORK, MP, NP
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           GAM(*), IWORK(*)
-      DOUBLE PRECISION  DWORK(*), KER(LDKER1,LDKER2,*),
-     $                  NULLSP(LDNULL,*), P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the polynomial matrix P(s).
-          MP &gt;= 0.
-
-  NP      (input) INTEGER
-          The number of columns of the polynomial matrix P(s).
-          NP &gt;= 0.
-
-  DP      (input) INTEGER
-          The degree of the polynomial matrix P(s).  DP &gt;= 1.
-
-  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array must
-          contain the coefficients of the polynomial matrix P(s).
-          Specifically, P(i,j,k) must contain the (i,j)-th element
-          of P(k-1), which is the cofficient of s**(k-1) of P(s),
-          where i = 1,2,...,MP, j = 1,2,...,NP and k = 1,2,...,DP+1.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
-
-  LDP2    INTEGER
-          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
-
-  DK      (output) INTEGER
-          The degree of the minimal polynomial basis K(s) for the
-          right nullspace of P(s) unless DK = -1, in which case
-          there is no right nullspace.
-
-  GAM     (output) INTEGER array, dimension (DP*MP+1)
-          The leading (DK+1) elements of this array contain
-          information about the ordering of the right nullspace
-          vectors stored in array NULLSP.
-
-  NULLSP  (output) DOUBLE PRECISION array, dimension
-          (LDNULL,(DP*MP+1)*NP)
-          The leading NP-by-SUM(i*GAM(i)) part of this array
-          contains the right nullspace vectors of P(s) in condensed
-          form (as defined in METHOD), where i = 1,2,...,DK+1.
-
-  LDNULL  INTEGER
-          The leading dimension of array NULLSP.
-          LDNULL &gt;= MAX(1,NP).
-
-  KER     (output) DOUBLE PRECISION array, dimension
-          (LDKER1,LDKER2,DP*MP+1)
-          The leading NP-by-nk-by-(DK+1) part of this array contains
-          the coefficients of the minimal polynomial basis K(s),
-          where nk = SUM(GAM(i)) and i = 1,2,...,DK+1. Specifically,
-          KER(i,j,m) contains the (i,j)-th element of K(m-1), which
-          is the coefficient of s**(m-1) of K(s), where i = 1,2,...,
-          NP, j = 1,2,...,nk and m = 1,2,...,DK+1.
-
-  LDKER1  INTEGER
-          The leading dimension of array KER.  LDKER1 &gt;= MAX(1,NP).
-
-  LDKER2  INTEGER
-          The second dimension of array KER.   LDKER2 &gt;= MAX(1,NP).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance below which matrix elements are considered
-          to be zero. If the user sets TOL to be less than
-          10 * EPS * MAX( ||A|| , ||E|| ), then the tolerance is
-                               F       F
-          taken as 10 * EPS * MAX( ||A|| , ||E|| ), where EPS is the
-                                        F       F
-          machine precision (see LAPACK Library Routine DLAMCH) and
-          A and E are matrices (as defined in METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (m+2*MAX(n,m+1)+n),
-          where m = DP*MP and n = (DP-1)*MP + NP.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= m*n*n + 2*m*n + 2*n*n.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-          &gt; 0:  if incorrect rank decisions were taken during the
-                computations. This failure is not likely to occur.
-                The possible values are:
-                  k, 1 &lt;= k &lt;= DK+1, the k-th diagonal submatrix had
-                        not a full row rank;
-                  DK+2, if incorrect dimensions of a full column
-                        rank submatrix;
-                  DK+3, if incorrect dimensions of a full row rank
-                        submatrix.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The computation of the right nullspace of the MP-by-NP polynomial
-  matrix P(s) of degree DP given by
-                                               DP-1            DP
-     P(s) = P(0) + P(1) * s + ... + P(DP-1) * s     + P(DP) * s
-
-  is performed via the pencil s*E - A, associated with P(s), where
-
-         | I              |           | 0         -P(DP) |
-         |   .            |           | I .          .   |
-     A = |     .          |  and  E = |   . .        .   |.      (1)
-         |       .        |           |     . 0      .   |
-         |         I      |           |       I 0 -P(2)  |
-         |           P(0) |           |         I -P(1)  |
-
-  The pencil s*E - A is transformed by unitary matrices Q and Z such
-  that
-
-                  | sE(eps)-A(eps) |        X       |      X     |
-                  |----------------|----------------|------------|
-                  |        0       | sE(inf)-A(inf) |      X     |
-     Q'(s*E-A)Z = |=================================|============|.
-                  |                                 |            |
-                  |                0                | sE(r)-A(r) |
-
-  Since s*E(inf)-A(inf) and s*E(r)-A(r) have full column rank, the
-  minimal polynomial basis for the right nullspace of Q'(s*E-A)Z
-  (and consequently the basis for the right nullspace of s*E - A) is
-  completely determined by s*E(eps)-A(eps).
-
-  Let Veps(s) be a minimal polynomial basis for the right nullspace
-  of s*E(eps)-A(eps). Then
-
-                | Veps(s) |
-     V(s) = Z * |---------|
-                |    0    |
-
-  is a minimal polynomial basis for the right nullspace of s*E - A.
-  From the structure of s*E - A it can be shown that if V(s) is
-  partitioned as
-
-            | Vo(s) | (DP-1)*MP
-     V(s) = |------ |
-            | Ve(s) | NP
-
-  then the columns of Ve(s) form a minimal polynomial basis for the
-  right nullspace of P(s).
-
-  The vectors of Ve(s) are computed and stored in array NULLSP in
-  the following condensed form:
-
-     ||      ||      |      ||      |      |      ||      |     |
-     || U1,0 || U2,0 | U2,1 || U3,0 | U3,1 | U3,2 || U4,0 | ... |,
-     ||      ||      |      ||      |      |      ||      |     |
-
-  where Ui,j is an NP-by-GAM(i) matrix which contains the i-th block
-  of columns of K(j), the j-th coefficient of the polynomial matrix
-  representation for the right nullspace
-                                               DK
-     K(s) = K(0) + K(1) * s + . . . + K(DK) * s  .
-
-  The coefficients K(0), K(1), ..., K(DK) are NP-by-nk matrices
-  given by
-
-     K(0)  = | U1,0 | U2,0 | U3,0 | . . .          | U(DK+1,0) |
-
-     K(1)  = |  0   | U2,1 | U3,1 | . . .          | U(DK+1,1) |
-
-     K(2)  = |  0   |  0   | U3,2 | . . .          | U(DK+1,2) |
-
-       .     .     .     .     .     .     .     .     .     .
-
-     K(DK) = |  0   |  0   |  0   | . . .    |  0  | U(DK+1,DK)|.
-
-  Note that the degree of K(s) satisfies the inequality DK &lt;=
-  DP * MIN(MP,NP) and that the dimension of K(s) satisfies the
-  inequality (NP-MP) &lt;= nk &lt;= NP.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Beelen, Th.G.J.
-      New Algorithms for Computing the Kronecker structure of a
-      Pencil with Applications to Systems and Control Theory.
-      Ph.D.Thesis, Eindhoven University of Technology, 1987.
-
-  [2] Van Den Hurk, G.J.H.H.
-      New Algorithms for Solving Polynomial Matrix Problems.
-      Master's Thesis, Eindhoven University of Technology, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm used by the routine involves the construction of a
-  special block echelon form with pivots considered to be non-zero
-  when they are larger than TOL. These pivots are then inverted in
-  order to construct the columns of the kernel of the polynomial
-  matrix. If TOL is chosen to be too small then these inversions may
-  be sensitive whereas increasing TOL will make the inversions more
-  robust but will affect the block echelon form (and hence the
-  column degrees of the polynomial kernel). Furthermore, if the
-  elements of the computed polynomial kernel are large relative to
-  the polynomial matrix, then the user should consider trying
-  several values of TOL.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  It also possible to compute a minimal polynomial basis for the
-  right nullspace of a pencil, since a pencil is a polynomial matrix
-  of degree 1. Thus for the pencil (s*E - A), the required input is
-  P(1)  = E and P(0) = -A.
-
-  The routine can also be used to compute a minimal polynomial
-  basis for the left nullspace of a polynomial matrix by simply
-  transposing P(s).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MC03ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DPMAX, MPMAX, NPMAX
-*     PARAMETER        ( DPMAX = 5, MPMAX = 5, NPMAX = 5 )
-      PARAMETER        ( DPMAX = 2, MPMAX = 5, NPMAX = 4 )
-      INTEGER          LDP1, LDP2, LDNULL, LDKER1, LDKER2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX, LDNULL = NPMAX,
-     $                   LDKER1 = NPMAX, LDKER2 = NPMAX )
-      INTEGER          M, N
-      PARAMETER        ( M = DPMAX*MPMAX, N = ( DPMAX-1 )*MPMAX+NPMAX )
-      INTEGER          LIWORK, LDWORK
-*     PARAMETER        ( LIWORK = 3*( N+M )+2,
-      PARAMETER        ( LIWORK = M+2*MAX( N,M+1 )+N,
-     $                   LDWORK = M*N**2+2*M*N+2*N**2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          DK, DP, I, INFO, J, K, M1, MP, NK, NP
-*     .. Local Arrays ..
-      DOUBLE PRECISION DWORK(LDWORK), KER(LDKER1,LDKER2,M+1),
-     $                 NULLSP(LDNULL,(M+1)*NPMAX), P(LDP1,LDP2,DPMAX+1)
-      INTEGER          GAM(M+1), IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         MC03ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP, TOL
-      IF ( MP.LT.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) MP
-      ELSE IF ( NP.LT.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) NP
-      ELSE IF ( DP.LE.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) DP
-      ELSE
-         DO 40 K = 1, DP + 1
-            DO 20 I = 1, MP
-               READ ( NIN, FMT = * ) ( P(I,J,K), J = 1,NP )
-   20       CONTINUE
-   40    CONTINUE
-*        Compute a minimal polynomial basis K(s) of the given P(s).
-         CALL MC03ND( MP, NP, DP, P, LDP1, LDP2, DK, GAM, NULLSP,
-     $                LDNULL, KER, LDKER1, LDKER2, TOL, IWORK, DWORK,
-     $                LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE IF ( DK.LT.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-         ELSE
-            NK = 0
-            M1 = 0
-            DO 60 I = 1, DK + 1
-               NK = NK + GAM(I)
-               M1 = M1 + GAM(I)*I
-   60       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 80 I = 1, NP
-               WRITE ( NOUT, FMT = 99995 ) ( NULLSP(I,J), J = 1,M1 )
-   80       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) DK, ( I-1, I = 1,DK+1 )
-            DO 120 I = 1, NP
-               DO 100 J = 1, NK
-                  WRITE ( NOUT, FMT = 99993 )
-     $                  I, J, ( KER(I,J,K), K = 1,DK+1 )
-  100          CONTINUE
-  120       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MC03ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MC03ND = ',I2)
-99997 FORMAT (' The polynomial matrix P(s) has no right nullspace')
-99996 FORMAT (' The right nullspace vectors of P(s) are ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The minimal polynomial basis K(s) (of degree ',I2,') ',
-     $       'for the right nullspace is ',//' power of s         ',
-     $       20I8)
-99993 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F7.2))
-99992 FORMAT (/' DP is out of range.',/' DP = ',I5)
-99991 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99990 FORMAT (/' MP is out of range.',/' MP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MC03ND EXAMPLE PROGRAM DATA
-   5     4     2     0.0
-   2.0   2.0   0.0   3.0
-   0.0   4.0   0.0   6.0
-   8.0   8.0   0.0  12.0
-   0.0   0.0   0.0   0.0
-   2.0   2.0   0.0   3.0
-   1.0   0.0   1.0   0.0
-   0.0   0.0   2.0   0.0
-   4.0   0.0   4.0   0.0
-   2.0   2.0   0.0   3.0
-   3.0   2.0   1.0   3.0
-   0.0   0.0   0.0   0.0
-   1.0   0.0   0.0   0.0
-   0.0   0.0   0.0   0.0
-   1.0   0.0   1.0   0.0
-   1.0   0.0   1.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MC03ND EXAMPLE PROGRAM RESULTS
-
- The right nullspace vectors of P(s) are 
-   0.0000   0.0000   0.0000
-  -0.8321   0.0000   0.1538
-   0.0000  -1.0000   0.0000
-   0.5547   0.0000   0.2308
-
- The minimal polynomial basis K(s) (of degree  1) for the right nullspace is 
-
- power of s                0       1
-
- element ( 1, 1) is     0.00    0.00
-
- element ( 1, 2) is     0.00    0.00
-
- element ( 2, 1) is    -0.83    0.00
-
- element ( 2, 2) is     0.00    0.15
-
- element ( 3, 1) is     0.00    0.00
-
- element ( 3, 2) is    -1.00    0.00
-
- element ( 4, 1) is     0.55    0.00
-
- element ( 4, 2) is     0.00    0.23
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MC03NX.html b/doc/_static/doc/MC03NX.html
deleted file mode 100644
index 0ed169df..00000000
--- a/doc/_static/doc/MC03NX.html
+++ /dev/null
@@ -1,121 +0,0 @@
-<HTML>
-<HEAD><TITLE>MC03NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MC03NX">MC03NX</A></H2>
-<H3>
-Construction of a pencil sE-A related to a given polynomial matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given an MP-by-NP polynomial matrix of degree dp
-                                 dp-1            dp
-  P(s) = P(0) + ... + P(dp-1) * s     + P(dp) * s            (1)
-
-  the routine composes the related pencil s*E-A where
-
-      | I              |           | O          -P(dp) |
-      |   .            |           | I .           .   |
-  A = |     .          |  and  E = |   . .         .   |.    (2)
-      |       .        |           |     . O       .   |
-      |         I      |           |       I  O -P(2)  |
-      |           P(0) |           |          I -P(1)  |
-
-  ==================================================================
-  REMARK: This routine is intended to be called only from the SLICOT
-          routine MC03ND.
-  ==================================================================
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MC03NX( MP, NP, DP, P, LDP1, LDP2, A, LDA, E, LDE )
-C     .. Scalar Arguments ..
-      INTEGER           DP, LDA, LDE, LDP1, LDP2, MP, NP
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the polynomial matrix P(s).
-          MP &gt;= 0.
-
-  NP      (input) INTEGER
-          The number of columns of the polynomial matrix P(s).
-          NP &gt;= 0.
-
-  DP      (input) INTEGER
-          The degree of the polynomial matrix P(s).  DP &gt;= 1.
-
-  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array must
-          contain the coefficients of the polynomial matrix P(s)
-          in (1) in increasing powers of s.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MAX(1,MP).
-
-  LDP2    INTEGER
-          The second dimension of array P.   LDP2 &gt;= MAX(1,NP).
-
-  A       (output) DOUBLE PRECISION array, dimension
-          (LDA,(DP-1)*MP+NP)
-          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
-          contains the matrix A as described in (2).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,DP*MP).
-
-  E       (output) DOUBLE PRECISION array, dimension
-          (LDE,(DP-1)*MP+NP)
-          The leading DP*MP-by-((DP-1)*MP+NP) part of this array
-          contains the matrix E as described in (2).
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,DP*MP).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MD03AD.html b/doc/_static/doc/MD03AD.html
deleted file mode 100644
index eb2637de..00000000
--- a/doc/_static/doc/MD03AD.html
+++ /dev/null
@@ -1,788 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03AD">MD03AD</A></H2>
-<H3>
-Solution of a standard nonlinear least squares problem (Cholesky-based or conjugate gradients solver)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To minimize the sum of the squares of m nonlinear functions, e, in
-  n variables, x, by a modification of the Levenberg-Marquardt
-  algorithm, using either a Cholesky-based or a conjugate gradients
-  solver. The user must provide a subroutine FCN which calculates
-  the functions and the Jacobian J (possibly by finite differences),
-  and another subroutine JPJ, which computes either J'*J + par*I
-  (if ALG = 'D'), or (J'*J + par*I)*x (if ALG = 'I'), where par is
-  the Levenberg factor, exploiting the possible structure of the
-  Jacobian matrix. Template implementations of these routines are
-  included in the SLICOT Library.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03AD( XINIT, ALG, STOR, UPLO, FCN, JPJ, M, N, ITMAX,
-     $                   NPRINT, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
-     $                   LDPAR2, X, NFEV, NJEV, TOL, CGTOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ALG, STOR, UPLO, XINIT
-      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
-     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  CGTOL, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DPAR1(LDPAR1,*), DPAR2(LDPAR2,*), DWORK(*), X(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  XINIT   CHARACTER*1
-          Specifies how the variables x are initialized, as follows:
-          = 'R' :  the array X is initialized to random values; the
-                   entries DWORK(1:4) are used to initialize the
-                   random number generator: the first three values
-                   are converted to integers between 0 and 4095, and
-                   the last one is converted to an odd integer
-                   between 1 and 4095;
-          = 'G' :  the given entries of X are used as initial values
-                   of variables.
-
-  ALG     CHARACTER*1
-          Specifies the algorithm used for solving the linear
-          systems involving a Jacobian matrix J, as follows:
-          = 'D' :  a direct algorithm, which computes the Cholesky
-                   factor of the matrix J'*J + par*I is used;
-          = 'I' :  an iterative Conjugate Gradients algorithm, which
-                   only needs the matrix J, is used.
-          In both cases, matrix J is stored in a compressed form.
-
-  STOR    CHARACTER*1
-          If ALG = 'D', specifies the storage scheme for the
-          symmetric matrix J'*J, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-          The option STOR = 'F' usually ensures a faster execution.
-          This parameter is not relevant if ALG = 'I'.
-
-  UPLO    CHARACTER*1
-          If ALG = 'D', specifies which part of the matrix J'*J
-          is stored, as follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-          The option UPLO = 'U' usually ensures a faster execution.
-          This parameter is not relevant if ALG = 'I'.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  FCN     EXTERNAL
-          Subroutine which evaluates the functions and the Jacobian.
-          FCN must be declared in an external statement in the user
-          calling program, and must have the following interface:
-
-          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
-         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, JTE,
-         $                DWORK, LDWORK, INFO )
-
-          where
-
-          IFLAG   (input/output) INTEGER
-                  On entry, this parameter must contain a value
-                  defining the computations to be performed:
-                  = 0 :  Optionally, print the current iterate X,
-                         function values E, and Jacobian matrix J,
-                         or other results defined in terms of these
-                         values. See the argument NPRINT of MD03AD.
-                         Do not alter E and J.
-                  = 1 :  Calculate the functions at X and return
-                         this vector in E. Do not alter J.
-                  = 2 :  Calculate the Jacobian at X and return
-                         this matrix in J. Also return J'*e in JTE
-                         and NFEVL (see below). Do not alter E.
-                  = 3 :  Do not compute neither the functions nor
-                         the Jacobian, but return in LDJ and
-                         IPAR/DPAR1,DPAR2 (some of) the integer/real
-                         parameters needed.
-                  On exit, the value of this parameter should not be
-                  changed by FCN unless the user wants to terminate
-                  execution of MD03AD, in which case IFLAG must be
-                  set to a negative integer.
-
-          M       (input) INTEGER
-                  The number of functions.  M &gt;= 0.
-
-          N       (input) INTEGER
-                  The number of variables.  M &gt;= N &gt;= 0.
-
-          IPAR    (input/output) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix or needed for problem solving.
-                  IPAR is an input parameter, except for IFLAG = 3
-                  on entry, when it is also an output parameter.
-                  On exit, if IFLAG = 3, IPAR(1) contains the length
-                  of the array J, for storing the Jacobian matrix,
-                  and the entries IPAR(2:5) contain the workspace
-                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
-                  JPJ for ALG = 'D', and JPJ for ALG = 'I',
-                  respectively.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 5.
-
-          DPAR1   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR1,*) or (LDPAR1)
-                  A first set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR1 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR1 could
-                  store the input trajectory of a system.
-
-          LDPAR1  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
-                  if leading dimension.)
-
-          DPAR2   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR2,*) or (LDPAR2)
-                  A second set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR2 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR2 could
-                  store the output trajectory of a system.
-
-          LDPAR2  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
-                  if leading dimension.)
-
-          X       (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the value of the
-                  variables x where the functions or the Jacobian
-                  must be evaluated.
-
-          NFEVL   (input/output) INTEGER
-                  The number of function evaluations needed to
-                  compute the Jacobian by a finite difference
-                  approximation.
-                  NFEVL is an input parameter if IFLAG = 0, or an
-                  output parameter if IFLAG = 2. If the Jacobian is
-                  computed analytically, NFEVL should be set to a
-                  non-positive value.
-
-          E       (input/output) DOUBLE PRECISION array,
-                  dimension (M)
-                  This array contains the value of the (error)
-                  functions e evaluated at X.
-                  E is an input parameter if IFLAG = 0 or 2, or an
-                  output parameter if IFLAG = 1.
-
-          J       (input/output) DOUBLE PRECISION array, dimension
-                  (LDJ,NC), where NC is the number of columns
-                  needed.
-                  This array contains a possibly compressed
-                  representation of the Jacobian matrix evaluated
-                  at X. If full Jacobian is stored, then NC = N.
-                  J is an input parameter if IFLAG = 0, or an output
-                  parameter if IFLAG = 2.
-
-          LDJ     (input/output) INTEGER
-                  The leading dimension of array J.  LDJ &gt;= 1.
-                  LDJ is essentially used inside the routines FCN
-                  and JPJ.
-                  LDJ is an input parameter, except for IFLAG = 3
-                  on entry, when it is an output parameter.
-                  It is assumed in MD03AD that LDJ is not larger
-                  than needed.
-
-          JTE     (output) DOUBLE PRECISION array, dimension (N)
-                  If IFLAG = 2, the matrix-vector product J'*e.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine FCN.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine FCN).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine FCN. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-  JPJ     EXTERNAL
-          Subroutine which computes J'*J + par*I, if ALG = 'D', and
-          J'*J*x + par*x, if ALG = 'I', where J is the Jacobian as
-          described above.
-
-          JPJ must have the following interface:
-
-          SUBROUTINE JPJ( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR,
-         $                J, LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
-
-          if ALG = 'D', and
-
-          SUBROUTINE JPJ( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X,
-         $                INCX, DWORK, LDWORK, INFO )
-
-          if ALG = 'I', where
-
-          STOR    (input) CHARACTER*1
-                  Specifies the storage scheme for the symmetric
-                  matrix J'*J, as follows:
-                  = 'F' :  full storage is used;
-                  = 'P' :  packed storage is used.
-
-          UPLO    (input) CHARACTER*1
-                  Specifies which part of the matrix J'*J is stored,
-                  as follows:
-                  = 'U' :  the upper triagular part is stored;
-                  = 'L' :  the lower triagular part is stored.
-
-          N       (input) INTEGER
-                  The number of columns of the matrix J.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-                  DPAR(1) must contain an initial estimate of the
-                  Levenberg-Marquardt parameter, par.  DPAR(1) &gt;= 0.
-
-          LDPAR   (input) INTEGER
-                  The length of the array DPAR.  LDPAR &gt;= 1.
-
-          J       (input) DOUBLE PRECISION array, dimension
-                  (LDJ, NC), where NC is the number of columns.
-                  The leading NR-by-NC part of this array must
-                  contain the (compressed) representation of the
-                  Jacobian matrix J, where NR is the number of rows
-                  of J (function of IPAR entries).
-
-          LDJ     (input) INTEGER
-                  The leading dimension of array J.
-                  LDJ &gt;= MAX(1,NR).
-
-          JTJ     (output) DOUBLE PRECISION array,
-                           dimension (LDJTJ,N),    if STOR = 'F',
-                           dimension (N*(N+1)/2),  if STOR = 'P'.
-                  The leading N-by-N (if STOR = 'F'), or N*(N+1)/2
-                  (if STOR = 'P') part of this array contains the
-                  upper or lower triangle of the matrix J'*J+par*I,
-                  depending on UPLO = 'U', or UPLO = 'L',
-                  respectively, stored either as a two-dimensional,
-                  or one-dimensional array, depending on STOR.
-
-          LDJTJ   (input) INTEGER
-                  The leading dimension of the array JTJ.
-                  LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
-                  LDJTJ &gt;= 1,        if STOR = 'P'.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine JPJ.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine JPJ).
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine JPJ. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO
-                  values. INFO must be zero if the subroutine
-                  finished successfully.
-
-          If ALG = 'I', the parameters in common with those for
-          ALG = 'D', have the same meaning, and the additional
-          parameters are:
-
-          X       (input/output) DOUBLE PRECISION array, dimension
-                  (1+(N-1)*INCX)
-                  On entry, this incremented array must contain the
-                  vector x.
-                  On exit, this incremented array contains the value
-                  of the matrix-vector product (J'*J + par)*x.
-
-          INCX    (input) INTEGER
-                  The increment for the elements of X.  INCX &gt; 0.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of functions.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of variables.  M &gt;= N &gt;= 0.
-
-  ITMAX   (input) INTEGER
-          The maximum number of iterations.  ITMAX &gt;= 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          with X, E, and J available for printing. If NPRINT is not
-          positive, no special calls of FCN with IFLAG = 0 are made.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed, for instance, for
-          describing the structure of the Jacobian matrix, which
-          are handed over to the routines FCN and JPJ.
-          The first five entries of this array are modified
-          internally by a call to FCN (with IFLAG = 3), but are
-          restored on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 5.
-
-  DPAR1   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR1,*) or (LDPAR1)
-          A first set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03AD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR1  (input) INTEGER
-          The leading dimension or the length of the array DPAR1, as
-          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
-          dimension.)
-
-  DPAR2   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR2,*) or (LDPAR2)
-          A second set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03AD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR2  (input) INTEGER
-          The leading dimension or the length of the array DPAR2, as
-          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
-          dimension.)
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if XINIT = 'G', this array must contain the
-          vector of initial variables x to be optimized.
-          If XINIT = 'R', this array need not be set before entry,
-          and random values will be used to initialize x.
-          On exit, if INFO = 0, this array contains the vector of
-          values that (approximately) minimize the sum of squares of
-          error functions. The values returned in IWARN and
-          DWORK(1:5) give details on the iterative process.
-
-  NFEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 1. If FCN is
-          properly implemented, this includes the function
-          evaluations needed for finite difference approximation
-          of the Jacobian.
-
-  NJEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 2.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If TOL &gt;= 0, the tolerance which measures the relative
-          error desired in the sum of squares. Termination occurs
-          when the actual relative reduction in the sum of squares
-          is at most TOL. If the user sets  TOL &lt; 0, then  SQRT(EPS)
-          is used instead TOL, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH).
-
-  CGTOL   DOUBLE PRECISION
-          If ALG = 'I' and CGTOL &gt; 0, the tolerance which measures
-          the relative residual of the solutions computed by the
-          conjugate gradients (CG) algorithm. Termination of a
-          CG process occurs when the relative residual is at
-          most CGTOL. If the user sets  CGTOL &lt;= 0, then  SQRT(EPS)
-          is used instead CGTOL.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, DWORK(4) returns the total number of conjugate
-          gradients iterations performed (zero, if ALG = 'D'), and
-          DWORK(5) returns the final Levenberg factor.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 5, M + 2*N + size(J) +
-                         max( DW( FCN|IFLAG = 1 ) + N,
-                              DW( FCN|IFLAG = 2 ),
-                              DW( sol ) ) ),
-          where size(J) is the size of the Jacobian (provided by FCN
-          in IPAR(1), for IFLAG = 3), DW( f ) is the workspace
-          needed by the routine f, where f is FCN or JPJ (provided
-          by FCN in IPAR(2:5), for IFLAG = 3), and DW( sol ) is the
-          workspace needed for solving linear systems,
-          DW( sol ) = N*N + DW( JPJ ),  if ALG = 'D', STOR = 'F';
-          DW( sol ) = N*(N+1)/2 + DW( JPJ ),
-                                        if ALG = 'D', STOR = 'P';
-          DW( sol ) = 3*N + DW( JPJ ),  if ALG = 'I'.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
-          = 0:  no warning;
-          = 1:  if the iterative process did not converge in ITMAX
-                iterations with tolerance TOL;
-          = 2:  if ALG = 'I', and in one or more iterations of the
-                Levenberg-Marquardt algorithm, the conjugate
-                gradient algorithm did not finish after 3*N
-                iterations, with the accuracy required in the
-                call;
-          = 3:  the cosine of the angle between e and any column of
-                the Jacobian is at most FACTOR*EPS in absolute
-                value, where FACTOR = 100 is defined in a PARAMETER
-                statement;
-          = 4:  TOL is too small: no further reduction in the sum
-                of squares is possible.
-                In all these cases, DWORK(1:5) are set as described
-                above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 1;
-          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 2;
-          = 3:  SLICOT Library routine MB02XD, if ALG = 'D', or
-                SLICOT Library routine MB02WD, if ALG = 'I' (or
-                user-defined routine JPJ), returned with INFO &lt;&gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If XINIT = 'R', the initial value for X is set to a vector of
-  pseudo-random values uniformly distributed in [-1,1].
-
-  The Levenberg-Marquardt algorithm (described in [1]) is used for
-  optimizing the parameters. This algorithm needs the Jacobian
-  matrix J, which is provided by the subroutine FCN. The algorithm
-  tries to update x by the formula
-
-      x = x - p,
-
-  using the solution of the system of linear equations
-
-      (J'*J + PAR*I)*p = J'*e,
-
-  where I is the identity matrix, and e the error function vector.
-  The Levenberg factor PAR is decreased after each successfull step
-  and increased in the other case.
-
-  If ALG = 'D', a direct method, which evaluates the matrix product
-  J'*J + par*I and then factors it using Cholesky algorithm,
-  implemented in the SLICOT Libray routine MB02XD, is used for
-  solving the linear system above.
-
-  If ALG = 'I', the Conjugate Gradients method, described in [2],
-  and implemented in the SLICOT Libray routine MB02WD, is used for
-  solving the linear system above. The main advantage of this method
-  is that in most cases the solution of the system can be computed
-  in less time than the time needed to compute the matrix J'*J
-  This is, however, problem dependent.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kelley, C.T.
-      Iterative Methods for Optimization.
-      Society for Industrial and Applied Mathematics (SIAM),
-      Philadelphia (Pa.), 1999.
-
-  [2] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
-      1996.
-
-  [3] More, J.J.
-      The Levenberg-Marquardt algorithm: implementation and theory.
-      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
-      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
-      and New York, pp. 105-116, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The Levenberg-Marquardt algorithm described in [3] is scaling
-  invariant and globally convergent to (maybe local) minima.
-  According to [1], the convergence rate near a local minimum is
-  quadratic, if the Jacobian is computed analytically, and linear,
-  if the Jacobian is computed numerically.
-
-  Whether or not the direct algorithm is faster than the iterative
-  Conjugate Gradients algorithm for solving the linear systems
-  involved depends on several factors, including the conditioning
-  of the Jacobian matrix, and the ratio between its dimensions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MD03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           MMAX, NMAX
-      PARAMETER         ( MMAX = 20, NMAX = 20 )
-      INTEGER           LDWORK
-      PARAMETER         ( LDWORK = MMAX + 2*NMAX + MMAX*NMAX +
-     $                             MAX( NMAX*NMAX, 3*NMAX + MMAX ) )
-*     .. The lengths of DPAR1, DPAR2, IPAR are set to 1, 1, and 5 ..
-      INTEGER           LDPAR1, LDPAR2, LIPAR
-      PARAMETER         ( LDPAR1 = 1, LDPAR2 = 1, LIPAR = 5 )
-*     .. Local Scalars ..
-      CHARACTER*1       ALG, STOR, UPLO, XINIT
-      INTEGER           I, INFO, ITMAX, IWARN, M, N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  CGTOL, TOL
-*     .. Array Arguments ..
-      INTEGER           IPAR(LIPAR)
-      DOUBLE PRECISION  DPAR1(LDPAR1), DPAR2(LDPAR2), DWORK(LDWORK),
-     $                  X(NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          MD03AD, MD03AF, NF01BV, NF01BX
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, ITMAX, NPRINT, TOL, CGTOL, XINIT,
-     $                      ALG, STOR, UPLO
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) N
-         ELSE
-            IF ( LSAME( XINIT, 'G' ) )
-     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-*           Solve a standard nonlinear least squares problem.
-            IPAR(1) = M
-            IF ( LSAME( ALG, 'D' ) ) THEN
-               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BV, M,
-     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
-     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
-     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
-            ELSE
-               CALL MD03AD( XINIT, ALG, STOR, UPLO, MD03AF, NF01BX, M,
-     $                      N, ITMAX, NPRINT, IPAR, LIPAR, DPAR1,
-     $                      LDPAR1, DPAR2, LDPAR2, X, NFEV, NJEV, TOL,
-     $                      CGTOL, DWORK, LDWORK, IWARN, INFO )
-            END IF
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF( IWARN.NE.0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
-               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
-               WRITE ( NOUT, FMT = 99994 )
-               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MD03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MD03AD = ',I2)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' The number of function and Jacobian evaluations = ',
-     $           2I7)
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (' IWARN on exit from MD03AD = ',I2)
-      END
-C
-      SUBROUTINE MD03AF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
-     $                   LDPAR2, X, NFEVL, E, J, LDJ, JTE, DWORK,
-     $                   LDWORK, INFO )
-C
-C     This is the FCN routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03AD. See the
-C     argument FCN in the routine MD03AD for the description of
-C     parameters.
-C
-C     The example programmed in this routine is adapted from that
-C     accompanying the MINPACK routine LMDER.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-C     .. NOUT is the unit number for printing intermediate results ..
-      INTEGER           NOUT
-      PARAMETER         ( NOUT = 6 )
-      DOUBLE PRECISION  ZERO, ONE
-      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
-     $                  M, N, NFEVL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
-     $                  JTE(*), X(*)
-C     .. Local Scalars ..
-      INTEGER           I
-      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
-C     .. External Functions ..
-      DOUBLE PRECISION  DNRM2
-      EXTERNAL          DNRM2
-C     .. External Subroutines ..
-      EXTERNAL          DGEMV
-C     .. DATA Statements ..
-      DOUBLE PRECISION  Y(15)
-      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
-     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
-     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
-     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
-     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
-C
-C     .. Executable Statements ..
-C
-      INFO = 0
-      IF ( IFLAG.EQ.1 ) THEN
-C
-C        Compute the error function values, e.
-C
-         DO 10 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
-   10    CONTINUE
-C
-      ELSE IF ( IFLAG.EQ.2 ) THEN
-C
-C        Compute the Jacobian.
-C
-         DO 30 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
-            J(I,1) = -ONE
-            J(I,2) = TMP1*TMP2/TMP4
-            J(I,3) = TMP1*TMP3/TMP4
-   30    CONTINUE
-C
-C        Compute the product J'*e (the error e was computed in array E).
-C
-         CALL DGEMV( 'Transpose', M, N, ONE, J, LDJ, E, 1, ZERO, JTE,
-     $               1 )
-C
-         NFEVL = 0
-C
-      ELSE IF ( IFLAG.EQ.3 ) THEN
-C
-C        Set the parameter LDJ, the length of the array J, and the sizes
-C        of the workspace for MD03AF (IFLAG = 1 or 2), NF01BV and
-C        NF01BX.
-C
-         LDJ = M
-         IPAR(1) = M*N
-         IPAR(2) = 0
-         IPAR(3) = 0
-         IPAR(4) = M
-      ELSE IF ( IFLAG.EQ.0 ) THEN
-C
-C        Special call for printing intermediate results.
-C
-         ERR = DNRM2( M, E, 1 )
-         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
-C
-      END IF
-C
-      DWORK(1) = ZERO
-      RETURN
-C
-C *** Last line of MD03AF ***
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MD03AD EXAMPLE PROGRAM DATA
- 15     3   100     0   -1.   -1.    G     D     F    U
-   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MD03AD EXAMPLE PROGRAM RESULTS
-
-
- Final 2-norm of the residuals =   0.9063596D-01
-
- The number of function and Jacobian evaluations =      13     12
-
- Final approximate solution is 
-   0.0824   1.1330   2.3437
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,1017 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03BD">MD03BD</A></H2>
-<H3>
-Solution of a standard nonlinear least squares problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To minimize the sum of the squares of m nonlinear functions, e, in
-  n variables, x, by a modification of the Levenberg-Marquardt
-  algorithm. The user must provide a subroutine FCN which calculates
-  the functions and the Jacobian (possibly by finite differences).
-  In addition, specialized subroutines QRFACT, for QR factorization
-  with pivoting of the Jacobian, and LMPARM, for the computation of
-  Levenberg-Marquardt parameter, exploiting the possible structure
-  of the Jacobian matrix, should be provided. Template
-  implementations of these routines are included in SLICOT Library.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03BD( XINIT, SCALE, COND, FCN, QRFACT, LMPARM, M, N,
-     $                   ITMAX, FACTOR, NPRINT, IPAR, LIPAR, DPAR1,
-     $                   LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV, NJEV,
-     $                   FTOL, XTOL, GTOL, TOL, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND, SCALE, XINIT
-      INTEGER           INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LDWORK,
-     $                  LIPAR, M, N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IWORK(*)
-      DOUBLE PRECISION  DIAG(*), DPAR1(*), DPAR2(*), DWORK(*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  XINIT   CHARACTER*1
-          Specifies how the variables x are initialized, as follows:
-          = 'R' :  the array X is initialized to random values; the
-                   entries DWORK(1:4) are used to initialize the
-                   random number generator: the first three values
-                   are converted to integers between 0 and 4095, and
-                   the last one is converted to an odd integer
-                   between 1 and 4095;
-          = 'G' :  the given entries of X are used as initial values
-                   of variables.
-
-  SCALE   CHARACTER*1
-          Specifies how the variables will be scaled, as follows:
-          = 'I' :  use internal scaling;
-          = 'S' :  use specified scaling factors, given in DIAG.
-
-  COND    CHARACTER*1
-          Specifies whether the condition of the linear systems
-          involved should be estimated, as follows:
-          = 'E' :  use incremental condition estimation to find the
-                   numerical rank;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of matrices for zero values.
-
-</PRE>
-<B>Function Parameters</B>
-<PRE>
-  FCN     EXTERNAL
-          Subroutine which evaluates the functions and the Jacobian.
-          FCN must be declared in an external statement in the user
-          calling program, and must have the following interface:
-
-          SUBROUTINE FCN( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1,
-         $                DPAR2, LDPAR2, X, NFEVL, E, J, LDJ, DWORK,
-         $                LDWORK, INFO )
-
-          where
-
-          IFLAG   (input/output) INTEGER
-                  On entry, this parameter must contain a value
-                  defining the computations to be performed:
-                  = 0 :  Optionally, print the current iterate X,
-                         function values E, and Jacobian matrix J,
-                         or other results defined in terms of these
-                         values. See the argument NPRINT of MD03BD.
-                         Do not alter E and J.
-                  = 1 :  Calculate the functions at X and return
-                         this vector in E. Do not alter J.
-                  = 2 :  Calculate the Jacobian at X and return
-                         this matrix in J. Also return NFEVL
-                         (see below). Do not alter E.
-                  = 3 :  Do not compute neither the functions nor
-                         the Jacobian, but return in LDJ and
-                         IPAR/DPAR1,DPAR2 (some of) the integer/real
-                         parameters needed.
-                  On exit, the value of this parameter should not be
-                  changed by FCN unless the user wants to terminate
-                  execution of MD03BD, in which case IFLAG must be
-                  set to a negative integer.
-
-          M       (input) INTEGER
-                  The number of functions.  M &gt;= 0.
-
-          N       (input) INTEGER
-                  The number of variables.  M &gt;= N &gt;= 0.
-
-          IPAR    (input/output) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix or needed for problem solving.
-                  IPAR is an input parameter, except for IFLAG = 3
-                  on entry, when it is also an output parameter.
-                  On exit, if IFLAG = 3, IPAR(1) contains the length
-                  of the array J, for storing the Jacobian matrix,
-                  and the entries IPAR(2:5) contain the workspace
-                  required by FCN for IFLAG = 1, FCN for IFLAG = 2,
-                  QRFACT, and LMPARM, respectively.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 5.
-
-          DPAR1   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR1,*) or (LDPAR1)
-                  A first set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR1 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR1 could
-                  store the input trajectory of a system.
-
-          LDPAR1  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR1, as convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1,
-                  if leading dimension.)
-
-          DPAR2   (input/output) DOUBLE PRECISION array, dimension
-                  (LDPAR2,*) or (LDPAR2)
-                  A second set of real parameters needed for
-                  describing or solving the problem.
-                  DPAR2 can also be used as an additional array for
-                  intermediate results when computing the functions
-                  or the Jacobian. For control problems, DPAR2 could
-                  store the output trajectory of a system.
-
-          LDPAR2  (input) INTEGER
-                  The leading dimension or the length of the array
-                  DPAR2, as convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1,
-                  if leading dimension.)
-
-          X       (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the value of the
-                  variables x where the functions or the Jacobian
-                  must be evaluated.
-
-          NFEVL   (input/output) INTEGER
-                  The number of function evaluations needed to
-                  compute the Jacobian by a finite difference
-                  approximation.
-                  NFEVL is an input parameter if IFLAG = 0, or an
-                  output parameter if IFLAG = 2. If the Jacobian is
-                  computed analytically, NFEVL should be set to a
-                  non-positive value.
-
-          E       (input/output) DOUBLE PRECISION array,
-                  dimension (M)
-                  This array contains the value of the (error)
-                  functions e evaluated at X.
-                  E is an input parameter if IFLAG = 0 or 2, or an
-                  output parameter if IFLAG = 1.
-
-          J       (input/output) DOUBLE PRECISION array, dimension
-                  (LDJ,NC), where NC is the number of columns
-                  needed.
-                  This array contains a possibly compressed
-                  representation of the Jacobian matrix evaluated
-                  at X. If full Jacobian is stored, then NC = N.
-                  J is an input parameter if IFLAG = 0, or an output
-                  parameter if IFLAG = 2.
-
-          LDJ     (input/output) INTEGER
-                  The leading dimension of array J.  LDJ &gt;= 1.
-                  LDJ is essentially used inside the routines FCN,
-                  QRFACT and LMPARM.
-                  LDJ is an input parameter, except for IFLAG = 3
-                  on entry, when it is an output parameter.
-                  It is assumed in MD03BD that LDJ is not larger
-                  than needed.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine FCN.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine FCN).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine FCN. The LAPACK Library routine XERBLA
-                  should be used in conjunction with negative INFO.
-                  INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-  QRFACT  EXTERNAL
-          Subroutine which computes the QR factorization with
-          (block) column pivoting of the Jacobian matrix, J*P = Q*R.
-          QRFACT must be declared in an external statement in the
-          calling program, and must have the following interface:
-
-          SUBROUTINE QRFACT( N, IPAR, LIPAR, FNORM, J, LDJ, E,
-         $                   JNORMS, GNORM, IPVT, DWORK, LDWORK,
-         $                   INFO )
-
-          where
-
-          N       (input) INTEGER
-                  The number of columns of the Jacobian matrix J.
-                  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          FNORM   (input) DOUBLE PRECISION
-                  The Euclidean norm of the vector e.  FNORM &gt;= 0.
-
-          J       (input/output) DOUBLE PRECISION array, dimension
-                  (LDJ, NC), where NC is the number of columns.
-                  On entry, the leading NR-by-NC part of this array
-                  must contain the (compressed) representation
-                  of the Jacobian matrix J, where NR is the number
-                  of rows of J (function of IPAR entries).
-                  On exit, the leading N-by-NC part of this array
-                  contains a (compressed) representation of the
-                  upper triangular factor R of the Jacobian matrix.
-                  For efficiency of the later calculations, the
-                  matrix R is delivered with the leading dimension
-                  MAX(1,N), possibly much smaller than the value
-                  of LDJ on entry.
-
-          LDJ     (input/output) INTEGER
-                  The leading dimension of array J.
-                  On entry, LDJ &gt;= MAX(1,NR).
-                  On exit,  LDJ &gt;= MAX(1,N).
-
-          E       (input/output) DOUBLE PRECISION array, dimension
-                  (NR)
-                  On entry, this array contains the error vector e.
-                  On exit, this array contains the updated vector
-                  Z*Q'*e, where Z is a block row permutation matrix
-                  (possibly identity) used in the QR factorization
-                  of J. (See, for example, the SLICOT Library
-                  routine NF01BS, Section METHOD.)
-
-          JNORMS  (output) DOUBLE PRECISION array, dimension (N)
-                  This array contains the Euclidean norms of the
-                  columns of the Jacobian matrix (in the original
-                  order).
-
-          GNORM   (output) DOUBLE PRECISION
-                  If FNORM &gt; 0, the 1-norm of the scaled vector
-                  J'*e/FNORM, with each element i further divided
-                  by JNORMS(i) (if JNORMS(i) is nonzero).
-                  If FNORM = 0, the returned value of GNORM is 0.
-
-          IPVT    (output) INTEGER array, dimension (N)
-                  This array defines the permutation matrix P such
-                  that J*P = Q*R. Column j of P is column IPVT(j) of
-                  the identity matrix.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine QRFACT.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine QRFACT).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine QRFACT. The LAPACK Library routine
-                  XERBLA should be used in conjunction with negative
-                  INFO. INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-  LMPARM  EXTERNAL
-          Subroutine which determines a value for the Levenberg-
-          Marquardt parameter PAR such that if x solves the system
-
-                J*x = b ,     sqrt(PAR)*D*x = 0 ,
-
-          in the least squares sense, where J is an m-by-n matrix,
-          D is an n-by-n nonsingular diagonal matrix, and b is an
-          m-vector, and if DELTA is a positive number, DXNORM is
-          the Euclidean norm of D*x, then either PAR is zero and
-
-                ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
-
-          or PAR is positive and
-
-                ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
-
-          It is assumed that a block QR factorization, with column
-          pivoting, of J is available, that is, J*P = Q*R, where P
-          is a permutation matrix, Q has orthogonal columns, and
-          R is an upper triangular matrix (possibly stored in a
-          compressed form), with diagonal elements of nonincreasing
-          magnitude for each block. On output, LMPARM also provides
-          a (compressed) representation of an upper triangular
-          matrix S, such that
-
-                P'*(J'*J + PAR*D*D)*P = S'*S .
-
-          LMPARM must be declared in an external statement in the
-          calling program, and must have the following interface:
-
-          SUBROUTINE LMPARM( COND, N, IPAR, LIPAR, R, LDR, IPVT,
-         $                   DIAG, QTB, DELTA, PAR, RANKS, X, RX,
-         $                   TOL, DWORK, LDWORK, INFO )
-
-          where
-
-          COND    CHARACTER*1
-                  Specifies whether the condition of the linear
-                  systems involved should be estimated, as follows:
-                  = 'E' :  use incremental condition estimation
-                           to find the numerical rank;
-                  = 'N' :  do not use condition estimation, but
-                           check the diagonal entries for zero
-                           values;
-                  = 'U' :  use the ranks already stored in RANKS
-                           (for R).
-
-          N       (input) INTEGER
-                  The order of the matrix R.  N &gt;= 0.
-
-          IPAR    (input) INTEGER array, dimension (LIPAR)
-                  The integer parameters describing the structure of
-                  the Jacobian matrix.
-
-          LIPAR   (input) INTEGER
-                  The length of the array IPAR.  LIPAR &gt;= 0.
-
-          R       (input/output) DOUBLE PRECISION array, dimension
-                  (LDR, NC), where NC is the number of columns.
-                  On entry, the leading N-by-NC part of this array
-                  must contain the (compressed) representation (Rc)
-                  of the upper triangular matrix R.
-                  On exit, the full upper triangular part of R
-                  (in representation Rc), is unaltered, and the
-                  remaining part contains (part of) the (compressed)
-                  representation of the transpose of the upper
-                  triangular matrix S.
-
-          LDR     (input) INTEGER
-                  The leading dimension of array R.
-                  LDR &gt;= MAX(1,N).
-
-          IPVT    (input) INTEGER array, dimension (N)
-                  This array must define the permutation matrix P
-                  such that J*P = Q*R. Column j of P is column
-                  IPVT(j) of the identity matrix.
-
-          DIAG    (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the diagonal elements of
-                  the matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
-
-          QTB     (input) DOUBLE PRECISION array, dimension (N)
-                  This array must contain the first n elements of
-                  the vector Q'*b.
-
-          DELTA   (input) DOUBLE PRECISION
-                  An upper bound on the Euclidean norm of D*x.
-                  DELTA &gt; 0.
-
-          PAR     (input/output) DOUBLE PRECISION
-                  On entry, PAR must contain an initial estimate of
-                  the Levenberg-Marquardt parameter.  PAR &gt;= 0.
-                  On exit, it contains the final estimate of this
-                  parameter.
-
-          RANKS   (input or output) INTEGER array, dimension (r),
-                  where r is the number of diagonal blocks R_k in R,
-                  corresponding to the block column structure of J.
-                  On entry, if COND = 'U' and N &gt; 0, this array must
-                  contain the numerical ranks of the submatrices
-                  R_k, k = 1:r. The number r is defined in terms of
-                  the entries of IPAR.
-                  On exit, if N &gt; 0, this array contains the
-                  numerical ranks of the submatrices S_k, k = 1:r.
-
-          X       (output) DOUBLE PRECISION array, dimension (N)
-                  This array contains the least squares solution of
-                  the system J*x = b, sqrt(PAR)*D*x = 0.
-
-          RX      (output) DOUBLE PRECISION array, dimension (N)
-                  This array contains the matrix-vector product
-                  -R*P'*x.
-
-          TOL     (input) DOUBLE PRECISION
-                  If COND = 'E', the tolerance to be used for
-                  finding the ranks of the submatrices R_k and S_k.
-                  If the user sets TOL &gt; 0, then the given value of
-                  TOL is used as a lower bound for the reciprocal
-                  condition number;  a (sub)matrix whose estimated
-                  condition number is less than 1/TOL is considered
-                  to be of full rank.  If the user sets TOL &lt;= 0,
-                  then an implicitly computed, default tolerance,
-                  defined by TOLDEF = N*EPS,  is used instead,
-                  where EPS is the machine precision (see LAPACK
-                  Library routine DLAMCH).
-                  This parameter is not relevant if COND = 'U'
-                  or 'N'.
-
-          DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-                  The workspace array for subroutine LMPARM.
-                  On exit, if INFO = 0, DWORK(1) returns the optimal
-                  value of LDWORK.
-
-          LDWORK  (input) INTEGER
-                  The size of the array DWORK (as large as needed
-                  in the subroutine LMPARM).  LDWORK &gt;= 1.
-
-          INFO    INTEGER
-                  Error indicator, set to a negative value if an
-                  input (scalar) argument is erroneous, and to
-                  positive values for other possible errors in the
-                  subroutine LMPARM. The LAPACK Library routine
-                  XERBLA should be used in conjunction with negative
-                  INFO. INFO must be zero if the subroutine finished
-                  successfully.
-
-          Parameters marked with "(input)" must not be changed.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of functions.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of variables.  M &gt;= N &gt;= 0.
-
-  ITMAX   (input) INTEGER
-          The maximum number of iterations.  ITMAX &gt;= 0.
-
-  FACTOR  (input) DOUBLE PRECISION
-          The value used in determining the initial step bound. This
-          bound is set to the product of FACTOR and the Euclidean
-          norm of DIAG*X if nonzero, or else to FACTOR itself.
-          In most cases FACTOR should lie in the interval (.1,100).
-          A generally recommended value is 100.  FACTOR &gt; 0.
-
-  NPRINT  (input) INTEGER
-          This parameter enables controlled printing of iterates if
-          it is positive. In this case, FCN is called with IFLAG = 0
-          at the beginning of the first iteration and every NPRINT
-          iterations thereafter and immediately prior to return,
-          with X, E, and J available for printing. Note that when
-          called immediately prior to return, J normally contains
-          the result returned by QRFACT and LMPARM (the compressed
-          R and S factors). If NPRINT is not positive, no special
-          calls of FCN with IFLAG = 0 are made.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed, for instance, for
-          describing the structure of the Jacobian matrix, which
-          are handed over to the routines FCN, QRFACT and LMPARM.
-          The first five entries of this array are modified
-          internally by a call to FCN (with IFLAG = 3), but are
-          restored on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 5.
-
-  DPAR1   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR1,*) or (LDPAR1)
-          A first set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03BD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR1  (input) INTEGER
-          The leading dimension or the length of the array DPAR1, as
-          convenient.  LDPAR1 &gt;= 0.  (LDPAR1 &gt;= 1, if leading
-          dimension.)
-
-  DPAR2   (input/output) DOUBLE PRECISION array, dimension
-          (LDPAR2,*) or (LDPAR2)
-          A second set of real parameters needed for describing or
-          solving the problem. This argument is not used by MD03BD
-          routine, but it is passed to the routine FCN.
-
-  LDPAR2  (input) INTEGER
-          The leading dimension or the length of the array DPAR2, as
-          convenient.  LDPAR2 &gt;= 0.  (LDPAR2 &gt;= 1, if leading
-          dimension.)
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if XINIT = 'G', this array must contain the
-          vector of initial variables x to be optimized.
-          If XINIT = 'R', this array need not be set before entry,
-          and random values will be used to initialize x.
-          On exit, if INFO = 0, this array contains the vector of
-          values that (approximately) minimize the sum of squares of
-          error functions. The values returned in IWARN and
-          DWORK(1:4) give details on the iterative process.
-
-  DIAG    (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if SCALE = 'S', this array must contain some
-          positive entries that serve as multiplicative scale
-          factors for the variables x.  DIAG(I) &gt; 0, I = 1,...,N.
-          If SCALE = 'I', DIAG is internally set.
-          On exit, this array contains the scale factors used
-          (or finally used, if SCALE = 'I').
-
-  NFEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 1. If FCN is
-          properly implemented, this includes the function
-          evaluations needed for finite difference approximation
-          of the Jacobian.
-
-  NJEV    (output) INTEGER
-          The number of calls to FCN with IFLAG = 2.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  FTOL    DOUBLE PRECISION
-          If FTOL &gt;= 0, the tolerance which measures the relative
-          error desired in the sum of squares. Termination occurs
-          when both the actual and predicted relative reductions in
-          the sum of squares are at most FTOL. If the user sets
-          FTOL &lt; 0,  then  SQRT(EPS)  is used instead FTOL, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-  XTOL    DOUBLE PRECISION
-          If XTOL &gt;= 0, the tolerance which measures the relative
-          error desired in the approximate solution. Termination
-          occurs when the relative error between two consecutive
-          iterates is at most XTOL. If the user sets  XTOL &lt; 0,
-          then  SQRT(EPS)  is used instead XTOL.
-
-  GTOL    DOUBLE PRECISION
-          If GTOL &gt;= 0, the tolerance which measures the
-          orthogonality desired between the function vector e and
-          the columns of the Jacobian J. Termination occurs when
-          the cosine of the angle between e and any column of the
-          Jacobian J is at most GTOL in absolute value. If the user
-          sets  GTOL &lt; 0,  then  EPS  is used instead GTOL.
-
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the matrices of linear systems to be solved. If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as a lower bound for the reciprocal condition number;  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*EPS,  is used instead.
-          This parameter is not relevant if COND = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+r), where r is the number
-          of diagonal blocks R_k in R (see description of LMPARM).
-          On output, if INFO = 0, the first N entries of this array
-          define a permutation matrix P such that J*P = Q*R, where
-          J is the final calculated Jacobian, Q is an orthogonal
-          matrix (not stored), and R is upper triangular with
-          diagonal elements of nonincreasing magnitude (possibly
-          for each block column of J). Column j of P is column
-          IWORK(j) of the identity matrix. If INFO = 0, the entries
-          N+1:N+r of this array contain the ranks of the final
-          submatrices S_k (see description of LMPARM).
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the residual error norm (the
-          sum of squares), DWORK(3) returns the number of iterations
-          performed, and DWORK(4) returns the final Levenberg
-          factor. If INFO = 0, N &gt; 0, and IWARN &gt;= 0, the elements
-          DWORK(5) to DWORK(4+M) contain the final matrix-vector
-          product Z*Q'*e, and the elements DWORK(5+M) to
-          DWORK(4+M+N*NC) contain the (compressed) representation of
-          final upper triangular matrices R and S (if IWARN &lt;&gt; 4).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max( 4, M + max( size(J) +
-                                     max( DW( FCN|IFLAG = 1 ),
-                                          DW( FCN|IFLAG = 2 ),
-                                          DW( QRFACT ) + N ),
-                                     N*NC + N +
-                                     max( M + DW( FCN|IFLAG = 1 ),
-                                          N + DW( LMPARM ) ) ) ),
-          where size(J) is the size of the Jacobian (provided by FCN
-          in IPAR(1), for IFLAG = 3), and DW( f ) is the workspace
-          needed by the routine f, where f is FCN, QRFACT, or LMPARM
-          (provided by FCN in IPAR(2:5), for IFLAG = 3).
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          &lt; 0:  the user set IFLAG = IWARN in the subroutine FCN;
-          = 1:  both actual and predicted relative reductions in
-                the sum of squares are at most FTOL;
-          = 2:  relative error between two consecutive iterates is
-                at most XTOL;
-          = 3:  conditions for IWARN = 1 and IWARN = 2 both hold;
-          = 4:  the cosine of the angle between e and any column of
-                the Jacobian is at most GTOL in absolute value;
-          = 5:  the number of iterations has reached ITMAX without
-                satisfying any convergence condition;
-          = 6:  FTOL is too small: no further reduction in the sum
-                of squares is possible;
-          = 7:  XTOL is too small: no further improvement in the
-                approximate solution x is possible;
-          = 8:  GTOL is too small: e is orthogonal to the columns of
-                the Jacobian to machine precision.
-          In all these cases, DWORK(1:4) are set as described above.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 1;
-          = 2:  user-defined routine FCN returned with INFO &lt;&gt; 0
-                for IFLAG = 2;
-          = 3:  user-defined routine QRFACT returned with INFO &lt;&gt; 0;
-          = 4:  user-defined routine LMPARM returned with INFO &lt;&gt; 0.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If XINIT = 'R', the initial value for x is set to a vector of
-  pseudo-random values uniformly distributed in (-1,1).
-
-  The Levenberg-Marquardt algorithm (described in [1,3]) is used for
-  optimizing the variables x. This algorithm needs the Jacobian
-  matrix J, which is provided by the subroutine FCN. A trust region
-  method is used. The algorithm tries to update x by the formula
-
-      x = x - p,
-
-  using an approximate solution of the system of linear equations
-
-      (J'*J + PAR*D*D)*p = J'*e,
-
-  with e the error function vector, and D a diagonal nonsingular
-  matrix, where either PAR = 0 and
-
-      ( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA ,
-
-  or PAR &gt; 0 and
-
-      ABS( norm( D*x ) - DELTA ) &lt;= 0.1*DELTA .
-
-  DELTA is the radius of the trust region. If the Gauss-Newton
-  direction is not acceptable, then an iterative algorithm obtains
-  improved lower and upper bounds for the Levenberg-Marquardt
-  parameter PAR. Only a few iterations are generally needed for
-  convergence of the algorithm. The trust region radius DELTA
-  and the Levenberg factor PAR are updated based on the ratio
-  between the actual and predicted reduction in the sum of squares.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-  [2] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, pp. 520-528,
-      1996.
-
-  [3] More, J.J.
-      The Levenberg-Marquardt algorithm: implementation and theory.
-      In Watson, G.A. (Ed.), Numerical Analysis, Lecture Notes in
-      Mathematics, vol. 630, Springer-Verlag, Berlin, Heidelberg
-      and New York, pp. 105-116, 1978.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The Levenberg-Marquardt algorithm described in [3] is scaling
-  invariant and globally convergent to (maybe local) minima.
-  The convergence rate near a local minimum is quadratic, if the
-  Jacobian is computed analytically, and linear, if the Jacobian
-  is computed numerically.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a more general version of the subroutines LMDER
-  and LMDER1 from the MINPACK package [1], which enables to exploit
-  the structure of the problem, and optionally use condition
-  estimation. Unstructured problems could be solved as well.
-
-  Template SLICOT Library implementations for FCN, QRFACT and
-  LMPARM routines are:
-  MD03BF, MD03BA, and MD03BB, respectively, for standard problems;
-  NF01BF, NF01BS, and NF01BP, respectively, for optimizing the
-  parameters of Wiener systems (structured problems).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     MD03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           MMAX, NMAX
-      PARAMETER         ( MMAX = 20, NMAX = 20 )
-      INTEGER           LDWORK
-      PARAMETER         ( LDWORK = MMAX +
-     $                             MAX( MMAX*NMAX + 5*NMAX + 1,
-     $                                  NMAX*NMAX + NMAX +
-     $                                  MAX( MMAX, 5*NMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1       COND, SCALE, XINIT
-      INTEGER           I, INFO, ITMAX, IWARN, LDPAR1, LDPAR2, LIPAR, M,
-     $                  N, NFEV, NJEV, NPRINT
-      DOUBLE PRECISION  FACTOR, FTOL, GTOL, TOL, XTOL
-*     .. Array Arguments ..
-      INTEGER           IPAR(5), IWORK(NMAX+1)
-      DOUBLE PRECISION  DIAG(NMAX), DPAR1(1), DPAR2(1), DWORK(LDWORK),
-     $                  X(NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          MD03BA, MD03BB, MD03BD, MD03BF
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, ITMAX, LIPAR, LDPAR1, LDPAR2, FACTOR,
-     $                      NPRINT, FTOL, XTOL, GTOL, TOL, XINIT, SCALE,
-     $                      COND
-      IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) M
-      ELSE
-         IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) N
-         ELSE
-            IF ( LSAME( SCALE, 'S' ) )
-     $         READ ( NIN, FMT = * ) ( DIAG(I), I = 1,N )
-            IF ( LSAME( XINIT, 'G' ) )
-     $         READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-*           Solve a standard nonlinear least squares problem.
-            IPAR(1) = M
-            CALL MD03BD( XINIT, SCALE, COND, MD03BF, MD03BA, MD03BB,
-     $                   M, N, ITMAX, FACTOR, NPRINT, IPAR, LIPAR,
-     $                   DPAR1, LDPAR1, DPAR2, LDPAR2, X, DIAG, NFEV,
-     $                   NJEV, FTOL, XTOL, GTOL, TOL, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99991 ) IWARN
-               WRITE ( NOUT, FMT = 99997 ) DWORK(2)
-               WRITE ( NOUT, FMT = 99996 ) NFEV, NJEV
-               WRITE ( NOUT, FMT = 99994 )
-               WRITE ( NOUT, FMT = 99995 ) ( X(I), I = 1, N )
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' MD03BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from MD03BD = ',I2)
-99997 FORMAT (/' Final 2-norm of the residuals = ',D15.7)
-99996 FORMAT (/' The number of function and Jacobian evaluations = ',
-     $           2I7)
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Final approximate solution is ' )
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (' IWARN on exit from MD03BD = ',I2)
-      END
-C
-      SUBROUTINE MD03BF( IFLAG, M, N, IPAR, LIPAR, DPAR1, LDPAR1, DPAR2,
-     $                   LDPAR2, X, NFEVL, E, J, LDJ, DWORK, LDWORK,
-     $                   INFO )
-C
-C     This is the FCN routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03BD. See the
-C     argument FCN in the routine MD03BD for the description of
-C     parameters.
-C
-C     The example programmed in this routine is adapted from that
-C     accompanying the MINPACK routine LMDER.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-C     .. NOUT is the unit number for printing intermediate results ..
-      INTEGER           NOUT
-      PARAMETER         ( NOUT = 6 )
-      DOUBLE PRECISION  ONE
-      PARAMETER         ( ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      INTEGER           IFLAG, INFO, LDJ, LDPAR1, LDPAR2, LDWORK, LIPAR,
-     $                  M, N, NFEVL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR1(*), DPAR2(*), DWORK(*), E(*), J(LDJ,*),
-     $                  X(*)
-C     .. Local Scalars ..
-      INTEGER           I
-      DOUBLE PRECISION  ERR, TMP1, TMP2, TMP3, TMP4
-C     .. External Functions ..
-      DOUBLE PRECISION  DNRM2
-      EXTERNAL          DNRM2
-C     .. External Subroutines ..
-      EXTERNAL          MD03BA, MD03BB
-C     .. DATA Statements ..
-      DOUBLE PRECISION  Y(15)
-      DATA              Y(1), Y(2), Y(3), Y(4), Y(5), Y(6), Y(7), Y(8),
-     $                  Y(9), Y(10), Y(11), Y(12), Y(13), Y(14), Y(15)
-     $                  / 1.4D-1, 1.8D-1, 2.2D-1, 2.5D-1, 2.9D-1,
-     $                    3.2D-1, 3.5D-1, 3.9D-1, 3.7D-1, 5.8D-1,
-     $                    7.3D-1, 9.6D-1, 1.34D0, 2.1D0,  4.39D0 /
-C
-C     .. Executable Statements ..
-C
-      INFO = 0
-      IF ( IFLAG.EQ.1 ) THEN
-C
-C        Compute the error function values.
-C
-         DO 10 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            E(I) = Y(I) - ( X(1) + TMP1/( X(2)*TMP2 + X(3)*TMP3 ) )
-   10    CONTINUE
-C
-      ELSE IF ( IFLAG.EQ.2 ) THEN
-C
-C        Compute the Jacobian.
-C
-         DO 30 I = 1, 15
-            TMP1 = I
-            TMP2 = 16 - I
-            IF ( I.GT.8 ) THEN
-               TMP3 = TMP2
-            ELSE
-               TMP3 = TMP1
-            END IF
-            TMP4 = ( X(2)*TMP2 + X(3)*TMP3 )**2
-            J(I,1) = -ONE
-            J(I,2) = TMP1*TMP2/TMP4
-            J(I,3) = TMP1*TMP3/TMP4
-   30    CONTINUE
-C
-         NFEVL = 0
-C
-      ELSE IF ( IFLAG.EQ.3 ) THEN
-C
-C        Set the parameter LDJ, the length of the array J, and the sizes
-C        of the workspace for MD03BF (IFLAG = 1 or 2), MD03BA and MD03BB.
-C
-         LDJ = M
-         IPAR(1) = M*N
-         IPAR(2) = 0
-         IPAR(3) = 0
-         IPAR(4) = 4*N + 1
-         IPAR(5) = 4*N
-      ELSE IF ( IFLAG.EQ.0 ) THEN
-C
-C        Special call for printing intermediate results.
-C
-         ERR = DNRM2( M, E, 1 )
-         WRITE( NOUT, '('' Norm of current error = '', D15.6)') ERR
-C
-      END IF
-C
-      RETURN
-C
-C *** Last line of MD03BF ***
-      END
-C
-      SUBROUTINE MD03BA( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
-     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
-C
-C     This is the QRFACT routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03BD. See the
-C     argument QRFACT in the routine MD03BD for the description of
-C     parameters.
-C
-C     For efficiency, the arguments are not checked. This is done in
-C     the routine MD03BX (except for LIPAR).
-C
-C     ******************************************************************
-C
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
-      DOUBLE PRECISION  FNORM, GNORM
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JNORMS(*)
-C     .. External Subroutines ..
-      EXTERNAL          MD03BX
-C     ..
-C     .. Executable Statements ..
-C
-      CALL MD03BX( IPAR(1), N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
-     $             DWORK, LDWORK, INFO )
-      RETURN
-C
-C *** Last line of MD03BA ***
-      END
-C
-      SUBROUTINE MD03BB( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
-     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
-     $                   INFO )
-C
-C     This is the LMPARM routine for solving a standard nonlinear least
-C     squares problem using SLICOT Library routine MD03BD. See the
-C     argument LMPARM in the routine MD03BD for the description of
-C     parameters.
-C
-C     For efficiency, the arguments are not checked. This is done in
-C     the routine MD03BY (except for LIPAR).
-C
-C     ******************************************************************
-C
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, LIPAR, N
-      DOUBLE PRECISION  DELTA, PAR, TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*), RANKS(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
-C     .. External Subroutines ..
-      EXTERNAL          MD03BY
-C     ..
-C     .. Executable Statements ..
-C
-      CALL MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
-     $             RANKS(1), X, RX, TOL, DWORK, LDWORK, INFO )
-      RETURN
-C
-C *** Last line of MD03BB ***
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- MD03BD EXAMPLE PROGRAM DATA
- 15     3   100     5     0     0   1.D2     0   -1.   -1.   -1.   -1.     G     I     E
-   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- MD03BD EXAMPLE PROGRAM RESULTS
-
- IWARN on exit from MD03BD =  1
-
- Final 2-norm of the residuals =   0.9063596D-01
-
- The number of function and Jacobian evaluations =       6      5
-
- Final approximate solution is 
-   0.0824   1.1330   2.3437
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MD03BX.html b/doc/_static/doc/MD03BX.html
deleted file mode 100644
index 6eee1e6d..00000000
--- a/doc/_static/doc/MD03BX.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03BX">MD03BX</A></H2>
-<H3>
-QR factorization with column pivoting for a standard nonlinear least squares problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the QR factorization with column pivoting of an
-  m-by-n matrix J (m &gt;= n), that is, J*P = Q*R, where Q is a matrix
-  with orthogonal columns, P a permutation matrix, and R an upper
-  trapezoidal matrix with diagonal elements of nonincreasing
-  magnitude, and to apply the transformation Q' on the error
-  vector e (in-situ). The 1-norm of the scaled gradient is also
-  returned. The matrix J could be the Jacobian of a nonlinear least
-  squares problem.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03BX( M, N, FNORM, J, LDJ, E, JNORMS, GNORM, IPVT,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDJ, LDWORK, M, N
-      DOUBLE PRECISION  FNORM, GNORM
-C     .. Array Arguments ..
-      INTEGER           IPVT(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the Jacobian matrix J.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.
-          M &gt;= N &gt;= 0.
-
-  FNORM   (input) DOUBLE PRECISION
-          The Euclidean norm of the vector e.  FNORM &gt;= 0.
-
-  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, N)
-          On entry, the leading M-by-N part of this array must
-          contain the Jacobian matrix J.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangular factor R of the
-          Jacobian matrix. Note that for efficiency of the later
-          calculations, the matrix R is delivered with the leading
-          dimension MAX(1,N), possibly much smaller than the value
-          of LDJ on entry.
-
-  LDJ     (input/output) INTEGER
-          The leading dimension of array J.
-          On entry, LDJ &gt;= MAX(1,M).
-          On exit,  LDJ &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (M)
-          On entry, this array must contain the error vector e.
-          On exit, this array contains the updated vector Q'*e.
-
-  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the Euclidean norms of the columns of
-          the Jacobian matrix, considered in the initial order.
-
-  GNORM   (output) DOUBLE PRECISION
-          If FNORM &gt; 0, the 1-norm of the scaled vector
-          J'*Q'*e/FNORM, with each element i further divided by
-          JNORMS(i) (if JNORMS(i) is nonzero).
-          If FNORM = 0, the returned value of GNORM is 0.
-
-  IPVT    (output) INTEGER array, dimension (N)
-          This array defines the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1,      if N = 0 or M = 1;
-          LDWORK &gt;= 4*N+1,  if N &gt; 1.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm uses QR factorization with column pivoting of the
-  matrix J, J*P = Q*R, and applies the orthogonal matrix Q' to the
-  vector e.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/MD03BY.html b/doc/_static/doc/MD03BY.html
deleted file mode 100644
index 57ce4f8a..00000000
--- a/doc/_static/doc/MD03BY.html
+++ /dev/null
@@ -1,217 +0,0 @@
-<HTML>
-<HEAD><TITLE>MD03BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="MD03BY">MD03BY</A></H2>
-<H3>
-Levenberg-Marquardt parameter for a standard nonlinear least squares problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a value for the parameter PAR such that if x solves
-  the system
-
-        A*x = b ,     sqrt(PAR)*D*x = 0 ,
-
-  in the least squares sense, where A is an m-by-n matrix, D is an
-  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
-  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
-  then either PAR is zero and
-
-        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
-
-  or PAR is positive and
-
-        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
-
-  It is assumed that a QR factorization, with column pivoting, of A
-  is available, that is, A*P = Q*R, where P is a permutation matrix,
-  Q has orthogonal columns, and R is an upper triangular matrix
-  with diagonal elements of nonincreasing magnitude.
-  The routine needs the full upper triangle of R, the permutation
-  matrix P, and the first n components of Q'*b (' denotes the
-  transpose). On output, MD03BY also provides an upper triangular
-  matrix S such that
-
-        P'*(A'*A + PAR*D*D)*P = S'*S .
-
-  Matrix S is used in the solution process.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE MD03BY( COND, N, R, LDR, IPVT, DIAG, QTB, DELTA, PAR,
-     $                   RANK, X, RX, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, N, RANK
-      DOUBLE PRECISION  DELTA, PAR, TOL
-C     .. Array Arguments ..
-      INTEGER           IPVT(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the matrices R and S
-          should be estimated, as follows:
-          = 'E' :  use incremental condition estimation for R and S;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of R and S for zero values;
-          = 'U' :  use the rank already stored in RANK (for R).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N &gt;= 0.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the full upper triangle is unaltered, and the
-          strict lower triangle contains the strict upper triangle
-          (transposed) of the upper triangular matrix S.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          A*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  DELTA   (input) DOUBLE PRECISION
-          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
-
-  PAR     (input/output) DOUBLE PRECISION
-          On entry, PAR must contain an initial estimate of the
-          Levenberg-Marquardt parameter.  PAR &gt;= 0.
-          On exit, it contains the final estimate of this parameter.
-
-  RANK    (input or output) INTEGER
-          On entry, if COND = 'U', this parameter must contain the
-          (numerical) rank of the matrix R.
-          On exit, this parameter contains the numerical rank of
-          the matrix S.
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system A*x = b, sqrt(PAR)*D*x = 0.
-
-  RX      (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the matrix-vector product -R*P'*x.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          rank of the matrices R and S. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          the reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 4*N, if COND =  'E';
-          LDWORK &gt;= 2*N, if COND &lt;&gt; 'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm computes the Gauss-Newton direction. A least squares
-  solution is found if the Jacobian is rank deficient. If the Gauss-
-  Newton direction is not acceptable, then an iterative algorithm
-  obtains improved lower and upper bounds for the parameter PAR.
-  Only a few iterations are generally needed for convergence of the
-  algorithm. If, however, the limit of ITMAX = 10 iterations is
-  reached, then the output PAR will contain the best value obtained
-  so far. If the Gauss-Newton step is acceptable, it is stored in x,
-  and PAR is set to zero, hence S = R.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a LAPACK-based modification of LMPAR from the
-  MINPACK package [1], and with optional condition estimation.
-  The option COND = 'U' is useful when dealing with several
-  right-hand side vectors, but RANK should be reset.
-  If COND = 'E', but the matrix S is guaranteed to be nonsingular
-  and well conditioned relative to TOL, i.e., rank(R) = N, and
-  min(DIAG) &gt; 0, then its condition is not estimated.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01AD.html b/doc/_static/doc/NF01AD.html
deleted file mode 100644
index e73d3301..00000000
--- a/doc/_static/doc/NF01AD.html
+++ /dev/null
@@ -1,155 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01AD">NF01AD</A></H2>
-<H3>
-Computing the output of a Wiener system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate the output y of the Wiener system
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t)   = f(z(t),wb(1:L)),
-
-  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
-  evaluated by the SLICOT Library routine NF01AY. The parameter
-  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
-  where wb(i), i = 1:L, correspond to the nonlinear part, theta
-  corresponds to the linear part, and the notation is fully
-  described below.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01AD( NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU, Y, LDY,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDU, LDWORK, LDY, LX, LIPAR, M, NSMP
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  M       (input) INTEGER
-          The length of each input sample.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.  L &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed.
-          IPAR(1)  must contain the order of the linear part,
-                   referred to as N below.  N &gt;= 0.
-          IPAR(2)  must contain the number of neurons for the
-                   nonlinear part, referred to as NN below.
-                   NN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of IPAR.  LIPAR &gt;= 2.
-
-  X       (input) DOUBLE PRECISION array, dimension (LX)
-          The parameter vector, partitioned as
-          X = (wb(1), ..., wb(L), theta), where the vectors
-          wb(i), of length NN*(L+2)+1, are parameters for the
-          static nonlinearity, which is simulated by the
-          SLICOT Library routine NF01AY. See the documentation of
-          NF01AY for further details. The vector theta, of length
-          N*(M + L + 1) + L*M, represents the matrices A, B, C,
-          D and x(1), and it can be retrieved from these matrices
-          by SLICOT Library routine TB01VD and retranslated by
-          TB01VY.
-
-  LX      (input) INTEGER
-          The length of the array X.
-          LX &gt;= ( NN*(L+2)+1 )*L + N*(M + L + 1) + L*M.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= MAX(1,NSMP).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array contains the
-          simulated output.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
-                                  MAX( N*(N + L), N + M + L ) )
-                                                           if M &gt; 0;
-          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
-                                  MAX( N*(N + L), L ) ),   if M = 0.
-          A larger value of LDWORK could improve the efficiency.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  BLAS routines are used for the matrix-vector multiplications and
-  the routine NF01AY is called for the calculation of the nonlinear
-  function.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01AY.html b/doc/_static/doc/NF01AY.html
deleted file mode 100644
index 73a12897..00000000
--- a/doc/_static/doc/NF01AY.html
+++ /dev/null
@@ -1,148 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01AY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01AY">NF01AY</A></H2>
-<H3>
-Computing the output of a set of neural networks
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate the output of a set of neural networks with the
-  structure
-
-          - tanh(w1'*z+b1) -
-        /      :             \
-      z ---    :           --- sum(ws(i)*...)+ b(n+1)  --- y,
-        \      :             /
-          - tanh(wn'*z+bn) -
-
-  given the input z and the parameter vectors wi, ws, and b,
-  where z, w1, ..., wn are vectors of length NZ, ws is a vector
-  of length n, b(1), ..., b(n+1) are scalars, and n is called the
-  number of neurons in the hidden layer, or just number of neurons.
-  Such a network is used for each L output variables.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01AY( NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z, LDZ,
-     $                   Y, LDY, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDWORK, LDY, LDZ, LIPAR, LWB, NSMP, NZ
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), WB(*), Y(LDY,*), Z(LDZ,*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  NZ      (input) INTEGER
-          The length of each input sample.  NZ &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.  L &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters needed.
-          IPAR(1) must contain the number of neurons, n, per output
-          variable, denoted NN in the sequel.  NN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the vector IPAR.  LIPAR &gt;= 1.
-
-  WB      (input) DOUBLE PRECISION array, dimension (LWB)
-          The leading (NN*(NZ+2)+1)*L part of this array must
-          contain the weights and biases of the network. This vector
-          is partitioned into L vectors of length NN*(NZ+2)+1,
-          WB = [ wb(1), ..., wb(L) ]. Each wb(k), k = 1, ..., L,
-          corresponds to one output variable, and has the structure
-          wb(k) = [ w1(1), ..., w1(NZ), ..., wn(1), ..., wn(NZ),
-                    ws(1), ..., ws(n), b(1), ..., b(n+1) ],
-          where wi(j) are the weights of the hidden layer,
-          ws(i) are the weights of the linear output layer, and
-          b(i) are the biases, as in the scheme above.
-
-  LWB     (input) INTEGER
-          The length of the array WB.
-          LWB &gt;= ( NN*(NZ + 2) + 1 )*L.
-
-  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
-          The leading NSMP-by-NZ part of this array must contain the
-          set of input samples,
-          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,NSMP).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
-          The leading NSMP-by-L part of this array contains the set
-          of output samples,
-          Y = ( Y(1,1),...,Y(1,L); ...; Y(NSMP,1),...,Y(NSMP,L) ).
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 2*NN.
-          For better performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  BLAS routines are used to compute the matrix-vector products.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BD.html b/doc/_static/doc/NF01BD.html
deleted file mode 100644
index 02334836..00000000
--- a/doc/_static/doc/NF01BD.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BD">NF01BD</A></H2>
-<H3>
-Computing the Jacobian of a Wiener system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To calculate the Jacobian dy/dX of the Wiener system
-
-     x(t+1) = A*x(t) + B*u(t)
-     z(t)   = C*x(t) + D*u(t),
-
-     y(t,i) = sum( ws(k, i)*f(w(k, i)*z(t) + b(k,i)) ) + b(k+1,i),
-
-  where t = 1, 2, ...,  NSMP,
-        i = 1, 2, ...,  L,
-        k = 1, 2, ...,  NN.
-
-  NN is arbitrary eligible and has to be provided in IPAR(2), and
-  X = ( wb(1), ..., wb(L), theta ) is described below.
-
-  Denoting y(j) = y(1:NSMP,j), the Jacobian J has the block form
-
-    dy(1)/dwb(1)       0         .....       0         dy(1)/dtheta
-         0        dy(2)/dwb(2)   .....       0         dy(2)/dtheta
-       .....         .....       .....     .....          .....
-         0           .....         0    dy(L)/dwb(L)   dy(L)/dtheta
-
-  but it will be returned without the zero blocks, in the form
-
-  dy(1)/dwb(1)    dy(1)/dtheta
-               ...
-  dy(L)/dwb(L)    dy(L)/dtheta.
-
-  dy(i)/dwb(i) depends on f and is calculated by the routine NF01BY;
-  dy(i)/dtheta is computed by a forward-difference approximation.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BD( CJTE, NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU,
-     $                   E, J, LDJ, JTE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CJTE
-      INTEGER           INFO, L, LDJ, LDU, LDWORK, LX, LIPAR, M, NSMP
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ, *), JTE(*), U(LDU,*),
-     $                  X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CJTE    CHARACTER*1
-          Specifies whether the matrix-vector product J'*e should be
-          computed or not, as follows:
-          = 'C' :  compute J'*e;
-          = 'N' :  do not compute J'*e.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  M       (input) INTEGER
-          The length of each input sample.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.  L &gt;= 0.
-
-  IPAR    (input/output) INTEGER array, dimension (LIPAR)
-          On entry, the first entries of this array must contain
-          the integer parameters needed; specifically,
-          IPAR(1)  must contain the order of the linear part, N;
-                   actually, N = abs(IPAR(1)), since setting
-                   IPAR(1) &lt; 0 has a special meaning (see below);
-          IPAR(2)  must contain the number of neurons for the
-                   nonlinear part, NN, NN &gt;= 0.
-          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
-          performed, except the needed tests on input parameters,
-          but the following values are returned:
-          IPAR(1) contains the length of the array J, LJ;
-          LDJ     contains the leading dimension of array J.
-          Otherwise, IPAR(1) and LDJ are unchanged on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 2.
-
-  X       (input) DOUBLE PRECISION array, dimension (LX)
-          The leading LPAR entries of this array must contain the
-          set of system parameters, where
-             LPAR = (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
-          X has the form (wb(1), ..., wb(L), theta), where the
-          vectors wb(i) have the structure
-           (w(1,1), ..., w(1,L), ..., w(NN,1), ..., w(NN,L),
-             ws(1), ..., ws(NN), b(1), ..., b(NN+1) ),
-          and the vector theta represents the matrices A, B, C, D
-          and x(1), and it can be retrieved from these matrices
-          by SLICOT Library routine TB01VD and retranslated by
-          TB01VY.
-
-  LX      (input) INTEGER
-          The length of X.
-          LX &gt;= (NN*(L + 2) + 1)*L + N*(M + L + 1) + L*M.
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
-          The leading NSMP-by-M part of this array must contain the
-          set of input samples,
-          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NSMP).
-
-  E       (input) DOUBLE PRECISION array, dimension (NSMP*L)
-          If CJTE = 'C', this array must contain a vector e, which
-          will be premultiplied with J', e = vec( Y - y ), where
-          Y is set of output samples, and vec denotes the
-          concatenation of the columns of a matrix.
-          If CJTE = 'N', this array is not referenced.
-
-  J       (output) DOUBLE PRECISION array, dimension (LDJ, *)
-          The leading NSMP*L-by-NCOLJ part of this array contains
-          the Jacobian of the error function stored in a compressed
-          form, as described above, where
-          NCOLJ = NN*(L + 2) + 1 + N*(M + L + 1) + L*M.
-
-  LDJ     INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP*L).
-          Note that LDJ is an input parameter, except for
-          IPAR(1) &lt; 0 on entry, when it is an output parameter.
-
-  JTE     (output) DOUBLE PRECISION array, dimension (LPAR)
-          If CJTE = 'C', this array contains the matrix-vector
-          product J'*e.
-          If CJTE = 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
-                                    MAX( N*(N + L), N + M + L ) )
-                                                           if M &gt; 0;
-          LDWORK &gt;= 2*NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
-                                    MAX( N*(N + L), L ) ), if M = 0.
-          A larger value of LDWORK could improve the efficiency.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  BLAS routines are used for the matrix-vector multiplications, and
-  the SLICOT Library routine TB01VY is called for the conversion of
-  the output normal form parameters to an LTI-system; the routine
-  NF01AD is then used for the simulation of the system with given
-  parameters, and the routine NF01BY is called for the (analytically
-  performed) calculation of the parts referring to the parameters
-  of the static nonlinearity.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BP.html b/doc/_static/doc/NF01BP.html
deleted file mode 100644
index 9e90977a..00000000
--- a/doc/_static/doc/NF01BP.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BP">NF01BP</A></H2>
-<H3>
-Levenberg-Marquardt parameter for Wiener system identification
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a value for the Levenberg-Marquardt parameter PAR
-  such that if x solves the system
-
-        J*x = b ,     sqrt(PAR)*D*x = 0 ,
-
-  in the least squares sense, where J is an m-by-n matrix, D is an
-  n-by-n nonsingular diagonal matrix, and b is an m-vector, and if
-  DELTA is a positive number, DXNORM is the Euclidean norm of D*x,
-  then either PAR is zero and
-
-        ( DXNORM - DELTA ) .LE. 0.1*DELTA ,
-
-  or PAR is positive and
-
-        ABS( DXNORM - DELTA ) .LE. 0.1*DELTA .
-
-  The matrix J is the current Jacobian matrix of a nonlinear least
-  squares problem, provided in a compressed form by SLICOT Library
-  routine NF01BD. It is assumed that a block QR factorization, with
-  column pivoting, of J is available, that is, J*P = Q*R, where P is
-  a permutation matrix, Q has orthogonal columns, and R is an upper
-  triangular matrix with diagonal elements of nonincreasing
-  magnitude for each block, as returned by SLICOT Library
-  routine NF01BS. The routine NF01BP needs the upper triangle of R
-  in compressed form, the permutation matrix P, and the first
-  n components of Q'*b (' denotes the transpose). On output,
-  NF01BP also provides a compressed representation of an upper
-  triangular matrix S, such that
-
-        P'*(J'*J + PAR*D*D)*P = S'*S .
-
-  Matrix S is used in the solution process. The matrix R has the
-  following structure
-
-      /   R_1    0    ..   0   |   L_1   \
-      |    0    R_2   ..   0   |   L_2   |
-      |    :     :    ..   :   |    :    | ,
-      |    0     0    ..  R_l  |   L_l   |
-      \    0     0    ..   0   |  R_l+1  /
-
-  where the submatrices R_k, k = 1:l, have the same order BSN,
-  and R_k, k = 1:l+1, are square and upper triangular. This matrix
-  is stored in the compressed form
-
-           /   R_1  |   L_1   \
-           |   R_2  |   L_2   |
-    Rc =   |    :   |    :    | ,
-           |   R_l  |   L_l   |
-           \    X   |  R_l+1  /
-
-  where the submatrix X is irrelevant. The matrix S has the same
-  structure as R, and its diagonal blocks are denoted by S_k,
-  k = 1:l+1.
-
-  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BP( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
-     $                   DELTA, PAR, RANKS, X, RX, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, LIPAR, N
-      DOUBLE PRECISION  DELTA, PAR, TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*), RANKS(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), RX(*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the diagonal blocks R_k
-          and S_k of the matrices R and S should be estimated,
-          as follows:
-          = 'E' :  use incremental condition estimation for each
-                   diagonal block of R_k and S_k to find its
-                   numerical rank;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of R_k and S_k for zero values;
-          = 'U' :  use the ranks already stored in RANKS (for R).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
-          (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix R, as follows:
-          IPAR(1) must contain ST, the number of columns of the
-                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, l, in the
-                  block diagonal part of R.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  R_k, k = 1:l.  BSM &gt;= 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks R_k, k = 1:l.  BSN &gt;= 0.
-          BSM is not used by this routine, but assumed equal to BSN.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          On entry, the leading N-by-NC part of this array must
-          contain the (compressed) representation (Rc) of the upper
-          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
-          not referenced. The zero strict lower triangles of R_k,
-          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
-          the full upper triangle of R must be stored.
-          On exit, the full upper triangles of R_k, k = 1:l+1, and
-          L_k, k = 1:l, are unaltered, and the strict lower
-          triangles of R_k, k = 1:l+1, contain the corresponding
-          strict upper triangles (transposed) of the upper
-          triangular matrix S.
-          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
-          upper triangle of S is stored in the strict lower triangle
-          of R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.  DIAG(I) &lt;&gt; 0, I = 1,...,N.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  DELTA   (input) DOUBLE PRECISION
-          An upper bound on the Euclidean norm of D*x.  DELTA &gt; 0.
-
-  PAR     (input/output) DOUBLE PRECISION
-          On entry, PAR must contain an initial estimate of the
-          Levenberg-Marquardt parameter.  PAR &gt;= 0.
-          On exit, it contains the final estimate of this parameter.
-
-  RANKS   (input or output) INTEGER array, dimension (r), where
-          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
-          r = BN,      if ST = 0 and BSN &gt; 0;
-          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
-          r = 0,       if ST = 0 and BSN = 0.
-          On entry, if COND = 'U' and N &gt; 0, this array must contain
-          the numerical ranks of the submatrices R_k, k = 1:l(+1).
-          On exit, if N &gt; 0, this array contains the numerical ranks
-          of the submatrices S_k, k = 1:l(+1).
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system J*x = b, sqrt(PAR)*D*x = 0.
-
-  RX      (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the matrix-vector product -R*P'*x.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the submatrices R_k and S_k. If the user sets
-          TOL &gt; 0, then the given value of TOL is used as a lower
-          bound for the reciprocal condition number;  a (sub)matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S.
-          If BN &gt; 1 and BSN &gt; 0, the elements N+1 : N+ST*(N-ST)
-          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
-          matrix S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND =  'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
-                                      if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND =  'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The algorithm computes the Gauss-Newton direction. An approximate
-  basic least squares solution is found if the Jacobian is rank
-  deficient. The computations exploit the special structure and
-  storage scheme of the matrix R. If one or more of the submatrices
-  R_k or S_k, k = 1:l+1, is singular, then the computed result is
-  not the basic least squares solution for the whole problem, but a
-  concatenation of (least squares) solutions of the individual
-  subproblems involving R_k or S_k, k = 1:l+1 (with adapted right
-  hand sides).
-
-  If the Gauss-Newton direction is not acceptable, then an iterative
-  algorithm obtains improved lower and upper bounds for the
-  Levenberg-Marquardt parameter PAR. Only a few iterations are
-  generally needed for convergence of the algorithm. If, however,
-  the limit of ITMAX = 10 iterations is reached, then the output PAR
-  will contain the best value obtained so far. If the Gauss-Newton
-  step is acceptable, it is stored in x, and PAR is set to zero,
-  hence S = R.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N*(BSN+ST)) operations and is backward
-  stable, if R is nonsingular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a structure-exploiting, LAPACK-based modification
-  of LMPAR from the MINPACK package [1], and with optional condition
-  estimation. The option COND = 'U' is useful when dealing with
-  several right-hand side vectors, but RANKS array should be reset.
-  If COND = 'E', but the matrix S is guaranteed to be nonsingular
-  and well conditioned relative to TOL, i.e., rank(R) = N, and
-  min(DIAG) &gt; 0, then its condition is not estimated.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BQ.html b/doc/_static/doc/NF01BQ.html
deleted file mode 100644
index e176fd7b..00000000
--- a/doc/_static/doc/NF01BQ.html
+++ /dev/null
@@ -1,279 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BQ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BQ">NF01BQ</A></H2>
-<H3>
-Solving the linear system J x = b, D x = 0, D diagonal, for Wiener system identification
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine a vector x which solves the system of linear
-  equations
-
-        J*x = b ,     D*x = 0 ,
-
-  in the least squares sense, where J is an m-by-n matrix,
-  D is an n-by-n diagonal matrix, and b is an m-vector. The matrix J
-  is the current Jacobian of a nonlinear least squares problem,
-  provided in a compressed form by SLICOT Library routine NF01BD.
-  It is assumed that a block QR factorization, with column pivoting,
-  of J is available, that is, J*P = Q*R, where P is a permutation
-  matrix, Q has orthogonal columns, and R is an upper triangular
-  matrix with diagonal elements of nonincreasing magnitude for each
-  block, as returned by SLICOT Library routine NF01BS. The routine
-  NF01BQ needs the upper triangle of R in compressed form, the
-  permutation matrix P, and the first n components of Q'*b
-  (' denotes the transpose). The system J*x = b, D*x = 0, is then
-  equivalent to
-
-        R*z = Q'*b ,  P'*D*P*z = 0 ,                             (1)
-
-  where x = P*z. If this system does not have full rank, then an
-  approximate least squares solution is obtained (see METHOD).
-  On output, NF01BQ also provides an upper triangular matrix S
-  such that
-
-        P'*(J'*J + D*D)*P = S'*S .
-
-  The system (1) is equivalent to S*z = c , where c contains the
-  first n components of the vector obtained by applying to
-  [ (Q'*b)'  0 ]' the transformations which triangularized
-  [ R'  P'*D*P ]', getting S.
-
-  The matrix R has the following structure
-
-      /   R_1    0    ..   0   |   L_1   \
-      |    0    R_2   ..   0   |   L_2   |
-      |    :     :    ..   :   |    :    | ,
-      |    0     0    ..  R_l  |   L_l   |
-      \    0     0    ..   0   |  R_l+1  /
-
-  where the submatrices R_k, k = 1:l, have the same order BSN,
-  and R_k, k = 1:l+1, are square and upper triangular. This matrix
-  is stored in the compressed form
-
-           /   R_1  |   L_1   \
-           |   R_2  |   L_2   |
-    Rc =   |    :   |    :    | ,
-           |   R_l  |   L_l   |
-           \    X   |  R_l+1  /
-
-  where the submatrix X is irrelevant. The matrix S has the same
-  structure as R, and its diagonal blocks are denoted by S_k,
-  k = 1:l+1.
-
-  If l &lt;= 1, then the full upper triangle of the matrix R is stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BQ( COND, N, IPAR, LIPAR, R, LDR, IPVT, DIAG, QTB,
-     $                   RANKS, X, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND
-      INTEGER           INFO, LDR, LDWORK, LIPAR, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*), RANKS(*)
-      DOUBLE PRECISION  DIAG(*), DWORK(*), QTB(*), R(LDR,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of the matrices S_k should
-          be estimated, as follows:
-          = 'E' :  use incremental condition estimation and store
-                   the numerical rank of S_k in the array entry
-                   RANKS(k), for k = 1:l+1;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of S_k for zero values;
-          = 'U' :  use the ranks already stored in RANKS(1:l+1).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
-          (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix R, as follows:
-          IPAR(1) must contain ST, the number of columns of the
-                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, l, in the
-                  block diagonal part of R.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  R_k, k = 1:l.  BSM &gt;= 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks R_k, k = 1:l.  BSN &gt;= 0.
-          BSM is not used by this routine, but assumed equal to BSN.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          On entry, the leading N-by-NC part of this array must
-          contain the (compressed) representation (Rc) of the upper
-          triangular matrix R. If BN &gt; 1, the submatrix X in Rc is
-          not referenced. The zero strict lower triangles of R_k,
-          k = 1:l+1, need not be set. If BN &lt;= 1 or BSN = 0, then
-          the full upper triangle of R must be stored.
-          On exit, the full upper triangles of R_k, k = 1:l+1, and
-          L_k, k = 1:l, are unaltered, and the strict lower
-          triangles of R_k, k = 1:l+1, contain the corresponding
-          strict upper triangles (transposed) of the upper
-          triangular matrix S.
-          If BN &lt;= 1 or BSN = 0, then the transpose of the strict
-          upper triangle of S is stored in the strict lower triangle
-          of R.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-  IPVT    (input) INTEGER array, dimension (N)
-          This array must define the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-  DIAG    (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the diagonal elements of the
-          matrix D.
-
-  QTB     (input) DOUBLE PRECISION array, dimension (N)
-          This array must contain the first n elements of the
-          vector Q'*b.
-
-  RANKS   (input or output) INTEGER array, dimension (r), where
-          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
-          r = BN,      if ST = 0 and BSN &gt; 0;
-          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
-          r = 0,       if ST = 0 and BSN = 0.
-          On entry, if COND = 'U' and N &gt; 0, this array must contain
-          the numerical ranks of the submatrices S_k, k = 1:l(+1).
-          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
-          contains the numerical ranks of the submatrices S_k,
-          k = 1:l(+1), estimated according to the value of COND.
-
-  X       (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the least squares solution of the
-          system J*x = b, D*x = 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the submatrices S_k. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          the reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank.  If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, the first N elements of this array contain the
-          diagonal elements of the upper triangular matrix S, and
-          the next N elements contain the solution z.
-          If BN &gt; 1 and BSN &gt; 0, the elements 2*N+1 : 2*N+ST*(N-ST)
-          contain the submatrix (S(1:N-ST,N-ST+1:N))' of the
-          matrix S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= 4*N,              if BN &lt;= 1 or  BSN = 0 and
-                                                     COND =  'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N,  if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND &lt;&gt; 'E';
-          LDWORK &gt;= ST*(N-ST) + 2*N + 2*MAX(BSN,ST),
-                                      if BN &gt;  1 and BSN &gt; 0 and
-                                                     COND = 'E'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Standard plane rotations are used to annihilate the elements of
-  the diagonal matrix D, updating the upper triangular matrix R
-  and the first n elements of the vector Q'*b. A basic least squares
-  solution is computed. The computations exploit the special
-  structure and storage scheme of the matrix R. If one or more of
-  the submatrices S_k, k = 1:l+1, is singular, then the computed
-  result is not the basic least squares solution for the whole
-  problem, but a concatenation of (least squares) solutions of the
-  individual subproblems involving R_k, k = 1:l+1 (with adapted
-  right hand sides).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] More, J.J., Garbow, B.S, and Hillstrom, K.E.
-      User's Guide for MINPACK-1.
-      Applied Math. Division, Argonne National Laboratory, Argonne,
-      Illinois, Report ANL-80-74, 1980.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N*(BSN+ST)) operations and is backward
-  stable, if R is nonsingular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a structure-exploiting, LAPACK-based modification
-  of QRSOLV from the MINPACK package [1], and with optional
-  condition estimation.
-  The option COND = 'U' is useful when dealing with several
-  right-hand side vectors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BR.html b/doc/_static/doc/NF01BR.html
deleted file mode 100644
index 888683ce..00000000
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+++ /dev/null
@@ -1,267 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BR">NF01BR</A></H2>
-<H3>
-Solving linear systems R x = b, or R' x = b, in the least squares sense
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve one of the systems of linear equations
-
-        R*x = b ,  or  R'*x = b ,
-
-  in the least squares sense, where R is an n-by-n block upper
-  triangular matrix, with the structure
-
-      /   R_1    0    ..   0   |   L_1   \
-      |    0    R_2   ..   0   |   L_2   |
-      |    :     :    ..   :   |    :    | ,
-      |    0     0    ..  R_l  |   L_l   |
-      \    0     0    ..   0   |  R_l+1  /
-
-  with the upper triangular submatrices R_k, k = 1:l+1, square, and
-  the first l of the same order, BSN. The diagonal elements of each
-  block R_k have nonincreasing magnitude. The matrix R is stored in
-  the compressed form, as returned by SLICOT Library routine NF01BS,
-
-           /   R_1  |   L_1   \
-           |   R_2  |   L_2   |
-    Rc =   |    :   |    :    | ,
-           |   R_l  |   L_l   |
-           \    X   |  R_l+1  /
-
-  where the submatrix X is irrelevant. If the matrix R does not have
-  full rank, then a least squares solution is obtained. If l &lt;= 1,
-  then R is an upper triangular matrix and its full upper triangle
-  is stored.
-
-  Optionally, the transpose of the matrix R can be stored in the
-  strict lower triangles of the submatrices R_k, k = 1:l+1, and in
-  the arrays SDIAG and S, as described at the parameter UPLO below.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BR( COND, UPLO, TRANS, N, IPAR, LIPAR, R, LDR,
-     $                   SDIAG, S, LDS, B, RANKS, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COND, TRANS, UPLO
-      INTEGER           INFO, LDR, LDS, LDWORK, LIPAR, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), RANKS(*)
-      DOUBLE PRECISION  B(*), DWORK(*), R(LDR,*), S(LDS,*), SDIAG(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COND    CHARACTER*1
-          Specifies whether the condition of submatrices R_k should
-          be estimated, as follows:
-          = 'E' :  use incremental condition estimation and store
-                   the numerical rank of R_k in the array entry
-                   RANKS(k), for k = 1:l+1;
-          = 'N' :  do not use condition estimation, but check the
-                   diagonal entries of R_k for zero values;
-          = 'U' :  use the ranks already stored in RANKS(1:l+1).
-
-  UPLO    CHARACTER*1
-          Specifies the storage scheme for the matrix R, as follows:
-          = 'U' :  the upper triangular part is stored as in Rc;
-          = 'L' :  the lower triangular part is stored, namely,
-                   - the transpose of the strict upper triangle of
-                     R_k is stored in the strict lower triangle of
-                     R_k, for k = 1:l+1;
-                   - the diagonal elements of R_k, k = 1:l+1, are
-                     stored in the array SDIAG;
-                   - the transpose of the last block column in R
-                     (without R_l+1) is stored in the array S.
-
-  TRANS   CHARACTER*1
-          Specifies the form of the system of equations, as follows:
-          = 'N':  R*x  = b  (No transpose);
-          = 'T':  R'*x = b  (Transpose);
-          = 'C':  R'*x = b  (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix R.  N = BN*BSN + ST &gt;= 0.
-          (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix R, as follows:
-          IPAR(1) must contain ST, the number of columns of the
-                  submatrices L_k and the order of R_l+1.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, l, in the
-                  block diagonal part of R.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  R_k, k = 1:l.  BSM &gt;= 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks R_k, k = 1:l.  BSN &gt;= 0.
-          BSM is not used by this routine, but assumed equal to BSN.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          If UPLO = 'U', the leading N-by-NC part of this array must
-          contain the (compressed) representation (Rc) of the upper
-          triangular matrix R. The submatrix X in Rc and the strict
-          lower triangular parts of the diagonal blocks R_k,
-          k = 1:l+1, are not referenced. If BN &lt;= 1 or BSN = 0, then
-          the full upper triangle of R must be stored.
-          If UPLO = 'L', BN &gt; 1 and BSN &gt; 0, the leading
-          (N-ST)-by-BSN part of this array must contain the
-          transposes of the strict upper triangles of R_k, k = 1:l,
-          stored in the strict lower triangles of R_k, and the
-          strict lower triangle of R_l+1 must contain the transpose
-          of the strict upper triangle of R_l+1. The submatrix X
-          in Rc is not referenced. The diagonal elements of R_k,
-          and, if COND = 'E', the upper triangular parts of R_k,
-          k = 1:l+1, are modified internally, but are restored
-          on exit.
-          If UPLO = 'L' and BN &lt;= 1 or BSN = 0, the leading N-by-N
-          strict lower triangular part of this array must contain
-          the transpose of the strict upper triangular part of R.
-          The diagonal elements and, if COND = 'E', the upper
-          triangular elements are modified internally, but are
-          restored on exit.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-  SDIAG   (input) DOUBLE PRECISION array, dimension (N)
-          If UPLO = 'L', this array must contain the diagonal
-          entries of R_k, k = 1:l+1. This array is modified
-          internally, but is restored on exit.
-          This parameter is not referenced if UPLO = 'U'.
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,N-ST)
-          If UPLO = 'L', BN &gt; 1, and BSN &gt; 0, the leading
-          ST-by-(N-ST) part of this array must contain the transpose
-          of the rectangular part of the last block column in R,
-          that is [ L_1' L_2' ... L_l' ] . If COND = 'E', S is
-          modified internally, but is restored on exit.
-          This parameter is not referenced if UPLO = 'U', or
-          BN &lt;= 1, or BSN = 0.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= 1,         if UPLO = 'U', or BN &lt;= 1, or BSN = 0;
-          LDS &gt;= MAX(1,ST), if UPLO = 'L', BN &gt; 1, and BSN &gt; 0.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the right hand side
-          vector b.
-          On exit, this array contains the (least squares) solution
-          of the system R*x = b or R'*x = b.
-
-  RANKS   (input or output) INTEGER array, dimension (r), where
-          r = BN + 1,  if ST &gt; 0, BSN &gt; 0, and BN &gt; 1;
-          r = BN,      if ST = 0 and BSN &gt; 0;
-          r = 1,       if ST &gt; 0 and ( BSN = 0 or BN &lt;= 1 );
-          r = 0,       if ST = 0 and BSN = 0.
-          On entry, if COND = 'U' and N &gt; 0, this array must contain
-          the numerical ranks of the submatrices R_k, k = 1:l(+1).
-          On exit, if COND = 'E' or 'N' and N &gt; 0, this array
-          contains the numerical ranks of the submatrices R_k,
-          k = 1:l(+1), estimated according to the value of COND.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If COND = 'E', the tolerance to be used for finding the
-          ranks of the submatrices R_k. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          the reciprocal condition number;  a (sub)matrix whose
-          estimated condition number is less than 1/TOL is
-          considered to be of full rank. If the user sets TOL &lt;= 0,
-          then an implicitly computed, default tolerance, defined by
-          TOLDEF = N*EPS,  is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not relevant if COND = 'U' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          Denote Full = ( BN &lt;= 1 or  BSN = 0 );
-                 Comp = ( BN &gt;  1 and BSN &gt; 0 ).
-          LDWORK &gt;= 2*N,           if Full and COND = 'E';
-          LDWORK &gt;= 2*MAX(BSN,ST), if Comp and COND = 'E';
-          LDWORK &gt;= 0,   in the remaining cases.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Block back or forward substitution is used (depending on TRANS
-  and UPLO), exploiting the special structure and storage scheme of
-  the matrix R. If a submatrix R_k, k = 1:l+1, is singular, a local
-  basic least squares solution is computed. Therefore, the returned
-  result is not the basic least squares solution for the whole
-  problem, but a concatenation of (least squares) solutions of the
-  individual subproblems involving R_k, k = 1:l+1 (with adapted
-  right hand sides).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                 2    2
-  The algorithm requires 0(BN*BSN + ST + N*ST) operations and is
-  backward stable, if R is nonsingular.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BS.html b/doc/_static/doc/NF01BS.html
deleted file mode 100644
index b0be7fac..00000000
--- a/doc/_static/doc/NF01BS.html
+++ /dev/null
@@ -1,232 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BS">NF01BS</A></H2>
-<H3>
-QR factorization with column pivoting for Wiener system identification
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the QR factorization of the Jacobian matrix J, as
-  received in compressed form from SLICOT Library routine NF01BD,
-
-         /  dy(1)/dwb(1)  |  dy(1)/ dtheta  \
-    Jc = |       :        |       :         | ,
-         \  dy(L)/dwb(L)  |  dy(L)/ dtheta  /
-
-  and to apply the transformation Q on the error vector e (in-situ).
-  The factorization is J*P = Q*R, where Q is a matrix with
-  orthogonal columns, P a permutation matrix, and R an upper
-  trapezoidal matrix with diagonal elements of nonincreasing
-  magnitude for each block column (see below). The 1-norm of the
-  scaled gradient is also returned.
-
-  Actually, the Jacobian J has the block form
-
-    dy(1)/dwb(1)       0         .....       0        dy(1)/dtheta
-         0        dy(2)/dwb(2)   .....       0        dy(2)/dtheta
-       .....         .....       .....     .....         .....
-         0           .....         0    dy(L)/dwb(L)  dy(L)/dtheta
-
-  but the zero blocks are omitted. The diagonal blocks have the
-  same size and correspond to the nonlinear part. The last block
-  column corresponds to the linear part. It is assumed that the
-  Jacobian matrix has at least as many rows as columns. The linear
-  or nonlinear parts can be empty. If L &lt;= 1, the Jacobian is
-  represented as a full matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BS( N, IPAR, LIPAR, FNORM, J, LDJ, E, JNORMS,
-     $                   GNORM, IPVT, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDJ, LDWORK, LIPAR, N
-      DOUBLE PRECISION  FNORM, GNORM
-C     .. Array Arguments ..
-      INTEGER           IPAR(*), IPVT(*)
-      DOUBLE PRECISION  DWORK(*), E(*), J(*), JNORMS(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.
-          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain ST, the number of parameters
-                  corresponding to the linear part.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, BN = L,
-                  for the parameters corresponding to the nonlinear
-                  part.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
-                  number of rows of the matrix J, if BN &lt;= 1.
-                  BN*BSM &gt;= N, if BN &gt; 0;
-                  BSM &gt;= N,    if BN = 0.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  FNORM   (input) DOUBLE PRECISION
-          The Euclidean norm of the vector e.  FNORM &gt;= 0.
-
-  J       (input/output) DOUBLE PRECISION array, dimension (LDJ, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          On entry, the leading NR-by-NC part of this array must
-          contain the (compressed) representation (Jc) of the
-          Jacobian matrix J, where NR = BSM if BN &lt;= 1, and
-          NR = BN*BSM, if BN &gt; 1.
-          On exit, the leading N-by-NC part of this array contains
-          a (compressed) representation of the upper triangular
-          factor R of the Jacobian matrix. The matrix R has the same
-          structure as the Jacobian matrix J, but with an additional
-          diagonal block. Note that for efficiency of the later
-          calculations, the matrix R is delivered with the leading
-          dimension MAX(1,N), possibly much smaller than the value
-          of LDJ on entry.
-
-  LDJ     (input/output) INTEGER
-          The leading dimension of array J.
-          On entry, LDJ &gt;= MAX(1,NR).
-          On exit,  LDJ &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (NR)
-          On entry, this array contains the vector e,
-          e = vec( Y - y ), where Y is set of output samples, and
-          vec denotes the concatenation of the columns of a matrix.
-          On exit, this array contains the updated vector Z*Q'*e,
-          where Z is the block row permutation matrix used in the
-          QR factorization of J (see METHOD).
-
-  JNORMS  (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the Euclidean norms of the columns
-          of the Jacobian matrix, considered in the initial order.
-
-  GNORM   (output) DOUBLE PRECISION
-          If FNORM &gt; 0, the 1-norm of the scaled vector J'*e/FNORM,
-          with each element i further divided by JNORMS(i) (if
-          JNORMS(i) is nonzero).
-          If FNORM = 0, the returned value of GNORM is 0.
-
-  IPVT    (output) INTEGER array, dimension (N)
-          This array defines the permutation matrix P such that
-          J*P = Q*R. Column j of P is column IPVT(j) of the identity
-          matrix.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1,      if N = 0 or BN &lt;= 1 and BSM = N = 1;
-                            otherwise,
-          LDWORK &gt;= 4*N+1,  if BN &lt;= 1 or  BSN = 0;
-          LDWORK &gt;= JWORK,  if BN &gt;  1 and BSN &gt; 0, where JWORK is
-                            given by the following procedure:
-           JWORK  = BSN + MAX(3*BSN+1,ST);
-           JWORK  = MAX(JWORK,4*ST+1),         if BSM &gt; BSN;
-           JWORK  = MAX(JWORK,(BSM-BSN)*(BN-1)),
-                                               if BSN &lt; BSM &lt; 2*BSN.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A QR factorization with column pivoting of the matrix J is
-  computed, J*P = Q*R.
-
-  If l = L &gt; 1, the R factor of the QR factorization has the same
-  structure as the Jacobian, but with an additional diagonal block.
-  Denote
-
-      /   J_1    0    ..   0   |  L_1  \
-      |    0    J_2   ..   0   |  L_2  |
-  J = |    :     :    ..   :   |   :   | .
-      |    :     :    ..   :   |   :   |
-      \    0     0    ..  J_l  |  L_l  /
-
-  The algorithm consists in two phases. In the first phase, the
-  algorithm uses QR factorizations with column pivoting for each
-  block J_k, k = 1:l, and applies the orthogonal matrix Q'_k to the
-  corresponding part of the last block column and of e. After all
-  block rows have been processed, the block rows are interchanged
-  so that the zeroed submatrices in the first l block columns are
-  moved to the bottom part. The same block row permutation Z is
-  also applied to the vector e. At the end of the first phase,
-  the structure of the processed matrix J is
-
-      /   R_1    0    ..   0   |  L^1_1  \
-      |    0    R_2   ..   0   |  L^1_2  |
-      |    :     :    ..   :   |    :    | .
-      |    :     :    ..   :   |    :    |
-      |    0     0    ..  R_l  |  L^1_l  |
-      |    0     0    ..   0   |  L^2_1  |
-      |    :     :    ..   :   |    :    |
-      \    0     0    ..   0   |  L^2_l  /
-
-  In the second phase, the submatrix L^2_1:l is triangularized
-  using an additional QR factorization with pivoting. (The columns
-  of L^1_1:l are also permuted accordingly.) Therefore, the column
-  pivoting is restricted to each such local block column.
-
-  If l &lt;= 1, the matrix J is triangularized in one phase, by one
-  QR factorization with pivoting. In this case, the column
-  pivoting is global.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BU.html b/doc/_static/doc/NF01BU.html
deleted file mode 100644
index 4951337b..00000000
--- a/doc/_static/doc/NF01BU.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BU">NF01BU</A></H2>
-<H3>
-Computation of the matrix J' J + c I, for the Jacobian J given in a compressed form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix J'*J + c*I, for the Jacobian J as received
-  from SLICOT Library routine NF01BD:
-
-       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
-  Jc = |       :        |       :        | .
-       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
-
-  This is a compressed representation of the actual structure
-
-      /   J_1    0    ..   0   |  L_1  \
-      |    0    J_2   ..   0   |  L_2  |
-  J = |    :     :    ..   :   |   :   | .
-      |    :     :    ..   :   |   :   |
-      \    0     0    ..  J_L  |  L_L  /
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BU( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
-     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOR, UPLO
-      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STOR    CHARACTER*1
-          Specifies the storage scheme for the symmetric
-          matrix J'*J + c*I, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix J'*J + c*I is stored,
-          as follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix J'*J + c*I.
-          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain ST, the number of parameters
-                  corresponding to the linear part.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, BN = L,
-                  for the parameters corresponding to the nonlinear
-                  part.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
-                  number of rows of the matrix J, if BN &lt;= 1.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          The leading NR-by-NC part of this array must contain
-          the (compressed) representation (Jc) of the Jacobian
-          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
-          if BN &gt; 1.
-
-  LDJ     (input) INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
-
-  JTJ     (output) DOUBLE PRECISION array,
-                   dimension (LDJTJ,N),    if STOR = 'F',
-                   dimension (N*(N+1)/2),  if STOR = 'P'.
-          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
-          STOR = 'P') part of this array contains the upper or
-          lower triangle of the matrix J'*J + c*I, depending on
-          UPLO = 'U', or UPLO = 'L', respectively, stored either as
-          a two-dimensional, or one-dimensional array, depending
-          on STOR.
-
-  LDJTJ   INTEGER
-          The leading dimension of the array JTJ.
-          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
-          LDJTJ &gt;= 1,        if STOR = 'P'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          Currently, this array is not used.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product is computed columnn-wise, exploiting the
-  symmetry. BLAS 3 routines DGEMM and DSYRK are used if STOR = 'F',
-  and BLAS 2 routine DGEMV is used if STOR = 'P'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BV.html b/doc/_static/doc/NF01BV.html
deleted file mode 100644
index 16ca68cf..00000000
--- a/doc/_static/doc/NF01BV.html
+++ /dev/null
@@ -1,150 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BV">NF01BV</A></H2>
-<H3>
-Computation of the matrix J' J + c I, for a full Jacobian J (one output variable)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix J'*J + c*I, for the Jacobian J as received
-  from SLICOT Library routine NF01BY, for one output variable.
-
-  NOTE: this routine must have the same arguments as SLICOT Library
-  routine NF01BU.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BV( STOR, UPLO, N, IPAR, LIPAR, DPAR, LDPAR, J,
-     $                   LDJ, JTJ, LDJTJ, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         STOR, UPLO
-      INTEGER           INFO, LDJ, LDJTJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), JTJ(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  STOR    CHARACTER*1
-          Specifies the storage scheme for the symmetric
-          matrix J'*J + c*I, as follows:
-          = 'F' :  full storage is used;
-          = 'P' :  packed storage is used.
-
-  UPLO    CHARACTER*1
-          Specifies which part of the matrix J'*J + c*I is stored,
-          as follows:
-          = 'U' :  the upper triagular part is stored;
-          = 'L' :  the lower triagular part is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.  N &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain the number of rows M of the Jacobian
-                  matrix J.  M &gt;= 0.
-          IPAR is provided for compatibility with SLICOT Library
-          routine MD03AD.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 1.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
-          The leading M-by-N part of this array must contain the
-          Jacobian matrix J.
-
-  LDJ     INTEGER
-          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
-
-  JTJ     (output) DOUBLE PRECISION array,
-                   dimension (LDJTJ,N),    if STOR = 'F',
-                   dimension (N*(N+1)/2),  if STOR = 'P'.
-          The leading N-by-N (if STOR = 'F'), or N*(N+1)/2 (if
-          STOR = 'P') part of this array contains the upper or
-          lower triangle of the matrix J'*J + c*I, depending on
-          UPLO = 'U', or UPLO = 'L', respectively, stored either as
-          a two-dimensional, or one-dimensional array, depending
-          on STOR.
-
-  LDJTJ   INTEGER
-          The leading dimension of the array JTJ.
-          LDJTJ &gt;= MAX(1,N), if STOR = 'F'.
-          LDJTJ &gt;= 1,        if STOR = 'P'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          Currently, this array is not used.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix product is computed columnn-wise, exploiting the
-  symmetry. BLAS 3 routine DSYRK is used if STOR = 'F', and BLAS 2
-  routine DGEMV is used if STOR = 'P'.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BW.html b/doc/_static/doc/NF01BW.html
deleted file mode 100644
index 5f1971aa..00000000
--- a/doc/_static/doc/NF01BW.html
+++ /dev/null
@@ -1,147 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BW">NF01BW</A></H2>
-<H3>
-Matrix-vector product x <-- (J' J + c I) x, for J in a compressed form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrix-vector product x &lt;-- (J'*J + c*I)*x, for the
-  Jacobian J as received from SLICOT Library routine NF01BD:
-
-       /  dy(1)/dwb(1)  |  dy(1)/dtheta  \
-  Jc = |       :        |       :        | .
-       \  dy(L)/dwb(L)  |  dy(L)/dtheta  /
-
-  This is a compressed representation of the actual structure
-
-      /   J_1    0    ..   0   |  L_1  \
-      |    0    J_2   ..   0   |  L_2  |
-  J = |    :     :    ..   :   |   :   | .
-      |    :     :    ..   :   |   :   |
-      \    0     0    ..  J_L  |  L_L  /
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BW( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the vector x.
-          N = BN*BSN + ST &gt;= 0.  (See parameter description below.)
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain ST, the number of parameters
-                  corresponding to the linear part.  ST &gt;= 0.
-          IPAR(2) must contain BN, the number of blocks, BN = L,
-                  for the parameters corresponding to the nonlinear
-                  part.  BN &gt;= 0.
-          IPAR(3) must contain BSM, the number of rows of the blocks
-                  J_k = dy(k)/dwb(k), k = 1:BN, if BN &gt; 0, or the
-                  number of rows of the matrix J, if BN &lt;= 1.
-          IPAR(4) must contain BSN, the number of columns of the
-                  blocks J_k, k = 1:BN.  BSN &gt;= 0.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 4.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ, NC)
-          where NC = N if BN &lt;= 1, and NC = BSN+ST, if BN &gt; 1.
-          The leading NR-by-NC part of this array must contain
-          the (compressed) representation (Jc) of the Jacobian
-          matrix J, where NR = BSM if BN &lt;= 1, and NR = BN*BSM,
-          if BN &gt; 1.
-
-  LDJ     (input) INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NR).
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          (1+(N-1)*INCX)
-          On entry, this incremented array must contain the
-          vector x.
-          On exit, this incremented array contains the value of the
-          matrix-vector product (J'*J + c*I)*x.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X.  INCX &gt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= NR.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The associativity of matrix multiplications is used; the result
-  is obtained as:  x_out = J'*( J*x ) + c*x.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BX.html b/doc/_static/doc/NF01BX.html
deleted file mode 100644
index 61ff9d5a..00000000
--- a/doc/_static/doc/NF01BX.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BX">NF01BX</A></H2>
-<H3>
-Matrix-vector product x <-- (A' A + c I) x, for a full matrix A
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute (J'*J + c*I)*x, where J is an m-by-n real matrix, c is
-  a real scalar, I is the n-by-n identity matrix, and x is a real
-  n-vector.
-
-  NOTE: this routine must have the same arguments as SLICOT Library
-  routine NF01BW.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BX( N, IPAR, LIPAR, DPAR, LDPAR, J, LDJ, X, INCX,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INCX, INFO, LDJ, LDPAR, LDWORK, LIPAR, N
-C     .. Array Arguments ..
-      INTEGER           IPAR(*)
-      DOUBLE PRECISION  DPAR(*), DWORK(*), J(LDJ,*), X(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of columns of the Jacobian matrix J.  N &gt;= 0.
-
-  IPAR    (input) INTEGER array, dimension (LIPAR)
-          The integer parameters describing the structure of the
-          matrix J, as follows:
-          IPAR(1) must contain the number of rows M of the Jacobian
-                  matrix J.  M &gt;= 0.
-          IPAR is provided for compatibility with SLICOT Library
-          routine MD03AD.
-
-  LIPAR   (input) INTEGER
-          The length of the array IPAR.  LIPAR &gt;= 1.
-
-  DPAR    (input) DOUBLE PRECISION array, dimension (LDPAR)
-          The real parameters needed for solving the problem.
-          The entry DPAR(1) must contain the real scalar c.
-
-  LDPAR   (input) INTEGER
-          The length of the array DPAR.  LDPAR &gt;= 1.
-
-  J       (input) DOUBLE PRECISION array, dimension (LDJ,N)
-          The leading M-by-N part of this array must contain the
-          Jacobian matrix J.
-
-  LDJ     INTEGER
-          The leading dimension of the array J.  LDJ &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension
-          (1+(N-1)*abs(INCX))
-          On entry, this incremented array must contain the
-          vector x.
-          On exit, this incremented array contains the value of the
-          matrix-vector product (J'*J + c*I)*x.
-
-  INCX    (input) INTEGER
-          The increment for the elements of X.  INCX &lt;&gt; 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= M.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The associativity of matrix multiplications is used; the result
-  is obtained as:  x_out = J'*( J*x ) + c*x.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/NF01BY.html b/doc/_static/doc/NF01BY.html
deleted file mode 100644
index 0fcb68ed..00000000
--- a/doc/_static/doc/NF01BY.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>NF01BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="NF01BY">NF01BY</A></H2>
-<H3>
-Computing the Jacobian of the error function for a neural network (one output variable)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Jacobian of the error function for a neural network
-  of the structure
-
-          - tanh(w1*z+b1) -
-        /      :            \
-      z ---    :          --- sum(ws(i)*...)+ b(n+1)  --- y,
-        \      :            /
-          - tanh(wn*z+bn) -
-
-  for the single-output case. The Jacobian has the form
-
-             d e(1)  / d WB(1)   ...    d e(1)  / d WB(NWB)
-      J =            :                          :           ,
-           d e(NSMP) / d WB(1)   ...  d e(NSMP) / d WB(NWB)
-
-  where e(z) is the error function, WB is the set of weights and
-  biases of the network (for the considered output), and NWB is
-  the number of elements of this set, NWB = IPAR(1)*(NZ+2)+1
-  (see below).
-
-  In the multi-output case, this routine should be called for each
-  output.
-
-  NOTE: this routine must have the same arguments as SLICOT Library
-  routine NF01BD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE NF01BY( CJTE, NSMP, NZ, L, IPAR, LIPAR, WB, LWB, Z,
-     $                   LDZ, E, J, LDJ, JTE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CJTE
-      INTEGER           INFO, L, LDJ, LDWORK, LDZ, LIPAR, LWB, NSMP, NZ
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(*), J(LDJ,*), JTE(*), WB(*),
-     $                  Z(LDZ,*)
-      INTEGER           IPAR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  CJTE    CHARACTER*1
-          Specifies whether the matrix-vector product J'*e should be
-          computed or not, as follows:
-          = 'C' :  compute J'*e;
-          = 'N' :  do not compute J'*e.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NSMP    (input) INTEGER
-          The number of training samples.  NSMP &gt;= 0.
-
-  NZ      (input) INTEGER
-          The length of each input sample.  NZ &gt;= 0.
-
-  L       (input) INTEGER
-          The length of each output sample.
-          Currently, L must be 1.
-
-  IPAR    (input/output) INTEGER array, dimension (LIPAR)
-          The integer parameters needed.
-          On entry, the first element of this array must contain
-          a value related to the number of neurons, n; specifically,
-          n = abs(IPAR(1)), since setting IPAR(1) &lt; 0 has a special
-          meaning (see below).
-          On exit, if IPAR(1) &lt; 0 on entry, then no computations are
-          performed, except the needed tests on input parameters,
-          but the following values are returned:
-          IPAR(1) contains the length of the array J, LJ;
-          LDJ     contains the leading dimension of array J.
-          Otherwise, IPAR(1) and LDJ are unchanged on exit.
-
-  LIPAR   (input) INTEGER
-          The length of the vector IPAR.  LIPAR &gt;= 1.
-
-  WB      (input) DOUBLE PRECISION array, dimension (LWB)
-          The leading NWB = IPAR(1)*(NZ+2)+1 part of this array
-          must contain the weights and biases of the network,
-          WB = ( w(1,1), ..., w(1,NZ), ..., w(n,1), ...,  w(n,NZ),
-                 ws(1), ..., ws(n), b(1), ..., b(n+1) ),
-          where w(i,j) are the weights of the hidden layer,
-          ws(i) are the weights of the linear output layer and
-          b(i) are the biases.
-
-  LWB     (input) INTEGER
-          The length of array WB.  LWB &gt;= NWB.
-
-  Z       (input) DOUBLE PRECISION array, dimension (LDZ, NZ)
-          The leading NSMP-by-NZ part of this array must contain the
-          set of input samples,
-          Z = ( Z(1,1),...,Z(1,NZ); ...; Z(NSMP,1),...,Z(NSMP,NZ) ).
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,NSMP).
-
-  E       (input) DOUBLE PRECISION array, dimension (NSMP)
-          If CJTE = 'C', this array must contain the error vector e.
-          If CJTE = 'N', this array is not referenced.
-
-  J       (output) DOUBLE PRECISION array, dimension (LDJ, NWB)
-          The leading NSMP-by-NWB part of this array contains the
-          Jacobian of the error function.
-
-  LDJ     INTEGER
-          The leading dimension of array J.  LDJ &gt;= MAX(1,NSMP).
-          Note that LDJ is an input parameter, except for
-          IPAR(1) &lt; 0 on entry, when it is an output parameter.
-
-  JTE     (output) DOUBLE PRECISION array, dimension (NWB)
-          If CJTE = 'C', this array contains the matrix-vector
-          product J'*e.
-          If CJTE = 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This argument is included for combatibility with SLICOT
-          Library routine NF01BD.
-
-  LDWORK  INTEGER
-          Normally, the length of the array DWORK.  LDWORK &gt;= 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Jacobian is computed analytically.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/ODESolver.html b/doc/_static/doc/ODESolver.html
deleted file mode 100644
index 096e593b..00000000
--- a/doc/_static/doc/ODESolver.html
+++ /dev/null
@@ -1,991 +0,0 @@
-<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
-<html>
-<head>
-   <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
-   <meta name="GENERATOR" content="Mozilla/4.72 [en] (Windows NT 5.0; I) [Netscape]">
-   <title>ODESolver - SLICOT Library Routine Documentation</title>
-</head>
-<body>
-
-<h2>
-<a NAME="ODESolver"></a>ODESolver</h2>
-
-<h3>
-Solver for Ordinary Differential Equations (driver)</h3>
-<b><a href="#Specification">[Specification]</a><a href="#Arguments">[Arguments]</a><a href="#Method">[Method]</a><a href="#References">[References]</a><a href="#Comments">[Comments]</a><a href="#Example">[Example]</a></b>
-<p><b><font size=+1>Purpose</font></b>
-<pre>&nbsp; Interface for using a common entry point, DSblock compatible for
-&nbsp; defining Differential Algebraic Equations using several packages.
-
-
-&nbsp; The equations follow the form:
-
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; dx/dt = f(x(t), (t), p, t)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; y(t) = g(x(t), (t), p, t)
-
-&nbsp; The user must define only the subroutines ODEDER and ODEOUT and
-&nbsp; the Jacobians (JACFX, JACFU, JACFP) if used, and the interface&nbsp;
-&nbsp; adapts the structure to fit all the codes</pre>
-<a NAME="Specification"></a><b><font size=+1>Specification</font></b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODESolver(ISOLVER, CODEDER_, CODEOUT_, CJACFX_,&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CJACFU_, CJACFP_,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NX, NY, NU, TINI, TOUT, X, U, Y,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR, DPAR, RTOL, ATOL,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK, LIWORK, DWORK, LDWORK,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWARN, INFO)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; RTOL, TINI, TOUT
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER, IWARN, INFO, NX, NY, NU,
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LDWORK, LIWORK
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CODEDER_, CODEOUT_, CJACFX_, CJACFU_, CJACFP_
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION&nbsp;&nbsp; ATOL(*), DWORK(LDWORK), DPAR(*),&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X(NX), Y(NY), U(NU)
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(LIWORK), IPAR(*)
-
-
-</pre>
-<a NAME="Arguments"></a><b><font size=+1>Arguments</font></b>
-<p><b>Mode Parameters</b>
-<pre>&nbsp; ISOLVER&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Indicates the nonlinear solver package to be used:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2: LSODA,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3: LSODES,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4: RADAU5,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5: DASSL,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6: DASPK,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 7: DGELDA.</pre>
-<b>Input/Output Parameters</b>
-<pre>&nbsp; ODEDER&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the right hand side f of the ODE.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; ODEOUT&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the output signals function g.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; JACFX&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to X.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; JACFU&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to U.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; JACFP&nbsp;&nbsp; (input) EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Evaluates the jacobian matrix with respect to P.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the state vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; NY&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the output vector.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Dimension of the input vector.</pre>
-
-<pre>&nbsp; TINI&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Initial value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; TOUT&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Final value of time.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NX)&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial state variables.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the last value of the state variables.&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input) DOUBLE PRECISION array, dimension (NU)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Array containing the input initial values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; Y&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (NY)&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On entry, array containing the initial values of Y.&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; On exit, it has the results of the system.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; IPAR&nbsp;&nbsp;&nbsp; (input/output) INTEGER array, dimension (230)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common integer parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1), Tolerance mode&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : both RTOL and ATOL are scalars&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : RTOL is scalar and ATOL is vector
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : both RTOL and ATOL are vectors&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2), Compute Output Values, must be 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3), mf, Method flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 : No jacobian used (non-stiff method).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 : User supplied full jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 : User supplied banded jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3 : User supplied sparse jacobian (stiff).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10 : internally generated full jacobian (stiff).&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11 : internally generated banded jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 : internally generated sparse jacobian (stiff).
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(5), Maximum number of steps allowed during one&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; call to the solver.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6), ml, lower half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7), mu, upper half-bandwithds of the banded&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jacobian, excluding tne main diagonal.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(8), Flag to generate extra printing at method&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switches:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0 means no extra printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 for minimal printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 for full printing&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(101) = Number of steps taken for the problem.&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(102) = Number of f evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(103) = Number of jacobian evaluations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK, DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(111) = The method order last used(successfully).&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(112) = The order to be attempted on the next step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(16), Status Flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(17), Optional inputs&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(18), Maximum number of messages printed,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default value is 10.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(113) = Index of the component of largest in the&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; weighted local error vector ( e(i)/ewt(i) ).&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(114) = Length of rwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(115) = Length of iwork actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE and LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(19), Maximum order to be allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 12 if meth = 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 5 if meth = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(118), Number of nonzero elements in the jacobian&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrix, including the diagonal (miter = 1 or 2).&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(119), Number of groups of column indices, used in
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; difference quotient jacobian aproximations if&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; miter = 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(120), Number of sparse LU decompositions.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(121), Base address in rwork of the history array.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(122), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array ian.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(123), Base address of the structure descriptor&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; array jan.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(124), Number of nonzero elements in the strict&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; lower triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(125),&nbsp; Number of nonzero elements in the strict&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; upper triangle of the LU factorization.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(22), Maximum order to be allowed for the&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; nonstiff method, default value is 12.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(23), Maximum order to be allowed for the stiff&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; method, default value is 5.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; If exceds the default value, it will be reduced&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; to the default value.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(116), Method indicator for the last successful&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; step&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(117), Current method indicator&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1 adams (nonstiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2 bdf (stiff)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(26) Transforms the Jacobian matrix to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Hessenberg form.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(27) Maximum number of Newton iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(28) Starting values for Newton's method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if 0 then is taken the extrapolated collocation
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; solution&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if not equal 0 zero values are used.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(29) Dimension of the index 1 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(30) Dimension of the index 2 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(31) Dimension of the index 3 variables.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(32) Switch for step size strategy&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0,1 Mod. Predictive controller(Gustafsson)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2&nbsp;&nbsp; Classical step size control&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(33) Value of M1.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(34) Value of M2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(126), Number of accepted steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(127), Number of rejected steps.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(128), Number of LU-Decompositions of both&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; matrices&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(129), Number of forward-backward substitutions,&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; of both systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for DASSL and DASPK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(36),&nbsp; this parameter enables the code to&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initialize itself. Must set to 0 to indicate the
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; start of every new problem.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes. (On each new problem)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No. (Allows 500 new steps)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(37),&nbsp; code solve the problem without invoking&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; any special non negativity contraints:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: To have constraint checking only in the&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; initial condition calculation.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: To enforce nonnegativity in X during the&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; integration.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 3: To enforce both options 1 and 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(38), Solver try to compute the initial T, X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and XPRIME:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: The initial T, X and XPRIME are&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; consistent.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Given X_d calculate X_a and X'_d&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Given X' calculate X.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ( X_d differential variables in X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; X_a algebrac variables in X )&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(136), Total number of error test failures so far.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(137), Total number of convergence test failures.&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -Parameters for DASPK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(39), DASPK use:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: direct methods (compatible with DASSL)&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: Krylov method&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 2: Krylov method + Jac&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(40),&nbsp; DASPK uses scalars MAXLm KMP, NRMAX and EPLI&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; when uses Krylov method.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: uses default values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: uses user values.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(41), Proceed to the integration after the initial&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; condition calculation is done. Used when INFOV(11)>0&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(42), Errors are controled localy on all the variables.&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(43), Use default values for initial condition heuristic&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; controls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0: Yes&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1: No and provide MXNIT, MXNJ, MXNH, LSOFF, STPTOL,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EPINIT.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(138), number of convergence failures of the linear&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; iteration&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(139), length of IWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(140), length of RWORK actually required.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(141), total number of nonlinear iterations.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(142), total number of linear (Krylov) iterations
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(143), number of PSOL calls.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; DPAR&nbsp;&nbsp;&nbsp; (input/output) DOUBLE PRECISION array, dimension (202)&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1..15&nbsp;&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 16..25&nbsp;&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 26..35&nbsp;&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 36..50&nbsp;&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 51..60&nbsp;&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 61..100&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; OUTPUT:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 101..110&nbsp; General&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 111..125&nbsp; ODEPACK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 126..135&nbsp; RADAU5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 136..145&nbsp; DASSL/PK&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 146..155&nbsp; GELDA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 156..200&nbsp; Reserved&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Any Mode:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 201..&nbsp;&nbsp;&nbsp;&nbsp; User Available&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common real parameters for SOLVERS:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(1), Initial step size guess. Optional in:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEPACK, DASSL, ..&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(2), Maximum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK and DASSL:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(111), Step size in t last used (successfully).&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(113), Current value of the independent variable&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; which the solver has actually reached&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Common parameters for ODEPACK solvers:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(16), Critical value of t which the solver is not&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; overshoot.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(17), Minimum absolute step size allowed.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(112), Step size to be attempted on the next step.
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(18), Tolerance scale factor, greater than 1.0.&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(115) Value of t at the time of the last method&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; switch, if any.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(19), The element threshhold for sparsity&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; determination when moss = 1 or 2.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for RADAU5 solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(26), The rounding unit, default 1E-16.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(27), The safety factor in step size prediction,
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default 0.9D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(28), Decides whether the jacobian should be&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; recomputed, default 0.001D0.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(29), Stopping criterion for Newton's method,&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; default MIN(0.03D0, RTOL(1)**0.5D0)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(30), DPAR(31): This saves, together with a&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; large DPAR(28), LU-decompositions and computing&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; time for large systems.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(32), DPAR(33), Parameters for step size&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; selection.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Parameters for DASSL and DASPK solvers:
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DPAR(36), Stopping point (Tstop)</pre>
-<b>Tolerances</b>
-<pre>&nbsp;&nbsp; RTOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Relative Tolerance.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; ATOL&nbsp;&nbsp;&nbsp; DOUBLE PREISION&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Absolute Tolerance.</pre>
-<b>Workspace</b>
-<pre>&nbsp;&nbsp; IWORK&nbsp;&nbsp; INTEGER array, dimension (LIWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; LIWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of IWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; for mf = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20 + neq&nbsp; for mf = 21, 22, 24, or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; if mf = 24, 25, input in iwork(1),iwork(2) the lower
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; and upper half-bandwidths ml,mu.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 30&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; DWORK&nbsp;&nbsp; DOUBLE PREISION array, dimension (LDWORK)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp; LDWORK&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Size of DWORK, depending on solver:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 10,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+ 9*NX+NX**2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ,&nbsp; IPAR(3) = 21 or 22,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+10*NX+(2*IPAR(4)+IPAR(9))*NX,&nbsp; IPAR(3) = 24 or 25.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODA&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 22+NX*max(16,NX+9)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - LSODES&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+16*NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; , mf=10&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 20+(2+1./lenrat)*nnz + (11+9./lenrat)*NX, mf=121,222&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; - DASSL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40 LRW .GE. 40+(MAXORD+4)*NEQ+NEQ**2, IPAR(3) = 1 or 10&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ,&nbsp;&nbsp;&nbsp; IPAR(3) = 2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; >= 40+(MAXORD+4)*NEQ+(2*ML+MU+1)*NEQ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; +2*(NEQ/(ML+MU+1)+1),&nbsp;&nbsp;&nbsp;&nbsp; IPAR(3) = 11</pre>
-<b>Warning Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp; IWARN&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; no warning;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1: LSODE/LSODA/LSODES/RADAU5 do not use
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; the input vector as argument;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Only the 1st element of RTOL is used;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Method (IPAR(3)) not allowed with
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/LSODES/RADAU5/DASSL/DASPK;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 4:&nbsp; Only the 1st element of ATOL is used;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 5:&nbsp; Option not allowed for IPAR(37);
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 6:&nbsp; Option not allowed for IPAR(38).</pre>
-<b>Error Indicator</b>
-<pre>&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp; INTEGER
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 0:&nbsp; Successful exit;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt; 0:&nbsp; If INFO = -i, the i-th argument had an illegal
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; value;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 1:&nbsp; Wrong tolerance mode;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 2:&nbsp; Sparse storage (IPAR(4)=1) incompatible with
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LSODE/LSODA/RADAU5;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 3:&nbsp; Dense storage (IPAR(4)=0) incompatible with LSODES
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 100+ERROR: ODEDER returned ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 200+ERROR: RADAU5 returned -ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 300+ERROR: DDASSL returned -ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 400+ERROR: DDASPK returned -ERROR
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; = 500+ERROR: DGELDA returned -ERROR
-</pre>
-<br>
-<a NAME="Method"></a><b><font size=+1>Method</font></b>
-<pre><tt><font color="#000000">Since the package integrates 9 different solvers, it is possible to solve differential&nbsp;
-equations by means of Backward Differential Formulas, Runge-Kutta, using direct or&nbsp;
-iterative methods (including preconditioning) for the linear system associated, differential&nbsp;
-equations with time-varying coefficients or of order higher than one. The interface facilitates&nbsp;&nbsp;
-the user the work of changing the integrator and testing the results, thus leading a more robust&nbsp;
-and efficient integrated package.</font></tt></pre>
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-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; [18] V.Hernandez, I.Blanquer, E.Arias, and P.Ruiz,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Definition and Implementation of a SLICOT Standard Interface and the&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; associated MATLAB Gateway for the Solution of Nonlinear Control Systems
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; by using ODE and DAE Packages}, Universidad Politecnica de Valencia,&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DSIC. SLICOT Working Note 2000-3: July 2000. Available at&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ../../REPORTS/SLWN2000-3.ps.Z.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; [19] J.J.B. de Swart, W.M. Lioen, W.A. van der Veen, SIDE, November 25,&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1998. Available at http://www.cwi.nl/cwi/projects/PSIDE/.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; [20] Kim, H.Young, F.L.Lewis, D.M.Dawson, Intelligent optimal control of&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; robotic manipulators using neural networks.&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp; [21] J.C.Fernandez, E.Arias, V.Hernandez, L.Penalver, High Performance&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithm for Tracking Trajectories of Robot Manipulators,&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Preprints of the Proceedings of the 6th IFAC International Workshop on
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Algorithms and Architectures for Real-Time Control (AARTC-2000),&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; pages 127-134.</pre>
-<a NAME="Numerical Aspects"></a><b><font size=+1>Numerical Aspects</font></b>
-<pre>&nbsp; The numerical aspects of the routine lie on the features of the&nbsp;
-&nbsp; different packages integrated. Several packages are more robust
-&nbsp; than others, and other packages simply cannot deal with problems&nbsp;
-&nbsp; that others do. For a detailed description of the numerical aspects&nbsp;
-&nbsp; of each method is recommended to check the references above.</pre>
-<a NAME="Comments"></a><b><font size=+1>Further Comments</font></b>
-<pre>&nbsp; Several packages (LSODES, LSOIBT) deal only with sparse matrices.&nbsp;&nbsp;
-&nbsp; The interface checks the suitability of the methods to the&nbsp;
-&nbsp; parameters and show a warning message if problems could arise.</pre>
-<a NAME="Example"></a><b><font size=+1>Example</font></b>
-<p><b>Program Text</b>
-<p><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ODESOLVER EXAMPLE PROGRAM TEXT FOR LSODEX
-PROBLEM</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
-RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
-= 2, LSODES_ = 3)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
-5, DASPK_&nbsp; = 6)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER IARGC_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER NUMARGS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 NAME</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*80 SOLVER</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT, FMT = 99999 )</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; NUMARGS = IARGC_()</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(0, NAME)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (NUMARGS .NE. 1) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Syntax
-Error: ',NAME(1:8),' &lt;solver>'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Solvers
-: LSODE, LSODA, LSODES, RADAU5, DASSL, DASP</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; &amp;K'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL GETARG_(1, SOLVER)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*) 'Problem:
-LSODEX&nbsp;&nbsp; Solver: ',SOLVER(1:7)</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF (SOLVER(1:5) .EQ.
-'LSODE') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODE_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'LSODA') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODA_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'LSODES') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(LSODES_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:6)
-.EQ. 'RADAU5') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(RADAU5_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASSL') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASSL_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSEIF (SOLVER(1:5)
-.EQ. 'DASPK') THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL TEST(DASPK_)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE (*,*)
-'Error: Solver: ', SOLVER,' unknown'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ENDIF</tt>
-<br><tt>*</tt>
-<br><tt>99999 FORMAT (' ODESOLVER EXAMPLE PROGRAM RESULTS FOR LSODEX PROBLEM'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; .&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,/1X)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>*
-<br>*
-<br>*
-<br>*
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE TEST( ISOLVER )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Testing subroutine ODESolver</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ISOLVER&nbsp; (input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Indicates the nonlinear solver package to be used:</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 1: LSODE,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 2: LSODA,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 3: LSODES,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 4: RADAU5,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 5: DASSL,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 6: DASPK,</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-= 7: DGELDA.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Parameters ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER LSODE_, LSODA_, LSODES_,
-RADAU5_, DASSL_, DASPK_, DGELDA_</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (LSODE_&nbsp; = 1, LSODA_
-= 2, LSODES_ = 3)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (RADAU5_ = 4, DASSL_ =
-5, DASPK_&nbsp; = 6)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER (DGELDA_&nbsp; = 7)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NIN, NOUT</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( NIN = 5, NOUT = 6 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MD, ND, LPAR, LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PARAMETER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-( MD = 400, ND = 100, LPAR = 250,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-LWORK = 650000 )</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp; ISOLVER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Scalars ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NDISC, MLJAC, MUJAC, MLMAS, MUMAS</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWARN, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION ATOL(MD), RTOL,
-NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; LOGICAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NUMJAC, NUMMAS, CONSIS</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Local Arrays ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER FULLNM*40, PROBLM*8, TYPE*3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CHARACTER*9 ODEDER, ODEOUT, JACFX,
-JACFU, JACFP</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IND(MD), IPAR(LPAR), IWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T(0:ND), RPAR(LPAR),
-DWORK(LWORK)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(MD), XPRIME(MD),
-U(MD), Y(MD)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Functions ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION DNRM2</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DNRM2</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-PLSODEX,ILSODEX,SLSODEX</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DAXPY</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>*</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 20 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; U(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Y(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 20 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 40 I=1,LPAR</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 40 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DO 60 I=1,LWORK</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IWORK(I)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DWORK(I)=0D0</tt>
-<br><tt>&nbsp;&nbsp; 60 CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(2)=1</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Get the problem dependent parameters.</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RPAR(1)=1D-3</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(1)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(1)=1D-6</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(2)=1D-10</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ATOL(3)=1D-6</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; RTOL=1D-4</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL PLSODEX(FULLNM,PROBLM,TYPE,NEQN,NDISC,T,NUMJAC,MLJAC,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-MUJAC,NUMMAS,MLMAS,MUMAS,IND)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ILSODEX(NEQN,T(0),X,XPRIME,CONSIS)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL SLSODEX(NEQN,T(1),XPRIME)</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( TYPE.NE.'ODE' ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99998 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; WRITE ( NOUT,
-FMT = 99997 ) FULLNM, PROBLM, TYPE, ISOLVER</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( NUMJAC )
-THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(3)=0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(3)=1</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(6)=MLJAC</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IPAR(7)=MUJAC</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEDER=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ODEOUT=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFX=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFU=''</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; JACFP=''</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL ODESolver(
-ISOLVER, ODEDER, ODEOUT, JACFX, JACFU, JACFP,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NEQN, NEQN, NEQN, T(0), T(1), X, U, Y,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR, RPAR, RTOL, ATOL,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IWORK, LWORK, DWORK, LWORK, IWARN, INFO )</tt>
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; IF ( INFO.NE.0
-) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99996 ) INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ELSE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( IWARN.NE.0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99995 ) IWARN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-ENDIF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NEQN .LE. 10 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99994 )</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-DO 80 I=1,NEQN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99993 ) X(I), XPRIME(I)</tt>
-<br><tt>&nbsp;&nbsp; 80&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CONTINUE</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,XPRIME,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IF ( NORM.EQ.0D0 ) THEN</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=1D0</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-CALL DAXPY(NEQN,-1D0,X,1,XPRIME,1)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NORM=DNRM2(NEQN,XPRIME,1)/NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-WRITE ( NOUT, FMT = 99992 ) NORM</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END IF</tt>
-<br><tt>*</tt>
-<br><tt>99998 FORMAT (' ERROR: This test is only intended for ODE problems')</tt>
-<br><tt>99997 FORMAT (' ',A,' (',A,' , ',A,') with SOLVER ',I2)</tt>
-<br><tt>99996 FORMAT (' INFO on exit from ODESolver = ',I3)</tt>
-<br><tt>99995 FORMAT (' IWARN on exit from ODESolver = ',I3)</tt>
-<br><tt>99994 FORMAT (' Solution: (calculated) (reference)')</tt>
-<br><tt>99993 FORMAT (F,F)</tt>
-<br><tt>99992 FORMAT (' Relative error comparing with the reference solution:'</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-,E,/1X)</tt>
-<br><tt>* *** Last line of TEST ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE ODEDER_( NX, NU, T, X,
-U, RPAR, IPAR, F, INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
-the problem function FEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NU&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the input vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the function is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; U&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NU)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the input values.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; F&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The resulting function value f(T,X).</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Return values of error from FEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NX, NU, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(*)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), U(NU), RPAR(*),
-F(NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-FLSODEX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL FLSODEX(NX,T,X,X,F,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of ODEDER_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<br>&nbsp;
-<br>&nbsp;
-<br>&nbsp;
-<p><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SUBROUTINE&nbsp; JACFX_( NX, DUMMY,
-LDFX, T, X, DUMMY2, RPAR, IPAR, FX,</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp; $&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-INFO )</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; PURPOSE</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Interface routine between ODESolver and
-the problem function JEVAL</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ARGUMENTS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Input/Output Parameters</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; NX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Dimension of the state vector.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY&nbsp;&nbsp;&nbsp; (input) INTEGER</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; LDFX&nbsp;&nbsp;&nbsp;&nbsp; (input)
-INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The leading dimension of the array FX.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; T&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The time point where the derivative is evaluated.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(input) DOUBLE PRECISION array, dimension (NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array containing the state variables.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; DUMMY2&nbsp;&nbsp; (input) DOUBLE PRECISION</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; RPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-DOUBLE PRECISION array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; IPAR&nbsp;&nbsp;&nbsp;&nbsp; (input/output)
-INTEGER array</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Array for communication between the driver and FEVAL.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; FX&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-(output) DOUBLE PRECISION array, dimension (LDFX,NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-The array with the resulting Jacobian matrix.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; Error Indicator</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; INFO&nbsp;&nbsp;&nbsp;&nbsp; INTEGER</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-Return values of error from JEVAL or 100 in case</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-a bad problem was choosen.</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; METHOD</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REFERENCES</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; CONTRIBUTORS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; REVISIONS</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; -</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; KEYWORDS</tt>
-<br><tt>*</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; ******************************************************************</tt>
-<br><tt>*</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Scalar Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-NX, DUMMY, LDFX, INFO</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION T</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Array Arguments ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; INTEGER&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-IPAR(*)</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; DOUBLE PRECISION X(NX), DUMMY2(*),
-RPAR(*), FX(NX)</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. External Subroutines ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; EXTERNAL&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-JLSODEX</tt>
-<br><tt>*&nbsp;&nbsp;&nbsp;&nbsp; .. Executable Statements ..</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CALL JLSODEX(LDFX,NX,T,X,X,FX,INFO,RPAR,IPAR)</tt>
-<br><tt>* *** Last line of JACFX_ ***</tt>
-<br><tt>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; END</tt>
-<p><b>Program Data</b>
-<pre>No data required</pre>
-<b>Program Results</b>
-<pre>&nbsp;ODESOLVER EXAMPLE PROGRAM RESULTS&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;Problem: LSODEX&nbsp;&nbsp; Solver: LSODE&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;IWARN on exit from ODESolver =&nbsp;&nbsp; 1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;Solution: (calculated)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;8.287534436182735E-08&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;3.329129749822125E-13&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-&nbsp;1.118553835127275E-07</pre>
-
-<hr>
-<p><!--Click <b><a href="../../SLICOT/arc/ODESolver.tgz">here</a></b> to get a compressed (gzip)
-tar file containing the source code of the routine, the example program,
-data, documentation, and related files.-->
-<br><b><a href="..\libindex.html">Return to index</a></b>
-</body>
-</html>
diff --git a/doc/_static/doc/SB01BD.html b/doc/_static/doc/SB01BD.html
deleted file mode 100644
index f9a83108..00000000
--- a/doc/_static/doc/SB01BD.html
+++ /dev/null
@@ -1,413 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01BD">SB01BD</A></H2>
-<H3>
-Pole assignment for a given matrix pair (A,B)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine the state feedback matrix F for a given system (A,B)
-  such that the closed-loop state matrix A+B*F has specified
-  eigenvalues.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB, WR, WI,
-     $                   NFP, NAP, NUP, F, LDF, Z, LDZ, TOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO
-      INTEGER          INFO, IWARN, LDA, LDB, LDF, LDWORK, LDZ, M, N,
-     $                 NAP, NFP, NP, NUP
-      DOUBLE PRECISION ALPHA, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
-     $                 WI(*), WR(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrix B and
-          the number of columns of the matrix F.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrix B and the number of rows of the matrix F.
-          M &gt;= 0.
-
-  NP      (input) INTEGER
-          The number of given eigenvalues. At most N eigenvalues
-          can be assigned.  0 &lt;= NP.
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the maximum admissible value, either for real
-          parts, if DICO = 'C', or for moduli, if DICO = 'D',
-          of the eigenvalues of A which will not be modified by
-          the eigenvalue assignment algorithm.
-          ALPHA &gt;= 0 if DICO = 'D'.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Z'*(A+B*F)*Z in a real Schur form.
-          The leading NFP-by-NFP diagonal block of A corresponds
-          to the fixed (unmodified) eigenvalues having real parts
-          less than ALPHA, if DICO = 'C', or moduli less than ALPHA,
-          if DICO = 'D'. The trailing NUP-by-NUP diagonal block of A
-          corresponds to the uncontrollable eigenvalues detected by
-          the eigenvalue assignment algorithm. The elements under
-          the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  WR,WI   (input/output) DOUBLE PRECISION array, dimension (NP)
-          On entry, these arrays must contain the real and imaginary
-          parts, respectively, of the desired eigenvalues of the
-          closed-loop system state-matrix A+B*F. The eigenvalues
-          can be unordered, except that complex conjugate pairs
-          must appear consecutively in these arrays.
-          On exit, if INFO = 0, the leading NAP elements of these
-          arrays contain the real and imaginary parts, respectively,
-          of the assigned eigenvalues. The trailing NP-NAP elements
-          contain the unassigned eigenvalues.
-
-  NFP     (output) INTEGER
-          The number of eigenvalues of A having real parts less than
-          ALPHA, if DICO = 'C', or moduli less than ALPHA, if
-          DICO = 'D'. These eigenvalues are not modified by the
-          eigenvalue assignment algorithm.
-
-  NAP     (output) INTEGER
-          The number of assigned eigenvalues. If INFO = 0 on exit,
-          then NAP = N-NFP-NUP.
-
-  NUP     (output) INTEGER
-          The number of uncontrollable eigenvalues detected by the
-          eigenvalue assignment algorithm (see METHOD).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the state
-          feedback F, which assigns NAP closed-loop eigenvalues and
-          keeps unaltered N-NAP open-loop eigenvalues.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z which reduces the closed-loop
-          system state matrix A + B*F to upper real Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of A
-          or B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then the default tolerance
-          TOL = N * EPS * max(NORM(A),NORM(B)) is used, where EPS is
-          the machine precision (see LAPACK Library routine DLAMCH)
-          and NORM(A) denotes the 1-norm of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1,5*M,5*N,2*N+4*M ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(F) &lt;= 100*NORM(A)/NORM(B) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal.
-          = 3:  the number of eigenvalues to be assigned is less
-                than the number of possibly assignable eigenvalues;
-                NAP eigenvalues have been properly assigned,
-                but some assignable eigenvalues remain unmodified.
-          = 4:  an attempt is made to place a complex conjugate
-                pair on the location of a real eigenvalue. This
-                situation can only appear when N-NFP is odd,
-                NP &gt; N-NFP-NUP is even, and for the last real
-                eigenvalue to be modified there exists no available
-                real eigenvalue to be assigned. However, NAP
-                eigenvalues have been already properly assigned.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  SB01BD is based on the factorization algorithm of [1].
-  Given the matrices A and B of dimensions N-by-N and N-by-M,
-  respectively, this subroutine constructs an M-by-N matrix F such
-  that A + BF has eigenvalues as follows.
-  Let NFP eigenvalues of A have real parts less than ALPHA, if
-  DICO = 'C', or moduli less then ALPHA, if DICO = 'D'. Then:
-  1) If the pair (A,B) is controllable, then A + B*F has
-     NAP = MIN(NP,N-NFP) eigenvalues assigned from those specified
-     by WR + j*WI and N-NAP unmodified eigenvalues;
-  2) If the pair (A,B) is uncontrollable, then the number of
-     assigned eigenvalues NAP satifies generally the condition
-     NAP &lt;= MIN(NP,N-NFP).
-
-  At the beginning of the algorithm, F = 0 and the matrix A is
-  reduced to an ordered real Schur form by separating its spectrum
-  in two parts. The leading NFP-by-NFP part of the Schur form of
-  A corresponds to the eigenvalues which will not be modified.
-  These eigenvalues have real parts less than ALPHA, if
-  DICO = 'C', or moduli less than ALPHA, if DICO = 'D'.
-  The performed orthogonal transformations are accumulated in Z.
-  After this preliminary reduction, the algorithm proceeds
-  recursively.
-
-  Let F be the feedback matrix at the beginning of a typical step i.
-  At each step of the algorithm one real eigenvalue or two complex
-  conjugate eigenvalues are placed by a feedback Fi of rank 1 or
-  rank 2, respectively. Since the feedback Fi affects only the
-  last 1 or 2 columns of Z'*(A+B*F)*Z, the matrix Z'*(A+B*F+B*Fi)*Z
-  therefore remains in real Schur form. The assigned eigenvalue(s)
-  is (are) then moved to another diagonal position of the real
-  Schur form using reordering techniques and a new block is
-  transfered in the last diagonal position. The feedback matrix F
-  is updated as F &lt;-- F + Fi. The eigenvalue(s) to be assigned at
-  each step is (are) chosen such that the norm of each Fi is
-  minimized.
-
-  If uncontrollable eigenvalues are encountered in the last diagonal
-  position of the real Schur matrix Z'*(A+B*F)*Z, the algorithm
-  deflates them at the bottom of the real Schur form and redefines
-  accordingly the position of the "last" block.
-
-  Note: Not all uncontrollable eigenvalues of the pair (A,B) are
-  necessarily detected by the eigenvalue assignment algorithm.
-  Undetected uncontrollable eigenvalues may exist if NFP &gt; 0 and/or
-  NP &lt; N-NFP.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      A Schur method for pole assignment.
-      IEEE Trans. Autom. Control, Vol. AC-26, pp. 517-519, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations. Although no proof of numerical stability is known,
-  the algorithm has always been observed to yield reliable
-  numerical results.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB01BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDF, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDF = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 5*MMAX,5*NMAX,2*NMAX+4*MMAX ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, ANORM, NRM, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NAP, NFP, NP, NUP
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), AIN(LDA,NMAX), B(LDB,MMAX),
-     $                 DWORK(LDWORK), F(LDF,NMAX), WI(NMAX), WR(NMAX),
-     $                 Z(LDZ,NMAX), ZTA(LDZ,NMAX)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      DOUBLE PRECISION DLAMCH, DLANGE
-      EXTERNAL         DLAMCH, DLANGE, LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DGEMM, DLACPY, MB03QX, SB01BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, ALPHA, TOL, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF( NP.LT.0 .OR. NP.GT.NMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) NP
-            ELSE
-               DO 10 I = 1, NP
-                  READ ( NIN, FMT = * ) WR(I), WI(I)
-   10          CONTINUE
-*              Perform "eigenvalue assignment" to compute F.
-               CALL DLACPY( 'G', N, N, A, LDA, AIN, LDA )
-               CALL SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB,
-     $                      WR, WI, NFP, NAP, NUP, F, LDF, Z, LDZ,
-     $                      TOL, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 .AND. INFO.LT.3 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  IF ( INFO  .NE. 0 ) WRITE ( NOUT, FMT = 99997 ) INFO
-                  IF ( IWARN .NE. 0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
-                  WRITE ( NOUT, FMT = 99990 ) NAP
-                  WRITE ( NOUT, FMT = 99989 ) NFP
-                  WRITE ( NOUT, FMT = 99988 ) NUP
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
-   60             CONTINUE
-                  CALL MB03QX( N, A, LDA, WR, WI, INFO )
-                  WRITE ( NOUT, FMT = 99998 ) ( WR(I), WI(I), I = 1,N )
-*                 Compute NORM (Z*Aout*Z'-(A+B*F)) / (eps*NORM(A))
-                  ANORM = DLANGE( 'F', N, N, AIN, LDA, DWORK )
-                  CALL DGEMM( 'N', 'N', N, N, M, ONE, B, LDB, F, LDF,
-     $                        ONE, AIN, LDA )
-                  CALL DGEMM( 'N', 'N', N, N, N, ONE, Z, LDZ, A, LDA,
-     $                        ZERO, ZTA, LDZ )
-                  CALL DGEMM( 'N', 'T', N, N, N, ONE, ZTA, LDZ, Z, LDZ,
-     $                        -ONE, AIN, LDA )
-                  NRM = DLANGE( 'F', N, N, AIN, LDA, DWORK ) /
-     $                  ( DLAMCH( 'E' )*ANORM )
-                  WRITE ( NOUT, FMT = 99987 ) NRM
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB01BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/,' The eigenvalues of closed-loop matrix A+B*F',/
-     $          ( ' ( ',F8.4,',',F8.4,' )' ) )
-99997 FORMAT (' INFO on exit from SB01BD = ',I2)
-99996 FORMAT (/,' The state feedback matrix F is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99991 FORMAT (/' IWARN on exit from SB01BD = ', I2)
-99990 FORMAT ( ' Number of assigned eigenvalues: NAP = ', I2 )
-99989 FORMAT ( ' Number of fixed eigenvalues:    NFP = ', I2)
-99988 FORMAT ( ' Number of uncontrollable poles: NUP = ', I2)
-99987 FORMAT (/,' NORM(A+B*F - Z*Aout*Z'') / (eps*NORM(A)) =',1PD12.5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB01BD EXAMPLE PROGRAM DATA
-   4   2   2   -.4  1.E-8   C
-  -6.8000   0.0000  -207.0000   0.0000
-   1.0000   0.0000     0.0000   0.0000
-  43.2000   0.0000     0.0000  -4.2000
-   0.0000   0.0000     1.0000   0.0000
-   5.6400   0.0000
-   0.0000   0.0000
-   0.0000   1.1800
-   0.0000   0.0000
-  -0.5000   0.1500
-  -0.5000  -0.1500
-  -2.0000   0.0000
-  -0.4000   0.0000
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB01BD EXAMPLE PROGRAM RESULTS
-
- Number of assigned eigenvalues: NAP =  2
- Number of fixed eigenvalues:    NFP =  2
- Number of uncontrollable poles: NUP =  0
-
- The state feedback matrix F is 
-  -0.0876  -4.2138   0.0837 -18.1412
-  -0.0233  18.2483  -0.4259  -4.8120
-
- The eigenvalues of closed-loop matrix A+B*F
- (  -3.3984, 94.5253 )
- (  -3.3984,-94.5253 )
- (  -0.5000,  0.1500 )
- (  -0.5000, -0.1500 )
-
- NORM(A+B*F - Z*Aout*Z') / (eps*NORM(A)) = 1.03505D+01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB01BX.html b/doc/_static/doc/SB01BX.html
deleted file mode 100644
index ff5555a7..00000000
--- a/doc/_static/doc/SB01BX.html
+++ /dev/null
@@ -1,107 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01BX">SB01BX</A></H2>
-<H3>
-Choosing the closest real (complex conjugate) eigenvalue(s) to a given real (complex) value
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To choose a real eigenvalue or a pair of complex conjugate
-  eigenvalues at "minimal" distance to a given real or complex
-  value.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01BX( REIG, N, XR, XI, WR, WI, S, P )
-C     .. Scalar Arguments ..
-      LOGICAL          REIG
-      INTEGER          N
-      DOUBLE PRECISION P, S, XI ,XR
-C     .. Array Arguments ..
-      DOUBLE PRECISION WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  REIG    LOGICAL
-          Specifies the type of eigenvalues as follows:
-          = .TRUE.,  a real eigenvalue is to be selected;
-          = .FALSE., a pair of complex eigenvalues is to be
-                     selected.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of eigenvalues contained in the arrays WR
-          and WI.  N &gt;= 1.
-
-  XR,XI   (input) DOUBLE PRECISION
-          If REIG = .TRUE., XR must contain the real value and XI
-          is assumed zero and therefore not referenced.
-          If REIG = .FALSE., XR must contain the real part and XI
-          the imaginary part, respectively, of the complex value.
-
-  WR,WI   (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, if REIG = .TRUE., WR must contain the real
-          eigenvalues from which an eigenvalue at minimal distance
-          to XR is to be selected. In this case, WI is considered
-          zero and therefore not referenced.
-          On entry, if REIG = .FALSE., WR and WI must contain the
-          real and imaginary parts, respectively, of the eigenvalues
-          from which a pair of complex conjugate eigenvalues at
-          minimal "distance" to XR + jXI is to be selected.
-          The eigenvalues of each pair of complex conjugate
-          eigenvalues must appear consecutively.
-          On exit, the elements of these arrays are reordered such
-          that the selected eigenvalue(s) is (are) found in the
-          last element(s) of these arrays.
-
-  S,P     (output) DOUBLE PRECISION
-          If REIG = .TRUE., S (and also P) contains the value of
-          the selected real eigenvalue.
-          If REIG = .FALSE., S and P contain the sum and product,
-          respectively, of the selected complex conjugate pair of
-          eigenvalues.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For efficiency reasons, |x| + |y| is used for a complex number
-  x + jy, instead of its modulus.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB01BY.html b/doc/_static/doc/SB01BY.html
deleted file mode 100644
index b0b66ef3..00000000
--- a/doc/_static/doc/SB01BY.html
+++ /dev/null
@@ -1,124 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01BY">SB01BY</A></H2>
-<H3>
-Pole placement for systems of order 1 or 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve an N-by-N pole placement problem for the simple cases
-  N = 1 or N = 2: given the N-by-N matrix A and N-by-M matrix B,
-  construct an M-by-N matrix F such that A + B*F has prescribed
-  eigenvalues. These eigenvalues are specified by their sum S and
-  product P (if N = 2). The resulting F has minimum Frobenius norm.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01BY( N, M, S, P, A, B, F, TOL, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M, N
-      DOUBLE PRECISION  P, S, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(N,*), B(N,*), DWORK(*), F(M,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and also the number of rows of
-          the matrix B and the number of columns of the matrix F.
-          N is either 1, if a single real eigenvalue is prescribed
-          or 2, if a complex conjugate pair or a set of two real
-          eigenvalues are prescribed.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B and also the number
-          of rows of the matrix F.  M &gt;= 1.
-
-  S       (input) DOUBLE PRECISION
-          The sum of the prescribed eigenvalues if N = 2 or the
-          value of prescribed eigenvalue if N = 1.
-
-  P       (input) DOUBLE PRECISION
-          The product of the prescribed eigenvalues if N = 2.
-          Not referenced if N = 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (N,N)
-          On entry, this array must contain the N-by-N state
-          dynamics matrix whose eigenvalues have to be moved to
-          prescribed locations.
-          On exit, this array contains no useful information.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N,M)
-          On entry, this array must contain the N-by-M input/state
-          matrix B.
-          On exit, this array contains no useful information.
-
-  F       (output) DOUBLE PRECISION array, dimension (M,N)
-          The state feedback matrix F which assigns one pole or two
-          poles of the closed-loop matrix A + B*F.
-          If N = 2 and the pair (A,B) is not controllable
-          (INFO = 1), then F(1,1) and F(1,2) contain the elements of
-          an orthogonal rotation which can be used to remove the
-          uncontrollable part of the pair (A,B).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of A
-          and B are considered zero (used for controllability test).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if uncontrollability of the pair (A,B) is detected.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB01DD.html b/doc/_static/doc/SB01DD.html
deleted file mode 100644
index 198e7c4e..00000000
--- a/doc/_static/doc/SB01DD.html
+++ /dev/null
@@ -1,322 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01DD">SB01DD</A></H2>
-<H3>
-Eigenstructure assignment for a multi-input system in orthogonal canonical form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a controllable matrix pair ( A, B ) a matrix G
-  such that the matrix A - B*G has the desired eigenstructure,
-  specified by desired eigenvalues and free eigenvector elements.
-
-  The pair ( A, B ) should be given in orthogonal canonical form
-  as returned by the SLICOT Library routine AB01ND.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
-     $                   Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            COUNT, INDCON, INFO, LDA, LDB, LDG, LDWORK,
-     $                   LDZ, M, N
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), NBLK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   G( LDG, * ), WI( * ), WR( * ), Y( * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of rows of the
-          matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  INDCON  (input) INTEGER
-          The controllability index of the pair ( A, B ).
-          0 &lt;= INDCON &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N matrix A in orthogonal canonical form,
-          as returned by SLICOT Library routine AB01ND.
-          On exit, the leading N-by-N part of this array contains
-          the real Schur form of the matrix A - B*G.
-          The elements below the real Schur form of A are set to
-          zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M matrix B in orthogonal canonical form,
-          as returned by SLICOT Library routine AB01ND.
-          On exit, the leading N-by-M part of this array contains
-          the transformed matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  NBLK    (input) INTEGER array, dimension (N)
-          The leading INDCON elements of this array must contain the
-          orders of the diagonal blocks in the orthogonal canonical
-          form of A, as returned by SLICOT Library routine AB01ND.
-          The values of these elements must satisfy the following
-          conditions:
-          NBLK(1) &gt;= NBLK(2) &gt;= ... &gt;= NBLK(INDCON),
-          NBLK(1) + NBLK(2) + ... + NBLK(INDCON) = N.
-
-  WR      (input) DOUBLE PRECISION array, dimension (N)
-  WI      (input) DOUBLE PRECISION array, dimension (N)
-          These arrays must contain the real and imaginary parts,
-          respectively, of the desired poles of the closed-loop
-          system, i.e., the eigenvalues of A - B*G. The poles can be
-          unordered, except that complex conjugate pairs of poles
-          must appear consecutively.
-          The elements of WI for complex eigenvalues are modified
-          internally, but restored on exit.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the orthogonal matrix Z generated by SLICOT
-          Library routine AB01ND in the reduction of ( A, B ) to
-          orthogonal canonical form.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal transformation matrix which reduces A - B*G
-          to real Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
-
-  Y       (input) DOUBLE PRECISION array, dimension (M*N)
-          Y contains elements which are used as free parameters
-          in the eigenstructure design. The values of these
-          parameters are often set by an external optimization
-          procedure.
-
-  COUNT   (output) INTEGER
-          The actual number of elements in Y used as free
-          eigenvector and feedback matrix elements in the
-          eigenstructure design.
-
-  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
-          The leading M-by-N part of this array contains the
-          feedback matrix which assigns the desired eigenstructure
-          of A - B*G.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,M).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where
-          EPS  is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(M*N,M*M+2*N+4*M+1).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the pair ( A, B ) is not controllable or the free
-                parameters are not set appropriately.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method proposed in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
-      Postlethwaite, I.
-      Optimal pole assignment design of linear multi-input systems.
-      Report 96-11, Department of Engineering, Leicester University,
-      1996.
-
-  [2] Petkov, P.Hr., Christov, N.D. and Konstantinov, M.M.
-      A computational algorithm for pole assignment of linear multi
-      input systems. IEEE Trans. Automatic Control, vol. AC-31,
-      pp. 1044-1047, 1986.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The method implemented is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The eigenvalues of the real Schur form matrix As, returned in the
-  array A, are very close to the desired eigenvalues WR+WI*i.
-  However, the eigenvalues of the closed-loop matrix A - B*G,
-  computed by the QR algorithm using the matrices A and B, given on
-  entry, may be far from WR+WI*i, although the relative error
-     norm( Z'*(A - B*G)*Z - As )/norm( As )
-  is close to machine accuracy. This may happen when the eigenvalue
-  problem for the matrix A - B*G is ill-conditioned.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB01DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDG, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDG = MMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 3*NMAX, MMAX*NMAX,
-     $                                 MMAX*MMAX + 2*NMAX + 4*MMAX + 1 )
-     $                 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          COUNT, I, INDCON, INFO1, INFO2, J, M, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      INTEGER          IWORK(MMAX), NBLK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX,MMAX), DWORK(LDWORK),
-     $                 G(LDG,NMAX), WI(NMAX), WR(NMAX), Y(MMAX*NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB01ND, SB01DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, JOBZ
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
-            READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
-            READ ( NIN, FMT = * ) ( Y(I),  I = 1,M*N )
-*           First reduce the given system to canonical form.
-            CALL AB01ND( JOBZ, N, M, A, LDA, B, LDB, NCONT, INDCON,
-     $                   NBLK, Z, LDZ, DWORK, TOL, IWORK, DWORK(N+1),
-     $                   LDWORK-N, INFO1 )
-*
-            IF ( INFO1.EQ.0 ) THEN
-*              Find the state feedback matrix G.
-               CALL SB01DD( N, M, INDCON, A, LDA, B, LDB, NBLK, WR, WI,
-     $                      Z, LDZ, Y, COUNT, G, LDG, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO2 )
-*
-               IF ( INFO2.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO2
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 10 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,N )
-   10             CONTINUE
-               END IF
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO1
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB01DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01ND =',I2)
-99997 FORMAT (' INFO on exit from SB01DD =',I2)
-99996 FORMAT (' The state feedback matrix G is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB01DD EXAMPLE PROGRAM DATA
-   4   2     0.0     I
-  -1.0  0.0  2.0 -3.0
-   1.0 -4.0  3.0 -1.0
-   0.0  2.0  4.0 -5.0
-   0.0  0.0 -1.0 -2.0
-   1.0  0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-  -1.0 -1.0 -1.0 -1.0
-   0.0  0.0  0.0  0.0
-   1.0  2.0  2.0  1.0 -1.0 -2.0  3.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB01DD EXAMPLE PROGRAM RESULTS
-
- The state feedback matrix G is
-  -5.2339   3.1725 -15.7885  21.7043
-  -1.6022   0.8504  -5.1914   6.2339
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB01FY.html b/doc/_static/doc/SB01FY.html
deleted file mode 100644
index f5948ba5..00000000
--- a/doc/_static/doc/SB01FY.html
+++ /dev/null
@@ -1,130 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01FY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01FY">SB01FY</A></H2>
-<H3>
-Inner denominator of a right-coprime factorization of an unstable system of order 1 or 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the inner denominator of a right-coprime factorization
-  of a system of order N, where N is either 1 or 2. Specifically,
-  given the N-by-N unstable system state matrix A and the N-by-M
-  system input matrix B, an M-by-N state-feedback matrix F and
-  an M-by-M matrix V are constructed, such that the system
-  (A + B*F, B*V, F, V) is inner.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01FY( DISCR, N, M, A, LDA, B, LDB, F, LDF, V, LDV,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR
-      INTEGER           INFO, LDA, LDB, LDF, LDV, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), F(LDF,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of system as follows:
-          = .FALSE.:  continuous-time system;
-          = .TRUE. :  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and also the number of rows of
-          the matrix B and the number of columns of the matrix F.
-          N is either 1 or 2.
-
-  M       (input) INTEGER
-          The number of columns of the matrices B and V, and also
-          the number of rows of the matrix F.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A whose eigenvalues must have positive
-          real parts if DISCR = .FALSE. or moduli greater than unity
-          if DISCR = .TRUE..
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= N.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= N.
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the state-
-          feedback matrix F which assigns one eigenvalue (if N = 1)
-          or two eigenvalues (if N = 2) of the matrix A + B*F in
-          symmetric positions with respect to the imaginary axis
-          (if DISCR = .FALSE.) or the unit circle (if
-          DISCR = .TRUE.).
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,M)
-          The leading M-by-M upper triangular part of this array
-          contains the input/output matrix V of the resulting inner
-          system in upper triangular form.
-          If DISCR = .FALSE., the resulting V is an identity matrix.
-
-  LDV     INTEGER
-          The leading dimension of array V.  LDF &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if uncontrollability of the pair (A,B) is detected;
-          = 2:  if A is stable or at the stability limit;
-          = 3:  if N = 2 and A has a pair of real eigenvalues.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB01MD.html b/doc/_static/doc/SB01MD.html
deleted file mode 100644
index c96dcfb3..00000000
--- a/doc/_static/doc/SB01MD.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB01MD">SB01MD</A></H2>
-<H3>
-State feedback matrix of a linear time-invariant single-input system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To determine the one-dimensional state feedback matrix G of the
-  linear time-invariant single-input system
-
-        dX/dt = A * X + B * U,
-
-  where A is an NCONT-by-NCONT matrix and B is an NCONT element
-  vector such that the closed-loop system
-
-        dX/dt = (A - B * G) * X
-
-  has desired poles. The system must be preliminarily reduced
-  to orthogonal canonical form using the SLICOT Library routine
-  AB01MD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDZ, N, NCONT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), DWORK(*), G(*), WI(*), WR(*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NCONT   (input) INTEGER
-          The order of the matrix A as produced by SLICOT Library
-          routine AB01MD.  NCONT &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix Z.  N &gt;= NCONT.
-
-  A       (input/output) DOUBLE PRECISION array, dimension
-          (LDA,NCONT)
-          On entry, the leading NCONT-by-NCONT part of this array
-          must contain the canonical form of the state dynamics
-          matrix A as produced by SLICOT Library routine AB01MD.
-          On exit, the leading NCONT-by-NCONT part of this array
-          contains the upper quasi-triangular form S of the closed-
-          loop system matrix (A - B * G), that is triangular except
-          for possible 2-by-2 diagonal blocks.
-          (To reconstruct the closed-loop system matrix see
-          FURTHER COMMENTS below.)
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,NCONT).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (NCONT)
-          On entry, this array must contain the canonical form of
-          the input/state vector B as produced by SLICOT Library
-          routine AB01MD.
-          On exit, this array contains the transformed vector Z * B
-          of the closed-loop system.
-
-  WR      (input) DOUBLE PRECISION array, dimension (NCONT)
-  WI      (input) DOUBLE PRECISION array, dimension (NCONT)
-          These arrays must contain the real and imaginary parts,
-          respectively, of the desired poles of the closed-loop
-          system. The poles can be unordered, except that complex
-          conjugate pairs of poles must appear consecutively.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, the leading N-by-N part of this array must
-          contain the orthogonal transformation matrix as produced
-          by SLICOT Library routine AB01MD, which reduces the system
-          to canonical form.
-          On exit, the leading NCONT-by-NCONT part of this array
-          contains the orthogonal matrix Z which reduces the closed-
-          loop system matrix (A - B * G) to upper quasi-triangular
-          form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
-
-  G       (output) DOUBLE PRECISION array, dimension (NCONT)
-          This array contains the one-dimensional state feedback
-          matrix G of the original system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*NCONT)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method is based on the orthogonal reduction of the closed-loop
-  system matrix (A - B * G) to upper quasi-triangular form S whose
-  1-by-1 and 2-by-2 diagonal blocks correspond to the desired poles.
-  That is, S = Z'*(A - B * G)*Z, where Z is an orthogonal matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Petkov, P. Hr.
-      A Computational Algorithm for Pole Assignment of Linear
-      Single Input Systems.
-      Internal Report 81/2, Control Systems Research Group, School
-      of Electronic Engineering and Computer Science, Kingston
-      Polytechnic, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                3
-  The algorithm requires 0(NCONT ) operations and is backward
-  stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If required, the closed-loop system matrix (A - B * G) can be
-  formed from the matrix product Z * S * Z' (where S and Z are the
-  matrices output in arrays A and Z respectively).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDZ
-      PARAMETER        ( LDA = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO1, INFO2, J, N, NCONT
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), DWORK(LDWORK), G(NMAX),
-     $                 WI(NMAX), WR(NMAX), Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         AB01MD, SB01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, TOL, JOBZ
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( WR(I), I = 1,N )
-         READ ( NIN, FMT = * ) ( WI(I), I = 1,N )
-*        First reduce the given system to canonical form.
-         CALL AB01MD( JOBZ, N, A, LDA, B, NCONT, Z, LDZ, DWORK, TOL,
-     $                DWORK(N+1), LDWORK-N, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-*           Find the one-dimensional state feedback matrix G.
-            CALL SB01MD( NCONT, N, A, LDA, B, WR, WI, Z, LDZ, G, DWORK,
-     $                   INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            ELSE
-               WRITE ( NOUT, FMT = 99996 ) ( G(I), I = 1,NCONT )
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01MD =',I2)
-99997 FORMAT (' INFO on exit from SB01MD =',I2)
-99996 FORMAT (' The one-dimensional state feedback matrix G is',
-     $       /20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB01MD EXAMPLE PROGRAM DATA
-   4     0.0     I
-  -1.0  0.0  2.0 -3.0
-   1.0 -4.0  3.0 -1.0
-   0.0  2.0  4.0 -5.0
-   0.0  0.0 -1.0 -2.0
-   1.0  0.0  0.0  0.0
-  -1.0 -1.0 -1.0 -1.0
-   0.0  0.0  0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB01MD EXAMPLE PROGRAM RESULTS
-
- The one-dimensional state feedback matrix G is
-   1.0000  29.0000  93.0000 -76.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB02MD.html b/doc/_static/doc/SB02MD.html
deleted file mode 100644
index 1f908070..00000000
--- a/doc/_static/doc/SB02MD.html
+++ /dev/null
@@ -1,420 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MD">SB02MD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations (Schur vectors method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                           -1
-     Q + A'*X + X*A - X*B*R  B'*X = 0                            (1)
-
-  or the discrete-time algebraic Riccati equation
-                                     -1
-     X = A'*X*A - A'*X*B*(R + B'*X*B)  B'*X*A + Q                (2)
-
-  where A, B, Q and R are N-by-N, N-by-M, N-by-N and M-by-M matrices
-  respectively, with Q symmetric and R symmetric nonsingular; X is
-  an N-by-N symmetric matrix.
-                    -1
-  The matrix G = B*R  B' must be provided on input, instead of B and
-  R, that is, for instance, the continuous-time equation
-
-     Q + A'*X + X*A - X*G*X = 0                                  (3)
-
-  is solved, where G is an N-by-N symmetric matrix. SLICOT Library
-  routine SB02MT should be used to compute G, given B and R. SB02MT
-  also enables to solve Riccati equations corresponding to optimal
-  problems with coupling terms.
-
-  The routine also returns the computed values of the closed-loop
-  spectrum of the optimal system, i.e., the stable eigenvalues
-  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
-  symplectic matrix associated to the optimal problem.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G,
-     $                   LDG, Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU,
-     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HINV, SCAL, SORT, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDU, LDWORK, N
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*), U(LDU,*), WR(*), WI(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved as
-          follows:
-          = 'C':  Equation (3), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  HINV    CHARACTER*1
-          If DICO = 'D', specifies which symplectic matrix is to be
-          constructed, as follows:
-          = 'D':  The matrix H in (5) (see METHOD) is constructed;
-          = 'I':  The inverse of the matrix H in (5) is constructed.
-          HINV is not used if DICO = 'C'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  SCAL    CHARACTER*1
-          Specifies whether or not a scaling strategy should be
-          used, as follows:
-          = 'G':  General scaling should be used;
-          = 'N':  No scaling should be used.
-
-  SORT    CHARACTER*1
-          Specifies which eigenvalues should be obtained in the top
-          of the Schur form, as follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, G and X.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A of the equation.
-          On exit, if DICO = 'D', and INFO = 0 or INFO &gt; 1, the
-                                                                 -1
-          leading N-by-N part of this array contains the matrix A  .
-          Otherwise, the array A is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          The leading N-by-N upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          must contain the upper triangular part or lower triangular
-          part, respectively, of the symmetric matrix G.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix Q.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          used.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the solution matrix X of the problem.
-
-  LDQ     INTEGER
-          The leading dimension of array N.  LDQ &gt;= MAX(1,N).
-
-  RCOND   (output) DOUBLE PRECISION
-          An estimate of the reciprocal of the condition number (in
-          the 1-norm) of the N-th order system of algebraic
-          equations from which the solution matrix X is obtained.
-
-  WR      (output) DOUBLE PRECISION array, dimension (2*N)
-  WI      (output) DOUBLE PRECISION array, dimension (2*N)
-          If INFO = 0 or INFO = 5, these arrays contain the real and
-          imaginary parts, respectively, of the eigenvalues of the
-          2N-by-2N matrix S, ordered as specified by SORT (except
-          for the case HINV = 'D', when the order is opposite to
-          that specified by SORT). The leading N elements of these
-          arrays contain the closed-loop spectrum of the system
-                        -1
-          matrix A - B*R  *B'*X, if DICO = 'C', or of the matrix
-                            -1
-          A - B*(R + B'*X*B)  B'*X*A, if DICO = 'D'. Specifically,
-             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
-          array contains the ordered real Schur form S of the
-          Hamiltonian or symplectic matrix H. That is,
-
-                 (S   S  )
-                 ( 11  12)
-             S = (       ),
-                 (0   S  )
-                 (     22)
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          If INFO = 0 or INFO = 5, the leading 2N-by-2N part of this
-          array contains the transformation matrix U which reduces
-          the Hamiltonian or symplectic matrix H to the ordered real
-          Schur form S. That is,
-
-                 (U   U  )
-                 ( 11  12)
-             U = (       ),
-                 (U   U  )
-                 ( 21  22)
-
-          where U  , U  , U   and U   are N-by-N matrices.
-                 11   12   21      22
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) returns the scaling factor used
-          (set to 1 if SCAL = 'N'), also set if INFO = 5;
-          if DICO = 'D', DWORK(3) returns the reciprocal condition
-          number of the given matrix  A.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(2,6*N) if DICO = 'C';
-          LDWORK &gt;= MAX(3,6*N) if DICO = 'D'.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if matrix A is (numerically) singular in discrete-
-                time case;
-          = 2:  if the Hamiltonian or symplectic matrix H cannot be
-                reduced to real Schur form;
-          = 3:  if the real Schur form of the Hamiltonian or
-                symplectic matrix H cannot be appropriately ordered;
-          = 4:  if the Hamiltonian or symplectic matrix H has less
-                than N stable eigenvalues;
-          = 5:  if the N-th order system of linear algebraic
-                equations, from which the solution matrix X would
-                be obtained, is singular to working precision.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Schur vector approach proposed by Laub.
-  It is assumed that [A,B] is a stabilizable pair (where for (3) B
-  is any matrix such that B*B' = G with rank(B) = rank(G)), and
-  [E,A] is a detectable pair, where E is any matrix such that
-  E*E' = Q with rank(E) = rank(Q). Under these assumptions, any of
-  the algebraic Riccati equations (1)-(3) is known to have a unique
-  non-negative definite solution. See [2].
-  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
-
-              ( A   -G )
-         H =  (        ),                                    (4)
-              (-Q   -A'),
-
-  for continuous-time equation, and
-                 -1        -1
-              ( A         A  *G   )
-         H =  (   -1          -1  ),                         (5)
-              (Q*A    A' + Q*A  *G)
-                                                         -1
-  for discrete-time equation, respectively, where G = B*R  *B'.
-  The assumptions guarantee that H in (4) has no pure imaginary
-  eigenvalues, and H in (5) has no eigenvalues on the unit circle.
-  If Y is an N-by-N matrix then there exists an orthogonal matrix U
-  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
-  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
-  (corresponding to the complex conjugate eigenvalues and real
-  eigenvalues respectively) appear in any desired order. This is the
-  ordered real Schur form. Thus, we can find an orthogonal
-  similarity transformation U which puts (4) or (5) in ordered real
-  Schur form
-
-         U'*H*U = S = (S(1,1)  S(1,2))
-                      (  0     S(2,2))
-
-  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
-  have negative real parts in case of (4), or moduli greater than
-  one in case of (5). If U is conformably partitioned into four
-  N-by-N blocks
-
-            U = (U(1,1)  U(1,2))
-                (U(2,1)  U(2,2))
-
-  with respect to the assumptions we then have
-  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
-      (2), or (3) with X = X' and non-negative definite;
-  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
-      DICO = 'D') are equal to the eigenvalues of optimal system
-      (the 'closed-loop' spectrum).
-
-  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
-  is stable. [E,A] is detectable if [A',E'] is stabilizable.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Laub, A.J.
-      A Schur Method for Solving Algebraic Riccati equations.
-      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
-
-  [2] Wonham, W.M.
-      On a matrix Riccati equation of stochastic control.
-      SIAM J. Contr., 6, pp. 681-697, 1968.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
-  SORT = 'S', if HINV = 'I'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying
-      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
-      SORT = 'S' if DICO = 'D' and HINV = 'D'.
-
-  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
-  and SORT = 'U', will be faster then the other combinations [3].
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02MD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDS, LDU
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDS = 2*NMAX, LDU = 2*NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 6*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, N
-      CHARACTER        DICO, HINV, SCAL, SORT, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), U(LDU,2*NMAX),
-     $                 WI(2*NMAX), WR(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB02MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DICO, HINV, UPLO, SCAL, SORT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB02MD( DICO, HINV, UPLO, SCAL, SORT, N, A, LDA, G, LDG,
-     $                Q, LDQ, RCOND, WR, WI, S, LDS, U, LDU, IWORK,
-     $                DWORK, LDWORK, BWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) RCOND
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( Q(I,J), J = 1,N )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02MD = ',I2)
-99997 FORMAT (' RCOND = ',F4.2,//' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02MD EXAMPLE PROGRAM DATA
-   2     C     D     U     N     S
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02MD EXAMPLE PROGRAM RESULTS
-
- RCOND = 0.31
-
- The solution matrix X is 
-   2.0000   1.0000
-   1.0000   2.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,316 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MT">SB02MT</A></H2>
-<H3>
-Conversion of optimal problems with coupling weighting terms to standard problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the following matrices
-
-             -1
-      G = B*R  *B',
-
-      -          -1
-      A = A - B*R  *L',
-
-      -          -1
-      Q = Q - L*R  *L',
-
-  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
-  N-by-M, and N-by-N matrices, respectively, with Q, R and G
-  symmetric matrices.
-
-  When R is well-conditioned with respect to inversion, standard
-  algorithms for solving linear-quadratic optimization problems will
-  then also solve optimization problems with coupling weighting
-  matrix L. Moreover, a gain in efficiency is possible using matrix
-  G in the deflating subspace algorithms (see SLICOT Library routine
-  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
-  SG02CD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MT( JOBG, JOBL, FACT, UPLO, N, M, A, LDA, B, LDB,
-     $                   Q, LDQ, R, LDR, L, LDL, IPIV, OUFACT, G, LDG,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FACT, JOBG, JOBL, UPLO
-      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
-     $                  N, OUFACT
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
-     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBG    CHARACTER*1
-          Specifies whether or not the matrix G is to be computed,
-          as follows:
-          = 'G':  Compute G;
-          = 'N':  Do not compute G.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the factors of the symmetric
-                  indefinite UdU' or LdL' factorization of R.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices R, Q (if
-          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, and G, and the number of
-          rows of the matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix R, and the number of columns of
-          the matrices B and L.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if JOBL = 'N', the leading N-by-N part of this
-          array must contain the matrix A.
-          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
-                                                 -          -1
-          part of this array contains the matrix A = A - B*R  L'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if JOBL = 'N';
-          LDA &gt;= 1        if JOBL = 'Z'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B.
-          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
-                                                          -1
-          part of this array contains the matrix B*chol(R)  .
-          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if JOBL = 'N', the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively, of
-          the symmetric matrix Q. The strictly lower triangular part
-          (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array contains the upper
-          triangular part or lower triangular part, respectively, of
-                               -          -1
-          the symmetric matrix Q = Q - L*R  *L'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if JOBL = 'N';
-          LDQ &gt;= 1        if JOBL = 'Z'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if FACT = 'U', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the factors of
-          the UdU' or LdL' factorization, respectively, of the
-          symmetric indefinite input weighting matrix R (as produced
-          by LAPACK routine DSYTRF).
-          If FACT = 'N', the strictly lower triangular part (if UPLO
-          = 'U') or strictly upper triangular part (if UPLO = 'L')
-          of this array is used as workspace (filled in by
-          symmetry).
-          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix.
-          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix.
-          On exit R is unchanged if FACT = 'C' or 'U'.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
-          On entry, if JOBL = 'N', the leading N-by-M part of this
-          array must contain the matrix L.
-          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
-          leading N-by-M part of this array contains the matrix
-                   -1
-          L*chol(R)  .
-          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-          L is not referenced if JOBL = 'Z'.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R,
-          as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'C'.
-
-  OUFACT  (output) INTEGER
-          Information about the factorization finally used.
-          OUFACT = 0:  no factorization of R has been used (M = 0);
-          OUFACT = 1:  Cholesky factorization of R has been used;
-          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
-                       factorization of R has been used.
-
-  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
-          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array contains the upper
-          triangular part (if UPLO = 'U') or lower triangular part
-                                                              -1
-          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
-          If JOBG = 'N', this array is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.
-          LDG &gt;= MAX(1,N) if JOBG = 'G';
-          LDG &gt;= 1        if JOBG = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FACT = 'C' or FACT = 'U', this array is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
-          as specified below, DWORK(2) contains the reciprocal
-          condition number of the given matrix R.
-          On exit, if LDWORK = -2 on input or INFO = -23, then
-          DWORK(1) returns the minimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
-                                      JOBG = 'N' and  JOBL = 'Z');
-          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
-                                                      JOBL = 'Z';
-          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
-                                                      JOBL = 'N');
-          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
-                                                      JOBL = 'N').
-          For optimum performance LDWORK should be larger than 3*M,
-          if FACT = 'N'.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
-                exactly zero; the UdU' (or LdL') factorization has
-                been completed, but the block diagonal matrix d is
-                exactly singular;
-          = M+1:  if the matrix R is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>                         -     -
-  The matrices G, and/or A and Q are evaluated using the given or
-  computed symmetric factorization of R.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine should not be used when R is ill-conditioned.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB02MU.html b/doc/_static/doc/SB02MU.html
deleted file mode 100644
index f5c6379a..00000000
--- a/doc/_static/doc/SB02MU.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MU">SB02MU</A></H2>
-<H3>
-Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
-  associated to the linear-quadratic optimization problem, used to
-  solve the continuous- or discrete-time algebraic Riccati equation,
-  respectively.
-
-  For a continuous-time problem, S is defined by
-
-          (  A  -G )
-      S = (        ),                                       (1)
-          ( -Q  -A')
-
-  and for a discrete-time problem by
-
-              -1       -1
-          (  A        A  *G     )
-      S = (   -1           -1   ),                          (2)
-          ( QA     A' + Q*A  *G )
-
-  or
-
-                    -T         -T
-          (  A + G*A  *Q   -G*A   )
-      S = (      -T            -T ),                        (3)
-          (    -A  *Q         A   )
-
-  where A, G, and Q are N-by-N matrices, with G and Q symmetric.
-  Matrix A must be nonsingular in the discrete-time case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MU( DICO, HINV, UPLO, N, A, LDA, G, LDG, Q, LDQ, S,
-     $                   LDS, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HINV, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  Continuous-time system;
-          = 'D':  Discrete-time system.
-
-  HINV    CHARACTER*1
-          If DICO = 'D', specifies which of the matrices (2) or (3)
-          is constructed, as follows:
-          = 'D':  The matrix S in (2) is constructed;
-          = 'I':  The (inverse) matrix S in (3) is constructed.
-          HINV is not referenced if DICO = 'C'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A.
-          On exit, if DICO = 'D', and INFO = 0, the leading N-by-N
-                                                  -1
-          part of this array contains the matrix A  .
-          Otherwise, the array A is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          The leading N-by-N upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          must contain the upper triangular part or lower triangular
-          part, respectively, of the symmetric matrix G.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          must contain the upper triangular part or lower triangular
-          part, respectively, of the symmetric matrix Q.
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') is not
-          referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,N).
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If INFO = 0, the leading 2N-by-2N part of this array
-          contains the Hamiltonian or symplectic matrix of the
-          problem.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK; if DICO = 'D', DWORK(2) returns the reciprocal
-          condition number of the given matrix  A.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1          if DICO = 'C';
-          LDWORK &gt;= MAX(2,4*N) if DICO = 'D'.
-          For optimum performance LDWORK should be larger, if
-          DICO = 'D'.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
-                submatrix of A is singular in discrete-time case;
-          = N+1:  if matrix A is numerically singular in discrete-
-                time case.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
-  is constructed.
-  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
-  (3) - the inverse of the matrix in (2) - is constructed.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The discrete-time case needs the inverse of the matrix A, hence
-  the routine should not be used when A is ill-conditioned.
-                            3
-  The algorithm requires 0(n ) floating point operations in the
-  discrete-time case.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB02MX.html b/doc/_static/doc/SB02MX.html
deleted file mode 100644
index 6beaa630..00000000
--- a/doc/_static/doc/SB02MX.html
+++ /dev/null
@@ -1,353 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02MX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02MX">SB02MX</A></H2>
-<H3>
-Conversion of optimal problems with coupling weighting terms to standard problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the following matrices
-
-             -1
-      G = B*R  *B',
-
-      -               -1
-      A = A +/- op(B*R  *L'),
-
-      -            -1
-      Q = Q +/- L*R  *L',
-
-  where A, B, Q, R, L, and G are N-by-N, N-by-M, N-by-N, M-by-M,
-  N-by-M, and N-by-N matrices, respectively, with Q, R and G
-  symmetric matrices, and op(W) is one of
-
-      op(W) = W  or  op(W) = W'.
-
-  When R is well-conditioned with respect to inversion, standard
-  algorithms for solving linear-quadratic optimization problems will
-  then also solve optimization problems with coupling weighting
-  matrix L. Moreover, a gain in efficiency is possible using matrix
-  G in the deflating subspace algorithms (see SLICOT Library routine
-  SB02OD) or in the Newton's algorithms (see SLICOT Library routine
-  SG02CD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02MX( JOBG, JOBL, FACT, UPLO, TRANS, FLAG, DEF, N, M,
-     $                   A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, IPIV,
-     $                   OUFACT, G, LDG, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DEF, FACT, FLAG, JOBG, JOBL, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDG, LDL, LDQ, LDR, LDWORK, M,
-     $                  N, OUFACT
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), G(LDG,*),
-     $                  L(LDL,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBG    CHARACTER*1
-          Specifies whether or not the matrix G is to be computed,
-          as follows:
-          = 'G':  Compute G;
-          = 'N':  Do not compute G.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the factors of the symmetric
-                  indefinite UdU' or LdL' factorization of R.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices R, Q (if
-          JOBL = 'N'), and G (if JOBG = 'G') is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-  FLAG    CHARACTER*1
-          Specifies which sign is used, as follows:
-          = 'P':  The plus  sign is used;
-          = 'M':  The minus sign is used.
-
-  DEF     CHARACTER*1
-          If FACT = 'N', specifies whether or not it is assumed that
-          matrix R is positive definite, as follows:
-          = 'D':  Matrix R is assumed positive definite;
-          = 'I':  Matrix R is assumed indefinite.
-          Both values can be used to perform the computations,
-          irrespective to the R definiteness, but using the adequate
-          value will save some computational effort (see FURTHER
-          COMMENTS).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, and G, and the number of
-          rows of the matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix R, and the number of columns of
-          the matrices B and L.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if JOBL = 'N', the leading N-by-N part of this
-          array must contain the matrix A.
-          On exit, if JOBL = 'N', and INFO = 0, the leading N-by-N
-                                                 -
-          part of this array contains the matrix A.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if JOBL = 'N';
-          LDA &gt;= 1        if JOBL = 'Z'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the matrix B.
-          On exit, if OUFACT = 1, and INFO = 0, the leading N-by-M
-                                                          -1
-          part of this array contains the matrix B*chol(R)  .
-          On exit, B is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if JOBL = 'N', the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively, of
-          the symmetric matrix Q. The strictly lower triangular part
-          (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          On exit, if JOBL = 'N' and INFO = 0, the leading N-by-N
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array contains the upper
-          triangular part or lower triangular part, respectively, of
-                               -            -1
-          the symmetric matrix Q = Q +/- L*R  *L'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if JOBL = 'N';
-          LDQ &gt;= 1        if JOBL = 'Z'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if FACT = 'U', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the factors of
-          the UdU' or LdL' factorization, respectively, of the
-          symmetric indefinite input weighting matrix R (as produced
-          by LAPACK routine DSYTRF).
-          If FACT = 'N' and DEF = 'D', the strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part
-          (if UPLO = 'L') of this array is used as workspace (filled
-          in by symmetry). If FACT = 'N' and DEF = 'I', the strictly
-          lower triangular part (if UPLO = 'U') or strictly upper
-          triangular part (if UPLO = 'L') is unchanged.
-          On exit, if OUFACT = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix.
-          On exit, if OUFACT = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix.
-          On exit R is unchanged if FACT = 'C' or 'U'.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,M).
-
-  L       (input/output) DOUBLE PRECISION array, dimension (LDL,M)
-          On entry, if JOBL = 'N', the leading N-by-M part of this
-          array must contain the matrix L.
-          On exit, if JOBL = 'N', OUFACT = 1, and INFO = 0, the
-          leading N-by-M part of this array contains the matrix
-                   -1
-          L*chol(R)  .
-          On exit, L is unchanged if OUFACT &lt;&gt; 1 (hence also when
-          FACT = 'U').
-          L is not referenced if JOBL = 'Z'.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R,
-          as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'C'.
-
-  OUFACT  (output) INTEGER
-          Information about the factorization finally used.
-          OUFACT = 0:  no factorization of R has been used (M = 0);
-          OUFACT = 1:  Cholesky factorization of R has been used;
-          OUFACT = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO = 'L')
-                       factorization of R has been used.
-
-  G       (output) DOUBLE PRECISION array, dimension (LDG,N)
-          If JOBG = 'G', and INFO = 0, the leading N-by-N upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array contains the upper
-          triangular part (if UPLO = 'U') or lower triangular part
-                                                              -1
-          (if UPLO = 'L'), respectively, of the matrix G = B*R  B'.
-          If JOBG = 'N', this array is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.
-          LDG &gt;= MAX(1,N) if JOBG = 'G';
-          LDG &gt;= 1        if JOBG = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-          If FACT = 'C' or FACT = 'U', this array is not referenced.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK; if FACT = 'N' and LDWORK is set
-          as specified below, DWORK(2) contains the reciprocal
-          condition number of the given matrix R. DWORK(2) is set to
-          zero if M = 0.
-          On exit, if LDWORK = -2 on input or INFO = -26, then
-          DWORK(1) returns the minimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1              if FACT = 'C' or  (FACT = 'U' and
-                                      JOBG = 'N' and  JOBL = 'Z');
-          LDWORK &gt;= MAX(2,3*M)     if FACT = 'N' and  JOBG = 'N' and
-                                                      JOBL = 'Z';
-          LDWORK &gt;= MAX(2,3*M,N*M) if FACT = 'N' and (JOBG = 'G' or
-                                                      JOBL = 'N');
-          LDWORK &gt;= MAX(1,N*M)     if FACT = 'U' and (JOBG = 'G' or
-                                                      JOBL = 'N').
-          For optimum performance LDWORK should be larger than 3*M,
-          if FACT = 'N'.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element (1 &lt;= i &lt;= M) of the d factor is
-                exactly zero; the UdU' (or LdL') factorization has
-                been completed, but the block diagonal matrix d is
-                exactly singular;
-          = M+1:  if the matrix R is numerically singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>                         -     -
-  The matrices G, and/or A and Q are evaluated using the given or
-  computed symmetric factorization of R.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine should not be used when R is ill-conditioned.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Using argument TRANS allows to avoid the transposition of matrix A
-  needed to solve optimal filtering/estimation problems by the same
-  routines solving optimal control problems.
-  If DEF is set to 'D', but R is indefinite, the computational
-  effort for factorization will be approximately double, since
-  Cholesky factorization, tried first, will fail, and symmetric
-  indefinite factorization will then be used.
-  If DEF is set to 'I', but R is positive definite, the
-  computational effort will be slightly higher than that when using
-  Cholesky factorization. It is recommended to use DEF = 'D' also if
-  the definiteness is not known, but M is (much) smaller than N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02ND">SB02ND</A></H2>
-<H3>
-Optimal state feedback matrix for an optimal control problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the optimal feedback matrix F for the problem of
-  optimal control given by
-
-                     -1
-       F = (R + B'XB)  (B'XA + L')                           (1)
-
-  in the discrete-time case and
-
-            -1
-       F = R  (B'X + L')                                     (2)
-
-  in the continuous-time case, where A, B and L are N-by-N, N-by-M
-  and N-by-M matrices respectively; R and X are M-by-M and N-by-N
-  symmetric matrices respectively.
-
-  Optionally, matrix R may be specified in a factored form, and L
-  may be zero.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA, B,
-     $                   LDB, R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
-     $                   LDF, OUFACT, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOBL, UPLO
-      INTEGER           INFO, LDA, LDB, LDF, LDL, LDR, LDWORK, LDX, M,
-     $                  N, P
-      DOUBLE PRECISION  RNORM
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*),
-     $                  L(LDL,*), R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which F is to be determined,
-          as follows:
-          = 'D':  Equation (1), discrete-time case;
-          = 'C':  Equation (2), continuous-time case.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the symmetric indefinite UdU' or
-                  LdL' factorization of R. This option is not
-                  available for DICO = 'D'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the possibly factored matrix R
-          (or R + B'XB, on exit) is or should be stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-          No computations are performed if MIN(N,M) = 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix D.
-          P &gt;= M for DICO = 'C';
-          P &gt;= 0 for DICO = 'D'.
-          This parameter must be specified only for FACT = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If DICO = 'D', the leading N-by-N part of this array must
-          contain the state matrix A of the system.
-          If DICO = 'C', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if DICO = 'D';
-          LDA &gt;= 1        if DICO = 'C'.
-
-  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
-          array is destroyed. Specifically, if, on exit,
-          OUFACT(2) = 1, this array contains chol(X)*B, and if
-          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
-          part (in the first N rows) contains the submatrix of
-          sqrt(V)*U'B corresponding to the non-negligible, positive
-          eigenvalues of X, where V and U are the matrices with the
-          eigenvalues and eigenvectors of X.
-          Otherwise, B is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'D', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array must contain the
-          factors of the UdU' or LdL' factorization, respectively,
-          of the symmetric indefinite input weighting matrix R (as
-          produced by LAPACK routine DSYTRF).
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') of this
-          array is used as workspace (filled in by symmetry with the
-          other strictly triangular part of R, of R+B'XB, or of the
-          result, if DICO = 'C', DICO = 'D', or (DICO = 'D' and
-          (FACT = 'D' or FACT = 'C') and UPLO = 'L'), respectively.
-          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D').
-          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix
-          (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D' and FACT = 'N').
-          On exit R is unchanged if FACT = 'U' or N = 0.
-
-  LDR     INTEGER.
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
-          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT(1) = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R or
-          R + B'XB, as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'D', or FACT = 'C',
-          or N = 0.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N', the leading N-by-M part of this array must
-          contain the cross weighting matrix L.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the solution matrix X of the algebraic Riccati
-          equation as produced by SLICOT Library routines SB02MD or
-          SB02OD. Matrix X is assumed non-negative definite if
-          DICO = 'D' and (FACT = 'D' or FACT = 'C').
-          The full matrix X must be given on input if LDWORK &lt; N*M
-          or if DICO = 'D' and (FACT = 'D' or FACT = 'C').
-          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
-          OUFACT(2) = 1, the N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array contains the Cholesky factor of the given
-          matrix X, which is found to be positive definite.
-          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
-          and INFO &lt; M+2 (but INFO &gt;= 0), the leading N-by-N part of
-          this array contains the matrix of orthonormal eigenvectors
-          of X.
-          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  RNORM   (input) DOUBLE PRECISION
-          If FACT = 'U', this parameter must contain the 1-norm of
-          the original matrix R (before factoring it).
-          Otherwise, this parameter is not used.
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the
-          optimal feedback matrix F.
-          This array is not referenced if DICO = 'C' and FACT = 'D'
-          and P &lt; M.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  OUFACT  (output) INTEGER array, dimension (2)
-          Information about the factorization finally used.
-          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
-                          'L') factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(2) = 1:  Cholesky factorization of X has been used;
-          OUFACT(2) = 2:  Spectral factorization of X has been used.
-          The value of OUFACT(2) is not set for DICO = 'C' or for
-          DICO = 'D' and FACT = 'N'.
-          This array is not set if N = 0 or M = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK, and for LDWORK set as specified
-          below, DWORK(2) contains the reciprocal condition number
-          of the matrix R (for DICO = 'C') or of R + B'XB (for
-          DICO = 'D'); DWORK(2) is set to 1 if N = 0.
-          On exit, if LDWORK = -2 on input or INFO = -25, then
-          DWORK(1) returns the minimal value of LDWORK.
-          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
-          DWORK(N+2) contain the eigenvalues of X, in ascending
-          order.
-
-  LDWORK  INTEGER
-          Dimension of working array DWORK.
-          LDWORK &gt;= max(2,2*M)           if FACT =  'U';
-          LDWORK &gt;= max(2,3*M)           if FACT &lt;&gt; 'U', DICO = 'C';
-          LDWORK &gt;= max(2,3*M,N)         if FACT =  'N', DICO = 'D';
-          LDWORK &gt;= max(N+3*M+2,4*N+1)   if FACT &lt;&gt; 'N', DICO = 'D'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element of the d factor is exactly zero;
-                the UdU' (or LdL') factorization has been completed,
-                but the block diagonal matrix d is exactly singular;
-          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
-                (if DICO = 'D') is numerically singular (to working
-                precision);
-          = M+2:  if one or more of the eigenvalues of X has not
-                converged;
-          = M+3:  if the matrix X is indefinite and updating the
-                triangular factorization failed.
-          If INFO &gt; M+1, call the routine again with an appropriate,
-          unfactored matrix R.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The optimal feedback matrix F is obtained as the solution to the
-  system of linear equations
-
-     (R + B'XB) * F = B'XA + L'
-
-  in the discrete-time case and
-
-     R * F = B'X + L'
-
-  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
-  If FACT = 'N', Cholesky factorization is tried first, but
-  if the coefficient matrix is not positive definite, then UdU' (or
-  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
-  of R is taken into account. The discrete-time case then involves
-  updating of a triangular factorization of R (or D'D); Cholesky or
-  symmetric spectral factorization of X is employed to avoid
-  squaring of the condition number of the matrix. When D is given,
-  its QR factorization is determined, and the triangular factor is
-  used as described above.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm consists of numerically stable steps.
-                                 3     2
-  For DICO = 'C', it requires O(m  + mn ) floating point operations
-                        2
-  if FACT = 'N' and O(mn ) floating point operations, otherwise.
-  For DICO = 'D', the operation counts are similar, but additional
-     3
-  O(n ) floating point operations may be needed in the worst case.
-  These estimates assume that M &lt;= N.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2
-      PARAMETER        ( NMAX2 = 2*NMAX )
-      INTEGER          LDA, LDB, LDC, LDL, LDR, LDS, LDT, LDU, LDX, LDF
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
-     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
-     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
-     $                   LDF = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( NMAX2,MMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
-     $                   16*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL, RCOND, RNORM
-      INTEGER          I, INFO1, INFO2, J, M, N, P
-      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
-     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), F(LDF,NMAX), L(LDL,MMAX),
-     $                 R(LDR,MMAX), S(LDS,NMAX2+MMAX), T(LDT,NMAX2),
-     $                 U(LDU,NMAX2), X(LDX,NMAX)
-      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
-      LOGICAL          BWORK(NMAX2)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02ND, SB02OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, FACT, JOBL, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
-               END IF
-*              Find the solution matrix X.
-               JOBB = 'B'
-               SORT = 'S'
-               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
-     $                      P, A, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
-     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
-     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
-     $                      BWORK, INFO1 )
-*
-               IF ( INFO1.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO1
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-*                 Compute the optimal feedback matrix F.
-                  CALL SB02ND( DICO, FACT, UPLO, JOBL, N, M, P, A, LDA,
-     $                         B, LDB, R, LDR, IPIV, L, LDL, X, LDX,
-     $                         RNORM, F, LDF, OUFACT, IWORK, DWORK,
-     $                         LDWORK, INFO2 )
-*
-                  IF ( INFO2.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) INFO2
-                  ELSE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, M
-                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
-   40                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02OD = ',I2)
-99997 FORMAT (' INFO on exit from SB02ND = ',I2)
-99996 FORMAT (' The solution matrix X is ')
-99995 FORMAT (/' The optimal feedback matrix F is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02ND EXAMPLE PROGRAM DATA
-   2     1     3     0.0     D     N     Z     U
-   2.0 -1.0
-   1.0  0.0
-   1.0
-   0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-   0.0
-   0.0
-   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The optimal feedback matrix F is 
-   2.0000  -1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02OD">SB02OD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations (generalized Schur vectors method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                           -1
-     Q + A'X + XA - (L+XB)R  (L+XB)' = 0                       (1)
-
-  or the discrete-time algebraic Riccati equation
-                                  -1
-     X = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q              (2)
-
-  where A, B, Q, R, and L are N-by-N, N-by-M, N-by-N, M-by-M and
-  N-by-M matrices, respectively, such that Q = C'C, R = D'D and
-  L = C'D; X is an N-by-N symmetric matrix.
-  The routine also returns the computed values of the closed-loop
-  spectrum of the system, i.e., the stable eigenvalues lambda(1),
-  ..., lambda(N) of the corresponding Hamiltonian or symplectic
-  pencil, in the continuous-time case or discrete-time case,
-  respectively.
-                           -1
-  Optionally, matrix G = BR  B' may be given instead of B and R.
-  Other options include the case with Q and/or R given in a
-  factored form, Q = C'C, R = D'D, and with L a zero matrix.
-
-  The routine uses the method of deflating subspaces, based on
-  reordering the eigenvalues in a generalized Schur matrix pair.
-  A standard eigenproblem is solved in the continuous-time case
-  if G is given.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P, A,
-     $                   LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, RCOND, X,
-     $                   LDX, ALFAR, ALFAI, BETA, S, LDS, T, LDT, U,
-     $                   LDU, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOBB, JOBL, SORT, UPLO
-      INTEGER           INFO, LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU,
-     $                  LDWORK, LDX, M, N, P
-      DOUBLE PRECISION  RCOND, TOL
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
-     $                  DWORK(*), L(LDL,*), Q(LDQ,*), R(LDR,*),
-     $                  S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  JOBB    CHARACTER*1
-          Specifies whether or not the matrix G is given, instead
-          of the matrices B and R, as follows:
-          = 'B':  B and R are given;
-          = 'G':  G is given.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the matrices Q and/or R (if
-          JOBB = 'B') are factored, as follows:
-          = 'N':  Not factored, Q and R are given;
-          = 'C':  C is given, and Q = C'C;
-          = 'D':  D is given, and R = D'D;
-          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
-
-  UPLO    CHARACTER*1
-          If JOBB = 'G', or FACT = 'N', specifies which triangle of
-          the matrices G and Q (if FACT = 'N'), or Q and R (if
-          JOBB = 'B'), is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
-          SLICOT Library routine SB02MT should be called just before
-          SB02OD, for obtaining the results when JOBB = 'G' and
-          JOBL = 'N'.
-
-  SORT    CHARACTER*1
-          Specifies which eigenvalues should be obtained in the top
-          of the generalized Schur form, as follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the matrices
-          A, Q, and X, and the number of rows of the matrices B
-          and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs. If JOBB = 'B', M is the
-          order of the matrix R, and the number of columns of the
-          matrix B.  M &gt;= 0.
-          M is not used if JOBB = 'G'.
-
-  P       (input) INTEGER
-          The number of system outputs. If FACT = 'C' or 'D' or 'B',
-          P is the number of rows of the matrices C and/or D.
-          P &gt;= 0.
-          Otherwise, P is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
-          If JOBB = 'B', the leading N-by-M part of this array must
-          contain the input matrix B of the system.
-          If JOBB = 'G', the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the matrix
-                -1
-          G = BR  B'. The strictly lower triangular part (if
-          UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If FACT = 'N' or 'D', the leading N-by-N upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          state weighting matrix Q. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If JOBB = 'B', the triangular part of this array defined
-          by UPLO is modified internally, but is restored on exit.
-          If FACT = 'C' or 'B', the leading P-by-N part of this
-          array must contain the output matrix C of the system.
-          If JOBB = 'B', this part is modified internally, but is
-          restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
-          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
-          If FACT = 'N' or 'C', the leading M-by-M upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          input weighting matrix R. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          The triangular part of this array defined by UPLO is
-          modified internally, but is restored on exit.
-          If FACT = 'D' or 'B', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system. This part is modified internally, but is restored
-          on exit.
-          If JOBB = 'G', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
-          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
-          LDR &gt;= 1        if JOBB = 'G'.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
-          this array must contain the cross weighting matrix L.
-          This part is modified internally, but is restored on exit.
-          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
-          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
-
-  RCOND   (output) DOUBLE PRECISION
-          An estimate of the reciprocal of the condition number (in
-          the 1-norm) of the N-th order system of algebraic
-          equations from which the solution matrix X is obtained.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the
-          solution matrix X of the problem.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
-  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
-  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
-          The generalized eigenvalues of the 2N-by-2N matrix pair,
-          ordered as specified by SORT (if INFO = 0). For instance,
-          if SORT = 'S', the leading N elements of these arrays
-          contain the closed-loop spectrum of the system matrix
-          A - BF, where F is the optimal feedback matrix computed
-          based on the solution matrix X. Specifically,
-             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
-          k = 1,2,...,N.
-          If DICO = 'C' and JOBB = 'G', the elements of BETA are
-          set to 1.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
-          The leading 2N-by-2N part of this array contains the
-          ordered real Schur form S of the first matrix in the
-          reduced matrix pencil associated to the optimal problem,
-          or of the corresponding Hamiltonian matrix, if DICO = 'C'
-          and JOBB = 'G'. That is,
-
-                 (S   S  )
-                 ( 11  12)
-             S = (       ),
-                 (0   S  )
-                 (     22)
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
-          columns, otherwise.
-
-  LDS     INTEGER
-          The leading dimension of array S.
-          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
-          If DICO = 'D' or JOBB = 'B', the leading 2N-by-2N part of
-          this array contains the ordered upper triangular form T of
-          the second matrix in the reduced matrix pencil associated
-          to the optimal problem. That is,
-
-                 (T   T  )
-                 ( 11  12)
-             T = (       ),
-                 (0   T  )
-                 (     22)
-
-          where T  , T   and T   are N-by-N matrices.
-                 11   12      22
-          If DICO = 'C' and JOBB = 'G' this array is not referenced.
-
-  LDT     INTEGER
-          The leading dimension of array T.
-          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDT &gt;= MAX(1,2*N)   if JOBB = 'G' and DICO = 'D',
-          LDT &gt;= 1            if JOBB = 'G' and DICO = 'C'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          The leading 2N-by-2N part of this array contains the right
-          transformation matrix U which reduces the 2N-by-2N matrix
-          pencil to the ordered generalized real Schur form (S,T),
-          or the Hamiltonian matrix to the ordered real Schur
-          form S, if DICO = 'C' and JOBB = 'G'. That is,
-
-                 (U   U  )
-                 ( 11  12)
-             U = (       ),
-                 (U   U  )
-                 ( 21  22)
-
-          where U  , U  , U   and U   are N-by-N matrices.
-                 11   12   21      22
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the original matrix pencil, specifically of the triangular
-          factor obtained during the reduction process. If the user
-          sets TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then a default tolerance, defined by
-          TOLDEF = EPS, is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not referenced if JOBB = 'G'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B',
-          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
-          reciprocal of the condition number of the M-by-M lower
-          triangular matrix obtained after compressing the matrix
-          pencil of order 2N+M to obtain a pencil of order 2N.
-          If INFO = 0 or INFO = 6, DWORK(3) returns the scaling
-          factor used internally, which should multiply the
-          submatrix Y2 to recover X from the first N columns of U
-          (see METHOD).
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(3,6*N),                       if JOBB = 'G',
-                                                         DICO = 'C';
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G',
-                                                         DICO = 'D';
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the computed extended matrix pencil is singular,
-                possibly due to rounding errors;
-          = 2:  if the QZ (or QR) algorithm failed;
-          = 3:  if reordering of the (generalized) eigenvalues
-                failed;
-          = 4:  if after reordering, roundoff changed values of
-                some complex eigenvalues so that leading eigenvalues
-                in the (generalized) Schur form no longer satisfy
-                the stability condition; this could also be caused
-                due to scaling;
-          = 5:  if the computed dimension of the solution does not
-                equal N;
-          = 6:  if a singular matrix was encountered during the
-                computation of the solution matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses a variant of the method of deflating subspaces
-  proposed by van Dooren [1]. See also [2], [3].
-  It is assumed that (A,B) is stabilizable and (C,A) is detectable.
-  Under these assumptions the algebraic Riccati equation is known to
-  have a unique non-negative definite solution.
-  The first step in the method of deflating subspaces is to form the
-  extended Hamiltonian matrices, dimension 2N + M given by
-
-        discrete-time                   continuous-time
-
-  |A   0   B|     |I   0   0|    |A   0   B|     |I   0   0|
-  |Q  -I   L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -I   0|.
-  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
-
-  Next, these pencils are compressed to a form (see [1])
-
-     lambda x A  - B .
-               f    f
-
-  This generalized eigenvalue problem is then solved using the QZ
-  algorithm and the stable deflating subspace Ys is determined.
-  If [Y1'|Y2']' is a basis for Ys, then the required solution is
-                    -1
-         X = Y2 x Y1  .
-  A standard eigenvalue problem is solved using the QR algorithm in
-  the continuous-time case when G is given (DICO = 'C', JOBB = 'G').
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      A Generalized Eigenvalue Approach for Solving Riccati
-      Equations.
-      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
-
-  [2] Mehrmann, V.
-      The Autonomous Linear Quadratic Control Problem. Theory and
-      Numerical Solution.
-      Lect. Notes in Control and Information Sciences, vol. 163,
-      Springer-Verlag, Berlin, 1991.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  This routine is particularly suited for systems where the matrix R
-  is ill-conditioned. Internal scaling is used.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equations set SORT = 'S'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying SORT = 'U'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2M, NMAX2
-      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX )
-      INTEGER          LDA, LDB, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDL = NMAX,
-     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
-     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX) )
-      INTEGER          LBWORK
-      PARAMETER        ( LBWORK = NMAX2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND, TOL
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER*1      DICO, FACT, JOBB, JOBL, SORT, UPLO
-      LOGICAL          LJOBB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALFAI(NMAX2), ALFAR(NMAX2),
-     $                 B(LDB,MMAX), BETA(NMAX2), DWORK(LDWORK),
-     $                 L(LDL,MMAX), Q(LDQ,NMAX), R(LDR,MMAX),
-     $                 S(LDS,NMAX2M), T(LDT,NMAX2), U(LDU,NMAX2),
-     $                 X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LBWORK)
-C     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
-     $                      SORT
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            LJOBB = LSAME( JOBB, 'B' )
-            IF ( LJOBB ) THEN
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            END IF
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99993 ) P
-            ELSE
-               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
-               END IF
-               IF ( LJOBB ) THEN
-                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
-                  ELSE
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
-                  END IF
-                  IF ( LSAME( JOBL, 'N' ) )
-     $                READ ( NIN, FMT = * )
-     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
-               END IF
-*              Find the solution matrix X.
-               CALL SB02OD( DICO, JOBB, FACT, UPLO, JOBL, SORT, N, M, P,
-     $                      A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL,
-     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
-     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
-     $                      BWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02OD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02OD EXAMPLE PROGRAM DATA
-   2     1     3     0.0     C     B     B     U     Z     S
-   0.0  1.0
-   0.0  0.0
-   0.0
-   1.0
-   1.0  0.0
-   0.0  1.0
-   0.0  0.0
-   0.0
-   0.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02OD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.7321   1.0000
-   1.0000   1.7321
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB02OY.html b/doc/_static/doc/SB02OY.html
deleted file mode 100644
index 6c2edf90..00000000
--- a/doc/_static/doc/SB02OY.html
+++ /dev/null
@@ -1,357 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02OY">SB02OY</A></H2>
-<H3>
-Constructing the extended Hamiltonian or symplectic matrix pairs for linear-quadratic optimization problems, and compressing them to 2N-by-2N matrices
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the extended matrix pairs for the computation of the
-  solution of the algebraic matrix Riccati equations arising in the
-  problems of optimal control, both discrete and continuous-time,
-  and of spectral factorization, both discrete and continuous-time.
-  These matrix pairs, of dimension 2N + M, are given by
-
-        discrete-time                   continuous-time
-
-  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
-  |Q  -E'  L| - z |0  -A'  0|,   |Q   A'  L| - s |0  -E'  0|.   (1)
-  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
-
-  After construction, these pencils are compressed to a form
-  (see [1])
-
-     lambda x A  - B ,
-               f    f
-
-  where A  and B  are 2N-by-2N matrices.
-         f      f
-                           -1
-  Optionally, matrix G = BR  B' may be given instead of B and R;
-  then, for L = 0, 2N-by-2N matrix pairs are directly constructed as
-
-      discrete-time            continuous-time
-
-  |A   0 |     |E   G |    |A  -G |     |E   0 |
-  |      | - z |      |,   |      | - s |      |.               (2)
-  |Q  -E'|     |0  -A'|    |Q   A'|     |0  -E'|
-
-  Similar pairs are obtained for non-zero L, if SLICOT Library
-  routine SB02MT is called before SB02OY.
-  Other options include the case with E identity matrix, L a zero
-  matrix, or Q and/or R given in a factored form, Q = C'C, R = D'D.
-  For spectral factorization problems, there are minor differences
-  (e.g., B is replaced by C').
-  The second matrix in (2) is not constructed in the continuous-time
-  case if E is specified as being an identity matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02OY( TYPE, DICO, JOBB, FACT, UPLO, JOBL, JOBE, N, M,
-     $                   P, A, LDA, B, LDB, Q, LDQ, R, LDR, L, LDL, E,
-     $                   LDE, AF, LDAF, BF, LDBF, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOBB, JOBE, JOBL, TYPE, UPLO
-      INTEGER           INFO, LDA, LDAF, LDB, LDBF, LDE, LDL, LDQ, LDR,
-     $                  LDWORK, M, N, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AF(LDAF,*), B(LDB,*), BF(LDBF,*),
-     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*), R(LDR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TYPE    CHARACTER*1
-          Specifies the type of problem to be addressed as follows:
-          = 'O':  Optimal control problem;
-          = 'S':  Spectral factorization problem.
-
-  DICO    CHARACTER*1
-          Specifies the type of linear system considered as follows:
-          = 'C':  Continuous-time system;
-          = 'D':  Discrete-time system.
-
-  JOBB    CHARACTER*1
-          Specifies whether or not the matrix G is given, instead
-          of the matrices B and R, as follows:
-          = 'B':  B and R are given;
-          = 'G':  G is given.
-          For JOBB = 'G', a 2N-by-2N matrix pair is directly
-          obtained assuming L = 0 (see the description of JOBL).
-
-  FACT    CHARACTER*1
-          Specifies whether or not the matrices Q and/or R (if
-          JOBB = 'B') are factored, as follows:
-          = 'N':  Not factored, Q and R are given;
-          = 'C':  C is given, and Q = C'C;
-          = 'D':  D is given, and R = D'D (if TYPE = 'O'), or
-                  R = D + D' (if TYPE = 'S');
-          = 'B':  Both factors C and D are given, Q = C'C, R = D'D
-                  (or R = D + D').
-
-  UPLO    CHARACTER*1
-          If JOBB = 'G', or FACT = 'N', specifies which triangle of
-          the matrices G and Q (if FACT = 'N'), or Q and R (if
-          JOBB = 'B'), is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
-          Using SLICOT Library routine SB02MT to compute the
-          corresponding A and Q in this case, before calling SB02OY,
-          enables to obtain 2N-by-2N matrix pairs directly.
-
-  JOBE    CHARACTER*1
-          Specifies whether or not the matrix E is identity, as
-          follows:
-          = 'I':  E is the identity matrix;
-          = 'N':  E is a general matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, and E, and the number
-          of rows of the matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          If JOBB = 'B', M is the order of the matrix R, and the
-          number of columns of the matrix B.  M &gt;= 0.
-          M is not used if JOBB = 'G'.
-
-  P       (input) INTEGER
-          If FACT = 'C' or 'D' or 'B', or if TYPE = 'S', P is the
-          number of rows of the matrix C and/or D, respectively.
-          P &gt;= 0, and if JOBB = 'B' and TYPE = 'S', then P = M.
-          Otherwise, P is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
-          If JOBB = 'B', the leading N-by-M part of this array must
-          contain the input matrix B of the system.
-          If JOBB = 'G', the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the matrix
-                -1
-          G = BR  B'. The strictly lower triangular part (if
-          UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If FACT = 'N' or 'D', the leading N-by-N upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          output weighting matrix Q. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'C' or 'B', the leading P-by-N part of this
-          array must contain the output matrix C of the system.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D',
-          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,M)
-          If FACT = 'N' or 'C', the leading M-by-M upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          input weighting matrix R. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'D' or 'B', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          If JOBB = 'G', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
-          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
-          LDR &gt;= 1        if JOBB = 'G'.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N' (and JOBB = 'B'), the leading N-by-M part of
-          this array must contain the cross weighting matrix L.
-          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z' or JOBB = 'G'.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          If JOBE = 'N', the leading N-by-N part of this array must
-          contain the matrix E of the descriptor system.
-          If JOBE = 'I', E is taken as identity and this array is
-          not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N) if JOBE = 'N';
-          LDE &gt;= 1        if JOBE = 'I'.
-
-  AF      (output) DOUBLE PRECISION array, dimension (LDAF,*)
-          The leading 2N-by-2N part of this array contains the
-          matrix A  in the matrix pencil.
-                  f
-          Array AF must have 2*N+M columns if JOBB = 'B', and 2*N
-          columns, otherwise.
-
-  LDAF    INTEGER
-          The leading dimension of array AF.
-          LDAF &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDAF &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  BF      (output) DOUBLE PRECISION array, dimension (LDBF,2*N)
-          If DICO = 'D' or JOBB = 'B' or JOBE = 'N', the leading
-          2N-by-2N part of this array contains the matrix B  in the
-                                                           f
-          matrix pencil.
-          The last M zero columns are never constructed.
-          If DICO = 'C' and JOBB = 'G' and JOBE = 'I', this array
-          is not referenced.
-
-  LDBF    INTEGER
-          The leading dimension of array BF.
-          LDBF &gt;= MAX(1,2*N+M) if JOBB = 'B',
-          LDBF &gt;= MAX(1,2*N)   if JOBB = 'G' and ( DICO = 'D' or
-                                                   JOBE = 'N' ),
-          LDBF &gt;= 1            if JOBB = 'G' and ( DICO = 'C' and
-                                                   JOBE = 'I' ).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the original matrix pencil, specifically of the triangular
-          factor obtained during the reduction process. If the user
-          sets TOL &gt; 0, then the given value of TOL is used as a
-          lower bound for the reciprocal condition number of that
-          matrix; a matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular. If the user
-          sets TOL &lt;= 0, then a default tolerance, defined by
-          TOLDEF = EPS, is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not referenced if JOBB = 'G'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= M if JOBB = 'B',
-          LIWORK &gt;= 1 if JOBB = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK. If JOBB = 'B', DWORK(2) returns the reciprocal
-          of the condition number of the M-by-M lower triangular
-          matrix obtained after compression.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1                  if JOBB = 'G',
-          LDWORK &gt;= MAX(1,2*N + M,3*M) if JOBB = 'B'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the computed extended matrix pencil is singular,
-                possibly due to rounding errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The extended matrix pairs are constructed, taking various options
-  into account. If JOBB = 'B', the problem order is reduced from
-  2N+M to 2N (see [1]).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      A Generalized Eigenvalue Approach for Solving Riccati
-      Equations.
-      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
-
-  [2] Mehrmann, V.
-      The Autonomous Linear Quadratic Control Problem. Theory and
-      Numerical Solution.
-      Lect. Notes in Control and Information Sciences, vol. 163,
-      Springer-Verlag, Berlin, 1991.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB02PD.html b/doc/_static/doc/SB02PD.html
deleted file mode 100644
index 66feb0af..00000000
--- a/doc/_static/doc/SB02PD.html
+++ /dev/null
@@ -1,360 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB02PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02PD">SB02PD</A></H2>
-<H3>
-Solution of continuous-time algebraic Riccati equations (matrix sign function method) with error bounds and condition estimates
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real continuous-time matrix algebraic Riccati
-  equation
-
-     op(A)'*X + X*op(A) + Q - X*G*X = 0,
-
-  where op(A) = A or A' = A**T and G, Q are symmetric (G = G**T,
-  Q = Q**T). The matrices A, G and Q are N-by-N and the solution X
-  is an N-by-N symmetric matrix.
-
-  An error bound on the solution and a condition estimate are also
-  optionally provided.
-
-  It is assumed that the matrices A, G and Q are such that the
-  corresponding Hamiltonian matrix has N eigenvalues with negative
-  real parts.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
-     $                   LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, TRANA, UPLO
-      INTEGER            INFO, LDA, LDG, LDQ, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ), G( LDG, * ),
-     $                   Q( LDQ, * ), WI( * ), WR( * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'A':  Compute all: the solution, reciprocal condition
-                  number, and the error bound.
-
-  TRANA   CHARACTER*1
-          Specifies the option op(A):
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangles of G and Q are stored;
-          = 'L':  Lower triangles of G and Q are stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, Q, and X.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix G.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix G.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix Q.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          If INFO = 0, INFO = 2, or INFO = 4, the leading N-by-N
-          part of this array contains the symmetric solution matrix
-          X of the algebraic Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'A', the estimate of the reciprocal condition
-          number of the Riccati equation.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'A', the estimated forward error bound for the
-          solution X. If XTRUE is the true solution, FERR bounds the
-          magnitude of the largest entry in (X - XTRUE) divided by
-          the magnitude of the largest entry in X.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If JOB = 'A' and TRANA = 'N', WR and WI contain the real
-          and imaginary parts, respectively, of the eigenvalues of
-          the matrix A - G*X, i.e., the closed-loop system poles.
-          If JOB = 'A' and TRANA = 'T' or 'C', WR and WI contain the
-          real and imaginary parts, respectively, of the eigenvalues
-          of the matrix A - X*G, i.e., the closed-loop system poles.
-          If JOB = 'X', these arrays are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= 2*N,          if JOB = 'X';
-          LIWORK &gt;= max(2*N,N*N), if JOB = 'A'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 2, DWORK(1) contains the
-          optimal value of LDWORK. If JOB = 'A', then DWORK(2:N*N+1)
-          and DWORK(N*N+2:2*N*N+1) contain a real Schur form of the
-          closed-loop system matrix, Ac = A - G*X (if TRANA = 'N')
-          or Ac = A - X*G (if TRANA = 'T' or 'C'), and the
-          orthogonal matrix which reduced Ac to real Schur form,
-          respectively.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 4*N*N + 8*N + 1,               if JOB = 'X';
-          LDWORK &gt;= max( 4*N*N + 8*N + 1, 6*N*N ), if JOB = 'A'.
-          For good performance, LDWORK should be larger, e.g.,
-          LDWORK &gt;= 4*N*N + 6*N +( 2*N+1 )*NB,     if JOB = 'X',
-          where NB is the optimal blocksize.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the Hamiltonian matrix has eigenvalues on the
-                imaginary axis, so the solution and error bounds
-                could not be computed;
-          = 2:  the iteration for the matrix sign function failed to
-                converge after 50 iterations, but an approximate
-                solution and error bounds (if JOB = 'A') have been
-                computed;
-          = 3:  the system of linear equations for the solution is
-                singular to working precision, so the solution and
-                error bounds could not be computed;
-          = 4:  the matrix A-G*X (or A-X*G) cannot be reduced to
-                Schur canonical form and condition number estimate
-                and forward error estimate have not been computed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Riccati equation is solved by the matrix sign function
-  approach [1], [2], implementing a scaling which enhances the
-  numerical stability [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bai, Z., Demmel, J., Dongarra, J., Petitet, A., Robinson, H.,
-      and Stanley, K.
-      The spectral decomposition of nonsymmetric matrices on
-      distributed memory parallel computers.
-      SIAM J. Sci. Comput., vol. 18, pp. 1446-1461, 1997.
-
-  [2] Byers, R., He, C., and Mehrmann, V.
-      The matrix sign function method and the computation of
-      invariant subspaces.
-      SIAM J. Matrix Anal. Appl., vol. 18, pp. 615-632, 1997.
-
-  [3] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.,
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Technical
-      University Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The solution accuracy can be controlled by the output parameter
-  FERR.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The condition number of the Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W + W*op(Ac),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
-     Pi(W) = inv(Omega(X*W*X)),
-
-  and the matrix Ac (the closed-loop system matrix) is given by
-     Ac = A - G*X, if TRANA = 'N', or
-     Ac = A - X*G, if TRANA = 'T' or 'C'.
-
-  The program estimates the quantities
-
-  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [3].
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02PD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 4*NMAX*NMAX + 8*NMAX,
-     $                                 6*NMAX*NMAX ) + 1 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND
-      INTEGER          I, INFO, J, N
-      CHARACTER        JOB, TRANA, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), WI(NMAX), WR(NMAX),
-     $                 X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, TRANA, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB02PD( JOB, TRANA, UPLO, N, A, LDA, G, LDG, Q, LDQ, X,
-     $                LDX, RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-         IF ( INFO.EQ.0 .OR. INFO.EQ.2 .OR. INFO.EQ.4 ) THEN
-             WRITE ( NOUT, FMT = 99997 )
-             DO 20 I = 1, N
-                WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20        CONTINUE
-             IF ( LSAME( JOB, 'A' ) .AND. INFO.NE.4 ) THEN
-                WRITE ( NOUT, FMT = 99994 ) RCOND
-                WRITE ( NOUT, FMT = 99993 ) FERR
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02PD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99993 FORMAT (/' Estimated error bound = ',F20.16)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02PD EXAMPLE PROGRAM DATA
-   2     A     N     U 
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02PD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   1.0000
-   1.0000   2.0000
-
- Estimated reciprocal condition number =   0.1333
-
- Estimated error bound =   0.0000000000000063
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02QD">SB02QD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of continuous-time Riccati equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real continuous-time matrix algebraic Riccati
-  equation
-
-      op(A)'*X + X*op(A) + Q - X*G*X = 0,                        (1)
-
-  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
-  G = G**T). The matrices A, Q and G are N-by-N and the solution X
-  is N-by-N.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
-     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization of
-          the matrix Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G
-          (if TRANA = 'T' or 'C') is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix Ac;
-          = 'N':  The Schur factorization of Ac will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrices Q and G is
-          to be used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, Q, and G.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input or output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then T is an input argument and on entry,
-          the leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of Ac (see
-          argument FACT).
-          If FACT = 'N', then T is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, the leading N-by-N upper
-          Hessenberg part of this array contains the upper quasi-
-          triangular matrix T in Schur canonical form from a Schur
-          factorization of Ac (see argument FACT).
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of Ac (see argument FACT).
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of Ac (see argument FACT).
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix G.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix G.                     _
-          Matrix G should correspond to G in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix Q.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix Q.                     _
-          Matrix Q should correspond to Q in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix of the original Riccati
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          "reduced" Riccati equation (with matrix T), if
-          LYAPUN = 'R'. See METHOD.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sep(op(Ac),-op(Ac)').
-          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the continuous-time Riccati equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          Let LWA = N*N, if LYAPUN = 'O' and JOB = 'E' or 'B';
-              LWA = 0,   otherwise.
-          If FACT = 'N', then
-             LDWORK  = MAX(1, 5*N, 2*N*N),        if JOB = 'C';
-             LDWORK  = MAX(1, LWA + 5*N, 4*N*N ), if JOB = 'E', 'B'.
-          If FACT = 'F', then
-             LDWORK  = MAX(1, 2*N*N),  if JOB = 'C';
-             LDWORK  = MAX(1, 4*N*N ), if JOB = 'E' or 'B'.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction of the matrix Ac to Schur
-                canonical form (see LAPACK Library routine DGEES);
-                on exit, the matrix T(i+1:N,i+1:N) contains the
-                partially converged Schur form, and DWORK(i+1:N) and
-                DWORK(N+i+1:2*N) contain the real and imaginary
-                parts, respectively, of the converged eigenvalues;
-                this error is unlikely to appear;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations, but the matrix T, if given
-                (for FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W + W*op(Ac),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
-     Pi(W) = inv(Omega(X*W*X)),
-
-  and Ac = A - G*X (if TRANA = 'N') or Ac = A - X*G (if TRANA = 'T'
-  or 'C'). Note that the Riccati equation (1) is equivalent to
-             _   _         _   _ _ _
-      op(T)'*X + X*op(T) + Q + X*G*X = 0,                        (2)
-        _           _               _
-  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
-  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
-
-  The routine estimates the quantities
-
-  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Ghavimi, A.R. and Laub, A.J.
-      Backward error, sensitivity, and refinement of computed
-      solutions of algebraic Riccati equations.
-      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
-      1995.
-
-  [2] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEP is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCND, RCOND, SEP
-      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
-     $                 SDIM
-      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), T(LDT,NMAX), U(LDU,NMAX),
-     $                 X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME, SELECT
-      EXTERNAL         LSAME, SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, DLACPY, DSYMM, MA02ED, MB01RU, SB02MD,
-     $                 SB02QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
-         N2 = 2*N
-         IS = 2*N2 + 1
-         IU = IS + N2*N2
-         IW = IU + N2*N2
-*        Solve the continuous-time Riccati equation.
-         CALL SB02MD( 'continuous', 'direct', UPLO, 'no scaling',
-     $                'stable', N, A, LDA, G, LDG, X, LDX, RCND,
-     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
-     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99995 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
-               CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-               IF ( LSAME( TRANA, 'N' ) ) THEN
-*                 Compute Ac = A-G*X.
-                  CALL DSYMM( 'Left', UPLO, N, N, -ONE, G, LDG, X, LDX,
-     $                        ONE, T, LDT )
-               ELSE
-*                 Compute Ac = A-X*G.
-                  CALL DSYMM( 'Right', UPLO, N, N, -ONE, G, LDG, X, LDX,
-     $                        ONE, T, LDT )
-               END IF
-*              Compute the Schur factorization of Ac.
-               JOBS = 'V'
-               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
-     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
-     $                     LDWORK-2*N, BWORK, INFO3 )
-               IF( INFO3.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99996 ) INFO3
-                  STOP
-               END IF
-            END IF
-*
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-*
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
-     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
-     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB02QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            END IF
-            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
-               WRITE ( NOUT, FMT = 99992 ) SEP
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02MD =',I2)
-99997 FORMAT (' INFO on exit from SB02QD =',I2)
-99996 FORMAT (' INFO on exit from DGEES  =',I2)
-99995 FORMAT (' The solution matrix X is')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02QD EXAMPLE PROGRAM DATA
-   2     B     N     N     U     O
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02QD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   2.0000   1.0000
-   1.0000   2.0000
-
- Estimated separation =   0.4000
-
- Estimated reciprocal condition number =   0.1333
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02RD">SB02RD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations (increased accuracy Schur vectors method) with condition and forward error bound estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                                       -1
-     Q + op(A)'*X + X*op(A) - X*op(B)*R  op(B)'*X = 0,           (1)
-
-  or the discrete-time algebraic Riccati equation
-                                                             -1
-     X = op(A)'*X*op(A) - op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *
-                          op(B)'*X*op(A) + Q,                    (2)
-
-  where op(M) = M or M' (M**T), A, op(B), Q, and R are N-by-N,
-  N-by-M, N-by-N, and M-by-M matrices respectively, with Q symmetric
-  and R symmetric nonsingular; X is an N-by-N symmetric matrix.
-                        -1
-  The matrix G = op(B)*R  *op(B)' must be provided on input, instead
-  of B and R, that is, the continuous-time equation
-
-     Q + op(A)'*X + X*op(A) - X*G*X = 0,                         (3)
-
-  or the discrete-time equation
-                             -1
-     Q + op(A)'*X*(I_n + G*X)  *op(A) - X = 0,                   (4)
-
-  are solved, where G is an N-by-N symmetric matrix. SLICOT Library
-  routine SB02MT should be used to compute G, given B and R. SB02MT
-  also enables to solve Riccati equations corresponding to optimal
-  problems with coupling terms.
-
-  The routine also returns the computed values of the closed-loop
-  spectrum of the optimal system, i.e., the stable eigenvalues
-  lambda(1),...,lambda(N) of the corresponding Hamiltonian or
-  symplectic matrix associated to the optimal problem. It is assumed
-  that the matrices A, G, and Q are such that the associated
-  Hamiltonian or symplectic matrix has N stable eigenvalues, i.e.,
-  with negative real parts, in the continuous-time case, and with
-  moduli less than one, in the discrete-time case.
-
-  Optionally, estimates of the conditioning and error bound on the
-  solution of the Riccati equation (3) or (4) are returned.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
-     $                   LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q,
-     $                   LDQ, X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS,
-     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT,
-     $                  TRANA, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDT, LDV, LDWORK, LDX,
-     $                  N
-      DOUBLE PRECISION  FERR, RCOND, SEP
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*), T(LDT,*), V(LDV,*), WI(*), WR(*),
-     $                  X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'A':  Compute all: the solution, reciprocal condition
-                  number, and the error bound.
-
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved or
-          analyzed, as follows:
-          = 'C':  Equation (3), continuous-time case;
-          = 'D':  Equation (4), discrete-time case.
-
-  HINV    CHARACTER*1
-          If DICO = 'D' and JOB = 'X' or JOB = 'A', specifies which
-          symplectic matrix is to be constructed, as follows:
-          = 'D':  The matrix H in (6) (see METHOD) is constructed;
-          = 'I':  The inverse of the matrix H in (6) is constructed.
-          HINV is not used if DICO = 'C', or JOB = 'C' or 'E'.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  SCAL    CHARACTER*1
-          If JOB = 'X' or JOB = 'A', specifies whether or not a
-          scaling strategy should be used, as follows:
-          = 'G':  General scaling should be used;
-          = 'N':  No scaling should be used.
-          SCAL is not used if JOB = 'C' or 'E'.
-
-  SORT    CHARACTER*1
-          If JOB = 'X' or JOB = 'A', specifies which eigenvalues
-          should be obtained in the top of the Schur form, as
-          follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-          SORT is not used if JOB = 'C' or 'E'.
-
-  FACT    CHARACTER*1
-          If JOB &lt;&gt; 'X', specifies whether or not a real Schur
-          factorization of the closed-loop system matrix Ac is
-          supplied on entry, as follows:
-          = 'F':  On entry, T and V contain the factors from a real
-                  Schur factorization of the matrix Ac;
-          = 'N':  A Schur factorization of Ac will be computed
-                  and the factors will be stored in T and V.
-          For a continuous-time system, the matrix Ac is given by
-             Ac = A - G*X, if TRANA = 'N', or
-             Ac = A - X*G, if TRANA = 'T' or 'C',
-          and for a discrete-time system, the matrix Ac is given by
-             Ac = inv(I_n + G*X)*A, if TRANA = 'N', or
-             Ac = A*inv(I_n + X*G), if TRANA = 'T' or 'C'.
-          FACT is not used if JOB = 'X'.
-
-  LYAPUN  CHARACTER*1
-          If JOB &lt;&gt; 'X', specifies whether or not the original or
-          "reduced" Lyapunov equations should be solved for
-          estimating reciprocal condition number and/or the error
-          bound, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix V, e.g., X &lt;-- V'*X*V;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-                  This means that a real Schur form T of Ac appears
-                  in the equations, instead of Ac.
-          LYAPUN is not used if JOB = 'X'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, Q, G, and X.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If JOB = 'X' or JOB = 'A' or FACT = 'N' or LYAPUN = 'O',
-          the leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-          If JOB = 'C' or 'E' and FACT = 'F' and LYAPUN = 'R', A is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if JOB  = 'X' or JOB = 'A' or
-                              FACT = 'N' or LYAPUN = 'O'.
-          LDA &gt;= 1,        otherwise.
-
-  T       (input or output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If JOB &lt;&gt; 'X' and FACT = 'F', then T is an input argument
-          and on entry, the leading N-by-N upper Hessenberg part of
-          this array must contain the upper quasi-triangular matrix
-          T in Schur canonical form from a Schur factorization of Ac
-          (see argument FACT).
-          If JOB &lt;&gt; 'X' and FACT = 'N', then T is an output argument
-          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
-          upper Hessenberg part of this array contains the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of Ac (see argument FACT).
-          If JOB = 'X', the array T is not referenced.
-
-  LDT     INTEGER
-          The leading dimension of the array T.
-          LDT &gt;= 1,        if JOB =  'X';
-          LDT &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
-
-  V       (input or output) DOUBLE PRECISION array, dimension
-          (LDV,N)
-          If JOB &lt;&gt; 'X' and FACT = 'F', then V is an input argument
-          and on entry, the leading N-by-N part of this array must
-          contain the orthogonal matrix V from a real Schur
-          factorization of Ac (see argument FACT).
-          If JOB &lt;&gt; 'X' and FACT = 'N', then V is an output argument
-          and on exit, if INFO = 0 or INFO = 7, the leading N-by-N
-          part of this array contains the orthogonal N-by-N matrix
-          from a real Schur factorization of Ac (see argument FACT).
-          If JOB = 'X', the array V is not referenced.
-
-  LDV     INTEGER
-          The leading dimension of the array V.
-          LDV &gt;= 1,        if JOB =  'X';
-          LDV &gt;= MAX(1,N), if JOB &lt;&gt; 'X'.
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix G.
-          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
-          LYAPUN = 'R', the leading N-by-N part of this array
-          contains the symmetric matrix G fully stored.
-          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
-          internally, but restored on exit.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix Q.
-          On exit, if JOB = 'X' and DICO = 'D', or JOB &lt;&gt; 'X' and
-          LYAPUN = 'R', the leading N-by-N part of this array
-          contains the symmetric matrix Q fully stored.
-          If JOB &lt;&gt; 'X' and LYAPUN = 'R', this array is modified
-          internally, but restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  X       (input or output) DOUBLE PRECISION array, dimension
-          (LDX,N)
-          If JOB = 'C' or JOB = 'E', then X is an input argument
-          and on entry, the leading N-by-N part of this array must
-          contain the symmetric solution matrix of the algebraic
-          Riccati equation. If LYAPUN = 'R', this array is modified
-          internally, but restored on exit; however, it could differ
-          from the input matrix at the round-off error level.
-          If JOB = 'X' or JOB = 'A', then X is an output argument
-          and on exit, if INFO = 0 or INFO &gt;= 6, the leading N-by-N
-          part of this array contains the symmetric solution matrix
-          X of the algebraic Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, the
-          estimated quantity
-             sep(op(Ac),-op(Ac)'), if DICO = 'C', or
-             sepd(op(Ac),op(Ac)'), if DICO = 'D'. (See METHOD.)
-          If JOB = 'C' or JOB = 'A' and X = 0, or JOB = 'E', SEP is
-          not referenced.
-          If JOB = 'X', and INFO = 0, INFO = 5 or INFO = 7,
-          SEP contains the scaling factor used, which should
-          multiply the (2,1) submatrix of U to recover X from the
-          first N columns of U (see METHOD). If SCAL = 'N', SEP is
-          set to 1.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', and INFO = 0 or INFO = 7, an
-          estimate of the reciprocal condition number of the
-          algebraic Riccati equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'X', or JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = 7, an
-          estimated forward error bound for the solution X. If XTRUE
-          is the true solution, FERR bounds the magnitude of the
-          largest entry in (X - XTRUE) divided by the magnitude of
-          the largest entry in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'X', or JOB = 'C', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (2*N)
-  WI      (output) DOUBLE PRECISION array, dimension (2*N)
-          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5,
-          these arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the 2N-by-2N matrix S,
-          ordered as specified by SORT (except for the case
-          HINV = 'D', when the order is opposite to that specified
-          by SORT). The leading N elements of these arrays contain
-          the closed-loop spectrum of the system matrix Ac (see
-          argument FACT). Specifically,
-             lambda(k) = WR(k) + j*WI(k), for k = 1,2,...,N.
-          If JOB = 'C' or JOB = 'E', these arrays are not
-          referenced.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If JOB = 'X' or JOB = 'A', and INFO = 0 or INFO &gt;= 5, the
-          leading 2N-by-2N part of this array contains the ordered
-          real Schur form S of the (scaled, if SCAL = 'G')
-          Hamiltonian or symplectic matrix H. That is,
-
-                 ( S    S   )
-                 (  11   12 )
-             S = (          ),
-                 ( 0    S   )
-                 (       22 )
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-          If JOB = 'C' or JOB = 'E', this array is not referenced.
-
-  LDS     INTEGER
-          The leading dimension of the array S.
-          LDS &gt;= MAX(1,2*N), if JOB = 'X' or JOB = 'A';
-          LDS &gt;= 1,          if JOB = 'C' or JOB = 'E'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= 2*N,          if JOB = 'X';
-          LIWORK &gt;= N*N,          if JOB = 'C' or JOB = 'E';
-          LIWORK &gt;= MAX(2*N,N*N), if JOB = 'A'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, or INFO = 7, DWORK(1) returns the
-          optimal value of LDWORK. If INFO = 0, or INFO &gt;= 5, and
-          JOB = 'X', or JOB = 'A', then DWORK(2) returns an estimate
-          RCONDU of the reciprocal of the condition number (in the
-          1-norm) of the N-th order system of algebraic equations
-          from which the solution matrix X is obtained, and DWORK(3)
-          returns the reciprocal pivot growth factor for the LU
-          factorization of the coefficient matrix of that system
-          (see SLICOT Library routine MB02PD); if DWORK(3) is much
-          less than 1, then the computed X and RCONDU could be
-          unreliable.
-          If DICO = 'D', and JOB = 'X', or JOB = 'A', then DWORK(4)
-          returns the reciprocal condition number RCONDA of the
-          given matrix A, and DWORK(5) returns the reciprocal pivot
-          growth factor for A or for its leading columns, if A is
-          singular (see SLICOT Library routine MB02PD); if DWORK(5)
-          is much less than 1, then the computed S and RCONDA could
-          be unreliable.
-          On exit, if INFO = 0, or INFO &gt;= 4, and JOB = 'X', the
-          elements DWORK(6:5+4*N*N) contain the 2*N-by-2*N
-          transformation matrix  U  which reduced the Hamiltonian or
-          symplectic matrix  H  to the ordered real Schur form  S.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 5+MAX(1,4*N*N+8*N), if JOB = 'X' or JOB = 'A';
-          This may also be used for JOB = 'C' or JOB = 'E', but
-          exact bounds are as follows:
-          LDWORK &gt;= 5 + MAX(1,LWS,LWE) + LWN, where
-          LWS = 0,       if FACT = 'F' or  LYAPUN = 'R';
-              = 5*N,     if FACT = 'N' and LYAPUN = 'O' and
-                                           DICO = 'C' and JOB = 'C';
-              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
-                                           DICO = 'C' and JOB = 'E';
-              = 5*N+N*N, if FACT = 'N' and LYAPUN = 'O' and
-                                           DICO = 'D';
-          LWE = 2*N*N,                if DICO = 'C' and JOB = 'C';
-              = 4*N*N,                if DICO = 'C' and JOB = 'E';
-              = MAX(3,2*N*N) + N*N,   if DICO = 'D' and JOB = 'C';
-              = MAX(3,2*N*N) + 2*N*N, if DICO = 'D' and JOB = 'E';
-          LWN = 0,   if LYAPUN = 'O' or   JOB = 'C';
-              = 2*N, if LYAPUN = 'R' and DICO = 'C' and JOB = 'E';
-              = 3*N, if LYAPUN = 'R' and DICO = 'D' and JOB = 'E'.
-          For optimum performance LDWORK should sometimes be larger.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-          LBWORK &gt;= 2*N,          if JOB = 'X' or JOB = 'A';
-          LBWORK &gt;= 1,            if JOB = 'C' or JOB = 'E', and
-                                  FACT = 'N' and LYAPUN = 'R';
-          LBWORK &gt;= 0,            otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if matrix A is (numerically) singular in discrete-
-                time case;
-          = 2:  if the Hamiltonian or symplectic matrix H cannot be
-                reduced to real Schur form;
-          = 3:  if the real Schur form of the Hamiltonian or
-                symplectic matrix H cannot be appropriately ordered;
-          = 4:  if the Hamiltonian or symplectic matrix H has less
-                than N stable eigenvalues;
-          = 5:  if the N-th order system of linear algebraic
-                equations, from which the solution matrix X would
-                be obtained, is singular to working precision;
-          = 6:  if the QR algorithm failed to complete the reduction
-                of the matrix Ac to Schur canonical form, T;
-          = 7:  if T and -T' have some almost equal eigenvalues, if
-                DICO = 'C', or T has almost reciprocal eigenvalues,
-                if DICO = 'D'; perturbed values were used to solve
-                Lyapunov equations, but the matrix T, if given (for
-                FACT = 'F'), is unchanged. (This is a warning
-                indicator.)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used is the Schur vector approach proposed by Laub [1],
-  but with an optional scaling, which enhances the numerical
-  stability [6]. It is assumed that [A,B] is a stabilizable pair
-  (where for (3) or (4), B is any matrix such that B*B' = G with
-  rank(B) = rank(G)), and [E,A] is a detectable pair, where E is any
-  matrix such that E*E' = Q with rank(E) = rank(Q). Under these
-  assumptions, any of the algebraic Riccati equations (1)-(4) is
-  known to have a unique non-negative definite solution. See [2].
-  Now consider the 2N-by-2N Hamiltonian or symplectic matrix
-
-              ( op(A)   -G    )
-         H =  (               ),                                 (5)
-              (  -Q   -op(A)' ),
-
-  for continuous-time equation, and
-                      -1              -1
-              (  op(A)           op(A)  *G       )
-         H =  (        -1                   -1   ),              (6)
-              ( Q*op(A)     op(A)' + Q*op(A)  *G )
-
-  for discrete-time equation, respectively, where
-                    -1
-         G = op(B)*R  *op(B)'.
-  The assumptions guarantee that H in (5) has no pure imaginary
-  eigenvalues, and H in (6) has no eigenvalues on the unit circle.
-  If Y is an N-by-N matrix then there exists an orthogonal matrix U
-  such that U'*Y*U is an upper quasi-triangular matrix. Moreover, U
-  can be chosen so that the 2-by-2 and 1-by-1 diagonal blocks
-  (corresponding to the complex conjugate eigenvalues and real
-  eigenvalues respectively) appear in any desired order. This is the
-  ordered real Schur form. Thus, we can find an orthogonal
-  similarity transformation U which puts (5) or (6) in ordered real
-  Schur form
-
-         U'*H*U = S = (S(1,1)  S(1,2))
-                      (  0     S(2,2))
-
-  where S(i,j) is an N-by-N matrix and the eigenvalues of S(1,1)
-  have negative real parts in case of (5), or moduli greater than
-  one in case of (6). If U is conformably partitioned into four
-  N-by-N blocks
-
-            U = (U(1,1)  U(1,2))
-                (U(2,1)  U(2,2))
-
-  with respect to the assumptions we then have
-  (a) U(1,1) is invertible and X = U(2,1)*inv(U(1,1)) solves (1),
-      (2), (3), or (4) with X = X' and non-negative definite;
-  (b) the eigenvalues of S(1,1) (if DICO = 'C') or S(2,2) (if
-      DICO = 'D') are equal to the eigenvalues of optimal system
-      (the 'closed-loop' spectrum).
-
-  [A,B] is stabilizable if there exists a matrix F such that (A-BF)
-  is stable. [E,A] is detectable if [A',E'] is stabilizable.
-
-  The condition number of a Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W + W*op(Ac),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))),
-     Pi(W) = inv(Omega(X*W*X)),
-
-  in the continuous-time case, and
-
-  Omega(W) = op(Ac)'*W*op(Ac) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
-     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
-
-  in the discrete-time case, and Ac has been defined (see argument
-  FACT). Details are given in the comments of SLICOT Library
-  routines SB02QD and SB02SD.
-
-  The routine estimates the quantities
-
-  sep(op(Ac),-op(Ac)') = 1 / norm(inv(Omega)),
-  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [5].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Laub, A.J.
-      A Schur Method for Solving Algebraic Riccati equations.
-      IEEE Trans. Auto. Contr., AC-24, pp. 913-921, 1979.
-
-  [2] Wonham, W.M.
-      On a matrix Riccati equation of stochastic control.
-      SIAM J. Contr., 6, pp. 681-697, 1968.
-
-  [3] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-  [4] Ghavimi, A.R. and Laub, A.J.
-      Backward error, sensitivity, and refinement of computed
-      solutions of algebraic Riccati equations.
-      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
-      1995.
-
-  [5] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [6] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations. The solution accuracy
-  can be controlled by the output parameter FERR.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equation for DICO = 'D', set SORT = 'U', if HINV = 'D', or set
-  SORT = 'S', if HINV = 'I'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying
-      SORT = 'U' if DICO = 'D' and HINV = 'I', or DICO = 'C', or
-      SORT = 'S' if DICO = 'D' and HINV = 'D'.
-
-  Usually, the combinations HINV = 'D' and SORT = 'U', or HINV = 'I'
-  and SORT = 'U', for stabilizing and anti-stabilizing solutions,
-  respectively, will be faster then the other combinations [3].
-
-  The option LYAPUN = 'R' may produce slightly worse or better
-  estimates, and it is faster than the option 'O'.
-
-  This routine is a functionally extended and more accurate
-  version of the SLICOT Library routine SB02MD. Transposed problems
-  can be dealt with as well. Iterative refinement is used whenever
-  useful to solve linear algebraic systems. Condition numbers and
-  error bounds on the solutions are optionally provided.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02RD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDS, LDT, LDV, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX,
-     $                   LDS = 2*NMAX, LDT = NMAX, LDV = NMAX,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 5 + 4*NMAX*NMAX + 8*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SEP
-      INTEGER          I, INFO, J, N
-      CHARACTER        DICO, FACT, HINV, JOB, LYAPUN, SCAL, SORT, TRANA,
-     $                 UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), DWORK(LDWORK), G(LDG,NMAX),
-     $                 Q(LDQ,NMAX), S(LDS,2*NMAX), T(LDT,NMAX),
-     $                 V(LDV,NMAX), WI(2*NMAX), WR(2*NMAX), X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB02RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT,
-     $                      FACT, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) .OR.
-     $        LSAME( FACT, 'N' ) .OR. LSAME( LYAPUN, 'O' ) )
-     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( .NOT.LSAME( JOB, 'X' ) .AND. LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
-         END IF
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB02RD( JOB, DICO, HINV, TRANA, UPLO, SCAL, SORT, FACT,
-     $                LYAPUN, N, A, LDA, T, LDT, V, LDV, G, LDG, Q, LDQ,
-     $                X, LDX, SEP, RCOND, FERR, WR, WI, S, LDS, IWORK,
-     $                DWORK, LDWORK, BWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-         IF ( INFO.EQ.0 .OR. INFO.EQ.7 ) THEN
-            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99994 ) SEP
-               WRITE ( NOUT, FMT = 99993 ) RCOND
-            END IF
-            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) FERR
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02RD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' Estimated separation = ',F8.4)
-99993 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99992 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02RD EXAMPLE PROGRAM DATA
-   2     A     C     D     N     U     N     S     N     O
-   0.0   1.0
-   0.0   0.0
-   1.0   0.0
-   0.0   2.0
-   0.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02RD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   1.0000
-   1.0000   2.0000
-
- Estimated separation =   0.4000
-
- Estimated reciprocal condition number =   0.1333
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02RU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02RU">SB02RU</A></H2>
-<H3>
-Constructing the 2n-by-2n Hamiltonian or symplectic matrix for linear-quadratic optimization problems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the 2n-by-2n Hamiltonian or symplectic matrix S
-  associated to the linear-quadratic optimization problem, used to
-  solve the continuous- or discrete-time algebraic Riccati equation,
-  respectively.
-
-  For a continuous-time problem, S is defined by
-
-          ( op(A)   -G    )
-      S = (               ),                                     (1)
-          (  -Q   -op(A)' )
-
-  and for a discrete-time problem by
-
-                  -1              -1
-          (  op(A)           op(A)  *G       )
-      S = (        -1                   -1   ),                  (2)
-          ( Q*op(A)     op(A)' + Q*op(A)  *G )
-
-  or
-                           -T             -T
-          ( op(A) + G*op(A)  *Q   -G*op(A)   )
-      S = (           -T                 -T  ),                  (3)
-          (     -op(A)  *Q          op(A)    )
-
-  where op(A) = A or A' (A**T), A, G, and Q are n-by-n matrices,
-  with G and Q symmetric. Matrix A must be nonsingular in the
-  discrete-time case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02RU( DICO, HINV, TRANA, UPLO, N, A, LDA, G, LDG, Q,
-     $                   LDQ, S, LDS, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, HINV, TRANA, UPLO
-      INTEGER           INFO, LDA, LDG, LDQ, LDS, LDWORK, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), G(LDG,*), Q(LDQ,*),
-     $                  S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  Continuous-time system;
-          = 'D':  Discrete-time system.
-
-  HINV    CHARACTER*1
-          If DICO = 'D', specifies which of the matrices (2) or (3)
-          is constructed, as follows:
-          = 'D':  The matrix S in (2) is constructed;
-          = 'I':  The (inverse) matrix S in (3) is constructed.
-          HINV is not referenced if DICO = 'C'.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the matrices G and Q is
-          stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, G, and Q.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix G.
-          On exit, if DICO = 'D', the leading N-by-N part of this
-          array contains the symmetric matrix G fully stored.
-          If DICO = 'C', this array is not modified on exit, and the
-          strictly lower triangular part (if UPLO = 'U') or strictly
-          upper triangular part (if UPLO = 'L') is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N upper triangular part (if
-          UPLO = 'U') or lower triangular part (if UPLO = 'L') of
-          this array must contain the upper triangular part or lower
-          triangular part, respectively, of the symmetric matrix Q.
-          On exit, if DICO = 'D', the leading N-by-N part of this
-          array contains the symmetric matrix Q fully stored.
-          If DICO = 'C', this array is not modified on exit, and the
-          strictly lower triangular part (if UPLO = 'U') or strictly
-          upper triangular part (if UPLO = 'L') is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,2*N)
-          If INFO = 0, the leading 2N-by-2N part of this array
-          contains the Hamiltonian or symplectic matrix of the
-          problem.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK &gt;= 0,   if DICO = 'C';
-          LIWORK &gt;= 2*N, if DICO = 'D'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if DICO = 'D', DWORK(1) returns the reciprocal
-          condition number  RCOND  of the given matrix  A,  and
-          DWORK(2) returns the reciprocal pivot growth factor
-          norm(A)/norm(U) (see SLICOT Library routine MB02PD).
-          If DWORK(2) is much less than 1, then the computed  S
-          and  RCOND  could be unreliable. If 0 &lt; INFO &lt;= N, then
-          DWORK(2) contains the reciprocal pivot growth factor for
-          the leading INFO columns of  A.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,          if DICO = 'C';
-          LDWORK &gt;= MAX(2,6*N), if DICO = 'D'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the leading i-by-i (1 &lt;= i &lt;= N) upper triangular
-                submatrix of A is singular in discrete-time case;
-          = N+1:  if matrix A is numerically singular in discrete-
-                time case.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For a continuous-time problem, the 2n-by-2n Hamiltonian matrix (1)
-  is constructed.
-  For a discrete-time problem, the 2n-by-2n symplectic matrix (2) or
-  (3) - the inverse of the matrix in (2) - is constructed.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The discrete-time case needs the inverse of the matrix A, hence
-  the routine should not be used when A is ill-conditioned.
-                            3
-  The algorithm requires 0(n ) floating point operations in the
-  discrete-time case.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  This routine is a functionally extended and with improved accuracy
-  version of the SLICOT Library routine SB02MU. Transposed problems
-  can be dealt with as well. The LU factorization of  op(A)  (with
-  no equilibration) and iterative refinement are used for solving
-  the various linear algebraic systems involved.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB02SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB02SD">SB02SD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of discrete-time Riccati equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real discrete-time matrix algebraic Riccati
-  equation (see FURTHER COMMENTS)
-                              -1
-      X = op(A)'*X*(I_n + G*X)  *op(A) + Q,                      (1)
-
-  where op(A) = A or A' (A**T) and Q, G are symmetric (Q = Q**T,
-  G = G**T). The matrices A, Q and G are N-by-N and the solution X
-  is N-by-N.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDG, LDQ, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), DWORK( * ),  G( LDG, * ),
-     $                   Q( LDQ, * ), T( LDT, * ), U( LDU, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization of
-          the matrix Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
-          Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C'), is supplied
-          on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix Ac;
-          = 'N':  The Schur factorization of Ac will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrices Q and G is
-          to be used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., RHS &lt;-- U'*RHS*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, Q, and G.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= max(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input or output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then T is an input argument and on entry,
-          the leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of Ac (see
-          argument FACT).
-          If FACT = 'N', then T is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, the leading N-by-N upper
-          Hessenberg part of this array contains the upper quasi-
-          triangular matrix T in Schur canonical form from a Schur
-          factorization of Ac (see argument FACT).
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= max(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of Ac (see argument FACT).
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of Ac (see argument FACT).
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix G.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix G.                     _
-          Matrix G should correspond to G in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDG     INTEGER
-          The leading dimension of the array G.  LDG &gt;= max(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix Q.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix Q.                     _
-          Matrix Q should correspond to Q in the "reduced" Riccati
-          equation (with matrix T, instead of A), if LYAPUN = 'R'.
-          See METHOD.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= max(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix of the original Riccati
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          "reduced" Riccati equation (with matrix T), if
-          LYAPUN = 'R'. See METHOD.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sepd(op(Ac),op(Ac)').
-          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the discrete-time Riccati equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          Let LWA = N*N, if LYAPUN = 'O';
-              LWA = 0,   otherwise,
-          and LWN = N,   if LYAPUN = 'R' and JOB = 'E' or 'B';
-              LWN = 0,   otherwise.
-          If FACT = 'N', then
-             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + N*N),
-                                              if JOB = 'C';
-             LDWORK  = MAX(LWA + 5*N, MAX(3,2*N*N) + 2*N*N + LWN),
-                                              if JOB = 'E' or 'B'.
-          If FACT = 'F', then
-             LDWORK  = MAX(3,2*N*N) + N*N,    if JOB = 'C';
-             LDWORK  = MAX(3,2*N*N) + 2*N*N + LWN,
-                                              if JOB = 'E' or 'B'.
-          For good performance, LDWORK must generally be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction of the matrix Ac to Schur
-                canonical form (see LAPACK Library routine DGEES);
-                on exit, the matrix T(i+1:N,i+1:N) contains the
-                partially converged Schur form, and DWORK(i+1:N) and
-                DWORK(N+i+1:2*N) contain the real and imaginary
-                parts, respectively, of the converged eigenvalues;
-                this error is unlikely to appear;
-          = N+1:  if T has almost reciprocal eigenvalues; perturbed
-                values were used to solve Lyapunov equations, but
-                the matrix T, if given (for FACT = 'F'), is
-                unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the Riccati equation is estimated as
-
-  cond = ( norm(Theta)*norm(A) + norm(inv(Omega))*norm(Q) +
-              norm(Pi)*norm(G) ) / norm(X),
-
-  where Omega, Theta and Pi are linear operators defined by
-
-  Omega(W) = op(Ac)'*W*op(Ac) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(Ac) + op(Ac)'X*op(W))),
-     Pi(W) = inv(Omega(op(Ac)'*X*W*X*op(Ac))),
-
-  and Ac = inv(I_n + G*X)*A (if TRANA = 'N'), or
-      Ac = A*inv(I_n + X*G) (if TRANA = 'T' or 'C').
-
-  Note that the Riccati equation (1) is equivalent to
-
-      X = op(Ac)'*X*op(Ac) + op(Ac)'*X*G*X*op(Ac) + Q,           (2)
-
-  and to
-      _          _                _ _ _         _
-      X = op(T)'*X*op(T) + op(T)'*X*G*X*op(T) + Q,               (3)
-        _           _               _
-  where X = U'*X*U, Q = U'*Q*U, and G = U'*G*U, with U the
-  orthogonal matrix reducing Ac to a real Schur form, T = U'*Ac*U.
-
-  The routine estimates the quantities
-
-  sepd(op(Ac),op(Ac)') = 1 / norm(inv(Omega)),
-
-  norm(Theta) and norm(Pi) using 1-norm condition estimator.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Ghavimi, A.R. and Laub, A.J.
-      Backward error, sensitivity, and refinement of computed
-      solutions of algebraic Riccati equations.
-      Numerical Linear Algebra with Applications, vol. 2, pp. 29-49,
-      1995.
-
-  [2] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortran 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEPD is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-  Let B be an N-by-M matrix (if TRANA = 'N') or an M-by-N matrix
-  (if TRANA = 'T' or 'C'), let R be an M-by-M symmetric positive
-  definite matrix (R = R**T), and denote G = op(B)*inv(R)*op(B)'.
-  Then, the Riccati equation (1) is equivalent to the standard
-  discrete-time matrix algebraic Riccati equation
-
-      X = op(A)'*X*op(A) -                                       (4)
-                                             -1
-          op(A)'*X*op(B)*(R + op(B)'*X*op(B))  *op(B)'*X*op(A) + Q.
-
-  By symmetry, the equation (1) is also equivalent to
-                            -1
-      X = op(A)'*(I_n + X*G)  *X*op(A) + Q.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB02SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDG, LDQ, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDG = NMAX, LDQ = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX*NMAX + 10*NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCND, RCOND, SEPD
-      INTEGER          I, INFO1, INFO2, INFO3, IS, IU, IW, J, N, N2,
-     $                 SDIM
-      CHARACTER*1      FACT, JOB, JOBS, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AS(LDA,NMAX), DWORK(LDWORK),
-     $                 G(LDG,NMAX), Q(LDQ,NMAX), T(LDT,NMAX),
-     $                 U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME, SELECT
-      EXTERNAL         LSAME, SELECT
-*     .. External Subroutines ..
-      EXTERNAL         DGEES, DGESV, DLACPY, DLASET, DSWAP, DSYMM,
-     $                 MA02AD, MA02ED, MB01RU, SB02MD, SB02SD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'Full', N, N, A, LDA, AS, LDA )
-         CALL DLACPY( UPLO, N, N, Q, LDQ, X, LDX )
-         N2 = 2*N
-         IS = 2*N2 + 1
-         IU = IS + N2*N2
-         IW = IU + N2*N2
-*        Solve the discrete-time Riccati equation.
-         CALL SB02MD( 'discrete', 'direct', UPLO, 'no scaling',
-     $                'stable', N, AS, LDA, G, LDG, X, LDX, RCND,
-     $                DWORK(1), DWORK(N2+1), DWORK(IS), N2, DWORK(IU),
-     $                N2, IWORK, DWORK(IW), LDWORK-IW+1, BWORK, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99995 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( FACT, 'F' ) .OR. LSAME( LYAPUN, 'R' ) ) THEN
-               CALL DLASET( 'Full', N, N, ZERO, ONE, DWORK, N )
-               CALL DSYMM( 'Left', UPLO, N, N, ONE, G, LDG, X, LDX,
-     $                     ONE, DWORK, N )
-               IF ( LSAME( TRANA, 'N' ) ) THEN
-*                 Compute Ac = inv(I_n + G*X)*A.
-                  CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
-               ELSE
-*                 Compute Ac = A*inv(I_n + X*G)
-                  CALL MA02AD( 'Full', N, N, A, LDA, T, LDT )
-                  CALL DGESV( N, N, DWORK, N, IWORK, T, LDT, INFO3 )
-                  DO 20 J = 2, N
-                     CALL DSWAP( J-1, T(1,J), 1, T(J,1), LDT )
-   20             CONTINUE
-               END IF
-*              Compute the Schur factorization of Ac.
-               JOBS = 'V'
-               CALL DGEES( JOBS, 'Not ordered', SELECT, N, T, LDT, SDIM,
-     $                     DWORK(1), DWORK(N+1), U, LDU, DWORK(2*N+1),
-     $                     LDWORK-2*N, BWORK, INFO3 )
-               IF( INFO3.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99996 ) INFO3
-                  STOP
-               END IF
-            END IF
-*
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-*
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, G, LDG,
-     $                      U, LDU, G, LDG, DWORK, N*N, INFO2 )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, Q, LDQ,
-     $                      U, LDU, Q, LDQ, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB02SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, A, LDA, T,
-     $                   LDT, U, LDU, G, LDG, Q, LDQ, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            END IF
-            IF ( INFO2.EQ.0 .OR. INFO2.EQ.N+1 ) THEN
-               WRITE ( NOUT, FMT = 99992 ) SEPD
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB02SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02MD =',I2)
-99997 FORMAT (' INFO on exit from SB02SD =',I2)
-99996 FORMAT (' INFO on exit from DGEES  =',I2)
-99995 FORMAT (' The solution matrix X is')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB02SD EXAMPLE PROGRAM DATA
-   2     B     N     N     U     O
-   2.0 -1.0
-   1.0  0.0
-   0.0  0.0
-   0.0  1.0
-   1.0  0.0
-   0.0  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB02SD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-  -0.7691   1.2496
-   1.2496  -2.3306
-
- Estimated separation =   0.4456
-
- Estimated reciprocal condition number =   0.1445
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03MD.html b/doc/_static/doc/SB03MD.html
deleted file mode 100644
index 71a9b95c..00000000
--- a/doc/_static/doc/SB03MD.html
+++ /dev/null
@@ -1,444 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MD">SB03MD</A></H2>
-<H3>
-Solution of continuous- or discrete-time Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the real continuous-time Lyapunov equation
-
-     op(A)'*X + X*op(A) = scale*C                             (1)
-
-  or the real discrete-time Lyapunov equation
-
-     op(A)'*X*op(A) - X = scale*C                             (2)
-
-  and/or estimate an associated condition number, called separation,
-  where op(A) = A or A' (A**T) and C is symmetric (C = C').
-  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
-  hand side C and the solution X are N-by-N, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C,
-     $                   LDC, SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, TRANA
-      INTEGER           INFO, LDA, LDC, LDU, LDWORK, N
-      DOUBLE PRECISION  FERR, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER           IWORK( * )
-      DOUBLE PRECISION  A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                  U( LDU, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which X is to be determined
-          as follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'B':  Compute both the solution and the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix in Schur canonical form;
-          the elements below the upper Hessenberg part of the
-          array A are not referenced.
-          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
-          upper Hessenberg part of this array contains the upper
-          quasi-triangular matrix in Schur canonical form from the
-          Schur factorization of A. The contents of array A is not
-          modified if FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If FACT = 'F', then U is an input argument and on entry
-          the leading N-by-N part of this array must contain the
-          orthogonal matrix U of the real Schur factorization of A.
-          If FACT = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with JOB = 'X' or 'B', the leading N-by-N part of
-          this array must contain the symmetric matrix C.
-          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
-          the leading N-by-N part of C has been overwritten by the
-          symmetric solution matrix X.
-          If JOB = 'S', C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
-          contains the estimated separation of the matrices op(A)
-          and -op(A)', if DICO = 'C' or of op(A) and op(A)', if
-          DICO = 'D'.
-          If JOB = 'X', SEP is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains an
-          estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the relative
-          error in the computed solution, measured in the Frobenius
-          norm:  norm(X - XTRUE)/norm(XTRUE).
-          If JOB = 'X' or JOB = 'S', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of
-          the eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and
-          If JOB = 'X' then
-             If FACT = 'F', LDWORK &gt;= N*N,           for DICO = 'C';
-                            LDWORK &gt;= MAX(N*N, 2*N), for DICO = 'D';
-             If FACT = 'N', LDWORK &gt;= MAX(N*N, 3*N).
-          If JOB = 'S' or JOB = 'B' then
-             If FACT = 'F', LDWORK &gt;= 2*N*N,       for DICO = 'C';
-                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
-             If FACT = 'N', LDWORK &gt;= MAX(2*N*N, 3*N), DICO = 'C';
-                            LDWORK &gt;= 2*N*N + 2*N, for DICO = 'D'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues (see LAPACK Library routine DGEES);
-                elements i+1:n of WR and WI contain eigenvalues
-                which have converged, and A contains the partially
-                converged Schur form;
-          = N+1:  if DICO = 'C', and the matrices A and -A' have
-                common or very close eigenvalues, or
-                if DICO = 'D', and matrix A has almost reciprocal
-                eigenvalues (that is, lambda(i) = 1/lambda(j) for
-                some i and j, where lambda(i) and lambda(j) are
-                eigenvalues of A and i &lt;&gt; j); perturbed values were
-                used to solve the equation (but the matrix A is
-                unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Schur factorization of a square matrix  A  is given by
-
-     A = U*S*U'
-
-  where U is orthogonal and S is block upper triangular with 1-by-1
-  and 2-by-2 blocks on its diagonal, these blocks corresponding to
-  the eigenvalues of A, the 2-by-2 blocks being complex conjugate
-  pairs. This factorization is obtained by numerically stable
-  methods: first A is reduced to upper Hessenberg form (if FACT =
-  'N') by means of Householder transformations and then the
-  QR Algorithm is applied to reduce the Hessenberg form to S, the
-  transformation matrices being accumulated at each step to give U.
-  If A has already been factorized prior to calling the routine
-  however, then the factors U and S may be supplied and the initial
-  factorization omitted.
-                _            _
-  If we now put C = U'CU and X = UXU' equations (1) and (2) (see
-  PURPOSE) become (for TRANS = 'N')
-       _   _    _
-     S'X + XS = C,                                               (3)
-  and
-       _    _   _
-     S'XS - X = C,                                               (4)
-
-  respectively. Partition S, C and X as
-                         _   _         _   _
-         (s    s')      (c   c')      (x   x')
-         ( 11    )  _   ( 11   )  _   ( 11   )
-     S = (       ), C = (      ), X = (      )
-         (       )      ( _    )      ( _    )
-         ( 0   S )      ( c  C )      ( x  X )
-                1             1             1
-             _      _
-  where s  , c  and x  are either scalars or 2-by-2 matrices and s,
-         11   11     11
-  _     _
-  c and x are either (N-1) element vectors or matrices with two
-  columns. Equations (3) and (4) can then be re-written as
-        _     _        _
-     s' x   + x  s   = c                                       (3.1)
-      11 11    11 11    11
-
-       _   _           _    _
-     S'x + xs        = c - sx                                  (3.2)
-      1      11              11
-
-                             _    _
-     S'X + X S       = C - (sx' + xs')                         (3.3)
-      1 1   1 1         1
-  and
-        _       _       _
-     s' x  s  - x     = c                                      (4.1)
-      11 11 11   11      11
-
-       _     _          _    _
-     S'xs  - x        = c - sx  s                              (4.2)
-      1  11                   11 11
-
-                             _            _        _
-     S'X S - X        = C - sx  s' - [s(S'x)' + (S'x)s']       (4.3)
-      1 1 1   1          1    11         1        1
-                                               _
-  respectively. If DICO = 'C' ['D'], then once x   has been
-                                                11
-  found from equation (3.1) [(4.1)], equation (3.2) [(4.2)] can be
-                                     _
-  solved by forward substitution for x and then equation (3.3)
-  [(4.3)] is of the same form as (3) [(4)] but of the order (N-1) or
-  (N-2) depending upon whether s   is 1-by-1 or 2-by-2.
-                                11
-                          _      _
-  When s   is 2-by-2 then x  and c   will be 1-by-2 matrices and s,
-        11                 11     11
-  _     _
-  x and c are matrices with two columns. In this case, equation
-  (3.1) [(4.1)] defines the three equations in the unknown elements
-     _
-  of x   and equation (3.2) [(4.2)] can then be solved by forward
-      11                 _
-  substitution, a row of x being found at each step.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [3] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If DICO = 'C', SEP is defined as the separation of op(A) and
-  -op(A)':
-
-         sep( op(A), -op(A)' ) = sigma_min( T )
-
-  and if DICO = 'D', SEP is defined as
-
-         sep( op(A), op(A)' ) = sigma_min( T )
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-    T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) )  (DICO = 'C'),
-
-    T = kprod( op(A)', op(A)' ) - I(N**2)              (DICO = 'D').
-
-  I(x) is an x-by-x identity matrix, and kprod denotes the Kronecker
-  product. The program estimates sigma_min(T) by the reciprocal of
-  an estimate of the 1-norm of inverse(T). The true reciprocal
-  1-norm of inverse(T) cannot differ from sigma_min(T) by more
-  than a factor of N.
-
-  When SEP is small, small changes in A, C can cause large changes
-  in the solution of the equation. An approximate bound on the
-  maximum relative error in the computed solution is
-
-                   EPS * norm(A) / SEP      (DICO = 'C'),
-
-                   EPS * norm(A)**2 / SEP   (DICO = 'D'),
-
-  where EPS is the machine precision.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDU = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 3*NMAX,
-     $                   LIWORK = NMAX*NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      DICO, FACT, JOB, TRANA
-      DOUBLE PRECISION FERR, SCALE, SEP
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, DICO, FACT, JOB, TRANA
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X.
-         CALL SB03MD( DICO, JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
-     $                SCALE, SEP, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) SCALE
-            IF ( .NOT.LSAME( JOB, 'X' ) )
-     $         WRITE ( NOUT, FMT = 99993 ) SEP
-            IF ( LSAME( JOB, 'B' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) FERR
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03MD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' Scaling factor = ',F8.4)
-99993 FORMAT (/' Estimated separation = ',F8.4)
-99992 FORMAT (/' Estimated forward error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03MD EXAMPLE PROGRAM DATA
-   3     D     N     X     N
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03MD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   1.0000   1.0000
-   1.0000   3.0000   0.0000
-   1.0000   0.0000   4.0000
-
- Scaling factor =   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03MU.html b/doc/_static/doc/SB03MU.html
deleted file mode 100644
index 0c841dd6..00000000
--- a/doc/_static/doc/SB03MU.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MU">SB03MU</A></H2>
-<H3>
-Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
-
-         ISGN*op(TL)*X*op(TR) - X = SCALE*B,
-
-  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
-  or -1.  op(T) = T or T', where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MU( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
-     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRANL, LTRANR
-      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRANL  LOGICAL
-          Specifies the form of op(TL) to be used, as follows:
-          = .FALSE.:  op(TL) = TL,
-          = .TRUE. :  op(TL) = TL'.
-
-  LTRANR  LOGICAL
-          Specifies the form of op(TR) to be used, as follows:
-          = .FALSE.:  op(TR) = TR,
-          = .TRUE. :  op(TR) = TR'.
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The order of matrix TL.  N1 may only be 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of matrix TR.  N2 may only be 0, 1 or 2.
-
-  TL      (input) DOUBLE PRECISION array, dimension (LDTL,2)
-          The leading N1-by-N1 part of this array must contain the
-          matrix TL.
-
-  LDTL    INTEGER
-          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
-
-  TR      (input) DOUBLE PRECISION array, dimension (LDTR,2)
-          The leading N2-by-N2 part of this array must contain the
-          matrix TR.
-
-  LDTR    INTEGER
-          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          The leading N1-by-N2 part of this array must contain the
-          right-hand side of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
-          The leading N1-by-N2 part of this array contains the
-          solution of the equation.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if TL and TR have almost reciprocal eigenvalues, so
-                TL or TR is perturbed to get a nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03MV.html b/doc/_static/doc/SB03MV.html
deleted file mode 100644
index 83fa27ee..00000000
--- a/doc/_static/doc/SB03MV.html
+++ /dev/null
@@ -1,157 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MV">SB03MV</A></H2>
-<H3>
-Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the 2-by-2 symmetric matrix X in
-
-         op(T)'*X*op(T) - X = SCALE*B,
-
-  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
-  where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MV( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
-     $                   XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRAN, LUPPER
-      INTEGER            INFO, LDB, LDT, LDX
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN   LOGICAL
-          Specifies the form of op(T) to be used, as follows:
-          = .FALSE.:  op(T) = T,
-          = .TRUE. :  op(T) = T'.
-
-  LUPPER  LOGICAL
-          Specifies which triangle of the matrix B is used, and
-          which triangle of the matrix X is computed, as follows:
-          = .TRUE. :  The upper triangular part;
-          = .FALSE.:  The lower triangular part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
-          The leading 2-by-2 part of this array must contain the
-          matrix T.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= 2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix B and the strictly
-          lower triangular part of B is not referenced.
-          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix B and the strictly
-          upper triangular part of B is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
-          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array contains the upper
-          triangular part of the symmetric solution matrix X and the
-          strictly lower triangular part of X is not referenced.
-          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array contains the lower
-          triangular part of the symmetric solution matrix X and the
-          strictly upper triangular part of X is not referenced.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 2.
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if T has almost reciprocal eigenvalues, so T
-                is perturbed to get a nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03MW.html b/doc/_static/doc/SB03MW.html
deleted file mode 100644
index 1f10bf47..00000000
--- a/doc/_static/doc/SB03MW.html
+++ /dev/null
@@ -1,157 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MW">SB03MW</A></H2>
-<H3>
-Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the 2-by-2 symmetric matrix X in
-
-         op(T)'*X + X*op(T) = SCALE*B,
-
-  where T is 2-by-2, B is symmetric 2-by-2, and op(T) = T or T',
-  where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MW( LTRAN, LUPPER, T, LDT, B, LDB, SCALE, X, LDX,
-     $                   XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRAN, LUPPER
-      INTEGER            INFO, LDB, LDT, LDX
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), T( LDT, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRAN   LOGICAL
-          Specifies the form of op(T) to be used, as follows:
-          = .FALSE.:  op(T) = T,
-          = .TRUE. :  op(T) = T'.
-
-  LUPPER  LOGICAL
-          Specifies which triangle of the matrix B is used, and
-          which triangle of the matrix X is computed, as follows:
-          = .TRUE. :  The upper triangular part;
-          = .FALSE.:  The lower triangular part.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  T       (input) DOUBLE PRECISION array, dimension (LDT,2)
-          The leading 2-by-2 part of this array must contain the
-          matrix T.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= 2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          On entry with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix B and the strictly
-          lower triangular part of B is not referenced.
-          On entry with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix B and the strictly
-          upper triangular part of B is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,2)
-          On exit with LUPPER = .TRUE., the leading 2-by-2 upper
-          triangular part of this array contains the upper
-          triangular part of the symmetric solution matrix X and the
-          strictly lower triangular part of X is not referenced.
-          On exit with LUPPER = .FALSE., the leading 2-by-2 lower
-          triangular part of this array contains the lower
-          triangular part of the symmetric solution matrix X and the
-          strictly upper triangular part of X is not referenced.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= 2.
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if T and -T have too close eigenvalues, so T
-                is perturbed to get a nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03MX.html b/doc/_static/doc/SB03MX.html
deleted file mode 100644
index 8cb755dc..00000000
--- a/doc/_static/doc/SB03MX.html
+++ /dev/null
@@ -1,152 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MX">SB03MX</A></H2>
-<H3>
-Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real discrete Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = scale*C
-
-  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
-  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
-  A is N-by-N, the right hand side C and the solution X are N-by-N,
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The solution matrix X is overwritten
-  onto C.
-
-  A must be in Schur canonical form (as returned by LAPACK routines
-  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
-  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
-  diagonal elements equal and its off-diagonal elements of opposite
-  sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MX( TRANA, N, A, LDA, C, LDC, SCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANA
-      INTEGER            INFO, LDA, LDC, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix A, in Schur canonical form.
-          The part of A below the first sub-diagonal is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading N-by-N part of this array must
-          contain the symmetric matrix C.
-          On exit, if INFO &gt;= 0, the leading N-by-N part of this
-          array contains the symmetric solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if A has almost reciprocal eigenvalues; perturbed
-                values were used to solve the equation (but the
-                matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A discrete-time version of the Bartels-Stewart algorithm is used.
-  A set of equivalent linear algebraic systems of equations of order
-  at most four are formed and solved using Gaussian elimination with
-  complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03MY.html b/doc/_static/doc/SB03MY.html
deleted file mode 100644
index afc6d9fd..00000000
--- a/doc/_static/doc/SB03MY.html
+++ /dev/null
@@ -1,142 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03MY">SB03MY</A></H2>
-<H3>
-Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = scale*C
-
-  where op(A) = A or A' (A**T), A is upper quasi-triangular and C is
-  symmetric (C = C'). (A' denotes the transpose of the matrix A.)
-  A is N-by-N, the right hand side C and the solution X are N-by-N,
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The solution matrix X is overwritten
-  onto C.
-
-  A must be in Schur canonical form (as returned by LAPACK routines
-  DGEES or DHSEQR), that is, block upper triangular with 1-by-1 and
-  2-by-2 diagonal blocks; each 2-by-2 diagonal block has its
-  diagonal elements equal and its off-diagonal elements of opposite
-  sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03MY( TRANA, N, A, LDA, C, LDC, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANA
-      INTEGER            INFO, LDA, LDC, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix A, in Schur canonical form.
-          The part of A below the first sub-diagonal is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading N-by-N part of this array must
-          contain the symmetric matrix C.
-          On exit, if INFO &gt;= 0, the leading N-by-N part of this
-          array contains the symmetric solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if A and -A have common or very close eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Bartels-Stewart algorithm is used. A set of equivalent linear
-  algebraic systems of equations of order at most four are formed
-  and solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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@@ -1,485 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OD">SB03OD</A></H2>
-<H3>
-Solution of stable continuous- or discrete-time Lyapunov equations (Cholesky factor)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)'*op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-                                2
-     op(A)'*X + X*op(A) = -scale *op(B)'*op(B),                  (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-                                2
-     op(A)'*X*op(A) - X = -scale *op(B)'*op(B),                  (2)
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
-  an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
-  triangular matrix containing the Cholesky factor of the solution
-  matrix X, X = op(U)'*op(U), and scale is an output scale factor,
-  set less than or equal to 1 to avoid overflow in X. If matrix B
-  has full rank then the solution matrix X will be positive definite
-  and hence the Cholesky factor U will be nonsingular, but if B is
-  rank deficient, then X may be only positive semi-definite and U
-  will be singular.
-
-  In the case of equation (1) the matrix A must be stable (that is,
-  all the eigenvalues of A must have negative real parts), and for
-  equation (2) the matrix A must be convergent (that is, all the
-  eigenvalues of A must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
-     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, TRANS
-      INTEGER           INFO, LDA, LDB, LDQ, LDWORK, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), Q(LDQ,*), WI(*),
-     $                  WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Lyapunov equation to be solved, as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and Q contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and Q.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(K) to be used, as follows:
-          = 'N':  op(K) = K    (No transpose);
-          = 'T':  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of columns of
-          the matrix op(B).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows of the matrix op(B).  M &gt;= 0.
-          If M = 0, A is unchanged on exit, and Q, WR and WI are not
-          set.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix S in Schur canonical
-          form; the elements below the upper Hessenberg part of the
-          array A are then not referenced.
-          On exit, the leading N-by-N upper Hessenberg part of this
-          array contains the upper quasi-triangular matrix S in
-          Schur canonical form from the Shur factorization of A.
-          The contents of the array A is not modified if FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  Q       (input or output) DOUBLE PRECISION array, dimension
-          (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Q of the
-          Schur factorization of A.
-          Otherwise, Q need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal matrix Q of the Schur factorization of A.
-          The contents of the array Q is not modified if FACT = 'F'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          if TRANS = 'N', and dimension (LDB,max(M,N)), if
-          TRANS = 'T'.
-          On entry, if TRANS = 'N', the leading M-by-N part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On entry, if TRANS = 'T', the leading N-by-M part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)'*op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
-          LDB &gt;= MAX(1,N),   if TRANS = 'T'.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If INFO &gt;= 0 and INFO &lt;= 3, WR and WI contain the real and
-          imaginary parts, respectively, of the eigenvalues of A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = 1, DWORK(1) returns the
-          optimal value of LDWORK.
-          On exit, if INFO = -16, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If M &gt; 0, LDWORK &gt;= MAX(1,4*N);
-          If M = 0, LDWORK &gt;= 1.
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DICO = 'C' this means that while the matrix A
-                (or the factor S) has computed eigenvalues with
-                negative real parts, it is only just stable in the
-                sense that small perturbations in A can make one or
-                more of the eigenvalues have a non-negative real
-                part;
-                if DICO = 'D' this means that while the matrix A
-                (or the factor S) has computed eigenvalues inside
-                the unit circle, it is nevertheless only just
-                convergent, in the sense that small perturbations
-                in A can make one or more of the eigenvalues lie
-                outside the unit circle;
-                perturbed values were used to solve the equation;
-          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
-                not stable (that is, one or more of the eigenvalues
-                of A has a non-negative real part), or DICO = 'D',
-                but the matrix A is not convergent (that is, one or
-                more of the eigenvalues of A lies outside the unit
-                circle); however, A will still have been factored
-                and the eigenvalues of A returned in WR and WI.
-          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
-                supplied in the array A is not stable (that is, one
-                or more of the eigenvalues of S has a non-negative
-                real part), or DICO = 'D', but the Schur factor S
-                supplied in the array A is not convergent (that is,
-                one or more of the eigenvalues of S lies outside the
-                unit circle); the eigenvalues of A are still
-                returned in WR and WI;
-          = 4:  if FACT = 'F' and the Schur factor S supplied in
-                the array A has two or more consecutive non-zero
-                elements on the first subdiagonal, so that there is
-                a block larger than 2-by-2 on the diagonal;
-          = 5:  if FACT = 'F' and the Schur factor S supplied in
-                the array A has a 2-by-2 diagonal block with real
-                eigenvalues instead of a complex conjugate pair;
-          = 6:  if FACT = 'N' and the LAPACK Library routine DGEES
-                has failed to converge. This failure is not likely
-                to occur. The matrix B will be unaltered but A will
-                be destroyed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on the Bartels and Stewart
-  method [1], except that it finds the upper triangular matrix U
-  directly without first finding X and without the need to form the
-  normal matrix op(B)'*op(B).
-
-  The Schur factorization of a square matrix A is given by
-
-     A = QSQ',
-
-  where Q is orthogonal and S is an N-by-N block upper triangular
-  matrix with 1-by-1 and 2-by-2 blocks on its diagonal (which
-  correspond to the eigenvalues of A). If A has already been
-  factored prior to calling the routine however, then the factors
-  Q and S may be supplied and the initial factorization omitted.
-
-  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
-  (QR factorization)
-         _   _
-     B = P ( R ),
-           ( 0 )
-        _                                    _
-  where P is an M-by-M orthogonal matrix and R is a square upper
-                                      _   _
-  triangular matrix. Then, the matrix B = RQ is factored as
-     _
-     B = PR.
-
-  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
-
-     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
-            ( 0 )
-
-  If TRANS = 'T' and 6*M &gt; 7*N, the matrix B is factored as
-  (RQ factorization)
-              _   _
-     B = ( 0  R ) P,
-        _                                    _
-  where P is an M-by-M orthogonal matrix and R is a square upper
-                                      _      _
-  triangular matrix. Then, the matrix B = Q' R is factored as
-     _
-     B = RP.
-
-  If TRANS = 'T' and 6*M &lt;= 7*N, the matrix Q' B is factored as
-
-                                           ( Z )
-     Q' B = ( 0  R ) P,   M &gt;= N,   Q' B = (   ) P,   M &lt; N.
-                                           ( R )
-
-  These factorizations are utilised to either transform the
-  continuous-time Lyapunov equation to the canonical form
-                                                     2
-    op(S)'*op(V)'*op(V) + op(V)'*op(V)*op(S) = -scale *op(F)'*op(F),
-
-  or the discrete-time Lyapunov equation to the canonical form
-                                                     2
-    op(S)'*op(V)'*op(V)*op(S) - op(V)'*op(V) = -scale *op(F)'*op(F),
-
-  where V and F are upper triangular, and
-
-     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
-                           ( 0  0 )
-
-     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'T'.
-                           ( 0  R )
-
-  The transformed equation is then solved for V, from which U is
-  obtained via the QR factorization of V*Q', if TRANS = 'N', or
-  via the RQ factorization of Q*V, if TRANS = 'T'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if A is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned.  A symptom of ill-conditioning
-  is "large" elements in U relative to those of A and B, or a
-  "small" value for scale. A condition estimate can be computed
-  using SLICOT Library routine SB03MD.
-
-  SB03OD routine can be also used for solving "unstable" Lyapunov
-  equations, i.e., when matrix A has all eigenvalues with positive
-  real parts, if DICO = 'C', or with moduli greater than one,
-  if DICO = 'D'. Specifically, one may solve for X = op(U)'*op(U)
-  either the continuous-time Lyapunov equation
-                               2
-     op(A)'*X + X*op(A) = scale *op(B)'*op(B),                   (3)
-
-  or the discrete-time Lyapunov equation
-                               2
-     op(A)'*X*op(A) - X = scale *op(B)'*op(B),                   (4)
-
-  provided, for equation (3), the given matrix A is replaced by -A,
-  or, for equation (4), the given matrices A and B are replaced by
-  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'T'),
-  respectively. Although the inversion generally can rise numerical
-  problems, in case of equation (4) it is expected that the matrix A
-  is enough well-conditioned, having only eigenvalues with moduli
-  greater than 1. However, if A is ill-conditioned, it could be
-  preferable to use the more general SLICOT Lyapunov solver SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDQ, LDX, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = MAX( MMAX,NMAX ),
-     $                   LDQ = NMAX, LDX = NMAX )
-      PARAMETER        ( LDWORK = 4*NMAX+MIN(MMAX,NMAX) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION SCALE, TEMP
-      INTEGER          I, INFO, J, K, M, N
-      CHARACTER*1      DICO, FACT, TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,LDB), DWORK(LDWORK),
-     $                 Q(LDQ,NMAX), WR(NMAX), WI(NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( Q(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            IF ( LSAME( TRANS, 'N' ) ) THEN
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            END IF
-*           Find the Cholesky factor U.
-            CALL SB03OD( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
-     $                   LDB, SCALE, WR, WI, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 J = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), I = 1,J )
-   20          CONTINUE
-*              Form the solution matrix X = op(U)'*op(U).
-               IF ( LSAME( TRANS, 'N' ) ) THEN
-                  DO 80 I = 1, N
-                     DO 60 J = I, N
-                        TEMP = ZERO
-                        DO 40 K = 1, I
-                           TEMP = TEMP + B(K,I)*B(K,J)
-   40                   CONTINUE
-                        X(I,J) = TEMP
-                        X(J,I) = TEMP
-   60                CONTINUE
-   80             CONTINUE
-               ELSE
-                  DO 140 I = 1, N
-                     DO 120 J = I, N
-                        TEMP = ZERO
-                        DO 100 K = J, N
-                           TEMP = TEMP + B(I,K)*B(J,K)
-  100                   CONTINUE
-                        X(I,J) = TEMP
-                        X(J,I) = TEMP
-  120                CONTINUE
-  140             CONTINUE
-               END IF
-               WRITE ( NOUT, FMT = 99995 )
-               DO 160 J = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( X(I,J), I = 1,N )
-  160          CONTINUE
-               WRITE ( NOUT, FMT = 99992 ) SCALE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03OD = ',I2)
-99997 FORMAT (' The transpose of the Cholesky factor U is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The solution matrix X = op(U)''*op(U) is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' Scaling factor = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03OD EXAMPLE PROGRAM DATA
-   4     5      C      N      N
-  -1.0  37.0 -12.0 -12.0
-  -1.0 -10.0   0.0   4.0
-   2.0  -4.0   7.0  -6.0
-   2.0   2.0   7.0  -9.0
-   1.0   2.5   1.0   3.5
-   0.0   1.0   0.0   1.0
-  -1.0  -2.5  -1.0  -1.5
-   1.0   2.5   4.0  -5.5
-  -1.0  -2.5  -4.0   3.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03OD EXAMPLE PROGRAM RESULTS
-
- The transpose of the Cholesky factor U is 
-   1.0000
-   3.0000   1.0000
-   2.0000  -1.0000   1.0000
-  -1.0000   1.0000  -2.0000   1.0000
-
- The solution matrix X = op(U)'*op(U) is 
-   1.0000   3.0000   2.0000  -1.0000
-   3.0000  10.0000   5.0000  -2.0000
-   2.0000   5.0000   6.0000  -5.0000
-  -1.0000  -2.0000  -5.0000   7.0000
-
- Scaling factor =   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OR.html b/doc/_static/doc/SB03OR.html
deleted file mode 100644
index da6af98b..00000000
--- a/doc/_static/doc/SB03OR.html
+++ /dev/null
@@ -1,159 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OR">SB03OR</A></H2>
-<H3>
-Solving continuous- or discrete-time Sylvester equations, with matrix S quasi-triangular, for an n-by-m matrix X, 1 <= m <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the solution of the Sylvester equations
-
-     op(S)'*X + X*op(A) = scale*C, if DISCR = .FALSE.  or
-
-     op(S)'*X*op(A) - X = scale*C, if DISCR = .TRUE.
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
-  an N-by-N block upper triangular matrix with one-by-one and
-  two-by-two blocks on the diagonal, A is an M-by-M matrix (M = 1 or
-  M = 2), X and C are each N-by-M matrices, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-  The solution X is overwritten on C.
-
-  SB03OR  is a service routine for the Lyapunov solver  SB03OT.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OR( DISCR, LTRANS, N, M, S, LDS, A, LDA, C, LDC,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            DISCR, LTRANS
-      INTEGER            INFO, LDA, LDS, LDC, M, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), S( LDS, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the equation to be solved:
-          = .FALSE.:  op(S)'*X + X*op(A) = scale*C;
-          = .TRUE. :  op(S)'*X*op(A) - X = scale*C.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix  S  and also the number of rows of
-          matrices  X and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix  A  and also the number of columns
-          of matrices  X and C.  M = 1 or M = 2.
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading  N-by-N  upper Hessenberg part of the array  S
-          must contain the block upper triangular matrix. The
-          elements below the upper Hessenberg part of the array  S
-          are not referenced.  The array  S  must not contain
-          diagonal blocks larger than two-by-two and the two-by-two
-          blocks must only correspond to complex conjugate pairs of
-          eigenvalues, not to real eigenvalues.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  A       (input) DOUBLE PRECISION array, dimension (LDS,M)
-          The leading  M-by-M  part of this array must contain a
-          given matrix, where M = 1 or M = 2.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= M.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, C must contain an N-by-M matrix, where M = 1 or
-          M = 2.
-          On exit, C contains the N-by-M matrix X, the solution of
-          the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if DISCR = .FALSE., and S and -A have common
-                eigenvalues, or if DISCR = .TRUE., and S and A have
-                eigenvalues whose product is equal to unity;
-                a solution has been computed using slightly
-                perturbed values.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The LAPACK scheme for solving Sylvester equations is adapted.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            2
-  The algorithm requires 0(N M) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OS.html b/doc/_static/doc/SB03OS.html
deleted file mode 100644
index 500f0614..00000000
--- a/doc/_static/doc/SB03OS.html
+++ /dev/null
@@ -1,186 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OS">SB03OS</A></H2>
-<H3>
-Solving (for Cholesky factor) stable continuous- or discrete-time complex Lyapunov equations, with matrices S and R triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>                        H
-  To solve for X = op(U) *op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-          H                     2      H
-     op(S) *X + X*op(S) = -scale *op(R) *op(R),                  (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-          H                     2      H
-     op(S) *X*op(S) - X = -scale *op(R) *op(R),                  (2)
-
-  where op(K) = K or K**H (i.e., the conjugate transpose of the
-  matrix K), S and R are complex N-by-N upper triangular matrices,
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The diagonal elements of the matrix R must
-  be real non-negative.
-
-  In the case of equation (1) the matrix S must be stable (that is,
-  all the eigenvalues of S must have negative real parts), and for
-  equation (2) the matrix S must be convergent (that is, all the
-  eigenvalues of S must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OS( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDR, LDS, N
-      LOGICAL           DISCR, LTRANS
-C     .. Array Arguments ..
-      COMPLEX*16        R(LDR,*), S(LDS,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of Lyapunov equation to be solved as
-          follows:
-          = .TRUE. :  Equation (2), discrete-time case;
-          = .FALSE.:  Equation (1), continuous-time case.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**H (Conjugate transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S and R.  N &gt;= 0.
-
-  S       (input) COMPLEX*16 array of dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the upper triangular matrix.
-          The elements below the upper triangular part of the array
-          S are not referenced.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (input/output) COMPLEX*16 array of dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R, with
-          real non-negative entries on its main diagonal.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangular matrix U, with real
-          non-negative entries on its main diagonal.
-          The strictly lower triangle of R is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N-1)
-
-  ZWORK   COMPLEX*16 array, dimension (2*N-2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  if the matrix S is not stable (that is, one or more
-                of the eigenvalues of S has a non-negative real
-                part), if DISCR = .FALSE., or not convergent (that
-                is, one or more of the eigenvalues of S lies outside
-                the unit circle), if DISCR = .TRUE..
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a variant of the
-  Bartels and Stewart backward substitution method [1], that finds
-  the Cholesky factor op(U) directly without first finding X and
-  without the need to form the normal matrix op(R)'*op(R) [2].
-
-  The continuous-time Lyapunov equation in the canonical form
-         H      H              H                     2      H
-    op(S) *op(U) *op(U) + op(U) *op(U)*op(S) = -scale *op(R) *op(R),
-
-  or the discrete-time Lyapunov equation in the canonical form
-         H      H                    H               2      H
-    op(S) *op(U) *op(U)*op(S) - op(U) *op(U) = -scale *op(R) *op(R),
-
-  where U and R are upper triangular, is solved for U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular
-  if S is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned. "Large" elements in U relative
-  to those of S and R, or a "small" value for scale, is a symptom
-  of ill-conditioning. A condition estimate can be computed using
-  SLICOT Library routine SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OT.html b/doc/_static/doc/SB03OT.html
deleted file mode 100644
index 6d88c503..00000000
--- a/doc/_static/doc/SB03OT.html
+++ /dev/null
@@ -1,204 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OT">SB03OT</A></H2>
-<H3>
-Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix S quasi-triangular and R triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)'*op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-                                2
-     op(S)'*X + X*op(S) = -scale *op(R)'*op(R)                   (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-                                2
-     op(S)'*X*op(S) - X = -scale *op(R)'*op(R)                   (2)
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), S is
-  an N-by-N block upper triangular matrix with one-by-one or
-  two-by-two blocks on the diagonal, R is an N-by-N upper triangular
-  matrix, and scale is an output scale factor, set less than or
-  equal to 1 to avoid overflow in X.
-
-  In the case of equation (1) the matrix S must be stable (that
-  is, all the eigenvalues of S must have negative real parts),
-  and for equation (2) the matrix S must be convergent (that is,
-  all the eigenvalues of S must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OT( DISCR, LTRANS, N, S, LDS, R, LDR, SCALE, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR, LTRANS
-      INTEGER           INFO, LDR, LDS, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of Lyapunov equation to be solved as
-          follows:
-          = .TRUE. :  Equation (2), discrete-time case;
-          = .FALSE.:  Equation (1), continuous-time case.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices S and R.  N &gt;= 0.
-
-  S       (input) DOUBLE PRECISION array of dimension (LDS,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the block upper triangular matrix.
-          The elements below the upper Hessenberg part of the array
-          S are not referenced. The 2-by-2 blocks must only
-          correspond to complex conjugate pairs of eigenvalues (not
-          to real eigenvalues).
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array of dimension (LDR,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the upper triangular matrix R.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangular matrix U.
-          The strict lower triangle of R is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (4*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DISCR = .FALSE., this means that while the
-                matrix S has computed eigenvalues with negative real
-                parts, it is only just stable in the sense that
-                small perturbations in S can make one or more of the
-                eigenvalues have a non-negative real part;
-                if DISCR = .TRUE., this means that while the
-                matrix S has computed eigenvalues inside the unit
-                circle, it is nevertheless only just convergent, in
-                the sense that small perturbations in S can make one
-                or more of the eigenvalues lie outside the unit
-                circle;
-                perturbed values were used to solve the equation
-                (but the matrix S is unchanged);
-          = 2:  if the matrix S is not stable (that is, one or more
-                of the eigenvalues of S has a non-negative real
-                part), if DISCR = .FALSE., or not convergent (that
-                is, one or more of the eigenvalues of S lies outside
-                the unit circle), if DISCR = .TRUE.;
-          = 3:  if the matrix S has two or more consecutive non-zero
-                elements on the first sub-diagonal, so that there is
-                a block larger than 2-by-2 on the diagonal;
-          = 4:  if the matrix S has a 2-by-2 diagonal block with
-                real eigenvalues instead of a complex conjugate
-                pair.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a variant of the
-  Bartels and Stewart backward substitution method [1], that finds
-  the Cholesky factor op(U) directly without first finding X and
-  without the need to form the normal matrix op(R)'*op(R) [2].
-
-  The continuous-time Lyapunov equation in the canonical form
-                                                     2
-    op(S)'*op(U)'*op(U) + op(U)'*op(U)*op(S) = -scale *op(R)'*op(R),
-
-  or the discrete-time Lyapunov equation in the canonical form
-                                                     2
-    op(S)'*op(U)'*op(U)*op(S) - op(U)'*op(U) = -scale *op(R)'*op(R),
-
-  where U and R are upper triangular, is solved for U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular
-  if S is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned. "Large" elements in U relative
-  to those of S and R, or a "small" value for scale, is a symptom
-  of ill-conditioning. A condition estimate can be computed using
-  SLICOT Library routine SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OU.html b/doc/_static/doc/SB03OU.html
deleted file mode 100644
index 3ff3058a..00000000
--- a/doc/_static/doc/SB03OU.html
+++ /dev/null
@@ -1,286 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OU">SB03OU</A></H2>
-<H3>
-Solving (for Cholesky factor) stable continuous- or discrete-time Lyapunov equations, with matrix A in real Schur form and B rectangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)'*op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-                                2
-     op(A)'*X + X*op(A) = -scale *op(B)'*op(B)                   (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-                                2
-     op(A)'*X*op(A) - X = -scale *op(B)'*op(B)                   (2)
-
-  where op(K) = K or K' (i.e., the transpose of the matrix K), A is
-  an N-by-N matrix in real Schur form, op(B) is an M-by-N matrix,
-  U is an upper triangular matrix containing the Cholesky factor of
-  the solution matrix X, X = op(U)'*op(U), and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-  If matrix B has full rank then the solution matrix X will be
-  positive-definite and hence the Cholesky factor U will be
-  nonsingular, but if B is rank deficient then X may only be
-  positive semi-definite and U will be singular.
-
-  In the case of equation (1) the matrix A must be stable (that
-  is, all the eigenvalues of A must have negative real parts),
-  and for equation (2) the matrix A must be convergent (that is,
-  all the eigenvalues of A must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OU( DISCR, LTRANS, N, M, A, LDA, B, LDB, TAU, U,
-     $                   LDU, SCALE, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR, LTRANS
-      INTEGER           INFO, LDA, LDB, LDU, LDWORK, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), TAU(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the type of Lyapunov equation to be solved as
-          follows:
-          = .TRUE. :  Equation (2), discrete-time case;
-          = .FALSE.:  Equation (1), continuous-time case.
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of columns in
-          matrix op(B).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows in matrix op(B).  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain a real Schur form matrix S. The elements
-          below the upper Hessenberg part of the array A are not
-          referenced. The 2-by-2 blocks must only correspond to
-          complex conjugate pairs of eigenvalues (not to real
-          eigenvalues).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          if LTRANS = .FALSE., and dimension (LDB,M), if
-          LTRANS = .TRUE..
-          On entry, if LTRANS = .FALSE., the leading M-by-N part of
-          this array must contain the coefficient matrix B of the
-          equation.
-          On entry, if LTRANS = .TRUE., the leading N-by-M part of
-          this array must contain the coefficient matrix B of the
-          equation.
-          On exit, if LTRANS = .FALSE., the leading
-          MIN(M,N)-by-MIN(M,N) upper triangular part of this array
-          contains the upper triangular matrix R (as defined in
-          METHOD), and the M-by-MIN(M,N) strictly lower triangular
-          part together with the elements of the array TAU are
-          overwritten by details of the matrix P (also defined in
-          METHOD). When M &lt; N, columns (M+1),...,N of the array B
-          are overwritten by the matrix Z (see METHOD).
-          On exit, if LTRANS = .TRUE., the leading
-          MIN(M,N)-by-MIN(M,N) upper triangular part of
-          B(1:N,M-N+1), if M &gt;= N, or of B(N-M+1:N,1:M), if M &lt; N,
-          contains the upper triangular matrix R (as defined in
-          METHOD), and the remaining elements (below the diagonal
-          of R) together with the elements of the array TAU are
-          overwritten by details of the matrix P (also defined in
-          METHOD). When M &lt; N, rows 1,...,(N-M) of the array B
-          are overwritten by the matrix Z (see METHOD).
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,M), if LTRANS = .FALSE.,
-          LDB &gt;= MAX(1,N), if LTRANS = .TRUE..
-
-  TAU     (output) DOUBLE PRECISION array of dimension (MIN(N,M))
-          This array contains the scalar factors of the elementary
-          reflectors defining the matrix P.
-
-  U       (output) DOUBLE PRECISION array of dimension (LDU,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor of the solution matrix X of
-          the problem, X = op(U)'*op(U).
-          The array U may be identified with B in the calling
-          statement, if B is properly dimensioned, and the
-          intermediate results returned in B are not needed.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, or INFO = 1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,4*N).
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DISCR = .FALSE., this means that while the matrix
-                A has computed eigenvalues with negative real parts,
-                it is only just stable in the sense that small
-                perturbations in A can make one or more of the
-                eigenvalues have a non-negative real part;
-                if DISCR = .TRUE., this means that while the matrix
-                A has computed eigenvalues inside the unit circle,
-                it is nevertheless only just convergent, in the
-                sense that small perturbations in A can make one or
-                more of the eigenvalues lie outside the unit circle;
-                perturbed values were used to solve the equation
-                (but the matrix A is unchanged);
-          = 2:  if matrix A is not stable (that is, one or more of
-                the eigenvalues of A has a non-negative real part),
-                if DISCR = .FALSE., or not convergent (that is, one
-                or more of the eigenvalues of A lies outside the
-                unit circle), if DISCR = .TRUE.;
-          = 3:  if matrix A has two or more consecutive non-zero
-                elements on the first sub-diagonal, so that there is
-                a block larger than 2-by-2 on the diagonal;
-          = 4:  if matrix A has a 2-by-2 diagonal block with real
-                eigenvalues instead of a complex conjugate pair.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on the Bartels and
-  Stewart method [1], except that it finds the upper triangular
-  matrix U directly without first finding X and without the need
-  to form the normal matrix op(B)'*op(B) [2].
-
-  If LTRANS = .FALSE., the matrix B is factored as
-
-     B = P ( R ),  M &gt;= N,   B = P ( R  Z ),  M &lt; N,
-           ( 0 )
-
-  (QR factorization), where P is an M-by-M orthogonal matrix and
-  R is a square upper triangular matrix.
-
-  If LTRANS = .TRUE., the matrix B is factored as
-
-     B = ( 0  R ) P,  M &gt;= N,  B = ( Z ) P,  M &lt; N,
-                                   ( R )
-
-  (RQ factorization), where P is an M-by-M orthogonal matrix and
-  R is a square upper triangular matrix.
-
-  These factorizations are used to solve the continuous-time
-  Lyapunov equation in the canonical form
-                                                     2
-    op(A)'*op(U)'*op(U) + op(U)'*op(U)*op(A) = -scale *op(F)'*op(F),
-
-  or the discrete-time Lyapunov equation in the canonical form
-                                                     2
-    op(A)'*op(U)'*op(U)*op(A) - op(U)'*op(U) = -scale *op(F)'*op(F),
-
-  where U and F are N-by-N upper triangular matrices, and
-
-     F = R,                                  if M &gt;= N, or
-
-     F = ( R ),    if LTRANS = .FALSE.,  or
-         ( 0 )
-
-     F = ( 0  Z ), if LTRANS = .TRUE.,       if M &lt; N.
-         ( 0  R )
-
-  The canonical equation is solved for U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if A is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned. "Large" elements in U relative
-  to those of A and B, or a "small" value for scale, are symptoms
-  of ill-conditioning. A condition estimate can be computed using
-  SLICOT Library routine SB03MD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OV.html b/doc/_static/doc/SB03OV.html
deleted file mode 100644
index 4d0a8be1..00000000
--- a/doc/_static/doc/SB03OV.html
+++ /dev/null
@@ -1,98 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OV">SB03OV</A></H2>
-<H3>
-Construction of a complex plane rotation to annihilate a real number, modifying a complex number
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct a complex plane rotation such that, for a complex
-  number  a  and a real number  b,
-
-     ( conjg( c )  s )*( a ) = ( d ),
-     (       -s    c ) ( b )   ( 0 )
-
-  where  d  is always real and is overwritten on  a,  so that on
-  return the imaginary part of  a  is zero.  b  is unaltered.
-
-  This routine has A and C declared as REAL, because it is intended
-  for use within a real Lyapunov solver and the REAL declarations
-  mean that a standard Fortran DOUBLE PRECISION version may be
-  readily constructed.  However A and C could safely be declared
-  COMPLEX in the calling program, although some systems may give a
-  type mismatch warning.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OV( A, B, SMALL, C, S )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  B, S, SMALL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(2), C(2)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input/output) DOUBLE PRECISION array, dimension (2)
-          On entry, A(1) and A(2) must contain the real and
-          imaginary part, respectively, of the complex number a.
-          On exit, A(1) contains the real part of d, and A(2) is
-          set to zero.
-
-  B       (input) DOUBLE PRECISION
-          The real number b.
-
-  SMALL   (input) DOUBLE PRECISION
-          A small real number. If the norm d of [ a; b ] is smaller
-          than SMALL, then the rotation is taken as a unit matrix,
-          and A(1) and A(2) are set to d and 0, respectively.
-
-  C       (output) DOUBLE PRECISION array, dimension (2)
-          C(1) and C(2) contain the real and imaginary part,
-          respectively, of the complex number c, the cosines of
-          the plane rotation.
-
-  S       (output) DOUBLE PRECISION
-          The real number s, the sines of the plane rotation.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OY.html b/doc/_static/doc/SB03OY.html
deleted file mode 100644
index faa6e9eb..00000000
--- a/doc/_static/doc/SB03OY.html
+++ /dev/null
@@ -1,196 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OY">SB03OY</A></H2>
-<H3>
-Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time Lyapunov equations, with matrix A having complex conjugate eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the Cholesky factor  U  of  X,
-
-     op(U)'*op(U) = X,
-
-  where  U  is a two-by-two upper triangular matrix, either the
-  continuous-time two-by-two Lyapunov equation
-                                      2
-      op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R),
-
-  when DISCR = .FALSE., or the discrete-time two-by-two Lyapunov
-  equation
-                                      2
-      op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R),
-
-  when DISCR = .TRUE., where op(K) = K or K' (i.e., the transpose of
-  the matrix K),  S  is a two-by-two matrix with complex conjugate
-  eigenvalues,  R  is a two-by-two upper triangular matrix,
-  ISGN = -1 or 1,  and  scale  is an output scale factor, set less
-  than or equal to 1 to avoid overflow in  X.  The routine also
-  computes two matrices, B and A, so that
-                                2
-     B*U = U*S  and  A*U = scale *R,  if  LTRANS = .FALSE.,  or
-                                2
-     U*B = S*U  and  U*A = scale *R,  if  LTRANS = .TRUE.,
-  which are used by the general Lyapunov solver.
-  In the continuous-time case  ISGN*S  must be stable, so that its
-  eigenvalues must have strictly negative real parts.
-  In the discrete-time case  S  must be convergent if ISGN = 1, that
-  is, its eigenvalues must have moduli less than unity, or  S  must
-  be completely divergent if ISGN = -1, that is, its eigenvalues
-  must have moduli greater than unity.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OY( DISCR, LTRANS, ISGN, S, LDS, R, LDR, A, LDA,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL           DISCR, LTRANS
-      INTEGER           INFO, ISGN, LDA, LDR, LDS
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DISCR   LOGICAL
-          Specifies the equation to be solved:       2
-          = .FALSE.: op(S)'*X + X*op(S) = -ISGN*scale *op(R)'*op(R);
-                                                     2
-          = .TRUE. : op(S)'*X*op(S) - X = -ISGN*scale *op(R)'*op(R).
-
-  LTRANS  LOGICAL
-          Specifies the form of op(K) to be used, as follows:
-          = .FALSE.:  op(K) = K    (No transpose);
-          = .TRUE. :  op(K) = K**T (Transpose).
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  S       (input/output) DOUBLE PRECISION array, dimension (LDS,2)
-          On entry, S must contain a 2-by-2 matrix.
-          On exit, S contains a 2-by-2 matrix B such that B*U = U*S,
-          if LTRANS = .FALSE., or U*B = S*U, if LTRANS = .TRUE..
-          Notice that if U is nonsingular then
-            B = U*S*inv( U ),  if LTRANS = .FALSE.
-            B = inv( U )*S*U,  if LTRANS = .TRUE..
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= 2.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,2)
-          On entry, R must contain a 2-by-2 upper triangular matrix.
-          The element R( 2, 1 ) is not referenced.
-          On exit, R contains U, the 2-by-2 upper triangular
-          Cholesky factor of the solution X, X = op(U)'*op(U).
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= 2.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,2)
-          A contains a 2-by-2 upper triangular matrix A satisfying
-          A*U/scale = scale*R, if LTRANS = .FALSE., or
-          U*A/scale = scale*R, if LTRANS = .TRUE..
-          Notice that if U is nonsingular then
-            A = scale*scale*R*inv( U ),  if LTRANS = .FALSE.
-            A = scale*scale*inv( U )*R,  if LTRANS = .TRUE..
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DISCR = .FALSE., this means that while the
-                matrix S has computed eigenvalues with negative real
-                parts, it is only just stable in the sense that
-                small perturbations in S can make one or more of the
-                eigenvalues have a non-negative real part;
-                if DISCR = .TRUE., this means that while the
-                matrix S has computed eigenvalues inside the unit
-                circle, it is nevertheless only just convergent, in
-                the sense that small perturbations in S can make one
-                or more of the eigenvalues lie outside the unit
-                circle;
-                perturbed values were used to solve the equation
-                (but the matrix S is unchanged);
-          = 2:  if DISCR = .FALSE., and ISGN*S is not stable or
-                if DISCR = .TRUE., ISGN = 1 and S is not convergent
-                or if DISCR = .TRUE., ISGN = -1 and S is not
-                completely divergent;
-          = 4:  if S has real eigenvalues.
-
-  NOTE: In the interests of speed, this routine does not check all
-        inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The LAPACK scheme for solving 2-by-2 Sylvester equations is
-  adapted for 2-by-2 Lyapunov equations, but directly computing the
-  Cholesky factor of the solution.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling S. J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03OZ.html b/doc/_static/doc/SB03OZ.html
deleted file mode 100644
index d4ccd264..00000000
--- a/doc/_static/doc/SB03OZ.html
+++ /dev/null
@@ -1,348 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03OZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03OZ">SB03OZ</A></H2>
-<H3>
-Solution of stable continuous- or discrete-time complex Lyapunov equations (Cholesky factor)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>                        H
-  To solve for X = op(U) *op(U) either the stable non-negative
-  definite continuous-time Lyapunov equation
-          H                     2      H
-     op(A) *X + X*op(A) = -scale *op(B) *op(B),                  (1)
-
-  or the convergent non-negative definite discrete-time Lyapunov
-  equation
-          H                     2      H
-     op(A) *X*op(A) - X = -scale *op(B) *op(B),                  (2)
-
-  where op(K) = K or K**H  (i.e., the conjugate transpose of the
-  matrix K), A is an N-by-N matrix, op(B) is an M-by-N matrix, U is
-  an upper triangular matrix containing the Cholesky factor of the
-  solution matrix X, and scale is an output scale factor, set less
-  than or equal to 1 to avoid overflow in X. If matrix B has full
-  rank, then the solution matrix X will be positive definite and
-  hence the Cholesky factor U will be nonsingular, but if B is rank
-  deficient, then X may be only positive semi-definite and U will be
-  singular.
-
-  In the case of equation (1) the matrix A must be stable (that is,
-  all the eigenvalues of A must have negative real parts), and for
-  equation (2) the matrix A must be convergent (that is, all the
-  eigenvalues of A must lie inside the unit circle).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03OZ( DICO, FACT, TRANS, N, M, A, LDA, Q, LDQ, B,
-     $                   LDB, SCALE, W, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, TRANS
-      INTEGER           INFO, LDA, LDB, LDQ, LZWORK, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(LDB,*), Q(LDQ,*), W(*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Lyapunov equation to be solved, as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the Schur factorization of the
-          matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and Q contain the factors from the
-                  Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and Q.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(K) to be used, as follows:
-          = 'N':  op(K) = K    (No transpose);
-          = 'C':  op(K) = K**H (Conjugate transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A and the number of columns of
-          the matrix op(B).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows of the matrix op(B).  M &gt;= 0.
-          If M = 0, A is unchanged on exit, and Q and W are not set.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper triangular matrix S in Schur form; the elements
-          below the diagonal of the array A are then not referenced.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the upper triangle of the matrix S.
-          The contents of the array A is not modified if FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  Q       (input or output) COMPLEX*16 array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the unitary matrix Q of the Schur
-          factorization of A.
-          Otherwise, Q need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the unitary matrix Q of the Schur factorization of A.
-          The contents of the array Q is not modified if FACT = 'F'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
-          if TRANS = 'N', and dimension (LDB,max(M,N)), if
-          TRANS = 'C'.
-          On entry, if TRANS = 'N', the leading M-by-N part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On entry, if TRANS = 'C', the leading N-by-M part of this
-          array must contain the coefficient matrix B of the
-          equation.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)**H * op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N,M), if TRANS = 'N';
-          LDB &gt;= MAX(1,N),   if TRANS = 'C'.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  W       (output) COMPLEX*16 array, dimension (N)
-          If INFO &gt;= 0 and INFO &lt;= 3, W contains the eigenvalues of
-          the matrix A.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0 or INFO = 1, ZWORK(1) returns the
-          optimal value of LZWORK.
-          On exit, if INFO = -16, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          If M &gt; 0, LZWORK &gt;= MAX(1,2*N+MAX(MIN(N,M)-2,0));
-          If M = 0, LZWORK &gt;= 1.
-          For optimum performance LZWORK should sometimes be larger.
-
-          If LZWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the ZWORK
-          array, returns this value as the first entry of the ZWORK
-          array, and no error message related to LZWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation is (nearly) singular
-                (warning indicator);
-                if DICO = 'C' this means that while the matrix A
-                (or the factor S) has computed eigenvalues with
-                negative real parts, it is only just stable in the
-                sense that small perturbations in A can make one or
-                more of the eigenvalues have a non-negative real
-                part;
-                if DICO = 'D' this means that while the matrix A
-                (or the factor S) has computed eigenvalues inside
-                the unit circle, it is nevertheless only just
-                convergent, in the sense that small perturbations
-                in A can make one or more of the eigenvalues lie
-                outside the unit circle;
-                perturbed values were used to solve the equation;
-          = 2:  if FACT = 'N' and DICO = 'C', but the matrix A is
-                not stable (that is, one or more of the eigenvalues
-                of A has a non-negative real part), or DICO = 'D',
-                but the matrix A is not convergent (that is, one or
-                more of the eigenvalues of A lies outside the unit
-                circle); however, A will still have been factored
-                and the eigenvalues of A returned in W;
-          = 3:  if FACT = 'F' and DICO = 'C', but the Schur factor S
-                supplied in the array A is not stable (that is, one
-                or more of the eigenvalues of S has a non-negative
-                real part), or DICO = 'D', but the Schur factor S
-                supplied in the array A is not convergent (that is,
-                one or more of the eigenvalues of S lies outside the
-                unit circle); the eigenvalues of A are still
-                returned in W;
-          = 6:  if FACT = 'N' and the LAPACK Library routine ZGEES
-                has failed to converge. This failure is not likely
-                to occur. The matrix B will be unaltered but A will
-                be destroyed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on the Bartels and Stewart
-  method [1], except that it finds the upper triangular matrix U
-  directly without first finding X and without the need to form the
-  normal matrix op(B)**H * op(B).
-
-  The Schur factorization of a square matrix A is given by
-            H
-     A = QSQ ,
-
-  where Q is unitary and S is an N-by-N upper triangular matrix.
-  If A has already been factored prior to calling the routine, then
-  the factors Q and S may be supplied and the initial factorization
-  omitted.
-
-  If TRANS = 'N' and 6*M &gt; 7*N, the matrix B is factored as
-  (QR factorization)
-         _   _
-     B = P ( R ), 
-           ( 0 )
-        _                                 _
-  where P is an M-by-M unitary matrix and R is a square upper
-                                      _   _
-  triangular matrix. Then, the matrix B = RQ is factored as
-     _
-     B = PR.
-
-  If TRANS = 'N' and 6*M &lt;= 7*N, the matrix BQ is factored as
-
-     BQ = P ( R ),   M &gt;= N,   BQ = P ( R  Z ),   M &lt; N.
-            ( 0 ) 
-
-  If TRANS = 'C' and 6*M &gt; 7*N, the matrix B is factored as
-  (RQ factorization)
-              _   _
-     B = ( 0  R ) P,
-        _                                 _
-  where P is an M-by-M unitary matrix and R is a square upper
-                                      _    H _
-  triangular matrix. Then, the matrix B = Q  R is factored as
-     _
-     B = RP.
-                                             H
-  If TRANS = 'C' and 6*M &lt;= 7*N, the matrix Q  B is factored as
-
-      H                              H     ( Z )
-     Q  B = ( 0  R ) P,   M &gt;= N,   Q  B = (   ) P,   M &lt; N.
-                                           ( R )
-
-  These factorizations are utilised to either transform the
-  continuous-time Lyapunov equation to the canonical form
-         H      H              H                     2      H
-    op(S) *op(V) *op(V) + op(V) *op(V)*op(S) = -scale *op(F) *op(F),
-
-  or the discrete-time Lyapunov equation to the canonical form
-         H      H                    H               2      H
-    op(S) *op(V) *op(V)*op(S) - op(V) *op(V) = -scale *op(F) *op(F),
-
-  where V and F are upper triangular, and
-
-     F = R,  M &gt;= N,   F = ( R  Z ),  M &lt; N,  if TRANS = 'N';
-                           ( 0  0 )
-
-     F = R,  M &gt;= N,   F = ( 0  Z ),  M &lt; N,  if TRANS = 'C'.
-                           ( 0  R )
-
-  The transformed equation is then solved for V, from which U is
-  obtained via the QR factorization of V*Q**H, if TRANS = 'N', or
-  via the RQ factorization of Q*V, if TRANS = 'C'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.
-      Solution of the matrix equation  A'X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-325, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if A is only just stable (or convergent) then the Lyapunov
-  equation will be ill-conditioned.  A symptom of ill-conditioning
-  is "large" elements in U relative to those of A and B, or a
-  "small" value for scale.
-
-  SB03OZ routine can be also used for solving "unstable" Lyapunov
-  equations, i.e., when matrix A has all eigenvalues with positive
-  real parts, if DICO = 'C', or with moduli greater than one,
-  if DICO = 'D'. Specifically, one may solve for X = op(U)**H*op(U)
-  either the continuous-time Lyapunov equation
-          H                    2      H
-     op(A) *X + X*op(A) = scale *op(B) *op(B),                   (3)
-
-  or the discrete-time Lyapunov equation
-          H                    2      H
-     op(A) *X*op(A) - X = scale *op(B) *op(B),                   (4)
-
-  provided, for equation (3), the given matrix A is replaced by -A,
-  or, for equation (4), the given matrices A and B are replaced by
-  inv(A) and B*inv(A), if TRANS = 'N' (or inv(A)*B, if TRANS = 'C'),
-  respectively. Although the inversion generally can rise numerical
-  problems, in case of equation (4) it is expected that the matrix A
-  is enough well-conditioned, having only eigenvalues with moduli
-  greater than 1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03PD.html b/doc/_static/doc/SB03PD.html
deleted file mode 100644
index e5bcafa9..00000000
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+++ /dev/null
@@ -1,249 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03PD">SB03PD</A></H2>
-<H3>
-Solution of discrete-time Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real discrete Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = scale*C
-
-  and/or estimate the quantity, called separation,
-
-      sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C').
-  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
-  hand side C and the solution X are N-by-N, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03PD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
-     $                   SCALE, SEPD, FERR, WR, WI, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, TRANA
-      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, SCALE, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   U( LDU, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'B':  Compute both the solution and the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix in Schur canonical form.
-          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
-          part of this array contains the upper quasi-triangular
-          matrix in Schur canonical form from the Shur factorization
-          of A. The contents of array A is not modified if
-          FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If FACT = 'F', then U is an input argument and on entry
-          it must contain the orthogonal matrix U from the real
-          Schur factorization of A.
-          If FACT = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with JOB = 'X' or 'B', the leading N-by-N part of
-          this array must contain the symmetric matrix C.
-          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
-          the leading N-by-N part of C has been overwritten by the
-          symmetric solution matrix X.
-          If JOB = 'S', C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1,
-          SEPD contains the estimate in the 1-norm of
-          sepd(op(A),op(A)').
-          If JOB = 'X' or N = 0, SEPD is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
-          an estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the relative
-          error in the computed solution, measured in the Frobenius
-          norm:  norm(X - XTRUE)/norm(XTRUE).
-          If JOB = 'X' or JOB = 'S', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1 and
-          If JOB = 'X' then
-             If FACT = 'F', LDWORK &gt;= MAX(N*N,2*N);
-             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
-          If JOB = 'S' or JOB = 'B' then
-             LDWORK &gt;= 2*N*N + 2*N.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues (see LAPACK Library routine DGEES);
-                elements i+1:n of WR and WI contain eigenvalues
-                which have converged, and A contains the partially
-                converged Schur form;
-          = N+1:  if matrix A has almost reciprocal eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  a discrete-time version of the Bartels-Stewart algorithm is used.
-  A set of equivalent linear algebraic systems of equations of order
-  at most four are formed and solved using Gaussian elimination with
-  complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  SEPD is defined as
-
-         sepd( op(A), op(A)' ) = sigma_min( T )
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( op(A)', op(A)' ) - I(N**2).
-
-  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
-  Kronecker product. The program estimates sigma_min(T) by the
-  reciprocal of an estimate of the 1-norm of inverse(T). The true
-  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
-  more than a factor of N.
-
-  When SEPD is small, small changes in A, C can cause large changes
-  in the solution of the equation. An approximate bound on the
-  maximum relative error in the computed solution is
-
-                         EPS * norm(A)**2 / SEPD
-
-  where EPS is the machine precision.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03QD.html b/doc/_static/doc/SB03QD.html
deleted file mode 100644
index b57d371a..00000000
--- a/doc/_static/doc/SB03QD.html
+++ /dev/null
@@ -1,418 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03QD">SB03QD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of continuous-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real continuous-time Lyapunov matrix equation
-
-      op(A)'*X + X*op(A) = scale*C
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A is N-by-N, the right hand side C and the solution X are
-  N-by-N symmetric matrices, and scale is a given scale factor.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03QD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X and C.  N &gt;= 0.
-
-  SCALE   (input) DOUBLE PRECISION
-          The scale factor, scale, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the original matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sep(op(A),-op(A)').
-          If N = 0, or X = 0, or JOB = 'E', SEP is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the continuous-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          If JOB = 'C', then
-          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
-          LDWORK &gt;= MAX(1,2*N*N,5*N),     if FACT = 'N'.
-          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'O', then
-          LDWORK &gt;= MAX(1,3*N*N),         if FACT = 'F';
-          LDWORK &gt;= MAX(1,3*N*N,5*N),     if FACT = 'N'.
-          If JOB = 'E', or JOB = 'B', and LYAPUN  = 'R', then
-          LDWORK &gt;= MAX(1,3*N*N+N-1),     if FACT = 'F';
-          LDWORK &gt;= MAX(1,3*N*N+N-1,5*N), if FACT = 'N'.
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations, but the matrix T, if given
-                (for FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the continuous-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W + W*op(A),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
-
-  The routine estimates the quantities
-
-  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEP is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1,
-     $                                    5*NMAX ) )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
-      INTEGER          I, INFO1, INFO2, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'C'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
-*        Solve the continuous-time Lyapunov matrix equation.
-         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
-     $                SCALE, SEP, FERR, DWORK(1), DWORK(N+1), IWORK,
-     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
-     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB03QD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            ELSE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-               WRITE ( NOUT, FMT = 99992 ) SEP
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03MD =',I2)
-99997 FORMAT (' INFO on exit from SB03QD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03QD EXAMPLE PROGRAM DATA
-   3     B     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03QD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   3.2604   2.7187   1.8616
-   2.7187   4.4271   0.5699
-   1.8616   0.5699   6.0461
-
- Scaling factor =   1.0000
-
- Estimated separation =   4.9068
-
- Estimated reciprocal condition number =   0.3611
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,197 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03QX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03QX">SB03QX</A></H2>
-<H3>
-Estimating a forward error bound for the solution of a continuous-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate a forward error bound for the solution X of a real
-  continuous-time Lyapunov matrix equation,
-
-         op(A)'*X + X*op(A) = C,
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A, the right hand side C, and the solution X are N-by-N.
-  An absolute residual matrix, which takes into account the rounding
-  errors in forming it, is given in the array R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03QX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
-     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, XANORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
-     $                   U( LDU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix R is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and R.  N &gt;= 0.
-
-  XANORM  (input) DOUBLE PRECISION
-          The absolute (maximal) norm of the symmetric solution
-          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On exit, the leading N-by-N part of this array contains
-          the symmetric absolute residual matrix R (with bounds on
-          rounding errors added), fully stored.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  FERR    (output) DOUBLE PRECISION
-          An estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the magnitude
-          of the largest entry in (X - XTRUE) divided by the
-          magnitude of the largest entry in X.
-          If N = 0 or XANORM = 0, FERR is set to 0, without any
-          calculations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations (but the matrix T is
-                unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1], based on the 1-norm estimator
-  in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [2] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  The routine can be also used as a final step in estimating a
-  forward error bound for the solution of a continuous-time
-  algebraic matrix Riccati equation.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03QY.html b/doc/_static/doc/SB03QY.html
deleted file mode 100644
index f9eaa746..00000000
--- a/doc/_static/doc/SB03QY.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03QY">SB03QY</A></H2>
-<H3>
-Estimating separation between op(A) and -op(A)' and 1-norm of Theta operator for a continuous-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the separation between the matrices op(A) and -op(A)',
-
-  sep(op(A),-op(A)') = min norm(op(A)'*X + X*op(A))/norm(X)
-                     = 1 / norm(inv(Omega))
-
-  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
-  Omega and Theta are linear operators associated to the real
-  continuous-time Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = C,
-
-  defined by
-
-  Omega(W) = op(A)'*W + W*op(A),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
-
-  The 1-norm condition estimators are used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03QY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, X, LDX,
-     $                   SEP, THNORM, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, LYAPUN, TRANA
-      INTEGER            INFO, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   SEP, THNORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'S':  Compute the separation only;
-          = 'T':  Compute the norm of Theta only;
-          = 'B':  Compute both the separation and the norm of Theta.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          solution matrix X of the Lyapunov equation (reduced
-          Lyapunov equation if LYAPUN = 'R').
-          If JOB = 'S', the array X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.
-          LDX &gt;= 1,        if JOB = 'S';
-          LDX &gt;= MAX(1,N), if JOB = 'T' or 'B'.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEP contains the
-          estimated separation of the matrices op(A) and -op(A)'.
-          If JOB = 'T' or N = 0, SEP is not referenced.
-
-  THNORM  (output) DOUBLE PRECISION
-          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
-          the estimated 1-norm of operator Theta.
-          If JOB = 'S' or N = 0, THNORM is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 2*N*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations (but the matrix T is
-                unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  SEP is defined as the separation of op(A) and -op(A)':
-
-         sep( op(A), -op(A)' ) = sigma_min( K )
-
-  where sigma_min(K) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     K = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
-
-  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
-  product. The routine estimates sigma_min(K) by the reciprocal of
-  an estimate of the 1-norm of inverse(K), computed as suggested in
-  [1]. This involves the solution of several continuous-time
-  Lyapunov equations, either direct or transposed. The true
-  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
-  more than a factor of N.
-  The 1-norm of Theta is estimated similarly.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  When SEP is zero, the routine returns immediately, with THNORM
-  (if requested) not set. In this case, the equation is singular.
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03RD.html b/doc/_static/doc/SB03RD.html
deleted file mode 100644
index 6a97cf93..00000000
--- a/doc/_static/doc/SB03RD.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03RD">SB03RD</A></H2>
-<H3>
-Solution of continuous-time Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = scale*C
-
-  and/or estimate the separation between the matrices op(A) and
-  -op(A)', where op(A) = A or A' (A**T) and C is symmetric (C = C').
-  (A' denotes the transpose of the matrix A.) A is N-by-N, the right
-  hand side C and the solution X are N-by-N, and scale is an output
-  scale factor, set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03RD( JOB, FACT, TRANA, N, A, LDA, U, LDU, C, LDC,
-     $                   SCALE, SEP, FERR, WR, WI, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, TRANA
-      INTEGER            INFO, LDA, LDC, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   U( LDU, * ), WI( * ), WR( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'B':  Compute both the solution and the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix A. If FACT = 'F', then A contains
-          an upper quasi-triangular matrix in Schur canonical form.
-          On exit, if INFO = 0 or INFO = N+1, the leading N-by-N
-          part of this array contains the upper quasi-triangular
-          matrix in Schur canonical form from the Shur factorization
-          of A. The contents of array A is not modified if
-          FACT = 'F'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If FACT = 'F', then U is an input argument and on entry
-          it must contain the orthogonal matrix U from the real
-          Schur factorization of A.
-          If FACT = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO = N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry with JOB = 'X' or 'B', the leading N-by-N part of
-          this array must contain the symmetric matrix C.
-          On exit with JOB = 'X' or 'B', if INFO = 0 or INFO = N+1,
-          the leading N-by-N part of C has been overwritten by the
-          symmetric solution matrix X.
-          If JOB = 'S', C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0 or INFO = N+1, SEP
-          contains the estimated separation of the matrices op(A)
-          and -op(A)'.
-          If JOB = 'X' or N = 0, SEP is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0 or INFO = N+1, FERR contains
-          an estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the relative
-          error in the computed solution, measured in the Frobenius
-          norm:  norm(X - XTRUE)/norm(XTRUE).
-          If JOB = 'X' or JOB = 'S', FERR is not referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1 and
-          If JOB = 'X' then
-             If FACT = 'F', LDWORK &gt;= N*N;
-             If FACT = 'N', LDWORK &gt;= MAX(N*N,3*N).
-          If JOB = 'S' or JOB = 'B' then
-             If FACT = 'F', LDWORK &gt;= 2*N*N;
-             If FACT = 'N', LDWORK &gt;= MAX(2*N*N,3*N).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute all
-                the eigenvalues (see LAPACK Library routine DGEES);
-                elements i+1:n of WR and WI contain eigenvalues
-                which have converged, and A contains the partially
-                converged Schur form;
-          = N+1:  if the matrices A and -A' have common or very
-                close eigenvalues; perturbed values were used to
-                solve the equation (but the matrix A is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  the Bartels-Stewart algorithm is used. A set of equivalent linear
-  algebraic systems of equations of order at most four are formed
-  and solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  SEP is defined as the separation of op(A) and -op(A)':
-
-         sep( op(A), -op(A)' ) = sigma_min( T )
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( I(N), op(A)' ) + kprod( op(A), I(N) ).
-
-  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
-  product. The program estimates sigma_min(T) by the reciprocal of
-  an estimate of the 1-norm of inverse(T). The true reciprocal
-  1-norm of inverse(T) cannot differ from sigma_min(T) by more
-  than a factor of N.
-
-  When SEP is small, small changes in A, C can cause large changes
-  in the solution of the equation. An approximate bound on the
-  maximum relative error in the computed solution is
-
-                         EPS * norm(A) / SEP
-
-  where EPS is the machine precision.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03SD.html b/doc/_static/doc/SB03SD.html
deleted file mode 100644
index 9c0193c8..00000000
--- a/doc/_static/doc/SB03SD.html
+++ /dev/null
@@ -1,417 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03SD">SB03SD</A></H2>
-<H3>
-Estimating conditioning and forward error bound for the solution of discrete-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the conditioning and compute an error bound on the
-  solution of the real discrete-time Lyapunov matrix equation
-
-      op(A)'*X*op(A) - X = scale*C
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A is N-by-N, the right hand side C and the solution X are
-  N-by-N symmetric matrices, and scale is a given scale factor.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03SD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'B':  Compute both the reciprocal condition number and
-                  the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved in the iterative estimation process,
-          as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X and C.  N &gt;= 0.
-
-  SCALE   (input) DOUBLE PRECISION
-          The scale factor, scale, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or LYAPUN = 'O', the leading N-by-N part of
-          this array must contain the original matrix A.
-          If FACT = 'F' and LYAPUN = 'R', A is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or  LYAPUN = 'O';
-          LDA &gt;= 1,        if FACT = 'F' and LYAPUN = 'R'.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If UPLO = 'U', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-          If UPLO = 'L', the leading N-by-N lower triangular part of
-          this array must contain the lower triangular part of the
-          matrix C of the original Lyapunov equation (with
-          matrix A), if LYAPUN = 'O', or of the reduced Lyapunov
-          equation (with matrix T), if LYAPUN = 'R'.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          The array X is modified internally, but restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', the estimated quantity
-          sepd(op(A),op(A)').
-          If N = 0, or X = 0, or JOB = 'E', SEPD is not referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'B', an estimate of the reciprocal
-          condition number of the discrete-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'E', RCOND is not referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'B', an estimated forward error
-          bound for the solution X. If XTRUE is the true solution,
-          FERR bounds the magnitude of the largest entry in
-          (X - XTRUE) divided by the magnitude of the largest entry
-          in X.
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'C', FERR is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 1,                            if N = 0; else,
-          LDWORK &gt;= MAX(3,2*N*N) + N*N,           if JOB  = 'C',
-                                                     FACT = 'F';
-          LDWORK &gt;= MAX(MAX(3,2*N*N) + N*N, 5*N), if JOB  = 'C',
-                                                     FACT = 'N';
-          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N,     if JOB  = 'E', or
-                                                     JOB  = 'B'.
-          For optimum performance LDWORK should sometimes be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and DWORK(i+1:N) and DWORK(N+i+1:2*N)
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrix T has almost reciprocal eigenvalues;
-                perturbed values were used to solve Lyapunov
-                equations, but the matrix T, if given (for
-                FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The condition number of the discrete-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W*op(A) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
-
-  The routine estimates the quantities
-
-  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  When SEPD is computed and it is zero, the routine returns
-  immediately, with RCOND and FERR (if requested) set to 0 and 1,
-  respectively. In this case, the equation is singular.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03SD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
-     $                                 NMAX*NMAX + 2*NMAX )
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D+0, ONE = 1.0D+0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
-      INTEGER          I, INFO1, INFO2, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, TRANAT, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DLACPY, MA02ED, MB01RU, SB03MD, SB03SD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'D'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) READ ( NIN, FMT = * )
-     $                         ( ( U(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         CALL DLACPY( 'Full', N, N, A, LDA, T, LDT )
-         CALL DLACPY( 'Full', N, N, C, LDC, X, LDX )
-*        Solve the discrete-time Lyapunov matrix equation.
-         CALL SB03MD( DICO, 'X', FACT, TRANA, N, T, LDT, U, LDU, X, LDX,
-     $                SCALE, SEPD, FERR, DWORK(1), DWORK(N+1), IWORK,
-     $                DWORK(2*N+1), LDWORK-2*N, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10       CONTINUE
-            IF ( LSAME( LYAPUN, 'R' ) ) THEN
-               IF( LSAME( TRANA, 'N' )  ) THEN
-                  TRANAT = 'T'
-               ELSE
-                  TRANAT = 'N'
-               END IF
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, X, LDX,
-     $                      U, LDU, X, LDX, DWORK, N*N, INFO2 )
-               CALL MA02ED( UPLO, N, X, LDX )
-               CALL MB01RU( UPLO, TRANAT, N, N, ZERO, ONE, C, LDC,
-     $                      U, LDU, C, LDC, DWORK, N*N, INFO2 )
-            END IF
-*           Estimate the condition and error bound on the solution.
-            CALL SB03SD( JOB, 'F', TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
-     $                   RCOND, FERR, IWORK, DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99997 ) INFO2
-            ELSE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-               WRITE ( NOUT, FMT = 99992 ) SEPD
-               WRITE ( NOUT, FMT = 99991 ) RCOND
-               WRITE ( NOUT, FMT = 99990 ) FERR
-            END IF
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03SD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03MD =',I2)
-99997 FORMAT (' INFO on exit from SB03SD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03SD EXAMPLE PROGRAM DATA
-   3     B     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03SD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   2.0000   1.0000   1.0000
-   1.0000   3.0000   0.0000
-   1.0000   0.0000   4.0000
-
- Scaling factor =   1.0000
-
- Estimated separation =   5.2302
-
- Estimated reciprocal condition number =   0.1832
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03SX.html b/doc/_static/doc/SB03SX.html
deleted file mode 100644
index 426ea8e1..00000000
--- a/doc/_static/doc/SB03SX.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03SX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03SX">SB03SX</A></H2>
-<H3>
-Estimating a forward error bound for the solution of a discrete-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate a forward error bound for the solution X of a real
-  discrete-time Lyapunov matrix equation,
-
-         op(A)'*X*op(A) - X = C,
-
-  where op(A) = A or A' (A**T) and C is symmetric (C = C**T). The
-  matrix A, the right hand side C, and the solution X are N-by-N.
-  An absolute residual matrix, which takes into account the rounding
-  errors in forming it, is given in the array R.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03SX( TRANA, UPLO, LYAPUN, N, XANORM, T, LDT, U, LDU,
-     $                   R, LDR, FERR, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDR, LDT, LDU, LDWORK, N
-      DOUBLE PRECISION   FERR, XANORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), R( LDR, * ), T( LDT, * ),
-     $                   U( LDU, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix R is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and R.  N &gt;= 0.
-
-  XANORM  (input) DOUBLE PRECISION
-          The absolute (maximal) norm of the symmetric solution
-          matrix X of the Lyapunov equation.  XANORM &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the absolute residual matrix R, with
-          bounds on rounding errors added.
-          On exit, the leading N-by-N part of this array contains
-          the symmetric absolute residual matrix R (with bounds on
-          rounding errors added), fully stored.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  FERR    (output) DOUBLE PRECISION
-          An estimated forward error bound for the solution X.
-          If XTRUE is the true solution, FERR bounds the magnitude
-          of the largest entry in (X - XTRUE) divided by the
-          magnitude of the largest entry in X.
-          If N = 0 or XANORM = 0, FERR is set to 0, without any
-          calculations.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,            if N = 0;
-          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if T has almost reciprocal eigenvalues; perturbed
-                values were used to solve Lyapunov equations (but
-                the matrix T is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [1], based on the 1-norm estimator
-  in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-  [2] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-  The routine can be also used as a final step in estimating a
-  forward error bound for the solution of a discrete-time algebraic
-  matrix Riccati equation.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB03SY.html b/doc/_static/doc/SB03SY.html
deleted file mode 100644
index 5f039b5b..00000000
--- a/doc/_static/doc/SB03SY.html
+++ /dev/null
@@ -1,210 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03SY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03SY">SB03SY</A></H2>
-<H3>
-Estimating separation between op(A) and op(A)' and 1-norm of Theta operator for a discrete-time Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To estimate the "separation" between the matrices op(A) and
-  op(A)',
-
-  sepd(op(A),op(A)') = min norm(op(A)'*X*op(A) - X)/norm(X)
-                     = 1 / norm(inv(Omega))
-
-  and/or the 1-norm of Theta, where op(A) = A or A' (A**T), and
-  Omega and Theta are linear operators associated to the real
-  discrete-time Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = C,
-
-  defined by
-
-  Omega(W) = op(A)'*W*op(A) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
-
-  The 1-norm condition estimators are used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03SY( JOB, TRANA, LYAPUN, N, T, LDT, U, LDU, XA,
-     $                   LDXA, SEPD, THNORM, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, LYAPUN, TRANA
-      INTEGER            INFO, LDT, LDU, LDWORK, LDXA, N
-      DOUBLE PRECISION   SEPD, THNORM
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   DWORK( * ), T( LDT, * ), U( LDU, * ),
-     $                   XA( LDXA, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'S':  Compute the separation only;
-          = 'T':  Compute the norm of Theta only;
-          = 'B':  Compute both the separation and the norm of Theta.
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original Lyapunov equations
-          should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-
-  T       (input) DOUBLE PRECISION array, dimension (LDT,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,N).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array must contain the
-          orthogonal matrix U from a real Schur factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  XA      (input) DOUBLE PRECISION array, dimension (LDXA,N)
-          The leading N-by-N part of this array must contain the
-          matrix product X*op(A), if LYAPUN = 'O', or U'*X*U*op(T),
-          if LYAPUN = 'R', in the Lyapunov equation.
-          If JOB = 'S', the array XA is not referenced.
-
-  LDXA    INTEGER
-          The leading dimension of array XA.
-          LDXA &gt;= 1,        if JOB = 'S';
-          LDXA &gt;= MAX(1,N), if JOB = 'T' or 'B'.
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO &gt;= 0, SEPD contains
-          the estimated quantity sepd(op(A),op(A)').
-          If JOB = 'T' or N = 0, SEPD is not referenced.
-
-  THNORM  (output) DOUBLE PRECISION
-          If JOB = 'T' or JOB = 'B', and INFO &gt;= 0, THNORM contains
-          the estimated 1-norm of operator Theta.
-          If JOB = 'S' or N = 0, THNORM is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,            if N = 0;
-          LDWORK &gt;= MAX(3,2*N*N), if N &gt; 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = N+1:  if T has (almost) reciprocal eigenvalues;
-                perturbed values were used to solve Lyapunov
-                equations (but the matrix T is unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  SEPD is defined as
-
-         sepd( op(A), op(A)' ) = sigma_min( K )
-
-  where sigma_min(K) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     K = kprod( op(A)', op(A)' ) - I(N**2).
-
-  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
-  Kronecker product. The routine estimates sigma_min(K) by the
-  reciprocal of an estimate of the 1-norm of inverse(K), computed as
-  suggested in [1]. This involves the solution of several discrete-
-  time Lyapunov equations, either direct or transposed. The true
-  reciprocal 1-norm of inverse(K) cannot differ from sigma_min(K) by
-  more than a factor of N.
-  The 1-norm of Theta is estimated similarly.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or
-      complex matrix, with applications to condition estimation.
-      ACM Trans. Math. Softw., 14, pp. 381-396, 1988.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  When SEPD is zero, the routine returns immediately, with THNORM
-  (if requested) not set. In this case, the equation is singular.
-  The option LYAPUN = 'R' may occasionally produce slightly worse
-  or better estimates, and it is much faster than the option 'O'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB03TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03TD">SB03TD</A></H2>
-<H3>
-Solution of continuous-time Lyapunov equations and condition and error bounds estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real continuous-time Lyapunov matrix equation
-
-         op(A)'*X + X*op(A) = scale*C,
-
-  estimate the conditioning, and compute an error bound on the
-  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
-  the right hand side C and the solution X are N-by-N symmetric
-  matrices (C = C', X = X'), and scale is an output scale factor,
-  set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
-     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'A':  Compute all: the solution, separation, reciprocal
-                  condition number, and the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original or "reduced"
-          Lyapunov equations should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-                  This means that a real Schur form T of A appears
-                  in the equation, instead of A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  SCALE   (input or output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
-          the scale factor, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
-          the scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-          If JOB = 'S', this argument is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
-          leading N-by-N part of this array must contain the
-          original matrix A.
-          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
-                                            JOB &lt;&gt; 'X';
-          LDA &gt;= 1,        otherwise.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-          The contents of array T is not modified if FACT = 'F'.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          The remaining strictly triangular part of this array is
-          used as workspace.
-          If JOB = 'X', then this array may be identified with X
-          in the call of this routine.
-          If JOB = 'S', the array C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  X       (input or output) DOUBLE PRECISION array, dimension
-          (LDX,N)
-          If JOB = 'C' or 'E', then X is an input argument and on
-          entry, the leading N-by-N part of this array must contain
-          the symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB = 'X' or 'A', then X is an output argument and on
-          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
-          of this array contains the symmetric solution matrix X of
-          of the original Lyapunov equation (with matrix A), if
-          LYAPUN = 'O', or of the reduced Lyapunov equation (with
-          matrix T), if LYAPUN = 'R'.
-          If JOB = 'S', the array X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.
-          LDX &gt;= 1,        if JOB = 'S';
-          LDX &gt;= MAX(1,N), otherwise.
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
-          INFO = N+1, SEP contains the estimated separation of the
-          matrices op(A) and -op(A)', sep(op(A),-op(A)').
-          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEP is not
-          referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
-          condition number of the continuous-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
-          referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
-          FERR contains an estimated forward error bound for the
-          solution X. If XTRUE is the true solution, FERR bounds the
-          relative error in the computed solution, measured in the
-          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
-          referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If JOB = 'X', then
-          LDWORK &gt;= MAX(1,N*N),           if FACT = 'F';
-          LDWORK &gt;= MAX(1,MAX(N*N,3*N)),  if FACT = 'N'.
-          If JOB = 'S' or JOB = 'C', then
-          LDWORK &gt;= MAX(1,2*N*N),         if FACT = 'F';
-          LDWORK &gt;= MAX(1,2*N*N,3*N),     if FACT = 'N'.
-          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'O', then
-          LDWORK &gt;= MAX(1,3*N*N);
-          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'R', then
-          LDWORK &gt;= MAX(1,3*N*N+N-1).
-          For optimum performance LDWORK should sometimes be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and the elements i+1:n of WR and WI
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrices T and -T' have common or very
-                close eigenvalues; perturbed values were used to
-                solve Lyapunov equations, but the matrix T, if given
-                (for FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  the Bartels-Stewart algorithm is used. A set of equivalent linear
-  algebraic systems of equations of order at most four are formed
-  and solved using Gaussian elimination with complete pivoting.
-
-  The condition number of the continuous-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W + W*op(A),
-  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).
-
-  The routine estimates the quantities
-
-  sep(op(A),-op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The separation of op(A) and -op(A)' can also be defined as
-
-         sep( op(A), -op(A)' ) = sigma_min( T ),
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).
-
-  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
-  product. The routine estimates sigma_min(T) by the reciprocal of
-  an estimate of the 1-norm of inverse(T). The true reciprocal
-  1-norm of inverse(T) cannot differ from sigma_min(T) by more
-  than a factor of N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03TD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03TD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'C'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $                               READ ( NIN, FMT = * ) SCALE
-         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
-     $                             .NOT.LSAME( JOB, 'X') ) )
-     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-            IF ( LSAME( LYAPUN, 'O' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( .NOT.LSAME( JOB, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Solve the continuous-time Lyapunov matrix equation and/or
-*        estimate the condition and error bound on the solution.
-         CALL SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
-     $                T, LDT, U, LDU, C, LDC, X, LDX, SEP, RCOND, FERR,
-     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
-     $                LDWORK-2*N, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-            END IF
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
-     $                             .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) SEP
-            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99991 ) RCOND
-            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99990 ) FERR
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03TD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03TD EXAMPLE PROGRAM DATA
-   3     A     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03TD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   3.2604   2.7187   1.8616
-   2.7187   4.4271   0.5699
-   1.8616   0.5699   6.0461
-
- Scaling factor =   1.0000
-
- Estimated separation =   4.9068
-
- Estimated reciprocal condition number =   0.3611
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,474 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB03UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB03UD">SB03UD</A></H2>
-<H3>
-Solution of discrete-time Lyapunov equations and condition and error bounds estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve the real discrete-time Lyapunov matrix equation
-
-         op(A)'*X*op(A) - X = scale*C,
-
-  estimate the conditioning, and compute an error bound on the
-  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
-  the right hand side C and the solution X are N-by-N symmetric
-  matrices (C = C', X = X'), and scale is an output scale factor,
-  set less than or equal to 1 to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
-     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEPD,
-     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
-      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
-      DOUBLE PRECISION   FERR, RCOND, SCALE, SEPD
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Specifies the computation to be performed, as follows:
-          = 'X':  Compute the solution only;
-          = 'S':  Compute the separation only;
-          = 'C':  Compute the reciprocal condition number only;
-          = 'E':  Compute the error bound only;
-          = 'A':  Compute all: the solution, separation, reciprocal
-                  condition number, and the error bound.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
-                  factors from the real Schur factorization of the
-                  matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in T and U (if
-                  LYAPUN = 'O').
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  UPLO    CHARACTER*1
-          Specifies which part of the symmetric matrix C is to be
-          used, as follows:
-          = 'U':  Upper triangular part;
-          = 'L':  Lower triangular part.
-
-  LYAPUN  CHARACTER*1
-          Specifies whether or not the original or "reduced"
-          Lyapunov equations should be solved, as follows:
-          = 'O':  Solve the original Lyapunov equations, updating
-                  the right-hand sides and solutions with the
-                  matrix U, e.g., X &lt;-- U'*X*U;
-          = 'R':  Solve reduced Lyapunov equations only, without
-                  updating the right-hand sides and solutions.
-                  This means that a real Schur form T of A appears
-                  in the equation, instead of A.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, X, and C.  N &gt;= 0.
-
-  SCALE   (input or output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
-          the scale factor, set by a Lyapunov solver.
-          0 &lt;= SCALE &lt;= 1.
-          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
-          the scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-          If JOB = 'S', this argument is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If FACT = 'N' or (LYAPUN = 'O' and JOB &lt;&gt; 'X'), the
-          leading N-by-N part of this array must contain the
-          original matrix A.
-          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
-          not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.
-          LDA &gt;= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
-                                            JOB &lt;&gt; 'X';
-          LDA &gt;= 1,        otherwise.
-
-  T       (input/output) DOUBLE PRECISION array, dimension
-          (LDT,N)
-          If FACT = 'F', then on entry the leading N-by-N upper
-          Hessenberg part of this array must contain the upper
-          quasi-triangular matrix T in Schur canonical form from a
-          Schur factorization of A.
-          If FACT = 'N', then this array need not be set on input.
-          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
-          leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix T in Schur
-          canonical form from a Schur factorization of A.
-          The contents of array T is not modified if FACT = 'F'.
-
-  LDT     INTEGER
-          The leading dimension of the array T.  LDT &gt;= MAX(1,N).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,N)
-          If LYAPUN = 'O' and FACT = 'F', then U is an input
-          argument and on entry, the leading N-by-N part of this
-          array must contain the orthogonal matrix U from a real
-          Schur factorization of A.
-          If LYAPUN = 'O' and FACT = 'N', then U is an output
-          argument and on exit, if INFO = 0 or INFO = N+1, it
-          contains the orthogonal N-by-N matrix from a real Schur
-          factorization of A.
-          If LYAPUN = 'R', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if LYAPUN = 'R';
-          LDU &gt;= MAX(1,N), if LYAPUN = 'O'.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          If JOB &lt;&gt; 'S' and UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB &lt;&gt; 'S' and UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the matrix C of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          The remaining strictly triangular part of this array is
-          used as workspace.
-          If JOB = 'X', then this array may be identified with X
-          in the call of this routine.
-          If JOB = 'S', the array C is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= 1,        if JOB = 'S';
-          LDC &gt;= MAX(1,N), otherwise.
-
-  X       (input or output) DOUBLE PRECISION array, dimension
-          (LDX,N)
-          If JOB = 'C' or 'E', then X is an input argument and on
-          entry, the leading N-by-N part of this array must contain
-          the symmetric solution matrix X of the original Lyapunov
-          equation (with matrix A), if LYAPUN = 'O', or of the
-          reduced Lyapunov equation (with matrix T), if
-          LYAPUN = 'R'.
-          If JOB = 'X' or 'A', then X is an output argument and on
-          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
-          of this array contains the symmetric solution matrix X of
-          of the original Lyapunov equation (with matrix A), if
-          LYAPUN = 'O', or of the reduced Lyapunov equation (with
-          matrix T), if LYAPUN = 'R'.
-          If JOB = 'S', the array X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.
-          LDX &gt;= 1,        if JOB = 'S';
-          LDX &gt;= MAX(1,N), otherwise.
-
-  SEPD    (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
-          INFO = N+1, SEPD contains the estimated separation of the
-          matrices op(A) and op(A)', sepd(op(A),op(A)').
-          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEPD is not
-          referenced.
-
-  RCOND   (output) DOUBLE PRECISION
-          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
-          condition number of the continuous-time Lyapunov equation.
-          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
-          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
-          referenced.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
-          FERR contains an estimated forward error bound for the
-          solution X. If XTRUE is the true solution, FERR bounds the
-          relative error in the computed solution, measured in the
-          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
-          If N = 0 or X = 0, FERR is set to 0.
-          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
-          referenced.
-
-  WR      (output) DOUBLE PRECISION array, dimension (N)
-  WI      (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
-          contain the real and imaginary parts, respectively, of the
-          eigenvalues of A.
-          If FACT = 'F', WR and WI are not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N*N)
-          This array is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
-          optimal value of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If JOB = 'X', then
-          LDWORK &gt;= MAX(1,N*N,2*N),       if FACT = 'F';
-          LDWORK &gt;= MAX(1,N*N,3*N),       if FACT = 'N'.
-          If JOB = 'S', then
-          LDWORK &gt;= MAX(3,2*N*N).
-          If JOB = 'C', then
-          LDWORK &gt;= MAX(3,2*N*N) + N*N.
-          If JOB = 'E', or JOB = 'A', then
-          LDWORK &gt;= MAX(3,2*N*N) + N*N + 2*N.
-          For optimum performance LDWORK should sometimes be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, i &lt;= N, the QR algorithm failed to
-                complete the reduction to Schur canonical form (see
-                LAPACK Library routine DGEES); on exit, the matrix
-                T(i+1:N,i+1:N) contains the partially converged
-                Schur form, and the elements i+1:n of WR and WI
-                contain the real and imaginary parts, respectively,
-                of the converged eigenvalues; this error is unlikely
-                to appear;
-          = N+1:  if the matrix T has almost reciprocal eigenvalues;
-                perturbed values were used to solve Lyapunov
-                equations, but the matrix T, if given (for
-                FACT = 'F'), is unchanged.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  After reducing matrix A to real Schur canonical form (if needed),
-  a discrete-time version of the Bartels-Stewart algorithm is used.
-  A set of equivalent linear algebraic systems of equations of order
-  at most four are formed and solved using Gaussian elimination with
-  complete pivoting.
-
-  The condition number of the discrete-time Lyapunov equation is
-  estimated as
-
-  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),
-
-  where Omega and Theta are linear operators defined by
-
-  Omega(W) = op(A)'*W*op(A) - W,
-  Theta(W) = inv(Omega(op(W)'*X*op(A) + op(A)'*X*op(W))).
-
-  The routine estimates the quantities
-
-  sepd(op(A),op(A)') = 1 / norm(inv(Omega))
-
-  and norm(Theta) using 1-norm condition estimators.
-
-  The forward error bound is estimated using a practical error bound
-  similar to the one proposed in [3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Barraud, A.Y.                   T
-      A numerical algorithm to solve A XA - X = Q.
-      IEEE Trans. Auto. Contr., AC-22, pp. 883-885, 1977.
-
-  [2] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [3] Higham, N.J.
-      Perturbation theory and backward error for AX-XB=C.
-      BIT, vol. 33, pp. 124-136, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-  The accuracy of the estimates obtained depends on the solution
-  accuracy and on the properties of the 1-norm estimator.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The "separation" sepd of op(A) and op(A)' can also be defined as
-
-         sepd( op(A), op(A)' ) = sigma_min( T ),
-
-  where sigma_min(T) is the smallest singular value of the
-  N*N-by-N*N matrix
-
-     T = kprod( op(A)', op(A)' ) - I(N**2).
-
-  I(N**2) is an N*N-by-N*N identity matrix, and kprod denotes the
-  Kronecker product. The routine estimates sigma_min(T) by the
-  reciprocal of an estimate of the 1-norm of inverse(T). The true
-  reciprocal 1-norm of inverse(T) cannot differ from sigma_min(T) by
-  more than a factor of N.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB03UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX
-      PARAMETER        ( NMAX = 20 )
-      INTEGER          LDA, LDC, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
-     $                   LDU = NMAX, LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 3, 2*NMAX*NMAX ) +
-     $                                 NMAX*NMAX + 2*NMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FERR, RCOND, SCALE, SEPD
-      INTEGER          I, INFO, J, N
-      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
-*     .. Local Arrays ..
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB03UD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      DICO = 'D'
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $                               READ ( NIN, FMT = * ) SCALE
-         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
-     $                             .NOT.LSAME( JOB, 'X') ) )
-     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
-            IF ( LSAME( LYAPUN, 'O' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( .NOT.LSAME( JOB, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Solve the discrete-time Lyapunov matrix equation and/or
-*        estimate the condition and error bound on the solution.
-         CALL SB03UD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
-     $                T, LDT, U, LDU, C, LDC, X, LDX, SEPD, RCOND, FERR,
-     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
-     $                LDWORK-2*N, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99996 )
-               DO 10 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
-   10          CONTINUE
-               WRITE ( NOUT, FMT = 99993 ) SCALE
-            END IF
-            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
-     $                             .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99992 ) SEPD
-            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99991 ) RCOND
-            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
-     $         WRITE ( NOUT, FMT = 99990 ) FERR
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB03UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB03UD =',I2)
-99996 FORMAT (' The solution matrix X is')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' Scaling factor = ',F8.4)
-99992 FORMAT (/' Estimated separation = ',F8.4)
-99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
-99990 FORMAT (/' Estimated error bound = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB03UD EXAMPLE PROGRAM DATA
-   3     A     N     N     U     O
-   3.0   1.0   1.0
-   1.0   3.0   0.0
-   0.0   0.0   3.0
-  25.0  24.0  15.0
-  24.0  32.0   8.0
-  15.0   8.0  40.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB03UD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is
-   2.0000   1.0000   1.0000
-   1.0000   3.0000   0.0000
-   1.0000   0.0000   4.0000
-
- Scaling factor =   1.0000
-
- Estimated separation =   5.2302
-
- Estimated reciprocal condition number =   0.1832
-
- Estimated error bound =   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04MD.html b/doc/_static/doc/SB04MD.html
deleted file mode 100644
index 9e78e77e..00000000
--- a/doc/_static/doc/SB04MD.html
+++ /dev/null
@@ -1,264 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MD">SB04MD</A></H2>
-<H3>
-Solution of continuous-time Sylvester equations (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the continuous-time Sylvester equation
-
-     AX + XB = C
-
-  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
-  N-by-M matrices respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A of the equation.
-          On exit, the leading N-by-N upper Hessenberg part of this
-          array contains the matrix H, and the remainder of the
-          leading N-by-N part, together with the elements 2,3,...,N
-          of array DWORK, contain the orthogonal transformation
-          matrix U (stored in factored form).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix B of the equation.
-          On exit, the leading M-by-M part of this array contains
-          the quasi-triangular Schur factor S of the matrix B'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading N-by-M part of this array contains
-          the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
-          The leading M-by-M part of this array contains the
-          orthogonal matrix Z used to transform B' to real upper
-          Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
-          the scalar factors of the elementary reflectors used to
-          reduce A to upper Hessenberg form, as returned by LAPACK
-          Library routine DGEHRD.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = MAX(1, 2*N*N + 8*N, 5*M, N + M).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
-                compute all the eigenvalues (see LAPACK Library
-                routine DGEES);
-          &gt; M:  if a singular matrix was encountered whilst solving
-                for the (INFO-M)-th column of matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A is transformed to upper Hessenberg form H = U'AU by
-  the orthogonal transformation matrix U; matrix B' is transformed
-  to real upper Schur form S = Z'B'Z using the orthogonal
-  transformation matrix Z. The matrix C is also multiplied by the
-  transformations, F = U'CZ, and the solution matrix Y of the
-  transformed system
-
-     HY + YS' = F
-
-  is computed by back substitution. Finally, the matrix Y is then
-  multiplied by the orthogonal transformation matrices, X = UYZ', in
-  order to obtain the solution matrix X to the original problem.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3       3      2         2
-  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
-  operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
-     $                   LDZ = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 4*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+8*NMAX, 5*MMAX,
-     $                   NMAX+MMAX ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK), Z(LDZ,MMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04MD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The orthogonal matrix Z is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04MD EXAMPLE PROGRAM DATA
-   3     2
-   2.0   1.0   3.0
-   0.0   2.0   1.0
-   6.0   1.0   2.0
-   2.0   1.0
-   1.0   6.0
-   2.0   1.0
-   1.0   4.0
-   0.0   5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04MD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-  -2.7685   0.5498
-  -1.0531   0.6865
-   4.5257  -0.4389
-
- The orthogonal matrix Z is 
-  -0.9732  -0.2298
-   0.2298  -0.9732
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04MR.html b/doc/_static/doc/SB04MR.html
deleted file mode 100644
index 9b9b44ac..00000000
--- a/doc/_static/doc/SB04MR.html
+++ /dev/null
@@ -1,113 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MR">SB04MR</A></H2>
-<H3>
-Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a linear algebraic system of order M whose coefficient
-  matrix has zeros below the second subdiagonal. The matrix is
-  stored compactly, row-wise.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MR( M, D, IPR, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the system.  M &gt;= 0.
-          Note that parameter M should have twice the value in the
-          original problem (see SLICOT Library routine SB04MU).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (M*(M+1)/2+3*M)
-          On entry, the first M*(M+1)/2 + 2*M elements of this array
-          must contain the coefficient matrix, stored compactly,
-          row-wise, and the next M elements must contain the right
-          hand side of the linear system, as set by SLICOT Library
-          routine SB04MU.
-          On exit, the content of this array is updated, the last M
-          elements containing the solution with components
-          interchanged (see IPR).
-
-  IPR     (output) INTEGER array, dimension (2*M)
-          The leading M elements contain information about the
-          row interchanges performed for solving the system.
-          Specifically, the i-th component of the solution is
-          specified by IPR(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with partial pivoting is used. The rows of
-  the matrix are not actually permuted, only their indices are
-  interchanged in array IPR.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04MU.html b/doc/_static/doc/SB04MU.html
deleted file mode 100644
index d38ade39..00000000
--- a/doc/_static/doc/SB04MU.html
+++ /dev/null
@@ -1,133 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MU">SB04MU</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the second subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order 2*M
-  whose coefficient matrix has zeros below the second subdiagonal.
-  Such systems appear when solving continuous-time Sylvester
-  equations using the Hessenberg-Schur method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          IND and IND - 1 specify the indices of the columns in C
-          to be computed.  IND &gt; 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with columns IND-1 and IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (2*M*M+7*M)
-
-  IPR     INTEGER array, dimension (4*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order 2*M, whose coefficient
-  matrix has zeros below the second subdiagonal is constructed and
-  solved. The coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04MW.html b/doc/_static/doc/SB04MW.html
deleted file mode 100644
index 9388dd2c..00000000
--- a/doc/_static/doc/SB04MW.html
+++ /dev/null
@@ -1,110 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MW">SB04MW</A></H2>
-<H3>
-Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a linear algebraic system of order M whose coefficient
-  matrix is in upper Hessenberg form, stored compactly, row-wise.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MW( M, D, IPR, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the system.  M &gt;= 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (M*(M+1)/2+2*M)
-          On entry, the first M*(M+1)/2 + M elements of this array
-          must contain an upper Hessenberg matrix, stored compactly,
-          row-wise, and the next M elements must contain the right
-          hand side of the linear system, as set by SLICOT Library
-          routine SB04MY.
-          On exit, the content of this array is updated, the last M
-          elements containing the solution with components
-          interchanged (see IPR).
-
-  IPR     (output) INTEGER array, dimension (2*M)
-          The leading M elements contain information about the
-          row interchanges performed for solving the system.
-          Specifically, the i-th component of the solution is
-          specified by IPR(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with partial pivoting is used. The rows of
-  the matrix are not actually permuted, only their indices are
-  interchanged in array IPR.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04MY.html b/doc/_static/doc/SB04MY.html
deleted file mode 100644
index d6b3bfa9..00000000
--- a/doc/_static/doc/SB04MY.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04MY">SB04MY</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order M whose
-  coefficient matrix is in upper Hessenberg form. Such systems
-  appear when solving Sylvester equations using the Hessenberg-Schur
-  method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04MY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          The index of the column in C to be computed.  IND &gt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with column IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
-
-  IPR     INTEGER array, dimension (2*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order M, with coefficient
-  matrix in upper Hessenberg form is constructed and solved. The
-  coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04ND.html b/doc/_static/doc/SB04ND.html
deleted file mode 100644
index a04012d5..00000000
--- a/doc/_static/doc/SB04ND.html
+++ /dev/null
@@ -1,286 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04ND">SB04ND</A></H2>
-<H3>
-Solution of continuous-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the continuous-time Sylvester equation
-
-     AX + XB = C,
-
-  with at least one of the matrices A or B in Schur form and the
-  other in Hessenberg or Schur form (both either upper or lower);
-  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
-  respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHU, ULA, ULB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHU  CHARACTER*1
-          Indicates whether A and/or B is/are in Schur or
-          Hessenberg form as follows:
-          = 'A':  A is in Schur form, B is in Hessenberg form;
-          = 'B':  B is in Schur form, A is in Hessenberg form;
-          = 'S':  Both A and B are in Schur form.
-
-  ULA     CHARACTER*1
-          Indicates whether A is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
-                  upper Schur form otherwise;
-          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
-                  lower Schur form otherwise.
-
-  ULB     CHARACTER*1
-          Indicates whether B is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
-                  upper Schur form otherwise;
-          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
-                  lower Schur form otherwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading M-by-M part of this array must contain the
-          coefficient matrix B of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity in
-          the Sylvester equation. If the user sets TOL &gt; 0, then the
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number; a matrix whose estimated
-          condition number is less than 1/TOL is considered to be
-          nonsingular. If the user sets TOL &lt;= 0, then a default
-          tolerance, defined by TOLDEF = EPS, is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*MAX(M,N))
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = 0, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
-          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if a (numerically) singular matrix T was encountered
-                during the computation of the solution matrix X.
-                That is, the estimated reciprocal condition number
-                of T is less than or equal to TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrices A and B are assumed to be in (upper or lower) Hessenberg
-  or Schur form (with at least one of them in Schur form). The
-  solution matrix X is then computed by rows or columns via the back
-  substitution scheme proposed by Golub, Nash and Van Loan (see
-  [1]), which involves the solution of triangular systems of
-  equations that are constructed recursively and which may be nearly
-  singular if A and -B have close eigenvalues. If near singularity
-  is detected, then the routine returns with the Error Indicator
-  (INFO) set to 1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         2         2
-  The algorithm requires approximately 5M N + 0.5MN  operations in
-                         2         2
-  the worst case and 2.5M N + 0.5MN  operations in the best case
-  (where M is the order of the matrix in Hessenberg form and N is
-  the order of the matrix in Schur form) and is mixed stable (see
-  [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
-     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      ABSCHU, ULA, ULB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04ND( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04ND = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04ND EXAMPLE PROGRAM DATA
-   5     3     0.0     U     U     B
-  17.0  24.0   1.0   8.0  15.0
-  23.0   5.0   7.0  14.0  16.0
-   0.0   6.0  13.0  20.0  22.0
-   0.0   0.0  19.0  21.0   3.0
-   0.0   0.0   0.0   2.0   9.0
-   8.0   1.0   6.0
-   0.0   5.0   7.0
-   0.0   9.0   2.0
-  62.0 -12.0  26.0
-  59.0 -10.0  31.0
-  70.0  -6.0   9.0
-  35.0  31.0  -7.0
-  36.0 -15.0   7.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   0.0000   0.0000   1.0000
-   1.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000
-   1.0000   1.0000  -1.0000
-   2.0000  -2.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04NV.html b/doc/_static/doc/SB04NV.html
deleted file mode 100644
index 60c81043..00000000
--- a/doc/_static/doc/SB04NV.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NV">SB04NV</A></H2>
-<H3>
-Constructing the right-hand sides for a system of equations in Hessenberg form solved via SB04NX (case with 2 right-hand sides)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand sides D for a system of equations in
-  Hessenberg form solved via SB04NX (case with 2 right-hand sides).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation AX + XB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the first column/row of C to be used in
-          the construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          AX + XB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading 2*N or 2*M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side stored as a matrix with two rows.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04NW.html b/doc/_static/doc/SB04NW.html
deleted file mode 100644
index 547bf6c6..00000000
--- a/doc/_static/doc/SB04NW.html
+++ /dev/null
@@ -1,116 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NW">SB04NW</A></H2>
-<H3>
-Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04NY
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand side D for a system of equations in
-  Hessenberg form solved via SB04NY (case with 1 right-hand side).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, D )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation AX + XB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the column/row of C to be used in the
-          construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          AX + XB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading N or M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04NX.html b/doc/_static/doc/SB04NX.html
deleted file mode 100644
index 14ccc748..00000000
--- a/doc/_static/doc/SB04NX.html
+++ /dev/null
@@ -1,140 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NX">SB04NX</A></H2>
-<H3>
-Solving a system of equations in Hessenberg form with two consecutive offdiagonals and two right-hand sides
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in Hessenberg form with two
-  consecutive offdiagonals and two right-hand sides.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
-     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBD1, (input) DOUBLE PRECISION
-  LAMBD2, These variables must contain the 2-by-2 block to be added
-  LAMBD3, to the diagonal blocks of A.
-  LAMBD4
-
-  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
-          On entry, this array must contain the two right-hand
-          side vectors of the Hessenberg system, stored row-wise.
-          On exit, if INFO = 0, this array contains the two solution
-          vectors of the Hessenberg system, stored row-wise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the Hessenberg matrix. A matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
-          The leading 2*M-by-2*M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the Hessenberg matrix. The remaining 6*M elements are
-          used as workspace for the computation of the reciprocal
-          condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.
-          LDDWOR &gt;= MAX(1,2*M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Hessenberg matrix is (numerically) singular.
-                That is, its estimated reciprocal condition number
-                is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04NY.html b/doc/_static/doc/SB04NY.html
deleted file mode 100644
index 1afd64be..00000000
--- a/doc/_static/doc/SB04NY.html
+++ /dev/null
@@ -1,138 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04NY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04NY">SB04NY</A></H2>
-<H3>
-Solving a system of equations in Hessenberg form with one offdiagonal and one right-hand side
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in Hessenberg form with one
-  offdiagonal and one right-hand side.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04NY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
-     $                   DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBDA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBDA  (input) DOUBLE PRECISION
-          This variable must contain the value to be added to the
-          diagonal elements of A.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (M)
-          On entry, this array must contain the right-hand side
-          vector of the Hessenberg system.
-          On exit, if INFO = 0, this array contains the solution
-          vector of the Hessenberg system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the Hessenberg matrix. A matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
-          The leading M-by-M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the Hessenberg matrix. The remaining 3*M elements are
-          used as workspace for the computation of the reciprocal
-          condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Hessenberg matrix is (numerically) singular.
-                That is, its estimated reciprocal condition number
-                is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04OD.html b/doc/_static/doc/SB04OD.html
deleted file mode 100644
index e486b054..00000000
--- a/doc/_static/doc/SB04OD.html
+++ /dev/null
@@ -1,582 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04OD">SB04OD</A></H2>
-<H3>
-Solution of generalized Sylvester equations with separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for R and L one of the generalized Sylvester equations
-
-     A * R - L * B = scale * C )
-                               )                                 (1)
-     D * R - L * E = scale * F )
-
-  or
-
-     A' * R + D' * L = scale * C    )
-                                    )                            (2)
-     R * B' + L * E' = scale * (-F) )
-
-  where A and D are M-by-M matrices, B and E are N-by-N matrices and
-  C, F, R and L are M-by-N matrices.
-
-  The solution (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an
-  output scaling factor chosen to avoid overflow.
-
-  The routine also optionally computes a Dif estimate, which
-  measures the separation of the spectrum of the matrix pair (A,D)
-  from the spectrum of the matrix pair (B,E), Dif[(A,D),(B,E)].
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
-     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBD, REDUCE, TRANS
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ,
-     $                  LDU, LDV, LDWORK, M, N
-      DOUBLE PRECISION  DIF, SCALE
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*), F(LDF,*), P(LDP,*),
-     $                  Q(LDQ,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  REDUCE  CHARACTER*1
-          Indicates whether the matrix pairs (A,D) and/or (B,E) are
-          to be reduced to generalized Schur form as follows:
-          = 'R':  The matrix pairs (A,D) and (B,E) are to be reduced
-                  to generalized (real) Schur canonical form;
-          = 'A':  The matrix pair (A,D) only is to be reduced
-                  to generalized (real) Schur canonical form,
-                  and the matrix pair (B,E) already is in this form;
-          = 'B':  The matrix pair (B,E) only is to be reduced
-                  to generalized (real) Schur canonical form,
-                  and the matrix pair (A,D) already is in this form;
-          = 'N':  The matrix pairs (A,D) and (B,E) are already in
-                  generalized (real) Schur canonical form, as
-                  produced by LAPACK routine DGGES.
-
-  TRANS   CHARACTER*1
-          Indicates which of the equations, (1) or (2), is to be
-          solved as follows:
-          = 'N':  The generalized Sylvester equation (1) is to be
-                  solved;
-          = 'T':  The "transposed" generalized Sylvester equation
-                  (2) is to be solved.
-
-  JOBD    CHARACTER*1
-          Indicates whether the Dif estimator is to be computed as
-          follows:
-          = '1':  Only the one-norm-based Dif estimate is computed
-                  and stored in DIF;
-          = '2':  Only the Frobenius norm-based Dif estimate is
-                  computed and stored in DIF;
-          = 'D':  The equation (1) is solved and the one-norm-based
-                  Dif estimate is computed and stored in DIF;
-          = 'F':  The equation (1) is solved and the Frobenius norm-
-                  based Dif estimate is computed and stored in DIF;
-          = 'N':  The Dif estimator is not required and hence DIF is
-                  not referenced. (Solve either (1) or (2) only.)
-          JOBD is not referenced if TRANS = 'T'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A and D and the number of rows
-          of the matrices C, F, R and L.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrices B and E and the number of
-          columns of the matrices C, F, R and L.  N &gt;= 0.
-          No computations are performed if N = 0 or M = 0, but SCALE
-          and DIF (if JOB &lt;&gt; 'N') are set to 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix A of the equation; A must
-          be in upper quasi-triangular form if REDUCE = 'B' or 'N'.
-          On exit, the leading M-by-M part of this array contains
-          the upper quasi-triangular form of A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix B of the equation; B must
-          be in upper quasi-triangular form if REDUCE = 'A' or 'N'.
-          On exit, the leading N-by-N part of this array contains
-          the upper quasi-triangular form of B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand side matrix C of the first equation
-          in (1) or (2).
-          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
-          part of this array contains the solution matrix R of the
-          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
-          M-by-N part of this array contains the solution matrix R
-          achieved during the computation of the Dif estimate.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix D of the equation; D must
-          be in upper triangular form if REDUCE = 'B' or 'N'.
-          On exit, the leading M-by-M part of this array contains
-          the upper triangular form of D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix E of the equation; E must
-          be in upper triangular form if REDUCE = 'A' or 'N'.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular form of E.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand side matrix F of the second
-          equation in (1) or (2).
-          On exit, if JOBD = 'N', 'D' or 'F', the leading M-by-N
-          part of this array contains the solution matrix L of the
-          problem; if JOBD = '1' or '2' and TRANS = 'N', the leading
-          M-by-N part of this array contains the solution matrix L
-          achieved during the computation of the Dif estimate.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scaling factor in (1) or (2). If 0 &lt; SCALE &lt; 1, C and
-          F hold the solutions R and L, respectively, to a slightly
-          perturbed system, but the computed generalized (real)
-          Schur canonical form matrices P'*A*Q, U'*B*V, P'*D*Q and
-          U'*E*V (see METHOD), or input matrices A, B, D, and E (if
-          already reduced to these forms), have not been changed.
-          If SCALE = 0, C and F hold the solutions R and L,
-          respectively, to the homogeneous system with C = F = 0.
-          Normally, SCALE = 1.
-
-  DIF     (output) DOUBLE PRECISION
-          If TRANS = 'N' and JOBD &lt;&gt; 'N', then DIF contains the
-          value of the Dif estimator, which is an upper bound of
-                                                 -1
-          Dif[(A,D),(B,E)] = sigma_min(Z) = 1/||Z  ||, in either the
-          one-norm, or Frobenius norm, respectively (see METHOD).
-          Otherwise, DIF is not referenced.
-
-  P       (output) DOUBLE PRECISION array, dimension (LDP,*)
-          If REDUCE = 'R' or 'A', then the leading M-by-M part of
-          this array contains the (left) transformation matrix used
-          to reduce (A,D) to generalized Schur form.
-          Otherwise, P is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDP = 1 and declare this
-          array to be P(1,1) in the calling program).
-
-  LDP     INTEGER
-          The leading dimension of array P.
-          LDP &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
-          LDP &gt;= 1        if REDUCE = 'B' or 'N'.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,*)
-          If REDUCE = 'R' or 'A', then the leading M-by-M part of
-          this array contains the (right) transformation matrix used
-          to reduce (A,D) to generalized Schur form.
-          Otherwise, Q is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDQ = 1 and declare this
-          array to be Q(1,1) in the calling program).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,M) if REDUCE = 'R' or 'A',
-          LDQ &gt;= 1        if REDUCE = 'B' or 'N'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,*)
-          If REDUCE = 'R' or 'B', then the leading N-by-N part of
-          this array contains the (left) transformation matrix used
-          to reduce (B,E) to generalized Schur form.
-          Otherwise, U is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDU = 1 and declare this
-          array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
-          LDU &gt;= 1        if REDUCE = 'A' or 'N'.
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,*)
-          If REDUCE = 'R' or 'B', then the leading N-by-N part of
-          this array contains the (right) transformation matrix used
-          to reduce (B,E) to generalized Schur form.
-          Otherwise, V is not referenced and can be supplied as a
-          dummy array (i.e. set parameter LDV = 1 and declare this
-          array to be V(1,1) in the calling program).
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          LDV &gt;= MAX(1,N) if REDUCE = 'R' or 'B',
-          LDV &gt;= 1        if REDUCE = 'A' or 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M+N+6)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          If TRANS = 'N' and JOBD = 'D' or 'F', then
-             LDWORK = MAX(1,11*MN,10*MN+23,2*M*N) if REDUCE = 'R';
-             LDWORK = MAX(1,11*M, 10*M+23, 2*M*N) if REDUCE = 'A';
-             LDWORK = MAX(1,11*N, 10*N+23, 2*M*N) if REDUCE = 'B';
-             LDWORK = MAX(1,2*M*N)                if REDUCE = 'N',
-          where MN = max(M,N).
-          Otherwise, the term 2*M*N above should be omitted.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1  a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if REDUCE &lt;&gt; 'N' and either (A,D) and/or (B,E)
-                cannot be reduced to generalized Schur form;
-          = 2:  if REDUCE = 'N' and either A or B is not in
-                upper quasi-triangular form;
-          = 3:  if a singular matrix was encountered during the
-                computation of the solution matrices R and L, that
-                is (A,D) and (B,E) have common or close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the case TRANS = 'N', and REDUCE = 'R' or 'N', the algorithm
-  used by the routine consists of four steps (see [1] and [2]) as
-  follows:
-
-     (a) if REDUCE = 'R', then the matrix pairs (A,D) and (B,E) are
-         transformed to generalized Schur form, i.e. orthogonal
-         matrices P, Q, U and V are computed such that P' * A * Q
-         and U' * B * V are in upper quasi-triangular form and
-         P' * D * Q and U' * E * V are in upper triangular form;
-     (b) if REDUCE = 'R', then the matrices C and F are transformed
-         to give P' * C * V and P' * F * V respectively;
-     (c) if REDUCE = 'R', then the transformed system
-
-         P' * A * Q * R1 - L1 * U' * B * V = scale * P' * C * V
-         P' * D * Q * R1 - L1 * U' * E * V = scale * P' * F * V
-
-         is solved to give R1 and L1; otherwise, equation (1) is
-         solved to give R and L directly. The Dif estimator
-         is also computed if JOBD &lt;&gt; 'N'.
-     (d) if REDUCE = 'R', then the solution is transformed back
-         to give R = Q * R1 * V' and L = P * L1 * U'.
-
-  By using Kronecker products, equation (1) can also be written as
-  the system of linear equations Z * x = scale*y (see [1]), where
-
-         | I*A    I*D  |
-     Z = |             |.
-         |-B'*I  -E'*I |
-
-                                           -1
-  If JOBD &lt;&gt; 'N', then a lower bound on ||Z  ||, in either the one-
-  norm or Frobenius norm, is computed, which in most cases is
-  a reliable estimate of the true value. Notice that since Z is a
-  matrix of order 2 * M * N, the exact value of Dif (i.e., in the
-  Frobenius norm case, the smallest singular value of Z) may be very
-  expensive to compute.
-
-  The case TRANS = 'N', and REDUCE = 'A' or 'B', is similar, but
-  only one of the matrix pairs should be reduced and the
-  calculations simplify.
-
-  For the case TRANS = 'T', and REDUCE = 'R' or 'N', the algorithm
-  is similar, but the steps (b), (c), and (d) are as follows:
-
-     (b) if REDUCE = 'R', then the matrices C and F are transformed
-         to give Q' * C * V and P' * F * U respectively;
-     (c) if REDUCE = 'R', then the transformed system
-
-         Q' * A' * P * R1 + Q' * D' * P * L1 =  scale * Q' * C * V
-         R1 * V' * B' * U + L1 * V' * E' * U = -scale * P' * F * U
-
-         is solved to give R1 and L1; otherwise, equation (2) is
-         solved to give R and L directly.
-     (d) if REDUCE = 'R', then the solution is transformed back
-         to give R = P * R1 * V' and L = P * L1 * V'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B. and Westin, L.
-      Generalized Schur Methods with Condition Estimators for
-      Solving the Generalized Sylvester Equation.
-      IEEE Trans. Auto. Contr., 34, pp. 745-751, 1989.
-  [2] Kagstrom, B. and Westin, L.
-      GSYLV - Fortran Routines for the Generalized Schur Method with
-      Dif Estimators for Solving the Generalized Sylvester
-      Equation.
-      Report UMINF-132.86, Institute of Information Processing,
-      Univ. of Umea, Sweden, July 1987.
-  [3] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur Method for the Problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-  [4] Kagstrom, B. and Van Dooren, P.
-      Additive Decomposition of a Transfer Function with respect to
-      a Specified Region.
-      In: "Signal Processing, Scattering and Operator Theory, and
-      Numerical Methods" (Eds. M.A. Kaashoek et al.).
-      Proceedings of MTNS-89, Vol. 3, pp. 469-477, Birkhauser Boston
-      Inc., 1990.
-  [5] Kagstrom, B. and Van Dooren, P.
-      A Generalized State-space Approach for the Additive
-      Decomposition of a Transfer Matrix.
-      Report UMINF-91.12, Institute of Information Processing, Univ.
-      of Umea, Sweden, April 1991.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is backward stable. A reliable estimate for the
-  condition number of Z in the Frobenius norm, is (see [1])
-
-     K(Z) = SQRT(  ||A||**2 + ||B||**2 + ||C||**2 + ||D||**2 )/DIF.
-
-  If mu is an upper bound on the relative error of the elements of
-  the matrices A, B, C, D, E and F, then the relative error in the
-  actual solution is approximately mu * K(Z).
-
-  The relative error in the computed solution (due to rounding
-  errors) is approximately EPS * K(Z), where EPS is the machine
-  precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For applications of the generalized Sylvester equation in control
-  theory, see [4] and [5].
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ONE
-      PARAMETER        ( ONE = 1.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 10, NMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDE, LDF, LDP, LDQ, LDU, LDV
-      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX, LDD = MMAX,
-     $                   LDE = NMAX, LDF = MMAX, LDP = MMAX, LDQ = MMAX,
-     $                   LDU = NMAX, LDV = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = MAX(11*MAX(MMAX,NMAX),
-     $                                10*MAX(MMAX,NMAX)+23,2*MMAX*NMAX),
-     $                   LIWORK = MMAX+NMAX+6 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION DIF, SCALE
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      JOBD, REDUCE, TRANS
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                 F(LDF,NMAX), P(LDP,MMAX), Q(LDQ,MMAX),
-     $                 U(LDU,NMAX), V(LDV,NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB04OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, REDUCE, TRANS, JOBD
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
-*           Find the solution matrices L and R.
-            CALL SB04OD( REDUCE, TRANS, JOBD, M, N, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, E, LDE, F, LDF, SCALE, DIF, P,
-     $                   LDP, Q, LDQ, U, LDU, V, LDV, IWORK, DWORK,
-     $                   LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, M
-                  WRITE ( NOUT, FMT = 99991 ) ( F(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99991 ) ( C(I,J), J = 1,N )
-   40          CONTINUE
-               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'A' ) ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99991 ) ( P(I,J), J = 1,M )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 80 I = 1, M
-                     WRITE ( NOUT, FMT = 99991 ) ( Q(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-               IF ( LSAME( REDUCE, 'R' ).OR.LSAME( REDUCE, 'B' ) ) THEN
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 100 I = 1, N
-                     WRITE ( NOUT, FMT = 99991 ) ( U(I,J), J = 1,N )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 120 I = 1, N
-                     WRITE ( NOUT, FMT = 99991 ) ( V(I,J), J = 1,N )
-  120             CONTINUE
-               END IF
-               IF ( SCALE.NE.ONE ) WRITE ( NOUT, FMT = 99987 ) SCALE
-               IF ( .NOT.LSAME( JOBD, 'N' ) )
-     $            WRITE ( NOUT, FMT = 99990 ) DIF
-            END IF
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' SB04OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04OD = ',I2)
-99997 FORMAT (' The solution matrix L is ')
-99996 FORMAT (/' The solution matrix R is ')
-99995 FORMAT (/' The left transformation matrix P is ')
-99994 FORMAT (/' The right transformation matrix Q is ')
-99993 FORMAT (/' The left transformation matrix U is ')
-99992 FORMAT (/' The right transformation matrix V is ')
-99991 FORMAT (20(1X,F8.4))
-99990 FORMAT (/' DIF = ',F8.4)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' SCALE = ',F8.4)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04OD EXAMPLE PROGRAM DATA
-   3     2     R     N     D
-    1.6   -3.1    1.9
-   -3.8    4.2    2.4
-    0.5    2.2   -4.5
-    1.1    0.1
-   -1.3   -3.1
-   -2.0   28.9
-   -5.7  -11.8
-   12.9  -31.7
-    2.5    0.1    1.7
-   -2.5    0.0    0.9
-    0.1    5.1   -7.3
-    6.0    2.4
-   -3.6    2.5
-    0.5   23.8
-  -11.0  -10.4
-   39.5  -74.8
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04OD EXAMPLE PROGRAM RESULTS
-
- The solution matrix L is 
-  -0.7538  -1.6210
-   2.1778   1.7005
-  -3.5029   2.7961
-
- The solution matrix R is 
-   1.3064   2.7989
-   0.3698  -5.3376
-  -0.8767   6.7500
-
- The left transformation matrix P is 
-  -0.3093  -0.9502   0.0383
-   0.9366  -0.2974   0.1851
-  -0.1645   0.0932   0.9820
-
- The right transformation matrix Q is 
-  -0.6097  -0.7920  -0.0314
-   0.6310  -0.5090   0.5854
-   0.4796  -0.3371  -0.8102
-
- The left transformation matrix U is 
-  -0.8121   0.5835
-   0.5835   0.8121
-
- The right transformation matrix V is 
-  -0.9861   0.1660
-   0.1660   0.9861
-
- DIF =   0.1147
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04OW.html b/doc/_static/doc/SB04OW.html
deleted file mode 100644
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+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04OW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04OW">SB04OW</A></H2>
-<H3>
-Solving a periodic Sylvester equation with matrices in periodic Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a periodic Sylvester equation
-
-           A * R - L * B = scale * C                           (1)
-           D * L - R * E = scale * F,
-
-  using Level 1 and 2 BLAS, where R and L are unknown M-by-N
-  matrices, (A, D), (B, E) and (C, F) are given matrix pairs of
-  size M-by-M, N-by-N and M-by-N, respectively, with real entries.
-  (A, D) and (B, E) must be in periodic Schur form, i.e. A, B are
-  upper quasi triangular and D, E are upper triangular. The solution
-  (R, L) overwrites (C, F). 0 &lt;= SCALE &lt;= 1 is an output scaling
-  factor chosen to avoid overflow.
-
-  This routine is largely based on the LAPACK routine DTGSY2
-  developed by Bo Kagstrom and Peter Poromaa.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04OW( M, N, A, LDA, B, LDB, C, LDC, D, LDD, E, LDE,
-     $                   F, LDF, SCALE, IWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDF, M, N
-      DOUBLE PRECISION  SCALE
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  E(LDE,*), F(LDF,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of A and D, and the row dimension of C, F, R
-          and L.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of B and E, and the column dimension of C, F, R
-          and L.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          On entry, the leading M-by-M part of this array must
-          contain the upper quasi triangular matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper quasi triangular matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand-side of the first matrix equation
-          in (1).
-          On exit, the leading M-by-N part of this array contains
-          the solution R.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading M-by-M part of this array must
-          contain the upper triangular matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,M).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the upper triangular matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right-hand-side of the second matrix equation
-          in (1).
-          On exit, the leading M-by-N part of this array contains
-          the solution L.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          On exit, 0 &lt;= SCALE &lt;= 1. If 0 &lt; SCALE &lt; 1, the arrays
-          C and F will hold the solutions R and L, respectively, to
-          a slightly perturbed system but the input matrices A, B, D
-          and E have not been changed. If SCALE = 0, C and F will
-          hold solutions to the homogeneous system with C = F = 0.
-          Normally, SCALE = 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M+N+2)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  the matrix products A*D and B*E have common or very
-                close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In matrix notation solving equation (1) corresponds to solving
-  Z*x = scale*b, where Z is defined as
-
-      Z = [  kron(In, A)  -kron(B', Im) ]            (2)
-          [ -kron(E', Im)  kron(In, D)  ],
-
-  Ik is the identity matrix of size k and X' is the transpose of X.
-  kron(X, Y) is the Kronecker product between the matrices X and Y.
-  In the process of solving (1), we solve a number of such systems
-  where Dim(Im), Dim(In) = 1 or 2.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B.
-      A Direct Method for Reordering Eigenvalues in the Generalized
-      Real Schur Form of a Regular Matrix Pair (A,B). M.S. Moonen
-      et al (eds.), Linear Algebra for Large Scale and Real-Time
-      Applications, Kluwer Academic Publ., pp. 195-218, 1993.
-
-  [2] Sreedhar, J. and Van Dooren, P.
-      A Schur approach for solving some periodic matrix equations.
-      U. Helmke et al (eds.), Systems and Networks: Mathematical
-      Theory and Applications, Akademie Verlag, Berlin, vol. 77,
-      pp. 339-362, 1994.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04PD.html b/doc/_static/doc/SB04PD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,440 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04PD">SB04PD</A></H2>
-<H3>
-Solution of continuous-time or discrete-time Sylvester equations (Bartels-Stewart method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the real continuous-time Sylvester equation
-
-     op(A)*X + ISGN*X*op(B) = scale*C,                           (1)
-
-  or the real discrete-time Sylvester equation
-
-     op(A)*X*op(B) + ISGN*X = scale*C,                           (2)
-
-  where op(M) = M or M**T, and ISGN = 1 or -1. A is M-by-M and
-  B is N-by-N; the right hand side C and the solution X are M-by-N;
-  and scale is an output scale factor, set less than or equal to 1
-  to avoid overflow in X. The solution matrix X is overwritten
-  onto C.
-
-  If A and/or B are not (upper) quasi-triangular, that is, block
-  upper triangular with 1-by-1 and 2-by-2 diagonal blocks, they are
-  reduced to Schur canonical form, that is, quasi-triangular with
-  each 2-by-2 diagonal block having its diagonal elements equal and
-  its off-diagonal elements of opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
-     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          DICO, FACTA, FACTB, TRANA, TRANB
-      INTEGER            INFO, ISGN, LDA, LDB, LDC, LDU, LDV, LDWORK, M,
-     $                   N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  U( LDU, * ), V( LDV, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which X is to be determined
-          as follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  FACTA   CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix A is supplied on entry, as follows:
-          = 'F':  On entry, A and U contain the factors from the
-                  real Schur factorization of the matrix A;
-          = 'N':  The Schur factorization of A will be computed
-                  and the factors will be stored in A and U;
-          = 'S':  The matrix A is quasi-triangular (or Schur).
-
-  FACTB   CHARACTER*1
-          Specifies whether or not the real Schur factorization
-          of the matrix B is supplied on entry, as follows:
-          = 'F':  On entry, B and V contain the factors from the
-                  real Schur factorization of the matrix B;
-          = 'N':  The Schur factorization of B will be computed
-                  and the factors will be stored in B and V;
-          = 'S':  The matrix B is quasi-triangular (or Schur).
-
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  TRANB   CHARACTER*1
-          Specifies the form of op(B) to be used, as follows:
-          = 'N':  op(B) = B    (No transpose);
-          = 'T':  op(B) = B**T (Transpose);
-          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A, and the number of rows in the
-          matrices X and C.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B, and the number of columns in
-          the matrices X and C.  N &gt;= 0.
-
-  A       (input or input/output) DOUBLE PRECISION array,
-          dimension (LDA,M)
-          On entry, the leading M-by-M part of this array must
-          contain the matrix A. If FACTA = 'S', then A contains
-          a quasi-triangular matrix, and if FACTA = 'F', then A
-          is in Schur canonical form; the elements below the upper
-          Hessenberg part of the array A are not referenced.
-          On exit, if FACTA = 'N', and INFO = 0 or INFO &gt;= M+1, the
-          leading M-by-M upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix in Schur
-          canonical form from the Schur factorization of A. The
-          contents of array A is not modified if FACTA = 'F' or 'S'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  U       (input or output) DOUBLE PRECISION array, dimension
-          (LDU,M)
-          If FACTA = 'F', then U is an input argument and on entry
-          the leading M-by-M part of this array must contain the
-          orthogonal matrix U of the real Schur factorization of A.
-          If FACTA = 'N', then U is an output argument and on exit,
-          if INFO = 0 or INFO &gt;= M+1, it contains the orthogonal
-          M-by-M matrix from the real Schur factorization of A.
-          If FACTA = 'S', the array U is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of array U.
-          LDU &gt;= MAX(1,M), if FACTA = 'F' or 'N';
-          LDU &gt;= 1,        if FACTA = 'S'.
-
-  B       (input or input/output) DOUBLE PRECISION array,
-          dimension (LDB,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix B. If FACTB = 'S', then B contains
-          a quasi-triangular matrix, and if FACTB = 'F', then B
-          is in Schur canonical form; the elements below the upper
-          Hessenberg part of the array B are not referenced.
-          On exit, if FACTB = 'N', and INFO = 0 or INFO = M+N+1,
-          the leading N-by-N upper Hessenberg part of this array
-          contains the upper quasi-triangular matrix in Schur
-          canonical form from the Schur factorization of B. The
-          contents of array B is not modified if FACTB = 'F' or 'S'.
-
-  LDB     (input) INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  V       (input or output) DOUBLE PRECISION array, dimension
-          (LDV,N)
-          If FACTB = 'F', then V is an input argument and on entry
-          the leading N-by-N part of this array must contain the
-          orthogonal matrix V of the real Schur factorization of B.
-          If FACTB = 'N', then V is an output argument and on exit,
-          if INFO = 0 or INFO = M+N+1, it contains the orthogonal
-          N-by-N matrix from the real Schur factorization of B.
-          If FACTB = 'S', the array V is not referenced.
-
-  LDV     INTEGER
-          The leading dimension of array V.
-          LDV &gt;= MAX(1,N), if FACTB = 'F' or 'N';
-          LDV &gt;= 1,        if FACTB = 'S'.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix C.
-          On exit, if INFO = 0 or INFO = M+N+1, the leading M-by-N
-          part of this array contains the solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or M+N+1, then: DWORK(1) returns the
-          optimal value of LDWORK; if FACTA = 'N', DWORK(1+i) and
-          DWORK(1+M+i), i = 1,...,M, contain the real and imaginary
-          parts, respectively, of the eigenvalues of A; and, if
-          FACTB = 'N', DWORK(1+f+j) and DWORK(1+f+N+j), j = 1,...,N,
-          with f = 2*M if FACTA = 'N', and f = 0, otherwise, contain
-          the real and imaginary parts, respectively, of the
-          eigenvalues of B.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, a+MAX( c, b+d, b+e ) ),
-          where a = 1+2*M, if FACTA =  'N',
-                a = 0,     if FACTA &lt;&gt; 'N',
-                b = 2*N,   if FACTB =  'N', FACTA =  'N',
-                b = 1+2*N, if FACTB =  'N', FACTA &lt;&gt; 'N',
-                b = 0,     if FACTB &lt;&gt; 'N',
-                c = 3*M,   if FACTA =  'N',
-                c = M,     if FACTA =  'F',
-                c = 0,     if FACTA =  'S',
-                d = 3*N,   if FACTB =  'N',
-                d = N,     if FACTB =  'F',
-                d = 0,     if FACTB =  'S',
-                e = M,     if DICO  =  'C', FACTA &lt;&gt; 'S',
-                e = 0,     if DICO  =  'C', FACTA =  'S',
-                e = 2*M,   if DICO  =  'D'.
-          An upper bound is
-          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M ).
-          For good performance, LDWORK should be larger, e.g.,
-          LDWORK = 1+2*M+MAX( 3*M, 5*N, 2*N+2*M, 2*N+M*N ).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if INFO = i, i = 1,...,M, the QR algorithm failed
-                to compute all the eigenvalues of the matrix A
-                (see LAPACK Library routine DGEES); the elements
-                2+i:1+M and 2+i+M:1+2*M of DWORK contain the real
-                and imaginary parts, respectively, of the
-                eigenvalues of A which have converged, and the
-                array A contains the partially converged Schur form;
-          = M+j:  if INFO = M+j, j = 1,...,N, the QR algorithm
-                failed to compute all the eigenvalues of the matrix
-                B (see LAPACK Library routine DGEES); the elements
-                2+f+j:1+f+N and 2+f+j+N:1+f+2*N of DWORK contain the
-                real and imaginary parts, respectively, of the
-                eigenvalues of B which have converged, and the
-                array B contains the partially converged Schur form;
-                as defined for the parameter DWORK,
-                f = 2*M, if FACTA =  'N',
-                f = 0,   if FACTA &lt;&gt; 'N';
-          = M+N+1:  if DICO = 'C', and the matrices A and -ISGN*B
-                have common or very close eigenvalues, or
-                if DICO = 'D', and the matrices A and -ISGN*B have
-                almost reciprocal eigenvalues (that is, if lambda(i)
-                and mu(j) are eigenvalues of A and -ISGN*B, then
-                lambda(i) = 1/mu(j) for some i and j);
-                perturbed values were used to solve the equation
-                (but the matrices A and B are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension and refinement of the algorithms in [1,2] is used.
-  If the matrices A and/or B are not quasi-triangular (see PURPOSE),
-  they are reduced to Schur canonical form
-
-     A = U*S*U',  B = V*T*V',
-
-  where U, V are orthogonal, and S, T are block upper triangular
-  with 1-by-1 and 2-by-2 blocks on their diagonal. The right hand
-  side matrix C is updated accordingly,
-
-     C = U'*C*V;
-
-  then, the solution matrix X of the "reduced" Sylvester equation
-  (with A and B in (1) or (2) replaced by S and T, respectively),
-  is computed column-wise via a back substitution scheme. A set of
-  equivalent linear algebraic systems of equations of order at most
-  four are formed and solved using Gaussian elimination with
-  complete pivoting. Finally, the solution X of the original
-  equation is obtained from the updating formula
-
-     X = U*X*V'.
-
-  If A and/or B are already quasi-triangular (or in Schur form), the
-  initial factorizations and the corresponding updating steps are
-  omitted.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since orthogonal
-  transformations and Gaussian elimination with complete pivoting
-  are used. If INFO = M+N+1, the Sylvester equation is numerically
-  singular.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU, LDV
-      PARAMETER        ( LDA = MMAX, LDB = NMAX, LDC = MMAX,
-     $                   LDU = MMAX, LDV = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 1 + 2*MMAX + MAX( 3*MMAX, 5*NMAX,
-     $                                            2*( NMAX + MMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER        DICO, FACTA, FACTB, TRANA, TRANB
-      INTEGER          I, INFO, ISGN, J, M, N
-      DOUBLE PRECISION SCALE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,MMAX), B(LDB,NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,MMAX), V(LDV,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB04PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, ISGN, DICO, FACTA, FACTB, TRANA, TRANB
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,M ), I = 1,M )
-         IF ( LSAME( FACTA, 'F' ) )
-     $      READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,M ), I = 1,M )
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            IF ( LSAME( FACTB, 'F' ) )
-     $         READ ( NIN, FMT = * ) ( ( V(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,M )
-*           Find the solution matrix X.
-            CALL SB04PD( DICO, FACTA, FACTB, TRANA, TRANB, ISGN, M, N,
-     $                   A, LDA, U, LDU, B, LDB, V, LDV, C, LDC, SCALE,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 )
-     $         WRITE ( NOUT, FMT = 99998 ) INFO
-            IF ( INFO.EQ.0 .OR. INFO.EQ.M+N+1 ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 ) SCALE
-               IF ( LSAME( FACTA, 'N' ) ) THEN
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 40 I = 1, M
-                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,M )
-   40             CONTINUE
-               END IF
-               IF ( LSAME( FACTB, 'N' ) ) THEN
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( V(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04PD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' Scaling factor = ',F8.4)
-99994 FORMAT (/' The orthogonal matrix U is ')
-99993 FORMAT (/' The orthogonal matrix V is ')
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04PD EXAMPLE PROGRAM DATA
-   3     2     1     D     N     N     N     N
-   2.0   1.0   3.0
-   0.0   2.0   1.0
-   6.0   1.0   2.0
-   2.0   1.0
-   1.0   6.0
-   2.0   1.0
-   1.0   4.0
-   0.0   5.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04PD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-  -0.3430   0.1995
-  -0.1856   0.4192
-   0.6922  -0.2952
-
- Scaling factor =   1.0000
-
- The orthogonal matrix U is 
-   0.5396  -0.7797   0.3178
-   0.1954  -0.2512  -0.9480
-  -0.8190  -0.5736  -0.0168
-
- The orthogonal matrix V is 
-  -0.9732  -0.2298
-   0.2298  -0.9732
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04PX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04PX">SB04PX</A></H2>
-<H3>
-Solving a discrete-time Sylvester equation for an m-by-n matrix X, 1 <= m,n <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for the N1-by-N2 matrix X, 1 &lt;= N1,N2 &lt;= 2, in
-
-         op(TL)*X*op(TR) + ISGN*X = SCALE*B,
-
-  where TL is N1-by-N1, TR is N2-by-N2, B is N1-by-N2, and ISGN = 1
-  or -1.  op(T) = T or T', where T' denotes the transpose of T.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04PX( LTRANL, LTRANR, ISGN, N1, N2, TL, LDTL, TR,
-     $                   LDTR, B, LDB, SCALE, X, LDX, XNORM, INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            LTRANL, LTRANR
-      INTEGER            INFO, ISGN, LDB, LDTL, LDTR, LDX, N1, N2
-      DOUBLE PRECISION   SCALE, XNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), TL( LDTL, * ), TR( LDTR, * ),
-     $                   X( LDX, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LTRANL  LOGICAL
-          Specifies the form of op(TL) to be used, as follows:
-          = .FALSE.:  op(TL) = TL,
-          = .TRUE. :  op(TL) = TL'.
-
-  LTRANR  LOGICAL
-          Specifies the form of op(TR) to be used, as follows:
-          = .FALSE.:  op(TR) = TR,
-          = .TRUE. :  op(TR) = TR'.
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N1      (input) INTEGER
-          The order of matrix TL.  N1 may only be 0, 1 or 2.
-
-  N2      (input) INTEGER
-          The order of matrix TR.  N2 may only be 0, 1 or 2.
-
-  TL      (input) DOUBLE PRECISION array, dimension (LDTL,N1)
-          The leading N1-by-N1 part of this array must contain the
-          matrix TL.
-
-  LDTL    INTEGER
-          The leading dimension of array TL.  LDTL &gt;= MAX(1,N1).
-
-  TR      (input) DOUBLE PRECISION array, dimension (LDTR,N2)
-          The leading N2-by-N2 part of this array must contain the
-          matrix TR.
-
-  LDTR    INTEGER
-          The leading dimension of array TR.  LDTR &gt;= MAX(1,N2).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N2)
-          The leading N1-by-N2 part of this array must contain the
-          right-hand side of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N1).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor. SCALE is chosen less than or equal to 1
-          to prevent the solution overflowing.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N2)
-          The leading N1-by-N2 part of this array contains the
-          solution of the equation.
-          Note that X may be identified with B in the calling
-          statement.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N1).
-
-  XNORM   (output) DOUBLE PRECISION
-          The infinity-norm of the solution.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if TL and -ISGN*TR have almost reciprocal
-                eigenvalues, so TL or TR is perturbed to get a
-                nonsingular equation.
-
-          NOTE: In the interests of speed, this routine does not
-                check the inputs for errors.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The equivalent linear algebraic system of equations is formed and
-  solved using Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04PY.html b/doc/_static/doc/SB04PY.html
deleted file mode 100644
index ca75fe1c..00000000
--- a/doc/_static/doc/SB04PY.html
+++ /dev/null
@@ -1,182 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04PY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04PY">SB04PY</A></H2>
-<H3>
-Solving discrete-time Sylvester equations with matrices in real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the discrete-time Sylvester equation
-
-     op(A)*X*op(B) + ISGN*X = scale*C,
-
-  where op(A) = A or A**T, A and B are both upper quasi-triangular,
-  and ISGN = 1 or -1. A is M-by-M and B is N-by-N; the right hand
-  side C and the solution X are M-by-N; and scale is an output scale
-  factor, set less than or equal to 1 to avoid overflow in X. The
-  solution matrix X is overwritten onto C.
-
-  A and B must be in Schur canonical form (as returned by LAPACK
-  Library routine DHSEQR), that is, block upper triangular with
-  1-by-1 and 2-by-2 diagonal blocks; each 2-by-2 diagonal block has
-  its diagonal elements equal and its off-diagonal elements of
-  opposite sign.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04PY( TRANA, TRANB, ISGN, M, N, A, LDA, B, LDB, C,
-     $                   LDC, SCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          TRANA, TRANB
-      INTEGER            INFO, ISGN, LDA, LDB, LDC, M, N
-      DOUBLE PRECISION   SCALE
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANA   CHARACTER*1
-          Specifies the form of op(A) to be used, as follows:
-          = 'N':  op(A) = A    (No transpose);
-          = 'T':  op(A) = A**T (Transpose);
-          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).
-
-  TRANB   CHARACTER*1
-          Specifies the form of op(B) to be used, as follows:
-          = 'N':  op(B) = B    (No transpose);
-          = 'T':  op(B) = B**T (Transpose);
-          = 'C':  op(B) = B**T (Conjugate transpose = Transpose).
-
-  ISGN    INTEGER
-          Specifies the sign of the equation as described before.
-          ISGN may only be 1 or -1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A, and the number of rows in the
-          matrices X and C.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrix B, and the number of columns in
-          the matrices X and C.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          upper quasi-triangular matrix A, in Schur canonical form.
-          The part of A below the first sub-diagonal is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain the
-          upper quasi-triangular matrix B, in Schur canonical form.
-          The part of B below the first sub-diagonal is not
-          referenced.
-
-  LDB     (input) INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix C.
-          On exit, if INFO &gt;= 0, the leading M-by-N part of this
-          array contains the solution matrix X.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor, scale, set less than or equal to 1 to
-          prevent the solution overflowing.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  A and -ISGN*B have almost reciprocal eigenvalues;
-                perturbed values were used to solve the equation
-                (but the matrices A and B are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The solution matrix X is computed column-wise via a back
-  substitution scheme, an extension and refinement of the algorithm
-  in [1], similar to that used in [2] for continuous-time Sylvester
-  equations. A set of equivalent linear algebraic systems of
-  equations of order at most four are formed and solved using
-  Gaussian elimination with complete pivoting.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H. and Stewart, G.W.  T
-      Solution of the matrix equation A X + XB = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is stable and reliable, since Gaussian elimination
-  with complete pivoting is used.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04QD.html b/doc/_static/doc/SB04QD.html
deleted file mode 100644
index 731b8aa1..00000000
--- a/doc/_static/doc/SB04QD.html
+++ /dev/null
@@ -1,272 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QD">SB04QD</A></H2>
-<H3>
-Solution of discrete-time Sylvester equations (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the discrete-time Sylvester equation
-
-     X + AXB = C,
-
-  where A, B, C and X are general N-by-N, M-by-M, N-by-M and
-  N-by-M matrices respectively. A Hessenberg-Schur method, which
-  reduces A to upper Hessenberg form, H = U'AU, and B' to real
-  Schur form, S = Z'B'Z (with U, Z orthogonal matrices), is used.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the coefficient matrix A of the equation.
-          On exit, the leading N-by-N upper Hessenberg part of this
-          array contains the matrix H, and the remainder of the
-          leading N-by-N part, together with the elements 2,3,...,N
-          of array DWORK, contain the orthogonal transformation
-          matrix U (stored in factored form).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading M-by-M part of this array must
-          contain the coefficient matrix B of the equation.
-          On exit, the leading M-by-M part of this array contains
-          the quasi-triangular Schur factor S of the matrix B'.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading N-by-M part of this array contains
-          the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
-          The leading M-by-M part of this array contains the
-          orthogonal matrix Z used to transform B' to real upper
-          Schur form.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (4*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
-          the scalar factors of the elementary reflectors used to
-          reduce A to upper Hessenberg form, as returned by LAPACK
-          Library routine DGEHRD.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = MAX(1, 2*N*N + 9*N, 5*M, N + M).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, 1 &lt;= i &lt;= M, the QR algorithm failed to
-                compute all the eigenvalues of B (see LAPACK Library
-                routine DGEES);
-          &gt; M:  if a singular matrix was encountered whilst solving
-                for the (INFO-M)-th column of matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A is transformed to upper Hessenberg form H = U'AU by
-  the orthogonal transformation matrix U; matrix B' is transformed
-  to real upper Schur form S = Z'B'Z using the orthogonal
-  transformation matrix Z. The matrix C is also multiplied by the
-  transformations, F = U'CZ, and the solution matrix Y of the
-  transformed system
-
-     Y + HYS' = F
-
-  is computed by back substitution. Finally, the matrix Y is then
-  multiplied by the orthogonal transformation matrices, X = UYZ', in
-  order to obtain the solution matrix X to the original problem.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                      3       3      2         2
-  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
-  operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
-     $                   LDZ = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 4*NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+9*NMAX, 5*MMAX,
-     $                   NMAX+MMAX ) )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK), Z(LDZ,MMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04QD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 40 I = 1, M
-                  WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04QD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The orthogonal matrix Z is ')
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04QD EXAMPLE PROGRAM DATA
-   3     3
-   1.0   2.0   3.0 
-   6.0   7.0   8.0 
-   9.0   2.0   3.0 
-   7.0   2.0   3.0 
-   2.0   1.0   2.0 
-   3.0   4.0   1.0 
-   271.0   135.0   147.0
-   923.0   494.0   482.0
-   578.0   383.0   287.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04QD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   2.0000   3.0000   6.0000
-   4.0000   7.0000   1.0000
-   5.0000   3.0000   2.0000
-
- The orthogonal matrix Z is 
-   0.8337   0.5204  -0.1845
-   0.3881  -0.7900  -0.4746
-   0.3928  -0.3241   0.8606
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04QR.html b/doc/_static/doc/SB04QR.html
deleted file mode 100644
index dc869d35..00000000
--- a/doc/_static/doc/SB04QR.html
+++ /dev/null
@@ -1,118 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QR">SB04QR</A></H2>
-<H3>
-Solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a linear algebraic system of order M whose coefficient
-  matrix has zeros below the third subdiagonal and zero elements on
-  the third subdiagonal with even column indices. The matrix is
-  stored compactly, row-wise.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QR( M, D, IPR, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, M
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the system.  M &gt;= 0, M even.
-          Note that parameter M should have twice the value in the
-          original problem (see SLICOT Library routine SB04QU).
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (M*M/2+4*M)
-          On entry, the first M*M/2 + 3*M elements of this array
-          must contain the coefficient matrix, stored compactly,
-          row-wise, and the next M elements must contain the right
-          hand side of the linear system, as set by SLICOT Library
-          routine SB04QU.
-          On exit, the content of this array is updated, the last M
-          elements containing the solution with components
-          interchanged (see IPR).
-
-  IPR     (output) INTEGER array, dimension (2*M)
-          The leading M elements contain information about the
-          row interchanges performed for solving the system.
-          Specifically, the i-th component of the solution is
-          specified by IPR(i).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Gaussian elimination with partial pivoting is used. The rows of
-  the matrix are not actually permuted, only their indices are
-  interchanged in array IPR.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04QU.html b/doc/_static/doc/SB04QU.html
deleted file mode 100644
index acf2cfc8..00000000
--- a/doc/_static/doc/SB04QU.html
+++ /dev/null
@@ -1,139 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QU">SB04QU</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the third subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order 2*M
-  whose coefficient matrix has zeros below the third subdiagonal,
-  and zero elements on the third subdiagonal with even column
-  indices. Such systems appear when solving discrete-time Sylvester
-  equations using the Hessenberg-Schur method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QU( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          IND and IND - 1 specify the indices of the columns in C
-          to be computed.  IND &gt; 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with columns IND-1 and IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (2*M*M+8*M)
-
-  IPR     INTEGER array, dimension (4*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order 2*M, whose coefficient
-  matrix has zeros below the third subdiagonal and zero elements on
-  the third subdiagonal with even column indices, is constructed and
-  solved. The coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04QY.html b/doc/_static/doc/SB04QY.html
deleted file mode 100644
index 49c36298..00000000
--- a/doc/_static/doc/SB04QY.html
+++ /dev/null
@@ -1,136 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04QY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04QY">SB04QY</A></H2>
-<H3>
-Constructing and solving a linear algebraic system whose coefficient matrix (stored compactly) has zeros below the first subdiagonal
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct and solve a linear algebraic system of order M whose
-  coefficient matrix is in upper Hessenberg form. Such systems
-  appear when solving discrete-time Sylvester equations using the
-  Hessenberg-Schur method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04QY( N, M, IND, A, LDA, B, LDB, C, LDC, D, IPR,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, IND, LDA, LDB, LDC, M, N
-C     .. Array Arguments ..
-      INTEGER           IPR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  IND     (input) INTEGER
-          The index of the column in C to be computed.  IND &gt;= 1.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain an
-          upper Hessenberg matrix.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,N)
-          The leading N-by-N part of this array must contain a
-          matrix in real Schur form.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading M-by-N part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, the leading M-by-N part of this array contains
-          the matrix C with column IND updated.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  D       DOUBLE PRECISION array, dimension (M*(M+1)/2+2*M)
-
-  IPR     INTEGER array, dimension (2*M)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &gt; 0:  if INFO = IND, a singular matrix was encountered.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A special linear algebraic system of order M, with coefficient
-  matrix in upper Hessenberg form is constructed and solved. The
-  coefficient matrix is stored compactly, row-wise.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04RD.html b/doc/_static/doc/SB04RD.html
deleted file mode 100644
index 6a781294..00000000
--- a/doc/_static/doc/SB04RD.html
+++ /dev/null
@@ -1,290 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RD">SB04RD</A></H2>
-<H3>
-Solution of discrete-time Sylvester equations with one matrix in real Schur form and the other matrix in Hessenberg form (Hessenberg-Schur method)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the discrete-time Sylvester equation
-
-     X + AXB = C,
-
-  with at least one of the matrices A or B in Schur form and the
-  other in Hessenberg or Schur form (both either upper or lower);
-  A, B, C and X are N-by-N, M-by-M, N-by-M, and N-by-M matrices,
-  respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHU, ULA, ULB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHU  CHARACTER*1
-          Indicates whether A and/or B is/are in Schur or
-          Hessenberg form as follows:
-          = 'A':  A is in Schur form, B is in Hessenberg form;
-          = 'B':  B is in Schur form, A is in Hessenberg form;
-          = 'S':  Both A and B are in Schur form.
-
-  ULA     CHARACTER*1
-          Indicates whether A is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  A is in upper Hessenberg form if ABSCHU = 'B' and
-                  upper Schur form otherwise;
-          = 'L':  A is in lower Hessenberg form if ABSCHU = 'B' and
-                  lower Schur form otherwise.
-
-  ULB     CHARACTER*1
-          Indicates whether B is in upper or lower Schur form or
-          upper or lower Hessenberg form as follows:
-          = 'U':  B is in upper Hessenberg form if ABSCHU = 'A' and
-                  upper Schur form otherwise;
-          = 'L':  B is in lower Hessenberg form if ABSCHU = 'A' and
-                  lower Schur form otherwise.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          coefficient matrix A of the equation.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading M-by-M part of this array must contain the
-          coefficient matrix B of the equation.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,M).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
-          On entry, the leading N-by-M part of this array must
-          contain the coefficient matrix C of the equation.
-          On exit, if INFO = 0, the leading N-by-M part of this
-          array contains the solution matrix X of the problem.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity in
-          the Sylvester equation. If the user sets TOL &gt; 0, then the
-          given value of TOL is used as a lower bound for the
-          reciprocal condition number; a matrix whose estimated
-          condition number is less than 1/TOL is considered to be
-          nonsingular. If the user sets TOL &lt;= 0, then a default
-          tolerance, defined by TOLDEF = EPS, is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*MAX(M,N))
-          This parameter is not referenced if ABSCHU = 'S',
-          ULA = 'U', and ULB = 'U'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = 2*N, if ABSCHU = 'S', ULA = 'U', and ULB = 'U';
-          LDWORK = 2*MAX(M,N)*(4 + 2*MAX(M,N)), otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if a (numerically) singular matrix T was encountered
-                during the computation of the solution matrix X.
-                That is, the estimated reciprocal condition number
-                of T is less than or equal to TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrices A and B are assumed to be in (upper or lower) Hessenberg
-  or Schur form (with at least one of them in Schur form). The
-  solution matrix X is then computed by rows or columns via the back
-  substitution scheme proposed by Golub, Nash and Van Loan (see
-  [1]), which involves the solution of triangular systems of
-  equations that are constructed recursively and which may be nearly
-  singular if A and -B have almost reciprocal eigenvalues. If near
-  singularity is detected, then the routine returns with the Error
-  Indicator (INFO) set to 1.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H., Nash, S. and Van Loan, C.F.
-      A Hessenberg-Schur method for the problem AX + XB = C.
-      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.
-
-  [2] Sima, V.
-      Algorithms for Linear-quadratic Optimization.
-      Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         2         2
-  The algorithm requires approximately 5M N + 0.5MN  operations in
-                         2         2
-  the worst case and 2.5M N + 0.5MN  operations in the best case
-  (where M is the order of the matrix in Hessenberg form and N is
-  the order of the matrix in Schur form) and is mixed stable (see
-  [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB04RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*( MAX( NMAX,MMAX ) )*
-     $                        ( 4+2*( MAX( NMAX,MMAX ) ) ) )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX,MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      ABSCHU, ULA, ULB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB04RD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, ULA, ULB, ABSCHU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
-*           Find the solution matrix X.
-            CALL SB04RD( ABSCHU, ULA, ULB, N, M, A, LDA, B, LDB, C,
-     $                   LDC, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,M )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB04RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB04RD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB04RD EXAMPLE PROGRAM DATA
-   5     5     0.0     U     U     B
-   1.0   2.0   3.0   4.0   5.0
-   6.0   7.0   8.0   9.0   1.0
-   0.0   2.0   3.0   4.0   5.0
-   0.0   0.0   6.0   7.0   8.0
-   0.0   0.0   0.0   9.0   1.0
-   1.0   2.0   3.0   4.0   5.0
-   0.0   1.0   2.0   3.0   4.0
-   0.0   0.0   1.0   2.0   3.0
-   0.0   0.0   0.0   1.0  -5.0
-   0.0   0.0   0.0   4.0   1.0
-   2.0   4.0  10.0  40.0   7.0
-   6.0  20.0  40.0  74.0  38.0
-   0.0   2.0   8.0  36.0   2.0
-   0.0   0.0   6.0  52.0  -9.0
-   0.0   0.0   0.0  13.0 -43.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB04RD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   1.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04RV.html b/doc/_static/doc/SB04RV.html
deleted file mode 100644
index 52dc0172..00000000
--- a/doc/_static/doc/SB04RV.html
+++ /dev/null
@@ -1,135 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RV">SB04RV</A></H2>
-<H3>
-Constructing the right-hand sides for a system of equations in quasi-Hessenberg form solved via SB04RX (case with 2 right-hand sides)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand sides D for a system of equations in
-  quasi-Hessenberg form solved via SB04RX (case with 2 right-hand
-  sides).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RV( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
-     $                   LDBA, D, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDBA, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation X + AXB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the first column/row of C to be used in
-          the construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C, the matrix not contained in AB.
-
-  LDBA    INTEGER
-          The leading dimension of array BA.
-          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading 2*N or 2*M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side stored as a matrix with two rows.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK is equal to 2*N or 2*M (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04RW.html b/doc/_static/doc/SB04RW.html
deleted file mode 100644
index d6f533ff..00000000
--- a/doc/_static/doc/SB04RW.html
+++ /dev/null
@@ -1,134 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RW">SB04RW</A></H2>
-<H3>
-Constructing the right-hand side for a system of equations in Hessenberg form solved via SB04RY
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the right-hand side D for a system of equations in
-  Hessenberg form solved via SB04RY (case with 1 right-hand side).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RW( ABSCHR, UL, N, M, C, LDC, INDX, AB, LDAB, BA,
-     $                   LDBA, D, DWORK )
-C     .. Scalar Arguments ..
-      CHARACTER         ABSCHR, UL
-      INTEGER           INDX, LDAB, LDBA, LDC, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  AB(LDAB,*), BA(LDBA,*), C(LDC,*), D(*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ABSCHR  CHARACTER*1
-          Indicates whether AB contains A or B, as follows:
-          = 'A':  AB contains A;
-          = 'B':  AB contains B.
-
-  UL      CHARACTER*1
-          Indicates whether AB is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  AB is upper Hessenberg;
-          = 'L':  AB is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The order of the matrix B.  M &gt;= 0.
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,M)
-          The leading N-by-M part of this array must contain both
-          the not yet modified part of the coefficient matrix C of
-          the Sylvester equation X + AXB = C, and both the currently
-          computed part of the solution of the Sylvester equation.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,N).
-
-  INDX    (input) INTEGER
-          The position of the column/row of C to be used in the
-          construction of the right-hand side D.
-
-  AB      (input) DOUBLE PRECISION array, dimension (LDAB,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C.
-
-  LDAB    INTEGER
-          The leading dimension of array AB.
-          LDAB &gt;= MAX(1,N) or LDAB &gt;= MAX(1,M) (depending on
-          ABSCHR = 'A' or ABSCHR = 'B', respectively).
-
-  BA      (input) DOUBLE PRECISION array, dimension (LDBA,*)
-          The leading N-by-N or M-by-M part of this array must
-          contain either A or B of the Sylvester equation
-          X + AXB = C, the matrix not contained in AB.
-
-  LDBA    INTEGER
-          The leading dimension of array BA.
-          LDBA &gt;= MAX(1,N) or LDBA &gt;= MAX(1,M) (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively).
-
-  D       (output) DOUBLE PRECISION array, dimension (*)
-          The leading N or M part of this array (depending on
-          ABSCHR = 'B' or ABSCHR = 'A', respectively) contains the
-          right-hand side.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          where LDWORK is equal to N or M (depending on ABSCHR = 'B'
-          or ABSCHR = 'A', respectively).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04RX.html b/doc/_static/doc/SB04RX.html
deleted file mode 100644
index 2be4b9b9..00000000
--- a/doc/_static/doc/SB04RX.html
+++ /dev/null
@@ -1,142 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RX">SB04RX</A></H2>
-<H3>
-Solving a system of equations in quasi-Hessenberg form with two right-hand sides
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in quasi-Hessenberg form
-  (Hessenberg form plus two consecutive offdiagonals) with two
-  right-hand sides.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RX( RC, UL, M, A, LDA, LAMBD1, LAMBD2, LAMBD3,
-     $                   LAMBD4, D, TOL, IWORK, DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBD1, LAMBD2, LAMBD3, LAMBD4, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether A is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  A is upper Hessenberg;
-          = 'L':  A is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBD1, (input) DOUBLE PRECISION
-  LAMBD2, These variables must contain the 2-by-2 block to be
-  LAMBD3, multiplied to the elements of A.
-  LAMBD4
-
-  D       (input/output) DOUBLE PRECISION array, dimension (2*M)
-          On entry, this array must contain the two right-hand
-          side vectors of the quasi-Hessenberg system, stored
-          row-wise.
-          On exit, if INFO = 0, this array contains the two solution
-          vectors of the quasi-Hessenberg system, stored row-wise.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the quasi-Hessenberg matrix.
-          A matrix whose estimated condition number is less
-          than 1/TOL is considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,2*M+3)
-          The leading 2*M-by-2*M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the quasi-Hessenberg matrix. The remaining 6*M elements
-          are used as workspace for the computation of the
-          reciprocal condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.
-          LDDWOR &gt;= MAX(1,2*M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the quasi-Hessenberg matrix is (numerically)
-                singular. That is, its estimated reciprocal
-                condition number is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB04RY.html b/doc/_static/doc/SB04RY.html
deleted file mode 100644
index 1eafeffb..00000000
--- a/doc/_static/doc/SB04RY.html
+++ /dev/null
@@ -1,138 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB04RY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB04RY">SB04RY</A></H2>
-<H3>
-Solving a system of equations in Hessenberg form with one right-hand side
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve a system of equations in Hessenberg form with one
-  right-hand side.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB04RY( RC, UL, M, A, LDA, LAMBDA, D, TOL, IWORK,
-     $                   DWORK, LDDWOR, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         RC, UL
-      INTEGER           INFO, LDA, LDDWOR, M
-      DOUBLE PRECISION  LAMBDA, TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), D(*), DWORK(LDDWOR,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  RC      CHARACTER*1
-          Indicates processing by columns or rows, as follows:
-          = 'R':  Row transformations are applied;
-          = 'C':  Column transformations are applied.
-
-  UL      CHARACTER*1
-          Indicates whether A is upper or lower Hessenberg matrix,
-          as follows:
-          = 'U':  A is upper Hessenberg;
-          = 'L':  A is lower Hessenberg.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrix A.  M &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain a
-          matrix A in Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-  LAMBDA  (input) DOUBLE PRECISION
-          This variable must contain the value to be multiplied with
-          the elements of A.
-
-  D       (input/output) DOUBLE PRECISION array, dimension (M)
-          On entry, this array must contain the right-hand side
-          vector of the Hessenberg system.
-          On exit, if INFO = 0, this array contains the solution
-          vector of the Hessenberg system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the triangular factor R of the Hessenberg matrix. A matrix
-          whose estimated condition number is less than 1/TOL is
-          considered to be nonsingular.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDDWOR,M+3)
-          The leading M-by-M part of this array is used for
-          computing the triangular factor of the QR decomposition
-          of the Hessenberg matrix. The remaining 3*M elements are
-          used as workspace for the computation of the reciprocal
-          condition estimate.
-
-  LDDWOR  INTEGER
-          The leading dimension of array DWORK.  LDDWOR &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 1:  if the Hessenberg matrix is (numerically) singular.
-                That is, its estimated reciprocal condition number
-                is less than or equal to TOL.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB06ND.html b/doc/_static/doc/SB06ND.html
deleted file mode 100644
index f0463b8c..00000000
--- a/doc/_static/doc/SB06ND.html
+++ /dev/null
@@ -1,293 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB06ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB06ND">SB06ND</A></H2>
-<H3>
-Minimum norm feedback matrix for "deadbeat control" of a state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the minimum norm feedback matrix F to perform
-  "deadbeat control" on a (A,B)-pair of a state-space model (which
-  must be preliminarily reduced to upper "staircase" form using
-  SLICOT Library routine AB01OD) such that the matrix R = A + BFU'
-  is nilpotent.
-  (The transformation matrix U reduces R to upper Schur form with
-  zero blocks on its diagonal (of dimension KSTAIR(i)) and
-  therefore contains bases for the i-th controllable subspaces,
-  where i = 1,...,KMAX).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU, F,
-     $                   LDF, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, KMAX, LDA, LDB, LDF, LDU, M, N
-C     .. Array Arguments ..
-      INTEGER           KSTAIR(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), F(LDF,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The actual input dimension.  M &gt;= 0.
-
-  KMAX    (input) INTEGER
-          The number of "stairs" in the staircase form as produced
-          by SLICOT Library routine AB01OD.  0 &lt;= KMAX &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the transformed state-space matrix of the
-          (A,B)-pair with triangular stairs, as produced by SLICOT
-          Library routine AB01OD (with option STAGES = 'A').
-          On exit, the leading N-by-N part of this array contains
-          the matrix U'AU + U'BF.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the transformed triangular input matrix of the
-          (A,B)-pair as produced by SLICOT Library routine AB01OD
-          (with option STAGES = 'A').
-          On exit, the leading N-by-M part of this array contains
-          the matrix U'B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  KSTAIR  (input) INTEGER array, dimension (KMAX)
-          The leading KMAX elements of this array must contain the
-          dimensions of each "stair" as produced by SLICOT Library
-          routine AB01OD.
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain either a transformation matrix (e.g. from a
-          previous call to other SLICOT routine) or be initialised
-          as the identity matrix.
-          On exit, the leading N-by-N part of this array contains
-          the product of the input matrix U and the state-space
-          transformation matrix which reduces A + BFU' to real
-          Schur form.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,N).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the
-          deadbeat feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Starting from the (A,B)-pair in "staircase form" with "triangular"
-  stairs, dimensions KSTAIR(i+1) x KSTAIR(i), (described by the
-  vector KSTAIR):
-
-                 | B | A      *  . . .  *  |
-                 |  1|  11       .      .  |
-                 |   | A     A     .    .  |
-                 |   |  21    22     .  .  |
-                 |   |    .      .     .   |
-   [ B | A ]  =  |   |      .      .    *  |
-                 |   |        .      .     |
-                 | 0 |   0                 |
-                 |   |          A      A   |
-                 |   |           r,r-1  rr |
-
-  where the i-th diagonal block of A has dimension KSTAIR(i), for
-  i = 1,2,...,r, the feedback matrix F is constructed recursively in
-  r steps (where the number of "stairs" r is given by KMAX). In each
-  step a unitary state-space transformation U and a part of F are
-  updated in order to achieve the final form:
-
-                    | 0   A      *   . . .  *   |
-                    |      12      .        .   |
-                    |                .      .   |
-                    |     0    A       .    .   |
-                    |           23       .  .   |
-                    |         .      .          |
-  [ U'AU + U'BF ] = |           .      .    *   | .
-                    |             .      .      |
-                    |                           |
-                    |                     A     |
-                    |                      r-1,r|
-                    |                           |
-                    |                       0   |
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      Deadbeat control: a special inverse eigenvalue problem.
-      BIT, 24, pp. 681-699, 1984.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + M) * N**2) operations and is mixed
-  numerical stable (see [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB06ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDU, LDV, LDF
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
-     $                   LDV = MMAX, LDF = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX + MAX(NMAX,3*MMAX) )
-*     PARAMETER        ( LDWORK = 4*NMAX)
-      DOUBLE PRECISION ZERO, ONE
-      PARAMETER        ( ZERO = 0.0D0, ONE = 1.0D0 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, KMAX, M, N, NCONT
-      CHARACTER*1      JOBU, JOBV
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
-     $                 F(LDF,NMAX), U(LDU,NMAX), V(LDV,MMAX)
-      INTEGER          IWORK(LIWORK), KSTAIR(NMAX)
-C     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         AB01OD, DLASET, SB06ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, TOL, JOBU, JOBV
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-*           First put (A,B) into staircase form with triangular pivots
-*           and determine the stairsizes.
-            CALL AB01OD( 'A', JOBU, JOBV, N, M, A, LDA, B, LDB, U,
-     $                   LDU, V, LDV, NCONT, KMAX, KSTAIR, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-*
-            IF ( INFO.EQ.0 ) THEN
-               IF( LSAME( JOBU, 'N' ) ) THEN
-*                 Initialize U as the identity matrix.
-                  CALL DLASET( 'Full', N, N, ZERO, ONE, U, LDU )
-               END IF
-*              Perform "deadbeat control" to give F.
-               CALL SB06ND( N, M, KMAX, A, LDA, B, LDB, KSTAIR, U, LDU,
-     $                      F, LDF, DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            ELSE
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB06ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from AB01OD = ',I2)
-99997 FORMAT (' INFO on exit from SB06ND = ',I2)
-99996 FORMAT (' The deadbeat feedback matrix F is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB06ND EXAMPLE PROGRAM DATA
-   5     2     0.0     N     N
-  -17.0   24.0   41.0   68.0   15.0
-   23.0  -35.0   27.0   14.0   16.0
-   34.0   26.0  -13.0   20.0   22.0
-   10.0   12.0   19.0  -21.0   63.0
-   11.0   18.0   25.0   52.0  -29.0
-  -31.0   14.0
-   74.0  -69.0
-  -59.0   16.0
-   16.0  -25.0
-  -25.0   36.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB06ND EXAMPLE PROGRAM RESULTS
-
- The deadbeat feedback matrix F is 
-  -0.4819  -0.5782  -2.7595  -3.1093   0.0000
-   0.2121  -0.4462   0.7698  -1.5421  -0.5773
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08CD.html b/doc/_static/doc/SB08CD.html
deleted file mode 100644
index 3e71fe36..00000000
--- a/doc/_static/doc/SB08CD.html
+++ /dev/null
@@ -1,445 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08CD">SB08CD</A></H2>
-<H3>
-Left coprime factorization with inner denominator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), an output
-  injection matrix H, an orthogonal transformation matrix Z, and a
-  gain matrix V, such that the systems
-
-       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), V*C*Z, V*D)
-  and
-       R = (Z'*(A+H*C)*Z, Z'*H, V*C*Z, V)
-
-  provide a stable left coprime factorization of G in the form
-                -1
-           G = R  * Q,
-
-  where G, Q and R are the corresponding transfer-function matrices
-  and the denominator R is co-inner, that is, R(s)*R'(-s) = I in
-  the continuous-time case, or R(z)*R'(1/z) = I in the discrete-time
-  case. The Z matrix is not explicitly computed.
-
-  Note: G must have no observable poles on the imaginary axis
-  for a continuous-time system, or on the unit circle for a
-  discrete-time system. If the given state-space representation
-  is not detectable, the undetectable part of the original
-  system is automatically deflated and the order of the systems
-  Q and R is accordingly reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrices B
-          and BR, and the number of columns of the matrix C.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C, D and DR, and the number of columns
-          of the matrices BR and DR.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A. The matrix A must not
-          have observable eigenvalues on the imaginary axis, if
-          DICO = 'C', or on the unit circle, if DICO = 'D'.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The leading NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
-          input/state matrix of the numerator factor Q.
-          The remaining part of this array is needed as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix V*C*Z, the
-          state/output matrix of the numerator factor Q.
-          The first NR columns of this array represent the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-          The remaining part of this array is needed as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P), if N &gt; 0.
-          LDC &gt;= 1,          if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (LDD,MAX(M,P))
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix.
-          On exit, the leading P-by-M part of this array contains
-          the matrix V*D representing the input/output matrix
-          of the numerator factor Q.
-          The remaining part of this array is needed as workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          unobservable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of observable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
-          The leading NQ-by-P part of this array contains the
-          leading NQ-by-P part of the output injection matrix
-          Z'*H, which reflects the eigenvalues of A lying outside
-          the stable region to values which are symmetric with
-          respect to the imaginary axis (if DICO = 'C') or the unit
-          circle (if DICO = 'D'). The first NR rows of this matrix
-          form the input/state matrix of a minimal realization of
-          the denominator factor R.
-
-  LDBR    INTEGER
-          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
-          The leading P-by-P part of this array contains the lower
-          triangular matrix V representing the input/output matrix
-          of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          C are considered zero (used for observability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
-          the infinity-norm of C.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, P*N + MAX( N*(N+5),P*(P+2),4*P,4*M ) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                along the diagonal;
-          = 3:  if DICO = 'C' and the matrix A has an observable
-                eigenvalue on the imaginary axis, or DICO = 'D' and
-                A has an observable eigenvalue on the unit circle.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine uses the right coprime factorization algorithm with
-  inner denominator of [1] applied to G'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      A Schur method for computing coprime factorizations with
-      inner denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDBR = NMAX,
-     $                   LDC = MPMAX, LDD = MPMAX, LDDR = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
-     $                            PMAX*( PMAX + 2 ), 4*PMAX, 4*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMAX), BR(LDBR,PMAX),
-     $                 C(LDC,NMAX), D(LDD,MPMAX), DR(LDDR,PMAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a RCFID for (A,B,C,D).
-               CALL SB08CD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = 1, NR )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( C(I,J), J = 1, NR )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08CD = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08CD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08CD EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -0.1605   0.0523   0.9423   2.0193   0.4166   0.2518   1.6140
-  -0.4489  -0.1605   1.7955   3.8719  -0.2394   0.0491  -0.8740
-   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
-   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
-   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
-   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
-   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
-
- The numerator input/state matrix BQ is 
-  -1.0157   0.2554
-   0.5523   0.4443
-   0.0056 -11.6989
-   0.0490   4.3728
-  11.7198  -0.0038
-  -2.8173   0.0308
-   3.1018  -0.0009
-
- The numerator state/output matrix CQ is 
-   0.1975  -0.1063  -0.0006  -0.0083   0.1279   0.8797   0.3994
-   0.8541  -0.4513  -0.0007  -0.0041   0.0305  -0.2562   0.0122
-   0.4668   0.8826   0.0248  -0.0506   0.0000   0.0022  -0.0017
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -0.1605   0.0523
-  -0.4489  -0.1605
-
- The denominator input/state matrix BR is 
-  -0.0158  -0.0692  -0.1688
-   0.0306   0.1281  -0.4984
-
- The denominator state/output matrix CR is 
-   0.1975  -0.1063
-   0.8541  -0.4513
-   0.4668   0.8826
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000
-   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08DD.html b/doc/_static/doc/SB08DD.html
deleted file mode 100644
index 936b97aa..00000000
--- a/doc/_static/doc/SB08DD.html
+++ /dev/null
@@ -1,433 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08DD">SB08DD</A></H2>
-<H3>
-Right coprime factorization with inner denominator
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), a feedback matrix
-  F, an orthogonal transformation matrix Z, and a gain matrix V,
-  such that the systems
-
-       Q = (Z'*(A+B*F)*Z, Z'*B*V, (C+D*F)*Z, D*V)
-  and
-       R = (Z'*(A+B*F)*Z, Z'*B*V, F*Z, V)
-
-  provide a stable right coprime factorization of G in the form
-                    -1
-           G = Q * R  ,
-
-  where G, Q and R are the corresponding transfer-function matrices
-  and the denominator R is inner, that is, R'(-s)*R(s) = I in the
-  continuous-time case, or R'(1/z)*R(z) = I in the discrete-time
-  case. The Z matrix is not explicitly computed.
-
-  Note: G must have no controllable poles on the imaginary axis
-  for a continuous-time system, or on the unit circle for a
-  discrete-time system. If the given state-space representation
-  is not stabilizable, the unstabilizable part of the original
-  system is automatically deflated and the order of the systems
-  Q and R is accordingly reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrix B and
-          the number of columns of the matrices C and CR.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B, D and DR and the number of rows of the
-          matrices CR and DR.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C and D.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A. The matrix A must not
-          have controllable eigenvalues on the imaginary axis, if
-          DICO = 'C', or on the unit circle, if DICO = 'D'.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The trailing NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*B*V, the
-          input/state matrix of the numerator factor Q. The last
-          NR rows of this matrix form the input/state matrix of
-          a minimal realization of the denominator factor R.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix (C+D*F)*Z,
-          the state/output matrix of the numerator factor Q.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix.
-          On exit, the leading P-by-M part of this array contains
-          the matrix D*V representing the input/output matrix
-          of the numerator factor Q.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          uncontrollable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of controllable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
-          The leading M-by-NQ part of this array contains the
-          leading M-by-NQ part of the feedback matrix F*Z, which
-          reflects the eigenvalues of A lying outside the stable
-          region to values which are symmetric with respect to the
-          imaginary axis (if DICO = 'C') or the unit circle (if
-          DICO = 'D').  The last NR columns of this matrix form the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-
-  LDCR    INTEGER
-          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
-          The leading M-by-M part of this array contains the upper
-          triangular matrix V of order M representing the
-          input/output matrix of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
-          the 1-norm of B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, N*(N+5), M*(M+2), 4*M, 4*P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal;
-          = 3:  if DICO = 'C' and the matrix A has a controllable
-                eigenvalue on the imaginary axis, or DICO = 'D'
-                and A has a controllable eigenvalue on the unit
-                circle.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the factorization algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      A Schur method for computing coprime factorizations with inner
-      denominators and applications in model reduction.
-      Proc. ACC'93, San Francisco, CA, pp. 2130-2131, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ),
-     $                                 MMAX*( MMAX + 2 ),
-     $                                 4*NMAX, 4*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a RCFID for (A,B,C,D).
-               CALL SB08DD( DICO, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL,
-     $                      DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = NQ-NR+1, NQ )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( CR(I,J), J = NQ-NR+1, NQ )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08DD = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08DD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08DD EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -4.1066  -0.2336
-   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4816   0.2196
-   0.0000   0.0000 -13.1627   0.0608  -0.0218   3.8320   0.3429
-   0.0000   0.0000   0.0000  -3.5957  -3.3373   0.0816  -4.1237
-   0.0000   0.0000   0.0000   0.0000 -12.4245  -0.3133   4.4255
-   0.0000   0.0000   0.0000   0.0000   0.0000  -0.1605  -0.0772
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.3040  -0.1605
-
- The numerator input/state matrix BQ is 
-   5.0302  -0.0063
-   0.7078  -0.0409
- -11.3663   0.0051
-   0.1760   0.5879
-  -0.0265  12.2119
-   1.1050   0.3215
-   0.0066  -2.5822
-
- The numerator state/output matrix CQ is 
-  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2325   0.0265
-   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.8985   0.1406
-  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.0874  -0.5630
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -0.1605  -0.0772
-   0.3040  -0.1605
-
- The denominator input/state matrix BR is 
-   1.1050   0.3215
-   0.0066  -2.5822
-
- The denominator state/output matrix CR is 
-  -0.2288  -0.0259
-  -0.0070   0.1497
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08ED.html b/doc/_static/doc/SB08ED.html
deleted file mode 100644
index 8065d4ec..00000000
--- a/doc/_static/doc/SB08ED.html
+++ /dev/null
@@ -1,447 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08ED">SB08ED</A></H2>
-<H3>
-Left coprime factorization with prescribed stability degree
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), an output
-  injection matrix H and an orthogonal transformation matrix Z, such
-  that the systems
-
-       Q = (Z'*(A+H*C)*Z, Z'*(B+H*D), C*Z, D)
-  and
-       R = (Z'*(A+H*C)*Z, Z'*H, C*Z, I)
-
-  provide a stable left coprime factorization of G in the form
-                -1
-           G = R  * Q,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-  The resulting state dynamics matrix of the systems Q and R has
-  eigenvalues lying inside a given stability domain.
-  The Z matrix is not explicitly computed.
-
-  Note: If the given state-space representation is not detectable,
-  the undetectable part of the original system is automatically
-  deflated and the order of the systems Q and R is accordingly
-  reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, NQ, NR, BR, LDBR, DR, LDDR, TOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDBR, LDC, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), BR(LDBR,*),
-     $                  C(LDC,*), D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrices B
-          and BR, and the number of columns of the matrix C.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C, D and DR, and the number of columns of
-          the matrices BR and DR.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
-          ALPHA(1) contains the desired stability degree to be
-          assigned for the eigenvalues of A+H*C, and ALPHA(2)
-          the stability margin. The eigenvalues outside the
-          ALPHA(2)-stability region will be assigned to have the
-          real parts equal to ALPHA(1) &lt; 0 and unmodified
-          imaginary parts for a continuous-time system
-          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
-          for a discrete-time system (DICO = 'D').
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+H*C)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The leading NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix of the system.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*(B+H*D), the
-          input/state matrix of the numerator factor Q.
-          The remaining part of this array is needed as workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix of the system.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix C*Z, the
-          state/output matrix of the numerator factor Q.
-          The first NR columns of this array represent the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-          The remaining part of this array is needed as workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P), if N &gt; 0.
-          LDC &gt;= 1,          if N = 0.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array must contain the
-          input/output matrix. D represents also the input/output
-          matrix of the numerator factor Q.
-          This array is modified internally, but restored on exit.
-          The remaining part of this array is needed as workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          unobservable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of observable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  BR      (output) DOUBLE PRECISION array, dimension (LDBR,P)
-          The leading NQ-by-P part of this array contains the
-          leading NQ-by-P part of the output injection matrix
-          Z'*H, which moves the eigenvalues of A lying outside
-          the ALPHA-stable region to values on the ALPHA-stability
-          boundary. The first NR rows of this matrix form the
-          input/state matrix of a minimal realization of the
-          denominator factor R.
-
-  LDBR    INTEGER
-          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,P)
-          The leading P-by-P part of this array contains an
-          identity matrix representing the input/output matrix
-          of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          C are considered zero (used for observability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(C),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(C) denotes
-          the infinity-norm of C.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX( 1, N*P + MAX( N*(N+5), 5*P, 4*M ) ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(H) &lt;= 10*NORM(A)/NORM(C) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + H*C)*Z
-                along the diagonal.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine uses the right coprime factorization algorithm
-  of [1] applied to G'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMAX
-      PARAMETER        ( MPMAX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDBR, LDC, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MPMAX,
-     $                   LDD = MPMAX, LDBR = NMAX, LDDR = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*PMAX + MAX( NMAX*( NMAX + 5 ),
-     $                                             5*PMAX, 4*MMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MPMAX),
-     $                 BR(LDBR,PMAX), C(LDC,NMAX), D(LDD,MPMAX),
-     $                 DR(LDDR,PMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
-      ALPHA(2) = ALPHA(1)
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a LCF for (A,B,C,D).
-               CALL SB08ED( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
-     $                      LDC, D, LDD, NQ, NR, BR, LDBR, DR, LDDR,
-     $                      TOL, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = 1, NR )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( BR(I,J), J = 1, P )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( C(I,J), J = 1, NR )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, P )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08ED = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08ED EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3 -1.0   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08ED EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -1.0000   0.0526  -0.1408  -0.3060   0.4199   0.2408   1.7274
-  -0.4463  -1.0000   2.0067   4.3895   0.0062   0.1813   0.0895
-   0.0000   0.0000 -12.4245   3.5463  -0.0057   0.0254  -0.0053
-   0.0000   0.0000   0.0000  -3.5957  -0.0153  -0.0290  -0.0616
-   0.0000   0.0000   0.0000   0.0000 -13.1627  -1.9835  -3.6182
-   0.0000   0.0000   0.0000   0.0000   0.0000  -1.4178   5.6218
-   0.0000   0.0000   0.0000   0.0000   0.0000  -0.8374  -1.4178
-
- The numerator input/state matrix BQ is 
-  -1.1544  -0.0159
-  -0.0631   0.5122
-   0.0056 -11.6989
-   0.0490   4.3728
-  11.7198  -0.0038
-  -2.8173   0.0308
-   3.1018  -0.0009
-
- The numerator state/output matrix CQ is 
-   0.2238   0.0132  -0.0006  -0.0083   0.1279   0.8797   0.3994
-   0.9639   0.0643  -0.0007  -0.0041   0.0305  -0.2562   0.0122
-  -0.0660   0.9962   0.0248  -0.0506   0.0000   0.0022  -0.0017
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -1.0000   0.0526
-  -0.4463  -1.0000
-
- The denominator input/state matrix BR is 
-  -0.2623  -1.1297   0.0764
-  -0.0155  -0.0752  -1.1676
-
- The denominator state/output matrix CR is 
-   0.2238   0.0132
-   0.9639   0.0643
-  -0.0660   0.9962
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000   0.0000
-   0.0000   1.0000   0.0000
-   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08FD.html b/doc/_static/doc/SB08FD.html
deleted file mode 100644
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--- a/doc/_static/doc/SB08FD.html
+++ /dev/null
@@ -1,433 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08FD">SB08FD</A></H2>
-<H3>
-Right coprime factorization with prescribed stability degree
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct, for a given system G = (A,B,C,D), a feedback
-  matrix F and an orthogonal transformation matrix Z, such that
-  the systems
-
-       Q = (Z'*(A+B*F)*Z, Z'*B, (C+D*F)*Z, D)
-  and
-       R = (Z'*(A+B*F)*Z, Z'*B, F*Z, I)
-
-  provide a stable right coprime factorization of G in the form
-                    -1
-           G = Q * R  ,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-  The resulting state dynamics matrix of the systems Q and R has
-  eigenvalues lying inside a given stability domain.
-  The Z matrix is not explicitly computed.
-
-  Note: If the given state-space representation is not stabilizable,
-  the unstabilizable part of the original system is automatically
-  deflated and the order of the systems Q and R is accordingly
-  reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, NQ, NR, CR, LDCR, DR, LDDR, TOL, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDCR, LDD, LDDR,
-     $                  LDWORK, M, N, NQ, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHA(*), B(LDB,*), C(LDC,*),
-     $                  CR(LDCR,*), D(LDD,*), DR(LDDR,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the state vector, i.e. the order of the
-          matrix A, and also the number of rows of the matrix B and
-          the number of columns of the matrices C and CR.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B, D and DR and the number of rows of the
-          matrices CR and DR.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows
-          of the matrices C and D.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION array, dimension (2)
-          ALPHA(1) contains the desired stability degree to be
-          assigned for the eigenvalues of A+B*F, and ALPHA(2)
-          the stability margin. The eigenvalues outside the
-          ALPHA(2)-stability region will be assigned to have the
-          real parts equal to ALPHA(1) &lt; 0 and unmodified
-          imaginary parts for a continuous-time system
-          (DICO = 'C'), or moduli equal to 0 &lt;= ALPHA(2) &lt; 1
-          for a discrete-time system (DICO = 'D').
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading NQ-by-NQ part of this array contains
-          the leading NQ-by-NQ part of the matrix Z'*(A+B*F)*Z, the
-          state dynamics matrix of the numerator factor Q, in a
-          real Schur form. The trailing NR-by-NR part of this matrix
-          represents the state dynamics matrix of a minimal
-          realization of the denominator factor R.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix.
-          On exit, the leading NQ-by-M part of this array contains
-          the leading NQ-by-M part of the matrix Z'*B, the
-          input/state matrix of the numerator factor Q. The last
-          NR rows of this matrix form the input/state matrix of
-          a minimal realization of the denominator factor R.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-NQ part of this array contains
-          the leading P-by-NQ part of the matrix (C+D*F)*Z,
-          the state/output matrix of the numerator factor Q.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix. D represents also the input/output
-          matrix of the numerator factor Q.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  NQ      (output) INTEGER
-          The order of the resulting factors Q and R.
-          Generally, NQ = N - NS, where NS is the number of
-          uncontrollable eigenvalues outside the stability region.
-
-  NR      (output) INTEGER
-          The order of the minimal realization of the factor R.
-          Generally, NR is the number of controllable eigenvalues
-          of A outside the stability region (the number of modified
-          eigenvalues).
-
-  CR      (output) DOUBLE PRECISION array, dimension (LDCR,N)
-          The leading M-by-NQ part of this array contains the
-          leading M-by-NQ part of the feedback matrix F*Z, which
-          moves the eigenvalues of A lying outside the ALPHA-stable
-          region to values which are on the ALPHA-stability
-          boundary.  The last NR columns of this matrix form the
-          state/output matrix of a minimal realization of the
-          denominator factor R.
-
-  LDCR    INTEGER
-          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
-
-  DR      (output) DOUBLE PRECISION array, dimension (LDDR,M)
-          The leading M-by-M part of this array contains an
-          identity matrix representing the input/output matrix
-          of the denominator factor R.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The absolute tolerance level below which the elements of
-          B are considered zero (used for controllability tests).
-          If the user sets TOL &lt;= 0, then an implicitly computed,
-          default tolerance, defined by  TOLDEF = N*EPS*NORM(B),
-          is used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH) and NORM(B) denotes
-          the 1-norm of B.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LWORK &gt;= MAX( 1, N*(N+5), 5*M, 4*P ).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = K:  K violations of the numerical stability condition
-                NORM(F) &lt;= 10*NORM(A)/NORM(B) occured during the
-                assignment of eigenvalues.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A to a real Schur form failed;
-          = 2:  a failure was detected during the ordering of the
-                real Schur form of A, or in the iterative process
-                for reordering the eigenvalues of Z'*(A + B*F)*Z
-                along the diagonal.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the factorization algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                         3
-  The algorithm requires no more than 14N  floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDCR, LDD, LDDR
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDCR = MMAX, LDD = PMAX, LDDR = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX*( NMAX + 5 ), 5*MMAX,
-     $                                 4*PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, IWARN, J, M, N, NQ, NR, P
-      CHARACTER*1      DICO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), ALPHA(2), B(LDB,MMAX), C(LDC,NMAX),
-     $                 CR(LDCR,NMAX), D(LDD,MMAX), DR(LDDR,MMAX),
-     $                 DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB08FD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA(1), TOL, DICO
-      ALPHA(2) = ALPHA(1)
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1, N ), I = 1, N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1, M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1, N ), I = 1, P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1, M ), I = 1, P )
-*              Find a RCF for (A,B,C,D).
-               CALL SB08FD( DICO, N, M, P, ALPHA, A, LDA, B, LDB, C,
-     $                      LDC, D, LDD, NQ, NR, CR, LDCR, DR, LDDR,
-     $                      TOL, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1, NQ )
-   20             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   40             CONTINUE
-                  IF( NQ.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1, NQ )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1, M )
-   70             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99986 )
-                  DO 80 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( A(I,J), J = NQ-NR+1, NQ )
-   80             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99985 )
-                  DO 90 I = NQ-NR+1, NQ
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1, M )
-   90             CONTINUE
-                  IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99984 )
-                  DO 100 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( CR(I,J), J = NQ-NR+1, NQ )
-  100             CONTINUE
-                  WRITE ( NOUT, FMT = 99983 )
-                  DO 110 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( DR(I,J), J = 1, M )
-  110             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB08FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08FD = ',I2)
-99996 FORMAT (/' The numerator state dynamics matrix AQ is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The numerator input/state matrix BQ is ')
-99992 FORMAT (/' The numerator state/output matrix CQ is ')
-99991 FORMAT (/' The numerator input/output matrix DQ is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99986 FORMAT (/' The denominator state dynamics matrix AR is ')
-99985 FORMAT (/' The denominator input/state matrix BR is ')
-99984 FORMAT (/' The denominator state/output matrix CR is ')
-99983 FORMAT (/' The denominator input/output matrix DR is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08FD EXAMPLE PROGRAM DATA (Continuous system)
-  7  2  3 -1.0   1.E-10 C
- -0.04165  0.0000  4.9200   0.4920  0.0000   0.0000  0.0000
- -5.2100  -12.500  0.0000   0.0000  0.0000   0.0000  0.0000
-  0.0000   3.3300 -3.3300   0.0000  0.0000   0.0000  0.0000
-  0.5450   0.0000  0.0000   0.0000  0.0545   0.0000  0.0000
-  0.0000   0.0000  0.0000  -0.49200 0.004165 0.0000  4.9200
-  0.0000   0.0000  0.0000   0.0000  0.5210  -12.500  0.0000
-  0.0000   0.0000  0.0000   0.0000  0.0000   3.3300 -3.3300
-  0.0000   0.0000
-  12.500   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   0.0000
-  0.0000   12.500
-  0.0000   0.0000
-  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
-  0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000
-  0.0000   0.0000  
-  0.0000   0.0000  
-  0.0000   0.0000  
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08FD EXAMPLE PROGRAM RESULTS
-
-
- The numerator state dynamics matrix AQ is 
-  -1.4178  -5.1682   3.2450  -0.2173   0.0564  -3.2129  -3.6183
-   0.9109  -1.4178  -2.1262   0.1231   0.0805  -0.4392  -0.2528
-   0.0000   0.0000 -13.1627   0.0608  -0.0218   2.3461   5.8272
-   0.0000   0.0000   0.0000  -3.5957  -3.3373   1.3622  -3.6083
-   0.0000   0.0000   0.0000   0.0000 -12.4245  -9.8634   8.1191
-   0.0000   0.0000   0.0000   0.0000   0.0000  -1.0000  -0.0135
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.7393  -1.0000
-
- The numerator input/state matrix BQ is 
-   5.0302  -0.0063
-   0.7078  -0.0409
- -11.3663   0.0051
-   0.1760   0.5879
-  -0.0265  12.2119
-   1.0104   1.3262
-   0.4474  -2.2388
-
- The numerator state/output matrix CQ is 
-  -0.8659   0.2787  -0.3432   0.0020   0.0000   0.2026   0.1172
-   0.0797  -0.3951   0.0976  -0.0292   0.0062   0.7676   0.4879
-  -0.0165  -0.0645   0.0097   0.8032  -0.1602   0.3050  -0.4812
-
- The numerator input/output matrix DQ is 
-   0.0000   0.0000
-   0.0000   0.0000
-   0.0000   0.0000
-
- The denominator state dynamics matrix AR is 
-  -1.0000  -0.0135
-   1.7393  -1.0000
-
- The denominator input/state matrix BR is 
-   1.0104   1.3262
-   0.4474  -2.2388
-
- The denominator state/output matrix CR is 
-  -0.1091  -0.4653
-  -0.7055   0.4766
-
- The denominator input/output matrix DR is 
-   1.0000   0.0000
-   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08GD.html b/doc/_static/doc/SB08GD.html
deleted file mode 100644
index e00edf87..00000000
--- a/doc/_static/doc/SB08GD.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08GD">SB08GD</A></H2>
-<H3>
-State-space representation of a left coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the state-space representation for the system
-  G = (A,B,C,D) from the factors Q = (AQR,BQ,CQR,DQ) and
-  R = (AQR,BR,CQR,DR) of its left coprime factorization
-                -1
-           G = R  * Q,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08GD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, BR,
-     $                   LDBR, DR, LDDR, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDBR, LDC, LDD, LDDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), BR(LDBR,*), C(LDC,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. Also the number of rows of the
-          matrices B and BR and the number of columns of the matrix
-          C. N represents the order of the systems Q and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector, i.e. the number of columns
-          of the matrices B and D.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector, i.e. the number of rows of
-          the matrices C, D and DR and the number of columns of the
-          matrices BR and DR.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix AQR of the systems
-          Q and R.
-          On exit, the leading N-by-N part of this array contains
-          the state dynamics matrix of the system G.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix BQ of the system Q.
-          On exit, the leading N-by-M part of this array contains
-          the input/state matrix of the system G.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix CQR of the systems
-          Q and R.
-          On exit, the leading P-by-N part of this array contains
-          the state/output matrix of the system G.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix DQ of the system Q.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix of the system G.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  BR      (input) DOUBLE PRECISION array, dimension (LDBR,P)
-          The leading N-by-P part of this array must contain the
-          input/state matrix BR of the system R.
-
-  LDBR    INTEGER
-          The leading dimension of array BR.  LDBR &gt;= MAX(1,N).
-
-  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,P)
-          On entry, the leading P-by-P part of this array must
-          contain the input/output matrix DR of the system R.
-          On exit, the leading P-by-P part of this array contains
-          the LU factorization of the matrix DR, as computed by
-          LAPACK Library routine DGETRF.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*P))
-          On exit, DWORK(1) contains an estimate of the reciprocal
-          condition number of the matrix DR.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix DR is singular;
-          = 2:  the matrix DR is numerically singular (warning);
-                the calculations continued.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine computes the matrices of the state-space
-  representation G = (A,B,C,D) by using the formulas:
-
-                   -1              -1
-  A = AQR - BR * DR  * CQR,  C = DR  * CQR,
-                   -1              -1
-  B = BQ  - BR * DR  * DQ,   D = DR  * DQ.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08HD.html b/doc/_static/doc/SB08HD.html
deleted file mode 100644
index 42ddfc3f..00000000
--- a/doc/_static/doc/SB08HD.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08HD">SB08HD</A></H2>
-<H3>
-State-space representation of a right coprime factorization
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the state-space representation for the system
-  G = (A,B,C,D) from the factors Q = (AQR,BQR,CQ,DQ) and
-  R = (AQR,BQR,CR,DR) of its right coprime factorization
-                    -1
-           G = Q * R  ,
-
-  where G, Q and R are the corresponding transfer-function matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08HD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, CR,
-     $                   LDCR, DR, LDDR, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDCR, LDD, LDDR, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), CR(LDCR,*),
-     $                  D(LDD,*), DR(LDDR,*), DWORK(*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A. Also the number of rows of the
-          matrix B and the number of columns of the matrices C and
-          CR. N represents the order of the systems Q and R.
-          N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of input vector. Also the number of columns
-          of the matrices B, D and DR and the number of rows of the
-          matrices CR and DR.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of output vector. Also the number of rows
-          of the matrices C and D.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix AQR of the systems
-          Q and R.
-          On exit, the leading N-by-N part of this array contains
-          the state dynamics matrix of the system G.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix BQR of the systems Q and R.
-          On exit, the leading N-by-M part of this array contains
-          the input/state matrix of the system G.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix CQ of the system Q.
-          On exit, the leading P-by-N part of this array contains
-          the state/output matrix of the system G.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the input/output matrix DQ of the system Q.
-          On exit, the leading P-by-M part of this array contains
-          the input/output matrix of the system G.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  CR      (input) DOUBLE PRECISION array, dimension (LDCR,N)
-          The leading M-by-N part of this array must contain the
-          state/output matrix CR of the system R.
-
-  LDCR    INTEGER
-          The leading dimension of array CR.  LDCR &gt;= MAX(1,M).
-
-  DR      (input/output) DOUBLE PRECISION array, dimension (LDDR,M)
-          On entry, the leading M-by-M part of this array must
-          contain the input/output matrix DR of the system R.
-          On exit, the leading M-by-M part of this array contains
-          the LU factorization of the matrix DR, as computed by
-          LAPACK Library routine DGETRF.
-
-  LDDR    INTEGER
-          The leading dimension of array DR.  LDDR &gt;= MAX(1,M).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(1,4*M))
-          On exit, DWORK(1) contains an estimate of the reciprocal
-          condition number of the matrix DR.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the matrix DR is singular;
-          = 2:  the matrix DR is numerically singular (warning);
-                the calculations continued.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine computes the matrices of the state-space
-  representation G = (A,B,C,D) by using the formulas:
-
-                    -1                   -1
-  A = AQR - BQR * DR  * CR,  B = BQR * DR  ,
-                   -1                   -1
-  C = CQ  - DQ * DR  * CR,   D = DQ * DR  .
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga A.
-      Coprime factors model reduction method based on
-      square-root balancing-free techniques.
-      System Analysis, Modelling and Simulation,
-      vol. 11, pp. 303-311, 1993.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08MD.html b/doc/_static/doc/SB08MD.html
deleted file mode 100644
index ea7a1aa3..00000000
--- a/doc/_static/doc/SB08MD.html
+++ /dev/null
@@ -1,293 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08MD">SB08MD</A></H2>
-<H3>
-Spectral factorization of polynomials (continuous-time case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a real polynomial E(s) such that
-
-     (a)  E(-s) * E(s) = A(-s) * A(s) and
-     (b)  E(s) is stable - that is, all the zeros of E(s) have
-          non-positive real parts,
-
-  which corresponds to computing the spectral factorization of the
-  real polynomial A(s) arising from continuous optimality problems.
-
-  The input polynomial may be supplied either in the form
-
-     A(s) = a(0) + a(1) * s + ... + a(DA) * s**DA
-
-  or as
-
-     B(s) = A(-s) * A(s)
-          = b(0) + b(1) * s**2  + ... + b(DA) * s**(2*DA)        (1)
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ACONA
-      INTEGER           DA, INFO, LDWORK
-      DOUBLE PRECISION  RES
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), DWORK(*), E(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ACONA   CHARACTER*1
-          Indicates whether the coefficients of A(s) or B(s) =
-          A(-s) * A(s) are to be supplied as follows:
-          = 'A':  The coefficients of A(s) are to be supplied;
-          = 'B':  The coefficients of B(s) are to be supplied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DA      (input) INTEGER
-          The degree of the polynomials A(s) and E(s).  DA &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
-          On entry, this array must contain either the coefficients
-          of the polynomial A(s) in increasing powers of s if
-          ACONA = 'A', or the coefficients of the polynomial B(s) in
-          increasing powers of s**2 (see equation (1)) if ACONA =
-          'B'.
-          On exit, this array contains the coefficients of the
-          polynomial B(s) in increasing powers of s**2.
-
-  RES     (output) DOUBLE PRECISION
-          An estimate of the accuracy with which the coefficients of
-          the polynomial E(s) have been computed (see also METHOD
-          and NUMERICAL ASPECTS).
-
-  E       (output) DOUBLE PRECISION array, dimension (DA+1)
-          The coefficients of the spectral factor E(s) in increasing
-          powers of s.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if on entry, A(I) = 0.0, for I = 1,2,...,DA+1.
-          = 2:  if on entry, ACONA = 'B' but the supplied
-                coefficients of the polynomial B(s) are not the
-                coefficients of A(-s) * A(s) for some real A(s);
-                in this case, RES and E are unassigned;
-          = 3:  if the iterative process (see METHOD) has failed to
-                converge in 30 iterations;
-          = 4:  if the last computed iterate (see METHOD) is
-                unstable. If ACONA = 'B', then the supplied
-                coefficients of the polynomial B(s) may not be the
-                coefficients of A(-s) * A(s) for some real A(s).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>      _                                               _
-  Let A(s) be the conjugate polynomial of A(s), i.e., A(s) = A(-s).
-
-  The method used by the routine is based on applying the
-  Newton-Raphson iteration to the function
-            _       _
-     F(e) = A * A - e * e,
-
-  which leads to the iteration formulae (see [1]):
-
-     _(i)   (i)  _(i)   (i)     _      )
-     q   * x   + x   * q    = 2 A * A  )
-                                       )   for i = 0, 1, 2,...
-      (i+1)    (i)   (i)               )
-     q     = (q   + x   )/2            )
-
-                 (0)         DA
-  Starting from q   = (1 + s)   (which has no zeros in the closed
-                                               (1)   (2)   (3)
-  right half-plane), the sequence of iterates q   , q   , q   ,...
-  converges to a solution of F(e) = 0 which has no zeros in the
-  open right half-plane.
-
-  The iterates satisfy the following conditions:
-
-           (i)
-     (a)  q   is a stable polynomial (no zeros in the closed right
-          half-plane) and
-
-           (i)        (i-1)
-     (b)  q   (1) &lt;= q     (1).
-
-                                    (i-1)                       (i)
-  The iterative process stops with q     , (where i &lt;= 30)  if q
-  violates either (a) or (b), or if the condition
-                    _(i) (i)  _
-     (c)  RES  = ||(q   q   - A A)|| &lt; tol,
-
-  is satisfied, where || . || denotes the largest coefficient of
-                  _(i) (i)  _
-  the polynomial (q   q   - A A) and tol is an estimate of the
-                                                 _(i)  (i)
-  rounding error in the computed coefficients of q    q   . If there
-  is no convergence after 30 iterations then the routine returns
-  with the Error Indicator (INFO) set to 3, and the value of RES may
-  indicate whether or not the last computed iterate is close to the
-  solution.
-
-  If ACONA = 'B', then it is possible that the equation e(-s) *
-  e(s) = B(s) has no real solution, which will be the case if A(1)
-  &lt; 0 or if ( -1)**DA * A(DA+1) &lt; 0.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Vostry, Z.
-      New Algorithm for Polynomial Spectral Factorization with
-      Quadratic Convergence II.
-      Kybernetika, 12, pp. 248-259, 1976.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The conditioning of the problem depends upon the distance of the
-  zeros of A(s) from the imaginary axis and on their multiplicity.
-  For a well-conditioned problem the accuracy of the computed
-  coefficients of E(s) is of the order of RES. However, for problems
-  with zeros near the imaginary axis or with multiple zeros, the
-  value of RES may be an overestimate of the true accuracy.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In order for the problem e(-s) * e(s) = B(s) to have a real
-  solution e(s), it is necessary and sufficient that B(j*omega)
-  &gt;= 0 for any purely imaginary argument j*omega (see [1]).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DAMAX
-      PARAMETER        ( DAMAX = 10 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 5*DAMAX+5 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RES
-      INTEGER          DA, I, INFO
-      CHARACTER*1      ACONA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB08MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      READ ( NIN, FMT = '()' )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = * ) DA, ACONA
-      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DA
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
-*        Compute the spectral factorization of the given polynomial.
-         CALL SB08MD( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( ACONA, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 0, DA
-                  WRITE ( NOUT, FMT = 99995 ) 2*I, A(I+1)
-   20          CONTINUE
-               WRITE ( NOUT, FMT = * )
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40 I = 0, DA
-               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) RES
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' SB08MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08MD = ',I2)
-99997 FORMAT (' The coefficients of the polynomial B(s) are ',//' powe',
-     $       'r of s     coefficient ')
-99996 FORMAT (' The coefficients of the spectral factor E(s) are ',
-     $       //' power of s     coefficient ')
-99995 FORMAT (2X,I5,9X,F9.4)
-99994 FORMAT (/' RES = ',1P,E8.1)
-99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08MD EXAMPLE PROGRAM DATA
-   3     A
-   8.0  -6.0  -3.0  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08MD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial B(s) are 
-
- power of s     coefficient 
-      0           64.0000
-      2          -84.0000
-      4           21.0000
-      6           -1.0000
- 
- The coefficients of the spectral factor E(s) are 
-
- power of s     coefficient 
-      0            8.0000
-      1           14.0000
-      2            7.0000
-      3            1.0000
-
- RES =  2.7E-15
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB08ND.html b/doc/_static/doc/SB08ND.html
deleted file mode 100644
index 52ad4c7d..00000000
--- a/doc/_static/doc/SB08ND.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB08ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB08ND">SB08ND</A></H2>
-<H3>
-Spectral factorization of polynomials (discrete-time case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a real polynomial E(z) such that
-
-     (a)  E(1/z) * E(z) = A(1/z) * A(z) and
-     (b)  E(z) is stable - that is, E(z) has no zeros with modulus
-          greater than 1,
-
-  which corresponds to computing the spectral factorization of the
-  real polynomial A(z) arising from discrete optimality problems.
-
-  The input polynomial may be supplied either in the form
-
-  A(z) = a(0) + a(1) * z + ... + a(DA) * z**DA
-
-  or as
-
-  B(z) = A(1/z) * A(z)
-       = b(0) + b(1) * (z + 1/z) + ... + b(DA) * (z**DA + 1/z**DA)
-                                                                 (1)
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ACONA
-      INTEGER           DA, INFO, LDWORK
-      DOUBLE PRECISION  RES
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), DWORK(*), E(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ACONA   CHARACTER*1
-          Indicates whether the coefficients of A(z) or B(z) =
-          A(1/z) * A(z) are to be supplied as follows:
-          = 'A':  The coefficients of A(z) are to be supplied;
-          = 'B':  The coefficients of B(z) are to be supplied.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DA      (input) INTEGER
-          The degree of the polynomials A(z) and E(z).  DA &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (DA+1)
-          On entry, if ACONA = 'A', this array must contain the
-          coefficients of the polynomial A(z) in increasing powers
-          of z, and if ACONA = 'B', this array must contain the
-          coefficients b ,b ,...,b   of the polynomial B(z) in
-                        0  1      DA
-          equation (1). That is, A(i) = b    for i = 1,2,...,DA+1.
-                                         i-1
-          On exit, this array contains the coefficients of the
-          polynomial B(z) in eqation (1). Specifically, A(i)
-          contains b   ,  for i = 1,2,...DA+1.
-                    i-1
-
-  RES     (output) DOUBLE PRECISION
-          An estimate of the accuracy with which the coefficients of
-          the polynomial E(z) have been computed (see also METHOD
-          and NUMERICAL ASPECTS).
-
-  E       (output) DOUBLE PRECISION array, dimension (DA+1)
-          The coefficients of the spectral factor E(z) in increasing
-          powers of z.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 5*DA+5.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 2:  if on entry, ACONA = 'B' but the supplied
-                coefficients of the polynomial B(z) are not the
-                coefficients of A(1/z) * A(z) for some real A(z);
-                in this case, RES and E are unassigned;
-          = 3:  if the iterative process (see METHOD) has failed to
-                converge in 30 iterations;
-          = 4:  if the last computed iterate (see METHOD) is
-                unstable. If ACONA = 'B', then the supplied
-                coefficients of the polynomial B(z) may not be the
-                coefficients of A(1/z) * A(z) for some real A(z).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>      _                                               _
-  Let A(z) be the conjugate polynomial of A(z), i.e., A(z) = A(1/z).
-
-  The method used by the routine is based on applying the
-  Newton-Raphson iteration to the function
-            _       _
-     F(e) = A * A - e * e,
-
-  which leads to the iteration formulae (see [1] and [2])
-
-     _(i)   (i)  _(i)   (i)     _      )
-     q   * x   + x   * q    = 2 A * A  )
-                                       )   for i = 0, 1, 2,...
-      (i+1)    (i)   (i)               )
-     q     = (q   + x   )/2            )
-
-  The iteration starts from
-
-      (0)                                        DA
-     q   (z) = (b(0) + b(1) * z + ... + b(DA) * z  ) / SQRT( b(0))
-
-  which is a Hurwitz polynomial that has no zeros in the closed unit
-                                         (i)
-  circle (see [2], Theorem 3). Then lim q   = e, the convergence is
-  uniform and e is a Hurwitz polynomial.
-
-  The iterates satisfy the following conditions:
-           (i)
-     (a)  q    has no zeros in the closed unit circle,
-           (i)     (i-1)
-     (b)  q    &lt;= q     and
-           0       0
-           DA   (i) 2    DA     2
-     (c)  SUM (q   )  - SUM (A )  &gt;= 0.
-          k=0   k       k=0   k
-                                  (i)
-  The iterative process stops if q    violates (a), (b) or (c),
-  or if the condition
-                    _(i) (i)  _
-     (d)  RES  = ||(q   q   - A A)|| &lt; tol,
-
-  is satisfied, where || . || denotes the largest coefficient of
-                  _(i) (i)  _
-  the polynomial (q   q   - A A) and tol is an estimate of the
-                                                 _(i)  (i)
-  rounding error in the computed coefficients of q    q   . If
-                                         (i-1)
-  condition (a) or (b) is violated then q      is taken otherwise
-   (i)
-  q    is used. Thus the computed reciprocal polynomial E(z) = z**DA
-  * q(1/z) is stable. If there is no convergence after 30 iterations
-  then the routine returns with the Error Indicator (INFO) set to 3,
-  and the value of RES may indicate whether or not the last computed
-  iterate is close to the solution.
-                                            (0)
-  If ACONA = 'B', then it is possible that q    is not a Hurwitz
-  polynomial, in which case the equation e(1/z) * e(z) = B(z) has no
-  real solution (see [2], Theorem 3).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kucera, V.
-      Discrete Linear Control, The polynomial Approach.
-      John Wiley & Sons, Chichester, 1979.
-
-  [2] Vostry, Z.
-      New Algorithm for Polynomial Spectral Factorization with
-      Quadratic Convergence I.
-      Kybernetika, 11, pp. 415-422, 1975.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB08ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          DAMAX
-      PARAMETER        ( DAMAX = 10 )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 5*DAMAX+5 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RES
-      INTEGER          DA, I, INFO
-      CHARACTER*1      ACONA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(DAMAX+1), DWORK(LDWORK), E(DAMAX+1)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SB08ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-      READ ( NIN, FMT = '()' )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = * ) DA, ACONA
-      IF ( DA.LE.-1 .OR. DA.GT.DAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DA
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,DA+1 )
-*        Compute the spectral factorization of the given polynomial.
-         CALL SB08ND( ACONA, DA, A, RES, E, DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME( ACONA, 'A' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 )
-               DO 20 I = 0, DA
-                  WRITE ( NOUT, FMT = 99995 ) I, A(I+1)
-   20          CONTINUE
-               WRITE ( NOUT, FMT = * )
-            END IF
-            WRITE ( NOUT, FMT = 99996 )
-            DO 40 I = 0, DA
-               WRITE ( NOUT, FMT = 99995 ) I, E(I+1)
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99994 ) RES
-         END IF
-      END IF
-*
-      STOP
-*
-99999 FORMAT (' SB08ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB08ND = ',I2)
-99997 FORMAT (' The coefficients of the polynomial B(z) are ',//' powe',
-     $       'r of z     coefficient ')
-99996 FORMAT (' The coefficients of the spectral factor E(z) are ',
-     $       //' power of z     coefficient ')
-99995 FORMAT (2X,I5,9X,F9.4)
-99994 FORMAT (/' RES = ',1P,E8.1)
-99993 FORMAT (/' DA is out of range.',/' DA = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB08ND EXAMPLE PROGRAM DATA
-   2     A
-   2.0  4.5  1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB08ND EXAMPLE PROGRAM RESULTS
-
- The coefficients of the polynomial B(z) are 
-
- power of z     coefficient 
-      0           25.2500
-      1           13.5000
-      2            2.0000
- 
- The coefficients of the spectral factor E(z) are 
-
- power of z     coefficient 
-      0            0.5000
-      1            3.0000
-      2            4.0000
-
- RES =  4.4E-16
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB09MD.html b/doc/_static/doc/SB09MD.html
deleted file mode 100644
index 2e30961c..00000000
--- a/doc/_static/doc/SB09MD.html
+++ /dev/null
@@ -1,257 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB09MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB09MD">SB09MD</A></H2>
-<H3>
-Evaluation of closeness of two multivariable sequences
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compare two multivariable sequences M1(k) and M2(k) for
-  k = 1,2,...,N, and evaluate their closeness. Each of the
-  parameters M1(k) and M2(k) is an NC by NB matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE,
-     $                   LDSE, PRE, LDPRE, TOL, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH1, LDH2, LDPRE, LDSE, LDSS, N, NB, NC
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H1(LDH1,*), H2(LDH2,*), PRE(LDPRE,*),
-     $                  SE(LDSE,*), SS(LDSS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of parameters.  N &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of rows in M1(k) and M2(k).  NC &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of columns in M1(k) and M2(k).  NB &gt;= 0.
-
-  H1      (input) DOUBLE PRECISION array, dimension (LDH1,N*NB)
-          The leading NC-by-N*NB part of this array must contain
-          the multivariable sequence M1(k), where k = 1,2,...,N.
-          Each parameter M1(k) is an NC-by-NB matrix, whose
-          (i,j)-th element must be stored in H1(i,(k-1)*NB+j) for
-          i = 1,2,...,NC and j = 1,2,...,NB.
-
-  LDH1    INTEGER
-          The leading dimension of array H1.  LDH1 &gt;= MAX(1,NC).
-
-  H2      (input) DOUBLE PRECISION array, dimension (LDH2,N*NB)
-          The leading NC-by-N*NB part of this array must contain
-          the multivariable sequence M2(k), where k = 1,2,...,N.
-          Each parameter M2(k) is an NC-by-NB matrix, whose
-          (i,j)-th element must be stored in H2(i,(k-1)*NB+j) for
-          i = 1,2,...,NC and j = 1,2,...,NB.
-
-  LDH2    INTEGER
-          The leading dimension of array H2.  LDH2 &gt;= MAX(1,NC).
-
-  SS      (output) DOUBLE PRECISION array, dimension (LDSS,NB)
-          The leading NC-by-NB part of this array contains the
-          matrix SS.
-
-  LDSS    INTEGER
-          The leading dimension of array SS.  LDSS &gt;= MAX(1,NC).
-
-  SE      (output) DOUBLE PRECISION array, dimension (LDSE,NB)
-          The leading NC-by-NB part of this array contains the
-          quadratic error matrix SE.
-
-  LDSE    INTEGER
-          The leading dimension of array SE.  LDSE &gt;= MAX(1,NC).
-
-  PRE     (output) DOUBLE PRECISION array, dimension (LDPRE,NB)
-          The leading NC-by-NB part of this array contains the
-          percentage relative error matrix PRE.
-
-  LDPRE   INTEGER
-          The leading dimension of array PRE.  LDPRE &gt;= MAX(1,NC).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in the computation of the error
-          matrices SE and PRE. If the user sets TOL to be less than
-          EPS then the tolerance is taken as EPS, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j)-th element of the matrix SS is defined by:
-                     N          2
-            SS    = SUM  M1  (k) .                            (1)
-              ij    k=1    ij
-
-  The (i,j)-th element of the quadratic error matrix SE is defined
-  by:
-                     N                      2
-            SE    = SUM  (M1  (k) - M2  (k)) .                (2)
-              ij    k=1     ij        ij
-
-  The (i,j)-th element of the percentage relative error matrix PRE
-  is defined by:
-
-            PRE   = 100 x SQRT( SE  / SS  ).                  (3)
-               ij                 ij    ij
-
-  The following precautions are taken by the routine to guard
-  against underflow and overflow:
-
-  (i) if ABS( M1  (k) ) &gt; 1/TOL or ABS( M1  (k) - M2  (k) ) &gt; 1/TOL,
-                ij                        ij        ij
-
-      then SE   and SS   are set to 1/TOL and PRE   is set to 1; and
-             ij       ij                         ij
-
-  (ii) if ABS( SS  ) &lt;= TOL, then PRE   is set to 100.
-                 ij                  ij
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately
-     2xNBxNCx(N+1) multiplications/divisions,
-     4xNBxNCxN     additions/subtractions and
-       NBxNC       square roots.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB09MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NCMAX, NBMAX
-      PARAMETER        ( NMAX = 20, NCMAX = 20, NBMAX = 20 )
-      INTEGER          LDH1, LDH2, LDSS, LDSE, LDPRE
-      PARAMETER        ( LDH1 = NCMAX, LDH2 = NCMAX, LDSS = NCMAX,
-     $                   LDSE = NCMAX, LDPRE = NCMAX )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, N, NB, NC
-*     .. Local Arrays ..
-      DOUBLE PRECISION H1(LDH1,NMAX*NBMAX), H2(LDH2,NMAX*NBMAX),
-     $                 PRE(LDPRE,NBMAX), SE(LDSE,NBMAX), SS(LDSS,NBMAX)
-*     .. External Subroutines ..
-      EXTERNAL         SB09MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NC, NB, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE IF ( NB.LT.0 .OR. NB.GT.NBMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NB
-      ELSE IF ( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) NC
-      ELSE
-         READ ( NIN, FMT = * ) ( ( H1(I,J), I = 1,NC ), J = 1,N*NB )
-         READ ( NIN, FMT = * ) ( ( H2(I,J), I = 1,NC ), J = 1,N*NB )
-*        Compare the given sequences and evaluate their closeness.
-         CALL SB09MD( N, NC, NB, H1, LDH1, H2, LDH2, SS, LDSS, SE, LDSE,
-     $                PRE, LDPRE, TOL, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 20 I = 1, NC
-               WRITE ( NOUT, FMT = 99996 ) ( SS(I,J), J = 1,NB )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 40 I = 1, NC
-               WRITE ( NOUT, FMT = 99996 ) ( SE(I,J), J = 1,NB )
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 60 I = 1, NC
-               WRITE ( NOUT, FMT = 99996 ) ( PRE(I,J), J = 1,NB )
-   60       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB09MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB09MD = ',I2)
-99997 FORMAT (' The sum-of-squares matrix SS is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The quadratic error matrix SE is ')
-99994 FORMAT (/' The percentage relative error matrix PRE is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
-99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB09MD EXAMPLE PROGRAM DATA
-   2     2     2     0.0
-   1.3373  0.1205  0.6618 -0.3372
-  -0.4062  1.6120  0.9299  0.7429
-   1.1480 -0.1837  0.8843 -0.4947
-  -0.4616  1.4674  0.6028  0.9524
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB09MD EXAMPLE PROGRAM RESULTS
-
- The sum-of-squares matrix SS is 
-   1.9534   1.3027
-   2.6131   0.6656
-
- The quadratic error matrix SE is 
-   0.0389   0.1565
-   0.1134   0.0687
-
- The percentage relative error matrix PRE is 
-  14.1125  34.6607
-  20.8363  32.1262
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10AD.html b/doc/_static/doc/SB10AD.html
deleted file mode 100644
index 1f7cd2d2..00000000
--- a/doc/_static/doc/SB10AD.html
+++ /dev/null
@@ -1,404 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10AD">SB10AD</A></H2>
-<H3>
-H-infinity optimal controller using modified Glover's and Doyle's formulas (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity optimal n-state
-  controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  using modified Glover's and Doyle's 1988 formulas, for the system
-
-           | A  | B1  B2  |   | A | B |
-       P = |----|---------| = |---|---|
-           | C1 | D11 D12 |   | C | D |
-           | C2 | D21 D22 |
-
-  and for the estimated minimal possible value of gamma with respect
-  to GTOL, where B2 has as column size the number of control inputs
-  (NCON) and C2 has as row size the number of measurements (NMEAS)
-  being provided to the controller, and then to compute the matrices
-  of the closed-loop system
-
-           | AC | BC |
-       G = |----|----|,
-           | CC | DC |
-
-  if the stabilizing controller exists.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
-       |    C1        D12 |
-
-  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
-       |    C2        D21 |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10AD( JOB, N, M, NP, NCON, NMEAS, GAMMA, A, LDA,
-     $                   B, LDB, C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK,
-     $                   LDCK, DK, LDDK, AC, LDAC, BC, LDBC, CC, LDCC,
-     $                   DC, LDDC, RCOND, GTOL, ACTOL, IWORK, LIWORK,
-     $                   DWORK, LDWORK, BWORK, LBWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, JOB, LBWORK, LDA, LDAC, LDAK, LDB, LDBC,
-     $                   LDBK, LDC, LDCC, LDCK, LDD, LDDC, LDDK, LDWORK,
-     $                   LIWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   ACTOL, GAMMA, GTOL
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
-     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
-     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
-     $                   DWORK( * ), RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  JOB     (input) INTEGER
-          Indicates the strategy for reducing the GAMMA value, as
-          follows:
-          = 1: Use bisection method for decreasing GAMMA from GAMMA
-               to GAMMAMIN until the closed-loop system leaves
-               stability.
-          = 2: Scan from GAMMA to 0 trying to find the minimal GAMMA
-               for which the closed-loop system retains stability.
-          = 3: First bisection, then scanning.
-          = 4: Find suboptimal controller only.
-
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input/output) DOUBLE PRECISION
-          The initial value of gamma on input. It is assumed that
-          gamma is sufficiently large so that the controller is
-          admissible. GAMMA &gt;= 0.
-          On output it contains the minimal estimated gamma.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
-          The leading 2*N-by-2*N part of this array contains the
-          closed-loop system state matrix AC.
-
-  LDAC    INTEGER
-          The leading dimension of the array AC.
-          LDAC &gt;= max(1,2*N).
-
-  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
-          The leading 2*N-by-(M-NCON) part of this array contains
-          the closed-loop system input matrix BC.
-
-  LDBC    INTEGER
-          The leading dimension of the array BC.
-          LDBC &gt;= max(1,2*N).
-
-  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
-          The leading (NP-NMEAS)-by-2*N part of this array contains
-          the closed-loop system output matrix CC.
-
-  LDCC    INTEGER
-          The leading dimension of the array CC.
-          LDCC &gt;= max(1,NP-NMEAS).
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
-          The leading (NP-NMEAS)-by-(M-NCON) part of this array
-          contains the closed-loop system input/output matrix DC.
-
-  LDDC    INTEGER
-          The leading dimension of the array DC.
-          LDDC &gt;= max(1,NP-NMEAS).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-                   For the last successful step:
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  GTOL    DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of GAMMA
-          and its distance to the estimated minimal possible
-          value of GAMMA.
-          If GTOL &lt;= 0, then a default value equal to sqrt(EPS)
-          is used, where EPS is the relative machine precision.
-
-  ACTOL   DOUBLE PRECISION
-          Upper bound for the poles of the closed-loop system
-          used for determining if it is stable.
-          ACTOL &lt;= 0 for stable systems.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The dimension of the array IWORK.
-          LIWORK &gt;= max(2*max(N,M-NCON,NP-NMEAS,NCON,NMEAS),N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          value of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= LW1 + max(1,LW2,LW3,LW4,LW5 + MAX(LW6,LW7)),
-          where
-          LW1 = N*M + NP*N + NP*M + M2*M2 + NP2*NP2;
-          LW2 = max( ( N + NP1 + 1 )*( N + M2 ) +
-                       max( 3*( N + M2 ) + N + NP1, 5*( N + M2 ) ),
-                     ( N + NP2 )*( N + M1 + 1 ) +
-                       max( 3*( N + NP2 ) + N + M1, 5*( N + NP2 ) ),
-                     M2 + NP1*NP1 + max( NP1*max( N, M1 ),
-                                         3*M2 + NP1, 5*M2 ),
-                     NP2 + M1*M1 +  max( max( N, NP1 )*M1,
-                                         3*NP2 + M1, 5*NP2 ) );
-          LW3 = max( ND1*M1 + max( 4*min( ND1, M1 ) + max( ND1,M1 ),
-                                   6*min( ND1, M1 ) ),
-                     NP1*ND2 + max( 4*min( NP1, ND2 ) +
-                                                     max( NP1,ND2 ),
-                                    6*min( NP1, ND2 ) ) );
-          LW4 = 2*M*M + NP*NP + 2*M*N + M*NP + 2*N*NP;
-          LW5 = 2*N*N + M*N + N*NP;
-          LW6 = max( M*M   + max( 2*M1, 3*N*N +
-                                  max( N*M, 10*N*N + 12*N + 5 ) ),
-                     NP*NP + max( 2*NP1, 3*N*N +
-                                  max( N*NP, 10*N*N + 12*N + 5 ) ));
-          LW7 = M2*NP2 + NP2*NP2 + M2*M2 +
-                max( ND1*ND1 + max( 2*ND1, ( ND1 + ND2 )*NP2 ),
-                     ND2*ND2 + max( 2*ND2, ND2*M2 ), 3*N,
-                     N*( 2*NP2 + M2 ) +
-                     max( 2*N*M2, M2*NP2 +
-                                  max( M2*M2 + 3*M2, NP2*( 2*NP2 +
-                                       M2 + max( NP2, N ) ) ) ) );
-          M1  = M   - M2, NP1 = NP - NP2,
-          ND1 = NP1 - M2, ND2 = M1 - NP2.
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (LBWORK)
-
-  LBWORK  INTEGER
-          The dimension of the array BWORK.  LBWORK &gt;= 2*N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix | A-j*omega*I  B2  | had not full
-                              |    C1        D12 |
-                column rank in respect to the tolerance EPS;
-          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
-                              |    C2        D21 |
-                rank in respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance SQRT(EPS);
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance SQRT(EPS);
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21);
-                             |C1  D12|  |C2  D21|
-          = 6:  if the controller is not admissible (too small value
-                of gamma);
-          = 7:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 8:  if the Y-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
-                zero [3];
-          = 10: if there are numerical problems when estimating
-                singular values of D1111, D1112, D1111', D1121';
-          = 11: if the matrices Inp2 - D22*DK or Im2 - DK*D22
-                are singular to working precision;
-          = 12: if a stabilizing controller cannot be found.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's 1988 formulas [1],
-  [2], modified to improve the efficiency as described in [3].
-
-  JOB = 1: It tries with a decreasing value of GAMMA, starting with
-  the given, and with the newly obtained controller estimates of the
-  closed-loop system. If it is stable, (i.e., max(eig(AC)) &lt; ACTOL)
-  the iterations can be continued until the given tolerance between
-  GAMMA and the estimated GAMMAMIN is reached. Otherwise, in the
-  next step GAMMA is increased. The step in the all next iterations
-  is step = step/2. The closed-loop system is obtained by the
-  formulas given in [2].
-
-  JOB = 2: The same as for JOB = 1, but with non-varying step till
-  GAMMA = 0, step = max(0.1, GTOL).
-
-  JOB = 3: Combines the JOB = 1 and JOB = 2 cases for a quicker
-  procedure.
-
-  JOB = 4: Suboptimal controller for current GAMMA only.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, MA, 1995.
-
-  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of continuous-time
-      linear control systems.
-      Rep. 98-14, Department of Engineering, Leicester University,
-      Leicester, U.K., 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and on the condition numbers of
-  the two Riccati equations, as given by the values of RCOND(1),
-  RCOND(2), RCOND(3) and RCOND(4), respectively.
-  This approach by estimating the closed-loop system and checking
-  its poles seems to be reliable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB10DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10DD">SB10DD</A></H2>
-<H3>
-H-infinity (sub)optimal controller for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity (sub)optimal n-state
-  controller
-
-                        | AK | BK |
-                    K = |----|----|,
-                        | CK | DK |
-
-  for the discrete-time system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  and for a given value of gamma, where B2 has as column size the
-  number of control inputs (NCON) and C2 has as row size the number
-  of measurements (NMEAS) being provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-            j*Theta
-  (A3) | A-e       *I  B2  | has full column rank for all
-       |    C1         D12 |
-
-       0 &lt;= Theta &lt; 2*Pi ,
-
-            j*Theta
-  (A4) | A-e       *I  B1  |  has full row rank for all
-       |    C2         D21 |
-
-       0 &lt;= Theta &lt; 2*Pi .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                   DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
-     $                   DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, LDX, LDZ, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( * ), X( LDX, * ), Z( LDZ, * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt; 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the matrix
-          Z, solution of the Z-Riccati equation.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (8)
-          RCOND contains estimates of the reciprocal condition
-          numbers of the matrices which are to be inverted and
-          estimates of the reciprocal condition numbers of the
-          Riccati equations which have to be solved during the
-          computation of the controller. (See the description of
-          the algorithm in [2].)
-          RCOND(1) contains the reciprocal condition number of the
-                   matrix R3;
-          RCOND(2) contains the reciprocal condition number of the
-                   matrix R1 - R2'*inv(R3)*R2;
-          RCOND(3) contains the reciprocal condition number of the
-                   matrix V21;
-          RCOND(4) contains the reciprocal condition number of the
-                   matrix St3;
-          RCOND(5) contains the reciprocal condition number of the
-                   matrix V12;
-          RCOND(6) contains the reciprocal condition number of the
-                   matrix Im2 + DKHAT*D22
-          RCOND(7) contains the reciprocal condition number of the
-                   X-Riccati equation;
-          RCOND(8) contains the reciprocal condition number of the
-                   Z-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used in neglecting the small singular values
-          in rank determination. If TOL &lt;= 0, then a default value
-          equal to 1000*EPS is used, where EPS is the relative
-          machine precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*max(M2,N),M,M2+NP2,N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(LW1,LW2,LW3,LW4), where
-          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2));
-          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2));
-          LW3 = 13*N*N + 2*M*M + N*(8*M+NP2) + M1*(M2+NP2) + 6*N +
-                max(14*N+23,16*N,2*N+M,3*M);
-          LW4 = 13*N*N + M*M + (8*N+M+M2+2*NP2)*(M2+NP2) + 6*N +
-                N*(M+NP2) + max(14*N+23,16*N,2*N+M2+NP2,3*(M2+NP2));
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          max((N+Q)*(N+Q+6),13*N*N + M*M + 2*Q*Q + N*(M+Q) +
-              max(M*(M+7*N),2*Q*(8*N+M+2*Q)) + 6*N +
-              max(14*N+23,16*N,2*N+max(M,2*Q),3*max(M,2*Q)).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                   j*Theta
-          = 1:  if the matrix | A-e       *I  B2  | had not full
-                              |      C1       D12 |
-                column rank;
-                                   j*Theta
-          = 2:  if the matrix | A-e       *I  B1  | had not full
-                              |      C2       D21 |
-                row rank;
-          = 3:  if the matrix D12 had not full column rank;
-          = 4:  if the matrix D21 had not full row rank;
-          = 5:  if the controller is not admissible (too small value
-                of gamma);
-          = 6:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 7:  if the Z-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 8:  if the matrix Im2 + DKHAT*D22 is singular.
-          = 9:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21).
-                             |C1  D12|  |C2  D21|
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Green, M. and Limebeer, D.J.N.
-      Linear Robust Control.
-      Prentice-Hall, Englewood Cliffs, NJ, 1995.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  With approaching the minimum value of gamma some of the matrices
-  which are to be inverted tend to become ill-conditioned and
-  the X- or Z-Riccati equation may also become ill-conditioned
-  which may deteriorate the accuracy of the result. (The
-  corresponding reciprocal condition numbers are given in
-  the output array RCOND.)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK, LDX,
-     $                 LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
-     $                   LDDK = PMAX, LDX = NMAX, LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*MAX( MMAX, NMAX ),
-     $                                 MMAX + PMAX, NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK =
-     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
-     $                        13*NMAX*NMAX + MMAX*MMAX + 2*MPMX*MPMX +
-     $                        NMAX*( MMAX + MPMX ) +
-     $                        MAX( MMAX*( MMAX + 7*NMAX ),
-     $                             2*MPMX*( 8*NMAX + MMAX + 2*MPMX ) )
-     $                             + 6*NMAX +
-     $                             MAX( 14*NMAX + 23, 16*NMAX,
-     $                                  2*NMAX + MAX( MMAX, 2*MPMX ),
-     $                                  3*MAX( MMAX, 2*MPMX ) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION GAMMA, TOL
-      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,PMAX), X(LDX,NMAX),
-     $                 Z(LDZ,NMAX), DWORK(LDWORK), RCOND( 8 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) GAMMA, TOL
-         CALL SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
-     $                DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 8 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10DD =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10DD EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -0.7  0.0  0.3  0.0 -0.5 -0.1
-  -0.6  0.2 -0.4 -0.3  0.0  0.0
-  -0.5  0.7 -0.1  0.0  0.0 -0.8
-  -0.7  0.0  0.0 -0.5 -1.0  0.0
-   0.0  0.3  0.6 -0.9  0.1 -0.4
-   0.5 -0.8  0.0  0.0  0.2 -0.9
-  -1.0 -2.0 -2.0  1.0  0.0
-   1.0  0.0  1.0 -2.0  1.0
-  -3.0 -4.0  0.0  2.0 -2.0
-   1.0 -2.0  1.0  0.0 -1.0
-   0.0  1.0 -2.0  0.0  3.0
-   1.0  0.0  3.0 -1.0 -2.0
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0  0.0
-   0.0  2.0  0.0 -4.0  0.0 -2.0
-   1.0 -3.0  0.0  0.0  3.0  1.0
-   0.0  1.0 -2.0  1.0  0.0 -2.0
-   1.0 -1.0 -2.0  0.0  0.0
-   0.0  1.0  0.0  1.0  0.0
-   2.0 -1.0 -3.0  0.0  1.0
-   0.0  1.0  0.0  1.0 -1.0
-   0.0  0.0  1.0  2.0  1.0
- 111.294   0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10DD EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
- -18.0030  52.0376  26.0831  -0.4271 -40.9022  18.0857
-  18.8203 -57.6244 -29.0938   0.5870  45.3309 -19.8644
- -26.5994  77.9693  39.0368  -1.4020 -60.1129  26.6910
- -21.4163  62.1719  30.7507  -0.9201 -48.6221  21.8351
-  -0.8911   4.2787   2.3286  -0.2424  -3.0376   1.2169
-  -5.3286  16.1955   8.4824  -0.2489 -12.2348   5.1590
-
- The controller input matrix BK is
-
-  16.9788  14.1648
- -18.9215 -15.6726
-  25.2046  21.2848
-  20.1122  16.8322
-   1.4104   1.2040
-   5.3181   4.5149
-
- The controller output matrix CK is
-
-  -9.1941  27.5165  13.7364  -0.3639 -21.5983   9.6025
-   3.6490 -10.6194  -5.2772   0.2432   8.1108  -3.6293
-
- The controller matrix DK is
-
-   9.0317   7.5348
-  -3.4006  -2.8219
-
- The estimated condition numbers are
-
-  0.24960D+00  0.98548D+00  0.99186D+00  0.63733D-05  0.48625D+00
-  0.29430D-01  0.56942D-02  0.12470D-01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10ED.html b/doc/_static/doc/SB10ED.html
deleted file mode 100644
index dfc3710a..00000000
--- a/doc/_static/doc/SB10ED.html
+++ /dev/null
@@ -1,466 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ED">SB10ED</A></H2>
-<H3>
-H2 optimal state controller for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal n-state controller
-
-                        | AK | BK |
-                    K = |----|----|
-                        | CK | DK |
-
-  for the discrete-time system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---| ,
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-            j*Theta
-  (A3) | A-e       *I  B2  | has full column rank for all
-       |    C1         D12 |
-
-       0 &lt;= Theta &lt; 2*Pi ,
-
-            j*Theta
-  (A4) | A-e       *I  B1  |  has full row rank for all
-       |    C2         D21 |
-
-       0 &lt;= Theta &lt; 2*Pi .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input/worksp.) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-          This array is modified internally, but it is restored on
-          exit.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (7)
-          RCOND contains estimates the reciprocal condition
-          numbers of the matrices which are to be inverted and the
-          reciprocal condition numbers of the Riccati equations
-          which have to be solved during the computation of the
-          controller. (See the description of the algorithm in [2].)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix TU;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix TY;
-          RCOND(3) contains the reciprocal condition number of the
-                   matrix Im2 + B2'*X2*B2;
-          RCOND(4) contains the reciprocal condition number of the
-                   matrix Ip2 + C2*Y2*C2';
-          RCOND(5) contains the reciprocal condition number of the
-                   X-Riccati equation;
-          RCOND(6) contains the reciprocal condition number of the
-                   Y-Riccati equation;
-          RCOND(7) contains the reciprocal condition number of the
-                   matrix Im2 + DKHAT*D22 .
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the
-          transformations applied for diagonalizing D12 and D21,
-          and for checking the nonsingularity of the matrices to be
-          inverted. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*M2,2*N,N*N,NP2))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
-                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
-          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
-          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
-          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
-          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
-          LW5 = 2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),M2*(N+M2+
-                          max(3,M1)),NP2*(N+NP2+3)),
-          LW6 = max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2),
-          with M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
-                  2*N*N+max(1,14*N*N+6*N+max(14*N+23,16*N),
-                            Q*(N+Q+max(Q,3)))).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-                                   j*Theta
-          = 1:  if the matrix | A-e       *I  B2  | had not full
-                              |      C1       D12 |
-                column rank in respect to the tolerance EPS;
-                                   j*Theta
-          = 2:  if the matrix | A-e       *I  B1  |  had not full
-                              |      C2       D21 |
-                row rank in respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A-I  B2 |, |A-I  B1 |, D12 or D21).
-                             |C1   D12|  |C2   D21|
-          = 6:  if the X-Riccati equation was not solved
-                successfully;
-          = 7:  if the matrix Im2 + B2'*X2*B2 is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL);
-          = 8:  if the Y-Riccati equation was not solved
-                successfully;
-          = 9:  if the matrix Ip2 + C2*Y2*C2' is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL);
-          =10:  if the matrix Im2 + DKHAT*D22 is singular, or its
-                estimated condition number is larger than or equal
-                to 1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  matrices which are to be inverted and on the condition numbers of
-  the matrix Riccati equations which are to be solved in the
-  computation of the controller. (The corresponding reciprocal
-  condition numbers are given in the output array RCOND.)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
-     $                   LDDK = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*MMAX, PMAX, 2*NMAX,
-     $                                 NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
-     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
-     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
-     $                   2*NMAX*NMAX + MAX( 14*NMAX*NMAX + 6*NMAX +
-     $                   MAX( 14*NMAX + 23, 16*NMAX ),
-     $                   MPMX*( NMAX + MPMX + MAX( MPMX, 3 ) ) ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
-     $                 RCOND( 8 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) TOL
-         CALL SB10ED( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 7 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10ED =',I2)
-99997 FORMAT (' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10ED EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -0.7  0.0  0.3  0.0 -0.5 -0.1
-  -0.6  0.2 -0.4 -0.3  0.0  0.0
-  -0.5  0.7 -0.1  0.0  0.0 -0.8
-  -0.7  0.0  0.0 -0.5 -1.0  0.0
-   0.0  0.3  0.6 -0.9  0.1 -0.4
-   0.5 -0.8  0.0  0.0  0.2 -0.9
-  -1.0 -2.0 -2.0  1.0  0.0
-   1.0  0.0  1.0 -2.0  1.0
-  -3.0 -4.0  0.0  2.0 -2.0
-   1.0 -2.0  1.0  0.0 -1.0
-   0.0  1.0 -2.0  0.0  3.0
-   1.0  0.0  3.0 -1.0 -2.0
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0  0.0
-   0.0  2.0  0.0 -4.0  0.0 -2.0
-   1.0 -3.0  0.0  0.0  3.0  1.0
-   0.0  1.0 -2.0  1.0  0.0 -2.0
-   1.0 -1.0 -2.0  0.0  0.0
-   0.0  1.0  0.0  1.0  0.0
-   2.0 -1.0 -3.0  0.0  1.0
-   0.0  1.0  0.0  1.0 -1.0
-   0.0  0.0  1.0  2.0  1.0
-   0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10ED EXAMPLE PROGRAM RESULTS
-
- The controller state matrix AK is
-
-  -0.0551  -2.1891  -0.6607  -0.2532   0.6674  -1.0044
-  -1.0379   2.3804   0.5031   0.3960  -0.6605   1.2673
-  -0.0876  -2.1320  -0.4701  -1.1461   1.2927  -1.5116
-  -0.1358  -2.1237  -0.9560  -0.7144   0.6673  -0.7957
-   0.4900   0.0895   0.2634  -0.2354   0.1623  -0.2663
-   0.1672  -0.4163   0.2871  -0.1983   0.4944  -0.6967
-
- The controller input matrix BK is
-
-  -0.5985  -0.5464
-   0.5285   0.6087
-  -0.7600  -0.4472
-  -0.7288  -0.6090
-   0.0532   0.0658
-  -0.0663   0.0059
-
- The controller output matrix CK is
-
-   0.2500  -1.0200  -0.3371  -0.2733   0.2747  -0.4444
-   0.0654   0.2095   0.0632   0.2089  -0.1895   0.1834
-
- The controller matrix DK is
-
-  -0.2181  -0.2070
-   0.1094   0.1159
-
- The estimated condition numbers are
-
-  0.10000D+01  0.10000D+01  0.25207D+00  0.83985D-01  0.48628D-02
-  0.55015D-03  0.49886D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,516 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10FD">SB10FD</A></H2>
-<H3>
-H-infinity (sub)optimal state controller for a continuous-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity (sub)optimal n-state
-  controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  using modified Glover's and Doyle's 1988 formulas, for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  and for a given value of gamma, where B2 has as column size the
-  number of control inputs (NCON) and C2 has as row size the number
-  of measurements (NMEAS) being provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank and D21 is full row rank,
-
-  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
-       |    C1        D12 |
-
-  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
-       |    C2        D21 |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                   DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                   BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA, TOL
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations for computing the normalized form in
-          SLICOT Library routine SB10PD. Transformation matrices
-          whose reciprocal condition numbers are less than TOL are
-          not allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = max(2*max(N,M-NCON,NP-NMEAS,NCON),N*N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
-                    max(1,LW1,LW2,LW3,LW4,LW5,LW6), where
-          LW1 = (N+NP1+1)*(N+M2) + max(3*(N+M2)+N+NP1,5*(N+M2)),
-          LW2 = (N+NP2)*(N+M1+1) + max(3*(N+NP2)+N+M1,5*(N+NP2)),
-          LW3 = M2 + NP1*NP1 + max(NP1*max(N,M1),3*M2+NP1,5*M2),
-          LW4 = NP2 + M1*M1 + max(max(N,NP1)*M1,3*NP2+M1,5*NP2),
-          LW5 = 2*N*N + N*(M+NP) +
-                max(1,M*M + max(2*M1,3*N*N+max(N*M,10*N*N+12*N+5)),
-                    NP*NP + max(2*NP1,3*N*N +
-                                max(N*NP,10*N*N+12*N+5))),
-          LW6 = 2*N*N + N*(M+NP) +
-                max(1, M2*NP2 + NP2*NP2 + M2*M2 +
-                    max(D1*D1 + max(2*D1, (D1+D2)*NP2),
-                        D2*D2 + max(2*D2, D2*M2), 3*N,
-                        N*(2*NP2 + M2) +
-                        max(2*N*M2, M2*NP2 +
-                                    max(M2*M2+3*M2, NP2*(2*NP2+
-                                           M2+max(NP2,N)))))),
-          with D1 = NP1 - M2, D2 = M1 - NP2,
-              NP1 = NP - NP2, M1 = M - M2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          2*Q*(3*Q+2*N)+max(1,(N+Q)*(N+Q+6),Q*(Q+max(N,Q,5)+1),
-            2*N*(N+2*Q)+max(1,4*Q*Q+
-                            max(2*Q,3*N*N+max(2*N*Q,10*N*N+12*N+5)),
-                              Q*(3*N+3*Q+max(2*N,4*Q+max(N,Q))))).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix | A-j*omega*I  B2  | had not full
-                              |    C1        D12 |
-                column rank in respect to the tolerance EPS;
-          = 2:  if the matrix | A-j*omega*I  B1  |  had not full row
-                              |    C2        D21 |
-                rank in respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21).
-                             |C1  D12|  |C2  D21|
-          = 6:  if the controller is not admissible (too small value
-                of gamma);
-          = 7:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 8:  if the Y-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 9:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is
-                zero [3].
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's 1988 formulas [1],
-  [2] modified to improve the efficiency as described in [3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of continuous-time
-      linear control systems.
-      Rep. 98-14, Department of Engineering, Leicester University,
-      Leicester, U.K., 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and on the condition numbers of
-  the two Riccati equations, as given by the values of RCOND(1),
-  RCOND(2), RCOND(3) and RCOND(4), respectively.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, N2MAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10, N2MAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK,
-     $                 LDAC, LDBC, LDCC, LDDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = MMAX,
-     $                   LDDK = MMAX, LDAC = 2*NMAX, LDBC = 2*NMAX,
-     $                   LDCC = PMAX, LDDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*MAX( NMAX, MMAX, PMAX ),
-     $                            NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MPMX*( 3*MPMX + 2*NMAX ) +
-     $                   MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
-     $                   MPMX*( MPMX + MAX( NMAX, MPMX, 5 ) + 1 ),
-     $                   2*NMAX*( NMAX + 2*MPMX ) +
-     $                   MAX( 4*MPMX*MPMX + MAX( 2*MPMX, 3*NMAX*NMAX +
-     $                   MAX( 2*NMAX*MPMX, 10*NMAX*NMAX+12*NMAX+5 ) ),
-     $                   MPMX*( 3*NMAX + 3*MPMX +
-     $                          MAX( 2*NMAX, 4*MPMX +
-     $                               MAX( NMAX, MPMX ) ) ) ) ) )
-*     .. Local Scalars ..
-      INTEGER SDIM
-      LOGICAL SELECT
-      DOUBLE PRECISION GAMMA, TOL
-      INTEGER          I, INFO1, INFO2, INFO3, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(N2MAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDAK,NMAX), AC(LDAC,N2MAX),
-     $                 B(LDB,MMAX), BK(LDBK,PMAX), BC(LDBC,MMAX),
-     $                 C(LDC,NMAX), CK(LDCK,NMAX), CC(LDCC,N2MAX),
-     $                 D(LDD,MMAX), DK(LDDK,PMAX), DC(LDDC,MMAX),
-     $                 DWORK(LDWORK), RCOND( 4 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10FD, SB10LD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99984 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99983 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) GAMMA, TOL
-*        Compute the suboptimal controller
-         CALL SB10FD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO1 )
-*
-         IF ( INFO1.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99996 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99989 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99989 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99989 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99993 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99989 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99992 )
-            WRITE( NOUT, FMT = 99988 ) ( RCOND(I), I = 1, 4 )
-*           Compute the closed-loop matrices
-            CALL SB10LD(N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                  D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                  AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
-     $                  DWORK, LDWORK, INFO2 )
-*
-            IF ( INFO2.EQ.0 ) THEN
-*              Compute the closed-loop poles
-               CALL DGEES( 'N','N', SELECT, 2*N, AC, LDAC, SDIM,
-     $                     DWORK(1), DWORK(2*N+1), DWORK, 2*N,
-     $                     DWORK(4*N+1), LDWORK-4*N, BWORK, INFO3)
-*
-               IF( INFO3.EQ.0 ) THEN
-                  WRITE( NOUT, FMT = 99991 )
-                  WRITE( NOUT, FMT = 99988 ) (DWORK(I), I =1, 2*N)
-                  WRITE( NOUT, FMT = 99990 )
-                  WRITE( NOUT, FMT = 99988 ) (DWORK(2*N+I), I =1, 2*N)
-               ELSE
-                  WRITE( NOUT, FMT = 99996 ) INFO3
-               END IF
-            ELSE
-               WRITE( NOUT, FMT = 99997 ) INFO2
-            END IF
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO1
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10FD =',I2)
-99997 FORMAT (/' INFO on exit from SB10LD =',I2)
-99996 FORMAT (' The controller state matrix AK is'/)
-99995 FORMAT (/' The controller input matrix BK is'/)
-99994 FORMAT (/' The controller output matrix CK is'/)
-99993 FORMAT (/' The controller matrix DK is'/)
-99992 FORMAT (/' The estimated condition numbers are'/)
-99991 FORMAT (/' The real parts of the closed-loop system poles are'/)
-99990 FORMAT (/' The imaginary parts of the closed-loop system',
-     $           ' poles are'/)
-99989 FORMAT (10(1X,F8.4))
-99988 FORMAT ( 5(1X,D12.5))
-99987 FORMAT (/' N is out of range.',/' N = ',I5)
-99986 FORMAT (/' M is out of range.',/' M = ',I5)
-99985 FORMAT (/' N is out of range.',/' N = ',I5)
-99984 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99983 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10FD EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -1.0  0.0  4.0  5.0 -3.0 -2.0
-  -2.0  4.0 -7.0 -2.0  0.0  3.0
-  -6.0  9.0 -5.0  0.0  2.0 -1.0
-  -8.0  4.0  7.0 -1.0 -3.0  0.0
-   2.0  5.0  8.0 -9.0  1.0 -4.0
-   3.0 -5.0  8.0  0.0  2.0 -6.0
-  -3.0 -4.0 -2.0  1.0  0.0
-   2.0  0.0  1.0 -5.0  2.0
-  -5.0 -7.0  0.0  7.0 -2.0
-   4.0 -6.0  1.0  1.0 -2.0
-  -3.0  9.0 -8.0  0.0  5.0
-   1.0 -2.0  3.0 -6.0 -2.0
-   1.0 -1.0  2.0 -4.0  0.0 -3.0
-  -3.0  0.0  5.0 -1.0  1.0  1.0
-  -7.0  5.0  0.0 -8.0  2.0 -2.0
-   9.0 -3.0  4.0  0.0  3.0  7.0
-   0.0  1.0 -2.0  1.0 -6.0 -2.0
-   1.0 -2.0 -3.0  0.0  0.0
-   0.0  4.0  0.0  1.0  0.0
-   5.0 -3.0 -4.0  0.0  1.0
-   0.0  1.0  0.0  1.0 -3.0
-   0.0  0.0  1.0  7.0  1.0
-  15.0  0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10FD EXAMPLE PROGRAM RESULTS
-
- The controller state matrix AK is
-
-  -2.8043  14.7367   4.6658   8.1596   0.0848   2.5290
-   4.6609   3.2756  -3.5754  -2.8941   0.2393   8.2920
- -15.3127  23.5592  -7.1229   2.7599   5.9775  -2.0285
- -22.0691  16.4758  12.5523 -16.3602   4.4300  -3.3168
-  30.6789  -3.9026  -1.3868  26.2357  -8.8267  10.4860
-  -5.7429   0.0577  10.8216 -11.2275   1.5074 -10.7244
-
- The controller input matrix BK is
-
-  -0.1581  -0.0793
-  -0.9237  -0.5718
-   0.7984   0.6627
-   0.1145   0.1496
-  -0.6743  -0.2376
-   0.0196  -0.7598
-
- The controller output matrix CK is
-
-  -0.2480  -0.1713  -0.0880   0.1534   0.5016  -0.0730
-   2.8810  -0.3658   1.3007   0.3945   1.2244   2.5690
-
- The controller matrix DK is
-
-   0.0554   0.1334
-  -0.3195   0.0333
-
- The estimated condition numbers are
-
-  0.10000D+01  0.10000D+01  0.11241D-01  0.80492D-03
-
- The real parts of the closed-loop system poles are
-
- -0.10731D+03 -0.66556D+02 -0.38269D+02 -0.38269D+02 -0.20089D+02
- -0.62557D+01 -0.62557D+01 -0.32405D+01 -0.32405D+01 -0.17178D+01
- -0.41466D+01 -0.76437D+01
-
- The imaginary parts of the closed-loop system poles are
-
-  0.00000D+00  0.00000D+00  0.13114D+02 -0.13114D+02  0.00000D+00
-  0.12961D+02 -0.12961D+02  0.67998D+01 -0.67998D+01  0.00000D+00
-  0.00000D+00  0.00000D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10HD.html b/doc/_static/doc/SB10HD.html
deleted file mode 100644
index 99268016..00000000
--- a/doc/_static/doc/SB10HD.html
+++ /dev/null
@@ -1,417 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10HD">SB10HD</A></H2>
-<H3>
-H2 optimal state controller for a continuous-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal n-state controller
-
-           | AK | BK |
-       K = |----|----|
-           | CK | DK |
-
-  for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---| ,
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) The block D11 of D is zero,
-
-  (A3) D12 is full column rank and D21 is full row rank.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   RCOND, TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations for computing the normalized form in
-          SLICOT Library routine SB10UD. Transformation matrices
-          whose reciprocal condition numbers are less than TOL are
-          not allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*N,N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= N*M + NP*(N+M) + M2*M2 + NP2*NP2 +
-                    max(max(M2 + NP1*NP1 +
-                            max(NP1*N,3*M2+NP1,5*M2),
-                            NP2 + M1*M1 +
-                            max(M1*N,3*NP2+M1,5*NP2),
-                            N*M2,NP2*N,NP2*M2,1),
-                            N*(14*N+12+M2+NP2)+5),
-          where M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          2*Q*(3*Q+2*N)+max(1,Q*(Q+max(N,5)+1),N*(14*N+12+2*Q)+5).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 2:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 3:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices D12 or D21).
-          = 4:  if the X-Riccati equation was not solved
-                successfully;
-          = 5:  if the Y-Riccati equation was not solved
-                successfully.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and on the condition numbers of
-  the two Riccati equations, as given by the values of RCOND(1),
-  RCOND(2), RCOND(3) and RCOND(4), respectively.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
-     $                   LDDK = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX ) )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MPMX*( 2*NMAX + 3*MPMX ) +
-     $                   MAX( MPMX*( MPMX + MAX( NMAX, 5 ) + 1 ),
-     $                   NMAX*( 14*NMAX + 12 + 2*MPMX ) + 5 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NCON, NMEAS, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,MMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,MMAX), DWORK(LDWORK),
-     $                 RCOND( 4 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP, NCON, NMEAS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) NCON
-      ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) NMEAS
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) TOL
-*        Compute the optimal H2 controller
-         CALL SB10HD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB,
-     $                C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, TOL, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO )
-*
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, NCON
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10HD =',I2)
-99997 FORMAT (' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (6(1X,F10.4))
-99991 FORMAT (5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
-99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10HD EXAMPLE PROGRAM DATA
-   6     5     5     2     2
-  -1.0  0.0  4.0  5.0 -3.0 -2.0
-  -2.0  4.0 -7.0 -2.0  0.0  3.0
-  -6.0  9.0 -5.0  0.0  2.0 -1.0
-  -8.0  4.0  7.0 -1.0 -3.0  0.0
-   2.0  5.0  8.0 -9.0  1.0 -4.0
-   3.0 -5.0  8.0  0.0  2.0 -6.0
-  -3.0 -4.0 -2.0  1.0  0.0
-   2.0  0.0  1.0 -5.0  2.0
-  -5.0 -7.0  0.0  7.0 -2.0
-   4.0 -6.0  1.0  1.0 -2.0
-  -3.0  9.0 -8.0  0.0  5.0
-   1.0 -2.0  3.0 -6.0 -2.0
-   1.0 -1.0  2.0 -4.0  0.0 -3.0
-  -3.0  0.0  5.0 -1.0  1.0  1.0
-  -7.0  5.0  0.0 -8.0  2.0 -2.0
-   9.0 -3.0  4.0  0.0  3.0  7.0
-   0.0  1.0 -2.0  1.0 -6.0 -2.0
-   0.0  0.0  0.0 -4.0 -1.0
-   0.0  0.0  0.0  1.0  0.0
-   0.0  0.0  0.0  0.0  1.0
-   3.0  1.0  0.0  1.0 -3.0
-  -2.0  0.0  1.0  7.0  1.0
-   0.00000001
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10HD EXAMPLE PROGRAM RESULTS
-
- The controller state matrix AK is
-
-    88.0015  -145.7298   -46.2424    82.2168   -45.2996   -31.1407
-    25.7489   -31.4642   -12.4198     9.4625    -3.5182     2.7056
-    54.3008  -102.4013   -41.4968    50.8412   -20.1286   -26.7191
-   108.1006  -198.0785   -45.4333    70.3962   -25.8591   -37.2741
-  -115.8900   226.1843    47.2549   -47.8435   -12.5004    34.7474
-    59.0362  -101.8471   -20.1052    36.7834   -16.1063   -26.4309
-
- The controller input matrix BK is
-
-     3.7345     3.4758
-    -0.3020     0.6530
-     3.4735     4.0499
-     4.3198     7.2755
-    -3.9424   -10.5942
-     2.1784     2.5048
-
- The controller output matrix CK is
-
-    -2.3346     3.2556     0.7150    -0.9724     0.6962     0.4074
-     7.6899    -8.4558    -2.9642     7.0365    -4.2844     0.1390
-
- The controller matrix DK is
-
-     0.0000     0.0000
-     0.0000     0.0000
-
- The estimated condition numbers are
-
-  0.23570D+00  0.26726D+00  0.22747D-01  0.21130D-02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10ID.html b/doc/_static/doc/SB10ID.html
deleted file mode 100644
index 3f5c15fe..00000000
--- a/doc/_static/doc/SB10ID.html
+++ /dev/null
@@ -1,362 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ID">SB10ID</A></H2>
-<H3>
-Positive feedback controller for a continuous-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the positive feedback controller
-
-           | Ak | Bk |
-       K = |----|----|
-           | Ck | Dk |
-
-  for the shaped plant
-
-           | A | B |
-       G = |---|---|
-           | C | D |
-
-  in the McFarlane/Glover Loop Shaping Design Procedure.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                   DK, LDDK, RCOND, IWORK, DWORK, LDWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NK, NP
-      DOUBLE PRECISION   FACTOR
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 2 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the plant.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A of the shaped plant.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B of the shaped plant.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C of the shaped plant.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system matrix D of the shaped plant.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  FACTOR  (input) DOUBLE PRECISION
-          = 1 implies that an optimal controller is required;
-          &gt; 1 implies that a suboptimal controller is required,
-              achieving a performance FACTOR less than optimal.
-          FACTOR &gt;= 1.
-
-  NK      (output) INTEGER
-          The order of the positive feedback controller.  NK &lt;= N.
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading NK-by-NK part of this array contains the
-          controller state matrix Ak.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
-          The leading NK-by-NP part of this array contains the
-          controller input matrix Bk.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading M-by-NK part of this array contains the
-          controller output matrix Ck.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
-          The leading M-by-NP part of this array contains the
-          controller matrix Dk.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (2)
-          RCOND(1) contains an estimate of the reciprocal condition
-                   number of the X-Riccati equation;
-          RCOND(2) contains an estimate of the reciprocal condition
-                   number of the Z-Riccati equation.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*N,N*N,M,NP))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 4*N*N + M*M + NP*NP + 2*M*N + N*NP + 4*N +
-                    max( 6*N*N + 5 + max(1,4*N*N+8*N), N*NP + 2*N ).
-          For good performance, LDWORK must generally be larger.
-          An upper bound of LDWORK in the above formula is
-          LDWORK &gt;= 10*N*N + M*M + NP*NP + 2*M*N + 2*N*NP + 4*N +
-                    5 + max(1,4*N*N+8*N).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the X-Riccati equation is not solved successfully;
-          = 2:  the Z-Riccati equation is not solved successfully;
-          = 3:  the iteration to compute eigenvalues or singular
-                values failed to converge;
-          = 4:  the matrix Ip - D*Dk is singular;
-          = 5:  the matrix Im - Dk*D is singular;
-          = 6:  the closed-loop system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] McFarlane, D. and Glover, K.
-      A loop shaping design procedure using H_infinity synthesis.
-      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
-      1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the results depends on the conditioning of the
-  two Riccati equations solved in the controller design (see the
-  output parameter RCOND).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
-      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
-     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
-     $                   LDD  = PMAX, LDDK = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX( 2*NMAX, NMAX*NMAX, MMAX, PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX*NMAX + MMAX*MMAX + PMAX*PMAX +
-     $                            2*MMAX*NMAX + NMAX*PMAX + 4*NMAX +
-     $                            MAX( 10*NMAX*NMAX + 8*NMAX + 5,
-     $                                    NMAX*PMAX + 2*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FACTOR
-      INTEGER          I, INFO, J, M, N, NK, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 D(LDD,MMAX), DK(LDDK,PMAX), DWORK(LDWORK),
-     $                 RCOND( 2 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10ID
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) FACTOR
-         CALL SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
-     $                DK, LDDK, RCOND, IWORK, DWORK, LDWORK,
-     $                BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, NK
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,NK )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, NK
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,NK )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 2 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10ID =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F9.4))
-99991 FORMAT ( 2(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10ID EXAMPLE PROGRAM DATA
-   6     2     3   
-  -1.0  0.0  4.0  5.0 -3.0 -2.0
-  -2.0  4.0 -7.0 -2.0  0.0  3.0
-  -6.0  9.0 -5.0  0.0  2.0 -1.0
-  -8.0  4.0  7.0 -1.0 -3.0  0.0
-   2.0  5.0  8.0 -9.0  1.0 -4.0
-   3.0 -5.0  8.0  0.0  2.0 -6.0
-  -3.0 -4.0
-   2.0  0.0
-  -5.0 -7.0
-   4.0 -6.0
-  -3.0  9.0
-   1.0 -2.0
-   1.0 -1.0  2.0 -4.0  0.0 -3.0
-  -3.0  0.0  5.0 -1.0  1.0  1.0
-  -7.0  5.0  0.0 -8.0  2.0 -2.0
-   1.0 -2.0
-   0.0  4.0
-   5.0 -3.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10ID EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
-  -39.0671    9.9293   22.2322  -27.4113   43.8655
-   -6.6117    3.0006   11.0878  -11.4130   15.4269
-   33.6805   -6.6934  -23.9953   14.1438  -33.4358
-  -32.3191    9.7316   25.4033  -24.0473   42.0517
-  -44.1655   18.7767   34.8873  -42.4369   50.8437
-
- The controller input matrix BK is
-
-  -10.2905  -16.5382  -10.9782
-   -4.3598   -8.7525   -5.1447
-    6.5962    1.8975    6.2316
-   -9.8770  -14.7041  -11.8778
-   -9.6726  -22.7309  -18.2692
-
- The controller output matrix CK is
-
-   -0.6647   -0.0599   -1.0376    0.5619    1.7297
-   -8.4202    3.9573    7.3094   -7.6283   10.6768
-
- The controller matrix DK is
-
-    0.8466    0.4979   -0.6993
-   -1.2226   -4.8689   -4.5056
-
- The estimated condition numbers are
-
-  0.13861D-01  0.90541D-02
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10JD.html b/doc/_static/doc/SB10JD.html
deleted file mode 100644
index 4afaf649..00000000
--- a/doc/_static/doc/SB10JD.html
+++ /dev/null
@@ -1,163 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10JD">SB10JD</A></H2>
-<H3>
-Converting a descriptor state-space system into regular state-space form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To convert the descriptor state-space system
-
-  E*dx/dt = A*x + B*u
-        y = C*x + D*u
-
-  into regular state-space form
-
-   dx/dt = Ad*x + Bd*u
-       y = Cd*x + Dd*u .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10JD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, E,
-     $                   LDE, NSYS, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N,
-     $                   NP, NSYS
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * ),  E( LDE, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the descriptor system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state matrix A of the descriptor system.
-          On exit, the leading NSYS-by-NSYS part of this array
-          contains the state matrix Ad of the converted system.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B of the descriptor system.
-          On exit, the leading NSYS-by-M part of this array
-          contains the input matrix Bd of the converted system.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading NP-by-N part of this array must
-          contain the output matrix C of the descriptor system.
-          On exit, the leading NP-by-NSYS part of this array
-          contains the output matrix Cd of the converted system.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading NP-by-M part of this array must
-          contain the matrix D of the descriptor system.
-          On exit, the leading NP-by-M part of this array contains
-          the matrix Dd of the converted system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the matrix E of the descriptor system.
-          On exit, this array contains no useful information.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= max(1,N).
-
-  NSYS    (output) INTEGER
-          The order of the converted state-space system.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max( 1, 2*N*N + 2*N + N*MAX( 5, N + M + NP ) ).
-          For good performance, LDWORK must generally be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the iteration for computing singular value
-                decomposition did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs the transformations described in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Chiang, R.Y. and Safonov, M.G.
-      Robust Control Toolbox User's Guide.
-      The MathWorks Inc., Natick, Mass., 1992.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10KD.html b/doc/_static/doc/SB10KD.html
deleted file mode 100644
index ed69300d..00000000
--- a/doc/_static/doc/SB10KD.html
+++ /dev/null
@@ -1,359 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10KD">SB10KD</A></H2>
-<H3>
-Positive feedback controller for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the positive feedback controller
-
-           | Ak | Bk |
-       K = |----|----|
-           | Ck | Dk |
-
-  for the shaped plant
-
-           | A | B |
-       G = |---|---|
-           | C | 0 |
-
-  in the Discrete-Time Loop Shaping Design Procedure.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR,
-     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
-     $                   IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK,
-     $                   LDWORK, M, N, NP
-      DOUBLE PRECISION   FACTOR
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   DK( LDDK, * ), DWORK( * ), RCOND( 4 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the plant.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A of the shaped plant.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B of the shaped plant.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C of the shaped plant.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  FACTOR  (input) DOUBLE PRECISION
-          = 1  implies that an optimal controller is required;
-          &gt; 1  implies that a suboptimal controller is required
-               achieving a performance FACTOR less than optimal.
-          FACTOR &gt;= 1.
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix Ak.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
-          The leading N-by-NP part of this array contains the
-          controller input matrix Bk.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading M-by-N part of this array contains the
-          controller output matrix Ck.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
-          The leading M-by-NP part of this array contains the
-          controller matrix Dk.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND(1) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the P-Riccati equation is
-                   obtained;
-          RCOND(2) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the Q-Riccati equation is
-                   obtained;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the X-Riccati equation is
-                   obtained;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the matrix Rx + Bx'*X*Bx (see the
-                   comments in the code).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*max(N,NP+M))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 15*N*N + 6*N +
-                    max( 14*N+23, 16*N, 2*N+NP+M, 3*(NP+M) ) +
-                    max( N*N, 11*N*NP + 2*M*M + 8*NP*NP + 8*M*N +
-                              4*M*NP + NP ).
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the P-Riccati equation is not solved successfully;
-          = 2:  the Q-Riccati equation is not solved successfully;
-          = 3:  the X-Riccati equation is not solved successfully;
-          = 4:  the iteration to compute eigenvalues failed to
-                converge;
-          = 5:  the matrix Rx + Bx'*X*Bx is singular;
-          = 6:  the closed-loop system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] McFarlane, D. and Glover, K.
-      A loop shaping design procedure using H_infinity synthesis.
-      IEEE Trans. Automat. Control, vol. AC-37, no. 6, pp. 759-769,
-      1992.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the results depends on the conditioning of the
-  two Riccati equations solved in the controller design. For
-  better conditioning it is advised to take FACTOR &gt; 1.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 10, MMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDDK
-      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
-     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
-     $                   LDDK = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 15*NMAX*NMAX + 6*NMAX +
-     $                            MAX( 14*NMAX + 23, 16*NMAX,
-     $                                 2*NMAX+PMAX+MMAX,
-     $                                 3*(PMAX+MMAX) ) +
-     $                            MAX( NMAX*NMAX,
-     $                                 11*NMAX*PMAX + 2*MMAX*MMAX +
-     $                                 8*PMAX*PMAX + 8*MMAX*NMAX +
-     $                                 4*MMAX*PMAX + PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FACTOR
-      INTEGER          I, INFO, J, M, N, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
-     $                 DK(LDDK,PMAX), DWORK(LDWORK), RCOND(4)
-*     .. External Subroutines ..
-      EXTERNAL         SB10KD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) FACTOR
-         CALL SB10KD( N, M, NP, A, LDA, B, LDB, C, LDC, FACTOR, AK,
-     $                LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
-     $                IWORK, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 4 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10KD =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10KD EXAMPLE PROGRAM DATA
-   6     2     2   
-   0.2  0.0  0.3  0.0 -0.3 -0.1
-  -0.3  0.2 -0.4 -0.3  0.0  0.0
-  -0.1  0.1 -0.1  0.0  0.0 -0.3
-   0.1  0.0  0.0 -0.1 -0.1  0.0
-   0.0  0.3  0.6  0.2  0.1 -0.4
-   0.2 -0.4  0.0  0.0  0.2 -0.2
-  -1.0 -2.0
-   1.0  3.0 
-  -3.0 -4.0 
-   1.0 -2.0 
-   0.0  1.0
-   1.0  5.0  
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0 -1.0
-   1.1
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10KD EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
-   0.0337   0.0222   0.0858   0.1264  -0.1872   0.1547
-   0.4457   0.0668  -0.2255  -0.3204  -0.4548  -0.0691
-  -0.2419  -0.2506  -0.0982  -0.1321  -0.0130  -0.0838
-  -0.4402   0.3654  -0.0335  -0.2444   0.6366  -0.6469
-  -0.3623   0.3854   0.4162   0.4502   0.0065   0.1261
-  -0.0121  -0.4377   0.0604   0.2265  -0.3389   0.4542
-
- The controller input matrix BK is
-
-   0.0931  -0.0269
-  -0.0872   0.1599
-   0.0956  -0.1469
-  -0.1728   0.0129
-   0.2022  -0.1154
-   0.2419  -0.1737
-
- The controller output matrix CK is
-
-  -0.3677   0.2188   0.0403  -0.0854   0.3564  -0.3535
-   0.1624  -0.0708   0.0058   0.0606  -0.2163   0.1802
-
- The controller matrix DK is
-
-  -0.0857  -0.0246
-   0.0460   0.0074
-
- The estimated condition numbers are
-
-  0.11269D-01  0.17596D-01  0.18225D+00  0.75968D-03
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10LD.html b/doc/_static/doc/SB10LD.html
deleted file mode 100644
index 1fd8af18..00000000
--- a/doc/_static/doc/SB10LD.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10LD">SB10LD</A></H2>
-<H3>
-Closed-loop system matrices for a system with robust controller
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the closed-loop system
-
-           | AC | BC |
-       G = |----|----|,
-           | CC | DC |
-
-  from the matrices of the open-loop system
-
-            | A | B |
-        P = |---|---|
-            | C | D |
-
-  and the matrices of the controller
-
-           | AK | BK |
-       K = |----|----|.
-           | CK | DK |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10LD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAC, LDAK, LDB, LDBC, LDBK, LDC,
-     $                   LDCC, LDCK, LDD, LDDC, LDDK, LDWORK, M, N,
-     $                   NCON, NMEAS, NP
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AC( LDAC, * ), AK( LDAK, * ),
-     $                   B( LDB, * ), BC( LDBC, * ), BK( LDBK, * ),
-     $                   C( LDC, * ), CC( LDCC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DC( LDDC, * ), DK( LDDK, * ),
-     $                   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (input) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array must contain the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (input) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array must contain the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (input) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array must contain the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (input) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array must contain
-          the controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  AC      (output) DOUBLE PRECISION array, dimension (LDAC,2*N)
-          The leading 2*N-by-2*N part of this array contains the
-          closed-loop system state matrix AC.
-
-  LDAC    INTEGER
-          The leading dimension of the array AC.
-          LDAC &gt;= max(1,2*N).
-
-  BC      (output) DOUBLE PRECISION array, dimension (LDBC,M-NCON)
-          The leading 2*N-by-(M-NCON) part of this array contains
-          the closed-loop system input matrix BC.
-
-  LDBC    INTEGER
-          The leading dimension of the array BC.
-          LDBC &gt;= max(1,2*N).
-
-  CC      (output) DOUBLE PRECISION array, dimension (LDCC,2*N)
-          The leading (NP-NMEAS)-by-2*N part of this array contains
-          the closed-loop system output matrix CC.
-
-  LDCC    INTEGER
-          The leading dimension of the array CC.
-          LDCC &gt;= max(1,NP-NMEAS).
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,M-NCON)
-          The leading (NP-NMEAS)-by-(M-NCON) part of this array
-          contains the closed-loop system input/output matrix DC.
-
-  LDDC    INTEGER
-          The leading dimension of the array DC.
-          LDDC &gt;= max(1,NP-NMEAS).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*max(NCON,NMEAS))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 2*M*M+NP*NP+2*M*N+M*NP+2*N*NP.
-          For good performance, LDWORK must generally be larger.
-
-  Error Indicactor
-
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix Inp2 - D22*DK is singular to working
-                precision;
-          = 2:  if the matrix Im2 - DK*D22 is singular to working
-                precision.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  matrices  Inp2 - D22*DK  and  Im2 - DK*D22.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10MD.html b/doc/_static/doc/SB10MD.html
deleted file mode 100644
index ff1a6e39..00000000
--- a/doc/_static/doc/SB10MD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10MD">SB10MD</A></H2>
-<H3>
-D-step in the D-K iteration for continuous-time case
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To perform the D-step in the D-K iteration. It handles
-  continuous-time case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10MD( NC, MP, LENDAT, F, ORD, MNB, NBLOCK, ITYPE,
-     $                   QUTOL, A, LDA, B, LDB, C, LDC, D, LDD, OMEGA,
-     $                   TOTORD, AD, LDAD, BD, LDBD, CD, LDCD, DD, LDDD,
-     $                   MJU, IWORK, LIWORK, DWORK, LDWORK, ZWORK,
-     $                   LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           F, INFO, LDA, LDAD, LDB, LDBD, LDC, LDCD, LDD,
-     $                  LDDD, LDWORK, LENDAT, LIWORK, LZWORK, MNB, MP,
-     $                  NC, ORD, TOTORD
-      DOUBLE PRECISION  QUTOL
-C     .. Array Arguments ..
-      INTEGER           ITYPE(*), IWORK(*), NBLOCK(*)
-      DOUBLE PRECISION  A(LDA, *), AD(LDAD, *), B(LDB, *), BD(LDBD, *),
-     $                  C(LDC, *), CD(LDCD, *), D(LDD, *), DD(LDDD, *),
-     $                  DWORK(*), MJU(*), OMEGA(*)
-      COMPLEX*16        ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NC      (input) INTEGER
-          The order of the matrix A.  NC &gt;= 0.
-
-  MP      (input) INTEGER
-          The order of the matrix D.  MP &gt;= 0.
-
-  LENDAT  (input) INTEGER
-          The length of the vector OMEGA.  LENDAT &gt;= 2.
-
-  F       (input) INTEGER
-          The number of the measurements and controls, i.e.,
-          the size of the block I_f in the D-scaling system.
-          F &gt;= 0.
-
-  ORD     (input/output) INTEGER
-          The MAX order of EACH block in the fitting procedure.
-          ORD &lt;= LENDAT-1.
-          On exit, if ORD &lt; 1 then ORD = 1.
-
-  MNB     (input) INTEGER
-          The number of diagonal blocks in the block structure of
-          the uncertainty, and the length of the vectors NBLOCK
-          and ITYPE.  1 &lt;= MNB &lt;= MP.
-
-  NBLOCK  (input) INTEGER array, dimension (MNB)
-          The vector of length MNB containing the block structure
-          of the uncertainty. NBLOCK(I), I = 1:MNB, is the size of
-          each block.
-
-  ITYPE   (input) INTEGER array, dimension (MNB)
-          The vector of length MNB indicating the type of each
-          block.
-          For I = 1 : MNB,
-          ITYPE(I) = 1 indicates that the corresponding block is a
-          real block. IN THIS CASE ONLY MJU(JW) WILL BE ESTIMATED
-          CORRECTLY, BUT NOT D(S)!
-          ITYPE(I) = 2 indicates that the corresponding block is a
-          complex block. THIS IS THE ONLY ALLOWED VALUE NOW!
-          NBLOCK(I) must be equal to 1 if ITYPE(I) is equal to 1.
-
-  QUTOL   (input) DOUBLE PRECISION
-          The acceptable mean relative error between the D(jw) and
-          the frequency responce of the estimated block
-          [ADi,BDi;CDi,DDi]. When it is reached, the result is
-          taken as good enough.
-          A good value is QUTOL = 2.0.
-          If QUTOL &lt; 0 then only mju(jw) is being estimated,
-          not D(s).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,NC)
-          On entry, the leading NC-by-NC part of this array must
-          contain the A matrix of the closed-loop system.
-          On exit, if MP &gt; 0, the leading NC-by-NC part of this
-          array contains an upper Hessenberg matrix similar to A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,NC).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,MP)
-          On entry, the leading NC-by-MP part of this array must
-          contain the B matrix of the closed-loop system.
-          On exit, the leading NC-by-MP part of this array contains
-          the transformed B matrix corresponding to the Hessenberg
-          form of A.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,NC).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,NC)
-          On entry, the leading MP-by-NC part of this array must
-          contain the C matrix of the closed-loop system.
-          On exit, the leading MP-by-NC part of this array contains
-          the transformed C matrix corresponding to the Hessenberg
-          form of A.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,MP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,MP)
-          The leading MP-by-MP part of this array must contain the
-          D matrix of the closed-loop system.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,MP).
-
-  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The vector with the frequencies.
-
-  TOTORD  (output) INTEGER
-          The TOTAL order of the D-scaling system.
-          TOTORD is set to zero, if QUTOL &lt; 0.
-
-  AD      (output) DOUBLE PRECISION array, dimension (LDAD,MP*ORD)
-          The leading TOTORD-by-TOTORD part of this array contains
-          the A matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDAD    INTEGER
-          The leading dimension of the array AD.
-          LDAD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
-          LDAD &gt;= 1,             if QUTOL &lt;  0.
-
-  BD      (output) DOUBLE PRECISION array, dimension (LDBD,MP+F)
-          The leading TOTORD-by-(MP+F) part of this array contains
-          the B matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDBD    INTEGER
-          The leading dimension of the array BD.
-          LDBD &gt;= MAX(1,MP*ORD), if QUTOL &gt;= 0;
-          LDBD &gt;= 1,             if QUTOL &lt;  0.
-
-  CD      (output) DOUBLE PRECISION array, dimension (LDCD,MP*ORD)
-          The leading (MP+F)-by-TOTORD part of this array contains
-          the C matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDCD    INTEGER
-          The leading dimension of the array CD.
-          LDCD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
-          LDCD &gt;= 1,           if QUTOL &lt;  0.
-
-  DD      (output) DOUBLE PRECISION array, dimension (LDDD,MP+F)
-          The leading (MP+F)-by-(MP+F) part of this array contains
-          the D matrix of the D-scaling system.
-          Not referenced if QUTOL &lt; 0.
-
-  LDDD    INTEGER
-          The leading dimension of the array DD.
-          LDDD &gt;= MAX(1,MP+F), if QUTOL &gt;= 0;
-          LDDD &gt;= 1,           if QUTOL &lt;  0.
-
-  MJU     (output) DOUBLE PRECISION array, dimension (LENDAT)
-          The vector with the upper bound of the structured
-          singular value (mju) for each frequency in OMEGA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-
-  LIWORK  INTEGER
-          The length of the array IWORK.
-          LIWORK &gt;= MAX( NC, 4*MNB-2, MP, 2*ORD+1 ), if QUTOL &gt;= 0;
-          LIWORK &gt;= MAX( NC, 4*MNB-2, MP ),          if QUTOL &lt;  0.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK, DWORK(2) returns the optimal value of LZWORK,
-          and DWORK(3) returns an estimate of the minimum reciprocal
-          of the condition numbers (with respect to inversion) of
-          the generated Hessenberg matrices.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 3, LWM, LWD ), where
-          LWM = LWA + MAX( NC + MAX( NC, MP-1 ),
-                           2*MP*MP*MNB - MP*MP + 9*MNB*MNB +
-                           MP*MNB + 11*MP + 33*MNB - 11 );
-          LWD = LWB + MAX( 2, LW1, LW2, LW3, LW4, 2*ORD ),
-                           if QUTOL &gt;= 0;
-          LWD = 0,         if QUTOL &lt;  0;
-          LWA = MP*LENDAT + 2*MNB + MP - 1;
-          LWB = LENDAT*(MP + 2) + ORD*(ORD + 2) + 1;
-          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
-          LW2 =   LENDAT + 6*HNPTS;  MN  = MIN( 2*LENDAT, 2*ORD+1 );
-          LW3 = 2*LENDAT*(2*ORD + 1) + MAX( 2*LENDAT, 2*ORD + 1 ) +
-                MAX( MN + 6*ORD + 4, 2*MN + 1 );
-          LW4 = MAX( ORD*ORD + 5*ORD, 6*ORD + 1 + MIN( 1, ORD ) ).
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( LZM, LZD ), where
-          LZM = MAX( MP*MP + NC*MP + NC*NC + 2*NC,
-                     6*MP*MP*MNB + 13*MP*MP + 6*MNB + 6*MP - 3 );
-          LZD = MAX( LENDAT*(2*ORD + 3), ORD*ORD + 3*ORD + 1 ),
-                           if QUTOL &gt;= 0;
-          LZD = 0,         if QUTOL &lt;  0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  if one or more values w in OMEGA are (close to
-                 some) poles of the closed-loop system, i.e., the
-                 matrix jw*I - A is (numerically) singular;
-          =  2:  the block sizes must be positive integers;
-          =  3:  the sum of block sizes must be equal to MP;
-          =  4:  the size of a real block must be equal to 1;
-          =  5:  the block type must be either 1 or 2;
-          =  6:  errors in solving linear equations or in matrix
-                 inversion;
-          =  7:  errors in computing eigenvalues or singular values.
-          = 1i:  INFO on exit from SB10YD is i. (1i means 10 + i.)
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  I.   First, W(jw) for the given closed-loop system is being
-       estimated.
-  II.  Now, AB13MD SLICOT subroutine can obtain the D(jw) scaling
-       system with respect to NBLOCK and ITYPE, and colaterally,
-       mju(jw).
-       If QUTOL &lt; 0 then the estimations stop and the routine exits.
-  III. Now that we have D(jw), SB10YD subroutine can do block-by-
-       block fit. For each block it tries with an increasing order
-       of the fit, starting with 1 until the
-       (mean quadratic error + max quadratic error)/2
-       between the Dii(jw) and the estimated frequency responce
-       of the block becomes less than or equal to the routine
-       argument QUTOL, or the order becomes equal to ORD.
-  IV.  Arrange the obtained blocks in the AD, BD, CD and DD
-       matrices and estimate the total order of D(s), TOTORD.
-  V.   Add the system I_f to the system obtained in IV.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Balas, G., Doyle, J., Glover, K., Packard, A. and Smith, R.
-      Mu-analysis and Synthesis toolbox - User's Guide,
-      The Mathworks Inc., Natick, MA, USA, 1998.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10PD.html b/doc/_static/doc/SB10PD.html
deleted file mode 100644
index 8f18e3b5..00000000
--- a/doc/_static/doc/SB10PD.html
+++ /dev/null
@@ -1,235 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10PD">SB10PD</A></H2>
-<H3>
-Normalization of a system for H-infinity controller design
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices D12 and D21 of the linear time-invariant
-  system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  to unit diagonal form, to transform the matrices B, C, and D11 to
-  satisfy the formulas in the computation of an H2 and H-infinity
-  (sub)optimal controllers and to check the rank conditions.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10PD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, TU, LDTU, TY, LDTY, RCOND, TOL, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDTU, LDTY, LDWORK,
-     $                   M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * ), RCOND( 2 ),
-     $                   TU( LDTU, * ), TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading NP-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading NP-by-N part of this array contains
-          the transformed system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading NP-by-M part of this array must
-          contain the system input/output matrix D. The
-          NMEAS-by-NCON trailing submatrix D22 is not referenced.
-          On exit, the leading (NP-NMEAS)-by-(M-NCON) part of this
-          array contains the transformed submatrix D11.
-          The transformed submatrices D12 = [ 0  Im2 ]' and
-          D21 = [ 0  Inp2 ] are not stored. The corresponding part
-          of this array contains no useful information.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array contains the
-          control transformation matrix TU.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array contains the
-          measurement transformation matrix TY.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (2)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix TU;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix TY.
-          RCOND is set even if INFO = 3 or INFO = 4; if INFO = 3,
-          then RCOND(2) was not computed, but it is set to 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations. Transformation matrices TU and TY whose
-          reciprocal condition numbers are less than TOL are not
-          allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1,LW1,LW2,LW3,LW4), where
-          LW1 = (N+NP1+1)*(N+M2) + MAX(3*(N+M2)+N+NP1,5*(N+M2)),
-          LW2 = (N+NP2)*(N+M1+1) + MAX(3*(N+NP2)+N+M1,5*(N+NP2)),
-          LW3 = M2 + NP1*NP1 + MAX(NP1*MAX(N,M1),3*M2+NP1,5*M2),
-          LW4 = NP2 + M1*M1 + MAX(MAX(N,NP1)*M1,3*NP2+M1,5*NP2),
-          with M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
-          MAX(1,(N+Q)*(N+Q+6),Q*(Q+MAX(N,Q,5)+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix | A   B2  | had not full column rank
-                              | C1  D12 |
-                in respect to the tolerance EPS;
-          = 2:  if the matrix | A   B1  | had not full row rank in
-                              | C2  D21 |
-                respect to the tolerance EPS;
-          = 3:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 4:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 5:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of one of
-                the matrices |A   B2 |, |A   B1 |, D12 or D21).
-                             |C1  D12|  |C2  D21|
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs the transformations described in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the transformations can be controlled by the
-  condition numbers of the matrices TU and TY as given by the
-  values of RCOND(1) and RCOND(2), respectively. An error return
-  with INFO = 3 or INFO = 4 will be obtained if the condition
-  number of TU or TY, respectively, would exceed 1/TOL.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10QD.html b/doc/_static/doc/SB10QD.html
deleted file mode 100644
index db4ed6f0..00000000
--- a/doc/_static/doc/SB10QD.html
+++ /dev/null
@@ -1,261 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10QD">SB10QD</A></H2>
-<H3>
-State feedback and output injection matrices for an H-infinity (sub)optimal state controller (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the state feedback and the output injection
-  matrices for an H-infinity (sub)optimal n-state controller,
-  using Glover's and Doyle's 1988 formulas, for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  and for a given value of gamma, where B2 has as column size the
-  number of control inputs (NCON) and C2 has as row size the number
-  of measurements (NMEAS) being provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank with D12 = | 0 | and D21 is
-                                          | I |
-       full row rank with D21 = | 0 I | as obtained by the
-       subroutine SB10PD,
-
-  (A3) | A-j*omega*I  B2  | has full column rank for all omega,
-       |    C1        D12 |
-
-  (A4) | A-j*omega*I  B1  |  has full row rank for all omega.
-       |    C2        D21 |
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10QD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, F, LDF, H, LDH, X, LDX, Y, LDY,
-     $                   XYCOND, IWORK, DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDF, LDH, LDWORK,
-     $                   LDX, LDY, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * ), DWORK( * ),  F( LDF, * ),
-     $                   H( LDH, * ), X( LDX, * ), XYCOND( 2 ),
-     $                   Y( LDY, * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array contains the state
-          feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,M).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,NP)
-          The leading N-by-NP part of this array contains the output
-          injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the matrix
-          Y, solution of the Y-Riccati equation.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
-          XYCOND(1) contains an estimate of the reciprocal condition
-                    number of the X-Riccati equation;
-          XYCOND(2) contains an estimate of the reciprocal condition
-                    number of the Y-Riccati equation.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension
-          (max(2*max(N,M-NCON,NP-NMEAS),N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(1,M*M + max(2*M1,3*N*N +
-                                    max(N*M,10*N*N+12*N+5)),
-                        NP*NP + max(2*NP1,3*N*N +
-                                    max(N*NP,10*N*N+12*N+5))),
-          where M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
-          max(1,4*Q*Q+max(2*Q,3*N*N + max(2*N*Q,10*N*N+12*N+5))).
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the controller is not admissible (too small value
-                of gamma);
-          = 2:  if the X-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties);
-          = 3:  if the Y-Riccati equation was not solved
-                successfully (the controller is not admissible or
-                there are numerical difficulties).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's formulas [1],[2]
-  modified as described in [3]. The X- and Y-Riccati equations
-  are solved with condition and accuracy estimates [4].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-  [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of continuous-time
-      linear control systems.
-      Rep. 98-14, Department of Engineering, Leicester University,
-      Leicester, U.K., 1998.
-
-  [4] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the solution of the matrix Riccati equations
-  can be controlled by the values of the condition numbers
-  XYCOND(1) and XYCOND(2) of these equations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Riccati equations are solved by the Schur approach
-  implementing condition and accuracy estimates.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10RD.html b/doc/_static/doc/SB10RD.html
deleted file mode 100644
index f83bfa08..00000000
--- a/doc/_static/doc/SB10RD.html
+++ /dev/null
@@ -1,267 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10RD">SB10RD</A></H2>
-<H3>
-H-infinity (sub)optimal controller matrices using state feedback and output injection matrices (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of an H-infinity (sub)optimal controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  from the state feedback matrix F and output injection matrix H as
-  determined by the SLICOT Library routine SB10QD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10RD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, F, LDF, H, LDH, TU, LDTU, TY,
-     $                   LDTY, X, LDX, Y, LDY, AK, LDAK, BK, LDBK, CK,
-     $                   LDCK, DK, LDDK, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDF, LDH, LDTU, LDTY, LDWORK, LDX, LDY,
-     $                   M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   GAMMA
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   F( LDF, * ), H( LDH, * ), TU( LDTU, * ),
-     $                   TY( LDTY, * ), X( LDX, * ), Y( LDY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  GAMMA   (input) DOUBLE PRECISION
-          The value of gamma. It is assumed that gamma is
-          sufficiently large so that the controller is admissible.
-          GAMMA &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array must contain the
-          state feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,M).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,NP)
-          The leading N-by-NP part of this array must contain the
-          output injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array must contain the
-          control transformation matrix TU, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array must contain the
-          measurement transformation matrix TY, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  X       (input) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          matrix X, solution of the X-Riccati equation, as obtained
-          by the SLICOT Library routine SB10QD.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (input) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array must contain the
-          matrix Y, solution of the Y-Riccati equation, as obtained
-          by the SLICOT Library routine SB10QD.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK), where
-          LIWORK = max(2*(max(NP,M)-M2-NP2,M2,N),NP2)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(1, M2*NP2 + NP2*NP2 + M2*M2 +
-                        max(D1*D1 + max(2*D1, (D1+D2)*NP2),
-                            D2*D2 + max(2*D2, D2*M2), 3*N,
-                            N*(2*NP2 + M2) +
-                            max(2*N*M2, M2*NP2 +
-                                        max(M2*M2+3*M2, NP2*(2*NP2+
-                                               M2+max(NP2,N))))))
-          where D1 = NP1 - M2, D2 = M1 - NP2,
-               NP1 = NP - NP2, M1 = M - M2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = max(M1,M2,NP1,NP2), an upper bound is
-          max( 1, Q*(3*Q + 3*N + max(2*N, 4*Q + max(Q, N)))).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the controller is not admissible (too small value
-                of gamma);
-          = 2:  if the determinant of Im2 + Tu*D11HAT*Ty*D22 is zero.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the Glover's and Doyle's formulas [1],[2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Glover, K. and Doyle, J.C.
-      State-space formulae for all stabilizing controllers that
-      satisfy an Hinf norm bound and relations to risk sensitivity.
-      Systems and Control Letters, vol. 11, pp. 167-172, 1988.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10SD.html b/doc/_static/doc/SB10SD.html
deleted file mode 100644
index 94e4fb4f..00000000
--- a/doc/_static/doc/SB10SD.html
+++ /dev/null
@@ -1,286 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10SD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10SD">SB10SD</A></H2>
-<H3>
-H2 optimal controller matrices for a normalized discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  for the normalized discrete-time system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 | D11 D12 |   | C | D |
-                | C2 | D21  0  |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank with D12 = | 0 | and D21 is
-                                          | I |
-       full row rank with D21 = | 0 I | as obtained by the
-       SLICOT Library routine SB10PD,
-
-            j*Theta
-  (A3) | A-e       *I  B2  | has full column rank for all
-       |    C1         D12 |
-
-       0 &lt;= Theta &lt; 2*Pi ,
-
-            j*Theta
-  (A4) | A-e       *I  B1  | has full row rank for all
-       |    C2         D21 |
-
-       0 &lt;= Theta &lt; 2*Pi .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10SD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   X, LDX, Y, LDY, RCOND, TOL, IWORK, DWORK,
-     $                   LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, LDX, LDY, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( * ), X( LDX, * ), Y( LDY, * )
-      LOGICAL            BWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D. Only the leading
-          (NP-NP2)-by-(M-M2) submatrix D11 is used.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the matrix
-          Y, solution of the Y-Riccati equation.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (4)
-          RCOND contains estimates of the reciprocal condition
-          numbers of the matrices which are to be inverted and the
-          reciprocal condition numbers of the Riccati equations
-          which have to be solved during the computation of the
-          controller. (See the description of the algorithm in [2].)
-          RCOND(1) contains the reciprocal condition number of the
-                   matrix Im2 + B2'*X2*B2;
-          RCOND(2) contains the reciprocal condition number of the
-                   matrix Ip2 + C2*Y2*C2';
-          RCOND(3) contains the reciprocal condition number of the
-                   X-Riccati equation;
-          RCOND(4) contains the reciprocal condition number of the
-                   Y-Riccati equation.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used in determining the nonsingularity of the
-          matrices which must be inverted. If TOL &lt;= 0, then a
-          default value equal to sqrt(EPS) is used, where EPS is the
-          relative machine precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(M2,2*N,N*N,NP2))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(1, 14*N*N+6*N+max(14*N+23,16*N),
-                           M2*(N+M2+max(3,M1)), NP2*(N+NP2+3)),
-          where M1 = M - M2.
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the X-Riccati equation was not solved
-                successfully;
-          = 2:  if the matrix Im2 + B2'*X2*B2 is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL);
-          = 3:  if the Y-Riccati equation was not solved
-                successfully;
-          = 4:  if the matrix Ip2 + C2*Y2*C2' is not positive
-                definite, or it is numerically singular (with
-                respect to the tolerance TOL).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1]. The X- and
-  Y-Riccati equations are solved with condition estimates.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  matrices which are to be inverted and on the condition numbers of
-  the matrix Riccati equations which are to be solved in the
-  computation of the controller. (The corresponding reciprocal
-  condition numbers are given in the output array RCOND.)
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10TD.html b/doc/_static/doc/SB10TD.html
deleted file mode 100644
index 44d3ea69..00000000
--- a/doc/_static/doc/SB10TD.html
+++ /dev/null
@@ -1,223 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10TD">SB10TD</A></H2>
-<H3>
-H2 optimal controller matrices for a discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal discrete-time controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  from the matrices of the controller for the normalized system,
-  as determined by the SLICOT Library routine SB10SD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10TD( N, M, NP, NCON, NMEAS, D, LDD, TU, LDTU, TY,
-     $                   LDTY, AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK,
-     $                   RCOND, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDAK, LDBK, LDCK, LDD, LDDK, LDTU, LDTY,
-     $                   LDWORK, M, N, NCON, NMEAS, NP
-      DOUBLE PRECISION   RCOND, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   AK( LDAK, * ), BK( LDBK, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), DWORK( * ),
-     $                   TU( LDTU, * ), TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D. Only the trailing
-          NMEAS-by-NCON submatrix D22 is used.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array must contain the
-          control transformation matrix TU, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array must contain the
-          measurement transformation matrix TY, as obtained by the
-          SLICOT Library routine SB10PD.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  AK      (input/output) DOUBLE PRECISION array, dimension (LDAK,N)
-          On entry, the leading N-by-N part of this array must
-          contain controller state matrix for the normalized system
-          as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading N-by-N part of this array contains
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (input/output) DOUBLE PRECISION array, dimension
-          (LDBK,NMEAS)
-          On entry, the leading N-by-NMEAS part of this array must
-          contain controller input matrix for the normalized system
-          as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading N-by-NMEAS part of this array
-          contains controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (input/output) DOUBLE PRECISION array, dimension (LDCK,N)
-          On entry, the leading NCON-by-N part of this array must
-          contain controller output matrix for the normalized
-          system as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading NCON-by-N part of this array contains
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (input/output) DOUBLE PRECISION array, dimension
-          (LDDK,NMEAS)
-          On entry, the leading NCON-by-NMEAS part of this array
-          must contain controller matrix DK for the normalized
-          system as obtained by the SLICOT Library routine SB10SD.
-          On exit, the leading NCON-by-NMEAS part of this array
-          contains controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-  RCOND   (output) DOUBLE PRECISION
-          RCOND contains an estimate of the reciprocal condition
-          number of the matrix Im2 + DKHAT*D22 which must be
-          inverted in the computation of the controller.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used in determining the nonsingularity of the
-          matrix which must be inverted. If TOL &lt;= 0, then a default
-          value equal to sqrt(EPS) is used, where EPS is the
-          relative machine precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*M2)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= max(N*M2,N*NP2,M2*NP2,M2*M2+4*M2).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix Im2 + DKHAT*D22 is singular, or the
-                estimated condition number is larger than or equal
-                to 1/TOL.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.
-      Fortran 77 routines for Hinf and H2 design of linear
-      discrete-time control systems.
-      Report 99-8, Department of Engineering, Leicester University,
-      April 1999.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations and of the matrix Im2 +
-  DKHAT*D22.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10UD.html b/doc/_static/doc/SB10UD.html
deleted file mode 100644
index 1283f2e2..00000000
--- a/doc/_static/doc/SB10UD.html
+++ /dev/null
@@ -1,220 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10UD">SB10UD</A></H2>
-<H3>
-Normalization of a system for H2 controller design
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices D12 and D21 of the linear time-invariant
-  system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  to unit diagonal form, and to transform the matrices B and C to
-  satisfy the formulas in the computation of the H2 optimal
-  controller.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10UD( N, M, NP, NCON, NMEAS, B, LDB, C, LDC, D, LDD,
-     $                   TU, LDTU, TY, LDTY, RCOND, TOL, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDB, LDC, LDD, LDTU, LDTY, LDWORK, M, N,
-     $                   NCON, NMEAS, NP
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   B( LDB, * ), C( LDC, * ), D( LDD, * ),
-     $                   DWORK( * ), RCOND( 2 ), TU( LDTU, * ),
-     $                   TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading NP-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading NP-by-N part of this array contains
-          the transformed system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading NP-by-M part of this array must
-          contain the system input/output matrix D.
-          The (NP-NMEAS)-by-(M-NCON) leading submatrix D11 is not
-          referenced.
-          On exit, the trailing NMEAS-by-NCON part (in the leading
-          NP-by-M part) of this array contains the transformed
-          submatrix D22.
-          The transformed submatrices D12 = [ 0  Im2 ]' and
-          D21 = [ 0  Inp2 ] are not stored. The corresponding part
-          of this array contains no useful information.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  TU      (output) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array contains the
-          control transformation matrix TU.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (output) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array contains the
-          measurement transformation matrix TY.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (2)
-          RCOND(1) contains the reciprocal condition number of the
-                   control transformation matrix TU;
-          RCOND(2) contains the reciprocal condition number of the
-                   measurement transformation matrix TY.
-          RCOND is set even if INFO = 1 or INFO = 2; if INFO = 1,
-          then RCOND(2) was not computed, but it is set to 0.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for controlling the accuracy of the applied
-          transformations. Transformation matrices TU and TY whose
-          reciprocal condition numbers are less than TOL are not
-          allowed. If TOL &lt;= 0, then a default value equal to
-          sqrt(EPS) is used, where EPS is the relative machine
-          precision.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX( M2 + NP1*NP1 + MAX(NP1*N,3*M2+NP1,5*M2),
-                         NP2 + M1*M1  + MAX(M1*N,3*NP2+M1,5*NP2),
-                         N*M2, NP2*N, NP2*M2, 1 )
-          where M1 = M - M2 and NP1 = NP - NP2.
-          For good performance, LDWORK must generally be larger.
-          Denoting Q = MAX(M1,M2,NP1,NP2), an upper bound is
-          MAX(1,Q*(Q+MAX(N,5)+1)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the matrix D12 had not full column rank in
-                respect to the tolerance TOL;
-          = 2:  if the matrix D21 had not full row rank in respect
-                to the tolerance TOL;
-          = 3:  if the singular value decomposition (SVD) algorithm
-                did not converge (when computing the SVD of D12 or
-                D21).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine performs the transformations described in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the transformations can be controlled by the
-  condition numbers of the matrices TU and TY as given by the
-  values of RCOND(1) and RCOND(2), respectively. An error return
-  with INFO = 1 or INFO = 2 will be obtained if the condition
-  number of TU or TY, respectively, would exceed 1/TOL.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10VD.html b/doc/_static/doc/SB10VD.html
deleted file mode 100644
index 2cda995d..00000000
--- a/doc/_static/doc/SB10VD.html
+++ /dev/null
@@ -1,223 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10VD">SB10VD</A></H2>
-<H3>
-State feedback and output injection matrices for an H2 optimal state controller (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the state feedback and the output injection
-  matrices for an H2 optimal n-state controller for the system
-
-                | A  | B1  B2  |   | A | B |
-            P = |----|---------| = |---|---|
-                | C1 |  0  D12 |   | C | D |
-                | C2 | D21 D22 |
-
-  where B2 has as column size the number of control inputs (NCON)
-  and C2 has as row size the number of measurements (NMEAS) being
-  provided to the controller.
-
-  It is assumed that
-
-  (A1) (A,B2) is stabilizable and (C2,A) is detectable,
-
-  (A2) D12 is full column rank with D12 = | 0 | and D21 is
-                                          | I |
-       full row rank with D21 = | 0 I | as obtained by the
-       SLICOT Library routine SB10UD. Matrix D is not used
-       explicitly.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10VD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   F, LDF, H, LDH, X, LDX, Y, LDY, XYCOND, IWORK,
-     $                   DWORK, LDWORK, BWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, LDF, LDH, LDWORK, LDX,
-     $                   LDY, M, N, NCON, NMEAS, NP
-C     .. Array Arguments ..
-      LOGICAL            BWORK( * )
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  F( LDF, * ), H( LDH, * ),
-     $                   X( LDX, * ), XYCOND( 2 ), Y( LDY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0,
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0,
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  F       (output) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading NCON-by-N part of this array contains the
-          state feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          output injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array contains the matrix
-          X, solution of the X-Riccati equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= max(1,N).
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,N)
-          The leading N-by-N part of this array contains the matrix
-          Y, solution of the Y-Riccati equation.
-
-  LDY     INTEGER
-          The leading dimension of the array Y.  LDY &gt;= max(1,N).
-
-  XYCOND  (output) DOUBLE PRECISION array, dimension (2)
-          XYCOND(1) contains an estimate of the reciprocal condition
-                    number of the X-Riccati equation;
-          XYCOND(2) contains an estimate of the reciprocal condition
-                    number of the Y-Riccati equation.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2*N,N*N))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal
-          LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 13*N*N + 12*N + 5.
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the X-Riccati equation was not solved
-                successfully;
-          = 2:  if the Y-Riccati equation was not solved
-                successfully.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1], [2]. The X-
-  and Y-Riccati equations are solved with condition and accuracy
-  estimates [3].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., and Mehrmann, V.
-      DGRSVX and DMSRIC: Fortan 77 subroutines for solving
-      continuous-time matrix algebraic Riccati equations with
-      condition and accuracy estimates.
-      Preprint SFB393/98-16, Fak. f. Mathematik, Tech. Univ.
-      Chemnitz, May 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The precision of the solution of the matrix Riccati equations
-  can be controlled by the values of the condition numbers
-  XYCOND(1) and XYCOND(2) of these equations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Riccati equations are solved by the Schur approach
-  implementing condition and accuracy estimates.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10WD.html b/doc/_static/doc/SB10WD.html
deleted file mode 100644
index 647702da..00000000
--- a/doc/_static/doc/SB10WD.html
+++ /dev/null
@@ -1,216 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10WD">SB10WD</A></H2>
-<H3>
-H2 optimal controller matrices using state feedback and output injection matrices (continuous-time)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the H2 optimal controller
-
-           | AK | BK |
-       K = |----|----|,
-           | CK | DK |
-
-  from the state feedback matrix F and output injection matrix H as
-  determined by the SLICOT Library routine SB10VD.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10WD( N, M, NP, NCON, NMEAS, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, F, LDF, H, LDH, TU, LDTU, TY, LDTY,
-     $                   AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDF, LDH, LDTU, LDTY, M, N, NCON, NMEAS,
-     $                   NP
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), AK( LDAK, * ), B( LDB, * ),
-     $                   BK( LDBK, * ), C( LDC, * ), CK( LDCK, * ),
-     $                   D( LDD, * ), DK( LDDK, * ), F( LDF, * ),
-     $                   H( LDH, * ), TU( LDTU, * ), TY( LDTY, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  NCON    (input) INTEGER
-          The number of control inputs (M2).  M &gt;= NCON &gt;= 0.
-          NP-NMEAS &gt;= NCON.
-
-  NMEAS   (input) INTEGER
-          The number of measurements (NP2).  NP &gt;= NMEAS &gt;= 0.
-          M-NCON &gt;= NMEAS.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B. Only the submatrix
-          B2 = B(:,M-M2+1:M) is used.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C. Only the submatrix
-          C2 = C(NP-NP2+1:NP,:) is used.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D. Only the submatrix
-          D22 = D(NP-NP2+1:NP,M-M2+1:M) is used.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading NCON-by-N part of this array must contain the
-          state feedback matrix F.
-
-  LDF     INTEGER
-          The leading dimension of the array F.  LDF &gt;= max(1,NCON).
-
-  H       (input) DOUBLE PRECISION array, dimension (LDH,NMEAS)
-          The leading N-by-NMEAS part of this array must contain the
-          output injection matrix H.
-
-  LDH     INTEGER
-          The leading dimension of the array H.  LDH &gt;= max(1,N).
-
-  TU      (input) DOUBLE PRECISION array, dimension (LDTU,M2)
-          The leading M2-by-M2 part of this array must contain the
-          control transformation matrix TU, as obtained by the
-          SLICOT Library routine SB10UD.
-
-  LDTU    INTEGER
-          The leading dimension of the array TU.  LDTU &gt;= max(1,M2).
-
-  TY      (input) DOUBLE PRECISION array, dimension (LDTY,NP2)
-          The leading NP2-by-NP2 part of this array must contain the
-          measurement transformation matrix TY, as obtained by the
-          SLICOT Library routine SB10UD.
-
-  LDTY    INTEGER
-          The leading dimension of the array TY.
-          LDTY &gt;= max(1,NP2).
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix AK.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NMEAS)
-          The leading N-by-NMEAS part of this array contains the
-          controller input matrix BK.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading NCON-by-N part of this array contains the
-          controller output matrix CK.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.
-          LDCK &gt;= max(1,NCON).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NMEAS)
-          The leading NCON-by-NMEAS part of this array contains the
-          controller input/output matrix DK.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.
-          LDDK &gt;= max(1,NCON).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1], [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Zhou, K., Doyle, J.C., and Glover, K.
-      Robust and Optimal Control.
-      Prentice-Hall, Upper Saddle River, NJ, 1996.
-
-  [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
-      Smith, R.
-      mu-Analysis and Synthesis Toolbox.
-      The MathWorks Inc., Natick, Mass., 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the result depends on the condition numbers of the
-  input and output transformations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10YD.html b/doc/_static/doc/SB10YD.html
deleted file mode 100644
index ec37ff5d..00000000
--- a/doc/_static/doc/SB10YD.html
+++ /dev/null
@@ -1,231 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10YD">SB10YD</A></H2>
-<H3>
-Fitting frequency response data with a stable, minimum phase SISO system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To fit a supplied frequency response data with a stable, minimum
-  phase SISO (single-input single-output) system represented by its
-  matrices A, B, C, D. It handles both discrete- and continuous-time
-  cases.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10YD( DISCFL, FLAG, LENDAT, RFRDAT, IFRDAT, OMEGA, N,
-     $                   A, LDA, B, C, D, TOL, IWORK, DWORK, LDWORK,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DISCFL, FLAG, INFO, LDA, LDWORK, LENDAT,
-     $                   LZWORK, N
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   A(LDA, *), B(*), C(*), D(*), DWORK(*),
-     $                   IFRDAT(*), OMEGA(*), RFRDAT(*)
-      COMPLEX*16         ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DISCFL  (input) INTEGER
-          Indicates the type of the system, as follows:
-          = 0: continuous-time system;
-          = 1: discrete-time system.
-
-  FLAG    (input) INTEGER
-          If FLAG = 0, then the system zeros and poles are not
-          constrained.
-          If FLAG = 1, then the system zeros and poles will have
-          negative real parts in the continuous-time case, or moduli
-          less than 1 in the discrete-time case. Consequently, FLAG
-          must be equal to 1 in mu-synthesis routines.
-
-  LENDAT  (input) INTEGER
-          The length of the vectors RFRDAT, IFRDAT and OMEGA.
-          LENDAT &gt;= 2.
-
-  RFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The real part of the frequency data to be fitted.
-
-  IFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The imaginary part of the frequency data to be fitted.
-
-  OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
-          The frequencies corresponding to RFRDAT and IFRDAT.
-          These values must be nonnegative and monotonically
-          increasing. Additionally, for discrete-time systems
-          they must be between 0 and PI.
-
-  N       (input/output) INTEGER
-          On entry, the desired order of the system to be fitted.
-          N &lt;= LENDAT-1.
-          On exit, the order of the obtained system. The value of N
-          could only be modified if N &gt; 0 and FLAG = 1.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the
-          matrix A. If FLAG = 1, then A is in an upper Hessenberg
-          form, and corresponds to a minimal realization.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (N)
-          The computed vector B.
-
-  C       (output) DOUBLE PRECISION array, dimension (N)
-          The computed vector C. If FLAG = 1, the first N-1 elements
-          are zero (for the exit value of N).
-
-  D       (output) DOUBLE PRECISION array, dimension (1)
-          The computed scalar D.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used for determining the effective
-          rank of matrices. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the reciprocal
-          condition number;  a (sub)matrix whose estimated condition
-          number is less than 1/TOL is considered to be of full
-          rank.  If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF = SIZE*EPS,
-          is used instead, where SIZE is the product of the matrix
-          dimensions, and EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2,2*N+1))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK and DWORK(2) contains the optimal value of
-          LZWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK = max( 2, LW1, LW2, LW3, LW4 ), where
-          LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
-          LW2 =   LENDAT + 6*HNPTS;
-          MN  = min( 2*LENDAT, 2*N+1 )
-          LW3 = 2*LENDAT*(2*N+1) + max( 2*LENDAT, 2*N+1 ) +
-                max( MN + 6*N + 4, 2*MN + 1 ), if N &gt; 0;
-          LW3 = 4*LENDAT + 5                 , if N = 0;
-          LW4 = max( N*N + 5*N, 6*N + 1 + min( 1,N ) ), if FLAG = 1;
-          LW4 = 0,                                      if FLAG = 0.
-          For optimum performance LDWORK should be larger.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK = LENDAT*(2*N+3), if N &gt; 0;
-          LZWORK = LENDAT,         if N = 0.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the discrete --&gt; continuous transformation cannot
-                be made;
-          = 2:  if the system poles cannot be found;
-          = 3:  if the inverse system cannot be found, i.e., D is
-                (close to) zero;
-          = 4:  if the system zeros cannot be found;
-          = 5:  if the state-space representation of the new
-                transfer function T(s) cannot be found;
-          = 6:  if the continuous --&gt; discrete transformation cannot
-                be made.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, if the given frequency data are corresponding to a
-  continuous-time system, they are changed to a discrete-time
-  system using a bilinear transformation with a scaled alpha.
-  Then, the magnitude is obtained from the supplied data.
-  Then, the frequency data are linearly interpolated around
-  the unit-disc.
-  Then, Oppenheim and Schafer complex cepstrum method is applied
-  to get frequency data corresponding to a stable, minimum-
-  phase system. This is done in the following steps:
-  - Obtain LOG (magnitude)
-  - Obtain IFFT of the result (DG01MD SLICOT subroutine);
-  - halve the data at 0;
-  - Obtain FFT of the halved data (DG01MD SLICOT subroutine);
-  - Obtain EXP of the result.
-  Then, the new frequency data are interpolated back to the
-  original frequency.
-  Then, based on these newly obtained data, the system matrices
-  A, B, C, D are constructed; the very identification is
-  performed by Least Squares Method using DGELSY LAPACK subroutine.
-  If needed, a discrete-to-continuous time transformation is
-  applied on the system matrices by AB04MD SLICOT subroutine.
-  Finally, if requested, the poles and zeros of the system are
-  checked. If some of them have positive real parts in the
-  continuous-time case (or are not inside the unit disk in the
-  complex plane in the discrete-time case), they are exchanged with
-  their negatives (or reciprocals, respectively), to preserve the
-  frequency response, while getting a minimum phase and stable
-  system. This is done by SB10ZP SLICOT subroutine.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Oppenheim, A.V. and Schafer, R.W.
-      Discrete-Time Signal Processing.
-      Prentice-Hall Signal Processing Series, 1989.
-
-  [2] Balas, G., Doyle, J., Glover, K., Packard, A., and Smith, R.
-      Mu-analysis and Synthesis toolbox - User's Guide,
-      The Mathworks Inc., Natick, MA, USA, 1998.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10ZD.html b/doc/_static/doc/SB10ZD.html
deleted file mode 100644
index 18a929eb..00000000
--- a/doc/_static/doc/SB10ZD.html
+++ /dev/null
@@ -1,391 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ZD">SB10ZD</A></H2>
-<H3>
-Positive feedback controller for a discrete-time system (D <> 0)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the matrices of the positive feedback controller
-
-           | Ak | Bk |
-       K = |----|----|
-           | Ck | Dk |
-
-  for the shaped plant
-
-           | A | B |
-       G = |---|---|
-           | C | D |
-
-  in the Discrete-Time Loop Shaping Design Procedure.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   FACTOR, AK, LDAK, BK, LDBK, CK, LDCK, DK,
-     $                   LDDK, RCOND, TOL, IWORK, DWORK, LDWORK, BWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD,
-     $                   LDDK, LDWORK, M, N, NP
-      DOUBLE PRECISION   FACTOR, TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      LOGICAL            BWORK( * )
-      DOUBLE PRECISION   A ( LDA,  * ), AK( LDAK, * ), B ( LDB,  * ),
-     $                   BK( LDBK, * ), C ( LDC,  * ), CK( LDCK, * ),
-     $                   D ( LDD,  * ), DK( LDDK, * ), DWORK( * ),
-     $                   RCOND( 6 )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the plant.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The column size of the matrix B.  M &gt;= 0.
-
-  NP      (input) INTEGER
-          The row size of the matrix C.  NP &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          system state matrix A of the shaped plant.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          system input matrix B of the shaped plant.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= max(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading NP-by-N part of this array must contain the
-          system output matrix C of the shaped plant.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= max(1,NP).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading NP-by-M part of this array must contain the
-          system input/output matrix D of the shaped plant.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= max(1,NP).
-
-  FACTOR  (input) DOUBLE PRECISION
-          = 1  implies that an optimal controller is required
-               (not recommended);
-          &gt; 1  implies that a suboptimal controller is required
-               achieving a performance FACTOR less than optimal.
-          FACTOR &gt;= 1.
-
-  AK      (output) DOUBLE PRECISION array, dimension (LDAK,N)
-          The leading N-by-N part of this array contains the
-          controller state matrix Ak.
-
-  LDAK    INTEGER
-          The leading dimension of the array AK.  LDAK &gt;= max(1,N).
-
-  BK      (output) DOUBLE PRECISION array, dimension (LDBK,NP)
-          The leading N-by-NP part of this array contains the
-          controller input matrix Bk.
-
-  LDBK    INTEGER
-          The leading dimension of the array BK.  LDBK &gt;= max(1,N).
-
-  CK      (output) DOUBLE PRECISION array, dimension (LDCK,N)
-          The leading M-by-N part of this array contains the
-          controller output matrix Ck.
-
-  LDCK    INTEGER
-          The leading dimension of the array CK.  LDCK &gt;= max(1,M).
-
-  DK      (output) DOUBLE PRECISION array, dimension (LDDK,NP)
-          The leading M-by-NP part of this array contains the
-          controller matrix Dk.
-
-  LDDK    INTEGER
-          The leading dimension of the array DK.  LDDK &gt;= max(1,M).
-
-  RCOND   (output) DOUBLE PRECISION array, dimension (6)
-          RCOND(1) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the P-Riccati equation is
-                   obtained;
-          RCOND(2) contains an estimate of the reciprocal condition
-                   number of the linear system of equations from
-                   which the solution of the Q-Riccati equation is
-                   obtained;
-          RCOND(3) contains an estimate of the reciprocal condition
-                   number of the matrix (gamma^2-1)*In - P*Q;
-          RCOND(4) contains an estimate of the reciprocal condition
-                   number of the matrix Rx + Bx'*X*Bx;
-          RCOND(5) contains an estimate of the reciprocal condition
-                                               ^
-                   number of the matrix Ip + D*Dk;
-          RCOND(6) contains an estimate of the reciprocal condition
-                                             ^
-                   number of the matrix Im + Dk*D.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          Tolerance used for checking the nonsingularity of the
-          matrices to be inverted. If TOL &lt;= 0, then a default value
-          equal to sqrt(EPS) is used, where EPS is the relative
-          machine precision.  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*max(N,M+NP))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 16*N*N + 5*M*M + 7*NP*NP + 6*M*N + 7*M*NP +
-                     7*N*NP + 6*N + 2*(M + NP) +
-                     max(14*N+23,16*N,2*M-1,2*NP-1).
-          For good performance, LDWORK must generally be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    (output) INTEGER
-          =  0:  successful exit;
-          &lt;  0:  if INFO = -i, the i-th argument had an illegal
-                 value;
-          =  1:  the P-Riccati equation is not solved successfully;
-          =  2:  the Q-Riccati equation is not solved successfully;
-          =  3:  the iteration to compute eigenvalues or singular
-                 values failed to converge;
-          =  4:  the matrix (gamma^2-1)*In - P*Q is singular;
-          =  5:  the matrix Rx + Bx'*X*Bx is singular;
-                                   ^
-          =  6:  the matrix Ip + D*Dk is singular;
-                                 ^
-          =  7:  the matrix Im + Dk*D is singular;
-          =  8:  the matrix Ip - D*Dk is singular;
-          =  9:  the matrix Im - Dk*D is singular;
-          = 10:  the closed-loop system is unstable.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the formulas given in [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Gu, D.-W., Petkov, P.H., and Konstantinov, M.M.
-      On discrete H-infinity loop shaping design procedure routines.
-      Technical Report 00-6, Dept. of Engineering, Univ. of
-      Leicester, UK, 2000.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The accuracy of the results depends on the conditioning of the
-  two Riccati equations solved in the controller design. For
-  better conditioning it is advised to take FACTOR &gt; 1.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB10ZD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX, PMAX
-      PARAMETER        ( MMAX = 10, NMAX = 10, PMAX = 10 )
-      INTEGER          LDA, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
-      PARAMETER        ( LDA  = NMAX, LDAK = NMAX, LDB  = NMAX,
-     $                   LDBK = NMAX, LDC  = PMAX, LDCK = MMAX,
-     $                   LDD  = PMAX, LDDK = MMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NMAX, MMAX + PMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 16*NMAX*NMAX + 5*MMAX*MMAX +
-     $                            7*PMAX*PMAX + 6*MMAX*NMAX +
-     $                            7*MMAX*PMAX + 7*NMAX*PMAX + 6*NMAX +
-     $                            2*( MMAX + PMAX ) +
-     $                            MAX( 14*NMAX + 23, 16*NMAX,
-     $                                  2*MMAX - 1, 2*PMAX - 1 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION FACTOR, TOL
-      INTEGER          I, INFO, J, M, N, NP
-*     .. Local Arrays ..
-      LOGICAL          BWORK(2*NMAX)
-      INTEGER          IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX),   AK(LDAK,NMAX), B(LDB,MMAX),
-     $                 BK(LDBK,PMAX), C(LDC,NMAX),   CK(LDCK,NMAX),
-     $                 D(LDD,MMAX),   DK(LDDK,PMAX), DWORK(LDWORK),
-     $                 RCOND( 6 )
-*     .. External Subroutines ..
-      EXTERNAL         SB10ZD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, NP
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) M
-      ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) NP
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
-         READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
-         READ ( NIN, FMT = * ) FACTOR, TOL
-         CALL SB10ZD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, FACTOR,
-     $                AK, LDAK, BK, LDBK, CK, LDCK, DK, LDDK, RCOND,
-     $                TOL, IWORK, DWORK, LDWORK, BWORK, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, FMT = 99997 )
-            DO 10 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
-   10       CONTINUE
-            WRITE ( NOUT, FMT = 99996 )
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
-   20       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 30 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
-   30       CONTINUE
-            WRITE ( NOUT, FMT = 99994 )
-            DO 40 I = 1, M
-               WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
-   40       CONTINUE
-            WRITE( NOUT, FMT = 99993 )
-            WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1,6 )
-         ELSE
-            WRITE( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB10ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (/' INFO on exit from SB10ZD =',I2)
-99997 FORMAT (/' The controller state matrix AK is'/)
-99996 FORMAT (/' The controller input matrix BK is'/)
-99995 FORMAT (/' The controller output matrix CK is'/)
-99994 FORMAT (/' The controller matrix DK is'/)
-99993 FORMAT (/' The estimated condition numbers are'/)
-99992 FORMAT (10(1X,F8.4))
-99991 FORMAT ( 5(1X,D12.5))
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB10LD EXAMPLE PROGRAM DATA
-   6     2     3   
-   0.2  0.0  3.0  0.0 -0.3 -0.1
-  -3.0  0.2 -0.4 -0.3  0.0  0.0
-  -0.1  0.1 -1.0  0.0  0.0 -3.0
-   1.0  0.0  0.0 -1.0 -1.0  0.0
-   0.0  0.3  0.6  2.0  0.1 -0.4
-   0.2 -4.0  0.0  0.0  0.2 -2.0
-  -1.0 -2.0
-   1.0  3.0 
-  -3.0 -4.0 
-   1.0 -2.0 
-   0.0  1.0
-   1.0  5.0  
-   1.0 -1.0  2.0 -2.0  0.0 -3.0
-  -3.0  0.0  1.0 -1.0  1.0 -1.0
-   2.0  4.0 -3.0  0.0  5.0  1.0
-  10.0 -6.0
-  -7.0  8.0
-   2.0 -4.0
-   1.1  0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB10ZD EXAMPLE PROGRAM RESULTS
-
-
- The controller state matrix AK is
-
-   1.0128   0.5101  -0.1546   1.1300   3.3759   0.4911
-  -2.1257  -1.4517  -0.4486   0.3493  -1.5506  -1.4296
-  -1.0930  -0.6026  -0.1344   0.2253  -1.5625  -0.6762
-   0.3207   0.1698   0.2376  -1.1781  -0.8705   0.2896
-   0.5017   0.9006   0.0668   2.3613   0.2049   0.3703
-   1.0787   0.6703   0.2783  -0.7213   0.4918   0.7435
-
- The controller input matrix BK is
-
-   0.4132   0.3112  -0.8077
-   0.2140   0.4253   0.1811
-  -0.0710   0.0807   0.3558
-  -0.0121  -0.2019   0.0249
-   0.1047   0.1399  -0.0457
-  -0.2542  -0.3472   0.0523
-
- The controller output matrix CK is
-
-  -0.0372  -0.0456  -0.0040   0.0962  -0.2059  -0.0571
-   0.1999   0.2994   0.1335  -0.0251  -0.3108   0.2048
-
- The controller matrix DK is
-
-   0.0629  -0.0022   0.0363
-  -0.0228   0.0195   0.0600
-
- The estimated condition numbers are
-
-  0.27949D-03  0.66679D-03  0.45677D-01  0.23433D-07  0.68495D-01
-  0.76854D-01
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB10ZP.html b/doc/_static/doc/SB10ZP.html
deleted file mode 100644
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+++ /dev/null
@@ -1,156 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB10ZP - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB10ZP">SB10ZP</A></H2>
-<H3>
-Transforming a SISO system into a stable and minimum phase one
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To transform a SISO (single-input single-output) system [A,B;C,D]
-  by mirroring its unstable poles and zeros in the boundary of the
-  stability domain, thus preserving the frequency response of the
-  system, but making it stable and minimum phase. Specifically, for
-  a continuous-time system, the positive real parts of its poles
-  and zeros are exchanged with their negatives. Discrete-time
-  systems are first converted to continuous-time systems using a
-  bilinear transformation, and finally converted back.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB10ZP( DISCFL, N, A, LDA, B, C, D, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            DISCFL, INFO, LDA, LDWORK, N
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( * ), C( * ), D( * ), DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  DISCFL  (input) INTEGER
-          Indicates the type of the system, as follows:
-          = 0: continuous-time system;
-          = 1: discrete-time system.
-
-  N       (input/output) INTEGER
-          On entry, the order of the original system.  N &gt;= 0.
-          On exit, the order of the transformed, minimal system.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original system matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed matrix A, in an upper Hessenberg form.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the original system
-          vector B.
-          On exit, this array contains the transformed vector B.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the original system
-          vector C.
-          On exit, this array contains the transformed vector C.
-          The first N-1 elements are zero (for the exit value of N).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (1)
-          On entry, this array must contain the original system
-          scalar D.
-          On exit, this array contains the transformed scalar D.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (max(2,N+1))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= max(N*N + 5*N, 6*N + 1 + min(1,N)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the discrete --&gt; continuous transformation cannot
-                be made;
-          = 2:  if the system poles cannot be found;
-          = 3:  if the inverse system cannot be found, i.e., D is
-                (close to) zero;
-          = 4:  if the system zeros cannot be found;
-          = 5:  if the state-space representation of the new
-                transfer function T(s) cannot be found;
-          = 6:  if the continuous --&gt; discrete transformation cannot
-                be made.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, if the system is discrete-time, it is transformed to
-  continuous-time using alpha = beta = 1 in the bilinear
-  transformation implemented in the SLICOT routine AB04MD.
-  Then the eigenvalues of A, i.e., the system poles, are found.
-  Then, the inverse of the original system is found and its poles,
-  i.e., the system zeros, are evaluated.
-  The obtained system poles Pi and zeros Zi are checked and if a
-  positive real part is detected, it is exchanged by -Pi or -Zi.
-  Then the polynomial coefficients of the transfer function
-  T(s) = Q(s)/P(s) are found.
-  The state-space representation of T(s) is then obtained.
-  The system matrices B, C, D are scaled so that the transformed
-  system has the same system gain as the original system.
-  If the original system is discrete-time, then the result (which is
-  continuous-time) is converted back to discrete-time.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB16AD.html b/doc/_static/doc/SB16AD.html
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@@ -1,650 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16AD">SB16AD</A></H2>
-<H3>
-Stability/performance enforcing frequency-weighted controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute a reduced order controller (Acr,Bcr,Ccr,Dcr) for an
-  original state-space controller representation (Ac,Bc,Cc,Dc) by
-  using the frequency-weighted square-root or balancing-free
-  square-root Balance & Truncate (B&T) or Singular Perturbation
-  Approximation (SPA) model reduction methods. The algorithm tries
-  to minimize the norm of the frequency-weighted error
-
-        ||V*(K-Kr)*W||
-
-  where K and Kr are the transfer-function matrices of the original
-  and reduced order controllers, respectively. V and W are special
-  frequency-weighting transfer-function matrices constructed
-  to enforce closed-loop stability and/or closed-loop performance.
-  If G is the transfer-function matrix of the open-loop system, then
-  the following weightings V and W can be used:
-                   -1
-   (a)   V = (I-G*K) *G, W = I - to enforce closed-loop stability;
-                           -1
-   (b)   V = I,  W = (I-G*K) *G - to enforce closed-loop stability;
-                   -1              -1
-   (c)   V = (I-G*K) *G, W = (I-G*K)  - to enforce closed-loop
-         stability and performance.
-
-  G has the state space representation (A,B,C,D).
-  If K is unstable, only the ALPHA-stable part of K is reduced.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL,
-     $                   N, M, P, NC, NCR, ALPHA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, AC, LDAC, BC, LDBC, CC, LDCC,
-     $                   DC, LDDC, NCS, HSVC, TOL1, TOL2, IWORK, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
-      INTEGER           INFO, IWARN, LDA, LDAC, LDB, LDBC, LDC, LDCC,
-     $                  LDD, LDDC, LDWORK, M, N, NC, NCR, NCS, P
-      DOUBLE PRECISION  ALPHA, TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
-     $                  C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
-     $                  DWORK(*), HSVC(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the original controller as follows:
-          = 'C':  continuous-time controller;
-          = 'D':  discrete-time controller.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified Enns' method of [2].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [2].
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method;
-          = 'S':  use the square-root SPA method;
-          = 'P':  use the balancing-free square-root SPA method.
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency-weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'O':  stability enforcing left (output) weighting
-                            -1
-                  V = (I-G*K) *G is used (W = I);
-          = 'I':  stability enforcing right (input) weighting
-                            -1
-                  W = (I-G*K) *G is used (V = I);
-          = 'P':  stability and performance enforcing weightings
-                            -1                -1
-                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplets (A,B,C) and (Ac,Bc,Cc) as
-          follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting order NCR is fixed;
-          = 'A':  the resulting order NCR is automatically
-                  determined on basis of the given tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop system state-space
-          representation, i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NC      (input) INTEGER
-          The order of the controller state-space representation,
-          i.e., the order of the matrix AC.  NC &gt;= 0.
-
-  NCR     (input/output) INTEGER
-          On entry with ORDSEL = 'F', NCR is the desired order of
-          the resulting reduced order controller.  0 &lt;= NCR &lt;= NC.
-          On exit, if INFO = 0, NCR is the order of the resulting
-          reduced order controller. For a controller with NCU
-          ALPHA-unstable eigenvalues and NCS ALPHA-stable
-          eigenvalues (NCU+NCS = NC), NCR is set as follows:
-          if ORDSEL = 'F', NCR is equal to
-          NCU+MIN(MAX(0,NCR-NCU),NCMIN), where NCR is the desired
-          order on entry, NCMIN is the number of frequency-weighted
-          Hankel singular values greater than NCS*EPS*S1, EPS is the
-          machine precision (see LAPACK Library Routine DLAMCH) and
-          S1 is the largest Hankel singular value (computed in
-          HSVC(1)); NCR can be further reduced to ensure
-          HSVC(NCR-NCU) &gt; HSVC(NCR+1-NCU);
-          if ORDSEL = 'A', NCR is the sum of NCU and the number of
-          Hankel singular values greater than MAX(TOL1,NCS*EPS*S1).
-
-  ALPHA   (input) DOUBLE PRECISION
-          Specifies the ALPHA-stability boundary for the eigenvalues
-          of the state dynamics matrix AC. For a continuous-time
-          controller (DICO = 'C'), ALPHA &lt;= 0 is the boundary value
-          for the real parts of eigenvalues; for a discrete-time
-          controller (DICO = 'D'), 0 &lt;= ALPHA &lt;= 1 represents the
-          boundary value for the moduli of eigenvalues.
-          The ALPHA-stability domain does not include the boundary.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A of the open-loop
-          system.
-          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-N
-          part of this array contains the scaled state dynamics
-          matrix of the open-loop system.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B of the open-loop system.
-          On exit, if INFO = 0 and EQUIL = 'S', the leading N-by-M
-          part of this array contains the scaled input/state matrix
-          of the open-loop system.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C of the open-loop system.
-          On exit, if INFO = 0 and EQUIL = 'S', the leading P-by-N
-          part of this array contains the scaled state/output matrix
-          of the open-loop system.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D of the open-loop system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AC      (input/output) DOUBLE PRECISION array, dimension (LDAC,NC)
-          On entry, the leading NC-by-NC part of this array must
-          contain the state dynamics matrix Ac of the original
-          controller.
-          On exit, if INFO = 0, the leading NCR-by-NCR part of this
-          array contains the state dynamics matrix Acr of the
-          reduced controller. The resulting Ac has a
-          block-diagonal form with two blocks.
-          For a system with NCU ALPHA-unstable eigenvalues and
-          NCS ALPHA-stable eigenvalues (NCU+NCS = NC), the leading
-          NCU-by-NCU block contains the unreduced part of Ac
-          corresponding to the ALPHA-unstable eigenvalues.
-          The trailing (NCR+NCS-NC)-by-(NCR+NCS-NC) block contains
-          the reduced part of Ac corresponding to ALPHA-stable
-          eigenvalues.
-
-  LDAC    INTEGER
-          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
-
-  BC      (input/output) DOUBLE PRECISION array, dimension (LDBC,P)
-          On entry, the leading NC-by-P part of this array must
-          contain the input/state matrix Bc of the original
-          controller.
-          On exit, if INFO = 0, the leading NCR-by-P part of this
-          array contains the input/state matrix Bcr of the reduced
-          controller.
-
-  LDBC    INTEGER
-          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
-
-  CC      (input/output) DOUBLE PRECISION array, dimension (LDCC,NC)
-          On entry, the leading M-by-NC part of this array must
-          contain the state/output matrix Cc of the original
-          controller.
-          On exit, if INFO = 0, the leading M-by-NCR part of this
-          array contains the state/output matrix Ccr of the reduced
-          controller.
-
-  LDCC    INTEGER
-          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
-
-  DC      (input/output) DOUBLE PRECISION array, dimension (LDDC,P)
-          On entry, the leading M-by-P part of this array must
-          contain the input/output matrix Dc of the original
-          controller.
-          On exit, if INFO = 0, the leading M-by-P part of this
-          array contains the input/output matrix Dcr of the reduced
-          controller.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
-
-  NCS     (output) INTEGER
-          The dimension of the ALPHA-stable part of the controller.
-
-  HSVC    (output) DOUBLE PRECISION array, dimension (NC)
-          If INFO = 0, the leading NCS elements of this array
-          contain the frequency-weighted Hankel singular values,
-          ordered decreasingly, of the ALPHA-stable part of the
-          controller.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of the reduced controller.
-          For model reduction, the recommended value is
-          TOL1 = c*S1, where c is a constant in the
-          interval [0.00001,0.001], and S1 is the largest
-          frequency-weighted Hankel singular value of the
-          ALPHA-stable part of the original controller
-          (computed in HSVC(1)).
-          If TOL1 &lt;= 0 on entry, the used default value is
-          TOL1 = NCS*EPS*S1, where NCS is the number of
-          ALPHA-stable eigenvalues of Ac and EPS is the machine
-          precision (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the ALPHA-stable part of the given
-          controller. The recommended value is TOL2 = NCS*EPS*S1.
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(1,LIWRK1,LIWRK2))
-          LIWRK1 = 0,       if JOBMR  = 'B';
-          LIWRK1 = NC,      if JOBMR  = 'F';
-          LIWRK1 = 2*NC,    if JOBMR  = 'S' or 'P';
-          LIWRK2 = 0,       if WEIGHT = 'N';
-          LIWRK2 = 2*(M+P), if WEIGHT = 'O', 'I', or 'P'.
-          On exit, if INFO = 0, IWORK(1) contains NCMIN, the order
-          of the computed minimal realization of the stable part of
-          the controller.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*NC*NC + MAX( 1, LFREQ, LSQRED ),
-          where
-          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
-                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
-                                   if WEIGHT = 'I' or 'O' or 'P';
-          LFREQ  = NC*(MAX(M,P)+5) if WEIGHT = 'N' and EQUIL = 'N';
-          LFREQ  = MAX(N,NC*(MAX(M,P)+5)) if WEIGHT = 'N' and
-                                             EQUIL  = 'S';
-          LSQRED = MAX( 1, 2*NC*NC+5*NC );
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NCR is greater
-                than NSMIN, the sum of the order of the
-                ALPHA-unstable part and the order of a minimal
-                realization of the ALPHA-stable part of the given
-                controller; in this case, the resulting NCR is set
-                equal to NSMIN;
-          = 2:  with ORDSEL = 'F', the selected order NCR
-                corresponds to repeated singular values for the
-                ALPHA-stable part of the controller, which are
-                neither all included nor all excluded from the
-                reduced model; in this case, the resulting NCR is
-                automatically decreased to exclude all repeated
-                singular values;
-          = 3:  with ORDSEL = 'F', the selected order NCR is less
-                than the order of the ALPHA-unstable part of the
-                given controller. In this case NCR is set equal to
-                the order of the ALPHA-unstable part.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the closed-loop system is not well-posed;
-                its feedthrough matrix is (numerically) singular;
-          = 2:  the computation of the real Schur form of the
-                closed-loop state matrix failed;
-          = 3:  the closed-loop state matrix is not stable;
-          = 4:  the solution of a symmetric eigenproblem failed;
-          = 5:  the computation of the ordered real Schur form of Ac
-                failed;
-          = 6:  the separation of the ALPHA-stable/unstable
-                diagonal blocks failed because of very close
-                eigenvalues;
-          = 7:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let K be the transfer-function matrix of the original linear
-  controller
-
-       d[xc(t)] = Ac*xc(t) + Bc*y(t)
-       u(t)     = Cc*xc(t) + Dc*y(t),                      (1)
-
-  where d[xc(t)] is dxc(t)/dt for a continuous-time system and
-  xc(t+1) for a discrete-time system. The subroutine SB16AD
-  determines the matrices of a reduced order controller
-
-       d[z(t)] = Acr*z(t) + Bcr*y(t)
-       u(t)    = Ccr*z(t) + Dcr*y(t),                      (2)
-
-  such that the corresponding transfer-function matrix Kr minimizes
-  the norm of the frequency-weighted error
-
-          V*(K-Kr)*W,                                      (3)
-
-  where V and W are special stable transfer-function matrices
-  chosen to enforce stability and/or performance of the closed-loop
-  system [3] (see description of the parameter WEIGHT).
-
-  The following procedure is used to reduce K in conjunction
-  with the frequency-weighted balancing approach of [2]
-  (see also [3]):
-
-  1) Decompose additively K, of order NC, as
-
-       K = K1 + K2,
-
-     such that K1 has only ALPHA-stable poles and K2, of order NCU,
-     has only ALPHA-unstable poles.
-
-  2) Compute for K1 a B&T or SPA frequency-weighted approximation
-     K1r of order NCR-NCU using the frequency-weighted balancing
-     approach of [1] in conjunction with accuracy enhancing
-     techniques specified by the parameter JOBMR.
-
-  3) Assemble the reduced model Kr as
-
-        Kr = K1r + K2.
-
-  For the reduction of the ALPHA-stable part, several accuracy
-  enhancing techniques can be employed (see [2] for details).
-
-  If JOBMR = 'B', the square-root B&T method of [1] is used.
-
-  If JOBMR = 'F', the balancing-free square-root version of the
-  B&T method [1] is used.
-
-  If JOBMR = 'S', the square-root version of the SPA method [2,3]
-  is used.
-
-  If JOBMR = 'P', the balancing-free square-root version of the
-  SPA method [2,3] is used.
-
-  For each of these methods, two left and right truncation matrices
-  are determined using the Cholesky factors of an input
-  frequency-weighted controllability Grammian P and an output
-  frequency-weighted observability Grammian Q.
-  P and Q are determined as the leading NC-by-NC diagonal blocks
-  of the controllability Grammian of K*W and of the
-  observability Grammian of V*K. Special techniques developed in [2]
-  are used to compute the Cholesky factors of P and Q directly
-  (see also SLICOT Library routine SB16AY).
-  The frequency-weighted Hankel singular values HSVC(1), ....,
-  HSVC(NC) are computed as the square roots of the eigenvalues
-  of the product P*Q.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Varga, A. and Anderson, B.D.O.
-      Square-root balancing-free methods for frequency-weighted
-      balancing related model reduction.
-      (report in preparation)
-
-  [3] Anderson, B.D.O and Liu, Y.
-      Controller reduction: concepts and approaches.
-      IEEE Trans. Autom. Control, Vol. 34, pp. 802-812, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root
-  techniques.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB16AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NCMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
-     $                   NCMAX = 20 )
-      INTEGER          MPMAX, NNCMAX
-      PARAMETER        ( MPMAX  = MMAX + PMAX, NNCMAX = NMAX + NCMAX )
-      INTEGER          LDA, LDB, LDC, LDD, LDAC, LDBC, LDCC, LDDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDAC = NCMAX, LDBC = NCMAX,
-     $                   LDCC = PMAX, LDDC = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAX( NCMAX, MPMAX ) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NCMAX*NCMAX +
-     $                            NNCMAX*( NNCMAX + 2*MPMAX ) +
-     $                            MAX( NNCMAX*( NNCMAX +
-     $                                 MAX( NNCMAX, MMAX, PMAX ) + 7 ),
-     $                                 MPMAX*( MPMAX + 4 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION ALPHA, TOL1, TOL2
-      INTEGER          I, INFO, IWARN, J, M, N, NCR, NCS, NC, P
-      CHARACTER*1      DICO, EQUIL, JOBC, JOBO, JOBMR, ORDSEL, WEIGHT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), HSVC(NMAX),
-     $                 AC(LDAC,NCMAX), BC(LDBC,PMAX), CC(LDCC,NMAX),
-     $                 DC(LDDC,PMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB16AD
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NC, NCR, ALPHA, TOL1, TOL2, DICO,
-     $                      JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL
-      IF( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF( P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               IF( NC.LT.0 .OR. NC.GT.NCMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) NC
-               ELSE
-                  IF( NC.GT.0 ) THEN
-                     READ ( NIN, FMT = * )
-     $                 ( ( AC(I,J), J = 1,NC ), I = 1,NC )
-                     READ ( NIN, FMT = * )
-     $                 ( ( BC(I,J), J = 1,P ), I = 1, NC )
-                     READ ( NIN, FMT = * )
-     $                 ( ( CC(I,J), J = 1,NC ), I = 1,M )
-                  END IF
-                  READ ( NIN, FMT = * )
-     $                 ( ( DC(I,J), J = 1,P ), I = 1,M )
-               END IF
-*              Find a reduced ssr for (AC,BC,CC,DC).
-               CALL SB16AD( DICO, JOBC, JOBO, JOBMR, WEIGHT, EQUIL,
-     $                      ORDSEL, N, M, P, NC, NCR, ALPHA, A, LDA,
-     $                      B, LDB, C, LDC, D, LDD, AC, LDAC, BC, LDBC,
-     $                      CC, LDCC, DC, LDDC, NCS, HSVC, TOL1, TOL2,
-     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
-                  WRITE ( NOUT, FMT = 99997 ) NCR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSVC(J), J = 1, NCS )
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( AC(I,J), J = 1,NCR )
-   20             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( BC(I,J), J = 1,P )
-   40             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( CC(I,J), J = 1,NCR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,P )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB16AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB16AD = ',I2)
-99997 FORMAT (/' The order of reduced controller = ',I2)
-99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
-99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
-99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of weighted ALPHA-stable',
-     $         ' part are')
-99986 FORMAT (/' NC is out of range.',/' NC = ',I5)
-99984 FORMAT (' IWARN on exit from SB16AD = ',I2)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB16AD EXAMPLE PROGRAM DATA (Continuous system)
-  3  1  1   3  2   0.0  0.1E0  0.0    C  S  S  F   I  N   F 
-  -1.  0.   4.
-   0.  2.   0.
-   0.  0.  -3.
-   1.
-   1.
-   1.
-   1.  1.   1.
-   0. 
-  -26.4000    6.4023    4.3868
-   32.0000         0         0
-         0    8.0000         0
-    -16
-     0
-     0
-    9.2994    1.1624    0.1090
-     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB16AD EXAMPLE PROGRAM RESULTS
-
-
- The order of reduced controller =  2
-
- The Hankel singular values of weighted ALPHA-stable part are
-   3.8253   0.2005
-
- The reduced controller state dynamics matrix Ac is 
-   9.1900   0.0000
-   0.0000 -34.5297
-
- The reduced controller input/state matrix Bc is 
- -11.9593
-  86.3137
-
- The reduced controller state/output matrix Cc is 
-   2.8955  -1.3566
-
- The reduced controller input/output matrix Dc is 
-   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB16AY.html b/doc/_static/doc/SB16AY.html
deleted file mode 100644
index 464b5002..00000000
--- a/doc/_static/doc/SB16AY.html
+++ /dev/null
@@ -1,343 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16AY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16AY">SB16AY</A></H2>
-<H3>
-Cholesky factors of the frequency-weighted controllability and observability Grammians for controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for given state-space representations (A,B,C,D) and
-  (Ac,Bc,Cc,Dc) of the transfer-function matrices of the
-  open-loop system G and feedback controller K, respectively,
-  the Cholesky factors of the frequency-weighted
-  controllability and observability Grammians corresponding
-  to a frequency-weighted model reduction problem.
-  The controller must stabilize the closed-loop system.
-  The state matrix Ac must be in a block-diagonal real Schur form
-  Ac = diag(Ac1,Ac2), where Ac1 contains the unstable eigenvalues
-  of Ac and Ac2 contains the stable eigenvalues of Ac.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16AY( DICO, JOBC, JOBO, WEIGHT, N, M, P, NC, NCS,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   AC, LDAC, BC, LDBC, CC, LDCC, DC, LDDC,
-     $                   SCALEC, SCALEO, S, LDS, R, LDR,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBC, JOBO, WEIGHT
-      INTEGER          INFO, LDA, LDAC, LDB, LDBC, LDC, LDCC, LDD, LDDC,
-     $                 LDR, LDS, LDWORK, M, N, NC, NCS, P
-      DOUBLE PRECISION SCALEC, SCALEO
-C     .. Array Arguments ..
-      INTEGER          IWORK(*)
-      DOUBLE PRECISION A(LDA,*), AC(LDAC,*), B(LDB,*), BC(LDBC,*),
-     $                 C(LDC,*), CC(LDCC,*), D(LDD,*), DC(LDDC,*),
-     $                 DWORK(*), R(LDR,*),   S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the systems as follows:
-          = 'C':  G and K are continuous-time systems;
-          = 'D':  G and K are discrete-time systems.
-
-  JOBC    CHARACTER*1
-          Specifies the choice of frequency-weighted controllability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified Enns' method of [2].
-
-  JOBO    CHARACTER*1
-          Specifies the choice of frequency-weighted observability
-          Grammian as follows:
-          = 'S': choice corresponding to standard Enns' method [1];
-          = 'E': choice corresponding to the stability enhanced
-                 modified combination method of [2].
-
-  WEIGHT  CHARACTER*1
-          Specifies the type of frequency-weighting, as follows:
-          = 'N':  no weightings are used (V = I, W = I);
-          = 'O':  stability enforcing left (output) weighting
-                            -1
-                  V = (I-G*K) *G is used (W = I);
-          = 'I':  stability enforcing right (input) weighting
-                            -1
-                  W = (I-G*K) *G is used (V = I);
-          = 'P':  stability and performance enforcing weightings
-                            -1                -1
-                  V = (I-G*K) *G ,  W = (I-G*K)  are used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop system state-space
-          representation, i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NC      (input) INTEGER
-          The order of the controller state-space representation,
-          i.e., the order of the matrix AC.  NC &gt;= 0.
-
-  NCS     (input) INTEGER
-          The dimension of the stable part of the controller, i.e.,
-          the order of matrix Ac2.  NC &gt;= NCS &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system with the transfer-function
-          matrix G.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          input/output matrix D of the open-loop system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  AC      (input) DOUBLE PRECISION array, dimension (LDAC,NC)
-          The leading NC-by-NC part of this array must contain
-          the state dynamics matrix Ac of the controller in a
-          block diagonal real Schur form Ac = diag(Ac1,Ac2), where
-          Ac1 is (NC-NCS)-by-(NC-NCS) and contains the unstable
-          eigenvalues of Ac, and Ac2 is NCS-by-NCS and contains
-          the stable eigenvalues of Ac.
-
-  LDAC    INTEGER
-          The leading dimension of array AC.  LDAC &gt;= MAX(1,NC).
-
-  BC      (input) DOUBLE PRECISION array, dimension (LDBC,P)
-          The leading NC-by-P part of this array must contain
-          the input/state matrix Bc of the controller.
-
-  LDBC    INTEGER
-          The leading dimension of array BC.  LDBC &gt;= MAX(1,NC).
-
-  CC      (input) DOUBLE PRECISION array, dimension (LDCC,NC)
-          The leading M-by-NC part of this array must contain
-          the state/output matrix Cc of the controller.
-
-  LDCC    INTEGER
-          The leading dimension of array CC.  LDCC &gt;= MAX(1,M).
-
-  DC      (input) DOUBLE PRECISION array, dimension (LDDC,P)
-          The leading M-by-P part of this array must contain
-          the input/output matrix Dc of the controller.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian.
-          See METHOD.
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian. See METHOD.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,NCS)
-          The leading NCS-by-NCS upper triangular part of this array
-          contains the Cholesky factor S of the frequency-weighted
-          controllability Grammian P = S*S'. See METHOD.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,NCS).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,NCS)
-          The leading NCS-by-NCS upper triangular part of this array
-          contains the Cholesky factor R of the frequency-weighted
-          observability Grammian Q = R'*R. See METHOD.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,NCS).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWRK)
-          LIWRK = 0,       if WEIGHT = 'N';
-          LIWRK = 2(M+P),  if WEIGHT = 'O', 'I', or 'P'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, LFREQ ),
-          where
-          LFREQ = (N+NC)*(N+NC+2*M+2*P)+
-                  MAX((N+NC)*(N+NC+MAX(N+NC,M,P)+7), (M+P)*(M+P+4))
-                                   if WEIGHT = 'I' or 'O' or 'P';
-          LFREQ  = NCS*(MAX(M,P)+5) if WEIGHT = 'N'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the closed-loop system is not well-posed;
-                its feedthrough matrix is (numerically) singular;
-          = 2:  the computation of the real Schur form of the
-                closed-loop state matrix failed;
-          = 3:  the closed-loop state matrix is not stable;
-          = 4:  the solution of a symmetric eigenproblem failed;
-          = 5:  the NCS-by-NCS trailing part Ac2 of the state
-                matrix Ac is not stable or not in a real Schur form.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOBC = 'S', the controllability Grammian P is determined as
-  follows:
-
-  - if WEIGHT = 'O' or 'N', P satisfies for a continuous-time
-    controller the Lyapunov equation
-
-         Ac2*P + P*Ac2' +  scalec^2*Bc*Bc' = 0
-
-    and for a discrete-time controller
-
-         Ac2*P*Ac2' - P +  scalec^2*Bc*Bc' = 0;
-
-  - if WEIGHT = 'I' or 'P', let Pi be the solution of the
-    continuous-time Lyapunov equation
-
-         Ai*Pi + Pi*Ai' +  scalec^2*Bi*Bi' = 0
-
-    or of the discrete-time Lyapunov equation
-
-         Ai*Pi*Ai' - Pi +  scalec^2*Bi*Bi' = 0,
-
-    where Ai and Bi are the state and input matrices of a special
-    state-space realization of the input frequency weight (see [2]);
-    P results as the trailing NCS-by-NCS part of Pi partitioned as
-
-        Pi = ( *  * ).
-             ( *  P )
-
-  If JOBC = 'E', a modified controllability Grammian P1 &gt;= P is
-  determined to guarantee stability for a modified Enns' method [2].
-
-  If JOBO = 'S', the observability Grammian Q is determined as
-  follows:
-
-  - if WEIGHT = 'I' or 'N', Q satisfies for a continuous-time
-    controller the Lyapunov equation
-
-         Ac2'*Q + Q*Ac2 +  scaleo^2*Cc'*Cc = 0
-
-    and for a discrete-time controller
-
-         Ac2'*Q*Ac2 - Q +  scaleo^2*Cc'*Cc = 0;
-
-  - if WEIGHT = 'O' or 'P', let Qo be the solution of the
-    continuous-time Lyapunov equation
-
-         Ao'*Qo + Qo*Ao +  scaleo^2*Co'*Co = 0
-
-    or of the discrete-time Lyapunov equation
-
-         Ao'*Qo*Ao - Qo +  scaleo^2*Co'*Co = 0,
-
-    where Ao and Co are the state and output matrices of a
-    special state-space realization of the output frequency weight
-    (see [2]); if WEIGHT = 'O', Q results as the leading NCS-by-NCS
-    part of Qo partitioned as
-
-        Qo = ( Q  * )
-             ( *  * )
-
-    while if WEIGHT = 'P', Q results as the trailing NCS-by-NCS
-    part of Qo partitioned as
-
-        Qo = ( *  * ).
-             ( *  Q )
-
-  If JOBO = 'E', a modified observability Grammian Q1 &gt;= Q is
-  determined to guarantee stability for a modified Enns' method [2].
-
-  The routine computes directly the Cholesky factors S and R
-  such that P = S*S' and Q = R'*R according to formulas
-  developed in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Enns, D.
-      Model reduction with balanced realizations: An error bound
-      and a frequency weighted generalization.
-      Proc. CDC, Las Vegas, pp. 127-132, 1984.
-
-  [2] Varga, A. and Anderson, B.D.O.
-      Frequency-weighted balancing related controller reduction.
-      Proceedings of the 15th IFAC World Congress, July 21-26, 2002,
-      Barcelona, Spain, Vol.15, Part 1, 2002-07-21.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SB16BD.html b/doc/_static/doc/SB16BD.html
deleted file mode 100644
index 04313e51..00000000
--- a/doc/_static/doc/SB16BD.html
+++ /dev/null
@@ -1,551 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16BD">SB16BD</A></H2>
-<H3>
-Coprime factorization based state feedback controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given open-loop model (A,B,C,D), and for
-  given state feedback gain F and full observer gain G,
-  such that A+B*F and A+G*C are stable, a reduced order
-  controller model (Ac,Bc,Cc,Dc) using a coprime factorization
-  based controller reduction approach. For reduction,
-  either the square-root or the balancing-free square-root
-  versions of the Balance & Truncate (B&T) or Singular Perturbation
-  Approximation (SPA) model reduction methods are used in
-  conjunction with stable coprime factorization techniques.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL,
-     $                   N, M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
-     $                   IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDDC,
-     $                  LDF, LDG, LDWORK, M, N, NCR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DC(LDDC,*), DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the open-loop system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears
-          in the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method;
-          = 'S':  use the square-root SPA method;
-          = 'P':  use the balancing-free square-root SPA method.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization is
-          to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to perform a
-          preliminary equilibration before performing
-          order reduction as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting controller order NCR is fixed;
-          = 'A':  the resulting controller order NCR is
-                  automatically determined on basis of the given
-                  tolerance TOL1.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-          N also represents the order of the original state-feedback
-          controller.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NCR     (input/output) INTEGER
-          On entry with ORDSEL = 'F', NCR is the desired order of
-          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
-          On exit, if INFO = 0, NCR is the order of the resulting
-          reduced order controller. NCR is set as follows:
-          if ORDSEL = 'F', NCR is equal to MIN(NCR,NMIN), where NCR
-          is the desired order on entry, and NMIN is the order of a
-          minimal realization of an extended system Ge (see METHOD);
-          NMIN is determined as the number of
-          Hankel singular values greater than N*EPS*HNORM(Ge),
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and HNORM(Ge) is the Hankel norm of the
-          extended system (computed in HSV(1));
-          if ORDSEL = 'A', NCR is equal to the number of Hankel
-          singular values greater than MAX(TOL1,N*EPS*HNORM(Ge)).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NCR-by-NCR part of this
-          array contains the state dynamics matrix Ac of the reduced
-          controller.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must
-          contain the original input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must
-          contain the original state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this
-          array must contain the system direct input/output
-          transmission matrix D.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain a stabilizing state feedback matrix.
-          On exit, if INFO = 0, the leading M-by-NCR part of this
-          array contains the state/output matrix Cc of the reduced
-          controller.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
-          On entry, the leading N-by-P part of this array must
-          contain a stabilizing observer gain matrix.
-          On exit, if INFO = 0, the leading NCR-by-P part of this
-          array contains the input/state matrix Bc of the reduced
-          controller.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  DC      (output) DOUBLE PRECISION array, dimension (LDDC,P)
-          If INFO = 0, the leading M-by-P part of this array
-          contains the input/output matrix Dc of the reduced
-          controller.
-
-  LDDC    INTEGER
-          The leading dimension of array DC.  LDDC &gt;= MAX(1,M).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, it contains the N Hankel singular values
-          of the extended system ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          If ORDSEL = 'A', TOL1 contains the tolerance for
-          determining the order of the reduced extended system.
-          For model reduction, the recommended value is
-          TOL1 = c*HNORM(Ge), where c is a constant in the
-          interval [0.00001,0.001], and HNORM(Ge) is the
-          Hankel norm of the extended system (computed in HSV(1)).
-          The value TOL1 = N*EPS*HNORM(Ge) is used by default if
-          TOL1 &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL1 is ignored.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance for determining the order of a minimal
-          realization of the coprime factorization controller
-          (see METHOD). The recommended value is
-          TOL2 = N*EPS*HNORM(Ge) (see METHOD).
-          This value is used by default if TOL2 &lt;= 0 on entry.
-          If TOL2 &gt; 0 and ORDSEL = 'A', then TOL2 &lt;= TOL1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0,         if ORDSEL = 'F' and NCR = N.
-                                              Otherwise,
-          LIWORK = MAX(PM,M), if JOBCF = 'L',
-          LIWORK = MAX(PM,P), if JOBCF = 'R', where
-          PM = 0,             if JOBMR = 'B',
-          PM = N,             if JOBMR = 'F',
-          PM = MAX(1,2*N),    if JOBMR = 'S' or 'P'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= P*N, if ORDSEL = 'F' and NCR = N. Otherwise,
-          LDWORK &gt;= (N+M)*(M+P) + MAX(LWR,4*M), if JOBCF = 'L',
-          LDWORK &gt;= (N+P)*(M+P) + MAX(LWR,4*P), if JOBCF = 'R',
-          where LWR = MAX(1,N*(2*N+MAX(N,M+P)+5)+N*(N+1)/2).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NCR is
-                greater than the order of a minimal
-                realization of the controller.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the reduction of A+G*C to a real Schur form
-                failed;
-          = 2:  the matrix A+G*C is not stable (if DICO = 'C'),
-                or not convergent (if DICO = 'D');
-          = 3:  the computation of Hankel singular values failed;
-          = 4:  the reduction of A+B*F to a real Schur form
-                failed;
-          = 5:  the matrix A+B*F is not stable (if DICO = 'C'),
-                or not convergent (if DICO = 'D').
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let Go(d) be the open-loop
-  transfer-function matrix
-                        -1
-       Go(d) = C*(d*I-A) *B + D .
-
-  Let F and G be the state feedback and observer gain matrices,
-  respectively, chosen so that A+B*F and A+G*C are stable matrices.
-  The controller has a transfer-function matrix K(d) given by
-                                     -1
-       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
-
-  The closed-loop transfer-function matrix is given by
-                                  -1
-       Gcl(d) = Go(d)(I+K(d)Go(d)) .
-
-  K(d) can be expressed as a left coprime factorization (LCF),
-                       -1
-       K(d) = M_left(d) *N_left(d) ,
-
-  or as a right coprime factorization (RCF),
-                                   -1
-       K(d) = N_right(d)*M_right(d) ,
-
-  where M_left(d), N_left(d), N_right(d), and M_right(d) are
-  stable transfer-function matrices.
-
-  The subroutine SB16BD determines the matrices of a reduced
-  controller
-
-       d[z(t)] = Ac*z(t) + Bc*y(t)
-       u(t)    = Cc*z(t) + Dc*y(t),                           (2)
-
-  with the transfer-function matrix Kr as follows:
-
-  (1) If JOBCF = 'L', the extended system
-      Ge(d)  = [ N_left(d) M_left(d) ] is reduced to
-      Ger(d) = [ N_leftr(d) M_leftr(d) ] by using either the
-      B&T or SPA methods. The reduced order controller Kr(d)
-      is computed as
-                        -1
-      Kr(d) = M_leftr(d) *N_leftr(d) ;
-
-  (2) If JOBCF = 'R', the extended system
-      Ge(d) = [ N_right(d) ] is reduced to
-              [ M_right(d) ]
-      Ger(d) = [ N_rightr(d) ] by using either the
-               [ M_rightr(d) ]
-      B&T or SPA methods. The reduced order controller Kr(d)
-      is computed as
-                                      -1
-      Kr(d) = N_rightr(d)* M_rightr(d) .
-
-  If ORDSEL = 'A', the order of the controller is determined by
-  computing the number of Hankel singular values greater than
-  the given tolerance TOL1. The Hankel singular values are
-  the square roots of the eigenvalues of the product of
-  the controllability and observability Grammians of the
-  extended system Ge.
-
-  If JOBMR = 'B', the square-root B&T method of [1] is used.
-
-  If JOBMR = 'F', the balancing-free square-root version of the
-  B&T method [1] is used.
-
-  If JOBMR = 'S', the square-root version of the SPA method [2,3]
-  is used.
-
-  If JOBMR = 'P', the balancing-free square-root version of the
-  SPA method [2,3] is used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Tombs, M.S. and Postlethwaite, I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [2] Varga, A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
-      pp. 42-46, 1991.
-
-  [3] Varga, A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-  [4] Liu, Y., Anderson, B.D.O. and Ly, O.L.
-      Coprime factorization controller reduction with Bezout
-      identity induced frequency weighting.
-      Automatica, vol. 26, pp. 233-249, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB16BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
-      PARAMETER        ( LDA = NMAX, LDB  = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX
-     $                 )
-      INTEGER          LDWORK, LIWORK, MAXMP, MPMAX
-      PARAMETER        ( LIWORK = 2*NMAX, MAXMP = MAX( MMAX, PMAX ),
-     $                   MPMAX  = MMAX + PMAX )
-      PARAMETER        ( LDWORK = ( NMAX + MAXMP )*MPMAX +
-     $                            MAX ( NMAX*( 2*NMAX +
-     $                                         MAX( NMAX, MPMAX ) + 5 )
-     $                                      + ( NMAX*( NMAX + 1 ) )/2,
-     $                                  4*MAXMP ) )
-      CHARACTER        DICO, EQUIL, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
-      DOUBLE PRECISION TOL1, TOL2
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DC(LDDC,PMAX), DWORK(LDWORK),
-     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB16BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NCR, TOL1, TOL2,
-     $                      DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL SB16BD( DICO, JOBD, JOBMR, JOBCF, EQUIL, ORDSEL, N,
-     $                      M, P, NCR, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      F, LDF, G, LDG, DC, LDDC, HSV, TOL1, TOL2,
-     $                      IWORK, DWORK, LDWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
-   20             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
-   40             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( DC(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB16BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB16BD = ',I2)
-99997 FORMAT (' The order of reduced controller = ',I2)
-99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
-99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
-99991 FORMAT (/' The reduced controller input/output matrix Dc is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The Hankel singular values of extended system are:')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB16BD EXAMPLE PROGRAM DATA (Continuous system)
-  8  1  1   4   0.1E0  0.0    C  D  F  L  S   F
-         0    1.0000         0         0         0         0         0        0
-         0         0         0         0         0         0         0        0
-         0         0   -0.0150    0.7650         0         0         0        0
-         0         0   -0.7650   -0.0150         0         0         0        0
-         0         0         0         0   -0.0280    1.4100         0        0
-         0         0         0         0   -1.4100   -0.0280         0        0
-         0         0         0         0         0         0   -0.0400    1.850
-         0         0         0         0         0         0   -1.8500   -0.040
-    0.0260
-   -0.2510
-    0.0330
-   -0.8860
-   -4.0170
-    0.1450
-    3.6040
-    0.2800
-  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
-  0.0
-4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002
-  4.1089e-001
-  8.6846e-002
-  3.8523e-004
- -3.6194e-003
- -8.8037e-003
-  8.4205e-003
-  1.2349e-003
-  4.2632e-003
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB16BD EXAMPLE PROGRAM RESULTS
-
- The order of reduced controller =  4
-
- The Hankel singular values of extended system are:
-   4.9078   4.8745   3.8455   3.7811   1.2289   1.1785   0.5176   0.1148
-
- The reduced controller state dynamics matrix Ac is 
-   0.5946  -0.7336   0.1914  -0.3368
-   0.5960  -0.0184  -0.1088   0.0207
-   1.2253   0.2043   0.1009  -1.4948
-  -0.0330  -0.0243   1.3440   0.0035
-
- The reduced controller input/state matrix Bc is 
-   0.0015
-  -0.0202
-   0.0159
-  -0.0544
-
- The reduced controller state/output matrix Cc is 
-   0.3534   0.0274   0.0337  -0.0320
-
- The reduced controller input/output matrix Dc is 
-   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SB16CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16CD">SB16CD</A></H2>
-<H3>
-Coprime factorization based frequency-weighted state feedback controller reduction
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given open-loop model (A,B,C,D), and for
-  given state feedback gain F and full observer gain G,
-  such that A+B*F and A+G*C are stable, a reduced order
-  controller model (Ac,Bc,Cc) using a coprime factorization
-  based controller reduction approach. For reduction of
-  coprime factors, a stability enforcing frequency-weighted
-  model reduction is performed using either the square-root or
-  the balancing-free square-root versions of the Balance & Truncate
-  (B&T) model reduction method.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P, NCR,
-     $                   A, LDA, B, LDB, C, LDC, D, LDD, F, LDF, G, LDG,
-     $                   HSV, TOL, IWORK, DWORK, LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD,
-     $                  LDF, LDG, LDWORK, M, N, NCR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), F(LDF,*), G(LDG,*), HSV(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the open-loop system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears
-          in the given state space model, as follows:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-  JOBMR   CHARACTER*1
-          Specifies the model reduction approach to be used
-          as follows:
-          = 'B':  use the square-root B&T method;
-          = 'F':  use the balancing-free square-root B&T method.
-
-  JOBCF   CHARACTER*1
-          Specifies whether left or right coprime factorization
-          of the controller is to be used as follows:
-          = 'L':  use left coprime factorization;
-          = 'R':  use right coprime factorization.
-
-  ORDSEL  CHARACTER*1
-          Specifies the order selection method as follows:
-          = 'F':  the resulting controller order NCR is fixed;
-          = 'A':  the resulting controller order NCR is
-                  automatically determined on basis of the given
-                  tolerance TOL.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-          N also represents the order of the original state-feedback
-          controller.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NCR     (input/output) INTEGER
-          On entry with ORDSEL = 'F', NCR is the desired order of
-          the resulting reduced order controller.  0 &lt;= NCR &lt;= N.
-          On exit, if INFO = 0, NCR is the order of the resulting
-          reduced order controller. NCR is set as follows:
-          if ORDSEL = 'F', NCR is equal to MIN(NCR,NCRMIN), where
-          NCR is the desired order on entry, and NCRMIN is the
-          number of Hankel-singular values greater than N*EPS*S1,
-          where EPS is the machine precision (see LAPACK Library
-          Routine DLAMCH) and S1 is the largest Hankel singular
-          value (computed in HSV(1)); NCR can be further reduced
-          to ensure HSV(NCR) &gt; HSV(NCR+1);
-          if ORDSEL = 'A', NCR is equal to the number of Hankel
-          singular values greater than MAX(TOL,N*EPS*S1).
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFO = 0, the leading NCR-by-NCR part of this
-          array contains the state dynamics matrix Ac of the reduced
-          controller.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the open-loop system input/state matrix B.
-          On exit, this array is overwritten with a NCR-by-M
-          B&T approximation of the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the open-loop system state/output matrix C.
-          On exit, this array is overwritten with a P-by-NCR
-          B&T approximation of the matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the system direct input/output
-          transmission matrix D.
-          The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  F       (input/output) DOUBLE PRECISION array, dimension (LDF,N)
-          On entry, the leading M-by-N part of this array must
-          contain a stabilizing state feedback matrix.
-          On exit, if INFO = 0, the leading M-by-NCR part of this
-          array contains the output/state matrix Cc of the reduced
-          controller.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  G       (input/output) DOUBLE PRECISION array, dimension (LDG,P)
-          On entry, the leading N-by-P part of this array must
-          contain a stabilizing observer gain matrix.
-          On exit, if INFO = 0, the leading NCR-by-P part of this
-          array contains the input/state matrix Bc of the reduced
-          controller.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  HSV     (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, HSV contains the N frequency-weighted
-          Hankel singular values ordered decreasingly (see METHOD).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          If ORDSEL = 'A', TOL contains the tolerance for
-          determining the order of reduced controller.
-          The recommended value is TOL = c*S1, where c is a constant
-          in the interval [0.00001,0.001], and S1 is the largest
-          Hankel singular value (computed in HSV(1)).
-          The value TOL = N*EPS*S1 is used by default if
-          TOL &lt;= 0 on entry, where EPS is the machine precision
-          (see LAPACK Library Routine DLAMCH).
-          If ORDSEL = 'F', the value of TOL is ignored.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK = 0,   if JOBMR = 'B';
-          LIWORK = N,   if JOBMR = 'F'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N*N + MAX( 1, 2*N*N + 5*N, N*MAX(M,P),
-                                 N*(N + MAX(N,MP) + MIN(N,MP) + 6)),
-          where     MP = M, if JOBCF = 'L';
-                    MP = P, if JOBCF = 'R'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  with ORDSEL = 'F', the selected order NCR is
-                greater than the order of a minimal realization
-                of the controller;
-          = 2:  with ORDSEL = 'F', the selected order NCR
-                corresponds to repeated singular values, which are
-                neither all included nor all excluded from the
-                reduced controller. In this case, the resulting NCR
-                is set automatically to the largest value such that
-                HSV(NCR) &gt; HSV(NCR+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  eigenvalue computation failure;
-          = 2:  the matrix A+G*C is not stable;
-          = 3:  the matrix A+B*F is not stable;
-          = 4:  the Lyapunov equation for computing the
-                observability Grammian is (nearly) singular;
-          = 5:  the Lyapunov equation for computing the
-                controllability Grammian is (nearly) singular;
-          = 6:  the computation of Hankel singular values failed.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Let be the linear system
-
-       d[x(t)] = Ax(t) + Bu(t)
-       y(t)    = Cx(t) + Du(t),                             (1)
-
-  where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-  for a discrete-time system, and let Go(d) be the open-loop
-  transfer-function matrix
-                       -1
-       Go(d) = C*(d*I-A) *B + D .
-
-  Let F and G be the state feedback and observer gain matrices,
-  respectively, chosen such that A+BF and A+GC are stable matrices.
-  The controller has a transfer-function matrix K(d) given by
-                                    -1
-       K(d) = F*(d*I-A-B*F-G*C-G*D*F) *G .
-
-  The closed-loop transfer function matrix is given by
-                                 -1
-       Gcl(d) = Go(d)(I+K(d)Go(d)) .
-
-  K(d) can be expressed as a left coprime factorization (LCF)
-                      -1
-       K(d) = M_left(d) *N_left(d),
-
-  or as a right coprime factorization (RCF)
-                                  -1
-       K(d) = N_right(d)*M_right(d) ,
-
-  where M_left(d), N_left(d), N_right(d), and M_right(d) are
-  stable transfer-function matrices.
-
-  The subroutine SB16CD determines the matrices of a reduced
-  controller
-
-       d[z(t)] = Ac*z(t) + Bc*y(t)
-       u(t)    = Cc*z(t),                                   (2)
-
-  with the transfer-function matrix Kr, using the following
-  stability enforcing approach proposed in [1]:
-
-  (1) If JOBCF = 'L', the frequency-weighted approximation problem
-      is solved
-
-      min||[M_left(d)-M_leftr(d)  N_left(d)-N_leftr(d)][-Y(d)]|| ,
-                                                       [ X(d)]
-      where
-                           -1
-            G(d) = Y(d)*X(d)
-
-      is a RCF of the open-loop system transfer-function matrix.
-      The B&T model reduction technique is used in conjunction
-      with the method proposed in [1].
-
-  (2) If JOBCF = 'R', the frequency-weighted approximation problem
-      is solved
-
-      min || [ -U(d) V(d) ] [ N_right(d)-N_rightr(d) ] || ,
-                            [ M_right(d)-M_rightr(d) ]
-      where
-                      -1
-            G(d) = V(d) *U(d)
-
-      is a LCF of the open-loop system transfer-function matrix.
-      The B&T model reduction technique is used in conjunction
-      with the method proposed in [1].
-
-  If ORDSEL = 'A', the order of the controller is determined by
-  computing the number of Hankel singular values greater than
-  the given tolerance TOL. The Hankel singular values are
-  the square roots of the eigenvalues of the product of
-  two frequency-weighted Grammians P and Q, defined as follows.
-
-  If JOBCF = 'L', then P is the controllability Grammian of a system
-  of the form (A+BF,B,*,*), and Q is the observability Grammian of a
-  system of the form (A+GC,*,F,*). This choice corresponds to an
-  input frequency-weighted order reduction of left coprime
-  factors [1].
-
-  If JOBCF = 'R', then P is the controllability Grammian of a system
-  of the form (A+BF,G,*,*), and Q is the observability Grammian of a
-  system of the form (A+GC,*,C,*). This choice corresponds to an
-  output frequency-weighted order reduction of right coprime
-  factors [1].
-
-  For the computation of truncation matrices, the B&T approach
-  is used in conjunction with accuracy enhancing techniques.
-  If JOBMR = 'B', the square-root B&T method of [2,4] is used.
-  If JOBMR = 'F', the balancing-free square-root version of the
-  B&T method [3,4] is used.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
-      Coprime factorization controller reduction with Bezout
-      identity induced frequency weighting.
-      Automatica, vol. 26, pp. 233-249, 1990.
-
-  [2] Tombs, M.S. and Postlethwaite I.
-      Truncated balanced realization of stable, non-minimal
-      state-space systems.
-      Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-
-  [3] Varga, A.
-      Efficient minimal realization procedure based on balancing.
-      Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-      A. El Moudui, P. Borne, S. G. Tzafestas (Eds.), Vol. 2,
-      pp. 42-46, 1991.
-
-  [4] Varga, A.
-      Coprime factors model reduction method based on square-root
-      balancing-free techniques.
-      System Analysis, Modelling and Simulation, Vol. 11,
-      pp. 303-311, 1993.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The implemented methods rely on accuracy enhancing square-root or
-  balancing-free square-root techniques.
-                                      3
-  The algorithms require less than 30N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SB16CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDDC, LDF, LDG
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                 LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX )
-      INTEGER          LDWORK, LIWORK, MPMAX
-      PARAMETER        ( LIWORK = 2*NMAX, MPMAX = MAX( MMAX, PMAX ) )
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX +
-     $                            MAX( 2*NMAX*NMAX + 5*NMAX,
-     $                                 NMAX*( NMAX + MAX( NMAX, MPMAX )
-     $                                      + MIN( NMAX, MPMAX ) + 6 ) )
-     $                 )
-      CHARACTER        DICO, JOBCF, JOBD, JOBMR, ORDSEL
-      INTEGER          I, INFO, IWARN, J, M, N, NCR, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK),
-     $                 F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         SB16CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NCR, TOL,
-     $                      DICO, JOBD, JOBMR, JOBCF, ORDSEL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
-               READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
-*              Find a reduced ssr for (A,B,C,D).
-               CALL SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P,
-     $                      NCR, A, LDA, B, LDB, C, LDC, D, LDD, F, LDF,
-     $                      G, LDG, HSV, TOL, IWORK, DWORK, LDWORK,
-     $                      IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCR
-                  WRITE ( NOUT, FMT = 99987 )
-                  WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
-   20             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCR
-                     WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
-   40             CONTINUE
-                  IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, M
-                     WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SB16CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB16CD = ',I2)
-99997 FORMAT (' The order of reduced controller = ',I2)
-99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
-99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The frequency-weighted Hankel singular values are:')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SB16CD EXAMPLE PROGRAM DATA (Continuous system)
-  8  1  1   2   0.1E0  C  D  F  R  F
-         0    1.0000         0         0         0         0         0        0
-         0         0         0         0         0         0         0        0
-         0         0   -0.0150    0.7650         0         0         0        0
-         0         0   -0.7650   -0.0150         0         0         0        0
-         0         0         0         0   -0.0280    1.4100         0        0
-         0         0         0         0   -1.4100   -0.0280         0        0
-         0         0         0         0         0         0   -0.0400    1.850
-         0         0         0         0         0         0   -1.8500   -0.040
-    0.0260
-   -0.2510
-    0.0330
-   -0.8860
-   -4.0170
-    0.1450
-    3.6040
-    0.2800
-  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
-  0.0
-4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002
-    4.108939884667451e-001
-    8.684600000000012e-002
-    3.852317308197148e-004
-   -3.619366874815911e-003
-   -8.803722876359955e-003
-    8.420521094001852e-003
-    1.234944428038507e-003
-    4.263205617645322e-003
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- SB16CD EXAMPLE PROGRAM RESULTS
-
- The order of reduced controller =  2
-
- The frequency-weighted Hankel singular values are:
-   3.3073   0.7274   0.1124   0.0784   0.0242   0.0182   0.0101   0.0094
-
- The reduced controller state dynamics matrix Ac is 
-  -0.4334   0.4884
-  -0.1950  -0.1093
-
- The reduced controller input/state matrix Bc is 
-  -0.4231
-  -0.1785
-
- The reduced controller state/output matrix Cc is 
-  -0.0326  -0.2307
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,233 +0,0 @@
-<HTML>
-<HEAD><TITLE>SB16CY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SB16CY">SB16CY</A></H2>
-<H3>
-Cholesky factors of controllability and observability Grammians of coprime factors of a state-feedback controller
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute, for a given open-loop model (A,B,C,0), and for
-  given state feedback gain F and full observer gain G,
-  such that A+B*F and A+G*C are stable, the Cholesky factors
-  Su and Ru of a controllability Grammian P = Su*Su' and of
-  an observability Grammian Q = Ru'*Ru corresponding to a
-  frequency-weighted model reduction of the left or right coprime
-  factors of the state-feedback controller.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SB16CY( DICO, JOBCF, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   F, LDF, G, LDG, SCALEC, SCALEO, S, LDS, R, LDR,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBCF
-      INTEGER          INFO, LDA, LDB, LDC, LDF, LDG, LDR, LDS, LDWORK,
-     $                 M, N, P
-      DOUBLE PRECISION SCALEC, SCALEO
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                 F(LDF,*), G(LDG,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the open-loop system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  JOBCF   CHARACTER*1
-          Specifies whether a left or right coprime factorization
-          of the state-feedback controller is to be used as follows:
-          = 'L':  use a left coprime factorization;
-          = 'R':  use a right coprime factorization.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the open-loop state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the open-loop system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input/state matrix B of the open-loop system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          state/output matrix C of the open-loop system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,N)
-          The leading M-by-N part of this array must contain a
-          stabilizing state feedback matrix.
-
-  LDF     INTEGER
-          The leading dimension of array F.  LDF &gt;= MAX(1,M).
-
-  G       (input) DOUBLE PRECISION array, dimension (LDG,P)
-          The leading N-by-P part of this array must contain a
-          stabilizing observer gain matrix.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  SCALEC  (output) DOUBLE PRECISION
-          Scaling factor for the controllability Grammian.
-          See METHOD.
-
-  SCALEO  (output) DOUBLE PRECISION
-          Scaling factor for the observability Grammian.
-          See METHOD.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Su of frequency-weighted
-          cotrollability Grammian P = Su*Su'. See METHOD.
-
-  LDS     INTEGER
-          The leading dimension of the array S.  LDS &gt;= MAX(1,N).
-
-  R       (output) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper triangular part of this array
-          contains the Cholesky factor Ru of the frequency-weighted
-          observability Grammian Q = Ru'*Ru. See METHOD.
-
-  LDR     INTEGER
-          The leading dimension of the array R.  LDR &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N + MAX(N,M) + MIN(N,M) + 6)),
-                                                    if JOBCF = 'L';
-          LDWORK &gt;= MAX(1, N*(N + MAX(N,P) + MIN(N,P) + 6)),
-                                                    if JOBCF = 'R'.
-          For optimum performance LDWORK should be larger.
-          An upper bound for both cases is
-          LDWORK &gt;= MAX(1, N*(N + MAX(N,M,P) + 7)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  eigenvalue computation failure;
-          = 2:  the matrix A+G*C is not stable;
-          = 3:  the matrix A+B*F is not stable;
-          = 4:  the Lyapunov equation for computing the
-                observability Grammian is (nearly) singular;
-          = 5:  the Lyapunov equation for computing the
-                controllability Grammian is (nearly) singular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  In accordance with the type of the coprime factorization
-  of the controller (left or right), the Cholesky factors Su and Ru
-  of the frequency-weighted controllability Grammian P = Su*Su' and
-  of the frequency-weighted observability Grammian Q = Ru'*Ru are
-  computed by solving appropriate Lyapunov or Stein equations [1].
-
-  If JOBCF = 'L' and DICO = 'C', P and Q are computed as the
-  solutions of the following Lyapunov equations:
-
-         (A+B*F)*P + P*(A+B*F)' +  scalec^2*B*B' = 0,  (1)
-
-         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*F'*F = 0.  (2)
-
-  If JOBCF = 'L' and DICO = 'D', P and Q are computed as the
-  solutions of the following Stein equations:
-
-         (A+B*F)*P*(A+B*F)' - P +  scalec^2*B*B' = 0,  (3)
-
-         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*F'*F = 0.  (4)
-
-  If JOBCF = 'R' and DICO = 'C', P and Q are computed as the
-  solutions of the following Lyapunov equations:
-
-         (A+B*F)*P + P*(A+B*F)' +  scalec^2*G*G' = 0,  (5)
-
-         (A+G*C)'*Q + Q*(A+G*C) +  scaleo^2*C'*C = 0.  (6)
-
-  If JOBCF = 'R' and DICO = 'D', P and Q are computed as the
-  solutions of the following Stein equations:
-
-         (A+B*F)*P*(A+B*F)' - P +  scalec^2*G*G' = 0,  (7)
-
-         (A+G*C)'*Q*(A+G*C) - Q +  scaleo^2*C'*C = 0.  (8)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Liu, Y., Anderson, B.D.O. and Ly, O.L.
-      Coprime factorization controller reduction with Bezout
-      identity induced frequency weighting.
-      Automatica, vol. 26, pp. 233-249, 1990.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SG02AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02AD">SG02AD</A></H2>
-<H3>
-Solution of continuous- or discrete-time algebraic Riccati equations for descriptor systems
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the continuous-time algebraic Riccati
-  equation
-                                -1
-     Q + A'XE + E'XA - (L+E'XB)R  (L+E'XB)' = 0 ,              (1)
-
-  or the discrete-time algebraic Riccati equation
-                                     -1
-     E'XE = A'XA - (L+A'XB)(R + B'XB)  (L+A'XB)' + Q ,         (2)
-
-  where A, E, B, Q, R, and L are N-by-N, N-by-N, N-by-M, N-by-N,
-  M-by-M and N-by-M matrices, respectively, such that Q = C'C,
-  R = D'D and L = C'D; X is an N-by-N symmetric matrix.
-  The routine also returns the computed values of the closed-loop
-  spectrum of the system, i.e., the stable eigenvalues
-  lambda(1),...,lambda(N) of the pencil (A - BF,E), where F is
-  the optimal gain matrix,
-          -1
-     F = R  (L+E'XB)' ,        for (1),
-
-  and
-                 -1
-     F = (R+B'XB)  (L+A'XB)' , for (2).
-                           -1
-  Optionally, matrix G = BR  B' may be given instead of B and R.
-  Other options include the case with Q and/or R given in a
-  factored form, Q = C'C, R = D'D, and with L a zero matrix.
-
-  The routine uses the method of deflating subspaces, based on
-  reordering the eigenvalues in a generalized Schur matrix pair.
-
-  It is assumed that E is nonsingular, but this condition is not
-  checked. Note that the definition (1) of the continuous-time
-  algebraic Riccati equation, and the formula for the corresponding
-  optimal gain matrix, require R to be nonsingular, but the
-  associated linear quadratic optimal problem could have a unique
-  solution even when matrix R is singular, under mild assumptions
-  (see METHOD). The routine SG02AD works accordingly in this case.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT, ACC,
-     $                   N, M, P, A, LDA, E, LDE, B, LDB, Q, LDQ, R,
-     $                   LDR, L, LDL, RCONDU, X, LDX, ALFAR, ALFAI,
-     $                   BETA, S, LDS, T, LDT, U, LDU, TOL, IWORK,
-     $                   DWORK, LDWORK, BWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
-      INTEGER           INFO, IWARN, LDA, LDB, LDE, LDL, LDQ, LDR, LDS,
-     $                  LDT, LDU, LDWORK, LDX, M, N, P
-      DOUBLE PRECISION  RCONDU, TOL
-C     .. Array Arguments ..
-      LOGICAL           BWORK(*)
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), ALFAI(*), ALFAR(*), B(LDB,*), BETA(*),
-     $                  DWORK(*), E(LDE,*), L(LDL,*), Q(LDQ,*),
-     $                  R(LDR,*), S(LDS,*), T(LDT,*), U(LDU,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of Riccati equation to be solved as
-          follows:
-          = 'C':  Equation (1), continuous-time case;
-          = 'D':  Equation (2), discrete-time case.
-
-  JOBB    CHARACTER*1
-          Specifies whether or not the matrix G is given, instead
-          of the matrices B and R, as follows:
-          = 'B':  B and R are given;
-          = 'G':  G is given.
-
-  FACT    CHARACTER*1
-          Specifies whether or not the matrices Q and/or R (if
-          JOBB = 'B') are factored, as follows:
-          = 'N':  Not factored, Q and R are given;
-          = 'C':  C is given, and Q = C'C;
-          = 'D':  D is given, and R = D'D;
-          = 'B':  Both factors C and D are given, Q = C'C, R = D'D.
-
-  UPLO    CHARACTER*1
-          If JOBB = 'G', or FACT = 'N', specifies which triangle of
-          the matrices G, or Q and R, is stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-          JOBL is not used if JOBB = 'G' and JOBL = 'Z' is assumed.
-          SLICOT Library routine SB02MT should be called just before
-          SG02AD, for obtaining the results when JOBB = 'G' and
-          JOBL = 'N'.
-
-  SCAL    CHARACTER*1
-          If JOBB = 'B', specifies whether or not a scaling strategy
-          should be used to scale Q, R, and L, as follows:
-          = 'G':  General scaling should be used;
-          = 'N':  No scaling should be used.
-          SCAL is not used if JOBB = 'G'.
-
-  SORT    CHARACTER*1
-          Specifies which eigenvalues should be obtained in the top
-          of the generalized Schur form, as follows:
-          = 'S':  Stable   eigenvalues come first;
-          = 'U':  Unstable eigenvalues come first.
-
-  ACC     CHARACTER*1
-          Specifies whether or not iterative refinement should be
-          used to solve the system of algebraic equations giving
-          the solution matrix X, as follows:
-          = 'R':  Use iterative refinement;
-          = 'N':  Do not use iterative refinement.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e., the order of the
-          matrices A, E, Q, and X, and the number of rows of the
-          matrices B and L.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs. If JOBB = 'B', M is the
-          order of the matrix R, and the number of columns of the
-          matrix B.  M &gt;= 0.
-          M is not used if JOBB = 'G'.
-
-  P       (input) INTEGER
-          The number of system outputs. If FACT = 'C' or 'D' or 'B',
-          P is the number of rows of the matrices C and/or D.
-          P &gt;= 0.
-          Otherwise, P is not used.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the descriptor system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N part of this array must contain the
-          matrix E of the descriptor system.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,*)
-          If JOBB = 'B', the leading N-by-M part of this array must
-          contain the input matrix B of the system.
-          If JOBB = 'G', the leading N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array must contain the upper triangular part or
-          lower triangular part, respectively, of the matrix
-                -1
-          G = BR  B'. The strictly lower triangular part (if
-          UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  Q       (input) DOUBLE PRECISION array, dimension (LDQ,N)
-          If FACT = 'N' or 'D', the leading N-by-N upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          state weighting matrix Q. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'C' or 'B', the leading P-by-N part of this
-          array must contain the output matrix C of the system.
-          If JOBB = 'B' and SCAL = 'G', then Q is modified
-          internally, but is restored on exit.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= MAX(1,N) if FACT = 'N' or 'D';
-          LDQ &gt;= MAX(1,P) if FACT = 'C' or 'B'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,*)
-          If FACT = 'N' or 'C', the leading M-by-M upper triangular
-          part (if UPLO = 'U') or lower triangular part (if UPLO =
-          'L') of this array must contain the upper triangular part
-          or lower triangular part, respectively, of the symmetric
-          input weighting matrix R. The strictly lower triangular
-          part (if UPLO = 'U') or strictly upper triangular part (if
-          UPLO = 'L') is not referenced.
-          If FACT = 'D' or 'B', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          If JOBB = 'B' and SCAL = 'G', then R is modified
-          internally, but is restored on exit.
-          If JOBB = 'G', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,M) if JOBB = 'B' and FACT = 'N' or 'C';
-          LDR &gt;= MAX(1,P) if JOBB = 'B' and FACT = 'D' or 'B';
-          LDR &gt;= 1        if JOBB = 'G'.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,*)
-          If JOBL = 'N' and JOBB = 'B', the leading N-by-M part of
-          this array must contain the cross weighting matrix L.
-          If JOBB = 'B' and SCAL = 'G', then L is modified
-          internally, but is restored on exit.
-          If JOBL = 'Z' or JOBB = 'G', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N' and JOBB = 'B';
-          LDL &gt;= 1        if JOBL = 'Z' or  JOBB = 'G'.
-
-  RCONDU  (output) DOUBLE PRECISION
-          If N &gt; 0 and INFO = 0 or INFO = 7, an estimate of the
-          reciprocal of the condition number (in the 1-norm) of
-          the N-th order system of algebraic equations from which
-          the solution matrix X is obtained.
-
-  X       (output) DOUBLE PRECISION array, dimension (LDX,N)
-          If INFO = 0, the leading N-by-N part of this array
-          contains the solution matrix X of the problem.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  ALFAR   (output) DOUBLE PRECISION array, dimension (2*N)
-  ALFAI   (output) DOUBLE PRECISION array, dimension (2*N)
-  BETA    (output) DOUBLE PRECISION array, dimension (2*N)
-          The generalized eigenvalues of the 2N-by-2N matrix pair,
-          ordered as specified by SORT (if INFO = 0, or INFO &gt;= 5).
-          For instance, if SORT = 'S', the leading N elements of
-          these arrays contain the closed-loop spectrum of the
-          system. Specifically,
-             lambda(k) = [ALFAR(k)+j*ALFAI(k)]/BETA(k) for
-          k = 1,2,...,N.
-
-  S       (output) DOUBLE PRECISION array, dimension (LDS,*)
-          The leading 2N-by-2N part of this array contains the
-          ordered real Schur form S of the first matrix in the
-          reduced matrix pencil associated to the optimal problem,
-          corresponding to the scaled Q, R, and L, if JOBB = 'B'
-          and SCAL = 'G'. That is,
-
-                 (S   S  )
-                 ( 11  12)
-             S = (       ),
-                 (0   S  )
-                 (     22)
-
-          where S  , S   and S   are N-by-N matrices.
-                 11   12      22
-          Array S must have 2*N+M columns if JOBB = 'B', and 2*N
-          columns, otherwise.
-
-  LDS     INTEGER
-          The leading dimension of array S.
-          LDS &gt;= MAX(1,2*N+M) if JOBB = 'B';
-          LDS &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,2*N)
-          The leading 2N-by-2N part of this array contains the
-          ordered upper triangular form T of the second matrix in
-          the reduced matrix pencil associated to the optimal
-          problem, corresponding to the scaled Q, R, and L, if
-          JOBB = 'B' and SCAL = 'G'. That is,
-
-                 (T   T  )
-                 ( 11  12)
-             T = (       ),
-                 (0   T  )
-                 (     22)
-
-          where T  , T   and T   are N-by-N matrices.
-                 11   12      22
-
-  LDT     INTEGER
-          The leading dimension of array T.
-          LDT &gt;= MAX(1,2*N+M) if JOBB = 'B';
-          LDT &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2*N)
-          The leading 2N-by-2N part of this array contains the right
-          transformation matrix U which reduces the 2N-by-2N matrix
-          pencil to the ordered generalized real Schur form (S,T).
-          That is,
-
-                 (U   U  )
-                 ( 11  12)
-             U = (       ),
-                 (U   U  )
-                 ( 21  22)
-
-          where U  , U  , U   and U   are N-by-N matrices.
-                 11   12   21      22
-          If JOBB = 'B' and SCAL = 'G', then U corresponds to the
-          scaled pencil. If a basis for the stable deflating
-          subspace of the original problem is needed, then the
-          submatrix U   must be multiplied by the scaling factor
-                     21
-          contained in DWORK(4).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,2*N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used to test for near singularity of
-          the original matrix pencil, specifically of the triangular
-          M-by-M factor obtained during the reduction process. If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as a lower bound for the reciprocal condition number of
-          that matrix; a matrix whose estimated condition number is
-          less than 1/TOL is considered to be nonsingular. If the
-          user sets TOL &lt;= 0, then a default tolerance, defined by
-          TOLDEF = EPS, is used instead, where EPS is the machine
-          precision (see LAPACK Library routine DLAMCH).
-          This parameter is not referenced if JOBB = 'G'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (LIWORK)
-          LIWORK &gt;= MAX(1,M,2*N) if JOBB = 'B';
-          LIWORK &gt;= MAX(1,2*N)   if JOBB = 'G'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK. If JOBB = 'B' and N &gt; 0, DWORK(2) returns the
-          reciprocal of the condition number of the M-by-M bottom
-          right lower triangular matrix obtained while compressing
-          the matrix pencil of order 2N+M to obtain a pencil of
-          order 2N. If ACC = 'R', and INFO = 0 or INFO = 7, DWORK(3)
-          returns the reciprocal pivot growth factor (see SLICOT
-          Library routine MB02PD) for the LU factorization of the
-          coefficient matrix of the system of algebraic equations
-          giving the solution matrix X; if DWORK(3) is much
-          less than 1, then the computed X and RCONDU could be
-          unreliable. If INFO = 0 or INFO = 7, DWORK(4) returns the
-          scaling factor used to scale Q, R, and L. DWORK(4) is set
-          to 1 if JOBB = 'G' or SCAL = 'N'.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N),           if JOBB = 'G';
-          LDWORK &gt;= MAX(7*(2*N+1)+16,16*N,2*N+M,3*M), if JOBB = 'B'.
-          For optimum performance LDWORK should be larger.
-
-  BWORK   LOGICAL array, dimension (2*N)
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warning;
-          = 1:  the computed solution may be inaccurate due to poor
-                scaling or eigenvalues too close to the boundary of
-                the stability domain (the imaginary axis, if
-                DICO = 'C', or the unit circle, if DICO = 'D').
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the computed extended matrix pencil is singular,
-                possibly due to rounding errors;
-          = 2:  if the QZ algorithm failed;
-          = 3:  if reordering of the generalized eigenvalues failed;
-          = 4:  if after reordering, roundoff changed values of
-                some complex eigenvalues so that leading eigenvalues
-                in the generalized Schur form no longer satisfy the
-                stability condition; this could also be caused due
-                to scaling;
-          = 5:  if the computed dimension of the solution does not
-                equal N;
-          = 6:  if the spectrum is too close to the boundary of
-                the stability domain;
-          = 7:  if a singular matrix was encountered during the
-                computation of the solution matrix X.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine uses a variant of the method of deflating subspaces
-  proposed by van Dooren [1]. See also [2], [3], [4].
-  It is assumed that E is nonsingular, the triple (E,A,B) is
-  strongly stabilizable and detectable (see [3]); if, in addition,
-
-     -    [ Q   L ]
-     R := [       ] &gt;= 0 ,
-          [ L'  R ]
-
-  then the pencils
-
-        discrete-time                   continuous-time
-
-  |A   0   B|     |E   0   0|    |A   0   B|     |E   0   0|
-  |Q  -E'  L| - z |0  -A'  0| ,  |Q   A'  L| - s |0  -E'  0| ,   (3)
-  |L'  0   R|     |0  -B'  0|    |L'  B'  R|     |0   0   0|
-
-  are dichotomic, i.e., they have no eigenvalues on the boundary of
-  the stability domain. The above conditions are sufficient for
-  regularity of these pencils. A necessary condition is that
-  rank([ B'  L'  R']') = m.
-
-  Under these assumptions the algebraic Riccati equation is known to
-  have a unique non-negative definite solution.
-  The first step in the method of deflating subspaces is to form the
-  extended matrices in (3), of order 2N + M. Next, these pencils are
-  compressed to a form of order 2N (see [1])
-
-     lambda x A  - B .
-               f    f
-
-  This generalized eigenvalue problem is then solved using the QZ
-  algorithm and the stable deflating subspace Ys is determined.
-  If [Y1'|Y2']' is a basis for Ys, then the required solution is
-                    -1
-         X = Y2 x Y1  .
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      A Generalized Eigenvalue Approach for Solving Riccati
-      Equations.
-      SIAM J. Sci. Stat. Comp., 2, pp. 121-135, 1981.
-
-  [2] Arnold, III, W.F. and Laub, A.J.
-      Generalized Eigenproblem Algorithms and Software for
-      Algebraic Riccati Equations.
-      Proc. IEEE, 72, 1746-1754, 1984.
-
-  [3] Mehrmann, V.
-      The Autonomous Linear Quadratic Control Problem. Theory and
-      Numerical Solution.
-      Lect. Notes in Control and Information Sciences, vol. 163,
-      Springer-Verlag, Berlin, 1991.
-
-  [4] Sima, V.
-      Algorithms for Linear-Quadratic Optimization.
-      Pure and Applied Mathematics: A Series of Monographs and
-      Textbooks, vol. 200, Marcel Dekker, Inc., New York, 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  This routine is particularly suited for systems where the matrix R
-  is ill-conditioned, or even singular.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  To obtain a stabilizing solution of the algebraic Riccati
-  equations set SORT = 'S'.
-
-  The routine can also compute the anti-stabilizing solutions of
-  the algebraic Riccati equations, by specifying SORT = 'U'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG02AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2M, NMAX2, NMMAX
-      PARAMETER        ( NMAX2M = 2*NMAX+MMAX, NMAX2 = 2*NMAX,
-     $                   NMMAX  = MAX(NMAX,MMAX) )
-      INTEGER          LDA, LDB, LDE, LDL, LDQ, LDR, LDS, LDT, LDU, LDX
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDE = NMAX, LDL = NMAX,
-     $                   LDQ = MAX(NMAX,PMAX), LDR = MAX(MMAX,PMAX),
-     $                   LDS = NMAX2M, LDT = NMAX2M, LDU = NMAX2,
-     $                   LDX = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MAX(MMAX,NMAX2) )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX(14*NMAX+23,16*NMAX,2*NMAX+MMAX,
-     $                                3*MMAX) )
-      INTEGER          LBWORK
-      PARAMETER        ( LBWORK = NMAX2 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCONDU, TOL
-      INTEGER          I, INFO, IWARN, J, M, N, P
-      CHARACTER*1      ACC, DICO, FACT, JOBB, JOBL, SCAL, SORT, UPLO
-      LOGICAL          LJOBB
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX),  ALFAI(NMAX2),  ALFAR(NMAX2),
-     $                 B(LDB,NMMAX), BETA(NMAX2),   DWORK(LDWORK),
-     $                 E(LDE,NMAX),  L(LDL,MMAX),   Q(LDQ,NMAX),
-     $                 R(LDR,MMAX),  S(LDS,NMAX2M), T(LDT,NMAX2),
-     $                 U(LDU,NMAX2), X(LDX,NMAX)
-      INTEGER          IWORK(LIWORK)
-      LOGICAL          BWORK(LBWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SG02AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBB, FACT, UPLO, JOBL,
-     $                      SCAL, SORT, ACC
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) M
-         ELSE
-            LJOBB = LSAME( JOBB, 'B' )
-            IF ( LJOBB ) THEN
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,N )
-            END IF
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99993 ) P
-            ELSE
-               IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,N )
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                                 ( ( Q(I,J), J = 1,N ), I = 1,P )
-               END IF
-               IF ( LJOBB ) THEN
-                  IF ( LSAME( FACT, 'N' ) .OR. LSAME( FACT, 'C' ) ) THEN
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,M )
-                  ELSE
-                      READ ( NIN, FMT = * )
-     $                                  ( ( R(I,J), J = 1,M ), I = 1,P )
-                  END IF
-                  IF ( LSAME( JOBL, 'N' ) )
-     $                READ ( NIN, FMT = * )
-     $                                  ( ( L(I,J), J = 1,M ), I = 1,N )
-               END IF
-*              Find the solution matrix X.
-               CALL SG02AD( DICO, JOBB, FACT, UPLO, JOBL, SCAL, SORT,
-     $                      ACC, N, M, P, A, LDA, E, LDE, B, LDB, Q,
-     $                      LDQ, R, LDR, L, LDL, RCONDU, X, LDX, ALFAR,
-     $                      ALFAI, BETA, S, LDS, T, LDT, U, LDU, TOL,
-     $                      IWORK, DWORK, LDWORK, BWORK, IWARN, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG02AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SG02AD = ',I2)
-99997 FORMAT (' The solution matrix X is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG02AD EXAMPLE PROGRAM DATA
-   2     1     3     0.0     C     B     B     U     Z     N     S     N
-   0.0  1.0
-   0.0  0.0
-   1.0  0.0
-   0.0  1.0
-   0.0
-   1.0
-   1.0  0.0
-   0.0  1.0
-   0.0  0.0
-   0.0
-   0.0
-   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG02AD EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.7321   1.0000
-   1.0000   1.7321
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG02CV.html b/doc/_static/doc/SG02CV.html
deleted file mode 100644
index 9090db8e..00000000
--- a/doc/_static/doc/SG02CV.html
+++ /dev/null
@@ -1,256 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02CV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02CV">SG02CV</A></H2>
-<H3>
-Computation of residual matrix for a continuous-time or discrete-time reduced Lyapunov equation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the residual matrix R for a continuous-time or
-  discrete-time "reduced" Lyapunov equation, using the formulas
-
-     R = op(A)'*X + X*op(A) + Q,
-  or
-     R = op(A)'*X*op(E) + op(E)'*X*op(A) + Q,
-
-  in the continuous-time case, or the formulas
-
-     R = op(A)'*X*op(A) - X + Q,
-  or
-     R = op(A)'*X*op(A) - op(E)'*X*op(E) + Q,
-
-  in the discrete-time case, where X and Q are symmetric matrices,
-  A is in upper real Schur form, E is upper triangular, and op(W) is
-
-     op(W) = W   or   op(W) = W'.
-
-  Optionally, the Frobenius norms of the product terms defining the
-  denominator of the relative residual are also computed. The norms
-  of Q and X are not computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02CV( DICO, JOB, JOBE, UPLO, TRANS, N, A, LDA, E,
-     $                   LDE, X, LDX, R, LDR, NORMS, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, JOB, JOBE, TRANS, UPLO
-      INTEGER           INFO, LDA, LDE, LDR, LDWORK, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), DWORK(*), E(LDE,*), NORMS(*),
-     $                  R(LDR,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the Lyapunov equation, as follows:
-          = 'C':  continuous-time Lyapunov equation;
-          = 'D':  discrete-time Lyapunov equation.
-
-  JOB     CHARACTER*1
-          Specifies which results must be computed, as follows:
-          = 'R':  The matrix R only must be computed;
-          = 'N':  The matrix R and the norms must be computed;
-          = 'B':  The matrix R and the norms must be computed.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices X and
-          Q are given, as follows:
-          = 'U':  The upper triangular part is given;
-          = 'L':  The lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the formulas
-          above, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, Q, X, and R.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper part of this array must contain
-          the upper real Schur matrix A.
-          If TRANS = 'N' and (DICO = 'D' or (JOB = 'R' and
-          JOBE = 'G')), the entries 3, 4,..., N of the first column
-          are modified internally, but are restored on exit.
-          Otherwise, the part of this array below the first
-          subdiagonal is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G', the leading N-by-N upper triangular part of
-          this array must contain the upper triangular matrix E.
-          The strictly lower triangular part of this array is not
-          referenced.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if UPLO = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the symmetric matrix X and the strictly
-          lower triangular part of the array is not referenced.
-          On entry, if UPLO = 'L', the leading N-by-N lower
-          triangular part of this array must contain the lower
-          triangular part of the symmetric matrix X and the strictly
-          upper triangular part of the array is not referenced.
-          If DICO = 'D' or (JOB = 'R' and JOBE = 'G'), the diagonal
-          elements of this array are modified internally, but they
-          are restored on exit.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
-          On entry, the leading N-by-N upper or lower triangular
-          part (depending on UPLO) of this array must contain the
-          upper or lower triangular part, respectively, of the
-          matrix Q. The other strictly triangular part is not
-          referenced.
-          On exit, the leading N-by-N upper or lower triangular
-          part (depending on UPLO) of this array contains the upper
-          or lower triangular part, respectively, of the matrix R.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
-          If JOB = 'N' or JOB = 'B', LN = 1 or 2, if (DICO = 'C' or
-          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
-          If DICO = 'C',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
-          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G'.
-          If DICO = 'D',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X*op(A);
-          if JOBE = 'G', NORMS(2) contains the Frobenius norm of the
-          matrix op(E)'*X*op(E).
-          If JOB &lt;&gt; 'N', this array is not referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -17 or if LDWORK = -2 on input, then
-          DWORK(1) returns the minimum value of LDWORK.
-          On exit, if INFO = 0, or if LDWORK = -1 on input, then
-          DWORK(1) returns the optimal value of LDWORK.
-
-  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
-          specified in the following table, where
-             a = 1, if JOBE = 'G';
-             a = 0, if JOBE = 'I'.
-
-          DICO   JOB             v
-          ----------------------------
-          'C'    'R'           a*N*N
-          'C'    'N','B'         N*N
-          ----------------------------
-          'D'    'R'             N*N
-          'D'    'N','B'       2*N*N
-          ----------------------------
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expressions are efficiently evaluated, using symmetry.
-  If JOB = 'N' or JOB = 'B', then:
-  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), are
-  efficiently computed.
-  If DICO = 'D', the matrices op(A)'*X*op(A) and op(E)'*X*op(E), if
-  JOBE = 'G', are efficiently computed. The results are used to
-  evaluate R and the norms.
-  If JOB = 'R', then the needed parts of the intermediate results
-  are obtained and used to evaluate R.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The calculations are backward stable.
-
-  The algorithm requires approximately a*N^3 operations, where ^
-  denotes the power operator, and
-
-     a = 1,      if DICO = 'C' and JOB &lt;&gt; 'R' and JOBE = 'G';
-     a = 1/2,    otherwise.
-
-  An "operation" includes a multiplication, an addition, and some
-  address calculations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG02CW.html b/doc/_static/doc/SG02CW.html
deleted file mode 100644
index 58089747..00000000
--- a/doc/_static/doc/SG02CW.html
+++ /dev/null
@@ -1,495 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02CW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02CW">SG02CW</A></H2>
-<H3>
-Residual of continuous- or discrete-time (generalized) algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the residual matrix R for a continuous-time or
-  discrete-time Riccati equation and/or the "closed-loop system"
-  matrix op(C), using the formulas
-
-     R = op(A)'*X + X*op(A) +/- X*G*X + Q,
-     C = op(A) +/- G*X,
-  or
-     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q,
-     C = op(A) +/- G*X*op(E),
-  or
-     R = op(A)'*X*op(E) + op(E)'*X*op(A) +/- H*K + Q,
-     C = op(A) +/- B*K,
-
-  in the continuous-time case, or the formulas
-
-     R = op(A)'*X*op(A) - X +/- op(A)'*X*G*X*op(A) + Q,
-     C = op(A) +/- G*X*op(A),
-  or
-     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- op(A)'*X*G*X*op(A) + Q,
-     C = op(A) +/- G*X*op(A),
-  or
-     R = op(A)'*X*op(A) - op(E)'*X*op(E) +/- H*K + Q,
-     C = op(A) +/- B*K,
-
-  in the discrete-time case, where X, G, and Q are symmetric
-  matrices, A, E, H, K, B are general matrices, and op(W) is one of
-
-     op(W) = W   or   op(W) = W'.
-                                                  _-1
-  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
-                  _-1
-  matrix D, D = B*L  , such that G = D*D', may be given on entry.
-             _       _   _  _
-  The matrix R, with R = L'*L, is a weighting matrix of the optimal
-                                   _            _
-  problem, if DICO = 'C', or it is R = B'*X*B + Rd, if DICO = 'D',
-       _                              _                         _
-  with Rd a similar weighting matrix; L is a Cholesky factor of R,
-     _                          _
-  if R is positive definite. If R is not positive definite, which
-  may happen in the discrete-time case, a UdU' or LdL' factorization
-  is used to compute the matrices H and K. If M = 0, the residual
-  matrix of a (generalized) Lyapunov or Stein equation is computed.
-  To this end, set JOBG = 'D' and JOB = 'R' (since op(C) = A in this
-  case).
-
-  Optionally, the quadratic term in the formulas for R is specified
-  as H*K, where
-
-     H = L + op(E)'*X*B,  if DICO = 'C', or
-     H = L + op(A)'*X*B,  if DICO = 'D', and
-         _-1
-     K = R *H',
-
-  with L an N-by-M matrix. This is useful, e.g., for DICO = 'D',
-                     _                     _
-  when L &lt;&gt; 0 and/or Rd is singular, hence R might be numerically
-  indefinite; it might be indefinite in the first iterations of
-  Newton's algorithm. Depending on JOB, part or all of the matrices
-  H, K, and B should be given in such a case.
-     _
-  If R is positive definite, the quadratic term can be specified
-  as F*F', and the second term in the formulas for C is D*F', where
-           _-1
-     F = H*L .
-
-  The matrices F and/or D should be given. This option is not useful
-  when L = 0, unless F and D are available. If DICO = 'C', the
-  computational problem with L &lt;&gt; 0 is equivalent with one with
-  L = 0 after replacing
-                _-1                 _-1
-     A := A - B*R* L',   Q := Q - L*R* L'.
-                       _             _
-  These formulas, with R replaced by Rd, can also be used in the
-                         _
-  discrete-time case, if Rd is nonsingular and well-conditioned with
-  respect to inversion.
-
-  Optionally, the Frobenius norms of the product terms defining the
-  denominator of the relative residual are also computed. The norms
-  of Q and X are not computed.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02CW( DICO, JOB, JOBE, FLAG, JOBG, UPLO, TRANS, N, M,
-     $                   A, LDA, E, LDE, G, LDG, X, LDX, F, LDF, K, LDK,
-     $                   XE, LDXE, R, LDR, C, LDC, NORMS, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FLAG, JOB, JOBE, JOBG, TRANS, UPLO
-      INTEGER           INFO, LDA, LDC, LDE, LDF, LDG, LDK, LDR, LDWORK,
-     $                  LDX, LDXE, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), E(LDE,*),
-     $                  F(LDF,*), G(LDG,*), K(LDK,*), NORMS(*),
-     $                  R(LDR,*), X(LDX,*), XE(LDXE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the Riccati equation, as follows:
-          = 'C':  continuous-time algebraic Riccati equation;
-          = 'D':  discrete-time algebraic Riccati equation.
-
-  JOB     CHARACTER*1
-          Specifies which results must be computed, as follows:
-          = 'A':  Both (all) matrices R and C must be computed;
-          = 'R':  The matrix R only must be computed;
-          = 'C':  The matrix C only must be computed;
-          = 'N':  The matrices R and C and the norms must be
-                  computed;
-          = 'B':  The matrix R and the norms must be computed.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  FLAG    CHARACTER*1
-          Specifies which sign is used, as follows:
-          = 'P':  The plus sign is used;
-          = 'M':  The minus sign is used.
-
-  JOBG    CHARACTER*1
-          Specifies how the quadratic term in the formulas for R is
-          defined, as follows:
-          = 'G':  The matrix G is given;
-          = 'D':  The matrix D is given;
-          = 'F':  The matrix F is given;
-          = 'H':  The matrices H and K are given.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices X, G
-          (if JOBG = 'G'), and Q (if JOB &lt;&gt; 'C') are given, as
-          follows:
-          = 'U':  The upper triangular part is given;
-          = 'L':  The lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the formulas
-          above, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, Q, X, C and R.  N &gt;= 0.
-
-  M       (input) INTEGER
-          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
-          F, and/or B, H, and K'.  M &gt;= 0.
-          If JOBG = 'G', the value of M is meaningless.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G' and (JOB &lt;&gt; 'C' or (DICO = 'C' and
-          (JOBG = 'G' or JOBG = 'D'))), the leading N-by-N part of
-          this array must contain the matrix E.
-          If JOBE = 'I' or (JOB = 'C' and (DICO = 'D' or
-          JOBG = 'F' or JOBG = 'H')), this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOB &lt;&gt; 'C' or
-                             (DICO = 'C' and (JOBG = 'G' or
-                                              JOBG = 'D')));
-          LDE &gt;= 1,        if JOBE = 'I'  or (JOB  = 'C' and
-                             (DICO = 'D'  or  JOBG = 'F' or
-                                              JOBG = 'H')).
-
-  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
-          If JOBG = 'G', the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array must
-          contain the upper or lower triangular part, respectively,
-          of the matrix G. The other strictly triangular part is not
-          referenced. If DICO = 'D', (JOB = 'R' or JOB = 'B'), and
-          JOBG = 'G', the diagonal elements of this array are
-          modified internally, but are restored on exit.
-          If JOBG = 'D' or (JOBG = 'F' and JOB &lt;&gt; 'R' and
-          JOB &lt;&gt; 'B'), the leading N-by-M part of this array must
-          contain the matrix D, so that G = D*D'.
-          If JOBG = 'H' and JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B', the leading
-          N-by-M part of this array must contain the matrix B.
-          If (JOBG = 'F' or JOBG = 'H') and JOB = 'R' or JOB = 'B',
-          this array is not referenced.
-
-  LDG     INTEGER
-          The leading dimension of array G.
-          LDG &gt;= MAX(1,N), if  JOBG = 'G' or  JOBG = 'D' or
-                              (JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B');
-          LDG &gt;= 1,        if (JOBG = 'F' or JOBG = 'H') and
-                              (JOB  = 'R' or JOB  = 'B').
-
-  X       (input/works.) DOUBLE PRECISION array, dimension (LDX,N)
-          The leading N-by-N part of this array must contain the
-          symmetric matrix X, and it is unchanged on exit.
-          If DICO = 'D', JOBE = 'G' and JOB &lt;&gt; 'C', the diagonal
-          elements of this array are modified internally, but they
-          are restored on exit.
-          The full matrix X should be input if DICO = 'C',
-          JOBE = 'I', and the conditions in the lines of the table
-          below are satisfied
-
-             JOBG     JOB             LDWORK
-          ----------------------------------------------
-            'F','H'  'A','R'          LDWORK &lt;   N*N
-              'G'    'A','R','N'      LDWORK &lt; 2*N*N
-              'G'      'C'            LDWORK &lt;   N*N
-              'G'      'B'            LDWORK &lt; 3*N*N
-              'D'      'R'     (M&lt;=N, LDWORK &lt;   N*N) or
-                               (M&gt; N, LDWORK &lt; 3*N*N)
-              'D'      'A'     (M&lt;=N, LDWORK &lt;   N*N) or
-                                     (LDWORK &gt;=  N*N and
-                                      LDWORK &lt; 2*N*N)
-          ----------------------------------------------
-
-          For all the other cases, including when the optimal length
-          of the workspace array DWORK is used, only the relevant
-          upper or lower triangular part (depending on UPLO) of this
-          array must be input, and the other strictly triangular
-          part is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  F       (input) DOUBLE PRECISION array, dimension (LDF,*)
-          If JOBG = 'F', the leading N-by-M part of this array must
-          contain the matrix F.
-          If JOBG = 'H', the leading N-by-M part of this array must
-          contain the matrix H.
-          If JOBG = 'G' or JOBG = 'D', this array is not referenced.
-
-  LDF     INTEGER
-          The leading dimension of array F.
-          LDF &gt;= MAX(1,N), if JOBG = 'F' or JOBG = 'H';
-          LDF &gt;= 1,        if JOBG = 'G' or JOBG = 'D'.
-
-  K       (input) DOUBLE PRECISION array, dimension (LDK,*)
-          If JOBG = 'H', the leading M-by-N part of this array must
-          contain the matrix K.
-          If JOBG &lt;&gt; 'H', this array is not referenced.
-
-  LDK     INTEGER
-          The leading dimension of array K.
-          LDK &gt;= MAX(1,M), if JOBG =  'H';
-          LDK &gt;= 1,        if JOBG &lt;&gt; 'H'.
-
-  XE      (input) DOUBLE PRECISION array, dimension (LDXE,*)
-          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', DICO = 'C', and
-          JOBE = 'G', the leading N-by-N part of this array must
-          contain the matrix product X*E, if TRANS = 'N', or E*X, if
-          TRANS = 'T' or 'C'.
-          If (JOBG = 'F' or JOBG = 'H'), JOB &lt;&gt; 'C', and DICO = 'D',
-          the leading N-by-N part of this array must contain the
-          matrix product X*A, if TRANS = 'N', or A*X, if TRANS = 'T'
-          or 'C'.
-          These matrix products are needed for computing F or H.
-          If JOBG = 'G' or JOBG = 'D' or JOB = 'C' or (DICO = 'C'
-          and JOBE = 'I') this array is not referenced.
-
-  LDXE    INTEGER
-          The leading dimension of array XE.
-          LDXE &gt;= MAX(1,N), if (JOBG = 'F' or JOBG = 'H'),
-                            JOB &lt;&gt; 'C', and either DICO = 'C' and
-                            JOBE = 'G', or DICO = 'D';
-          LDXE &gt;= 1,        if JOBG = 'G' or JOBG = 'D' or JOB = 'C'
-                            or (DICO = 'C' and JOBE = 'I').
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,*)
-          On entry, if JOB &lt;&gt; 'C', the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array must
-          contain the upper or lower triangular part, respectively,
-          of the matrix Q. The other strictly triangular part is not
-          referenced.
-          On exit, if JOB &lt;&gt; 'C' and INFO = 0, the leading N-by-N
-          upper or lower triangular part (depending on UPLO) of this
-          array contains the upper or lower triangular part,
-          respectively, of the matrix R.
-          If JOB = 'C', this array is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.
-          LDR &gt;= MAX(1,N), if JOB &lt;&gt; 'C';
-          LDR &gt;= 1,        if JOB =  'C'.
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,*)
-          If JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B' and INFO = 0, the leading
-          N-by-N part of this array contains the matrix op(C).
-          If JOB = 'R' or JOB = 'B', this array is not referenced.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,N), if JOB &lt;&gt; 'R' and JOB &lt;&gt; 'B';
-          LDC &gt;= 1,        if JOB =  'R' or  JOB =  'B'.
-
-  NORMS   (output) DOUBLE PRECISION array, dimension (LN)
-          If JOB = 'N' or JOB = 'B', LN = 2 or 3, if (DICO = 'C' or
-          JOBE = 'I'), or (DICO = 'D' and JOBE = 'G'), respectively.
-          If DICO = 'C',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X (or of X*op(A)), if JOBE = 'I', or of the matrix
-          op(A)'*X*op(E) (or of op(E)'*X*op(A)), if JOBE = 'G';
-          NORMS(2) contains the Frobenius norm of the matrix
-          product X*G*X, if JOBE = 'I', or of the matrix product
-          V = op(E)'*X*G*X*op(E), if JOBE = 'G' (for JOBG = 'G' or
-          JOBG = 'D'), or of V = F*F', if JOBG = 'F', or of V = H*K,
-          if JOBG = 'H'.
-          If DICO = 'D',
-          NORMS(1) contains the Frobenius norm of the matrix
-          op(A)'*X*op(A);
-          NORMS(2) contains the Frobenius norm of the matrix product
-          V = op(A)'*X*G*X*op(A), if JOBG = 'G' or JOBG = 'D', or of
-          V = F*F', if JOBG = 'F', or of V = H*K, if JOBG = 'H';
-          if JOBE = 'G', NORMS(3) contains the Frobenius norm of the
-          matrix product op(E)'*X*op(E).
-          If JOB &lt;&gt; 'N' and JOB &lt;&gt; 'B', this array is not
-          referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = -30, or if LDWORK = -2 on input, then
-          DWORK(1) returns the minimum value of LDWORK.
-          On exit, if INFO = 0, or if LDWORK = -1 on input, then
-          DWORK(1) returns the optimal value of LDWORK.
-
-  LDWORK  The length of the array DWORK. LDWORK &gt;= MAX(v,1), with v
-          specified in the following table, where
-             a = 1, if JOBE = 'G';
-             a = 0, if JOBE = 'I'.
-
-          DICO     JOBG     JOB             v
-          -----------------------------------------------
-          'C'    'F','H' 'A','C','R'         0
-          'C'    'F','H'    'N'           a*N*N
-          'C'    'F','H'    'B'             N*N
-          'C'      'G'    'A','C'         a*N*N
-          'C'      'G'    'N','R'     (a+1)*N*N
-          'C'      'G'      'B'       (a+2)*N*N
-          'C'      'D'      'A'       N*MIN(M,(a+1)*N)
-          'C'      'D'      'C'         N*MIN(N,M)
-          'C'      'D'      'N'       N*(N+MIN(a*N,M))
-          'C'      'D'      'B'     N*(N+MIN(N+a*N,M))
-          'C'      'D'      'R'     N*MIN(a*N+M,(a+2)*N)
-          -----------------------------------------------
-          'D'    'F','H'  'A','C'           0
-          'D'    'F','H'  'N','R'         a*N*N
-          'D'    'F','H'    'B'       (a+1)*N*N
-          'D'      'G'    'A','C'           N*N
-          'D'      'G'    'N','R'         2*N*N
-          'D'      'G'      'B'           3*N*N
-          'D'      'D'    'A','N'   N*MIN(MAX(N,M),2*N)
-          'D'      'D'      'B'      N*(N+MAX(N,M))
-          'D'      'D'      'C'         N*MIN(N,M)
-          'D'      'D'      'R'       N*MIN(3*N,N+M)
-          -----------------------------------------------
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-          This evaluation assumes that only the specified triangle
-          of the array X is always used, and the other strict
-          triangle is not referenced.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-          This evaluation assumes that full matrix is given in the
-          array X, when needed (see the table at the description of
-          the array X).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix expressions are efficiently evaluated, using symmetry,
-  common matrix subexpressions, and proper order of matrix
-  multiplications.
-  If JOB = 'N' or JOB = 'B', then:
-  If DICO = 'C', the matrices op(op(A)'*X*op(E)) or op(X*op(A)), and
-  V = op(E)'*X*G*X*op(E) or V = F*F' or V = H*K, are efficiently
-  computed.
-  If DICO = 'D', the matrices op(A)'*X*op(A), V = op(A)'*X*G*X*op(A)
-  or V = F*F' or V = H*K, and op(E)'*X*op(E), if JOBE = 'G', are
-  efficiently computed. The results are used to evaluate R, op(C)
-  (if JOB = 'N'), and the norms.
-  If JOB &lt;&gt; 'N', then the needed parts of the intermediate results
-  are obtained and used to evaluate R and/or op(C).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The calculations are backward stable.
-                                             3     2
-  The algorithm requires approximately (a+b)N  + cN M operations,
-  where,
-    a = 0,    if JOBE = 'I',
-    a = 1,    if JOBE = 'G' and (DICO = 'C' or
-                                (DICO = 'D' and JOB = 'C')),
-    a = 1.5,  if JOBE = 'G' and  DICO = 'D',
-  and b and c are implicitly defined below. Specifically, the effort
-  is approximately as follows (using ^ to denote the power operator)
-
-  For DICO = 'C':
-
-  JOBG                      JOB
-            C                R                 A, N, B
-  'G'  (a+1)*N^3    (a+2)*N^3              (a+2)*N^3,(a+2.5)*N^3
-  'D'  (a+2)*N^2*M  (a+1)*N^3+1.5*N^2*M    (a+1)*N^3+2.5*N^2*M
-  'F','H'    N^2*M        N^3+0.5*N^2*M        N^3+1.5*N^2*M
-
-  For DICO = 'D':
-
-  JOBG                      JOB
-            C                R                 A, N, B
-  'G'      2*N^3    (a+3  )*N^3            (a+3  )*N^3
-  'D'      3*N^2*M  (a+1.5)*N^3+1.5*N^2*M  (a+1.5)*N^3+2.5*N^2*M
-  'F','H'  N^2*M    (a+0.5)*N^3+0.5*N^2*M  (a+0.5)*N^3+1.5*N^2*M
-
-  For JOBG &lt;&gt; 'G' and JOB = 'B', the effort reduces by N^2*M in
-  both tables.
-
-  An "operation" includes a multiplication, an addition, and some
-  address calculations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,295 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG02CX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02CX">SG02CX</A></H2>
-<H3>
-Line search parameter minimizing the residual of (generalized) continuous- or discrete-time algebraic Riccati equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the line search parameter alpha minimizing the Frobenius
-  norm (in a MATLAB-style notation)
-
-     P(alpha) := norm(R(X+alpha*S), 'fro')
-               = norm((1-alpha)*R(X) +/- alpha^2*V, 'fro'),
-
-  where R(X) is the residual of a (generalized) continuous-time
-  algebraic Riccati equation
-
-     0 = op(A)'*X + X*op(A) +/- X*G*X + Q  =:  R(X),
-  or
-     0 = op(A)'*X*op(E) + op(E)'*X*op(A) +/- op(E)'*X*G*X*op(E) + Q
-       =:  R(X),
-
-  V = op(E)'*S*G*S*op(E), and op(W) is either W or W'. The matrix S
-  is the Newton step.
-                                                  _-1
-  Instead of the symmetric N-by-N matrix G, G = B*R  *B', the N-by-M
-                   -1
-  matrix D, D = B*L  , such that G = D*D', may be given on entry.
-             _  _
-  The matrix R, R = L'*L, is a weighting matrix of the optimal
-  problem, and L is its (Cholesky) factor.
-
-  Optionally, V is specified as V = H*K, or V = F*F', but F or H and
-  K must be evaluated in S. See the SLICOT Library routine SG02CW
-  description for more details.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02CX( JOBE, FLAG, JOBG, UPLO, TRANS, N, M, E, LDE, R,
-     $                   LDR, S, LDS, G, LDG, ALPHA, RNORM, DWORK,
-     $                   LDWORK, IWARN, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         FLAG, JOBE, JOBG, TRANS, UPLO
-      INTEGER           INFO, IWARN, LDE, LDG, LDR, LDS, LDWORK, M, N
-      DOUBLE PRECISION  ALPHA, RNORM
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), E(LDE,*), G(LDG,*), R(LDR,*), S(LDS,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  FLAG    CHARACTER*1
-          Specifies which sign is used, as follows:
-          = 'P':  The plus sign is used;
-          = 'M':  The minus sign is used.
-
-  JOBG    CHARACTER*1
-          Specifies how the matrix product V is defined, as follows:
-          = 'G':  The matrix G is given:  V = op(E)'*S*G*S*op(E);
-          = 'D':  The matrix D is given:  V = op(E)'*S*D*D'*S*op(E);
-          = 'F':  The matrix F is given:           V = F*F';
-          = 'H':  The matrices H and K are given:  V = H*K.
-
-  UPLO    CHARACTER*1
-          Specifies which triangles of the symmetric matrices R, G,
-          if JOBG = 'G', and S, if JOBG = 'G' or JOBG = 'D', are
-          given, as follows:
-          = 'U':  The upper triangular part is given;
-          = 'L':  The lower triangular part is given.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices E, R, and S.  N &gt;= 0.
-
-  M       (input) INTEGER
-          If JOBG &lt;&gt; 'G', the number of columns of the matrices D,
-          F, or K'.  M &gt;= 0.
-          If JOBG = 'G', the value of M is meaningless.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G' and (JOBG = 'G' or JOBG = 'D'), the leading
-          N-by-N part of this array must contain the matrix E.
-          If JOBE = 'I' or JOBG = 'F' or JOBG = 'H', this array is
-          not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G' and (JOBG = 'G' or
-                                              JOBG = 'D');
-          LDE &gt;= 1,        if JOBE = 'I'  or  JOBG = 'F' or
-                                              JOBG = 'H'.
-
-  R       (input) DOUBLE PRECISION array, dimension (LDR,N)
-          The leading N-by-N upper or lower triangular part
-          (depending on UPLO) of this array must contain the upper
-          or lower triangular part, respectively, of the matrix
-          R(X), the residual of the algebraic Riccati equation.
-          The other strictly triangular part is not referenced.
-
-  LDR     INTEGER
-          The leading dimension of array R.  LDR &gt;= MAX(1,N).
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,*)
-          If JOBG = 'G' or JOBG = 'D', the leading N-by-N part of
-          this array must contain the symmetric Newton step
-          matrix S. If JOBE = 'I', the full matrix must be given.
-          Otherwise, it is sufficient to input only the triangular
-          part specified by UPLO, and the remaining strictly
-          triangular part is not referenced.
-          If JOBG = 'F', this array is not referenced.
-          If JOBG = 'H', the leading M-by-N part of this array must
-          contain the matrix K.
-
-  LDS     INTEGER
-          The leading dimension of array S.
-          LDS &gt;= MAX(1,N), if JOBG =  'G' or JOBG =  'D';
-          LDS &gt;= 1,        if JOBG =  'F';
-          LDS &gt;= MAX(1,M), if JOBG =  'H'.
-
-  G       (input/works.) DOUBLE PRECISION array, dimension (LDG,*)
-          If JOBG = 'G', the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array must
-          contain the upper or lower triangular part, respectively,
-          of the matrix G. The other strictly triangular part is not
-          referenced. The diagonal elements of this array are
-          modified internally, but are restored on exit.
-          If JOBG = 'D', the leading N-by-M part of this array must
-          contain the matrix D, so that G = D*D'.
-          If JOBG = 'F', the leading N-by-M part of this array must
-          contain the matrix F.
-          If JOBG = 'H', leading N-by-M part of this array must
-          contain the matrix H.
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,N).
-
-  ALPHA   (output) DOUBLE PRECISION
-          If INFO = 0, ALPHA contains the real number alpha which
-          minimizes  P(alpha) = norm(R(X+alpha*S), 'fro') in the
-          interval [0,2].
-          If INFO = 1 or IWARN = 2, ALPHA is set equal to 1.
-
-  RNORM   (output) DOUBLE PRECISION
-          On exit, if INFO &gt;= 0, RNORM contains the Frobenius norm
-          of the residual R(X+alpha*S).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if LDWORK = -1 on input, then DWORK(1) returns
-          the optimal value of LDWORK.
-          On exit, if LDWORK = -2 on input or INFO = -19, then
-          DWORK(1) returns the minimal value of LDWORK.
-          On exit, if INFO = 0, the leading N-by-N upper or lower
-          triangular part (depending on UPLO) of this array contains
-          the corresponding triangular part of the matrix V.
-
-  LDWORK  The length of the array DWORK.
-          LDWORK &gt;= N*N + MAX( 2*N*N, 51 ),
-                                    if JOBG = 'G' and JOBE = 'G';
-          LDWORK &gt;= N*N + MAX( N*N, 51 ),
-                                    if JOBG = 'G' and JOBE = 'I',
-                                    or JOBG = 'F', or JOBG = 'H';
-          LDWORK &gt;= N*N + MAX( MAX( N*N, 51 ), MIN( 2*N*N, N*M ) ),
-                                    if JOBG = 'D' and JOBE = 'G';
-          LDWORK &gt;= N*N + MAX( N*N, N*M, 51 ),
-                                    if JOBG = 'D' and JOBE = 'I'.
-          For M &lt;= N, the last two formulas simplify to
-          LDWORK &gt;= N*N + MAX( N*N, 51).
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Warning Indicator</B>
-<PRE>
-  IWARN   INTEGER
-          = 0:  no warnings;
-          = 2:  no optimal line search parameter t := alpha in [0,2]
-                was found; t = 1 was set.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -k, the k-th argument had an illegal
-                value;
-          = 1:  an error occurred during the call of the SLICOT
-                Library routine MC01XD: the eigenvalues computation
-                for the 3-by-3 (generalized) eigenproblem failed.
-                ALPHA and RNORM are set as specified above.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix V is computed with the suitable formula, and used to
-  set up a third order polynomial whose roots in [0,2], if any, are
-  candidates for the solution of the minimum residual problem.
-  The roots of the polynomial are computed by solving an equivalent
-  3-by-3 (generalized) eigenproblem.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Benner, P.
-      Contributions to the Numerical Solution of Algebraic
-      Riccati Equations and Related Eigenvalue Problems.
-      Fakultat fur Mathematik, Technische Universitat Chemnitz-
-      Zwickau, D-09107 Chemnitz, Germany, Feb. 1997.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The calculations are backward stable. The computational effort is
-  of the order of c*N**2*M operations. Here, M = N, if JOBG = 'G',
-  and the coefficient c varies between 0.5 and 2.5, depending on
-  JOBE and JOBG. (An "operation" includes a multiplication, an
-  addition, and some address calculations.)
-  The computed value of norm(R(X+alpha*S),'fro'), returned in RNORM,
-  could be inaccurate if R(X) is small, since then subtraction
-  cancellation could appear in the updating formula which is used.
-  (This can happen, e.g., when solving a Riccati equation by
-  Newton's method with line search, since then the sequence of R(.)
-  tends to zero.) In such a case, it is better to recompute the
-  residual from the data.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The routine does not ckeck if the matrix S is zero, when a quick
-  return with ALPHA = 1 is possible.
-  With suitable input arguments E and G, this routine may also be
-  used for discrete-time algebraic Riccati equations. (Matrix E
-  must be the current closed-loop matrix.)
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>SG02ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG02ND">SG02ND</A></H2>
-<H3>
-Optimal state feedback matrix for an optimal control problem
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the optimal gain matrix K for the problem of optimal
-  control given by
-
-                     -1
-       K = (R + B'XB)  (B'Xop(A) + L')                           (1)
-
-  in the discrete-time case and
-
-            -1
-       K = R  (B'Xop(E) + L')                                    (2)
-
-  in the continuous-time case, where A, E, B and L are N-by-N,
-  N-by-N, N-by-M, and N-by-M matrices, respectively; R and X are
-  M-by-M and N-by-N symmetric matrices, respectively, and op(W) is
-  either W or W'. Matrix op(K) defines the feedback gain matrix, if
-  op(W) = W, and the estimator matrix, if op(W) = W'. The formulas
-  above are also useful in Newton's algorithms for solving algebraic
-  Riccati equations, when X is the current iterate.
-
-  Optionally, matrix R may be specified in a factored form, and L
-  may be zero. If R or R + B'XB (for DICO = 'C', or DICO = 'D',
-  respectively), is positive definite, let C be its Cholesky factor
-  (denoted, e.g., C = chol(R), for DICO = 'C'). Optionally, the
-  matrix H, defined by
-
-       H = op(E)'XB + L, if DICO = 'C', or
-       H = op(A)'XB + L, if DICO = 'D',                          (3)
-
-  is returned on exit, besides K; if C exists, the matrix F, defined
-  by FC = H may be optionally returned, instead of K and H. The
-  matrix F or the pair of matrices H and K may be used for computing
-  the residual matrix for an (approximate) solution of an algebraic
-  Riccati equation (see SLICOT Library routine SG02CW).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL, TRANS,
-     $                   N, M, P, A, LDA, E, LDE, B, LDB, R, LDR, IPIV,
-     $                   L, LDL, X, LDX, RNORM, K, LDK, H, LDH, XE,
-     $                   LDXE, OUFACT, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, JOBE, JOBL, JOBX, TRANS, UPLO
-      INTEGER           INFO, LDA, LDB, LDE, LDH, LDK, LDL, LDR, LDWORK,
-     $                  LDX, LDXE, M, N, P
-      DOUBLE PRECISION  RNORM
-C     .. Array Arguments ..
-      INTEGER           IPIV(*), IWORK(*), OUFACT(2)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*),
-     $                  H(LDH,*), K(LDK,*), L(LDL,*), R(LDR,*),
-     $                  X(LDX,*), XE(LDXE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the equation from which K is to be determined,
-          as follows:
-          = 'D':  Equation (1), discrete-time case;
-          = 'C':  Equation (2), continuous-time case.
-
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is general and is given;
-          = 'I':  The matrix E is assumed identity and is not given.
-          This parameter is not relevant for DICO = 'D'.
-
-  JOB     CHARACTER*1
-          Specifies what should be computed, as follows:
-          = 'K':  Compute and return the matrix K only;
-          = 'H':  Compute and return both matrices H and K;
-          = 'F':  Compute the matrix F, if possible; otherwise,
-                  compute and return H and K;
-          = 'D':  Compute and return both matrices H and K, when
-                  B and L have previously been transformed using
-                  SLICOT Library routines SB02MT or SB02MX, which
-                  returned OUFACT = 1. This is useful for computing
-                  K in (2), since then K is the solution of CK = H'.
-                  In this case, FACT should be set to 'C', and the
-                  array R must contain the Cholesky factor of
-                  R + B'XB, if DICO = 'D';
-          = 'C':  Compute and return the matrix F, when B and L have
-                  previously been transformed using SB02MT or
-                  SB02MX, which returned OUFACT = 1. In this case,
-                  FACT should be set to 'C', and the array R must
-                  contain the Cholesky factor of R + B'XB, if
-                  DICO = 'D'.
-          JOB should not be set to 'F' if FACT = 'U'.
-
-  JOBX    CHARACTER*1
-          Specifies whether the matrix op(Xop(E)), if DICO = 'C', or
-          op(Xop(A)), if DICO = 'D', must be computed, as follows:
-          = 'C':  Compute and return the coresponding matrix;
-          = 'N':  Do not compute that matrix.
-          This parameter is not relevant for DICO = 'C' and
-          JOBE = 'I'.
-
-  FACT    CHARACTER*1
-          Specifies how the matrix R is given (factored or not), as
-          follows:
-          = 'N':  Array R contains the matrix R;
-          = 'D':  Array R contains a P-by-M matrix D, where R = D'D;
-          = 'C':  Array R contains the Cholesky factor of R;
-          = 'U':  Array R contains the symmetric indefinite UdU' or
-                  LdL' factorization of R. This option is not
-                  available for DICO = 'D'.
-
-  UPLO    CHARACTER*1
-          Specifies which triangle of the possibly factored matrix R
-          (or R + B'XB, on exit) is or should be stored, as follows:
-          = 'U':  Upper triangle is stored;
-          = 'L':  Lower triangle is stored.
-
-  JOBL    CHARACTER*1
-          Specifies whether or not the matrix L is zero, as follows:
-          = 'Z':  L is zero;
-          = 'N':  L is nonzero.
-
-  TRANS   CHARACTER*1
-          Specifies the form of op(W) to be used in the matrix
-          multiplication, as follows:
-          = 'N':  op(W) = W;
-          = 'T':  op(W) = W';
-          = 'C':  op(W) = W'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A and X.  N &gt;= 0.
-          No computations are performed if MIN(N,M) = 0.
-
-  M       (input) INTEGER
-          The order of the matrix R and the number of columns of the
-          matrices B and L.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix D.
-          P &gt;= M for DICO = 'C';
-          P &gt;= 0 for DICO = 'D'.
-          This parameter is relevant only for FACT = 'D'.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If DICO = 'D', the leading N-by-N part of this array must
-          contain the state matrix A of the system.
-          If DICO = 'C', this array is not referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.
-          LDA &gt;= MAX(1,N) if DICO = 'D';
-          LDA &gt;= 1        if DICO = 'C'.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,*)
-          If JOBE = 'G' and DICO = 'C', the leading N-by-N part of
-          this array must contain the matrix E.
-          If JOBE = 'I' or DICO = 'D', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G' and DICO = 'C';
-          LDE &gt;= 1,        if JOBE = 'I'  or DICO = 'D'.
-
-  B       (input/worksp.) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system, transformed by SB02MT or
-          SB02MX, if JOB = 'D' or JOB = 'C'.
-          If DICO = 'D' and FACT = 'D' or 'C', the contents of this
-          array is destroyed. Specifically, if, on exit,
-          OUFACT(2) = 1, this array contains chol(X)*B, and if
-          OUFACT(2) = 2 and INFO &lt; M+2, but INFO &gt;= 0, its trailing
-          part (in the first N rows) contains the submatrix of
-          sqrt(V)*U'B corresponding to the non-negligible, positive
-          eigenvalues of X, where V and U are the matrices with the
-          eigenvalues and eigenvectors of X.
-          Otherwise, B is unchanged on exit.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  R       (input/output) DOUBLE PRECISION array, dimension (LDR,M)
-          On entry, if FACT = 'N', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the upper
-          triangular part or lower triangular part, respectively,
-          of the symmetric input weighting matrix R.
-          On entry, if FACT = 'D', the leading P-by-M part of this
-          array must contain the direct transmission matrix D of the
-          system.
-          On entry, if FACT = 'C', the leading M-by-M upper
-          triangular part (if UPLO = 'U') or lower triangular part
-          (if UPLO = 'L') of this array must contain the Cholesky
-          factor of the positive definite input weighting matrix R
-          (as produced by LAPACK routine DPOTRF).
-          On entry, if DICO = 'C' and FACT = 'U', the leading M-by-M
-          upper triangular part (if UPLO = 'U') or lower triangular
-          part (if UPLO = 'L') of this array must contain the
-          factors of the UdU' or LdL' factorization, respectively,
-          of the symmetric indefinite input weighting matrix R (as
-          produced by LAPACK routine DSYTRF).
-          The strictly lower triangular part (if UPLO = 'U') or
-          strictly upper triangular part (if UPLO = 'L') of this
-          array is used as workspace (filled in by symmetry with the
-          other strictly triangular part of R, of R+B'XB, or of the
-          result, if DICO = 'C', DICO = 'D' (if FACT = 'N', in both
-          cases), or (DICO = 'D' and (FACT = 'D' or FACT = 'C') and
-          UPLO = 'L'), respectively.
-          On exit, if OUFACT(1) = 1, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the Cholesky factor of the given input weighting
-          matrix R (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D').
-          On exit, if OUFACT(1) = 2, and INFO = 0 (or INFO = M+1),
-          the leading M-by-M upper triangular part (if UPLO = 'U')
-          or lower triangular part (if UPLO = 'L') of this array
-          contains the factors of the UdU' or LdL' factorization,
-          respectively, of the given input weighting matrix
-          (for DICO = 'C'), or that of the matrix R + B'XB
-          (for DICO = 'D' and FACT = 'N').
-          On exit R is unchanged if FACT = 'U' or N = 0.
-
-  LDR     INTEGER.
-          The leading dimension of the array R.
-          LDR &gt;= MAX(1,M)   if FACT &lt;&gt; 'D';
-          LDR &gt;= MAX(1,M,P) if FACT =  'D'.
-
-  IPIV    (input/output) INTEGER array, dimension (M)
-          On entry, if FACT = 'U', this array must contain details
-          of the interchanges performed and the block structure of
-          the d factor in the UdU' or LdL' factorization of matrix R
-          (as produced by LAPACK routine DSYTRF).
-          On exit, if OUFACT(1) = 2, this array contains details of
-          the interchanges performed and the block structure of the
-          d factor in the UdU' or LdL' factorization of matrix R or
-          R + B'XB, as produced by LAPACK routine DSYTRF.
-          This array is not referenced if FACT = 'D', or FACT = 'C',
-          or N = 0.
-
-  L       (input) DOUBLE PRECISION array, dimension (LDL,M)
-          If JOBL = 'N', the leading N-by-M part of this array must
-          contain the cross weighting matrix L, transformed by
-          SB02MT or SB02MX, if JOB = 'D' or JOB = 'C'.
-          If JOBL = 'Z', this array is not referenced.
-
-  LDL     INTEGER
-          The leading dimension of array L.
-          LDL &gt;= MAX(1,N) if JOBL = 'N';
-          LDL &gt;= 1        if JOBL = 'Z'.
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the (approximate) solution matrix X of the
-          algebraic Riccati equation as produced by SLICOT Library
-          routines SB02MD or SB02OD (or SG02CD). Matrix X is assumed
-          non-negative definite if DICO = 'D', FACT &lt;&gt; 'N',
-          JOB &lt;&gt; 'D' and JOB &lt;&gt; 'C'. The full matrix X must be given
-          on input in this case.
-          For minimal workspace, full matrix X must also be given if
-          ((JOBX = 'C', DICO = 'D', FACT = 'N', and M &gt; N), or
-           (JOBX = 'N', ((DICO = 'C' or FACT = 'N'), (DICO = 'D' or
-            JOBE = 'I') or N &gt;= M, or LDWORK &lt; N*N) and (DICO = 'D'
-            or JOBE = 'G' or JOB = 'K'))) and LDWORK &lt; N*M.
-          (Simpler, but more demanding conditions are the following:
-          ((JOBX = 'C',  DICO = 'D', FACT = 'N', and M &gt; N), or
-           (JOBX = 'N', (DICO = 'D' or ((DICO = 'C', JOBE = 'G') or
-            JOB = 'K'))),  LDWORK &lt; N*N.)
-          For optimal workspace, full matrix X is not needed in any
-          of the cases described above for minimal workspace.
-          On exit, if DICO = 'D', FACT = 'D' or FACT = 'C', and
-          OUFACT(2) = 1, the N-by-N upper triangular part
-          (if UPLO = 'U') or lower triangular part (if UPLO = 'L')
-          of this array contains the Cholesky factor of the given
-          matrix X, which is found to be positive definite.
-          On exit, if DICO = 'D', FACT = 'D' or 'C', OUFACT(2) = 2,
-          and INFO &lt;&gt; M+2 (but INFO &gt;= 0), the leading N-by-N part
-          of this array contains the matrix of orthonormal
-          eigenvectors of X.
-          On exit X is unchanged if DICO = 'C' or FACT = 'N'.
-
-  LDX     INTEGER
-          The leading dimension of array X.  LDX &gt;= MAX(1,N).
-
-  RNORM   (input) DOUBLE PRECISION
-          If FACT = 'U', this parameter must contain the 1-norm of
-          the original matrix R (before factoring it).
-          Otherwise, this parameter is not used.
-
-  K       (output) DOUBLE PRECISION array, dimension (LDK,N)
-          If JOB = 'K' or JOB = 'H' or JOB = 'D' or OUFACT(1) = 2,
-          the leading M-by-N part of this array contains the gain
-          matrix K.
-
-  LDK     INTEGER
-          The leading dimension of array K.  LDK &gt;= MAX(1,M).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,*)
-          If JOB = 'H' or JOB = 'D' or (JOB = 'F' and
-          OUFACT(1) = 2), the leading N-by-M part of this array
-          contains the matrix H.
-          If JOB = 'C' or (JOB = 'F' and OUFACT(1) = 1), the leading
-          N-by-M part of this array contains the matrix F.
-          If JOB = 'K', this array is not referenced.
-
-  LDH    INTEGER
-          The leading dimension of array H.
-          LDH &gt;= MAX(1,N), if JOB &lt;&gt; 'K';
-          LDH &gt;= 1,        if JOB =  'K'.
-
-  XE      (output) DOUBLE PRECISION array, dimension (LDXE,*)
-          If JOBX = 'C', DICO = 'C', and JOBE = 'G', the leading
-          N-by-N part of this array contains the matrix product X*E,
-          if TRANS = 'N', or E*X, if TRANS = 'T' or TRANS = 'C'.
-          If JOBX = 'C' and DICO = 'D', the leading N-by-N part of
-          this array contains the matrix product X*A, if
-          TRANS = 'N', or A*X, if TRANS = 'T' or TRANS = 'C'.
-          These matrix products may be needed for computing the
-          residual matrix for an (approximate) solution of a Riccati
-          equation (see SLICOT Library routine SG02CW).
-          If JOBX = 'N' or (DICO = 'C' and JOBE = 'I'), this array
-          is not referenced.
-
-  LDXE    INTEGER
-          The leading dimension of array XE.
-          LDXE &gt;= MAX(1,N), if JOBX = 'C', and either DICO = 'C' and
-                            JOBE = 'G', or DICO = 'D';
-          LDXE &gt;= 1,        if JOBX = 'N' or (DICO = 'C' and
-                                              JOBE = 'I').
-
-  OUFACT  (output) INTEGER array, dimension (2)
-          Information about the factorization finally used.
-          OUFACT(1) = 1:  Cholesky factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(1) = 2:  UdU' (if UPLO = 'U') or LdL' (if UPLO =
-                          'L') factorization of R (or R + B'XB)
-                          has been used;
-          OUFACT(2) = 1:  Cholesky factorization of X has been used;
-          OUFACT(2) = 2:  Spectral factorization of X has been used.
-          The value of OUFACT(2) is not set for DICO = 'C' or for
-          DICO = 'D' and FACT = 'N'.
-          This array is not set if N = 0 or M = 0.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0 or LDWORK = -1, DWORK(1) returns the
-          optimal value of LDWORK, and for LDWORK set as specified
-          below, DWORK(2) contains the reciprocal condition number
-          of the matrix R (for DICO = 'C') or of R + B'XB (for
-          DICO = 'D'), if FACT = 'N' or FACT = 'U' or OUFACT(1) = 2,
-          or of its Cholesky factor, if FACT = 'C' or FACT = 'D' and
-          OUFACT(1) = 1; DWORK(2) is set to 1 if N = 0.
-          On exit, if LDWORK = -2 on input or INFO = -35, then
-          DWORK(1) returns the minimal value of LDWORK.
-          If on exit INFO = 0, and OUFACT(2) = 2, then DWORK(3),...,
-          DWORK(N+2) contain the eigenvalues of X, in ascending
-          order.
-
-  LDWORK  INTEGER
-          Dimension of working array DWORK.
-          Let a = N, if JOBX = 'N' and (DICO = 'D' or JOBE = 'G');
-              a = 0, otherwise. Then
-          LDWORK &gt;= max(2,2*M,a)       if FACT =  'U';
-          LDWORK &gt;= max(2,3*M,4*N+1)   if FACT =  'D' or
-                                         (FACT =  'C' and JOB &lt;&gt; 'C'
-                                       and JOB &lt;&gt; 'D'), DICO = 'D';
-          LDWORK &gt;= max(2,3*M,a)       otherwise.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, an optimal workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-          If LDWORK = -2, a minimal workspace query is assumed; the
-          routine only calculates the minimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = i:  if the i-th element of the d factor is exactly zero;
-                the UdU' (or LdL') factorization has been completed,
-                but the block diagonal matrix d is exactly singular;
-          = M+1:  if the matrix R (if DICO = 'C'), or R + B'XB
-                (if DICO = 'D') is numerically singular (to working
-                precision);
-          = M+2:  if one or more of the eigenvalues of X has not
-                converged;
-          = M+3:  if the matrix X is indefinite and updating the
-                triangular factorization failed.
-          If INFO &gt; M+1, call the routine again with an appropriate,
-          unfactored matrix R.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (optimal) gain matrix K is obtained as the solution to the
-  system of linear equations
-
-     (R + B'XB) * K = B'Xop(A) + L'
-
-  in the discrete-time case and
-
-     R * K = B'Xop(E) + L'
-
-  in the continuous-time case, with R replaced by D'D if FACT = 'D'.
-  If FACT = 'N', Cholesky factorization is tried first, but
-  if the coefficient matrix is not positive definite, then UdU' (or
-  LdL') factorization is used. If FACT &lt;&gt; 'N', the factored form
-  of R is taken into account. The discrete-time case then involves
-  updating of a triangular factorization of R (or D'D); Cholesky or
-  symmetric spectral factorization of X is employed to avoid
-  squaring of the condition number of the matrix. When D is given,
-  its QR factorization is determined, and the triangular factor is
-  used as described above.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm consists of numerically stable steps.
-                                                3     2
-  For DICO = 'C' and JOBE = 'I', it requires O(m  + mn ) floating
-                                         2
-  point operations if FACT = 'N' and O(mn ) floating point
-  operations, otherwise.
-  For DICO = 'D' or JOBE = 'G', the operation counts are similar,
-                    3
-  but additional O(n ) floating point operations may be needed in
-  the worst case.
-  These estimates assume that M &lt;= N.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG02ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          NMAX2
-      PARAMETER        ( NMAX2 = 2*NMAX )
-      INTEGER          LDA, LDB, LDC, LDF, LDH, LDL, LDR, LDS, LDT, LDU,
-     $                 LDX, LDXE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDL = NMAX,
-     $                   LDR = MAX(MMAX,PMAX), LDS = NMAX2+MMAX,
-     $                   LDT = NMAX2+MMAX, LDU = NMAX2, LDX = NMAX,
-     $                   LDF = MMAX, LDH = NMAX, LDXE = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX+3*MMAX+2, 14*NMAX+23,
-     $                   16*NMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL, RCOND, RNORM
-      INTEGER          I, INFO1, INFO2, J, M, N, P
-      CHARACTER*1      DICO, FACT, JOB, JOBB, JOBE, JOBL, JOBX, SORT,
-     $                 TRANS, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION AE(LDA,NMAX), ALFAI(2*NMAX), ALFAR(2*NMAX),
-     $                 B(LDB,MMAX), BETA(2*NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), F(LDF,NMAX), H(LDH,MMAX),
-     $                 L(LDL,MMAX), R(LDR,MMAX), S(LDS,NMAX2+MMAX),
-     $                 T(LDT,NMAX2), U(LDU,NMAX2), X(LDX,NMAX),
-     $                 XE(LDXE,NMAX)
-      INTEGER          IPIV(LIWORK), IWORK(LIWORK), OUFACT(2)
-      LOGICAL          BWORK(NMAX2)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         SG02ND, SB02OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, DICO, JOBE, JOB, JOBX, FACT,
-     $                      JOBL, UPLO, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( AE(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LSAME( FACT, 'D' ) ) THEN
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,P )
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( R(I,J), J = 1,M ), I = 1,M )
-               END IF
-               IF ( LSAME( JOBL, 'N' ) )
-     $            READ ( NIN, FMT = * ) ( ( L(I,J), J = 1,M ), I = 1,N )
-*              Find the solution matrix X.
-               JOBB = 'B'
-               SORT = 'S'
-               CALL SB02OD( DICO, JOBB, 'Both', UPLO, JOBL, SORT, N, M,
-     $                      P, AE, LDA, B, LDB, C, LDC, R, LDR, L, LDL,
-     $                      RCOND, X, LDX, ALFAR, ALFAI, BETA, S, LDS,
-     $                      T, LDT, U, LDU, TOL, IWORK, DWORK, LDWORK,
-     $                      BWORK, INFO1 )
-*
-               IF ( INFO1.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO1
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   20             CONTINUE
-*                 Compute the optimal feedback matrix F.
-                  CALL SG02ND( DICO, JOBE, JOB, JOBX, FACT, UPLO, JOBL,
-     $                         TRANS, N, M, P, AE, LDA, AE, LDA, B, LDB,
-     $                         R, LDR, IPIV, L, LDL, X, LDX, RNORM, F,
-     $                         LDF, H, LDH, XE, LDXE, OUFACT, IWORK,
-     $                         DWORK, LDWORK, INFO2 )
-*
-                  IF ( INFO2.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99997 ) INFO2
-                  ELSE
-                     WRITE ( NOUT, FMT = 99995 )
-                     DO 40 I = 1, M
-                        WRITE ( NOUT, FMT = 99994 ) ( F(I,J), J = 1,N )
-   40                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG02ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SB02OD = ',I2)
-99997 FORMAT (' INFO on exit from SG02ND = ',I2)
-99996 FORMAT (' The solution matrix X is ')
-99995 FORMAT (/' The optimal feedback matrix F is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG02ND EXAMPLE PROGRAM DATA
-   2     1     3     0.0     D     I     K     N     N     Z     U     N
-   2.0 -1.0
-   1.0  0.0
-   1.0
-   0.0
-   0.0  0.0
-   0.0  0.0
-   0.0  1.0
-   0.0
-   0.0
-   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG02ND EXAMPLE PROGRAM RESULTS
-
- The solution matrix X is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The optimal feedback matrix F is 
-   2.0000  -1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03AD.html b/doc/_static/doc/SG03AD.html
deleted file mode 100644
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+++ /dev/null
@@ -1,499 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03AD">SG03AD</A></H2>
-<H3>
-Solution of continuous- or discrete-time generalized Lyapunov equations and separation estimation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the generalized continuous-time Lyapunov
-  equation
-
-          T                T
-     op(A)  X op(E) + op(E)  X op(A) = SCALE * Y,                (1)
-
-  or the generalized discrete-time Lyapunov equation
-
-          T                T
-     op(A)  X op(A) - op(E)  X op(E) = SCALE * Y,                (2)
-
-  where op(M) is either M or M**T for M = A, E and the right hand
-  side Y is symmetric. A, E, Y, and the solution X are N-by-N
-  matrices. SCALE is an output scale factor, set to avoid overflow
-  in X.
-
-  Estimates of the separation and the relative forward error norm
-  are provided.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E,
-     $                   LDE, Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR,
-     $                   ALPHAR, ALPHAI, BETA, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, FACT, JOB, TRANS, UPLO
-      DOUBLE PRECISION  FERR, SCALE, SEP
-      INTEGER           INFO, LDA, LDE, LDQ, LDWORK, LDX, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), BETA(*),
-     $                  DWORK(*), E(LDE,*), Q(LDQ,*), X(LDX,*),
-     $                  Z(LDZ,*)
-      INTEGER           IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies which type of the equation is considered:
-          = 'C':  Continuous-time equation (1);
-          = 'D':  Discrete-time equation (2).
-
-  JOB     CHARACTER*1
-          Specifies if the solution is to be computed and if the
-          separation is to be estimated:
-          = 'X':  Compute the solution only;
-          = 'S':  Estimate the separation only;
-          = 'B':  Compute the solution and estimate the separation.
-
-  FACT    CHARACTER*1
-          Specifies whether the generalized real Schur
-          factorization of the pencil A - lambda * E is supplied
-          on entry or not:
-          = 'N':  Factorization is not supplied;
-          = 'F':  Factorization is supplied.
-
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  op(A) = A,    op(E) = E;
-          = 'T':  op(A) = A**T, op(E) = E**T.
-
-  UPLO    CHARACTER*1
-          Specifies whether the lower or the upper triangle of the
-          array X is needed on input:
-          = 'L':  Only the lower triangle is needed on input;
-          = 'U':  Only the upper triangle is needed on input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          Hessenberg part of this array must contain the
-          generalized Schur factor A_s of the matrix A (see
-          definition (3) in section METHOD). A_s must be an upper
-          quasitriangular matrix. The elements below the upper
-          Hessenberg part of the array A are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this
-          array must contain the matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the generalized Schur factor A_s of the matrix A. (A_s is
-          an upper quasitriangular matrix.)
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the
-          generalized Schur factor E_s of the matrix E (see
-          definition (4) in section METHOD). The elements below the
-          upper triangular part of the array E are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this
-          array must contain the coefficient matrix E of the
-          equation.
-          On exit, the leading N-by-N part of this array contains
-          the generalized Schur factor E_s of the matrix E. (E_s is
-          an upper triangular matrix.)
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Q from
-          the generalized Schur factorization (see definitions (3)
-          and (4) in section METHOD).
-          If FACT = 'N', Q need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal matrix Q from the generalized Schur
-          factorization.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Z from
-          the generalized Schur factorization (see definitions (3)
-          and (4) in section METHOD).
-          If FACT = 'N', Z need not be set on entry.
-          On exit, the leading N-by-N part of this array contains
-          the orthogonal matrix Z from the generalized Schur
-          factorization.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, if JOB = 'B' or 'X', then the leading N-by-N
-          part of this array must contain the right hand side matrix
-          Y of the equation. Either the lower or the upper
-          triangular part of this array is needed (see mode
-          parameter UPLO).
-          If JOB = 'S', X is not referenced.
-          On exit, if JOB = 'B' or 'X', and INFO = 0, 3, or 4, then
-          the leading N-by-N part of this array contains the
-          solution matrix X of the equation.
-          If JOB = 'S', X is not referenced.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          (0 &lt; SCALE &lt;= 1)
-
-  SEP     (output) DOUBLE PRECISION
-          If JOB = 'S' or JOB = 'B', and INFO = 0, 3, or 4, then
-          SEP contains an estimate of the separation of the
-          Lyapunov operator.
-
-  FERR    (output) DOUBLE PRECISION
-          If JOB = 'B', and INFO = 0, 3, or 4, then FERR contains an
-          estimated forward error bound for the solution X. If XTRUE
-          is the true solution, FERR estimates the relative error
-          in the computed solution, measured in the Frobenius norm:
-          norm(X - XTRUE) / norm(XTRUE)
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          If FACT = 'N' and INFO = 0, 3, or 4, then
-          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N, are the
-          eigenvalues of the matrix pencil A - lambda * E.
-          If FACT = 'F', ALPHAR, ALPHAI, and BETA are not
-          referenced.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N**2)
-          IWORK is not referenced if JOB = 'X'.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. The following table
-          contains the minimal work space requirements depending
-          on the choice of JOB and FACT.
-
-                 JOB        FACT    |  LDWORK
-                 -------------------+-------------------
-                 'X'        'F'     |  MAX(1,N)
-                 'X'        'N'     |  MAX(1,8*N+16)
-                 'B', 'S'   'F'     |  MAX(1,2*N**2)
-                 'B', 'S'   'N'     |  MAX(1,2*N**2,8*N+16)
-
-          For optimum performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  FACT = 'F' and the matrix contained in the upper
-                Hessenberg part of the array A is not in upper
-                quasitriangular form;
-          = 2:  FACT = 'N' and the pencil A - lambda * E cannot be
-                reduced to generalized Schur form: LAPACK routine
-                DGGES has failed to converge;
-          = 3:  DICO = 'D' and the pencil A - lambda * E has a
-                pair of reciprocal eigenvalues. That is, lambda_i =
-                1/lambda_j for some i and j, where lambda_i and
-                lambda_j are eigenvalues of A - lambda * E. Hence,
-                equation (2) is singular;  perturbed values were
-                used to solve the equation (but the matrices A and
-                E are unchanged);
-          = 4:  DICO = 'C' and the pencil A - lambda * E has a
-                degenerate pair of eigenvalues. That is, lambda_i =
-                -lambda_j for some i and j, where lambda_i and
-                lambda_j are eigenvalues of A - lambda * E. Hence,
-                equation (1) is singular;  perturbed values were
-                used to solve the equation (but the matrices A and
-                E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A straightforward generalization [3] of the method proposed by
-  Bartels and Stewart [1] is utilized to solve (1) or (2).
-
-  First the pencil A - lambda * E is reduced to real generalized
-  Schur form A_s - lambda * E_s by means of orthogonal
-  transformations (QZ-algorithm):
-
-     A_s = Q**T * A * Z   (upper quasitriangular)                (3)
-
-     E_s = Q**T * E * Z   (upper triangular).                    (4)
-
-  If FACT = 'F', this step is omitted. Assuming SCALE = 1 and
-  defining
-
-           ( Z**T * Y * Z   :   TRANS = 'N'
-     Y_s = &lt;
-           ( Q**T * Y * Q   :   TRANS = 'T'
-
-           ( Q**T * X * Q    if TRANS = 'N'
-     X_s = &lt;                                                     (5)
-           ( Z**T * X * Z    if TRANS = 'T'
-
-  leads to the reduced Lyapunov equation
-
-            T                      T
-     op(A_s)  X_s op(E_s) + op(E_s)  X_s op(A_s) = Y_s,          (6)
-
-  or
-            T                      T
-     op(A_s)  X_s op(A_s) - op(E_s)  X_s op(E_s) = Y_s,          (7)
-
-  which are equivalent to (1) or (2), respectively. The solution X_s
-  of (6) or (7) is computed via block back substitution (if TRANS =
-  'N') or block forward substitution (if TRANS = 'T'), where the
-  block order is at most 2. (See [1] and [3] for details.)
-  Equation (5) yields the solution matrix X.
-
-  For fast computation the estimates of the separation and the
-  forward error are gained from (6) or (7) rather than (1) or
-  (2), respectively. We consider (6) and (7) as special cases of the
-  generalized Sylvester equation
-
-     R * X * S + U * X * V = Y,                                  (8)
-
-  whose separation is defined as follows
-
-     sep = sep(R,S,U,V) =   min   || R * X * S + U * X * V || .
-                         ||X|| = 1                           F
-                              F
-
-  Equation (8) is equivalent to the system of linear equations
-
-     K * vec(X) = (kron(S**T,R) + kron(V**T,U)) * vec(X) = vec(Y),
-
-  where kron is the Kronecker product of two matrices and vec
-  is the mapping that stacks the columns of a matrix. If K is
-  nonsingular then
-
-     sep = 1 / ||K**(-1)|| .
-                          2
-
-  We estimate ||K**(-1)|| by a method devised by Higham [2]. Note
-  that this method yields an estimation for the 1-norm but we use it
-  as an approximation for the 2-norm. Estimates for the forward
-  error norm are provided by
-
-     FERR = 2 * EPS * ||A_s||  * ||E_s||  / sep
-                             F          F
-
-  in the continuous-time case (1) and
-
-     FERR = EPS * ( ||A_s|| **2 + ||E_s|| **2 ) / sep
-                           F             F
-
-  in the discrete-time case (2).
-  The reciprocal condition number, RCOND, of the Lyapunov equation
-  can be estimated by FERR/EPS.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Higham, N.J.
-      FORTRAN codes for estimating the one-norm of a real or complex
-      matrix, with applications to condition estimation.
-      A.C.M. Trans. Math. Soft., vol. 14, no. 4, pp. 381-396, 1988.
-
-  [3] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The number of flops required by the routine is given by the
-  following table. Note that we count a single floating point
-  arithmetic operation as one flop. c is an integer number of modest
-  size (say 4 or 5).
-
-                |  FACT = 'F'            FACT = 'N'
-     -----------+------------------------------------------
-     JOB = 'B'  |  (26+8*c)/3 * N**3     (224+8*c)/3 * N**3
-     JOB = 'S'  |  8*c/3 * N**3          (198+8*c)/3 * N**3
-     JOB = 'X'  |  26/3 * N**3           224/3 * N**3
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
-  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
-  degenerate pair of eigenvalues, then the Lyapunov equation will be
-  ill-conditioned. Perturbed values were used to solve the equation.
-  Ill-conditioning can be detected by a very small value of the
-  reciprocal condition number RCOND.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           NMAX
-      PARAMETER         ( NMAX = 20 )
-      INTEGER           LDA, LDE, LDQ, LDX, LDZ
-      PARAMETER         ( LDA = NMAX, LDE = NMAX, LDQ = NMAX,
-     $                    LDX = NMAX, LDZ = NMAX )
-      INTEGER           LIWORK, LDWORK
-      PARAMETER         ( LIWORK = NMAX**2,
-     $                    LDWORK = MAX( 2*NMAX**2, 4*NMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1       DICO, FACT, JOB, TRANS, UPLO
-      DOUBLE PRECISION  FERR, SCALE, SEP
-      INTEGER           I, INFO, J, N
-*     .. Local Arrays ..
-      INTEGER           IWORK(LIWORK)
-      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
-     $                  BETA(NMAX), DWORK(LDWORK), E(LDE,NMAX),
-     $                  Q(LDQ,NMAX), X(LDX,NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          SG03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, JOB, DICO, FACT, TRANS, UPLO
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME ( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( .NOT.LSAME ( JOB, 'S' ) )
-     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
-*        Find the solution matrix X and the scalar SEP.
-         CALL SG03AD( DICO, JOB, FACT, TRANS, UPLO, N, A, LDA, E, LDE,
-     $                Q, LDQ, Z, LDZ, X, LDX, SCALE, SEP, FERR, ALPHAR,
-     $                ALPHAI, BETA, IWORK, DWORK, LDWORK, INFO )
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'S' ) ) THEN
-               WRITE ( NOUT, FMT = 99997 ) SEP
-               WRITE ( NOUT, FMT = 99996 ) FERR
-            END IF
-            IF ( LSAME ( JOB, 'B' ) .OR. LSAME ( JOB, 'X' ) ) THEN
-               WRITE ( NOUT, FMT = 99995 ) SCALE
-               DO 20 I = 1, N
-                  WRITE ( NOUT, FMT = 99994 ) ( X(I,J), J = 1,N )
-   20          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SG03AD = ',I2)
-99997 FORMAT (' SEP =   ',D8.2)
-99996 FORMAT (' FERR =  ',D8.2)
-99995 FORMAT (' SCALE = ',D8.2,//' The solution matrix X is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG03AD EXAMPLE PROGRAM DATA
-  3       B       C       N       N       U
-  3.0     1.0     1.0
-  1.0     3.0     0.0
-  1.0     0.0     2.0
-  1.0     3.0     0.0
-  3.0     2.0     1.0
-  1.0     0.0     1.0
--64.0   -73.0   -28.0
-  0.0   -70.0   -25.0
-  0.0     0.0   -18.0 
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG03AD EXAMPLE PROGRAM RESULTS
-
- SEP =   0.29D+00
- FERR =  0.40D-13
- SCALE = 0.10D+01
-
- The solution matrix X is 
-  -2.0000  -1.0000   0.0000
-  -1.0000  -3.0000  -1.0000
-   0.0000  -1.0000  -3.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03AX.html b/doc/_static/doc/SG03AX.html
deleted file mode 100644
index d0cf438d..00000000
--- a/doc/_static/doc/SG03AX.html
+++ /dev/null
@@ -1,160 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03AX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03AX">SG03AX</A></H2>
-<H3>
-Solving a discrete-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the reduced generalized discrete-time
-  Lyapunov equation
-
-      T            T
-     A  * X * A - E  * X * E  =  SCALE * Y                       (1)
-
-  or
-
-              T            T
-     A * X * A  - E * X * E   =  SCALE * Y                       (2)
-
-  where the right hand side Y is symmetric. A, E, Y, and the
-  solution X are N-by-N matrices. The pencil A - lambda * E must be
-  in generalized Schur form (A upper quasitriangular, E upper
-  triangular). SCALE is an output scale factor, set to avoid
-  overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03AX( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDE, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the right hand side matrix Y of the equation. Only
-          the upper triangular part of this matrix need be given.
-          On exit, the leading N-by-N part of this array contains
-          the solution matrix X of the equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          (0 &lt; SCALE &lt;= 1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  equation is (almost) singular to working precision;
-                perturbed values were used to solve the equation
-                (but the matrices A and E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The solution X of (1) or (2) is computed via block back
-  substitution or block forward substitution, respectively. (See
-  [1] and [2] for details.)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  8/3 * N**3 flops are required by the routine. Note that we count a
-  single floating point arithmetic operation as one flop.
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03AY.html b/doc/_static/doc/SG03AY.html
deleted file mode 100644
index 1b21a08f..00000000
--- a/doc/_static/doc/SG03AY.html
+++ /dev/null
@@ -1,160 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03AY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03AY">SG03AY</A></H2>
-<H3>
-Solving a continuous-time generalized Lyapunov equation with matrix A quasi-triangular and matrix E upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X either the reduced generalized continuous-time
-  Lyapunov equation
-
-      T            T
-     A  * X * E + E  * X * A  =  SCALE * Y                       (1)
-
-  or
-
-              T            T
-     A * X * E  + E * X * A   =  SCALE * Y                       (2)
-
-  where the right hand side Y is symmetric. A, E, Y, and the
-  solution X are N-by-N matrices. The pencil A - lambda * E must be
-  in generalized Schur form (A upper quasitriangular, E upper
-  triangular). SCALE is an output scale factor, set to avoid
-  overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03AY( TRANS, N, A, LDA, E, LDE, X, LDX, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDE, LDX, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), E(LDE,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading N-by-N part of this array must
-          contain the right hand side matrix Y of the equation. Only
-          the upper triangular part of this matrix need be given.
-          On exit, the leading N-by-N part of this array contains
-          the solution matrix X of the equation.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          (0 &lt; SCALE &lt;= 1)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  equation is (almost) singular to working precision;
-                perturbed values were used to solve the equation
-                (but the matrices A and E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The solution X of (1) or (2) is computed via block back
-  substitution or block forward substitution, respectively. (See
-  [1] and [2] for details.)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  8/3 * N**3 flops are required by the routine. Note that we count a
-  single floating point arithmetic operation as one flop.
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BD.html b/doc/_static/doc/SG03BD.html
deleted file mode 100644
index ce0bec1d..00000000
--- a/doc/_static/doc/SG03BD.html
+++ /dev/null
@@ -1,581 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BD">SG03BD</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable continuous- or discrete-time Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X,
-
-              T
-     X = op(U)  * op(U),
-
-  which is the solution of either the generalized c-stable
-  continuous-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(E) + op(E)  * X * op(A)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (1)
-
-  or the generalized d-stable discrete-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(A) - op(E)  * X * op(E)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (2)
-
-  without first finding X and without the need to form the matrix
-  op(B)**T * op(B).
-
-  op(K) is either K or K**T for K = A, B, E, U. A and E are N-by-N
-  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
-  N-by-N upper triangular matrix with non-negative entries on its
-  main diagonal. SCALE is an output scale factor set to avoid
-  overflow in U.
-
-  In the continuous-time case (1) the pencil A - lambda * E must be
-  c-stable (that is, all eigenvalues must have negative real parts).
-  In the discrete-time case (2) the pencil A - lambda * E must be
-  d-stable (that is, the moduli of all eigenvalues must be smaller
-  than one).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
-     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI,
-     $                   BETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDWORK, LDZ, M, N
-      CHARACTER         DICO, FACT, TRANS
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                  BETA(*), DWORK(*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies which type of the equation is considered:
-          = 'C':  Continuous-time equation (1);
-          = 'D':  Discrete-time equation (2).
-
-  FACT    CHARACTER*1
-          Specifies whether the generalized real Schur
-          factorization of the pencil A - lambda * E is supplied on
-          entry or not:
-          = 'N':  Factorization is not supplied;
-          = 'F':  Factorization is supplied.
-
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  op(A) = A,    op(E) = E;
-          = 'T':  op(A) = A**T, op(E) = E**T.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows in the matrix op(B).  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          Hessenberg part of this array must contain the generalized
-          Schur factor A_s of the matrix A (see definition (3) in
-          section METHOD). A_s must be an upper quasitriangular
-          matrix. The elements below the upper Hessenberg part of
-          the array A are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the matrix A.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          Hessenberg part of this array contains the generalized
-          Schur factor A_s of the matrix A. (A_s is an upper
-          quasitriangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the generalized
-          Schur factor E_s of the matrix E (see definition (4) in
-          section METHOD). E_s must be an upper triangular matrix.
-          The elements below the upper triangular part of the array
-          E are not referenced.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the coefficient matrix E of the equation.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          triangular part of this array contains the generalized
-          Schur factor E_s of the matrix E. (E_s is an upper
-          triangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Q from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Q need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the orthogonal matrix Q from the
-          generalized Schur factorization. If FACT = 'F', this array
-          is unchanged.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the orthogonal matrix Z from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Z need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the orthogonal matrix Z from the
-          generalized Schur factorization. If FACT = 'F', this array
-          is unchanged.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N1)
-          On entry, if TRANS = 'T', the leading N-by-M part of this
-          array must contain the matrix B and N1 &gt;= MAX(M,N).
-          If TRANS = 'N', the leading M-by-N part of this array
-          must contain the matrix B and N1 &gt;= N.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)**T * op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If TRANS = 'T',  LDB &gt;= MAX(1,N).
-          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          If INFO = 0, 3, 5, 6, or 7, then
-          (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ... ,N, are the
-          eigenvalues of the matrix pencil A - lambda * E.
-          All BETA(j) are non-negative numbers.
-          ALPHAR and ALPHAI will be always less than and usually
-          comparable with norm(A) in magnitude, and BETA always less
-          than and usually comparable with norm(B).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -21, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= MAX(1,8*N+16),  if FACT = 'N';
-          LDWORK &gt;= MAX(1,2*N,6*N-6),  if FACT = 'F'.
-          For good performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A - lambda * E is (nearly) singular;
-                perturbed values were used to solve the equation
-                (but the reduced (quasi)triangular matrices A and E
-                are unchanged);
-          = 2:  FACT = 'F' and the matrix contained in the upper
-                Hessenberg part of the array A is not in upper
-                quasitriangular form;
-          = 3:  FACT = 'F' and there is a 2-by-2 block on the main
-                diagonal of the pencil A_s - lambda * E_s whose
-                eigenvalues are not conjugate complex;
-          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
-                reduced to generalized Schur form: LAPACK routine
-                or DGGES has failed to converge;
-          = 5:  DICO = 'C' and the pencil A - lambda * E is not
-                c-stable;
-          = 6:  DICO = 'D' and the pencil A - lambda * E is not
-                d-stable;
-          = 7:  the LAPACK routine DSYEVX utilized to factorize M3
-                failed to converge in the discrete-time case (see
-                section METHOD for SLICOT Library routine SG03BU).
-                This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension [2] of Hammarling's method [1] to generalized
-  Lyapunov equations is utilized to solve (1) or (2).
-
-  First the pencil A - lambda * E is reduced to real generalized
-  Schur form A_s - lambda * E_s by means of orthogonal
-  transformations (QZ-algorithm):
-
-     A_s = Q**T * A * Z   (upper quasitriangular),               (3)
-
-     E_s = Q**T * E * Z   (upper triangular).                    (4)
-
-  If the pencil A - lambda * E has already been factorized prior to
-  calling the routine, however, then the factors A_s, E_s, Q and Z
-  may be supplied and the initial factorization omitted.
-
-  Depending on the parameters TRANS and M, the N-by-N upper
-  triangular matrix B_s is defined as follows. In any case Q_B is
-  an M-by-M orthogonal matrix, which need not be accumulated.
-
-  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
-     from the QR-factorization
-
-        ( Q_B  O )           ( B * Z )
-        (        ) * B_s  =  (       ),
-        (  O   I )           (   O   )
-
-     where the O's are zero matrices of proper size and I is the
-     identity matrix of order N-M.
-
-  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) QR-factorization
-
-              ( B_s )
-        Q_B * (     )  =  B * Z,
-              (  O  )
-
-     where O is the (M-N)-by-N zero matrix.
-
-  3. If TRANS = 'T' and M &lt; N, B_s is the upper triangular matrix
-     from the RQ-factorization
-
-                    ( Q_B  O )
-        (B_s  O ) * (        )  =  ( Q**T * B   O ).
-                    (  O   I )
-
-  4. If TRANS = 'T' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) RQ-factorization
-
-        ( B_s   O ) * Q_B  =  Q**T * B,
-
-     where O is the N-by-(M-N) zero matrix.
-
-  Assuming SCALE = 1, the transformation of A, E and B described
-  above leads to the reduced continuous-time equation
-
-              T        T
-       op(A_s)  op(U_s)  op(U_s) op(E_s)
-
-              T        T
-     + op(E_s)  op(U_s)  op(U_s) op(A_s)
-
-                 T
-     =  - op(B_s)  op(B_s)                                       (5)
-
-  or to the reduced discrete-time equation
-
-              T        T
-       op(A_s)  op(U_s)  op(U_s) op(A_s)
-
-              T        T
-     - op(E_s)  op(U_s)  op(U_s) op(E_s)
-
-                 T
-     =  - op(B_s)  op(B_s).                                      (6)
-
-  For brevity we restrict ourself to equation (5) and the case
-  TRANS = 'N'. The other three cases can be treated in a similar
-  fashion.
-
-  We use the following partitioning for the matrices A_s, E_s, B_s,
-  and U_s
-
-              ( A11   A12 )          ( E11   E12 )
-        A_s = (           ),   E_s = (           ),
-              (   0   A22 )          (   0   E22 )
-
-              ( B11   B12 )          ( U11   U12 )
-        B_s = (           ),   U_s = (           ).              (7)
-              (   0   B22 )          (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1 (iff A_s(2,1) = 0.0) or
-  2-by-2.
-
-  We compute U11, U12**T, and U22 in three steps.
-
-  Step I:
-
-     From (5) and (7) we get the 1-by-1 or 2-by-2 equation
-
-             T      T                   T      T
-          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
-
-                 T
-          = - B11  * B11.
-
-     For brevity, details are omitted here. See [2]. The technique
-     for computing U11 is similar to those applied to standard
-     Lyapunov equations in Hammarling's algorithm ([1], section 6).
-
-     Furthermore, the auxiliary matrices M1 and M2 defined as
-     follows
-
-                            -1      -1
-        M1 = U11 * A11 * E11   * U11
-
-                      -1      -1
-        M2 = B11 * E11   * U11
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     The generalized Sylvester equation
-
-           T      T      T      T
-        A22  * U12  + E22  * U12  * M1  =
-
-             T           T      T      T      T
-        - B12  * M2 - A12  * U11  - E12  * U11  * M1
-
-     is solved for U12**T.
-
-  Step III:
-
-     It can be shown that
-
-           T      T                  T      T
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             T              T
-        - B22  * B22 - y * y                                     (8)
-
-     holds, where y is defined as
-
-               T        T      T      T      T       T
-        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
-
-     If B22_tilde is the square triangular matrix arising from the
-     (rectangular) QR-factorization
-
-                    ( B22_tilde )     ( B22  )
-        Q_B_tilde * (           )  =  (      ),
-                    (     O     )     ( y**T )
-
-     where Q_B_tilde is an orthogonal matrix of order N, then
-
-             T              T                T
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (8) by the term
-     - B22_tilde**T * B22_tilde leads to a reduced generalized
-     Lyapunov equation of lower dimension compared to (5).
-
-  The recursive application of the steps I to III yields the
-  solution U_s of the equation (5).
-
-  It remains to compute the solution matrix U of the original
-  problem (1) or (2) from the matrix U_s. To this end we transform
-  the solution back (with respect to the transformation that led
-  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
-  (RQ-factorization). The upper triangular solution matrix U is
-  obtained by
-
-     Q_U * U  =  U_s * Q**T     (if TRANS = 'N'),
-
-  or
-
-     U * Q_U  =  Z * U_s        (if TRANS = 'T'),
-
-  where Q_U is an N-by-N orthogonal matrix. Again, the orthogonal
-  matrix Q_U need not be accumulated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The number of flops required by the routine is given by the
-  following table. Note that we count a single floating point
-  arithmetic operation as one flop.
-
-              |           FACT = 'F'                  FACT = 'N'
-     ---------+--------------------------------------------------
-      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
-              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
-              |
-       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
-  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
-  degenerate pair of eigenvalues, then the Lyapunov equation will be
-  ill-conditioned. Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-  When setting the error indicator INFO, the routine does not test
-  for near instability in the equation but only for exact
-  instability.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     SG03BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER           NIN, NOUT
-      PARAMETER         ( NIN = 5, NOUT = 6 )
-      INTEGER           NMAX
-      PARAMETER         ( NMAX = 20 )
-      INTEGER           LDA, LDB, LDE, LDQ, LDZ
-      PARAMETER         ( LDA = NMAX, LDB = NMAX, LDE = NMAX,
-     $                    LDQ = NMAX, LDZ = NMAX )
-      INTEGER           LDWORK
-      PARAMETER         ( LDWORK = MAX( 1, 4*NMAX, 6*NMAX-6 ) )
-*     .. Local Scalars ..
-      CHARACTER*1       DICO, FACT, TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           I, INFO, J, N, M
-*     .. Local Arrays ..
-      DOUBLE PRECISION  A(LDA,NMAX), ALPHAI(NMAX), ALPHAR(NMAX),
-     $                  B(LDB,NMAX), BETA(NMAX), DWORK(LDWORK),
-     $                  E(LDE,NMAX), Q(LDQ,NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-*     .. External Subroutines ..
-      EXTERNAL          SG03BD
-*     .. Intrinsic Functions ..
-      INTRINSIC         MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, DICO, FACT, TRANS
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE IF ( M.LT.0 .OR. M.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( LSAME( FACT, 'F' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-         END IF
-         IF ( LSAME( FACT, 'T' ) ) THEN
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,N ), I = 1,M )
-         END IF
-*        Find the Cholesky factor U of the solution matrix.
-         CALL SG03BD( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q, LDQ,
-     $                Z, LDZ, B, LDB, SCALE, ALPHAR, ALPHAI, BETA,
-     $                DWORK, LDWORK, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) SCALE
-            DO 20 I = 1, N
-               WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,N )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' SG03BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from SG03BD = ',I2)
-99997 FORMAT (' SCALE = ',F8.4,//' The Cholesky factor U of the solution
-     $ matrix is')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- SG03BD EXAMPLE PROGRAM DATA
-   3      1      C      N      N
-  -1.0    3.0   -4.0
-   0.0    5.0   -2.0
-  -4.0    4.0    1.0
-   2.0    1.0    3.0
-   2.0    0.0    1.0
-   4.0    5.0    1.0
-   2.0   -1.0    7.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- SG03BD EXAMPLE PROGRAM RESULTS
-
- SCALE =   1.0000
-
- The Cholesky factor U of the solution matrix is
-   1.6003  -0.4418  -0.1523
-   0.0000   0.6795  -0.2499
-   0.0000   0.0000   0.2041
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BR.html b/doc/_static/doc/SG03BR.html
deleted file mode 100644
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@@ -1,83 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BR - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BR">SG03BR</A></H2>
-<H3>
-Compute a complex Givens rotation in real arithmetic (SG03BY version - adaptation of LAPACK ZLARTG)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the parameters for the complex Givens rotation
-
-     (    C      SR+SI*I )   ( XR+XI*I )   ( ZR+ZI*I )
-     (                   ) * (         ) = (         )
-     ( -SR+SI*I     C    )   ( YR+YI*I )   (    0    )
-
-  where C, SR, SI, XR, XI, YR, YI, ZR, ZI are real numbers, I is the
-  imaginary unit, I = SQRT(-1), and C**2 + |SR+SI*I|**2 = 1.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BR( XR, XI, YR, YI, C, SR, SI, ZR, ZI )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  C, SI, SR, XI, XR, YI, YR, ZI, ZR
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  XR, XI, (input) DOUBLE PRECISION
-  YR, YI  (input) DOUBLE PRECISION
-          The given real scalars XR, XI, YR, YI.
-
-  C,      (output) DOUBLE PRECISION
-  SR, SI, (output) DOUBLE PRECISION
-  ZR, ZI  (output) DOUBLE PRECISION
-          The computed real scalars C, SR, SI, ZR, ZI defining the
-          complex Givens rotation and Z = ZR+ZI*I.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The subroutine avoids unnecessary overflow.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interest of speed, this routine does not check the input
-  for errors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BS.html b/doc/_static/doc/SG03BS.html
deleted file mode 100644
index b9fc9055..00000000
--- a/doc/_static/doc/SG03BS.html
+++ /dev/null
@@ -1,269 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BS - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BS">SG03BS</A></H2>
-<H3>
-Solving (for Cholesky factor) stable generalized discrete-time complex Lyapunov equations, with A, E, and B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**H * U or
-  X = U * U**H, which is the solution of the generalized d-stable
-  discrete-time Lyapunov equation
-
-      H            H                  2    H
-     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
-
-  or the conjugate transposed equation
-
-              H            H          2        H
-     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are complex N-by-N matrices.
-  The Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in complex
-  generalized Schur form (A and E are upper triangular and the
-  diagonal elements of E are non-negative real numbers). Moreover,
-  it must be d-stable, i.e., the moduli of its eigenvalues must be
-  less than one. B must be an upper triangular matrix with real
-  non-negative entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BS( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'C':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix A. The lower triangular
-          part is used as workspace, but the diagonal is restored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. If TRANS = 'N', the
-          strictly lower triangular part is used as workspace.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension LDWORK, where
-          LDWORK = 0,            if N &lt;= 1;
-          LDWORK = MAX(N-1,10),  if N &gt;  1.
-
-  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  the pencil A - lambda * E is not stable, i.e., there
-                there are eigenvalues outside the open unit circle;
-          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
-                failed to converge. This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations. The real case is
-  described in [2].
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  Since all matrices A, E, B, and U are upper triangular, we use the
-  following partitioning
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ),                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  where the size of the (1,1)-blocks is 1-by-1.
-
-  We compute U11, U12**H and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 equation
-
-           H     H                 H     H                  H
-        A11 * U11 * U11 * A11 - E11 * U11 * U11 * E11 = -B11 * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 5).
-
-     Furthermore, the auxiliary scalars M1 and M2 defined as follows
-
-        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**H the linear system of equations, with
-     scaling to prevent overflow,
-
-                  H      H      H
-        ( M1 * A22  - E22  ) U12  =
-
-                    H              H           H
-        = - M2 * B12  + U11 * ( E12  - M1 * A12  ) .
-
-  Step III:
-
-     One can show that
-
-           H      H                  H      H
-        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
-
-             H              H
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-                 H           H      H      H
-        y = ( B12   U11 * A12  + A22  * U12  ) * M3EV,
-
-     where M3EV is a matrix which fulfils
-
-             ( I - M2*M2     -M2*M1**H )              H
-        M3 = (                         ) = M3EV * M3EV .
-             (    -M1*M2  I - M1*M1**H )
-
-     M3 is positive semidefinite and its rank is equal to 1.
-     Therefore, a matrix M3EV can be found by solving the Hermitian
-     eigenvalue problem for M3 such that y consists of one column.
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**H )
-
-     then
-
-             H              H                H
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
-     equation like (1), but of dimension N-1.
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost reciprocal
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BT.html b/doc/_static/doc/SG03BT.html
deleted file mode 100644
index f20348f0..00000000
--- a/doc/_static/doc/SG03BT.html
+++ /dev/null
@@ -1,255 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BT - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BT">SG03BT</A></H2>
-<H3>
-Solving (for Cholesky factor) stable generalized continuous-time complex Lyapunov equations, with A, E, and B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**H * U or
-  X = U * U**H, which is the solution of the generalized c-stable
-  continuous-time Lyapunov equation
-
-      H            H                  2    H
-     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
-
-  or the conjugate transposed equation
-
-              H            H          2        H
-     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are complex N-by-N matrices.
-  The Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in complex
-  generalized Schur form (A and E are upper triangular and the
-  diagonal elements of E are non-negative real numbers). Moreover,
-  it must be c-stable, i.e., its eigenvalues must have negative real
-  parts. B must be an upper triangular matrix with real non-negative
-  entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BT( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*)
-      COMPLEX*16        A(LDA,*), B(LDB,*), E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'C':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input/workspace) COMPLEX*16 array, dimension (LDA,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix A. The lower triangular
-          part is used as workspace, but the diagonal is restored.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/workspace) COMPLEX*16 array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. If TRANS = 'N', the
-          strictly lower triangular part is used as workspace.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension MAX(N-1,0)
-
-  ZWORK   COMPLEX*16, dimension MAX(3*N-3,0)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 3:  the pencil A - lambda * E is not stable, i.e., there
-                is an eigenvalue without a negative real part.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations. The real case is
-  described in [2].
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  Since all matrices A, E, B, and U are upper triangular, we use the
-  following partitioning
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ),                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  where the size of the (1,1)-blocks is 1-by-1.
-
-  We compute U11, U12**H and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 equation
-
-           H     H                 H     H                  H
-        A11 * U11 * U11 * E11 + E11 * U11 * U11 * A11 = -B11 * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 5).
-
-     Furthermore, the auxiliary scalars M1 and M2 defined as follows
-
-        M1 = A11 / E11 ,   M2 = B11 / E11 / U11 ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**H the linear system of equations, with
-     scaling to prevent overflow,
-
-             H           H      H
-        ( A22  + M1 * E22  ) U12  =
-
-                    H              H           H
-        = - M2 * B12  - U11 * ( A12  + M1 * E12  ) .
-
-  Step III:
-
-     One can show that
-
-           H      H                  H      H
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             H              H
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-               H                   H      H      H
-        y = B12  - M2 * ( U11 * E12  + E22  * U12  ).
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**H )
-
-     then
-
-             H              H                H
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**H * B22_tilde leads to a generalized Lyapunov
-     equation like (1), but of dimension N-1.
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost degenerate
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BU.html b/doc/_static/doc/SG03BU.html
deleted file mode 100644
index 99e2e086..00000000
--- a/doc/_static/doc/SG03BU.html
+++ /dev/null
@@ -1,288 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BU">SG03BU</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable discrete-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**T * U or
-  X = U * U**T, which is the solution of the generalized d-stable
-  discrete-time Lyapunov equation
-
-      T            T                  2    T
-     A  * X * A - E  * X * E = - SCALE  * B  * B,                (1)
-
-  or the transposed equation
-
-              T            T          2        T
-     A * X * A  - E * X * E  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are real N-by-N matrices. The
-  Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in generalized Schur
-  form ( A upper quasitriangular, E upper triangular ). Moreover, it
-  must be d-stable, i.e., the moduli of its eigenvalues must be less
-  than one. B must be an upper triangular matrix with non-negative
-  entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BU( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A. The elements
-          below the upper Hessenberg part are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. The elements below
-          the main diagonal are not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U. The elements below
-          the main diagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the generalized Sylvester equation to be solved in
-                step II (see METHOD) is (nearly) singular to working
-                precision;  perturbed values were used to solve the
-                equation (but the matrices A and E are unchanged);
-          = 2:  the generalized Schur form of the pencil
-                A - lambda * E contains a 2-by-2 main diagonal block
-                whose eigenvalues are not a pair of complex
-                conjugate numbers;
-          = 3:  the pencil A - lambda * E is not d-stable, i.e.,
-                there are eigenvalues outside the open unit circle;
-          = 4:  the LAPACK routine DSYEVX utilized to factorize M3
-                failed to converge. This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method [2] used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations.
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  The matrix A is an upper quasitriangular matrix, i.e., it is a
-  block triangular matrix with square blocks on the main diagonal
-  and the block order at most 2. We use the following partitioning
-  for the matrices A, E, B and the solution matrix U
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ).                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
-  2-by-2.
-
-  We compute U11, U12**T, and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
-
-             T      T                  T      T
-          A11  * U11  * U11 * A11 - E11  * U11  * U11 * E11
-
-                 T
-          = - B11  * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 6).
-
-     Furthermore, the auxiliary matrices M1 and M2 defined as
-     follows
-
-                            -1      -1
-        M1 = U11 * A11 * E11   * U11  ,
-
-                      -1      -1
-        M2 = B11 * E11   * U11  ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**T the generalized Sylvester equation
-
-           T      T           T      T
-        A22  * U12  * M1 - E22  * U12
-
-               T           T      T      T      T
-        = - B12  * M2 + E12  * U11  - A12  * U11  * M1.
-
-  Step III:
-
-     One can show that
-
-           T      T                  T      T
-        A22  * U22  * U22 * A22 - E22  * U22  * U22 * E22  =
-
-             T              T
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-               T      T      T      T
-        w = A12  * U11  + A22  * U12 ,
-
-                 T
-        y = ( B12   w ) * M3EV,
-
-     where M3EV is a matrix which fulfils
-
-             ( I-M2*M2**T   -M2*M1**T )              T
-        M3 = (                        ) = M3EV * M3EV .
-             (  -M1*M2**T  I-M1*M1**T )
-
-     M3 is positive semidefinite and its rank is equal to the size
-     of U11. Therefore, a matrix M3EV can be found by solving the
-     symmetric eigenvalue problem for M3 such that y consists of
-     either 1 or 2 rows.
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**T )
-
-     then
-
-             T              T                T
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
-     equation of lower dimension compared to (1).
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost reciprocal
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-  When setting the error indicator INFO, the routine does not test
-  for near instability in the equation but only for exact
-  instability.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BV.html b/doc/_static/doc/SG03BV.html
deleted file mode 100644
index e4bfcd19..00000000
--- a/doc/_static/doc/SG03BV.html
+++ /dev/null
@@ -1,274 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BV">SG03BV</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable continuous-time Lyapunov equations, with A quasi-triangular, and E, B upper triangular
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X, X = U**T * U or
-  X = U * U**T, which is the solution of the generalized c-stable
-  continuous-time Lyapunov equation
-
-      T            T                  2    T
-     A  * X * E + E  * X * A = - SCALE  * B  * B,                (1)
-
-  or the transposed equation
-
-              T            T          2        T
-     A * X * E  + E * X * A  = - SCALE  * B * B ,                (2)
-
-  respectively, where A, E, B, and U are real N-by-N matrices. The
-  Cholesky factor U of the solution is computed without first
-  finding X. The pencil A - lambda * E must be in generalized Schur
-  form ( A upper quasitriangular, E upper triangular ). Moreover, it
-  must be c-stable, i.e., its eigenvalues must have negative real
-  parts. B must be an upper triangular matrix with non-negative
-  entries on its main diagonal.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BV( TRANS, N, A, LDA, E, LDE, B, LDB, SCALE, DWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether equation (1) or equation (2) is to be
-          solved:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices.  N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N upper Hessenberg part of this array
-          must contain the quasitriangular matrix A. The elements
-          below the upper Hessenberg part are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,N)
-          The leading N-by-N upper triangular part of this array
-          must contain the triangular matrix E. The elements below
-          the main diagonal are not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,N)
-          On entry, the leading N-by-N upper triangular part of this
-          array must contain the matrix B.
-          On exit, the leading N-by-N upper triangular part of this
-          array contains the solution matrix U. The elements below
-          the main diagonal are not referenced.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (6*N-6)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the generalized Sylvester equation to be solved in
-                step II (see METHOD) is (nearly) singular to working
-                precision;  perturbed values were used to solve the
-                equation (but the matrices A and E are unchanged);
-          = 2:  the generalized Schur form of the pencil
-                A - lambda * E contains a 2-by-2 main diagonal block
-                whose eigenvalues are not a pair of complex
-                conjugate numbers;
-          = 3:  the pencil A - lambda * E is not stable, i.e., there
-                is an eigenvalue with zero or positive real part.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method [2] used by the routine is an extension of Hammarling's
-  algorithm [1] to generalized Lyapunov equations.
-
-  We present the method for solving equation (1). Equation (2) can
-  be treated in a similar fashion. For simplicity, assume SCALE = 1.
-
-  The matrix A is an upper quasitriangular matrix, i.e., it is a
-  block triangular matrix with square blocks on the main diagonal
-  and the block order at most 2. We use the following partitioning
-  for the matrices A, E, B and the solution matrix U
-
-            ( A11   A12 )        ( E11   E12 )
-        A = (           ),   E = (           ),
-            (   0   A22 )        (   0   E22 )
-
-            ( B11   B12 )        ( U11   U12 )
-        B = (           ),   U = (           ).                  (3)
-            (   0   B22 )        (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1 (iff A(2,1) = 0.0) or
-  2-by-2.
-
-  We compute U11, U12**T, and U22 in three steps.
-
-  Step I:
-
-     From (1) and (3) we get the 1-by-1 or 2-by-2 equation
-
-             T      T                  T      T
-          A11  * U11  * U11 * E11 + E11  * U11  * U11 * A11
-
-                 T
-          = - B11  * B11.
-
-     For brevity, details are omitted here. The technique for
-     computing U11 is similar to those applied to standard Lyapunov
-     equations in Hammarling's algorithm ([1], section 6).
-
-     Furthermore, the auxiliary matrices M1 and M2 defined as
-     follows
-
-                            -1      -1
-        M1 = U11 * A11 * E11   * U11  ,
-
-                      -1      -1
-        M2 = B11 * E11   * U11  ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     We solve for U12**T the generalized Sylvester equation
-
-           T      T      T      T
-        A22  * U12  + E22  * U12  * M1
-
-               T           T      T      T      T
-        = - B12  * M2 - A12  * U11  - E12  * U11  * M1.
-
-  Step III:
-
-     One can show that
-
-           T      T                  T      T
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             T              T
-        - B22  * B22 - y * y                                     (4)
-
-     holds, where y is defined as follows
-
-               T      T      T      T
-        w = E12  * U11  + E22  * U12 ,
-               T         T
-        y = B12  - w * M2 .
-
-     If B22_tilde is the square triangular matrix arising from the
-     QR-factorization
-
-            ( B22_tilde )     ( B22  )
-        Q * (           )  =  (      ),
-            (     0     )     ( y**T )
-
-     then
-
-             T              T                T
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (4) by the term
-     - B22_tilde**T * B22_tilde leads to a generalized Lyapunov
-     equation of lower dimension compared to (1).
-
-  The solution U of the equation (1) can be obtained by recursive
-  application of the steps I to III.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires 2*N**3 flops. Note that we count a single
-  floating point arithmetic operation as one flop.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if the pencil A - lambda * E has a pair of almost degenerate
-  eigenvalues, then the Lyapunov equation will be ill-conditioned.
-  Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-  When setting the error indicator INFO, the routine does not test
-  for near instability in the equation but only for exact
-  instability.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BW.html b/doc/_static/doc/SG03BW.html
deleted file mode 100644
index 91bc3dec..00000000
--- a/doc/_static/doc/SG03BW.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BW">SG03BW</A></H2>
-<H3>
-Solving a generalized Sylvester equation, with A quasi-triangular, and E upper triangular, for an m-by-n matrix X, 1 <= n <= 2
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X the generalized Sylvester equation
-
-      T            T
-     A  * X * C + E  * X * D  =  SCALE * Y,                      (1)
-
-  or the transposed equation
-
-              T            T
-     A * X * C  + E * X * D   =  SCALE * Y,                      (2)
-
-  where A and E are real M-by-M matrices, C and D are real N-by-N
-  matrices, X and Y are real M-by-N matrices. N is either 1 or 2.
-  The pencil A - lambda * E must be in generalized real Schur form
-  (A upper quasitriangular, E upper triangular). SCALE is an output
-  scale factor, set to avoid overflow in X.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BW( TRANS, M, N, A, LDA, C, LDC, E, LDE, D, LDD, X,
-     $                   LDX, SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDC, LDD, LDE, LDX, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), C(LDC,*), D(LDD,*), E(LDE,*), X(LDX,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  Solve equation (1);
-          = 'T':  Solve equation (2).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The order of the matrices A and E.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The order of the matrices C and D.  N = 1 or N = 2.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,M)
-          The leading M-by-M part of this array must contain the
-          upper quasitriangular matrix A. The elements below the
-          upper Hessenberg part are not referenced.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,M).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading N-by-N part of this array must contain the
-          matrix C.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,N).
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,M)
-          The leading M-by-M part of this array must contain the
-          upper triangular matrix E. The elements below the main
-          diagonal are not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,M).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,N)
-          The leading N-by-N part of this array must contain the
-          matrix D.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,N).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (LDX,N)
-          On entry, the leading M-by-N part of this array must
-          contain the right hand side matrix Y.
-          On exit, the leading M-by-N part of this array contains
-          the solution matrix X.
-
-  LDX     INTEGER
-          The leading dimension of the array X.  LDX &gt;= MAX(1,M).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in X.
-          0 &lt; SCALE &lt;= 1.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the generalized Sylvester equation is (nearly)
-                singular to working precision;  perturbed values
-                were used to solve the equation (but the matrices
-                A, C, D, and E are unchanged).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a generalization of the
-  algorithm due to Bartels and Stewart [1]. See also [2] and [3] for
-  details.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Bartels, R.H., Stewart, G.W.
-      Solution of the equation A X + X B = C.
-      Comm. A.C.M., 15, pp. 820-826, 1972.
-
-  [2] Gardiner, J.D., Laub, A.J., Amato, J.J., Moler, C.B.
-      Solution of the Sylvester Matrix Equation
-      A X B**T + C X D**T = E.
-      A.C.M. Trans. Math. Soft., vol. 18, no. 2, pp. 223-231, 1992.
-
-  [3] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The routine requires about 2 * N * M**2 flops. Note that we count
-  a single floating point arithmetic operation as one flop.
-
-  The algorithm is backward stable if the eigenvalues of the pencil
-  A - lambda * E are real. Otherwise, linear systems of order at
-  most 4 are involved into the computation. These systems are solved
-  by Gauss elimination with complete pivoting. The loss of stability
-  of the Gauss elimination with complete pivoting is rarely
-  encountered in practice.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  When near singularity is detected, perturbed values are used
-  to solve the equation (but the given matrices are unchanged).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BX.html b/doc/_static/doc/SG03BX.html
deleted file mode 100644
index 3ba637d6..00000000
--- a/doc/_static/doc/SG03BX.html
+++ /dev/null
@@ -1,199 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BX">SG03BX</A></H2>
-<H3>
-Solving (for Cholesky factor) generalized stable 2-by-2 continuous- or discrete-time Lyapunov equations, with pencil A - lambda E having complex conjugate eigenvalues (E upper triangular)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To solve for X = op(U)**T * op(U) either the generalized c-stable
-  continuous-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(E) + op(E)  * X * op(A)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (1)
-
-  or the generalized d-stable discrete-time Lyapunov equation
-
-          T                    T
-     op(A)  * X * op(A) - op(E)  * X * op(E)
-
-              2        T
-     = - SCALE  * op(B)  * op(B),                                (2)
-
-  where op(K) is either K or K**T for K = A, B, E, U. The Cholesky
-  factor U of the solution is computed without first finding X.
-
-  Furthermore, the auxiliary matrices
-
-                                -1        -1
-     M1 := op(U) * op(A) * op(E)   * op(U)
-
-                        -1        -1
-     M2 := op(B) * op(E)   * op(U)
-
-  are computed in a numerically reliable way.
-
-  The matrices A, B, E, M1, M2, and U are real 2-by-2 matrices. The
-  pencil A - lambda * E must have a pair of complex conjugate
-  eigenvalues. The eigenvalues must be in the open right half plane
-  (in the continuous-time case) or inside the unit circle (in the
-  discrete-time case). The matrices E and B are upper triangular.
-
-  The resulting matrix U is upper triangular. The entries on its
-  main diagonal are non-negative. SCALE is an output scale factor
-  set to avoid overflow in U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BX( DICO, TRANS, A, LDA, E, LDE, B, LDB, U, LDU,
-     $                   SCALE, M1, LDM1, M2, LDM2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, TRANS
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, LDM1, LDM2, LDU
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), E(LDE,*), M1(LDM1,*),
-     $                  M2(LDM2,*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies whether the continuous-time or the discrete-time
-          equation is to be solved:
-          = 'C':  Solve continuous-time equation (1);
-          = 'D':  Solve discrete-time equation (2).
-
-  TRANS   CHARACTER*1
-          Specifies whether the transposed equation is to be solved
-          or not:
-          = 'N':  op(K) = K,     K = A, B, E, U;
-          = 'T':  op(K) = K**T,  K = A, B, E, U.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  A       (input) DOUBLE PRECISION array, dimension (LDA,2)
-          The leading 2-by-2 part of this array must contain the
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= 2.
-
-  E       (input) DOUBLE PRECISION array, dimension (LDE,2)
-          The leading 2-by-2 upper triangular part of this array
-          must contain the matrix E.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= 2.
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,2)
-          The leading 2-by-2 upper triangular part of this array
-          must contain the matrix B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= 2.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,2)
-          The leading 2-by-2 part of this array contains the upper
-          triangular matrix U.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= 2.
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-  M1      (output) DOUBLE PRECISION array, dimension (LDM1,2)
-          The leading 2-by-2 part of this array contains the
-          matrix M1.
-
-  LDM1    INTEGER
-          The leading dimension of the array M1.  LDM1 &gt;= 2.
-
-  M2      (output) DOUBLE PRECISION array, dimension (LDM2,2)
-          The leading 2-by-2 part of this array contains the
-          matrix M2.
-
-  LDM2    INTEGER
-          The leading dimension of the array M2.  LDM2 &gt;= 2.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          = 2:  the eigenvalues of the pencil A - lambda * E are not
-                a pair of complex conjugate numbers;
-          = 3:  the eigenvalues of the pencil A - lambda * E are
-                not in the open right half plane (in the continuous-
-                time case) or inside the unit circle (in the
-                discrete-time case);
-          = 4:  the LAPACK routine ZSTEIN utilized to factorize M3
-                (see SLICOT Library routine SG03BS) failed to
-                converge. This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method used by the routine is based on a generalization of the
-  method due to Hammarling ([1], section 6) for Lyapunov equations
-  of order 2. A more detailed description is given in [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the solution matrix U is singular, the matrices M1 and M2 are
-  properly set (see [1], equation (6.21)).
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BY.html b/doc/_static/doc/SG03BY.html
deleted file mode 100644
index ee1bcb8f..00000000
--- a/doc/_static/doc/SG03BY.html
+++ /dev/null
@@ -1,83 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BY">SG03BY</A></H2>
-<H3>
-Compute a complex Givens rotation in real arithmetic
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the parameters for the complex Givens rotation
-
-     (  CR-CI*I   SR-SI*I )   ( XR+XI*I )   ( Z )
-     (                    ) * (         ) = (   ),
-     ( -SR-SI*I   CR+CI*I )   ( YR+YI*I )   ( 0 )
-
-  where CR, CI, SR, SI, XR, XI, YR, YI are real numbers and I is the
-  imaginary unit, I = SQRT(-1). Z is a non-negative real number.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BY( XR, XI, YR, YI, CR, CI, SR, SI, Z )
-C     .. Scalar Arguments ..
-       DOUBLE PRECISION  CI, CR, SI, SR, XI, XR, YI, YR, Z
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  XR, XI, (input) DOUBLE PRECISION
-  YR, YI  (input) DOUBLE PRECISION
-          The given real scalars XR, XI, YR, YI.
-
-  CR, CI, (output) DOUBLE PRECISION
-  SR, SI, (output) DOUBLE PRECISION
-  Z       (output) DOUBLE PRECISION
-          The computed real scalars CR, CI, SR, SI, Z, defining the
-          complex Givens rotation and Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The subroutine avoids unnecessary overflow.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  In the interest of speed, this routine does not check the input
-  for errors.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/SG03BZ.html b/doc/_static/doc/SG03BZ.html
deleted file mode 100644
index 5d52651e..00000000
--- a/doc/_static/doc/SG03BZ.html
+++ /dev/null
@@ -1,484 +0,0 @@
-<HTML>
-<HEAD><TITLE>SG03BZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="SG03BZ">SG03BZ</A></H2>
-<H3>
-Solving (for Cholesky factor) stable generalized continuous- or discrete-time complex Lyapunov equations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the Cholesky factor U of the matrix X,
-
-              H
-     X = op(U)  * op(U),
-
-  which is the solution of either the generalized c-stable
-  continuous-time Lyapunov equation
-
-          H                    H
-     op(A)  * X * op(E) + op(E)  * X * op(A)
-
-              2        H
-     = - SCALE  * op(B)  * op(B),                                (1)
-
-  or the generalized d-stable discrete-time Lyapunov equation
-
-          H                    H
-     op(A)  * X * op(A) - op(E)  * X * op(E)
-
-              2        H
-     = - SCALE  * op(B)  * op(B),                                (2)
-
-  without first finding X and without the need to form the matrix
-  op(B)**H * op(B).
-
-  op(K) is either K or K**H for K = A, B, E, U. A and E are N-by-N
-  matrices, op(B) is an M-by-N matrix. The resulting matrix U is an
-  N-by-N upper triangular matrix with non-negative entries on its
-  main diagonal. SCALE is an output scale factor set to avoid
-  overflow in U.
-
-  In the continuous-time case (1) the pencil A - lambda * E must be
-  c-stable (that is, all eigenvalues must have negative real parts).
-  In the discrete-time case (2) the pencil A - lambda * E must be
-  d-stable (that is, the moduli of all eigenvalues must be smaller
-  than one).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE SG03BZ( DICO, FACT, TRANS, N, M, A, LDA, E, LDE, Q,
-     $                   LDQ, Z, LDZ, B, LDB, SCALE, ALPHA, BETA, DWORK,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION  SCALE
-      INTEGER           INFO, LDA, LDB, LDE, LDQ, LDZ, LZWORK, M, N
-      CHARACTER         DICO, FACT, TRANS
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), ALPHA(*), B(LDB,*), BETA(*), E(LDE,*),
-     $                  Q(LDQ,*), Z(LDZ,*), ZWORK(*)
-      DOUBLE PRECISION  DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies which type of the equation is considered:
-          = 'C':  Continuous-time equation (1);
-          = 'D':  Discrete-time equation (2).
-
-  FACT    CHARACTER*1
-          Specifies whether the generalized (complex) Schur
-          factorization of the pencil A - lambda * E is supplied on
-          entry or not:
-          = 'N':  Factorization is not supplied;
-          = 'F':  Factorization is supplied.
-
-  TRANS   CHARACTER*1
-          Specifies whether the conjugate transposed equation is to
-          be solved or not:
-          = 'N':  op(A) = A,    op(E) = E;
-          = 'C':  op(A) = A**H, op(E) = E**H.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of rows in the matrix op(B).  M &gt;= 0.
-          If M = 0, A and E are unchanged on exit, and Q, Z, ALPHA
-          and BETA are not set.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the generalized
-          Schur factor A_s of the matrix A (see definition (3) in
-          section METHOD). A_s must be an upper triangular matrix.
-          The elements below the upper triangular part of the array
-          A are used as workspace.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the matrix A.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          triangular part of this array contains the generalized
-          Schur factor A_s of the matrix A. (A_s is an upper
-          triangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, if FACT = 'F', then the leading N-by-N upper
-          triangular part of this array must contain the generalized
-          Schur factor E_s of the matrix E (see definition (4) in
-          section METHOD). E_s must be an upper triangular matrix.
-          The elements below the upper triangular part of the array
-          E are used as workspace.
-          If FACT = 'N', then the leading N-by-N part of this array
-          must contain the coefficient matrix E of the equation.
-          On exit, if FACT = 'N', the leading N-by-N upper
-          triangular part of this array contains the generalized
-          Schur factor E_s of the matrix E. (E_s is an upper
-          triangular matrix.) If FACT = 'F', the leading N-by-N
-          upper triangular part of this array is unchanged.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the unitary matrix Q from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Q need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the unitary matrix Q from the generalized
-          Schur factorization. If FACT = 'F', this array is
-          unchanged.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
-          On entry, if FACT = 'F', then the leading N-by-N part of
-          this array must contain the unitary matrix Z from the
-          generalized Schur factorization (see definitions (3) and
-          (4) in section METHOD), or an identity matrix (if the
-          original equation has upper triangular matrices A and E).
-          If FACT = 'N', Z need not be set on entry.
-          On exit, if FACT = 'N', the leading N-by-N part of this
-          array contains the unitary matrix Z from the generalized
-          Schur factorization. If FACT = 'F', this array is
-          unchanged.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,N1)
-          On entry, if TRANS = 'C', the leading N-by-M part of this
-          array must contain the matrix B and N1 &gt;= MAX(M,N).
-          If TRANS = 'N', the leading M-by-N part of this array
-          must contain the matrix B and N1 &gt;= N.
-          On exit, if INFO = 0, the leading N-by-N part of this
-          array contains the Cholesky factor U of the solution
-          matrix X of the problem, X = op(U)**H * op(U).
-          If M = 0 and N &gt; 0, then U is set to zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          If TRANS = 'C',  LDB &gt;= MAX(1,N).
-          If TRANS = 'N',  LDB &gt;= MAX(1,M,N).
-
-  SCALE   (output) DOUBLE PRECISION
-          The scale factor set to avoid overflow in U.
-          0 &lt; SCALE &lt;= 1.
-
-  ALPHA   (output) COMPLEX*16 arrays, dimension (N)
-  BETA    If INFO = 0, 5, 6, or 7, then ALPHA(j)/BETA(j),
-          j = 1, ... , N, are the eigenvalues of the matrix pencil
-          A - lambda * E (the diagonals of the complex Schur form).
-          All BETA(j) are non-negative real numbers.
-          ALPHA will be always less than and usually comparable with
-          norm(A) in magnitude, and BETA always less than and
-          usually comparable with norm(B).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK), where
-          LDWORK = 0,           if MIN(M,N) = 0 or
-                                   FACT = 'F' and N &lt;= 1; else,
-          LDWORK = N-1,         if FACT = 'F' and DICO = 'C';
-          LDWORK = MAX(N-1,10), if FACT = 'F' and DICO = 'D';
-          LDWORK = 8*N,         if FACT = 'N'.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-          On exit, if INFO = -21, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The dimension of the array ZWORK.
-          LZWORK &gt;= MAX(1,3*N-3,2*N).
-          For good performance, LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the ZWORK
-          array, returns this value as the first entry of the ZWORK
-          array, and no error message related to LZWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 4:  FACT = 'N' and the pencil A - lambda * E cannot be
-                reduced to generalized Schur form: LAPACK routine
-                ZGGES has failed to converge;
-          = 5:  DICO = 'C' and the pencil A - lambda * E is not
-                c-stable;
-          = 6:  DICO = 'D' and the pencil A - lambda * E is not
-                d-stable;
-          = 7:  the LAPACK routine ZSTEIN utilized to factorize M3
-                failed to converge in the discrete-time case (see
-                section METHOD for SLICOT Library routine SG03BS).
-                This error is unlikely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  An extension [2] of Hammarling's method [1] to generalized
-  Lyapunov equations is utilized to solve (1) or (2).
-
-  First the pencil A - lambda * E is reduced to complex generalized
-  Schur form A_s - lambda * E_s by means of unitary transformations
-  (QZ-algorithm):
-
-     A_s = Q**H * A * Z   (upper triangular),                    (3)
-
-     E_s = Q**H * E * Z   (upper triangular).                    (4)
-
-  If the pencil A - lambda * E has already been factorized prior to
-  calling the routine, however, then the factors A_s, E_s, Q and Z
-  may be supplied and the initial factorization omitted.
-
-  Depending on the parameters TRANS and M, the N-by-N upper
-  triangular matrix B_s is defined as follows. In any case Q_B is
-  an M-by-M unitary matrix, which need not be accumulated.
-
-  1. If TRANS = 'N' and M &lt; N, B_s is the upper triangular matrix
-     from the QR-factorization
-
-        ( Q_B  O )           ( B * Z )
-        (        ) * B_s  =  (       ),
-        (  O   I )           (   O   )
-
-     where the O's are zero matrices of proper size and I is the
-     identity matrix of order N-M.
-
-  2. If TRANS = 'N' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) QR-factorization
-
-              ( B_s )
-        Q_B * (     )  =  B * Z,
-              (  O  )
-
-     where O is the (M-N)-by-N zero matrix.
-
-  3. If TRANS = 'C' and M &lt; N, B_s is the upper triangular matrix
-     from the RQ-factorization
-
-                    ( Q_B  O )
-        (B_s  O ) * (        )  =  ( Q**H * B   O ).
-                    (  O   I )
-
-  4. If TRANS = 'C' and M &gt;= N, B_s is the upper triangular matrix
-     from the (rectangular) RQ-factorization
-
-        ( B_s   O ) * Q_B  =  Q**H * B,
-
-     where O is the N-by-(M-N) zero matrix.
-
-  Assuming SCALE = 1, the transformation of A, E and B described
-  above leads to the reduced continuous-time equation
-
-              H        H
-       op(A_s)  op(U_s)  op(U_s) op(E_s)
-
-              H        H
-     + op(E_s)  op(U_s)  op(U_s) op(A_s)
-
-                 H
-     =  - op(B_s)  op(B_s)                                       (5)
-
-  or to the reduced discrete-time equation
-
-              H        H
-       op(A_s)  op(U_s)  op(U_s) op(A_s)
-
-              H        H
-     - op(E_s)  op(U_s)  op(U_s) op(E_s)
-
-                 H
-     =  - op(B_s)  op(B_s).                                      (6)
-
-  For brevity we restrict ourself to equation (5) and the case
-  TRANS = 'N'. The other three cases can be treated in a similar
-  fashion.
-
-  We use the following partitioning for the matrices A_s, E_s, B_s,
-  and U_s
-
-              ( A11   A12 )          ( E11   E12 )
-        A_s = (           ),   E_s = (           ),
-              (   0   A22 )          (   0   E22 )
-
-              ( B11   B12 )          ( U11   U12 )
-        B_s = (           ),   U_s = (           ).              (7)
-              (   0   B22 )          (   0   U22 )
-
-  The size of the (1,1)-blocks is 1-by-1.
-
-  We compute U11, U12**H, and U22 in three steps.
-
-  Step I:
-
-     From (5) and (7) we get the 1-by-1 equation
-
-             H      H                   H      H
-          A11  * U11  * U11 * E11  + E11  * U11  * U11 * A11
-
-                 H
-          = - B11  * B11.
-
-     For brevity, details are omitted here. See [2]. The technique
-     for computing U11 is similar to those applied to standard
-     Lyapunov equations in Hammarling's algorithm ([1], section 5).
-
-     Furthermore, the auxiliary scalars M1 and M2 defined as follows
-
-        M1 = A11 / E11 ,
-
-        M2 = B11 / E11 / U11 ,
-
-     are computed in a numerically reliable way.
-
-  Step II:
-
-     The generalized Sylvester equation
-
-           H      H      H      H
-        A22  * U12  + E22  * U12  * M1  =
-
-             H           H      H      H      H
-        - B12  * M2 - A12  * U11  - E12  * U11  * M1
-
-     is solved for U12**H, as a linear system of order N-1.
-
-  Step III:
-
-     It can be shown that
-
-           H      H                  H      H
-        A22  * U22  * U22 * E22 + E22  * U22  * U22 * A22  =
-
-             H              H
-        - B22  * B22 - y * y                                     (8)
-
-     holds, where y is defined as
-
-               H        H      H      H      H
-        y = B12  - ( E12  * U11  + E22  * U12  ) * M2 .
-
-     If B22_tilde is the square triangular matrix arising from the
-     (rectangular) QR-factorization
-
-                    ( B22_tilde )     ( B22  )
-        Q_B_tilde * (           )  =  (      ),
-                    (     O     )     ( y**H )
-
-     where Q_B_tilde is a unitary matrix of order N, then
-
-             H              H                H
-        - B22  * B22 - y * y   =  - B22_tilde  * B22_tilde.
-
-     Replacing the right hand side in (8) by the term
-     - B22_tilde**H * B22_tilde leads to a reduced generalized
-     Lyapunov equation like (5), but of dimension N-1.
-
-  The recursive application of the steps I to III yields the
-  solution U_s of the equation (5).
-
-  It remains to compute the solution matrix U of the original
-  problem (1) or (2) from the matrix U_s. To this end we transform
-  the solution back (with respect to the transformation that led
-  from (1) to (5) (from (2) to (6)) and apply the QR-factorization
-  (RQ-factorization). The upper triangular solution matrix U is
-  obtained by
-
-     Q_U * U  =  U_s * Q**H     (if TRANS = 'N'),
-
-  or
-
-     U * Q_U  =  Z * U_s        (if TRANS = 'C'),
-
-  where Q_U is an N-by-N unitary matrix. Again, the unitary matrix
-  Q_U need not be accumulated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Hammarling, S.J.
-      Numerical solution of the stable, non-negative definite
-      Lyapunov equation.
-      IMA J. Num. Anal., 2, pp. 303-323, 1982.
-
-  [2] Penzl, T.
-      Numerical solution of generalized Lyapunov equations.
-      Advances in Comp. Math., vol. 8, pp. 33-48, 1998.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The number of flops required by the routine is given by the
-  following table. Note that we count a single floating point
-  arithmetic operation as one flop.
-
-              |           FACT = 'F'                  FACT = 'N'
-     ---------+--------------------------------------------------
-      M &lt;= N  |     (13*N**3+6*M*N**2         (211*N**3+6*M*N**2
-              |   +6*M**2*N-2*M**3)/3        +6*M**2*N-2*M**3)/3
-              |
-       M &gt; N  | (11*N**3+12*M*N**2)/3     (209*N**3+12*M*N**2)/3
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The Lyapunov equation may be very ill-conditioned. In particular,
-  if DICO = 'D' and the pencil A - lambda * E has a pair of almost
-  reciprocal eigenvalues, or DICO = 'C' and the pencil has an almost
-  degenerate pair of eigenvalues, then the Lyapunov equation will be
-  ill-conditioned. Perturbed values were used to solve the equation.
-  A condition estimate can be obtained from the routine SG03AD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01ID.html b/doc/_static/doc/TB01ID.html
deleted file mode 100644
index 20369358..00000000
--- a/doc/_static/doc/TB01ID.html
+++ /dev/null
@@ -1,308 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01ID">TB01ID</A></H2>
-<H3>
-Balancing a system matrix corresponding to a triplet (A,B,C)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the 1-norm of a system matrix
-
-          S =  ( A  B )
-               ( C  0 )
-
-  corresponding to the triple (A,B,C), by balancing. This involves
-  a diagonal similarity transformation inv(D)*A*D applied
-  iteratively to A to make the rows and columns of
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  as close in norm as possible.
-
-  The balancing can be performed optionally on the following
-  particular system matrices
-
-           S = A,    S = ( A  B )    or    S = ( A )
-                                               ( C )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, LDA, LDB, LDC, M, N, P
-      DOUBLE PRECISION   MAXRED
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   SCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B and A matrices are involved in balancing;
-          = 'C':  C and A matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  MAXRED  (input/output) DOUBLE PRECISION
-          On entry, the maximum allowed reduction in the 1-norm of
-          S (in an iteration) if zero rows or columns are
-          encountered.
-          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
-          the norm reduction).
-          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
-          used.
-          On exit, if the 1-norm of the given matrix S is non-zero,
-          the ratio between the 1-norm of the given matrix and the
-          1-norm of the balanced matrix.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix inv(D)*A*D.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, if M &gt; 0, the leading N-by-M part of this array
-          must contain the system input matrix B.
-          On exit, if M &gt; 0, the leading N-by-M part of this array
-          contains the balanced matrix inv(D)*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0.
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, if P &gt; 0, the leading P-by-N part of this array
-          must contain the system output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*D.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S.  If D(j) is the scaling
-          factor applied to row and column j, then SCALE(j) = D(j),
-          for j = 1,...,N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  to make the 1-norms of each row of the first N rows of S and its
-  corresponding column nearly equal.
-
-  Information about the diagonal matrix D is returned in the vector
-  SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01ID EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, INFO, J, M, N, P
-      DOUBLE PRECISION MAXRED
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 SCALE(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01ID, UD01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Balance system matrix S.
-               CALL TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
-     $                      LDC, SCALE, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  CALL UD01MD( N, N, 5, NOUT, A, LDA,
-     $                        'The balanced matrix A', INFO )
-                  IF ( M.GT.0 )
-     $               CALL UD01MD( N, M, 5, NOUT, B, LDB,
-     $                            'The balanced matrix B', INFO )
-                  IF ( P.GT.0 )
-     $               CALL UD01MD( P, N, 5, NOUT, C, LDC,
-     $                            'The balanced matrix C', INFO )
-                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
-     $                        'The scaling vector SCALE', INFO )
-                  WRITE ( NOUT, FMT = 99994 ) MAXRED
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01ID = ',I2)
-99994 FORMAT (/' MAXRED is ',E13.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01ID EXAMPLE PROGRAM DATA
-   5     2     5       A    0.0
-          0.0  1.0000e+000          0.0          0.0          0.0
- -1.5800e+006 -1.2570e+003          0.0          0.0          0.0
-  3.5410e+014          0.0 -1.4340e+003          0.0 -5.3300e+011
-          0.0          0.0          0.0          0.0  1.0000e+000
-          0.0          0.0          0.0 -1.8630e+004 -1.4820e+000
-          0.0          0.0
-  1.1030e+002          0.0
-          0.0          0.0
-          0.0          0.0
-          0.0  8.3330e-003
-  1.0000e+000          0.0          0.0          0.0          0.0
-          0.0          0.0  1.0000e+000          0.0          0.0
-          0.0          0.0          0.0  1.0000e+000          0.0
-  6.6640e-001          0.0 -6.2000e-013          0.0          0.0
-          0.0          0.0 -1.0000e-003  1.8960e+006  1.5080e+002
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01ID EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A ( 5X 5)
-
-            1              2              3              4              5
-  1    0.0000000D+00  0.1000000D+05  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2   -0.1580000D+03 -0.1257000D+04  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.3541000D+05  0.0000000D+00 -0.1434000D+04  0.0000000D+00 -0.5330000D+03
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D+03
-  5    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.1863000D+03 -0.1482000D+01
- 
- The balanced matrix B ( 5X 2)
-
-            1              2
-  1    0.0000000D+00  0.0000000D+00
-  2    0.1103000D+04  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00
-  5    0.0000000D+00  0.8333000D+02
- 
- The balanced matrix C ( 5X 5)
-
-            1              2              3              4              5
-  1    0.1000000D-04  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.1000000D+06  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.1000000D-05  0.0000000D+00
-  4    0.6664000D-05  0.0000000D+00 -0.6200000D-07  0.0000000D+00  0.0000000D+00
-  5    0.0000000D+00  0.0000000D+00 -0.1000000D+03  0.1896000D+01  0.1508000D-01
- 
- The scaling vector SCALE ( 1X 5)
-
-            1              2              3              4              5
-  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
- 
-
- MAXRED is    0.3488E+10
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01IZ.html b/doc/_static/doc/TB01IZ.html
deleted file mode 100644
index 434b8175..00000000
--- a/doc/_static/doc/TB01IZ.html
+++ /dev/null
@@ -1,322 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01IZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01IZ">TB01IZ</A></H2>
-<H3>
-Balancing a system matrix corresponding to a triplet (A,B,C) (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the 1-norm of a system matrix
-
-          S =  ( A  B )
-               ( C  0 )
-
-  corresponding to the triple (A,B,C), by balancing. This involves
-  a diagonal similarity transformation inv(D)*A*D applied
-  iteratively to A to make the rows and columns of
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  as close in norm as possible.
-
-  The balancing can be performed optionally on the following
-  particular system matrices
-
-           S = A,    S = ( A  B )    or    S = ( A )
-                                               ( C )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
-     $                   SCALE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, LDA, LDB, LDC, M, N, P
-      DOUBLE PRECISION   MAXRED
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * )
-      DOUBLE PRECISION   SCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B and A matrices are involved in balancing;
-          = 'C':  C and A matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  MAXRED  (input/output) DOUBLE PRECISION
-          On entry, the maximum allowed reduction in the 1-norm of
-          S (in an iteration) if zero rows or columns are
-          encountered.
-          If MAXRED &gt; 0.0, MAXRED must be larger than one (to enable
-          the norm reduction).
-          If MAXRED &lt;= 0.0, then the value 10.0 for MAXRED is
-          used.
-          On exit, if the 1-norm of the given matrix S is non-zero,
-          the ratio between the 1-norm of the given matrix and the
-          1-norm of the balanced matrix.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced matrix inv(D)*A*D.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= max(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, if M &gt; 0, the leading N-by-M part of this array
-          must contain the system input matrix B.
-          On exit, if M &gt; 0, the leading N-by-M part of this array
-          contains the balanced matrix inv(D)*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0.
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, if P &gt; 0, the leading P-by-N part of this array
-          must contain the system output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*D.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  SCALE   (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S.  If D(j) is the scaling
-          factor applied to row and column j, then SCALE(j) = D(j),
-          for j = 1,...,N.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                        -1
-               diag(D,I)  * S * diag(D,I)
-
-  to make the 1-norms of each row of the first N rows of S and its
-  corresponding column nearly equal.
-
-  Information about the diagonal matrix D is returned in the vector
-  SCALE.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01IZ EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, INFO, J, M, N, P
-      DOUBLE PRECISION MAXRED
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX)
-      DOUBLE PRECISION SCALE(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01IZ, UD01MD, UD01MZ
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Balance system matrix S.
-               CALL TB01IZ( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
-     $                      LDC, SCALE, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  CALL UD01MZ( N, N, 3, NOUT, A, LDA,
-     $                        'The balanced matrix A', INFO )
-                  IF ( M.GT.0 )
-     $               CALL UD01MZ( N, M, 3, NOUT, B, LDB,
-     $                            'The balanced matrix B', INFO )
-                  IF ( P.GT.0 )
-     $               CALL UD01MZ( P, N, 3, NOUT, C, LDC,
-     $                            'The balanced matrix C', INFO )
-                  CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
-     $                        'The scaling vector SCALE', INFO )
-                  WRITE ( NOUT, FMT = 99994 ) MAXRED
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01IZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01IZ = ',I2)
-99994 FORMAT (/' MAXRED is ',E13.4)
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-99991 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01IZ EXAMPLE PROGRAM DATA
-   5     2     5       A     0.0
-         (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
-(-1.5800e+006,0.0) (-1.2570e+003,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
- (3.5410e+014,0.0)          (0.0,0.0) (-1.4340e+003,0.0)          (0.0,0.0) (-5.3300e+011,0.0)
-         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)
-         (0.0,0.0)          (0.0,0.0)          (0.0,0.0) (-1.8630e+004,0.0) (-1.4820e+000,0.0)
-         (0.0,0.0)          (0.0,0.0)
- (1.1030e+002,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)  (8.3330e-003,0.0)
- (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0)          (0.0,0.0)  (1.0000e+000,0.0)          (0.0,0.0)
- (6.6640e-001,0.0)          (0.0,0.0) (-6.2000e-013,0.0)          (0.0,0.0)          (0.0,0.0)
-         (0.0,0.0)          (0.0,0.0) (-1.0000e-003,0.0)  (1.8960e+006,0.0)  (1.5080e+002,0.0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01IZ EXAMPLE PROGRAM RESULTS
-
- The balanced matrix A (    5X    5)
-
-                        1                               2                               3
-     1    0.0000000D+00 +0.0000000D+00i   0.1000000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2   -0.1580000D+03 +0.0000000D+00i  -0.1257000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.3541000D+05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1434000D+04 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
- 
-                        4                               5
-     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.0000000D+00 +0.0000000D+00i  -0.5330000D+03 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.1000000D+03 +0.0000000D+00i 
-     5   -0.1863000D+03 +0.0000000D+00i  -0.1482000D+01 +0.0000000D+00i 
- 
- The balanced matrix B (    5X    2)
-
-                        1                               2
-     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.1103000D+04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     5    0.0000000D+00 +0.0000000D+00i   0.8333000D+02 +0.0000000D+00i 
- 
- The balanced matrix C (    5X    5)
-
-                        1                               2                               3
-     1    0.1000000D-04 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.1000000D+06 +0.0000000D+00i 
-     3    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     4    0.6664000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.6200000D-07 +0.0000000D+00i 
-     5    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i  -0.1000000D+03 +0.0000000D+00i 
- 
-                        4                               5
-     1    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     2    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     3    0.1000000D-05 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     4    0.0000000D+00 +0.0000000D+00i   0.0000000D+00 +0.0000000D+00i 
-     5    0.1896000D+01 +0.0000000D+00i   0.1508000D-01 +0.0000000D+00i 
- 
- The scaling vector SCALE ( 1X 5)
-
-            1              2              3              4              5
-  1    0.1000000D-04  0.1000000D+00  0.1000000D+06  0.1000000D-05  0.1000000D-03
- 
-
- MAXRED is    0.3488E+10
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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deleted file mode 100644
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@@ -1,366 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01KD">TB01KD</A></H2>
-<H3>
-Similarity reduction of system state-matrix to block-diagonal form with two blocks so that the leading block has eigenvalues in a specified domain
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an additive spectral decomposition of the transfer-
-  function matrix of the system (A,B,C) by reducing the system
-  state-matrix A to a block-diagonal form.
-  The system matrices are transformed as
-  A &lt;-- inv(U)*A*U, B &lt;--inv(U)*B and C &lt;-- C*U.
-  The leading diagonal block of the resulting A has eigenvalues
-  in a suitably defined domain of interest.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
-     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBA, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
-     $                 WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBA    CHARACTER*1
-          Specifies the shape of the state dynamics matrix on entry
-          as follows:
-          = 'S':  A is in an upper real Schur form;
-          = 'G':  A is a general square dense matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION.
-          Specifies the boundary of the domain of interest for the
-          eigenvalues of A. For a continuous-time system
-          (DICO = 'C'), ALPHA is the boundary value for the real
-          parts of eigenvalues, while for a discrete-time system
-          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value for
-          the moduli of eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the unreduced state dynamics matrix A.
-          If JOBA = 'S' then A must be a matrix in real Schur form.
-          On exit, the leading N-by-N part of this array contains a
-          block diagonal matrix inv(U) * A * U with two diagonal
-          blocks in real Schur form with the elements below the
-          first subdiagonal set to zero.
-          The leading NDIM-by-NDIM block of A has eigenvalues in the
-          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
-          block has eigenvalues outside the domain of interest.
-          The domain of interest for lambda(A), the eigenvalues
-          of A, is defined by the parameters ALPHA, DICO and STDOM
-          as follows:
-          For a continuous-time system (DICO = 'C'):
-            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
-          For a discrete-time system (DICO = 'D'):
-            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix inv(U) * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NDIM    (output) INTEGER
-          The number of eigenvalues of A lying inside the domain of
-          interest for eigenvalues.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          transformation matrix used to reduce A to the block-
-          diagonal form. The first NDIM columns of U span the
-          invariant subspace of A corresponding to the eigenvalues
-          of its leading diagonal block. The last N-NDIM columns
-          of U span the reducing subspace of A corresponding to
-          the eigenvalues of the trailing diagonal block of A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues of A. The
-          eigenvalues will be in the same order that they appear on
-          the diagonal of the output real Schur form of A. Complex
-          conjugate pairs of eigenvalues will appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
-          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: successful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal
-               value;
-          = 1: the QR algorithm failed to compute all the
-               eigenvalues of A;
-          = 2: a failure occured during the ordering of the real
-               Schur form of A;
-          = 3: the separation of the two diagonal blocks failed
-               because of very close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A similarity transformation U is determined that reduces the
-  system state-matrix A to a block-diagonal form (with two diagonal
-  blocks), so that the leading diagonal block of the resulting A has
-  eigenvalues in a specified domain of the complex plane. The
-  determined transformation is applied to the system (A,B,C) as
-    A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
-      Synthesis of positive real multivariable feedback systems.
-      Int. J. Control, pp. 817-842, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 14N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01KD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBA, STDOM
-      INTEGER          I, INFO, J, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01KD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01KD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA,
-     $                      B, LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99987 ) NDIM
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01KD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01KD = ',I2)
-99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
-99996 FORMAT (/' The transformed state dynamics matrix inv(U)*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix inv(U)*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (' The number of eigenvalues in the domain of interest =',
-     $        I5 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01KD EXAMPLE PROGRAM DATA (Continuous system)
-  5     2     3    -1.0      C     U     G
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01KD EXAMPLE PROGRAM RESULTS
-
- The number of eigenvalues in the domain of interest =    2
-
- The eigenvalues of state dynamics matrix A are 
- ( -0.7483,   2.9940 )
- ( -0.7483,  -2.9940 )
- ( -1.6858,   2.0311 )
- ( -1.6858,  -2.0311 )
- ( -1.8751,   0.0000 )
-
- The transformed state dynamics matrix inv(U)*A*U is 
-  -0.7483  -8.6406   0.0000   0.0000   0.0000
-   1.0374  -0.7483   0.0000   0.0000   0.0000
-   0.0000   0.0000  -1.6858   5.5669   0.0000
-   0.0000   0.0000  -0.7411  -1.6858   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8751
-
- The transformed input/state matrix inv(U)*B is 
-   2.0240  -2.0240
-  -1.1309   1.1309
-  -0.8621  -0.8621
-   2.1912   2.1912
-  -1.5555   1.5555
-
- The transformed state/output matrix C*U is 
-   0.6864  -0.0987   0.6580   0.2589   0.9650
-  -0.0471   0.6873   0.0000   0.0000  -0.5609
-  -0.6864   0.0987   0.6580   0.2589  -0.9650
-
- The similarity transformation matrix U is 
-   0.6864  -0.0987   0.6580   0.2589   0.9650
-  -0.1665  -0.5041  -0.2589   0.6580  -0.9205
-  -0.0471   0.6873   0.0000   0.0000  -0.5609
-  -0.6864   0.0987   0.6580   0.2589  -0.9650
-   0.1665   0.5041  -0.2589   0.6580   0.9205
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01KX.html b/doc/_static/doc/TB01KX.html
deleted file mode 100644
index 85bd2843..00000000
--- a/doc/_static/doc/TB01KX.html
+++ /dev/null
@@ -1,169 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01KX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01KX">TB01KX</A></H2>
-<H3>
-Additive spectral decomposition of the transfer-function matrix of a standard system 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an additive spectral decomposition of the transfer-
-  function matrix of the system (A,B,C) by reducing the system
-  state-matrix A to a block-diagonal form. It is assumed that A is
-  in a real Schur form, and the leading diagonal block of order NDIM
-  has eigenvalues distinct from those of the trailing diagonal
-  block. The system matrices are transformed as
-     A &lt;-- V*A*U, B &lt;--V*B and C &lt;-- C*U, where V = inv(U),
-  preserving the spectra of the two diagonal blocks.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01KX( N, M, P, NDIM, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                   V, LDV, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDV, M, N, NDIM, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), U(LDU,*), V(LDV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e., the
-          order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  NDIM    (input) INTEGER
-          The dimension of the leading diagonal block of A having
-          eigenvalues distinct from those of the trailing diagonal
-          block.  0 &lt;= NDIM &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A in real Schur form.
-          On exit, the leading N-by-N part of this array contains a
-          block diagonal matrix inv(U) * A * U with two diagonal
-          blocks in real Schur form, with the elements below the
-          first subdiagonal set to zero. The leading block has
-          dimension NDIM-by-NDIM.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix inv(U) * B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,N)
-          On entry, the leading N-by-N part of this array must
-          contain an initial transformation matrix U.
-          On exit, the leading N-by-N part of this array contains
-          the transformation matrix used to reduce A to the block-
-          diagonal form. The first NDIM columns of U span the
-          invariant subspace of A corresponding to the eigenvalues
-          of its leading diagonal block. The last N-NDIM columns of
-          U span the reducing subspace of A corresponding to the
-          eigenvalues of the trailing diagonal block of A.
-
-  LDU     INTEGER
-          The leading dimension of the array U.  LDU &gt;= max(1,N).
-
-  V       (output) DOUBLE PRECISION array, dimension (LDV,N)
-          The leading N-by-N part of this array contains the
-          inverse of the transformation matrix U used to reduce A
-          to the block-diagonal form.
-
-  LDV     INTEGER
-          The leading dimension of the array V.  LDV &gt;= max(1,N).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: successful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal value;
-          = 1: the separation of the two diagonal blocks failed
-               because of very close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  A similarity transformation U is determined that reduces the given
-  system state-matrix A to a block-diagonal form (with two diagonal
-  blocks), so that the eigenvalues of the leading diagonal block of
-  the resulting A are preserved. The determined transformation is
-  applied to the system (A,B,C) as
-     A &lt;-- inv(U)*A*U, B &lt;-- inv(U)*B and C &lt;-- C*U.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Safonov, M.G., Jonckheere, E.A., Verma, M., Limebeer, D.J.N.
-      Synthesis of positive real multivariable feedback systems.
-      Int. J. Control, pp. 817-842, 1987.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                3
-  The algorithm requires about N /2 + NDIM*(N-NDIM)*(2*N+M+P)
-  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01LD.html b/doc/_static/doc/TB01LD.html
deleted file mode 100644
index aff08801..00000000
--- a/doc/_static/doc/TB01LD.html
+++ /dev/null
@@ -1,355 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01LD">TB01LD</A></H2>
-<H3>
-Orthogonal similarity reduction so that the leading part of system state-matrix has eigenvalues in a specified domain
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the system state matrix A to an ordered upper real
-  Schur form by using an orthogonal similarity transformation
-  A &lt;-- U'*A*U and to apply the transformation to the matrices
-  B and C: B &lt;-- U'*B and C &lt;-- C*U.
-  The leading block of the resulting A has eigenvalues in a
-  suitably defined domain of interest.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA, A, LDA, B,
-     $                   LDB, C, LDC, NDIM, U, LDU, WR, WI, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBA, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
-     $                 WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBA    CHARACTER*1
-          Specifies the shape of the state dynamics matrix on entry
-          as follows:
-          = 'S':  A is in an upper real Schur form;
-          = 'G':  A is a general square dense matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION.
-          Specifies the boundary of the domain of interest for the
-          eigenvalues of A. For a continuous-time system
-          (DICO = 'C'), ALPHA is the boundary value for the real
-          parts of eigenvalues, while for a discrete-time system
-          (DICO = 'D'), ALPHA &gt;= 0 represents the boundary value
-          for the moduli of eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the unreduced state dynamics matrix A.
-          If JOBA = 'S' then A must be a matrix in real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the ordered real Schur matrix U' * A * U with the elements
-          below the first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of A has eigenvalues in the
-          domain of interest and the trailing (N-NDIM)-by-(N-NDIM)
-          part has eigenvalues outside the domain of interest.
-          The domain of interest for lambda(A), the eigenvalues
-          of A, is defined by the parameters ALPHA, DICO and STDOM
-          as follows:
-          For a continuous-time system (DICO = 'C'):
-            Real(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Real(lambda(A)) &gt; ALPHA if STDOM = 'U';
-          For a discrete-time system (DICO = 'D'):
-            Abs(lambda(A)) &lt; ALPHA if STDOM = 'S';
-            Abs(lambda(A)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NDIM    (output) INTEGER
-          The number of eigenvalues of A lying inside the domain of
-          interest for eigenvalues.
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix used to reduce A to the
-          real Schur form and/or to reorder the diagonal blocks of
-          real Schur form of A. The first NDIM columns of U form
-          an orthogonal basis for the invariant subspace of A
-          corresponding to the first NDIM eigenvalues.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues of A. The
-          eigenvalues will be in the same order that they appear on
-          the diagonal of the output real Schur form of A. Complex
-          conjugate pairs of eigenvalues will appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.
-          LDWORK &gt;= MAX(1,N)   if JOBA = 'S';
-          LDWORK &gt;= MAX(1,3*N) if JOBA = 'G'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0: successful exit;
-          &lt; 0: if INFO = -i, the i-th argument had an illegal
-               value;
-          = 1: the QR algorithm failed to compute all the
-               eigenvalues of A;
-          = 2: a failure occured during the ordering of the real
-               Schur form of A.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is reduced to an ordered upper real Schur form using an
-  orthogonal similarity transformation A &lt;-- U'*A*U. This
-  transformation is determined so that the leading block of the
-  resulting A has eigenvalues in a suitably defined domain of
-  interest. Then, the transformation is applied to the matrices B
-  and C: B &lt;-- U'*B and C &lt;-- C*U.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 14N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01LD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBA, STDOM
-      INTEGER          I, INFO, J, M, N, NDIM, P
-      DOUBLE PRECISION ALPHA
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01LD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, ALPHA, DICO, STDOM, JOBA
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01LD( DICO, STDOM, JOBA, N, M, P, ALPHA,
-     $                      A, LDA, B, LDB, C, LDC, NDIM, U, LDU,
-     $                      WR, WI, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99987 ) NDIM
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01LD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01LD = ',I2)
-99997 FORMAT (/' The eigenvalues of state dynamics matrix A are ')
-99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix U''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The number of eigenvalues in the domain of interest =',
-     $        I5 )
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01LD EXAMPLE PROGRAM DATA (Continuous system)
-  5     2     3    -1.0      C     U     G
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01LD EXAMPLE PROGRAM RESULTS
-
-
- The number of eigenvalues in the domain of interest =    2
-
- The eigenvalues of state dynamics matrix A are 
- ( -0.7483,   2.9940 )
- ( -0.7483,  -2.9940 )
- ( -1.6858,   2.0311 )
- ( -1.6858,  -2.0311 )
- ( -1.8751,   0.0000 )
-
- The transformed state dynamics matrix U'*A*U is 
-  -0.7483  -8.6406   0.0000   0.0000   1.1745
-   1.0374  -0.7483   0.0000   0.0000  -2.1164
-   0.0000   0.0000  -1.6858   5.5669   0.0000
-   0.0000   0.0000  -0.7411  -1.6858   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8751
-
- The transformed input/state matrix U'*B is 
-  -0.5543   0.5543
-  -1.6786   1.6786
-  -0.8621  -0.8621
-   2.1912   2.1912
-  -1.5555   1.5555
-
- The transformed state/output matrix C*U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-
- The similarity transformation matrix U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-   0.1665   0.5041  -0.2589   0.6580   0.4671
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01MD.html b/doc/_static/doc/TB01MD.html
deleted file mode 100644
index bb7ce97f..00000000
--- a/doc/_static/doc/TB01MD.html
+++ /dev/null
@@ -1,299 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01MD">TB01MD</A></H2>
-<H3>
-Upper/lower controller Hessenberg form using unitary state-space transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the pair (B,A) to upper or lower controller Hessenberg
-  form using (and optionally accumulating) unitary state-space
-  transformations.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBU, UPLO
-      INTEGER           INFO, LDA, LDB, LDU, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the unitary state-space transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is initialized to the unit matrix and the
-                  unitary transformation matrix U is returned;
-          = 'U':  The given matrix U is updated by the unitary
-                  transformations used in the reduction.
-
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes the pair (B,A) to be
-          reduced to upper or lower controller Hessenberg form as
-          follows:
-          = 'U':  Upper controller Hessenberg form;
-          = 'L':  Lower controller Hessenberg form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The actual input dimension, i.e. the number of columns of
-          the matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A to be transformed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state transition matrix U' * A * U.
-          The annihilated elements are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B to be transformed.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-          The annihilated elements are set to zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if JOBU = 'U', then the leading N-by-N part of
-          this array must contain a given matrix U (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix U and the state-space transformation
-          matrix which reduces the given pair to controller
-          Hessenberg form.
-          On exit, if JOBU = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated unitary
-          similarity transformations which reduces the given pair
-          to controller Hessenberg form.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U. If JOBU = 'U' or
-          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,M-1))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a unitary state-space transformation U, which
-  reduces the pair (B,A) to one of the following controller
-  Hessenberg forms:
-
-                 |*  . . .  *|*  . . . . . .  *|
-                 |   .      .|.               .|
-                 |     .    .|.               .|
-                 |       .  .|.               .|
-    [U'B|U'AU] = |          *|.               .| N
-                 |           |*               .|
-                 |           |   .            .|
-                 |           |     .          .|
-                 |           |       .        .|
-                 |           |         * . .  *|
-                      M               N
-
-  if UPLO = 'U', or
-
-                 |*  . . *         |           |
-                 |.        .       |           |
-                 |.          .     |           |
-                 |.            .   |           |
-    [U'AU|U'B] = |.               *|           | N
-                 |.               .|*          |
-                 |.               .|.  .       |
-                 |.               .|.    .     |
-                 |.               .|.      .   |
-                 |*  . . . . . .  *|*  . . .  *|
-                         N               M
-  if UPLO = 'L'.
-
-  If M &gt;= N, then the matrix U'B is trapezoidal and U'AU is full.
-  If M  = 0, but N &gt; 0, the array A is unchanged on exit.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P. and Verhaegen, M.H.G.
-      On the use of unitary state-space transformations.
-      In : Contemporary Mathematics on Linear Algebra and its Role
-      in Systems Theory, 47, AMS, Providence, 1985.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + M) x N**2) operations and is
-  backward stable (see [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20 )
-      INTEGER          LDA, LDB, LDU, LDWORK
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
-     $                   LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N
-      CHARACTER*1      JOBU, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), U(LDU,NMAX),
-     $                 DWORK(LDWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, JOBU, UPLO
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( LSAME( JOBU, 'U' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-*           Reduce the pair (B,A) to controller Hessenberg form.
-            CALL TB01MD( JOBU, UPLO, N, M, A, LDA, B, LDB, U, LDU,
-     $                   DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 60 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 80 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   80          CONTINUE
-               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 100 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
-  100             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01MD = ',I2)
-99997 FORMAT (' The transformed state transition matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed input matrix is ')
-99994 FORMAT (/' The transformation matrix that reduces (B,A) to contr',
-     $       'oller Hessenberg form is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01MD EXAMPLE PROGRAM DATA
-   6     3     N     U
-  35.0   1.0   6.0  26.0  19.0  24.0
-   3.0  32.0   7.0  21.0  23.0  25.0
-  31.0   9.0   2.0  22.0  27.0  20.0
-   8.0  28.0  33.0  17.0  10.0  15.0
-  30.0   5.0  34.0  12.0  14.0  16.0
-   4.0  36.0  29.0  13.0  18.0  11.0
-   1.0   5.0  11.0
-  -1.0   4.0  11.0
-  -5.0   1.0   9.0
- -11.0  -4.0   5.0
- -19.0 -11.0  -1.0
- -29.0 -20.0  -9.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01MD EXAMPLE PROGRAM RESULTS
-
- The transformed state transition matrix is 
-  60.3649  58.8853   5.0480  -5.4406   2.1382  -7.3870
-  54.5832  33.1865  36.5234   6.3272  -3.1377   8.8154
-  17.6406  21.4501 -13.5942   0.5417   1.6926   0.0786
-  -9.0567  10.7202   0.3531   1.5444  -1.2846  24.6407
-   0.0000   6.8796 -20.1372  -2.6440   2.4983 -21.8071
-   0.0000   0.0000   0.0000   0.0000   0.0000  27.0000
-
- The transformed input matrix is 
- -16.8819  -8.8260  13.9202
-   0.0000  13.8240  39.9205
-   0.0000   0.0000   4.1928
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01ND.html b/doc/_static/doc/TB01ND.html
deleted file mode 100644
index 358b4b62..00000000
--- a/doc/_static/doc/TB01ND.html
+++ /dev/null
@@ -1,298 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01ND">TB01ND</A></H2>
-<H3>
-Upper/lower observer Hessenberg form using unitary state-space transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the pair (A,C) to lower or upper observer Hessenberg
-  form using (and optionally accumulating) unitary state-space
-  transformations.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
-     $                   DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDC, LDU, N, P
-      CHARACTER         JOBU, UPLO
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), C(LDC,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBU    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix U the unitary state-space transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form U;
-          = 'I':  U is initialized to the unit matrix and the
-                  unitary transformation matrix U is returned;
-          = 'U':  The given matrix U is updated by the unitary
-                  transformations used in the reduction.
-
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes the pair (A,C) to be
-          reduced to upper or lower observer Hessenberg form as
-          follows:
-          = 'U':  Upper observer Hessenberg form;
-          = 'L':  Lower observer Hessenberg form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The actual state dimension, i.e. the order of the
-          matrix A.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The actual output dimension, i.e. the number of rows of
-          the matrix C.  0 &lt;= P &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A to be transformed.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state transition matrix U' * A * U.
-          The annihilated elements are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C to be transformed.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-          The annihilated elements are set to zero.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if JOBU = 'U', then the leading N-by-N part of
-          this array must contain a given matrix U (e.g. from a
-          previous call to another SLICOT routine), and on exit, the
-          leading N-by-N part of this array contains the product of
-          the input matrix U and the state-space transformation
-          matrix which reduces the given pair to observer Hessenberg
-          form.
-          On exit, if JOBU = 'I', then the leading N-by-N part of
-          this array contains the matrix of accumulated unitary
-          similarity transformations which reduces the given pair
-          to observer Hessenberg form.
-          If JOBU = 'N', the array U is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDU = 1 and
-          declare this array to be U(1,1) in the calling program).
-
-  LDU     INTEGER
-          The leading dimension of array U. If JOBU = 'U' or
-          JOBU = 'I', LDU &gt;= MAX(1,N); if JOBU = 'N', LDU &gt;= 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,P-1))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a unitary state-space transformation U, which
-  reduces the pair (A,C) to one of the following observer Hessenberg
-  forms:
-
-                             N
-                    |*  . . . . . .  *|
-                    |.               .|
-                    |.               .|
-                    |.               .| N
-                    |*               .|
-         |U'AU|     |   .            .|
-         |----|  =  |     .          .|
-         |CU  |     |       * . . .  *|
-                    -------------------
-                    |         * . .  *|
-                    |           .    .| P
-                    |             .  .|
-                    |                *|
-
-      if UPLO = 'U', or
-
-                            N
-                   |*                |
-                   |.  .             |
-                   |.    .           | P
-                   |*  . . *         |
-         |CU  |    -------------------
-         |----|  = |*  . . . *       |
-         |U'AU|    |.          .     |
-                   |.            .   |
-                   |.               *|
-                   |.               .| N
-                   |.               .|
-                   |.               .|
-                   |*  . . . . . .  *|
-
-  if UPLO = 'L'.
-
-  If P &gt;= N, then the matrix CU is trapezoidal and U'AU is full.
-  If P  = 0, but N &gt; 0, the array A is unchanged on exit.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P. and Verhaegen, M.H.G.
-      On the use of unitary state-space transformations.
-      In : Contemporary Mathematics on Linear Algebra and its Role
-      in Systems Theory, 47, AMS, Providence, 1985.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires O((N + P) x N**2) operations and is
-  backward stable (see [1]).
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDC, LDU, LDWORK
-      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDU = NMAX,
-     $                   LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, N, P
-      CHARACTER*1      JOBU, UPLO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), U(LDU,NMAX),
-     $                 DWORK(LDWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, JOBU, UPLO
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-            IF ( LSAME( JOBU, 'U' ) )
-     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
-*           Reduce the pair (A,C) to observer Hessenberg form.
-            CALL TB01ND( JOBU, UPLO, N, P, A, LDA, C, LDC, U, LDU,
-     $                   DWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 )
-               DO 60 I = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
-   80          CONTINUE
-               IF ( LSAME( JOBU, 'I' ).OR.LSAME( JOBU, 'U' ) ) THEN
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 100 I = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) ( U(I,J), J = 1,N )
-  100             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01ND = ',I2)
-99997 FORMAT (' The transformed state transition matrix is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed output matrix is ')
-99994 FORMAT (/' The transformation matrix that reduces (A,C) to obser',
-     $       'ver Hessenberg form is ')
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01ND EXAMPLE PROGRAM DATA
-   5     3     N     U
-  15.0  21.0  -3.0   3.0   9.0
-  20.0   1.0   2.0   8.0   9.0
-   4.0   1.0   7.0  13.0  14.0
-   5.0   6.0  12.0  13.0  -6.0
-   5.0  11.0  17.0  -7.0  -1.0
-   7.0  -1.0   3.0  -6.0  -3.0
-   4.0   5.0   6.0  -2.0  -3.0
-   9.0   8.0   5.0   2.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01ND EXAMPLE PROGRAM RESULTS
-
- The transformed state transition matrix is 
-   7.1637  -0.9691 -16.5046   0.2869   0.9205
-  -2.3285  11.5431  -8.7471   3.4122  -3.7118
- -10.5440  -7.6032  -0.3215   3.6571  -0.4335
-  -3.6845   5.6449   0.5906 -15.6996  17.4267
-   0.0000  -6.4260   1.5591  14.4317  32.3143
-
- The transformed output matrix is 
-   0.0000   0.0000   7.6585   5.2973  -4.1576
-   0.0000   0.0000   0.0000   5.8305  -7.4837
-   0.0000   0.0000   0.0000   0.0000 -13.2288
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01PD.html b/doc/_static/doc/TB01PD.html
deleted file mode 100644
index be87224f..00000000
--- a/doc/_static/doc/TB01PD.html
+++ /dev/null
@@ -1,324 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01PD">TB01PD</A></H2>
-<H3>
-Minimal, controllable or observable block Hessenberg realization for a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or minimal) state-
-  space representation (Ar,Br,Cr) for any original state-space
-  representation (A,B,C). The matrix Ar is in upper block
-  Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   NR, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, JOB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'M':  Remove both the uncontrollable and unobservable
-                  parts to get a minimal state-space representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable state-space representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable state-space representation.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily balance
-          the triplet (A,B,C) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.   P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the upper block Hessenberg state dynamics matrix Ar of a
-          minimal, controllable, or observable realization for the
-          original system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the transformed input/state matrix Br of a minimal,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'C', only the first IWORK(1) rows of B are
-          nonzero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cr of a minimal,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'M', or JOB = 'O', only the last IWORK(1) columns
-          (in the first NR columns) of C are nonzero.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced state-space representation
-          (Ar,Br,Cr) of a minimal, controllable, or observable
-          realization for the original system, depending on
-          JOB = 'M', JOB = 'C', or JOB = 'O'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOB = 'M', the matrices A and B are operated on by orthogonal
-  similarity transformations (made up of products of Householder
-  transformations) so as to produce an upper block Hessenberg matrix
-  A1 and a matrix B1 with all but its first rank(B) rows zero; this
-  separates out the controllable part of the original system.
-  Applying the same algorithm to the dual of this subsystem,
-  therefore separates out the controllable and observable (i.e.
-  minimal) part of the original system representation, with the
-  final Ar upper block Hessenberg (after using pertransposition).
-  If JOB = 'C', or JOB = 'O', only the corresponding part of the
-  above procedure is applied.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      The Generalized Eigenstructure Problem in Linear System
-      Theory. (Algorithm 1)
-      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX+MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NR, P
-      CHARACTER        JOB, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TB01PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a minimal ssr for (A,B,C).
-               CALL TB01PD( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      NR, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01PD = ',I2)
-99997 FORMAT (' The order of the minimal realization = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
-     $       'alization is ')
-99995 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
-     $       'zation is ')
-99992 FORMAT (/' The transformed state/output matrix of a minimal real',
-     $       'ization is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01PD EXAMPLE PROGRAM DATA
-   3     1     2     0.0     M     N
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01PD EXAMPLE PROGRAM RESULTS
-
- The order of the minimal realization =  3
-
- The transformed state dynamics matrix of a minimal realization is 
-   1.0000  -1.4142   1.4142
-  -2.8284   0.0000   1.0000
-   2.8284   1.0000   0.0000
-
- The transformed input/state matrix of a minimal realization is 
-  -1.0000
-   0.7071
-   0.7071
-
- The transformed state/output matrix of a minimal realization is 
-   0.0000   0.0000  -1.4142
-   0.0000   0.7071   0.7071
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01PX.html b/doc/_static/doc/TB01PX.html
deleted file mode 100644
index 5f52d3f2..00000000
--- a/doc/_static/doc/TB01PX.html
+++ /dev/null
@@ -1,370 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01PX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01PX">TB01PX</A></H2>
-<H3>
-Reduced (controllable, observable, or minimal) state-space representation of a standard system (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or minimal) state-
-  space representation (Ar,Br,Cr) for any original state-space
-  representation (A,B,C). The matrix Ar is in an upper block
-  Hessenberg staircase form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, JOB
-      INTEGER           INFO, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFRED(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'M':  Remove both the uncontrollable and unobservable
-                  parts to get a minimal state-space representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable state-space representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable state-space representation.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily balance
-          the triplet (A,B,C) as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation, i.e.
-          the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.   P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
-          leading NR-by-NR part of this array contains the upper
-          block Hessenberg state dynamics matrix Ar of a minimal,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'M',
-          JOB = 'C', or JOB = 'O', respectively.
-          The block structure of the resulting staircase form is
-          contained in the leading INFRED(4) elements of IWORK.
-          If INFRED(1:2) &lt; 0, then A contains the original matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
-          leading NR-by-M part of this array contains the
-          input/state matrix Br of a minimal, controllable, or
-          observable realization for the original system, depending
-          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
-          respectively. If JOB = 'C', only the first IWORK(1) rows
-          of B are nonzero.
-          If INFRED(1:2) &lt; 0, then B contains the original matrix.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; if JOB = 'M',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, if INFRED(1) &gt;= 0 and/or INFRED(2) &gt;= 0, the
-          leading P-by-NR part of this array contains the
-          state/output matrix Cr of a minimal, controllable, or
-          observable realization for the original system, depending
-          on the value of JOB, JOB = 'M', JOB = 'C', or JOB = 'O',
-          respectively. If JOB = 'M', or JOB = 'O', only the last
-          IWORK(1) columns (in the first NR columns) of C are
-          nonzero.
-          If INFRED(1:2) &lt; 0, then C contains the original matrix.
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M,P), if N &gt; 0.
-          LDC &gt;= 1,          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced state-space representation
-          (Ar,Br,Cr) of a minimal, controllable, or observable
-          realization for the original system, depending on
-          JOB = 'M', JOB = 'C', or JOB = 'O'.
-
-  INFRED  (output) INTEGER array, dimension 4
-          This array contains information on the performed reduction
-          and on structure of resulting system matrices, as follows:
-          INFRED(k) &gt;= 0 (k = 1 or 2) if Phase k of the reduction
-                         (see METHOD) has been performed. In this
-                         case, INFRED(k) is the achieved order
-                         reduction in Phase k.
-          INFRED(k) &lt; 0  (k = 1 or 2) if Phase k was not performed.
-                         This can also appear when Phase k was
-                         tried, but did not reduce the order, if
-                         enough workspace is provided for saving the
-                         system matrices (see LDWORK description).
-          INFRED(3)  -   the number of nonzero subdiagonals of A.
-          INFRED(4)  -   the number of blocks in the resulting
-                         staircase form at the last performed
-                         reduction phase. The block dimensions are
-                         contained in the first INFRED(4) elements
-                         of IWORK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (c*N+MAX(M,P)), where
-          c = 2, if JOB = 'M', and c = 1, otherwise.
-          On exit, if INFO = 0, the first INFRED(4) elements of
-          IWORK return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= N + MAX(N, 3*M, 3*P).
-          For optimum performance LDWORK should be larger.
-          If LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P) + N*(N+M+P) ),
-          then more accurate results are to be expected by accepting
-          only those reductions phases (see METHOD), where effective
-          order reduction occurs. This is achieved by saving the
-          system matrices before each phase and restoring them if
-          no order reduction took place in that phase.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The order reduction is performed in two phases:
-
-  Phase 1:
-  If JOB = 'M' or 'C', the pair (A,B) is reduced by orthogonal
-  similarity transformations to the controllability staircase form
-  (see [1]) and a controllable realization (Ac,Bc,Cc) is extracted.
-  Ac results in an upper block Hessenberg form.
-
-  Phase 2:
-  If JOB = 'M' or 'O', the same algorithm is applied to the dual
-  of the controllable realization (Ac,Bc,Cc), or to the dual of
-  the original system, respectively, to extract an observable
-  realization (Ar,Br,Cr). If JOB = 'M', the resulting realization
-  is also controllable, and thus minimal.
-  Ar results in an upper block Hessenberg form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Van Dooren, P.
-      The Generalized Eigenstructure Problem in Linear System
-      Theory. (Algorithm 1)
-      IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01PX EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*NMAX+MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX+MAX( NMAX, 3*MAXMP +
-     $                   NMAX*( NMAX+MMAX+PMAX ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, M, N, NR, P
-      CHARACTER        JOB, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 DWORK(LDWORK)
-      INTEGER          INFRED(4), IWORK(LIWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TB01PX
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a minimal ssr for (A,B,C).
-               CALL TB01PX( JOB, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      NR, INFRED, TOL, IWORK, DWORK, LDWORK, INFO)
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 ) ( INFRED(I), I = 1,4 )
-                  IF ( INFRED(4).GT.0 )
-     $               WRITE ( NOUT, FMT = 99991 ) ( IWORK(I),
-     $                                             I = 1,INFRED(4) )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01PX EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01PX = ',I2)
-99997 FORMAT (' The order of the minimal realization = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a minimal re',
-     $       'alization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' Information on the performed reduction is ', 4I5)
-99993 FORMAT (/' The transformed input/state matrix of a minimal reali',
-     $       'zation is ')
-99992 FORMAT (/' The transformed state/output matrix of a minimal real',
-     $       'ization is ')
-99991 FORMAT (/' The block dimensions are ',/ 20I5)
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01PX EXAMPLE PROGRAM DATA
-   3     1     2     0.0     M     N
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01PX EXAMPLE PROGRAM RESULTS
-
- The order of the minimal realization =  3
-
- The transformed state dynamics matrix of a minimal realization is 
-   1.0000   2.0000   0.0000
-   4.0000  -1.0000   0.0000
-   0.0000   0.0000   1.0000
-
- The transformed input/state matrix of a minimal realization is 
-   1.0000
-   0.0000
-   1.0000
-
- The transformed state/output matrix of a minimal realization is 
-   0.0000   1.0000  -1.0000
-   0.0000   0.0000   1.0000
-
- Information on the performed reduction is    -1   -1    2    0
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01TD.html b/doc/_static/doc/TB01TD.html
deleted file mode 100644
index 03317c41..00000000
--- a/doc/_static/doc/TB01TD.html
+++ /dev/null
@@ -1,316 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01TD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01TD">TB01TD</A></H2>
-<H3>
-Balancing state-space representation by permutations and scalings
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce a given state-space representation (A,B,C,D) to
-  balanced form by means of state permutations and state, input and
-  output scalings.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, LOW,
-     $                   IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           IGH, INFO, LDA, LDB, LDC, LDD, LOW, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), SCIN(*), SCOUT(*), SCSTAT(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the original state dynamics matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the balanced state dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the balanced input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the balanced state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original direct transmission matrix D.
-          On exit, the leading P-by-M part of this array contains
-          the scaled direct transmission matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  LOW     (output) INTEGER
-          The index of the lower end of the balanced submatrix of A.
-
-  IGH     (output) INTEGER
-          The index of the upper end of the balanced submatrix of A.
-
-  SCSTAT  (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the information defining the
-          similarity transformations used to permute and balance
-          the state dynamics matrix A, as returned from the LAPACK
-          library routine DGEBAL.
-
-  SCIN    (output) DOUBLE PRECISION array, dimension (M)
-          Contains the scalars used to scale the system inputs so
-          that the columns of the final matrix B have norms roughly
-          equal to the column sums of the balanced matrix A
-          (see FURTHER COMMENTS).
-          The j-th input of the balanced state-space representation
-          is SCIN(j)*(j-th column of the permuted and balanced
-          input/state matrix B).
-
-  SCOUT   (output) DOUBLE PRECISION array, dimension (P)
-          Contains the scalars used to scale the system outputs so
-          that the rows of the final matrix C have norms roughly
-          equal to the row sum of the balanced matrix A.
-          The i-th output of the balanced state-space representation
-          is SCOUT(i)*(i-th row of the permuted and balanced
-          state/ouput matrix C).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Similarity transformations are used to permute the system states
-  and balance the corresponding row and column sum norms of a
-  submatrix of the state dynamics matrix A. These operations are
-  also applied to the input/state matrix B and the system inputs
-  are then scaled (see parameter SCIN) so that the columns of the
-  final matrix B have norms roughly equal to the column sum norm of
-  the balanced matrix A (see FURTHER COMMENTS).
-  The above operations are also applied to the matrix C, and the
-  system outputs are then scaled (see parameter SCOUT) so that the
-  rows of the final matrix C have norms roughly equal to the row sum
-  norm of the balanced matrix A (see FURTHER COMMENTS).
-  Finally, the (I,J)-th element of the direct transmission matrix D
-  is scaled as
-       D(I,J) = D(I,J)*(1.0/SCIN(J))*SCOUT(I), where I = 1,2,...,P
-  and J = 1,2,...,M.
-
-  Scaling performed to balance the row/column sum norms is by
-  integer powers of the machine base so as to avoid introducing
-  rounding errors.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Wilkinson, J.H. and Reinsch, C.
-      Handbook for Automatic Computation, (Vol II, Linear Algebra).
-      Springer-Verlag, 1971, (contribution II/11).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The columns (rows) of the final matrix B (matrix C) have norms
-  'roughly' equal to the column (row) sum norm of the balanced
-  matrix A, i.e.
-     size/BASE &lt; abssum &lt;= size
-  where
-     BASE   = the base of the arithmetic used on the computer, which
-              can be obtained from the LAPACK Library routine
-              DLAMCH;
-
-     size   = column or row sum norm of the balanced matrix A;
-     abssum = column sum norm of the balanced matrix B or row sum
-              norm of the balanced matrix C.
-
-  The routine is BASE dependent.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01TD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, IGH, J, LOW, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(NMAX), SCIN(MMAX),
-     $                 SCOUT(PMAX), SCSTAT(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01TD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99989 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Balance the state-space representation (A,B,C,D).
-               CALL TB01TD( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                      LOW, IGH, SCSTAT, SCIN, SCOUT, DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) LOW, IGH
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   80             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01TD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01TD = ',I2)
-99997 FORMAT (' LOW = ',I2,'   IGH = ',I2,/)
-99996 FORMAT (' The balanced state dynamics matrix A is ')
-99995 FORMAT (20(1X,F9.4))
-99994 FORMAT (/' The balanced input/state matrix B is ')
-99993 FORMAT (/' The balanced state/output matrix C is ')
-99992 FORMAT (/' The scaled direct transmission matrix D is ')
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01TD EXAMPLE PROGRAM DATA
-   5     2     2
-   0.0   0.0   1.0   4.0   5.0
-  50.0  10.0   1.0   0.0   0.0
-   0.0   0.0  90.0  10.0   0.0
-   0.0   1.0   1.0   1.0   1.0
- 100.0   0.0   0.0   0.0  70.0
-   0.0   2.0   0.0   1.0   2.0
-   0.0  20.0 100.0   1.0   0.0
-   1.0   0.0   0.0   1.0   0.0
-   1.0   1.0   0.0   2.0   1.0
-   1.0   1.0   1.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01TD EXAMPLE PROGRAM RESULTS
-
- LOW =  1   IGH =  5
-
- The balanced state dynamics matrix A is 
-    0.0000    0.0000    1.0000    4.0000   40.0000
-    6.2500   10.0000    0.1250    0.0000    0.0000
-    0.0000    0.0000   90.0000   10.0000    0.0000
-    0.0000    8.0000    1.0000    1.0000    8.0000
-   12.5000    0.0000    0.0000    0.0000   70.0000
-
- The balanced input/state matrix B is 
-    0.0000    0.0000
-   16.0000    2.5000
-    0.0000  100.0000
-   64.0000    1.0000
-   16.0000    0.0000
-
- The balanced state/output matrix C is 
-   32.0000    0.0000    0.0000   32.0000    0.0000
-    4.0000   32.0000    0.0000    8.0000   32.0000
-
- The scaled direct transmission matrix D is 
- 2048.0000   32.0000
-  256.0000    4.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01UD.html b/doc/_static/doc/TB01UD.html
deleted file mode 100644
index 086fac0e..00000000
--- a/doc/_static/doc/TB01UD.html
+++ /dev/null
@@ -1,407 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01UD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01UD">TB01UD</A></H2>
-<H3>
-Controllable block Hessenberg realization for a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  multi-input system
-
-          dX/dt = A * X + B * U,
-             Y  = C * X,
-
-  where A, B, and C are N-by-N, N-by-M, and P-by-N matrices,
-  respectively, and A and B are reduced by this routine to
-  orthogonal canonical form using (and optionally accumulating)
-  orthogonal similarity transformations, which are also applied
-  to C.  Specifically, the system (A, B, C) is reduced to the
-  triplet (Ac, Bc, Cc), where Ac = Z' * A * Z, Bc = Z' * B,
-  Cc = C * Z,  with
-
-          [ Acont     *    ]         [ Bcont ]
-     Ac = [                ],   Bc = [       ],
-          [   0    Auncont ]         [   0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-1 A1p ]         [ B1 ]
-             [ A21 A22  . . .  A2,p-1 A2p ]         [ 0  ]
-             [  0  A32  . . .  A3,p-1 A3p ]         [ 0  ]
-     Acont = [  .   .   . . .    .     .  ],   Bc = [ .  ],
-             [  .   .     . .    .     .  ]         [ .  ]
-             [  .   .       .    .     .  ]         [ .  ]
-             [  0   0   . . .  Ap,p-1 App ]         [ 0  ]
-
-  where the blocks  B1, A21, ..., Ap,p-1  have full row ranks and
-  p is the controllability index of the pair.  The size of the
-  block  Auncont is equal to the dimension of the uncontrollable
-  subspace of the pair (A, B).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC, NCONT,
-     $                   INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N,
-     $                  NCONT, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
-     $                  Z(LDZ,*)
-      INTEGER           IWORK(*), NBLK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT part contains the
-          upper block Hessenberg state dynamics matrix Acont in Ac,
-          given by Z' * A * Z, of a controllable realization for
-          the original system. The elements below the first block-
-          subdiagonal are set to zero. The leading N-by-N part
-          contains the matrix Ac.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading NCONT-by-M part of this array
-          contains the transformed input matrix Bcont in Bc, given
-          by Z' * B, with all elements but the first block set to
-          zero. The leading N-by-M part contains the matrix Bc.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix Cc, given by C * Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  INDCON  (output) INTEGER
-          The controllability index of the controllable part of the
-          system representation.
-
-  NBLK    (output) INTEGER array, dimension (N)
-          The leading INDCON elements of this array contain the
-          the orders of the diagonal blocks of Acont.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this
-          array contains the matrix of accumulated orthogonal
-          similarity transformations which reduces the given system
-          to orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N, 3*M, P).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix B is first QR-decomposed and the appropriate orthogonal
-  similarity transformation applied to the matrix A. Leaving the
-  first rank(B) states unchanged, the remaining lower left block
-  of A is then QR-decomposed and the new orthogonal matrix, Q1,
-  is also applied to the right of A to complete the similarity
-  transformation. By continuing in this manner, a completely
-  controllable state-space pair (Acont, Bcont) is found for the
-  given (A, B), where Acont is upper block Hessenberg with each
-  subdiagonal block of full row rank, and Bcont is zero apart from
-  its (independent) first rank(B) rows.
-  All orthogonal transformations determined in this process are also
-  applied to the matrix C, from the right.
-  NOTE that the system controllability indices are easily
-  calculated from the dimensions of the blocks of Acont.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Paige, C.C.
-      Properties of numerical algorithms related to computing
-      controllablity.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-  [3] Petkov, P.Hr., Konstantinov, M.M., Gu, D.W. and
-      Postlethwaite, I.
-      Optimal Pole Assignment Design of Linear Multi-Input Systems.
-      Leicester University, Report 99-11, May 1996.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01UD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, INDCON, J, M, N, NCONT, P
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), TAU(NMAX), Z(LDZ,NMAX)
-      INTEGER          IWORK(LIWORK), NBLK(NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01UD, DORGQR
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a controllable ssr for the given system.
-               CALL TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCONT
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99987 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 ) INDCON
-                  IF ( LSAME( JOBZ, 'F' ) )
-     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                            INFO )
-                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 80 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01UD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01UD = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
-     $       'le realization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
-     $       /20(1X,I2))
-99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
-     $       'e realization is ')
-99992 FORMAT (/' The controllability index of the transformed system r',
-     $       'epresentation = ',I2)
-99991 FORMAT (/' The similarity transformation matrix Z is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The transformed output/state matrix C of a controlla',
-     $       'ble realization is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01UD EXAMPLE PROGRAM DATA
-   3     2     2     0.0     I
-  -1.0   0.0   0.0
-  -2.0  -2.0  -2.0
-  -1.0   0.0  -3.0
-   1.0   0.0   0.0
-   0.0   2.0   1.0
-   0.0   2.0   1.0
-   1.0   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01UD EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  2
-
- The transformed state dynamics matrix of a controllable realization is 
-  -3.0000   2.2361
-   0.0000  -1.0000
-
- and the dimensions of its diagonal blocks are 
-  2
-
- The transformed input/state matrix B of a controllable realization is 
-   0.0000  -2.2361
-   1.0000   0.0000
-
- The transformed output/state matrix C of a controllable realization is 
-  -2.2361   0.0000
-   0.0000   1.0000
-
- The controllability index of the transformed system representation =  1
-
- The similarity transformation matrix Z is 
-   0.0000   1.0000   0.0000
-  -0.8944   0.0000  -0.4472
-  -0.4472   0.0000   0.8944
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,252 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01UX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01UX">TB01UX</A></H2>
-<H3>
-Observable-unobservable decomposition of a standard system 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute an orthogonal transformation matrix Z which reduces the
-  N-th order system (A,B,C) to the form
-
-             ( Ano  * )               ( Bno )
-    Z'*A*Z = (        ) ,      Z'*B = (     ) ,
-             ( 0   Ao )               ( Bo  )
-
-       C*Z = ( 0   Co ) ,
-
-  where the NOBSV-th order system (Ao,Bo,Co) is observable.
-  The matrix Ano of order N-NOBSV contains the unobservable
-  eigenvalues of A.
-
-  The pencil ( Ao-lambda*I ) has full column rank NOBSV for all
-             (      Co     )
-  lambda, and is in a staircase form, with
-                  _      _            _      _
-                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
-                ( _      _            _      _      )
-    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,          (1)
-    ( Co )      (  :       :      ... _ :    _ :    )
-                (  0       0      ... A1,2   A1,1   )
-                (                            _      )
-                (  0       0      ... 0      A0,1   )
-        _
-  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
-  (with CTAU(0) = P).
-
-  The orthogonal transformation Z, performed to reduce the system
-  matrices, can be optionally accumulated.
-
-  The reduced order system (Ao,Bo,Co) has the same transfer-function
-  matrix as the original system (A,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01UX( COMPZ, N, M, P, A, LDA, B, LDB, C, LDC, Z, LDZ,
-     $                   NOBSV, NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPZ
-      INTEGER            INFO, LDA, LDB, LDC, LDZ, M, N, NLBLCK, NOBSV,
-     $                   P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            CTAU( * ), IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
-     $                   DWORK( * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the system state vector; also the order
-          of the square matrix A, the number of rows of the matrix B
-          and the number of columns of the matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of system input vector; also the number of
-          columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of system output vector; also the number of
-          rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Z'*A*Z,
-
-                             ( Ano  *  )
-                    Z'*A*Z = (         ) ,
-                             ( 0    Ao )
-
-          where Ao is NOBSV-by-NOBSV and Ano is
-          (N-NOBSV)-by-(N-NOBSV).
-          The matrix ( Ao ) is in the observability staircase
-                     ( Co )
-          form (1).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Z'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0;
-          LDB &gt;= 1        if M = 0 and P = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix
-
-                  C*Z = (  0   Co ) ,
-
-          where Co is P-by-NOBSV.          
-          The matrix ( Ao ) is in the observability staircase
-                     ( Co )
-          form (1).
-
-  LDC     INTEGER
-          The leading dimension of the array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0;
-          LDC &gt;= 1          if N = 0.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Z,
-                          i.e., the product of the transformations
-                          applied to A and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I'.
-
-  NOBSV   (output) INTEGER
-          The order of the reduced matrix Ao, and the number of
-          columns of the reduced matrix Co; also, the order of the
-          observable part of the pair (C, A-lambda*I).
-
-  NLBLCK  (output) INTEGER                         _
-          The number k, of full column rank blocks Ai-1,i in the
-          staircase form of the pencil (Ao-lambda*I) (see (1)).
-                                       (     Co    )
-
-  CTAU    (output) INTEGER array, dimension (N)
-          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
-                                        _
-          of the full column rank block Ai-1,i in the staircase
-          form (1).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming the pair (A,C). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P)
-
-  DWORK   DOUBLE PRECISION array, dimension (N+MAX(1, N, 3*P, M))
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the dual of the reduction
-  algorithms of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and C are badly scaled, it is
-  generally recommendable to scale them with the SLICOT routine
-  TB01ID, before calling TG01UX.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01UY.html b/doc/_static/doc/TB01UY.html
deleted file mode 100644
index ad46b932..00000000
--- a/doc/_static/doc/TB01UY.html
+++ /dev/null
@@ -1,421 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01UY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01UY">TB01UY</A></H2>
-<H3>
-Controllable realization of a standard multi-input system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  multi-input system
-
-          dX/dt = A * X + B1 * U1 + B2 * U2,
-             Y  = C * X,
-
-  where A, B1, B2 and C are N-by-N, N-by-M1, N-by-M2, and P-by-N
-  matrices, respectively, and A and [B1,B2] are reduced by this
-  routine to orthogonal canonical form using (and optionally
-  accumulating) orthogonal similarity transformations, which are
-  also applied to C.  Specifically, the system (A, [B1,B2], C) is
-  reduced to the triplet (Ac, [Bc1,Bc2], Cc), where
-  Ac = Z' * A * Z, [Bc1,Bc2] = Z' * [B1,B2], Cc = C * Z,  with
-
-          [ Acont     *    ]                [ Bcont1, Bcont2 ]
-     Ac = [                ],   [Bc1,Bc1] = [                ],
-          [   0    Auncont ]                [   0        0   ]
-
-     and
-
-             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
-             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
-             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
-             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
-     Acont = [  .   .   . . .    .      .     .  ],
-             [  .   .     . .    .      .     .  ]
-             [  .   .       .    .      .     .  ]
-             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
-
-                 [ B11 B12 ]
-                 [  0  B22 ]
-                 [  0   0  ]
-                 [  0   0  ]
-     [Bc1,Bc2] = [  .   .  ],
-                 [  .   .  ]
-                 [  .   .  ]
-                 [  0   0  ]
-
-  where the blocks  B11, B22, A31, ..., Ap,p-2  have full row ranks and
-  p is the controllability index of the pair (A,[B1,B2]).  The size of the
-  block  Auncont  is equal to the dimension of the uncontrollable
-  subspace of the pair (A,[B1,B2]).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
-     $                   NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INDCON, INFO, LDA, LDB, LDC, LDWORK, LDZ, M1,
-     $                  M2, N, NCONT, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), TAU(*),
-     $                  Z(LDZ,*)
-      INTEGER           IWORK(*), NBLK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of system inputs in U1, or of columns of B1.
-          M1 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of system inputs in U2, or of columns of B2.
-          M2 &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state dynamics matrix Ac = Z'*A*Z. The
-          leading NCONT-by-NCONT diagonal block of this matrix,
-          Acont, is the state dynamics matrix of a controllable
-          realization for the original system. The elements below
-          the second block-subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,M1+M2)
-          On entry, the leading N-by-(M1+M2) part of this array must
-          contain the compound input matrix B = [B1,B2], where B1 is
-          N-by-M1 and B2 is N-by-M2.
-          On exit, the leading N-by-(M1+M2) part of this array
-          contains the transformed compound input matrix [Bc1,Bc2] =
-          Z'*[B1,B2]. The leading NCONT-by-(M1+M2) part of this
-          array, [Bcont1, Bcont2], is the compound input matrix of
-          a controllable realization for the original system.
-          All elements below the first block-diagonal are set to
-          zero.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix Cc, given by C * Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  INDCON  (output) INTEGER
-          The controllability index of the controllable part of the
-          system representation.
-
-  NBLK    (output) INTEGER array, dimension (2*N)
-          The leading INDCON elements of this array contain the
-          orders of the diagonal blocks of Acont. INDCON is always
-          an even number, and the INDCON/2 odd and even components
-          of NBLK have decreasing values, respectively.
-          Note that some elements of NBLK can be zero.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this
-          array contains the matrix of accumulated orthogonal
-          similarity transformations which reduces the given system
-          to orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e., set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of the array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (MIN(N,M1+M2))
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of [B1,B2]
-          and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A, [B1,B2]). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (MAX(M1,M2))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and
-          LDWORK &gt;= MAX(N, 3*MAX(M1,M2), P), if MIN(N,M1+M2) &gt; 0.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm [1] represents a specialization of the
-  controllability staircase algorithm of [2] to the special structure
-  of the input matrix B = [B1,B2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Reliable algorithms for computing minimal dynamic covers.
-      Proc. CDC'2003, Hawaii, 2003.
-
-  [2] Varga, A.
-      Numerically stable algorithm for standard controllability
-      form determination.
-      Electronics Letters, vol. 17, pp. 74-75, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A and B are badly scaled, it would be
-  useful to scale them with SLICOT routine TB01ID, before calling
-  the routine.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01UY EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDZ = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = MMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, INDCON, J, M, M1, M2, N, NCONT, P
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), TAU(MIN(NMAX,MMAX)), Z(LDZ,NMAX)
-      INTEGER          IWORK(LIWORK), NBLK(2*NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         DORGQR, TB01UY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M1, M2, P, TOL, JOBZ
-      M = M1 + M2
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find a controllable ssr for the given system.
-               CALL TB01UY( JOBZ, N, M1, M2, P, A, LDA, B, LDB, C, LDC,
-     $                      NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NCONT
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NCONT
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99987 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 ) INDCON
-                  IF ( LSAME( JOBZ, 'F' ) )
-     $               CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                            INFO )
-                  IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 80 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   80                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01UY EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01UY = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
-     $       'le realization is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
-     $       /20(1X,I2))
-99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
-     $       'e realization is ')
-99992 FORMAT (/' The controllability index of the transformed system r',
-     $       'epresentation = ',I2)
-99991 FORMAT (/' The similarity transformation matrix Z is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-99987 FORMAT (/' The transformed output/state matrix C of a controlla',
-     $       'ble realization is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01UY EXAMPLE PROGRAM DATA
-   3     1     1     2     0.0     I
-  -1.0   0.0   0.0
-  -2.0  -2.0  -2.0
-  -1.0   0.0  -3.0
-   1.0   0.0   0.0
-   0.0   2.0   1.0
-   0.0   2.0   1.0
-   1.0   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01UY EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  2
-
- The transformed state dynamics matrix of a controllable realization is 
-  -1.0000   0.0000
-   2.2361  -3.0000
-
- and the dimensions of its diagonal blocks are 
-  1  1
-
- The transformed input/state matrix B of a controllable realization is 
-   1.0000   0.0000
-   0.0000  -2.2361
-
- The transformed output/state matrix C of a controllable realization is 
-   0.0000  -2.2361
-   1.0000   0.0000
-
- The controllability index of the transformed system representation =  2
-
- The similarity transformation matrix Z is 
-   1.0000   0.0000   0.0000
-   0.0000  -0.8944  -0.4472
-   0.0000  -0.4472   0.8944
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01VD.html b/doc/_static/doc/TB01VD.html
deleted file mode 100644
index 9d8e002f..00000000
--- a/doc/_static/doc/TB01VD.html
+++ /dev/null
@@ -1,205 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01VD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01VD">TB01VD</A></H2>
-<H3>
-Conversion of a linear discrete-time system into the output normal form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To convert the linear discrete-time system given as (A, B, C, D),
-  with initial state x0, into the output normal form [1], with
-  parameter vector THETA. The matrix A is assumed to be stable.
-  The matrices A, B, C, D and the vector x0 are converted, so that
-  on exit they correspond to the system defined by THETA.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01VD( APPLY, N, M, L, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   X0, THETA, LTHETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         APPLY
-      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
-     $                  N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), THETA(*), X0(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  APPLY   CHARACTER*1
-          Specifies whether or not the parameter vector should be
-          transformed using a bijective mapping, as follows:
-          = 'A' : apply the bijective mapping to the N vectors in
-                  THETA corresponding to the matrices A and C;
-          = 'N' : do not apply the bijective mapping.
-          The transformation performed when APPLY = 'A' allows
-          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
-          A call of the SLICOT Library routine TB01VY associated to
-          a call of TB01VD must use the same value of APPLY.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A, assumed to be stable.
-          On exit, the leading N-by-N part of this array contains
-          the transformed system state matrix corresponding to the
-          output normal form with parameter vector THETA.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed system input matrix corresponding to the
-          output normal form with parameter vector THETA.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading L-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading L-by-N part of this array contains
-          the transformed system output matrix corresponding to the
-          output normal form with parameter vector THETA.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,L).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading L-by-M part of this array must contain the
-          system input/output matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,L).
-
-  X0      (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state of the
-          system, x0.
-          On exit, this array contains the transformed initial state
-          of the system, corresponding to the output normal form
-          with parameter vector THETA.
-
-  THETA   (output) DOUBLE PRECISION array, dimension (LTHETA)
-          The leading N*(L+M+1)+L*M part of this array contains the
-          parameter vector that defines a system (A, B, C, D, x0)
-          which is equivalent up to a similarity transformation to
-          the system given on entry. The parameters are:
-
-          THETA(1:N*L)                      : parameters for A, C;
-          THETA(N*L+1:N*(L+M))              : parameters for B;
-          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
-          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
-
-  LTHETA  INTEGER
-          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*N*L + N*L + N,
-                        N*N + MAX(N*N + N*MAX(N,L) + 6*N + MIN(N,L),
-                                  N*M)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the Lyapunov equation A'*Q*A - Q = -scale^2*C'*C
-                could only be solved with scale = 0;
-          = 2:  if matrix A is not discrete-time stable;
-          = 3:  if the QR algorithm failed to converge for
-                matrix A.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrices A and C are converted to output normal form.
-  First, the Lyapunov equation
-
-     A'*Q*A - Q = -scale^2*C'*C,
-
-  is solved in the Cholesky factor T, T'*T = Q, and then T is used
-  to get the transformation matrix.
-
-  The matrix B and the initial state x0 are transformed accordingly.
-
-  Then, the QR factorization of the transposed observability matrix
-  is computed, and the matrix Q is used to further transform the
-  system matrices. The parameters characterizing A and C are finally
-  obtained by applying a set of N orthogonal transformations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Peeters, R.L.M., Hanzon, B., and Olivi, M.
-      Balanced realizations of discrete-time stable all-pass
-      systems and the tangential Schur algorithm.
-      Proceedings of the European Control Conference,
-      31 August - 3 September 1999, Karlsruhe, Germany.
-      Session CP-6, Discrete-time Systems, 1999.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01VY.html b/doc/_static/doc/TB01VY.html
deleted file mode 100644
index e44b2a84..00000000
--- a/doc/_static/doc/TB01VY.html
+++ /dev/null
@@ -1,164 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01VY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01VY">TB01VY</A></H2>
-<H3>
-Conversion of the output normal form to a state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To convert the linear discrete-time system given as its output
-  normal form [1], with parameter vector THETA, into the state-space
-  representation (A, B, C, D), with the initial state x0.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01VY( APPLY, N, M, L, THETA, LTHETA, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, X0, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         APPLY
-      INTEGER           INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
-     $                  N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), THETA(*), X0(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  APPLY   CHARACTER*1
-          Specifies whether or not the parameter vector should be
-          transformed using a bijective mapping, as follows:
-          = 'A' : apply the bijective mapping to the N vectors in
-                  THETA corresponding to the matrices A and C;
-          = 'N' : do not apply the bijective mapping.
-          The transformation performed when APPLY = 'A' allows
-          to get rid of the constraints norm(THETAi) &lt; 1, i = 1:N.
-          A call of the SLICOT Library routine TB01VD associated to
-          a call of TB01VY must use the same value of APPLY.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  L       (input) INTEGER
-          The number of system outputs.  L &gt;= 0.
-
-  THETA   (input) DOUBLE PRECISION array, dimension (LTHETA)
-          The leading N*(L+M+1)+L*M part of this array must contain
-          the parameter vector that defines a system (A, B, C, D),
-          with the initial state x0. The parameters are:
-
-          THETA(1:N*L)                      : parameters for A, C;
-          THETA(N*L+1:N*(L+M))              : parameters for B;
-          THETA(N*(L+M)+1:N*(L+M)+L*M)      : parameters for D;
-          THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
-
-  LTHETA  INTEGER
-          The length of array THETA.  LTHETA &gt;= N*(L+M+1)+L*M.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the system
-          state matrix corresponding to the output normal form with
-          parameter vector THETA.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array contains the system
-          input matrix corresponding to the output normal form with
-          parameter vector THETA.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading L-by-N part of this array contains the system
-          output matrix corresponding to the output normal form with
-          parameter vector THETA.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,L).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading L-by-M part of this array contains the system
-          input/output matrix corresponding to the output normal
-          form with parameter vector THETA.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,L).
-
-  X0      (output) DOUBLE PRECISION array, dimension (N)
-          This array contains the initial state of the system, x0,
-          corresponding to the output normal form with parameter
-          vector THETA.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= N*(N+L+1).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The parameters characterizing A and C are used to build N
-  orthogonal transformations, which are then applied to recover
-  these matrices.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01WD.html b/doc/_static/doc/TB01WD.html
deleted file mode 100644
index 8db2fc6d..00000000
--- a/doc/_static/doc/TB01WD.html
+++ /dev/null
@@ -1,297 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01WD">TB01WD</A></H2>
-<H3>
-Orthogonal similarity transformation of system state-matrix to real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the system state matrix A to an upper real Schur form
-  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
-  to apply the transformation to the matrices B and C: B &lt;-- U'*B
-  and C &lt;-- C*U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                   WR, WI, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*),
-     $                 WI(*), WR(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix U' * A * U in real Schur form. The elements
-          below the first subdiagonal are set to zero.
-          Note:  A matrix is in real Schur form if it is upper
-                 quasi-triangular with 1-by-1 and 2-by-2 blocks.
-                 2-by-2 blocks are standardized in the form
-                          [  a  b  ]
-                          [  c  a  ]
-                 where b*c &lt; 0. The eigenvalues of such a block
-                 are a +- sqrt(bc).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  U       (output) DOUBLE PRECISION array, dimension (LDU,N)
-          The leading N-by-N part of this array contains the
-          orthogonal transformation matrix used to reduce A to the
-          real Schur form. The columns of U are the Schur vectors of
-          matrix A.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= max(1,N).
-
-  WR, WI  (output) DOUBLE PRECISION arrays, dimension (N)
-          WR and WI contain the real and imaginary parts,
-          respectively, of the computed eigenvalues of A. The
-          eigenvalues will be in the same order that they appear on
-          the diagonal of the output real Schur form of A. Complex
-          conjugate pairs of eigenvalues will appear consecutively
-          with the eigenvalue having the positive imaginary part
-          first.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.  LWORK &gt;= 3*N.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QR algorithm failed to compute
-                all the eigenvalues; elements i+1:N of WR and WI
-                contain those eigenvalues which have converged;
-                U contains the matrix which reduces A to its
-                partially converged Schur form.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is reduced to a real Schur form using an orthogonal
-  similarity transformation A &lt;- U'*A*U. Then, the transformation
-  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 10N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01WD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 3*NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX), WI(NMAX), WR(NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01WD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                      WR, WI, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) WR(I), WI(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01WD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01WD = ',I2)
-99997 FORMAT (' The eigenvalues of state dynamics matrix A are ')
-99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix U''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01WD EXAMPLE PROGRAM DATA (Continuous system)
-  5  2   3    
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01WD EXAMPLE PROGRAM RESULTS
-
- The eigenvalues of state dynamics matrix A are 
- ( -0.7483,   2.9940 )
- ( -0.7483,  -2.9940 )
- ( -1.6858,   2.0311 )
- ( -1.6858,  -2.0311 )
- ( -1.8751,   0.0000 )
-
- The transformed state dynamics matrix U'*A*U is 
-  -0.7483  -8.6406   0.0000   0.0000   1.1745
-   1.0374  -0.7483   0.0000   0.0000  -2.1164
-   0.0000   0.0000  -1.6858   5.5669   0.0000
-   0.0000   0.0000  -0.7411  -1.6858   0.0000
-   0.0000   0.0000   0.0000   0.0000  -1.8751
-
- The transformed input/state matrix U'*B is 
-  -0.5543   0.5543
-  -1.6786   1.6786
-  -0.8621  -0.8621
-   2.1912   2.1912
-  -1.5555   1.5555
-
- The transformed state/output matrix C*U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-
- The similarity transformation matrix U is 
-   0.6864  -0.0987   0.6580   0.2589  -0.1381
-  -0.1665  -0.5041  -0.2589   0.6580  -0.4671
-  -0.0471   0.6873   0.0000   0.0000  -0.7249
-  -0.6864   0.0987   0.6580   0.2589   0.1381
-   0.1665   0.5041  -0.2589   0.6580   0.4671
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01WX.html b/doc/_static/doc/TB01WX.html
deleted file mode 100644
index b1dfe99a..00000000
--- a/doc/_static/doc/TB01WX.html
+++ /dev/null
@@ -1,290 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01WX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01WX">TB01WX</A></H2>
-<H3>
-Orthogonal similarity transformation of a standard system to one with state matrix in a Hessenberg form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the system state matrix A to an upper Hessenberg form
-  by using an orthogonal similarity transformation A &lt;-- U'*A*U and
-  to apply the transformation to the matrices B and C: B &lt;-- U'*B
-  and C &lt;-- C*U.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U, LDU,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        COMPU
-      INTEGER          INFO, LDA, LDB, LDC, LDU, LDWORK, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), U(LDU,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPU   CHARACTER*1
-          = 'N':  do not compute U;
-          = 'I':  U is initialized to the unit matrix, and the
-                  orthogonal matrix U is returned;
-          = 'U':  U must contain an orthogonal matrix U1 on entry,
-                  and the product U1*U is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix U' * A * U in Hessenberg form. The elements
-          below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix U' * B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * U.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  U       (input/output) DOUBLE PRECISION array, dimension (LDU,*)
-          On entry, if COMPU = 'U', the leading N-by-N part of this
-          array must contain the given matrix U1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          to reduce A to the Hessenberg form (U1*U if COMPU = 'U').
-          If COMPU = 'N', this array is not referenced.
-
-  LDU     INTEGER
-          The leading dimension of the array U.
-          LDU &gt;= 1,        if COMPU =  'N';
-          LDU &gt;= max(1,N), if COMPU &lt;&gt; 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= N - 1 + MAX(N,M,P).
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Matrix A is reduced to the Hessenberg form using an orthogonal
-  similarity transformation A &lt;- U'*A*U. Then, the transformation
-  is applied to the matrices B and C: B &lt;-- U'*B and C &lt;-- C*U.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                 3      2
-  The algorithm requires about 5N /3 + N (M+P) floating point
-                                           3
-  operations, if COMPU = 'N'. Otherwise, 2N /3 additional operations
-  are needed.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01WX EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDU
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDU = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX - 1 + MAX( NMAX, MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        COMPU
-      INTEGER          I, INFO, J, M, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), U(LDU,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB01WX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, COMPU
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99988 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed ssr for (A,B,C).
-               CALL TB01WX( COMPU, N, M, P, A, LDA, B, LDB, C, LDC, U,
-     $                      LDU, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 60 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 70 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( U(I,J), J = 1,N )
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01WX EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01WX = ',I2)
-99996 FORMAT (/' The transformed state dynamics matrix U''*A*U is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT ( ' (',F8.4,', ',F8.4,' )')
-99993 FORMAT (/' The transformed input/state matrix U''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*U is ')
-99991 FORMAT (/' The similarity transformation matrix U is ')
-99990 FORMAT (/' N is out of range.',/' N = ',I5)
-99989 FORMAT (/' M is out of range.',/' M = ',I5)
-99988 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01WX EXAMPLE PROGRAM DATA (Continuous system)
-  5  2   3     I    
-  -0.04165    4.9200   -4.9200         0         0
- -1.387944   -3.3300         0         0         0
-    0.5450         0         0   -0.5450         0
-         0         0    4.9200  -0.04165    4.9200
-         0         0         0 -1.387944   -3.3300
-         0         0
-    3.3300         0
-         0         0
-         0         0
-         0    3.3300
-     1     0     0     0     0
-     0     0     1     0     0
-     0     0     0     1     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01WX EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix U'*A*U is 
-  -0.0416  -6.3778   1.4826  -1.9856   1.2630
-   1.4911  -2.8851  -0.4353   0.8984  -0.5714
-   0.0000  -2.1254   1.6804  -4.9686  -1.7731
-   0.0000   0.0000   2.1880  -3.3545  -2.6069
-   0.0000   0.0000   0.0000   0.7554  -2.1424
-
- The transformed input/state matrix U'*B is 
-   0.0000   0.0000
-  -3.0996   0.0000
-  -0.6488   0.0000
-   0.8689   1.7872
-  -0.5527   2.8098
-
- The transformed state/output matrix C*U is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.3655  -0.4962   0.6645  -0.4227
-   0.0000   0.0000  -0.8461  -0.4498   0.2861
-
- The similarity transformation matrix U is 
-   1.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.9308  -0.1948   0.2609  -0.1660
-   0.0000   0.3655  -0.4962   0.6645  -0.4227
-   0.0000   0.0000  -0.8461  -0.4498   0.2861
-   0.0000   0.0000   0.0000   0.5367   0.8438
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01XD.html b/doc/_static/doc/TB01XD.html
deleted file mode 100644
index d8aa2c03..00000000
--- a/doc/_static/doc/TB01XD.html
+++ /dev/null
@@ -1,168 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01XD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01XD">TB01XD</A></H2>
-<H3>
-Special similarity transformation of the dual state-space system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a special transformation to a system given as a triple
-  (A,B,C),
-
-     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
-
-  where P is a matrix with 1 on the secondary diagonal, and with 0
-  in the other entries. Matrix A can be specified as a band matrix.
-  Optionally, matrix D of the system can be transposed. This
-  transformation is actually a special similarity transformation of
-  the dual system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01XD( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBD
-      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed (pertransposed) matrix P*A'*P.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-P part of this array contains
-          the dual input/state matrix P*C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
-          LDB &gt;= 1        if M = 0 and P = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the dual state/output matrix B'*P.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  D       (input/output) DOUBLE PRECISION array, dimension
-          (LDD,MAX(M,P))
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the original direct transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading M-by-P part of this
-          array contains the transposed direct transmission matrix
-          D'. The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
-          LDD &gt;= 1          if JOBD = 'Z'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The rows and/or columns of the matrices of the triplet (A,B,C)
-  and, optionally, of the matrix D are swapped in a special way.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01XZ.html b/doc/_static/doc/TB01XZ.html
deleted file mode 100644
index ba8534dd..00000000
--- a/doc/_static/doc/TB01XZ.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01XZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01XZ">TB01XZ</A></H2>
-<H3>
-Special similarity transformation of the dual state-space system (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a special transformation to a system given as a triple
-  (A,B,C),
-
-     A &lt;-- P * A' * P,  B &lt;-- P * C',  C &lt;-- B' * P,
-
-  where P is a matrix with 1 on the secondary diagonal, and with 0
-  in the other entries. Matrix A can be specified as a band matrix.
-  Optionally, matrix D of the system can be transposed. This
-  transformation is actually a special similarity transformation of
-  the dual system.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01XZ( JOBD, N, M, P, KL, KU, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBD
-      INTEGER            INFO, KL, KU, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   D( LDD, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed a zero matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  KL      (input) INTEGER
-          The number of subdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KL &gt;= 0.
-
-  KU      (input) INTEGER
-          The number of superdiagonals of A to be transformed.
-          MAX( 0, N-1 ) &gt;= KU &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed (pertransposed) matrix P*A'*P.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B.
-          On exit, the leading N-by-P part of this array contains
-          the dual input/state matrix P*C'.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or  P &gt; 0.
-          LDB &gt;= 1        if M = 0 and P = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C.
-          On exit, the leading M-by-N part of this array contains
-          the dual state/output matrix B'*P.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  D       (input/output) COMPLEX*16 array, dimension (LDD,MAX(M,P))
-          On entry, if JOBD = 'D', the leading P-by-M part of this
-          array must contain the original direct transmission
-          matrix D.
-          On exit, if JOBD = 'D', the leading M-by-P part of this
-          array contains the transposed direct transmission matrix
-          D'. The array D is not referenced if JOBD = 'Z'.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,M,P) if JOBD = 'D'.
-          LDD &gt;= 1          if JOBD = 'Z'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The rows and/or columns of the matrices of the triplet (A,B,C)
-  and, optionally, of the matrix D are swapped in a special way.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01YD.html b/doc/_static/doc/TB01YD.html
deleted file mode 100644
index 39fc712e..00000000
--- a/doc/_static/doc/TB01YD.html
+++ /dev/null
@@ -1,129 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01YD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01YD">TB01YD</A></H2>
-<H3>
-Special similarity transformation of a state-space system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To apply a special similarity transformation to a system given as
-  a triple (A,B,C),
-
-     A &lt;-- P * A * P,  B &lt;-- P * B,  C &lt;-- C * P,
-
-  where P is a matrix with 1 on the secondary diagonal, and with 0
-  in the other entries.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01YD( N, M, P, A, LDA, B, LDB, C, LDC, INFO )
-C     .. Scalar Arguments ..
-      INTEGER            INFO, LDA, LDB, LDC, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A, the number of rows of matrix B
-          and the number of columns of matrix C.
-          N represents the dimension of the state vector.  N &gt;= 0.
-
-  M       (input) INTEGER.
-          The number of columns of matrix B.
-          M represents the dimension of input vector.  M &gt;= 0.
-
-  P       (input) INTEGER.
-          The number of rows of matrix C.
-          P represents the dimension of output vector.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the system state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed matrix P*A*P.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the system input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed matrix P*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0.
-          LDB &gt;= 1        if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the system output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*P.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The rows and/or columns of the matrices of the triplet (A,B,C)
-  are swapped in a special way.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB01ZD.html b/doc/_static/doc/TB01ZD.html
deleted file mode 100644
index 7563f17a..00000000
--- a/doc/_static/doc/TB01ZD.html
+++ /dev/null
@@ -1,335 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB01ZD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB01ZD">TB01ZD</A></H2>
-<H3>
-Controllable realization for single-input systems using orthogonal state and input transformations
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a controllable realization for the linear time-invariant
-  single-input system
-
-          dX/dt = A * X + B * U,
-             Y  = C * X,
-
-  where A is an N-by-N matrix, B is an N element vector, C is an
-  P-by-N matrix, and A and B are reduced by this routine to
-  orthogonal canonical form using (and optionally accumulating)
-  orthogonal similarity transformations, which are also applied
-  to C.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
-     $                   TAU, TOL, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBZ
-      INTEGER           INFO, LDA, LDC, LDWORK, LDZ, N, NCONT, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), C(LDC,*), DWORK(*), TAU(*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBZ    CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal similarity transformations for
-          reducing the system, as follows:
-          = 'N':  Do not form Z and do not store the orthogonal
-                  transformations;
-          = 'F':  Do not form Z, but store the orthogonal
-                  transformations in the factored form;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e. the order of the matrix A.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NCONT-by-NCONT upper Hessenberg
-          part of this array contains the canonical form of the
-          state dynamics matrix, given by Z' * A * Z, of a
-          controllable realization for the original system. The
-          elements below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, the original input/state vector B.
-          On exit, the leading NCONT elements of this array contain
-          canonical form of the input/state vector, given by Z' * B,
-          with all elements but B(1) set to zero.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output/state matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output/state matrix, given by C * Z, and
-          the leading P-by-NCONT part contains the output/state
-          matrix of the controllable realization.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  NCONT   (output) INTEGER
-          The order of the controllable state-space representation.
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If JOBZ = 'I', then the leading N-by-N part of this array
-          contains the matrix of accumulated orthogonal similarity
-          transformations which reduces the given system to
-          orthogonal canonical form.
-          If JOBZ = 'F', the elements below the diagonal, with the
-          array TAU, represent the orthogonal transformation matrix
-          as a product of elementary reflectors. The transformation
-          matrix can then be obtained by calling the LAPACK Library
-          routine DORGQR.
-          If JOBZ = 'N', the array Z is not referenced and can be
-          supplied as a dummy array (i.e. set parameter LDZ = 1 and
-          declare this array to be Z(1,1) in the calling program).
-
-  LDZ     INTEGER
-          The leading dimension of array Z. If JOBZ = 'I' or
-          JOBZ = 'F', LDZ &gt;= MAX(1,N); if JOBZ = 'N', LDZ &gt;= 1.
-
-  TAU     (output) DOUBLE PRECISION array, dimension (N)
-          The elements of TAU contain the scalar factors of the
-          elementary reflectors used in the reduction of B and A.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of (A,B). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as an absolute tolerance;
-          elements with absolute value less than TOL are considered
-          neglijible. If the user sets TOL &lt;= 0, then an implicitly
-          computed, default tolerance, defined by
-          TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead,
-          where EPS is the machine precision (see LAPACK Library
-          routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK. LDWORK &gt;= MAX(1,N,P).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The Householder matrix which reduces all but the first element
-  of vector B to zero is found and this orthogonal similarity
-  transformation is applied to the matrix A. The resulting A is then
-  reduced to upper Hessenberg form by a sequence of Householder
-  transformations. Finally, the order of the controllable state-
-  space representation (NCONT) is determined by finding the position
-  of the first sub-diagonal element of A which is below an
-  appropriate zero threshold, either TOL or TOLDEF (see parameter
-  TOL); if NORM(B) is smaller than this threshold, NCONT is set to
-  zero, and no computations for reducing the system to orthogonal
-  canonical form are performed.
-  All orthogonal transformations determined in this process are also
-  applied to the matrix C, from the right.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D.
-      Orthogonal Invariants and Canonical Forms for Linear
-      Controllable Systems.
-      Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981.
-
-  [2] Hammarling, S.J.
-      Notes on the use of orthogonal similarity transformations in
-      control.
-      NPL Report DITC 8/82, August 1982.
-
-  [3] Paige, C.C
-      Properties of numerical algorithms related to computing
-      controllability.
-      IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations and is backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB01ZD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, PMAX
-      PARAMETER        ( NMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDC, LDZ
-      PARAMETER        ( LDA = NMAX, LDC = PMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX, PMAX ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INFO, J, N, NCONT, P
-      CHARACTER*1      JOBZ
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(NMAX), C(LDC,NMAX), DWORK(LDWORK),
-     $                 TAU(NMAX), Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB01ZD, DORGQR
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read in the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, P, TOL, JOBZ
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( B(I), I = 1,N )
-         IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) P
-         ELSE
-            READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*           Find a controllable realization for the given system.
-            CALL TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
-     $                   TAU, TOL, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NCONT
-               DO 20 I = 1, NCONT
-                  WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT )
-   20          CONTINUE
-               WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT )
-               WRITE ( NOUT, FMT = 99991 )
-               DO 30 I = 1, P
-                  WRITE ( NOUT, FMT = 99994 ) ( C(I,J), J = 1,NCONT )
-   30          CONTINUE
-               IF ( LSAME( JOBZ, 'F' ) )
-     $            CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
-     $                         INFO )
-               IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB01ZD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB01ZD = ',I2)
-99997 FORMAT (' The order of the controllable state-space representati',
-     $       'on = ',I2,//' The state dynamics matrix A of a controlla',
-     $       'ble realization is ')
-99996 FORMAT (/' The input/state vector B of a controllable realizatio',
-     $       'n is ',/(1X,F8.4))
-99995 FORMAT (/' The similarity transformation matrix Z is ')
-99994 FORMAT (20(1X,F8.4))
-99993 FORMAT (/' N is out of range.',/' N = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' The output/state matrix C of a controllable realizati',
-     $       'on is ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB01ZD EXAMPLE PROGRAM DATA
-   3     2     0.0     I
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   2.0   1.0
-   1.0   0.0   0.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB01ZD EXAMPLE PROGRAM RESULTS
-
- The order of the controllable state-space representation =  3
-
- The state dynamics matrix A of a controllable realization is 
-   1.0000   1.4142   0.0000
-   2.8284  -1.0000   2.8284
-   0.0000   1.4142   1.0000
-
- The input/state vector B of a controllable realization is 
-  -1.4142
-   0.0000
-   0.0000
-
- The output/state matrix C of a controllable realization is 
-  -0.7071  -2.0000   0.7071
-  -0.7071   0.0000  -0.7071
-
- The similarity transformation matrix Z is 
-  -0.7071   0.0000  -0.7071
-   0.0000  -1.0000   0.0000
-  -0.7071   0.0000   0.7071
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB03AD.html b/doc/_static/doc/TB03AD.html
deleted file mode 100644
index 91ba6f3c..00000000
--- a/doc/_static/doc/TB03AD.html
+++ /dev/null
@@ -1,499 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB03AD">TB03AD</A></H2>
-<H3>
-Left/right polynomial matrix representation of a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a relatively prime left polynomial matrix representation
-  inv(P(s))*Q(s) or right polynomial matrix representation
-  Q(s)*inv(P(s)) with the same transfer matrix T(s) as that of a
-  given state-space representation, i.e.
-
-     inv(P(s))*Q(s) = Q(s)*inv(P(s)) = T(s) = C*inv(s*I-A)*B + D.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C, LDC,
-     $                   D, LDD, NR, INDEX, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1, LDVCO2,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, LERI
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
-     $                  LDQCO1, LDQCO2, LDVCO1, LDVCO2, LDWORK, M, N,
-     $                  NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether the left polynomial matrix
-          representation or the right polynomial matrix
-          representation is required as follows:
-          = 'L':  A left matrix fraction is required;
-          = 'R':  A right matrix fraction is required.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the triplet
-          (A,B,C), before computing a minimal state-space
-          representation, as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the original state dynamics matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the upper block Hessenberg state dynamics matrix Amin of a
-          minimal realization for the original system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; the remainder
-          of the leading N-by-MAX(M,P) part is used as internal
-          workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the transformed input/state matrix Bmin.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; the remainder
-          of the leading MAX(M,P)-by-N part is used as internal
-          workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cmin.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array must contain the
-          original direct transmission matrix D; the remainder of
-          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
-          workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  NR      (output) INTEGER
-          The order of the minimal state-space representation
-          (Amin,Bmin,Cmin).
-
-  INDEX   (output) INTEGER array, dimension (P), if LERI = 'L', or
-                                  dimension (M), if LERI = 'R'.
-          If LERI = 'L', INDEX(I), I = 1,2,...,P, contains the
-          maximum degree of the polynomials in the I-th row of the
-          denominator matrix P(s) of the left polynomial matrix
-          representation.
-          These elements are ordered so that
-          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(P).
-          If LERI = 'R', INDEX(I), I = 1,2,...,M, contains the
-          maximum degree of the polynomials in the I-th column of
-          the denominator matrix P(s) of the right polynomial
-          matrix representation.
-          These elements are ordered so that
-          INDEX(1) &gt;= INDEX(2) &gt;= ... &gt;= INDEX(M).
-
-  PCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,N+1)
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          The leading porm-by-porm-by-kpcoef part of this array
-          contains the coefficients of the denominator matrix P(s),
-          where kpcoef = MAX(INDEX(I)) + 1.
-          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
-          LERI = 'L' then iorj = I, otherwise iorj = J.
-          Thus for LERI = 'L', P(s) =
-          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P), if LERI = 'L';
-          LDPCO1 &gt;= MAX(1,M), if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P), if LERI = 'L';
-          LDPCO2 &gt;= MAX(1,M), if LERI = 'R'.
-
-  QCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,N+1)
-          If LERI = 'L' then porp = M, otherwise porp = P.
-          If LERI = 'L', the leading porm-by-porp-by-kpcoef part
-          of this array contains the coefficients of the numerator
-          matrix Q(s).
-          If LERI = 'R', the leading porp-by-porm-by-kpcoef part
-          of this array contains the coefficients of the numerator
-          matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,P),   if LERI = 'L';
-          LDQCO1 &gt;= MAX(1,M,P), if LERI = 'R'.
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M),   if LERI = 'L';
-          LDQCO2 &gt;= MAX(1,M,P), if LERI = 'R'.
-
-  VCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDVCO1,LDVCO2,N+1)
-          The leading porm-by-NR-by-kpcoef part of this array
-          contains the coefficients of the intermediate matrix V(s).
-          VCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-
-  LDVCO1  INTEGER
-          The leading dimension of array VCOEFF.
-          LDVCO1 &gt;= MAX(1,P), if LERI = 'L';
-          LDVCO1 &gt;= MAX(1,M), if LERI = 'R'.
-
-  LDVCO2  INTEGER
-          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
-          where  PM = P, if LERI = 'L';
-                 PM = M, if LERI = 'R'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if a singular matrix was encountered during the
-                computation of V(s);
-          = 2:  if a singular matrix was encountered during the
-                computation of P(s).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for a left matrix fraction will be described here:
-  right matrix fractions are dealt with by constructing a left
-  fraction for the dual of the original system. The first step is to
-  obtain, by means of orthogonal similarity transformations, a
-  minimal state-space representation (Amin,Bmin,Cmin,D) for the
-  original system (A,B,C,D), where Amin is lower block Hessenberg
-  with all its superdiagonal blocks upper triangular and Cmin has
-  all but its first rank(C) columns zero.  The number and dimensions
-  of the blocks of Amin now immediately yield the row degrees of
-  P(s) with P(s) row proper: furthermore, the P-by-NR polynomial
-  matrix V(s) (playing a similar role to S(s) in Wolovich's
-  Structure Theorem) can be calculated a column block at a time, in
-  reverse order, from Amin. P(s) is then found as if it were the
-  O-th column block of V(s) (using Cmin as well as Amin), while
-  Q(s) = (V(s) * Bmin) + (P(s) * D). Finally, a special similarity
-  transformation is used to put Amin in an upper block Hessenberg
-  form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Williams, T.W.C.
-      An Orthogonal Structure Theorem for Linear Systems.
-      Kingston Polytechnic Control Systems Research Group,
-      Internal Report 82/2, July 1982.
-
-  [2] Patel, R.V.
-      On Computing Matrix Fraction Descriptions and Canonical
-      Forms of Linear Time-Invariant Systems.
-      UMIST Control Systems Centre Report 489, 1980.
-      (Algorithms 1 and 2, extensively modified).
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDPCO1, LDPCO2, LDQCO1,
-     $                 LDQCO2, LDVCO1, LDVCO2, NMAXP1
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP, LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP, LDVCO1 = MAXMP,
-     $                   LDVCO2 = NMAX, NMAXP1 = NMAX+1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
-     $                                 MAXMP*( MAXMP + 2 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INDBLK, INFO, J, K, KPCOEF, M, N, NR, P, PORM,
-     $                 PORP
-      CHARACTER*1      EQUIL, LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DWORK(LDWORK),
-     $                 PCOEFF(LDPCO1,LDPCO2,NMAXP1),
-     $                 QCOEFF(LDQCO1,LDQCO2,NMAXP1),
-     $                 VCOEFF(LDVCO1,LDVCO2,NMAXP1)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, LERI, EQUIL
-      LLERI = LSAME( LERI, 'L' )
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99987 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99986 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99985 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the right pmr which is equivalent to the ssr
-*              C*inv(sI-A)*B+D.
-               CALL TB03AD( LERI, EQUIL, N, M, P, A, LDA, B, LDB, C,
-     $                      LDC, D, LDD, NR, INDEX, PCOEFF, LDPCO1,
-     $                      LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF,
-     $                      LDVCO1, LDVCO2, TOL, IWORK, DWORK, LDWORK,
-     $                      INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  INDBLK = 0
-                  DO 40 I = 1, N
-                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 ) ( IWORK(I), I = 1,INDBLK )
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 60 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80             CONTINUE
-                  IF ( LLERI ) THEN
-                     PORM = P
-                     PORP = M
-                     WRITE ( NOUT, FMT = 99992 ) INDBLK
-                  ELSE
-                     PORM = M
-                     PORP = P
-                     WRITE ( NOUT, FMT = 99991 ) INDBLK
-                  END IF
-                  WRITE ( NOUT, FMT = 99990 ) ( INDEX(I), I = 1,PORM )
-                  KPCOEF = 0
-                  DO 100 I = 1, PORM
-                     KPCOEF = MAX( KPCOEF, INDEX(I) )
-  100             CONTINUE
-                  KPCOEF = KPCOEF + 1
-                  WRITE ( NOUT, FMT = 99989 )
-                  DO 140 I = 1, PORM
-                     DO 120 J = 1, PORM
-                        WRITE ( NOUT, FMT = 99996 )
-     $                        ( PCOEFF(I,J,K), K = 1,KPCOEF )
-  120                CONTINUE
-  140             CONTINUE
-                  WRITE ( NOUT, FMT = 99988 )
-                  IF ( LLERI ) THEN
-                     DO 180 I = 1, PORM
-                        DO 160 J = 1, PORP
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
-  160                   CONTINUE
-  180                CONTINUE
-                  ELSE
-                     DO 220 I = 1, PORP
-                        DO 200 J = 1, PORM
-                           WRITE ( NOUT, FMT = 99996 )
-     $                           ( QCOEFF(I,J,K), K = 1,KPCOEF )
-  200                   CONTINUE
-  220                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB03AD = ',I2)
-99997 FORMAT (' The order of the minimal state-space representation = ',
-     $       I2,//' The transformed state dynamics matrix of a minimal',
-     $       ' realization is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' and the dimensions of its diagonal blocks are ',/20(I5)
-     $       )
-99994 FORMAT (/' The transformed input/state matrix of a minimal reali',
-     $       'zation is ')
-99993 FORMAT (/' The transformed state/output matrix of a minimal real',
-     $       'ization is ')
-99992 FORMAT (/' The observability index of the transformed minimal sy',
-     $       'stem representation = ',I2)
-99991 FORMAT (/' The controllability index of the transformed minimal ',
-     $       'system representation = ',I2)
-99990 FORMAT (/' INDEX is ',/20(I5))
-99989 FORMAT (/' The denominator matrix P(s) is ')
-99988 FORMAT (/' The numerator matrix Q(s) is ')
-99987 FORMAT (/' N is out of range.',/' N = ',I5)
-99986 FORMAT (/' M is out of range.',/' M = ',I5)
-99985 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB03AD EXAMPLE PROGRAM DATA
-   3     1     2     0.0     R     N
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   0.0   1.0  -1.0
-   0.0   0.0   1.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB03AD EXAMPLE PROGRAM RESULTS
-
- The order of the minimal state-space representation =  3
-
- The transformed state dynamics matrix of a minimal realization is 
-   1.0000  -1.4142   0.0000
-  -2.8284  -1.0000   2.8284
-   0.0000   1.4142   1.0000
-
- and the dimensions of its diagonal blocks are 
-    1    1    1
-
- The transformed input/state matrix of a minimal realization is 
-  -1.4142
-   0.0000
-   0.0000
-
- The transformed state/output matrix of a minimal realization is 
-   0.7071   1.0000   0.7071
-  -0.7071   0.0000  -0.7071
-
- The controllability index of the transformed minimal system representation =  3
-
- INDEX is 
-    3
-
- The denominator matrix P(s) is 
-   0.1768  -0.1768  -1.5910   1.5910
-
- The numerator matrix Q(s) is 
-   0.0000  -0.1768   0.7071   0.8839
-   0.1768   0.0000  -1.5910   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,462 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04AD">TB04AD</A></H2>
-<H3>
-Transfer matrix of a given state-space representation (A,B,C,D)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the transfer matrix T(s) of a given state-space
-  representation (A,B,C,D). T(s) is expressed as either row or
-  column polynomial vectors over monic least common denominator
-  polynomials.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF, LDUCO1,
-     $                   LDUCO2, TOL1, TOL2, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ROWCOL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
-     $                  LDUCO2, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL1, TOL2
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DCOEFF(LDDCOE,*), DWORK(*),
-     $                  UCOEFF(LDUCO1,LDUCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ROWCOL  CHARACTER*1
-          Indicates whether the transfer matrix T(s) is required
-          as rows or columns over common denominators as follows:
-          = 'R':  T(s) is required as rows over common denominators;
-          = 'C':  T(s) is required as columns over common
-                  denominators.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the state-space representation, i.e. the
-          order of the original state dynamics matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the upper block Hessenberg state dynamics matrix A of a
-          transformed representation for the original system: this
-          is completely controllable if ROWCOL = 'R', or completely
-          observable if ROWCOL = 'C'.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if ROWCOL = 'R', and (LDB,MAX(M,P)) if ROWCOL = 'C'.
-          On entry, the leading N-by-M part of this array must
-          contain the original input/state matrix B; if
-          ROWCOL = 'C', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the transformed input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original state/output matrix C; if
-          ROWCOL = 'C', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix C.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDC &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M),
-          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
-          The leading P-by-M part of this array must contain the
-          original direct transmission matrix D; if ROWCOL = 'C',
-          this array is modified internally, but restored on exit,
-          and the remainder of the leading MAX(M,P)-by-MAX(M,P)
-          part is used as internal workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  NR      (output) INTEGER
-          The order of the transformed state-space representation.
-
-  INDEX   (output) INTEGER array, dimension (porm), where porm = P,
-          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
-          The degrees of the denominator polynomials.
-
-  DCOEFF  (output) DOUBLE PRECISION array, dimension (LDDCOE,N+1)
-          The leading porm-by-kdcoef part of this array contains
-          the coefficients of each denominator polynomial, where
-          kdcoef = MAX(INDEX(I)) + 1.
-          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of
-          the I-th denominator polynomial, where K = 1,2,...,kdcoef.
-
-  LDDCOE  INTEGER
-          The leading dimension of array DCOEFF.
-          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
-          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
-
-  UCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDUCO1,LDUCO2,N+1)
-          If ROWCOL = 'R' then porp = M, otherwise porp = P.
-          The leading porm-by-porp-by-kdcoef part of this array
-          contains the coefficients of the numerator matrix U(s).
-          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
-          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
-          Thus for ROWCOL = 'R', U(s) =
-          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
-
-  LDUCO1  INTEGER
-          The leading dimension of array UCOEFF.
-          LDUCO1 &gt;= MAX(1,P) if ROWCOL = 'R';
-          LDUCO1 &gt;= MAX(1,M) if ROWCOL = 'C'.
-
-  LDUCO2  INTEGER
-          The second dimension of array UCOEFF.
-          LDUCO2 &gt;= MAX(1,M) if ROWCOL = 'R';
-          LDUCO2 &gt;= MAX(1,P) if ROWCOL = 'C'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL1    DOUBLE PRECISION
-          The tolerance to be used in determining the i-th row of
-          T(s), where i = 1,2,...,porm. If the user sets TOL1 &gt; 0,
-          then the given value of TOL1 is used as an absolute
-          tolerance; elements with absolute value less than TOL1 are
-          considered neglijible. If the user sets TOL1 &lt;= 0, then
-          an implicitly computed, default tolerance, defined in
-          the SLICOT Library routine TB01ZD, is used instead.
-
-  TOL2    DOUBLE PRECISION
-          The tolerance to be used to separate out a controllable
-          subsystem of (A,B,C). If the user sets TOL2 &gt; 0, then
-          the given value of TOL2 is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL2 is considered to be of full rank.  If the user sets
-          TOL2 &lt;= 0, then an implicitly computed, default tolerance,
-          defined in the SLICOT Library routine TB01UD, is used
-          instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N + 1) + MAX(N*MP + 2*N + MAX(N,MP),
-                                    3*MP, PM)),
-          where MP = M, PM = P, if ROWCOL = 'R';
-                MP = P, PM = M, if ROWCOL = 'C'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for transfer matrices factorized by rows will be
-  described here: T(s) factorized by columns is dealt with by
-  operating on the dual of the original system.  Each row of
-  T(s) is simply a single-output relatively left prime polynomial
-  matrix representation, so can be calculated by applying a
-  simplified version of the Orthogonal Structure Theorem to a
-  minimal state-space representation for the corresponding row of
-  the given system. A minimal state-space representation is obtained
-  using the Orthogonal Canonical Form to first separate out a
-  completely controllable one for the overall system and then, for
-  each row in turn, applying it again to the resulting dual SIMO
-  (single-input multi-output) system. Note that the elements of the
-  transformed matrix A so calculated are individually scaled in a
-  way which guarantees a monic denominator polynomial.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Williams, T.W.C.
-      An Orthogonal Structure Theorem for Linear Systems.
-      Control Systems Research Group, Kingston Polytechnic,
-      Internal Report 82/2, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDUCO1, LDUCO2,
-     $                 NMAXP1
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP, LDDCOE = MAXMP, LDUCO1 = MAXMP,
-     $                   LDUCO2 = MAXMP, NMAXP1 = NMAX+1 )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX + 1 ) +
-     $                            MAX( NMAX*MAXMP + 2*NMAX +
-     $                                 MAX( NMAX, MAXMP ), 3*MAXMP ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL1, TOL2
-      INTEGER          I, II, IJ, INDBLK, INFO, J, JJ, KDCOEF, M, N,
-     $                 NR, P, PORM, PORP
-      CHARACTER*1      ROWCOL
-      CHARACTER*132    ULINE
-      LOGICAL          LROWCO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,NMAXP1),
-     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,NMAXP1)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB04AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL1, TOL2, ROWCOL
-      LROWCO = LSAME( ROWCOL, 'R' )
-      ULINE(1:20) = ' '
-      DO 20 I = 21, 132
-         ULINE(I:I) = '-'
-   20 CONTINUE
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99985 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99984 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the transfer matrix T(s) of (A,B,C,D).
-               CALL TB04AD( ROWCOL, N, M, P, A, LDA, B, LDB, C, LDC, D,
-     $                      LDD, NR, INDEX, DCOEFF, LDDCOE, UCOEFF,
-     $                      LDUCO1, LDUCO2, TOL1, TOL2, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) NR
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 I = 1, NR
-                     WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 80 I = 1, P
-                     WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80             CONTINUE
-                  INDBLK = 0
-                  DO 100 I = 1, N
-                     IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-  100             CONTINUE
-                  IF ( LROWCO ) THEN
-                     PORM = P
-                     PORP = M
-                     WRITE ( NOUT, FMT = 99993 ) INDBLK,
-     $                          ( IWORK(I), I = 1,INDBLK )
-                  ELSE
-                     PORM = M
-                     PORP = P
-                     WRITE ( NOUT, FMT = 99992 ) INDBLK,
-     $                          ( IWORK(I), I = 1,INDBLK )
-                  END IF
-                  WRITE ( NOUT, FMT = 99991 ) ( INDEX(I), I = 1,PORM )
-                  WRITE ( NOUT, FMT = 99990 )
-                  KDCOEF = 0
-                  DO 120 I = 1, PORM
-                     KDCOEF = MAX( KDCOEF, INDEX(I) )
-  120             CONTINUE
-                  KDCOEF = KDCOEF + 1
-                  DO 160 II = 1, PORM
-                     DO 140 JJ = 1, PORP
-                        WRITE ( NOUT, FMT = 99989 ) II, JJ,
-     $                    ( UCOEFF(II,JJ,IJ), IJ = 1,KDCOEF )
-                        WRITE ( NOUT, FMT = 99988 ) ULINE(1:7*KDCOEF+21)
-                        WRITE ( NOUT, FMT = 99987 )
-     $                        ( DCOEFF(II,IJ), IJ = 1,KDCOEF )
-  140                CONTINUE
-  160             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB04AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB04AD = ',I2)
-99997 FORMAT (' The order of the transformed state-space representatio',
-     $       'n = ',I2,//' The transformed state dynamics matrix A is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The transformed input/state matrix B is ')
-99994 FORMAT (/' The transformed state/output matrix C is ')
-99993 FORMAT (/' The controllability index of the transformed state-sp',
-     $       'ace representation = ',I2,//' The dimensions of the diag',
-     $       'onal blocks of the transformed A are ',/20(I5))
-99992 FORMAT (/' The observability index of the transformed state-spac',
-     $       'e representation = ',I2,//' The dimensions of the diagon',
-     $       'al blocks of the transformed A are ',/20(I5))
-99991 FORMAT (/' The degrees of the denominator polynomials are',/20(I5)
-     $       )
-99990 FORMAT (/' The coefficients of polynomials in the transfer matri',
-     $       'x T(s) are ')
-99989 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
-99988 FORMAT (1X,A)
-99987 FORMAT (20X,20(1X,F6.2))
-99986 FORMAT (/' N is out of range.',/' N = ',I5)
-99985 FORMAT (/' M is out of range.',/' M = ',I5)
-99984 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB04AD EXAMPLE PROGRAM DATA
-   3     2     2  0.0        0.0     R
-  -1.0   0.0   0.0
-   0.0  -2.0   0.0
-   0.0   0.0  -3.0
-   0.0   1.0  -1.0
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-   1.0   1.0   1.0
-   1.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB04AD EXAMPLE PROGRAM RESULTS
-
- The order of the transformed state-space representation =  3
-
- The transformed state dynamics matrix A is 
-  -2.5000  -0.2887  -0.4082
-  -0.2887  -1.5000  -0.7071
-  -0.4082  -0.7071  -2.0000
-
- The transformed input/state matrix B is 
-  -1.4142  -0.7071
-   0.0000   1.2247
-   0.0000   0.0000
-
- The transformed state/output matrix C is 
-   0.0000   0.8165   1.1547
-   0.0000   1.6330   0.5774
-
- The controllability index of the transformed state-space representation =  2
-
- The dimensions of the diagonal blocks of the transformed A are 
-    2    1
-
- The degrees of the denominator polynomials are
-    2    3
-
- The coefficients of polynomials in the transfer matrix T(s) are 
-
- element ( 1, 1) is    1.00   5.00   7.00   0.00
-                     -----------------------------
-                       1.00   5.00   6.00   0.00
-
- element ( 1, 2) is    0.00   1.00   3.00   0.00
-                     -----------------------------
-                       1.00   5.00   6.00   0.00
-
- element ( 2, 1) is    0.00   0.00   1.00   1.00
-                     -----------------------------
-                       1.00   6.00  11.00   6.00
-
- element ( 2, 2) is    1.00   8.00  20.00  15.00
-                     -----------------------------
-                       1.00   6.00  11.00   6.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,414 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BD">TB04BD</A></H2>
-<H3>
-Transfer matrix of a given state-space representation (A,B,C,D), using the pole-zeros method
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transfer function matrix G of a state-space
-  representation (A,B,C,D) of a linear time-invariant multivariable
-  system, using the pole-zeros method. Each element of the transfer
-  function matrix is returned in a cancelled, minimal form, with
-  numerator and denominator polynomials stored either in increasing
-  or decreasing order of the powers of the indeterminate.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
-     $                   GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          EQUIL, JOBD, ORDER
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDIGD, LDIGN, LDWORK,
-     $                   M, MD, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*), GD(*), GN(*)
-      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*), IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state-space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed to be a zero matrix.
-
-  ORDER   CHARACTER*1
-          Specifies the order in which the polynomial coefficients
-          are stored, as follows:
-          = 'I':  Increasing order of powers of the indeterminate;
-          = 'D':  Decreasing order of powers of the indeterminate.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system (A,B,C,D).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  MD      (input) INTEGER
-          The maximum degree of the polynomials in G, plus 1. An
-          upper bound for MD is N+1.  MD &gt;= 1.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if EQUIL = 'S', the leading N-by-N part of this
-          array contains the balanced matrix inv(S)*A*S, as returned
-          by SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the contents of B are destroyed: all elements but
-          those in the first row are set to zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, if EQUIL = 'S', the leading P-by-N part of this
-          array contains the balanced matrix C*S, as returned by
-          SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this array must
-          contain the matrix D.
-          If JOBD = 'Z', the array D is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  IGN     (output) INTEGER array, dimension (LDIGN,M)
-          The leading P-by-M part of this array contains the degrees
-          of the numerator polynomials in the transfer function
-          matrix G. Specifically, the (i,j) element of IGN contains
-          the degree of the numerator polynomial of the transfer
-          function G(i,j) from the j-th input to the i-th output.
-
-  LDIGN   INTEGER
-          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
-
-  IGD     (output) INTEGER array, dimension (LDIGD,M)
-          The leading P-by-M part of this array contains the degrees
-          of the denominator polynomials in the transfer function
-          matrix G. Specifically, the (i,j) element of IGD contains
-          the degree of the denominator polynomial of the transfer
-          function G(i,j).
-
-  LDIGD   INTEGER
-          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
-
-  GN      (output) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array contains the coefficients of the numerator
-          polynomials, Num(i,j), of the transfer function matrix G.
-          The polynomials are stored in a column-wise order, i.e.,
-          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
-          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
-          MD memory locations are reserved for each polynomial,
-          hence, the (i,j) polynomial is stored starting from the
-          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
-          increasing or decreasing order of the powers of the
-          indeterminate, according to ORDER.
-
-  GD      (output) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array contains the coefficients of the denominator
-          polynomials, Den(i,j), of the transfer function matrix G.
-          The polynomials are stored in the same way as the
-          numerator polynomials.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of a single-input system (A,b) or (A',c'),
-          where b and c' are columns in B and C' (C transposed). If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as an absolute tolerance; elements with absolute value
-          less than TOL are considered neglijible. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH), and bc denotes the currently used
-          column in B or C' (see METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N+P) +
-                           MAX( N + MAX( N,P ), N*(2*N+5)))
-          If N &gt;= P, N &gt;= 1, the formula above can be written as
-          LDWORK &gt;= N*(3*N + P + 5).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QR algorithm failed to converge when trying to
-                compute the zeros of a transfer function;
-          = 2:  the QR algorithm failed to converge when trying to
-                compute the poles of a transfer function.
-                The errors INFO = 1 or 2 are unlikely to appear.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the pole-zero method proposed in [1].
-  This method is based on an algorithm for computing the transfer
-  function of a single-input single-output (SISO) system.
-  Let (A,b,c,d) be a SISO system. Its transfer function is computed
-  as follows:
-
-  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
-  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
-  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
-  4) Compute the zeros of (Ao,bo,co,d).
-  5) Compute the gain of (Ao,bo,co,d).
-
-  This algorithm can be implemented using only orthogonal
-  transformations [1]. However, for better efficiency, the
-  implementation in TB04BD uses one elementary transformation
-  in Step 4 and r elementary transformations in Step 5 (to reduce
-  an upper Hessenberg matrix to upper triangular form). These
-  special elementary transformations are numerically stable
-  in practice.
-
-  In the multi-input multi-output (MIMO) case, the algorithm
-  computes each element (i,j) of the transfer function matrix G,
-  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
-  is performed once for each value of j (each column of B). The
-  matrices Ac and Ao result in Hessenberg form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A. and Sima, V.
-      Numerically Stable Algorithm for Transfer Function Matrix
-      Evaluation.
-      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable in practice and requires about
-  20*N**3 floating point operations at most, but usually much less.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For maximum efficiency of index calculations, GN and GD are
-  implemented as one-dimensional arrays.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB04BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, MDMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
-     $                   MDMAX = NMAX + 1 )
-      INTEGER          PMNMAX
-      PARAMETER        ( PMNMAX = PMAX*MMAX*MDMAX )
-      INTEGER          LDA, LDB, LDC, LDD, LDIGD, LDIGN
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDIGD = PMAX, LDIGN = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
-     $                            MAX( NMAX + MAX( NMAX, PMAX ),
-     $                                 NMAX*( 2*NMAX + 5 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, IJ, INFO, J, K, M, MD, N, P
-      CHARACTER*1      JOBD, ORDER, EQUIL
-      CHARACTER*132    ULINE
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), GD(PMNMAX),
-     $                 GN(PMNMAX)
-      INTEGER          IGD(LDIGD,MMAX), IGN(LDIGN,MMAX), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB04BD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, ORDER, EQUIL
-      MD = N + 1
-      ULINE(1:20) = ' '
-      DO 20 I = 21, 132
-         ULINE(I:I) = '-'
-   20 CONTINUE
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99990 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99989 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the transfer matrix T(s) of (A,B,C,D).
-               CALL TB04BD( JOBD, ORDER, EQUIL, N, M, P, MD, A, LDA, B,
-     $                      LDB, C, LDC, D, LDD, IGN, LDIGN, IGD, LDIGD,
-     $                      GN, GD, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( LSAME( ORDER, 'I' ) ) THEN
-                     WRITE ( NOUT, FMT = 99997 )
-                  ELSE
-                     WRITE ( NOUT, FMT = 99996 )
-                  END IF
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 60 J = 1, M
-                     DO 40 I = 1, P
-                        IJ = ( (J-1)*P + I-1 )*MD + 1
-                        WRITE ( NOUT, FMT = 99994 ) I, J,
-     $                    ( GN(K), K = IJ,IJ+IGN(I,J) )
-                        WRITE ( NOUT, FMT = 99993 )
-     $                          ULINE(1:7*(IGD(I,J)+1)+21)
-                        WRITE ( NOUT, FMT = 99992 )
-     $                        ( GD(K), K = IJ,IJ+IGD(I,J) )
-   40                CONTINUE
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB04BD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB04BD = ',I2)
-99997 FORMAT (/' The polynomial coefficients appear in increasing',
-     $         ' order'/' of the powers of the indeterminate')
-99996 FORMAT (/' The polynomial coefficients appear in decreasing',
-     $         ' order'/' of the powers of the indeterminate')
-99995 FORMAT (/' The coefficients of polynomials in the transfer matri',
-     $       'x T(s) are ')
-99994 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
-99993 FORMAT (1X,A)
-99992 FORMAT (20X,20(1X,F6.2))
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB04BD EXAMPLE PROGRAM DATA
-   3     2     2  0.0         D     I     N
-  -1.0   0.0   0.0
-   0.0  -2.0   0.0
-   0.0   0.0  -3.0
-   0.0   1.0  -1.0
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-   1.0   1.0   1.0
-   1.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB04BD EXAMPLE PROGRAM RESULTS
-
-
- The polynomial coefficients appear in increasing order
- of the powers of the indeterminate
-
- The coefficients of polynomials in the transfer matrix T(s) are 
-
- element ( 1, 1) is    7.00   5.00   1.00
-                     ----------------------
-                       6.00   5.00   1.00
-
- element ( 2, 1) is    1.00
-                     ----------------------
-                       6.00   5.00   1.00
-
- element ( 1, 2) is    1.00
-                     ---------------
-                       2.00   1.00
-
- element ( 2, 2) is    5.00   5.00   1.00
-                     ----------------------
-                       2.00   3.00   1.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB04BV.html b/doc/_static/doc/TB04BV.html
deleted file mode 100644
index dfa8d2bf..00000000
--- a/doc/_static/doc/TB04BV.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BV - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BV">TB04BV</A></H2>
-<H3>
-Strictly proper part of a proper transfer function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To separate the strictly proper part G0 from the constant part D
-  of an P-by-M proper transfer function matrix G.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BV( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
-     $                   GD, D, LDD, TOL, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          ORDER
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
-      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ORDER   CHARACTER*1
-          Specifies the order in which the polynomial coefficients
-          of the transfer function matrix are stored, as follows:
-          = 'I':  Increasing order of powers of the indeterminate;
-          = 'D':  Decreasing order of powers of the indeterminate.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  MD      (input) INTEGER
-          The maximum degree of the polynomials in G, plus 1, i.e.,
-          MD = MAX(IGD(I,J)) + 1.
-               I,J
-
-  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
-          On entry, the leading P-by-M part of this array must
-          contain the degrees of the numerator polynomials in G:
-          the (i,j) element of IGN must contain the degree of the
-          numerator polynomial of the polynomial ratio G(i,j).
-          On exit, the leading P-by-M part of this array contains
-          the degrees of the numerator polynomials in G0.
-
-  LDIGN   INTEGER
-          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
-
-  IGD     (input) INTEGER array, dimension (LDIGD,M)
-          The leading P-by-M part of this array must contain the
-          degrees of the denominator polynomials in G (and G0):
-          the (i,j) element of IGD contains the degree of the
-          denominator polynomial of the polynomial ratio G(i,j).
-
-  LDIGD   INTEGER
-          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
-
-  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
-          On entry, this array must contain the coefficients of the
-          numerator polynomials, Num(i,j), of the transfer function
-          matrix G. The polynomials are stored in a column-wise
-          order, i.e., Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2),
-          Num(2,2), ..., Num(P,2), ..., Num(1,M), Num(2,M), ...,
-          Num(P,M); MD memory locations are reserved for each
-          polynomial, hence, the (i,j) polynomial is stored starting
-          from the location ((j-1)*P+i-1)*MD+1. The coefficients
-          appear in increasing or decreasing order of the powers
-          of the indeterminate, according to ORDER.
-          On exit, this array contains the coefficients of the
-          numerator polynomials of the strictly proper part G0 of
-          the transfer function matrix G, stored similarly.
-
-  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array must contain the coefficients of the
-          denominator polynomials, Den(i,j), of the transfer
-          function matrix G. The polynomials are stored as for the
-          numerator polynomials.
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array contains the
-          matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= max(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the degrees of
-          the numerators Num0(i,j) of the strictly proper part of
-          the transfer function matrix G. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as an absolute
-          tolerance; the leading coefficients with absolute value
-          less than TOL are considered neglijible. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by TOLDEF = IGN(i,j)*EPS*NORM( Num(i,j) ) is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH), and NORM denotes the infinity
-          norm (the maximum coefficient in absolute value).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the transfer function matrix is not proper;
-          = 2:  if a denominator polynomial is null.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j) entry of the real matrix D is zero, if the degree of
-  Num(i,j), IGN(i,j), is less than the degree of Den(i,j), IGD(i,j),
-  and it is given by the ratio of the leading coefficients of
-  Num(i,j) and Den(i,j), if IGN(i,j) is equal to IGD(i,j),
-  for i = 1 : P, and for j = 1 : M.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  For maximum efficiency of index calculations, GN and GD are
-  implemented as one-dimensional arrays.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB04BW.html b/doc/_static/doc/TB04BW.html
deleted file mode 100644
index 3930d97d..00000000
--- a/doc/_static/doc/TB04BW.html
+++ /dev/null
@@ -1,159 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BW - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BW">TB04BW</A></H2>
-<H3>
-Sum of a rational matrix and a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the sum of an P-by-M rational matrix G and a real
-  P-by-M matrix D.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BW( ORDER, P, M, MD, IGN, LDIGN, IGD, LDIGD, GN,
-     $                   GD, D, LDD, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          ORDER
-      INTEGER            INFO, LDD, LDIGD, LDIGN, M, MD, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   D(LDD,*), GD(*), GN(*)
-      INTEGER            IGD(LDIGD,*), IGN(LDIGN,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ORDER   CHARACTER*1
-          Specifies the order in which the polynomial coefficients
-          of the rational matrix are stored, as follows:
-          = 'I':  Increasing order of powers of the indeterminate;
-          = 'D':  Decreasing order of powers of the indeterminate.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  MD      (input) INTEGER
-          The maximum degree of the polynomials in G, plus 1, i.e.,
-          MD = MAX(IGN(I,J),IGD(I,J)) + 1.
-               I,J
-
-  IGN     (input/output) INTEGER array, dimension (LDIGN,M)
-          On entry, the leading P-by-M part of this array must
-          contain the degrees of the numerator polynomials in G:
-          the (i,j) element of IGN must contain the degree of the
-          numerator polynomial of the polynomial ratio G(i,j).
-          On exit, the leading P-by-M part of this array contains
-          the degrees of the numerator polynomials in G + D.
-
-  LDIGN   INTEGER
-          The leading dimension of array IGN.  LDIGN &gt;= max(1,P).
-
-  IGD     (input) INTEGER array, dimension (LDIGD,M)
-          The leading P-by-M part of this array must contain the
-          degrees of the denominator polynomials in G (and G + D):
-          the (i,j) element of IGD contains the degree of the
-          denominator polynomial of the polynomial ratio G(i,j).
-
-  LDIGD   INTEGER
-          The leading dimension of array IGD.  LDIGD &gt;= max(1,P).
-
-  GN      (input/output) DOUBLE PRECISION array, dimension (P*M*MD)
-          On entry, this array must contain the coefficients of the
-          numerator polynomials, Num(i,j), of the rational matrix G.
-          The polynomials are stored in a column-wise order, i.e.,
-          Num(1,1), Num(2,1), ..., Num(P,1), Num(1,2), Num(2,2),
-          ..., Num(P,2), ..., Num(1,M), Num(2,M), ..., Num(P,M);
-          MD memory locations are reserved for each polynomial,
-          hence, the (i,j) polynomial is stored starting from the
-          location ((j-1)*P+i-1)*MD+1. The coefficients appear in
-          increasing or decreasing order of the powers of the
-          indeterminate, according to ORDER.
-          On exit, this array contains the coefficients of the
-          numerator polynomials of the rational matrix G + D,
-          stored similarly.
-
-  GD      (input) DOUBLE PRECISION array, dimension (P*M*MD)
-          This array must contain the coefficients of the
-          denominator polynomials, Den(i,j), of the rational
-          matrix G. The polynomials are stored as for the
-          numerator polynomials.
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          matrix D.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= max(1,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j) entry of the real matrix D is added to the (i,j) entry
-  of the matrix G, g(i,j), which is a ratio of two polynomials,
-  for i = 1 : P, and for j = 1 : M. If g(i,j) = 0, it is assumed
-  that its denominator is 1.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  Often, the rational matrix G is found from a state-space
-  representation (A,B,C), and D corresponds to the direct
-  feedthrough matrix of the system. The sum G + D gives the
-  transfer function matrix of the system (A,B,C,D).
-  For maximum efficiency of index calculations, GN and GD are
-  implemented as one-dimensional arrays.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB04BX.html b/doc/_static/doc/TB04BX.html
deleted file mode 100644
index 6945625b..00000000
--- a/doc/_static/doc/TB04BX.html
+++ /dev/null
@@ -1,159 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04BX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04BX">TB04BX</A></H2>
-<H3>
-Gain of a SISO linear system, given its state-space representation, poles and zeros
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the gain of a single-input single-output linear system,
-  given its state-space representation (A,b,c,d), and its poles and
-  zeros. The matrix A is assumed to be in an upper Hessenberg form.
-  The gain is computed using the formula
-
-                       -1         IP              IZ
-     g = (c*( S0*I - A ) *b + d)*Prod( S0 - Pi )/Prod( S0 - Zi ) ,
-                                  i=1             i=1            (1)
-
-  where Pi, i = 1 : IP, and Zj, j = 1 : IZ, are the poles and zeros,
-  respectively, and S0 is a real scalar different from all poles and
-  zeros.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04BX( IP, IZ, A, LDA, B, C, D, PR, PI, ZR, ZI, GAIN,
-     $                   IWORK )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   D, GAIN
-      INTEGER            IP, IZ, LDA
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(*), C(*), PI(*), PR(*), ZI(*),
-     $                   ZR(*)
-      INTEGER            IWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  IP      (input) INTEGER
-          The number of the system poles.  IP &gt;= 0.
-
-  IZ      (input) INTEGER
-          The number of the system zeros.  IZ &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,IP)
-          On entry, the leading IP-by-IP part of this array must
-          contain the state dynamics matrix A in an upper Hessenberg
-          form. The elements below the second diagonal are not
-          referenced.
-          On exit, the leading IP-by-IP upper Hessenberg part of
-          this array contains the LU factorization of the matrix
-          A - S0*I, as computed by SLICOT Library routine MB02SD.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= max(1,IP).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (IP)
-          On entry, this array must contain the system input
-          vector b.
-          On exit, this array contains the solution of the linear
-          system ( A - S0*I )x = b .
-
-  C       (input) DOUBLE PRECISION array, dimension (IP)
-          This array must contain the system output vector c.
-
-  D       (input) DOUBLE PRECISION
-          The variable must contain the system feedthrough scalar d.
-
-  PR      (input) DOUBLE PRECISION array, dimension (IP)
-          This array must contain the real parts of the system
-          poles. Pairs of complex conjugate poles must be stored in
-          consecutive memory locations.
-
-  PI      (input) DOUBLE PRECISION array, dimension (IP)
-          This array must contain the imaginary parts of the system
-          poles.
-
-  ZR      (input) DOUBLE PRECISION array, dimension (IZ)
-          This array must contain the real parts of the system
-          zeros. Pairs of complex conjugate zeros must be stored in
-          consecutive memory locations.
-
-  ZI      (input) DOUBLE PRECISION array, dimension (IZ)
-          This array must contain the imaginary parts of the system
-          zeros.
-
-  GAIN    (output) DOUBLE PRECISION
-          The gain of the linear system (A,b,c,d), given by (1).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (IP)
-          On exit, it contains the pivot indices; for 1 &lt;= i &lt;= IP,
-          row i of the matrix A - S0*I was interchanged with
-          row IWORK(i).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the method presented in [1]. A suitable
-  value of S0 is chosen based on the system poles and zeros.
-  Then, the LU factorization of the upper Hessenberg, nonsingular
-  matrix A - S0*I is computed and used to solve the linear system
-  in (1).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A. and Sima, V.
-      Numerically Stable Algorithm for Transfer Function Matrix
-      Evaluation.
-      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable in practice and requires
-  O(IP*IP) floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB04CD.html b/doc/_static/doc/TB04CD.html
deleted file mode 100644
index be5c9891..00000000
--- a/doc/_static/doc/TB04CD.html
+++ /dev/null
@@ -1,455 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB04CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB04CD">TB04CD</A></H2>
-<H3>
-Pole-zero-gain representation for a given state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the transfer function matrix G of a state-space
-  representation (A,B,C,D) of a linear time-invariant multivariable
-  system, using the pole-zeros method. The transfer function matrix
-  is returned in a minimal pole-zero-gain form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
-     $                   ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          EQUIL, JOBD
-      DOUBLE PRECISION   TOL
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ,
-     $                   LDWORK, M, N, NPZ, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*), GAINS(LDGAIN,*), POLESI(*),
-     $                   POLESR(*), ZEROSI(*), ZEROSR(*)
-      INTEGER            IWORK(*), NP(LDNP,*), NZ(LDNZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBD    CHARACTER*1
-          Specifies whether or not a non-zero matrix D appears in
-          the given state-space model:
-          = 'D':  D is present;
-          = 'Z':  D is assumed to be a zero matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily
-          equilibrate the triplet (A,B,C) as follows:
-          = 'S':  perform equilibration (scaling);
-          = 'N':  do not perform equilibration.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the system (A,B,C,D).  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of the system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of the system outputs.  P &gt;= 0.
-
-  NPZ     (input) INTEGER
-          The maximum number of poles or zeros of the single-input
-          single-output channels in the system. An upper bound
-          for NPZ is N.  NPZ &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, if EQUIL = 'S', the leading N-by-N part of this
-          array contains the balanced matrix inv(S)*A*S, as returned
-          by SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the contents of B are destroyed: all elements but
-          those in the first row are set to zero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, if EQUIL = 'S', the leading P-by-N part of this
-          array contains the balanced matrix C*S, as returned by
-          SLICOT Library routine TB01ID.
-          If EQUIL = 'N', this array is unchanged on exit.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          If JOBD = 'D', the leading P-by-M part of this array must
-          contain the matrix D.
-          If JOBD = 'Z', the array D is not referenced.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P), if JOBD = 'D';
-          LDD &gt;= 1,        if JOBD = 'Z'.
-
-  NZ      (output) INTEGER array, dimension (LDNZ,M)
-          The leading P-by-M part of this array contains the numbers
-          of zeros of the elements of the transfer function
-          matrix G. Specifically, the (i,j) element of NZ contains
-          the number of zeros of the transfer function G(i,j) from
-          the j-th input to the i-th output.
-
-  LDNZ    INTEGER
-          The leading dimension of array NZ.  LDNZ &gt;= max(1,P).
-
-  NP      (output) INTEGER array, dimension (LDNP,M)
-          The leading P-by-M part of this array contains the numbers
-          of poles of the elements of the transfer function
-          matrix G. Specifically, the (i,j) element of NP contains
-          the number of poles of the transfer function G(i,j).
-
-  LDNP    INTEGER
-          The leading dimension of array NP.  LDNP &gt;= max(1,P).
-
-  ZEROSR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the real parts of the zeros of the
-          transfer function matrix G. The real parts of the zeros
-          are stored in a column-wise order, i.e., for the transfer
-          functions (1,1), (2,1), ..., (P,1), (1,2), (2,2), ...,
-          (P,2), ..., (1,M), (2,M), ..., (P,M); NPZ memory locations
-          are reserved for each transfer function, hence, the real
-          parts of the zeros for the (i,j) transfer function
-          are stored starting from the location ((j-1)*P+i-1)*NPZ+1.
-          Pairs of complex conjugate zeros are stored in consecutive
-          memory locations. Note that only the first NZ(i,j) entries
-          are initialized for the (i,j) transfer function.
-
-  ZEROSI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the imaginary parts of the zeros of
-          the transfer function matrix G, stored in a similar way
-          as the real parts of the zeros.
-
-  POLESR  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the real parts of the poles of the
-          transfer function matrix G, stored in the same way as
-          the zeros. Note that only the first NP(i,j) entries are
-          initialized for the (i,j) transfer function.
-
-  POLESI  (output) DOUBLE PRECISION array, dimension (P*M*NPZ)
-          This array contains the imaginary parts of the poles of
-          the transfer function matrix G, stored in the same way as
-          the poles.
-
-  GAINS   (output) DOUBLE PRECISION array, dimension (LDGAIN,M)
-          The leading P-by-M part of this array contains the gains
-          of the transfer function matrix G. Specifically,
-          GAINS(i,j) contains the gain of the transfer function
-          G(i,j).
-
-  LDGAIN  INTEGER
-          The leading dimension of array GAINS.  LDGAIN &gt;= max(1,P).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the
-          controllability of a single-input system (A,b) or (A',c'),
-          where b and c' are columns in B and C' (C transposed). If
-          the user sets TOL &gt; 0, then the given value of TOL is used
-          as an absolute tolerance; elements with absolute value
-          less than TOL are considered neglijible. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(bc) ) is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH), and bc denotes the currently used
-          column in B or C' (see METHOD).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N*(N+P) +
-                           MAX( N + MAX( N,P ), N*(2*N+3)))
-          If N &gt;= P, N &gt;= 1, the formula above can be written as
-          LDWORK &gt;= N*(3*N + P + 3).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QR algorithm failed to converge when trying to
-                compute the zeros of a transfer function;
-          = 2:  the QR algorithm failed to converge when trying to
-                compute the poles of a transfer function.
-                The errors INFO = 1 or 2 are unlikely to appear.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine implements the pole-zero method proposed in [1].
-  This method is based on an algorithm for computing the transfer
-  function of a single-input single-output (SISO) system.
-  Let (A,b,c,d) be a SISO system. Its transfer function is computed
-  as follows:
-
-  1) Find a controllable realization (Ac,bc,cc) of (A,b,c).
-  2) Find an observable realization (Ao,bo,co) of (Ac,bc,cc).
-  3) Compute the r eigenvalues of Ao (the poles of (Ao,bo,co)).
-  4) Compute the zeros of (Ao,bo,co,d).
-  5) Compute the gain of (Ao,bo,co,d).
-
-  This algorithm can be implemented using only orthogonal
-  transformations [1]. However, for better efficiency, the
-  implementation in TB04CD uses one elementary transformation
-  in Step 4 and r elementary transformations in Step 5 (to reduce
-  an upper Hessenberg matrix to upper triangular form). These
-  special elementary transformations are numerically stable
-  in practice.
-
-  In the multi-input multi-output (MIMO) case, the algorithm
-  computes each element (i,j) of the transfer function matrix G,
-  for i = 1 : P, and for j = 1 : M. For efficiency reasons, Step 1
-  is performed once for each value of j (each column of B). The
-  matrices Ac and Ao result in Hessenberg form.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A. and Sima, V.
-      Numerically Stable Algorithm for Transfer Function Matrix
-      Evaluation.
-      Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically stable in practice and requires about
-  20*N**3 floating point operations at most, but usually much less.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB04CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NPZMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20,
-     $                   NPZMAX = NMAX )
-      INTEGER          PMNMAX
-      PARAMETER        ( PMNMAX = PMAX*MMAX*NPZMAX )
-      INTEGER          LDA, LDB, LDC, LDD, LDGAIN, LDNP, LDNZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDGAIN = PMAX, LDNP = PMAX,
-     $                   LDNZ = PMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX*( NMAX + PMAX ) +
-     $                            MAX( NMAX + MAX( NMAX, PMAX ),
-     $                                 NMAX*( 2*NMAX + 3 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, IJ, INFO, J, K, M, N, NPZ, P
-      CHARACTER*1      JOBD, EQUIL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), GAINS(LDGAIN,MMAX),
-     $                 POLESI(PMNMAX), POLESR(PMNMAX), ZEROSI(PMNMAX),
-     $                 ZEROSR(PMNMAX)
-      INTEGER          IWORK(LIWORK), NP(LDNP,MMAX), NZ(LDNZ,MMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TB04CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBD, EQUIL
-      NPZ = N
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*              Find the transfer matrix T(s) of (A,B,C,D) in the
-*              pole-zero-gain form.
-               CALL TB04CD( JOBD, EQUIL, N, M, P, NPZ, A, LDA, B, LDB,
-     $                      C, LDC, D, LDD, NZ, LDNZ, NP, LDNP, ZEROSR,
-     $                      ZEROSI, POLESR, POLESI, GAINS, LDGAIN, TOL,
-     $                      IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 60 J = 1, M
-                     DO 40 I = 1, P
-                        IJ = ( (J-1)*P + I-1 )*NPZ + 1
-                        IF ( NZ(I,J).EQ.0 ) THEN
-                           WRITE ( NOUT, FMT = 99996 ) I, J
-                        ELSE
-                           WRITE ( NOUT, FMT = 99995 ) I, J,
-     $                        ( ZEROSR(K), ZEROSI(K),
-     $                                 K = IJ,IJ+NZ(I,J)-1 )
-                        END IF
-                        WRITE ( NOUT, FMT = 99994 ) I, J,
-     $                     ( POLESR(K), POLESI(K), K = IJ,IJ+NP(I,J)-1 )
-                        WRITE ( NOUT, FMT = 99993 ) I, J, ( GAINS(I,J) )
-   40                CONTINUE
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB04CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB04CD = ',I2)
-99997 FORMAT (/' The poles, zeros and gains of the transfer matrix',
-     $         ' elements: ')
-99996 FORMAT (/' no zeros for element (',I2,',',I2,')')
-99995 FORMAT (/' zeros of element (',I2,',',I2,') are ',//
-     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
-99994 FORMAT (/' poles of element (',I2,',',I2,') are ',//
-     $         '   real part     imag part '// (2X,F9.4,5X,F9.4))
-99993 FORMAT (/' gain of element (',I2,',',I2,') is ', F9.4)
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB04CD EXAMPLE PROGRAM DATA
-   3     2     2  0.0         D     N
-  -1.0   0.0   0.0
-   0.0  -2.0   0.0
-   0.0   0.0  -3.0
-   0.0   1.0  -1.0
-   1.0   1.0   0.0
-   0.0   1.0   1.0
-   1.0   1.0   1.0
-   1.0   0.0
-   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB04CD EXAMPLE PROGRAM RESULTS
-
-
- The poles, zeros and gains of the transfer matrix elements: 
-
- zeros of element ( 1, 1) are 
-
-   real part     imag part 
-
-    -2.5000        0.8660
-    -2.5000       -0.8660
-
- poles of element ( 1, 1) are 
-
-   real part     imag part 
-
-    -2.0000        0.0000
-    -3.0000        0.0000
-
- gain of element ( 1, 1) is    1.0000
-
- no zeros for element ( 2, 1)
-
- poles of element ( 2, 1) are 
-
-   real part     imag part 
-
-    -2.0000        0.0000
-    -3.0000        0.0000
-
- gain of element ( 2, 1) is    1.0000
-
- no zeros for element ( 1, 2)
-
- poles of element ( 1, 2) are 
-
-   real part     imag part 
-
-    -2.0000        0.0000
-
- gain of element ( 1, 2) is    1.0000
-
- zeros of element ( 2, 2) are 
-
-   real part     imag part 
-
-    -3.6180        0.0000
-    -1.3820        0.0000
-
- poles of element ( 2, 2) are 
-
-   real part     imag part 
-
-    -1.0000        0.0000
-    -2.0000        0.0000
-
- gain of element ( 2, 2) is    1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TB05AD.html b/doc/_static/doc/TB05AD.html
deleted file mode 100644
index 5340f3c9..00000000
--- a/doc/_static/doc/TB05AD.html
+++ /dev/null
@@ -1,374 +0,0 @@
-<HTML>
-<HEAD><TITLE>TB05AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TB05AD">TB05AD</A></H2>
-<H3>
-Frequency response matrix of a given state-space representation (A,B,C)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the complex frequency response matrix (transfer matrix)
-  G(freq) of the state-space representation (A,B,C) given by
-                                -1
-     G(freq) = C * ((freq*I - A)  ) * B
-
-  where A, B and C are real N-by-N, N-by-M and P-by-N matrices
-  respectively and freq is a complex scalar.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B, LDB,
-     $                   C, LDC, RCOND, G, LDG, EVRE, EVIM, HINVB,
-     $                   LDHINV, IWORK, DWORK, LDWORK, ZWORK, LZWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         BALEIG, INITA
-      INTEGER           INFO, LDA, LDB, LDC, LDG, LDHINV, LDWORK,
-     $                  LZWORK, M, N, P
-      DOUBLE PRECISION  RCOND
-      COMPLEX*16        FREQ
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), EVIM(*),
-     $                  EVRE(*)
-      COMPLEX*16        ZWORK(*), G(LDG,*), HINVB(LDHINV,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  BALEIG  CHARACTER*1
-          Determines whether the user wishes to balance matrix A
-          and/or compute its eigenvalues and/or estimate the
-          condition number of the problem as follows:
-          = 'N':  The matrix A should not be balanced and neither
-                  the eigenvalues of A nor the condition number
-                  estimate of the problem are to be calculated;
-          = 'C':  The matrix A should not be balanced and only an
-                  estimate of the condition number of the problem
-                  is to be calculated;
-          = 'B' or 'E' and INITA = 'G':  The matrix A is to be
-                  balanced and its eigenvalues calculated;
-          = 'A' and INITA = 'G':  The matrix A is to be balanced,
-                  and its eigenvalues and an estimate of the
-                  condition number of the problem are to be
-                  calculated.
-
-  INITA   CHARACTER*1
-          Specifies whether or not the matrix A is already in upper
-          Hessenberg form as follows:
-          = 'G':  The matrix A is a general matrix;
-          = 'H':  The matrix A is in upper Hessenberg form and
-                  neither balancing nor the eigenvalues of A are
-                  required.
-          INITA must be set to 'G' for the first call to the
-          routine, unless the matrix A is already in upper
-          Hessenberg form and neither balancing nor the eigenvalues
-          of A are required. Thereafter, it must be set to 'H' for
-          all subsequent calls.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of states, i.e. the order of the state
-          transition matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of inputs, i.e. the number of columns in the
-          matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of outputs, i.e. the number of rows in the
-          matrix C.  P &gt;= 0.
-
-  FREQ    (input) COMPLEX*16
-          The frequency freq at which the frequency response matrix
-          (transfer matrix) is to be evaluated.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state transition matrix A.
-          If INITA = 'G', then, on exit, the leading N-by-N part of
-          this array contains an upper Hessenberg matrix similar to
-          (via an orthogonal matrix consisting of a sequence of
-          Householder transformations) the original state transition
-          matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B.
-          If INITA = 'G', then, on exit, the leading N-by-M part of
-          this array contains the product of the transpose of the
-          orthogonal transformation matrix used to reduce A to upper
-          Hessenberg form and the original input/state matrix B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          If INITA = 'G', then, on exit, the leading P-by-N part of
-          this array contains the product of the original output/
-          state matrix C and the orthogonal transformation matrix
-          used to reduce A to upper Hessenberg form.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  RCOND   (output) DOUBLE PRECISION
-          If BALEIG = 'C' or BALEIG = 'A', then RCOND contains an
-          estimate of the reciprocal of the condition number of
-          matrix H with respect to inversion (see METHOD).
-
-  G       (output) COMPLEX*16 array, dimension (LDG,M)
-          The leading P-by-M part of this array contains the
-          frequency response matrix G(freq).
-
-  LDG     INTEGER
-          The leading dimension of array G.  LDG &gt;= MAX(1,P).
-
-  EVRE,   (output) DOUBLE PRECISION arrays, dimension (N)
-  EVIM    If INITA = 'G' and BALEIG = 'B' or 'E' or BALEIG = 'A',
-          then these arrays contain the real and imaginary parts,
-          respectively, of the eigenvalues of the matrix A.
-          Otherwise, these arrays are not referenced.
-
-  HINVB   (output) COMPLEX*16 array, dimension (LDHINV,M)
-          The leading N-by-M part of this array contains the
-                   -1
-          product H  B.
-
-  LDHINV  INTEGER
-          The leading dimension of array HINVB.  LDHINV &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N - 1 + MAX(N,M,P)),
-                    if INITA = 'G' and BALEIG = 'N', or 'B', or 'E';
-          LDWORK &gt;= MAX(1, N + MAX(N,M-1,P-1)),
-                    if INITA = 'G' and BALEIG = 'C', or 'A';
-          LDWORK &gt;= MAX(1, 2*N),
-                    if INITA = 'H' and BALEIG = 'C', or 'A';
-          LDWORK &gt;= 1, otherwise.
-          For optimum performance when INITA = 'G' LDWORK should be
-          larger.
-
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX(1,N*N+2*N), if BALEIG = 'C', or 'A';
-          LZWORK &gt;= MAX(1,N*N),     otherwise.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if more than 30*N iterations are required to
-                isolate all the eigenvalues of the matrix A; the
-                computations are continued;
-          = 2:  if either FREQ is too near to an eigenvalue of the
-                matrix A, or RCOND is less than EPS, where EPS is
-                the machine  precision (see LAPACK Library routine
-                DLAMCH).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The matrix A is first balanced (if BALEIG = 'B' or 'E', or
-  BALEIG = 'A') and then reduced to upper Hessenberg form; the same
-  transformations are applied to the matrix B and the matrix C.
-  The complex Hessenberg matrix  H = (freq*I - A) is then used
-                    -1
-  to solve for C * H  * B.
-
-  Depending on the input values of parameters BALEIG and INITA,
-  the eigenvalues of matrix A and the condition number of
-  matrix H with respect to inversion are also calculated.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Laub, A.J.
-      Efficient Calculation of Frequency Response Matrices from
-      State-Space Models.
-      ACM TOMS, 12, pp. 26-33, 1986.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TB05AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDG, LDHINV
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDG = PMAX,
-     $                   LDHINV = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NMAX )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = NMAX*( NMAX+2 ) )
-*     .. Local Scalars ..
-      COMPLEX*16       FREQ
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, M, N, P
-      CHARACTER*1      BALEIG, INITA
-      LOGICAL          LBALBA, LBALEA, LBALEB, LBALEC, LINITA
-*     .. Local Arrays ..
-      COMPLEX*16       G(LDG,MMAX), HINVB(LDHINV,MMAX), ZWORK(LZWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), EVIM(NMAX), EVRE(NMAX)
-      INTEGER          IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TB05AD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, FREQ, INITA, BALEIG
-      LBALEC = LSAME( BALEIG, 'C' )
-      LBALEB = LSAME( BALEIG, 'B' ) .OR. LSAME( BALEIG, 'E' )
-      LBALEA = LSAME( BALEIG, 'A' )
-      LBALBA = LBALEB.OR.LBALEA
-      LINITA = LSAME( INITA,  'G' )
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the frequency response matrix of the ssr (A,B,C).
-               CALL TB05AD( BALEIG, INITA, N, M, P, FREQ, A, LDA, B,
-     $                      LDB, C, LDC, RCOND, G, LDG, EVRE, EVIM,
-     $                      HINVB, LDHINV, IWORK, DWORK, LDWORK, ZWORK,
-     $                      LZWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  IF ( ( LBALEC ) .OR. ( LBALEA ) ) WRITE ( NOUT,
-     $                FMT = 99997 ) RCOND
-                  IF ( ( LINITA ) .AND. ( LBALBA ) )
-     $               WRITE ( NOUT, FMT = 99996 )
-     $                       ( EVRE(I), EVIM(I), I = 1,N )
-                  WRITE ( NOUT, FMT = 99995 )
-                  DO 20 I = 1, P
-                     WRITE ( NOUT, FMT = 99994 ) ( G(I,J), J = 1,M )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99994 ) ( HINVB(I,J), J = 1,M )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TB05AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TB05AD = ',I2)
-99997 FORMAT (' RCOND = ',F4.2)
-99996 FORMAT (/' Eigenvalues of the state transmission matrix A are ',
-     $       /(1X,2F7.2,'*j'))
-99995 FORMAT (/' The frequency response matrix G(freq) is ')
-99994 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
-99993 FORMAT (/' H(inverse)*B is ')
-99992 FORMAT (/' N is out of range.',/' N = ',I5)
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TB05AD EXAMPLE PROGRAM DATA
-   3     1     2     (0.0,0.5)     G     A
-   1.0   2.0   0.0
-   4.0  -1.0   0.0
-   0.0   0.0   1.0
-   1.0   0.0   1.0
-   1.0   0.0  -1.0
-   0.0   0.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TB05AD EXAMPLE PROGRAM RESULTS
-
- RCOND = 0.22
-
- Eigenvalues of the state transmission matrix A are 
-    3.00   0.00*j
-   -3.00   0.00*j
-    1.00   0.00*j
-
- The frequency response matrix G(freq) is 
- ( 0.69, 0.35) 
- (-0.80,-0.40) 
-
- H(inverse)*B is 
- (-0.11,-0.05) 
- (-0.43, 0.00) 
- (-0.80,-0.40) 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TC01OD.html b/doc/_static/doc/TC01OD.html
deleted file mode 100644
index 976af1db..00000000
--- a/doc/_static/doc/TC01OD.html
+++ /dev/null
@@ -1,269 +0,0 @@
-<HTML>
-<HEAD><TITLE>TC01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TC01OD">TC01OD</A></H2>
-<H3>
-Dual of a left/right polynomial matrix representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find the dual right (left) polynomial matrix representation of
-  a given left (right) polynomial matrix representation, where the
-  right and left polynomial matrix representations are of the form
-  Q(s)*inv(P(s)) and inv(P(s))*Q(s) respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LERI
-      INTEGER           INFO, INDLIM, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
-     $                  P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  PCOEFF(LDPCO1,LDPCO2,*), QCOEFF(LDQCO1,LDQCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether a left or right matrix fraction is input
-          as follows:
-          = 'L':  A left matrix fraction is input;
-          = 'R':  A right matrix fraction is input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDLIM  (input) INTEGER
-          The highest value of K for which PCOEFF(.,.,K) and
-          QCOEFF(.,.,K) are to be transposed.
-          K = kpcoef + 1, where kpcoef is the maximum degree of the
-          polynomials in P(s).  INDLIM &gt;= 1.
-
-  PCOEFF  (input/output) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,INDLIM)
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          On entry, the leading porm-by-porm-by-INDLIM part of this
-          array must contain the coefficients of the denominator
-          matrix P(s).
-          PCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
-          polynomial (I,J) of P(s), where K = 1,2,...,INDLIM.
-          On exit, the leading porm-by-porm-by-INDLIM part of this
-          array contains the coefficients of the denominator matrix
-          P'(s) of the dual system.
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
-
-  QCOEFF  (input/output) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,INDLIM)
-          On entry, the leading P-by-M-by-INDLIM part of this array
-          must contain the coefficients of the numerator matrix
-          Q(s).
-          QCOEFF(I,J,K) is the coefficient in s**(INDLIM-K) of
-          polynomial (I,J) of Q(s), where K = 1,2,...,INDLIM.
-          On exit, the leading M-by-P-by-INDLIM part of the array
-          contains the coefficients of the numerator matrix Q'(s)
-          of the dual system.
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,M,P).
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M,P).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If the given M-input/P-output left (right) polynomial matrix
-  representation has numerator matrix Q(s) and denominator matrix
-  P(s), its dual P-input/M-output right (left) polynomial matrix
-  representation simply has numerator matrix Q'(s) and denominator
-  matrix P'(s).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TC01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, INDMAX
-      PARAMETER        ( MMAX = 20, PMAX = 20, INDMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2
-      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP )
-*     .. Local Scalars ..
-      INTEGER          I, INDLIM, INFO, J, K, M, P, PORM
-      CHARACTER*1      LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      DOUBLE PRECISION PCOEFF(LDPCO1,LDPCO2,INDMAX),
-     $                 QCOEFF(LDQCO1,LDQCO2,INDMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TC01OD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, INDLIM, LERI
-      LLERI = LSAME( LERI, 'L' )
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) P
-      ELSE IF ( INDLIM.LE.0 .OR. INDLIM.GT.INDMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) INDLIM
-      ELSE
-         PORM = P
-         IF ( .NOT.LLERI ) PORM = M
-         READ ( NIN, FMT = * )
-     $      ( ( ( PCOEFF(I,J,K), K = 1,INDLIM ), J = 1,PORM ),
-     $                           I = 1,PORM )
-         READ ( NIN, FMT = * )
-     $      ( ( ( QCOEFF(I,J,K), K = 1,INDLIM ), J = 1,M ), I = 1,P )
-*        Find the dual right pmr of the given left pmr.
-         CALL TC01OD( LERI, M, P, INDLIM, PCOEFF, LDPCO1, LDPCO2,
-     $                QCOEFF, LDQCO1, LDQCO2, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 )
-            DO 40 I = 1, PORM
-               DO 20 J = 1, PORM
-                  WRITE ( NOUT, FMT = 99996 ) I, J,
-     $              ( PCOEFF(I,J,K), K = 1,INDLIM )
-   20          CONTINUE
-   40       CONTINUE
-            WRITE ( NOUT, FMT = 99995 )
-            DO 80 I = 1, M
-               DO 60 J = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) I, J,
-     $              ( QCOEFF(I,J,K), K = 1,INDLIM )
-   60          CONTINUE
-   80       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TC01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TC01OD = ',I2)
-99997 FORMAT (' The coefficients of the denominator matrix of the dual',
-     $       ' system are ')
-99996 FORMAT (/' element (',I2,',',I2,') is ',20(1X,F6.2))
-99995 FORMAT (//' The coefficients of the numerator matrix of the dual',
-     $       ' system are ')
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-99993 FORMAT (/' P is out of range.',/' P = ',I5)
-99992 FORMAT (/' INDLIM is out of range.',/' INDLIM = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TC01OD EXAMPLE PROGRAM DATA
-   2     2     3     L
-   2.0   3.0   1.0
-   4.0  -1.0  -1.0
-   5.0   7.0  -6.0
-   3.0   2.0   2.0
-   6.0  -1.0   5.0
-   1.0   7.0   5.0
-   1.0   1.0   1.0
-   4.0   1.0  -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TC01OD EXAMPLE PROGRAM RESULTS
-
- The coefficients of the denominator matrix of the dual system are 
-
- element ( 1, 1) is    2.00   3.00   1.00
-
- element ( 1, 2) is    5.00   7.00  -6.00
-
- element ( 2, 1) is    4.00  -1.00  -1.00
-
- element ( 2, 2) is    3.00   2.00   2.00
-
-
- The coefficients of the numerator matrix of the dual system are 
-
- element ( 1, 1) is    6.00  -1.00   5.00
-
- element ( 1, 2) is    1.00   1.00   1.00
-
- element ( 2, 1) is    1.00   7.00   5.00
-
- element ( 2, 2) is    4.00   1.00  -1.00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TC04AD.html b/doc/_static/doc/TC04AD.html
deleted file mode 100644
index 60fefe75..00000000
--- a/doc/_static/doc/TC04AD.html
+++ /dev/null
@@ -1,399 +0,0 @@
-<HTML>
-<HEAD><TITLE>TC04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TC04AD">TC04AD</A></H2>
-<H3>
-State-space representation for a given left/right polynomial matrix representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a state-space representation (A,B,C,D) with the same
-  transfer matrix T(s) as that of a given left or right polynomial
-  matrix representation, i.e.
-
-     C*inv(sI-A)*B + D = T(s) = inv(P(s))*Q(s) = Q(s)*inv(P(s)).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LERI
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDPCO1, LDPCO2,
-     $                  LDQCO1, LDQCO2, LDWORK, M, N, P
-      DOUBLE PRECISION  RCOND
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether a left polynomial matrix representation
-          or a right polynomial matrix representation is input as
-          follows:
-          = 'L':  A left matrix fraction is input;
-          = 'R':  A right matrix fraction is input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDEX   (input) INTEGER array, dimension (MAX(M,P))
-          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
-          maximum degree of the polynomials in the I-th row of the
-          denominator matrix P(s) of the given left polynomial
-          matrix representation.
-          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
-          maximum degree of the polynomials in the I-th column of
-          the denominator matrix P(s) of the given right polynomial
-          matrix representation.
-
-  PCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          The leading porm-by-porm-by-kpcoef part of this array must
-          contain the coefficients of the denominator matrix P(s).
-          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
-          LERI = 'L' then iorj = I, otherwise iorj = J.
-          Thus for LERI = 'L', P(s) =
-          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-          If LERI = 'R', PCOEFF is modified by the routine but
-          restored on exit.
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
-
-  QCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,kpcoef)
-          If LERI = 'L' then porp = M, otherwise porp = P.
-          The leading porm-by-porp-by-kpcoef part of this array must
-          contain the coefficients of the numerator matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-          If LERI = 'R', QCOEFF is modified by the routine but
-          restored on exit.
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
-          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
-          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  N       (output) INTEGER
-          The order of the resulting state-space representation.
-                       porm
-          That is, N = SUM INDEX(I).
-                       I=1
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimated reciprocal of the condition number of the
-          leading row (if LERI = 'L') or the leading column (if
-          LERI = 'R') coefficient matrix of P(s).
-          If RCOND is nearly zero, P(s) is nearly row or column
-          non-proper.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array contains the state
-          dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
-          The leading N-by-M part of this array contains the
-          input/state matrix B; the remainder of the leading
-          N-by-MAX(M,P) part is used as internal workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array contains the
-          state/output matrix C; the remainder of the leading
-          MAX(M,P)-by-N part is used as internal workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array contains the direct
-          transmission matrix D; the remainder of the leading
-          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*MAX(M,P))
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,MAX(M,P)*(MAX(M,P)+4)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if P(s) is not row (if LERI = 'L') or column
-                (if LERI = 'R') proper. Consequently, no state-space
-                representation is calculated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for a left matrix fraction will be described here;
-  right matrix fractions are dealt with by obtaining the dual left
-  polynomial matrix representation and constructing an equivalent
-  state-space representation for this. The first step is to check
-  if the denominator matrix P(s) is row proper; if it is not then
-  the routine returns with the Error Indicator (INFO) set to 1.
-  Otherwise, Wolovich's Observable  Structure Theorem is used to
-  construct a state-space representation (A,B,C,D) in observable
-  companion form. The sizes of the blocks of matrix A and matrix C
-  here are precisely the row degrees of P(s), while their
-  'non-trivial' columns are given easily from its coefficients.
-  Similarly, the matrix D is obtained from the leading coefficients
-  of P(s) and of the numerator matrix Q(s), while matrix B is given
-  by the relation Sbar(s)B = Q(s) - P(s)D, where Sbar(s) is a
-  polynomial matrix whose (j,k)(th) element is given by
-
-               j-u(k-1)-1
-            ( s           , j = u(k-1)+1,u(k-1)+2,....,u(k)
-  Sbar    = (
-     j,k    (           0 , otherwise
-
-          k
-  u(k) = SUM d , k = 1,2,...,M and d ,d ,...,d  are the
-         i=1  i                     1  2      M
-  controllability indices. For convenience in solving this, C' and B
-  are initially set up to contain the coefficients of P(s) and Q(s),
-  respectively, stored by rows.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Wolovich, W.A.
-      Linear Multivariate Systems, (Theorem 4.3.3).
-      Springer-Verlag, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TC04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KPCMAX, NMAX
-      PARAMETER        ( MMAX = 5, PMAX = 5, KPCMAX = 5, NMAX = 5 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDPCO1, LDPCO2, LDQCO1, LDQCO2, LDA, LDB, LDC,
-     $                 LDD
-      PARAMETER        ( LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
-     $                   LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = 2*MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = ( MAXMP )*( MAXMP+4 ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, K, KPCOEF, M, N, P, PORM, PORP
-      CHARACTER*1      LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
-     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX), DWORK(LDWORK)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TC04AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, LERI
-      LLERI = LSAME( LERI, 'L' )
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) M
-      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) P
-      ELSE
-         PORM = P
-         IF ( .NOT.LLERI ) PORM = M
-         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
-         PORP = M
-         IF ( .NOT.LLERI ) PORP = P
-         KPCOEF = 0
-         DO 20 I = 1, PORM
-            KPCOEF = MAX( KPCOEF, INDEX(I) )
-   20    CONTINUE
-         KPCOEF = KPCOEF + 1
-         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
-            WRITE ( NOUT, FMT = 99989 ) KPCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
-     $                              I = 1,PORM )
-            READ ( NIN, FMT = * )
-     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
-     $                              I = 1,PORM )
-*           Find a ssr of the given left pmr.
-            CALL TC04AD( LERI, M, P, INDEX, PCOEFF, LDPCO1, LDPCO2,
-     $                   QCOEFF, LDQCO1, LDQCO2, N, RCOND, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, IWORK, DWORK, LDWORK,
-     $                   INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) N, RCOND
-               WRITE ( NOUT, FMT = 99996 )
-               DO 40 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 60 I = 1, N
-                  WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99992 )
-               DO 100 I = 1, P
-                  WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-  100          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TC04AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TC04AD = ',I2)
-99997 FORMAT (' The order of the resulting state-space representation ',
-     $       ' =  ',I2,//' RCOND = ',F4.2)
-99996 FORMAT (/' The state dynamics matrix A is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The input/state matrix B is ')
-99993 FORMAT (/' The state/output matrix C is ')
-99992 FORMAT (/' The direct transmission matrix D is ')
-99991 FORMAT (/' M is out of range.',/' M = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-99989 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TC04AD EXAMPLE PROGRAM DATA
-   2     2     L
-   2     2
-   2.0   3.0   1.0
-   4.0  -1.0  -1.0
-   5.0   7.0  -6.0
-   3.0   2.0   2.0
-   6.0  -1.0   5.0
-   1.0   7.0   5.0
-   1.0   1.0   1.0
-   4.0   1.0  -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TC04AD EXAMPLE PROGRAM RESULTS
-
- The order of the resulting state-space representation  =   4
-
- RCOND = 0.25
-
- The state dynamics matrix A is 
-   0.0000   0.5714   0.0000  -0.4286
-   1.0000   1.0000   0.0000  -1.0000
-   0.0000  -2.0000   0.0000   2.0000
-   0.0000   0.7857   1.0000  -1.7143
-
- The input/state matrix B is 
-   8.0000   3.8571
-   4.0000   4.0000
-  -9.0000   5.0000
-   4.0000  -5.0714
-
- The state/output matrix C is 
-   0.0000  -0.2143   0.0000   0.2857
-   0.0000   0.3571   0.0000  -0.1429
-
- The direct transmission matrix D is 
-  -1.0000   0.9286
-   2.0000  -0.2143
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TC05AD.html b/doc/_static/doc/TC05AD.html
deleted file mode 100644
index 7d9d4cc1..00000000
--- a/doc/_static/doc/TC05AD.html
+++ /dev/null
@@ -1,328 +0,0 @@
-<HTML>
-<HEAD><TITLE>TC05AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TC05AD">TC05AD</A></H2>
-<H3>
-Frequency response of a left/right polynomial matrix representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To evaluate the transfer matrix T(s) of a left polynomial matrix
-  representation [T(s) = inv(P(s))*Q(s)] or a right polynomial
-  matrix representation [T(s) = Q(s)*inv(P(s))] at any specified
-  complex frequency s = SVAL.
-
-  This routine will calculate the standard frequency response
-  matrix at frequency omega if SVAL is supplied as (0.0,omega).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
-     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         LERI
-      INTEGER           INFO, LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2, M,
-     $                  P
-      DOUBLE PRECISION  RCOND
-      COMPLEX*16        SVAL
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  DWORK(*), PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*)
-      COMPLEX*16        CFREQR(LDCFRE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  LERI    CHARACTER*1
-          Indicates whether a left polynomial matrix representation
-          or a right polynomial matrix representation is to be used
-          to evaluate the transfer matrix as follows:
-          = 'L':  A left matrix fraction is input;
-          = 'R':  A right matrix fraction is input.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  SVAL    (input) COMPLEX*16
-          The frequency at which the transfer matrix or the
-          frequency respose matrix is to be evaluated.
-          For a standard frequency response set the real part
-          of SVAL to zero.
-
-  INDEX   (input) INTEGER array, dimension (MAX(M,P))
-          If LERI = 'L', INDEX(I), I = 1,2,...,P, must contain the
-          maximum degree of the polynomials in the I-th row of the
-          denominator matrix P(s) of the given left polynomial
-          matrix representation.
-          If LERI = 'R', INDEX(I), I = 1,2,...,M, must contain the
-          maximum degree of the polynomials in the I-th column of
-          the denominator matrix P(s) of the given right polynomial
-          matrix representation.
-
-  PCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,kpcoef), where kpcoef = MAX(INDEX(I)) + 1.
-          If LERI = 'L' then porm = P, otherwise porm = M.
-          The leading porm-by-porm-by-kpcoef part of this array must
-          contain the coefficients of the denominator matrix P(s).
-          PCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef; if
-          LERI = 'L' then iorj = I, otherwise iorj = J.
-          Thus for LERI = 'L', P(s) =
-          diag(s**INDEX(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-          If LERI = 'R', PCOEFF is modified by the routine but
-          restored on exit.
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO1 &gt;= MAX(1,M) if LERI = 'R'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P) if LERI = 'L',
-          LDPCO2 &gt;= MAX(1,M) if LERI = 'R'.
-
-  QCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,kpcoef)
-          If LERI = 'L' then porp = M, otherwise porp = P.
-          The leading porm-by-porp-by-kpcoef part of this array must
-          contain the coefficients of the numerator matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-          If LERI = 'R', QCOEFF is modified by the routine but
-          restored on exit.
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          LDQCO1 &gt;= MAX(1,P)   if LERI = 'L',
-          LDQCO1 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          LDQCO2 &gt;= MAX(1,M)   if LERI = 'L',
-          LDQCO2 &gt;= MAX(1,M,P) if LERI = 'R'.
-
-  RCOND   (output) DOUBLE PRECISION
-          The estimated reciprocal of the condition number of the
-          denominator matrix P(SVAL).
-          If RCOND is nearly zero, SVAL is approximately a system
-          pole.
-
-  CFREQR  (output) COMPLEX*16 array, dimension (LDCFRE,MAX(M,P))
-          The leading porm-by-porp part of this array contains the
-          frequency response matrix T(SVAL).
-
-  LDCFRE  INTEGER
-          The leading dimension of array CFREQR.
-          LDCFRE &gt;= MAX(1,P)   if LERI = 'L',
-          LDCFRE &gt;= MAX(1,M,P) if LERI = 'R'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (liwork)
-          where liwork = P, if LERI = 'L',
-                liwork = M, if LERI = 'R'.
-
-  DWORK   DOUBLE PRECISION array, dimension (ldwork)
-          where ldwork = 2*P, if LERI = 'L',
-                ldwork = 2*M, if LERI = 'R'.
-
-  ZWORK   COMPLEX*16 array, dimension (lzwork),
-          where lzwork = P*(P+2), if LERI = 'L',
-                lzwork = M*(M+2), if LERI = 'R'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if P(SVAL) is exactly or nearly singular;
-                no frequency response is calculated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for a left matrix fraction will be described here;
-  right matrix fractions are dealt with by obtaining the dual left
-  fraction and calculating its frequency response (see SLICOT
-  Library routine TC01OD). The first step is to calculate the
-  complex value P(SVAL) of the denominator matrix P(s) at the
-  desired frequency SVAL. If P(SVAL) is approximately singular,
-  SVAL is approximately a pole of this system and so the frequency
-  response matrix T(SVAL) is not calculated; in this case, the
-  routine returns with the Error Indicator (INFO) set to 1.
-  Otherwise, the complex value Q(SVAL) of the numerator matrix Q(s)
-  at frequency SVAL is calculated in a similar way to P(SVAL), and
-  the desired response matrix T(SVAL) = inv(P(SVAL))*Q(SVAL) is
-  found by solving the corresponding system of complex linear
-  equations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TC05AD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KPCMAX
-      PARAMETER        ( MMAX = 20, PMAX = 20, KPCMAX = 20 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDCFRE, LDPCO1, LDPCO2, LDQCO1, LDQCO2
-      PARAMETER        ( LDCFRE = MAXMP, LDPCO1 = MAXMP,
-     $                   LDPCO2 = MAXMP, LDQCO1 = MAXMP,
-     $                   LDQCO2 = MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*MAXMP )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = ( MAXMP )*( MAXMP+2 ) )
-*     .. Local Scalars ..
-      COMPLEX*16       SVAL
-      DOUBLE PRECISION RCOND
-      INTEGER          I, INFO, J, K, KPCOEF, M, P, PORM, PORP
-      CHARACTER*1      LERI
-      LOGICAL          LLERI
-*     .. Local Arrays ..
-      COMPLEX*16       CFREQR(LDCFRE,MAXMP), ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,KPCMAX),
-     $                 QCOEFF(LDQCO1,LDQCO2,KPCMAX)
-      INTEGER          INDEX(MAXMP), IWORK(MAXMP)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TC05AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, SVAL, LERI
-      LLERI = LSAME( LERI, 'L' )
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) M
-      ELSE IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) P
-      ELSE
-         PORM = P
-         IF ( .NOT.LLERI ) PORM = M
-         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
-         PORP = M
-         IF ( .NOT.LLERI ) PORP = P
-         KPCOEF = 0
-         DO 20 I = 1, PORM
-            KPCOEF = MAX( KPCOEF, INDEX(I) )
-   20    CONTINUE
-         KPCOEF = KPCOEF + 1
-         IF ( KPCOEF.LE.0 .OR. KPCOEF.GT.KPCMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) KPCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( ( PCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORM ),
-     $                              I = 1,PORM )
-            READ ( NIN, FMT = * )
-     $         ( ( ( QCOEFF(I,J,K), K = 1,KPCOEF ), J = 1,PORP ),
-     $                              I = 1,PORM )
-*           Find the standard frequency response matrix of left pmr
-*           at 0.5*j.
-            CALL TC05AD( LERI, M, P, SVAL, INDEX, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, RCOND, CFREQR,
-     $                   LDCFRE, IWORK, DWORK, ZWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) RCOND
-               DO 40 I = 1, PORM
-                  WRITE ( NOUT, FMT = 99996 )
-     $                  ( CFREQR(I,J), J = 1,PORP )
-   40          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TC05AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TC05AD = ',I2)
-99997 FORMAT (' RCOND = ',F4.2,//' The frequency response matrix T(SVA',
-     $       'L) is ')
-99996 FORMAT (20(' (',F5.2,',',F5.2,') ',:))
-99995 FORMAT (/' M is out of range.',/' M = ',I5)
-99994 FORMAT (/' P is out of range.',/' P = ',I5)
-99993 FORMAT (/' KPCOEF is out of range.',/' KPCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TC05AD EXAMPLE PROGRAM DATA
-   2     2     (0.0,0.5)     L
-   2     2
-   2.0   3.0   1.0
-   4.0  -1.0  -1.0
-   5.0   7.0  -6.0
-   3.0   2.0   2.0
-   6.0  -1.0   5.0
-   1.0   7.0   5.0
-   1.0   1.0   1.0
-   4.0   1.0  -1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TC05AD EXAMPLE PROGRAM RESULTS
-
- RCOND = 0.19
-
- The frequency response matrix T(SVAL) is 
- (-0.25,-0.33)  ( 0.26,-0.45) 
- (-1.48, 0.35)  (-2.25,-1.11) 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,567 +0,0 @@
-<HTML>
-<HEAD><TITLE>TD03AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TD03AD">TD03AD</A></H2>
-<H3>
-Left/right polynomial matrix representation for a proper transfer matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a relatively prime left or right polynomial matrix
-  representation for a proper transfer matrix T(s) given as either
-  row or column polynomial vectors over common denominator
-  polynomials, possibly with uncancelled common terms.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
-     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
-     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, LERI, ROWCOL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDPCO1,
-     $                  LDPCO2, LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1,
-     $                  LDVCO2, LDWORK, M, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INDEXD(*), INDEXP(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DCOEFF(LDDCOE,*), DWORK(*),
-     $                  PCOEFF(LDPCO1,LDPCO2,*),
-     $                  QCOEFF(LDQCO1,LDQCO2,*),
-     $                  UCOEFF(LDUCO1,LDUCO2,*), VCOEFF(LDVCO1,LDVCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ROWCOL  CHARACTER*1
-          Indicates whether T(s) is to be factorized by rows or by
-          columns as follows:
-          = 'R':  T(s) is factorized by rows;
-          = 'C':  T(s) is factorized by columns.
-
-  LERI    CHARACTER*1
-          Indicates whether a left or a right polynomial matrix
-          representation is required as follows:
-          = 'L':  A left polynomial matrix representation
-                  inv(P(s))*Q(s) is required;
-          = 'R':  A right polynomial matrix representation
-                  Q(s)*inv(P(s)) is required.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to balance the triplet
-          (A,B,C), before computing a minimal state-space
-          representation, as follows:
-          = 'S':  Perform balancing (scaling);
-          = 'N':  Do not perform balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDEXD  (input) INTEGER array, dimension (P), if ROWCOL = 'R', or
-                                 dimension (M), if ROWCOL = 'C'.
-          The leading pormd elements of this array must contain the
-          row degrees of the denominator polynomials in D(s).
-          pormd = P if the transfer matrix T(s) is given as row
-          polynomial vectors over denominator polynomials;
-          pormd = M if the transfer matrix T(s) is given as column
-          polynomial vectors over denominator polynomials.
-
-  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
-          where kdcoef = MAX(INDEXD(I)) + 1.
-          The leading pormd-by-kdcoef part of this array must
-          contain the coefficients of each denominator polynomial.
-          DCOEFF(I,K) is the coefficient in s**(INDEXD(I)-K+1) of
-          the I-th denominator polynomial in D(s), where K = 1,2,
-          ...,kdcoef.
-
-  LDDCOE  INTEGER
-          The leading dimension of array DCOEFF.
-          LDDCOE &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDDCOE &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  UCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDUCO1,LDUCO2,kdcoef)
-          The leading P-by-M-by-kdcoef part of this array must
-          contain the coefficients of the numerator matrix U(s);
-          if ROWCOL = 'C', this array is modified internally but
-          restored on exit, and the remainder of the leading
-          MAX(M,P)-by-MAX(M,P)-by-kdcoef part is used as internal
-          workspace.
-          UCOEFF(I,J,K) is the coefficient in s**(INDEXD(iorj)-K+1)
-          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
-          iorj = I if T(s) is given as row polynomial vectors over
-          denominator polynomials; iorj = J if T(s) is given as
-          column polynomial vectors over denominator polynomials.
-          Thus for ROWCOL = 'R', U(s) =
-          diag(s**INDEXD(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
-
-  LDUCO1  INTEGER
-          The leading dimension of array UCOEFF.
-          LDUCO1 &gt;= MAX(1,P),   if ROWCOL = 'R';
-          LDUCO1 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
-
-  LDUCO2  INTEGER
-          The second dimension of array UCOEFF.
-          LDUCO2 &gt;= MAX(1,M),   if ROWCOL = 'R';
-          LDUCO2 &gt;= MAX(1,M,P), if ROWCOL = 'C'.
-
-  NR      (output) INTEGER
-          The order of the resulting minimal realization, i.e. the
-          order of the state dynamics matrix A.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
-                   pormd
-          where N = SUM INDEXD(I)
-                    I=1
-          The leading NR-by-NR part of this array contains the upper
-          block Hessenberg state dynamics matrix A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
-          The leading NR-by-M part of this array contains the
-          input/state matrix B; the remainder of the leading
-          N-by-MAX(M,P) part is used as internal workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-NR part of this array contains the
-          state/output matrix C; the remainder of the leading
-          MAX(M,P)-by-N part is used as internal workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,MAX(M,P))
-          The leading P-by-M part of this array contains the direct
-          transmission matrix D; the remainder of the leading
-          MAX(M,P)-by-MAX(M,P) part is used as internal workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,M,P).
-
-  INDEXP  (output) INTEGER array, dimension (P), if ROWCOL = 'R', or
-                                  dimension (M), if ROWCOL = 'C'.
-          The leading pormp elements of this array contain the
-          row (column if ROWCOL = 'C') degrees of the denominator
-          matrix P(s).
-          pormp = P if a left polynomial matrix representation
-          is requested; pormp = M if a right polynomial matrix
-          representation is requested.
-          These elements are ordered so that
-          INDEXP(1) &gt;= INDEXP(2) &gt;= ... &gt;= INDEXP(pormp).
-
-  PCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDPCO1,LDPCO2,N+1)
-          The leading pormp-by-pormp-by-kpcoef part of this array
-          contains the coefficients of the denominator matrix P(s),
-          where kpcoef = MAX(INDEXP(I)) + 1.
-          PCOEFF(I,J,K) is the coefficient in s**(INDEXP(iorj)-K+1)
-          of polynomial (I,J) of P(s), where K = 1,2,...,kpcoef;
-          iorj = I if a left polynomial matrix representation is
-          requested; iorj = J if a right polynomial matrix
-          representation is requested.
-          Thus for a left polynomial matrix representation, P(s) =
-          diag(s**INDEXP(I))*(PCOEFF(.,.,1)+PCOEFF(.,.,2)/s+...).
-
-  LDPCO1  INTEGER
-          The leading dimension of array PCOEFF.
-          LDPCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDPCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  LDPCO2  INTEGER
-          The second dimension of array PCOEFF.
-          LDPCO2 &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDPCO2 &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  QCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDQCO1,LDQCO2,N+1)
-          The leading pormp-by-pormd-by-kpcoef part of this array
-          contains the coefficients of the numerator matrix Q(s).
-          QCOEFF(I,J,K) is defined as for PCOEFF(I,J,K).
-
-  LDQCO1  INTEGER
-          The leading dimension of array QCOEFF.
-          If LERI = 'L', LDQCO1 &gt;= MAX(1,PM),
-                                   where PM = P, if ROWCOL = 'R';
-                                         PM = M, if ROWCOL = 'C'.
-          If LERI = 'R', LDQCO1 &gt;= MAX(1,M,P).
-
-  LDQCO2  INTEGER
-          The second dimension of array QCOEFF.
-          If LERI = 'L', LDQCO2 &gt;= MAX(1,MP),
-                                   where MP = M, if ROWCOL = 'R';
-                                         MP = P, if ROWCOL = 'C'.
-          If LERI = 'R', LDQCO2 &gt;= MAX(1,M,P).
-
-  VCOEFF  (output) DOUBLE PRECISION array, dimension
-          (LDVCO1,LDVCO2,N+1)
-          The leading pormp-by-NR-by-kpcoef part of this array
-          contains the coefficients of the intermediate matrix
-          V(s) as produced by SLICOT Library routine TB03AD.
-
-  LDVCO1  INTEGER
-          The leading dimension of array VCOEFF.
-          LDVCO1 &gt;= MAX(1,P), if ROWCOL = 'R';
-          LDVCO1 &gt;= MAX(1,M), if ROWCOL = 'C'.
-
-  LDVCO2  INTEGER
-          The second dimension of array VCOEFF.  LDVCO2 &gt;= MAX(1,N).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P), PM*(PM + 2))
-          where  PM = P, if ROWCOL = 'R';
-                 PM = M, if ROWCOL = 'C'.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i (i &lt;= k = pormd), then i is the first
-                integer I for which ABS( DCOEFF(I,1) ) is so small
-                that the calculations would overflow (see SLICOT
-                Library routine TD03AY); that is, the leading
-                coefficient of a polynomial is nearly zero; no
-                state-space representation or polynomial matrix
-                representation is calculated;
-          = k+1:  if a singular matrix was encountered during the
-                computation of V(s);
-          = k+2:  if a singular matrix was encountered during the
-                computation of P(s).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for transfer matrices factorized by rows will be
-  described here; T(s) factorized by columns is dealt with by
-  operating on the dual T'(s). The description for T(s) is actually
-  the left polynomial matrix representation
-
-       T(s) = inv(D(s))*U(s),
-
-  where D(s) is diagonal with its (I,I)-th polynomial element of
-  degree INDEXD(I). The first step is to check whether the leading
-  coefficient of any polynomial element of D(s) is approximately
-  zero, if so the routine returns with INFO &gt; 0. Otherwise,
-  Wolovich's Observable Structure Theorem is used to construct a
-  state-space representation in observable companion form which is
-  equivalent to the above polynomial matrix representation. The
-  method is particularly easy here due to the diagonal form of D(s).
-  This state-space representation is not necessarily controllable
-  (as D(s) and U(s) are not necessarily relatively left prime), but
-  it is in theory completely observable; however, its observability
-  matrix may be poorly conditioned, so it is treated as a general
-  state-space representation and SLICOT Library routine TB03AD is
-  used to separate out a minimal realization for T(s) from it by
-  means of orthogonal similarity transformations and then to
-  calculate a relatively prime (left or right) polynomial matrix
-  representation which is equivalent to this.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Patel, R.V.
-      On Computing Matrix Fraction Descriptions and Canonical
-      Forms of Linear Time-Invariant Systems.
-      UMIST Control Systems Centre Report 489, 1980.
-
-  [2] Wolovich, W.A.
-      Linear Multivariable Systems, (Theorem 4.3.3).
-      Springer-Verlag, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TD03AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KDCMAX, NMAX
-      PARAMETER        ( MMAX = 8, PMAX = 8, KDCMAX = 8, NMAX = 8 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDD, LDDCOE, LDPCO1, LDPCO2,
-     $                 LDQCO1, LDQCO2, LDUCO1, LDUCO2, LDVCO1, LDVCO2
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = MAXMP,
-     $                   LDD = MAXMP, LDDCOE = MAXMP,
-     $                   LDPCO1 = MAXMP, LDPCO2 = MAXMP,
-     $                   LDQCO1 = MAXMP, LDQCO2 = MAXMP,
-     $                   LDUCO1 = MAXMP, LDUCO2 = MAXMP,
-     $                   LDVCO1 = MAXMP, LDVCO2 = NMAX )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( NMAX + MAX( NMAX, 3*MAXMP ),
-     $                                 MAXMP*( MAXMP + 2 ) ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      CHARACTER*1      EQUIL, LERI, ROWCOL
-      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, MAXINP, N, NR,
-     $                 P, PORMD, PORMP
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
-     $                 DWORK(LDWORK), PCOEFF(LDPCO1,LDPCO2,NMAX+1),
-     $                 QCOEFF(LDQCO1,LDQCO2,NMAX+1),
-     $                 UCOEFF(LDUCO1,LDUCO2,KDCMAX),
-     $                 VCOEFF(LDVCO1,LDVCO2,NMAX+1)
-      INTEGER          INDEXD(MAXMP), INDEXP(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TD03AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL, LERI, EQUIL
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99986 ) M
-      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99985 ) P
-      ELSE
-         PORMD = P
-         IF ( LSAME( ROWCOL, 'C' ) ) PORMD = M
-         PORMP = M
-         IF ( LSAME( LERI, 'R' ) ) PORMP = P
-         READ ( NIN, FMT = * ) ( INDEXD(I), I = 1,PORMD )
-*
-         KDCOEF = 0
-         N = 0
-         DO 20 I = 1, PORMD
-            KDCOEF = MAX( KDCOEF, INDEXD(I) )
-            N = N + INDEXD(I)
-   20    CONTINUE
-         KDCOEF = KDCOEF + 1
-*
-         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
-            WRITE ( NOUT, FMT = 99984 ) KDCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORMD )
-            READ ( NIN, FMT = * )
-     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
-*           Find a relatively prime left pmr for the given transfer
-*           function.
-            CALL TD03AD( ROWCOL, LERI, EQUIL, M, P, INDEXD, DCOEFF,
-     $                   LDDCOE, UCOEFF, LDUCO1, LDUCO2, NR, A, LDA, B,
-     $                   LDB, C, LDC, D, LDD, INDEXP, PCOEFF, LDPCO1,
-     $                   LDPCO2, QCOEFF, LDQCO1, LDQCO2, VCOEFF, LDVCO1,
-     $                   LDVCO2, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NR
-               DO 40 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 60 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 100 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-  100          CONTINUE
-               INDBLK = 0
-               DO 120 I = 1, N
-                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-  120          CONTINUE
-               IF ( LSAME( LERI, 'L' ) ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
-     $                  ( IWORK(I), I = 1,INDBLK )
-                  WRITE ( NOUT, FMT = 99990 ) ( INDEXP(I), I = 1,P )
-               ELSE
-                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
-     $                  ( IWORK(I), I = 1,INDBLK )
-                  WRITE ( NOUT, FMT = 99989 ) ( INDEXP(I), I = 1,M )
-               END IF
-               MAXINP = 0
-               DO 140 I = 1, PORMP
-                  MAXINP = MAX( MAXINP, INDEXP(I) )
-  140          CONTINUE
-               MAXINP = MAXINP + 1
-               WRITE ( NOUT, FMT = 99988 )
-               DO 180 I = 1, PORMP
-                  DO 160 J = 1, PORMP
-                     WRITE ( NOUT, FMT = 99996 )
-     $                     ( PCOEFF(I,J,K), K = 1,MAXINP )
-  160             CONTINUE
-  180          CONTINUE
-               WRITE ( NOUT, FMT = 99987 )
-               DO 220 I = 1, PORMP
-                  DO 200 J = 1, PORMD
-                     WRITE ( NOUT, FMT = 99996 )
-     $                     ( QCOEFF(I,J,K), K = 1,MAXINP )
-  200             CONTINUE
-  220          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TD03AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TD03AD = ',I2)
-99997 FORMAT (' The order of the resulting minimal realization = ',I2,
-     $       //' The state dynamics matrix A is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix B is ')
-99994 FORMAT (/' The state/output matrix C is ')
-99993 FORMAT (/' The direct transmission matrix D is ')
-99992 FORMAT (/' The observability index of the minimal realization = ',
-     $       I2,//' The dimensions of the diagonal blocks of the state',
-     $       ' dynamics matrix are ',/20(I5))
-99991 FORMAT (/' The controllability index of the minimal realization ',
-     $       '= ',I2,//' The dimensions of the diagonal blocks of the ',
-     $       'state dynamics matrix are ',/20(I5))
-99990 FORMAT (/' The row degrees of the denominator matrix P(s) are',
-     $       /20(I5))
-99989 FORMAT (/' The column degrees of the denominator matrix P(s) are',
-     $       /20(I5))
-99988 FORMAT (/' The denominator matrix P(s) is ')
-99987 FORMAT (/' The numerator matrix Q(s) is ')
-99986 FORMAT (/' M is out of range.',/' M = ',I5)
-99985 FORMAT (/' P is out of range.',/' P = ',I5)
-99984 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TD01ND EXAMPLE PROGRAM DATA
-   2     2     0.0     R     L     N
-   3     3
-   1.0   6.0  11.0   6.0
-   1.0   6.0  11.0   6.0
-   1.0   6.0  12.0   7.0
-   0.0   1.0   4.0   3.0
-   0.0   0.0   1.0   1.0
-   1.0   8.0  20.0  15.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TD03AD EXAMPLE PROGRAM RESULTS
-
- The order of the resulting minimal realization =  3
-
- The state dynamics matrix A is 
-   0.5000   0.9478  10.1036
-   0.0000  -1.0000   0.0000
-  -0.8660  -0.6156  -5.5000
-
- The input/state matrix B is 
-   2.0000  12.5000
-   0.0000  -5.6273
-   0.0000  -2.0207
-
- The state/output matrix C is 
-   0.0000   0.0296  -0.5774
-   0.0000  -0.1481  -0.5774
-
- The direct transmission matrix D is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The observability index of the minimal realization =  2
-
- The dimensions of the diagonal blocks of the state dynamics matrix are 
-    2    1
-
- The row degrees of the denominator matrix P(s) are
-    2    1
-
- The denominator matrix P(s) is 
-   1.6667   4.3333   6.6667
-   0.3333   5.6667   5.3333
-   5.6273   5.6273   0.0000
-  -5.6273  -5.6273   0.0000
-
- The numerator matrix Q(s) is 
-   1.6667   4.3333   8.6667
-   0.3333   8.0000  16.6667
-   5.6273   5.6273   0.0000
-  -5.6273 -11.2546   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TD04AD.html b/doc/_static/doc/TD04AD.html
deleted file mode 100644
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--- a/doc/_static/doc/TD04AD.html
+++ /dev/null
@@ -1,418 +0,0 @@
-<HTML>
-<HEAD><TITLE>TD04AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TD04AD">TD04AD</A></H2>
-<H3>
-Minimal state-space representation for a proper transfer matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a minimal state-space representation (A,B,C,D) for a
-  proper transfer matrix T(s) given as either row or column
-  polynomial vectors over denominator polynomials, possibly with
-  uncancelled common terms.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
-     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         ROWCOL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
-     $                  LDUCO2, LDWORK, M, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INDEX(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DCOEFF(LDDCOE,*), DWORK(*),
-     $                  UCOEFF(LDUCO1,LDUCO2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  ROWCOL  CHARACTER*1
-          Indicates whether the transfer matrix T(s) is given as
-          rows or columns over common denominators as follows:
-          = 'R':  T(s) is given as rows over common denominators;
-          = 'C':  T(s) is given as columns over common denominators.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  INDEX   (input) INTEGER array, dimension (porm), where porm = P,
-          if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
-          This array must contain the degrees of the denominator
-          polynomials in D(s).
-
-  DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
-          where kdcoef = MAX(INDEX(I)) + 1.
-          The leading porm-by-kdcoef part of this array must contain
-          the coefficients of each denominator polynomial.
-          DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of the
-          I-th denominator polynomial in D(s), where
-          K = 1,2,...,kdcoef.
-
-  LDDCOE  INTEGER
-          The leading dimension of array DCOEFF.
-          LDDCOE &gt;= MAX(1,P) if ROWCOL = 'R';
-          LDDCOE &gt;= MAX(1,M) if ROWCOL = 'C'.
-
-  UCOEFF  (input) DOUBLE PRECISION array, dimension
-          (LDUCO1,LDUCO2,kdcoef)
-          The leading P-by-M-by-kdcoef part of this array must
-          contain the numerator matrix U(s); if ROWCOL = 'C', this
-          array is modified internally but restored on exit, and the
-          remainder of the leading MAX(M,P)-by-MAX(M,P)-by-kdcoef
-          part is used as internal workspace.
-          UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
-          of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
-          if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
-          Thus for ROWCOL = 'R', U(s) =
-          diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
-
-  LDUCO1  INTEGER
-          The leading dimension of array UCOEFF.
-          LDUCO1 &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDUCO1 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  LDUCO2  INTEGER
-          The second dimension of array UCOEFF.
-          LDUCO2 &gt;= MAX(1,M)   if ROWCOL = 'R';
-          LDUCO2 &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-  NR      (output) INTEGER
-          The order of the resulting minimal realization, i.e. the
-          order of the state dynamics matrix A.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N),
-                    porm
-          where N = SUM INDEX(I).
-                    I=1
-          The leading NR-by-NR part of this array contains the upper
-          block Hessenberg state dynamics matrix A of a minimal
-          realization.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
-          The leading NR-by-M part of this array contains the
-          input/state matrix B of a minimal realization; the
-          remainder of the leading N-by-MAX(M,P) part is used as
-          internal workspace.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (output) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-NR part of this array contains the
-          state/output matrix C of a minimal realization; the
-          remainder of the leading MAX(M,P)-by-N part is used as
-          internal workspace.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  D       (output) DOUBLE PRECISION array, dimension (LDD,M),
-          if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
-          The leading P-by-M part of this array contains the direct
-          transmission matrix D; if ROWCOL = 'C', the remainder of
-          the leading MAX(M,P)-by-MAX(M,P) part is used as internal
-          workspace.
-
-  LDD     INTEGER
-          The leading dimension of array D.
-          LDD &gt;= MAX(1,P)   if ROWCOL = 'R';
-          LDD &gt;= MAX(1,M,P) if ROWCOL = 'C'.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determination when
-          transforming (A, B, C). If the user sets TOL &gt; 0, then
-          the given value of TOL is used as a lower bound for the
-          reciprocal condition number (see the description of the
-          argument RCOND in the SLICOT routine MB03OD);  a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          (determined by the SLICOT routine TB01UD) is used instead.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+MAX(M,P))
-          On exit, if INFO = 0, the first nonzero elements of
-          IWORK(1:N) return the orders of the diagonal blocks of A.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, N + MAX(N, 3*M, 3*P)).
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, then i is the first integer for which
-                ABS( DCOEFF(I,1) ) is so small that the calculations
-                would overflow (see SLICOT Library routine TD03AY);
-                that is, the leading coefficient of a polynomial is
-                nearly zero; no state-space representation is
-                calculated.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The method for transfer matrices factorized by rows will be
-  described here: T(s) factorized by columns is dealt with by
-  operating on the dual T'(s). This description for T(s) is
-  actually the left polynomial matrix representation
-
-       T(s) = inv(D(s))*U(s),
-
-  where D(s) is diagonal with its (I,I)-th polynomial element of
-  degree INDEX(I). The first step is to check whether the leading
-  coefficient of any polynomial element of D(s) is approximately
-  zero; if so the routine returns with INFO &gt; 0. Otherwise,
-  Wolovich's Observable Structure Theorem is used to construct a
-  state-space representation in observable companion form which
-  is equivalent to the above polynomial matrix representation.
-  The method is particularly easy here due to the diagonal form
-  of D(s). This state-space representation is not necessarily
-  controllable (as D(s) and U(s) are not necessarily relatively
-  left prime), but it is in theory completely observable; however,
-  its observability matrix may be poorly conditioned, so it is
-  treated as a general state-space representation and SLICOT
-  Library routine TB01PD is then called to separate out a minimal
-  realization from this general state-space representation by means
-  of orthogonal similarity transformations.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Patel, R.V.
-      Computation of Minimal-Order State-Space Realizations and
-      Observability Indices using Orthogonal Transformations.
-      Int. J. Control, 33, pp. 227-246, 1981.
-
-  [2] Wolovich, W.A.
-      Linear Multivariable Systems, (Theorem 4.3.3).
-      Springer-Verlag, 1974.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                            3
-  The algorithm requires 0(N ) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TD04AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, PMAX, KDCMAX, NMAX
-      PARAMETER        ( MMAX = 10, PMAX = 10, KDCMAX = 10, NMAX = 10 )
-      INTEGER          MAXMP
-      PARAMETER        ( MAXMP = MAX( MMAX, PMAX ) )
-      INTEGER          LDDCOE, LDUCO1, LDUCO2, LDA, LDB, LDC, LDD
-      PARAMETER        ( LDDCOE = MAXMP, LDUCO1 = MAXMP,
-     $                   LDUCO2 = MAXMP, LDA = NMAX, LDB = NMAX,
-     $                   LDC = MAXMP, LDD = MAXMP )
-      INTEGER          LIWORK
-      PARAMETER        ( LIWORK = NMAX + MAXMP )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX + MAX( NMAX, 3*MAXMP ) )
-*     .. Local Scalars ..
-      DOUBLE PRECISION TOL
-      INTEGER          I, INDBLK, INFO, J, K, KDCOEF, M, N, NR, P, PORM
-      CHARACTER*1      ROWCOL
-      LOGICAL          LROWCO
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MAXMP), C(LDC,NMAX),
-     $                 D(LDD,MAXMP), DCOEFF(LDDCOE,KDCMAX),
-     $                 DWORK(LDWORK), UCOEFF(LDUCO1,LDUCO2,KDCMAX)
-      INTEGER          INDEX(MAXMP), IWORK(LIWORK)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TD04AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, P, TOL, ROWCOL
-      LROWCO = LSAME( ROWCOL, 'R' )
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99990 ) M
-      ELSE IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) P
-      ELSE
-         PORM = P
-         IF ( .NOT.LROWCO ) PORM = M
-         READ ( NIN, FMT = * ) ( INDEX(I), I = 1,PORM )
-*
-         N = 0
-         KDCOEF = 0
-         DO 20 I = 1, PORM
-            N = N + INDEX(I)
-            KDCOEF = MAX( KDCOEF, INDEX(I) )
-   20    CONTINUE
-         KDCOEF = KDCOEF + 1
-*
-         IF ( KDCOEF.LE.0 .OR. KDCOEF.GT.KDCMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) KDCOEF
-         ELSE
-            READ ( NIN, FMT = * )
-     $         ( ( DCOEFF(I,J), J = 1,KDCOEF ), I = 1,PORM )
-            READ ( NIN, FMT = * )
-     $         ( ( ( UCOEFF(I,J,K), K = 1,KDCOEF ), J = 1,M ), I = 1,P )
-*           Find a minimal state-space representation (A,B,C,D).
-            CALL TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
-     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) NR
-               DO 40 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,NR )
-   40          CONTINUE
-               WRITE ( NOUT, FMT = 99995 )
-               DO 60 I = 1, NR
-                  WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M )
-   60          CONTINUE
-               WRITE ( NOUT, FMT = 99994 )
-               DO 80 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,NR )
-   80          CONTINUE
-               WRITE ( NOUT, FMT = 99993 )
-               DO 100 I = 1, P
-                  WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M )
-  100          CONTINUE
-               INDBLK = 0
-               DO 120 I = 1, N
-                  IF ( IWORK(I).NE.0 ) INDBLK = INDBLK + 1
-  120          CONTINUE
-               IF ( LROWCO ) THEN
-                  WRITE ( NOUT, FMT = 99992 ) INDBLK,
-     $                       ( IWORK(I), I = 1,INDBLK )
-               ELSE
-                  WRITE ( NOUT, FMT = 99991 ) INDBLK,
-     $                       ( IWORK(I), I = 1,INDBLK )
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TD04AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TD04AD = ',I2)
-99997 FORMAT (' The order of the minimal realization = ',I2,//' The st',
-     $       'ate dynamics matrix A of a minimal realization is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' The input/state matrix B of a minimal realization is ')
-99994 FORMAT (/' The state/output matrix C of a minimal realization is '
-     $       )
-99993 FORMAT (/' The direct transmission matrix D is ')
-99992 FORMAT (/' The observability index of a minimal state-space repr',
-     $       'esentation = ',I2,//' The dimensions of the diagonal blo',
-     $       'cks of the state dynamics matrix are',/20(1X,I2))
-99991 FORMAT (/' The controllability index of a minimal state-space re',
-     $       'presentation = ',I2,//' The dimensions of the diagonal b',
-     $       'locks of the state dynamics matrix are',/20(1X,I2))
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-99989 FORMAT (/' P is out of range.',/' P = ',I5)
-99988 FORMAT (/' KDCOEF is out of range.',/' KDCOEF = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TD04AD EXAMPLE PROGRAM DATA
-   2     2     0.0     R
-   3     3
-   1.0   6.0  11.0   6.0
-   1.0   6.0  11.0   6.0
-   1.0   6.0  12.0   7.0
-   0.0   1.0   4.0   3.0
-   0.0   0.0   1.0   1.0
-   1.0   8.0  20.0  15.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TD04AD EXAMPLE PROGRAM RESULTS
-
- The order of the minimal realization =  3
-
- The state dynamics matrix A of a minimal realization is 
-   0.5000  -0.8028   0.9387
-   4.4047  -2.3380   2.5076
-  -5.5541   1.6872  -4.1620
-
- The input/state matrix B of a minimal realization is 
-  -0.2000  -1.2500
-   0.0000  -0.6097
-   0.0000   2.2217
-
- The state/output matrix C of a minimal realization is 
-   0.0000  -0.8679   0.2119
-   0.0000   0.0000   0.9002
-
- The direct transmission matrix D is 
-   1.0000   0.0000
-   0.0000   1.0000
-
- The observability index of a minimal state-space representation =  2
-
- The dimensions of the diagonal blocks of the state dynamics matrix are
-  2  1
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TD05AD.html b/doc/_static/doc/TD05AD.html
deleted file mode 100644
index 63603e8f..00000000
--- a/doc/_static/doc/TD05AD.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>TD05AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TD05AD">TD05AD</A></H2>
-<H3>
-Evaluation of a transfer function G(jW) for a specified frequency
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given a complex valued rational function of frequency (transfer
-  function) G(jW) this routine will calculate its complex value or
-  its magnitude and phase for a specified frequency value.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         OUTPUT, UNITF
-      INTEGER           INFO, MP1, NP1
-      DOUBLE PRECISION  VALI, VALR, W
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(*), B(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UNITF   CHARACTER*1
-          Indicates the choice of frequency unit as follows:
-          = 'R':  Input frequency W in radians/second;
-          = 'H':  Input frequency W in hertz.
-
-  OUTPUT  CHARACTER*1
-          Indicates the choice of co-ordinates for output as folows:
-          = 'C':  Cartesian co-ordinates (output real and imaginary
-                  parts of G(jW));
-          = 'P':  Polar co-ordinates (output magnitude and phase
-                  of G(jW)).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NP1     (input) INTEGER
-          The order of the denominator + 1, i.e. N + 1.  NP1 &gt;= 1.
-
-  MP1     (input) INTEGER
-          The order of the numerator + 1, i.e. M + 1.  MP1 &gt;= 1.
-
-  W       (input) DOUBLE PRECISION
-          The frequency value W for which the transfer function is
-          to be evaluated.
-
-  A       (input) DOUBLE PRECISION array, dimension (NP1)
-          This array must contain the vector of denominator
-          coefficients in ascending order of powers. That is, A(i)
-          must contain the coefficient of (jW)**(i-1) for i = 1,
-          2,...,NP1.
-
-  B       (input) DOUBLE PRECISION array, dimension (MP1)
-          This array must contain the vector of numerator
-          coefficients in ascending order of powers. That is, B(i)
-          must contain the coefficient of (jW)**(i-1) for i = 1,
-          2,...,MP1.
-
-  VALR    (output) DOUBLE PRECISION
-          If OUTPUT = 'C', VALR contains the real part of G(jW).
-          If OUTPUT = 'P', VALR contains the magnitude of G(jW)
-                           in dBs.
-
-  VALI    (output) DOUBLE PRECISION
-          If OUTPUT = 'C', VALI contains the imaginary part of
-                           G(jW).
-          If OUTPUT = 'P', VALI contains the phase of G(jW) in
-                           degrees.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  if the frequency value W is a pole of G(jW), or all
-                the coefficients of the A polynomial are zero.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  By substituting the values of A, B and W in the following
-  formula:
-
-         B(1)+B(2)*(jW)+B(3)*(jW)**2+...+B(MP1)*(jW)**(MP1-1)
-  G(jW) = ---------------------------------------------------.
-         A(1)+A(2)*(jW)+A(3)*(jW)**2+...+A(NP1)*(jW)**(NP1-1)
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires 0(N+M) operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TD05AD EXAMPLE PROGRAM TEXT.
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NP1MAX, MP1MAX
-      PARAMETER        ( NP1MAX = 20, MP1MAX = 20 )
-*     .. Local Scalars ..
-      DOUBLE PRECISION VALI, VALR, W
-      INTEGER          I, INFO, MP1, NP1
-      CHARACTER*1      UNITF, OUTPUT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(NP1MAX), B(MP1MAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TD05AD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NP1, MP1, W, UNITF, OUTPUT
-      IF ( NP1.LE.0 .OR. NP1.GT.NP1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP1
-      ELSE
-         READ ( NIN, FMT = * ) ( A(I), I = 1,NP1 )
-         IF ( MP1.LE.0 .OR. MP1.GT.MP1MAX ) THEN
-            WRITE ( NOUT, FMT = 99994 ) MP1
-         ELSE
-            READ ( NIN, FMT = * ) ( B(I), I = 1,MP1 )
-*           Find the real and imaginary parts of G(jW), where
-*           W = 1.0 radian.
-            CALL TD05AD( UNITF, OUTPUT, NP1, MP1, W, A, B, VALR, VALI,
-     $                   INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               IF ( LSAME( OUTPUT, 'C' ) ) THEN
-                  WRITE ( NOUT, FMT = 99997 ) VALR, VALI
-               ELSE
-                  WRITE ( NOUT, FMT = 99996 ) VALR, VALI
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TD05AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TD05AD = ',I2)
-99997 FORMAT (' Complex value of G(jW) = ',F8.4,1X,F8.4,'*j')
-99996 FORMAT (' Magnitude of G(jW) = ',F8.4,' dBs, Phase of G(jW) = ',
-     $       F8.4,' degrees ')
-99995 FORMAT (/' NP1 is out of range.',/' NP1 = ',I5)
-99994 FORMAT (/' MP1 is out of range.',/' MP1 = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TD05AD EXAMPLE PROGRAM DATA
-   6     4     1.0     R     C
-   1.0   1.0   0.0   0.0   2.0   1.0
-   6.0   2.0   3.0   1.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- TD05AD EXAMPLE PROGRAM RESULTS
-
- Complex value of G(jW) =   0.8462  -0.2308*j
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01MD.html b/doc/_static/doc/TF01MD.html
deleted file mode 100644
index 647b5b7b..00000000
--- a/doc/_static/doc/TF01MD.html
+++ /dev/null
@@ -1,294 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01MD">TF01MD</A></H2>
-<H3>
-Output response sequence of a linear time-invariant discrete-time system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  (A,B,C,D), where A is an N-by-N general matrix.
-
-  The initial state vector x(1) must be supplied by the user.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   U, LDU, X, Y, LDY, DWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct link matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
-          The leading M-by-NY part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th column of U must contain u(k).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
-          The leading P-by-NY part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          column of Y contains y(k) (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     x(k+1) = A x(k) + B u(k)
-     y(k)   = C x(k) + D u(k),
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (N + M) x (N + P) x NY
-  multiplications and additions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NYMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
-     $                   LDU = MMAX, LDY = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, M, N, NY, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
-     $                 X(NMAX), Y(LDY,NYMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NY
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
-               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NY
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
-*                 Compute y(1),...,y(NY) of the given system.
-                  CALL TF01MD( N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
-     $                         LDD, U, LDU, X, Y, LDY, DWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 ) NY
-                     DO 20 K = 1, NY
-                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
-                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
-   20                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01MD = ',I2)
-99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
-99996 FORMAT (' Y(',I2,') : ',F8.4)
-99995 FORMAT (9X,F8.4,/)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01MD EXAMPLE PROGRAM DATA
-   3     2     2     10
-   0.0000 -0.0700  0.0150
-   1.0000  0.8000 -0.1500
-   0.0000  0.0000  0.5000
-   0.0000  2.0000  1.0000
-  -1.0000 -0.1000  1.0000
-   0.0000  1.0000
-   0.0000  0.0000
-   1.0000  0.0000
-   1.0000  0.5000
-   0.0000  0.5000
-   1.0000  1.0000  1.0000
-  -0.6922 -1.4934  0.3081 -2.7726  2.0039
-   0.2614 -0.9160 -0.6030  1.2556  0.2951
-  -1.5734  1.5639 -0.9942  1.8957  0.8988
-   0.4118 -1.4893 -0.9344  1.2506 -0.0701
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01MD EXAMPLE PROGRAM RESULTS
-
- The output sequence Y(1),...,Y(10) is
-
- Y( 1) :   0.3078
-          -0.0928
-
- Y( 2) :  -1.5125
-           1.2611
-
- Y( 3) :  -1.2577
-           3.4002
-
- Y( 4) :  -0.2947
-          -0.7060
-
- Y( 5) :  -0.5632
-           5.4532
-
- Y( 6) :  -1.0846
-           1.1846
-
- Y( 7) :  -1.2427
-           2.2286
-
- Y( 8) :   1.8097
-          -1.9534
-
- Y( 9) :   0.6685
-          -4.4965
-
- Y(10) :  -0.0896
-           1.1654
-
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01MX.html b/doc/_static/doc/TF01MX.html
deleted file mode 100644
index 2eef5443..00000000
--- a/doc/_static/doc/TF01MX.html
+++ /dev/null
@@ -1,165 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01MX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01MX">TF01MX</A></H2>
-<H3>
-Output sequence of a linear time-invariant open-loop system given its system matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  with an (N+P)-by-(N+M) general system matrix S,
-
-         ( A  B )
-     S = (      ) .
-         ( C  D )
-
-  The initial state vector x(1) must be supplied by the user.
-
-  The input and output trajectories are stored as in the SLICOT
-  Library routine TF01MY.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01MX( N, M, P, NY, S, LDS, U, LDU, X, Y, LDY,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDS, LDU, LDWORK, LDY, M, N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DWORK(*), S(LDS,*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  S       (input) DOUBLE PRECISION array, dimension (LDS,N+M)
-          The leading (N+P)-by-(N+M) part of this array must contain
-          the system matrix S.
-
-  LDS     INTEGER
-          The leading dimension of array S.  LDS &gt;= MAX(1,N+P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NY-by-M part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th row of U must contain u(k)'.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY+1.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
-          The leading NY-by-P part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          row of Y contains y(k)' (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 0,        if MIN(N,P,NY) = 0;  otherwise,
-          LDWORK &gt;= N+P,      if M = 0;
-          LDWORK &gt;= 2*N+M+P,  if M &gt; 0.
-          For better performance, LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     ( x(k+1) )     ( x(k) )
-     (        ) = S (      ) ,
-     (  y(k)  )     ( u(k) )
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k, and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (N + M) x (N + P) x NY
-  multiplications and additions.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The implementation exploits data locality as much as possible,
-  given the workspace length.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01MY.html b/doc/_static/doc/TF01MY.html
deleted file mode 100644
index 7995e18e..00000000
--- a/doc/_static/doc/TF01MY.html
+++ /dev/null
@@ -1,187 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01MY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01MY">TF01MY</A></H2>
-<H3>
-Output sequence of a linear time-invariant open-loop system (variant)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  (A,B,C,D), where A is an N-by-N general matrix.
-
-  The initial state vector x(1) must be supplied by the user.
-
-  This routine differs from SLICOT Library routine TF01MD in the
-  way the input and output trajectories are stored.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01MY( N, M, P, NY, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   U, LDU, X, Y, LDY, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDWORK, LDY, M,
-     $                  N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading N-by-N part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct link matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,M)
-          The leading NY-by-M part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th row of U must contain u(k)'.
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,NY).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY+1.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,P)
-          The leading NY-by-P part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          row of Y contains y(k)' (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,NY).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= MAX(1,N).
-          For better performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     x(k+1) = A x(k) + B u(k)
-     y(k)   = C x(k) + D u(k),
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (N + M) x (N + P) x NY
-  multiplications and additions.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The implementation exploits data locality and uses BLAS 3
-  operations as much as possible, given the workspace length.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01ND.html b/doc/_static/doc/TF01ND.html
deleted file mode 100644
index 6fb14be6..00000000
--- a/doc/_static/doc/TF01ND.html
+++ /dev/null
@@ -1,313 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01ND">TF01ND</A></H2>
-<H3>
-Output response sequence of a linear time-invariant discrete-time system with upper/lower Hessenberg matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute the output sequence of a linear time-invariant
-  open-loop system given by its discrete-time state-space model
-  (A,B,C,D), where A is an N-by-N upper or lower Hessenberg matrix.
-
-  The initial state vector x(1) must be supplied by the user.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, U, LDU, X, Y, LDY, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         UPLO
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDU, LDY, M, N, NY, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), U(LDU,*), X(*), Y(LDY,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  UPLO    CHARACTER*1
-          Indicates whether the user wishes to use an upper or lower
-          Hessenberg matrix as follows:
-          = 'U':  Upper Hessenberg matrix;
-          = 'L':  Lower Hessenberg matrix.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrix A.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs.  P &gt;= 0.
-
-  NY      (input) INTEGER
-          The number of output vectors y(k) to be computed.
-          NY &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          If UPLO = 'U', the leading N-by-N upper Hessenberg part
-          of this array must contain the state matrix A of the
-          system.
-          If UPLO = 'L', the leading N-by-N lower Hessenberg part
-          of this array must contain the state matrix A of the
-          system.
-          The remainder of the leading N-by-N part is not
-          referenced.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-          The leading N-by-M part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-          The leading P-by-N part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-          The leading P-by-M part of this array must contain the
-          direct link matrix D of the system.
-
-  LDD     INTEGER
-          The leading dimension of array D.  LDD &gt;= MAX(1,P).
-
-  U       (input) DOUBLE PRECISION array, dimension (LDU,NY)
-          The leading M-by-NY part of this array must contain the
-          input vector sequence u(k), for k = 1,2,...,NY.
-          Specifically, the k-th column of U must contain u(k).
-
-  LDU     INTEGER
-          The leading dimension of array U.  LDU &gt;= MAX(1,M).
-
-  X       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, this array must contain the initial state vector
-          x(1) which consists of the N initial states of the system.
-          On exit, this array contains the final state vector
-          x(NY+1) of the N states of the system at instant NY.
-
-  Y       (output) DOUBLE PRECISION array, dimension (LDY,NY)
-          The leading P-by-NY part of this array contains the output
-          vector sequence y(1),y(2),...,y(NY) such that the k-th
-          column of Y contains y(k) (the outputs at instant k),
-          for k = 1,2,...,NY.
-
-  LDY     INTEGER
-          The leading dimension of array Y.  LDY &gt;= MAX(1,P).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (N)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Given an initial state vector x(1), the output vector sequence
-  y(1), y(2),..., y(NY) is obtained via the formulae
-
-     x(k+1) = A x(k) + B u(k)
-     y(k)   = C x(k) + D u(k),
-
-  where each element y(k) is a vector of length P containing the
-  outputs at instant k and k = 1,2,...,NY.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately ((N+M)xP + (N/2+M)xN) x NY
-  multiplications and additions.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The processing time required by this routine will be approximately
-  half that required by the SLICOT Library routine TF01MD, which
-  treats A as a general matrix.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX, NYMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20, NYMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDU, LDY
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDU = MMAX, LDY = PMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      UPLO
-      INTEGER          I, INFO, J, K, M, N, NY, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), U(LDU,NYMAX),
-     $                 X(NMAX), Y(LDY,NYMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, NY, UPLO
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
-         IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99993 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
-            IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99992 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,P ), J = 1,N )
-               READ ( NIN, FMT = * ) ( ( D(I,J), I = 1,P ), J = 1,M )
-               READ ( NIN, FMT = * ) ( X(I), I = 1,N )
-               IF ( NY.LE.0 .OR. NY.GT.NYMAX ) THEN
-                  WRITE ( NOUT, FMT = 99991 ) NY
-               ELSE
-                  READ ( NIN, FMT = * )
-     $                 ( ( U(I,J), I = 1,M ), J = 1,NY )
-*                 Compute y(1),...,y(NY) of the given system.
-                  CALL TF01ND( UPLO, N, M, P, NY, A, LDA, B, LDB, C,
-     $                         LDC, D, LDD, U, LDU, X, Y, LDY, DWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99997 ) NY
-                     DO 20 K = 1, NY
-                        WRITE ( NOUT, FMT = 99996 ) K, Y(1,K)
-                        WRITE ( NOUT, FMT = 99995 ) ( Y(J,K), J = 2,P )
-   20                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01ND = ',I2)
-99997 FORMAT (' The output sequence Y(1),...,Y(',I2,') is',/)
-99996 FORMAT (' Y(',I2,') : ',F8.4)
-99995 FORMAT (9X,F8.4,/)
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' M is out of range.',/' M = ',I5)
-99992 FORMAT (/' P is out of range.',/' P = ',I5)
-99991 FORMAT (/' NY is out of range.',/' NY = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01ND EXAMPLE PROGRAM DATA
-   3     2     2     10     U
-   0.0000 -0.0700  0.0000
-   1.0000  0.8000 -0.1500
-   0.0000  0.0000  0.5000
-   0.0000  2.0000  1.0000
-  -1.0000 -0.1000  1.0000
-   0.0000  1.0000
-   0.0000  0.0000
-   1.0000  0.0000
-   1.0000  0.5000
-   0.0000  0.5000
-   1.0000  1.0000  1.0000
-  -0.6922 -1.4934  0.3081 -2.7726  2.0039
-   0.2614 -0.9160 -0.6030  1.2556  0.2951
-  -1.5734  1.5639 -0.9942  1.8957  0.8988
-   0.4118 -1.4893 -0.9344  1.2506 -0.0701
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01ND EXAMPLE PROGRAM RESULTS
-
- The output sequence Y(1),...,Y(10) is
-
- Y( 1) :   0.3078
-          -0.0928
-
- Y( 2) :  -1.5275
-           1.2611
-
- Y( 3) :  -1.3026
-           3.4002
-
- Y( 4) :  -0.3512
-          -0.7060
-
- Y( 5) :  -0.5922
-           5.4532
-
- Y( 6) :  -1.1693
-           1.1846
-
- Y( 7) :  -1.3029
-           2.2286
-
- Y( 8) :   1.7529
-          -1.9534
-
- Y( 9) :   0.6793
-          -4.4965
-
- Y(10) :  -0.0349
-           1.1654
-
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01OD.html b/doc/_static/doc/TF01OD.html
deleted file mode 100644
index 89de0b23..00000000
--- a/doc/_static/doc/TF01OD.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01OD">TF01OD</A></H2>
-<H3>
-Block Hankel expansion of a multivariable parameter sequence
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the block Hankel expansion T of a multivariable
-  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
-  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NH1     (input) INTEGER
-          The number of rows in each parameter M(k).  NH1 &gt;= 0.
-
-  NH2     (input) INTEGER
-          The number of columns in each parameter M(k).  NH2 &gt;= 0.
-
-  NR      (input) INTEGER
-          The number of parameters required in each column of the
-          block Hankel expansion matrix T.  NR &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of parameters required in each row of the
-          block Hankel expansion matrix T.  NC &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension
-          (LDH,(NR+NC-1)*NH2)
-          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
-          contain the multivariable sequence M(k), where k = 1,2,
-          ...,(NR+NC-1). Specifically, each parameter M(k) is an
-          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
-          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
-          The leading NH1*NR-by-NH2*NC part of this array contains
-          the block Hankel expansion of the multivariable sequence
-          M(k).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
-  sequence are arranged into a matrix T in Hankel form such that
-
-           | M(1)   M(2)    M(3)    . . .  M(NC)     |
-           |                                         |
-           | M(2)   M(3)    M(4)    . . .  M(NC+1)   |
-      T =  |  .      .       .              .        |.
-           |  .      .       .              .        |
-           |  .      .       .              .        |
-           |                                         |
-           | M(NR)  M(NR+1) M(NR+2) . . .  M(NR+NC-1)|
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Johvidov, J.S.
-      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
-      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
-      Birkhaeuser, Boston, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The time taken is approximately proportional to
-  NH1 x NH2 x NR x NC.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01OD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
-      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
-     $                   NCMAX = 20 )
-      INTEGER          LDH, LDT
-      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
-*     .. Local Arrays ..
-      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
-     $                 T(LDT,NH2MAX*NCMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01OD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
-      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NH1
-      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NH2
-      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NR
-      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NC
-      ELSE
-         READ ( NIN, FMT = * )
-     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
-*        Construct the NRT by NCT block Hankel expansion of M(k).
-         CALL TF01OD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            NRT = NH1*NR
-            NCT = NH2*NC
-            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
-            DO 20 I = 1, NRT
-               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01OD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01OD = ',I2)
-99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
-99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
-99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
-99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01OD EXAMPLE PROGRAM DATA
-   2     2     3     3
-   1.0647 -0.4282 -0.4922 -1.2072
-  -0.3043  0.6883 -0.0926  0.7167
-  -0.1844 -0.8507  0.4441 -0.0478
-   0.7195  0.0500 -0.3955  0.5674
-   1.3387 -0.2801  0.1073 -0.5315
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01OD EXAMPLE PROGRAM RESULTS
-
- The  6 by  6 matrix T is 
-   1.0647  -0.4922  -0.3043  -0.0926  -0.1844   0.4441
-  -0.4282  -1.2072   0.6883   0.7167  -0.8507  -0.0478
-  -0.3043  -0.0926  -0.1844   0.4441   0.7195  -0.3955
-   0.6883   0.7167  -0.8507  -0.0478   0.0500   0.5674
-  -0.1844   0.4441   0.7195  -0.3955   1.3387   0.1073
-  -0.8507  -0.0478   0.0500   0.5674  -0.2801  -0.5315
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01PD.html b/doc/_static/doc/TF01PD.html
deleted file mode 100644
index f8266f1f..00000000
--- a/doc/_static/doc/TF01PD.html
+++ /dev/null
@@ -1,207 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01PD">TF01PD</A></H2>
-<H3>
-Block Toeplitz expansion of a multivariable parameter sequence
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To construct the block Toeplitz expansion T of a multivariable
-  parameter sequence M(1),...,M(NR+NC-1), where each parameter M(k)
-  is an NH1-by-NH2 block matrix and k = 1,2,...,(NR+NC-1).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, LDT, NC, NH1, NH2, NR
-C     .. Array Arguments ..
-      DOUBLE PRECISION  H(LDH,*), T(LDT,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NH1     (input) INTEGER
-          The number of rows in each parameter M(k).  NH1 &gt;= 0.
-
-  NH2     (input) INTEGER
-          The number of columns in each parameter M(k).  NH2 &gt;= 0.
-
-  NR      (input) INTEGER
-          The number of parameters required in each column of the
-          block Toeplitz expansion matrix T.  NR &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of parameters required in each row of the
-          block Toeplitz expansion matrix T.  NC &gt;= 0.
-
-  H       (input) DOUBLE PRECISION array, dimension
-          (LDH,(NR+NC-1)*NH2)
-          The leading NH1-by-(NR+NC-1)*NH2 part of this array must
-          contain the multivariable sequence M(k), where k = 1,2,
-          ...,(NR+NC-1). Specifically, each parameter M(k) is an
-          NH1-by-NH2 matrix whose (i,j)-th element must be stored in
-          H(i,(k-1)*NH2+j) for i = 1,2,...,NH1 and j = 1,2,...,NH2.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NH1).
-
-  T       (output) DOUBLE PRECISION array, dimension (LDT,NH2*NC)
-          The leading NH1*NR-by-NH2*NC part of this array contains
-          the block Toeplitz expansion of the multivariable sequence
-          M(k).
-
-  LDT     INTEGER
-          The leading dimension of array T.  LDT &gt;= MAX(1,NH1*NR).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The NH1-by-NH2 dimensional parameters M(k) of a multivariable
-  sequence are arranged into a matrix T in Toeplitz form such that
-
-             | M(NC)       M(NC-1)     M(NC-2)    . . .  M(1)  |
-             |                                                 |
-             | M(NC+1)     M(NC)       M(NC-1)    . . .  M(2)  |
-        T =  |  .           .           .                 .    |.
-             |  .           .           .                 .    |
-             |  .           .           .                 .    |
-             |                                                 |
-             | M(NR+NC-1)  M(NR+NC-2)  M(NR+NC-3) . . .  M(NR) |
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Johvidov, J.S.
-      Hankel and Toeplitz Matrices and Forms: Algebraic Theory,
-      (translated by G.P.A. Thijsse, I. Gohberg, ed.).
-      Birkhaeuser, Boston, 1982.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The time taken is approximately proportional to
-  NH1 x NH2 x NR x NC.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NH1MAX, NH2MAX, NRMAX, NCMAX
-      PARAMETER        ( NH1MAX = 20, NH2MAX = 20, NRMAX = 20,
-     $                   NCMAX = 20 )
-      INTEGER          LDH, LDT
-      PARAMETER        ( LDH = NH1MAX, LDT = NH1MAX*NRMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, NC, NCT, NH1, NH2, NR, NRT
-*     .. Local Arrays ..
-      DOUBLE PRECISION H(LDH,(NRMAX+NCMAX-1)*NH2MAX),
-     $                 T(LDT,NH2MAX*NCMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01PD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) NH1, NH2, NR, NC
-      IF ( NH1.LE.0 .OR. NH1.GE.NH1MAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NH1
-      ELSE IF ( NH2.LE.0 .OR. NH2.GT.NH2MAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) NH2
-      ELSE IF ( NR.LE.0 .OR. NR.GT.NRMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NR
-      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NC
-      ELSE
-         READ ( NIN, FMT = * )
-     $      ( ( H(I,J), I = 1,NH1 ), J = 1,( NR+NC-1 )*NH2 )
-*        Construct the NRT by NCT block Toeplitz expansion of M(k).
-         CALL TF01PD( NH1, NH2, NR, NC, H, LDH, T, LDT, INFO )
-*
-         IF ( INFO.NE.0 ) THEN
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            NRT = NH1*NR
-            NCT = NH2*NC
-            WRITE ( NOUT, FMT = 99997 ) NRT, NCT
-            DO 20 I = 1, NRT
-               WRITE ( NOUT, FMT = 99996 ) ( T(I,J), J = 1,NCT )
-   20       CONTINUE
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01PD = ',I2)
-99997 FORMAT (' The ',I2,' by ',I2,' matrix T is ')
-99996 FORMAT (20(1X,F8.4))
-99995 FORMAT (/' NH1 is out of range.',/' NH1 = ',I5)
-99994 FORMAT (/' NH2 is out of range.',/' NH2 = ',I5)
-99993 FORMAT (/' NR is out of range.',/' NR = ',I5)
-99992 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01PD EXAMPLE PROGRAM DATA
-   2     2     3     3
-   1.0647 -0.4282 -0.4922 -1.2072
-  -0.3043  0.6883 -0.0926  0.7167
-  -0.1844 -0.8507  0.4441 -0.0478
-   0.7195  0.0500 -0.3955  0.5674
-   1.3387 -0.2801  0.1073 -0.5315
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01PD EXAMPLE PROGRAM RESULTS
-
- The  6 by  6 matrix T is 
-  -0.1844   0.4441  -0.3043  -0.0926   1.0647  -0.4922
-  -0.8507  -0.0478   0.6883   0.7167  -0.4282  -1.2072
-   0.7195  -0.3955  -0.1844   0.4441  -0.3043  -0.0926
-   0.0500   0.5674  -0.8507  -0.0478   0.6883   0.7167
-   1.3387   0.1073   0.7195  -0.3955  -0.1844   0.4441
-  -0.2801  -0.5315   0.0500   0.5674  -0.8507  -0.0478
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01QD.html b/doc/_static/doc/TF01QD.html
deleted file mode 100644
index cbc0933a..00000000
--- a/doc/_static/doc/TF01QD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01QD">TF01QD</A></H2>
-<H3>
-Markov parameters of a multivariable system from its transfer function matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute N Markov parameters M(1), M(2),..., M(N) from a
-  multivariable system whose transfer function matrix G(z) is given.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDH, N, NB, NC
-C     .. Array Arguments ..
-      INTEGER           IORD(*)
-      DOUBLE PRECISION  AR(*), H(LDH,*), MA(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NC      (input) INTEGER
-          The number of system outputs, i.e. the number of rows in
-          the transfer function matrix G(z).  NC &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of system inputs, i.e. the number of columns in
-          the transfer function matrix G(z).  NB &gt;= 0.
-
-  N       (input) INTEGER
-          The number of Markov parameters M(k) to be computed.
-          N &gt;= 0.
-
-  IORD    (input) INTEGER array, dimension (NC*NB)
-          This array must contain the order r of the elements of the
-          transfer function matrix G(z), stored row by row.
-          For example, the order of the (i,j)-th element of G(z) is
-          given by IORD((i-1)xNB+j).
-
-  AR      (input) DOUBLE PRECISION array, dimension (NA), where
-          NA = IORD(1) + IORD(2) + ... + IORD(NC*NB).
-          The leading NA elements of this array must contain the
-          denominator coefficients AR(1),...,AR(r) in equation (1)
-          of the (i,j)-th element of the transfer function matrix
-          G(z), stored row by row, i.e. in the order
-          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
-          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
-          in decreasing order of powers of z; the coefficient of the
-          highest order term is assumed to be equal to 1.
-
-  MA      (input) DOUBLE PRECISION array, dimension (NA)
-          The leading NA elements of this array must contain the
-          numerator coefficients MA(1),...,MA(r) in equation (1)
-          of the (i,j)-th element of the transfer function matrix
-          G(z), stored row by row, i.e. in the order
-          (1,1),(1,2),...,(1,NB), (2,1),(2,2),...,(2,NB), ...,
-          (NC,1),(NC,2),...,(NC,NB). The coefficients must be given
-          in decreasing order of powers of z.
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
-          The leading NC-by-N*NB part of this array contains the
-          multivariable Markov parameter sequence M(k), where each
-          parameter M(k) is an NC-by-NB matrix and k = 1,2,...,N.
-          The Markov parameters are stored such that H(i,(k-1)xNB+j)
-          contains the (i,j)-th element of M(k) for i = 1,2,...,NC
-          and j = 1,2,...,NB.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The (i,j)-th element of G(z), defining the particular I/O transfer
-  between output i and input j, has the following form:
-
-                       -1         -2               -r
-                 MA(1)z   + MA(2)z   + ... + MA(r)z
-      G  (z) = ----------------------------------------.         (1)
-       ij                -1         -2               -r
-               1 + AR(1)z   + AR(2)z   + ... + AR(r)z
-
-  The (i,j)-th element of G(z) is defined by its order r, its r
-  moving average coefficients (= numerator) MA(1),...,MA(r) and its
-  r autoregressive coefficients (= denominator) AR(1),...,AR(r). The
-  coefficient of the constant term in the denominator is assumed to
-  be equal to 1.
-
-  The relationship between the (i,j)-th element of the Markov
-  parameters M(1),M(2),...,M(N) and the corresponding element of the
-  transfer function matrix G(z) is given by:
-
-                            -1          -2                -k
-   G  (z) = M  (0) + M  (1)z   + M  (2)z   + ... + M  (k)z  + ...(2)
-    ij       ij       ij          ij                ij
-
-  Equating (1) and (2), we find that the relationship between the
-  (i,j)-th element of the Markov parameters M(k) and the ARMA
-  parameters AR(1),...,AR(r) and MA(1),...,MA(r) of the (i,j)-th
-  element of the transfer function matrix G(z) is as follows:
-
-     M  (1)   = MA(1),
-      ij
-                        k-1
-     M  (k)   = MA(k) - SUM AR(p) x M  (k-p) for 1 &lt; k &lt;= r and
-      ij                p=1          ij
-                   r
-     M  (k+r) = - SUM AR(p) x M  (k+r-p) for k &gt; 0.
-      ij          p=1          ij
-
-  From these expressions the Markov parameters M(k) are computed
-  element by element.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Luenberger, D.G.
-      Introduction to Dynamic Systems: Theory, Models and
-      Applications.
-      John Wiley & Sons, New York, 1979.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The computation of the (i,j)-th element of M(k) requires:
-     (k-1) multiplications and k additions if k &lt;= r;
-       r   multiplications and r additions if k &gt; r.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
-      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
-      INTEGER          LDH
-      PARAMETER        ( LDH = NCMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, L, N, NA, NASUM, NB, NC, NL, NORD
-      LOGICAL          ERROR
-*     .. Local Arrays ..
-      DOUBLE PRECISION AR(NAMAX), H(LDH,NMAX*NBMAX), MA(NAMAX)
-      INTEGER          IORD(NCMAX*NBMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TF01QD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NA, NB, NC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NA
-      ELSE IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) NB
-      ELSE IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-         WRITE ( NOUT, FMT = 99991 ) NC
-      ELSE
-         ERROR = .FALSE.
-         NL = 0
-         K = 1
-         NASUM = 0
-         DO 40 I = 1, NC
-            DO 20 J = 1, NB
-               READ ( NIN, FMT = * ) NORD
-               NASUM = NASUM + NORD
-               IF ( NA.GE.NASUM ) THEN
-                  READ ( NIN, FMT = * ) ( MA(NL+L), L = 1,NORD )
-                  READ ( NIN, FMT = * ) ( AR(NL+L), L = 1,NORD )
-                  IORD(K) = NORD
-                  K = K + 1
-                  NL = NL + NORD
-               ELSE
-                  WRITE ( NOUT, FMT = 99993 ) NA
-                  ERROR = .TRUE.
-               END IF
-   20       CONTINUE
-   40    CONTINUE
-         IF ( .NOT. ERROR ) THEN
-*           Compute M(1),...,M(N) from the given transfer function
-*           matrix G(z).
-            CALL TF01QD( NC, NB, N, IORD, AR, MA, H, LDH, INFO )
-*
-            IF ( INFO.NE.0 ) THEN
-               WRITE ( NOUT, FMT = 99998 ) INFO
-            ELSE
-               WRITE ( NOUT, FMT = 99997 ) N
-               DO 80 K = 1, N
-                  WRITE ( NOUT, FMT = 99996 ) K,
-     $                  ( H(1,(K-1)*NB+J), J = 1,NB )
-                  DO 60 I = 2, NC
-                     WRITE ( NOUT, FMT = 99995 )
-     $                     ( H(I,(K-1)*NB+J), J = 1,NB )
-   60             CONTINUE
-   80          CONTINUE
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01QD = ',I2)
-99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
-99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
-99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
-99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01QD EXAMPLE PROGRAM DATA
-   8    10     2     2   
-   2
-   1.0  -0.5
-   0.6  -0.2
-   1
-   1.0
-  -0.8
-   3
-   0.5  -0.4   0.3
-   0.8   0.4   0.1
-   4
-   1.0   0.5  -0.5   0.0
-  -0.8   0.6   0.0  -0.2
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01QD EXAMPLE PROGRAM RESULTS
-
- The Markov Parameters M(1),...,M(8) are 
-
- M(1) :    1.0000   1.0000
-           0.5000   1.0000
-
- M(2) :   -1.1000   0.8000
-          -0.8000   1.3000
-
- M(3) :    0.8600   0.6400
-           0.7400  -0.0600
-
- M(4) :   -0.7360   0.5120
-          -0.3220  -0.8280
-
- M(5) :    0.6136   0.4096
-           0.0416  -0.4264
-
- M(6) :   -0.5154   0.3277
-           0.0215   0.4157
-
- M(7) :    0.4319   0.2621
-          -0.0017   0.5764
-
- M(8) :   -0.3622   0.2097
-          -0.0114   0.0461
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TF01RD.html b/doc/_static/doc/TF01RD.html
deleted file mode 100644
index c3ee03b1..00000000
--- a/doc/_static/doc/TF01RD.html
+++ /dev/null
@@ -1,263 +0,0 @@
-<HTML>
-<HEAD><TITLE>TF01RD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TF01RD">TF01RD</A></H2>
-<H3>
-Markov parameters of a multivariable system from the state-space representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute N Markov parameters M(1), M(2),..., M(N) from the
-  parameters (A,B,C) of a linear time-invariant system, where each
-  M(k) is an NC-by-NB matrix and k = 1,2,...,N.
-
-  All matrices are treated as dense, and hence TF01RD is not
-  intended for large sparse problems.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H, LDH,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDH, LDWORK, N, NA, NB, NC
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), H(LDH,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  NA      (input) INTEGER
-          The order of the matrix A.  NA &gt;= 0.
-
-  NB      (input) INTEGER
-          The number of system inputs.  NB &gt;= 0.
-
-  NC      (input) INTEGER
-          The number of system outputs.  NC &gt;= 0.
-
-  N       (input) INTEGER
-          The number of Markov parameters M(k) to be computed.
-          N &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,NA)
-          The leading NA-by-NA part of this array must contain the
-          state matrix A of the system.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,NA).
-
-  B       (input) DOUBLE PRECISION array, dimension (LDB,NB)
-          The leading NA-by-NB part of this array must contain the
-          input matrix B of the system.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,NA).
-
-  C       (input) DOUBLE PRECISION array, dimension (LDC,NA)
-          The leading NC-by-NA part of this array must contain the
-          output matrix C of the system.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,NC).
-
-  H       (output) DOUBLE PRECISION array, dimension (LDH,N*NB)
-          The leading NC-by-N*NB part of this array contains the
-          multivariable parameters M(k), where each parameter M(k)
-          is an NC-by-NB matrix and k = 1,2,...,N. The Markov
-          parameters are stored such that H(i,(k-1)xNB+j) contains
-          the (i,j)-th element of M(k) for i = 1,2,...,NC and
-          j = 1,2,...,NB.
-
-  LDH     INTEGER
-          The leading dimension of array H.  LDH &gt;= MAX(1,NC).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, 2*NA*NC).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the linear time-invariant discrete-time system
-
-         x(k+1) = A x(k) + B u(k)
-          y(k)  = C x(k) + D u(k),
-
-  the transfer function matrix G(z) is given by
-                         -1
-           G(z) = C(zI-A)  B + D
-                          -1        -2     2   -3
-                = D + CB z   + CAB z   + CA B z   + ...          (1)
-
-  Using Markov parameters, G(z) can also be written as
-                              -1        -2        -3
-           G(z) = M(0) + M(1)z   + M(2)z   + M(3)z   + ...       (2)
-
-                                                            k-1
-  Equating (1) and (2), we find that M(0) = D and M(k) = C A    B
-  for k &gt; 0, from which the Markov parameters M(1),M(2)...,M(N) are
-  computed.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Chen, C.T.
-      Introduction to Linear System Theory.
-      H.R.W. Series in Electrical Engineering, Electronics and
-      Systems, Holt, Rinehart and Winston Inc., London, 1970.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm requires approximately (NA + NB) x NA x NC x N
-  multiplications and additions.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TF01RD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, NAMAX, NBMAX, NCMAX
-      PARAMETER        ( NMAX = 20, NAMAX = 20, NBMAX = 20, NCMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDH
-      PARAMETER        ( LDA = NAMAX, LDB = NAMAX, LDC = NCMAX,
-     $                   LDH = NCMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NAMAX*NCMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, K, N, NA, NB, NC
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NAMAX), B(LDB,NBMAX), C(LDC,NAMAX),
-     $                 H(LDH,NMAX*NBMAX), DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TF01RD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, NA, NB, NC
-      IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) N
-      ELSE IF ( NA.LE.0 .OR. NA.GT.NAMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) NA
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,NA ), J = 1,NA )
-         IF ( NB.LE.0 .OR. NB.GT.NBMAX ) THEN
-            WRITE ( NOUT, FMT = 99992 ) NB
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,NA ), J = 1,NB )
-            IF ( NC.LE.0 .OR. NC.GT.NCMAX ) THEN
-               WRITE ( NOUT, FMT = 99991 ) NC
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), I = 1,NC ), J = 1,NA )
-*              Compute M(1),...,M(N) from the system (A,B,C).
-               CALL TF01RD( NA, NB, NC, N, A, LDA, B, LDB, C, LDC, H,
-     $                      LDH, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 ) N
-                  DO 40 K = 1, N
-                     WRITE ( NOUT, FMT = 99996 ) K,
-     $                     ( H(1,(K-1)*NB+J), J = 1,NB )
-                     DO 20 I = 2, NC
-                        WRITE ( NOUT, FMT = 99995 )
-     $                        ( H(I,(K-1)*NB+J), J = 1,NB )
-   20                CONTINUE
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TF01RD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TF01RD = ',I2)
-99997 FORMAT (' The Markov Parameters M(1),...,M(',I1,') are ')
-99996 FORMAT (/' M(',I1,') : ',20(1X,F8.4))
-99995 FORMAT (8X,20(1X,F8.4))
-99994 FORMAT (/' N is out of range.',/' N = ',I5)
-99993 FORMAT (/' NA is out of range.',/' NA = ',I5)
-99992 FORMAT (/' NB is out of range.',/' NB = ',I5)
-99991 FORMAT (/' NC is out of range.',/' NC = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- TF01RD EXAMPLE PROGRAM DATA
-   5     3     2     2
-   0.000 -0.070  0.015
-   1.000  0.800 -0.150
-   0.000  0.000  0.500
-   0.000  2.000  1.000
-  -1.000 -0.100  1.000
-   0.000  1.000  0.000
-   0.000  1.000  0.000
-</PRE>
-<B>Program Results</B>
-<PRE>
- TF01RD EXAMPLE PROGRAM RESULTS
-
- The Markov Parameters M(1),...,M(5) are 
-
- M(1) :    1.0000   1.0000
-           0.0000  -1.0000
-
- M(2) :    0.2000   0.5000
-           2.0000  -0.1000
-
- M(3) :   -0.1100   0.2500
-           1.6000  -0.0100
-
- M(4) :   -0.2020   0.1250
-           1.1400  -0.0010
-
- M(5) :   -0.2039   0.0625
-           0.8000  -0.0001
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01AD.html b/doc/_static/doc/TG01AD.html
deleted file mode 100644
index d5b73452..00000000
--- a/doc/_static/doc/TG01AD.html
+++ /dev/null
@@ -1,376 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01AD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01AD">TG01AD</A></H2>
-<H3>
-Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the matrices of the system pencil
-
-          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
-               ( C  0 )          ( 0  0 )
-
-  corresponding to the descriptor triple (A-lambda E,B,C),
-  by balancing. This involves diagonal similarity transformations
-  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
-  (A-lambda E,B,C) to make the rows and columns of system pencil
-  matrices
-
-               diag(Dl,I) * S * diag(Dr,I)
-
-  as close in norm as possible. Balancing may reduce the 1-norms
-  of the matrices of the system pencil S.
-
-  The balancing can be performed optionally on the following
-  particular system pencils
-
-           S = A-lambda E,
-
-           S = ( A-lambda E  B ),    or
-
-           S = ( A-lambda E ).
-               (     C      )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01AD( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), LSCALE( * ),
-     $                   RSCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B, A and E matrices are involved in balancing;
-          = 'C':  C, A and E matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          Threshold value for magnitude of elements:
-          elements with magnitude less than or equal to
-          THRESH are ignored for balancing. THRESH &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*A*Dr.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*E*Dr.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, if M &gt; 0, the leading L-by-M part of this array
-          contains the balanced matrix Dl*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*Dr.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
-          The scaling factors applied to S from left.  If Dl(j) is
-          the scaling factor applied to row j, then
-          SCALE(j) = Dl(j), for j = 1,...,L.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S from right.  If Dr(j) is
-          the scaling factor applied to column j, then
-          SCALE(j) = Dr(j), for j = 1,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                         -1
-               diag(Dl,I)  * S * diag(Dr,I)
-
-  to make the 1-norms of each row of the first L rows of S and its
-  corresponding N columns nearly equal.
-
-  Information about the diagonal matrices Dl and Dr are returned in
-  the vectors LSCALE and RSCALE, respectively.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] R.C. Ward, R. C.
-      Balancing the generalized eigenvalue problem.
-      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01AD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBS
-      INTEGER          I, INFO, J, L, M, N, P
-      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), LSCALE(LMAX),
-     $                 RSCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION DLANGE
-      EXTERNAL         DLANGE
-*     .. External Subroutines ..
-      EXTERNAL         TG01AD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Compute norms before scaling
-                  ABCNRM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
-     $                          DLANGE( '1', L, M, B, LDB, DWORK ),
-     $                          DLANGE( '1', P, N, C, LDC, DWORK ) )
-                  ENORM = DLANGE( '1', L, N, E, LDE, DWORK )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01AD( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     SABCNM = MAX( DLANGE( '1', L, N, A, LDA, DWORK ),
-     $                             DLANGE( '1', L, M, B, LDB, DWORK ),
-     $                             DLANGE( '1', P, N, C, LDC, DWORK ) )
-                     SENORM = DLANGE( '1', L, N, E, LDE, DWORK )
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99995 ) ( LSCALE(I), I = 1,L )
-                     WRITE ( NOUT, FMT = 99990 )
-                     WRITE ( NOUT, FMT = 99995 ) ( RSCALE(J), J = 1,N )
-                     WRITE ( NOUT, FMT = 99994 )
-     $                       ABCNRM, SABCNM, ENORM, SENORM
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01AD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01AD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
-99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
-99995 FORMAT (20(1X,F9.4))
-99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
-     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
-     $         ' Norm of E                   =', 1PD10.3/
-     $         ' Norm of scaled E            =', 1PD10.3)
-99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
-99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
-99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01AD EXAMPLE PROGRAM DATA
-  4    4     2     2     A   0.0
-        -1         0         0    0.003
-         0         0    0.1000    0.02
-       100        10         0    0.4
-         0         0         0    0.0
-         1       0.2         0    0.0
-         0         1         0    0.01
-       300        90         6    0.3
-         0         0        20    0.0
-        10         0
-         0         0
-         0      1000
-     10000     10000
-      -0.1      0.0    0.001    0.0
-       0.0      0.01  -0.001    0.0001
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01AD EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix Dl*A*Dr is 
-   -1.0000    0.0000    0.0000    0.3000
-    0.0000    0.0000    1.0000    2.0000
-    1.0000    0.1000    0.0000    0.4000
-    0.0000    0.0000    0.0000    0.0000
-
- The transformed descriptor matrix Dl*E*Dr is 
-    1.0000    0.2000    0.0000    0.0000
-    0.0000    1.0000    0.0000    1.0000
-    3.0000    0.9000    0.6000    0.3000
-    0.0000    0.0000    0.2000    0.0000
-
- The transformed input/state matrix Dl*B is 
-  100.0000    0.0000
-    0.0000    0.0000
-    0.0000  100.0000
-  100.0000  100.0000
-
- The transformed state/output matrix C*Dr is 
-   -0.0100    0.0000    0.0010    0.0000
-    0.0000    0.0010   -0.0010    0.0010
-
- The diagonal of left scaling matrix Dl is 
-   10.0000   10.0000    0.1000    0.0100
-
- The diagonal of right scaling matrix Dr is 
-    0.1000    0.1000    1.0000   10.0000
-
- Norm of [ A B; C 0]         = 1.100D+04
- Norm of scaled [ A B; C 0]  = 2.000D+02
- Norm of E                   = 3.010D+02
- Norm of scaled E            = 4.000D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01AZ.html b/doc/_static/doc/TG01AZ.html
deleted file mode 100644
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--- a/doc/_static/doc/TG01AZ.html
+++ /dev/null
@@ -1,379 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01AZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01AZ">TG01AZ</A></H2>
-<H3>
-Balancing the matrices of the system pencil corresponding to a descriptor triple (A-lambda E,B,C) (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To balance the matrices of the system pencil
-
-          S =  ( A  B ) - lambda ( E  0 ) :=  Q - lambda Z,
-               ( C  0 )          ( 0  0 )
-
-  corresponding to the descriptor triple (A-lambda E,B,C),
-  by balancing. This involves diagonal similarity transformations
-  (Dl*A*Dr - lambda Dl*E*Dr, Dl*B, C*Dr) applied to the system
-  (A-lambda E,B,C) to make the rows and columns of system pencil
-  matrices
-
-               diag(Dl,I) * S * diag(Dr,I)
-
-  as close in norm as possible. Balancing may reduce the 1-norms
-  of the matrices of the system pencil S.
-
-  The balancing can be performed optionally on the following
-  particular system pencils
-
-           S = A-lambda E,
-
-           S = ( A-lambda E  B ),    or
-
-           S = ( A-lambda E ).
-               (     C      )
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01AZ( JOB, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, LSCALE, RSCALE, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, M, N, P
-      DOUBLE PRECISION   THRESH
-C     .. Array Arguments ..
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   E( LDE, * )
-      DOUBLE PRECISION   DWORK( * ), LSCALE( * ), RSCALE( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates which matrices are involved in balancing, as
-          follows:
-          = 'A':  All matrices are involved in balancing;
-          = 'B':  B, A and E matrices are involved in balancing;
-          = 'C':  C, A and E matrices are involved in balancing;
-          = 'N':  B and C matrices are not involved in balancing.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  THRESH  (input) DOUBLE PRECISION
-          Threshold value for magnitude of elements:
-          elements with magnitude less than or equal to
-          THRESH are ignored for balancing. THRESH &gt;= 0.
-          The magnitude is computed as the sum of the absolute
-          values of the real and imaginary parts.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*A*Dr.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the balanced matrix Dl*E*Dr.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, if M &gt; 0, the leading L-by-M part of this array
-          contains the balanced matrix Dl*B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the balanced matrix C*Dr.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  LSCALE  (output) DOUBLE PRECISION array, dimension (L)
-          The scaling factors applied to S from left.  If Dl(j) is
-          the scaling factor applied to row j, then
-          SCALE(j) = Dl(j), for j = 1,...,L.
-
-  RSCALE  (output) DOUBLE PRECISION array, dimension (N)
-          The scaling factors applied to S from right.  If Dr(j) is
-          the scaling factor applied to column j, then
-          SCALE(j) = Dr(j), for j = 1,...,N.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (3*(L+N))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Balancing consists of applying a diagonal similarity
-  transformation
-                         -1
-               diag(Dl,I)  * S * diag(Dr,I)
-
-  to make the 1-norms of each row of the first L rows of S and its
-  corresponding N columns nearly equal.
-
-  Information about the diagonal matrices Dl and Dr are returned in
-  the vectors LSCALE and RSCALE, respectively.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-  [2] R.C. Ward, R. C.
-      Balancing the generalized eigenvalue problem.
-      SIAM J. Sci. Stat. Comp. 2 (1981), 141-152.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01AZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, 3*(LMAX+NMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBS
-      INTEGER          I, INFO, J, L, M, N, P
-      DOUBLE PRECISION ABCNRM, ENORM, SABCNM, SENORM, THRESH
-*     .. Local Arrays ..
-      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 E(LDE,NMAX)
-      DOUBLE PRECISION DWORK(LDWORK), LSCALE(LMAX), RSCALE(NMAX)
-*     .. External Functions ..
-      DOUBLE PRECISION ZLANGE
-      EXTERNAL         ZLANGE
-*     .. External Subroutines ..
-      EXTERNAL         TG01AZ
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, JOBS, THRESH
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Compute norms before scaling
-                  ABCNRM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
-     $                          ZLANGE( '1', L, M, B, LDB, DWORK ),
-     $                          ZLANGE( '1', P, N, C, LDC, DWORK ) )
-                  ENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01AZ( JOBS, L, N, M, P, THRESH, A, LDA, E, LDE,
-     $                         B, LDB, C, LDC, LSCALE, RSCALE, DWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     SABCNM = MAX( ZLANGE( '1', L, N, A, LDA, DWORK ),
-     $                             ZLANGE( '1', L, M, B, LDB, DWORK ),
-     $                             ZLANGE( '1', P, N, C, LDC, DWORK ) )
-                     SENORM = ZLANGE( '1', L, N, E, LDE, DWORK )
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     WRITE ( NOUT, FMT = 99985 ) ( LSCALE(I), I = 1,L )
-                     WRITE ( NOUT, FMT = 99990 )
-                     WRITE ( NOUT, FMT = 99985 ) ( RSCALE(J), J = 1,N )
-                     WRITE ( NOUT, FMT = 99994 )
-     $                       ABCNRM, SABCNM, ENORM, SENORM
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01AZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01AZ = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Dl*A*Dr is ')
-99996 FORMAT (/' The transformed descriptor matrix Dl*E*Dr is ')
-99995 FORMAT (20(1X,F9.4,SP,F9.4,S,'i '))
-99994 FORMAT (/' Norm of [ A B; C 0]         =', 1PD10.3/
-     $         ' Norm of scaled [ A B; C 0]  =', 1PD10.3/
-     $         ' Norm of E                   =', 1PD10.3/
-     $         ' Norm of scaled E            =', 1PD10.3)
-99993 FORMAT (/' The transformed input/state matrix Dl*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Dr is ')
-99991 FORMAT (/' The diagonal of left scaling matrix Dl is ')
-99990 FORMAT (/' The diagonal of right scaling matrix Dr is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (20(1X,F9.4))
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01AZ EXAMPLE PROGRAM DATA
-  4    4     2     2     A   0.0
-       (-1,0)       (0,0)       (0,0)  (0.003,0)
-        (0,0)       (0,0)  (0.1000,0)   (0.02,0)
-      (100,0)      (10,0)       (0,0)    (0.4,0)
-        (0,0)       (0,0)       (0,0)    (0.0,0)
-        (1,0)     (0.2,0)       (0,0)    (0.0,0)
-        (0,0)       (1,0)       (0,0)  ( 0.01,0)
-      (300,0)      (90,0)       (6,0)    (0.3,0)
-        (0,0)       (0,0)      (20,0)    (0.0,0)
-       (10,0)       (0,0)
-        (0,0)       (0,0)
-        (0,0)    (1000,0)
-    (10000,0)   (10000,0)
-     (-0.1,0)     (0.0,0)   (0.001,0)    (0.0,0)
-      (0.0,0)    (0.01,0)  (-0.001,0) (0.0001,0)
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01AZ EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix Dl*A*Dr is 
-   -1.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.3000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i     2.0000  +0.0000i 
-    1.0000  +0.0000i     0.1000  +0.0000i     0.0000  +0.0000i     0.4000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-
- The transformed descriptor matrix Dl*E*Dr is 
-    1.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     1.0000  +0.0000i     0.0000  +0.0000i     1.0000  +0.0000i 
-    3.0000  +0.0000i     0.9000  +0.0000i     0.6000  +0.0000i     0.3000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i     0.2000  +0.0000i     0.0000  +0.0000i 
-
- The transformed input/state matrix Dl*B is 
-  100.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i   100.0000  +0.0000i 
-  100.0000  +0.0000i   100.0000  +0.0000i 
-
- The transformed state/output matrix C*Dr is 
-   -0.0100  +0.0000i     0.0000  +0.0000i     0.0010  +0.0000i     0.0000  +0.0000i 
-    0.0000  +0.0000i     0.0010  +0.0000i    -0.0010  +0.0000i     0.0010  +0.0000i 
-
- The diagonal of left scaling matrix Dl is 
-   10.0000   10.0000    0.1000    0.0100
-
- The diagonal of right scaling matrix Dr is 
-    0.1000    0.1000    1.0000   10.0000
-
- Norm of [ A B; C 0]         = 1.100D+04
- Norm of scaled [ A B; C 0]  = 2.000D+02
- Norm of E                   = 3.010D+02
- Norm of scaled E            = 4.000D+00
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01BD.html b/doc/_static/doc/TG01BD.html
deleted file mode 100644
index 368f27ae..00000000
--- a/doc/_static/doc/TG01BD.html
+++ /dev/null
@@ -1,260 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01BD">TG01BD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to the generalized Hessenberg form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the matrices A and E of the system pencil
-
-          S =  ( A  B ) - lambda ( E  0 ) ,
-               ( C  0 )          ( 0  0 )
-
-  corresponding to the descriptor triple (A-lambda E,B,C),
-  to generalized upper Hessenberg form using orthogonal
-  transformations,
-
-       Q' * A * Z = H,   Q' * E * Z = T,
-
-  where H is upper Hessenberg, T is upper triangular, Q and Z
-  are orthogonal, and ' means transpose. The corresponding
-  transformations, written compactly as diag(Q',I) * S * diag(Z,I),
-  are also applied to B and C, getting Q' * B and C * Z.
-
-  The orthogonal matrices Q and Z are determined as products of
-  Givens rotations. They may either be formed explicitly, or they
-  may be postmultiplied into input matrices Q1 and Z1, so that
-
-       Q1 * A * Z1' = (Q1*Q) * H * (Z1*Z)'
-       Q1 * E * Z1' = (Q1*Q) * T * (Z1*Z)'.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01BD( JOBE, COMPQ, COMPZ, N, M, P, ILO, IHI, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBE
-      INTEGER            IHI, ILO, INFO, LDA, LDB, LDC, LDE, LDQ,
-     $                   LDWORK, LDZ, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general square or an upper
-          triangular matrix, as follows:
-          = 'G':  E is a general square matrix;
-          = 'U':  E is an upper triangular matrix.
-
-  COMPQ   CHARACTER*1
-          Indicates what should be done with matrix Q, as follows:
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'V':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          Indicates what should be done with matrix Z, as follows:
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'V':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the matrices A, E, and the number of rows of
-          the matrix B.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  ILO     (input) INTEGER
-  IHI     (input) INTEGER
-          It is assumed that A and E are already upper triangular in
-          rows and columns 1:ILO-1 and IHI+1:N.  ILO and IHI could
-          normally be set by a previous call to LAPACK Library
-          routine DGGBAL; otherwise they should be set to 1 and N,
-          respectively.
-          1 &lt;= ILO &lt;= IHI &lt;= N, if N &gt; 0; ILO=1 and IHI=0, if N=0.
-          If JOBE = 'U', the matrix E is assumed upper triangular.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the upper Hessenberg matrix H = Q' * A * Z. The elements
-          below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E. If JOBE = 'U', this
-          matrix is assumed upper triangular.
-          On exit, the leading N-by-N part of this array contains
-          the upper triangular matrix T = Q' * E * Z. The elements
-          below the diagonal are set to zero.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, if M &gt; 0, the leading N-by-M part of this array
-          contains the transformed matrix Q' * B.
-          The array B is not referenced if M = 0.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0;  LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, if P &gt; 0, the leading P-by-N part of this array
-          contains the transformed matrix C * Z.
-          The array C is not referenced if P = 0.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N':  Q is not referenced;
-          If COMPQ = 'I':  on entry, Q need not be set, and on exit
-                           it contains the orthogonal matrix Q,
-                           where Q' is the product of the Givens
-                           transformations which are applied to A,
-                           E, and B on the left;
-          If COMPQ = 'V':  on entry, Q must contain an orthogonal
-                           matrix Q1, and on exit this is
-                           overwritten by Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'V'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced;
-          If COMPZ = 'I':  on entry, Z need not be set, and on exit
-                           it contains the orthogonal matrix Z,
-                           which is the product of the Givens
-                           transformations applied to A, E, and C
-                           on the right;
-          If COMPZ = 'V':  on entry, Z must contain an orthogonal
-                           matrix Z1, and on exit this is
-                           overwritten by Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'V'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) contains the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of the array DWORK.
-          LDWORK &gt;= 1,                          if JOBE = 'U';
-          LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)), if JOBE = 'G', where
-          NI = N+1-ILO, if COMPQ = 'N', and NI = N, otherwise.
-          For good performance, if JOBE = 'G', LDWORK must generally
-          be larger, LDWORK &gt;= MAX(1,IHI+1-ILO+MAX(NI,M)*NB), where
-          NB is the optimal block size.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit.
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, this routine computes the QR factorization of E and applies
-  the transformations to A, B, and possibly Q. Then, the routine
-  reduces A to upper Hessenberg form, preserving E triangular, by
-  an unblocked reduction [1], using two sequences of plane rotations
-  applied alternately from the left and from the right. The
-  corresponding transformations may be accumulated and/or applied
-  to the matrices B and C. If JOBE = 'U', the initial reduction of E
-  to upper triangular form is skipped.
-
-  This routine is a modification and extension of the LAPACK Library
-  routine DGGHRD [2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Golub, G.H. and van Loan, C.F.
-      Matrix Computations. Third Edition.
-      M. D. Johns Hopkins University Press, Baltimore, 1996.
-
-  [2] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
-      Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
-      Ostrouchov, S., and Sorensen, D.
-      LAPACK Users' Guide: Second Edition.
-      SIAM, Philadelphia, 1995.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01CD.html b/doc/_static/doc/TG01CD.html
deleted file mode 100644
index b7db705e..00000000
--- a/doc/_static/doc/TG01CD.html
+++ /dev/null
@@ -1,307 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01CD">TG01CD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system pair (A-lambda E,B) to the QR-coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the descriptor system pair (A-lambda E,B) to the
-  QR-coordinate form by computing an orthogonal transformation
-  matrix Q such that the transformed descriptor system pair
-  (Q'*A-lambda Q'*E, Q'*B) has the descriptor matrix Q'*E
-  in an upper trapezoidal form.
-  The left orthogonal transformations performed to reduce E
-  can be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB, Q, LDQ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ
-      INTEGER            INFO, L, LDA, LDB, LDE, LDQ, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), DWORK( * ),
-     $                   E( LDE, * ), Q( LDQ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E in upper trapezoidal form,
-          i.e.
-
-                   ( E11 )
-            Q'*E = (     ) ,     if L &gt;= N ,
-                   (  0  )
-          or
-
-            Q'*E = ( E11 E12 ),  if L &lt; N ,
-
-          where E11 is an MIN(L,N)-by-MIN(L,N) upper triangular
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of Householder
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading L-by-L part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)).
-          For optimum performance
-          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,M)*NB),
-          where NB is the optimal blocksize.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the QR factorization of E to reduce it
-  to the upper trapezoidal form.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-      A &lt;- Q' * A ,  B &lt;- Q' * B.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20)
-      INTEGER          LDA, LDB, LDE, LDQ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX,
-     $                   LDE = LMAX, LDQ = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,MMAX) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ
-      INTEGER          I, INFO, J, L, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01CD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M
-      COMPQ = 'I'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-*              Find the transformed descriptor system pair
-*              (A-lambda E,B).
-               CALL TG01CD( COMPQ, L, N, M, A, LDA, E, LDE, B, LDB,
-     $                      Q, LDQ, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 30 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01CD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01CD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99993 FORMAT (/' The left transformation matrix Q is ')
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01CD EXAMPLE PROGRAM DATA
-  4    4     2    0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01CD EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix Q'*A is 
-  -0.6325  -0.9487   0.0000  -4.7434
-  -0.8706  -0.2176  -0.7255  -0.3627
-  -0.5203  -0.1301   0.3902   1.4307
-  -0.7559  -0.1890   0.5669   2.0788
-
- The transformed descriptor matrix Q'*E is 
-  -3.1623  -9.1706  -5.6921  -2.8460
-   0.0000  -1.3784  -1.3059  -1.3784
-   0.0000   0.0000  -2.4279   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.3162  -0.9487
-   0.6529  -0.2176
-  -0.4336  -0.9538
-   1.1339   0.3780
-
- The left transformation matrix Q is 
-  -0.3162   0.6529   0.3902   0.5669
-   0.0000  -0.7255   0.3902   0.5669
-  -0.9487  -0.2176  -0.1301  -0.1890
-   0.0000   0.0000  -0.8238   0.5669
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01DD.html b/doc/_static/doc/TG01DD.html
deleted file mode 100644
index 55661670..00000000
--- a/doc/_static/doc/TG01DD.html
+++ /dev/null
@@ -1,302 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01DD">TG01DD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system pair (C,A-lambda E) to the RQ-coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the descriptor system pair (C,A-lambda E) to the
-  RQ-coordinate form by computing an orthogonal transformation
-  matrix Z such that the transformed descriptor system pair
-  (C*Z,A*Z-lambda E*Z) has the descriptor matrix E*Z in an upper
-  trapezoidal form.
-  The right orthogonal transformations performed to reduce E can
-  be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC, Z, LDZ,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPZ
-      INTEGER            INFO, L, LDA, LDC, LDE, LDWORK, LDZ, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
-     $                   E( LDE, * ), Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix A*Z.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix E*Z in upper trapezoidal form,
-          i.e.
-
-                   ( E11 )
-             E*Z = (     ) ,  if L &gt;= N ,
-                   (  R  )
-          or
-
-             E*Z = ( 0  R ),  if L &lt; N ,
-
-          where R is an MIN(L,N)-by-MIN(L,N) upper triangular
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)).
-          For optimum performance
-          LWORK &gt;= MAX(1, MIN(L,N) + MAX(L,N,P)*NB),
-          where NB is the optimal blocksize.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the RQ factorization of E to reduce it
-  the upper trapezoidal form.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-      A &lt;- A * Z,  C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*N*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, PMAX = 20)
-      INTEGER          LDA, LDC, LDE, LDZ
-      PARAMETER        ( LDA = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MIN(LMAX,NMAX)+MAX(LMAX,NMAX,PMAX) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPZ
-      INTEGER          I, INFO, J, L, N, P
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01DD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, P
-      COMPZ = 'I'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99992 ) L
-      ELSE
-         IF( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99991 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99990 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed descriptor system pair
-*              (A-lambda E,B).
-               CALL TG01DD( COMPZ, L, N, P, A, LDA, E, LDE, C, LDC,
-     $                      Z, LDZ, DWORK, LDWORK, INFO )
-*
-               IF( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, L
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99994 )
-                  DO 30 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   40             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01DD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01DD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (/' The transformed input/state matrix C*Z is ')
-99993 FORMAT (/' The right transformation matrix Z is ')
-99992 FORMAT (/' L is out of range.',/' L = ',I5)
-99991 FORMAT (/' N is out of range.',/' N = ',I5)
-99990 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01DD EXAMPLE PROGRAM DATA
-  4    4     2    0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01DD EXAMPLE PROGRAM RESULTS
-
-
- The transformed state dynamics matrix A*Z is 
-   0.4082   3.0773   0.6030   0.0000
-   0.8165   1.7233   0.6030  -1.0000
-   2.0412   2.8311   2.4121   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed descriptor matrix E*Z is 
-   0.0000  -0.7385   2.1106   0.0000
-   0.0000   0.7385   1.2060   0.0000
-   0.0000   0.0000   9.9499  -6.0000
-   0.0000   0.0000   0.0000  -2.0000
-
- The transformed input/state matrix C*Z is 
-  -0.8165   0.4924  -0.3015  -1.0000
-   0.0000   0.7385   1.2060   1.0000
-
- The right transformation matrix Z is 
-   0.8165  -0.4924   0.3015   0.0000
-  -0.4082  -0.1231   0.9045   0.0000
-   0.0000   0.0000   0.0000  -1.0000
-   0.4082   0.8616   0.3015   0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01ED.html b/doc/_static/doc/TG01ED.html
deleted file mode 100644
index c8406a7a..00000000
--- a/doc/_static/doc/TG01ED.html
+++ /dev/null
@@ -1,429 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01ED - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01ED">TG01ED</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a SVD coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for the descriptor system (A-lambda E,B,C)
-  the orthogonal transformation matrices Q and Z such that the
-  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is in an
-  SVD (singular value decomposition) coordinate form with
-  the system matrices  Q'*A*Z and Q'*E*Z in the form
-
-               ( A11  A12 )             ( Er  0 )
-      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
-               ( A21  A22 )             (  0  0 )
-
-  where Er is an invertible diagonal matrix having on the diagonal
-  the decreasingly ordered nonzero singular values of E.
-  Optionally, the A22 matrix can be further reduced to the
-  SVD form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  where Ar is an invertible diagonal matrix having on the diagonal
-  the decreasingly ordered nonzero singular values of A22.
-  The left and/or right orthogonal transformations performed
-  to reduce E and A22 are accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBA
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M, N, P, RNKA22, RANKE
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBA    CHARACTER*1
-          = 'N':  do not reduce A22;
-          = 'R':  reduce A22 to an SVD form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A*Z. If JOBA = 'R', this matrix
-          is in the form
-
-                        ( A11  *   *  )
-               Q'*A*Z = (  *   Ar  0  ) ,
-                        (  *   0   0  )
-
-          where A11 is a RANKE-by-RANKE matrix and Ar is a
-          RNKA22-by-RNKA22 invertible diagonal matrix, with
-          decresingly ordered positive diagonal elements.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E*Z.
-
-                   ( Er  0 )
-          Q'*E*Z = (       ) ,
-                   (  0  0 )
-
-          where Er is a RANKE-by-RANKE invertible diagonal matrix
-          having on the diagonal the decreasingly ordered positive
-          singular values of E.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,L)
-          The leading L-by-L part of this array contains the
-          orthogonal matrix Q, which is the accumulated product of
-          transformations applied to A, E, and B on the left.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= MAX(1,L).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z, which is the accumulated product of
-          transformations applied to A, E, and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= MAX(1,N).
-
-  RANKE   (output) INTEGER
-          The effective rank of matrix E, and thus also the order
-          of the invertible diagonal submatrix Er.
-          RANKE is computed as the number of singular values of E
-          greater than TOL*SVEMAX, where SVEMAX is the maximum
-          singular value of E.
-
-  RNKA22  (output) INTEGER
-          If JOBA = 'R', then RNKA22 is the effective rank of
-          matrix A22, and thus also the order of the invertible
-          diagonal submatrix Ar. RNKA22 is computed as the number
-          of singular values of A22 greater than TOL*SVAMAX,
-          where SVAMAX is an estimate of the maximum singular value
-          of A.
-          If JOBA = 'N', then RNKA22 is not referenced.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the rank of E
-          and of A22. If TOL &gt; 0, then singular values less than
-          TOL*SVMAX are treated as zero, where SVMAX is the maximum
-          singular value of E or an estimate of it for A and E.
-          If TOL &lt;= 0, the default tolerance TOLDEF = EPS*L*N is
-          used instead, where EPS is the machine precision
-          (see LAPACK Library routine DLAMCH). TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,MIN(L,N) +
-                        MAX(3*MIN(L,N)+MAX(L,N), 5*MIN(L,N), M, P)).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  the QR algorithm has failed to converge when computing
-                singular value decomposition. In this case INFO
-                specifies how many superdiagonals did not converge.
-                This failure is not likely to occur.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes the singular value decomposition (SVD) of E,
-  in the form
-
-                 ( Er  0 )
-        E  = Q * (       ) * Z'
-                 (  0  0 )
-
-  and finds the largest RANKE-by-RANKE leading diagonal submatrix
-  Er whose condition number is less than 1/TOL. RANKE defines thus
-  the effective rank of matrix E.
-  If JOBA = 'R' the same reduction is performed on A22 in the
-  partitioned matrix
-
-               ( A11  A12 )
-      Q'*A*Z = (          ) ,
-               ( A21  A22 )
-
-  to obtain it in the form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an invertible diagonal matrix.
-
-  The accumulated transformations are also applied to the rest of
-  matrices
-
-       B &lt;- Q' * B,  C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01ED EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, MIN( LMAX, NMAX ) +
-     $                            MAX( MMAX, PMAX, 3*MIN( LMAX, NMAX ) +
-     $                            MAX( LMAX, NMAX ),
-     $                            5*MIN( LMAX, NMAX ) ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBA
-      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01ED
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL
-      JOBA = 'R'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01ED( JOBA, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                         C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
-     $                         TOL, DWORK, LDWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   50                CONTINUE
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01ED EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01ED = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Rank of matrix E   =', I5/
-     $        ' Rank of matrix A22 =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01ED EXAMPLE PROGRAM DATA
-  4    4     2     2     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01ED EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
- Rank of matrix A22 =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   2.1882  -0.8664  -3.5097  -2.1353
-  -0.4569  -0.2146   1.9802   0.3531
-  -0.5717  -0.5245  -0.4591   0.4696
-  -0.4766  -0.5846   2.1414   0.3086
-
- The transformed descriptor matrix Q'*E*Z is 
-  11.8494   0.0000   0.0000   0.0000
-   0.0000   2.1302   0.0000   0.0000
-   0.0000   0.0000   1.0270   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.2396  -1.0668
-  -0.2656  -0.8393
-  -0.7657  -0.1213
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-  -0.2499  -1.0573   0.3912  -0.8165
-  -0.5225   1.3958   0.8825   0.0000
-
- The left transformation matrix Q is 
-  -0.1534   0.5377  -0.6049   0.5669
-  -0.0872   0.2536   0.7789   0.5669
-  -0.9805  -0.0360   0.0395  -0.1890
-  -0.0863  -0.8033  -0.1608   0.5669
-
- The right transformation matrix Z is 
-  -0.2612   0.2017  -0.4737   0.8165
-  -0.7780   0.4718  -0.0738  -0.4082
-  -0.5111  -0.8556  -0.0826   0.0000
-  -0.2556   0.0684   0.8737   0.4082
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01FD.html b/doc/_static/doc/TG01FD.html
deleted file mode 100644
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--- a/doc/_static/doc/TG01FD.html
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@@ -1,484 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01FD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01FD">TG01FD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a SVD-like coordinate form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for the descriptor system (A-lambda E,B,C)
-  the orthogonal transformation matrices Q and Z such that the
-  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
-  in a SVD-like coordinate form with
-
-               ( A11  A12 )             ( Er  0 )
-      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
-               ( A21  A22 )             (  0  0 )
-
-  where Er is an upper triangular invertible matrix.
-  Optionally, the A22 matrix can be further reduced to the form
-
-               ( Ar  X )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix, and X either a full
-  or a zero matrix.
-  The left and/or right orthogonal transformations performed
-  to reduce E and A22 can be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBA
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-  JOBA    CHARACTER*1
-          = 'N':  do not reduce A22;
-          = 'R':  reduce A22 to a SVD-like upper triangular form.
-          = 'T':  reduce A22 to an upper trapezoidal form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
-          is in the form
-
-                        ( A11  *   *  )
-               Q'*A*Z = (  *   Ar  X  ) ,
-                        (  *   0   0  )
-
-          where A11 is a RANKE-by-RANKE matrix and Ar is a
-          RNKA22-by-RNKA22 invertible upper triangular matrix.
-          If JOBA = 'R' then A has the above form with X = 0.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E*Z.
-
-                   ( Er  0 )
-          Q'*E*Z = (       ) ,
-                   (  0  0 )
-
-          where Er is a RANKE-by-RANKE upper triangular invertible
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of Householder
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading L-by-L part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading L-by-L part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  RANKE   (output) INTEGER
-          The estimated rank of matrix E, and thus also the order
-          of the invertible upper triangular submatrix Er.
-
-  RNKA22  (output) INTEGER
-          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
-          matrix A22, and thus also the order of the invertible
-          upper triangular submatrix Ar.
-          If JOBA = 'N', then RNKA22 is not referenced.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the rank of E
-          and of A22. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the
-          reciprocal condition numbers of leading submatrices
-          of R or R22 in the QR decompositions E * P = Q * R of E
-          or A22 * P22 = Q22 * R22 of A22.
-          A submatrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH). TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
-          For optimal performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of E, in the form
-
-                    ( E11 E12 )
-        E * P = Q * (         )
-                    (  0  E22 )
-
-  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
-  estimated condition number is less than 1/TOL. RANKE defines thus
-  the rank of matrix E. Further E22, being negligible, is set to
-  zero, and an orthogonal matrix Y is determined such that
-
-        ( E11 E12 ) = ( Er  0 ) * Y .
-
-  The overal transformation matrix Z results as Z = P * Y' and the
-  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
-
-                       ( Er  0 )                      ( A11  A12 )
-      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
-                       (  0  0 )                      ( A21  A22 )
-
-  where Er is an upper triangular invertible matrix.
-  If JOBA = 'R' the same reduction is performed on A22 to obtain it
-  in the form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-  If JOBA = 'T' then A22 is row compressed using the QR
-  factorization with column pivoting to the form
-
-               ( Ar  X )
-         A22 = (       )
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-       B &lt;- Q' * B, C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01FD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, PMAX,
-     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX, MMAX, LMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBA
-      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01FD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL
-      COMPQ = 'I'
-      COMPZ = 'I'
-      JOBA = 'R'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01FD( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
-     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                         RANKE, RNKA22, TOL, IWORK, DWORK, LDWORK,
-     $                         INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   50                CONTINUE
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01FD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01FD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Rank of matrix E   =', I5/
-     $        ' Rank of matrix A22 =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01FD EXAMPLE PROGRAM DATA
-  4    4     2     2     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01FD EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
- Rank of matrix A22 =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   2.0278   0.1078   3.9062  -2.1571
-  -0.0980   0.2544   1.6053  -0.1269
-   0.2713   0.7760  -0.3692  -0.4853
-   0.0690  -0.5669  -2.1974   0.3086
-
- The transformed descriptor matrix Q'*E*Z is 
-  10.1587   5.8230   1.3021   0.0000
-   0.0000  -2.4684  -0.1896   0.0000
-   0.0000   0.0000   1.0338   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.2157  -0.9705
-   0.3015   0.9516
-   0.7595   0.0991
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-   0.3651  -1.0000  -0.4472  -0.8165
-  -1.0954   1.0000  -0.8944   0.0000
-
- The left transformation matrix Q is 
-  -0.2157  -0.5088   0.6109   0.5669
-  -0.1078  -0.2544  -0.7760   0.5669
-  -0.9705   0.1413  -0.0495  -0.1890
-   0.0000   0.8102   0.1486   0.5669
-
- The right transformation matrix Z is 
-  -0.3651   0.0000   0.4472   0.8165
-  -0.9129   0.0000   0.0000  -0.4082
-   0.0000  -1.0000   0.0000   0.0000
-  -0.1826   0.0000  -0.8944   0.4082
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01FZ.html b/doc/_static/doc/TG01FZ.html
deleted file mode 100644
index 46016f0b..00000000
--- a/doc/_static/doc/TG01FZ.html
+++ /dev/null
@@ -1,487 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01FZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01FZ">TG01FZ</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a SVD-like coordinate form (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for the descriptor system (A-lambda E,B,C)
-  the unitary transformation matrices Q and Z such that the
-  transformed system (Q'*A*Z-lambda Q'*E*Z, Q'*B, C*Z) is
-  in a SVD-like coordinate form with
-
-               ( A11  A12 )             ( Er  0 )
-      Q'*A*Z = (          ) ,  Q'*E*Z = (       ) ,
-               ( A21  A22 )             (  0  0 )
-
-  where Er is an upper triangular invertible matrix, and ' denotes
-  the conjugate transpose. Optionally, the A22 matrix can be further
-  reduced to the form
-
-               ( Ar  X )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix, and X either a full
-  or a zero matrix.
-  The left and/or right unitary transformations performed
-  to reduce E and A22 can be optionally accumulated.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, RANKE, RNKA22,
-     $                   TOL, IWORK, DWORK, ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBA
-      INTEGER            INFO, L, LDA, LDB, LDC, LDE, LDQ, LDZ, LZWORK,
-     $                   M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * )
-      COMPLEX*16         A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   E( LDE, * ), Q( LDQ, * ), Z( LDZ, * ),
-     $                   ZWORK( * )
-      DOUBLE PRECISION   DWORK( * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  unitary matrix Q is returned;
-          = 'U':  Q must contain a unitary matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  unitary matrix Z is returned;
-          = 'U':  Z must contain a unitary matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-  JOBA    CHARACTER*1
-          = 'N':  do not reduce A22;
-          = 'R':  reduce A22 to a SVD-like upper triangular form.
-          = 'T':  reduce A22 to an upper trapezoidal form.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of matrices A, B, and E.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of matrices A, E, and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*A*Z. If JOBA = 'T', this matrix
-          is in the form
-
-                        ( A11  *   *  )
-               Q'*A*Z = (  *   Ar  X  ) ,
-                        (  *   0   0  )
-
-          where A11 is a RANKE-by-RANKE matrix and Ar is a
-          RNKA22-by-RNKA22 invertible upper triangular matrix.
-          If JOBA = 'R' then A has the above form with X = 0.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading L-by-N part of this array contains
-          the transformed matrix Q'*E*Z.
-
-                   ( Er  0 )
-          Q'*E*Z = (       ) ,
-                   (  0  0 )
-
-          where Er is a RANKE-by-RANKE upper triangular invertible
-          matrix.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) COMPLEX*16 array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input/state matrix B.
-          On exit, the leading L-by-M part of this array contains
-          the transformed matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,L) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) COMPLEX*16 array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ,L)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading L-by-L part of this
-                           array contains the unitary matrix Q,
-                           where Q' is the product of Householder
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading L-by-L part of this
-                           array must contain a unitary matrix Q1;
-                           on exit, the leading L-by-L part of this
-                           array contains the unitary matrix Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the unitary matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain a unitary matrix Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the unitary matrix Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  RANKE   (output) INTEGER
-          The estimated rank of matrix E, and thus also the order
-          of the invertible upper triangular submatrix Er.
-
-  RNKA22  (output) INTEGER
-          If JOBA = 'R' or 'T', then RNKA22 is the estimated rank of
-          matrix A22, and thus also the order of the invertible
-          upper triangular submatrix Ar.
-          If JOBA = 'N', then RNKA22 is not referenced.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining the rank of E
-          and of A22. If the user sets TOL &gt; 0, then the given
-          value of TOL is used as a lower bound for the
-          reciprocal condition numbers of leading submatrices
-          of R or R22 in the QR decompositions E * P = Q * R of E
-          or A22 * P22 = Q22 * R22 of A22.
-          A submatrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH). TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (2*N)
-
-  ZWORK   DOUBLE PRECISION array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
-          For optimal performance, LZWORK should be larger.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine computes a truncated QR factorization with column
-  pivoting of E, in the form
-
-                    ( E11 E12 )
-        E * P = Q * (         )
-                    (  0  E22 )
-
-  and finds the largest RANKE-by-RANKE leading submatrix E11 whose
-  estimated condition number is less than 1/TOL. RANKE defines thus
-  the rank of matrix E. Further E22, being negligible, is set to
-  zero, and a unitary matrix Y is determined such that
-
-        ( E11 E12 ) = ( Er  0 ) * Y .
-
-  The overal transformation matrix Z results as Z = P * Y' and the
-  resulting transformed matrices Q'*A*Z and Q'*E*Z have the form
-
-                       ( Er  0 )                      ( A11  A12 )
-      E &lt;- Q'* E * Z = (       ) ,  A &lt;- Q' * A * Z = (          ) ,
-                       (  0  0 )                      ( A21  A22 )
-
-  where Er is an upper triangular invertible matrix.
-  If JOBA = 'R' the same reduction is performed on A22 to obtain it
-  in the form
-
-               ( Ar  0 )
-         A22 = (       ) ,
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-  If JOBA = 'T' then A22 is row compressed using the QR
-  factorization with column pivoting to the form
-
-               ( Ar  X )
-         A22 = (       )
-               (  0  0 )
-
-  with Ar an upper triangular invertible matrix.
-
-  The transformations are also applied to the rest of system
-  matrices
-
-       B &lt;- Q' * B, C &lt;- C * Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( L*L*N )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01FZ EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 2*NMAX )
-      INTEGER          LZWORK
-      PARAMETER        ( LZWORK = MAX( 1, NMAX+PMAX,
-     $                   MIN(LMAX,NMAX)+MAX( 3*NMAX-1, MMAX, LMAX ) ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBA
-      INTEGER          I, INFO, J, L, M, N, P, RANKE, RNKA22
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(NMAX)
-      COMPLEX*16       A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 E(LDE,NMAX), Q(LDQ,LMAX), Z(LDZ,NMAX),
-     $                 ZWORK(LZWORK)
-      DOUBLE PRECISION DWORK(LDWORK)
-*     .. External Subroutines ..
-      EXTERNAL         TG01FZ
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, TOL
-      COMPQ = 'I'
-      COMPZ = 'I'
-      JOBA = 'R'
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*                 Find the transformed descriptor system
-*                 (A-lambda E,B,C).
-                  CALL TG01FZ( COMPQ, COMPZ, JOBA, L, N, M, P, A, LDA,
-     $                         E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                         RANKE, RNKA22, TOL, IWORK, DWORK, ZWORK,
-     $                         LZWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE, RNKA22
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, L
-                        WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,L )
-   50                CONTINUE
-                     WRITE ( NOUT, FMT = 99990 )
-                     DO 60 I = 1, N
-                        WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01FZ EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01FZ = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4,SP,F8.4,S,'i '))
-99994 FORMAT (' Rank of matrix E   =', I5/
-     $        ' Rank of matrix A22 =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01FZ EXAMPLE PROGRAM DATA
-  4    4     2     2     0.0    
-    (-1,0)     (0,0)     (0,0)     (3,0)
-     (0,0)     (0,0)     (1,0)     (2,0)
-     (1,0)     (1,0)     (0,0)     (4,0)
-     (0,0)     (0,0)     (0,0)     (0,0)
-     (1,0)     (2,0)     (0,0)     (0,0)
-     (0,0)     (1,0)     (0,0)     (1,0)
-     (3,0)     (9,0)     (6,0)     (3,0)
-     (0,0)     (0,0)     (2,0)     (0,0)
-     (1,0)     (0,0)
-     (0,0)     (0,0)
-     (0,0)     (1,0)
-     (1,0)     (1,0)
-    (-1,0)     (0,0)     (1,0)     (0,0)
-     (0,0)     (1,0)    (-1,0)     (1,0)
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01FZ EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
- Rank of matrix A22 =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   2.0278 +0.0000i    0.1078 +0.0000i    3.9062 +0.0000i   -2.1571 +0.0000i 
-  -0.0980 +0.0000i    0.2544 +0.0000i    1.6053 +0.0000i   -0.1269 +0.0000i 
-   0.2713 +0.0000i    0.7760 +0.0000i   -0.3692 +0.0000i   -0.4853 +0.0000i 
-   0.0690 +0.0000i   -0.5669 +0.0000i   -2.1974 +0.0000i    0.3086 +0.0000i 
-
- The transformed descriptor matrix Q'*E*Z is 
-  10.1587 +0.0000i    5.8230 +0.0000i    1.3021 +0.0000i    0.0000 +0.0000i 
-   0.0000 +0.0000i   -2.4684 +0.0000i   -0.1896 +0.0000i    0.0000 +0.0000i 
-   0.0000 +0.0000i    0.0000 +0.0000i    1.0338 +0.0000i    0.0000 +0.0000i 
-   0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
-
- The transformed input/state matrix Q'*B is 
-  -0.2157 +0.0000i   -0.9705 +0.0000i 
-   0.3015 +0.0000i    0.9516 +0.0000i 
-   0.7595 +0.0000i    0.0991 +0.0000i 
-   1.1339 +0.0000i    0.3780 +0.0000i 
-
- The transformed state/output matrix C*Z is 
-   0.3651 +0.0000i   -1.0000 +0.0000i   -0.4472 +0.0000i   -0.8165 +0.0000i 
-  -1.0954 +0.0000i    1.0000 +0.0000i   -0.8944 +0.0000i    0.0000 +0.0000i 
-
- The left transformation matrix Q is 
-  -0.2157 +0.0000i   -0.5088 +0.0000i    0.6109 +0.0000i    0.5669 +0.0000i 
-  -0.1078 +0.0000i   -0.2544 +0.0000i   -0.7760 +0.0000i    0.5669 +0.0000i 
-  -0.9705 +0.0000i    0.1413 +0.0000i   -0.0495 +0.0000i   -0.1890 +0.0000i 
-   0.0000 +0.0000i    0.8102 +0.0000i    0.1486 +0.0000i    0.5669 +0.0000i 
-
- The right transformation matrix Z is 
-  -0.3651 +0.0000i    0.0000 +0.0000i    0.4472 +0.0000i    0.8165 +0.0000i 
-  -0.9129 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i   -0.4082 +0.0000i 
-   0.0000 +0.0000i   -1.0000 +0.0000i    0.0000 +0.0000i    0.0000 +0.0000i 
-  -0.1826 +0.0000i    0.0000 +0.0000i   -0.8944 +0.0000i    0.4082 +0.0000i 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01GD.html b/doc/_static/doc/TG01GD.html
deleted file mode 100644
index 8542d5e1..00000000
--- a/doc/_static/doc/TG01GD.html
+++ /dev/null
@@ -1,409 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01GD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01GD">TG01GD</A></H2>
-<H3>
-Reduced descriptor representation without non-dynamic modes 
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced descriptor representation (Ar-lambda*Er,Br,Cr)
-  without non-dynamic modes for a descriptor representation
-  (A-lambda*E,B,C). Optionally, the reduced descriptor system can
-  be put into a standard form with the leading diagonal block
-  of Er identity.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, D, LDD, LR, NR, RANKE, INFRED, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBS
-      INTEGER           INFO, INFRED, L, LDA, LDB, LDC, LDD, LDE,
-     $                  LDWORK, LR, M, N, NR, P, RANKE
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                  DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBS    CHARACTER*1
-          Indicates whether the user wishes to transform the leading
-          diagonal block of Er to an identity matrix, as follows:
-          = 'S':  make Er with leading diagonal identity;
-          = 'D':  keep Er unreduced or upper triangular.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of rows of the matrices A, E, and B;
-          also the number of differential equations.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrices A, E, and C;
-          also the dimension of descriptor state vector.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B;
-          also the dimension of the input vector.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.
-          also the dimension of the output vector.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, if NR &lt; N, the leading LR-by-NR part of this
-          array contains the reduced order state matrix Ar of a
-          descriptor realization without non-dynamic modes.
-          Array A contains the original state dynamics matrix if
-          INFRED &lt; 0.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, if INFRED &gt;= 0, the leading LR-by-NR part of this
-          array contains the reduced order descriptor matrix Er of a
-          descriptor realization without non-dynamic modes.
-          In this case, only the leading RANKE-by-RANKE submatrix
-          of Er is nonzero and this submatrix is nonsingular and
-          upper triangular. Array E contains the original descriptor
-          matrix if INFRED &lt; 0. If JOBS = 'S', then the leading
-          RANKE-by-RANKE submatrix results in an identity matrix.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading LR-by-M part of this array contains
-          the reduced order input matrix Br of a descriptor
-          realization without non-dynamic modes. Array B contains
-          the original input matrix if INFRED &lt; 0.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-NR part of this array contains
-          the reduced order output matrix Cr of a descriptor
-          realization without non-dynamic modes. Array C contains
-          the original output matrix if INFRED &lt; 0.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-          On entry, the leading P-by-M part of this array must
-          contain the original feedthrough matrix D.
-          On exit, the leading P-by-M part of this array contains
-          the feedthrough matrix Dr of a reduced descriptor
-          realization without non-dynamic modes.
-
-  LDD     INTEGER
-          The leading dimension of the array D.  LDD &gt;= MAX(1,P).
-
-  LR      (output) INTEGER
-          The number of reduced differential equations.
-
-  NR      (output) INTEGER
-          The dimension of the reduced descriptor state vector.
-
-  RANKE   (output) INTEGER
-          The estimated rank of the matrix E.
-
-  INFRED  (output) INTEGER
-          This parameter contains information on performed reduction
-          and on structure of resulting system matrices, as follows:
-          INFRED &gt;= 0 the reduced system is in an SVD-like
-                      coordinate form with Er upper triangular;
-                      INFRED is the achieved order reduction.
-          INFRED  &lt; 0 no reduction achieved and the original
-                      system has been restored.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MIN(L,N) = 0; otherwise,
-          LDWORK &gt;= MAX( N+P, MIN(L,N)+MAX(3*N-1,M,L) ).
-          If LDWORK &gt;= 2*L*N+L*M+N*P+
-                       MAX( 1, N+P, MIN(L,N)+MAX(3*N-1,M,L) ) then
-          the original matrices are restored if no order reduction
-          is possible. This is achieved by saving system matrices
-          before reduction and restoring them if no order reduction
-          took place.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA. The optimal size does not necessarily include the 
-          space needed for saving the original system matrices.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine elliminates the non-dynamics modes in two steps:
-
-  Step 1: Reduce the system to the SVD-like coordinate form
-  (Q'*A*Z-lambda*Q'*E*Z, Q'*B, C*Z) , where
-
-           ( A11 A12 A13 )           ( E11 0 0 )         ( B1 )
-  Q'*A*Z = ( A21 A22  0  ), Q'*E*Z = (  0  0 0 ), Q'*B = ( B2 ),
-           ( A31  0   0  )           (  0  0 0 )         ( B3 )
-
-     C*Z = ( C1  C2  C3 ),
-
-  where E11 and A22 are upper triangular invertible matrices.
-
-  Step 2: Compute the reduced system as (Ar-lambda*Er,Br,Cr,Dr),
-  where
-       ( A11 - A12*inv(A22)*A21, A13 )        ( E11 0 )
-  Ar = (                             ),  Er = (       ),
-       (     A31                  0  )        (  0  0 )
-
-       ( B1 - A12*inv(A22)*B2 )
-  Br = (                      ),  Cr = ( C1 - C2*inv(A22)*A21, C3 ),
-       (        B3            )
-
-  Dr = D - C2*inv(A22)*B2.
-
-  Step 3: If desired (JOBS = 'S'), reduce the descriptor system to
-  the standard form
-
-  Ar &lt;- diag(inv(E11),I)*Ar;  Br &lt;- diag(inv(E11),I)*Br;
-  Er  = diag(I,0).
-
-  If L = N and LR = NR = RANKE, then if Step 3 is performed,
-  the resulting system is a standard state space system.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  If L = N, the algorithm requires 0( N**3 ) floating point
-  operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01GD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDD, LDE
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDD = PMAX, LDE = LMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MIN( LMAX, NMAX ) +
-     $                            MAX( 3*NMAX - 1, MMAX, LMAX ) +
-     $                            2*LMAX*NMAX + LMAX*MMAX + PMAX*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOBS
-      INTEGER          I, INFO, INFRED, J, L, LR, M, N, NR, P, RANKE
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX),   C(LDC,NMAX),
-     $                 D(LDD,MMAX), DWORK(LDWORK), E(LDE,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01GD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX, MIN
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) L, N, M, P, JOBS, TOL
-      IF ( L.LT.0 .OR. L.GT.LMAX ) THEN
-         WRITE ( NOUT, FMT = 99989 ) L
-      ELSE
-         IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-            WRITE ( NOUT, FMT = 99988 ) N
-         ELSE
-            READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,L )
-            READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,L )
-            IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-               WRITE ( NOUT, FMT = 99987 ) M
-            ELSE
-               READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,L )
-               IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-                  WRITE ( NOUT, FMT = 99986 ) P
-               ELSE
-                  READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-                  READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
-*                 Find the reduced descriptor system
-*                 (A-lambda E,B,C,D).
-                  CALL TG01GD( JOBS, L, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                         C, LDC, D, LDD, LR, NR, RANKE, INFRED,
-     $                         TOL, IWORK, DWORK, LDWORK, INFO )
-*
-                  IF ( INFO.NE.0 ) THEN
-                     WRITE ( NOUT, FMT = 99998 ) INFO
-                  ELSE
-                     WRITE ( NOUT, FMT = 99994 ) RANKE
-                     WRITE ( NOUT, FMT = 99997 )
-                     DO 10 I = 1, LR
-                        WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   10                CONTINUE
-                     WRITE ( NOUT, FMT = 99996 )
-                     DO 20 I = 1, LR
-                        WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   20                CONTINUE
-                     WRITE ( NOUT, FMT = 99993 )
-                     DO 30 I = 1, LR
-                        WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30                CONTINUE
-                     WRITE ( NOUT, FMT = 99992 )
-                     DO 40 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   40                CONTINUE
-                     WRITE ( NOUT, FMT = 99991 )
-                     DO 50 I = 1, P
-                        WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
-   50                CONTINUE
-                  END IF
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01GD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01GD = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix is ')
-99996 FORMAT (/' The reduced descriptor matrix is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Rank of matrix E   =', I5)
-99993 FORMAT (/' The reduced input/state matrix is ')
-99992 FORMAT (/' The reduced state/output matrix is ')
-99991 FORMAT (/' The transformed feedthrough matrix is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01GD EXAMPLE PROGRAM DATA
-  4    4     2     2     D     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-     1     0
-     1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01GD EXAMPLE PROGRAM RESULTS
-
- Rank of matrix E   =    3
-
- The reduced state dynamics matrix is 
-   2.5102  -3.8550 -11.4533
-  -0.0697   0.0212   0.7015
-   0.3798  -0.1156  -3.8250
-
- The reduced descriptor matrix is 
-  10.1587   5.8230   1.3021
-   0.0000  -2.4684  -0.1896
-   0.0000   0.0000   1.0338
-
- The reduced input/state matrix is 
-   7.7100   1.6714
-   0.7678   1.1070
-   2.5428   0.6935
-
- The reduced state/output matrix is 
-   0.5477  -2.5000  -6.2610
-  -1.0954   1.0000  -0.8944
-
- The transformed feedthrough matrix is 
-   4.0000   1.0000
-   1.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01HD.html b/doc/_static/doc/TG01HD.html
deleted file mode 100644
index 4e6bd318..00000000
--- a/doc/_static/doc/TG01HD.html
+++ /dev/null
@@ -1,603 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HD">TG01HD</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to the controllability staircase form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the N-th order descriptor system (A-lambda*E,B,C)
-  to the form
-
-             ( Ac  *  )             ( Ec  *  )           ( Bc )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (    ) ,
-             ( 0  Anc )             ( 0  Enc )           ( 0  )
-
-       C*Z = ( Cc Cnc ) ,
-
-  where the NCONT-th order descriptor system (Ac-lambda*Ec,Bc,Cc)
-  is a finite and/or infinite controllable. The pencil
-  Anc - lambda*Enc is regular of order N-NCONT and contains the
-  uncontrollable finite and/or infinite eigenvalues of the pencil
-  A-lambda*E.
-
-  For JOBCON = 'C' or 'I', the pencil ( Bc Ec-lambda*Ac ) has full
-  row rank NCONT for all finite lambda and is in a staircase form
-  with
-                  _      _          _        _
-                ( E1,0   E1,1  ...  E1,k-1   E1,k  )
-                (        _          _        _     )
-    ( Bc Ec ) = (  0     E2,1  ...  E2,k-1   E2,k  ) ,  (1)
-                (              ...  _        _     )
-                (  0       0   ...  Ek,k-1   Ek,k  )
-
-                  _          _        _
-                ( A1,1  ...  A1,k-1   A1,k  )
-                (            _        _     )
-      Ac      = (   0   ...  A2,k-1   A2,k  ) ,         (2)
-                (       ...           _     )
-                (   0   ...    0      Ak,k  )
-        _
-  where Ei,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
-                         _
-  (with rtau(0) = M) and Ai,i is an rtau(i)-by-rtau(i)
-  upper triangular matrix.
-
-  For JOBCON = 'F', the pencil ( Bc Ac-lambda*Ec ) has full
-  row rank NCONT for all finite lambda and is in a staircase form
-  with
-                  _     _          _        _
-                ( A1,0  A1,1  ...  A1,k-1   A1,k  )
-                (       _          _        _     )
-    ( Bc Ac ) = (  0    A2,1  ...  A2,k-1   A2,k  ) ,   (3)
-                (             ...  _        _     )
-                (  0      0   ...  Ak,k-1   Ak,k  )
-
-                  _          _        _
-                ( E1,1  ...  E1,k-1   E1,k  )
-                (            _        _     )
-      Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (4)
-                (       ...           _     )
-                (   0   ...    0      Ek,k  )
-        _
-  where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank matrix
-                         _
-  (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
-  upper triangular matrix.
-
-  For JOBCON = 'C', the (N-NCONT)-by-(N-NCONT) regular pencil
-  Anc - lambda*Enc has the form
-
-                      ( Ainc - lambda*Einc         *          )
-   Anc - lambda*Enc = (                                       ) ,
-                      (        0           Afnc - lambda*Efnc )
-
-  where:
-    1) the NIUCON-by-NIUCON regular pencil Ainc - lambda*Einc,
-       with Ainc upper triangular and nonsingular, contains the
-       uncontrollable infinite eigenvalues of A - lambda*E;
-    2) the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) regular pencil
-       Afnc - lambda*Efnc, with Efnc upper triangular and
-       nonsingular, contains the uncontrollable finite
-       eigenvalues of A - lambda*E.
-
-  Note: The significance of the two diagonal blocks can be
-        interchanged by calling the routine with the
-        arguments A and E interchanged. In this case,
-        Ainc - lambda*Einc contains the uncontrollable zero
-        eigenvalues of A - lambda*E, while Afnc - lambda*Efnc
-        contains the uncontrollable nonzero finite and infinite
-        eigenvalues of A - lambda*E.
-
-  For JOBCON = 'F', the pencil Anc - lambda*Enc has the form
-
-     Anc - lambda*Enc = Afnc - lambda*Efnc ,
-
-  where the regular pencil Afnc - lambda*Efnc, with Efnc
-  upper triangular and nonsingular, contains the uncontrollable
-  finite eigenvalues of A - lambda*E.
-
-  For JOBCON = 'I', the pencil Anc - lambda*Enc has the form
-
-     Anc - lambda*Enc = Ainc - lambda*Einc ,
-
-  where the regular pencil Ainc - lambda*Einc, with Ainc
-  upper triangular and nonsingular, contains the uncontrollable
-  nonzero finite and infinite eigenvalues of A - lambda*E.
-
-  The left and/or right orthogonal transformations Q and Z
-  performed to reduce the system matrices can be optionally
-  accumulated.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has
-  the same transfer-function matrix as the original system
-  (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HD( JOBCON, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NCONT, NIUCON,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBCON
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
-     $                   M, N, NCONT, NIUCON, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBCON  CHARACTER*1
-          = 'C':  separate both finite and infinite uncontrollable
-                  eigenvalues;
-          = 'F':  separate only finite uncontrollable eigenvalues:
-          = 'I':  separate only nonzero finite and infinite
-                  uncontrollable eigenvalues.
-
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Ac   *  )
-                    Q'*A*Z = (         ) ,
-                             ( 0   Anc )
-
-          where Ac is NCONT-by-NCONT and Anc is
-          (N-NCONT)-by-(N-NCONT).
-          If JOBCON = 'F', the matrix ( Bc Ac ) is in the
-          controllability staircase form (3).
-          If JOBCON = 'C' or 'I', the submatrix Ac is upper
-          triangular.
-          If JOBCON = 'C', the Anc matrix has the form
-
-                          ( Ainc   *  )
-                    Anc = (           ) ,
-                          (  0   Afnc )
-
-          where the NIUCON-by-NIUCON matrix Ainc is nonsingular and
-          upper triangular.
-          If JOBCON = 'I', Anc is nonsingular and upper triangular.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z,
-
-                             ( Ec   *  )
-                    Q'*E*Z = (         ) ,
-                             ( 0   Enc )
-
-          where Ec is NCONT-by-NCONT and Enc is
-          (N-NCONT)-by-(N-NCONT).
-          If JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
-          controllability staircase form (1).
-          If JOBCON = 'F', the submatrix Ec is upper triangular.
-          If JOBCON = 'C', the Enc matrix has the form
-
-                          ( Einc   *  )
-                    Enc = (           ) ,
-                          (  0   Efnc )
-
-          where the NIUCON-by-NIUCON matrix Einc is nilpotent
-          and the (N-NCONT-NIUCON)-by-(N-NCONT-NIUCON) matrix Efnc
-          is nonsingular and upper triangular.
-          If JOBCON = 'F', Enc is nonsingular and upper triangular.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix
-
-                           ( Bc )
-                    Q'*B = (    ) ,
-                           ( 0  )
-
-           where Bc is NCONT-by-M.
-           For JOBCON = 'C' or 'I', the matrix ( Bc Ec ) is in the
-           controllability staircase form (1).
-           For JOBCON = 'F', the matrix ( Bc Ac ) is in the
-           controllability staircase form (3).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Q,
-                          where Q' is the product of transformations
-                          which are applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Qc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Qc*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Z,
-                          which is the product of transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Zc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Zc*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NCONT   (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of reduced matrix Bc; also the order of
-          the controllable part of the pair (A-lambda*E,B).
-
-  NIUCON  (output) INTEGER
-          For JOBCON = 'C', the order of the reduced matrices
-          Ainc and Einc; also the number of uncontrollable
-          infinite eigenvalues of the pencil A - lambda*E.
-          For JOBCON = 'F' or 'I', NIUCON has no significance
-          and is set to zero.
-
-  NRBLCK  (output) INTEGER
-          For JOBCON = 'C' or 'I', the number k, of full row rank
-                 _
-          blocks Ei,i in the staircase form of the pencil
-          (Bc Ec-lambda*Ac) (see (1) and (2)).
-          For JOBCON = 'F', the number k, of full row rank blocks
-          _
-          Ai,i in the staircase form of the pencil (Bc Ac-lambda*Ec)
-          (see (3) and (4)).
-
-  RTAU    (output) INTEGER array, dimension (N)
-          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
-                                  _         _
-          the full row rank block Ei,i-1 or Ai,i-1 in the staircase
-          form (1) or (3) for JOBCON = 'C' or 'I', or
-          for JOBCON = 'F', respectively.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*M))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithms of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A, E and B are badly scaled, it is
-  generally recommendable to scale them with the SLICOT routine
-  TG01AD, before calling TG01HD.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01HD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = PMAX,
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*MMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBCO
-      INTEGER          I, INFO, J, M, N, NCONT, NIUCON, NRBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(MMAX), RTAU(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01HD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBCO
-      COMPQ = 'I'
-      COMPZ = 'I'
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed descriptor system (A-lambda E,B,C).
-               CALL TG01HD( JOBCO, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                      NCONT, NIUCON, NRBLCK, RTAU, TOL, IWORK,
-     $                      DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NCONT, NIUCON
-                  WRITE ( NOUT, FMT = 99985 )
-                  WRITE ( NOUT, FMT = 99984 ) ( RTAU(I), I = 1,NRBLCK )
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01HD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01HD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Dimension of controllable part   =', I5/
-     $        ' Number of uncontrollable infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The staircase form row dimensions are ' )
-99984 FORMAT (10I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01HD EXAMPLE PROGRAM DATA
-  7    3     2     0.0    C
-     2     0     2     0    -1     3     1
-     0     1     0     0     1     0     0
-     0     0     0     1     0     0     1
-     0     0     2     0    -1     3     1
-     0     0     0     1     0     0     1
-     0     1     0     0     1     0     0
-     0     0     0     1     0     0     1
-     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0
-     0     0     0     0     0     0     1
-     0     0     0     0     0     0     1
-     0     0     0     1     0     0     0
-     0     0     1     0    -1     0     0
-     1     3     0     2     0     0     0
-     2     1     0
-     0     0     0
-     0     0     0
-     0     0     0
-     0     0     0
-     0     0     0
-     1     2     3
-     1     0     0     1     0     0     1
-     0    -1     1     0    -1     1     0
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01HD EXAMPLE PROGRAM RESULTS
-
- Dimension of controllable part   =    3
- Number of uncontrollable infinite eigenvalues =    1
-
- The staircase form row dimensions are 
-    2    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   0.0000   0.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
-   0.0000   2.0000   0.0000  -3.7417  -0.8520   0.2924  -0.4342
-   0.0000   0.0000   1.7862   0.3780  -0.2651  -0.7723   0.0000
-   0.0000   0.0000   0.0000   3.7417   0.8520  -0.2924   0.4342
-   0.0000   0.0000   0.0000   0.0000  -1.5540   0.5334   0.5742
-   0.0000   0.0000   0.0000   0.0000  -0.6533   0.2242   0.2414
-   0.0000   0.0000   0.0000   0.0000  -0.5892   0.2022   0.2177
-
- The transformed descriptor matrix Q'*E*Z is 
-  -1.8325   1.0000   2.3752   0.0000  -0.8214   0.2819   1.8016
-   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
-  -0.1728   0.0000  -0.1333  -1.1339   0.1325   0.3861   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.8520  -0.2924   0.4342
-   0.0000   0.0000   0.0000   0.0000  -1.0260  -0.1496   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.1937   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-
- The transformed input/state matrix Q'*B is 
-   1.0000   2.0000   3.0000
-   2.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000
-
- The transformed state/output matrix C*Z is 
-   0.0000   1.0000   0.0000   0.0000  -1.2627   0.4334   0.4666
-   0.3665   0.0000  -0.9803  -1.6036   0.1874   0.5461   0.0000
-
- The left transformation matrix Q is 
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.7071   0.0000   0.2740  -0.6519   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.8304   0.3491  -0.4342
-   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.4003   0.1683   0.9008
-   0.0000   0.0000   0.7071   0.0000  -0.2740   0.6519   0.0000
-   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-
- The right transformation matrix Z is 
-   0.0000   1.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-  -0.6108   0.0000   0.7917   0.0000   0.0000   0.0000   0.0000
-   0.4887   0.0000   0.3770  -0.5345   0.1874   0.5461   0.0000
-   0.0000   0.0000   0.0000   0.0000  -0.4107   0.1410   0.9008
-   0.6108   0.0000   0.4713   0.2673  -0.1874  -0.5461   0.0000
-  -0.1222   0.0000  -0.0943  -0.8018  -0.1874  -0.5461   0.0000
-   0.0000   0.0000   0.0000   0.0000  -0.8520   0.2924  -0.4342
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01HU.html b/doc/_static/doc/TG01HU.html
deleted file mode 100644
index 59d12d53..00000000
--- a/doc/_static/doc/TG01HU.html
+++ /dev/null
@@ -1,376 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HU - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HU">TG01HU</A></H2>
-<H3>
-Staircase controllability representation of a multi-input descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given the descriptor system (A-lambda*E,B,C) with the system
-  matrices A, E and B of the form
-
-         ( A1 X1 )        ( E1 Y1 )        ( B1 B2 )
-     A = (       ) ,  E = (       ) ,  B = (       ) ,
-         ( 0  X2 )        ( 0  Y2 )        ( 0  0  )
-
-  where
-       - B is an L-by-(M1+M2) matrix,
-         with B1 an N1-by-M1 submatrix, B2 an N1-by-M2 submatrix,
-       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
-       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
-           with LBE nonzero sub-diagonals,
-  this routine reduces the pair (A1-lambda*E1,[B1 B2]) to the form
-
-  Qc'*[B1 B2 A1-lambda*E1 ]*diag(I,Zc) =
-
-                           ( Bc1 Bc2 Ac-lambda*Ec      *         )
-                           (                                     ) ,
-                           (  0   0       0       Anc-lambda*Enc )
-
-  where:
-  1) the pencil ( Bc1 Bc2 Ac-lambda*Ec ) has full row rank NR for
-     all finite lambda and is in a staircase form with
-
-             [ A11 A12  . . .  A1,p-2 A1,p-1 A1p ]
-             [ A21 A22  . . .  A2,p-2 A2,p-1 A2p ]
-             [ A31 A32  . . .  A3,p-2 A3,p-1 A3p ]
-             [  0  A42  . . .  A4,p-2 A4,p-1 A4p ]
-        Ac = [  .   .   . . .    .      .     .  ],              (1)
-             [  .   .     . .    .      .     .  ]
-             [  .   .       .    .      .     .  ]
-             [  0   0   . . .  Ap,p-2 Ap,p-1 App ]
-
-                  [ A1,-1 A1,0 ]
-                  [  0    A2,0 ]
-                  [  0     0   ]             ( E11  E12 ...  E1p  )
-                  [  0     0   ]             (  0   E22 ...  E2p  )
-      [Bc1 Bc2] = [  .     .   ],       Ec = (   .   .   .    .   ),
-                  [  .     .   ]             (   .   .   .    .   )
-                  [  .     .   ]             (   0   0  ...  Epp  )
-                  [  0     0   ]
-
-      where the block  Ai,i-2 is an rtau(i)-by-rtau(i-2) full row
-      rank matrix (with rtau(-1) = M1, rtau(0) = M2) and Ei,i is an
-      rtau(i)-by-rtau(i) upper triangular matrix.
-
-   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
-      upper triangular; this pencil contains the uncontrollable
-      finite eigenvalues of the pencil (A1-lambda*E1).
-
-  The transformations are applied to the whole matrices A, E, B
-  and C. The left and/or right orthogonal transformations Qc and Zc,
-  performed to reduce the pencil, can be optionally accumulated in
-  the matrices Q and Z, respectively.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
-  uncontrollable finite eigenvalues and has the same transfer-
-  function matrix as the original system (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HU( COMPQ, COMPZ, L, N, M1, M2, P, N1, LBE, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ
-      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M1, M2, N, N1, NR, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of descriptor state equations; also the number
-          of rows of the matrices A, E and B.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          number of columns of the matrices A, E and C.  N &gt;= 0.
-
-  M1      (input) INTEGER
-          The number of system inputs in U1, or of columns of B1.
-          M1 &gt;= 0.
-
-  M2      (input) INTEGER
-          The number of system inputs in U2, or of columns of B2.
-          M2 &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output; also the
-          number of rows of the matrix C.  P &gt;= 0.
-
-  N1      (input) INTEGER
-          The order of the subsystem (A1-lambda*E1,B1,C1) to be
-          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
-
-  LBE     (input) INTEGER
-          The number of nonzero sub-diagonals of the submatrix E1.
-          MAX(0,N1-1) &gt;= LBE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N state matrix A in the partitioned form
-
-                   ( A1 X1 )
-               A = (       ) ,
-                   ( 0  X2 )
-
-          where A1 is N1-by-N1.
-          On exit, the leading L-by-N part of this array contains
-          the transformed state matrix,
-
-                                       ( Ac  *   * )
-                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
-                                       ( 0   0   * )
-
-          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N descriptor matrix E in the partitioned
-          form
-                   ( E1 Y1 )
-               E = (       ) ,
-                   ( 0  Y2 )
-
-          where E1 is an N1-by-N1 matrix with LBE nonzero
-          sub-diagonals.
-          On exit, the leading L-by-N part of this array contains
-          the transformed descriptor matrix
-
-                                       ( Ec  *   * )
-                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
-                                       ( 0   0   * )
-
-          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
-          Both Ec and Enc are upper triangular and Enc is
-          nonsingular.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          with M = M1 + M2.
-          On entry, the leading L-by-M part of this array must
-          contain the L-by-M input matrix B in the partitioned form
-
-                   ( Bi )
-               B = (    ) ,
-                   ( 0  )
-
-          where Bi is N1-by-M.
-          On exit, the leading L-by-M part of this array contains
-          the transformed input matrix
-
-                            ( Bc )
-                    Qc'*B = (    ) ,
-                            ( 0  )
-
-          where Bc is NR-by-M.
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Zc.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix Qc,
-                          where Qc' is the product of the
-                          transformations applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading L-by-L part of this
-                          array must contain an orthogonal matrix Q;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix
-                          Q*Qc.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'I' or 'U'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Zc,
-                          i.e., the product of the transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix Z;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Z*Zc.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of the reduced matrix Bc; also the order of
-          the controllable part of the pair (B, A-lambda*E).
-
-  NRBLCK  (output) INTEGER
-          The number p, of full row rank blocks Ai,i-2 in the
-          staircase form of the pencil (Bc1 Bc2 Ac-lambda*Ec).
-
-  RTAU    (output) INTEGER array, dimension (2*N1)
-          The leading NRBLCK elements of this array contain the
-          orders of the diagonal blocks of Ac. NRBLCK is always
-          an even number, and the NRBLCK/2 odd and even components
-          of RTAU have decreasing values, respectively.
-          Note that some elements of RTAU can be zero.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if MIN(N1,M) = 0; otherwise,
-          LDWORK &gt;= MAX(N1+MAX(L,N,M),2*M), if LBE &gt; 0 and N1 &gt; 2;
-          LDWORK &gt;= MAX(1,L,N,2*M),         if LBE = 0 or N1 &lt;= 2.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The implemented algorithm [1] represents a specialization of the
-  controllability staircase algorithm of [2] to the special structure
-  of the input matrix B = [B1,B2].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Reliable algorithms for computing minimal dynamic covers for
-      descriptor systems.
-      Proc. of MTNS'04, Leuven, Belgium, 2004.
-
-  [2] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N*N1**2 )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01HX.html b/doc/_static/doc/TG01HX.html
deleted file mode 100644
index e5ac5212..00000000
--- a/doc/_static/doc/TG01HX.html
+++ /dev/null
@@ -1,343 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HX">TG01HX</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given the descriptor system (A-lambda*E,B,C) with the system
-  matrices A, E and B of the form
-
-         ( A1 X1 )        ( E1 Y1 )        ( B1 )
-     A = (       ) ,  E = (       ) ,  B = (    ) ,
-         ( 0  X2 )        ( 0  Y2 )        ( 0  )
-
-  where
-       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix
-       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix
-       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
-           with LBE nonzero sub-diagonals,
-  this routine reduces the pair (A1-lambda*E1,B1) to the form
-
-  Qc'*[B1 A1-lambda*E1]*diag(I,Zc) =
-
-                           ( Bc Ac-lambda*Ec      *         )
-                           (                                ) ,
-                           ( 0     0         Anc-lambda*Enc )
-
-  where:
-  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
-     all finite lambda and is in a staircase form with
-                        _      _          _        _
-                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
-                      (        _          _        _     )
-          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
-                      (              ...  _        _     )
-                      (  0       0   ...  Ak,k-1   Ak,k  )
-
-                        _          _        _
-                      ( E1,1  ...  E1,k-1   E1,k  )
-                      (            _        _     )
-            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
-                      (       ...           _     )
-                      (   0   ...    0      Ek,k  )
-            _
-      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
-                                    _
-      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
-      upper triangular matrix.
-
-   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
-      upper triangular; this pencil contains the uncontrollable
-      finite eigenvalues of the pencil (A1-lambda*E1).
-
-  The transformations are applied to the whole matrices A, E, B
-  and C. The left and/or right orthogonal transformations Qc and Zc
-  performed to reduce the pencil can be optionally accumulated
-  in the matrices Q and Z, respectively.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
-  uncontrollable finite eigenvalues and has the same
-  transfer-function matrix as the original system (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HX( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ
-      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDZ, M,
-     $                   N, N1, NR, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of descriptor state equations; also the number
-          of rows of matrices A, E and B.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          number of columns of matrices A, E and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  N1      (input) INTEGER
-          The order of subsystem (A1-lambda*E1,B1,C1) to be reduced.
-          MIN(L,N) &gt;= N1 &gt;= 0.
-
-  LBE     (input) INTEGER
-          The number of nonzero sub-diagonals of submatrix E1.
-          MAX(0,N1-1) &gt;= LBE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N state matrix A in the partitioned
-          form
-                   ( A1 X1 )
-               A = (       ) ,
-                   ( 0  X2 )
-
-          where A1 is N1-by-N1.
-          On exit, the leading L-by-N part of this array contains
-          the transformed state matrix,
-
-                               ( Ac  *   * )
-                    Qc'*A*Zc = ( 0  Anc  * ) ,
-                               ( 0   0   * )
-
-          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
-          The matrix ( Bc Ac ) is in the controllability
-          staircase form (1).
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N descriptor matrix E in the partitioned
-          form
-                   ( E1 Y1 )
-               E = (       ) ,
-                   ( 0  Y2 )
-
-          where E1 is N1-by-N1 matrix with LBE nonzero
-          sub-diagonals.
-          On exit, the leading L-by-N part of this array contains
-          the transformed descriptor matrix
-
-                               ( Ec  *   * )
-                    Qc'*E*Zc = ( 0  Enc  * ) ,
-                               ( 0   0   * )
-
-          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
-          Both Ec and Enc are upper triangular and Enc is
-          nonsingular.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the L-by-M input matrix B in the partitioned
-          form
-                   ( B1 )
-               B = (    ) ,
-                   ( 0  )
-
-          where B1 is N1-by-M.
-          On exit, the leading L-by-M part of this array contains
-          the transformed input matrix
-
-                            ( Bc )
-                    Qc'*B = (    ) ,
-                            ( 0  )
-
-          where Bc is NR-by-M.
-          The matrix ( Bc Ac ) is in the controllability
-          staircase form (1).
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Zc.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix Qc,
-                          where Qc' is the product of transformations
-                          which are applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading L-by-L part of this
-                          array must contain an orthogonal matrix Q;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix
-                          Q*Qc.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Zc,
-                          which is the product of transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix Z;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Z*Zc.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of the reduced matrix Bc; also the order of
-          the controllable part of the pair (B, A-lambda*E).
-
-  NRBLCK  (output) INTEGER                      _
-          The number k, of full row rank blocks Ai,i in the
-          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
-          and (2)).
-
-  RTAU    (output) INTEGER array, dimension (N1)
-          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
-                                  _
-          the full row rank block Ai,i-1 in the staircase form (1).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,L,2*M))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N*N1**2 )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01HY.html b/doc/_static/doc/TG01HY.html
deleted file mode 100644
index 7f900e3d..00000000
--- a/doc/_static/doc/TG01HY.html
+++ /dev/null
@@ -1,360 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01HY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01HY">TG01HY</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to a system with the same transfer-function matrix and with no uncontrollable finite eigenvalues (blocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  Given the descriptor system (A-lambda*E,B,C) with the system
-  matrices A, E and B of the form
-
-         ( A1 X1 )        ( E1 Y1 )        ( B1 )
-     A = (       ) ,  E = (       ) ,  B = (    ) ,
-         ( 0  X2 )        ( 0  Y2 )        ( 0  )
-
-  where
-       - B is an L-by-M matrix, with B1 an N1-by-M  submatrix,
-       - A is an L-by-N matrix, with A1 an N1-by-N1 submatrix,
-       - E is an L-by-N matrix, with E1 an N1-by-N1 submatrix
-           with LBE nonzero sub-diagonals,
-  this routine reduces the pair (A1-lambda*E1,B1) to the form
-
-  Qc'*[ B1 A1-lambda*E1 ]*diag(I,Zc) =
-
-                           ( Bc Ac-lambda*Ec      *         )
-                           (                                ) ,
-                           ( 0     0         Anc-lambda*Enc )
-
-  where:
-  1) the pencil ( Bc Ac-lambda*Ec ) has full row rank NR for
-     all finite lambda and is in a staircase form with
-                        _      _          _        _
-                      ( A1,0   A1,1  ...  A1,k-1   A1,k  )
-                      (        _          _        _     )
-          ( Bc Ac ) = (  0     A2,1  ...  A2,k-1   A2,k  ) ,  (1)
-                      (              ...  _        _     )
-                      (  0       0   ...  Ak,k-1   Ak,k  )
-
-                        _          _        _
-                      ( E1,1  ...  E1,k-1   E1,k  )
-                      (            _        _     )
-            Ec      = (   0   ...  E2,k-1   E2,k  ) ,         (2)
-                      (       ...           _     )
-                      (   0   ...    0      Ek,k  )
-            _
-      where Ai,i-1 is an rtau(i)-by-rtau(i-1) full row rank
-                                    _
-      matrix (with rtau(0) = M) and Ei,i is an rtau(i)-by-rtau(i)
-      upper triangular matrix.
-
-   2) the pencil Anc-lambda*Enc is regular of order N1-NR with Enc
-      upper triangular; this pencil contains the uncontrollable
-      finite eigenvalues of the pencil (A1-lambda*E1).
-
-  The transformations are applied to the whole matrices A, E, B
-  and C. The left and/or right orthogonal transformations Qc and Zc,
-  performed to reduce the pencil, can be optionally accumulated in
-  the matrices Q and Z, respectively.
-
-  The reduced order descriptor system (Ac-lambda*Ec,Bc,Cc) has no
-  uncontrollable finite eigenvalues and has the same transfer-
-  function matrix as the original system (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01HY( COMPQ, COMPZ, L, N, M, P, N1, LBE, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NR,
-     $                   NRBLCK, RTAU, TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ
-      INTEGER            INFO, L, LBE, LDA, LDB, LDC, LDE, LDQ, LDWORK,
-     $                   LDZ, M, N, N1, NR, NRBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IWORK( * ), RTAU( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  L       (input) INTEGER
-          The number of descriptor state equations; also the number
-          of rows of the matrices A, E and B.  L &gt;= 0.
-
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          number of columns of the matrices A, E and C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output; also the
-          number of rows of the matrix C.  P &gt;= 0.
-
-  N1      (input) INTEGER
-          The order of the subsystem (A1-lambda*E1,B1,C1) to be
-          reduced.  MIN(L,N) &gt;= N1 &gt;= 0.
-
-  LBE     (input) INTEGER
-          The number of nonzero sub-diagonals of the submatrix E1.
-          MAX(0,N1-1) &gt;= LBE &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N state matrix A in the partitioned form
-
-                   ( A1 X1 )
-               A = (       ) ,
-                   ( 0  X2 )
-
-          where A1 is N1-by-N1.
-          On exit, the leading L-by-N part of this array contains
-          the transformed state matrix,
-
-                                       ( Ac  *   * )
-                    Qc'*A*diag(Zc,I) = ( 0  Anc  * ) ,
-                                       ( 0   0   * )
-
-          where Ac is NR-by-NR and Anc is (N1-NR)-by-(N1-NR).
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,L).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading L-by-N part of this array must
-          contain the L-by-N descriptor matrix E in the partitioned
-          form
-                   ( E1 Y1 )
-               E = (       ) ,
-                   ( 0  Y2 )
-
-          where E1 is an N1-by-N1 matrix with LBE nonzero
-          sub-diagonals.
-          On exit, the leading L-by-N part of this array contains
-          the transformed descriptor matrix
-
-                                       ( Ec  *   * )
-                    Qc'*E*diag(Zc,I) = ( 0  Enc  * ) ,
-                                       ( 0   0   * )
-
-          where Ec is NR-by-NR and Enc is (N1-NR)-by-(N1-NR).
-          Both Ec and Enc are upper triangular.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,L).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading L-by-M part of this array must
-          contain the L-by-M input matrix B in the partitioned form
-
-                   ( B1 )
-               B = (    ) ,
-                   ( 0  )
-
-          where B1 is N1-by-M.
-          On exit, the leading L-by-M part of this array contains
-          the transformed input matrix
-
-                            ( Bc )
-                    Qc'*B = (    ) ,
-                            ( 0  )
-
-          where Bc is NR-by-M.
-          The matrix ( Bc Ac ) is in the controllability staircase
-          form (1).
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,L).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Zc.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,L)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix Qc,
-                          where Qc' is the product of the
-                          transformations applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading L-by-L part of this
-                          array must contain an orthogonal matrix Q;
-                          on exit, the leading L-by-L part of this
-                          array contains the orthogonal matrix
-                          Q*Qc.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,L), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Zc,
-                          i.e., the product of the transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix Z;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Z*Zc.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NR      (output) INTEGER
-          The order of the reduced matrices Ac and Ec, and the
-          number of rows of the reduced matrix Bc; also the order of
-          the controllable part of the pair (B, A-lambda*E).
-
-  NRBLCK  (output) INTEGER                      _
-          The number k, of full row rank blocks Ai,i in the
-          staircase form of the pencil (Bc Ac-lambda*Ec) (see (1)
-          and (2)).
-
-  RTAU    (output) INTEGER array, dimension (N1)
-          RTAU(i), for i = 1, ..., NRBLCK, is the row dimension of
-                                  _
-          the full row rank block Ai,i-1 in the staircase form (1).
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E, B). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = L*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (M)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,N,L,2*(M+N1-1))
-          For good performance, LDWORK should be generally larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-  If suitable, it uses block algorithms for the reduction of the
-  matrix E and for the corresponding updates of the matrices A, B,
-  and Q. Moreover, for large systems, the row transformations are
-  applied on panels of columns of the matrices A, B, and E.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Varga, A.
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N*N1**2 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If INFO &gt; 0 on entry, that value is used as block size for the
-  block algorithms. Otherwise, the block size is chosen internally.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01ID.html b/doc/_static/doc/TG01ID.html
deleted file mode 100644
index d1cbad4c..00000000
--- a/doc/_static/doc/TG01ID.html
+++ /dev/null
@@ -1,618 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01ID - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01ID">TG01ID</A></H2>
-<H3>
-Orthogonal reduction of a descriptor system to the observability staircase form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the N-th order descriptor system (A-lambda*E,B,C)
-  to the form
-
-             ( Ano  * )             ( Eno  * )           ( Bno )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,  Q'*B = (     ) ,
-             ( 0   Ao )             ( 0   Eo )           ( Bo  )
-
-       C*Z = ( 0   Co ) ,
-
-  where the NOBSV-th order descriptor system (Ao-lambda*Eo,Bo,Co)
-  is a finite and/or infinite observable. The pencil
-  Ano - lambda*Eno is regular of order N-NOBSV and contains the
-  unobservable finite and/or infinite eigenvalues of the pencil
-  A-lambda*E.
-
-  For JOBOBS = 'O' or 'I', the pencil ( Eo-lambda*Ao ) has full
-                                      (      Co      )
-  column rank NOBSV for all finite lambda and is in a staircase form
-  with
-                  _      _            _      _
-                ( Ek,k   Ek,k-1   ... Ek,2   Ek,1   )
-                ( _      _            _      _      )
-    ( Eo ) =    ( Ek-1,k Ek-1,k-1 ... Ek-1,2 Ek-1,1 ) ,  (1)
-    ( Co )      (     ...         ... _      _      )
-                (  0       0      ... E1,2   E1,1   )
-                (                            _      )
-                (  0       0      ... 0      E0,1   )
-                  _          _      _
-                ( Ak,k  ...  Ak,2   Ak,1 )
-                (       ...  _      _    )
-      Ao      = (   0   ...  A2,2   A2,1 ) ,             (2)
-                (                   _    )
-                (   0   ...    0    A1,1 )
-        _
-  where Ei-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
-                         _
-  (with CTAU(0) = P) and Ai,i is a CTAU(i)-by-CTAU(i)
-  upper triangular matrix.
-
-  For JOBOBS = 'F', the pencil ( Ao-lambda*Eo ) has full
-                               (      Co      )
-  column rank NOBSV for all finite lambda and is in a staircase form
-  with
-                  _      _            _      _
-                ( Ak,k   Ak,k-1   ... Ak,2   Ak,1   )
-                ( _      _            _      _      )
-    ( Ao ) =    ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) ,  (3)
-    ( Co )      (     ...         ... _      _      )
-                (  0       0      ... A1,2   A1,1   )
-                (                            _      )
-                (  0       0      ... 0      A0,1   )
-                  _          _      _
-                ( Ek,k  ...  Ek,2   Ek,1 )
-                (       ...  _      _    )
-      Eo      = (   0   ...  E2,2   E2,1 ) ,             (4)
-                (                   _    )
-                (   0   ...    0    E1,1 )
-        _
-  where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
-                         _
-  (with CTAU(0) = P) and Ei,i is a CTAU(i)-by-CTAU(i)
-  upper triangular matrix.
-
-  For JOBOBS = 'O', the (N-NOBSV)-by-(N-NOBSV) regular pencil
-  Ano - lambda*Eno has the form
-
-                      ( Afno - lambda*Efno         *          )
-   Ano - lambda*Eno = (                                       ) ,
-                      (        0           Aino - lambda*Eino )
-
-  where:
-    1) the NIUOBS-by-NIUOBS regular pencil Aino - lambda*Eino,
-       with Aino upper triangular and nonsingular, contains the
-       unobservable infinite eigenvalues of A - lambda*E;
-    2) the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) regular pencil
-       Afno - lambda*Efno, with Efno upper triangular and
-       nonsingular, contains the unobservable finite
-       eigenvalues of A - lambda*E.
-
-  Note: The significance of the two diagonal blocks can be
-        interchanged by calling the routine with the
-        arguments A and E interchanged. In this case,
-        Aino - lambda*Eino contains the unobservable zero
-        eigenvalues of A - lambda*E, while Afno - lambda*Efno
-        contains the unobservable nonzero finite and infinite
-        eigenvalues of A - lambda*E.
-
-  For JOBOBS = 'F', the pencil Ano - lambda*Eno has the form
-
-     Ano - lambda*Eno = Afno - lambda*Efno ,
-
-  where the regular pencil Afno - lambda*Efno, with Efno
-  upper triangular and nonsingular, contains the unobservable
-  finite eigenvalues of A - lambda*E.
-
-  For JOBOBS = 'I', the pencil Ano - lambda*Eno has the form
-
-     Ano - lambda*Eno = Aino - lambda*Eino ,
-
-  where the regular pencil Aino - lambda*Eino, with Aino
-  upper triangular and nonsingular, contains the unobservable
-  nonzero finite and infinite eigenvalues of A - lambda*E.
-
-  The left and/or right orthogonal transformations Q and Z
-  performed to reduce the system matrices can be optionally
-  accumulated.
-
-  The reduced order descriptor system (Ao-lambda*Eo,Bo,Co) has
-  the same transfer-function matrix as the original system
-  (A-lambda*E,B,C).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, Q, LDQ, Z, LDZ, NOBSV, NIUOBS,
-     $                   NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOBOBS
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
-     $                   M, N, NIUOBS, NLBLCK, NOBSV, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            CTAU( * ), IWORK( * )
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, *  ),
-     $                   DWORK( * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBOBS   CHARACTER*1
-          = 'O':  separate both finite and infinite unobservable
-                  eigenvalues;
-          = 'F':  separate only finite unobservable eigenvalues;
-          = 'I':  separate only nonzero finite and infinite
-                  unobservable eigenvalues.
-
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Ano  *  )
-                    Q'*A*Z = (         ) ,
-                             ( 0    Ao )
-
-          where Ao is NOBSV-by-NOBSV and Ano is
-          (N-NOBSV)-by-(N-NOBSV).
-          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
-                                      ( Co )
-          staircase form (3).
-          If JOBOBS = 'O' or 'I', the submatrix Ao is upper
-          triangular.
-          If JOBOBS = 'O', the submatrix Ano has the form
-
-                          ( Afno   *  )
-                    Ano = (           ) ,
-                          (  0   Aino )
-
-          where the NIUOBS-by-NIUOBS matrix Aino is nonsingular and
-          upper triangular.
-          If JOBOBS = 'I', Ano is nonsingular and upper triangular.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*E*Z,
-
-                             ( Eno  *  )
-                    Q'*E*Z = (         ) ,
-                             ( 0    Eo )
-
-          where Eo is NOBSV-by-NOBSV and Eno is
-          (N-NOBSV)-by-(N-NOBSV).
-          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
-                                             ( Co )
-          observability staircase form (1).
-          If JOBOBS = 'F', the submatrix Eo is upper triangular.
-          If JOBOBS = 'O', the Eno matrix has the form
-
-                          ( Efno   *  )
-                    Eno = (           ) ,
-                          (  0   Eino )
-
-          where the NIUOBS-by-NIUOBS matrix Eino is nilpotent
-          and the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) matrix Efno
-          is nonsingular and upper triangular.
-          If JOBOBS = 'F', Eno is nonsingular and upper triangular.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension
-          (LDB,MAX(M,P))
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of array B.
-          LDB &gt;= MAX(1,N) if M &gt; 0 or LDB &gt;= 1 if M = 0.
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix
-
-                  C*Z = (  0   Co ) ,
-
-          where Co is P-by-NOBSV.
-          If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
-                                             ( Co )
-          observability staircase form (1).
-          If JOBOBS = 'F', the matrix ( Ao ) is in the observability
-                                      ( Co )
-          staircase form (3).
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,M,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N': Q is not referenced.
-          If COMPQ = 'I': on entry, Q need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Q,
-                          where Q' is the product of transformations
-                          which are applied to A, E, and B on
-                          the left.
-          If COMPQ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Qc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Qc*Q.
-
-  LDQ     INTEGER
-          The leading dimension of array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'U' or 'I'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N': Z is not referenced.
-          If COMPZ = 'I': on entry, Z need not be set;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix Z,
-                          which is the product of transformations
-                          applied to A, E, and C on the right.
-          If COMPZ = 'U': on entry, the leading N-by-N part of this
-                          array must contain an orthogonal matrix
-                          Zc;
-                          on exit, the leading N-by-N part of this
-                          array contains the orthogonal matrix
-                          Zc*Z.
-
-  LDZ     INTEGER
-          The leading dimension of array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'U' or 'I'.
-
-  NOBSV   (output) INTEGER
-          The order of the reduced matrices Ao and Eo, and the
-          number of columns of reduced matrix Co; also the order of
-          observable part of the pair (C, A-lambda*E).
-
-  NIUOBS  (output) INTEGER
-          For JOBOBS = 'O', the order of the reduced matrices
-          Aino and Eino; also the number of unobservable
-          infinite eigenvalues of the pencil A - lambda*E.
-          For JOBOBS = 'F' or 'I', NIUOBS has no significance
-          and is set to zero.
-
-  NLBLCK  (output) INTEGER
-          For JOBOBS = 'O' or 'I', the number k, of full column rank
-                 _
-          blocks Ei-1,i in the staircase form of the pencil
-          (Eo-lambda*Ao) (see (1) and (2)).
-          (    Co      )
-          For JOBOBS = 'F', the number k, of full column rank blocks
-          _
-          Ai-1,i in the staircase form of the pencil (Ao-lambda*Eo)
-                                                     (     Co     )
-          (see (3) and (4)).
-
-  CTAU    (output) INTEGER array, dimension (N)
-          CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
-                                        _         _
-          of the full column rank block Ei-1,i or Ai-1,i in the
-          staircase form (1) or (3) for JOBOBS = 'O' or 'I', or
-          for JOBOBS = 'F', respectively.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A'-lambda*E',C')'. If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where EPS
-          is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (P)
-
-  DWORK   DOUBLE PRECISION array, dimension (MAX(N,2*P))
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the dual of the reduction
-  algorithms of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the system matrices A, E and C are badly scaled, it is
-  generally recommendable to scale them with the SLICOT routine
-  TG01AD, before calling TG01ID.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01ID EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          LMAX, NMAX, MMAX, PMAX
-      PARAMETER        ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          MPMX
-      PARAMETER        ( MPMX = MAX( MMAX, PMAX ) )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = LMAX, LDB = LMAX, LDC = MAX(MMAX,PMAX),
-     $                   LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = MAX( 1, NMAX, 2*PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOBOBS
-      INTEGER          I, INFO, J, M, N, NOBSV, NIUOBS, NLBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IWORK(MMAX), CTAU(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01ID
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOBOBS
-      COMPQ = 'I'
-      COMPZ = 'I'
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the transformed descriptor system (A-lambda E,B,C).
-               CALL TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
-     $                      NOBSV, NIUOBS, NLBLCK, CTAU, TOL, IWORK,
-     $                      DWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NOBSV, NIUOBS
-                  WRITE ( NOUT, FMT = 99985 )
-                  WRITE ( NOUT, FMT = 99984 ) ( CTAU(I), I = 1,NLBLCK )
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01ID EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01ID = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Dimension of observable part   =', I5/
-     $        ' Number of unobservable infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT (/' L is out of range.',/' L = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The staircase form column dimensions are ' )
-99984 FORMAT (10I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01ID EXAMPLE PROGRAM DATA
-  7    2     3     0.0    O
-     2     0     0     0     0     0     0
-     0     1     0     0     0     1     0
-     2     0     0     2     0     0     0
-     0     0     1     0     1     0     1
-    -1     1     0    -1     0     1     0
-     3     0     0     3     0     0     0
-     1     0     1     1     1     0     1
-     0     0     0     0     0     0     1
-     0     0     0     0     0     0     3
-     1     0     0     0     0     1     0
-     0     0     0     0     1     0     2
-     0     0     0     0     0    -1     0
-     0     1     0     0     0     0     0
-     0     0     1     1     0     0     0
-     1     0
-     0    -1
-     0     1
-     1     0
-     0    -1
-     0     1
-     1     0
-     2     0     0     0     0     0     1
-     1     0     0     0     0     0     2
-     0     0     0     0     0     0     3
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01ID EXAMPLE PROGRAM RESULTS
-
- Dimension of observable part   =    3
- Number of unobservable infinite eigenvalues =    1
-
- The staircase form column dimensions are 
-    2    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   0.2177   0.2414   0.5742   0.4342   0.0000  -0.4342   0.4666
-   0.2022   0.2242   0.5334  -0.2924  -0.7723   0.2924   0.4334
-  -0.5892  -0.6533  -1.5540   0.8520  -0.2651  -0.8520  -1.2627
-   0.0000   0.0000   0.0000   3.7417   0.3780  -3.7417   0.0000
-   0.0000   0.0000   0.0000   0.0000   1.7862   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000
-
- The transformed descriptor matrix Q'*E*Z is 
-   1.0000   0.0000   0.0000   0.4342   0.0000   0.0000   1.8016
-   0.0000   1.1937  -0.1496  -0.2924   0.3861   0.5461   0.2819
-   0.0000   0.0000  -1.0260   0.8520   0.1325   0.1874  -0.8214
-   0.0000   0.0000   0.0000   0.0000  -1.1339  -0.5345   0.0000
-   0.0000   0.0000   0.0000   0.0000  -0.1333   0.3770   2.3752
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000  -0.1728   0.4887  -1.8325
-
- The transformed input/state matrix Q'*B is 
-   0.4666   0.0000
-   0.4334   0.5461
-  -1.2627   0.1874
-   0.0000  -1.6036
-   0.0000  -0.9803
-   1.0000   0.0000
-   0.0000   0.3665
-
- The transformed state/output matrix C*Z is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   2.0000   1.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   2.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   3.0000
-
- The left transformation matrix Q is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.7917   0.0000  -0.6108
-   0.0000   0.5461   0.1874  -0.5345   0.3770   0.0000   0.4887
-   0.9008   0.1410  -0.4107   0.0000   0.0000   0.0000   0.0000
-   0.0000  -0.5461  -0.1874   0.2673   0.4713   0.0000   0.6108
-   0.0000  -0.5461  -0.1874  -0.8018  -0.0943   0.0000  -0.1222
-  -0.4342   0.2924  -0.8520   0.0000   0.0000   0.0000   0.0000
-
- The right transformation matrix Z is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000   0.0000
-   0.0000  -0.6519   0.2740   0.0000   0.7071   0.0000   0.0000
-  -0.4342   0.3491   0.8304   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000  -1.0000   0.0000   0.0000   0.0000
-   0.9008   0.1683   0.4003   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.6519  -0.2740   0.0000   0.7071   0.0000   0.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01JD.html b/doc/_static/doc/TG01JD.html
deleted file mode 100644
index 5110fa5f..00000000
--- a/doc/_static/doc/TG01JD.html
+++ /dev/null
@@ -1,465 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01JD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01JD">TG01JD</A></H2>
-<H3>
-Irreducible descriptor representation
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or irreducible)
-  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
-  descriptor representation (A-lambda*E,B,C).
-  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
-  either Ar or Er upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
-     $                   B, LDB, C, LDC, NR, INFRED, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL, JOB, SYSTYP
-      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           INFRED(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'I':  Remove both the uncontrollable and unobservable
-                  parts to get an irreducible descriptor
-                  representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable descriptor representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable descriptor representation.
-
-  SYSTYP  CHARACTER*1
-          Indicates the type of descriptor system algorithm
-          to be applied according to the assumed
-          transfer-function matrix as follows:
-          = 'R':  Rational transfer-function matrix;
-          = 'S':  Proper (standard) transfer-function matrix;
-          = 'P':  Polynomial transfer-function matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily scale
-          the system (A-lambda*E,B,C) as follows:
-          = 'S':  Perform scaling;
-          = 'N':  Do not perform scaling.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order state matrix Ar of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The matrix Ar is upper triangular if SYSTYP = 'R' or 'P'.
-          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
-          is in a controllable staircase form (see TG01HD).
-          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
-                                                           ( Cr )
-          is in an observable staircase form (see TG01HD).
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original descriptor matrix E.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order descriptor matrix Er of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The resulting Er has INFRED(6) nonzero sub-diagonals.
-          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
-          resulting Er is structured being either upper triangular
-          or block Hessenberg, in accordance to the last
-          performed order reduction phase (see METHOD).
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input matrix B; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the reduced input matrix Br of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'C', only the first IWORK(1) rows of B are
-          nonzero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original output matrix C; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cr of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
-          (in the first NR columns) of C are nonzero.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced descriptor representation
-          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
-          or observable realization for the original system,
-          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
-          respectively.
-
-  INFRED  (output) INTEGER array, dimension 7
-          This array contains information on performed reduction
-          and on structure of resulting system matrices as follows:
-          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
-                         (see METHOD) has been performed. In this
-                         case, INFRED(k) is the achieved order
-                         reduction in Phase k.
-          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
-                         performed.
-          INFRED(5)  -   the number of nonzero sub-diagonals of A.
-          INFRED(6)  -   the number of nonzero sub-diagonals of E.
-          INFRED(7)  -   the number of blocks in the resulting
-                         staircase form at last performed reduction
-                         phase. The block dimensions are contained
-                         in the first INFRED(7) elements of IWORK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in rank determinations when
-          transforming (A-lambda*E,B,C). If the user sets TOL &gt; 0,
-          then the given value of TOL is used as a lower bound for
-          reciprocal condition numbers in rank determinations; a
-          (sub)matrix whose estimated condition number is less than
-          1/TOL is considered to be of full rank.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          defined by  TOLDEF = N*N*EPS,  is used instead, where
-          EPS is the machine precision (see LAPACK Library routine
-          DLAMCH).  TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension ((c*N+MAX(M,P)), where
-          c = 2, if JOB = 'I' or SYSTYP = 'R', and c = 1, otherwise.
-          On exit, if INFO = 0, the leading INFRED(7) elements of
-          IWORK contain the orders of the diagonal blocks of
-          Ar-lambda*Er.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(8*N,2*M,2*P), if EQUIL = 'S';
-          LDWORK &gt;= MAX(N,2*M,2*P),   if EQUIL = 'N'.
-          If LDWORK &gt;= 2*N*N+N*M+N*P+MAX(N,2*M,2*P) then more
-          accurate results are to be expected by performing only
-          those reductions phases (see METHOD), where effective
-          order reduction occurs. This is achieved by saving the
-          system matrices before each phase and restoring them if no
-          order reduction took place.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithms of [1].
-  The order reduction is performed in 4 phases:
-  Phase 1: Eliminate all finite uncontrollable eigenvalues.
-           The resulting matrix ( Br Ar ) is in a controllable
-           staircase form (see SLICOT Library routine TG01HD), and
-           Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'S'.
-  Phase 2: Eliminate all infinite and finite nonzero uncontrollable
-           eigenvalues. The resulting matrix ( Br Er ) is in a
-           controllable staircase form (see TG01HD), and Ar is
-           upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'P'.
-  Phase 3: Eliminate all finite unobservable eigenvalues.
-           The resulting matrix ( Ar ) is in an observable
-                                ( Cr )
-           staircase form (see SLICOT Library routine TG01ID), and
-           Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'S'.
-  Phase 4: Eliminate all infinite and finite nonzero unobservable
-           eigenvalues. The resulting matrix ( Er ) is in an
-                                             ( Cr )
-           observable staircase form (see TG01ID), and Ar is
-           upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'P'.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the pencil (A-lambda*E) has no zero eigenvalues, then an
-  irreducible realization can be computed skipping Phases 1 and 3
-  by using the setting: JOB = 'I' and SYSTYP = 'P'.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01JD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = MAX( 8*NMAX,2*MMAX,2*PMAX ),
-     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        EQUIL, JOB, SYSTYP
-      INTEGER          I, INFO, J, M, N, NR, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          INFRED(7), IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01JD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL, JOB, SYSTYP, EQUIL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
-               CALL TG01JD( JOB, SYSTYP, EQUIL, N, M, P, A, LDA, E, LDE,
-     $                      B, LDB, C, LDC, NR, INFRED, TOL, IWORK,
-     $                      DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NR
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 10 I = 1, 4
-                     IF( INFRED(I).GE.0 )
-     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 30 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 50 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   50             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01JD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01JD = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99996 FORMAT (/' The reduced descriptor matrix Er is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5 )
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' Achieved order reductions in different phases')
-99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01JD EXAMPLE PROGRAM DATA
-  9    2    2     0.0    I  R  N 
-    -2    -3     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     0    -2    -3     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     1     0
-     0     0
-     0     1
-     0     0
-    -1     0
-     0     0
-     0    -1
-     0     0
-     0     0
-     1     0     1    -3     0     1     0     2     0
-     0     1     1     3     0     1     0     0     1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01JD EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    7
-
- Achieved order reductions in different phases
- Phase 1:  0 elliminated eigenvalue(s)
- Phase 2:  0 elliminated eigenvalue(s)
- Phase 3:  2 elliminated eigenvalue(s)
- Phase 4:  0 elliminated eigenvalue(s)
-
- The reduced state dynamics matrix Ar is 
-   1.0000  -0.0393  -0.0980  -0.1066   0.0781  -0.2330   0.0777
-   0.0000   1.0312   0.2717   0.2609  -0.1533   0.6758  -0.3553
-   0.0000   0.0000   1.3887   0.6699  -0.4281   1.6389  -0.7615
-   0.0000   0.0000   0.0000  -1.2147   0.2423  -0.9792   0.4788
-   0.0000   0.0000   0.0000   0.0000  -1.0545   0.5035  -0.2788
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-
- The reduced descriptor matrix Er is 
-   0.4100   0.2590   0.5080  -0.3109   0.0705   0.1429  -0.1477
-  -0.7629  -0.3464   0.0992  -0.3007   0.0619   0.2483  -0.0152
-   0.1120  -0.2124  -0.4184  -0.1288   0.0569  -0.4213  -0.6182
-   0.0000   0.1122  -0.0039   0.2771  -0.0758   0.0975   0.3923
-   0.0000   0.0000   0.3708  -0.4290   0.1006   0.1402  -0.2699
-   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
-   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
-
- The reduced input/state matrix Br is 
-  -0.5597   0.2363
-  -0.4843  -0.0498
-  -0.4727  -0.1491
-   0.1802   1.1574
-   0.5995   0.1556
-  -0.1729  -0.3999
-   0.0000   0.2500
-
- The reduced state/output matrix Cr is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01JY.html b/doc/_static/doc/TG01JY.html
deleted file mode 100644
index 11c0a34c..00000000
--- a/doc/_static/doc/TG01JY.html
+++ /dev/null
@@ -1,525 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01JY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01JY">TG01JY</A></H2>
-<H3>
-Irreducible descriptor representation (blocked version)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To find a reduced (controllable, observable, or irreducible)
-  descriptor representation (Ar-lambda*Er,Br,Cr) for an original
-  descriptor representation (A-lambda*E,B,C).
-  The pencil Ar-lambda*Er is in an upper block Hessenberg form, with
-  either Ar or Er upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P, A,
-     $                   LDA, E, LDE, B, LDB, C, LDC, NR, INFRED, TOL,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         CKSING, EQUIL, JOB, RESTOR, SYSTYP
-      INTEGER           INFO, LDA, LDB, LDC, LDE, LDWORK, M, N, NR, P
-C     .. Array Arguments ..
-      INTEGER           INFRED(*), IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*),
-     $                  E(LDE,*), TOL(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          Indicates whether the user wishes to remove the
-          uncontrollable and/or unobservable parts as follows:
-          = 'I':  Remove both the uncontrollable and unobservable
-                  parts to get an irreducible descriptor
-                  representation;
-          = 'C':  Remove the uncontrollable part only to get a
-                  controllable descriptor representation;
-          = 'O':  Remove the unobservable part only to get an
-                  observable descriptor representation.
-
-  SYSTYP  CHARACTER*1
-          Indicates the type of descriptor system algorithm
-          to be applied according to the assumed
-          transfer-function matrix as follows:
-          = 'R':  Rational transfer-function matrix;
-          = 'S':  Proper (standard) transfer-function matrix;
-          = 'P':  Polynomial transfer-function matrix.
-
-  EQUIL   CHARACTER*1
-          Specifies whether the user wishes to preliminarily scale
-          the system (A-lambda*E,B,C) as follows:
-          = 'S':  Perform scaling;
-          = 'N':  Do not perform scaling.
-
-  CKSING  CHARACTER*1
-          Specifies whether the user wishes to check if the pencil
-          (A-lambda*E) is singular as follows:
-          = 'C':  Check singularity;
-          = 'N':  Do not check singularity.
-          If the pencil is singular, the reduced system computed for
-          CKSING = 'N' can be wrong.
-
-  RESTOR  CHARACTER*1
-          Specifies whether the user wishes to save the system
-          matrices before each phase and restore them if no order
-          reduction took place as follows:
-          = 'R':  Save and restore;
-          = 'N':  Do not save the matrices.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The dimension of descriptor system input vector; also the
-          number of columns of matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The dimension of descriptor system output vector; also the
-          number of rows of matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order state matrix Ar of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The matrix Ar is upper triangular if SYSTYP = 'P'.
-          If SYSTYP = 'S' and JOB = 'C', the matrix [Br Ar]
-          is in a controllable staircase form (see SLICOT Library
-          routine TG01HD).
-          If SYSTYP = 'S' and JOB = 'I' or 'O', the matrix ( Ar )
-                                                           ( Cr )
-          is in an observable staircase form (see TG01HD).
-          The resulting Ar has INFRED(5) nonzero sub-diagonals.
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original descriptor matrix E.
-          On exit, the leading NR-by-NR part of this array contains
-          the reduced order descriptor matrix Er of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          The resulting Er has INFRED(6) nonzero sub-diagonals.
-          If at least for one k = 1,...,4, INFRED(k) &gt;= 0, then the
-          resulting Er is structured being either upper triangular
-          or block Hessenberg, in accordance to the last
-          performed order reduction phase (see METHOD).
-          The block structure of staircase forms is contained
-          in the leading INFRED(7) elements of IWORK.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M),
-          if JOB = 'C', or (LDB,MAX(M,P)), otherwise.
-          On entry, the leading N-by-M part of this array must
-          contain the original input matrix B; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading N-by-MAX(M,P)
-          part is used as internal workspace.
-          On exit, the leading NR-by-M part of this array contains
-          the reduced input matrix Br of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'C', only the first IWORK(1) rows of B are
-          nonzero.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the original output matrix C; if JOB = 'I',
-          or JOB = 'O', the remainder of the leading MAX(M,P)-by-N
-          part is used as internal workspace.
-          On exit, the leading P-by-NR part of this array contains
-          the transformed state/output matrix Cr of an irreducible,
-          controllable, or observable realization for the original
-          system, depending on the value of JOB, JOB = 'I',
-          JOB = 'C', or JOB = 'O', respectively.
-          If JOB = 'I', or JOB = 'O', only the last IWORK(1) columns
-          (in the first NR columns) of C are nonzero.
-
-  LDC     INTEGER
-          The leading dimension of array C.
-          LDC &gt;= MAX(1,M,P) if N &gt; 0.
-          LDC &gt;= 1          if N = 0.
-
-  NR      (output) INTEGER
-          The order of the reduced descriptor representation
-          (Ar-lambda*Er,Br,Cr) of an irreducible, controllable,
-          or observable realization for the original system,
-          depending on JOB = 'I', JOB = 'C', or JOB = 'O',
-          respectively.
-
-  INFRED  (output) INTEGER array, dimension 7
-          This array contains information on performed reduction
-          and on structure of resulting system matrices as follows:
-          INFRED(k) &gt;= 0 (k = 1, 2, 3, or 4) if Phase k of reduction
-                         (see METHOD) has been performed. In this
-                         case, INFRED(k) is the achieved order
-                         reduction in Phase k.
-          INFRED(k) &lt; 0  (k = 1, 2, 3, or 4) if Phase k was not
-                         performed.
-          INFRED(5)  -   the number of nonzero sub-diagonals of A.
-          INFRED(6)  -   the number of nonzero sub-diagonals of E.
-          INFRED(7)  -   the number of blocks in the resulting
-                         staircase form at last performed reduction
-                         phase. The block dimensions are contained
-                         in the first INFRED(7) elements of IWORK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION array, dimension 3
-          TOL(1) is the tolerance to be used in rank determinations
-          when transforming (A-lambda*E,B,C). If the user sets
-          TOL(1) &gt; 0, then the given value of TOL(1) is used as a
-          lower bound for reciprocal condition numbers in rank
-          determinations; a (sub)matrix whose estimated condition
-          number is less than 1/TOL(1) is considered to be of full
-          rank.  If the user sets TOL(1) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by TOLDEF1 = N*N*EPS,
-          is used instead, where EPS is the machine precision (see
-          LAPACK Library routine DLAMCH).  TOL(1) &lt; 1.
-          TOL(2) is the tolerance to be used for checking pencil
-          singularity when CKSING = 'C', or singularity of the
-          matrices A and E when CKSING = 'N'. If the user sets
-          TOL(2) &gt; 0, then the given value of TOL(2) is used.
-          If the user sets TOL(2) &lt;= 0, then an implicitly
-          computed, default tolerance, defined by  TOLDEF2 = 10*EPS,
-          is used instead.  TOL(2) &lt; 1.
-          TOL(3) is the threshold value for magnitude of the matrix
-          elements, if EQUIL = 'S': elements with magnitude less
-          than or equal to TOL(3) are ignored for scaling. If the
-          user sets TOL(3) &gt;= 0, then the given value of TOL(3) is
-          used. If the user sets TOL(3) &lt; 0, then an implicitly
-          computed, default threshold, defined by  THRESH = c*EPS,
-          where c = MAX(norm_1(A,E,B,C)) is used instead.
-          TOL(3) = 0 is not always a good choice.  TOL(3) &lt; 1.
-          TOL(3) is not used if EQUIL = 'N'.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (2*N+MAX(M,P))
-          On exit, if INFO = 0, the leading INFRED(7) elements of
-          IWORK contain the orders of the diagonal blocks of
-          Ar-lambda*Er.
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if  INFO = 0,  DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= MAX(1,x,y,8*N), if EQUIL = 'S',
-          LDWORK &gt;= MAX(1,x,y),     if EQUIL = 'N',
-          where x = MAX(2*(z+MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'R'
-                x = MAX(  2*(MAX(M,P)+N-1),N*N+4*N), if RESTOR = 'N'
-                y = 2*N*N+10*N+MAX(N,23), if CKSING = 'C',
-                y = 0,                    if CKSING = 'N',
-                z = 2*N*N+N*M+N*P, if JOB  = 'I',
-                z = 0,             if JOB &lt;&gt; 'I'.
-          For good performance, LDWORK should be generally larger.
-          If RESTOR = 'R', or
-          LDWORK &gt;= MAX(1,2*N*N+N*M+N*P+2*(MAX(M,P)+N-1),
-          more accurate results are to be expected by considering
-          only those reductions phases (see METHOD), where effective
-          order reduction occurs. This is achieved by saving the
-          system matrices before each phase and restoring them if no
-          order reduction took place. Actually, if JOB = 'I' and
-          RESTOR = 'N', then the saved matrices are those obtained
-          after orthogonally triangularizing the matrix A (if
-          SYSTYP = 'R' or 'P'), or the matrix E (if SYSTYP = 'R'
-          or 'S').
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA. The optimal workspace includes the
-          extra space for improving the accuracy.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the given pencil A - lambda*E is numerically
-                singular and the reduced system is not computed.
-                This error can be returned only if CKSING = 'C'.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithms of [1], but
-  with a different ordering of the phases.
-  The order reduction is performed in 4 phases:
-  Phase 1: Eliminate all infinite and finite nonzero uncontrollable
-           eigenvalues. The resulting matrix ( Br Er ) is in a
-           controllable staircase form (see TG01HD), and Ar is
-           upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'P'.
-  Phase 2: Eliminate all infinite and finite nonzero unobservable
-           eigenvalues. The resulting matrix ( Er ) is in an
-                                             ( Cr )
-           observable staircase form (see SLICOT Library routine
-           TG01ID), and Ar is upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'P'.
-  Phase 3: Eliminate all finite uncontrollable eigenvalues.
-           The resulting matrix ( Br Ar ) is in a controllable
-           staircase form (see TG01HD), and Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'C' and
-           SYSTYP = 'R' or 'S'.
-  Phase 4: Eliminate all finite unobservable eigenvalues.
-           The resulting matrix ( Ar ) is in an observable
-                                ( Cr )
-           staircase form (see TG01ID), and Er is upper triangular.
-           This phase is performed if JOB = 'I' or 'O' and
-           SYSTYP = 'R' or 'S'.
-  The routine checks the singularity of the matrices A and/or E
-  (depending on JOB and SYSTYP) and skips the unnecessary phases.
-  See FURTHER COMMENTS.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] A. Varga
-      Computation of Irreducible Generalized State-Space
-      Realizations.
-      Kybernetika, vol. 26, pp. 89-106, 1990.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  If the pencil A-lambda*E has no zero eigenvalues, then an
-  irreducible realization is computed skipping Phases 3 and 4
-  (equivalent to setting: JOB = 'I' and SYSTYP = 'P').
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01JY EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX )
-      INTEGER          LDWORK, LIWORK
-      PARAMETER        ( LDWORK = 2*NMAX*NMAX + 
-     $                            MAX( 2*( NMAX*( NMAX + MMAX + PMAX ) +
-     $                                 MAX( MMAX, PMAX ) + NMAX - 1 ),
-     $                                 10*NMAX + MAX( NMAX, 23 ) ),
-     $                   LIWORK = 2*NMAX + MAX( MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER        CKSING, EQUIL, JOB, RESTOR, SYSTYP
-      INTEGER          I, INFO, J, M, N, NR, P
-*     .. Local Arrays ..
-      INTEGER          INFRED(7), IWORK(LIWORK)
-      DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), TOL(3)
-
-*     .. External Subroutines ..
-      EXTERNAL         TG01JY
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, TOL(1), TOL(2), TOL(3), JOB,
-     $                      SYSTYP, EQUIL, CKSING, RESTOR
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the irreducible descriptor system (Ar-lambda Er,Br,Cr).
-               CALL TG01JY( JOB, SYSTYP, EQUIL, CKSING, RESTOR, N, M, P,
-     $                      A, LDA, E, LDE, B, LDB, C, LDC, NR, INFRED,
-     $                      TOL, IWORK, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NR
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 10 I = 1, 4
-                     IF( INFRED(I).GE.0 )
-     $                  WRITE ( NOUT, FMT = 99990 ) I, INFRED(I)
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 20 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 30 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,NR )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 40 I = 1, NR
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 50 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
-   50             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01JY EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01JY = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Ar is ')
-99996 FORMAT (/' The reduced descriptor matrix Er is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5 )
-99993 FORMAT (/' The reduced input/state matrix Br is ')
-99992 FORMAT (/' The reduced state/output matrix Cr is ')
-99991 FORMAT (/' Achieved order reductions in different phases')
-99990 FORMAT (' Phase',I2,':', I3, ' elliminated eigenvalue(s)' )
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01JY EXAMPLE PROGRAM DATA
-  9    2    2     0.0    0.0    0.0    I  R  N  N  N
-    -2    -3     0     0     0     0     0     0     0
-     1     0     0     0     0     0     0     0     0
-     0     0    -2    -3     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     1     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     0     0     0     0     0     0     0     0     1
-     1     0     0     0     0     0     0     0     0
-     0     1     0     0     0     0     0     0     0
-     0     0     1     0     0     0     0     0     0
-     0     0     0     1     0     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     1     0     0     0     0
-     0     0     0     0     0     0     0     0     0
-     0     0     0     0     0     0     1     0     0
-     0     0     0     0     0     0     0     1     0
-     1     0
-     0     0
-     0     1
-     0     0
-    -1     0
-     0     0
-     0    -1
-     0     0
-     0     0
-     1     0     1    -3     0     1     0     2     0
-     0     1     1     3     0     1     0     0     1
-
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01JY EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    7
-
- Achieved order reductions in different phases
- Phase 1:  0 elliminated eigenvalue(s)
- Phase 2:  2 elliminated eigenvalue(s)
-
- The reduced state dynamics matrix Ar is 
-   1.0000  -0.0393  -0.0980   0.1066  -0.0781   0.2330  -0.0777
-   0.0000   1.0312   0.2717  -0.2609   0.1533  -0.6758   0.3553
-   0.0000   0.0000   1.3887  -0.6699   0.4281  -1.6389   0.7615
-   0.0000   0.0000   0.0000   1.2147  -0.2423   0.9792  -0.4788
-   0.0000   0.0000   0.0000   0.0000   1.0545  -0.5035   0.2788
-   0.0000   0.0000   0.0000   0.0000   0.0000   1.6355  -0.4323
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   1.0000
-
- The reduced descriptor matrix Er is 
-   0.4100   0.2590   0.5080   0.3109  -0.0705  -0.1429   0.1477
-  -0.7629  -0.3464   0.0992   0.3007  -0.0619  -0.2483   0.0152
-   0.1120  -0.2124  -0.4184   0.1288  -0.0569   0.4213   0.6182
-   0.0000   0.1122  -0.0039  -0.2771   0.0758  -0.0975  -0.3923
-   0.0000   0.0000   0.3708   0.4290  -0.1006  -0.1402   0.2699
-   0.0000   0.0000   0.0000   0.0000   0.9458  -0.2211   0.2378
-   0.0000   0.0000   0.0000   0.5711   0.2648   0.5948  -0.5000
-
- The reduced input/state matrix Br is 
-   0.5597  -0.2363
-   0.4843   0.0498
-   0.4727   0.1491
-  -0.1802  -1.1574
-  -0.5995  -0.1556
-  -0.1729  -0.3999
-   0.0000   0.2500
-
- The reduced state/output matrix Cr is 
-   0.0000   0.0000   0.0000   0.0000   0.0000   0.0000   4.0000
-   0.0000   0.0000   0.0000   0.0000   0.0000   3.1524  -1.7500
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HTML>
-<HEAD><TITLE>TG01KD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01KD">TG01KD</A></H2>
-<H3>
-Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular (TG01OA version with more complex interface)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  (A, E, B, C), with E upper triangular, a transformed system,
-  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
-  transformation, so that Q'*B has only the first element nonzero
-  and Q'*E*Z remains upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01KD( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
-     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
-      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  COMPC   CHARACTER*1
-          Indicates whether the user wishes to transform the system
-          output matrix C, as follows:
-          = 'C':  Transform the system output matrix C;
-          = 'N':  Do not transform the system output matrix C.
-
-  COMPQ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the orthogonal row transformations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the orthogonal
-                  transformations used.
-
-  COMPZ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal column transformations, as
-          follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the orthogonal
-                  transformations used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input/output) DOUBLE PRECISION array, dimension (N)
-          On entry, the leading N part of this array must contain
-          the original input matrix B.
-          On exit, the leading N part of this array contains the
-          transformed input matrix Q'*B with all elements but the
-          first set to zero.
-
-  C       (input/output) DOUBLE PRECISION array, dimension
-          ((N-1)*INCC+1)
-          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array must contain the original
-          output vector C.
-          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array contain the transformed output
-          vector C*Z.
-          If COMPC = 'N', this array is not referenced.
-
-  INCC    INTEGER
-          If COMPC = 'C', the increment between successive values
-          of C.  INCC &gt; 0.
-          If COMPC = 'N', INCC is not used.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
-          On entry, if COMPQ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Q1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Q1*Q if COMPQ = 'U').
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ =  'N';
-          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
-          On entry, if COMPZ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Z1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Z1*Z if COMPZ = 'U').
-          If COMPZ = 'N', this array is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ =  'N';
-          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01KZ.html b/doc/_static/doc/TG01KZ.html
deleted file mode 100644
index 432d97d6..00000000
--- a/doc/_static/doc/TG01KZ.html
+++ /dev/null
@@ -1,202 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01KZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01KZ">TG01KZ</A></H2>
-<H3>
-Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular (TG01OB version with more complex interface)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  (A, E, B, C), with E upper triangular, a transformed system,
-  (Q'*A*Z, Q'*E*Z, Q'*B, C*Z), via an orthogonal equivalence
-  transformation, so that Q'*B has only the first element nonzero
-  and Q'*E*Z remains upper triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01KZ( JOBE, COMPC, COMPQ, COMPZ, N, A, LDA, E, LDE,
-     $                   B, C, INCC, Q, LDQ, Z, LDZ, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         COMPC, COMPQ, COMPZ, JOBE
-      INTEGER           INCC, INFO, LDA, LDE, LDQ, LDZ, N
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*), B(*), C(*), E(LDE,*), Q(LDQ,*),
-     $                  Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-  COMPC   CHARACTER*1
-          Indicates whether the user wishes to transform the system
-          output matrix C, as follows:
-          = 'C':  Transform the system output matrix C;
-          = 'N':  Do not transform the system output matrix C.
-
-  COMPQ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Q the orthogonal row transformations, as follows:
-          = 'N':  Do not form Q;
-          = 'I':  Q is initialized to the unit matrix and the
-                  orthogonal transformation matrix Q is returned;
-          = 'U':  The given matrix Q is updated by the orthogonal
-                  transformations used.
-
-  COMPZ   CHARACTER*1
-          Indicates whether the user wishes to accumulate in a
-          matrix Z the orthogonal column transformations, as
-          follows:
-          = 'N':  Do not form Z;
-          = 'I':  Z is initialized to the unit matrix and the
-                  orthogonal transformation matrix Z is returned;
-          = 'U':  The given matrix Z is updated by the orthogonal
-                  transformations used.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  A       (input/output) COMPLEX*16 array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  B       (input/output) COMPLEX*16 array, dimension (N)
-          On entry, the leading N part of this array must contain
-          the original input matrix B.
-          On exit, the leading N part of this array contains the
-          transformed input matrix Q'*B with all elements but the
-          first set to zero.
-
-  C       (input/output) COMPLEX*16 array, dimension
-          ((N-1)*INCC+1)
-          On entry, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array must contain the original
-          output vector C.
-          On exit, if COMPC = 'C', the elements 1, INCC+1, ...,
-          (N-1)*INCC+1 of this array contain the transformed output
-          vector C*Z.
-          If COMPC = 'N', this array is not referenced.
-
-  INCC    INTEGER
-          If COMPC = 'C', the increment between successive values
-          of C.  INCC &gt; 0.
-          If COMPC = 'N', INCC is not used.
-
-  Q       (input/output) COMPLEX*16 array, dimension (LDQ,*)
-          On entry, if COMPQ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Q1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPU &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Q1*Q if COMPQ = 'U').
-          If COMPQ = 'N', this array is not referenced.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ =  'N';
-          LDQ &gt;= max(1,N), if COMPQ &lt;&gt; 'N'.
-
-  Z       (input/output) COMPLEX*16 array, dimension (LDZ,*)
-          On entry, if COMPZ = 'U', the leading N-by-N part of this
-          array must contain the given matrix Z1. Otherwise, this
-          array need not be set on input.
-          On exit, if COMPZ &lt;&gt; 'N', the leading N-by-N part of this
-          array contains the orthogonal transformation matrix used
-          (Z1*Z if COMPZ = 'U').
-          If COMPZ = 'N', this array is not referenced.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ =  'N';
-          LDZ &gt;= max(1,N), if COMPZ &lt;&gt; 'N'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01LD.html b/doc/_static/doc/TG01LD.html
deleted file mode 100644
index 5107ec67..00000000
--- a/doc/_static/doc/TG01LD.html
+++ /dev/null
@@ -1,490 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01LD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01LD">TG01LD</A></H2>
-<H3>
-Finite-infinite decomposition of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the form (if JOB = 'F')
-
-             ( Af  *  )             ( Ef  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
-             ( 0   Ai )             ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-             ( Ai  *  )             ( Ei  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
-             ( 0   Af )             ( 0   Ef )
-
-  where the subpencil Af-lambda*Ef, with Ef nonsingular and upper
-  triangular, contains the finite eigenvalues, and the subpencil
-  Ai-lambda*Ei, with Ai nonsingular and upper triangular, contains
-  the infinite eigenvalues. The subpencil Ai-lambda*Ei is in a
-  staircase form (see METHOD). If JOBA = 'H', the submatrix Af
-  is further reduced to an upper Hessenberg form.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF, ND,
-     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          COMPQ, COMPZ, JOB, JOBA
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK( * ),  E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          = 'F':  perform the finite-infinite separation;
-          = 'I':  perform the infinite-finite separation.
-
-  JOBA    CHARACTER*1
-          = 'H':  reduce Af further to an upper Hessenberg form;
-          = 'N':  keep Af unreduced.
-
-  COMPQ   CHARACTER*1
-          = 'N':  do not compute Q;
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-
-  COMPZ   CHARACTER*1
-          = 'N':  do not compute Z;
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Af  *  )                 ( Ai  *  )
-                    Q'*A*Z = (        ) ,  or  Q'*A*Z = (        ) ,
-                             ( 0   Ai )                 ( 0   Af )
-
-          depending on JOB, with Af an NF-by-NF matrix, and Ai an
-          (N-NF)-by-(N-NF) nonsingular and upper triangular matrix.
-          If JOBA = 'H', Af is in an upper Hessenberg form.
-          Otherwise, Af is unreduced.
-          Ai has a block structure as in (3) or (4), where A0,0 is
-          ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
-          IBLCK(i)-by-IBLCK(i).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z,
-
-                             ( Ef  *  )                 ( Ei  *  )
-                    Q'*E*Z = (        ) ,  or  Q'*E*Z = (        ) ,
-                             ( 0   Ei )                 ( 0   Ef )
-
-          depending on JOB, with Ef an NF-by-NF nonsingular matrix,
-          and Ei an (N-NF)-by-(N-NF) nilpotent matrix in an upper
-          block triangular form, as in (3) or (4).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,K),
-          where K = M if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,K),
-          where K = P if JOB = 'F', and K = MAX(M,P) if JOB = 'I'.
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'N':  Q is not referenced.
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of Householder
-                           transformations applied to A, E, and B on
-                           the left.
-          If COMPQ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = 'N';
-          LDQ &gt;= MAX(1,N), if COMPQ = 'I' or 'U'.
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'N':  Z is not referenced.
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of Householder
-                           transformations applied to A, E, and C on
-                           the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = 'N';
-          LDZ &gt;= MAX(1,N), if COMPZ = 'I' or 'U'.
-
-  NF      (output) INTEGER.
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  ND      (output) INTEGER.
-          The number of non-dynamic infinite eigenvalues of the
-          pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (3) or (4), with i = 1,2, ..., NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= N + MAX(3*N,M,P).
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-  If JOB = 'F', the matrices Ai and Ei have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOB = 'I', the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
-  triangular matrices. A0,0 corresponds to the non-dynamic infinite
-  modes of the system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF.
-                 i=1
-
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01LD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = NMAX+MAX( 3*NMAX, MMAX, PMAX ) )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, JOB, JOBA
-      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX), IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX),   B(LDB,MMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01LD
-*     .. Intrinsic Functions ..
-      INTRINSIC        MAX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, JOBA, TOL
-      COMPQ = 'I'
-      COMPZ = 'I'
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01LD( JOB, JOBA, COMPQ, COMPZ, N, M, P, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
-     $                      ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NF, ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01LD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01LD = ',I2)
-99997 FORMAT (/' The reduced state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The reduced descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5/
-     $        ' Number of non-dynamic infinite eigenvalues =', I5)
-99993 FORMAT (/' The reduced input/state matrix Q''*B is ')
-99992 FORMAT (/' The reduced state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT ( ' Dimension of the blocks'/20I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01LD EXAMPLE PROGRAM DATA
-  4     2     2     F     N     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01LD EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    3
- Number of non-dynamic infinite eigenvalues =    1
- Number of infinite blocks =     1
-
- The reduced state dynamics matrix Q'*A*Z is 
-   2.4497  -1.3995   0.2397  -4.0023
-  -0.0680  -0.0030   0.1739  -1.6225
-   0.3707   0.0161  -0.9482   0.1049
-   0.0000   0.0000   0.0000   2.2913
-
- The reduced descriptor matrix Q'*E*Z is 
-   9.9139   4.7725  -3.4725  -2.3836
-   0.0000  -1.2024   2.0137   0.7926
-   0.0000   0.0000   0.2929  -0.9914
-   0.0000   0.0000   0.0000   0.0000
-
- The reduced input/state matrix Q'*B is 
-  -0.2157  -0.9705
-   0.3015   0.9516
-   0.7595   0.0991
-   1.1339   0.3780
-
- The reduced state/output matrix C*Z is 
-   0.5345  -1.1134   0.3758   0.5774
-  -1.0690   0.2784  -1.2026   0.5774
-
- The left transformation matrix Q is 
-  -0.2157  -0.5088   0.6109   0.5669
-  -0.1078  -0.2544  -0.7760   0.5669
-  -0.9705   0.1413  -0.0495  -0.1890
-   0.0000   0.8102   0.1486   0.5669
-
- The right transformation matrix Z is 
-  -0.5345   0.6263   0.4617  -0.3299
-  -0.8018  -0.5219  -0.2792  -0.0825
-   0.0000  -0.4871   0.8375   0.2474
-  -0.2673   0.3132  -0.0859   0.9073
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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@@ -1,297 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01LY - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01LY">TG01LY</A></H2>
-<H3>
-Finite-infinite decomposition of a structured descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which reduce
-  the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C), with the A and E matrices in the form
-
-        ( A11 A12 A13 )             ( E11  0  0 )
-    A = ( A21 A22 A23 ) ,       E = (  0   0  0 ) ,              (1)
-        ( A31  0   0  )             (  0   0  0 )
-
-  where E11 and A22 are nonsingular and upper triangular matrices,
-  to the form
-
-             ( Af  *  )             ( Ef  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,
-             ( 0   Ai )             ( 0   Ei )
-
-  where the subpencil Af-lambda*Ef contains the finite eigenvalues
-  and the subpencil Ai-lambda*Ei contains the infinite eigenvalues.
-  The subpencil Ai-lambda*Ei is in a staircase form with the
-  matrices Ai and Ei of form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ,   (2)
-        (  :     :   ...   :  )         ( :   :   ...   :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
-  matrices.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01LY( COMPQ, COMPZ, N, M, P, RANKE, RNKA22, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ, NF,
-     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      LOGICAL            COMPQ, COMPZ
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, NF, NIBLCK, P, RANKE, RNKA22
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A( LDA, * ), B( LDB, * ), C( LDC, * ),
-     $                   DWORK(  * ), E( LDE, * ), Q( LDQ, * ),
-     $                   Z( LDZ, * )
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  COMPQ   LOGICAL
-          Specify the option to accumulate or not the performed
-          left transformations:
-          COMPQ = .FALSE. : do not accumulate the transformations;
-          COMPQ = .TRUE.  : accumulate the transformations; in this
-                  case, Q must contain an orthogonal matrix Q1
-                  on entry, and the product Q1*Q is returned.
-
-  COMPZ   LOGICAL
-          Specify the option to accumulate or not the performed
-          right transformations:
-          COMPZ = .FALSE. : do not accumulate the transformations;
-          COMPZ = .TRUE.  : accumulate the transformations; in this
-                  case, Z must contain an orthogonal matrix Z1
-                  on entry, and the product Z1*Z is returned.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  RANKE   (input) INTEGER
-          The rank of the matrix E; also, the order of the upper
-          triangular matrix E11.  0 &lt;= RANKE &lt;= N. 
-
-  RNKA22  (input) DOUBLE PRECISION
-          The order of the nonsingular submatrix A22 of A.
-          0 &lt;= RNKA22 &lt;= N - RANKE. 
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A in the form (1).
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z,
-
-                             ( Af  *  )
-                    Q'*A*Z = (        ) ,
-                             ( 0   Ai )
-
-          where Af is NF-by-NF and Ai is (N-NF)-by-(N-NF).
-          The submatrix Ai is in the staircase form (2), where A0,0
-          is (N-RANKE)-by-(N-RANKE), and Ai,i , for i = 1, ...,
-          NIBLCK is IBLCK(i)-by-IBLCK(i).
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E in the form (1).
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z,
-
-                             ( Ef  *  )
-                    Q'*E*Z = (        ) ,
-                             ( 0   Ei )
-
-          where Ef is an NF-by-NF nonsingular matrix and Ei is an
-          (N-NF)-by-(N-NF) nilpotent matrix in the staircase
-          form (2).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = .FALSE., Q is not referenced.
-          If COMPQ = .TRUE., on entry, the leading N-by-N part of
-                      this array must contain an orthogonal matrix
-                      Q1; on exit, the leading N-by-N part of this
-                      array contains the orthogonal matrix Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.
-          LDQ &gt;= 1,        if COMPQ = .FALSE.;
-          LDQ &gt;= MAX(1,N), if COMPQ = .TRUE. .
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = .FALSE., Z is not referenced.
-          If COMPZ = .TRUE., on entry, the leading N-by-N part of
-                     this array must contain an orthogonal matrix
-                     Z1; on exit, the leading N-by-N part of this
-                     array contains the orthogonal matrix Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.
-          LDZ &gt;= 1,        if COMPZ = .FALSE.;
-          LDZ &gt;= MAX(1,N), if COMPZ = .TRUE. .
-
-  NF      (output) INTEGER
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  NIBLCK  (output) INTEGER
-          If RANKE &lt; N, the number of infinite blocks minus one.
-          If RANKE = N, NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (2), where i = 1, 2, ..., NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance,
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N-RANKE)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 1, if RANKE = N; otherwise,
-          LDWORK &gt;= MAX(4*(N-RANKE)-1, N-RANKE-RNKA22+MAX(N,M)).
-          For optimal performance, LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The subroutine is based on the reduction algorithm of [1].
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-         NIBLCK
-          Sum  IBLCK(i) = RANKE - NF.
-          i=1
-
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01MD.html b/doc/_static/doc/TG01MD.html
deleted file mode 100644
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--- a/doc/_static/doc/TG01MD.html
+++ /dev/null
@@ -1,494 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01MD">TG01MD</A></H2>
-<H3>
-Finite-infinite generalized real Schur form decomposition of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the form (if JOB = 'F')
-
-             ( Af  *  )             ( Ef  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (1)
-             ( 0   Ai )             ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-             ( Ai  *  )             ( Ei  *  )
-    Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ,                 (2)
-             ( 0   Af )             ( 0   Ef )
-
-  where the pair (Af,Ef) is in a generalized real Schur form, with
-  Ef nonsingular and upper triangular and Af in real Schur form.
-  The subpencil Af-lambda*Ef contains the finite eigenvalues.
-  The pair (Ai,Ei) is in a generalized real Schur form with
-  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
-  with Ai nonsingular and Ei nilpotent contains the infinite
-  eigenvalues and is in a block staircase form (see METHOD).
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
-     $                   ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ, NF, ND,
-     $                   NIBLCK, IBLCK, TOL, IWORK, DWORK, LDWORK,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                   Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          = 'F':  perform the finite-infinite separation;
-          = 'I':  perform the infinite-finite separation.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q'*A*Z in the form
-
-          ( Af  *  )                    ( Ai  *  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ai )                    ( 0   Af )
-
-          where Af is an NF-by-NF matrix in real Schur form, and Ai
-          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
-          matrix. Ai has a block structure as in (3) or (4), where
-          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
-          IBLCK(i)-by-IBLCK(i). (See METHOD.)
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q'*E*Z in the form
-
-          ( Ef  *  )                    ( Ei  *  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ei )                    ( 0   Ef )
-
-          where Ef is an NF-by-NF nonsingular and upper triangular
-          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
-          an upper triangular block form as in (3) or (4).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAR(1:NF) will be set to the real parts of the diagonal
-          elements of Af that would result from reducing A and E to
-          the Schur form, and then further reducing both of them to
-          triangular form using unitary transformations, subject to
-          having the diagonal of E positive real.  Thus, if Af(j,j)
-          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
-          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
-          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
-          the finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAI(1:NF) will be set to the imaginary parts of the
-          diagonal elements of Af that would result from reducing A
-          and E to Schur form, and then further reducing both of
-          them to triangular form using unitary transformations,
-          subject to having the diagonal of E positive real. Thus,
-          if Af(j,j) is in a 1-by-1 block (see above), then
-          ALPHAI(j) = 0. Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          BETA(1:NF) will be set to the (real) diagonal elements of
-          Ef that would result from reducing A and E to Schur form,
-          and then further reducing both of them to triangular form
-          using unitary transformations, subject to having the
-          diagonal of E positive real. Thus, if Af(j,j) is in a
-          1-by-1 block (see above), then BETA(j) = Ef(j,j).
-          Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Q, which is the accumulated product of
-          the transformations applied to A, E, and B on the left.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z, which is the accumulated product of
-          the transformations applied to A, E, and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  NF      (output) INTEGER
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  ND      (output) INTEGER
-          The number of non-dynamic infinite eigenvalues of the
-          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (3), where i = 1,2,...,NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= 4*N.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular;
-          = 2:  the QZ iteration did not converge.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the separation of infinite structure, the reduction algorithm
-  of [1] is employed.
-  If JOB = 'F', the matrices Ai and Ei have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOB = 'I' the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
-  matrices. A0,0 corresponds to the non-dynamic infinite modes of
-  the system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF.
-                 i=1
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB
-      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX),  IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01MD
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01MD( JOB, N, M, P, A, LDA, E, LDE, B, LDB, C,
-     $                      LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
-     $                      NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
-     $                      LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NF, ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, NF
-                     WRITE ( NOUT, FMT = 99984 )
-     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01MD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5/
-     $        ' Number of non-dynamic infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01MD EXAMPLE PROGRAM DATA
-  4     2     2     F     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01MD EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    3
- Number of non-dynamic infinite eigenvalues =    1
- Number of infinite blocks =     1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   1.2803  -2.3613  -0.9025  -3.9982
-   0.0000  -0.5796   0.8504   0.4350
-   0.0000   0.0000   0.0000   1.5770
-   0.0000   0.0000   0.0000   2.2913
-
- The transformed descriptor matrix Q'*E*Z is 
-   9.3142  -4.1463   5.4026  -2.3944
-   0.0000   0.1594   0.1212  -1.0948
-   0.0000   0.0000   2.3524  -0.6008
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-  -0.2089  -0.9712
-   0.6948  -0.0647
-  -0.4336  -0.9538
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-  -0.0469  -0.9391  -0.8847   0.5774
-  -1.0697   0.3620   1.1795   0.5774
-
- The left transformation matrix Q is 
-  -0.2089   0.6948   0.3902   0.5669
-  -0.1148  -0.7163   0.3902   0.5669
-  -0.9712  -0.0647  -0.1301  -0.1890
-   0.0000   0.0000  -0.8238   0.5669
-
- The right transformation matrix Z is 
-   0.0469   0.9391  -0.0843  -0.3299
-  -0.9962   0.0189  -0.0211  -0.0825
-   0.0000  -0.0000  -0.9689   0.2474
-  -0.0735   0.3432   0.2317   0.9073
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-    0.1375  +0.0000i 
-   -3.6375  +0.0000i 
-    0.0000  +0.0000i 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01ND.html b/doc/_static/doc/TG01ND.html
deleted file mode 100644
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--- a/doc/_static/doc/TG01ND.html
+++ /dev/null
@@ -1,540 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01ND">TG01ND</A></H2>
-<H3>
-Finite-infinite block-diagonal decomposition of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute equivalence transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the form (if JOB = 'F')
-
-             ( Af  0  )             ( Ef  0  )
-     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
-             ( 0   Ai )             ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-             ( Ai  0  )             ( Ei  0  )
-     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (2)
-             ( 0   Af )             ( 0   Ef )
-
-  where the pair (Af,Ef) is in a generalized real Schur form, with
-  Ef nonsingular and upper triangular and Af in real Schur form.
-  The subpencil Af-lambda*Ef contains the finite eigenvalues.
-  The pair (Ai,Ei) is in a generalized real Schur form with
-  both Ai and Ei upper triangular. The subpencil Ai-lambda*Ei,
-  with Ai nonsingular and Ei nilpotent contains the infinite
-  eigenvalues and is in a block staircase form (see METHOD).
-  This decomposition corresponds to an additive decomposition of
-  the transfer-function matrix of the descriptor system as the
-  sum of a proper term and a polynomial term.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z, LDZ,
-     $                   NF, ND, NIBLCK, IBLCK, TOL, IWORK, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOB, JOBT
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M,
-     $                   N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION   TOL
-C     .. Array Arguments ..
-      INTEGER            IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), ALPHAR(*), ALPHAI(*), B(LDB,*),
-     $                   BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                   Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOB     CHARACTER*1
-          = 'F':  perform the finite-infinite separation;
-          = 'I':  perform the infinite-finite separation.
-
-  JOBT    CHARACTER*1
-          = 'D':  compute the direct transformation matrices;
-          = 'I':  compute the inverse transformation matrices
-                  inv(Q) and inv(Z).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q*A*Z (if JOBT = 'D') or
-          inv(Q)*A*inv(Z) (if JOBT = 'I') in the form
-
-          ( Af  0  )                    ( Ai  0  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ai )                    ( 0   Af )
-
-          where Af is an NF-by-NF matrix in real Schur form, and Ai
-          is an (N-NF)-by-(N-NF) nonsingular and upper triangular
-          matrix. Ai has a block structure as in (3) or (4), where
-          A0,0 is ND-by-ND and Ai,i , for i = 1, ..., NIBLCK, is
-          IBLCK(i)-by-IBLCK(i). (See METHOD.)
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
-          inv(Q)*E*inv(Z) (if JOBT = 'I') in the form
-
-          ( Ef  0  )                    ( Ei  0  )
-          (        ) for JOB = 'F', or  (        )  for JOB = 'I',
-          ( 0   Ei )                    ( 0   Ef )
-
-          where Ef is an NF-by-NF nonsingular and upper triangular
-          matrix, and Ei is an (N-NF)-by-(N-NF) nilpotent matrix in
-          an upper triangular block form as in (3) or (4).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q*B (if JOBT = 'D') or
-          inv(Q)*B (if JOBT = 'I').
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
-          (if JOBT = 'I').
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAR(1:NF) will be set to the real parts of the diagonal
-          elements of Af that would result from reducing A and E to
-          the Schur form, and then further reducing both of them to
-          triangular form using unitary transformations, subject to
-          having the diagonal of E positive real. Thus, if Af(j,j)
-          is in a 1-by-1 block (i.e., Af(j+1,j) = Af(j,j+1) = 0),
-          then ALPHAR(j) = Af(j,j). Note that the (real or complex)
-          values (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are
-          the finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-          ALPHAI(1:NF) will be set to the imaginary parts of the
-          diagonal elements of Af that would result from reducing A
-          and E to Schur form, and then further reducing both of
-          them to triangular form using unitary transformations,
-          subject to having the diagonal of E positive real. Thus,
-          if Af(j,j) is in a 1-by-1 block (see above), then
-          ALPHAI(j) = 0. Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          BETA(1:NF) will be set to the (real) diagonal elements of
-          Ef that would result from reducing A and E to Schur form,
-          and then further reducing both of them to triangular form
-          using unitary transformations, subject to having the
-          diagonal of E positive real. Thus, if Af(j,j) is in a
-          1-by-1 block (see above), then BETA(j) = Ef(j,j).
-          Note that the (real or complex) values
-          (ALPHAR(j) + i*ALPHAI(j))/BETA(j), j=1,...,NF, are the
-          finite generalized eigenvalues of the matrix pencil
-          A - lambda*E.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          left transformation matrix Q, if JOBT = 'D', or its
-          inverse inv(Q), if JOBT = 'I'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          right transformation matrix Z, if JOBT = 'D', or its
-          inverse inv(Z), if JOBT = 'I'.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  NF      (output) INTEGER
-          The order of the reduced matrices Af and Ef; also, the
-          number of finite generalized eigenvalues of the pencil
-          A-lambda*E.
-
-  ND      (output) INTEGER
-          The number of non-dynamic infinite eigenvalues of the
-          matrix pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (3), where i = 1,2,...,NIBLCK.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL. If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+6)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N &gt; 0,
-          LDWORK &gt;= 4*N.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular;
-          = 2:  the QZ iteration did not converge;
-          = 3:  (Af,Ef) and (Ai,Ei) have too close generalized
-                eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the separation of infinite structure, the reduction algorithm
-  of [1] is employed. This separation is achieved by computing
-  orthogonal matrices Q1 and Z1 such that Q1*A*Z1 and Q1*E*Z1
-  have the form (if JOB = 'F')
-
-              ( Af  Ao )              ( Ef  Eo )
-    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) ,
-              ( 0   Ai )              ( 0   Ei )
-
-  or to the form (if JOB = 'I')
-
-              ( Ai  Ao )              ( Ei  Eo )
-    Q1*A*Z1 = (        ) ,  Q1*E*Z1 = (        ) .
-              ( 0   Af )              ( 0   Ef )
-
-  If JOB = 'F', the matrices Ai and Ei have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (3)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOB = 'I' the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (4)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i, for i = 0, 1, ..., k, are nonsingular upper triangular
-  matrices. A0,0 corresponds to the non-dynamic infinite modes of
-  the system.
-
-  In a second step, the transformation matrices Q2 and Z2 are
-  determined, of the form
-
-          ( I -X )          ( I  Y )
-     Q2 = (      ) ,   Z2 = (      )
-          ( 0  I )          ( 0  I )
-
-  such that with Q = Q2*Q1 and Z = Z1*Z2, Q*A*Z and Q*E*Z are
-  block diagonal as in (1) (if JOB = 'F') or in (2) (if JOB = 'I').
-  X and Y are computed by solving generalized Sylvester equations.
-
-  If we partition Q*B and C*Z according to (1) or (2) in the form
-  ( Bf ) and ( Cf Ci ), if JOB = 'F', or ( Bi ) and ( Ci Cf ), if
-  ( Bi )                                 ( Bf )
-  JOB = 'I', then (Af-lambda*Ef,Bf,Cf) is the strictly proper part
-  of the original descriptor system and (Ai-lambda*Ei,Bi,Ci) is its
-  polynomial part.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF.
-                 i=1
-
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity
-  k, for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to
-  an infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX )
-*     .. Local Scalars ..
-      CHARACTER*1      JOB, JOBT
-      INTEGER          I, INFO, J, M, N, ND, NF, NIBLCK, P
-      DOUBLE PRECISION TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX),  IWORK(NMAX+6)
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         TG01ND
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, JOB, JOBT, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01ND( JOB, JOBT, N, M, P, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, ALPHAR, ALPHAI, BETA, Q, LDQ, Z,
-     $                      LDZ, NF, ND, NIBLCK, IBLCK, TOL, IWORK,
-     $                      DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NF, ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, NF
-                     WRITE ( NOUT, FMT = 99984 )
-     $                  DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01ND EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01ND = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Order of reduced system =', I5/
-     $        ' Number of non-dynamic infinite eigenvalues =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01ND EXAMPLE PROGRAM DATA
-  4     2     2     F     D     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01ND EXAMPLE PROGRAM RESULTS
-
- Order of reduced system =    3
- Number of non-dynamic infinite eigenvalues =    1
- Number of infinite blocks =     1
-
- The transformed state dynamics matrix Q*A*Z is 
-   1.2803  -2.3613  -0.9025   0.0000
-   0.0000  -0.5796   0.8504   0.0000
-   0.0000   0.0000   0.0000   0.0000
-   0.0000   0.0000   0.0000   2.2913
-
- The transformed descriptor matrix Q*E*Z is 
-   9.3142  -4.1463   5.4026   0.0000
-   0.0000   0.1594   0.1212   0.0000
-   0.0000   0.0000   2.3524   0.0000
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q*B is 
-   7.7328   1.6760
-   2.2870   0.4660
-  -1.2140  -1.2140
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-  -0.0469  -0.9391  -0.8847  -6.0622
-  -1.0697   0.3620   1.1795  -0.0000
-
- The left transformation matrix Q is 
-   3.7620   3.8560  -2.2948   3.9708
-   1.4909   0.0798  -0.3301   0.7961
-  -0.0000  -0.0000   0.0000  -1.2140
-   0.5669   0.5669  -0.1890   0.5669
-
- The right transformation matrix Z is 
-   0.0469   0.9391  -0.0843   6.0622
-  -0.9962   0.0189  -0.0211  -3.0311
-   0.0000  -0.0000  -0.9689  -0.0000
-  -0.0735   0.3432   0.2317   3.0311
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-    0.1375  +0.0000i 
-   -3.6375  +0.0000i 
-    0.0000  +0.0000i 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
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-<HEAD><TITLE>TG01NX - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01NX">TG01NX</A></H2>
-<H3>
-Block-diagonal decomposition of a descriptor system in generalized real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute equivalence transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C), with (A,E) in a generalized real Schur form, to
-  the block-diagonal form
-
-             ( A1  0  )             ( E1  0  )
-     Q*A*Z = (        ) ,   Q*E*Z = (        ) ,                 (1)
-             ( 0   A2 )             ( 0   E2 )
-
-  where the pair (Q*A*Z,Q*E*Z) is in a generalized real Schur form,
-  with (A1,E1) and (A2,E2) having no common generalized eigenvalues.
-  This decomposition corresponds to an additive spectral
-  decomposition of the transfer-function matrix of the descriptor
-  system as the sum of two terms containing the generalized
-  eigenvalues of (A1,E1) and (A2,E2), respectively.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01NX( JOBT, N, M, P, NDIM, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, Q, LDQ, Z, LDZ, IWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER          JOBT
-      INTEGER            INFO, LDA, LDB, LDC, LDE, LDQ, LDZ, M, N, NDIM,
-     $                   P
-C     .. Array Arguments ..
-      INTEGER            IWORK(*)
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), E(LDE,*),
-     $                   Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBT    CHARACTER*1
-          = 'D':  compute the direct transformation matrices;
-          = 'I':  compute the inverse transformation matrices
-                  inv(Q) and inv(Z).
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  NDIM    (input) INTEGER
-          The dimension of the leading diagonal blocks of (A,E)
-          having generalized eigenvalues distinct from those of the
-          trailing diagonal block.  0 &lt;= NDIM &lt;= N.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N state matrix A in a real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the transformed state matrix Q*A*Z (if JOBT = 'D') or
-          inv(Q)*A*inv(Z) (if JOBT = 'I'), in the form (1), where
-          A1 is a NDIM-by-NDIM matrix.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the N-by-N descriptor matrix E in upper triangular
-          form.
-          On exit, the leading N-by-N part of this array contains
-          the transformed descriptor matrix Q*E*Z (if JOBT = 'D') or
-          inv(Q)*E*inv(Z) (if JOBT = 'I'), in the form (1), where
-          E1 is an NDIM-by-NDIM matrix.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the N-by-M input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q*B (if JOBT = 'D') or
-          inv(Q)*B (if JOBT = 'I').
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the state/output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed matrix C*Z (if JOBT = 'D') or C*inv(Z)
-          (if JOBT = 'I').
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          On entry, the leading N-by-N part of this array contains
-          Q1, the orthogonal left transformation matrix Q used to
-          reduce the pair (A,E) to the generalized real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the left transformation matrix Q = Q2*Q1, if JOBT = 'D',
-          or its inverse inv(Q), if JOBT = 'I'.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          On entry, the leading N-by-N part of this array contains
-          the orthogonal right transformation matrix Z1 used to
-          reduce the pair (A,E) to the generalized real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the right transformation matrix Z = Z1*Z2, if JOBT = 'D',
-          or its inverse inv(Z), if JOBT = 'I'.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N+6)
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the separation of the two diagonal blocks failed
-                because of very close eigenvalues.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For the separation, transformation matrices Q2 and Z2 of the form
-
-          ( I -X )          ( I  Y )
-     Q2 = (      ) ,   Z2 = (      )
-          ( 0  I )          ( 0  I )
-
-  are determined, such that Q2*A*Z2 and Q2*E*Z2 are block diagonal
-  as in (1). X and Y are computed by solving generalized Sylvester
-  equations.
-
-  If we partition Q2*B and C*Z2 according to (1) in the form ( B1 )
-                                                             ( B2 )
-  and ( C1 C2 ), then (A1-lambda*E1,B1,C1) and (A2-lambda*E2,B2,C2)
-  represent an additive spectral decomposition of the system
-  transfer-function matrix.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Kagstrom, B. and Van Dooren, P.
-      Additive decomposition of a transfer function with respect
-      to a specified region.
-      Proc. MTNS Symp., Brussels, 1989.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable and requires
-  0( N**3 )  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01OA.html b/doc/_static/doc/TG01OA.html
deleted file mode 100644
index 4cf46d36..00000000
--- a/doc/_static/doc/TG01OA.html
+++ /dev/null
@@ -1,138 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OA - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OA">TG01OA</A></H2>
-<H3>
-Orthogonal equivalence transformation of a SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
-  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
-  Q'*B has only the first element nonzero and Q'*E*Z remains upper
-  triangular.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OA( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDE, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DCBA(LDDCBA,*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) DOUBLE PRECISION array, dimension
-          (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (N+1)-by-(N+1) part of this array
-          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
-          replacing C, B, and A. The scalar D is unchanged.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.
-          LDDCBA &gt;= N+1.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01OB.html b/doc/_static/doc/TG01OB.html
deleted file mode 100644
index 1206088e..00000000
--- a/doc/_static/doc/TG01OB.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OB - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OB">TG01OB</A></H2>
-<H3>
-Unitary equivalence transformation of a complex SISO descriptor system with E upper triangular, so that B becomes parallel to the first unit vector and E keeps its structure
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E upper triangular, a transformed system, (Q'*A*Z, Q'*E*Z,
-  Q'*B, C*Z), via an orthogonal equivalence transformation, so that
-  Q'*B has only the first element nonzero and Q'*E*Z remains upper
-  triangular. The matrices have complex elements.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OB( JOBE, N, DCBA, LDDCBA, E, LDE, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDE, N
-C     .. Array Arguments ..
-      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is an upper triangular or an identity
-          matrix, as follows:
-          = 'U':  The matrix E is an upper triangular matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (N+1)-by-(N+1) part of this array
-          contains the transformed matrices C*Z, Q'*B, and Q'*A*Z,
-          replacing C, B, and A. The scalar D is unchanged.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.
-          LDDCBA &gt;= N+1.
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
-          On entry, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array must contain the upper
-          triangular part of the descriptor matrix E. The lower
-          triangular part under the first subdiagonal is not
-          referenced.
-          On exit, if JOBE = 'U', the leading N-by-N upper
-          triangular part of this array contains the upper
-          triangular part of the transformed descriptor matrix,
-          Q'*E*Z.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'U';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Givens rotations are used to annihilate the last N-1 elements of B
-  in reverse order, but preserve the form of E.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01OD.html b/doc/_static/doc/TG01OD.html
deleted file mode 100644
index b9c09fac..00000000
--- a/doc/_static/doc/TG01OD.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OD">TG01OD</A></H2>
-<H3>
-Reducing a SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E nonsingular, a reduced system matrix,
-
-     [ d     c    ]
-     [ b  a - s*e ],
-
-  such that d has a "sufficiently" large magnitude.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OD( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
-     $                   DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDWORK, LDE, N, NZ
-      DOUBLE PRECISION  G, TOL
-C     .. Array Arguments ..
-      DOUBLE PRECISION  DCBA(LDDCBA,*), DWORK(*), E(LDE,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is a general matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) DOUBLE PRECISION array, dimension
-          (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
-          contains the reduced system matrices a, b, c, and d.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,*)
-          On entry, if JOBE = 'G', the leading N-by-N part of this
-          array must contain the nonsingular descriptor matrix E.
-          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
-          array contains the reduced descriptor matrix e.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  NZ      (output) INTEGER
-          The order of the reduced system.
-
-  G       (output) DOUBLE PRECISION
-          The gain of the reduced system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining if the transformed
-          d has a "sufficiently" large magnitude. If the user sets
-          TOL &gt; 0, then the given value of TOL is used. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = EPS**(3/4), is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-          On exit, if INFO = -11, DWORK(1) returns the minimum value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 2*N+1,  if JOBE = 'G';
-          LDWORK &gt;=   N+1,  if JOBE = 'I'.
-          For good performance when JOBE = 'G', LDWORK should be
-          larger. Specifically,
-             LDWORK &gt;= MAX( N*NB(DGEQRF), (N+1)*NB(DORMQR) ),
-          where NB(X) is the optimal block sizes for the LAPACK
-          Library routine X.
-
-          If LDWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          DWORK array, returns this value as the first entry of
-          the DWORK array, and no error message related to LDWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and Givens rotations are used to
-  process the matrices. If E is a general matrix, it is first
-  triangularized using the QR decomposition, and the triangular form
-  is preserved during the remaining computations.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01OZ.html b/doc/_static/doc/TG01OZ.html
deleted file mode 100644
index a57fadc1..00000000
--- a/doc/_static/doc/TG01OZ.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01OZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01OZ">TG01OZ</A></H2>
-<H3>
-Reducing a complex SISO descriptor system with E nonsingular so that the obtained feedthrough term has a sufficiently large magnitude
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute for a single-input single-output descriptor system,
-  given by the system matrix with complex elements
-
-     [ D     C    ]
-     [ B  A - s*E ],
-
-  with E nonsingular, a reduced system matrix,
-
-     [ d     c    ]
-     [ b  a - s*e ],
-
-  such that d has a "sufficiently" large magnitude.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01OZ( JOBE, N, DCBA, LDDCBA, E, LDE, NZ, G, TOL,
-     $                   ZWORK, LZWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER         JOBE
-      INTEGER           INFO, LDDCBA, LDE, LZWORK, N, NZ
-      DOUBLE PRECISION  TOL
-      COMPLEX*16        G
-C     .. Array Arguments ..
-      COMPLEX*16        DCBA(LDDCBA,*), E(LDE,*), ZWORK(*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  JOBE    CHARACTER*1
-          Specifies whether E is a general or an identity matrix,
-          as follows:
-          = 'G':  The matrix E is a general matrix;
-          = 'I':  The matrix E is assumed identity and is not given.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The dimension of the descriptor state vector; also the
-          order of square matrices A and E, the number of rows of
-          matrix B, and the number of columns of matrix C.  N &gt;= 0.
-
-  DCBA    (input/output) COMPLEX*16 array, dimension (LDDCBA,N+1)
-          On entry, the leading (N+1)-by-(N+1) part of this array
-          must contain the original system matrices A, B, C, and D,
-          stored as follows
-
-             [ D  C ]
-             [ B  A ].
-
-          On exit, the leading (NZ+1)-by-(NZ+1) part of this array
-          contains the reduced system matrices a, b, c, and d.
-
-  LDDCBA  INTEGER
-          The leading dimension of the array DCBA.  LDDCBA &gt;= N+1.
-
-  E       (input/output) COMPLEX*16 array, dimension (LDE,*)
-          On entry, if JOBE = 'G', the leading N-by-N part of this
-          array must contain the nonsingular descriptor matrix E.
-          On exit, if JOBE = 'G', the leading NZ-by-NZ part of this
-          array contains the reduced descriptor matrix e.
-          If JOBE = 'I', this array is not referenced.
-
-  LDE     INTEGER
-          The leading dimension of the array E.
-          LDE &gt;= MAX(1,N), if JOBE = 'G';
-          LDE &gt;= 1,        if JOBE = 'I'.
-
-  NZ      (output) INTEGER
-          The order of the reduced system.
-
-  G       (output) COMPLEX*16
-          The gain of the reduced system.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          The tolerance to be used in determining if the transformed
-          d has a "sufficiently" large magnitude. If the user sets
-          TOL &gt; 0, then the given value of TOL is used. If the user
-          sets TOL &lt;= 0, then an implicitly computed, default
-          tolerance, defined by TOLDEF = EPS**(3/4), is used
-          instead, where EPS is the machine precision (see LAPACK
-          Library routine DLAMCH).
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  ZWORK   COMPLEX*16 array, dimension (LZWORK)
-          On exit, if INFO = 0, ZWORK(1) returns the optimal value
-          of LZWORK.
-          On exit, if INFO = -11, ZWORK(1) returns the minimum value
-          of LZWORK.
-
-  LZWORK  INTEGER
-          The length of the array ZWORK.
-          LZWORK &gt;= 2*N+1,  if JOBE = 'G';
-          LZWORK &gt;=   N+1,  if JOBE = 'I'.
-          For good performance when JOBE = 'G', LZWORK should be
-          larger. Specifically,
-             LZWORK &gt;= MAX( N*NB(ZGEQRF), (N+1)*NB(ZUNMQR) ),
-          where NB(X) is the optimal block sizes for the LAPACK
-          Library routine X.
-
-          If LZWORK = -1, then a workspace query is assumed;
-          the routine only calculates the optimal size of the
-          ZWORK array, returns this value as the first entry of
-          the ZWORK array, and no error message related to LZWORK
-          is issued by XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  Householder transformations and Givens rotations are used to
-  process the matrices. If E is a general matrix, it is first
-  triangularized using the QR decomposition, and the triangular form
-  is preserved during the remaining computations.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  The algorithm is numerically backward stable.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01PD.html b/doc/_static/doc/TG01PD.html
deleted file mode 100644
index c4b93951..00000000
--- a/doc/_static/doc/TG01PD.html
+++ /dev/null
@@ -1,498 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01PD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01PD">TG01PD</A></H2>
-<H3>
-Bi-domain spectral splitting of a subpencil of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the generalized real Schur form with ordered
-  generalized eigenvalues. The pair (A,E) is reduced to the form
-
-             ( *  *  *  * )             ( *  *  *  * )
-             (            )             (            )
-             ( 0  A1 *  * )             ( 0  E1 *  * )
-    Q'*A*Z = (            ) ,  Q'*E*Z = (            ) ,
-             ( 0  0  A2 * )             ( 0  0  E2 * )
-             (            )             (            )
-             ( 0  0  0  * )             ( 0  0  0  * )
-
-  where the subpencil A1-lambda*E1 contains the eigenvalues which
-  belong to a suitably defined domain of interest and the subpencil
-  A2-lambda*E2 contains the eigenvalues which are outside of the
-  domain of interest.
-  If JOBAE = 'S', the pair (A,E) is assumed to be already in a
-  generalized real Schur form and the reduction is performed only
-  on the subpencil A12 - lambda*E12 defined by rows and columns
-  NLOW to NSUP of A - lambda*E.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
-     $                   NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
-     $                   C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR, ALPHAI,
-     $                   BETA, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        COMPQ, COMPZ, DICO, JOBAE, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
-     $                 NDIM, NLOW, NSUP, P
-      DOUBLE PRECISION ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                 BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                 Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the descriptor system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies whether the domain of interest is of stability
-          type (left part of complex plane or inside of a circle)
-          or of instability type (right part of complex plane or
-          outside of a circle) as follows:
-          = 'S':  stability type domain;
-          = 'U':  instability type domain.
-
-  JOBAE   CHARACTER*1
-          Specifies the shape of the matrix pair (A,E) on entry
-          as follows:
-          = 'S':  (A,E) is in a generalized real Schur form;
-          = 'G':  A and E are general square dense matrices.
-
-  COMPQ   CHARACTER*1
-          = 'I':  Q is initialized to the unit matrix, and the
-                  orthogonal matrix Q is returned;
-          = 'U':  Q must contain an orthogonal matrix Q1 on entry,
-                  and the product Q1*Q is returned.
-                  This option can not be used when JOBAE = 'G'.
-
-  COMPZ   CHARACTER*1
-          = 'I':  Z is initialized to the unit matrix, and the
-                  orthogonal matrix Z is returned;
-          = 'U':  Z must contain an orthogonal matrix Z1 on entry,
-                  and the product Z1*Z is returned.
-                  This option can not be used when JOBAE = 'G'.
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C, and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  NLOW,   (input) INTEGER
-  NSUP    (input) INTEGER
-          NLOW and NSUP specify the boundary indices for the rows
-          and columns of the principal subpencil of A - lambda*E
-          whose diagonal blocks are to be reordered.
-          0 &lt;= NLOW &lt;= NSUP &lt;= N,       if JOBAE = 'S'.
-          NLOW = MIN( 1, N ), NSUP = N, if JOBAE = 'G'.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the generalized
-          eigenvalues of the pair (A,E). For a continuous-time
-          system (DICO = 'C'), ALPHA is the boundary value for the
-          real parts of the generalized eigenvalues, while for a
-          discrete-time system (DICO = 'D'), ALPHA &gt;= 0 represents
-          the boundary value for the moduli of the generalized
-          eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          If JOBAE = 'S' then A must be a matrix in real Schur form.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q'*A*Z in real Schur form, with the elements
-          below the first subdiagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
-          and E12 := E(NLOW:NSUP,NLOW:NSUP), has generalized
-          eigenvalues in the domain of interest, and the trailing
-          part of this subpencil has generalized eigenvalues outside
-          the domain of interest.
-          The domain of interest for eig(A12,E12), the generalized
-          eigenvalues of the pair (A12,E12), is defined by the
-          parameters ALPHA, DICO and STDOM as follows:
-            For DICO = 'C':
-               Real(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
-               Real(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(eig(A12,E12)) &lt; ALPHA if STDOM = 'S';
-               Abs(eig(A12,E12)) &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E.
-          If JOBAE = 'S', then E must be an upper triangular matrix.
-          On exit, the leading N-by-N part of this array contains an
-          upper triangular matrix Q'*E*Z, with the elements below
-          the diagonal set to zero.
-          The leading NDIM-by-NDIM part of the principal subpencil
-          A12 - lambda*E12 (see description of A) has generalized
-          eigenvalues in the domain of interest, and the trailing
-          part of this subpencil has generalized eigenvalues outside
-          the domain of interest.
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  Q       (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
-          If COMPQ = 'I':  on entry, Q need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Q,
-                           where Q' is the product of orthogonal
-                           transformations which are applied to A,
-                           E, and B on the left.
-          If COMPQ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Q1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Q1*Q.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q. LDQ &gt;= MAX(1,N).
-
-  Z       (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
-          If COMPZ = 'I':  on entry, Z need not be set;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix Z,
-                           which is the product of orthogonal
-                           transformations applied to A, E, and C
-                           on the right.
-          If COMPZ = 'U':  on entry, the leading N-by-N part of this
-                           array must contain an orthogonal matrix
-                           Z1;
-                           on exit, the leading N-by-N part of this
-                           array contains the orthogonal matrix
-                           Z1*Z.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z. LDZ &gt;= MAX(1,N).
-
-  NDIM    (output) INTEGER
-          The number of generalized eigenvalues of the principal
-          subpencil A12 - lambda*E12 (see description of A) lying
-          inside the domain of interest for eigenvalues.
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j=1,...,N,
-          are the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1,...,N, are the
-          diagonals of the complex Schur form (S,T) that would
-          result if the 2-by-2 diagonal blocks of the real Schur
-          form of (A,B) were further reduced to triangular form
-          using 2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
-          if positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.
-          LDWORK &gt;= 8*N+16, if JOBAE = 'G';
-          LDWORK &gt;= 4*N+16, if JOBAE = 'S'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the QZ algorithm failed to compute all generalized
-                eigenvalues of the pair (A,E);
-          = 2:  a failure occured during the ordering of the
-                generalized real Schur form of the pair (A,E).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  If JOBAE = 'G', the pair (A,E) is reduced to an ordered
-  generalized real Schur form using an orthogonal equivalence
-  transformation A &lt;-- Q'*A*Z and E &lt;-- Q'*E*Z. This transformation
-  is determined so that the leading diagonal blocks of the resulting
-  pair (A,E) have generalized eigenvalues in a suitably defined
-  domain of interest. Then, the transformations are applied to the
-  matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
-  If JOBAE = 'S', then the diagonal blocks of the subpencil
-  A12 - lambda*E12, defined by A12 := A(NLOW:NSUP,NLOW:NSUP)
-  and E12 := E(NLOW:NSUP,NLOW:NSUP), are reordered using orthogonal
-  equivalence transformations, such that the leading blocks have
-  generalized eigenvalues in a suitably defined domain of interest.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 25N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01PD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 8*NMAX+16 )
-*     .. Local Scalars ..
-      CHARACTER*1      COMPQ, COMPZ, DICO, JOBAE, STDOM
-      INTEGER          I, INFO, J, M, N, NDIM, NLOW, NSUP, P
-      DOUBLE PRECISION ALPHA, TOL
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TG01PD
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBAE, COMPQ, COMPZ,
-     $                      NLOW, NSUP, ALPHA, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-               IF ( LSAME( COMPQ, 'U' ) )
-     $            READ ( NIN, FMT = * ) ( ( Q(I,J), J = 1,N ), I = 1,N )
-               IF ( LSAME( COMPZ, 'U' ) )
-     $            READ ( NIN, FMT = * ) ( ( Z(I,J), J = 1,N ), I = 1,N )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01PD( DICO, STDOM, JOBAE, COMPQ, COMPZ, N, M, P,
-     $                      NLOW, NSUP, ALPHA, A, LDA, E, LDE, B, LDB,
-     $                      C, LDC, Q, LDQ, Z, LDZ, NDIM, ALPHAR,
-     $                      ALPHAI, BETA, DWORK, LDWORK, INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) NDIM
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, N
-                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     ALPHAR(I)/BETA(I)
-                     ELSE
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-                     END IF
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01PD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01PD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Number of eigenvalues in the domain =', I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01PD EXAMPLE PROGRAM DATA
-  4     2     2     C     S     G     I     I     1     4     -1.E-7     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01PD EXAMPLE PROGRAM RESULTS
-
- Number of eigenvalues in the domain =    1
-
- The transformed state dynamics matrix Q'*A*Z is 
-  -1.6311   2.1641  -3.6829  -0.3369
-   0.0000   0.4550  -1.9033   0.6425
-   0.0000   0.0000   2.6950   0.6882
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed descriptor matrix Q'*E*Z is 
-   0.4484   9.6340  -1.2601  -5.6475
-   0.0000   3.3099   0.6641  -1.4869
-   0.0000   0.0000   0.0000  -1.3765
-   0.0000   0.0000   0.0000   2.0000
-
- The transformed input/state matrix Q'*B is 
-   0.0232  -0.9413
-  -0.7251  -0.2478
-   0.6882  -0.2294
-   1.0000   1.0000
-
- The transformed state/output matrix C*Z is 
-  -0.8621   0.3754   0.3405   1.0000
-  -0.1511  -1.1192   0.8513  -1.0000
-
- The left transformation matrix Q is 
-   0.0232  -0.7251   0.6882   0.0000
-  -0.3369   0.6425   0.6882   0.0000
-  -0.9413  -0.2478  -0.2294   0.0000
-   0.0000   0.0000   0.0000   1.0000
-
- The right transformation matrix Z is 
-   0.8621  -0.3754  -0.3405   0.0000
-  -0.4258  -0.9008  -0.0851   0.0000
-   0.0000   0.0000   0.0000   1.0000
-   0.2748  -0.2184   0.9364   0.0000
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-   -3.6375
-    0.1375
-  Infinity
-    0.0000
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01QD.html b/doc/_static/doc/TG01QD.html
deleted file mode 100644
index 2d504240..00000000
--- a/doc/_static/doc/TG01QD.html
+++ /dev/null
@@ -1,529 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01QD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01QD">TG01QD</A></H2>
-<H3>
-Three-domain spectral splitting of a subpencil of a descriptor system
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To compute orthogonal transformation matrices Q and Z which
-  reduce the regular pole pencil A-lambda*E of the descriptor system
-  (A-lambda*E,B,C) to the generalized real Schur form with ordered
-  generalized eigenvalues. The pair (A,E) is reduced to the form
-
-             ( A1  *   *  )             ( E1  *   *  )
-    Q'*A*Z = ( 0   A2  *  ) ,  Q'*E*Z = ( 0   E2  *  ) ,         (1)
-             ( 0   0   A3 )             ( 0   0   E2 )
-
-  where the subpencils Ak-lambda*Ek, for k = 1, 2, 3, contain the
-  generalized eigenvalues which belong to certain domains of
-  interest.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
-     $                   E, LDE, B, LDB, C, LDC, N1, N2, N3, ND, NIBLCK,
-     $                   IBLCK, Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA,
-     $                   TOL, IWORK, DWORK, LDWORK, INFO )
-C     .. Scalar Arguments ..
-      CHARACTER        DICO, JOBFI, STDOM
-      INTEGER          INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ, M, N,
-     $                 N1, N2, N3, ND, NIBLCK, P
-      DOUBLE PRECISION ALPHA, TOL
-C     .. Array Arguments ..
-      INTEGER          IBLCK( * ), IWORK(*)
-      DOUBLE PRECISION A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                 BETA(*), C(LDC,*), DWORK(*), E(LDE,*), Q(LDQ,*),
-     $                 Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-<B>Mode Parameters</B>
-<PRE>
-  DICO    CHARACTER*1
-          Specifies the type of the descriptor system as follows:
-          = 'C':  continuous-time system;
-          = 'D':  discrete-time system.
-
-  STDOM   CHARACTER*1
-          Specifies the type of the domain of interest for the
-          generalized eigenvalues, as follows:
-          = 'S':  stability type domain (i.e., left part of complex
-                  plane or inside of a circle);
-          = 'U':  instability type domain (i.e., right part of complex
-                  plane or outside of a circle);
-          = 'N':  whole complex domain, excepting infinity.
-
-  JOBFI   CHARACTER*1
-          Specifies the type of generalized eigenvalues in the
-          leading diagonal block(s) as follows:
-          = 'F':  finite generalized eigenvalues are in the
-                  leading diagonal blocks (Af,Ef), and the resulting
-                  transformed pair has the form
-
-                           ( Af  *  )             ( Ef  *  )
-                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) ;
-                           ( 0   Ai )             ( 0   Ei )
-
-          = 'I':  infinite generalized eigenvalues are in the
-                  leading diagonal blocks (Ai,Ei), and the resulting
-                  transformed pair has the form
-
-                           ( Ai  *  )             ( Ei  *  )
-                  Q'*A*Z = (        ) ,  Q'*E*Z = (        ) .
-                           ( 0   Af )             ( 0   Ef )
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The number of rows of the matrix B, the number of columns
-          of the matrix C and the order of the square matrices A
-          and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of columns of the matrix B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of rows of the matrix C.  P &gt;= 0.
-
-  ALPHA   (input) DOUBLE PRECISION
-          The boundary of the domain of interest for the finite
-          generalized eigenvalues of the pair (A,E). For a
-          continuous-time system (DICO = 'C'), ALPHA is the boundary
-          value for the real parts of the generalized eigenvalues,
-          while for a discrete-time system (DICO = 'D'), ALPHA &gt;= 0
-          represents the boundary value for the moduli of the
-          generalized eigenvalues.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q'*A*Z in real Schur form, with the elements
-          below the first subdiagonal set to zero.
-          If JOBFI = 'I', the N1-by-N1 pair (A1,E1) contains the
-          infinite spectrum, the N2-by-N2 pair (A2,E2) contains the
-          finite spectrum in the domain of interest, and the
-          N3-by-N3 pair (A3,E3) contains the finite spectrum ouside
-          of the domain of interest.
-          If JOBFI = 'F', the N1-by-N1 pair (A1,E1) contains the
-          finite spectrum in the domain of interest, the N2-by-N2
-          pair (A2,E2) contains the finite spectrum ouside of the
-          domain of interest, and the N3-by-N3 pair (A3,E3) contains
-          the infinite spectrum.
-          Ai has a block structure as in (2), where A0,0 is ND-by-ND
-          and Ai,i is IBLCK(i)-by-IBLCK(i), for i = 1, ..., NIBLCK.
-          The domain of interest for the pair (Af,Ef), containing
-          the finite generalized eigenvalues, is defined by the
-          parameters ALPHA, DICO and STDOM as follows:
-            For DICO = 'C':
-               Real(eig(Af,Ef)) &lt; ALPHA if STDOM = 'S';
-               Real(eig(Af,Ef)) &gt; ALPHA if STDOM = 'U'.
-            For DICO = 'D':
-               Abs(eig(Af,Ef))  &lt; ALPHA if STDOM = 'S';
-               Abs(eig(Af,Ef))  &gt; ALPHA if STDOM = 'U'.
-
-  LDA     INTEGER
-          The leading dimension of the array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q'*E*Z in upper triangular form, with the
-          elements below the diagonal set to zero. Its structure
-          corresponds to the block structure of the matrix Q'*A*Z
-          (see description of A).
-
-  LDE     INTEGER
-          The leading dimension of the array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q'*B.
-
-  LDB     INTEGER
-          The leading dimension of the array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C*Z.
-
-  LDC     INTEGER
-          The leading dimension of the array C.  LDC &gt;= MAX(1,P).
-
-  N1      (output) INTEGER
-  N2      (output) INTEGER
-  N3      (output) INTEGER
-          The number of the generalized eigenvalues of the pairs
-          (A1,E1), (A2,E2) and (A3,E3), respectively.
-
-  ND      (output) INTEGER.
-          The number of non-dynamic infinite eigenvalues of the
-          pair (A,E). Note: N-ND is the rank of the matrix E.
-
-  NIBLCK  (output) INTEGER
-          If ND &gt; 0, the number of infinite blocks minus one.
-          If ND = 0, then NIBLCK = 0.
-
-  IBLCK   (output) INTEGER array, dimension (N)
-          IBLCK(i) contains the dimension of the i-th block in the
-          staircase form (2), where i = 1,2,...,NIBLCK.
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Q, where Q' is the product of orthogonal
-          transformations applied to A, E, and B on the left.
-
-  LDQ     INTEGER
-          The leading dimension of the array Q.  LDQ &gt;= MAX(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the
-          orthogonal matrix Z, which is the product of orthogonal
-          transformations applied to A, E, and C on the right.
-
-  LDZ     INTEGER
-          The leading dimension of the array Z.  LDZ &gt;= MAX(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j), j = 1, ..., N,
-          are the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j = 1, ..., N, are
-          the diagonals of the complex Schur form (S,T) that would
-          result if the 2-by-2 diagonal blocks of the real Schur
-          form of (A,E) were further reduced to triangular form
-          using 2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
-          if positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Tolerances</B>
-<PRE>
-  TOL     DOUBLE PRECISION
-          A tolerance used in rank decisions to determine the
-          effective rank, which is defined as the order of the
-          largest leading (or trailing) triangular submatrix in the
-          QR factorization with column pivoting whose estimated
-          condition number is less than 1/TOL.  If the user sets
-          TOL &lt;= 0, then an implicitly computed, default tolerance
-          TOLDEF = N**2*EPS,  is used instead, where EPS is the
-          machine precision (see LAPACK Library routine DLAMCH).
-          TOL &lt; 1.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  IWORK   INTEGER array, dimension (N)
-
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The length of the array DWORK.  LDWORK &gt;= 1, and if N = 0,
-          LDWORK &gt;= 4*N,    if STDOM = 'N';
-          LDWORK &gt;= 4*N+16, if STDOM = 'S' or 'U'.
-          For optimum performance LDWORK should be larger.
-
-          If LDWORK = -1, then a workspace query is assumed; the
-          routine only calculates the optimal size of the DWORK
-          array, returns this value as the first entry of the DWORK
-          array, and no error message related to LDWORK is issued by
-          XERBLA.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1:  the pencil A-lambda*E is not regular;
-          = 2:  the QZ algorithm failed to compute all generalized
-                eigenvalues of the pair (A,E);
-          = 3:  a failure occured during the ordering of the
-                generalized real Schur form of the pair (A,E).
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The separation of the finite and infinite parts is based on the
-  reduction algorithm of [1].
-  If JOBFI = 'F', the matrices of the pair (Ai,Ei), containing the
-  infinite generalized eigenvalues, have the form
-
-        ( A0,0  A0,k ... A0,1 )         ( 0  E0,k ... E0,1 )
-   Ai = (  0    Ak,k ... Ak,1 ) ,  Ei = ( 0   0   ... Ek,1 ) ;   (2)
-        (  :     :    .    :  )         ( :   :    .    :  )
-        (  0     0   ... A1,1 )         ( 0   0   ...   0  )
-
-  if JOBFI = 'I', the matrices Ai and Ei have the form
-
-        ( A1,1 ... A1,k  A1,0 )         ( 0 ... E1,k  E1,0 )
-   Ai = (  :    .    :    :   ) ,  Ei = ( :  .    :    :   ) ,   (3)
-        (  :   ... Ak,k  Ak,0 )         ( : ...   0   Ek,0 )
-        (  0   ...   0   A0,0 )         ( 0 ...   0     0  )
-
-  where Ai,i , for i = 0, 1, ..., k, are nonsingular upper
-  triangular matrices, and A0,0 corresponds to the non-dynamic
-  infinite modes of the system.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  [1] Misra, P., Van Dooren, P., and Varga, A.
-      Computation of structural invariants of generalized
-      state-space systems.
-      Automatica, 30, pp. 1921-1936, 1994.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 25N  floating point operations.
-
-</PRE>
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  The number of infinite poles is computed as
-
-                NIBLCK
-     NINFP =     Sum  IBLCK(i) = N - ND - NF,
-                 i=1
-
-  where NF is the number of finite generalized eigenvalues.
-  The multiplicities of infinite poles can be computed as follows:
-  there are IBLCK(k)-IBLCK(k+1) infinite poles of multiplicity k,
-  for k = 1, ..., NIBLCK, where IBLCK(NIBLCK+1) = 0.
-  Note that each infinite pole of multiplicity k corresponds to an
-  infinite eigenvalue of multiplicity k+1.
-
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     TG01QD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      DOUBLE PRECISION ZERO
-      PARAMETER        ( ZERO = 0.0D0 )
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          NMAX, MMAX, PMAX
-      PARAMETER        ( NMAX = 20, MMAX = 20, PMAX = 20 )
-      INTEGER          LDA, LDB, LDC, LDE, LDQ, LDZ
-      PARAMETER        ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
-     $                   LDE = NMAX, LDQ = NMAX, LDZ = NMAX )
-      INTEGER          LDWORK
-      PARAMETER        ( LDWORK = 4*NMAX+16 )
-*     .. Local Scalars ..
-      CHARACTER*1      DICO, JOBFI, STDOM
-      INTEGER          I, INFO, J, M, N, N1, N2, N3, ND, NIBLCK, P
-      DOUBLE PRECISION ALPHA, TOL
-*     .. Local Arrays ..
-      INTEGER          IBLCK(NMAX), IWORK(NMAX)
-      DOUBLE PRECISION A(LDA,NMAX),  ALPHAI(NMAX), ALPHAR(NMAX),
-     $                 B(LDB,MMAX),    BETA(NMAX), C(LDC,NMAX),
-     $                 DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,NMAX),
-     $                 Z(LDZ,NMAX)
-*     .. External Functions ..
-      LOGICAL          LSAME
-      EXTERNAL         LSAME
-*     .. External Subroutines ..
-      EXTERNAL         TG01QD
-*     .. Intrinsic Functions ..
-      INTRINSIC        DCMPLX
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) N, M, P, DICO, STDOM, JOBFI, ALPHA, TOL
-      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99988 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
-         READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
-         IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-            WRITE ( NOUT, FMT = 99987 ) M
-         ELSE
-            READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
-            IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
-               WRITE ( NOUT, FMT = 99986 ) P
-            ELSE
-               READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
-*              Find the reduced descriptor system
-*              (A-lambda E,B,C).
-               CALL TG01QD( DICO, STDOM, JOBFI, N, M, P, ALPHA, A, LDA,
-     $                      E, LDE, B, LDB, C, LDC, N1, N2, N3, ND,
-     $                      NIBLCK, IBLCK, Q, LDQ, Z, LDZ, ALPHAR,
-     $                      ALPHAI, BETA, TOL, IWORK, DWORK, LDWORK,
-     $                      INFO )
-*
-               IF ( INFO.NE.0 ) THEN
-                  WRITE ( NOUT, FMT = 99998 ) INFO
-               ELSE
-                  WRITE ( NOUT, FMT = 99994 ) N1, N2, N3
-                  WRITE ( NOUT, FMT = 99983 ) ND
-                  WRITE ( NOUT, FMT = 99989 ) NIBLCK + 1
-                  IF ( NIBLCK.GT.0 ) THEN
-                     WRITE ( NOUT, FMT = 99985 )
-     $                     ( IBLCK(I), I = 1, NIBLCK ) 
-                  END IF
-                  WRITE ( NOUT, FMT = 99997 )
-                  DO 10 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
-   10             CONTINUE
-                  WRITE ( NOUT, FMT = 99996 )
-                  DO 20 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
-   20             CONTINUE
-                  WRITE ( NOUT, FMT = 99993 )
-                  DO 30 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
-   30             CONTINUE
-                  WRITE ( NOUT, FMT = 99992 )
-                  DO 40 I = 1, P
-                     WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
-   40             CONTINUE
-                  WRITE ( NOUT, FMT = 99991 )
-                  DO 50 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
-   50             CONTINUE
-                  WRITE ( NOUT, FMT = 99990 )
-                  DO 60 I = 1, N
-                     WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
-   60             CONTINUE
-                  WRITE ( NOUT, FMT = 99985 )
-                  DO 70 I = 1, N
-                     IF ( BETA(I).EQ.ZERO .OR. ALPHAI(I).EQ.ZERO ) THEN
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     ALPHAR(I)/BETA(I)
-                     ELSE
-                        WRITE ( NOUT, FMT = 99984 )
-     $                     DCMPLX( ALPHAR(I), ALPHAI(I) )/BETA(I)
-                     END IF
-   70             CONTINUE
-               END IF
-            END IF
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' TG01QD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from TG01QD = ',I2)
-99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
-99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
-99995 FORMAT (20(1X,F8.4))
-99994 FORMAT (' Number of eigenvalues of the three blocks =', 3I5)
-99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
-99992 FORMAT (/' The transformed state/output matrix C*Z is ')
-99991 FORMAT (/' The left transformation matrix Q is ')
-99990 FORMAT (/' The right transformation matrix Z is ')
-99989 FORMAT ( ' Number of infinite blocks = ',I5)
-99988 FORMAT (/' N is out of range.',/' N = ',I5)
-99987 FORMAT (/' M is out of range.',/' M = ',I5)
-99986 FORMAT (/' P is out of range.',/' P = ',I5)
-99985 FORMAT (/' The finite generalized eigenvalues are '/
-     $         ' real  part     imag  part ')
-99984 FORMAT (1X,F9.4,SP,F9.4,S,'i ')
-99983 FORMAT ( ' Number of non-dynamic infinite eigenvalues = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-TG01QD EXAMPLE PROGRAM DATA
-  4     2     2     C     S     F     -1.E-7     0.0    
-    -1     0     0     3
-     0     0     1     2
-     1     1     0     4
-     0     0     0     0
-     1     2     0     0
-     0     1     0     1
-     3     9     6     3
-     0     0     2     0
-     1     0
-     0     0
-     0     1
-     1     1
-    -1     0     1     0
-     0     1    -1     1
-</PRE>
-<B>Program Results</B>
-<PRE>
- TG01QD EXAMPLE PROGRAM RESULTS
-
- Number of eigenvalues of the three blocks =    1    2    1
- Number of non-dynamic infinite eigenvalues =     1
- Number of infinite blocks =     1
-
- The transformed state dynamics matrix Q'*A*Z is 
-   1.6311   2.1641  -0.5848  -3.6517
-   0.0000  -0.4550   1.0935   1.6851
-   0.0000   0.0000   0.0000   1.5770
-   0.0000   0.0000   0.0000   2.2913
-
- The transformed descriptor matrix Q'*E*Z is 
-  -0.4484   9.6340   5.1601  -2.6183
-   0.0000  -3.3099  -1.6050  -0.2756
-   0.0000   0.0000   2.3524  -0.6008
-   0.0000   0.0000   0.0000   0.0000
-
- The transformed input/state matrix Q'*B is 
-   0.0232  -0.9413
-   0.7251   0.2478
-  -0.4336  -0.9538
-   1.1339   0.3780
-
- The transformed state/output matrix C*Z is 
-   0.8621   0.3754  -0.8847   0.5774
-   0.1511  -1.1192   1.1795   0.5774
-
- The left transformation matrix Q is 
-   0.0232   0.7251   0.3902   0.5669
-  -0.3369  -0.6425   0.3902   0.5669
-  -0.9413   0.2478  -0.1301  -0.1890
-   0.0000   0.0000  -0.8238   0.5669
-
- The right transformation matrix Z is 
-  -0.8621  -0.3754  -0.0843  -0.3299
-   0.4258  -0.9008  -0.0211  -0.0825
-   0.0000   0.0000  -0.9689   0.2474
-  -0.2748  -0.2184   0.2317   0.9073
-
- The finite generalized eigenvalues are 
- real  part     imag  part 
-   -3.6375
-    0.1375
-    0.0000
-  Infinity
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/TG01WD.html b/doc/_static/doc/TG01WD.html
deleted file mode 100644
index 12a9c4cb..00000000
--- a/doc/_static/doc/TG01WD.html
+++ /dev/null
@@ -1,188 +0,0 @@
-<HTML>
-<HEAD><TITLE>TG01WD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="TG01WD">TG01WD</A></H2>
-<H3>
-Reduction of the descriptor dynamics matrix pair to generalized real Schur form
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To reduce the pair (A,E) to a real generalized Schur form
-  by using an orthogonal equivalence transformation
-  (A,E) &lt;-- (Q'*A*Z,Q'*E*Z) and to apply the transformation
-  to the matrices B and C: B &lt;-- Q'*B and C &lt;-- C*Z.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE TG01WD( N, M, P, A, LDA, E, LDE, B, LDB, C, LDC,
-     $                   Q, LDQ, Z, LDZ, ALPHAR, ALPHAI, BETA, DWORK,
-     $                   LDWORK, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, LDB, LDC, LDE, LDQ, LDWORK, LDZ,
-     $                  M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), ALPHAI(*), ALPHAR(*), B(LDB,*),
-     $                  BETA(*),  C(LDC,*),  DWORK(*),  E(LDE,*),
-     $                  Q(LDQ,*), Z(LDZ,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  N       (input) INTEGER
-          The order of the original state-space representation,
-          i.e., the order of the matrices A and E.  N &gt;= 0.
-
-  M       (input) INTEGER
-          The number of system inputs, or of columns of B.  M &gt;= 0.
-
-  P       (input) INTEGER
-          The number of system outputs, or of rows of C.  P &gt;= 0.
-
-  A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original state dynamics matrix A.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q' * A * Z in an upper quasi-triangular form.
-          The elements below the first subdiagonal are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,N).
-
-  E       (input/output) DOUBLE PRECISION array, dimension (LDE,N)
-          On entry, the leading N-by-N part of this array must
-          contain the original descriptor matrix E.
-          On exit, the leading N-by-N part of this array contains
-          the matrix Q' * E * Z in an upper triangular form.
-          The elements below the diagonal are set to zero.
-
-  LDE     INTEGER
-          The leading dimension of array E.  LDE &gt;= MAX(1,N).
-
-  B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-          On entry, the leading N-by-M part of this array must
-          contain the input matrix B.
-          On exit, the leading N-by-M part of this array contains
-          the transformed input matrix Q' * B.
-
-  LDB     INTEGER
-          The leading dimension of array B.  LDB &gt;= MAX(1,N).
-
-  C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-          On entry, the leading P-by-N part of this array must
-          contain the output matrix C.
-          On exit, the leading P-by-N part of this array contains
-          the transformed output matrix C * Z.
-
-  LDC     INTEGER
-          The leading dimension of array C.  LDC &gt;= MAX(1,P).
-
-  Q       (output) DOUBLE PRECISION array, dimension (LDQ,N)
-          The leading N-by-N part of this array contains the left
-          orthogonal transformation matrix used to reduce (A,E) to
-          the real generalized Schur form.
-          The columns of Q are the left generalized Schur vectors
-          of the pair (A,E).
-
-  LDQ     INTEGER
-          The leading dimension of array Q.  LDQ &gt;= max(1,N).
-
-  Z       (output) DOUBLE PRECISION array, dimension (LDZ,N)
-          The leading N-by-N part of this array contains the right
-          orthogonal transformation matrix used to reduce (A,E) to
-          the real generalized Schur form.
-          The columns of Z are the right generalized Schur vectors
-          of the pair (A,E).
-
-  LDZ     INTEGER
-          The leading dimension of array Z.  LDZ &gt;= max(1,N).
-
-  ALPHAR  (output) DOUBLE PRECISION array, dimension (N)
-  ALPHAI  (output) DOUBLE PRECISION array, dimension (N)
-  BETA    (output) DOUBLE PRECISION array, dimension (N)
-          On exit, if INFO = 0, (ALPHAR(j) + ALPHAI(j)*i)/BETA(j),
-          j=1,...,N, will be the generalized eigenvalues.
-          ALPHAR(j) + ALPHAI(j)*i, and BETA(j), j=1,...,N, are the
-          diagonals of the complex Schur form that would result if
-          the 2-by-2 diagonal blocks of the real Schur form of
-          (A,E) were further reduced to triangular form using
-          2-by-2 complex unitary transformations.
-          If ALPHAI(j) is zero, then the j-th eigenvalue is real;
-          if positive, then the j-th and (j+1)-st eigenvalues are a
-          complex conjugate pair, with ALPHAI(j+1) negative.
-
-</PRE>
-<B>Workspace</B>
-<PRE>
-  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-          On exit, if INFO = 0, DWORK(1) returns the optimal value
-          of LDWORK.
-
-  LDWORK  INTEGER
-          The dimension of working array DWORK.  LDWORK &gt;= 8*N+16.
-          For optimum performance LDWORK should be larger.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          &gt; 0:  if INFO = i, the QZ algorithm failed to compute
-                the generalized real Schur form; elements i+1:N of
-                ALPHAR, ALPHAI, and BETA should be correct.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The pair (A,E) is reduced to a real generalized Schur form using
-  an orthogonal equivalence transformation (A,E) &lt;-- (Q'*A*Z,Q'*E*Z)
-  and the transformation is applied to the matrices B and C:
-  B &lt;-- Q'*B and C &lt;-- C*Z.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>                                  3
-  The algorithm requires about 25N  floating point operations.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UD01BD.html b/doc/_static/doc/UD01BD.html
deleted file mode 100644
index 96339e20..00000000
--- a/doc/_static/doc/UD01BD.html
+++ /dev/null
@@ -1,212 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01BD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01BD">UD01BD</A></H2>
-<H3>
-Reading a matrix polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To read the coefficients of a matrix polynomial
-                                                 dp-1           dp
-     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the matrix polynomial P(s).
-          MP &gt;= 1.
-
-  NP      (input) INTEGER
-          The number of columns of the matrix polynomial P(s).
-          NP &gt;= 1.
-
-  DP      (input) INTEGER
-          The degree of the matrix polynomial P(s).  DP &gt;= 0.
-
-  NIN     (input) INTEGER
-          The input channel from which the elements of P(s) are
-          read.  NIN &gt;= 0.
-
-  P       (output) DOUBLE PRECISION array, dimension
-          (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array contains
-          the coefficients of the matrix polynomial P(s).
-          Specifically, P(i,j,k) contains the coefficient of
-          s**(k-1) of the polynomial which is the (i,j)-th element
-          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
-          k = 1,2,...,DP+1.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MP.
-
-  LDP2    INTEGER
-          The second dimension of array P.  LDP2 &gt;= NP.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The coefficients P(i), i = 0, ..., DP, which are MP-by-NP
-  matrices, are read from the input file NIN row by row. Each P(i)
-  must be preceded by a text line. This text line can be used to
-  indicate the coefficient matrices.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01BD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MPMAX, NPMAX, DPMAX
-      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
-      INTEGER          LDP1, LDP2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
-*     .. Local Scalars ..
-      INTEGER          DP, INFO, L, MP, NP
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01BD, UD01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP
-      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) MP
-      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP
-      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, 99996 ) MP, NP, DP
-*           Write the coefficients of the matrix polynomial P(s).
-            L = 5
-            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
-     $                   INFO )
-            IF ( INFO.NE.0 )
-     $         WRITE ( NOUT, FMT = 99997 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99998 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01BD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01BD = ',I2)
-99997 FORMAT (' INFO on exit from UD01ND = ',I2)
-99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
-99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
-99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01BD EXAMPLE PROGRAM DATA
-   4   3   2 
-P0
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  2.0D-00  4.0D-00
- 0.0D-00  4.0D-00  8.0D-00
- 0.0D-00  6.0D-00  1.2D+01
-P1
- 0.0D-00  1.0D-00  2.0D-00
- 1.0D-00  0.0D-00  0.0D-00
- 2.0D-00  0.0D-00  0.0D-00
- 3.0D-00  0.0D-00  0.0D-00
-P2
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01BD EXAMPLE PROGRAM RESULTS
-
- MP = 4   NP = 3   DP = 2
-
-  P( 0) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
-  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
-  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
-
-  P( 1) ( 4X 3)
-            1              2              3
-  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
-  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
-  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
-
-  P( 2) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UD01CD.html b/doc/_static/doc/UD01CD.html
deleted file mode 100644
index 15c6ece1..00000000
--- a/doc/_static/doc/UD01CD.html
+++ /dev/null
@@ -1,224 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01CD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01CD">UD01CD</A></H2>
-<H3>
-Reading a sparse matrix polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To read the elements of a sparse matrix polynomial
-                                                 dp-1           dp
-     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, LDP1, LDP2, MP, NP, NIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the matrix polynomial P(s).
-          MP &gt;= 1.
-
-  NP      (input) INTEGER
-          The number of columns of the matrix polynomial P(s).
-          NP &gt;= 1.
-
-  DP      (input) INTEGER
-          The degree of the matrix polynomial P(s).  DP &gt;= 0.
-
-  NIN     (input) INTEGER
-          The input channel from which the elements of P(s) are
-          read.  NIN &gt;= 0.
-
-  P       (output) DOUBLE PRECISION array, dimension
-          (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array contains
-          the coefficients of the matrix polynomial P(s).
-          Specifically, P(i,j,k) contains the coefficient of
-          s**(k-1) of the polynomial which is the (i,j)-th element
-          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
-          k = 1,2,...,DP+1.
-          The not assigned elements are set to zero.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MP.
-
-  LDP2    INTEGER
-          The second dimension of array P.  LDP2 &gt;= NP.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : if a row index i is read with i &lt; 1 or i &gt; MP or
-                a column index j is read with j &lt; 1 or j &gt; NP or
-                a coefficient degree d is read with d &lt; 0 or
-                d &gt; DP + 1. This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the elements P(i,j,k) with 1 &lt;= i &lt;= MP, 1 &lt;= j &lt;= NP and
-  1 &lt;= k &lt;= DP + 1 are set to zero. Next the nonzero (polynomial)
-  elements are read from the input file NIN. Each nonzero element is
-  given by the values i, j, d, P(i,j,k), k = 1, ..., d+1, where d is
-  the degree and P(i,j,k) is the coefficient of s**(k-1) in the
-  (i,j)-th element of P(s), i.e., let
-                                                           d
-      P   (s) = P   (0) + P   (1) * s + . . . + P   (d) * s
-       i,j       i,j       i,j                   i,j
-
-  be the nonzero (i,j)-th element of the matrix polynomial P(s).
-
-  Then P(i,j,k) corresponds to coefficient P   (k-1), k = 1,...,d+1.
-                                            i,j
-  For each nonzero element, the values i, j, and d are read as one
-  record of the file NIN, and the values P(i,j,k), k = 1,...,d+1,
-  are read as the following record.
-  The routine terminates after the last line has been read.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01CD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MPMAX, NPMAX, DPMAX
-      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
-      INTEGER          LDP1, LDP2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
-*     .. Local Scalars ..
-      INTEGER          DP, INFO, INFO1, L, MP, NP
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01CD, UD01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP
-      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) MP
-      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP
-      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01CD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-         IF ( INFO.GE.0 ) THEN
-            WRITE ( NOUT, 99996 ) MP, NP, DP
-*           Write the coefficients of the matrix polynomial P(s).
-            L = 5
-            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, ' P',
-     $                   INFO1 )
-            IF ( INFO1.NE.0 )
-     $         WRITE ( NOUT, FMT = 99997 ) INFO1
-         END IF
-         IF ( INFO.NE.0 )
-     $      WRITE ( NOUT, FMT = 99998 ) INFO
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01CD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01CD = ',I2)
-99997 FORMAT (' INFO on exit from UD01ND = ',I2)
-99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
-99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
-99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01CD EXAMPLE PROGRAM DATA
-   4   3   2
-1  1  1
-1.0  1.0
-2  2  2
-2.0  0.0  1.0
-3  3  2
-0.0  3.0  1.0
-4  1  0
-4.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01CD EXAMPLE PROGRAM RESULTS
-
- MP = 4   NP = 3   DP = 2
-
-  P( 0) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.2000000D+01  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  4    0.4000000D+01  0.0000000D+00  0.0000000D+00
-
-  P( 1) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.3000000D+01
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
-
-  P( 2) ( 4X 3)
-            1              2              3
-  1    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.1000000D+01  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.1000000D+01
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UD01DD.html b/doc/_static/doc/UD01DD.html
deleted file mode 100644
index 9ccfe4f5..00000000
--- a/doc/_static/doc/UD01DD.html
+++ /dev/null
@@ -1,176 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01DD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01DD">UD01DD</A></H2>
-<H3>
-Reading a sparse real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To read the elements of a sparse matrix.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01DD( M, N, NIN, A, LDA, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDA, M, N, NIN
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of the matrix A.  M &gt;= 0.
-
-  N       (input) INTEGER
-          The number of columns of the matrix A.  N &gt;= 0.
-
-  NIN     (input) INTEGER
-          The input channel from which the elements of A are read.
-          NIN &gt;= 0.
-
-  A       (output) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array contains the sparse
-          matrix A. The not assigned elements are set to zero.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= MAX(1,M).
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value;
-          = 1 : if a row index i is read with i &lt; 1 or i &gt; M or
-                a column index j is read with j &lt; 1 or j &gt; N.
-                This is a warning.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  First, the elements A(i,j) with 1 &lt;= i &lt;= M and 1 &lt;= j &lt;= N are
-  set to zero. Next the nonzero elements are read from the input
-  file NIN. Each line of NIN must contain consecutively the values
-  i, j, A(i,j). The routine terminates after the last line has been
-  read.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01DD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 10, NMAX = 10 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = NMAX )
-*     .. Local Scalars ..
-      INTEGER          INFO, INFO1, M, N
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01DD, UD01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N
-      IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) M
-      ELSE IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) N
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01DD( M, N, NIN, A, LDA, INFO )
-         IF ( INFO.GE.0 ) THEN
-*           Write the matrix A.
-            CALL UD01MD( M, N, 5, NOUT, A, LDA, ' Matrix A', INFO1 )
-            IF ( INFO1.NE.0 )
-     $         WRITE ( NOUT, FMT = 99998 ) INFO1
-         END IF
-         IF ( INFO.NE.0 )
-     $      WRITE ( NOUT, FMT = 99997 ) INFO
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01DD EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01MD = ',I2)
-99997 FORMAT (' INFO on exit from UD01DD = ',I2)
-99995 FORMAT (/' N is out of range.',/' N = ',I5)
-99994 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01DD EXAMPLE PROGRAM DATA
-6  5
-1   1   -1.1
-6   1    1.5
-2   2   -2.2
-6   2    2.5
-3   3   -3.3
-6   3    3.5
-4   4   -4.4
-6   4    4.5
-5   5   -5.5
-6   5    5.5
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01DD EXAMPLE PROGRAM RESULTS
-
-  Matrix A ( 6X 5)
-
-            1              2              3              4              5
-  1   -0.1100000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00 -0.2200000D+01  0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00 -0.3300000D+01  0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.4400000D+01  0.0000000D+00
-  5    0.0000000D+00  0.0000000D+00  0.0000000D+00  0.0000000D+00 -0.5500000D+01
-  6    0.1500000D+01  0.2500000D+01  0.3500000D+01  0.4500000D+01  0.5500000D+01
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UD01MD.html b/doc/_static/doc/UD01MD.html
deleted file mode 100644
index 0e5565b6..00000000
--- a/doc/_static/doc/UD01MD.html
+++ /dev/null
@@ -1,178 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01MD">UD01MD</A></H2>
-<H3>
-Printing a real matrix
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To print an M-by-N real matrix A row by row. The elements of A
-  are output to 7 significant figures.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, M, N, NOUT
-      CHARACTER*(*)     TEXT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of matrix A to be printed.  M &gt;= 1.
-
-  N       (input) INTEGER
-          The number of columns of matrix A to be printed.  N &gt;= 1.
-
-  L       (input) INTEGER
-          The number of elements of matrix A to be printed per line.
-          1 &lt;= L &lt;= 5.
-
-  NOUT    (input) INTEGER
-          The output channel to which the results are sent.
-          NOUT &gt;= 0.
-
-  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix to be printed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= M.
-
-  TEXT    (input) CHARACTER*72.
-          Title caption of the matrix to be printed (up to a
-          maximum of 72 characters). For example, TEXT = 'Matrix A'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine first prints the contents of TEXT as a title, followed
-  by the elements of the matrix A such that
-
-  (i)  if N &lt;= L, the leading M-by-N part is printed;
-  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
-       consecutive columns of A are printed one after another
-       followed by one M-by-p block containing the last p columns
-       of A.
-
-  Row numbers are printed on the left of each row and a column
-  number appears on top of each column.
-  The routine uses 2 + (k + 1)*(m + 1) lines and 8 + 15*c positions
-  per line where c is the actual number of columns, (i.e. c = L
-  or c = p).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01MD EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MMAX, NMAX
-      PARAMETER        ( MMAX = 20, NMAX = 20 )
-      INTEGER          LDA
-      PARAMETER        ( LDA = MMAX )
-*     .. Local Scalars ..
-      INTEGER          I, INFO, J, L, M, N
-      CHARACTER*72     TEXT
-*     .. Local Arrays ..
-      DOUBLE PRECISION A(LDA,NMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01MD
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) M, N, L, TEXT
-      IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
-         WRITE ( NOUT, FMT = 99996 ) M
-      ELSE IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
-         WRITE ( NOUT, FMT = 99997 ) N
-      ELSE
-         READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,M )
-*        Print out the matrix A.
-         CALL UD01MD( M, N, L, NOUT, A, LDA, TEXT, INFO )
-         IF ( INFO.NE.0 ) WRITE ( NOUT, FMT = 99998 ) INFO
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01MD EXAMPLE PROGRAM RESULTS',/1X)
-99998 FORMAT (' INFO on exit from UD01MD = ',I2)
-99997 FORMAT (/' N is out of range.',/' N = ',I5)
-99996 FORMAT (/' M is out of range.',/' M = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
- UD01MD EXAMPLE PROGRAM DATA
-   4     4     4     'Matrix A'
-   1.0   2.0   3.0   4.0
-   5.0   6.0   7.0   8.0
-   9.0  10.0  11.0  12.0
-  13.0  14.0  15.0  16.0
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01MD EXAMPLE PROGRAM RESULTS
-
- Matrix A ( 4X 4)
-
-            1              2              3              4
-  1    0.1000000D+01  0.2000000D+01  0.3000000D+01  0.4000000D+01
-  2    0.5000000D+01  0.6000000D+01  0.7000000D+01  0.8000000D+01
-  3    0.9000000D+01  0.1000000D+02  0.1100000D+02  0.1200000D+02
-  4    0.1300000D+02  0.1400000D+02  0.1500000D+02  0.1600000D+02
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UD01MZ.html b/doc/_static/doc/UD01MZ.html
deleted file mode 100644
index 0c773da6..00000000
--- a/doc/_static/doc/UD01MZ.html
+++ /dev/null
@@ -1,126 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01MZ - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01MZ">UD01MZ</A></H2>
-<H3>
-Printing a real matrix (complex case)
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To print an M-by-N real matrix A row by row. The elements of A
-  are output to 7 significant figures.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01MZ( M, N, L, NOUT, A, LDA, TEXT, INFO )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, L, LDA, M, N, NOUT
-      CHARACTER*(*)     TEXT
-C     .. Array Arguments ..
-      COMPLEX*16        A(LDA,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  M       (input) INTEGER
-          The number of rows of matrix A to be printed.  M &gt;= 1.
-
-  N       (input) INTEGER
-          The number of columns of matrix A to be printed.  N &gt;= 1.
-
-  L       (input) INTEGER
-          The number of elements of matrix A to be printed per line.
-          1 &lt;= L &lt;= 3.
-
-  NOUT    (input) INTEGER
-          The output channel to which the results are sent.
-          NOUT &gt;= 0.
-
-  A       (input) COMPLEX*16 array, dimension (LDA,N)
-          The leading M-by-N part of this array must contain the
-          matrix to be printed.
-
-  LDA     INTEGER
-          The leading dimension of array A.  LDA &gt;= M.
-
-  TEXT    (input) CHARACTER*72.
-          Title caption of the matrix to be printed (up to a
-          maximum of 72 characters). For example, TEXT = 'Matrix A'.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  The routine first prints the contents of TEXT as a title, followed
-  by the elements of the matrix A such that
-
-  (i)  if N &lt;= L, the leading M-by-N part is printed;
-  (ii) if N = k*L + p (where k,p &gt; 0), then k M-by-L blocks of
-       consecutive columns of A are printed one after another
-       followed by one M-by-p block containing the last p columns
-       of A.
-
-  Row numbers are printed on the left of each row and a column
-  number appears on top of each complex column.
-  The routine uses 2 + (k + 1)*(m + 1) lines and 7 + 32*c positions
-  per line where c is the actual number of columns, (i.e. c = L
-  or c = p).
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UD01ND.html b/doc/_static/doc/UD01ND.html
deleted file mode 100644
index 3bf109a8..00000000
--- a/doc/_static/doc/UD01ND.html
+++ /dev/null
@@ -1,231 +0,0 @@
-<HTML>
-<HEAD><TITLE>UD01ND - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UD01ND">UD01ND</A></H2>
-<H3>
-Printing a matrix polynomial
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To print the MP-by-NP coefficient matrices of a matrix polynomial
-                                                 dp-1           dp
-     P(s) = P(0) + P(1) * s + . . . + P(dp-1) * s    + P(dp) * s  .
-
-  The elements of the matrices are output to 7 significant figures.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      SUBROUTINE UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
-     $                   INFO )
-C     .. Scalar Arguments ..
-      INTEGER           DP, INFO, L, LDP1, LDP2, MP, NP, NOUT
-      CHARACTER*(*)     TEXT
-C     .. Array Arguments ..
-      DOUBLE PRECISION  P(LDP1,LDP2,*)
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  MP      (input) INTEGER
-          The number of rows of the matrix polynomial P(s).
-          MP &gt;= 1.
-
-  NP      (input) INTEGER
-          The number of columns of the matrix polynomial P(s).
-          NP &gt;= 1.
-
-  DP      (input) INTEGER
-          The degree of the matrix polynomial P(s).  DP &gt;= 0.
-
-  L       (input) INTEGER
-          The number of elements of the coefficient matrices to be
-          printed per line.  1 &lt;= L &lt;= 5.
-
-  NOUT    (input) INTEGER
-          The output channel to which the results are sent.
-          NOUT &gt;= 0.
-
-  P       (input) DOUBLE PRECISION array, dimension (LDP1,LDP2,DP+1)
-          The leading MP-by-NP-by-(DP+1) part of this array must
-          contain the coefficients of the matrix polynomial P(s).
-          Specifically, P(i,j,k) must contain the coefficient of
-          s**(k-1) of the polynomial which is the (i,j)-th element
-          of P(s), where i = 1,2,...,MP, j = 1,2,...,NP and
-          k = 1,2,...,DP+1.
-
-  LDP1    INTEGER
-          The leading dimension of array P.  LDP1 &gt;= MP.
-
-  LDP2    INTEGER
-          The second dimension of array P.  LDP2 &gt;= NP.
-
-  TEXT    (input) CHARACTER*72
-          Title caption of the coefficient matrices to be printed.
-          TEXT is followed by the degree of the coefficient matrix,
-          within brackets. If TEXT = ' ', then the coefficient
-          matrices are separated by an empty line.
-
-</PRE>
-<B>Error Indicator</B>
-<PRE>
-  INFO    INTEGER
-          = 0:  successful exit;
-          &lt; 0:  if INFO = -i, the i-th argument had an illegal
-                value.
-
-</PRE>
-<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
-<PRE>
-  For i = 1, 2, ..., DP + 1 the routine first prints the contents of
-  TEXT followed by (i-1) as a title, followed by the elements of the
-  MP-by-NP coefficient matrix P(i) such that
-  (i)  if NP &lt; L, then the leading MP-by-NP part is printed;
-  (ii) if NP = k*L + p (where k, p &gt; 0), then k MP-by-L blocks of
-       consecutive columns of P(i) are printed one after another
-       followed by one MP-by-p block containing the last p columns
-       of P(i).
-  Row numbers are printed on the left of each row and a column
-  number on top of each column.
-
-</PRE>
-<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
-<PRE>
-  None.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-*     UD01ND EXAMPLE PROGRAM TEXT
-*
-*     .. Parameters ..
-      INTEGER          NIN, NOUT
-      PARAMETER        ( NIN = 5, NOUT = 6 )
-      INTEGER          MPMAX, NPMAX, DPMAX
-      PARAMETER        ( MPMAX = 10, NPMAX = 10, DPMAX = 5 )
-      INTEGER          LDP1, LDP2
-      PARAMETER        ( LDP1 = MPMAX, LDP2 = NPMAX )
-*     .. Local Scalars ..
-      INTEGER          DP, INFO, L, MP, NP
-      CHARACTER*72     TEXT
-*     .. Local Arrays ..
-      DOUBLE PRECISION P(LDP1,LDP2,DPMAX)
-*     .. External Subroutines ..
-      EXTERNAL         UD01BD, UD01ND
-*     .. Executable Statements ..
-*
-      WRITE ( NOUT, FMT = 99999 )
-*     Skip the heading in the data file and read the data.
-      READ ( NIN, FMT = '()' )
-      READ ( NIN, FMT = * ) MP, NP, DP, L, TEXT
-      IF ( MP.LE.0 .OR. MP.GT.MPMAX ) THEN
-         WRITE ( NOUT, FMT = 99994 ) MP
-      ELSE IF ( NP.LE.0 .OR. NP.GT.NPMAX ) THEN
-         WRITE ( NOUT, FMT = 99995 ) NP
-      ELSE IF ( DP.LT.0 .OR. DP.GT.DPMAX ) THEN
-         WRITE ( NOUT, FMT = 99993 ) DP
-      ELSE
-*        Read the coefficients of the matrix polynomial P(s).
-         CALL UD01BD( MP, NP, DP, NIN, P, LDP1, LDP2, INFO )
-         IF ( INFO.EQ.0 ) THEN
-            WRITE ( NOUT, 99996 ) MP, NP, DP
-*           Write the coefficients of the matrix polynomial P(s).
-            CALL UD01ND( MP, NP, DP, L, NOUT, P, LDP1, LDP2, TEXT,
-     $                   INFO )
-            IF ( INFO.NE.0 )
-     $         WRITE ( NOUT, FMT = 99998 ) INFO
-         ELSE
-            WRITE ( NOUT, FMT = 99997 ) INFO
-         END IF
-      END IF
-      STOP
-*
-99999 FORMAT (' UD01ND EXAMPLE PROGRAM RESULTS', /1X)
-99998 FORMAT (' INFO on exit from UD01ND = ',I2)
-99997 FORMAT (' INFO on exit from UD01BD = ',I2)
-99996 FORMAT (' MP =', I2, 2X, ' NP =', I2, 3X, 'DP =', I2)
-99995 FORMAT (/' NP is out of range.',/' NP = ',I5)
-99994 FORMAT (/' MP is out of range.',/' MP = ',I5)
-99993 FORMAT (/' DP is out of range.',/' DP = ',I5)
-      END
-</PRE>
-<B>Program Data</B>
-<PRE>
-UD01ND EXAMPLE PROGRAM DATA
-   4     3     2     5   P
-P0
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  2.0D-00  4.0D-00
- 0.0D-00  4.0D-00  8.0D-00
- 0.0D-00  6.0D-00  1.2D+01
-P1
- 0.0D-00  1.0D-00  2.0D-00
- 1.0D-00  0.0D-00  0.0D-00
- 2.0D-00  0.0D-00  0.0D-00
- 3.0D-00  0.0D-00  0.0D-00
-P2
- 1.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
- 0.0D-00  0.0D-00  0.0D-00
-</PRE>
-<B>Program Results</B>
-<PRE>
- UD01ND EXAMPLE PROGRAM RESULTS
-
- MP = 4   NP = 3   DP = 2
-
- P( 0) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.2000000D+01  0.4000000D+01
-  3    0.0000000D+00  0.4000000D+01  0.8000000D+01
-  4    0.0000000D+00  0.6000000D+01  0.1200000D+02
-
- P( 1) ( 4X 3)
-            1              2              3
-  1    0.0000000D+00  0.1000000D+01  0.2000000D+01
-  2    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  3    0.2000000D+01  0.0000000D+00  0.0000000D+00
-  4    0.3000000D+01  0.0000000D+00  0.0000000D+00
-
- P( 2) ( 4X 3)
-            1              2              3
-  1    0.1000000D+01  0.0000000D+00  0.0000000D+00
-  2    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  3    0.0000000D+00  0.0000000D+00  0.0000000D+00
-  4    0.0000000D+00  0.0000000D+00  0.0000000D+00
- 
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/UE01MD.html b/doc/_static/doc/UE01MD.html
deleted file mode 100644
index c1e20d09..00000000
--- a/doc/_static/doc/UE01MD.html
+++ /dev/null
@@ -1,104 +0,0 @@
-<HTML>
-<HEAD><TITLE>UE01MD - SLICOT Library Routine Documentation</TITLE>
-</HEAD>
-<BODY>
-
-<H2><A Name="UE01MD">UE01MD</A></H2>
-<H3>
-Default machine-specific parameters for (skew-)Hamiltonian computation routines
-</H3>
-<A HREF ="#Specification"><B>[Specification]</B></A>
-<A HREF ="#Arguments"><B>[Arguments]</B></A>
-<A HREF ="#Method"><B>[Method]</B></A>
-<A HREF ="#References"><B>[References]</B></A>
-<A HREF ="#Comments"><B>[Comments]</B></A>
-<A HREF ="#Example"><B>[Example]</B></A>
-
-<P>
-<B><FONT SIZE="+1">Purpose</FONT></B>
-<PRE>
-  To provide an extension of the LAPACK routine ILAENV to
-  machine-specific parameters for SLICOT routines.
-
-  The default values in this version aim to give good performance on
-  a wide range of computers. For optimal performance, however, the
-  user is advised to modify this routine. Note that an optimized
-  BLAS is a crucial prerequisite for any speed gains. For further
-  details, see ILAENV.
-
-</PRE>
-<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
-<PRE>
-      INTEGER FUNCTION UE01MD( ISPEC, NAME, OPTS, N1, N2, N3 )
-C     .. Scalar Arguments ..
-      CHARACTER*( * )    NAME, OPTS
-      INTEGER            ISPEC, N1, N2, N3
-
-</PRE>
-<B><FONT SIZE="+1">Function Value</FONT></B>
-<PRE>
-  UE01MD  INTEGER
-          The function value set according to ISPEC.
-
-</PRE>
-<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
-<P>
-
-</PRE>
-<B>Input/Output Parameters</B>
-<PRE>
-  ISPEC   (input) INTEGER
-          Specifies the parameter to be returned as the value of
-          UE01MD, as follows:
-          = 1: the optimal blocksize; if the returned value is 1, an
-               unblocked algorithm will give the best performance;
-          = 2: the minimum block size for which the block routine
-               should be used; if the usable block size is less than
-               this value, an unblocked routine should be used;
-          = 3: the crossover point (in a block routine, for N less
-               than this value, an unblocked routine should be used)
-          = 4: the number of shifts, used in the product eigenvalue
-               routine;
-          = 8: the crossover point for the multishift QR method for
-               product eigenvalue problems.
-
-  NAME    (input) CHARACTER*(*)
-          The name of the calling subroutine, in either upper case
-          or lower case.
-
-  OPTS    (input) CHARACTER*(*)
-          The character options to the subroutine NAME, concatenated
-          into a single character string.
-
-  N1      (input) INTEGER
-  N2      (input) INTEGER
-  N3      (input) INTEGER
-          Problem dimensions for the subroutine NAME; these may not
-          all be required.
-
-</PRE>
-
-<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
-<PRE>
-  None
-</PRE>
-
-<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
-<P>
-<B>Program Text</B>
-<PRE>
-  None
-</PRE>
-<B>Program Data</B>
-<PRE>
-  None
-</PRE>
-<B>Program Results</B>
-<PRE>
-  None
-</PRE>
-
-<HR>
-<p>
-<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
-</HTML>
diff --git a/doc/_static/doc/readme b/doc/_static/doc/readme
deleted file mode 100644
index 2b385284..00000000
--- a/doc/_static/doc/readme
+++ /dev/null
@@ -1,17 +0,0 @@
-SLICOT Library Subdirectory doc
--------------------------------
-
-SLICOT Library Subdirectory doc contains documentation files (*.html) for almost
-all SLICOT Library routines.  Omitted are few auxiliary routines, called by
-other SLICOT routines, but which seem to have no general use.  The documentation
-conforms to the SLICOT standards.  Besides function, arguments, and algorithm
-description, most documents for user-callable rotines include example programs,
-which could be easily modified, by copying, pasting, etc., to solve related,
-specific problems.
-
-The documentation files could be viewed individually, or via the provided index
-files: the main SLICOT Library index (libindex.html), stored in the SLICOT root
-directory, or the auxiliary, supporting routines index (support.html), stored in
-the subdirectory doc.  The second file is also accessible from the first one.
-These index files are organized according to the SLICOT Library chapters, sections,
-and subsections.
diff --git a/doc/_static/doc/support.html b/doc/_static/doc/support.html
deleted file mode 100644
index d6535a12..00000000
--- a/doc/_static/doc/support.html
+++ /dev/null
@@ -1,911 +0,0 @@
-<HTML>
-<HEAD><title>On-Line SLICOT Supporting Routines Overview</title></HEAD>
-<BODY>
-
-<H1>SLICOT SUPPORTING ROUTINES INDEX</H1>
-<HR>
-To go to the beginning of a chapter click on the appropriate letter below: <p>
-<center>
-<A href="#A"><B>A</B></A> ;
-<A href="#B"><B>B</B></A> ;
-<A href="#C"><B>C</B></A> ;
-<A href="#D"><B>D</B></A> ;
-<A href="#F"><B>F</B></A> ;
-<A href="#I"><B>I</B></A> ;
-<A href="#M"><B>M</B></A> ;
-<A href="#N"><B>N</B></A> ;
-<A href="#S"><B>S</B></A> ;
-<A href="#T"><B>T</B></A> ;
-<A href="#U"><B>U</B></A> ;
-</center>
-<BR>
-or <A href="http://www.slicot.org/index.php?site=home">
-<b>Return to SLICOT homepage</b></A>
-<BR>
-or <A href="..\libindex.html">
-<b>Go to SLICOT LIBRARY INDEX</b></A>
-<p>
-<HR>
-<A NAME="A"><H2>A - Analysis Routines</H2></A>
-<h3>AB - State-Space Analysis</h3>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href="AB08NX.html">
-<B>AB08NX</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving transmission zeros
-<A href="AB08NY.html">
-<B>AB08NY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving transmission zeros (extended variant)
-<A href="AB8NXZ.html">
-<B>AB8NXZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving transmission zeros (complex case)
-</PRE>
-<h4>Model Reduction</h4>
-<PRE>
-<A href="AB09AX.html">
-<B>AB09AX</B></A>   Balance & Truncate model reduction with state matrix in real Schur form  
-<A href="AB09BX.html">
-<B>AB09BX</B></A>   Singular perturbation approximation based model reduction with state
-         matrix in real Schur form 
-<A href="AB09CX.html">
-<B>AB09CX</B></A>   Hankel norm approximation based model reduction with state matrix
-         in real Schur form 
-<A href="AB09HX.html">
-<B>AB09HX</B></A>   Stochastic balancing model reduction of stable systems
-<A href="AB09HY.html">
-<B>AB09HY</B></A>   Cholesky factors of the controllability and observability Grammians
-<A href="AB09IX.html">
-<B>AB09IX</B></A>   Accuracy enhanced balancing related model reduction
-<A href="AB09IY.html">
-<B>AB09IY</B></A>   Cholesky factors of the frequency-weighted controllability and 
-         observability Grammians
-<A href="AB09JV.html">
-<B>AB09JV</B></A>   State-space representation of a projection of a left weighted 
-         transfer-function matrix
-<A href="AB09JW.html">
-<B>AB09JW</B></A>   State-space representation of a projection of a right weighted 
-         transfer-function matrix
-<A href="AB09JX.html">
-<B>AB09JX</B></A>   Check stability/antistability of finite eigenvalues
-<A href="AB09KX.html">
-<B>AB09KX</B></A>   Stable projection of V*G*W or conj(V)*G*conj(W)
-</PRE>
-<h4>System Norms</h4>
-<PRE>
-<A href="AB13AX.html">
-<B>AB13AX</B></A>   Hankel-norm of a stable system with state matrix in real Schur form  
-<A href="AB13DX.html">
-<B>AB13DX</B></A>   Maximum singular value of a transfer-function matrix
-</PRE>
-<h3>AG - Generalized State-Space Analysis</h3>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href="AG08BY.html">
-<B>AG08BY</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving the finite Smith zeros
-<A href="AG8BYZ.html">
-<B>AG8BYZ</B></A>   Construction of a reduced system with input/output matrix Dr of full 
-         row rank, preserving the finite Smith zeros (complex case)
-</PRE>
-<HR>
-<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
-<HR>
-<A NAME="C"><H2>C - Adaptive Control</H2></A>
-<HR>
-<A NAME="D"><H2>D - Data Analysis</H2></A>
-<h3>DE - Covariances</h3>
-<h3>DF - Spectra</h3>
-<h3>DG - Discrete Fourier Transforms</h3>
-<h3>DK - Windowing</h3>
-<HR>
-<A NAME="F"><H2>F - Filtering</H2></A>
-<h3>FB - Kalman Filters</h3>
-<HR>
-<A NAME="I"><H2>I - Identification</H2></A>
-<h3>IB - Subspace Identification</h3>
-<h4>Time Invariant State-space Systems</h4>
-<PRE>
-<A href="IB01MD.html">
-<B>IB01MD</B></A>   Upper triangular factor in QR factorization of a
-         block-Hankel-block matrix
-<A href="IB01MY.html">
-<B>IB01MY</B></A>   Upper triangular factor in fast QR factorization of a 
-         block-Hankel-block matrix
-<A href="IB01ND.html">
-<B>IB01ND</B></A>   Singular value decomposition giving the system order
-<A href="IB01OD.html">
-<B>IB01OD</B></A>   Estimating the system order
-<A href="IB01OY.html">
-<B>IB01OY</B></A>   User's confirmation of the system order
-<A href="IB01PD.html">
-<B>IB01PD</B></A>   Estimating the system matrices and covariances
-<A href="IB01PX.html">
-<B>IB01PX</B></A>   Estimating the matrices B and D of a system using Kronecker products
-<A href="IB01PY.html">
-<B>IB01PY</B></A>   Estimating the matrices B and D of a system exploiting the structure
-<A href="IB01QD.html">
-<B>IB01QD</B></A>   Estimating the initial state and the matrices B and D of a system
-<A href="IB01RD.html">
-<B>IB01RD</B></A>   Estimating the initial state of a system
-</PRE>
-<HR>
-<A NAME="M"><H2>M - Mathematical Routines</H2></A>
-<h3>MA - Auxiliary Routines</h3>
-<h4>Mathematical Scalar Routines</h4>
-<PRE>
-<A href="MA01AD.html">
-<B>MA01AD</B></A>   Complex square root of a complex number in real arithmetic
-<A href="MA01BD.html">
-<B>MA01BD</B></A>   Safely computing the general product of K real scalars
-<A href="MA01BZ.html">
-<B>MA01BZ</B></A>   Safely computing the general product of K complex scalars
-<A href="MA01CD.html">
-<B>MA01CD</B></A>   Safely computing the sign of a sum of two real numbers represented
-         using integer powers of a base
-</PRE>
-<h4>Mathematical Vector/Matrix Routines</h4>
-<PRE>
-<A href="MA02AD.html">
-<B>MA02AD</B></A>   Transpose of a matrix
-<A href="MA02AZ.html">
-<B>MA02AZ</B></A>   (Conjugate) transpose of a complex matrix
-<A href="MA02BD.html">
-<B>MA02BD</B></A>   Reversing the order of rows and/or columns of a matrix
-<A href="MA02BZ.html">
-<B>MA02BZ</B></A>   Reversing the order of rows and/or columns of a matrix (complex case)
-<A href="MA02CD.html">
-<B>MA02CD</B></A>   Pertranspose of the central band of a square matrix 
-<A href="MA02CZ.html">
-<B>MA02CZ</B></A>   Pertranspose of the central band of a square matrix (complex case)
-<A href="MA02DD.html">
-<B>MA02DD</B></A>   Pack/unpack the upper or lower triangle of a symmetric matrix 
-<A href="MA02ED.html">
-<B>MA02ED</B></A>   Construct a triangle of a symmetric matrix, given the other triangle 
-<A href="MA02ES.html">
-<B>MA02ES</B></A>   Construct a triangle of a skew-symmetric real matrix, given the 
-         other triangle
-<A href="MA02EZ.html">
-<B>MA02EZ</B></A>   Construct a triangle of a (skew-)symmetric/Hermitian complex matrix,
-         given the other triangle
-<A href="MA02FD.html">
-<B>MA02FD</B></A>   Hyperbolic plane rotation 
-<A href="MA02GD.html">
-<B>MA02GD</B></A>   Column interchanges on a real matrix 
-<A href="MA02GZ.html">
-<B>MA02GZ</B></A>   Column interchanges on a complex matrix 
-<A href="MA02HD.html">
-<B>MA02HD</B></A>   Check if a matrix is a scalar multiple of an identity-like matrix
-<A href="MA02HZ.html">
-<B>MA02HZ</B></A>   Check if a complex matrix is a scalar multiple of an identity-like matrix
-<A href="MA02ID.html">
-<B>MA02ID</B></A>   Matrix 1-, Frobenius, or infinity norms of a skew-Hamiltonian matrix
-<A href="MA02IZ.html">
-<B>MA02IZ</B></A>   Matrix 1-, Frobenius, or infinity norms of a complex skew-Hamiltonian matrix
-<A href="MA02JD.html">
-<B>MA02JD</B></A>   Test if a matrix is an orthogonal symplectic matrix
-<A href="MA02JZ.html">
-<B>MA02JZ</B></A>   Test if a matrix is a unitary symplectic matrix
-<A href="MA02MD.html">
-<B>MA02MD</B></A>   Norms of a real skew-symmetric matrix
-<A href="MA02MZ.html">
-<B>MA02MZ</B></A>   Norms of a complex skew-symmetric matrix
-<A href="MA02NZ.html">
-<B>MA02NZ</B></A>   Two rows and columns permutation of a (skew-)symmetric/Hermitian
-         complex matrix
-<A href="MA02OD.html">
-<B>MA02OD</B></A>   Number of zero rows of a real (skew-)Hamiltonian matrix
-<A href="MA02OZ.html">
-<B>MA02OZ</B></A>   Number of zero rows of a complex (skew-)Hamiltonian matrix
-<A href="MA02PD.html">
-<B>MA02PD</B></A>   Number of zero rows and columns of a real matrix
-<A href="MA02PZ.html">
-<B>MA02PZ</B></A>   Number of zero rows and columns of a complex matrix
-<A href="MB01KD.html">
-<B>MB01KD</B></A>   Rank 2k operation alpha*A*trans(B) - alpha*B*trans(A) + beta*C,
-         with A and C skew-symmetric matrices
-<A href="MB01LD.html">
-<B>MB01LD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A) with 
-         skew-symmetric matrices R and X
-<A href="MB01MD.html">
-<B>MB01MD</B></A>   Matrix-vector operation alpha*A*x + beta*y, with A a skew-symmetric matrix
-<A href="MB01ND.html">
-<B>MB01ND</B></A>   Rank 2 operation alpha*x*trans(y) - alpha*y*trans(x) + A, with A a 
-         skew-symmetric matrix
-<A href="MB01SD.html">
-<B>MB01SD</B></A>   Rows and/or columns scaling of a matrix 
-<A href="MB01SS.html">
-<B>MB01SS</B></A>   Symmetric scaling of a symmetric matrix 
-</PRE>
-<h3>MB - Linear Algebra</h3>
-<h4>Basic Linear Algebra Manipulations</h4>
-<PRE>
-<A href="MB01OC.html">
-<B>MB01OC</B></A>   Computation of matrix expression alpha R + beta ( op(H) X + X op(H)' ) 
-         with R, X symmetric and H upper Hessenberg
-<A href="MB01OD.html">
-<B>MB01OD</B></A>   Computation of matrix expression alpha R + beta ( op(H) X op(E)' + op(E) X op(H)' )  
-         with R, X symmetric, H upper Hessenberg, and E upper triangular
-<A href="MB01OE.html">
-<B>MB01OE</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(E)' + op(E) op(H)' )
-          with R symmetric, H upper Hessenberg, and E upper triangular
-<A href="MB01OH.html">
-<B>MB01OH</B></A>   Computation of matrix expression alpha R + beta ( op(H) op(A)' + op(A) op(H)' ) 
-         with R symmetric, and A, H upper Hessenberg
-<A href="MB01OO.html">
-<B>MB01OO</B></A>   Computation of P or P' with P = op(H) X op(E)' with X symmetric, 
-         H upper Hessenberg, and E upper triangular
-<A href="MB01OS.html">
-<B>MB01OS</B></A>   Computation of matrix expression P = H X or P = X H, with X symmetric and 
-         H upper Hessenberg
-<A href="MB01OT.html">
-<B>MB01OT</B></A>   Computation of matrix expression alpha R + beta ( op(E) op(T)' + op(T) op(E)' ) 
-         with R symmetric and E, T upper triangular
-<A href="MB01RH.html">
-<B>MB01RH</B></A>   Computation of matrix expression alpha R + beta op(H) X op(H)' 
-         with R, X symmetric and H upper Hessenberg
-<A href="MB01RT.html">
-<B>MB01RT</B></A>   Computation of matrix expression alpha R + beta op(E) X op(E)'  
-         with R, X symmetric and E upper triangular
-<A href="MB01RU.html">
-<B>MB01RU</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
-         (MB01RD variant)
-<A href="MB01RW.html">
-<B>MB01RW</B></A>   Computation of matrix expression alpha*A*X*trans(A), X symmetric (BLAS 2)
-<A href="MB01RX.html">
-<B>MB01RX</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*A*B 
-         or alpha*R + beta*B*A
-<A href="MB01RY.html">
-<B>MB01RY</B></A>   Computing a triangle of the matrix expressions alpha*R + beta*H*B 
-         or alpha*R + beta*B*H, with H an upper Hessenberg matrix
-<A href="MB01UW.html">
-<B>MB01UW</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
-         overwritting A, with H an upper Hessenberg matrix
-<A href="MB01VD.html">
-<B>MB01VD</B></A>   Kronecker product of two matrices
-<A href="MB01XY.html">
-<B>MB01XY</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
-         lower triangular matrices (unblock algorithm)
-<A href="SB03OV.html">
-<B>SB03OV</B></A>   Construction of a complex plane rotation to annihilate a real number,
-         modifying a complex number
-<A href="SG03BY.html">
-<B>SG03BY</B></A>   Computing a complex plane rotation in real arithmetic 
-<A href="SG03BR.html">
-<B>SG03BR</B></A>   Computing a complex plane rotation in real arithmetic (SG03BY version
-         - adaptation of LAPACK ZLARTG)
-</PRE>
-<h4>Linear Equations and Least Squares</h4>
-<PRE>
-<A href="MB02CU.html">
-<B>MB02CU</B></A>   Bringing the first blocks of a generator in proper form
-         (extended version of MB02CX)
-<A href="MB02CV.html">
-<B>MB02CV</B></A>   Applying the MB02CU transformations on other columns / rows of 
-         the generator
-<A href="MB02CX.html">
-<B>MB02CX</B></A>   Bringing the first blocks of a generator in proper form
-<A href="MB02CY.html">
-<B>MB02CY</B></A>   Applying the MB02CX transformations on other columns / rows of 
-         the generator
-<A href="MB02NY.html">
-<B>MB02NY</B></A>   Separation of a zero singular value of a bidiagonal submatrix
-<A href="MB02QY.html">
-<B>MB02QY</B></A>   Minimum-norm least squares solution, given a rank-revealing
-         QR factorization
-<A href="MB02UU.html">
-<B>MB02UU</B></A>   Solution of linear equations using LU factorization with complete pivoting
-<A href="MB02UV.html">
-<B>MB02UV</B></A>   LU factorization with complete pivoting
-<A href="MB02UW.html">
-<B>MB02UW</B></A>   Solution of linear equations of order at most 2 with possible scaling 
-         and perturbation of system matrix
-<A href="MB02WD.html">
-<B>MB02WD</B></A>   Solution of a positive definite linear system A*x = b, or f(A, x) = b,
-         using conjugate gradient algorithm
-<A href="MB02XD.html">
-<B>MB02XD</B></A>   Solution of a set of positive definite linear systems, A'*A*X = B, or
-         f(A)*X = B, using Gaussian elimination
-<A href="MB02YD.html">
-<B>MB02YD</B></A>   Solution of the linear system A*x = b, D*x = 0, D diagonal
-</PRE>
-<h4>Eigenvalues and Eigenvectors</h4>
-<PRE>
-<A href="MB03AD.html">
-<B>MB03AD</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a 
-         product of matrices to the first unit vector
-<A href="MB03AB.html">
-<B>MB03AB</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with explicit shifts)
-<A href="MB03AE.html">
-<B>MB03AE</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with partial evaluation, 
-         Hessenberg factor is the first one)
-<A href="MB03AF.html">
-<B>MB03AF</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant, Hessenberg factor is the 
-         last one)
-<A href="MB03AG.html">
-<B>MB03AG</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with evaluation, 
-         Hessenberg factor is the first one)
-<A href="MB03AH.html">
-<B>MB03AH</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with partial evaluation, 
-         Hessenberg factor is the last one)
-<A href="MB03AI.html">
-<B>MB03AI</B></A>   Reducing the first column of a real Wilkinson shift polynomial for a  
-         product of matrices to the first unit vector (variant with evaluation, 
-         Hessenberg factor is the last one)
-<A href="MB03BA.html">
-<B>MB03BA</B></A>   Computing maps for Hessenberg index and signature array
-<A href="MB03BB.html">
-<B>MB03BB</B></A>   Eigenvalues of a 2-by-2 matrix product via a complex single shifted 
-         periodic QZ algorithm
-<A href="MB03BC.html">
-<B>MB03BC</B></A>   Product singular value decomposition of K-1 triangular factors of 
-         order 2
-<A href="MB03BD.html">
-<B>MB03BD</B></A>   Finding eigenvalues of a generalized matrix product in 
-         Hessenberg-triangular form
-<A href="MB03BE.html">
-<B>MB03BE</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
-         to a 2-by-2 matrix product
-<A href="MB03BF.html">
-<B>MB03BF</B></A>   Applying iterations of a real single shifted periodic QZ algorithm 
-         to a 2-by-2 matrix product, with Hessenberg factor the last one
-<A href="MB03BZ.html">
-<B>MB03BZ</B></A>   Finding eigenvalues of a complex generalized matrix product in
-         Hessenberg-triangular form
-<A href="MB03CD.html">
-<B>MB03CD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
-         triangular pencil (factored version)
-<A href="MB03CZ.html">
-<B>MB03CZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil 
-         (factored version)
-<A href="MB03DD.html">
-<B>MB03DD</B></A>   Exchanging eigenvalues of a real 2-by-2, 3-by-3 or 4-by-4 block upper 
-         triangular pencil
-<A href="MB03DZ.html">
-<B>MB03DZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 upper triangular pencil
-<A href="MB03ED.html">
-<B>MB03ED</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
-         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
-         eigenvalues with negative real parts to the top (factored version)
-<A href="MB03FD.html">
-<B>MB03FD</B></A>   Reducing a real 2-by-2 or 4-by-4 block (anti-)diagonal 
-         skew-Hamiltonian/Hamiltonian pencil to generalized Schur form and moving 
-         eigenvalues with negative real parts to the top
-<A href="MB03GD.html">
-<B>MB03GD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 block upper 
-         triangular skew-Hamiltonian/Hamiltonian pencil (factored version)
-<A href="MB03GZ.html">
-<B>MB03GZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
-         Hamiltonian pencil in structured Schur form (factored version)
-<A href="MB03HD.html">
-<B>MB03HD</B></A>   Exchanging eigenvalues of a real 2-by-2 or 4-by-4 skew-Hamiltonian/
-         Hamiltonian pencil in structured Schur form
-<A href="MB03HZ.html">
-<B>MB03HZ</B></A>   Exchanging eigenvalues of a complex 2-by-2 skew-Hamiltonian/
-         Hamiltonian pencil in structured Schur form
-<A href="MB03ID.html">
-<B>MB03ID</B></A>   Moving eigenvalues with negative real parts of a real 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (factored version)
-<A href="MB03IZ.html">
-<B>MB03IZ</B></A>   Moving eigenvalues with negative real parts of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (factored version)
-<A href="MB03JD.html">
-<B>MB03JD</B></A>   Moving eigenvalues with negative real parts of a real 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil
-<A href="MB03JP.html">
-<B>MB03JP</B></A>   Moving eigenvalues with negative real parts of a real 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (applying transformations on panels of columns)
-<A href="MB03JZ.html">
-<B>MB03JZ</B></A>   Moving eigenvalues with negative real parts of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil
-<A href="MB3JZP.html">
-<B>MB3JZP</B></A>   Moving eigenvalues with negative real parts of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in structured Schur form to the 
-         leading subpencil (applying transformations on panels of columns)
-<A href="MB03KA.html">
-<B>MB03KA</B></A>   Moving diagonal blocks at a specified position in a formal matrix 
-         product to another position
-<A href="MB03KB.html">
-<B>MB03KB</B></A>   Swapping pairs of adjacent diagonal blocks of sizes 1 and/or 2 in 
-         a formal matrix product
-<A href="MB03KC.html">
-<B>MB03KC</B></A>   Reducing a 2-by-2 formal matrix product to periodic 
-         Hessenberg-triangular form
-<A href="MB03KD.html">
-<B>MB03KD</B></A>   Reordering the diagonal blocks of a formal matrix product using 
-         periodic QZ algorithm
-<A href="MB03KE.html">
-<B>MB03KE</B></A>   Solving periodic Sylvester-like equations with matrices of order 
-         at most 2
-<A href="MB03NY.html">
-<B>MB03NY</B></A>   The smallest singular value of A - jwI
-<A href="MB03OY.html">
-<B>MB03OY</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted QR factorization process 
-<A href="MB3OYZ.html">
-<B>MB3OYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted QR factorization process (complex case) 
-<A href="MB03PY.html">
-<B>MB03PY</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted RQ factorization process (row pivoting) 
-<A href="MB3PYZ.html">
-<B>MB3PYZ</B></A>   Matrix rank determination by incremental condition estimation, during 
-         the pivoted RQ factorization process (row pivoting, complex case) 
-<A href="MB03QV.html">
-<B>MB03QV</B></A>   Eigenvalues of an upper quasi-triangular matrix pencil
-<A href="MB03QW.html">
-<B>MB03QW</B></A>   Standardization and eigenvalues of a 2-by-2 diagonal block pair of
-         an upper quasi-triangular matrix pencil
-<A href="MB03QX.html">
-<B>MB03QX</B></A>   Eigenvalues of an upper quasi-triangular matrix
-<A href="MB03QY.html">
-<B>MB03QY</B></A>   Transformation to Schur canonical form of a selected 2-by-2 diagonal
-         block of an upper quasi-triangular matrix
-<A href="MB03RX.html">
-<B>MB03RX</B></A>   Reordering the diagonal blocks of a principal submatrix of a real Schur 
-         form matrix
-<A href="MB03RY.html">
-<B>MB03RY</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in real 
-         Schur form)
-<A href="MB03RW.html">
-<B>MB03RW</B></A>   Tentative solution of Sylvester equation -AX + XB = C (A, B in complex
-         Schur form)
-<A href="MB03TS.html">
-<B>MB03TS</B></A>   Swapping two diagonal blocks of a matrix in (skew-)Hamiltonian 
-         canonical Schur form
-<A href="MB03VY.html">
-<B>MB03VY</B></A>   Generating orthogonal matrices for reduction to periodic 
-         Hessenberg form of a product of matrices
-<A href="MB03WA.html">
-<B>MB03WA</B></A>   Swapping two adjacent diagonal blocks in a periodic real Schur canonical form
-<A href="MB03WX.html">
-<B>MB03WX</B></A>   Eigenvalues of a product of matrices, T = T_1*T_2*...*T_p,
-         with T_1 upper quasi-triangular and T_2, ..., T_p upper triangular 
-<A href="MB03XS.html">
-<B>MB03XS</B></A>   Eigenvalues and real skew-Hamiltonian Schur form of a skew-Hamiltonian matrix
-<A href="MB03XU.html">
-<B>MB03XU</B></A>   Panel reduction of columns and rows of a real (k+2n)-by-(k+2n) matrix by 
-         orthogonal symplectic transformations
-<A href="MB03YA.html">
-<B>MB03YA</B></A>   Annihilation of one or two entries on the subdiagonal of a Hessenberg matrix 
-         corresponding to zero elements on the diagonal of a triangular matrix
-<A href="MB03YT.html">
-<B>MB03YT</B></A>   Periodic Schur factorization of a real 2-by-2 matrix pair (A,B) 
-         with B upper triangular
-<A href="MB03ZA.html">
-<B>MB03ZA</B></A>   Reordering a selected cluster of eigenvalues of a given matrix pair in 
-         periodic Schur form
-<A href="MB05MY.html">
-<B>MB05MY</B></A>   Computing an orthogonal matrix reducing a matrix to real Schur form T, 
-         the eigenvalues, and the upper triangular matrix of right eigenvectors 
-         of T 
-<A href="MB05OY.html">
-<B>MB05OY</B></A>   Restoring a matrix after balancing transformations
-</PRE>
-<h4>Decompositions and Transformations</h4>
-<PRE>
-<A href="MB04CD.html">
-<B>MB04CD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
-         Hamiltonian pencil in factored form to generalized Schur form
-<A href="MB04DB.html">
-<B>MB04DB</B></A>   Applying the inverse of a balancing transformation for a real 
-         skew-Hamiltonian/Hamiltonian matrix pencil
-<A href="MB4DBZ.html">
-<B>MB4DBZ</B></A>   Applying the inverse of a balancing transformation for a complex 
-         skew-Hamiltonian/Hamiltonian matrix pencil
-<A href="MB04DD.html">
-<B>MB04DD</B></A>   Balancing a real Hamiltonian matrix
-<A href="MB04DZ.html">
-<B>MB04DZ</B></A>   Balancing a complex Hamiltonian matrix
-<A href="MB04DI.html">
-<B>MB04DI</B></A>   Applying the inverse of a balancing transformation for a real Hamiltonian matrix
-<A href="MB04DS.html">
-<B>MB04DS</B></A>   Balancing a real skew-Hamiltonian matrix
-<A href="MB04DY.html">
-<B>MB04DY</B></A>   Symplectic scaling of a Hamiltonian matrix
-<A href="MB04HD.html">
-<B>MB04HD</B></A>   Reducing a special real block (anti-)diagonal skew-Hamiltonian/
-         Hamiltonian pencil to generalized Schur form
-<A href="MB04IY.html">
-<B>MB04IY</B></A>   Applying the product of elementary reflectors used for QR factorization
-         of a matrix having a lower left zero triangle
-<A href="MB04NY.html">
-<B>MB04NY</B></A>   Applying an elementary reflector to a matrix C = ( A  B ), from the right, 
-         where A has one column
-<A href="MB04OY.html">
-<B>MB04OY</B></A>   Applying an elementary reflector to a matrix C = ( A'  B' )', from the 
-         left, where A has one row
-<A href="MB04OW.html">
-<B>MB04OW</B></A>   Rank-one update of a Cholesky factorization for a 2-by-2 block matrix
-<A href="MB04OX.html">
-<B>MB04OX</B></A>   Rank-one update of a Cholesky factorization
-<A href="MB04PA.html">
-<B>MB04PA</B></A>   Special reduction of a (skew-)Hamiltonian like matrix
-<A href="MB04PU.html">
-<B>MB04PU</B></A>   Computation of the Paige/Van Loan (PVL) form of a Hamiltonian matrix 
-         (unblocked algorithm)
-<A href="MB04PY.html">
-<B>MB04PY</B></A>   Applying an elementary reflector to a matrix from the left or right
-<A href="MB04QB.html">
-<B>MB04QB</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
-         general real matrices
-<A href="MB04QC.html">
-<B>MB04QC</B></A>   Premultiplying a real matrix with an orthogonal symplectic block reflector
-<A href="MB04QF.html">
-<B>MB04QF</B></A>   Forming the triangular block factors of a symplectic block reflector
-<A href="MB04QS.html">
-<B>MB04QS</B></A>   Multiplication with a product of symplectic reflectors and Givens rotations
-<A href="MB04QU.html">
-<B>MB04QU</B></A>   Applying a product of symplectic reflectors and Givens rotations to two 
-         general real matrices (unblocked algorithm)
-<A href="MB04RB.html">
-<B>MB04RB</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
-         (blocked version)
-<A href="MB04RU.html">
-<B>MB04RU</B></A>   Reduction of a skew-Hamiltonian matrix to Paige/Van Loan (PVL) form 
-         (unblocked version)
-<A href="MB04SU.html">
-<B>MB04SU</B></A>   Symplectic QR decomposition of a real 2M-by-N matrix
-<A href="MB04TS.html">
-<B>MB04TS</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix (unblocked version)
-<A href="MB04TU.html">
-<B>MB04TU</B></A>   Applying a row-permuted Givens transformation to two row vectors
-<A href="MB04WD.html">
-<B>MB04WD</B></A>   Generating an orthogonal basis spanning an isotropic subspace
-<A href="MB04WP.html">
-<B>MB04WP</B></A>   Generating an orthogonal symplectic matrix which performed the reduction 
-         in MB04PU
-<A href="MB04WR.html">
-<B>MB04WR</B></A>   Generating orthogonal symplectic matrices defined as products of symplectic 
-         reflectors and Givens rotations
-<A href="MB04WU.html">
-<B>MB04WU</B></A>   Generating an orthogonal basis spanning an isotropic subspace 
-         (unblocked version)
-<A href="MB04XY.html">
-<B>MB04XY</B></A>   Applying Householder transformations for bidiagonalization (stored 
-         in factored form) to one or two matrices, from the left
-<A href="MB04YW.html">
-<B>MB04YW</B></A>   One QR or QL iteration step onto an unreduced bidiagonal submatrix 
-         of a bidiagonal matrix
-</PRE>
-<h3>MC - Polynomial and Rational Function Manipulation</h3>
-<h4>Scalar Polynomials</h4>
-<PRE>
-<A href="MC01PY.html">
-<B>MC01PY</B></A>   Coefficients of a real polynomial, stored in decreasing order, 
-         given its zeros         
-</PRE>
-<h4>Polynomial Matrices</h4>
-<PRE>
-<A href="MC03NX.html">
-<B>MC03NX</B></A>   Construction of a pencil sE-A related to a given polynomial matrix  
-</PRE>
-<h3>MD - Optimization</h3>
-<h4>Unconstrained Nonlinear Least Squares</h4>
-<PRE>
-<A href="MD03BX.html">
-<B>MD03BX</B></A>   QR factorization with column pivoting and error vector 
-         transformation
-<A href="MD03BY.html">
-<B>MD03BY</B></A>   Finding the Levenberg-Marquardt parameter
-</PRE>
-<HR>
-<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
-<h3>NF - Wiener Systems</h3>
-<h4>Wiener Systems Identification</h4>
-<PRE>
-<A href="NF01AD.html">
-<B>NF01AD</B></A>   Computing the output of a Wiener system  
-<A href="NF01AY.html">
-<B>NF01AY</B></A>   Computing the output of a set of neural networks
-<A href="NF01BD.html">
-<B>NF01BD</B></A>   Computing the Jacobian of a Wiener system  
-<A href="NF01BP.html">
-<B>NF01BP</B></A>   Finding the Levenberg-Marquardt parameter
-<A href="NF01BQ.html">
-<B>NF01BQ</B></A>   Solution of the linear system J*x = b, D*x = 0, D diagonal
-<A href="NF01BR.html">
-<B>NF01BR</B></A>   Solution of the linear system op(R)*x = b, R block upper 
-         triangular stored in a compressed form
-<A href="NF01BS.html">
-<B>NF01BS</B></A>   QR factorization of a structured Jacobian matrix
-<A href="NF01BU.html">
-<B>NF01BU</B></A>   Computing J'*J + c*I, for the Jacobian J given in a
-         compressed form
-<A href="NF01BV.html">
-<B>NF01BV</B></A>   Computing J'*J + c*I, for a full Jacobian J (one output
-         variable)
-<A href="NF01BW.html">
-<B>NF01BW</B></A>   Matrix-vector product x <-- (J'*J + c*I)*x, for J in a
-         compressed form
-<A href="NF01BX.html">
-<B>NF01BX</B></A>   Matrix-vector product x <-- (A'*A + c*I)*x, for a
-         full matrix A
-<A href="NF01BY.html">
-<B>NF01BY</B></A>   Computing the Jacobian of the error function for a neural 
-         network (for one output variable)
-</PRE>
-<HR>
-<A NAME="S"><H2>S - Synthesis Routines</H2></A>
-<h3>SB - State-Space Synthesis</h3>
-<h4>Eigenvalue/Eigenvector Assignment</h4>
-<PRE>
-<A href="SB01BX.html">
-<B>SB01BX</B></A>   Choosing the closest real (complex conjugate) eigenvalue(s) to
-         a given real (complex) value
-<A href="SB01BY.html">
-<B>SB01BY</B></A>   Pole placement for systems of order 1 or 2
-<A href="SB01FY.html">
-<B>SB01FY</B></A>   Inner denominator of a right-coprime factorization of an unstable system
-         of order 1 or 2
-</PRE>
-<h4>Riccati Equations</h4>
-<PRE>
-<A href="SB02MU.html">
-<B>SB02MU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
-         linear-quadratic optimization problems
-<A href="SB02RU.html">
-<B>SB02RU</B></A>   Constructing the 2n-by-2n Hamiltonian or symplectic matrix for
-         linear-quadratic optimization problems (efficient and accurate
-         version of SB02MU)
-<A href="SB02OY.html">
-<B>SB02OY</B></A>   Constructing and compressing the extended Hamiltonian or symplectic 
-         matrix pairs for linear-quadratic optimization problems
-</PRE>
-<h4>Lyapunov Equations</h4>
-<PRE>
-<A href="SB03MV.html">
-<B>SB03MV</B></A>   Solving a discrete-time Lyapunov equation for a 2-by-2 matrix
-<A href="SB03MW.html">
-<B>SB03MW</B></A>   Solving a continuous-time Lyapunov equation for a 2-by-2 matrix
-<A href="SB03MX.html">
-<B>SB03MX</B></A>   Solving a discrete-time Lyapunov equation with matrix A quasi-triangular
-<A href="SB03MY.html">
-<B>SB03MY</B></A>   Solving a continuous-time Lyapunov equation with matrix A quasi-triangular
-<A href="SB03OT.html">
-<B>SB03OT</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
-         Lyapunov equations, with A quasi-triangular and R triangular
-<A href="SB03OS.html">
-<B>SB03OS</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
-         complex Lyapunov equations, with matrices S and R triangular
-<A href="SB03OU.html">
-<B>SB03OU</B></A>   Solving (for Cholesky factor) stable continuous- or discrete-time 
-         Lyapunov equations, with A in real Schur form and B rectangular
-<A href="SB03OY.html">
-<B>SB03OY</B></A>   Solving (for Cholesky factor) stable 2-by-2 continuous- or discrete-time
-         Lyapunov equations, with matrix A having complex conjugate eigenvalues
-<A href="SB03QX.html">
-<B>SB03QX</B></A>   Forward error bound for continuous-time Lyapunov equations
-<A href="SB03QY.html">
-<B>SB03QY</B></A>   Separation and Theta norm for continuous-time Lyapunov equations
-<A href="SB03SX.html">
-<B>SB03SX</B></A>   Forward error bound for discrete-time Lyapunov equations
-<A href="SB03SY.html">
-<B>SB03SY</B></A>   Separation and Theta norm for discrete-time Lyapunov equations
-</PRE>
-<h4>Sylvester Equations</h4>
-<PRE>
-<A href="SB03MU.html">
-<B>SB03MU</B></A>   Solving a discrete-time Sylvester equation for an m-by-n matrix X, 
-         1 <= m,n <= 2
-<A href="SB03OR.html">
-<B>SB03OR</B></A>   Solving quasi-triangular continuous- or discrete-time Sylvester equations, 
-         for an n-by-m matrix X, 1 <= m <= 2
-<A href="SB04MR.html">
-<B>SB04MR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
-         compactly) has zeros below the second subdiagonal
-<A href="SB04MU.html">
-<B>SB04MU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the second subdiagonal 
-<A href="SB04MW.html">
-<B>SB04MW</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
-         compactly) has zeros below the first subdiagonal
-<A href="SB04MY.html">
-<B>SB04MY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the first subdiagonal
-<A href="SB04NV.html">
-<B>SB04NV</B></A>   Constructing right-hand sides for a system of equations in 
-         Hessenberg form solved via SB04NX
-<A href="SB04NW.html">
-<B>SB04NW</B></A>   Constructing the right-hand side for a system of equations in 
-         Hessenberg form solved via SB04NY 
-<A href="SB04NX.html">
-<B>SB04NX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
-         offdiagonals and two right-hand sides 
-<A href="SB04NY.html">
-<B>SB04NY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
-         and one right-hand side 
-<A href="SB04OW.html">
-<B>SB04OW</B></A>   Solving a periodic Sylvester equation with matrices in periodic Schur form
-<A href="SB04PX.html">
-<B>SB04PX</B></A>   Solving a discrete-time Sylvester equation for matrices of order <= 2
-<A href="SB04PY.html">
-<B>SB04PY</B></A>   Solving a discrete-time Sylvester equation with matrices in Schur form
-<A href="SB04QR.html">
-<B>SB04QR</B></A>   Solving a linear algebraic system whose coefficient matrix (stored 
-         compactly) has zeros below the third subdiagonal
-<A href="SB04QU.html">
-<B>SB04QU</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the third subdiagonal
-<A href="SB04QY.html">
-<B>SB04QY</B></A>   Constructing and solving a linear algebraic system whose coefficient 
-         matrix (stored compactly) has zeros below the first subdiagonal
-         (discrete-time case)
-<A href="SB04RV.html">
-<B>SB04RV</B></A>   Constructing right-hand sides for a system of equations in 
-         Hessenberg form solved via SB04RX
-<A href="SB04RW.html">
-<B>SB04RW</B></A>   Constructing the right-hand side for a system of equations in 
-         Hessenberg form solved via SB04RY 
-<A href="SB04RX.html">
-<B>SB04RX</B></A>   Solving a system of equations in Hessenberg form with two consecutive 
-         offdiagonals and two right-hand sides (discrete-time case) 
-<A href="SB04RY.html">
-<B>SB04RY</B></A>   Solving a system of equations in Hessenberg form with one offdiagonal 
-         and one right-hand side (discrete-time case) 
-</PRE>
-<h4>Optimal Regulator Problems</h4>
-<PRE>
-<A href="SB10JD.html">
-<B>SB10JD</B></A>    Conversion of a descriptor state-space system into regular 
-          state-space form
-<A href="SB10LD.html">
-<B>SB10LD</B></A>    Closed-loop system matrices for a system with robust controller
-<A href="SB10PD.html">
-<B>SB10PD</B></A>    Normalization of a system for H-infinity controller design
-<A href="SB10QD.html">
-<B>SB10QD</B></A>    State feedback and output injection matrices for an H-infinity
-          (sub)optimal state controller (continuous-time)
-<A href="SB10RD.html">
-<B>SB10RD</B></A>    H-infinity (sub)optimal controller matrices using state feedback
-          and output injection matrices (continuous-time)
-<A href="SB10SD.html">
-<B>SB10SD</B></A>    H2 optimal controller matrices for a normalized discrete-time system
-<A href="SB10TD.html">
-<B>SB10TD</B></A>    H2 optimal controller matrices for a discrete-time system
-<A href="SB10UD.html">
-<B>SB10UD</B></A>    Normalization of a system for H2 controller design
-<A href="SB10VD.html">
-<B>SB10VD</B></A>    State feedback and output injection matrices for an H2 optimal
-          state controller (continuous-time)
-<A href="SB10WD.html">
-<B>SB10WD</B></A>    H2 optimal controller matrices using state feedback and
-          output injection matrices (continuous-time)
-<A href="SB10YD.html">
-<B>SB10YD</B></A>    Fitting frequency response data with a stable, minimum phase
-          SISO system
-<A href="SB10ZP.html">
-<B>SB10ZP</B></A>    Transforming a SISO system into a stable and minimum phase one
-</PRE>
-<h4>Controller Reduction</h4>
-<PRE>
-<A href="SB16AY.html">
-<B>SB16AY</B></A>    Cholesky factors of the frequency-weighted controllability and 
-          observability Grammians for controller reduction
-<A href="SB16CY.html">
-<B>SB16CY</B></A>    Cholesky factors of controllability and observability Grammians
-          of coprime factors of a state-feedback controller
-</PRE>
-<h3>SG - Generalized State-Space Synthesis</h3>
-<h4>Generalized Lyapunov Equations</h4>
-<PRE>
-<A href="SG02CV.html">
-<B>SG02CV</B></A>   Computation of residual matrix for a continuous-time or discrete-time 
-         reduced Lyapunov equation
-<A href="SG03AX.html">
-<B>SG03AX</B></A>   Solving a generalized discrete-time Lyapunov equation with 
-         A quasi-triangular and E upper triangular
-<A href="SG03AY.html">
-<B>SG03AY</B></A>   Solving a generalized continuous-time Lyapunov equation with 
-         A quasi-triangular and E upper triangular
-<A href="SG03BU.html">
-<B>SG03BU</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
-         Lyapunov equations with A quasi-triangular, and E, B upper triangular
-<A href="SG03BS.html">
-<B>SG03BS</B></A>   Solving (for Cholesky factor) stable generalized discrete-time 
-         complex Lyapunov equations with A, E, and B upper triangular
-<A href="SG03BV.html">
-<B>SG03BV</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
-         Lyapunov equations with A quasi-triangular, and E, B upper triangular
-<A href="SG03BT.html">
-<B>SG03BT</B></A>   Solving (for Cholesky factor) stable generalized continuous-time 
-         complex Lyapunov equations with A, E, and B upper triangular
-<A href="SG03BX.html">
-<B>SG03BX</B></A>   Solving (for Cholesky factor) stable generalized 2-by-2 Lyapunov equations
-</PRE>
-<h4>Generalized Sylvester Equations</h4>
-<PRE>
-<A href="SG03BW.html">
-<B>SG03BW</B></A>   Solving a generalized Sylvester equation with A quasi-triangular 
-         and E upper triangular, for X m-by-n, n = 1 or 2
-</PRE>
-<HR>
-<A NAME="T"><H2>T - Transformation Routines</H2></A>
-<h3>TB - State-Space</h3>
-<h4>State-Space Transformations</h4>
-<PRE>
-<A href="TB01KX.html">
-<B>TB01KX</B></A>   Additive spectral decomposition of the transfer-function matrix of a standard system
-<A href="TB01UX.html">
-<B>TB01UX</B></A>   Observable-unobservable decomposition of a standard system
-<A href="TB01VD.html">
-<B>TB01VD</B></A>   Conversion of a discrete-time system to output normal form
-<A href="TB01VY.html">
-<B>TB01VY</B></A>   Conversion of the output normal form of a discrete-time system 
-         to a state-space representation
-<A href="TB01XD.html">
-<B>TB01XD</B></A>   Special similarity transformation of the dual state-space system
-<A href="TB01XZ.html">
-<B>TB01XZ</B></A>   Special similarity transformation of the dual state-space system 
-         (complex case)
-<A href="TB01YD.html">
-<B>TB01YD</B></A>   Special similarity transformation of a state-space system 
-</PRE>
-<h4>State-Space to Rational Matrix Conversion</h4>
-<PRE>
-<A href="TB04BV.html">
-<B>TB04BV</B></A>   Strictly proper part of a proper transfer function matrix 
-<A href="TB04BW.html">
-<B>TB04BW</B></A>   Sum of a rational matrix and a real matrix 
-<A href="TB04BX.html">
-<B>TB04BX</B></A>   Gain of a SISO linear system, given (A,b,c,d), its poles and zeros
-</PRE>
-<h3>TC - Polynomial Matrix</h3>
-<h3>TD - Rational  Matrix</h3>
-<h3>TF - Time Response</h3>
-<PRE>
-<A href="TF01MX.html">
-<B>TF01MX</B></A>   Output response of a linear discrete-time system, given a 
-         general system matrix (each output is a column of the result)
-<A href="TF01MY.html">
-<B>TF01MY</B></A>   Output response of a linear discrete-time system, given the
-         system matrices (each output is a column of the result)
-</PRE>
-<h3>TG - Generalized State-space</h3>
-<h4>Generalized State-space Transformations</h4>
-<PRE>
-<A href="TG01HU.html">
-<B>TG01HU</B></A>   Staircase controllability representation of a multi-input descriptor system
-<A href="TG01HX.html">
-<B>TG01HX</B></A>   Orthogonal reduction of a descriptor system to a system with
-         the same transfer-function matrix and without uncontrollable finite 
-         eigenvalues
-<A href="TG01HY.html">
-<B>TG01HY</B></A>   Orthogonal reduction of a descriptor system to a system with
-         the same transfer-function matrix and without uncontrollable finite 
-         eigenvalues (blocked version)
-<A href="TG01KD.html">
-<B>TG01KD</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
-         with E upper triangular (TG01OA version with more complex interface)
-<A href="TG01KZ.html">
-<B>TG01KZ</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
-         with E upper triangular (TG01OB version with more complex interface)
-<A href="TG01LY.html">
-<B>TG01LY</B></A>   Finite-infinite decomposition of a structured descriptor system
-<A href="TG01NX.html">
-<B>TG01NX</B></A>   Block-diagonal decomposition of a descriptor system in 
-         generalized real Schur form
-<A href="TG01OA.html">
-<B>TG01OA</B></A>   Orthogonal equivalence transformation of a SISO descriptor system
-         with E upper triangular, so that B becomes parallel to the first unit vector
-         and E keeps its structure
-<A href="TG01OB.html">
-<B>TG01OB</B></A>   Unitary equivalence transformation of a complex SISO descriptor system
-         with E upper triangular, so that B becomes parallel to the first unit vector
-         and E keeps its structure
-</PRE>
-<HR>
-<A NAME="U"><H2>U - Utility Routines</H2></A>
-<h3>UD - Numerical Data Handling</h3>
-<HR>
-</BODY>
-</HTML>
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-<HTML>
-<HEAD><title>On-Line SLICOT Overview</title></HEAD>
-<BODY>
-
-<H1>SLICOT LIBRARY INDEX</H1>
-<HR>
-To go to the beginning of a chapter click on the appropriate letter below: <p>
-<center>
-<A HREF = "#A"><B>A</B></A> ;
-<A HREF = "#B"><B>B</B></A> ;
-<A HREF = "#C"><B>C</B></A> ;
-<A HREF = "#D"><B>D</B></A> ;
-<A HREF = "#F"><B>F</B></A> ;
-<A HREF = "#I"><B>I</B></A> ;
-<A HREF = "#M"><B>M</B></A> ;
-<A HREF = "#N"><B>N</B></A> ;
-<A HREF = "#S"><B>S</B></A> ;
-<A HREF = "#T"><B>T</B></A> ;
-<A HREF = "#U"><B>U</B></A> ;
-</center>
-<BR>
-or <A href="http://www.slicot.org/index.php?site=home">
-<b>Return to SLICOT homepage</b></A>
-<BR>
-or <A href=".\doc\support.html">
-<b>Go to SLICOT Supporting Routines Index</b></A>
-<p>
-<HR>
-<A NAME="A"><H2>A - Analysis Routines</H2></A>
-<h3>AB - State-Space Analysis</h3>
-<h4>Canonical and Quasi Canonical Forms</h4>
-<PRE>
-<A href=".\doc\AB01MD.html">
-<B>AB01MD</B></A>   Orthogonal controllability form for single-input system
-<A href=".\doc\AB01ND.html">
-<B>AB01ND</B></A>   Orthogonal controllability staircase form for multi-input system
-<A href=".\doc\AB01OD.html">
-<B>AB01OD</B></A>   Staircase form for multi-input system using orthogonal transformations
-</PRE>
-<h4>Continuous/Discrete Time</h4>
-<PRE>
-<A href=".\doc\AB04MD.html">
-<B>AB04MD</B></A>   Discrete-time <-> continuous-time conversion by bilinear transformation
-</PRE>
-<h4>Interconnections of Subsystems</h4>
-<PRE>
-<A href=".\doc\AB05MD.html">
-<B>AB05MD</B></A>   Cascade inter-connection of two systems in state-space form
-<A href=".\doc\AB05ND.html">
-<B>AB05ND</B></A>   Feedback inter-connection of two systems in state-space form
-<A href=".\doc\AB05OD.html">
-<B>AB05OD</B></A>   Rowwise concatenation of two systems in state-space form
-<A href=".\doc\AB05PD.html">
-<B>AB05PD</B></A>   Parallel inter-connection of two systems in state-space form
-<A href=".\doc\AB05QD.html">
-<B>AB05QD</B></A>   Appending two systems in state-space form
-<A href=".\doc\AB05RD.html">
-<B>AB05RD</B></A>   Closed-loop system for a mixed output and state feedback control law
-<A href=".\doc\AB05SD.html">
-<B>AB05SD</B></A>   Closed-loop system for an output feedback control law
-</PRE>
-<h4>Inverse and Dual Systems</h4>
-<PRE>
-<A href=".\doc\AB07MD.html">
-<B>AB07MD</B></A>   Dual of a given state-space representation
-<A href=".\doc\AB07ND.html">
-<B>AB07ND</B></A>   Inverse of a given state-space representation
-</PRE>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href=".\doc\AB08MD.html">
-<B>AB08MD</B></A>   Normal rank of the transfer-function matrix of a state space model
-<A href=".\doc\AB08MZ.html">
-<B>AB08MZ</B></A>   Normal rank of the transfer-function matrix of a state space model (complex case)
-<A href=".\doc\AB08ND.html">
-<B>AB08ND</B></A>   System zeros and Kronecker structure of system pencil
-<A href=".\doc\AB08NW.html">
-<B>AB08NW</B></A>   System zeros and singular and infinite Kronecker structure of system pencil
-<A href=".\doc\AB08NZ.html">
-<B>AB08NZ</B></A>   System zeros and Kronecker structure of system pencil (complex case)
-</PRE>
-<h4>Model Reduction</h4>
-<PRE>
-<A href=".\doc\AB09AD.html">
-<B>AB09AD</B></A>   Balance & Truncate model reduction   
-<A href=".\doc\AB09BD.html">
-<B>AB09BD</B></A>   Singular perturbation approximation based model reduction 
-<A href=".\doc\AB09CD.html">
-<B>AB09CD</B></A>   Hankel norm approximation based model reduction 
-<A href=".\doc\AB09DD.html">
-<B>AB09DD</B></A>   Singular perturbation approximation formulas 
-<A href=".\doc\AB09ED.html">
-<B>AB09ED</B></A>   Hankel norm approximation based model reduction of unstable systems
-<A href=".\doc\AB09FD.html">
-<B>AB09FD</B></A>   Balance & Truncate model reduction of coprime factors
-<A href=".\doc\AB09GD.html">
-<B>AB09GD</B></A>   Singular perturbation approximation of coprime factors
-<A href=".\doc\AB09HD.html">
-<B>AB09HD</B></A>   Stochastic balancing based model reduction
-<A href=".\doc\AB09ID.html">
-<B>AB09ID</B></A>   Frequency-weighted model reduction based on balancing techniques
-<A href=".\doc\AB09JD.html">
-<B>AB09JD</B></A>   Frequency-weighted Hankel norm approximation with invertible weights
-<A href=".\doc\AB09KD.html">
-<B>AB09KD</B></A>   Frequency-weighted Hankel-norm approximation
-<A href=".\doc\AB09MD.html">
-<B>AB09MD</B></A>   Balance & Truncate model reduction for the stable part  
-<A href=".\doc\AB09ND.html">
-<B>AB09ND</B></A>   Singular perturbation approximation based model reduction for the   
-         stable part  
-</PRE>
-<h4>System Norms</h4>
-<PRE>
-<A href=".\doc\AB13AD.html">
-<B>AB13AD</B></A>   Hankel-norm of the stable projection   
-<A href=".\doc\AB13BD.html">
-<B>AB13BD</B></A>   H2 or L2 norm of a system 
-<A href=".\doc\AB13CD.html">
-<B>AB13CD</B></A>   H-infinity norm of a continuous-time stable system
-         (obsolete, replaced by AB13DD)
-<A href=".\doc\AB13DD.html">
-<B>AB13DD</B></A>   L-infinity norm of a state space system
-<A href=".\doc\AB13ED.html">
-<B>AB13ED</B></A>   Complex stability radius, using bisection
-<A href=".\doc\AB13FD.html">
-<B>AB13FD</B></A>   Complex stability radius, using bisection and SVD
-<A href=".\doc\AB13ID.html">
-<B>AB13ID</B></A>   Properness of the transfer function matrix of a descriptor system
-<A href=".\doc\AB13MD.html">
-<B>AB13MD</B></A>   Upper bound on the structured singular value for a square 
-         complex matrix
-</PRE>
-<h3>AG - Generalized State-Space Analysis</h3>
-<h4>Inverse and Dual Systems</h4>
-<PRE>
-<A href=".\doc\AG07BD.html">
-<B>AG07BD</B></A>   Descriptor inverse of a state-space or descriptor representation
-</PRE>
-<h4>Poles, Zeros, Gain</h4>
-<PRE>
-<A href=".\doc\AG08BD.html">
-<B>AG08BD</B></A>   Zeros and Kronecker structure of a descriptor system pencil
-<A href=".\doc\AG08BZ.html">
-<B>AG08BZ</B></A>   Zeros and Kronecker structure of a descriptor system pencil (complex case)
-</PRE>
-
-<HR>
-<A NAME="B"><H2>B - Benchmark and Test Problems</H2></A> 
-<h3>BB - State-space Models</h3>
-<PRE>
-<A href=".\doc\BB01AD.html">
-<B>BB01AD</B></A>   Benchmark examples for continuous-time Riccati equations
-<A href=".\doc\BB02AD.html">
-<B>BB02AD</B></A>   Benchmark examples for discrete-time Riccati equations
-<A href=".\doc\BB03AD.html">
-<B>BB03AD</B></A>   Benchmark examples of (generalized) continuous-time Lyapunov equations
-<A href=".\doc\BB04AD.html">
-<B>BB04AD</B></A>   Benchmark examples of (generalized) discrete-time Lyapunov equations
-</PRE>
-<h3>BD - Generalized State-space Models</h3>
-<PRE>
-<A href=".\doc\BD01AD.html">
-<B>BD01AD</B></A>   Benchmark examples of continuous-time systems
-<A href=".\doc\BD02AD.html">
-<B>BD02AD</B></A>   Benchmark examples of discrete-time systems
-</PRE>
-<HR>
-<A NAME="C"><H2>C - Adaptive Control</H2></A>
-<HR>
-<A NAME="D"><H2>D - Data Analysis</H2></A>
-<h3>DE - Covariances</h3>
-<PRE>
-<A href=".\doc\DE01OD.html">
-<B>DE01OD</B></A>   Convolution or deconvolution of two signals
-<A href=".\doc\DE01PD.html">
-<B>DE01PD</B></A>   Convolution or deconvolution of two real signals using Hartley transform
-</PRE>
-<h3>DF - Spectra</h3>
-<PRE>
-<A href=".\doc\DF01MD.html">
-<B>DF01MD</B></A>   Sine transform or cosine transform of a real signal
-</PRE>
-<h3>DG - Discrete Fourier and Hartley Transforms</h3>
-<PRE>
-<A href=".\doc\DG01MD.html">
-<B>DG01MD</B></A>   Discrete Fourier transform of a complex signal
-<A href=".\doc\DG01ND.html">
-<B>DG01ND</B></A>   Discrete Fourier transform of a real signal
-<A href=".\doc\DG01OD.html">
-<B>DG01OD</B></A>   Scrambled discrete Hartley transform of a real signal
-</PRE>
-<h3>DK - Windowing</h3>
-<PRE>
-<A href=".\doc\DK01MD.html">
-<B>DK01MD</B></A>   Anti-aliasing window applied to a real signal
-</PRE>
-<HR>
-<A NAME="F"><H2>F - Filtering</H2></A>
-<h3>FB - Kalman Filters</h3>
-<PRE>
-<A href=".\doc\FB01QD.html">
-<B>FB01QD</B></A>   Time-varying square root covariance filter (dense matrices)
-<A href=".\doc\FB01RD.html">
-<B>FB01RD</B></A>   Time-invariant square root covariance filter (Hessenberg form) 
-<A href=".\doc\FB01SD.html">
-<B>FB01SD</B></A>   Time-varying square root information filter (dense matrices)
-<A href=".\doc\FB01TD.html">
-<B>FB01TD</B></A>   Time-invariant square root information filter (Hessenberg form) 
-<A href=".\doc\FB01VD.html">
-<B>FB01VD</B></A>   One recursion of the conventional Kalman filter 
-</PRE>
-<h3>FD - Fast Recursive Least Squares Filters</h3>
-<PRE>
-<A href=".\doc\FD01AD.html">
-<B>FD01AD</B></A>   Fast recursive least-squares filter
-</PRE>
-<HR>
-<A NAME="I"><H2>I - Identification</H2></A>
-<h3>IB - Subspace Identification</h3>
-<h4>Time Invariant State-space Systems</h4>
-<PRE>
-<A href=".\doc\IB01AD.html">
-<B>IB01AD</B></A>   Input-output data preprocessing and finding the system order
-<A href=".\doc\IB01BD.html">
-<B>IB01BD</B></A>   Estimating the system matrices, covariances, and Kalman gain
-<A href=".\doc\IB01CD.html">
-<B>IB01CD</B></A>   Estimating the initial state and the system matrices B and D
-</PRE>
-<h4>Wiener Systems</h4>
-<PRE>
-<A href=".\doc\IB03AD.html">
-<B>IB03AD</B></A>   Estimating a Wiener system by a Levenberg-Marquardt algorithm
-         (Cholesky-based or conjugate gradients solver)
-<A href=".\doc\IB03BD.html">
-<B>IB03BD</B></A>   Estimating a Wiener system by a MINPACK-like Levenberg-Marquardt
-         algorithm
-</PRE>
-<HR>
-<A NAME="M"><H2>M - Mathematical Routines</H2></A>
-<h3>MB - Linear Algebra</h3>
-<h4>Basic Linear Algebra Manipulations</h4>
-<PRE>
-<A href=".\doc\MB01PD.html">
-<B>MB01PD</B></A>   Matrix scaling (higher level routine)
-<A href=".\doc\MB01QD.html">
-<B>MB01QD</B></A>   Matrix scaling (lower level routine)
-<A href=".\doc\MB01RB.html">
-<B>MB01RB</B></A>   Computation of a triangle of matrix expression alpha*R + beta*A*B 
-         or alpha*R + beta*B*A ( BLAS 3 version)
-<A href=".\doc\MB01RD.html">
-<B>MB01RD</B></A>   Computation of matrix expression alpha*R + beta*A*X*trans(A)
-<A href=".\doc\MB01TD.html">
-<B>MB01TD</B></A>   Product of two upper quasi-triangular matrices 
-<A href=".\doc\MB01UD.html">
-<B>MB01UD</B></A>   Computation of matrix expressions alpha*H*A or alpha*A*H,
-         with H an upper Hessenberg matrix
-<A href=".\doc\MB01UX.html">
-<B>MB01UX</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, T quasi-triangular
-<A href=".\doc\MB01UY.html">
-<B>MB01UY</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
-<A href=".\doc\MB01UZ.html">
-<B>MB01UZ</B></A>   Computation of matrix expressions alpha*T*A or alpha*A*T, over T, T triangular
-         (complex version)
-<A href=".\doc\MB01WD.html">
-<B>MB01WD</B></A>   Residuals of Lyapunov or Stein equations for Cholesky factored 
-         solutions
-<A href=".\doc\MB01XD.html">
-<B>MB01XD</B></A>   Computation of the product U'*U or L*L', with U and L upper and 
-         lower triangular matrices (block algorithm)
-<A href=".\doc\MB01YD.html">
-<B>MB01YD</B></A>   Symmetric rank k operation C := alpha*A*A' + beta*C, C symmetric
-<A href=".\doc\MB01ZD.html">
-<B>MB01ZD</B></A>   Computation of matrix expressions H := alpha*T*H, or H := alpha*H*T,
-         with H Hessenberg-like, T triangular
-</PRE>
-<h4>Linear Equations and Least Squares</h4>
-<PRE>
-<A href=".\doc\MB02CD.html">
-<B>MB02CD</B></A>   Cholesky factorization of a positive definite block Toeplitz matrix
-<A href=".\doc\MB02DD.html">
-<B>MB02DD</B></A>   Updating Cholesky factorization of a positive definite block 
-         Toeplitz matrix
-<A href=".\doc\MB02ED.html">
-<B>MB02ED</B></A>   Solution of T*X = B or X*T = B, with T a positive definite
-         block Toeplitz matrix
-<A href=".\doc\MB02FD.html">
-<B>MB02FD</B></A>   Incomplete Cholesky factor of a positive definite block Toeplitz matrix
-<A href=".\doc\MB02GD.html">
-<B>MB02GD</B></A>   Cholesky factorization of a banded symmetric positive definite
-         block Toeplitz matrix
-<A href=".\doc\MB02HD.html">
-<B>MB02HD</B></A>   Cholesky factorization of the matrix T'*T, with T a banded
-         block Toeplitz matrix of full rank
-<A href=".\doc\MB02ID.html">
-<B>MB02ID</B></A>   Solution of over- or underdetermined linear systems with a full rank
-         block Toeplitz matrix
-<A href=".\doc\MB02JD.html">
-<B>MB02JD</B></A>   Full QR factorization of a block Toeplitz matrix of full rank
-<A href=".\doc\MB02JX.html">
-<B>MB02JX</B></A>   Low rank QR factorization with column pivoting of a block Toeplitz matrix
-<A href=".\doc\MB02KD.html">
-<B>MB02KD</B></A>   Computation of the product C = alpha*op( T )*B + beta*C, with T
-         a block Toeplitz matrix
-<A href=".\doc\MB02MD.html">
-<B>MB02MD</B></A>   Solution of Total Least-Squares problem using a SVD approach
-<A href=".\doc\MB02ND.html">
-<B>MB02ND</B></A>   Solution of Total Least-Squares problem using a partial SVD approach
-<A href=".\doc\MB02OD.html">
-<B>MB02OD</B></A>   Solution of op(A)*X = alpha*B, or X*op(A) = alpha*B, A triangular 
-<A href=".\doc\MB02PD.html">
-<B>MB02PD</B></A>   Solution of matrix equation op(A)*X = B, with error bounds 
-         and condition estimates
-<A href=".\doc\MB02QD.html">
-<B>MB02QD</B></A>   Solution, optionally corresponding to specified free elements, 
-         of a linear least squares problem
-<A href=".\doc\MB02RD.html">
-<B>MB02RD</B></A>   Solution of a linear system with upper Hessenberg matrix
-<A href=".\doc\MB02RZ.html">
-<B>MB02RZ</B></A>   Solution of a linear system with complex upper Hessenberg matrix
-<A href=".\doc\MB02SD.html">
-<B>MB02SD</B></A>   LU factorization of an upper Hessenberg matrix
-<A href=".\doc\MB02SZ.html">
-<B>MB02SZ</B></A>   LU factorization of a complex upper Hessenberg matrix
-<A href=".\doc\MB02TD.html">
-<B>MB02TD</B></A>   Condition number of an upper Hessenberg matrix
-<A href=".\doc\MB02TZ.html">
-<B>MB02TZ</B></A>   Condition number of a complex upper Hessenberg matrix
-<A href=".\doc\MB02UD.html">
-<B>MB02UD</B></A>   Minimum norm least squares solution of op(R)*X = B, or X*op(R) = B,
-         using singular value decomposition (R upper triangular)
-<A href=".\doc\MB02VD.html">
-<B>MB02VD</B></A>   Solution of X*op(A) = B
-</PRE>
-<h4>Eigenvalues and Eigenvectors</h4>
-<PRE>
-<A href=".\doc\MB03LF.html">
-<B>MB03LF</B></A>   Eigenvalues and right deflating subspace of a real 
-         skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB03FZ.html">
-<B>MB03FZ</B></A>   Eigenvalues and right deflating subspace of a complex 
-         skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB03LD.html">
-<B>MB03LD</B></A>   Eigenvalues and right deflating subspace of a real 
-         skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB03LP.html">
-<B>MB03LP</B></A>   Eigenvalues and right deflating subspace of a real 
-         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB03LZ.html">
-<B>MB03LZ</B></A>   Eigenvalues and right deflating subspace of a complex 
-         skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB3LZP.html">
-<B>MB3LZP</B></A>   Eigenvalues and right deflating subspace of a complex 
-         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB03MD.html">
-<B>MB03MD</B></A>   Upper bound for L singular values of a bidiagonal matrix
-<A href=".\doc\MB03ND.html">
-<B>MB03ND</B></A>   Number of singular values of a bidiagonal matrix less than a bound
-<A href=".\doc\MB03OD.html">
-<B>MB03OD</B></A>   Matrix rank determination by incremental condition estimation
-<A href=".\doc\MB03PD.html">
-<B>MB03PD</B></A>   Matrix rank determination (row pivoting)
-<A href=".\doc\MB03QD.html">
-<B>MB03QD</B></A>   Reordering of the diagonal blocks of a real Schur matrix
-<A href=".\doc\MB03QG.html">
-<B>MB03QG</B></A>   Reordering of the diagonal blocks of principal subpencil of 
-         a real Schur-triangular matrix pencil
-<A href=".\doc\MB03RD.html">
-<B>MB03RD</B></A>   Reduction of a real Schur matrix to a block-diagonal form
-<A href=".\doc\MB03RZ.html">
-<B>MB03RZ</B></A>   Reduction of a complex Schur matrix to a block-diagonal form
-<A href=".\doc\MB03SD.html">
-<B>MB03SD</B></A>   Eigenvalues of a square-reduced Hamiltonian matrix
-<A href=".\doc\MB03TD.html">
-<B>MB03TD</B></A>   Reordering the diagonal blocks of a matrix in (skew-)Hamiltonian Schur form
-<A href=".\doc\MB03UD.html">
-<B>MB03UD</B></A>   Singular value decomposition of an upper triangular matrix
-<A href=".\doc\MB03VD.html">
-<B>MB03VD</B></A>   Periodic Hessenberg form of a product of matrices
-<A href=".\doc\MB03VW.html">
-<B>MB03VW</B></A>   Periodic Hessenberg form of a formal product of matrices
-<A href=".\doc\MB03WD.html">
-<B>MB03WD</B></A>   Periodic Schur decomposition and eigenvalues of a product of
-         matrices in periodic Hessenberg form
-<A href=".\doc\MB03XD.html">
-<B>MB03XD</B></A>   Eigenvalues of a Hamiltonian matrix
-<A href=".\doc\MB03XZ.html">
-<B>MB03XZ</B></A>   Eigenvalues of a complex Hamiltonian matrix
-<A href=".\doc\MB03XP.html">
-<B>MB03XP</B></A>   Periodic Schur decomposition and eigenvalues of a matrix product A*B, 
-         A upper Hessenberg and B upper triangular
-<A href=".\doc\MB03YD.html">
-<B>MB03YD</B></A>   Periodic QR iteration
-<A href=".\doc\MB03ZD.html">
-<B>MB03ZD</B></A>   Stable and unstable invariant subspaces for a dichotomic Hamiltonian matrix
-</PRE>
-<h4>Decompositions and Transformations</h4>
-<PRE>
-<A href=".\doc\MB04AD.html">
-<B>MB04AD</B></A>   Eigenvalues and generalized symplectic URV decomposition of a real 
-         skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB04AZ.html">
-<B>MB04AZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil in factored form
-<A href=".\doc\MB04BD.html">
-<B>MB04BD</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB04BP.html">
-<B>MB04BP</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB04BZ.html">
-<B>MB04BZ</B></A>   Eigenvalues of a complex skew-Hamiltonian/Hamiltonian pencil
-<A href=".\doc\MB04DL.html">
-<B>MB04DL</B></A>   Balancing a real matrix pencil, optionally avoiding large 
-         norms for the scaled (sub)matrices
-<A href=".\doc\MB4DLZ.html">
-<B>MB4DLZ</B></A>   Balancing a complex matrix pencil, optionally avoiding large 
-         norms for the scaled (sub)matrices 
-<A href=".\doc\MB04DP.html">
-<B>MB04DP</B></A>   Balancing a real skew-Hamiltonian/Hamiltonian matrix pencil, 
-         optionally avoiding large norms for the scaled (sub)matrices
-<A href=".\doc\MB4DPZ.html">
-<B>MB4DPZ</B></A>   Balancing a complex skew-Hamiltonian/Hamiltonian matrix pencil, 
-         optionally avoiding large norms for the scaled (sub)matrices
-<A href=".\doc\MB04ED.html">
-<B>MB04ED</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/skew-Hamiltonian pencil in factored form
-<A href=".\doc\MB04FD.html">
-<B>MB04FD</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/skew-Hamiltonian pencil
-<A href=".\doc\MB04FP.html">
-<B>MB04FP</B></A>   Eigenvalues and orthogonal decomposition of a real 
-         skew-Hamiltonian/skew-Hamiltonian pencil (applying transformations on panels of columns)
-<A href=".\doc\MB04GD.html">
-<B>MB04GD</B></A>   RQ factorization of a matrix with row pivoting
-<A href=".\doc\MB04ID.html">
-<B>MB04ID</B></A>   QR factorization of a matrix with a lower left zero triangle
-<A href=".\doc\MB04IZ.html">
-<B>MB04IZ</B></A>   QR factorization of a matrix with a lower left zero triangle (complex case)
-<A href=".\doc\MB04JD.html">
-<B>MB04JD</B></A>   LQ factorization of a matrix with an upper right zero triangle
-<A href=".\doc\MB04KD.html">
-<B>MB04KD</B></A>   QR factorization of a special structured block matrix
-<A href=".\doc\MB04LD.html">
-<B>MB04LD</B></A>   LQ factorization of a special structured block matrix
-<A href=".\doc\MB04MD.html">
-<B>MB04MD</B></A>   Balancing a general real matrix
-<A href=".\doc\MB04ND.html">
-<B>MB04ND</B></A>   RQ factorization of a special structured block matrix
-<A href=".\doc\MB04OD.html">
-<B>MB04OD</B></A>   QR factorization of a special structured block matrix (variant)
-<A href=".\doc\MB04PB.html">
-<B>MB04PB</B></A>   Paige/Van Loan form of a Hamiltonian matrix
-<A href=".\doc\MB04TB.html">
-<B>MB04TB</B></A>   Symplectic URV decomposition of a real 2N-by-2N matrix
-<A href=".\doc\MB04UD.html">
-<B>MB04UD</B></A>   Unitary column echelon form for a rectangular matrix 
-<A href=".\doc\MB04VD.html">
-<B>MB04VD</B></A>   Upper block triangular form for a rectangular pencil
-<A href=".\doc\MB04XD.html">
-<B>MB04XD</B></A>   Basis for left/right null singular subspace of a matrix  
-<A href=".\doc\MB04YD.html">
-<B>MB04YD</B></A>   Partial diagonalization of a bidiagonal matrix  
-<A href=".\doc\MB04ZD.html">
-<B>MB04ZD</B></A>   Transforming a Hamiltonian matrix into a square-reduced form  
-</PRE>
-<h4>Matrix Functions</h4>
-<PRE>
-<A href=".\doc\MB05MD.html">
-<B>MB05MD</B></A>   Matrix exponential for a real non-defective matrix 
-<A href=".\doc\MB05ND.html">
-<B>MB05ND</B></A>   Matrix exponential and integral for a real matrix 
-<A href=".\doc\MB05OD.html">
-<B>MB05OD</B></A>   Matrix exponential for a real matrix, with accuracy estimate
-</PRE>
-<h3>MC - Polynomial and Rational Function Manipulation</h3>
-<h4>Scalar Polynomials</h4>
-<PRE>
-<A href=".\doc\MC01MD.html">
-<B>MC01MD</B></A>   The leading coefficients of the shifted polynomial  
-<A href=".\doc\MC01ND.html">
-<B>MC01ND</B></A>   Value of a real polynomial at a given complex point  
-<A href=".\doc\MC01OD.html">
-<B>MC01OD</B></A>   Coefficients of a complex polynomial, given its zeros  
-<A href=".\doc\MC01PD.html">
-<B>MC01PD</B></A>   Coefficients of a real polynomial, given its zeros  
-<A href=".\doc\MC01QD.html">
-<B>MC01QD</B></A>   Quotient and remainder polynomials for polynomial division 
-<A href=".\doc\MC01RD.html">
-<B>MC01RD</B></A>   Polynomial operation P(x) = P1(x) P2(x) + alpha P3(x)  
-<A href=".\doc\MC01SD.html">
-<B>MC01SD</B></A>   Scaling coefficients of a real polynomial for minimal variation  
-<A href=".\doc\MC01TD.html">
-<B>MC01TD</B></A>   Checking stability of a given real polynomial  
-<A href=".\doc\MC01VD.html">
-<B>MC01VD</B></A>   Roots of a quadratic equation with real coefficients  
-<A href=".\doc\MC01WD.html">
-<B>MC01WD</B></A>   Quotient and remainder polynomials for a quadratic denominator  
-<A href=".\doc\MC01XD.html">
-<B>MC01XD</B></A>   Roots of a third order polynomial  
-</PRE>
-<h4>Polynomial Matrices</h4>
-<PRE>
-<A href=".\doc\MC03MD.html">
-<B>MC03MD</B></A>   Real polynomial matrix operation P(x) = P1(x) P2(x) + alpha P3(x)  
-<A href=".\doc\MC03ND.html">
-<B>MC03ND</B></A>   Minimal polynomial basis for the right nullspace of a polynomial matrix  
-</PRE>
-<h3>MD - Optimization</h3>
-<h4>Unconstrained Nonlinear Least Squares</h4>
-<PRE>
-<A href=".\doc\MD03AD.html">
-<B>MD03AD</B></A>   Levenberg-Marquardt algorithm (Cholesky-based or conjugate
-         gradients solver)
-<A href=".\doc\MD03BD.html">
-<B>MD03BD</B></A>   Enhanced MINPACK-like Levenberg-Marquardt algorithm 
-</PRE>
-<HR>
-<A NAME="N"><H2>N - Nonlinear Systems</H2></A>
-<h3>NI - Interfaces to Nonlinear Solvers</h3>
-<h4>ODE and DAE Solvers</h4>
-<PRE>
-<A href=".\doc\DAESolver.html">
-<B>DAESolver</B></A>    Interface to DAE Solvers
-<A href=".\doc\ODESolver.html">
-<B>ODESolver</B></A>    Interface to ODE Solvers
-</PRE>
-<h4>Nonlinear Equation Solvers</h4>
-<PRE>
-<A href=".\doc\KINSOL.html">
-<B>KINSOL</B></A>    Interface to KINSOL solver for nonlinear systems of equations
-</PRE>
-<h4>Nonlinear Optimization Solvers</h4>
-<PRE>
-<A href=".\doc\FSQP.html">
-<B>FSQP</B></A>    Interface to FSQP solver for nonlinear optimization
-</PRE>
-<HR>
-<A NAME="S"><H2>S - Synthesis Routines</H2></A>
-<h3>SB - State-Space Synthesis</h3>
-<h4>Eigenvalue/Eigenvector Assignment</h4>
-<PRE>
-<A href=".\doc\SB01BD.html">
-<B>SB01BD</B></A>    Pole assignment for a given matrix pair (A,B)
-<A href=".\doc\SB01DD.html">
-<B>SB01DD</B></A>    Eigenstructure assignment for a controllable matrix pair (A,B) in
-          orthogonal canonical form
-<A href=".\doc\SB01MD.html">
-<B>SB01MD</B></A>    State feedback matrix of a time-invariant single-input system
-</PRE>
-<h4>Riccati Equations</h4>
-<PRE>
-<A href=".\doc\SB02MD.html">
-<B>SB02MD</B></A>    Solution of algebraic Riccati equations (Schur vectors method)
-<A href=".\doc\SB02MT.html">
-<B>SB02MT</B></A>    Conversion of problems with coupling terms to standard problems
-<A href=".\doc\SB02MX.html">
-<B>SB02MX</B></A>    Conversion of problems with coupling terms to standard problems
-          (more flexibility)
-<A href=".\doc\SB02ND.html">
-<B>SB02ND</B></A>    Optimal state feedback matrix for an optimal control problem
-<A href=".\doc\SB02OD.html">
-<B>SB02OD</B></A>    Solution of algebraic Riccati equations (generalized Schur method)
-<A href=".\doc\SB02PD.html">
-<B>SB02PD</B></A>    Solution of continuous algebraic Riccati equations (matrix sign 
-          function method) with condition and forward error bound estimates
-<A href=".\doc\SB02QD.html">
-<B>SB02QD</B></A>    Condition and forward error for continuous Riccati equation solution
-<A href=".\doc\SB02RD.html">
-<B>SB02RD</B></A>    Solution of algebraic Riccati equations (refined Schur vectors method) 
-          with condition and forward error bound estimates
-<A href=".\doc\SB02SD.html">
-<B>SB02SD</B></A>    Condition and forward error for discrete Riccati equation solution
-</PRE>
-<h4>Lyapunov Equations</h4>
-<PRE>
-<A href=".\doc\SB03MD.html">
-<B>SB03MD</B></A>    Solution of Lyapunov equations and separation estimation
-<A href=".\doc\SB03OD.html">
-<B>SB03OD</B></A>    Solution of stable Lyapunov equations (Cholesky factor)
-<A href=".\doc\SB03OZ.html">
-<B>SB03OZ</B></A>    Solution of stable complex Lyapunov equations (Cholesky factor)
-<A href=".\doc\SB03PD.html">
-<B>SB03PD</B></A>    Solution of discrete Lyapunov equations and separation estimation
-<A href=".\doc\SB03QD.html">
-<B>SB03QD</B></A>    Condition and forward error for continuous Lyapunov equations
-<A href=".\doc\SB03RD.html">
-<B>SB03RD</B></A>    Solution of continuous Lyapunov equations and separation estimation
-<A href=".\doc\SB03SD.html">
-<B>SB03SD</B></A>    Condition and forward error for discrete Lyapunov equations
-<A href=".\doc\SB03TD.html">
-<B>SB03TD</B></A>    Solution of continuous Lyapunov equations, condition and forward error 
-          estimation
-<A href=".\doc\SB03UD.html">
-<B>SB03UD</B></A>    Solution of discrete Lyapunov equations, condition and forward error 
-          estimation
-</PRE>
-<h4>Sylvester Equations</h4>
-<PRE>
-<A href=".\doc\SB04MD.html">
-<B>SB04MD</B></A>    Solution of continuous Sylvester equations (Hessenberg-Schur method)
-<A href=".\doc\SB04ND.html">
-<B>SB04ND</B></A>    Solution of continuous Sylvester equations (one matrix in Schur form)
-<A href=".\doc\SB04OD.html">
-<B>SB04OD</B></A>    Solution of generalized Sylvester equations with separation estimation
-<A href=".\doc\SB04PD.html">
-<B>SB04PD</B></A>    Solution of continuous or discrete Sylvester equations (Schur method)
-<A href=".\doc\SB04QD.html">
-<B>SB04QD</B></A>    Solution of discrete Sylvester equations (Hessenberg-Schur method)
-<A href=".\doc\SB04RD.html">
-<B>SB04RD</B></A>    Solution of discrete Sylvester equations (one matrix in Schur form)
-</PRE>
-<h4>Deadbeat Control</h4>
-<PRE>
-<A href=".\doc\SB06ND.html">
-<B>SB06ND</B></A>    Minimum norm deadbeat control state feedback matrix 
-</PRE>
-<h4>Transfer Matrix Factorization</h4>
-<PRE>
-<A href=".\doc\SB08CD.html">
-<B>SB08CD</B></A>    Left coprime factorization with inner denominator
-<A href=".\doc\SB08DD.html">
-<B>SB08DD</B></A>    Right coprime factorization with inner denominator
-<A href=".\doc\SB08ED.html">
-<B>SB08ED</B></A>    Left coprime factorization with prescribed stability degree
-<A href=".\doc\SB08FD.html">
-<B>SB08FD</B></A>    Right coprime factorization with prescribed stability degree
-<A href=".\doc\SB08GD.html">
-<B>SB08GD</B></A>    State-space representation of a left coprime factorization
-<A href=".\doc\SB08HD.html">
-<B>SB08HD</B></A>    State-space representation of a right coprime factorization
-<A href=".\doc\SB08MD.html">
-<B>SB08MD</B></A>    Spectral factorization of polynomials (continuous-time case)
-<A href=".\doc\SB08ND.html">
-<B>SB08ND</B></A>    Spectral factorization of polynomials (discrete-time case)
-</PRE>
-<h4>Realization Methods</h4>
-<PRE>
-<A href=".\doc\SB09MD.html">
-<B>SB09MD</B></A>    Closeness of two multivariable sequences
-
-</PRE>
-<h4>Optimal Regulator Problems</h4>
-<PRE>
-<A href=".\doc\SB10AD.html">
-<B>SB10AD</B></A>    H-infinity optimal controller using modified Glover's and Doyle's
-          formulas (continuous-time)
-<A href=".\doc\SB10DD.html">
-<B>SB10DD</B></A>    H-infinity (sub)optimal state controller for a discrete-time system
-<A href=".\doc\SB10ED.html">
-<B>SB10ED</B></A>    H2 optimal state controller for a discrete-time system
-<A href=".\doc\SB10FD.html">
-<B>SB10FD</B></A>    H-infinity (sub)optimal state controller for a continuous-time system
-<A href=".\doc\SB10HD.html">
-<B>SB10HD</B></A>    H2 optimal state controller for a continuous-time system
-<A href=".\doc\SB10MD.html">
-<B>SB10MD</B></A>    D-step in the D-K iteration for continuous-time case
-<A href=".\doc\SB10ID.html">
-<B>SB10ID</B></A>    Positive feedback controller for a continuous-time system
-<A href=".\doc\SB10KD.html">
-<B>SB10KD</B></A>    Positive feedback controller for a discrete-time system
-<A href=".\doc\SB10ZD.html">
-<B>SB10ZD</B></A>    Positive feedback controller for a discrete-time system (D <> 0)
-
-</PRE>
-<h4>Controller Reduction</h4>
-<PRE>
-<A href=".\doc\SB16AD.html">
-<B>SB16AD</B></A>    Stability/performance enforcing frequency-weighted controller reduction
-<A href=".\doc\SB16BD.html">
-<B>SB16BD</B></A>    Coprime factorization based state feedback controller reduction
-<A href=".\doc\SB16CD.html">
-<B>SB16CD</B></A>    Coprime factorization based frequency-weighted state feedback 
-          controller reduction
-</PRE>
-<h3>SG - Generalized State-Space Synthesis</h3>
-<h4>Riccati Equations</h4>
-<PRE>
-<A href=".\doc\SG02AD.html">
-<B>SG02AD</B></A>    Solution of algebraic Riccati equations for descriptor systems
-<A href=".\doc\SG02CW.html">
-<B>SG02CW</B></A>    Residual of continuous- or discrete-time (generalized) algebraic
-          Riccati equations
-<A href=".\doc\SG02CX.html">
-<B>SG02CX</B></A>    Line search parameter minimizing the residual of (generalized) 
-          continuous- or discrete-time algebraic Riccati equations
-<A href=".\doc\SG02ND.html">
-<B>SG02ND</B></A>    Optimal state feedback matrix for an optimal control problem
-</PRE>
-<h4>Generalized Lyapunov Equations</h4>
-<PRE>
-<A href=".\doc\SG03AD.html">
-<B>SG03AD</B></A>    Solution of generalized Lyapunov equations and separation estimation
-<A href=".\doc\SG03BD.html">
-<B>SG03BD</B></A>    Solution of stable generalized Lyapunov equations (Cholesky factor)
-<A href=".\doc\SG03BZ.html">
-<B>SG03BZ</B></A>    Solution of stable generalized complex Lyapunov equations (Cholesky factor)
-</PRE>
-<HR>
-<A NAME="T"><H2>T - Transformation Routines</H2></A>
-<h3>TB - State-Space</h3>
-<h4>State-Space Transformations</h4>
-<PRE>
-<A href=".\doc\TB01ID.html">
-<B>TB01ID</B></A>   Balancing a system matrix for a given triplet
-<A href=".\doc\TB01IZ.html">
-<B>TB01IZ</B></A>   Balancing a system matrix for a given triplet (complex case)
-<A href=".\doc\TB01KD.html">
-<B>TB01KD</B></A>   Additive spectral decomposition of a state-space system 
-<A href=".\doc\TB01LD.html">
-<B>TB01LD</B></A>   Spectral separation of a state-space system
-<A href=".\doc\TB01MD.html">
-<B>TB01MD</B></A>   Upper/lower controller Hessenberg form
-<A href=".\doc\TB01ND.html">
-<B>TB01ND</B></A>   Upper/lower observer Hessenberg form 
-<A href=".\doc\TB01PD.html">
-<B>TB01PD</B></A>   Minimal, controllable or observable block Hessenberg realization 
-<A href=".\doc\TB01PX.html">
-<B>TB01PX</B></A>   Minimal, controllable or observable block Hessenberg realization (variant)
-<A href=".\doc\TB01TD.html">
-<B>TB01TD</B></A>   Balancing state-space representation by permutations and scalings
-<A href=".\doc\TB01UD.html">
-<B>TB01UD</B></A>   Controllable block Hessenberg realization for a state-space representation
-<A href=".\doc\TB01UY.html">
-<B>TB01UY</B></A>   Controllable block Hessenberg realization for a standard multi-input system
-<A href=".\doc\TB01WD.html">
-<B>TB01WD</B></A>   Reduction of the state dynamics matrix to real Schur form 
-<A href=".\doc\TB01WX.html">
-<B>TB01WX</B></A>   Orthogonal similarity transformation of a standard system to one 
-         with state matrix in a Hessenberg form
-<A href=".\doc\TB01ZD.html">
-<B>TB01ZD</B></A>   Controllable realization for single-input systems 
-</PRE>
-<h4>State-Space to Polynomial Matrix Conversion</h4>
-<PRE>
-<A href=".\doc\TB03AD.html">
-<B>TB03AD</B></A>   Left/right polynomial matrix representation of a state-space representation
-</PRE>
-<h4>State-Space to Rational Matrix Conversion</h4>
-<PRE>
-<A href=".\doc\TB04AD.html">
-<B>TB04AD</B></A>   Transfer matrix of a state-space representation  
-<A href=".\doc\TB04BD.html">
-<B>TB04BD</B></A>   Transfer matrix of a state-space representation, using the pole-zeros method
-<A href=".\doc\TB04CD.html">
-<B>TB04CD</B></A>   Transfer matrix of a state-space representation in the pole-zero-gain form 
-</PRE>
-<h4>State-Space to Frequency Response</h4>
-<PRE>
-<A href=".\doc\TB05AD.html">
-<B>TB05AD</B></A>   Frequency response matrix of a state-space representation 
-</PRE>
-<h3>TC - Polynomial Matrix</h3>
-<h4>Polynomial Matrix Transformations</h4>
-<PRE>
-<A href=".\doc\TC01OD.html">
-<B>TC01OD</B></A>   Dual of a left/right polynomial matrix representation
-</PRE>
-<h4>Polynomial Matrix to State-Space Conversion</h4>
-<PRE>
-<A href=".\doc\TC04AD.html">
-<B>TC04AD</B></A>   State-space representation for left/right polynomial matrix representation
-</PRE>
-<h4>Polynomial Matrix to  Frequency Response</h4>
-<PRE>
-<A href=".\doc\TC05AD.html">
-<B>TC05AD</B></A>   Transfer matrix of a left/right polynomial matrix representation
-</PRE>
-<h3>TD - Rational  Matrix</h3>
-<h4>Rational Matrix to Polynomial Matrix Conversion</h4>
-<PRE>
-<A href=".\doc\TD03AD.html">
-<B>TD03AD</B></A>   Left/right polynomial matrix representation for a proper transfer matrix
-</PRE>
-<h4>Rational Matrix to State-Space Conversion</h4>
-<PRE>
-<A href=".\doc\TD04AD.html">
-<B>TD04AD</B></A>   Minimal state-space representation for a proper transfer matrix 
-</PRE>
-<h4>Rational Matrix to Frequency Response</h4>
-<PRE>
-<A href=".\doc\TD05AD.html">
-<B>TD05AD</B></A>   Evaluation of a transfer function for a specified frequency 
-</PRE>
-<h3>TF - Time Response</h3>
-<PRE>
-<A href=".\doc\TF01MD.html">
-<B>TF01MD</B></A>   Output response of a linear discrete-time system
-<A href=".\doc\TF01ND.html">
-<B>TF01ND</B></A>   Output response of a linear discrete-time system (Hessenberg matrix)
-<A href=".\doc\TF01OD.html">
-<B>TF01OD</B></A>   Block Hankel expansion of a multivariable parameter sequence
-<A href=".\doc\TF01PD.html">
-<B>TF01PD</B></A>   Block Toeplitz expansion of a multivariable parameter sequence
-<A href=".\doc\TF01QD.html">
-<B>TF01QD</B></A>   Markov parameters of a system from transfer function matrix
-<A href=".\doc\TF01RD.html">
-<B>TF01RD</B></A>   Markov parameters of a system from state-space representation
-</PRE>
-<h3>TG - Generalized State-space</h3>
-<h4>Generalized State-space Transformations</h4>
-<PRE>
-<A href=".\doc\TG01AD.html">
-<B>TG01AD</B></A>   Balancing the matrices of the system pencil corresponding to a
-         descriptor triple
-<A href=".\doc\TG01AZ.html">
-<B>TG01AZ</B></A>   Balancing the matrices of the system pencil corresponding to a
-         descriptor triple (complex case)
-<A href=".\doc\TG01BD.html">
-<B>TG01BD</B></A>   Orthogonal reduction of a descriptor system to the generalized 
-         Hessenberg form
-<A href=".\doc\TG01CD.html">
-<B>TG01CD</B></A>   Orthogonal reduction of a descriptor system pair (A-sE,B)
-         to the QR-coordinate form
-<A href=".\doc\TG01DD.html">
-<B>TG01DD</B></A>   Orthogonal reduction of a descriptor system pair (C,A-sE)
-         to the RQ-coordinate form
-<A href=".\doc\TG01ED.html">
-<B>TG01ED</B></A>   Orthogonal reduction of a descriptor system to a SVD coordinate 
-         form
-<A href=".\doc\TG01FD.html">
-<B>TG01FD</B></A>   Orthogonal reduction of a descriptor system to a SVD-like
-         coordinate form
-<A href=".\doc\TG01FZ.html">
-<B>TG01FZ</B></A>   Orthogonal reduction of a descriptor system to a SVD-like 
-         coordinate form (complex case)
-<A href=".\doc\TG01GD.html">
-<B>TG01GD</B></A>   Reduced descriptor representation without non-dynamic modes
-<A href=".\doc\TG01HD.html">
-<B>TG01HD</B></A>   Orthogonal reduction of a descriptor system to the controllability
-         staircase form
-<A href=".\doc\TG01ID.html">
-<B>TG01ID</B></A>   Orthogonal reduction of a descriptor system to the observability
-         staircase form
-<A href=".\doc\TG01JD.html">
-<B>TG01JD</B></A>   Irreducible descriptor representation
-<A href=".\doc\TG01JY.html">
-<B>TG01JY</B></A>   Irreducible descriptor representation (blocked version)
-<A href=".\doc\TG01LD.html">
-<B>TG01LD</B></A>   Finite-infinite decomposition of a descriptor system
-<A href=".\doc\TG01MD.html">
-<B>TG01MD</B></A>   Finite-infinite generalized real Schur form decomposition of a descriptor system
-<A href=".\doc\TG01ND.html">
-<B>TG01ND</B></A>   Finite-infinite block-diagonal decomposition of a descriptor system
-<A href=".\doc\TG01OD.html">
-<B>TG01OD</B></A>   Reducing a SISO descriptor system with E nonsingular so that
-         the obtained feedthrough term has a sufficiently large magnitude
-<A href=".\doc\TG01OZ.html">
-<B>TG01OZ</B></A>   Reducing a complex SISO descriptor system with E nonsingular so that
-         the obtained feedthrough term has a sufficiently large magnitude
-<A href=".\doc\TG01PD.html">
-<B>TG01PD</B></A>   Bi-domain spectral splitting of a subpencil of a descriptor system
-<A href=".\doc\TG01QD.html">
-<B>TG01QD</B></A>   Three-domain spectral splitting of a subpencil of a descriptor system
-<A href=".\doc\TG01WD.html">
-<B>TG01WD</B></A>   Reduction of the descriptor dynamics matrix pair to generalized 
-         real Schur form
-</PRE>
-<HR>
-<A NAME="U"><H2>U - Utility Routines</H2></A>
-<h3>UD - Numerical Data Handling</h3>
-<PRE>
-<A href=".\doc\UD01BD.html">
-<B>UD01BD</B></A>   Reading a matrix polynomial
-<A href=".\doc\UD01CD.html">
-<B>UD01CD</B></A>   Reading a sparse matrix polynomial
-<A href=".\doc\UD01DD.html">
-<B>UD01DD</B></A>   Reading a sparse real matrix
-<A href=".\doc\UD01MD.html">
-<B>UD01MD</B></A>   Printing a real matrix
-<A href=".\doc\UD01MZ.html">
-<B>UD01MZ</B></A>   Printing a real matrix (complex case)
-<A href=".\doc\UD01ND.html">
-<B>UD01ND</B></A>   Printing a matrix polynomial
-<A href=".\doc\UE01MD.html">
-<B>UE01MD</B></A>   Default machine-specific parameters for (skew-)Hamiltonian computation routines
-</PRE>
-<HR>
-</BODY>
-</HTML>
diff --git a/doc/source/reference/index.rst b/doc/source/reference/index.rst
index dcfbbb86..4a0ea8a5 100644
--- a/doc/source/reference/index.rst
+++ b/doc/source/reference/index.rst
@@ -1,6 +1,6 @@
-******************
+****************
 Slycot reference
-******************
+****************
 
 For most users only the :ref:`function-ref` is important.
 
@@ -12,6 +12,6 @@ For most users only the :ref:`function-ref` is important.
 
 For advanced users and developer also the :ref:`inner_function-ref` and the
 
-`SLICOT-Reference <../../_static/libindex.html>`_ (non-generated HTML file)
+`SLICOT-Reference <https://www.slicot.org/objects/software/shared/libindex.html>`_
 
 can be important.
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
index 075aeb7c..a5fdc8f7 100644
--- a/doc/source/reference/slycot_outer.rst
+++ b/doc/source/reference/slycot_outer.rst
@@ -1,8 +1,8 @@
 .. _function-ref:
 
-******************
+************************
 Outer function reference
-******************
+************************
 
 .. automodule:: slycot
    :no-members:
@@ -32,8 +32,6 @@ Analysis
     ab13fd
     ab13md
 
-    
-
 Mathematical routines
 =====================
 

From 0450153ca91ebcc8767bf451f5ed2aa6d4360c84 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Wed, 9 Aug 2023 19:54:10 +0200
Subject: [PATCH 09/23] Update outer and inner function reference

---
 doc/create_names_for_reference.py     |  27 +++++++
 doc/source/reference/slycot_inner.rst | 112 +++++++++++++++++---------
 doc/source/reference/slycot_outer.rst |  98 +++++++++++-----------
 3 files changed, 148 insertions(+), 89 deletions(-)
 create mode 100644 doc/create_names_for_reference.py

diff --git a/doc/create_names_for_reference.py b/doc/create_names_for_reference.py
new file mode 100644
index 00000000..eec54aba
--- /dev/null
+++ b/doc/create_names_for_reference.py
@@ -0,0 +1,27 @@
+import re
+import pandas as pd
+import matplotlib.pyplot as plt
+from matplotlib_venn import venn2
+
+import slycot
+slycot.__version__
+
+def get_slycot_routines(sly):
+    all_attributes = dir(sly)
+    r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
+    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below
+    return matched_attributes
+
+slycot_wrapper = get_slycot_routines(slycot)
+slycot_wrapper.sort()
+slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)
+slycot_f2py_wrapper.sort()
+
+print(f"\nslycot_wrapper {len(slycot_wrapper)}\n")
+for routine in slycot_wrapper:
+    print(routine)
+
+print(f"\nslycot_f2py_wrapper {len(slycot_f2py_wrapper)}\n")
+for routine in slycot_f2py_wrapper:
+    print("_wrapper."+routine)
+
diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
index 4f97b785..94c0b9fc 100644
--- a/doc/source/reference/slycot_inner.rst
+++ b/doc/source/reference/slycot_inner.rst
@@ -15,22 +15,23 @@ Analysis
 .. autosummary::
    :toctree: generated/
 
-    _wrapper.ab01nd
-    _wrapper.ab05md
-    _wrapper.ab05nd
-    _wrapper.ab07nd
-    _wrapper.ab08nd
-    _wrapper.ab08nz
-    _wrapper.ab09ad
-    _wrapper.ab09ax
-    _wrapper.ab09bd
-    _wrapper.ab09md
-    _wrapper.ab09nd
-    _wrapper.ab13bd
-    _wrapper.ab13dd
-    _wrapper.ab13ed
-    _wrapper.ab13fd
-    _wrapper.ab13md
+   _wrapper.ab01nd
+   _wrapper.ab05md
+   _wrapper.ab05nd
+   _wrapper.ab07nd
+   _wrapper.ab08nd
+   _wrapper.ab08nz
+   _wrapper.ab09ad
+   _wrapper.ab09ax
+   _wrapper.ab09bd
+   _wrapper.ab09md
+   _wrapper.ab09nd
+   _wrapper.ab13bd
+   _wrapper.ab13dd
+   _wrapper.ab13ed
+   _wrapper.ab13fd
+   _wrapper.ab13md
+   _wrapper.ag08bd
 
 Mathematical routines
 =====================
@@ -38,13 +39,13 @@ Mathematical routines
 .. autosummary::
    :toctree: generated/
 
-    _wrapper.mc01td
-    _wrapper.mb03rd
-    _wrapper.mb03vd
-    _wrapper.mb03vy
-    _wrapper.mb03wd
-    _wrapper.mb05md
-    _wrapper.mb05nd
+   _wrapper.mb03rd
+   _wrapper.mb03vd
+   _wrapper.mb03vy
+   _wrapper.mb03wd
+   _wrapper.mb05md
+   _wrapper.mb05nd
+   _wrapper.mc01td
 
 Synthesis
 =========
@@ -52,26 +53,57 @@ Synthesis
 .. autosummary::
    :toctree: generated/
 
-    _wrapper.sb01bd
-    _wrapper.sb02md
-    _wrapper.sb03md
-    _wrapper.sb03od
-    _wrapper.sb04md
-    _wrapper.sb04qd
-    _wrapper.sb10ad
-    _wrapper.sb10dd
-    _wrapper.sb10fd
-    _wrapper.sb10hd
-    _wrapper.sg03ad
-    _wrapper.sg03bd
+   _wrapper.sb01bd
+   _wrapper.sb02md
+   _wrapper.sb02mt_c
+   _wrapper.sb02mt_cl
+   _wrapper.sb02mt_n
+   _wrapper.sb02mt_nl
+   _wrapper.sb02od_b
+   _wrapper.sb02od_c
+   _wrapper.sb02od_d
+   _wrapper.sb02od_n
+   _wrapper.sb03md
+   _wrapper.sb03od
+   _wrapper.sb04md
+   _wrapper.sb04qd
+   _wrapper.sb10ad
+   _wrapper.sb10dd
+   _wrapper.sb10fd
+   _wrapper.sb10hd
+   _wrapper.sb10jd
+   _wrapper.sg02ad_bb
+   _wrapper.sg02ad_bc
+   _wrapper.sg02ad_bd
+   _wrapper.sg02ad_bn
+   _wrapper.sg02ad_g
+   _wrapper.sg03ad
+   _wrapper.sg03bd
 
 Transformation Routines
 =======================
 
 .. autosummary::
    :toctree: generated/
-
-    _wrapper.tb01id
-    _wrapper.tf01md
-    _wrapper.tf01rd
-    _wrapper.tb01pd
\ No newline at end of file
+      
+   _wrapper.tb01id
+   _wrapper.tb01pd
+   _wrapper.tb03ad_l
+   _wrapper.tb03ad_r
+   _wrapper.tb04ad_c
+   _wrapper.tb04ad_r
+   _wrapper.tb05ad_ag
+   _wrapper.tb05ad_ng
+   _wrapper.tb05ad_nh
+   _wrapper.tc01od_l
+   _wrapper.tc01od_r
+   _wrapper.tc04ad_l
+   _wrapper.tc04ad_r
+   _wrapper.td04ad_c
+   _wrapper.td04ad_r
+   _wrapper.tf01md
+   _wrapper.tf01rd
+   _wrapper.tg01ad
+   _wrapper.tg01fd_ii
+   _wrapper.tg01fd_nn
+   _wrapper.tg01fd_uu
\ No newline at end of file
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
index a5fdc8f7..63089246 100644
--- a/doc/source/reference/slycot_outer.rst
+++ b/doc/source/reference/slycot_outer.rst
@@ -15,22 +15,22 @@ Analysis
 .. autosummary::
    :toctree: generated/
 
-    ab01nd
-    ab05md
-    ab05nd
-    ab07nd
-    ab08nd
-    ab08nz
-    ab09ad
-    ab09ax
-    ab09bd
-    ab09md
-    ab09nd
-    ab13bd
-    ab13dd
-    ab13ed
-    ab13fd
-    ab13md
+   ab01nd
+   ab05md
+   ab05nd
+   ab07nd
+   ab08nd
+   ab08nz
+   ab09ad
+   ab09ax
+   ab09bd
+   ab09md
+   ab09nd
+   ab13bd
+   ab13dd
+   ab13ed
+   ab13fd
+   ab13md
 
 Mathematical routines
 =====================
@@ -38,13 +38,13 @@ Mathematical routines
 .. autosummary::
    :toctree: generated/
 
-    mc01td
-    mb03rd
-    mb03vd
-    mb03vy
-    mb03wd
-    mb05md
-    mb05nd
+   mb03rd
+   mb03vd
+   mb03vy
+   mb03wd
+   mb05md
+   mb05nd
+   mc01td
 
 Synthesis
 =========
@@ -52,22 +52,22 @@ Synthesis
 .. autosummary::
    :toctree: generated/
 
-    sb01bd
-    sb02md
-    sb02mt
-    sb02od
-    sb03md
-    sb03md57
-    sb03od
-    sb04md
-    sb04qd
-    sb10ad
-    sb10dd
-    sb10fd
-    sb10hd
-    sg02ad
-    sg03ad
-    sg03bd
+   sb01bd
+   sb02md
+   sb02mt
+   sb02od
+   sb03md
+   sb03md57
+   sb03od
+   sb04md
+   sb04qd
+   sb10ad
+   sb10dd
+   sb10fd
+   sb10hd
+   sg02ad
+   sg03ad
+   sg03bd
 
 Transformation Routines
 =======================
@@ -75,13 +75,13 @@ Transformation Routines
 .. autosummary::
    :toctree: generated/
 
-    tb01id
-    tb03ad
-    tb04ad
-    tb05ad
-    tc04ad
-    tc01od
-    tf01md
-    tf01rd
-    td04ad
-    tb01pd
\ No newline at end of file
+   tb01id
+   tb01pd
+   tb03ad
+   tb04ad
+   tb05ad
+   tc01od
+   tc04ad
+   td04ad
+   tf01md
+   tf01rd
\ No newline at end of file

From 90e328f84079172696dae28dddf4795de828cd56 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 17 Aug 2023 21:49:05 +0200
Subject: [PATCH 10/23] Update inpect_notebooks, Update create names for Slycot
 reference.

---
 doc/create_names_for_reference.py   |  22 +-
 doc/source/dev/inspect_slycot.ipynb | 149 +++++-----
 doc/source/dev/slicot_slycot.ipynb  | 412 +++++++++++++++++-----------
 3 files changed, 332 insertions(+), 251 deletions(-)

diff --git a/doc/create_names_for_reference.py b/doc/create_names_for_reference.py
index eec54aba..39117918 100644
--- a/doc/create_names_for_reference.py
+++ b/doc/create_names_for_reference.py
@@ -1,3 +1,5 @@
+# Generate the routines divide by slicot-chapters for sphinx-doc.
+# Only prints out the names, copy & past them into slycot_outer.rst and slycot_inner.rst.
 import re
 import pandas as pd
 import matplotlib.pyplot as plt
@@ -9,7 +11,7 @@
 def get_slycot_routines(sly):
     all_attributes = dir(sly)
     r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
-    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below
+    matched_attributes = list(filter(r.match, all_attributes))
     return matched_attributes
 
 slycot_wrapper = get_slycot_routines(slycot)
@@ -17,11 +19,19 @@ def get_slycot_routines(sly):
 slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)
 slycot_f2py_wrapper.sort()
 
+from itertools import groupby
+from operator import itemgetter
+
 print(f"\nslycot_wrapper {len(slycot_wrapper)}\n")
-for routine in slycot_wrapper:
-    print(routine)
+for chapter_letter, chapter_routines in groupby(sorted(slycot_wrapper), key=itemgetter(0)):
+    print(chapter_letter)
+    for routine in chapter_routines:
+        print(routine)
+    print("\n")
 
 print(f"\nslycot_f2py_wrapper {len(slycot_f2py_wrapper)}\n")
-for routine in slycot_f2py_wrapper:
-    print("_wrapper."+routine)
-
+for chapter_letter, chapter_routines in groupby(sorted(slycot_f2py_wrapper), key=itemgetter(0)):
+    print(chapter_letter)
+    for routine in chapter_routines:
+        print("_wrapper."+routine)
+    print("\n")
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index 8d28451a..81907b4a 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -20,14 +20,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": 40,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.1.dev607+g25317fd.d20230808\n"
+      "0.1.dev609+g4f08655.d20230809\n"
      ]
     }
    ],
@@ -47,7 +47,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 41,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -63,7 +63,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 42,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -92,14 +92,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 43,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 49 routines implemented.\n",
+      "There are currently 49 routines that are found in slycot.\n",
       "------\n",
       "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
       "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
@@ -117,7 +117,7 @@
    "source": [
     "slycot_wrapper = get_slycot_routines(slycot)\n",
     "\n",
-    "print(f\"Currently there are {len(slycot_wrapper)} routines implemented.\")\n",
+    "print(f\"There are currently {len(slycot_wrapper)} routines that are found in slycot.\")\n",
     "print(\"------\")\n",
     "print(print_list_chunks(slycot_wrapper))"
    ]
@@ -132,14 +132,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 44,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 71 routines implemented.\n",
+      "There are currently 71 routines that are found in slycot._wrapper.\n",
       "------\n",
       "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
       "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
@@ -160,7 +160,7 @@
    "source": [
     "slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)\n",
     "\n",
-    "print(f\"Currently there are {len(slycot_f2py_wrapper)} routines implemented.\")\n",
+    "print(f\"There are currently {len(slycot_f2py_wrapper)} routines that are found in slycot._wrapper.\")\n",
     "print(\"------\")\n",
     "print(print_list_chunks(slycot_f2py_wrapper))"
    ]
@@ -175,7 +175,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 45,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -185,40 +185,28 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 46,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 10 routines implemented in slycot_wrapper which are not in slycot_f2py_wrapper.\n",
+      "There are currently 10 routines that found in slycot not in slycot._wrapper.\n",
       "------\n",
-      "['tb04ad', 'tb05ad', 'sb02mt', 'td04ad', 'tc04ad', 'tc01od']\n",
-      "['sg02ad', 'tb03ad', 'sb02od', 'sb03md57']\n",
+      "['sb02od', 'tb05ad', 'sb02mt', 'tb04ad', 'sb03md57', 'sg02ad']\n",
+      "['tc01od', 'tb03ad', 'td04ad', 'tc04ad']\n",
       "None\n",
       "\n",
       "\n",
-      "Currently there are 32 routines implemented in slycot_f2py_wrapper which are not in slycot_wrapper.\n",
+      "There are currently 32 routines that are found in slycot._wrapper not in slycot.\n",
       "------\n",
-      "['td04ad_c', 'sb02mt_cl', 'sg02ad_bb', 'sb02mt_c', 'tc04ad_l', 'tg01fd_nn']\n",
-      "['tc01od_r', 'sb02od_c', 'tb04ad_r', 'ag08bd', 'sb02mt_n', 'sg02ad_bn']\n",
-      "['td04ad_r', 'tb03ad_l', 'sg02ad_bc', 'sb02od_d', 'tc04ad_r', 'tg01fd_ii']\n",
-      "['tc01od_l', 'tb05ad_ng', 'sb02od_n', 'sb02mt_nl', 'sb10jd', 'sb02od_b']\n",
-      "['tb05ad_ag', 'tb05ad_nh', 'tg01fd_uu', 'tb04ad_c', 'tg01ad', 'tb03ad_r']\n",
-      "['sg02ad_bd', 'sg02ad_g']\n",
-      "None\n",
-      "\n",
-      "\n",
-      "Currently there are 42 routines implemented in slycot_wrapper or slycot_f2py_wrapper.\n",
-      "------\n",
-      "['td04ad_c', 'tb05ad', 'sb02mt_cl', 'sg02ad_bb', 'sb02mt', 'sb02mt_c']\n",
-      "['tc04ad_l', 'tg01fd_nn', 'tc01od_r', 'tb03ad', 'ag08bd', 'sb02od_c']\n",
-      "['tb04ad_r', 'sb03md57', 'sb02mt_n', 'tb04ad', 'td04ad', 'sg02ad_bn']\n",
-      "['td04ad_r', 'tb03ad_l', 'sg02ad_bc', 'sb02od_d', 'tc04ad_r', 'tg01fd_ii']\n",
-      "['tc01od_l', 'tb05ad_ng', 'sb02od_n', 'sg02ad', 'sb02od', 'sb02mt_nl']\n",
-      "['sb10jd', 'sb02od_b', 'tb05ad_ag', 'tb05ad_nh', 'tg01fd_uu', 'tc04ad']\n",
-      "['tb04ad_c', 'tg01ad', 'tb03ad_r', 'sg02ad_bd', 'tc01od', 'sg02ad_g']\n",
+      "['tb05ad_ag', 'sb02od_b', 'td04ad_c', 'tg01ad', 'sb02mt_n', 'sg02ad_bc']\n",
+      "['sb02od_n', 'tb05ad_nh', 'tg01fd_ii', 'ag08bd', 'tg01fd_nn', 'tc04ad_l']\n",
+      "['sg02ad_bd', 'sb10jd', 'tb05ad_ng', 'sb02od_d', 'tb03ad_r', 'tg01fd_uu']\n",
+      "['tc04ad_r', 'tb04ad_r', 'tb04ad_c', 'sb02mt_cl', 'sg02ad_bb', 'tc01od_l']\n",
+      "['td04ad_r', 'sb02mt_nl', 'tc01od_r', 'sg02ad_g', 'tb03ad_l', 'sb02od_c']\n",
+      "['sg02ad_bn', 'sb02mt_c']\n",
       "None\n",
       "\n",
       "\n"
@@ -226,68 +214,60 @@
     }
    ],
    "source": [
-    "in_slycot_wrapper = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
-    "in_slycot_wrapper\n",
-    "\n",
-    "print(f\"Currently there are {len(in_slycot_wrapper)} routines implemented in slycot_wrapper which are not in slycot_f2py_wrapper.\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(in_slycot_wrapper))\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "in_slycot_f2py_wrapper = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
-    "in_slycot_f2py_wrapper\n",
+    "not_in_slycot_f2py_wrapper = list(set(slycot_wrapper) - set(slycot_f2py_wrapper))\n",
+    "not_in_slycot_f2py_wrapper\n",
     "\n",
-    "print(f\"Currently there are {len(in_slycot_f2py_wrapper)} routines implemented in slycot_f2py_wrapper which are not in slycot_wrapper.\")\n",
+    "print(f\"There are currently {len(not_in_slycot_f2py_wrapper)} routines that found in slycot not in slycot._wrapper.\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(in_slycot_f2py_wrapper))\n",
+    "print(print_list_chunks(not_in_slycot_f2py_wrapper))\n",
     "print(\"\\n\")\n",
     "\n",
-    "diff = list(set(slycot_f2py_wrapper) ^ set(slycot_wrapper))\n",
-    "diff\n",
+    "not_in_slycot_wrapper = list(set(slycot_f2py_wrapper) - set(slycot_wrapper))\n",
+    "not_in_slycot_wrapper\n",
     "\n",
-    "print(f\"Currently there are {len(diff)} routines implemented in slycot_wrapper or slycot_f2py_wrapper.\")\n",
+    "print(f\"There are currently {len(not_in_slycot_wrapper)} routines that are found in slycot._wrapper not in slycot.\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(diff))\n",
+    "print(print_list_chunks(not_in_slycot_wrapper))\n",
     "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 47,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 39 routines implemented in slycot_wrapper and in slycot_f2py_wrapper.\n",
+      "There are currently 81 routines that are found in slycot or in slycot._wrapper. (union)\n",
       "------\n",
-      "['mc01td', 'sb04qd', 'ab13dd', 'ab13md', 'ab13fd', 'sb03od']\n",
-      "['sg03bd', 'ab08nz', 'tb01id', 'mb03rd', 'tb01pd', 'mb05nd']\n",
-      "['sb04md', 'tf01rd', 'sb01bd', 'mb03vd', 'mb05md', 'ab05nd']\n",
-      "['mb03vy', 'ab08nd', 'ab05md', 'ab09ax', 'sb02md', 'sg03ad']\n",
-      "['ab09md', 'sb10dd', 'sb03md', 'ab09bd', 'tf01md', 'ab09ad']\n",
-      "['sb10hd', 'sb10ad', 'ab07nd', 'ab01nd', 'mb03wd', 'ab09nd']\n",
-      "['ab13ed', 'ab13bd', 'sb10fd']\n",
+      "['tb05ad_ag', 'sb02md', 'sb03md', 'ab08nd', 'tg01fd_ii', 'tb05ad_nh']\n",
+      "['sb04md', 'ag08bd', 'tb01pd', 'mb03vd', 'sb03md57', 'ab13bd']\n",
+      "['sb02mt', 'tc04ad', 'ab09nd', 'tc04ad_l', 'sb10jd', 'tf01rd']\n",
+      "['tb05ad_ng', 'sb02od_d', 'ab05md', 'ab07nd', 'sb04qd', 'ab08nz']\n",
+      "['tb04ad', 'mb05nd', 'ab09bd', 'tg01fd_uu', 'mb03vy', 'td04ad']\n",
+      "['ab09ad', 'sb10dd', 'sb10hd', 'sg02ad_bb', 'sg03ad', 'tc01od_l']\n",
+      "['td04ad_r', 'ab13md', 'tc01od', 'mb03wd', 'sb02mt_nl', 'tc01od_r']\n",
+      "['tb03ad_l', 'tb05ad', 'tf01md', 'sb02od_c', 'sb01bd', 'mc01td']\n",
+      "['sb02mt_c', 'sb02od_b', 'td04ad_c', 'tg01ad', 'sb02mt_n', 'sg02ad_bc']\n",
+      "['sb02od_n', 'sg03bd', 'sg02ad', 'tb03ad', 'tb01id', 'mb05md']\n",
+      "['tg01fd_nn', 'sg02ad_bd', 'ab13dd', 'tb03ad_r', 'ab09ax', 'ab05nd']\n",
+      "['mb03rd', 'sb10ad', 'tc04ad_r', 'ab01nd', 'tb04ad_r', 'ab09md']\n",
+      "['tb04ad_c', 'sb02mt_cl', 'ab13fd', 'ab13ed', 'sb03od', 'sg02ad_g']\n",
+      "['sb02od', 'sb10fd', 'sg02ad_bn']\n",
       "None\n",
       "\n",
       "\n",
-      "Currently there are 81 routines implemented in slycot_wrapper or in slycot_f2py_wrapper.\n",
+      "There are currently 39 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
       "------\n",
-      "['mc01td', 'td04ad_c', 'sg02ad_bb', 'sb02mt', 'sb02mt_c', 'tc01od_r']\n",
-      "['ab13md', 'ag08bd', 'ab08nz', 'tb01id', 'mb03rd', 'tb04ad']\n",
-      "['td04ad', 'sb04md', 'tf01rd', 'mb03vd', 'ab05nd', 'tc04ad_r']\n",
-      "['sb02md', 'sg03ad', 'tg01fd_ii', 'tc01od_l', 'tb05ad_ng', 'sb02od_n']\n",
-      "['sb03md', 'sb02mt_nl', 'sb10jd', 'tf01md', 'sb02od_b', 'ab09ad']\n",
-      "['tb05ad_ag', 'sb10hd', 'tb04ad_c', 'sb10ad', 'ab01nd', 'tg01ad']\n",
-      "['ab13ed', 'tb03ad', 'sg02ad_bd', 'tb05ad', 'sb02mt_cl', 'sb04qd']\n",
-      "['tc04ad_l', 'tg01fd_nn', 'ab13dd', 'ab13fd', 'sb03od', 'sb02od_c']\n",
-      "['tb04ad_r', 'sg03bd', 'sb02mt_n', 'sb03md57', 'tb01pd', 'mb05nd']\n",
-      "['sg02ad_bn', 'td04ad_r', 'sb01bd', 'tb03ad_l', 'mb05md', 'sg02ad_bc']\n",
-      "['sb02od_d', 'mb03vy', 'ab08nd', 'ab05md', 'ab09ax', 'ab09md']\n",
-      "['sb10dd', 'sg02ad', 'ab09bd', 'sb02od', 'tb05ad_nh', 'tg01fd_uu']\n",
-      "['tc04ad', 'ab07nd', 'mb03wd', 'ab09nd', 'tb03ad_r', 'ab13bd']\n",
-      "['sb10fd', 'tc01od', 'sg02ad_g']\n",
+      "['sb02md', 'sb03md', 'ab08nd', 'sb04md', 'sg03bd', 'tb01pd']\n",
+      "['mb03vd', 'tb01id', 'ab13bd', 'mb05md', 'ab09nd', 'ab13dd']\n",
+      "['tf01rd', 'ab05md', 'ab07nd', 'ab09ax', 'ab08nz', 'sb04qd']\n",
+      "['ab05nd', 'mb03rd', 'mb05nd', 'ab09bd', 'sb10ad', 'mb03vy']\n",
+      "['ab01nd', 'ab09md', 'ab09ad', 'sb10dd', 'sb10hd', 'sg03ad']\n",
+      "['ab13md', 'ab13fd', 'ab13ed', 'mb03wd', 'sb03od', 'tf01md']\n",
+      "['sb01bd', 'sb10fd', 'mc01td']\n",
       "None\n",
       "\n",
       "\n"
@@ -295,30 +275,31 @@
     }
    ],
    "source": [
-    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
-    "intersection\n",
+    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
     "\n",
-    "print(f\"Currently there are {len(intersection)} routines implemented in slycot_wrapper and in slycot_f2py_wrapper.\")\n",
+    "print(f\"There are currently {len(union)} routines that are found in slycot or in slycot._wrapper. (union)\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(intersection))\n",
+    "print(print_list_chunks(union))\n",
     "print(\"\\n\")\n",
     "\n",
-    "union = list(set(slycot_f2py_wrapper) | set(slycot_wrapper))\n",
     "\n",
-    "print(f\"Currently there are {len(union)} routines implemented in slycot_wrapper or in slycot_f2py_wrapper.\")\n",
+    "intersection = list(set(slycot_f2py_wrapper) & set(slycot_wrapper))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"There are currently {len(intersection)} routines that are found in slycot and in slycot._wrapper. (intersection)\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(union))\n",
+    "print(print_list_chunks(intersection))\n",
     "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 48,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
+      "image/png": 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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -330,7 +311,7 @@
    "source": [
     "venn2(subsets = (len(set(slycot_wrapper)), \n",
     "                 len(set(slycot_f2py_wrapper)), \n",
-    "                 len(intersection)), set_labels = ('slycot_wrapper', 'slycot_f2py_wrapper'))\n",
+    "                 len(intersection)), set_labels = ('slycot', 'slycot._wrapper'))\n",
     "plt.show()"
    ]
   }
diff --git a/doc/source/dev/slicot_slycot.ipynb b/doc/source/dev/slicot_slycot.ipynb
index 98c6b4d0..ddc76215 100644
--- a/doc/source/dev/slicot_slycot.ipynb
+++ b/doc/source/dev/slicot_slycot.ipynb
@@ -19,16 +19,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": 56,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0.1.dev607+g25317fd.d20230808'"
+       "'0.1.dev609+g4f08655.d20230809'"
       ]
      },
-     "execution_count": 19,
+     "execution_count": 56,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -53,7 +53,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": 57,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -69,7 +69,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": 58,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -90,14 +90,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 22,
+   "execution_count": 59,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 607 routines implemented.\n",
+      "There are currently 607 routines that are found in slicot.\n",
       "['mb01wd', 'tg01gd', 'ab13fd', 'sg03ay', 'mb01oe', 'mb02fd']\n",
       "['tg01oa', 'dg01ny', 'sg03ax', 'fb01qd', 'ma02az', 'mc01md']\n",
       "['md03by', 'tf01mx', 'ib01nd', 'mb02rz', 'mb04bp', 'tb01kd']\n",
@@ -210,20 +210,20 @@
     "\n",
     "slicot_routines = [x.split(\"\\n\")[0] for x in lines]\n",
     "\n",
-    "print(f\"Currently there are {len(slicot_routines)} routines implemented.\")\n",
+    "print(f\"There are currently {len(slicot_routines)} routines that are found in slicot.\")\n",
     "print(print_list_chunks(slicot_routines))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": 60,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 49 methods implemented.\n",
+      "There are currently 49 routines that are found in slycot.\n",
       "------\n",
       "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
       "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
@@ -241,7 +241,7 @@
    "source": [
     "slycot_routines = get_slycot_routines(slycot)\n",
     "\n",
-    "print(f\"Currently there are {len(slycot_routines)} methods implemented.\")\n",
+    "print(f\"There are currently {len(slycot_routines)} routines that are found in slycot.\")\n",
     "print(\"------\")\n",
     "print(print_list_chunks(slycot_routines))"
    ]
@@ -256,151 +256,115 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 24,
+   "execution_count": 61,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 608 routines implemented.\n",
+      "There are currently 1 routines that are found in slycot and not in slicot.\n",
       "------\n",
-      "['sb03os', 'sb04py', 'mb04md', 'tb04cd', 'sb10ud', 'tg01nx']\n",
-      "['ud01md', 'mb02id', 'mb04tb', 'sb08md', 'ma02dd', 'ib01my']\n",
-      "['ab09jw', 'sb10ed', 'ib01od', 'sb02mu', 'mb03td', 'mb04py']\n",
-      "['ab09jx', 'mb01ot', 'mb03gz', 'mb04kd', 'sb03qx', 'tb04bv']\n",
-      "['ab05od', 'mb01nd', 'mb02sz', 'tb01xz', 'sb10hd', 'tf01mx']\n",
-      "['tg01fd', 'mb01vd', 'sb02ox', 'fd01ad', 'mb3lzp', 'mb02nd']\n",
-      "['sb03ot', 'mb03my', 'ma02pd', 'mb04az', 'mb03qy', 'mb02hd']\n",
-      "['mb04ru', 'mc03nx', 'mc01md', 'tb01wd', 'sg03bz', 'mb03fd']\n",
-      "['mb04tt', 'ab04md', 'sb16cy', 'mb03bb', 'ma01bd', 'sb08my']\n",
-      "['sb03ou', 'sb04od', 'sb03oz', 'mb03ya', 'mb01ry', 'sb04ry']\n",
-      "['mb04od', 'sb04rv', 'mb04pb', 'ib01nd', 'mb04iy', 'ab13bd']\n",
-      "['sg03bd', 'tg01hd', 'tc04ad', 'mb04bd', 'mc01sw', 'mb04ow']\n",
-      "['sg03bv', 'tg01kz', 'tg01hx', 'sb10wd', 'tb04ad', 'nf01by']\n",
-      "['sb04rd', 'mb04wp', 'ab05md', 'sb09md', 'sb10fd', 'tg01ly']\n",
-      "['sg03ad', 'mb04ox', 'mb02cv', 'td05ad', 'sb03my', 'mb02gd']\n",
-      "['sb04qd', 'mb05my', 'bb04ad', 'mb04id', 'ag08by', 'mb04ld']\n",
-      "['mb03ud', 'mb04qb', 'mc01sd', 'mb04vx', 'nf01bw', 'td03ay']\n",
-      "['tf01od', 'tb01ty', 'sb03mv', 'ab08nz', 'mb3oyz', 'mb03pd']\n",
-      "['sb10qd', 'mc01wd', 'mb03lf', 'mb04xy', 'mb01oo', 'mb03ry']\n",
-      "['sb08dd', 'nf01bv', 'ag07bd', 'ab09nd', 'sb03ud', 'mb04wr']\n",
-      "['mb3jzp', 'mb02xd', 'sb04qy', 'sb16cd', 'mb01xy', 'ab09jd']\n",
-      "['mb02uw', 'ma02jz', 'ab09iy', 'mb03ah', 'mb03zd', 'ib01pd']\n",
-      "['sb01md', 'sb04rx', 'tg01kd', 'sb10sd', 'mb01oc', 'ma02id']\n",
-      "['sb04nd', 'mb03ld', 'mb03rw', 'mb01uy', 'mb02cx', 'ab13id']\n",
-      "['mb04bz', 'sb10kd', 'ma01bz', 'mb04cd', 'ab09bd', 'nf01be']\n",
-      "['sb03od', 'tb01nd', 'mb01zd', 'ab09kx', 'tb01xd', 'mb04ed']\n",
-      "['nf01br', 'sb04mr', 'sb04nx', 'sb02ou', 'mb01rw', 'sb02qd']\n",
-      "['sb03mw', 'ag08bd', 'mb02td', 'bd02ad', 'mb04su', 'mb02sd']\n",
-      "['de01pd', 'mb04ds', 'ma02hz', 'mb03cz', 'ab08nx', 'ma02pz']\n",
-      "['ab09cx', 'dg01od', 'mb01kd', 'mb01ux', 'mb02cy', 'tb04bx']\n",
-      "['dk01md', 'ma02gz', 'mc01pd', 'tg01pd', 'md03bf', 'sb04qr']\n",
-      "['sb10jd', 'ma02ed', 'sb04mu', 'sb08fd', 'nf01ay', 'ab09hx']\n",
-      "['sg03ay', 'mb03id', 'mb04yd', 'ab13ad', 'sb03qy', 'sg03by']\n",
-      "['ib01py', 'mb03ab', 'mb05md', 'mb01oe', 'sb02rd', 'tb01ud']\n",
-      "['tb01px', 'sb10vd', 'sb03md57', 'tb01pd', 'mb01os', 'mb03ny']\n",
-      "['ma02gd', 'mb01uz', 'mb04hd', 'tb01ld', 'mb02md', 'ab09hd']\n",
-      "['mb04fd', 'mb03ai', 'sb02pd', 'mb01sd', 'ud01dd', 'sb04px']\n",
-      "['mb03md', 'ag8byz', 'mb03qx', 'ma02ad', 'ud01bd', 'mb04di']\n",
-      "['mb04wd', 'sb03sx', 'mc01td', 'mc01sx', 'ma02md', 'tg01hy']\n",
-      "['sb02oy', 'ab13fd', 'sb03pd', 'sb02mt', 'ib01px', 'ab08nw']\n",
-      "['ma02cz', 'ma02nz', 'mb03xu', 'tc01od', 'mb03qv', 'sg03bu']\n",
-      "['nf01bx', 'sb01bd', 'sb04ny', 'mb03oy', 'sb10yd', 'mb03qg']\n",
-      "['sb02cx', 'sb04nw', 'mb03wx', 'bd01ad', 'tg01nd', 'mb01ld']\n",
-      "['tg01dd', 'ud01mz', 'mb03xz', 'mb4dlz', 'sb01by', 'ab09id']\n",
-      "['mb03jd', 'mb03bc', 'ab09ax', 'mb02vd', 'sg02ad', 'mb04nd']\n",
-      "['mb01ud', 'mc01nd', 'mb04oy', 'md03ba', 'sb10md', 'ab13dd']\n",
-      "['ib01oy', 'ab13md', 'sb04nv', 'mb01yd', 'tb01id', 'tg01gd']\n",
-      "['mb03jp', 'sb10pd', 'nf01bu', 'mc01xd', 'mb05oy', 'mb02ed']\n",
-      "['sb04my', 'fb01td', 'ab09gd', 'nf01ad', 'mb03vy', 'ab07nd']\n",
-      "['mb05nd', 'mb01rd', 'tb01ux', 'mb03kb', 'ib03ad', 'sb10zd']\n",
-      "['ab13ax', 'mb03bz', 'ud01nd', 'sb08cd', 'sg02cx', 'mb04tw']\n",
-      "['mb01rh', 'mb03rd', 'tg01ob', 'mb02ny', 'mb04qf', 'ma02fd']\n",
-      "['tg01bd', 'mb02jd', 'mb04ad', 'mb02qy', 'ma02es', 'ab05sd']\n",
-      "['tb01wx', 'mb03ed', 'tf01nd', 'tg01od', 'sb10ad', 'tb01md']\n",
-      "['mb04tx', 'mb03yt', 'nf01bb', 'sb02ow', 'bb02ad', 'ab09bx']\n",
-      "['ab05nd', 'mb03xp', 'tg01hu', 'ab08ny', 'sb02md', 'sb16ay']\n",
-      "['mb03xs', 'sb03sd', 'sb02ms', 'mc03md', 'mb04ty', 'mb01rx']\n",
-      "['ab09cd', 'mb02cu', 'mb4dpz', 'mb02wd', 'mc01qd', 'sb04qu']\n",
-      "['nf01bf', 'tc05ad', 'ab09md', 'tb01zd', 'mb02tz', 'mb04iz']\n",
-      "['mb03lp', 'mb01rt', 'mc03nd', 'mb03wd', 'mb02ud', 'mb03iz']\n",
-      "['mc01py', 'td04ad', 'sb02ov', 'ib01md', 'ud01cd', 'mb02pd']\n",
-      "['ab09hy', 'sb10ld', 'ab09jv', 'mb03jz', 'mb04qu', 'sb03oy']\n",
-      "['sg02cw', 'mb03py', 'sb02mv', 'mb03wa', 'tg01id', 'tb01vd']\n",
-      "['ab09ed', 'mb03kd', 'mb03af', 'mc03ny', 'mb03bd', 'sb10dd']\n",
-      "['ab01od', 'sb03or', 'mb04fp', 'tg01qd', 'mb04tv', 'bb03ad']\n",
-      "['ab07md', 'tb01uy', 'tb05ad', 'ue01md', 'nf01bd', 'ma02ez']\n",
-      "['tg01az', 'mb03gd', 'ib01qd', 'mc01rd', 'mb03ba', 'mb03bf']\n",
-      "['mb04zd', 'ag08bz', 'mb03ad', 'fb01sd', 'mb03qd', 'tg01ad']\n",
-      "['mb04pa', 'tg01jy', 'tb01kd', 'ib01cd', 'mb04dp', 'tf01rd']\n",
-      "['mb02kd', 'ma02bd', 'ab13cd', 'mb03nd', 'nf01ba', 'mb03hz']\n",
-      "['mb04yw', 'mb01xd', 'ab09dd', 'md03bx', 'md03bb', 'tg01ed']\n",
-      "['sb08ny', 'sg03bt', 'de01od', 'mb03fz', 'ma02az', 'mc01sy']\n",
-      "['tb03ay', 'tb01yd', 'dg01md', 'fb01rd', 'mb03za', 'ab05qd']\n",
-      "['tb04bw', 'tg01oa', 'ab09kd', 'mb01md', 'mb03dd', 'sg03ax']\n",
-      "['mb03be', 'sg03bx', 'sb03rd', 'tf01qd', 'tg01jd', 'mb03hd']\n",
-      "['sg03br', 'nf01bp', 'mb01uw', 'mb04dz', 'sg03bs', 'sb08gd']\n",
-      "['df01md', 'sb02mx', 'mb03dz', 'mb04dd', 'ab01nd', 'mb02rz']\n",
-      "['dg01ny', 'mb03ke', 'sg02cv', 'ab01md', 'sb04rw', 'fb01qd']\n",
-      "['ma02iz', 'ib01rd', 'ib01ad', 'sb02sd', 'mb02uu', 'ab08nd']\n",
-      "['mb01ru', 'sb16ad', 'mb04ny', 'ab09ad', 'mb04tu', 'bb01ad']\n",
-      "['tb01iz', 'mb04rb', 'mb04dl', 'mc01vd', 'sb02mr', 'fb01vd']\n",
-      "['mb01oh', 'mb04qc', 'mb04gd', 'ab13dx', 'sb03mu', 'tf01md']\n",
-      "['mb04ud', 'mb03cd', 'mb03qw', 'mb04vd', 'sb02ru', 'mb02qd']\n",
-      "['mb03yd', 'mb01pd', 'sb03md', 'tg01md', 'mb04ts', 'sb03td']\n",
-      "['mb04pu', 'tb04bd', 'ma02jd', 'ma02od', 'sb03mx', 'sb01fy']\n",
-      "['mb02rd', 'mb02cd', 'mb02jx', 'mb03rx', 'mb02yd', 'tg01ld']\n",
-      "['md03ad', 'mb04dy', 'mb04jd', 'mb03lz', 'md03bd', 'mb03ka']\n",
-      "['mb02uv', 'tb01kx', 'ab09fd', 'sb04pd', 'sb10id', 'mb01od']\n",
-      "['mb01qd', 'mb04db', 'mb01wd', 'mb03ae', 'ab8nxz', 'ma02cd']\n",
-      "['mb05od', 'sb01dd', 'ab08md', 'nf01bs', 'mb03ag', 'mc01od']\n",
-      "['sb10rd', 'mb03ts', 'sb04md', 'ma02hd', 'mb03xd', 'sb02mw']\n",
-      "['sb04mw', 'md03by', 'mb02od', 'sb01bx', 'mb01ss', 'tg01fz']\n",
-      "['ma02oz', 'tf01pd', 'sb08nd', 'tb01vy', 'sg03bw', 'mb3pyz']\n",
-      "['tg01wd', 'td03ad', 'mb02dd', 'sb08hd', 'ma02bz', 'mb04bp']\n",
-      "['ma02mz', 'mb03kc', 'mb03sd', 'tf01my', 'sb03ov', 'sb04ow']\n",
-      "['ab13ed', 'sb10zp', 'dg01nd', 'sb06nd', 'tg01oz', 'tg01cd']\n",
-      "['ma01cd', 'sb02od', 'mb03vw', 'sb02nd', 'mb01rb', 'mb4dbz']\n",
-      "['ab05rd', 'ab05pd', 'mb03od', 'mb04wu', 'mb01td', 'sb03sy']\n",
-      "['mb02fd', 'mb03rz', 'tb04ay', 'sb16bd', 'ib01bd', 'ab08mz']\n",
-      "['mb04qs', 'tb03ad', 'mb03bg', 'sb03qd', 'mb03vd', 'sg02nd']\n",
-      "['ab09ix', 'ma01ad', 'mb04xd', 'nf01bq', 'sb10td', 'ib03bd']\n",
-      "['sb08ed', 'tb01td']\n",
+      "['sb03md57']\n",
       "None\n",
       "\n",
-      "\n"
-     ]
-    }
-   ],
-   "source": [
-    "union = list(set(slicot_routines) | set(slycot_routines))\n",
-    "\n",
-    "print(f\"Currently there are {len(union)} routines implemented.\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(union))\n",
-    "print(\"\\n\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 25,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Currently there are 48 routines which are found in slicot and slycot.\n",
+      "\n",
+      "There are currently 559 routines that are found in slicot and not in slycot.\n",
       "------\n",
-      "['ab09bd', 'sb02md', 'ab01nd', 'ab13bd', 'sg03bd', 'tb05ad']\n",
-      "['sb03od', 'sb02od', 'ab09nd', 'tc04ad', 'sb03md', 'ab09ax']\n",
-      "['sb04md', 'sg02ad', 'ab08nd', 'mc01td', 'tb04ad', 'mb03rd']\n",
-      "['ab09ad', 'ab05md', 'ab13dd', 'ab13fd', 'ab13md', 'sb02mt']\n",
-      "['sb10fd', 'sb10hd', 'sg03ad', 'tb01id', 'mb05md', 'sb04qd']\n",
-      "['tc01od', 'sb10dd', 'tf01rd', 'ab09md', 'tb01pd', 'sb10ad']\n",
-      "['sb01bd', 'tb03ad', 'mb03vd', 'mb03vy', 'ab13ed', 'ab07nd']\n",
-      "['mb03wd', 'mb05nd', 'tf01md', 'td04ad', 'ab08nz', 'ab05nd']\n",
+      "['mb03od', 'tb04bw', 'mb03qy', 'tc05ad', 'mb04pu', 'ab08md']\n",
+      "['ab09jw', 'sb04rx', 'ma02iz', 'sg03bu', 'tg01gd', 'ab09ed']\n",
+      "['mb01zd', 'sb02oy', 'mb04iz', 'sb10rd', 'mb01wd', 'sb10pd']\n",
+      "['sb02ox', 'mb03hz', 'mb03bb', 'tb04bd', 'tg01ob', 'tg01md']\n",
+      "['sb01fy', 'mb02uu', 'sb01md', 'mb03lp', 'tg01hd', 'tb01wd']\n",
+      "['mb02cd', 'ma02hz', 'sb10kd', 'mb04dz', 'mb03za', 'mb04iy']\n",
+      "['sb02ow', 'ab09hx', 'sb03qd', 'tg01az', 'sb08my', 'sb03mv']\n",
+      "['sb02mv', 'mb03rw', 'mb03fz', 'dg01nd', 'ma02cz', 'sb03sd']\n",
+      "['ma02gd', 'mc01wd', 'ab05qd', 'sb01by', 'sb03mw', 'mb03vw']\n",
+      "['mb03kd', 'sb03oy', 'ib01qd', 'mb02uv', 'mb01vd', 'md03ba']\n",
+      "['ma01cd', 'tg01ld', 'sb04ny', 'mb03xd', 'ab09cx', 'mb04qb']\n",
+      "['mb03ka', 'mb04qc', 'mb04az', 'sb03ud', 'mb03iz', 'mb04di']\n",
+      "['mb01uw', 'mc03nx', 'mb01kd', 'sb04my', 'mb03ae', 'mb01oc']\n",
+      "['mb02fd', 'mb02sz', 'tb01kd', 'tg01ad', 'ib01oy', 'mb04wd']\n",
+      "['tg01cd', 'mb01oo', 'tg01qd', 'tb01ty', 'tb01yd', 'sb02qd']\n",
+      "['tg01id', 'mb04bd', 'tb01ld', 'tb01td', 'tg01nd', 'sb03or']\n",
+      "['ab09hy', 'nf01bq', 'mb02rd', 'tg01ed', 'ma02od', 'ib01cd']\n",
+      "['mb03ke', 'nf01bw', 'mb02qy', 'md03bx', 'mb04vd', 'mb04ny']\n",
+      "['sb02mx', 'ab8nxz', 'mb04ad', 'tg01kz', 'tg01fd', 'mc03nd']\n",
+      "['mb03jd', 'mb01rw', 'sb08cd', 'mb02tz', 'mb02od', 'mb02gd']\n",
+      "['mb02yd', 'nf01be', 'sb03oz', 'mb03qw', 'sg03bw', 'ud01dd']\n",
+      "['mb03md', 'mc01xd', 'sb10jd', 'nf01bp', 'ma02es', 'sb02ms']\n",
+      "['mb04fp', 'fb01sd', 'ma02az', 'mb03xs', 'mb02ed', 'mb04vx']\n",
+      "['mb01td', 'ib01bd', 'mb04xy', 'mb03lz', 'sb04nx', 'ma02ad']\n",
+      "['sg03ay', 'tg01hx', 'sb04mu', 'mb04dy', 'ab04md', 'mb01rt']\n",
+      "['ab09id', 'tb04ay', 'sb08dd', 'sb03ot', 'nf01bu', 'mb03xz']\n",
+      "['sb10id', 'sb04rv', 'ma02gz', 'mb03ud', 'mb04bz', 'tg01pd']\n",
+      "['mb03wa', 'mb03ed', 'mb03be', 'sg02cw', 'sb10wd', 'mc03md']\n",
+      "['mb01ud', 'nf01bb', 'sb03mu', 'ab09hd', 'ab09iy', 'mb04od']\n",
+      "['sb04mr', 'mb04qu', 'ib01px', 'td05ad', 'nf01ay', 'mb3pyz']\n",
+      "['mb03bg', 'mb03xp', 'mb03zd', 'dk01md', 'sg02cv', 'ud01cd']\n",
+      "['mb03sd', 'tb01ux', 'tf01nd', 'sb02cx', 'sb10sd', 'mb03qg']\n",
+      "['sb10zd', 'mb01rh', 'mb03nd', 'tb01vy', 'ib03bd', 'de01od']\n",
+      "['mb01nd', 'ib01rd', 'mb02cu', 'mb03jz', 'mb02pd', 'ab09ix']\n",
+      "['mb03fd', 'mb03kb', 'mb04zd', 'mb04ed', 'ag8byz', 'ib03ad']\n",
+      "['sb04rd', 'mb01od', 'mb02qd', 'bb04ad', 'ab08mz', 'fb01qd']\n",
+      "['ab09bx', 'bb01ad', 'mb03wx', 'sb01dd', 'mb01qd', 'ab09gd']\n",
+      "['sb04pd', 'mb03dz', 'ab09jd', 'sb02ou', 'ab09kd', 'mb02jx']\n",
+      "['ma02pd', 'mb04wu', 'ab09dd', 'sb01bx', 'sb03rd', 'nf01ba']\n",
+      "['tg01nx', 'sb16cd', 'mb05oy', 'sb04qu', 'tb01zd', 'tb01wx']\n",
+      "['tb01ud', 'bd01ad', 'sb08ed', 'sg03bv', 'ma01bz', 'mb02vd']\n",
+      "['mb02cv', 'sb10ed', 'mb03ba', 'nf01bf', 'mb04oy', 'md03ad']\n",
+      "['ma01bd', 'mb03ab', 'tg01bd', 'mb03td', 'ab09jx', 'sg03by']\n",
+      "['tg01kd', 'tf01pd', 'mb3jzp', 'sb04nw', 'sb16cy', 'mb01pd']\n",
+      "['mb04kd', 'nf01bs', 'mb04ow', 'ud01bd', 'tb01nd', 'sb08nd']\n",
+      "['mb04wp', 'ma02cd', 'tg01od', 'sb04mw', 'mc01rd', 'fb01vd']\n",
+      "['mb04yw', 'mb01uz', 'mb01rd', 'ud01md', 'mb01ld', 'md03bf']\n",
+      "['tb01uy', 'fb01rd', 'mb01ot', 'ab01od', 'mb03ag', 'mb03ai']\n",
+      "['sb10md', 'mb03pd', 'mb01ux', 'mb01xy', 'mc01vd', 'mb04py']\n",
+      "['mb03rx', 'ma02pz', 'tg01hu', 'mb02wd', 'sb09md', 'sb03my']\n",
+      "['ma02jd', 'ab05od', 'mb04pb', 'mb03id', 'tf01od', 'mb04jd']\n",
+      "['ab08ny', 'nf01bx', 'mb03ny', 'tb03ay', 'tb04bv', 'ma02id']\n",
+      "['sb10qd', 'tg01dd', 'mb03rz', 'sb03qy', 'bd02ad', 'mc01qd']\n",
+      "['tb01iz', 'mc03ny', 'ma02ed', 'mb02kd', 'tg01ly', 'ab05rd']\n",
+      "['ab08nx', 'mb02dd', 'mb03xu', 'ma02nz', 'mb04md', 'mb04tu']\n",
+      "['sb02ru', 'ab09fd', 'mb02xd', 'sb08gd', 'ab05sd', 'mb03dd']\n",
+      "['ib01nd', 'mb03oy', 'ma02fd', 'ib01od', 'bb03ad', 'mb03ld']\n",
+      "['ib01py', 'mb04nd', 'tg01jd', 'mb04tv', 'mc01sx', 'tf01mx']\n",
+      "['mb3lzp', 'sb10td', 'sb10zp', 'nf01ad', 'sb02mu', 'tg01hy']\n",
+      "['tg01wd', 'mb04ld', 'mb02ud', 'mb04pa', 'mb04tw', 'mb03bc']\n",
+      "['tb01xz', 'tb01px', 'tg01fz', 'sb04qy', 'sb03td', 'mb04gd']\n",
+      "['dg01md', 'mb03lf', 'nf01br', 'md03bd', 'mb04rb', 'sb03ov']\n",
+      "['sb03pd', 'mb01oh', 'sb03os', 'ab13ad', 'mb03bz', 'mb01uy']\n",
+      "['ib01pd', 'sb04qr', 'mb4dbz', 'tf01my', 'sb03qx', 'ab05pd']\n",
+      "['sb04rw', 'ab08nw', 'mb03qx', 'mb01oe', 'mb01yd', 'tg01oz']\n",
+      "['mb02ny', 'ma02dd', 'sb03sy', 'mb04tb', 'sb04py', 'mb03ya']\n",
+      "['sb16ay', 'mb04id', 'ib01my', 'ma02ez', 'sb10vd', 'sb16bd']\n",
+      "['mb01rx', 'ab13dx', 'mc01sd', 'mb04fd', 'mb03jp', 'mb04qf']\n",
+      "['ma01ad', 'mb01os', 'mc01py', 'ag07bd', 'mb03ts', 'mc01od']\n",
+      "['mb05od', 'sg03ax', 'mb02jd', 'tb01kx', 'tb01md', 'sb03ou']\n",
+      "['mb03bf', 'sb02nd', 'sb02mw', 'sb04ry', 'mb04wr', 'sg03bz']\n",
+      "['sb04nv', 'sb03mx', 'bb02ad', 'mb04yd', 'mb03py', 'mb4dlz']\n",
+      "['fb01td', 'sb04px', 'mb03hd', 'ma02mz', 'mb04tt', 'mb04qs']\n",
+      "['mb01md', 'ud01nd', 'mb03yd', 'mc01md', 'de01pd', 'mb03ry']\n",
+      "['ma02hd', 'ab09kx', 'sg03br', 'tb04cd', 'mb4dpz', 'mb04ud']\n",
+      "['ib01md', 'mb03yt', 'mb03cz', 'tg01oa', 'nf01bv', 'nf01bd']\n",
+      "['ib01ad', 'mb02cy', 'mc01pd', 'sb10ud', 'sg03bs', 'tg01jy']\n",
+      "['td03ay', 'mb02nd', 'sb03sx', 'mb01rb', 'ab01md', 'mb03gd']\n",
+      "['mb04su', 'sb08hd', 'sg03bx', 'sb02pd', 'mb04bp', 'mb03af']\n",
+      "['mb05my', 'mb03gz', 'mb02id', 'sb04od', 'ma02bd', 'mb04dp']\n",
+      "['nf01by', 'mb03kc', 'mb04ox', 'mc01nd', 'dg01od', 'sb02ov']\n",
+      "['sb10yd', 'sg02nd', 'mb02td', 'ab13ax', 'ab09jv', 'ma02oz']\n",
+      "['fd01ad', 'tb04bx', 'ag08bz', 'mb04dl', 'mb02hd', 'sb04nd']\n",
+      "['sg02cx', 'ab13id', 'mc01sw', 'mb01ss', 'sg03bt', 'mb3oyz']\n",
+      "['sb16ad', 'mb02cx', 'tb01xd', 'tb01vd', 'ma02md', 'mb04xd']\n",
+      "['md03bb', 'mb04ds', 'mb01sd', 'mb02uw', 'mb04ts', 'mb02md']\n",
+      "['mb04tx', 'mb02sd', 'dg01ny', 'sb06nd', 'sb08fd', 'mc01sy']\n",
+      "['ab09cd', 'ab07md', 'mb04db', 'mb03ad', 'ud01mz', 'mb03qd']\n",
+      "['tf01qd', 'ab13cd', 'mb03bd', 'ag08bd', 'ma02bz', 'mb03ah']\n",
+      "['ma02jz', 'md03by', 'df01md', 'td03ad', 'sb10ld', 'ue01md']\n",
+      "['sb08ny', 'ag08by', 'sb02mr', 'mb04ty', 'mb03cd', 'sb08md']\n",
+      "['mb04cd', 'sb04ow', 'mb03qv', 'mb03my', 'mb04ru', 'mb02rz']\n",
+      "['sb02sd', 'mb04hd', 'mb04dd', 'mb01ru', 'sb02rd', 'mb01ry']\n",
+      "['mb01xd']\n",
       "None\n",
       "\n",
       "\n"
@@ -408,47 +372,173 @@
     }
    ],
    "source": [
+    "not_in_slicot =  list(set(slycot_routines)- set(slicot_routines))\n",
+    "not_in_slicot\n",
     "\n",
-    "intersection = list(set(slicot_routines) & set(slycot_routines))\n",
-    "intersection\n",
+    "print(f\"There are currently {len(not_in_slicot)} routines that are found in slycot and not in slicot.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(not_in_slicot))\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "not_in_slycot =   list(set(slicot_routines) - set(slycot_routines))\n",
+    "not_in_slycot\n",
     "\n",
-    "print(f\"Currently there are {len(intersection)} routines which are found in slicot and slycot.\")\n",
+    "print(f\"There are currently {len(not_in_slycot)} routines that are found in slicot and not in slycot.\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(intersection))\n",
+    "print(print_list_chunks(not_in_slycot))\n",
     "print(\"\\n\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 26,
+   "execution_count": 62,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Currently there are 1 routines which are found in slicot and slycot.\n",
+      "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
       "------\n",
-      "['sb03md57']\n",
+      "['mb03od', 'tb04bw', 'mb03qy', 'tc05ad', 'mb04pu', 'ab08nd']\n",
+      "['ab08md', 'ab09jw', 'sb04rx', 'ma02iz', 'sg03bu', 'tg01gd']\n",
+      "['sb03od', 'ab09ed', 'mb01zd', 'sb02oy', 'mb04iz', 'sb10rd']\n",
+      "['mb01wd', 'sb10pd', 'sb02ox', 'mb03hz', 'mb03bb', 'tb04bd']\n",
+      "['tg01ob', 'tg01md', 'sb01fy', 'mb02uu', 'ab07nd', 'sb01md']\n",
+      "['mb03lp', 'tg01hd', 'tb01wd', 'mb02cd', 'ma02hz', 'sb10kd']\n",
+      "['mb04dz', 'mb03za', 'mb04iy', 'sb02ow', 'ab09hx', 'sb03qd']\n",
+      "['tg01az', 'sb08my', 'sb03mv', 'sb02mv', 'mb03rw', 'mb03fz']\n",
+      "['dg01nd', 'ma02cz', 'sb03sd', 'mb05nd', 'ma02gd', 'mc01wd']\n",
+      "['ab05qd', 'sb01by', 'sb03mw', 'mb03vw', 'mb03kd', 'sb03oy']\n",
+      "['ib01qd', 'tf01rd', 'mb02uv', 'mb01vd', 'md03ba', 'ma01cd']\n",
+      "['tg01ld', 'sb04ny', 'mb03xd', 'ab09cx', 'mb04qb', 'mb03ka']\n",
+      "['mb04qc', 'mb04az', 'sb03ud', 'mb03iz', 'mb04di', 'sb04md']\n",
+      "['mb01uw', 'sg03bd', 'mc03nx', 'mb01kd', 'sb04my', 'mb03ae']\n",
+      "['mb01oc', 'mb02fd', 'mb02sz', 'tb01kd', 'tg01ad', 'ib01oy']\n",
+      "['mb04wd', 'tg01cd', 'mb01oo', 'tg01qd', 'tb01ty', 'tb01yd']\n",
+      "['sb02qd', 'tg01id', 'mb04bd', 'tb01ld', 'tb01td', 'tg01nd']\n",
+      "['tb05ad', 'sb03or', 'ab09hy', 'nf01bq', 'mb02rd', 'tg01ed']\n",
+      "['ma02od', 'ib01cd', 'mb03ke', 'nf01bw', 'mb02qy', 'ab09md']\n",
+      "['md03bx', 'mb04vd', 'mb04ny', 'sb02mx', 'ab8nxz', 'mb04ad']\n",
+      "['tg01kz', 'tg01fd', 'mc03nd', 'mb03jd', 'mb01rw', 'sb08cd']\n",
+      "['mb02tz', 'mb02od', 'mb02gd', 'mb02yd', 'nf01be', 'ab13dd']\n",
+      "['sb03oz', 'sb04qd', 'mb03qw', 'sg03bw', 'ud01dd', 'mb03md']\n",
+      "['mc01xd', 'sb10jd', 'nf01bp', 'ma02es', 'sb02ms', 'mb04fp']\n",
+      "['fb01sd', 'ma02az', 'mb03xs', 'mb02ed', 'mb04vx', 'mb01td']\n",
+      "['ib01bd', 'mb04xy', 'mb03lz', 'sb04nx', 'ma02ad', 'td04ad']\n",
+      "['sg03ay', 'tg01hx', 'sb04mu', 'mb04dy', 'ab04md', 'mb01rt']\n",
+      "['ab09id', 'tb04ay', 'sb08dd', 'sb03ot', 'nf01bu', 'mb03xz']\n",
+      "['sb10id', 'sb04rv', 'ma02gz', 'mb03ud', 'mb04bz', 'tg01pd']\n",
+      "['mb05md', 'tf01md', 'mb03wa', 'mb03ed', 'mb03be', 'sg02cw']\n",
+      "['sb10wd', 'mc03md', 'mb01ud', 'sg02ad', 'nf01bb', 'sb03mu']\n",
+      "['ab09hd', 'ab09iy', 'mb04od', 'sb04mr', 'mb04qu', 'sb03md']\n",
+      "['ib01px', 'td05ad', 'nf01ay', 'mb3pyz', 'mb03bg', 'mb03xp']\n",
+      "['mb03zd', 'dk01md', 'sg02cv', 'ud01cd', 'mb03sd', 'tb01ux']\n",
+      "['tf01nd', 'sb02cx', 'sb10sd', 'mb03qg', 'sb10zd', 'mb01rh']\n",
+      "['mb03nd', 'tb01vy', 'ib03bd', 'de01od', 'mb01nd', 'ib01rd']\n",
+      "['mb02cu', 'mb03jz', 'mb02pd', 'ab09ix', 'mb03fd', 'mb03kb']\n",
+      "['mb04zd', 'mb04ed', 'ag8byz', 'ib03ad', 'sb04rd', 'mb01od']\n",
+      "['mb02qd', 'bb04ad', 'ab08mz', 'fb01qd', 'ab09bx', 'bb01ad']\n",
+      "['mb03wx', 'sb01dd', 'mb01qd', 'ab09gd', 'tb04ad', 'sb04pd']\n",
+      "['mb03dz', 'ab09jd', 'sb02ou', 'ab09kd', 'mb02jx', 'ma02pd']\n",
+      "['sb03md57', 'mb04wu', 'ab09dd', 'sb01bx', 'ab13bd', 'sb03rd']\n",
+      "['nf01ba', 'tg01nx', 'sb16cd', 'mb05oy', 'sb04qu', 'tb01zd']\n",
+      "['tb01wx', 'tb01ud', 'bd01ad', 'sb08ed', 'sg03bv', 'ma01bz']\n",
+      "['mb02vd', 'mb02cv', 'sb10ed', 'mb03ba', 'sb10fd', 'nf01bf']\n",
+      "['mb04oy', 'md03ad', 'ma01bd', 'mb03ab', 'tg01bd', 'mb03td']\n",
+      "['ab09jx', 'sg03by', 'tg01kd', 'ab09nd', 'tf01pd', 'mb3jzp']\n",
+      "['sb04nw', 'sb16cy', 'tc04ad', 'mb01pd', 'mb04kd', 'nf01bs']\n",
+      "['mb03wd', 'mb04ow', 'ud01bd', 'tb01nd', 'sb08nd', 'mb04wp']\n",
+      "['ma02cd', 'tg01od', 'sb04mw', 'mc01rd', 'fb01vd', 'mb04yw']\n",
+      "['mb01uz', 'mb01rd', 'ud01md', 'mb01ld', 'md03bf', 'tb01pd']\n",
+      "['tb01uy', 'fb01rd', 'mb01ot', 'ab01od', 'mb03ag', 'sb01bd']\n",
+      "['mb03ai', 'sb10md', 'sb10dd', 'mb03pd', 'mb01ux', 'mb01xy']\n",
+      "['mc01vd', 'ab01nd', 'mb04py', 'mb03rx', 'ma02pz', 'tg01hu']\n",
+      "['mb02wd', 'ab13fd', 'sb09md', 'sb03my', 'ma02jd', 'ab05od']\n",
+      "['mb04pb', 'mb03id', 'tf01od', 'mb04jd', 'ab08ny', 'nf01bx']\n",
+      "['mb03ny', 'tb03ay', 'tb04bv', 'ma02id', 'sb10qd', 'tg01dd']\n",
+      "['mb03rz', 'sb03qy', 'bd02ad', 'ab05md', 'mc01qd', 'mc01td']\n",
+      "['tb01iz', 'mc03ny', 'ma02ed', 'mb02kd', 'tg01ly', 'ab05rd']\n",
+      "['ab08nz', 'ab08nx', 'mb02dd', 'mb03xu', 'ma02nz', 'mb04md']\n",
+      "['mb04tu', 'sb02ru', 'ab09fd', 'mb02xd', 'sb08gd', 'ab05sd']\n",
+      "['mb03dd', 'ib01nd', 'ab09ax', 'sb10ad', 'mb03oy', 'ma02fd']\n",
+      "['ib01od', 'bb03ad', 'mb03ld', 'ib01py', 'mb04nd', 'tg01jd']\n",
+      "['mb04tv', 'mc01sx', 'tf01mx', 'mb3lzp', 'ab13md', 'sb10td']\n",
+      "['sb10zp', 'nf01ad', 'sb02mu', 'tg01hy', 'tg01wd', 'mb04ld']\n",
+      "['mb02ud', 'mb04pa', 'mb04tw', 'mb03bc', 'tb01xz', 'tb01px']\n",
+      "['tg01fz', 'sb04qy', 'sb03td', 'mb04gd', 'dg01md', 'mb03lf']\n",
+      "['nf01br', 'md03bd', 'mb04rb', 'sb03ov', 'sb03pd', 'mb01oh']\n",
+      "['sb03os', 'ab13ad', 'mb03bz', 'mb01uy', 'ib01pd', 'sb04qr']\n",
+      "['mb4dbz', 'tf01my', 'sb03qx', 'ab05pd', 'sb04rw', 'ab08nw']\n",
+      "['mb03qx', 'mb01oe', 'mb01yd', 'tg01oz', 'mb02ny', 'ma02dd']\n",
+      "['sb03sy', 'mb04tb', 'sb04py', 'mb03ya', 'sb16ay', 'mb04id']\n",
+      "['ib01my', 'ma02ez', 'sb10vd', 'sb16bd', 'mb01rx', 'ab13dx']\n",
+      "['mc01sd', 'mb04fd', 'mb03jp', 'ab05nd', 'mb04qf', 'ma01ad']\n",
+      "['mb01os', 'mc01py', 'ag07bd', 'mb03ts', 'mc01od', 'mb05od']\n",
+      "['sg03ax', 'mb02jd', 'tb01kx', 'tb01md', 'sb03ou', 'mb03bf']\n",
+      "['sb02nd', 'sb02mw', 'sb04ry', 'mb04wr', 'sg03bz', 'sb04nv']\n",
+      "['sb03mx', 'sb02mt', 'bb02ad', 'mb04yd', 'sb02md', 'mb03py']\n",
+      "['mb4dlz', 'fb01td', 'sb04px', 'mb03hd', 'ma02mz', 'mb04tt']\n",
+      "['mb04qs', 'mb01md', 'ud01nd', 'mb03yd', 'mc01md', 'de01pd']\n",
+      "['mb03ry', 'ma02hd', 'ab09kx', 'sg03br', 'tb04cd', 'mb4dpz']\n",
+      "['mb04ud', 'ib01md', 'mb03yt', 'mb03cz', 'tg01oa', 'nf01bv']\n",
+      "['nf01bd', 'ib01ad', 'mb02cy', 'ab09ad', 'mc01pd', 'sb10ud']\n",
+      "['sg03bs', 'tg01jy', 'td03ay', 'mb02nd', 'sb03sx', 'mb01rb']\n",
+      "['ab01md', 'mb03gd', 'mb04su', 'mb03rd', 'sb08hd', 'sg03bx']\n",
+      "['sb02pd', 'mb04bp', 'mb03af', 'mb05my', 'mb03gz', 'mb02id']\n",
+      "['sb04od', 'ma02bd', 'mb04dp', 'nf01by', 'mb03kc', 'mb04ox']\n",
+      "['mc01nd', 'dg01od', 'sb02ov', 'sb10yd', 'sb02od', 'sg02nd']\n",
+      "['mb02td', 'ab13ax', 'ab09jv', 'ma02oz', 'fd01ad', 'tb04bx']\n",
+      "['ag08bz', 'mb04dl', 'mb02hd', 'sb04nd', 'sg02cx', 'ab13id']\n",
+      "['tb01id', 'mc01sw', 'mb01ss', 'sg03bt', 'mb3oyz', 'sb16ad']\n",
+      "['mb02cx', 'sb10hd', 'tb01xd', 'ab13ed', 'sg03ad', 'tb01vd']\n",
+      "['ma02md', 'mb04xd', 'md03bb', 'mb04ds', 'mb01sd', 'mb02uw']\n",
+      "['mb04ts', 'mb02md', 'mb04tx', 'mb02sd', 'dg01ny', 'mb03vy']\n",
+      "['sb06nd', 'sb08fd', 'mc01sy', 'ab09cd', 'ab07md', 'mb04db']\n",
+      "['mb03ad', 'ud01mz', 'mb03qd', 'tf01qd', 'ab13cd', 'mb03bd']\n",
+      "['ag08bd', 'ma02bz', 'mb03ah', 'ma02jz', 'md03by', 'df01md']\n",
+      "['td03ad', 'sb10ld', 'ue01md', 'tb03ad', 'sb08ny', 'ag08by']\n",
+      "['sb02mr', 'mb04ty', 'mb03cd', 'sb08md', 'mb04cd', 'sb04ow']\n",
+      "['mb03qv', 'mb03my', 'tc01od', 'mb04ru', 'mb02rz', 'sb02sd']\n",
+      "['mb04hd', 'mb04dd', 'ab09bd', 'mb01ru', 'sb02rd', 'mb01ry']\n",
+      "['mb03vd', 'mb01xd']\n",
       "None\n",
       "\n",
-      "\n"
+      "\n",
+      "There are currently 48 routines that are found in slicot and slycot. (intersection)\n",
+      "------\n",
+      "['ab09nd', 'ab13md', 'sb04md', 'sg03bd', 'mb03rd', 'ab01nd']\n",
+      "['ab09md', 'mc01td', 'tc04ad', 'td04ad', 'sb03md', 'tb01id']\n",
+      "['tb04ad', 'mb03wd', 'ab08nd', 'mb05nd', 'ab13fd', 'mb03vd']\n",
+      "['ab08nz', 'sb03od', 'ab13bd', 'tb03ad', 'sb10hd', 'ab13dd']\n",
+      "['ab05nd', 'ab13ed', 'sb04qd', 'sg03ad', 'tf01rd', 'sb02md']\n",
+      "['ab07nd', 'tb01pd', 'tc01od', 'ab09ad', 'ab09ax', 'sb10ad']\n",
+      "['sb02od', 'mb05md', 'tf01md', 'ab09bd', 'sb01bd', 'mb03vy']\n",
+      "['sb10fd', 'tb05ad', 'sb02mt', 'sb10dd', 'ab05md', 'sg02ad']\n",
+      "None\n"
      ]
     }
    ],
    "source": [
-    "not_in_slicot =  list(set(slycot_routines)- set(slicot_routines))\n",
-    "not_in_slicot\n",
+    "union = list(set(slicot_routines) | set(slycot_routines))\n",
     "\n",
-    "print(f\"Currently there are {len(not_in_slicot)} routines which are found in slicot and slycot.\")\n",
+    "print(f\"There are currently {len(union)} routines that are found in slicot or in slycot. (union)\")\n",
     "print(\"------\")\n",
-    "print(print_list_chunks(not_in_slicot))\n",
-    "print(\"\\n\")"
+    "print(print_list_chunks(union))\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "\n",
+    "intersection = list(set(slicot_routines) & set(slycot_routines))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"There are currently {len(intersection)} routines that are found in slicot and slycot. (intersection)\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(intersection))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 27,
+   "execution_count": 63,
    "metadata": {},
    "outputs": [
     {
@@ -545,7 +635,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 28,
+   "execution_count": 64,
    "metadata": {},
    "outputs": [
     {

From d7f56e69807e986c5cb910d9b8bd70c78d15eaaf Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Fri, 18 Aug 2023 20:00:26 +0200
Subject: [PATCH 11/23] Update inpection notebooks

---
 doc/source/dev/index.rst                      |   2 +-
 doc/source/dev/inspect_slicot_slycot.ipynb    | 694 ++++++++++++++++++
 doc/source/dev/inspect_slycot.ipynb           |  78 +-
 ...cot_procedures.txt => slicot_routines.txt} |   0
 doc/source/dev/slicot_slycot.ipynb            | 682 -----------------
 5 files changed, 734 insertions(+), 722 deletions(-)
 create mode 100644 doc/source/dev/inspect_slicot_slycot.ipynb
 rename doc/source/dev/{slicot_procedures.txt => slicot_routines.txt} (100%)
 delete mode 100644 doc/source/dev/slicot_slycot.ipynb

diff --git a/doc/source/dev/index.rst b/doc/source/dev/index.rst
index b236236a..21cfebb4 100644
--- a/doc/source/dev/index.rst
+++ b/doc/source/dev/index.rst
@@ -7,4 +7,4 @@ Development
 
    contributing
    inspect_slycot
-   slicot_slycot
+   inspect_slicot_slycot
diff --git a/doc/source/dev/inspect_slicot_slycot.ipynb b/doc/source/dev/inspect_slicot_slycot.ipynb
new file mode 100644
index 00000000..fd965ad4
--- /dev/null
+++ b/doc/source/dev/inspect_slicot_slycot.ipynb
@@ -0,0 +1,694 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inspect Slycot vs SLICOT"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook shows how to inspect the slycot module and the slicot libary.\n",
+    "The result gives us a insight which slicot routines are implemented slycot."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0.1.dev612+g3d12a1d'"
+      ]
+     },
+     "execution_count": 10,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "import re\n",
+    "import numpy as np\n",
+    "import pandas as pd\n",
+    "import matplotlib.pyplot as plt\n",
+    "from matplotlib_venn import venn2\n",
+    "\n",
+    "import slycot\n",
+    "slycot.__version__"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "##  Helper function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def print_list_chunks(routines_list, n=8):\n",
+    "    \"\"\"Print list in chunks of lists.\"\"\"\n",
+    "    start = 0\n",
+    "    end = len(routines_list)\n",
+    "    step = n\n",
+    "    for i in range(start, end, step):\n",
+    "        x = i\n",
+    "        print(routines_list[x:x+step])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 12,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_slycot_routines(sly):\n",
+    "    all_attributes = dir(sly)\n",
+    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
+    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
+    "    return matched_attributes"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inspect function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "There are currently 49 routines that are found in slycot.\n",
+      "------\n",
+      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax']\n",
+      "['ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md']\n",
+      "['mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd']\n",
+      "['sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd']\n",
+      "['sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id']\n",
+      "['tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md']\n",
+      "['tf01rd']\n",
+      "None\n",
+      "\n",
+      "\n",
+      "There are currently 607 routines that are found in slicot.\n",
+      "------\n",
+      "['mb01wd', 'tg01gd', 'ab13fd', 'sg03ay', 'mb01oe', 'mb02fd', 'tg01oa', 'dg01ny']\n",
+      "['sg03ax', 'fb01qd', 'ma02az', 'mc01md', 'md03by', 'tf01mx', 'ib01nd', 'mb02rz']\n",
+      "['mb04bp', 'tb01kd', 'ab09gd', 'ma02jz', 'ud01cd', 'ib01rd', 'nf01bx', 'mb02rd']\n",
+      "['ma02es', 'mb04iy', 'tg01id', 'mb01rd', 'mc01xd', 'mb04wr', 'sg03bs', 'mb03kc']\n",
+      "['ma02cd', 'tb04ad', 'md03bx', 'mb03vy', 'ab09cd', 'tf01nd', 'sb09md', 'sb03ot']\n",
+      "['mb04pu', 'mb04yd', 'mb02pd', 'mb04tu', 'mb02ud', 'ib01cd', 'mb04dp', 'tg01fz']\n",
+      "['sb04od', 'nf01ad', 'mb03qd', 'ab09bd', 'mb02jd', 'sb02mw', 'ma02ad', 'mb04dl']\n",
+      "['sb08ed', 'tb01uy', 'md03ba', 'ab05nd', 'mb03pd', 'sb02mx', 'sb04ow', 'ma02mz']\n",
+      "['mb02cy', 'ag08by', 'mb03bb', 'ab09cx', 'mb01kd', 'sb02sd', 'mb01xd', 'sb01md']\n",
+      "['mb02ny', 'sb02ox', 'sb10pd', 'ma01cd', 'tg01hd', 'mb02nd', 'sb02cx', 'sb04px']\n",
+      "['mb03qg', 'tg01hx', 'mb03ag', 'mc01py', 'mb03kb', 'mb04jd', 'tg01bd', 'tb03ay']\n",
+      "['ab13ed', 'sb03rd', 'ma02id', 'ma02md', 'sb03os', 'mb02cv', 'mb05oy', 'sb06nd']\n",
+      "['nf01bp', 'sb02od', 'mb03md', 'fb01vd', 'ma02iz', 'tb01ld', 'mb02sd', 'tb01nd']\n",
+      "['ud01md', 'mb02xd', 'mb02md', 'sg03br', 'mb04az', 'sb02ru', 'sb10qd', 'sg03bu']\n",
+      "['sb04qr', 'mb03lf', 'ma01ad', 'sb04rd', 'ma02gd', 'sb04ry', 'ab13ad', 'ab13md']\n",
+      "['nf01by', 'mb04nd', 'mb03yt', 'sg02cx', 'tg01hu', 'ab09kx', 'mb04hd', 'mb03gd']\n",
+      "['sb08cd', 'mb03od', 'sb04mr', 'mb02kd', 'ab09jx', 'ud01bd', 'fb01sd', 'mb03rd']\n",
+      "['ab07nd', 'mb03fd', 'sb03ou', 'mb03ya', 'mb01rh', 'sb08hd', 'ab08nw', 'ab07md']\n",
+      "['ab05qd', 'mb02qy', 'mb03id', 'ma02bd', 'ma02dd', 'mb04ed', 'sb03td', 'mb04tv']\n",
+      "['td04ad', 'tb01ud', 'tc01od', 'nf01bs', 'ma02oz', 'sg02nd', 'mb04ru', 'mc01rd']\n",
+      "['mb03bd', 'mb04tt', 'sb08ny', 'tg01ad', 'sb04qu', 'nf01bf', 'tg01qd', 'mc01td']\n",
+      "['mb04fp', 'mb03ud', 'mb3lzp', 'sb04nv', 'mb04qb', 'mb04wp', 'mc01sy', 'sb10dd']\n",
+      "['mb02sz', 'mb04kd', 'tb04bw', 'mb01ry', 'sb03mv', 'tb03ad', 'mb03gz', 'mb01ot']\n",
+      "['mb03be', 'tb01zd', 'ab04md', 'mb01os', 'sb03qx', 'mb04pb', 'nf01bu', 'mb04su']\n",
+      "['mc01od', 'sb16bd', 'mb02td', 'sg03ad', 'sb03qy', 'mb03xs', 'md03bb', 'mb04qc']\n",
+      "['mb03jd', 'sb01by', 'ab09nd', 'sb03md', 'mb04oy', 'mb05nd', 'ab08nx', 'mb01rb']\n",
+      "['dg01md', 'mb02wd', 'sb03ud', 'mb03py', 'mc01pd', 'ma02pz', 'ab09iy', 'ma02od']\n",
+      "['sb10td', 'tf01my', 'sb16cy', 'tg01oz', 'ab05pd', 'mb04cd', 'sb16ay', 'sb10hd']\n",
+      "['mb02gd', 'mc03md', 'mb03bc', 'sb04nx', 'mc01qd', 'ab01od', 'ab09jd', 'sb16ad']\n",
+      "['sg03bv', 'nf01bb', 'ab09dd', 'mb03lp', 'md03bf', 'mb03ah', 'mb3jzp', 'sb04mu']\n",
+      "['ab09kd', 'sb03ov', 'sb03pd', 'fd01ad', 'sb03sd', 'td05ad', 'mb02hd', 'mb02cd']\n",
+      "['mb03qx', 'sb04nd', 'mb04tb', 'sb04pd', 'tg01jy', 'tb04cd', 'tg01dd', 'ab09ed']\n",
+      "['mb03wx', 'tg01pd', 'tf01pd', 'sb08fd', 'ab13ax', 'nf01ba', 'sb08md', 'mb04dy']\n",
+      "['sb04my', 'ab09fd', 'mb04vd', 'mb01md', 'ib01oy', 'mb04ld', 'sb01bd', 'sb02mu']\n",
+      "['sg03bx', 'tg01ed', 'mb02qd', 'mb01ss', 'mb01rw', 'sb10ud', 'mb03cz', 'ag8byz']\n",
+      "['sb02ow', 'mb02dd', 'sb08nd', 'mb03my', 'mb03yd', 'tg01od', 'mc01sw', 'ma02bz']\n",
+      "['ib01ad', 'ab09hd', 'ud01mz', 'td03ad', 'sb03my', 'ib03bd', 'mb04dd', 'mb04xd']\n",
+      "['ma02hd', 'ab09ax', 'tg01hy', 'mc01sx', 'tb01ux', 'df01md', 'mb04vx', 'mb04wd']\n",
+      "['ab08md', 'tb01vd', 'nf01ay', 'md03bd', 'mb03rz', 'ab09ix', 'ab13dd', 'tb01iz']\n",
+      "['nf01bw', 'mb04qf', 'ab05sd', 'mb04db', 'mb03ai', 'sb08gd', 'mb02od', 'mb04ty']\n",
+      "['mb02uv', 'ib01px', 'tb01ty', 'sb03oy', 'sb03mu', 'tg01nd', 'ab09hx', 'ab09id']\n",
+      "['mb04id', 'mb03ed', 'mb04di', 'mb04tx', 'sb03od', 'mb04xy', 'mb03hz', 'tc04ad']\n",
+      "['mb01rx', 'sb02ov', 'mb03zd', 'mb03jp', 'mb02yd', 'mb04ox', 'bd01ad', 'mb04fd']\n",
+      "['ab05md', 'tb04bx', 'dg01od', 'sb10zd', 'mb01rt', 'sb02mr', 'ab01nd', 'mb04bz']\n",
+      "['ma01bz', 'ma02ed', 'mb03ld', 'tb01md', 'tb01xz', 'mb04qs', 'ab09md', 'sb10id']\n",
+      "['sb03sx', 'mb02cu', 'ab13bd', 'mb3oyz', 'mb02tz', 'tb01px', 'mb03iz', 'sg03bw']\n",
+      "['mb04dz', 'nf01bv', 'bd02ad', 'tf01md', 'mb03wd', 'mb4dbz', 'mb04tw', 'mb03vd']\n",
+      "['mb01oo', 'fb01rd', 'mb04rb', 'mb03ry', 'mb01xy', 'tb05ad', 'ib03ad', 'mb03xz']\n",
+      "['mb05md', 'mb02ed', 'sb03mw', 'sg03bd', 'mb01ru', 'mb01oc', 'bb02ad', 'ab09jw']\n",
+      "['mb03cd', 'mb04pa', 'sb10yd', 'mb02jx', 'tg01az', 'sg02ad', 'ma02hz', 'mb03dz']\n",
+      "['tg01md', 'sb08my', 'tb04ay', 'sb02nd', 'sb02mt', 'sb04rw', 'mb04wu', 'nf01be']\n",
+      "['de01pd', 'sb02mv', 'sb10ed', 'sb10zp', 'mb03lz', 'sb02oy', 'sb04md', 'mb03bg']\n",
+      "['mb03ad', 'mb01uw', 'sb10kd', 'ma02jd', 'ma02gz', 'tf01qd', 'mb03td', 'mb04gd']\n",
+      "['tb04bv', 'tg01ld', 'mb03ba', 'ue01md', 'mb3pyz', 'mb03xp', 'sb02ou', 'mb01nd']\n",
+      "['sg02cw', 'mb04yw', 'sb04mw', 'mb01uy', 'sg03by', 'ib01py', 'mb02uw', 'tg01ob']\n",
+      "['mb03jz', 'mb04ad', 'tg01fd', 'mb03sd', 'ab13id', 'ab08ny', 'mb03za', 'mb02uu']\n",
+      "['ab08nd', 'mc01wd', 'tg01ly', 'mb01uz', 'mb03xu', 'mb03nd', 'ag07bd', 'sg03bt']\n",
+      "['mb03xd', 'ma02nz', 'ab13dx', 'ab08nz', 'sb04ny', 'mb03ts', 'sb04qy', 'mb03rx']\n",
+      "['mb03af', 'ib01md', 'mb03ke', 'sb02pd', 'sb16cd', 'ab8nxz', 'mb04bd', 'tf01rd']\n",
+      "['mb01ux', 'mb03bz', 'sb03sy', 'mc03ny', 'sb10ld', 'ma02fd', 'td03ay', 'bb04ad']\n",
+      "['mb03ab', 'dk01md', 'ab05od', 'mc03nx', 'mb01td', 'tb01id', 'tg01cd', 'mb04ow']\n",
+      "['sb04nw', 'mb03ae', 'mb03rw', 'mb03qy', 'sb04py', 'nf01bq', 'mb03dd', 'tb01kx']\n",
+      "['mb01ud', 'ma01bd', 'mb03ny', 'ab08mz', 'sb02rd', 'sb04qd', 'tb01wx', 'ag08bz']\n",
+      "['tg01wd', 'tb04bd', 'sb02md', 'bb01ad', 'mc01sd', 'mc01vd', 'sb10ad', 'mb01vd']\n",
+      "['de01od', 'ib01pd', 'mb03bf', 'sb02ms', 'mb04py', 'mc03nd', 'tb01wd', 'mc01nd']\n",
+      "['dg01nd', 'ab09ad', 'mb02id', 'tb01yd', 'sb03mx', 'mb03vw', 'sg02cv', 'ab05rd']\n",
+      "['mb04ds', 'mb01od', 'mb4dpz', 'mb03oy', 'sb03qd', 'sb01bx', 'sb08dd', 'ib01od']\n",
+      "['sb10md', 'mb01ld', 'mb04iz', 'mb05od', 'tb01td', 'mb02vd', 'mb03fz', 'mb05my']\n",
+      "['mb01oh', 'mb04zd', 'sb03oz', 'tg01kz', 'mb02cx', 'tg01jd', 'mb01zd', 'mb01pd']\n",
+      "['sb01dd', 'mb03hd', 'sb02qd', 'mb03qw', 'tb01xd', 'ud01nd', 'sb10rd', 'ib01my']\n",
+      "['tf01od', 'ud01dd', 'tb01vy', 'ab09hy', 'sb04rx', 'ib01qd', 'mb04od', 'mb03qv']\n",
+      "['sg03bz', 'sb03or', 'mb03kd', 'ab13cd', 'tg01kd', 'mb03wa', 'mb04ts', 'mb03ka']\n",
+      "['mb4dlz', 'mb04qu', 'sb10fd', 'ma02pd', 'sb10jd', 'mb01qd', 'ab09jv', 'sb10vd']\n",
+      "['fb01td', 'ma02ez', 'tc05ad', 'sb10wd', 'md03ad', 'nf01bd', 'ma02cz', 'mb04ny']\n",
+      "['sb04rv', 'nf01br', 'tb01pd', 'ab01md', 'ib01bd', 'mb01yd', 'tg01nx', 'sb01fy']\n",
+      "['mb04md', 'sb10sd', 'mb04ud', 'mb01sd', 'ag08bd', 'ab09bx', 'bb03ad']\n",
+      "None\n"
+     ]
+    }
+   ],
+   "source": [
+    "slycot_routines = get_slycot_routines(slycot)\n",
+    "\n",
+    "print(f\"There are currently {len(slycot_routines)} routines that are found in slycot.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(slycot_routines))\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "with open('slicot_routines.txt') as f:\n",
+    "    lines = f.readlines()\n",
+    "\n",
+    "slicot_routines = [x.split(\"\\n\")[0] for x in lines]\n",
+    "\n",
+    "print(f\"There are currently {len(slicot_routines)} routines that are found in slicot.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(slicot_routines))"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Generate Sets for the Venn-Diagramm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "There are currently 1 routines that are found in slycot and not in slicot.\n",
+      "------\n",
+      "['sb03md57']\n",
+      "None\n",
+      "\n",
+      "\n",
+      "There are currently 559 routines that are found in slicot and not in slycot.\n",
+      "------\n",
+      "['tb01ux', 'mb03xs', 'fb01qd', 'ma01bz', 'ib01bd', 'ab8nxz', 'mb03xd', 'sb08md']\n",
+      "['ab08md', 'dg01ny', 'nf01be', 'sb10jd', 'mb02qd', 'fb01vd', 'sb04rd', 'tg01qd']\n",
+      "['mb02hd', 'mb03ai', 'nf01bd', 'mb01ru', 'mb04ru', 'mb04bz', 'tb01px', 'sb10rd']\n",
+      "['mb04dy', 'sb10td', 'mb04ad', 'ma02gz', 'sb03ov', 'sb02pd', 'ma02cz', 'mb03bz']\n",
+      "['sb03mv', 'mb03qw', 'mb02td', 'mb01ss', 'sb08cd', 'sb03td', 'mb04tt', 'nf01bb']\n",
+      "['mb03ld', 'tb01xz', 'sb04nx', 'tg01oz', 'mb01od', 'tb03ay', 'mb02ud', 'sb10qd']\n",
+      "['mb03bf', 'mb01ux', 'sb08ny', 'mb04tu', 'mb01pd', 'mb02ed', 'mb03bd', 'mb02cy']\n",
+      "['sg03bx', 'mb04dl', 'mb04az', 'mb03ny', 'mb03td', 'bb03ad', 'ab09kd', 'mb02sz']\n",
+      "['fb01sd', 'mc01nd', 'tg01ld', 'mb05od', 'sb03mu', 'sb16bd', 'sb08fd', 'md03ad']\n",
+      "['sb04ny', 'tb01kd', 'mb03ag', 'bb04ad', 'mc01md', 'mb01wd', 'sb03ou', 'sb03qx']\n",
+      "['ab09hx', 'mc01py', 'nf01bs', 'mb02gd', 'mb03hz', 'mc03md', 'sb04my', 'tg01bd']\n",
+      "['sb10pd', 'tg01ob', 'mc01od', 'mb02wd', 'mb03ya', 'dg01nd', 'sb04od', 'ab09cd']\n",
+      "['sb09md', 'mc01sw', 'mb02uu', 'mb02kd', 'ab09bx', 'mb01uz', 'nf01br', 'ib03ad']\n",
+      "['ma01cd', 'mb04zd', 'bb02ad', 'sb16ay', 'mb03pd', 'ab09hy', 'ab05rd', 'mb03bg']\n",
+      "['sb01dd', 'mb04iy', 'mb02od', 'ma02ad', 'nf01bu', 'sb03sd', 'mc01wd', 'sg03bz']\n",
+      "['mb3oyz', 'mb02cv', 'sb04nw', 'tb04cd', 'sb04mr', 'mb04oy', 'sb06nd', 'mb02cu']\n",
+      "['mb02rz', 'sg03bt', 'mb02vd', 'mb03id', 'dg01od', 'tg01nx', 'mb04pa', 'mb03rz']\n",
+      "['mb01oe', 'tf01my', 'ab05qd', 'mb03wx', 'mb03lz', 'ab09cx', 'mb03kd', 'mb01zd']\n",
+      "['ab09jx', 'mb02xd', 'mb05my', 'mb01vd', 'mb01ot', 'tb01ld', 'mb01rt', 'mb03sd']\n",
+      "['tf01qd', 'ab08mz', 'sb10zd', 'mb03oy', 'mb03xu', 'ab05od', 'ma02ez', 'mb04qs']\n",
+      "['sb03qy', 'tg01id', 'ud01dd', 'tg01kz', 'tg01fd', 'mb04dp', 'sb10yd', 'ab13ax']\n",
+      "['tg01md', 'ab09jd', 'mb03cd', 'sb02mw', 'mb02md', 'sb02mv', 'mb04md', 'ma02dd']\n",
+      "['ma02hz', 'mb04di', 'mb04qc', 'sb03qd', 'ab07md', 'ag8byz', 'mc01qd', 'mb02rd']\n",
+      "['tg01jd', 'mb03ab', 'sb02ov', 'mb03ka', 'ag07bd', 'bd02ad', 'nf01ba', 'tb01ud']\n",
+      "['md03ba', 'mc01xd', 'ab09iy', 'mb02jd', 'mb01ld', 'sb03my', 'mb02uw', 'tb04bx']\n",
+      "['ud01cd', 'mb04nd', 'nf01bw', 'df01md', 'nf01bq', 'ud01nd', 'mb01yd', 'sb03sx']\n",
+      "['tb04ay', 'sb10ld', 'tg01hu', 'tg01od', 'mb04tb', 'tg01az', 'mb03bb', 'sb04rw']\n",
+      "['tg01kd', 'tf01pd', 'sb03os', 'mb04pb', 'tg01pd', 'mb04vx', 'sb02ox', 'ud01bd']\n",
+      "['tb01uy', 'nf01bf', 'mb01xd', 'mb01nd', 'sb03or', 'mb04ow', 'mb03qv', 'mb04su']\n",
+      "['mb04fp', 'ib01rd', 'mb03ah', 'mb04yw', 'mb01uy', 'sb02mx', 'md03bx', 'mb01rw']\n",
+      "['mb04kd', 'mb04od', 'mb04qf', 'ab09dd', 'mb04db', 'ma02pz', 'sb03ot', 'ib01oy']\n",
+      "['mc03nx', 'sb10ed', 'sb04nd', 'sb02mr', 'ma02id', 'mb03xp', 'sg03bs', 'mb03lp']\n",
+      "['mb02cd', 'sg03bw', 'tg01nd', 'mb03hd', 'sg03ay', 'ab09ix', 'mb01ud', 'mb04ty']\n",
+      "['tg01wd', 'mb03fz', 'mb01rd', 'mb03zd', 'mb03dd', 'mb01xy', 'bd01ad', 'mb03ry']\n",
+      "['mb03xz', 'sg02cx', 'sb10sd', 'sb02ou', 'mb04qu', 'mc01sy', 'mb02jx', 'mb4dpz']\n",
+      "['sb08gd', 'tg01oa', 'ab01md', 'mb03vw', 'mb05oy', 'mb01oc', 'ab05sd', 'bb01ad']\n",
+      "['mb04tw', 'de01pd', 'sb02cx', 'mb02yd', 'mb02cx', 'mb01rb', 'ab08ny', 'ib03bd']\n",
+      "['ib01qd', 'mb01os', 'sb04qy', 'mb04bd', 'sb10id', 'ib01md', 'tg01fz', 'ab13id']\n",
+      "['tg01dd', 'mc01vd', 'sb04px', 'mb04hd', 'mb04wr', 'sg03ax', 'ma02oz', 'mb04qb']\n",
+      "['mb03rx', 'mb04ds', 'sb03oz', 'mb02id', 'ma02bd', 'ab09gd', 'ib01px', 'tg01hy']\n",
+      "['ma02iz', 'mb04jd', 'sb03oy', 'ab09jv', 'mb03qx', 'ab13cd', 'mb03kc', 'sb08ed']\n",
+      "['ib01nd', 'ma02ed', 'tf01mx', 'mb01kd', 'ab08nx', 'ib01cd', 'tg01hx', 'mb4dbz']\n",
+      "['mb03gd', 'ab09fd', 'sb04qr', 'mb4dlz', 'mb03jz', 'tb01wx', 'mb04bp', 'mb03bc']\n",
+      "['mb03ba', 'ma02es', 'ma02az', 'sb08hd', 'mb03py', 'mc01pd', 'mb03qy', 'mb04ud']\n",
+      "['mb03kb', 'ma02nz', 'dk01md', 'sb10ud', 'sb04mw', 'sb03pd', 'sb10kd', 'sg03by']\n",
+      "['tg01ad', 'mb04xy', 'ab08nw', 'mc01rd', 'ag08bd', 'ib01ad', 'mb03rw', 'mb04wd']\n",
+      "['md03bb', 'ab09jw', 'tb01vy', 'sb10wd', 'sg03br', 'mb03md', 'sb04rx', 'sb16cy']\n",
+      "['de01od', 'sb03ud', 'ud01mz', 'ma01bd', 'ma02bz', 'mb02pd', 'sb01by', 'mb01td']\n",
+      "['mb02qy', 'mb04tx', 'tb01kx', 'mb03dz', 'mb01sd', 'sb08my', 'mb04iz', 'tf01nd']\n",
+      "['sb04rv', 'mb01rx', 'tb04bv', 'mb02dd', 'mb3pyz', 'mb03be', 'tb01zd', 'tb01td']\n",
+      "['ag08by', 'mb02sd', 'tb01vd', 'fb01td', 'tg01ed', 'sb02rd', 'mb03od', 'md03by']\n",
+      "['nf01ay', 'tf01od', 'sb02ru', 'sb03rd', 'sb01fy', 'tb01iz', 'ma01ad', 'mb3jzp']\n",
+      "['ab01od', 'nf01bx', 'ab09hd', 'sb04ow', 'sg02cv', 'ab04md', 'mb03wa', 'ma02gd']\n",
+      "['ab13ad', 'fd01ad', 'tb01ty', 'ab09id', 'sb02nd', 'ib01pd', 'tg01jy', 'ud01md']\n",
+      "['mb03gz', 'sb01bx', 'sb03sy', 'mb01md', 'sb02ow', 'mb04py', 'sb10vd', 'mb02nd']\n",
+      "['mb01oo', 'sg02nd', 'ma02mz', 'ib01od', 'mb03jd', 'dg01md', 'ab05pd', 'mb03nd']\n",
+      "['mb03my', 'mb04xd', 'mb03ts', 'sb02ms', 'mb01ry', 'tb01md', 'md03bd', 'tg01ly']\n",
+      "['ab09kx', 'td03ad', 'tb04bw', 'mb03lf', 'mb04dd', 'sb04qu', 'mb03ed', 'mb04cd']\n",
+      "['mc03nd', 'sb01md', 'tb01nd', 'mb01uw', 'mb03cz', 'mb03fd', 'ma02hd', 'mc01sx']\n",
+      "['tb01yd', 'mb01qd', 'ma02jz', 'tg01hd', 'sb03mx', 'sb04pd', 'td03ay', 'md03bf']\n",
+      "['ue01md', 'sb02mu', 'ib01py', 'mc01sd', 'mb04ox', 'td05ad', 'mb03yd', 'sb02sd']\n",
+      "['fb01rd', 'mb04wu', 'sb16cd', 'mb01rh', 'sb16ad', 'mb3lzp', 'mb03ad', 'mb04dz']\n",
+      "['sg03bu', 'tc05ad', 'mb04pu', 'sb08nd', 'ma02pd', 'mb04ld', 'sb10md', 'mb02uv']\n",
+      "['ab13dx', 'sb03mw', 'mb03iz', 'nf01bv', 'tb04bd', 'ma02cd', 'sb04ry', 'mb04ts']\n",
+      "['mb03ud', 'mb03za', 'sb04mu', 'ib01my', 'mb04wp', 'ma02md', 'mb04tv', 'sg03bv']\n",
+      "['mb04vd', 'sb04py', 'mb04ny', 'tb01wd', 'nf01by', 'sb02oy', 'mb03ae', 'nf01ad']\n",
+      "['nf01bp', 'sg02cw', 'mb04gd', 'mb03ke', 'mc03ny', 'mb03af', 'tg01cd', 'ag08bz']\n",
+      "['mb02tz', 'mb04ed', 'tg01gd', 'mb04rb', 'mb02ny', 'mb03qd', 'ma02jd', 'mb02fd']\n",
+      "['mb01oh', 'sb10zp', 'ab09ed', 'sb04nv', 'mb03jp', 'ma02fd', 'mb03qg', 'mb03yt']\n",
+      "['ma02od', 'sb08dd', 'mb04yd', 'tb01xd', 'sb02qd', 'mb04fd', 'mb04id']\n",
+      "None\n",
+      "\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "not_in_slicot =  list(set(slycot_routines)- set(slicot_routines))\n",
+    "not_in_slicot\n",
+    "\n",
+    "print(f\"There are currently {len(not_in_slicot)} routines that are found in slycot and not in slicot.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(not_in_slicot))\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "not_in_slycot =   list(set(slicot_routines) - set(slycot_routines))\n",
+    "not_in_slycot\n",
+    "\n",
+    "print(f\"There are currently {len(not_in_slycot)} routines that are found in slicot and not in slycot.\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(not_in_slycot))\n",
+    "print(\"\\n\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
+      "------\n",
+      "['tb01ux', 'mb03xs', 'fb01qd', 'ma01bz', 'ib01bd', 'ab8nxz', 'mb03xd', 'sb08md']\n",
+      "['ab08md', 'dg01ny', 'nf01be', 'sb10jd', 'mb02qd', 'fb01vd', 'sb04rd', 'tg01qd']\n",
+      "['mb02hd', 'mb03ai', 'nf01bd', 'mb01ru', 'mb04ru', 'mb04bz', 'tb01px', 'sb10rd']\n",
+      "['mb04dy', 'sb10td', 'mb04ad', 'ma02gz', 'sb03ov', 'sb02pd', 'ma02cz', 'mb03bz']\n",
+      "['sb03mv', 'mb03qw', 'mb02td', 'mb01ss', 'sb08cd', 'sb03td', 'mb04tt', 'nf01bb']\n",
+      "['mb03ld', 'mb03wd', 'tb01xz', 'sb04nx', 'tg01oz', 'mb01od', 'tb03ay', 'mb02ud']\n",
+      "['sb10qd', 'ab08nz', 'mb03bf', 'tb01pd', 'mb01ux', 'sb08ny', 'mb04tu', 'mb01pd']\n",
+      "['mb02ed', 'mb03bd', 'mb02cy', 'sg03bx', 'mb04dl', 'mb04az', 'mb03ny', 'mb03td']\n",
+      "['bb03ad', 'ab09kd', 'mb02sz', 'fb01sd', 'ab09md', 'mc01nd', 'tg01ld', 'mb05od']\n",
+      "['sb03mu', 'sb16bd', 'sb08fd', 'md03ad', 'mc01td', 'sb04ny', 'tb01kd', 'mb03ag']\n",
+      "['bb04ad', 'mc01md', 'mb01wd', 'sb03ou', 'sb03qx', 'ab09hx', 'mc01py', 'nf01bs']\n",
+      "['mb02gd', 'mb03hz', 'mc03md', 'sb04my', 'tg01bd', 'sb10pd', 'tg01ob', 'mc01od']\n",
+      "['mb02wd', 'mb03ya', 'dg01nd', 'sb04od', 'ab09cd', 'sb09md', 'mc01sw', 'sb10fd']\n",
+      "['mb03vd', 'mb02uu', 'mb02kd', 'ab09bx', 'mb01uz', 'nf01br', 'ib03ad', 'ma01cd']\n",
+      "['mb04zd', 'bb02ad', 'sb16ay', 'mb03pd', 'ab09hy', 'ab05rd', 'sb02mt', 'mb03bg']\n",
+      "['sb01dd', 'mb04iy', 'mb02od', 'ma02ad', 'nf01bu', 'sb03sd', 'mc01wd', 'sg03bz']\n",
+      "['mb3oyz', 'mb02cv', 'sg02ad', 'sb04nw', 'tb04cd', 'sb04mr', 'sb03md', 'mb04oy']\n",
+      "['sb06nd', 'mb02cu', 'mb02rz', 'sg03bt', 'mb02vd', 'mb03id', 'dg01od', 'tg01nx']\n",
+      "['sb04qd', 'mb04pa', 'mb03rz', 'mb01oe', 'tf01my', 'ab05qd', 'mb03wx', 'mb03lz']\n",
+      "['ab09cx', 'mb03kd', 'sg03ad', 'mb01zd', 'ab09jx', 'mb02xd', 'mb05my', 'mb01vd']\n",
+      "['mb01ot', 'tb01ld', 'mb01rt', 'mb03sd', 'tf01qd', 'ab08mz', 'sb10zd', 'mb03oy']\n",
+      "['mb03xu', 'ab05od', 'ma02ez', 'mb04qs', 'sb03qy', 'tg01id', 'ud01dd', 'tg01kz']\n",
+      "['tg01fd', 'mb04dp', 'sb10yd', 'ab13ax', 'tg01md', 'ab09bd', 'ab09jd', 'mb03cd']\n",
+      "['sb02mw', 'mb02md', 'sb02mv', 'mb04md', 'ma02dd', 'ma02hz', 'tc04ad', 'mb04di']\n",
+      "['tb05ad', 'mb04qc', 'sb03qd', 'ab07md', 'ag8byz', 'mc01qd', 'mb02rd', 'ab13fd']\n",
+      "['tg01jd', 'mb03ab', 'sb02ov', 'mb03ka', 'ag07bd', 'bd02ad', 'nf01ba', 'sb04md']\n",
+      "['tb01ud', 'md03ba', 'mc01xd', 'ab09iy', 'mb02jd', 'mb01ld', 'sb03my', 'mb02uw']\n",
+      "['tb04bx', 'ud01cd', 'mb04nd', 'nf01bw', 'df01md', 'sb10ad', 'nf01bq', 'tf01md']\n",
+      "['ud01nd', 'mb01yd', 'sb03sx', 'tb04ay', 'sb10ld', 'tg01hu', 'tg01od', 'mb04tb']\n",
+      "['tg01az', 'mb03bb', 'sb04rw', 'tg01kd', 'tf01pd', 'sb03os', 'mb04pb', 'tg01pd']\n",
+      "['mb04vx', 'sb02ox', 'ud01bd', 'tb01uy', 'nf01bf', 'mb01xd', 'mb01nd', 'sb03or']\n",
+      "['mb04ow', 'mb03qv', 'mb04su', 'mb04fp', 'ab13ed', 'ib01rd', 'mb03ah', 'mb04yw']\n",
+      "['mb01uy', 'sb02mx', 'md03bx', 'tf01rd', 'td04ad', 'mb01rw', 'ab09ad', 'mb04kd']\n",
+      "['mb04od', 'mb04qf', 'ab09dd', 'mb04db', 'ma02pz', 'sb03ot', 'ib01oy', 'mc03nx']\n",
+      "['sb10ed', 'sb04nd', 'sb02mr', 'ma02id', 'mb03xp', 'sg03bs', 'mb03lp', 'mb02cd']\n",
+      "['sb02md', 'sg03bw', 'tg01nd', 'mb03hd', 'sg03ay', 'ab09ix', 'mb01ud', 'mb04ty']\n",
+      "['ab05nd', 'mb03vy', 'tg01wd', 'mb03fz', 'mb01rd', 'mb03zd', 'mb03dd', 'mb01xy']\n",
+      "['bd01ad', 'mb03ry', 'mb03xz', 'sg02cx', 'sb10sd', 'sb02ou', 'mb04qu', 'mc01sy']\n",
+      "['mb02jx', 'mb4dpz', 'sb08gd', 'tg01oa', 'ab01md', 'mb03vw', 'mb05oy', 'mb01oc']\n",
+      "['ab05sd', 'bb01ad', 'mb04tw', 'de01pd', 'sb02cx', 'mb02yd', 'mb02cx', 'mb01rb']\n",
+      "['ab08ny', 'ib03bd', 'ib01qd', 'mb01os', 'sb04qy', 'mb04bd', 'sb10id', 'ib01md']\n",
+      "['tg01fz', 'ab13id', 'tg01dd', 'mc01vd', 'sb04px', 'mb04hd', 'mb04wr', 'sg03ax']\n",
+      "['ma02oz', 'mb04qb', 'mb03rx', 'tb01id', 'ab09ax', 'mb04ds', 'sb03oz', 'mb02id']\n",
+      "['ma02bd', 'ab09gd', 'ib01px', 'tg01hy', 'ma02iz', 'mb04jd', 'sb03oy', 'ab09jv']\n",
+      "['tb04ad', 'sb03md57', 'mb03qx', 'ab13cd', 'mb03kc', 'sb08ed', 'ab13md', 'ib01nd']\n",
+      "['ma02ed', 'tf01mx', 'mb01kd', 'ab08nx', 'ib01cd', 'tg01hx', 'mb4dbz', 'sg03bd']\n",
+      "['mb03gd', 'sb03od', 'ab09fd', 'sb04qr', 'mb4dlz', 'mb03jz', 'tb01wx', 'mb04bp']\n",
+      "['mb03bc', 'mb03ba', 'ma02es', 'ma02az', 'sb08hd', 'mb03py', 'mc01pd', 'mb03qy']\n",
+      "['mb04ud', 'mb03kb', 'ma02nz', 'dk01md', 'sb01bd', 'sb10ud', 'sb04mw', 'sb03pd']\n",
+      "['sb10kd', 'sg03by', 'tg01ad', 'mb04xy', 'ab08nw', 'mc01rd', 'ag08bd', 'ib01ad']\n",
+      "['mb03rw', 'mb04wd', 'md03bb', 'ab09jw', 'tb01vy', 'sb10wd', 'sg03br', 'mb03md']\n",
+      "['sb04rx', 'sb16cy', 'de01od', 'sb03ud', 'ud01mz', 'sb10dd', 'ma01bd', 'ma02bz']\n",
+      "['mb02pd', 'sb01by', 'ab08nd', 'mb01td', 'mb02qy', 'mb04tx', 'tb01kx', 'mb03dz']\n",
+      "['mb01sd', 'sb08my', 'mb04iz', 'tf01nd', 'sb04rv', 'mb01rx', 'tb04bv', 'ab07nd']\n",
+      "['mb02dd', 'mb3pyz', 'mb03be', 'mb05nd', 'tb01zd', 'tb01td', 'ag08by', 'mb02sd']\n",
+      "['tb01vd', 'fb01td', 'tg01ed', 'sb02rd', 'mb03od', 'md03by', 'ab13dd', 'nf01ay']\n",
+      "['tf01od', 'sb02ru', 'sb03rd', 'tb03ad', 'sb01fy', 'tb01iz', 'ma01ad', 'mb3jzp']\n",
+      "['ab01od', 'nf01bx', 'ab09hd', 'sb04ow', 'sg02cv', 'ab04md', 'mb03wa', 'ma02gd']\n",
+      "['ab01nd', 'ab13ad', 'fd01ad', 'tb01ty', 'ab09id', 'sb02nd', 'ib01pd', 'tg01jy']\n",
+      "['ud01md', 'mb03gz', 'sb01bx', 'sb03sy', 'mb01md', 'sb02ow', 'mb04py', 'sb10vd']\n",
+      "['mb02nd', 'mb01oo', 'sg02nd', 'ma02mz', 'tc01od', 'sb02od', 'ib01od', 'mb03jd']\n",
+      "['dg01md', 'ab05pd', 'mb03nd', 'mb03my', 'mb04xd', 'mb03ts', 'sb02ms', 'mb01ry']\n",
+      "['tb01md', 'md03bd', 'tg01ly', 'ab09kx', 'td03ad', 'tb04bw', 'mb03lf', 'mb04dd']\n",
+      "['sb04qu', 'mb03ed', 'mb04cd', 'mc03nd', 'sb01md', 'tb01nd', 'mb01uw', 'mb03cz']\n",
+      "['mb03fd', 'ma02hd', 'mc01sx', 'tb01yd', 'mb01qd', 'ma02jz', 'tg01hd', 'sb03mx']\n",
+      "['sb04pd', 'td03ay', 'md03bf', 'ue01md', 'sb02mu', 'ib01py', 'mc01sd', 'sb10hd']\n",
+      "['mb04ox', 'td05ad', 'mb03yd', 'sb02sd', 'fb01rd', 'mb04wu', 'sb16cd', 'mb01rh']\n",
+      "['sb16ad', 'ab05md', 'mb3lzp', 'mb03ad', 'mb04dz', 'sg03bu', 'tc05ad', 'mb04pu']\n",
+      "['sb08nd', 'ma02pd', 'mb04ld', 'sb10md', 'mb02uv', 'ab13dx', 'sb03mw', 'mb03iz']\n",
+      "['nf01bv', 'tb04bd', 'ma02cd', 'sb04ry', 'mb04ts', 'mb03ud', 'mb03za', 'sb04mu']\n",
+      "['ib01my', 'ab09nd', 'mb04wp', 'ma02md', 'mb04tv', 'sg03bv', 'mb04vd', 'sb04py']\n",
+      "['mb04ny', 'tb01wd', 'nf01by', 'sb02oy', 'mb03ae', 'mb05md', 'nf01ad', 'nf01bp']\n",
+      "['sg02cw', 'mb04gd', 'mb03ke', 'mc03ny', 'mb03af', 'tg01cd', 'ag08bz', 'mb02tz']\n",
+      "['mb04ed', 'tg01gd', 'mb04rb', 'mb02ny', 'mb03qd', 'ma02jd', 'mb02fd', 'mb01oh']\n",
+      "['sb10zp', 'ab09ed', 'sb04nv', 'mb03jp', 'ma02fd', 'mb03qg', 'mb03yt', 'ma02od']\n",
+      "['sb08dd', 'mb04yd', 'tb01xd', 'sb02qd', 'ab13bd', 'mb04fd', 'mb04id', 'mb03rd']\n",
+      "None\n",
+      "\n",
+      "\n",
+      "There are currently 48 routines that are found in slicot and slycot. (intersection)\n",
+      "------\n",
+      "['mb05md', 'ab13fd', 'sg03ad', 'sb02mt', 'sb01bd', 'ab05md', 'ab09md', 'tb04ad']\n",
+      "['mc01td', 'mb03wd', 'sb04md', 'ab01nd', 'ab13md', 'ab07nd', 'sb02md', 'mb05nd']\n",
+      "['ab13ed', 'ab08nz', 'sg03bd', 'sg02ad', 'sb03od', 'tb01pd', 'sb03md', 'ab05nd']\n",
+      "['mb03vy', 'tf01rd', 'ab09bd', 'td04ad', 'ab09ad', 'sb10ad', 'ab09nd', 'tf01md']\n",
+      "['sb10fd', 'ab13dd', 'tc01od', 'mb03vd', 'sb10dd', 'sb04qd', 'tc04ad', 'tb01id']\n",
+      "['sb02od', 'tb03ad', 'ab09ax', 'tb05ad', 'ab13bd', 'ab08nd', 'sb10hd', 'mb03rd']\n",
+      "None\n"
+     ]
+    }
+   ],
+   "source": [
+    "union = list(set(slicot_routines) | set(slycot_routines))\n",
+    "\n",
+    "print(f\"There are currently {len(union)} routines that are found in slicot or in slycot. (union)\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(union))\n",
+    "print(\"\\n\")\n",
+    "\n",
+    "intersection = list(set(slicot_routines) & set(slycot_routines))\n",
+    "intersection\n",
+    "\n",
+    "print(f\"There are currently {len(intersection)} routines that are found in slicot and slycot. (intersection)\")\n",
+    "print(\"------\")\n",
+    "print(print_list_chunks(intersection))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>chapter name</th>\n",
+       "      <th>slycot routines</th>\n",
+       "      <th>slicot routines</th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>a</th>\n",
+       "      <td>Analysis Routines</td>\n",
+       "      <td>16</td>\n",
+       "      <td>60</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>b</th>\n",
+       "      <td>Benchmark</td>\n",
+       "      <td>0</td>\n",
+       "      <td>6</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>c</th>\n",
+       "      <td>Adaptive Control</td>\n",
+       "      <td>0</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>d</th>\n",
+       "      <td>Data Analysis</td>\n",
+       "      <td>0</td>\n",
+       "      <td>8</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>f</th>\n",
+       "      <td>Filtering</td>\n",
+       "      <td>0</td>\n",
+       "      <td>6</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>i</th>\n",
+       "      <td>Identification</td>\n",
+       "      <td>0</td>\n",
+       "      <td>15</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>m</th>\n",
+       "      <td>Mathematical routines</td>\n",
+       "      <td>7</td>\n",
+       "      <td>281</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>n</th>\n",
+       "      <td>Nonlinear Systems</td>\n",
+       "      <td>0</td>\n",
+       "      <td>16</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>s</th>\n",
+       "      <td>Synthesis Routines</td>\n",
+       "      <td>16</td>\n",
+       "      <td>131</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>t</th>\n",
+       "      <td>Transformation Routines</td>\n",
+       "      <td>10</td>\n",
+       "      <td>77</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>u</th>\n",
+       "      <td>Utility Routines</td>\n",
+       "      <td>0</td>\n",
+       "      <td>7</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>total</th>\n",
+       "      <td>-</td>\n",
+       "      <td>49</td>\n",
+       "      <td>607</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "                  chapter name  slycot routines  slicot routines\n",
+       "a            Analysis Routines               16               60\n",
+       "b                    Benchmark                0                6\n",
+       "c             Adaptive Control                0                0\n",
+       "d                Data Analysis                0                8\n",
+       "f                    Filtering                0                6\n",
+       "i               Identification                0               15\n",
+       "m        Mathematical routines                7              281\n",
+       "n            Nonlinear Systems                0               16\n",
+       "s           Synthesis Routines               16              131\n",
+       "t      Transformation Routines               10               77\n",
+       "u             Utility Routines                0                7\n",
+       "total                        -               49              607"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "slicot_full_names = {\n",
+    "    \"a\": \"Analysis Routines\",\n",
+    "    \"b\": \"Benchmark\",\n",
+    "    \"c\": \"Adaptive Control\",\n",
+    "    \"d\": \"Data Analysis\",\n",
+    "    \"f\": \"Filtering\",\n",
+    "    \"i\": \"Identification\",\n",
+    "    \"m\": \"Mathematical routines\",\n",
+    "    \"n\": \"Nonlinear Systems\",\n",
+    "    \"s\": \"Synthesis Routines\",\n",
+    "    \"t\": \"Transformation Routines\",\n",
+    "    \"u\": \"Utility Routines\",\n",
+    "}\n",
+    "\n",
+    "def count_methods(list_routines, keys):\n",
+    "    d = {key: 0 for key in keys}\n",
+    "    for w in list_routines:\n",
+    "        if w:\n",
+    "            if w[0] in d:\n",
+    "                d[w[0]] = d[w[0]] + 1\n",
+    "            else:\n",
+    "                d[w[0]] = 1\n",
+    "    return d\n",
+    "\n",
+    "slicot_routines_dict = count_methods(slicot_routines, keys=slicot_full_names.keys())\n",
+    "slycot_routines_dict = count_methods(slycot_routines, keys=slicot_full_names.keys())\n",
+    "\n",
+    "df = pd.DataFrame(\n",
+    "    {\n",
+    "        \"chapter name\": slicot_full_names.values(),\n",
+    "        \"slycot routines\": slycot_routines_dict.values(),\n",
+    "        \"slicot routines\": slicot_routines_dict.values(),\n",
+    "    },\n",
+    "    index=slicot_routines_dict.keys()\n",
+    ")\n",
+    "csum = df.sum()\n",
+    "df.loc['total']= df.sum()\n",
+    "df.loc[df.index[-1], 'chapter name'] = '-'\n",
+    "display(df)\n",
+    "\n",
+    "names_sli = list(slicot_routines_dict.keys())\n",
+    "names_sli.reverse()\n",
+    "values_sli = list(slicot_routines_dict.values())\n",
+    "values_sli.reverse()\n",
+    "\n",
+    "names_sly = list(slycot_routines_dict.keys())\n",
+    "names_sly.reverse()\n",
+    "values_sly = list(slycot_routines_dict.values())\n",
+    "values_sly.reverse()\n",
+    "\n",
+    "height = 0.25\n",
+    "plt.barh(np.arange(len(slycot_routines_dict)), values_sly, height=height)\n",
+    "plt.barh(np.arange(len(slicot_routines_dict)) - height, values_sli, height=height)\n",
+    "plt.yticks(np.arange(len(slicot_routines_dict)) - height, [slicot_full_names[x] for x in names_sli])\n",
+    "plt.legend((\"Slycot\",\"SLICOT\"))\n",
+    "plt.title(\"Slycot vs SLICOT\")\n",
+    "plt.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "venn2(subsets = (len(set(slycot_routines)),\n",
+    "                 len(set(slicot_routines)),  \n",
+    "                 len(intersection)), set_labels = ('Slycot', 'SLICOT'))\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index 81907b4a..a08ccdb1 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -20,14 +20,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 40,
+   "execution_count": 10,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.1.dev609+g4f08655.d20230809\n"
+      "0.1.dev612+g3d12a1d\n"
      ]
     }
    ],
@@ -47,7 +47,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 41,
+   "execution_count": 11,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -63,7 +63,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 42,
+   "execution_count": 12,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -92,7 +92,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 43,
+   "execution_count": 13,
    "metadata": {},
    "outputs": [
     {
@@ -132,7 +132,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 44,
+   "execution_count": 14,
    "metadata": {},
    "outputs": [
     {
@@ -175,7 +175,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 45,
+   "execution_count": 15,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -185,7 +185,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 46,
+   "execution_count": 16,
    "metadata": {},
    "outputs": [
     {
@@ -194,19 +194,19 @@
      "text": [
       "There are currently 10 routines that found in slycot not in slycot._wrapper.\n",
       "------\n",
-      "['sb02od', 'tb05ad', 'sb02mt', 'tb04ad', 'sb03md57', 'sg02ad']\n",
-      "['tc01od', 'tb03ad', 'td04ad', 'tc04ad']\n",
+      "['tc04ad', 'tb05ad', 'sb02od', 'tc01od', 'td04ad', 'tb04ad']\n",
+      "['sb02mt', 'sb03md57', 'sg02ad', 'tb03ad']\n",
       "None\n",
       "\n",
       "\n",
       "There are currently 32 routines that are found in slycot._wrapper not in slycot.\n",
       "------\n",
-      "['tb05ad_ag', 'sb02od_b', 'td04ad_c', 'tg01ad', 'sb02mt_n', 'sg02ad_bc']\n",
-      "['sb02od_n', 'tb05ad_nh', 'tg01fd_ii', 'ag08bd', 'tg01fd_nn', 'tc04ad_l']\n",
-      "['sg02ad_bd', 'sb10jd', 'tb05ad_ng', 'sb02od_d', 'tb03ad_r', 'tg01fd_uu']\n",
-      "['tc04ad_r', 'tb04ad_r', 'tb04ad_c', 'sb02mt_cl', 'sg02ad_bb', 'tc01od_l']\n",
-      "['td04ad_r', 'sb02mt_nl', 'tc01od_r', 'sg02ad_g', 'tb03ad_l', 'sb02od_c']\n",
-      "['sg02ad_bn', 'sb02mt_c']\n",
+      "['td04ad_r', 'tb03ad_l', 'tc04ad_l', 'sg02ad_g', 'sg02ad_bn', 'ag08bd']\n",
+      "['sb10jd', 'tc01od_r', 'sg02ad_bb', 'tb03ad_r', 'tg01fd_nn', 'tb04ad_r']\n",
+      "['tc04ad_r', 'tg01fd_uu', 'sb02mt_nl', 'sg02ad_bc', 'tb05ad_nh', 'tb05ad_ag']\n",
+      "['tg01fd_ii', 'sb02od_n', 'tb04ad_c', 'sb02od_b', 'sb02od_c', 'sg02ad_bd']\n",
+      "['sb02od_d', 'sb02mt_n', 'tb05ad_ng', 'tc01od_l', 'tg01ad', 'td04ad_c']\n",
+      "['sb02mt_c', 'sb02mt_cl']\n",
       "None\n",
       "\n",
       "\n"
@@ -233,7 +233,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 47,
+   "execution_count": 17,
    "metadata": {},
    "outputs": [
     {
@@ -242,32 +242,32 @@
      "text": [
       "There are currently 81 routines that are found in slycot or in slycot._wrapper. (union)\n",
       "------\n",
-      "['tb05ad_ag', 'sb02md', 'sb03md', 'ab08nd', 'tg01fd_ii', 'tb05ad_nh']\n",
-      "['sb04md', 'ag08bd', 'tb01pd', 'mb03vd', 'sb03md57', 'ab13bd']\n",
-      "['sb02mt', 'tc04ad', 'ab09nd', 'tc04ad_l', 'sb10jd', 'tf01rd']\n",
-      "['tb05ad_ng', 'sb02od_d', 'ab05md', 'ab07nd', 'sb04qd', 'ab08nz']\n",
-      "['tb04ad', 'mb05nd', 'ab09bd', 'tg01fd_uu', 'mb03vy', 'td04ad']\n",
-      "['ab09ad', 'sb10dd', 'sb10hd', 'sg02ad_bb', 'sg03ad', 'tc01od_l']\n",
-      "['td04ad_r', 'ab13md', 'tc01od', 'mb03wd', 'sb02mt_nl', 'tc01od_r']\n",
-      "['tb03ad_l', 'tb05ad', 'tf01md', 'sb02od_c', 'sb01bd', 'mc01td']\n",
-      "['sb02mt_c', 'sb02od_b', 'td04ad_c', 'tg01ad', 'sb02mt_n', 'sg02ad_bc']\n",
-      "['sb02od_n', 'sg03bd', 'sg02ad', 'tb03ad', 'tb01id', 'mb05md']\n",
-      "['tg01fd_nn', 'sg02ad_bd', 'ab13dd', 'tb03ad_r', 'ab09ax', 'ab05nd']\n",
-      "['mb03rd', 'sb10ad', 'tc04ad_r', 'ab01nd', 'tb04ad_r', 'ab09md']\n",
-      "['tb04ad_c', 'sb02mt_cl', 'ab13fd', 'ab13ed', 'sb03od', 'sg02ad_g']\n",
-      "['sb02od', 'sb10fd', 'sg02ad_bn']\n",
+      "['tb05ad', 'td04ad_r', 'ab13ed', 'td04ad', 'tb01id', 'sb02mt']\n",
+      "['tf01rd', 'ab13bd', 'ab13fd', 'sb03md', 'mb03vy', 'ab08nd']\n",
+      "['ab05nd', 'sb10jd', 'sg02ad_bb', 'tb03ad_r', 'tc01od_r', 'tb04ad_r']\n",
+      "['tc04ad_r', 'tb05ad_nh', 'tb05ad_ag', 'tb03ad', 'tc04ad', 'mb05nd']\n",
+      "['sb02od_b', 'sb04qd', 'sg03bd', 'sb02od_c', 'sb02od_d', 'tb05ad_ng']\n",
+      "['mc01td', 'sb10dd', 'ab01nd', 'tc01od', 'sb02md', 'sb02mt_cl']\n",
+      "['ab09md', 'tb01pd', 'mb03rd', 'sb03od', 'ab09bd', 'mb03wd']\n",
+      "['tb03ad_l', 'tc04ad_l', 'sg02ad_g', 'sg02ad_bn', 'ab09nd', 'ag08bd']\n",
+      "['tg01fd_nn', 'tb04ad', 'mb03vd', 'tg01fd_uu', 'sb02mt_nl', 'sg02ad_bc']\n",
+      "['tg01fd_ii', 'sb02od_n', 'sg03ad', 'sb02od', 'tf01md', 'tb04ad_c']\n",
+      "['ab05md', 'sg02ad_bd', 'sb01bd', 'sb02mt_n', 'ab07nd', 'ab13md']\n",
+      "['sb10hd', 'ab09ax', 'ab09ad', 'ab08nz', 'tc01od_l', 'tg01ad']\n",
+      "['sb10fd', 'ab13dd', 'td04ad_c', 'sb03md57', 'sg02ad', 'sb10ad']\n",
+      "['sb02mt_c', 'mb05md', 'sb04md']\n",
       "None\n",
       "\n",
       "\n",
       "There are currently 39 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
       "------\n",
-      "['sb02md', 'sb03md', 'ab08nd', 'sb04md', 'sg03bd', 'tb01pd']\n",
-      "['mb03vd', 'tb01id', 'ab13bd', 'mb05md', 'ab09nd', 'ab13dd']\n",
-      "['tf01rd', 'ab05md', 'ab07nd', 'ab09ax', 'ab08nz', 'sb04qd']\n",
-      "['ab05nd', 'mb03rd', 'mb05nd', 'ab09bd', 'sb10ad', 'mb03vy']\n",
-      "['ab01nd', 'ab09md', 'ab09ad', 'sb10dd', 'sb10hd', 'sg03ad']\n",
-      "['ab13md', 'ab13fd', 'ab13ed', 'mb03wd', 'sb03od', 'tf01md']\n",
-      "['sb01bd', 'sb10fd', 'mc01td']\n",
+      "['sb03od', 'ab09bd', 'mb03wd', 'ab13ed', 'tb01id', 'mb03rd']\n",
+      "['tf01rd', 'ab13bd', 'ab13fd', 'sb03md', 'mb03vy', 'ab09nd']\n",
+      "['ab08nd', 'ab05nd', 'mb03vd', 'sg03ad', 'mb05nd', 'tf01md']\n",
+      "['sb04qd', 'sg03bd', 'ab05md', 'sb01bd', 'ab07nd', 'ab13md']\n",
+      "['sb10hd', 'ab09ax', 'ab09ad', 'ab08nz', 'mc01td', 'sb10dd']\n",
+      "['sb10fd', 'ab13dd', 'ab01nd', 'sb02md', 'sb10ad', 'mb05md']\n",
+      "['ab09md', 'tb01pd', 'sb04md']\n",
       "None\n",
       "\n",
       "\n"
@@ -294,7 +294,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 48,
+   "execution_count": 18,
    "metadata": {},
    "outputs": [
     {
diff --git a/doc/source/dev/slicot_procedures.txt b/doc/source/dev/slicot_routines.txt
similarity index 100%
rename from doc/source/dev/slicot_procedures.txt
rename to doc/source/dev/slicot_routines.txt
diff --git a/doc/source/dev/slicot_slycot.ipynb b/doc/source/dev/slicot_slycot.ipynb
deleted file mode 100644
index ddc76215..00000000
--- a/doc/source/dev/slicot_slycot.ipynb
+++ /dev/null
@@ -1,682 +0,0 @@
-{
- "cells": [
-  {
-   "attachments": {},
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "# Inspect SLICOT and Slycot"
-   ]
-  },
-  {
-   "attachments": {},
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "This notebook shows how to inspect the slicot libary and the slycot module.\n",
-    "The result gives us a insight which slicot routines are implemented slycot."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 56,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0.1.dev609+g4f08655.d20230809'"
-      ]
-     },
-     "execution_count": 56,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "import re\n",
-    "import pandas as pd\n",
-    "import matplotlib.pyplot as plt\n",
-    "from matplotlib_venn import venn2\n",
-    "\n",
-    "import slycot\n",
-    "slycot.__version__"
-   ]
-  },
-  {
-   "attachments": {},
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "##  Helper function"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 57,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def print_list_chunks(routines_list, n=6):\n",
-    "    \"\"\"Print list in chunks of lists.\"\"\"\n",
-    "    start = 0\n",
-    "    end = len(routines_list)\n",
-    "    step = n\n",
-    "    for i in range(start, end, step):\n",
-    "        x = i\n",
-    "        print(routines_list[x:x+step])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 58,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def get_slycot_routines(sly):\n",
-    "    all_attributes = dir(sly)\n",
-    "    r = re.compile(\"[a-z][a-z][0-9][0-9a-z][a-z][a-z]\")\n",
-    "    matched_attributes = list(filter(r.match, all_attributes)) # Read Note below\n",
-    "    return matched_attributes"
-   ]
-  },
-  {
-   "attachments": {},
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Inspect function"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 59,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "There are currently 607 routines that are found in slicot.\n",
-      "['mb01wd', 'tg01gd', 'ab13fd', 'sg03ay', 'mb01oe', 'mb02fd']\n",
-      "['tg01oa', 'dg01ny', 'sg03ax', 'fb01qd', 'ma02az', 'mc01md']\n",
-      "['md03by', 'tf01mx', 'ib01nd', 'mb02rz', 'mb04bp', 'tb01kd']\n",
-      "['ab09gd', 'ma02jz', 'ud01cd', 'ib01rd', 'nf01bx', 'mb02rd']\n",
-      "['ma02es', 'mb04iy', 'tg01id', 'mb01rd', 'mc01xd', 'mb04wr']\n",
-      "['sg03bs', 'mb03kc', 'ma02cd', 'tb04ad', 'md03bx', 'mb03vy']\n",
-      "['ab09cd', 'tf01nd', 'sb09md', 'sb03ot', 'mb04pu', 'mb04yd']\n",
-      "['mb02pd', 'mb04tu', 'mb02ud', 'ib01cd', 'mb04dp', 'tg01fz']\n",
-      "['sb04od', 'nf01ad', 'mb03qd', 'ab09bd', 'mb02jd', 'sb02mw']\n",
-      "['ma02ad', 'mb04dl', 'sb08ed', 'tb01uy', 'md03ba', 'ab05nd']\n",
-      "['mb03pd', 'sb02mx', 'sb04ow', 'ma02mz', 'mb02cy', 'ag08by']\n",
-      "['mb03bb', 'ab09cx', 'mb01kd', 'sb02sd', 'mb01xd', 'sb01md']\n",
-      "['mb02ny', 'sb02ox', 'sb10pd', 'ma01cd', 'tg01hd', 'mb02nd']\n",
-      "['sb02cx', 'sb04px', 'mb03qg', 'tg01hx', 'mb03ag', 'mc01py']\n",
-      "['mb03kb', 'mb04jd', 'tg01bd', 'tb03ay', 'ab13ed', 'sb03rd']\n",
-      "['ma02id', 'ma02md', 'sb03os', 'mb02cv', 'mb05oy', 'sb06nd']\n",
-      "['nf01bp', 'sb02od', 'mb03md', 'fb01vd', 'ma02iz', 'tb01ld']\n",
-      "['mb02sd', 'tb01nd', 'ud01md', 'mb02xd', 'mb02md', 'sg03br']\n",
-      "['mb04az', 'sb02ru', 'sb10qd', 'sg03bu', 'sb04qr', 'mb03lf']\n",
-      "['ma01ad', 'sb04rd', 'ma02gd', 'sb04ry', 'ab13ad', 'ab13md']\n",
-      "['nf01by', 'mb04nd', 'mb03yt', 'sg02cx', 'tg01hu', 'ab09kx']\n",
-      "['mb04hd', 'mb03gd', 'sb08cd', 'mb03od', 'sb04mr', 'mb02kd']\n",
-      "['ab09jx', 'ud01bd', 'fb01sd', 'mb03rd', 'ab07nd', 'mb03fd']\n",
-      "['sb03ou', 'mb03ya', 'mb01rh', 'sb08hd', 'ab08nw', 'ab07md']\n",
-      "['ab05qd', 'mb02qy', 'mb03id', 'ma02bd', 'ma02dd', 'mb04ed']\n",
-      "['sb03td', 'mb04tv', 'td04ad', 'tb01ud', 'tc01od', 'nf01bs']\n",
-      "['ma02oz', 'sg02nd', 'mb04ru', 'mc01rd', 'mb03bd', 'mb04tt']\n",
-      "['sb08ny', 'tg01ad', 'sb04qu', 'nf01bf', 'tg01qd', 'mc01td']\n",
-      "['mb04fp', 'mb03ud', 'mb3lzp', 'sb04nv', 'mb04qb', 'mb04wp']\n",
-      "['mc01sy', 'sb10dd', 'mb02sz', 'mb04kd', 'tb04bw', 'mb01ry']\n",
-      "['sb03mv', 'tb03ad', 'mb03gz', 'mb01ot', 'mb03be', 'tb01zd']\n",
-      "['ab04md', 'mb01os', 'sb03qx', 'mb04pb', 'nf01bu', 'mb04su']\n",
-      "['mc01od', 'sb16bd', 'mb02td', 'sg03ad', 'sb03qy', 'mb03xs']\n",
-      "['md03bb', 'mb04qc', 'mb03jd', 'sb01by', 'ab09nd', 'sb03md']\n",
-      "['mb04oy', 'mb05nd', 'ab08nx', 'mb01rb', 'dg01md', 'mb02wd']\n",
-      "['sb03ud', 'mb03py', 'mc01pd', 'ma02pz', 'ab09iy', 'ma02od']\n",
-      "['sb10td', 'tf01my', 'sb16cy', 'tg01oz', 'ab05pd', 'mb04cd']\n",
-      "['sb16ay', 'sb10hd', 'mb02gd', 'mc03md', 'mb03bc', 'sb04nx']\n",
-      "['mc01qd', 'ab01od', 'ab09jd', 'sb16ad', 'sg03bv', 'nf01bb']\n",
-      "['ab09dd', 'mb03lp', 'md03bf', 'mb03ah', 'mb3jzp', 'sb04mu']\n",
-      "['ab09kd', 'sb03ov', 'sb03pd', 'fd01ad', 'sb03sd', 'td05ad']\n",
-      "['mb02hd', 'mb02cd', 'mb03qx', 'sb04nd', 'mb04tb', 'sb04pd']\n",
-      "['tg01jy', 'tb04cd', 'tg01dd', 'ab09ed', 'mb03wx', 'tg01pd']\n",
-      "['tf01pd', 'sb08fd', 'ab13ax', 'nf01ba', 'sb08md', 'mb04dy']\n",
-      "['sb04my', 'ab09fd', 'mb04vd', 'mb01md', 'ib01oy', 'mb04ld']\n",
-      "['sb01bd', 'sb02mu', 'sg03bx', 'tg01ed', 'mb02qd', 'mb01ss']\n",
-      "['mb01rw', 'sb10ud', 'mb03cz', 'ag8byz', 'sb02ow', 'mb02dd']\n",
-      "['sb08nd', 'mb03my', 'mb03yd', 'tg01od', 'mc01sw', 'ma02bz']\n",
-      "['ib01ad', 'ab09hd', 'ud01mz', 'td03ad', 'sb03my', 'ib03bd']\n",
-      "['mb04dd', 'mb04xd', 'ma02hd', 'ab09ax', 'tg01hy', 'mc01sx']\n",
-      "['tb01ux', 'df01md', 'mb04vx', 'mb04wd', 'ab08md', 'tb01vd']\n",
-      "['nf01ay', 'md03bd', 'mb03rz', 'ab09ix', 'ab13dd', 'tb01iz']\n",
-      "['nf01bw', 'mb04qf', 'ab05sd', 'mb04db', 'mb03ai', 'sb08gd']\n",
-      "['mb02od', 'mb04ty', 'mb02uv', 'ib01px', 'tb01ty', 'sb03oy']\n",
-      "['sb03mu', 'tg01nd', 'ab09hx', 'ab09id', 'mb04id', 'mb03ed']\n",
-      "['mb04di', 'mb04tx', 'sb03od', 'mb04xy', 'mb03hz', 'tc04ad']\n",
-      "['mb01rx', 'sb02ov', 'mb03zd', 'mb03jp', 'mb02yd', 'mb04ox']\n",
-      "['bd01ad', 'mb04fd', 'ab05md', 'tb04bx', 'dg01od', 'sb10zd']\n",
-      "['mb01rt', 'sb02mr', 'ab01nd', 'mb04bz', 'ma01bz', 'ma02ed']\n",
-      "['mb03ld', 'tb01md', 'tb01xz', 'mb04qs', 'ab09md', 'sb10id']\n",
-      "['sb03sx', 'mb02cu', 'ab13bd', 'mb3oyz', 'mb02tz', 'tb01px']\n",
-      "['mb03iz', 'sg03bw', 'mb04dz', 'nf01bv', 'bd02ad', 'tf01md']\n",
-      "['mb03wd', 'mb4dbz', 'mb04tw', 'mb03vd', 'mb01oo', 'fb01rd']\n",
-      "['mb04rb', 'mb03ry', 'mb01xy', 'tb05ad', 'ib03ad', 'mb03xz']\n",
-      "['mb05md', 'mb02ed', 'sb03mw', 'sg03bd', 'mb01ru', 'mb01oc']\n",
-      "['bb02ad', 'ab09jw', 'mb03cd', 'mb04pa', 'sb10yd', 'mb02jx']\n",
-      "['tg01az', 'sg02ad', 'ma02hz', 'mb03dz', 'tg01md', 'sb08my']\n",
-      "['tb04ay', 'sb02nd', 'sb02mt', 'sb04rw', 'mb04wu', 'nf01be']\n",
-      "['de01pd', 'sb02mv', 'sb10ed', 'sb10zp', 'mb03lz', 'sb02oy']\n",
-      "['sb04md', 'mb03bg', 'mb03ad', 'mb01uw', 'sb10kd', 'ma02jd']\n",
-      "['ma02gz', 'tf01qd', 'mb03td', 'mb04gd', 'tb04bv', 'tg01ld']\n",
-      "['mb03ba', 'ue01md', 'mb3pyz', 'mb03xp', 'sb02ou', 'mb01nd']\n",
-      "['sg02cw', 'mb04yw', 'sb04mw', 'mb01uy', 'sg03by', 'ib01py']\n",
-      "['mb02uw', 'tg01ob', 'mb03jz', 'mb04ad', 'tg01fd', 'mb03sd']\n",
-      "['ab13id', 'ab08ny', 'mb03za', 'mb02uu', 'ab08nd', 'mc01wd']\n",
-      "['tg01ly', 'mb01uz', 'mb03xu', 'mb03nd', 'ag07bd', 'sg03bt']\n",
-      "['mb03xd', 'ma02nz', 'ab13dx', 'ab08nz', 'sb04ny', 'mb03ts']\n",
-      "['sb04qy', 'mb03rx', 'mb03af', 'ib01md', 'mb03ke', 'sb02pd']\n",
-      "['sb16cd', 'ab8nxz', 'mb04bd', 'tf01rd', 'mb01ux', 'mb03bz']\n",
-      "['sb03sy', 'mc03ny', 'sb10ld', 'ma02fd', 'td03ay', 'bb04ad']\n",
-      "['mb03ab', 'dk01md', 'ab05od', 'mc03nx', 'mb01td', 'tb01id']\n",
-      "['tg01cd', 'mb04ow', 'sb04nw', 'mb03ae', 'mb03rw', 'mb03qy']\n",
-      "['sb04py', 'nf01bq', 'mb03dd', 'tb01kx', 'mb01ud', 'ma01bd']\n",
-      "['mb03ny', 'ab08mz', 'sb02rd', 'sb04qd', 'tb01wx', 'ag08bz']\n",
-      "['tg01wd', 'tb04bd', 'sb02md', 'bb01ad', 'mc01sd', 'mc01vd']\n",
-      "['sb10ad', 'mb01vd', 'de01od', 'ib01pd', 'mb03bf', 'sb02ms']\n",
-      "['mb04py', 'mc03nd', 'tb01wd', 'mc01nd', 'dg01nd', 'ab09ad']\n",
-      "['mb02id', 'tb01yd', 'sb03mx', 'mb03vw', 'sg02cv', 'ab05rd']\n",
-      "['mb04ds', 'mb01od', 'mb4dpz', 'mb03oy', 'sb03qd', 'sb01bx']\n",
-      "['sb08dd', 'ib01od', 'sb10md', 'mb01ld', 'mb04iz', 'mb05od']\n",
-      "['tb01td', 'mb02vd', 'mb03fz', 'mb05my', 'mb01oh', 'mb04zd']\n",
-      "['sb03oz', 'tg01kz', 'mb02cx', 'tg01jd', 'mb01zd', 'mb01pd']\n",
-      "['sb01dd', 'mb03hd', 'sb02qd', 'mb03qw', 'tb01xd', 'ud01nd']\n",
-      "['sb10rd', 'ib01my', 'tf01od', 'ud01dd', 'tb01vy', 'ab09hy']\n",
-      "['sb04rx', 'ib01qd', 'mb04od', 'mb03qv', 'sg03bz', 'sb03or']\n",
-      "['mb03kd', 'ab13cd', 'tg01kd', 'mb03wa', 'mb04ts', 'mb03ka']\n",
-      "['mb4dlz', 'mb04qu', 'sb10fd', 'ma02pd', 'sb10jd', 'mb01qd']\n",
-      "['ab09jv', 'sb10vd', 'fb01td', 'ma02ez', 'tc05ad', 'sb10wd']\n",
-      "['md03ad', 'nf01bd', 'ma02cz', 'mb04ny', 'sb04rv', 'nf01br']\n",
-      "['tb01pd', 'ab01md', 'ib01bd', 'mb01yd', 'tg01nx', 'sb01fy']\n",
-      "['mb04md', 'sb10sd', 'mb04ud', 'mb01sd', 'ag08bd', 'ab09bx']\n",
-      "['bb03ad']\n",
-      "None\n"
-     ]
-    }
-   ],
-   "source": [
-    "with open('slicot_procedures.txt') as f:\n",
-    "    lines = f.readlines()\n",
-    "\n",
-    "slicot_routines = [x.split(\"\\n\")[0] for x in lines]\n",
-    "\n",
-    "print(f\"There are currently {len(slicot_routines)} routines that are found in slicot.\")\n",
-    "print(print_list_chunks(slicot_routines))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 60,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "There are currently 49 routines that are found in slycot.\n",
-      "------\n",
-      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
-      "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
-      "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd']\n",
-      "['mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd']\n",
-      "['sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od']\n",
-      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd']\n",
-      "['sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad']\n",
-      "['tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md']\n",
-      "['tf01rd']\n",
-      "None\n"
-     ]
-    }
-   ],
-   "source": [
-    "slycot_routines = get_slycot_routines(slycot)\n",
-    "\n",
-    "print(f\"There are currently {len(slycot_routines)} routines that are found in slycot.\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(slycot_routines))"
-   ]
-  },
-  {
-   "attachments": {},
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Generate Sets for the Venn-Diagramm"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 61,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "There are currently 1 routines that are found in slycot and not in slicot.\n",
-      "------\n",
-      "['sb03md57']\n",
-      "None\n",
-      "\n",
-      "\n",
-      "There are currently 559 routines that are found in slicot and not in slycot.\n",
-      "------\n",
-      "['mb03od', 'tb04bw', 'mb03qy', 'tc05ad', 'mb04pu', 'ab08md']\n",
-      "['ab09jw', 'sb04rx', 'ma02iz', 'sg03bu', 'tg01gd', 'ab09ed']\n",
-      "['mb01zd', 'sb02oy', 'mb04iz', 'sb10rd', 'mb01wd', 'sb10pd']\n",
-      "['sb02ox', 'mb03hz', 'mb03bb', 'tb04bd', 'tg01ob', 'tg01md']\n",
-      "['sb01fy', 'mb02uu', 'sb01md', 'mb03lp', 'tg01hd', 'tb01wd']\n",
-      "['mb02cd', 'ma02hz', 'sb10kd', 'mb04dz', 'mb03za', 'mb04iy']\n",
-      "['sb02ow', 'ab09hx', 'sb03qd', 'tg01az', 'sb08my', 'sb03mv']\n",
-      "['sb02mv', 'mb03rw', 'mb03fz', 'dg01nd', 'ma02cz', 'sb03sd']\n",
-      "['ma02gd', 'mc01wd', 'ab05qd', 'sb01by', 'sb03mw', 'mb03vw']\n",
-      "['mb03kd', 'sb03oy', 'ib01qd', 'mb02uv', 'mb01vd', 'md03ba']\n",
-      "['ma01cd', 'tg01ld', 'sb04ny', 'mb03xd', 'ab09cx', 'mb04qb']\n",
-      "['mb03ka', 'mb04qc', 'mb04az', 'sb03ud', 'mb03iz', 'mb04di']\n",
-      "['mb01uw', 'mc03nx', 'mb01kd', 'sb04my', 'mb03ae', 'mb01oc']\n",
-      "['mb02fd', 'mb02sz', 'tb01kd', 'tg01ad', 'ib01oy', 'mb04wd']\n",
-      "['tg01cd', 'mb01oo', 'tg01qd', 'tb01ty', 'tb01yd', 'sb02qd']\n",
-      "['tg01id', 'mb04bd', 'tb01ld', 'tb01td', 'tg01nd', 'sb03or']\n",
-      "['ab09hy', 'nf01bq', 'mb02rd', 'tg01ed', 'ma02od', 'ib01cd']\n",
-      "['mb03ke', 'nf01bw', 'mb02qy', 'md03bx', 'mb04vd', 'mb04ny']\n",
-      "['sb02mx', 'ab8nxz', 'mb04ad', 'tg01kz', 'tg01fd', 'mc03nd']\n",
-      "['mb03jd', 'mb01rw', 'sb08cd', 'mb02tz', 'mb02od', 'mb02gd']\n",
-      "['mb02yd', 'nf01be', 'sb03oz', 'mb03qw', 'sg03bw', 'ud01dd']\n",
-      "['mb03md', 'mc01xd', 'sb10jd', 'nf01bp', 'ma02es', 'sb02ms']\n",
-      "['mb04fp', 'fb01sd', 'ma02az', 'mb03xs', 'mb02ed', 'mb04vx']\n",
-      "['mb01td', 'ib01bd', 'mb04xy', 'mb03lz', 'sb04nx', 'ma02ad']\n",
-      "['sg03ay', 'tg01hx', 'sb04mu', 'mb04dy', 'ab04md', 'mb01rt']\n",
-      "['ab09id', 'tb04ay', 'sb08dd', 'sb03ot', 'nf01bu', 'mb03xz']\n",
-      "['sb10id', 'sb04rv', 'ma02gz', 'mb03ud', 'mb04bz', 'tg01pd']\n",
-      "['mb03wa', 'mb03ed', 'mb03be', 'sg02cw', 'sb10wd', 'mc03md']\n",
-      "['mb01ud', 'nf01bb', 'sb03mu', 'ab09hd', 'ab09iy', 'mb04od']\n",
-      "['sb04mr', 'mb04qu', 'ib01px', 'td05ad', 'nf01ay', 'mb3pyz']\n",
-      "['mb03bg', 'mb03xp', 'mb03zd', 'dk01md', 'sg02cv', 'ud01cd']\n",
-      "['mb03sd', 'tb01ux', 'tf01nd', 'sb02cx', 'sb10sd', 'mb03qg']\n",
-      "['sb10zd', 'mb01rh', 'mb03nd', 'tb01vy', 'ib03bd', 'de01od']\n",
-      "['mb01nd', 'ib01rd', 'mb02cu', 'mb03jz', 'mb02pd', 'ab09ix']\n",
-      "['mb03fd', 'mb03kb', 'mb04zd', 'mb04ed', 'ag8byz', 'ib03ad']\n",
-      "['sb04rd', 'mb01od', 'mb02qd', 'bb04ad', 'ab08mz', 'fb01qd']\n",
-      "['ab09bx', 'bb01ad', 'mb03wx', 'sb01dd', 'mb01qd', 'ab09gd']\n",
-      "['sb04pd', 'mb03dz', 'ab09jd', 'sb02ou', 'ab09kd', 'mb02jx']\n",
-      "['ma02pd', 'mb04wu', 'ab09dd', 'sb01bx', 'sb03rd', 'nf01ba']\n",
-      "['tg01nx', 'sb16cd', 'mb05oy', 'sb04qu', 'tb01zd', 'tb01wx']\n",
-      "['tb01ud', 'bd01ad', 'sb08ed', 'sg03bv', 'ma01bz', 'mb02vd']\n",
-      "['mb02cv', 'sb10ed', 'mb03ba', 'nf01bf', 'mb04oy', 'md03ad']\n",
-      "['ma01bd', 'mb03ab', 'tg01bd', 'mb03td', 'ab09jx', 'sg03by']\n",
-      "['tg01kd', 'tf01pd', 'mb3jzp', 'sb04nw', 'sb16cy', 'mb01pd']\n",
-      "['mb04kd', 'nf01bs', 'mb04ow', 'ud01bd', 'tb01nd', 'sb08nd']\n",
-      "['mb04wp', 'ma02cd', 'tg01od', 'sb04mw', 'mc01rd', 'fb01vd']\n",
-      "['mb04yw', 'mb01uz', 'mb01rd', 'ud01md', 'mb01ld', 'md03bf']\n",
-      "['tb01uy', 'fb01rd', 'mb01ot', 'ab01od', 'mb03ag', 'mb03ai']\n",
-      "['sb10md', 'mb03pd', 'mb01ux', 'mb01xy', 'mc01vd', 'mb04py']\n",
-      "['mb03rx', 'ma02pz', 'tg01hu', 'mb02wd', 'sb09md', 'sb03my']\n",
-      "['ma02jd', 'ab05od', 'mb04pb', 'mb03id', 'tf01od', 'mb04jd']\n",
-      "['ab08ny', 'nf01bx', 'mb03ny', 'tb03ay', 'tb04bv', 'ma02id']\n",
-      "['sb10qd', 'tg01dd', 'mb03rz', 'sb03qy', 'bd02ad', 'mc01qd']\n",
-      "['tb01iz', 'mc03ny', 'ma02ed', 'mb02kd', 'tg01ly', 'ab05rd']\n",
-      "['ab08nx', 'mb02dd', 'mb03xu', 'ma02nz', 'mb04md', 'mb04tu']\n",
-      "['sb02ru', 'ab09fd', 'mb02xd', 'sb08gd', 'ab05sd', 'mb03dd']\n",
-      "['ib01nd', 'mb03oy', 'ma02fd', 'ib01od', 'bb03ad', 'mb03ld']\n",
-      "['ib01py', 'mb04nd', 'tg01jd', 'mb04tv', 'mc01sx', 'tf01mx']\n",
-      "['mb3lzp', 'sb10td', 'sb10zp', 'nf01ad', 'sb02mu', 'tg01hy']\n",
-      "['tg01wd', 'mb04ld', 'mb02ud', 'mb04pa', 'mb04tw', 'mb03bc']\n",
-      "['tb01xz', 'tb01px', 'tg01fz', 'sb04qy', 'sb03td', 'mb04gd']\n",
-      "['dg01md', 'mb03lf', 'nf01br', 'md03bd', 'mb04rb', 'sb03ov']\n",
-      "['sb03pd', 'mb01oh', 'sb03os', 'ab13ad', 'mb03bz', 'mb01uy']\n",
-      "['ib01pd', 'sb04qr', 'mb4dbz', 'tf01my', 'sb03qx', 'ab05pd']\n",
-      "['sb04rw', 'ab08nw', 'mb03qx', 'mb01oe', 'mb01yd', 'tg01oz']\n",
-      "['mb02ny', 'ma02dd', 'sb03sy', 'mb04tb', 'sb04py', 'mb03ya']\n",
-      "['sb16ay', 'mb04id', 'ib01my', 'ma02ez', 'sb10vd', 'sb16bd']\n",
-      "['mb01rx', 'ab13dx', 'mc01sd', 'mb04fd', 'mb03jp', 'mb04qf']\n",
-      "['ma01ad', 'mb01os', 'mc01py', 'ag07bd', 'mb03ts', 'mc01od']\n",
-      "['mb05od', 'sg03ax', 'mb02jd', 'tb01kx', 'tb01md', 'sb03ou']\n",
-      "['mb03bf', 'sb02nd', 'sb02mw', 'sb04ry', 'mb04wr', 'sg03bz']\n",
-      "['sb04nv', 'sb03mx', 'bb02ad', 'mb04yd', 'mb03py', 'mb4dlz']\n",
-      "['fb01td', 'sb04px', 'mb03hd', 'ma02mz', 'mb04tt', 'mb04qs']\n",
-      "['mb01md', 'ud01nd', 'mb03yd', 'mc01md', 'de01pd', 'mb03ry']\n",
-      "['ma02hd', 'ab09kx', 'sg03br', 'tb04cd', 'mb4dpz', 'mb04ud']\n",
-      "['ib01md', 'mb03yt', 'mb03cz', 'tg01oa', 'nf01bv', 'nf01bd']\n",
-      "['ib01ad', 'mb02cy', 'mc01pd', 'sb10ud', 'sg03bs', 'tg01jy']\n",
-      "['td03ay', 'mb02nd', 'sb03sx', 'mb01rb', 'ab01md', 'mb03gd']\n",
-      "['mb04su', 'sb08hd', 'sg03bx', 'sb02pd', 'mb04bp', 'mb03af']\n",
-      "['mb05my', 'mb03gz', 'mb02id', 'sb04od', 'ma02bd', 'mb04dp']\n",
-      "['nf01by', 'mb03kc', 'mb04ox', 'mc01nd', 'dg01od', 'sb02ov']\n",
-      "['sb10yd', 'sg02nd', 'mb02td', 'ab13ax', 'ab09jv', 'ma02oz']\n",
-      "['fd01ad', 'tb04bx', 'ag08bz', 'mb04dl', 'mb02hd', 'sb04nd']\n",
-      "['sg02cx', 'ab13id', 'mc01sw', 'mb01ss', 'sg03bt', 'mb3oyz']\n",
-      "['sb16ad', 'mb02cx', 'tb01xd', 'tb01vd', 'ma02md', 'mb04xd']\n",
-      "['md03bb', 'mb04ds', 'mb01sd', 'mb02uw', 'mb04ts', 'mb02md']\n",
-      "['mb04tx', 'mb02sd', 'dg01ny', 'sb06nd', 'sb08fd', 'mc01sy']\n",
-      "['ab09cd', 'ab07md', 'mb04db', 'mb03ad', 'ud01mz', 'mb03qd']\n",
-      "['tf01qd', 'ab13cd', 'mb03bd', 'ag08bd', 'ma02bz', 'mb03ah']\n",
-      "['ma02jz', 'md03by', 'df01md', 'td03ad', 'sb10ld', 'ue01md']\n",
-      "['sb08ny', 'ag08by', 'sb02mr', 'mb04ty', 'mb03cd', 'sb08md']\n",
-      "['mb04cd', 'sb04ow', 'mb03qv', 'mb03my', 'mb04ru', 'mb02rz']\n",
-      "['sb02sd', 'mb04hd', 'mb04dd', 'mb01ru', 'sb02rd', 'mb01ry']\n",
-      "['mb01xd']\n",
-      "None\n",
-      "\n",
-      "\n"
-     ]
-    }
-   ],
-   "source": [
-    "not_in_slicot =  list(set(slycot_routines)- set(slicot_routines))\n",
-    "not_in_slicot\n",
-    "\n",
-    "print(f\"There are currently {len(not_in_slicot)} routines that are found in slycot and not in slicot.\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(not_in_slicot))\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "not_in_slycot =   list(set(slicot_routines) - set(slycot_routines))\n",
-    "not_in_slycot\n",
-    "\n",
-    "print(f\"There are currently {len(not_in_slycot)} routines that are found in slicot and not in slycot.\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(not_in_slycot))\n",
-    "print(\"\\n\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 62,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
-      "------\n",
-      "['mb03od', 'tb04bw', 'mb03qy', 'tc05ad', 'mb04pu', 'ab08nd']\n",
-      "['ab08md', 'ab09jw', 'sb04rx', 'ma02iz', 'sg03bu', 'tg01gd']\n",
-      "['sb03od', 'ab09ed', 'mb01zd', 'sb02oy', 'mb04iz', 'sb10rd']\n",
-      "['mb01wd', 'sb10pd', 'sb02ox', 'mb03hz', 'mb03bb', 'tb04bd']\n",
-      "['tg01ob', 'tg01md', 'sb01fy', 'mb02uu', 'ab07nd', 'sb01md']\n",
-      "['mb03lp', 'tg01hd', 'tb01wd', 'mb02cd', 'ma02hz', 'sb10kd']\n",
-      "['mb04dz', 'mb03za', 'mb04iy', 'sb02ow', 'ab09hx', 'sb03qd']\n",
-      "['tg01az', 'sb08my', 'sb03mv', 'sb02mv', 'mb03rw', 'mb03fz']\n",
-      "['dg01nd', 'ma02cz', 'sb03sd', 'mb05nd', 'ma02gd', 'mc01wd']\n",
-      "['ab05qd', 'sb01by', 'sb03mw', 'mb03vw', 'mb03kd', 'sb03oy']\n",
-      "['ib01qd', 'tf01rd', 'mb02uv', 'mb01vd', 'md03ba', 'ma01cd']\n",
-      "['tg01ld', 'sb04ny', 'mb03xd', 'ab09cx', 'mb04qb', 'mb03ka']\n",
-      "['mb04qc', 'mb04az', 'sb03ud', 'mb03iz', 'mb04di', 'sb04md']\n",
-      "['mb01uw', 'sg03bd', 'mc03nx', 'mb01kd', 'sb04my', 'mb03ae']\n",
-      "['mb01oc', 'mb02fd', 'mb02sz', 'tb01kd', 'tg01ad', 'ib01oy']\n",
-      "['mb04wd', 'tg01cd', 'mb01oo', 'tg01qd', 'tb01ty', 'tb01yd']\n",
-      "['sb02qd', 'tg01id', 'mb04bd', 'tb01ld', 'tb01td', 'tg01nd']\n",
-      "['tb05ad', 'sb03or', 'ab09hy', 'nf01bq', 'mb02rd', 'tg01ed']\n",
-      "['ma02od', 'ib01cd', 'mb03ke', 'nf01bw', 'mb02qy', 'ab09md']\n",
-      "['md03bx', 'mb04vd', 'mb04ny', 'sb02mx', 'ab8nxz', 'mb04ad']\n",
-      "['tg01kz', 'tg01fd', 'mc03nd', 'mb03jd', 'mb01rw', 'sb08cd']\n",
-      "['mb02tz', 'mb02od', 'mb02gd', 'mb02yd', 'nf01be', 'ab13dd']\n",
-      "['sb03oz', 'sb04qd', 'mb03qw', 'sg03bw', 'ud01dd', 'mb03md']\n",
-      "['mc01xd', 'sb10jd', 'nf01bp', 'ma02es', 'sb02ms', 'mb04fp']\n",
-      "['fb01sd', 'ma02az', 'mb03xs', 'mb02ed', 'mb04vx', 'mb01td']\n",
-      "['ib01bd', 'mb04xy', 'mb03lz', 'sb04nx', 'ma02ad', 'td04ad']\n",
-      "['sg03ay', 'tg01hx', 'sb04mu', 'mb04dy', 'ab04md', 'mb01rt']\n",
-      "['ab09id', 'tb04ay', 'sb08dd', 'sb03ot', 'nf01bu', 'mb03xz']\n",
-      "['sb10id', 'sb04rv', 'ma02gz', 'mb03ud', 'mb04bz', 'tg01pd']\n",
-      "['mb05md', 'tf01md', 'mb03wa', 'mb03ed', 'mb03be', 'sg02cw']\n",
-      "['sb10wd', 'mc03md', 'mb01ud', 'sg02ad', 'nf01bb', 'sb03mu']\n",
-      "['ab09hd', 'ab09iy', 'mb04od', 'sb04mr', 'mb04qu', 'sb03md']\n",
-      "['ib01px', 'td05ad', 'nf01ay', 'mb3pyz', 'mb03bg', 'mb03xp']\n",
-      "['mb03zd', 'dk01md', 'sg02cv', 'ud01cd', 'mb03sd', 'tb01ux']\n",
-      "['tf01nd', 'sb02cx', 'sb10sd', 'mb03qg', 'sb10zd', 'mb01rh']\n",
-      "['mb03nd', 'tb01vy', 'ib03bd', 'de01od', 'mb01nd', 'ib01rd']\n",
-      "['mb02cu', 'mb03jz', 'mb02pd', 'ab09ix', 'mb03fd', 'mb03kb']\n",
-      "['mb04zd', 'mb04ed', 'ag8byz', 'ib03ad', 'sb04rd', 'mb01od']\n",
-      "['mb02qd', 'bb04ad', 'ab08mz', 'fb01qd', 'ab09bx', 'bb01ad']\n",
-      "['mb03wx', 'sb01dd', 'mb01qd', 'ab09gd', 'tb04ad', 'sb04pd']\n",
-      "['mb03dz', 'ab09jd', 'sb02ou', 'ab09kd', 'mb02jx', 'ma02pd']\n",
-      "['sb03md57', 'mb04wu', 'ab09dd', 'sb01bx', 'ab13bd', 'sb03rd']\n",
-      "['nf01ba', 'tg01nx', 'sb16cd', 'mb05oy', 'sb04qu', 'tb01zd']\n",
-      "['tb01wx', 'tb01ud', 'bd01ad', 'sb08ed', 'sg03bv', 'ma01bz']\n",
-      "['mb02vd', 'mb02cv', 'sb10ed', 'mb03ba', 'sb10fd', 'nf01bf']\n",
-      "['mb04oy', 'md03ad', 'ma01bd', 'mb03ab', 'tg01bd', 'mb03td']\n",
-      "['ab09jx', 'sg03by', 'tg01kd', 'ab09nd', 'tf01pd', 'mb3jzp']\n",
-      "['sb04nw', 'sb16cy', 'tc04ad', 'mb01pd', 'mb04kd', 'nf01bs']\n",
-      "['mb03wd', 'mb04ow', 'ud01bd', 'tb01nd', 'sb08nd', 'mb04wp']\n",
-      "['ma02cd', 'tg01od', 'sb04mw', 'mc01rd', 'fb01vd', 'mb04yw']\n",
-      "['mb01uz', 'mb01rd', 'ud01md', 'mb01ld', 'md03bf', 'tb01pd']\n",
-      "['tb01uy', 'fb01rd', 'mb01ot', 'ab01od', 'mb03ag', 'sb01bd']\n",
-      "['mb03ai', 'sb10md', 'sb10dd', 'mb03pd', 'mb01ux', 'mb01xy']\n",
-      "['mc01vd', 'ab01nd', 'mb04py', 'mb03rx', 'ma02pz', 'tg01hu']\n",
-      "['mb02wd', 'ab13fd', 'sb09md', 'sb03my', 'ma02jd', 'ab05od']\n",
-      "['mb04pb', 'mb03id', 'tf01od', 'mb04jd', 'ab08ny', 'nf01bx']\n",
-      "['mb03ny', 'tb03ay', 'tb04bv', 'ma02id', 'sb10qd', 'tg01dd']\n",
-      "['mb03rz', 'sb03qy', 'bd02ad', 'ab05md', 'mc01qd', 'mc01td']\n",
-      "['tb01iz', 'mc03ny', 'ma02ed', 'mb02kd', 'tg01ly', 'ab05rd']\n",
-      "['ab08nz', 'ab08nx', 'mb02dd', 'mb03xu', 'ma02nz', 'mb04md']\n",
-      "['mb04tu', 'sb02ru', 'ab09fd', 'mb02xd', 'sb08gd', 'ab05sd']\n",
-      "['mb03dd', 'ib01nd', 'ab09ax', 'sb10ad', 'mb03oy', 'ma02fd']\n",
-      "['ib01od', 'bb03ad', 'mb03ld', 'ib01py', 'mb04nd', 'tg01jd']\n",
-      "['mb04tv', 'mc01sx', 'tf01mx', 'mb3lzp', 'ab13md', 'sb10td']\n",
-      "['sb10zp', 'nf01ad', 'sb02mu', 'tg01hy', 'tg01wd', 'mb04ld']\n",
-      "['mb02ud', 'mb04pa', 'mb04tw', 'mb03bc', 'tb01xz', 'tb01px']\n",
-      "['tg01fz', 'sb04qy', 'sb03td', 'mb04gd', 'dg01md', 'mb03lf']\n",
-      "['nf01br', 'md03bd', 'mb04rb', 'sb03ov', 'sb03pd', 'mb01oh']\n",
-      "['sb03os', 'ab13ad', 'mb03bz', 'mb01uy', 'ib01pd', 'sb04qr']\n",
-      "['mb4dbz', 'tf01my', 'sb03qx', 'ab05pd', 'sb04rw', 'ab08nw']\n",
-      "['mb03qx', 'mb01oe', 'mb01yd', 'tg01oz', 'mb02ny', 'ma02dd']\n",
-      "['sb03sy', 'mb04tb', 'sb04py', 'mb03ya', 'sb16ay', 'mb04id']\n",
-      "['ib01my', 'ma02ez', 'sb10vd', 'sb16bd', 'mb01rx', 'ab13dx']\n",
-      "['mc01sd', 'mb04fd', 'mb03jp', 'ab05nd', 'mb04qf', 'ma01ad']\n",
-      "['mb01os', 'mc01py', 'ag07bd', 'mb03ts', 'mc01od', 'mb05od']\n",
-      "['sg03ax', 'mb02jd', 'tb01kx', 'tb01md', 'sb03ou', 'mb03bf']\n",
-      "['sb02nd', 'sb02mw', 'sb04ry', 'mb04wr', 'sg03bz', 'sb04nv']\n",
-      "['sb03mx', 'sb02mt', 'bb02ad', 'mb04yd', 'sb02md', 'mb03py']\n",
-      "['mb4dlz', 'fb01td', 'sb04px', 'mb03hd', 'ma02mz', 'mb04tt']\n",
-      "['mb04qs', 'mb01md', 'ud01nd', 'mb03yd', 'mc01md', 'de01pd']\n",
-      "['mb03ry', 'ma02hd', 'ab09kx', 'sg03br', 'tb04cd', 'mb4dpz']\n",
-      "['mb04ud', 'ib01md', 'mb03yt', 'mb03cz', 'tg01oa', 'nf01bv']\n",
-      "['nf01bd', 'ib01ad', 'mb02cy', 'ab09ad', 'mc01pd', 'sb10ud']\n",
-      "['sg03bs', 'tg01jy', 'td03ay', 'mb02nd', 'sb03sx', 'mb01rb']\n",
-      "['ab01md', 'mb03gd', 'mb04su', 'mb03rd', 'sb08hd', 'sg03bx']\n",
-      "['sb02pd', 'mb04bp', 'mb03af', 'mb05my', 'mb03gz', 'mb02id']\n",
-      "['sb04od', 'ma02bd', 'mb04dp', 'nf01by', 'mb03kc', 'mb04ox']\n",
-      "['mc01nd', 'dg01od', 'sb02ov', 'sb10yd', 'sb02od', 'sg02nd']\n",
-      "['mb02td', 'ab13ax', 'ab09jv', 'ma02oz', 'fd01ad', 'tb04bx']\n",
-      "['ag08bz', 'mb04dl', 'mb02hd', 'sb04nd', 'sg02cx', 'ab13id']\n",
-      "['tb01id', 'mc01sw', 'mb01ss', 'sg03bt', 'mb3oyz', 'sb16ad']\n",
-      "['mb02cx', 'sb10hd', 'tb01xd', 'ab13ed', 'sg03ad', 'tb01vd']\n",
-      "['ma02md', 'mb04xd', 'md03bb', 'mb04ds', 'mb01sd', 'mb02uw']\n",
-      "['mb04ts', 'mb02md', 'mb04tx', 'mb02sd', 'dg01ny', 'mb03vy']\n",
-      "['sb06nd', 'sb08fd', 'mc01sy', 'ab09cd', 'ab07md', 'mb04db']\n",
-      "['mb03ad', 'ud01mz', 'mb03qd', 'tf01qd', 'ab13cd', 'mb03bd']\n",
-      "['ag08bd', 'ma02bz', 'mb03ah', 'ma02jz', 'md03by', 'df01md']\n",
-      "['td03ad', 'sb10ld', 'ue01md', 'tb03ad', 'sb08ny', 'ag08by']\n",
-      "['sb02mr', 'mb04ty', 'mb03cd', 'sb08md', 'mb04cd', 'sb04ow']\n",
-      "['mb03qv', 'mb03my', 'tc01od', 'mb04ru', 'mb02rz', 'sb02sd']\n",
-      "['mb04hd', 'mb04dd', 'ab09bd', 'mb01ru', 'sb02rd', 'mb01ry']\n",
-      "['mb03vd', 'mb01xd']\n",
-      "None\n",
-      "\n",
-      "\n",
-      "There are currently 48 routines that are found in slicot and slycot. (intersection)\n",
-      "------\n",
-      "['ab09nd', 'ab13md', 'sb04md', 'sg03bd', 'mb03rd', 'ab01nd']\n",
-      "['ab09md', 'mc01td', 'tc04ad', 'td04ad', 'sb03md', 'tb01id']\n",
-      "['tb04ad', 'mb03wd', 'ab08nd', 'mb05nd', 'ab13fd', 'mb03vd']\n",
-      "['ab08nz', 'sb03od', 'ab13bd', 'tb03ad', 'sb10hd', 'ab13dd']\n",
-      "['ab05nd', 'ab13ed', 'sb04qd', 'sg03ad', 'tf01rd', 'sb02md']\n",
-      "['ab07nd', 'tb01pd', 'tc01od', 'ab09ad', 'ab09ax', 'sb10ad']\n",
-      "['sb02od', 'mb05md', 'tf01md', 'ab09bd', 'sb01bd', 'mb03vy']\n",
-      "['sb10fd', 'tb05ad', 'sb02mt', 'sb10dd', 'ab05md', 'sg02ad']\n",
-      "None\n"
-     ]
-    }
-   ],
-   "source": [
-    "union = list(set(slicot_routines) | set(slycot_routines))\n",
-    "\n",
-    "print(f\"There are currently {len(union)} routines that are found in slicot or in slycot. (union)\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(union))\n",
-    "print(\"\\n\")\n",
-    "\n",
-    "\n",
-    "intersection = list(set(slicot_routines) & set(slycot_routines))\n",
-    "intersection\n",
-    "\n",
-    "print(f\"There are currently {len(intersection)} routines that are found in slicot and slycot. (intersection)\")\n",
-    "print(\"------\")\n",
-    "print(print_list_chunks(intersection))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 63,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "slicot_routines_dict = {'a': 60, 'b': 6, 'c': 0, 'd': 8, 'f': 6, 'i': 15, 'm': 281, 'n': 16, 's': 131, 't': 77, 'u': 7}\n",
-      "slycot_routines_dict = {'a': 16, 'b': 0, 'c': 0, 'd': 0, 'f': 0, 'i': 0, 'm': 7, 'n': 0, 's': 15, 't': 10, 'u': 0}\n",
-      "                      names  slycot routines  slicot routines\n",
-      "0         Analysis Routines               60               16\n",
-      "1                 Benchmark                6                0\n",
-      "2          Adaptive Control                0                0\n",
-      "3             Data Analysis                8                0\n",
-      "4                 Filtering                6                0\n",
-      "5            Identification               15                0\n",
-      "6     Mathematical routines              281                7\n",
-      "7         Nonlinear Systems               16                0\n",
-      "8        Synthesis Routines              131               15\n",
-      "9   Transformation Routines               77               10\n",
-      "10         Utility Routines                7                0\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "slicot_full_names = {\n",
-    "    \"a\": \"Analysis Routines\",\n",
-    "    \"b\": \"Benchmark\",\n",
-    "    \"c\": \"Adaptive Control\",\n",
-    "    \"d\": \"Data Analysis\",\n",
-    "    \"f\": \"Filtering\",\n",
-    "    \"i\": \"Identification\",\n",
-    "    \"m\": \"Mathematical routines\",\n",
-    "    \"n\": \"Nonlinear Systems\",\n",
-    "    \"s\": \"Synthesis Routines\",\n",
-    "    \"t\": \"Transformation Routines\",\n",
-    "    \"u\": \"Utility Routines\",\n",
-    "}\n",
-    "\n",
-    "def count_methods(list_routines, keys):\n",
-    "    d = {key: 0 for key in keys}\n",
-    "    for w in list_routines:\n",
-    "        if w:\n",
-    "            if w[0] in d:\n",
-    "                d[w[0]] = d[w[0]] + 1\n",
-    "            else:\n",
-    "                d[w[0]] = 1\n",
-    "    return d\n",
-    "\n",
-    "slicot_routines_dict = count_methods(slicot_routines, keys=slicot_full_names.keys())\n",
-    "slycot_routines_dict = count_methods(slycot_routines, keys=slicot_full_names.keys())\n",
-    "slycot_routines_dict['s'] -= 1\n",
-    "\n",
-    "print(f\"{slicot_routines_dict = }\")\n",
-    "print(f\"{slycot_routines_dict = }\")\n",
-    "\n",
-    "df = pd.DataFrame(\n",
-    "    {\n",
-    "        \"names\": slicot_full_names.values(),\n",
-    "        \"slycot routines\": slicot_routines_dict.values(),\n",
-    "        \"slicot routines\": slycot_routines_dict.values(),\n",
-    "    }\n",
-    ")\n",
-    "print(df)\n",
-    "\n",
-    "\n",
-    "\n",
-    "names_sli = list(slicot_routines_dict.keys())\n",
-    "names_sli.reverse()\n",
-    "values_sli = list(slicot_routines_dict.values())\n",
-    "values_sli.reverse()\n",
-    "\n",
-    "names_sly = list(slycot_routines_dict.keys())\n",
-    "names_sly.reverse()\n",
-    "values_sly = list(slycot_routines_dict.values())\n",
-    "values_sly.reverse()\n",
-    "\n",
-    "\n",
-    "plt.barh(range(len(slicot_routines_dict)), values_sli, tick_label=[slicot_full_names[x] for x in names_sli])\n",
-    "plt.barh(range(len(slycot_routines_dict)), values_sly)\n",
-    "plt.legend((\"SLICOT\",\"Slycot\"))\n",
-    "plt.title(\"SLICOT vs Slycot\")\n",
-    "plt.show()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 64,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "venn2(subsets = (len(set(slicot_routines)), \n",
-    "                 len(set(slycot_routines)), \n",
-    "                 len(intersection)), set_labels = ('SLICOT', 'Slycot'))\n",
-    "plt.show()"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "slycot-dev",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.10.12"
-  },
-  "orig_nbformat": 4
- },
- "nbformat": 4,
- "nbformat_minor": 2
-}

From 61ed3d292bff0935d2e2c3bc4b08d9433d4bd0bb Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Fri, 25 Aug 2023 20:59:43 +0200
Subject: [PATCH 12/23] Add code to get info of release and version from git
 tags

---
 doc/conf.py | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/doc/conf.py b/doc/conf.py
index 61c73e6f..6db89d89 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -13,7 +13,17 @@
 project = 'Slycot'
 copyright = '2023, Slycot Developers'
 author = 'Slycot Developers'
-release = '0.6'
+
+# Version information - read from the source code
+import re
+
+# Get the version number for this commmit (including alpha/beta/rc tags)
+release = re.sub('^v', '', os.popen('git describe').read().strip())
+
+# The short X.Y.Z version
+version = re.sub(r'(\d+\.\d+\.\d+(.post\d+)?)(.*)', r'\1', release)
+
+print("version %s, release %s" % (version, release))
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration

From 501e5e53b4953882140ff51b8c493f3373090e0a Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Fri, 25 Aug 2023 21:01:46 +0200
Subject: [PATCH 13/23] Update doc/source to add new routines

---
 doc/source/dev/inspect_slicot_slycot.ipynb | 357 +++++++++++----------
 doc/source/dev/inspect_slycot.ipynb        | 130 ++++----
 doc/source/reference/slycot_inner.rst      |   1 +
 doc/source/reference/slycot_outer.rst      |   1 +
 4 files changed, 246 insertions(+), 243 deletions(-)

diff --git a/doc/source/dev/inspect_slicot_slycot.ipynb b/doc/source/dev/inspect_slicot_slycot.ipynb
index fd965ad4..db4d52ac 100644
--- a/doc/source/dev/inspect_slicot_slycot.ipynb
+++ b/doc/source/dev/inspect_slicot_slycot.ipynb
@@ -19,16 +19,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0.1.dev612+g3d12a1d'"
+       "'0.1.dev635+g0e79a27.d20230825'"
       ]
      },
-     "execution_count": 10,
+     "execution_count": 1,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -54,7 +54,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -70,7 +70,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -91,22 +91,22 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 49 routines that are found in slycot.\n",
+      "There are currently 50 routines that are found in slycot.\n",
       "------\n",
-      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad', 'ab09ax']\n",
-      "['ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md']\n",
-      "['mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd']\n",
-      "['sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd']\n",
-      "['sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id']\n",
-      "['tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md']\n",
-      "['tf01rd']\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad']\n",
+      "['ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd']\n",
+      "['ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td']\n",
+      "['sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md']\n",
+      "['sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd']\n",
+      "['tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad']\n",
+      "['tf01md', 'tf01rd']\n",
       "None\n",
       "\n",
       "\n",
@@ -220,7 +220,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
@@ -233,78 +233,78 @@
       "None\n",
       "\n",
       "\n",
-      "There are currently 559 routines that are found in slicot and not in slycot.\n",
+      "There are currently 558 routines that are found in slicot and not in slycot.\n",
       "------\n",
-      "['tb01ux', 'mb03xs', 'fb01qd', 'ma01bz', 'ib01bd', 'ab8nxz', 'mb03xd', 'sb08md']\n",
-      "['ab08md', 'dg01ny', 'nf01be', 'sb10jd', 'mb02qd', 'fb01vd', 'sb04rd', 'tg01qd']\n",
-      "['mb02hd', 'mb03ai', 'nf01bd', 'mb01ru', 'mb04ru', 'mb04bz', 'tb01px', 'sb10rd']\n",
-      "['mb04dy', 'sb10td', 'mb04ad', 'ma02gz', 'sb03ov', 'sb02pd', 'ma02cz', 'mb03bz']\n",
-      "['sb03mv', 'mb03qw', 'mb02td', 'mb01ss', 'sb08cd', 'sb03td', 'mb04tt', 'nf01bb']\n",
-      "['mb03ld', 'tb01xz', 'sb04nx', 'tg01oz', 'mb01od', 'tb03ay', 'mb02ud', 'sb10qd']\n",
-      "['mb03bf', 'mb01ux', 'sb08ny', 'mb04tu', 'mb01pd', 'mb02ed', 'mb03bd', 'mb02cy']\n",
-      "['sg03bx', 'mb04dl', 'mb04az', 'mb03ny', 'mb03td', 'bb03ad', 'ab09kd', 'mb02sz']\n",
-      "['fb01sd', 'mc01nd', 'tg01ld', 'mb05od', 'sb03mu', 'sb16bd', 'sb08fd', 'md03ad']\n",
-      "['sb04ny', 'tb01kd', 'mb03ag', 'bb04ad', 'mc01md', 'mb01wd', 'sb03ou', 'sb03qx']\n",
-      "['ab09hx', 'mc01py', 'nf01bs', 'mb02gd', 'mb03hz', 'mc03md', 'sb04my', 'tg01bd']\n",
-      "['sb10pd', 'tg01ob', 'mc01od', 'mb02wd', 'mb03ya', 'dg01nd', 'sb04od', 'ab09cd']\n",
-      "['sb09md', 'mc01sw', 'mb02uu', 'mb02kd', 'ab09bx', 'mb01uz', 'nf01br', 'ib03ad']\n",
-      "['ma01cd', 'mb04zd', 'bb02ad', 'sb16ay', 'mb03pd', 'ab09hy', 'ab05rd', 'mb03bg']\n",
-      "['sb01dd', 'mb04iy', 'mb02od', 'ma02ad', 'nf01bu', 'sb03sd', 'mc01wd', 'sg03bz']\n",
-      "['mb3oyz', 'mb02cv', 'sb04nw', 'tb04cd', 'sb04mr', 'mb04oy', 'sb06nd', 'mb02cu']\n",
-      "['mb02rz', 'sg03bt', 'mb02vd', 'mb03id', 'dg01od', 'tg01nx', 'mb04pa', 'mb03rz']\n",
-      "['mb01oe', 'tf01my', 'ab05qd', 'mb03wx', 'mb03lz', 'ab09cx', 'mb03kd', 'mb01zd']\n",
-      "['ab09jx', 'mb02xd', 'mb05my', 'mb01vd', 'mb01ot', 'tb01ld', 'mb01rt', 'mb03sd']\n",
-      "['tf01qd', 'ab08mz', 'sb10zd', 'mb03oy', 'mb03xu', 'ab05od', 'ma02ez', 'mb04qs']\n",
-      "['sb03qy', 'tg01id', 'ud01dd', 'tg01kz', 'tg01fd', 'mb04dp', 'sb10yd', 'ab13ax']\n",
-      "['tg01md', 'ab09jd', 'mb03cd', 'sb02mw', 'mb02md', 'sb02mv', 'mb04md', 'ma02dd']\n",
-      "['ma02hz', 'mb04di', 'mb04qc', 'sb03qd', 'ab07md', 'ag8byz', 'mc01qd', 'mb02rd']\n",
-      "['tg01jd', 'mb03ab', 'sb02ov', 'mb03ka', 'ag07bd', 'bd02ad', 'nf01ba', 'tb01ud']\n",
-      "['md03ba', 'mc01xd', 'ab09iy', 'mb02jd', 'mb01ld', 'sb03my', 'mb02uw', 'tb04bx']\n",
-      "['ud01cd', 'mb04nd', 'nf01bw', 'df01md', 'nf01bq', 'ud01nd', 'mb01yd', 'sb03sx']\n",
-      "['tb04ay', 'sb10ld', 'tg01hu', 'tg01od', 'mb04tb', 'tg01az', 'mb03bb', 'sb04rw']\n",
-      "['tg01kd', 'tf01pd', 'sb03os', 'mb04pb', 'tg01pd', 'mb04vx', 'sb02ox', 'ud01bd']\n",
-      "['tb01uy', 'nf01bf', 'mb01xd', 'mb01nd', 'sb03or', 'mb04ow', 'mb03qv', 'mb04su']\n",
-      "['mb04fp', 'ib01rd', 'mb03ah', 'mb04yw', 'mb01uy', 'sb02mx', 'md03bx', 'mb01rw']\n",
-      "['mb04kd', 'mb04od', 'mb04qf', 'ab09dd', 'mb04db', 'ma02pz', 'sb03ot', 'ib01oy']\n",
-      "['mc03nx', 'sb10ed', 'sb04nd', 'sb02mr', 'ma02id', 'mb03xp', 'sg03bs', 'mb03lp']\n",
-      "['mb02cd', 'sg03bw', 'tg01nd', 'mb03hd', 'sg03ay', 'ab09ix', 'mb01ud', 'mb04ty']\n",
-      "['tg01wd', 'mb03fz', 'mb01rd', 'mb03zd', 'mb03dd', 'mb01xy', 'bd01ad', 'mb03ry']\n",
-      "['mb03xz', 'sg02cx', 'sb10sd', 'sb02ou', 'mb04qu', 'mc01sy', 'mb02jx', 'mb4dpz']\n",
-      "['sb08gd', 'tg01oa', 'ab01md', 'mb03vw', 'mb05oy', 'mb01oc', 'ab05sd', 'bb01ad']\n",
-      "['mb04tw', 'de01pd', 'sb02cx', 'mb02yd', 'mb02cx', 'mb01rb', 'ab08ny', 'ib03bd']\n",
-      "['ib01qd', 'mb01os', 'sb04qy', 'mb04bd', 'sb10id', 'ib01md', 'tg01fz', 'ab13id']\n",
-      "['tg01dd', 'mc01vd', 'sb04px', 'mb04hd', 'mb04wr', 'sg03ax', 'ma02oz', 'mb04qb']\n",
-      "['mb03rx', 'mb04ds', 'sb03oz', 'mb02id', 'ma02bd', 'ab09gd', 'ib01px', 'tg01hy']\n",
-      "['ma02iz', 'mb04jd', 'sb03oy', 'ab09jv', 'mb03qx', 'ab13cd', 'mb03kc', 'sb08ed']\n",
-      "['ib01nd', 'ma02ed', 'tf01mx', 'mb01kd', 'ab08nx', 'ib01cd', 'tg01hx', 'mb4dbz']\n",
-      "['mb03gd', 'ab09fd', 'sb04qr', 'mb4dlz', 'mb03jz', 'tb01wx', 'mb04bp', 'mb03bc']\n",
-      "['mb03ba', 'ma02es', 'ma02az', 'sb08hd', 'mb03py', 'mc01pd', 'mb03qy', 'mb04ud']\n",
-      "['mb03kb', 'ma02nz', 'dk01md', 'sb10ud', 'sb04mw', 'sb03pd', 'sb10kd', 'sg03by']\n",
-      "['tg01ad', 'mb04xy', 'ab08nw', 'mc01rd', 'ag08bd', 'ib01ad', 'mb03rw', 'mb04wd']\n",
-      "['md03bb', 'ab09jw', 'tb01vy', 'sb10wd', 'sg03br', 'mb03md', 'sb04rx', 'sb16cy']\n",
-      "['de01od', 'sb03ud', 'ud01mz', 'ma01bd', 'ma02bz', 'mb02pd', 'sb01by', 'mb01td']\n",
-      "['mb02qy', 'mb04tx', 'tb01kx', 'mb03dz', 'mb01sd', 'sb08my', 'mb04iz', 'tf01nd']\n",
-      "['sb04rv', 'mb01rx', 'tb04bv', 'mb02dd', 'mb3pyz', 'mb03be', 'tb01zd', 'tb01td']\n",
-      "['ag08by', 'mb02sd', 'tb01vd', 'fb01td', 'tg01ed', 'sb02rd', 'mb03od', 'md03by']\n",
-      "['nf01ay', 'tf01od', 'sb02ru', 'sb03rd', 'sb01fy', 'tb01iz', 'ma01ad', 'mb3jzp']\n",
-      "['ab01od', 'nf01bx', 'ab09hd', 'sb04ow', 'sg02cv', 'ab04md', 'mb03wa', 'ma02gd']\n",
-      "['ab13ad', 'fd01ad', 'tb01ty', 'ab09id', 'sb02nd', 'ib01pd', 'tg01jy', 'ud01md']\n",
-      "['mb03gz', 'sb01bx', 'sb03sy', 'mb01md', 'sb02ow', 'mb04py', 'sb10vd', 'mb02nd']\n",
-      "['mb01oo', 'sg02nd', 'ma02mz', 'ib01od', 'mb03jd', 'dg01md', 'ab05pd', 'mb03nd']\n",
-      "['mb03my', 'mb04xd', 'mb03ts', 'sb02ms', 'mb01ry', 'tb01md', 'md03bd', 'tg01ly']\n",
-      "['ab09kx', 'td03ad', 'tb04bw', 'mb03lf', 'mb04dd', 'sb04qu', 'mb03ed', 'mb04cd']\n",
-      "['mc03nd', 'sb01md', 'tb01nd', 'mb01uw', 'mb03cz', 'mb03fd', 'ma02hd', 'mc01sx']\n",
-      "['tb01yd', 'mb01qd', 'ma02jz', 'tg01hd', 'sb03mx', 'sb04pd', 'td03ay', 'md03bf']\n",
-      "['ue01md', 'sb02mu', 'ib01py', 'mc01sd', 'mb04ox', 'td05ad', 'mb03yd', 'sb02sd']\n",
-      "['fb01rd', 'mb04wu', 'sb16cd', 'mb01rh', 'sb16ad', 'mb3lzp', 'mb03ad', 'mb04dz']\n",
-      "['sg03bu', 'tc05ad', 'mb04pu', 'sb08nd', 'ma02pd', 'mb04ld', 'sb10md', 'mb02uv']\n",
-      "['ab13dx', 'sb03mw', 'mb03iz', 'nf01bv', 'tb04bd', 'ma02cd', 'sb04ry', 'mb04ts']\n",
-      "['mb03ud', 'mb03za', 'sb04mu', 'ib01my', 'mb04wp', 'ma02md', 'mb04tv', 'sg03bv']\n",
-      "['mb04vd', 'sb04py', 'mb04ny', 'tb01wd', 'nf01by', 'sb02oy', 'mb03ae', 'nf01ad']\n",
-      "['nf01bp', 'sg02cw', 'mb04gd', 'mb03ke', 'mc03ny', 'mb03af', 'tg01cd', 'ag08bz']\n",
-      "['mb02tz', 'mb04ed', 'tg01gd', 'mb04rb', 'mb02ny', 'mb03qd', 'ma02jd', 'mb02fd']\n",
-      "['mb01oh', 'sb10zp', 'ab09ed', 'sb04nv', 'mb03jp', 'ma02fd', 'mb03qg', 'mb03yt']\n",
-      "['ma02od', 'sb08dd', 'mb04yd', 'tb01xd', 'sb02qd', 'mb04fd', 'mb04id']\n",
+      "['tg01nx', 'mb02gd', 'sg03bu', 'mb03rw', 'sb03ov', 'mb03ry', 'mb03qx', 'ib01bd']\n",
+      "['sg03bx', 'sg02cv', 'ma02cd', 'dg01md', 'ib01nd', 'mb02uu', 'mb02hd', 'ma02nz']\n",
+      "['sb10sd', 'mb01qd', 'mb03bc', 'mb04db', 'sg03by', 'tg01ad', 'ma01bd', 'ab08nx']\n",
+      "['mb03rx', 'ib01rd', 'sb03qx', 'mb04vd', 'ma01ad', 'ab09hd', 'mb04pa', 'sb10wd']\n",
+      "['mb02kd', 'mb04pu', 'mb03hd', 'ib01qd', 'tf01my', 'mb01rw', 'mb03lz', 'sb08ed']\n",
+      "['tg01ld', 'sb04pd', 'nf01bf', 'sb04rw', 'tg01ed', 'mb04ts', 'mb4dlz', 'sb02nd']\n",
+      "['ma02hz', 'mb03kc', 'sb04px', 'ib01pd', 'mb03iz', 'tg01md', 'sg03bw', 'sb04nw']\n",
+      "['td03ad', 'nf01bp', 'sb08nd', 'mb03td', 'ud01cd', 'ab09cx', 'ma02gz', 'mb04yd']\n",
+      "['mb04qu', 'ab09kx', 'sg03ax', 'sb03pd', 'mb04qs', 'sb04mr', 'mb04ox', 'sb08ny']\n",
+      "['mb03ka', 'mb03zd', 'sb09md', 'sb16ad', 'ud01bd', 'mb04id', 'ma01bz', 'mb04qc']\n",
+      "['sg03bz', 'sb02ov', 'bd01ad', 'mb4dpz', 'sb03mv', 'mb03ke', 'mb04dd', 'mb01td']\n",
+      "['mb03qy', 'mb04vx', 'tb04cd', 'tg01bd', 'mb03py', 'sb02mx', 'mb03xp', 'mb03lf']\n",
+      "['mb01ld', 'mc01od', 'mb02vd', 'mb04ny', 'nf01bs', 'sb04my', 'ab09dd', 'mb03cd']\n",
+      "['sb01md', 'sb02rd', 'dg01nd', 'nf01ba', 'tf01pd', 'tg01gd', 'sg03br', 'sb04qr']\n",
+      "['ab13ad', 'mb04iy', 'sb03qd', 'sb04nv', 'md03bb', 'tg01hy', 'tg01jy', 'mb3jzp']\n",
+      "['mb03bd', 'sb03sy', 'ab05sd', 'ma02bz', 'tg01jd', 'sg03ay', 'mb04tb', 'tb01wd']\n",
+      "['mb04ty', 'bb03ad', 'sb03or', 'ab05qd', 'sb02ou', 'mb03ed', 'tb04bx', 'mb03ae']\n",
+      "['mb03ny', 'tg01hu', 'sb04od', 'mb01uz', 'ab01md', 'mb03ag', 'ab08ny', 'ib03ad']\n",
+      "['mb01rh', 'mb04qf', 'ab09jw', 'mb04wu', 'ab09jv', 'mb04jd', 'mb03ab', 'mb02sd']\n",
+      "['mc01sd', 'mc01vd', 'mb02ny', 'sb03ou', 'mc01md', 'tb03ay', 'mb03md', 'mb04rb']\n",
+      "['ab08md', 'sb03oz', 'tf01od', 'mc01sx', 'tg01kd', 'md03bd', 'ab09fd', 'mb01kd']\n",
+      "['tb01kx', 'ud01mz', 'mb04pb', 'mb04hd', 'mb03od', 'ag08by', 'mb02cu', 'mb02jx']\n",
+      "['tg01nd', 'mb03qg', 'bd02ad', 'tg01kz', 'mc01py', 'mb04wp', 'mb03yt', 'mb02cv']\n",
+      "['tb01ux', 'mb03dd', 'md03ad', 'ab09jd', 'ab8nxz', 'sb03sx', 'sb02ru', 'mb02cd']\n",
+      "['ab05rd', 'sb02oy', 'mb01xy', 'nf01bd', 'mb05my', 'fb01rd', 'de01od', 'ma02cz']\n",
+      "['ma02az', 'tg01wd', 'sb04qu', 'ma02fd', 'sb16cd', 'mb01uy', 'ab09cd', 'mb01oe']\n",
+      "['ma02ad', 'sb03oy', 'sb02sd', 'mb01nd', 'md03bf', 'mb03ud', 'md03by', 'ma02iz']\n",
+      "['sb04ry', 'sb03qy', 'mb04cd', 'mb01rx', 'sb03os', 'mb03bf', 'mb04tx', 'ab09ix']\n",
+      "['tb01yd', 'mb04qb', 'mb01od', 'sb01bx', 'tg01hx', 'tb01ld', 'mc03md', 'sb10yd']\n",
+      "['mb01oh', 'tb04bd', 'sb08hd', 'mb02od', 'mb03ad', 'ib01md', 'mb04dl', 'tg01id']\n",
+      "['mb02xd', 'ib01od', 'tg01od', 'mb01xd', 'ab09hx', 'mb03nd', 'mb04az', 'ag8byz']\n",
+      "['sg03bv', 'mb01ot', 'ib01px', 'mb03qv', 'sb08fd', 'nf01ad', 'sb04mu', 'tb01ty']\n",
+      "['ma02pd', 'sb01dd', 'ud01nd', 'ma02dd', 'sb02mu', 'mb02fd', 'mb02jd', 'mc01rd']\n",
+      "['ab09kd', 'mb01rd', 'sb16bd', 'tg01hd', 'mb01oc', 'ab09id', 'tb01xd', 'sb03ud']\n",
+      "['mc01sw', 'mb03cz', 'mb03kb', 'tb01nd', 'mb03ya', 'ma02hd', 'sb16cy', 'ib01my']\n",
+      "['sb01fy', 'sb10id', 'tf01nd', 'mb02md', 'sb04py', 'mb01zd', 'mb03qw', 'ab05od']\n",
+      "['tb01kd', 'mb03rz', 'sb10rd', 'mb02yd', 'mc01pd', 'mb03yd', 'ma02ez', 'ab09ed']\n",
+      "['mb01ry', 'td05ad', 'fb01qd', 'sb03my', 'mb01uw', 'mb03pd', 'tg01dd', 'mb03kd']\n",
+      "['sb10zd', 'sb01by', 'mb02dd', 'mb02nd', 'ma02md', 'mb04nd', 'mb4dbz', 'dk01md']\n",
+      "['tg01ly', 'sb04rd', 'nf01ay', 'mb02id', 'tb04bv', 'mb04ud', 'ab09jx', 'sb10vd']\n",
+      "['mb04wd', 'ma02oz', 'ma02pz', 'sb04nx', 'md03bx', 'ab05pd', 'mb04ru', 'mc03nx']\n",
+      "['sb10ud', 'sb03sd', 'ma02gd', 'sb04rx', 'ab13cd', 'mc01sy', 'mc01xd', 'ag08bz']\n",
+      "['mb03gz', 'mb04di', 'mb03af', 'mb01pd', 'mb03id', 'tb01xz', 'fb01vd', 'bb02ad']\n",
+      "['sg02cw', 'mb04tv', 'mb03xu', 'sb03td', 'mb03wx', 'mb03ah', 'tg01pd', 'mb04md']\n",
+      "['sb10ed', 'ab13dx', 'mb04oy', 'sb08my', 'mb02rd', 'mb01ud', 'mb03jp', 'tg01cd']\n",
+      "['mb02qy', 'mc01wd', 'tb01uy', 'ma02id', 'tg01qd', 'mb04dp', 'nf01bw', 'mb01wd']\n",
+      "['mb04py', 'mb04bp', 'sb04ow', 'mb04ow', 'sg03bs', 'nf01bq', 'ag07bd', 'mb04ds']\n",
+      "['tc05ad', 'tb01vd', 'mb04fd', 'mb04fp', 'ab09bx', 'mb3oyz', 'bb04ad', 'ab13ax']\n",
+      "['mb04dz', 'sb03mu', 'sb03mw', 'ab01od', 'mb03ai', 'sb08md', 'tb04ay', 'sb10md']\n",
+      "['nf01br', 'mb04od', 'mb04zd', 'mb03dz', 'sb02cx', 'ue01md', 'mb02qd', 'nf01bx']\n",
+      "['ib01oy', 'mb03fd', 'tb01md', 'tg01fz', 'tb01zd', 'mb04xy', 'mb04gd', 'sb04rv']\n",
+      "['sg02nd', 'df01md', 'sb02ox', 'tg01oa', 'mb02ud', 'tg01ob', 'mb03gd', 'mb3lzp']\n",
+      "['mb02cy', 'mb04ed', 'mb03my', 'de01pd', 'mb03bb', 'mb01ux', 'mb01ru', 'mb02pd']\n",
+      "['sb10td', 'nf01bv', 'mb03fz', 'ma02od', 'mb05oy', 'tb01wx', 'mb02tz', 'mc01nd']\n",
+      "['sg02cx', 'mb03vw', 'mb03xd', 'mb04tt', 'mb02uv', 'tf01qd', 'mb02rz', 'mb04kd']\n",
+      "['sb10pd', 'nf01bb', 'mb01rt', 'mb05od', 'mb03be', 'mb04bz', 'mb04bd', 'mb01os']\n",
+      "['nf01bu', 'mb04dy', 'mb04tu', 'tb01iz', 'sb10zp', 'sb04qy', 'md03ba', 'ud01md']\n",
+      "['mb01vd', 'mb04wr', 'tb04bw', 'mb03xs', 'ab08mz', 'mb01sd', 'mb03ts', 'mb03za']\n",
+      "['ma02es', 'sb10jd', 'fb01td', 'ib01py', 'mb03jz', 'sb02ms', 'sb16ay', 'ma02jz']\n",
+      "['tb01td', 'nf01by', 'ag08bd', 'ma01cd', 'dg01od', 'mb01ss', 'sb10kd', 'mb03ld']\n",
+      "['sb02mw', 'ma02jd', 'mb03qd', 'mb02td', 'nf01be', 'mb02wd', 'mb02cx', 'sb06nd']\n",
+      "['mb03bz', 'tb01ud', 'sb02mr', 'mc03ny', 'mb04iz', 'sb04mw', 'ib01ad', 'sb04nd']\n",
+      "['mb03ba', 'ab09gd', 'sg03bt', 'mb03wa', 'tg01az', 'tg01fd', 'fd01ad', 'mb03lp']\n",
+      "['mb01md', 'mb03xz', 'ud01dd', 'mb01yd', 'sb10ld', 'mb04ad', 'ab09hy', 'ab07md']\n",
+      "['fb01sd', 'mb03sd', 'sb02ow', 'sb08gd', 'mb02ed', 'mb03hz', 'sb08cd', 'sb04ny']\n",
+      "['mb01oo', 'ma02ed', 'ib03bd', 'mb04tw', 'mb04ld', 'bb01ad', 'mb03jd', 'mc03nd']\n",
+      "['ib01cd', 'sb03mx', 'mb02uw', 'ma02bd', 'sb02pd', 'sb02qd', 'dg01ny', 'ab09iy']\n",
+      "['td03ay', 'tb01px', 'sb02mv', 'mb3pyz', 'tb01vy', 'tg01oz', 'mb03oy', 'mb02sz']\n",
+      "['mb03bg', 'sb03ot', 'ab13id', 'ab08nw', 'mc01qd', 'tf01mx', 'mb01rb', 'sb10qd']\n",
+      "['mb04yw', 'ma02mz', 'mb04xd', 'sb03rd', 'sb08dd', 'mb04su']\n",
       "None\n",
       "\n",
       "\n"
@@ -331,7 +331,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [
     {
@@ -340,93 +340,94 @@
      "text": [
       "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
       "------\n",
-      "['tb01ux', 'mb03xs', 'fb01qd', 'ma01bz', 'ib01bd', 'ab8nxz', 'mb03xd', 'sb08md']\n",
-      "['ab08md', 'dg01ny', 'nf01be', 'sb10jd', 'mb02qd', 'fb01vd', 'sb04rd', 'tg01qd']\n",
-      "['mb02hd', 'mb03ai', 'nf01bd', 'mb01ru', 'mb04ru', 'mb04bz', 'tb01px', 'sb10rd']\n",
-      "['mb04dy', 'sb10td', 'mb04ad', 'ma02gz', 'sb03ov', 'sb02pd', 'ma02cz', 'mb03bz']\n",
-      "['sb03mv', 'mb03qw', 'mb02td', 'mb01ss', 'sb08cd', 'sb03td', 'mb04tt', 'nf01bb']\n",
-      "['mb03ld', 'mb03wd', 'tb01xz', 'sb04nx', 'tg01oz', 'mb01od', 'tb03ay', 'mb02ud']\n",
-      "['sb10qd', 'ab08nz', 'mb03bf', 'tb01pd', 'mb01ux', 'sb08ny', 'mb04tu', 'mb01pd']\n",
-      "['mb02ed', 'mb03bd', 'mb02cy', 'sg03bx', 'mb04dl', 'mb04az', 'mb03ny', 'mb03td']\n",
-      "['bb03ad', 'ab09kd', 'mb02sz', 'fb01sd', 'ab09md', 'mc01nd', 'tg01ld', 'mb05od']\n",
-      "['sb03mu', 'sb16bd', 'sb08fd', 'md03ad', 'mc01td', 'sb04ny', 'tb01kd', 'mb03ag']\n",
-      "['bb04ad', 'mc01md', 'mb01wd', 'sb03ou', 'sb03qx', 'ab09hx', 'mc01py', 'nf01bs']\n",
-      "['mb02gd', 'mb03hz', 'mc03md', 'sb04my', 'tg01bd', 'sb10pd', 'tg01ob', 'mc01od']\n",
-      "['mb02wd', 'mb03ya', 'dg01nd', 'sb04od', 'ab09cd', 'sb09md', 'mc01sw', 'sb10fd']\n",
-      "['mb03vd', 'mb02uu', 'mb02kd', 'ab09bx', 'mb01uz', 'nf01br', 'ib03ad', 'ma01cd']\n",
-      "['mb04zd', 'bb02ad', 'sb16ay', 'mb03pd', 'ab09hy', 'ab05rd', 'sb02mt', 'mb03bg']\n",
-      "['sb01dd', 'mb04iy', 'mb02od', 'ma02ad', 'nf01bu', 'sb03sd', 'mc01wd', 'sg03bz']\n",
-      "['mb3oyz', 'mb02cv', 'sg02ad', 'sb04nw', 'tb04cd', 'sb04mr', 'sb03md', 'mb04oy']\n",
-      "['sb06nd', 'mb02cu', 'mb02rz', 'sg03bt', 'mb02vd', 'mb03id', 'dg01od', 'tg01nx']\n",
-      "['sb04qd', 'mb04pa', 'mb03rz', 'mb01oe', 'tf01my', 'ab05qd', 'mb03wx', 'mb03lz']\n",
-      "['ab09cx', 'mb03kd', 'sg03ad', 'mb01zd', 'ab09jx', 'mb02xd', 'mb05my', 'mb01vd']\n",
-      "['mb01ot', 'tb01ld', 'mb01rt', 'mb03sd', 'tf01qd', 'ab08mz', 'sb10zd', 'mb03oy']\n",
-      "['mb03xu', 'ab05od', 'ma02ez', 'mb04qs', 'sb03qy', 'tg01id', 'ud01dd', 'tg01kz']\n",
-      "['tg01fd', 'mb04dp', 'sb10yd', 'ab13ax', 'tg01md', 'ab09bd', 'ab09jd', 'mb03cd']\n",
-      "['sb02mw', 'mb02md', 'sb02mv', 'mb04md', 'ma02dd', 'ma02hz', 'tc04ad', 'mb04di']\n",
-      "['tb05ad', 'mb04qc', 'sb03qd', 'ab07md', 'ag8byz', 'mc01qd', 'mb02rd', 'ab13fd']\n",
-      "['tg01jd', 'mb03ab', 'sb02ov', 'mb03ka', 'ag07bd', 'bd02ad', 'nf01ba', 'sb04md']\n",
-      "['tb01ud', 'md03ba', 'mc01xd', 'ab09iy', 'mb02jd', 'mb01ld', 'sb03my', 'mb02uw']\n",
-      "['tb04bx', 'ud01cd', 'mb04nd', 'nf01bw', 'df01md', 'sb10ad', 'nf01bq', 'tf01md']\n",
-      "['ud01nd', 'mb01yd', 'sb03sx', 'tb04ay', 'sb10ld', 'tg01hu', 'tg01od', 'mb04tb']\n",
-      "['tg01az', 'mb03bb', 'sb04rw', 'tg01kd', 'tf01pd', 'sb03os', 'mb04pb', 'tg01pd']\n",
-      "['mb04vx', 'sb02ox', 'ud01bd', 'tb01uy', 'nf01bf', 'mb01xd', 'mb01nd', 'sb03or']\n",
-      "['mb04ow', 'mb03qv', 'mb04su', 'mb04fp', 'ab13ed', 'ib01rd', 'mb03ah', 'mb04yw']\n",
-      "['mb01uy', 'sb02mx', 'md03bx', 'tf01rd', 'td04ad', 'mb01rw', 'ab09ad', 'mb04kd']\n",
-      "['mb04od', 'mb04qf', 'ab09dd', 'mb04db', 'ma02pz', 'sb03ot', 'ib01oy', 'mc03nx']\n",
-      "['sb10ed', 'sb04nd', 'sb02mr', 'ma02id', 'mb03xp', 'sg03bs', 'mb03lp', 'mb02cd']\n",
-      "['sb02md', 'sg03bw', 'tg01nd', 'mb03hd', 'sg03ay', 'ab09ix', 'mb01ud', 'mb04ty']\n",
-      "['ab05nd', 'mb03vy', 'tg01wd', 'mb03fz', 'mb01rd', 'mb03zd', 'mb03dd', 'mb01xy']\n",
-      "['bd01ad', 'mb03ry', 'mb03xz', 'sg02cx', 'sb10sd', 'sb02ou', 'mb04qu', 'mc01sy']\n",
-      "['mb02jx', 'mb4dpz', 'sb08gd', 'tg01oa', 'ab01md', 'mb03vw', 'mb05oy', 'mb01oc']\n",
-      "['ab05sd', 'bb01ad', 'mb04tw', 'de01pd', 'sb02cx', 'mb02yd', 'mb02cx', 'mb01rb']\n",
-      "['ab08ny', 'ib03bd', 'ib01qd', 'mb01os', 'sb04qy', 'mb04bd', 'sb10id', 'ib01md']\n",
-      "['tg01fz', 'ab13id', 'tg01dd', 'mc01vd', 'sb04px', 'mb04hd', 'mb04wr', 'sg03ax']\n",
-      "['ma02oz', 'mb04qb', 'mb03rx', 'tb01id', 'ab09ax', 'mb04ds', 'sb03oz', 'mb02id']\n",
-      "['ma02bd', 'ab09gd', 'ib01px', 'tg01hy', 'ma02iz', 'mb04jd', 'sb03oy', 'ab09jv']\n",
-      "['tb04ad', 'sb03md57', 'mb03qx', 'ab13cd', 'mb03kc', 'sb08ed', 'ab13md', 'ib01nd']\n",
-      "['ma02ed', 'tf01mx', 'mb01kd', 'ab08nx', 'ib01cd', 'tg01hx', 'mb4dbz', 'sg03bd']\n",
-      "['mb03gd', 'sb03od', 'ab09fd', 'sb04qr', 'mb4dlz', 'mb03jz', 'tb01wx', 'mb04bp']\n",
-      "['mb03bc', 'mb03ba', 'ma02es', 'ma02az', 'sb08hd', 'mb03py', 'mc01pd', 'mb03qy']\n",
-      "['mb04ud', 'mb03kb', 'ma02nz', 'dk01md', 'sb01bd', 'sb10ud', 'sb04mw', 'sb03pd']\n",
-      "['sb10kd', 'sg03by', 'tg01ad', 'mb04xy', 'ab08nw', 'mc01rd', 'ag08bd', 'ib01ad']\n",
-      "['mb03rw', 'mb04wd', 'md03bb', 'ab09jw', 'tb01vy', 'sb10wd', 'sg03br', 'mb03md']\n",
-      "['sb04rx', 'sb16cy', 'de01od', 'sb03ud', 'ud01mz', 'sb10dd', 'ma01bd', 'ma02bz']\n",
-      "['mb02pd', 'sb01by', 'ab08nd', 'mb01td', 'mb02qy', 'mb04tx', 'tb01kx', 'mb03dz']\n",
-      "['mb01sd', 'sb08my', 'mb04iz', 'tf01nd', 'sb04rv', 'mb01rx', 'tb04bv', 'ab07nd']\n",
-      "['mb02dd', 'mb3pyz', 'mb03be', 'mb05nd', 'tb01zd', 'tb01td', 'ag08by', 'mb02sd']\n",
-      "['tb01vd', 'fb01td', 'tg01ed', 'sb02rd', 'mb03od', 'md03by', 'ab13dd', 'nf01ay']\n",
-      "['tf01od', 'sb02ru', 'sb03rd', 'tb03ad', 'sb01fy', 'tb01iz', 'ma01ad', 'mb3jzp']\n",
-      "['ab01od', 'nf01bx', 'ab09hd', 'sb04ow', 'sg02cv', 'ab04md', 'mb03wa', 'ma02gd']\n",
-      "['ab01nd', 'ab13ad', 'fd01ad', 'tb01ty', 'ab09id', 'sb02nd', 'ib01pd', 'tg01jy']\n",
-      "['ud01md', 'mb03gz', 'sb01bx', 'sb03sy', 'mb01md', 'sb02ow', 'mb04py', 'sb10vd']\n",
-      "['mb02nd', 'mb01oo', 'sg02nd', 'ma02mz', 'tc01od', 'sb02od', 'ib01od', 'mb03jd']\n",
-      "['dg01md', 'ab05pd', 'mb03nd', 'mb03my', 'mb04xd', 'mb03ts', 'sb02ms', 'mb01ry']\n",
-      "['tb01md', 'md03bd', 'tg01ly', 'ab09kx', 'td03ad', 'tb04bw', 'mb03lf', 'mb04dd']\n",
-      "['sb04qu', 'mb03ed', 'mb04cd', 'mc03nd', 'sb01md', 'tb01nd', 'mb01uw', 'mb03cz']\n",
-      "['mb03fd', 'ma02hd', 'mc01sx', 'tb01yd', 'mb01qd', 'ma02jz', 'tg01hd', 'sb03mx']\n",
-      "['sb04pd', 'td03ay', 'md03bf', 'ue01md', 'sb02mu', 'ib01py', 'mc01sd', 'sb10hd']\n",
-      "['mb04ox', 'td05ad', 'mb03yd', 'sb02sd', 'fb01rd', 'mb04wu', 'sb16cd', 'mb01rh']\n",
-      "['sb16ad', 'ab05md', 'mb3lzp', 'mb03ad', 'mb04dz', 'sg03bu', 'tc05ad', 'mb04pu']\n",
-      "['sb08nd', 'ma02pd', 'mb04ld', 'sb10md', 'mb02uv', 'ab13dx', 'sb03mw', 'mb03iz']\n",
-      "['nf01bv', 'tb04bd', 'ma02cd', 'sb04ry', 'mb04ts', 'mb03ud', 'mb03za', 'sb04mu']\n",
-      "['ib01my', 'ab09nd', 'mb04wp', 'ma02md', 'mb04tv', 'sg03bv', 'mb04vd', 'sb04py']\n",
-      "['mb04ny', 'tb01wd', 'nf01by', 'sb02oy', 'mb03ae', 'mb05md', 'nf01ad', 'nf01bp']\n",
-      "['sg02cw', 'mb04gd', 'mb03ke', 'mc03ny', 'mb03af', 'tg01cd', 'ag08bz', 'mb02tz']\n",
-      "['mb04ed', 'tg01gd', 'mb04rb', 'mb02ny', 'mb03qd', 'ma02jd', 'mb02fd', 'mb01oh']\n",
-      "['sb10zp', 'ab09ed', 'sb04nv', 'mb03jp', 'ma02fd', 'mb03qg', 'mb03yt', 'ma02od']\n",
-      "['sb08dd', 'mb04yd', 'tb01xd', 'sb02qd', 'ab13bd', 'mb04fd', 'mb04id', 'mb03rd']\n",
+      "['tg01nx', 'mb02gd', 'sg03bu', 'mb03rw', 'sb03ov', 'mb03ry', 'mb03qx', 'ib01bd']\n",
+      "['td04ad', 'sg03bx', 'sg02cv', 'ma02cd', 'dg01md', 'ib01nd', 'mb02uu', 'mb02hd']\n",
+      "['ma02nz', 'sb10sd', 'mb01qd', 'mb03bc', 'mb04db', 'sg03by', 'tg01ad', 'ma01bd']\n",
+      "['ab08nx', 'mb03rx', 'ib01rd', 'sb03qx', 'mb04vd', 'ma01ad', 'mb03vd', 'mb05md']\n",
+      "['ab09hd', 'mb04pa', 'sb10wd', 'mb02kd', 'mb04pu', 'mb03hd', 'ib01qd', 'tf01my']\n",
+      "['mb01rw', 'tb01id', 'mb03lz', 'sb08ed', 'tg01ld', 'sb04pd', 'nf01bf', 'sb04rw']\n",
+      "['tg01ed', 'mb04ts', 'mb4dlz', 'sb02nd', 'ma02hz', 'mb03kc', 'sb04px', 'ib01pd']\n",
+      "['mb03iz', 'tg01md', 'sg03bw', 'sb04nw', 'td03ad', 'nf01bp', 'sb08nd', 'ab08nd']\n",
+      "['mb03td', 'ud01cd', 'ab09cx', 'ma02gz', 'mb04yd', 'mb04qu', 'ab09kx', 'sg03ax']\n",
+      "['sb03pd', 'mb04qs', 'sb04mr', 'mb04ox', 'sb08ny', 'mb03ka', 'mb03zd', 'sb09md']\n",
+      "['sb16ad', 'ud01bd', 'mb04id', 'ma01bz', 'mb04qc', 'sg03bz', 'sb02ov', 'bd01ad']\n",
+      "['mb4dpz', 'sb03mv', 'mb03ke', 'mb04dd', 'mb01td', 'mb03qy', 'mb04vx', 'tb04cd']\n",
+      "['tg01bd', 'mb03py', 'sb02mx', 'ab13dd', 'mb03xp', 'sb02od', 'mb03lf', 'mb01ld']\n",
+      "['mc01od', 'mb02vd', 'mb04ny', 'nf01bs', 'sb04my', 'ab09dd', 'mb03cd', 'sb01md']\n",
+      "['sb02rd', 'dg01nd', 'nf01ba', 'tf01pd', 'tg01gd', 'sg03br', 'sb04qr', 'ab13ad']\n",
+      "['mb04iy', 'sb03qd', 'sb04nv', 'md03bb', 'tg01hy', 'tg01jy', 'mb3jzp', 'sg03bd']\n",
+      "['mb03bd', 'sb03sy', 'ab05sd', 'ma02bz', 'tg01jd', 'sg03ay', 'mb04tb', 'tb01wd']\n",
+      "['mb04ty', 'bb03ad', 'sb03or', 'ab05qd', 'sb02ou', 'mb03ed', 'tb04bx', 'mb03ae']\n",
+      "['mb03ny', 'tg01hu', 'sb04od', 'mb01uz', 'ab01md', 'mb03ag', 'ab08ny', 'ib03ad']\n",
+      "['mb01rh', 'mb04qf', 'ab09jw', 'mb04wu', 'ab04md', 'ab09jv', 'mb04jd', 'mb03ab']\n",
+      "['mb02sd', 'mc01sd', 'mc01vd', 'mb02ny', 'sb03ou', 'mc01md', 'tb03ay', 'mb03md']\n",
+      "['mb04rb', 'mb05nd', 'ab08md', 'sb03oz', 'tf01od', 'mc01sx', 'tg01kd', 'md03bd']\n",
+      "['ab09fd', 'mb01kd', 'tf01rd', 'tb01kx', 'ud01mz', 'mb04pb', 'mb04hd', 'mb03od']\n",
+      "['ag08by', 'mb02cu', 'mb02jx', 'tg01nd', 'mb03qg', 'bd02ad', 'ab07nd', 'tg01kz']\n",
+      "['mc01py', 'sb10ad', 'mb04wp', 'mb03yt', 'mb02cv', 'sb10hd', 'tb01ux', 'mb03dd']\n",
+      "['md03ad', 'ab09jd', 'ab8nxz', 'sb03sx', 'sb02ru', 'mb02cd', 'ab05rd', 'sb02oy']\n",
+      "['mb01xy', 'nf01bd', 'mb05my', 'ab09ax', 'fb01rd', 'de01od', 'sb04md', 'ma02cz']\n",
+      "['ma02az', 'tg01wd', 'sb04qu', 'ma02fd', 'sb16cd', 'tb03ad', 'mb01uy', 'ab09cd']\n",
+      "['mb01oe', 'ma02ad', 'sb03oy', 'sb02sd', 'sg02ad', 'mb01nd', 'md03bf', 'ab01nd']\n",
+      "['mb03ud', 'md03by', 'ma02iz', 'sb04ry', 'sb10fd', 'sb03qy', 'mb04cd', 'mb01rx']\n",
+      "['mb03rd', 'sb03os', 'mb03bf', 'mb04tx', 'sb10dd', 'ab09ix', 'tb01yd', 'tb04ad']\n",
+      "['tc04ad', 'mb04qb', 'mb01od', 'sb01bx', 'tg01hx', 'tb01ld', 'mc03md', 'sb10yd']\n",
+      "['mb01oh', 'tb04bd', 'sb08hd', 'mb02od', 'mb03ad', 'ib01md', 'mb04dl', 'ab09bd']\n",
+      "['ab13md', 'tb05ad', 'tg01id', 'mc01td', 'mb02xd', 'ib01od', 'tg01od', 'mb01xd']\n",
+      "['ab09hx', 'mb03nd', 'mb04az', 'ag8byz', 'sg03bv', 'mb01ot', 'ib01px', 'mb03qv']\n",
+      "['sb08fd', 'nf01ad', 'sb04mu', 'tb01ty', 'ab05md', 'ab09ad', 'ma02pd', 'sb01dd']\n",
+      "['ud01nd', 'ma02dd', 'sb02mu', 'mb02fd', 'mb02jd', 'mc01rd', 'ab09kd', 'mb01rd']\n",
+      "['sb16bd', 'tg01hd', 'mb01oc', 'ab09id', 'tb01xd', 'sb03ud', 'mc01sw', 'sb03md']\n",
+      "['mb03cz', 'mb03kb', 'tb01nd', 'mb03ya', 'ma02hd', 'sb16cy', 'ib01my', 'sb01fy']\n",
+      "['ab09md', 'sb10id', 'tf01nd', 'mb02md', 'sb04py', 'mb01zd', 'mb03qw', 'ab05od']\n",
+      "['tb01kd', 'mb03rz', 'ab13ed', 'sb10rd', 'mb02yd', 'mc01pd', 'mb03yd', 'ma02ez']\n",
+      "['ab09ed', 'mb01ry', 'td05ad', 'fb01qd', 'sb03my', 'mb01uw', 'mb03pd', 'tg01dd']\n",
+      "['mb03kd', 'sb03md57', 'sb10zd', 'sb01by', 'sb03od', 'mb02dd', 'mb02nd', 'ma02md']\n",
+      "['mb04nd', 'mb4dbz', 'dk01md', 'tg01ly', 'sb04rd', 'nf01ay', 'mb02id', 'tb04bv']\n",
+      "['mb04ud', 'ab09jx', 'sb10vd', 'mb04wd', 'ma02oz', 'ma02pz', 'sb04nx', 'tf01md']\n",
+      "['sb04qd', 'md03bx', 'ab05pd', 'mb04ru', 'mc03nx', 'sb10ud', 'sb03sd', 'ma02gd']\n",
+      "['sb04rx', 'ab13cd', 'mc01sy', 'mc01xd', 'ag08bz', 'mb03gz', 'mb04di', 'mb03af']\n",
+      "['mb01pd', 'tb01pd', 'mb03id', 'tb01xz', 'fb01vd', 'bb02ad', 'sg02cw', 'mb04tv']\n",
+      "['mb03xu', 'sb03td', 'mb03wx', 'mb03ah', 'tg01pd', 'mb04md', 'sb10ed', 'ab13dx']\n",
+      "['mb04oy', 'sb08my', 'mb02rd', 'mb01ud', 'mb03jp', 'tg01cd', 'mb02qy', 'mc01wd']\n",
+      "['tb01uy', 'ma02id', 'tg01qd', 'mb04dp', 'mb03wd', 'nf01bw', 'mb01wd', 'mb04py']\n",
+      "['mb04bp', 'sb04ow', 'mb04ow', 'sg03bs', 'nf01bq', 'ag07bd', 'mb04ds', 'tc05ad']\n",
+      "['tb01vd', 'ab05nd', 'mb04fd', 'mb04fp', 'ab09bx', 'mb3oyz', 'bb04ad', 'ab13ax']\n",
+      "['mb04dz', 'sb02mt', 'sb03mu', 'sb03mw', 'ab01od', 'mb03ai', 'sb08md', 'tb04ay']\n",
+      "['sb10md', 'nf01br', 'mb04od', 'mb04zd', 'mb03dz', 'sb02cx', 'ue01md', 'mb02qd']\n",
+      "['nf01bx', 'ib01oy', 'mb03fd', 'tc01od', 'tb01md', 'tg01fz', 'tb01zd', 'mb04xy']\n",
+      "['mb04gd', 'sb04rv', 'sg02nd', 'df01md', 'sb02ox', 'tg01oa', 'mb02ud', 'tg01ob']\n",
+      "['mb03gd', 'mb3lzp', 'mb02cy', 'mb04ed', 'mb03my', 'de01pd', 'mb03bb', 'mb01ux']\n",
+      "['mb01ru', 'mb02pd', 'sb10td', 'nf01bv', 'mb03fz', 'ma02od', 'mb05oy', 'sg03ad']\n",
+      "['tb01wx', 'ab09nd', 'sb02md', 'mb02tz', 'mc01nd', 'sg02cx', 'mb03vw', 'mb03xd']\n",
+      "['mb04tt', 'mb02uv', 'tf01qd', 'mb02rz', 'mb04kd', 'sb10pd', 'nf01bb', 'mb01rt']\n",
+      "['mb05od', 'mb03be', 'mb04bz', 'mb04bd', 'mb01os', 'nf01bu', 'mb04dy', 'mb04tu']\n",
+      "['tb01iz', 'sb10zp', 'sb04qy', 'md03ba', 'ab13bd', 'ud01md', 'mb01vd', 'mb04wr']\n",
+      "['sb01bd', 'tb04bw', 'ab13fd', 'mb03xs', 'ab08mz', 'mb01sd', 'mb03ts', 'mb03za']\n",
+      "['ma02es', 'sb10jd', 'fb01td', 'ib01py', 'mb03jz', 'sb02ms', 'mb03vy', 'sb16ay']\n",
+      "['ma02jz', 'tb01td', 'nf01by', 'ag08bd', 'ma01cd', 'dg01od', 'mb01ss', 'sb10kd']\n",
+      "['mb03ld', 'sb02mw', 'ma02jd', 'mb03qd', 'mb02td', 'nf01be', 'mb02wd', 'mb02cx']\n",
+      "['sb06nd', 'mb03bz', 'tb01ud', 'sb02mr', 'mc03ny', 'mb04iz', 'sb04mw', 'ib01ad']\n",
+      "['sb04nd', 'mb03ba', 'ab09gd', 'sg03bt', 'mb03wa', 'tg01az', 'tg01fd', 'fd01ad']\n",
+      "['mb03lp', 'mb01md', 'mb03xz', 'ud01dd', 'mb01yd', 'sb10ld', 'ab08nz', 'mb04ad']\n",
+      "['ab09hy', 'ab07md', 'fb01sd', 'mb03sd', 'sb02ow', 'sb08gd', 'mb02ed', 'mb03hz']\n",
+      "['sb08cd', 'sb04ny', 'mb01oo', 'ma02ed', 'ib03bd', 'mb04tw', 'mb04ld', 'bb01ad']\n",
+      "['mb03jd', 'mc03nd', 'ib01cd', 'sb03mx', 'mb02uw', 'ma02bd', 'sb02pd', 'sb02qd']\n",
+      "['dg01ny', 'ab09iy', 'td03ay', 'tb01px', 'sb02mv', 'mb3pyz', 'tb01vy', 'tg01oz']\n",
+      "['mb03oy', 'mb02sz', 'mb03bg', 'sb03ot', 'ab13id', 'ab08nw', 'mc01qd', 'tf01mx']\n",
+      "['mb01rb', 'sb10qd', 'mb04yw', 'ma02mz', 'mb04xd', 'sb03rd', 'sb08dd', 'mb04su']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 48 routines that are found in slicot and slycot. (intersection)\n",
+      "There are currently 49 routines that are found in slicot and slycot. (intersection)\n",
       "------\n",
-      "['mb05md', 'ab13fd', 'sg03ad', 'sb02mt', 'sb01bd', 'ab05md', 'ab09md', 'tb04ad']\n",
-      "['mc01td', 'mb03wd', 'sb04md', 'ab01nd', 'ab13md', 'ab07nd', 'sb02md', 'mb05nd']\n",
-      "['ab13ed', 'ab08nz', 'sg03bd', 'sg02ad', 'sb03od', 'tb01pd', 'sb03md', 'ab05nd']\n",
-      "['mb03vy', 'tf01rd', 'ab09bd', 'td04ad', 'ab09ad', 'sb10ad', 'ab09nd', 'tf01md']\n",
-      "['sb10fd', 'ab13dd', 'tc01od', 'mb03vd', 'sb10dd', 'sb04qd', 'tc04ad', 'tb01id']\n",
-      "['sb02od', 'tb03ad', 'ab09ax', 'tb05ad', 'ab13bd', 'ab08nd', 'sb10hd', 'mb03rd']\n",
+      "['sb10hd', 'tf01md', 'sb04qd', 'sb03md', 'tb01id', 'sg02ad', 'sb02mt', 'ab09bd']\n",
+      "['ab13bd', 'sg03ad', 'ab01nd', 'ab13md', 'ab09md', 'td04ad', 'sg03bd', 'ab09nd']\n",
+      "['sb02md', 'mc01td', 'tb05ad', 'mb05nd', 'ab09ax', 'sb01bd', 'sb10fd', 'tf01rd']\n",
+      "['ab13fd', 'ab13ed', 'sb04md', 'mb03rd', 'mb03wd', 'sb10dd', 'ab13dd', 'tb04ad']\n",
+      "['sb03od', 'tc01od', 'ab05md', 'ab08nd', 'ab09ad', 'sb02od', 'tb01pd', 'tc04ad']\n",
+      "['ab08nz', 'mb03vy', 'ab07nd', 'ab04md', 'mb03vd', 'mb05md', 'tb03ad', 'sb10ad']\n",
+      "['ab05nd']\n",
       "None\n"
      ]
     }
@@ -449,7 +450,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
@@ -482,7 +483,7 @@
        "    <tr>\n",
        "      <th>a</th>\n",
        "      <td>Analysis Routines</td>\n",
-       "      <td>16</td>\n",
+       "      <td>17</td>\n",
        "      <td>60</td>\n",
        "    </tr>\n",
        "    <tr>\n",
@@ -548,7 +549,7 @@
        "    <tr>\n",
        "      <th>total</th>\n",
        "      <td>-</td>\n",
-       "      <td>49</td>\n",
+       "      <td>50</td>\n",
        "      <td>607</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
@@ -557,7 +558,7 @@
       ],
       "text/plain": [
        "                  chapter name  slycot routines  slicot routines\n",
-       "a            Analysis Routines               16               60\n",
+       "a            Analysis Routines               17               60\n",
        "b                    Benchmark                0                6\n",
        "c             Adaptive Control                0                0\n",
        "d                Data Analysis                0                8\n",
@@ -568,7 +569,7 @@
        "s           Synthesis Routines               16              131\n",
        "t      Transformation Routines               10               77\n",
        "u             Utility Routines                0                7\n",
-       "total                        -               49              607"
+       "total                        -               50              607"
       ]
      },
      "metadata": {},
@@ -576,7 +577,7 @@
     },
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -647,12 +648,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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URoHHh1yjETUuMxqkxH0uItIGb8iLFk8LClMKRUcZFRYfEJvW/OADoK9PdJJhBpzJGYUZIxFU9EWQ77DjgCUAP5RT/kSkPHU9daotPn3v1RmNAtXVwPr1iiy9sNUIvyG5h0CmeX1Y0i+hVLYn9fMSkbrU9dSpdt9g/RZfX1+s8KqrFTW1eT5fhkXI542N/nyYF7TDKKtzDp+IEssf9qO5v1l0jFHRZ/HV1QF//WtsilPBvHaxhZzp9WGJ3wynbBSag4iUqba7VnSEUdFf8X30EfDee7HFLAoWNRkQSPI054XYAkFc4wHyoe4tiogo/hp6G1Q53amf4otGYwtY9u8XnWREfOmWBN3AcOWMkQhm9QUwKcrrfkT0qUAkgFaP+Hudr5Q+ii8UAt55Bzh1SnSSEfO5FHZtTQYmuH2ojDpEJyEiBVHjdT7tF18wCLz5Zuy4IJWQJcBnFD/NeSElbi+mRVh+RBRz1n1WdIQrpu3iC4djI72ODtFJrkggzYqogu+jG9fvxUyWHxEhtndnMBIUHeOKaLf4olFg82ZF7LV5pXwpyl9FWcDyIyIAUTmKlv4W0TGuiDaLT5ZjC1lOnxadZFT8ZnWcmlDQ70UFF7wQ6d7ZfnVNd2qz+HbuBGrVeX9J1GRAUFJH8QFAqduHYtkmOgYRCaS263zaK76DB4GjR0WnGDV/qll0hCtW2R9EJtSXm4jio8ffA2/IKzrGiGmr+FpbYycsqFjAqfzre58lRaOY45FhlbX1x4mIRk5NtzVo5zuV3w9s2aLYfTdHym9R9o4yF2MKh3FVUMzeokQknpqmO7VTfFu3AgMDolOMSdRkQBDqWhZ8vlSfH5O52IVIl9S0wEUbxXfwINDUJDrFmPnT1D9iKvX4kSHzeh+R3niCHvT5lXe824Wov/g6O1V/Xe+coF39/zukqIxZPonHGRHpkFpGfer/Trtjh+qv650TNGvj67AGg5gS4S0ORHrT6e0UHWFE1F18J08q/ky9KxE0qOf+vcsp9Prhgkl0DCJKom5ft+gII6Le4gsGgT17RKeIm7DNhAgiomPEjRSVMT3Ia31EetLj6xEdYUTUW3z79wM+n+gUcRN0am90lOb1oVDmAbZEehGKhtAf6Bcd47LUWXw9PareneVCtLCw5UIqvFFISjlRl4gSTg3Tner8brtvn2YWtJyjlYUtn2UJhVAC3ttHpBcsvkTo6QEaGkSniDstLWz5rFKfdq5dEtGlsfgS4cAB0QniLmqUNLWw5bOswSDGRXmtj0gPevzKX+CiruIbGFDtcUOXEnZof/XjhIDoBESUDL3+XkRlZV+6UVfxHTmiuWt7ABCyqe9EhitlDwSQxxWeRJoXlaPo9feKjnFJ6im+cBg4flx0ioQIWfWxvdf4kHr+uBHR6Cn9fj71fCdqaoodPaRBYZM+1vtn+AMwQR8lT6RnSl/gop7iq6sTnSBhQkbtLmw5nyEaRbHMPTyJtI7FFw/hsCaOHbqYMNR5+OxoFAb0Mbol0rP+oLJ3b1FH8TU1xcpPg6ImA6LQ3oKdi3H6/bDL2l/MQ6RnvpCyt5NUR/FpeJozYtFfCRTK6j9wl4guzh9W9noM5Ref1qc5Lcr/XxBv2docvBPRP8iQFV1+yv+u29qq2WlOAIjosPhSAkHREYgowZQ83an877oaOmj2QqIm/S3vN0YiyOJ0J5Gm+cIsvtHTePFF9HeJDwCQJ2vv/EEi+hSnOsdC88Wnz+X9KWH9rGQl0iNvyCs6wkUpu/jcbs3u1nJOxKDPAnCE9HHTPpFeccQ3Wm1tohMkXFSnx5NbwiEYZf1d3yTSCy5uGa3OTtEJEk7px3ckjAxkSNo/jolIr7i4ZbQGBkQnSDhZpyM+AEjnDi5EmsUR32h5PKITJJyetiv7LDsv8xFpFkd8o+VV7qqgeJAR2+FAr6z6/dKJNC8QDoiOcFHKLT5Z1n7xGfW9uMMcZfMRaZWS1y8o9y5inw+Ixv837ocbNuBHb7455LmKvDwcf+opAIA/FML/WrsWf9m/H4FwGLdMnYr/c++9yEtNjXsW2WQAkNz5vv/zyjt45sV1WP3fbsS//dOXAACNzR14+vevY//hGgRDYXxu7jT88JH/jpyM+H/N52PxaUNPew/eeP4NHKk6gqA/iJxxObj/3+5H6dRSAIAsy9jw+w3Yvm47fB4fymeV495/vhd5xXkAgBP7T+CX3/zlBd/7yZeeROm00iR9JRRPSp7NUm7xJXBhy7TCQrz37W8P/rfJ+Okii++89hreOnQIax9+GGl2O/7nK6/gv/3ud9j5+ONxzxE1JHfEd/B4A/781oeonDBu8DmvL4D7nvg1ppSPw5+f/S4A4Bdr/o6vf/+3WPf8EzAYEjcpYIryIp/aDbgH8OyDz2Ly3Ml45LlHkJKRgvbT7XCmOgdfs+mlTXj/L+/jgR8+gOyibKx/YT1+88hv8MPXfgiz1YzyWeV45p1nhrzv+t+tx/F9x1EytSTZXxLFiZJHfMqd6gyFEvbWJoMB+Wlpg49slwsA0Ofz4cWdO/HLL34RN1ZW4uqSEvznAw+gqrYWuxNxNJKUvOIb8Pnx7Z++iP/9nfuQ5nIMPr//SC3OtHXh5489gMoJRaicUIRfPL4an5xsRNXHJxKayRhR7l8MGplNL21CRl4GHvi3B1A2vQzZRdmYunAqcsblAIiN9ra8sgUrHlyB2dfPxrhJ47D6qdXo7ejFga0HAAAmswlp2WmDD1e6Cwe3HcSi2xdBSuLfEYovWVbuiE+5xZeAac5zTrW3o/DxxzHhX/4FX37xRTR1dwMAqhsbEYpEcNOUKYOvrczPR3FmJnap/EzAf/3NK7hhwQwsuXrKkOeDoRAkSLCYPx38Wy0mGCQJ+w7XJDSTpOCpEBqZTz78BCVTSvD7J36P7y37Hn5874+xfd32wY93nu2Eu8uNKfM//XNnd9lRNr0MdYcu/Hfq4LaD8PR5sOj2RQnPT4mj5KlO3RXfgrIyrHngAbzz6KN44d57Ud/ZiWuffRb9fj9a3W5YTCakOxxDfk1eaipa+/riniVZfzDWf7APR0414fGv3zXsY3OmTIDDZsH//o834PMH4fUF8JPfv45INIr27vh/zUPwGp/qdZztwLa/bkNucS4eff5RXLfqOrz681ex681dAAB3lxsAkJo19HpxamYq+rou/Odr5993YtrCacjIy0hseEo4pU53KvcaX4Isnz598Oczx43DgrIylDz5JF7bvx92S5KPyknCNE5zezee+u2r+OMz34bNMnynlKz0FPz2B9/A9597GWvWfQCDJOGOG+dh+qRiGBKcj7NY6idHZZRMLcFd/yP2j6riymI01zZj21+34Zrbrrni9+tp68GR3Ufw8E8fjndUokHKLb4ELqo4X7rDgcl5eajp6MCyKVMQDIfR6/UOGfW1ud3IT0uL++dOxqYth041obO3H7d98+nB5yLRKPYeOoX/+ttWnHz7t7hu7lR8+Men0d3ngdFoQJrLgblffAy3X5+d0GyyJAEKng6hy0vLTkNBWcGQ5wrKCvDx+x8D+HSk5+5yIy37079D7m43xk8eP+z9qjZUwZXmwqzPzUpgakoWg6TMSUXdF5/H70dtRwfuW7gQV5eUwGw0Ysvx4/jCVVcBAE60tqKpuxvXTJiQlDzxtnhOJTb93x8Mee6xZ19CeXE+vvmlW2A0fvr7nJkWW+RT9fFxdPX246ZFif3mI4PFp3bls8rR1jh0M/m2xjZkFmQCALKLspGalYrj+45jfEWs6HweH+oP1+NzX/jckF8nyzKqNlRh4cqFMJq4nZ3aSVDulI5yi8+UmGjfe/113D5zJkoyM9Hc14d/27ABRoMB98ybhzS7HQ8uXozvrl2LTKcTqTYbHvnLX3DNhAlYmIjiS8KqJ5fDhoqyoiHP2W1WpKc6B59/7Z2dmFhcgKz0FHx0tBY/+u1rePALS1E+Pj+h2aIGA6DjLdu04KZ7b8LPvvYzbPx/GzF32Vw0HGnA9nXb8ZV/+QoAQJIkLL1nKTa+uBG543ORXZSNv7/wd6TnpGP29bOHvNfxfcfRebYTS+5cIuAroXhT8opc5RbfZxaYxMuZnh7c8x//ga6BAeS4XFgycSJ2//M/IyclBQDwq7vvhkGS8IXf/W7IDeyJIClkcUfd6TY88+Lf0Nc/gHF5WfifX16OB79wU8I/b9iozGkQGrnSaaX41s+/hXX/vg5v/cdbyC7Mxt3/624sWL5g8DW33H8Lgv4g/vSTP8Hb78XE2RPx6G8ehdk69Jrzzr/vRPnMcuSXJvYfXJQcSp3mBABJVurNFtEo8OKLSRkViRI1GXC6RL8jnn67DVVW5R5WSUSjZzaYsXrOatExLki5lWwwAHa76BQJJYX1W3oAEEryzjVElDxKHvEpNxkAOJ2Xf42KSVD2BeBECyr4GgARjY3FmOTbw64Ai08wg8L/FySSz6DdaWwivbOblTtjp+zvuv/YQ1PL9Dzi6zVwk2oirbKbWHyjk5kpOkHC6XnE143EbURORGJxxDdaubmiEyScJOtzxBc0mRDmzetEmsUR32hlZADJ3j8zyYxRZf8vSBS/Wbm3kBLR2HHEN1qSBOTkiE6RUMaoPkd8HpOy/+gR0djYTDbRES5K+d99ND7daQyLTiBGm0GnXziRTnCqcyw0X3z6u84VNRjQgaDoGESUQJzqHIuCgqSd1CCCMaS/4uu3WqDTNT1EusER31hYLMC4caJTJIwxpL972brMbD0iLZMg8RrfmKn0LLyRMAb0V3wtBt6/R6RlVpNV0ccSqaP4Sks1O91pDEV1tXuLz2qFB1zYQqRlSp7mBNRSfBqf7jTJ+rmnrcWqn5In0iuXRdnbTaqj+ABNT3eao/ooPlmS0Gjgak4ircu0K3u7SfUUX2kpYNJmQZjD+hgF9dmtCELfZxAS6UGGPUN0hEtST/FZLMDkyaJTJIQpqI9bGs6YRScgomTgiC+epk8XnSAhzH7tr+wMWCw4K/lFxyCiBJMgIcPGEV/8pKcDxcWiU8Sdyaf9VY5NdqPoCESUBKnWVBgNyv77rq7iA4A5c0QniDtjKAojlP0HZSxCZhPq4RMdg4iSQOnTnIAaiy8vDygsFJ0i7swavqXhtN3MLcqIdILFlyhz54pOEHeWkDZHfGGTCbUGjvaI9ELpKzoBtRZffj4waZLoFHFl8WtzZWetw8QbGIh0hCO+RFqwADBrZ328xaO9/Su9NisaDFzJSaQXRsmINGua6BiXpd7icziAq68WnSJuzL4wDCr+3zGMBBy2cqxHpCfptnRFb059jrq/006fHrvFQSMssnZGsO0OO3ok7Y1iieji1DDNCai9+AwGYPFi0SniRisLXMImE46YA6JjEFGSZTuyRUcYEXUXHwAUFQEzZohOERcWnzYWuBxxGbknJ5EOFaUWiY4wIuovPiC20CU3V3SKMbO51X9yQUuKA63gaI9Ib+wmO6c6k8pgAJYujW1krWLGYETVN7L7rFYcMnhFxyAiAQpT1LOxiDaKDwBSUoDrrxedYsxsYXUucIkaDPjIHuEOLUQ6pZZpTkBLxQfEzuxT+QkOVjUOmCTgSIoZHmh/s20iurCiFBafOAsXAiUlolOMmq1PfdfH6lPsaJbUl5uI4iPVmooUa4roGCOmveIzGICbbgIKCkQnGRVjKAqziu7na3M5cJJ7cRLpmpqu7wFaLD4AMBqBW24BstVxT8ln2cLqWODS47TjgEmNc7NEFE/jUseJjnBFtFl8QGyF54oVqtzZxe5R/v18PU479pk40iMijviUxWaLlV+KeuaeAcDWG4AE5S6P7HLasdfs4wpOIkKWPQs2k010jCui7eIDAJcL+PzngUx13FgJAFJUhj1qFR3jgjpcDuw3c6RHRDFquo3hHO0XHxA7yeGOO1R1crt9QHSC4VpSHPiI1/SI6Dxquo3hHH0UH/DpNb/Jk0UnGRF7j3K2L5MNEk6m2vGJkaVHRJ8yGUwoSFHfCnr9FB8Qu9Xh+utje3sq/MwoYygKqyx+C7awyYT9qSbU85YFIvqM4rRimAzqWIV+Pn0V3zmzZgG33Ra7/qdgdr/YY4oGbDbscEbRDZ6rR0TDlWeUi44wKvosPiB2g/uqVYqe+nT0itkCTJYknE6xY6fVj4DE44WIaDizwYzitGLRMUZFv8UHxK77XX89sGxZ7NYHhTF7Q0mf7vRbLdibZsJRI29XIKKLK00vhdGgzsOz1Tc5mwhlZUBeHrBjB9DQIDrNEA6vEQFn4j+PLEk4k2LHMckL5d8+T0SilWeqc5oTYPF9yuEAbr4ZaGkBdu8GOjpEJwIAOLsC6HUioWXU67DjqDmEfomrNono8qxGq+q2KTufJMsy/4F/IbW1wL59gNstOgnay2zwGfxxf98Bmw3HbVF0Qjm3ThCR8k3NmYolxUtExxg1jvguprw8NgV65Ahw4ADgE7ec3+kBfKnxez+f1Ypam4SzUvzLlIi0b3KWchcFjgRHfCMRjQL19bESbG1N/qc3SDhbJiGKMaywlIBeux115gg6JI7wiGh0MmwZ+OK0L4qOMSYc8Y2EwRAbAZaXA93dsQI8dQoIJ+d2A0NUhiNsg2cUpyGEjSZ0OCyoMQbgBW9CJ6KxUftoD+CIb/SCwdgosKEBOHMGiEQS+ukCqRa05oxspBY2mdBjs+CMMYx2ju6IKE4kSPjyzC/DYXaIjjImLL54CIdj5XfukaAFMS3lFgQvsBBFliT4LBa4zUa0mMJo52IVIkqA8anjsXzSctExxoxTnfFgMgGlpbEHAHg8QFdX7NHdHfvR7QbG+G8Ml8eI7hQgaDLDbzKizySh0xBBpxREFIExfxlERJcyLXea6AhxweJLBJcr9igp+fS5cDhWgl4vEAjEHn5/7BEIxKZKjcbYw2SKPc793OkEXC7YnQ5sa1wPfyQIcP9MIkqiDFuGarco+ywWX7KYTEBu7tjeAsAkTwUOtR+KTyYiohGalT9LdIS40fdenSo0PXc6JHATTSJKHqfZiYmZE0XHiBsWn8qkWFNQkl5y+RcSEcXJ9NzpMEjaqQvtfCU6Mj13uugIRKQTFqMFU3KmiI4RVyw+FSpMKUSmPVN0DCLSgcrsSliMyT0eLdFYfCo1K087F5qJSJkMkgEzcmeIjhF3LD6Vmpg5ERm2DNExiEjDJmZOhNOShANBk4zFp1KSJGFu4VzRMYhIw2bmzRQdISFYfCpWllGGbEe26BhEpEHjU8drdi0Bi0/l5hXOEx2BiDRISzesfxaLT+XGp41HvitfdAwi0pACVwEKUwpFx0gY3RVfaWkpHnjgAdEx4mp+0XzREYhIIyRIuGb8NaJjJJSmiu/QoUNYtWoVSkpKYLPZUFRUhGXLluH5558XHW2I5uZm/PCHP8SBAwfi8n75rnyMTx0fl/ciIn2blDVJ82sHNFN8VVVVmDt3Lg4ePIiHHnoI//7v/46vf/3rMBgMeO6550THG6K5uRk/+tGP4lZ8ADCviNf6iGhsTAaTLmaQNHM6w9NPP420tDTs27cP6enpQz7W3t4uJlQSZTuyUZZehvreetFRiEilZufPVv3p6iOhmRFfbW0tpk2bNqz0ACD3IscB1dXVQZIk/OpXvxr2saqqKkiShFdeeWXwubNnz+LBBx9EYWEhrFYrysrK8K1vfQvBYHDIe37xi19EZmYmHA4HFi5ciLfeemvw41u3bsW8ebHR2erVqyFJEiRJwpo1a0b5lX9qXtE8ntxARKPisrg0e9/eZ2mm+EpKSlBdXY3Dhw+P+NdMmDABixcvxssvvzzsYy+//DJSUlLw+c9/HkBsenL+/Pn4y1/+gi996Uv4zW9+g/vuuw/btm2D1+sFALS1tWHRokXYtGkT/umf/glPP/00/H4/7rjjDqxbtw4AMGXKFDz11FMAgIcffhh//OMf8cc//hHXXXfdWH8LkG5Lx6SsSWN+HyLSn/lF82EyaGYS8JIkWZZl0SHiYfPmzVi+fDkAYP78+bj22muxdOlS3HDDDTCbzYOvKy0txfXXXz84wvrDH/6Ab3zjGzh27BgqKysBAKFQCIWFhVi5cuXg6+6//3786U9/wp49ezB37tAdU2RZhiRJ+M53voNf//rX2L59O5YsWQIA8Hg8mDlzJmRZRm1tLQwGA/bv34958+bhP//zP+O+wtQT9GDtkbUIRXlCOxGNTK4zF3dW3ik6RtJoZsS3bNky7Nq1C3fccQcOHjyIZ555BrfccguKioqwfv36i/66u+++Gzabbciob9OmTejs7MRXvvIVAEA0GsXf/vY33H777cNKD4htHwYAGzduxPz58wdLDwBcLhcefvhhNDQ04OjRo/H6ci/KZXFxoQsRXZFrxmn79oXP0kzxAcC8efPwxhtvoKenB3v37sWTTz6J/v5+rFq16qKlk56ejttvvx1//vOfB597+eWXUVRUhBtvvBEA0NHRAbfbjenTL30OXmNjIyoqKoY9P2XKlMGPJ8O0nGnIdV74uiYR0fnKM8qR58oTHSOpNFV851gsFsybNw8/+clP8MILLyAUCmHt2rUXff1Xv/pV1NXVoaqqCv39/Vi/fj3uueceGAzq/O2RJAnXlVynqROTiSj+jJIRC8YtEB0j6TT/nfHc1GRLS8tFX3PrrbciJycHL7/8MtatWwev14v77rtv8OM5OTlITU297MKZkpISnDhxYtjzx48fH/w48OnUaCJl2jN5Zh8RXdLMvJlwWVyiYySdZorvgw8+wIXW6WzcuBEALjgFeY7JZMI999yD1157DWvWrMGMGTMwc+any3oNBgPuvPNObNiwAfv37x/268993hUrVmDv3r3YtWvX4McGBgbwhz/8AaWlpZg6dSoAwOmMnW/V29t75V/oFbiq4CqkWdMS+jmISJ0ybBm4quAq0TGE0MyqzunTp8Pr9eKuu+5CZWUlgsEgqqqq8Oqrr2L8+PH4+OOPkZ6ePmxV5znV1dWDo8Of/exnePzxx4d8/OzZs5g7dy7cbjcefvhhTJkyBS0tLVi7di127NiB9PR0tLW1YdasWfD7/Xj00UeRmZmJl156CQcPHsRf//pX3HXXXQBiq0Zzc3ORl5eHxx57DE6nEwsWLEBZWVncf1+a+5vx5sk34/6+RKReBsmAOyvv1PzWZBejmeJ75513sHbtWlRVVeHMmTMIBoMoLi7G8uXL8f3vf3/wJvaLFR8QK89jx46hqakJRUVFwz7e1NSEf/3Xf8Xbb78Nt9uNoqIiLF++HL/85S9hsVgAxG5gf+KJJ/Dee+/B7/dj5syZ+MEPfoCVK1cOea/169fjySefxMmTJxEOhxNya8M52xq24UTX8ClYItKnqwuuxtWFV4uOIYxmii8e5syZg8zMTGzZskV0lLgKhAN47chr8IV9oqMQkWA5jhx8vvLzul78pt+v/DP279+PAwcO4Ktf/aroKHFnNVmxaPwi0TGISDCjZMQNZTfouvQAjvhw+PBhVFdX4xe/+AU6OztRV1cHm80mOlZCvFPzDpr6mkTHICJBrhl3DWbkzRAdQzh91z6A119/HatXr0YoFMIrr7yi2dIDgCXFS2A1WkXHICIBClMKWXr/oPsRn9409jZiU+0m0TGIKInMBjNWTV2FFGuK6CiKoPsRn96UpJdgdv5s0TGIKImuGX8NS+88LD4dmlc4DwWuAtExiCgJitOKUZldKTqGorD4dEiSJCydsBR2k110FCJKIJvJhutKxn7Wp9aw+HTKYXZg6YSlPLGdSKMkSFhathQOs0N0FMVh8elYYUoh5hYOP1+QiNRvwbgFKEodvgMVsfh0b07BHBSnFYuOQURxVJ5Rjpl5My//Qp1i8RFuKL1Bl0eTEGlRpj0Tnyv9nOgYisbiI1hNVtw04Sbdb2NEpHZWoxU3l98Mk8EkOoqi8TsdAQBynbm4Ztw1omMQ0SgZJANumnATUq2poqMoHouPBk3Lncb7fYhUavH4xVzMMkIsPhpiSfESLnYhUpkZuTMwJWeK6BiqweKjIc5Nl+j1ZGYitSlOK8bCcQtFx1AVFh8NYzKYsHzicqRYuLcfkZJl2jOxtGwpJIkbUVwJFh9dkN1sx4pJK2AzafeYJiI1S7GkYPnE5TAbzaKjqA6Ljy4qzZaGWyfeCrOBf7GIlMRlceG2ybfBaXGKjqJKLD66pFxnLm4uvxlGySg6ChEBcJqduG3ybTxmaAxYfHRZRalF3NCaSAEcZgdWTl7Je/XGiMVHI1KaXsptkIgEsplsWDlpJdJt6aKjqB6Lj0ZsctZkLBq/SHQMIt2xGq24bfJtyLBniI6iCSw+uiLTc6dj8fjFomMQ6YbFaMHKySuRac8UHUUzJFmWZdEhSH1qumuwtWEronJUdBQizbIYLVgxaQVynbmio2gKi49GramvCe/VvYdwNCw6CpHmmA1mLJ+0HPmufNFRNIfFR2PS6mnFOzXvIBgJio5CpBnndk8qSCkQHUWTWHw0Zl3eLmw8tRG+sE90FCLVc5gduHXirdwvN4FYfBQX7oAbb518C/3BftFRiFQr056JWyfeCpfFJTqKprH4KG68IS/eOvkWevw9oqMQqc641HG4acJNsBgtoqNoHouP4ioQDuDtmrfRPtAuOgqRalRmV2JJ8RIYJN5hlgwsPoq7cDSMd2vfxRn3GdFRiBRvftF8zM6fLTqGrrD4KCGichRVp6twtOOo6ChEimSUjLih7AZMyJggOorusPgooU51ncL2pu2814/oPDaTDbeU34I8V57oKLrE4qOE6/Z1493ad+EOuEVHIRIuzZqG5ZOW84QFgVh8lBTBSBBbG7aiobdBdBQiYYpSinDThJtgNVlFR9E1Fh8l1YHWA9h3dh9k8I8d6YdBMmBe4TzMyp8lOgqBxUcCnHWfxZb6LfCH/aKjECVcqjUVS8uWIseZIzoK/QOLj4QYCA5gc91m3u9HmjYpcxKWFC+B2WgWHYXOw+IjYaJyFLtO78KRjiOioxDFldlgxpLiJZiUNUl0FLoAFh8JV9tdi52nd3LqkzQh15mLG8tu5KpNBWPxkSL4w35Una5CTXeN6ChEozY7fzbmFs7l1mMKx+IjRWnsbcSOph0YCA2IjkI0Yg6zAzeU3oCi1CLRUWgEWHykOMFIEHvO7MGxzmOioxBdVnlGORYXL4bNZBMdhUaIxUeK1dLfgm2N27jjCylSqjUVS4qXYFzqONFR6Aqx+EjRwtEwqpur8UnbJ7zpnRTBIBkwO3825uTPgdFgFB2HRoHFR6rQMdCBbY3b0O3rFh2FdKzAVYBrS65Fui1ddBQaAxYfqUZUjuJg60F83PoxT3ugpHJZXFhQtADlmeWio1AcsPhIdbwhL/Y378eJzhOc/qSEMhlMmJk3E7PzZ8NkMImOQ3HC4iPV6vH1YM/ZPWjqaxIdhTRoQsYELBy3EC6LS3QUijMWH6lec38zdp/ZjU5vp+gopAGFKYW4uuBqFKQUiI5CCcLiI82o66lDdXM1evw9oqOQCo1LHYerC67mqeg6wOIjTZFlGbU9tahurkZfoE90HFKBkrQSXFVwFY8N0hEWH2lSVI7iVNcpfNTyEfqD/aLjkAKVpZfhqoKrkOXIEh2FkozFR5omyzLqe+txpP0IWjwtouOQYBIkTMiYgDkFc5BpzxQdhwRh8ZFudPu6cbj9MGq6a3gfoM5IkDApaxJm58/mzefE4iP9CYQDON55HEc6jsAT9IiOQwnkNDtRkV2BiqwKpFhTRMchhWDxkW7JsozGvkYcbj+M5v5m0XEoTgySASVpJajMrsS41HGQJEl0JFIYFh8RYtOgR9qP4FT3KU6DqlSGLQMV2RWYnDWZRwTRJbH4iM4TjARR11OH+p56nO0/i6gcFR2JLsFsMKM8sxyV2ZXIdeaKjkMqweIjuohgJIiG3gbU9dThjPsMS1BB8l35qMiqQHlmOffQpCvG4iMagWAkiMbeRtT31uN032lE5IjoSLpiMphQlFKE4rRijE8bz/0zaUxYfERXKBQJoamvCXU9dTjtPs1rggmSak1FcVoxitOKUeAq4KGvFDcsPqIxCEfDON13Gs39zWj1tKLb182jkkbJIBlQmFKI8anjUZxWjDRbmuhIpFEsPqI4CkaCaPO0odXTilZPK9oH2jkteglp1jQUpBSgOK0YRSlFMBvNoiORDrD4iBIoKkfRMdCBVk8rWjwtaPO0IRAJiI4lhM1kQ64zd/CR48iB1WQVHYt0iMVHlGTdvm60edrQ7etGj78Hvf5eeENe0bHiymVxIcuehSxH1uCPqdZU0bGIALD4iBQhGAmixxcrwV5/L/qD/XAH3HAH3AhGgqLjDWMymOA0O+GyuOC0/ONHsxPptnRkObJgMVpERyS6KBYfkcIFwoHBIvSFfAhGgkMegUhg2HNXstLUIBlglIwwGoxDfu4wOy5Ybi6Li1OUpGosPiINisrRISV4sXIzSAbRUYmSjsVHRES6wn/uERGRrrD4iIhIV1h8RESkKyw+IiLSFRYfERHpCouPiIh0hcVHRES6wuIjIiJdYfEREZGusPiIiEhXWHxERKQrLD4iHTp06BBWrVqFkpIS2Gw2FBUVYdmyZXj++ecHX1NaWorbbrvtku/zwAMPwOVyXfBj69atw/Lly5GdnQ2LxYLCwkLcfffdeP/994e9tqmpCd/85jdRWloKq9WK3Nxc3Hnnndi5c+eQ15WWlkKSpMs+1qxZc+W/KaQbJtEBiCi5qqqqcMMNN6C4uBgPPfQQ8vPzcfr0aezevRvPPfccHnnkkTG9vyzL+NrXvoY1a9Zgzpw5+O53v4v8/Hy0tLRg3bp1WLp0KXbu3IlFixYBAHbu3IkVK1YAAL7+9a9j6tSpaG1txZo1a3DttdcOyfTrX/8aHo9n8HNt3LgRr7zyCn71q18hOzt78Plz7010QTIR6cqKFSvknJwcuaenZ9jH2traBn9eUlIir1y58pLvdf/998tOp3PIc88++6wMQP72t78tR6PRYb/mv/7rv+Q9e/bIsizL3d3dcn5+vpyXlyfX1NQMeZ3X65WvvfZa2WAwyDt37rzg5z/3uerr6y+Zk+h8nOok0pna2lpMmzYN6enpwz6Wm5s7pvf2+Xz46U9/isrKSvz85z+HJEnDXnPfffdh/vz5AIDf//73aG1txbPPPovy8vIhr7Pb7XjppZcgSRKeeuqpMeUiOh+Lj0hnSkpKUF1djcOHD8f9vXfs2IHu7m7ce++9MBqNl339hg0bYLPZcPfdd1/w42VlZViyZAnef/99+Hy+eMclnWLxEenM9773PXi9XsyePRuLFi3CE088gXfffRehUGjM733s2DEAwIwZM0b0+qNHj6KiogJWq/Wir5k1axZCoRBqamrGnI8IYPER6c6yZcuwa9cu3HHHHTh48CCeeeYZ3HLLLSgqKsL69evH9N5utxsAkJKSMqLX9/f3X/a15z5+7r2JxorFR6RD8+bNwxtvvIGenh7s3bsXTz75JPr7+7Fq1SocPXp01O+bmpoKIFZoI5GSknLZ1577+EjLlOhyWHxEOmaxWDBv3jz85Cc/wQsvvIBQKIS1a9eO+v0qKysBxO4THIkpU6bgxIkTCAQCF33NJ598ArPZjEmTJo06F9H5WHxEBACYO3cuAKClpWXU77FkyRJkZGTglVdeQSQSuezrb7vtNvj9/ouWbUNDA7Zv344bb7wRdrt91LmIzsfiI9KZDz74ALIsD3t+48aNAICKiopRv7fD4cATTzyBY8eO4Yknnrjg5/nTn/6EvXv3AgC+8Y1vIDc3F4899hjq6uqGvM7v92P16tWQZRk/+MEPRp2J6LO4cwuRzjzyyCPwer246667UFlZiWAwiKqqKrz66qsoLS3F6tWrB19bU1ODH//4x8PeY86cOVi5cuUF3/+xxx7DkSNH8Itf/AIffPABVq1ahfz8fLS2tuJvf/sb9u7di6qqKgBAVlYWXn/9daxcuRJXXXXVsJ1bampq8Nxzz3EnFoovwTfQE1GSvf322/LXvvY1ubKyUna5XLLFYpEnTpwoP/LII8N2bgFwwceDDz4oy/KFd2455/XXX5dvvvlmOTMzUzaZTHJBQYH8pS99Sd66deuw19bX18sPPfSQXFxcLJvNZjk7O1u+44475O3bt1/ya+HOLTQakixfYC6CiIhIo3iNj4iIdIXFR0REusLiIyIiXWHxERGRrrD4iIhIV1h8RESkKyw+IiLSFRYfERHpCouPiIh0hcVHRES6wuIjIiJdYfEREZGu/H8Zn/6PeskumwAAAABJRU5ErkJggg==",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index a08ccdb1..71327569 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -20,14 +20,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.1.dev612+g3d12a1d\n"
+      "0.1.dev635+g0e79a27.d20230825\n"
      ]
     }
    ],
@@ -47,7 +47,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -63,7 +63,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -92,24 +92,24 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 49 routines that are found in slycot.\n",
+      "There are currently 50 routines that are found in slycot.\n",
       "------\n",
-      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
-      "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
-      "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd', 'mb03vd']\n",
-      "['mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td', 'sb01bd']\n",
-      "['sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od']\n",
-      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd']\n",
-      "['sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad']\n",
-      "['tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md']\n",
-      "['tf01rd']\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd']\n",
+      "['ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd']\n",
+      "['ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd']\n",
+      "['mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td']\n",
+      "['sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57']\n",
+      "['sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd']\n",
+      "['sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd']\n",
+      "['tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad']\n",
+      "['tf01md', 'tf01rd']\n",
       "None\n"
      ]
     }
@@ -132,27 +132,27 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 71 routines that are found in slycot._wrapper.\n",
+      "There are currently 72 routines that are found in slycot._wrapper.\n",
       "------\n",
-      "['ab01nd', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz']\n",
-      "['ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd']\n",
-      "['ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd', 'mb03rd']\n",
-      "['mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td']\n",
-      "['sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n', 'sb02mt_nl']\n",
-      "['sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md', 'sb03od']\n",
-      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd']\n",
-      "['sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn', 'sg02ad_g']\n",
-      "['sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l', 'tb03ad_r']\n",
-      "['tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh', 'tc01od_l']\n",
-      "['tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r', 'tf01md']\n",
-      "['tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n",
+      "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd']\n",
+      "['ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd']\n",
+      "['ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd']\n",
+      "['mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd']\n",
+      "['mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n']\n",
+      "['sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md']\n",
+      "['sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd']\n",
+      "['sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn']\n",
+      "['sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l']\n",
+      "['tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh']\n",
+      "['tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r']\n",
+      "['tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n",
       "None\n"
      ]
     }
@@ -175,7 +175,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -185,7 +185,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
@@ -194,19 +194,19 @@
      "text": [
       "There are currently 10 routines that found in slycot not in slycot._wrapper.\n",
       "------\n",
-      "['tc04ad', 'tb05ad', 'sb02od', 'tc01od', 'td04ad', 'tb04ad']\n",
-      "['sb02mt', 'sb03md57', 'sg02ad', 'tb03ad']\n",
+      "['td04ad', 'tb04ad', 'sb03md57', 'tc04ad', 'tb05ad', 'tc01od']\n",
+      "['sb02od', 'tb03ad', 'sg02ad', 'sb02mt']\n",
       "None\n",
       "\n",
       "\n",
       "There are currently 32 routines that are found in slycot._wrapper not in slycot.\n",
       "------\n",
-      "['td04ad_r', 'tb03ad_l', 'tc04ad_l', 'sg02ad_g', 'sg02ad_bn', 'ag08bd']\n",
-      "['sb10jd', 'tc01od_r', 'sg02ad_bb', 'tb03ad_r', 'tg01fd_nn', 'tb04ad_r']\n",
-      "['tc04ad_r', 'tg01fd_uu', 'sb02mt_nl', 'sg02ad_bc', 'tb05ad_nh', 'tb05ad_ag']\n",
-      "['tg01fd_ii', 'sb02od_n', 'tb04ad_c', 'sb02od_b', 'sb02od_c', 'sg02ad_bd']\n",
-      "['sb02od_d', 'sb02mt_n', 'tb05ad_ng', 'tc01od_l', 'tg01ad', 'td04ad_c']\n",
-      "['sb02mt_c', 'sb02mt_cl']\n",
+      "['sg02ad_bb', 'sg02ad_bn', 'sb10jd', 'tg01ad', 'ag08bd', 'sb02od_n']\n",
+      "['sb02mt_n', 'sb02mt_cl', 'tc04ad_l', 'sb02od_b', 'tg01fd_ii', 'sg02ad_bc']\n",
+      "['sb02od_c', 'sg02ad_bd', 'tb03ad_l', 'tc01od_l', 'tb05ad_nh', 'sb02mt_nl']\n",
+      "['td04ad_c', 'sg02ad_g', 'sb02mt_c', 'tg01fd_nn', 'tb04ad_c', 'tb03ad_r']\n",
+      "['tc01od_r', 'tb05ad_ag', 'td04ad_r', 'sb02od_d', 'tb05ad_ng', 'tb04ad_r']\n",
+      "['tg01fd_uu', 'tc04ad_r']\n",
       "None\n",
       "\n",
       "\n"
@@ -233,41 +233,41 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 81 routines that are found in slycot or in slycot._wrapper. (union)\n",
+      "There are currently 82 routines that are found in slycot or in slycot._wrapper. (union)\n",
       "------\n",
-      "['tb05ad', 'td04ad_r', 'ab13ed', 'td04ad', 'tb01id', 'sb02mt']\n",
-      "['tf01rd', 'ab13bd', 'ab13fd', 'sb03md', 'mb03vy', 'ab08nd']\n",
-      "['ab05nd', 'sb10jd', 'sg02ad_bb', 'tb03ad_r', 'tc01od_r', 'tb04ad_r']\n",
-      "['tc04ad_r', 'tb05ad_nh', 'tb05ad_ag', 'tb03ad', 'tc04ad', 'mb05nd']\n",
-      "['sb02od_b', 'sb04qd', 'sg03bd', 'sb02od_c', 'sb02od_d', 'tb05ad_ng']\n",
-      "['mc01td', 'sb10dd', 'ab01nd', 'tc01od', 'sb02md', 'sb02mt_cl']\n",
-      "['ab09md', 'tb01pd', 'mb03rd', 'sb03od', 'ab09bd', 'mb03wd']\n",
-      "['tb03ad_l', 'tc04ad_l', 'sg02ad_g', 'sg02ad_bn', 'ab09nd', 'ag08bd']\n",
-      "['tg01fd_nn', 'tb04ad', 'mb03vd', 'tg01fd_uu', 'sb02mt_nl', 'sg02ad_bc']\n",
-      "['tg01fd_ii', 'sb02od_n', 'sg03ad', 'sb02od', 'tf01md', 'tb04ad_c']\n",
-      "['ab05md', 'sg02ad_bd', 'sb01bd', 'sb02mt_n', 'ab07nd', 'ab13md']\n",
-      "['sb10hd', 'ab09ax', 'ab09ad', 'ab08nz', 'tc01od_l', 'tg01ad']\n",
-      "['sb10fd', 'ab13dd', 'td04ad_c', 'sb03md57', 'sg02ad', 'sb10ad']\n",
-      "['sb02mt_c', 'mb05md', 'sb04md']\n",
+      "['tb04ad', 'ab13ed', 'tg01ad', 'ab13fd', 'mb03vd', 'sb02od_n']\n",
+      "['ab08nz', 'sb02mt_cl', 'sb02od_b', 'tc04ad_l', 'sg02ad_bc', 'sb02od_c']\n",
+      "['ab09ax', 'sg03ad', 'ab09md', 'ab09nd', 'sb10hd', 'ab05nd']\n",
+      "['tb05ad_nh', 'td04ad', 'sb03md57', 'sb02mt_nl', 'sb04md', 'td04ad_c']\n",
+      "['sb01bd', 'ab13md', 'sb10ad', 'mc01td', 'tb01id', 'tg01fd_nn']\n",
+      "['tb03ad_r', 'tc01od_r', 'ab13bd', 'sb10fd', 'sb03md', 'sb02od_d']\n",
+      "['tb03ad', 'tb05ad_ng', 'tg01fd_uu', 'tc04ad_r', 'sb04qd', 'sb02md']\n",
+      "['sg02ad_bb', 'tf01md', 'sg02ad_bn', 'sb10jd', 'sb10dd', 'ab08nd']\n",
+      "['ag08bd', 'mb05md', 'sb02mt_n', 'ab01nd', 'tg01fd_ii', 'ab05md']\n",
+      "['mb03wd', 'sg02ad_bd', 'tc04ad', 'tc01od', 'sb02od', 'tb03ad_l']\n",
+      "['tc01od_l', 'sg02ad', 'ab13dd', 'ab09ad', 'mb03vy', 'sb03od']\n",
+      "['ab04md', 'sb02mt_c', 'sg02ad_g', 'tb05ad', 'ab07nd', 'tb04ad_c']\n",
+      "['sb02mt', 'mb05nd', 'tb05ad_ag', 'td04ad_r', 'mb03rd', 'sg03bd']\n",
+      "['ab09bd', 'tf01rd', 'tb04ad_r', 'tb01pd']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 39 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
+      "There are currently 40 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
       "------\n",
-      "['sb03od', 'ab09bd', 'mb03wd', 'ab13ed', 'tb01id', 'mb03rd']\n",
-      "['tf01rd', 'ab13bd', 'ab13fd', 'sb03md', 'mb03vy', 'ab09nd']\n",
-      "['ab08nd', 'ab05nd', 'mb03vd', 'sg03ad', 'mb05nd', 'tf01md']\n",
-      "['sb04qd', 'sg03bd', 'ab05md', 'sb01bd', 'ab07nd', 'ab13md']\n",
-      "['sb10hd', 'ab09ax', 'ab09ad', 'ab08nz', 'mc01td', 'sb10dd']\n",
-      "['sb10fd', 'ab13dd', 'ab01nd', 'sb02md', 'sb10ad', 'mb05md']\n",
-      "['ab09md', 'tb01pd', 'sb04md']\n",
+      "['ab13ed', 'tf01md', 'sb10dd', 'ab13fd', 'mb03vd', 'ab08nd']\n",
+      "['mb05md', 'ab08nz', 'ab01nd', 'ab05md', 'ab09ax', 'mb03wd']\n",
+      "['sg03ad', 'ab09md', 'ab09nd', 'ab13dd', 'sb10hd', 'ab05nd']\n",
+      "['ab09ad', 'sb04md', 'sb01bd', 'ab13md', 'mb03vy', 'ab04md']\n",
+      "['mc01td', 'sb03od', 'sb10ad', 'tb01id', 'ab07nd', 'mb05nd']\n",
+      "['ab13bd', 'mb03rd', 'sb10fd', 'sb03md', 'sb02md', 'sg03bd']\n",
+      "['ab09bd', 'tf01rd', 'tb01pd', 'sb04qd']\n",
       "None\n",
       "\n",
       "\n"
@@ -294,12 +294,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
index 94c0b9fc..94fcaa84 100644
--- a/doc/source/reference/slycot_inner.rst
+++ b/doc/source/reference/slycot_inner.rst
@@ -16,6 +16,7 @@ Analysis
    :toctree: generated/
 
    _wrapper.ab01nd
+   _wrapper.ab04md
    _wrapper.ab05md
    _wrapper.ab05nd
    _wrapper.ab07nd
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
index 63089246..09b46516 100644
--- a/doc/source/reference/slycot_outer.rst
+++ b/doc/source/reference/slycot_outer.rst
@@ -16,6 +16,7 @@ Analysis
    :toctree: generated/
 
    ab01nd
+   ab04md
    ab05md
    ab05nd
    ab07nd

From 6e67460a1e3d7e87c27040c3f53d39bd512a5a6b Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Sat, 26 Aug 2023 10:41:12 +0200
Subject: [PATCH 14/23] Add check_names, checks if all routines are added in
 sphinx help

---
 doc/check_names.py | 45 +++++++++++++++++++++++++++++++++++++++++++++
 doc/conf.py        |  4 ++++
 2 files changed, 49 insertions(+)
 create mode 100644 doc/check_names.py

diff --git a/doc/check_names.py b/doc/check_names.py
new file mode 100644
index 00000000..6a6db356
--- /dev/null
+++ b/doc/check_names.py
@@ -0,0 +1,45 @@
+# Generate the routines divide by slicot-chapters for sphinx-doc.
+# Only prints out the names, copy & past them into slycot_outer.rst and slycot_inner.rst.
+import re
+import pandas as pd
+import warnings
+
+import slycot
+slycot.__version__
+
+def get_slycot_routines(sly):
+    all_attributes = dir(sly)
+    r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
+    matched_attributes = list(filter(r.match, all_attributes))
+    return matched_attributes
+
+def get_slycot_routines_help(file,pre=""):
+    textfile = open(file, 'r')
+    filetext = textfile.read()
+    textfile.close()
+    lines = filetext.split("\n")
+    res = [ele.replace(" ","") for ele in lines]
+    res = [ele.replace("_wrapper.","") for ele in res]
+
+    r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
+    matched_attributes = list(filter(r.match, res))
+    return matched_attributes
+
+slycot_wrapper = get_slycot_routines(slycot)
+slycot_wrapper.sort()
+slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)
+slycot_f2py_wrapper.sort()
+
+slycot_wrapper_help = get_slycot_routines_help("source/reference/slycot_outer.rst")
+slycot_wrapper_help.sort()
+
+slycot_f2py_wrapper_help = get_slycot_routines_help("source/reference/slycot_inner.rst")
+slycot_f2py_wrapper_help.sort()
+
+missing = list(set(slycot_wrapper) - set(slycot_wrapper_help))
+if bool(missing):
+    warnings.warn(f"The routines {missing} are missing in 'slycot_outer.rst'.")
+
+missing = list(set(slycot_f2py_wrapper) - set(slycot_f2py_wrapper_help))
+if bool(missing):
+    warnings.warn(f"The routines _wrapper.{missing} are missing in 'slycot_inner.rst'.")
\ No newline at end of file
diff --git a/doc/conf.py b/doc/conf.py
index 6db89d89..2938ea5a 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -10,6 +10,9 @@
 import sys
 sys.path.insert(0, os.path.abspath('../slycot'))
 
+import subprocess
+subprocess.run(["python", "check_names.py"])
+
 project = 'Slycot'
 copyright = '2023, Slycot Developers'
 author = 'Slycot Developers'
@@ -25,6 +28,7 @@
 
 print("version %s, release %s" % (version, release))
 
+
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
 

From b6b45793523467fac52b03a24bd7bb695a9d9978 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Sat, 26 Aug 2023 16:32:38 +0200
Subject: [PATCH 15/23] Add ag08bd, add sb10yd to help

---
 doc/source/dev/inspect_slicot_slycot.ipynb | 340 ++++++++++-----------
 doc/source/dev/inspect_slycot.ipynb        |  97 +++---
 doc/source/reference/slycot_inner.rst      |   1 +
 doc/source/reference/slycot_outer.rst      |   2 +
 4 files changed, 222 insertions(+), 218 deletions(-)

diff --git a/doc/source/dev/inspect_slicot_slycot.ipynb b/doc/source/dev/inspect_slicot_slycot.ipynb
index db4d52ac..868863de 100644
--- a/doc/source/dev/inspect_slicot_slycot.ipynb
+++ b/doc/source/dev/inspect_slicot_slycot.ipynb
@@ -25,7 +25,7 @@
     {
      "data": {
       "text/plain": [
-       "'0.1.dev635+g0e79a27.d20230825'"
+       "'0.5.5.dev49+gfb26217.d20230826'"
       ]
      },
      "execution_count": 1,
@@ -98,15 +98,15 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 50 routines that are found in slycot.\n",
+      "There are currently 52 routines that are found in slycot.\n",
       "------\n",
       "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad']\n",
       "['ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd']\n",
-      "['ab13md', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td']\n",
-      "['sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od', 'sb04md']\n",
-      "['sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sg02ad', 'sg03ad', 'sg03bd']\n",
-      "['tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad']\n",
-      "['tf01md', 'tf01rd']\n",
+      "['ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd']\n",
+      "['mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od']\n",
+      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10yd', 'sg02ad']\n",
+      "['sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od']\n",
+      "['tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
       "None\n",
       "\n",
       "\n",
@@ -233,78 +233,78 @@
       "None\n",
       "\n",
       "\n",
-      "There are currently 558 routines that are found in slicot and not in slycot.\n",
+      "There are currently 556 routines that are found in slicot and not in slycot.\n",
       "------\n",
-      "['tg01nx', 'mb02gd', 'sg03bu', 'mb03rw', 'sb03ov', 'mb03ry', 'mb03qx', 'ib01bd']\n",
-      "['sg03bx', 'sg02cv', 'ma02cd', 'dg01md', 'ib01nd', 'mb02uu', 'mb02hd', 'ma02nz']\n",
-      "['sb10sd', 'mb01qd', 'mb03bc', 'mb04db', 'sg03by', 'tg01ad', 'ma01bd', 'ab08nx']\n",
-      "['mb03rx', 'ib01rd', 'sb03qx', 'mb04vd', 'ma01ad', 'ab09hd', 'mb04pa', 'sb10wd']\n",
-      "['mb02kd', 'mb04pu', 'mb03hd', 'ib01qd', 'tf01my', 'mb01rw', 'mb03lz', 'sb08ed']\n",
-      "['tg01ld', 'sb04pd', 'nf01bf', 'sb04rw', 'tg01ed', 'mb04ts', 'mb4dlz', 'sb02nd']\n",
-      "['ma02hz', 'mb03kc', 'sb04px', 'ib01pd', 'mb03iz', 'tg01md', 'sg03bw', 'sb04nw']\n",
-      "['td03ad', 'nf01bp', 'sb08nd', 'mb03td', 'ud01cd', 'ab09cx', 'ma02gz', 'mb04yd']\n",
-      "['mb04qu', 'ab09kx', 'sg03ax', 'sb03pd', 'mb04qs', 'sb04mr', 'mb04ox', 'sb08ny']\n",
-      "['mb03ka', 'mb03zd', 'sb09md', 'sb16ad', 'ud01bd', 'mb04id', 'ma01bz', 'mb04qc']\n",
-      "['sg03bz', 'sb02ov', 'bd01ad', 'mb4dpz', 'sb03mv', 'mb03ke', 'mb04dd', 'mb01td']\n",
-      "['mb03qy', 'mb04vx', 'tb04cd', 'tg01bd', 'mb03py', 'sb02mx', 'mb03xp', 'mb03lf']\n",
-      "['mb01ld', 'mc01od', 'mb02vd', 'mb04ny', 'nf01bs', 'sb04my', 'ab09dd', 'mb03cd']\n",
-      "['sb01md', 'sb02rd', 'dg01nd', 'nf01ba', 'tf01pd', 'tg01gd', 'sg03br', 'sb04qr']\n",
-      "['ab13ad', 'mb04iy', 'sb03qd', 'sb04nv', 'md03bb', 'tg01hy', 'tg01jy', 'mb3jzp']\n",
-      "['mb03bd', 'sb03sy', 'ab05sd', 'ma02bz', 'tg01jd', 'sg03ay', 'mb04tb', 'tb01wd']\n",
-      "['mb04ty', 'bb03ad', 'sb03or', 'ab05qd', 'sb02ou', 'mb03ed', 'tb04bx', 'mb03ae']\n",
-      "['mb03ny', 'tg01hu', 'sb04od', 'mb01uz', 'ab01md', 'mb03ag', 'ab08ny', 'ib03ad']\n",
-      "['mb01rh', 'mb04qf', 'ab09jw', 'mb04wu', 'ab09jv', 'mb04jd', 'mb03ab', 'mb02sd']\n",
-      "['mc01sd', 'mc01vd', 'mb02ny', 'sb03ou', 'mc01md', 'tb03ay', 'mb03md', 'mb04rb']\n",
-      "['ab08md', 'sb03oz', 'tf01od', 'mc01sx', 'tg01kd', 'md03bd', 'ab09fd', 'mb01kd']\n",
-      "['tb01kx', 'ud01mz', 'mb04pb', 'mb04hd', 'mb03od', 'ag08by', 'mb02cu', 'mb02jx']\n",
-      "['tg01nd', 'mb03qg', 'bd02ad', 'tg01kz', 'mc01py', 'mb04wp', 'mb03yt', 'mb02cv']\n",
-      "['tb01ux', 'mb03dd', 'md03ad', 'ab09jd', 'ab8nxz', 'sb03sx', 'sb02ru', 'mb02cd']\n",
-      "['ab05rd', 'sb02oy', 'mb01xy', 'nf01bd', 'mb05my', 'fb01rd', 'de01od', 'ma02cz']\n",
-      "['ma02az', 'tg01wd', 'sb04qu', 'ma02fd', 'sb16cd', 'mb01uy', 'ab09cd', 'mb01oe']\n",
-      "['ma02ad', 'sb03oy', 'sb02sd', 'mb01nd', 'md03bf', 'mb03ud', 'md03by', 'ma02iz']\n",
-      "['sb04ry', 'sb03qy', 'mb04cd', 'mb01rx', 'sb03os', 'mb03bf', 'mb04tx', 'ab09ix']\n",
-      "['tb01yd', 'mb04qb', 'mb01od', 'sb01bx', 'tg01hx', 'tb01ld', 'mc03md', 'sb10yd']\n",
-      "['mb01oh', 'tb04bd', 'sb08hd', 'mb02od', 'mb03ad', 'ib01md', 'mb04dl', 'tg01id']\n",
-      "['mb02xd', 'ib01od', 'tg01od', 'mb01xd', 'ab09hx', 'mb03nd', 'mb04az', 'ag8byz']\n",
-      "['sg03bv', 'mb01ot', 'ib01px', 'mb03qv', 'sb08fd', 'nf01ad', 'sb04mu', 'tb01ty']\n",
-      "['ma02pd', 'sb01dd', 'ud01nd', 'ma02dd', 'sb02mu', 'mb02fd', 'mb02jd', 'mc01rd']\n",
-      "['ab09kd', 'mb01rd', 'sb16bd', 'tg01hd', 'mb01oc', 'ab09id', 'tb01xd', 'sb03ud']\n",
-      "['mc01sw', 'mb03cz', 'mb03kb', 'tb01nd', 'mb03ya', 'ma02hd', 'sb16cy', 'ib01my']\n",
-      "['sb01fy', 'sb10id', 'tf01nd', 'mb02md', 'sb04py', 'mb01zd', 'mb03qw', 'ab05od']\n",
-      "['tb01kd', 'mb03rz', 'sb10rd', 'mb02yd', 'mc01pd', 'mb03yd', 'ma02ez', 'ab09ed']\n",
-      "['mb01ry', 'td05ad', 'fb01qd', 'sb03my', 'mb01uw', 'mb03pd', 'tg01dd', 'mb03kd']\n",
-      "['sb10zd', 'sb01by', 'mb02dd', 'mb02nd', 'ma02md', 'mb04nd', 'mb4dbz', 'dk01md']\n",
-      "['tg01ly', 'sb04rd', 'nf01ay', 'mb02id', 'tb04bv', 'mb04ud', 'ab09jx', 'sb10vd']\n",
-      "['mb04wd', 'ma02oz', 'ma02pz', 'sb04nx', 'md03bx', 'ab05pd', 'mb04ru', 'mc03nx']\n",
-      "['sb10ud', 'sb03sd', 'ma02gd', 'sb04rx', 'ab13cd', 'mc01sy', 'mc01xd', 'ag08bz']\n",
-      "['mb03gz', 'mb04di', 'mb03af', 'mb01pd', 'mb03id', 'tb01xz', 'fb01vd', 'bb02ad']\n",
-      "['sg02cw', 'mb04tv', 'mb03xu', 'sb03td', 'mb03wx', 'mb03ah', 'tg01pd', 'mb04md']\n",
-      "['sb10ed', 'ab13dx', 'mb04oy', 'sb08my', 'mb02rd', 'mb01ud', 'mb03jp', 'tg01cd']\n",
-      "['mb02qy', 'mc01wd', 'tb01uy', 'ma02id', 'tg01qd', 'mb04dp', 'nf01bw', 'mb01wd']\n",
-      "['mb04py', 'mb04bp', 'sb04ow', 'mb04ow', 'sg03bs', 'nf01bq', 'ag07bd', 'mb04ds']\n",
-      "['tc05ad', 'tb01vd', 'mb04fd', 'mb04fp', 'ab09bx', 'mb3oyz', 'bb04ad', 'ab13ax']\n",
-      "['mb04dz', 'sb03mu', 'sb03mw', 'ab01od', 'mb03ai', 'sb08md', 'tb04ay', 'sb10md']\n",
-      "['nf01br', 'mb04od', 'mb04zd', 'mb03dz', 'sb02cx', 'ue01md', 'mb02qd', 'nf01bx']\n",
-      "['ib01oy', 'mb03fd', 'tb01md', 'tg01fz', 'tb01zd', 'mb04xy', 'mb04gd', 'sb04rv']\n",
-      "['sg02nd', 'df01md', 'sb02ox', 'tg01oa', 'mb02ud', 'tg01ob', 'mb03gd', 'mb3lzp']\n",
-      "['mb02cy', 'mb04ed', 'mb03my', 'de01pd', 'mb03bb', 'mb01ux', 'mb01ru', 'mb02pd']\n",
-      "['sb10td', 'nf01bv', 'mb03fz', 'ma02od', 'mb05oy', 'tb01wx', 'mb02tz', 'mc01nd']\n",
-      "['sg02cx', 'mb03vw', 'mb03xd', 'mb04tt', 'mb02uv', 'tf01qd', 'mb02rz', 'mb04kd']\n",
-      "['sb10pd', 'nf01bb', 'mb01rt', 'mb05od', 'mb03be', 'mb04bz', 'mb04bd', 'mb01os']\n",
-      "['nf01bu', 'mb04dy', 'mb04tu', 'tb01iz', 'sb10zp', 'sb04qy', 'md03ba', 'ud01md']\n",
-      "['mb01vd', 'mb04wr', 'tb04bw', 'mb03xs', 'ab08mz', 'mb01sd', 'mb03ts', 'mb03za']\n",
-      "['ma02es', 'sb10jd', 'fb01td', 'ib01py', 'mb03jz', 'sb02ms', 'sb16ay', 'ma02jz']\n",
-      "['tb01td', 'nf01by', 'ag08bd', 'ma01cd', 'dg01od', 'mb01ss', 'sb10kd', 'mb03ld']\n",
-      "['sb02mw', 'ma02jd', 'mb03qd', 'mb02td', 'nf01be', 'mb02wd', 'mb02cx', 'sb06nd']\n",
-      "['mb03bz', 'tb01ud', 'sb02mr', 'mc03ny', 'mb04iz', 'sb04mw', 'ib01ad', 'sb04nd']\n",
-      "['mb03ba', 'ab09gd', 'sg03bt', 'mb03wa', 'tg01az', 'tg01fd', 'fd01ad', 'mb03lp']\n",
-      "['mb01md', 'mb03xz', 'ud01dd', 'mb01yd', 'sb10ld', 'mb04ad', 'ab09hy', 'ab07md']\n",
-      "['fb01sd', 'mb03sd', 'sb02ow', 'sb08gd', 'mb02ed', 'mb03hz', 'sb08cd', 'sb04ny']\n",
-      "['mb01oo', 'ma02ed', 'ib03bd', 'mb04tw', 'mb04ld', 'bb01ad', 'mb03jd', 'mc03nd']\n",
-      "['ib01cd', 'sb03mx', 'mb02uw', 'ma02bd', 'sb02pd', 'sb02qd', 'dg01ny', 'ab09iy']\n",
-      "['td03ay', 'tb01px', 'sb02mv', 'mb3pyz', 'tb01vy', 'tg01oz', 'mb03oy', 'mb02sz']\n",
-      "['mb03bg', 'sb03ot', 'ab13id', 'ab08nw', 'mc01qd', 'tf01mx', 'mb01rb', 'sb10qd']\n",
-      "['mb04yw', 'ma02mz', 'mb04xd', 'sb03rd', 'sb08dd', 'mb04su']\n",
+      "['sb10jd', 'mb02cv', 'tb01zd', 'bb04ad', 'ib01pd', 'sb03mv', 'ib01rd', 'sb02mx']\n",
+      "['mb03nd', 'tg01fz', 'mb03gd', 'nf01bs', 'ab09jx', 'nf01ay', 'mb04bd', 'mb02xd']\n",
+      "['tf01mx', 'sb06nd', 'ib01oy', 'ib01px', 'mb03fz', 'sb10qd', 'ab09ix', 'mb04hd']\n",
+      "['ab05od', 'ab09ed', 'mc01sx', 'mb01rd', 'sb10td', 'mb03bg', 'ma02fd', 'mb01wd']\n",
+      "['mb04rb', 'mb04ny', 'ma02pd', 'mb04ad', 'mb03dd', 'mc01sw', 'ab09bx', 'sb10ld']\n",
+      "['nf01ba', 'ma02az', 'ma02nz', 'ab05qd', 'sg03bu', 'mb02hd', 'mb03hz', 'sb03mx']\n",
+      "['ib01od', 'mb01ss', 'ab13ad', 'tb01wd', 'mc01wd', 'mb04od', 'mb02pd', 'mb03ag']\n",
+      "['mb01sd', 'ma02oz', 'mb03bz', 'mb02kd', 'mb03qy', 'ab09id', 'ma02iz', 'tg01ly']\n",
+      "['sb04rv', 'mb03sd', 'mb04ud', 'mb04fd', 'mb02gd', 'sg03bv', 'nf01bp', 'ib01md']\n",
+      "['tb01kx', 'mb03hd', 'tb01ux', 'mb03cz', 'ma02md', 'sb04my', 'mb03qg', 'sb08my']\n",
+      "['sb02oy', 'tg01pd', 'sb04mw', 'mc01pd', 'sb02ov', 'mb04yw', 'mb04py', 'sb02qd']\n",
+      "['mc01nd', 'mb02jd', 'sb10ed', 'ab13id', 'sg03ay', 'mb04wr', 'mb05my', 'mb03kc']\n",
+      "['ab01od', 'mb03id', 'mb01xd', 'mb03xu', 'ud01cd', 'mb04gd', 'sb16cd', 'ma01bd']\n",
+      "['mb04tw', 'ab05rd', 'sb04py', 'mb03bf', 'mb04tu', 'sb08ed', 'mb03xp', 'tg01gd']\n",
+      "['ma02hd', 'mb04bp', 'sb01dd', 'mb03kd', 'tg01nx', 'ma02gd', 'mb03rw', 'nf01bv']\n",
+      "['mb01oo', 'mb02yd', 'tb01vy', 'mb04vd', 'ma02cd', 'md03ad', 'sb10kd', 'sg03bz']\n",
+      "['nf01by', 'df01md', 'mb02uw', 'tg01bd', 'sb04pd', 'ab09kx', 'tb01ty', 'mb04yd']\n",
+      "['sb02ms', 'mc01sy', 'tg01ad', 'mb04tb', 'md03by', 'ud01md', 'ab09cd', 'ab07md']\n",
+      "['md03bd', 'ab05sd', 'md03ba', 'tb04bx', 'mb03za', 'sb04ow', 'mb03ud', 'tg01oa']\n",
+      "['sb03my', 'mb04ty', 'fb01qd', 'dk01md', 'sb08fd', 'nf01br', 'mb04qu', 'sb04qr']\n",
+      "['de01od', 'sg02cv', 'sg03bt', 'mb03md', 'mb04su', 'mc01qd', 'nf01bx', 'mb04dp']\n",
+      "['sb04od', 'sb03rd', 'mb02dd', 'tg01dd', 'mb3pyz', 'mb03ba', 'mb03pd', 'mb02rd']\n",
+      "['sg03by', 'mb02jx', 'tg01oz', 'mb03ed', 'sg02cw', 'mb03xd', 'sb03mw', 'tb01iz']\n",
+      "['nf01be', 'ma02id', 'mb4dpz', 'sb08gd', 'sb03oy', 'nf01bd', 'sb01md', 'tf01od']\n",
+      "['mb04qf', 'mb03ld', 'sb10wd', 'tb01td', 'mc01vd', 'sb02ou', 'sb01bx', 'mb04id']\n",
+      "['mb02td', 'mc01py', 'sb04nx', 'mb03dz', 'sb08md', 'mb03ab', 'mb01ry', 'sb08dd']\n",
+      "['sb10sd', 'md03bf', 'tg01cd', 'mb05od', 'mc01xd', 'mc03nx', 'mb04qc', 'mb04xy']\n",
+      "['mb03lf', 'ma02bz', 'sb02mr', 'nf01bb', 'mb03be', 'mb03ny', 'sb03qx', 'sb02sd']\n",
+      "['mb04dd', 'mb02fd', 'sb16ad', 'sb01fy', 'ab05pd', 'mb04pu', 'sb02ox', 'mb03lp']\n",
+      "['mb03wx', 'mb02cd', 'mb02md', 'mb02qd', 'mb04dl', 'ab09jd', 'ib01ad', 'mb03iz']\n",
+      "['bb02ad', 'mb3oyz', 'tg01qd', 'mb03vw', 'ag07bd', 'sb02ow', 'ma02hz', 'mb03jp']\n",
+      "['mb03rx', 'dg01md', 'sb08nd', 'mb01oh', 'ag08bz', 'ib03ad', 'ib03bd', 'sg03bs']\n",
+      "['tb04bd', 'sb03td', 'bb03ad', 'mb04ow', 'de01pd', 'tf01pd', 'mb03lz', 'ab8nxz']\n",
+      "['mb04oy', 'sb03mu', 'mb03xs', 'ue01md', 'mb01oe', 'sb03or', 'sg03bx', 'ab09hd']\n",
+      "['mb3lzp', 'tb01uy', 'mb03bb', 'bb01ad', 'sb04px', 'tb01ud', 'mb02wd', 'mc01sd']\n",
+      "['tg01jy', 'mb04qb', 'sb03oz', 'mb04vx', 'sb10ud', 'sb10zp', 'ma01ad', 'mb02sd']\n",
+      "['sb02mu', 'mb01rh', 'mb04ru', 'ma02jd', 'tg01fd', 'sb16bd', 'mb03ke', 'tg01hd']\n",
+      "['sb04nw', 'tb01vd', 'sb08hd', 'mb03ka', 'sb10pd', 'mb01ld', 'bd02ad', 'sg03bw']\n",
+      "['ud01dd', 'sb16cy', 'sg02nd', 'mb04db', 'mb03ry', 'mb3jzp', 'ma02od', 'mb02tz']\n",
+      "['tg01id', 'mb01ud', 'mb4dlz', 'dg01od', 'ab08md', 'mb03qw', 'ab08nw', 'mb01ru']\n",
+      "['ab09hy', 'ma02ed', 'ab01md', 'ab13ax', 'ma02bd', 'sb04mu', 'ab08mz', 'tb04ay']\n",
+      "['nf01ad', 'mb04ts', 'mb03qd', 'mb02ud', 'ab09kd', 'fd01ad', 'sb02nd', 'mb01rx']\n",
+      "['ib01nd', 'ib01qd', 'tg01hx', 'ma02dd', 'tb01px', 'tg01md', 'tg01ob', 'mb01uz']\n",
+      "['sb16ay', 'mb02uv', 'mb02vd', 'mb04nd', 'tg01ed', 'mb04xd', 'sb04nv', 'mb03ts']\n",
+      "['sb04rw', 'mb01oc', 'tc05ad', 'sb03qd', 'sb04rx', 'ab09hx', 'mb04di', 'sb03ou']\n",
+      "['ma02es', 'sb04qu', 'ab08ny', 'tf01nd', 'tf01qd', 'ma02gz', 'mb02id', 'ud01bd']\n",
+      "['sb02pd', 'sb04qy', 'mb03zd', 'nf01bq', 'ma02jz', 'mb01yd', 'ma02mz', 'tg01nd']\n",
+      "['ma01bz', 'ab09jv', 'sb04mr', 'mb02cx', 'sb02mw', 'tb01yd', 'mb02sz', 'ab13dx']\n",
+      "['mb04ld', 'ag8byz', 'tg01hu', 'mb4dbz', 'mb03ai', 'ud01nd', 'mc01od', 'ab08nx']\n",
+      "['mb04iy', 'tb01wx', 'mb04iz', 'mb04zd', 'sb04ry', 'mb02rz', 'mb04ox', 'sb10id']\n",
+      "['tb01xd', 'mb02cu', 'tb04bw', 'mb03yt', 'sg02cx', 'sb02cx', 'mb04fp', 'sb03sd']\n",
+      "['ud01mz', 'mb04wu', 'sb02ru', 'mb01zd', 'mb03wa', 'ag08by', 'mb03kb', 'mb04dz']\n",
+      "['sg03br', 'mb04tx', 'mb03rz', 'mb02od', 'tg01od', 'sb01by', 'ab09jw', 'mb03py']\n",
+      "['mb03ah', 'sb04nd', 'mb04tt', 'tb01kd', 'nf01bf', 'mb01uw', 'mb03af', 'sb10rd']\n",
+      "['td05ad', 'ib01bd', 'mb01md', 'mb03my', 'sb03sy', 'sb10vd', 'ab09gd', 'ma02cz']\n",
+      "['mb01od', 'sb03os', 'td03ad', 'tb04bv', 'mb03ae', 'fb01td', 'nf01bw', 'mb01td']\n",
+      "['sb08cd', 'sb02rd', 'mb04jd', 'mb03cd', 'ab09cx', 'mb03ad', 'tb01xz', 'fb01rd']\n",
+      "['sb09md', 'mc03nd', 'mb05oy', 'mb03qv', 'mb04cd', 'ib01py', 'ib01my', 'sb04ny']\n",
+      "['mb03td', 'md03bb', 'mb04wd', 'ma02ez', 'sb03sx', 'mb01qd', 'mb01rw', 'mb04pa']\n",
+      "['fb01vd', 'mb01ux', 'mb02ny', 'mb04pb', 'mb01os', 'bd01ad', 'td03ay', 'tg01jd']\n",
+      "['sb03pd', 'mc03md', 'ab09fd', 'dg01ny', 'mc01rd', 'sg03ax', 'tg01ld', 'mb04md']\n",
+      "['ab09dd', 'mc01md', 'tg01kz', 'mb01rb', 'mb04tv', 'dg01nd', 'mb04ed', 'ab13cd']\n",
+      "['mb03bd', 'tf01my', 'mb04kd', 'sb03ot', 'sb03ov', 'tb01ld', 'sb10md', 'mb01nd']\n",
+      "['tg01wd', 'mb04wp', 'mb02nd', 'ma01cd', 'ab09iy', 'mb03yd', 'ma02ad', 'sb03qy']\n",
+      "['mb02qy', 'mb03jz', 'mb03od', 'mb03fd', 'mc03ny', 'ib01cd', 'mb03ya', 'fb01sd']\n",
+      "['tb03ay', 'sb08ny', 'ma02pz', 'tg01hy', 'mb03jd', 'mb02cy', 'tb01nd', 'mb03qx']\n",
+      "['tg01az', 'mb03gz', 'mb01rt', 'mb01vd', 'mb04qs', 'mb03bc', 'tg01kd', 'nf01bu']\n",
+      "['tb01md', 'mb01ot', 'mb02ed', 'mb01kd', 'mb01pd', 'mb02uu', 'sb04rd', 'sb02mv']\n",
+      "['mb04ds', 'mb04dy', 'mb04bz', 'mb03xz', 'tb04cd', 'mb04az', 'sb10zd', 'mb01xy']\n",
+      "['sb03ud', 'mb01uy', 'md03bx', 'mb03oy']\n",
       "None\n",
       "\n",
       "\n"
@@ -340,94 +340,94 @@
      "text": [
       "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
       "------\n",
-      "['tg01nx', 'mb02gd', 'sg03bu', 'mb03rw', 'sb03ov', 'mb03ry', 'mb03qx', 'ib01bd']\n",
-      "['td04ad', 'sg03bx', 'sg02cv', 'ma02cd', 'dg01md', 'ib01nd', 'mb02uu', 'mb02hd']\n",
-      "['ma02nz', 'sb10sd', 'mb01qd', 'mb03bc', 'mb04db', 'sg03by', 'tg01ad', 'ma01bd']\n",
-      "['ab08nx', 'mb03rx', 'ib01rd', 'sb03qx', 'mb04vd', 'ma01ad', 'mb03vd', 'mb05md']\n",
-      "['ab09hd', 'mb04pa', 'sb10wd', 'mb02kd', 'mb04pu', 'mb03hd', 'ib01qd', 'tf01my']\n",
-      "['mb01rw', 'tb01id', 'mb03lz', 'sb08ed', 'tg01ld', 'sb04pd', 'nf01bf', 'sb04rw']\n",
-      "['tg01ed', 'mb04ts', 'mb4dlz', 'sb02nd', 'ma02hz', 'mb03kc', 'sb04px', 'ib01pd']\n",
-      "['mb03iz', 'tg01md', 'sg03bw', 'sb04nw', 'td03ad', 'nf01bp', 'sb08nd', 'ab08nd']\n",
-      "['mb03td', 'ud01cd', 'ab09cx', 'ma02gz', 'mb04yd', 'mb04qu', 'ab09kx', 'sg03ax']\n",
-      "['sb03pd', 'mb04qs', 'sb04mr', 'mb04ox', 'sb08ny', 'mb03ka', 'mb03zd', 'sb09md']\n",
-      "['sb16ad', 'ud01bd', 'mb04id', 'ma01bz', 'mb04qc', 'sg03bz', 'sb02ov', 'bd01ad']\n",
-      "['mb4dpz', 'sb03mv', 'mb03ke', 'mb04dd', 'mb01td', 'mb03qy', 'mb04vx', 'tb04cd']\n",
-      "['tg01bd', 'mb03py', 'sb02mx', 'ab13dd', 'mb03xp', 'sb02od', 'mb03lf', 'mb01ld']\n",
-      "['mc01od', 'mb02vd', 'mb04ny', 'nf01bs', 'sb04my', 'ab09dd', 'mb03cd', 'sb01md']\n",
-      "['sb02rd', 'dg01nd', 'nf01ba', 'tf01pd', 'tg01gd', 'sg03br', 'sb04qr', 'ab13ad']\n",
-      "['mb04iy', 'sb03qd', 'sb04nv', 'md03bb', 'tg01hy', 'tg01jy', 'mb3jzp', 'sg03bd']\n",
-      "['mb03bd', 'sb03sy', 'ab05sd', 'ma02bz', 'tg01jd', 'sg03ay', 'mb04tb', 'tb01wd']\n",
-      "['mb04ty', 'bb03ad', 'sb03or', 'ab05qd', 'sb02ou', 'mb03ed', 'tb04bx', 'mb03ae']\n",
-      "['mb03ny', 'tg01hu', 'sb04od', 'mb01uz', 'ab01md', 'mb03ag', 'ab08ny', 'ib03ad']\n",
-      "['mb01rh', 'mb04qf', 'ab09jw', 'mb04wu', 'ab04md', 'ab09jv', 'mb04jd', 'mb03ab']\n",
-      "['mb02sd', 'mc01sd', 'mc01vd', 'mb02ny', 'sb03ou', 'mc01md', 'tb03ay', 'mb03md']\n",
-      "['mb04rb', 'mb05nd', 'ab08md', 'sb03oz', 'tf01od', 'mc01sx', 'tg01kd', 'md03bd']\n",
-      "['ab09fd', 'mb01kd', 'tf01rd', 'tb01kx', 'ud01mz', 'mb04pb', 'mb04hd', 'mb03od']\n",
-      "['ag08by', 'mb02cu', 'mb02jx', 'tg01nd', 'mb03qg', 'bd02ad', 'ab07nd', 'tg01kz']\n",
-      "['mc01py', 'sb10ad', 'mb04wp', 'mb03yt', 'mb02cv', 'sb10hd', 'tb01ux', 'mb03dd']\n",
-      "['md03ad', 'ab09jd', 'ab8nxz', 'sb03sx', 'sb02ru', 'mb02cd', 'ab05rd', 'sb02oy']\n",
-      "['mb01xy', 'nf01bd', 'mb05my', 'ab09ax', 'fb01rd', 'de01od', 'sb04md', 'ma02cz']\n",
-      "['ma02az', 'tg01wd', 'sb04qu', 'ma02fd', 'sb16cd', 'tb03ad', 'mb01uy', 'ab09cd']\n",
-      "['mb01oe', 'ma02ad', 'sb03oy', 'sb02sd', 'sg02ad', 'mb01nd', 'md03bf', 'ab01nd']\n",
-      "['mb03ud', 'md03by', 'ma02iz', 'sb04ry', 'sb10fd', 'sb03qy', 'mb04cd', 'mb01rx']\n",
-      "['mb03rd', 'sb03os', 'mb03bf', 'mb04tx', 'sb10dd', 'ab09ix', 'tb01yd', 'tb04ad']\n",
-      "['tc04ad', 'mb04qb', 'mb01od', 'sb01bx', 'tg01hx', 'tb01ld', 'mc03md', 'sb10yd']\n",
-      "['mb01oh', 'tb04bd', 'sb08hd', 'mb02od', 'mb03ad', 'ib01md', 'mb04dl', 'ab09bd']\n",
-      "['ab13md', 'tb05ad', 'tg01id', 'mc01td', 'mb02xd', 'ib01od', 'tg01od', 'mb01xd']\n",
-      "['ab09hx', 'mb03nd', 'mb04az', 'ag8byz', 'sg03bv', 'mb01ot', 'ib01px', 'mb03qv']\n",
-      "['sb08fd', 'nf01ad', 'sb04mu', 'tb01ty', 'ab05md', 'ab09ad', 'ma02pd', 'sb01dd']\n",
-      "['ud01nd', 'ma02dd', 'sb02mu', 'mb02fd', 'mb02jd', 'mc01rd', 'ab09kd', 'mb01rd']\n",
-      "['sb16bd', 'tg01hd', 'mb01oc', 'ab09id', 'tb01xd', 'sb03ud', 'mc01sw', 'sb03md']\n",
-      "['mb03cz', 'mb03kb', 'tb01nd', 'mb03ya', 'ma02hd', 'sb16cy', 'ib01my', 'sb01fy']\n",
-      "['ab09md', 'sb10id', 'tf01nd', 'mb02md', 'sb04py', 'mb01zd', 'mb03qw', 'ab05od']\n",
-      "['tb01kd', 'mb03rz', 'ab13ed', 'sb10rd', 'mb02yd', 'mc01pd', 'mb03yd', 'ma02ez']\n",
-      "['ab09ed', 'mb01ry', 'td05ad', 'fb01qd', 'sb03my', 'mb01uw', 'mb03pd', 'tg01dd']\n",
-      "['mb03kd', 'sb03md57', 'sb10zd', 'sb01by', 'sb03od', 'mb02dd', 'mb02nd', 'ma02md']\n",
-      "['mb04nd', 'mb4dbz', 'dk01md', 'tg01ly', 'sb04rd', 'nf01ay', 'mb02id', 'tb04bv']\n",
-      "['mb04ud', 'ab09jx', 'sb10vd', 'mb04wd', 'ma02oz', 'ma02pz', 'sb04nx', 'tf01md']\n",
-      "['sb04qd', 'md03bx', 'ab05pd', 'mb04ru', 'mc03nx', 'sb10ud', 'sb03sd', 'ma02gd']\n",
-      "['sb04rx', 'ab13cd', 'mc01sy', 'mc01xd', 'ag08bz', 'mb03gz', 'mb04di', 'mb03af']\n",
-      "['mb01pd', 'tb01pd', 'mb03id', 'tb01xz', 'fb01vd', 'bb02ad', 'sg02cw', 'mb04tv']\n",
-      "['mb03xu', 'sb03td', 'mb03wx', 'mb03ah', 'tg01pd', 'mb04md', 'sb10ed', 'ab13dx']\n",
-      "['mb04oy', 'sb08my', 'mb02rd', 'mb01ud', 'mb03jp', 'tg01cd', 'mb02qy', 'mc01wd']\n",
-      "['tb01uy', 'ma02id', 'tg01qd', 'mb04dp', 'mb03wd', 'nf01bw', 'mb01wd', 'mb04py']\n",
-      "['mb04bp', 'sb04ow', 'mb04ow', 'sg03bs', 'nf01bq', 'ag07bd', 'mb04ds', 'tc05ad']\n",
-      "['tb01vd', 'ab05nd', 'mb04fd', 'mb04fp', 'ab09bx', 'mb3oyz', 'bb04ad', 'ab13ax']\n",
-      "['mb04dz', 'sb02mt', 'sb03mu', 'sb03mw', 'ab01od', 'mb03ai', 'sb08md', 'tb04ay']\n",
-      "['sb10md', 'nf01br', 'mb04od', 'mb04zd', 'mb03dz', 'sb02cx', 'ue01md', 'mb02qd']\n",
-      "['nf01bx', 'ib01oy', 'mb03fd', 'tc01od', 'tb01md', 'tg01fz', 'tb01zd', 'mb04xy']\n",
-      "['mb04gd', 'sb04rv', 'sg02nd', 'df01md', 'sb02ox', 'tg01oa', 'mb02ud', 'tg01ob']\n",
-      "['mb03gd', 'mb3lzp', 'mb02cy', 'mb04ed', 'mb03my', 'de01pd', 'mb03bb', 'mb01ux']\n",
-      "['mb01ru', 'mb02pd', 'sb10td', 'nf01bv', 'mb03fz', 'ma02od', 'mb05oy', 'sg03ad']\n",
-      "['tb01wx', 'ab09nd', 'sb02md', 'mb02tz', 'mc01nd', 'sg02cx', 'mb03vw', 'mb03xd']\n",
-      "['mb04tt', 'mb02uv', 'tf01qd', 'mb02rz', 'mb04kd', 'sb10pd', 'nf01bb', 'mb01rt']\n",
-      "['mb05od', 'mb03be', 'mb04bz', 'mb04bd', 'mb01os', 'nf01bu', 'mb04dy', 'mb04tu']\n",
-      "['tb01iz', 'sb10zp', 'sb04qy', 'md03ba', 'ab13bd', 'ud01md', 'mb01vd', 'mb04wr']\n",
-      "['sb01bd', 'tb04bw', 'ab13fd', 'mb03xs', 'ab08mz', 'mb01sd', 'mb03ts', 'mb03za']\n",
-      "['ma02es', 'sb10jd', 'fb01td', 'ib01py', 'mb03jz', 'sb02ms', 'mb03vy', 'sb16ay']\n",
-      "['ma02jz', 'tb01td', 'nf01by', 'ag08bd', 'ma01cd', 'dg01od', 'mb01ss', 'sb10kd']\n",
-      "['mb03ld', 'sb02mw', 'ma02jd', 'mb03qd', 'mb02td', 'nf01be', 'mb02wd', 'mb02cx']\n",
-      "['sb06nd', 'mb03bz', 'tb01ud', 'sb02mr', 'mc03ny', 'mb04iz', 'sb04mw', 'ib01ad']\n",
-      "['sb04nd', 'mb03ba', 'ab09gd', 'sg03bt', 'mb03wa', 'tg01az', 'tg01fd', 'fd01ad']\n",
-      "['mb03lp', 'mb01md', 'mb03xz', 'ud01dd', 'mb01yd', 'sb10ld', 'ab08nz', 'mb04ad']\n",
-      "['ab09hy', 'ab07md', 'fb01sd', 'mb03sd', 'sb02ow', 'sb08gd', 'mb02ed', 'mb03hz']\n",
-      "['sb08cd', 'sb04ny', 'mb01oo', 'ma02ed', 'ib03bd', 'mb04tw', 'mb04ld', 'bb01ad']\n",
-      "['mb03jd', 'mc03nd', 'ib01cd', 'sb03mx', 'mb02uw', 'ma02bd', 'sb02pd', 'sb02qd']\n",
-      "['dg01ny', 'ab09iy', 'td03ay', 'tb01px', 'sb02mv', 'mb3pyz', 'tb01vy', 'tg01oz']\n",
-      "['mb03oy', 'mb02sz', 'mb03bg', 'sb03ot', 'ab13id', 'ab08nw', 'mc01qd', 'tf01mx']\n",
-      "['mb01rb', 'sb10qd', 'mb04yw', 'ma02mz', 'mb04xd', 'sb03rd', 'sb08dd', 'mb04su']\n",
+      "['sb10jd', 'mb02cv', 'tb01zd', 'bb04ad', 'ib01pd', 'sb03mv', 'ib01rd', 'sb02mx']\n",
+      "['mb03nd', 'ab09nd', 'tg01fz', 'mb03gd', 'nf01bs', 'ab13md', 'ab09jx', 'nf01ay']\n",
+      "['mb04bd', 'mb02xd', 'tf01mx', 'sb06nd', 'ib01oy', 'ib01px', 'mb03fz', 'sb10qd']\n",
+      "['ab09ix', 'mb04hd', 'ab05od', 'ab09ed', 'mc01sx', 'mb01rd', 'sb10td', 'mb03bg']\n",
+      "['ma02fd', 'mb01wd', 'mb04rb', 'mb04ny', 'ma02pd', 'mb04ad', 'mb03dd', 'mc01sw']\n",
+      "['ab09bx', 'sb10ld', 'nf01ba', 'ma02az', 'ma02nz', 'ab05qd', 'sg03bu', 'mb02hd']\n",
+      "['mb03hz', 'sb03mx', 'ib01od', 'mb01ss', 'ab13ad', 'tb01wd', 'mc01wd', 'mb04od']\n",
+      "['mb02pd', 'mb03ag', 'mb01sd', 'ma02oz', 'mb03bz', 'mb02kd', 'mb03qy', 'ab09id']\n",
+      "['ma02iz', 'tg01ly', 'sb04rv', 'mb03sd', 'mb04ud', 'mb04fd', 'mb02gd', 'sg03bv']\n",
+      "['nf01bp', 'ib01md', 'sb03md', 'tb01kx', 'mb03hd', 'tb01ux', 'mb03cz', 'ma02md']\n",
+      "['sb04my', 'sb04md', 'mb03qg', 'sb08my', 'sb02oy', 'tg01pd', 'sb04mw', 'sb10fd']\n",
+      "['mc01pd', 'sb02ov', 'mb05nd', 'mb04yw', 'mb04py', 'sb02qd', 'mc01nd', 'mb02jd']\n",
+      "['sb10ed', 'ab13id', 'sg03ay', 'mb04wr', 'mb05my', 'mb03kc', 'ab01od', 'mb03id']\n",
+      "['mb01xd', 'mb03xu', 'ud01cd', 'mb04gd', 'sb16cd', 'ma01bd', 'mb04tw', 'ab05rd']\n",
+      "['sb04py', 'mb03bf', 'mb04tu', 'mb03rd', 'tc04ad', 'sb08ed', 'mb03xp', 'tg01gd']\n",
+      "['ma02hd', 'mb04bp', 'sb01dd', 'mb03kd', 'tg01nx', 'ma02gd', 'mb03wd', 'mb03rw']\n",
+      "['nf01bv', 'mb01oo', 'mb02yd', 'tb01vy', 'mb04vd', 'ma02cd', 'md03ad', 'sb10kd']\n",
+      "['sg03bz', 'nf01by', 'sg02ad', 'df01md', 'mb02uw', 'tg01bd', 'sb04pd', 'ab09kx']\n",
+      "['tb01ty', 'mb04yd', 'sb02ms', 'mc01sy', 'tg01ad', 'mb04tb', 'md03by', 'ud01md']\n",
+      "['ab09cd', 'ab07md', 'md03bd', 'ab05sd', 'md03ba', 'tb04bx', 'mb03za', 'sb04ow']\n",
+      "['mb03ud', 'tg01oa', 'ab05nd', 'sb03my', 'mb04ty', 'fb01qd', 'dk01md', 'sb08fd']\n",
+      "['nf01br', 'mb04qu', 'sb04qr', 'de01od', 'sg02cv', 'sg03bt', 'mb03md', 'mb04su']\n",
+      "['mc01qd', 'nf01bx', 'mb04dp', 'sb04od', 'sb03rd', 'mb02dd', 'tg01dd', 'mb3pyz']\n",
+      "['mb03ba', 'sb10ad', 'mb03pd', 'mb03vy', 'mb02rd', 'sg03by', 'mb02jx', 'tg01oz']\n",
+      "['ab13dd', 'mb03ed', 'sg02cw', 'mb03xd', 'sb03mw', 'tb01iz', 'nf01be', 'ma02id']\n",
+      "['mb4dpz', 'sb08gd', 'sb03oy', 'nf01bd', 'sb01md', 'tf01od', 'mb04qf', 'mb03ld']\n",
+      "['sb10wd', 'sb03md57', 'tb01td', 'mc01vd', 'sb02ou', 'sb01bx', 'mb04id', 'mb02td']\n",
+      "['mc01py', 'sb04nx', 'mb03dz', 'sb08md', 'mb03ab', 'mb01ry', 'sb08dd', 'sb10sd']\n",
+      "['md03bf', 'tg01cd', 'mb05od', 'mc01xd', 'mc03nx', 'mb04qc', 'mb04xy', 'mb05md']\n",
+      "['mb03lf', 'ma02bz', 'sb02mr', 'nf01bb', 'mb03be', 'mb03ny', 'sb03qx', 'sb02sd']\n",
+      "['mb04dd', 'mb02fd', 'sb16ad', 'sb01fy', 'ab05pd', 'ab08nz', 'mb04pu', 'sb02ox']\n",
+      "['mb03lp', 'mb03wx', 'mb02cd', 'mb02md', 'mb02qd', 'mb04dl', 'ab09jd', 'ib01ad']\n",
+      "['mb03iz', 'tb01pd', 'bb02ad', 'mb3oyz', 'tg01qd', 'mb03vw', 'ag07bd', 'sb02ow']\n",
+      "['ma02hz', 'mb03jp', 'mb03rx', 'ab05md', 'dg01md', 'sb08nd', 'mb01oh', 'ag08bz']\n",
+      "['ab04md', 'ib03ad', 'ib03bd', 'sg03bs', 'tb04bd', 'sb03td', 'ag08bd', 'bb03ad']\n",
+      "['mb04ow', 'de01pd', 'tf01pd', 'mb03lz', 'ab8nxz', 'mb04oy', 'sb03mu', 'ab13bd']\n",
+      "['mb03xs', 'ue01md', 'mb01oe', 'sb03or', 'sg03bx', 'ab09hd', 'mb3lzp', 'tf01rd']\n",
+      "['tb01uy', 'ab13ed', 'mb03bb', 'sg03ad', 'bb01ad', 'sb04px', 'tb01ud', 'mb02wd']\n",
+      "['mc01sd', 'tg01jy', 'mb04qb', 'sb03oz', 'mb04vx', 'sb10ud', 'sb10zp', 'ma01ad']\n",
+      "['mb02sd', 'sb02mu', 'mb01rh', 'mb04ru', 'ma02jd', 'tg01fd', 'sb01bd', 'sb16bd']\n",
+      "['mb03ke', 'tg01hd', 'mb03vd', 'sb04nw', 'tb01vd', 'sb08hd', 'mb03ka', 'sb03od']\n",
+      "['sb10pd', 'mb01ld', 'ab08nd', 'ab09ax', 'bd02ad', 'sg03bw', 'ud01dd', 'sb16cy']\n",
+      "['sg02nd', 'mb04db', 'mb03ry', 'mb3jzp', 'ma02od', 'mb02tz', 'tg01id', 'tb03ad']\n",
+      "['mb01ud', 'mb4dlz', 'dg01od', 'ab08md', 'mb03qw', 'tb01id', 'ab08nw', 'mb01ru']\n",
+      "['ab09hy', 'ma02ed', 'ab01md', 'ab13ax', 'ma02bd', 'sb04mu', 'ab08mz', 'tb04ay']\n",
+      "['nf01ad', 'mb04ts', 'mb03qd', 'mb02ud', 'mc01td', 'ab09kd', 'fd01ad', 'sb02nd']\n",
+      "['mb01rx', 'ib01nd', 'ib01qd', 'tg01hx', 'ma02dd', 'tb01px', 'tf01md', 'tg01md']\n",
+      "['tg01ob', 'mb01uz', 'sb16ay', 'mb02uv', 'mb02vd', 'mb04nd', 'tg01ed', 'mb04xd']\n",
+      "['sb04nv', 'mb03ts', 'sb04rw', 'tc01od', 'mb01oc', 'tc05ad', 'sb03qd', 'sb04rx']\n",
+      "['ab09hx', 'mb04di', 'sb03ou', 'ma02es', 'sb04qu', 'ab08ny', 'tf01nd', 'tf01qd']\n",
+      "['ma02gz', 'mb02id', 'ud01bd', 'sb02pd', 'sb04qy', 'mb03zd', 'nf01bq', 'ma02jz']\n",
+      "['mb01yd', 'ma02mz', 'tg01nd', 'ma01bz', 'ab09jv', 'sb04mr', 'mb02cx', 'sb02md']\n",
+      "['sb02mw', 'tb01yd', 'mb02sz', 'ab13dx', 'mb04ld', 'ag8byz', 'tg01hu', 'mb4dbz']\n",
+      "['mb03ai', 'ud01nd', 'mc01od', 'sb02od', 'ab08nx', 'mb04iy', 'tb01wx', 'mb04iz']\n",
+      "['mb04zd', 'sb04ry', 'mb02rz', 'mb04ox', 'sb10id', 'tb01xd', 'mb02cu', 'tb04bw']\n",
+      "['mb03yt', 'sg02cx', 'sb02cx', 'mb04fp', 'sb03sd', 'ud01mz', 'mb04wu', 'sb02ru']\n",
+      "['mb01zd', 'mb03wa', 'ag08by', 'mb03kb', 'mb04dz', 'sg03br', 'mb04tx', 'mb03rz']\n",
+      "['mb02od', 'tg01od', 'sb01by', 'ab09jw', 'mb03py', 'mb03ah', 'sb04nd', 'mb04tt']\n",
+      "['tb01kd', 'nf01bf', 'mb01uw', 'mb03af', 'sb10rd', 'td05ad', 'ib01bd', 'mb01md']\n",
+      "['mb03my', 'sb03sy', 'sb10vd', 'ab09gd', 'ma02cz', 'mb01od', 'sb03os', 'td03ad']\n",
+      "['tb04bv', 'sb04qd', 'mb03ae', 'fb01td', 'nf01bw', 'mb01td', 'sb08cd', 'sb02rd']\n",
+      "['mb04jd', 'mb03cd', 'ab09cx', 'mb03ad', 'tb01xz', 'fb01rd', 'sb09md', 'mc03nd']\n",
+      "['mb05oy', 'mb03qv', 'mb04cd', 'ib01py', 'ib01my', 'sb04ny', 'sg03bd', 'mb03td']\n",
+      "['md03bb', 'mb04wd', 'tb05ad', 'ma02ez', 'sb03sx', 'mb01qd', 'ab07nd', 'mb01rw']\n",
+      "['mb04pa', 'fb01vd', 'td04ad', 'mb01ux', 'mb02ny', 'mb04pb', 'mb01os', 'bd01ad']\n",
+      "['td03ay', 'tg01jd', 'sb03pd', 'sb10dd', 'mc03md', 'ab09fd', 'dg01ny', 'mc01rd']\n",
+      "['sb10hd', 'sg03ax', 'tg01ld', 'mb04md', 'ab09dd', 'mc01md', 'tg01kz', 'mb01rb']\n",
+      "['mb04tv', 'dg01nd', 'mb04ed', 'ab13cd', 'mb03bd', 'tf01my', 'mb04kd', 'sb03ot']\n",
+      "['sb03ov', 'tb01ld', 'sb10md', 'mb01nd', 'tg01wd', 'mb04wp', 'mb02nd', 'ma01cd']\n",
+      "['ab09iy', 'mb03yd', 'ma02ad', 'sb03qy', 'mb02qy', 'mb03jz', 'mb03od', 'mb03fd']\n",
+      "['mc03ny', 'ib01cd', 'mb03ya', 'fb01sd', 'tb03ay', 'sb08ny', 'ma02pz', 'ab13fd']\n",
+      "['tg01hy', 'mb03jd', 'mb02cy', 'tb01nd', 'mb03qx', 'tg01az', 'mb03gz', 'mb01rt']\n",
+      "['sb10yd', 'mb01vd', 'mb04qs', 'mb03bc', 'tg01kd', 'nf01bu', 'tb01md', 'mb01ot']\n",
+      "['mb02ed', 'mb01kd', 'mb01pd', 'mb02uu', 'sb04rd', 'sb02mv', 'mb04ds', 'mb04dy']\n",
+      "['mb04bz', 'mb03xz', 'ab09ad', 'tb04cd', 'ab01nd', 'ab09md', 'mb04az', 'sb10zd']\n",
+      "['sb02mt', 'mb01xy', 'ab09bd', 'tb04ad', 'sb03ud', 'mb01uy', 'md03bx', 'mb03oy']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 49 routines that are found in slicot and slycot. (intersection)\n",
+      "There are currently 51 routines that are found in slicot and slycot. (intersection)\n",
       "------\n",
-      "['sb10hd', 'tf01md', 'sb04qd', 'sb03md', 'tb01id', 'sg02ad', 'sb02mt', 'ab09bd']\n",
-      "['ab13bd', 'sg03ad', 'ab01nd', 'ab13md', 'ab09md', 'td04ad', 'sg03bd', 'ab09nd']\n",
-      "['sb02md', 'mc01td', 'tb05ad', 'mb05nd', 'ab09ax', 'sb01bd', 'sb10fd', 'tf01rd']\n",
-      "['ab13fd', 'ab13ed', 'sb04md', 'mb03rd', 'mb03wd', 'sb10dd', 'ab13dd', 'tb04ad']\n",
-      "['sb03od', 'tc01od', 'ab05md', 'ab08nd', 'ab09ad', 'sb02od', 'tb01pd', 'tc04ad']\n",
-      "['ab08nz', 'mb03vy', 'ab07nd', 'ab04md', 'mb03vd', 'mb05md', 'tb03ad', 'sb10ad']\n",
-      "['ab05nd']\n",
+      "['ab13ed', 'mb03rd', 'ab08nd', 'ab09ax', 'sg03ad', 'tc04ad', 'ab13dd', 'ab05md']\n",
+      "['sb04md', 'sb10hd', 'mc01td', 'mb03wd', 'ab04md', 'ab09nd', 'ab13md', 'sb02md']\n",
+      "['sb10yd', 'mb05md', 'ab05nd', 'sb10fd', 'tf01md', 'ag08bd', 'mb05nd', 'tb03ad']\n",
+      "['sg03bd', 'tb05ad', 'tc01od', 'ab07nd', 'sb01bd', 'ab08nz', 'ab13bd', 'mb03vd']\n",
+      "['tb01id', 'td04ad', 'sb02od', 'sg02ad', 'ab09ad', 'ab09md', 'ab01nd', 'sb02mt']\n",
+      "['ab13fd', 'ab09bd', 'sb03md', 'tb04ad', 'sb03od', 'tb01pd', 'tf01rd', 'sb10dd']\n",
+      "['sb10ad', 'sb04qd', 'mb03vy']\n",
       "None\n"
      ]
     }
@@ -483,7 +483,7 @@
        "    <tr>\n",
        "      <th>a</th>\n",
        "      <td>Analysis Routines</td>\n",
-       "      <td>17</td>\n",
+       "      <td>18</td>\n",
        "      <td>60</td>\n",
        "    </tr>\n",
        "    <tr>\n",
@@ -531,7 +531,7 @@
        "    <tr>\n",
        "      <th>s</th>\n",
        "      <td>Synthesis Routines</td>\n",
-       "      <td>16</td>\n",
+       "      <td>17</td>\n",
        "      <td>131</td>\n",
        "    </tr>\n",
        "    <tr>\n",
@@ -549,7 +549,7 @@
        "    <tr>\n",
        "      <th>total</th>\n",
        "      <td>-</td>\n",
-       "      <td>50</td>\n",
+       "      <td>52</td>\n",
        "      <td>607</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
@@ -558,7 +558,7 @@
       ],
       "text/plain": [
        "                  chapter name  slycot routines  slicot routines\n",
-       "a            Analysis Routines               17               60\n",
+       "a            Analysis Routines               18               60\n",
        "b                    Benchmark                0                6\n",
        "c             Adaptive Control                0                0\n",
        "d                Data Analysis                0                8\n",
@@ -566,10 +566,10 @@
        "i               Identification                0               15\n",
        "m        Mathematical routines                7              281\n",
        "n            Nonlinear Systems                0               16\n",
-       "s           Synthesis Routines               16              131\n",
+       "s           Synthesis Routines               17              131\n",
        "t      Transformation Routines               10               77\n",
        "u             Utility Routines                0                7\n",
-       "total                        -               50              607"
+       "total                        -               52              607"
       ]
      },
      "metadata": {},
@@ -577,7 +577,7 @@
     },
     {
      "data": {
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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -653,7 +653,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index 71327569..2ca1b120 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -27,7 +27,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.1.dev635+g0e79a27.d20230825\n"
+      "0.5.5.dev49+gfb26217.d20230826\n"
      ]
     }
    ],
@@ -99,17 +99,17 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 50 routines that are found in slycot.\n",
+      "There are currently 52 routines that are found in slycot.\n",
       "------\n",
       "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd']\n",
       "['ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd']\n",
-      "['ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'mb03rd']\n",
-      "['mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd', 'mc01td']\n",
-      "['sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57']\n",
-      "['sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd']\n",
-      "['sb10hd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd']\n",
-      "['tb03ad', 'tb04ad', 'tb05ad', 'tc01od', 'tc04ad', 'td04ad']\n",
-      "['tf01md', 'tf01rd']\n",
+      "['ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd']\n",
+      "['mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd']\n",
+      "['mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md']\n",
+      "['sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd']\n",
+      "['sb10fd', 'sb10hd', 'sb10yd', 'sg02ad', 'sg03ad', 'sg03bd']\n",
+      "['tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od']\n",
+      "['tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
       "None\n"
      ]
     }
@@ -139,7 +139,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 72 routines that are found in slycot._wrapper.\n",
+      "There are currently 73 routines that are found in slycot._wrapper.\n",
       "------\n",
       "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd']\n",
       "['ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd']\n",
@@ -148,11 +148,12 @@
       "['mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n']\n",
       "['sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md']\n",
       "['sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd']\n",
-      "['sb10hd', 'sb10jd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd', 'sg02ad_bn']\n",
-      "['sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad_l']\n",
-      "['tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng', 'tb05ad_nh']\n",
-      "['tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c', 'td04ad_r']\n",
-      "['tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn', 'tg01fd_uu']\n",
+      "['sb10hd', 'sb10jd', 'sb10yd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd']\n",
+      "['sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd']\n",
+      "['tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng']\n",
+      "['tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c']\n",
+      "['td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn']\n",
+      "['tg01fd_uu']\n",
       "None\n"
      ]
     }
@@ -194,19 +195,19 @@
      "text": [
       "There are currently 10 routines that found in slycot not in slycot._wrapper.\n",
       "------\n",
-      "['td04ad', 'tb04ad', 'sb03md57', 'tc04ad', 'tb05ad', 'tc01od']\n",
-      "['sb02od', 'tb03ad', 'sg02ad', 'sb02mt']\n",
+      "['tb05ad', 'td04ad', 'tc01od', 'tc04ad', 'sb02od', 'sg02ad']\n",
+      "['tb04ad', 'tb03ad', 'sb02mt', 'sb03md57']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 32 routines that are found in slycot._wrapper not in slycot.\n",
+      "There are currently 31 routines that are found in slycot._wrapper not in slycot.\n",
       "------\n",
-      "['sg02ad_bb', 'sg02ad_bn', 'sb10jd', 'tg01ad', 'ag08bd', 'sb02od_n']\n",
-      "['sb02mt_n', 'sb02mt_cl', 'tc04ad_l', 'sb02od_b', 'tg01fd_ii', 'sg02ad_bc']\n",
-      "['sb02od_c', 'sg02ad_bd', 'tb03ad_l', 'tc01od_l', 'tb05ad_nh', 'sb02mt_nl']\n",
-      "['td04ad_c', 'sg02ad_g', 'sb02mt_c', 'tg01fd_nn', 'tb04ad_c', 'tb03ad_r']\n",
-      "['tc01od_r', 'tb05ad_ag', 'td04ad_r', 'sb02od_d', 'tb05ad_ng', 'tb04ad_r']\n",
-      "['tg01fd_uu', 'tc04ad_r']\n",
+      "['tb03ad_l', 'sb02mt_n', 'tb04ad_r', 'sg02ad_bb', 'sb02od_d', 'sb10jd']\n",
+      "['tc01od_r', 'sb02mt_nl', 'tg01fd_nn', 'tg01ad', 'sb02od_n', 'tc04ad_r']\n",
+      "['tb03ad_r', 'sg02ad_bc', 'tc04ad_l', 'sb02mt_c', 'sg02ad_bd', 'sb02od_b']\n",
+      "['sg02ad_g', 'sb02od_c', 'tg01fd_uu', 'td04ad_c', 'tb05ad_ng', 'tb05ad_nh']\n",
+      "['sg02ad_bn', 'tb04ad_c', 'sb02mt_cl', 'tb05ad_ag', 'tc01od_l', 'tg01fd_ii']\n",
+      "['td04ad_r']\n",
       "None\n",
       "\n",
       "\n"
@@ -240,34 +241,34 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 82 routines that are found in slycot or in slycot._wrapper. (union)\n",
+      "There are currently 83 routines that are found in slycot or in slycot._wrapper. (union)\n",
       "------\n",
-      "['tb04ad', 'ab13ed', 'tg01ad', 'ab13fd', 'mb03vd', 'sb02od_n']\n",
-      "['ab08nz', 'sb02mt_cl', 'sb02od_b', 'tc04ad_l', 'sg02ad_bc', 'sb02od_c']\n",
-      "['ab09ax', 'sg03ad', 'ab09md', 'ab09nd', 'sb10hd', 'ab05nd']\n",
-      "['tb05ad_nh', 'td04ad', 'sb03md57', 'sb02mt_nl', 'sb04md', 'td04ad_c']\n",
-      "['sb01bd', 'ab13md', 'sb10ad', 'mc01td', 'tb01id', 'tg01fd_nn']\n",
-      "['tb03ad_r', 'tc01od_r', 'ab13bd', 'sb10fd', 'sb03md', 'sb02od_d']\n",
-      "['tb03ad', 'tb05ad_ng', 'tg01fd_uu', 'tc04ad_r', 'sb04qd', 'sb02md']\n",
-      "['sg02ad_bb', 'tf01md', 'sg02ad_bn', 'sb10jd', 'sb10dd', 'ab08nd']\n",
-      "['ag08bd', 'mb05md', 'sb02mt_n', 'ab01nd', 'tg01fd_ii', 'ab05md']\n",
-      "['mb03wd', 'sg02ad_bd', 'tc04ad', 'tc01od', 'sb02od', 'tb03ad_l']\n",
-      "['tc01od_l', 'sg02ad', 'ab13dd', 'ab09ad', 'mb03vy', 'sb03od']\n",
-      "['ab04md', 'sb02mt_c', 'sg02ad_g', 'tb05ad', 'ab07nd', 'tb04ad_c']\n",
-      "['sb02mt', 'mb05nd', 'tb05ad_ag', 'td04ad_r', 'mb03rd', 'sg03bd']\n",
-      "['ab09bd', 'tf01rd', 'tb04ad_r', 'tb01pd']\n",
+      "['tb03ad_l', 'ag08bd', 'ab09bd', 'ab13ed', 'ab01nd', 'mb03rd']\n",
+      "['tb04ad_r', 'ab09nd', 'ab05nd', 'tf01rd', 'tc04ad', 'ab13bd']\n",
+      "['td04ad', 'sg02ad_bb', 'sb10dd', 'sb10jd', 'tc01od_r', 'tg01fd_nn']\n",
+      "['tb05ad', 'mb05md', 'sb02od_n', 'tb03ad_r', 'sb02md', 'sg02ad_bc']\n",
+      "['mb05nd', 'sb04qd', 'tc04ad_l', 'sb03od', 'ab07nd', 'sb02mt_c']\n",
+      "['sb10hd', 'ab05md', 'ab08nz', 'sg02ad_g', 'sb02od_c', 'sb04md']\n",
+      "['tg01fd_uu', 'ab09ad', 'tb05ad_nh', 'sg02ad_bn', 'mb03vd', 'sb02mt_cl']\n",
+      "['tb05ad_ag', 'sb02mt', 'tc01od_l', 'sg03ad', 'tb01id', 'mb03wd']\n",
+      "['ab09ax', 'td04ad_r', 'sb10yd', 'sb02mt_n', 'ab04md', 'sb01bd']\n",
+      "['sb10fd', 'sb03md', 'sb02od_d', 'ab13fd', 'sb02mt_nl', 'tg01ad']\n",
+      "['ab13md', 'tc01od', 'tc04ad_r', 'tf01md', 'ab09md', 'sg03bd']\n",
+      "['sg02ad_bd', 'sb02od_b', 'sg02ad', 'tb04ad', 'ab13dd', 'ab08nd']\n",
+      "['td04ad_c', 'tb01pd', 'tb05ad_ng', 'tb04ad_c', 'mc01td', 'sb02od']\n",
+      "['sb10ad', 'tb03ad', 'mb03vy', 'sb03md57', 'tg01fd_ii']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 40 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
+      "There are currently 42 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
       "------\n",
-      "['ab13ed', 'tf01md', 'sb10dd', 'ab13fd', 'mb03vd', 'ab08nd']\n",
-      "['mb05md', 'ab08nz', 'ab01nd', 'ab05md', 'ab09ax', 'mb03wd']\n",
-      "['sg03ad', 'ab09md', 'ab09nd', 'ab13dd', 'sb10hd', 'ab05nd']\n",
-      "['ab09ad', 'sb04md', 'sb01bd', 'ab13md', 'mb03vy', 'ab04md']\n",
-      "['mc01td', 'sb03od', 'sb10ad', 'tb01id', 'ab07nd', 'mb05nd']\n",
-      "['ab13bd', 'mb03rd', 'sb10fd', 'sb03md', 'sb02md', 'sg03bd']\n",
-      "['ab09bd', 'tf01rd', 'tb01pd', 'sb04qd']\n",
+      "['ag08bd', 'sb10yd', 'ab09bd', 'ab13ed', 'ab01nd', 'ab04md']\n",
+      "['mb03rd', 'ab09nd', 'ab05nd', 'sb01bd', 'tf01rd', 'ab13bd']\n",
+      "['sb10fd', 'sb10dd', 'sb03md', 'ab13fd', 'ab13md', 'mb05md']\n",
+      "['tf01md', 'sb02md', 'mb05nd', 'sb04qd', 'ab09ax', 'ab09md']\n",
+      "['sb03od', 'ab07nd', 'sb10hd', 'sg03bd', 'ab05md', 'ab08nz']\n",
+      "['sb04md', 'ab13dd', 'ab08nd', 'ab09ad', 'tb01pd', 'mb03vd']\n",
+      "['mc01td', 'sb10ad', 'mb03vy', 'sg03ad', 'tb01id', 'mb03wd']\n",
       "None\n",
       "\n",
       "\n"
@@ -299,7 +300,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
index 94fcaa84..958ea74b 100644
--- a/doc/source/reference/slycot_inner.rst
+++ b/doc/source/reference/slycot_inner.rst
@@ -73,6 +73,7 @@ Synthesis
    _wrapper.sb10fd
    _wrapper.sb10hd
    _wrapper.sb10jd
+   _wrapper.sb10yd
    _wrapper.sg02ad_bb
    _wrapper.sg02ad_bc
    _wrapper.sg02ad_bd
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
index 09b46516..65f913f3 100644
--- a/doc/source/reference/slycot_outer.rst
+++ b/doc/source/reference/slycot_outer.rst
@@ -32,6 +32,7 @@ Analysis
    ab13ed
    ab13fd
    ab13md
+   ag08bd
 
 Mathematical routines
 =====================
@@ -66,6 +67,7 @@ Synthesis
    sb10dd
    sb10fd
    sb10hd
+   sb10yd
    sg02ad
    sg03ad
    sg03bd

From 62696c4d1a2babc65a91ddb7214e2d6ffd3b4242 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 9 Jan 2024 23:35:16 +0100
Subject: [PATCH 16/23] Add new routines to sphinx doc

---
 doc/source/reference/slycot_inner.rst | 1 +
 doc/source/reference/slycot_outer.rst | 6 +++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/doc/source/reference/slycot_inner.rst b/doc/source/reference/slycot_inner.rst
index 958ea74b..d9d54de8 100644
--- a/doc/source/reference/slycot_inner.rst
+++ b/doc/source/reference/slycot_inner.rst
@@ -40,6 +40,7 @@ Mathematical routines
 .. autosummary::
    :toctree: generated/
 
+   _wrapper.mb02ed
    _wrapper.mb03rd
    _wrapper.mb03vd
    _wrapper.mb03vy
diff --git a/doc/source/reference/slycot_outer.rst b/doc/source/reference/slycot_outer.rst
index 65f913f3..2fbd3b50 100644
--- a/doc/source/reference/slycot_outer.rst
+++ b/doc/source/reference/slycot_outer.rst
@@ -40,6 +40,7 @@ Mathematical routines
 .. autosummary::
    :toctree: generated/
 
+   mb02ed
    mb03rd
    mb03vd
    mb03vy
@@ -67,6 +68,7 @@ Synthesis
    sb10dd
    sb10fd
    sb10hd
+   sb10jd
    sb10yd
    sg02ad
    sg03ad
@@ -87,4 +89,6 @@ Transformation Routines
    tc04ad
    td04ad
    tf01md
-   tf01rd
\ No newline at end of file
+   tf01rd
+   tg01ad
+   tg01fd
\ No newline at end of file

From c542a903fcc7d388dcee71061a78e03799f38005 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 9 Jan 2024 23:39:37 +0100
Subject: [PATCH 17/23] Pump sphinx doc requirements

---
 doc/requirements.txt | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/doc/requirements.txt b/doc/requirements.txt
index 60d6e9cc..544739b5 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -1,11 +1,12 @@
-sphinx>=3.4
+sphinx>=7.2.6
 numpy
 scipy
 pandas
 matplotlib
 matplotlib_venn
-sphinx_rtd_theme
+sphinx_rtd_theme>=2.0.0
 numpydoc
 ipykernel
 nbsphinx
-docutils==0.16 # pin until sphinx_rtd_theme is compatible with 0.17 or later
\ No newline at end of file
+docutils
+#docutils==0.16 # pin until sphinx_rtd_theme is compatible with 0.17 or later

From ec834fc24558ec5828862be8c92d645238825cfb Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 9 Jan 2024 23:40:34 +0100
Subject: [PATCH 18/23] Update slycot inpect notebooks

---
 doc/source/dev/inspect_slicot_slycot.ipynb | 343 ++++++++++-----------
 doc/source/dev/inspect_slycot.ipynb        | 108 +++----
 2 files changed, 226 insertions(+), 225 deletions(-)

diff --git a/doc/source/dev/inspect_slicot_slycot.ipynb b/doc/source/dev/inspect_slicot_slycot.ipynb
index 868863de..9e895712 100644
--- a/doc/source/dev/inspect_slicot_slycot.ipynb
+++ b/doc/source/dev/inspect_slicot_slycot.ipynb
@@ -25,7 +25,7 @@
     {
      "data": {
       "text/plain": [
-       "'0.5.5.dev49+gfb26217.d20230826'"
+       "'0.5.5.dev75+g8cd8497'"
       ]
      },
      "execution_count": 1,
@@ -98,15 +98,15 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 52 routines that are found in slycot.\n",
+      "There are currently 56 routines that are found in slycot.\n",
       "------\n",
       "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd', 'ab08nz', 'ab09ad']\n",
       "['ab09ax', 'ab09bd', 'ab09md', 'ab09nd', 'ab13bd', 'ab13dd', 'ab13ed', 'ab13fd']\n",
-      "['ab13md', 'ag08bd', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd']\n",
-      "['mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57', 'sb03od']\n",
-      "['sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10yd', 'sg02ad']\n",
-      "['sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od']\n",
-      "['tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
+      "['ab13md', 'ag08bd', 'mb02ed', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md']\n",
+      "['mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md', 'sb03md57']\n",
+      "['sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd', 'sb10hd', 'sb10jd']\n",
+      "['sb10yd', 'sg02ad', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad']\n",
+      "['tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd']\n",
       "None\n",
       "\n",
       "\n",
@@ -233,78 +233,77 @@
       "None\n",
       "\n",
       "\n",
-      "There are currently 556 routines that are found in slicot and not in slycot.\n",
+      "There are currently 552 routines that are found in slicot and not in slycot.\n",
       "------\n",
-      "['sb10jd', 'mb02cv', 'tb01zd', 'bb04ad', 'ib01pd', 'sb03mv', 'ib01rd', 'sb02mx']\n",
-      "['mb03nd', 'tg01fz', 'mb03gd', 'nf01bs', 'ab09jx', 'nf01ay', 'mb04bd', 'mb02xd']\n",
-      "['tf01mx', 'sb06nd', 'ib01oy', 'ib01px', 'mb03fz', 'sb10qd', 'ab09ix', 'mb04hd']\n",
-      "['ab05od', 'ab09ed', 'mc01sx', 'mb01rd', 'sb10td', 'mb03bg', 'ma02fd', 'mb01wd']\n",
-      "['mb04rb', 'mb04ny', 'ma02pd', 'mb04ad', 'mb03dd', 'mc01sw', 'ab09bx', 'sb10ld']\n",
-      "['nf01ba', 'ma02az', 'ma02nz', 'ab05qd', 'sg03bu', 'mb02hd', 'mb03hz', 'sb03mx']\n",
-      "['ib01od', 'mb01ss', 'ab13ad', 'tb01wd', 'mc01wd', 'mb04od', 'mb02pd', 'mb03ag']\n",
-      "['mb01sd', 'ma02oz', 'mb03bz', 'mb02kd', 'mb03qy', 'ab09id', 'ma02iz', 'tg01ly']\n",
-      "['sb04rv', 'mb03sd', 'mb04ud', 'mb04fd', 'mb02gd', 'sg03bv', 'nf01bp', 'ib01md']\n",
-      "['tb01kx', 'mb03hd', 'tb01ux', 'mb03cz', 'ma02md', 'sb04my', 'mb03qg', 'sb08my']\n",
-      "['sb02oy', 'tg01pd', 'sb04mw', 'mc01pd', 'sb02ov', 'mb04yw', 'mb04py', 'sb02qd']\n",
-      "['mc01nd', 'mb02jd', 'sb10ed', 'ab13id', 'sg03ay', 'mb04wr', 'mb05my', 'mb03kc']\n",
-      "['ab01od', 'mb03id', 'mb01xd', 'mb03xu', 'ud01cd', 'mb04gd', 'sb16cd', 'ma01bd']\n",
-      "['mb04tw', 'ab05rd', 'sb04py', 'mb03bf', 'mb04tu', 'sb08ed', 'mb03xp', 'tg01gd']\n",
-      "['ma02hd', 'mb04bp', 'sb01dd', 'mb03kd', 'tg01nx', 'ma02gd', 'mb03rw', 'nf01bv']\n",
-      "['mb01oo', 'mb02yd', 'tb01vy', 'mb04vd', 'ma02cd', 'md03ad', 'sb10kd', 'sg03bz']\n",
-      "['nf01by', 'df01md', 'mb02uw', 'tg01bd', 'sb04pd', 'ab09kx', 'tb01ty', 'mb04yd']\n",
-      "['sb02ms', 'mc01sy', 'tg01ad', 'mb04tb', 'md03by', 'ud01md', 'ab09cd', 'ab07md']\n",
-      "['md03bd', 'ab05sd', 'md03ba', 'tb04bx', 'mb03za', 'sb04ow', 'mb03ud', 'tg01oa']\n",
-      "['sb03my', 'mb04ty', 'fb01qd', 'dk01md', 'sb08fd', 'nf01br', 'mb04qu', 'sb04qr']\n",
-      "['de01od', 'sg02cv', 'sg03bt', 'mb03md', 'mb04su', 'mc01qd', 'nf01bx', 'mb04dp']\n",
-      "['sb04od', 'sb03rd', 'mb02dd', 'tg01dd', 'mb3pyz', 'mb03ba', 'mb03pd', 'mb02rd']\n",
-      "['sg03by', 'mb02jx', 'tg01oz', 'mb03ed', 'sg02cw', 'mb03xd', 'sb03mw', 'tb01iz']\n",
-      "['nf01be', 'ma02id', 'mb4dpz', 'sb08gd', 'sb03oy', 'nf01bd', 'sb01md', 'tf01od']\n",
-      "['mb04qf', 'mb03ld', 'sb10wd', 'tb01td', 'mc01vd', 'sb02ou', 'sb01bx', 'mb04id']\n",
-      "['mb02td', 'mc01py', 'sb04nx', 'mb03dz', 'sb08md', 'mb03ab', 'mb01ry', 'sb08dd']\n",
-      "['sb10sd', 'md03bf', 'tg01cd', 'mb05od', 'mc01xd', 'mc03nx', 'mb04qc', 'mb04xy']\n",
-      "['mb03lf', 'ma02bz', 'sb02mr', 'nf01bb', 'mb03be', 'mb03ny', 'sb03qx', 'sb02sd']\n",
-      "['mb04dd', 'mb02fd', 'sb16ad', 'sb01fy', 'ab05pd', 'mb04pu', 'sb02ox', 'mb03lp']\n",
-      "['mb03wx', 'mb02cd', 'mb02md', 'mb02qd', 'mb04dl', 'ab09jd', 'ib01ad', 'mb03iz']\n",
-      "['bb02ad', 'mb3oyz', 'tg01qd', 'mb03vw', 'ag07bd', 'sb02ow', 'ma02hz', 'mb03jp']\n",
-      "['mb03rx', 'dg01md', 'sb08nd', 'mb01oh', 'ag08bz', 'ib03ad', 'ib03bd', 'sg03bs']\n",
-      "['tb04bd', 'sb03td', 'bb03ad', 'mb04ow', 'de01pd', 'tf01pd', 'mb03lz', 'ab8nxz']\n",
-      "['mb04oy', 'sb03mu', 'mb03xs', 'ue01md', 'mb01oe', 'sb03or', 'sg03bx', 'ab09hd']\n",
-      "['mb3lzp', 'tb01uy', 'mb03bb', 'bb01ad', 'sb04px', 'tb01ud', 'mb02wd', 'mc01sd']\n",
-      "['tg01jy', 'mb04qb', 'sb03oz', 'mb04vx', 'sb10ud', 'sb10zp', 'ma01ad', 'mb02sd']\n",
-      "['sb02mu', 'mb01rh', 'mb04ru', 'ma02jd', 'tg01fd', 'sb16bd', 'mb03ke', 'tg01hd']\n",
-      "['sb04nw', 'tb01vd', 'sb08hd', 'mb03ka', 'sb10pd', 'mb01ld', 'bd02ad', 'sg03bw']\n",
-      "['ud01dd', 'sb16cy', 'sg02nd', 'mb04db', 'mb03ry', 'mb3jzp', 'ma02od', 'mb02tz']\n",
-      "['tg01id', 'mb01ud', 'mb4dlz', 'dg01od', 'ab08md', 'mb03qw', 'ab08nw', 'mb01ru']\n",
-      "['ab09hy', 'ma02ed', 'ab01md', 'ab13ax', 'ma02bd', 'sb04mu', 'ab08mz', 'tb04ay']\n",
-      "['nf01ad', 'mb04ts', 'mb03qd', 'mb02ud', 'ab09kd', 'fd01ad', 'sb02nd', 'mb01rx']\n",
-      "['ib01nd', 'ib01qd', 'tg01hx', 'ma02dd', 'tb01px', 'tg01md', 'tg01ob', 'mb01uz']\n",
-      "['sb16ay', 'mb02uv', 'mb02vd', 'mb04nd', 'tg01ed', 'mb04xd', 'sb04nv', 'mb03ts']\n",
-      "['sb04rw', 'mb01oc', 'tc05ad', 'sb03qd', 'sb04rx', 'ab09hx', 'mb04di', 'sb03ou']\n",
-      "['ma02es', 'sb04qu', 'ab08ny', 'tf01nd', 'tf01qd', 'ma02gz', 'mb02id', 'ud01bd']\n",
-      "['sb02pd', 'sb04qy', 'mb03zd', 'nf01bq', 'ma02jz', 'mb01yd', 'ma02mz', 'tg01nd']\n",
-      "['ma01bz', 'ab09jv', 'sb04mr', 'mb02cx', 'sb02mw', 'tb01yd', 'mb02sz', 'ab13dx']\n",
-      "['mb04ld', 'ag8byz', 'tg01hu', 'mb4dbz', 'mb03ai', 'ud01nd', 'mc01od', 'ab08nx']\n",
-      "['mb04iy', 'tb01wx', 'mb04iz', 'mb04zd', 'sb04ry', 'mb02rz', 'mb04ox', 'sb10id']\n",
-      "['tb01xd', 'mb02cu', 'tb04bw', 'mb03yt', 'sg02cx', 'sb02cx', 'mb04fp', 'sb03sd']\n",
-      "['ud01mz', 'mb04wu', 'sb02ru', 'mb01zd', 'mb03wa', 'ag08by', 'mb03kb', 'mb04dz']\n",
-      "['sg03br', 'mb04tx', 'mb03rz', 'mb02od', 'tg01od', 'sb01by', 'ab09jw', 'mb03py']\n",
-      "['mb03ah', 'sb04nd', 'mb04tt', 'tb01kd', 'nf01bf', 'mb01uw', 'mb03af', 'sb10rd']\n",
-      "['td05ad', 'ib01bd', 'mb01md', 'mb03my', 'sb03sy', 'sb10vd', 'ab09gd', 'ma02cz']\n",
-      "['mb01od', 'sb03os', 'td03ad', 'tb04bv', 'mb03ae', 'fb01td', 'nf01bw', 'mb01td']\n",
-      "['sb08cd', 'sb02rd', 'mb04jd', 'mb03cd', 'ab09cx', 'mb03ad', 'tb01xz', 'fb01rd']\n",
-      "['sb09md', 'mc03nd', 'mb05oy', 'mb03qv', 'mb04cd', 'ib01py', 'ib01my', 'sb04ny']\n",
-      "['mb03td', 'md03bb', 'mb04wd', 'ma02ez', 'sb03sx', 'mb01qd', 'mb01rw', 'mb04pa']\n",
-      "['fb01vd', 'mb01ux', 'mb02ny', 'mb04pb', 'mb01os', 'bd01ad', 'td03ay', 'tg01jd']\n",
-      "['sb03pd', 'mc03md', 'ab09fd', 'dg01ny', 'mc01rd', 'sg03ax', 'tg01ld', 'mb04md']\n",
-      "['ab09dd', 'mc01md', 'tg01kz', 'mb01rb', 'mb04tv', 'dg01nd', 'mb04ed', 'ab13cd']\n",
-      "['mb03bd', 'tf01my', 'mb04kd', 'sb03ot', 'sb03ov', 'tb01ld', 'sb10md', 'mb01nd']\n",
-      "['tg01wd', 'mb04wp', 'mb02nd', 'ma01cd', 'ab09iy', 'mb03yd', 'ma02ad', 'sb03qy']\n",
-      "['mb02qy', 'mb03jz', 'mb03od', 'mb03fd', 'mc03ny', 'ib01cd', 'mb03ya', 'fb01sd']\n",
-      "['tb03ay', 'sb08ny', 'ma02pz', 'tg01hy', 'mb03jd', 'mb02cy', 'tb01nd', 'mb03qx']\n",
-      "['tg01az', 'mb03gz', 'mb01rt', 'mb01vd', 'mb04qs', 'mb03bc', 'tg01kd', 'nf01bu']\n",
-      "['tb01md', 'mb01ot', 'mb02ed', 'mb01kd', 'mb01pd', 'mb02uu', 'sb04rd', 'sb02mv']\n",
-      "['mb04ds', 'mb04dy', 'mb04bz', 'mb03xz', 'tb04cd', 'mb04az', 'sb10zd', 'mb01xy']\n",
-      "['sb03ud', 'mb01uy', 'md03bx', 'mb03oy']\n",
+      "['mb04bd', 'tb01kx', 'mb02hd', 'mb02cy', 'mb03hz', 'sb02oy', 'ib01md', 'mb03jp']\n",
+      "['mb01yd', 'sb02mx', 'sb04od', 'nf01ay', 'mc01rd', 'ma02mz', 'mb04yw', 'mb04su']\n",
+      "['mc01md', 'mb02rd', 'fb01vd', 'mb02cu', 'mb04qu', 'nf01bu', 'mb02sd', 'sb03qx']\n",
+      "['ab09kx', 'ma02jd', 'mb04ts', 'sb04nw', 'ab08mz', 'mb03ah', 'tg01dd', 'ud01dd']\n",
+      "['mc01xd', 'ib03ad', 'mb01od', 'tg01jd', 'sb10ld', 'mb03wa', 'nf01by', 'mb04pu']\n",
+      "['mb04xd', 'mb01oc', 'bb04ad', 'tb04bd', 'mb01zd', 'ab09cx', 'tf01od', 'ab09jw']\n",
+      "['mb03oy', 'mb01pd', 'sb04ry', 'tg01ob', 'sb04ny', 'ab13cd', 'tg01md', 'mb03ts']\n",
+      "['sb01bx', 'nf01bf', 'mb02vd', 'sb03ud', 'sb16cd', 'ag08by', 'mb3jzp', 'mb03jz']\n",
+      "['mb02rz', 'sb09md', 'bd01ad', 'mc01qd', 'md03by', 'nf01br', 'mb02uw', 'mb01ld']\n",
+      "['mb02qd', 'mb04fd', 'ib01qd', 'ma02id', 'tb01kd', 'mb3lzp', 'sb04mw', 'mb03ba']\n",
+      "['sb10ud', 'mb03ab', 'mc01sy', 'sb02pd', 'mb03ai', 'mc01wd', 'mc01vd', 'ab09jx']\n",
+      "['ma02pd', 'tb01md', 'mb03bb', 'mb02jx', 'sb03oz', 'sb04qy', 'sb02ow', 'sb16ay']\n",
+      "['ab13ad', 'mb04tb', 'ab13id', 'mb03bf', 'ma02bd', 'ab09bx', 'dg01ny', 'mb02uu']\n",
+      "['mb03bd', 'sb01by', 'mb02td', 'ab08nx', 'tf01my', 'tg01od', 'mb03qd', 'tb04bv']\n",
+      "['sb03sy', 'mb4dbz', 'mb04cd', 'tb01wd', 'mb05oy', 'sb03ou', 'mb01nd', 'ag07bd']\n",
+      "['tg01jy', 'tb01ty', 'sb03pd', 'mb04qs', 'ud01bd', 'mb02dd', 'mb03bg', 'mb02nd']\n",
+      "['sb04mr', 'sb04nd', 'tg01oa', 'mb02pd', 'sb02sd', 'ma01bz', 'ab08nw', 'mb04ru']\n",
+      "['ma02hd', 'tg01oz', 'mb03kd', 'ud01mz', 'nf01bx', 'tg01az', 'ma02jz', 'mb03gz']\n",
+      "['ma02pz', 'mb04gd', 'sb02rd', 'sb10sd', 'fb01qd', 'mb03xd', 'tg01hu', 'mb04wr']\n",
+      "['tb04bx', 'ma02md', 'mb04ud', 'mb01rw', 'tg01ld', 'ib01bd', 'md03ba', 'sb02ms']\n",
+      "['mb04ad', 'mc03nx', 'ud01md', 'ma02gd', 'tb01td', 'mb04od', 'sb03or', 'tb01iz']\n",
+      "['sb02ou', 'tf01qd', 'sg03bz', 'ma02es', 'sb03os', 'ab01od', 'mb04pa', 'ib01my']\n",
+      "['mb04ny', 'mb3oyz', 'mb04fp', 'mc01sd', 'ma01bd', 'nf01bp', 'tb03ay', 'mb01rb']\n",
+      "['fb01rd', 'ma02fd', 'ab09hy', 'ma02cd', 'tg01ly', 'fb01td', 'mb03qv', 'sb04py']\n",
+      "['ab05qd', 'sg03bs', 'ab01md', 'mb01uy', 'mb04wu', 'mb02ny', 'mb03cd', 'sb04rw']\n",
+      "['tg01kz', 'mb01xd', 'mc01pd', 'mb02cd', 'mb04rb', 'tb01vy', 'mb01rt', 'tb01uy']\n",
+      "['mc01od', 'mb03qw', 'sb02ru', 'nf01ad', 'tg01bd', 'mb01ux', 'mb02fd', 'mb04tw']\n",
+      "['sb10pd', 'nf01bb', 'tb01ux', 'sb02mw', 'sg03ay', 'mb03af', 'mb03nd', 'mb01wd']\n",
+      "['mc01sx', 'tb01ld', 'sb10wd', 'mb02md', 'tb01ud', 'ma02ez', 'tb01zd', 'sb08nd']\n",
+      "['sb16bd', 'sb08md', 'mb04dl', 'dk01md', 'mb03qx', 'tg01hy', 'sb03mv', 'mb04iz']\n",
+      "['sb02ox', 'tb01nd', 'mb04dz', 'mb04az', 'sb04qr', 'sb08my', 'mb03kb', 'mb03ae']\n",
+      "['ab09id', 'ma02hz', 'ab09jd', 'mb04yd', 'mb02jd', 'sb16ad', 'mb01md', 'dg01od']\n",
+      "['nf01ba', 'ab13ax', 'mb03ny', 'mb04kd', 'nf01bd', 'sb03qy', 'mb04tv', 'md03bd']\n",
+      "['sb04px', 'mb03ud', 'sb10vd', 'mb04qc', 'mb04qb', 'mb03rz', 'mb03sd', 'mb02ud']\n",
+      "['mb02qy', 'bb03ad', 'mb02kd', 'tg01wd', 'mc03ny', 'mb3pyz', 'mb03pd', 'mb05my']\n",
+      "['sb10md', 'fd01ad', 'tf01nd', 'mb03be', 'sb08ed', 'sb03qd', 'sb03td', 'mb01ot']\n",
+      "['sg03bx', 'mb03yd', 'ma02cz', 'ab08md', 'mb01rd', 'ab05pd', 'mb03gd', 'ab09gd']\n",
+      "['mb01xy', 'sb08hd', 'de01pd', 'mb03md', 'mb03za', 'mb05od', 'mb03ya', 'mb04bz']\n",
+      "['mb03ry', 'mb04zd', 'sb04my', 'mb03my', 'mb03xz', 'mb01uw', 'mb03ka', 'ma02ed']\n",
+      "['sb04mu', 'sg03bw', 'mb03dz', 'mb01vd', 'sb08fd', 'ib01od', 'ab05rd', 'tg01ed']\n",
+      "['mb4dpz', 'tg01cd', 'mb03py', 'tb01yd', 'mb01ss', 'mb04di', 'mb02yd', 'tb04ay']\n",
+      "['td03ad', 'mb03ke', 'mb01rh', 'ab13dx', 'ib01rd', 'mb04ld', 'mb02sz', 'mb03fd']\n",
+      "['ab8nxz', 'mb04qf', 'ma02nz', 'mc01py', 'sb04rx', 'mb03iz', 'td05ad', 'sb08ny']\n",
+      "['mb03ed', 'sb02mr', 'mb04vd', 'bd02ad', 'mb03qy', 'sb01md', 'sb03sd', 'tb04bw']\n",
+      "['sb10qd', 'de01od', 'mb04iy', 'sb04rv', 'ab09hd', 'sb03mw', 'sb10kd', 'ab05sd']\n",
+      "['ab09iy', 'ue01md', 'sg03bu', 'mb04ty', 'md03ad', 'tg01nd', 'mb03bc', 'sb03ov']\n",
+      "['mb04vx', 'mb03fz', 'tb01wx', 'mb02cx', 'ib01nd', 'mb02wd', 'sb03mu', 'sb02mv']\n",
+      "['tf01mx', 'mb04ow', 'mb04nd', 'sb01dd', 'sg02nd', 'mb01rx', 'ib01ad', 'ma02gz']\n",
+      "['sb10td', 'tc05ad', 'mb02tz', 'mb03ad', 'sb04nx', 'ma02dd', 'sg02cw', 'sg03bv']\n",
+      "['mb01oh', 'dg01md', 'mb04dy', 'mb01oe', 'sb04rd', 'mb04id', 'mb01kd', 'mb02cv']\n",
+      "['ma02iz', 'mb03yt', 'mb04dd', 'sb01fy', 'bb01ad', 'sb03rd', 'mc01nd', 'ma02az']\n",
+      "['mb03lp', 'mb04dp', 'ab09jv', 'mb03id', 'tg01hd', 'tg01gd', 'sb04pd', 'tf01pd']\n",
+      "['sb08dd', 'sb03sx', 'ab07md', 'sb10rd', 'mb04xy', 'sb04nv', 'nf01bs', 'md03bb']\n",
+      "['mb03ld', 'tg01fz', 'tg01qd', 'mb03kc', 'mc03md', 'tb01xd', 'mb04tx', 'sb10id']\n",
+      "['sb10zp', 'mb03xp', 'ib01py', 'mb03hd', 'mb03cz', 'mb04md', 'mb02xd', 'mb01ud']\n",
+      "['sg02cv', 'mb01qd', 'mb01sd', 'ma02oz', 'sb02nd', 'sb03mx', 'mb03jd', 'mb02od']\n",
+      "['sb02cx', 'sb02qd', 'bb02ad', 'ma02ad', 'mb4dlz', 'mb03lz', 'ib01pd', 'mb04bp']\n",
+      "['tb04cd', 'ib01cd', 'tb01vd', 'nf01bw', 'mb03od', 'mb04tu', 'mb03lf', 'mb03qg']\n",
+      "['sb08cd', 'ib03bd', 'sg03by', 'fb01sd', 'sg02cx', 'ag8byz', 'mb01os', 'ab08ny']\n",
+      "['mb02id', 'nf01be', 'mb04ox', 'tb01xz', 'sg03br', 'mb01td', 'md03bx', 'mb04tt']\n",
+      "['mb02uv', 'sg03ax', 'mb03td', 'sb03oy', 'ab09cd', 'ab09ed', 'ib01px', 'td03ay']\n",
+      "['sb06nd', 'sb02ov', 'sb02mu', 'tg01pd', 'sg03bt', 'ab09fd', 'sb04qu', 'mb03xs']\n",
+      "['mb02gd', 'mb04wd', 'ma02od', 'mb04db', 'ab05od', 'sb04ow', 'ag08bz', 'mb04py']\n",
+      "['sb16cy', 'mb03vw', 'mb04jd', 'mb03dd', 'sb10ed', 'mb03zd', 'ma01ad', 'mc01sw']\n",
+      "['sb08gd', 'mb03rw', 'ab09hx', 'mb04wp', 'ib01oy', 'mb04ed', 'tb01px', 'df01md']\n",
+      "['ab09ix', 'mb03xu', 'ab09kd', 'tg01kd', 'sb03my', 'mb04hd', 'mb01uz', 'ma02bz']\n",
+      "['mb03bz', 'sb03ot', 'mb04pb', 'mb04oy', 'md03bf', 'mb01oo', 'mc03nd', 'nf01bv']\n",
+      "['mb04ds', 'ud01nd', 'mb01ry', 'mb03rx', 'sb10zd', 'mb01ru', 'nf01bq', 'mb03wx']\n",
+      "['tg01nx', 'ud01cd', 'tg01id', 'tg01hx', 'ma01cd', 'ab09dd', 'mb03ag', 'dg01nd']\n",
       "None\n",
       "\n",
       "\n"
@@ -340,94 +339,94 @@
      "text": [
       "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
       "------\n",
-      "['sb10jd', 'mb02cv', 'tb01zd', 'bb04ad', 'ib01pd', 'sb03mv', 'ib01rd', 'sb02mx']\n",
-      "['mb03nd', 'ab09nd', 'tg01fz', 'mb03gd', 'nf01bs', 'ab13md', 'ab09jx', 'nf01ay']\n",
-      "['mb04bd', 'mb02xd', 'tf01mx', 'sb06nd', 'ib01oy', 'ib01px', 'mb03fz', 'sb10qd']\n",
-      "['ab09ix', 'mb04hd', 'ab05od', 'ab09ed', 'mc01sx', 'mb01rd', 'sb10td', 'mb03bg']\n",
-      "['ma02fd', 'mb01wd', 'mb04rb', 'mb04ny', 'ma02pd', 'mb04ad', 'mb03dd', 'mc01sw']\n",
-      "['ab09bx', 'sb10ld', 'nf01ba', 'ma02az', 'ma02nz', 'ab05qd', 'sg03bu', 'mb02hd']\n",
-      "['mb03hz', 'sb03mx', 'ib01od', 'mb01ss', 'ab13ad', 'tb01wd', 'mc01wd', 'mb04od']\n",
-      "['mb02pd', 'mb03ag', 'mb01sd', 'ma02oz', 'mb03bz', 'mb02kd', 'mb03qy', 'ab09id']\n",
-      "['ma02iz', 'tg01ly', 'sb04rv', 'mb03sd', 'mb04ud', 'mb04fd', 'mb02gd', 'sg03bv']\n",
-      "['nf01bp', 'ib01md', 'sb03md', 'tb01kx', 'mb03hd', 'tb01ux', 'mb03cz', 'ma02md']\n",
-      "['sb04my', 'sb04md', 'mb03qg', 'sb08my', 'sb02oy', 'tg01pd', 'sb04mw', 'sb10fd']\n",
-      "['mc01pd', 'sb02ov', 'mb05nd', 'mb04yw', 'mb04py', 'sb02qd', 'mc01nd', 'mb02jd']\n",
-      "['sb10ed', 'ab13id', 'sg03ay', 'mb04wr', 'mb05my', 'mb03kc', 'ab01od', 'mb03id']\n",
-      "['mb01xd', 'mb03xu', 'ud01cd', 'mb04gd', 'sb16cd', 'ma01bd', 'mb04tw', 'ab05rd']\n",
-      "['sb04py', 'mb03bf', 'mb04tu', 'mb03rd', 'tc04ad', 'sb08ed', 'mb03xp', 'tg01gd']\n",
-      "['ma02hd', 'mb04bp', 'sb01dd', 'mb03kd', 'tg01nx', 'ma02gd', 'mb03wd', 'mb03rw']\n",
-      "['nf01bv', 'mb01oo', 'mb02yd', 'tb01vy', 'mb04vd', 'ma02cd', 'md03ad', 'sb10kd']\n",
-      "['sg03bz', 'nf01by', 'sg02ad', 'df01md', 'mb02uw', 'tg01bd', 'sb04pd', 'ab09kx']\n",
-      "['tb01ty', 'mb04yd', 'sb02ms', 'mc01sy', 'tg01ad', 'mb04tb', 'md03by', 'ud01md']\n",
-      "['ab09cd', 'ab07md', 'md03bd', 'ab05sd', 'md03ba', 'tb04bx', 'mb03za', 'sb04ow']\n",
-      "['mb03ud', 'tg01oa', 'ab05nd', 'sb03my', 'mb04ty', 'fb01qd', 'dk01md', 'sb08fd']\n",
-      "['nf01br', 'mb04qu', 'sb04qr', 'de01od', 'sg02cv', 'sg03bt', 'mb03md', 'mb04su']\n",
-      "['mc01qd', 'nf01bx', 'mb04dp', 'sb04od', 'sb03rd', 'mb02dd', 'tg01dd', 'mb3pyz']\n",
-      "['mb03ba', 'sb10ad', 'mb03pd', 'mb03vy', 'mb02rd', 'sg03by', 'mb02jx', 'tg01oz']\n",
-      "['ab13dd', 'mb03ed', 'sg02cw', 'mb03xd', 'sb03mw', 'tb01iz', 'nf01be', 'ma02id']\n",
-      "['mb4dpz', 'sb08gd', 'sb03oy', 'nf01bd', 'sb01md', 'tf01od', 'mb04qf', 'mb03ld']\n",
-      "['sb10wd', 'sb03md57', 'tb01td', 'mc01vd', 'sb02ou', 'sb01bx', 'mb04id', 'mb02td']\n",
-      "['mc01py', 'sb04nx', 'mb03dz', 'sb08md', 'mb03ab', 'mb01ry', 'sb08dd', 'sb10sd']\n",
-      "['md03bf', 'tg01cd', 'mb05od', 'mc01xd', 'mc03nx', 'mb04qc', 'mb04xy', 'mb05md']\n",
-      "['mb03lf', 'ma02bz', 'sb02mr', 'nf01bb', 'mb03be', 'mb03ny', 'sb03qx', 'sb02sd']\n",
-      "['mb04dd', 'mb02fd', 'sb16ad', 'sb01fy', 'ab05pd', 'ab08nz', 'mb04pu', 'sb02ox']\n",
-      "['mb03lp', 'mb03wx', 'mb02cd', 'mb02md', 'mb02qd', 'mb04dl', 'ab09jd', 'ib01ad']\n",
-      "['mb03iz', 'tb01pd', 'bb02ad', 'mb3oyz', 'tg01qd', 'mb03vw', 'ag07bd', 'sb02ow']\n",
-      "['ma02hz', 'mb03jp', 'mb03rx', 'ab05md', 'dg01md', 'sb08nd', 'mb01oh', 'ag08bz']\n",
-      "['ab04md', 'ib03ad', 'ib03bd', 'sg03bs', 'tb04bd', 'sb03td', 'ag08bd', 'bb03ad']\n",
-      "['mb04ow', 'de01pd', 'tf01pd', 'mb03lz', 'ab8nxz', 'mb04oy', 'sb03mu', 'ab13bd']\n",
-      "['mb03xs', 'ue01md', 'mb01oe', 'sb03or', 'sg03bx', 'ab09hd', 'mb3lzp', 'tf01rd']\n",
-      "['tb01uy', 'ab13ed', 'mb03bb', 'sg03ad', 'bb01ad', 'sb04px', 'tb01ud', 'mb02wd']\n",
-      "['mc01sd', 'tg01jy', 'mb04qb', 'sb03oz', 'mb04vx', 'sb10ud', 'sb10zp', 'ma01ad']\n",
-      "['mb02sd', 'sb02mu', 'mb01rh', 'mb04ru', 'ma02jd', 'tg01fd', 'sb01bd', 'sb16bd']\n",
-      "['mb03ke', 'tg01hd', 'mb03vd', 'sb04nw', 'tb01vd', 'sb08hd', 'mb03ka', 'sb03od']\n",
-      "['sb10pd', 'mb01ld', 'ab08nd', 'ab09ax', 'bd02ad', 'sg03bw', 'ud01dd', 'sb16cy']\n",
-      "['sg02nd', 'mb04db', 'mb03ry', 'mb3jzp', 'ma02od', 'mb02tz', 'tg01id', 'tb03ad']\n",
-      "['mb01ud', 'mb4dlz', 'dg01od', 'ab08md', 'mb03qw', 'tb01id', 'ab08nw', 'mb01ru']\n",
-      "['ab09hy', 'ma02ed', 'ab01md', 'ab13ax', 'ma02bd', 'sb04mu', 'ab08mz', 'tb04ay']\n",
-      "['nf01ad', 'mb04ts', 'mb03qd', 'mb02ud', 'mc01td', 'ab09kd', 'fd01ad', 'sb02nd']\n",
-      "['mb01rx', 'ib01nd', 'ib01qd', 'tg01hx', 'ma02dd', 'tb01px', 'tf01md', 'tg01md']\n",
-      "['tg01ob', 'mb01uz', 'sb16ay', 'mb02uv', 'mb02vd', 'mb04nd', 'tg01ed', 'mb04xd']\n",
-      "['sb04nv', 'mb03ts', 'sb04rw', 'tc01od', 'mb01oc', 'tc05ad', 'sb03qd', 'sb04rx']\n",
-      "['ab09hx', 'mb04di', 'sb03ou', 'ma02es', 'sb04qu', 'ab08ny', 'tf01nd', 'tf01qd']\n",
-      "['ma02gz', 'mb02id', 'ud01bd', 'sb02pd', 'sb04qy', 'mb03zd', 'nf01bq', 'ma02jz']\n",
-      "['mb01yd', 'ma02mz', 'tg01nd', 'ma01bz', 'ab09jv', 'sb04mr', 'mb02cx', 'sb02md']\n",
-      "['sb02mw', 'tb01yd', 'mb02sz', 'ab13dx', 'mb04ld', 'ag8byz', 'tg01hu', 'mb4dbz']\n",
-      "['mb03ai', 'ud01nd', 'mc01od', 'sb02od', 'ab08nx', 'mb04iy', 'tb01wx', 'mb04iz']\n",
-      "['mb04zd', 'sb04ry', 'mb02rz', 'mb04ox', 'sb10id', 'tb01xd', 'mb02cu', 'tb04bw']\n",
-      "['mb03yt', 'sg02cx', 'sb02cx', 'mb04fp', 'sb03sd', 'ud01mz', 'mb04wu', 'sb02ru']\n",
-      "['mb01zd', 'mb03wa', 'ag08by', 'mb03kb', 'mb04dz', 'sg03br', 'mb04tx', 'mb03rz']\n",
-      "['mb02od', 'tg01od', 'sb01by', 'ab09jw', 'mb03py', 'mb03ah', 'sb04nd', 'mb04tt']\n",
-      "['tb01kd', 'nf01bf', 'mb01uw', 'mb03af', 'sb10rd', 'td05ad', 'ib01bd', 'mb01md']\n",
-      "['mb03my', 'sb03sy', 'sb10vd', 'ab09gd', 'ma02cz', 'mb01od', 'sb03os', 'td03ad']\n",
-      "['tb04bv', 'sb04qd', 'mb03ae', 'fb01td', 'nf01bw', 'mb01td', 'sb08cd', 'sb02rd']\n",
-      "['mb04jd', 'mb03cd', 'ab09cx', 'mb03ad', 'tb01xz', 'fb01rd', 'sb09md', 'mc03nd']\n",
-      "['mb05oy', 'mb03qv', 'mb04cd', 'ib01py', 'ib01my', 'sb04ny', 'sg03bd', 'mb03td']\n",
-      "['md03bb', 'mb04wd', 'tb05ad', 'ma02ez', 'sb03sx', 'mb01qd', 'ab07nd', 'mb01rw']\n",
-      "['mb04pa', 'fb01vd', 'td04ad', 'mb01ux', 'mb02ny', 'mb04pb', 'mb01os', 'bd01ad']\n",
-      "['td03ay', 'tg01jd', 'sb03pd', 'sb10dd', 'mc03md', 'ab09fd', 'dg01ny', 'mc01rd']\n",
-      "['sb10hd', 'sg03ax', 'tg01ld', 'mb04md', 'ab09dd', 'mc01md', 'tg01kz', 'mb01rb']\n",
-      "['mb04tv', 'dg01nd', 'mb04ed', 'ab13cd', 'mb03bd', 'tf01my', 'mb04kd', 'sb03ot']\n",
-      "['sb03ov', 'tb01ld', 'sb10md', 'mb01nd', 'tg01wd', 'mb04wp', 'mb02nd', 'ma01cd']\n",
-      "['ab09iy', 'mb03yd', 'ma02ad', 'sb03qy', 'mb02qy', 'mb03jz', 'mb03od', 'mb03fd']\n",
-      "['mc03ny', 'ib01cd', 'mb03ya', 'fb01sd', 'tb03ay', 'sb08ny', 'ma02pz', 'ab13fd']\n",
-      "['tg01hy', 'mb03jd', 'mb02cy', 'tb01nd', 'mb03qx', 'tg01az', 'mb03gz', 'mb01rt']\n",
-      "['sb10yd', 'mb01vd', 'mb04qs', 'mb03bc', 'tg01kd', 'nf01bu', 'tb01md', 'mb01ot']\n",
-      "['mb02ed', 'mb01kd', 'mb01pd', 'mb02uu', 'sb04rd', 'sb02mv', 'mb04ds', 'mb04dy']\n",
-      "['mb04bz', 'mb03xz', 'ab09ad', 'tb04cd', 'ab01nd', 'ab09md', 'mb04az', 'sb10zd']\n",
-      "['sb02mt', 'mb01xy', 'ab09bd', 'tb04ad', 'sb03ud', 'mb01uy', 'md03bx', 'mb03oy']\n",
+      "['mb04bd', 'tb01kx', 'mb02hd', 'mb02cy', 'mb03hz', 'sb02oy', 'ib01md', 'mb03jp']\n",
+      "['mb01yd', 'sb02mx', 'sb04od', 'nf01ay', 'mc01rd', 'ma02mz', 'mb04yw', 'mb04su']\n",
+      "['mc01md', 'mb02rd', 'fb01vd', 'mb02cu', 'mb04qu', 'nf01bu', 'mb02sd', 'sb03qx']\n",
+      "['ab09kx', 'ma02jd', 'mb04ts', 'sb04nw', 'ab08mz', 'mb03ah', 'tg01dd', 'ud01dd']\n",
+      "['mc01xd', 'ib03ad', 'ab13ed', 'mb01od', 'tg01jd', 'sb10ld', 'mb03wa', 'nf01by']\n",
+      "['mb04pu', 'tf01md', 'mb04xd', 'mb01oc', 'bb04ad', 'tb04bd', 'mb01zd', 'ab01nd']\n",
+      "['ab09cx', 'tf01od', 'ab09jw', 'mb03oy', 'mb01pd', 'sb04ry', 'tg01ob', 'sb04ny']\n",
+      "['ab13cd', 'tg01md', 'mb03ts', 'sb01bx', 'nf01bf', 'mb02vd', 'sb03ud', 'sb16cd']\n",
+      "['ag08by', 'mb3jzp', 'mb03jz', 'mb02rz', 'sb09md', 'bd01ad', 'mc01qd', 'md03by']\n",
+      "['nf01br', 'mb02uw', 'mb01ld', 'mb02qd', 'mb04fd', 'ib01qd', 'ma02id', 'tb01kd']\n",
+      "['mb3lzp', 'sb04mw', 'mb03ba', 'sb10ud', 'tf01rd', 'mb03ab', 'mc01sy', 'sb02pd']\n",
+      "['mb03ai', 'mc01wd', 'mc01vd', 'ab09jx', 'ma02pd', 'sb03md57', 'tb01md', 'mb03bb']\n",
+      "['mb02jx', 'sb03oz', 'sb04qy', 'sb02ow', 'sb16ay', 'ab13fd', 'ab13ad', 'mb04tb']\n",
+      "['ab13id', 'mb03bf', 'ma02bd', 'ab09bx', 'dg01ny', 'mb02uu', 'mb03bd', 'sb01by']\n",
+      "['mb02td', 'ab08nx', 'tf01my', 'tg01od', 'mb03qd', 'tb04bv', 'sb03sy', 'mb4dbz']\n",
+      "['mb04cd', 'tb01wd', 'mb05oy', 'sb03ou', 'mb01nd', 'ag07bd', 'tg01jy', 'tb01ty']\n",
+      "['sb03pd', 'mb04qs', 'ud01bd', 'mb02dd', 'sb03od', 'mb03bg', 'mb02nd', 'sb04mr']\n",
+      "['sb04nd', 'tg01oa', 'mb02pd', 'sb02sd', 'ma01bz', 'ab08nw', 'mb04ru', 'ma02hd']\n",
+      "['tg01oz', 'mb03kd', 'ud01mz', 'sb10ad', 'nf01bx', 'sb10dd', 'ab05md', 'mb02ed']\n",
+      "['tg01az', 'ma02jz', 'mb03gz', 'ma02pz', 'mb04gd', 'sb02rd', 'sb10sd', 'fb01qd']\n",
+      "['mb03xd', 'tg01hu', 'mb04wr', 'tb04bx', 'ma02md', 'mb04ud', 'mb01rw', 'sb10yd']\n",
+      "['tg01ld', 'ib01bd', 'tc04ad', 'ab09bd', 'md03ba', 'mb05md', 'sb02ms', 'mb04ad']\n",
+      "['mc03nx', 'ud01md', 'ma02gd', 'tb01td', 'mb04od', 'sb03or', 'tb01iz', 'sb02ou']\n",
+      "['tf01qd', 'sg03bz', 'ab08nd', 'ma02es', 'sb03os', 'ab01od', 'tg01fd', 'mb04pa']\n",
+      "['ib01my', 'mb04ny', 'mb3oyz', 'mb04fp', 'mc01sd', 'tb01id', 'ma01bd', 'nf01bp']\n",
+      "['tb03ay', 'mb01rb', 'fb01rd', 'ma02fd', 'ab09hy', 'ma02cd', 'tg01ly', 'fb01td']\n",
+      "['mb03qv', 'sb04py', 'ab05qd', 'ab13bd', 'sg03bs', 'ab01md', 'tb01pd', 'mb01uy']\n",
+      "['mb04wu', 'mb02ny', 'mb03cd', 'sb04rw', 'tg01kz', 'mb01xd', 'sb02od', 'mc01pd']\n",
+      "['mb02cd', 'mb04rb', 'tb01vy', 'mb01rt', 'tb01uy', 'mc01od', 'mb03qw', 'sb02ru']\n",
+      "['nf01ad', 'tg01bd', 'mb01ux', 'ab09ad', 'mb02fd', 'mb04tw', 'sb10pd', 'nf01bb']\n",
+      "['tb01ux', 'sb02mw', 'sg03ay', 'mb03af', 'mb03nd', 'mb01wd', 'mc01sx', 'tb01ld']\n",
+      "['sb10wd', 'mb02md', 'tb01ud', 'ma02ez', 'tb01zd', 'sb08nd', 'sb16bd', 'sb08md']\n",
+      "['mb04dl', 'dk01md', 'mb03qx', 'mb03wd', 'tg01hy', 'sb03mv', 'mb04iz', 'sb02ox']\n",
+      "['tb01nd', 'mb04dz', 'sb02mt', 'mb04az', 'ab13md', 'sb04qr', 'sb08my', 'mb03kb']\n",
+      "['mb03ae', 'sg03ad', 'ab09id', 'ma02hz', 'ab09jd', 'mb04yd', 'mb02jd', 'sb16ad']\n",
+      "['mb01md', 'dg01od', 'sb04md', 'nf01ba', 'ab13ax', 'mb03ny', 'mb04kd', 'nf01bd']\n",
+      "['sb10hd', 'sb03qy', 'mb04tv', 'md03bd', 'sb04px', 'tg01ad', 'mb03ud', 'sb10vd']\n",
+      "['mb04qc', 'mb04qb', 'mb03rz', 'mb03sd', 'mb02ud', 'mb02qy', 'bb03ad', 'mb02kd']\n",
+      "['tg01wd', 'mc03ny', 'mb3pyz', 'mb03pd', 'mb05my', 'ab13dd', 'sb10md', 'fd01ad']\n",
+      "['tf01nd', 'mb03be', 'mb03vy', 'sb08ed', 'sb03qd', 'sb03td', 'mb01ot', 'sg03bx']\n",
+      "['mb03yd', 'ma02cz', 'ab08md', 'mb01rd', 'ab05pd', 'mb03gd', 'ab09gd', 'mb01xy']\n",
+      "['sb08hd', 'de01pd', 'sb10jd', 'mb03md', 'mb03za', 'mb05od', 'ab09md', 'mb03ya']\n",
+      "['mb04bz', 'mb03ry', 'mb04zd', 'sb04my', 'mb03my', 'mb03xz', 'mb01uw', 'sb10fd']\n",
+      "['mb03ka', 'ma02ed', 'sb04mu', 'sg03bw', 'mb03dz', 'mb01vd', 'sb08fd', 'ib01od']\n",
+      "['ab05rd', 'tg01ed', 'mb4dpz', 'tg01cd', 'ab07nd', 'mb03py', 'tb01yd', 'ab09ax']\n",
+      "['mb01ss', 'mb04di', 'ab04md', 'mb02yd', 'tb04ay', 'td03ad', 'mb03ke', 'mb01rh']\n",
+      "['ab13dx', 'ib01rd', 'mb04ld', 'mb02sz', 'mb03fd', 'ab8nxz', 'mb04qf', 'ma02nz']\n",
+      "['mc01py', 'sb04rx', 'mb03iz', 'td05ad', 'sb08ny', 'ab08nz', 'tb05ad', 'mb03ed']\n",
+      "['sb02mr', 'mb04vd', 'bd02ad', 'mb03qy', 'sb01md', 'sb03sd', 'tb04bw', 'sb10qd']\n",
+      "['de01od', 'mb04iy', 'mb03rd', 'ag08bd', 'sb04rv', 'ab09hd', 'sb03mw', 'sb10kd']\n",
+      "['ab05sd', 'ab09iy', 'ue01md', 'sg03bu', 'mb04ty', 'md03ad', 'tg01nd', 'mb03bc']\n",
+      "['sb03ov', 'mb04vx', 'mb03fz', 'tb01wx', 'mb02cx', 'ib01nd', 'mb02wd', 'sb03mu']\n",
+      "['sb02mv', 'tf01mx', 'mb04ow', 'mb04nd', 'sb01dd', 'sb03md', 'sg02nd', 'sb04qd']\n",
+      "['mb03vd', 'mb01rx', 'ib01ad', 'ma02gz', 'ab05nd', 'sb10td', 'tc05ad', 'mb02tz']\n",
+      "['mb03ad', 'sb04nx', 'ma02dd', 'sg02cw', 'sg03bv', 'mb01oh', 'mc01td', 'dg01md']\n",
+      "['mb04dy', 'mb01oe', 'sb04rd', 'mb04id', 'mb01kd', 'mb02cv', 'ma02iz', 'mb03yt']\n",
+      "['mb04dd', 'sb01fy', 'bb01ad', 'sb03rd', 'mc01nd', 'ma02az', 'mb03lp', 'mb04dp']\n",
+      "['ab09jv', 'mb03id', 'tg01hd', 'tg01gd', 'sb04pd', 'tf01pd', 'sb08dd', 'sb03sx']\n",
+      "['ab07md', 'sb10rd', 'mb04xy', 'sg02ad', 'sb04nv', 'nf01bs', 'md03bb', 'mb03ld']\n",
+      "['tg01fz', 'tg01qd', 'mb03kc', 'mc03md', 'tb01xd', 'mb04tx', 'sb10id', 'sb10zp']\n",
+      "['mb03xp', 'ib01py', 'mb03hd', 'mb03cz', 'mb04md', 'mb02xd', 'mb01ud', 'sg03bd']\n",
+      "['sg02cv', 'mb01qd', 'mb01sd', 'ma02oz', 'sb02nd', 'sb03mx', 'mb03jd', 'mb02od']\n",
+      "['sb02cx', 'sb02qd', 'bb02ad', 'ma02ad', 'mb4dlz', 'mb03lz', 'ib01pd', 'sb01bd']\n",
+      "['mb04bp', 'tb04cd', 'ib01cd', 'tb01vd', 'nf01bw', 'mb03od', 'mb04tu', 'mb03lf']\n",
+      "['mb03qg', 'sb08cd', 'tb03ad', 'ib03bd', 'sg03by', 'fb01sd', 'sg02cx', 'ag8byz']\n",
+      "['mb01os', 'ab08ny', 'mb02id', 'nf01be', 'mb04ox', 'tb01xz', 'sg03br', 'mb01td']\n",
+      "['md03bx', 'mb04tt', 'mb02uv', 'sg03ax', 'mb03td', 'sb03oy', 'ab09cd', 'ab09ed']\n",
+      "['ib01px', 'td03ay', 'sb06nd', 'sb02ov', 'sb02mu', 'tg01pd', 'mb05nd', 'sg03bt']\n",
+      "['ab09fd', 'sb04qu', 'tc01od', 'mb03xs', 'mb02gd', 'mb04wd', 'ma02od', 'mb04db']\n",
+      "['ab05od', 'sb04ow', 'ag08bz', 'mb04py', 'sb16cy', 'mb03vw', 'mb04jd', 'mb03dd']\n",
+      "['sb10ed', 'sb02md', 'mb03zd', 'ma01ad', 'td04ad', 'mc01sw', 'sb08gd', 'mb03rw']\n",
+      "['ab09hx', 'mb04wp', 'ib01oy', 'mb04ed', 'tb01px', 'df01md', 'ab09ix', 'tb04ad']\n",
+      "['mb03xu', 'ab09kd', 'tg01kd', 'sb03my', 'mb04hd', 'mb01uz', 'ma02bz', 'mb03bz']\n",
+      "['sb03ot', 'mb04pb', 'mb04oy', 'md03bf', 'mb01oo', 'mc03nd', 'nf01bv', 'ab09nd']\n",
+      "['mb04ds', 'ud01nd', 'mb01ry', 'mb03rx', 'sb10zd', 'mb01ru', 'nf01bq', 'mb03wx']\n",
+      "['tg01nx', 'ud01cd', 'tg01id', 'tg01hx', 'ma01cd', 'ab09dd', 'mb03ag', 'dg01nd']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 51 routines that are found in slicot and slycot. (intersection)\n",
+      "There are currently 55 routines that are found in slicot and slycot. (intersection)\n",
       "------\n",
-      "['ab13ed', 'mb03rd', 'ab08nd', 'ab09ax', 'sg03ad', 'tc04ad', 'ab13dd', 'ab05md']\n",
-      "['sb04md', 'sb10hd', 'mc01td', 'mb03wd', 'ab04md', 'ab09nd', 'ab13md', 'sb02md']\n",
-      "['sb10yd', 'mb05md', 'ab05nd', 'sb10fd', 'tf01md', 'ag08bd', 'mb05nd', 'tb03ad']\n",
-      "['sg03bd', 'tb05ad', 'tc01od', 'ab07nd', 'sb01bd', 'ab08nz', 'ab13bd', 'mb03vd']\n",
-      "['tb01id', 'td04ad', 'sb02od', 'sg02ad', 'ab09ad', 'ab09md', 'ab01nd', 'sb02mt']\n",
-      "['ab13fd', 'ab09bd', 'sb03md', 'tb04ad', 'sb03od', 'tb01pd', 'tf01rd', 'sb10dd']\n",
-      "['sb10ad', 'sb04qd', 'mb03vy']\n",
+      "['ab08nd', 'tb05ad', 'sb02mt', 'sb10ad', 'ab13md', 'tg01fd', 'mb02ed', 'ab05md']\n",
+      "['sb10dd', 'sg03ad', 'ab13ed', 'sb03md', 'tb01id', 'ab13dd', 'sb04qd', 'ab07nd']\n",
+      "['ab09ad', 'mb03vd', 'ab09ax', 'sb01bd', 'ab04md', 'mb03vy', 'mb05nd', 'tf01md']\n",
+      "['ab05nd', 'sb04md', 'ab09nd', 'tf01rd', 'tc01od', 'ab01nd', 'tb03ad', 'sb10hd']\n",
+      "['mb03rd', 'ag08bd', 'sg02ad', 'sb10yd', 'sb03od', 'sb10jd', 'tc04ad', 'ab13bd']\n",
+      "['sb02md', 'ab09md', 'ab09bd', 'mb05md', 'mc01td', 'td04ad', 'tg01ad', 'tb01pd']\n",
+      "['ab08nz', 'sb10fd', 'ab13fd', 'sb02od', 'mb03wd', 'sg03bd', 'tb04ad']\n",
       "None\n"
      ]
     }
@@ -519,7 +518,7 @@
        "    <tr>\n",
        "      <th>m</th>\n",
        "      <td>Mathematical routines</td>\n",
-       "      <td>7</td>\n",
+       "      <td>8</td>\n",
        "      <td>281</td>\n",
        "    </tr>\n",
        "    <tr>\n",
@@ -531,13 +530,13 @@
        "    <tr>\n",
        "      <th>s</th>\n",
        "      <td>Synthesis Routines</td>\n",
-       "      <td>17</td>\n",
+       "      <td>18</td>\n",
        "      <td>131</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>t</th>\n",
        "      <td>Transformation Routines</td>\n",
-       "      <td>10</td>\n",
+       "      <td>12</td>\n",
        "      <td>77</td>\n",
        "    </tr>\n",
        "    <tr>\n",
@@ -549,7 +548,7 @@
        "    <tr>\n",
        "      <th>total</th>\n",
        "      <td>-</td>\n",
-       "      <td>52</td>\n",
+       "      <td>56</td>\n",
        "      <td>607</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
@@ -564,12 +563,12 @@
        "d                Data Analysis                0                8\n",
        "f                    Filtering                0                6\n",
        "i               Identification                0               15\n",
-       "m        Mathematical routines                7              281\n",
+       "m        Mathematical routines                8              281\n",
        "n            Nonlinear Systems                0               16\n",
-       "s           Synthesis Routines               17              131\n",
-       "t      Transformation Routines               10               77\n",
+       "s           Synthesis Routines               18              131\n",
+       "t      Transformation Routines               12               77\n",
        "u             Utility Routines                0                7\n",
-       "total                        -               52              607"
+       "total                        -               56              607"
       ]
      },
      "metadata": {},
@@ -577,7 +576,7 @@
     },
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -653,7 +652,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/dev/inspect_slycot.ipynb
index 2ca1b120..d15bff71 100644
--- a/doc/source/dev/inspect_slycot.ipynb
+++ b/doc/source/dev/inspect_slycot.ipynb
@@ -27,7 +27,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.5.5.dev49+gfb26217.d20230826\n"
+      "0.5.5.dev75+g8cd8497\n"
      ]
     }
    ],
@@ -99,17 +99,18 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 52 routines that are found in slycot.\n",
+      "There are currently 56 routines that are found in slycot.\n",
       "------\n",
       "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd']\n",
       "['ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd']\n",
       "['ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd']\n",
-      "['mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd']\n",
-      "['mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od', 'sb03md']\n",
-      "['sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd']\n",
-      "['sb10fd', 'sb10hd', 'sb10yd', 'sg02ad', 'sg03ad', 'sg03bd']\n",
-      "['tb01id', 'tb01pd', 'tb03ad', 'tb04ad', 'tb05ad', 'tc01od']\n",
-      "['tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
+      "['mb02ed', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md']\n",
+      "['mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt', 'sb02od']\n",
+      "['sb03md', 'sb03md57', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad']\n",
+      "['sb10dd', 'sb10fd', 'sb10hd', 'sb10jd', 'sb10yd', 'sg02ad']\n",
+      "['sg03ad', 'sg03bd', 'tb01id', 'tb01pd', 'tb03ad', 'tb04ad']\n",
+      "['tb05ad', 'tc01od', 'tc04ad', 'td04ad', 'tf01md', 'tf01rd']\n",
+      "['tg01ad', 'tg01fd']\n",
       "None\n"
      ]
     }
@@ -139,21 +140,21 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 73 routines that are found in slycot._wrapper.\n",
+      "There are currently 74 routines that are found in slycot._wrapper.\n",
       "------\n",
       "['ab01nd', 'ab04md', 'ab05md', 'ab05nd', 'ab07nd', 'ab08nd']\n",
       "['ab08nz', 'ab09ad', 'ab09ax', 'ab09bd', 'ab09md', 'ab09nd']\n",
       "['ab13bd', 'ab13dd', 'ab13ed', 'ab13fd', 'ab13md', 'ag08bd']\n",
-      "['mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md', 'mb05nd']\n",
-      "['mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl', 'sb02mt_n']\n",
-      "['sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n', 'sb03md']\n",
-      "['sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd', 'sb10fd']\n",
-      "['sb10hd', 'sb10jd', 'sb10yd', 'sg02ad_bb', 'sg02ad_bc', 'sg02ad_bd']\n",
-      "['sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id', 'tb01pd']\n",
-      "['tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag', 'tb05ad_ng']\n",
-      "['tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r', 'td04ad_c']\n",
-      "['td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii', 'tg01fd_nn']\n",
-      "['tg01fd_uu']\n",
+      "['mb02ed', 'mb03rd', 'mb03vd', 'mb03vy', 'mb03wd', 'mb05md']\n",
+      "['mb05nd', 'mc01td', 'sb01bd', 'sb02md', 'sb02mt_c', 'sb02mt_cl']\n",
+      "['sb02mt_n', 'sb02mt_nl', 'sb02od_b', 'sb02od_c', 'sb02od_d', 'sb02od_n']\n",
+      "['sb03md', 'sb03od', 'sb04md', 'sb04qd', 'sb10ad', 'sb10dd']\n",
+      "['sb10fd', 'sb10hd', 'sb10jd', 'sb10yd', 'sg02ad_bb', 'sg02ad_bc']\n",
+      "['sg02ad_bd', 'sg02ad_bn', 'sg02ad_g', 'sg03ad', 'sg03bd', 'tb01id']\n",
+      "['tb01pd', 'tb03ad_l', 'tb03ad_r', 'tb04ad_c', 'tb04ad_r', 'tb05ad_ag']\n",
+      "['tb05ad_ng', 'tb05ad_nh', 'tc01od_l', 'tc01od_r', 'tc04ad_l', 'tc04ad_r']\n",
+      "['td04ad_c', 'td04ad_r', 'tf01md', 'tf01rd', 'tg01ad', 'tg01fd_ii']\n",
+      "['tg01fd_nn', 'tg01fd_uu']\n",
       "None\n"
      ]
     }
@@ -193,21 +194,20 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 10 routines that found in slycot not in slycot._wrapper.\n",
+      "There are currently 11 routines that found in slycot not in slycot._wrapper.\n",
       "------\n",
-      "['tb05ad', 'td04ad', 'tc01od', 'tc04ad', 'sb02od', 'sg02ad']\n",
-      "['tb04ad', 'tb03ad', 'sb02mt', 'sb03md57']\n",
+      "['sb02od', 'sb02mt', 'sg02ad', 'tg01fd', 'td04ad', 'tb03ad']\n",
+      "['sb03md57', 'tc01od', 'tc04ad', 'tb04ad', 'tb05ad']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 31 routines that are found in slycot._wrapper not in slycot.\n",
+      "There are currently 29 routines that are found in slycot._wrapper not in slycot.\n",
       "------\n",
-      "['tb03ad_l', 'sb02mt_n', 'tb04ad_r', 'sg02ad_bb', 'sb02od_d', 'sb10jd']\n",
-      "['tc01od_r', 'sb02mt_nl', 'tg01fd_nn', 'tg01ad', 'sb02od_n', 'tc04ad_r']\n",
-      "['tb03ad_r', 'sg02ad_bc', 'tc04ad_l', 'sb02mt_c', 'sg02ad_bd', 'sb02od_b']\n",
-      "['sg02ad_g', 'sb02od_c', 'tg01fd_uu', 'td04ad_c', 'tb05ad_ng', 'tb05ad_nh']\n",
-      "['sg02ad_bn', 'tb04ad_c', 'sb02mt_cl', 'tb05ad_ag', 'tc01od_l', 'tg01fd_ii']\n",
-      "['td04ad_r']\n",
+      "['sb02od_n', 'sg02ad_bd', 'sb02od_d', 'sg02ad_g', 'tb04ad_r', 'sg02ad_bn']\n",
+      "['tb05ad_ag', 'tc01od_l', 'sb02mt_c', 'sb02mt_cl', 'tb03ad_l', 'sb02od_c']\n",
+      "['tc04ad_r', 'sb02mt_n', 'tb05ad_nh', 'sb02od_b', 'tg01fd_uu', 'tg01fd_nn']\n",
+      "['tb03ad_r', 'tc01od_r', 'td04ad_r', 'tb04ad_c', 'sb02mt_nl', 'tc04ad_l']\n",
+      "['tg01fd_ii', 'sg02ad_bc', 'tb05ad_ng', 'td04ad_c', 'sg02ad_bb']\n",
       "None\n",
       "\n",
       "\n"
@@ -241,34 +241,36 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "There are currently 83 routines that are found in slycot or in slycot._wrapper. (union)\n",
+      "There are currently 85 routines that are found in slycot or in slycot._wrapper. (union)\n",
       "------\n",
-      "['tb03ad_l', 'ag08bd', 'ab09bd', 'ab13ed', 'ab01nd', 'mb03rd']\n",
-      "['tb04ad_r', 'ab09nd', 'ab05nd', 'tf01rd', 'tc04ad', 'ab13bd']\n",
-      "['td04ad', 'sg02ad_bb', 'sb10dd', 'sb10jd', 'tc01od_r', 'tg01fd_nn']\n",
-      "['tb05ad', 'mb05md', 'sb02od_n', 'tb03ad_r', 'sb02md', 'sg02ad_bc']\n",
-      "['mb05nd', 'sb04qd', 'tc04ad_l', 'sb03od', 'ab07nd', 'sb02mt_c']\n",
-      "['sb10hd', 'ab05md', 'ab08nz', 'sg02ad_g', 'sb02od_c', 'sb04md']\n",
-      "['tg01fd_uu', 'ab09ad', 'tb05ad_nh', 'sg02ad_bn', 'mb03vd', 'sb02mt_cl']\n",
-      "['tb05ad_ag', 'sb02mt', 'tc01od_l', 'sg03ad', 'tb01id', 'mb03wd']\n",
-      "['ab09ax', 'td04ad_r', 'sb10yd', 'sb02mt_n', 'ab04md', 'sb01bd']\n",
-      "['sb10fd', 'sb03md', 'sb02od_d', 'ab13fd', 'sb02mt_nl', 'tg01ad']\n",
-      "['ab13md', 'tc01od', 'tc04ad_r', 'tf01md', 'ab09md', 'sg03bd']\n",
-      "['sg02ad_bd', 'sb02od_b', 'sg02ad', 'tb04ad', 'ab13dd', 'ab08nd']\n",
-      "['td04ad_c', 'tb01pd', 'tb05ad_ng', 'tb04ad_c', 'mc01td', 'sb02od']\n",
-      "['sb10ad', 'tb03ad', 'mb03vy', 'sb03md57', 'tg01fd_ii']\n",
+      "['ab04md', 'sg02ad_bd', 'mb02ed', 'tb04ad_r', 'sg02ad_g', 'sb04qd']\n",
+      "['sg02ad_bn', 'tf01md', 'td04ad', 'tb05ad_ag', 'tb01pd', 'tc04ad']\n",
+      "['tb01id', 'sb04md', 'sb02mt_cl', 'tc04ad_r', 'sb02od_b', 'tg01fd_uu']\n",
+      "['mb05md', 'tg01fd_nn', 'sb02mt', 'ab09ad', 'ab13md', 'mc01td']\n",
+      "['tg01fd', 'sg03ad', 'sb10hd', 'td04ad_r', 'ab09bd', 'sb01bd']\n",
+      "['tc04ad_l', 'tg01fd_ii', 'sb10fd', 'ab13bd', 'tb03ad', 'sg02ad_bc']\n",
+      "['ab09ax', 'ab09nd', 'sg02ad_bb', 'tb05ad', 'ab13fd', 'sb03md']\n",
+      "['sb02od_n', 'sb02od_d', 'ab08nd', 'tc01od_l', 'ab09md', 'sb02mt_c']\n",
+      "['sb10dd', 'tb03ad_l', 'ab08nz', 'sb02od_c', 'sg02ad', 'sb02mt_n']\n",
+      "['sg03bd', 'tb05ad_nh', 'sb03md57', 'tc01od', 'sb03od', 'mb03vd']\n",
+      "['sb10yd', 'tf01rd', 'sb02od', 'sb10ad', 'ab01nd', 'sb02md']\n",
+      "['tg01ad', 'tb03ad_r', 'sb10jd', 'mb05nd', 'mb03rd', 'mb03vy']\n",
+      "['tc01od_r', 'tb04ad_c', 'ab05nd', 'sb02mt_nl', 'mb03wd', 'ab13dd']\n",
+      "['ab07nd', 'ab05md', 'ag08bd', 'ab13ed', 'tb05ad_ng', 'tb04ad']\n",
+      "['td04ad_c']\n",
       "None\n",
       "\n",
       "\n",
-      "There are currently 42 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
+      "There are currently 45 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
       "------\n",
-      "['ag08bd', 'sb10yd', 'ab09bd', 'ab13ed', 'ab01nd', 'ab04md']\n",
-      "['mb03rd', 'ab09nd', 'ab05nd', 'sb01bd', 'tf01rd', 'ab13bd']\n",
-      "['sb10fd', 'sb10dd', 'sb03md', 'ab13fd', 'ab13md', 'mb05md']\n",
-      "['tf01md', 'sb02md', 'mb05nd', 'sb04qd', 'ab09ax', 'ab09md']\n",
-      "['sb03od', 'ab07nd', 'sb10hd', 'sg03bd', 'ab05md', 'ab08nz']\n",
-      "['sb04md', 'ab13dd', 'ab08nd', 'ab09ad', 'tb01pd', 'mb03vd']\n",
-      "['mc01td', 'sb10ad', 'mb03vy', 'sg03ad', 'tb01id', 'mb03wd']\n",
+      "['ab04md', 'ab13fd', 'sb03md', 'mb02ed', 'ab08nd', 'sb04qd']\n",
+      "['tf01md', 'tb01pd', 'tb01id', 'ab09md', 'sb04md', 'sb10dd']\n",
+      "['ab08nz', 'sg03bd', 'sb03od', 'sb10yd', 'mb03vd', 'mb05md']\n",
+      "['tf01rd', 'sb10ad', 'ab09ad', 'ab01nd', 'ab13md', 'mc01td']\n",
+      "['sb02md', 'tg01ad', 'sg03ad', 'sb10jd', 'mb05nd', 'mb03rd']\n",
+      "['mb03vy', 'sb10hd', 'ab05nd', 'ab09bd', 'mb03wd', 'ab13dd']\n",
+      "['sb01bd', 'ab07nd', 'ab05md', 'sb10fd', 'ab13bd', 'ag08bd']\n",
+      "['ab13ed', 'ab09ax', 'ab09nd']\n",
       "None\n",
       "\n",
       "\n"
@@ -300,7 +302,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]

From c08b251a0d89a017f9e1051659c2ace5a5ccef81 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Tue, 9 Jan 2024 23:45:54 +0100
Subject: [PATCH 19/23] Automate update of year in copyright

---
 doc/conf.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/doc/conf.py b/doc/conf.py
index 2938ea5a..c9ad4035 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -13,8 +13,9 @@
 import subprocess
 subprocess.run(["python", "check_names.py"])
 
+from datetime import date
 project = 'Slycot'
-copyright = '2023, Slycot Developers'
+copyright = f'{date.today().year}, Slycot Developers'
 author = 'Slycot Developers'
 
 # Version information - read from the source code

From 7bd444d2fcd354aeb0e702a8d35b8bb242b74af5 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 18 Jan 2024 23:33:27 +0100
Subject: [PATCH 20/23] Change doc organization to diataxis approach

---
 doc/Makefile                                  |   4 +-
 doc/check_names.py                            |  45 ----
 doc/create_names_for_reference.py             |  37 ----
 doc/make.bat                                  |   4 +-
 doc/{ => source}/conf.py                      |   6 +-
 .../index.rst}                                |  17 +-
 doc/source/dev/index.rst                      |  10 -
 doc/source/examples/ab13dd_nb.ipynb           |   1 -
 doc/source/examples/ad13dd_example.rst        |  10 -
 doc/source/examples/index.rst                 |  21 --
 doc/source/explanation/index.rst              |  12 ++
 .../inspect_slicot_slycot.ipynb               |   0
 .../{dev => explanation}/inspect_slycot.ipynb |   0
 .../{dev => explanation}/slicot_routines.txt  |   0
 doc/source/guides/ab13dd_nb.ipynb             | 200 ++++++++++++++++++
 doc/source/guides/system_norms.rst            |  11 +
 doc/{ => source}/index.rst                    |  52 +++--
 doc/source/reference/index.rst                |  19 +-
 doc/source/tutorial/getting.rst               |   7 +
 doc/{intro.rst => source/tutorial/index.rst}  |  25 +--
 20 files changed, 297 insertions(+), 184 deletions(-)
 delete mode 100644 doc/check_names.py
 delete mode 100644 doc/create_names_for_reference.py
 mode change 100755 => 100644 doc/make.bat
 rename doc/{ => source}/conf.py (96%)
 rename doc/source/{dev/contributing.rst => contributing/index.rst} (78%)
 delete mode 100644 doc/source/dev/index.rst
 delete mode 120000 doc/source/examples/ab13dd_nb.ipynb
 delete mode 100644 doc/source/examples/ad13dd_example.rst
 delete mode 100644 doc/source/examples/index.rst
 create mode 100644 doc/source/explanation/index.rst
 rename doc/source/{dev => explanation}/inspect_slicot_slycot.ipynb (100%)
 rename doc/source/{dev => explanation}/inspect_slycot.ipynb (100%)
 rename doc/source/{dev => explanation}/slicot_routines.txt (100%)
 create mode 100644 doc/source/guides/ab13dd_nb.ipynb
 create mode 100644 doc/source/guides/system_norms.rst
 rename doc/{ => source}/index.rst (52%)
 create mode 100644 doc/source/tutorial/getting.rst
 rename doc/{intro.rst => source/tutorial/index.rst} (66%)

diff --git a/doc/Makefile b/doc/Makefile
index d4bb2cbb..d0c3cbf1 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -5,8 +5,8 @@
 # from the environment for the first two.
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
-SOURCEDIR     = .
-BUILDDIR      = _build
+SOURCEDIR     = source
+BUILDDIR      = build
 
 # Put it first so that "make" without argument is like "make help".
 help:
diff --git a/doc/check_names.py b/doc/check_names.py
deleted file mode 100644
index 6a6db356..00000000
--- a/doc/check_names.py
+++ /dev/null
@@ -1,45 +0,0 @@
-# Generate the routines divide by slicot-chapters for sphinx-doc.
-# Only prints out the names, copy & past them into slycot_outer.rst and slycot_inner.rst.
-import re
-import pandas as pd
-import warnings
-
-import slycot
-slycot.__version__
-
-def get_slycot_routines(sly):
-    all_attributes = dir(sly)
-    r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
-    matched_attributes = list(filter(r.match, all_attributes))
-    return matched_attributes
-
-def get_slycot_routines_help(file,pre=""):
-    textfile = open(file, 'r')
-    filetext = textfile.read()
-    textfile.close()
-    lines = filetext.split("\n")
-    res = [ele.replace(" ","") for ele in lines]
-    res = [ele.replace("_wrapper.","") for ele in res]
-
-    r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
-    matched_attributes = list(filter(r.match, res))
-    return matched_attributes
-
-slycot_wrapper = get_slycot_routines(slycot)
-slycot_wrapper.sort()
-slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)
-slycot_f2py_wrapper.sort()
-
-slycot_wrapper_help = get_slycot_routines_help("source/reference/slycot_outer.rst")
-slycot_wrapper_help.sort()
-
-slycot_f2py_wrapper_help = get_slycot_routines_help("source/reference/slycot_inner.rst")
-slycot_f2py_wrapper_help.sort()
-
-missing = list(set(slycot_wrapper) - set(slycot_wrapper_help))
-if bool(missing):
-    warnings.warn(f"The routines {missing} are missing in 'slycot_outer.rst'.")
-
-missing = list(set(slycot_f2py_wrapper) - set(slycot_f2py_wrapper_help))
-if bool(missing):
-    warnings.warn(f"The routines _wrapper.{missing} are missing in 'slycot_inner.rst'.")
\ No newline at end of file
diff --git a/doc/create_names_for_reference.py b/doc/create_names_for_reference.py
deleted file mode 100644
index 39117918..00000000
--- a/doc/create_names_for_reference.py
+++ /dev/null
@@ -1,37 +0,0 @@
-# Generate the routines divide by slicot-chapters for sphinx-doc.
-# Only prints out the names, copy & past them into slycot_outer.rst and slycot_inner.rst.
-import re
-import pandas as pd
-import matplotlib.pyplot as plt
-from matplotlib_venn import venn2
-
-import slycot
-slycot.__version__
-
-def get_slycot_routines(sly):
-    all_attributes = dir(sly)
-    r = re.compile("[a-z][a-z][0-9][0-9a-z][a-z][a-z]")
-    matched_attributes = list(filter(r.match, all_attributes))
-    return matched_attributes
-
-slycot_wrapper = get_slycot_routines(slycot)
-slycot_wrapper.sort()
-slycot_f2py_wrapper = get_slycot_routines(slycot._wrapper)
-slycot_f2py_wrapper.sort()
-
-from itertools import groupby
-from operator import itemgetter
-
-print(f"\nslycot_wrapper {len(slycot_wrapper)}\n")
-for chapter_letter, chapter_routines in groupby(sorted(slycot_wrapper), key=itemgetter(0)):
-    print(chapter_letter)
-    for routine in chapter_routines:
-        print(routine)
-    print("\n")
-
-print(f"\nslycot_f2py_wrapper {len(slycot_f2py_wrapper)}\n")
-for chapter_letter, chapter_routines in groupby(sorted(slycot_f2py_wrapper), key=itemgetter(0)):
-    print(chapter_letter)
-    for routine in chapter_routines:
-        print("_wrapper."+routine)
-    print("\n")
diff --git a/doc/make.bat b/doc/make.bat
old mode 100755
new mode 100644
index 32bb2452..747ffb7b
--- a/doc/make.bat
+++ b/doc/make.bat
@@ -7,8 +7,8 @@ REM Command file for Sphinx documentation
 if "%SPHINXBUILD%" == "" (
 	set SPHINXBUILD=sphinx-build
 )
-set SOURCEDIR=.
-set BUILDDIR=_build
+set SOURCEDIR=source
+set BUILDDIR=build
 
 %SPHINXBUILD% >NUL 2>NUL
 if errorlevel 9009 (
diff --git a/doc/conf.py b/doc/source/conf.py
similarity index 96%
rename from doc/conf.py
rename to doc/source/conf.py
index c9ad4035..3c1eb275 100644
--- a/doc/conf.py
+++ b/doc/source/conf.py
@@ -5,14 +5,11 @@
 
 # -- Project information -----------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
-
 import os
 import sys
 sys.path.insert(0, os.path.abspath('../slycot'))
 
-import subprocess
-subprocess.run(["python", "check_names.py"])
-
+master_doc = "index"
 from datetime import date
 project = 'Slycot'
 copyright = f'{date.today().year}, Slycot Developers'
@@ -29,7 +26,6 @@
 
 print("version %s, release %s" % (version, release))
 
-
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
 
diff --git a/doc/source/dev/contributing.rst b/doc/source/contributing/index.rst
similarity index 78%
rename from doc/source/dev/contributing.rst
rename to doc/source/contributing/index.rst
index d7b97152..e1ccbbf0 100644
--- a/doc/source/dev/contributing.rst
+++ b/doc/source/contributing/index.rst
@@ -1,10 +1,12 @@
-**********************
-Contributing to Slycot
-**********************
+.. this page is referenced from the front page but it's unnecessary as a navigation section for now.
+
+:orphan:
 
+Contributing to Slycot
+======================
 
 Development process and tools
-=============================
+-----------------------------
 
 The development process is currently described on the `slycot github repo <https://github.com/python-control/Slycot>`_ and the `slycot github wiki <https://github.com/python-control/Slycot/wiki>`_.
 You should be familiar with following topics:
@@ -17,13 +19,12 @@ You should be familiar with following topics:
 - `f2py <https://numpy.org/devdocs/f2py/index.html>`_
 
 numpydoc
-========
+--------
 
 Slycot uses numpydoc for the docstring style in order to provide support the Numpy docstring format in sphinx,
 `see numpydoc example <https://numpydoc.readthedocs.io/en/latest/example.html>`_.
 
 F2PY
-====
+----
 
-Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_.
-`F2PY`_ is currently a part of `NumPy <http://www.numpy.org>`_.
\ No newline at end of file
+Slycot heavily relias on `F2PY <https://numpy.org/devdocs/f2py/index.html>`_, which is currently a part of `NumPy <http://www.numpy.org>`_.
\ No newline at end of file
diff --git a/doc/source/dev/index.rst b/doc/source/dev/index.rst
deleted file mode 100644
index 21cfebb4..00000000
--- a/doc/source/dev/index.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-******************
-Development
-******************
-
-.. toctree::
-   :maxdepth: 1
-
-   contributing
-   inspect_slycot
-   inspect_slicot_slycot
diff --git a/doc/source/examples/ab13dd_nb.ipynb b/doc/source/examples/ab13dd_nb.ipynb
deleted file mode 120000
index 255c0e77..00000000
--- a/doc/source/examples/ab13dd_nb.ipynb
+++ /dev/null
@@ -1 +0,0 @@
-../../../examples/ab13dd_nb.ipynb
\ No newline at end of file
diff --git a/doc/source/examples/ad13dd_example.rst b/doc/source/examples/ad13dd_example.rst
deleted file mode 100644
index 53f05964..00000000
--- a/doc/source/examples/ad13dd_example.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-**************
-ad13dd_example
-**************
-
-Code
-====
-
-.. literalinclude:: ../../../examples/ab13dd_example.py
-   :language: python
-   :linenos:
\ No newline at end of file
diff --git a/doc/source/examples/index.rst b/doc/source/examples/index.rst
deleted file mode 100644
index 59877bd8..00000000
--- a/doc/source/examples/index.rst
+++ /dev/null
@@ -1,21 +0,0 @@
-********
-Examples
-********
-
-
-Python scripts
-==============
-
-.. toctree::
-   :maxdepth: 1
-
-   ad13dd_example
-
-
-Jupyter notebooks
-=================
-
-.. toctree::
-   :maxdepth: 1
-
-   ab13dd_nb
\ No newline at end of file
diff --git a/doc/source/explanation/index.rst b/doc/source/explanation/index.rst
new file mode 100644
index 00000000..dec31068
--- /dev/null
+++ b/doc/source/explanation/index.rst
@@ -0,0 +1,12 @@
+.. this page is referenced from the front page but it's unnecessary as a navigation section for now.
+
+:orphan:
+
+Inspect
+=======
+
+.. toctree::
+   :maxdepth: 1
+
+   inspect_slycot
+   inspect_slicot_slycot
diff --git a/doc/source/dev/inspect_slicot_slycot.ipynb b/doc/source/explanation/inspect_slicot_slycot.ipynb
similarity index 100%
rename from doc/source/dev/inspect_slicot_slycot.ipynb
rename to doc/source/explanation/inspect_slicot_slycot.ipynb
diff --git a/doc/source/dev/inspect_slycot.ipynb b/doc/source/explanation/inspect_slycot.ipynb
similarity index 100%
rename from doc/source/dev/inspect_slycot.ipynb
rename to doc/source/explanation/inspect_slycot.ipynb
diff --git a/doc/source/dev/slicot_routines.txt b/doc/source/explanation/slicot_routines.txt
similarity index 100%
rename from doc/source/dev/slicot_routines.txt
rename to doc/source/explanation/slicot_routines.txt
diff --git a/doc/source/guides/ab13dd_nb.ipynb b/doc/source/guides/ab13dd_nb.ipynb
new file mode 100644
index 00000000..84af663b
--- /dev/null
+++ b/doc/source/guides/ab13dd_nb.ipynb
@@ -0,0 +1,200 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# ab13dd Example\n",
+    "\n",
+    "Johannes Kaisinger, 26 July 2023"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "import scipy.linalg as linalg\n",
+    "import slycot"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "A = np.array([\n",
+    "    [-1, 10],\n",
+    "    [0, -1]\n",
+    "])\n",
+    "\n",
+    "B = np.array([\n",
+    "    [0],\n",
+    "    [1]])\n",
+    "\n",
+    "C = np.array([\n",
+    "    [1, 0]])\n",
+    "D = np.zeros((1,1))\n",
+    "\n",
+    "n, m = B.shape\n",
+    "p, _ = C.shape"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Slycot H-infinity Norm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "10.0\n"
+     ]
+    }
+   ],
+   "source": [
+    "out = slycot.ab13dd('C', 'I', 'N', 'D', n, m, p, A, np.eye(n), B, C, D)\n",
+    "norm_sylcot, _ = out\n",
+    "print(norm_sylcot)"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Bisection algorithm H-infinity Norm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def H_inf(A,B,C,D,gam_l,gam_h,emin):\n",
+    "    \"\"\"naive implementation of bisection algorithm for H-infinity norm\n",
+    "\n",
+    "    Args:\n",
+    "        A (_type_): _description_\n",
+    "        B (_type_): _description_\n",
+    "        C (_type_): _description_\n",
+    "        D (_type_): _description_\n",
+    "        gam_l (_type_): _description_\n",
+    "        gam_h (_type_): _description_\n",
+    "        emin (_type_): _description_\n",
+    "\n",
+    "    Returns:\n",
+    "        _type_: _description_\n",
+    "    \"\"\"\n",
+    "    gam_last_stable = None\n",
+    "    while (gam_h - gam_l) > emin:\n",
+    "        gam = (gam_l+gam_h)/2\n",
+    "        R = gam**2*np.eye(1)-D.T@D\n",
+    "        R_inv = linalg.inv(R)\n",
+    "        Mgam = np.vstack((\n",
+    "        np.hstack((A+B@R_inv@D.T@C, B@R_inv@B.T)),\n",
+    "        np.hstack((-C.T@(np.eye(1)+D@R_inv@D.T)@C, -(A+B@R_inv@D.T@C).T))))\n",
+    "        d = linalg.eigvals(Mgam)\n",
+    "        if np.any(np.imag(d)):\n",
+    "            gam_l = gam\n",
+    "        else:\n",
+    "            gam_h = gam\n",
+    "            gam_last_stable = gam\n",
+    "    return gam_last_stable"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "10.000000000000638\n"
+     ]
+    }
+   ],
+   "source": [
+    "norm_bi = H_inf(A,B,C,D,0.001,100,1e-10)\n",
+    "print(norm_bi)"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Compare"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "10.0\n",
+      "10.000000000000638\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 7,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# compare results\n",
+    "print(norm_sylcot)\n",
+    "print(norm_bi)\n",
+    "np.allclose(norm_sylcot,norm_bi)\n"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.6"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/source/guides/system_norms.rst b/doc/source/guides/system_norms.rst
new file mode 100644
index 00000000..01126619
--- /dev/null
+++ b/doc/source/guides/system_norms.rst
@@ -0,0 +1,11 @@
+.. this page is referenced from the front page but it's unnecessary as a navigation section for now.
+
+:orphan:
+
+System norms
+============
+
+.. toctree::
+   :maxdepth: 1
+
+   ab13dd_nb
\ No newline at end of file
diff --git a/doc/index.rst b/doc/source/index.rst
similarity index 52%
rename from doc/index.rst
rename to doc/source/index.rst
index 28579d4d..47736c24 100644
--- a/doc/index.rst
+++ b/doc/source/index.rst
@@ -1,15 +1,16 @@
-.. slycot documentation master file, created by
-   sphinx-quickstart on Wed Jul 26 15:18:00 2023.
+.. Slycot documentation master file, created by
+   sphinx-quickstart on Thu Jan 18 21:43:47 2024.
    You can adapt this file completely to your liking, but it should at least
    contain the root `toctree` directive.
 
-Slycot
-======
+Welcome to Slycot's documentation!
+==================================
 
 Python wrapper for selected `SLICOT <https://github.com/SLICOT/SLICOT-Reference>`_ routines, 
 notably including solvers for Riccati, Lyapunov, and Sylvester equations.
 
-.. rubric:: Chapters
+Chapters
+--------
 
 The Slycot library is organised by chapters. Each chapter can be identified by a single letter. The following chapters are included:
 
@@ -25,19 +26,38 @@ The Slycot library is organised by chapters. Each chapter can be identified by a
 - ``T`` : Transformation Routines
 - ``U`` : Utility Routines
 
-.. rubric:: Documentation
+.. toctree::
+   :maxdepth: 2
+   :hidden:
+   :caption: 🚀 Tutorials
+
+   /tutorial/index
+   /tutorial/getting
+
+.. toctree::
+   :maxdepth: 2
+   :hidden:
+   :caption: 💡 Explanation
+
+   /explanation/index
 
 .. toctree::
-   :maxdepth: 1
+   :maxdepth: 2
+   :hidden:
+   :caption: 🪄 How-to guides
 
-   intro
-   source/reference/index
-   source/dev/index
-   source/examples/index
+   /guides/system_norms
 
-Indices and tables
-==================
+.. toctree::
+   :maxdepth: 2
+   :hidden:
+   :caption: 📚 Reference
+
+   /reference/index
+
+.. toctree::
+   :maxdepth: 2
+   :hidden:
+   :caption: Contributing
 
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
+   /contributing/index
diff --git a/doc/source/reference/index.rst b/doc/source/reference/index.rst
index 4a0ea8a5..ee1de2dd 100644
--- a/doc/source/reference/index.rst
+++ b/doc/source/reference/index.rst
@@ -1,6 +1,9 @@
-****************
-Slycot reference
-****************
+.. this page is referenced from the front page but it's unnecessary as a navigation section for now.
+
+:orphan:
+
+Reference
+=========
 
 For most users only the :ref:`function-ref` is important.
 
@@ -8,10 +11,16 @@ For most users only the :ref:`function-ref` is important.
    :maxdepth: 1
 
    slycot_outer
+
+For advanced users and developer also the 
+
+.. toctree::
+   :maxdepth: 1
+
    slycot_inner
 
-For advanced users and developer also the :ref:`inner_function-ref` and the
+and the
 
 `SLICOT-Reference <https://www.slicot.org/objects/software/shared/libindex.html>`_
 
-can be important.
+can be important.
\ No newline at end of file
diff --git a/doc/source/tutorial/getting.rst b/doc/source/tutorial/getting.rst
new file mode 100644
index 00000000..4beee7be
--- /dev/null
+++ b/doc/source/tutorial/getting.rst
@@ -0,0 +1,7 @@
+Getting started
+===============
+
+There are two different ways to use the package. For the default interface
+described in :ref:`function-ref`, simply import the slycot package as follows::
+
+    >>> import slycot
\ No newline at end of file
diff --git a/doc/intro.rst b/doc/source/tutorial/index.rst
similarity index 66%
rename from doc/intro.rst
rename to doc/source/tutorial/index.rst
index f92429a0..b0df32b6 100644
--- a/doc/intro.rst
+++ b/doc/source/tutorial/index.rst
@@ -1,10 +1,6 @@
-************
-Introduction
-************
+.. this page is referenced from the front page but it's unnecessary as a navigation section for now.
 
-Welcome to the Slycot (`slycot`) User's Manual. 
-This manual contains information on using the `slycot` package, 
-including documentation for all functions in the package and examples illustrating their use.
+:orphan:
 
 Installation
 ============
@@ -48,19 +44,4 @@ Alternatively, to install from source, first `download the source
 <https://github.com/python-control/Slycot>`_ and unpack it.
 To install in your home directory, use::
     
-    pip install .
-
-Getting started
-===============
-
-There are two different ways to use the package. For the default interface
-described in :ref:`function-ref`, simply import the slycot package as follows::
-
-    >>> import slycot
-
-.. warning::
-  In general, the second way is not recommended.
-
-  To access the f2py interface described in :ref:`inner_function-ref`, simply import the slycot package as follows::
-
-    >>> import slycot._wrapper
\ No newline at end of file
+    pip install .
\ No newline at end of file

From d850266be3b2f2ad44b3a9e501c3353414ba26f7 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Fri, 19 Jan 2024 21:05:48 +0100
Subject: [PATCH 21/23] Add sphinx-copybutton

---
 doc/requirements.txt | 1 +
 doc/source/conf.py   | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/doc/requirements.txt b/doc/requirements.txt
index 544739b5..2fd39a11 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -1,4 +1,5 @@
 sphinx>=7.2.6
+sphinx-copybutton
 numpy
 scipy
 pandas
diff --git a/doc/source/conf.py b/doc/source/conf.py
index 3c1eb275..725d2a1b 100644
--- a/doc/source/conf.py
+++ b/doc/source/conf.py
@@ -19,7 +19,7 @@
 import re
 
 # Get the version number for this commmit (including alpha/beta/rc tags)
-release = re.sub('^v', '', os.popen('git describe').read().strip())
+release = re.sub('^v', '', os.popen('git describe --tags').read().strip())
 
 # The short X.Y.Z version
 version = re.sub(r'(\d+\.\d+\.\d+(.post\d+)?)(.*)', r'\1', release)
@@ -33,7 +33,7 @@
     'sphinx.ext.autodoc', 'sphinx.ext.todo', 'sphinx.ext.napoleon',
     'sphinx.ext.intersphinx', 'sphinx.ext.imgmath',
     'sphinx.ext.autosummary', 'nbsphinx', 'numpydoc',
-    'sphinx.ext.doctest'
+    'sphinx.ext.doctest',  'sphinx_copybutton'
 ]
 # scan documents for autosummary directives and generate stub pages for each.
 autosummary_generate = True

From e5765c72e5a04c3c56ee60044c792c9a1b355f4a Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 4 Apr 2024 20:27:53 +0200
Subject: [PATCH 22/23] Update venn diagramm in inpect notebooks

---
 .../explanation/inspect_slicot_slycot.ipynb   | 350 +++++++++---------
 doc/source/explanation/inspect_slycot.ipynb   |  98 ++---
 2 files changed, 237 insertions(+), 211 deletions(-)

diff --git a/doc/source/explanation/inspect_slicot_slycot.ipynb b/doc/source/explanation/inspect_slicot_slycot.ipynb
index 9e895712..2123f1a6 100644
--- a/doc/source/explanation/inspect_slicot_slycot.ipynb
+++ b/doc/source/explanation/inspect_slicot_slycot.ipynb
@@ -19,16 +19,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": 41,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0.5.5.dev75+g8cd8497'"
+       "'0.5.5.dev84+g9815526'"
       ]
      },
-     "execution_count": 1,
+     "execution_count": 41,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -54,7 +54,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 42,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -70,7 +70,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 43,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -91,7 +91,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 44,
    "metadata": {},
    "outputs": [
     {
@@ -220,7 +220,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 45,
    "metadata": {},
    "outputs": [
     {
@@ -235,75 +235,75 @@
       "\n",
       "There are currently 552 routines that are found in slicot and not in slycot.\n",
       "------\n",
-      "['mb04bd', 'tb01kx', 'mb02hd', 'mb02cy', 'mb03hz', 'sb02oy', 'ib01md', 'mb03jp']\n",
-      "['mb01yd', 'sb02mx', 'sb04od', 'nf01ay', 'mc01rd', 'ma02mz', 'mb04yw', 'mb04su']\n",
-      "['mc01md', 'mb02rd', 'fb01vd', 'mb02cu', 'mb04qu', 'nf01bu', 'mb02sd', 'sb03qx']\n",
-      "['ab09kx', 'ma02jd', 'mb04ts', 'sb04nw', 'ab08mz', 'mb03ah', 'tg01dd', 'ud01dd']\n",
-      "['mc01xd', 'ib03ad', 'mb01od', 'tg01jd', 'sb10ld', 'mb03wa', 'nf01by', 'mb04pu']\n",
-      "['mb04xd', 'mb01oc', 'bb04ad', 'tb04bd', 'mb01zd', 'ab09cx', 'tf01od', 'ab09jw']\n",
-      "['mb03oy', 'mb01pd', 'sb04ry', 'tg01ob', 'sb04ny', 'ab13cd', 'tg01md', 'mb03ts']\n",
-      "['sb01bx', 'nf01bf', 'mb02vd', 'sb03ud', 'sb16cd', 'ag08by', 'mb3jzp', 'mb03jz']\n",
-      "['mb02rz', 'sb09md', 'bd01ad', 'mc01qd', 'md03by', 'nf01br', 'mb02uw', 'mb01ld']\n",
-      "['mb02qd', 'mb04fd', 'ib01qd', 'ma02id', 'tb01kd', 'mb3lzp', 'sb04mw', 'mb03ba']\n",
-      "['sb10ud', 'mb03ab', 'mc01sy', 'sb02pd', 'mb03ai', 'mc01wd', 'mc01vd', 'ab09jx']\n",
-      "['ma02pd', 'tb01md', 'mb03bb', 'mb02jx', 'sb03oz', 'sb04qy', 'sb02ow', 'sb16ay']\n",
-      "['ab13ad', 'mb04tb', 'ab13id', 'mb03bf', 'ma02bd', 'ab09bx', 'dg01ny', 'mb02uu']\n",
-      "['mb03bd', 'sb01by', 'mb02td', 'ab08nx', 'tf01my', 'tg01od', 'mb03qd', 'tb04bv']\n",
-      "['sb03sy', 'mb4dbz', 'mb04cd', 'tb01wd', 'mb05oy', 'sb03ou', 'mb01nd', 'ag07bd']\n",
-      "['tg01jy', 'tb01ty', 'sb03pd', 'mb04qs', 'ud01bd', 'mb02dd', 'mb03bg', 'mb02nd']\n",
-      "['sb04mr', 'sb04nd', 'tg01oa', 'mb02pd', 'sb02sd', 'ma01bz', 'ab08nw', 'mb04ru']\n",
-      "['ma02hd', 'tg01oz', 'mb03kd', 'ud01mz', 'nf01bx', 'tg01az', 'ma02jz', 'mb03gz']\n",
-      "['ma02pz', 'mb04gd', 'sb02rd', 'sb10sd', 'fb01qd', 'mb03xd', 'tg01hu', 'mb04wr']\n",
-      "['tb04bx', 'ma02md', 'mb04ud', 'mb01rw', 'tg01ld', 'ib01bd', 'md03ba', 'sb02ms']\n",
-      "['mb04ad', 'mc03nx', 'ud01md', 'ma02gd', 'tb01td', 'mb04od', 'sb03or', 'tb01iz']\n",
-      "['sb02ou', 'tf01qd', 'sg03bz', 'ma02es', 'sb03os', 'ab01od', 'mb04pa', 'ib01my']\n",
-      "['mb04ny', 'mb3oyz', 'mb04fp', 'mc01sd', 'ma01bd', 'nf01bp', 'tb03ay', 'mb01rb']\n",
-      "['fb01rd', 'ma02fd', 'ab09hy', 'ma02cd', 'tg01ly', 'fb01td', 'mb03qv', 'sb04py']\n",
-      "['ab05qd', 'sg03bs', 'ab01md', 'mb01uy', 'mb04wu', 'mb02ny', 'mb03cd', 'sb04rw']\n",
-      "['tg01kz', 'mb01xd', 'mc01pd', 'mb02cd', 'mb04rb', 'tb01vy', 'mb01rt', 'tb01uy']\n",
-      "['mc01od', 'mb03qw', 'sb02ru', 'nf01ad', 'tg01bd', 'mb01ux', 'mb02fd', 'mb04tw']\n",
-      "['sb10pd', 'nf01bb', 'tb01ux', 'sb02mw', 'sg03ay', 'mb03af', 'mb03nd', 'mb01wd']\n",
-      "['mc01sx', 'tb01ld', 'sb10wd', 'mb02md', 'tb01ud', 'ma02ez', 'tb01zd', 'sb08nd']\n",
-      "['sb16bd', 'sb08md', 'mb04dl', 'dk01md', 'mb03qx', 'tg01hy', 'sb03mv', 'mb04iz']\n",
-      "['sb02ox', 'tb01nd', 'mb04dz', 'mb04az', 'sb04qr', 'sb08my', 'mb03kb', 'mb03ae']\n",
-      "['ab09id', 'ma02hz', 'ab09jd', 'mb04yd', 'mb02jd', 'sb16ad', 'mb01md', 'dg01od']\n",
-      "['nf01ba', 'ab13ax', 'mb03ny', 'mb04kd', 'nf01bd', 'sb03qy', 'mb04tv', 'md03bd']\n",
-      "['sb04px', 'mb03ud', 'sb10vd', 'mb04qc', 'mb04qb', 'mb03rz', 'mb03sd', 'mb02ud']\n",
-      "['mb02qy', 'bb03ad', 'mb02kd', 'tg01wd', 'mc03ny', 'mb3pyz', 'mb03pd', 'mb05my']\n",
-      "['sb10md', 'fd01ad', 'tf01nd', 'mb03be', 'sb08ed', 'sb03qd', 'sb03td', 'mb01ot']\n",
-      "['sg03bx', 'mb03yd', 'ma02cz', 'ab08md', 'mb01rd', 'ab05pd', 'mb03gd', 'ab09gd']\n",
-      "['mb01xy', 'sb08hd', 'de01pd', 'mb03md', 'mb03za', 'mb05od', 'mb03ya', 'mb04bz']\n",
-      "['mb03ry', 'mb04zd', 'sb04my', 'mb03my', 'mb03xz', 'mb01uw', 'mb03ka', 'ma02ed']\n",
-      "['sb04mu', 'sg03bw', 'mb03dz', 'mb01vd', 'sb08fd', 'ib01od', 'ab05rd', 'tg01ed']\n",
-      "['mb4dpz', 'tg01cd', 'mb03py', 'tb01yd', 'mb01ss', 'mb04di', 'mb02yd', 'tb04ay']\n",
-      "['td03ad', 'mb03ke', 'mb01rh', 'ab13dx', 'ib01rd', 'mb04ld', 'mb02sz', 'mb03fd']\n",
-      "['ab8nxz', 'mb04qf', 'ma02nz', 'mc01py', 'sb04rx', 'mb03iz', 'td05ad', 'sb08ny']\n",
-      "['mb03ed', 'sb02mr', 'mb04vd', 'bd02ad', 'mb03qy', 'sb01md', 'sb03sd', 'tb04bw']\n",
-      "['sb10qd', 'de01od', 'mb04iy', 'sb04rv', 'ab09hd', 'sb03mw', 'sb10kd', 'ab05sd']\n",
-      "['ab09iy', 'ue01md', 'sg03bu', 'mb04ty', 'md03ad', 'tg01nd', 'mb03bc', 'sb03ov']\n",
-      "['mb04vx', 'mb03fz', 'tb01wx', 'mb02cx', 'ib01nd', 'mb02wd', 'sb03mu', 'sb02mv']\n",
-      "['tf01mx', 'mb04ow', 'mb04nd', 'sb01dd', 'sg02nd', 'mb01rx', 'ib01ad', 'ma02gz']\n",
-      "['sb10td', 'tc05ad', 'mb02tz', 'mb03ad', 'sb04nx', 'ma02dd', 'sg02cw', 'sg03bv']\n",
-      "['mb01oh', 'dg01md', 'mb04dy', 'mb01oe', 'sb04rd', 'mb04id', 'mb01kd', 'mb02cv']\n",
-      "['ma02iz', 'mb03yt', 'mb04dd', 'sb01fy', 'bb01ad', 'sb03rd', 'mc01nd', 'ma02az']\n",
-      "['mb03lp', 'mb04dp', 'ab09jv', 'mb03id', 'tg01hd', 'tg01gd', 'sb04pd', 'tf01pd']\n",
-      "['sb08dd', 'sb03sx', 'ab07md', 'sb10rd', 'mb04xy', 'sb04nv', 'nf01bs', 'md03bb']\n",
-      "['mb03ld', 'tg01fz', 'tg01qd', 'mb03kc', 'mc03md', 'tb01xd', 'mb04tx', 'sb10id']\n",
-      "['sb10zp', 'mb03xp', 'ib01py', 'mb03hd', 'mb03cz', 'mb04md', 'mb02xd', 'mb01ud']\n",
-      "['sg02cv', 'mb01qd', 'mb01sd', 'ma02oz', 'sb02nd', 'sb03mx', 'mb03jd', 'mb02od']\n",
-      "['sb02cx', 'sb02qd', 'bb02ad', 'ma02ad', 'mb4dlz', 'mb03lz', 'ib01pd', 'mb04bp']\n",
-      "['tb04cd', 'ib01cd', 'tb01vd', 'nf01bw', 'mb03od', 'mb04tu', 'mb03lf', 'mb03qg']\n",
-      "['sb08cd', 'ib03bd', 'sg03by', 'fb01sd', 'sg02cx', 'ag8byz', 'mb01os', 'ab08ny']\n",
-      "['mb02id', 'nf01be', 'mb04ox', 'tb01xz', 'sg03br', 'mb01td', 'md03bx', 'mb04tt']\n",
-      "['mb02uv', 'sg03ax', 'mb03td', 'sb03oy', 'ab09cd', 'ab09ed', 'ib01px', 'td03ay']\n",
-      "['sb06nd', 'sb02ov', 'sb02mu', 'tg01pd', 'sg03bt', 'ab09fd', 'sb04qu', 'mb03xs']\n",
-      "['mb02gd', 'mb04wd', 'ma02od', 'mb04db', 'ab05od', 'sb04ow', 'ag08bz', 'mb04py']\n",
-      "['sb16cy', 'mb03vw', 'mb04jd', 'mb03dd', 'sb10ed', 'mb03zd', 'ma01ad', 'mc01sw']\n",
-      "['sb08gd', 'mb03rw', 'ab09hx', 'mb04wp', 'ib01oy', 'mb04ed', 'tb01px', 'df01md']\n",
-      "['ab09ix', 'mb03xu', 'ab09kd', 'tg01kd', 'sb03my', 'mb04hd', 'mb01uz', 'ma02bz']\n",
-      "['mb03bz', 'sb03ot', 'mb04pb', 'mb04oy', 'md03bf', 'mb01oo', 'mc03nd', 'nf01bv']\n",
-      "['mb04ds', 'ud01nd', 'mb01ry', 'mb03rx', 'sb10zd', 'mb01ru', 'nf01bq', 'mb03wx']\n",
-      "['tg01nx', 'ud01cd', 'tg01id', 'tg01hx', 'ma01cd', 'ab09dd', 'mb03ag', 'dg01nd']\n",
+      "['mb04cd', 'mb3pyz', 'ma02fd', 'ib03bd', 'mb03qx', 'mb02ud', 'mb03bz', 'ma02es']\n",
+      "['ma02az', 'mb02od', 'mb03iz', 'sb10vd', 'ab09ed', 'mb03oy', 'sb10zd', 'tb01uy']\n",
+      "['mb04iy', 'tb01wx', 'ud01nd', 'ma02gd', 'mb04ty', 'ma02bz', 'mb03jd', 'mc01vd']\n",
+      "['mb01ld', 'mb04ny', 'ud01cd', 'mb03hz', 'ma02hz', 'mb03td', 'ab13cd', 'mb04fp']\n",
+      "['mb02jd', 'ab13ad', 'fb01td', 'mb03dz', 'mb03kb', 'nf01be', 'mb3jzp', 'tb01xz']\n",
+      "['mb03kd', 'sb03oy', 'md03bb', 'mb04ld', 'mb03ag', 'fd01ad', 'sb02ox', 'mb03jz']\n",
+      "['tf01qd', 'mb01oo', 'nf01bw', 'mb03xz', 'ab09ix', 'mb04ed', 'tg01az', 'tg01qd']\n",
+      "['ma02nz', 'nf01bp', 'tb04bd', 'ma02iz', 'mb04nd', 'mb01ud', 'mb03af', 'mb3lzp']\n",
+      "['mb03yt', 'mb04qc', 'sg03by', 'sb04pd', 'mb04wu', 'mb04pb', 'nf01bs', 'ma02ez']\n",
+      "['sb04qy', 'mb03qy', 'sb04mu', 'mb03ya', 'sb04ry', 'bb01ad', 'sb10rd', 'mb03ts']\n",
+      "['mb01xd', 'mb04qu', 'mb03fd', 'sb10md', 'sb10ud', 'mb04dp', 'ab08md', 'nf01ay']\n",
+      "['mb02vd', 'mb01kd', 'tb01zd', 'mb02pd', 'mb03ny', 'ud01bd', 'tg01gd', 'ma02ed']\n",
+      "['mb03bd', 'ab09jx', 'mb02id', 'mb03wx', 'tb01kd', 'mb01oh', 'mb04tb', 'tb01kx']\n",
+      "['mb01vd', 'sb03mu', 'mb02jx', 'mb04yw', 'md03bd', 'mb02uv', 'nf01ad', 'tg01oz']\n",
+      "['sg02cv', 'mb03wa', 'sb02ms', 'tb01px', 'ab09bx', 'ab09kd', 'ab09cx', 'mb01yd']\n",
+      "['ib01bd', 'ab05pd', 'mb03ba', 'tg01hx', 'mb03rz', 'mb03bf', 'sb10sd', 'sb08fd']\n",
+      "['sb16bd', 'sb02mr', 'tg01wd', 'mb04tt', 'nf01bq', 'sb10qd', 'sb16ay', 'dk01md']\n",
+      "['sb04rw', 'td05ad', 'mb01od', 'tg01dd', 'md03bf', 'mb04gd', 'mb04bd', 'mb04hd']\n",
+      "['sb04mw', 'mb01rt', 'mb03bb', 'mb03dd', 'dg01ny', 'mb01uy', 'mb01uw', 'mb4dpz']\n",
+      "['mb03bc', 'sb03pd', 'nf01bd', 'sb03oz', 'tg01fz', 'ab09kx', 'sb03td', 'ag08bz']\n",
+      "['sb06nd', 'ib01rd', 'de01pd', 'tc05ad', 'mb04ru', 'sb04mr', 'ab08nx', 'dg01nd']\n",
+      "['mc03ny', 'ma02md', 'sb02ov', 'ab09jd', 'tg01cd', 'mb01zd', 'sb04nd', 'mb01xy']\n",
+      "['sb08nd', 'ab09iy', 'tg01nd', 'mb03zd', 'sb10id', 'td03ay', 'tb01vd', 'mb03lp']\n",
+      "['sb16ad', 'tf01pd', 'mb03cz', 'ma02id', 'mb02qy', 'ab01od', 'mb03hd', 'sb02sd']\n",
+      "['tf01my', 'sb03ou', 'tb01ux', 'mb04xy', 'mb02dd', 'mb04wr', 'ib01ad', 'nf01bu']\n",
+      "['nf01bf', 'tg01md', 'mb02cx', 'mb03xp', 'tb01nd', 'tg01ob', 'mb03xu', 'nf01bb']\n",
+      "['sb01fy', 'mb03qd', 'ab05sd', 'mb02sz', 'ma02hd', 'mb02td', 'mc01sy', 'mb03ad']\n",
+      "['sb04px', 'mb01rx', 'mb01os', 'tf01od', 'mb04dd', 'tg01jd', 'mb04tv', 'sb10kd']\n",
+      "['sb01bx', 'sb04nx', 'mb01nd', 'tb01ty', 'ma01bz', 'mb04ds', 'mc01qd', 'de01od']\n",
+      "['mb04oy', 'ma02jd', 'mb03ae', 'mb01sd', 'mb02qd', 'sb01dd', 'ab13ax', 'ud01mz']\n",
+      "['mc01sd', 'sb03or', 'mb04md', 'sb04od', 'sb03rd', 'md03ad', 'ab09fd', 'tg01id']\n",
+      "['sb08cd', 'sb03sd', 'mb02yd', 'ab8nxz', 'mb01rd', 'ma02bd', 'ib01my', 'sb02nd']\n",
+      "['ib01pd', 'sb08gd', 'mb04pu', 'mb02cy', 'mc01sx', 'ib01py', 'mb03rx', 'mb02cd']\n",
+      "['ab09hx', 'mb02cv', 'dg01od', 'ma02cz', 'tf01mx', 'tb01ld', 'tg01hy', 'mb03xd']\n",
+      "['mc01py', 'ab13id', 'mb04zd', 'mb04py', 'mb01md', 'tb01md', 'sb10ld', 'mb02sd']\n",
+      "['mb02rz', 'ab07md', 'mb02xd', 'ag8byz', 'sg03bu', 'mb02uu', 'mb02uw', 'ab09gd']\n",
+      "['mb03qw', 'sb04qr', 'sb03mw', 'sb16cd', 'sb04rd', 'sg03bv', 'ag07bd', 'mc01sw']\n",
+      "['sb08md', 'mb01ru', 'sb04ow', 'tg01kz', 'mb03ud', 'fb01vd', 'mb01rh', 'td03ad']\n",
+      "['md03bx', 'mb02fd', 'tg01bd', 'sb02ow', 'mb01uz', 'ab08mz', 'mb01pd', 'mb01qd']\n",
+      "['ma02mz', 'mb01ry', 'sb03sy', 'sb02mu', 'mb03ka', 'mb04ts', 'sb02rd', 'mb01rw']\n",
+      "['sb03mv', 'nf01by', 'sb10ed', 'ab08ny', 'ib03ad', 'sb02mx', 'dg01md', 'mb03yd']\n",
+      "['sb10td', 'sb02cx', 'ib01od', 'mb04fd', 'sg03bw', 'sb08ed', 'ab09dd', 'tb01yd']\n",
+      "['tb01xd', 'bd01ad', 'sb02oy', 'mb03bg', 'mb03nd', 'mb04qs', 'ma02pd', 'md03ba']\n",
+      "['tg01ld', 'mb03ed', 'mb03ld', 'ib01nd', 'mb02md', 'tb04bw', 'mb01td', 'mb02kd']\n",
+      "['tg01oa', 'mb04bz', 'mb03my', 'mb04dy', 'fb01sd', 'sb10pd', 'mb04xd', 'fb01qd']\n",
+      "['sb03ov', 'mc01wd', 'mb4dbz', 'tg01jy', 'ib01oy', 'sg03ay', 'ab09hy', 'sb02ru']\n",
+      "['sb10zp', 'mb04iz', 'mb05oy', 'sb04rv', 'tg01ed', 'tg01od', 'tg01pd', 'mb04vx']\n",
+      "['mb03pd', 'mb04di', 'ib01px', 'ib01md', 'ag08by', 'ab09id', 'tb01iz', 'ab09jv']\n",
+      "['ud01dd', 'mb03lz', 'mb03rw', 'sb04rx', 'mb03lf', 'sb10wd', 'mb04dl', 'mb01ux']\n",
+      "['mb03ry', 'mb03xs', 'mb03qv', 'sb02ou', 'ma02gz', 'ma02cd', 'sb04qu', 'tg01ly']\n",
+      "['ue01md', 'sb03mx', 'nf01br', 'sg03ax', 'mc01nd', 'mb03ai', 'nf01bv', 'mc01xd']\n",
+      "['tb04bv', 'sg02cx', 'bd02ad', 'sb03qx', 'sg03bt', 'sb01by', 'mb05my', 'ib01cd']\n",
+      "['mb02ny', 'mb02nd', 'mb02hd', 'ma01bd', 'sb02mw', 'sb16cy', 'ab09hd', 'mb03ah']\n",
+      "['tb01vy', 'sb08dd', 'ma01cd', 'mb04yd', 'tg01kd', 'mb03za', 'mb01oe', 'ab13dx']\n",
+      "['ma02od', 'sb02pd', 'sb03os', 'mc01od', 'mb04wd', 'mb03vw', 'tb01wd', 'mb03gd']\n",
+      "['mb04od', 'sb02qd', 'sb09md', 'ab09jw', 'mc01md', 'ma02ad', 'df01md', 'mb04db']\n",
+      "['mc03nd', 'tf01nd', 'ma02dd', 'mb04su', 'sb08my', 'mb04tu', 'mb04vd', 'sg02nd']\n",
+      "['mb02cu', 'sg02cw', 'sb04nv', 'mb03fz', 'mb3oyz', 'mb03md', 'mb01rb', 'mb02rd']\n",
+      "['sb03qd', 'sb03ot', 'mb02gd', 'ab05qd', 'mb03be', 'mb03cd', 'ud01md', 'mb04ud']\n",
+      "['mb03ke', 'mc03md', 'ab01md', 'sg03br', 'sb02mv', 'nf01ba', 'mb01oc', 'bb03ad']\n",
+      "['tb03ay', 'ma02oz', 'tb04cd', 'mb03sd', 'sb04my', 'sb03qy', 'mb04ox', 'tb01td']\n",
+      "['mb04dz', 'mb04kd', 'mb04qb', 'mb04tw', 'mb04pa', 'mb03id', 'bb04ad', 'ma01ad']\n",
+      "['ab08nw', 'mb03ab', 'ib01qd', 'sg03bz', 'mb04wp', 'mb02wd', 'mb03qg', 'mb04qf']\n",
+      "['sg03bx', 'mb04id', 'tb01ud', 'mb04tx', 'ab05rd', 'ma02jz', 'mb02tz', 'sb03ud']\n",
+      "['mb01wd', 'mc01rd', 'mb04bp', 'sb01md', 'tg01hd', 'tg01nx', 'md03by', 'sb03sx']\n",
+      "['mb04az', 'mb4dlz', 'mb01ot', 'sb08hd', 'tb04bx', 'tg01hu', 'mb03jp', 'ab05od']\n",
+      "['mc03nx', 'mb04rb', 'mc01pd', 'mb01ss', 'fb01rd', 'sb03my', 'tb04ay', 'bb02ad']\n",
+      "['mb03kc', 'sb04nw', 'mb04jd', 'sb04ny', 'mb04ow', 'sb08ny', 'mb03od', 'mb05od']\n",
+      "['ab09cd', 'nf01bx', 'sg03bs', 'mb03py', 'ma02pz', 'mb03gz', 'mb04ad', 'sb04py']\n",
       "None\n",
       "\n",
       "\n"
@@ -330,7 +330,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 46,
    "metadata": {},
    "outputs": [
     {
@@ -339,94 +339,94 @@
      "text": [
       "There are currently 608 routines that are found in slicot or in slycot. (union)\n",
       "------\n",
-      "['mb04bd', 'tb01kx', 'mb02hd', 'mb02cy', 'mb03hz', 'sb02oy', 'ib01md', 'mb03jp']\n",
-      "['mb01yd', 'sb02mx', 'sb04od', 'nf01ay', 'mc01rd', 'ma02mz', 'mb04yw', 'mb04su']\n",
-      "['mc01md', 'mb02rd', 'fb01vd', 'mb02cu', 'mb04qu', 'nf01bu', 'mb02sd', 'sb03qx']\n",
-      "['ab09kx', 'ma02jd', 'mb04ts', 'sb04nw', 'ab08mz', 'mb03ah', 'tg01dd', 'ud01dd']\n",
-      "['mc01xd', 'ib03ad', 'ab13ed', 'mb01od', 'tg01jd', 'sb10ld', 'mb03wa', 'nf01by']\n",
-      "['mb04pu', 'tf01md', 'mb04xd', 'mb01oc', 'bb04ad', 'tb04bd', 'mb01zd', 'ab01nd']\n",
-      "['ab09cx', 'tf01od', 'ab09jw', 'mb03oy', 'mb01pd', 'sb04ry', 'tg01ob', 'sb04ny']\n",
-      "['ab13cd', 'tg01md', 'mb03ts', 'sb01bx', 'nf01bf', 'mb02vd', 'sb03ud', 'sb16cd']\n",
-      "['ag08by', 'mb3jzp', 'mb03jz', 'mb02rz', 'sb09md', 'bd01ad', 'mc01qd', 'md03by']\n",
-      "['nf01br', 'mb02uw', 'mb01ld', 'mb02qd', 'mb04fd', 'ib01qd', 'ma02id', 'tb01kd']\n",
-      "['mb3lzp', 'sb04mw', 'mb03ba', 'sb10ud', 'tf01rd', 'mb03ab', 'mc01sy', 'sb02pd']\n",
-      "['mb03ai', 'mc01wd', 'mc01vd', 'ab09jx', 'ma02pd', 'sb03md57', 'tb01md', 'mb03bb']\n",
-      "['mb02jx', 'sb03oz', 'sb04qy', 'sb02ow', 'sb16ay', 'ab13fd', 'ab13ad', 'mb04tb']\n",
-      "['ab13id', 'mb03bf', 'ma02bd', 'ab09bx', 'dg01ny', 'mb02uu', 'mb03bd', 'sb01by']\n",
-      "['mb02td', 'ab08nx', 'tf01my', 'tg01od', 'mb03qd', 'tb04bv', 'sb03sy', 'mb4dbz']\n",
-      "['mb04cd', 'tb01wd', 'mb05oy', 'sb03ou', 'mb01nd', 'ag07bd', 'tg01jy', 'tb01ty']\n",
-      "['sb03pd', 'mb04qs', 'ud01bd', 'mb02dd', 'sb03od', 'mb03bg', 'mb02nd', 'sb04mr']\n",
-      "['sb04nd', 'tg01oa', 'mb02pd', 'sb02sd', 'ma01bz', 'ab08nw', 'mb04ru', 'ma02hd']\n",
-      "['tg01oz', 'mb03kd', 'ud01mz', 'sb10ad', 'nf01bx', 'sb10dd', 'ab05md', 'mb02ed']\n",
-      "['tg01az', 'ma02jz', 'mb03gz', 'ma02pz', 'mb04gd', 'sb02rd', 'sb10sd', 'fb01qd']\n",
-      "['mb03xd', 'tg01hu', 'mb04wr', 'tb04bx', 'ma02md', 'mb04ud', 'mb01rw', 'sb10yd']\n",
-      "['tg01ld', 'ib01bd', 'tc04ad', 'ab09bd', 'md03ba', 'mb05md', 'sb02ms', 'mb04ad']\n",
-      "['mc03nx', 'ud01md', 'ma02gd', 'tb01td', 'mb04od', 'sb03or', 'tb01iz', 'sb02ou']\n",
-      "['tf01qd', 'sg03bz', 'ab08nd', 'ma02es', 'sb03os', 'ab01od', 'tg01fd', 'mb04pa']\n",
-      "['ib01my', 'mb04ny', 'mb3oyz', 'mb04fp', 'mc01sd', 'tb01id', 'ma01bd', 'nf01bp']\n",
-      "['tb03ay', 'mb01rb', 'fb01rd', 'ma02fd', 'ab09hy', 'ma02cd', 'tg01ly', 'fb01td']\n",
-      "['mb03qv', 'sb04py', 'ab05qd', 'ab13bd', 'sg03bs', 'ab01md', 'tb01pd', 'mb01uy']\n",
-      "['mb04wu', 'mb02ny', 'mb03cd', 'sb04rw', 'tg01kz', 'mb01xd', 'sb02od', 'mc01pd']\n",
-      "['mb02cd', 'mb04rb', 'tb01vy', 'mb01rt', 'tb01uy', 'mc01od', 'mb03qw', 'sb02ru']\n",
-      "['nf01ad', 'tg01bd', 'mb01ux', 'ab09ad', 'mb02fd', 'mb04tw', 'sb10pd', 'nf01bb']\n",
-      "['tb01ux', 'sb02mw', 'sg03ay', 'mb03af', 'mb03nd', 'mb01wd', 'mc01sx', 'tb01ld']\n",
-      "['sb10wd', 'mb02md', 'tb01ud', 'ma02ez', 'tb01zd', 'sb08nd', 'sb16bd', 'sb08md']\n",
-      "['mb04dl', 'dk01md', 'mb03qx', 'mb03wd', 'tg01hy', 'sb03mv', 'mb04iz', 'sb02ox']\n",
-      "['tb01nd', 'mb04dz', 'sb02mt', 'mb04az', 'ab13md', 'sb04qr', 'sb08my', 'mb03kb']\n",
-      "['mb03ae', 'sg03ad', 'ab09id', 'ma02hz', 'ab09jd', 'mb04yd', 'mb02jd', 'sb16ad']\n",
-      "['mb01md', 'dg01od', 'sb04md', 'nf01ba', 'ab13ax', 'mb03ny', 'mb04kd', 'nf01bd']\n",
-      "['sb10hd', 'sb03qy', 'mb04tv', 'md03bd', 'sb04px', 'tg01ad', 'mb03ud', 'sb10vd']\n",
-      "['mb04qc', 'mb04qb', 'mb03rz', 'mb03sd', 'mb02ud', 'mb02qy', 'bb03ad', 'mb02kd']\n",
-      "['tg01wd', 'mc03ny', 'mb3pyz', 'mb03pd', 'mb05my', 'ab13dd', 'sb10md', 'fd01ad']\n",
-      "['tf01nd', 'mb03be', 'mb03vy', 'sb08ed', 'sb03qd', 'sb03td', 'mb01ot', 'sg03bx']\n",
-      "['mb03yd', 'ma02cz', 'ab08md', 'mb01rd', 'ab05pd', 'mb03gd', 'ab09gd', 'mb01xy']\n",
-      "['sb08hd', 'de01pd', 'sb10jd', 'mb03md', 'mb03za', 'mb05od', 'ab09md', 'mb03ya']\n",
-      "['mb04bz', 'mb03ry', 'mb04zd', 'sb04my', 'mb03my', 'mb03xz', 'mb01uw', 'sb10fd']\n",
-      "['mb03ka', 'ma02ed', 'sb04mu', 'sg03bw', 'mb03dz', 'mb01vd', 'sb08fd', 'ib01od']\n",
-      "['ab05rd', 'tg01ed', 'mb4dpz', 'tg01cd', 'ab07nd', 'mb03py', 'tb01yd', 'ab09ax']\n",
-      "['mb01ss', 'mb04di', 'ab04md', 'mb02yd', 'tb04ay', 'td03ad', 'mb03ke', 'mb01rh']\n",
-      "['ab13dx', 'ib01rd', 'mb04ld', 'mb02sz', 'mb03fd', 'ab8nxz', 'mb04qf', 'ma02nz']\n",
-      "['mc01py', 'sb04rx', 'mb03iz', 'td05ad', 'sb08ny', 'ab08nz', 'tb05ad', 'mb03ed']\n",
-      "['sb02mr', 'mb04vd', 'bd02ad', 'mb03qy', 'sb01md', 'sb03sd', 'tb04bw', 'sb10qd']\n",
-      "['de01od', 'mb04iy', 'mb03rd', 'ag08bd', 'sb04rv', 'ab09hd', 'sb03mw', 'sb10kd']\n",
-      "['ab05sd', 'ab09iy', 'ue01md', 'sg03bu', 'mb04ty', 'md03ad', 'tg01nd', 'mb03bc']\n",
-      "['sb03ov', 'mb04vx', 'mb03fz', 'tb01wx', 'mb02cx', 'ib01nd', 'mb02wd', 'sb03mu']\n",
-      "['sb02mv', 'tf01mx', 'mb04ow', 'mb04nd', 'sb01dd', 'sb03md', 'sg02nd', 'sb04qd']\n",
-      "['mb03vd', 'mb01rx', 'ib01ad', 'ma02gz', 'ab05nd', 'sb10td', 'tc05ad', 'mb02tz']\n",
-      "['mb03ad', 'sb04nx', 'ma02dd', 'sg02cw', 'sg03bv', 'mb01oh', 'mc01td', 'dg01md']\n",
-      "['mb04dy', 'mb01oe', 'sb04rd', 'mb04id', 'mb01kd', 'mb02cv', 'ma02iz', 'mb03yt']\n",
-      "['mb04dd', 'sb01fy', 'bb01ad', 'sb03rd', 'mc01nd', 'ma02az', 'mb03lp', 'mb04dp']\n",
-      "['ab09jv', 'mb03id', 'tg01hd', 'tg01gd', 'sb04pd', 'tf01pd', 'sb08dd', 'sb03sx']\n",
-      "['ab07md', 'sb10rd', 'mb04xy', 'sg02ad', 'sb04nv', 'nf01bs', 'md03bb', 'mb03ld']\n",
-      "['tg01fz', 'tg01qd', 'mb03kc', 'mc03md', 'tb01xd', 'mb04tx', 'sb10id', 'sb10zp']\n",
-      "['mb03xp', 'ib01py', 'mb03hd', 'mb03cz', 'mb04md', 'mb02xd', 'mb01ud', 'sg03bd']\n",
-      "['sg02cv', 'mb01qd', 'mb01sd', 'ma02oz', 'sb02nd', 'sb03mx', 'mb03jd', 'mb02od']\n",
-      "['sb02cx', 'sb02qd', 'bb02ad', 'ma02ad', 'mb4dlz', 'mb03lz', 'ib01pd', 'sb01bd']\n",
-      "['mb04bp', 'tb04cd', 'ib01cd', 'tb01vd', 'nf01bw', 'mb03od', 'mb04tu', 'mb03lf']\n",
-      "['mb03qg', 'sb08cd', 'tb03ad', 'ib03bd', 'sg03by', 'fb01sd', 'sg02cx', 'ag8byz']\n",
-      "['mb01os', 'ab08ny', 'mb02id', 'nf01be', 'mb04ox', 'tb01xz', 'sg03br', 'mb01td']\n",
-      "['md03bx', 'mb04tt', 'mb02uv', 'sg03ax', 'mb03td', 'sb03oy', 'ab09cd', 'ab09ed']\n",
-      "['ib01px', 'td03ay', 'sb06nd', 'sb02ov', 'sb02mu', 'tg01pd', 'mb05nd', 'sg03bt']\n",
-      "['ab09fd', 'sb04qu', 'tc01od', 'mb03xs', 'mb02gd', 'mb04wd', 'ma02od', 'mb04db']\n",
-      "['ab05od', 'sb04ow', 'ag08bz', 'mb04py', 'sb16cy', 'mb03vw', 'mb04jd', 'mb03dd']\n",
-      "['sb10ed', 'sb02md', 'mb03zd', 'ma01ad', 'td04ad', 'mc01sw', 'sb08gd', 'mb03rw']\n",
-      "['ab09hx', 'mb04wp', 'ib01oy', 'mb04ed', 'tb01px', 'df01md', 'ab09ix', 'tb04ad']\n",
-      "['mb03xu', 'ab09kd', 'tg01kd', 'sb03my', 'mb04hd', 'mb01uz', 'ma02bz', 'mb03bz']\n",
-      "['sb03ot', 'mb04pb', 'mb04oy', 'md03bf', 'mb01oo', 'mc03nd', 'nf01bv', 'ab09nd']\n",
-      "['mb04ds', 'ud01nd', 'mb01ry', 'mb03rx', 'sb10zd', 'mb01ru', 'nf01bq', 'mb03wx']\n",
-      "['tg01nx', 'ud01cd', 'tg01id', 'tg01hx', 'ma01cd', 'ab09dd', 'mb03ag', 'dg01nd']\n",
+      "['mb04cd', 'mb3pyz', 'ab08nz', 'ma02fd', 'ib03bd', 'mb03qx', 'mb02ud', 'mb03bz']\n",
+      "['ma02es', 'ma02az', 'mb02od', 'mb03iz', 'sb10vd', 'ab09ed', 'mb03oy', 'sb10zd']\n",
+      "['tb01uy', 'ab04md', 'mb04iy', 'tb01wx', 'ud01nd', 'ma02gd', 'mb04ty', 'ma02bz']\n",
+      "['mb03jd', 'mc01vd', 'mb01ld', 'mb04ny', 'ud01cd', 'ab13md', 'mb03hz', 'ma02hz']\n",
+      "['mb03td', 'ab13cd', 'mb04fp', 'mb02jd', 'ab13ad', 'fb01td', 'mb03dz', 'mb03kb']\n",
+      "['nf01be', 'mb3jzp', 'tb01xz', 'sg03ad', 'mb03kd', 'sb03oy', 'md03bb', 'mb04ld']\n",
+      "['mb03ag', 'fd01ad', 'sb02ox', 'mb03jz', 'tf01qd', 'mb01oo', 'nf01bw', 'mb03xz']\n",
+      "['ab09ix', 'mb04ed', 'tg01az', 'tg01qd', 'ma02nz', 'nf01bp', 'tb04bd', 'ma02iz']\n",
+      "['mb04nd', 'mb01ud', 'mb03af', 'mb3lzp', 'mb03yt', 'mb04qc', 'ab01nd', 'sg03by']\n",
+      "['sb04pd', 'sb03md', 'mb04wu', 'mb04pb', 'nf01bs', 'ma02ez', 'sb04qy', 'mb03qy']\n",
+      "['sb04mu', 'mb03ya', 'ab09md', 'sb04ry', 'bb01ad', 'sb10rd', 'mb03ts', 'mb01xd']\n",
+      "['mb04qu', 'mb03fd', 'sb10md', 'sb10ud', 'tb04ad', 'mb04dp', 'ab08md', 'nf01ay']\n",
+      "['mb02vd', 'mb01kd', 'tb01zd', 'mb02pd', 'tb05ad', 'mb03ny', 'ud01bd', 'tg01gd']\n",
+      "['ma02ed', 'mb03bd', 'ab09jx', 'mb02id', 'ab09nd', 'mb03wx', 'tb01kd', 'mb01oh']\n",
+      "['mb04tb', 'tb01kx', 'mb01vd', 'sb03mu', 'mb02jx', 'mb04yw', 'md03bd', 'mb02uv']\n",
+      "['nf01ad', 'tg01oz', 'sg02cv', 'mb03wa', 'sb02ms', 'tb01px', 'ab09bx', 'ab09kd']\n",
+      "['ab09cx', 'mb01yd', 'ib01bd', 'ab05pd', 'mb03ba', 'tg01hx', 'mb03rz', 'mb03bf']\n",
+      "['sb10sd', 'mb03wd', 'sb08fd', 'sb16bd', 'sb02mr', 'tg01wd', 'mb04tt', 'nf01bq']\n",
+      "['sb10qd', 'mb02ed', 'sb16ay', 'sg03bd', 'dk01md', 'sb04rw', 'td05ad', 'mb01od']\n",
+      "['tg01dd', 'mb05nd', 'md03bf', 'mb04gd', 'sg02ad', 'mb04bd', 'mb04hd', 'sb04mw']\n",
+      "['ab13ed', 'mb01rt', 'mb03bb', 'mb03dd', 'dg01ny', 'mb01uy', 'mb01uw', 'mb4dpz']\n",
+      "['mb03bc', 'sb03pd', 'nf01bd', 'sb03oz', 'tg01fz', 'ab09kx', 'sb03td', 'ag08bz']\n",
+      "['sb06nd', 'ib01rd', 'de01pd', 'tc05ad', 'mb04ru', 'sb04mr', 'ab08nx', 'dg01nd']\n",
+      "['mc03ny', 'ma02md', 'sb02ov', 'ab09jd', 'tg01cd', 'mb01zd', 'sb04nd', 'mb01xy']\n",
+      "['sb08nd', 'ab09iy', 'tg01nd', 'mb03zd', 'sb10id', 'td03ay', 'tb01vd', 'mb03lp']\n",
+      "['sb16ad', 'mb03rd', 'tf01pd', 'mb03cz', 'ma02id', 'mb02qy', 'ab01od', 'mb03hd']\n",
+      "['sb02sd', 'tf01my', 'sb03ou', 'tb01ux', 'mb04xy', 'mb02dd', 'mb04wr', 'ib01ad']\n",
+      "['nf01bu', 'nf01bf', 'tg01md', 'mb02cx', 'mb03xp', 'tb01nd', 'tg01ob', 'mb03xu']\n",
+      "['nf01bb', 'sb01fy', 'mb03qd', 'ab05sd', 'mb02sz', 'ma02hd', 'mb02td', 'mc01sy']\n",
+      "['mb03ad', 'sb04px', 'mb01rx', 'mb01os', 'tf01od', 'mb04dd', 'tg01jd', 'mb04tv']\n",
+      "['sb10kd', 'sb01bx', 'sb04nx', 'mb01nd', 'tb01ty', 'ma01bz', 'mb04ds', 'mc01qd']\n",
+      "['de01od', 'mb04oy', 'ma02jd', 'mb03ae', 'mb01sd', 'mb02qd', 'sb01dd', 'sb02mt']\n",
+      "['ab13ax', 'ud01mz', 'mc01sd', 'sb03or', 'ab13bd', 'mb04md', 'sb04od', 'sb03rd']\n",
+      "['md03ad', 'ab09fd', 'tg01id', 'sb08cd', 'sb03sd', 'mb02yd', 'ab8nxz', 'mb01rd']\n",
+      "['ma02bd', 'ib01my', 'sb02nd', 'ib01pd', 'sb08gd', 'mb04pu', 'mb02cy', 'mc01sx']\n",
+      "['ib01py', 'mb03rx', 'mb02cd', 'ab09hx', 'mb02cv', 'dg01od', 'ma02cz', 'tf01mx']\n",
+      "['tb01ld', 'tg01hy', 'mb03xd', 'tb01id', 'ab05nd', 'mc01py', 'ab13id', 'mb04zd']\n",
+      "['mb04py', 'mb01md', 'tb01md', 'sb10ld', 'mb02sd', 'mb02rz', 'ab07md', 'mb02xd']\n",
+      "['ag8byz', 'sg03bu', 'mb02uu', 'mb02uw', 'ab09gd', 'mb03qw', 'sb04qr', 'sb03mw']\n",
+      "['sb16cd', 'sb04rd', 'sg03bv', 'ag07bd', 'mc01sw', 'sb08md', 'mb01ru', 'sb04ow']\n",
+      "['tg01kz', 'mb03ud', 'fb01vd', 'mb01rh', 'td03ad', 'md03bx', 'mb02fd', 'tg01bd']\n",
+      "['sb02ow', 'mb01uz', 'tc04ad', 'ab08mz', 'mb01pd', 'mb01qd', 'ma02mz', 'mb01ry']\n",
+      "['sb03sy', 'sb02mu', 'mb03ka', 'mb04ts', 'sb02rd', 'mb01rw', 'sb03mv', 'nf01by']\n",
+      "['sb10ed', 'sb02od', 'ab08ny', 'sb04qd', 'ib03ad', 'sb02mx', 'tc01od', 'dg01md']\n",
+      "['mb03yd', 'sb10td', 'sb02cx', 'ib01od', 'mb04fd', 'sg03bw', 'sb08ed', 'sb03md57']\n",
+      "['ab09dd', 'tb01yd', 'tb01xd', 'bd01ad', 'sb02oy', 'mb03bg', 'mb03nd', 'mb04qs']\n",
+      "['ma02pd', 'md03ba', 'tb01pd', 'tg01ld', 'mb03ed', 'mb03ld', 'ib01nd', 'mb02md']\n",
+      "['tb04bw', 'mb01td', 'mb02kd', 'tg01oa', 'mb04bz', 'mb03my', 'mb04dy', 'fb01sd']\n",
+      "['sb10pd', 'mb04xd', 'fb01qd', 'sb03ov', 'mc01wd', 'mb4dbz', 'tg01jy', 'ib01oy']\n",
+      "['sg03ay', 'ab09hy', 'sb02ru', 'sb10zp', 'mb04iz', 'mb05oy', 'sb04rv', 'ab09ad']\n",
+      "['tg01ed', 'tg01od', 'tg01pd', 'mb04vx', 'mb03pd', 'mb04di', 'ib01px', 'ib01md']\n",
+      "['ag08by', 'ab09id', 'tb01iz', 'ab13fd', 'ab09jv', 'ud01dd', 'sb10jd', 'mb03lz']\n",
+      "['mb03rw', 'sb04rx', 'mb03lf', 'sb10wd', 'mb04dl', 'mb03vd', 'mb01ux', 'mb03ry']\n",
+      "['mb03xs', 'mb03qv', 'sb02ou', 'ma02gz', 'ma02cd', 'sb04qu', 'tg01ly', 'ab05md']\n",
+      "['ue01md', 'sb03mx', 'sb10ad', 'nf01br', 'sg03ax', 'tb03ad', 'mc01nd', 'td04ad']\n",
+      "['mb03ai', 'nf01bv', 'mc01xd', 'tb04bv', 'sg02cx', 'bd02ad', 'sb03qx', 'sg03bt']\n",
+      "['sb01by', 'mb05my', 'ib01cd', 'mb02ny', 'mb02nd', 'sb10hd', 'mb02hd', 'ma01bd']\n",
+      "['sb02mw', 'sb16cy', 'ab09hd', 'mb03ah', 'tb01vy', 'sb08dd', 'ma01cd', 'mb04yd']\n",
+      "['tg01kd', 'mb03za', 'mb01oe', 'ab13dx', 'ma02od', 'sb02pd', 'sb03os', 'mc01od']\n",
+      "['mb04wd', 'mb03vw', 'tb01wd', 'mb03gd', 'mb04od', 'sb02qd', 'sb09md', 'ab09jw']\n",
+      "['mc01md', 'ma02ad', 'df01md', 'mb04db', 'mc03nd', 'tf01nd', 'ma02dd', 'mb04su']\n",
+      "['sb08my', 'sb01bd', 'mb04tu', 'mb04vd', 'sg02nd', 'mb02cu', 'sg02cw', 'mb05md']\n",
+      "['sb04nv', 'mb03fz', 'sb10fd', 'mb3oyz', 'mb03md', 'mb01rb', 'mb02rd', 'sb03qd']\n",
+      "['sb03ot', 'mb02gd', 'ab05qd', 'mc01td', 'mb03be', 'mb03cd', 'ud01md', 'mb04ud']\n",
+      "['mb03ke', 'mc03md', 'ab01md', 'sg03br', 'sb02mv', 'nf01ba', 'mb01oc', 'bb03ad']\n",
+      "['tb03ay', 'ma02oz', 'tb04cd', 'ab13dd', 'mb03sd', 'sb04my', 'sb03qy', 'mb04ox']\n",
+      "['tb01td', 'mb04dz', 'mb04kd', 'mb04qb', 'mb04tw', 'mb04pa', 'ag08bd', 'mb03id']\n",
+      "['bb04ad', 'ma01ad', 'ab08nw', 'mb03ab', 'ib01qd', 'sg03bz', 'mb04wp', 'mb03vy']\n",
+      "['mb02wd', 'mb03qg', 'mb04qf', 'sg03bx', 'mb04id', 'tg01fd', 'ab09bd', 'tb01ud']\n",
+      "['mb04tx', 'sb04md', 'ab05rd', 'ma02jz', 'ab08nd', 'tf01rd', 'mb02tz', 'sb03ud']\n",
+      "['mb01wd', 'mc01rd', 'mb04bp', 'sb01md', 'tg01hd', 'tg01nx', 'md03by', 'sb03sx']\n",
+      "['mb04az', 'mb4dlz', 'mb01ot', 'sb08hd', 'tb04bx', 'tf01md', 'tg01hu', 'mb03jp']\n",
+      "['sb10yd', 'ab05od', 'mc03nx', 'mb04rb', 'mc01pd', 'mb01ss', 'fb01rd', 'sb03my']\n",
+      "['ab07nd', 'tb04ay', 'ab09ax', 'bb02ad', 'mb03kc', 'sb04nw', 'mb04jd', 'sb04ny']\n",
+      "['mb04ow', 'sb02md', 'sb08ny', 'mb03od', 'mb05od', 'sb03od', 'ab09cd', 'nf01bx']\n",
+      "['sg03bs', 'sb10dd', 'mb03py', 'tg01ad', 'ma02pz', 'mb03gz', 'mb04ad', 'sb04py']\n",
       "None\n",
       "\n",
       "\n",
       "There are currently 55 routines that are found in slicot and slycot. (intersection)\n",
       "------\n",
-      "['ab08nd', 'tb05ad', 'sb02mt', 'sb10ad', 'ab13md', 'tg01fd', 'mb02ed', 'ab05md']\n",
-      "['sb10dd', 'sg03ad', 'ab13ed', 'sb03md', 'tb01id', 'ab13dd', 'sb04qd', 'ab07nd']\n",
-      "['ab09ad', 'mb03vd', 'ab09ax', 'sb01bd', 'ab04md', 'mb03vy', 'mb05nd', 'tf01md']\n",
-      "['ab05nd', 'sb04md', 'ab09nd', 'tf01rd', 'tc01od', 'ab01nd', 'tb03ad', 'sb10hd']\n",
-      "['mb03rd', 'ag08bd', 'sg02ad', 'sb10yd', 'sb03od', 'sb10jd', 'tc04ad', 'ab13bd']\n",
-      "['sb02md', 'ab09md', 'ab09bd', 'mb05md', 'mc01td', 'td04ad', 'tg01ad', 'tb01pd']\n",
-      "['ab08nz', 'sb10fd', 'ab13fd', 'sb02od', 'mb03wd', 'sg03bd', 'tb04ad']\n",
+      "['ab08nz', 'ab13bd', 'tf01md', 'sb10yd', 'sb10jd', 'ag08bd', 'sb03md', 'mb05nd']\n",
+      "['mb05md', 'ab07nd', 'sg03ad', 'sb10fd', 'sg02ad', 'mb03vd', 'ab09ax', 'sb04qd']\n",
+      "['mb03vy', 'sb02od', 'sb10hd', 'ab13ed', 'tc01od', 'mb03rd', 'sb02md', 'tg01fd']\n",
+      "['ab09bd', 'ab09md', 'sb04md', 'mc01td', 'ab04md', 'ab08nd', 'tf01rd', 'tb04ad']\n",
+      "['tb01id', 'ab05nd', 'ab09ad', 'ab05md', 'sb03od', 'sb10ad', 'mb02ed', 'tb03ad']\n",
+      "['ab13md', 'mb03wd', 'tb05ad', 'tc04ad', 'sb10dd', 'td04ad', 'tb01pd', 'tg01ad']\n",
+      "['ab13dd', 'ab09nd', 'sg03bd', 'ab13fd', 'sb02mt', 'sb01bd', 'ab01nd']\n",
       "None\n"
      ]
     }
@@ -449,7 +449,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 47,
    "metadata": {},
    "outputs": [
     {
@@ -576,7 +576,7 @@
     },
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -586,6 +586,10 @@
     }
    ],
    "source": [
+    "color_yellow = \"#FFE365\"\n",
+    "color_blue = \"#4483B5\"\n",
+    "color_purple = \"#533B6B\"\n",
+    "\n",
     "slicot_full_names = {\n",
     "    \"a\": \"Analysis Routines\",\n",
     "    \"b\": \"Benchmark\",\n",
@@ -637,8 +641,8 @@
     "values_sly.reverse()\n",
     "\n",
     "height = 0.25\n",
-    "plt.barh(np.arange(len(slycot_routines_dict)), values_sly, height=height)\n",
-    "plt.barh(np.arange(len(slicot_routines_dict)) - height, values_sli, height=height)\n",
+    "plt.barh(np.arange(len(slycot_routines_dict)), values_sly, height=height, color=color_yellow)\n",
+    "plt.barh(np.arange(len(slicot_routines_dict)) - height, values_sli, height=height, color=color_purple)\n",
     "plt.yticks(np.arange(len(slicot_routines_dict)) - height, [slicot_full_names[x] for x in names_sli])\n",
     "plt.legend((\"Slycot\",\"SLICOT\"))\n",
     "plt.title(\"Slycot vs SLICOT\")\n",
@@ -647,12 +651,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 51,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -662,11 +666,19 @@
     }
    ],
    "source": [
-    "venn2(subsets = (len(set(slycot_routines)),\n",
-    "                 len(set(slicot_routines)),  \n",
-    "                 len(intersection)), set_labels = ('Slycot', 'SLICOT'))\n",
+    "venn2(subsets = (len(set(slycot_routines)), len(set(slicot_routines)), len(intersection)), \n",
+    "      set_labels = ('Slycot', 'SLICOT'),\n",
+    "      set_colors=(color_yellow, color_purple),\n",
+    "      alpha=0.8)\n",
     "plt.show()"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {
diff --git a/doc/source/explanation/inspect_slycot.ipynb b/doc/source/explanation/inspect_slycot.ipynb
index d15bff71..278bb07e 100644
--- a/doc/source/explanation/inspect_slycot.ipynb
+++ b/doc/source/explanation/inspect_slycot.ipynb
@@ -20,14 +20,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "0.5.5.dev75+g8cd8497\n"
+      "0.5.5.dev84+g9815526\n"
      ]
     }
    ],
@@ -47,7 +47,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -63,7 +63,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -92,7 +92,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
@@ -133,7 +133,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [
     {
@@ -177,7 +177,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -187,7 +187,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [
     {
@@ -196,18 +196,18 @@
      "text": [
       "There are currently 11 routines that found in slycot not in slycot._wrapper.\n",
       "------\n",
-      "['sb02od', 'sb02mt', 'sg02ad', 'tg01fd', 'td04ad', 'tb03ad']\n",
-      "['sb03md57', 'tc01od', 'tc04ad', 'tb04ad', 'tb05ad']\n",
+      "['sb03md57', 'tg01fd', 'tc01od', 'td04ad', 'tb03ad', 'sb02mt']\n",
+      "['sg02ad', 'tb04ad', 'tc04ad', 'sb02od', 'tb05ad']\n",
       "None\n",
       "\n",
       "\n",
       "There are currently 29 routines that are found in slycot._wrapper not in slycot.\n",
       "------\n",
-      "['sb02od_n', 'sg02ad_bd', 'sb02od_d', 'sg02ad_g', 'tb04ad_r', 'sg02ad_bn']\n",
-      "['tb05ad_ag', 'tc01od_l', 'sb02mt_c', 'sb02mt_cl', 'tb03ad_l', 'sb02od_c']\n",
-      "['tc04ad_r', 'sb02mt_n', 'tb05ad_nh', 'sb02od_b', 'tg01fd_uu', 'tg01fd_nn']\n",
-      "['tb03ad_r', 'tc01od_r', 'td04ad_r', 'tb04ad_c', 'sb02mt_nl', 'tc04ad_l']\n",
-      "['tg01fd_ii', 'sg02ad_bc', 'tb05ad_ng', 'td04ad_c', 'sg02ad_bb']\n",
+      "['tb04ad_r', 'tb05ad_ag', 'tg01fd_uu', 'sb02mt_nl', 'tc04ad_l', 'tb04ad_c']\n",
+      "['sb02od_n', 'tg01fd_ii', 'sb02od_d', 'sg02ad_bb', 'sb02od_c', 'sg02ad_g']\n",
+      "['td04ad_c', 'sb02mt_cl', 'td04ad_r', 'tg01fd_nn', 'sb02mt_n', 'tc01od_r']\n",
+      "['sg02ad_bn', 'sb02mt_c', 'sb02od_b', 'sg02ad_bd', 'tb05ad_ng', 'tb05ad_nh']\n",
+      "['tc04ad_r', 'tb03ad_l', 'tc01od_l', 'tb03ad_r', 'sg02ad_bc']\n",
       "None\n",
       "\n",
       "\n"
@@ -234,7 +234,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
@@ -243,34 +243,34 @@
      "text": [
       "There are currently 85 routines that are found in slycot or in slycot._wrapper. (union)\n",
       "------\n",
-      "['ab04md', 'sg02ad_bd', 'mb02ed', 'tb04ad_r', 'sg02ad_g', 'sb04qd']\n",
-      "['sg02ad_bn', 'tf01md', 'td04ad', 'tb05ad_ag', 'tb01pd', 'tc04ad']\n",
-      "['tb01id', 'sb04md', 'sb02mt_cl', 'tc04ad_r', 'sb02od_b', 'tg01fd_uu']\n",
-      "['mb05md', 'tg01fd_nn', 'sb02mt', 'ab09ad', 'ab13md', 'mc01td']\n",
-      "['tg01fd', 'sg03ad', 'sb10hd', 'td04ad_r', 'ab09bd', 'sb01bd']\n",
-      "['tc04ad_l', 'tg01fd_ii', 'sb10fd', 'ab13bd', 'tb03ad', 'sg02ad_bc']\n",
-      "['ab09ax', 'ab09nd', 'sg02ad_bb', 'tb05ad', 'ab13fd', 'sb03md']\n",
-      "['sb02od_n', 'sb02od_d', 'ab08nd', 'tc01od_l', 'ab09md', 'sb02mt_c']\n",
-      "['sb10dd', 'tb03ad_l', 'ab08nz', 'sb02od_c', 'sg02ad', 'sb02mt_n']\n",
-      "['sg03bd', 'tb05ad_nh', 'sb03md57', 'tc01od', 'sb03od', 'mb03vd']\n",
-      "['sb10yd', 'tf01rd', 'sb02od', 'sb10ad', 'ab01nd', 'sb02md']\n",
-      "['tg01ad', 'tb03ad_r', 'sb10jd', 'mb05nd', 'mb03rd', 'mb03vy']\n",
-      "['tc01od_r', 'tb04ad_c', 'ab05nd', 'sb02mt_nl', 'mb03wd', 'ab13dd']\n",
-      "['ab07nd', 'ab05md', 'ag08bd', 'ab13ed', 'tb05ad_ng', 'tb04ad']\n",
-      "['td04ad_c']\n",
+      "['tb04ad_r', 'sb10fd', 'ab13bd', 'tg01fd_ii', 'sb01bd', 'ab09ax']\n",
+      "['sb03od', 'tf01md', 'ab04md', 'ab05md', 'sg02ad_g', 'mb05md']\n",
+      "['tg01fd_nn', 'sb02od', 'sb03md57', 'tc01od_r', 'mc01td', 'sg02ad_bn']\n",
+      "['td04ad', 'sb02mt', 'tb05ad_ng', 'mb03vd', 'tb05ad_nh', 'tc04ad_r']\n",
+      "['sb10jd', 'sg03bd', 'ag08bd', 'mb05nd', 'tc01od_l', 'tb04ad']\n",
+      "['tc04ad', 'sg02ad_bc', 'ab08nz', 'ab13dd', 'ab13md', 'sb03md']\n",
+      "['sb04md', 'ab01nd', 'tb05ad_ag', 'tg01fd_uu', 'sb02mt_nl', 'ab09ad']\n",
+      "['tc04ad_l', 'tb04ad_c', 'sb02od_n', 'sb10ad', 'mb02ed', 'sb10yd']\n",
+      "['sg02ad', 'ab07nd', 'sb02od_d', 'ab09bd', 'sg02ad_bb', 'tb01id']\n",
+      "['tf01rd', 'ab05nd', 'sb02od_c', 'td04ad_c', 'tb03ad', 'sb10hd']\n",
+      "['ab08nd', 'sb02mt_cl', 'ab13fd', 'td04ad_r', 'tb05ad', 'sb02mt_n']\n",
+      "['tg01fd', 'sb04qd', 'sg03ad', 'ab09md', 'tb01pd', 'tc01od']\n",
+      "['ab09nd', 'sb10dd', 'mb03wd', 'mb03vy', 'ab13ed', 'sb02mt_c']\n",
+      "['sb02od_b', 'sg02ad_bd', 'tg01ad', 'tb03ad_l', 'mb03rd', 'tb03ad_r']\n",
+      "['sb02md']\n",
       "None\n",
       "\n",
       "\n",
       "There are currently 45 routines that are found in slycot and in slycot._wrapper. (intersection)\n",
       "------\n",
-      "['ab04md', 'ab13fd', 'sb03md', 'mb02ed', 'ab08nd', 'sb04qd']\n",
-      "['tf01md', 'tb01pd', 'tb01id', 'ab09md', 'sb04md', 'sb10dd']\n",
-      "['ab08nz', 'sg03bd', 'sb03od', 'sb10yd', 'mb03vd', 'mb05md']\n",
-      "['tf01rd', 'sb10ad', 'ab09ad', 'ab01nd', 'ab13md', 'mc01td']\n",
-      "['sb02md', 'tg01ad', 'sg03ad', 'sb10jd', 'mb05nd', 'mb03rd']\n",
-      "['mb03vy', 'sb10hd', 'ab05nd', 'ab09bd', 'mb03wd', 'ab13dd']\n",
-      "['sb01bd', 'ab07nd', 'ab05md', 'sb10fd', 'ab13bd', 'ag08bd']\n",
-      "['ab13ed', 'ab09ax', 'ab09nd']\n",
+      "['ab08nz', 'ab13dd', 'ab13md', 'sb03md', 'sb04md', 'ab01nd']\n",
+      "['ab09ad', 'sb10fd', 'ab13bd', 'sb10ad', 'mb02ed', 'sb10yd']\n",
+      "['ab07nd', 'sb03od', 'sb01bd', 'ab09ax', 'ab09bd', 'tf01md']\n",
+      "['ab04md', 'tb01id', 'tf01rd', 'ab05md', 'ab05nd', 'sb10hd']\n",
+      "['ab08nd', 'ab13fd', 'mb05md', 'sb04qd', 'sg03ad', 'ab09md']\n",
+      "['mc01td', 'tb01pd', 'ab09nd', 'sb10dd', 'mb03wd', 'mb03vy']\n",
+      "['ab13ed', 'tg01ad', 'mb03vd', 'sb10jd', 'sg03bd', 'ag08bd']\n",
+      "['mb05nd', 'mb03rd', 'sb02md']\n",
       "None\n",
       "\n",
       "\n"
@@ -297,12 +297,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 16,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "image/png": 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",
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -312,11 +312,25 @@
     }
    ],
    "source": [
+    "color_yellow = \"#FFE365\"\n",
+    "color_blue = \"#4483B5\"\n",
+    "color_purple = \"#533B6B\"\n",
+    "\n",
     "venn2(subsets = (len(set(slycot_wrapper)), \n",
     "                 len(set(slycot_f2py_wrapper)), \n",
-    "                 len(intersection)), set_labels = ('slycot', 'slycot._wrapper'))\n",
+    "                 len(intersection)),\n",
+    "      set_labels = ('slycot', 'slycot._wrapper'),\n",
+    "      set_colors=(color_yellow, color_blue),\n",
+    "      alpha=0.8)\n",
     "plt.show()"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {

From 9b6b178f743ae60de66e03aa543c91a74e025990 Mon Sep 17 00:00:00 2001
From: Johannes Kaisinger <johannes.kaisinger@gmail.com>
Date: Thu, 4 Apr 2024 22:05:54 +0200
Subject: [PATCH 23/23] Update ho-to-guides examples

---
 doc/source/guides/ab13dd_nb.ipynb |  28 ++--
 doc/source/guides/index.rst       |  12 ++
 doc/source/guides/sy10yd_nb.ipynb | 227 ++++++++++++++++++++++++++++++
 doc/source/guides/sysid.rst       |  10 ++
 doc/source/index.rst              |   2 +-
 5 files changed, 269 insertions(+), 10 deletions(-)
 create mode 100644 doc/source/guides/index.rst
 create mode 100644 doc/source/guides/sy10yd_nb.ipynb
 create mode 100644 doc/source/guides/sysid.rst

diff --git a/doc/source/guides/ab13dd_nb.ipynb b/doc/source/guides/ab13dd_nb.ipynb
index 84af663b..3a06ea94 100644
--- a/doc/source/guides/ab13dd_nb.ipynb
+++ b/doc/source/guides/ab13dd_nb.ipynb
@@ -7,7 +7,17 @@
    "source": [
     "# ab13dd Example\n",
     "\n",
-    "Johannes Kaisinger, 26 July 2023"
+    "Johannes Kaisinger, 26 July 2023\n",
+    "\n",
+    "The `ab13dd` calculates the L-infinity norm of a state space system.\n",
+    "For a stable system it is equal to the H-infintiy norm."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Create data"
    ]
   },
   {
@@ -89,16 +99,16 @@
     "    \"\"\"naive implementation of bisection algorithm for H-infinity norm\n",
     "\n",
     "    Args:\n",
-    "        A (_type_): _description_\n",
-    "        B (_type_): _description_\n",
-    "        C (_type_): _description_\n",
-    "        D (_type_): _description_\n",
-    "        gam_l (_type_): _description_\n",
-    "        gam_h (_type_): _description_\n",
-    "        emin (_type_): _description_\n",
+    "        A (_type_): system matrix\n",
+    "        B (_type_): input matrix\n",
+    "        C (_type_): output matrix\n",
+    "        D (_type_): feedthrough matrix\n",
+    "        gam_l (_type_): low bound for norm\n",
+    "        gam_h (_type_): upper bound for norm\n",
+    "        emin (_type_): min difference between gam_l and gam_h\n",
     "\n",
     "    Returns:\n",
-    "        _type_: _description_\n",
+    "        float: norm\n",
     "    \"\"\"\n",
     "    gam_last_stable = None\n",
     "    while (gam_h - gam_l) > emin:\n",
diff --git a/doc/source/guides/index.rst b/doc/source/guides/index.rst
new file mode 100644
index 00000000..748b5cc5
--- /dev/null
+++ b/doc/source/guides/index.rst
@@ -0,0 +1,12 @@
+:orphan:
+
+Examples
+========
+
+The following notebooks show some use cases for Slycot.
+
+.. toctree::
+   :maxdepth: 1
+
+   system_norms
+   sysid
\ No newline at end of file
diff --git a/doc/source/guides/sy10yd_nb.ipynb b/doc/source/guides/sy10yd_nb.ipynb
new file mode 100644
index 00000000..ea669763
--- /dev/null
+++ b/doc/source/guides/sy10yd_nb.ipynb
@@ -0,0 +1,227 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# sy10yd Example\n",
+    "\n",
+    "Johannes Kaisinger, 04 April 2024\n",
+    "\n",
+    "The `sy10yd` fits a frequency response to a stable minimum phase SISO system.\n",
+    "This can be seen as a system identification approach."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Create data"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 19,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from scipy import signal \n",
+    "import numpy as np\n",
+    "import matplotlib.pyplot as plt\n",
+    "\n",
+    "import slycot"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 20,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "A = np.array([[0.0, 1.0], [-0.5, -0.1]])\n",
+    "B = np.array([[0.0], [1.0]])\n",
+    "C = np.array([[1.0, 0.0]])\n",
+    "D = np.zeros((1,1))\n",
+    "\n",
+    "sys_ss = signal.lti(A,B,C,D)\n",
+    "sys_tf = signal.ss2tf(A,B,C,D)\n",
+    "num, den = sys_tf\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "w, H = signal.freqs(num.squeeze(), den)\n",
+    "\n",
+    "real_H_resp = np.expand_dims(np.real(H), axis=(1))\n",
+    "imag_H_resp = np.expand_dims(np.imag(H), axis=(1))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 32,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "plt.semilogx(w, 20 * np.log10(abs(H)), label=\"H\")\n",
+    "plt.semilogx(w, 20 * np.log10(abs(np.real(H))), linestyle=\"dashed\", label=\"real part\")\n",
+    "plt.semilogx(w, 20 * np.log10(abs(np.imag(H))), linestyle=\"dashed\", label=\"imag part\")\n",
+    "plt.xlabel('Frequency')\n",
+    "plt.ylabel('Amplitude response [dB]')\n",
+    "plt.grid(True)\n",
+    "plt.legend()\n",
+    "plt.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 29,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "plt.semilogx(w, 20 * np.log10(abs(H)), 'r', label='H')\n",
+    "plt.semilogx(w, 20 * (np.log10(abs(np.sqrt(np.real(H)**2 + np.imag(H)**2))) ), 'b--', label='real and imag')\n",
+    "plt.xlabel('Frequency')\n",
+    "plt.ylabel('Amplitude response [dB]')\n",
+    "plt.grid(True)\n",
+    "plt.legend()\n",
+    "plt.show()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Systemidentification\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 41,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(2, 2)\n",
+      "(2, 1)\n",
+      "(1, 2)\n",
+      "(1, 1)\n"
+     ]
+    }
+   ],
+   "source": [
+    "omega = w\n",
+    "n = 2\n",
+    "nid, Aid, Bid, Cid, Did = slycot.sb10yd(0, 0, len(omega), real_H_resp, imag_H_resp, omega, \n",
+    "                               n, tol=0)\n",
+    "\n",
+    "print(Aid.shape)\n",
+    "print(Bid.shape)\n",
+    "print(Cid.shape)\n",
+    "print(Did.shape)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 38,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "max_rel_error = 0.24744541408298004\n",
+      "check_within_bounds = True\n"
+     ]
+    }
+   ],
+   "source": [
+    "sys_tf_id = signal.ss2tf(Aid,Bid,Cid,Did)\n",
+    "num_id, den_id = sys_tf_id\n",
+    "w_id, H_id = signal.freqs(num_id.squeeze(), den_id, worN=w)\n",
+    "\n",
+    "max_rel_error = np.max((abs(H_id) - abs(H))/abs(H))\n",
+    "check_within_bounds = np.allclose(abs(H_id),abs(H),rtol=0.3,atol=0)\n",
+    "print(f\"{max_rel_error = }\")\n",
+    "print(f\"{check_within_bounds = }\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "plt.semilogx(w, 20 * np.log10(abs(H)), label=\"sys\")\n",
+    "plt.semilogx(w_id, 20 * np.log10(abs(H_id)), label=\"ident\")\n",
+    "plt.xlabel('Frequency')\n",
+    "plt.ylabel('Amplitude response [dB]')\n",
+    "plt.grid(True)\n",
+    "plt.legend()\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "slycot-dev",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/doc/source/guides/sysid.rst b/doc/source/guides/sysid.rst
new file mode 100644
index 00000000..2960baff
--- /dev/null
+++ b/doc/source/guides/sysid.rst
@@ -0,0 +1,10 @@
+
+:orphan:
+
+System identification
+=====================
+
+.. toctree::
+   :maxdepth: 1
+
+   sy10yd_nb
\ No newline at end of file
diff --git a/doc/source/index.rst b/doc/source/index.rst
index 47736c24..3d5f3252 100644
--- a/doc/source/index.rst
+++ b/doc/source/index.rst
@@ -46,7 +46,7 @@ The Slycot library is organised by chapters. Each chapter can be identified by a
    :hidden:
    :caption: 🪄 How-to guides
 
-   /guides/system_norms
+   /guides/index
 
 .. toctree::
    :maxdepth: 2